*v 0008 *n code=0000 name="Slate" *n code=0001 name="Supervisor" *n code=0002 name="Module Loader" *e code=0000 elementURI="acoustic_receive_time" type=04 *e code=0001 elementURI="acoustic_transmit_time" type=04 *e code=0002 elementURI="acoustic_contact_direction_vehicle_frame" type=14 blobType=11 fixedSize=0003 *e code=0003 elementURI="acoustic_contact_address" type=04 *e code=0004 elementURI="acoustic_contact_range" type=04 *e code=0005 elementURI="concentration_of_colored_dissolved_organic_matter_in_sea_water" type=04 *e code=0006 elementURI="depth" type=04 *e code=0007 elementURI="depth_rate" type=04 *e code=0008 elementURI="direction_of_sea_water_velocity" type=04 *e code=0009 elementURI="distance_from_shore" type=04 *e code=000A elementURI="downwelling_photosynthetic_photon_flux_in_sea_water" type=04 *e code=000B elementURI="downward_sea_water_velocity" type=04 *e code=000C elementURI="eastward_sea_water_velocity" type=04 *e code=000D elementURI="fix_distance_made_good" type=04 *e code=000E elementURI="fix_horizontal_path_length_since_last_fix" type=04 *e code=000F elementURI="fix_residual_distance" type=04 *e code=0010 elementURI="fix_residual_bearing" type=04 *e code=0011 elementURI="fix_residual_percent_distance_traveled" type=04 *e code=0012 elementURI="grid_latitude" type=04 *e code=0013 elementURI="grid_longitude" type=04 *e code=0014 elementURI="height_above_sea_floor" type=04 *e code=0015 elementURI="horizontal_path_length_since_last_fix" type=04 *e code=0016 elementURI="northward_sea_water_velocity" type=04 *e code=0017 elementURI="latitude" type=04 *e code=0018 elementURI="latitude_fix" type=04 *e code=0019 elementURI="location_fix" type=14 blobType=11 fixedSize=0002 *e code=001A elementURI="longitude" type=04 *e code=001B elementURI="longitude_fix" type=04 *e code=001C elementURI="mission_started" type=04 *e code=001D elementURI="mass_concentration_of_chlorophyll_in_sea_water" type=04 *e code=001E elementURI="mass_concentration_of_oxygen_in_sea_water" type=04 *e code=001F elementURI="mass_concentration_of_petroleum_hydrocarbons_in_sea_water" type=04 *e code=0020 elementURI="mole_concentration_of_nitrate_in_sea_water" type=04 *e code=0021 elementURI="platform_average_current" type=04 *e code=0022 elementURI="platform_average_power" type=04 *e code=0023 elementURI="platform_battery_charge" type=04 *e code=0024 elementURI="platform_battery_charge_usage" type=04 *e code=0025 elementURI="platform_battery_energy_usage" type=04 *e code=0026 elementURI="platform_battery_voltage" type=04 *e code=0027 elementURI="platform_battery_fully_charged" type=04 *e code=0028 elementURI="platform_battery_discharging" type=04 *e code=0029 elementURI="platform_buoyancy_position" type=04 *e code=002A elementURI="platform_communications" type=04 *e code=002B elementURI="platform_conversation" type=04 *e code=002C elementURI="platform_course" type=04 *e code=002D elementURI="platform_distance_wrt_ground" type=04 *e code=002E elementURI="platform_distance_wrt_sea_water" type=04 *e code=002F elementURI="platform_elevator_angle" type=04 *e code=0030 elementURI="platform_fault" type=04 *e code=0031 elementURI="platform_fault_leak" type=04 *e code=0032 elementURI="platform_magnetic_orientation" type=04 *e code=0033 elementURI="platform_mass_position" type=04 *e code=0034 elementURI="platform_orientation" type=04 *e code=0035 elementURI="platform_orientation_matrix" type=14 blobType=11 fixedSize=0003,0003 *e code=0036 elementURI="platform_pitch_angle" type=04 *e code=0037 elementURI="platform_pitch_rate" type=04 *e code=0038 elementURI="platform_pressure" type=04 *e code=0039 elementURI="platform_propeller_rotation_rate" type=04 *e code=003A elementURI="platform_relative_humidity" type=04 *e code=003B elementURI="platform_roll_angle" type=04 *e code=003C elementURI="platform_roll_rate" type=04 *e code=003D elementURI="platform_rudder_angle" type=04 *e code=003E elementURI="platform_speed_wrt_ground" type=04 *e code=003F elementURI="platform_speed_wrt_sea_water" type=04 *e code=0040 elementURI="platform_temperature" type=04 *e code=0041 elementURI="platform_vehicle_power" type=04 *e code=0042 elementURI="platform_velocity_wrt_ground" type=14 blobType=11 fixedSize=0003 *e code=0043 elementURI="platform_velocity_wrt_sea_water" type=14 blobType=11 fixedSize=0003 *e code=0044 elementURI="platform_x_sea_water_velocity" type=04 *e code=0045 elementURI="platform_x_velocity_wrt_ground" type=04 *e code=0046 elementURI="platform_x_velocity_wrt_sea_water" type=04 *e code=0047 elementURI="platform_x_velocity_current" type=04 *e code=0048 elementURI="platform_y_sea_water_velocity" type=04 *e code=0049 elementURI="platform_y_velocity_wrt_ground" type=04 *e code=004A elementURI="platform_y_velocity_wrt_sea_water" type=04 *e code=004B elementURI="platform_y_velocity_current" type=04 *e code=004C elementURI="platform_yaw_angle" type=04 *e code=004D elementURI="platform_yaw_rate" type=04 *e code=004E elementURI="platform_z_sea_water_velocity" type=04 *e code=004F elementURI="platform_z_velocity_wrt_ground" type=04 *e code=0050 elementURI="platform_z_velocity_wrt_sea_water" type=04 *e code=0051 elementURI="platform_z_velocity_current" type=04 *e code=0052 elementURI="projection_x_coordinate" type=04 *e code=0053 elementURI="projection_y_coordinate" type=04 *e code=0054 elementURI="projection_zone" type=04 *e code=0055 elementURI="sea_floor_depth_below_geoid" type=04 *e code=0056 elementURI="sea_water_density" type=04 *e code=0057 elementURI="sea_water_electrical_conductivity" type=04 *e code=0058 elementURI="sea_water_potential_density" type=04 *e code=0059 elementURI="sea_water_potential_temperature" type=04 *e code=005A elementURI="sea_water_pressure" type=04 *e code=005B elementURI="sea_water_rhodamine" type=04 *e code=005C elementURI="sea_water_salinity" type=04 *e code=005D elementURI="sea_water_sigma_t" type=04 *e code=005E elementURI="sea_water_sigma_theta" type=04 *e code=005F elementURI="sea_water_speed" type=04 *e code=0060 elementURI="sea_water_temperature" type=04 *e code=0061 elementURI="speed_of_sound_in_sea_water" type=04 *e code=0062 elementURI="surface_eastward_sea_water_velocity" type=04 *e code=0063 elementURI="surface_northward_sea_water_velocity" type=04 *e code=0064 elementURI="time" type=04 *e code=0065 elementURI="time_fix" type=04 *e code=0066 elementURI="upward_derivative_of_sea_water_temperature" type=04 *e code=0067 elementURI="volume_backwards_scattering_coefficient_of_radiative_flux_in_sea_water" type=04 F”0Initializing supervisor.*n code=0003 name="ComponentRegistry" *n code=0004 name="controlThread" *e code=0068 elementURI="controlThread.enableBroadcast" type=02 *a code=0000 owner=0004 element=0068 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=0005 name="SyncHandler" ”DCreated PCaller Thread at 404514E0”BProtected caller Thread ID is 837ƿ”hComponent "controlThread" handled in its own thread.*n code=0006 name="controlThread ThreadHandler" ”DCreated PCaller Thread at 404814E0”BProtected caller Thread ID is 838*n code=0007 name="CycleStarter" *e code=0069 elementURI="CycleStarter.enableBroadcast" type=02 *a code=0001 owner=0007 element=0069 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=006A elementURI="CycleStarter.time" type=00 *a code=0002 owner=0007 element=006A universal=0064 unitName="second" type=1F size=0008 fl=01 ƿ”vSyncComponent "CycleStarter" handled in the control thread.*n code=0008 name="CommandLine" *e code=006B elementURI="CommandLine.enableBroadcast" type=02 *a code=0003 owner=0008 element=006B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=006C elementURI="NAL9602.strobeMode" type=02 *a code=0004 owner=0008 element=006C universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=006D elementURI="Dock.docking_state_cmd" type=02 *a code=0005 owner=0008 element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=006E elementURI="Dock.docking_state" type=02 *a code=0006 owner=0008 element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=006F elementURI="WetLabsUBAT.enableUBAT" type=02 *a code=0007 owner=0008 element=006F universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0070 elementURI="IBIT.IBITRunning" type=02 *a code=0008 owner=0008 element=0070 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0071 elementURI="CBIT.GFActive" type=02 *a code=0009 owner=0008 element=0071 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=000A owner=0008 element=002B universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0072 elementURI="CommandLine.platform_conversation" type=00 *a code=000B owner=0008 element=0072 universal=002B unitName="bool" type=02 size=0001 fl=05 ƿ”dComponent "CommandLine" handled in its own thread.*n code=0009 name="CommandLine ThreadHandler" ”DCreated PCaller Thread at 404B14E0”BProtected caller Thread ID is 839*n code=000A name="logger" *e code=0073 elementURI="logger.enableBroadcast" type=02 *a code=000C owner=000A element=0073 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ƿ”ZComponent "logger" handled in its own thread.*n code=000B name="logger ThreadHandler" ”DCreated PCaller Thread at 404E14E0”BProtected caller Thread ID is 840*n code=000C name="LogSplitter" *e code=0074 elementURI="LogSplitter.enableBroadcast" type=02 *a code=000D owner=000C element=0074 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0075 elementURI="LogSplitter.platform_communications" type=00 *a code=000E owner=000C element=0075 universal=002A unitName="bool" type=02 size=0001 fl=05 ƿ”tSyncComponent "LogSplitter" handled in the control thread.N”\Looking for Config files in directory: Config/N”TOpening Config file at: Config/vehicle.cfg*n code=000D name="Config/vehicle" *e code=0076 elementURI="Vehicle.name" type=01 *a code=000F owner=000D element=0076 universal=3FFF unitName="none" type=00 size=0006 fl=05 ”Tethys*e code=0077 elementURI="Vehicle.id" type=01 *a code=0010 owner=000D element=0077 universal=3FFF unitName="enum" type=02 size=0001 fl=05 ”*e code=0078 elementURI="Vehicle.kmlColor" type=01 *a code=0011 owner=000D element=0078 universal=3FFF unitName="none" type=00 size=0008 fl=05 )”ff0055ff*e code=0079 elementURI="Vehicle.argoPlatform" type=01 *a code=0012 owner=000D element=0079 universal=3FFF unitName="none" type=00 size=0006 fl=05 I”000000*e code=007A elementURI="Vehicle.argoProgram" type=01 *a code=0013 owner=000D element=007A universal=3FFF unitName="none" type=00 size=0004 fl=05 i”0000*e code=007B elementURI="Vehicle.checkMTQueue" type=01 *a code=0014 owner=000D element=007B universal=3FFF unitName="bool" type=02 size=0001 fl=05 ”*e code=007C elementURI="Vehicle.sendDataToShore" type=01 *a code=0015 owner=000D element=007C universal=3FFF unitName="bool" type=02 size=0001 fl=05 ”*e code=007D elementURI="AHRS_M2.loadControl" type=01 *a code=0016 owner=000D element=007D universal=3FFF unitName="none" type=00 size=000B fl=05 ” /dev/loadC7*e code=007E elementURI="AHRS_M2.uart" type=01 *a code=0017 owner=000D element=007E universal=3FFF unitName="none" type=00 size=000A fl=05 ” /dev/ttyC7*e code=007F elementURI="AHRS_M2.baud" type=01 *a code=0018 owner=000D element=007F universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 ” @*e code=0080 elementURI="Aanderaa_O2.loadControl" type=01 *a code=0019 owner=000D element=0080 universal=3FFF unitName="none" type=00 size=000B fl=05 )” /dev/loadB2*e code=0081 elementURI="Aanderaa_O2.uart" type=01 *a code=001A owner=000D element=0081 universal=3FFF unitName="none" type=00 size=000A fl=05 I” /dev/ttyB2*e code=0082 elementURI="Aanderaa_O2.baud" type=01 *a code=001B owner=000D element=0082 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 i”@*e code=0083 elementURI="AcousticModem_Benthos_ATM900.loadControl" type=01 *a code=001C owner=000D element=0083 universal=3FFF unitName="none" type=00 size=000B fl=05 ” /dev/loadB1*e code=0084 elementURI="AcousticModem_Benthos_ATM900.uart" type=01 *a code=001D owner=000D element=0084 universal=3FFF unitName="none" type=00 size=000A fl=05 ” /dev/ttyB1*e code=0085 elementURI="AcousticModem_Benthos_ATM900.baud" type=01 *a code=001E owner=000D element=0085 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 ”@*e code=0086 elementURI="AcousticModem_Benthos_ATM900.loadControl2" type=01 *a code=001F owner=000D element=0086 universal=3FFF unitName="none" type=00 size=0009 fl=05 ” /dev/null*e code=0087 elementURI="AMEcho.loadControl" type=01 *a code=0020 owner=000D element=0087 universal=3FFF unitName="none" type=00 size=000B fl=05 ” /dev/loadB4*e code=0088 elementURI="AMEcho.uart" type=01 *a code=0021 owner=000D element=0088 universal=3FFF unitName="none" type=00 size=000A fl=05 )” /dev/ttyB4*e code=0089 elementURI="AMEcho.baud" type=01 *a code=0022 owner=000D element=0089 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 IÔ@*e code=008A elementURI="BackseatComponent.loadControl" type=01 *a code=0023 owner=000D element=008A universal=3FFF unitName="none" type=00 size=000B fl=05 iÔ /dev/loadC4*e code=008B elementURI="BackseatComponent.uart" type=01 *a code=0024 owner=000D element=008B universal=3FFF unitName="none" type=00 size=000A fl=05 Ô /dev/ttyC4*e code=008C elementURI="BackseatComponent.baud" type=01 *a code=0025 owner=000D element=008C universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05  Ô @*e code=008D elementURI="BPC1A.uart" type=01 *a code=0026 owner=000D element=008D universal=3FFF unitName="none" type=00 size=000B fl=05  Ô /dev/ttyTX0*e code=008E elementURI="BPC1A.baud" type=01 *a code=0027 owner=000D element=008E universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05  Ô@*e code=008F elementURI="BPC1B.uart" type=01 *a code=0028 owner=000D element=008F universal=3FFF unitName="none" type=00 size=000B fl=05 Ô /dev/ttyTX2*e code=0090 elementURI="BPC1B.baud" type=01 *a code=0029 owner=000D element=0090 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 )Ô@*e code=0091 elementURI="BuoyancyServo.loadControl" type=01 *a code=002A owner=000D element=0091 universal=3FFF unitName="none" type=00 size=000B fl=05 IÔ /dev/loadA4*e code=0092 elementURI="BuoyancyServo.uart" type=01 *a code=002B owner=000D element=0092 universal=3FFF unitName="none" type=00 size=000A fl=05 iÔ /dev/ttyA4*e code=0093 elementURI="BuoyancyServo.baud" type=01 *a code=002C owner=000D element=0093 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 Ô@*e code=0094 elementURI="CANONSampler.loadControl" type=01 *a code=002D owner=000D element=0094 universal=3FFF unitName="none" type=00 size=000B fl=05 Ô /dev/loadB6*e code=0095 elementURI="CANONSampler.uart" type=01 *a code=002E owner=000D element=0095 universal=3FFF unitName="none" type=00 size=000A fl=05 Ô /dev/ttyB6*e code=0096 elementURI="CANONSampler.baud" type=01 *a code=002F owner=000D element=0096 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 Ô@*e code=0097 elementURI="CBITMainGroundfault.ad" type=01 *a code=0030 owner=000D element=0097 universal=3FFF unitName="none" type=00 size=000E fl=05 "Ô/dev/mcp3551-0*e code=0098 elementURI="CBITMainGroundfault.adRes" type=01 *a code=0031 owner=000D element=0098 universal=3FFF unitName="bit" type=1F size=0008 fl=05 )$Ô@*e code=0099 elementURI="CBITMainGroundfault.adTimeout" type=01 *a code=0032 owner=000D element=0099 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 I&Ô>*e code=009A elementURI="CBITMainGroundfault.adVref" type=01 *a code=0033 owner=000D element=009A universal=3FFF unitName="volt" type=0B size=0003 fl=05 i)Ô A*e code=009B elementURI="CBITWaterAlarmBow.ad" type=01 *a code=0034 owner=000D element=009B universal=3FFF unitName="none" type=00 size=0010 fl=05 -Ô/dev/adlpc32xx_0*e code=009C elementURI="CBITWaterAlarmBow.adRes" type=01 *a code=0035 owner=000D element=009C universal=3FFF unitName="bit" type=1F size=0008 fl=05 /Ô?*e code=009D elementURI="CBITWaterAlarmBow.adVref" type=01 *a code=0036 owner=000D element=009D universal=3FFF unitName="volt" type=0B size=0003 fl=05 1ÔI@*e code=009E elementURI="CBITWaterAlarmStern.ad" type=01 *a code=0037 owner=000D element=009E universal=3FFF unitName="none" type=00 size=0010 fl=05 4Ô/dev/adlpc32xx_1*e code=009F elementURI="CBITWaterAlarmStern.adRes" type=01 *a code=0038 owner=000D element=009F universal=3FFF unitName="bit" type=1F size=0008 fl=05 6Ô?*e code=00A0 elementURI="CBITWaterAlarmStern.adVref" type=01 *a code=0039 owner=000D element=00A0 universal=3FFF unitName="volt" type=0B size=0003 fl=05 )8ÔI@*e code=00A1 elementURI="CBITWaterAlarmAux.ad" type=01 *a code=003A owner=000D element=00A1 universal=3FFF unitName="none" type=00 size=0010 fl=05 I;Ô/dev/adlpc32xx_2*e code=00A2 elementURI="CBITWaterAlarmAux.adRes" type=01 *a code=003B owner=000D element=00A2 universal=3FFF unitName="bit" type=1F size=0008 fl=05 i=Ô?*e code=00A3 elementURI="CBITWaterAlarmAux.adVref" type=01 *a code=003C owner=000D element=00A3 universal=3FFF unitName="volt" type=0B size=0003 fl=05 ?ÔI@*e code=00A4 elementURI="CTD_NeilBrown.loadControl" type=01 *a code=003D owner=000D element=00A4 universal=3FFF unitName="none" type=00 size=000B fl=05 BÔ /dev/loadC4*e code=00A5 elementURI="CTD_NeilBrown.uart" type=01 *a code=003E owner=000D element=00A5 universal=3FFF unitName="none" type=00 size=000A fl=05 DÔ /dev/ttyC4*e code=00A6 elementURI="CTD_NeilBrown.baud" type=01 *a code=003F owner=000D element=00A6 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 GÔ@*e code=00A7 elementURI="CTD_Seabird.loadControl" type=01 *a code=0040 owner=000D element=00A7 universal=3FFF unitName="none" type=00 size=000B fl=05 IÔ /dev/loadC6*e code=00A8 elementURI="CTD_Seabird.uart" type=01 *a code=0041 owner=000D element=00A8 universal=3FFF unitName="none" type=00 size=000A fl=05 )KÔ /dev/ttyC6*e code=00A9 elementURI="CTD_Seabird.baud" type=01 *a code=0042 owner=000D element=00A9 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 IMÔ@*e code=00AA elementURI="DAT.loadControl" type=01 *a code=0043 owner=000D element=00AA universal=3FFF unitName="none" type=00 size=000B fl=05 iPÔ /dev/loadB1*e code=00AB elementURI="DAT.uart" type=01 *a code=0044 owner=000D element=00AB universal=3FFF unitName="none" type=00 size=000A fl=05 RÔ /dev/ttyB1*e code=00AC elementURI="DAT.baud" type=01 *a code=0045 owner=000D element=00AC universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 TÔ@*e code=00AD elementURI="DDM.loadControl" type=01 *a code=0046 owner=000D element=00AD universal=3FFF unitName="none" type=00 size=000B fl=05 VÔ /dev/loadA6*e code=00AE elementURI="DDM.uart" type=01 *a code=0047 owner=000D element=00AE universal=3FFF unitName="none" type=00 size=000A fl=05 WÔ /dev/ttyA6*e code=00AF elementURI="DDM.baud" type=01 *a code=0048 owner=000D element=00AF universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 YÔ @*e code=00B0 elementURI="Depth_Keller.loadControl" type=01 *a code=0049 owner=000D element=00B0 universal=3FFF unitName="none" type=00 size=000B fl=05 ) \Ô /dev/loadA0*e code=00B1 elementURI="Depth_Keller.ad" type=01 *a code=004A owner=000D element=00B1 universal=3FFF unitName="none" type=00 size=000E fl=05 I ^Ô/dev/mcp3553A0*e code=00B2 elementURI="Depth_Keller.adRes" type=01 *a code=004B owner=000D element=00B2 universal=3FFF unitName="bit" type=1F size=0008 fl=05 i `Ô@*e code=00B3 elementURI="Depth_Keller.adTimeout" type=01 *a code=004C owner=000D element=00B3 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 bÔ>*e code=00B4 elementURI="Depth_Keller.adVref" type=01 *a code=004D owner=000D element=00B4 universal=3FFF unitName="volt" type=0B size=0003 fl=05 eÔ @*e code=00B5 elementURI="DockingServo.loadControl" type=01 *a code=004E owner=000D element=00B5 universal=3FFF unitName="none" type=00 size=000B fl=05 gÔ /dev/loadB1*e code=00B6 elementURI="DockingServo.uart" type=01 *a code=004F owner=000D element=00B6 universal=3FFF unitName="none" type=00 size=000A fl=05 iÔ /dev/ttyB1*e code=00B7 elementURI="DockingServo.baud" type=01 *a code=0050 owner=000D element=00B7 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 lÔ@*e code=00B8 elementURI="DUSBL_Hydroid.loadControl" type=01 *a code=0051 owner=000D element=00B8 universal=3FFF unitName="none" type=00 size=000B fl=05 ) nÔ /dev/loadC4*e code=00B9 elementURI="DUSBL_Hydroid.uart" type=01 *a code=0052 owner=000D element=00B9 universal=3FFF unitName="none" type=00 size=000A fl=05 I qÔ /dev/ttyC4*e code=00BA elementURI="DUSBL_Hydroid.baud" type=01 *a code=0053 owner=000D element=00BA universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 i sÔ @*e code=00BB elementURI="DVL_micro.loadControl" type=01 *a code=0054 owner=000D element=00BB universal=3FFF unitName="none" type=00 size=000B fl=05 uÔ /dev/loadB5*e code=00BC elementURI="DVL_micro.uart" type=01 *a code=0055 owner=000D element=00BC universal=3FFF unitName="none" type=00 size=000A fl=05 xÔ /dev/ttyB5*e code=00BD elementURI="DVL_micro.baud" type=01 *a code=0056 owner=000D element=00BD universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 zÔ @*e code=00BE elementURI="ElevatorServo.loadControl" type=01 *a code=0057 owner=000D element=00BE universal=3FFF unitName="none" type=00 size=000B fl=05 |Ô /dev/loadA6*e code=00BF elementURI="ElevatorServo.uart" type=01 *a code=0058 owner=000D element=00BF universal=3FFF unitName="none" type=00 size=000A fl=05 ~Ô /dev/ttyA6*e code=00C0 elementURI="ElevatorServo.baud" type=01 *a code=0059 owner=000D element=00C0 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 ) Ô@*e code=00C1 elementURI="ESPComponent.loadControl" type=01 *a code=005A owner=000D element=00C1 universal=3FFF unitName="none" type=00 size=000B fl=05 I Ô /dev/loadA6*e code=00C2 elementURI="ESPComponent.loadControl2" type=01 *a code=005B owner=000D element=00C2 universal=3FFF unitName="none" type=00 size=000B fl=05 i Ô /dev/loadA7*e code=00C3 elementURI="ESPComponent.uart" type=01 *a code=005C owner=000D element=00C3 universal=3FFF unitName="none" type=00 size=000B fl=05 Ô /dev/ttyTX1*e code=00C4 elementURI="ESPComponent.consoleUart" type=01 *a code=005D owner=000D element=00C4 universal=3FFF unitName="none" type=00 size=000A fl=05 Ô /dev/ttyA6*e code=00C5 elementURI="ESPComponent.baud" type=01 *a code=005E owner=000D element=00C5 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 Ô @*e code=00C6 elementURI="MassServo.loadControl" type=01 *a code=005F owner=000D element=00C6 universal=3FFF unitName="none" type=00 size=000B fl=05 Ô /dev/loadA3*e code=00C7 elementURI="MassServo.uart" type=01 *a code=0060 owner=000D element=00C7 universal=3FFF unitName="none" type=00 size=000A fl=05 Ô /dev/ttyA3*e code=00C8 elementURI="MassServo.baud" type=01 *a code=0061 owner=000D element=00C8 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 ) Ô@*e code=00C9 elementURI="Micromodem.loadControl" type=01 *a code=0062 owner=000D element=00C9 universal=3FFF unitName="none" type=00 size=0009 fl=05 I Ô /dev/null*e code=00CA elementURI="Micromodem.loadControl2" type=01 *a code=0063 owner=000D element=00CA universal=3FFF unitName="none" type=00 size=0009 fl=05 i Ô /dev/null*e code=00CB elementURI="Micromodem.uart" type=01 *a code=0064 owner=000D element=00CB universal=3FFF unitName="none" type=00 size=0009 fl=05 Ô /dev/null*e code=00CC elementURI="Micromodem.baud" type=01 *a code=0065 owner=000D element=00CC universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 Ô@*e code=00CD elementURI="NAL9602.loadControl" type=01 *a code=0066 owner=000D element=00CD universal=3FFF unitName="none" type=00 size=000B fl=05 Ô /dev/loadA1*e code=00CE elementURI="NAL9602.uart" type=01 *a code=0067 owner=000D element=00CE universal=3FFF unitName="none" type=00 size=000A fl=05 Ô /dev/ttyS2*e code=00CF elementURI="NAL9602.baud" type=01 *a code=0068 owner=000D element=00CF universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 Ô@*e code=00D0 elementURI="OnboardHumidity.i2c" type=01 *a code=0069 owner=000D element=00D0 universal=3FFF unitName="none" type=00 size=000A fl=05 ) Ô /dev/i2c-0*e code=00D1 elementURI="OnboardHumidity.i2cAddr" type=01 *a code=006A owner=000D element=00D1 universal=3FFF unitName="count" type=0D size=0004 fl=05 I Ô'*e code=00D2 elementURI="OnboardPressure.i2c" type=01 *a code=006B owner=000D element=00D2 universal=3FFF unitName="none" type=00 size=000A fl=05 i Ô /dev/i2c-0*e code=00D3 elementURI="OnboardPressure.i2cAddr" type=01 *a code=006C owner=000D element=00D3 universal=3FFF unitName="count" type=0D size=0004 fl=05 Ô`*e code=00D4 elementURI="PAR_Licor.loadControl" type=01 *a code=006D owner=000D element=00D4 universal=3FFF unitName="none" type=00 size=000B fl=05 Ô /dev/loadB0*e code=00D5 elementURI="PAR_Licor.ad" type=01 *a code=006E owner=000D element=00D5 universal=3FFF unitName="none" type=00 size=000E fl=05 Ô/dev/mcp3553B0*e code=00D6 elementURI="PAR_Licor.adRes" type=01 *a code=006F owner=000D element=00D6 universal=3FFF unitName="bit" type=1F size=0008 fl=05 Ô@*e code=00D7 elementURI="PAR_Licor.adTimeout" type=01 *a code=0070 owner=000D element=00D7 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 Ĕ>*e code=00D8 elementURI="PAR_Licor.adVref" type=01 *a code=0071 owner=000D element=00D8 universal=3FFF unitName="volt" type=0B size=0003 fl=05 )Ĕ @*e code=00D9 elementURI="PNI_TCM.loadControl" type=01 *a code=0072 owner=000D element=00D9 universal=3FFF unitName="none" type=00 size=000B fl=05 IĔ /dev/loadB7*e code=00DA elementURI="PNI_TCM.uart" type=01 *a code=0073 owner=000D element=00DA universal=3FFF unitName="none" type=00 size=000A fl=05 iĔ /dev/ttyB7*e code=00DB 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elementURI="RDI_Pathfinder.loadControl" type=01 *a code=007A owner=000D element=00E1 universal=3FFF unitName="none" type=00 size=000B fl=05 IĔ /dev/loadB4*e code=00E2 elementURI="RDI_Pathfinder.uart" type=01 *a code=007B owner=000D element=00E2 universal=3FFF unitName="none" type=00 size=000A fl=05 iĔ /dev/ttyB4*e code=00E3 elementURI="RDI_Pathfinder.baud" type=01 *a code=007C owner=000D element=00E3 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 Ĕ @*e code=00E4 elementURI="Rowe_600.loadControl" type=01 *a code=007D owner=000D element=00E4 universal=3FFF unitName="none" type=00 size=000B fl=05 "Ĕ /dev/loadB5*e code=00E5 elementURI="Rowe_600.uart" type=01 *a code=007E owner=000D element=00E5 universal=3FFF unitName="none" type=00 size=000A fl=05 $Ĕ /dev/ttyB5*e code=00E6 elementURI="Rowe_600.baud" type=01 *a code=007F owner=000D element=00E6 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 &Ĕ @*e code=00E7 elementURI="RudderServo.loadControl" type=01 *a 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size=0003 fl=05 Ŕ`*e code=0135 elementURI="VerticalControl.massPositionLimitFwd" type=01 *a code=00CE owner=000F element=0135 universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 Ŕ`<*e code=0136 elementURI="VerticalControl.massTurnTime" type=01 *a code=00CF owner=000F element=0136 universal=3FFF unitName="second" type=0B size=0003 fl=05 ŔA*e code=0137 elementURI="VerticalControl.maxBuoyDiveAccel" type=01 *a code=00D0 owner=000F element=0137 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=05 Ɣ9*e code=0138 elementURI="VerticalControl.maxBuoyDiveRate" type=01 *a code=00D1 owner=000F element=0138 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 )ƔL=*e code=0139 elementURI="VerticalControl.maxBuoyInt" type=01 *a code=00D2 owner=000F element=0139 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 IƔQ9*e code=013A elementURI="VerticalControl.maxDepthInt" type=01 *a code=00D3 owner=000F element=013A universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 i Ɣ¸>*e code=013B elementURI="VerticalControl.maxDiveAccel" type=01 *a code=00D4 owner=000F element=013B universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=05 Ɣ:*e code=013C elementURI="VerticalControl.maxDiveRate" type=01 *a code=00D5 owner=000F element=013C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 Ɣ>*e code=013D elementURI="VerticalControl.maxPitchElevatorInt" type=01 *a code=00D6 owner=000F element=013D universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 Ɣ >*e code=013E elementURI="VerticalControl.maxPitchMassInt" type=01 *a code=00D7 owner=000F element=013E universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 Ɣ<*e code=013F elementURI="VerticalControl.maxPitchRate" type=01 *a code=00D8 owner=000F element=013F universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=05 Ɣ=*e code=0140 elementURI="VerticalControl.minAscendPitch" type=01 *a code=00D9 owner=000F element=0140 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 ) Ɣ¸=*e code=0141 elementURI="VerticalControl.minDepthExcursion" type=01 *a code=00DA owner=000F element=0141 universal=3FFF unitName="meter" type=0B size=0003 fl=05 I&Ɣ?*e code=0142 elementURI="VerticalControl.pitchLimit" type=01 *a code=00DB owner=000F element=0142 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 i+Ɣ ?*e code=0143 elementURI="VerticalControl.pitchTimeoutGoToSurface" type=01 *a code=00DC owner=000F element=0143 universal=3FFF unitName="second" type=0B size=0003 fl=05 /ƔpB*e code=0144 elementURI="VerticalControl.stopDepthExcursion" type=01 *a code=00DD owner=000F element=0144 universal=3FFF unitName="meter" type=0B size=0003 fl=05 3Ɣ A*e code=0145 elementURI="VerticalControl.stopOverrideDelay" type=01 *a code=00DE owner=000F element=0145 universal=3FFF unitName="minute" type=0B size=0003 fl=05 ;ƔC*e code=0146 elementURI="VerticalControl.stopOverrideDelayBuoy" type=01 *a code=00DF owner=000F element=0146 universal=3FFF unitName="minute" type=0B size=0003 fl=05 CƔRD*e code=0147 elementURI="VerticalControl.surfaceThreshold" type=01 *a code=00E0 owner=000F element=0147 universal=3FFF unitName="meter" type=0B size=0003 fl=05 LƔ?*e code=0148 elementURI="VerticalControl.useElevIntInDepthMode" type=01 *a code=00E1 owner=000F element=0148 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )PƔƿƔNLoaded Config Component "Config/ControlNƔZOpening Config file at: Config/Estimation.cfg*n code=0010 name="Config/Estimation" *e code=0149 elementURI="StratificationFrontDetector.loadAtStartup" type=01 *a code=00E2 owner=0010 element=0149 universal=3FFF unitName="bool" type=02 size=0001 fl=05 IƔ*e code=014A elementURI="StratificationFrontDetector.temperatureFront" type=01 *a code=00E3 owner=0010 element=014A universal=3FFF unitName="bool" type=02 size=0001 fl=05 iƔ*e code=014B elementURI="StratificationFrontDetector.salinityFront" type=01 *a code=00E4 owner=0010 element=014B universal=3FFF unitName="bool" type=02 size=0001 fl=05 Ɣ*e code=014C elementURI="StratificationFrontDetector.highWaterMark" type=01 *a code=00E5 owner=0010 element=014C universal=3FFF unitName="count" type=0D size=0004 fl=05 Ɣ*e code=014D elementURI="StratificationFrontDetector.threshold_VTHI" type=01 *a code=00E6 owner=0010 element=014D universal=3FFF unitName="celsius" type=0B size=0003 fl=05 ƔƈC*e code=014E elementURI="StratificationFrontDetector.threshold_VSHI" type=01 *a code=00E7 owner=0010 element=014E universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=05 Ɣ8*e code=014F elementURI="StratificationFrontDetector.verbosity" type=01 *a code=00E8 owner=0010 element=014F universal=3FFF unitName="count" type=0D size=0004 fl=05 Ɣ*e code=0150 elementURI="DepAvgTempFrontDetector.loadAtStartup" type=01 *a code=00E9 owner=0010 element=0150 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )Ɣ*e code=0151 elementURI="DepAvgTempFrontDetector.cntThreshold" type=01 *a code=00EA owner=0010 element=0151 universal=3FFF unitName="count" type=0D size=0004 fl=05 IƔ*e code=0152 elementURI="DepAvgTempFrontDetector.tempHoriGradThreshold" type=01 *a code=00EB owner=0010 element=0152 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 iƔC*e code=0153 elementURI="DepAvgTempFrontDetector.verbosity" type=01 *a code=00EC owner=0010 element=0153 universal=3FFF unitName="count" type=0D size=0004 fl=05 ƔƿǔTLoaded Config Component "Config/EstimationNǔLOpening Config file at: Config/BIT.cfg*n code=0011 name="Config/BIT" *e code=0154 elementURI="CBIT.loadAtStartup" type=01 *a code=00ED owner=0011 element=0154 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ǔ*e code=0155 elementURI="CBIT.simulateHardware" type=01 *a code=00EE owner=0011 element=0155 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ǔ*e code=0156 elementURI="CBIT.stopDepth" type=01 *a code=00EF owner=0011 element=0156 universal=3FFF unitName="meter" type=0B size=0003 fl=05 ǔC*e code=0157 elementURI="CBIT.abortDepth" type=01 *a code=00F0 owner=0011 element=0157 universal=3FFF unitName="meter" type=0B size=0003 fl=05 "ǔC*e code=0158 elementURI="CBIT.humidityThreshold" type=01 *a code=00F1 owner=0011 element=0158 universal=3FFF unitName="percent" type=0B size=0003 fl=05 )%ǔ ?*e code=0159 elementURI="CBIT.pressureThreshold" type=01 *a code=00F2 owner=0011 element=0159 universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=05 I*ǔE*e code=015A elementURI="CBIT.tempThreshold" type=01 *a code=00F3 owner=0011 element=015A universal=3FFF unitName="fahrenheit" type=0B size=0003 fl=05 i-ǔC*e code=015B elementURI="CBIT.abortDepthTimeout" type=01 *a code=00F4 owner=0011 element=015B universal=3FFF unitName="second" type=0B size=0003 fl=05 2ǔ@*e code=015C elementURI="CBIT.battFailReport" type=01 *a code=00F5 owner=0011 element=015C universal=3FFF unitName="count" type=0D size=0004 fl=05 6ǔ *e 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elementURI="WorkSite.verbosity" type=01 *a code=01CA owner=0013 element=0231 universal=3FFF unitName="count" type=0D size=0004 fl=05 I9˔ƿI˔TLoaded Config Component "Config/NavigationNJ˔ZOpening Config file at: Config/Derivation.cfg*n code=0014 name="Config/Derivation" *e code=0232 elementURI="DepthRateCalculator.loadAtStartup" type=01 *a code=01CB owner=0014 element=0232 universal=3FFF unitName="bool" type=02 size=0001 fl=05 i9Z˔*e code=0233 elementURI="TempGradientCalculator.loadAtStartup" type=01 *a code=01CC owner=0014 element=0233 universal=3FFF unitName="bool" type=02 size=0001 fl=05 9]˔*e code=0234 elementURI="TempGradientCalculator.binsizeDep" type=01 *a code=01CD owner=0014 element=0234 universal=3FFF unitName="meter" type=0B size=0003 fl=05 9`˔?*e code=0235 elementURI="TempGradientCalculator.depDeepBndForAvg" type=01 *a code=01CE owner=0014 element=0235 universal=3FFF unitName="meter" type=0B size=0003 fl=05 9c˔A*e code=0236 elementURI="TempGradientCalculator.depShallowBndForAvg" type=01 *a code=01CF owner=0014 element=0236 universal=3FFF unitName="meter" type=0B size=0003 fl=05 9f˔ A*e code=0237 elementURI="TempGradientCalculator.extensionDep" type=01 *a code=01D0 owner=0014 element=0237 universal=3FFF unitName="meter" type=0B size=0003 fl=05 :i˔@*e code=0238 elementURI="TempGradientCalculator.numConsecutiveDepths" type=01 *a code=01D1 owner=0014 element=0238 universal=3FFF unitName="count" type=0D size=0004 fl=05 ):l˔*e code=0239 elementURI="TempGradientCalculator.numProfilesGap" type=01 *a code=01D2 owner=0014 element=0239 universal=3FFF unitName="count" type=0D size=0004 fl=05 I:o˔*e code=023A elementURI="TempGradientCalculator.numProfilesLP" type=01 *a code=01D3 owner=0014 element=023A universal=3FFF unitName="count" type=0D size=0004 fl=05 i:q˔*e code=023B elementURI="TempGradientCalculator.threshDepChangeAbs" type=01 *a code=01D4 owner=0014 element=023B universal=3FFF unitName="meter" type=0B size=0003 fl=05 :t˔?*e code=023C elementURI="PitchRateCalculator.loadAtStartup" type=01 *a code=01D5 owner=0014 element=023C universal=3FFF unitName="bool" type=02 size=0001 fl=05 :x˔*e code=023D elementURI="SpeedCalculator.loadAtStartup" type=01 *a code=01D6 owner=0014 element=023D universal=3FFF unitName="bool" type=02 size=0001 fl=05 :{˔*e code=023E elementURI="SpeedCalculator.speedAccuracy" type=01 *a code=01D7 owner=0014 element=023E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 :}˔?*e code=023F elementURI="VerticalHomogeneityIndexCalculator.loadAtStartup" type=01 *a code=01D8 owner=0014 element=023F universal=3FFF unitName="bool" type=02 size=0001 fl=05 ;˔*e code=0240 elementURI="VerticalHomogeneityIndexCalculator.depth1" type=01 *a code=01D9 owner=0014 element=0240 universal=3FFF unitName="meter" type=0B size=0003 fl=05 );˔@*e code=0241 elementURI="VerticalHomogeneityIndexCalculator.depth2" type=01 *a code=01DA owner=0014 element=0241 universal=3FFF 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code=01E0 owner=0014 element=0247 universal=3FFF unitName="bool" type=02 size=0001 fl=05 <˔*e code=0248 elementURI="ElevatorOffsetCalculator.loadAtStartup" type=01 *a code=01E1 owner=0014 element=0248 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )<˔*e code=0249 elementURI="ElevatorOffsetCalculator.targetConfidenceLevel" type=01 *a code=01E2 owner=0014 element=0249 universal=3FFF unitName="percent" type=0B size=0003 fl=05 I<˔?*e code=024A elementURI="ElevatorOffsetCalculator.targetErrorBound" type=01 *a code=01E3 owner=0014 element=024A universal=3FFF unitName="degree" type=2F size=0004 fl=05 i<˔:*e code=024B elementURI="ElevatorOffsetCalculator.verbosity" type=01 *a code=01E4 owner=0014 element=024B universal=3FFF unitName="count" type=0D size=0004 fl=05 <˔ƿ̔TLoaded Config Component "Config/DerivationN̔ROpening Config file at: Config/logger.cfg*n code=0015 name="Config/logger" ƿ̔LLoaded Config Component "Config/loggerN̔ROpening Config file at: Config/secure.cfg*n code=0016 name="Config/secure" *e code=024C elementURI="Vehicle.dashIP" type=01 *a code=01E5 owner=0016 element=024C universal=3FFF unitName="none" type=00 size=000B fl=05 <̔ 134.89.2.23*e code=024D elementURI="Vehicle.dashPath" type=01 *a code=01E6 owner=0016 element=024D universal=3FFF unitName="none" type=00 size=000B fl=05 <̔ /TethysDash*e code=024E elementURI="Vehicle.dashPort" type=01 *a code=01E7 owner=0016 element=024E universal=3FFF unitName="none" type=00 size=0003 fl=05 <̔443*e code=024F elementURI="Vehicle.dashSSL" type=01 *a code=01E8 owner=0016 element=024F universal=3FFF unitName="bool" type=02 size=0001 fl=05 =͔*e code=0250 elementURI="Vehicle.hostname" type=01 *a code=01E9 owner=0016 element=0250 universal=3FFF unitName="none" type=00 size=0009 fl=05 )=͔ localhost*e code=0251 elementURI="Vehicle.imei" type=01 *a code=01EA owner=0016 element=0251 universal=3FFF unitName="none" type=00 size=000F fl=05 I=͔000000000000000*e code=0252 elementURI="Vehicle.imeiPassword" type=01 *a code=01EB owner=0016 element=0252 universal=3FFF unitName="none" type=00 size=0000 fl=05 i= ͔*e code=0253 elementURI="Vehicle.keyText" type=01 *a code=01EC owner=0016 element=0253 universal=3FFF unitName="none" type=00 size=0010 fl=05 = ͔TethysEncryptionƿQ͔LLoaded Config Component "Config/secureNR͔NOpening Config file at: Config/Dock.cfg*n code=0017 name="Config/Dock" *e code=0254 elementURI="Dock.lat" type=01 *a code=01ED owner=0017 element=0254 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 =a͔mp$?*e code=0255 elementURI="Dock.lon" type=01 *a code=01EE owner=0017 element=0255 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 =d͔*e code=0256 elementURI="Dock.depth" type=01 *a code=01EF owner=0017 element=0256 universal=3FFF unitName="meter" type=0B size=0003 fl=05 =g͔@@*e code=0257 elementURI="Dock.transponderCode" type=01 *a code=01F0 owner=0017 element=0257 universal=3FFF unitName="count" type=0D size=0004 fl=05 >j͔*e code=0258 elementURI="Docked.dockingDepthOffset" type=01 *a code=01F1 owner=0017 element=0258 universal=3FFF unitName="meter" type=0B size=0003 fl=05 )>n͔@*e code=0259 elementURI="Docked.dockRange" type=01 *a code=01F2 owner=0017 element=0259 universal=3FFF unitName="meter" type=0B size=0003 fl=05 I>r͔A*e code=025A elementURI="Docked.dockPitch" type=01 *a code=01F3 owner=0017 element=025A universal=3FFF unitName="degree" type=2F size=0004 fl=05 i>u͔¸>*e code=025B elementURI="Docked.detachTimeout" type=01 *a code=01F4 owner=0017 element=025B universal=3FFF unitName="second" type=0B size=0003 fl=05 >z͔C*e code=025C elementURI="Docked.dockTimeout" type=01 *a code=01F5 owner=0017 element=025C universal=3FFF unitName="second" type=0B size=0003 fl=05 >͔A*e code=025D elementURI="Docked.dataTimeout" type=01 *a code=01F6 owner=0017 element=025D universal=3FFF unitName="second" type=0B size=0003 fl=05 >͔D*e code=025E elementURI="Docked.verbose" type=01 *a code=01F7 owner=0017 element=025E universal=3FFF unitName="bool" type=02 size=0001 fl=05 >͔*e code=025F elementURI="LineCapture.midcourseSpeed" type=01 *a code=01F8 owner=0017 element=025F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 ?͔?*e code=0260 elementURI="LineCapture.midcourseDepth" type=01 *a code=01F9 owner=0017 element=0260 universal=3FFF unitName="meter" type=0B size=0003 fl=05 )?͔@*e code=0261 elementURI="LineCapture.midcourseTimeout" type=01 *a code=01FA owner=0017 element=0261 universal=3FFF unitName="hour" type=0B size=0003 fl=05 I?͔F*e code=0262 elementURI="LineCapture.terminalRange" type=01 *a code=01FB owner=0017 element=0262 universal=3FFF unitName="meter" type=0B size=0003 fl=05 i?͔"D*e code=0263 elementURI="LineCapture.acousticTimeout" type=01 *a code=01FC owner=0017 element=0263 universal=3FFF unitName="minute" type=0B size=0003 fl=05 ?͔C*e code=0264 elementURI="LineCapture.armRange" type=01 *a code=01FD owner=0017 element=0264 universal=3FFF unitName="meter" type=0B size=0003 fl=05 ?͔ B*e 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elementURI="MassServo.powerOnTimeout" type=01 *a code=0249 owner=0018 element=02B0 universal=3FFF unitName="second" type=0B size=0003 fl=05 )ImєL?*e code=02B1 elementURI="MassServo.velocity" type=01 *a code=024A owner=0018 element=02B1 universal=3FFF unitName="none" type=1F size=0008 fl=05 IIrєA*e code=02B2 elementURI="MassServo.deviationDistance" type=01 *a code=024B owner=0018 element=02B2 universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 iIvєQ8*e code=02B3 elementURI="MassServo.tksPerMM" type=01 *a code=024C owner=0018 element=02B3 universal=3FFF unitName="count_per_millimeter" type=0B size=0003 fl=05 IzєY&K*e code=02B4 elementURI="MassServo.totalTks" type=01 *a code=024D owner=0018 element=02B4 universal=3FFF unitName="count" type=0D size=0004 fl=05 I~є*e code=02B5 elementURI="RudderServo.loadAtStartup" type=01 *a code=024E owner=0018 element=02B5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Iє*e code=02B6 elementURI="RudderServo.simulateHardware" type=01 *a 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elementURI="ThrusterHE.simulateHardware" type=01 *a code=025C owner=0018 element=02C3 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Kє*e code=02C4 elementURI="ThrusterHE.deviation" type=01 *a code=025D owner=0018 element=02C4 universal=3FFF unitName="count" type=0D size=0004 fl=05 Kє*e code=02C5 elementURI="ThrusterHE.allowableBadVelocity" type=01 *a code=025E owner=0018 element=02C5 universal=3FFF unitName="count" type=0D size=0004 fl=05 Kє*e code=02C6 elementURI="ThrusterHE.ratedSpeed" type=01 *a code=025F owner=0018 element=02C6 universal=3FFF unitName="count" type=0D size=0004 fl=05 KєX*e code=02C7 elementURI="ThrusterHE.powerOnTimeout" type=01 *a code=0260 owner=0018 element=02C7 universal=3FFF unitName="second" type=0B size=0003 fl=05 Lє>*e code=02C8 elementURI="ThrusterServo.loadAtStartup" type=01 *a code=0261 owner=0018 element=02C8 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )Lє*e code=02C9 elementURI="ThrusterServo.simulateHardware" type=01 *a code=0262 owner=0018 element=02C9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ILє*e code=02CA elementURI="ThrusterServo.accel" type=01 *a code=0263 owner=0018 element=02CA universal=3FFF unitName="none" type=1F size=0008 fl=05 iLє?*e code=02CB elementURI="ThrusterServo.currLimit" type=01 *a code=0264 owner=0018 element=02CB universal=3FFF unitName="percent" type=0B size=0003 fl=05 Lє?*e code=02CC elementURI="ThrusterServo.overloadTimeout" type=01 *a code=0265 owner=0018 element=02CC universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 Lє?*e code=02CD elementURI="ThrusterServo.pidW" type=01 *a code=0266 owner=0018 element=02CD universal=3FFF unitName="count" type=0D size=0004 fl=05 Lє@*e code=02CE elementURI="ThrusterServo.pidX" type=01 *a code=0267 owner=0018 element=02CE universal=3FFF unitName="count" type=0D size=0004 fl=05 Lєd*e code=02CF elementURI="ThrusterServo.pidY" type=01 *a code=0268 owner=0018 element=02CF universal=3FFF unitName="count" type=0D size=0004 fl=05 Mє`*e code=02D0 elementURI="ThrusterServo.powerOnTimeout" type=01 *a code=0269 owner=0018 element=02D0 universal=3FFF unitName="second" type=0B size=0003 fl=05 )Mє?*e code=02D1 elementURI="ThrusterServo.allowableBadVelocity" type=01 *a code=026A owner=0018 element=02D1 universal=3FFF unitName="count" type=0D size=0004 fl=05 IMє*e code=02D2 elementURI="ThrusterServo.deviation" type=01 *a code=026B owner=0018 element=02D2 universal=3FFF unitName="count" type=0D size=0004 fl=05 iMє*e code=02D3 elementURI="ThrusterServo.encoderTks" type=01 *a code=026C owner=0018 element=02D3 universal=3FFF unitName="count_per_second" type=0B size=0003 fl=05 MєB*e code=02D4 elementURI="ThrusterServo.tksPerRev" type=01 *a code=026D owner=0018 element=02D4 universal=3FFF unitName="count_per_revolution" type=0B size=0003 fl=05 Mє@ƿ9ҔJLoaded Config Component "Config/ServoN:ҔVOpening Config file at: Config/Guidance.cfg*n code=0019 name="Config/Guidance" NҔVOpening Config file at: Config/workSite.cfg*n code=001A 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unitName="angular_degree" type=1F size=0008 fl=05 iNҔtg!Eu*e code=02DB elementURI="Config/workSite.beaconDepth" type=00 *a code=0274 owner=001A element=02DB universal=3FFF unitName="meter" type=1F size=0008 fl=05 NҔ9@*e code=02DC elementURI="Config/workSite.beacon2Lat" type=00 *a code=0275 owner=001A element=02DC universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 NҔN攧?*e code=02DD elementURI="Config/workSite.beacon2Lon" type=00 *a code=0276 owner=001A element=02DD universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 NҔ~I*e code=02DE elementURI="Config/workSite.beacon2Depth" type=00 *a code=0277 owner=001A element=02DE universal=3FFF unitName="meter" type=1F size=0008 fl=05 NҔ9@*e code=02DF elementURI="Config/workSite.beacon3Lat" type=00 *a code=0278 owner=001A element=02DF universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 OҔN攧?*e code=02E0 elementURI="Config/workSite.beacon3Lon" type=00 *a code=0279 owner=001A element=02E0 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 )OҔv*e code=02E1 elementURI="Config/workSite.beacon3Depth" type=00 *a code=027A owner=001A element=02E1 universal=3FFF unitName="meter" type=1F size=0008 fl=05 IOҔ9@ƿӔPLoaded Config Component "Config/workSiteNӔROpening Config file at: Config/Sensor.cfg*n code=001B name="Config/Sensor" *e code=02E2 elementURI="AHRS_M2.loadAtStartup" type=01 *a code=027B owner=001B element=02E2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 iO"Ӕ*e code=02E3 elementURI="AHRS_M2.simulateHardware" type=01 *a code=027C owner=001B element=02E3 universal=3FFF unitName="bool" type=02 size=0001 fl=05 O%Ӕ*e code=02E4 elementURI="AHRS_M2.boresightMatrix" type=01 *a code=027D owner=001B element=02E4 universal=3FFF unitName="none" type=00 size=002F fl=05 O+Ӕ/f0.0 f0.0 f-1.0 f0.0 f-1.0 f0.0 f-1.0 f0.0 f0.0*e code=02E5 elementURI="AHRS_M2.magDeviation" type=01 *a code=027E owner=001B element=02E5 universal=3FFF unitName="degree" type=2F size=0004 fl=05 O/Ӕ*e 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owner=001B element=02F8 universal=3FFF unitName="count" type=0D size=0004 fl=05 )RnӔ*e code=02F9 elementURI="BackseatComponent.loadAtStartup" type=01 *a code=0292 owner=001B element=02F9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 IRqӔ*e code=02FA elementURI="BackseatComponent.simulateHardware" type=01 *a code=0293 owner=001B element=02FA universal=3FFF unitName="bool" type=02 size=0001 fl=05 iRtӔ*e code=02FB elementURI="BackseatComponent.shutdownCmd" type=01 *a code=0294 owner=001B element=02FB universal=3FFF unitName="none" type=00 size=0008 fl=05 RwӔshutdown*e code=02FC elementURI="BackseatComponent.lcmListenerTimeout" type=01 *a code=0295 owner=001B element=02FC universal=3FFF unitName="second" type=0B size=0003 fl=05 RzӔ @*e code=02FD elementURI="BackseatComponent.verbosity" type=01 *a code=0296 owner=001B element=02FD universal=3FFF unitName="count" type=0D size=0004 fl=05 R}Ӕ*e code=02FE elementURI="BPC1.loadAtStartup" type=01 *a code=0297 owner=001B element=02FE 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unitName="reciprocal_meter_per_steradian_count" type=0B size=0003 fl=05 q=ה4*e code=03F7 elementURI="WetLabsSeaOWL_UV_A.scaleFactorChl" type=01 *a code=0390 owner=001C element=03F7 universal=3FFF unitName="microgram_per_liter_per_count" type=0B size=0003 fl=05 r@ה6;*e code=03F8 elementURI="WetLabsSeaOWL_UV_A.scaleFactorFDOM" type=01 *a code=0391 owner=001C element=03F8 universal=3FFF unitName="part_per_billion_per_count" type=0B size=0003 fl=05 )rBהm-*e code=03F9 elementURI="WetLabsSeaOWL_UV_A.scaleFactorOil" type=01 *a code=0392 owner=001C element=03F9 universal=3FFF unitName="part_per_billion_per_count" type=0B size=0003 fl=05 IrEהj@1*e code=03FA elementURI="WetLabsSeaOWL_UV_A.serial" type=01 *a code=0393 owner=001C element=03FA universal=3FFF unitName="none" type=00 size=0000 fl=05 irHה*e code=03FB elementURI="WetLabsSeaOWL_UV_A.timeout" type=01 *a code=0394 owner=001C element=03FB universal=3FFF unitName="second" type=0B size=0003 fl=05 rJהpA*e code=03FC elementURI="WetLabsUBAT.loadAtStartup" type=01 *a code=0395 owner=001C element=03FC universal=3FFF unitName="bool" type=02 size=0001 fl=05 rMה*e code=03FD elementURI="WetLabsUBAT.simulateHardware" type=01 *a code=0396 owner=001C element=03FD universal=3FFF unitName="bool" type=02 size=0001 fl=05 rOה*e code=03FE elementURI="WetLabsUBAT.serial" type=01 *a code=0397 owner=001C element=03FE universal=3FFF unitName="none" type=00 size=0008 fl=05 rRהUBAT####*e code=03FF elementURI="WetLabsUBAT.flowrateCalibCoeff" type=01 *a code=0398 owner=001C element=03FF universal=3FFF unitName="none_float" type=0F size=0004 fl=05 sVה9*e code=0400 elementURI="WetLabsUBAT.minFlowrate" type=01 *a code=0399 owner=001C element=0400 universal=3FFF unitName="liter_per_second" type=0B size=0003 fl=05 )sZהQ8*e code=0401 elementURI="WetLabsUBAT.optionalArgs" type=01 *a code=039A owner=001C element=0401 universal=3FFF unitName="none" type=00 size=0000 fl=05 Is\ה*e code=0402 elementURI="WetLabsUBAT.emulateHardware" type=01 *a code=039B owner=001C element=0402 universal=3FFF unitName="bool" type=02 size=0001 fl=05 is^הƿהNLoaded Config Component "Config/ScienceNהxLooking for Config files in directory: Config/lrauv-polaris/NהpOpening Config file at: Config/lrauv-polaris/vehicle.cfgהpolaris ?ה)הff66FF66iה12228Iה176853?ה?הה /dev/ttyTX0?ה ה /dev/ttyTX2)?הה /dev/loadC7ؔ /dev/ttyC7 ?ؔiؔ /dev/loadC5ؔ /dev/ttyC5?ؔ) ؔ /dev/loadC4I ؔ /dev/ttyC4i ? ؔIؔ /dev/loadC3iؔ /dev/ttyC3?ؔ)ؔ /dev/loadC2Iؔ /dev/ttyC2i?ؔ ؔ /dev/loadC0 ؔ/dev/mcp3553C0 ?ؔ ?ؔ)?ؔ !ؔ /dev/loadB7 "ؔ /dev/ttyS2 ?$ؔ)(ؔ /dev/loadB6 *ؔ /dev/loadB5)+ؔ /dev/ttyB5I?-ؔ.ؔ /dev/loadB3I0ؔ /dev/loadB2i2ؔ /dev/ttyB2*e code=0403 elementURI="RDI_PathfinderUp.loadControl" type=01 *a code=039C owner=000D element=0403 universal=3FFF unitName="none" type=00 size=000B fl=05 s6ؔ /dev/loadB1*e code=0404 elementURI="RDI_PathfinderUp.uart" type=01 *a code=039D owner=000D element=0404 universal=3FFF unitName="none" type=00 size=000A fl=05 s9ؔ /dev/ttyB1*e code=0405 elementURI="RDI_PathfinderUp.baud" type=01 *a code=039E owner=000D element=0405 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 s<ؔ @) >ؔ /dev/loadB0I ?ؔ/dev/mcp3553B0i ?Aؔ ?Bؔ ?Dؔ*e code=0406 elementURI="GobyModem.loadControl" type=01 *a code=039F owner=000D element=0406 universal=3FFF unitName="none" type=00 size=000B fl=05 sGؔ /dev/loadA7*e code=0407 elementURI="GobyModem.uart" type=01 *a code=03A0 owner=000D element=0407 universal=3FFF unitName="none" type=00 size=000A fl=05 tJؔ /dev/ttyA5*e code=0408 elementURI="GobyModem.baud" type=01 *a code=03A1 owner=000D element=0408 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 )tNؔ@I Pؔ /dev/loadA7i Qؔ /dev/loadB3 Sؔ /dev/ttyA7 ?Tؔ Vؔ /dev/loadA5 Xؔ /dev/ttyA5) ?Yؔ [ؔ /dev/loadA4 \ؔ /dev/ttyA4) ?^ؔ `ؔ /dev/loadA3)aؔ /dev/ttyA3I?cؔIeؔ /dev/loadA2ifؔ /dev/ttyA2?hؔiؔ /dev/loadA1kؔ /dev/ttyA1 ?lؔNؔpOpening Config file at: Config/lrauv-polaris/Control.cfgؔ'9ؔBiؔ 9*e code=0409 elementURI="VeritcalControl.buoyancyLimitHiCC" type=01 *a code=03A2 owner=000F element=0409 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 ItؔG:)ؔ y:Iؔ;ؔ+=ؔԼNٔvOpening Config file at: Config/lrauv-polaris/Estimation.cfgI)ٔi+ٔ-ٔ?/ٔ?1ٔ?3ٔ 5ٔ)?7ٔI?9ٔi?;ٔ?=ٔNٔhOpening Config file at: Config/lrauv-polaris/BIT.cfg?ٔٔٔPA ٔAIٔٔ A ٔZ49i!?ٔ!ٔ2.6.27.8!ٔ'#2 PREEMPT Thu Jan 11 20:13:48 PST 2018!?ٔNٔpOpening Config file at: Config/lrauv-polaris/Battery.cfg*n code=001D name="Config/Battery" *e code=040A elementURI="Config/Battery.stick1" type=00 *a code=03A3 owner=001D element=040A universal=3FFF unitName="none" type=00 size=0004 fl=05 itٔ0165*e code=040B elementURI="Config/Battery.stick2" type=00 *a code=03A4 owner=001D element=040B universal=3FFF unitName="none" type=00 size=0004 fl=05 tٔ0135*e code=040C elementURI="Config/Battery.stick3" type=00 *a code=03A5 owner=001D element=040C universal=3FFF unitName="none" type=00 size=0004 fl=05 tڔ0149*e code=040D elementURI="Config/Battery.stick4" type=00 *a code=03A6 owner=001D element=040D universal=3FFF unitName="none" type=00 size=0004 fl=05 tڔ0146*e code=040E elementURI="Config/Battery.stick5" type=00 *a code=03A7 owner=001D element=040E universal=3FFF unitName="none" type=00 size=0004 fl=05 tڔ013D*e code=040F elementURI="Config/Battery.stick6" type=00 *a code=03A8 owner=001D element=040F universal=3FFF unitName="none" type=00 size=0004 fl=05 u ڔ014D*e code=0410 elementURI="Config/Battery.stick7" type=00 *a code=03A9 owner=001D element=0410 universal=3FFF unitName="none" type=00 size=0004 fl=05 )u ڔ0156*e code=0411 elementURI="Config/Battery.stick8" type=00 *a code=03AA owner=001D element=0411 universal=3FFF unitName="none" type=00 size=0004 fl=05 Iuڔ0133*e code=0412 elementURI="Config/Battery.stick9" type=00 *a code=03AB owner=001D element=0412 universal=3FFF unitName="none" type=00 size=0004 fl=05 iuڔ0131*e code=0413 elementURI="Config/Battery.stick10" type=00 *a code=03AC owner=001D element=0413 universal=3FFF unitName="none" type=00 size=0004 fl=05 uڔ0145*e code=0414 elementURI="Config/Battery.stick11" type=00 *a code=03AD owner=001D element=0414 universal=3FFF unitName="none" type=00 size=0004 fl=05 uڔ014A*e code=0415 elementURI="Config/Battery.stick12" type=00 *a code=03AE owner=001D element=0415 universal=3FFF unitName="none" type=00 size=0004 fl=05 uڔ013C*e code=0416 elementURI="Config/Battery.stick13" type=00 *a code=03AF owner=001D element=0416 universal=3FFF unitName="none" type=00 size=0004 fl=05 uڔ013B*e code=0417 elementURI="Config/Battery.stick14" type=00 *a code=03B0 owner=001D element=0417 universal=3FFF unitName="none" type=00 size=0004 fl=05 v!ڔ0132*e code=0418 elementURI="Config/Battery.stick15" type=00 *a code=03B1 owner=001D element=0418 universal=3FFF unitName="none" type=00 size=0004 fl=05 )v$ڔ0134*e code=0419 elementURI="Config/Battery.stick16" type=00 *a code=03B2 owner=001D element=0419 universal=3FFF unitName="none" type=00 size=0004 fl=05 Iv'ڔ0153*e code=041A elementURI="Config/Battery.stick17" type=00 *a code=03B3 owner=001D element=041A universal=3FFF unitName="none" type=00 size=0004 fl=05 iv*ڔ014B*e code=041B elementURI="Config/Battery.stick18" type=00 *a code=03B4 owner=001D element=041B universal=3FFF unitName="none" type=00 size=0004 fl=05 v-ڔ013A*e code=041C elementURI="Config/Battery.stick19" type=00 *a code=03B5 owner=001D element=041C universal=3FFF unitName="none" type=00 size=0004 fl=05 v0ڔ0136*e code=041D elementURI="Config/Battery.stick20" type=00 *a code=03B6 owner=001D element=041D universal=3FFF unitName="none" type=00 size=0004 fl=05 v3ڔ014F*e code=041E elementURI="Config/Battery.stick21" type=00 *a code=03B7 owner=001D element=041E universal=3FFF unitName="none" type=00 size=0004 fl=05 v6ڔ014E*e code=041F elementURI="Config/Battery.stick22" type=00 *a code=03B8 owner=001D element=041F universal=3FFF unitName="none" type=00 size=0004 fl=05 w9ڔ013F*e code=0420 elementURI="Config/Battery.stick23" type=00 *a code=03B9 owner=001D element=0420 universal=3FFF unitName="none" type=00 size=0004 fl=05 )w<ڔ0152*e code=0421 elementURI="Config/Battery.stick24" type=00 *a code=03BA owner=001D element=0421 universal=3FFF unitName="none" type=00 size=0004 fl=05 Iw?ڔ014C*e code=0422 elementURI="Config/Battery.stick25" type=00 *a code=03BB owner=001D element=0422 universal=3FFF unitName="none" type=00 size=0004 fl=05 iwCڔ016B*e code=0423 elementURI="Config/Battery.stick26" type=00 *a code=03BC owner=001D element=0423 universal=3FFF unitName="none" type=00 size=0004 fl=05 wFڔ0141*e code=0424 elementURI="Config/Battery.stick27" type=00 *a code=03BD owner=001D element=0424 universal=3FFF unitName="none" type=00 size=0004 fl=05 wIڔ0139*e code=0425 elementURI="Config/Battery.stick28" type=00 *a code=03BE owner=001D element=0425 universal=3FFF unitName="none" type=00 size=0004 fl=05 wLڔ0137*e code=0426 elementURI="Config/Battery.stick29" type=00 *a code=03BF owner=001D element=0426 universal=3FFF unitName="none" type=00 size=0004 fl=05 wOڔ0142*e code=0427 elementURI="Config/Battery.stick30" type=00 *a code=03C0 owner=001D element=0427 universal=3FFF unitName="none" type=00 size=0004 fl=05 xRڔ013E*e code=0428 elementURI="Config/Battery.stick31" type=00 *a code=03C1 owner=001D element=0428 universal=3FFF unitName="none" type=00 size=0004 fl=05 )xUڔ0147*e code=0429 elementURI="Config/Battery.stick32" type=00 *a code=03C2 owner=001D element=0429 universal=3FFF unitName="none" type=00 size=0004 fl=05 IxYڔ0140*e code=042A elementURI="Config/Battery.stick33" type=00 *a code=03C3 owner=001D element=042A universal=3FFF unitName="none" type=00 size=0004 fl=05 ix\ڔ0163*e code=042B elementURI="Config/Battery.stick34" type=00 *a code=03C4 owner=001D element=042B universal=3FFF unitName="none" type=00 size=0004 fl=05 x_ڔ0157*e code=042C elementURI="Config/Battery.stick35" type=00 *a code=03C5 owner=001D element=042C universal=3FFF unitName="none" type=00 size=0004 fl=05 xbڔ0159*e code=042D elementURI="Config/Battery.stick36" type=00 *a code=03C6 owner=001D element=042D universal=3FFF unitName="none" type=00 size=0004 fl=05 xeڔ016E*e code=042E elementURI="Config/Battery.stick37" type=00 *a code=03C7 owner=001D element=042E universal=3FFF unitName="none" type=00 size=0004 fl=05 xhڔ0160*e code=042F elementURI="Config/Battery.stick38" type=00 *a code=03C8 owner=001D element=042F universal=3FFF unitName="none" type=00 size=0004 fl=05 ykڔ015C*e code=0430 elementURI="Config/Battery.stick39" type=00 *a code=03C9 owner=001D element=0430 universal=3FFF unitName="none" type=00 size=0004 fl=05 )ynڔ016D*e code=0431 elementURI="Config/Battery.stick40" type=00 *a code=03CA owner=001D element=0431 universal=3FFF unitName="none" type=00 size=0004 fl=05 Iyrڔ012D*e code=0432 elementURI="Config/Battery.stick41" type=00 *a code=03CB owner=001D element=0432 universal=3FFF unitName="none" type=00 size=0004 fl=05 iyuڔ015E*e code=0433 elementURI="Config/Battery.stick42" type=00 *a code=03CC owner=001D element=0433 universal=3FFF unitName="none" type=00 size=0004 fl=05 yxڔ0164*e code=0434 elementURI="Config/Battery.stick43" type=00 *a code=03CD owner=001D element=0434 universal=3FFF unitName="none" type=00 size=0004 fl=05 y{ڔ015B*e code=0435 elementURI="Config/Battery.stick44" type=00 *a code=03CE owner=001D element=0435 universal=3FFF unitName="none" type=00 size=0004 fl=05 y~ڔ0172*e code=0436 elementURI="Config/Battery.stick45" type=00 *a code=03CF owner=001D element=0436 universal=3FFF unitName="none" type=00 size=0004 fl=05 yڔ0166*e code=0437 elementURI="Config/Battery.stick46" type=00 *a code=03D0 owner=001D element=0437 universal=3FFF unitName="none" type=00 size=0004 fl=05 zڔ0170*e code=0438 elementURI="Config/Battery.stick47" type=00 *a code=03D1 owner=001D element=0438 universal=3FFF unitName="none" type=00 size=0004 fl=05 )zڔ0148*e code=0439 elementURI="Config/Battery.stick48" type=00 *a code=03D2 owner=001D element=0439 universal=3FFF unitName="none" type=00 size=0004 fl=05 Izڔ0130*e code=043A elementURI="Config/Battery.stick49" type=00 *a code=03D3 owner=001D element=043A universal=3FFF unitName="none" type=00 size=0004 fl=05 izڔ0169*e code=043B elementURI="Config/Battery.stick50" type=00 *a code=03D4 owner=001D element=043B universal=3FFF unitName="none" type=00 size=0004 fl=05 zڔ0158*e code=043C elementURI="Config/Battery.stick51" type=00 *a code=03D5 owner=001D element=043C universal=3FFF unitName="none" type=00 size=0004 fl=05 zڔ0162*e code=043D elementURI="Config/Battery.stick52" type=00 *a code=03D6 owner=001D element=043D universal=3FFF unitName="none" type=00 size=0004 fl=05 zڔ0150*e code=043E elementURI="Config/Battery.stick53" type=00 *a code=03D7 owner=001D element=043E universal=3FFF unitName="none" type=00 size=0004 fl=05 zڔ015F*e code=043F elementURI="Config/Battery.stick54" type=00 *a code=03D8 owner=001D element=043F universal=3FFF unitName="none" type=00 size=0004 fl=05 {ڔ0171*e code=0440 elementURI="Config/Battery.stick55" type=00 *a code=03D9 owner=001D element=0440 universal=3FFF unitName="none" type=00 size=0004 fl=05 ){ڔ0143*e code=0441 elementURI="Config/Battery.stick56" type=00 *a code=03DA owner=001D element=0441 universal=3FFF unitName="none" type=00 size=0004 fl=05 I{ڔ0144*e code=0442 elementURI="Config/Battery.stick57" type=00 *a code=03DB owner=001D element=0442 universal=3FFF unitName="none" type=00 size=0004 fl=05 i{ڔ016A*e code=0443 elementURI="Config/Battery.stick58" type=00 *a code=03DC owner=001D element=0443 universal=3FFF unitName="none" type=00 size=0004 fl=05 {ڔ0155*e code=0444 elementURI="Config/Battery.stick59" type=00 *a code=03DD owner=001D element=0444 universal=3FFF unitName="none" type=00 size=0004 fl=05 {ڔ0151*e code=0445 elementURI="Config/Battery.stick60" type=00 *a code=03DE owner=001D element=0445 universal=3FFF unitName="none" type=00 size=0004 fl=05 {ڔ0154*e code=0446 elementURI="Config/Battery.stick61" type=00 *a code=03DF owner=001D element=0446 universal=3FFF unitName="none" type=00 size=0004 fl=05 {ڔ0161*e code=0447 elementURI="Config/Battery.stick62" type=00 *a code=03E0 owner=001D element=0447 universal=3FFF unitName="none" type=00 size=0004 fl=05 |ڔ0138ƿ۔NLoaded Config Component "Config/BatteryN ۔tOpening Config file at: Config/lrauv-polaris/Simulator.cfgI"?۔"۔N`۔vOpening Config file at: Config/lrauv-polaris/Navigation.cfg 3?l۔I3n۔d3p۔ 4s۔d6?u۔ 6?w۔I5?y۔4?{۔ 9|۔N۔vOpening Config file at: Config/lrauv-polaris/Derivation.cfgi9?۔9?ܔ9?ܔ9?ܔ9?ܔ :?ܔ):? ܔI:? ܔi:? ܔ:?ܔ:?ܔ:?ܔ:?ܔ ;ܔ);ܔ AI;ܔAi;ܔA;ܔ B;?!ܔ;?#ܔ;?%ܔ ?TݔNݔlOpening Config file at: Config/lrauv-polaris/Servo.cfgiB?ݔBݔBݔ% CݔDݔQ9F?ݔFݔ Gݔ?G?ݔIH?ݔiHݔI?ݔIݔ)Jݔ?J?ݔ)L?ݔILݔLݔ>N ޔrOpening Config file at: Config/lrauv-polaris/workSite.cfgMޔĶ4?MޔK8ҽ NޔMissions/Startup.xml)N"ޔ'Missions/underIce/DefaultWithUndock.xmlIN$ޔg5?iN&ޔY9KN'ޔ@N)ޔ>98?N+ޔ?N-ޔ@NsޔnOpening Config file at: Config/lrauv-polaris/Sensor.cfgiO?ޔOޔOޔ,f1.0 f0.0 f0.0 f0.0 f1.0 f0.0 f0.0 f0.0 f1.0IRޔiR?ޔR?ޔ Sޔ)U?ޔIU?ޔiUޔ BU?ޔUޔpBU?ޔiWޔW?ޔY?ޔYޔY?ޔY?ޔ ZޔPFIZޔ?8iZ?ޔZޔZ?ޔ Xޔ)Xޔi[?ޔ[ޔ[ޔbenthos_atm900[ޔ0[?ޔ \?ޔ)\ޔI\ޔi\ޔ\ޔ \?ޔi]ޔ4A1C0370\ޔ?\?ޔ]ޔ ]ޔ I^?ޔi^ޔ _?ޔI_ޔh@i_ޔh@_?ޔ_ޔ `ޔڢ@)`ޔ$cI`ޔ(#.i`ޔŏ1w-!O?`?ޔ`ޔF`?ޔ)aޔIaޔb?ޔbޔb?ޔbޔ cޔ)cߔIc?ߔNHߔpOpening Config file at: Config/lrauv-polaris/Science.cfgf?TߔfUߔ)g?Wߔ gXߔh?Zߔh\ߔiaߔ̮@ibߔGz jdߔ 1?)jfߔgipIjhߔT}%?ijiߔJph^ƾjkߔ;On?imxߔmyߔn{ߔUWQ8594m?ߔmߔfinߔ7C)oߔpߔpߔq?ߔq?ߔirߔr?ߔp?ߔpߔ1 q?ߔ)qߔ3Iq?ߔiq?ߔq?ߔqߔP4 rߔ0:)rߔ$-Irߔ[1^)nReading configuration overrides from Data/persisted.cfgi ,E)Y-7?0 A?1)@2zCI@?3I349I56A; ;6:FLoading Module at Modules/Sensor.so*n code=001E name="AHRS_M2" *e code=0448 elementURI="AHRS_M2.enableBroadcast" type=02 *a code=03E1 owner=001E element=0448 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=03E2 owner=001E element=02E3 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0449 elementURI="AHRS_M2.component_voltage" type=02 *a code=03E3 owner=001E element=0449 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=044A elementURI="AHRS_M2.component_avgVoltage" type=02 *a code=03E4 owner=001E element=044A universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=044B elementURI="AHRS_M2.component_current" type=02 *a code=03E5 owner=001E element=044B universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=044C elementURI="AHRS_M2.component_avgCurrent" type=02 *a code=03E6 owner=001E element=044C universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=03E7 owner=001E element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=03E8 owner=001E element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=03E9 owner=001E element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=044D elementURI="AHRS_M2.platform_magnetic_orientation" type=00 *a code=03EA owner=001E element=044D universal=0032 unitName="radian" type=2F size=0004 fl=05 *e code=044E elementURI="AHRS_M2.platform_pitch_angle" type=00 *a code=03EB owner=001E element=044E universal=0036 unitName="radian" type=2F size=0004 fl=05 *e code=044F elementURI="AHRS_M2.platform_roll_angle" type=00 *a code=03EC owner=001E element=044F universal=003B unitName="radian" type=2F size=0004 fl=05 *e code=0450 elementURI="AHRS_M2.platform_orientation" type=00 *a code=03ED owner=001E element=0450 universal=0034 unitName="radian" type=2F size=0004 fl=05 *e code=0451 elementURI="AHRS_M2.platform_orientation_matrix" type=12 blobType=11 fixedSize=0003,0003 *a code=03EE owner=001E element=0451 universal=0035 unitName="none" type=00 size=0000 fl=05 *e code=0452 elementURI="AHRS_M2.calibration_state" type=02 *a code=03EF owner=001E element=0452 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0453 elementURI="AHRS_M2.orientation_error" type=02 *a code=03F0 owner=001E element=0453 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0454 elementURI="AHRS_M2.orientation" type=02 *a code=03F1 owner=001E element=0454 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0455 elementURI="AHRS_M2.temperature" type=02 *a code=03F2 owner=001E element=0455 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0456 elementURI="AHRS_M2.acceleration_along_xyz" type=12 blobType=11 fixedSize=0003 *a code=03F3 owner=001E element=0456 universal=3FFF unitName="meter_per_second_squared" type=00 size=0000 fl=05 *e code=0457 elementURI="AHRS_M2.angular_velocity_along_xyz" type=12 blobType=11 fixedSize=0003 *a code=03F4 owner=001E element=0457 universal=3FFF unitName="radian_per_second" type=00 size=0000 fl=05 *e code=0458 elementURI="AHRS_M2.magnetic_field_along_xyz" type=12 blobType=11 fixedSize=0003 *a code=03F5 owner=001E element=0458 universal=3FFF unitName="milligauss" type=00 size=0000 fl=05 *e code=0459 elementURI="AHRS_M2.number_of_calbration_points" type=02 *a code=03F6 owner=001E element=0459 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=03F7 owner=001E element=02E4 universal=3FFF unitName="none" type=00 size=002C fl=04 *a code=03F8 owner=001E element=02E5 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=03F9 owner=001E element=02E6 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=03FA owner=001E element=02E8 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=03FB owner=001E element=02E9 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=03FC owner=001E element=02EA universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=03FD owner=001E element=02EB universal=3FFF unitName="count" type=0D size=0004 fl=04  ƿ lSyncComponent "AHRS_M2" handled in the control thread.*n code=001F name="BackseatComponent" *e code=045A elementURI="BackseatComponent.enableBroadcast" type=02 *a code=03FE owner=001F element=045A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=03FF owner=001F element=02FA universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=045B elementURI="BackseatComponent.component_voltage" type=02 *a code=0400 owner=001F element=045B universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=045C elementURI="BackseatComponent.component_avgVoltage" type=02 *a code=0401 owner=001F element=045C universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=045D elementURI="BackseatComponent.component_current" type=02 *a code=0402 owner=001F element=045D universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=045E elementURI="BackseatComponent.component_avgCurrent" type=02 *a code=0403 owner=001F element=045E universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=045F elementURI="BackseatComponent.power_backseat" type=02 *a code=0404 owner=001F element=045F universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0460 elementURI="BackseatComponent.handled_message" type=02 *a code=0405 owner=001F element=0460 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0406 owner=001F element=02FC universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0407 owner=001F element=02FB universal=3FFF unitName="none" type=00 size=0008 fl=04 *a code=0408 owner=001F element=02FD universal=3FFF unitName="count" type=0D size=0004 fl=04 LƿLpComponent "BackseatComponent" handled in its own thread.*n code=0020 name="BackseatComponent ThreadHandler" NDCreated PCaller Thread at 4079A4E0NBProtected caller Thread ID is 934*n code=0021 name="LcmUniversalReporter" *e code=0461 elementURI="LcmUniversalReporter.enableBroadcast" type=02 *a code=0409 owner=0021 element=0461 universal=3FFF unitName="bool" type=02 size=0001 fl=05 qQƿQSyncComponent "LcmUniversalReporter" handled in the control thread.*n code=0022 name="BPC1" *e code=0462 elementURI="BPC1.enableBroadcast" type=02 *a code=040A owner=0022 element=0462 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0463 elementURI="BPC1.reserve_battery_charge" type=02 *a code=040B owner=0022 element=0463 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0464 elementURI="BPC1.reserve_battery_voltage" type=02 *a code=040C owner=0022 element=0464 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=0465 elementURI="BPC1.platform_battery_charge" type=00 *a code=040D owner=0022 element=0465 universal=0023 unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0466 elementURI="BPC1.platform_battery_voltage" type=00 *a code=040E owner=0022 element=0466 universal=0026 unitName="volt" type=0B size=0003 fl=05 ^aD^>*a code=040F owner=0022 element=0177 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=04 *a code=0410 owner=0022 element=0178 universal=3FFF unitName="volt" type=0B size=0003 fl=04 *a code=0411 owner=0022 element=0301 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0412 owner=0022 element=0302 universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=0413 owner=0022 element=0303 universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=0414 owner=0022 element=0300 universal=3FFF unitName="count" type=0D size=0004 fl=04 *e code=0467 elementURI="BPC1.BattCapacity_1" type=00 *a code=0415 owner=0022 element=0467 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0468 elementURI="BPC1.BattCurrent_1" type=00 *a code=0416 owner=0022 element=0468 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=0469 elementURI="BPC1.BattStatus_1" type=00 *a code=0417 owner=0022 element=0469 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=046A elementURI="BPC1.BattTemp_1" type=00 *a code=0418 owner=0022 element=046A universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=046B elementURI="BPC1.BattVoltage_1" type=00 *a code=0419 owner=0022 element=046B universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=046C elementURI="BPC1.BattCapacity_2" type=00 *a code=041A owner=0022 element=046C universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=046D elementURI="BPC1.BattCurrent_2" type=00 *a code=041B owner=0022 element=046D universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=046E elementURI="BPC1.BattStatus_2" type=00 *a code=041C owner=0022 element=046E universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=046F elementURI="BPC1.BattTemp_2" type=00 *a code=041D owner=0022 element=046F universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0470 elementURI="BPC1.BattVoltage_2" type=00 *a code=041E owner=0022 element=0470 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=0471 elementURI="BPC1.BattCapacity_3" type=00 *a code=041F owner=0022 element=0471 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0472 elementURI="BPC1.BattCurrent_3" type=00 *a code=0420 owner=0022 element=0472 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=0473 elementURI="BPC1.BattStatus_3" type=00 *a code=0421 owner=0022 element=0473 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=0474 elementURI="BPC1.BattTemp_3" type=00 *a code=0422 owner=0022 element=0474 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0475 elementURI="BPC1.BattVoltage_3" type=00 *a code=0423 owner=0022 element=0475 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=0476 elementURI="BPC1.BattCapacity_4" type=00 *a code=0424 owner=0022 element=0476 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0477 elementURI="BPC1.BattCurrent_4" type=00 *a code=0425 owner=0022 element=0477 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=0478 elementURI="BPC1.BattStatus_4" type=00 *a code=0426 owner=0022 element=0478 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=0479 elementURI="BPC1.BattTemp_4" type=00 *a code=0427 owner=0022 element=0479 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=047A elementURI="BPC1.BattVoltage_4" type=00 *a code=0428 owner=0022 element=047A universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=047B elementURI="BPC1.BattCapacity_5" type=00 *a code=0429 owner=0022 element=047B universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=047C elementURI="BPC1.BattCurrent_5" type=00 *a code=042A owner=0022 element=047C universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=047D elementURI="BPC1.BattStatus_5" type=00 *a code=042B owner=0022 element=047D universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=047E elementURI="BPC1.BattTemp_5" type=00 *a code=042C owner=0022 element=047E universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=047F elementURI="BPC1.BattVoltage_5" type=00 *a code=042D owner=0022 element=047F universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=0480 elementURI="BPC1.BattCapacity_6" type=00 *a code=042E owner=0022 element=0480 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0481 elementURI="BPC1.BattCurrent_6" type=00 *a code=042F owner=0022 element=0481 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=0482 elementURI="BPC1.BattStatus_6" type=00 *a code=0430 owner=0022 element=0482 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=0483 elementURI="BPC1.BattTemp_6" type=00 *a code=0431 owner=0022 element=0483 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0484 elementURI="BPC1.BattVoltage_6" type=00 *a code=0432 owner=0022 element=0484 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=0485 elementURI="BPC1.BattCapacity_7" type=00 *a code=0433 owner=0022 element=0485 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0486 elementURI="BPC1.BattCurrent_7" type=00 *a code=0434 owner=0022 element=0486 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=0487 elementURI="BPC1.BattStatus_7" type=00 *a code=0435 owner=0022 element=0487 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=0488 elementURI="BPC1.BattTemp_7" type=00 *a code=0436 owner=0022 element=0488 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0489 elementURI="BPC1.BattVoltage_7" type=00 *a code=0437 owner=0022 element=0489 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=048A elementURI="BPC1.BattCapacity_8" type=00 *a code=0438 owner=0022 element=048A universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=048B elementURI="BPC1.BattCurrent_8" type=00 *a code=0439 owner=0022 element=048B universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=048C elementURI="BPC1.BattStatus_8" type=00 *a code=043A owner=0022 element=048C universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=048D elementURI="BPC1.BattTemp_8" type=00 *a code=043B owner=0022 element=048D universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=048E elementURI="BPC1.BattVoltage_8" type=00 *a code=043C owner=0022 element=048E universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=048F elementURI="BPC1.BattCapacity_9" type=00 *a code=043D owner=0022 element=048F universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0490 elementURI="BPC1.BattCurrent_9" type=00 *a code=043E owner=0022 element=0490 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=0491 elementURI="BPC1.BattStatus_9" type=00 *a code=043F owner=0022 element=0491 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=0492 elementURI="BPC1.BattTemp_9" type=00 *a code=0440 owner=0022 element=0492 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0493 elementURI="BPC1.BattVoltage_9" type=00 *a code=0441 owner=0022 element=0493 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=0494 elementURI="BPC1.BattCapacity_10" type=00 *a code=0442 owner=0022 element=0494 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0495 elementURI="BPC1.BattCurrent_10" type=00 *a code=0443 owner=0022 element=0495 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=0496 elementURI="BPC1.BattStatus_10" type=00 *a code=0444 owner=0022 element=0496 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=0497 elementURI="BPC1.BattTemp_10" type=00 *a code=0445 owner=0022 element=0497 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0498 elementURI="BPC1.BattVoltage_10" type=00 *a code=0446 owner=0022 element=0498 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=0499 elementURI="BPC1.BattCapacity_11" type=00 *a code=0447 owner=0022 element=0499 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=049A elementURI="BPC1.BattCurrent_11" type=00 *a code=0448 owner=0022 element=049A universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=049B elementURI="BPC1.BattStatus_11" type=00 *a code=0449 owner=0022 element=049B universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=049C elementURI="BPC1.BattTemp_11" type=00 *a code=044A owner=0022 element=049C universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=049D elementURI="BPC1.BattVoltage_11" type=00 *a code=044B owner=0022 element=049D universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=049E elementURI="BPC1.BattCapacity_12" type=00 *a code=044C owner=0022 element=049E universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=049F elementURI="BPC1.BattCurrent_12" type=00 *a code=044D owner=0022 element=049F universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=04A0 elementURI="BPC1.BattStatus_12" type=00 *a code=044E owner=0022 element=04A0 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=04A1 elementURI="BPC1.BattTemp_12" type=00 *a code=044F owner=0022 element=04A1 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=04A2 elementURI="BPC1.BattVoltage_12" type=00 *a code=0450 owner=0022 element=04A2 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=04A3 elementURI="BPC1.BattCapacity_13" type=00 *a code=0451 owner=0022 element=04A3 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=04A4 elementURI="BPC1.BattCurrent_13" type=00 *a code=0452 owner=0022 element=04A4 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=04A5 elementURI="BPC1.BattStatus_13" type=00 *a code=0453 owner=0022 element=04A5 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=04A6 elementURI="BPC1.BattTemp_13" type=00 *a code=0454 owner=0022 element=04A6 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=04A7 elementURI="BPC1.BattVoltage_13" type=00 *a code=0455 owner=0022 element=04A7 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=04A8 elementURI="BPC1.BattCapacity_14" type=00 *a code=0456 owner=0022 element=04A8 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=04A9 elementURI="BPC1.BattCurrent_14" type=00 *a code=0457 owner=0022 element=04A9 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=04AA elementURI="BPC1.BattStatus_14" type=00 *a code=0458 owner=0022 element=04AA universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=04AB elementURI="BPC1.BattTemp_14" type=00 *a code=0459 owner=0022 element=04AB universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=04AC elementURI="BPC1.BattVoltage_14" type=00 *a code=045A owner=0022 element=04AC universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=04AD elementURI="BPC1.BattCapacity_15" type=00 *a code=045B owner=0022 element=04AD universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=04AE elementURI="BPC1.BattCurrent_15" type=00 *a code=045C owner=0022 element=04AE universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=04AF elementURI="BPC1.BattStatus_15" type=00 *a code=045D owner=0022 element=04AF 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unitName="decibar" type=0B size=0003 fl=04 AƿAvSyncComponent "Depth_Keller" handled in the control thread.*n code=0027 name="DropWeight" *e code=05B1 elementURI="DropWeight.enableBroadcast" type=02 *a code=0570 owner=0027 element=05B1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=05B2 elementURI="DropWeight.dropWeightState" type=02 *a code=0571 owner=0027 element=05B2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 FƿFrSyncComponent "DropWeight" handled in the control thread.*n code=0028 name="DUSBL_Hydroid" *e code=05B3 elementURI="DUSBL_Hydroid.enableBroadcast" type=02 *a code=0572 owner=0028 element=05B3 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0573 owner=0028 element=0328 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=05B4 elementURI="DUSBL_Hydroid.component_voltage" type=02 *a code=0574 owner=0028 element=05B4 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=05B5 elementURI="DUSBL_Hydroid.component_avgVoltage" type=02 *a code=0575 owner=0028 element=05B5 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=05B6 elementURI="DUSBL_Hydroid.component_current" type=02 *a code=0576 owner=0028 element=05B6 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=05B7 elementURI="DUSBL_Hydroid.component_avgCurrent" type=02 *a code=0577 owner=0028 element=05B7 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0578 owner=0028 element=0330 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0579 owner=0028 element=032D universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=057A owner=0028 element=032C universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=057B owner=0028 element=032B universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=057C owner=0028 element=0331 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=057D owner=0028 element=0332 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=057E owner=0028 element=032A universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=057F owner=0028 element=0329 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0580 owner=0028 element=032E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=05B8 elementURI="DUSBL_Hydroid.pingRequested" type=02 *a code=0581 owner=0028 element=05B8 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0582 owner=0028 element=0061 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=05B9 elementURI="Micromodem.dusblPingCodeRequested" type=02 *a code=0583 owner=0028 element=05B9 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=05BA elementURI="DUSBL_Hydroid.xAngle" type=02 *a code=0584 owner=0028 element=05BA universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *e code=05BB elementURI="DUSBL_Hydroid.yAngle" type=02 *a code=0585 owner=0028 element=05BB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *e code=05BC elementURI="DUSBL_Hydroid.travelTime" type=02 *a code=0586 owner=0028 element=05BC universal=3FFF unitName="microsecond" type=0B size=0003 fl=05 *e code=05BD elementURI="DUSBL_Hydroid.latency" type=02 *a code=0587 owner=0028 element=05BD universal=3FFF unitName="microsecond" type=0B size=0003 fl=05 *e code=05BE elementURI="DUSBL_Hydroid.gain" type=02 *a code=0588 owner=0028 element=05BE universal=3FFF unitName="ratio" type=0B size=0003 fl=05 *e code=05BF elementURI="DUSBL_Hydroid.inBandSignalToNoise" type=02 *a code=0589 owner=0028 element=05BF universal=3FFF unitName="ratio" type=0B size=0003 fl=05 *e code=05C0 elementURI="DUSBL_Hydroid.outBandSignalToNoise" type=02 *a code=058A owner=0028 element=05C0 universal=3FFF unitName="ratio" type=0B size=0003 fl=05 *e code=05C1 elementURI="DUSBL_Hydroid.acoustic_contact_range" type=00 *a code=058B owner=0028 element=05C1 universal=0004 unitName="meter" type=0B size=0003 fl=05 *e code=05C2 elementURI="DUSBL_Hydroid.acoustic_contact_direction_vehicle_frame" type=12 blobType=11 fixedSize=0003 *a code=058C owner=0028 element=05C2 universal=0002 unitName="none" type=00 size=0000 fl=05 *e code=05C3 elementURI="DUSBL_Hydroid.acoustic_contact_address" type=00 *a code=058D owner=0028 element=05C3 universal=0003 unitName="enum" type=02 size=0001 fl=05 *e code=05C4 elementURI="DUSBL_Hydroid.acoustic_receive_time" type=00 *a code=058E owner=0028 element=05C4 universal=0000 unitName="epoch_second" type=0B size=0003 fl=05 1 tƿtxSyncComponent "DUSBL_Hydroid" handled in the control thread.*n code=0029 name="Micromodem" *e code=05C5 elementURI="Micromodem.enableBroadcast" type=02 *a code=058F owner=0029 element=05C5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0590 owner=0029 element=0349 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=05C6 elementURI="Micromodem.component_voltage" type=02 *a code=0591 owner=0029 element=05C6 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=05C7 elementURI="Micromodem.component_avgVoltage" type=02 *a code=0592 owner=0029 element=05C7 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=05C8 elementURI="Micromodem.component_current" type=02 *a code=0593 owner=0029 element=05C8 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=05C9 elementURI="Micromodem.component_avgCurrent" type=02 *a code=0594 owner=0029 element=05C9 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0595 owner=0029 element=034A universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0596 owner=0029 element=034B universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0597 owner=0029 element=034C universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0598 owner=0029 element=034D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0599 owner=0029 element=0352 universal=3FFF unitName="none" type=00 size=0008 fl=04 *a code=059A owner=0029 element=034E universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=059B owner=0029 element=034F universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=059C owner=0029 element=007C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=059D owner=0029 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=05CA elementURI="Micromodem.queryAddressRequested" type=02 *a code=059E owner=0029 element=05CA universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=05CB elementURI="Micromodem.numberOfPingsRequested" type=02 *a code=059F owner=0029 element=05CB universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=05A0 owner=0029 element=05B9 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=05CC elementURI="Micromodem.acoustic_wakeup" type=02 *a code=05A1 owner=0029 element=05CC universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=05CD elementURI="Micromodem.acoustic_receive_time" type=00 *a code=05A2 owner=0029 element=05CD universal=0000 unitName="epoch_second" type=0B size=0003 fl=05 *e code=05CE elementURI="Micromodem.acoustic_transmit_time" type=00 *a code=05A3 owner=0029 element=05CE universal=0001 unitName="epoch_second" type=0B size=0003 fl=05 *e code=05CF elementURI="Micromodem.range_request" type=02 *a code=05A4 owner=0029 element=05CF universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=05D0 elementURI="Micromodem.remote_address" type=02 *a code=05A5 owner=0029 element=05D0 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=05D1 elementURI="Micromodem.local_address" type=02 *a code=05A6 owner=0029 element=05D1 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=05D2 elementURI="Micromodem.range" type=02 *a code=05A7 owner=0029 element=05D2 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=05D3 elementURI="Micromodem.platform_communications" type=00 *a code=05A8 owner=0029 element=05D3 universal=002A unitName="bool" type=02 size=0001 fl=05 q ƿrSyncComponent "Micromodem" handled in the control thread.*n code=002A name="NAL9602" *e code=05D4 elementURI="NAL9602.enableBroadcast" type=02 *a code=05A9 owner=002A element=05D4 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=05AA owner=002A element=035A universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=05D5 elementURI="NAL9602.component_voltage" type=02 *a code=05AB owner=002A element=05D5 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=05D6 elementURI="NAL9602.component_avgVoltage" type=02 *a code=05AC owner=002A element=05D6 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=05D7 elementURI="NAL9602.component_current" type=02 *a code=05AD owner=002A element=05D7 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=05D8 elementURI="NAL9602.component_avgCurrent" type=02 *a code=05AE owner=002A element=05D8 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=05AF owner=002A element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05B0 owner=002A element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05B1 owner=002A element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05B2 owner=002A element=006C universal=3FFF unitName="count" type=0D size=0004 fl=04 *e code=05D9 elementURI="NAL9602.SNRSatellite_0" type=00 *a code=05B3 owner=002A element=05D9 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=05DA elementURI="NAL9602.SNRSatellite_1" type=00 *a code=05B4 owner=002A element=05DA universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=05DB elementURI="NAL9602.SNRSatellite_2" type=00 *a code=05B5 owner=002A element=05DB universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=05DC elementURI="NAL9602.SNRSatellite_3" type=00 *a code=05B6 owner=002A element=05DC universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=05DD elementURI="NAL9602.SNRSatellite_4" type=00 *a code=05B7 owner=002A element=05DD universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=05DE elementURI="NAL9602.SNRSatellite_5" type=00 *a code=05B8 owner=002A element=05DE universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=05DF elementURI="NAL9602.SNRSatellite_6" type=00 *a code=05B9 owner=002A element=05DF universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=05E0 elementURI="NAL9602.SNRSatellite_7" type=00 *a code=05BA owner=002A element=05E0 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=05E1 elementURI="NAL9602.SNRSatellite_8" type=00 *a code=05BB owner=002A element=05E1 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=05E2 elementURI="NAL9602.SNRSatellite_9" type=00 *a code=05BC owner=002A element=05E2 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=05E3 elementURI="NAL9602.SNRSatellite_10" type=00 *a code=05BD owner=002A element=05E3 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=05E4 elementURI="NAL9602.SNRSatellite_11" type=00 *a code=05BE owner=002A element=05E4 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=05E5 elementURI="NAL9602.goodFix" type=02 *a code=05BF owner=002A element=05E5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=05E6 elementURI="NAL9602.numSatellites" type=02 *a code=05C0 owner=002A element=05E6 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=05E7 elementURI="NAL9602.sigQuality" type=02 *a code=05C1 owner=002A element=05E7 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=05E8 elementURI="NAL9602.SOG" type=02 *a code=05C2 owner=002A element=05E8 universal=3FFF unitName="knot" type=0B size=0003 fl=05 *e code=05E9 elementURI="NAL9602.COG" type=02 *a code=05C3 owner=002A element=05E9 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=05EA elementURI="NAL9602.time_fix" type=00 *a code=05C4 owner=002A element=05EA universal=0065 unitName="second" type=1F size=0008 fl=05 *e code=05EB elementURI="NAL9602.latitude_fix" type=00 *a code=05C5 owner=002A element=05EB universal=0018 unitName="degree" type=37 size=0006 fl=05 ;4*e code=05EC elementURI="NAL9602.longitude_fix" type=00 *a code=05C6 owner=002A element=05EC universal=001B unitName="degree" type=37 size=0006 fl=05 ;4*e code=05ED elementURI="NAL9602.location_fix" type=12 blobType=11 fixedSize=0002 *a code=05C7 owner=002A element=05ED universal=0019 unitName="degree" type=00 size=0000 fl=05 ;4*e code=05EE elementURI="NAL9602.platform_communications" type=00 *a code=05C8 owner=002A element=05EE universal=002A unitName="bool" type=02 size=0001 fl=05 *a code=05C9 owner=002A element=0147 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=05CA owner=002A element=007C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=05CB owner=002A element=007B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=05CC owner=002A element=035B universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=05CD owner=002A element=035C universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=05CE owner=002A element=035F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=05CF owner=002A element=0360 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=05D0 owner=002A element=0361 universal=3FFF unitName="byte" type=1F size=0008 fl=04 ƿlSyncComponent "NAL9602" handled in the control thread.*n code=002B name="Onboard" *e code=05EF elementURI="Onboard.enableBroadcast" type=02 *a code=05D1 owner=002B element=05EF universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=05D2 owner=002B element=0364 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=05F0 elementURI="Onboard.Pressure" type=02 *a code=05D3 owner=002B element=05F0 universal=3FFF unitName="pascal" type=0B size=0003 fl=05 *e code=05F1 elementURI="Onboard.Temperature" type=02 *a code=05D4 owner=002B element=05F1 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=05F2 elementURI="Onboard.Humidity" type=02 *a code=05D5 owner=002B element=05F2 universal=3FFF unitName="percent" type=0B size=0003 fl=05 *e code=05F3 elementURI="Onboard.platform_battery_voltage" type=00 *a code=05D6 owner=002B element=05F3 universal=0026 unitName="volt" type=0B size=0003 fl=05 #<*e code=05F4 elementURI="Onboard.platform_vehicle_power" type=00 *a code=05D7 owner=002B element=05F4 universal=0041 unitName="watt" type=0B size=0003 fl=05 #<*e code=05F5 elementURI="Onboard.platform_average_current" type=00 *a code=05D8 owner=002B element=05F5 universal=0021 unitName="milliampere" type=0B size=0003 fl=05 #<*e code=05F6 elementURI="Onboard.platform_average_power" type=00 *a code=05D9 owner=002B element=05F6 universal=0022 unitName="watt" type=0B size=0003 fl=05 #<*e code=05F7 elementURI="Onboard.MainBatteryVoltage" type=02 *a code=05DA owner=002B element=05F7 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=05F8 elementURI="Onboard.BackupBatteryVoltage" type=02 *a code=05DB owner=002B element=05F8 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=05F9 elementURI="Onboard.BatteryCurrent" type=02 *a code=05DC owner=002B element=05F9 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=05DD owner=002B element=0367 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=05DE owner=002B element=0368 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=05DF owner=002B element=0369 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=05E0 owner=002B element=036A universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=05E1 owner=002B element=00D1 universal=3FFF unitName="count" type=0D size=0004 fl=04 $ƿ%\Component "Onboard" handled in its own thread.*n code=002C name="Onboard ThreadHandler" &DCreated PCaller Thread at 407FA4E0&BProtected caller Thread ID is 936*n code=002D name="PowerOnly" *e code=05FA elementURI="PowerOnly.enableBroadcast" type=02 *a code=05E2 owner=002D element=05FA universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=05FB elementURI="Power24vConverter.power24vConverter" type=02 *a code=05E3 owner=002D element=05FB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=05FC elementURI="PowerOnly.samplePowerOnly" type=02 *a code=05E4 owner=002D element=05FC universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=05E5 owner=002D element=0372 universal=3FFF unitName="second" type=0B size=0003 fl=04 .^Adding load control power supply at /dev/loadC1*a code=05E6 owner=002D element=0371 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=05FD elementURI="PowerOnly.component_voltage_loadControl" type=02 *a code=05E7 owner=002D element=05FD universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=05FE elementURI="PowerOnly.component_avgVoltage_loadControl" type=02 *a code=05E8 owner=002D element=05FE universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=05FF elementURI="PowerOnly.component_current_loadControl" type=02 *a code=05E9 owner=002D element=05FF universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0600 elementURI="PowerOnly.component_avgCurrent_loadControl" type=02 *a code=05EA owner=002D element=0600 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0601 elementURI="PowerOnly.sampleLoad1" type=02 *a code=05EB owner=002D element=0601 universal=3FFF unitName="bool" type=02 size=0001 fl=05 q 8ƿ9pSyncComponent "PowerOnly" handled in the control thread.*n code=002E name="Power24vConverter" *e code=0602 elementURI="Power24vConverter.enableBroadcast" type=02 *a code=05EC owner=002E element=0602 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=05ED owner=002E element=036F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0603 elementURI="Power24vConverter.component_voltage" type=02 *a code=05EE owner=002E element=0603 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0604 elementURI="Power24vConverter.component_avgVoltage" type=02 *a code=05EF owner=002E element=0604 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0605 elementURI="Power24vConverter.component_current" type=02 *a code=05F0 owner=002E element=0605 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0606 elementURI="Power24vConverter.component_avgCurrent" type=02 *a code=05F1 owner=002E element=0606 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=05F2 owner=002E element=05FB universal=3FFF unitName="bool" type=02 size=0001 fl=05 DƿESyncComponent "Power24vConverter" handled in the control thread.*n code=002F name="Radio_Surface" *e code=0607 elementURI="Radio_Surface.enableBroadcast" type=02 *a code=05F3 owner=002F element=0607 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=05F4 owner=002F element=037C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0608 elementURI="Radio_Surface.component_voltage" type=02 *a code=05F5 owner=002F element=0608 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0609 elementURI="Radio_Surface.component_avgVoltage" type=02 *a code=05F6 owner=002F element=0609 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=060A elementURI="Radio_Surface.component_current" type=02 *a code=05F7 owner=002F element=060A universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=060B elementURI="Radio_Surface.component_avgCurrent" type=02 *a code=05F8 owner=002F element=060B universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=05F9 owner=002F element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=060C elementURI="VerticalControl.verticalMode" type=02 *a code=05FA owner=002F element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=05FB owner=002F element=05A0 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=05FC owner=002F element=0147 universal=3FFF unitName="meter" type=0B size=0003 fl=04 SƿShComponent "Radio_Surface" handled in its own thread.*n code=0030 name="Radio_Surface ThreadHandler" UDCreated PCaller Thread at 4082A4E0UBProtected caller Thread ID is 937*n code=0031 name="RDI_Pathfinder" *e code=060D elementURI="RDI_Pathfinder.enableBroadcast" type=02 *a code=05FD owner=0031 element=060D universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=05FE owner=0031 element=037F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=060E elementURI="RDI_Pathfinder.component_voltage" type=02 *a code=05FF owner=0031 element=060E universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=060F elementURI="RDI_Pathfinder.component_avgVoltage" type=02 *a code=0600 owner=0031 element=060F universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0610 elementURI="RDI_Pathfinder.component_current" type=02 *a code=0601 owner=0031 element=0610 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0611 elementURI="RDI_Pathfinder.component_avgCurrent" type=02 *a code=0602 owner=0031 element=0611 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0603 owner=0031 element=05FB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0612 elementURI="RDI_Pathfinder.height_above_sea_floor" type=00 *a code=0604 owner=0031 element=0612 universal=0014 unitName="meter" type=0B size=0003 fl=05 *e code=0613 elementURI="RDI_Pathfinder.platform_velocity_wrt_sea_water" type=12 blobType=11 fixedSize=0003 *a code=0605 owner=0031 element=0613 universal=0043 unitName="meter_per_second" type=00 size=0000 fl=05 *e code=0614 elementURI="RDI_Pathfinder.platform_x_velocity_wrt_sea_water" type=00 *a code=0606 owner=0031 element=0614 universal=0046 unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0615 elementURI="RDI_Pathfinder.platform_y_velocity_wrt_sea_water" type=00 *a code=0607 owner=0031 element=0615 universal=004A unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0616 elementURI="RDI_Pathfinder.platform_z_velocity_wrt_sea_water" type=00 *a code=0608 owner=0031 element=0616 universal=0050 unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0617 elementURI="RDI_Pathfinder.water_mass_velocity_flag" type=02 *a code=0609 owner=0031 element=0617 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0618 elementURI="RDI_Pathfinder.range_to_water_mass_center" type=02 *a code=060A owner=0031 element=0618 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0619 elementURI="RDI_Pathfinder.platform_velocity_wrt_ground" type=12 blobType=11 fixedSize=0003 *a code=060B owner=0031 element=0619 universal=0042 unitName="meter_per_second" type=00 size=0000 fl=05 *e code=061A elementURI="RDI_Pathfinder.platform_x_velocity_wrt_ground" type=00 *a code=060C owner=0031 element=061A universal=0045 unitName="meter_per_second" type=0B size=0003 fl=05 *e code=061B elementURI="RDI_Pathfinder.platform_y_velocity_wrt_ground" type=00 *a code=060D owner=0031 element=061B universal=0049 unitName="meter_per_second" type=0B size=0003 fl=05 *e code=061C elementURI="RDI_Pathfinder.platform_z_velocity_wrt_ground" type=00 *a code=060E owner=0031 element=061C universal=004F unitName="meter_per_second" type=0B size=0003 fl=05 *e code=061D elementURI="RDI_Pathfinder.BottomVelocityFlag" type=02 *a code=060F owner=0031 element=061D universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=061E elementURI="RDI_Pathfinder.Beam1Range" type=02 *a code=0610 owner=0031 element=061E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=061F elementURI="RDI_Pathfinder.Beam2Range" type=02 *a code=0611 owner=0031 element=061F universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0620 elementURI="RDI_Pathfinder.Beam3Range" type=02 *a code=0612 owner=0031 element=0620 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0621 elementURI="RDI_Pathfinder.Beam4Range" type=02 *a code=0613 owner=0031 element=0621 universal=3FFF unitName="meter" type=0B size=0003 fl=05 q ƿzSyncComponent "RDI_Pathfinder" handled in the control thread.*n code=0032 name="RDI_PathfinderUp" *e code=0622 elementURI="RDI_PathfinderUp.enableBroadcast" type=02 *a code=0614 owner=0032 element=0622 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0615 owner=0032 element=0381 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0623 elementURI="RDI_PathfinderUp.component_voltage" type=02 *a code=0616 owner=0032 element=0623 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0624 elementURI="RDI_PathfinderUp.component_avgVoltage" type=02 *a code=0617 owner=0032 element=0624 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0625 elementURI="RDI_PathfinderUp.component_current" type=02 *a code=0618 owner=0032 element=0625 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0626 elementURI="RDI_PathfinderUp.component_avgCurrent" type=02 *a code=0619 owner=0032 element=0626 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=061A owner=0032 element=05FB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0627 elementURI="RDI_PathfinderUp.Altitude" type=02 *a code=061B owner=0032 element=0627 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0628 elementURI="RDI_PathfinderUp.XVelocityWRTAbove" type=02 *a code=061C owner=0032 element=0628 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0629 elementURI="RDI_PathfinderUp.YVelocityWRTAbove" type=02 *a code=061D owner=0032 element=0629 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=062A elementURI="RDI_PathfinderUp.ZVelocityWRTAbove" type=02 *a code=061E owner=0032 element=062A universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=062B elementURI="RDI_PathfinderUp.BottomVelocityFlag" type=02 *a code=061F owner=0032 element=062B universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=062C elementURI="RDI_PathfinderUp.Beam1Range" type=02 *a code=0620 owner=0032 element=062C universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=062D elementURI="RDI_PathfinderUp.Beam2Range" type=02 *a code=0621 owner=0032 element=062D universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=062E elementURI="RDI_PathfinderUp.Beam3Range" type=02 *a code=0622 owner=0032 element=062E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=062F elementURI="RDI_PathfinderUp.Beam4Range" type=02 *a code=0623 owner=0032 element=062F universal=3FFF unitName="meter" type=0B size=0003 fl=05 ƿ~SyncComponent "RDI_PathfinderUp" handled in the control thread.lLoaded Module: Sensor (Contains the sensor components)FLoading Module at Modules/Sample.soLoaded Module: Sample (This is a Sample Module of Sample Components)NLoading Module at Modules/Navigation.so*n code=0033 name="DeadReckonUsingMultipleVelocitySources" *e code=0630 elementURI="DeadReckonUsingMultipleVelocitySources.enableBroadcast" type=02 *a code=0624 owner=0033 element=0630 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0625 owner=0033 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0626 owner=0033 element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0627 owner=0033 element=001B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0628 owner=0033 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0629 owner=0033 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=062A owner=0033 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0631 elementURI="SetNav.time_fix" type=02 *a code=062B owner=0033 element=0631 universal=3FFF unitName="second" type=0B size=0003 fl=04 *e code=0632 elementURI="SetNav.latitude_fix" type=02 *a code=062C owner=0033 element=0632 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *e code=0633 elementURI="SetNav.longitude_fix" type=02 *a code=062D owner=0033 element=0633 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *e code=0634 elementURI="DeadReckonUsingMultipleVelocitySources.latitude" type=00 *a code=062E owner=0033 element=0634 universal=0017 unitName="degree" type=37 size=0006 fl=05 *e code=0635 elementURI="DeadReckonUsingMultipleVelocitySources.longitude" type=00 *a code=062F owner=0033 element=0635 universal=001A unitName="degree" type=37 size=0006 fl=05 *e code=0636 elementURI="DeadReckonUsingMultipleVelocitySources.depth" type=00 *a code=0630 owner=0033 element=0636 universal=0006 unitName="meter" type=0B size=0003 fl=05 *e code=0637 elementURI="DeadReckonUsingMultipleVelocitySources.horizontal_path_length_since_last_fix" type=00 *a code=0631 owner=0033 element=0637 universal=0015 unitName="meter" type=0B size=0003 fl=05 *e code=0638 elementURI="DeadReckonUsingMultipleVelocitySources.fix_distance_made_good" type=00 *a code=0632 owner=0033 element=0638 universal=000D unitName="meter" type=0B size=0003 fl=05 *e code=0639 elementURI="DeadReckonUsingMultipleVelocitySources.fix_horizontal_path_length_since_last_fix" type=00 *a code=0633 owner=0033 element=0639 universal=000E unitName="meter" type=0B size=0003 fl=05 *e code=063A elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_distance" type=00 *a code=0634 owner=0033 element=063A universal=000F unitName="meter" type=0B size=0003 fl=05 *e code=063B elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_bearing" type=00 *a code=0635 owner=0033 element=063B universal=0010 unitName="radian" type=2F size=0004 fl=05 *e code=063C elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_percent_distance_traveled" type=00 *a code=0636 owner=0033 element=063C universal=0011 unitName="percent" type=0B size=0003 fl=05  *a code=0637 owner=0033 element=0204 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0638 owner=0033 element=0201 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0639 owner=0033 element=0200 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=063A owner=0033 element=0202 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=063B owner=0033 element=0203 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=063C owner=0033 element=0042 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=063D owner=0033 element=0043 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=063D elementURI="SpeedCalculator.platform_speed_wrt_sea_water" type=02 *a code=063E owner=0033 element=063D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *e code=063E elementURI="DeadReckonUsingMultipleVelocitySources.elapsed_since_orientation_read" type=02 *a code=063F owner=0033 element=063E universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=063F elementURI="DeadReckonUsingMultipleVelocitySources.elapsed_since_velocity_read" type=02 *a code=0640 owner=0033 element=063F universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=0640 elementURI="DeadReckonUsingMultipleVelocitySources.latitude_accuracy" type=02 *a code=0641 owner=0033 element=0640 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0641 elementURI="DeadReckonUsingMultipleVelocitySources.velocity_source" type=02 *a code=0642 owner=0033 element=0641 universal=3FFF unitName="count" type=0D size=0004 fl=05 ƿSyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.*n code=0034 name="NavChart" *e code=0642 elementURI="NavChart.enableBroadcast" type=02 *a code=0643 owner=0034 element=0642 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0644 owner=0034 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0645 owner=0034 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0646 owner=0034 element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0647 owner=0034 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0643 elementURI="NavChart.sea_floor_depth_below_geoid" type=00 *a code=0648 owner=0034 element=0643 universal=0055 unitName="meter" type=0B size=0003 fl=05 *e code=0644 elementURI="NavChart.height_above_sea_floor" type=00 *a code=0649 owner=0034 element=0644 universal=0014 unitName="meter" type=0B size=0003 fl=05 *e code=0645 elementURI="NavChart.distance_from_shore" type=00 *a code=064A owner=0034 element=0645 universal=0009 unitName="meter" type=0B size=0003 fl=05  #D*e code=0646 elementURI="NavChart.Height_Above_Sea_Floor_Comp" type=02 *a code=064B owner=0034 element=0646 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=064C owner=0034 element=022A universal=3FFF unitName="bool" type=02 size=0001 fl=04 1 %ƿ&nSyncComponent "NavChart" handled in the control thread.*n code=0035 name="UniversalFixResidualReporter" *e code=0647 elementURI="UniversalFixResidualReporter.enableBroadcast" type=02 *a code=064D owner=0035 element=0647 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=064E owner=0035 element=022E universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=064F owner=0035 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0650 owner=0035 element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0651 owner=0035 element=001B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0652 owner=0035 element=000E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0653 owner=0035 element=000D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0654 owner=0035 element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0655 owner=0035 element=0010 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0656 owner=0035 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 q +ƿ,SyncComponent "UniversalFixResidualReporter" handled in the control thread.*n code=0036 name="WorkSite" *e code=0648 elementURI="WorkSite.enableBroadcast" type=02 *a code=0657 owner=0036 element=0648 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0658 owner=0036 element=0230 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0659 owner=0036 element=0231 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=065A owner=0036 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=065B owner=0036 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0649 elementURI="WorkSite.latitude_fix" type=00 *a code=065C owner=0036 element=0649 universal=0018 unitName="degree" type=37 size=0006 fl=05 %179*e code=064A elementURI="WorkSite.longitude_fix" type=00 *a code=065D owner=0036 element=064A universal=001B unitName="degree" type=37 size=0006 fl=05 )379*e code=064B elementURI="WorkSite.time_fix" type=00 *a code=065E owner=0036 element=064B universal=0065 unitName="second" type=1F size=0008 fl=05 *e code=064C elementURI="SBIT.SBITRunning" type=02 *a code=065F owner=0036 element=064C universal=3FFF unitName="bool" type=02 size=0001 fl=04 6ƿ7nSyncComponent "WorkSite" handled in the control thread.7Loaded Module: Navigation (Contains the base navigation components)8BLoading Module at Modules/Dock.soLoaded Module: Dock (Contains behaviors and commands for docking)DLoading Module at Modules/Servo.so*n code=0037 name="BuoyancyServo" *e code=064D elementURI="BuoyancyServo.enableBroadcast" type=02 *a code=0660 owner=0037 element=064D universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0661 owner=0037 element=027B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=064E elementURI="BuoyancyServo.component_voltage" type=02 *a code=0662 owner=0037 element=064E universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=064F elementURI="BuoyancyServo.component_avgVoltage" type=02 *a code=0663 owner=0037 element=064F universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0650 elementURI="BuoyancyServo.component_current" type=02 *a code=0664 owner=0037 element=0650 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0651 elementURI="BuoyancyServo.component_avgCurrent" type=02 *a code=0665 owner=0037 element=0651 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0666 owner=0037 element=0285 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0667 owner=0037 element=0284 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0668 owner=0037 element=027D universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0669 owner=0037 element=027E universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=066A owner=0037 element=027F universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=066B owner=0037 element=0281 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=066C owner=0037 element=0282 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=066D owner=0037 element=0283 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=066E owner=0037 element=0280 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=066F owner=0037 element=027C universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0670 owner=0037 element=0286 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0671 owner=0037 element=0288 universal=3FFF unitName="count_per_cubic_centimeter" type=0B size=0003 fl=04 *a code=0672 owner=0037 element=0289 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0673 owner=0037 element=0287 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0674 owner=0037 element=028C universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0675 owner=0037 element=028B universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0676 owner=0037 element=028A universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0677 owner=0037 element=0110 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0678 owner=0037 element=0114 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0679 owner=0037 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0652 elementURI="BuoyancyServo.platform_buoyancy_position" type=00 *a code=067A owner=0037 element=0652 universal=0029 unitName="cubic_centimeter" type=0B size=0003 fl=05 I4*e code=0653 elementURI="VerticalControl.buoyancyAction" type=02 *a code=067B owner=0037 element=0653 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 ƿxSyncComponent "BuoyancyServo" handled in the control thread.*n code=0038 name="ElevatorServo" *e code=0654 elementURI="ElevatorServo.enableBroadcast" type=02 *a code=067C owner=0038 element=0654 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=067D owner=0038 element=029D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0655 elementURI="ElevatorServo.component_voltage" type=02 *a code=067E owner=0038 element=0655 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0656 elementURI="ElevatorServo.component_avgVoltage" type=02 *a code=067F owner=0038 element=0656 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0657 elementURI="ElevatorServo.component_current" type=02 *a code=0680 owner=0038 element=0657 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0658 elementURI="ElevatorServo.component_avgCurrent" type=02 *a code=0681 owner=0038 element=0658 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0682 owner=0038 element=02A8 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0683 owner=0038 element=029F universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0684 owner=0038 element=02A1 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0685 owner=0038 element=02A2 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0686 owner=0038 element=02A5 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0687 owner=0038 element=02A6 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0688 owner=0038 element=02A7 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0689 owner=0038 element=02A4 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=068A owner=0038 element=029E universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=04 *a code=068B owner=0038 element=02A3 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=068C owner=0038 element=02A0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=068D owner=0038 element=011A universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *e code=0659 elementURI="ElevatorServo.platform_elevator_angle" type=00 *a code=068E owner=0038 element=0659 universal=002F unitName="radian" type=2F size=0004 fl=05 e;*e code=065A elementURI="VerticalControl.elevatorAngleAction" type=02 *a code=068F owner=0038 element=065A universal=3FFF unitName="radian" type=2F size=0004 fl=04 1ƿxSyncComponent "ElevatorServo" handled in the control thread.*n code=0039 name="MassServo" *e code=065B elementURI="MassServo.enableBroadcast" type=02 *a code=0690 owner=0039 element=065B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0691 owner=0039 element=02AA universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=065C elementURI="MassServo.component_voltage" type=02 *a code=0692 owner=0039 element=065C universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=065D elementURI="MassServo.component_avgVoltage" type=02 *a code=0693 owner=0039 element=065D universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=065E elementURI="MassServo.component_current" type=02 *a code=0694 owner=0039 element=065E universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=065F elementURI="MassServo.component_avgCurrent" type=02 *a code=0695 owner=0039 element=065F universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0696 owner=0039 element=02B0 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0697 owner=0039 element=02AC universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0698 owner=0039 element=02AD universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0699 owner=0039 element=02AE universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=069A owner=0039 element=02AF universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=069B owner=0039 element=02AB universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=069C owner=0039 element=02B1 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=069D owner=0039 element=02B4 universal=3FFF unitName="count" type=0D size=0004 fl=04 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elementURI="HorizontalControl.rudderAngleAction" type=02 *a code=06B6 owner=003A element=0668 universal=3FFF unitName="radian" type=2F size=0004 fl=04 ƿtSyncComponent "RudderServo" handled in the control thread.*n code=003B name="ThrusterServo" *e code=0669 elementURI="ThrusterServo.enableBroadcast" type=02 *a code=06B7 owner=003B element=0669 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06B8 owner=003B element=02C9 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=066A elementURI="ThrusterServo.component_voltage" type=02 *a code=06B9 owner=003B element=066A universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=066B elementURI="ThrusterServo.component_avgVoltage" type=02 *a code=06BA owner=003B element=066B universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=066C elementURI="ThrusterServo.component_current" type=02 *a code=06BB owner=003B element=066C universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=066D elementURI="ThrusterServo.component_avgCurrent" type=02 *a code=06BC owner=003B element=066D universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=066E elementURI="ThrusterServo.platform_propeller_rotation_rate" type=00 *a code=06BD owner=003B element=066E universal=0039 unitName="radian_per_second" type=0B size=0003 fl=05 *e code=066F elementURI="SpeedControl.propOmegaAction" type=02 *a code=06BE owner=003B element=066F universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *a code=06BF owner=003B element=02D0 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=06C0 owner=003B element=02CB universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=06C1 owner=003B element=02CD universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=06C2 owner=003B element=02CE universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=06C3 owner=003B element=02CF universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=06C4 owner=003B 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size=0001 fl=04 *e code=0671 elementURI="CTD_Seabird.component_voltage" type=02 *a code=06CC owner=003C element=0671 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0672 elementURI="CTD_Seabird.component_avgVoltage" type=02 *a code=06CD owner=003C element=0672 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0673 elementURI="CTD_Seabird.component_current" type=02 *a code=06CE owner=003C element=0673 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0674 elementURI="CTD_Seabird.component_avgCurrent" type=02 *a code=06CF owner=003C element=0674 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=06D0 owner=003C element=03B5 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=06D1 owner=003C element=03B6 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=06D2 owner=003C element=03B7 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=06D3 owner=003C element=03B8 universal=3FFF 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unitName="practical_salinity_unit" type=0B size=0003 fl=05 '7*e code=067A elementURI="CTD_Seabird.sea_water_density" type=00 *a code=06E5 owner=003C element=067A universal=0056 unitName="kilogram_per_cubic_meter" type=0B size=0003 fl=05 *e code=067B elementURI="CTD_Seabird.speed_of_sound_in_sea_water" type=00 *a code=06E6 owner=003C element=067B universal=0061 unitName="meter_per_second" type=0B size=0003 fl=05 *e code=067C elementURI="CTD_Seabird.mass_concentration_of_oxygen_in_sea_water" type=00 *a code=06E7 owner=003C element=067C universal=001E unitName="microgram_per_liter" type=0B size=0003 fl=05 9*e code=067D elementURI="CTD_Seabird.sea_water_dissolved_oxygen_freq" type=02 *a code=06E8 owner=003C element=067D universal=3FFF unitName="hertz" type=0B size=0003 fl=05 *e code=067E elementURI="CTD_Seabird.bin_median_sea_water_temperature" type=02 *a code=06E9 owner=003C element=067E universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=067F elementURI="CTD_Seabird.bin_mean_sea_water_temperature" type=02 *a code=06EA owner=003C element=067F universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0680 elementURI="CTD_Seabird.bin_standard_deviation_sea_water_temperature" type=02 *a code=06EB owner=003C element=0680 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0681 elementURI="CTD_Seabird.bin_median_sea_water_salinity" type=02 *a code=06EC owner=003C element=0681 universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=05 *e code=0682 elementURI="CTD_Seabird.bin_mean_sea_water_salinity" type=02 *a code=06ED owner=003C element=0682 universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=05 *e code=0683 elementURI="CTD_Seabird.bin_standard_deviation_sea_water_salinity" type=02 *a code=06EE owner=003C element=0683 universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=05 1ƿdComponent "CTD_Seabird" handled in its own thread.*n code=003D name="CTD_Seabird ThreadHandler" DCreated PCaller Thread at 409544E0BProtected caller Thread ID is 939*n code=003E name="WetLabsSeaOWL_UV_A" *e code=0684 elementURI="WetLabsSeaOWL_UV_A.enableBroadcast" type=02 *a code=06EF owner=003E element=0684 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06F0 owner=003E element=03EC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0685 elementURI="WetLabsSeaOWL_UV_A.component_voltage" type=02 *a code=06F1 owner=003E element=0685 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0686 elementURI="WetLabsSeaOWL_UV_A.component_avgVoltage" type=02 *a code=06F2 owner=003E element=0686 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0687 elementURI="WetLabsSeaOWL_UV_A.component_current" type=02 *a code=06F3 owner=003E element=0687 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0688 elementURI="WetLabsSeaOWL_UV_A.component_avgCurrent" type=02 *a code=06F4 owner=003E element=0688 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=06F5 owner=003E element=03FB universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=06F6 owner=003E element=03F4 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=06F7 owner=003E element=03FA universal=3FFF unitName="none" type=00 size=0000 fl=04 *a code=06F8 owner=003E element=03F6 universal=3FFF unitName="reciprocal_meter_per_steradian_count" type=0B size=0003 fl=04 *a code=06F9 owner=003E element=03EE universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=06FA owner=003E element=03F8 universal=3FFF unitName="part_per_billion_per_count" type=0B size=0003 fl=04 *a code=06FB owner=003E element=03F0 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=06FC owner=003E element=03F9 universal=3FFF unitName="part_per_billion_per_count" type=0B size=0003 fl=04 *a code=06FD owner=003E element=03F7 universal=3FFF unitName="microgram_per_liter_per_count" type=0B size=0003 fl=04 *a code=06FE owner=003E element=03F1 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=06FF owner=003E element=03EF universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0700 owner=003E element=03F2 universal=3FFF unitName="part_per_billion" type=0B size=0003 fl=04 *a code=0701 owner=003E element=03F3 universal=3FFF unitName="part_per_billion" type=0B size=0003 fl=04 *a code=0702 owner=003E element=03ED universal=3FFF unitName="microgram_per_liter" type=0B size=0003 fl=04 *a code=0703 owner=003E element=005C universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0689 elementURI="WetLabsSeaOWL_UV_A.Output700" type=02 *a code=0704 owner=003E element=0689 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=068A elementURI="WetLabsSeaOWL_UV_A.OutputFDOM" type=02 *a code=0705 owner=003E element=068A universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=068B elementURI="WetLabsSeaOWL_UV_A.OutputOil" type=02 *a code=0706 owner=003E element=068B universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=068C elementURI="WetLabsSeaOWL_UV_A.OutputChl" type=02 *a code=0707 owner=003E element=068C universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=068D elementURI="WetLabsSeaOWL_UV_A.VolumeScatCoeff117deg700nm" type=02 *a code=0708 owner=003E element=068D universal=3FFF unitName="reciprocal_meter_per_steradian" type=0B size=0003 fl=05 *e code=068E elementURI="WetLabsSeaOWL_UV_A.BackscatteringCoeff700nm" type=02 *a code=0709 owner=003E element=068E universal=3FFF unitName="reciprocal_meter" type=0B size=0003 fl=05 *e code=068F elementURI="WetLabsSeaOWL_UV_A.concentration_of_colored_dissolved_organic_matter_in_sea_water" type=00 *a code=070A owner=003E element=068F universal=0005 unitName="part_per_billion" type=0B size=0003 fl=05 *e code=0690 elementURI="WetLabsSeaOWL_UV_A.mass_concentration_of_petroleum_hydrocarbons_in_sea_water" type=00 *a code=070B owner=003E element=0690 universal=001F 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type=00 *a code=070F owner=0040 element=0693 universal=0007 unitName="meter_per_second" type=0B size=0003 fl=05 1 ƿ SyncComponent "DepthRateCalculator" handled in the control thread.*n code=0041 name="PitchRateCalculator" *e code=0694 elementURI="PitchRateCalculator.enableBroadcast" type=02 *a code=0710 owner=0041 element=0694 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0711 owner=0041 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0695 elementURI="PitchRateCalculator.platform_pitch_rate" type=00 *a code=0712 owner=0041 element=0695 universal=0037 unitName="radian_per_second" type=0B size=0003 fl=05 qƿSyncComponent "PitchRateCalculator" handled in the control thread.*n code=0042 name="SpeedCalculator" *e code=0696 elementURI="SpeedCalculator.enableBroadcast" type=02 *a code=0713 owner=0042 element=0696 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0714 owner=0042 element=0039 universal=FFFF unitName="none" type=FF 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universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0723 owner=0043 element=023B universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0724 owner=0043 element=0237 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0725 owner=0043 element=0236 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0726 owner=0043 element=0235 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0727 owner=0043 element=023A universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0728 owner=0043 element=0239 universal=3FFF unitName="count" type=0D size=0004 fl=04 (ƿ(SyncComponent "TempGradientCalculator" handled in the control thread.*n code=0044 name="YawRateCalculator" *e code=069E elementURI="YawRateCalculator.enableBroadcast" type=02 *a code=0729 owner=0044 element=069E universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=072A owner=0044 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=069F elementURI="YawRateCalculator.platform_yaw_rate" type=00 *a code=072B owner=0044 element=069F universal=004D unitName="radian_per_second" type=0B size=0003 fl=05 1-ƿ-SyncComponent "YawRateCalculator" handled in the control thread.*n code=0045 name="ElevatorOffsetCalculator" *e code=06A0 elementURI="ElevatorOffsetCalculator.enableBroadcast" type=02 *a code=072C owner=0045 element=06A0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=072D owner=0045 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=072E owner=0045 element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=072F owner=0045 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=06A1 elementURI="SpeedControl.speedCmd" type=02 *a code=0730 owner=0045 element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *e code=06A2 elementURI="VerticalControl.pitchCmd" type=02 *a code=0731 owner=0045 element=06A2 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=06A3 elementURI="VerticalControl.massPositionCmd" type=02 *a code=0732 owner=0045 element=06A3 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0733 owner=0045 element=024A universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0734 owner=0045 element=0249 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0735 owner=0045 element=024B universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0736 owner=0045 element=0147 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *e code=06A4 elementURI="ElevatorOffsetCalculator.elevator_angle_average" type=02 *a code=0737 owner=0045 element=06A4 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=06A5 elementURI="ElevatorOffsetCalculator.elevator_angle_variance" type=02 *a code=0738 owner=0045 element=06A5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=06A6 elementURI="ElevatorOffsetCalculator.elevator_angle_error_bound" type=02 *a code=0739 owner=0045 element=06A6 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=06A7 elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_speed_identifier" type=02 *a code=073A owner=0045 element=06A7 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *e code=06A8 elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_pitch_identifier" type=02 *a code=073B owner=0045 element=06A8 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=06A9 elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_mass_position_identifier" type=02 *a code=073C owner=0045 element=06A9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 qDƿDSyncComponent "ElevatorOffsetCalculator" handled in the control thread.ELoaded Module: Derivation (Contains the base derivation components)E@Loading Module at Modules/BIT.so*n code=0046 name="SBIT" *e code=06AA elementURI="SBIT.enableBroadcast" type=02 *a code=073D owner=0046 element=06AA universal=3FFF unitName="bool" type=02 size=0001 fl=05 #@Construct Startup Built In Test.*a code=073E owner=0046 element=064C universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=073F owner=0046 element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=06AB elementURI="VerticalControl.elevatorAngleCmd" type=02 *a code=0740 owner=0046 element=06AB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0741 owner=0046 element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0742 owner=0046 element=06A3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0743 owner=0046 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=06AC elementURI="HorizontalControl.horizontalMode" type=02 *a code=0744 owner=0046 element=06AC universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=06AD elementURI="HorizontalControl.rudderAngleCmd" type=02 *a code=0745 owner=0046 element=06AD universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0746 owner=0046 element=003D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0747 owner=0046 element=0174 universal=3FFF unitName="none" type=00 size=0008 fl=04 *a code=0748 owner=0046 element=0175 universal=3FFF unitName="none" type=00 size=0027 fl=04 *a code=0749 owner=0046 element=011B universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=074A owner=0046 element=0135 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=074B owner=0046 element=0134 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=074C owner=0046 element=0131 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=074D owner=0046 element=010A universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=074E owner=0046 element=02A0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=074F owner=0046 element=02B2 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0750 owner=0046 element=02B9 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 ƿfSyncComponent "SBIT" handled in the control thread.*n code=0047 name="IBIT" *e code=06AE elementURI="IBIT.enableBroadcast" type=02 *a code=0751 owner=0047 element=06AE universal=3FFF unitName="bool" type=02 size=0001 fl=05 #DConstruct Initiated Built In Test.*a code=0752 owner=0047 element=0070 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0753 owner=0047 element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0754 owner=0047 element=06AB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0755 owner=0047 element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0756 owner=0047 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0757 owner=0047 element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0758 owner=0047 element=001B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0759 owner=0047 element=0023 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=075A owner=0047 element=0026 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=075B owner=0047 element=064C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=075C owner=0047 element=05E7 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=075D owner=0047 element=05E5 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=075E owner=0047 element=06AC universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=075F owner=0047 element=06AD universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0760 owner=0047 element=003D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0761 owner=0047 element=05F0 universal=3FFF unitName="pascal" type=0B size=0003 fl=04 *a code=0762 owner=0047 element=05F2 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0763 owner=0047 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0764 owner=0047 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0765 owner=0047 element=003B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0766 owner=0047 element=0177 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=04 *a code=0767 owner=0047 element=0178 universal=3FFF unitName="volt" type=0B size=0003 fl=04 *a code=0768 owner=0047 element=0157 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0769 owner=0047 element=0156 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=076A owner=0047 element=0158 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=076B owner=0047 element=0159 universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=04 *a code=076C owner=0047 element=0113 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=076D owner=0047 element=011B universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=076E owner=0047 element=010A universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=076F owner=0047 element=0147 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0770 owner=0047 element=0131 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=0771 owner=0047 element=02A0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0772 owner=0047 element=02B9 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 #ƿ#fSyncComponent "IBIT" handled in the control thread.*n code=0048 name="CBIT" *e code=06AF elementURI="CBIT.enableBroadcast" type=02 *a code=0773 owner=0048 element=06AF universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0774 owner=0048 element=0155 universal=3FFF unitName="bool" type=02 size=0001 fl=04 $)FConstruct Continuous Built In Test.*e code=06B0 elementURI="CBIT.clearFaultCmd" type=02 *a code=0775 owner=0048 element=06B0 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=06B1 elementURI="CBIT.clearLeakFaultCmd" type=02 *a code=0776 owner=0048 element=06B1 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=06B2 elementURI="CBIT.empiricalFaultElevOffset" type=02 *a code=0777 owner=0048 element=06B2 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0778 owner=0048 element=05F0 universal=3FFF unitName="pascal" type=0B size=0003 fl=04 *a code=0779 owner=0048 element=05F2 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=077A owner=0048 element=05F1 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=077B owner=0048 element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=077C owner=0048 element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=06B3 elementURI="BPC1.BattTemp_0" type=00 *a code=077D owner=0048 element=06B3 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=077E owner=0048 element=046A universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=077F owner=0048 element=046F universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0780 owner=0048 element=0474 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0781 owner=0048 element=0479 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0782 owner=0048 element=047E universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0783 owner=0048 element=0483 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0784 owner=0048 element=0488 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0785 owner=0048 element=048D universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0786 owner=0048 element=0492 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0787 owner=0048 element=0497 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0788 owner=0048 element=049C universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0789 owner=0048 element=04A1 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=078A owner=0048 element=04A6 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=078B owner=0048 element=04AB universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=078C owner=0048 element=04B0 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=078D owner=0048 element=04B5 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=078E owner=0048 element=04BA universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=078F owner=0048 element=04BF universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0790 owner=0048 element=04C4 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0791 owner=0048 element=04C9 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0792 owner=0048 element=04CE universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0793 owner=0048 element=04D3 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0794 owner=0048 element=04D8 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0795 owner=0048 element=04DD universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0796 owner=0048 element=04E2 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0797 owner=0048 element=04E7 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0798 owner=0048 element=04EC universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0799 owner=0048 element=04F1 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=079A owner=0048 element=04F6 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=079B owner=0048 element=04FB universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=079C owner=0048 element=0500 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=079D owner=0048 element=0505 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=079E owner=0048 element=050A universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=079F owner=0048 element=050F universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07A0 owner=0048 element=0514 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07A1 owner=0048 element=0519 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07A2 owner=0048 element=051E universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07A3 owner=0048 element=0523 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07A4 owner=0048 element=0528 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07A5 owner=0048 element=052D universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07A6 owner=0048 element=0532 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07A7 owner=0048 element=0537 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07A8 owner=0048 element=053C universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07A9 owner=0048 element=0541 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07AA owner=0048 element=0546 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07AB owner=0048 element=054B universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07AC owner=0048 element=0550 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07AD owner=0048 element=0555 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07AE owner=0048 element=055A universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07AF owner=0048 element=055F universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07B0 owner=0048 element=0564 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07B1 owner=0048 element=0569 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07B2 owner=0048 element=056E universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07B3 owner=0048 element=0573 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07B4 owner=0048 element=0578 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07B5 owner=0048 element=057D universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07B6 owner=0048 element=0582 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07B7 owner=0048 element=0587 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07B8 owner=0048 element=058C universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07B9 owner=0048 element=0591 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07BA owner=0048 element=0596 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07BB owner=0048 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07BC owner=0048 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07BD owner=0048 element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07BE owner=0048 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07BF owner=0048 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07C0 owner=0048 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07C1 owner=0048 element=0026 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=06B4 elementURI="CBIT.shorePowerOn" type=02 *a code=07C2 owner=0048 element=06B4 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=06B5 elementURI="CBIT.platform_fault" type=00 *a code=07C3 owner=0048 element=06B5 universal=0030 unitName="enum" type=02 size=0001 fl=05 *e code=06B6 elementURI="CBIT.platform_fault_leak" type=00 *a code=07C4 owner=0048 element=06B6 universal=0031 unitName="enum" type=02 size=0001 fl=05 *a code=07C5 owner=0048 element=0071 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=06B7 elementURI="CBIT.GFCHANA0Current" type=02 *a code=07C6 owner=0048 element=06B7 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=06B8 elementURI="CBIT.GFCHANA1Current" type=02 *a code=07C7 owner=0048 element=06B8 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=06B9 elementURI="CBIT.GFCHANA2Current" type=02 *a code=07C8 owner=0048 element=06B9 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=06BA elementURI="CBIT.GFCHANA3Current" type=02 *a code=07C9 owner=0048 element=06BA universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=06BB elementURI="CBIT.GFCHANB0Current" type=02 *a code=07CA owner=0048 element=06BB universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=06BC elementURI="CBIT.GFCHANB1Current" type=02 *a code=07CB owner=0048 element=06BC universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=06BD elementURI="CBIT.GFCHANB2Current" type=02 *a code=07CC owner=0048 element=06BD universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=06BE elementURI="CBIT.GFCHANB3Current" type=02 *a code=07CD owner=0048 element=06BE universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=06BF elementURI="CBIT.GFCHANOpenCurrent" type=02 *a code=07CE owner=0048 element=06BF universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=07CF owner=0048 element=06B2 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=06C0 elementURI="CBIT.empericalClassifierFaultDetected" type=02 *a code=07D0 owner=0048 element=06C0 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=06C1 elementURI="CBIT.binnedDepthRate" type=02 *a code=07D1 owner=0048 element=06C1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=07D2 owner=0048 element=0157 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=07D3 owner=0048 element=0156 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=07D4 owner=0048 element=0158 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=07D5 owner=0048 element=0159 universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=04 *a code=07D6 owner=0048 element=015A universal=3FFF unitName="fahrenheit" type=0B size=0003 fl=04 *a code=07D7 owner=0048 element=0161 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=07D8 owner=0048 element=015B universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=07D9 owner=0048 element=015C universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=07DA owner=0048 element=015E universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=07DB owner=0048 element=0160 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=07DC owner=0048 element=015F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=07DD owner=0048 element=015D universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=07DE owner=0048 element=0162 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=07DF owner=0048 element=0163 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=07E0 owner=0048 element=0164 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=07E1 owner=0048 element=0165 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=07E2 owner=0048 element=0166 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=07E3 owner=0048 element=0167 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=07E4 owner=0048 element=0168 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=07E5 owner=0048 element=0169 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=07E6 owner=0048 element=016A universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=07E7 owner=0048 element=016B universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=07E8 owner=0048 element=016C universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=07E9 owner=0048 element=016D universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=07EA owner=0048 element=016E universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=07EB owner=0048 element=016F universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=07EC owner=0048 element=0170 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=07ED owner=0048 element=0171 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 1ƿfSyncComponent "CBIT" handled in the control thread.Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)NLoading Module at Modules/Estimation.soLoaded Module: Estimation (Contains the base estimation components)LLoading Module at Modules/Simulator.soLoaded Module: Simulator (This is the module containing the Simulator)HLoading Module at Modules/Control.so*n code=0049 name="VerticalControl" *e code=06C2 elementURI="VerticalControl.enableBroadcast" type=02 *a code=07EE owner=0049 element=06C2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 $4Construct VerticalControl.*a code=07EF owner=0049 element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=06C3 elementURI="VerticalControl.depthCmd" type=02 *a code=07F0 owner=0049 element=06C3 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *e code=06C4 elementURI="VerticalControl.depthRateCmd" type=02 *a code=07F1 owner=0049 element=06C4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=07F2 owner=0049 element=06A2 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=06C5 elementURI="VerticalControl.pitchRateCmd" type=02 *a code=07F3 owner=0049 element=06C5 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *e code=06C6 elementURI="VerticalControl.buoyancyCmd" type=02 *a code=07F4 owner=0049 element=06C6 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=07F5 owner=0049 element=06A3 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=07F6 owner=0049 element=06AB universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=06C7 elementURI="LoopControl.periodCmd" type=02 *a code=07F7 owner=0049 element=06C7 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=07F8 owner=0049 element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=07F9 owner=0049 element=0110 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=07FA owner=0049 element=0111 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=07FB owner=0049 element=0112 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=07FC owner=0049 element=0113 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=07FD owner=0049 element=0114 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=07FE owner=0049 element=0115 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=07FF owner=0049 element=0116 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0800 owner=0049 element=0117 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0801 owner=0049 element=0118 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0802 owner=0049 element=0119 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0803 owner=0049 element=011A universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0804 owner=0049 element=011B universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0805 owner=0049 element=011C universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0806 owner=0049 element=011D universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0807 owner=0049 element=011F universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0808 owner=0049 element=011E universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04 *a code=0809 owner=0049 element=0120 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=080A owner=0049 element=0121 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=080B owner=0049 element=0122 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=080C owner=0049 element=0124 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=080D owner=0049 element=0123 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04 *a code=080E owner=0049 element=0125 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=080F owner=0049 element=0126 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=0810 owner=0049 element=0127 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=0811 owner=0049 element=0128 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=0812 owner=0049 element=012A universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=0813 owner=0049 element=0129 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04 *a code=0814 owner=0049 element=012B universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=0815 owner=0049 element=012C universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0816 owner=0049 element=012D universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0817 owner=0049 element=012E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0818 owner=0049 element=0130 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0819 owner=0049 element=0131 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=081A owner=0049 element=0132 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=081B owner=0049 element=0133 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=081C owner=0049 element=0135 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=081D owner=0049 element=0134 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=081E owner=0049 element=0136 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=081F owner=0049 element=0137 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04 *a code=0820 owner=0049 element=0138 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0821 owner=0049 element=0139 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0822 owner=0049 element=013A universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0823 owner=0049 element=013B universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04 *a code=0824 owner=0049 element=013C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0825 owner=0049 element=013D universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0826 owner=0049 element=013E universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0827 owner=0049 element=013F universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04 *a code=0828 owner=0049 element=0140 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0829 owner=0049 element=0141 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=082A owner=0049 element=010C universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=082B owner=0049 element=0142 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=082C owner=0049 element=0144 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=082D owner=0049 element=0145 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=082E owner=0049 element=0146 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=082F owner=0049 element=0147 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0830 owner=0049 element=0148 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0831 owner=0049 element=02A0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0832 owner=0049 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0833 owner=0049 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0834 owner=0049 element=0037 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0835 owner=0049 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0836 owner=0049 element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0837 owner=0049 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0838 owner=0049 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=06C8 elementURI="VerticalControl.depth2buoyIntInternal" type=02 *a code=0839 owner=0049 element=06C8 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *e code=06C9 elementURI="VerticalControl.depthErrorInternal" type=02 *a code=083A owner=0049 element=06C9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06CA elementURI="VerticalControl.depthIntegralInternal" type=02 *a code=083B owner=0049 element=06CA universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=06CB elementURI="VerticalControl.dtInternal" type=02 *a code=083C owner=0049 element=06CB universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=06CC elementURI="VerticalControl.elevatorIntegralInternal" type=02 *a code=083D owner=0049 element=06CC universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=06CD elementURI="VerticalControl.massIntegralInternal" type=02 *a code=083E owner=0049 element=06CD universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06CE elementURI="VerticalControl.massPitchErrorInternal" type=02 *a code=083F owner=0049 element=06CE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=06CF elementURI="VerticalControl.pitchInternal" type=02 *a code=0840 owner=0049 element=06CF universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=06D0 elementURI="VerticalControl.smoothDepthInternal" type=02 *a code=0841 owner=0049 element=06D0 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0842 owner=0049 element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0843 owner=0049 element=065A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0844 owner=0049 element=0661 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0845 owner=0049 element=0653 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0846 owner=0049 element=065A universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0847 owner=0049 element=0661 universal=3FFF unitName="meter" type=0B size=0003 fl=04 q1ƿ1|SyncComponent "VerticalControl" handled in the control thread.*n code=004A name="HorizontalControl" *e code=06D1 elementURI="HorizontalControl.enableBroadcast" type=02 *a code=0848 owner=004A element=06D1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 %48Construct HorizontalControl.*a code=0849 owner=004A element=06AC universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=06D2 elementURI="HorizontalControl.latitudeCmd" type=02 *a code=084A owner=004A element=06D2 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *e code=06D3 elementURI="HorizontalControl.longitudeCmd" type=02 *a code=084B owner=004A element=06D3 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *e code=06D4 elementURI="HorizontalControl.headingCmd" type=02 *a code=084C owner=004A element=06D4 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=06D5 elementURI="HorizontalControl.headingRateCmd" type=02 *a code=084D owner=004A element=06D5 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *a code=084E owner=004A element=06AD universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=06D6 elementURI="HorizontalControl.bearingCmd" type=02 *a code=084F owner=004A element=06D6 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=06D7 elementURI="HorizontalControl.kdHeadingOverride" type=02 *a code=0850 owner=004A element=06D7 universal=3FFF unitName="second" type=0B size=0003 fl=04 *e code=06D8 elementURI="HorizontalControl.kiHeadingOverride" type=02 *a code=0851 owner=004A element=06D8 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *e code=06D9 elementURI="HorizontalControl.kpHeadingOverride" type=02 *a code=0852 owner=004A element=06D9 universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=0853 owner=004A element=0100 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0854 owner=004A element=0101 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=0855 owner=004A element=0103 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0856 owner=004A element=0104 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04 *a code=0857 owner=004A element=0102 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04 *a code=0858 owner=004A element=0105 universal=3FFF unitName="angular_degree_per_second_squared" type=0B size=0003 fl=04 *a code=0859 owner=004A element=0106 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=085A owner=004A element=0107 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04 *a code=085B owner=004A element=0108 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=085C owner=004A element=0109 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=085D owner=004A element=010A universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=085E owner=004A element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=085F owner=004A element=004D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0860 owner=004A element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0861 owner=004A element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0862 owner=004A element=003D universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=06DA elementURI="HorizontalControl.headingInternal" type=02 *a code=0863 owner=004A element=06DA universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=06DB elementURI="HorizontalControl.smoothHeadingInternal" type=02 *a code=0864 owner=004A element=06DB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=06DC elementURI="HorizontalControl.headingIntegralInternal" type=02 *a code=0865 owner=004A element=06DC universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=06DD elementURI="HorizontalControl.xteIntegralInternal" type=02 *a code=0866 owner=004A element=06DD universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=06DE elementURI="HorizontalControl.xteInternal" type=02 *a code=0867 owner=004A element=06DE universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06DF elementURI="HorizontalControl.kxteInternal" type=02 *a code=0868 owner=004A element=06DF universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=06E0 elementURI="HorizontalControl.bearingInternal" type=02 *a code=0869 owner=004A element=06E0 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=086A owner=004A element=0668 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=086B owner=004A element=0668 universal=3FFF unitName="radian" type=2F size=0004 fl=04 ZƿZSyncComponent "HorizontalControl" handled in the control thread.*n code=004B name="SpeedControl" *e code=06E1 elementURI="SpeedControl.enableBroadcast" type=02 *a code=086C owner=004B element=06E1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 %].Construct SpeedControl.*a code=086D owner=004B element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=086E owner=004B element=010E universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04 *a code=086F owner=004B element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0870 owner=004B element=066F universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 _ƿ_vSyncComponent "SpeedControl" handled in the control thread.*n code=004C name="LoopControl" *e code=06E2 elementURI="LoopControl.enableBroadcast" type=02 *a code=0871 owner=004C element=06E2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 &b,Construct LoopControl.*a code=0872 owner=004C element=06C7 universal=3FFF unitName="second" type=0B size=0003 fl=04 1cƿctSyncComponent "LoopControl" handled in the control thread.cLoaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)dHLoading Module at Modules/Trigger.so|Loaded Module: Trigger (Contains triggers for use in missions)*n code=004D name="MissionManager" *e code=06E3 elementURI="MissionManager.enableBroadcast" type=02 *a code=0873 owner=004D element=06E3 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0874 owner=004D element=064C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0875 owner=004D element=0070 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=06E4 elementURI="MissionManager.mission_started" type=00 *a code=0876 owner=004D element=06E4 universal=001C unitName="count" type=0D size=0004 fl=05 ƿzSyncComponent "MissionManager" handled in the control thread.*n code=004E name="Reporter" *e code=06E5 elementURI="Reporter.enableBroadcast" type=02 *a code=0877 owner=004E element=06E5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ƿnSyncComponent "Reporter" handled in the control thread.*n code=004F name="NavChartDb" *e code=06E6 elementURI="NavChartDb.enableBroadcast" type=02 *a code=0878 owner=004F element=06E6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=06E7 elementURI="NavChartDb.closestDistance" type=02 *a code=0879 owner=004F element=06E7 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06E8 elementURI="NavChartDb.nextDistance" type=02 *a code=087A owner=004F element=06E8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06E9 elementURI="NavChartDb.closestDepth" type=02 *a code=087B owner=004F element=06E9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06EA elementURI="NavChartDb.nextDepth" type=02 *a code=087C owner=004F element=06EA universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=087D owner=004F element=022B universal=3FFF unitName="none" type=00 size=0047 fl=04 *a code=087E owner=004F element=022C universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 ƿbComponent "NavChartDb" handled in its own thread.*n code=0050 name="NavChartDb ThreadHandler" (DCreated PCaller Thread at 40B324E0(BProtected caller Thread ID is 941N*Main Thread ID is 831F&Running supervisor.0Handler Thread ID is 9420Handler Thread ID is 943 4Initializing ControlThread*a code=087F owner=0027 element=033B universal=3FFF unitName="bool" type=02 size=0001 fl=04 >Initialize NavChart Navigation.hInitializing UniversalFixResidualReporter component. @Initializing WorkSite component. BInitializing DepthRateCalculator. BInitializing PitchRateCalculator. !:Initializing SpeedCalculator.!HInitializing TempGradientCalculator. ">Initializing YawRateCalculator."LInitializing ElevatorOffsetCalculator.#4Initialize SBIT Component.=#git: 2021-08-12#dgit hash: 4ac1c7994e02762939ba6e7c4596a90b7f61f056=#0Kernel Release: 2.6.27.8*a code=0880 owner=0046 element=0173 universal=3FFF unitName="bool" type=02 size=0001 fl=04 #Kernel Reporting Different Version From Configuration. Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018 Kernel Reported: #1 PREEMPT Thu Aug 6 12:04:53 PDT 2020翼#HBeginning SBIT in 31.000000 seconds.#4Initialize IBIT Component.I꿿 $4Initialize CBIT Component.0Handler Thread ID is 944 $*Initialized mux pins. $@Initializing the watchdog timer.0Handler Thread ID is 9450Handler Thread ID is 946dashIP=128.128.181.155 starts with a digit so assuming it is a numeric IP0Handler Thread ID is 947$TLast reboot was NOT due to watchdog timer. $.Initializing heartbeat.ilGI"oA0Handler Thread ID is 948iAٽ  ٺ"oA  T?0Handler Thread ID is 949 2Initializing CTD_Seabird. 0Handler Thread ID is 951Powering downI޿)޿޿i޿ Ii9@(0Handler Thread ID is 952' Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000' tAlready Loaded Electronic Nav Chart data from US1WC07M.000' Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000'!tAlready Loaded Electronic Nav Chart data from US2WC11M.000'!Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000'!tAlready Loaded Electronic Nav Chart data from US3CA52M.000'!Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000'!tAlready Loaded Electronic Nav Chart data from US4CA60M.000'!Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000'"tAlready Loaded Electronic Nav Chart data from US5CA50M.000'"Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000'"tAlready Loaded Electronic Nav Chart data from US5CA61M.000'"Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000'#tAlready Loaded Electronic Nav Chart data from US5CA62M.000'#Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000'#tAlready Loaded Electronic Nav Chart data from US5CA83M.000 $+2Deactivating GF circuits. $+8Deactivating emergency mode. $N$Backplane powered.$NHInitialize VerticalControlComponent. %PLInitialize HorizontalControlComponent.%QBInitialize SpeedControlComponent. &Q@Initialize LoopControlComponent.&RJLoading Mission: Missions/Startup.xml*n code=0051 name="Startup" *n code=0052 name="Startup:A.GoToSurface" *e code=06EB elementURI="GoToSurface.enableBroadcast" type=02 *a code=0881 owner=0052 element=06EB universal=3FFF unitName="bool" type=02 size=0001 fl=05 )u,Construct GoToSurface.*a code=0882 owner=0052 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0883 owner=0052 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0884 owner=0052 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0885 owner=0052 element=06C4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0886 owner=0052 element=06A2 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0887 owner=0052 element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0888 owner=0052 element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0889 owner=0052 element=06AB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=088A owner=0052 element=06A3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=088B owner=0052 element=0147 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=088C owner=0052 element=0142 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=088D owner=0052 element=0114 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=088E owner=0052 element=0134 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=088F owner=0052 element=012F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0890 owner=0052 element=0143 universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=0053 name="Startup:StartupSatComms" *n code=0054 name="Startup:StartupSatComms:A" *n code=0055 name="Startup:StartupSatComms:B" &A &pLoading Mission: Missions/underIce/DefaultWithUndock.xml*n code=0056 name="DefaultWithUndock" *e code=06EC elementURI="DefaultWithUndock.ElapsedSinceDefaultStarted" type=00 *a code=0891 owner=0056 element=06EC universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0892 owner=0056 element=06EC universal=3FFF unitName="minute" type=1F size=0008 fl=05 D&DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min*e code=06ED elementURI="DefaultWithUndock.DetachTimeout" type=00 *a code=0893 owner=0056 element=06ED universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0894 owner=0056 element=06ED universal=3FFF unitName="minute" type=1F size=0008 fl=05 D# @&$rDefineArg DefaultWithUndock.DetachTimeout = 30.000000 min*a code=0895 owner=0056 element=0257 universal=3FFF unitName="count" type=0D size=0004 fl=04 *e code=06EE elementURI="DefaultWithUndock.TransponderCode" type=00 *a code=0896 owner=0056 element=06EE universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0897 owner=0056 element=06EE universal=3FFF unitName="count" type=1F size=0008 fl=05 D(@&5xDefineArg DefaultWithUndock.TransponderCode = 2.000000 count*e code=06EF elementURI="DefaultWithUndock.TrackingUpdatePeriod" type=00 *a code=0898 owner=0056 element=06EF universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=0899 owner=0056 element=06EF universal=3FFF unitName="second" type=1F size=0008 fl=05 D8@&9zDefineArg DefaultWithUndock.TrackingUpdatePeriod = 2.500000 s*e code=06F0 elementURI="DefaultWithUndock.NumberOfPings" type=00 *a code=089A owner=0056 element=06F0 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=089B owner=0056 element=06F0 universal=3FFF unitName="count" type=1F size=0008 fl=05 DP?&QtDefineArg DefaultWithUndock.NumberOfPings = 1.000000 count*e code=06F1 elementURI="DefaultWithUndock.DetachModeDDM" type=00 *a code=089C owner=0056 element=06F1 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=089D owner=0056 element=06F1 universal=3FFF unitName="count" type=1F size=0008 fl=05 DT@&UtDefineArg DefaultWithUndock.DetachModeDDM = 2.000000 count*n code=0057 name="DefaultWithUndock:A.Wait" +VConstruct Wait.*n code=0058 name="DefaultWithUndock:LeaveDock" *n code=0059 name="DefaultWithUndock:LeaveDock:A_Timeout" *n code=005A name="DefaultWithUndock:LeaveDock:A_Timeout:A" *a code=089E owner=005A element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=005B name="DefaultWithUndock:LeaveDock:A." *e code=06F2 elementURI="TrackAcousticContact.enableBroadcast" type=02 *a code=089F owner=005B element=06F2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=08A0 owner=005B element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08A1 owner=005B element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08A2 owner=005B element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08A3 owner=005B element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08A4 owner=005B element=0003 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08A5 owner=005B element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08A6 owner=005B element=0002 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08A7 owner=005B element=032E universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=08A8 owner=005B element=05B8 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=06F3 elementURI="TrackAcousticContact.contact_label" type=02 *a code=08A9 owner=005B element=06F3 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=06F4 elementURI="TrackAcousticContact.contact_latitude" type=02 *a code=08AA owner=005B element=06F4 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=06F5 elementURI="TrackAcousticContact.contact_latitude_lowpass" type=02 *a code=08AB owner=005B element=06F5 universal=3FFF unitName="degree" type=2F size=0004 fl=05 ~Powering up*e code=06F6 elementURI="TrackAcousticContact.contact_longitude" type=02 *a code=08AC owner=005B element=06F6 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=06F7 elementURI="TrackAcousticContact.contact_longitude_lowpass" type=02 *a code=08AD owner=005B element=06F7 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=06F8 elementURI="TrackAcousticContact.eastings_to_contact" type=02 *a code=08AE owner=005B element=06F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06F9 elementURI="TrackAcousticContact.northings_to_contact" type=02 *a code=08AF owner=005B element=06F9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06FA elementURI="TrackAcousticContact.contact_depth" type=02 *a code=08B0 owner=005B element=06FA universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06FB elementURI="TrackAcousticContact.contact_depth_lowpass" type=02 *a code=08B1 owner=005B element=06FB universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06FC elementURI="TrackAcousticContact.range_to_contact" type=02 *a code=08B2 owner=005B element=06FC universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06FD elementURI="TrackAcousticContact.azimuth_to_contact_vehicle_frame" type=02 *a code=08B3 owner=005B element=06FD universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=06FE elementURI="TrackAcousticContact.elevation_to_contact_vehicle_frame" type=02 *a code=08B4 owner=005B element=06FE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=06FF elementURI="TrackAcousticContact.heading_to_contact" type=02 *a code=08B5 owner=005B element=06FF universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0700 elementURI="TrackAcousticContact.direction_vehicle_frame" type=12 blobType=11 fixedSize=0003 *a code=08B6 owner=005B element=0700 universal=3FFF unitName="none" type=00 size=0000 fl=05 *e code=0701 elementURI="TrackAcousticContact.direction_navigation_frame" type=12 blobType=11 fixedSize=0003 *a code=08B7 owner=005B element=0701 universal=3FFF unitName="none" type=00 size=0000 fl=05 *e code=0702 elementURI="TrackAcousticContact.relativePosition_vehicleFrame" type=12 blobType=11 fixedSize=0003 *a code=08B8 owner=005B element=0702 universal=3FFF unitName="meter" type=00 size=0000 fl=05 *e code=0703 elementURI="TrackAcousticContact.relativePosition_navigationFrame" type=12 blobType=11 fixedSize=0003 *a code=08B9 owner=005B element=0703 universal=3FFF unitName="meter" type=00 size=0000 fl=05 *n code=005C name="DefaultWithUndock:LeaveDock:B.Undock" . Construct. . dInitializing internal variables to default values.*a code=08BA owner=005C element=0275 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=08BB owner=005C element=0277 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=08BC owner=005C element=0276 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=08BD owner=005C element=0278 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=08BE owner=005C element=0279 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=08BF owner=005C element=0147 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=08C0 owner=005C element=0131 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=08C1 owner=005C element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08C2 owner=005C element=06FC universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=08C3 owner=005C element=05FC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=08C4 owner=005C element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=08C5 owner=005C element=05A9 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=08C6 owner=005C element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=08C7 owner=005C element=06C3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=08C8 owner=005C element=06AB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08C9 owner=005C element=06A3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=08CA owner=005C element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=08CB owner=005C element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=005D name="DefaultWithUndock:SurfaceDefault" *n code=005E name="DefaultWithUndock:SurfaceDefault:HoldLatchOpen" *a code=08CC owner=005E element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08CD owner=005E element=0147 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=005F name="DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A" *n code=0060 name="DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B" *a code=08CE owner=0060 element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=0061 name="DefaultWithUndock:SurfaceDefault:B.GoToSurface" *a code=08CF owner=0061 element=06EB universal=3FFF unitName="bool" type=02 size=0001 fl=05 0@,Construct GoToSurface.*a code=08D0 owner=0061 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08D1 owner=0061 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08D2 owner=0061 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08D3 owner=0061 element=06C4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=08D4 owner=0061 element=06A2 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08D5 owner=0061 element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=08D6 owner=0061 element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=08D7 owner=0061 element=06AB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08D8 owner=0061 element=06A3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=08D9 owner=0061 element=0147 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=08DA owner=0061 element=0142 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=08DB owner=0061 element=0114 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=08DC owner=0061 element=0134 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=08DD owner=0061 element=012F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=08DE owner=0061 element=0143 universal=3FFF unitName="second" type=0B size=0003 fl=04 *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" 3d$Construct Execute.*n code=0067 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:B" *n code=0068 name="DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait" 4~Construct Wait.*n code=0069 name="DefaultWithUndock:SurfaceDefault:CheckIn:D" *a code=08DF owner=0069 element=06EC universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=08E0 owner=0069 element=001C universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=006A name="DefaultWithUndock:SurfaceDefault:CheckIn:E" *n code=006B name="DefaultWithUndock:D" *n code=006C name="DefaultWithUndock:E.Execute" 6$Construct Execute.&V 0 Maximum time duration for the vehicle to detach form the dock. 30 Dock transponder address. Time duration between acoustic range queries while the mission is detaching from the dock. 2.5 Number of pings requested each time. 1 DDM DETACH mode enumeration (whiskers retracted, latch open). 2 Wait a moment to see if the scheduler starts a new mission before starting to actually run Default. 30 Timed out while trying to detach from dock at current depth of . Burn on Dropped weight due to communications timeout. 5 Default mission has been running for Restarting logs and Default mission. restart logs  Component order: CycleStarter,AHRS_M2,BPC1,DDM,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,PowerOnly,Power24vConverter,RDI_Pathfinder,RDI_PathfinderUp,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,WorkSite,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,C q ,Պ6EA **Initializing AHRS_M2.} *a code=08E1 owner=0022 element=02FF universal=3FFF unitName="bool" type=02 size=0001 fl=04 Powering up"Initializing DDM. e Y]@ e yeFFPowering up 6Initializing DUSBL_Hydroid.-Powering up.I-II ]@ ]@ ]@ ]@"B}6A;*B} y:AAAARCC4Initializing EZServoServo.6Initializing BuoyancyServo.  4Initializing EZServoServo. u6Initializing ElevatorServo.}4Initializing EZServoServo..Initializing MassServo. 4Initializing EZServoServo. 2Initializing RudderServo.4Initializing EZServoServo.-6Initializing ThrusterServo.IE*e code=0704 elementURI="controlThread.durationOfLastRun" type=00 *a code=08E2 owner=0004 element=0704 universal=3FFF unitName="second" type=07 size=0002 fl=05 G}w> q,V6EAYb̒>yb4E)fnPowering upn0Initializing Micromodem.}M=!M IȍIȍ*BAAAARCCIG}= q,w6EAY"o>y"E2M2^=I6I6*B@A@A@ADADRCDCH-% ^Rudder initialization uart error serial timeout]% 6Rudder failed to initialize% -% (Communications FaultI! -$5 \Communications Fault in component: RudderServoG= >A q,W=6EAYJX>yJVEfNMj6=InIn*BqAqAqAqAyRCyC =4Uninitialize Rudder Servo.=Powering down== EEIIG;> d q,6EAY"Z>y"zE2;M2S=I6I6*B@A@ADADADRCDCHIPG^<K q, 7EAY"g>y"*E2<M2J=I6I6*B@A@ADADADRCDCH R4Initializing EZServoServo. M2Initializing RudderServo.IY$u^Clearing failed state for component RudderServouG}> v q,!'7EAY"gc>y" E2M2J=I6I6*B@A@ADADADRCDCHITGb<] q,&A7EAY"g>y"sE2$<M2J=I6I6*B@A@ADADADRCDCHIGD>7 q,~[7EAYX>yVE%M%%=I5I5*BAAAARCCIG> q,?u7EAY}c>y}, E{<Mh=IȭIȭ*BAAAARCCI)GE0> q,G7EAY}Fk>y}E<MJ=IȥIȥ*BAAAARC C I5)55i5 IGj>>CielGI}~nAiTľٺ~nA@E q,7EAYg>ysEM,=? ]?] a>a Iȍ*BAAAARCCIG> q,7EAY}h>y}E?*;Mk=!!a%S?!I)*BAAAARCCIyG=iJ q,?7EAY}$>y}#E6Nmea out: $CCCFG,ALL,0*33 =MJ=!!a%?)I1*BAAAARCCe eqIqG9> q,Ή7EAYx>yE3MQ=a?I*BA A A A RCCE9IIGm5>q,b8EAY}zb>y}Q ET^ML=a@Iȩ*BAAAARCCɾ8A@A IG~>-m `Device message queue exceeded the allowed limit.i q,>*8EAYyyya@Iȩ*BAAAARCCIAGu=<q,D8EAY}a>y} EM<a5@I *BAAAAIAIAIRCICi]AIkA I Yϥuc:IG>>m$q,]8EAYx>yEi=MN=aO@I*BAAAARCCYc: 8>;>IG>Nq,Bw8EAYh>yNENMH=ai@I*BAAAAAAAAIRCICYUd:I9GU>U6$q,ڪ8EAY}%Z>y}1EMJ=a@I*BA A A A RCC]=]i>Y5~c:IG= >l`*q,ׅ8EA5 Y} y|@A } l@9 y} 7=<= }  nE } H@ʛ?@X?U`ɿ`Ϳ!?)~ y|@ ~ ;I~ |CY=t>y=#EUpNmea in: $CATMG,2021-08-14T00:40:01.690896Z,RTC,RTC*51 UCFG response from modem unexpected: $CATMG,2021-08-14T00:40:01.690896Z,RTC,RTC*51 =MN=a@Iȩ*B A A A A RCQCYY5.e:ɾ?A?Aa 9:v6IGI>H1q,b8EAYfb>yj E~<M~U=IQU>aU  a @ i}>!} I9*BQAQAAARCCY]Xf:9-t8I9G]=r7q, =8EA|@i|@Y}~@}n@y}h=}4B}Hc`?@K? )`ÿ` ¿ ə?)~~@ ~k0;I~}CY:S>y>5EirElGI|i 5ٺ15|AE MMF=YM^=QUM>QQaU@Qy]=}]>Ia*ByAyAyAyARCCi̕kAI̕jAYUh:i]fAI]kA!@!@!@!@!@!@!@!@ٝٝٝٝ9-9I9GY}=q,8EAYbR>ybEnMrQ=YrQUr>ttav@tyz}z>I|*B1A1A1A1A1RCyCYUi:95A:I9GQ Dq,g9EAY}~@}עn@y}R8}B=}Hףs?sY``(l?4 ?4N?>?)~~@ ~݄;I~CYb>ybEn=MrJ=Yr",QUr>ttav@tyzC^}z>I9*BQAQAQAARCCYuj:9M׊:IYGu=Jq,`,9EA|*;|*;Y}6{@}6Wr@y}6k=}6¼}6H@LeM?@O``ۂݶU?)~6{@ ~6 &;I~4YR>yR"E^&<MbL=Yb>QUb>ddaf@dyj4>}j>Il*BxAxAxAxAxRC|C ? !?Yl:==9ԵO:IG=IQq,ܸF9EAY}*Q~@}*v o@y}*)>}*>;:}*H@C`F?3w2Ϳ ƿ/)?)~*Q~@ ~*|;I~*CY>>y>*ENm=MNL=YNgo=QUR>PPaR@PyV}V>I\*BhAhAhAhAlRClCpYϵm:9ԍe:IG=ɾWq,,`9EAYZ`>yZ. EMC=YQU>a@y%}%>I)*BAAAARCCYϥ[o:9ԅ;IG=]q,[_z9EA|@i|Y}3g@}r@y}Kɼ}}Hjd#?@? Bu@Ȳ@sǿ(?%п`j?)~3g@ ~$@;I~CY2[>y2 EB'TMBU=YB|ܾQUB>DDaF@DyJ >}J>IL*BXAXAXA\A\RC`C`idIfkAYϝp:iҥkAIҥlA9u;IG='dq,i89EAY}P@}cv@y}}=}H01? ˜? & c`t??)~P@ ~+;I~CY2D>y20DZZ]MZG=YZC=QUZ>\\a^A\yb#>}b>Id*BxAxAxA|A|RC|CY,r:9Ե),;IG= ,>)>jq,D9EAY}$@}mv@y}=}`=}H:h ۇ?մ@ʨ{h@)?@ } e´??)~$@ ~K;I~CY2a>y2w ERf=MRK=YR4=QUR>TTaVATyZ}Z>I\*BhAhAlAlAlRClCpYϽDs:9ԕ@;IG=4qq,9EA||Y}@}Cu@y}=}f=}H v{$?a[iz\? ̛`7?@b?)~@ ~|;I~CYR>yR7)E=MC=Y%=QU%>!)a- A)y-o}5>Iȑ*BAAAARCC???Yϵt:iIIiGZ>xq,9EAY}J@}'v@y}=}+}H`p?^-᱿7 7ꏿ?)~J@ ~Ă;I~CY2b>y2'E :A:A>hA>lAR߾MRS=YR:QUR>TTaVATyZ<=}Z>I\*BhAhAlAlAlRCpCpYv:IG=ɾ8~q,9EAY}@}'-w@y}2p=}2}H@B ?|4? `y2iE J@ J@ J@RkWMRJ=YRvQUR>TTaVATyZ<}Z>I\*BhAhAlAlAlRCpCpY5w:IG=!q,υ:EA|i|Y}: @}Zx@y}<}j{>}H H?@v?ŋ & ÿ_ǿ ep?)~: @ ~'z;I~Y2K>y2DNMRJ=YR(QUR>TTaV!ATyZ{:=}Z>I\*BhAhAhAlAlRCpCpI9G]4=)1iokGIiȕٺAOq, r/:EAY}N@}NiIy@y}N}Nm}NH@@V@?έ? Fbv?/H ?)~N@ ~Nx;I~NCYmP>y6EI5R=)5=)== ==    @ @ @ @©i )IiU <MU1=Y]GQU]>YYae(Aay=}>Iȩ*B!A)A)A)A)RC1C1 ;>?>I9G#>2q,8I:EAY}}@}ey@y}<}}HL`?``?_E@ԣfx?)~}@ ~|w;I~CY2p>y2%Ea iJ@a mN@a qN@a eN@b=Mbi=Ybj|=QUb>ddaf.Adyj;}j>Il*BxAxAxAxAxRC|CIGU0=6]q,c:EA||Y}"|%@}"ez@y}"0=}"\}"H P?„MFp(T`)`?)~"|%@ ~"}u;I~"CYBq>yBE^;MbJ=Yb=QUb>ddaf4Adyjg=}j>Il*BxAxAxAxAxRC|C|IG-=憞q,1|:EAY}(@}cjz@y}e=}}H@S`U?mD@`԰ٱS `r?)~(@ ~as;I~C*@Dynamic Docking Module:)ɾ@Aɫ==)= EIEY][>y]UE uAuA}lAy    @ @ @i )IiUh M]=Y] aaae>Aaym#:}m>Iq*BAAAARCCiII G >nq,ɖ:EAY}鬄@}sy@y}-=}:f}H hB`? ? t`0V뱿@̬?)~鬄@ ~}q;I~CY27r>y2Eb=Mb=YflQUfl?ddajAAhyjF}nl?Ip*B|A9A9A9A9RCACAIaG}E=q,:EA|4i|4Y}F1@}FLy@y}F>q=}FO}FHJb??@l̻g#`?)~F1@ ~Fo;I~FCY]p>yEaJAy~}>Iȡ*BAAAARCCIGd>ʀq,:EAY}=@}Yz@y}3I=}V }HTN?R4?U Ѕ`#` ?)~=@ ~ǜn;I~CY2*`>y2 EI>=)>=a iEa mEa qEa eEa QM@a UM@a YM@a MM@EuVͿZd;OͿMb?ErhE~j E<)EIE@a eU yEX9vMbpA`"?a i Ea m Ea q E= Ex]A)EaAIE^AiEcAEa I EQ`A)å= å>\M=YtQU?aOAy=}?I *BAAAARCCIGu= 8>Tq,XX:EAY}:چ@}}@y} <} }H \?f?@l|` `s ?)~:چ@ ~Zn;I~CY2hJ>y2DB4Nmea in: $CACFG,ALL,0*31 B6Nmea out: $CCCFG,SRC,1*31 f\hMfZ=YjݽQUj>lparTAty~ >}>I*BAAAARCCIG=_վq,T7:EA|4<|4y2E:4Nmea in: $CACFG,SRC,1*33 :VNmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64    @ @ @ùùùiùù Ĺ)ĹIĹiĹ<M;=YkzQU>a[Ay<}>I!*BAAAAAAAAARCICIIG%=>q,s;EAY} @}35|@y}oD=}I}H@IE?@?!`d@0[2?)~ @ ~q;I~CY2f|>y2CE6 DUSBL Version:O vTNmea in: $CACFG,nav.dt.txtrig_gpio4,1*66 vLNmea out: $CCCFG,pwramp.txlevel,0*2F xxxzmAm=MmP=Yur=QUu>yyabAyYǽ}>Iș*BAAAARCCI9G]=ɾ?A7q,1;EAY}Q@}|@y}=}N,}H@? !H? Ǯ4lſ`?)~Q@ ~n;I~CY2Q>y2EJJNmea in: $CACFG,pwramp.txlevel,0*2D J8Nmea out: $CCCFG,DTO,30*1E nܽMrT=Yr#QUr>ttavhAtyz,<}~>I*B1AyAyAARCCIGm>>q,K;EA|i|Y}A@}~@y}-<}$}H&o}?@P?&U ,jĿ?)~A@ ~m;I~CY2N>y2D66Nmea in: $CACFG,DTO,30*1C :>Nmea out: $CCCFG,FC0,14500*47 %Eȿ:v?Mb`?%F%T< %;)!I!y%S㥫?$C?#~j?%/]=%Z>%= %^\A)%cAI%^\Ai%pgA!%`A E E E E@ E@ E@AAAiAA A)AIAiAeM&=Y7QU>apAyIs=}>I*BIAIAIAIAQRCQCYIG5->iU iGIi i 4ٺ (A;q,He;EAY} @}=j}@y}-G=}w}H c^??@bSѵ.㨿?)~ @ ~n;I~YBJ>yB!EJMn=Y;=QU?auAy`}?I*B)A)A1A1AqRCqCyIG= ;>?#q,};EAY} 4@}7|@y}ȃ=}i}H(? U - h`2v`ig?)~ 4@ ~p;I~CY2">y2 E::Nmea in: $CACFG,BW0,4000*61 :6Nmea out: $CCCFG,BND,0*3A z z ~ ~@ ~@ ~@|||i|| |)|I|i|uoMO=Y=QU>a|Ay}>I*B)A)A)A)A)RCqCyIGo q,hZ;EA|;|Y}@}y}@y}p<}}H m?5)?Հ@HMR?`?)~@ ~Mr;I~CY2Z>y2zE:4Nmea in: $CADQF,200,1*52 :jCFG response from modem unexpected: $CADQF,200,1*52 ^ڽMbW=YbvQUb>ddafAdyj"i=}j>Il*BxAxAxA|ARCC!IyGS=4q,1;EAY})@}n~@y} };Pb}He~?@?`} >`Œ? ?`4F@'?)~)@ ~q;I~CYb]>ybxEj|a%A!y=u<}e>Iy*BAAAARCACIIG=ɾq,;EAY}T@}|@y}8C<}}H ? hh? ힿf j?)~T@ ~p;I~CY6~>y:EZiNmea in: $CACST,6,1,20210814004013.845452,05,208,11,0239,0150,246,01,01,03,02,0,-01,-01,-1,2,1,1,-999,-99.9,-9.99,-999,-9.99,200,0.00,-999,25120,4000*41 ZCFG response from modem unexpected: $CACST,6,1,20210814004013.845452,05,208,11,0239,0150,246,01,01,03,02,0,-01,-01,-1,2,1,1,-999,-99.9,-9.99,-999,-9.99,200,0.00,-999,25120,4000*41 Zd;O?S㥛?Dl?j<$> O=)Iy ףp= ǿ/$A`"Q8,Y cA)aAIVfAi_AbA    @ @ @i )Ii =M !=Y ˯=QU>aAydU}>I!*ByAAAARCCIAGe4>=Hq,;EA|i|Y}}@}}@y} =}<}H` ybP E=1M==Y==QUE?AAaEAAyM <}M?IQ*BAAAARCCIG-= /q,y21EI<)>=)@ B=RMRU=YR(QUR>TTaVATyZ=}Z>I\*BhAlAlAlAlRCpCpIG=$= ?>4Yq,y2E64Nmea in: $CACFG,BND,0*38 :RNmea out: $CCCLK,2021,08,14,00,40,17*4A    @ @ @ùùùiùù Ĺ)ĹIĹiĹWU=M9=Y QU>aAy}%>I!*BAAAARCCI!G}= q,|4ynBEvLNmea in: $CACLK,2021,8,14,0,40,17*48     @  @  @i )Ii]s<M]4=Y]zaaaeAayh;}>Iȱ*B A A AARCCIqG >Ukq,iWNy2E:VNmea in: $CATMS,0,2021-08-14T00:40:18Z*77 >zNmea in: $CATMG,2021-08-14T00:40:18.027185Z,USER_CMD,RTC*19 @BA%333333?Q?kt?%>%\= % =)!I!y%J +ɿQU>aAy#=}>I*B A)A)A1A1RC1C9IqG=ɾq,L5hy2EEI6A)6AI6A)4RMRt=YR ;QUR?TTaVATyZC}Z?I\*BhAlA|A|A|RCCIG%=b} q, y2E ^ ^ b b@ b@ b@```i`` `)`I`i`~꯽M~E=Y%QU> a A y Ӽ}>I*BQAQAQAQAQRCCIQGm=q&q,?¿ ?)~˅@ ~' k;I~CYRmP>yR6EIZ=)X)Z= Z=n&MrL=Yr&QUr>ttavAtyz]߽}z>I|*BAAAA9RC9CAIyGR=el>eCi[jGIi0ٺ$A C>,q,Hy:. EJ=iJ=NR=iNp=    @ @ @i )Ii =M.=Yf:QU >aAy<}>I!*B9AAAAAAAARCICIIG=b3q,Ǟy2 E}ʡEZd;OV-ҿ}-}j }h)yIyy}bX9ƿy&1)\(?}E6}`}Ga> }UA)}MpAIyi}jAy}cAFMc=Yp=QU>aAyS>}>I*B A A A ARC1C9IQG=A9q, }y2E 8:A88Nc<MR[=YR>QUR>TTaVATyZ<}Z>I\*BhAhAhAlAlRCpCpI|G=ɾ?@q,zT=EAY}X@}~@y}-=}/}HuY? 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R|3?)~N<܅@ ~Ndg;I~LY^Jq>y^nEI`)bAI`)bA{GzT㥛 Qף u)IyMb{Gzt?kt?ף; =  YA)kAIjAix]A\cA%=M2=YQU>aAyTc<}>I*BAAAARCC=#*Beginning Startup BIT  >Ip< >IA=$]6Beginning ground fault scan]Ge=ʣq,uS>EA|i|@Y}}O@}|@y}A}T}H:b?E?#"f?b{ ?)~}O@ ~g;I~CY2bv>y2E):= :=Bs<MBu=YB=QUF?DDaFADyJ.=}J?IL*B`"Bfp<Bj >AhAYAaAaRC >C!e- -rg:1 1I999IAG>Κq,mTm>EAY}@}/z@y}ӓ<}8:,}H `/?\?/bH4Lr`񄥿 ?)~@ ~h;I~CY2 n>y2pEI:=):= b b b b@ b@ b@```i`` `)`I`i`sM B=Y=QU=>99aEAAyEfĽ}M>II*BYBaAaAiAiARCC G>'q,0->EAY}2ۄ@}y@y}c}O}H'@? >Ѱ? `"7?µ?)~2ۄ@ ~g;I~CYRS>yR5EV=iV=VR=iVa= % % % %@ %@ %@!!!i!! !)!I!i!5M]G=Y]QU]>aaaeAaym]4}m>Iq*BBAAAARCCiAkAlwo= IIG=ߧq,>EA||Y}@} |@y}hˁ}}Hb^Ө?? 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KN ?G?.??)~=@ ~&kf;I~CY2 m>y2E:jAi:jAI>=)>=R"W=MRz=YR=QUR?TTaVBTyZ#}Z?IX*BdBhAhAhAhAhRClCp9< II! 8>8>GM1>U<q,@EAY}E@}@y}=}"<}H,?M`.= n@Nט?`?)~E@ ~F?h;I~CY2h>y2NE6=i6= ^ b b b@ b@ b@```i`` `)`I`i`~D M~D=Y~I>QU>aBy XS} >I*BQBQAqAqAyAyRCyCi҉IҍlA9 n< II!5϶=ʷ =)=mI=;J5i==4=%6=7=$qNo ground fault detected mA: CHAN A0 (Batt): -0.006197 CHAN A1 (24V): -0.024180 CHAN A2 (12V): -0.005775 CHAN A3 (5V): -0.001754 CHAN B0 (3.3V): 0.000753 CHAN B1 (3.15aV): -0.000064 CHAN B2 (3.15bV): 0.000361 CHAN B3 (GND): 0.001954 OPEN: 0.008620 Full Scale Calc: 4.765 mA, -1.589 mAG=y2E<TTaVBTyZ;<}Z>I\*BhBlAlAlAlAlRCpCtizIzzz IIG>fIq,m'AEAY}}ć@}@y}}h}Ha?@+?%?ʷ?}[?)~}ć@ ~!Ne;I~CY2J>y2!Eɵ8:= <TTaVBTyZ }Z>IX*BhBhAhAhAhAhRClCpx xIxxxIG=ɾNPq,wIAAEAY}" '@}"34@y}"w}"!̒}"H (? 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YЦWw y?)~2OW@ ~2˲a;I~2CYvf|>yvCE|i~=aekAfl=MI=Y^=QU>aByU<}>Iȱ 79ŵg(5? 79ŵ촾 Ƶ ?9ƵSyREɵXX \\lx&1ȿV-?A |?>)IyZd;O~jt?A`"?j<D<Y=  YA)hAI_Ai7eAaAՑMI=Y=QU>aBy}>I 79h(5? 79 촾 \ҽ ?9A?: k:)79:DBDJDRD*BBAAAARCC I!G==1wq,oGMEAY}2FN@}2[@y}2m;}2뱨<}2Ho?,5`Z`ne~? r?-?)~2FN@ ~2ta;I~0Y^4S>ybE % % % %@ %@ %@!!!i!! !)!I!i!5M5R=Y5ýQU=>9AaEBAyE32}M>II U79Mi(5? ]79MW봾 Mا ]?9ME?Mo: ME:)M79:DiBDiJDiRDq*BBAAAARC C IAG}=ɾ?AH~q,l"MEAY}:Nq@}:~@y}:0}:Ǥ<}:Hotq?Yw?iq ?>???)~:Nq@ ~:a;I~:CYJf>yJ EIL)NA)V= V=^DH=M^R=Y^GQUb>``abBdyfV=}f>Ih r79jj(5? r79j괾 jC~ r?9jJ?j; j;)j79:DxBD|JD|RD|*B B A A AARCCI1GM+=q, NEAY}:R@}:Q`@y}:}:B-}:HW߿?Ţ?Wk߿B?ұ?$4@?)~:R@ ~:|a;I~8Y%z>y% Eii"ɶ( I)= e e e e@ e@ e@aaaiaa a)aIaiauG,=M}1=Y}?kQU}>aByt=}>Iȑ 79ŕQl(5? 79ŕ鴾 ƕD ?9ƕP?Ǖ: ȕp:)ȕ79:DBDJDRD*BBAAAARCCIG=Y]CilGIisٺAA+q,.NEAY}B@}B@y}B8f}B&}BH@߿@??+߿^?!ì?~̤J?)~B@ ~B7ea;I~BCYRb>yR EbZMfl=YjY=QUj?ptavBty=B<}E>IQ 79Ukm(5? 79U贾 U ?9UmU?UP$< Ua&<)U!79:D BD JDRD*BYBYAaAaAaAaRCiCiIG= >>=q,-HNEAY}6@}6&@y}6K%}6F}6H ?`lC?sBzs??)~6@ ~6a;I~6CY@y@F=iF=I + ףp= rh9Q8 C)Iy1ZdI +?q= ףpͿ"۽94<k `A)_AI YAihAz`AkAjA - - - -@ -@ -@)))i)) )))I)i)Y=X$=QUE>AAaEBAyM-1}M>IQ ]79Uo(5? ]79U派 U] e?9Ul`?U+: U:)U$79:DqBDqJDqRDq*BBAAAARCCIG=p=q,bNEAY}:ڐ@}:q@y}:6<}:ӽ}:H ޿;?lR?@@߳޿+@N |U?)~:ڐ@ ~:¸b;I~:CYJy{>yJEɵPP ZParsing RMC sentence: $GPRMC,004128.00,A,4133.19597,N,07042.35717,W,0.389,123.27,140821,,,A*7A ^ b ^NEA b ^IC-5? b ٸ^ f ^lD@T.QjfGPS fix at 20210814T004128: (41.553266, -70.705953)I^L>i^ @ llvx<MvQUz>xxazBxy~f=}>I  ;4IC-5? ;4  ?9j: U:)>g;41%q%:D!BD!JD)RD)*B1B9A9A9A9AARCACIIaG}E=&hq,7m|NEAY}6@}6@y}6}6)}6H@o7޿ r?଎?3s2޿@Tu?E c?)~6@ ~6jb;I~6CYFgc>yF E M M M M@ M@ M@IIIiII I)IIIiI]eMeC=Ye ĽQUe>iiamBiyu=}u>Iy ;4}D-5? ;4} }ǽ ?9}+1=}: }:)}u;4*a code=08E4 owner=0055 element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *zInitialize ReadDataComponent to sense platform_communications:DBDJDRD*BBAAAARCCIɾG >yb'EId)d)n= n=r<MvR=Yv3QUv>xxazBxy~|}~>I  ;4E-5?  ;4 gC  ?9==: I:)v;4:DBDJDRD*BBAAAARCCIG5=_|q,,NEAY}f!Ȏ@}fՆ@y}f*}f }fH޿ ?@n?޿ :M?۴?@yN?)~f!Ȏ@ ~f?b;I~fCYr{>yriE|i|I=) U U U U@ U@ U@QQQiQQ Q)QIQiQeK<MeB=Ye?=QUm>iiamBqyw=}>I ;4G-5? ;4/   ?9=: :);4:D9BD9JD9RD9*BIBiAiAqAqAyRCCIG=@aq,aNEAY}>y@}> @y}>伙}>D2d<}>Hoۿ ?F>Dkۿb??`4?`?)~>y@ ~>a;I~yb Eizzz!ɶ~$~ |)|l?bX9?Dl=E6> O)Iy> ףp=ڿx&MbѾ7 VA)MpAIx]AijAcA7JMF=YW>QU>aBy>}>I ;4oK-5? ;4aꬾ h ?9>M: :);4:DBDJDRD*BBqAqAqAqAyRCyCIG= tq,NEAY}6mŐ@}6҈@y}6u}688(=}6Hۿ?Uۿ v?t?r??)~6mŐ@ ~6{b;I~4Yvg>yv*E~=i~=lAkA;ME=Ya=QU>aBy 8<} >I ;4O-5? %;4ᬾ Ͼ %?9>: A:) ;4:D1BD1JD1RD9*BABAAIAIAIAIRCQCIG%=q,NEAY}6@}6$@y}6C=}6<}6Haۿ?@1,uۿhz@i??)~6@ ~6xb;I~6CYF>yFb"EɵNp=N= TT z z z ~@ ~@ ~@xxxixx x)xIxix =M [=Y >QU>aByz}>Iȡ ;4ťuS-5? ;4ťFج ƥi ?9ƥg?ǥ": ȥ:)ȥ;4:DBDJDRD*BBAAAARC!C!IYG=q,OEAY}6@}6&@y}6ە9=}6nV}6H`l\ۿ;?R6?T@Jۿ }뫿@0E@s?)~6@ ~6Nb;I~6CYBy>yFEVMVQ=YVһQUV>XXaZBXyb':}b>Id f;4fW-5? j;4fϬ f j?9fD?f: f:)f;4:DpBDpJDtRDt*BxB|A|A|A|A|RCC I!G=#=ɾ@Aq,bh1OEAY}:80@}:=@y}:C7}:vÇ}:HGڿ?'?`|$`kڿ@쎋?@? ?)~:80@ ~:a;I~8YJAe>yJ EIP)RA)Z= Z=    @ @ @i )IiCMD=Y\QU>!!a%B!y-6=}->I1 =;45{Z-5? =;45MƬ 5" =?95p?5: 58:)5b;4:DIBDQJDQRDQ*BaBaAaAaAaAiRCiCqIGZ=ȯq,DKOEAY}2}@}2@y}2ý}2o}2H"ٿ+?͈?(` ڿGK?n?@խ?)~2}@ ~2b;I~0Yvօ>yv$EI p=) %=Mb ףp= ǿ-ֿ@Q8 ?)Iy"~j rhuV?S㽹C r> •`A)•bAI•lgAi•Z\AaAV=MA=YQU>aBy/<}>I ;4 \-5? ;4ì 2Ӿ ?90?: :)1;4:DBDJDRD*BBAAAARC C I!G==q,"eOEAi6iGI@iHbt&ٺ`bAY}r_+@}r8@y}rZ}r}rH|ؿ †?F+?@7ؿ@?&գ? @?)~r_+@ ~rY#b;I~pYyE}qCM}M=Y@>QU>aByE[=}>Iș ;4ŝ\-5? ;4ŝN Ɲ琾 ?9Ɲ?ǝ: ȝ:)ȝ;4:DBDJDRD*BBAAAARCCIG = >>q,/~OEAY}2÷@}2SŊ@y}2R;}2Ri)}2H}׿?<~?`+`{׿` x,i?)~2÷@ ~2ba;I~2CY^7r>y^Ef=idprlA - - - -@ -@ -@)))i)) )))I)i)=ssM=O=YE/=QUE>AIaMBIyM|1=}U>IQ e<4UR]-5? e<4U̽ U< e?9UQ?Us: U:)U<4:DqBDqJDRD*B!B!A)A)A)A)RC)C1IIGe=<q,טOEA||4yP Eɵ=p= 鿡ZM=YaByږ}>I <4]-5? <4 .< ?9?$: :)<4:DBDJDRD*BBAAAARCCIGH>aq,OEAY}A@}@y}ԝ;}۬ռ}Hؿl}? ?F vؿ饐@S{?)~A@ ~`;I~C )ɂɃiI)1Ii 郩) ɄnAI)i))I-nAIɅQ QɆ]CaaiiiA) Ii)什 I &C)lAɖɗnAiI  Ii !)!%LC MnAMCIɘIMCUlAIQ)QiQ)QIQYəY YɚY]AYiaaY`>y. 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G4ŵª Ƶʔ ?9ƵAǵ; ȵ;)ȵ]G4*BAAAARCCIG=&q,.dEAY}2ǂ@}2(u@y}2T껙}2eW}2H@u?5?`$IX}? [骿 w?)~2ǂ@ ~2,a;I~2CY}Fk>y}E=i=p=i=I=)=)Ý= Ý=    @ @ @i )Ii8 MD=Y-:;QU>a4Cy =} >I G4-5? G4  ?9zA: :)[lG4*B9A9A9A9AARCACIIG=i &lGI!i9e4ٺae>(A"-q,dEA|4|6;Y}Ɓ@}s@y}}:}}H``+??@@)` /Zq@?)~Ɓ@ ~`;I~CYa>y Eev/?)aIayeL7A`Q?l?e+euQQaU4CQy]3}]>Ia mG4e:-5? mG4eڻ er u?9eAe; e;)e|G4*BAAAARCCIG=24q,&dEAYg>ysE%h<M%u=Y-QU-?))a55C1y5}=?IA EG4Ej-5? MG4E E M?9EOAE: E:)EG4*BiAiAiAiAiRCqC I!G==J1:q,'dEAY}:H@}:r@y}:f.<}:g}:Hx@e_?@as?^`uj_@̅T`?)~:H@ ~:P`;I~8YJ]>yJxEIL)LIL)L TTZkAXfƼMjP=Yrptav5Ctyv}z>Ix G4z8-5? G4z z ?9zAz: z:)ztG4*B!A!A!A!A!RC)C)IIGe8=Aq,eEA|i|Y}2ց@}2Ls@y}2n}2P4}2H@o! ?`I?@!@Nf`?਑!?)~2ց@ ~2S`;I~2CY~{I>y~D ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYm?Mm@=YuCQUu>qya}5Cyy'=}>Iȉ G4ōB-5? G4ōg ƍ ?9ƍ-AǍ|: ȍ:)ȍ9G4*BAAAARCCIG=?CGq,>veEAY}2X@}2/u@y}2p}2SM;}2H `-\?t5?R@_c? ? i?@?)~2X@ ~2v`;I~2CYRX>yRVEb=MbV=YfQUf>dhaj6Chyj.k=}n>Ip vG4r-5? vG4rѵ r v?9rAr-: r|:)rG4*B A A A A RCCIG}=wqMq,b8eEAY}% @}%6qu@y}%ԝ}%!<}%HcPu? ?r@?2? 3?@?)~% @ ~%`;I~%CYEFk>yEEM=iM=UC=iUC=I]=)]C==S?l? ףp= ?=>== =Q8>)9I9y=J +ɿi|?5S˿=H=q=/] =^A)=7eAI=^\Ai=VfA9=aA)U= U=    @ @ @ÙÙÙiÙÙ ę)ęIęię=M/=Y=QU>a6Cy <}>I G4=-5? G4t  ?9UA; 9:)G4*BAAAARCCIG=TTq,+ReEA||4yb Erm1=Mrm=Yr>QUv?ttav7Ctyz_}z?I| G4~-5? G4~ ~S  ?9~A~: ~:)~G4+Done Waiting.+8Uninitialize Wait Component.1 ,bAggregate::initialize DefaultWithUndock:LeaveDock%-%DInitializing TrackAcousticContact.1% .%Initialize. .%dInitializing internal variables to default values.*B1A1A9A9A9RCACAIYGuB=_Zq,leEAY}FG3@}Ft@y}F:<}FE4Ľ}FHr@, ?+?\A@&w{?)~FG3@ ~Fa;I~DY~g>y~sEj8MG=Y%GQU%>!)a-7C)y-X<}5>Ia uG4eM-5? G4e e ?9eAex< e<)eG42FZF:F @ A:<B Bg>AJ*B 9AAAo7ARCCIG =kaq,eEAY}6 @}67t@y}6a2}6`ʽ}6H@9`?`v?@`KRJ?NH%?)~6 @ ~6b;I~6CYBKX>yFEIH)HIH)HR.Powering up loadControliu qqy}kA        @  @  @   i   ) I i  M;=Y%xQU%>!!a-7C)y5N*}5>I9 EG4=-5? EG4=3 = E?9=XA=A: =:)=G42FQZFQ:FYAm3Bi Bmg>Amv*BqAqAu@Au6AqRCyCyIG=gq,ŸeEA|i|Y}2#@}2ds@y}28}2|F}2HG??`N`t 9Ս? ⪵?`>?)~2#@ ~2wb;I~2CY[>y E M;M /=Y ٴQU>a8Cy}>I! -G4%-5? -G4%⠪ %{ 5?9%A%w: %A:)%G42FAZFA:FAAUΞBY B]g>A]IE*BYAYAeYuAeAAaRCiCiIG>Emq,㨹eEAY}^@}^Ev@y}^v}^<}^HL?a?`N?lή?A̗??)~^@ ~^*b;I~^Cɫ髱) IY-օ>y-$EiAEEԸ?V-׿V-=| h)Iyoʡտ ףp= V-?Q< TA)uAI_AidAcA - - - -@ -@ -@)))i)) )))I)i)=n=M=X=YEɄ=QUE>IIaM8CIyU=}U>IY eH4]-5? eH4] ]g e?9]A]: ]:)]* H42FyZFy:FyA |*B  B h>A =*B AA`A+ARCCI1Gm>itq,\teEAY}25@}2̆v@y}2}2_=}2HFB?7@>?C~??`?)~25@ ~2c;I~0ɫYY)Y YIYY}Ԃ>y} E=i=iI4=)R=)å= å=Me=YL>QU>a9Cy 8<}>I H4-5? H4䔪 ( ?9A_: :)H42FZF:FA%B) B-7h>A-<*B)A)A-A-LzA1RC1C9YIIYGu>i lGI ;mAi % .ٺ% ;mA% !Azq,OeEAY}65e@}6v@y}6}}6"<}6H/# ?F``h ??q? 9?)~65e@ ~61c;I~6CɫII)I IIIY}r>y}IE @鼍jAi8?MN=YQU>a9Cyn<}>Iȹ H4Žb-5? H4Že ƽۢ ?9ƽ;Aǽ: Ƚ:)Ƚ#H42FZF:FAB Bwh>Aj#<*BAAA`ARCCY5z:IG=&q,1fEAY}6k@}6w@y}6xR(}6Ο}6HyEi - - - -@ -@ -@)))i)) )))I)i)=ȼM=A=YE]QUE>AIaM9CIyU<}U>IY eH4]Q-5? eH4]k ] e?9]lA]: ]]:)][2H42FyZFy:Fy-}B*** querying acoustic contact ***:EyBE}AvB Bh>A>*BAAACθARCC̭=̭=Ymz:IG=߇q,S!fEAY}::@}:Wv@y}:}:}:H>9?@s2?` 3ݨ@o?`?)~::@ ~:w=f;I~8ɫYY)Y YIYYx>yEZ****** received transponder code query ******F****** received ping request ******a:Cy}>I H4d-5? H4 8 ?9A: :)AH42FZF:F!AUBQ BU#i>AUx<*BQAYAYA]uAYRCaCaYM5w:IYGu>4 q,:fEAY}Fp@}Ft@y}FW<}F}FH|+?`!?F/J`o ?)~Fp@ ~Fh;I~FCɫ) IYmli>yuE}@DUSBL response received:!U1,P O }Command Ack}BRequesting micromodem ping code 2i}! } }Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I@)"@iMb@Mb@Mb@ )IyZd;Mb?/$y=, t]A)aAI ZAidA\_A    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉM=Ya=QU>a:Cy=}>Iȹ H4Ž--5? H4Ž̀ ƽ ?9ƽAǽ: Ƚ:)ȽSH42FZF:FA\ϼB Bi>A l*B A AA;ARCCYv:I!GM>q,TfEAY}6搃@}6y}ENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iUuM]=Y]QU])?aaae;Caym|>}m)?Iq }H4u-5? }H4u‪ up }?9u$AuN: u:)u\H42FZF:FAȾB Bi>Ac*BAAAARCCYϭu:IG>q,gnfEAY}F@}F{y@y}FT}F4;}FHU<`?`?@=c͛?I?}??)~F@ ~Fe;I~FCɫQU)Q UI]Yb>y ExDUSBL response received:!U1,R,D2E,000,008D0,189,80,80,91,FF Fpublishing direction and range infoK!?ɰ8>鰝7> C)CIC!  yB!  â ?aE?!  ٱ.N=iiI=)=)= > =MB=YUQU>a;Cy=}>I H4..5? H4  ?9oA: :)~kH4. (Detaching from dock.ZF:FJE%E%BE%?`6yS@h/RL@E%â ?aE?E%K!?E%E%U+q1 (6 XSZ{@E%zWBǿaD=6sR&n?E%A@rE%_zE%CRE%A9?ZE%bE%jE%E%J@E%AE$#żBA BEkj>AM?*BIAIAIAU)AQRCQCYY-vt:I9Gu>q,rfEAY}2޵@}2نw@y}2,ڀ}28=}2H5I??@3`$Pձ?@??`?)~2޵@ ~2ge;I~2Cɫ9A)A EIAY}t>y}E DNmea in: $SNTTA,,,,,004306.03*5C %iA%iAi))2=MJ=YQU>a;Cy<}>I H4%.5? H4@  ?9A: [:)yH4. ZDetected possible detachment. Starting timer.ZF:FA%߼B! B%j>A%.!<*B)A)A)A-;A)RC1C1Y-Ds:I9G>=1q,t\fEAY}nj @}n5v@y}nh' }n !E<}nH/Y?L?@z Z@ğ?`D?c??)~nj @ ~nG/e;I~nCɫ髱) IYyEiYY    =#<?iB B)BIBiB;MH=Yf=QU>aI  H4 %.5? H4 } & ?9 A : :) H4ZF):F)A=B9 B=zk>A=#L<*BAAAAAAELAARCICIY%,r:IG$>Wq,(fEAY}2@}2aw@y}2#c-=}2ƻ}2H o?Pz@@fq`7@r?)~2@ ~2b;I~2Cɫ99)9 9I9YFk>yEI)Ai  ?S㥛?~jt?>/< >)Iy"~jy&1MbXɿS㽹`J •cA)•_AI•C[Ai•hAaA¥iA¥iAMO=YD>QU>aI H4_ .5? H4-  ?9eA: :)H4ZF:FA}جBy Bl>AlN*BAAA[ARCCYmp:IyG>?q,fEAY}>@}>`w@y}>=}>j}>H`z4?C?@, `R DOx?)~>@ ~> b;I~<ɫYY)Y ]IYYt>y#EI !@) !@i  <M%T=Y% QU%>))a-=C)y5ͼ}5>I9 EH4=i .5? EH4=| = E?9=țA=Y: =:)=(H4ZFY:FYAm,Bi Bml>Au3;*BqAqAqAufAyRCyCYύ[o:IG=iq,fEAY}6,@}6u7w@y}6Ⓖ}6Ͷ}6H~?@+?@=\?ж?)~6,@ ~6pf;I~6Cɫyy)y }IyY%Z>y1EiAAÕ=ÕÕ @iÕCÑ ĕ_B)ĕBIĕ.CiĕB3vMB=YV QU>a=Cy}>I H45.5? H4Wz  ?9,Ak: :)H4ZF:FA)ȘB B\m>A*BAAArARCCY-2n:I9G]>Qq, gEAY}2u@}2w@y}2tF}2Խ}2H`W@,?Pߺ?_bN֦`̨?Io?)~2u@ ~2Uj;I~2CɫYY)Y ]IYYh>yE=i=iI =) =) = =5o=M=R=Y=FQU=>AAaE=CAyM<}M>IQ ]H4U.5? ]H4Ux U ]?9UAU=: U:)UH4ZFq:FAv$B Bn>Av*BA A A A RCCYl:IG% >{q,%#gEAY}6n@}6Ox@y}6_}6hl}6Hi;?o>? yu3߫?}`;?)~6n@ ~6]h;I~6CɫYY)Y ]IYYf>y E 鼱icMR=Y|QU>a>Cy.$=}>I H4'.5? H4u  ?9ܜA9: :)"H4ZF:F- B*** querying acoustic contact ***:E BE AܤB Bn>A%%*B!A!A!A%A!RC)C)YXk:!%Ci lGIlAiAA=]NٺMlAM>BIqG>nq,v=gEAY}6@}6b{@y}6Iȼ}6Y=}6H`4?邿@=`(d??(? ?)~6@ ~6Te;I~6Cɫ99)9 =I9Y]bv>y]EeZ****** received transponder code query ******eF****** received ping request ******eqqa}>Cyy}=}}>Iȁ H4Ņ.5? H4Ņm ƅ ?9ƅ ADžU: ȅ7:)ȅ H4ZF:FAB Bo>AB;*BAAAARCCYϥi:IGU2>q,&UWgEAY}:@}:{@y}:08;}:f=}:H f?d`]R`?F{ I?8?)~:@ ~:F3e;I~:CɫQQ)Y YIYYuJq>y}nExDUSBL response received:!U1,P D2E,000,008D0,189,80,80,91,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i hA XMY=Y4=QU>a ?C y<}>I) =H4-.5? =H4-(g - E?9-A-F; -a>;)-H4ZF:FAB Bp>A%D:*BAAA/ARCCYh:IG%>q, DqgEAY}R@}Ry@y}RK3h<}R ;}RH@ ?E菿@/!i?q) =??)~R@ ~RHc;I~Pɫii)i mIqY{>yiENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Im @)iiii    @ @ @ @ý©ýýiýý Ľ)ĽIĽiĽI<MF=YÕa?Cy}>I H4@.5? H4&` ̷ ?9A: :)H4ZF :F AB B`q>A.<*BAAAARCCY}f:IG>˟q,gEAY}:Uj@}:z@y}:;}:멽}:H`l?@N?}`U`[|7?)~:Uj@ ~:Xb;I~8ɫYY)Y ]IYY_>y ExDUSBL response received:!U1,R,D40,000,008D1,189,80,80,BD,FF Fpublishing direction and range infonF?ɰ8>鰡 )=CIyB  &?N^F:"r?ٱ8Not Powering down - fast GPS鷽 )Iiiɶ )IiɷiM\=YQU>a?Cy)=}>Iȹ I4Ž.5? I4ŽX ƽ} ?9ƽ(Aǽ: Ƚ:)ȽI4ZF:FJEEBE1T@k/K8L@E  &?N^F:"r?EnF?EEA)^1ckXԖd4E!1ƿeW9r(TyZE@rEszEREC9?ZEbEjEElEAMl4Bi BuOr>Au*BqAqAqAu⠹AqRCyCYme:IyG>gq,gEAY}VT@}Vz@y}V<}V }VH\? c? g֗? ¿ X?)~VT@ ~V\d;I~VCɫ髙) IY!T>y}EEDNmea in: $SNTTA,,,,,004310.44*58 AiE=E=iE=iQQI]4=)]4=)e= e=}ئM}=YýQU>a@Cy}>Iȑ I4ŕ!.5? I4ŕIO ƕֻ ?9ƕAǕ: ȕ+:)ȕI4ZF:FA%-B Bs>A*BAAA¨ARCCYd:IG>"q,ZgEA `)bznAɂbTbYF`dɃdidIddIhijlA hh)hl lllɄlprnAIp)pip)tIvmAvɅvFF tɆtxxixxixx)| |I|i|nA); TFI )lAɖ    ɗ nAi IIٔCilA JF)} C }ZnA}}hGFɝ}ClAI)AFi)CInA鞍C˾ɞRF ɟ̔C韕AiFɫ髱) IYZ>yzEi9Aa i@a  a m@a  a q@a  a e@a  Mb`"?1Zdw> "۽)IiMb@Mb@Mb@© x]A)kAIi 5 5 5 5555?i5C5 5B)5ABI5 Ci5D1CEМ<MEw=YEQU?a@Cy}?Iȹ I4Ž#.5? I4Ž I ƽZ ?9ƽ{AǽL; Ƚi>)Ƚ"I4ZF:FA-$QB) B-qt>A-μ*B1A1A1A5SA1RC9C9Y=b:IQGuW>q,hgEAY}2|0@}2|~@y}2*:}2}2H@{d?`/1? ԶP|d;E?@a?)~2|0@ ~2c;I~2Cɫ) IY=Jq>y=nEi~=Me=Y=QU>aACy],>}?I I4%.5? I4B  ?9bAh: w0?)*I4ZF :F AXB Bau>A˂*BAAAARCCYa:IG%>q,mgEAY}> ݆@}>]}@y}>P$<}>s=}>H@`u? |@DS?<ßA ??)~> ݆@ ~>d;I~<ɫ髙) IY>yBEIA)EAIA)AiII QQYYe2=MeR=Ym=QUm>iqauACqy}ռ}}>Iȁ I4Ņ(.5? I4Ņ; ƅ ?9ƅiADž%: ȅ)?)ȅ1I4ZF:FAz@B Bav>A'<*BAAAIARCCY8`:IG>q,J hEAY}2&@}2i~@y}2ߤ;}2R;}2Hמ8?w@C@IYtBj??)~2&@ ~2c;I~2Cɫ髙) IY >yEi9AC = ?iC  +C)BIBi"C:MC=YK~QU>aACy:,<}>I I4d+.5? I4[4  ?9A: ?)D8I4ZF:FA%<B! B-w>A-<*B)A)A)A5A1RC1C9Ym^:IyG> q,$&hEAY}2v@}2s@y}2R}2}2H@@5?y}Ei+:MW=YVQU>!!a%BC!y-=}->I1 =I45N-.5? =I45- 5 =?95A5: 5M?)5Ae ;*BiAiAiAmxĹAiRCqCyY5^]:IAGe=3Bq,?hEAY}2q@}2E~@y}2v}2}2H IW?? Y@ܠ`3ͮ?<w?)~2q@ ~2Zc;I~2CɫYa)a mIiYԂ>y E==i==iIIIMR=)M=a i%a i- a m-a m- a q-a q- a e-a e- -x&1пJ +ɿʡEÿ--H -))I)y-ˡEĿ~jth?@5^I ?-'-D;-b> -aA)-=`AI-cAi-=`A--GaA)E= E>ÍQ8Í`e<Í;?iÍ CÉ č C)čBIč&CičB3<M4=YQU>aBCyBּ}>Iȱ I4ŵG2.5? I4ŵ* Ƶ ?9Ƶ!Aǵ: ȵ:)ȵLI4ZF:F-B*** querying acoustic contact ***:EBEAB Bz>A:<*BAAA˹ARCCY%"\:I9GU2>*q,YhEA||;Y}2]~@}2@y}2}2䒼}2H?`?m-? x=`l??)~2]~@ ~2tBc;I~0ɫ99)9 =I9Y}b>y} EZ****** received transponder code query ******F****** received ping request ******APɼ*BAAAyѹARCC Y{Z:IG >i=lGIiiA;Lٺy/ExDUSBL response received:!U1,P D40,000,008D1,189,80,80,BD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i-2M=E=YEQUM>YaamCCiy5}5>I9 EI4=:.5? MI4=o% =X ?9=4A={< =<)=nhI4ZF:FAB B|>A*B!A!A!AMعAIRCQCYYMQY:IYG8>^?#q,hEAY}VQ@}VI_@y}Vտ}Vs=}VHm?iz  ]?@ ?Wh? ,?)~VQ@ ~Vd;I~VCɫqq)q uIqYg>y*E鮽p=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)))iaa¡¥jA @ @ @ @©i )Ii<M==Y,aDCy3a>}>I! -I4%=.5? -I4%K" % -?9%A%: %E:)%vvI4ZF9:FAAUBQ BU}>AU0*BYAYAYA]޹AYRCaCaimhAImhAYEW:IYGu>e)q,'khEA|@i|Y}27@}2;E@y}2}}2=}2H @ ?}`7`F?n? Ul??)~27@ ~2/d;I~2CɫYY)Y YIYY m>yExDUSBL response received:!U1,R,DC8,000,008D9,189,80,80,A8,FF Fpublishing direction and range info>ɰ9>鰡 )(CIyB(g&?yp?ٱiP<Ma=Y QU>aDCy½}>I I4@.5? I4  ?9;A8: :))I4ZF :F JEEBEȬU@sfG@E(g&?yp?E>EEmjG1q(K/X@Eva zƿG~lvŭs?E$@rE~zE;REE9?ZEC9?bEjEE@ElA=bB9 B=#>A=*B9AAAAAEAARCICIYV:IG>P0q,OhEAY}V7*@}V7@y}V@}Vt }VHѽ R?`?`Y`P?f?`@N?)~V7*@ ~Vb;I~VCɫ) IY >yE}DNmea in: $SNTTA,,,,,004314.89*5D iuMb?5^I ˿y&1u=uX u`e)qIqyu/$ÿʡE?Quu-2>uu uVfA)ux]AIu_AiuVfAqufbAD$=M1=Y<=aDCyۑ}>Iȱ I4ŵI.5? I4ŵx Ƶe ?9ƵAǵI: ȵ:)ȵTI4ZF:FAB Ba>A4(*BAAAARCCYT:IG)>y6q,(hEAY}2f‰@}2ρ@y}2}}2״}2H@`6K?N?`\ K=?f?)~2f‰@ ~2b;I~2Cɫ99)9 =I9Yuc>y}, Ei=i))>  M M M MM/M 0=Mf?iMu CM MB)M&CIMBiM4C]֚Me`=Ye*=QUe>iiamECiyu >}u>Iy I4}P.5? I4}& } ?9}«A}x: }:)}I4ZF:FA8B B >A*BAAAARCC>#?YϭS:IG><q,ThEA||Y}2P@}2޿@y}2<}2X}2H ?i?)@q`̩8@ ?)~2P@ ~28b;I~2Cɫ99)9 =IAY}o>y}Ei <MR=Yu=QU>aECy=} >I  uI4 yX.5? uI4   }?9 zA &a< Xa<) I4ZF:FA7B Bʁ>Au*BAAAARCCYύR:IG5 >Cq,iEAY}2(&@}23@y}2!l<}2N }2H` ?VX`@.[ >`?)~2(&@ ~2a;I~0ɫyy)y }IyYt>ylEi!!U1<M]D=Y]I=QU]>aaaeFCaym}m>Iq I4u`.5? I4ua u: ?9u?AuI: u1:)uA2*BAAAARC C YP:IG>AIq,(iEAY}2@}2 @y}2;}2Ř<}2H`љ@wI?`K@yw?~}G?]?)~2@ ~2a;I~2Cɫ99)9 =IAY.f>y EI)AI)Ai!!))uף=uu$?iuBq uqC)u1CIu%BiueB MG=YvSQU>aFCy?=}>Iȡ I4ťh.5? I4ť  ƥ] ?9ƥAǥ: ȥt:)ȥI4ZF:FAUBQ BU`>AUK*BQAYAYA]AYRCaCaYMO:IYG>KPq,BiEA|@i|@Y}2(@}276@y}2}24X<}2H`.?8?}/9)??ȁ??)~2(@ ~2a;I~2Cɫ99)9 =I9Yu[>y}UEi(\пˡE?= ̽)IyZd;OX9v+?j>  ZA)iAI7eAi_A=bAǼMH=YսQU>aFCy =}>I I4e.5? I4 Z ?9jA: j:)I4ZF:FAB B4>A1*BAAAARCCYN:IG>;Vq,i\iEAY}F.@}F;@y}F._}F?}FH` @?훱? 9@J? g?@hh?)~F.@ ~Foa;I~F–Cɫaa)i mIiYf>y E@AAAi9<;?i C $C)CI'CiB<MH=YQU>aGCy:}>I I4rc.5? I4 J ?9ͮA: :)%I4ZF :F -B*** querying acoustic contact ***:EBEA%1eB! B%>A% *B!A)A)A-" A)RC1C1Y-L:I9GU>c\q,(EviEAY}2 @}2@y}28}25ޒ}2H Y@5?@۶?L@ @S ?@V8?)~2 @ ~2a;I~2CɫYY)Y ]IYY}3l>y}LEZ****** received transponder code query ******F****** received ping request ******QU>aGCy/0}>I I4Ea.5? I4 T ?9"A` ; ` ;)=I4ZF):F)AEpBA BEڅ>AE*BAAAAIAM! AIRCICYNK:IG>:cq,% iEAY}22'@}24@y}27-=}2)ý}2H? ?@.8䡿 'm?)~22'@ ~2+c;I~0ɫ99)9 =IAYn>yExDUSBL response received:!U1,P DC8,000,008D9,189,80,80,A8,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i%;M-F=Y=< >QUE>QYa]HCay}}>Iș J4ŝ^.5? J4ŝ Ɲ u?9Ɲ}Aǝ< ȝ<)ȝJ4ZF:FAB Bچ>A%*B!A!AAARCCYυI:IG?>jq,6iEA&,>&CiVkGI`inAAJٺ  L;BY}@}F @y}x\=}AB}HL@(?Ev?mw =QGO ?)~@ ~(c;I~Cɫ11)1 5I1Yubv>yuEyɮ}p=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i @ @ @ @í©ííiíí ĭ)ĭIĭiĭ<M3=Y)=QU>aHCyn=}>I J4[.5? J4  ?9A: :)J4ZF:FA ȍB Bć>A6ɼ*BAAAWARCC!Y}H:I1G:>pq,iEAY}:Z@}:ǂ@y}::>}:6c=}:H@?Aw?`‡?+?J?)~:Z@ ~:.b;I~:Cɫ99)9 =I9Y].f>y] EexDUSBL response received:!U1,R,DE7,000,008E1,187,80,80,97,FF mFpublishing direction and range infoe>aɰe4:>e1> a)eCIayeBe2eE֌?~z?ٱaIy)}Ai 鿉FxٿQ?+ǿ˾(> v>)Iyx&?Zd;OͿ/$?7 >~j&1> TA)rAI_AiaAiA)MV=Y/QU>aHCy%bw=}%>I) 5J4-'S.5? =J4-X - =?9-A-v: -:)-J4ZFi:FiJEqEuBEuwV@EsTF@Eu2eE֌?~z?Eu>EqEu]i.MhX@Euzqy+Ŀw^kH'?Euő@rEuBzEuKwREuJ9?ZEuE9?bEujEuEuN5@Eu@AB B>A,*BAAA!ARCC YTG:IG*>hwq,,iEAY}V@}VƂ@y}V̡}Vr=}VHZ?9y_ ӏx!?`?Ҟ??)~V@ ~V$Ic;I~V–Cɫ) IY>yb"ETNmea in: $SNTTA,0.071668,,,,004319.34*46 i=MP=YoQU>aICy}>I J4HJ.5? J4l  ?9A?: :)-J4ZF:FA 昼B  B>AI2*BAAAARCC!YEE:IYGu>?}q,2iEAY}6 @}6%@y}6m}6 3<}6H o0?W'?`k}*9ce?ຨ?m?Q?)~6 @ ~6@b;I~6Cɫ99)9 =I9Y>y$Ei!!    ÅÅÅ?iÅ.!CÅ ą'C)ąCIąCią!&C$<MI=YZQU>aICyE}>Ia }J4e'A.5? J4ej e5 ?9erAe y; e~y;)ejA*BAAAARC!CQYD:IiG_>'q,mjEAY}:@}:o@y}:;#}:s}:H@^?`?@)@X"s? kv?)~:@ ~:/b;I~8ɫYY)Y YIYY}f>y} E=i=iI4=)=) = >PŽMW=Y=QU>!!a%JC!y-澽}->I1 =J459.5? =J45 5 =?95-A5: 5D:)5)IJ4ZFQ:FQA%B Bw>A%A*BAAAARCCYύbC:IG=Pq,C+jEAY}: @}:@y}:E<}:R}:Hb?B٫? py_?)~: @ ~:d;I~8ɫYY)Y ]IaY}W>y}Ei&ML=Y+>QU>aJCy ;} >I J41.5? J4  %?9A8: 8:) WJ4ZF1:F9AB B|>AH*BAAAf ARCCYA:IG= >d9q,u"EjEAɫ髙) IYP>yEi@5^I ¿+߿Dl?bv O>)IyQ? rhZd;O?\>C j<  YA)hAI YAijAGaAuuu?iuCq uC)uCIu%Ciu(BtM3=YQU>aJCy}>I J4).5? J4  ?9A: :)UgJ4ZF:FA"B B>A*BAAAw#ARCaCaY} @:IG^>_cq,^jEAY}20щ@}2ށ@y}2g<}2+}2H@u f?|cmuk̚Qo@?)~20щ@ ~2gb;I~0ɫii)i mIiY}y{>y}EI)Ai hAhA=Me=Y QU?!!a%KC!y-t=}-?I1 =J45#.5? =J45S 5Ӧ =?95@A5: 5{:)5sJ4ZFI:FQAesBa Be>AmX*BiAiAiAmV%AiRCqCyY->:IAG=q,xjEA|i|Y}6H@}6ֺ@y}6}6xb.=}6H Z? x R;??ɥ?`&?)~6H@ ~69~b;I~6Cɫ99)9 =I9YUM>y];%EY]@Aiii1=MT=YQU>aKCy}>I J4f.5? J4  ?9޵A4: A:)?J4ZFQ:FY-]B*** querying acoustic contact ***:EYBEYAmtB B>AҔ*BAAA'ARCCYϵ=:IG>Kuq,jEAY}:@}:]@y}:E}:w~:}:H`f%S?h?#'@??`P??)~:@ ~:ba;I~:CɫYY)Y ]IYY}Æ>y}%EZ****** received transponder code query ******F****** received ping request ******}?i}uCy }YB)}$CI}Ci}(0Cb:M)=YtּQU>aLCyߊ}>I -J4.5? 5J4+ * 5?9A: r:)בJ4ZFA:FAzB B>A#*BAAA*ARCCY<:IG5O>dq,jEAY}2U@}2@y}2v.}2YȀ}2H A(?@vJ?=)*끿 'ͥ?d?)~2U@ ~2a;I~2ÖCɫII)I MIQY]P^>y]EexDUSBL response received:!U1,P DE7,000,008E1,187,80,80,97,FF eCommand AckeBRequesting micromodem ping code 2iaam=iiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iI;>)D?)%> =}M}R=YQU>aLCy<}>Iȱ J4ŵC.5? J4ŵ Ƶ  ?9Ƶ6AǵHA< ȵ=<)ȵJ4ZFA:FAɟBY Be>Aet*BiAqAAf-ARCCY_::IGU>yq,ijEAY}:͇@}:[@y}:}:ER}:H (? h? 5~}ϑ?|BQ?)~:͇@ ~:ݙb;I~:–CɫYY)Y ]IYY}v>y}E}a=ɮ}a=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iʡE?S㥛?/$?o>$> <)IyCl˿㥛 ¿Kǿ;_^: …aA)…aAI…C[Ai…pgAaA %@ -@ -@ -@%©%%i%% %)%I%i%=T=M=1=Y=aMC y P=} >I %J4.5? %J4k { -?9:A$; ";)pJ4ZF:FAoB BT>A=?*BAAAw0ARCCY58:IaG}>q,ZEjEAY}6*@}6B8@y}6ʐ=}6X}6H ?HK=g@ ?)~6*@ ~6[a;I~6Cɫ99)9 =IAYEn>yMEUxDUSBL response received:!U1,R,DB7,000,008E9,189,80,80,BF,FF UFpublishing direction and range infoM?IɰM:>M7> I)M?CIIyMBMe|?~["E?ٱIiii}fM=Y]>QU?aMCy5}-?Iș J4ŝ6.5? J4ŝx Ɲ֩ ?9Ɲ˸Aǝ0: ȝ:)ȝoJ4ZF:FJEEBEK A6f*BAAA1A1RC9C9Y 8:IG=imPkGIi*Nٺ>B߽q,0jEAY}R@}R|@y}RP=}R}RH +Q?@5 CR`&?)~R@ ~Rja;I~PɫAI)I IIIYeAe>ye EDNmea in: $SNTTA,,,,,004323.77*58 IA)Ai iA kcM a MC y QX} >I % J4 .5? - J4  J - ?9 6A H:  :) /J4ZF9 :F9 AM g?BQ  BU >AU 6*BQ AQ AY A] 4AY RCa Ca Ye 5:I G >q,,}kEAY}=9@}=G@y}= :}=2}=HY? ?`e`4@|U Eði?)~=9@ ~=ȟa;I~=–C MLC)lAɇKF釕ٔCɈnAiĻITFI Ci(nA 鈥+OF)鉥 C nA`廉OFɉ&ClAI5)5=Fi5)5CI5mA= ׾Ɋ=NHF =ɋ=C=-nAEiEOFEiEٔCEA)Eף MdFIMi@ClA) :FI C)nnAɛD]FCɜlAiIKFICilA )&C VnAɝ ClAI)i)ImA鞥ʾɞRF ɟٔC韩iɫ) IY V>y 3Ei     Ý D;Ý P=Ý ?iÝ (CÝ  ĝ B)ĝ J.CIĝ Ciĝ 'C M 9=Y QU > a NC y 0<} >Iȑ  J4ŕ .5?  J4ŕ ƕ ϯ  ?9ƕ 3AǕ hd< ȕ d<)ȕ 8J4ZF :F AE OOBA  BM W>AM *BI AI AI AM 7AI RCQ CY Y} 64:I G >8q,/kEAY}E|@}E@y}EQ=i}E|}EH̹]!?@S?g1^ri'??)~E|@ ~E6a;I~EÖCɫ) I Y5bv>y5Eid>M=Y QU9?aMNCQym#>}m4?Iȁ J4Ņ.5? J4Ņ ƅ6 ?9ƅADžb< ȅb<)ȅJ4ZF:FA5lcB1 B5>A5Mg*B1A1A9A=8A9RCCYu 3:I G >:q, HkEAY}2@}2@y}2}2+'}2H ?@l?`,`Jb[?`?`2?)~2@ ~28ka;I~2Cɫ) IY5=_>y5S E=i=imK7ѿI +K7A`ſmIm9 m+)iIiym#~jԿKQ?m㥾m^m\= mC[A)mlAImdAimaAimcA)Å > Å=|M_=YRRaNCy3=}?Iȩ J4ŭh.5? J4ŭ쩾 ƭy ?9ƭAǭ@; ȭ:)ȭJ4ZF:FA!<`B B>A*BAAAC:ARCC!Y1:IGeV>=q,bkEA||4yUEiÑÕ;߽Õ?iÕ CÑ ĕB)ĕCIĕ'.CiĕB MZ=YQU>aOCy;}>I K4.5? K4(橾  ?9AR: :)K4ZF:FAuRBq BuC>Au *BqAyAyA}#<AyRCCYm0:IyG >"hq,&m|kEAY}6,c@}6p@y}6}6{j4:}6H-s"?@x'?@!`,y?@7?F?`=?)~6,c@ ~6Ma;I~4ɫyy)y }IyYJq>ynEiEiY=MEQ=YMUQUM>IIaMOCQyUHý}]>IY eK4]`.5? mK4]Gߩ ] m?9]A]: ]:)]K4ZFy:FyAEB B>Aj*BAAA=ARCCY/:IGM>Oq,GkEA*`setting available, lastComms_.elapsed()=0.004781y..Y}Rl@}Rɂ@y}Rϝ;}R}RHa?``?6 s@0[`?)~Rl@ ~R`;I~RCɫ) IY5 m>y=E9=AAIEA)AIA)EAiIQYYeL#MeH=Ym =QUm>iiauPCqy}m=}}>Iȁ K4Ņi".5? K4Ņ ة ƅ ?9ƅѿADž: ȅÖ<)ȅK4.%rDetached at range: 99.36 m. Transitioning DDM to standby.ZF!:F!--B*** querying acoustic contact ***:E)BE)A=v:B9 BEߜ>AE;*BAAAAAAE?AARCqCYύ.:IG>yq,!kEA|i|@Y}6@}6u@y}6o;}6q}6H1V?o?@ׂ?# hG%/mಙK?)~6@ ~6_a;I~6–Cɫqq)q uIqYt>y#EZ****** received transponder code query ******F****** received ping request ******aPCyi}>I K4&.5? K4Щ  ?9A< <)N,K42FZF:FA];BY B]l>A*BAAA BA RC CYS,:I)G}z>bq,kEAY}26@}20D@y}2(ߙ}2@Ƚ}2H ? xJ?@@(G`;s??)~26@ ~2yb;I~0ɫ99)9 9I9Y]\>y]EexDUSBL response received:!U1,P DB7,000,008E9,189,80,80,BF,FF eCommand AckeBRequesting micromodem ping code 2iaauNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iUMb@Mb@Mb@UU U)UIQyUQi|?5?V-?UuUq=Uh= UZ\A)UbAIUYAiUdAQU _A:M$=YQU>aQCyA}>I -K4t).5? -K4ѩ 5tI ݫ =?92A< V<) >K42FZF:FA^BB B >A Ž*B AAAu&DAqRCyCyYm*:IG>%q,kEAY}2Y@}2f@y}2 ﺙ}2c}2H ~?@?ষE]?@I#}?)~2Y@ ~2Xc;I~0ɫYY)Y YIYYyyy鮁ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 9i==i!!         7  ?i BC  B) +CI RBi BY%!)a-QC)y-=}5?I1 =K45A+.5? EK45/ҩ 5$ E?95bA5A_ʽ*BAAAEARCC> ?YϽ *:IGI>iq,xkEA||Y}6}@}6 ȁ@y}6a}}6Oh}6ḦR?NԠ? HW -[w@⫏?J@o?)~6}@ ~6~d;I~4ɫY])Y YIYY}zb>y}Q ExDUSBL response received:!U1,R,DBE,000,008EA,189,80,80,B0,FF Fpublishing direction and range info^ ?ɰ:>鰁 )0CIyBm'4?%)?ٱi{<MEAU:BQ BU%>A]ý*BYAYAYA])GAYRCaCaYu(:IG= q,$lEAY}V g@}Vt@y}V6H}Vy<}VH.@$?.`$!@r ?Ip? ??)~V g@ ~V d;I~Tɫ) IY b>y EuDNmea in: $SNTTA,,,,,004328.23*52 i‰iA͆:M:=YaRCy}>Iȹ K4Ž/.5? K4ŽBө ƽX ?9ƽAǽk: Ƚ:)ȽeK42FZF:FA-s*B) B5ˣ>A5Kɽ*B1A1A1A5IA1RC9CAYMA':IaG}7>e l>a i kGI i9 Lٺ M=B& q,j1lEAY}: @}:R@y}: ̻}:;}:HG`?@1_o@F?`Vy?`|}?`?)~: @ ~:c;I~8ɫ) IY5g>y5sEI)iå=åN>å?iåBá ĥB)ĥ$BIĥBiĥB<M,=YМQU>aMRCQyU,=}U>Iș K4ŝ+1.5? K4ŝө ƝN ?9ƝAǝ: ȝ=:)ȝuK4.DDM at standby.ZF:FAj(B Bi>Aƽ*BAAAJARCCY%:IGk>%q,JFKlEAY}6s@}6@y}6yk<}6U§}6H"gq?b)?`q*edb̀`?)~6s@ ~6 Ue;I~4ɫYY)Y ]IYY}zb>y}Q EiʡECl?Mq,!elEAY}6@}6@y}6E=}6wI}6H)#? CV`h+,?)~6@ ~6]Ih;I~6CYNg>yN*EiTX)^= ^>\<Mt=Y =QU ?  aSCyw=}?I %K4 2.5? -K4Щ  -?9uA: :)8K4FFFF 1|Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn /Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen1*BXz:BAAAARCCYG#:IG >hq,~lEAY}:]@}:k@y}:ۂ<}:l}:H`ۻ?@qL *& P?)~:]@ ~:ˤe;I~:ÖCYYyYe=ie=iiiIu=)u= @ @ @ @©i )IiYߋQU>aSCy}>I K42.5? K4Ω { ?9A =  =)?K4*a code=08E5 owner=0063 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 1 \Initialize ReadDataComponent to sense time_fixF F FF*BB!A!A!A!A!RC)CIYm":IyG> ]>]>z%q,ؘlEAY}2=@}2˥@y}21}2 P}2H(g *??ߜ>s O?9?`?)~2=@ ~2zd;I~2ƖCYN>yN"EiXXn\!=MnptavTCtyz}z>Ix K4z&3.5? K4z̩ z ?9zAz: zm;)zGK4FFFF*BBAAAA RC1C9Y ":I!G==,q,BlEAY}6P@}6@y}6h| }6+l$}6H+@??z5t?<? @?)~6P@ ~6Ic;I~6CYN m>yNEiXX\^jA U U U U@ U@ @QQQiQQ Q)QIQiQ]hMe4=YmaTCyצ<}>Iy K4}3.5? K4}ʩ } ?9}XA}W,< })<)}IK4FFF!F!*B1B1A9A9A9A9RCACYe":IqG:>2q,lEAY}2"@}2@y}28}2j5;}2H@F@?2X? `Z?@?4&z?P?)~2"@ ~2 a;I~2–CYfFk>yjEIl)li99 AA333333ӿDl?~jtO> )Iy!rh̿!rh̿Zd;Oǿlglgj< C[A)hAI_AihA cA M P=Yӑ=QU>aTCy%3 >}%>I) 5K4-[2.5? 5K4-)ĩ - ?9-BA-< -<)-K4FFFF*B BAAAARCCY #:IG= >ɾ]@AY'9q,elEA|i|Y}6X@}6@y}6)`}6(o(=}6HBF)?w+M> D?@? ?O?)~6X@ ~6\a;I~4YBg>yBsE RParsing RMC sentence: $GPRMC,004330.00,A,4133.19255,N,07042.35827,W,0.719,116.69,140821,,,A*75 VVlEAV/-+5?ٸVNV#W׎D@&0.QZfGPS fix at 20210814T004330: (41.553209, -70.705971)IVa>iVX@i\`j #Mja=Yj6ٻQUj>llanUClyr$}r>It z;4v/-+5? z;4vN ~tI v ~?9vv< v{<)v>g;41FFFF*BBAAAARC!C!Yp$:I!G==@q,oJmEAY}6X@}6f@y}6M#!}6;}6H [?@{?@$6-? #? q??)~6X@ ~6va;I~6ĖCYRz>yREi)> = } } } }@ }@ }@yyyiyy y)yIyiy{ =M1=YcQU>aUCyD}>Iȩ ;4ŭ++5? ;4ŭF ƭ ?9ƭK>ǭ3: ȭa:)ȭ_w;4*a code=08E6 owner=0064 element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 2zInitialize ReadDataComponent to sense platform_communicationsFFFF*BBAAAARCCY%:IGm >Fq,CumEAY} Ɉ@} ׀@y} =} 3} HB@g?Oӥ? `@f ﻵ`?)~ Ɉ@ ~ '}b;I~ YEz>yE EUa=iUQU>aVCy-}>I ;46*+5? ;4> N ?9>: :)Dž;4F1F1F1F1*BABAAAAAAAAIRCCYA':IG> =>=>,$Mq,\7mEA|4|4YM`>yM. Eiaa~jtȿףp= ÿʡEտD )Iy~jt{GztQ?ף(\> $ZA)I^\AipgAaA    @ @ @i )Ii DM=YQU>aVCy%}%>I) 5;4-,+5? 5;4-= - ]?9-l>-; -G;)-/;4FiFiFiFi*BBAAAARCCY(:IGo>Tq,PmEAY}6g)@}66@y}67U}6e}6H-?eɣ? 4 ?I??)~6g)@ ~6ob;I~6ÖCY^i>y^Eiz"zz!ɶz$z! zGi||iA<M=YzQU?aWCy>}?I  ;4-+5?  ;4}< <  ?9?>: :);4FAFAFAFA*BqBqAyAyAyAyRCCYm*:IG>6Zq,jmEAiVokGI`il <ٺ  {.BY}@}@y}}U}=}H e c?A@9 @.?? v??)~@ ~a;I~CYr>yIEI)))I@)@ip<M:=YS=QU>aWCy<}>I ;40/+5? ;4: = ?9> :)ӱ;4FF F F *BBAAAARC9CiIYϽ+:IG%>Gaq,mEAY}2ۉ@}2W@y}2yϻ}2u<}2H`n$k?3lwlhs?y?`-?[?)~2ۉ@ ~2a;I~2ŖCYf>yf!Eipp 5 5 5 55/ݼ5t5h?i5B5 5B)5CI5IBi5CMOf=MMg=YMݚQQaUWCYy]}]>Ia m;4eY0+5? m;4ej9 eE> u?9e>e: e:)e0;4FFFF*BBAAAARCCYϕ,:IG=Cgq,wmEAY}6@}6r@y}6+}6׼}6H8E8?q?|Eb~>c??)~6@ ~62a;I~6ĖCYNn>yREiXX)^= ^=MJnMMJ=YU=&QUU>QQa]XCYye<}e>Ii m;4m1+5? u;4m8 m#> u?9mI>m: m#:)mP;4FFFF*BBAAAARCCYu-:IG=qmq,cmEAYP^>yE%=i)IyZd;O?)\({Gztj<=Gaף µ`A)µ^AIµ$ZAiµcA3_AÅÅ#=ÅK?iÅ3CÁ ą*C)ą/CIąd"CiąC{M=YQU>aXCy}>I ;4.+5? ;48 F> ?9}>*; ;);4FFFF*BBA!A!A!A!RC)C1Y;0:IG>jVtq,j1mEAY}Bݹ@}Bnǂ@y}Bh}B[Ѽ}BH?@`%?@`DŽ t?* :?)~Bݹ@ ~BSa;I~BŖCYn4S>ynEixx%1,M%=Y-( ?9ƅ>DžR: ȅ=:)ȅ;4FFFF*BBAAAARCC]Sending 252 bytes from file Logs/20210814T003940/Courier0000.lzmaYm0:IG=xzq,A mEAY}6FL@}6Y@y}6*}6+}6H`8A C?J??@G?@X?km?)~6FL@ ~6`;I~6ÖCYLyLiXX\^jAY&QU>a YC y ;=}>I ;4*+5? ;4T8 R> ?9<?< :)O;4FFFF*BBAAAARCCY|2:I!GU=gq,6nEAY}v@}v!@y}v}vZ<}vH?Y?Q{??@??)~v@ ~va;I~vĖCYMj>yMqEIi)ii ?iB B)BIBiC-<M-11a5YC1y=\7=}=>IA M<4E(+5? M<4E8 E> U?9E_?E@: Ez:)E<4FaFaFaFa*BqByAyAyAyAyRCCYm3:IG=ɾ?A5 xMoved sent file to Logs/20210814T003940/Courier0000.lzma.bak= SBD MOMSN=434723}q,jnEA|@i|Y}B @}B*@y}B,"U;}Bken=}BH: ?ͨ໓`3?`BjTȭ??)~B @ ~Ba;I~@YV>yV Ei``j=Mjc=YjDQ>QUn>llanZCpyr!}r>It z<4v%+5? ~<4v8 v"> ~?9v?vJ; v$;)v[<4FFFF*B!B!A!A)A)A)RC)C1YU25:IiG=Kq,9nEAY}^5a@}^n@y}^=}^c=}^H|v?@dq`N #W =?k?)~^5a@ ~^=-b;I~^ŖCYȌ>y4-EiI +?x&Cl?94<7 ;_>)IyZd;O{Gz?A`"ӿj<ף< …x]A)…cAI…VAi…nAGaA)Ý= Ý=#=M$=Y7>QU>aZCy<}>I e<4(+5? m<47 > m?9a?M: :)#<4FyFyFF*BBAAAARCCYϝ6:IGH>Xq,tSnEAY}2@}2 @y}2~e=}2m<}2H`|8?,>;=?@j?)~2@ ~2a;I~2ĖC >YC)<ɇ<<y#ER= >>ip=iIa=)=eQ8e̽e?ieCa eRB)eWCIe,)CieBu Mu1=Y}GQU}>ya[Cy4+=}>Iȑ <4ŕI++5? <4ŕ6 ƕ# ?9ƕ'?ǕS: ȕ:)ȕ3<4FFFF*BBAAAARCCY8:IG%>͚q,PmnEA|4<|;Y}6Ҋ@}6@y}6Wc}6b=}6H`w?hQ?`?E?6g?@ʩ?U?)~6Ҋ@ ~6=a;I~6ƖCilp)p pIp p)tɛttttɜvlAixIxxIzCix x|)|| ||ɝI)i ) I mA žɞ RF ɟiY%bv>y%Ei99MH <MM=YUվQUU&?QQa[Cy}?I <4N,+5? <46 ½ ?9*? : p:)=<4F!F!F!F!*BQBQAYAYAYAYRCaCaYM?9:IaG=mq,*nEAY}:+̊@}:ق@y}:ֽ}:[$<}:H/?? [=?ƺ?@n?`?)~:+̊@ ~: b;I~:ÖCY]p>yEieMC=YQU>a[Cy}>IA E<4EA-+5? M<4E6 Ea M?9E-?E: E:)EXL<4FYFaFaFa*BqBqAqAqAyAyRCyCỉỈYU::IG>ߧq,nEAY}24@}2B@y}2/[}2}2H$?Щ?̝5-7~? \?:^Y?)~24@ ~2}b;I~2ŖCYk>yEI)))i99 AAÍ#Ít=Í?iÍ CÉ čC)č CIč CičC:9ML=Y/>QU>a\Cy=}>Iȹ <4Ž/.+5? <4Ž"6 ƽ ?9ƽ+1?ǽ9: Ƚ:)ȽY<4FFFF*BBAAAARCCY<:IG=>CilGIiEٺ6B q,nEAY}2@}2 @y}29a_=}2)\}2HM8??vv:@p 諿v?)~2@ ~2b;I~2ÖCYN4S>yRE)^i99ʡE?)\( ףp= ?-=G Q8>)Iy&1ʿ~jtK7ٿPļɾ dA)dAISAiuAQdA/mME=Y`>QU>a\CyJ}>I  <41+5? <4Q1 . ?9|I?v: :)Sh<4F!F!F)F)*B9B9A9A9A9A9RCACIY=:I!G==q,4nEAY}2@}2@y}2<}2&}2HҎIK?c٤?@`Qz`Gk|>?)~2@ ~2b;I~2ĖCYNf>yR EiXXb7T=Mb_=YfQUf>dhaj]ChyjD˼}n>Ix  <4zt4+5?  <4z.- z# ?9z^?zg; zH[;)z5u<4F!F!F!F)*B1B9A9A9A9A9RCACIU?U>Y=>:I1GM=q,FnEAY}:ʉ@}:؁@y}:e׼}:}:H zf]?2?@_~@W|??}?)~:ʉ@ ~:4b;I~:ƖCY^Jq>ybnEf=if=ihhIn=)n= -@ -@ -@ -@-©--i-- -)-I-i-=$<M=C=YEQUE>AAaM]CIyM~;}U>IQ ]<4U7+5? e<4U) UM e?9Us?UR: U:)UŃ<4FqFqFyFy*BBAAAARCCYu@:IG=q,ProEAY}2;Q@}2^@y}2i}2yq[;}2H3[?@_?&2 ?`~?`mk??)~2;Q@ ~2ha;I~2ǖCYN>yR,EiXX=MM=YqC=QU>a]Cy%}%>I) 5<4-D;+5? 5<4-@% -u =?9-ۃ?-V: -{:)-<4FIFIFIFI*BYBYAaAaAaAaRCiCiY5A:IIG=-q,8M"oEAY}2=@}2ΰ@y}2fS;}2tc}2H`H?t?Ia`8ljL Y?)~2=@ ~2`;I~2ƖCYB>yB3EiHH r v v vvĻvף;v?ivCv v B)v+CIvBiv/C~<M~L=Y~a^Cy <} >I <4>+5? %<4&! ' %?9?] ;  ;)<4F1F1F9F*BBAAAARCCiIYC:IG=Wq,p(yJ,EIL)NAiTT TT=bX9ȶ?ʡEʡE?=E== =->)9I9y=)\(V-(\¿=Ga=h=z =x]A)=cAI= YAi=VfA9=`AU޼M]D=Y]N=QU]>aaae^Caym <}m>Iq }<4u=+5? }<4u u ?9u?u: u:)uA<4FFFF*BBAAAARCCYϵD:IG=?q,VoEAY}6щ@}61߁@y}6L=}6e>}6H`sg?[6as1 ·@?)~6щ@ ~6`;I~6ƖCYfy>yj.Eippz;M~Q=Y~wa_Cy } >I <4-=+5? <4 ѝ %?9P?: :)<4F1F1F1F1*BABAAAAIAIAIRCICQYE:IG=iq,ooEAY}2#@}21@y}2卝<}2ޡi}2H*?M@@ Mm2?)~2#@ ~22`;I~2–CY^>y^"Eihh e@ e@ e@ e@e©eeiee e)eIeieu8M}B=Y}h-QU}>a_CyO}>Iȑ <4ŕo<+5? <4ŕ ƕ ?9ƕS?Ǖ: ȕ,:)ȕ<4FFFF*BBAAAARCC?>YTG:I!G==uQq,$oEAY}6R3@}6@@y}6=}6a}6H}`b?)?@^  ᠿ`1 ?)~6R3@ ~6?`;I~6ĖCY^t>yblEfR=if=ihhInC=)n4=vDMvT=Yv=QUz>xxaz_Cxy~}>I  <4;+5?  <4 _ ?95?: :) <4F!F!F)F)*B1B9A9A9A9A9RCACAY5H:IIGe= >>q|q,ᗣoEA|;|Y}Bv@}B@y}B;}Bν}BH`?@? ~ 0ٗ?' X?)~Bv@ ~Bɚb;I~@YNX>yNVEiXXbMbM=Yf?QUf>dhaj`Chyj}n>Ip v<4r:+5? v<4r rr v?9rN?rs: p)r<4FFFF*BBAAAARCC!YUI:IiG=q,poEAY}F꿈@}F{̀@y}F }Fޕ}FH \w?pW?`=a?`?4?)~F꿈@ ~F{d;I~FŖCYzr=>yzDi!!&1?Q?\(\߿P=u= )Iye;OοA`"+?tٽv>> ±)µhAIµVfAiµ_A cAiA    jX9x?iB C)iCIBiXB%{sM%6=Y%lQU->))a-`C)y=}>Iȹ <4Žz>+5? <4Ž ƽ ?9ƽ?ǽ: Ƚ:)ȽS<4FFFF*B B)A1A1A1A1RC9C9iAIAY NK:IG= >q,bLoEAY}2m̉@}2ف@y}2'}2G}2H`e@|^? 3W?F@}q?ɷ?s7?)~2m̉@ ~2sd;I~0YBb>yB EID)FAiHL PPVU=MZe=YZ=QUZ>\\a^aC\yb=}b?Id j=4f@+5? j=4f fݢ j?9f?f: f(:)f9=4FtFtFtFt*ByByAyAyAARCCYUoL:IiG=ɾi- kGIA iY Bٺ 3BFq,A,oEA|6@i|4Y}5,@}5:@y}5}@<}55)=}5H@,ْ?@v@z0x?zG`6?`?)~5,@ ~5mc;I~5ƖCYk>yEi`廩?i#C C)N'CIBiWCS<M6=YԄ>QU>!a%aC!y%<}->I) ==4-rB+5? ==4-# - =?9-?-: -:)-=4FQFQFQFQ*BaBaAaAaAaAiRCiCqYmN:IG=q, pEAY}:A@}:N@y}:C &=}:v9<}:H| ? rF3@)??)~:A@ ~:xc;I~:ŖCYFp>yF@EVdSBD MO Status=0, MOMSN=23843, MT Status=0, MTMSN=0V.No messages in MT queueiTX)^= ^=bq=Mbc=YfB?=QUf>ddafaChyj}j>Ip v=4r@D+5? v=4r r v?9r?r^: r:)r=4FFFF*BBAAAARC!C!-"?-"?YE@O:IG=Dq,L$pEAY}2婈@}2v@y}2(}2ɐ`}2H2^?`6?@0Z ?B?)~2婈@ ~2Eb;I~2ĖCYfΕ>yjO8En4=in=iptIvR=)v==MF=YuQU >  a bC ym7}>I %=4G+5? %=4_ & -?9c?: :),=4F9F9F9FA*BIBIAQAQAQAQRCYCYY5P:IG= >"q,Z>pEA||4yb>Eihh&1V-`"οPm w)Iy~jt?~jtA`"?<DY> µaA)µ^AI±iµx]AaAtC?iC X1C)BIpCi )C% <M%9=Y%0 QU->))a-bC)y5:=}5>I9 E=4=G+5? E=4= =;r M?9=?=: =E:)=Z<=4FYFYFaFa*BiBqAqAqAqAqRCyCYmR:IG=q,}XpEAY}2@}2ā@y}2D}2}2Hv ?`?B9ByRJEiTX\\bg=Mbd=YfQUf>ddafcChyj=}j>Il r=4n"G+5? v=4n n^ v?9nw?n: n:)nH=4F|F|FF*B BAAAARCC!i)I)Sending 78 bytes from file Logs/20210814T003940/Courier0004.lzmaYS:I)GE='q,nrpEAY}:ۉ@}:@y}:75C}:&}:H i _^??`dw?Id?>?)~:ۉ@ ~:kc;I~:ŖCYF8>yJcEIL)LiPP TTZx=M^K=Y^=QU^>``abcC`yf;3<}f>Ih n=4jF+5? n=4j jH r?9j6?j3: j:)jV=4FxFxFxFx*BBA A A A RCCYT:IG=ɾ"q,MIpEA|i|@Y}2~@}2@y}29}2'<}2H B ;?@oY3?`t1g? 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E?4=^լ => M?9=;x@=: =:)=?4FyFyFyFy*BBAAAARCCIG5= >>Eq,uEA||Y}6'b~@}6I}n@y}6S}6$* }6H;F?`~N?```"i?y?)~6'b~@ ~6 c;I~6ŖCYs>y"Ei        @  @  @   i   ) I i %Y;M%H=Y%QU%>))a-vC)y5[}5>I9 E?4=>+5? E?4=Ѭ ={> M?9=Z|@=: 9)= ?4FYFYFYFY*BiBiAqAqAqAqRCyCyIG=}Kq,1uEAY}2d(@}2kp@y}2vi}2ܽ}2H+H2?6?n`Td*?@g?)~2d(@ ~2e;I~2ʖCY%օ>y%$EiQQ]jA]hAe;MeW=YmMiqauvCqy}=}}>Iȁ ?4Ņ(@+5? ?4Ņά ƅIX> ?9ƅ@Dž: ȅk:)ȅW?4FFFF*BBAAAARCCIG=\Rq,KuEAY}2H@}2q@y}2޿}2(}2Hh|? ?@Vʧ??脿?)~2H@ ~20d;I~2ȖCYNw>yRjEIT)TiXX \\T㥛 J +?^I +׿H= X)IyjtԿ(\ؿQ롿ĠǾ\ ½TA)½uAI½$ZAi½/oAdA>MC=YmQU>avCy<}>I ?4@+5? ?4¬ y>> ?9Ć@: :)?4FFFF*B)B)A)A)A)A)RC1C9IIGm=ɾ@A Sending 184 bytes from file Logs/20210814T003209/Express0008.lzmaXq,_euEA|i|@Y}W@}"v@y}\w}`=}H!! ?dZR?7?e??)~W@ ~d;I~ǖCYj>yqEi!) } } } }}=}Y}?i}C} } C)}1-CI}iCi} CM@=Y=QU>awCyCU>}>Iȡ @4ťA@+5? @4ť ƥ> ?9ƥ@ǥ: ȥ:)ȥ @4FFFF*BQBQAYAYAYAYRCaCaIG>_q,cAuEAY~>y~Y,Ei  ),> =%a=M%d=Y%QU%>))a-wC)y5}5>I9 E@4=?+5? E@4= =`= M?9=4@=: =:)=e@4FYFYFYFY*BiBiAqAqAqAqRCyCyIG-=5eq,YuEAY}:"@}:eq@y}:6e=}:6 <}:H ?`ʰoGrG z?n?)~:"@ ~:yb5Ef=if=f%=if=ihhInC=)n4=v=MvN=YvQ>QUz>xxazxCxy~>E}>I  @4f@+5? @4ҡ = ?9@0: :)B'@4F!F!F)F)*B1B9A9A9A9A9RCACAIYG}D=xMoved sent file to Logs/20210814T003209/Express0008.lzma.bak SBD MOMSN=434734 >>%lq,^uEA||Y}6|@}6!l@y}6¤=}6 #}6H4 ?ޑ?`.`ƿ@UĿ`}?)~6|@ ~6be;I~6ɖCYn_>yr EixxÍtÍ'Ít?iÍCÉ č!C)čBIčCičlB&M>=Y@axCyq7}>I  %@4 uB+5? -@4  j> 5?9 @ ɪ; ;) 6@4FFFF*BB!A!A)AQAQRCaCIG>7 sq,uEAY}Jb@}Jt@y}J u}J'}JH ?`?)?öĿu?)~Jb@ ~JKn;I~HYZGR>yZZEi``A`"ۿX9vֿ\(\Ͽپ z)IyMbX9?t$? •dA)•C[AI•aAi•C[A3_A©­iAMJ=Y@ҾQU>axCyž>}>I @4?A+5? @4A > ?9%@: :)D@4F F F F *BB!A!A!A!A!RC)C)IaG=+8yq,CuEAY}Fz@}Fw@y}F;}F^EA}FH?+???&h?)~Fz@ ~F$i;I~FȖCYbi>ybEId)dIj@)j@ihh ll M@ M@ M@ M@M©MMiMM M)MIMiM c=M E=Y7>QU5>99a=yC9yE-=}E>II ]@4M<+5? ]@4Mܙ M"+? ]?9M@M: M:)MS@4FqFqFqFq*BBAAAARCCIG =ɾ?A?A"q,ڎvEA|&@i|$Y}B@}BJv@y}Bh=}B}=}BH@KҀ?,ݾ`Qӧ???)~B@ ~Bzj;I~BƖCYz>y~b"Ei  =M[=Y%\>QU%>!!a%yC)y-}->I1 =@455+5? E@45̚ 5Bf? E?95@5Q: 5:)5_@4FQFYFYFY*BaBiAiAiAiAiRCqCyIG_=Mq,*pvEAY}6:@}6Ct@y}6-=}6Iv=}6H ?``?`@f??)~6:@ ~6k;I~6ɖCYB$>yB#Eill)r= r>vĹ;MzM=Yz`QUz>||a~zC|y}>I  @4 /+5? @4  f? ?9 B@ : E:) m@4F)F)F)F)*B9B9AAAAAAAARCICIIaG}G=>i @}>?Bu@y}>G}>숽}>H EI?@Ϻ?`_@D|Y?f`?)~>@ ~>Mf;I~>ǖCYn]>ynd Ev=iv=z4=ixiIR=)=       @ @ @   i   ) I i %;M%,=Y%KQU->))a5zC1y5=}=>I9 E@4=o++5? E@4= =պ? M?9=_@=: =:)=~@4FYFYFaFa*BqBqAqAqAqAyRCyCIG= >>P[q,8NvEA||4ybEihhnڿ"~j:v?־S T<)IyRQ? ףp= ?n?B>Q8=V> ­jA)­VAI­dAi­^AaAZMc=YQU>azCy=}>I @4(+5? @4 ? ?9@: :)@4FFFF *BBAAAARC!C!I9G]=ʅq,gvEAY}6T@}6!x@y}6bG½}69ؽ}6H/ %??@_@??ֺѭ?)~6T@ ~6e;I~6ȖCYn n>ynpEittxzjAMX=Y޽QU>  a {C y;}>I %@4;&+5? %@4 C? -?9˯@I: :)Q@4F9F9F9FA*BIBIAQAQAQAQRCYCYIqGP=Vmq,ʁvEAY}2=@}2w@y}2ս}2־x}2H@ ?@`(?D??箿?)~2=@ ~2Ld;I~2ǖCY^>y^ EId)dihh hh } } } }} }`e<}?i}#C} }1$C)}BI}SBi}C[=MB=YӱQU>a{Cyʽ}>Iȩ @4ŭ"#+5? @4ŭ8 ƭa? ?9ƭ/@ǭ : ȭ:)ȭ @4FFFF*BBAAAARCCIG=ɾ@A q,vEA|@i|@Y}6/@}61zx@y}6|}6fڼ}6H@L@?`?`/?l? =7?)~6/@ ~6b;I~6ɖCY^h>ybEihhr(MrV=YvN=QUv>ttav|Cxyz"=}z>I| @4~ +5?  @4~  tI ~?  ?9~n@~ : ~:)~i@4FF!F!F!*B)B1A1A1A1A1RCCIG=Ĭq,ڍvEAY}$@}dz@y}>!}O}HI?ݡ?@GY`KA? /8?@F ??)~$@ ~`a;I~ƖCYm>y'EiI-=)-= ףp= ?"~j?e;O?Q8=S= t>)Iy rh?K7A5^I ӿC =  WA)jAISAiuA cA)u= u>ý Lý <ý ?iý  Cù Ľ yB)Ľ [CIĽ 'CiĽ 9B e;M a |C y !(=} t>I  @4 y+5?  @4  ?  ?9 @ : M:) @4F F F F *B B A A A A RC! C! I G >q,\vEAY}6@}6{@y}6:;}6jt}6H+L?]T?`ڶmus#A?)~6@ ~6a;I~6ȖCY4S>yE%=i%=-a=i-=i11EME`>YMm>QUM?IIaU|CQyUO>}]?Ia e@4e+5? m@4e e6? m?9e @e#: e/:)e@4FFFF*BBAAAARCCIGs= >>U 2SBD MTMSN=20210814T004411Bӹq,5vEA||Y}6@}6E$x@y}6R}6T7}6H_^? ?wֱ⤿@ ??)~6@ ~6x$a;I~6ɖCYFU>yFEiLLV;MZT=YZBQUZ>\\a^}C\yb}b>Id j@4fX+5? j@4f槬 f%? j?9f@f: fr:)f@4FiFiFiFi*BBAAAARCCIG=wq,IwEAY}6Hc@}6x@y}6T⺽}6\ }6H@`!??@k?@oV,S?@?)~6Hc@ ~6XEb;I~4YBW>yFEiHL LLRiARhAv/ݼv9v?ivCt v(C)vCIv CivC~;M~E=Y'QU> a }C y<}>I %@4 +5? %@4 ? %?9I@: :)@4F1FFF*BBAAAARCCI GM=q,wEAY}6X@}6/|@y}6Y}6}6H j?Yw?@K8? L?)~6X@ ~6W6d;I~6̖CYB m>yBEID)DiLLV@X=MVO=YZ=QUZ>XXa^~C\yb>}b>Id j@4f+5? j@4fB fƜ? j?9fq@f: f+:)f@4FtFtFtFt*B|B|A|A|AARCC I!G=$=ɾ?Aq,6wEA|@i|@Y}]@}]0}@y}]?=}]+}]H}zK?y?#@@3ⰳ@@?)~]@ ~]c;I~]ǖCYy{>yEi&1X9v?Q?н}= =)IyV-ҿMbX9Ŀx&1ȿh!A VA)tAI$ZAirAfA<M-=YdY>QU>a~CyU<}>I A4 +5? A4 Β? ?9@b: :)> A4FFFF*BBA A A A RCCI)GE=q,ƣPwEAY}6@}6_}@y}6y=}6}6HMHm?teQ@` أ흿W?)~6@ ~6yb;I~6ʖCYv$s>yvE ~jA~jAiI p=) 4=) = =U-UDU?iUYCQ U=)C)Uw/CIUd-CiUBeMmc=YmƷQUm>qqauCqy}E<}}>Iȁ A4ŅH+5? A4Ņ ƅҊ? ?9ƅa@Dž: ȁ)ȅA4FFFF*BBAAAARCCIG="q,jwEAY}6?@}6w@y}6s}6"6}6H` ?1? e0:փ? Æ?)~6?@ ~6Pb;I~6ɖCY^Ae>y^ EfR=if=ihhr@MvS=YvQUv>xxazCxy~7=}~>I  A4p+5?  A4 d? ?9h@: :)c%A4ikGIi%ٺ!%BF1F1F1F9*BABIAIAIAIAIRCqCqIG= > > q,YwEA||Y}6|C@}6 Q@y}6|}6C[}6H k`Oj?`? kYbX?@˕?@J ?)~6|C@ ~6a;I~6˖CYB>yFEiLL v@ v@ v@ v@v©vvivv v)vIviv~=M~I=Y1gQU>a C y 7=} >I A4s+5? %A4 n? %?9@A: :)3A4F1F1F1F9*BABIAIAIAIAIRCQCQIqG =3q,5wEAY}>'ψ@}>܀@y}>9L}>M˼}>HA@?p? Cd??Hg8?)~>'ψ@ ~>Ca;I~>ǖCYJ$s>yJEIT)TiTT XXZjAXbg#MbN=YbeQUb>ddafCdyj/0=}j>Il rA4n(+5? rA4n n}[? v?9n@n3: n:)npAA4F|F|F|F|*B B AAAARCCI1GM-=aq, wEAY}%G@}%Ł@y}%"}%c4}%H@ӈ@I? Y? S6g#?@؇E?)~%G@ ~%a;I~%ɖCYEd>yE EII)IU8Not Powering down - fast GPS] ])]I]i]i]]]ɶ]e e)eIeieeeɷeiii/$?QӿK?<( ^=)Iy)\(I +:vGό9Լ ^A)aAIx]AiVfAaAM6=YE}QU>!!a%C!y-ہ=}->Iȱ A4ŵ +5? A4ŵ| ƵX? ?9Ƶb@ǵ{: ȵ:)ȵQA4FFFF*BB!A)A)A)A)RC1C1IiG=ɾ@AEq,wEA|i|Y}6x@}6 %@y}6J:}6`}6H`k?@?@? gd7`yX[  ?)~6x@ ~6`;I~6ʖCYNV>yR3EiXXbPMfc=Yf=QUf>hhajChyn:=}n>Ip vA4rm+5? vA4rz rU? v?9r@r: r(:)r]A4FFFF*BBA A AARCICQIG=Sending 18 bytes from file Logs/20210814T003209/Express0011.lzmalReceived command:set LineCapture.navigationGain 4 noneqq,dwEAY}2@}2@y}2&<}2(:}2H ]`8?!?4|Ҫ`ß 0@@?)~2@ ~2`;I~2ɖCYNKX>yNE TTiTXIZC=)ZR=)^= ^= E E E EEE`E?iEBE EB)EBIEBiE(Bu@P;Mu?=Y}=QU}>yaCy>*}>Iȑ UA4ŕ9+5? UA4ŕx ƕS? ]?9ƕ*@Ǖ|< ȕ<)ȕlA4FiFiFF*BBAAAARCCIG== Xq, xEAY}:@}:S@y}:Z:<}:K>}:Hjl?"?n_e ͧ?)~:@ ~:U`;I~:˖CYNAe>yR EV4=iV=iXX~=M~R=YQU> a C y<}>I EA4+5? EA4Uv UQ? E?9@4: :)1zA4FQFyFyFy*BBAAAARCCIG= >>>q,x~xEA||;Y}6z@}6@y}6iﻙ}6I}6Ho`? ?`0`Ҧ[}?㴿w?)~6z@ ~6Ma;I~6̖CYUP^>yUEi 鿉‘•jAMףMaCy˳}>I  A4 $+5? A4 s M? ?9 @ ; ƾ;) A4FIFIFIFI*ByByAAAARCCIGj> q,/i9xEAY}Z@}Zk@y}ZuUV}ZD}ZH }??U@@_M?Ǫ?G`?)~Z@ ~Z7a;I~ZʖC `)dɇddddɈfnAihIhhIhih ll)ll lr`廉pɉpppIp)tit)tIvmAvɊvGF xɋii) IYAe>y Ei]Dl~jthv/Ϳ]O]D ]xi)YIYy]i|?5οy&1jt?]q]`] > ]^\A)]iAI]cAi]aAY]bAY<M =YQU>aCy=}>I A4"+5? A4Jm A`? ?9|@: b:)OA4F F F F *BA BQ AY AY AY AY RCa Ca Iy G5 >q,73SxEAY}2*o@}2|@y}2FXE}2y}2HRuh?`??Zfb3?`?%x?)~2*o@ ~26a;I~2˖CiprlA)p pIp t)tɛttttɜzlAixIxxIxi~lA ||)| ɝ I ) i ) I mAɞRF ɟiY%$s>y-EI1)5AI1)5AiYYm=Mm=Yu}?Iȩ A4ŭ#+5? A4ŭ/k ƭf? ?9ƭ@ǭ; ȭ;)ȭ6A4FFFF*BBAA A AIRCYCiI G- >ɾXq,mxEA|i|Y}6@}6@y}6-ғ<}6p:}6H>? p@<TώzAC?@?)~6@ ~6a;I~6ɖCY]t>y]lEiii`廩Y=I?i=B BB)BIBi C cQ;M @=Y>QU5>19a=C9y=ۼ}E>IA MA4E~'+5? uA4Ef Ex? u?9E@Eۿ; E7;)EA4FFFF*B1B1A9A9A9A9RCACAIG>=pgot command set LineCapture.navigationGain 4.000000 none A@ xMoved sent file to Logs/20210814T003209/Express0011.lzma.bak SBD MOMSN=434739!q,xEAY}6܋@}6+@y}6M=}6c}6H ?,?@ב@[ q`Y?)~6܋@ ~6a4b;I~6˖CY>y>!Ei))=I:=M=X=YE%[=QUE>AIaMCIyM!Ͻ}U>Iș A4ŝ++5? 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A4X ? ?9@; ;)A4F F F F *B9B9AAAAAAAARCICIIaG=ɾpAq,.7yEA|i|@Y}6(@}6@y}6f}6$5}6H@Z޿'??@'d޿ ߑ?K?N?)~6(@ ~6Ib;I~6̖CYFbv>yFE LLiLL)V= V=ZMZS=YZ,->QUZ>\\abC`yb =}b>Id jB4f +5? jB4fSW f? n?9f$@f: f:)fB4FFF F *BBAAAA!RC!C)IAG]4=Hq, "yEAY}:@}:}@y}:5;}:W}:H?4޿@3?@!?6p-޿&`*y?)~:@ ~:}va;I~:˖CY^O>ybJDihhrMrG=YrϹ=QUv>ttavCtyz;}z>I| B4~+5?  B4~ V ~}?  ?9~@~: ~4:)~bB4FFF!F!*B)B1A1A1A1A1RC9CAIYGu@=HNq,;yEAY}2;@}2;I@y}2|;<}2&}2H`ݿN?z?@cN`߽ݿhX&?)~2;@ ~2"a;I~2ɖCY~n>y~E=i= R=i =iQ?I +L7A`?\=94 +>)Iy~jt?ףp= ÿ:vD>T x]A)`AIVAihA\_A?OM@i C B)ZCICiC=M/=Y =QU>aCytn<}>I B4+5? B4X ? ?9{@: #:)%B4F F F F*BBA!A!A!A!RC)C)IAG]= >>/Uq,UyEA||;Y}6y@}6@y}6<}6l2}6H@ۿ`5??ۿ4^X?)~6y@ ~6`;I~6˖CYbm>yb'EihhlniArJMvp=Yv'9QUv?xxazCxy~U=}~?I  B4J +5?  B4Z a? ?9.@: b:)1B4FFFF*BBAAAARCCI9Ge=][q,oyEAY}:Zm@}:z@y}:3<=}:T}:Hqݿf?@? _Mݿ`D>@P?)~:Zm@ ~:M`;I~:ɖCYZf|>y^CEitt%=M%F=Y5=QU=>AAaECIy]꠽}e>I B4+5? B4] ? ?9@8: #:)@B4F)F1F1F1*BABAAAAAAAAARCiCqIG=Bbq,[xyEAY}:yU@}: c@y}:_L}:-}:He߿?K?@ X߿@?~m?)~:yU@ ~:`;I~:ʖCYFt>yFlEIH)HIL)LiPPzC zĻz?iz#Bx z$B)z CIzBizBdM L=Y QU >aCyJ}>I! -B4%*5? -B4%^ %? -?9%@%: %:)%NB4FAFAFAFA*BQBQAYAYAYAYRCaCaIyGR=ɾ  ?A lhq,rSyEA|i|@Y}6E@}6@y}6 L}6}6H0߿ Wh?`V?=`) ɖ?2 `?)~6E@ ~6b;I~4YjFk>ynEitt)z= z= E@ E@ E@ E@E©EEiEE E)EIEiEUMUF=YUQU]>YaaeCaye"ļ}m>Ii uB4m*5? }B4m a m? }?9mAm]; mY;)mz\B4FFFF*BBAAAARCCIG{=Gnq,.yEAY}2s@}2d@y}2RUż}2#W}2H"ۿ ? ?iۿ0}Q ?@>?)~2s@ ~2NIb;I~2˖CY=J>yEDiQ5 ףp= ?S㥛? 5t)1I1y5q= ףpտ+555 5C[A)5lAI5cAi5aA15\cAUMU#=Y]!S=QU]>YaaeCayu>}u>Iy B4}*5? B4}V }? ?9}A}< }<)}nB4F1F1F1F1*BABAAAAAAIAIRCICQIiG8>;~uq,( yEAY}2!@}2@y}2i}2@U!=}2Hwٿ W?`.ZiٿK?M?(?`z?)~2!@ ~2\zb;I~2̖CYNk>yREV=iV=iXXb=Mb=Yf5}j?Il rB4nk*5? vB4n8Q n+? v?9npAn: n:)nxB4F|F|FF*B BAAAARCC!I1GM.= >>iI Ia iy ٺ BM{q,yEA||4yu EiQy‘•jAM:=Y QU>11a5C9y=}=>IA MB4E*5? MB4EEH EӸ? 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B4ŝ; ƝM? ?9Ɲ3 Aǝ': ȝ:)ȝB4FFFF*BBAAAARCCIG>̕q,PTXzEAY}:@}:2!@y}:yg}:Y}:H Dؿut?V? rbؿ@#,u?'y?)~:@ ~: b;I~:ʖCYJk>yJEiPPZ;MZ=Y^QU^?``abC`yf}f?Ih nB4j*5? nB4jV= j? n?9j Aj: jZ:)jB4FxFxFxFx*BBAA A A RC CI)GE(=oq,,rzEAY}2q@}2@y}2]g}2?}2H@տ` ?2?տ@??@J@?)~2q@ ~2a;I~2ɖCYtyt~=i|~a=i~=iYQU>a%C!y%=}%>I) 5B4-H*5? 5B4-? --? =?9-tA-: -/:)-#B4FIFIFIFQ*BYBaAaAaAaAaRCiCiIGY= >>ޢq, zEA||;Y}2^@}2@y}2㼙}2V}2H`׿?f4?`.׿@W7?Ms?@鐿@?)~2^@ ~2[a;I~2˖CYRz>yREIZ?)Z?iXX#/?iB B)CIBi C<MaCyd}>Iȩ B4ŭ*5? B4ŭB ƭz? ?9ƭ-AǭD; ȭ;)ȭB4FFFF*BB!A!A!A!A!RC)C)IaG=q,XzEAY}2ϒ@}2Z݊@y}2r<}29к}2H@=P׿!?`_ @DP׿`J H.Z`?)~2ϒ@ ~2TCa;I~2ɖCYBa>yBw EiHHV"MVQ=YV=QUV>XXaZCXy^v=<}^>I` fB4bt*5? fB4bD b? j?9bAb: b:)bB4FpFpFpFp*BxBxA|A|A|A|RCCIG5!= Sending 52 bytes from file Logs/20210814T003940/Courier0007.lzma2q,zEAY}:@}: @y}:xU|}:2<}:H5ӿ҃? B6@-ӿ3)?@]?2d?`k?)~:@ ~:2a;I~:ʖCYJN>yJDIL)LIP)PiTT5~jtۿ^I +?|?5^ʿ5۾5X? 5R)1I1y5~jtx?GzǿI +?5;5p=594< 5^\A)57eAI5$ZAi5hA15aAUS2MU@=YUMnQU]>YYaeCaye]#>}m>Ii uB4m *5? }B4mB m? }?9mAm: m@:)mB4FFFF*BBAAAARCCIG]=ɾ  ?Akq,BzEAY}2 @}2̌@y}2y,}2BS<}2HAӿ`s?LJlӿُ? ?c??)~2 @ ~29a;I~0Yf3l>yfLE ppippIv=)v=5`e5ף5?i5hC1 57 C)5k CI57 Ci5)CE=MMK=YM燽QUM>QQaUCQy]㘼}]>Ia mC4e*5? mC4eA eM? m?9eEAe: e::)eC4FFFF*BBAAAARCCIGu=Dq,tzEAY}6'Ē@}6ъ@y}6}p}6ua}6H@[׿?YҬ?y׿`A??" $?)~6'Ē@ ~66;a;I~6̖CYBbv>yBEiHLV1<MVU=YVe1QUV>XXaZCXy^%}^>I` fC4bg*5? fC4b]@ b2? j?9bgAbk: b:)bDC4FpFpFpFt*BxB|AyAyAyAyRCCIG=xMoved sent file to Logs/20210814T003940/Courier0007.lzma.bak= SBD MOMSN=434742,q,O {EAY}Bܒ@}BC@y}Bl]}BTֽ}BH7׿ ԣ?%+?z-׿Sd?oo?)~Bܒ@ ~Bb;I~BΖCYRR>yREV=iV=ZR=iXiX\r\MvG=Yz=QUz>a C y*;}%>I) MC4-V*5? MC4-> -Ҵ? U?9-A-x< -߰<)-!C4F F F F *B9B9AAAAAAAARCICIIG= > Vq,*'{EAY}:s@}:@y}:v?=}:}o}:H@Nҿ?ƪ?`W ҿu짿?)~:s@ ~:c;I~:̖CYJ`>yJ. 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C4ŵ7@ Ƶ? ?9ƵAǵ: ȵ:)ȵUkC4FFFF*BBAAAARCCIG5 >q,r{EAY}2h@}2u@y}2qt꺙}2 }2H`PԿW??JX`PԿ ]&Q N]?E`?)~2h@ ~2a;I~2̖CiprlA)p pIp t)tɛttttɜzlAixIxxIxizlA ||)|| ~ZnAɝlAI) i ) I mA Cɞ |RF ɟiY% O>y%D-=i-=5%=i5R=i99ÍÍ#Í?iÍ CÉ č(C)č CIčCičC.Mq=Y4ϽQU?aCy()}?Iȱ C4ŵ*5? C4ŵ@ Ƶ? ?9ƵAǵ: ȵ:)ȵ,wC4FFFF*BBAAAARCCI G-= AE>Ќq,N{EAY}2^x@}2@y}2}2}2HMֿ?? w#ֿi??@Ws?)~2^x@ ~2R`;I~2˖CY}n>y}EI?)iMb@Mb@Mb@ )Iy~jth+?}?5^I?Dv>>Mb> x]A)aAIaAi^A`A=t=M=A=Y=QU=>AAaECAyMU}M>IQ ]C4U*5? ]C4UB UG? e?9UAU: U:)UC4FqFqFqFq*BBAAAARCCIGE=q,({EAY}2`@}2@y}2d}2Q}2HJտ5 ?8'?+TտY2`?@9?4?)~2`@ ~2a;I~2ȖCYJq>ynEi))E;ME\=YE=QUE>IIaMCIyU=}U>IY eC4]q*5? eC4]MC ]V? e?9]A]: ]:)]C4FFFF*B B A A A A RC1C9IQG=q,{EAY}:@@}:Ѹ@y}:*=}:_}:Hϰտ@?;?@տ伩{VϷ?)~:@@ ~:`;I~:ΖCYFl>yFEIH)HIL)LiPP z@ z@ z@ z@z©zzizz z)zIziz:MN=Y >QU >  aCy}>I! %C4%q*5? -C4%D %;? -?9%<A%: %:)%ܠC4F9FAFAFA*BQBQAQAQAQAQRCYCaIyGQ=ɾAAq,|EA|i|Y}6[v@}6샋@y}6 =}6z}6H`ֿ ?l@ֿ mk@P_`?)~6[v@ ~6Aa;I~6˖CYj)y>yjEEittIz4=)z%=~<MK=Y=QU>  a C y,}>I %C4V*5? %C4F m? %?9vA; 9:)C4F9F9F9F9*BIBIAIAQAQAQRCQCYIqGN= q,)|EAY}2,@}2:@y}2J}2N}2H Aֿ??@`qֿb?`LO?6ԉ U?)~2,@ ~2La;I~2͖CYNt>yR#EiXXbMMbN=YbƤQUf>ddafCdyj6}j>Il rC4ng*5? rC4nG n@ v?9n An: n:)nͼC4FyFyFyFy*BBAAAARCCIG=u 2SBD MTMSN=20210814T004432q,SC|EAY}2#@}21@y}2X}21}2Hֿ@??zcֿ ?Q?`P?)~2#@ ~2DCb;I~2ʖCYB؈>yB](EF=iF=FR=iF=%333333?S㥛?Clѿ%=%$> %ߏ)%I!y%#~jԿ/$X9v?%㥾%%}> %`A)%iAI%i%$ZA!%aA    -=-?iC B)CI,CiC%ƒ=M-6=Y-5QU->11a5C1y=}=>IA MC4Ej*5? MC4ET? E@ U?9E6#AE: E:)EC4FaFaFaFa*BqByAyAyAyAyRCCIG= E>Aq,ap]|EA|4<|4ɓ@}>m׋@y}>d}><}>Htsտ["?ɓ@ ~>D7b;I~>̖CYJ n>yNpEV2Powering down loadControl VVIV)ViZZ\\bƽMbd=YfQ>QUf>hhajChyn_g=}n>Ip vC4rR*5? vC4r8 r @ v?9r&%ArA: r:)rC4FFFF*BBAAAARC!C!I9GU1=i}lGIiG ٺB.q,QKw|EAY}2D@}2Ֆ@y}2y<}2(2}2H Կb?k?@` Կlî C`?)~2D@ ~2ia;I~2ΖCYNg>yRsE~|M~G=YLB>QU>aC y h=} >I C4-*5? %C41 @ %?9>'A8: :)gC4F1F1F1F1*BABIAIAIAIAIRCQCQIiGL=$q,c&|EAY}2hi@}2v@y}2$}=}24ǽ}2H mDԿ@]Z?b?I@6Կ갿p?)~2hi@ ~2Ha;I~0YLyPIT)TIT)T @ @ @ @©i )IiY=QU>aCy}>Iȩ C4ŭ%*5? C4ŭ* ƭ@ ?9ƭU)Aǭ; ȭ;)ȭ1C4FFFF*BBA!A!A!A!RC)C)IAG}=ɾAE@A@*q,q|EA|i|Y}2x@}2 @y}2/=}2.}2HYֿ`-?@A? 9ֿe;dW@?)~2x@ ~25a;I~2ʖCYN.f>yR E)^= ^=bݺMbddafCdyj}j>Il rD4n*5? rD4nM$ n)"@ v?9n<+An: nk:)ndD4F|F|F|F*B BAAAARCCI1GM-=(1q,|EAY}:m}@}:@y}:#}:}}:H׿o?౳?@ؿWLv@,}? `?)~:m}@ ~:o c;I~:˖CYFU>yJE-Clѿ~jt{Gzt?-ߏ- -ף;))I)y-+η?~jt?$C?-v=-=-> -Z\A)-dAI-QfAi- ZA)-(`A    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉM==Y3QU>aCy,}>Iȹ D4Ž*5? D4ŽQ' ƽ:*@ ?9ƽK,Aǽ+: Ƚ4:)Ƚ}D4FFFF*BBAAAARCqCqIG=R7q,|EAY}2@}2$@y}2sڼ}2}2H'׿`i?@ò?7׿"?]?Dy ?)~2@ ~2c;I~2̖CYNZ>yRzEV=iV=V=iVR= ?<MT=Y* =QU>aCy%=}%>I) 5D4-`*5? 5D4-) -1@ 5?9-/-A-=: -;)-D4FIFIFIFI*BYBaAaAaAaAaRCiCiIGX= E>E>|=q,ɑ|EA|;|;Y}2㻔@}2tɌ@y}2g@}2FK<}2H\ӿBr? ̀`q ӿ@Ď?`h?@jt??)~2㻔@ ~2>lb;I~2˖CYB%Z>yB1E HHLNlA r r r r@ r@ r@pppipp p)pIpipzMzL=Y~=QU~>aCy >} >I D4i*5? D4, Q9@ ?9.A< +<)-D4FFFF*BBAAAARCCI GE=leDq,]p}EAY}2zI@}2 W@y}2#}2*p=}2HVҿ?@z? @yҿ@;?iâ??m?)~2zI@ ~2 c;I~2͖CY^.f>y^ En <MnL=Yr~QUr>ptavCtyv0=}z>Ix D4z"*5? D4z. z@A@ ?9z.AzA; z;)z;D4FFFF*B)B)A)A)A1A1RC1C9IQGm<=Jq,AI,}EAY}:@}:B@y}:?2}: <}:H տ?0տ g?@yF#EIL)LIL)LZ =MZM=YZiQUZ>\\a^C`yb}b>Id jD4f*5? jD4f&1 fI@ n?9f}/Af$: ff;)fID4FtFtFxFx*BBAAAARC CI)GE'=ɾIM?ASending 1127 bytes from file Logs/20210814T003940/Express0001.lzma Received command:set LineCapture.rolloutSpeed 0 meters_per_second[vQq,)"F}EA|i|@Y}2v@}2h@y}2Ɇ;}25}2H ֿ M?,? 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Ur4M5 M@ ]?9M8BM4: M:)Mr4FiFiFqFq*ByBAAAARCCIGj= }>}>v4q,$EA||4yRJDMM=YXQU >  a D y6<}>I %s4$x.5? %s4V4 @ -?9PBN: 9:) s4F9F9F9F9*BIBIAQAQAQAQRCYCYIqGN=4q,EAY}2@}2v+@y}2xz}2wP}2HL` ?x?` u? 9?c`ȥ?)~2@ ~2b;I~2CYBK>yBDID)FAID)FAIN=)N=)R> R=VMVP=YVnQUZ>XXaZDXy^s:}b>I` fs4bJ{.5? fs4b2 b.@ j?9biBb: b:)bs4FpFpFtFt*BxB|A|A|A|A|RCCIGc==2SBD MTMSN=20210814T005020[4q,:EAY}2@}2 @y}2v}2O}2Hw??؏?`\? ˝ 5?)~2@ ~2îb;I~0YV7>yV"EEK7A`?^I +ǿsh|??E>EX9 E=)AIAyE|?5^ڿ+ηClɿEҾEvEO E$ZA)E/oAIEdAiEVfAAEdA - - - -@ -@ -@)))i)) )))I)i)EA>ME2=YE=QUE>IIaMDIyUp}U>IY es4].5? es4]( ]@ m?9]ȒB]: ]4:)])s4FyFyFyFy*BBAAAARCCIG=ɾii4q,SEA|i|@Y}>dԋ@}>@y}>h<}>":}>H 9? 0ҋ쑿j[??)~>dԋ@ ~>db;I~>CYJv>yJEZHMZi=Y^F>QU^>\`abD`yfis}f>Id js4f.5? ns4f f@ n?9fBf]: f:)f5s4F F F F *BBAA!A!A!RC!C)IAGe7=(4q,mEAY}2D@}2Q@y}2N=}2}2H`F@nB?@EΖ 48/I@Fҩ]`P?)~2D@ ~2c;I~2CYB>yBeEF=iF=FC=iF< LLPRlAV{<MVK=YV=QUZ>XXaZDXyJ3}>I! -s4%Ɋ.5? -s4% %@ 5?9%pB%: %:)%ODs44eDone Waiting.1e 4e8Uninitialize Wait Component.qeFaFiFiFi*BqBAAAARCCIG=4q,jEAY}2'Ӊ@}2@y}2u;}2Pܼ}2H u7e?@E?@g@dsrғ:n@?)~2'Ӊ@ ~2b;I~2CYR>yR"E    @ @ @i )Iif<MD=Y-QU>aDyԽ}>Iȩ s4ŭ.5? s4ŭQ ƭq@ ?9ƭ̓Bǭe; ȭҿ;)ȭ Ss4F`o}@qFFFF*BB!A!A!A!A!RC)C)IIG= y}>4q,^MEA||;Y}6@}6@y}6[$}6E}6H o'?~ظ?@B:u|??`N?)~6@ ~6&b;I~6CY^>y^BE    @ @ @i )Ii-jM-H=Y5HQU5>99a=D9yEY}E>II Ms4M).5? Us4M M@ U?9MBM: MZ:)M`s4=5mdDefault mission has been running for 7.849729 min m1mdCompleted DefaultWithUndock:SurfaceDefault:CheckInm 1mAggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn1mRunning loop #2u 1u|Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckInuFqFqFqFy*BBAAAARCCI)Ge=O4q,"EAY}:u%@}:2@y}:?ɬ}:h}:H`"i??}XOlY?@? x`p?)~:u%@ ~:QFb;I~8Y^H>ybEId)dId)dIja=)j%=eX9vDlT㥛 eeO e)aIayeB`"ٿi|?5㥛 ?eξee> e_A)eVfAIehAie^Aae\cA)u= u=;ME=YQU>aDy=}>Iș s4ŝ.5? s4ŝ Ɲ-@ ?9ƝyBǝj: ȝQ:)ȝ7os4FFFF*BBAAAARCCIqG=4q,EAY}2@}2@y}2YrX}2F}2H`?/?@w? ? Ŵ ?)~2@ ~2a;I~2CYN>yRE E E E E@ E@ E@AAAiAA A)AIAiAUa<MUN=YU_=QU]>YYaeDaye=}m>Ii us4m.5? us4m m@ }?9mДBm: m:)m}s4FFFF*BBAAAARCCIG{=ɾy}@A+4q,#EA|i|Y}62*@}67@y}6NH}6Nد}6H``&/??.?m1aDc ?/ ?)~62*@ ~6 a;I~6CYN*`>yR En MrR=Yr=QUr>ttavDtyz7=}z>I| s4~.5? s4~뢾 ~@ ?9~$B~: ~I:)~s4FFFF*BBAAAARCCIG-=iPiGI i) ] 9ٺY ] ,Ae5q,մEAY}6:K@}6X@y}6𹼙}6HJ<}6H @C?m?`}1?=?@AG?C?)~6:K@ ~6a;I~6CYN!T>yR}EV=iV=V%=iVR= !!!%kAEMMD=YUBͼQU]>aaamDiym}u>Iq -s4u.5? 5s4uᢾ up@ =?9uBuB; u_;)ues4FFFF*B B A1A1A1A1RC9C9IYG=6=5q,"EAY}:_@}:xm@y}:Z<}:r;}:H ۖ~?@{ *~Ǘ%w Zm|?`?)~:_@ ~:"b;I~:CYFbv>yFE VParsing RMC sentence: $GPRMC,005024.00,A,4133.19855,N,07042.32621,W,0.272,133.36,140821,,,A*72 ZZEAZ4.5?ٸZTZD@#%QbfGPS fix at 20210814T005024: (41.553309, -70.705437)IZI>iZ@    @ @ @i )Ii-=M-L=Y-=QU->11a5D1y=~}=>IA M;4E4.5? M;4ET UtI E U?9EE: E:)E>g;4e1eFiFiFiFi*ByByAyAyAARCCIGg=Received command:sched asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 120 min;set lineCaptureDepth.MicromodemCommsInterval 30 min;set lineCaptureDepth.Repeat 20 count;set lineCaptureDepth.MinAltitude 3 m" 2q7nm 1 2=egot command schedule asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 120 min;set lineCaptureDepth.MicromodemCommsInterval 30 min;set lineCaptureDepth.Repeat 20 count;set lineCaptureDepth.MinAltitude 3 m" 2q7nm 1 2.000000=ePScheduling command #1 of 2 with id=2q7nm=mScheduled #1 (#1 of 2 with id='2q7nm'): "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 120 min;set lineCaptureDepth.MicromodemCommsInterval 30 min;set lineCaptureDepth.Repeat 20 count;set lineCaptureDepth.MinAltitude 3 m" ASAP }>yg5q,LkyB EHiHʡEۿA`"nݾY V)IyMbX9vI +}94 aA)`AI_AicAGaA0M>=YO=QU>aDy V=} >I ;41.5? ;4ą a ?9`</: :)Hv;4F1F1F1F1*BABAAAAIAIAIRCICQIiG >IO5q,AEVEAY}6k@}6ry@y}6&n}67Z}6H4.m??{,O?`oح?`7w?)~6k@ ~6b;I~6CYBU>yBXEID)DIRC=)R=)R= R> v v v v@ v@ z@tttitt t)tItit 8M\=YQU>  a D yh}>I %;4R.5? %;4k W -?9tf=: :)L;4F9F9F9F9*BIBIAQAQAQAQRCQCIG-=y5q,"pEAY}:̦@}:h@y}:M}:=r}:H ? v ?@`*L?3?:% "?)~:̦@ ~:b;I~:CYN`>yR$EbD>MbN=YfMQUf>ddajDhyjx}n>I %;4n.5? -;4􂣾 G -?9ʬ=: :)o;4F9F9FAFA*BIBQAQAQAQAQRCyCIqG=ɾ 2SBD MTMSN=20210814T005025a"5q,EA|i|Y}6@}6I@y}6s8}6b<}6H7?`Z||7'@/a?`W?@\? ?)~6@ ~6b;I~6CY~>y~Ei#ɶ鶽& )#I&iM8=Y '>QU >aDy<}>Iș ;4ŝq.5? ;4ŝO Ɲ ?9Ɲ2=ǝ: ȝ:)ȝ?;4FFFF*BBAAAARCCIG =`(5q,֣EAY}2_@}2%~@y}2'<}2 ?}2H 7? z@ܙ`ěx`G?)~2_@ ~2c b;I~2CYNP^>yREV=iV= !!)-jA u u u u@ u@ u@qqqiqq q)qIqiq]MR=Yc=QU>aDyg}>Iȡ ;4ť.5? ;4ť ƥ` ?9ƥ4>ǥ: ȥg:)ȥ@;4FFFF*BBAAAARCCIG=.5q,EAY}6@}6~@y}6}6X}6H 3?N?`>!Tr[?磿 4?)~6@ ~65a;I~6CYNW>yRE} rп:v?y&1}}T= }`e)yIyy}Pn?)\(S㥻?}>}Ga}/= }`A)}x]AI}C[Ai}7eAy}_A=MI=YȽQU>aDyL}>Iȱ ;4ŵ.5? ;4ŵE Ƶl< ?9ƵI>ǵ: ȵw:)ȵr;4FFFF*BBAAAARCCI G%= }>}>55q,tEA||Y}6L@}6w|@y}6~}6}6H  ??.iޅ`l?u?)~6L@ ~6 b;I~4YB n>yBpE r r r r@ r@ r@pppipp p)pIpipzg=MzU=Y~gQU~>aDy c} >I ;4.5? ;4{ = ?9|>: Q:);4F)F1F1F1*BABAAAAAAAAIRCICQIiGH=;5q,IhEAY}:@}:]y@y}:~伙}:}:H PMϯ? }+?k7@${玜??)~:@ ~:b;I~:CYFq>yFEIH)JAIR=)R=)V> V=Z<MZO=Y^<=QU^>``abD`yf;}f>Ih n;4j.5? n;4j j= r?9j%>j; jY;)j;4FxFxFxFx*BBAA A A RC CI)GE)=ZB5q,B EAY}2S@}29x@y}2 =}2}2HB`p? R? ^ֵ] ?)~2S@ ~2bwc;I~2CY>e>yBP EV@MVK=YVK>QUV>XXaZDXy^}>I! -;4%6.5? -;4% %%> 5?9%>%: %o:)%+;4FAFAFAFA*BQBQAYAYAYAYRCaCaIyGS=ɾ}H5q,&%EA|i|Y}6!8@}6Ux@y}6G<}6)}6H ?@ey?`oO?)~6!8@ ~67c;I~6CYBh>yBE v v v v@ v@ v@tttitt t)tItit~;M~E=YVQU>a D y }>I ;4.5? ;4( Q> ?9>͑< <)9;4FFFF*BBAAAARCCI)Ge=O5q,>EAY}2@}2Mw@y}2`}2]<}2H N?do?>1? ?;??)~2@ ~2hb;I~2CYNԂ>yR ETiV= \\ L> iekGIid9ٺC,AML7A`堿+ÿ-޿M+M M?)IIIyMB`"۹bX9ȶ#~j?MνMEM%> MWA)MrAIMhAiMaAIMGeAY]lAmk=Mm5=YmeQUm>qqauDqy}}}>Iȁ <4Ņ.5? <4Ņ{ ƅы> ?9ƅ>Dž: ȅ:)ȅ<4FFFF*BBAAAARCCIG=1U5q,^XEAY}:/@}:zx@y}:`}::M<}:H์]?@*?B????)~:/@ ~:eb;I~:CYFJ>yF!EZa*;MZk=YZ==QUZ?\\a^D\yb=}b?Id j<4fJ.5? j<4f f> n?9f?f$: f:)f"<4FtFtFtFt*B|B|AAAARC C I!G=%= y}>Sending 199 bytes from file Logs/20210814T003940/Courier0013.lzmaReceived command:sched asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2q7nm 2 2= got command schedule asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2q7nm 2 2.000000= PScheduling command #2 of 2 with id=2q7nm= Scheduled #2 (#2 of 2 with id='2q7nm'): "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" ASAP\5q,SrEA|;|Y}6蟃@}6Zw@y}6 <}6 H;}6H -?~`[-@Kɔi? ?)~6蟃@ ~6b;I~6CYNʼn>yN)E e e e e@ e@ e@aaaiaa a)aIaiau<Mu?=Y}9V>QU}>yyaDy'}>Iȉ <4ōϾ.5? <4ōw| ƍ> ?9ƍv?Ǎ; ȍ;)ȍ<4FFFF*BBAAAARCC=xgot command load ./Missions/Engineering/lineCaptureDepth.xml&xLoading Mission: ./Missions/Engineering/lineCaptureDepth.xmlI9G=*n code=006D name="lineCaptureDepth" *e code=0705 elementURI="lineCaptureDepth.MissionTimeout" type=00 *a code=08E7 owner=006D element=0705 universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=08E8 owner=006D element=0705 universal=3FFF unitName="hour" type=1F size=0008 fl=05 BG= @&ElDefineArg lineCaptureDepth.MissionTimeout = 4.000000 h*e code=0706 elementURI="lineCaptureDepth.NeedCommsTime" type=00 *a code=08E9 owner=006D element=0706 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=08EA owner=006D element=0706 universal=3FFF unitName="minute" type=1F size=0008 fl=05 RGU @&mrDefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min*e code=0707 elementURI="lineCaptureDepth.MicromodemCommsInterval" type=00 *a code=08EB owner=006D element=0707 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=08EC owner=006D element=0707 universal=3FFF unitName="minute" type=1F size=0008 fl=05 bGr@&DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min*e code=0708 elementURI="lineCaptureDepth.Repeat" type=00 *a code=08ED owner=006D element=0708 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=08EE owner=006D element=0708 universal=3FFF unitName="count" type=1F size=0008 fl=05 rG?&dDefineArg lineCaptureDepth.Repeat = 1.000000 count*e code=0709 elementURI="lineCaptureDepth.WaitOnDockTimeout" type=00 *a code=08EF owner=006D element=0709 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=08F0 owner=006D element=0709 universal=3FFF unitName="minute" type=1F size=0008 fl=05 Gr@&vDefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min*a code=08F1 owner=006D element=0257 universal=3FFF unitName="count" type=0D size=0004 fl=04 *e code=070A elementURI="lineCaptureDepth.TransponderCode" type=00 *a code=08F2 owner=006D element=070A universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=08F3 owner=006D element=070A universal=3FFF unitName="count" type=1F size=0008 fl=05 G@&vDefineArg lineCaptureDepth.TransponderCode = 2.000000 count*e code=070B elementURI="lineCaptureDepth.TrackingUpdatePeriod" type=00 *a code=08F4 owner=006D element=070B universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=08F5 owner=006D element=070B universal=3FFF unitName="second" type=1F size=0008 fl=05 G@&xDefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s*e code=070C elementURI="lineCaptureDepth.NumberOfPings" type=00 *a code=08F6 owner=006D element=070C universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=08F7 owner=006D element=070C universal=3FFF unitName="count" type=1F size=0008 fl=05 G?& rDefineArg lineCaptureDepth.NumberOfPings = 1.000000 count*e code=070D elementURI="lineCaptureDepth.NumPingsUSBL" type=00 *a code=08F8 owner=006D element=070D universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=08F9 owner=006D element=070D universal=3FFF unitName="count" type=1F size=0008 fl=05 G%@&-pDefineArg lineCaptureDepth.NumPingsUSBL = 5.000000 count*e code=070E elementURI="lineCaptureDepth.RangeUSBL" type=00 *a code=08FA owner=006D element=070E universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=08FB owner=006D element=070E universal=3FFF unitName="meter" type=1F size=0008 fl=05 GD@&dDefineArg lineCaptureDepth.RangeUSBL = 40.000000 m*e code=070F elementURI="lineCaptureDepth.MinAltitude" type=00 *a code=08FC owner=006D element=070F universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=08FD owner=006D element=070F universal=3FFF unitName="meter" type=1F size=0008 fl=05 G@&fDefineArg lineCaptureDepth.MinAltitude = 5.000000 m*e code=0710 elementURI="lineCaptureDepth.MaxDepth" type=00 *a code=08FE owner=006D element=0710 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=08FF owner=006D element=0710 universal=3FFF unitName="meter" type=1F size=0008 fl=05 G5i@&=dDefineArg lineCaptureDepth.MaxDepth = 205.000000 m*e code=0711 elementURI="lineCaptureDepth.MinOffshore" type=00 *a code=0900 owner=006D element=0711 universal=3FFF unitName="kilometer" type=1F size=0008 fl=04 *a code=0901 owner=006D element=0711 universal=3FFF unitName="kilometer" type=1F size=0008 fl=05  H]@@&ehDefineArg lineCaptureDepth.MinOffshore = 2.000000 km*e code=0712 elementURI="lineCaptureDepth.Mode" type=00 *a code=0902 owner=006D element=0712 universal=3FFF unitName="count" type=1F size=0008 fl=05 H*a code=0903 owner=006D element=0712 universal=3FFF unitName="count" type=1F size=0008 fl=04 &hDefineOutput lineCaptureDepth.Mode = -1.000000 count*e code=0713 elementURI="lineCaptureDepth.NumPings" type=00 *a code=0904 owner=006D element=0713 universal=3FFF unitName="count" type=1F size=0008 fl=05 "H?*a code=0905 owner=006D element=0713 universal=3FFF unitName="count" type=1F size=0008 fl=04 &nDefineOutput lineCaptureDepth.NumPings = 1.000000 count&XInserting Stack: Missions/Insert/Science.xmlwb5q,ɎEAY}6@}6Ru@y}6<}6z٣}6H`@me?Ξ?`}fPd/ڛs?)~6@ ~6Jb;I~6CY>Yj>yB(EID)DIJ=)J%=)N= N=nսMrT=Yr{ttavDtyz}z>I| <4~.5? <4~y ~> ?9~"?~: ~:)~,<4*BU y:AQAQAARCCIG=*n code=006E name="lineCaptureDepth:Science" *e code=0714 elementURI="lineCaptureDepth:Science.PeakDetectChlActive" type=00 *a code=0906 owner=006E element=0714 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0907 owner=006E element=0714 universal=3FFF unitName="bool" type=02 size=0001 fl=05 :H&~DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool*e code=0715 elementURI="lineCaptureDepth:Science.TimeWindowPeakReport" type=00 *a code=0908 owner=006E element=0715 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0909 owner=006E element=0715 universal=3FFF unitName="minute" type=1F size=0008 fl=05 JH& DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min*e code=0716 elementURI="lineCaptureDepth:Science.HighestChlPeakReportActive" type=00 *a code=090A owner=006E element=0716 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=090B owner=006E element=0716 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ZH & DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool*e code=0717 elementURI="lineCaptureDepth:Science.HighestSaltPeakReportActive" type=00 *a code=090C owner=006E element=0717 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=090D owner=006E element=0717 universal=3FFF unitName="bool" type=02 size=0001 fl=05 jH- &5 DefineArg lineCaptureDepth:Science.HighestSaltPeakReportActive = 0 bool*e code=0718 elementURI="lineCaptureDepth:Science.HighestOilPeakReportActive" type=00 *a code=090E owner=006E element=0718 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=090F owner=006E element=0718 universal=3FFF unitName="bool" type=02 size=0001 fl=05 zHE &M DefineArg lineCaptureDepth:Science.HighestOilPeakReportActive = 0 bool*e code=0719 elementURI="lineCaptureDepth:Science.PatchTracking" type=00 *a code=0910 owner=006E element=0719 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0911 owner=006E element=0719 universal=3FFF unitName="bool" type=02 size=0001 fl=05 H] &e rDefineArg lineCaptureDepth:Science.PatchTracking = 0 bool*e code=071A elementURI="lineCaptureDepth:Science.FilterWidthHorizontal" type=00 *a code=0912 owner=006E element=071A universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0913 owner=006E element=071A universal=3FFF unitName="count" type=1F size=0008 fl=05 Hu @&} DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count*e code=071B elementURI="lineCaptureDepth:Science.NumProfilesSlidingwindow" type=00 *a code=0914 owner=006E element=071B universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0915 owner=006E element=071B universal=3FFF unitName="count" type=1F size=0008 fl=05 H Y@& DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count*e code=071C elementURI="lineCaptureDepth:Science.OffPeakFractionHorizontal" type=00 *a code=0916 owner=006E element=071C universal=3FFF unitName="percent" type=1F size=0008 fl=04 *a code=0917 owner=006E element=071C universal=3FFF unitName="percent" type=1F size=0008 fl=05 H% ?&- DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %*e code=071D elementURI="lineCaptureDepth:Science.PeakDetectNO3Active" type=00 *a code=0918 owner=006E element=071D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0919 owner=006E element=071D universal=3FFF unitName="bool" type=02 size=0001 fl=05 H= &e ~DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool*e code=071E elementURI="lineCaptureDepth:Science.PeakDetectOilActive" type=00 *a code=091A owner=006E element=071E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=091B owner=006E element=071E universal=3FFF unitName="bool" type=02 size=0001 fl=05 Hu &} ~DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool*e code=071F elementURI="lineCaptureDepth:Science.PeakDetectFDOMActive" type=00 *a code=091C owner=006E element=071F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=091D owner=006E element=071F universal=3FFF unitName="bool" type=02 size=0001 fl=05 H & DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool*e code=0720 elementURI="lineCaptureDepth:Science.PeakDetectSalinityActive" type=00 *a code=091E owner=006E element=0720 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=091F owner=006E element=0720 universal=3FFF unitName="bool" type=02 size=0001 fl=05 H & DefineArg lineCaptureDepth:Science.PeakDetectSalinityActive = 0 bool*e code=0721 elementURI="lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive" type=00 *a code=0920 owner=006E element=0721 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0921 owner=006E element=0721 universal=3FFF unitName="bool" type=02 size=0001 fl=05  I &% DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool*a code=0922 owner=006E element=039D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0722 elementURI="lineCaptureDepth:Science.EnabledAanderaaO2" type=00 *a code=0923 owner=006E element=0722 universal=3FFF unitName="bool" type=1F size=0008 fl=04 *a code=0924 owner=006E element=0722 universal=3FFF unitName="bool" type=1F size=0008 fl=05 "I5 &e DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool*a code=0925 owner=006E element=03A5 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0723 elementURI="lineCaptureDepth:Science.EnabledNeilBrown" type=00 *a code=0926 owner=006E element=0723 universal=3FFF unitName="bool" type=1F size=0008 fl=04 *a code=0927 owner=006E element=0723 universal=3FFF unitName="bool" type=1F size=0008 fl=05 :Iu & DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool*a code=0928 owner=006E element=03AD universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0724 elementURI="lineCaptureDepth:Science.EnabledSeabird" type=00 *a code=0929 owner=006E element=0724 universal=3FFF unitName="bool" type=1F size=0008 fl=04 *a code=092A owner=006E element=0724 universal=3FFF unitName="bool" type=1F size=0008 fl=05 RI ?& DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool*a code=092B owner=006E element=03E0 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0725 elementURI="lineCaptureDepth:Science.EnabledWetLabsBB2FL" type=00 *a code=092C owner=006E element=0725 universal=3FFF unitName="bool" type=1F size=0008 fl=04 *a code=092D owner=006E element=0725 universal=3FFF unitName="bool" type=1F size=0008 fl=05 jI & DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool*a code=092E owner=006E element=03EB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0726 elementURI="lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A" type=00 *a code=092F owner=006E element=0726 universal=3FFF unitName="bool" type=1F size=0008 fl=04 *a code=0930 owner=006E element=0726 universal=3FFF unitName="bool" type=1F size=0008 fl=05 I ?& DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool(i5q,jjEAY}6@}6t@y}6(}6 }6HpO?ѻ? Ķ֣?ծ?)~6@ ~6`d;I~4Y>B>y>D^bɽMbL=YbDQUb>ddafDdyjBE}j>Il r<4n.5? r<4n8w n? r?9nU/?n^: n:)n:<4*BAAAARC C *a code=0931 owner=006E element=03FC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0727 elementURI="lineCaptureDepth:Science.EnabledWetLabsUBAT" type=00 *a code=0932 owner=006E element=0727 universal=3FFF unitName="bool" type=1F size=0008 fl=04 *a code=0933 owner=006E element=0727 universal=3FFF unitName="bool" type=1F size=0008 fl=05 I-&5DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 boolIa*e code=0728 elementURI="lineCaptureDepth:Science.LowPassWindowLength" type=00 *a code=0934 owner=006E element=0728 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0935 owner=006E element=0728 universal=3FFF unitName="count" type=1F size=0008 fl=05 I4@&DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 countGj=*e code=0729 elementURI="lineCaptureDepth:Science.MedianFilterLen" type=00 *a code=0936 owner=006E element=0729 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0937 owner=006E element=0729 universal=3FFF unitName="count" type=1F size=0008 fl=05 I@&DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count*e code=072A elementURI="lineCaptureDepth:Science.PeakShallowBound" type=00 *a code=0938 owner=006E element=072A universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0939 owner=006E element=072A universal=3FFF unitName="meter" type=1F size=0008 fl=05 I &vDefineArg lineCaptureDepth:Science.PeakShallowBound = nan m*e code=072B elementURI="lineCaptureDepth:Science.PeakDeepBound" type=00 *a code=093A owner=006E element=072B universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=093B owner=006E element=072B universal=3FFF unitName="meter" type=1F size=0008 fl=05 IE&MpDefineArg lineCaptureDepth:Science.PeakDeepBound = nan m*e code=072C elementURI="lineCaptureDepth:Science.DepChangeThreshForAttitudeFlip" type=00 *a code=093C owner=006E element=072C universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=093D owner=006E element=072C universal=3FFF unitName="meter" type=1F size=0008 fl=05 I5@&=DefineArg lineCaptureDepth:Science.DepChangeThreshForAttitudeFlip = 2.000000 m*e code=072D elementURI="lineCaptureDepth:Science.PeakChl" type=00 *a code=093E owner=006E element=072D universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 Im*a code=093F owner=006E element=072D universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 &uzDefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l*e code=072E elementURI="lineCaptureDepth:Science.PeakChlDepth" type=00 *a code=0940 owner=006E element=072E universal=3FFF unitName="meter" type=1F size=0008 fl=05 J*a code=0941 owner=006E element=072E universal=3FFF unitName="meter" type=1F size=0008 fl=04 &M~DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m*e code=072F elementURI="lineCaptureDepth:Science.PeakChlTemperature" type=00 *a code=0942 owner=006E element=072F universal=3FFF unitName="celsius" type=1F size=0008 fl=05 Jmfffffq@*a code=0943 owner=006E element=072F universal=3FFF unitName="celsius" type=1F size=0008 fl=04 &uDefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC*e code=0730 elementURI="lineCaptureDepth:Science.PeakChlLatitude" type=00 *a code=0944 owner=006E element=0730 universal=3FFF unitName="degree" type=1F size=0008 fl=05 "J*a code=0945 owner=006E element=0730 universal=3FFF unitName="degree" type=1F size=0008 fl=04 &DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg*e code=0731 elementURI="lineCaptureDepth:Science.PeakChlLongitude" type=00 *a code=0946 owner=006E element=0731 universal=3FFF unitName="degree" type=1F size=0008 fl=05 2J*a code=0947 owner=006E element=0731 universal=3FFF unitName="degree" type=1F size=0008 fl=04 ɾ?A&DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg*e code=0732 elementURI="lineCaptureDepth:Science.PeakNO3" type=00 *a code=0948 owner=006E element=0732 universal=3FFF unitName="micromole_per_liter" type=1F size=0008 fl=05 BJu*a code=0949 owner=006E element=0732 universal=3FFF unitName="micromole_per_liter" type=1F size=0008 fl=04 &~DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l*e code=0733 elementURI="lineCaptureDepth:Science.PeakNO3Depth" type=00 *a code=094A owner=006E element=0733 universal=3FFF unitName="meter" type=1F size=0008 fl=05 RJm*a code=094B owner=006E element=0733 universal=3FFF unitName="meter" type=1F size=0008 fl=04 &~DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m*e code=0734 elementURI="lineCaptureDepth:Science.PeakNO3Latitude" type=00 *a code=094C owner=006E element=0734 universal=3FFF unitName="degree" type=1F size=0008 fl=05 bJ *a code=094D owner=006E element=0734 universal=3FFF unitName="degree" type=1F size=0008 fl=04 & DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg*e code=0735 elementURI="lineCaptureDepth:Science.PeakNO3Longitude" type=00 *a code=094E owner=006E element=0735 universal=3FFF unitName="degree" type=1F size=0008 fl=05 rJ *a code=094F owner=006E element=0735 universal=3FFF unitName="degree" type=1F size=0008 fl=04 & DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg*e code=0736 elementURI="lineCaptureDepth:Science.PeakOil" type=00 *a code=0950 owner=006E element=0736 universal=3FFF unitName="kilogram_per_cubic_meter" type=1F size=0008 fl=05 J5 *a code=0951 owner=006E element=0736 universal=3FFF unitName="kilogram_per_cubic_meter" type=1F size=0008 fl=04 &= |DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3*e code=0737 elementURI="lineCaptureDepth:Science.PeakOilDepth" type=00 *a code=0952 owner=006E element=0737 universal=3FFF unitName="meter" type=1F size=0008 fl=05 J *a code=0953 owner=006E element=0737 universal=3FFF unitName="meter" type=1F size=0008 fl=04 & ~DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m*e code=0738 elementURI="lineCaptureDepth:Science.PeakOilLatitude" type=00 *a code=0954 owner=006E element=0738 universal=3FFF unitName="degree" type=1F size=0008 fl=05 J *a code=0955 owner=006E element=0738 universal=3FFF unitName="degree" type=1F size=0008 fl=04 & DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg*e code=0739 elementURI="lineCaptureDepth:Science.PeakOilLongitude" type=00 *a code=0956 owner=006E element=0739 universal=3FFF unitName="degree" type=1F size=0008 fl=05 J= *a code=0957 owner=006E element=0739 universal=3FFF unitName="degree" type=1F size=0008 fl=04 &M DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg*e code=073A elementURI="lineCaptureDepth:Science.PeakFDOM" type=00 *a code=0958 owner=006E element=073A universal=3FFF unitName="part_per_billion" type=1F size=0008 fl=05 J *a code=0959 owner=006E element=073A universal=3FFF unitName="part_per_billion" type=1F size=0008 fl=04 & zDefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb*e code=073B elementURI="lineCaptureDepth:Science.PeakFDOMDepth" type=00 *a code=095A owner=006E element=073B universal=3FFF unitName="meter" type=1F size=0008 fl=05 J *a code=095B owner=006E element=073B universal=3FFF unitName="meter" type=1F size=0008 fl=04 &= DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m*e code=073C elementURI="lineCaptureDepth:Science.PeakFDOMTemperature" type=00 %p5q,GEA|i|@Y}6r@}6{s@y}6a}6:}6Hz @)?!?ގ O&VĽ?@+?)~6r@ ~6e;I~6CY^x>y^E*a code=095C owner=006E element=073C universal=3FFF unitName="celsius" type=1F size=0008 fl=05 J~*a code=095D owner=006E element=073C universal=3FFF unitName="celsius" type=1F size=0008 fl=04 &DefineOutput lineCaptureDepth:Science.PeakFDOMTemperature = nan degC*e code=073D elementURI="lineCaptureDepth:Science.PeakFDOMLatitude" type=00 *a code=095E owner=006E element=073D universal=3FFF unitName="degree" type=1F size=0008 fl=05 J*a code=095F owner=006E element=073D universal=3FFF unitName="degree" type=1F size=0008 fl=04 &%DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg*e code=073E elementURI="lineCaptureDepth:Science.PeakFDOMLongitude" type=00 *a code=0960 owner=006E element=073E universal=3FFF unitName="degree" type=1F size=0008 fl=05 K-*a code=0961 owner=006E element=073E universal=3FFF unitName="degree" type=1F size=0008 fl=04 &DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg*e code=073F elementURI="lineCaptureDepth:Science.PatchFDOMDistance" type=00 *a code=0962 owner=006E element=073F universal=3FFF unitName="meter" type=1F size=0008 fl=05 K*a code=0963 owner=006E element=073F universal=3FFF unitName="meter" type=1F size=0008 fl=04 &u~DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m*e code=0740 elementURI="lineCaptureDepth:Science.PeakSalt" type=00 *a code=0964 owner=006E element=0740 universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=05 "K*a code=0965 owner=006E element=0740 universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=04 &zDefineOutput lineCaptureDepth:Science.PeakSalt = 0.000000 psu(\µMڿ rhͿnҾ l)IyT㥛 Cl绿S㥛?;߽ݤ> $ZA)jAI7eAi^A*e code=0741 elementURI="lineCaptureDepth:Science.PeakSaltDepth" type=00 *a code=0966 owner=006E element=0741 universal=3FFF unitName="meter" type=1F size=0008 fl=05 2K=*a code=0967 owner=006E element=0741 universal=3FFF unitName="meter" type=1F size=0008 fl=04 &EDefineOutput lineCaptureDepth:Science.PeakSaltDepth = 0.000000 m=bA*e code=0742 elementURI="lineCaptureDepth:Science.PeakSaltTemperature" type=00 *a code=0968 owner=006E element=0742 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 BKfffffq@*a code=0969 owner=006E element=0742 universal=3FFF unitName="celsius" type=1F size=0008 fl=04 &DefineOutput lineCaptureDepth:Science.PeakSaltTemperature = 0.000000 degC*e code=0743 elementURI="lineCaptureDepth:Science.PeakSaltLatitude" type=00 *a code=096A owner=006E element=0743 universal=3FFF unitName="degree" type=1F size=0008 fl=05 RK *a code=096B owner=006E element=0743 universal=3FFF unitName="degree" type=1F size=0008 fl=04 &DefineOutput lineCaptureDepth:Science.PeakSaltLatitude = nan arcdeg*e code=0744 elementURI="lineCaptureDepth:Science.PeakSaltLongitude" type=00 *a code=096C owner=006E element=0744 universal=3FFF unitName="degree" type=1F size=0008 fl=05 bK*a code=096D owner=006E element=0744 universal=3FFF unitName="degree" type=1F size=0008 fl=04 &DefineOutput lineCaptureDepth:Science.PeakSaltLongitude = nan arcdeg    @ @ @i*e code=0745 elementURI="lineCaptureDepth:Science.PatchChl" type=00 *a code=096E owner=006E element=0745 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 rK*a code=096F owner=006E element=0745 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 &|DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 ug/l*e code=0746 elementURI="lineCaptureDepth:Science.PatchChlDepth" type=00 )Ii-=M-=Y-!QU5>11a5D1y=+*a code=0970 owner=006E element=0746 universal=3FFF unitName="meter" type=1F size=0008 fl=05 K*a code=0971 owner=006E element=0746 universal=3FFF unitName="meter" type=1F size=0008 fl=04 &DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m*e code=0747 elementURI="lineCaptureDepth:Science.PatchChlLatitude" type=00 }>I <4=.5? <4Qr d5? ?9H?: b:)NN<4*a code=0972 owner=006E element=0747 universal=3FFF unitName="degree" type=1F size=0008 fl=05 K*a code=0973 owner=006E element=0747 universal=3FFF unitName="degree" type=1F size=0008 fl=04 &DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg*e code=0748 elementURI="lineCaptureDepth:Science.PatchChlLongitude" type=00 *BAAAA*a code=0974 owner=006E element=0748 universal=3FFF unitName="degree" type=1F size=0008 fl=05 K%*a code=0975 owner=006E element=0748 universal=3FFF unitName="degree" type=1F size=0008 fl=04 RCQCa&DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdegI*e code=0749 elementURI="lineCaptureDepth:Science.PatchChlDistance" type=00 *a code=0976 owner=006E element=0749 universal=3FFF unitName="meter" type=1F size=0008 fl=05 K=*a code=0977 owner=006E element=0749 universal=3FFF unitName="meter" type=1F size=0008 fl=04 &E|DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan mGU>*e code=074A elementURI="lineCaptureDepth:Science.PatchSalt" type=00 *a code=0978 owner=006E element=074A universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=05 Ku*a code=0979 owner=006E element=074A universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=04 &|DefineOutput lineCaptureDepth:Science.PatchSalt = 0.000000 psu*e code=074B elementURI="lineCaptureDepth:Science.PatchSaltDepth" type=00 *a code=097A owner=006E element=074B universal=3FFF unitName="meter" type=1F size=0008 fl=05 K- *a code=097B owner=006E element=074B universal=3FFF unitName="meter" type=1F size=0008 fl=04 &= DefineOutput lineCaptureDepth:Science.PatchSaltDepth = 0.000000 m*e code=074C elementURI="lineCaptureDepth:Science.PatchSaltLatitude" type=00 *a code=097C owner=006E element=074C universal=3FFF unitName="degree" type=1F size=0008 fl=05 Km *a code=097D owner=006E element=074C universal=3FFF unitName="degree" type=1F size=0008 fl=04 &u DefineOutput lineCaptureDepth:Science.PatchSaltLatitude = nan arcdeg*e code=074D elementURI="lineCaptureDepth:Science.PatchSaltLongitude" type=00 *a code=097E owner=006E element=074D universal=3FFF unitName="degree" type=1F size=0008 fl=05 K *a code=097F owner=006E element=074D universal=3FFF unitName="degree" type=1F size=0008 fl=04 & DefineOutput lineCaptureDepth:Science.PatchSaltLongitude = nan arcdeg*e code=074E elementURI="lineCaptureDepth:Science.PatchSaltDistance" type=00 *a code=0980 owner=006E element=074E universal=3FFF unitName="meter" type=1F size=0008 fl=05 L *a code=0981 owner=006E element=074E universal=3FFF unitName="meter" type=1F size=0008 fl=04 &- ~DefineOutput lineCaptureDepth:Science.PatchSaltDistance = nan m*e code=074F elementURI="lineCaptureDepth:Science.PatchOil" type=00 *a code=0982 owner=006E element=074F universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=05 L= *a code=0983 owner=006E element=074F universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=04 & zDefineOutput lineCaptureDepth:Science.PatchOil = 0.000000 psu*e code=0750 elementURI="lineCaptureDepth:Science.PatchOilDepth" type=00 *a code=0984 owner=006E element=0750 universal=3FFF unitName="meter" type=1F size=0008 fl=05 "L% *a code=0985 owner=006E element=0750 universal=3FFF unitName="meter" type=1F size=0008 fl=04 &- DefineOutput lineCaptureDepth:Science.PatchOilDepth = 0.000000 m*e code=0751 elementURI="lineCaptureDepth:Science.PatchOilLatitude" type=00 *a code=0986 owner=006E element=0751 universal=3FFF unitName="degree" type=1F size=0008 fl=05 2L] *a code=0987 owner=006E element=0751 universal=3FFF unitName="degree" type=1F size=0008 fl=04 &m DefineOutput lineCaptureDepth:Science.PatchOilLatitude = nan arcdeg*e code=0752 elementURI="lineCaptureDepth:Science.PatchOilLongitude" type=00  xMoved sent file to Logs/20210814T003940/Courier0013.lzma.bak SBD MOMSN=434795*a code=0988 owner=006E element=0752 universal=3FFF unitName="degree" type=1F size=0008 fl=05 BL *a code=0989 owner=006E element=0752 universal=3FFF unitName="degree" type=1F size=0008 fl=04 & DefineOutput lineCaptureDepth:Science.PatchOilLongitude = nan arcdeg*e code=0753 elementURI="lineCaptureDepth:Science.PatchOilDistance" type=00 *a code=098A owner=006E element=0753 universal=3FFF unitName="meter" type=1F size=0008 fl=05 RL *a code=098B owner=006E element=0753 universal=3FFF unitName="meter" type=1F size=0008 fl=04 &% |DefineOutput lineCaptureDepth:Science.PatchOilDistance = nan m*n code=006F name="lineCaptureDepth:Science:A" f:v5q,dEAY}2G@}2+t@y}2-}2j|}2H@?ɻ? \ 0}??v`Y?)~2G@ ~2d;I~2CY>@~>yBgEDiF= LLPRkA*n code=0070 name="lineCaptureDepth:Science:B" *n code=0071 name="lineCaptureDepth:Science:C" - - - -@ -@ -@)))i)) )))I)i)*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" <M=Y=QU?aDy=}?*n code=0076 name="lineCaptureDepth:Science:OceanCurrent" *n code=0077 name="lineCaptureDepth:Science:OceanCurrent:A." *a code=098C owner=0077 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=098D owner=0077 element=0042 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=098E owner=0077 element=063D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 I <4.5? <4o K? %?9U?w: :) X<4*e code=0754 elementURI="CurrentEstimator.current_speed_vehicle_frame" type=02 *a code=098F owner=0077 element=0754 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0755 elementURI="CurrentEstimator.current_speed_navigation_frame" type=02 *BAAAARCC*a code=0990 owner=0077 element=0755 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0756 elementURI="CurrentEstimator.current_direction_vehicle_frame" type=02 *a code=0991 owner=0077 element=0756 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=0757 elementURI="CurrentEstimator.current_direction_navigation_frame" type=02 I*a code=0992 owner=0077 element=0757 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=0758 elementURI="CurrentEstimator.direction_vehicle_frame" type=12 blobType=11 fixedSize=0003 GE=*a code=0993 owner=0077 element=0758 universal=3FFF unitName="none" type=00 size=0000 fl=05 *e code=0759 elementURI="CurrentEstimator.direction_navigation_frame" type=12 blobType=11 fixedSize=0003 *a code=0994 owner=0077 element=0759 universal=3FFF unitName="none" type=00 size=0000 fl=05 *n code=0078 name="lineCaptureDepth:Science:PeakDetectChl" *n code=0079 name="lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth" <8Construct PeakDetectVsDepth.*a code=0995 owner=0079 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0996 owner=0079 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0997 owner=0079 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=007A name="lineCaptureDepth:Science:PeakDetectChl:B" *n code=007B name="lineCaptureDepth:Science:HighestChlPeakReport" *n code=007C name="lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal" >>Construct PeakDetectHorizontal.*a code=0998 owner=007C element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0999 owner=007C element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=099A owner=007C element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=099B owner=007C element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=099C owner=007C element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=099D owner=007C element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=007D name="lineCaptureDepth:Science:PeakDetectNO3" *n code=007E name="lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth" ?8Construct PeakDetectVsDepth.*a code=099E owner=007E element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=099F owner=007E element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09A0 owner=007E element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=007F name="lineCaptureDepth:Science:PeakDetectNO3:B" *n code=0080 name="lineCaptureDepth:Science:PeakDetectOil" *n code=0081 name="lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth" @8Construct PeakDetectVsDepth.*a code=09A1 owner=0081 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09A2 owner=0081 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09A3 owner=0081 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0082 name="lineCaptureDepth:Science:PeakDetectOil:B" *n code=0083 name="lineCaptureDepth:Science:HighestOilPeakReport" *n code=0084 name="lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal" Be>Construct PeakDetectHorizontal.*a code=09A4 owner=0084 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09A5 owner=0084 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09A6 owner=0084 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09A7 owner=0084 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09A8 owner=0084 element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09A9 owner=0084 element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0085 name="lineCaptureDepth:Science:PeakDetectFDOM" *n code=0086 name="lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth" C 8Construct PeakDetectVsDepth.*a code=09AA owner=0086 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09AB owner=0086 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09AC owner=0086 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0087 name="lineCaptureDepth:Science:PeakDetectFDOM:B" *n code=0088 name="lineCaptureDepth:Science:PeakDetectSalinity" *n code=0089 name="lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth" D5 8Construct PeakDetectVsDepth.*a code=09AD owner=0089 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09AE owner=0089 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09AF owner=0089 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=008A name="lineCaptureDepth:Science:PeakDetectSalinity:B" *n code=008B name="lineCaptureDepth:Science:HighestSaltPeakReport" *n code=008C name="lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" F >Construct PeakDetectHorizontal.*a code=09B0 owner=008C element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09B1 owner=008C element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09B2 owner=008C element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09B3 owner=008C element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09B4 owner=008C element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09B5 owner=008C element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 c|5q,DEAY}2u@}2gu@y}2<}2s<}2Hn?]ꚿ poHd@Ty?$?)~2u@ ~2c;I~2CYNh>yRE)Z&MlInserting Stack: Missions/Insert/StandardEnvelopes.xmlYML=Y>QU>aDyE=}>I1 =<45p.5? =<45k 5m? E?95g?5k: 54:)5uf<4*BAAAARCC*n code=008D name="lineCaptureDepth:StandardEnvelopes" *e code=075A elementURI="lineCaptureDepth:StandardEnvelopes.MinAltitude" type=00 *a code=09B6 owner=008D element=075A universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09B7 owner=008D element=075A universal=3FFF unitName="meter" type=1F size=0008 fl=05 M5@&=DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m*e code=075B elementURI="lineCaptureDepth:StandardEnvelopes.MaxDepth" type=00 *a code=09B8 owner=008D element=075B universal=3FFF unitName="meter" type=1F size=0008 fl=04 IY*a code=09B9 owner=008D element=075B universal=3FFF unitName="meter" type=1F size=0008 fl=05 Mi@&DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m*e code=075C elementURI="lineCaptureDepth:StandardEnvelopes.MinOffshore" type=00 *a code=09BA owner=008D element=075C universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09BB owner=008D element=075C universal=3FFF unitName="meter" type=1F size=0008 fl=05 G>M@@&DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m*n code=008E name="lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope" G6Construct AltitudeEnvelope.*a code=09BC owner=008E element=0142 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=09BD owner=008E element=013C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=09BE owner=008E element=0138 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=09BF owner=008E element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=09C0 owner=008E element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=09C1 owner=008E element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09C2 owner=008E element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09C3 owner=008E element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=09C4 owner=008E element=06AB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=09C5 owner=008E element=06A3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=09C6 owner=008E element=06C4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=09C7 owner=008E element=06A2 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=008F name="lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope" G0Construct DepthEnvelope.*a code=09C8 owner=008F element=0142 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=09C9 owner=008F element=013C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=09CA owner=008F element=0138 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=09CB owner=008F element=011C universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=09CC owner=008F element=0136 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=09CD owner=008F element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=09CE owner=008F element=06AB universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=09CF owner=008F element=06A3 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=09D0 owner=008F element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=09D1 owner=008F element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09D2 owner=008F element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09D3 owner=008F element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=09D4 owner=008F element=06AB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=09D5 owner=008F element=06A3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=09D6 owner=008F element=06C4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=09D7 owner=008F element=06A2 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=0090 name="lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope" H 6Construct OffshoreEnvelope.*a code=09D8 owner=0090 element=06AC universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=09D9 owner=0090 element=06D2 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=09DA owner=0090 element=06D3 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=09DB owner=0090 element=06D6 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=09DC owner=0090 element=06D4 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=09DD owner=0090 element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=09DE owner=0090 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09DF owner=0090 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09E0 owner=0090 element=0009 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09E1 owner=0090 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09E2 owner=0090 element=06AC universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=09E3 owner=0090 element=06D4 universal=3FFF unitName="radian" type=2F size=0004 fl=05 y}>*a code=09E4 owner=0090 element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *n code=0091 name="lineCaptureDepth:C" *a code=09E5 owner=0091 element=075A universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=0092 name="lineCaptureDepth:D" *a code=09E6 owner=0092 element=075B universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=0093 name="lineCaptureDepth:E" *a code=09E7 owner=0093 element=075C universal=3FFF unitName="meter" type=1F size=0008 fl=05 &\Inserting Stack: Missions/Insert/NeedComms.xml*n code=0094 name="lineCaptureDepth:NeedComms" *e code=075D elementURI="lineCaptureDepth:NeedComms.DiveInterval" type=00 *a code=09E8 owner=0094 element=075D universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=09E9 owner=0094 element=075D universal=3FFF unitName="hour" type=1F size=0008 fl=05 JO @& |DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h*e code=075E elementURI="lineCaptureDepth:NeedComms.WaitForPitchUp" type=00 *a code=09EA owner=0094 element=075E universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=09EB owner=0094 element=075E universal=3FFF unitName="minute" type=1F size=0008 fl=05 ZO5 @&= DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min*e code=075F elementURI="lineCaptureDepth:NeedComms.SurfacePitch" type=00 *a code=09EC owner=0094 element=075F universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=09ED owner=0094 element=075F universal=3FFF unitName="degree" type=1F size=0008 fl=05 jO DJW?& DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg*e code=0760 elementURI="lineCaptureDepth:NeedComms.SurfaceDepthRate" type=00 *a code=09EE owner=0094 element=0760 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=09EF owner=0094 element=0760 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 zO & ~DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s*e code=0761 elementURI="lineCaptureDepth:NeedComms.SurfaceSpeed" type=00 *a code=09F0 owner=0094 element=0761 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 P5q,q EA|8|:;Y}nRЁ@}ns@y}n5<}n5<}nH%c? ߐ`" 9"2?ஆg?r?4?)~nRЁ@ ~nAe;I~lYb>y E*a code=09F1 owner=0094 element=0761 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 O5?&=DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s*e code=0762 elementURI="lineCaptureDepth:NeedComms.GPSTimeout" type=00 *a code=09F2 owner=0094 element=0762 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=09F3 owner=0094 element=0762 universal=3FFF unitName="minute" type=1F size=0008 fl=05 Om@z@&u|DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min*e code=0763 elementURI="lineCaptureDepth:NeedComms.CommsTimeout" type=00 *a code=09F4 owner=0094 element=0763 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=09F5 owner=0094 element=0763 universal=3FFF unitName="minute" type=1F size=0008 fl=05 O @&DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min*a code=09F6 owner=0094 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09F7 owner=0094 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0095 name="lineCaptureDepth:NeedComms:A" *a code=09F8 owner=0095 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0096 name="lineCaptureDepth:NeedComms:B.GoToSurface" u u u u@ u@ u@qqqiqq q)qIqiq*a code=09F9 owner=0096 element=06EB universal=3FFF unitName="bool" type=02 size=0001 fl=05 K,Construct GoToSurface.*a code=09FA owner=0096 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09FB owner=0096 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09FC owner=0096 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09FD owner=0096 element=06C4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=09FE owner=0096 element=06A2 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=09FF owner=0096 element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A00 owner=0096 element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=05 -HM8=YcQU>aDy,q}>*a code=0A01 owner=0096 element=06AB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A02 owner=0096 element=06A3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A03 owner=0096 element=0147 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0A04 owner=0096 element=0142 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0A05 owner=0096 element=0114 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0A06 owner=0096 element=0134 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0A07 owner=0096 element=012F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A08 owner=0096 element=0143 universal=3FFF unitName="second" type=0B size=0003 fl=04 I M<4e.5? M<4g ? 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M?)~6B@ ~6c;I~4Y>">yB EID)DIJC=)H)N= N=^=Mbv=YbQUb?ddafDdyf*ͼ}j?Ih n<4j.5? r<4jjd jƕ? r?9j?j: j%:)j"<4*B|A|A|AARCC I!G=%=*n code=00A6 name="lineCaptureDepth:LineCapture" *a code=0A2D owner=00A6 element=0254 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *e code=0766 elementURI="lineCaptureDepth:LineCapture.DockLat" type=00 *a code=0A2E owner=00A6 element=0766 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=04 *a code=0A2F owner=00A6 element=0766 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 zQ=8p 5?&eDefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg*a code=0A30 owner=00A6 element=0255 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *e code=0767 elementURI="lineCaptureDepth:LineCapture.DockLon" type=00 *a code=0A31 owner=00A6 element=0767 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=04 *a code=0A32 owner=00A6 element=0767 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 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code=0A7F owner=00AA element=06A2 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=00AB name="lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope" U0Construct DepthEnvelope.*a code=0A80 owner=00AB element=0142 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0A81 owner=00AB element=013C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A82 owner=00AB element=0138 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A83 owner=00AB element=011C universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0A84 owner=00AB element=0136 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0A85 owner=00AB element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0A86 owner=00AB element=06AB universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0A87 owner=00AB element=06A3 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0A88 owner=00AB element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A89 owner=00AB element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A8A owner=00AB element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A8B owner=00AB element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A8C owner=00AB element=06AB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A8D owner=00AB element=06A3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A8E owner=00AB element=06C4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A8F owner=00AB element=06A2 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=00AC name="lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope" V6Construct OffshoreEnvelope.*a code=0A90 owner=00AC element=06AC universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0A91 owner=00AC element=06D2 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=0A92 owner=00AC element=06D3 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=0A93 owner=00AC element=06D6 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0A94 owner=00AC element=06D4 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0A95 owner=00AC element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A96 owner=00AC element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A97 owner=00AC element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A98 owner=00AC element=0009 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A99 owner=00AC element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A9A owner=00AC element=06AC universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A9B owner=00AC element=06D4 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A9C owner=00AC element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *n code=00AD name="lineCaptureDepth:LineCapture:D" *a code=0A9D owner=00AD element=0780 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=00AE name="lineCaptureDepth:LineCapture:E" *a code=0A9E owner=00AE element=0781 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=00AF name="lineCaptureDepth:LineCapture:F" *a code=0A9F owner=00AF element=0782 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=00B0 name="lineCaptureDepth:LineCapture:G" *a code=0AA0 owner=00B0 element=077E universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0AA1 owner=00B0 element=06FC universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=00B1 name="lineCaptureDepth:LineCapture:H" *a code=0AA2 owner=00B1 element=077F universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0AA3 owner=00B1 element=06FC universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=00B2 name="lineCaptureDepth:LineCapture:HoldMassAndBuoyancy" *a code=0AA4 owner=00B2 element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *n code=00B3 name="lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A" *a code=0AA5 owner=00B3 element=0115 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *n code=00B4 name="lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass" ZConstruct.*a code=0AA6 owner=00B4 element=02B2 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0AA7 owner=00B4 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AA8 owner=00B4 element=06A3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0AA9 owner=00B4 element=0131 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *n code=00B5 name="lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy" Z- &Construct Buoyancy.*a code=0AAA owner=00B5 element=0289 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0AAB owner=00B5 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AAC owner=00B5 element=06C6 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0AAD owner=00B5 element=0113 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *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" \ Construct.\ dInitializing internal variables to default values.*a code=0AAE owner=00B9 element=0275 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0AAF owner=00B9 element=0277 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0AB0 owner=00B9 element=0276 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0AB1 owner=00B9 element=0278 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0AB2 owner=00B9 element=0279 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0AB3 owner=00B9 element=0147 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0AB4 owner=00B9 element=0131 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=0AB5 owner=00B9 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AB6 owner=00B9 element=06FC universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0AB7 owner=00B9 element=05FC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0AB8 owner=00B9 element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0AB9 owner=00B9 element=05A9 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0ABA owner=00B9 element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0ABB owner=00B9 element=06C3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0ABC owner=00B9 element=06AB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0ABD owner=00B9 element=06A3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0ABE owner=00B9 element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0ABF owner=00B9 element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=05 *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" *a code=0AC0 owner=00BB element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=00BC name="lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B" *n code=00BD name="lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C" *a code=0AC1 owner=00BD element=077C universal=3FFF unitName="none" type=1F size=0008 fl=05 *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" *a code=0AC2 owner=00C3 element=077C universal=3FFF unitName="none" type=1F size=0008 fl=05 *n code=00C4 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed" b- Construct.*a code=0AC3 owner=00C4 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AC4 owner=00C4 element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0AC5 owner=00C4 element=06C7 universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=00C5 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch" be Construct.*a code=0AC6 owner=00C5 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AC7 owner=00C5 element=06C3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0AC8 owner=00C5 element=06C4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0AC9 owner=00C5 element=06AB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0ACA owner=00C5 element=06A3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0ACB owner=00C5 element=06A2 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0ACC owner=00C5 element=06C5 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0ACD owner=00C5 element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=00C6 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint" c &Construct Waypoint.*a code=0ACE owner=00C6 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0ACF owner=00C6 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AD0 owner=00C6 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AD1 owner=00C6 element=06D6 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0AD2 owner=00C6 element=06AC universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0AD3 owner=00C6 element=06D2 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0AD4 owner=00C6 element=06D3 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=00C7 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout" 5q,f[EA|i|@Y}6L@}6r@y}6:=}6@}6Hr c?N՘?^PN`(>, ?)~6L@ ~6Ib;I~6CYNs>yNE ~   @ @ @i )Ii MU=YGE>QU>*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" *a code=0AD5 owner=00C9 element=077C universal=3FFF unitName="none" type=1F size=0008 fl=05 YYa]DYye8}e>Ii u<4mV.5?*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" u<4m5[ m? ?9mc?mz"< m"<)m <4*n code=00CE name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle" gConstruct.*a code=0AD6 owner=00CE element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AD7 owner=00CE element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AD8 owner=00CE element=06D6 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *BAAAARC C *a code=0AD9 owner=00CE element=06AC universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0ADA owner=00CE element=06D2 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0ADB owner=00CE element=06D3 universal=3FFF unitName="degree" type=37 size=0006 fl=05 Ia*n code=00CF name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait" gConstruct Wait.*n code=00D0 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:H" *n code=00D1 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:I" G=*a code=0ADC owner=00D1 element=077C universal=3FFF unitName="none" type=1F size=0008 fl=05 *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" *a code=0ADD owner=00D7 element=077C universal=3FFF unitName="none" type=1F size=0008 fl=05 *n code=00D8 name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch" l}Construct.*a code=0ADE owner=00D8 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0ADF owner=00D8 element=06C3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0AE0 owner=00D8 element=06C4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0AE1 owner=00D8 element=06AB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0AE2 owner=00D8 element=06A3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0AE3 owner=00D8 element=06A2 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0AE4 owner=00D8 element=06C5 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0AE5 owner=00D8 element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=00D9 name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D" *a code=0AE6 owner=00D9 element=02B9 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *n code=00DA name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E" *a code=0AE7 owner=00DA element=0109 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *n code=00DB name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture" mmConstruct.*a code=0AE8 owner=00DB element=0264 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0AE9 owner=00DB element=0265 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0AEA owner=00DB element=0266 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0AEB owner=00DB element=0268 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0AEC owner=00DB element=0269 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0AED owner=00DB element=026A universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0AEE owner=00DB element=0267 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0AEF owner=00DB element=026B universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=0AF0 owner=00DB element=026C universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=0AF1 owner=00DB element=026D universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=0AF2 owner=00DB element=026E universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=0AF3 owner=00DB element=026F universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0AF4 owner=00DB element=0107 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04 *a code=0AF5 owner=00DB element=0270 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0AF6 owner=00DB element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AF7 owner=00DB element=0045 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AF8 owner=00DB element=06FF universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0AF9 owner=00DB element=06FC universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0AFA owner=00DB element=05FC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0AFB owner=00DB element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0AFC owner=00DB element=05A9 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0AFD owner=00DB element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0AFE owner=00DB element=06AC universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0AFF owner=00DB element=06D4 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B00 owner=00DB element=06D5 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0B01 owner=00DB element=06D9 universal=3FFF unitName="ratio" type=0B size=0003 fl=05 *a code=0B02 owner=00DB element=06D8 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 *a code=0B03 owner=00DB element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=0783 elementURI="LineCapture.guidanceMode" type=02 *a code=0B04 owner=00DB element=0783 universal=3FFF unitName="enum" type=02 size=0001 fl=05 mmdInitializing internal variables to default values.mmZTransitioning guidance mode to: UNINITIALIZED"Xm*n code=00DC name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G" *n code=00DD name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H" *a code=0B05 owner=00DD element=077C universal=3FFF unitName="none" type=1F size=0008 fl=05 *n code=00DE name="lineCaptureDepth:LineCapture:K.Wait" oConstruct Wait.*n code=00DF name="lineCaptureDepth:LineCapture:L" *n code=00E0 name="lineCaptureDepth:M" *a code=0B06 owner=00E0 element=0775 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=00E1 name="lineCaptureDepth:N" *a code=0B07 owner=00E1 element=0776 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=00E2 name="lineCaptureDepth:O" *a code=0B08 owner=00E2 element=0774 universal=3FFF unitName="meter" type=1F size=0008 fl=05 &5fInserting Stack: Missions/Insert/SetNavAcoustic.xml*n code=00E3 name="lineCaptureDepth:SetNavAcoustic" *a code=0B09 owner=00E3 element=0254 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *e code=0784 elementURI="lineCaptureDepth:SetNavAcoustic.DockLat" type=00 *a code=0B0A owner=00E3 element=0784 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=04 *a code=0B0B owner=00E3 element=0784 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 ZX8p 5?&DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg*a code=0B0C owner=00E3 element=0255 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *e code=0785 elementURI="lineCaptureDepth:SetNavAcoustic.DockLon" type=00 *a code=0B0D owner=00E3 element=0785 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=04 *a code=0B0E owner=00E3 element=0785 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 rXu!kݾ&}DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg*a code=0B0F owner=00E3 element=0273 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *e code=0786 elementURI="lineCaptureDepth:SetNavAcoustic.DockRange" type=00 *a code=0B10 owner=00E3 element=0786 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0B11 owner=00E3 element=0786 universal=3FFF unitName="meter" type=1F size=0008 fl=05 X@&DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m*a code=0B12 owner=00E3 element=0274 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *e code=0787 elementURI="lineCaptureDepth:SetNavAcoustic.RangeTimeout" type=00 *a code=0B13 owner=00E3 element=0787 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0B14 owner=00E3 element=0787 universal=3FFF unitName="minute" type=1F size=0008 fl=05 X r@& DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min*a code=0B15 owner=00E3 element=0631 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0B16 owner=00E3 element=06FC universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=00E4 name="lineCaptureDepth:SetNavAcoustic:UpdateNav" *n code=00E5 name="lineCaptureDepth:SetNavAcoustic:UpdateNav:A" *a code=0B17 owner=00E5 element=06FC universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=00E6 name="lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav" s "Construct SetNav.*a code=0B18 owner=00E6 element=0632 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0B19 owner=00E6 element=0633 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0B1A owner=00E6 element=0631 universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=00E7 name="lineCaptureDepth:UpdateNumPings_NotTerminal" *n code=00E8 name="lineCaptureDepth:UpdateNumPings_NotTerminal:A" *n code=00E9 name="lineCaptureDepth:UpdateNumPings_NotTerminal:B" *a code=0B1B owner=00E9 element=0713 universal=3FFF unitName="count" type=1F size=0008 fl=05 *n code=00EA name="lineCaptureDepth:UpdateNumPings_Terminal" *n code=00EB name="lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL" *n code=00EC name="lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A" *n code=00ED name="lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B" *a code=0B1C owner=00ED element=0713 universal=3FFF unitName="count" type=1F size=0008 fl=05 *n code=00EE name="lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR" *n code=00EF name="lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A" *n code=00F0 name="lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B" *a code=0B1D owner=00F0 element=0713 universal=3FFF unitName="count" type=1F size=0008 fl=05 *n code=00F1 name="lineCaptureDepth:Lap" *n code=00F2 name="lineCaptureDepth:Lap:A" *a code=0B1E owner=00F2 element=0712 universal=3FFF unitName="count" type=1F size=0008 fl=05 *n code=00F3 name="lineCaptureDepth:Lap:B" *n code=00F4 name="lineCaptureDepth:Lap:C" *a code=0B1F owner=00F4 element=0712 universal=3FFF unitName="count" type=1F size=0008 fl=05 *n code=00F5 name="lineCaptureDepth:Lap:D" *n code=00F6 name="lineCaptureDepth:Lap:Docked" *n code=00F7 name="lineCaptureDepth:Lap:Docked:A" *n code=00F8 name="lineCaptureDepth:Lap:Docked:Docked.Docked" |5 Construct. |5 dInitializing internal variables to default values.*a code=0B20 owner=00F8 element=0256 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0B21 owner=00F8 element=0258 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0B22 owner=00F8 element=0259 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0B23 owner=00F8 element=025A universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0B24 owner=00F8 element=025B universal=3FFF unitName="second" type=0B size=0003 fl=04 5q,BuEAY}6a@}6to@y}6n0<}6A }6HV+?`E?*K`6% ::o?)~6a@ ~6igc;I~6CY>\>yBEDiF= HHLNjA^fMbP=YbNQUb>`dafDdyff}j>Ih n<4j.5? r<4jV j? r?9jY?j: j:)j}<4*B|A|A|AARCC I!*a code=0B25 owner=00F8 element=025C universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0B26 owner=00F8 element=025D universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0B27 owner=00F8 element=025E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B28 owner=00F8 element=0147 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0B29 owner=00F8 element=0156 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0B2A owner=00F8 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B2B owner=00F8 element=06FC universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0B2C owner=00F8 element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0B2D owner=00F8 element=05A9 universal=3FFF unitName="bool" type=02 size=0001 fl=04 G]6=*a code=0B2E owner=00F8 element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0B2F owner=00F8 element=06C3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0B30 owner=00F8 element=06A2 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B31 owner=00F8 element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=00F9 name="lineCaptureDepth:Lap:Docked:Detach" *n code=00FA name="lineCaptureDepth:Lap:Docked:Detach:A" *a code=0B32 owner=00FA element=06FC universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=00FB name="lineCaptureDepth:Lap:Docked:Detach:Undock.Undock" }Construct.}dInitializing internal variables to default values.*a code=0B33 owner=00FB element=0275 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0B34 owner=00FB element=0277 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0B35 owner=00FB element=0276 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0B36 owner=00FB element=0278 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0B37 owner=00FB element=0279 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B38 owner=00FB element=0147 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0B39 owner=00FB element=0131 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=0B3A owner=00FB element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B3B owner=00FB element=06FC universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0B3C owner=00FB element=05FC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B3D owner=00FB element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0B3E owner=00FB element=05A9 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B3F owner=00FB element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0B40 owner=00FB element=06C3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0B41 owner=00FB element=06AB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B42 owner=00FB element=06A3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0B43 owner=00FB element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0B44 owner=00FB element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=05 &u Home to transponder while maintaining altitude. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using DUSBL tracking data (4) Dock: final approach using fixed heading. Maximum length of mission 4 How often to surface for commumications 240 How often to trigger Umodem communications 5 Number of times the vehicle should try to cycle through the homing sequence. 1 Time duration to wait on the dock after a successful line capture. 5 Transponder Address. How long to wait between acoustic queries. 2.5 Number of pings requested each time. 1 Number of pings requested while in USBL mode range. 5 USBL mode range. 40 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Mission variable (don't change). The mission sets this variable to reflect the termination status of the LineCapture insert. -1 Mission variable (don't change). The mission sets this variable to update the requested ping number and enter usbl mode. 1 Most missions will run the science sensors. If you don't place this aggregate above NeedComms, science instruments get turned off on the last upcast and while floating on the surface. 0 No longer in Terminal. Resuming normal ranging with pings. Entering USBL mode with pings. Resuming normal ranging with pings. -99 Mode 0 Waiting on dock for Breaking off. 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M=4EC E> M?9E=@EV: EA:)E=4FyFFF*BBAAAARCCI1G=>>6q,EAY}F@}Fo@y}F7}FQ}FH@mH@>?z?`@ HA|`?`i?)~F@ ~Fc;I~FCYZ>yZ$E5k&=M5X=Y5g>QU5>99a=!D9yE=}E>II u>4M.5? u>4MD M> }?9Ml>@MD: M:)M >4FFFF*BBAAAARCCIiUPiGIyiG=Dٺ6A >><$E6q,EA||Y}6U+@}6qp@y}6nF=}6'=}6HaU?`/fZ1G ڤ??)~6U+@ ~6 g;I~4Yj>yn&=E    @ @ @ÑÑÑiÑÑ đ)đIđiđ=MC=Yj>QU>a!Dy<}>I >4.5? >4 F > ?9?@/; ;)>4F!F!F!F!*BBAAAARCCIGu=;KK6q,^/EAY}61}@}6Lm@y}6>}6]D}6Ht2?c[`L*h|?`?)~61}@ ~6;j;I~6CY>|>yB1EID)DIN=)N=)R> R=^QFMb[=Yb%=QUb>ddaf!Ddyj=}j>Il r>4nx.5? r>4nG n> r?9n+A@ns: n:)n(>4FFFF*BBAAAARCCI)G=2R6q,9IEAY}2{@}2l@y}2Qu<}2}2HVW??@ Q"i@2̼'?)~2{@ ~2g;I~2CYB>yBE]7A`⿨K7Aп(\?]] ]z>)YIYy]Gz? rh?#~j?]p>]C=]= ]C[A)]cAI]C[Ai]dAY]\_A,M6=Y=uQU%>!!a%!D!y-8}->IQ ]>4U.5? ]>4UM U? e?9U'L@U: Uw:)U8>4FFFF*BBAAAARCCIGe=ɾ\X6q,cEA|i|Y}6L_@}6_zo@y}6}6%J9}6HSN ]?;?BH?ƿ[?)~6L_@ ~6`h;I~6CY^O>ybD    @ @ @ÙÙÙiÙÙ ę)ęIęięMQ=YQU>a!Dy >}>I >4.5? >4S ? ?9qU@< <),F>4FFFF*BBAAAARCCIG-=%^6q,9|EAY}2I @}2[p@y}2$׽}2Ua}2H`I??@U1 ׺?+ ?)~2I @ ~2Kh;I~2CYB9@>yB~DDiF= LLPRlA =$MU=Y-?QU>a!Dy%r=}%>I) 5>4-.5? 5>4-rY -? 5?9-d^@-; -;)-nS>4FiFiFiFi*BBAAAARCCIG=oe6q,u̖EAY}2ev@}2q@y}2r+ܼ}2"y3}2HX??%@{? ?l?)~2ev@ ~2ae;I~2CY>li>yBE^0=MbO=YbQUb>ddaf"Ddyj<}j>Il r>4n.5? v>4ns_ n"? z?9ng@ngo; n<)n/a>4FF F F *BBAAAA RCCIiG= >>k6q,EA||Y}6@}62q@y}6CK$<}6d=}6H Ż?@ %?QU??)~6@ ~6։f;I~6CYN]>yNxE^dSBD MO Status=0, MOMSN=23844, MT Status=0, MTMSN=0^.No messages in MT queue M M M M@ M@ M@IIIiII I)IIIiI}ؼM}?=Yj=QU>a"Dy$;}>Iș >4ŝ.5? >4ŝpf Ɲe,? ?9Ɲr@ǝN< ȝ Q<)ȝPq>4FFFF*BBA!AiAqAqRCyCyIG%>r6q,kEAY}6>F@}6p@y}6-}67[=}6H@i?@2v `t?? 2c??)~6>F@ ~6*g;I~6CYN>yRW.EIT)VAI^R=)^4=y&1|Mb?V-?`< h=)Iy㥛 ? rȿw/Կ=C馾 SA)AzAISAivAfA)5= 5=]e>M]==YeuCQUe>aaam"Diym3}m>Iȑ >4ŕ;.5? >4ŕ=d ƕ ? ?9ƕw@Ǖ#: ȕ:)ȕi>4FFFF*BBAAAA RCCIIGe=x6q,[EAY}2X@}2p@y}27<}26ȼ}2H{?@^ / @@ƛ`?)~2X@ ~2d;I~2CYB>yBDEz1=Mzd=YL=QU>!!a%"D!y-=;}->I1 ]>45).5? ]>45a 5[> ]?95|@5Y; 5ξ;)5>4FiFqFqFq*BBAAAARCCIG=ɾ:~6q,6EA|i|Y}6˻}@}6m@y}6v=}6v}6H @u?8א?`\MP~ήL`?)~6˻}@ ~6c;I~6CYBr>yBAE r r r r@ r@ r@pppipp p)pIpipzIMzJ=YQ=QU>a"Dy}>Iȩ >4ŭ.5? >4ŭ] ƭ> ?9ƭz@ǭ] < ȭ <)ȭ>4F F F F *BYBYAaAaAaAaRCiCiIG=6q,EAY}2i}@}2m@y}2}2~V9}2H~ ?W?B >ÿ;b?w ǿ*z?)~2i}@ ~2f;I~2CY>>y>01EDiF= LLPRkA^4M^N=Yb)QUb>``af"DdyfPZ}j>Ih r>4j.5? r>4jQZ j?> r?9j@j: j:)jǧ>4FFFF*B!B)A)A)A)A)RC1CYIiG%=6q,J1EAY}J@}JK>r@y}J}J}JH`Li? ?`%? ڪ?)~J@ ~Jg;I~HY^'>y^'EM?=Y(QU>a"Dy>} >I >4O.5? >4V >= ?9c@< <)>4FFFF*BBAAAARCCIGm5> >CilGI1iI};ٺy}~.A;?9w.Aϒ6q,KEA||4yB+E(\ſJ +Կ.H f)Iy µUA)µvAIµnAiµx]A    @ @ @i )Iie<M(=YB,=QU>a"D!y-F=}->I1 =>45j.5? =>45N 5:F> E?95@5: 54:)5>4FFFF*BABAAAAAAIAIRCICQIGE>==got command set lineCaptureDepth.MissionTimeout 120.000000 minuteBG= @=Egot command set lineCaptureDepth.MicromodemCommsInterval 30.000000 minutebGE @=Mngot command set lineCaptureDepth.Repeat 20.000000 countrGM4@=Uvgot command set lineCaptureDepth.MinAltitude 3.000000 meterGU@&6q,eEAY}2@}2Nt@y}2iU}2-;}2HQ?`?V ??e?`G?)~2@ ~2*d;I~0YB)y>yBEEID)DIJC=)J=)N= N>n"ǽMr=Yr>QUr?ttav"Dtyz=}z?I| >4~.5? >4~H ~v> ?9~#@~: ~:)~E>4FFFF*B)B)A)A)A1A1RC1C9IQGm<=Sending 52 bytes from file Logs/20210814T003940/Courier0019.lzma_"6q,JzEAY}:=@}:Yv@y}:M }:;}:H@P5?"p?P@%?`ۚ? sWp??)~:=@ ~:c;I~8YRmP>yR6Eb˽MbL=YbU4ddaf"DdyjC=}j>I| >4~.5? >4~? ~Z>  ?9~@~: ~k:)~g>4F9F9F9F9*BIBIAQAQAQAQRCYCyIGo=ɾ6 6q,yYEA|i|@Y}6@}6zw@y}64ﻙ}6;}6H`@?d?@?E?}?r??)~6@ ~6c;I~6CYB[>yBUE r r r r@ r@ r@pppipp p)pIpipzy<MzG=Y~N;QU>a#Dy/=}>I >4.5? >47 _? ?9@A: 3;)n>4FFFF *BqBAAAARCCIG5= xMoved sent file to Logs/20210814T003940/Courier0019.lzma.bak SBD MOMSN=434801r56q,5EAY}2߃@}2w@y}2ԅ<}2kR}2Hp[?Ļ?3].@b U`?)~2߃@ ~2hb;I~2CYBu>yBGEDiF=FC=iF< LLLLbO=MfM=Yjr=QUj>hlan#DlyrU<}r>It z>4vο.5? z>4v/ v5? z?9v0@v: v:)v>4FFFF1*BBAAAARCCIyG> 6q,~EAY}Us@}Uu@y}UG9}U }UH}`?`?pG@!?@E ?)~Us@ ~U˃b;I~UCYuZQ>yuEB`"ѿktֿ/$َ )IyZd;O?S㥫?ˡE?j</]== ^A)`AI_AidA`A    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉВM$=Y廽QUM>QQaU#DQy]}}]>Iȉ ?4ō.5? ?4ō1 ƍ?? ?9ƍS@Ǎ: ȍ:)ȍ?4FFFF*BBAAAARCC I!G}7> >yBER>MR=YRmQUR?TTaV#DTyZV$=}Z?I\ b?4^.5? b?4^2 ^D? b?9^@^: ^^:)^?4FpFpFpFp*BxBxAxAxAxAxRCCIG=p/6q,EAY}6h~@}6y@y}6w}6ţ}6HK\@ ?;?`o@4E?i@?)~6h~@ ~6c;I~6CY>Fk>yBEID)FAID)DIJ=)H)N> L^0MbH=Yb_QUb>ddaf#Ddyj>}j>Il r?4n~.5? r?4n3 n4M? r?9n@n: no:)n&?4F|F|F|F|*B B A AAARCCI Ge=iY6q,wEAY}:ۆ@}:}@y}:G}Խ}:3=}:Hu?`A?@]༙@?`w?HP??)~:ۆ@ ~:Kyc;I~:CYN^W>yR|E   % %@ %@ %@!!!i!! !)!I!i!5D>M5C=Y5ӽQU5>yya}#DyyW1>}>Iȉ ?4ōz.5? ?4ō5 ƍV? ?9ƍx@Ǎ7; ȍ;)ȍ5?4FFFF*ByByAyAyAyARCCIG==ɾă6q,}4EA| i| Y}BA@}B~@y}B}B-[=}BH`|o?@w(PBO?O? ??)~BA@ ~BPg;I~BCYR؈>yR](Ez >MC=Y)i>QU>a#Dy<}%>I1 M?45).5? ?4506 5`? ?95*@5yZy1E^=i^=ba=ib= dd5RQ?K7MbX?5>5I 5 ?)1I1y5QV-Mbп5\5m5 5VA)5nAI5$ZAi5iA15=bAii    @ @ @i )Ii% =M-3=Y-<>QU->11a5#D1y=9}=>IA ?4E.5?  ?4E^2 ED?  ?9E@E: E:)ET?4FYFYFYFa*BiBqAqAqAqAqRCyCIG-->6q,.hEAY}27Ӆ@}2{@y}2dʺ}24}2H y?_q?B@H`XY??)~27Ӆ@ ~2d>f;I~2CYB n>yBpEn-M~z=YmQU?a #D y } ?I =?4.5? E?4P/ /? E?9P@; ;)_?4FQFQFQFY*BBAAAARCCIG= >|6q, EA||iRjGIXid~@ٺ43AY}E/@}Ez~@y}E}EB}EHo?J?wg@Z@? 'ȿ0Y?)~E/@ ~Eh;I~ECYeYj>ye(EM:=YiQU>a#Dy =} >I =?4.5? =?4V+ ? =?9@<; ;)n?4FIFQFQFq*BBAAAARCCIIaG=t6q,EAY}2@}2n$@y}2}2i}2H`N|?@9?Ke? ¿I?)~2@ ~2i;I~2CYBH>yBEID)DID)DINp=)N4=)N= N= r r r v@ v@ v@pppipp p)pIpip~(o=M\=Y:QU>!!a%$D!y-">}->I1 ?45.5? ?45( 5> ?95p@5< 5<)5{?4FFF1F1*BABAAAAIAIAIRCICQIiG=&6q,ʵEAY}7ۉ@}@y}}Z}H=c@4P??@[ȗ?r?`S/M?)~7ۉ@ ~e;I~CYh>yEMb?~jth(\µ>D )Iy%CܿDl)\(̿Z侹OGa ½GQA)½AI½_Ai½tAjA?M#=Y:QU>a$Dy D=} >I ?41.5? ?4 > %?9k@: V:)c?4FQFQFQFQ*BBAAAARCCIG >ɾr6q, EA|i|@Y}6З@}6Y@y}6\2}6T<}6H _F?dw?<@`?@zX?N?@G?)~6З@ ~6d;I~4YB7r>yBEn=Mr=Yr=QUr?ttav$Dtyz+߼}z?I| ?4~.5? ?4~ ~> ?9~@~: ~:)~?4FFFF*B)B)A1A1A1A1RC1CYIqG^== pgot command set lineCaptureDepth.MaxDepth 9.000000 meterG "@= ~got command set lineCaptureDepth.MinOffshore 0.500000 kilometer H @@= got command run= Running u6q,yEAY}28@}2 @y}2j }2&=}2H@i?@I4@? "A?פ?`?)~28@ ~2e;I~2CYBgc>yB EF=iF= HHLL r r r r@ r@ r@pppipp p)pIpipzM~I=Y]=QU]>Yaae$Daye=}m>Ii ?4m.5? ?4m8 m0D> ?9m@m; m;)m?4 +RAggregate::uninitialize DefaultWithUndockq.pAggregate::uninitialize DefaultWithUndock:SurfaceDefaultq0DUninitialize GoToSurfaceComponent. 1Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn1&@Started mission lineCaptureDepthCq6LAggregate::initialize lineCaptureDepth 7\Aggregate::initialize lineCaptureDepth:Science1q1q1 <xAggregate::initialize lineCaptureDepth:Science:PeakDetectChlq<Initialize.*a code=0B45 owner=0079 element=001D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B46 owner=0079 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 =Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport1>Initialize.q>xAggregate::initialize lineCaptureDepth:Science:PeakDetectNO3 ?Initialize.*a code=0B47 owner=007E element=0020 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B48 owner=007E element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 1 E @ExAggregate::initialize lineCaptureDepth:Science:PeakDetectOilq E@MInitialize.*a code=0B49 owner=0081 element=001F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B4A owner=0081 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 ]A]Aggregate::initialize lineCaptureDepth:Science:HighestOilPeakReport1!]B]Initialize.q!]BezAggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM!e CeInitialize.*a code=0B4B owner=0086 element=0005 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B4C owner=0086 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 1"u DAggregate::initialize lineCaptureDepth:Science:PeakDetectSalinityq"DInitialize.*a code=0B4D owner=0089 element=005C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B4E owner=0089 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 "EAggregate::initialize lineCaptureDepth:Science:HighestSaltPeakReport1#FInitialize. ;vAggregate::initialize lineCaptureDepth:Science:OceanCurrent;|Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3 ?Uninitialize.=Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport1 >Uninitialize.1 <|Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChlq<Uninitialize.zL?L?LR@L5?q *a code=0B50 owner=0075 element=001F universal=FFFF unitName="none" type=FF size=0000 fl=04 :Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water1q*a code=0B51 owner=0071 element=0676 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 8Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature*a code=0B52 owner=0071 element=0679 universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=04 8%Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity1-*a code=0B53 owner=0070 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 8-vInitialize ReadDataComponent to sense sea_water_temperature*a code=0B54 owner=0070 element=005C universal=FFFF unitName="none" type=FF size=0000 fl=04 85pInitialize ReadDataComponent to sense sea_water_salinity5*BE y:AAAiAiAiRCqCqIG>Aw1E5= 2Powering up7q,qWEAY}2m@}2={@y}2b<}2El<}2H`)8W?@>X&*NHV???)~2m@ ~2ve;I~0YBi>yBE^<MbN=Yb,=QUb>ddaf$Ddyjr=}j>Il r?4n.5? r?4nl n%= v?9nB@n: n+:)n ?41( PpAggregate::uninitialize lineCaptureDepth:MicromodemCommsq(P Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn( 2O "@$ $ zLALALALE{?*BQAQAQAyAyRCyCIGt= >>7q,6EA||Y}6~@}6c@y}6;}67L}6He4?Yߢ?@i )w`"?)~6~@ ~6c;I~4YN>yNEnb=MnH=YrkԻQUr>ppav$Dtyva}v>Ix ?4zs.5? ?4z z=< ?9z0@z ; z:)zK?4:O%@@$%'%zL9L9L9L=?*BIAIAIAIAIRCQCYIqGM=|# 7q,z7EAY}e0@}e?>@y}ee)}e!̽}eH`Y#??1`[^Bġ?u`n?)~e0@ ~e>c;I~eCY}bv>y}EI)AI4=)C=e/$V-`"οe,e ew)aIayeMb{GztQ?eeףe(> ecA)ex]AIe`Aie_AaeQ`A)}= }=    @ @ @i )IiGM.=YٯQU>a$Dy==}>I ?4h.5? ?4 = ?9@@0: :)?4JP% @'%'%zL5L5>L5L5>L5B N@L5L?*BIAIAIAIAQRCQCYIqG- >.7q,PEAY}2g@}2ru@y}2`H}2ʽ}2H_Tu?? Ie{?`.h?)~2g@ ~2c;I~2CYB$s>yBEDDRMVw=YV0QUV?XXaZ$DXy^t=}^?I  ?4.5?  ?4 v>  ?9 @ : p:)?4RP-'-1)-zLaLaLaLeW?*BqAqAqAARCCIG=ɾ37q,SjEA|i|Y}JK@}J@y}J9}JN;}JH@_ٙ??t O h?x3 w?@?)~JK@ ~Jb;I~JCYZ>yZ$ErCr=MrF=YvJ=QUz>||a~$D|y:!}>I u?4.5? }?4c $`> }?9@Kc< hc<)?4P1)18zLLLL~?*BAAAARC C IAG}=C!7q,EAY}2>b@}2o@y}2~<}2=}2HI^I? `Xƴ? y?K?)~2>b@ ~2Ed;I~2CYNj>yRqEZ=iZ=ZC=iZ= ``dfjA    @ @ @i )Ii-ΡM-F=Y-W11a5$D1y==}=>IA M?4E.5? M?4E E> U?9E@E: E:)E?42Xm"@18uq8uzLLLLP?*B9A9A9A9A9RCACAIyG=vD'7q,W{EAY}J@}J@y}J}J'A=}JH:@3?@17`j'@ H? ?`S@??)~J@ ~JF)e;I~JCYZ$>y^#E E E E E@ E@ E@AAAiAA A)AIAiAI]+A)]@A}=M}E=Y}+QU}>a%Dy'=}>Iȑ @4ŕF.5? @4ŕb ƕ > ?9ƕ@Ǖ8: ȕ:)ȕ @4:X@@q88RB*** querying acoustic contact ***PPuu5 g:YKN1yy:(5zLqLqLqLuz?*BAAAARCCIG= >q-7q,cEA|<|He;I~CYb>y'E%Z****** received transponder code query ******%F****** received ping request ******%11a5%D1y=/+}=>IA @4E`.5? @4E" E> ?9E@EC< E(<)E@4BX-@8-q<-x5TAggregate::initialize lineCaptureDepth:Lap<5zLeQ>LeQ>Ler_@Le#)?*ByAyAyAyAyRCCIG>iMPiGIaiq?ٺ1A[W47q,]5EAY}JJ@}J̈́@y}J;}J.=}JH`|?@z `=@7?? ?c?)~JJ@ ~Jd;I~JCYnn>ynEvxDUSBL response received:!U1,P DBE,000,008EA,189,80,80,B0,FF vCommand AckvBRequesting micromodem ping code 2itxI|)|Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -jFailed to parse device response: 8ii  9YF1yq:5Ie=)e=)m= m=    @ @ @i )IiM1=Y]QU>ae%Daym<}m>Iq }@4u.5? }@4uo뢾 u> }?9u@uB< u<)u)@4XX<<yXAggregate::initialize lineCaptureDepth:Lap:BzLQLQLQLU}?*BAAAARCCIG%M>E:7q,EAY}2ˌ@}2Yل@y}2o}2!5}2HZ H?4g? Pmw? ]?)~2ˌ@ ~2b;I~2CY> n>y>pERNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =;M==Y=D>QUE ?AAaE%DAyMИ;}M?]=i]=IQ e@4U.5? e@4U袾 U> e?9Uy@U: Ug:)U3@4) SdAggregate::initialize lineCaptureDepth:LineCaptureq*TAggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes* UJInitialize AltitudeEnvelopeComponent.*UDInitialize DepthEnvelopeComponent.1+ VJInitialize OffshoreEnvelopeComponent.1,q,, YAggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy,1- ZInitialize.q-ZUy-E=xDUSBL response received:!U1,R,E4F,000,00C48,186,80,80,9E,FF =Fpublishing direction and range info=]w>9ɰ=ǀ>=> 9)=CI9y=#C=]7(?*p?ٱ92=ME=Y>QU>a%Dy}>Iȩ @4ŭE.5? @4ŭ 墾 ƭ? ?9ƭ@ǭm ; ȭ] ;)ȭ/B@4{{ /9Y#R1y:UUB|@ZS@1*q+P*Q#CZQΉjUJa@m=gK@JQ]7(?*p?2Q]w>:QbQ) <@gЊNcb#륭w(RQ˿J4%uN_xBQB؏@ QQP"9?PPQQ?"QzL!L!L!L%?*B9A9A9A9A9RCACIIYG=G7q,zEAY}^@}^0Ȅ@y}^C}^i}^H? ?W\7~? ?%?)~^@ ~^g;I~\YnM>ynD}TNmea in: $SNTTA,0.100544,,,,005100.35*46 }=i}= 鿑™kA    @ @ @i )IiMC=Y0QU>a%Dy=}>I  @4 .5? @4 Sᢾ ? ?9 @ : :) P@4U5{b@U= T?T=@q+=+=zLLLL!?*BAAAAiRCqCyIG=5 xMoved sent file to Logs/20210814T003940/Express0014.lzma.bak5 SBD MOMSN=434803zM7q,9EAY}JG@}J@y}J}J~H}JH M߿`R??3n?ꍷ?&`?)~JG@ ~JCg;I~JCYZ]p>y^Ess Y9YM1y:5MV-Zd;?l¿MMy= M)IIIyM rȿ/$ſ/$?MCM,M> M YA)MMpAIMjAiM^AIMdAmȤ=MmB=YmBQUu>qqau%Dqy}s=}}>Iȁ @4Ņ`.5? @4Ņۢ ƅ4? ?9ƅa@Džo: ȅ:)ȅy_@4UU@;?T"@++zL>L>L;w@L]?*BAAAARCCI G= >uT7q,tSEAY}:@}:R @y}:)l}:?;}:Hi3?@`yb(E!]!]!e!e!e!e!e!e Eq>!e 9EڔCIEDiEs=!m E=!m E=D!m E7D!m!m E}; EcE    @ @ @éééiéé ĩ)ĩIĩiĩ=MW=Y!=QU>a%Di;i y}>I @4G.5? @4\բ [Q? ?9@< !<)l@4UU ?T@@+- [Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence-[Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock1. \Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guideq.\Initialize.\dInitializing internal variables to default values./ _Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance/_Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide11 bInitialize.q1bInitialize.104 iAggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance4 i Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide16  l Initialize.q6 6-15-zLILILILMVh?*ByAyAAARCCIG>Z7q,%]mEAY}J׋@}J^@y}JmW<}JXb;}JH`?Yܓ@9Sw`ʂ Wl?@?)~J׋@ ~Jbc;I~JCYZԂ>yZ EIY)]A)q u=MK=Y/*>QU>a%Dya}>I @4.5? @4Ϣ q? ?9@&; @;)z@44 ~rr :Y_L1y7:5 iAggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance4iAggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide1516q66/ _%Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance/%_%Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide10%11% b%Uninitialize.q1%-%U%U-U)U)U-?zLILILILM$?Al0B Bn>Af*B 9AA A жA RCCIIGm=Xa7q,Z*EAY}6D~@}6͋@y}6|<}6N4V}6H`[\?`?`ai ,`ª?)~6D~@ ~6Jb;I~6CYNU>yRE .Powering up loadControlޝ=iޝ=iMG=Yvwa%Dy ټ} >I @4b.5? @4&ʢ 0? ?9@: :)4@4U9UAUAUAUE 9@zLyLyLyL}[?A=v,BA BEx>AE*BIAqAu:A}+QAyRCCIG >ɾ?AEr>9AIEaDiE=AAE8DEU; EEg7q,EAY}J@}JD˃@y}J7}Ju}JH@d?#?x@? ʦ`?)~J@ ~J.c;I~JCUVUpUpUd U9YUK1yU`:U95)U8C;9]YMP>yMEQɮUp=]=i]=    @ @ @i )IiM"=YQU>a&Dy}<}>I  @4.5?  @4Mâ [?  ?9@: :)@4U1U1U1U1U5:@R=B*** querying acoustic contact ***PAPAzLQLQLQLU ?Am+!Bi Bm>Aml*BqAqAuqwAuAqRCyCyIG>> n7q,EAY}:j@}:2x@y}:,MV}:󀕽}:HOQ??eeq?ƪ?T?)~:j@ ~:8b;I~:CɫYY)Y ]IYYhJ>yDZ****** received transponder code query ******F****** received ping request ****** u^\A)uhAIu7eAiu`AqubA‰jAiM]=YͪQU>a&DyRj=} >I @4.5? @4 ? ?9+@{: b:)@4UYUYUYUaUe>@zLv>Lv>L1@L)?AB B>A*BAA$AԷARCCIG+>t7q,EAY}FO@}F]@y}F}F }FHcv?`?' {됣?@n?` ?)~FO@ ~FUb;I~FCvjAvjAzq>9xIzDiz=xxxz; z[Eɫ髱) IY n>y E%xDUSBL response received:!U1,P E4F,000,00C48,186,80,80,9E,FF %Command Ack%BRequesting micromodem ping code 2i!!5Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 oo' \9YsJ1y:(5)6;i    @ @ @i )IiС=M7=YH QU>a&Dy}>Iș @4ŝ/.5? @4ŝ tI ƝL? ?9Ɲ@ǝ;; ȝW;)ȝ@4UUUUU @zLiLiLiLmf?A{+B B>A*BAAAARCC >>Y {:I! G= >{7q,)EAY}6ŋ@}62Ӄ@y}6c }6U;}6H Z?~? `9?k? b? yENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i99}:M}=Y}=QU?a&Dyb}?Iș @4ŝ.5? @4ŝ Ɲ? ?9Ɲ@ǝ: ȝ:)ȝJ@4UUUUUJ @zLLLL-i?A}JM,By B}٥>A}s*ByAAAARCCYωIG>i PkGI% lAi= AAm UTٺm lAm y%E-xDUSBL response received:!U1,R,E19,000,00C53,186,80,80,9E,FF 5Fpublishing direction and range info->)ɰ-:>) )))I)y-C-[E'?rGc?ٱ)iQQ)e= e=m6oa&Dy}>Iȡ @4ťQ.5? @4ťR ƥ? ?9ƥN@ǥ: ȥ:)ȥt@4UUUUU`D@P*QCZQ|Ia@_RVKO@JQ[E'?rGc?2Q>:QbQ*P9^}bMPg@RQOXſGڹE?\?BQn@ QQP59?PPQQߢ@"QzL L L L A%X0B! B%>A%*B!A)A)A-7A)RC1C1Y {:IG= >9IaDi=L; XE.7q,N"EAY}2m@}2@y}2Q<}2Ъb}2H \?ඒ? g ejG?Q@u?)~2m@ ~2j]c;I~0ɫ) IY5l>y5EDNmea in: $SNTTA,,,,,005104.43*59 i    @ @ @i )Ii M@=Y=QU>a&D!y%}%>I) 5@4-.5? 5@4- -,? =?9-@-: -#:)-/@4\](Detaching from dock.UYUYU]b@UeL?zLyLyLyL}?Aa"B B*>AV*BAAAQARCCYυx:IG>$X7q,*yEe=ie=iqq}}t}t} }9Y}M1y}:}5e`"ֿ~jt?:v?eηe< e<)aIayea&Dy}>Iș @4ŝ.5? @4ŝ! Ɲ? ?9Ɲm@ǝ: ȝd:)ȝ@4\ZDetected possible detachment. Starting timer.UUUU?zLR>LR>L.@La@A|B B\>A*BAA A jA RC CY^x:I9G]3>?7q,VEAY}6/@}6g=@y}6sO<}6)c}6H+ ^?_? `3@ቿ 2l`?)~6/@ ~6d;I~4ByEIE@)E#@iAAuMu]=Y}=QU}>ya&Dy%}>Iȱ @4ŵ.5? @4ŵD Ƶ? ?9Ƶ@ǵ: ȵ:)ȵ@4UUUUEt?zLALALALE@Au Bq B}>A}Q*ByAyAyA}~AyRCCYew:IyG>i7q,oEAY}:b@}:hp@y}:}:2E}:HT ?kߨ?@?@wa?)~:b@ ~:c;I~8ɫ99)9 EIAY]I>y]PDiuVܽMuK=Y}|QU>a&Dqq 9YK1y̅:_5yz<}>Iȩ A4ŭ.5? A4ŭD ƭz? ?9ƭ@ǭ(: ȭV:)ȭA4UUUU 0?zLLLL @A $%B BȦ>A*BAAAARCC!-%>-,>Yv:IG >Q7q,EA||Y}6@}6_@y}6ᙽ}612}6Hz2?@r?2a?~7??)~6@ ~6.Hb;I~6Cɫ99)9 =I9Y}P>y}EI)I)i m m m u@ u@ u@iiiiii i)iIiii<MI=YQU>a&Dy<=}>Iȡ A4ť.5? A4ťM ƥ? ?9ƥ'@ǥ: ȥ=:)ȥ A4UUUU #@zLLLL 7@A=B B>AY*B A A A bA RCCYMu:IYGu>ܱ9ܱIܵHDiܵ=ܱܱܱܵl; ݵE|7q,SEAY}2@}2`@y}2}2;}2H }?`yХ?@Vñ?@̴?v??)~2@ ~2La;I~2Cɫ99)A AIAY]b>y] Eiw:=MS=YقQU >  a 'D y}%>I) 5A4-.5? 5A4-h -? =?9-@-; -7%;)-$A4UqUyUyU@I@tt- d9YM1y:q5)L9;9zLLLL ;@AP_B BN>AU׽*B!A!A!A%تA!RC)CIY dt:I!G= >7q,pEAY}6:V@}6c@y}6F:<}6+}6HĦ?=?@`f? *?q'?)~6:V@ ~6g;I~6Cɫ99)9 =I9Yli>yEp=ɮa=ie)\(?Clǿgfffff?eG=ed; e33>)aIaye ףp= ǿZd;O?-ӿeQ8ej<=e5 a)e7eAIe YAienAae cAYv<MB=YE=QU>a'Dy;}>Iȡ A4ť*.5? A4ť ƥy? ?9ƥ@ǥ: ȥ:)ȥH3A4UUUU@ @RB*** querying acoustic contact ***PPzL>L>L 9@L}A ˽*BAAA_ARCCYϕr:IG>ɾ@A7q,TEAhAgAY}^ @}^@y}^+M<}^7Î}^H^j@d?+w?@ o`Y`O`XԱv?)~^ @ ~^Og;I~^C195۔CI1i11115; 5 Eɫ髹) IYq>yEZ****** received transponder code query ******F****** received ping request ******QU>a'Dyn}>I  A4 $.5? A4 e ? ?9 A : :)  CA4UUUUM @zLLLLK|I?A''CB  B >A S*B A AA͸ARCCYq:I)GER>跻7q,&EAY}2O@}2غ@y}2O=}2~}2H j`P?`?`G\l@n#@?r?)~2O@ ~2>e;I~0ɫyy)y }IyY>yBExDUSBL response received:!U1,P E19,000,00C53,186,80,80,9E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I!@)"@i hAhAE=MMc=Y]=QUe>a'DyY}>I! -A4%v.5? -A4%n %.? 5?9%A%: %:)%PA4UUUUNX @zLLLLqL?A(B BL>A硽*BAA!A%ڸA!RC)C)Yo:IQG[>o7q, EAY}=@}ŀ@y}yA=}m}HM?{?1yٴ,`$=?)~=@ ~<"c;I~Iޕ@A)ޑɫ11)1 5I1Yun>yuENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B --u-u- -I9Y-KN1y-y:-͜595@iIQ    O<`?iB B)BI3CiCM2=YQU>a'Dy}>I -A4.5? -A4 A? 5?9_Af: :)^_A4UQUQUQUUZ@zLLLL3B?AX#B B >A Ž*B A A A A RCCYn:IAG}X> >I9MڔCIMDiM=IIIM; MEu7q,L$EA||Y}6@}69@y}6M'}6|~}6H`(?@?|<@@у3?ү@Q?)~6@ ~6[b;I~4ɫ99)9 9I9Yu[>y}ExDUSBL response received:!U1,R,DE7,000,00C72,188,80,80,9E,FF Fpublishing direction and range info>ɰ>鰅> )IyC2eE֌?~z?ٱi!!=^M=j=Y=3QU=>AAaE'DAIyM}M>IQ ]A4Ut.5? ]A4U U_h? e?9UNAU: U:)UokA4UUUU@P*QCZQYz#a@&KYQ@JQ2eE֌?~z?2Q>:QbQHyB|R`Xb,/?RQR^%οTL￈P?BQH@ Q%QP9?P59?PQQ׿?"Qߢ@zL9L9L9L=3?Au\kGBq Bu>Au*BqAyAyA}AyRCCYυm:IG>7q,>EAY}v;@}v=I@y}v}v嚼}vH@ ?aL?`mE? ?@*n?)~v;@ ~vb;I~vCɫ) I!!ilGIkAiPٺkA?@BYn>y Emmqmqm3 m9YmK1ym̅:m5DNmea in: $SNTTA,,,,,005108.86*5C iI=)=Zd;O?gfffffƿj= 33)IyCl׿X9vοL7A`?ds+= C[A)hqAIkAi_AfA)> >=M&=YQQU>a'Dy5=}>I  %A4 d.5? -A4 Њ j? 5?9 A ; ;) |A4UUU5c@U?zL>L>LUm@LJ?A "B :B  B >A Ƚ*B AA!A%oA)RC1C9Y ak:I!G=>9 9 ]7q,-XEANr>9LINCiN3K=N=LLN; N Eɫ) IY^>y Eiaa<D$?iB tB)!BIBiX&C9Mq=YQU?a'Dy}?I  A4 .5? A4 s 9l? ?9 - A I: :) }A4U9U9U9U=@$?zLYLYLYLYAiBq Bu̩>Au*BqAqAqA}AyRCyCYe@j:IG >ɾ?A@A7q,nrEAY}2!@}2j/@y}20=}23X}2H 2?@u2@?)~2!@ ~2b;I~2Cɫii)i mIiY>yeEi!)E+=MEV=YM>QUU>YYa]'DYaym=}m>Iy A4}.5? A4}y }t? ?9} A}k: }w:)}A4UUUUK?zLQLQLQLUr?uupupu u!9YuK1yu`:u5Am0="B@L;B B<>A*BAAAARCCYϥ i:IG!>~7q,OEAY} a@}  @y} 8\=} x} HK??px# ``?)~ a@ ~ b;I~ ɫ11)1 5I1Yu]p>yuEi -@ @ @ @-©--i-- -)-I-i-M6=Ya(Dy}>Iȹ A4Ž.5? A4Ž^n ƽM? ?9ƽAǽ0: Ƚ:)Ƚ}A4UUUU Z?zLLLL?A܆F=B B>A*ʽ*B!A!A!A%sA!RC)C)5>5>Y%h:IyG\>ܵq>9ܵ۔CIܵDiܵ=>ܵ=ܱܱܵ; ݵ;E)݉I݉i݉ݍ=ݍ=ݍ147q,$EAY}2@}2$@y}2#o}2׽}2H`L?$?@@`&?v㺿?)~2@ ~2#kc;I~2Cɫ99)9 =I9Y}>y}6Ei  }0>M^=Y QU>a(Dyy=}>Iȩ A4ŭ.5? A4ŭSe ƭ? ?9ƭyAǭ9; ȭ7;)ȭcA4UUUU@+@zLALALALE?AmR<Bi Bm->Am9*BqAqAqAukAqRCyCyrr 9Y_L1y7:5)40;9Y-Of:9I)GER>%B7q,EAY}6@}6J@y}6]}6𐃽}6H(`y?o? (F??aw?)~6@ ~6j}c;I~6Cɫ99)9 =IAY}#>y}BEI)iuʡEƿ{GzԿJ +u-2uף uH)qIqyu&1ҿMbpzG?u吾uu W> u YA)urAIuiAiuC[Aqu(dAH=M%I=Y5%WQU5>99a=(D9AyE }E>II UA4MW/5? UA4M_ M? ]?9MAM: M:)M;A4UyUyUyU5@zLq>Lq>LjI@Lh?Aq,B B>Aؼ*BAAArARCCY.e:9ԅ=L;IG>> jAU r>9Q IU DiU =Q Q Q U ; U Eu47q,yEAY}2a@}2mo@y}2Y}2L}2H@?? h?):? :@4?)~2a@ ~2?b;I~2CɫII)I MIIYf>y2/E %iA%hAi!) - - - --,-`-r?i-BB- -2B)-.CI-Bi-BM>MM>=YUS=QUU>QYa](DYYye`}e>Ii uA4mn/5? uA4mBZ m? }?9moAm: m:)mA4B 9Yy5)1;UUUU@RB*** querying acoustic contact ***PPzLLLLۘm?AKB B9>An*BAAAARCCihAIhAY-c:i1I199IG >"T7q,ȵEAY}:溋@}:oȃ@y}:}:5<}:H@-`?\F?v?ޯ??`?)~:溋@ ~:&a;I~:Cɫ99)9 =IAY]b>y] EeZ****** received transponder code query ******eF****** received ping request ******ma(Dy=}>Iȱ A4ŵ /5? A4ŵT Ƶ7? ?9Ƶ9Aǵ,7; ȵ;)ȵA4U1U1U9U=i @zLqLqLqLu~?AH׼B B>A*BAAAARCCYϥ]b:IG!>;8q,֐ EAY}6@}6"@y}6̽}6=}6H 6?@?@&h?x?b?q?)~6@ ~64b;I~6CɫYY)Y ]IYY}\>y}ExDUSBL response received:!U1,P DE7,000,00C72,188,80,80,9E,FF Command AckBRequesting micromodem ping code 2i=ip=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i-CM5D=YEQUM>a(Dy%C<}->IA uA4E/5? }A4EN E? ?9EDAE< E<[pp  9YK1y`:59@)EA4UUUU7 @zLLLL|?9IDi">; 2EA5̽"B=w:By Bm>A*BAAANARCYCa̕>̕?Yu`:IG>"f 8q, l'EAY}:@}:@y}:l}:N =}:H`?ܵ?C ? ̍?|?=?)~:@ ~:O0b;I~:Cɫ99)9 9I9Y})y>y}EE@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iyyl=CI?iC C) CIBiC q=M==Y\=QU>a(Dy%}%>I) 5A4-/5? 5A4-/I -? =?9-.A-: -M:)-A4UYUYUYU] 5@zLyLyLyL}o1}?AlB B>AHŽ*BAAAARCCY_:IG*>M8q,GAEAY}6n։@}6@y}6e}6~"}6Hr +a?@?mhr.`?.S?)~6n։@ ~6a;I~6CɫYY)Y ]IYYa>yw ExDUSBL response received:!U1,R,DCB,000,00C66,189,80,80,9E,FF Fpublishing direction and range infoq>ɰ>鰥7> )IyCA0?J?ٱimm :Y+I1y:@5^I ?#~jĿ"~j?b>% Sc>)IyZd;O/$S㥛Ŀj$ 7eA)x]AIUAisA cA5ZM59=Y5>QU=>99a=(D9Aye}m>Ii }B4m/5? }B4mF md? }?9mAm: m~:)m! B4UUUU@F@P*QCZQ0<&`@RmR@JQA0?J?2Qq>:QbQMkw8tSbCRQ zĿ$?;S¢omfzBQ@ QQP89?P9?PQQD"Q׿?zL5?>L5?>L5lW@L5hU?AmH9Bi Bm>Am3*BqAqAqAueѹAqRCyCyY}]:IG_>ف ف  9 I Di f> ; !EO{8q,/[EAY}z@}z#@y}z8i}z+}zH̛ ??H@@@F0?U?)~z@ ~zd;I~zCɫiq)q qIqYX>yVEDNmea in: $SNTTA,,,,,005113.30*5B I)i U@ U@ U@ U@U©UUiUU U)UIUiUeMeX=Ym{%QUm>qqau(Dqqy}܈}}>Iȁ B4Ņ/5? B4ŅD ƅţ? ?9ƅoADž: ȅ:)ȅ7B4UUU`c@U6S?zLLLL?AmB B'>A*BAAAB۹ARCCY\:IAGmW>X8q,tEAɫyy)y }IyYm>y'E QQiYY)m= m>}Y_=M}[=YQU>a(Dy}>Iȩ B4ŭl/5? B4ŭB ƭ"? ?9ƭAǭdh; ȭpi;)ȭU#B4UUUU?zLLLLAB Bͯ>A *BAAAARC  n n   9Y I1y : _5CYA[:9I1iMkGIaiyPٺF@BG>#8q,k֎EAY}:0M@}:Z@y}:#9}:dL;}:H@q8?`W?ة`z熣?p"?@i??)~:0M@ ~:c;I~:Cɫ99)9 9IAY}f>y} EiAAmMuK=YuQUu>yya})DyydT=}>Iȉ B4ō/5? B4ō-A ƍ? ?9ƍAǍ: ȍ:)ȍR1B4UUUU]=?zLLLLu?A3~B Bj>A_*BAAALARCCYY:9ԭ<;IG#>191I5Di5=1115; 5+Eڸ)8q,ǨEAY}j2@}j@@y}jtg}j=}jH R8?ٮ ,`l3H?y E=i=i m u u uuh=u#a)Dy:=}>Iȹ B4Ž /5? B4ŽX? ƽ.? ?9ƽ,Aǽ8; ȽF;)Ƚ@B4qq o9YK1y̅:͟5)y8;9 UQUQUQU]+?zLqLqLqLu!z?AB B2>A*BAAAARCCY}X:9=%;IGg>08q,EAɫyy)y }IyY$>y#EIE@)E@iAA L7A`?/$ֿMb? += & >) I y #~jĿ11a5)D19y=}=>IA MB4Eg/5? UB4E< E? U?9E% AEQ: E:)EcNB4UqUqUyU} ?zL@>L@>LE@L1\?AF8"B B۱>Aڲ*BAAAARCCYϥW:ҵa=ҵ=9ԅ;IG=>) 9) I- Ci- 3K=) ) ) - ; - 0E)-۔CI-۔Ci)))-yEiII}|MV=Yf>QU>a)Dyd}>Iȩ B4ŭ"/5? B4ŭ : ƭ݀? ?9ƭ+!Aǭ[f; ȭFg;)ȭ[B4UUUU@zLLLLX?AB B%>A%̽*B!A!A!A%Z--n-n- - 9Y-I1y-:-5)-g6;AIRCYCYυU:9E4:IQG}X> ><8q,FEAY}:s@}:@y}:ܝ=}:ֿ}:H`,?@?49ٵs`@?)~:s@ ~:d;I~:Cɫ99)9 =I9Y]Jq>y]nEea=ɮep=I)iD̼?iC B))CIBiC} MK=Y9QU>a)Dy׽}>I B4&/5? B4/7 kx? ?9?"A< <)jB4UyUyUU1@RB*** querying acoustic contact ***PPzL!L!L!L%}[?A=*B9 B=p>A=,*B9AAA. ARCCY-T:9:IG>RC8q, EAY}6%@}6[~@y}6㼙}6['}6H,9? ?Nx /}?oÿ̝?)~6%@ ~6g;I~4ɫ99)9 =I9Y}Yj>y}(EZ****** received transponder code query ******F****** received ping request ******a)D y 랽} >I B4C*/5? B4e4 n?  ?9J#A>; ,;)_xB4UUUU @-))- -9Y)y)-59=@zLILILILM\?A ¹B B)>A*BAAAARCC9IHDi==; EY S:iIIy G >UJ8q,3)EAY}63=@}6J@y}6z }6}6H ]?^?  8諿z?@d?)~63=@ ~6Uyh;I~4ɫyy)y }IyY]>yxExDUSBL response received:!U1,P DCB,000,00C66,189,80,80,9E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i5M=F=YMQUU>a)D)y5>">}5>I9 MB4=-/5? uB4=u1 =c? }?9=W$A=r< =] <)=ІB4UIUQUYU] @zLLLLKsk?Ai¼B B>AI *BAAAARC!C1Y5&Q:IAGe>P8q,ZCEAY}:@}:@y}:R}:u<}:H @g??8T?I4 ?`q?)~:@ ~:oe;I~:Cɫ99)9 =I9Y}Jq>y}nENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=iMb@Mb@Mb@ )IyS㥛пSӿˡEĿ$/' µfRA)µ~AIµ_Ai±fAEE`Ej?iE CA Ed"C)EBIEABiE4CU$=MU,=YUvYYa])DYaye<}m>Ii uB4m@*/5? }B4m' mQ? }?9m;'Am: m:)mSB4lla X:YH1y:5UUUU`N @zL >L >Lp0@L?A!B Bε>A*BAAA3ARCCYWP:IGF> 9 I aDi = = ; EW8q,>]EAY}2i8@}2E@y}2}2c<}2H?DژM-?@? ݟ?@?)~2i8@ ~21c;I~2CɫYY)Y ]IYYk>yExDUSBL response received:!U1,R,DB9,000,00C6F,188,80,80,9E,FF Fpublishing direction and range infoS>?ɰ`>鰥> )IyzCX5gv?,?ٱ8Not Powering down - fast GPS )Iiiɶ )IiɷI)iMz=Y=QU? a )D yb&}?I! -B4%<(/5? -B4%G %KC? -?9%T)A%Q; %;)%ˡB4UQU)U1U5@@PA*QEzCZQE_R`@R@JQEX5gv?,?2QES>?:QAbQEF9Wb6J)]@RQEKĿ!4ᅬY~0@?BQE@ QEfQE~PE79?PE89?PEQEQE$@"QEDzLLLLŃ?A B B>Ae*BAAAVARCCYN:IG%>HA]8q,twEAY}~+@}~@y}~pk<}~vt<}~H ? aSSv@m@m?P?)~~+@ ~~c;I~~CɫIQ)Q UIQYAe>y EuTNmea in: $SNTTA,0.102051,,,,005117.75*47 ieerere e :Ye_L1ye7:e5 @ @ @ @Õ©ÕÕiÕÕ ĕ)ĕIĕiĕRM&=Y&=QU>a)Dy~L}>I B4S%/5? B4H .? ?9,AV: :)B4UUU@\/c@U,{?zLLLLw?A-'B) B->A- *B)A1A1A5A1RC9C9Y5M:IIGuX>t&d8q,@hEAɫ髁) IY]p>yEI)i!)U=M]z=Y]QU]?aaae*Daaym}m?Iy B4}a#/5? B4} } ? ?9}.A}: }Y:)}qB4UUUUA?zLLLLAǃB B=>A*BAAAARCCq9qIuCiu3K=qqqu; u1EYυ8L:IG>Pj8q,WCEAY}2@}25@y}2ݙ;}2̿i}2H[ ??d hQn ;s 3?)~2@ ~2b;I~2Cɫyy)y }IyYS>y5EiAA)M= M=}M}H=YQU>a*Dyּ}>Iȹ B4Ž /5? B4Ž ƽ? ?9ƽU1Aǽ~: Ƚ+:)ȽB4UUUUD?zL)L)L)L-(?AM)sBI BM*>AU*BQAYAYA]1"AYRCaCiYmJ:IG> l> vBɫ) IY Q>y E 9Yy5iU~jtGz⿞K7ٿUļU Uɾ)UIQyU> ףp=ʿsh|?RQ?UQUU> UdA)UaAIUcAiU`AQUfbA    í`e<í>í5?ií.Cí ĭB)ĭCIĭ^Biĭ"CM7=YǃQU>a*Dy{V}>I B4$/5? B4? ,? ?93A: :)GB4UUUU@?zLӬ>LӬ>Lڮa@Lk&?A fB B4>A"*BAAA5ARC C Y I:I G%M>a e gAm s>9m ڔCIm HDim =m =i i m ; m $Ebw8q,EAY}FT@}Fܗ@y}FWUc}F@W}FH67?L?@9 3Cj oj?ˉ ?)~FT@ ~FKCd;I~Dɫii)i mIiY]p>yE=ii5=M=g=Y=q>QU=>AAaE*DAAyMw>}M>IQ ]B4U&/5? ]B4U UC? e?9UH4AUk: U:)UB4UUUU@?zLLLLɕ?AWUcB B >A*BAAA7ARCCYG:IG%>}8q,EAY}B@}B$@y}B=}B =}BH%=?R HD6Ox ٠N??)~B@ ~B; d;I~@ɫQQ)Q UIQYyEI5@)5@i99AEiAM8<MUH=YU=QUU>YYa]*DYayeR,=}e>Ii uB4mO(/5? uB4m) m^? }?9m5Am: m:)mB4~oo :YsJ1y:r5UUUUhB@zLLLL>?A<B B>A[*BAAAv6ARCCYF:IG>y8q,EAY}:l@}:Nz@y}:;}:s<}:H@N&?>I(`{?}Wc??)~:l@ ~:5d;I~:CɫQQ)Q UIQYOw>y"Ei U@ U@ U@ ]@U©UUiUU U)UIUiUm)MuH=YuPQU}>yya*DyuO}>Iȡ C4ťC*/5? C4ť, ƥ4y? ?9ƥ*7Aǥa; ȥ u;)ȥ>C4UUUU@RB*** querying acoustic contact ***PPzL9L9L9L=xI?A];BY B]>A]*BaAiAiAmJ5AiRCqCq r>9 ۔CI Di =>    ; .E)ݙIݙiݙݙݙݝc4YE:IG-->8q, ,EAY}2V@}2޾@y}2[Ӽ}2[]}2HWF??௰Yڰj?@ K?)~2V@ ~2qb;I~2CɫYY)Y ]IYY>y&EZ****** received transponder code query ******F****** received ping request ******a*Dy%Yq}%>I) =C4-,/5? =C4-졾 -3? =?9-8A-m ; -6;)-C4UaUaUaUmJ @qq  d9YK1y̅:5)L9;9zL!L!L!L%@?AEBA BE>AEٽ*BAAIAIAMv5AIRCICQY C:IGe>8q,AfFEAY}:@}: @y}:d}: o}:H%`?`վ?@$u@?C?)~:@ ~:c;I~:Cɫ99)9 =I9Y}O>y}(ExDUSBL response received:!U1,P DB9,000,00C6F,188,80,80,9E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 鼱i rhͿFxѿS㥫lƋ /])Iyy&1|??I +?`;<94> cA)_AIVfAi^\AGaA)%= %=59;M5!=Y5bQU5>99a=*D9ym<}>Iȉ C4ōz./5? C4ō ƍ? ?9ƍ8AǍF; ȍ;)ȍ$C4UUUAUE` @zL],6>L],6>L]?L]ֲ@AřB BZ>A+ؽ*BAAA>7ARCCYϕB:IG> s>9 I aDi = ; )E8q,hA`EAY}2ˆ@}2&Ѐ@y}2̡}2}2H?bn? ?wJZ@$/0? e ?)~2ˆ@ ~2Zd;I~2Cɫ99)9 =I9YM>y;%ENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iYYoo .9YsJ1y:)5)&;    /]C?iB C)4CICiB<Mz=Y_QU?a*Dy} ?I C4{//5? C4 ? ?9)9Ap: 9:)/C4UUUU`9@zLLLL>X@A-䀹B) B->A56*B1A1A1A5Q9A1RC9C9Y%!A:I9GU2>ɾ?AN۝8q,yzEAY}B@}B;@y}B(}B4E}BH^.??'8f!"?%?@,?)~B@ ~BVd;I~BCɫYY)Y ]IYY@~>ygExDUSBL response received:!U1,R,DA4,000,00C75,189,80,80,9E,FF Fpublishing direction and range infoU?ɰ>鰥7> )IyC^mĥ#?%A?ٱ=i=i}=M}P=Y̸;QU>a*Dy=}>Iȹ C4Žt0/5? C4ŽW ƽf? ?9ƽ_9Aǽ: Ƚ:)Ƚ=C4UaUaUaUeb@P*QCZQt%<`@8`(XS@JQ^mĥ#?%A?2QU?:QbQN}4l~ c\B@RQ·D t3ϲ?xYT?BQ@ QcQPD9?P79?PQQ@"Q$@zLLLL@A].}˼BY B]2>Ae#*BaAaAAZ=ARCCYυz?:IG>>}Ĥ8q,EAY}vg@}v@y}v `}v @8=}vH ?ށ@ ?`?3?`y?)~vg@ ~vDc;I~tɫ) IYJq>ynE =9Yy59@DNmea in: $SNTTA,,,,,005122.19*52 I@)i  =ME?=Ym9ڔCIDif>; 'E a+D!yMLS>}M>IQ ]C4U1/5? ]C4U U®? ?9U9AU%< U&<)UMC4UUU`:c@U@?zL!L!L!L%A@A= B9 B=]>A=p*BYAaAaAe9BAaRCiCiY]=:IiGZ>8q,ҭEAY}:@}:{@y}:@}:h]=}:H U?m ^׹? U?4? ?)~:@ ~:f;I~8ɫ99)9 =I9Y}li>y}Ei))}}=}?i} Cy }C)}CI}kBi} /CMV=YMa+DyϽ}>Iȩ C4ŭ81/5? C4ŭ ƭ? ?9ƭ9AǭH: ȭj:)ȭYC4UUUU@J?zLLLLý@AB BG>A%"*B!A!A)A-=FA1RCACQYM<:IGm4>Ա8q,yEAY}2@}2.&@y}2Ѽ}2;$=}2H?9@,?@w5?X??)~2@ ~2Be;I~2CɫYY)Y ]IaY>y&EI)i3kk K9YG1yH:5Mb@Mb@Mb@ )Iyp= ףL7A`尿+  YA)iAIWAijA=MD=YFS=QU>a+D y R:} >I C4y//5? C4 ? %?99A: :)hC4UAUAUAUM 7?zLe=Le=Le˖@Le@A}By B}q>A}*ByAAA.KARCCYm;:IyG>ܱ 9ܵ ۔CIܵ Diܵ =ܱ ܱ ܱ ܵ ; ݵ &E8q,ʈEAY}2aW@}2d@y}2 <}2*׽}2HO@?Ԏ?ఌ Jغv?)~2aW@ ~2d;I~2CɫAI)I MIQY}g>y*E iAi!))E= E=%>\=?iC AC) CI&Ci!CMI=Y T=QU >a+Dy<}>I! -C4%-/5? -C4%졾 %? 5?9%i:A%; %);)%vC4UqUqUyU}?zLLLL@AcEټB B>A $*BAAA|OARCCY9:IG (>(8q,AdEAY}2@}2ˁ@y}2M;}2 }2H ??@'Z`E8|p@Ŀ ??)~2@ ~2gg;I~2Cɫ99)9 =I9YqV>yEi!U.M]V=Y]FlQU]>aaae+Daaym=}m>Iq }C4u+/5? }C4u롾 uP? ?9u:Au: u:)uC4qq 0 :YK1y̅:5UUUU?zLLLL@AjļB B>A6*BAAA SARCCY]8:iyIiIOٺ?BG%>8q,)?EA|i|Y}65l@}6y@y}6=؎}6o}6H`*l?|?`! Sױ?>Q`J?)~65l@ ~6Zh;I~6Cɫ99)A EIAY}V>y}3E=iim:MmI=Ym9QUu>qqa}+DyyyV=}>Iȁ C4Ņ)/5? C4Ņ꡾ ƅP? ?9ƅV;ADž"; ȅ#;)ȅFC4UUUU`<*@zLLLL#@ABB B>A8*BAAAjWARCC > ?a9eڔCIeDie=aaae; eEY-7:IIGu>:8q,/EAY}2<@}24J@y}2l}2$}2H` ??@,"Ö?? /?)~2<@ ~2בe;I~2Cɫ99)9 =IAY}>yBE鮉ɮa=i©©)=MW=Y=QU>a+Dyy}>I C4'/5? C4顾 ;? ?9;A: #:)C4U1U9UAUM`E@RmB*** querying acoustic contact ***PiPimm _9Y+I1y:)5)<3;9EzLLLL#@AB B0>A*BAAAAm\ARCCY5:IGG>E$8q,HEAY}2:@}2ZH@y}2S}2=}2H#9?`7Q }`?@"@w??`?)~2:@ ~2fc;I~0ɫ99)9 =I9Yu">y} E}Z****** received transponder code query ******F****** received ping request ******]t ];)]IYy]{GzԿQ롿~jt]ף]\]ļ ]fRA)]}AI]7eAi]VfAY]fA#<=+?izC B)BI6CiCP<M*=Y  =QU >a+Dy%)}%>I1 =C45r./5? =C45p⡾ 5? E?95;>A555; 5x5;)5mC4\}tDetached at range: 153.84 m. Transitioning DDM to standby.UyUyUyU`r @zLF>LF>LP@L?AEBA BM>AM*BIAQAQAUDaAQRCyCY]?4:IiG]>I I Q 9U ۔CIU DiU s=Q Q Q U ; U E)Iiሉ刽=刽=利T48M8q,bEAY}2@}2@y}2A5;}2Y=}2H`cm?1 SwzZ`?@&f ;?@_?)~2@ ~2D8d;I~2Cɫ99)9 9IAY}5>y}ExDUSBL response received:!U1,P DA4,000,00C75,189,80,80,9E,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i#Ms=Y II C4M3/5? C4Mܡ Ma? ?9M(@AM< M݄<)MC4UUUUU!_ @zLLLL#9?AE ּBA BE>AM3*BIAIAIAMeAIRCQCQYE 3:IqGb>w8q,|EAY}2)/@}2<@y}2s}2(<}2H , ?`'Ċ+K?r.???)~2)/@ ~2]c;I~0ɫYY)Y YIaYt>y#ENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iAi)%= %=í`eíDí1?iíCé ĭC)ĭ0CIĭBiĭCM0=YԻQU>a+DyB<}>I C49/5? C4ա ? ?9[BAՠ< <)kC4UUUUU@T@zL9L9L9L=e?AuӚɼBy B}!>A}1&*BAAAiARCCY]e1:IG^>`8q,&EAY}6Z@}6$@y}6xF<}6}6H/?਎??׏#:Έ/?)~6Z@ ~6~f;I~6Cɫyy)y yIyY>yBExDUSBL response received:!U1,R,DDD,000,0092F,188,80,80,8C,FF Fpublishing direction and range infof>ɰ@>鰵> ) CIyB̍PEl?x7g?ٱi=Mp=YJ=QU?a,Dy }?I  C4N>/5?  C4С 5?  ?9DA: :)IC4U)U1U1U1U5@PA*QEBZQEG*V@#?gG@JQE̍PEl?x7g?2QEf>:QAbQE(zmS1R :p!Y6ⳣRQE~)M-/jſcDiBQEej@ QE!QEPEL9?PED9?PEQEQE#"QE@zLiLiLiLm?A5丼B B>A*BAAAGlARCC9ڔCIHDi=; *EYm;0:ll 9YH1y:ߝ5);7;IG=38q,{EAY}f@}fz@y}f;?}fV}fHY"?]?@TO#L '?`Ϫf?)~f@ ~f*i;I~fCɫ) IY m>y'EDNmea in: $SNTTA,,,,,005126.63*5B =ii"M8=Ya ,D y*`=}>Iȩ C4ŭD/5? C4ŭȡ ƭ? ?9ƭFAǭ; ȭ;)ȭ~C4UIUQUqUuY@U}`"P?zLLLLT?Aq1B B>A2*BAAApARC)C1Y.:IYG~>p8q,y}Ei!rhI +y&1?l94 `e<)Iysh|??LL= ¥aA)¥_AI¥_Ai¥aA`A±µhAȽ`e<3?iB B)BI,)CiBk;MK=Y=QU>a,D!y%<}%>I) 5C4-D/5? 5C4-{ǡ -a? =?9- GA-: -s:)-C4UYUYUYUaUe ?}}o}oy }y9Y}sJ1y}:y9@zLN=LN=LS{@L?A߸B B>AG3*BAAAsARCCYj-:IG5.>9IaDi=; E8q,vEAY}2@}2@y}2'}2۱}2Hjg??mlj}@_? @?)~2@ ~215e;I~2Cɫ) IY5o>y5Ei[;MJ=Yb4=QU>a,D!y%}%>I) 5D4-RD/5? =D4-š -? =?9-~GA-: -0:)-D4\]DDM at standby.UYUYUaUe?zLLLLO?A&B B?>A4*BAAA+wARCCYυS,:IG&> >>8q,EAY}6u@}6@y}6OE}62}6H0pp?@8?e`M6H?@?)~6u@ ~6p>e;I~6Cɫ99)9 =I9Yx>yEI)i!!U#<M]W=Y]$QU]>aaae,Daaym,}m>Iq }D4uSD/5? D4utġ u? ?9uGAu; u;)uAD4Kll 9YH1y:o5\8Undocking sequence complete.q.1/UU`?zLLLLA?"B%6A;*B% y:AMAMAMAIRCQCQY]*:IqG]>9q,EAY}J~Q@}J_@y}JiR}JЍ}JH ? ?r@:J?v@?)~J~Q@ ~Jc;I~JCYba>yf E EhAEhAiAA)M= IÕÕ>Õ7?iÕhCÑ ĕ*C)ĕCIĕP'Ciĕ$BxrMV=YҞQU>a,Dy>}>I D4:D/5? D4¡ ? ?9UHA: <)D4^mHTransitioning to midcourse guidance.ܙ9ܙIܝ/Diܝ==ܙܙܙܝ; ݝE1/q/UU M@zLLLL?*BAA!A!A!RC!C)Y%):IIGm5>" 9q,~1EAY}6%]@}6j@y}6L}6O}6H,`hN?c?`?`^8J?@P&?`?)~6%]@ ~6-b;I~6CY}c]>y/EiM9=Y{QU>a,Dy%=}%>IA ]D4EC/5? eD4Ekkt 9YG1yH:5 E? ?9EHAE= Ek=)Ek.D4 Ve@q/m\mCompleted lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide1.m \mAggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide[mCompleted lineCaptureDepth:LineCapture:HomingSequence:DetachFromDockUiUu@zLLLL=?*BAAAARC C Y(:IGK>>iE lGI] lAiy Oٺ lA ^?B9q,KEAYE$s>yMEaɮep=}=i}=i}x&?x?S?}7>}K> }>)yIyy}HzG/$ӿy&1|}= }}` }WA)}nAI}^Ai}pgAy} cAM 0M\=M?iMBI MC)MBIM8BiM:B]N=M]B=Y]QUe>aaae,Daqyu}u>Iy D4}=/5? D4}x }ô? ?9}KA}: }:)}LG>L.@L@B%ԾA-b>A-6>B5^= B5Js>A5*B5 9A=A=A=N9AEډ:RCCSAY(:Iqܑ9ܑIܑiܑܑܑܑܕ; ݑG>E9q,W`eEAY}2(@}2@y}27]=}2<}2H,/? +R+` 2 @?@)?)~2(@ ~2v'e;I~2CYN>yRBERZ****** received transponder code query ******VF****** received ping request ******VQU-?11a5,D19yE.}E?II UD4Ma9/5? ]D4M󴡾 M? ]?9MLAMt.; M/;)MiHD4VeVeVep 5?VekݾjVa:Va"ViVm@0m`mCompleted lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeq0m`mAggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange,u YAggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy,1- ZInitialize.q-ZA&A<*B9AB7AAAj:2C-y-t7:C-{=BC-;"C= RC=@TC=wJC=wCQL }9Yy5)34;9YA9u:IG>W9q,?;EAY}:ss@}:@y}:ޞ=}:7}:HG`7?ȥ fֳ1㦿&?)~:ss@ ~:md;I~:CYFy>yFEJxDUSBL response received:!U1,P DDD,000,0092F,188,80,80,8C,FF JCommand AckJBRequesting micromodem ping code 2iHHRNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i``pML=Y-WP9AaM,DIYym)}u>Iȑ D4ŕ3/5? D4ŕ ƕj? ?9ƕOAǕ; ȕu;)ȕVD4:E uE|Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:EIy)}AA4 iAggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance4iAggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide16 lInitialize.q661546:Wh7q62Wh716*WVj$Terminal guidance.156 m Initialize.m dInitializing internal variables to default values.m ZTransitioning guidance mode to: UNINITIALIZED"X mDRollout timeout set to 900.00 sec.mbTransitioning guidance mode to: TERMINAL_GUIDANCE"X/ _Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance/_Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide11 bUninitialize.q11 c>Uninitialize WaypointComponent.bU!BU!*UUU @zL)L)L)L-W @Bu9B}< Bs>A(;*BAfi7AAA6:RCCY(:9:IYG>O%9q,*EA|(|(Y}F@}F}@y}F*}F?ͽ}FH@'@z?`?o`C)X^/?@?)~F@ ~F39d;I~FCYRli>yRETVAAfNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I1)1i9AÍ,Í<Í?iÍBÉ čB)čCIč4Bič*C.MA=YQU>a-Dy#}>Iȹ D4Ž./5? D4Ž< ƽd? ?9ƽ@QAǽw: Ƚ:)Ƚ+eD4999I=zDi=3=9999 =E)ՁڔCIՁڔCiсссՁ3mQAdded new target pos. range: 103.559998 m, bearing: 260.365636 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1mProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 260.365636deg and heading rate command to 0 deg/s.WWX; XL?W:W2W*W V bUBU*UUU@mD@zLQLQLQLUe@}}l}l} } 9Y}H1y}:}5)}t);BRB2 Bkt>A/*BARR6AAA:CSAYρu] ;9U ;IG >}%,9q,$EAY}FUL@}FY@y}F%,}F6}FH?v?`?@ Z? ?)~FUL@ ~F':e;I~FCYVpo>yVJEZxDUSBL response received:!U1,R,DED,000,00CB7,188,80,80,8C,FF ^Fpublishing direction and range infoZ@>XɰZS>X X)XIXyZCZH?<?@L?ٱXi]<M<=Y|TQU>a-Dy<} >IA uD4E(/5? }D4E Et? }?9ESAE; Eo:)EuD4WWX XW:W2W*WVbUBU*UUU@P*QCZQlùa@B]l Q@JQH?<?@L?2Q@>:QbQHC<&+@T>cd n(@RQDj :ʿ^e|96 г?BQ,@ QQYP$9?PL9?PQQ.GA"Q#zLyLyLyL}R@BB0) B-u>A*BAX5AAA9?:CYY(:mR==9Ե\';֥ "ׅ IAI G >!39q,EAY}FY@}F@y}F#l}Fv}FH:?y?P`u ?I?Oώ^?)~FY@ ~Fc;I~FC}}p}p} }9Y}K1y}`:}59@Yt>ylEMDNmea in: $SNTTA,,,,,005131.04*5C iQY~jth?K@5^I ҿD;^ b)IyX9v޿KK7?^I> _A)/oAIhqAiC[AfA]C<]h]?i]zCY ]FC)] CI]Ci]Cm<Mm=Yu >QUu>u?u?a}-D}J?yy =}>Iȁ D4Ņl2/5? D4Ņ򑡾 ƅW? ?9ƅWADž; ȁ)ȅD4-gA)5t>91I5Di5s=5=115; 5 Emm}Added new target pos. range: 157.800003 m, bearing: 258.138803 deg, deltaT: 4.500943 s, approachRate: 12.050809 m/s, LOS rate: -0.494748 deg/s, posRepo size: 2mProNav REINIT: LOS rate is -0.494748 deg/s. Setting heading cmd to target bearing of 258.138803deg and heading rate command to 0 deg/s.W,@WX XW:W2W*WVbUBU*UUc@U+?B- <B-  B- hv>A- &*B) A5 A1 A1 A5 JD:"C= ^ RC= = C= ,@CA Y 8': 9 @A;ֽ8יIG?:9q,EAY}2W@}2%@y}2;}2<}2Ho%'?@ʅ'`p@$?x Z?@?)~2W@ ~2b;I~2Cɫ99)9 =IAYm>y'Eea=ie=iqyM`=Y2>QU>a-Dl?y(<}>I D48/5? D4Ԉ ? ?9ZA:f; g;)ߔD4WWX XW:W2W*WVbUBU*UUU`A?B0<B`07< BSw>A*BA2YAAA;I:"CRC)CCY!&:ѥ0:DiҡIҡҭҭ% lX I G- >E E lE lE  E 9YE H1yE :E r5A9q,_EAY}N3@}N@@y}Nc<}Nn׼}NH h'W?p?M"Ul@7?)~N3@ ~NMb;I~NCɫyy)y }IyY>y"EI!)!i!)==M=S=Y= m=QU=>AAaE-DEy?IyM}}M>IY ]D4]v?/5? eD4] ]5? e?9]]A]: ]:)]`D4WWX XW:W2W*WVbUBU*UUUҁ?B:B Blx>Aeq<*BAw6AAAI^:"CzRC/CCYϭ%:ѝԭhAԭgA}WgQIiG|>ܭ s>9ܭ ۔CIܭ zDiܭ 3=ܭ =ܩ ܩ ܭ ; ݭ 1EH9q,C!EAɫ) IY S}>yEi=T<?iC B)y1CI-Biy1CFM%<=Y%QU->))a--D-.?1y5}5>I9 ED4=CG/5? MD4= u = ? M?9=aA=: =w:)=D4WiWiXi XqWq:Wq2Wq*WqVybUyBUy*UyUU`mw?BYp9B By>AZ;*BA'6AAAx:"CEKRCEWyCACAY5G#:=hA=gAe<I G% >= = n= n=  = 9Y= I1y= := 58N9q,;;EAY}6'@}6&@y}6AӼ}6}6Hx<]@? i*?@:%&rg?<?)~6'@ ~6:c;I~6CɫII)I MIQY}>yEI)AI)Ai/$ӿ> ףp=ʿq= ףpͿQ k)IyQMbףp= ?u> µ^\A)µpgAIµpgAiµx]A=bA/:MQ=Y QU>a-D@y}>I  D4eF/5?  D4s /?  ?9taA; !;)\D4W1W1X1 X1W1:W92W9*W9V9bU9BUA*UAUAUE@Bu329Bu:oM Buo{>Au;*BqA}1 7AyAyA}ib:"C,6RC CCYύ&":}*:<]0:D)I9GU> U9q,bUEAY}2 @}2[.@y}2e}2)̽}2HW7?l?``y7? ܵ?}b@?)~2 @ ~2zc;I~2CɫAA)I MIIY7>y"Ep=ɮa= i=<MET=YEQUE>IQaU-DUZ!@Yyet=}e>Ii }D4mE/5? }D4mor m@ ?9maAmA; mB;)mD4WWX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBL:Bd B*}>AO4<*BAx7AAA:"CQRCCCY]4=et>9aIeDie>e=aae; e"EY :ѥoM}+QIaG|>9 i= a=E E lE lE $ E C9YE H1yE :E 5)E ;;9M J[9q,]oEAY}R'݋@}R@y}R_r}R-oѼ}RH@$ ?ɰ?p @?h?`A?)~R'݋@ ~Rb;I~RCɫyy)y }IyY>y+EZ****** received transponder code query ******F****** received ping request ******a-D0>@yQ=}>I D4C/5? D4cp  @ ?9bAk: :)D4WWX XW:W2W*WVbU)BU1*U1U9U=@BD6:B B7>A@<*BA8AAA֜9"CRCCC>?YϽU:)= =ѕNJN]gEe>ie>) I1 GU >im kGI SkAi Qٺ SkA /@B2b9q,7EAY}2@}2@y}2V }2[]<}2H`*?@5{?@5%@? ??r?)~2@ ~2Pb;I~2CɫYa)a eIiYt>ylExDUSBL response received:!U1,P DED,000,00CB7,188,80,80,8C,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i5M=c=YMI>QU>a-DEV@!y-=}U>Ia D4eZA/5? D4en e{@ ?9eAuN*BqA}(h7AyAyA}?9"CbRCCCYϝ:}U֣U5E) I1 GQ M s>9M ڔCIM DiM =I I I M ; M %EE RE oE oE  E <9YE sJ1yE :E ;5)E B;\h9q,EAY}BB@}BO@y}B=}B(}BH@ v ?蓿@x 4@t٣``?)~BB@ ~Bcb;I~@ɫYY)Y ]IYYy{>yENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i99 AAAEfAU<M]H=Y]8>QU]>aaae.Deo@aym^}m>Iq }D4u>/5? }D4um u@ }?9ucAu: uA:)u6D4WWX XW:W2W*WVbUBU*UUU g @BBU< B>A`*BAݸ7AAA9"Cb*CrRCCCY:bި1kIG>I= AA)9 n9q,_EAY}6%H@}6U@y}6'YF=}6O}6Ho@? Ԑ?``PIvȨ`,?)~6%H@ ~6b;I~6Cɫ99)A EIAY}G>yDxDUSBL response received:!U1,R,E58,000,00C8A,186,80,80,8C,FF Fpublishing direction and range infoq>ɰ{>鰍> )IyCӷ?t>i$?ٱi 龵> rhݿL7A`(\µ?+ =)IyZd;O? rh?~jt?j>C<> _A)^AI YAicA^A=u<=Ƚ=3?i=3B9 =B)=(CI=Bi=BMݽMM/=YMۨQQaU.DU@Yy]4:}]>Ia mE4e7/5? uE4eSv e@ u?9efAe{: a)eE4WWX XW:W2W*WVbUBU*UUU}@P*QCZQ>EOb@/QB L@JQӷ?t>i$?2Qq>:QbQR?8 b3(&RQuE;ʿJBQ,@ QgQNP&9?P$9?PQQ-"Q.GAB ݁B B>Ay*BAAAAZ9"Ce*C5RCCC Y:ѝ9֕WxIםfA)םfAi Iq G >pu9q,EA""l"l" "*9Y"H1y":"͙59.@|F4<|F4c;I~ɫiq)q qIqYK>yDTNmea in: $SNTTA,0.103152,,,,005135.24*40 i!!mM1<MmY=YmQUu>qya}.D@y<}>Iȱ E4ŵ2/5? E4ŵL} Ƶ @ ?9ƵhAǵ: ȵ:)ȵE4t>9۔CIDi>; 4E)݅۔CI݁i݁݁݁݅5myAdded new target pos. range: 155.100006 m, bearing: 258.142574 deg, deltaT: 4.179268 s, approachRate: -0.646045 m/s, LOS rate: 0.000902 deg/s, posRepo size: 3m ProNav: pos range: 155.100006 m, bearing: 258.142574 deg, approachRate: -0.646045 m/s, LOS rate: 0.000902 deg/s, cmd update: 0.002706 deg/s, cmd heading: 258.138803 deg, new cmd heading: 258.138803 deg. W(,@WX XW:W2W*WVbUBU*UU@3cc@U@?BEBB]亼 BeQ>AeZs*BaAeJAaAaAe19"Cm̎*CmgRCqCu(,@CqY=: D-<@ I G >Ҙ{9q,#EAY}2@}2x@y}2߽}2}2Ht?? IY>V+?Z?@_?)~2@ ~2]%e;I~2Cɫ99)9 =I9Yh>yEiaa)q q=MW=YT(QU>a.D۞@yힽ}>I E4,/5? E4v %@ ?9"kAJ4; ;)B#E4WEQ,@WaXi XiWi:Wi2Wi*WqVqbUqBUq*UqUyU} ?B6%B  B>A *BAEAAA@K07"C'*CȟRCCQ,@CYϥ:}; Յ>ԅ>mFӅI IQ G >E E nE nE . E :YE I1yE :E 5ր9q, EAɫ髹) IYa>y EiYYí<íDí?iíCé ĭ5B)ĭ CIĭ&CiĭCJMJ=YQU>a.D@y}>I E4'/5? E4抡 B*@ ?95mA=: :)'0E4W u,@W X  X W:W2W*WVbUBU*UUU%/?ɾ@A@AB?}UB B>A1*BA¯AAAͣ"C-*C-ºRC1C5u,@C1Y%:IG> 9 I HDi = ; Eڪ9q,Z$EAY}22N@}2[@y}2e|}2?J<}2H ]?Ke\`ϔB?ړ?\?e?)~22N@ ~2c;I~2Cɫ99)9 =I9Y}Ae>y} E=i=i <MN=YJq>QU>a.Di@yO>}>Iȹ E4Ž!/5? E4Ž ƽM.@ ?9ƽoAǽQt; Ƚc;)Ƚ#>E4W ,@W X XW:W!2WQ*WQVQbUQBUY*UYUYUe` %?BQB/: < B{>A.*BA9AAAqݷ"C*CjRCC,@CYϥ:ѝ¼֙׉ I G >E E kE kE  E 9YE G1yE H:E 5֎9q,<>EAY}20̌@}2ل@y}2<}2<}2H`W?A zG)@? ?)~20̌@ ~2c;I~2CɫII)I MIIY}>y}*EimMb@Mb@Mb@mm m)mIiym?~jtEȿm>mmF m$ZA)miAImSAim/oAimaA m@ m@ m@ m@m©mmimm m)mImim}h=M}<=YM=QU>a.DP@y>}>Iș E4ŝ/5? E4ŝ@ Ɲ(@ ?9ƝTqAǝ] ; ȝr;)ȝAME4W,@WX XW:W2W*WVbUBU*UUU`?B ܐB B(>A:*BAXd8AAA~"CL*C%RC!C%,@CY]:%gA!) I G- >9q,XEAY}J"@}Jg0@y}J)=}J}JHǷH?c+z?@媿o:֠@?)~J"@ ~J_6c;I~JCɫ髁) IY>y6EiAA@=MZ=Yw=QU>a.DS@y<}>I mE4j/5? uE4 #@ u?9rA< <)~ZE4ىٍ<ܙ9ܙIܝaDiܝ=ܙܙܙܝ; ݝ?EW,@WX X W :W 2W *W VbUBU*UUU{:@BeEr:B B>A<*BA*AAAC!"C*CRCC,@CYϝj:ϥfAϥfAѵ<֥ ?΅y I G >E .A A E  E ~9YA yA E M5)E =;9M 9q,qEAY}>}3@}>A@y}><}>Z}>H*?@x? N@(@ڲǢ ?)~>}3@ ~>&c;I~>Cɫyy)y }IyYw>y[*EɮI)i CMS=YYQU>!!a%.D%@)y-M;}->I1 =E45 /5? =E45. 5C@ E?95tA5{: 5:)5gE4We-@WaXa XiWi:Wi2Wi*WiVibUqBUq*UqUyU}@_@RB*** querying acoustic contact ***PPBB Bm>A*BA/AAA ,ڸ"C*C{(RCC-@CYI:) ց a Iq G >6΢9q,eċEAY}6w@}6)@y}6<;}6 ;}6H`NX?.? O5`s?¿͡?)~6w@ ~6d;I~6Cɫ99)9 =IAY})>y}6+EZ****** received transponder code query ******F****** received ping request ******a/DU@yc}>I E4/5? E49 ;@ ?9vAV: :)wE4WB-@WX XW:W2W*WVbUBU*UUU`t @Bg@B n B >A L*B A 7A AA w"Ca*C'?RCCB-@CY=: U>U=UFӅ) I1 GU >ܕ u>9ܑ Iܕ Diܕ =ܕ =ܑ ܑ ܕ ; ݕ EE E lE lE  E I9YE H1yE :E 5)E 4;/9q,EAY}6/@}6@y}6#m}6T`}6Hy}IExDUSBL response received:!U1,P E58,000,00C8A,186,80,80,8C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i=ȽMEf=YM=QUe>a/D@y>}>I E4.5?  E4 @  ?9&xA< <)E4W}j-@WyXy XW:W2W*WVbUBU*UUU @B%ieB%(; B%>A-1B*B)A-_`A)A)A-Pw"C5ĉ*C5QRC5*TC=j-@C9Y%x:Q1 IY G >)#9q,}EAY}6+}@}6@y}6Ʊ ;}6n}6H`!߿@?=?߿7a`ӭ@?)~6+}@ ~6c;I~6Cɫ99)9 =I9Y}y>y}E@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =iR=i>i kGI)iQٺsB-?7A`?Mb??5>> <)Iy^I +?T㥛 J +X9>H ­SA)­z|AI­cAi­kAgA  @  @  @  @ ©  i   ) I i ^<M$=Y+>!!a-/D-QA)y5&_=}5>I9 EE4=.5? EE4=J =@ E?9=yA=: =:)=E4Wm-@WiXi XiWi:Wi2Wq*WqVqbUqBUq*UyUyU}@,B@B%UB! B-ԓ>A-!8*B)A-ȄA)A)A-c"C5*C5mAbRC=owC]-@CYY= :- ; I G- >U U mU mU X 9q,9^EA }9Y}+I1y}:}59@Y}Jn@}J:|@y}JR<}JÍ}JHyn?k?lPw@ɠO@?)~Jn@ ~J b;I~JCɫ髹) IYyExDUSBL response received:!U1,R,E81,000,00C87,186,80,80,A2,FF Fpublishing direction and range infoD >ɰ[> )"CIyCۂ:?Wр?ٱi19MgAMhA]M]=Y]=QU]?aaae/DeU Aiym׽}m?Iq }E4u.5? }E4uݨ u@ ?9uzAu: u:)uE4W-@WX XW:WEt>9AIAiAAAAE; E$E2W*WVbUBU*UUU`H@P*QCZQ'/Kb@UnsiI@JQۂ:?Wр?2QD >:QbQ̙Dh?DZM7b+rRQ}AʿhPNMvPժNBQ.@ QQ;P$9?P&9?PQQx"Q-BO B B>AK*BAAAA{"C=*C=qRC= C=-@CaY% :z<hA..{IG>79q,->EAY}~@}ƅ@y}U<}c}H@:?`?[s5$롿H?)~~@ ~?a;I~Cɫ)! )I)YmL>yuDTNmea in: $SNTTA,0.103037,,,,005139.68*46 >龭>i%M-0=Y-11a5/D5A1y=1<}=>IA ME4E.5? ME4E; E$@ U?9E|AE: E:)E۰E4m}yAdded new target pos. range: 154.919998 m, bearing: 258.158529 deg, deltaT: 4.408430 s, approachRate: -0.040833 m/s, LOS rate: 0.003619 deg/s, posRepo size: 4m ProNav: pos range: 154.919998 m, bearing: 258.158529 deg, approachRate: -0.040833 m/s, LOS rate: 0.003619 deg/s, cmd update: 0.010858 deg/s, cmd heading: 258.150659 deg, new cmd heading: 258.151913 deg. Wl.@WX XW:W2W*WVbUBU!*U!U%p]c@U%@ ?BMCd߻BQ BU >AUƽ*BQAUùAQAYA]ܜ"C*CRCCl.@CYu~ :Mr;E Rv I! GE >E E jE jE 4 E 9YE ?G1yE ܂:E 5/9q, EAY}6rp@}6}@y}6zQB}6K}6Hlݿ@L?@J?`ݿ5K?@G?jJ ?)~6rp@ ~6ba;I~6CɫYY)Y ]IYYP^>yEI ) i    @ @ @ÙÙÙiÙÙ ę)ęIęięxF=Mg=Y.QU>a/DmAy>}>I E4.5? E4H l@ ?9}A: #:)@E4W.@WX XW:W2W*WVbUBU*U U U 8?BE߻BE2 BE>AM*BIAM AIAIAUk@"CU*C]ORC].[C].@CYYmT :ii)q q5 u>95 ڔCI5 aDi5 =1 1 1 5 ; 5 'E)Iň۔Ciň=ň=ň4 I G >G9q,&EAY}2@}2@y}2cS}2}}2H`{ ݿ@a??@4r Jݿ?`}i? ^b?)~2@ ~2 a;I~2Cɫ99)9 =IAY} O>y}Di))> >=MER=YM.QUM>YYa]/D]Aaym"T<}m>Iq E4uR.5? E4u u@ ?9uCAu3\; u N;)uE4W]/@WaXa XqWq:Wq2Wq*WqVybUyBUy*UyUUS?BB  B m>Aӽ*BAAAA,"C%*C%~RC%q:^C%/@CIY%: 5=5=ƂI9G}>E 3A A E ; E K9YA yA E q5/9q,@EAY}2{@}27@y}2k.}2}2HYݿS?@?`[g"yݿ{y?ݥ? ϰ?)~2{@ ~2(a;I~2Cɫ99)9 =I9Yo>yEi99L7A`?rh|Q롿+> \)IyʡE?Mb`NbX9ȿ-2>E $ZA)nAIC[AicA4=M@=YRaaam/Dm#Aiyu }u>Iy E4}.5? E4}i }q @ ?9}EA}: }:)}JE4WD0@WX XW:W2W*WVbUBU*UUU?B7B:  B>A*BAAAAc"CZ~*CRCbCD0@C Y:XיIGb>Y9q,,ZEAɫ髡) IYFk>yE9i==iAIv>9IHDi==; E         ʽ Sc> = @i C   C) BI k Ci B-3M-F=YMQUM>a/Du*Ay}>I E4N.5? E4 n@ M?9A; .;)E4W0@WX XW:W2W*WVbUBU*UUUQp@BbһB B>A*BA h+A A A V"C{*C*]RCЇbC0@CY:_ױIG>E E nE nE ) E (9YE I1yE :E 5)E ^7;9M j9q,|tEAY}6@}6 lj@y}6;}6>}6HQSٿT^?$?@Oc`Mٿ A7 a&`??)~6@ ~6D`;I~6Cɫ99)9 =I9YeS}>yeEI@)@igAU?=MUY=YUo=QU]>YYa]/D]0AayeK>}m>Ii uE4m.5? }E4m- m@ }?9m`Am1: m=:)mSE4Ww1@WX XW:W2W*WVbUBU*UUU@$@B̻B; BΣ>A*BAD8AAAq"Cy*CRC$Cw1@CY :;!%gA ]IG >k9q,mVEAY}2@}2@y}2]}2#xY<}2Hٿ S???Nuٿ@?+?W+?1?)~2@ ~2I`;I~2Cɫyy)y }IyY>y)E鮹ɮp=ih=MR=YQU>a/DR6AyuZ}>I F4.5? F4̽ ?  ?9A0: :)F4W-2@W)X) X)W1:W12W1*W1V9bU9BU9*U9UAUEB@RMB*** querying acoustic contact ***PIPIB1B? Bj>AIc*B A CAA!A%("C#w*CiRC>.C2@CYE:5Β;jM9۔CIDif>; ,EIG >E [A A E ; E 9YA yA E q5)E C;9q,rEAY}>c}@}>늉@y}>K`}>4;}>H )ٿ`K?Fa?ITٿF?K?{? ?)~>c}@ ~> 4a;I~>CɫYY)Y ]IaYi>yEZ****** received transponder code query ******F****** received ping request ******a0D:=Ay.}>Iȱ F4ŵ .5? F4ŵ Ƶg? ?9ƵAǵ^: ȵ:)ȵF4W2@WX XW:W2W*WVbUBU*UUU @BB`4 B>Aҽ*B)A-[W\A)A)A-g4"C5vt*C5{SRC=70C=2@C9Y%:4|ŻR(ױI GM>}9q, EAY}:0͑@}:ډ@y}:48˼}:r}:H`/-ٿU?Zѱ?h`9ٿ}g[f?@?)~:0͑@ ~:a;I~:Cɫ99)9 =I9Y}B>y}WDxDUSBL response received:!U1,P E81,000,00C87,186,80,80,A2,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 hA鼹i +?V-?K7A v>> m=  ) I y $C?)\(T㥛 ? > Ga = aA) cAI i VfA  aA%M%)=Y-QU->)1a50D5DA1y=<}=>Ia mF4eK.5? mF4eȡ e? m?9eAe: e{:)e#F4W53@W1X1 XAWA:WI2WQ*WQVbUBU*UUU @B$&B B>>A*BA AAAVD"CQq*CRC'C3@CYύt9ϕgAϕgAm & y } >M M jM jM + M 9YM ?G1yM ܂:M 59U @u Q IY Gu >89q,IEAY}^Ғ@}^@y}^R}^}^H G׿S?ظ?`I^׿Szl ~?sH?)~^Ғ@ ~^8zb;I~\]w>9YI]Di]=]=YY]; ]$Eɫ髑) IY5!T>y5}ENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B e=ie=iiqY=Ga=?iB B)BIIBiB|.=MK=YQU>  a 0D kKA y7=}>I %F4.5? %F4Ρ ? -?9A: :)1F4WM4@WIXI XIWI:WQ2WQ*WQVQbUQBUY*UYUYUeug@B=9B Bǯ>An *BAGuAAAS"Cn*CRC C4@CYϝ39uy-Z%IG->_9q,EAY}B@}B"@y}Bil<}BD}BHi׿ ?b;?@fv׿!`i )?)~B@ ~Bb;I~BCɫYY)Y ]IYYT>yExDUSBL response received:!U1,R,F2E,000,00C71,186,80,80,B1,FF Fpublishing direction and range infof;>ɰu>鰱 )1CIyCtv?m~S?ٱiد:Ms=Y >QU?  a 0D PAygb}%?I) =F4-.5? =F4-ӡ -? E?9-A-mG; -@;)-1b@u9;@JQtv?m~S?2Qf;>:QbQ2:7==#t!b RQʂȿǸ7c￵vRZBQ@ QQP(9?P$9?PQQs"QxB pV9B O< B >A *B ApAAA>"Cl*CRCDC4@C!Y%9idnGIiٺsB1% _' I G- >E A A E  E 39YA yA E q5F:q,EAY}N@}N@y}N=}NO-}NH@wտ@?*?@տa`` ?)~N@ ~N a;I~NCɫyy) IYpo>yJETNmea in: $SNTTA,0.104522,,,,005144.12*47 i))e=MeD=Ye?8=QUe>iiam0Dm{WAqyu6=}}>Iy F4};.5? F4}١ }? ?9}A}f: };)}aKF4myAdded new target pos. range: 153.599991 m, bearing: 258.871000 deg, deltaT: 4.478321 s, approachRate: -0.294755 m/s, LOS rate: 0.159093 deg/s, posRepo size: 4m ProNav: pos range: 153.599991 m, bearing: 258.871000 deg, approachRate: -0.294755 m/s, LOS rate: 0.159093 deg/s, cmd update: 0.477280 deg/s, cmd heading: 258.199261 deg, new cmd heading: 258.203732 deg. WP@WX XW:W2W*WVbUBU*UU 33c@Uf?BM?8BQ BU۵>AU*BQAUĩAYAYA] "Cej*CeqRCpCP@Ci̕gAI̕fAYe9=x/JI)Y9YI]zDi]3=YYY]; ](E I1GU>o :q,v+EAY}:B͓@}:ڋ@y}:"<}:}:H&tտ#?`q?`#`fտ #X?)~:B͓@ ~: Ha;I~8ɫ99)9 =I9Y}>y}b"EI)Ai'E=~?iB B)CIBiC-d=M5>=Y=hQU=>AAaM0DMa^AQy]ۀ<}]>Ii uF4m.5? uF4m_ࡾ m@ }?9mAm!; mp3;)mZF4W%\o@W!X! X!W):W)2W1*W9V9bUBU*UUU?B=~% BI BMB>AUս*BQA]jAaAaAm\"C}*Cu"ŻRCGC\o@CYυ09mTP<օ 2D5 5 l5 l5  5 59Y5 H1y5 :5 5Y Ii G >W:q,U}2Hx׿T?@&V? ׿O?~? ?)~2n@ ~2`;I~2CɫYY)Y ]IYY$s>yEiEԸ?~jtӿbX9ȶ= E)Iy?Zd;Q??u= WA)kAIdAi`A=bARMO=Y*QU>a0DdAy@}>I  F4 .5?  F4顾 @ ?98AX: :)2hF4W=∐@W9X9 X9W9:W92WA*WAVAbUABUA*UIUIUMA}/*ByAAAAJ"C*C .ɻRCC∐@CYm9mm)q qQ I G >ʁ:q,|_EAY}2@}2@y}2ǽn}23p}2H@BӿAT?D?`]@RԿX?eӭ??)~2@ ~2`;I~2C 9 I Di =    ; -E)ݩIݩiݩݩݩݭE4ɫYa)a eIaYTd>yu E AAiIIaMJ=Y$QU>a0D*kA y >}>I -F4.5? =F4 @ M?9Ay; ;)jvF4Wۥ@WX XW:W2W*WVbU BU*UU!U-` %?Bن>B  B >A *B A ڊӺA AA}j@"C*C̻RCAɽCۥ@CY9IG% >% =i% R=M I I M 2 M (9YI yI M 5)M ^7;9] :q,WyEAY}B@}B@y}BJ }B}BH`ѿ`?-?@sѿ?@? :ؠ[?)~B@ ~B-`;I~BCɫYY)Y ]IYYa>y Ei!}~j>}}?i}GCy }h$C)}BI}}Bi}CMP=Y@l=QU>a0DmqAyY=}>Iȩ F4ŭ.5? F4ŭR ƭ@ ?9ƭyAǭH!; ȭ";)ȭ F4WD@WX XW:W2W*WVbUBU*UUU@?BT]B_b B>A$*BAAAA;rQ"CZB*CλRC5CD@CY>9ֽཹ׹IGf>̓$:q,2EA|@i|@Y}>@}> @y}>O}>}>HKѿ`d?~?$PZѿp"? ? -[@?)~>@ ~>e`;I~>CɫYY)Y ]IYYj>yqEiF<MF=Y@a1D xA1y=W;}E>Iq }F4u.5? }F4u u @ ?9u;Au6; u7;)u F4WDݐ@WX XW:W2W*WVbUBU*U)U)U-@@Bu OBy B}>A}"*ByA}AyAyAa"C]*CdѻRCzCDݐ@CYυ99I/Di==; 'EuaɽYIiG>U Q Q U 6 U 9YQ yQ U _5)U :;*:q,NEAɫ髙) IYz>y Ea=ɮa=I@)@i%+%%?i%B! %}B)%BI%Bi%\BA=MO=YQU>a1D[~Ay}>Iȩ F4ŭ.5? F4ŭ ƭ @ ?9ƭȏAǭ; ȭ:)ȭLF4W@WX! X!W!:W!2W!*W!V)bU)BU)*U9U9U=+@REB*** querying acoustic contact ***PAPABkPB BH>A*BAJAAA0Op"C c*C ]ӻRCC@CiUfAIQYe9uu1:q,EAY}2x@}2@y}2`<}29}2H@/̿@ ?B?`%, ̿`Yҷ eݷ@?)~2x@ ~2a;I~2Cɫ99)9 =IAY}f|>y}CEZ****** received transponder code query ******F****** received ping request ******QYa]1D]܂AYye=}e>Ii uF4m.5? uF4m! m @ u?9mAm: mI:)mgF4W@WX XW:W2W*WVbUBU*UUU /$ @BNBB< BL>A2 *BAm AAAT"C/߿*CvջRCA'C@CY\9rg:lŠש I G >- _- n- n-  - O9Y- I1y- :- M595 @7:q,EAY}6@}6ˏ@y}6B}6$}6Hݿ˿`s ?)?3@%%̿|?@Z?@.@5?)~6@ ~6ba;I~6CPRfAT9VڔCIVDiV>V=TTV; V4Eɫ99)9 =I9Ybv>yExDUSBL response received:!U1,P F2E,000,00C71,186,80,80,B1,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i+Mk=Y=QU>a1DAIy]<}]>Iȑ F4ŕz.5? F4ŕ- ƕ @ ?9ƕAǕ}< ȕ<)ȕF4W2@WX! XAWA:WA2WA*WIVIbUIBUI*UQUQUU @BwaB BW>AL.*BA?AAA_s"CBu߿*CYֻRCO'C2@CY9ϩ mש I G > =:q,^EAY}2V@}2ߝ@y}21}2f}2HLȿ;Q?P?'UL ɿ ?b?``?)~2V@ ~2 ta;I~2Cɫ99)9 =I9Y]>y]BEaeAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B gAgAi/?iC  C)#CICiBY<MC=YGQU%>!!a%1D-AQy]=}]>Ii F4mu.5? F4mR; m @ ?9mAm; m:)m}F4WK@WX XW:W2W*W!V!bU!BU!*UIUIUMx@@BoB B>A',*BA AAANc"C-߿*C-ֻRCWCK@C>?Y9ѝmut(/}?i}?QIYG>- - l- l- - - y9Y- H1y- :- q5D:q,pzEAY}>L0@}>=@y}>KV}>mi}>H[ ʿA?HW?Tʿjpj??)~>L0@ ~>Wa;I~<ɫyy) IY|>yExDUSBL response received:!U1,R,010,000,00C4D,183,80,80,B9,FF Fpublishing direction and range infodɰ>$> )9CIypC3?4ٱ=i=iM\=Y%C2>QU%>))a51D5A9yE~}E>IQ F4Up.5? F4UG U @ ?9UAU.< U*<)UZF4W={e@W9XA XAWA:WA2WA*WIVIbUIBUi*UiUqUu@P*QpCZQ|zUb@I[JQ3?42Qd:QbQL2n@I zbHSz?RQ%˿GWݫ<ɈXOq?BQˏ@ QQwP9?P(9?PQQc?"QsB_'{B.< B>A^6*BAD%AAA"C޿*C-W׻RC-mC-{e@C)Yg9ܩ9ܭ۔CIܩiܩܭ=ܩܩܭ; ݭ&Ebި)ס I G >K:q,e.EAY}}@}})@y}};}}@}}H@OxĿ??nĿ`V`c@0?)~}@ ~}H4a;I~}Cɫqq)q uIqYKX>yE=DNmea in: $SNTTA,,,,,005148.61*51 iYYí#í\í?iíJCé ĭB)ĭ CIĭWCiĭCM=Y2a1D,Ay=}>I F4j.5? F4Y Y @ ?9VA: :)F4m}Added new target pos. range: 151.440018 m, bearing: 257.465347 deg, deltaT: 4.440946 s, approachRate: -0.486377 m/s, LOS rate: -0.316521 deg/s, posRepo size: 4m% ProNav: pos range: 151.440018 m, bearing: 257.465347 deg, approachRate: -0.486377 m/s, LOS rate: -0.316521 deg/s, cmd update: -0.949563 deg/s, cmd heading: 260.331278 deg, new cmd heading: 260.568307 deg. W-"@W)X) X)W):W)2W1*W1V1bU1BU9*U9U=b@U=@?BeSLBi Bm>Amd*BiAm3AqAqAuY"C}/߿*C}?׻RC}R><C}"@CYϵ9э"5;] ; 4> - - k- k- X - 9Y- G1y- H:- 5a i} mGI I i G > ٺ wBM 3@Q:q,0HEA9N%BY}fԙ@}f@y}f|4}f=^}fHÿ`:?`>?ŗÿ m֤?`?撿?)~fԙ@ ~f`;I~fCɫ髙) IY|>yEIq)u@iqqx&?{Gz?7A`¿7>#= )IyPn?S㥛ĿV-?$ WA)nAIUAi/oAbA%l=M%=Y%QU% ?))a-1D5A1y=<}= ?IA MF4Ed.5? F4ETb E@ ?9EAED< E1<)EF4W@WX XW:W2W*WVbUBU!*U!U!U%`ۆ?BfΐBA"G*BAw<AAA "Co*C#ֻRCx<C@CiIYϥ9ѕ 7X:q, bEA$9$I$i$&=$$&; &0Eɫ) IY-d>y- EI)Ai^uMP=YQU>a1DݕAy}>I  G4\.5? G47m ;@ ?9sA\; ];){G4WU@WYXY XYWY:WY2Wa*WaVabUiBUq*UqUyU} d`?B56ĝB9 B=>A= g*BAAE!GAiAiAm뒺"CuU=*Cu4ջRCu<Cu@CyYE9_r;ױIG>- - l- l- 3 - 9Y- H1y- :- 5)- 5;95 (H^:q,{EAɫyy)y yIyYhJ>yDi!!í@í#í?iífCé ĭ% C)ĭBIĭ%Ciĭ!BMK=YQU>a1DAy}>I G4dT.5? G4:x @ ?91A=: :)rG4W @W X  X W :W2W*WVbUBU*UUU`)?BM2BQ BU>AU脾*BQAUfUAQAYA]"C]pRCeP<Ce@CaYύ59E|=9<IG=>/e:q,EAY}61@}6U?@y}6:}6V]B}6Hƿ #|?ѧ?`"` ƿi+SS TI?)~61@ ~6~`;I~6Cɫ9A)A EIAY]p>yE 99iAAe@=MeP=Ym=QUm>iiam2Du6AyyIN}>Iș G4ŝK.5? G4ŝ肢 Ɲ+@ ?9ƝAǝ5k; ȝ/Y;)ȝEG4WQ@WX XW:W2W*WVbUBU*UUU@4E@Buj~Bu< Bu>AuUm*BqA}FbAyAyA}%ᒺ"C{*CԻRCu<CQ@C̵>̵>Yυ9ρρ)Љ ЉA9AIEHDiE=AAAE; EE)مIمiمم݅=݅a5 < ?i ? I G >- ) ) - = - _9Y) y) - ަ5)- <3;3Zk:q,|EAY}>ǘ@}>aՐ@y}>NNj<}>Un}>H&ǿ2V?5?\qxǿ`騞`I; ?)~>ǘ@ ~>`;I~>Cɫyy)y }IyYpo>yJEi=i MC=YP=QU>a2DAy}>I! G4%B.5? G4%* %s? ?9%A%< %<)%.G4W@WX XW:W 2W *W V bU BU*UUU`i@B}ŠB B>Aw*BA7pAAA&"C*C)ԻRC =<C@CY]9mAr:q,:xEAY}6O@}6\@y}6ܼ}6G6}6Hſ@? g?6`ſr q?@?`ζ?)~6O@ ~6 a;I~6Cɫ99)9 =I9Y}d>y} E鮁ɮix&1?x&1Կ/$>A )Iy~jt?)\(?~jt?$?Ga=< $ZA)hAIx]Ai7eAGaA]>]Ġ]?i]CY ]yC)].CI]Ci]yC})ȼM}@=Y%ƽQU>a2DAy5=}>Iȩ G4ŭ@.5? G4ŭj ƭF? ?9ƭAǭ{; ȭM;)ȭA*BA}AAA@"Cu*CһRC%p=CE@CAYC9v<IG>- - j- j- F - 9Y- ?G1y- ܂:- ̨595 @9 = gAA 9A IE zDiE 3=A A A E ; E Elx:q,CUEAY}6@}6>@y}6b~}6}6HbĿK?T?fAſ@ˤ?ٯ?>­?)~6@ ~6@c;I~6CɫYY)Y ]IYYA>y4DZ****** received transponder code query ******F****** received ping request ******!!a%2D-ԥA)y54<}5>I9 EG4=l?.5? MG4=Q =o@ M?9=A=; =;)=8IG4Wձ@WX XW:W2W*WVbUBU*UUU/ @B~ּB BV>A*BA b"A A A "Cx*C{ѻRC48=Cձ@CY99I @A) @Ak~:q,I/EAY}6|@}6@y}65}6K }6HĿ@_z?;?@Gſ?&?& ?)~6|@ ~6b;I~6Cɫ99)9 =I9Y*`>y ExDUSBL response received:!U1,P 010,000,00C4D,183,80,80,B9,FF Command AckBRequesting micromodem ping code 2iIA)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i==MEH=Y1=QU>a2D0Ay2}>I G4=.5? mG4й @ }?9AYE= D=)3XG4Wo@WX XW:W2WA*WAVAbUABUI*UIUIUM`U @BB B?A*BAAAAT"CRCZ>=Co@CY9 c֭ =ׁ I G >- /- k- k- O - :Y- G1y- H:- 5q:q,=EAY}JD@}JzR@y}Jkg<}J}JH@ſt?? @=ſ Д h@c?)~JD@ ~Ja;I~JCɫ髙) IYn>yENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i%K>%%V?i% B! %B)%(BI%Bi%(B5<M=.=Y=X>QU=>AAaE2DE٬AIyMs}M>IQ ]G4U;.5? ]G4U ʢ U#@ e?9UEAU0: U:)UgG4WA;@WX XW:W2W*WVbUBU*UUUM@BLUʼBt< B?A*BAAAA"CfR*C:ϻRC<=CA;@Cv>9IaDi==; EYO9ѽr绹֭п8=ׁ I G >g:q,~0EAɫ髙) IY>y%ExDUSBL response received:!U1,R,044,000,00C26,184,80,80,9F,FF Fpublishing direction and range infosɰ~>> )CIyCyĦ?Cg]ٱ hAi  =Mt=Y%QU%?!!a%2D-A)y-}5?I9 EG4= :.5? EG4=+֢ =i@ M?9=A==; =<)=sG4W}@WyX XW:W2W*WVbUBU*UUU@$@P*QCZQ{3͚b@Ȭ,f!JQyĦ?Cg]2Qs:QbQ|(A[r $bײ$[RQ9Ϳ'gWBQl@ Q&Q,P9?P9?PQQ7"Qc?BeX5Bi Bm?Am„*BiAmjAiAqAu{"Cu,*C}gͻRC}lU=C}@CY]ƻ9)- ==E ?iE ? I - - l- l- " - 9Y- H1y- :- 5G= >E:q,-JEAY}r@}$@y}=}c\}Hſ? {?Ŀ`ar ?)~r@ ~Aa;I~CɫIQ)Q UIQYmO>yu(EDNmea in: $SNTTA,,,,,005153.05*59 ii|?5?MbXZd;O?=ʽ ~j>)IyJ +?Zd;O?Mb?H?j<= WA)lAI^\AikA\cA=\=C=?i=B9 =\ C)=bBI=Bi=OBM:<MM+=YM=QUU>QQaU2DUVAYy]?<}e>Ii uG4m5.5? uG4m뢾 m@ u?9mAm/: m:)m3G4m}Added new target pos. range: 149.099991 m, bearing: 256.800524 deg, deltaT: 4.491424 s, approachRate: -0.520999 m/s, LOS rate: -0.148021 deg/s, posRepo size: 4m ProNav: pos range: 149.099991 m, bearing: 256.800524 deg, approachRate: -0.520999 m/s, LOS rate: -0.148021 deg/s, cmd update: -0.444062 deg/s, cmd heading: 256.072834 deg, new cmd heading: 255.685065 deg. W@WX XW:W2W*WVbUBU*UU 3b@U@Ĕ?Bu~ABq Bu,?Au *ByA}٣AyAyA}L"C*C˻RC`s=C@CY}9υgAυgAUp = w>9 I Di = = ; )Eɘ:q,jdEAY}B8@}BuF@y}B؂}Bt}BH?ſdo? 9?usƿri?`EX?ۢ`?)~B8@ ~BUa;I~BCɫYY)Y ]IYY>yEi!!E-MEp=YM"QUM?IIaU2DUAQy]}]?Ia mG4e2.5? mG4e eZ@ m?9eAe: e:)eG4WՎ@WX XW:W2W*WVbUBU*UUU@%?BĖBļ B- ?As*BAݩAAAPe"C 3*C ʻRCvU^=CՎ@CYϭl9ѝu  j j D  9Y ?G1y ܂: ^5) >+;9 :q,w~EAY}N:@}NZH@y}N0}NF}NH?ſ x?`9?o`aƿ ?@2P?Ĩ ?)~N:@ ~N4@a;I~NCɫyy)y yIyY}>yEI)@ii~lGIiٺsB--#-?i-LC) -B)-CI-,Ci-=eOM=0=Y=ͼQUE>AAae2DmǹAiyuk:}u>Iy G4}a..5? G4}; } @ ?9} A}; }z;)}|G4Wȶ@WX XW:W2W*WVbUBU*UUUmh?Bet˼Bmfu Bm; ?Am*BiAmoAiAiAu "CuJd*C}ǻRC}o=C}ȶ@CY} 9UM r=) I9 GU >I ) XΥ:q,-ZEAY}JQ@}J4_@y}J`,;}Jg,}JH`ɿ|T? ?m[C}ɿ @e?)~JQ@ ~J`;I~Hɫ髑) IYOw>y"Ei99]֖Men=Yeh>QUe?iiam3DmAqyu}}?Iy G4}*.5? G4} }@ ?9},A}: }ԕ<)}[G4W@WX XW:W2W*WVbUBU*UUU`-?BZBt< B?At*BAAAA  "Ce*CLƻRC =C@C!Y]9)e= e=܍v>9܉I܍/Di܍==܉܉܉܍; ݍEUǼU8k=! I1 GM >- H) ) - - - 9Y) y) - q5)- JA;:q,8-EA|;|;Y}60@}6@y}6д];}6h}6H̿%?@?$2q̿Ik@?)~60@ ~6`;I~4ɫAA)I MIIY>y!Ei9A4=MC=Y:QUe>ya3D Ay\}>Iȹ G4Ž$.5? G4ŽF0 ƽy@ ?9ƽAǽ: Ƚ:)ȽG4W@WX XW:W2W*WVbUBU*UUU`>?B-ЅB-; B-B?A5*B1A5sûA1A1A57e"C=T)*C=bŻRC=^[<CE@CAY%98Ƽ.=שIG>:q,EAɫ ) IY5Ţ>y5AHEiI=)-??㥛 ?-f?-L= -=))I)y--?y&1?ɿ-?U?-`e=-L - YA)-iAI-UAi-nA)-aA)]= Yío>í<íd @iíQ Cé ĭC)ĭCIĭBiĭC>M/=YQU>a3DAy}>I EG4.5? MG4D @ M?9AL: {:)sG4WAh@WX XW:W2W*WVbUBU*UUU`b@BMtBI BUl?AU*BQA}γ˻AyAyADJ"Cg*C4ĻRCq<CAh@CYm9U=  =% ! ! % , % 9Y! y! % :59- @1 IA G] >ٙ ٝ fAܡ 9ܡ Iܥ Diܥ =>ܡ ܡ ܡ ܥ ; ݥ .E)Ii=4:q,vEAY}2@Ә@}2@y}2I}2`;}2H@ǿ#t?x@t!ǿAoq?`<0i?}{??)~2@Ә@ ~2`;I~2CɫYY)Y ]IYY>yKE=i=i<M=Y@QU?a3DAy>}?I G4*.5? G4R ? ?9Az: :)G4W V@W X XW:W2W*WVbUBU*U!U!U%3@R-B*** querying acoustic contact ***P)P)BUΌB BE?A*BAfлAAAE;"C*Cؼ»RC+B=CV@CYϭը9ɾm;E <I)GEQ>2:q, EA|i|@Y}6d@}6q@y}6;:}6CsD:}6H`>ɿ_?@P_>ɿ SVfH?`?)~6d@ ~6`;I~6CɫQQ)Q ]IYY>y[EZ****** received transponder code query ******F****** received ping request ******!!a%3D-`A)y5}5>I9 EG4=V.5? MG4=Wf =? M?9=A=; =%;)=G4W};@WyXy XyWy:W2W*WVbUBU*UUUe: @BOڿB BX?A.*BA׻AAA$"C Q*CRCE=C;@CY 9) ԱԵhA֭ 8j:q,oEAY}Jȗ@}J\֏@y}J ;}J}JH˿>?@P}??X˿@nuUa`$?)~Jȗ@ ~J7`;I~JCɫYY)Y ]IYYj>yZUExDUSBL response received:!U1,P 044,000,00C26,184,80,80,9F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iõõ33õ?iõ&Cñ ĵ C)ĵ!CIĵBiĵBȣM$=Yn:QU>a3DZAy} >I  G4  .5? G4 g}  ? ?9  A : 4:I9IIMDiM">IIIM|; M E) G4Wa@WX XW:W2W*WVbUBU*UUUI @B7ɼB B%?A%*B!A%|A!A!A%: "C-*C-4 RC54=C5a@CaiugAIqYU$9MgE= I G5 >D:q,6t3EAɫy髁) IY{>yPENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IMA)III)MAiYYI +??1Zd?9T?< "[>)Iy rh?(\п{GzC ?# ^A)cAI^\AiaA`AvMJ=YQU>  a3DAy}>Iȁ H4Ņ.5? H4Ņ ƅ? ?9ƅADž(4; ȅx1;)ȅH4WB@WX XW:W2W*WVbUBU*UUU |J@B} B B ?A՗*BAAAA߹"Cc:*Ck|RCP%=CB@CYϕҟ9օ п8=a Ii G >- - m- m-  - q9Y- +I1y- :- 5a,:q,]OMEAY}>@}> @y}>Z=}>8}>H ǿy?`fÂgǿɰﰿAg?)~>@ ~>c`;I~>Cɫyy)y IY>y鰥> )IyCҼ? ?n~ٱi1ӽM=YX>QU?a3DAy=}?I  H4-5?  H4t -? ?9vA: 4:)H4W54@W1X1 X9W9:W92W9*W9VAbUABUA*UAUAUM@m@PY*Q]CZQ]q;Jb@΀-'JQ]Ҽ? ?n~2Q]6:QYbQ]*jCm>aۼK#RQ]~0п'hkkіҰBQ]c@ Q]y Q].P] 9?P]9?P]QYQ]"Q]7BE% BMȝ= BM"?AM&*BiAuvAqAqAu?"C}*C}RC}ڝ=C}4@CYύ9e+,=9IIG}Y>A E <I 9I IM DiM >I I I M ; M EV:q,*gEAY}vH@}vdV@y}v4|=}vF2}vHɿ}V? ?{JMɿ `g9<?)~vH@ ~v`;I~vCɫ) IY5C>y5-5EDNmea in: $SNTTA,,,,,005157.50*5D 鼹iuٽu`=u?iuGBq uB)uCIu{CiuB5ڼM2=YW%QU>a3DAy5}>I H4-5? H4ݜ ? ?9AGH; BI;)H4m=}Added new target pos. range: 146.819992 m, bearing: 254.948313 deg, deltaT: 4.358605 s, approachRate: -0.523103 m/s, LOS rate: -0.424955 deg/s, posRepo size: 4mU ProNav: pos range: 146.819992 m, bearing: 254.948313 deg, approachRate: -0.523103 m/s, LOS rate: -0.424955 deg/s, cmd update: -1.274865 deg/s, cmd heading: 254.132542 deg, new cmd heading: 253.924998 deg. WU@WQXY XYWY:Wa2Wa*WV bU BU*UU`=Zb@Uϡ?BvBk|< BS&?Ac*BAQAAAy39"C]RCi|=C@C??Yϝ09$=ס I G >- ) ) - * - 9Y) y) - ̢5)- .;95 M:q,FEAY}B<@}BΑ@y}Bb}B9D}BHÿ@H|?}? Mÿ7kr`> ? Հ?)~B<@ ~B b;I~BCɫYY)Y ]IYYt>y#E=i=%p=i%%=i))MZ=YBQU>a3DAy3=}>Iș H4ŝ-5? H4ŝ/ Ɲ? ?9Ɲ|Aǝ: ȝ:)ȝ+H4WW@WX XW:W2W*WVbUBU*UUU?B h0&B B(?Ak׾*BANAAAQq9"CRC=CW@CYϥ9օп8=aIqG[>h:q,EAY}2I@}2GW@y}2A=}2ǐ}2Hſp?Mҳ?@ƿ ? ?/@?)~2I@ ~2b;I~2Cɫ99)9 =IAY]`>y]$Ei,_=MI=Y蹽QU>a4DAy}>I H4-5? H4n -? ?9uA: :)9H4W~ @WX XW:W 2W *W V bU)BU1*U1U1U5u?B}&B B+?AIҾ*BA{AAAT)g9"Cs RCo=C~ @C9IDi=; ,EY98<Pz= I G >- - h- h-  - 9Y- E1y- :- 5)- |,;h:q,˴EAY}B͙@}B/ۑ@y}Bb}B0}BHÿ݈?` ?ࠜÿW3?k?@G᱿?)~B͙@ ~Btb;I~@ɫy髁) IY/M>yqDI}@)}@iyy5q= ףp?M¿Mbп5 ?5n 5)1I1y5Zd;?A`"?x&ѿ5۹>5Y=57 5 YA)5sAI5`Ai5hA15peA @ @ @ @Í©ÍÍiÍÍ č)čIčič M<=Y e=QU>a4DgAy=}>Iȹ H4Ž-5? H4Žz ƽ? ?9ƽAǽ: Ƚ:)ȽIH4W@WX XW:W2W*WVbUBU*UUU"?B5Ġ)B5fs< B5/?A5*B1A=BA9A9A=U9"CEFRCE>CE@CIiQIQY=M9qY=שIG>T>CiumGIi-ٺtBD}:q,EAY}2FP@}2]@y}2Q[}2k-}2HYſ~??suſK?Xg?o`{?)~2FP@ ~2a;I~2Cɫ11)9 =I9YuS}>yuEic >Mi=YEQU>a 4D 4A y2}>I %H4 -5? %H4ã ? %?9A4: b:)WUH4WMf~@WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYU]+@B-BJdj B1?A*BA`AAAfV9"CERC=Cf~@CYύ 9)Е= Е=}]!=1I9G]v> hA 9 I aDi = ; #EE E jE jE / E 39YE ?G1yE ܂:E ߣ5)E 6;:q,urEAY}:u$@}:1@y}:}:Ɠ̼}:H`6ʿO?p?Q`Cʿ@߅?@%?ʐ`2?)~:u$@ ~:=]a;I~:CɫAA)I MIQY>y5Eiqy          0> m ?i C  &C) CI Ci Cs=M:=Y%=QU%>!!a-4D-A)y5R}5>I9 EH4=-5? EH4=/̣ =Դ? E?9= A=: =:)=dH4Wm0.@WiXi XiWi:Wq2Wq*WqVqbUqBUy*UyUyU}@B-}B-p9< B-L5?A5־*B1A5A1A1A5Zz9"C=RC=>=CE0.@CAYE9mGg=IG >;q,MMEAY}:@}:y@y}:Z=}:m1}:HʿG???`Wnʿ@VU#?)~:@ ~:%a;I~:CɫYY)Y ]IYYi>y2E鮥p=ɮp= hA鼩iMMc=YI>QU>a4DAy#@}>I H4-5? H4@ӣ ? ?9"A: :)JqH4W @W X XW:W2W*WVbUBU*U!U!U%@R-B*** querying acoustic contact ***P)P)BUAu-Bt = B 8?A޾*BAAAA :"CRCm=C@C5>5>YX9ֽ]=בIG>= =i= %=M M kM kM  M 9YM G1yM H:M :59U @ζ;q,0)EAY}6V@}65d@y}6B}6Uin}6H@sɿN?}? j\mɿ+Zh?`ȭ@?)~6V@ ~6$a;I~6Cɫ99)9 =I9Y~>yEZ****** received transponder code query ******F****** received ping request ******))a-4D5A9y=<}E>IA UH4E-5? UH4Eۣ E ? ]?9E[AE)0; Ey);)EH4W4@WX XW:W2W*WVbUBU*UUU @Bm0B܀; Bf;?Aq*BAd7%AAA[1:"CRC_3=C4@Cܑ9ܑIܕDiܕ">ܑܑܑܕ; ݕE)!I!i!!!%.4Yϭ9ϵgAϵgAхNJN;ut=IIYGu> ;q,6EAY}P@}@y}H彙}ի<}H`ʿM?f?@hʿ?`?`W??)~P@ ~a;I~Cɫ) IY >y EExDUSBL response received:!U1,P 05D,000,00C00,186,80,80,9F,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 iAA(\?T㥛 ~jtz? ļ)IyCl?v/?d>x? C[A)jAIjAi^\A\cA @ @ @ @Ý©ÝÝiÝÝ ĝ)ĝIĝiĝ =M=Y:QU%>)1a54D5A9yM|}M>Ia H4e-5? H4eQ飾 e? ?9eAeU< e <)eH4W5 .@W1 X1  X1 W1 :W1 2W9 *W9 V9 bU9 BU9 *Ua Ua Ue `r@B B @ B @?A )*B A ^A.A A A j9"C -RC {=C .@C Y 9 ) E E iE iE J E 39YE F1yE q:E 5}=QIYG}? ^;q,ZEAY}2@}2B*@y}2}2¥ =}2H ѿ`?@|Bп@F?ᱣ?`v? ?)~2@ ~2sb;I~2Cɫ11)1 1I1YUf>yU EYYuNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I@)@i rMZ=YH>QU>a4DAy%r$}%>I H4-5? H4 ?? ?9A#: Q:)H4W@WX XW:W2W*W!V!bUABUA*UIUIUM @BhMB6U< BC?A *BA)4AAAu9"CRCm=C@CYϽF9uu>9qIuDiu=u=qqu; uE֭=׉IG><;q,W{tEAɫ) IYv>yExDUSBL response received:!U1,R,FC3,000,0077B,185,80,80,B7,FF Fpublishing direction and range info^ Z=ɰ>+> )7CIy̚BYe?/H>?ٱi-[=M-I=Y5QU5>99a=4D=A9yE}E>II UH4Mk-5? UH4M M? ]?9MAMw: M:)MH4W}夊@WyXy XyWy:W2W*WVbUBU*UUU y@P9*Q=̚BZQ=" ORS@>bBdy@JQ=Ye?/H>?2Q=^ Z=:Q9bQ='$0ٰ R3H@RQ= L9x˿V9aL:gJ?BQ=nޏ@ Q=Q=P=B9?P= 9?P=Q=Q=V@"Q=Bu IBu5E; BuF?Au9 *BqA};AyAyA}l9"C׫RC1ê=C夊@CYmz9֍a5=55l5l5% 59Y5H1y5:55YIiGY>j#;q,UEA||ɫyy)y }IyY>y 0E%TNmea in: $SNTTA,0.053721,,,,005201.98*45 i)))== 9    Å>Åv>>Å?iÅCÅ ąB)ąCIąy1CiąB̺=MB=YQU>a5DYAy}>I H4x-5? H4 7 @ ?98Ak: b:)־H4myAdded new target pos. range: 77.400002 m, bearing: 257.596213 deg, deltaT: 4.641088 s, approachRate: -14.957698 m/s, LOS rate: 0.570534 deg/s, posRepo size: 4m ProNav: pos range: 77.400002 m, bearing: 257.596213 deg, approachRate: -14.957698 m/s, LOS rate: 0.570534 deg/s, cmd update: 1.711603 deg/s, cmd heading: 248.241342 deg, new cmd heading: 247.679159 deg. W@WX XW:W2W*WVbUBU *U U YS@U,?Beޠ=B BJ?A*BAkCAAA9"C.RC=C@CYmu9ֽ=Y?is?qIG>a 9a Ia ia e =a a e ; e +EL);q,1EAY}- .@}-;@y}-c=}-+e}-Hҿ@?ܥ?ZҿG?)~- .@ ~-7$b;I~-Cɫ)))) 5IqY>y6Ei99 @ @ @ @å©ååiåå ĥ)ĥIĥiĥ4<M;=Y/>QU>a5DAyL}>I H4-5? H4 @ ?9A: :) H4Wv@WX  X W :W 2W *WVbUBU*UUU`?BEEEBMb< BM N?AM*BIAUIAQAQAU1,:"C]cRC]k =C]v@CaYυo95n5i5i5T 59Y5F1y5q:5̫5)5F;9E}]=օ tn=a Ii G >|0;q, EAY}F@}F@y}F㠼}F}FH`<=ӿD}?@إ?oZFӿ0}?#? U?)~F@ ~Fa;I~FCɫyy)y }IyY>y&Ei!!"~j?X9v?J +ٿS#?}> Ⱦ)Iy`"?{Gzjt?>ף > _A)VfAIpgAix]AbAMW=YQU>a5DB y T} >I H4ߡ-5? H4 @ %?9|A: A:)bH4WEӋ@WAXA XIWI:WI2WI*WQVQbUQBUQ*UQUYU]@t?BVBlv: BVQ?A~ *BAPAAANF:"C$RCsβ<CӋ@CYϥ)j9}Ȩ6;q,_EA|.@i|,Y}^B:@}^G@y}^}^ۈ3}^H զԿ@H?? 4HԿՍ?0?o?)~^B:@ ~^d]a;I~^Cɫ髑) IY|>y1Ei99UZ7=M]U=Y]:QU]>aaae5DezBaymw}m>Iq }H4uK-5? }H4u\$ u@ ?9uAu4: u:)uH4W1@WX XW:W2W*WVbUBU*UUU`̖?B}hRBy B}T?A *BAWAAAa:"CxRCHC1@CYυe9  gA9IDis=; E]u<--l-l-( -9Y-H1y-:-_5)-_3;= l =IEgA)EgAIGn><;q,EAY}2ɓ@}2q׋@y}2 |}2ݻ}2H{տ@b$?` g? $@B|տPV? o?{`?)~2ɓ@ ~28`;I~2Cɫ)))) -I1Ym">ym EIA)AiMP=Y/=QU>a5D By } >I H4T-5? H4M. #@ %?9|A: G:)H4WE@WAXA XIWI:WI2WI*WIVIbUQBUQ*UQUQU]@+?B`fB˃< B0X?A*BA:_AAAk:"CRC?߼C@CY]a9[RS:  =IGiunGIi P|ٺ  gBC;q,EAY}ZĂ@}ZN@y}ZC}Z}ZHֿ ?ZW?U ֿ ?E?`A?)~ZĂ@ ~Z`;I~ZCɫ髑) IYօ>y$EiYY-}Ponly read 0 of 1 data item for BIT error<MA=YuQU>a5DByP}>Iȩ I4ŭߏ-5? I4ŭ8 ƭ|'@ ?9ƭAǭ: ȭ(:)ȭOI4We@WX XW:W2W*WVbUBU*UUUS@BQ`B B[?A%*B!A%MgA!A!A-V":"C-YRC572C5e@C1YZ9qZ;--i-i-) -9Y-F1y-q:-595@k<ױIG> 9 I zDi 3=    ;  $Ey Ea=ɮa=i\MW=YQU>a5DBBy}>I I4-5? I4yB +@ ?9A: w:)I4W-jV@W)X) X)W):W)2W1*W1V1bU9BU9*U9U9U=l]@RMB*** querying acoustic contact ***PIPIBms`qBi Bmn_?Au!*BA94oAAA2Ѧ:"CRCYRCjV@C > >YU9ѭa<օ9g׍?i׍?aIGd>P;q,)\CEAY}VГ@}Vދ@y}VK򺽙}V}VH Wտ4? ? }տB?U?&'?)~VГ@ ~Va;I~VCɫqy)y }IyY>yb"EZ****** received transponder code query ******F****** received ping request ******"۽ S)Iy'1Z?&1 +?"?нȶ> ¥^\A)¥dAI¥_Ai¥`AQ`A;Mu<=Y}3&QU>a5D BQy]<}>Iȑ I4ŕ?~-5? I4ŕV;q,.]EAY}B1@}B@y}B^񖽙}B}BH տ?D? } ֿ`Q?ٲ? \?)~B1@ ~Ba;I~@ɫYY)Y ]IYY|>yExDUSBL response received:!U1,P FC3,000,0077B,185,80,80,B7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i u u } }}#>}C}?ٱٵ<v>9IDi,>; E)YIYiYYY]4i}C} }2B)},CI}Bi} C59M5)=Y5=QU5>99a=5D= BAyE}M>II UI4Ms-5? ]I4M7^ MC@ ]?9MAM: M:)M2I4W7@WX XW:W2W*WVbUBU*UUU`@ @B0uB Bh?A(*BAOAAA_:"C`RC H%C 7@CY9H9jZX֭ t'ׁ I G >#];q,wEA| i| Y}N.c@}Np@y}Nopd}N}NH74ֿ?2?Aֿ@ĩ?C?v"?)~N.c@ ~N`;I~NCɫqq)y }IyYU>yXE?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iQQM=Yf=QU ?a5D3 By'} ?Iȩ I4ŭck-5? I4ŭg ƭK@ ?9ƭAǭ: ȭ:)ȭ=I4WÄ@WX XW:W2W*WVbUBU*UUU@BB Bk?A5*BAw5AAAoʒ:"Ca,RC01CÄ@CYC9ѵ--i-i- -9Y-F1}mYIׅfA)ׁy-q:-5IIYGuy>5 d;q,EAɫ) IY g>y sExDUSBL response received:!U1,R,F5A,000,00BB0,186,80,80,B5,FF Fpublishing direction and range infoV>ɰu>> )5CIyC 1?'ЌCz?ٱI-A))i11Å<ÅC >ÅG?iÅQBÁ ąB)ą<CIąBią C02=MJ=YQU>a6D By}>Iȹ I4Ž`-5? I4ŽQt ƽU@ ?9ƽAǽ: Ƚ$:)ȽKI4W(@WX XW:W2W*WVbUBU*UUU@P*QCZQ= a@9ew0`4@JQ 1?'ЌCz?2QV>:QbQш=8iVaiG@RQ_lʿDJ@ᅧ?ԫ?BQ.@ Q QFP9?PB9?PQQA@"QV@BEBA BEn?AE4*BIAM@ĉAIAIAM$L:"CU̞RCU.CU(@CYY==9  Y I G >ܥ u>9ܡ Iܥ Diܥ ">ܡ ܡ ܡ ܥ {; ݥ EB5j;q,ЪEAY}E@}E@y}E˽}E6\}EHֿC??@ ׿k?0o?`c`?)~E@ ~E+`;I~Aɫ)1)1 5I1Yli>yETNmea in: $SNTTA,0.094482,,,,005206.55*42 iMԊ;MM?=YMѽQUM>QQaU6DUBYy]r}]>Ia mI4eU-5? mI4eۀ eMa@ u?9eAew: e:)eZI4myAdded new target pos. range: 142.020004 m, bearing: 257.979141 deg, deltaT: 4.440244 s, approachRate: 14.553255 m/s, LOS rate: 0.086240 deg/s, posRepo size: 4m ProNav: pos range: 142.020004 m, bearing: 257.979141 deg, approachRate: 14.553255 m/s, LOS rate: 0.086240 deg/s, cmd update: 0.258721 deg/s, cmd heading: 255.873740 deg, new cmd heading: 256.602587 deg. W@WX XW:W2W*WVbUYBUy*UUa@UH?BB O Bs?A8*BAAAA1:"C*CΆRCQнC@CY 89MMnMnM8 M9YMI1yM:M̥5)M2;9mmNJκ-@ I G- >zq;q,EA||Y}6@}6@y}6X-}6y9}}6H e׿ ƛ?`?w׿?w?Ś?)~6@ ~6a;I~6Cɫ99)9 =I9YS}>yEi!!(\?7A`ҿ~jt?.? >)Iyn?MbX9?/$?V?ʡ=,= µ^A)µ7eAIµ YAiµhAGaAM=MS=Y#>QU>a6DByg}>I uI4Q-5? uI4 b@ u?9wA< f<)ahI4W@WX XW:W2W*WVbUBU*UUUb?BEPBE_sx< BEv?Ae7*BiAmAiAiAmU :"Cut#*Cuf»RCuGCu@CyYυ29u[RSm𽽉u?iu?I Iq G >Dw;q,_}EAY}VpS@}V`@y}VG<}VT}VH `Zֿ?@븛?Sֿf `.`?)~VpS@ ~Vݦa;I~Tɫ髙) IY [>y  Eu=iu=iyy$?i C C)BIq'CiCKMI=YD=QU>a6DBy{=}>I I4M-5? I4M c@ ?9KAk: :)vI4W-E@W)X) X)W):W12W1*W1V1bU9BU9*U9U9UE w?BB 1< B z?A C*B A UA A At:"CW*C,aŻRC/)ĽCE@CUt>9QIUDiU>U=QQUy; UEYS-9ѥ <<55j5j5  5u9Y5?G1y5܂:55)51;AשIG>ɾ  ?Asm};q,QEAY}2ƒ@}2Ԋ@y}2}2G;}2H@^׿2?r? ^׿y}, Ei.<MX=YսQU>!!a%6D%7B)y-O:}->Iȉ I4ōTI-5? I4ō> ƍ3e@ ?9ƍ AǍ: ȍ:)ȍ1I4W#@WX XW:W2W*WVbUBU*UUU?BoB%; Bo~?AwE*BA@AAAM:"C *C !ȻRCfC#@CYe(9UvZ;q,@EA|"@i| Y}RZ@}R h@y}R w<}R׸}RH)ؿഡ?F`i)ؿȏ4vp@?)~RZ@ ~R a;I~RCɫ髱) IY>y%Ei11m =MuD=Yu=QU}>ya6DB y}>I -I4pD-5? 5I4C f@ 5?9Af9; 7;)I4Wu3@WqXq XqWq:Wy2Wy*WVbUBU*UUUI@B B :< B^?Ay?*BA AAAl:"CUq*C̻RC:C3@Cѽ;օzҽIםgA)םfA]]l]l]c ]z9Y]H1y]:]59e@qIyG\>A 9A IA iA A A A E ; E E;q, ,EAY}2@}2C*@y}2 R}2 }2H`ֿ`? m?@ֿa`;w? A?)~2@ ~2Wa;I~0ɫ99)9 =I9Y_>y EIA)i!!uuSu?iuLBq u"B)udBIuDBiu/C߽MI=YGSQU>a6DByz=}>Iș I4ŝo@-5? I4ŝ/ Ɲ.g@ ?9ƝAǝ#; ȝ$;)ȝI4WA@WX XW:W2W*WVbUBU*UUU[V@Bh-B,%= B@A*BAcAAA$;"C8*C1лRC{ؽCA@C;IG>g;q,qEEA>ij nGIkAi!}G|ٺkAhBY}~@} @y}j߽}<}H` ؿ@i??KLؿI?q?@o?j?)~~@ ~!a;I~Cɫ) IY-wC>y-{D5p=ɮ5p=i99/$?Cl绿gfffff޿?;߽ 3)Iy/$?Zd;7A`?1?y> aA)aAI^AiVfA=bAiM)=YM[QU>a6DoByo}>I  I4 5-5? I4 Yʤ qm@ ?9 A M: V:) gI4W=S@W9X9 X9W9:W92WA*WAVAbUABUI*UIUIUM 2@R]B*** querying acoustic contact ***PYPYB7q--k-k- -9Y-G1y-H:-5B5`; B5B@A5 *B1A]AYAYA] ;"CeO*CeջRCmUCmS@CiU@<׽I G% >;q,b_EA|;|;Y}6@}65@y}6`n}6rw=}6H@ٌڿ`?tp;ڿ(?`xԭ?@?`?)~6@ ~6 a;I~6CɫQQ)Q UIQYJ>y!EZ****** received transponder code query ******F****** received ping request ******M=Y'>QU?!a%6D%B)y-غ}-?I9 EI4=l.-5? EI4=+Ҥ =p@ M?9=A= ; =!;)=NI4W}$_@WyXy XyWy:Wy2W*WVbUBU*UUUʴ @B;B5,= B @A$*BAZɼAAA\4;"C*C\ٻRCf,C$_@C9IDi=;  Eѝ (=֑ם?iםa?iIyG>;q,yEAY}R3ˑ@}R؉@y}RQX;}RM=}RH2ٿE?8 Fj@ٿ`?k ? ?)~R3ˑ@ ~RZb;I~RCɫyy)y }IyYx>yE%xDUSBL response received:!U1,P F5A,000,00BB0,186,80,80,B5,FF %Command Ack%BRequesting micromodem ping code 2i!!-=i-=5Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iQYMB=YO>QU>a6D`By'c=}>Iȑ I4ŕ#-5? I4ŕݤ ƕt@ ?9ƕAǕ: ȕ:)ȕI4Wp@WX XW:W2W*WaVabUaBUa*UiUiUm @BTjB B@A-*BAUڼAAAT];"C-}*C߻RC֊Cp@CiI--l-l- -9Y-H1y-:-5 -|,=ֽ ׉ I G >T;q,[EAY}6yuNEy}@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B imC>Mu8=YuGQUu>a7D$ByC}>I   I4 -5? I4 褾 y@ ?9 A : o:)  I4W5@W9X9 X9W9:W92W9*WAVAbUABUA*UIUIUMo]@BN*B)#< B@A*BA$YAAAs;"CA*CRC~+C@C) EA)(ܵs>9ܵڔCIܱiܱܵ=ܱܱܵ; ݵE)Ii=Q49 II Ge >{;q,*EA|"@i| Y}Nzs@}N@y}Ny}N}NH١ۿ??@ ۿ|?9ܝ?үr@n?)~Nzs@ ~Na;I~Lɫ髑) IY>ytExDUSBL response received:!U1,R,ED7,000,00B85,186,80,80,B8,FF Fpublishing direction and range infol>ɰq> )8CIyp CI/Xc?U9| g?ٱi @ @ @ @Í©ÍÍiÍÍ č)čIčič * >M3=Y=QU%>IQaU7DUBy9}>kk 9YG1yH:;5)+;9I %I4-5? %I4~ ~@ %?9]Ba; z;)eI4WM @WIXI XIWI:WQ2WQ*WQVQbUQBUY*UyUyU;D@P*Qp CZQ= `@_ UA@JQI/Xc?U9| g?2Ql>:QbQL9ɞb*ca]@c#@RQ\gtǿ!m8 e?BQ͐@ QQP$9?P9?PQQ@"QA@B Bj= BB@A*BAʷAAAa;"CC*CRCb>C @C-hA)-},I1)5gA I G- >f;q,8EAY}bW@}b @y}b7<}bE}bHڿF?`ʙ?` zڿ=YǠ?)~bW@ ~bsb;I~`ɫ髉) IY>y.^E=TNmea in: $SNTTA,0.095488,,,,005211.01*4E I=A)9iIIuV?Q ףp= r? Q8)Iy +?Mb{Gzt>ף jA)VAIi`AQ`AWȽM]=Y=QU>a7Do!B y a=} >I I4-5? I4 V~@ ?9B: $:)UI4mUyAdded new target pos. range: 139.440002 m, bearing: 259.264828 deg, deltaT: 4.568770 s, approachRate: -0.564704 m/s, LOS rate: 0.281408 deg/s, posRepo size: 4m] ProNav: pos range: 139.440002 m, bearing: 259.264828 deg, approachRate: -0.564704 m/s, LOS rate: 0.281408 deg/s, cmd update: 0.844223 deg/s, cmd heading: 257.054924 deg, new cmd heading: 257.142475 deg. We⹏@WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUuna@Uu ~?B>B%rs= B%@A%?*B!A-A)A)A-C;"C5W*C5RC5M.C5⹏@C9]61I9G]U>؍;q,EAY}bBŐ@}b҈@y}b<}bZ{}bH`ۿ? ,? `ۿ s@j ?)~bBŐ@ ~b~b;I~`ɫ髙) IY>yfEىىܑ9ܑIܕDiܕ A>ܕ=ܑܑܕ; ݕ֗Ei     94&1>5?i0C B)0CI2Bi1B9=MH=Y4QU>!!a%7D%#B)y-}5>I1 =J45r-5? =J45 5~@ E?95B5: 5A:)5J4We@WaXi XiWi:Wi2Wi*WqVqbUqBUq*UqUyU} m?B3B B@A.*BA AAAJ;"C-*C\5RCZG?C@Chh0 S9YE1y:5)*;U>1I9G]v>;q,EA||Y}6<ߐ@}6@y}6/=}6zֿ;}6HڿO ?@җzڿ w⥿@*w?_?)~6<ߐ@ ~6a;I~6Cɫ99)9 EIAY}>y}pEi.=M]=Y=QU>!!a%7D%$B)y-L <}->I1 =J45,5? =J45 5}}@ E?95B5: 5:)5J4We@WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU}?B~@5B! B%@A% *B!A%_ A)A)A-C;"CUH*CURCU?CU@CYe.=]>er?ie?1I9GU>>;q,ИEAY}R@}R@y}R=}R)9}RH`ؿ`x?@猿s@ؿdq yrdE5=i5=i99u\?MuD=YuQUu>yya}7D}6&By=}>Iȉ J4ō,5? J4ō+ ƍ|@ ?9ƍSBǍ: ȍM:)ȍ!J4WJ@WX XW:W2W*WVbUBU*UUUj?B}D4By B}@A}d*ByAQAAAJ;"Cg*CB!RC&CJ@CхL%d=jj% 9Y?G1y܂:59@ee?1I9G]v>q9qIuDiu3K>qqque; uE;q,sh1EAY}:@}:Ŋ@y}:l<}:O}:H y׿ ?x-:?0v׿ @܉l?)~:@ ~:7>a;I~8ɫ99)9 =I9Y}>ycEiyy94P ?iC .C) -CICiB5ƠM51=Y59QU5>99a=7D=(BAyEZ=}E>II UJ4M,5? ]J4M% MR|@ ]?9M6BM: MV:)M+1J4W}@WyXy XW:W2W*WVbUBU*UUU?BZ0B Bs@Ab*BAQAAA;"C8*CWRCWC@Cf;q,KKEA| i| Y}Ne@}N@y}N(=}Nf32}NH`aٿq?-?@4o Pؿ@(*䡿%A @?)~Ne@ ~N;a;I~NCɫ) IY>yNEiyy Mb@Mb@Mb@   ) I y T㥛 ?I +Gz? ? 9 p=> ^A) aAI pgAi ^\A  aA%M%]=Y-9111a57D5)B1y=}=>IA MJ4EL,5? MJ4Ec/ E'@ U?9EBE: E:)E>J4WuS@WqXq XqWq:Wy2Wy*WyVybUBU*UUU@B?AB B@A*BA!AAAU<"C!*CKRC79CS@C) gg3 X9YSE1y:5e %Ii )i I IY Gu >;q,.eEAY}2za@}2o@y}2p;}2\}2Hgؿ ? Ų?&ؿKp@?)~2za@ ~2@b;I~2CɫII)I MIIY}>y}(;E鮅a=ɮa=I)Ai[Mg=YѲQU>a7D*By1=}>I J4f,5? J48 =@ ?9B: +:)}JJ4Wِ@WX XW:W2W*WVbUBU*UUU`İ@RB*** querying acoustic contact ***PP%t>9!I%Di%f>%=!!%; %EBUDBQ BU@A]*BYA]C'AYAYA] <"Ce,*CeRCm3+Cmِ@Cimv**)I9GU> > >;q,EAY}Jv@}J@y}J =}J}JH@1Կ[?@Wݓ?)WԿdw?)~Jv@ ~J͛b;I~Hɫqq)q uIyYX>y7EZ****** received transponder code query ******F****** received ping request ******a7D,By>}>I J4,5? J4D @ ?9B: :)YJ4W@WX XW:W2W*WVbU BU *U U Ug3 @inGIi)]WeٺY]dSBB2B BZ@A*BA/AAAv<"CO*C RCL뽉"jj$ 9Y?G1y܂:5C@CB9שIG>;q,ژEA||4y ExDUSBL response received:!U1,P ED7,000,00B85,186,80,80,B8,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iMK=Y=QU>!a%8DM_.BQy]\<}e>Iq J4ue,5? J4uP u@ ?9uuBu; < u <)uhJ4W5C@W9X9 X9WA:W2W*WVbUBU*UUUw @BM;BMIz= BM@AM*BIAUZ6AQAQAUD(<"C]1߿*C} RCnCC@C Օ=ԕ=]b(9IaG}>9IzDi3=; "E;q,EAY}V@}V@y}V,4}Vy}VH ҿ?|ٱ? #ҿC??`?`w?)~V@ ~Vyma;I~VCɫy髁) IYv\>yE5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i=iEv/?x&Cl绿Ex ?E7 E;߽)EIAyEV-?Mb?+?Eh1?E@=Ev>> E^\A)E7eAIAiAAEGaAeMe2=YmXQUm>iiau8Du)0Bqyu=}}>Iy J4}T,5? J4}` }@ ?9}B}: }:)}wJ4Ws;q,EAY}B@}B{@y}BzwQ}Bؽ}BHο ?i?`^Ͽ@e?`,? h?)~B@ ~Bpb;I~BCɫqq)y }IyY4S>yExDUSBL response received:!U1,R,F9E,000,00B61,187,80,80,9A,FF Fpublishing direction and range info%=ɰn>鰽1> )CIyG CK?b$ݵ?ٱi-I--?i-aC) -C)- CI-Bi-B=ݼM=u=Y=sQUE?AAaE8DE~1BIyU>}U?IY eJ4],5? eJ4]ym ]͋@ e?9] B]k: ]w:)]J4W@WX XW:W12W1*W1V1bU1BU9*U9U9U=`x@Pi*QmG CZQmK_a@6غs'@JQmK?b$ݵ?2Qm%=:QibQmI->5q `.PBE@RQmdpV.Ŀi@ᅬ_cu?BQm@ QmpQm'Pm-9?Pm$9?PmQmQm@"Qm@BQuIB B@A*BA%CAAA7<"C\ݿ*CkRCp1C@C꽹IG5q>);q,oEA|0i|2@Y}4@}A@y}t}}HͿ? ?IοB? ?P跿?)~4@ ~b;I~C9ICi3K==; E)mڔCImڔCiim=im!5ɫ) IYUdD>yUDDNmea in: $SNTTA,,,,,005215.48*51 ifM7=Y0=QU>a8DH3By<}>Iȩ J4ŭ,5? J4ŭ~ ƭ@ ?9ƭ Bǭ: ȭ:)ȭLJ4myAdded new target pos. range: 137.279999 m, bearing: 260.920630 deg, deltaT: 4.374025 s, approachRate: -0.493825 m/s, LOS rate: 0.378553 deg/s, posRepo size: 4m ProNav: pos range: 137.279999 m, bearing: 260.920630 deg, approachRate: -0.493825 m/s, LOS rate: 0.378553 deg/s, cmd update: 1.135660 deg/s, cmd heading: 260.730171 deg, new cmd heading: 261.108219 deg. W:@WX XW:W2W*W V bU BU *U U(a@U2?B=AB=>gf= B=r@A=,*BAAExJAAAAAMA<"CMܿRCUCU:@CQ=ii' 9YF1yq:(5)?;]mx=aa5G) IG5>y}>!EIA)Ai   U4>M]a=Y] QU]>aaae8De4Baym=}m>Iq }J4ud,5? }J4uŒ u@ }?9u Bu: u:)uJ4W."@WX XW:W2W*WVbUBU*UUUk?BGB BY @A*BAxPAAAeH<"CۿRCBC."@C՚g=֥> ׁIGd>":@@}VM@y}V}Ve;}VH@ſ? wKe Aſgv?At?`l??)~V>@@ ~VVa;I~VCɫ髙) IY!>y>Eiaa @ @ @ @õ©õõiõõ ĵ)ĵIĵiĵ#=MC=YO=QU>a8Di6By=}>I J4,5? J4 ~@ ?9 B: :)J4W,f@WX XW:W2W*WVbU!BU!*U!U!U-`@=?BU @BQ BU@A]*BYA]29ܹIܽDiܽ=ܹܹܹܽ; ݽET I G >c ySEiyyen?x&1?&1e>eA`> eP)aIayeL7A`?MbP?:v?e+?e:eT= e YA)ejAIeC[AiehAaeaA=M?=Y5=QU>a8D8By}>Iȡ J4ťa,5? J4ť ƥ@ ?9ƥ Bǥ: ȥ:)ȥJ4W@WX XW:W2W*WVbUBU*UUU@?B8AB`Y= B@AT*BA4^AAA1Y_<"C%ٿRC%cC%@C) 9==% yIG J>)OyGEU=iQiYY^MZ=Y;QU>a8D9By-=}>I J4,5? J4 r@ ?9BA: :)J4W@WX XW:W2W*WVbUBU*UUU @BMB B-@A5}*B9AeudAaAaAe3j<"CmWؿRCm`Cm@Cqgg5 _9YSE1y:(5ֽqIG]>[w9aIeDie">aaae; eEɫyy)y }IyY>yR_Ei m m  rh?iB B)^BI\ Ci\ C=MF=Y`QU>a8DE;Byɢ;}>I J4f,5? J4 0@  ?9B: /:)J4W-+@W)X) X1W1:W12W1*W1V9bU9BU9*U9U9UE@W@Bm.HBm2!m= Bmx@Au*BqAu*kAqAqAut<"C}N׿RC}0C+@C} YIaG}Y>` ?)~Vj@ ~Va;I~VCɫ髉) IYN>yGEɮi˽MY=Y =QU >a8DI! -J4%N,5? -J4%˥ %@ 5?9%YB%: %]:)%AJ4WUh@WQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUaUe`Z@RuB*** querying acoustic contact ***PqPqB0TB= B@A*BA7qAAA7<"CɜֿRCѦCh@Cѽm=/kk 9YG1yH:M5֕ iIyG>&yeq;EmZ****** received transponder code query ******mF****** received ping request ******m  a 9D >By=}>I! -J4%K,5? -J4%٥ %@ -?9%YB%: %:)%J4WM@WQXQ XQWQ:WQ2WY*WYVYbUYBUa*UaUaUe@, @B]EB= B@A*BAbyAAA좇<"C(kտRCTUSC@C P=a9e۔CIeDie>e=aae; a׹IG>,y`; Ga)IyHzG?/$ſy&1=J?,` ¥TA)¡I¥7eAi¥_AaAn;M%=Y2QU>a9D@By77}>I %K4 ,5? %K4;量 @ -?9B+: :)+K4W@WX XW:W2W*WVbUBU1*U9UAUEZ@m>Ci- SoGIE SkAia 4_ٺ SkA .MBB D:B  B @A *B A ^nA A A <"C ԿRC 4C @C Ԙ= ONש I G >6Z4y`$ENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iM=YԽQU?a9DAByߧ} ?I K4,5? K4 @ ?9BB; ,;)K4W=%:@W9X9 X9WA:WI2WI*WQVQbUQBUY*UYUYUe`Y@BsB B@A^*BA:AAA8<"CVӿRCaFC%:@Cѵh=֭`ׁIG> s>9 ڔCI Di = = ; -E:y5E=xDUSBL response received:!U1,R,09D,000,00B3A,186,80,80,9C,FF =Fpublishing direction and range info=K 9ɰ=pk>=> 9)=CI9y=C=TΦ;?Ŷet{ٱ9IiM=iYYEʽE7>]]h]h], ]9Y]E1y]:]:5)]8;E?iEBA EB)EIE/BiECuM}>=Y}QU}>a9DCBy}>Iȱ K4ŵ/,5? K4ŵ$ Ƶ@ ?9Ƶ]Bǵ(: ȵ:)ȵ1"K4WE@WAXa XaWa:Wi2Wi*WiVibUiBUq*UqUqUu 0@P*QCZQ`@/RQn2JQTΦ;?Ŷet{2QK :QbQ_;AiAyUEDNmea in: $SNTTA,,,,,005219.97*5F i5hA5hAUŽMUM=YQQUU>YYa]9D]7EBaya}e>Ii uK4m<,5? uK4m m@ }?9mBm: m:)m0K4m}Added new target pos. range: 134.940002 m, bearing: 254.798978 deg, deltaT: 4.531744 s, approachRate: -0.516357 m/s, LOS rate: -1.350838 deg/s, posRepo size: 4m ProNav: pos range: 134.940002 m, bearing: 254.798978 deg, approachRate: -0.516357 m/s, LOS rate: -1.350838 deg/s, cmd update: -4.052514 deg/s, cmd heading: 265.895664 deg, new cmd heading: 266.330619 deg. W&@WX XW:W2W*WVbUBU*UU`@UXn?B%1]B) B-@A-*B)A-xA)A)A5'|<"C5FӿRC=5C=&@C9E=4|EIG l>GyEiAAÕE>Õ1Õ`?iÕJ.CÑ ĕJ.C)đIĕJ.CiĕJ.C=MV=YG+QU>a9DFBy>}>I K4,5? K40 tI @ ?9B{; f;)X=K4WŒ@WX XW:W2W*WVbUBU*UU U '?B5(eZB5Oa= B=e@A=*B9A=3A9A9A=p<"CE<׿RCE=CMŒ@]]l]l]% ]9Y]H1y]:]59e@Caii)q q܉9܉I܍Di܍=܍=܉܉܍; ݍE)Ii5- tE I G5 >ZM큜@}>y@y}>;}>ֽ}>H߱A??򳃿0c`˺?)~>큜@ ~>Ta;I~>CɫQQ)Q QIYYK>yDI)I)iJ +? ףp= /$ÿ>Q )IyV-?ˡE?A`" ?'>ٽ aA)7eAIC[AihAbA&MF=Ye=QU>a9DeHBy`<}>I  K4,5?  K4= @  ?9B: M:)KK4W5֑@W1X1 X1W1:W92W9*W9V9bU9BUA*UAUAUM`İ?BuYBu\= B}@A}*ByA}AAA<"CܿRC(f=C֑@CօB49IIGe4>$Ty(Eiaak+>MJ=YQU>a9DJBy } >I K4,5? K4J _@ ?9B: :)YK4WE@WAXA XAWA:WA2WI]]j]j]; ]9Y]?G1y]܂:]q5*WyVybUBU*UUUqK?BSB B@A*BALAAAd0<"C¦߿RCN<=C@CqZׁIG=>ى ى ܡ 9ܡ Iܥ zDiܥ 3=ܥ =ܡ ܡ ܥ ; ݥ E&ZyEiMt=M7M?iMcCI M[!C)MCIMn CiMCeyMeT=Ye~vQUe>iiam9DmKBqyuS`=}}>Iy K4}ߕ,5? K4}V }@ ?9}B}: }k:)}bgK4W @WX XW:W2W*WVbUBU*UUU_?BobB B Z@A >*B A |A AA˛<"C RCC @C֍0ayE>i==i=i!)I-=)-R=u,=MuI=Y}=QU}>yya9D.MByf<}>Iȑ K4ŕH,5? K4ŕwc ƕ@ ?9ƕBǕ: ȕ:)ȕuK4WF!@WX XW:W2W*WVbUBU*UUU@Bnq\B= By@AD*BA̚AA A X<"CRC >CF!@Ce!aae e :Yayae(5%ȝ=;=IG->{gy#EɮiC<MT=YQU>a:DNBy}>I K4v,5?  K4|o Q@  ?9oB: :)K4W-!B@W)X1 X1W1:W2W*WVbUBU*UUUs@RB*** querying acoustic contact ***PPB=.n]BA BE@AE*BAAEg3AAAIAMbA<"CURC]->C]!B@CYM/[=%[1=191I5Di5>1115; 5 EI)GEQ> ny9'EZ****** received transponder code query ******F****** received ping request ******)Iyrh|?bX9ȶl?>E= VA)/oAIpgAi^A cAÍN>ÍļÍ?iÍ)CÉ č*C)čy&CIč.Cičy&C3<M%=YQU>a:DPBy[-;}>Iȹ K4Ž,5? K4Ž} ƽ2@ ?9ƽkBǽL; Ƚ;)ȽQK4W-!@W)X) X1W1:W12W1*W1V1bU9BU9*U9U9UeM @B0TBS~= BN@AQ*BA3AAAJ<"CRC"O>C!@ChAhAO=֭+=׉ I G >~ty ExDUSBL response received:!U1,P 09D,000,00B3A,186,80,80,9C,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i)) AAZMr=YD;>QU?a:DRBy;}>I K4,5? -K4M ~@ 5?9+BgM< BM<)aK4W-N5@W)X) X)W):W12W1*W1V1bU1BU9*U9U9U=`5= @BfB#= B`@A *BAÓAAA<"C4jRCPh>CN5@Ci=ֵ׬>׉IG>! % hA) 9) I- /Di- ==) ) ) - ; - E{yE?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iO=MC=Y0QU>a:D%SB!y%;}->I1 =K45,5? =K45Α 5#@ =?95B5: 5:)5ȮK4]]j]j]4 ]9Y]?G1y]܂:]5)]=/;W}k@WyXy XyW:W2W*WVbUBU*UUU`N@BznBVj= B@AV*BAiAAA)0<"C #RC |>C k@C|=5 >IG5>iM nG=yuExDUSBL response received:!U1,R,066,000,00B0F,186,80,80,99,FF Fpublishing direction and range infoKɰg> )CIy\CoW?ٱi -@ -@ -@5$M5H=Y=孽QU=>99aE:DE\UBAyM}U>IQ ]K4U;,5? eK4UΜ U @ e?9UBU: Us:)UK4W@WX XW:W2W*WVbUBU*UUU@-@P*Q\CZQzz`@%7'JQoW?2QK:QbQ\596K4`p{f!@RQ=nfGaȿ|W掅?BQ}@ QQP"9?P9?PQQA"QOBeB B@A *BAcҫAAA-j<"CARCDY>C@C)= >|=ֵ.@>׉IG>-y]qDDNmea in: $SNTTA,,,,,005224.42*59 =i=i]@YY] ]]9YYyY]r59e@GMB=Y=>QU>a:D WByz5}>I K4H,5? K4' @ ?9 B: :)K4myAdded new target pos. range: 132.360001 m, bearing: 258.995446 deg, deltaT: 4.412681 s, approachRate: -0.584679 m/s, LOS rate: 0.951002 deg/s, posRepo size: 4m% ProNav: pos range: 132.360001 m, bearing: 258.995446 deg, approachRate: -0.584679 m/s, LOS rate: 0.951002 deg/s, cmd update: 2.853006 deg/s, cmd heading: 247.980304 deg, new cmd heading: 246.278945 deg. W-*@W)X) X)W):W)2W1*W1V1bU1BU9*U9U= `@U=`?BmTgBm= Bm@AmA*BiAuWZAqAqAu}<"C}$*C}` RC}1`>C}*@C9IHDi==; @=֕N>iIyG>Wy}BEiS?(\п!rh̿/? lg)IyʡE?w/ĿMb?-?&< aA)dAIC[AikA\cA>MY=Y QU>a:DXBy<}>I  K4Y,5? K4Գ @ ?9z!B; ;)K4W=ċ@W9X9 X9W9:W92WA*WAVAbUABUA*UIUIUU`l?B}h[kB}焋= B}(@A\*BAU_AAA<"CRCmZ>Cċ@Cх&=E#q>I)GMR>w@y3Ei99    @ @ @ @ý©ýýiýý Ľ)ĽIĽiĽ=ML=Y~fQU>a:D'ZBy 5}>I K4y,5? K4ֿ ܏@ ?9m"B: :)K4Wg@WX XW:W!2W!*W!V!bU)BU)*U)U1U5` ?]YY] ]9YYyY]͟5BuиhBq Bum@A}S*ByA}禵AyAyA}<"C3RCt=Cg@Cϙϙѝ=Az|>שIG> r>9 I Di = = ; E)ݡIݡiݡݡݡݥ4iy"EI ) iUyMUR=Y]Z>QU]>aaae:De[Baym}m>Iq }K4up,5? }K4uN˦ uƏ@ ?9uY#Bu: u:)uK4Wk@WX XW:W2W*WVbUBU*UUUV?B`mB= B@A0*BA{AAA/<"C%RC]=Ck@CѥT=օ_p>YIaGZ> VyEiqq)}= }=:MD=YhQU>a:D_]By@}>I L4\f,5? L4sצ @ ?9V$B: {:)L4W*@WX XW:W2W*WVbUBU *U U U $?UlUkUkU6 Ub9YUG1yUH:U_5B0TjB*= B#@A*BAfAAA˫<"C&RCQ<C*@C=;>IG>{y}%Ei ] ] ] ]]u]>]@i]OC] ]B)]"CI]Ci]LBmD=MmO=YucMQUu>yya};D}^Byl}>Iȉ L4ō[,5? L4ō⦾ ƍ@ ?9ƍE%BǍ,: ȍZ:)ȍL4WdQ@WX XW:W2W*WVbUBU*UUU)@BxBS\= BU@A}*BAAAA/<"C RC;CdQ@C)%= %= =q9qIuDiuf>qqqu; uEѦ>סIGB>yW.Ep=ɮp==i=ie"~?Q롿A`"?e?e\ e=)aIayex&1?(\¿L7A`堿eA>eze+ e YA)eiAIedAie^AaeGaAj=MC=YQU>a;D`Byc}>I L4S,5?  L4覾 @  ?9%B: j:)L4W5y@W1X1 X1W1:W12W9*W9V9bU9BU9*UAUAUEk@]]j]j]0 ]9Y]?G1y]܂:]5)]1;9eRmB*** querying acoustic contact ***PiPiBmB Bi@A*BAýAAAZN="CMRCzwsCy@Cѝl=]=9IAG]w>y-E5Z****** received transponder code query ******5F****** received ping request ******5a;D^bByl}>I L4J,5? L4 7@ ?9t&Bo: :).L4W%@W!X! X!W!:W!2W)*W)V)bU)BU1*U1U1U5 @BpB$= BQ@A2*BAܶƽAAAl="CWRC] hAY a 9a Ie Die >a a a e c; e E龻y%E%xDUSBL response received:!U1,P 066,000,00B0F,186,80,80,99,FF %Command Ack%BRequesting micromodem ping code 2i!)5Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iQQ;M`=Y'=QU>a;DcBy}>hh 9YE1y:5)40;I -L4B,5? 5L4 @ ]?9&B< v<);L4W-`@W)X1 XQWQ:WQ2WY*WYVYbUYBUa*UaUaUex @BnB B@A*BAʽAAA ="C RCoC`@C%gA!%`=$ӿ=׹ I G >ŸyENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I1)1i99]=M]O=Y] aaae;DegeBiymJR=}m>I  L4 :,5? L4 T @ ?9 'B : 3:) IL4W=2@W9X9 X9WA:WA2WA*WAVAbUIBUI*UQUQUU@t@B}B?"= BG@AT*BA-ͽAAA="CRC C2@CѥԘ=eɯy=9IIGuX>yExDUSBL response received:!U1,R,EE1,000,00AE9,186,80,80,BF,FF Fpublishing direction and range info;>ɰd> )?CIyC̃wh?e ^?ٱi) = > U@ ]@ ]@ ]@U©UUiUU U)UIUiUmRMmI=YmьQUm>qqau;DugByy}WŽ}}>Iȁ L4Ņ}2,5? L4Ņ ƅ@ ?9ƅ(BDž<: ȅ:)ȅqWL4W@WX XW:W2W*WVbUBU*UUU@]]i]i]9 ]S9Y]F1y]q:]59e@P*QCZQ__@Qګ@@JQ̃wh?e ^?2Q;>:QbQf024Z` I|(@RQgcs9IDif>; EBMEA||;Y}J$@}J@y}J#$}Ja=}JHiۿ?ܵ8Cۿ`?` ?0??)~J$@ ~Jlb;I~Hɫy髁) IY=_>yS E}DNmea in: $SNTTA,,,,,005228.88*53 i+? rhͿy&1?v>l `<)Iyx&1?y&1?̿>`<ff cA)aAIWAi/oA cA50M5>=Y5~=QU=>99a=;D=hBAyE}M>>I  uL4i}DnG -,5? L4I  z@ ?ixWٺFB9 (B +< <) PgL4mUyAdded new target pos. range: 130.080002 m, bearing: 261.925023 deg, deltaT: 4.440400 s, approachRate: -0.513467 m/s, LOS rate: 0.659755 deg/s, posRepo size: 4m ProNav: pos range: 130.080002 m, bearing: 261.925023 deg, approachRate: -0.513467 m/s, LOS rate: 0.659755 deg/s, cmd update: 1.979266 deg/s, cmd heading: 260.580168 deg, new cmd heading: 261.971474 deg. W@WX XW:W2W*WVbUBU*UU`B`@U J ?BqBo= B@A*BAԽAAA="C#ۿRCOMC@C)= =ѕԘ=u%)I IQ Gu >gyEi=i0=MS=Yw=QU>a;DLjByV}>I L4(,5? L4 @ ?9T)B: o:)tL4Wwp@WX XW:W2W*W V bU BU*UUU`ZT?B=UHBE~O= BE-@AE'*BAAE2׽AAAIAMB="CU}ڿRCU CUwp@CY%!!%V %9Y!y!%95хZ==}qIyG~>   9 I Di = ; EyEi!!)-hA u u u }}= }9<}?i}#C} }cC)}r0CI}GBi},Cp5MM=YQU> a;DkBy}>I! -L4%#,5? -L4%I %@ -?9%)B%/: %H:)%~L4WU@WQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUeI?BD}B B@A*BAڽAAAp="CؿRCC@Cэ2_=eQڽ9IIGeU>y EiYY<MI=YQi;QU>a;DmByʽ}>Iȱ L4ŵL,5? L4ŵ ƵG@ ?9Ƶ*Bǵ: ȵ:)ȵL4WS@WX XW:W2W*WVbUBU*UUU`?B}B B@A-*BA5޽AAAn="CֿRCCS@CgA%%l%l%/ %,9Y%H1y%:%ߣ5%h{=t۽IG >(yIEI)AiM&MM?iM)CI M*C)MCIM{3CiM<M;=YQU>a9ܱIܵHDiܵ=ܱܱܱܵ; ݵ'E)QIQiQQQUM4}>I L4 ,5? L4b' +@ ?9;+B: k:)L4WГ@WX X W :W2W*WVbUBU*UUUL@BM}BI BM@AM*BIAU6AQAQAU!="C]CԿRCYC]Г@Camm)m ml I G >/By Ei \(\?x?> ףp=? ? K7> Q>) I y |?5^?Q˿I + ? (\ 9 $ZA) pgAI x]Ai cA  z`A)%= %=-^/M-Q=Y5z=QU5>99a=II UL4MG ,5? UL4MB0 Mƀ@ ]?9M-,BMA: Mo:)ML4W}>@WyXy XyWy:W2W*WVbUBU*UUU` b@ii T9YF1yq:5BU⁾B]^= B]@A]*BYA]AYAaAe="CmFӿRCiCm>@CqeX%!I)GER>.ǎ@}>GՆ@y}><}>mm}>H޿? Dxt`޿A/U[,w@?)~>ǎ@ ~>a;I~>Cɫqq)q uIqYy>yE鮙ɮi=Me=YuaI L4S+5? L4R8 f@ ?9 -B: :)L4W4@WX XW :W 2W *W VbUBU*UUU=@R%B*** querying acoustic contact ***P!P!BEׇBI BMp@AM*BIAU,AQAQAU3 ="C]ѿRCYC]4@CaN׹IG$>ܥ s>9ܡ Iܡ iܡ ܡ ܡ ܡ ܥ ; ݥ +EUy EUZ****** received transponder code query ******UF****** received ping request ******UaIjj @9Y?G1y܂:)(;9 -L4J+5? -L4B @ -?97.B; ;)L4Wu+@WqXq XqWq:Wq2Wy*WyVybUyBUy*UUUM" @B 7zB >= B@AH*BAAAAmD$="C=DϿRCACE+@CAIG l><=q,X EAY}2$@}2@y}2}2{߽}2H޿?S+?`߿z:l?ln? ݻS?)~2$@ ~2#^c;I~2Cɫ99)9 =I9Y]c>y], EexDUSBL response received:!U1,P EE1,000,00AE9,186,80,80,BF,FF eCommand AckeBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i 1u#M}b=YrQU>aI9 uL4=t+5? }L4=K =@ ?9=$/B=< =<)=PL4W@WX XW:W2W*WVbUBU*UUU$v @B܂B B@A*BAOAAA;&="C=ͿRCACE@C/= }י I G >#f =q,l'EA|i|Y}6h@}6%@y}6}6ZC}6HDܿ?=T?ࡰ{Wܿ@1?֠?e`B?)~6h@ ~6*c;I~6Cɫ髡) IYO>yD@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iz=MB=Y|=QU>aI L4l+5? L4T )@ ?90BA: :)@L4WEL@WAXA XAWA:WA2WA*WIVIY9YI]aDi]=]=YY]; ]&EbUiBUi*UqUqUu@$@BPB[E= B@A*BA+AAA)="C:*̿RCCL@Ckk7 /9YG1yH:5){0;ѥ=}·AIyG>;N=q,HAEAY}Bi@}B @y}BH;}By=}BHzܿ ܣ?4 @pyܿ`!$?)tJb??)~Bi@ ~Bb;I~BCɫii)i mIiYn>yExDUSBL response received:!U1,R,E73,000,00AC7,186,80,80,B1,FF Fpublishing direction and range infoa>ɰb>鰡 )1CIy CBHNE?-?U?ٱI)Mx?&1S㥛?MK?MP M$>)IIIyM5^I ?S㥛ĿMbпM>M$M MWA)MrAIM$ZAiMkAIM(dA    @ @ @áááiáá ġ)ġIġiġ5=MN=Yo=QU>aIȑ L4ŕ+5? L4ŕ[ ƕa{@ ?9ƕ0BǕ: ȕ :)ȕL4WB|@WX XW:W2W*WVbUBU*UUU@P*Q CZQ+z_^@2`,E@JQBHNE?-?U?2Qa>:QbQ'[-e:]_B?RQEbY$L5Kt7y?BQ@ QbQjP79?P29?PQQ?"QGAB}zLBy B}@A}*BAfAAAYA-="CeNʿRCCB|@C)= =ѽ=֭FӅ׉ I G >=q,A[EAɫ )  I YM>yMEDNmea in: $SNTTA,,,,,005233.29*52 2Powering down loadControl I)i)= R(=M:=YQU>aI M4+5? M4c t@ ?91B: w:)zM4  m m  >9Y +I1y : 59@m5yAdded new target pos. range: 128.039993 m, bearing: 263.416545 deg, deltaT: 4.457945 s, approachRate: -0.457612 m/s, LOS rate: 0.334576 deg/s, posRepo size: 4mE ProNav: pos range: 128.039993 m, bearing: 263.416545 deg, approachRate: -0.457612 m/s, LOS rate: 0.334576 deg/s, cmd update: 1.003728 deg/s, cmd heading: 269.443044 deg, new cmd heading: 270.272990 deg. WEo@WIXI XIWI:WI2WI*WQVQbUQBUY*UYU]G`@U] p?BDB B@A*BAnAAA0="C]ɿRCCo@CѕGg=e?΅!I1GU>9 = 4=A 9A IA iA E =A A E ; E $EO=q,tEAY}2@}2!@y}2I:}2@}2Hڿ`Q?[?'ڿե7If?)~2@ ~2a;I~2Cɫ99)9 =I9Y}>y}t7Ee =Mee=Yu=QU}>aI M4|+5? M4i n@ ?9H2B]; +;)IM4W"@WX XW:W2W*WVbUBU*UUU |?BuBq Bu@Au*BqA}P$AyAyA}4="Cȿ*Cb+RCC"@Cѝh=֍o셾iM mGIe lAq i} AI Vٺ lA |FBG >8#=q,؎EAY}69@}6zG@y}6yE<}6}6H/fؿ&??`ؿ[4` S?)~69@ ~6Ca;I~6CɫAA)A EIAY>y:E=i=    @ @ @ÁÁÁiÁÁ ā)āIāiāP<M@=Y = a=D}By =}>I! -M4%+5? -M4%q %g@ 5?9%3B%: %:)%M4WU1(@WQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUe`?BTBt= BH@AL*BAiAAA7="CǿRCC1(@Cϱϱ)н н%%h%h% %u9Y%E1y%:%5M }! I1 GM >)=q,2ƨEAY}^%r@}^@y}^!<}^Bؼ}^H`y׿? *?` ׿ f a?)~^%r@ ~^a;I~^Cɫ髑) IY>y@E9=jA    @ @ @ÁÁÁiÁÁ ā)āIāiāI<MQ=Y=QU>a=DJBy<}>Iȱ M4ŵ>+5? M4ŵ8x Ƶa@ ?9Ƶ3BǵD: ȵQ:)ȵz+M4i9iImDim=m=iim; m&EWO`@WX XW:W2W*WVbUBU*UUU?B%B) B-@A-2*B)A-uA)A)A5q;="C51ƿ*C=RC9C=O`@CYu?΅QIyG>-0=q, EAY}:o@}:@y}:6<}:Vf}:H`Iտ-?`2?`տ`h@ꢿ ?)~:o@ ~:`;I~:Cɫ99)9 EIAY}O>y}(Ea i@a  a m@a  a q@a  a e@a  zMF=Y~@QU>a=DyByn=}>I M4+5? M4 Z@ ?9z4B: >)-7M4W5@W9X9 X9W9:W92W9*WAVAbUABUA*UIUIUM ?B4XB B+@A*BAAAAu?="CſRCgg- 9YSE1y:q5C@C)=FӅI!G=r>=6=q,iEAY}6^@}6'@y}6љ<}6}6Hҿ`Y?@%?ҿ` 9@x?)~6^@ ~6`;I~4ɫ99)9 =I9Y}>y}+EI)AI) C<MX=YNͻQU>!!a%=D%:B)y-S=}->Iș M4ŝb+5? M4ŝ ƝzT@ ?9Ɲ.5Bǝ9: ȝN?)ȝ@M4Wӗ@WX XW:W2W*WVbUBU*UUUP@B B  B @A ]*BAAAA[0C="CĿRCCӗ@C!m YIiGZ>i m gAu r>9q Iu Diu =q q q u ; u 'E)݁I݁i݁݁݁݅d5d<=q,,EEAɫy髁) IYO>y(Eɮ M M M M@ U@ U@IIIiII I)IIIiIm2MmE=YuQUu>qya}=D}By}>I M4Tv+5? %M4䏧 M@ %?95B: ͜?)GM4WE@WIXI XIWI:Wi2Wi*WqVqbUqBUq*UyUyU}|{@RB*** querying acoustic contact ***PPBB BH@A*BAwAAAU:G="Cÿ*C_?<RCC@C n9Yy5).;9%t=%% %%ס I G >YC=q, EA|4<|Y}6'@}6@y}6,<}6t}6H@xѿ&?@?@afѿ?)~6'@ ~6$`;I~6Cɫ99)9 =I9Y>yeEZ****** received transponder code query ******F****** received ping request ******99aE=DEقBAyM(=}M>IQ eM4UDm+5? eM4U| UG@ e?9U6BU: Uu?)UMM4WF@WX XW:W2W*WVbUBU*UUU`F @B`ߏB B@A*BAAAAbJ="C%ÿRC zCF@C=IG (>CJ=q,)EAY}:ޒ@}:k@y}:q¼}:#}:Hn̿l?/?0̿~?M?`Yj?)~:ޒ@ ~:7a;I~:Cɫ99)9 EIAY}^>y} ExDUSBL response received:!U1,P E73,000,00AC7,186,80,80,B1,FF Command AckBRequesting 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-aDi-=-=))-; -,E    @ @ @55h5h5 5f9Y5E1y5:55)5X,;i )IiޏM)=YΏQU>a=DӃByo=}>I %M4=b+5? -M4ӡ @@ -?97B'< c@)SM4Wm@WqXq XqWq:Wq2Wq*WyVybUyBU*UUU @BB= B@A*BAm AAAO="CT¿*C0RC C@C) q I G >Q=q,pDEAY}2†@}2O@y}2}2X}2HȿZ^?B ? V`@ȿ` ? ^?k@?)~2†@ ~2Qa;I~2Cɫ11)1 5I1YN>y&DAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B a ia i a ma m a qa q a ea e Cl?ʡEƿy&1?;>-2 `<)Iy#~j?Cl˿I +?;_9 ½^\A)½hAI½cAi½aAfbAjA5Me=YQU>a=DBy=}>Iș M4ŝ[X+5? M4ŝ Ɲ@@ ?9Ɲ_8Bǝ#; ȝ3";)ȝ`M4W=˜@WX XW:W2W*WVbUBU*U!U!U%[6@BmABm= Bm>@AuU*BqAul AqAqAuQ="Cw6RCÝzC=˜@CבIG?> 5W=q,:^EA| i| Y}N*@}Nb8@y}N`}N:T}NH(ƿ@?v̖?wGƿ Ll?i?犊 ?)~N*@ ~N`;I~NCɫyy)y }IyYH>yDxDUSBL response received:!U1,R,FD1,000,00AA2,185,80,80,90,FF Fpublishing direction and range info'=ɰ^>+> )CIyB7G?+q?ٱ}vM}R=Yy8QU>aM=DMOBQyUO=}U>IY eM4],N+5? eM4]O ]@@ ?9]D9B]m; ];)]]nM4gg u9YSE1y:`59@W?@WX XW:W2W*WVbU!BU!*U)U)U-T@Pa*QeBZQe1m_@t@JQe7G?+q?2Qe'=:QabQe0\'y!_%g;@RQe:\Yrڈ?BQe؈@ Qe QewPe/9?Pe79?PeQeQe#@"Qe?BHB= B@AM*BA܇ AAA[T="CnN*C"#RC C?@C?i?q>9IHDi==7D; &EIG >`]=q,axEAY}~ ښ@}~@y}~zK<}~r;}~H [? x,@& _i.t??)~~ ښ@ ~~`;I~~Cɫ) IYi>yEDNmea in: $SNTTA,,,,,005237.74*5E I)    @ @ @i )Ii U=MA=Y?>QU>a=D'By%~>}%>I) 5M4-D+5? 5M4-Y -6@@ =?9-+:B-4: -:)-G|M4mm}Added new target pos. range: 125.820000 m, bearing: 262.369095 deg, deltaT: 4.464740 s, approachRate: -0.497228 m/s, LOS rate: -0.234605 deg/s, posRepo size: 4m} ProNav: pos range: 125.820000 m, bearing: 262.369095 deg, approachRate: -0.497228 m/s, LOS rate: -0.234605 deg/s, cmd update: -0.703815 deg/s, cmd heading: 273.919184 deg, new cmd heading: 274.304857 deg. W}՘@WyXy XyWy:Wy2W*WVbUBU*UUzt_@U?BqB9M > B @A*BAAAANCX="C*C4eRCWC՘@CEFӅI!G=Q>Ed=q,EAY}2H@}2}V@y}2G<}2<}2H9`D?@#7ijS@Jܔ??)~2H@ ~2\a;I~0ɫ9A)A EIAY}>y}+E)= mf=MmV=Yua>DByu=}>Iȩ M4ŭl<+5? M4ŭŖ ƭG?@ ?9ƭ ;Bǭ0Q; ȭF;)ȭɉM4W#@WX X W :W 2W*WVbUBU!*U!U)U-X?BmBq BuZ@Au*BqA}ӆAyAyA}$\="C*C=RCg/C#@Ckk 9YG1yH:*5ƂIG%n>oj=q,\ƫEA|;|;Y}6K@}6ؕ@y}6'"}6:}6H:z?)N?` G?@C?L]??)~6K@ ~6a;I~6Cɫyy)y }IyYۋ>y,E m m m m@ m@ m@iiiܙ9ܙIܝCiܝ3K=ܙܙܙܝ; ݝ#Eiii i)iIiii :MC=Y+QU>a>D‡By<}>I  M43+5? M41ا ;?@ ?9;B: :)QM4W5҄@W1X1 X9W9:W92W9*W9VAbUABUA*UAUAUM?Bu&FBu= BuA@A}*ByA}6AyAyA}^c_="C#,¿*CIюRC*C҄@CэQF=օ9UyIםhA)םhAqIG~>Wq=q,EAY}6@}6+@y}6J}6+X}6Hk?"?f(@??N?~ ?)~6@ ~6|a;I~6CCɫAI)I MIIinGIY>y6Ei1mrٺimB=i=x&1?L7A`sh|?ſA ?+ ))IyGz?sh|?Mb?p?> ­aA)­`AI­aAi­_AaA=M== 9Yy5YiQU>a>DByD+=}>I M4"0+5? M4槾 _G@  ?9 =B: L:)M4W-X@W)X1 X1W1:W12W1*W1V9bU9BU9*U9U9UE?Bm-Bi Bmn@Au*BqAueAqAqAub="C}¿*C}RCCX@CZ=ֽIבIG>Yw=q,EAY}:@}:ʕ@y}:Л}:}:H?`|g?zcUS?@y?B`?)~:@ ~:b;I~:Cɫ99)9 =I9Yu{>y}E  iA5M5g=Y= =QU=>9AaE>DETBAyMd=}M>IQ ]M4U.+5? ]M4U UM@ ]?9U=BUI: U:)UųM4W5@WX XW:W2W*WVbUBU*UUU@^?BB& > B@AR*BA}AAAe="CEhÿ*ChRCC5@C) 5t0 I)GE>miAmiAq9qIuDiu>u=qqu; q}=q,WEA|i|Y}60P@}6]@y}6N<}6½}6H8?B?`4r?`?`9M >?)~60P@ ~6c;I~6Cɫyy) IYV>y3E    @ @ @i )IipM?=Y"=QU>a>D/B y =}>I -M4K,+5? -M4 ?T@ -?9>B; ;)M4Wm3 @WiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUyU}'@B}Ӓii 9YF1yq:΍5):;9BM> BM@AMF*BIAM.SAQAQAU!hj="C]Ŀ*C]k$RC]KC]3 @Cayׅ?iׅ^?1IAGew>=q,2EAY}6I@}61W@y}6|;}6..}6HT? ? ? c?nm |0եX?)~6I@ ~6Ehb;I~6CɫYY)Y ]IYY}Fk>y}E鮅a=ɮI)    @ @ @i )IiMZ=M[=Y~QU>  a>DByG)>}%>I) 5M4-++5? =M4- -UZ@ =?9-?B-9; -;;)-M4W@WX XW:W2W*WVbU!BU!*U!U!U-`UK@RUB*** querying acoustic contact ***PQPQB(B> B=@A*BAxAAA\Gn="CĿ*C>RCT_ɼC@CP"סIGA>콊=q,-EAY}6֞@}6d@y}6+.}6}6H?`+?`e?@t??YŅ?@?)~6֞@ ~6a;I~4ɫII)I MIIY}uu>y}EZ****** received transponder code query ******F****** received ping request ******ya>DBy<}>I M4*+5? M44" c@ ?9DAB^: ;)8M4W=S@W9X9 X9W9:W92WA*WAVAbUABUA*UIUIUM @B!8B B-@A*BA3AAA-r="Cſ*CRCĥ=q,FEA||4y}DxDUSBL response received:!U1,P FD1,000,00AA2,185,80,80,90,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 } } } }@ @ @yyyiyy y)yIyiym1Muq=Y} QU}?a>DBy^=}?Iȩ M4ŭ*+5? M4ŭ- ƭ j@ ?9ƭBBǭ: ȭ:)ȭM4W@WX! XaWa:Wa2Wa*WiVibUiBUi*UiUqUu@\ @B8DBvw= B@AE*BA3AAA8u="Cƿ*CҎRC C@C!Uh=E   I) GE >ϗ=q,D`EAY}6t@}6@y}6y}6y}6H@v?`?mC? &`E?@?@v?`?)~6t@ ~6a;I~6CɫII)I MIIY}qV>y}ENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=]]=M]s=Y]WZQUe?iiam>Dm`Bqy}{=}}?Iȁ M4Ņ$++5? M4Ņ8 ƅp@ ?9ƅBBDžb; ȅS;)ȅM4kk 79YG1yH:59@W ue@W X  XW:W2W*WVbUBU*UUU%o@B.B BR@A*BA1$AAA)zx="Cƿ*CRC4<Cue@Cѥ=}dQIaG|>!9!I%Di%=%=!!%; %#EY=q,zEAY}Bɤ@}Bל@y}B!ʼ}Bʆ}BH@&?m?-M? k C?@?C?[ k?)~Bɤ@ ~BEa;I~BCɫYY)Y ]IYYW>yExDUSBL response received:!U1,R,191,000,00A79,186,80,80,B3,FF Fpublishing direction and range info$+ɰ[>> )3CIyBΪ?`տٱjAb;MQ=Y>QU>a>D)B y h+>} >I N4Z,+5? %N45F zw@ %?9CBk: w:)4N4WEB@WAXA XIWI:WI2WI*WIVQbUQBUQ*UQUYU]@Pi*QmBZQm0X7\@ !x%EJQmΪ?`տ2Qm$+:QibQm.X3N}m^eb @RQm̍bĿQto{[s?BQm@ QmkQmNPm%9?Pm/9?PmQmQmp@"Qm#@BN֝B> B@A*BAAAA{="C4ǿ*ClRC8=CB@C) I_IG>.=q,7EA|8i|8Y}臤@}v@y}x}t<}H'?`Sw?@k@s)?۬? ? ?x?)~臤@ ~ b;I~Cɫ11)1 5I1Y}>y}(ETNmea in: $SNTTA,0.092068,,,,005242.20*46 Ill 9YH1y:5    @ @ @i )Ii$=M'=YwQU>a?D"By}>Iș N4ŝ;-+5? N4ŝV ƝI@ ?9ƝEBǝ: ȝ4:)ȝAN4m}Added new target pos. range: 123.360001 m, bearing: 260.765339 deg, deltaT: 4.378794 s, approachRate: -0.561798 m/s, LOS rate: -0.366255 deg/s, posRepo size: 4m- ProNav: pos range: 123.360001 m, bearing: 260.765339 deg, approachRate: -0.561798 m/s, LOS rate: -0.366255 deg/s, cmd update: -1.098765 deg/s, cmd heading: 270.830772 deg, new cmd heading: 270.484562 deg. W-e@W)X) X)W1:W12W1*W1V1bUYBUY*UYUe@ ^@Ue@?BďB= B@Ay*BA!AAAZ="CiȿRCʑ=Ce@CבIG> =q,zUEAY}2@}2[ @y}2}2འ}2H:6?x?z?`-???`( !?)~2@ ~2wa;I~2Cɫ99)9 EIAY]\>y]$?E9IzDi3=; EI)I)=M|=Y=QU ?!!a%?D%ȏB)y-4}- ?I1 =N45J.+5? EN45a 50@ E?95EB1 5:)5$N4WeÖ@WaXi XiWi:Wi2Wi*WiVqbUqBUq*UyUyU} ?B%뇡B--> B-@A-h*B)AM"AQAQAU(="C] 3ɿRC]:=C]Ö@CY֥3YIiGZ> >>=q,0EAY}2+"@}2/@y}2G}2M}2H`7\?@% ? ?S&?`޳??`ÿ>?)~2+"@ ~2>b;I~2Cɫ99)9 =I9Y>y 2Ea iE@a E a mE@a M a qM@a M a eM@a M    E@ E@ E@i )Iie>Me7=Ym,QUm>qqau?D}ByY=}>Iȑ N4ŕ81+5? N4ŕq ƕn@ ?9ƕFBǕq: ȕ>)ȕJ1N4gjj 9Y?G1y܂:`5Wz{@WX XW:W2W*WVbU BU *U U U@?B=B=N= B=@A=i*B9AEd$AAAAAE="CMQʿRCMCs=CMz{@CQE <<I G-N>&=q,c EA|4<|;Y}B@}B@y}B}B }BH@UN?`? X?@h?`?@?r͛?)~B@ ~Bfc;I~BCɫYY)Y ]IYY}6>ykAE=i=ME_=YE$QUE>IIaM?DMhBIyU%=}U>IY eN4]3+5? eN4]} ] @ m?9]GB]: ]~P?)]9N4WbC@WX XW:W2W*WVbUBU*UUU@W?BB B@A"*BA:<&AAAxW="C1˿RC+>CbC@C=ֽ+w=יIGf>ܽp>9ܹIܽDiܽ3K>ܹܹܹܽ; ݽE'H=q,EAY}6m@}6N{@y}6vǢ}6Bݽ}6H v?-?ж?4@Q?`6~? sS?@?)~6m@ ~6~b;I~4ɫYY)Y ]IYYʏ>y0Ei==i=I=)=~MB=YpQU>a?DBB y' }%>I9 ]N4=`6+5? eN4= =X@ u?9=HB=; =y?)=AN45115 59Y1y15M5)5$*;9=Wu@WqXq XqWy:Wy2Wy*WyVybUBU*UUU@BZ<B B@A*BA8(AAAV="CW̿RCB=C@C i5SoGIIiYFٺIA5=ɾ?A- p= I G > 0=q,7EAY}6 3@}6@@y}6ϑ}6r}6H@t?`R?@V?E?ִ? 5? (?)~6 3@ ~6pa;I~4ɫ9A)A EIAY>y4E    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ <MM=Ya?D By}>Iȹ N4Ž8+5? N4Ž ƽ@ ?9ƽIBǽ: ȽB?)ȽGN4WM@WIXi XiWi:Wq2Wq*WqVqbUyBUy*UyUyU}O@Bh8B B@A_*BA)AAAV|="C<ͿRC=C@C  )   > >֍z=i Iq G >[=q,/EA|i|Y}6/@}6@y}6\}6o\Ǽ}6Hލ?1?j?jec?.? a;I~4ɫ99)9 =I9el>9aIeEiei>e=aaey; eEYuߑ>yux3E}p=ɮ}a=UM]O=YeQQUm>qqa}?D}ؓByx=}>Iȑ N4ŕ:+5? N4ŕϥ ƕ@ ?9ƕJBǕ]$; ȕF@)ȕ^LN4W z@WX XW:W!2W*WVbUBU*U)U1U=`s@m'iim ma9Yiyim5)m<;RB*** querying acoustic contact ***PPB=|BA BE@AEP*BAAE;+AIAIAM="CU5ο*CUzRCU>CUz@CY]o==I!G=r>6E=q,ƅIEAY}BH@}B7V@y}B4*}B }BH@6x?@#?| n 1??7?| Y?)~BH@ ~Ba;I~BCɫQQ)Q UIYYV>y 4EZ****** received transponder code query ******F****** received ping request ******ף; B)Iyw/? ףp= n?&?QV> µTA)µhqAIµTAiµhqA cA    @ @ @i )Ii%:M-0=Y-&QU->11a5?D5ĔB1y=<}=>IA MN4Eh<+5? MN4E鵨 Eš@ U?9EKBE: E:)En\N4Wu;@WqXq XqWq:Wy2Wy*WyVybUBU*UUUpj @B4BM= B"@A*BA>-AAAf="CQϿRCQ$>C;@C=ױIG>l=q,]ScEAY}2@}2Ý@y}2E}2/}2H`"?@E?0R:? ? )?@l?`'`?)~2@ ~20b;I~2CɫYY)Y ]IYY>y6ExDUSBL response received:!U1,P 191,000,00A79,186,80,80,B3,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i<Mu=Y-QU5?AIaU?DUrBay$K}>I9 uN4==+5? uN4=¨ =@ ?9=LB==< =<)=SiN4U*UkUkU U9YUG1yUH:U59e@WF@WX XW:W2W*WVbUBU*UUU@ @BU(BQ BU]@AU*BYA]/AYAYA]Ɗ="CRRпRC?>CF@C֝>ae<}p>9yI}@5Ei}R>}=yy}; }E)Ii==a5סIG>=q,/}EA|;|Y}6S@}6᳜@y}6?,}6O}6HWA?`w?Ns?`$? ? ??)~6S@ ~6Dka;I~6Cɫ99)9 9I9Y}>y}&=E@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }<M}C=Y=QU>a?DEByj}>Iș N4ŝ>+5? N4ŝVШ Ɲ@ ?9ƝMBǝ: ȝ:)ȝvN4WYŔ@WX XW:W2W*WVbUBU*UUU`8@BpȧB = B @A *B A\0AAAƋ="C*ѿRC>CYŔ@C!-MR!>IG )>=q,EAY}JX@}J毝@y}Jw{}J }4}JH?E?'?`?Ѧ?`l?,U֧?)~JX@ ~J<`;I~JCɫ髙) IYf>y2/ExDUSBL response received:!U1,R,1BD,000,00A50,185,80,80,AA,FF Fpublishing direction and range infoƾɰDX>+> )*CIyBIQaU@DUBYye=}e>Iq }N4u@+5? N4uߨ u@ ?9uNBu; u;)u҅N4W@WX X W:W2W*WVbUBU*U!UaUeo @Pq*QuBZQuWv[@&ʩFJQuC-@C)5[=% Em$>- r?i- N? I G- >=q,EA9IAEi{>; Y}z@}z,@y}z_B}z}zHy?` *?O` ? ?@&?l?)~z@ ~z^`;I~zCɫqy)y }IY>yFBETNmea in: $SNTTA,0.088365,,,,005246.64*47 x&1?NbX9ȿ~jt ? E ļ) I y Cl?ˡE?T㥛 ? ;? '= > C[A) hAI -PAi z|A  (dA-z=M-%=Y-BͽQU->11a5@D5B9y==}E>IA MN4EG+5? UN4E Ea@ U?9EOBE: E:)EN4m}Added new target pos. range: 120.900002 m, bearing: 259.857361 deg, deltaT: 4.511380 s, approachRate: -0.545287 m/s, LOS rate: -0.201264 deg/s, posRepo size: 4m ProNav: pos range: 120.900002 m, bearing: 259.857361 deg, approachRate: -0.545287 m/s, LOS rate: -0.201264 deg/s, cmd update: -0.603792 deg/s, cmd heading: 265.885031 deg, new cmd heading: 265.388224 deg. WX@WX XW:W2W*WVbUBU*UU9^@U@f?B2BY= B@A6*BA(4AAA ="Ccҿ*CFeRC&7>CX@Cp{=3(>ׁ I G >=q,ۿEA|i|Y}6q@}6@y}6l/}6s <}6H@-?`]?y(?x??`?r?)~6q@ ~63'a;I~6Cɫyy)y yIyYԷ>y+bEU&>M]=Y]x=QU]?aaae@DeBaym}m?I N4~K+5? N4 @ ?9PBB; wX;)N4WU;@WQXQ XQWQ:WY2Wa*WaVabUiBUi*UqUqUu E?BZ,B\= Bh@A*BAlv5AAAƎ="CNPӿ*CORCm>C;@Chh 9YE1y:ΐ5](==04>I!G=>=q,.EAY}:#@}:1@y}:}:}:H@T? ?` φ`S X?B?O?`?)~:#@ ~:HJa;I~:Cɫ11)9 =I9Ye>ylEI) E M M M@ M@ M@IIIiII I)IIIiI](=M]J=Y] >QUe>aaae@DeBiyu$u}u>Iy N4}P+5? N4}n } @ ?9}}QB}: }4:)}N4W@WX XW:W2W*WVbUBU*UUU?BEBe> B@A*BA7AAA="Cӿ*CRC@2>C@C)Э= Э=ѝ=ԥjAԥjA9I@gEi>8D; 0E{K7>סIG>=q,|EAY}6mw@}6@y}6ҽ}6۔ν}6H`H?rc??RY?`Z?GQ?o`-?)~6mw@ ~6a;I~6Cɫ99)9 9I9Yu>y}RE) =yٽMQ=Y($=QU> a @D GB y2<}>I %N4U+5? %N4  @ -?9lRB: I:)ƼN4WM@WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYUe`c?BB B@A*BA8AAAcz="C[Կ*C4RC>C@Cэ=m->jj o9Y?G1y܂:5)x8;9YIiG8>g>q,lZEA|"4<|"4y~VEuw<MuC=Yud˽QU}>yya}@D}By"}>Iȉ N4ō[+5? N4ōA ƍw@ ?9ƍgSBǍ: ȍ:)ȍjN4Wԓ@WX XW:W2W*WVbUBU*UUU,v?B)B= B@A*BAk:A A A ="CԿ*CeRC>Cԓ@C>a >׹IGh> >q,+/2EAY}2Ӣ@}2@y}2s}2+0}2H?ۼ??@b\پ???>?@h?)~2Ӣ@ ~2:b;I~0Rq>9PIRZEiRͱ>PPPR; R(EɫYY)Y ]IYYg>ygpE!i%=-a=i-R=I4=)C= % % % %@ -@ -@!!!i!! !)!I!i!=?=M=1=YEԳQUE>QQaU@DU BYyeҼ}e>Ii }N4mn`+5? }N4m - m@ }?9mzTBm!; m4X;)mN4W9@WX XW:W2W*WVbUBU*UUU|@B?hh 9YE1y:5)Y(;B B .@A *BAEV<AAA/="Cտ*CUQRC%4=C%9@C!%p{=M2>) Ia G > Ci nGI i E 4޿ٺA E [A W@9 FB>q,LEAY}2@}2T@y}2B $}2td)}2H.8?@n?`,?vk۸?@?j?夿1?)~2@ ~2^a;I~2CɫII)I IIIY>ysbE鮁ɮ=5^I ?Cl绿Zd;O?>;߽ j=)Iy/$?&1kt?1?P 0> -PA)sAIirAaA } } } }@ }@ }@yyyiyy y)yIyiy+Mk=Y`QU?a@DByo}?Iȩ 5N4ŭ`+5? 5N4ŭ6 ƭh@ =?9ƭ+UBǭ< ȭݔ<)ȭN4W}@WyXy XyWy:W2W*WVbUBU*UUU j@RB*** querying acoustic contact ***PPBUB BR@AP*BA =AAAi="C  ֿ*CRCf=C@C==@=IG>u>q,&eEA|i|Y}6)/@}6<@y}6nZ}6n~}6H??h? /?@E??@6?)~6)/@ ~6`;I~6Cɫ99)9 =I9YT>yqEZ****** received transponder code query ******F****** received ping request ******AAaE@DEBIyU}U>IY eN4]`+5? mN4]A ]@ m?9]UB]j; ]#;)]N4Wl@WX XW:W2W*WVbUBU*UUU@mb @BtĪBi= B@AZ*BAf?AAAT="CLֿ*CRC "Θ=C l@Cϩϩ)  7:Yys59 @ܥp>9ܡIܥ EiܥH>ܡܡܡܥ; ݥ"E֍ =a Ii G >2>q,EAY}:Р@}:oޘ@y}:6%X}:Z}:H =3?x? ?c9?M?g?`4?)~:Р@ ~:`;I~:Cɫ99)9 =I9Y} >y}ExDUSBL response received:!U1,P 1BD,000,00A50,185,80,80,AA,FF Command AckBRequesting micromodem ping code 2iI)]Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 鿩     @  @  @i )Ii52=M5#=Y=Ǒ;QUe>iiam@DmBiyu}u>Iy O4}D`+5? O4}WO }@ ?9}VB}0V< }V<)}7O4WEN?@WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQUUb @B퟾B BF@A*BAʖAAAA-="C]3B׿*C]WRC]m3=CeN?@Ci >>֭(S=i Iy G >&>q,EAY}2>@}2tL@y}2T}2R}2H? 6?c?)7? ? ej?^ ??)~2>@ ~2/`;I~2Cɫ99)9 =I9Y>yxEAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B UuMU=Y]*D,>q,uEA$9$I&Ei&>$$$&; &E) I i = 84|:;|:;ɫ) IY->y5E=xDUSBL response received:!U1,R,104,000,00A2A,186,80,80,B8,FF =Fpublishing direction and range info5Vh1ɰ5'U>5> 1)58CI1y5=B5et! .?:/2̿ٱ1Mb@Mb@Mb@ )Iy/$?Q? rh??u=C = …VA)…/oAI…nHAi…ƃApeAs=M+=YQU>aADBy}>Iȹ O4Žd+5? O4Ž{g ƽ@ ?9ƽXBǽ: Ƚ:)Ƚ"O4WT@WX XW:W2W*WVbUBU*UUU@B@P*Q=BZQ\@_:JQet! .?:/2̿2QVh:QbQ{0+1\O<|9@RQfX%ÿxF?BQK@ QQP,9?P#9?PQQZA"Q8ABGB= B%@A%6*B!A%DA!A!A%8*="C-Jؿ*C5RC5a=C5T@C1Ur = I G5 >f,3>q,rOEAY}2@}2@y}2b}2'}2H`;7z?h? \?wӊh`V)?L(?`٢?)~2@ ~2\t`;I~2CɫYa)a eIiY>yE%TNmea in: $SNTTA,0.337085,,,,005251.11*49 %=i%=%p=i%C=I=)=    @ @ @i )Ii \=Mh=Yh QU>aADϠB)y5N}=>II ]O4Mf+5? ]O4M2s M@ e?9M|YBM+ ; M1;)M/O4myAdded new target pos. range: 118.620003 m, bearing: 261.190231 deg, deltaT: 4.482898 s, approachRate: -0.508599 m/s, LOS rate: 0.297323 deg/s, posRepo size: 4m ProNav: pos range: 118.620003 m, bearing: 261.190231 deg, approachRate: -0.508599 m/s, LOS rate: 0.297323 deg/s, cmd update: 0.891970 deg/s, cmd heading: 263.183792 deg, new cmd heading: 262.965856 deg. Wm\+@WiXq XqWq:Wq2Wq*WyVybUBU*UU ]@UZ?UUjUjU U9YU?G1yU܂:U`5BBB7= B@A*BAeFAAA="C׿*CRCi<C\+@Cѵp{=u=I IQ Gu >V9>q,x*EAY}2Ԟ@}2p@y}2}2{Ľ}2H@_e??W?K`a_? o?O?)~2Ԟ@ ~2`;I~2Cɫ99)9 9I9Y>yE=9;M=Y=Y=?BQU=>AAaEADEBIyM)}M>IQ ]O4Uh+5? eO4Uu U@ e?9U]ZBU: Ub:)UA@>q,EA|i|Y}jj@}jVx@y}j}jý}jH? &?@t`k6?Z?@x?)~jj@ ~j`;I~jCɫ) IY-^?y-E    @ @ @i )Ii#=M?=YQU>aADlBy I} >I O4j+5? O4 @ ?9^[B: (:)KO4W]u@WYXa XW:W 2W *WVbUBU*UUUMͯ?B B= Bx@A*B ==o=o= =9Y=sJ1y=:=5)=}(;9EA IAIAIAMϐ="CUտ*CUWZRCUV;CUu@Cyэ箵=ԕiAԕiAm{=ImiA)iA II Gm >hF>q, EAY}6"@}6B0@y}6ʗ}68}6H??@m? 7?@(˴@1?)~6"@ ~6`;I~6CɫYY)Y ]IYY ?yE5]>M=X=Y=*(QU=>AAaEADE.BAyMO}M>Iȡ O4ťPl+5? O4ťA ƥ@ ?9ƥF\Bǥ: ȥ:)ȥXO4W“@WX XW:W2W*WVbUBU*UUU >i?BpñB B!@AS*BAvKAAA="C%4տRC%% C-“@C)5iA5iAmx=E=I)GEQ>L>q,4EAq>9I Ei%?; EY}^@}^@y}^p}^ǽ}^H@2O?8H? Ծ?`6?뷿[?)~^@ ~^hH`;I~^Cɫ) I Y5?y=EE^I +?{GzĿ{Gz?EX>E# E#=)EIAyEsh|?? e>uHX=M}8=YQU>aADBy}>Iȡ O4ťk+5? O4ť䦩 ƥ\@ ?9ƥ-]Bǥ!I; ȥW;)ȥgO4W@WX XW:W2W *W V bUBU*UUU1?B J-B B%@AE*BAAMsMAIAIAMI="CU0SԿ*CU>RCUG̼C]@CYee)i ijj 9Y?G1y܂:5)>+; C< {?i ? I G >zS>q,NEA||4MY=YQU>aADҤByZ=}>Iȹ O4Ži+5? O4Ž ƽs@ ?9ƽ]Bǽ: Ƚ:)ȽuO4W *@WX XW:W2W*WVbUBU*UUUB@BB B&@A*BArNAAA="C?ӿ*C2RC05C *@Cu<׹IGE>Y>q,?rhEAY}:@}:+@y}:}:=z}:H@c? ?yh??$ X?)~:@ ~:J`;I~:Cɫ99)9 =I9Y}-?y}E鮁ɮp=>M\=Y;QU>aADByhH}>Iȹ O4Žh+5? O4Ž8 ƽ@ ?9ƽ^Bǽ: Ƚ:)ȽO4WmY@WX XW:W2W*WqVqbUqBUy*UyUyU}@@RB*** querying acoustic contact ***PPBKB Bj*@A*BAOAAA="Cҿ*CW/RCCmY@CONIG&>! l9Yy59@9IEi A?; E`>q,jMEAY}2 Ŝ@}2Ҕ@y}2,:}2r}2HC@?? \?&?W^?)~2 Ŝ@ ~29``;I~2CɫYY)Y ]IYY}T4?y}EZ****** received transponder code query ******F****** received ping request ******!!a%AD-gB)y5y<}5>I9 MO4=df+5? MO4=Wȩ =@ U?9=_B=j; =;)=O4iDnGIiFٺAW#@W!X! X!W!:W!2W!*WqVqbUqBUq*UyUyU} @B%ޞB! B--@A-*B)A-QA)A)A-^="C5ѿ*C5+RC=t7zC=#@C9UF˼1I9GU>f>q,(EA|i|@Y}6@}6@y}6$}6,}6H`z??B+k@mD? $?w¿`V?)~6@ ~6Ua;I~4ɫ99)9 =I9Y]E?y]EexDUSBL response received:!U1,P 104,000,00A2A,186,80,80,B8,FF eCommand AckeBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 m&>MuE=Y9QU>aBD?By }>I  EO4 d+5? EO4 ԩ @ M?9 r`B < v<) O4Wmʔ@WiXq XqWq:Wy2Wy*WyVybUBU*UUU @BM0LBI BM p>9 I  Fi b? = ; El>q,IEAY} @}@y}J}׽}H? ?T{S] ?`Q?k?)~ @ ~M`;I~Cɫ髩) IYW?yF Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Ia)aIi)iv?7A`¿QԸ> )IyMb? rh?/$? ?C == LA)`{AI?AiA>M(=Y첼QU>aBD4By&}>I O4Vd+5? O4㩾 @  ?9aB: :)O4W-@W1X1 X1W1:W12W1*W9V9bU9BUA*UAUAUE@B,B B3@A_*BAGUAAAÛ="Cs8п*CP9RC1ݽC@Cw׉IG>s>q,EAY}%#@}%x1@y}%gϚ}%}%H۳ O?fN?rKM-??@#`L?)~%#@ ~%k`;I~%Cɫ) IY-f?y- F5xDUSBL response received:!U1,R,02F,000,00A04,184,80,80,D7,FF =Fpublishing direction and range info5'1ɰ5 R>5> 1)5WCI1y5B57G?+qٱ1-m6only read 2 of 4 data itemsu'(>Mud=Y}MQU}>aBDBy<}>Iȡ O4ťBd+5? O4ť奄 ƥ@ ?9ƥ\bBǥ i; ȥۃ;)ȥO4W#3@WX XW:W2W*WVbUBU*UUU @P)*Q-BZQ-_]@+8JQ-7G?+q2Q-':Q)bQ-o+b[t7͘A@RQ-Ȫ/ 1D}J\?BQ-Ӓ@ Q-Q-[P-79?P-,9?P-Q-Q-aB"Q-ZABNƱii 9YF1yq:)5B B8@A*BA VAAA+="CrϿ*CFRCyjC#3@C! I G- >y>q,EA|(|(Y}r+@}r@y}r}r0}rH@B? ?@! Mi?=? n\?)~r+@ ~ra;`;I~rCɫ) IY-q?y5FDNmea in: $SNTTA,,,,,005255.52*5E E=MEN=YE5 =QUM>IIaMBDMBQyU=}U>IY eO4]d+5? mO4] ]@ m?9]FcB]: ]/:)]}O4myAdded new target pos. range: 116.340004 m, bearing: 262.893435 deg, deltaT: 4.428484 s, approachRate: -0.514849 m/s, LOS rate: 0.384602 deg/s, posRepo size: 4m ProNav: pos range: 116.340004 m, bearing: 262.893435 deg, approachRate: -0.514849 m/s, LOS rate: 0.384602 deg/s, cmd update: 1.153806 deg/s, cmd heading: 267.141138 deg, new cmd heading: 267.468701 deg. Wo@WX XW:W2W*WVbUBU*UU]@U@?B"B= B;@A *BAbXXAA!A%/x="C-οRC-:C-o@C1s͌܉9܉I܍"Fi܍?܍=܍>D܉܉ ݉)!I!i!!!%4׹IGE>hۀ>q,BEAY}2@}2E@y}2}2T}2HR?` ?@۷`?=?@n?)~2@ ~23`;I~2Cɫ99)9 9I9Y}$x?y}F=i=a=i4=I%=)%=U=MU[=YUw QU]>YYa]BD]uBaye}<}m>Ii uO4md+5? }O4m m@ }?9m$dBm: m+:)mO4W7@WX XW:W2W*WVbUBU*UUU@tA?BHB BO>@AF*BA@YAAA?="CͿRC&C7@C 2IG%,>jj 9Y?G1y܂:`5)*5;9ɾ>q,qEAY}2@}2o#@y}2͛}2}2HeLy?Ǹ?#}s#?-?6䳿m?)~2@ ~27`;I~2CɫYY)Y ]IYYA?y,%F5K>M=L=Y=$QUE>IQa]BD]CBiyJw<}>I1 uO459e+5? }O45 5@ ?95!eB5jt< 5n<)5O4W@WX XW:W2W*WVbUBU*UUU-?BuBu= Bu]@@Aux*BqA}[AyAyA}-="C[c̿RCxC@CֽױIG>ܑ 9ܑ Iܕ 6Fiܕ ?ܕ =ܑ ܑ ܕ ; ݕ EO3>q,]7EA|\i|^@Y}eM@}e[@y}e}e8}eH?`ͭ?@Ɏ­?@??)~eM@ ~eu`;I~eCɫ)))) -I1Ym?ym0FQ?p= ף~jt?\? =)IyA`"?&1bX9ȶ??PE= )lAI8AiA`A    @ @ @i )IiZ>M%=Y LaBDABy%Uk<}->I1 =O45eb+5? =O45% 5@ E?95(fB5+; 5B2;)5O4WYB@WX XW:W2W*WVbUBU*UUU?BzLB BB@A 9Yy*5)3;*BAuq]AqAqAu.="C}6˿RC}C}YB@Cѥõ=֝ q Iy G >@>q,J$QEAY}BƝ@}Bsԕ@y}Bef}Bh }BH&?@4ץ? ø`U??ڠ?)~BƝ@ ~Bna;I~BCɫYY)Y ]IYY5?y:FI)I)  @>M=Y%V=QU%?!!a-BD-ެB)y5E=}5?I9 EP4=`+5? EP4=i. =0@ E?9=fB=^: =:)=P4Wms@WiXi XiWi:Wi2Wq*WqVqbUyBUy*UyUyU}`i?B½BF= B*D@A *BAY^AAA9="CoʿRCmtCs@Cѕ=m2)I1GM1>D>q,kEAY}^k)@}^6@y}^펾}^}^H䑿g?@~?`??`"u?)~^k)@ ~^a;I~\ɫ髑) IY}?yL?F    @ @ @éééiéé ĩ)ĩIĩiĩ =M@=YA;QU>aBDByy<}>I P4^+5? P4; @ ?9gBB: 8:)P4W-@W1X1 X1W1:W12W1*W9V9bU9BU9*UAUAUE@BmCBq BuUF@Au,*BqAu>`AqAqA}!i="C}SɿRC(עC@C)-<5q>91I5 KFi5?5=115; 5"Eѽ=+סIG>,>q,EA|@|@Y}nL@}n6Z@y}n^}nez<}nH`H?UB@- ?? ?`?)~nL@ ~na;I~nCɫ髱) IYy?yIFa=ɮ U U U U@ U@ U@QQQiQQ Q)QIQiQe">MeP=YmFQUm>iqauBDuBqy}l3<}}>Iȁ P4Ņ\+5?  P4ŅG ƅcA  ?9ƅhBDž< ȅĕ<)ȅ8P4WUZ@WQXQ XQWQ:WQ2WY*WYVYbUYBUa*UaUU`1@RB*** querying acoustic contact ***PPBBi>= BkH@A]*BAaaAAA؞=ii Q9YF1yq:5)7;"CFȿRCGCZ@C =ֽ|בIGc>nT>q,QEAɫyy)y }IyY?yTFZ****** received transponder code query ******F****** received ping request ******M5N=Y5QU=>9AaECDELBIyM}M>IY eP4]Z+5? eP4]S ]A m?9]iB]<; ]I;)]%,P4W<@WX XW:W2W*WVbUBU*UUUk1 @B̬B BHJ@A*BA6cAAAD="C KǿRC$C<@Cѝu=֕ˡiIyG>A 9A IE aFiE ?A A A E ; E $E >q, EAY}@}!@y}㺜}`<}H`&??5@P?;?@fI?w?L?)~@ ~ha;I~Cɫ) IY-?y-3\F5xDUSBL response received:!U1,P 02F,000,00A04,184,80,80,D7,FF 5Command Ack=BRequesting micromodem ping code 2i99ENmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 kk :9YG1yH:5)/;-Zd;O?S㥻I +-~ ?-/ݽ -9))I)y-Dl?+ηZd;O?-O ?-v-j< -TA)-SAI-~4Ai-ƃA)-YAT>Ci=dnGIQiiٺ8A    @ @ @ñññiññ ı)ıIıiı=M=YQU>aCDByw=}>I - P4 ZV+5? - P4 Lf  A - ?9 jB ;  +:) AP4Wu @Wq Xq  Xq Wq :Wq 2Wy *Wy Vy bUy BUy *U U U `?@B% m?B% V= B% nM@A% *B) A- eA) A) A- av="C5 ſRC5 nC5 @CY U }=E(׵)IAGe?>q,oEA|i|Y}F>I@}FV@y}F}F =}FH@?4?*ɖi?H?Ώ?5ܰ?O?)~F>I@ ~Fva;I~FCɫ髹) IY ׾?y jF?AENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ]|>Mey=Ye=QUe ?iiamCDm1BqyuĚ=}u ?Iy P4}wT+5? P4}o }A ?9}kB}: }:)}9MP4W=ٗ@WX XW:W2W*WVbUBU*UUU@Ec@B⍺Bt= BN@A ߿*BAfAAA П="C xĿRC-UC=ٗ@CV=שIGd>>q,EAY}:zv@}: @y}:O}:je=}:HM?鰅> )BIyB|;?N=пٱ=Ml=YXqQU?jAr>9IvFi?; !EaCDBybq<}>Iȡ P4ťbR+5? P4ť { ƥA ?9ƥRlBǥ; ȥP;)ȥRZP4W@WX XW:W2W*WV!bU!BU!*U!U)U-@PY*Q]BZQ]a( [@]5<JQ]|;?N=п2Q]G\:QYbQ]c݇[7ZEF>@RQ]fɿW9"b[V)?BQ]@ Q]`Q]P]9?P]79?P]Q]Q]"B"Q]aBBhB BP@A*BAhAAA+="CcÿRCbIhC@C >p>T=oIG >>q,ۊ EAY}:@}:@y}:-}:_=}:H귫?? uiq^?`8?@Kh?ꏮ?n?)~:@ ~:~`;I~8ɫ99)9 9I9Y}P?ywFmDNmea in: $SNTTA,,,,,005259.99*55    @ @ @i )Ii%O>M%5=Y-QU->11a5CD5ʲB9yE;}E>IQ ]P4UP+5? ]P4U UA e?9U9mBU: U:)U9iP4m}Added new target pos. range: 113.820000 m, bearing: 257.830707 deg, deltaT: 4.483631 s, approachRate: -0.562045 m/s, LOS rate: -1.129158 deg/s, posRepo size: 4m% ProNav: pos range: 113.820000 m, bearing: 257.830707 deg, approachRate: -0.562045 m/s, LOS rate: -1.129158 deg/s, cmd update: -3.387474 deg/s, cmd heading: 272.322863 deg, new cmd heading: 272.805549 deg. W%dM@W!X! X!W!:WI2WI*WIVIbUQBUQ*UQUUzt\@UUs?B㯾BM= BR@Aܿ*BAiAAA!l="C ſRC C dM@C C=`kבIG>'>q, f&EA||;Y}6@}6@y}6H}6&a=}6H9?@U?(mVIJ?@f?? +Ȱ?@V?)~6@ ~6$N`;I~6Czzkzkz z9YzG1yzH:z5ɫ99)9 =I9Y}"?y}F>i=ec>MeW=Ym'QUm>iiauCDuBqy}> =}}>Iȁ P4Ņ:N+5? P4Ņ̒ ƅ5A ?9ƅnBDž: ȅ:)ȅevP4W@WX XW:W2W*WVbUBU*UUU??BB BT@A7տ*BASjAAA="CɿRCXC@C %K=!9!I%`Fi%p?!!!%; %.E)݉I݉i݉݉݉ݍ^4IGM >>q,A@EAY}FP@}F]@y}F}FA4=}FH ?"?``gR`Nn?`<[??pN?mU?)~FP@ ~FU_;I~FCɫ) IY5?y=F}?5^I?RQ?HzGM?> = )IyʡE?MbX ףp= ??ʽQ= VA)JAII2AitAUA    @ @ @i )IiW=M2=Y:QU%>!!aCDxBy<}>Iȱ P4ŵK+5? P4ŵ ƵC A ?9ƵoBǵ; ȵ;)ȵ P4ɾ@AW@W!X! X!W!:W!2W)*W)V)bU)BU1*U1U1U5]?B9ͫB BW@ARӿ*BAtlAAA̠="C/ͿRC<C@C٦=֭":׉ I G >9>q,ZEAY}6@}6@y}6͞}6=}6Hc?`?cK[? `???@+b?)~6@ ~6_;I~6C~~l~l~ ~z9Y~H1y~:~*5ɫ99)9 9I9Y?yFuL>Mui=Y}|yaCD+By<}?Iȑ P4ŕ7J+5? P4ŕ ƕ A ?9ƕoBǕs: ȕ:)ȕP4W@WX XW:W2W*WVbUBU*UUU Ȗ?B}ZcBy BX@AͿ*BAmAAA( ="CBпRC)K=C@Cϙϙ)С С9=jA񖻹IG >od>q,'sEA|i|Y}:@}:@y}:1}:pa=}:HE?ܼ?`L?N?r? ?`\?)~:@ ~:ؒ_;I~:Cɫ99)9 9I9Y}?y}EFܭq>9ܩIܭFiܭ?ܩܩܩܭ; ݭ$EI9)9>MI=YzaCDByA<}>I P4[H+5? P4 | A  ?9pB"; ;)FP4W>@WX XW:W2W*WVbUBU*UUUK@BɮB! B-Z@A-ʿ*B)A-nA)A)A5:="C5CӿRC==C=>@C9]e9IaG>K>q,ҍEAY}2@}2K@y}2]}2<}=}2HS;?a? ݷ@`.M?^?wc??`ZF?)~2@ ~2/_;I~2Cvvjvjv v9Yv?G1yv܂:v5)vs-;9zɫYY)Y ]IYY,?yҖF    @ @ @áááiáá ġ)ġIġiġO>MG=YQU>aDDͶBy;<}>I P4F+5? P4ƪ >A ?9qB: :)7P4WO@WX XW:W2W *W V bU BU*UUU@R@B=dBA BEt\@AEÿ*BAAE&pAAAIAMPZ="CU02ֿRCU=CUO@CY< t> x>!I1G]3>u>q,EAY}2I.@}2;@y}2}2Odr=}2Hj?ձ?@۷ ??? լ?@??)~2I.@ ~2jD_;I~2Cɫ99)9 =I9Y}U?y}֛F鮁ɮ)1>M^=YQU>aDDBy[<}>I P4^E+5? P4kҪ A ?9rB8v; b;)!P4WYΒ@WX XW:W!2W!*W!V!bU)BU)*U1U1U=gT@RMB*** querying acoustic contact ***PIPIB}˥By B>^@A'*BAGqAAAs="CٿRC%=C%YΒ@C)-D=5?i5?I G-,>9I(Fi,@; &EP_>q,ŏEA||Y}6P@}6^@y}6}6E*=}6H?Ź?Dw?Q ?|?&&?@F?)~6P@ ~6UT_;I~6Cvvhvhv v9YvE1yv:vN5)v/;ɫQY)Y ]IYY@yFZ****** received transponder code query ******F****** received ping request ******aDDBI P4E+5? P4㪾 A ?9sB: :)P4W-}ɑ@W)X) X)W):W12W1*W1V1bU9BU9*U9UAUE @BB B`@A׻*BAorAAAo="CvݿRC>C}ɑ@C ~= I G >Շ>q,,dEAY}6#C@}6P@y}6}6ʅ<}6H`H?@?{`o?u?৳??F?)~6#C@ ~6"{_;I~6Cɫ99)9 =I9Y}@y}ĦFxDUSBL response received:!U1,P 126,000,009DA,186,80,80,6A,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 >M=YQU ?!a%DD-.By}?I P41F+5?  P4 A ?9~tB ; ^;)P4W,@WX XW:W2W*WVbUBU*UIUIUU`nW @B ǰB Bcb@A*BAsAAA ="C ߿RC='>C,@Cɾ%@A%?A=IG-o>>q,`?EAY}:+@}:39@y}:bI}:G}:H`-ݹ?i?@?p?C?Gs>?)~:+@ ~:!_;I~:Czzkzkz z/9YzG1yzH:z59@ɫ99)9 =IAAEhAI9IIMpFiM @IIM9DM; MEY} @y}HF@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 7(>M@=YlQU>aDDByA}>I P4F+5? P4t >A ?9guB: :)P4Wrt@WX XW:W 2W *W VIbUQBUQ*UQUQU](@B|,B Bd@A*BA tAAA<="CmRC=8>Crt@C=סIGA>i mGI i U ٺQ U 1A?q,eEA|,i|,ɫ髑) IY@y1FxDUSBL response received:!U1,R,13D,000,009AC,185,80,80,AF,FF Fpublishing direction and range infoɰJ>+> )/CIyBDjP?VzѿٱI)A    @ @ @ÁÁÁiÁÁ ā)āIāiā>M:=YQU>aDDBy}>I P4F+5? P4t A ?9fvB< <)P4WG@WX! X)W):W)2W)*W)V1bU1BU1*U1U1U=`@Pi*QmBZQm7Z@a@+U>JQmDjP?Vzѿ2Qm:QibQmg^3+a_,Y~{A@RQmESƿ9&y0>Y/?BQm@ Qm1QmPm'9?Pm9?PmQmQmB"Qm"BBB BBf@Aw*BAF=vAAA="CORC&O>CG@C)]>ױIG> ?q,)EA~||~ ~E9Y|y|~5Y}@}Nř@y}7}Ð}H p?@9??ࢄ?@,? ?d`~2?)~@ ~_;I~CɫQQ)Q UIQY@yFDNmea in: $SNTTA,,,,,005304.52*5B M_>MMP=YUԻQUU>QQaUDDUBYy]}e>Ii mQ4mF+5? uQ4m m2A u?9mIwBmk: m:)mQ4myAdded new target pos. range: 111.060005 m, bearing: 259.409383 deg, deltaT: 4.511734 s, approachRate: -0.611737 m/s, LOS rate: 0.349904 deg/s, posRepo size: 4m ProNav: pos range: 111.060005 m, bearing: 259.409383 deg, approachRate: -0.611737 m/s, LOS rate: 0.349904 deg/s, cmd update: 1.049713 deg/s, cmd heading: 257.056589 deg, new cmd heading: 255.841984 deg. WǏ@WX XW:W2W*WVbUBU*UU [@U@?BB Bg@A*BA&wAAA׋="C*C1҈RCqC>CǏ@C %l>%p>%9g>Q9QIUHFiU @QQQU; UEיIG>ګ?q,BEAY}2;@}2OI@y}2LΨ}2l}2HӲ?Q?`6ޥ?S/v??@t?`y4?)~2;@ ~24`;I~2CɫYY)Y ]IYY9@yF+?#~jS㥛v?㥽 /ݼ)IyMbX?Q롿*?\ 9FA)JAI&Ai~ApMA=q>MEK=YM]QQaUDDU~BYye}e>Ii uQ4mxG+5? }Q4mE# mA }?9mMxBmH; m.;)mQ4W4@WX XW:W2W*WVbUBU*UUUZ4?B0ʨB Bi@A*BA3xAAAɋ="C:RC%>C4@Ch*>יIGb>]?q,\EA||  j j  9Y ?G1y ܂: `5ɫyy)y }IyY@yF%=i%=uZ6>MuX=Y}QU}>yaDD?By}>Iȑ Q4ŕG+5? Q4ŕ0 ƕA ?9ƕAyBǕ\; ȕc;)ȕQ4WB@WX XW:W2W*WVbUBU*UU)U- ?BurBq Buk@Au*ByA}=yAyAyA}&="C7RC}!>CB@C֥C>yIG^>?q,&vEAY}2#@}2Q1@y}2[}2}2H  ?Ÿ?@z? =|^?@6?B ?)~2#@ ~2.b;I~2Ctv<zp>9xIzXFizw$@z=xxz; zE)ɀIɀiɀɀɀ̀/4ɫ99)9 =I9Yu"@y}F    @ @ @i )Iin?>MC=Y氺QU>aDDByЦ}>I Q4G+5? %Q4? gA %?9PzBG); );).Q4W}@WX XW:W2W*WVbUBU*UUU@?BmBi Bmdm@Am*BiAu 2zAqAqAu="C}HRC}!U=C}}@Cɾ!!֕C>qIyG~>#?q,aEAY}:Z}@}:ꊗ@y}:&}:!}:Hp|?1??!@z@"z??¿m?)~:Z}@ ~:&b;I~8  h h  9Y E1y : 5ɫ99)9 =I9Y}x(@y}EF]yu>M]S=YeQUe>aiamEDm۾BiyuW}u>Iy Q4}G+5? Q4}'M }A ?9}G{B}=: }:)}IG$>>*?q,JEA|8i|:@Y}@}[ @y}б}o-}Hڃ?@3?`!?+?Q?IĿ?)~@ ~Ra;I~Cɫ) IY>-@y%FI) m m m m@ m@ m@iiiiii i)iIiiiy,>M8=Y#QU>aEDByO}>Iȱ Q4ŵE+5? Q4ŵ\ ƵxA ?9Ƶd|Bǵ; ȵ_;)ȵKQ4W=@WaXa XaWa:Wa2Wa*WiVibUiBUi*UqUqUu-%@B?B Bq@A*BA%|A!A!A%)="C-gYRC-YX=C-@C1]#>q>9IFi*1@=; EIIiG|>1?q,MF=Y<+aEDBym}>I Q4D+5? Q4>i !A ?9H}B: b:)YQ4W V5@W X  X W :W 2W*WVbUBU*UUU%M@R-B*** querying acoustic contact ***P)P)BMUBI BUr@AUb*BQAUb|AQAYA]="C]j߿RCe=CeV5@Ca >>֍=IIYGuX>$7?q,EEAY}2B@}2~P@y}2V}2}c@}2H@Qg?@?j3@\?H#?Րƿ9?)~2B@ ~24a;I~2Cɫ99)9 9I9Y}^7@y}FZ****** received transponder code query ******F****** received ping request ******Mo=YϘ9DIF`FiF>@DDDF; FE     9Y y  `5) `/;ɫyy)y }IyY<@yFxDUSBL response received:!U1,P 13D,000,009AC,185,80,80,AF,FF Command AckBRequesting micromodem ping code 2i=iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 EF>M]E=YmB;QUm>aEDBy%}>I %Q4?+5? %Q4񀫾 u%A U?9~B; ;)9uQ4W筑@WX XW:W)2W)*W1V9bU9BUA*UUUR @B B B-v@A5h*B1As~AAAg="CЇݿ*C(RC=C筑@C<=^= I G >r7D?q,EAY}2!@}27/@y}2˩}2E9}2Hf`?W?1?7@?n?@Jſ`?)~2!@ ~2iU`;I~2CɫYY)Y ]IYYA@yaFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B        @  @  @  @   i   ) I i %A>M-<=Y5;QU5>AAaEEDEBMyU4.}U>Ia uQ4e=+5? uQ4ey e'A }?9eBeM; e_;)eQ4W`@WX XW:W2W*WVbUBU*UUU@B#B B)x@AY*BAaAAA팠="CܿRC[C<C`@C) ɾ%?A%@Ae aJ?q,+EAY}6@}6@y}6󧾙}6)1}6H U??7: پ@‰??9Ŀ`l?)~6@ ~6;_;I~6C     9Y y  59@ɫqq)q uIyY9G@yFxDUSBL response received:!U1,R,01A,000,00982,183,80,80,B9,FF Fpublishing direction and range info޹ɰdG>鰽$> )9CIyBRl6?+;Y;ٱp>Ma=Y"aEDBy3}>I  Q4Q:+5?  Q4Z I)A ?9TB: a:);Q4W5@W9X9 X9W9:W92W9*WAVAbUABUA*UAUIUM^@PY*Q]BZQ] [@~@p*JQ]Rl6?+;Y;2Q]޹:QYbQ]:+li"SYOܡ9ܡIܥ8FiܥJ@ܡܡܡܥ; ݥEZNQ?q,_zEEA|0i|2@Y}rN@}rT\@y}rE}r-t0}rH JvlM??gB?TM?mĿ?)~rN@ ~r _;I~pɫ11)1 =I9ieDnGYuK@IyyuFiٺgADNmea in: $SNTTA,,,,,005308.96*5F I)Ax&1?Mb{Gz?@ ף)Iy+?L7A`堿~jt?v?+= •+A)‘I•Ai•uAGEA e e e m@ m@ m@aaaiaa a)aIaia}=M}=Y}$aEDBy}>Iȑ Q4ŕB7+5? Q4ŕ ƕD+A ?9ƕBǕM: ȕV:)ȕ{Q4myAdded new target pos. range: 108.540001 m, bearing: 264.852770 deg, deltaT: 4.344068 s, approachRate: -0.580102 m/s, LOS rate: 1.253062 deg/s, posRepo size: 4m ProNav: pos range: 108.540001 m, bearing: 264.852770 deg, approachRate: -0.580102 m/s, LOS rate: 1.253062 deg/s, cmd update: 3.759187 deg/s, cmd heading: 261.626110 deg, new cmd heading: 262.173983 deg. W#7@WX XW:W2W*WVbUBU*UU`"[@U4?B%B! B-{@A-C*B)A-:A)A1A5>;="C=b׿RC=*-C=#7@C9օ! U=Y Ii G >rW?q,:_EAY}63@}6eA@y}6ӡ}6G1}6H L H?@y%?@Q`? ? *ſ0?)~63@ ~6_;I~6C X k k  19Y G1y H: 5ɫ99)9 =I9Y}Q@y}G+>M=YG5->I]?q,'yEA=4=s>9IGiV@; EY}F"@}FS0@y}F}Ft*}FH޳R?"aaaeEDe Baym}m>Iq }Q4u2+5? }Q4uſ u-A ?9uBu: u:)uQ4WM˼@WIXi XiWq:Wq2Wy*WyVybUBU*UUU`v?B5{XB9 B=~@A=Y(*BAAEAAAAAE="Cu?LѿRCu|Cu˼@Cy9יIGb>2d?q,oEA|;|;Y}6[@}6@y}6P𖾙}6 }6Hh?%? ll?a?`:¿OG?)~6[@ ~6_;I~6Cɫ99)A EIAUJUmUmU U9YU+I1yU:Us5YZ@y(G]=iY    @ @ @i )IiWC>MA=YbaFD B y2}>Iȑ Q4ŕ0+5? Q4ŕΫ ƕi/A ?9ƕ@BǕ: ȕ:)ȕ{Q4WT@WX XW:W2W*WVbUBU*UUU@?B}B BZ@Ax*B A A A A X="CͿRCCT@C_ סIGA>Cj?q,S̬EAY}:}ԛ@}: @y}:(R}:}:H T`Á?f?`0?` ?ot?)~:}ԛ@ ~:_;I~:Cɫ99)9 =IAY}_@y}3 G=O>M=W=YEKAIaMFDMBIyUU}U>IY eQ4]-+5? eQ4]٫ ]0A e?9]BY ]:)]1Q4Wa@WX XW:W2W*WVbUBU*UUU9@BؕB B@A *BA/AAA#="C ʿRC*JCa@Cɾ)-?A5$!I9G]T>i9iIm Gimla@iiim; mE)Ii)4oq?q,EAY}2ݛ@}2@y}25}2Vн}2H˟?`#? Ν@,??e?)~2ݛ@ ~29_;I~2CMMjMjM Mx :YM?G1yM܂:M)5)Mx[;9UɫQQ)Q ]IYYd@yP G ףp= ?V-ǿ+?Q?|? =)IyQ?p= ףZd;O?5?j<= ¥G%A)¥xKAI¥Ai¥cA ;A % % % %@ %@ %@!!!i!! !)!I!i!59>M5<=Y="99aEFDEBAyE;}M>IQ ]Q4U=)+5? ]Q4U꫾ Uc2A ]?9UBBU: U4:)UkQ4WL@WX XW:W2W*WVbUBU*UUU7@BB B@A*BAhAAA,="ClǿRCCL@C֥iaIqG9>w?q,4EA|i|Y}6"@}60@y}6;}6存}6Ht?@H?@lq)? @?@S.?)~6"@ ~6E3`;I~4ɫ99)9 9IAYh@yIGI)U>Mb=Y;QU>aFDTByC<}>I  Q4%+5? Q4 3A ?9B: ':)Q4W5@W9X9 X9W9:W92W9*WAVAbUABUA*UIUIUM@RUB*** querying acoustic contact ***PQPQB}kBy B}ǂ@A}*BAAAAi6="CKĿRC*o)C@CU]Ƚ)I9GU>Y ] jAa 9a Ie PGie 8l@e =a a e ; e &E}?q,EAY}2@}2HÔ@y}2\}2=}2HMMA?/?*n?S?9?)~2@ ~2`;I~0-Y-g-g- -:Y-SE1y-:-5)-f;ɫ99)9 =I9Y}n@y}kGZ****** received transponder code query ******F****** received ping request ******MH=YWaFD%By{3=}>I  R4 "+5? R4  ^5A ?9 LB ʒ< ݒ<) \R4WP@WX XW:W2W*WVbUBU*UUU3 @BDOB B@Aʾ*BAAAA@="C*jRCg0CP@C֭ p> p>ׁIG=>;҄?q,8EAY}21^@}2k@y}2K*}2Y}2H`q:?? `4??࠻l?)~21^@ ~29a;I~0ɫAA)A EIAY]q@y]GexDUSBL response received:!U1,P 01A,000,00982,183,80,80,B9,FF eCommand AckeBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )Iim=Mu)=YaFD!By+=}>I) 5R4-(+5? 5R4- -<7A =?9-B-b: -+:)-R4W]&@WYXY XW:W2W*WVbUBU*UUU @BBܧ= B@A)*BAUAAAW="CM^RCM9CU&@CY֭4׵?i׵?׉ I G >]?q,.EA||Y}6@}6u@y}6|}6K;}6Hڗ`?QvE? |;Na?h`?Mu?%?)~6@ ~66a;I~6Cɫ99)9 9IAUvUlUlU Ug:YUH1yU:U59}@Y}v@y}GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=^>Mm=Yt@BMqBQ BUQ@AU-*BQAUAQAYA]2r="CepRCeI;Ce?@CaU))IaG<> t>9 I ,Gi u@ =   ; 9E?q,5GEAY}6@}6@y}6HN}6w<}6H us?ic?w????)~6@ ~6a;I~6CɫYY)Y ]IYY7y@yNGxDUSBL response received:!U1,R,099,000,00956,185,80,80,A6,FF Fpublishing direction and range infoܸɰC>鰥+> )&CIyB?} ٱUjt?!rh̿S㥛?U ?Ulg U/<)QIQyU rh?~jt{Gz?UC+?UDUף< U'A)U1AIUAiUSAQU0A    @ @ @éééiéé ĩ)ĩIĩiĩ=MH=Y*aFDBQyuE7=}}>Iȁ R4Ņ+5? R4Ņ5 ƅ9A ?9ƅBDžX; ȅ#X;)ȅ;-R4W @WX XW:W!2W!*WAVIbUIBUQ*UQUYU] @P*QBZQ%G=Z@j1,JQ?} 2Qܸ:QbQ n8d.-{OfY@w:@RQn"z v?BQ;@ Q7QsiP29?PB9?PQQbA"QBɾAAB]p%BY BE@A*BA-AAA6="C7ﵿRCCC @C֝W5YIiG|>N?q,aEAY}|W@} e@y}N}.W=}H? F?`R@9?`0?? ?)?)~|W@ ~a;I~Ceaae e:Yayae5ɫ) IYm~@ymGDNmea in: $SNTTA,,,,,005313.40*5E -L>M-C=Y511a=FD=tB9yEs=}E>II UR4M+5? UR4MC M:A U?9M{BM: M:)M;R4m}Added new target pos. range: 105.900002 m, bearing: 261.828444 deg, deltaT: 4.524213 s, approachRate: -0.583527 m/s, LOS rate: -0.668476 deg/s, posRepo size: 4m ProNav: pos range: 105.900002 m, bearing: 261.828444 deg, approachRate: -0.583527 m/s, LOS rate: -0.668476 deg/s, cmd update: -2.005427 deg/s, cmd heading: 278.561919 deg, new cmd heading: 280.006849 deg. W%@WX XW:W2W*WVbUBU*UUyZ@U@k?BeBa Be@AeUy*BaAmGAiAiAmS="Cu*CuʈRCu/Cu%@Cym=e 9Ii )i 9 II Ge > 9 I Gi E@ :D ; )E8?q,{EA|i|@Y}6@}6G-@y}6{}6D:=}6H`j? U?j? ?`]"?`U*?`D?)~6@ ~6a;I~6Cɫaa)a eIaYl@y;GI=A)=A}3>MW=YQaFD8Bt9y˂=}>Iȡ R4ť!+5? R4ťQ ƥ;A ?9ƥBǥ&; ȥ;)ȥ}HR4We@WiX XW:W2W*WVbUBU*UUU%*%?BiB Bڇ@AM*BA  \A A A -="CRC% C@C!i%dnG=ا=IQiiٺ^A)0IG5 >n ?q,EAuununu4ɫ髩) I u+:YuI1yu:u5Y@y G    @ @ @éééiéé ĩ)ĩIĩiĩc=MF=YQU>aGD By}>I R4b+5? R4` =A ?9B : E:)VR4W wB@W X  X W :W2W*WVbUBU*UUUx?B7B B@A E;*B A mA A A ="C5RCCwB@C!!)I I AEt> xj0 I G >J?q,[EAY}:O@}:@y}:q}:e=}:H߹?? SN?{??@?N?)~:O@ ~:a;I~8ɫ99)9 =I9Y]@ye#G%37>M%U=Y%))a-GD-B1y5=}=>I9 ER4=+5? MR4=n =*>A M?9=B=V: =:)=BdR4Wә@WX XW:W2W*WVbUBU*UUU`?BB BR@A, *BA({AAAw0="C~RCދCә@C| ,IG*>ܩ9ܩIܭ"Giܭ@ܭ=ܩܩܭ; ݭ Eh2?q,6EA|4<|4i==%V-?Q:v?% ?%\ %<)!I!y%?i|?5Zd;O?%,?%q%j< %;/A)%AI%Ai%~FA!%(A    @ @ @ÁÁÁiÁÁ ā)āIāiā>M5=YQU>aGDBy}>Iȱ R4ŵt+5? R4ŵ Ƶl?A ?9ƵBǵ': ȵ8:)ȵ tR4WR@WX XW:W2Wa*WiVibUiBUi*UqUqUu`@BB B<@A/ҽ*BAAAAgb="CRCmCR@CיIGc>x\?q,EAY}6@}6B,@y}6r}6)=}6H?W?Mÿ@?Fk?`; ? ,R?`?)~6@ ~6`;I~4ɫII)I MIIY]@ye (G>Mi=Y]QU>aGDiB y >} >I R4J+5? R4} e@A %?9B: A:)PR4WM@WIXI XIWI:WI2WQ*WQVQbUQBUY*UYUYU]@B`B B@Aᒽ*BAAAA%="CVRChC@C%ɾIII G%M>ٙ ٝ hAܡ 9ܡ Iܥ 'Giܥ 5@ܡ ܥ ?Dܡ ܥ ; ݥ E)9I9i9=====y4O?q,EAY}N@}Np@y}N\cs}Ng >}NH`b?R? {ſ?/?`K#?`??)~N@ ~N`;I~NCm] mqmqm md:YmK1ym̅:m5)mF;ɫ髙) IY@y)Gɮ===M=F=Y=,QUE>AAaEGDEIY eR4]+5? eR4] ]AA e?9]B]: ]:)]R4Ww@WX XW:W2W*WVbUBU*UUU@k @RB*** querying acoustic contact ***PPB{KB B@AG*BA<AAA="CA`¿RCW<Cw@COν׉IG>_p?q,EA|i|@Y}RM@}R@y}RLr}RU>}RH@??ǿ@/D? L? o?H??)~RM@ ~R `;I~RCɫqq)y yIyYދ@y,GZ****** received transponder code query ******F****** received ping request ******qqauGDuByy}{=}}>Iȁ R4ŅI+5? R4Ņ󫬾 ƅBA ?9ƅ.BDž: ȅ:)ȅ5R4W@W!X) X)W):W)2W1*W1V1bU9BU9*UAUaUm @BSB! B%@A%*B!A- A)A)A-Ρ="C5tgĿRC==Q=Ce@Ci}BQIYG}z>?q,0EAY}6Z@}6믝@y}6yo}62 >}6HO??`ƿ` h?`?`5?}??)~6Z@ ~6_;I~6CI]AA)Ym mwmwm! m*k:YmO1ymP:m59u@ɫyy)y yIyY@y.GxDUSBL response received:!U1,P 099,000,00956,185,80,80,A6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =2>ME`=YUj;QU]>iaGDBQyeep=}e>Iȁ R4Ņ+5? R4Ņ ƅCA ?9ƅBDž< ȅf=<)ȅJR4W%w@W)X) X)W):W)2W)*W1V1bU1BU1*U9U9U=a2 @ E>E>Q9QIU -GiU@U=QQU; UEBQB B%f@A%؁<*B!A%FA!A!A%="C-OaƿRC5-S=C5w@C1]ybݻ1I9G]>?q,~JEAY}2/%@}22@y}2=n}2M?=}2H ֍?N?ſ4OhN? ?`j?`>??)~2/%@ ~2K1_;I~2CɫYa)a aIaYO@yQ0GAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B /$?ףp= ÿX9v? ?  <) I y ?:vMb`  T  0A) AI Z Ai +CA  &A    @ @ @i )Ii]t=M]!=Y]k;QU>aGDBy% =}>I R4$+5? R4:̬  EA %?9XB; ;)0R4WuZ@WyX XW:W2W*WVbUBU*UUUh@B]9vBY B]B@A]a=*BYAe\AaAaAeq="CmbȿRCm=CmZ@Cqm u ?iu ?A II Gm >?q,tadEA|;|;Y}:kn@}:{@y}:`n}:>=}:H??wÿ>I?:`?@M?`Ĺ?@E?)~:kn@ ~:N_;I~8ɫ99)9 =I9eW eueue3 ec:YeKN1yey:e5Ym)@ym2G}xDUSBL response received:!U1,R,1FB,000,00929,187,80,80,B7,FF }Fpublishing direction and range infou⾩qɰu@>u1> q)u7CIqyufBui[r/?D8fۿٱq=i=5D>M5=Y=WQU=?99aEGDEwBAyMW<}M?Iq }R4u&(+5? }R4u֬ uEA }?9uBuo: u{:)uVR4W5@WX XW:W2W*WVbUBU*UUU@@P*QfBZQRPW@BsFJQi[r/?D8fۿ2Q:QbQ"n^4*EIX*@1@RQɿw\9+?BQf2@ Q>QP"9?P29?PQQԬA"QbAB}~By B}ʎ@A}=*BAኂAAAe+="CɿRCt>C5@Cօyb];AIQGm5>= <= <A 9A IE 1GiE v@A A A E ; E E?q,i5~EAY}=@}=@y}=q}=R,=}=H'f??{,@l?@-?P? ED??)~=@ ~=YM_;I~9ɫQQ)Q UIYY@yN4GDNmea in: $SNTTA,,,,,005317.86*50 U =MU:=YU]ĻQUU>YYa]GD]YBaye`q<}e>Ii uR4m-+5? uR4ml款 mFA }?9mLBm(: m4:)mR4m-}Added new target pos. range: 103.200005 m, bearing: 258.183500 deg, deltaT: 4.385990 s, approachRate: -0.615596 m/s, LOS rate: -0.831043 deg/s, posRepo size: 4mm ProNav: pos range: 103.200005 m, bearing: 258.183500 deg, approachRate: -0.615596 m/s, LOS rate: -0.831043 deg/s, cmd update: -2.493127 deg/s, cmd heading: 269.736441 deg, new cmd heading: 268.839062 deg. Wm@WiXi XqWq:Wq2Wq*WyVybUBU*UUY@U?ɾAAB~B B@Ax=*BAAAAE="C$̿RCK>C@CC;=IG>?q,EAY}FZݦ@}F@y}Fs}FR=}FHa;?@\? [r;4??*?۱??)~FZݦ@ ~F_;I~Dɫ髉) I< pp oa:YK1y`:[5Y@y5GuZ=MuY=Yu ٻQU}>yya}HD}Byܙ<}>Iȑ R4ŕk2+5? R4ŕ ƕGA ?9ƕˌBǕl: ȕy:)ȕR4W@@WX XW:W2W*WVbUBU*UUUv?B@|B BM@A=*BAvAAAR="Ck&οRCf/>C@@Cֵ2=ׁIGG>?q,EA|i|@ɫ髙) IY%ҕ@y%S8GI)A    @ @ @i )Ii>M4=YQU>aHDBy } >I R4=8+5? R4@ HA ?9cB: (:)R4WE@WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUYUe7?BzB B@A>*BA!eAAAR_="CпRC>>Q9QIU6GiU@U=QQUf; UEC@Cֽ=yIG>m 4>m Ci I i % ٺ! % A?q,EAY}2@}2`&@y}2Kr}2+=}2HH??@ ޹ ?3??@ڤ?@?)~2@ ~2_;I~2Cɫ99)9 =I9ss 2:YM1y:5);9Ym@yM:GFx?{GzQ?+?# \=)Iy㥛 ?~jt~jt?5?D= G%A)QAI`Ai1>AQ Av >M\=Y;QU>aHDBy T<} >I S4=+5? S4  )JA ?9BU: :)S4WE`@WAXA XAWA:WA2WI*WIVQbUQBUQ*UQUYU]`U?BswB BǑ@A4>*BA*TAAA^f="CIҿRCǬR>C`@C Et>El>rZ=IGk>?q,#EAY}2@}2@y}2r}2_X<}2H`?`?`[m??` ?X?U?)~2@ ~2_;I~2Cɫy髁) IYɘ@y;G = = = =@ =@ =@999i99 9)9I9i9M=MME=YU Y9QUU>QYa]HD]BYyey3}e>Ii uS4mnB+5? }S4m! mKA }?9mtBm; m:)mS4WU̓@WX XW:W2W*WVbUBU*UUUT@BvB B@AH>*BA>AAALm="CտRC&\>CU̓@C.>IGF>% q>9! I% HaHDYBy5Œ}5>II uS4M|G+5? uS4Md0 MLA }?9MBM: Mo:)MS4W:@WX XW:W2W*WVbUBU*UUU@B5L}uB9 B=H@A=W>*B9A='A9AAAE%p="CmwS׿RCmd>Cm:@CqMr5>!I1GMR> @q,ZEAY}>~@}>@y}> v}>EJ}>H?@G?-F@j,2?%?`u?a` ?)~>~@ ~> a;I~>CɫYY)Y ]IYY}@y}?G鮅p=ɮp= 5 5 5 5@ 5@ 5@ 5111i5G@1 5z@)5@I5@i5@E>MEN=YMQUM>IIaMHDU BQy]ϡ}]>Ia mS4eL+5? mS4eS> e>NA m?9eBe: e:)e*S4Wj@WX XW:W2W*WVbUBU*UUU@@RB*** querying acoustic contact ***PPBpB B@A\>*BA.AAAh="C]ٿRCաk>Cj@CEP>שIG (>ɾAA4 @q,23EAY}2l>@}2K@y}2vw}2ț}2Hb?@+?ؒ?7@_???㲿+?)~2l>@ ~2a;I~2Cɫaa)i mIi  C@:YyI59@YL@yAGZ****** received transponder code query ******F****** received ping request ******%99a=HD=BAyE}M>Iq uS4u[Q+5? }S4uN uOA }?9uBu : u:)ug9S4W@WX XW:W2W*WV)bU)BU)*U1U1U5( @B!rB B@A>*BAAAA]=n>9IAGiz@=w; E))I)i)))-4"CۿRC7u>C@C׿Q>IhA)hAIAG}>@q,0MEA|i|Y}6@}6@y}6x}6Aѽ}6H?h6? ?@Hb7?c?@?` X?)~6@ ~6)Pb;I~6Cɫ99)9 =I9Y|@yBGxDUSBL response received:!U1,P 1FB,000,00929,187,80,80,B7,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }V-?+y&1|?}h1?} }`;)yIyy}(\?{Gz&1?}z4?}#}P= }&A)}AI}Ai}6Ay}zA E E EE E=EiE@E EԘ@)E@IE@iE@9=M=YQU>aHDByꚼ}>I S4X+5? S4b QA ?9ՐB; ;)LS4W=7V@W9XA XAWA:WA2WA*WIVIbUIBUI*UiUqUu<@BIrB B@A>*BAɁAAAO="C޿RC>C7V@C Gj> I G >F@q,fEAY}6o@}6)}@y}6y}6}6H???G_?an~?`??ѿ S?)~6o@ ~6b;I~4ɫYY)Y ]IYpp /:YK1y`:\5Y@yEGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B >M=Y,qQU3?aHDBuyy}7?I S4Z+5? S4k RA ?9)B: :) US4WD@WX XW:W!2W!*W!V!bU!BU)*U)U)U-`-@B]cBY B]@A][>*BYAe0AaAaAe<="Cm[6RCmIz>CmD@Cqmt>!I1 Ex>AGU2> = 4= k>9 ٔCI FGi @ = *; ŗE. @q,?ĀEAY}6UҤ@}6ߜ@y}6y}6;0 }6Hs?D?+?~@{$??@?Zÿ{?)~6UҤ@ ~6a;I~6Cɫaa)i mIqY@yFG-99a=HD=kBAyE<}E>II US4M4_+5? ]S4Ma{ MTA ]?9MBM(: MV:)McS4Wl@WX XW:W2W*WVbUBU*UUU@BkB BӖ@A,>*BAaAAA#="C*RC4z>Cl@CEM?iM?I!-$5fCommunications Fault in component: RDI_PathfinderUpGEr>4[&@q,EA|,|,Y}n@}n{#@y}nz}n5}nH@Z?eI? 8?`՜W ?r? ?ſT?)~n@ ~nea;I~nCnn *:YI1y:5ɫ11)1 5I1Ym@yuRIGDNmea in: $SNTTA,,,,,005322.30*5B =i= @Powering down) d>M1=YQU>aIDWByK}>I  S4 c+5? S4  UA ?9 WB : :) sS4WE%ɏ@WAXA XAWA:WI2WI*WIVIbUIBUQ*UQUQUU@@B%iB B@AL>*BA*cAAA="CRC$w>C%ɏ@C,z>IG>I,@q,TEAY}NM@}NB[@y}NQ}}ND}NH ? ON? 5?ط? E?W?`Ϯǿt?)~NM@ ~N}a;I~NCɫ髙) IY5x@y5KG=i|?5?Mb? rh?=>== =C=)9I9y=X9v?~jth?A`"?==?=D;=Y= = A)=(AI=7Ai=5A9=AU '>MUh=Y]ۻQU]>YYaeIDe By}>I S4g+5? S4 WA ?9ےBQ: M:)S4W5E@W1X1 X1W1:W92W9*W9m[>9iImLLGim @m=m>Dm9Dm; mEV9bUBU*UUUF8@B*dB9= BD@A?>*BA9AAA8ܡ="C(+RC%4o>C%E@C)ɾ99m2rw>AIQGm>j3@q,UEAY}2鍢@}2z@y}2+}26K}2Hw? U?\?@q[g??@|? rȿd?)~2鍢@ ~2Ea;I~0ɫ99)9 =I9Y]x@y]LG^=Ml=Y QU?aIDBy}?ss *:YM1y:[5);9I S4i+5? S41 EXA ?9UB: b:)DS4WΎ@WX XW:W 2W *W V bU BU*UUU`@R%B*** querying acoustic contact ***P!P!B`B Bט@A>*BA]AAAݰ="CRCGh>CΎ@C0p>IiA)I$hClearing failed state for component RDI_PathfinderUp G*>y9@q,j.EA|i|@Y}6ס@}6g@y}6쁾}6N}6H`0?[??{@צ??`$?YȿbX?)~6ס@ ~6`;I~6Cɫ99)A EIAY}@y}NGI)x=MJ=Y QU>aIDBy@`}>I S4l+5? S4 YA ?9B: :)US4W~?@WX XW:W2W*WVbUBU*U U U @B5X`B9 B=~@A=h>*B9A=u怾A9AAAEEy="CErARCMSWe>CM~?@CImLco>IIaG9>m jAm jAu J>9u ؔCIu `QGiu -@u =q q u ; u E|@@q, EAY}6+@}68@y}68P}6S}6He?@[?`X?P0?B?MG=Y ػQU>aID^ByR}>I S4n+5? S4Jȭ Z[A ?9zBI: :)S4W-A@W)X) X)W):W)2W)*W1V1bU1BU9*U9U9U=@@Be^Bi Bm.@Ami>*BiAm AiAqAu6="C}eRC}b>C}A@CyiYIu;mAэ\=iٺ;mAA El>Aed>!I)GER>F@q,EAY}2x@}2@y}2o%}2LX}2H๭?U?`^$?%L@?U?ʿ ??)~2x@ ~2n?`;I~2Cɫ99)9 =I9Y}@y}3SGJ>MO=YQU>aID)ByIȱ S4ŵp+5? S4ŵ׭ Ƶ\A ?9Ƶ Bǵ: ȵ:)ȵ~S4W @WX XW:W2W*WVbUBU*UUUU@BG[B Bݚ@Ab?*BAVyAAA="C,RC^>C @CÕ=ֽIe>?i?יIGc>L@q,5EA|@|@  /:Yy59@Y}к@}aȗ@y} n} `}H ?F? ?3`ff?`^?`ʿ2?)~к@ ~>`;I~Cɫ) %I!YmA@ym(UGuxDUSBL response received:!U1,N,80,80,63,E4 9,187,80,80,B7,FF uZNo reply:!U1,N,80,80,63,E4 9,187,80,80,B7,FF -u9MהCIMVGiM@M=IM7DM-; ME-?Mb`{Gzt?> ף)IyCl?MbPaID2ByEF5}E>II US4Mq+5? US4M*뭾 M^A U?9MBMD: Mb:)MS4Wd@WX XW:W2W*WVbUBU*UUU s@B5]B9 B=@A=N ?*B9A=/A9AAAEX="CERCM'_>CMd@CIyy)y y S^> I G >T@q,@QEAY}2(@}2@y}2}2g}2H`w?2?t?@`h ?`? ˿b&?)~2(@ ~2D`;I~0ɫii)i uIqY@y%XGp>M}=YXܹQU ?aIDBy} ?I S4r+5? S4 _A ?9#B^: :)S4W@WX XW:W2W*WVbUBU*UUU@BM@PBQ BUB@AUd?*BQA]AYAYA]B="CRC֣T>C@Cɾyy^>IGj>z@Z@q,jEAY}6F@}6'@y}6ۄ}6`j}6H ѓ ?@?&@^곿1e?k? ̿?)~6F@ ~6_;I~4  q q  s+:Y K1y ̅: 75ɫyy)y }IyY@y@YG$=MJ=Y-QU>aIDBy.}>I S4q+5? S4  aA ?9B90; VP;)S4WMc@WIXI XIWI:WQ2WQ*WQVYbUYBUY*UYUYUe* @B JSB  B @A e?*B A5sA1A1A5,="C=!RC=;N>C=c@CAqU>I)iAIG )>ܕ >9ܕ ՔCIܕ P\Giܕ @ܕ =ܑ ܕ 6Dܕ H; ݕ E)ؔCIؔCi툔C툰=툮=s'7(a@q,܄EA|i|@Y}6B>@}6K@y}6}6wlj}6H`/ ?Å?-?u?̿`?)~6B>@ ~6N_;I~6CɫYY)Y ]IYY˲@y[Gh0>ML=Y]QU>aIDsBy戽}>I  S4q+5? S4 ibA ?91Bt; #X;)S4W=ӊ@W9X9 X9W9:W92WA*WAVAbUABUI*UIUIUM @R]B*** querying acoustic contact ***PYPYB}lNB}ـ= B}@A"*?*BA;~AAAB="CRC*F>Cӊ@C֥CT>aIqG:>Tg@q,EAY}6Uo@}6|@y}6}6g}6Hұ ?Z?y)gf? ?@˿C?)~6Uo@ ~6_;I~6C  r r  2:Y _L1y 7: 5ɫ99)9 =I9Yuٳ@yuE]G}Z****** received transponder code query ******}F****** received ping request ******YYa]JD]KBaye&u}e>Ii S4mo+5? S4m$ mcA ?9mBm; m:)mS4W:<@WX XW:W2W*WVbUBUI*UIUIUU!@B6PB B;@A,?*BAP~AAA4="CNRC'A>C:<@C >龅>֥G>yIG<>'m@q,YEAY}j@}j@y}j녾}jh}jHPٷ`?^? ynÿT?̌?˿@?)~j@ ~jG_;I~jCɫ髹) IYa@yc`GxDUSBL response received:!U1,P 80,80,63,E4 9,187,80,80,B7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ]>9]єCI]aGi]@]=]?D]5D]Z; ]EMb?MbX9L7A`??ʡ +=)Iy"~??Mb?3?<@= z@)A*AI&@i0AGAe >Me=Yu$9QUu>yaJDqBy-}>Iȱ T4ŵ2n+5? T4ŵ9 ƵeA  ?9ƵBǵ.< ȵ+<)ȵT4W-m@W)X) X1W1:W12W1*W1V1bU9BU9*U9U9UE "@BDQB B @A :?*BAy}AAAO="CRCB>Cm@Cֽ F>׽ ?i׽ ?ב I G >dt@q,mEA|4<|Y}6@}6(@y}6R}6Ak}6HMŵ?Cd?@Ҳaƿ]? Pz?*̿?)~6@ ~6J_;I~6Cɫ99)9 =IAUUpUpU U.:YUK1yU`:UJ5)U;9]Y@ywcGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5=i1}A>M}=YǞ;QU9?aJDBy౽}%?Iș T4ŝ+m+5? T4ŝC ƝfA ?9ƝBǝ: ȝ:)ȝVT4W @W X  X W :W2W*WVbUBU*UUU`#@BH7B B@AJ?*BA }AAA`<="CnRC̻6>C@Cѽ=֭B>׉ I G >Pz@q,JEAY}6)@}6 7@y}60_}6j}6H୧ϓ?`? 9&ɿc?\?#̿= ?)~6)@ ~6_;I~6Cɫ99)9 =IAYj@yZeGxDUSBL response received:!U1,R,FDF,000,008BB,185,80,80,8A,FF Fpublishing direction and range info<ɰ7>+> ) CIy3Bo2At?MG&c)|?ٱ=MS=Yu;QU>aJDBy } >I T4[k+5? T4GQ hA ?9ZB: o:)(T4WE_@WAXA XAWA:WI2WI*WIVIbUIBUQ*UQUQU]3$@Pi*Qm3BZQmC#X@7@@JQmo2At?MG&c)|?2Qm<:QibQmn p?R%KaNC_@Cm8=My;>ɾI!GU1>- iA- gA5 >95 ϔCI5 @gGi5 @5 =5 @D5 3D5 p; 5 E9w@q,%EAY}fNl@}fy@y}fǃ}fi}fH\|Ŀn?? ˿7?J?r̿ S$?)~fNl@ ~f_;I~fCmZmtmtm m&:YmM1ym:m5)m(;ɫ) IY@yfGDNmea in: $SNTTA,,,,,005327.99*5D =M;=Y,-;QU>a JD B yX}>I %T4h+5? %T4a iA %?9B: :)8T4m]yAdded new target pos. range: 96.600006 m, bearing: 263.456679 deg, deltaT: 10.103159 s, approachRate: -0.653261 m/s, LOS rate: 0.521934 deg/s, posRepo size: 4me ProNav: pos range: 96.600006 m, bearing: 263.456679 deg, approachRate: -0.653261 m/s, LOS rate: 0.521934 deg/s, cmd update: 1.565801 deg/s, cmd heading: 244.537805 deg, new cmd heading: 243.446593 deg. Wm\@WiXi XiWi:Wq2Wq*WqVqbUyBUy*UyU}f&X@U}`#?B~BB B @AU?*BA {AAA,U="C*C\MRCp>C\@CPڀ=M6>IY)YI IQ Gu >@q,EA|i|@Y}6@}6@y}6<}6Ke}6H`7@ǿ`N?x?ih@oο(?2?v˿/?)~6@ ~6^!`;I~6Cɫqq)q uIqY@yiGUzR>M]V=Y]9;QU]>aaaeJDeVBaymKr}m>Iq }T4ue+5? }T4up ujA ?9utBu: u:)uaET4W K@WX XW:W2W*WVbUBU*UUUf0?Bep^:Ba Be]@Ae>e?*BaAmzAiAiAmڜ="C7RCsG=C K@Cϡϡ)С СJ%>IG >̍@q,H9EAY}2@}2l@y}2O}2c}2H ʿ`_%??Fৗп??>˿ 5?)~2@ ~2 Z`;I~2Cɫ99)9 =I9lmm (:Y+I1y:59@Yȿ@ykG>9̔CImGi@=AD2D; % ףp= ?X9vMbp%Q?% %)!I!y%v?~jt?I +?%8?%=%94= %(@)%#AI%3@i%+A!%QA}=M}9=Y}!D;QU>aJD8ByT}>Iș T4ŝa+5? T4ŝ ƝnlA ?9ƝBǝ: ȝ:)ȝTT4W@WX XW:W2W*WVbUBU*UUU;)?B9B  B @A 1n?*B A  ,zAAAW="CnRC=C@C x>龅i>%2>IGI>>CiEoGI]lAiqٺlAA@q,̵SEAY}:KQ@}:^@y}:+_}:M]}:H@̿?`;?A'@'ѿ?`?@ʿ\C?)~:KQ@ ~:_;I~:Cɫ99)9 =IAY]$@yenGeBM>Me^=Ym;QUm>qqa}JD}B}DyP`}>Iȑ T4ŕZ^+5? T4ŕA ƕmA ?9ƕBǕ; ȕ-;)ȕaT4W@WX XW:W2W*WVbUBU*UUU .$?BDA0B B%@A%|?*B!A%jyA!A!A%ٛ="C-9RC5=C5@C1!-?i-{?IGK>ݚ@q,ɐmEA|;|hss ':YM1y:5ɫ髙) IY@ypG=MG=YQU>aJDBy}>Iȱ T4ŵpZ+5? T4ŵ ƵoA ?9Ƶ$Bǵ^: ȵ:)ȵpT4WF\@WX XW:W2W*WVbUBU*UUU`jO@B%0B! B--@A-[?*B)A-2xA)A1A5mQ="C5TRC=j=C=F\@C9Ma > IG5-><>9˔CIrGi*@=1D; Eġ@q,kEAY}2@}2$@y}2|}2'Z}2H@п?@ ?`ӿ3=?!J?>ʿS?)~2@ ~2"_;I~2Cɫ99)9 EIAY]4@y]sG`>MU=YtaJDB y 4ͽ} >I T4U+5? %T4 cpA %?9B:  :)o}T4WE#@WAXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU]`@Bv(B B@A؉?*BAwAAA͚="CvRC`>X<C#@C֍*=IIYGu>ɾA@q,GEAY}J@}J@y}Jv}J 6Q}JHҿn??¥ |տ?ʊ?>8ɿ m?)~J@ ~Jԉ_;I~JCɫYY)Y ]IY 2:Yyܾ5Y@yvG5 >M=F=Y=doAAaEKDE^BAyMo}M>IQ ]T4U=P+5? ]T4UF UqA e?9U>BUP: U:)UӋT4W]@WX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPB(B BY@A?*BAvAAAH="CRCBC]@C֭|=Iױ)׵hAiIyG>@q,!EA|i|Y}R~@}R@y}RCHs}RJ}RH |Mӿ^?`y?@ӐIֿE? ? ysȿ`~?)~R~@ ~R=_;I~Pɫyy)y }IyY/@ywGZ****** received transponder code query ******F****** received ping request ******9܅ɔCI܅ xGi܅@܅=܁܅0D܁ ݅E)M̔CIM͔CiMCM=M=M 6T㥛 ?V-?~jt?!?h= D<)Iyi|?5?:v?I +?1?T=9< I@)?AI@iS#A AM=M2=Y 8;QU >aKDKByż}>I! MT4%'J+5? MT4%bή % sA U?9%ޝB%a; % ;)%T4W x@WX XW:W2W*WVbUBU*UUU`{ @Bk+B B @A?*BAwuA!A!AE="CMA_RCM:CM x@CQ=X=IG=>@q,YEAY}FSl@}Fy@y}Fzo}F7 =}FHӿUg?X?džֿ@*? V?ƿ@>?)~FSl@ ~Fcf_;I~FCIy)}AAqq ):YK1y̅:&5)؇;9ɫ髡) IYA@yzGxDUSBL response received:!U1,P FDF,000,008BB,185,80,80,8A,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 U;>M]h=YmE>AAamKD Byޑ}>I mT4D+5? mT4ݮ $tA u?9hB1< <)T4 i>龉W5׋@W1X9 X9W9:W92W9*W9VabUaBUa*UiUiUm @B"B B@Ad?*BA'tAAA7="CdRC XC ׋@C ?=IG>0@q,EAY}:(J@}:W@y}:'5j}:0}:HԿtu?3?Hֿ2?x?Wcſ`]?)~:(J@ ~:}_;I~:CɫQQ)Q UIQYu]@y}|GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B $>MF=Y?aKDBy9}>Iȡ T4ť?+5? T4ťlꮾ ƥ uA ?9ƥBǥ: ȥ:)ȥT4WG @WX XW:W2W*WVbUBU*UUU6;@BhB[= B@A?*BAsAAAØ="C%ORC-QC-G @C)-/C<5?i5r?IG+>m>9mƔCIm}Gim@m=mBDm/Dm; mE@q,$EA||Y}6*@}67@y}6&e}6ҳ#}6HAԿࢃ?%`?,ֿ?g? ÿ`?)~6*@ ~6ݽ_;I~6Cɫ99)9 =I9ss -:YM1y:5)8;Y)@y~GxDUSBL response received:!U1,R,F17,000,0088A,186,80,80,A1,FF Fpublishing direction and range info5P>ɰ3>鰝> )!CIyQBj=W?&?ٱi=>MX=YUaKDBy)}>I T4p:+5? T4` #vA ?9hB: :)T4Wt@WX XW:W2W*WV!bU!BU!*U!U!U-j@P9*Q=QBZQ=P[V@͞m2@JQ=j=W?&?2Q=5P>:Q9bQ=Da.'SVE"k1@RQ={M1W0ᅤb?BQ=]@ Q=Q=s9P=;9?P=?9?P=Q9Q=(A"Q=5ABm0Bi Bm@Au?*BqAurAqAqA}G="C}kRCqfCt@CἹסIG >^=@q,T"EAY}j@}j'#@y}j_`}j~}jHmԿ?`? (ֿ;?@?yT?)~j@ ~j`;I~jCޅ=iޅ=ɫ) IY_@ỳG}TNmea in: $SNTTA,0.062236,,,,005332.43*43 !>M:=Y^.aKDrBy}>Iq T4u3+5? T4u- uWwA ?9uBu: uu:)uT4myAdded new target pos. range: 93.660004 m, bearing: 262.764399 deg, deltaT: 4.438098 s, approachRate: -0.662446 m/s, LOS rate: -0.155986 deg/s, posRepo size: 4m ProNav: pos range: 93.660004 m, bearing: 262.764399 deg, approachRate: -0.662446 m/s, LOS rate: -0.155986 deg/s, cmd update: -0.467958 deg/s, cmd heading: 251.486782 deg, new cmd heading: 252.200316 deg. WnV@WX XW:W2W*WVbUBU*UU=jW@UF?B@cB  B J@A S?*B A +qAAA+×="C*C[PRCpQCnV@C!ɾ@A%I G-p>ng@q,3j<EAY}:@}:L!@y}:vp\}:ZX}:H@tԿg??n zHֿ@~?@W? !?)~:@ ~:_;I~8ɫYY)Y ]IYoo -:YsJ1y:\59@Y@yցG>9ĔCI~Gi@=-D; E&1?L7A`?~jt>+= )IyX9v?Mb?S㥛?3?=/< @)AI@iAAA>MF=Y%F!)a-KD-FB)y5}5>I9 ET4=-+5? ET4= =oxA E?9=B=: =:)=T4W ;@WX XW:W2W*WVbUBU*UUU?BuBq Buߧ@A}Ƭ?*ByA}E|pAyAyA}mC="CR*CQRCQC ;@Cѝ[=u`kIy)}iAQIYGu>PO@q,_EVEA|i|Y}6D.@}6;@y}6v{X}6}6H4HԿ`?}c?@7rտ 7? ?'' /*?)~6D.@ ~6n:`;I~6Cɫ髙) IY@yւGI9)9]>M]X=Ye&aaamKDmBiym <}u>Iy T4}'+5? T4}% }xyA ?9}B}: }:)}T4W"@WX XW:W2W*WVbUBU*UUU@©?BB B[@AO?*BA{oAAA˖="C;*CPRC5C"@C=c=IG%M>ky@q,m pEAY}2/n@}2{@y}2xS}2}2H`ӿ(??^տJT?`ZN? Uʯ@?)~2/n@ ~2,o`;I~0irr ':Y_L1y7:n5ɫ髑) IY@y G$>MD=Y-aKDBy<}>I T4$!+5? T405 zA ?9B: :)^T4W@W X  X W :W 2W*WVbUBU*UUUR?BEj BI BM@AMڶ?*BIAUDnAQAQAUM="C]$*C]\JRC]]@\C]@Ca ]>хo=Z=u<%>9%”CI%Gi%@%=%CD%,D%; %EQIYGu>Xa@q,EAiVnGI`ilFٺAY}Ɣ@},Ԍ@y}3O}~}H 6ӿ]?4? Կ6?;?`rl tS?)~Ɣ@ ~0`;I~Cɫ) IY5X@y5G>MG=Y9aKDBy <} >I U4+5? U4zD {A %?96B: :) U4WE,@WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQU]s@BB B{@Au?*BA mAAA_ѕ="C*C>RC=,C,@Cϡϡ)С С;h?i?IG>@q,/ݣEA||Y}6,@}6?:@y}6',J}6fy}6H|ҿY?@?a@ӿj??k_?)~6,@ ~6`a;I~6Cɫ99)9 =I9pp. Y1:YK1y`:~5Y@yGqiu==MO=YZKaLDzBy=}>I U4M+5? U4:S |A ?9B: o:)U4WЋ@WX XW:W2W*W V bU BU *UUU 2@B B B@Ac?*BAJkAAAW="C*C*RCWCЋ@C^IGn>@q,ⱽEAY}:ݔ@}:o@y}:^E}:O/;}:Hgѿ?Jb? ! ҿ?τ?e? Fh?)~:ݔ@ ~:\a;I~8ɫ99)9 9I9Y}9@y}ۆG>9CIGi@=DD+D; EQ?S?Q??/> u<)Iyn?Q?I +?6?<9< ¥@)¥z@I¥@i¥Af@"=MI=YT=aLDJByE=}>I U4+5? U4b }A ?9QB: :)'U4W@WX XW:W2W*WVbUBU!*U!U!U% @R5B*** querying acoustic contact ***P1P1BU fBQ B]@A]?*BYA]jAYAYAe="CeWi*CmxRCmڜCm@CqMS,ɾ?A IG-->@q,lEAY}F@}F@y}F2'A}Fx?<}FH ѿ ?!o?Be ѿ?O?v?{m?)~F@ ~FGUa;I~Dɫqy)y }Iyrr& 1:Y_L1y7:5);9Y@yGZ****** received transponder code query ******F****** received ping request ******MMR=YM-YYa]LD]Bayeo<}m>I  U4  +5? U4 @r ~A ?9 B : :) 6U4W]ҙ@WYXY XYWa:Wa2Wa*WaVbUBU*UUU> @B;B B@A ?*BA0iAA1A5Ok="C="*C=;RC=|C=ҙ@CAuI}hA)yQIYGuz>@q,gEA|i|Y}6bQ@}6^@y}6tS=}6<}6H`_п@?樗? ^@S\пې?@?ƙ?q?)~6bQ@ ~61+a;I~6Cɫ99)9 =IAYC@yGxDUSBL response received:!U1,P F17,000,0088A,186,80,80,A1,FF Command AckBRequesting micromodem ping code 2iI)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ݷ=M%M=Y5-IIaULD]BiyH<}>Iȩ U4ŭ +5? U4ŭ- ƭA ?9ƭnBǭ< ȭ<)ȭCU4Wuw|@WqXq XyWy:W2W*WVbUBU*UUU @BmBi Bm@AmM?*BqAugAqAqAu="CM*CƇRCr;Cw|@CENJNI9G|>ٹٽiA>9CI"GiK@=FD,D; E)U”CIU”CiQU=U=UK7[Aq,B EAY}:@}:S@y}:*9}:k<}:HϿ?x?`wSyϿB?? o?v?)~:@ ~::u`;I~:Cɫ99)9 =I9ss2 0:YM1y:Z5);Y@yGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =M?=Y_aLDBy<}>I U4*5? U4 \A ?9BI: :)0RU4WRd@W!X! X!W!:W!2W!*W)V)bU)BU1*U1U1U5I@B]BҽBa Be@Ae?*BaAefAiAiAm="Cu$*CuRCuQ<CuRd@Cy p>l>iIGj>Aq,O%EAY}6ۖ@}67@y}65}6M<}6H@iο?l?z`Ɍο`?&?uL?g{?)~6ۖ@ ~6_;I~6CɫYY)Y ]IYY}@y}jGxDUSBL response received:!U1,R,FA7,000,00854,184,80,80,9C,FF Fpublishing direction and range info=ɰ.>鰅> )CIy״B;-M?ıܳ?ٱ=M[=YG aLDwByç<}>I  U4 *5? U4 a ΀A ?9 B : :) H_U4W=>;Aq, ?EA|,|,Y}r@}rZ"@y}r>3}rH<}rH@0Ϳ ??@4Ϳ?]U?@;?e?)~r@ ~r ~_;I~pm>9mCImGimx@m=im-Dm; mEH uuO 9:YKN1yy:5);ɫ)))) 1I1Y=@y=sGTNmea in: $SNTTA,0.062825,,,,005336.87*47 =i=u"~j?/$X9v?uS?u u<)qIqyu$C?Mb`I +?u:?uu94= u@)ul@IuG@iu5Aqu@jAhA+=M0=Y;QU>aLDdByv<}>I U4*5? U4J oA ?9.B: k:)uoU4m yAdded new target pos. range: 90.420006 m, bearing: 260.401891 deg, deltaT: 4.468940 s, approachRate: -0.725004 m/s, LOS rate: -0.528651 deg/s, posRepo size: 4m ProNav: pos range: 90.420006 m, bearing: 260.401891 deg, approachRate: -0.725004 m/s, LOS rate: -0.528651 deg/s, cmd update: -1.585952 deg/s, cmd heading: 249.404741 deg, new cmd heading: 249.188293 deg. WZ@WX) X)W):W12W1*W1V1bU1BU9*U9U`V@U`G?B%AB) B-8@A-?*B)A-cA)A)A5d="C5RC]+-=C]Z@CYm]<)I9GU>Aq,DXEAɫ髙) IY@yPGU=M]d=Y]QU]>aaaeLDeBiym}m>Iq }U4u*5? }U4u. uA ?9uBu: uw:)u|U4W@WX XW:W2W*WVbUBU*UUU@?BB B@A?*BA bAAAg$="CRCD K=C@CE+W<ɾIG-,>Aq,rEAY}6xm@}6 {@y}6.}6sL<}6H ̿`).?0?1`̿ǂ?`?`??@?)~6xm@ ~6_;I~6Cɫ11)1 5I1}}v}v}4 }2:Y}N1y}:}59@Y~@y-G E E E E@ E@ E@ EE©EEiEG@E E)EIE3@iES@U=M]J=Y]FaaaeLDeBaym<}m>Iq }U4u*5? }U4uί uvA ?9uCBu: u:)u%U4WE0@WAXA XAWa:Wa2Wi*WiVibUiBUq*UqUqUu^?B.ӽB B*@AP?*BA`AAA="C|RC=C0@C.=IGm>ae<m>9mÔCIm Gim@m=mDDm.Dm; mE"Aq,EA|i|@ɫyy)y }IyYg@yGI)UŐ=M]K=Y]QU]>aaaeLDeBaym}m>Iq }U4u*5? }U4uޯ uA }?9u֧Bu: u:)u9U4Wى@WX XW:W2W*WVbUBU*UUUK?B+B B@A ?*BA_AAA/="C RC戛=Cى@C֥п8=ׁIG>>')Aq,fEAY}:F@}:ٔ@y}:4H*}:3K}:H8̿C,?'?`̿K?`/?!^?)~:F@ ~:&_;I~8ɫ99)9 =I9tt .:YM1y:F5Y@yG5=M=L=Y=*+AAaEMDEBIyM<}M>IQ ]U4U&*5? ]U4U UA e?9UgBU: U:)U4U4W@WX XW:W2W*WVbUBU*UUU`+@BCB B@A?*BA4^AAA="CBRC=C@C t>p>tn=I GMS>0Aq,1AEAY}2|@}2r@y}28R)}2jȼ}2Ha̿$?$?`rDͿ@??=؍?)~2|@ ~2c3_;I~2C >9 ŔCI Gi @ = CD /D q; Eɫ99)9 =I9Y}@y}=GJ +?K7A?y&1|(? > `)Iy%C?MbP?Zd;O?ZD?:j<= µ@)µ7@Iµ1@iµrA@   =nQ>i@ @)I@i@%=M%<=Y% ;QU%>))a-MD-2C1y5?}=>I9 EU4=*5? MU4= =A M?9= B=: =s:)=^U4Wu@WqXq XqWq:Wy2Wy*WyVybUyBU*UUU@3@BMC*ýBQ BU@AU?*BQAU\AQAYA]4="C]RCe#=Ce@C>m+۫=ioGIiٺA9IIGeV>96Aq,GEA||Y}6k@}6x@y}6(}6-}6H@%̿)??@:`Ϳ*W? ?Q?)~6k@ ~6e_;I~4ɫ99)9 9IAssa 0:YM1y:k5Y@yG=i= =M]=Y:QU>!!a%MD%C)y-}->Iq }U4u*5? }U4u }tI uA ?9uBu: u[:)uU4W ƈ@WX XW:W2W*WVbUBU*UUUߙ@R5B*** querying acoustic contact ***P1P1BuBq Bu@A}?*ByA}O)[AyAyA}B="CRCx=C ƈ@Cֽg^=יIGb>c=Y:QU>aMDCIyU}U>IY eU4]*5? eU4]Q! ]:A e?9]EB]4: ]:)]U4Wb@WX XW:W2W*WVbUBU*UUU @BuB B@A?*BA YAAA,="CYRC j=Cb@Cɾօ2=YIaG\>hA>9IGi@=BD.Do; EKCAq,| EAY}2B*@}27@y}2"'}2Ax}2H`Ϳ?@ո?3Ͽ[?.?"B?)~2B*@ ~2_;I~0ɫ99)9 =I9U rrg ::Y_L1y7:5)s;9YC@yWGxDUSBL response received:!U1,P FA7,000,00854,184,80,80,9C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 t>M Z=Y ;QU>aMDdCy I}>I %U4*5? -U41 ąA U?9ܪB; Q;)U4WZ@WX XW:W2W*WVbUBU*UUU @BuBy B}@A}?*BA5WAAA="CRC$:=CZ@C6[=IiA)׉IG>uIAq,'EA|i|@Y}6@}6@y}6&}6ڝ}6H~ο?@?`m,пF?` ?@t|?)~6@ ~6_;I~6CɫQQ)Q UIQY}@y}JGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)A=MI=Y%;QU%>!!a%MD%C)y-}->I1 =U45>*5? EU45@ 5FA E?95lB5k: 5:)5U4We@WaXi XiWi:Wi2Wi*WiVqbUqBUq*UyUyU}@BvBR4= Bw@Ab?*BAVAAA="CUӳRCU=CU@CY=e= I9Gu6>I_PAq,AEAY}2Y@}2첎@y}2%}2-}2HdϿ ?Fm?_ п ?I?&t?)~2Y@ ~2_;I~2CRR>9RÔCIRGiR@R=RADR,DR; RE)mÔCImÔCimCm=m=m8ɫ99)9 =I9e uuq ;:YKN1yy:5);Y@yڒG5xDUSBL response received:!U1,R,F83,000,00821,187,80,80,AC,FF =Fpublishing direction and range info5f=1ɰ5y*>51> 1)5,CI1y5B593=>i @ @)I@i@{=M0=Y;QU>aMD=Cy}>I  U4*5?  U4T ІA  ?9!B: :)U4W=L@WAXA XAWA:WA2WI*WIVIbUIBUI*UQUQUU@Pa*QeBZQe,ϵU@/'n#@JQe9l>5~= IG5>VAq,"m[EAY}[@}Yi@y}$}ν}H\]п`9??@E4}ѿ]?@?@ bcm?)~[@ ~B_;I~Cɫ) IYU@yUUGDNmea in: $SNTTA,,,,,005341.31*5F =M Y=YX:QU>aMDCy%lü}%>I) 5V4-*5? 5V4-d -AA 5?9-B-: -:)- V4meuAdded new target pos. range: 87.360008 m, bearing: 261.796452 deg, deltaT: 4.490532 s, approachRate: -0.681433 m/s, LOS rate: 0.310556 deg/s, posRepo size: 4mu ProNav: pos range: 87.360008 m, bearing: 261.796452 deg, approachRate: -0.681433 m/s, LOS rate: 0.310556 deg/s, cmd update: 0.931667 deg/s, cmd heading: 242.251627 deg, new cmd heading: 241.657255 deg. W}l~@WyXy XyWy:Wy2W*WVbUBU1*U1U5` U@U= (~?BCB Bq@A??*BAFSAAAS="C"*CRC[=Cl~@Cֵ=בIG>\Aq,?uEA||Y}6#@}60@y}61$}6߽}6Hgп`]?j?sLѿ`׿?` |? k&f?)~6#@ ~6e`;I~6Cɫ99)9 =I9K tt} 9:YM1y:k59@Y@yGYi]=õh>õDõ= >iõ@ñ ĵx@)ĵ@Iĵ@iĵ@=MO=Y9QU>aMDCy}>I V4*5? V4u A ?9NBf: :)V4W@WX XW:W2W*WVbU!BU!*U!U!U%؉?BbSB Bܲ@A|?*BAfQAAAG[="C¹*C8ņRC =C@C1=(a=ܥD>9ܥCIܥDGiܥd@ܥ=ܥCDܥ)Dܥ; ݥ{EI=IG5>ʙcAq,CEAY}:@}:j@y}:$}:X}:H 8ѿ`i?`{?`d`zҿ??`Q^?)~:@ ~:(!`;I~:Cɫ99)9 =I9Y}@y}G=%=MES=YEQUE>IIaMNDMfCIyU}U>IY eV4][*5? eV4] ]'A m?9]B]+: ]8:)]N%V4Ws@WX XW:W2W*WVbUBU*UUU`t?BzB BD@A%?*BAHPAAAn="CR*Cd|RCD=Cs@CC;=ɾ@Aֽew=yIG^>iAq,jEAY}2(@}2@y}2$%}2H}2H9ѿK?@7J?S'ҿ??XT?)~2(@ ~2K`;I~0) ss K:YM1y:5ɫ髑) IY@yuG]=MC=YhQU>aNDCy^}>I V4*5? V4闰 A ?9B: :)3V4Wc@W X  X W :W 2W*WVbUBU*UUU@,?BeBi Bm@Am?*BiAuNAqAqAuf="C}*C}D.RC}=C}c@C[1=օ?=yIG>˫pAq,EA|i|@& >9&CI&Gi&@@&=&DD&&D&; &oEY}B~@}Br@y}B$}B}BH`ҿ7? ?&G@^ӿ@0T?>z? \P?)~B~@ ~B`;I~BCɫ髙) IY@yӕGgfffff?:v?Dl?3?= O=)IyA`"?/$?{Gz?9?<#= ­@)­@I©i­@@mmm=m>im@i m@)mIm@im@}1=M}?=Y:QU>aND?Cy%a}>Iș V4ŝ&*5? V4ŝw Ɲ'A ?9Ɲ%BǝA: ȝk:)ȝBV4W}W@WX XW:W2W*WVbUBU*UUU`4@B\B  B -@A ?*B A|LAAAo="Cp*C兽RC=C}W@C!11)9 9֥ 벫=ׁ I G >zvAq,:EAY}2}P@}2^@y}2N#}2|w}2HoYҿ'?#?:ӿ@ļ?`?@O?)~2}P@ ~2_;I~2Cɫ99)9 =I9  ^]:Yy}6Y@yG=MX=Yo ;QU>aNDCy:u}>I V4c*5? V4 A ?9B: :)1PV4Wꉈ@WX XW:W2W*WV bU BU *UUU` @BiB B@Ap@*BA_9KAAAʼn="C *CӦRC\=Cꉈ@C >L=IGI>v}Aq,EAY}:$@}:|2@y}:,C"}:}:H@Ǭҿ`?@#?0@Կw?2?`t_@6U?)~:$@ ~:D_;I~:Cɫ99)9 =I9Y}@y}dG鮁ɮa=>f>i@ b@)I@i@Z=MX=YuRh;QUu>yya}ND}Cyy\}>Iȉ V4ō@*5? V4ōGư ƍA ?9ƍ>BǍM: ȍ:)ȍ]V4W@WX XW:W2W*WVbUBU*UUU4@RB*** querying acoustic contact ***PPBOB B@A9@*BAdIAAA%="C *C pRC)6=C@C%vт=I G%M>E>9ECIEȖGiE@E=AE#DE; EaEiE nGIY iq #ٺ AAq,aEA||Y}6 @}6 @y}6 }6.}6Hgҿx?@z?@&/CԿ?S?HF X?)~6 @ ~6i_;I~6CɫYY)Y ]IY@  WM:Yy6);9Y@yȗGZ****** received transponder code query ******F****** received ping request ******aNDiCy%A}%>I) =V4-*5? =V4-[հ -A =?9-̰B-}0; -51;)-kV4W@WX  X W :W 2W)*W1V1bU1BU1*U9U9U=@5 @BfB Bl@A@*BAGAAAg="Cp4*C6RC=C@C4|E=I)ׁIG>> Aq,=*EAY}2֔@}2@y}2l}2}2H`CӿB ?`5? @ІԿ/Ȼ?@? @]?)~2֔@ ~2F_;I~2Cɫ99)9 =I9}=i}a=Y@yaGxDUSBL response received:!U1,P F83,000,00821,187,80,80,AC,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 = =MEG=YU;;QU]>iqa}ND}CysC}>I V4:*5? V4尾 A ?9fB; ;)}zV4ɾ?AW54@W1X1 X1W9:W92W9*W9V9bUBU*UUU1t @BB B@A{@*BAۜEAAA="Ck*C%RC%<C%4@C!E d6= I) GE >E >9E CIE GiE @E =E FDE !DE ; E KEKAq,DEAY}>i@}>@y}>d}>}>H#ӿ ?ֆ?F@Կ@j?ſ?@d?)~>i@ ~>C`_;I~>C vv0 t[:YN1y:6)ղ;ɫ髙) IY@y;G@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B MbX9?-˿Mb?!?5^ <)IyuV?I +?Mbp?rH?9=; S@)IX@i3@@H=<99a=NDEJCAyM(}M>IQ ]V4UC*5? ]V4U3 UzA ]?9UBU : U:)UbV4Wg@WX XW:W2W*WVbUBU*UUU/@BмB = BE@A@*BA&JDAAA="CRC̽<Cg@C9g=׹IGf>$Aq,s]EA|i|Y}6Ώ@}6b@y}6P}6߽}6H"ӿ ?'Y?`. Կ`@?R?:>o?)~6Ώ@ ~6]v_;I~6Cɫyy)y }IyY@y!GxDUSBL response received:!U1,R,F0F,000,007ED,186,80,80,8A,FF Fpublishing direction and range info\W>ɰ7&>> ) CIyzB%l~K?ZvѸ?ٱO >Mw=Y ;QU?aNDCyGR}?I   V4 ۇ*5? V4 W NjA ?9 B < <) V4WA@WX XW:W2W*WVbUBU*UUUW@PQ*QUzBZQUP䐘T@1 1@JQU%l~K?ZvѸ?2QU\W>:QQbQUn!*_Tt$]l%@RQU@8l*ᅫF?BQU\@ QU&QUOPU=9?PU69?PUQUQUTA"QUJAB-B B@A@*BABAAA!E="Ci*CτRCi<CA@CT@NAq,wEAY}jut@}j@y}jo}jWѽ}jH ӿ ?_~? Vտkb?@i?ѹv?)~jut@ ~j"_;I~ho ss$ Q:YM1y:69@ɫ) IYU@yUGTNmea in: $SNTTA,,0.059976,,,005345.76*42 EiEf@A E @)Ex@IEC@iEb@U"=MU5=YUtK;QU]>YYa]ND]Caye<}e>Iq uV4u*5? }V4u u0A }?9uRBuw: u:)uV4muAdded new target pos. range: 84.240005 m, bearing: 263.846355 deg, deltaT: 4.408528 s, approachRate: -0.707720 m/s, LOS rate: 0.464986 deg/s, posRepo size: 4m ProNav: pos range: 84.240005 m, bearing: 263.846355 deg, approachRate: -0.707720 m/s, LOS rate: 0.464986 deg/s, cmd update: 1.394958 deg/s, cmd heading: 246.348453 deg, new cmd heading: 246.748845 deg. W@WX XW:W2W*WVbUBU*UU@\U@U@?BLK%B B @A @*BA@AAAՂ="CRC(@C@C == p>օ/C<>9CIGi0@=HDD; 0E)݅CI݅Ci݅C݅=݅=݅7yIG^>|7Aq,EAY}2i@}2Ow@y}2}2 }2HԿ`8?@7?`AcտM?`E?4}?)~2i@ ~2_;I~2Cɫ99)9 =I9Y]@y]GB=Mc=YE;QU>aODmCy on} >I V4|*5? V4* A ?9Bb: :).V4WE3@WAXA XAWA:WI2WI*WIVIbUIBU*UUUT_?B]^BY Beg@Ae @*BaAez.?AAAÄ="CpRC/C3@CѽTR:=fsetting unavailable, lastComms_.elapsed()=60.248402y%% %ֵX<׉IG>"`Aq,EA||Y}6t@}6@y}6W}6y}6H$Կ ?+? "Կ@RW??`r+`?)~6t@ ~6_;I~6CɫQQ)Q UIQ+ qqm `:YK1y̅:j6Y@y-GU=M]D=Y]~\;QU]>aaaeODeCaymG;}m>Iq V4u)w*5? V4u; uA ?9uBu@; uc;)uV4W&@WX XW:W2W*WVbUBU*UUU?B}{"B BԷ@A @*BA@.=AAA="CRCC&@Cmh =mtIׁ)ׁYIaG}z> >9 CI Gi @ = D ; EHAq,=`EAY}N@}NL@y}N+g}N喽}NH ӿN1?ձ?k Կ@S̽?`C?๣?)~N@ ~Ns_;I~NCɫyy)y }IyY @yGI +?!rh-K-/ݼi-z@) -@)-I-@i-@==M===YE ;QUE>AAaEODMGCIyU;}U>IY eV4]p*5? eV4]AN ]wA e?9]2B]M: ]4:)]V4W݊@WX X W :W 2W *WVbUBU*UUUWC?BeB B4@A @*BA\;AAA ,="CRC$C݊@Cϡϡ)Щ Щɾ]jA]iAe 9 II Ge >7rAq,?;EAY}6%@}6@y}6\}6~}6HGӿ A?p?@iԿ`??r?)~6%@ ~6_;I~4ɫYY)Y ]IY3 rr `:Y_L1y7:s6Y"AyG5P=M=]=Y=;QU=>AAaEODECM:yM<}M>I V4bk*5? V4^ A ?9ʵB: \:)RV4W)@WX XW:W2W*WVbUBU*UU U @B5؋B1 B=@A=t@*B9A=9A9A9AEh="CERCMCM)@CImNJN!I1GM1>DAq,EA|i|Y}6”@}6=Ќ@y}6[}6oj}6H`drӿhS?5 ?`n&Կٽ??B ?)~6”@ ~6_;I~6CɫQQ)Q UIQY}Ay%G  -@ 5@ 5@-©--i-@- -))I-@i-@E=MEJ=YEIIaMODM CQyUr<}]>IY eV4]e*5? mV4]o ]zA m?9]dB]: ]k:)]V4Ww@WX XW:W2W*WVbUBU*UUU@5@BMPBQ BU@AUU@*BQAU7AQAQA]t="C]_RCeCew@Caeܕ>9ܕCIܕ:Giܕ@ܕ=ܕIDܑܕ=; ݕEYIaGY>9Aq,EAY}6ޔ@}6@y}6 }6I}6H/?ӿ`b?@Ľ?h2 ӿѽ?@??)~6ޔ@ ~6_;I~6Cɫ99)9 9I9 tt zm:YM1y:;6)g;9Y)AyGa=ɮp=-=M-L=Y5YYa]OD]u CaymQ <}m>Iș V4ŝ#`*5? V4ŝo ƝA ?9ƝBǝ; ȝ;)ȝ[V4W%̋@WX! X!W!:W!2W)*WIVIbUQBUQ*UQUQU]@ReB*** querying acoustic contact ***PaPaBB BH@A@*BA5AAA@Ѐ="CRCxC%̋@Cr t>p>סIGB>?Aq,B,EAY}:\@}: @y}:h }:0}:H ӿ2q? ݴ?>IӿZ?M?ͥR?)~:\@ ~:"_;I~:Cɫ99)9 =I9Y}Ay}_GZ****** received transponder code query ******F****** received ping request ******aOD Cy5<}5>I W4GZ*5? W4 A ?9B : :)HW4W+#@WX XW!:Wi2Wq*WqVybUBU*U!U)U5W @B=PBY B]@A]@*BaAe3AaAaAe6="C}RC/C+#@C֭׉ I G >܅ >9܅ CI܅ Gi܅ A܅ =܅ KD܅ D܅ ; ݅ ŖE1Aq,FEAY}6*@}6b8@y}6}6 }6H@Ƴҿ@-?o?@8O`"ӿ? ?``??)~6*@ ~6k_;I~6Cɫ99)9 9I9 qq o:YK1y̅:6)1;YAyGxDUSBL response received:!U1,P F0F,000,007ED,186,80,80,8A,FF Command AckBRequesting micromodem ping code 2iiNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)]ԙ>eCiUDnGIyiٺA?9!A]?y&1?~jt?]f>]`e> ]<)YIYy]+?~jt?MbP?]v>?]D=]: ]@)]G@I]@i]@Y]=@‘•jA } } }}h=}>?}n>i}@} y)}A@I}A@i}@}=M=Y2;QU>aODj Cy]#<}e>Iȱ W4ŵZR*5? W4ŵ ƵA ?9Ƶ~Bǵ: ȵ+:)ȵpW4W @W X1 X1W1:W12W9*W9V9bUABUA*UAUIUMc@BB B#@A@*BAB1AAA >~="C- < RC- HC- @C1 % ) I G >CAq,`EAY}>][@}>h@y}>{}>oڼ}>HkYҿ`!??`ҿ`ͼ??\0?)~>][@ ~>&l_;I~>CɫYY)Y ]IYY}Ay}GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B u>>M}=Y}*AJ B㖽*BAAA8A!iz="C?QRC%DC%@C!ɾaAIYGuX>_Aq,]zEAY}6@}6 @y}6@:}6ʖ}6H`ѿE?E]? s3ҿ uн?i(@ )(@I(@i(@<MR=Y ;QU >  aOD Cy<}>I! -W4%I*5? -W4%± %rA -?9%jB%: %:)%N1W4Wd @WX XW:W2W*WVbUBU6A;*UUU׷@B-BU#8< BU$@AU@*BQAUG/AQA]A]x="C] RCeNCed @Ca->9)I-Gi-A-=)-D-; -Eօm C׍?i׍?YIiGZ>eAq,FEA|0i|0ɫiq)q uIqYAy-GDNmea in: $SNTTA,,,,,005350.20*5F I)A)= =n=M==YQU>aPD Cy}>I W4C*5? W4ӱ ƐA ?9B: :)j@W4W-y_@W)X) X)W):W)2W1*W1V1bU1BU9*U9U9U=`/b@BmBi Bm'@Am@*BiAu><-AqAqAuw="C}RC}?sC}y_@CJMIGi>iAq,EAY}6}@}6!@y}6}6ia}6Hпb?\? `)&ѿŽ?@$?@k`?)~6}@ ~6#_;I~6Cɫ99)9 =I9 oo :YsJ1y:M!6Y=Ay=GMh=MTaPD Cy=}>I W4<>*5? W4o屾 A %?9B; C;)OW4 p>W@WaXi XiWi:Wq2Wq*WqVqbUqBUy*UyUyU}`J@B@ B B,@A%@*B!A%*A!A!A%Vu="C-pYRC-]C5@C15S=% 8k I - >9- CI- TGi- A- =- JD- D- ; - ͖E)ݽCIݽCiݽCݽ=ݽ=ݽ7G >Aq,EAY}2$R@}2_@y}2[}2:}2H пP? ߝ?`aпv?`d?`\? ?)~2$R@ ~2m_;I~2Cɫ99)9 9I9YAyGErh|?I +V-?E?E9 Eh=)AIAyES? ףp= ?Q?E:?EQ8=E\= A)E@IEd@iE@AE(@]M]_=YeaaamPDmJ Ciyu<}u>Iy W4}9*5? W4} }pA ?9}6B}: }:)}\W4W8@WX XW:W2W*WVbUBU*UUUP@RB*** querying acoustic contact ***PPB<B B0@A@*BA<)AAAMs="CJRCcC8@C r=cIGE>Aq,EA||Y}6ґ@}6g@y}6v}6o_ <}6Hп?#q?п@Z5?࿝?m?@?)~6ґ@ ~6AH_;I~6CɫYY)Y YIYmm. :Y+I1y:$6YAygG=i±µiAa<=MU=YaPD Cy%<}>I W4r5*5? W4 ͑A ?9ĻB: :)tiW4W I@W X  X W :W 2W *WVbUBU*UUU@BEi<BI BM6@AM@*BIAMJ'AIAQAUm/r="C]RC]*hC]I@Caii)i i|^IG>8Aq,EAY}6͖@}6ێ@y}6罙}6T<}6H@m<Ͽ\? 9 ?@E@Ͽa׼??e??)~6͖@ ~6E_;I~6CɫII)I MIQYUAy GM?MIM\iM3@I ME@)MV@IMV@iMV@]=M]@=Ye ;QUe>aiamPDm Ciyu<}u>Iy W4}0*5? W4} }4A ?9}aB}I: }4:)}LxW4Wa@WX XW:W2W*WVbUBU*UUU@Be;Bi Bm?@Am @*BiAm%AqAqAu(up="C}RC}BrC}a@C>9CIGiA=C; Eɾֽ[-iיIGb>!Bq,MEAY}2Q @}2@y}2T⽙}2J<}2H@Wο[?0v?@:οɼ?`3M?jЕ?@?)~2Q @ ~2_;I~2Cɫ99)9 9I9| oo z:YsJ1y:!6) ;9Y,AyG5>M5M=Y=;QU=>99aEPDE CAyMƕ<}M>IQ ]W4UR,*5? ]W4U# UA ]?9UBU: U:)U?W4W@WX XW:W2W*WVbUBU*UUU@i@bTjTZTrTNNNNA]r>A]6Be"*BaAAAAi="CRCzC@Cֽ@pבIGa>N Bq,m/EA|i|Y}bI@}b`W@y}b)޽}bt<}bH``ͿP%?Y?@7Ϳcn?û?ఈ?P?)~bI@ ~b%_;I~bCɫ髹) IY-Ay-GExDUSBL response received:!U1,N,80,80,63,E4 D,186,80,80,8A,FF MZNo reply:!U1,N,80,80,63,E4 D,186,80,80,8A,FF -U @ @ @ý©ýýiý\@ý Ľ)ĽIĽt@iĽt@\=M>=Y ;QU >a%PD- C1yE͓<}M>Ia W4e'*5? W4eh5 eA ?9eBeV= eK=)eW4WUQ@WQXQ XQWQ:W2W*WVbUBU6A;*UUU@dl@B% D;B%Q< B%A@A%%@*B)A-oe"A)A-A-Tg="CURCU5C]Q@CYmwIq)uhAA II Gm > >9 CI ޣGi 0A D U; Eg2Bq,6IEAɫyy)y }Iyd llB :YH1y::&6);YAyG(\?V-?+??< v>>)IyRQ?l?Q?B?= @)A@IE@i1@@]=ML=YQU>aPDSCy}>I W43#*5?  W4E YA  ?9-B<: :)@W4W5@W1X1 X1W1:W12W9*W9V9bU9BU9*UAUAUE ?@BuDI=Bu< BuC@Au'@*BqA}W AyAyA};f="C6RC<|C@Cօ aIiG8>\Bq,cEAY}2@}2@y}2N3ս}2=}2Hʿ G?@Q ʿǻ?? ?,?)~2@ ~2_;I~0ɫYY)Y ]IYY<AybGq=M^=YKaPDCyZ=}>I W4W*5? W4U A ?9B: )!W4Wݏ@WX XW!:W!2W!*W!V!bU)BU)*U)U)U5 @B]T=Ba BeG@Aec(@*BaAedAaAiAmCed="Cm)RCuxCuݏ@Cym =yYIG>Bq,*|EA||Y}63A@}6N@y}6dqϽ}6z|!=}6H -ɿX? /Aɿ@7^? ???)~63A@ ~6^;I~6Cɫ11)1 5I1}V }o}o}M }+:Y}sJ1y}:}h'69@YAyݦG=i= m m mmd>m'=mim\@m m@)m/@Im@im@}i=M?=Ye;QU>aPDCyh<}>Iș W4ŝ#*5? W4ŝf ƝA ?9Ɲ`Bǝ: ȝz:)ȝW4W_2@WX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPB <B BL@A)@*BAgAAAb="C%uRC%5~C%_2@Cm>9mCIm Gim$Am=mIDm Dmy; mEхu<ԍiAԍjAuw}?i}?YimnGIIiG>FٺA[o%Bq,˖EAY}N@}N@y}Nhkɽ}N25#=}NHgwȿ>g?@@ ȿ`?@ #?` L? ?)~N@ ~N _;I~Lɫyy)y }IyYAyvGZ****** received transponder code query ******F****** received ping request ******aQDC y-<}->I1 =W45:*5? =W45x 5sA E?95B5: 5:)5W4Wv@WX XW:W2W*WVbUBU*UUU`r!@B<B B%T@A-+@*B)A-A)A)A-`="C5!RC5C=v@C9ɾ]M+Bq,EAY}]_Ԙ@}]@y}]½}]9=}]H4jǿt?s7P ǿ c? F?aQDCy<}>Iȱ W4ŵ*5? W4ŵ ƵA ?9ƵBǵ: ȵ:)ȵW4W@WX XW :W 2W *W V bUqBUq*UqUqU}O"@B<B ŋ< B-_@A5&-@*B1A= A9A9AEW^="Cu~RC} C}@C)= =m >9m CIm Gim Am =i i m ; m BEѽ +w< = = Dש I G >C3Bq,EA|i|Y}6#@}6@y}6X}6=}6H։ƿ>~? 5]`)0ƿ`?b???)~6#@ ~6^;I~6CɫII)I MIQYAy*GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)A%+?B`"۹?y&1%>%= %`e)!I!y%+?p= ף?X9v?%??%=%< !)% @I%@i%@!%p@M=MMd=YU#YYa]QD]hCaym<}m>Iq uW4u*5? }W4u u.A }?9uPBu': u]:)uW4W:3@WX XW:W2W*WVbUBU*UUU 0#@Bp(w=Bp< Bg@A-@*BA30AAA"]="Cr߿RC{C:3@Cѵm<֍{iIqG}>e9Bq,jEAmmi $:Y+I1y:g*6Y}BMK@}BX@y}Bk}B]=}BH`Λſ@?#hjGſ ? f?|?@8?)~BMK@ ~B9_;I~BCɫ髙) IY AyGxDUSBL response received:!U1,R,FF6,000,00771,183,80,80,99,FF Fpublishing direction and range info5<ɰ>$> )CIyBޙ%?B7߁?ٱ {=M c=Y /aQDCy%ө<}%>I) 5W4-*5? 5W4- -wA 5?9-B-: -:)-W4W]{@WYXY XYWY:WY2Wa*WaVabUaBUi*UiUiUm`<$@Py*Q}BZQ}eV3S@siBr?JQ}ޙ%?B7߁?2Q}5<:QybQ}eMƛ(nyR<x@RQ}1~ρĿx8vfśz?BQ}@ Q}Q}DP}09?P}=9?PyQ}Q}tA"Q}TA ut>ul>Bl_=B Bq@AC/@*BAAAAd[="C4S޿RCtC{@Cѥ.<ֱ׉IG>N@Bq,xG EAY}zR@}z瓑@y}z_}z=}zH>Ŀ ?;ZvbĿZֶ? Q?Q?@f?)~zR@ ~z^;I~zCɫ) IYUS AyUGܭ>9ܩIܭGiܭAܭ=ܭHDܭDܭz; ݭE)5CI5Ci15=15M27TNmea in: $SNTTA,0.053700,,,,005355.91*4F    @ @ @ùùùiýp@ù Ľ@)ĽvAIĽ@iĽ/@ =M .=Y;QU>aQD=Cy%U{<}%>II UX4M~ *5? UX4M𿲾 MԕA U?9MBMA: Mo:)M< X4m}Added new target pos. range: 76.800003 m, bearing: 260.744767 deg, deltaT: 10.120469 s, approachRate: -0.735144 m/s, LOS rate: -0.306467 deg/s, posRepo size: 4m ProNav: pos range: 76.800003 m, bearing: 260.744767 deg, approachRate: -0.735144 m/s, LOS rate: -0.306467 deg/s, cmd update: -0.919401 deg/s, cmd heading: 260.482147 deg, new cmd heading: 261.148521 deg. WB<@WX XW:W2W*WVbUBU*UU@33S@U}?BMX=BQ BU@AUO0@*BQAUzAYAYA]Y="CmcN߿*CuOʄRCuT_CuB<@Cѝ4xFBq," EA oo ;:YsJ1y:-6);9|&4<|&4aQDCy<}>Iș X4ŝ *5? X4ŝβ ƝA ?9ƝBǝ: ȝ:)ȝqX4W@WX XW:W2W*WVbUBU*UUU@K?BZ4=B B@A1@*BAڙAAAW="C%*C%RC-y/C-@C)11)= =ֵ8k׉IG>SLBq,4 EAY}e$@}e@y}er=}eun#=}eH¿?@#@¿? ?@]?]?)~e$@ ~e^;I~eCɫaa)a eIiY Ay}GmPowering downɾuu uuiuJ +?/$Zd;(? y)IyMbX9?p= ף??A?< ½@)½@I½@i½@@   íףíí:ií@í ĭ@)ĭ@Iĭ@iĭ@+g<M*=Y aQDCy0<}>I X4 *5? X4Ⲿ kA ?9Bj: :)&X4W  А@W X  X W :W2W*WVbUBU*UUU3?BM`*=BI BM@AM1@*BIAU AQAQAUxU="C]*C]URC]R<C] А@CauȒbQIYGu>ܝ>9ܝCIܝGiܝ4Aܝ=ܙܝDܝ; ݝڗE#SBq,N EA)pp ʘ:YK1y`:-6)=;Y}BP@}B]@y}B}B'=}BHȞ@(?@@DF`tͳ?Ռ?|?`?)~BP@ ~BT^;I~BCɫqq)q uIqYK Ay&Gu=Mux=Y}iSAVBT*BAAAnAZP="C*CRC-C-@C1% d6I-hA)-iA IG5P>]YBq,h EAY}6@}6@y}6B}6N&=}6H@ҵ?`hb8?`? ߻??)~6@ ~6p^;I~6Cɫ19)9 =I9Yu AyuGI)A%Vy=M%P=Y% "))a-QD-C1y=<}=>IA MX4E*5? MX4E EA M?9EBE: E:)Ef?X4Wuq@WqXq XqWq:Wy2Wy*W}VybUyBU6A;*UUUb,@B~=BN< B@A|5@*BA" AAAN="C[{*CCRC;Cq@CoMיIG@>=`Bq,P EA/ll :YH1y:569@Y}Zɚ@}Zג@y}Z2}Z#=}ZHr}?6U߾p±?U?m?%?)~Zɚ@ ~ZI^;I~ZCɫyy)y }IyY AyG15<E>9ECIE\GiEAE=AEDEF; EE>?K>i@ )@IQ@iQ@ͻM==Yfa QD 9C yԑ<}>I %X4*5? %X4 'A %?9B: f:)yNX4WMY8@WIXY XYWY:WY2Wa*WaVabUaBUa*UiUiUu@Bh=B B@AJ5@*BA 1AAAL="C ^*C UYRC );CY8@CzlIGE>\fBq,nj EAY}6@}6=@y}6J}}6-=}6Hs`?ߡ ? &? ? ?)~6@ ~6^;I~6CɫYY)Y ]IYY AyG<M^=YaRDCy<}>I X4*5? X4# _A  ?9B: :)P[X4W- @W)X) X)W1:W12W1*W1V9bU9BU9*U9UAUE>@RMB*** querying acoustic contact ***PIPIB xU=B) B-@A55@*B1A5A1A1A53K="C=9*C=M3RCEc%X<CE @CAED-5lBq,P EA**n*n* *ݦ:Y*I1y*:*56Y}u@}i@y}_}<}H . ?@혿ɹe?n?ƞ? ?)~u@ ~^;I~Cɫ) IY Ay GZ****** received transponder code query ******F****** received ping request ******YYa]RD]Caye<}e>Ii uX4m*5? uX4m: mA }?9mBm3: m]:)memX4Wď@WX XW:W2W*WVbUBU*UUU۳ @B]V=BY B]@A]6@*BaAeAaAaAetI="Cml/*CmRCu=Cuď@CqE>9ECIEGiEQ AE=EKDEDE; E#EmvтI G} >i mGI ;mAi % hٺ% ;mA% &AhsBq, EAɫ髙) IYw AyGxDUSBL response received:!U1,P FF6,000,00771,183,80,80,99,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -ʦ=M5=Y=QUE?QYaeRDeiCqy}?Iȹ X4Ž*5? X4ŽH ƽA ?9ƽnBǽ2; Ƚ<)ȽYxX4W@WX XW:W2W*WVbUBU*UUU  @bTjTZTrTNANANANAAs>AWB댽*BAAAAC="C'*CÃRC=C@C) } hW$zBq,Έ EAY}R@}R@y}R+P}R u<}RHnظ ?c`࿒<?`?@P? B?)~R@ ~RV^;I~Pɫqq)q yIyY Ay۫GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =MA=YNaRDCyrM<}>I X4n*5? X4[ ,A ?9B:  :)ކX4W.d@WX XW:W2W*WVbUBU6A;*UU9UE K@B]nڪ=Bu8i< Bu@Aud9@*ByA}:AyA}A}A="C*C8RC5=C.d@C}+ Bq,`Z EA|i|ɫ髙) Iܭ>9ܭCIܭVGiܭ Aܭ$=ܭMDܩܭG; ݭrEYg AyGxDUSBL response received:!U1,R,046,000,0073C,185,80,80,BD,FF Fpublishing direction and range info5zɰ>+> )=CIy=BC>c?.xAٱI)AMV>MM}>iMG@I Mh@)Mh@IMh@iI^,MC=YQU>aRD @C y5}5>I9 EX4=W*5? EX4=nn =oA M?9=B=: =s:)=X4W,@WX XW:W2W*WVbUBU*UUU@P*Q=BZQvUV^R@Z\VBJQC>c?.xA2Q5z:QbQhP5'?{&RlvN @RQz4z,ĿTH5$ ZC>?BQ@ Q7Q9P29?P09?PQQzEA"QtABEڡ=BA BE@AE>8@*BaAmZAiAiAmq*@="Cu*CuSRCu[J=C},@Cyֽ =בIG>I= @A)= ?A05Bq,G; EA& &m&m& &:Y&+I1y&:&]46)&U<92ɫ髑) IY AyǫG=DNmea in: $SNTTA,,,,,005400.35*59 ]=MA=YQU>aRDCy}>Iȩ X4ŭA*5? X4ŭ< ƭA ?9ƭnBǭ^: ȭ:)ȭX4muAdded new target pos. range: 73.620003 m, bearing: 260.919975 deg, deltaT: 4.499388 s, approachRate: -0.706763 m/s, LOS rate: 0.038940 deg/s, posRepo size: 4m ProNav: pos range: 73.620003 m, bearing: 260.919975 deg, approachRate: -0.706763 m/s, LOS rate: 0.038940 deg/s, cmd update: 0.116821 deg/s, cmd heading: 256.352958 deg, new cmd heading: 255.972125 deg. W3@WX XW:W2W*WVbUBU*U U  gR@U W?BB=B B@A9@*BAAAAe>="Cq*CRCd4D=C 3@C 6=יIGb>!aBq,8 EAY}~X@}~@y}~"}~}~H ? ?``Eö DY?7W?`?)~~X@ ~~D_;I~~Cɫ) IYMu AyMG]T㥛 ?A`"/$]?]Y ],)YIYy]K7?bX9ȶ?~jt?Y]E=]< ]d@)]@I]ۭ@i]X@Y]@ "? ~j> Ƚi @  vA) I Q@i MA=Y%))a-RD-C1y5<}5>I9 EX4=*5? EX4=S =A M?9=B=<; =s;)=X4Wm:@WiXi XqWq:Wq2Wq*WqVybUyBUy*UyUUI}?B)=B B@Ag8@*BA:AAA<="CT*Cr؂RCc=C:@Cѵu<ܝ>9ܝCIܝGiܝ Aܝ=ܝKDܝDܝ; ݝE)-CI-Ci-C-=-=-l8֥P=׭?i׭v?a Iq G >M M jEBq,%Q EAj :Y?G1y܂:96)i;|;|ɫyy)y }IyY Ay٫G="=M=o=YEQUE?AAaERDMpCIyM}U?IY ]X4]y*5? eX4] ]A e?9]B]R: ]:)]־X4W=@@W9X9 X9W9:WA2WA*WIVIbUqBUq*UqUyU}@{'?B/=B B@A99@*BAAAA#;="Cr<*C읂RC]=C@@C%k<Jc=IGj>oBq,k EAY}Jϛ@}Juݓ@y}J}J!.}JHWg`(?Q?Ƿ ?`'??)~Jϛ@ ~J_;I~Hɫii)i iIiY AyGU/Z<MUI=Y]h2aaaeRDeCiy}}>Iȑ X4ŕ *5? X4ŕQ ƕ0A ?9ƕPBǕ; ȕ5;)ȕ:X4WG@WX XW:W2W*WVbUBU*UUU(?B=Q(=BA BEƺ@AE9@*BAAmwAiAiAm|9="CuM *Cu^RCuN=CuG@Cyρρ)С СE h=II )I ! I1 GU >dBq,؅ EA&&l&l& &H:Y&H1y&:&369&@!!->9-CI-Gi-E A-=-JD- D-; -̘Eɫ) IY AyG @ @ @©iz@ @)I@i@GM@=YQU>aRDECy}>I  X4 *5? X4 aɳ YA ?9 B < <) X4WN@WX XW:W2W*WVbUBU*UUU@.@BU=BQ BUϺ@A]I9@*BYA]AYAYA]7="Ce*Ce\"RCm$ N=CmN@CedO=AIIG}X>Bq,c} EAY}J@}JN@y}J6}Jz}JH߸i?\?PQ`Q?@?R?)~J@ ~JĒ_;I~JCɫYY)Y ]IYY} AyXG )= =m/k=MmT=Yu;qya}SD}CyyPt}>Iȉ X4ō *5? X4ōڳ ƍ{A ?9ƍBǍ: ȍA:)ȍhX4WT@WX XW:W2W*WVbUBU*UUUY@bTjTZTrTNNNNA >AB *BAAA ~{A 2="C*C%yRC%6=C%T@C!AI G%M>Bq,h EANNoNoN N:YNsJ1yN:N76ɫ) IY  Ay GGz? rȿ~jt??C <)Iyx?|?5^?I +?KW?=9< @) @I@iA@׳@ E E EEE>Em>iEp@E E@)Ep@IE@iEp@UTMU<=Y]QU]>YaaeSDeCiym}m>Iq }X4u*5? }X4utﳾ uA ?9uXBu#: u>;)uX4W[@WX XW:W2W*WVbUBU6A;*UUU\@RB*** querying acoustic contact ***PPB^/=Bd< BѺ@A?9@*BAݽAAA60="Cv*CڱRCA6=C}[@C֕·3=ם?iם?U>9UCIUPGiUm AU=UHDQU; UEiIyG~>Bq,74 EAY}2N|@}2䉓@y}2ۼ}2ɐ}2H??@`go@A?y?@?)~2N|@ ~2[_;I~2CɫYY)Y ]IYY Ay9GZ****** received transponder code query ******F****** received ping request ******))a-SD-tC1y=H}=>II ]Y4Mk*5? ]Y4M MA e?9MBMP; MRQ;)M\Y4W#b@WX XW:W2W*WVbUBU*UUU @Bu=B BӺ@AD:@*BA1ٽAAA?I/="C*C|RC@#=C#b@C6=׹IGf>)Bq, EANNnNnN N=:YNI1yN:N:6Y}Jj@}Jx@y}JδǼ}J'}JH@Ѻ?`?U` ??^`?)~Jj@ ~J ^_;I~JCɫqq)y }IyY+ AytGxDUSBL response received:!U1,P 046,000,0073C,185,80,80,BD,FF Command AckBRequesting micromodem ping code 2i!YiYuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)=Լh>Ƌi3@ );@I@i;@ͷ<M=Y;QU>aSDCyO}>I Y4% *5? Y4 A ?9BV: b:)Y4WEj@WAXI XIWI:WI2WI*WQVQbUqBUq*UyUyU}w @Bb=B Bٺ@A:@*BAӽAAA-="Cē*C  8RC E)=C j@C9e ]߬Bq, EAY}6Q@}6_@y}6/Q}6ǟ}6HS?ln?`>| $?I?%?)~6Q@ ~6vp_;I~6ClnlAr>9rCIrGir Ar=rFDrDr; r4Eɫ)))1 5I1Y= AyGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ]z{<M]=Ye>B5=; B5ݺ@A5;;@*B1A5>ϽA1AQAU,="Cc~*CRC(b=CBp@Cѕjb&Bq,m EAY}V(5@}VB@y}Vء}Vc:}VH 9l?ܐ?t H@T?:? ?)~V(5@ ~Vj_;I~VC~q~l~l~ ~:Y~H1y~:~x76)~<9ɫyy)y }IyYY AyG%xDUSBL response received:!U1,R,029,000,00705,184,80,80,95,FF %Fpublishing direction and range infoCɰ5>> )CIyBo?z>PٱM݊<MML=YM;QUM>QQaUSDUCYy]U}]>Ia mY4e *5? uY4e: eA u?9eBe: e:)e/Y4Wbv@WX XW:W2W*WVbUBU*UUUg@P*QBZQQ@}JQo?z>P2QC:QbQZәz$ZcQk{`?RQenBl¿Me]*?BQy@ QQ#P59?P29?PQQ%A"QzEABB=B B@A;@*BAʽAAA|c*="Ce*C‽RC=Cbv@C  c<>=ױIG]>9Bq,': EA|i|Y}6 @}6W.@y}6ư}6i}6Hۼ@-?@?@@Vb?`?@,C?)~6 @ ~6U_;I~4ɫ9A)A EIIYes AyeͬGDNmea in: $SNTTA,,,,,005404.82*51 %S?ѿMbp%O?%̌ %)!I!y%Cl?q= ףp?{Gz?%O?%=%#< %@)%v@I%@i%@!%@ @ @ @Å©ÅÅiÅG@Å ą@)ąIą3@ią@g<M7=Y;QU>aSDC)y-&}5>I1 =Y45 *5? EY452P 5A E?95B5: 5i;)5 @Y4muAdded new target pos. range: 70.320000 m, bearing: 261.625123 deg, deltaT: 4.404898 s, approachRate: -0.749167 m/s, LOS rate: 0.160083 deg/s, posRepo size: 4m ProNav: pos range: 70.320000 m, bearing: 261.625123 deg, approachRate: -0.749167 m/s, LOS rate: 0.160083 deg/s, cmd update: 0.480249 deg/s, cmd heading: 256.868503 deg, new cmd heading: 256.923595 deg. WĖ@WX XW:W2W*WVbUBU*UUzQ@U`Ɏ?BEC=BM h< BM@AM;@*BIAM ŽAQAQAU(="C]]*C]RC]Lo<C]Ė@C)Э= Э=T>9CIi=D; OEѵu;ԹԽiA֥ <׭ ?i׭ ?ׁ I G >YBq,T EAY}N@}N!@y}N z}N[}NH RA??`_`[yAx? eA?`dER?)~N@ ~Na9_;I~NCkk ؟:YG1yH:f66)<ɫ髱) IY= AyG MX=Y;QU>aSDCy}>I Y4s *5? Y4` &A ?9`B^: (:)LY4W-<@W)X1 X1W1:W12W1*W9V9bU9BU9*U9UAUEm?Bm[>Bi Bu@Au ;@*BqAu{AqAqAu'="C}|*C}RC<C<@CхLM<}@ Bq,Vn EAY}6@}64$@y}6K}6 }6H,@??U,Tj?b?`YZp?)~6@ ~6 _;I~4ɫ99)9 EIAY; AyG   R>`e=ƾi@ @)h@Ih@ih@琺MH=Y;QU>a SD C yUFJ:}U>IY eY4]: *5? eY4]-t ]/A e?9]B]R: ]:)]I[Y4Wˏ@WX XW:W2W*WVbUBU*UUU?BJ=B) B-@A-:@*B)A-\A1A1A56l%="C=*C=>TRC=Uި<C=ˏ@CA=zl<) I G5 >4Bq,36 EA|*4<|*;FY>9FCIDiDF=FJDFDF+; FPE)CICiC==7Y}v@}v7*@y}v\}v}vH *]?~?@Е*?< ?`\@6?)~v@ ~vK _;I~vCjj :Y?G1y܂:86)T <ɫ髱) IYU8 AyUG9MN=Y aSDNCy:}>I Y4 *5? Y4& 6A ?9B: :)hY4Wv@WX XW:W2W*WV!bU!BU!*U!U!U-?Be:=Ba Bm @A:@*BA[AAA#="C*C*RCnA<Cv@C)  ՝=ԝ=օ R55 =i5 =Bq,= EAY}6W#@}60@y}6}6}6Hȼa??.˼/k@;#s?h?)~6W#@ ~6o^;I~6Cɫ99)9 =I9Y}H Ay}G.<MV=Y3!!a%TD%C)y- ;}->Iȁ Y4Ņ *5? Y4Ņ6 ƅ:A ?9ƅWBDž{: ȅ:)ȅvY4WT@WX XW:W2W*WVbUBU*UUU`+@B?=B B@A:@*BAŴAAAo9"="C:*CRC ɉ<C T@C Em<I)GEQ>IBq, EAY}N@}N2+@y}No8}N7}NHy? ˱?i 漿`}` G?9㱿?)~N@ ~N^;I~NC]=]n]n] ]ˣ:Y]I1y]:]f669e@ɫ髱) IYP AyG=Q??MbX9?=\?== =ʡ=)9I9y=V-?"~j?:v=|??=S==T =ۭ@)9I=@i=@9=f@ÝM>ÝÝ`iÝf@Ù ĝh@)ĝ@Iĝ@iĝ@;M3=YaTD$Cyɺ}>I Y4*5? Y42 (A ?9B: :)*Y4W@WX XW:W2W*WVbU BU *U U U @BR=B B*@A:@*BA-AAA! ="C*CRChSX<C@C܅A>9܅CI܁i܁܅=܅KD܅D܅z; ݅fE}U<IG>30Bq, EA|i|Y}6@}6@y}6$_;}6H}6HXݷ?@?=9 $`}k 4-~?)~6@ ~6 ^;I~6Cɫ99)A EIAYY AyGI);Ml=YABӜ; B7@A:@*BA5AAA="CK`*CjRC<C7@CԩԩNJN<?i?סIGA>]Bq,L EAY}EI@}E@y}E;}EV}EHν?@?@墽`O{g`?)~EI@ ~E_;I~EC :Yy76ɫ髉) IY AyGZ****** received transponder code query ******F****** received ping request ******Yi] @Y ] A)]@I]@i]h@m^{Mm(=Yu;QUu>qqa}TD}Cyys}>Iȉ Y4ōA*5? Y4ōδ ƍA ?9ƍFBǍ: ȍ(:)ȍFY4W$Y@WX XW:W2W*WVbUBU*UUUkg @B=Bn< BL@A]8@*BYAeDwAaAaAeĐ="Cm*CmGRCm;Cm$Y@Cq֭X<׉IG>0BCq,y EAhA6>9CIPGim A=LDD; EY}F@}F@y}FQ#<}F}FH^0`Զ??@m`X nߑ [ ?)~F@ ~F=^;I~FCɫYY)Y ]IYYT AyGxDUSBL response received:!U1,P 029,000,00705,184,80,80,95,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ߳=M |=Y"I Y4*5? Y4ݴ A %?9B; ;)Y4Wmr@WiXi XiWq:Wq2Wy*WVbUBU*UUU6 @bTjTZTrTNNNNA->A-k;B5x*B1A1A1A5A=*="C=ms*C]j~RC]:C]r@Ci};QIYGu>mCq,\Z# EA|&;|&p;Y}Z@}ZQ@y}Z^<}Z~t}ZHSy ?`?Y7ۋ w`?)~Z@ ~Zp _;I~ZCkk :YG1yH: 46);9ɫ) IY AyMG5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i='M>=Yq aTDCyB8}>I Y4*5? Y4 ҙA ?9jB: =:)Y4W@WX XW:W2W*WVbUBU6A;*U U U ]U@BU>B]0; B]M@A]9@*BYA];AYA]AeS="Cm*Cm~RCmHCm@Cqѝv< չԽ=֭rg:ב I G >Cq,-= EAY}:j@}:@y}:<}:6v}:H)?@?dQ@?)~:j@ ~:^;I~:Cɫ99)9 =IAY}- Ay}vGxDUSBL response received:!U1,R,041,000,006CF,184,80,80,78,FF Fpublishing direction and range infoVhɰ>鰁 )BIy(B?>Aٱgfffff?Clǿ3?d; ̼)Iy(\? rh?+?z4?C == )X@IE@i@̴@U+>U3?UiU @Q UA)UQAIU@iU;@e<MeA=Ym;QU>aTD*Cy}>I Y4*5? Y4 A  ?9 Bj: <:)Y4W-@W)X) X1W1:W12W1*W1V9bU9BU9*U9U9UE^@PQ*QU(BZQU8"7P@ce8rlJQU?>A2QUVh:QQbQU: љ'&hɁP~vRQU}ೞgƿ"-#;P'BQU#@ QUQU<PU19?PU59?PQQUQU@"QU%AB>B BP@A:@*BAAAA3?="C*CdV~RCaC@CE*>9ECIEGiE AE=EMDEDE(; EEѽΒ;IIi:oGIlAi-ԿٺUlAUkA"5 I G >ӂCq,mW EAY}e@}e=@y}e8<}eo|}eH ȾL??@kR`VE?)~e@ ~e}_;I~eCxoo :YsJ1y:86) ;ɫqq)y }IyY AyGTNmea in: $SNTTA,,0.270330,,,005409.24*4B e?MmJ=YmqqauTDuCqy}b}}>Iȁ Y4Ņ+*5? Y4Ņ ƅA ?9ƅBDž=: ȅ:)ȅY4myAdded new target pos. range: 67.080002 m, bearing: 259.867142 deg, deltaT: 4.495672 s, approachRate: -0.720693 m/s, LOS rate: -0.391039 deg/s, posRepo size: 4mm ProNav: pos range: 67.080002 m, bearing: 259.867142 deg, approachRate: -0.720693 m/s, LOS rate: -0.391039 deg/s, cmd update: -1.173116 deg/s, cmd heading: 259.027550 deg, new cmd heading: 259.214608 deg. Wmi@WiXq XqWq:Wq2Wq*WqVybUyBU*UUP@U@d?B9=B BT@A8@*BA=(A9A9A=="CEnRCE:CEi@CIQQ) u &tI IY G > Cq,q EA|8i|8Y}@}l@y}nؼ<}5i}H Ȧ@%?ǃ?@F_@ `?)~@ ~N^;I~Cɫ!!)! %I)Ye Aye"GI)) > >UN>U$UiU(@Q U/@)U@IU@iU@m%;MmF=Ym;QUm>qqauTDuCyy}:}>Iȁ Y4Ņz *5? Y4Ņ ƅ A ?9ƅ+BDž: ȅ:)ȅY4Wm$@WX XW:W2W*WVbUBU*UUU/?B  >B BY@A8@*BAZAAAc="CRC G<C m$@C "5IGI>  >9 CI Gi A = D +; EH"Cq,B EAY}v@}vj@y}vĿ<}v2Y}vH>?(Y?@۽ `) @?)~v@ ~v_;I~vCɫ髹) IY Ay G1MZ=YaTDXCy;}>Iȱ Y4ŵ *5? Y4ŵ. ƵA ?9ƵBǵ: ȵ:)ȵ"Y4W@WX XW:W2W*WVbUBU*UU U ?B5>B1 B5_@A=8@*B9A=2A9A9A=#="CE<RCE<CM@CIe] ;9IIGuX>  p p  :Y K1y `: :69 @(Cq,z EAY}6Q@}6@y}6x<}6RT}6Hs|?`*?Sj/bJ׭I?)~6Q@ ~6^;I~4ɫYY)Y ]IYY AyG]ׂM]N=Y]aaaeUDeCiym;}u>Iy Z4}o *5? Z4}> }(A ?9}BB}: }:)}Z4W@WX XW:W2W*WVbUBU*UUU'?B >B Bg@A)8@*BAIAAA ="C /RC <C @CMlX< IGE0>L/Cq, EA|$|&4uaUD/ Cy;}>Iȡ Z4ťc *5? Z4ťR ƥ#A ?9ƥBǥD: ȥ:)ȥxZ4WX@WX XW:W2W*WVbUBU*UUU@@B>B Bq@A6@*BA\AAAC="CRC=CX@C յ=Ե=܅>9܅CI܅$Gi܅y A܅=܁܅D܅ ; ݅E)CICiC==ϥ6ֵ  n n  1:Y I1y : y46) {;9 5Cq, EAY}N6@}NiD@y}Nz=}NHF}NH#(@I?`@?_@.ƥ@. 4Ш?)~N6@ ~Nf_;I~NCɫyy)y }IyYC AyWG=M=c=Y=.AAaEUDE CIyM;}M>IQ ]Z4Ui *5? ]Z4U^c UA e?9UBUs: U:)U Z4WF@WX XW:W2W*WVbUBU*UUU@B>B Bz@A6@*BAR|AAA ="CQRC1=CF@Cc<׉IG>=@}v=L@y}vͭ&=}vڡK}vH 黿@??X@kbt@Ԥ'l?)~v>@ ~vj^;I~vCɫ) IYM AyMGQɮQí94>íA>í^:ií@é ĭh@)ĭ@Iĭ@iĭ@[NMB=Yu;QU>aUD Cyj;}>I Z4w *5? Z4v A ?9@B{; ;).Z4W cՎ@WX XW:W2W*WVbUBU*UU!U%`b@R=B*** querying acoustic contact ***P9P9B]C>Ba Be@Ae4@*BArAAA ="CRC} jA} jA܅ >9܅ CI܅ Gi܅ A܅ =܁ ܅ D܅ ; ݅ `E  p p   :Y K1y `: /96) ;BCq,3 EA|i|@Y}6:@}6HH@y}63=}6sa}6H`@}?@? Pf`a v#?)~6:@ ~6 _;I~6Cɫ99)9 9IAYE AyMGMZ****** received transponder code query ******UF****** received ping request ******UaUDV!Cy}>I Z4 *5? Z4 A ?9BA; r;);Z4W@WX X!W!:W!2W!*W!V!bU)BU)*U)U)U5@\ @B>B B@A3@*BA%iA!A!A%Pl ="C-RC-k f=C-@CQaejAM-B=IiM? IG=/>I AA) AA'ICq,bf& EAY}F(@}F6@y}F>=}FM!}FHA@3?g? ͻ@6#Χ@?)~F(@ ~F^;I~FCɫ髙) IYU Ay1GxDUSBL response received:!U1,P 041,000,006CF,184,80,80,78,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 zM>=Y;QU>aUD!CIyU;}U>Ia Z4e~ *5? Z4e^ eA ?9eBe < ek<)eKZ4WE@WX XW:W2W*WVbUBU*U UU`Z @B=B B%@A-2@*B)A])]AYAaAe: ="C(RC\~=CE@C% Q= I G% >  m m  :Y +I1y : ^.69 @PCq,xA@ EAɫyy)y }IyY@ AyGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -K7A`?Mҿ:v?->-n -T<))I)y-> ףp=?Dl?y&1|?-1?-O=-`; ))-@I- @i-@))Õ>Õ馾Õ}iÕ=@Ñ ĕz@)ĕ@Iĕ@iĕ@w8M9=YQU>aUD5"Cy}>I Z40 *5? Z4 ޙA ?9,B: :).ZZ4WW@WX XW:W2W*WVbUBU*UUUp'@B5#e$>B1 B5@A51@*B9A=8VA9A9A="="CE*RCE]=CW@C->9-CI-ƧGi-]A- =-OD-D-]; -$EֽTJg=yIG^>9VCq,Z EA||;ɫ髡) IY AyGxDUSBL response received:!U1,R,039,000,006A1,185,80,80,B0,FF Fpublishing direction and range info%Kɰ >+> )0CIyBϓ0?)nuٱ=i=I=)=-ZM-f=Y1QU=>99aEUDE"CAyI}U>IY eZ4]*5? mZ4]ʺ ]șA m?9]B]k8; ]R;)]fZ4Wȍ@WX XW:W2W*WVbUBU*UUU @P*QBZQO~ocP@ĠH JQϓ0?)nu2Q%K:QbQArկ$<)~OM@#HRQ]c|Ŀ\.kYg,BQ@ Q}Q~%P59?P19?PQQº@"Q@B«>B Bû@AD0@*BA.NAAA="C pRC PҘ=C ȍ@CPz=׹IGf>% % p% p%  % 2:Y% K1y% `:% U/6f\Cq,Ot EAY}MŚ@}M~Ӓ@y}MעZ=}Mh}MH ˢ@?fϲ? s@{`Q@ϟ?)~MŚ@ ~MA=_;I~IɫIQ)Q UIQYb AyGTNmea in: $SNTTA,0.071438,,,,005413.70*4D eL=e?eie\@a e@)eIe@ie@>M2=YtuaUD#Cyؼ}>I Z4D*5? Z4̵ A ?9OB=: I:)vZ4m-uAdded new target pos. range: 64.320000 m, bearing: 260.737199 deg, deltaT: 4.400474 s, approachRate: -0.627206 m/s, LOS rate: 0.197719 deg/s, posRepo size: 4m= ProNav: pos range: 64.320000 m, bearing: 260.737199 deg, approachRate: -0.627206 m/s, LOS rate: 0.197719 deg/s, cmd update: 0.593157 deg/s, cmd heading: 253.865313 deg, new cmd heading: 253.331923 deg. W=@W9XA XAWA:WA2WI*WIVIbUIBUI*UQUUzP@UU`:?B}>B Bػ@A-@*BACAAA="C3*C}RCqyo=C@C}Ԙ=9IAGeU>  <% >9% CI% ̦Gi% A% =% ND% D% ; % EiE mGI] ;mA RcCq,W EAY}2|@}2@y}2b=}2}2H`zI ?*?\7`Wy﴿?)~2|@ ~2%2_;I~2Ci@b3ҿٺb;mAbAɫ11)9 =I9YU; AyUרG`Mn=YB;QU?aUD]#C ya0}?I! -Z4%*5? -Z4%Fڵ %A 5?9%B%}0; %<;)%Z4Wu1 @WqXq XqWq:Wy2Wy*WyVybUBU*UUU@`?B>B B@A-@*BA;AAAk="CE *CE]W}RCE"[=CM1 @CIU=)I9GUT> m m  :Y +I1y : f36uiCq,X EA|i|@Y}6q@}6@y}6j=}6N}6H?b?`:i= y?)~6q@ ~6.d_;I~6Cɫ99)9 =IAY AyGUcM]E=Y];QU]>aaaeVDe#CaymA}m>Iq }Z4u*5? }Z4u{굾 ulA ?9u^BuR: u:)u(Z4W/@WX XW:W2W*WVbUBU*UUU_?B>B B@A,@*BA <3AAAWF="C*C1|RC[==C/@Cys=?i?IG-N>l]pCq,ׇ EAY}:M@}:@[@y}:ho=}:PV}:H @@??j]@ `譿r׷X?)~:M@ ~:_;I~:Cɫ9A)A EIAY}Ay}3Gw/?A`"?kt?>  0)IyK7A`?y&1?~jtx?K?`e=; )S@I@iη@̼@õ$>õ|?õiõp@ñ ĵE@)ıIĵV@iĵt@0M5=Y >;QU>aVD;$Cy\}>I Z4*5? Z4 BA ?9B: H:)Z4WV@WX XW:W2W*WVbUBU*U!U!U%@2?BUo >BQ BU@AU*@*BQA]`)AYAYA]&="Ce*CeBo|RCeX=CeV@Ci>9CIҥGiA= D; ݘE=-tY=I G%o> r r 4 :Y _L1y 7: $6) ;9 vCq,d EAY}2@}2*@y}2Su=}2ǽ}2H`l¿@?e?๧}Oθ ?)~2@ ~20_;I~2Cɫ99)9 =I9Y}4Ay}G=㶽M=g=YE|;QUE>AAaMVDM$CIyUH}U>IY eZ4]*5? eZ4]Z ] A e?9]B]E: ]R:)]GZ4Wt@WX XW:W2W*WVbUBU*UUU@ @B  >B B,@Ax(@*BA!AAA="Cn*C|RC!<Ct@C-.=IG)>|Cq,? EA||Y}6m@}6@y}6z=}6KϽ}6H'ÿ?>?`NO¿>?@ѹ?)~6m@ ~6oz_;I~4ɫy髁) IYAytG>?Xi@ @)It@iV@ pM >=Y*>;QU>aVD%Cy% ]}%>I) EZ4-*5? EZ4-! -A M?9-SB-; -j;)-SZ4Wmט@WiXi XqWq:Wq2Wq*WqVybUyBUy*UyUyU 3@BÞ>B BH@A'@*BAUqAAAM<"C*C{RC<Cט@C ==3=I)׹IGf> iA >9 CI פGi A = OD D ; ؘE)]CI]CiY]=]=]_7% % o% o% # % :Y% sJ1y% :% "6)% k;yCq,EAY}Rř@}Rӑ@y}R*y=}RϽ}RHÿ{?Y!?z`\¿Dȳ s iܹ?)~Rř@ ~R}_;I~RCɫyy)y }IyY AyaGɮ-"M`=Y;QU>aVDa%CyX}>I Z4)5? Z41 јA ?9B: :)Z4W-@W)X) X)W):W12W1*W1V1bU9BU9*U9U9UES~@RMB*** querying acoustic contact ***PIPIBmI >Bq Bu_@Auo'@*BqA}AyAyA}<"C`*Cn{RCx<C@CMq<)I9G]>KĉCq,(EAY}2թ@}2l@y}2A=}2ƽ}2HA1Ŀz? ?!5Yÿ@(Mĸi?)~2թ@ ~2aVD%C y }m>Iq }Z4u)5? }Z4uE uA ?9uBu8: u:)uZ4Wݎ@WX XW:W2W*WVbU BU*UU!UMZB @B>B) B-@A-%@*B1A5@A1A1A5"<"CE|*CE{RCM/'<CMݎ@CI֕U<׭?i׭{?׉IG>% % v% v% ( % n{:Y% N1y% :% q#69- @Cq,(BEA|i|@Y}6@}6@y}6J=}6h9}6HwĿ}?`$ܳ?>ÿf@&`eҶ@-?)~6@ ~6Y_;I~4ɫyy)y }IyY"AyBGxDUSBL response received:!U1,P 039,000,006A1,185,80,80,B0,FF Command AckBRequesting micromodem ping code 2iI)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ܅>9܅CI܅ޣGi܅0A܅=܁܅D܅; ݅E=e;O?:vQ?=>=T =\=)9I9y=(\?MbX9?~jth?='?=ʡ==D; =@)=@I=@i= @9=\@>>D=i@ @)@IV@i-.M-=Y5n;QU]>aaamVDmU&CiyuĂ}u>Iȉ Z4ō)5? Z4ōX ƍpA ?9ƍJBǍ\ < ȍ<)ȍZ4W( @WX XW:W2W*WVbUBU*UUU`|j@BU^>BQ BU@AU<#@*BYA]AYAYA]o<"Cu*CuzRCucL;Cu( @Cyԙԙm ֖Cq,\EAY}6-@}6ś@y}6p=}6H5}6HĿ?`I?wÿn3ySZ?)~6-@ ~6?5_;I~6Cɫ99)9 =I9Y}Ay}GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M=Y1;QU?aVD&Cy1}?I  Z4 O)5? Z4 Sc TA %?9 B S*; .+;) Z4Wu!@WqXq XqWq:Wy2Wy*WyVybUyBU*UUUC@B}B>B B@AX!@*BAAAA ]<"C*CSzRC -C!@Ci]<1IAG]v>% % s% s%  % on:Y% M1y% :% V68Cq,vEAY}6@}6I@y}6=}6s}6HĿj?@?R@Ŀ[`_q?)~6@ ~6o}_;I~6CɫII)Q UIQY}^Ay}QGxDUSBL response received:!U1,R,01A,000,00664,182,80,80,AE,FF Fpublishing direction and range info޹ɰ>鰅> ).CIyrBRl6?+;Y;ٱ>=P=i@ h@) @I@i @@cMZ=Yɠ;QU>aVD'C y 5} >I [4m)5? %[4!q .A %?9)B=: I:)[4WE@@WAXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU]͹@Pi*QmrBZQmA{RN@FJQmRl6?+;Y;2Qm޹:QibQmNp\&;ZM RQms*,5ǿ)*`!N{BQmِ@ QmmQm2Pm29?Pm59?PmQmQm.@"Qmº@B}8>By B}ڼ@A}@*BAܼAAA\S<"C;*CVzRCJ5rC@@Cօ"9I׉)׉AIQGm5>a a m j>9m CIm Gim eAm =m PDm Dm ; m 9ECq,geEA|(|(Y}r^|@}r@y}r=}r}rH@Ŀn?=?| =3Ŀ@cCqL?)~r^|@ ~rwm_;I~rCɫ) IY5Ay5GDNmea in: $SNTTA,,,,,005418.14*53 =i={M0=Y;QU>aWDv'CyB }>I  [4K)5?  [4] A ?9B=; +;)[4m]yAdded new target pos. range: 60.660000 m, bearing: 259.352637 deg, deltaT: 4.433341 s, approachRate: -0.825562 m/s, LOS rate: -0.312307 deg/s, posRepo size: 4mm ProNav: pos range: 60.660000 m, bearing: 259.352637 deg, approachRate: -0.825562 m/s, LOS rate: -0.312307 deg/s, cmd update: -0.936920 deg/s, cmd heading: 256.494964 deg, new cmd heading: 256.773271 deg. Wm @WiXq XqWq:Wq2Wq*WyVybUyBUy*UyUzTN@U@?B>B B@A@*BA3ɼAAAuj<"C6*C;zRC=;C @C ==9IG>% - % r% r%  % t:Y% _L1y% 7:% !6*Cq,=EAY}>v@}>-@y}>=}>`}>HĿ@r??z OĿ@@`m ?)~>v@ ~>'_;I~<ɫYY)Y ]IYYAyGMj=Y%[;QU%?!!a-WD-'C)y5h}5?I9 E[4=o)5? E[4=/ =ڗA E?9=:B=: =:)=[4Wm&Ԏ@WiXi XiWi:Wi2Wq*WqVqbUyBUy*UyUyU}?B21>B B@A@*BAAAAo<"CRCI;C&Ԏ@C2;IG-N>Cq,eEAɫyy)y }IyY[AyGI +?Q?Q?94?\> )Iysh|??X9v?åQ?åʡiåf@á ġ)ĥIĥ@iĥ@EM2=`>9{CIGiqA=QDD.; E1=CYinGQU>Ii˿ٺAaWDM(Cy}%>I) 5[4-@)5? 5[4-* -A 5?9-B-: -:)-/[4W]!@WYXY XYWY:W2W*WVbUBU*UUUj ?B4>B BI@A@*BAAAA <"C*CyRC7^<C!@C0;?i?שIG>% % t% t%  % k:Y% M1y% :% 6)% ;9- 4$Cq, EA|i|@Y}6"]@}6j@y}6O=}6}6H`Zſǁ?`ժ?t6Ŀ@ ి?)~6"]@ ~64_;I~6CɫYY)Y ]IYYAyuGI)5ݴM=g=Y=;QU=>AAaEWDE(CAyM!}M ?IQ ][4U)5? ][4UӲ UfA e?9UBU: U:)Uq:[4Wtg@WX XW:W2W*WVbU BU*UUU@4?B] *>Ba Beg@Ae@*BaAe^AiAiAm'<"C*CeyRC$q<Ctg@CօmY;NCq,EAY}6-N@}6[@y}6} =}6}6Hſ?? @?@qsĿ@uP@ܳ,bv?)~6-N@ ~6._;I~6Cɫ99)9 =I9YyAyGÍG>Í>ÍiÍ@É č @)ĉIč@ič@jMD=Y!;QU>aWD )Cy}>I [4)5? [4HŶ 'A ?9+B; ';)#I[4W,@WX XW:W2W*WVbUBU*UUU`@BUg>BQ B]@A]@*BYA]AYAYA]\<"C}`*C- yRC<C,@Cֽa<בIG> jA K>9 wCI ZGi UA = RD D ;  wE% 5 % w% w% t % Ku:Y% O1y% P:% *6)% &;,6Cq,.EAY}>B@}>yP@y}>~=}>y}>H ſ@?ڧ?n-ſ}*@d?)~>B@ ~>_;I~<ɫYY)Y YIYY$AyG G]M T=YxK;QU>aWDm)Cȿ@%@!y%k}%>I) 5[4-)5? 5[4-ֶ -A =?9-B-: -:)-V[4We@WaXa XaWa:Wa2Wi*WiVibUiBUi*UqUqUu`sg@BJ#>B B@A*@*BAK|AAA<"C/P*CܾxRC<C@CֵD-,`Cq,˄+EAɫyy)y }IyYAy(G=i=ZMM=YQU>aWD)Cy}>I  [4)5?  [4綾 A ?9dB̯< <)dd[4W-@WX XW:W2W*W VbUBU*UUU%`@R]B*** querying acoustic contact ***PYPYB >B B߽@Au@*BAYAAAcH<"CB*CPxRCXo<C-@Cu5%% % r% r% d % T:Y% _L1y% 7:% s69- @+HCq,p`EEAɫ髙) IY_AyGZ****** received transponder code query ******F****** received ping request ******?=j< @)G@I@i@Q@ܵD>9ܵuCIܵGiܵ8Aܵ"=ܵSDܵDܵ; ݵIE)u{CIu|CiuCu=u =u7>V>mi@ @)@I(@i@%9dM%+=YiQUm>iiauWDuO*Cqyy}}>Iy [4}D)5? [4} }A ?9}B}; };)}gu[4W[@WX XW:W2W*WVbUBU*UU!U% @Bm >Bi Bm@Auq@*BqAu9AqAqAu<"C}.*CqwRCd=C[@CeG<1IAG]v>BrCq,m;_EAɫyy)y }IyYAyGxDUSBL response received:!U1,P 01A,000,00664,182,80,80,AE,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %$M-r=Y9QUE?QYaeWDe*Cyy}?Iȩ [4ŭ)5? [4ŭx ƭmA ?9ƭBǭY< ȭ<)ȭn[4WO@WX XW:W2W*WVbUBU*UUUr @B=W>B9 B)@A @*BA1AAA<"C(*C{wRC%=CO@C]<?i?ױIG >% % w% w% c % :Y% O1y% P:% W6Cq,ryEAY}64@}6*B@y}6H=}6ˍ}6H ſ3z? ë?k1Hſn@@릱?)~64@ ~6^;I~6Cɫ99)9 =IAY}Ay}GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)A)= =õ>õ`e<õbiõp@ñ ĵ?@)ĵ-@Iĵb@iĵ-@<M@=Y;QU>aWD+Cy艻}>I [4`)5? [4 IA ?9ABE: :)̏[4W@ @WX XW:W2W*WV!bU!BU!*U!U!U-A@Be8V#>Ba BeG@Am @*BiAmk?AiAiAu <"Cuk*C}!wRC}ٸ2=C}@ @Cy֍=IIQGu6>٭ =٭ 4=ܵ :>9ܵ rCIܵ НGiܵ DAܵ .=ܵ TDܵ Dܵ ?; ݵ E݄Cq,<EAY}2I(@}25@y}23b=}2\}2H (ƿv??h`kſ^ķ@P洿q`?)~2I(@ ~2U_;I~2CɫYY)Y ]IYYAy GxDUSBL response received:!U1,R,004,000,00631,183,80,80,6F,FF Fpublishing direction and range infodɰ>鰝$> )BIyffB 29?QC1mlٱoM[=Ye:QU>aXDp+Cyꃻ}>I [4)5? [4n+ (A ?9BI: :)М[4WUy@WQXQ XYWY:WY2WY*WaVabUaBUi*UiUiU@PI*QMffBZQM[G`L@WbɿJQM 29?QC1ml2QMd:QIbQMV$Sy*@LMRQM$cyƿTl-VcwժմBQMD@ QMbQM"PM49?PM29?PMQMQMT\@"QM.@B'>B Bi@A @*BAGyʻAAAO<"C *C9vRCB=Cy@CZ%=IGj> PExceeded connect timeout, disconnecting.% % s% s% d % T:Y% M1y% :% s6Cq,9ӬEAɫQY)Y eIaYAyGeDNmea in: $SNTTA,,,,,005422.58*52 O?+>=i@ @)@IV@i@rM,=YQU>aXD+Cy} >I  [4 )5? [4 `? A %?9 B w; ;) b[4m uAdded new target pos. range: 57.600002 m, bearing: 259.798212 deg, deltaT: 4.473216 s, approachRate: -0.684071 m/s, LOS rate: 0.099609 deg/s, posRepo size: 4mE ProNav: pos range: 57.600002 m, bearing: 259.798212 deg, approachRate: -0.684071 m/s, LOS rate: 0.099609 deg/s, cmd update: 0.298828 deg/s, cmd heading: 252.329943 deg, new cmd heading: 251.846122 deg. WM@WIXI XIWI:WI2WQ*WQVQbUQBUy*UyU}L@U}F?B>B B@Am @*BA6AAA<"CI1*C!vRCl~6=C@C ==A=I)iAׁ I G >PCq,3EAY}2p@}2@y}2=}2'}2Hƿi??^@ƿV`.`d@?)~2p@ ~2u_;I~2Cɫyy)y }IyYAyG=i= gfffff? rh?Zd;O? 3> C= j<) I y E?333333?Mb F? =  @) @I @i K@  @EiAA]5>9]pCI]rGi]P@]9=]UD]D]; ]EӽMR=Y_;;QU>aXDM,Cy}>Iȱ [4ŵ)5? [4ŵsP ƵA ?9Ƶ!Bǵo; ȵ:)ȵ[4WY@WX XW:W2W*WVbUBU*UUU@b?BE8>BA BE@AE@*BIAMO(AIAIAMP<"CU*CUuRCUU=C]Y@CYu 7=QIaG>- Y - t- t- [ - c:Y- M1y- :- | 6)- ;95 qCq,ZEAY}2Ș@}28֐@y}2UƩ=}2Em}2Hǿ`?7?V@Mƿ@2`pTI?)~2Ș@ ~2W_;I~2Cɫ99)9 =IAYAyUGuHRMu]=Y}&9QU}>yaXD,Cy]n}>Iȑ [4ŕ)5? [4ŕf` ƕA ?9ƕBǕ: ȕ:)ȕ[4W!@WX XW:W2W*WVbUiBUi*UqUqUuww?XRadio surface powered OFF, will not connect.BÙ>B Bľ@A;@*BA鍺AAAj<"C*C6puRC=C!@Cr =IGK>Cq,VdEAY}2,@}2Ĩ@y}2=}2n}2H`]Pȿ U?@v?M]ǿ4O@ٶ@?)~2,@ ~2W_;I~0ɫ99)9 =I9Yu Ay}G=r?=O?=־i=@9 =@)=I=h@i=@M MMM=YM:QUU>QQaUXDU-CYy]c}e>Ia m[4e*)5? u[4eq eBA u?9eQBe: e:)e[4W2@WX XW:W2W*WVbUBU*UUUM?BC8>B B@A@*BA| 9AAA!<"Cs*C uRC<C2@C9E?iE?I!GEQ>U 3>9U oCIU GiU @U ==Q U DU ; U Eim SoGI i пٺ nA`Dq,X9EA|i|Y}6Ts@}6쀐@y}6s=}6}6HȿK?8q?E,ǿl$`?)~6Ts@ ~6_;I~6Cɫ99)9 EIAY}@y}ߜGI)U_ĽM]J=Y] :QUe>aaamXDmy-Cqy}C}}>Iȁ [4Ņy)5? [4Ņo ƅA ?9ƅBDž; ȅ4;)ȅ[4WZD@WX XW:W2W*WVbUBU*UUU@&@B>B B@A @*BA" ;AAAM<"C .*C tRC D<CZD@C <IG&>I @A) w Dq,U.EAY}2X@}2f@y}2N*=}20}2HRɿF?@0?@VQȿ@= ~Է^?)~2X@ ~2_;I~0ɫaa)i iIiY@yOG??i(@  @)I@ićM%>=Y%/:QU->IIaUXDU-CQy]l}e>Ii u[4m)5? }[4mC mA ?9mBmI; m;)m>[4WX@WX! X)W):W12W9*W9VAbUQBUQ*UYUU @B>B B@A?*BĀ;AAA<"C *C d`tRC m˃<C X@CT% W % w% w%  % ,O:Y% O1y% P:% 69- @nDq,GEAɫyy)y yIyY\@yۛG鮽p=ɮ=]RQ?MbX?ˡE?]?]= ]'=)YIYy]^I +?&1?V-?]X9?]P=]< ]5@)]Z@I]x@i]@Y]@uvMuV=Y}QU}>yaXDI.Cy}>Iȑ \4ŕ)5? \4ŕ ƕA ?9ƕ+BǕ: ȕ:)ȕc\4Wf@WX XW:W2W*WV:>9nCIGi@I=VD ; EbUiBU*UUU`@RB*** querying acoustic contact ***PPB=Z>B B5@A?*BA;AAAY<"Cã*CZtRCw<Cf@C ":<IGI>Dq,}aEAY}:(>@}:K@y}:@=}:ؿ}:Hɿ A? ?1:Qȿ*(ᵿ@۷=?)~:(>@ ~: _;I~8ɫ99)9 =I9Ye@yeGZ****** received transponder code query ******F****** received ping request ******aXD.Cy}>Iȱ \4ŵi)5? \4ŵ Ƶ}A ?9ƵBǵM: ȵ8:)ȵ\4Wx@WX  X W :W 2WQ*WYVYbUaBUa*UUUO @B>B! B%N@A%?*B!A-;A1A1A5<"C]6]*CjsRCp*<Cx@C}% % u% u%  % >:Y% KN1y% y:% 59Dq,{EAY}62@}6*@@y}6w=}6U}6HIɿ fA?+? 7ȿ`M`'@n ޿?)~62@ ~6_;I~6Cɫ99)9 9I9Y}@y}GxDUSBL response received:!U1,P 004,000,00631,183,80,80,6F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ex=e\eL=ie3@a e@)ef@Ief@ief@MjýMU0=Y];QU]>aXD,/Cy6@}>I \4)5? E\4gɷ WA M?9tB/< 90<)^\4W[@WX XW:W2W*WVbUBU*UUUԵ @B=nl>BA BEi@AM?*BIAUh<AQAQA]̋<"C *C/}sRC#;C[@Ch%< < < 9>9 mCI XGi @ J= D ; E)ݕoCIݕoCiݕCݕ==ݕ>=ݕ&7ס I G >v %Dq,܀EAY}2(@}2r6@y}2=}2氽}2H ʿA?@P ?@N4ɿWj@u @?)~2(@ ~2E_;I~2Cɫ99)A EIAY{@yGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B eȽMmo=Ym e;QUm?qqauYDu/Cyy}&p}} ?Iȁ \4Ņ)5? \4Ņַ ƅ=A ?9ƅBDž]: ȅ3:)ȅ*\4W@WX XW:W2W*WVbUBU*UUUn@B=,">BA BEz@AE?*BAAE!<AIAIAMo&<"CU*CU JsRCUί;CU@CY֝0;yIG^>% % w% w%  % G:Y% O1y% P:% 5J+Dq,l\EA|@Y}r@}r&@y}r=}r}rHIʿHA??`t0 eɿp`X@㴿^?)~r@ ~r_;I~rCɫ) IYU@yU™GmxDUSBL response received:!U1,R,FF1,000,005F7,183,80,80,8F,FF }Fpublishing direction and range infoePwVlg>E?پi@ @)@Ii@mMm;=Y}:QU}>aYD/Cy }>I  \4 )5? \4 7귾 A ?9 B o: :) ;\4W]@WYX XW:W2W*WVbUBU*UUU@P*QzXBZQrQK@=HI?JQZTL?nӷΊ?2QPwV<:QbQAA$b+-DqJW gRQh-Amȿ u E￟rBQޑ@ QSQ&P39?P49?PQQf=@"QT\@B'>B< B@Az?*BA=Y?<A9A9A=<"CE*CE/rRCM!$:CM@CIU;) I1 GU >O52Dq,CEAɫ) IYe2@ymKGܕ;>9ܕnCIܕGiܕl@ܑܑܑܕ?; ݕETNmea in: $SNTTA,0.049619,,,,005427.02*45 }\(\?aYDb0C y }>I -\4-)5? -\4 A 5?9BBkn; l;)I\4myAdded new target pos. range: 54.120003 m, bearing: 258.851220 deg, deltaT: 4.524181 s, approachRate: -0.769200 m/s, LOS rate: -0.209318 deg/s, posRepo size: 4m ProNav: pos range: 54.120003 m, bearing: 258.851220 deg, approachRate: -0.769200 m/s, LOS rate: -0.209318 deg/s, cmd update: -0.627954 deg/s, cmd heading: 253.687750 deg, new cmd heading: 253.811347 deg. Wy@WX XW:W2W*WVbUBU*UU@\K@U?Bei >Ba Be@Am)?*BiAmW<AiAiAm+<"C*CrRCa;Cy@Cօ Β{:Y Ii G >% s % t% t%  % <:Y% M1y% :% |5)% ;9- \8Dq,EAY}R@}Ri@y}Rp=}Rs}RHʿ:B??+ɿj-@<涿 wW?)~R@ ~R_;I~RCɫyy)y }IyY@yjG=M=i=YE";QUE>AAaMYDM0CIyU}U?IY e\4],)5? e\4]F ]A e?9]B]: ]:)]T\4Wdo@WX XW:W2W*WVbUBU*UUU?B!m">B B@A?*BAh<AAA X<"Cف*CrrRC;Cdo@C;׉IG>>Dq,BEA||4aYD1CyU}>Iȑ \4ŕ/)5? \4ŕ  ƕA ?9ƕbBǕw: ȕb:)ȕ=c\4WiJ@WX XW:W2W*WVbUBU*UUU^?B >B B ſ@A ?*B A [<A AA%<"C*C7rRC <CiJ@C!Ex/<`;IG>١١ܭB>9ܩIܭjGiܭ@ܭL=ܩܭDܭT; ݭE% ! ! %  % I:Y! y! % E5)% ;nEDq,EAY}F@}F@y}F =}F}FH ʿB?`v?''ʿO9 ?)~F@ ~FE_;I~FCɫ髙) IY @yhGU MUM=Y]!:QU]>YaaeYDe1CaymCú}m>Iq }\4uN)5? }\4uF, uMA }?9uBu+: u:)u2q\4W%@W!X! X!W!:W!2W!*W)V)bU)BUY*UaUiU ?B>B Bֿ@A?*BAᘋ<AAA<"C*CqRCV<C%@C <6.<שIG>[KDq,Ů0EAY}=i@}=@y}==}=,o}=HDʿD?o?'-ʿ㹿[Ov?)~=i@ ~=k_;I~=Cɫ) IYUk@yUG    @ @ @ÑÑÑiÕ@Ñ ĕ@)đIĕ@iĕ@<M*=Y7:QU>aYD1Cy3$:}>I \4)5? \4!A  A ?9B>; ?;)\4W%@W)X) X)W):W12W9*W9V9bUABUA*UAUIUM@ @B.M>B B@A?*BA<AAA<"C*T*CqRC<C@CϹϹ)й йU jZX<% & % v% v%  % DK:Y% N1y% :% !59- @1 I9 G] >RDq,1JEAaeCɫ髙) IY@i  nGy%GI!5;>91I5ړGi5X@5E=5UD15; 5,EiQwӿٺAI)gfffff?/$?:v?3?= <)IyX9v?~jt?aYD`2Cy}%>I! -\4%l)5? 5\4%P %A 5?9%QB%: %:)%m\4WU،@WQXY XYWY:WY2WY*WaVabUaBUa*UiUiUm + @B( >B B@AXDq,ZdEAY}6@}6@y}6S=}6?e}6HcʿJ? ? -@ɿ, Z" s?)~6@ ~6\_;I~6Cɫ99)9 =IAY}@y}oG鮁ɮa=M}=Y QU ?aYD2Cy<} ?Iȹ \4Ž)5? \4Ž+^ ƽݒA ?9ƽBǽ: Ƚ:)Ƚ\4Wѻ@WX XW:W2W*WVbUBU*UUU@S@R B*** querying acoustic contact ***P P B-D>B1 B@Av?*BAm<AAAU<"C(P*CrpRCg<Cѻ@C'<סIGB>% % t% t% l % T:Y% M1y% :% 5^Dq,5~EAɫ髙) IY@yGZ****** received transponder code query ******F****** received ping request ******aYD+3Cy}>Iȹ \4Žڠ)5? \4Žq ƽA ?9ƽBǽa; Ƚ;)Ƚ(\4W-琌@W1X1 X1W1:W12W1*W9V9bU9BU9*U9UAUEv @Bg=B B@A?*BA`<AAA<"C*CpRCF/<C琌@C <?i?ױIG>11=>9=oCI=|Gi=@=-==TD=D=; =KEeDq, EAY}F[!@}F.@y}FkY=}FD}FH'ʿ K?@?`0`ҀɿB̯:?)~F[!@ ~FT_;I~FCɫyy)y }IyY@yKGxDUSBL response received:!U1,P FF1,000,005F7,183,80,80,8F,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 EMMa=Y]):QUe>iqa}ZD}3Cy;}>I \4ߜ)5? \4߀ A ?9 B= U=)0\4Wj@WX XW:W2W *W V bUBU*UUU @Bv>B B@A?*BA<AAAö<"C*CWpRCk=Cj@C!M2g=! I1 GM >M ` *kDq,EAyy}e }O:Yyyy}G5Y}@}g#@y}D=}8}HTʿ@ZH?t?/.Bɿ#a@ {?)~@ ~g_;I~Cɫ) IY5@y=GIM?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B RQ?11a5ZD54C1y=<}=>IA M\4E)5? M\4Eۓ EGA U?9EBEf: E:)E'\4WuD@WqXq XqWq:Wy2Wy*WyVbUBU*UUU""@B-l#>B1 B5@A5?*BQA]P<AYAYA]G<"Ce-*CeMoRCe2X=CeD@Ci֍l=a Iq G >rDq,EAɫyy)y }IyY@yGxDUSBL response received:!U1,R,FFE,000,005C1,182,80,80,64,FF Fpublishing direction and range info:ɰV=> )BIyKB9L?n p\?ٱ>9nCIGi@; ]E)unCIunCiuCuE=qu_7 [M =YQU?aZDU4C!y%}%?I) 5\4-)5? 5\4- - A =?9-)B-: -:)-\4W)@WX XW:W2W*WVbUBU*UUU\@P*QKBZQ5pI@=e?JQ9L?n p\?2Q::QbQ<$+H&RQGȖʿݻ 1ܟGBQ1@ Q`FQ&P19?P39?PQQ6@"Qf=@Bul5>By B}@A}?*ByA}g<AAA۫<"Cd*Cs[oRCT9*=C)@C֥ȿ=Iױ)׵jAyIG^>% % w% w% n % 3:Y% O1y% P:% 45)% ;9- yDq,NEA|(i|*@Y}eȗ@}et֏@y}eF~=}e }eH˿ 6?@?`Gʿ|'|*?)~eȗ@ ~e$_;I~eCɫQQ)Q UIQYB@yGTNmea in: $SNTTA,0.047136,,,,005431.47*47 I))== ==bM2=YXQU>aZD4Cy3}>Iȩ \4ŭ)5? \4ŭ ƭA ?9ƭBǭ: ȭ:)ȭ\4m yAdded new target pos. range: 50.879997 m, bearing: 258.178828 deg, deltaT: 4.342313 s, approachRate: -0.746147 m/s, LOS rate: -0.154846 deg/s, posRepo size: 4m ProNav: pos range: 50.879997 m, bearing: 258.178828 deg, approachRate: -0.746147 m/s, LOS rate: -0.154846 deg/s, cmd update: -0.464539 deg/s, cmd heading: 250.955858 deg, new cmd heading: 250.671540 deg. W @WX XW:W!2WA*WAVIbUIBUI*UIUUpI@UU@?BN=B B"@A9?*BA,<AAA<"C*CnRC>%=C @C 5)=IG%>"Dq,|EAY}2 @}2@y}2=}2U}2HSJ̿)?̫?,`dw˿Gƺ`}j?)~2 @ ~2Y}_;I~2Cɫ99)9 =I9Y}C@y}G @ @ @}©}}i}Q@} }f@)yI}@iy M_=Y@8QU>aZD(5Cy}>Iȩ \4ŭ)5? \4ŭ׿ ƭnA ?9ƭRBǭ: ȭ#:)ȭ\4W@WX XW:W2W*WVbUBU*UUU*?B >B B%@A%/?*B!A%<A!A!A%]<"C=&u*C=֗nRC=TG =CE@CAM]= IG5.>iA&>9I\Gi @==UD; mE-  - s- s- X - 3:Y- M1y- :- ~5)- ; Dq,\EAY}6tj@}6 x@y}6!Է=}6i}6H̿?v? `̿`ﺿor@?)~6tj@ ~6,_;I~6Cɫ99)9 =I9Y]V@y]bG@MX=YݿQU>aZD5Cy'`}>I  \4 )5? \4 θ $A ?9 B #: :) \4WE ً@WAXA XAWA:WA2WI*WIVIbUIBUQ*UQUQUUQ;?B}>B B'@Ar?*BA+<AAA<"C9*C 8Dq,?3EA|4<|;Y}:L@}:CZ@y}:r=}:g}:HdͿ?X?ʂ̿ ế@ƶ ?)~:L@ ~:z_;I~:Cɫ髩) IYl@yӐG } } }}>}>}i} @} }@)}@I}S@iy{M0=Y׾QU>aZD5Cy}>Iȱ ]4ŵL)5? ]4ŵ฾ Ƶ͐A ?9ƵBǵ: ȵI:)ȵ ]4W@WX XW:W2W*WVbUBU*UUU?B =B! B%(@A%ʫ?*B!A-<A)A)A-<"C5T*C5mRC5H=C5@C9==IG=q>% % w% w% W % B:Y% O1y% P:% G59% @Dq,MEA܅#>9܅mCI܅̍Gi܅@܅A=܁܅D܅&; ݅|Eɫ) IY@yG6only read 2 of 4 data itemsa i@a  a m@a  a q@a  a e@a  MW=YQU>aZD`6Cy}>I ]4})5? ]4k︾ A ?9 BG: 0>)]4W-n@W)X) X)W9:W92W9*WAVAbUABUA*UIUIUMT@BJ!=B B'@Aj?*BA p=AAA<"C%*C%nmRCM>F=CMn@CIYY]y=1IAG]v>GDq,fEAY}6/@}6,=@y}6=}6Lp}6HNͿ? C+?@̿A 6ﶿ[q'?)~6/@ ~6f_;I~4ɫ99)9 9I9Y}@yȏG M Y=Y :QU>aZD6Cy%4}%>I) 5]4-sy)5? ]4- -% : % q% q% ? % r8:Y% K1y% ̅:% #5.Dq,ĀEA|i|Y}6%@}62@y}6痸=}6悔}6H`Ϳ[ ?@2?@uͿ`(H@ @?)~6%@ ~6ic_;I~6CɫQa)a mIiY@y G鮽a=ɮ%V.?%?%Qi%@! %O@)%I%@i%@-չM5H=Y5:QU5>99a=ZD=*7CAyE2M}E>II U]4Mt)5? U]4M MA ]?9M'BM: Mg?)M(]4W}:m@WyXy XW:W2W*WVbUBU*UUU=@RMB*** querying acoustic contact ***PIPIB=B B"@A\?*BA=AAAp<"C*ClRCj=C:m@CV =inGשIIlAiGh>οٺlA߾Aqqy9}lCI}nGi}G@}B=yy}.; }EI ) @AYDq,ϢEAY}2t@}2*@y}2OG=}2I%}2H@ο ( ?@d?@ 4Ϳ4j` ((@\?)~2t@ ~2D_;I~2CɫAA)I MIQY}@ygGZ****** received transponder code query ******F****** received ping request ******YYa][De7Caym,)}m>Iq }]4uo)5? ]4u uA ?9uBu ; u?)u/]4WQ@WX XW:W2W*WVbUBU*UUU@ @BX=B B@A4?*BA' =AAAt<"C*C=DlRC=CQ@C=I G-p>% S % t% t% K % q::Y% M1y% :% 5jDq,ߌEAY}b@}bf@y}bؘ=}b@}bH@Fο "?@n?`XͿ@Ջ*@5y e?)~b@ ~bAY_;I~bCɫ) I!Y=@yEڍG]xDUSBL response received:!U1,P FFE,000,005C1,182,80,80,64,FF eCommand AckmBRequesting micromodem ping code 2iiqNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 a ia i a ma m a qa q a ea e Zd;O? rh?Mb?~>C= @=)Iyq= ףp?{Gz?YYae[De$8CyW}>Iȩ ]4ŭh)5? ]4ŭ*7 ƭPA ?9ƭBǭX < ȭ <)ȭjDq,UEA%">9!I%Gi%@%D=%VD!%/; !ɫ髹) IY@yGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B qiu=7M=YQU'?a[Df8C y }/?I ]4Ve)5? %]4?B .A %?9 B: :)L]4WU@WQXQ XYWY:WY2WY*WYVabUaBUa*UaUaUmGB@BY>B B@A?*BA5=AAA[<"C*CskRCX1=C@CmX%=AIYG8>-  - q- q- ; - =:Y- K1y- ̅:- G5)- V;95 0Dq,j1EAY}2i@}2@y}2ڸ=}2G}2H>ο`?@p? K LͿMW?)~2i@ ~2u_;I~2Cɫ99)9 =I9Y&@yYGxDUSBL response received:!U1,R,FCD,000,00588,185,80,80,7A,FF Fpublishing direction and range infoK6=ɰ=鰥+> )BIy=BY?> Ǧ?ٱrMZ=Yv}QU>!!a%[D%8C)y-\}->I1 =]45`)5? =]45R 5A E?95B5M: 5:)5+Y]4W@WX XW:W2W*WVbUBU*UUUJ@P*Q=BZQuHݴG@ADu@JQY?> Ǧ?2QK6=:QbQ>4"9q;'GwRQ>7[ɿbHü8 ̄o!BQb@ Q89QnP29?P19?PQQ0+@"Q6@B]0=BY B] @Ae$?*BaAe^=AaAaAeᱻ<"C19*C kRC(=C@C)=yIG^>|Dq, EAY}:@}:Ύ@y}:<=}:}:H aϿ T?`=B?`fοH Je@?)~:@ ~:Y_;I~:Cɫ9A)A EIIY}@y} G-DNmea in: $SNTTA,,,,,005435.94*54 =O 㥽i@ @)A@I@iA@M==Yx9QU>a[D59Cy h6} >I ]4Z)5? ]4e A ?9SB: A:)Eh]4muAdded new target pos. range: 47.459999 m, bearing: 258.522442 deg, deltaT: 4.452377 s, approachRate: -0.768129 m/s, LOS rate: 0.077175 deg/s, posRepo size: 4m ProNav: pos range: 47.459999 m, bearing: 258.522442 deg, approachRate: -0.768129 m/s, LOS rate: 0.077175 deg/s, cmd update: 0.231526 deg/s, cmd heading: 248.889437 deg, new cmd heading: 248.687650 deg. W@WX XW:W2W*WVbUBU*UU@G@U?Bm4=Bq Bu@Au@?*BqAuQC=AqAqA}@<"C}*CjRCW=C@C)=I)iAjA-#>9)I-NGi-3@-F=))-@; -E)ݵlCIݵmCiݱݵB=ݵB=ݵ E6ױIG>% C % v% v% & % *9:Y% N1y% :% 5)% 3;1Dq,EAY}2⏖@}2|@y}2kL=}2I}2H@п'?@{,? XϿ セ+?)~2⏖@ ~2Hp_;I~2Cɫ99)9 =IAY]@y]ʊGI) K1M^=YQU>a[D9Cyo}>I ]4U)5? ]4u A ?9B: :)"u]4W%@W)X) X)W):W)2W)*W1V1bU1BU9*U9U9U=,'?Be=Bi Bm@Am#?*BiAm5=AiAiAus<"C}O*C}tSjRC}<C}@C֭W=iIqG>kDq, 5EAɫ) IY=@yG-?/$?Mb??>> =)IyQ?{GzMbp\O?# @)@I\@i @Ļx>I ip@ `@)IiFM!=YQU>a[D:Cy}>I  ]4 L)5? ]4 ܋ @A ?9 \C ": v:) ц]4W=,@WAXA XAWA:WA2WA*WIVIbUIBUI*UIUQUU`?B}=B B@A?*BAy#=AAA:<"CF*C@iRCX<C,@C֭=iIqG>  r r !  ?:Y _L1y 7: 59% @.Dq,OEAf>9dIfGif@f:=fUDdf6; fEY}r'@}re5@y}rS=}rH}rH@п@ ?B? wп`:6@C.?)~r'@ ~rQ_;I~pɫ) IY5@y=G{ Mu=YQU?a[Dj:C޹y}?I ]4fF)5? ]4p A ?9C: o:)~]4W%7@W!X! X!W!:W)2W)*W)V9bU9BUA*UAUAUE@ ?B1=B! B%@A%{?*BAAMiZ&=AIAIAMM^<"C]a*C]iRC]O<C]7@Cae<9IIGeU>7Dq,xiEA|&;|$Y}R@}Rb"@y}R5=}R쥽}RH ѿ?!-?_@пk  ?)~R@ ~RK7_;I~Pɫyy)y }IyY@y@GYi]=Im=)m=NPML=Y׺QU>a[D:Cy#}>I ]4>)5? ]4ݫ ҍA ?9Cа; ;)t]4W%D@W!X! X!W):W)2W)*W9V9bUABUA*UAUAUE@A@BUz'=BY BaA\v?*BAEe)=AAAĸ<"C+*CJiRC`h<CD@CIG>% % q% q%  % /:Y% K1y% ̅:% 5Dq,fEAY}>@}>@y}>d=}>𵢽}>H`Y'ѿ%?@KS? п盺`=`?)~>@ ~>G_;I~>Cɫ髑) IY7@yGå=å=å什iå=@á ĥ+@)ĥ @Iĥ @iĥ @MJ=YjQU>a[D8;CyM}>I ]4 7)5? ]4 A ?9HC^: k:)]4W<Cmٱٱܽ >9ܹIܽ`Giܽp@ܽ6=ܹܽDܽ9; ݹNDq,7EAY}2@}2 @y}2)=}24}2H`:ѿ`L?Lf?`8 [пt@ȳ.?)~2@ ~2f=_;I~2CɫQY)Y ]IYYul@yu5GyɮyEM\=YQU>a\D;Cy,U}>I ]4/)5? ]4͹ ^A ?9C: :)]4W^@W X  X W :W 2W *W1V1bU1BU1*U9U9U=ys@REB*** querying acoustic contact ***PAPAB=B BAh?*BA@/=AAA<"CR*ChRCD<C^@Czl<׹IGD>!Dq, EA} }s}s} }G:Y}M1y}:}65Y}]@}]<@y}]=}]}]H Dѿ@?@zf?ɰ@9п`Q@=Hs?)~]@ ~]lU_;I~]Cɫiq)q uIqY@yGZ****** received transponder code query ******F****** received ping request ******5u5=i5@1 5S@)1I1i5@E5ME=YM]ѸQUM>IIaM\DUIa m]4e()5? m]4e⹾ eGA m?9eCe : e:)e]4Wo@WX XW:W2W*WVbUBU*UUU @B =B BAb?*BAi2=AAAN:<"C}*CqhRC_;Co@CH<IG> iU nGIm ;mAi Uοٺ ;mA 4AHDq,EA6>96kCI6ЄGi6@69=446E; 6EY}f@}f8@y}f =}fp}fHZPѿ?_?nпB?)~f@ ~fE_;I~dɫ髙) IY=@y݆GxDUSBL response received:!U1,P FCD,000,00588,185,80,80,7A,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 uyM}m=Y;r9QU?a\DvI M]4")5? M]4 6A U?9:C <  <)_]4WX|@WX XW:W 2W *W V bU BU*UUU @Bm=Bq BqAuYW?*BqAu5=AqAqA}Ķ<"C N*Ck1hRCϽ;CX|@C֝r;qIyG>%  % r% r%  % v4:Y% _L1y% 7:% I5)% #;9- 0Dq,EAY}>d@}>@y}>ٯ=}>~j}>H@mѿ?@gأ? eѿP@Gz ?)~>d@ ~>M_;I~>CɫYY)Y ]IYY@yG@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B g@MZ=YqQU>a\DIȱ ]4ŵ)5? ]4ŵY Ƶ&A ?9Ƶ}Cǵ`: ȵ;)ȵ]4WM@WIXQ XiWi:Wi2Wi*WiVqbUqBUq*UqUqU}H]@Bu=B BAR?*BA58=AAAO<"C *CEgRCA;C@C;IG>2Eq,kEAY}:ȕ@}:Ս@y}: =}:Al}:Hѿ?D?b[ѿ@ @`뵿1hW?)~:ȕ@ ~:_;I~:Cɫ99)9 =I9Y}@y}GxDUSBL response received:!U1,R,FA7,000,00553,184,80,80,7C,FF Fpublishing direction and range info=ɰP=鰅> )BIy1B;-M?ıܳ?ٱåjå>å#=iåµ@á ĥA@)ĥM@Iĥ@iĥd@ MH=YQU>a\D==Cy}>I ]4)5? ]4 A ?9C: :)0]4W@WX XW :W 2W *W VbUBU*UUU` @P)*Q-1BZQ-lF@0+q3| @JQ-;-M?ıܳ?2Q-=:Q)bQ-ƍ!O$dE}JvRQ-FɿZr8ᅱQBQ-zS@ Q-,Q- P-19?P-29?P-Q)Q-4@"Q-0+@Bm:=B BAmK?*BAw:=AAA <"C"*CgRCm_C@C2;I!)!aau>9ujCIurGiu@u;=quDuZ; uEIGm>% % v% v% $ % /:Y% N1y% :% Z5)% $;PFEq,EAY}5@}5Fʍ@y}5=}5K[}5Hѿļ??`xѿ¸յnY`h?)~5@ ~5_;I~5CɫQQ)Q ]IYYL@yGTNmea in: $SNTTA,0.040777,,,,005440.36*43 =IM=B=Y=LQU=>AAaE\DE=CIyMX}M>IQ ]^4U)5? ]^4U UA e?9UCU: U4:)U^4myAdded new target pos. range: 44.279999 m, bearing: 258.414852 deg, deltaT: 4.452137 s, approachRate: -0.714264 m/s, LOS rate: -0.024166 deg/s, posRepo size: 4m ProNav: pos range: 44.279999 m, bearing: 258.414852 deg, approachRate: -0.714264 m/s, LOS rate: -0.024166 deg/s, cmd update: -0.072497 deg/s, cmd heading: 249.921166 deg, new cmd heading: 250.018677 deg. W@WX XW:W2W*WVbUBU*UU#F@U?BK=B BAG?*BAAf==AAA<"C*C~gRCA C@CqIG>2v Eq,dv8EAY}fÕ@}f<э@y}fp=}f}H}fH ѿ`?`?f`rѿ +>`t樿`?)~fÕ@ ~fR_;I~fCɫ髱) IY@yGv/?J +?kt?x)?H=  0=)Iy-?a\D>Cy ;}>I ^4)5? ^40 A ?9fCI; N;)^4W%K@W!X! X!W!:W!2W)*W)V)bU)BU1*U1U1U5?Be2=Ba BaAek:?*BaAm-?=AiAiAm)<"Cu@*Cu6DgRC}9C}K@CymΒ{AIYG{>   s s   v4:Y M1y : 59 @M >9I IM GiM t@M <=I I M ; M E)kCIkCi勔C:=9=勗6fEq,2vREA|i|@Y}Vܕ@}VE@y}V#C=}Vk2}VH7yѿ>?U? /Kѿ偵`7`K?)~Vܕ@ ~V_;I~VCɫ髱) IY@yGIM]=Y˺QU>a\Dt>Cy<}>I ^4j)5? ^4> ČA ?9C7; n;;)^4W-k@W)X) X)W1:W12W1*W9V9bU9BUA*UAUAUM D?B==B9 B9A=3?*B9AEB=AAAAAE*ش<"CM*CMgRCUm;CUk@CQ=9=?i=?IG=r>Eq,IlEAɫy髁) IY@yG5qiM=B=YEQUM>IQaU\DU>CQy]}]>Ia m^4eG(5? m^4eN eA }?9eCeSh; eNi;)en.^4W@WX XW:W2W*WVbUBU*UUU!7?B}*=B BA,?*BA^D=AAAH<"C/*C/fRCr;C@Cֽr;בIG>      *:Y y  65v!Eq,$EAY}6@}6@y}6E=}6=(}6H]ѿ`o?A?o3ѿ`m`Yb`u?)~6@ ~6)_;I~6CɫII)Q UIQY}@y}G-xi-v>>-+=i-̴@) -@)-/@I-M@i-@=ME[=YEQUE>IIaM\DM??CQyUl;}U>IY e^4](5? e^4] ] ]A m?9]9C]w: ]M:)]c;^4W@@WX XW:W2W*WVbUBU*UUU.@Be=Bi BA%?*BASF=AAAE<"Ci>*CtfRCBR;C@@C֙<9IGi@==; EyIG^> 'Eq,EAY}6ϕ@}6Dݍ@y}6=}6]}6H ^ѿS??@ kѿm<Y@Ը`[?)~6ϕ@ ~6^;I~6Cɫ99)9 =I9Y@yfG=i=5SM=K=Y=:QU=>AAaE]DE?CAyM}M>IQ ]^4U#(5? ]^4Ul UjA e?9UCUD: Ur:)UwI^4W|@WX XW:W2W*WVbUBU*UUU@F@B&=B BAA?*BA@H=AAA <"C O*CiMfRC/?;C|@CT;IGI>- - t- t-  - N2:Y- M1y- :- 5-Eq,jڹEAY}J@}J@y}Jg=}J}JHGѿ 5?Q?qѿ@$ݶ@0 ?)~J@ ~J^;I~JCɫYY)Y ]IYYm@yG鮥p=ɮ=Gz?J +{Gzt?p?Ƚ ף;)Iy`"?Dl?Mbp?7?O=; @)@I7Ai@3@K7>?l=i@ @)d@I/@i$M?=YQU>a]D@C y }>I ^4Q(5? %^4} 7A %?9C :)sX^4WEw@WAXA XIWI:WI2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBE=Ba BiAm?*BiAmwxJ=AiAiAuaݳ<"Cu`*C} fRC}M9C}w@Cy}"5;QIaG}z> >9 I }Gi _@ >= ; E4Eq,EAY}2F@}2᥍@y}2]=}2b}2Hѿ?@?Cuѿ@崿@^?)~2F@ ~2^;I~2Cɫ99)9 =I9Y]f@yenGeZ****** received transponder code query ******mF****** received ping request ******m >yM_=YLQU>a]Dr@Cy}>I  ^4(5? ^4:  A ?9C< M<)Xe^4Ws@WX XW:W2W*W V bU BU *UAUAUM @B==B BA?*BABL=AAA <"C&q*C eRCOɺCs@Cֽ9יIGb>  r r   U*:Y _L1y 7: 58:Eq,GEAY}6@}6-@y}6A=}6%}6H` ҿ@ɲ?G>?@`ѿ⶿DѴ`𩤿`,?)~6@ ~6Ɣ^;I~6Cɫ髁) IYX@yǀGxDUSBL response received:!U1,P FA7,000,00553,184,80,80,7C,FF Command AckBRequesting micromodem ping code 2i I)A5Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ii M@ M@ M@M©MMiM@M M@)MIMۭ@iMۭ@]M=Y QU>a]D@Cyͺ}>Iș ^4ŝ(5? ^4ŝ Ɲ΋A ?9ƝuCǝ; ȝD:)ȝw^4W-En@W)X) X)W1:W12W1*W1V1bU9BUA*UIUIUM[ @B=B B!A%2?*B!A-4yN=A)A1A5<"CeY*CePeRCmAgCmEn@Cq չԽ=֥ "ׁ I G >AEq,!sEAY}:@}:>@y}:e=}:3&}:HEѿ|?g?ѿ`T洿¤?)~:@ ~:=^;I~:Cɫ99)9 =I9Yu`@y}/GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -)ϽM-=Y-:QUU?QQa]]D]EACYye";}e?Ii ^4m(5? ^4m଺ mA ?9mCm;; m;)m ^4W5k@WX XW:W2W*WVbUBU*UUU )@imGIlAiBpN=B B ̿ٺ lA eAA%q?*B!A-(O=A)A)A-b<"C5*C5q[eRC5C55k@C9ىىܕ>9ܑIܕ{Giܕx@ܕ==ܑܑܕ; ݕEuQIaG|>  p p   @*:Y K1y `: 5) Q;9 @GEq,G!EAY}2@}2U@y}2]0=}2}2H@ѿ?`?ѿ` G?)~2@ ~2 F^;I~0ɫ99)9 =IAY@yGxDUSBL response received:!U1,R,FB8,000,0051B,184,80,80,72,FF Fpublishing direction and range info=ɰ#=鰑 )BIy#B2Qȿ?e) ?ٱ`MR=Y%:QU>a]DACyQ;}>I ^4R(5? ^42 ~A ?9Cr: :)^4W Mg@W X  X W :W 2W *WVbUBU*UUUǧ@P)*Q-#BZQ-nlkD@xv@JQ-2Qȿ?e) ?2Q-=:Q)bQ-!6KrC9>艆 RQ-64Rn ̿۠E*)FK}BQ-@ Q-Q-wP-/9?P-19?P-Q-Q-C@"Q-4@BeQ=Ba BaAe>*BaAm7$Q=AiAiAmH<"Cu7*Cu'eRCu~:CuMg@Cym9!I1GM1>NEq,_$;EA|4<|ɫyy)y }IyY%@y~G%dNmea in: $SNTTA,0.439510,0.439629,,,005444.82*5C %=i%=a ie@a e a me@a e a qm@a m a em@a m   õ33>õõ iõG@õ ĵ@)ĵ@IĵĬ@iĵ@dM:=YQU>a]DBCy}>I ^4X(5? ^4ͺ JA ?9CC4< >)^4myAdded new target pos. range: 40.920002 m, bearing: 257.296368 deg, deltaT: 4.415780 s, approachRate: -0.760907 m/s, LOS rate: -0.253293 deg/s, posRepo size: 4m5 ProNav: pos range: 40.920002 m, bearing: 257.296368 deg, approachRate: -0.760907 m/s, LOS rate: -0.253293 deg/s, cmd update: -0.759878 deg/s, cmd heading: 249.601035 deg, new cmd heading: 249.567177 deg. W54@W1X1 X1W1:W92W9*W9V9bU9BUA*UAUEuD@UM@J?Bu=Bq BqAu6>*ByA}R=AyAyA}N<"C.m*CdRC;C4@CԹԹֽ0::I)בIG>܅ >9܁ I܅ xGi܅ ?@܅ <=܁ ܁ ܅ ; ݅ ɗE A  s s   9:Y M1y : 5) ;GUEq,TEAY}Vs@}V@y}VT=}Vx}VHQѿӸ?$t?ǛѿdU$@D~?)~Vs@ ~V=^;I~VCɫyy)y yIY@y<}G=ٽMES=YE:QUE>IIaM]DMzBCIyU:}U>IY e^4](5? e^4]ܺ ]A m?9]C]c: ]S?)]Ǥ^4W @WX XW:W2W*WVbUBU*UUU@AT?BlԪ=B BA&>*BA$T=AAAzJ<"C*CdRC֧1<C @CX;סIG >W+[Eq,nEAY}B@}BT@y}Bv=}B}BH`pѿ@ ?Pu? @ѿNo@,`^?)~B@ ~BE^;I~BCɫaa)a mIiY@y{Gí"[>í#=í`ií@é ĭ@)ĩIĭ@iĩMB=Y&9QU>a]DBCyg;}>I ^48(5? ^4 A ?9Cu: ?)^4W @W X  XW:W2W*WVbUBU*UUU% D?BM8=BI BIAM}>*BQAU{U=AQAQAUVg<"C]X*C] PdRC]=<Ce@Caօr;YIaGZ>  r r   A:Y _L1y 7: 59 @CbEq,FEA|i|@Y}6K@}6΍@y}6E=}65}6Hѿ?ķ?ǣѿ౷@ZB@h?)~6K@ ~60^;I~6Cɫ99)9 =IAY@yzG5M=S=Y=]:QU=>AAaE]DEICCIyML;}M>IQ ]^4U(5? ]^4U UA e?9UCUh: U?)Ug^4W@WX XW:W2W*WVbUBU*UUU U?B=x=BA BAAEº>*BAAEV=AAAAAM<"CmSg*CudcRCuR<Cu@Cy Յ=ԅ=m}U9)I-vGi-@-==))-; -ƗE)ńjCIńjCińCń==ń==ń9&5IIQGm5>^;I~2Cɫ99)9 =IAY'@yyG5턽M=J=Y=9QU=>AAaE^DECCIyMI;}M>IQ ]^4Ut(5? ]^4U. UA e?9UiCUS: Uc@)US^4W"@WX XW:W2W*WVbUBU*UUU (E@B`)=B BAU>*BA W=AAAX<"C*CFcRC'<C"@CIGE>  o o  X3:Y sJ1y : 5gnEq,jEAɫ髙) IYn@y yGa ia i a ma m a qa q a ea e @5^I ?{GzĿ{Gz?b0?# ף<)IyS?/$?Mb`?/=?,=; @)lAIAi\@A-->--xi-@) -Q@)-I-;@i-;@=SM=;=YEQUE>AAaE^DM DCy}>I ^4-(5? ^4 UA ?9C8: I:)O^4W%oX@W!X! X1W1:W92W9*W9V9bUABUA*UAUAUe@BX=B BAá>*BAX=AAA<"C*C>cRC=CoX@C<׹IGf>% >9% kCI% \sGi% @% <=! ! % ; % EOOuEq,ZEEA|;|4@ywGIa=)%=gӽMd=Yq:QU>a^D|DCyCk}?I ^4l(5? ^4m- *A ?9C+: :))^4W1@WX XW:W2W*WVbUBU*UUUU@RB*** querying acoustic contact ***PPB d=B  B A Ɏ>*B1A5Y=A1A1A5_:<"C=x*C=bRC==CE1@CAqqe  u u  3:Y KN1y y: 5$z{Eq,t#EAY}us@}u@y}u =}u8c!}uHAҿϪ?@ ??ҿhRo?)~us@ ~um^;I~uCɫQQ)Q UIQY@yvGZ****** received transponder code query ******F****** received ping request ******iiam^DmDCqyu!R}u>Iy ^4}(5? ^4}? }A ?9}UC}: }:)}^4W4@WX XW:W2W*WVbUBU*UUUF @B֭=B< BAq>*BAZ=AAAX<"C6*CQbRCB=C4@Cy=ױIG>faEq, EAY}2F@}2S@y}2m=}22}2Hҿ?@?ɀlҿ@—jG@xD?)~2F@ ~2c(^;I~2CɫYY)Y ]IYY@yuGxDUSBL response received:!U1,P FB8,000,0051B,184,80,80,72,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= =?Mb=Y-PܺQU5>AIaM^DUNECayuw}}>Iș ^4ŝd(5? ^4ŝN Ɲ‰A ?9ƝCǝ= ȝE=)ȝ^4W҉@WX XWiA9IpGi@;=; :W2W*W V bU BU *U UU @B]CJ=BY BAig>*BA[=AAA <"C*C"bRC@1=C҉@CֱבIG>  q q   :2:Y K1y ̅: 5) 5;9 Eq,#EAY}Na2@}N?@y}N=}N{K}NH`BҿV?`=ۗ?{ҿ`߷@]Y?)~Na2@ ~N^;I~NCɫqy)y }IyYs@y(tGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 鿙(M?=YQU>a^DECy}>I ^49(5? ^4_ A ?9C: :)^4Wy@WX X!W!:W!2W!*W!V)bU)BU)*U1U1U5K@B]ދ=BY BYAe*BaAe8 \=AaAaAe9Z<"C5*C=aRC=M =C=y@C9A1I9G]v>QEq,=EAɫ髹) IY@yRsGxDUSBL response received:!U1,R,F9D,000,004EC,187,80,80,5F,FF Fpublishing direction and range info;=ɰp=1> )BIyfBMٸir?Y?ٱen?"~j?+?e?eS= e=)aIaye7A`?~jt?~jt?e6?eD>siz@ @)I@i@<9M.=YQU>a^D3FCy}>I _4u(5? _4q A ?9@ C : :) _4W%ky@W!X! X!W):W)2W)*W)V)bU1BU1*U1U1U=,@PI*QMfBZQMv/vB@m@6L @JQMMٸir?Y?2QM;=:QIbQM 8B/ a^R RQM#ʿ ,*+srBQM@ QMpQM>PM09?PM/9?PMQMQM8@"QMC@Bs=B BAz.>*B!A%\=A!A!A%r<"C-Y*C-ZaRC-8$=C5ky@C1  U̓9 I mGi [@ := D ; ɗE׹ I   G/:Y y 5) ;G >Eq,КWEAY}ux/@}u=@y}u2=}ux}uHҿ?mK?z}ҿṸ. @?)~ux/@ ~u#^;I~uCɫII)Q UIQY@y/rG5DNmea in: $SNTTA,,,,,005449.25*55 AEiAMb=Y99QU>a^DFCy}>Iȩ _4ŭw(5? _4ŭ ƭzA ?9ƭ Cǭ: ȭ+:)ȭ_4muAdded new target pos. range: 38.099998 m, bearing: 257.869503 deg, deltaT: 4.545896 s, approachRate: -0.620341 m/s, LOS rate: 0.126077 deg/s, posRepo size: 4mrPowering the camera and arming the DDM at range: 38.10 m.Xm ProNav: pos range: 38.099998 m, bearing: 257.869503 deg, approachRate: -0.620341 m/s, LOS rate: 0.126077 deg/s, cmd update: 0.378232 deg/s, cmd heading: 246.146759 deg, new cmd heading: 245.871372 deg. W@WX XWX:W2W *W V bU BU *UU C@U^c?B=B9 B9AE>*BAAE|)]=AAAAAE_<"CM[ *CM`RCU&=CU@CQ]}<5"= IGe>˛Eq,xqEA|@|B;Y}v@}v/(@y}v_v=}v}}vHzҿ?@%?[t ҿ`޸@( ϖO?)~v@ ~vq?^;I~vCɫ髉) IY@ypG5=i15p=i5p==.Powering up loadControliI4=)4=m/]>m?m@imQ@i m@)iIm@imt@}ⒽM}<=Y9QU>a^DFCyF}>Iȡ _4ť2(5? _4ť ƥoA ?9ƥ Cǥ: ȥ:)ȥ*_4:uAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;vZEntering USBL mode with 5.000000 count pings.1;q;W@WX XWX:W2W*WVbUBU*UUU ??B% |=B! B!A%=*B!A-]=A)A)A-_<"C5*C5`RC5Fz=C5@C9AA)A A C"=׹ I G >  r r   .:Y _L1y 7: 59 @Eq,CEAY}2@}2b@y}2B=}2}2H 88ӿy?)?h ҿ) -"`"?)~2@ ~2@_;I~0ɫ) IYUf@yU-oGMg=YAQU>a^DYGCyb} >I  _4 @(5? _4 B gA ?9  C : o:) ;7_4X5@q;=u=Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:=u=Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLWE@WAXA XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU]a?Bq=B BAA=*BA߷]=AAAZz<"C`*CX`RC<C@Cm9qIu(kGiu"@u;=qqu; uŗE=ׁIG=>٨Eq,EAY}2b˔@}2،@y}2=}2}2H,ӿ-t?`͢?\ K6ӿ@_ 0@ ?)~2b˔@ ~2 a;I~2Cɫ) IY5@y5nGi"ML=Y5bQU>a_DGCyD}>IA M_4E-(5? U_4E E]A U?9E^ CE: EZ:)EE_4Wu͉@WyXy XyWyXy:Wy2W*WVbUBU*UUU?Bak=B BAI=*BAQ]=AAA$<"C *C#`RC<C͉@C9=IGj>  p p  f.:Y K1y `: 5Eq,EA|i|Y}Bv@}B@y}B˧=}B:}BH Բӿ tk?^o?`U@aӿ@% ϴ`l`?)~Bv@ ~B/`;I~BCɫ) IYU@yUJmGiMp= ף?Mb`{Gz?M%?M Mף=)IIIyM(\?X9v?~jtx?Mz4?M`>if@ ۭ@)IȢ@iȢ@-M-6=Y5QU5>11a5_D=2HC9y=޻}E>II U_4MHz(5? U_4M̾ M-A U?9M CM: M:)MT_4Wuv@WyXy XyWyXy:Wy2W*WVbUBU*UUU?Bb=B BA<*BA]=AAAs<"C*C:_RCw<Cv@C ==oE<?i?יIGb>m >9m lCIm lhGim @m :=i i m ; m E)kCIkCi;=;=75REq,EAY}><@}>נ@y}>ԥ=}>9}>H)ӿa? qp?gL`Bӿ@Dϴ`?)~><@ ~>M%w;I~>Cɫ) IYU@yUkGi[ӽMd=YQU>a_DHCCy-}>I _4t(5? _4̻ A ?9 C: :)la_4W@WX XWX:W2W!*W!V!bU!BU!*U)U)U-,@BU]=BY BYA]*BYAYAaAaAe<"Cm[*Cmu_RCm3<Cm@Cq֝= = u= u=  = 4:Y= KN1y= y:= H5qEq,EAY}2_@}2l@y}2=}20ɒ}2H/QԿP?@\? S<MӿH( E ?)~2_@ ~2;I~0ɫyy)y yIyY8@yBkG hAhAiiAhA %@ %@ %@%©%%i%ף@% %Ĭ@)!I%i% @=M=T=Y=ϹQU=>AAaE_DEHCIyM}M>IQ ]_4U;n(5? e_4U,ۻ U܈A e?9U3 CU: U:)Un_4W @WX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBkY=B B A k*BAa]=AAAt5<"C*C8_RCm;C @C!-8<IG (>Eq, EAY}:b@}:*@y}:D=}: }:H@qԿiM>=YQU>  a _D _IC1y5_}5>I9 E_4=f(5? E_4=뻾 =A M?9= C=: =:)=~_4W%@WX XWX:W2W*WVbUBU*UUU u @  gA>9ILeGi_@8=; EBM0P=BQ BQAUE*BQAUL]=AQAQA] <"C]*Ce^RCe&`Ce%@C}0  r r L  /:Y _L1y 7: 5) ތ;9 1'Eq,d&EAY}2hݓ@}2@y}2X=}2}}2H`\Fտ)?@? տ`?! 6?)~2hݓ@ ~2;I~2Cɫyy)y yIyY@yhGxDUSBL response received:!U1,P F9D,000,004EC,187,80,80,5F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i=MEX=YMIQU>a_DIC!yƞ}>Iȡ _4ť_(5? _4ťu ƥA ?9ƥ Cǥ,< ȥC<)ȥ_4W>@WX XWX:W2W*WVbUBU *UUUMwZ @BH=B BA*BAc]=AAAH<"C%{D*C-^RCEvbCM>@C 񖻹ׁ I G >Eq,FA@EAɫyy)y yIyYb@ygGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ix&1?Q롿Mb`?A ?\ ;)Iyd;O?y&1|V-?4?`< A)AI~AiA A)%> %= u u u u@ u@ u@qqqiuz@q u@)qIut@iut@[OM7=YQU>a_D2JCy}>Iȡ _4ťW(5? _4ť ƥmA ?9ƥ CǥY!; ȥ;)ȥ_4WQ@WX XWX:W2W*WVbUBU*UUU{@B<=B BAҽ*BA,]=AAA%<"C*C^RCIqCQ@C IG> >9 mCI bGi &@    ;  —E  s s  .:Y M1y : ) b;9Eq,ZEAY}2Iw@}2儋@y}2dS=}2a}2H`*ֿ?eb?` տ`EO! X?)~2Iw@ ~2GȔ;I~2CɫYY)Y YIYY_@yfGxDUSBL response received:!U1,R,F66,000,004B1,186,80,80,66,FF Fpublishing direction and range info >ɰ=> )BIy= Bif"?L`u&?ٱI)Ai Mf=YQU >  a _D JCy}>I %_4P(5? -_4 \A -?9U Cw: :)_4WMd@WIXQ XQWQXQ:WQ2WY*WYVYbUYBUa*UaUaUee@Ru(Combining 5 samples.Py*Q}= BZQ}rA@d#@JQ}if"?L`u&?2Q} >:QybQ}Puԓ4@XEpRQ}ck˿aM#BQ}ӏ@ Q}Q}#P}/9?P}09?P}Q}Q}sA@"Q}8@Bq2=B BA *BA\=AAAe<"C*Ct^RCCd@C-NJNIG )>I ) wEq,JtEAY}fC@}fQ@y}f=}f4S}fH gֿV??@5ֿ 5@̲aQ?)~fC@ ~f^;I~fCɫ髱) IY/@yeGUDNmea in: $SNTTA,,,,,005453.70*5E iaa   õ^=õ7>õGiõp@õ ĵQ@)ĵԘ@Iĵ @iĵ@뮽M<=YKQU>a_DJCyl}>I _4F(5? _4' HA ?9 C4: :)F_4myAdded new target pos. range: 34.559998 m, bearing: 257.522365 deg, deltaT: 4.351920 s, approachRate: -0.813434 m/s, LOS rate: -0.079767 deg/s, posRepo size: 4mrPowering the camera and arming the DDM at range: 34.56 m.Xm ProNav: pos range: 34.559998 m, bearing: 257.522365 deg, approachRate: -0.813434 m/s, LOS rate: -0.079767 deg/s, cmd update: -0.239300 deg/s, cmd heading: 247.792522 deg, new cmd heading: 247.964372 deg. W.U@WX XWX:W2W*WVbUBU*UUGA@U@?B.=B BA/*BA\=AAAX<"C*Cym^RCDC.U@C- c)I1GM>  u u _ 84:Y KN1y y: 59 @KEq,ӍEAifdnGIrjAi~AA%Eٺ-jA-4BY}m@}m8+@y}m=}m9}mHֿ`?C?B0ֿ bU@l+`V?)~m@ ~mv;I~iɫQQ)Q QIYY@yvdG gAfAi fA fAU MUD=YUJeQUU>YYa]`D]fKCaye7}e>٭<٭<ܵ>9ܱIܵ_Giܵ@ܱܵTDܵDܵ; ݵEI  _4 p=(5? _4 8 4A ?9  C  : :) _4W]F@WYXY XYWYXY:WY2Wa*WaVabUiBUq*UqUqU}'?BMj'=BI BIAU?*BQAUq[=AQAYA]4<"C?$*CT^RCgCF@C}h׼QIaG}z>uEq,EAY}2@}2@y}27=}2ܛ)}2H ֿq?)?ֿd{`'㱿$?)~2@ ~2kw;I~2Cɫ99)9 9I9Y}@y}cGi_M`=Y%QU%>!!a%`D-KC)y-U}5>Iȉ _4ō5(5? _4ō2E ƍ&A ?9ƍ3 CǍ: ȍ:)ȍ_4W:@WX XWX:W2W*WVbUBU*UUU?B=B BAS*BA>Z=A A A <"C^T*CC^RCVsC:@Ce鼹!I1GUS>  p p p  2:Y K1y `: 57]Eq,EAY}@}~@y}ħ=}$}H ֿ?@Χ? ŹֿJ1?)~@ ~:)m;I~Cɫ) IY!@ybGiYY(\?I +ý=>ýDiý@ù Ľ@)ĽIĽ@iĽԘ@pM%=YAQU>a`DBLCy:}>I _4+(5? _4W A ?9 C/: :)_4W%A*@W!X) X)W)X):W)2W)*W1V1bU1BU1*U9U9U=tL?BeW[=Bi BiAmq*BiAmY=AiAiAu<"Cui*C}%^RC} 'C}A*@Cy֕qIyG>ܵ >9ܵ nCIܵ |]Giܵ @ܵ 7=ܱ ܱ ܵ ; ݵ EʇEq,cEAY}2@}2-@y}2=}2k7}2Hخֿ?@z?ֿ{`5<?)~2@ ~2&f;I~2Cɫ99)9 9IAY@y+aGI#@)"@i) = 5M==Y=4 QU= ?AAaE`DELCIyM <}M ?IY ]_4]:%(5? e_4]Yd ]A e?9] C]: ]:)]_4W]@WX XWX:W2W*WVbUBU*UUU@2@BTB=B BA*BA  s s   -:Y M1y : 5Eq,?EA| i| Y}>=@}>K@y}>eX}=}>hq}>H wֿ`?Ks?eֿY᥯ߜ?)~>=@ ~>+b;I~>Cɫyy)y yIyY@y`GiYYõuõ#=õiõp@ñ ĵ@)ıIĵ@iĵb@MB=Y ͻQU>a`DLCy'<}>I _4(5? _4t ӇA ?9C#: ]:)_4W@WX XWX:W2W*WVbU!BU!*U!U!U%`@B;D =B BA֐*BABX=AAAK<"C*C`]RCC@C) U>U>=߼AiE?I!G=r>̙Fq,LEAY}6U@}6Tc@y}6s=}6}6H Lֿ?XKW?F>ֿ cw20?)~6U@ ~6A7`;I~6Cɫ99)9 9I9Y}&@y}`G鮁ɮi&M_=YQλQU>a`D]MCy<}>Iȹ `4ŽQ(5? `4Ž ƽA ?9ƽ]Cǽ: Ƚ:)Ƚ `4Wd@WX XWX:W2W*WVbUBU*UUU@R B*** querying acoustic contact ***P P B=B BAy*BA*SW=AAA<"C-*C\]RC❼Cd@CUfAQ]">9YI]$[Gi]@YYY]; ]ƗE)mCImCi邉8=8=:5IG%M> r r l F:Y _L1y 7: 5) ;9  Fq,(EAY}2i@}2)w@y}2g=}2(o}2H`'ֿm?}f@u i ֿL` f?)~2i@ ~2^;I~0ɫ髙) IYb@y(_GZ****** received transponder code query ******F****** received ping request ******YYa]`D]MCaym̹;}m>I `4w (5? `4e A ?9Cz; :)`4WM @WIXI XWX:W2W*WVbUBU*UU!Um] @B0=B BA*BAeV=AAA<"C=k*C]RCbC @C!}IG5>ǫFq,}BEA||4%@}>@y}>[=}>)z}>Hտ?-pտ`}@zb9`=?)~>%@ ~>y];I~>Cɫ) IY-W@y-]G5xDUSBL response received:!U1,P F66,000,004B1,186,80,80,66,FF 5Command Ack5BRequesting micromodem ping code 2i11ENmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iYa+?I +?MbP?v?94= :)Iyq= ףp?L7A`?Q?+?+=  A)AIIAi1A A }@ }@ }@}©}}i}@} })}Ԙ@I}Ԙ@i}Ԙ@ [M=Y]QU>a`DgNCyT;}>I1 E `4e %>9e oCIe hXGie @e 4=a e De ; e ӗE5 @(5?  `45 Z 5 A  ?95 C5 < 5 3<)5 G.`4W ߉@W X  X W X :W 2W *W V bU BU *U U U RG@BU =Ba  Ba Ae g*Ba Am HT=Ai Ai Am <"Cu *C} 5X]RC} 87C} ߉@C ԍ fAԍ fA  q q _  -:Y K1y ̅: 5) k;֍ }UIו fA)ו eAiIqG>4Fq,t\aEAY}F@}F@y}F\O=}F*}FHտ? d տ@& `r?)~F@ ~Fa8];I~FCɫQQ)Q QIQYuy@yu\GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iQQýM=Y:,QU ?a`DNCy[<}$?Iȹ `4Ž'5? `4Ž󳼾 ƽA ?9ƽFCǽw: Ƚ:)Ƚ7`4WJ׉@WX XWX:W2W*WVbUBU*UUUX@B-;s<B1 B1A5Jþ*B1A5S=A1A9A=)<"CMC*CU?]RC]ԆC]J׉@Ci]ONI)GE0>9Fq,-"{EAɫ髙) IY @yb\GxDUSBL response received:!U1,R,F67,000,0047E,186,80,80,69,FF Fpublishing direction and range infoܸ>ɰj= )BIyA?} ?ٱI!@)!@i M M M M@ M@ U@IIIiM@I I)MIMiM@UмMU@=Y]QU]>Yaae`DeOCaym}m>Iȑ `4ŕ'5? `4ŕvü tI ƕnA ?9ƕCǕ: ȕ:)ȕF`4Wȉ@WX XWX:W2W*WVbUBU*UUUdB@R(Combining 5 samples.P)*Q-AZQ-qYv:8?@;3@JQ-?} ?2Q-ܸ>:Q)bQ-$;1 ٽ>ƅdRQ-Ty˿9:￶ ϪBQ-@ Q-Q-mP-.9?P-/9?P)Q-Q-|@"Q-sA@B}9<By ByA}Ⱦ*BA82R=AAA<"C*C/]RCλCȉ@Cֽ0יIG>  r r I d0:Y _L1y 7: G59 @%Fq,]EA|@i|@r'>9rpCIrsVGirN@r2=ppr; rܗEɫ) IYUT@yUg[GDNmea in: $SNTTA,,,,,005458.22*52 I)Ai5~M5L=Y9QU=>9AaEaDEOCAyI}M>IQ ]`4U''5? ]`4UѼ U^A ]?9UCU: UM:)UlT`4muAdded new target pos. range: 31.500000 m, bearing: 257.759018 deg, deltaT: 4.571242 s, approachRate: -0.669402 m/s, LOS rate: 0.051770 deg/s, posRepo size: 4mrPowering the camera and arming the DDM at range: 31.50 m.Xm ProNav: pos range: 31.500000 m, bearing: 257.759018 deg, approachRate: -0.669402 m/s, LOS rate: 0.051770 deg/s, cmd update: 0.155309 deg/s, cmd heading: 246.700507 deg, new cmd heading: 246.605790 deg. Waщ@WX XWX:W2W*WVbUBU*UU?@U?Bܭ<B BAվ*BAP=AAA¦<"C*C\RCZkCaщ@C = =`Ի%?i%?IGj>?++Fq,خEAY}BCʓ@}B׋@y}B 6*=}B0}BHlvտ`k%?@{@*vտU 0E:~?)~BCʓ@ ~B\;I~BCɫaa)a iIiY@yqZGiii        @  @ @   i @  @) ;@I @i @5yM%L=Y-QU5>9AaEaDEOCQyeJ<}e>Iȁ `4Ņv'5? `4Ņ༾ ƅSA ?9ƅCDž[; ȅ;)ȅb`4W~ۉ@WX X!WAXA:WA2WI*WIVIbUIBUI*UQUQUU_?BGi<B BA*BAZ7O=AAA?<"Ct*C=\RC>tC~ۉ@CIG>  p p r .:Y K1y `: 5+2Fq,EAY}2@}2@y}2=}2 }2HBտ@.?4u@(Bտj`1@W@?)~2@ ~2q];I~2Cɫ99)9 9IAY]@y]YG iUS?V-Ϳ{Gzt?U?Um Uף;)QIQyUi|?5?Mb? rh?U1?Uyya}aD}JPCyy/<}>Iȉԙ>i]mGIqi `4ٺ?Bōu'5? `4ō^ ƍLA ?9ƍ]CǍx$= ȍh$=)ȍo`4W%@W!XA XIWIXI:WI2WI*WQVQbUQBUQ*UQUYU]g~?B<B BA*BAM=AAA<"CG*Ci\RCS{C@C)>9ITGi@/=SD; ڗEoMIG >M=8Fq, EA||;ɫy髁) IY@y;YGi=wM=N=Y=QU=>AAaEaDEPCIyM}M>IQ ]`4U'5? ]`4U UEA e?9UCUI: U:)U}`4W@WX XWX:W2W*WVbUBU*UUU ?BuPn<By ByA}*ByA}xL=AyAyAkE<"C*C9\RCvKC@CԹԹֽ?BɺI)fAסIGl> $ ^ 6:Y y 5kg>Fq,'jEAY}:@}:'$@y}:QM=}:rzT}:H`MԿ>?W?`9@$ԿY&蠿h?)~:@ ~:\;I~8ɫ99)9 9I9Y@ywXGi U ] ]]=]㥾]C i]@] ]@)]@I]@i]َ@mBMmG=YmQ2QUm>qqa}aD}QCyi<}>Iȩ `4ŭT'5? `4ŭu ƭ@A ?9ƭCǭ: ȭ:)ȭ'`4W@WX XWX:W2W*WVbUBU*UUUo?B-X~<B) B)A5*B1A5J=A1A1A5<"C=l*C=_\RCEP:CE@CA"5׹IGf>BOEFq,$EEA00Y}R'@}R@y}R=}RNs}RH@Կ9ܝqCIܝ`QGiܝ-@ܝ0=ܙܙܝ; ݝ֗EY@ytWGI@)@i{MC=YVQU>aaDQCy }>I %`4'5? %`4 ;A -?98CV: :)ǚ`4W-@WX XWX:W2W*WVbUBU*UUU@@B f<B  BAz*BAgI=AAAP<<"CF*C%A[RC%wmC%-@C!=] ;I!G=r>E E tE tE _ E 1:YE M1yE :E 5)E ;9M |KFq,í&>ií@é ĭ@)ĭK@Iĭt@iĭt@>M0=YpQU>aaDQCy}>I `4'5? `4- 8A ?9C: o:)`4WV@W X  X W X :W 2W*WVbUBU*UUU@@R-B*** querying acoustic contact ***P)P)BMf<BI BIAM*BQAUG=AQAQAU<"C]*C][RCeCeV@Ca u=u=MΒ{U?iU? IG5>BaRFq,jIEAY}2ܓ@}2Y@y}2Xl<}2"}2H`>Vտ*??'Nտ l!`B?)~2ܓ@ ~2];I~2CɫYY)Y YIYY<@y^VGZ****** received transponder code query ******F****** received ping request ******aaDYRCy }>Iȹ `4Ž'5? `4Ž&; ƽGA ?9ƽCǽM: Ƚ:)Ƚ`4W-@W)X) X)W)X1:W12W1*W1V1bU9BU9*U9U9U=@ @Bԫ<B BA *BAbE=AAA\+<"C*C][RCC@Cu/>9qIu4PGiu:@u-=quDu; uۗE)EpCIEpCiECE0=E0=EU6IG>E A A E V E 1:YA yA E 5)E ;XFq,cEAY}2ߓ@}2'@y}2<}2l5}2H MQտ+?'?g)=Iտ쟿cDl?)~2ߓ@ ~2#];I~2Cɫ99)9 9I9Y}@y},VGxDUSBL response received:!U1,P F67,000,0047E,186,80,80,69,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 gAiAEgAVMW=YɻQU>!!a%aD-RCqy}a:}}>Iȱ `4ŵ>'5? `4ŵJ ƵXA ?9ƵCǵz< ȵi<)ȵ`4W@WX XWX:W2W*WVbUBU*UUU{I @B5*<B1 B1A5 *B1A=-wC=A9A9A=f<"CQ*C&)[RC0C@CzשIG>^Fq,}EAY}2e@}2@y}2E<}2ނؼ}2H 1*տ1?@R}?0 տ`響`RV@ ?)~2e@ ~2^;I~2Cɫ99)9 9I9Y}@y}UGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B >i>iíl=í>íMií@é ĭ @)ĭ@Iĭ@iĭ@vMK=Y؅QU>aaD!SCy;}>I `4'5? `43Y jA  ?9]C: V:) `4W-!@W)X) X1W1X1:W12W1*W9V9bU9BU9*U9UAUE @BmP;Bi BqAue*BqAuA=AqAqAu<"C}*C}[RCuѻC!@C֝yIG^> ` t z;:Y y }59 @Y ] <4eFq,EAY}J@}J_@y}J-<}JM̼}JHԿ`:?r9-rCI-OGi-F@)))-; -՗Eɫai)i iIiY*@y UGxDUSBL response received:!U1,R,FEA,000,00456,183,80,80,65,FF Fpublishing direction and range infonF<ɰܵ=鰍$> )BIyA0}?]~?ٱiMZ=Y)QU>abDSCy<}>I `4 '5?  `4g {A  ?9CR: :)-`4W52*@W1X1 X1W1X1:W92W9*W9V9bUABUA*UAUAUMA@RU(Combining 5 samples.PY*Q]AZQ]a :=@Z4l?JQ]0}?]~?2Q]nF<:QYbQ]1y"2;%!XRQ]kmӿ Fk@V撘BQ]@ Q]OQ]P]%9?P].9?PYQYQ]Җ@"Q]|@BM@;BI BIAM*BIAU?=AQAQAUw<"C]*Ce;ZRCeCe2*@CaM[Rӻ)I1GMS> kFq,zEAY}g6@}D@y}p<}ɼ}H`zԿG? Z?@=@=C >i=@9 =@)=-@I=-@i=-@MMM=YUb9QUU>QQa]bD]TCYye/<}e>Ii u`4m~'5? u`4mx mxA u?9mCm: m:)m)`4myAdded new target pos. range: 29.099998 m, bearing: 251.974421 deg, deltaT: 4.387200 s, approachRate: -0.547046 m/s, LOS rate: -1.318517 deg/s, posRepo size: 4mrPowering the camera and arming the DDM at range: 29.10 m.Xm ProNav: pos range: 29.099998 m, bearing: 251.974421 deg, approachRate: -0.547046 m/s, LOS rate: -1.318517 deg/s, cmd update: -3.955550 deg/s, cmd heading: 247.383158 deg, new cmd heading: 247.463033 deg. WU@WX XWX:W2W*WVbUBU*UU=@U?BQ<B BA*BA==AA A @<"C wRCS<CU@C-IG > t s s r =:Y M1y : 5rFq,DEA|@i|@Y}6[@}6i@y}66<}6}6HGgԿ R??@3R{\ԿƟ Yޗ`?)~6[@ ~6;I~6Cɫ99)9 9I9Y@ySGiu%M}=Y}QU}?abDUTCyBo<}?Iȑ `4ŕ'5? `4ŕ₽ ƕvA ?9ƕ"CǕ: ȕ:)ȕ`4WX@WX XWX:W2W*WVbUBU*UUU@N?BBB BA*BAY <=AAAv<"C%oRC%8[Z=C%X@C)-0:D;I G-,>:>9I@NGi@3=; ؗE|xFq,!EAɫyy)y yIyYA@ySGi5M<M=O=Y=QU=>AAaEbDETCIyM}M>IQ ]a4U'5? ]a4U񏽾 UsA e?9U_CUw: U :)U a4W%l@W!X! X!W!X!:W!2W)*W)V)bU1BU1*U1U1U5@?Beo;Ba BaAed*BaAm 9=AiAiAmO<"CuERCu=Cul@CyM< IG-->  r r @ 3:Y _L1y 7: Y5Fq,EAɫyy)y yIyYI@yRG gAi gA hAUʡ=UhUv>iU@Q Uَ@)UIU@iU@e^MeG=YiQUm>iiaubDu#UCqyy}}>Iȁ a4Ņ'5? a4Ņy ƅpA ?9ƅCDž: ȅ:)ȅ'a4W+@WX XWX:W2W*WVbUBU*UUU ?BaW:B BA$#*BA#7=AAA<"C`RC[=C+@Cm<׹IGf>iDnGI1iIuvٺquB gA Fq,_ EA|"4<| 2B>90I2LGi2^@27=2TD02; 2חEY}J\@}J@y}J<}JvzE}JH Կ[?=d? _`uԿ ݪ?)~J\@ ~J;I~JCɫaa)a aIaY@yJRGiaaj߼ME=Y;QU>abDUCy2J<}>Iȹ a4Žv'5? a4Ž. ƽlA ?9ƽCǽk: ȽV:)Ƚ'a4Wअ@WX XWX:W2W*WVbU BU *U U U Y@BB BA &*BA'5=AAAiJ<"CRC=Cअ@C#=I)gA׉IG>> ' t t  6:Y M1y : !5) F;9 Fq,2EAY}:g@}:7u@y}:<}:/a}:HOԿ 'P?@p?U`3Կ@V 9?)~:g@ ~:);I~8ɫ11)1 9I9Y@yQGií>íí>iíz@é ĭ@)ĭ@Iĭ@iĭ@M;=Y:QU>abDUCy}>I a4'5? a4 fA ?9#C: +:)7a4We)@WaXa XaWaXa:Wi2Wi*WiVibUqBUq*UqUqUu@z@B`B BA-*BA=3=AAA0<"CbRC>C)@Cî=IGi>Fq, LEAɫ髹) IY!@yPQGɮp=I @) i  㥛 ?sh|?y&1?? `<)Iy/$?i<MW=Y QU > abD^VCy}>I! -a4%'5? -a4%ǽ %\A 5?9%fC%I; %R;)%:Da4WU ׃@WQXY XYWYXY:WY2WY*WaVabUaBUa*UiUiUm@RuB*** querying acoustic contact ***PyPyBشŻB BAf,*BA$91=AAA<"Cq RC )>C ׃@C֥=}J>9yI}KGi}j@}8=yy}; }ۗE׉IG`>= = r= r= H = B:Y= _L1y= 7:= 5)= ٜ;'Fq,ffEAɫ髙) IY@yPGZ****** received transponder code query ******F****** received ping request ******YYa]bD]VCayi}m>Iq }a4u&{'5? a4uEֽ uRA ?9uCu; u;)uQa4W@WX XQWQXQ:WQ2WQ*WYVYbUYBUY*UaUaUe@ @BB BAs0*BA.=AAA<"C! RC>>C@CQ=סIGH>NFq,HEAY}J@}J/@y}J[!<}Jđ}JHӿV?@\?@Xe`0ӿ{3 Ô3?)~J@ ~J6b;I~JCɫqy)y yIyY@yOGxDUSBL response received:!U1,P FEA,000,00456,183,80,80,65,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i  5@ 5@ 5@5©55i5̔@5 5@)5Ԙ@I5@i5َ@EaME#=YMb:QUM>IIaUbDU@WCQyU;<}]>Ia ma4es'5? ma4e齾 eHA m?9eCeV: e:)eca4W@WX XWX:W2W*WVbUBU*UUU3 @B8bB BA25*BA*-,=AAAj<"CVRC`>C@C!>׹IG>= O = s= s= d = ::Y= M1y= := 59M @ٙ ٙ  N>9 sCI XJGi v@ 7= SD D ;  ݗE)erCIerCieCe7=e5=e6:Fq,EAY}F)@}F&@y}FS<}F}FH UԿ'?`?=?Կ|2*k ?)~F)@ ~FEE;I~DɫYY)Y YIYY}̨@y}OGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B hAigA5üM==Y=QU=?AAaEcDEWCAyMN}M?I a4Bn'5? a4K BA  ?9<C: +:)kna4WM,@WIXI XQWQXQ:WQ2WQ*WYVYbUYBUY*UYUaUe`$I@BH YB BA 7*BA8*=AAA<"CxRC#c>C,@C6*>IGj>cFq,bEAɫ) IY@yNG=xDUSBL response received:!U1,R,F52,000,0041F,187,80,80,A5,FF EFpublishing direction and range info5|>1ɰ5٬=51> 1)5%CI1y5fA5ҧ?\'\Ƀ\?ٱ1iMb?E?~jt ?F> )IyHzG?:v?{Gz?=*?<#<  A)AAIAiA=A    @ @ @ÙÙÙiÝQ@Ù ĝ9@)ĝIĝiĝ9@7M)=YQU>acD XCy}>I a4f'5? a4 >A ?9CQ: :)~a4W&@WX XWX:W2W*WVbUBU *U U U `@R(Combining 5 samples.P*QfAZQ̀9@a8@JQҧ?\'\Ƀ\?2Q|>:QbQzwXeUl]9rRQ^0hǿsu L矿BQ@ QQŔP/9?P%9?PQQa@"QҖ@BU(BQ BQA]<*BYA]gu'=AYAYA]<"CeRCmi >Cm&@Ci];>I!G=r> =i } } r} r}  } (U:Y} _L1y} 7:} !57OFq,zEAY} z @} @y} O<} %} H ֿ?`!? ֿT> ?)~ z @ ~ Yڎ;I~ Cɫ ) IYMl@yMMGDNmea in: $SNTTA,,,,,005507.11*59 i yMj=YQU>acDcXCy}>Iȑ a4ŕ:`'5? a4ŕ ƕ:A ?9ƕCǕ: ȕ:)ȕ\a4muAdded new target pos. range: 25.799997 m, bearing: 259.613715 deg, deltaT: 4.532377 s, approachRate: -0.728095 m/s, LOS rate: 1.685494 deg/s, posRepo size: 4mrPowering the camera and arming the DDM at range: 25.80 m.Xm ProNav: pos range: 25.799997 m, bearing: 259.613715 deg, approachRate: -0.728095 m/s, LOS rate: 1.685494 deg/s, cmd update: 5.056481 deg/s, cmd heading: 229.455296 deg, new cmd heading: 228.007588 deg. W/@WX XWX:W2W*WVbUBU*UU9@U?B-&wB1 B1A5 B*B1A5s.%=A1A9A=B<"CE(XRCE d>CE/@CI%p\>ܽR>9ܽtCIܽIGiܽԣ@ܽ4=ܹܹܽ; ݽؗEIGM>yFq, EAY}2 t@}2@y}2Ss<}2d }2H@>׿`3i?A?``q׿j`#?)~2 t@ ~2Y;I~0ɫ11)1 1I1Yu8@yuMGI)@i)> -M5X=Y5>QU5>99a=cD=XC9yEbN}E>II Ua4McY'5? Ua4M M8A ]?9MCM: M#:)Ma4WA@W!X) X)W)X):W)2W)*W1V1bU1BU1*U9U9U=?BeVyBi BiAmC*BiAm "=AiAqAupi<"CuQRC}L>C}A@Cy֝ \c>QIaG}Y> t t u :?:Y M1y : 5]Fq,/EA|i|@Y}6ӑ@}6F@y}6%IG<}6?!}6H"ٿ ??m ¶ؿ@`舿5Ŀ ?)~6ӑ@ ~6;I~6CɫYY)Y YIYY@yMGi! u u u u@ u@ u@qqqiu=@q u@)uَ@Iu-@iu@DME=YԻQU>acD.YCyA}>Iȡ a4ť&Q'5? a4ť(. ƥ6A ?9ƥMCǥ,: ȥ:)ȥ|a4W5 i@W1X1 X1W1X1:W12W9*W9V9bU9BUA*UAUAUEk?BghB BAD*BAz< =AAA<"CRC>C i@CS>ix?׹IGE>ܹ 9ܹ Iܽ dHGiܽ @ܽ 1=ܹ ܹ ܹ ݽ ڗE]Fq,QEAY}>0@}>=@y}>'<}>b5}>HSNڿ`?@?@+@ٿeݴWƿ?)~>0@ ~>ٌ;I~<ɫYY)Y YIYY*@ypLGi!!UM]K=Y]՛QU]>aaaecDeYCaymK}m>Iq }a4uH'5? }a4u#< u4A ?9uCuV: u:)ua4Wや@WX XWX:W2W*WVbUBU*UUU ?BꔼB BAL*BA=AAA<"CP RCQz=Cや@C L>׹IGf> s s  >:Y M1y : 5) y;9 Fq,?5EAY}х@}n@y} <}IdH}HRۿ]??&ڿ `? gȿ@Hc?)~х@ ~,;I~Cɫ) IY@yKG uhAqiyye/$?+?e?e e<)aIayen?~jt?S㥛?eV.?eDacDZCy0}>I a4z='5? a4M FA ?9C+: :)]a4Wޅ@WX XWX:W2W*WVbUBU*UUURO@BԃVB BA%O*B!A%Nb=A!A!A%m<"C-aRC-:;C5ޅ@C15 7>IG=>șFq,;OEAC|6;|6p;iFmGIPi\OvٺaBY}=Qӏ@}=@y}=<}= T}=Hܿj?@?j ܿ-`m`Pʿ@P?)~=Qӏ@ ~=u;I~=Cɫ) IYf@y~KGiUMUf=YU?QU]>YYa]cD]kZCaye{}e>Ii ua4m4'5? }a4mPY mSA }?9m$Cm: m:)ma4W߆@WX XWX:W2W*WVbUBU*UUU@BҼB%= BA=R*BA =AAA#W<"CDRCYfUC߆@CK>9uCIHGi@*=RDD; ֗Eh >I)fA׹IGf>Fq,IhEAY}2/@}2=@y}2 <}2W}2HSݿڱ?'?J@H$ݿTغf0 ʿ@J?)~2/@ ~2S;I~0ɫII)I IIIYyyy鮅a=ɮiY QU?acDZCynj}?I a4+'5? a4Oe `A ?9aCI: V:)a4Wۇ@WX XWX:W2W*WVbUBU*UUU 6@RB*** querying acoustic contact ***PPB5̼B9 B9A9*B9A==A9AAAE<"CEGRCM{CMۇ@CIu?=QIG> q q u 0>:Y K1y ̅: 59 @$Fq,҂EAY}:@}:E@y}:;}:"XS}:H@޿v?? # r޿ۺC}:ʿQ?)~:@ ~:t;I~:Cɫ) IYM@yMJG]Z****** received transponder code query ******]F****** received ping request ******]55^>i5@1 5@)5@I5i5@EMEIIaMcDU9[CQyU}]>IY ea4]'5? ma4]t ]rA m?9]C]: ]:)]a4WM7@WIXI XIWQ:WQ2WQ*WQVQbUYBUY*UYUYUe @B(B BAW*BAn=AAA<"C/ORCZC7@C C=IG> H>9 I 8GGi @ (= ; ߗEFq,ҫEAY}6D@}6gR@y}6;}6I}6H߿U?`d?&޿=-|`ɿa?)~6D@ ~6bHl;I~6Cɫ99)9 =I9Y}@y}zJGxDUSBL response received:!U1,P F52,000,0041F,187,80,80,A5,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i|"M`=Y-$QQU->9AaMdDM[CyU}>I! ]a4%'5? ea4%N %A ?9%C%B< %<)%a4WUT\@WQXY XYWY:Wa2W*WVbUBU*UUU` @B B BAX*BA=AAA<"CRC%lC%T\@CA=<7ƙ=IG >  aA:Y y 5) M;9% lFq,EAY}}l@}} @y}}s<}}bB}}H`7@9?lU?c߿`* n&ȿl?)~}l@ ~}Rn;I~}CɫII)Q UIQY@yIGAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i11-?X9v?Mbp?5?< ;)IyK7A`?+?Mb?+?== A)f.AI&Ai|AQA]/ݼ]َ]lgi]@Y ]n@)]I]9@i]@{M&=Y;QU>adD\Cy}>I b4 '5? b4ߑ A ?9DC: ,:) b4W 8@W X  X W:W2W*WVbUBU*UU!U%*@BM̼BI BIAMw]*BQAUt =AQAQAU<"C]RC]8*LCe8@CaUV =5r= IG=>sFq,bhEAY}2P@}2@y}2E<}2;}2HfW? N?@v@lZǿ`u?)~2P@ ~2>;I~2Cɫ99)9 =I9Yu@y}JGxDUSBL response received:!U1,R,E01,000,003F2,186,80,80,84,FF Fpublishing direction and range info}&Q>yɰ}z=}> y)}CIyy}̸A}+6?.3jYe?ٱyiQQY]hAm=Mmy=Ym:QbQ:Ӈ6k6$z`RQ Y"}7rZ,9BQ߷@ Q4Ql P29?P/9?PQQD@"Qa@BB BA%W*B!AEt =AIAIAMB<"CURC]VhC]@CYii)i i܍I>9܉I܍pFGi܍J@܍)=܉܍D܍; ݍ֗E)ݝuCIݝuCiݙݝ*=ݝ-=ݝ6bިI)  t t  I:Y M1y : }5) ;I G >_Fq,FEAY}~kX@}~ f@y}~x<}~/}~H*?? a6=乿ueſ?)~~kX@ ~~;I~~Cɫ) IY-@y-IIGTNmea in: $SNTTA,0.032540,,,,005511.54*41 %>i=iI%a=)%%=u~Mu:=Y+;QUE>AIaMdDM\CIyU}U>IY b4]/&5? b4]m ]A ?9]C]@; ];)]'b4muAdded new target pos. range: 23.099997 m, bearing: 264.488502 deg, deltaT: 4.392439 s, approachRate: -0.614693 m/s, LOS rate: 1.109813 deg/s, posRepo size: 4mrPowering the camera and arming the DDM at range: 23.10 m.mlFinal approach. Armed for intercept at range: 23.10 m.m\Transitioning guidance mode to: FINAL_APPROACH"Xm ProNav: pos range: 23.099997 m, bearing: 264.488502 deg, approachRate: -0.614693 m/s, LOS rate: 1.109813 deg/s, cmd update: 3.329440 deg/s, cmd heading: 251.617090 deg, new cmd heading: 253.945680 deg. Wb@WXD; X?W:W2WY*WaVabUaBUa*UaUm`7@Um`?B$ȼB BA`*BA=AAA<"CSRC Cb@ChpױIG> =i =:Gq,EAY}6F@}6"T@y}6|<}6R"}6H\ ?)?@X U:@@3Ŀ$?)~6F@ ~6AɊ;I~6Cɫ99)9 =I9Yڣ@yIGi!!uʡ>u(uQ=iu(@q u@)u@Iu@iu@<M[=Y;QU>adD8]Cy(λ}?Iȡ b4ť&5? b4ť ƥA ?9ƥCǥ: ȥ<:)ȥ3b4W@WX XW:W2W*WVbUBU*UUU`.?Ba^B BA^*BA)x=AAA<"Cf/RCC@C֥ZsǽyIG<> s s  J:Y M1y : 59 @ف م fA܍ F>9܍ tCI܍ DGi܍ @܉ ܉ ܉ ܍ q; ݍ ʗE$Gq,=EAY}:|l@}:z@y}:ڕ<}:l }:H@{6?^d?kCൿ_Ҳ?)~:|l@ ~:G;I~:Cɫ99)9 =I9Y}}@y}%IGi!!UM]M=Y]n;QU]>aaaedDe]Caym><}m>Iq }b4u&5? }b4u]ž uA ?9uLCuV: u:)uAb4W@@WX XW:W2W*WVbUBU*UUU?B B BAa*BA=AAA)<"Ci:RCC@@Cp{彉 ?i ?IGI>Q Gq,D7EA|@Y} @}@y}x<}*ս}H@FSo?A?2`"y P┿`?)~ @ ~;I~Cɫ) IYe@ymeHGI)AiuK7?MbpV-?uIL?u u<)qIqyu~jt??y&1?u$?u5O>5Gi5@1 5@)5@I5@i5E&ME.=YM7;QUM>IIaUdDU^CQy]<}]>Ia mb4e&5? mb4eQԾ eA u?9eCe: e:)eQb4W=@WX XW:W2W*WVbUBU*UUU{s?BPfB BA`f*BAw<AAAO<"CxRCC=@C >!>ֽ#qIG]> v v  B:Y N1y : F5Q6Gq,ɪQEAY}2@}2@y}21Կ<}2z}2H߿@?ި?S߿ nʱ@?)~2@ ~2M~;I~2Cɫ99)9 AIAYE@yM|HGi;My=Y91I5CGi5@5-=5SD15; 5ԗEMt0IG-->bGq,PkEAY}Bji@}Bw@y}BA<}B8}BH@߿?;?l/߿`@`@D?)~Bji@ ~BFq;I~BCɫQY)Y ]IYY @yHG Y]gAiYaUO<M?=Y;QU>adD^Cyl<}>Iȑ b4ŕc&5? b4ŕ} ƕA ?9ƕCǕ: ȕ:)ȕCmb4W7@WX XW:W2W*WVbUBU*UUU J@Bm`Bi BiAmid*BiAuo<AqAqAu<"C}߿RCyC}7@C֝fIס)סבIGa>  t t  1:Y M1y : 5 H!Gq,_EAY}:@}:@@y}:W <}:}:HN޿ H/?|s+L޿``t{?)~:@ ~:si;I~:Cɫ99)9 =IAY}0@y}GG鮁ɮ4==i=iE">E?E/ݼiE@A EO@)E-@IE9@iEn@]M]Q=Y]:;QU]>aaaedDe<_Ciym<=}m>Iq }b4u&5? }b4ul uA ?9uVCu: u:)uzb4W‘@WX XW:W2W*WVbUBU*UUU@th@RB*** querying acoustic contact ***PPB:U!B BAk*BA+z<AAAc4<"C4ݿRCC‘@CgAgA ]IG5.>iUnGImSkAipٺSkA&]B) ) 5 Q>95 uCI5 AGi5 z@5 /=1 5 D5 v; 5 ϗEu'Gq,GEAY}Ju@}J@y}J<}J<}JH Bݿ8~?9~ݿ`l%4;?.?)~Ju@ ~Jxe;I~JCɫQQ)Q ]IYY@yGGZ****** received transponder code query ******F****** received ping request ******!!a%eD%_C)y5+a=}5>I9 Eb4=&5? Mb4=~ =A M?9=C=; =;)=b4Wu}@WqXy XyWy:Wy2Wy*WVbUBU*UUU@Ř @B?B BAbi*BA<AAA<"Cx=ڿRCC}@Cѝ=֕?΅qIG>  r r a v4:Y _L1y 7: k5) #;9 -Gq,`:EAY}Fs@}F~@y}F<}FZP=}FH-ۿ?@ȭ `ۿ"l  ?`?)~Fs@ ~Fc;I~Dɫ髉) IY@yFGxDUSBL response received:!U1,P E01,000,003F2,186,80,80,84,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I@)@i!e/$?X9v?y&1?e&?e< e`e<)aIaye%C?{Gz?Mb?eZ$?e#aeD.`Cy 7=} >I Ub4̣&5? ]b4  A ?9C,< dF<)b4W4@WX XW:W2W*W V bU BU *U UUJ@B]Ba BaAep*BaAe}{<AaAiAm<"CmտRCqCu4@Cqэ ·3= ՝ >ԝ = FӅי I G >D5Gq,TEA|@i|Y}6O@}6F]@y}6޹<}6=}6Hڿ"?`6_ ڿ@q?Q6?U?)~6O@ ~6 e;I~6Cɫ髑) IY@yEG@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B UR>9QIU?GiU@U,=URDQU; U֗EIa)eAi%M%m=Y-{QU-?))a-eD5`C1y53=}=?I9 Mb4=ܜ&5? Mb4=# =A M?9=*C=: =b:)= b4Wmk'@WqXq XqWq:Wq2Wq*WyVybUyBUy*UyUUhZ@B!SB BAcw*BA;<AAA><"CӿRCCk'@C) U UtUtUU U@:YUM1yU:U5)U;y a Ii G >i;Gq,EAY}]a&@}]3@y}]i<}]=}]Hؿ\[?]>@ؿc?K}h??)~]a&@ ~]&c;I~]Cɫ11)1 =I9Yu@yuEGi->- 0-Di-@) -@)-@I)i)=HM=I=YE؇QUE>AAaMeDM`CIyU'=}U>IY eb4]&5? eb4]x1 ]A e?9]mC]=: ]:)]?b4W@WX XW:W2W*WVbUBU*UUU@B+B BAx*BA8><AAA.f<"CпRCC@C?΅׹IGf>#XBGq,( EAY}6@}6~@y}6<}6=}6H@'ֿ ?ѿ9fֿR?@<rÿ?b?)~6@ ~6׶b;I~4ɫII)Q UIQYmY@yuHEGDNmea in: $SNTTA,,,,,005515.99*5A !%hAi!!5+M=\=Y=QU=>AAaEeDELaCIyMz=}M>IQ ]b4U&5? ]b4U> UA e?9UCU: U#:)U@b4Wݙ@WX XW:W2W*WVbUBU*UUU;w@B[=B BAz*BAE<AAA<"CͿRCCݙ@ChAFӅIGH>U UsUsUi U5:YUM1yU:U"59U@Y]gAa9evCIe=GieN@e(=aae; eڗE) I i ,= += !6{HGq,Ք#EA||;Y}>f@}>@y}>=<}>0 >}>H`;տ(?'5G.4տҚ? @{W?̲?)~>f@ ~>Pb;I~>CɫYY)Y ]IYYO@yDGiiMR=YQU>aeDaCV=yӑ=}>Iq b4u&5? b4uL uA ?9uCu(; u(;)urb4W[@WX XW:W2W*WVbUBU*UUUh@B|$=B BAz*BAm<AAA<"COʿRCC[@C?΅׹IGE>NGq,Xp=EAY}6͔@}6ی@y}6P}<}6;>}6H@ӿ!#?w~ӿW?W6? ?)~6͔@ ~6b;I~6CɫYY)Y ]IYY"@yCGxDUSBL response received:!U1,R,F50,000,0405B,187,80,80,8B,FF Fpublishing direction and range infonF>ɰ?鰥1> ) CIymD?8C ?ٱioʡ?kt?y&1|?-? 0= `;)IyQ? rh~jt?5?C < "A)AIAi&AAU =U7=U/iqaueDu$bCqy} y=}}>Iȁ b4ŅW}&5? b4Ņn\ ƅA ?9ƅ=CDž: ȅ:)ȅb4W+,@WX XW:W2W*WVbUBU*UUU@d@R(Combining 5 samples.P*QmDZQw_q^@G/b@JQ?8C ?2QnF>:QbQ]Xb$RdX: Y+G@RQ56Ŀ " z?BQฑ@ QjQ*P9?P29?PoQQ 2A"QD@BTR2B BA,*BA<AAA%<"CǿRCC+,@Cֹ?i?יIG>]= ]r]r] ]8:Y]_L1y]7:]}5UGq,LSWEAY}J,@}Jʾ@y}J(4&<}Jf}>}JH@lѿ Jb?v[¿ ѿ{?mƄ?F?)~J,@ ~Jfb;I~JCɫ髱) IY@yCGS>9IHyya}eD}bCy2=}>Iȉ b4ōu&5? b4ōj ƍLJA ?9ƍCǍI: ȍ:)ȍb4mEAdded new target pos. range: 951.000000 m, bearing: 260.914538 deg, deltaT: 5.713769 s, approachRate: 162.397186 m/s, LOS rate: -0.625500 deg/s, posRepo size: 4m] ProNav: pos range: 951.000000 m, bearing: 260.914538 deg, approachRate: 162.397186 m/s, LOS rate: -0.625500 deg/s, cmd update: -1.876501 deg/s, cmd heading: 270.673387 deg, new cmd heading: 271.969368 deg. WeÖ@WaXa XaWa:Wa2W*WVbUBU*UU@U@N?BH7NB BA*BAAE}p<AIAIAM,<"CU[ǿ*CUx9\RCQCUÖ@CY ==FӅױIG>[Gq,1qEAY}v@}v@y}v;}vp>}vH`|п2?:¿`ϿD?q@dH? n?)~v@ ~vKa;I~vCɫ髱) IY@yaBGIy)yIy)yi9lg>y=if@ @)@I@i9@MC=Y`QU>aeDbCy9=}>I  b4dn&5?  b4z ԇA ?9C: ,:)zb4;- w5Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;5w=dResuming normal ranging with 1.000000 count pings.;=1<=WEW@WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQUU`W?B'ZB BA*BA.<AAA<"CɿRCCW@Cy9IAGeU>] YY] ]N?:YYyY]5ƟbGq,EAY}6@}6@y}6)I亙}6>}6H ?̿@m?¿@b0C̿`T? $\?݆? ?)~6@ ~6va;I~6Cɫ99)9 9I9Y]H@y]AGipMY=YoQU>!!a%eD%PcC)y-J=}->I1 =c452h&5? =c45 5A E?95C5: 5:)5c4X]?1<]weCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;e weAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRWmJ@WiXi XiWi:Wi2Wq*WqVqbUyBUy*UyUyU}?B%zbB) B)A-*B)AM-٨<AQAQAU<"C]Av̿RCYC]J@Cae?΅9IIGuW><W>9I;Gi@*=; ޗEhGq,ݤEAY}6x@}6@y}6}6E>}6HGȿ?¿b8|ȿ?"? j??)~6x@ ~6a;I~6Cɫ99)9 =IAYy gAiY=vQU=>9AaEfDEcCAyM=}M>IQ ]c4U1b&5? ]c4Uݘ UA ]?9U\CUA: U:)Uc4W@WX XW:W2W*WVbUBU*UUU 2?BfB BA*BA7<AAAWC<"C0+οRCyYqC@CIGmV>Q 3:Yy5nGq,鷾EA||Y}>:j@}>w@y}>\c}>>}>H}6ſ`6?ԑ¿` Ŀ`r?Fk? ?B?)~>:j@ ~>b;I~>CɫYY)Y YIYY @y9AG9i==iAI(\?:vy&1|>T `)Iyy&1??`%?L= 'A)I&AiKAA5?5>5?5'i5…@1 5)5O@I5ƃ@i5ƃ@E MEIIaUfDU(dCQy]=}]>Ia ec4e]&5? mc4e e,A m?9eCe: e:)e9&c4W  @W X XW:W2W*WVbUBU*UU!U%;@BuTB BA*BAԙ<AAA`h<"CпRC)A;C @C֥9UyyIG^>9=CinGIi Ooٺ [BuGq,EAY}FO@}F\@y}F:У}FJ>}FH TB[? ^o¿ٯ`Ł?y?r? ?)~FO@ ~F]Rb;I~FCɫYY)Y ]IYܥX>9ܡIܥ:Giܥ×@ܡܡܡܥ; ݥEY@y?Gi99nMU=YQU>afDdCy=}>I c4Z&5? c4U ]A ?9Cv: :)3c4W[@WX XW:W2W*WVbUBU*UUU~-@B5₽B1 B1A5Ɏ*B1A=x.<A9A9A=mt<"CEѿRCEk CE[@CIe12qe?ie?9IAGeU>]]t]t]T ]~*:Y]M1y]:]5)];9e|Gq,dyEAY}:@}:v@y}:Dռ}::>}:H`C`v? ¿` ج? b?ǟ??)~:@ ~:if;I~8ɫQQ)Y ]IYY@y?GAAI@)@i ts?  吾i p@  ) n@I ?@i r@OҼM%S=Y%QU%>))a-fD-dC1y5x=}5>I9 Ec4=3X&5? Ec4=GĿ =A M?9=#C=: = :)=-Ac4Wm|@@WiXi XqWq:Wq2Wq*WqVybUyBUy*UyUyUF@RB*** querying acoustic contact ***PPB-ЀB1 B1A5*B1A5<A1A1A=d<"C=y=ӿRCEtCE|@@CAEbI G-,>iGq,O EAY}FЛ@}FGޓ@y}F}Fk>}FH@fa?Vq`qܦ?`????)~FЛ@ ~FN e;I~FCɫQY)Y ]IYY@y{?GZ****** received transponder code query ******F****** received ping request ******IIaMfDMVeCQy] l=}]>Ia uc4eU&5? uc4eӿ ëA u?9egCe*; e+;)evOc4Woғ@WX XW:W2W*WVbUBU*UUU+ @B|B BA-*BAw<AAA-<"CԿRC$SBCoғ@C֭{K7ׁIG>ّٕfAܝZ>9ܙIܝT:Giܝr@ܙܙܙܝ; ݝE] ]q]q]K ]5:Y]K1y]̅:]5)];[Gq,%&EAY}6k@}6 @y}6i(}6>}6H $?$[Rƪp?@ã?C?@ѳ?)~6k@ ~6ab;I~6Cɫ99)9 =I9Y}}@y}M?GxDUSBL response received:!U1,P F50,000,0405B,187,80,80,8B,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i~-M?=YgnQU>afDeC yo=}>Iȩ c4ŭT&5? c4ŭ㿾 ƭA ?9ƭCǭ< ȭՅ<)ȭ_c4W5nO@W9X9 X9W:W2W*WVbU!BU)*U)U1U5Ӵ @B-ZBU = BYAe*BaAt<AAA<"C׿RC2/;CnO@CU : ! I1 GM >;Gq,@EAY}R|@}R@y}R?2}R]&=}RH{֣?`@@)?/F?`?̹?)~R|@ ~RWa;I~RCɫyy)y }IyYz@yI?Gɮa==Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 鼙i%T㥛 ?Q:v%!?% %T)!I!y%ʡE?{Gzt/$?%?%ף%< !)%Z AI%|Ai%A!! @ @ @©i(@ )@I@i9@-M-8=Y-'5QU->11a5fD55fC9y==}=>IA Mc4ER&5? Mc4E E9A U?9ECE,: E4:)Emc4Wu@WqXq XyWy:Wy2Wy*WyVybUBU*UUU`B@@BB BAА*BAnh<AAAwU<"C.ؿRCfN=C@Cֽv qIG>e esese e4:YeM1ye:e59m@ *Gq,#YEA||4`?Z?X??)~6D@ ~6`;I~6Cɫ99)9 =IAM[>9MwCIM9GiM!@M)=IIM; ME)ՀvCIՀvCiрՀ*=Հ)=Հ5Y}Ϛ@y}w>GxDUSBL response received:!U1,R,0A2,000,00384,186,80,80,7D,FF Fpublishing direction and range infoɰt=鰅> )BIyAS,F?"B/ ¿ٱi=iI4=)M}=Y{!QU ?afDfCys=} ?I c4R&5? c4 ZA ?9&C: 0:):yc4W5@WX XW:W2W*WVbUBU!*U!U!U%ઍ@P*QAZQOU0@FPUJQS,F?"B/ ¿2Q:QbQd&jد=K0*5?RQ!ÿ-jb԰О?BQBӑ@ QYQQ#P,9?P9?PQoQ@"Q 2AB]ǒBY BYA]y*BaAe/[<AaAaAe<"CٿRCq=C5@Cmu!I1GM1>dVGq,@sEAY}-ڞ@}-B@y}-J}-=}-HTl?$?Sہ?@? Z?@?Z?)~-ڞ@ ~-l,a;I~)ɫ) IY5/@y5>GDNmea in: $SNTTA,,,,,005521.68*53 i = = ==J>=KW?=>i=@= =@)=@I=ƃ@i=ƃ@M<MU3=YUGʻQUU>YYa]fD]fCYye%=}e>Ii uc4mVR&5? uc4m mA }?9mnCmb: mo:)m c4m}Added new target pos. range: 16.499996 m, bearing: 261.099062 deg, deltaT: 4.414551 s, approachRate: -211.686310 m/s, LOS rate: 0.041799 deg/s, posRepo size: 4m ProNav: pos range: 16.499996 m, bearing: 261.099062 deg, approachRate: -211.686310 m/s, LOS rate: 0.041799 deg/s, cmd update: 0.125397 deg/s, cmd heading: 262.434588 deg, new cmd heading: 261.580491 deg. W^@WX XW:W2W*WVbUBU*UU0@Uǵ?B)B BA*BALK<AAA tZ<"C ٿ*C~[RC3=C^@CѱutnIeepepe{ eE1:YeK1ye`:e5IqG>GI)iMuMM]=YM76QUU>QQa]fD]\gCYyew=}e>Ii mc4mvR&5? uc4m mA u?9mCm: mQ:)mc4:uAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;vZEntering USBL mode with 5.000000 count pings.1;q;W@WX XW:W2W*WVbUBU*UUU ?BeDB BAΔ*BAO=<AAA<"COٿ*CiZRC+>C@C-#= IGI>9=<EZ>9AIET:GiEr@E'=AEDE; EEgGq,sEA|"@i| Y}V@}Vϗ@y}Vnn}V=}VHs2??``tȢ?`b:?ɭ? ? \?)~V@ ~V`;I~VCɫqq)y }IyY@y>GI1)5Ai99 AAK$=MD=Y 3QU>agDgCy=}>I c4R&5? c4' A ?9C: :)c4X @q; u Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:uAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLW@WX XW:W2W*W!V!bU!BU!*U)U)U-?B]mBY BYA]*BYAef-<AaAaAe<"Cm6ٿ*CmZRCm>Cu@CqѥG=} <9IG>- tt^ i7:YM1y:5NGq,AGEAY}:(@}:U6@y}:}}:ˠ=}:H` ? ? ´ J` ?@ɭ?M?@Y ?@?)~:(@ ~:|`;I~:Cɫ99)9 =IAY]ޚ@y]>Gi1Zd?Cl绿{Gz?";?;߽ #=)IyE?Mb:v?&?@T= ­"A)­AI­(Ai©A=Lvi@ )@I@i@1MD=YQU>!a%gD%1hC!y-<}->I1 =c45R&5? =c4527 5-A E?95/ C5r: 5Y:)55c4We@WaXa XaWa:Wi2Wi*WiVqbUqBUq*UqUyU} |!?B*B! B!A%>*B!AM_<AIAIAMuC<"CUٿ*CUYRCUP>CU@CYaa)a a9=gA% <1=I) )- gA I G5 >qzGq,,EAY}Fy@}F@y}FY炽}F=}FH9?M? JӰ@I`C? ݮ? Z?@ݯ?[?)~Fy@ ~Fx`;I~FCp9pIr:Gir×@r&=ppr; rEɫ) IY5Ϛ@y5w>G gA鼕hAiMQ=YQU>agDhCy<}>I c4Q&5? c4wE vA ?9p C: :)c4W@WX XW:W2W*WVbUBU*U U U U1@B5öB9 B9A=y*B9A=8<AAAAAEp<"CMcٿ*CMFXRCMd*>CU@CQEgW=I G%,>] YY] ]5:YYyY]X5)],;9e=Gq,aEAY}2姠@}2@y}2q}2a 2=}2H?@C?2@??`-?3??)~2姠@ ~23`;I~2Cɫ99)A EIAY]U@y]=G=i=iI=)=%X9%M>%=>i%@! %K@)%ƃ@I%ƃ@i%ƃ@50M=R=Y=HQQU=>AAaEgDEhCIyMl<}M>IQ ]c4UHQ&5? ]c4US UA e?9U CU: U{:)Usc4W@WX XW:W2W*WVbUBU*UUU`L@B=oBA BAAEb*BAAE;AIAIAM<"CuGٿ*CuVWRCu/>Cu@Cym=)IQGm5>rGq,EAY}J@}JH@y}Jfۆ}J<}JH p??ᱝ | ?@al?Nذ???)~J@ ~J$^e;I~Hi5dnGIIia pٺ\Bɫ) IYUd@yU=GY]@Aiii};M}F=Y!ۺQU>agDbiCyfV:}>Iș c4ŝP&5? c4ŝb ƝA ?9Ɲ Cǝ: ȝ:)ȝc4WUŒ@WX XW:W2W*WVbUBU*UUUO@RB*** querying acoustic contact ***PPB 釙B BA'*BAC+;AAA<"C*ٿ*CgVRC1.>CUŒ@C֍ >aIiG9>hA`>9I;Gi@*=}; ݗE]P ]u]u]v ]3::Y]KN1y]y:]5)];9Gq,(EAY}2@}2@y}2ڇ}2nX;}2H@? ?F b*?@?? p? ?)~2@ ~2d;I~2Cɫ99)9 =I9Y}s@y}>GZ****** received transponder code query ******F****** received ping request ******agDiCy}>I  c4P&5? -c4q _A 5?9:!C; ;)zc4W9͒@WX  XW:W2W!*WIVQbUYBUa*UUU`M @B NB BA딿*BA;AAA<"C% ٿ*C%C-9͒@C)]*>1I9G]>zGq,BEA| i|"@Y}JY@}Jg@y}Jh}J^ż}JHન?? J?@~?U? ?< l?)~JY@ ~J\d;I~JCɫ髱) IY@y>GxDUSBL response received:!U1,P 0A2,000,00384,186,80,80,7D,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i! 99e㥛 ?J +?kt?e5?e= e 0=)aIaye{Gz?X9v?e#?ee< evA)eQAIeAietAaa @ @ @©iz@ )I@i- =M5=Y5QU5>YYa]gD]PjCaymM}m>Iș c4ŝR&5? c4ŝ ƝA ?9Ɲ!Cǝ; ȝ;)ȝc4WEv֒@WQXY XYWY:Wa2Wa*WiVibUqBUy*UyUU`J@B B) B)A5*B1A5;A1A1A5Z<"C=ؿ*C=gOTRCE>CEv֒@CAIMAA)M?A] ]w]w] ]G:Y]O1y]P:]59e@] (>9 IA Ge >Gq, \EAY}2@}2$%@y}2눽>a>9;Gi>@<<<>|; <}2 n}2H?'?@va?p?`ӯ?2?yǭ?)~2@ ~2ic;I~2Cɫii)i mIiYϚ@yw>G ɮ p=-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iM=Y4QU?agDjCy}?I d4R&5? d4Ǝ ؋A ?9!C: V:)d4W Dے@WX XW:W2W*WVbUBU*UUU@GF@B*B1 B1A=y*B9A=;A9A9A=a<"CE[ؿ*CESRCM>CMDے@CIU"#>)I1GeU>ҍ?¾i(@ ƃ@)Iƃ@i@<"MG=Y %:QU >agDkCyѼ}>I! -d4%S&5? -d4%~ %A 5?9%"C%: %:)%d4WU@WQXQ XQWY:WY2WY*WYVYbUaBUa*UaUaUm\@R}(Combining 5 samples.Py*Q}[AZQ}7"&*@u3JQ}u1L?hٜʿ2Q}PwV:QybQ}\*$J2_`?RQ}.Rƿb￲Ŋ)f?BQ}Y@ Q}WQ}PyP},9?PyQ}Q} @"Q}@BMRRBI BQAU*BQAUG;AQAQA]2<"C]ؿ*CeRRCn>C@C֕Ho>qIyG~>] ]s]s]u ]C:Y]M1y]:]5MGq,u EAY}V\@}Vj@y}Ve<}V۷}VH˓?:?f?#@?`??k4T?)~V\@ ~Va;I~VCɫ髹) IY@y>GeDNmea in: $SNTTA,,,,,005526.15*5E e)>ie=iqI=)%=_=MI=Y4;QU>!a%hD%lkC!y-v}->I1 =d45 T&5? =d45 5RA E?95B"C5: 5(:)5)$d4m}yAdded new target pos. range: 13.739999 m, bearing: 259.819768 deg, deltaT: 4.462116 s, approachRate: -0.618540 m/s, LOS rate: -0.286701 deg/s, posRepo size: 4m ProNav: pos range: 13.739999 m, bearing: 259.819768 deg, approachRate: -0.618540 m/s, LOS rate: -0.286701 deg/s, cmd update: -0.860104 deg/s, cmd heading: 262.997094 deg, new cmd heading: 263.048048 deg. W@WX XW:W2W*WVbUBU*UU z+@UdT?BB BA*BA ;AAA="C|ٿ*Cd=RRCV%>C@C֍>YIiyy܅`>9܅xCI܅U=iUp=Gq,?EAY}FО@}Fݖ@y}F&e}F"4}FHa?E?`k?a6I{S5? I?@?)~FО@ ~FFAg;I~FCɫ髙) IY@y3>GiMP=Yf;QU>ahDkCy g0}>I! Ed4%>T&5? Md4%u %A U?9%"C%F; %;)%:2d4W]"{@WYXY XaWa:Wa2W*WVbUBU*UUU@?BHB BAW*BA >:A A AiL="CRڿ*CQRCE*=C"{@C]<>)I9]y ]q]q]y ]x=:Y]K1y]̅:]5Gu>XGq,EAY}2"@}2/@y}2/q}2~}2Ha|@4?HC?hH㜿@D?@t ?`ÿ6?)~2"@ ~2Uj;I~2Cɫ99)9 =I9Y}3@y}>Gi}S?iiamhDm=lCqyuO}}>Iy d4}1T&5? d4}{ }ȌA ?9}"C}: }:)}@d4W4L@WX XW:W2W*WVbUBU*UUU?BB BA鑿*BAv9AAAɉ="Cۿ*CPRC=C4L@C֥=yIG^>Gq,EA_>9I=Gi@%=; EY}f@}f_@y}f鋁}fN}fH@ܣ T??p䝨`?.? ÿ@V?)~f@ ~f*j;I~fCɫ) IYU@yU>GI)Ai -ᔼM-M=Y5QU5>11a=hD=lC9yEL}E>II Ud4MS&5? Ud4M MA U?9M$#CM: M:)MNd4W}O@WyXy XyWy:Wy2W*WVbUBU*UUU`?B5B BA֒*BA%AAA="C.ۿ*CItPRCCӜ=CO@Cl9=IGn>IM@A)MAA}O }t}t}w }::Y}M1y}:}"5)};9>Gq, EAɫ髙) IY@y[?Giaa   õjõ>õiõ@õ ĵn@)ĵO@IĵO@iĵO@=9=MR=YQU>ahDmCy}>I d4S&5? d4 9A ?9q#C: E:)C\d4W [@WX XW:W2W*WVbUBU*U!U!U%`x@BU BQ BQAU*BQA]ƺAYAYA]x="Ceܿ*CeORCe=Ce[@Cimm=!I1GM1>b&Hq,g EAY}N@}N/Ȕ@y}N[}N{#}NHc?Z?`62?9?MĿ)?)~N@ ~Ne;I~NCɫ髹) IYǛ@y?G hA鼁i‘‘՚<MI=YfQU>ahDomCyq}>I d4Q&5? d4f vA ?9#C:; ;;)jd4WU@WQXQ XYWY:WY2Wa*WaVabUaBUi*UqUqUu a@B_B BA*BA. AAA/="Ce ]ݿ*Cm2jORCm}=Cm@Cqe=!%gA-^>9)I-=Gi-N@-$=))-z; -ޗE9IIGeV>]]r]r] ]y0:Y]_L1y]7:]5)];P Hq,BC+ EAY}2@}2 @y}2φ}2)L"}2H ?`Ⱥ? [(? ְ?`(Ŀ͇?)~2@ ~2c;I~2CɫII)I IIIY}˛@y}?GAAAAik:M`=Y?:QU>ahDmCy|}>I d4P&5? d45 A ?9 $C: :)Iwd4WƋ@W!X! X!W!:W!2W!*W)V)bU)BU)*U)U1U5`H@R=B*** querying acoustic contact ***PAPAB5ZBY BYA]*BaA}\VAAAk="CS޿*CNRC =CƋ@C=סIGg>QiU=9Hq,$E EAY}FdF@}FT@y}F"q}FAZ}FH ?`H?6@E? Ak?෬ÿ ?)~FdF@ ~F3&a;I~Dɫqy)y }IY g@y l@GZ****** received transponder code query ******F****** received ping request ******ahDMnCy5}>Iȹ d4ŽpO&5? d4Ž$ ƽA ?9ƽg$Cǽ; Ƚv;)Ƚd4W-M@W)X) X)W):W12W1*W1V1bU1BU9*U9U9Ue 'Z @iii}nGIi-yiٺ)-VBBuƒBy ByA}*ByA}T_AAA="CJ߿*C_NRCCM@C֕ yz=eetetey e -:YeM1ye:e59m@iIyG> ]>9 I >Gi @    w;  ܗEbHq,7^ EAY}Bi@}B @y}BO}B"}BH_L~?>?wMߨ??ÿ?)~Bi@ ~B/`;I~@ɫYY)Y YIYYj@yq@GxDUSBL response received:!U1,P 0F0,000,00356,186,80,80,B5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I@)iYY)Å= Å>:Mk=Y%;QU > 1a5hD5nCAyݼ}>I ud4CN&5? }d4k4 FA ?9$C< @<) d4W@W X  X W :W 2W *WVbUBU*UUU @BoB BA *BAIAAAT="C߿*C&MRCbk=C@C֝(z=qIG>Hq,gx EA|i|@Y}>ӛ@}>s@y}>~}>E}>H `}? ?`C `'? uԯ?@Z¿Z?)~>ӛ@ ~>%_;I~<ɫYY)Y ]IaY[@y_@G鮡ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iAA t  > (>i @  @) I @i @5ލM=D=YE\:QUE>IIaMhDMoCQyU2}U>IY ed4]L&5? ed4](D ]A m?9]$C]: ]b:)]kd4W@WX XW:W2W*WVbUBU*UUUO-@BD&B BAH*BAuŻAAA ="C{*CMRCQ=C@CQf=סIGC>eaae e.:Yayae5t$Hq,į EAY}6T@}6qb@y}6'}6g }6H@0 ??I%s?%"?8?)~6T@ ~6^;I~4ɫ99)9 =I9Yݜ@y@GxDUSBL response received:!U1,R,089,000,00328,186,80,80,A7,FF Fpublishing direction and range infoHɰa=鰡 )'CIy/A~??7ٱi2=Mb=YvQU>aiDloCyļ}>I  d4 BK&5? d4 R ȎA ?9 :%C H; ;) d4WMLĐ@WQXQ XQWY:WY2WY*WaVabUaBUi*UiUiUuߢ@R(Combining 5 samples.P*Q/AZQej%@!JQ~??72QH:QbQf鳓EېV%?T?RQ-̿ah'Q/L?BQ@ Q*QPPPQQr@"Q @BB BAB*BACAAAg="C;.*C2MRCB=CLĐ@Cֽ0f==4=^>9Ih?Gi@t; ڗEyIG^>*Hq,ٖ EAY} @} g*@y} A} %} H@켿$? ?о2?@@e?1=?)~ @ ~ dd^;I~ Cɫ9A)A EIIY@y,AGuTNmea in: $SNTTA,0.030495,,,,005530.58*45 鼁i=X9>A`i@ n@)@Iƃ@i@ !<M ,=Y  QU>aiDoCy{l}%>I) 5d4-H&5? =d4-of -A M?9-%C-@; -6;)-d4myAdded new target pos. range: 10.980000 m, bearing: 257.081763 deg, deltaT: 4.412590 s, approachRate: -0.625483 m/s, LOS rate: -0.620498 deg/s, posRepo size: 4m= ProNav: pos range: 10.980000 m, bearing: 257.081763 deg, approachRate: -0.625483 m/s, LOS rate: -0.620498 deg/s, cmd update: -1.861495 deg/s, cmd heading: 259.203922 deg, new cmd heading: 258.786310 deg. WEC@WAXA XAWA:WA2WI*WIVIbUIBUI*UQUU%@Uu<?B떽B BA*BA0AAA="C"3RC(7t=CC@C]]r]r]q ]2:Y]_L1y]7:]5% K@=- ?i- ? I G >1Hq,f EA||Y}6g@}6@y}6]{}6{-}6H@F?p?``>?v?@u?)~6g@ ~66^;I~6Cɫ99)9 =I9YA@yyAGi!!I +?~jt?+?9?D= =)IyS㥛?99a=iD=FpCAyEG}E>II Ud4MMG&5? ]d4M t MYA ]?9M%CM: Mk:)Md4W}@WyX XW:W2W*WVbUBU*UUU@,?B%n½B BA*BA AAA="CųRC=C@C`T=סIGA> `>9 I ?Gi @ '= x; ܗE)exCIexCiae$=e%=ex57Hq,}A EAY}Bc˚@}Bْ@y}Bzᄽ}Be}BHqw?? @;?3?@ S?)~Bc˚@ ~B];I~@ɫYa)a eIaY@yKBGiII_]=MT=YQU>aiDpCyb}>I d4oE&5? d4 A ?9&C: :)Hd4W{@WX XW:W 2W *W VbUBU*UUU׮?BE嬽BA BAAE*BIAMW9AIAIAM="CU0QRCU*=C]{@CYEur=I)GEQ> i 4:Yy"5)j;9=Hq,q EAY}2F@}2歒@y}2}2 }2Hc?0;?{=?+s?C⼿঺?)~2F@ ~2];I~2CɫYY)Y ]IYY@yAGI)@i @ @ @ý©ýýiý@ý Ľ@)Ľ@IĽiĽ@MG=Yκ:QU>aiDqCyS}>I d4[C&5? d4Ґ ُA ?9T&Cb: :)~d4WA@WX XW:W!2W!*W!V!bU!BU)*U)U)U5 m1?B]ȿBY BYA]{*BYAeFp)AaAaAed="CmgRCmQf=CmA@CqԁԁmY=Iq)ufAAIIGe4>DHq,Q!EAY}2gj@}2x@y}2"}2ؽ}2H@8C? ?P_¿@aiDzqCy+}>I  d4A&5? d4 A ?9&CM: {:)d4W5Ƣ@W9X9 X9W9:W92W9*WAVAbUABUA*UAUIUMZ@Bu:Bq ByA}*ByA}؃7AyAyA}="CRRCs=CƢ@Cmc>9iIm@Gim@iiimw; mݗEܝ=׹IGf>]]w]w]U ]R.:Y]O1y]P:]5)]Ջ;JHq,-!EAY}2h4@}2B@y}2}2ѽ}2H ¿ {? >?x¿~? &??)~2h4@ ~22e^;I~2CɫAA)A MIIY@yNCGiai   =I i@ @)@I@i@~=MI=YPQU>aiDqC yMY}U>IQ ]e4U>&5? ee4U U^A e?9U&CU: UI:)U8e4W%\/@W!XI XIWQ:WY2WY*WVbUBU*UUU@RB*** querying acoustic contact ***PPBcB BA*BAGAAAz="CRC NJ=C \/@C Ö=IG >QHq,uG!EAɫ髙) IY@y11a5iD5SrC9y=}=>IA Me4E:&5? Ue4E EA U?9E&'CE; E;)Efe4Wu@WqXy XyWy:Wy2Wy*WyVbUBU*UUU %@B[ʴB BA*BAN,TAAAO!="C<RC)=C@C ==ֽ(=?i?בIG>ttk d0:YM1y:59@e d>9a Ie @Gie ؜@e &=a a e y; e ߗEWHq,ƈa!EAY}2@}2#Ñ@y}2K}2/(ͽ}2HĿ`i??@0Ŀ"1?aiDrCy 1.}5>I9 e4=7&5? e4=` =A ?9=e'C=.E< =[I<)=Z"e4W]RV@WYXY XaWa:W2W*WVbUBU*UUUy @B5DB1 B1A5Ł*B9A=\!bA9A9A=-]="C#RC =CRV@CօY=aIG>(^Hq,c{!EAY}2@}21@y}2Q4}2.ٽ}2HBĿ[?x?`ſ N?e?@ EE=iE@A En@)EIEn@iEn@UMU9=Y]8QU]>YaaeiDesCaymFy}m>Iq }e4u3&5? }e4u u4A }?9u'Cu4: u:)u0e4W@WX XW:W2W*WVbUBU*UUUIe @BjﶽB BAⁿ*BA nAAA="Cf{RC{=C@C=I G%o>% qq 6:YK1y̅:!5i nGI i jٺ WBeHq,>!EAY}:-L@}:Y@y}:p,}: F}:Hfſ`tJ??x V|ƿ@*? j? (`?)~:-L@ ~:`;I~:Cɫ99)A EIAY]@y]CGmp=ɮimxDUSBL response received:!U1,R,084,000,0030F,186,80,80,B1,FF uFpublishing direction and range infom뽩iɰmI=i i)m1CIiymAm|9ˮ?NZlٱiI@)@i {Mg=Yu18QUu>yya}jD}{sCy}>Iȉ e4ō/&5? e4ōd ƍvA ?9ƍ'CǍ; ȍ.;)ȍ=e4W#@WX XW:W2W*WVbU BU *U UU:@R%(Combining 5 samples.P!*Q%AZQ%_"@sY_oJQ%|9ˮ?NZl2Q%:Q!bQ%28Ae#"yag?RQ%̿ѿfJՌ?BQ%l@ Q%Q% *P%*9?P!P%Q!Q%@"Q%r@B3B BA*BA{AAA ="C RC >C #@C 9 I #BGi ̝@ %=  D k; ؗE==I!G=r>l?kHq,,-!EA|,i|,ɫ ) IYm<@ymCGTNmea in: $SNTTA,0.009030,,,,005534.62*49 I)iGz?'1ZĿ ףp= ?p=?" Q=)IyPn?~jt?I +?$?D<94< / A)!AIAitAA-/]-r>-Yi-f@) ))-@I-@i-@=<<M==Y=QU=>AAaEjDEtCIyM}M>IQ ]e4U+&5? ee4U: UA e?9UB(CU: U:)UJPe4muAdded new target pos. range: 9.479997 m, bearing: 253.672461 deg, deltaT: 4.059807 s, approachRate: -0.369476 m/s, LOS rate: -0.839770 deg/s, posRepo size: 4m ProNav: pos range: 9.479997 m, bearing: 253.672461 deg, approachRate: -0.369476 m/s, LOS rate: -0.839770 deg/s, cmd update: -2.519309 deg/s, cmd heading: 251.642162 deg, new cmd heading: 250.672312 deg. Wwϋ@WX XW:W2W*WVbUBU*UU "@U@.?BࢽB BAŁ*BA/AAA^"="CRC#>Cwϋ@Cuututuq u1:YuM1yu:u5e <>! I) GE >"rHq,{!EAɫ髉) IY@yEGiE8>ME=YIQUM#?IIaMjDUHtCQyY}]#?Ia me4eV)&5? me4e¾ eˑA m?9eo(Ce: e:)eYe4Wm@WX XW:W2W*WVbUBU*UUUS?Bv̽B BAy*BAxAAAn="CRC~2>Cm@C >שIG!> h>9 yCI BGi n@ o; ۗELxHq,l!EAY}NE@}N2S@y}Nk~}N3}NHɿ`??Iʿ? Cȯ?D¿,?)~NE@ ~NcC_;I~NCɫyy)y }IyYV@yCEG aehAiaa} MG=YajDtCy}>Iȩ e4ŭQ%&5? e4ŭ¾ ƭA ?9ƭ(Cǭ\,; ȭS.;)ȭMhe4W֊@WX XW:W2W*WV bUBU*UUU@^?B]a)BY BaAez*BaAe:AaAaAm0="CRCt>C֊@C ==Em$>IGI>}}q}q}g }1:Y}K1y}̅:}5)}ݎ;9w~Hq,!EAY}2ɗ@}2f׏@y}2 {}2}2H˿ ??+0s̿]Ԛ?/r?ÿُ?)~2ɗ@ ~2^;I~2CɫYY)Y ]IYY@yDGi=i @ @ @©i@ َ@)I@i@MB=Yz:QU>a jD uC y}>I %e4 &5? %e4Z#¾ A %?9(C: :)ve4WMA@WIXI XIWI:WQ2WQ*WQVQbUQBUY*UYUYU] ?B*MB BA}*BA旼AAA_="CQ9RC#>CA@C֥:$>yIG^>`Hq,2"EAɫ) IY@yEGiy$L=MM=YQU>ajDuCYye}m>Iq }e4u&5? e4u 2¾ uGA ?9u;)CuH; uJ;)uoe4WR@WX XW:W2W*WVbUBU*UUUY@B {B  B A x*B AAAAk="C$RC<>CR@C!٩٭hAܵi>9ܱIܵCGiܵ@ܱܱܱܵj; ݵٗE)9I9i9=%=9=V5B+#>IGj>} yy}| }3:Yyyy}45)};oHq,.p0"EAɫ)1)1 5I1YM @yU#FGI@)@i u u u }@ }@ }@yyyi}@y }O@)yI}i}@_<M/=YQU>ajDuCy}>I e4&5? e4A¾ tA ?9)Ck: :)0e4W-@W)X) X)W1:W12W1*W1V1bUYBUY*UYUaUe@BfB BAu*BAȥAAA"="CRC nT>C@Cr5>I)gAשIG>pHq,G=J"EA|i|@ɫ髙) IY@yFGI)i5 r?Mby&1|?5?5 5`;)1I1y5rh|?{Gz? ףp= ?5;?5ף<5Q8= 5 A)5(AI5Ai5pA15(A]%Med=YiQUu>qya}jD}WvCyy}>Iȑ e4ŕ&5? e4ŕP¾ ƕA ?9ƕ)CǕ; ȕ|;)ȕˡe4W8@WX XW:W2Wa*WiVibUiBUi*UqUqUu*@R}B*** querying acoustic contact ***PyPyB0B BANu*BAAAA="CDRCg>C8@C=<>IG5>}}s}s}C }/:Y}M1y}:}59@ܩ 9ܩ Iܭ |DGiܭ @ܭ "=ܭ QDܩ ܭ k; ݭ ܗEHq,`d"EAY}6P@}6^@y}67}}61}6Hՠп W?@f?vѿ?`Ρ?ƿ@"u?)~6P@ ~63q^;I~6CɫYY)Y ]IYYo@yFGZ****** received transponder code query ******F****** received ping request ******ajDvCy%-}%>I) Ee4-&5? Me4-^¾ -A M?9- *C-ơ; -ʢ;)-Qe4Wu@WyXy XyWy:Wy2Wy*WVbUBU*UUU) @B_ǿB BAq*BAݰAAAr="CRC7<>C@CօHF>AIiG9>DŞHq,}"EAY}NS@}Nia@y}Nz}Nf 8}NHmҿ` ?@e-? ҿbb|? a jD 3wC y}}>I Ee4&5? Ee4r¾ KA E?9i*C; *;)ȿe4WM@WX XW:W2W*WVbUBU*UUU@ @B B  B A n*B A AAAg="CRC==5>C=M@CA]g>e?ie?1I9G]>}}r}r}m }U*:Y}_L1y}7:}58Hq,"EA|0|2p;Y}n{ؔ@}n@y}n=t}n8}nH pӿ?@u[?`j 2ӿSx?`?ƿ*j?)~n{ؔ@ ~n];I~nCɫ髱) IY0@yGGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m=im=i=Ml=YѻQU?akDwCy6}?I  e4 &5? e4 +¾ A ?9 *C k: :) e4W=؆@W9X9 X9W9:W92WA*WAVAbUABUI*UIUIUMD/@BuIBy ByA}k*ByA}AyAAF="C5nRC5>C؆@CI9IIMDEGiMV@M!=III I}Zh>QIYG}Y>ګHq,"EAY}bZ@}bHh@y}bC"}b=}bH^Կ4?`?`&C`pԿhie?@%? ǿb?)~bZ@ ~b%^;I~bCɫ髑) IYס@yGGxDUSBL response received:!U1,R,FE9,000,002D4,183,80,80,BA,FF Fpublishing direction and range infol<ɰ=m=$> ):CIy@Y?P')6?ٱiQY m m mm5?mmGimQ@m mn@)mO@Im@im@}DüM3=Yp:QU>akDwCy}>I e4x%5? e4w¾ ܓA ?9*C : :)e4W-20@W)X) X1W1:W12W1*W1V9bUYBUY*UYUaUe@@Ru(Combining 5 samples.Pq*Qu@ZQuhU@qZV焾?JQuY?P')6?2Qul<:QqbQuyB:Ǟ}#O?RQuJs,ӿ#)w5ܯ?BQu3 @ QuQuPu+9?Pu*9?PqQuQu@"Qu@BĪB BAn*BA(ļAAAW="CRRC;>C20@C!"P>IG>u qquH uW@:Yqyqu5ɲHq,"EAY}v?œ@}vҋ@y}v}vE}vH@lxտp?@? տniG? ʀȿV?)~v?œ@ ~vh^;I~vCɫ!)! %I!Y]ۡ@y]"GGTNmea in: $SNTTA,0.021967,,,,005539.07*46 i nGI)iIi hٺ  UBejt? rh?~jt?e@?eC = eD<)aIaye+?:v? rh?e??eT=eC< eA)e+AIaieE AaeQA}:M}I=YQU>akDfxCy:}>Iș e4ŝ%5? e4ŝ¾ Ɲ A ?9ƝK+Cǝ: ȝ:)ȝe4m}uAdded new target pos. range: 5.940001 m, bearing: 252.530863 deg, deltaT: 4.520280 s, approachRate: -0.783136 m/s, LOS rate: -0.252550 deg/s, posRepo size: 4m ProNav: pos range: 5.940001 m, bearing: 252.530863 deg, approachRate: -0.783136 m/s, LOS rate: -0.252550 deg/s, cmd update: -0.757651 deg/s, cmd heading: 240.263149 deg, new cmd heading: 239.220475 deg. W\@WX XW:W2W*WVbUBU*UU@U?B?B BAn*BApx˼AAA="C e*C dHLRC |>C \@Cq3>I!)%fAI G >5 h>91 I5 FGi5 @1 1 1 5 r; 5 ߗE|Hq,=a"EA|i|@Y}6_@}6"@y}6a}6M}6H@|ֿ 3%??@`<&׿`ℿ@?zɿ`I?)~6_@ ~6O^;I~6Cɫ99)9 9I9Y}U@y}GGIA)AiM9=MMx=YM2ҹQUM?QQaUkDUxCYy]b}e?Ia me4e%5? me4e¾ e0A u?9e+Ce: e ;)e+e4W8@WX XW:W2W*WVbUBU*UUU:?B=EAνB9 BAAEj*BAAEϼAIAIAM ="CURCU3 >CU8@Caօvh5>YIiGZ>vvP 1:YN1y:5);9hHq,;"EAY}2E@}2aS@y}2u}2T}2HBؿ?`җ?@ؿSe ?Xʿ >?)~2E@ ~2`^;I~2CɫYY)Y ]IYY\@yGGiU9U=>UiU@Q UO@)U@IUO@iUO@ex;MeI=Ye8ĸQUe>iiamkDm"yCy.t}>I f4z%5? f4¾ `A  ?9+C#: :)f4WM@WiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUyU )[?B9B BAj*BA,0ּAAAE ="C\RCF9=C@Ch"%>IGI>Hq,n#EAY}:"u@}:Â@y}:}:SX}:Hٿ q?@?7` ڿI">?ʿ6?)~:"u@ ~:LC^;I~:Cɫ99)9 =I9Y @yHG gAi5TZ=M5M=Y=QU=>9AaEkDEyCAyMh}M>IQ ]f4U_%5? ]f4U ¾ UA ]?9U$,CU: U:)URf4W@WX XW:W2W*WVbUBU*UUUY?BoB BAe*BAۼAAAP ="CU *CKRCr=C@Ci>9I8GGi@ E > ?i ?IGE>}}u}u}M }0:Y}KN1y}y:}"5)};&Hq,Q2#EA||;Y}6Z͐@}6ڈ@y}6f }6d!Y}6Hڿ *?`y?@ۿr`f?ʿ?5?)~6Z͐@ ~6b^;I~6Cɫ9A)A MIIY@yHG=i=ix&?㥛 sh|??7)? =)IyV-?i==@9 =َ@)=I=/@i=َ@U;MU,=Y]dQU]>YYaekDezCaym0}m>Iq }f4un%5? }f4u6¾ uߔA }?9u~,Cu: u{:)u!f4WWW@WX XW:W2W*WVbUBU*UUUE?B}RB BAse*BAAAA[ ="Cq*CN KRCUU=CWW@C֕ >iIyG>3 Hq,L#EAɫ髙) IY@yIGi9AU=MUr=Y]QU]?YYa]kDeXzCaye}m?Ii }f4m%5? }f4m)¾ mA }?9m,Cm: m:)m-f4W2@WX XW:W2W*WVbUBU*UUU@B ½B BA<]*BA4oAAA  ="C%)*C-ΘJRC-=C52@C1-4>IG*>}}s}s}x }N2:Y}M1y}:}X59@ 9 I dHGi @ k; ܗE)݅yCI݅yCi݁݅!=݅!=݅57Hq, f#EAY}2@}2@y}2B}20L}2H`Vܿ?? ܿ@)`?KɿJ?)~2@ ~26^;I~2Cɫ99)9 =I9Y}@y}zJG鮅a=ɮI@)@i4=MR=YQU>akDzCyt}>I f4%5? f4¾ ^A ?9 -Ck: :)B;f4W%@W!X! X)W):W)2W)*W)V)bU1BU1*U9U9U= A@REB*** querying acoustic contact ***PAPAB0 B B A X*B A  A)A)A5S ="C5N*C= JRC==C=@C9-õ=I1)1I1Gu6>(Hq,#EAY}2@}2@y}2\}2G}2H`ܿ??rJ=ݿl[?ȿR?)~2@ ~2^;I~2CɫII)I MIIY}@y}JGZ****** received transponder code query ******F****** received ping request ******Mv>iMp@I M@)Mn@IMQ@iM]3<M]B=Y]HaaaekDe'{Ciym;ݼ}m>Iq }f4u%5? f4u þ uA ?9uY-Cu: u:)uIf4W'ۄ@WX XW:W2W*WIVQbUQBUY*UYUaUe O @B%BI BIAMU*BIAU~AQAQAU ="C]gi*CeբIRCej=Ce'ۄ@C֝T=qIG~>}I }r}r}K }9:Y}_L1y}7:}5]IHq,)^#EAY}2 2@}2?@y}2}2B??}2Hݿ ?j?v=޿@H|-?:ǿta?)~2 2@ ~2Q^;I~2Cɫ99)9 9I9Y@yKGxDUSBL response received:!U1,P FE9,000,002D4,183,80,80,BA,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i%&M<M-N=Y=I QYaelDe{Cqyd}>Iȩ f4ŭ%5? f4ŭ"þ ƭA ?9ƭ-Cǭ;ٕ<ٕ<ܩ9ܭzCIܭ,IGiܭ@ܩܩܩܭ`; ݭ֗E ȭ=)ȭJXf4W@WX XW:W2W*WVbUBU*UUUP @BB BAT*BAAAAT ="C*C2IRC$@=C@C֝7J=yIG>wHq,J#EAY}>@}>!Ȇ@y}>vR|}>*4}>H޿@my?l?@޿3?iƿ@q?)~>@ ~> ^;I~>Cɫ) IY@y%KGqqNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B QQiYY rh?L7A`?:vC+?+> T)Iy\(\?ip@ )@Ii@5=M5"=Y5T;QU=>99a=lDE|CAyE}M>II f4M"%5? f4M ,þ MA ?9M-CMۑ< M<)M|if4W7w@WX XW!:W!2W!*W!V!bU)BU)*U)U)U5A@B+B BA P*BA;AAAD ="CG1 *CTHRCF=C7w@Cuututue u/:YuM1yu:uG5% 8k=- ?i- ~? I G% >@[Hq,#EA||4 )CIyf@w}Y?g|.ؿٱ=i=i;M=Y%;QU?alDY|Cy#}?I f46%5? f44þ A ?9 .C;  ;)sf4W%Y@W!X! X!W):W)2W)*W)V)bU1BU1*U1U9U= Y@RM(Combining 5 samples.PI*QMf@ZQM6 L!@vndJQMw}Y?g|.ؿ2QMaƾ:QIbQM҆ ϧhf'?RQMyh@PȲ;0?BQMGt@ QM&QMWPPM$9?PM+9?PMQIQM@"QM@B}|ͽBmJ4= BAO*BA OAAA ="Cdl *CHRC\<CY@C֍lT=iIyG>ܕ j>9ܑ Iܕ XJGiܕ v@ܕ =ܑ ܑ ܕ Z; ݕ ԗE\Hq,#EAY}vj@@}v N@y}vO9u}vy}vH`c|߿ \??4߿@jz?ÿَ?)~vj@@ ~v8^;I~vCɫ) IY@y4LGuTNmea in: $SNTTA,0.038062,,,,005543.51*4C i<M;=Y$,;QU>alD|Cy/}>I f4ʼn%5? f4Bþ +A ?9d.C : {:)f48EqMjAggregate::initialize lineCaptureDepth:SetNavAcoustic19 r~Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNavq9rdReseting nav to dock location at range 4.199998 m q9%9% s%6Initialize SetNavComponent.m]uAdded new target pos. range: 4.199998 m, bearing: 218.691005 deg, deltaT: 4.339668 s, approachRate: -0.400953 m/s, LOS rate: -7.797799 deg/s, posRepo size: 4mm ProNav: pos range: 4.199998 m, bearing: 218.691005 deg, approachRate: -0.400953 m/s, LOS rate: -7.797799 deg/s, cmd update: -12.000000 deg/s, cmd heading: 236.972186 deg, new cmd heading: 236.589710 deg. Wm@WiXq XqWq:Wq2Wq*WVbUBU*UU`@Ux?BB BAM*BAAAA ="C%) RC%O=C%@C!M0B=ss /3:YM1y:35) ;9 I G- >CmIq,G$EAY}20@}2r>@y}2~#n}2}2H`K߿b?U?>[߿9<$?`$¿ś?)~20@ ~2*I^;I~0ɫ99)9 =I9Y}@y}LGI@)@im$f?m&>m$im\o@i mَ@)mَ@Iiim-@2=MP=Y;QU>alD-}Cy}>Iș f4ŝV%5? f4ŝMþ Ɲ>A ?9Ɲ.Cǝs: ȝ^:)ȝf4X.NXU9?XslSetNav fix at 20210814T005544: (41.552319, -70.708603)9 s:Uninitialize SetNavComponent.rfCompleted lineCaptureDepth:SetNavAcoustic:UpdateNav19 rAggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNavqRCompleted lineCaptureDepth:SetNavAcoustic8qnAggregate::uninitialize lineCaptureDepth:SetNavAcousticW}@WX XW:W2W*WVbUBU*UUU?B%½B) B)A-7I*B)A=A9AAAE^ ="CERCM̭=CM}@CQM3= IG-->inGIiiٺ WB—Iq,$EA|i|Y}6"@}6C0@y}6b}6L}6H-߿em?@%?Zp߿u? `T??)~6"@ ~6ν^;I~6Cɫ99)9 =I9Y}ɦ@y}3MGI)Ai<MQ=Y&;QU>!!a%lD%}C)y-O}->I1 =:5- 5? =:5xݾ EtI 5 E?955o: 5{:)5o:WeWx@WaXa XiWi:Wi2Wi*WiVibUqBUy*UyUyU} V?B%B! B!A-"G*B)Ek>9AIE KGiE@AAAEc; EٗEA-K AiAiAml ="CuF7RCuAY>C}Wx@Cyѝl=}=QIiG|>}j }u}u}x }F<:Y}KN1y}y:}X5)}; Iq,5$EAY}K@}@y}!Y}a%}H߿@g?~?=N/ ?G@?)~K@ ~3.^;I~Cɫ髉) IY¦@y*MGiAAK7??y&1?IL?L= `<)IyGz?~jtMbP0?D \A)#AI+ AiGAA55 >5N>i53@1 5@)5@I1i5@EMM+=YM;QUM>QQaUlDU ~CQy]9}]>Iae 5?eyݾ e_< u?9e>e : e:)aW q@WX XW:W2W*WV9bUYBUY*UaUaUe@~?B#B BA]G*BAa AAAI ="C`RC >Cq@C6=ֽ ͢= ?i ?י I G >mIq,[O$EAY}:@}:y@y}:WQ}:}:H@&=`L?*?g Pa@'?j{``?)~:@ ~:];I~:Cɫ99)9 =I9Y]@y]%NG hAi  U=M]q=Y];QU]?aaaelDeb~Caymϼ}m?Iqu{ 5?uݾ uX< }?9u?u: uS:)qWhm@WX XW:W2W*WVbUBU*UUU`F@BB BA@*BA UAAA ="CHRCChm@C) u-=QIY} }s}s}J }^:Y}M1y}:}~59@G>5 l>91 I5 KGi5 j@5 =1 5 D5 i; 5 ݗE~Iq,6i$EAY}2W@}2Ie@y}2K}2(ܽ}2H@`#?n?Y|``?Ç`]?)~2W@ ~2`;I~2Cɫ99)9 EIAY}4@y}NG=i=iMO=MMK=YM x;QUU>QQaUlD]~CYy]ۼ}e>Ia m:e'o 5? u:eݾ e2= u?9eV?e: e:)ep:Wh@WX XW:W2W*WVbUBU*UUU}@BGB BA;*BAAAA8="C G#RC Ch@C12=IG )>f Iq,$EAY}2@}2@y}2G}2!۽}2H E4?`ý?9'|?N`|?)~2@ ~2`0_;I~2CɫYY)Y ]IYY@y7NG鮡ɮ=i?t>iG@ -@)@Ii@ p?MN=Y;QU>alD/C!y%}%>I)-b 5?-ڭݾ -i= =?9-v?-: -:))W]b@WYXY XYWa:Wa2Wa*WaVabUiBUi*UiUiUmC@RB*** querying acoustic contact ***PPB]*WBY BYA]@*BaAeWAaAaAeo="C(RCCb@C֍O->AIYG8>}o }r}r}m }<:Y}_L1y}7:}5&Iq,1$EAY}6ۇ@}6@y}6rH}672}6H`9ز? z?`oHⒿ@ ?.`V?)~6ۇ@ ~6@0^;I~6Cɫ99)9 =I9Y@yNGZ****** received transponder code query ******F****** received ping request ******!!a%mD%C)y-}5>I9 E:=U 5? M:=ݾ == M?9=D?=; =;)=q:Wu>]@WqXq XqWy:Wy2Wy*WyVybUBU*UUU @BB BA=*BAmAAAB="C--RCC>]@Cm>9IKGi@t; E)ݝzCIݝzCiݙݝ =ݝ =ݝ(5֍]>AIQGm5>-Iq,ڶ$EA| ףp=?Q?Q?5?5\= 5<)1I1y5M?/$?Zd;O?5n2?5<5j<= 51A)5AI5Z Ai5A15fAuV?uuȽiu̔@q u@)uC@IqiuC@<M =Y!QU>amDCy-9}5>IAEWC 5?EݾIi)m@AttT 1:YM1y:5 ET= ?9E?E; E ;)AWT@WX XW:W 2W *W V bU BU *U U U @B] JEBY  BY A] |<*B A lA A A w="C ~6RC C T@C ֽ >ב I G >3Iq,$EAY}2!@}2ڱ@y}2 R}2 }2H?{?Wn\Z?g?)~2!@ ~2a?^;I~0ɫ99)9 9I9Y@ymOGAAAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iU=M]=Y]»QU]E?aaaemDe3Caym}mP?Iq }:u< 5? }:u+ݾ u > ?9u?u: u:)ur:WUR@WX XW:W2W*WVbUBU*UUU(7@BB BA8*BA7AAA7="C8RCCUR@CֹיIGb>l>9ILGi^@=e; ܗE!:Iq,~$EAɫ髙) IYۨ@yOGxDUSBL response received:!U1,R,F58,000,002B9,187,80,80,A0,FF Fpublishing direction and range infoQ >ɰdd= ) CIy=@Fs?/8ٲ?ٱiE<MEL=YMQUM>IIaMmDUgCQy]}]>IaeP0 5?e}ݾ e*> m?9e6@e: e:)aWL@WX XW:W2W*WVbUBU*UUU @R(Combining 5 samples.P*Q=@ZQ639@˅ϣ1?JQFs?/8ٲ?2QQ >:QbQzL&x7)R,?RQt)ۿWARCCL@C>IG>} }s}sy }M4:Y}M1y}:y)};9 AIq,Y%EAY}2p@}2[~@y}2;ac}27}2HL{+??jh?ƿ o?)~2p@ ~2];I~0ɫAA)A MIIY]@yeOGDNmea in: $SNTTA,,,,,005547.98*5C i=iI-=))xi=i\@ @)َ@Iiَ@  <M >=YQU>amDCy%}%>I) =:-E" 5? E:-jݾ -MM> E?9-M"@-6c; -c;)-s:mumAdded new target pos. range: 4.319999 m, bearing: 244.123774 deg, deltaT: 4.467771 s, approachRate: 0.026859 m/s, LOS rate: 5.692496 deg/s, posRepo size: 4m ProNav: pos range: 4.319999 m, bearing: 244.123774 deg, approachRate: 0.026859 m/s, LOS rate: 5.692496 deg/s, cmd update: 12.000000 deg/s, cmd heading: 183.483264 deg, new cmd heading: 178.302587 deg. WYR@WX XW:W2W*WVbUBU*UUG@U?BB BA5*BAoAAA&="CBRCCYR@CY1IAG]v>u=iu=3GIq,5%EAY}6K@}6@y}6wn}6ZK}6H@?s?`:@kʭ?(;ɿ Q?)~6K@ ~6];I~4ɫII)I MIIY}@y}OGiƼM[=YQU>!!a%mD%̀C)y-p}->I15 5?5Nݾ 5dl> E?952@5߼: 5:)1WeW@WaXa XaWa:Wi2Wi*WiVibUiy}gA܁9܁I܅xMGi܅@܁܁܁܅`; ݅ڗEBU*UUU@i?BMxBi BqAu7*BqAuQ!AqAqA}D="C}gERCCW@C֝?΅>yIG^>rrI 2:Y_L1y7:G5);tbMIq,#8%EAY}vш@}vހ@y}vj|}vC.^}vHJ6?`5? >=? ˿0?)~vш@ ~v];I~tɫ髱) IYŨ@yOGiQQoʡ?ʡE{GztM?- ף)IyZd;?Mb`? Ñ @ @ @©i(@ @)@Ib@ib@ս;M/=Y kQU >  a mD Cyb}>I! -:% 5? -:%% ޾ %> -?9%H@%: %:)%t:WMz]@WQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UaUaUe!?B&PB BAG7*BAV$AAAd="CFRCC%z]@C!-> IG->  AHTIq,Q%EAi.dnGI8iDzmٺxzZBMu@9MaBɫ) IY5?@y5OGI)i 鿩5M^=YQU>amD8C y}>I 5?޾ > E?9Y@T; Ȱ;)Wa;c@WX XW:W2W*WVbUBU*UU!U%`t?BMBQ BQAUq;*BQAU&AQAQA]U="C]*F*CRCCa;c@CשIG>Ii)mAA}}s}s}V }1:Y}M1y}:}59@܍m>9܉I܍@NGi܍@܉܉܉܍^; ݍؗE]pZIq,k%EAY}2@}2$~@y}2d̉}2s}2H@ ? n?@4 `g96? ο@>?)~2@ ~2 ^;I~0ɫ99)9 9I9Y}@yOGixM=MN=YMiQU>amDlCy}U>IQU 5?UL$޾ U> e?9Ul@U: Uӻ:)QWkh@WX XW:W2W*WVbUBU*UUU``@B%"꺽B! B!AEZ6*BIAM)AIAIAM="CUԈERCQCUkh@CYyQIaG}z>WaIq,%EAY}6@}6|@y}6}6#vw}6H@N?`?@"Hh`ܱ? Ύο ?)~6@ ~6B7^;I~6Cɫ99)9 =I9Y}?@y}:PG gAi 5 5 55=5D5>i5@5 5@)5@I5i53@E<MER=YMֻQUM>IQaUmDUCYy]D}]>Ia m:e 5? m:e8/޾ e6> u?9e~@eM: e:)eu:W=m@W9X9 XAWA:WA2WA*WAVAbUIBUI*UiUiU@b@BjB BAu3*BAbO+AAA="CBRCCm@C6Ʌ>IGj> wwm 5:YO1yP:5ҁgIq,|%EAY}2@}2;y@y}2vٕ}2Jz}2HQ??@ 網?ο?)~2@ ~2.-^;I~2Cɫ99)9 =I9YU@yUPG鮩ɮp=i;MO=Y QU>anDρC y ʨ} >=!9!I%lOGi%@%=!!%Z; %֗EI15y 5?5:޾ 5> E?958@5n: 5:)1WeJr@WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUyU}{@RB*** querying acoustic contact ***PPBhӿB BA2*BAb-AAA%+="CFk?RCCJr@C>׹IGE>yi}p=دmIq,0h%EAɫ髑) IY@yPGZ****** received transponder code query ******F****** received ping request ******anD Cy}=>IA M:E 5? U:EG޾ E> U?9E0@E: EV:)Ev:W>/y@WX XW:W2W*WVbUBU*UUU@T @Be%Ba BaAm/*BiAm #0AiAiAma="C8RCC>/y@C>}L }t}t}V }9:Y}M1y}:}5סIG>ɓtIq,2%EAY}2C@}2v@y}2S¤}2l~}2H *% ?!?Y U?fϿX?)~2C@ ~2,^;I~2Cɫ99)9 =I9Y}ϩ@y}PGxDUSBL response received:!U1,P F58,000,002B9,187,80,80,A0,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I}@)}@i)Ý= Ý=<ML=YM$QUM>YYa]nDeACiy}}}>Iȩŭ 5?ŭR޾ ƭ> ?9ƭ@ǭ: ȭ:)ȩW~@WX XW:W2W*W!V!bU!BU)*U)U)U- @BhB BA.*BAu2AAA="CT?3RCC~@CA9AIEPGiE@AAAEl; EߗE)ݱIݱiݱݵ=ݵ=ݵ/4IG>}zIq,b%EAY}2@}2*u@y}2㨽}24 }2H` ]2? 0?fGU(¿`Q?Ͽ?)~2@ ~2-`;I~2Cɫ99)9 =I9Y}@y}0QG@A?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i]>]t=]ji]@Y ]@)]@I]َ@i]m<MmS=YuQUu>qya}nD}qCyyW|}>Iȉ :ō 5? :ō[޾ ƍt> ?9ƍ@Ǎ: ȍ:)ȍw:Wp݁@WX XW:W2W*WVbUBU!*U)U)U- O@BuRBq ByA}6-*ByA}~4AyAyA}="C b.RC{Xg>Cp݁@Cֵ#>?i?בIG> qqh 3:YK1y̅:5ߥIq,u&EAY}2@}2}s@y}2Y}2m}2H v"?.?@F ?¿D?ZϿ@?)~2@ ~27b;I~0ɫYY)Y ]IYYg@yQGxDUSBL response received:!U1,R,EC7,000,00302,186,80,80,84,FF Fpublishing direction and range infoً>ɰP|=鰥> )CIy3 A;\`M?xC?ٱi=<M=M=YE3QUE>AIaMnDMCU @UAQyU}U>IY]Ƃ 5?]e޾ ]> m?9]@]: ] :)YW:@WX XW:W2W*WVbUBU*UUU4@R (Combining 5 samples.P*Q3 AZQkC @V^Fz@JQ;\`M?xC?2Qً>:QbQ(vyV ]R?RQǜ$ya3||-Ȅ& ?BQ3@ QQ P>9?PM9?PQQ@"Q&@BezBa BiAm3**BiAm6AiAiAup="C5(RCg=C:@CօE}>9IIGeV>҇Iq, &EAY}ngȀ@}nAq@y}n<}n}nH`?KA?2@[{{ÿ`y?@Ͽ l?)~ngȀ@ ~n0a;I~nChAn>9IQGi@g; ݗEɫ) IY5@y5RGTNmea in: $SNTTA,0.007770,,,,005552.39*4A gA鼡imm<MmG=Yu:QUu>qqa}nD}؂Cyy؍}>IȹŽCq 5?Žp޾ ƽa> ?9ƽ޳@ǽ: Ƚb;)ȹmqAdded new target pos. range: 8.699999 m, bearing: 233.125039 deg, deltaT: 4.478337 s, approachRate: 0.978042 m/s, LOS rate: -2.455987 deg/s, posRepo size: 4m  ProNav: pos range: 8.699999 m, bearing: 233.125039 deg, approachRate: 0.978042 m/s, LOS rate: -2.455987 deg/s, cmd update: -7.367960 deg/s, cmd heading: 237.248929 deg, new cmd heading: 242.211193 deg. W ͂@W X XW:W2W*WVbUBU*UU%@ff!@U%` ?BM;,BI BQAU'*BQAU8AQAQAU="C]G#RC]+CE͂@CIuf>QIG> rrm 5:Y_L1y7:5),;9Iq,L:&EA||p;Y}6@}6#o@y}6}60o}6H5K??' YĿ̵?QϿ?)~6@ ~6`;I~6Cɫ99)9 =I9Yu @y}RGiMb?#~j ףp= ?C?㥽 Q=)Iy/$? ףp= ?~jth?,?Q8=D; •A)•.AI• Ai•!AAF>My=i@ @)@I@i@ =MR=YUQU>  a nD  Cy㖽}>I %:G` 5? -:y޾ > ?9@p< M<)x:W(@WX XW:W2W*WVbUBU*UUU``?BMSBa BaAej$*BiAm:AiAiAm="Cu)RCu7Cu(@CyԩԭhA֕g>Iי)יqIG>Iq,}zT&EAY}:~@}:@n@y}:]鱽}:~|}:H`@i?@.?qNXAĿ@6?@ ϿD?)~:~@ ~:_;I~:Cɫ99)9 EIAY]@yeSGiR=MR=YQU>anDIȱŵN 5?ŵ޾ Ƶ> ?9Ƶ}@ǵ#: ȵQ:)ȱW'?@WX XW:W2W*WVbUBU*UUU@6?B(ZB! B!A%*B!A%h<A)A)A-="C5NRC5 C5'?@C9{\>IG$>9{CIRGis@=b; ۗE} yy}K }4:Yyyy}5)}X;c Iq,Wn&EAY}B~|@}Bil@y}B}B!#y}BH)? ?h$vĿ`]p?ο`"?)~B~|@ ~Bh_;I~BCɫy髁) IY@ySGI=@)=@iAA)M= M>-2>9i•@ @)b@I@i@ 3<MF=Y QU>anDqCy8j}>I :; 5?  :޾ ?  ?9a@: :)y:W-{@W1X1 X1W1:W12W1*W9V9bU9BU9*UAUAUE |o?B}𮵽By ByA}*BA>AAA="C0/RCC{@Cmr.>!I1GM1>Iq,3&EAY}2H{@}29k@y}2,}2 v}2Hpu??7`HjĿ?pο?)~2H{@ ~2nA_;I~2CɫII)I MIIY}լ@y}TGI)i y=MX=YQU>!!a%nD%C!y-]i}->I15) 5?5"޾ 5 ? =?95@5: 5:)1Wex@WaXa XaWa:Wa2Wi*WiVibUiBUq*UqUqUu@{?B 5B BA*BAj@AAA="C-BRC1C5x@C1E=inG IG-->I9iQ#gٺyTBIq)u?A} }v}v}^ }5:Y}N1y}:}59@Iq, &EAY}2y@}2wi@y}2Ŷ}2o}2Hr?@|C? T߿n@iĿ@ж?@Ϳ?)~2y@ ~2^8_;I~2Cɫ99)9 =I9}9܁I܅TGi܅@܁܁܁܅h; ݅ޗEY@yTGiAAUMUG=Y]QU]>YYa]oDeփCayeF}m>Ii }:m{ 5? }:m޾ ml? }?9mX@m: m:)mz:WTWu@WX XW:W2W*WVbUBU*UUU @BB BA*BABAAA="CERCCTWu@C=שIG">!HIq,&EAY}: x@}:h@y}:?X}:tUc}:H``? A3?Og޿zÿSö?~̿@L?)~: x@ ~:^;I~:Cɫ99)9 =I9Y}f@y}VUG鮁ɮ hA鼉iQ?J +?&1?\/?= P=)Iyoʡ?y&1?{Gz?-?`e<#< …A)…f.AI…/ Ai…AA™gA @ @ @©ip@ )Ii@H=M@=Y:QU>aoD Cy } >I 5?޾ ? ?9}@:  :)W=)q@W9XA XAWA:WA2WA*WIVIbUIBUI*UQUQUU ,n@R]B*** querying acoustic contact ***PYPYB 񦱽B  BA?*BA²DAAA="Cp*CRC!C%)q@C!%m<IG%M>} }q}q}S }5:Y}K1y}̅:}k5/Iq,&EA||4a%oD%I9 E:=5? E:=޾ =? M?9=@=; =;)={:Wu/n@WqXq XyWy:Wy2Wy*WyVbUBU*UUUZt @B}BBy BA*BAnFAAA="CdRCC/n@CԡԥgA֍ AIQGm5>y9yI}UGi}@yyy}k; }EvZIq,&EAY}Jww@}Jg@y}JW}JF}JHLc?@( ?Zݿ``9?mȿ`G?)~Jww@ ~J^;I~JCɫ髡) IY@yKWGxDUSBL response received:!U1,P EC7,000,00302,186,80,80,84,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i))    @ @ @iכ@ @)I@i@|<M*=Y70;QU>aoD{CyM}>I!%5?%޾ %~%? -?9%Z@%: %:)!Wuj@WqXq XqWq:Wq2Wy*WyVybUBU*UUU0 @BEbdBM= BIAU*BQA]HAyAyA="C.RCCj@C2S uur q::YKN1yy:5שIG>BIq,x 'EAY}2vw@}2`g@y}2<}2s 2}2HT?@?&Cݿ 7?@ƿg?)~2vw@ ~2];I~2Cɫ99)9 =I9Y}R@y}WG@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I@)@i|=My=Y;QU% ?!!a%oD%C)y-S}-?I5?޾ *? ?9A;: H:)W=g@WX XW :W 2W *WVbUBU*UUU@BE&+BA BAAE*BIAMIAIAIAM="CURCQC]=g@CYm0S役!I1GM1>kIq,Q#'EA|i|Y}6 w@}6g@y}6xȥ}6e}6HG ?f?ݿo=@ @D?@¿`?)~6 w@ ~6/];I~6C!9!I% ) CIypAy[1?P!Κ?ٱi]=M]F=Y]aaaeoDe؄Ciym<}m>Iȱ :ŵ5? :ŵ޾ ƵO1? ?9ƵAǵY: ȵD:)ȵ|:Wd@WX XW:W 2W *W V bU1BU1*U1U1U=@RE(Combining 5 samples.PI*QMpAZQM2@iZ#@^5|?JQMy[1?P!Κ?2QMPw<:QIbQMo (!3/ !|=?RQM׹*ķ\޿^?BQM}i@ QMXQM@ PM/9?PM>9?PMQMQMc@"QM@B̗B BA*BAKAAAm="C RCCd@C  >4>d#שIGE> rru b?:Y_L1y7:5);9LIq,.='EAɫyy)y }IyY@yiYG%dNmea in: $SNTTA,0.396436,0.397979,,,005556.85*57 i111Zd?&1?I +"?= 9)Iy@5^I ?㥛 ?b0?= ½^A)½!AI½Ai½vAA   å?åp=åiå @å ġ)ĥb@Iĥ@iĥ@=M3=YQU>aoDCy } >I5?޾ z6? ?9 A: ߼:)mMqAdded new target pos. range: 9.839999 m, bearing: 209.029620 deg, deltaT: 4.418238 s, approachRate: 0.258021 m/s, LOS rate: -5.453626 deg/s, posRepo size: 4m] ProNav: pos range: 9.839999 m, bearing: 209.029620 deg, approachRate: 0.258021 m/s, LOS rate: -5.453626 deg/s, cmd update: -12.000000 deg/s, cmd heading: 204.664370 deg, new cmd heading: 201.388855 deg. W]A^@WYXY XaWa:Wa2Wa*WiVibUiBUi*UqUu`#@UuO?BB BA*BAx5MAAA ="C p%RC2+CA^@C3=6 I G >Iq,W'EAY}Nx@}Ni@y}Nٔ}N}NH@(`A?@ٕ?޿a ?d?)~Nx@ ~N#o];I~NCɫ髑) IY@yZGi=M_=YaoDBCyQ=}>I :5? :޾ :? ?9 A: j:)}:W2Y@WX XW!:W!2W!*W!V!bU)BU)*U)U1U5A?B]z4BY BYA]a*BaAes}NAaAaAe ="C};**RC}X]C}2Y@CEm==%2IG%M>!9!I%hXGi%@%=!!%k; !}}v}v}o }3:Y}N1y}:}k5)}s;Iq,,p'EA|D|F;ɫ11)1 5I1YmQ@yuc[G=i=iI=)=-`廩- =-i-@) -@)-@I-@i-̘@=Y]=M=C=YEQUE>IIaMoDMwCQyU}U>IY]tv5?]޾ ]m?? e?9]A]&_; ]`;)YWT@WX XW:W2W*WVbUBU*UUU@ٛ?B~eB BAվ*BA$OAAAD"="C/RCn"F=CT@CK=  l,IG> Iq,'EAY}6z@}6j@y}6}6;}6Hn@/? ? .-??+z??)~6z@ ~6F];I~6Cɫ99)9 9IAYA@y\Gi!!U=M][=Y]aaaeoDeCaym=}m>Iq }:ud5? }:u޾ uC? ?9uAu8: u:)u~:WO@WX XW:W2W*WVbUBU*UUU@_?BdEB BAƾ*BAQAAA%J="C}4RC}D5>C}O@Cϙϙ)Й Й9g ww Nq:YO1yP:59@IG >@Iq, 'EAY}: {@}:k@y}:A}:=}:H~[?@6?LxcZ@?ꝰ?@Σ??)~: {@ ~:d];I~:C``d9dIf0YGif@f=ddfi; fߗEɫ99)9 =IAY]@y]\GI5@)5@i11u_<MuH=Y}Jp;QU}>yapDۅCy =}>IȑŕQ5?ŕ0޾ ƕH? ?9ƕQAǕ: ȕ:)ȑW I@WX XW:W2W*WVbUBU*UUU@ @B.%B BA¾*BAaRAA A u="C8:RC >C I@C EIG)>~Iq,v'EA|i|@Y}6|@}6ll@y}6끽}6|=}6H ?9? ?`? :???)~6|@ ~69];I~6Cɫ99)9 =IAY]@y]|]Gi-?{Gz???ף <)Iy&1?Zd;O?Zd;O?0?j<j<= … A)…+ AI…lAi…A A @ @ @©i=@ ) @I@i@=MC=Yl;QU>apDCy9<=}>I  : =5? : 8޾ R? ?9 A : ':) :W=D@W9X9 X9W9:WA2WA*WAVAbUIBUI*UIUIUUf@BB BA*BA SAAA="C?RCCD@C U=U=%tn-?i-?IG J>tt| 0:YM1y:45Q ] Ci mGI i % iٺ! % WBIq,\W'EAY}FTA~@}F\n@y}F}}F|=}FHï?v$? @? 簯?!?@W?)~FTA~@ ~F^;I~FCɫqy)y }IyY[@y]G鮹ɮa=i<M]=YR;QU>apD@Cyo=}>I@,5?l޾  [? ?9#AǺ: :)W%t?@W)X) X)W):W)2W)*W1V1bU1BU1*U9U9U={Z@REB*** querying acoustic contact ***PAPABm@Bi BiAm,*BATAAA="CERCCt?@CcռסIG >q>9IYGi*@=]; ٗEIq,2>'EAY}B@}B+o@y}BGu}B>=}BH H@?\l?@&(~?;?x? ?)~B@ ~Bnf_;I~BCɫQQ)Q UIYY.@y^GZ****** received transponder code query ******F****** received ping request ******mb>mim@m i)m@Im@im@}]x=M}@=Y};QU>apDwCyO=}>Ișŝg5?ŝ# ߾ Ɲd? ?9Ɲ(Aǝ: ȝ/:)șWBa9@WXq XqWq:Wy2Wy*WyVybUyBU*UUU@] @BB BA*BAUAAA ="C%:G@RC!C%Ba9@C)H<IG%M> uuX U:YKN1yy:~5Jq, (EAY}2}U@}2np@y}2}h}2ͥ=}2HE?P@#B?@ ?c??)~2}U@ ~2^;I~0ɫ99)9 =I9Y]ƴ@y]i^GexDUSBL response received:!U1,P FE2,000,00315,185,80,80,A0,FF eCommand AckeBRequesting micromodem ping code 2iaam=im=uNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i!!esML=Y;QU>apDCy-=}5>IA :E5? :E߾ E@n? ?9EV-AE< E?<)E:W4!3@WX XW:W2W*WVbUBU*UUU@ @B=ڙBa BaAev*BaAmg+WAiAiAmN="CuM.A@RCC4!3@C- J= I G- > Jq,%(EA00494I6ZGi6̱@4446S; 6ԗEY}B@}B,q@y}BX}B&=}BH ?0O ]?@? ??)~B@ ~B7X^;I~BCɫ髙) IY@y^GAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iyy!<ME=YapD߆CyN<}>I5?A߾ v? ?91A8: ߼:)W2.@WX XW:W2W*WVbUBU*UUUK7@ByB! B!A%a*B!A%.XAIAIAM ="C]tF<@RCaC2.@CօQf=YIiGZ>] Y Y ] > ] .:YY yY ] 5)] ;9u 2Jq,b?(EAY}:u@}:q@y}: L}:;Fx=}:H``? t?{l -?~???)~:u@ ~:Q^;I~:Cɫ99)9 9I9Y}.@y}^GxDUSBL response received:!U1,R,08A,000,0033C,187,80,80,4A,FF Fpublishing direction and range infoϢɰ=鰅1> )BIyBAo ?rjƹIٱiuV?T㥛 ?L7A`?r?= +=)Iym?iU@Q U@)U@IU@iU@e<Me@=Ym;QU>apDCy}>I :5? :h&߾ mz? ?9a6A: M:):W(@WX XW:W2W*W)V)bU)BU)*U1U1U5 @RE(Combining 5 samples.PA*QEBAZQE .(@ iJQEo ?rjƹI2QEϢ:QAbQEOT}O%͔dZ\D6o?RQEp}뿨 2޿ٷ?BQESi@ QEQE{*PE#9?PE/9?PEQEQE@"QEc@B\B BA*BARYAAA="C6@RCC(@C2=יIGb>Jq,Y(EAY}~X4@}~%p@y}~F}~&=}~H9?QH?z3 @H? ?Nˤ??)~~X4@ ~~T^;I~~Cɫ) IY5@y5q_GTNmea in: $SNTTA,0.028353,,,,005601.28*47 I)i  5 =M P=Yr;QU>apDHCy%P}%>I)-T5?-9/߾ -}? 5?9-:A- : -:))meuAdded new target pos. range: 12.179997 m, bearing: 208.884574 deg, deltaT: 4.476479 s, approachRate: 0.522732 m/s, LOS rate: -0.032402 deg/s, posRepo size: 4mu ProNav: pos range: 12.179997 m, bearing: 208.884574 deg, approachRate: 0.522732 m/s, LOS rate: -0.032402 deg/s, cmd update: -0.097205 deg/s, cmd heading: 150.947161 deg, new cmd heading: 146.350249 deg. Wui(@WqXy XyWy:Wy2Wy*WVbUBU*UU(\(@U `?BӛBr3= BA *BA9HZAAAK="C1@RCCi(@C׉>יIGA>a9aIaiaaaaee; eݗE)Ii=?5Ii)m@AE y E sE sE _ E x=:YE M1yE :E 5)E ;DJq,us(EAY}2@}2o@y}2D}21f<}2HOM2?`]'?Z)JQ@???@?)~2@ ~2^;I~2Cɫ99)9 =I9Y}&@y}^GieDe=e#apDzCy}>I :&5? :8߾ l? ?9>A: :):W(@WX XW:W2W*W V bU BU *UUU ?B=OBA BAAEq*BAAER[AAAAAMk="CUS-@RCQCU(@CQ}$K>QIaG}>x,#Jq,O(EAɫ髉) IYյ@y_G gAi gA gAXb=MU=Y%QU%>!!a%pD-C)y-}5>I9=Q5?=@߾ =? E?9=CA=: =׾:)9We{(@WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU})s?Be,B BA*BAJ\AAA="C +@RCC{(@C֍0p>IIG>  r r ] 3:Y _L1y 7: 59 @Y Y a 9a Ie [Gie o@a a a e g; e ޗETf)Jq,l(EA||Y}F}@}F3m@y}FCH}Fmm}FH`???T=?㒭`?)~F}@ ~F{];I~FCɫYY)Y ]IYY}@y}_Gi%M-H=Y-QU->11a5qD5C9y=%}=>IAE5?EI߾ E? M?9E}GAEY: E:)AWuop(@WqXq XqWq:Wy2Wy*WyVybUBU*UUU?BĚB BAk*BAXV]AAAe^="C)@RCCop(@Cl=>IG=>Yi]=l>0Jq,(EAɫyy)y }IyYܵ@y_Giw/?L7A`?~jt&?+= )IyCl?V-??/?m=L= K A) AIAi A A==iz@ ^@)I @i @-*<M5<=Y5QU5>99a=qD=CAyE}E>II U:M5? U:MS߾ M? ]?9MALAMH: M:)M:W}ad(@WyXy XyWy:W2W*WVbUBU*UUU ?BPpB BA*BAm^AAA/="Cad(@RCCad(@C3=>I G5 >  v v S f.:Y N1y : k5h6Jq,(EAY}22{@}2\Nk@y}2hQO}2}2H ~?ֻ? K gƵX?Hq?)~22{@ ~2m];I~2Cɫ99)9 9I9Y@y_GI= @)= @iAA)M> M>u9V<MuW=Y}dQU}>yaqDHCy̽}>IȑŕJp5?ŕ\߾ ƕӋ? ?9ƕoPAǕ: ȕ:)ȑWY(@WX XW:W2W*WVbUBU*UUU@@B|B BA*BA v^_A A A ="Cn(@*CRCCY(@C) 9I\Gic@i; ߗEI ) IQ G >QQaUqD]{CYy]R}e>Ia m:e`]5? u:eoe߾ e? u?9eTAe: e:)e:WN(@WX XW:W2W*WVbUBU*UUU )4@RB*** querying acoustic contact ***PPBƜB BA*BAa`AAAjb="CN(@*CRCCN(@C >=E}>M?iM?I G%N>  s s D  +:Y M1y : 55zCJq,F)EAɫyy)y }IyY@yh_GZ****** received transponder code query ******F****** received ping request ******aqDCy}>IG5?o߾ ? 5?9YAk; 5;)WA(@WX XW:W2W*WVbUBU*UUU @B=Ba BaAe*BaAeSaAiAiAm="CuA(@*CuURCqCuA(@Cy֕>qIG> gA 9 I |]Gi @ =   `;  ۗEaIJq,Su()EAY}2v@}2f@y}2W}2PT}2H @ag?I?ݘܿ(Ŀ`?@PʿtE?)~2v@ ~2?_;I~0ɫ99)9 =I9Y@yV_GxDUSBL response received:!U1,P 08A,000,0033C,187,80,80,4A,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  hAiUM]d=YmCQUu>aqDCy9}>IA =:E55? m:Eaw߾ E? }?9E^AE"= E~6=)E:W5(@WX XW:Wa2Wa*WaVabUiBUi*UiUiUu&e @BdB BAm*BAVbAAA%="C55(@*C]RCaCm5(@CU 6Ʌ> F  r r a  g9:Y _L1y 7: k5) i;9 A II Gm >4PJq,@PB)EA|4<|Y}6Pt@}6d@y}6Z}6a}6H` ƣ??`}ڿ /y ƿ*@?˿.?)~6Pt@ ~6X^;I~6Cɫyy)y }IyY @y_GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i Mb@Mb@Mb@   ) I y )\(?L7A`? G!? +=  @) !AI Ai A  AÕ`;ÕSÕiÕp@Ñ ĕ@)đIĕ @iĕ @+=M7=Y仺QU>aqDCyU}>IZ!5?W~߾  ? ?9?bAV; U;)W+(@WX XW:W2W*WVbUBU*UUU2@B ΞB BA*BAcAAAc="C+(@*CיRCC+(@C  >IG>ɶVJq,)\)EAY}2r@}2b@y}2]}2ފl}2H\]?s?@\2ٿi @Fȿ _? =CͿ?)~2r@ ~2];I~0ɫ99)9 9IAY@y_GxDUSBL response received:!U1,R,354,000,0035F,189,80,80,60,FF Fpublishing direction and range infoV>ɰd=鰵7> )BIyzdA?a2ٱi)Ml=Y#QU?aqDHCyӯ}?I :5?  :߾ 8?  ?9eA: :):W-0"(@W)X) X1W1:W12W1*W9V9bU9BU9*U9UAUE@*@RU(Combining 5 samples.PQ*QUzdAZQU@%@6;T#JQU?a22QUV>:QQbQUS)}*ug9@fo9@RQU;17j?yƜA?BQUe3@ QUȑ@QUSPU9?PU#9?PUQUQUrA"QU@BD(B BA*BAudAAA="C0"(@*CRCC0"(@C֡aIqG9>ܭp>9ܩIܭD^Giܭ@ܩܩܩܭb; ݩM M tM tM Z M 0:YM M1yM :M 5)M Í;\Jq,Cv)EAY}b[p@}ba@y}bf}bRr}bH@ʸ@ ??p׿&[kɿ׬?M ο@ ?)~b[p@ ~bT];I~bCɫ髹) IY@@y:`G=DNmea in: $SNTTA,,,,,005605.73*5C iII)U= U= @ @ @Ý©ÝÝiÝ\@Ý ĝ@)ĝIĝiĝ@<M>=Y:QU>aqDCy3}>I 5?߾ ? ?9jA: :)m yAdded new target pos. range: 14.280000 m, bearing: 161.019866 deg, deltaT: 4.380525 s, approachRate: 0.479395 m/s, LOS rate: -10.926706 deg/s, posRepo size: 4m ZTarget missed at range: 14.28 m. Rolling out.X mNTransitioning guidance mode to: ROLLOUT"XWWX; XL?WX:W2W*WVbU BU *U U \,@U?BB BAږ*BAЕeAAA^="C*CRCCCv>IG>cJq,)EAY}:7o@}:TS_@y}:: t}:N]w}:H S?[e?`Nտz]Cʿ}?ο@?)~:7o@ ~:P];I~:CɫYY)Y YIYY@y_Gi)) 11urMuN=Y}QU}>yyarDCyL}>Iȑŕ5?ŕ߾ ƕA? ?9ƕnAǕ: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUUd?B%ʠB! B)A-ݙ*B)A59IIGeU>Iq)qE E sE sE U E E1:YE M1yE :E 59M @ٙ ٝ <ܡ 9ܡ Iܥ _Giܥ J@ܥ =ܡ ܡ ܥ V; ݥ ՗E)1I1i15=155iJq,E)EAɫ髙) IY@y`Gi!eT=MeK=YeQUm>iiamrDmCqy}}}>Iȁ :Ņ5? :Ņ߾ ƅǞ? ?9ƅ rADž: ȅ:)ȅ:WWX XWX:W2W*WVbUBU*UUUa?B5QB1 B1A57*B1A=ggA9A9A=c="CI*CURCYCYCiօ>aIGd>pJq,|)EAY}2*l@}2#\@y}2+}2$<}2H@D8?@? Kҿ@˿X? Ͽ?)~2*l@ ~2b;I~0ɫQU)Y YIYY@y`G ix&?MbI +?7 ?@ 94<)IyE?Q?y&1?&?\=`e< =@)*AIK AiAA¥hA¡ u u uu+Ǿuuuiu\@u u@)u @Iu@iu@;M9=Y*nQU>arDCy}>IȡťM5?ť߾ ƥ{? ?9ƥvAǥ: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU #?B|B B!A%뒾*B!A%|mhA)A)A-="C1*C5RC1C1C95FӅ>IG=q>  o o } G/:Y sJ1y : k5^wJq,v)EA|;|4arDKCyю}%>I! -:%߫5? 5:%߾ %? 5?9%kzA%s: %:)%:WYWYXY XYWYXY:WY2Wa*WaVabUaBUi*UiUiUm0@B7B BA剾*BA5iAAA="C*CRCCChAhA>IgA)I9IIM_GiM@IIIMe; MܗEׁIG=>.}Jq,sK)EAY}:h@}:X@y}:-}: }:H@@N?h6? Ͽ`4@Q̿K?Ͽ R?)~:h@ ~:e;I~8ɫ9=)9 9I9Y}@y} aGií">íV>í=ií=@é ĭ @)ĭ@Iĭ@iĭ-M@=YڬQU>arDCy}>I5?߾ ? ?9~A߼: :)WWX XW X :W 2W *WVbUBU*UUU`@BEn/BA BAAM5*BIAM)jAIAIAUC="CQ*C]RCYCYCYE>I)GEQ>Jq,|&*EAY}2Mf@}2V@y}2sl}2. ~}2H c*@?-?b˿@iz̿@f?aYϿS?)~2Mf@ ~2d;I~0ɫYY)Y YIYYh@yaG鮡ɮI@)@i)ý= ý=(=M[=YEQU>arDCy͞}>I :5? :K߾ ? ?9]AA: (:):WWX XWX:W2W*W!V!bU!BU!*U)U)U- @R=B*** querying acoustic contact ***P9P9BB BAW*BAjAAA="C*CRCCC!E>I)GA}}v}v}M }2:Y}N1y}:}"5A A I 9I IM `GiM @I I I M ^; M ٗE@Jq,+*EAɫ髙) IYG@y}aGZ****** received transponder code query ******F****** received ping request ******aaamrDCy}>IȹŽqi5?Ž߾ ƽ? ?9ƽȃAǽ@< Ƚ<)ȹWIWIXI XIWQXQ:WQ2WQ*WQVYbUYBUY*UYUaU@o @Bf̘B BAl*BAkAAA="C*CRCICaCq֕>ם?iם~?qIG>(Jq,D*EAY}:)c@}:S@y}:'؟}:ez}:HEx@?G?@Ŀݹx̿?ο?)~:)c@ ~: y;I~8ɫYY)Y YIYYз@y&bGxDUSBL response received:!U1,P 354,000,0035F,189,80,80,60,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iUMb?"~j?/$?U#?US= U,=)QIQyUˡE?Mb?L7A`?U'?UarD2Cyǽ}>I :{L5? :د߾ ? ?9A: :):W!W!X! X!W!X!:W!2W)*W)V)bUIBUQ*UQUQUUv@ uug QH:YKN1yy:5BJ2B BA{*BAmAAA="C*CRCCC FӅ>׹ I G >]Jq,^*EAY}2sbb@}2}R@y}2{}2k`z}2H`̌~??¿-Ϳ ?ο@h?)~2sbb@ ~2;I~2CɫEA)I IIIYz@ybGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 鼁i=M=Y8QU7?arDQCyg}7?IM?5?{߾ ? ?9܇A: :)W W X  X W X :W2W*WVbUBU*UUUZ@BB B A mf*B A mA A A j="C*CW RCCC9IdaGi2@Q; җE% >IG5p>|Jq,ђx*EA||Y}>Oa@}>CkQ@y}>}>tk{}>HA6??- Ϳ@t=?`Ͽ ?)~>Oa@ ~>;I~>CɫYY)Y YIYY@ycGxDUSBL response received:!U1,R,F4B,000,00391,187,80,80,37,FF Fpublishing direction and range info?!>ɰ=鰥1> )\BIy=A?0I"?ٱi   j<=^== >i(@ ?@) @I @i;MF=YQU>a%rD%C!y-&}->I15(5?5߾ 5k? =?95A5: 5{:)1WYWYXa XaWaXa:Wa2Wa*WiVibUiBUq*UqUqUu@Y@R(Combining 5 samples.P*Q=AZQX)1@i{x@JQ?0I"?2Q?!>:QbQ0bWT=?RQZ<Ҽaѿsq?BQZ;[@ QQP9?P9?PQQ@"QrABɖB BA/c*BA%DnA!A!A%p="CI*CMRCICICQ]] eeIfA)eAssO 11:YM1y:5IG >6gJq,w*EAɫ) IY5@y5"<ML=YQU>asDC y }>I %:75? -:o߾ ? -?9A:; ';):mmqAdded new target pos. range: 17.280001 m, bearing: 196.266551 deg, deltaT: 4.483016 s, approachRate: 0.669193 m/s, LOS rate: 7.862271 deg/s, posRepo size: 4WiWqXq XqWqXq:Wq2Wy*WyVybUyBUy*UU G1@U?B("B BA{_*BA{nAAA j="C*CRCCCסIG > < q>9 I bGi w@ = T; ԗEJq,II*EAY}2Z^@}2ЪN@y}2A:}2ru}2H@|?@uٺ? N@WͿ@?`Iοs?)~2Z^@ ~2yt;I~0ɫaa)i iIqY\@y dGI]@)]@iai5N=M5F=Y5QU=>99a=sD=CAyEֽ}E>IIM5?MJ߾ M!? ]?9M>AM: M:)IWyWyXy XyWX:W2W*WVbUBU*UUU?BXB= = BA0J*BASoAAA7="C*CRCCC׹I!G}7>}}o}o}c }c2:Y}sJ1y}:}5)}Y;9vJq,$*EAY}2]@}2"M@y}2k鷽}2hs}2H }פ?@v?`U5 ^Ϳ@E?ο?)~2]@ ~2A;I~2Cɫ99)9 9I9YQ@ydGiZd;O?i3@ @)@I@i@_MN=YQU>  a sD !Ciyuo}u>Iy :}5? :}߾ }E? ?9}DA}: }+:)}:WWX XWX:W2W*WVbUBU*UUU?Bm蓽Bi BiAmK*BiAm2OpAqAqAu="Cy*CyRCyCyC׹IGE>Iq)q"Jq,*EAY}:U[@}:˴K@y}:輽}:u}:H6Z?@e?`8Ϳ ?GEο?)~:U[@ ~:x;I~:CɫAA)I IIQY}@yqeGi))5fA5fAu=MuT=Y}λQU}>yasDRCy t}>Iȑŕ5?ŕ߾ ƕ4? ?9ƕAǕ;: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU ?BՐB BA&*BAZpA A A -="C*CRCCCIG>ܝp>9ܙIܝ dGiܝk@ܝ=ܙܙܝ^; ݝٗE)1I1i15=5=5B4ttx  /:YM1y:X5)t;ʽJq,*EAY}2[Z@}2wJ@y}2~}2y}2HyX@v˸?@YXο(?@ο@1?)~2[Z@ ~2no;I~2Cɫ) IY-@y-eG gA鼝gAi%?uνi¥@ @)@Ii@;M(=YQU >  a sD Cy"}>I %:u5? -:Ͼ߾ ? -?9A: :):WQWQXQ XQWQXQ:WY2WY*WYVYbUBU*UUU@B-B1 B1A=#*B9AEtqAAAAAEJ="CI*CIRCICICQ5;6= I G5 >Jq,+EAY}2"Y@}2]>I@y}2"Ž}2{}2H `" h ?%g@$ Ͽ@?`Ͽ@?)~2"Y@ ~2yh;I~2Cɫ99)9 9IAY=@y^fG=ii  ]7=M]=Ye䳻QUe ?aiamsDmCqy}}u}} ?IȁŅ5?Ņ߾ ƅ? ?9ƅADži< ȅ j<)ȁWWX XWX:W2W!*W!V!bU!BU!*U)U)U-L@BUevBY BYA]*BYA]3qAaAaAe="Ci*CiRCiCiCqѕl=aIiG9>}? }s}s}H }8:Y}M1y}:}59@ى ى ܕ o>9ܑ Iܕ fGiܕ @ܑ ܑ ܑ ܕ i; ݕ ޗEIJq,-+EAY}2W@}2wG@y}2uǽ}2EH{}2HȤH??Б?lMϿ?ο?)~2W@ ~2Hd;I~2Cɫ99)9 9I9YI@ykfGɮp=i  )E= E>I>C<&>iG@ )@I@i@mJ;Mu:=Yu4QUu>yya}sD}Cy=}>Iȉ :ōH5? :ōc߾ ƍG? ?9ƍBAǍ: ȍ:)ȍ:WIWQXQ XYWYXa:W2W*WVbUBU *UUU/ @RB*** querying acoustic contact ***PPByB BA *BAf[rAAA ="C *CRCCC =IG > Jq,7lG+EAɫ)))) )I)Ym@ym8gGuZ****** received transponder code query ******uF****** received ping request ******u-ʡ= -t))I)y-Zd;?{Gz?~jth?-?-ף<-D; -@)-&AI-Ai-XA)-AE'=ME$=YMQUM>IQaUsDU1CQy]}]>Iae7{5?e߾ e? m?9eAe;: en:)aWWX XWX:W2W*WVbUBU!*U!U!U%@ @Bm&Bq BqA*BA'rAAA'="C*CRCCC) k :2:Yy5Q Ia G} >Jq,#a+EA|i|Y}^sS@}^C@y}^3˽}^i}^H溿 ??ZYͿh?}̿ b?)~^sS@ ~^^;I~^Cɫ髑) IY*@ygGxDUSBL response received:!U1,P F4B,000,00391,187,80,80,37,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iE<ME=YMͻQUM?IQaUsDUYCYye]}?Iȑŕ:k5?ŕ߾ ƕ(Jq,d{+EAY}F`R@}F B@y}Fͽ}Fe}FH ЦnV?]?`Ϳ?@Z̿  ?)~F`R@ ~Fy^;I~Dɫyy)y yIyY@yhGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i99EgAEgA @ @ @©if@ @)@IiQ@ =M O=Y@QU>asDCy%r}%>I) 5:-W5? 5:-!߾ -)? 5?9-A-b: -:)-:WYWYXY XYWYXY:WY2Wa*WaVabUaBUi*UiUiUu*@ByB BA<½*BA^sAAA[="C*C~vRCCCyIG!>eeueuex e2:YeKN1yey:eX5i DnGI i ٺ cwB!Jq,@+EAY}FzP@}FR@@y}Fн}FUc}FH5QSÿ ?@? Ϳ? ̿ ?)~FzP@ ~F[^;I~FCɫyy)y IY@yMiGxDUSBL response received:!U1,R,27F,000,003B7,189,80,80,96,FF Fpublishing direction and range infoɰϛ=鰥7> )CIyzA+&?ٱ i%=M-Z=Y-\QU->11autDuCyy}À}}>IȁŅuD5?Ņܾ߾ ƅ? ?9ƅڟADž; ȅ;)ȁWWX XWX:W2W*WVbUBU*UUU`+@R5(Combining 5 samples.P9*Q=zAZQ=5b˘0@Bm$JQ=+&?2Q=:Q9bQ=(m-ʎP(@@RQ=ԏy7G?q?BQ=@ Q=BAQ=lP=9?P=9?P=Q=Q=A"Q=@BB BAH*BAsAAA="C*C&RCCCIG (> 9 I hGi :@ =   ];  חEEJq,H+EA|,|,Y}=gN@}=>@y}=ѽ}=\b}=Hp@pƿ@g??ӷͿ1?˿ ?)~=gN@ ~=^;I~=Cɫ99)A AIAY"@yiG}DNmea in: $SNTTA,,,,,005614.63*5D }=i}=i U U U ]@ ]@ ]@YYYi]3@Y ]Q@)]I]@i]@m]<Mm=YmѥQUu>qqautDuCyy} L}>Iȁ :Ņ,+5? :Ņ߾ ƅ? ?9ƅEADž: ȅ8:)ȅ:myAdded new target pos. range: 19.560001 m, bearing: 140.604881 deg, deltaT: 4.438272 s, approachRate: 0.513714 m/s, LOS rate: -12.541293 deg/s, posRepo size: 4WWX XWX:W2W*WVbUBU*UU@\3@U ?B'B  B A E*B A sA AA8="C*CRCCCI)GEt>M: IIM Mr8:YIyIM5)M;9Ub$Jq,+EAY}6-M@}6I=@y}6yӽ}6~a}6HJ@ɿ*?K? yͿ1c?`˿ ?)~6-M@ ~6&^;I~6Cɫ99)9 9I9Y]@y]kGiQ?/$?~jt?>= =)Iy~jt?J +?y&1|??H=`; …@)…"AI…Ai…A A)Ý= Ý==M=YP"QU?atD%Cy"}?I]5?߾ N? ?9ȣA: :)WWX XWX:W2W*WVbUBU*UUU`?B-yB1 B1A5*B1A5sA9A9A==="CA*CEt:RCACACI]?i]?AIQG}>MJq,g+EAY}2GK@}2;@y}2ս}2O`}2H` ̿`ɫ?g?ecͿڪ? O˿S?)~2GK@ ~2^;I~2CɫII)I QIQY}@y}jGiMV=Yda tD VC yo}>I %:5? %:߾ 8? %?9A+: {:):WAWIXI XIWIXI:WI2WQ*WQVQbUYBUY*UYUYU]M?B#\zB BA*BAsAAA@="C*C<RCCCܽp>9ܹIܽjGiܽѾ@ܽ=ܹܹܽS; ݽҗEIG>] ]t]t]K ]>:Y]M1y]:]5)];wJq,+EAY}2J@}2"3:@y}2:׽}2}d}2H` Ͽۨ?K? 2ο@ں?}4̿`M?)~2J@ ~2(];I~2Cɫ99)9 9I9Yſ@ykGI9)9iAA AA    @ @ @ÑÑÑiÕp@Ñ ĕۭ@)ĕ@Iĕ@iĕ@1o=M@=YQU>atDCyS}>Im5?ͷ߾ z? ?9AH: *:)WWX XWX:W2W*WVbUBU*UUU `?BsB BA*BAAAA͗="C*C=RCCC IG (>`Kq,K,EAY}FH@}F88@y}F׽}F Ck}FH'+п 7?_?~Ͽ?`̿?)~FH@ ~F\];I~FCɫqq)q yIyY@ymGi!)==M=Q=Y=1QUE>AAaEtDECM~=yMJ}U>IY]5?]߾ ]u? e?9]A]: ]:)YWWX XWX:W2W*WVbUBU*UUU`h@B:>pB< BAG<*BAsAAA ="C*C\=RCCCI)fAIG>] ]p]p]H ]V5:Y]K1y]`:]59e@١ ٥ fAܭ o>9ܩ Iܭ lGiܭ g@ܭ =ܩ ܩ ܭ U; ݭ ӗE)AIAiAAAE|4X Kq,t0,EAY}5'G@}57@y}5ֽ}5zm}5H@Y;ҿ ??fϿ`:Һ?AͿ`?)~5'G@ ~5H];I~5Cɫ  )  IYX@ymGiII   Å`e=ÅbÅiÅG@Å ą@)ąp@IąQ@ią3@8)=M*=YW:QU>atDCyu}>Iȩ :ŭ5? :ŭu߾ ƭ? ?9ƭAǭ: ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUU@BbXkB! B!A%[=*B!A%sA)A)A-$E="C1*C5=RC1C1C9I!G=Q>_sKq,cGJ,EAY}6}F@}6R6@y}6xq׽}6!l}6H`)3ӿ0ɠ?z? `Ͽy? ,Ϳ?)~6}F@ ~6C];I~6Cɫ19)9 9I9Yu@yunG>i>iI4=)R=% r?L7A`?y&1?%?%+= %`<)!I!y%Zd;?I +?/$?%?%94<%< %@)%5"AI%@i%xA!%( A=\=MEz=YEN;QUE?IIaMtDM&CQyUj}U?IY]5?]߾ ]? e?9]A]׾: ]#:)YWWX  X W X :W 2W*WVbUBU*UUU O@R%B*** querying acoustic contact ***P!P!BfLdB BAK=*BAzsAAA="C*C=RCCCׁIG>M=iMp=]]r]r]z ]G/:Y]_L1y]7:]5Kq,d,EAɫyy)y yIyY@yQoGZ****** received transponder code query ******F****** received ping request ******AAaEtDMYCIyU}U>IY e:]5? m:]߾ ]? m?9]lA]; ]4;)]:WWX XWX:W2W*WVbUBU*UUUh @B=F_B BA=*BA"^sAAA="C*Cڥ=RCCY9YI]nGi]@]=YY]Y; ]ԗEC-l=U?iU?1IAG]v>Kq,z},EAɫ髑) IY@yoGxDUSBL response received:!U1,P 27F,000,003B7,189,80,80,96,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!)UU'UCiU@Q UQ@)UQ@IU3@iUQ@<M(=YQU>atDCy } >I(5?̧߾ ? E?9DZA; Q;)WWX XWX:W2W*WVbUBU*UUU @B%-]B! B!A%I=*B!A-ysA)A)A-7="C1*C1RC1C1CYu0:ttO 3:YM1y:5N%Kq,ח,EAY}FuA@}F2@y}F6۽}Fc_}FHf׿:?Fk?@LSοrY?V˿?)~FuA@ ~FR];I~FCɫqq)q yIyY@yqGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)))i99U=MU{=Y]껻QU] ?YYaeuDeCaymf}m ?I  : "{5? : ߾ ,@ ?9 cA : :) :W9W9XA XAWAXA:WA2WA*WIVIbUIBUQ*UQUQUU;-@B}NB BA=*BA¹rAAA,="C*C=RC*^L>CCϡϡ)С С IG=>Q 9Q IU W0@y}b"ڽ}bq_}bH6y`Gؿ? B?]@οG?˿_?)~b;@@ ~b m];I~bCɫ) IY5D@y5yqGUxDUSBL response received:!U1,R,352,000,003CB,189,80,80,8F,FF ]Fpublishing direction and range infoMN=IɰM=I I)MCIIyMAMF9Ɨ?iOoٱIiY]fAm`弩mml=imG@i m@)iImp@imp@<M,=Y:QU>auDCy `}>IȹŽe5?Ž߾ ƽ@ ?9ƽAǽʽ: Ƚ:)ȹW!W)X) X)W)X):W)2W1*W1V1bU1BU1*U9U9UE` @RM(Combining 5 samples.PQ*QUAZQUdRޛ.@b ,JQUF9Ɨ?iOo2QUN=:QQbQU:G!d3K2@:M!@RQUBzKڿ2?Ҵ?BQU@ QUYAQU9 PU 9?PU9?PUQUQU,A"QUAB RB BA=*BACC!IG5q>( j 7:YyY5)X;92Kq,,EAY}^@>@}^.@y}^Gؽ}^b}^H=%@_kڿ{?@?@Mο`m?˿O ?)~^@>@ ~^];I~^Cɫ) IY@y\rG]DNmea in: $SNTTA,,,,,005619.07*52 efAaiiiV-?Q롿 rh??\ C<)Iy^I +?~jt?I +X?D=94 A@)AI@iA At=Me=Yt;QU>!!a%uD%,C!idnGI jAyi}%>M(ٺMjAMlBIq }:uR5? }:u9߾ u@ }?9uwAu: uo:)u:muAdded new target pos. range: 20.759998 m, bearing: 115.278744 deg, deltaT: 4.513679 s, approachRate: 0.265858 m/s, LOS rate: -5.610974 deg/s, posRepo size: 4WWX XWX:W2W*WVbUBU!*U!U%@4@U%t?BmLGBq BqAu|>*BqAuqAyAyA}="C*CRC(>CCIGi>8Kq,Dj,EA||Y}Vl<@}V,@y}Vս}VCj}VH` RۿT-s(? Ͽj?̿.?)~Vl<@ ~Vx];I~VCɫqq)q qIqYN@ysG]=i]=iiiD=MQ=YAy;QU>auD^Cy}>I;B5?߾ @ ?9&A: :)p>9IrGi*@=c; ٗEWWX XWX!:W!2W!*W!V!bU)BU)*U)U1U5ќ?B]̼6BY BaAe?>*BaAeAqAaAaAmZ="Ci*CqRCu{>CqCqei>9IiGZ> rri &W:Y_L1y7:"5);?Kq,!<,EAɫyy)y yIyY@ytGi!)-> ->å&ååtiå@á ĥۭ@)ĥ@IĥE@iĥ@=MJ=YQU>auDCy}>I%/5?߾ @ ?9A: D:)WWX XW X :W 2W *WVbUBU*UUU6?BE@97BA BIAMM>*BIAMЙpAIAQAUJ ="CQ*CYRC]2>CYCYuAz|>AIIGm5>EKq,&-EAY}J69@}J)@y}Jν}J5Ss}JH ޿N?  w=пŹ?$Ϳ[?)~J69@ ~Jހ^;I~JCɫqq)q qIqYs@ycuGI@)?iMll=MUQ=YU@YYa]uD]ÐCYyeW}e>Ii u:m5? u:mNj߾ m@ }?9mAm: m:)m:WWX XWX:W2W*WVbUBU*UUU y?BuI0By ByA},d>*ByA}oAyAAV ="C*CRCz<=CC}N>YIaG8>xxy n1:Y7P1y:59@9ItGi@Da; ؗE'LKq,2-EA|i|Y}62 8@}6;(@y}6kɽ}6r}6HP߿etA?ü 1п/? |Ϳ?)~62 8@ ~6_b;I~4ɫ)! %I-YU@y]uGI)iCl?V-?Zd;O?d?m= j<=)Iy-?L7A`? rh?5?+=C< @)AI@i~AQA E@ E@ E@E©EEiE̬@E A)EIEiE@U<M].=Y]};QU]>aqauuDuCqy}NJ}}>IȁŅ5?Ņ߾ ƅ@ ?9ƅJADž: ȅ&:)ȁWWX XW:W2W*WVbUBU*UUU/@Bm0Bq BqAu5p>*BqAuenAqAqA} ="C*CRC6=CC Օ=ԕ=]>J>I!G=r>u SKq,L-EAY}J6@}JH&@y}JsĽ}JOk}JH@vqGk~" q+?|:ϿĊ?`Ϳ#?)~J6@ ~J`;I~JCɫ髙) IY@yvGiyyfAgA=Mj=Y;QU>auD,Cye}?I :5? :߾ 6 @ ?9A : :):WWX XW:W2W *W V bU BU*UUU:@BEBA BAAE#>*BAAM?nAIAIAMQ ="CQ*CUy=RC]=CYCYMr>IQ)UgA!I1G]2>ttB o/:YM1y:5Y7YKq,ҧf-EAY}2h5@}2%@y}2f}2ٮb}2H+@uA`?CH3ο5?˿@?)~2h5@ ~2da;I~2Cɫ99)9 =IAYE@yMFwGMp=ɮM= ]gA]hAiYam =Mub=Yuyya}uD}[CyHA}>Iȉōp5?ō.y߾ ƍ @ ?9ƍAǍj: ȍ:)ȉWWX XW:W2W*WVbUBU*UUUױ@RB*** querying acoustic contact ***PPBFB BA>*BA qmA A A ۪ ="C*C$=RCFh=CCq>9IvGi@`; )1I1i15=5=504M]>)IQG:>r`Kq,䃀-EA| |";Y}Jv4@}J$@y}J }J(Y}JH`wH@L]?B̿ ?ʿ(?)~Jv4@ ~JPj;I~Hɫ髑) IY@yexGZ****** received transponder code query ******F****** received ping request ******åå >iå@å ĥ/@)ĥ@Iĥ/@iĥη@΂=M7=YauDCy}>I :95? :q߾  @ ?9A: :):WWX XW:W2W*WVbUBU*UUU@\} @B]vBY BYAe3>*BaAeyClAaAA ="C*C⊲=RCn4=CCgAhAօ =YIaGY>qqN f.:YK1y̅:Y5`IfKq,5^-EAY}:3@}:'#@y}:r}:ڟP}:Hӕ*@]ԥ`?`r˿?!ɿ`9?)~:3@ ~:B;I~:Cɫ99)9 9I9Y}@y}yGxDUSBL response received:!U1,P 352,000,003CB,189,80,80,8F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i)]= ]=W=MK=Yv(avDȑCy9}%>I155?5hj߾ 5@@ u?95 A5n< 5@<)1WWX XW:W2W*WVbUBU*UUU` @B5IB1 B1A5f>*B9A=#kA9A9A=, ="CA*CEYk=RCMf<CICI]׉=9IYGuy><<s>9IpxGi@=_; חExlKq,O-EAY}2@}2"@y}mS}F}HFW) l?Цnʿ ?,ȿ]L?)~2@ ~Re;I~ɫ) I!Y@yzG@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IM?)M?iII rh?Mb?Q?C ?@= \=)IyK7?{Gz?~jth)?#<D @)I@i A@í`廩ížíDií@é ĭd@)ĭ@Iĭ@iĭ@W=M-=Y avDCyi}>I :45? :`߾ @ ?9wAQ: :):W!W!X! X!W!:W)2W)*W)V)bU)BU1*U1U1U=%@BeKBa BaAe!>*BaAmiiAiAiAm="Cq*CF=RC<CC Xh=IG>ww, -:YO1yP:5)};9J[sKq,-EA|i|@Y}6!2@}6o="@y}6Q}6"S<}6H6 M裥`A0?v`ȿA?`Vǿ^?)~6!2@ ~6;I~6CɫQQ)Q ]IYY^@yp{GxDUSBL response received:!U1,R,263,000,003E3,188,80,80,B1,FF Fpublishing direction and range infoɰ=鰥> )1CIyAXՎ?yCٱi=M=YQi"1E3@%vv2 @RQE:3Պڿxr?ٷ~R?BQEmF@ QE AQEOPE9?PE 9?PEQEQEA"QE,AB};ۼBy ByA}>*BAhAAA="C*C-)=RCgEF<CC։aIqG9>MyKq,]-EAY}rc1@}r!@y}ry}rw+}rH"l`],`~Q?ƿ@?XVſw?)~rc1@ ~r;I~rCɫ) IY5@y5{Gut>9qIuzGiu2@qqquW; uӗETNmea in: $SNTTA,0.045806,,,,005623.50*48 iµhAµhA<M9=Y8 avDdCy/}>I^5?P߾ @ ?9A\C; Έ;)m=uAdded new target pos. range: 22.199999 m, bearing: 114.837842 deg, deltaT: 4.342980 s, approachRate: 0.331570 m/s, LOS rate: -0.101521 deg/s, posRepo size: 4WYWYXY XYWY:Wa2Wa*WaVabUiBUi*UiUm 336@UmD?BPPB BA>*BA:TgAAAY="C*C=RC<CCr=IG>qqj w2:YK1y̅:Y5)k;LmKq,m.EAY}:1@}:,!@y}:H}:E }:H$@2kEޡhS? <ſE?/ÿl?)~:1@ ~:i;I~8ɫ99)9 =I9Y}@y}s}GÅr>ÅÅ+>iÅ=@Á ąE@)ąd@Ią/@iąE@F=MQ=Y6PavDCy.޸}>Iȩ :ŭu5? :ŭ"I߾ ƭ@ ?9ƭAǭ; ȭ);)ȭ:WWX XW:W2W*WVbUBU*UUU?B%8B! B!A->*B)A-6fA)A)A5="C1*C=Ա=RC=@<C9C9 hW<IG (>iISkAi5 MUٺ5 SkA= DBKq,.EA||Y}J2@}JA7"@y}J}}Ji}JH;`BK #7?ÿ #?඲¿7?)~J2@ ~J^;I~JCɫqy)y }IyY@yS}G2Powering down loadControl I%)%i%%=M=P=Y=fAAaEvDEȒCIyMq7<}M>Iȱŵb5?ŵ@߾ Ƶ@ ?9ƵAǵ; ȵ;)ȱWWX XW:W2W*WVbUBU*U U)U-k?BUjټBY BYA]O>*BYA]dAYAaAeg="Ca*C=RCpZ<CCԝhAԙ֝/Ciiuu>9qIu{Giux@u=qquZ; u՗EttG -:YM1y:5)H;ČKq,G5.EAY}e>2@}e"@y}eog}e}eH\`@* ? %?@;M?)~e>2@ ~e;I~aɫii)q uIqY@y~GK7A?avDCye^<}>I :*N5? :6߾ @ ?9 A: :):WWX XW:W2W*WVbUBU!*U!U!U%G`?BMԼBQ BQAU>*BQAU1cAYAYA]="Ca*Ceۂ=RCe%<CaCimjZXKq,0bO.EAY}J-3@}J/#@y}JR}J}JHԅ J?FM? b@?)~J-3@ ~J;I~Hɫ髹) IY@yG=Mv=Yo*BAaAAA7="C*Ce=RC=<CC!]D-<1I9G]v> rrB A:Y_L1y7:59@әKq,6i.EA|i|Y}>U3@}≯#@y}>@}>Ͻ}>HP 5@:?X|`1?W߹@?)~>U3@ ~>Ҋ;I~>CɫYY)Y ]IYY @yG!9!I%|Gi%k@!!!%T; %җEIq)qk<MI=Y5avDeCyP<}>I :-5? :'߾ b@ ?9A{: :):WWX X!W!:W!2W!*W!V)bU)BU)*U)U1U5@B]DmBY BYAe>*BaAeM`AaAaAm6="Cy*CI=RC 3=C C =֝Kq,a.EAY}N4@}N$$@y}N^/}Ntұ}NH``| o? §ː?- ?)~N4@ ~NĀ;I~Lɫ髱) IY7@yGɮ  jAÕ-2Õ?Õ+=iÕ@Ñ ĕ/@)ĕ@Iĕ@iĕ@0\<MJ=Y#avDCy܄<}>I5?߾ @ ?9A: :)WWX XW:W2W*WVbUBU*UUUq@RB*** querying acoustic contact ***PPB5ȟB1 B9A=W>*B9A=?o^A9A9A=~="CA*CM/=RCMD=CICIE9=IMhA)MhAIG-->oo 11:YsJ1y:~Kq,.EAY}2*3@}2$@y}2n}2}2HdP |? b鴿 ?`" c?)~2*3@ ~2:;I~0ɫ99)9 EIAY]@y]EGeZ****** received transponder code query ******eF****** received ping request ******ea wD ɓC y }>IAE 5?E,߾ E@ M?9EAE: E/:)AWWX XW:W2W*WVbUBU*UUU @B ҲBI BiAm?*BqAu6\AqAqAu="Cy*C}F=RC}w=CCeG=9IIGeU><9I }Gi@E; ʗE)ݩIݩiݩݩݩݭ4Kq,ն.EAY}eܿ3@}eS#@y}e} }e}eHQF${ ? K@يρ? pK?)~eܿ3@ ~e|;I~eCɫ髉) IY@yGxDUSBL response received:!U1,P 263,000,003E3,188,80,80,B1,FF Command AckBRequesting micromodem ping code 2i=i=a=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Zd;?MbX9?Mb`?ʡ= )Iy/$?~jtx:v?,?Ļ< …`@)…AI…@i…A@-`;- W-Ci-\@) -@)-E@I-E@i-@UfZ=M] =Ye;QUe>iiamwDmCqy}"}>Iȑ :ŕ5? :ŕ ߾ ƕ@ ?9ƕAǕЗ; ȕS;)ȕ:WWX X!ޑiޕ=h zz d:YQ1y:5W!:W2W*WVbUBU*UUU@B= :)B9  BA AU ?*BY A] ^ZAY AY A] k="Ca *Cm S=RCm ;=Ci Ci u ]=Q IY Gu > Kq,.EAY}23@}2#@y}2}2fw}2H QЮd?`#/ݞ?@l䮿X?)~23@ ~2vs;I~2Cɫqq)q uIqYM@yGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B QܼM=Y9;1Kq,.EAY}N`V3@}Nq#@y}N{ؼ}NFs}NH՞@4@m@?md?a@?)~N`V3@ ~N k;I~NCɫ髙) Iܱ9ܱIܵ}Giܵ@ܵ=ܱܱܵ@; ݵȗEY_@ỳG ߿;M T=YawD%fC!y-}5>II ]:M5? ]:M޾ M@ ]?9MTAM; M:)M:WAWAXI XqWq:Wy2W*WVbUBU*UUUz@BeBi BiAmm?*BiAmCWAqAqAu)="Cy*C}=RC}٫<CyC}=QIaG}z>}}u}u} }+:Y}KN1y}y:}5)};9Kq,/EA|i|@Y}6"3@}6M>#@y}6}6!,x}6H @$@Ü?.ϗ??)~6"3@ ~66d;I~6Cɫaa)a iIiY6@yGxDUSBL response received:!U1,R,2C8,000,003E3,188,80,80,B1,FF Fpublishing direction and range infoɰ )Iy3W|?ݵ*cٱTNmea in: $SNTTA,0.021913,,,,005627.99*4E I)uM>uGu=iu@q u@)u@Iud@iud@&4M5=YU;QU>awDCyy}>I{5?޾  @ ?9AϺ; <;)WYWYXY XaWa:Wa2Wa*WVbUBU*UUU`@R(Combining 5 samples.P*QZQaY 2@=s)JQ3W|?ݵ*c2Q:QbQ#$$w4@-u;?RQ55pֿh ?\,?BQD? Q AQP9?P9?PQQ@"QABԅB BA'?*BAjUAAA%_="CA*CM=RCM_<CICI ]=]=U<1I9GU>DKq,t|/EAY}F_2@}F#@y}Fti}FR%}}FH u^?sB@ƌ?`?)~F_2@ ~F`;I~FCɫqy)y yIyY@yG =M[=Y;QU>awDϔCy}>Iȱ :ŵ75? :ŵ޾ Ƶ!@ ?9ƵAǵ: ȵW:)ȵ:muAdded new target pos. range: 22.199999 m, bearing: 110.558168 deg, deltaT: 4.929477 s, approachRate: 0.000000 m/s, LOS rate: -0.868180 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UUU?B0b1B BAe ?*B A SA A A ="C*CIx=RCT<CCm<IGi>ٕhAٕjAܙ9ܙIܝ}Giܝ_@ܙܙܙܝ;; ݝŗE}yy} }G/:Yyyy}5)};PrKq,f8/EAY}fǶ2@}f>"@y}fʜ}fy}fH gs` 咿`?b7E?)@O?)~fǶ2@ ~fn^;I~dɫ髱) IY@yGK7?y&1|?:v? ?`; <)Iy%C?~jth?y&1?Z$?D;`e< )3AI@inAz@E}>E33E$>iEQ@A E/@)E@IE@iE@U;MU>=Y];QU]>YYaewDeCaym}m>Iqu5?uj޾ u"@ }?9uAur: u:)qWWX! X!W!:W!2W!*W)V)bU)BU)*U)U1U5xo?BczB BA ?*BAQAAA="C*CTS=RCJ<CCU<IG>;UKq,s,R/EA|4<|4qawD6Cy3}>I :5? :޾ '#@ ?9AS; ;):WqWqXq XyWy:Wy2Wy*WVbUBU*UUU?BD .B BA|?*BA-)PAAAQ="C*Cz0=RC 榀<C C)=iA=iA5%<%?i%?IG%n>}}s}s} }3:Y}M1y}:}59@Kq,hl/EAY}2!2@}2 ="@y}28(R}2o{}2HI:`=?:D?Z?)~2!2@ ~2&\;I~2CɫYY)Y YIamt>9iIiiiiiim/; mEY@y0GMD=Y awDlC)y=@}E>IIM!t5?M޾ M#@ ]?9MAM: MX:)IWyWyXy XyWy:W2W*WVbUBU*UUU`>K?B@B BA ?*BAXNAAA="C*C- =RC]?<CCu<׹IGf>hKq,G/EAY}2Z1@}2!@y}2F}23v}2H`4`KX`%\?&(?`(Ѯ?)~2Z1@ ~2t[;I~2Cɫ99)A EIAYu@y}>GÕ'ÕbÕB>iÕ@Ñ ĕX@)ĕIĕE@iĕE@;ML=Y(awDCyA}>Ib5?#޾ ;$@ ?9 A: :)WWX XW:W2W*WVbUBU*UUU){?B_*B BA6?*BALAAA="C*CQ=RC<CC ><ױIGh>dyy b':YP1y':\5Kq,/EA|i|Y}Bo1@}B!@y}Bʻ}B Qp}BH'"jpko?q\ ^y?`?)~Bo1@ ~Bl.[;I~@ɫYY)Y ]IYY.@yKG];M]P=Y]aaaexDeѕCiym}m>Iq }:uoQ5? :u޾ u$@ ?9uAu: u:)u:WWX XW:W2W*WVbUBU*UUU @BXC&B} = BA?*BAmJAAA="C*Cٹ=RCz;CC ==%8ep>9aIaiae=aae#; eE8Kq,/EAY}61@}6y!@y}6ۉ}6o}6H@tz? 8_;q?ޭ ?)~61@ ~6^Z;I~6Cɫ99)A AIAY}@y} G鮍a=ɮa=x&?kt?Q?7)? 0= u<)IyS?{GztI +?/?ף94< µv@)µAIµ@i±@t< ji׻@ "@)@I@i/@%M%>=Y%r;QU%>))a-xD-C1y5}=>I9=]?5?=X޾ =%@ M?9=/A= : =:)9WiWiXq XqWq:Wq2Wq*WqVybUyBUy*UyUyU+T@RB*** querying acoustic contact ***PPBOHB BA ?*BAHAAA="C*CA=RC ;CC";סIGf>}}t}t} }):Y}M1y}:}%5yKq,t/EAY}6\{1@}6Ӗ!@y}62I}6ie}6H@@{ڕ`4?_J>i?D?)~6\{1@ ~6hZ;I~6CɫII)I IIIY}@y}GZ****** received transponder code query ******F****** received ping request ******  a xD 6Cy@}>I) 5:-/5? =:-޾ -^%@ =?9-A-KG; -H;)-:WyWyXy XyWy:W2W*WVbUBU*UUUT @B,.B BAR ?*BAGAAA="C*C`=RCMq;CCy;IGj>Kq,O/EA|;|;Y}6.c1@}6~!@y}6}6yY}6H@)~? ʦua?E-n?)~6.c1@ ~6\Z;I~6C!9!I%}Gi%@!!!%; %E)ݑIݑiݑݕ=ݕ=ݕ{5ɫII)I UIQYW@yeG%xDUSBL response received:!U1,P 2C8,000,003E3,188,80,80,B1,FF %Command Ack-BRequesting micromodem ping code 2i)1M=iM=mNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 õ >õxõiõ׳@ñ ĵ@)ĵ@Iĵ@iĵ@%X=M5!=YM:QUM>YYaxDxCyO;}>IȑŕF5?ŕy޾ ƕ%@ ?9ƕAǕӻ: ȕ!<)ȑW!W!X! X!W!:W!2W)*W)V)bU)BU)*U1U1U5 @BSB BA.?*BAʼDA9A9A="0="CI*Cj(=RC&;CCpp [/:YK1y`:);9% <) )  yb]; ?i ? I G >Lq,p0EAY}2N1@}2j!@y}2U=}2QK}2H@ @ώ@Ks?@JG?t?)~2N1@ ~2MZ;I~2Cɫ)))1 5I1Y@y G?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m"Mmp=Ym;QUm?qqauxDuCyy}y}}?Iȁ :Ņq 5? :ŅȢ޾ ƅ&@ ?9ƅ%ADžA: ȅM:)ȅ:WWX XW:W2W*WVbUBU*UUUU@BCB BA ?*BACCAAA><="C*C=RC :CCѵ9=֭2;ׁIG>B=Lq,ގ"0EAY}Z81@}Z5T!@y}Zm:}Z@}ZHXʗ d˜[?`*`U=M`?)~Z81@ ~ZZ;I~Xɫ髙) IY@y,G-xDUSBL response received:!U1,R,2D3,000,00423,188,80,80,A1,FF -Fpublishing direction and range info%!!ɰ%=! !)%!CI!y%QA%b?Pxٱ!c;MC=Y~;QU>axDٖC yP}>I5?:޾ Q&@ %?97AY: :)WAWAXI XIWI:WI2W*WVbUBU*UUU<@R(Combining 5 samples.P*QQAZQF3!5@ظ.JQb?Px2Q!:QbQf [ t'h8@S,C?RQT\Կbc^?lD?BQ? QAQP9?P9?PQQ@"Q@B-OB) B1A5I ?*B1A5XaAA1A1A5`="C9*CE:׮=RCE."9CACAMo>9IIM }GiM@M=IIM'; MEeG=L vv 9:YN1y:5)ӕ;5q: I9 G} >jLq, x<0EA|4i|4Y}]31@}]N!@y}].<;}]mk-}]H@+@?N /Ġg`?)~]31@ ~] Z;I~]Cɫ11)9 =I9Ymn@ymՀGDNmea in: $SNTTA,,,,,005632.83*57 mA`"?Zd;Oy&1|m?mj< m`)iIiymK7A?{Gz?mܾm7=im(@i m@)md@Im@imd@[M3=Y؍;QU>axDCyG}>Iș :ŝ5? :ŝ;޾ Ɲ&@ ?9ƝAǝ: ȝ :)ȝ:muAdded new target pos. range: 26.039999 m, bearing: 108.310278 deg, deltaT: 4.438259 s, approachRate: 0.865204 m/s, LOS rate: -0.506480 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU`= :@Ut?Bx4B B!A%?*B!A-}t?A1A1Af="C*Cn=RCTθCC)  m =m =U 9I] hA)] hA1 I9 G] >oTLq,ZV0EAY}Nm71@}NR!@y}N3^;}Nn0}NH`3+Xٝ?@+r` R?)~Nm71@ ~NY;I~NCɫ髙) IY@ysGiMp=Y ;QU?axD?CyL:}?Iȩŭ5?ŭ}޾ ƭ'@ ?9ƭ>Aǭn: ȭ:)ȩWWX XW:W2W*WVbUBU*UUU?BUB BA?*BA>AA!A%c="C)*C-=RC-9C)C19IG=P>uu 2:YKN1yy:59@1 91 I5 |Gi5 k@5 =1 1 5 7; 5 EyLq,F"p0EAY}%=1@}%%Y!@y}%ޡ;}%1}%HDn G?j 4v@3 +?)~%=1@ ~%Z;I~%CɫQQ)Q QIQY@yGeGa=e%euie@a e@)e@Ie@ie@}W<M}==Y}';QU}>axDvCy6f:}>Iȡ :ť35? :ť޾ ƥt'@ ?9ƥBǥ: ȥ:)ȥ:WWX XW:W2W*WVbUBU*UUU{?B|92B BA?*BA*<AAA?="C!*C%oP=RC%p'9C!C)9I!G=r>c"Lq,%0EA||4axDCy}>IH5?Zz޾ '@ ?9B#: ׾:)WWX XW:W!2W!*W!V!bU!BU*UUU?BB BA?*BAFz:AAA $="C *C #=RC GѕC CiU:oGIii3ԿٺA9E?iE?I!GEs>xx 2:Y7P1y:[5(Lq,Eգ0EAY}:$1@}:9!@y}:R;}:$}:H @g??Bu`D?)~:$1@ ~:|Y;I~:Cɫ99)9 EIAY}@y}\G=M=T=YEQUE>AIaMyDMؗCIyUl}U>IY]75?]r޾ ] (@ e?9]B]: ]:)YWWX XW:W2W*WVbUBU*UUU?BXB BA?*BA 8AAAK="C*C[=RCQкCC9I{Gix@=; ėEIAGZ>}.Lq,0EAY}6A0@}6!@y}6EC;}6 }6Hy@ӛu?}i bu?)~6A0@ ~6)jY;I~6Cɫ9A)A EIAYM@yUG$C?Mb-i@ )ۭ@Iۭ@i-!M-<=Y5QU5>11a=yD=C9yE[}E>IA U:E5? U:Eh޾ E(@ U?9EBE; E;)E:WyWyXy XyWy:Wy2W*WVbUBU*UUU@X@B=B BA>*BA17AAA5="C*C<ȭ=RCZCC֥鑺YIiGY>vv ):YN1y:5͞5Lq,Œ0EA|i|ɫ髱) IY!@yGp=ɮp=I)ס:M_=YQU>  a yD ?C y}>I~5?`޾ ])@ %?9B: :)WIWIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYU] HE@RmB*** querying acoustic contact ***PiPiBB BA>*BA5AAA="C*C=RCPCC U=U=]"5Ia)aYIiGZ>IAA) m>9 I ,{Gi &@ = D 5; El;Lq,.t0EAY}U!0@}U @y}U7;}U}UH ɘ? w Z?)~U!0@ ~U\;I~UCɫ11)1 5I1Ym@ymG}Z****** received transponder code query ******}F****** received ping request ******iQ@ /@)E@I@iE@M.=Y:QU>ayD{C y U} >I :j5? :V޾ *@ =?9B; ;):WyWyXy XyWy:Wy2W*WVbUBU*UUU @B5<;RB9 B9A]>*BYA]3AYAaAe/="Ci*Cma=RCm;CiCi֍ 76 ww !8:YO1yP:5)O;9iIqG>gBLq,-C 1EAY}>4q0@}> @y}>k;}>E }>H@`Ӌ ? `{}q{f ?)~>4q0@ ~>f~;I~>Cɫ99)9 9IAY]@y]GexDUSBL response received:!U1,P 2D3,000,00423,188,80,80,A1,FF eCommand AckeBRequesting micromodem ping code 2iaiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Mw=Y=%@;QUE?qyayDCy1ݻ}>IY5?M޾ *@ 5?9B< <)WWX XW:W2W*WVbUBU*UUUN @B@B BA=>*BA,2AAA5="C!*C-0=RC-:-C)C)ΒIG>|HLq,!%1EA||p;Y}>'N0@}>i @y}>;}>}>H@@y#`#?ǡƺ~ ?)~>'N0@ ~>;I~>CɫYY)a eIaY}`@y}$GAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B üM<=Y:QU>ayDݘCy}>I  :#H5?  :xD޾ 6+@ 5?9Bz; ;):WqWqXq XqWq:Wy2Wy*WyVybUyBU*UUU"@BB1 B1A=>*B9A=0A9A9A=cg="CA*Ce*=RCm{ICiCiyyٕiAٕhAܭl>9ܩIܭdzGiܭ@ܩܩܩܭ.; ݭE))I)i)-=-=-5ֽ &?i?בItt U*:YM1y:\5)d;Gm>^OLq,@>1EAY}260@}2R @y}2w ;}2`}2HCΑ`?FA~ ꢿ.?)~260@ ~2b;I~2Cɫ99)9 =IAY}@y}@~GxDUSBL response received:!U1,R,377,000,00445,189,80,80,85,FF Fpublishing direction and range info_(Fɰ=鰅7> )CIyA?<^ٱdNmea in: $SNTTA,0.259726,0.259982,,,005637.26*5D E?+Mb?F? @=)IyQ?MbA`"?Y= @)I@i@f@mm኿m!im=@i m@)m@Imۭ@imۭ@ NM 6=Y3QU>ayDCy%EU}%>I1545?5b:޾ 5,@ E?95: B5: 5:)1WWX XW:W2W*WVbUBU*UUU@R(Combining 5 samples.P*QAZQia\4@d3JQ?<^2Q_(F:QbQet;@.Mv?RQhـwĿ91ٔ?"m ?BQ? QAQP9?P9?PQQ@"Q@B=lXB9 BAAUX>*BQAU=/AQAYA]>="Ca*CmȬ=RCm|\CiCiu2DQIYGu>oULq,bX1EAY}>0@}>}8 @y}>FW;}>lx}>H0 @䛿@?E ?)~>0@ ~>;I~>Cɫaa)i mIiY7@y~G}L=M}h=Ym:QU>ayDCCyV}>Iȡť%5?ťW2޾ ƥ-@ %?9ƥ) Bǥ< ȥ <)ȡmUqAdded new target pos. range: 28.079998 m, bearing: 99.202876 deg, deltaT: 4.482823 s, approachRate: 0.455070 m/s, LOS rate: -2.031622 deg/s, posRepo size: 4WYWYXY XYWY:WY2Wa*WaVabUaBUa*UiUmz<@Um`C?BlB BA^>*BA-AAAs="C*C=RCNsCCNJNIGj>zuu #):YKN1yy:59@ܝ k>9ܝ zCIܝ yGiܝ @ܝ =ܙ ܙ ܝ ,; ݝ E\Lq,÷r1EA|$i|$Y}Z/@}Ze @y}ZP;}ZA5 }ZH@ʩ@-?G@ᗿ }?)~Z/@ ~Z&};I~ZCɫ髙) IYh@y}GI1)1EiAEiAÍI>ÍYÍxi=iÍQ@É čd@)č@Ič@ič@}MH=YQU>ayDxCy[}>Iȹ :Ž05? :Ž )޾ ƽ.@ ?9ƽ< Bǽ: Ƚ@:)Ƚ:WWX XW:W2W*WVbUBU*UUU@?B@B BAh>*B A H,A A A a$="C*Cd=RCCC =>=>=LMIG=r>bLq,Ɗ1EAY}>1/@}>@y}>;}>T}>Hn |3M@7?i`n`*:{響?)~>1/@ ~>ȴ;I~>Cɫ9A)A EIAY}@y}m~G~<MK=YQU>ayDCyV }>I|5?޾ :0@ ?9N B.; _/;)WWX XW:W2W*WV!bU!BU!*U!U)U-@y?BUBY BYA]>*BYA]a*AYAYAegX="C*Cq.=RChCC׹IGf> ss 4:YM1y:n5?(iLq,{h1EAY}2/b/@}2}@y}2' ;}2}2H {Ww=@Z?`ya zD ܙC yh}>I %:5? %:޾ q1@ %?9P Bo: :):WWX XW:W2W*WVbUBU*UUU?Bu0Bq BqAu@>*BqA}5i)AyAyA}ޏ="C*C-=RCʼCC5<1Mj>9IIMxGiM?@III֥7ƙM1; MEyIGa>pLq,tA1EA|4<|;Y}6.@}6n@y}6];}6ռ}6H`X`Ć@=@;?V] &s?)~6.@ ~6,;I~4ɫ99)9 9I9Y}@y}}G+?:v:v?v>Լ T<)IyM?Mb`?MbPn2?; @)AI@inA\@Ý`<Ý?Ý`;iÝf@Ù ĝ)ĝ@Iĝh@iĝ@M2=YQU>azDCy}>Ii5? ޾ P1@ ?9B: r:)WWX XW:W2W*WVbUBU *U U U l?BRUB BA>*BA'AAA^="C!*C%=RC-{C)C)9958Ƽ=?i=?dvv b':YN1y:5IG5>u >u Ci nGI i - "տٺ) - AN9vLq,1EAY}2]n.@}2Ӊ@y}2A;}2h}2H61'@Ē5?,0@̎u ?)~2]n.@ ~2Y;I~2Cɫ99)9 =IAYR@y|G5M=f=Y=a:QU=>AAaEzDEECIyM屼}M>IQ ]:U5? ]:U[޾ U51@ e?9UBU: U:)U:WWX XW:W2W*WVbUBU*UUU@BB BA >*BAy&AAA="C*CY=RCCCM+OY!I1GM1>A 9A IE wGiE K@A A A E +; E Ec|Lq,1EAY}>-@}>f@y}>Σ;}>F}>H@ `? ݉qTw@J(@?)~>-@ ~>i;I~>CɫYY)Y ]IYY@y=|G鮡ɮ= @ @ @í©ííiíz@í ĭ@)ĭX@Iĭ@iĭ@FMB=Y,:QU>azD{Cy <} >I#5?ݾ 1@ -?9B`J; b;)WWX XW:W2W*WVbUBU*UUU I^@RB*** querying acoustic contact ***PPB=4hB9 B9AE1>*BAAE7%AAAAAeH="Ci*Cu&4=RCu0CqCqyQIaG}z>Uuu /&:YKN1yy:n5)τ;9KLq, 2EA|i|Y}6 -@}6@y}6w;}6В}6Hp`?ϋy@Y@?)~6 -@ ~6;I~4ɫ99)9 =I9Y}p@y}{GZ****** received transponder code query ******F****** received ping request ******azDCy t} >I : 5? :9ݾ 0@ ?9B.; ;):WQWQXQ XQWQ:WQ2WY*WYVYbUYBUa*UaUaUe`*BAu$AAA#="C*C=RC`ECC >>l"I)iAIGE>uLq,'2EAY}6A,-@}6G@y}6 ;}6H}6H7@ M8?{@4{t`?)~6A,-@ ~6l;I~6Cɫyy)y }IyY@y{GxDUSBL response received:!U1,P 377,000,00445,189,80,80,85,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Mf;MUD=Yeb:QUm>azDCQyU_[}]>IY]ɑ5?]ݾ ]0@ ?9]B]w< ]s<)Y9IvGi@=#; EWqWqXq XqWq:Wy2Wy*WyVybUBU*UUUiH @B-Ns|B1 B1A5>*B1A5"A9A9A2="C*C=RC%_@YC)CY  t t  ~*:Y M1y : %5) ;E %) I G- >]Lq,A2EAY}2,@}2@y}2;}2vN}2H`U@``U?``mwy@Ή/?)~2,@ ~2L̪;I~0ɫ99)9 9I9Y}#@y}'{GAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B sh|??p= ף{Gz?)? #=)IyA`"?Mb`?V-?9?< r@)I@iAzA } } }}>}>}ף;i}̬@} }@)}@I}@i}@ϼM7=Y5QU>azDCyX4}>Iȩŭ@~5?ŭݾ ƭm1@ ?9ƭBBǭ3: ȭ:)ȩWYWYXY XYWY:WY2WY*WaVabUaBUi*UiUqUu`Y@BJB BA>*BAoj!AAA2 ="C *C Y=RCF1hCC|(HIGl>ӇLq,$d[2EA|;|p;Y}6,@}6@y}6;}6 ܻ}6H@ bqTq?.dv\`v 9{?)~6,@ ~6S;I~6Cɫ99)9 =I9Y}@y}zGxDUSBL response received:!U1,R,387,000,00471,189,80,80,BA,FF Fpublishing direction and range infomIɰI=鰁 ):CIyA"o?!ïٱi=׼Mm=Y,QU?azDECyQO}?I  :m5?  : ݾ 1@ ?9CB; ;):WIWQXY XYWa:Wi2Wq*WyVybUBU*UUU tw@R](Combining 5 samples.Pa*QeAZQe:V5@>t5JQe"o?!ï2QemI:QabQe Pm)>@*$r?RQeĨ$gL?T{O?BQe? QeAQe;0Pe9?Pe9?PeQeQe@"Qe@BTB BAq>*BAPQ AAAR ="C*C=RCwwCC  ^SIGj>/ ww 7:YO1yP:59@ 9 I uGi @ 0; E)ݝzCIݝzCiݙݝ=ݝ=ݝ,5Lq,=u2EAY}rh,@}rb@y}rZ+|;}r}rHTr^?`sC? foc@?)~rh,@ ~r;I~rCɫ) IY@yzG}DNmea in: $SNTTA,,,,,005641.72*5D z>t==i׫@ )@Ii@,{M9=YupfQUu>yya}zD}CyԻ}>IȉōX5?ō?ݾ ƍ2@ ?9ƍBǍ¿: ȍ:)ȉmqAdded new target pos. range: 30.720001 m, bearing: 95.142684 deg, deltaT: 4.393873 s, approachRate: 0.600837 m/s, LOS rate: -0.924058 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UUR>@U ?B ̾kB  BA>*BA!AAA7 ="C*Cǩ=RC%DC!C!]hp1IAG]v>֙Lq,v2EAY}: f,@}:@y}:DJ;}::}:H` \S`t?k? HikP^?`?)~: f,@ ~:k;I~:Cɫ99)9 =I9Y}@y}zGIMQ=YQU>a{DCy}>Iȱ :ŵF5? :ŵrݾ Ƶe3@ ?9ƵBǵ,; ȵu*;)ȵ:WW X  X W :W2W*WVbUBU*UUU%?BaB BA>*BA A A A{ ="C*C(z=RC:CC!]|1IAGY* uu ,7:YKN1yy:5éLq,Z2EA|i|@Y}6,@}6@y}6:;}6FN;}6HFw@%/a?@w?I|?Bg i{??)~6,@ ~6s;I~6Cɫ99)9 =I9Y}f@y}?zGI)M\MMO=YM#QUM>QQaU{DUCYy];}e>Iaeh45?e:ݾ e4@ u?9eBep: e:)aWWX XW:W2W*WVbUBU*UUU?B%WB BAE>*BAAAA ="C*C5=RCTxCC >>܍i>9܉I܍tGi܍@܉܉܉܍1; ݉m|Iy)}hAAIiG^>Lq,c2EAY}2,@}2X@y}2J;}2T<}2H)'^ x?P^? s@?8Xi ?E?)~2,@ ~2j;I~0ɫ99)9 =IAY}@y}dyG5^I ?)\(~jtx?Ga Ļ)IyV-?~jth{Gz?|?Dף< nA)AI@iAAÝ=ÝÝY=iÝ\@Ù ĝ@)ĝ"@Iĝ@ięNEM5=Y:QU>a{DCyC<}>I :*"5? :ݾ 4@ ?9B: :):WWX XW:W2W*WVbUBU*U!U!U%A?BӌB BA)>*BACAAA6L ="CA*CEݨ=RCErkCACI] yzoqq B(:YK1y̅:IIYGu>նLq,2EAY}2h=-@}2X@y}2P;}2;<}2H"1@?h2?2̐? j?`?)~2h=-@ ~2\d;I~2Cɫ99)9 9I9Y@y2yGu4`Mua=Y}I9QU}>ya{DKCy <}>Iȑŕ5?ŕݾ ƕ5@ ?9ƕBǕn: ȕ:)ȑWWX XW:W2W*WVbUBU*UUU@B}dBy ByA}>*BAAAA ="C*C=RCSCCֽ`kיIGb>܉ 9܉ I܍ sGi܍ @܍ =܉ ܉ ܉ ݍ ELq, 2EA|4<|;Y}:-@}:z@y}:eA;}:<}:H7~?`?@?`*4hT? u?)~:-@ ~:~a;I~:Cɫ99)9 =I9Y}>@yxG=i=íh>íO;í/ݽií@é ĭ@)ĭX@Iĭ@iĭ@ME=YQU>a{DCyp<}>I :5? :ѕݾ ~5@  ?9B@; A;):W9W9XA XAWA:WI2W*WVbUBU*UUU d@BM BI BIAU>*BQAU]AQAQAU ="CY*C]V=RCe)::CaCaԑԑ}@WQIaG}z>ww .:YO1yP:n5);9Lq,`3EAY}2p,.@}2G@y}2L;}2<}2H?,?@@ė?`?`?)~2p,.@ ~2 `;I~2Cɫ99)9 =IAY}>@ywG鮉ɮp=筽M_=YQU>a{DCy'<}>I4?Ѝݾ 5@ ?9BM: 8:)i}oGIi"ҿٺ3AWWX  X W :W 2W *W1V1bU1BU9*U9UAUE@RuB*** querying acoustic contact ***PqPqBxoB  B AɎ>*BAAAA ="C!*C%=RCMy$CaC}l;QIaGyuLq,>*3EAY}2&.@}2@y}2b:}2v=}2H@E "'??wBd? BL@..??)~2&.@ ~2^;I~2Cɫyy)y }IyY@yxGZ****** received transponder code query ******F****** received ping request ******a{DC!y-<}5>IAE34?Eݾ Es6@ ]?9EBED\; EX~;)A-h>9)I-rGi-{@)))-3; -EWQWQXQ XQWQ:WQ2WY*WYVYbUYBUY*UaUaU@ @B SB BAD>*BAAAAG ="C*CE-ԧ=RCEJ CICQ֕K'ott B(:YM1y:5);QIYGu>Lq,YD3EA|i|@ɫ髉) IYyxDUSBL response received:!U1,P 387,000,00471,189,80,80,BA,FF Command AckBRequesting micromodem ping code 2iI)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ]@5^I ??S㥛?]b0?]L= ]/<)YIYy]㥛 ?~jt?{Gz?]5?]<]#< ]A)]nAI]nAi]AY]A­jA­hA(\Ei3@ @) @I@i@Y QU >a{D(Cy%}%>I) 5:-v4? 5:-?xݾ -6@ 5?9-XB-: -:)-:WqWqXq XyWy:W2W*WVbUBU*UUU @I@A)?ABїB BA*BAAAAD ="C*C==RC CC -=->%  I G% > $Lq,Z]3EAY}6i/@}6p@y}62}6`0=}6H~}RE?`W? xw?\`? ?`k?)~6i/@ ~6J^;I~4ɫ99)9 =I9Y]3@y]wGe@AaNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M*BAAm2AiAiAm ="Cq*Cun_=RCu\üCqCyyQIaG}z>yy *:YP1y':59@ f>9 I qGi @ 4; E NLq,Sw3EAY}2/@}2@y}2;(n}25=}2H@AL? G?k@i? m?d?`?)~2/@ ~2;U^;I~0ɫ99)9 EIAY}@y}wGxDUSBL response received:!U1,R,225,000,00496,189,80,80,74,FF Fpublishing direction and range infoKɰY=鰁 )BIyBL|e?zݿٱC<H==i̬@ p@)E@Ii@ ML=YQU>a{D C y ;}>I %:z4? %:hݾ \7@ -?9C!B: {:):WIWIXI XIWI:WQ2WQ*WQVYbUYBUY*UYUYUe @Rm(Combining 5 samples.Pq*QuBZQuM<;=@<v^.JQuL|e?zݿ2QuK:QqbQu<%a,/"=@V`_= RQu࢒ۿh?қBQu @ QuAQucPuا9?Pu9?PuQuQu@"Qu@BtuB BA&>*BA|AAA ="C*C*=RC¼CC&ּסIGC>6Lq,z3EA|;|Y}~/@}~G@y}~S}~`4%=}~H`.?P3? *@ם?\Ju? ? :?)~~/@ ~~^;I~|ɫ11)9 =I9Y]`@y]vGTNmea in: $SNTTA,0.053559,,,,005646.17*48 =i=nּM/=Y[QU>a|DCy;} >I4?]ݾ 7@ ?9"B+; w:)mmqAdded new target pos. range: 32.939999 m, bearing: 115.523975 deg, deltaT: 4.413538 s, approachRate: 0.502997 m/s, LOS rate: 4.617903 deg/s, posRepo size: 4WiWiXi XiWq:Wq2Wq*WqVqbUyBUy*UyU}Qx@@U%?B ?'B  B A >*B ADAAA' ="C*C=RCCCaqujAUǼ]?i]?tt +:YM1y:51I9GU>`Lq,3EAɫyy)y }IyYQ@ytvG$M]=YQU>a|D Cy%}->ٱٵ<ܹ9ܹIܽqGiܽ@ܽ=ܹܹܽ,; ݽE)ݡIݡiݡݡݡݥh4IA  :E~4? :EZUݾ E'8@ ?9E#BE< EQ<)E:WaWaXa XaWa:W2W*WVbUBU*UUU@?B5\B BA>*BA.FAAAF ="C)*C-d=RC5²C1CA֭׉ I G >GLq,_3EAY}JL0@}J$h @y}JBٻ}J1<}JH1? ?~?`J({?t??)~JL0@ ~J];I~JCɫyy)y }IyY@yuG%Mb?l)\(?%?% %Ga=)!I!y%n??%V.?%%L= %A)%AI%Ai%3A!%Aõt=õrõþiõ@ñ ĵ5@)ĵh@Iĵh@iĵh@}VM}3=Y}MQU}>a|D$Cy<}>Iȑŕmi4?ŕ#Kݾ ƕ9@ ?9ƕ$BǕi: ȕ:)ȑWWX XW:W2W*WVbUBU*UUU?BXB B A jg>*B A A A A {s ="C*C=RC>kCC ss n1:YM1y:5IG>(rLq,;3EA|i|ɫ髙) IY7@yTvGI9)=Au{=Mur=Y}QU}?ya|DPCy}?ILY4?)Cݾ :@ ?9%BD: r:)WWX XW!:W!2W!*W!V!bU)BU)*U)U1U5>?B] SBY BYA]|>*BaAeAaAaAeJ ="Ci*CmW=RCu8{CqCq Յ>ԅ >֥|I׭iA)׭iAaIqG9>ܱ 9ܱ Iܱ iܱ ܵ =ܵ RDܱ ܵ 1; ݵ EZLq,n3EAY}F1@}F -!@y}F }F<}FH}ڑ??jI?輁???@d?)~F1@ ~F];I~FCɫ髉) IY@yuGul>uJu 0iup@q u@)uE@Iu@iu@uMI=Y QU>a|DCy<}>Iȡ :ťF4? :ťU:ݾ ƥX<@ ?9ƥ&Bǥ; ȥ;)ȥ:WyWyXy XW:W2W*WVbUBU*UUU~@B=ڟB9 BAAE5p>*BAAEAAAiAm. ="Cq*Cu%=RCuCyCyֽhבIG>L tt 9:YM1y:[5)ӕ;9Mq,C4EAY}>Tn1@}>ɉ!@y}>"}>>n\<}>H8` F?@O? [u?Z?8??)~>Tn1@ ~>];I~>CɫAI)I IIIYY@yCuGM0MMM=YMQQUU>QYa]|D]Cyje<}>Iȑŕ 44?ŕW1ݾ ƕ=@ ?9ƕ(BǕ; ȕ;)ȑWWX XW:W!2W!*W!V!bU)BU)*U)U)U-`L@BkB BA`>*BAOAAA ="C*C=RCS5CCֵ#2׉IG?> Mq,,4EA||Y}6f1@}6!@y}6/7}6/<}6H.^dt?d? Z/,*I???+?)~6f1@ ~6ޞ];I~6Cɫ99)9 =I9Y}@y}tG鮅a=ɮR=D MV=YSQU>a|DCyvZ<} >I  :  4? : &(ݾ Z?@ %?9 $)B F; \G;) :QUjAeg>9aIepGie@aaae; eEWWX XW:W2W*WVbUBU*UUU[@RB*** querying acoustic contact ***PPB RyB BAS>*BAxAAA7 ="C*C̥=RCjW;CC))uu *:YKN1yy:n5); 3?i~?IGM >Mq,aF4EAY}61@}6"@y}6F8}6&<}6H?L@?M? ?P??s?$?)~61@ ~6];I~6Cɫ99)9 =IAY]@y]htGeZ****** received transponder code query ******eF****** received ping request ******ea|D%Cy%;}%>I)- 4?-ݾ -?@ 5?9-[*B-׾: -߼:))WqWqXy XyWy:Wy2Wy*WyVbUBU*UUU}o @BɬB BAJ>*BAAAA ="C1*C5զ=RC5;C1C9=yb];CinGI19IAiaG|>ϿٺA8@9.*BIMq,`4EAY}62@}6-2"@y}6Ң3}69;}6H@F`A@?^B?}G%I =:t4? =:ݾ ?@ E?9^+B< <):WWX XW:W2W*WVbUBU*UUUJ @BmBi BqAuR>*BqAu45AqAqAu@ ="Cy*C~=RCn;CCֽqZ;  s s  5:Y M1y : I59@IG >Q 9Q IU oGiU @U =Q Q U ; U EfMq,]z4EA|i|@Y}6#2@}6n?"@y}6B;}6G;}6HJ`<-ˆ?a|DCy;}>Ișŝ4?ŝ ݾ Ɲ?@ ?9Ɲs,Bǝӻ: ȝD:)șWWX XW:W2W*WVbUBU*UUU@O@B*B BA:>*B!A- A)A)A-_ ="C1*C5 [=RC55;C9C9 m>m=][R;1IAG]v>$Mq,u:4EAY}2e#2@}2>"@y}2_9}2)$:}2H{J@e= 1?%=?@JPEx#?`܄D?y?)~2e#2@ ~2R];I~2Cɫ99)9 =I9Y@ysGMR=Yǯ9QU>!!a%}D%C)y5}5>IA M:Ec4? M:Eݾ E?@ ]?9E-BE; EH;)E:WWX XW:W2W*WVbUBU*UUU@@BpB BA7>*BA AAA:~ ="C*C\8=RC;CCΒ;IGI>ww 1:YO1yP:5*Mq,4EAY} 2@} B+"@y} G} ۿ} H@D@E`?$E? E4?@wp S?)~ 2@ ~ ];I~ Cɫ99)A EIAYu)@y}sGDNmea in: $SNTTA,,,,,005650.60*5E <f>9ItoGi@=QD ; E%;_>%Z%\i%@! %@)%v@I%@i%@5l;M59=Y=sQU=>9AaE}DECAyM1}M>IQU4?Uܾ U@@ ]?9U.BU: U:)QWYWaXi XiWi:Wq2W*WVbUBU*UUU@y@B B BA:>*BA=Z A9A9A=r ="CA*CE=RCE-;CACIYYM0;U?iU{?! I1 GM >a1Mq,4EA||p;Y}6 2@}65&"@y}6"e}6}6H8C@5HHyz? G? C@ ?`@?)~6 2@ ~6];I~6Cɫ99)9 =I9Y}@y}sGi=l?MbpMbP?7? :)IyPn?Q?{Gz?D?\=ף< 3A)AIAiAARMT=Y—QU>a}D"Cy5Q}>I4?ܾ @@ ?9/BC: T:)WWX XW:W2W*W V bU BU *UUU@@BUBY BYAe5>*BaAe AiAiAmm ="Cq*Cum=RC};CyCyօϩ;YIaGY>|rr L):Y_L1y7:5s8Mq,4EAY}22@}2i*"@y}2}t}2UN}2HTDF t?@QE?CUj?A؉o?)~22@ ~2^;I~0ɫ99)9 =IAY}@y}sG ;M^=Y'QU>a}DQCy6:}>Iȹ :Ž^4? :Žܾ ƽA@ ?9ƽ1Bǽ: Ƚ:)Ƚ:WWX XW:W2W*WVbUBU*UUUM@R B*** querying acoustic contact ***P P B-B) B)A-6>*B1A5\ A1A1A5# ="C9*C=ä=RCEs;CACAe;AIIGm5>g>9IoGiO@=RD; E)݁I݁i݁݅=݅=݅58>Mq,4EAY}2j 2@}2;"@y}2=}2O|}2H>I`?qxp? >?"H?@?)~2j 2@ ~2._;I~0ɫ99)9 =IAY@yisG>u i@ Q@)3@IQ@iQ@  fMC=YֺQU>a}DC!y%&;}%>I)-z4?-ܾ -qB@ =?9-Y2B-: -:))WYWaXa XaWa:Wa2Wa*WiVibUiBUi*UiUqUu`u=@Be´B BA0>*BAp AAA ="C*C`=RCa;CC ==;IhA)סIGA> ww D:YO1yP:5)1;9q EMq,ǀ5EAY}:s+2@}:F"@y}:Â}:4ր}:HYL`?; q?`9?3Kz2X??)~:s+2@ ~:^;I~:Cɫ99)A EIAYe@ye sGIq)uA 鿉%YM%I=Y% dQU%>))a-}D-C1y5/:}=>I9 E:==j4? M:=ܾ =CC@ M?9=3B=A: =:)=:WqWqXq XqWq:Wy2Wy*WyVybUyBU*UUUz@BB BA'>*BAW: AAA ="C*CZt=RC";CC[R;סIGKKMq,`/5EAY}VG#2@}V>"@y}Vm}Ve}VHJ>0d?9ܡIܥnGiܥ@ܥ=ܥQDܡܥ; ݥE<O>i@ @)@I@i@%~=M-;=Y=QUE>QQa]}D]Ciy}}>IșŝQ4?ŝaܾ Ɲ,D@ m?9Ɲ4Bǝ< ȝD$<)șWWX XW:W2W*W1V1bU9BU9*UAUIUM [@B7B BA5>*BA~ AAA="C*C_C=RCs;CC -:YyJ5)Z; ?i? I G- >e2RMq,6I5EAY}2&2@}2FB"@y}2邼}2w}2HKC=BX?@q;? H `\?픿>?)~2&2@ ~2$];I~2Cɫ99)9 9I9Y}@y}2sGxDUSBL response received:!U1,N,80,80,63,E4 6,189,80,80,74,FF ZNo reply:!U1,N,80,80,63,E4 6,189,80,80,74,FF -AAaM}DM#CIyU:}U>IY e:]B4? m:].ܾ ]E@ m?9]5B]]: ]:)]:WWX XIWI:WQ2WQ*WQVQbUYBUY*UYUYU]U5@BrB BA=+>*BA AAA*$="C*C#=RC;CCX;IG k>\XMq,c5EAɫyy)y }IyYG@yrG=i=I=)=)= =MP=YQU>a}DUCy}>I24?|ܾ G@  ?96Bb: :)W)W)X1 X1W1:W12W9*W9V9bU9BU9*UAUAUE@@BuBq BqA}>*ByA}pAyAyA}z6="C*CZ=RCp;CC֍`;aIqG;>v tt r:YM1y:59@ܕf>9ܑIܕHnGiܕ@ܕ=ܕRDܑܕ; ݕE^Mq,N|5EAY}:2@}: "@y}:=}:ɼ}:H iF?f g?e9v?)~:2@ ~:Ө];I~8ɫ99)9 9I9Y}K@y}rG %@ -@ -@%©%%i%G@% %h@)%h@I%i%h@=ю:M=E=Y=˸QU=>AAaE}DECIyMK<}M>IY e:]m!4? e:]xܾ ]H@ e?9]7B]V: ]b:)]:WWX XW:W2W*WVbUBU*UUU+ @BҍB BA4>*BA# AAA!M="C*C9ۣ=RCV*M<CCIiA)ׁIG=>i dnGI i % Ͽٺ! % ܿAloeMq, ̖5EAY}FS2@}F"@y}FQ򈼙}F׼}FHBiiam~DmCqyuE<}u>Iy}|4?}ܾ }J@ ?9}8B}: }Y:)yWWX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBB BA: >*BAAAAd="C*C=RCل<CC50:D<I G%M>vv +:YN1y:5hkMq,-5EAY}3@}_/#@y}o܌}}Լ}Hํ*@u?g@KܟU??)~3@ ~n];I~Cɫ) IMd>9IIMmGiM[@M=MQDIM; MEY-@@y5rGMZ****** received transponder code query ******UF****** received ping request ******Uqa~DCy;}>Iȡ :ť4? :ťܾ ƥJ@ ?9ƥ-:Bǥ; ȥ;)ȥ:WWX XW:W2W*WVbU!BU!*U!U!U- "@B¼B BA>*BA AAA:="C*C=RC˕<CC֝ }U<ץ ?iץ ?y I G >ErMq,|}5EAY}2)#3@}2>#@y}2n}2 }2H SsT? ?2 ͑?};w?)~2)#3@ ~2];I~2Cɫ99)9 9IAY@yrGxDUSBL response received:!U1,P 80,80,63,E4 6,189,80,80,74,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -ZgM5=YE*BA{AAA%Q="C)*C-5o=RC-<C1C1uu ,:YKN1yy:5u'<) I9 GU >xMq,Y5EAY}:B3@}:8#@y}:}:`}:H7`?? E.@\?l?)~:B3@ ~:Pp^;I~:CɫYY)Y ]IYY@yarGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B <MB=YQU>a~D[Cyf}>I4?@ܾ !L@ ?9)*B9AEAAAAAEX="CI*CMDV=RCM<CICQMm=b>9=yCI9i9===RD=D="; =E~Mq,45EA||4a~DCyi} >I  : q4? : jܾ L@ ?9 E=B ; ;) :W9WAXA XAWA:WA2WA*WIVIbUIBUI*UQUQU]r1$@B܆B BA%>*B!A%0A!A!A%="CI*CM5=RCU<CQCQ e=e=AI)GEQ> y:Yy5);9ܽMq, 6EAY}ve3@}v1#@y}v [}v|e}vH3tXH?} Ak?@著?)~ve3@ ~v^;I~vCɫ) IY5@y5qGEDNmea in: $SNTTA,,,,,005656.27*5B e MmC=YmDQUm>qqau~DuCyy}:}}>IȁŅ54?Ņܾ ƅM@ ?9ƅ~>BDž': ȅ:)ȁWWX XW:W2W*WVbUBU*UUU%@B4B BA>*BA2AAA="C*Cx=RC{<CC<IGj>Mq, 26EAY}N*3@}NF#@y}NZ}N)#}NH`ܓ ua?Ԏy K?b@Y?)~N*3@ ~N];I~NCɫii)i mIia>9ImGi @ E)iImyCiim=m=m(5YD@yyqGM?õLiõ3@ñ ĵߣ@)ĵIĵȢ@iĵȢ@M=Yw9QU>a~DCyR;}>I :u4?  :wܾ N@ ?9?BWL; 8<;):W1W1X1 X1W9:W92W9*W9V9bUABUA*UAUAUM'&@RUB*** querying acoustic contact ***PQPQB?ʼB BA=*BAAAA7="C*C =RC <C C 15iAww -:YO1yP:n5)H; % ?i% ? I! G= >ΒMq,"K6EA|i|@ɫyy)y }IyYt@yqGIA)A<M=YQU#?a~D&Cy}$?I 4?Trܾ O@ ?9@Bӻ: :)WWX XW:W2W*WVbUBU*UUU6&@BNB BA[>*BAycAAA="C*Cբ=RCz<CC 5%<IGK>Mq,Ee6EAY}2D53@}2P#@y}2}2(}2H@Ŗ#BT@r?`^@?`S?)~2D53@ ~2Y-];I~0ɫyy)y }IyYL@yqGIMJ=YTQU>a~DZCy!:}>Is4?}jܾ P@ ?9AB: :)W!W!X) X)W):W)2W)*W)V1bU1BU1*U9U9U=j'@Bm~Bi BiAm=*BiAuAAA="C*CJ=RC<CCQAIQGmV>vv .:YN1y:59@_>9Ii=(; E"Mq,F|6EAY}2k+3@}2F#@y}2ӄ}2}2H 6W ?GV`L?j֟ ?)~2k+3@ ~2M ];I~2CɫYY)Y ]IYY^@yqG>,==i@ h@)Q@I@iQ@ z;M G=Y9QU>a~DCy%쿺}%>I) 5:-`4? 5:-bܾ -Q@ =?9-BB-j: -v:)-:WYWaXa XaWa:Wa2Wa*WiVibUiBUi*UiUqUu{=(@B܆B BA>*BAAAAy="C*C啢=RCj<CC ==֥uMq,i6EAɫ髑) IYq@yqG=i=IC=)-޴;M5H=Y5QU5>99a=D=ãC9yE}E>IIMN4?MZܾ MR@ ]?9MCBM]: M:)IWyWyXy XyW:W2W*WVbUBU*UUU@)@B7B BA>*BAH#AAA)="C*CZu=RCCC5%<יIGC>tt ):YM1y:I54Mq,36EAY}2M3@}2h#@y}2-}2k}2H 2T? ?@R `t?)~2M3@ ~2\;I~2Cٍ=ٍ<ܥ^>9ܡIܥmGiܥ@ܥ=ܡܡܥ; ݥEɫ) IY}O@y}qGxDUSBL response received:!U1,R,F0C,000,08886,186,80,80,78,FF Fpublishing direction and range info^ Z>ɰ2@鰵> )BIyEn0F?\ ?ٱE^I +?{Gz?:v?EX?E#= ET<)AIAyE+?I +?/$?Ev?E94aDCy;}>I :84? :oQܾ T@ ?9DB: :):WWX XW:W2W*WVbUBU!*U1U1U5N *@R(Combining 5 samples.P*QEZQD=Ͼs@ga'3{@JQn0F?\ ?2Q^ Z>:QbQIjIS Q@9=6@RQ(D%w??BQe1@ QMq, 6EAY}2c3@}2r#@y}2)Ҋ}2A}2HKq_`3?)Z? a?)~2c3@ ~2\;I~2Cɫyy)y }IyY@ypG]oM]|=Y]:QUe ?aaaeDe+Ciym;}m ?I)4?+Kܾ U@ ?9EB: ::)mAdded new target pos. range: 2059.500000 m, bearing: 158.487996 deg, deltaT: 13.032604 s, approachRate: 155.499237 m/s, LOS rate: 3.296657 deg/s, posRepo size: 4mCompleted rollout at range: 2059.50 m. Resuming terminal guidance.mbTransitioning guidance mode to: TERMINAL_GUIDANCE"XWW X  X W :W 2W*WVbUBU*UU@U?BE-BI BIAM=*BIAMXAQAQAU /=CYl>imGIQiqҿٺAR5<יIGa>uu0 U*:YKN1yy:5FMq,G6EAY}23@}2#@y}2}2 }2H=yd?@X@i?`KZ@E?)~23@ ~2, ];I~2Cɫ99)9 =I9Y@yqGIA)A   5֦<M=M=Y=m`:QU=>AAaEDE^CAyMc;}M>IY e:]4? e:]Cܾ ]V@ e?9]FB]+: ]:)]:; wAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;wdResuming normal ranging with 1.000000 count pings.;1<WWX XW:W2W*WVbUBU*UUU?BHB BA==*BAAAAF=Cԅ<IGE>y9yIyiy}=yy}'; }E.Mq,7EAY}:3@}:^#@y}:Ԉ}:l}:H@{d ?@}O? 1?)~:3@ ~:MJ];I~:Cɫ99)9 =I9Y} @y}4qG}Ļ}r}?5i}@y }@)}@Iyi}@;MC=YvQU>aDCyJ;}>ID4?<ܾ WX@ ?9GB: H:)X?1<wCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR; wAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRWWX XW :W 2W *WVbUBU*UUU ?BEzBA BAAE=*BIAMAIAIAMt^=CQE`=Ktt c%:YM1y:5XMq,7EAY}63@}6 #@y}6Z}6;}6Hwjَi@^?#K?G ?)~63@ ~6];I~6CɫYY)Y YIYY@y qG5+M=S=Y=QU=>AAaEDEŤCAyMʲ:}M>Iȡ :ť4? :ť4ܾ ƥY@ ?9ƥHBǥ: ȥ:)ȥ:WWX XW:W2W*WVbUBU*UUU@"m?BnB BAv=*BA6AAA%u=C)eZ<9IIGeU>MMq,{47EA||;Y}Fѩ3@}FF#@y}F_@}FD@ }FH`E@lq? DZ@6g?F&?)~Fѩ3@ ~Fc^;I~FC܁9܁I܅lGi܅g@܅=܁܁܁ ݁ɫ) IY=@y=pG=i=I=)Cl?I +?l??9< =)Iy}?5^I?Mbkt?M"? 0= …A)…AI…Ai…AA)Õ> Õ=S?u(iG@ η@)ߣ@I@i@"M1=YDyQU>aDCyɱ:}>I  4? +ܾ <[@ ?9 IB &: :) W9W9X9 X9W9:WA2WA*WAVAbUBU*UUU?BmoǼBi BqAu=*BqAuyAyAyA}=Cֵ`=<xx +:Y7P1y:5);9׉IG>jMq,UN7EAɫyy)y }IyY@ypGużMuf=Y}QU}>yaD.Cy}>IȑŕX4?ŕQ$ܾ ƕx\@ ?9ƕJBǕ: ȕ:)ȑWWX XW:W2W*WVbUBU*UUU@_@BB ¼B BAd=*BA  A A A =C&<%?i%?IGn>kMq,a2h7EAY}:Y3@}:#@y}:fJ}: }:H@՛@TMu`?? a5?)~:Y3@ ~:];I~:Cɫ99)9 =I9Y}@y}9qG11=MY=Y ;QU>aD^CyQ9}>Iȹ :Ž4? :Žܾ ƽ]@ ?9ƽKBǽ: Ƚo:)Ƚ:WaWaXa XaWi:Wi2Wi*WiVibUBU*UUU~@RB*** querying acoustic contact ***PPB;B B A =*BA!AAAM=Ce፨]]>9YI]TlGi]@YYY]#; ]E)͆yCIɆiɆ͆=͆=͆h5 tt E:YM1y:5);|Mq, 7EAY}6p3@}6#@y}6>{}6[}6H4s ?`y?^@?)~6p3@ ~6 |];I~6CɫYY)Y ]IYY*@yYqGZ****** received transponder code query ******F****** received ping request ******`Vi̬@ Q@)Q@I"@i3@-;M-3=Y5-:QU5>19a=D=C9yEO}E>IIM4?Msܾ MP_@ U?9MLBM: M :)IWyWyXy XyWy:Wy2W*WVbUBU*UUU N @B\B BA3=*BAvjAAA=C`=<׹IGf>Mq,7EAY}63@}65#@y}6~m}6}6Hײ@My`c?W? ?)~63@ ~6@];I~6CɫII)I IIIY}@y}pGxDUSBL response received:!U1,P F0C,000,08886,186,80,80,78,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Mb=YS;QU>a%D%ǥC1yEY}M>Ii :mn4? :m ܾ m`@ 5?9mMBm< m<)m:WWX XW:W2W*WVbUBU*UUU @B}"ļB BA!=*BAAAA=C  yl< y  G/:Y P1y ': 595@IG>fMq,ϵ7EA<9xCIkGiĿ@ ; EY}3@}z#@y}beg}4}H@2วvx? Qh@m? #?)~3@ ~]];I~Cɫ) IY @ypGp=ɮa=mNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B n??I +?V.?L= 94=)IyQ?~jtx? ףp= ?\/?;Q8= µnA)±IµAiµ1AGA<SiG@ @)@I@i@uhqMu=Y\9:QU>aD Cy}>Is4? ܾ `b@ ?95OBm: a:)WWX XW:W2W*WVbUBU *U U U r7@B=!ƼB9 B9A=d=*B9AEAAAAAE!=CImR5Mq, 7EA||Y}63@}6u#@y}6>Y}6}6H1@}G? `0?/?)~63@ ~6 ];I~6CɫYY)Y ]IaY}@y}qGxDUSBL response received:!U1,R,E04,000,00540,186,80,80,65,FF Fpublishing direction and range info>ɰ3=鰁 )BIy,B j?hVs?ٱJNmea in: 703,COPROC,0.20.0.39330*7A Response from modem failed NMEA checksum: 703,COPROC,0.20.0.39330*7A expected 0=i=Ip=)4==M=YqJ;QU"?aD-Cy0.:}#?I :+v4? :O۾ Rc@ ?9OB: :):W W X  X W :W 2W*WVbUBU*UUU`.P@P)*Q-,BZQ-(%|C@KuIE2@JQ- j?hVs?2Q->:Q)bQ-I [E$C@9U~RQ-\ԢOb?AX@~bBQ-g@@ Q-@Q-*P-s9?P-49?P-Q-Q-@"Q-ABB BA=*BAWAAA6=CǤ<IGF>=i=rr 3:Y_L1y7:5Mq,Fx7EAY}6<3@}6#@y}6ZH}6 }6H!?t`4B 0 ?w?)~6<3@ ~6];I~6Cɫ99)9 EIAY]@y]pG揼MF=Y&;QU>aDbC y $;} >I3b4?۾ d@ %?9QBa: :)mMMAdded new target pos. range: 43.139999 m, bearing: 171.916722 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1mUProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 171.916722deg and heading rate command to 0 deg/s.WUg@@WQXY XYWY:WY2WY*WaVabUaBUa*UaUmE@Um]?B9B BA=*BA̬AAAN[="Cj)@RCY;Cg@@C1EoE%\>9!I!i!!!!%+; %ENq,rS8EAY}:^3@}:$@y}:_?}:}:H s I?!U?@{. ?)~:^3@ ~:];I~:Cɫ99)9 =I9Y}@y}oGu2?uILuiu3@q u3@)u3@IuQ@iu@gEMB=Y.:QU>aDCyu <}>Iȩ :ŭM4? :ŭ۾ ƭ&f@ ?9ƭ>RBǭ: ȭQ:)ȭ:WWX XW:W2W*WVbUBU*UUUਣ?BͼB BA$=*BAAA!A%W="C%CE,@RC-b8C)C) <IG$>nvv .(:YN1y:5imGI i! U ϿٺQ U ܿA#Nq,.8EAɫ髙) IYu@yypGI9)9I9)9 AA =MJ=YQU>aD̦Cy}>Iȱŵ94?ŵ۾ Ƶg@ ?9ƵZSBǵ: ȵ:)ȱWWX XW:W2W*WVbUBU*UUU?B}üB! B!A%=*B!A%qA!A)A-="C5e0@RC53C1C1օX;YIiGZ>" Nq,Y78EATViAb]>9`IbkGibs@b =``b.; bEY}Y(4@}C$@y}G-} }H{f RT`f?dԡ .?ȹ?)~Y(4@ ~^;I~Cɫii)i uIqY'@ypGT㥛 ?{Gz?Mb`??#< ;)IyCl?{Gzt{Gz?;??ף#< A)-AIAiAA|?>SA>i@ @)5@I@i@M5=Y^;QU>aDC y $<} >IA"4?/۾  h@ ?9TB: U:)WWX XW:W2W*WVbUBU*UUUB?B=c˼B9 BAAEe=*BAAEFAAAAAE="CM6@RCMA%CQCQ]ONIehA)eiA1IAG]w>tt ):YM1y:5);9%4Nq,.P8EAY}264@}2dR$@y}25^$}2oS}2H|`;1 o`? a`m?@Ȟ?)~264@ ~2`^;I~2Cɫ99)9 9I9Y@yvoGUl>M]j=Y]{:QU]>aaaeDe2Caym&;}m>Iq }:u4? }:u۾ uoh@ ?9uUBuA: u:)u:WWX XW:W2W*WVbUBU*UUUuO@B̼B BA=*BA^AAA="C@:@RCOC C֥SaIyG;>1Nq,j8EAY}:`4@}:*|$@y}:?}:`}:H ,O }N? [( ?j~?)~:`4@ ~:z^;I~:Cɫ99)9 9I9Y}@y}oG9i==IM4=)MC=mz<ME=Yp:QU>aDgCyD;}>Ir4?]۾ h@ =?9WBD; ;)WWX XW:W2W*WVbU)BU)*U)U)U- @B}ϼBy ByA}=*ByA}AAAR="C_=@RCWrCC֝hyIܥ\>9ܡIܥ(kGiܥ"@ܡܡܡܥ2; ݥEG k>Zww &:YO1yP:5)';G!Nq,Û8EAY}24@}2$@y}25 }24}2H`)..s-?` ᗿ`؟?5?)~24@ ~2D^;I~2Cɫ99)9 =I9Y}@y}oG@A=>iQ@ p@)p@I3@i3@4MW=Y:QU>aDCyOS<}>I  : 4? : ۾ Ji@ ?9 XB Q: H:) :W9W9X9 X9WA:WA2WA*WAVAbUIBUI*UIUIUM @RB*** querying acoustic contact ***PPB5˼B1 B9A==*B9A=mWA9A9A=="CE>@RCE]}CICiօ׍?i׍|?YIiGZ>YC'Nq,v8EAY}2@5@}24\%@y}2~}2R}2H%`2?T?%*?R ?)~2@5@ ~2^;I~2Cɫ99)9 =IAY@yoGZ****** received transponder code query ******F****** received ping request ******!!a%D%̧C)y-7<}5>I9=4?=۾ =i@ M?9=WYB=; =:)9WqWqXq XyWy:Wy2Wy*WyVbUBU*UUUf @B̼B BAz=*BAzAAA/="Cg@@RC5肾CCimZsǽ!I1GM1>%%u%u% %-:Y%KN1y%y:%59%@ |-Nq,C8EA"[>9 I"jGi"Ѿ@"= ".; "E)xCIxCi==5Y}n(5@}n&@y}n\(}nF:}nH`6U~??xU?e`?[?`?)~n(5@ ~nc^;I~nCɫ髹) IY@yoG%xDUSBL response received:!U1,P E04,000,00540,186,80,80,65,FF %Command Ack%BRequesting micromodem ping code 2i!!I)))5Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 YYuB`"??p= ף?u?u= u=)qIqyu@5^I ?{Gz?{Gzt?ub0?u#Í=>ÍriÍ@É č@)čIč@ičȢ@S:M=Y*:QU>aDCy<}>I E:4? E:۾ j@ M?9ZB)M< NM<):W W X1 X1W1:W12W9*W9V9bU9BU9*UAUAUE@BQԼB BAg=*BAAAAK="C*C@J=RCzCC M& I G >CU4Nq,,8EAɫyy)y yIyY$@ynGa=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B umM}=Y}QU+?aD5Cy}*?Iȩŭ4?ŭ۾ ƭBj@ }?9ƭ[Bǭl< ȭ<)ȩWWX XW:W2W*WVbUBU*UUUd@B5;ϼB9 B9A=0i=*B9A=AAAAAE:<="Ci*Cm%=RCm"{CiCqemFYIqG]>ww *:YO1yP:5:Nq,-8EAY}6f7@}6ۡ'@y}6ڻ}6%=}6H z`߿??`w-?pZ{? ?)?)~6f7@ ~6^;I~6Cɫ99)9 =I9Yn@y6oGxDUSBL response received:!U1,R,EAD,000,00574,186,80,80,40,FF Fpublishing direction and range infoww>ɰ= )BIy 9Bƻ"?^6D?ٱ-<M=O=YE;7;QUM>YYaeDehCqyz=}>Iȱ :ŵd4? :ŵޛ۾ Ƶj@ ?9Ƶ\Bǵ; ȵ];)ȵ:WWX XW:W2W*WVbUBU*UUUa@P*Q 9BZQB~ F@m&*@JQƻ"?^6D?2Qww>:QbQD$M҈Fe7$@܀?RQKY:-48?·b?BQ:@ QU&AQF4Pf9?Ps9?PQQG@"Q@Bu#ҼBy ByA}=*ByA}jAyAyA}="C*Cs<=RCOeCC֭CqQ9QIUiGiU.@U =QQU/; UEyIG^>JgANq,9EA|4<|Y}F8@}F(@y}Fջ}Few=}FH`6޿ߡ?`'?rt?Qz?`??)~F8@ ~FYc_;I~FCɫy髁) IY@ynG=DNmea in: $SNTTA,,,,,005708.00*54 AiE=åj<åtåx>iå@á ġ)ĥ@IĥȢ@iĥ@ɼMB=Y9QU>aDCy*=}>I~}4?g۾ j@ ?9]BH: :)m uAdded new target pos. range: 46.259998 m, bearing: 167.010884 deg, deltaT: 4.504240 s, approachRate: 0.692680 m/s, LOS rate: -1.089160 deg/s, posRepo size: 2m ProNav: pos range: 46.259998 m, bearing: 167.010884 deg, approachRate: 0.692680 m/s, LOS rate: -1.089160 deg/s, cmd update: -3.267480 deg/s, cmd heading: 171.916722 deg, new cmd heading: 171.916722 deg. W>@WX! X!W!:W!2W!*W)V)bU)BU)*U1U5G!G@U5M*?B]ռBa BaAec=*BaAe#AaAaAmU="C >@RC 9FC >@C!!=C}M?iM?I!GEs>% %y%y% %5:Y%P1y%':%5dGNq,9EAY}2 :@}28*@y}2Ȼ}2=}2H`Z@ݿ3? *?Dٱ?`y??W?)~2 :@ ~2_;I~2Cɫ99)9 =I9Y}:@y}nG-<MU=Y:QU>!!a%D%ϨC)y-w=}->I15i4?5۾ 5k@ E?95^B5ʽ: 5:)1We?=@WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqU}@=?B]@ԼBY BYA]Lt=*BaAe(AaAaAe{="Cm?=@RCm Cu?=@Cqm (qAIIG:>׻MNq,99EA܁9܁I܅3iGi܅@܅=܁܁܅2; ݅EY}:;@}:),@y}:ǻ}:=}:Hۿ#??ON?x?@(???)~:;@ ~:=`;I~:Cɫ99)9 =I9Y@y[nG+?T㥛 {Gz?v>? ף<)Iyi|?5?{Gz~jt?1?ף= ­ A)­AI­Ai­AAU&>Uz4UiUp@Q Uh@)U@IU@iUQ@e Mm7=YmR8QUu>qqauDuCyy}=}}>Iȁ :ŅR4? :Ņ۾ ƅ+l@ ?9ƅ&`BDž: ȅ:)ȅ:W;@WX XW:W2W*WVbUBU*UUU CG?B ݼB BAX5=*BAaAAA H="C;@RC  5C ;@C ȷLסIGA>Ovv %:YN1y:5)e;9sTNq,tS9EA|i|@Y}B=@}B".@y}Bn滙}B ;=}BH<2@ٿKO?1?@blM? |?`ҿ?C?)~B=@ ~B\a;I~BCCɫYY)Y ]IYiDnGY@y;nGIiI9)9UDֿٺQ]A} M[=Yw(QU>aD8Cy=}>I>4?~۾ %m@ ?94aBe; :)W=L2:@W9X9 X9W9:WA2WA*WAVAbUABUI*UIUiUm?B)޼B BAb(=*BA{AAA="CL2:@RC뇽CL2:@C  ==wFIiA)IGj>ZNq,aOm9EAY}6?@}610@y}6}6H>}6H`-@Nؿ?i?KX??(?ͬ?)~6?@ ~6b;I~6Cɫy髁) IYg@ymG(?!>Ci@ t@)@It@it@UyMU>=YUǠQUU>YYa]D]oCaye=}e>Ii u:m'4? u:mx۾ mCn@ }?9mbbBm: mH:)m:W+8@WX XW:W2W*WVbUBU*UUU@BgB BA =*BAAAAs="Cm+8@RCmCm+8@CqeU7Z>9IhGi:@ ==; E!I)GER>rr 1:Y_L1y7:\5)?;YaNq,^*9EAY}2A@}2Z1@y}2>}2>}2Hh|ֿ`?@ ?@א4? ?a?`?)~2A@ ~2b;I~2CɫYY)Y ]IYY@y@nG)= =5<M=^=Y=ٻQU=>AAaEDECIyM=}M>IQU 4?Unr۾ UDo@ e?9UgcBU: U#:)QWnU7@WX XW:W2W*WVbUBU*UUU@@B"ܼB BA=*=*BAޢAAA="CUnU7@RCUTi<CUnU7@CQ-tIG--> gNq, 9EA|;|4}6H`: .տ@?X?WT??? i?)~6B@ ~61Mb;I~6Cɫ99)9 =I9Yu@y}2nGyy ^M M=Y:ӻQU>aDѩCy%X=}%>I) 5:-z4? 5:-l۾ -ep@ =?9-dB-: -a:)-:W]\5@WYXY XYWY:Wa2Wa*WaVabUaBUi*UiUiUmB6@R}B*** querying acoustic contact ***PyPyBN޼B BA$=*BAw_AAAP%="C\5@RC^E=C\5@Cm$ӿ}?i}?IIQGu> /:Yy$59@ 9 I hGi @ = ?; E nNq,]9EAɫyy)y }IyYv@ynGZ****** received transponder code query ******F****** received ping request ******i¥@ Ȣ@)ߣ@I@iߣ@=M=,=Y=QUE>AAaMDMCIyU}U>IY]4?]f۾ ]q@ e?9]eB]H: ]:)YW!4@WX XW:W2W*WVbUBU*UUU @BeB BA+=*BAAAAu[="C!4@RC7=C!4@CIG>tNq,9EAY}2E@}2,5@y}22}2>}2H`Uv0ӿ?`|?+g?`6??Ѧ?)~2E@ ~2O`;I~0ɫYY)a eIaY}@y}SmGxDUSBL response received:!U1,P EAD,000,00574,186,80,80,40,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iAYM w=YyaQU%?19aEDE9Cy=}>I U:4? ]:b۾ q@ e?9fB <  <):WU2@WYXY XaW:W2W*WVbUBU*UUU?K @BׯB BA<*BAAAA}="C2@RC=C2@C}lTYIyG>gtt ':YM1y:5{Nq,9EA|,i|,Y}J-F@}JH6@y}J꿩}J\'>}JH5/ҿi??`e ~?7?@? ?)~J-F@ ~J_;I~JCɫaa)a mIiY$@ymGUNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IA) 鿹 )>  Ni @  ) "@I ߣ@i <M%:=Y%QU%>!)a-D-qC1y5+=}5>I9=4?=^۾ =pr@ E?9=gB=ʽ: =]:)9WmS1@WiXi X W :W 2W *WVbUBU*UUU&,@BB BA<*BAAAAE="CS1@RC>CS1@C > >ܕ[>9ܑIܕgGiܕF@ܕ =ܑܑܑ ݑ)1I1i15 =5 =5;o4׹IGf>Nq,Cr:EAɫyy)y }IyY@ymGxDUSBL response received:!U1,R,19B,000,005A0,186,80,80,6B,FF Fpublishing direction and range infoɰ=鰡 )BIyCBH?,a0wֿٱ0M_=YQU>aDC y } >I4?Z۾ s@ %?9shB: :)W'/@WX XW:W2W*W V bU BU *U1U1U5x@PA*QECBZQEhֳRF@eD*1JQEH?,a0wֿ2QE:QAbQE<#xC@U=@%1°RQE62|kU?Q\BQE@ QEZAQEPEo9?PEf9?PEQEQEA@"QEG@BB BA"<*BAAAA="C'/@RC$>C'/@C=ׁIG=> uu A:YKN1yy:5'0Nq,W":EAY}nG@}n+8@y}nż}n%H=}nH`fп?`,?~0N?⟘?`Yں?m?)~nG@ ~n<_;I~lɫ11)1 5I1Ym4@yuxlGTNmea in: $SNTTA,0.054559,,,,005712.42*4F )= 0M;=YQU>aDתCy =}>I :A4? %:V۾ s@ %?9iB: :):mUuAdded new target pos. range: 48.900002 m, bearing: 142.815130 deg, deltaT: 4.419366 s, approachRate: 0.597371 m/s, LOS rate: -5.474938 deg/s, posRepo size: 3me ProNav: pos range: 48.900002 m, bearing: 142.815130 deg, approachRate: 0.597371 m/s, LOS rate: -5.474938 deg/s, cmd update: -12.000000 deg/s, cmd heading: 157.476505 deg, new cmd heading: 156.124523 deg. WeS[*@WaXa XiWi:Wi2Wi*WqVqbUqBUq*UqU}@3sH@U}Y?BB BA*BAAAAh="CT,@RCbf>CS[*@Cօ=AIIGu7>܁ 9܁ I܅ @gGi܅ @܁ ܁ ܁ ܅ >; ݅ ElWNq,'<:EAY}2d0H@}2K8@y}2"μ}2W=}2H4\п`?ད?*?Ù?t?n?)~2d0H@ ~2`_;I~0ɫ99)9 EIAY7@y}lGI C=) 4=S?bX9?333333?E> )IyX9v?/$??< •zA)•nAI•Ai• AA @ @ @©iG@ )I@i@a:MJ=Y=4QU >  a D Cy<}>I4?R۾ t@ ?9jB}; ߾;)WȔ$@WX X!W!:W!2W!*W!V)bU)BU)*U)U1U5o?BYBa BaAa*BaAaAiAiAmL="Cuq`(@RCu >CuȔ$@Cy]=1IIGuy>- V- s- s-  - D&:Y- M1y- :- 5)- ;95 P?Nq,CV:EAY}FG@}F8@y}FGԼ}F`=}FH zп@-?@?~i?@:?˲?!?)~FG@ ~F:_;I~FCɫYY)a eIaY@y=lGuAM}T=Y}QU}>aD=Cys}>Iȑ :ŕr4? :ŕnO۾ ƕu@ ?9ƕxkBǕ4: ȕ+:)ȕ:W@WX XW:W2W*WVbUBU*UUU+?BB BA*BA A A A >="C#@RCC@C٠=IG$> jNq,o:EAY}BG@}B7@y}B[Gݼ}BC=}BHjѿ?97?`ۣ??w??)~BG@ ~B_;I~@ɫ) IY@y]lG…jA   ff>Խt>iQ@ @)@I@iȢ@>;MD=YQ,QU>aDrCy}>I]4?K۾ v@  ?9lB: ӻ:)W-D*@W)X) X)W1:W12W1*W1V1bU9BU9*U9U9UE-?BiBi BiAi*BqAqAqAqAuG="C}Wm@RCyC}D*@C֍m=5Y>91I1i15=115<; 5EIIYG8>) - v- v-  ) Y- N1y- :- n5)) QNq,0:EA|i|@Y}6F@}6& 7@y}6E㼙}6Ӥ<}6H` Xѿ@?`L?K·?g??0?)~6F@ ~6d_;I~6CɫQQ)Q UIQYY@ylGIA)=̚<M=V=Y=QUE>AAaEDECIyMI}U>IY e:]J4? e:]G۾ ]w@ e?9]qmB]{: ]:)]:WJ@WX XW:W2W*WVbUBU*UUU`?Be<Ba BaAeof:*BaAAAAG="C@RCCJ@C  >=֥.>ׁIG=>iEoGIYiq"ϿٺmA{Nq,-:EAY}20F@}2K6@y}2)輙}2|}2H&`5ҿ~?@}?@DL#?u@l?)~20F@ ~2&_;I~0ɫ99)9 =I9Y-@y5kG]ҷM]H=Y]ߺQUe>aaaeDe׫Ciym}m>Iquh64?uC۾ ux@ ?9urnBu/: u:)qWF@WX XW:W2W*WVbUBU*UUU`I@@BB BA瀼*BA(AAA="Cm@RCCF@C[>שIG!>U U uU uU  U .:YU KN1yU y:U 59m @% <% <- Z>9) I) i) - =) ) - @; - ELNq,q:EAY}6(E@}6C5@y}6}6:'}6H w>ӿRP?`y?qpѝ?`㤿?)~6(E@ ~6`;I~6Cɫ99)9 =I9Y}@y}kGAAES㥛?+ÿMbE$&?E E)AIAyEi|?5?/$?Mb?E1?E,=E< EA)EhAIE3AiE AAEfA)]= ]>å>åQå,iå̤@á ĥ@)ĥ@IĥȢ@iġS=MD=Y/غQU>aD Cy}>I4??۾ y@ ?9oB¿: ʽ:)W @WX XW:W2W *W V bU BU*UUUS@R%B*** querying acoustic contact ***P!P!Bm$ Bi BiAu޿*BqAuAqAqAui="C}v@RCyC @CօX>AIQG}7>fNq,\V:EAY}FC@}F'3@y}FX}FOß}FH`?qԿc?@?`9%O)??)~FC@ ~F+pa;I~Dɫ髑) IYU@ygkGZ****** received transponder code query ******F****** received ping request ******QQaUDU>CYy]d}e>Ia u:e4? }:e;۾ ewz@ }?9epBeV; e;)e:W,@WX XW:W2W*WVbUBU*UUU` @BEB BAAEV0*BAAEAIAIAM="CU~ @RCQCU,@CQu>QIiG~> i =M xM sM sM  M (:YM M1yM :M 5Nq,J:EAY}jA@}j|2@y}jb}j'}jH`Tֿhw?i@?ソ?)~jA@ ~jb;I~jCɫ髱) IY)@y0kGxDUSBL response received:!U1,P 19B,000,005A0,186,80,80,6B,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 E7=E=E >iEG@A Eߣ@)EV@IEiE@8M*=X>9IgGiF@=2; EY5ˎQU5>99a=D=CAyEb}E>IIM4?M5۾ M|{@ ?9MrBM< M:)IWŦ?WX XW:W2W*WVbUBU *U)U)U-V @B lB BA*BA AAA\="C@RCCŦ?C!Q 1 I9 G] >Nq,y ;EAY}2W@@}2/0@y}2}2ڱ}2HU\Aؿ@=?\92ÿ3? o!ÿ?)~2W@@ ~28c;I~0ɫyy)y }IyY@yjGɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B AA ǼM h=YAQU?aDCy%&}%?I) 5:-U4? 5:-1۾ -%|@ 5?9-sB-: -E:)-:W]0?WYXY XYWY:WY2Wa*WaVabUaBUa*UiUiUu`.@BB BAʼ*BA+AAA="C@RCC0?CցYIiG\>  u u  ,:Y KN1y y: 5Nq,$;EAY}6:>@}6-.@y}6F8}6ׇ7}6H@4Mڿԙ /?@wƿUF?ƿx?)~6:>@ ~6fd;I~4ɫYY)Y ]IYY@ykGxDUSBL response received:!U1,R,1E3,000,005D1,186,80,80,79,FF Fpublishing direction and range infou׾ɰ=鰡 )BIy\OB3?̱"/ڿٱI)A4<M^=YvQU>aDجC y Q} >I4?,۾ |@ %?9tB: :)WEO?WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQU]@Pi*Qm\OBZQm[æG@3955JQm3?̱"/ڿ2Qmu׾:QibQmY/FA+l$C@٦ r!@RQmoN\}S#=I?;S?BQm@ Qm%BQm1 Pms9?Pmo9?PmQmQm4A"QmA@BZB BA*BAALAAA="Cm[?RCCO?C ե>ԥ=ׁ֑IGa> hA 9 I hGi @ = ; E)YIYiYYY]4;Nq,>;EAY}="<@}==,@y}=X}=)T}=HHۿW' ?T ђɿנ? MfʿWK?)~="<@ ~=2e;I~=Cɫ11)1 5I9Y}@y}hjGDNmea in: $SNTTA,,,,,005716.88*5B K7?K?L7A`堿)?^= +)Iy?333333?V-?f&?=< S@)AIAi AA U@ U@ U@U©UUiU\@U UQ@)U@IU3@iUQ@eDMe(=YeQUm>iiamDuCqyu~}}>Iy :}4? :}&۾ }}@ ?9}MuB}: }:)}:m=uAdded new target pos. range: 51.840004 m, bearing: 132.061585 deg, deltaT: 4.416049 s, approachRate: 0.665754 m/s, LOS rate: -2.435106 deg/s, posRepo size: 4mm ProNav: pos range: 51.840004 m, bearing: 132.061585 deg, approachRate: 0.665754 m/s, LOS rate: -2.435106 deg/s, cmd update: -7.305317 deg/s, cmd heading: 104.435844 deg, new cmd heading: 98.394492 deg. Wmw?WiXi XiWi:Wq2Wq*WqVqbUyBUy*UyU@I@U`o?BRB BA*BAΙAAA="C ?RCCw?CIG% > g w w  ':Y O1y P: $5) ;9 Nq,AX;EAY}FT:@}Fo*@y}F }Fk}FHc`!ݿo]@s? "A˿yb? S+Ϳ #?)~FT:@ ~F^e;I~FCɫQQ)Y ]IYYɾ@yjG<Mp=YLQU?aDBCy[}?Iȩŭ4?ŭ"۾ ƭ~@ ?9ƭ1vBǭ: ȭ:)ȩW?WX XW:W2W*WVbUBU*UUU n?BB BA*B!A%mA!A!A%"="C5 K?RC1C5?C1%>IG%M> Nq,Vr;EA||Y}>8@}> (@y}>Y}>tw}>HO`޿? ̿B ? ο ?)~>8@ ~>)f;I~>CɫQQ)Q UIQY@ykG=i=   Ýn?Ý 0=ÝDiÝ@Ý ĝ@)ĝV@Iĝiĝ"@G<MH=YMQU>aDvCy}>I :94? :۾ @ ?9BwB: 8:):W"?WX XW:W2W*WVbUBU *U U U ˿?B5aB9 B9A=良*B9A=AAAAAE ="CMY?RCICU"?CQaai9iImlhGim@iiim; mE]>1IAG]T>  q q  2:Y K1y ̅: 5) ԏ;Nq,I;EAY}26@}2('@y}2]/}2M}}2H߿Yʷ`D2?@ݙ99aEDECAyM}M>IIMr4?MR۾ M.@ ]?9MFxBM: M:)IW}?WyX XW:W2W*WVbUBU*UUU ?BB BA5*BA(AAAb="Cr}?RCICM?CQuFӅ>9IIGeV>Nq,,+;EAY}2{&5@}2A%@y}2$}2}2H `V/?~Ϳ`K?+Ͽ?)~2{&5@ ~2c;I~2Cɫ99)9 =I9Yu@y}jG<M%J=Y%QU%>))a-D-ۭC1y5S}5>I9=^4?= ۾ =@ M?9=SyB=ʽ: =:)9WmA?WiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUyU0@B8B BA*BAd`AAA="C?RCCA?C֥>׉IGH>  y y   +:Y P1y ': 59 @a a i 9i Im hGim :@m !=i m Dm ; m EpNq,;EA|i|Y}>h/3@}>J#@y}>v/}>Sq}>Hⅺ ?Ɛ\Ϳt?@ϿD?)~>h/3@ ~>tc;I~<ɫYY)Y ]IYY̾@yjGʡE?Zd;Mb?-2?y =)Iy{Gz?y&1?~jth#?`<D X@)&AIhAizA A-7>-=-Ti-z@) -ߣ@)-ߣ@I-@i-@=J<M=:=Y=sͻQUE>AAaEDECIyU}U>IQ ]:UNJ4? e:U۾ U@ e?9UszBU: U:)U:W}?WX XW!:W)2W)*W)V)bU1BU1*U1U1U= '@BB BA.*BAAAA="C}?RCC}?C ==ֽ>IhA)בIG> Ci :oGI i1 m Dѿٺi m fA)Nq,;EAY}661@}6Q!@y}6|:}6󌀾}6H`Tλw? 'Ϳ[?Ͽ@?)~661@ ~6@3c;I~4ɫYY)Y ]IYY@ykG@AO<Mc=YXQU>aDBCy}>I:4?۾ @  ?9_{Bn: :)W-U5?W)X) X)W1:W12W1*W1V9bU9BU9*U9UAUE@|@RMB*** querying acoustic contact ***PIPIB m<B  B)A5*B1A5ϲA1A1A5t="C=?RC9CEU5?CAEFӅ>I)GEQ>M % I I M  M 6:YI yI M 56TNq,;EAY}2?/@}2o[@y}2TC}2}2H@i㣽 b?@d*Ϳ8h?@#п?)~2?/@ ~2Ac;I~0ɫII)I MIIY}@y}kGZ****** received transponder code query ******F****** received ping request ******]$]`ei](@Y ]Q@)]Ȣ@I]Ȣ@i]Ȣ@mR;MmB=YuQUu>yya}D}xCy}>Iȉ :ōi'4? :ōھ ƍc@ ?9ƍt|BǍf: ȍ:)ȍ:Wt۳?WX XW:W2W*WVbUBU*UUUi/ @9I3iGi@D ; EBUG^BQ BQAUk*BQA]AYAYA]8="Cet۳?RCaCet۳?Cֽ>בIG><Oq,! qya}DCyf}>I4?ھ @ ?9}B`; ~;)W?WX XW:W2W*W!V)bU)BU)*U1U1U5 @B B BA*B A 3 A A A ="C1J?RCC?CUjAUjAQe?ie?) I9 Ge >aDCy}>Iȩ :ŭ4? :ŭ+ھ ƭ@ ?9ƭ~Bǭ: ȭ:)ȭ:W^?WX XW:W2W*WVbUBU*UUU,;@B7B BA%瀼*B!A%A!A!A%="C-|?RC1C5^?C1m >9IIGeU>MMxMxM M/3:YM7P1yM:M5 gA Y>9 I iGi ݽ@    ;  ENOq,GA )TBIy\[BCҽ?rhjPٱdNmea in: $SNTTA,0.193444,0.193431,,,005721.32*5C }Zd;O?~jtuyuiu(@q u@)u@Iu@iuv@׽<M6=YQU>aDCy}>I)-4?-ھ -u@ 5?9-B-L: -:))W}ݙ?WyXy XyWy:W2W*WVbUBU*UUU@@P*Q\[BZQ|KK@:[+JQCҽ?rhjP2Q½:QbQ! |C+#C@z@RQ@>5.6c?в?BQ~@ QBQxPc9?Ps9?PQQ? A"Q4AB5B1 B1A5*B1A=q*A9A9A=|="Cm?RCqCuݙ?Cqԅԅ ՅԅI1 )1  I G= >=xOq,"[aDGCy}>Iȑ :ŕ4? :ŕھ ƕނ@ ?9ƕKBǕ{: ȕ:)ȕ:mqAdded new target pos. range: 54.840000 m, bearing: 134.183793 deg, deltaT: 4.520483 s, approachRate: 0.663645 m/s, LOS rate: 0.469465 deg/s, posRepo size: 4m ProNav: pos range: 54.840000 m, bearing: 134.183793 deg, approachRate: 0.663645 m/s, LOS rate: 0.469465 deg/s, cmd update: 1.408395 deg/s, cmd heading: 71.441132 deg, new cmd heading: 68.901578 deg. W߱?WX XW:W2W*WVbUBU*UU kK@U ?Bq*B BA*BAAAA?="C?RCC߱?C׉IG>% %w%w% %5:Y%O1y%P:%5OOq,taD{Cy}>Iȱŵ4?ŵھ Ƶ[@ ?9ƵрBǵ: ȵ:)ȱWO?WX XW:W2W*WVbUBU*UUU?BB! B!A!*B!A!A!A!A-.="C-b?RC1C5O?C1)999I=`jGi=@999=; =E)IIIiIM!=M!=M> 5IYGu> #Oq,؎AAaEDECIyMԒ}M>IQU4?Uھ U؃@ ]?9UQBUf: U:)QWB?WX XW:W2W*WVbU BU *U U U?B=B9 B9A=;*B9AE6!AAAAAE9="CM ?RCICMB?CQe?iez?IIaG>ss ]-:YM1y:5H)Oq,ճ vw F¿?oR@/ɿO?@Ͽk?)~2"@ ~2c;I~2CɫYY)Y ]IYY}@y}mG=i=s<MO=Y QU>aDCy } >I :4? :߹ھ X@ ?9ҁB: :):WEt?WAXA XAWA:WA2WA*WIVIbUIBUI*UQUQUU`?B}lB BA8<*BA=AAAU="C?RCCt?CiIyG=- =- 4=5 X>91 I5 (kGi5 "@1 1 1 5 ; 5 E0Oq,6aDCyZ}>IȹŽ4?ŽϬھ ƽ@ ?9ƽrBǽf: Ƚ8:)ȹW?WX  X W :W 2W *WVbUBU*UUU?BE BA BIAM =*BIAMAIAIAUP="CUʙ?RCYC]?CY!I1GM1>xx 2:Y7P1y:5)9%J6Oq,#jaDJCy}>Iȱ :ŵ4? :ŵھ Ƶ @ ?9ƵBǵM: ȵ:)ȵ:W?WX XW:W2W*WVbUBU*UUU@BTB! B!A%4=*B!A%A!A!A-="C5Nϟ?RC1C5?C1IEiA)A IG5 >\aD{Cy~}>I  &4? ھ Y@ ?9 wB : :) W=_D?W9X9 X9W9:WA2WA*WAVAbUABUI*UIUIUM,@RB*** querying acoustic contact ***PPBܼB BAX5=*BA%}QA!A!A%F="C-_D?RC)CM_D?CQY>9ITlGi@; EiIqG>vv ,:YN1y:n5);COq,U3=EAY}>A@}> @y}>OZ}>^&}>H`0ƿ T?4eǿ6U?Ͽ`r?)~>A@ ~>~c;I~>CɫQQ)Q UIYY@ynGZ****** received transponder code query ******F****** received ping request ******  aDCym}>I! -:%u4? 5:%kھ %@ 5?9%B%&%; %&;)%:W]h?WYXa XaWa:Wa2Wa*WaVibUiBUi*UqUqUuC @BؼB BADO=*BAAAA="Cl?RCCh?CimnGIi2ƿٺ+AyIG>JOq,*=EAY}:i@}:B @y}:_}:~}:Ht?6`}ƿ4?R,ƿI?qzϿ ?)~:i@ ~:tc;I~8ɫ11)9 9I9Yu@yunG}xDUSBL response received:!U1,P 06D,000,00603,187,80,80,35,FF }Command Ack}BRequesting micromodem ping code 2iyNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )> >m;MuL=YaDCyf}->IAEg4?E|ھ E@ ?9EBE"< E!<)AW?WX XW:W2W*WVbUBU*UUU w* @B ڼB BA`Z=*B AA1A9AEy="C5ݰ?RCC?CE?iEs? Y1:Yy59-@)I9GU> hA jA Z>9 I mGi @ "= $; EPOq,C=EA||Y}>)@}>@y}>Zwf}>v}>H:`ǿ \/?d߿ ƿ@ˬ?źϿ?)~>)@ ~>c;I~<ɫYY)Y YIYY@yVoGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Ie=)e=E?{GztMb?ף )Iy?Q?Mb,?\= "@)%AIhAi A Am?m7mľim\@i m3@)iImimQ@}=M}4=YwQU>aDCyl}>I :lY4? :oھ X@ ?9/BU; ;):WMJ?WIXI XIWI:WI2WQ*WQVQbUQBUY*UYUYU]U@BAq̼B BA=*BAi!AAA!="CBŰ?*CRCCJ?CIGI>oWOq,]=EAY}6&@}6)B@y}6p}6|}6H  fbǿ J?Ej޿ ƿf?f?Ͽ ?)~6&@ ~6Az;I~6CɫYY)Y ]IYYM@y oGxDUSBL response received:!U1,R,37F,000,00622,189,80,80,9B,FF Fpublishing direction and range infoGɰ>鰥7> )CIybB- :ֹ?5IٱMk=YQU?aDICy\}?IN4?dھ @ ?9B: [:)WV?WX XW:W2W!*W!V!bU!BU!*U)U)U-up@P9*Q=bBZQ='g="D@ktCJQ=- :ֹ?5I2Q=G:Q9bQ=$rN +@lJ@(v9(@RQ= ?6OP?X?BQ={|? Q=VBQ=jXAP=9?P=c9?P=uQ=Q=yA"Q=? AB μB  BA}=*BA'AAA ="C?RC!C%V?C!IG>%I %y%y% %9:Y%P1y%':%5A]Oq,w=EAY}be@}b@y}bNCx}b4y}bH޿`{oǿ ?ܿ`Qhſ?Pο?)~be@ ~bH;I~bCɫ髱) IY@yzoGUDNmea in: $SNTTA,,,,,005725.75*59 ii=ʾ=5>if@ Q@)Ȣ@Ii%<M-6=Y-YQU->11a5D5C9y=;z}=>IAEA4?E&Vھ E@ U?9E@BEA: E߼:)Aq9qIumGiu[@qqqu; uEmuAdded new target pos. range: 56.699997 m, bearing: 75.865992 deg, deltaT: 4.361980 s, approachRate: 0.426411 m/s, LOS rate: -13.369571 deg/s, posRepo size: 4mProNav REINIT: LOS rate is -13.369571 deg/s. Setting heading cmd to target bearing of 75.865992deg and heading rate command to 0 deg/s.W{|?WX XW:W2W*WVbUBU*UUYL@U?B!̼B BA=*BA8BAAA1="C{|?RCC{|?CI hA) hAI G%,>k&dOq,h=EAY}2@}2@y}2{}24x}2H-ݿ`ǿo?tۿ,Ŀ[? Dο@?)~2@ ~2;I~2Cɫ99)9 =I9Y@yoG ))=F<M=[=Y=QU=>AAaEDECIyM}M>IQ ]:U 74? ]:UIھ UA@ e?9UBUb: U:)U:WWX XW:W2W*WVbUBU*UUU5@?BܖżB BAA=*BAAAA="C*CRCCCiIyG>tt R.:YM1y:5PjOq,C=EAY}:f@}:@y}:.y}:yy}:H@ۿk5ȡȿ ?`Aٿ`+Ŀ ? ο?)~:f@ ~:xߠ;I~8ɫ99)9 =I9Y}S@y}PpG]'=MeH=YmM:QUu>aDCy}>I+4?;ھ @ ?9RBի; K;)WYWYXa XaWa:Wi2Wq*WyVybUBU*UUU%a?BmBq BqAu=*BqAuMAyAyA}F0="C*CRCCCבIG=P>m 9y I} nGi} @y y y } ; } E)Ii"=%4.:qOq,%=EAY}2{@}2n.?y}2xu}2}{}2H@6ڿdETɿ 4!?lؿÿh?Ͽ?)~2{@ ~2;I~2CɫQY)Y YIYY2@ybqGCl?V-?~jt?d;?m> <)Iyv/?Mb?:v?x)?=T< ­@)­AI­Ai­`A= AԽxĽiz@ ۭ@)@I@i@=M?=Y ;QU>!!a%D%C!y-g}->I1 =:5!4? =:5-ھ 5/@ E?95B5: 5:)5:WaWaXa XaWa:Wq2Wq*WqVqbUqBUy*UyUyU} R?BB BA =*BAUAAA ="C*CRCCC?i?IG$>rr <0:Y_L1y7:5)};9%bwOq,=EAY}6=@}6aS?y}6Qr}6a|}6H@ؿ ɿj?X׿?¿ S? ,Ͽ?)~6=@ ~6A9;I~4ɫYY)Y ]IYY@ypGiIp=)4=5,M=Z=Y=:QU=>AAaEDEMCAyMs}M>IQU4?Uk!ھ U@ ]?9U_BU: U:)QWWX XW:W2W*WVbUBU*UUU`@@Bz<B BA=*BAܰAAAd> ="CQ*CQRCQCQCYIIQG>=ip=8}Oq,'=EAY}6j @}6?y}6ݴr}6z}6Hu׿`_ʿ?`k!ֿ@R¿`R?Uοw?)~6j @ ~6ɗ;I~6Cɫ99)9 9I9Yu@y}ArG=S=z>=i=@9 =@)=3@I=3@i=3@M)=MMI=YUI8QUU>QQa]D]CYye;V}e>Ii u:m~4? u:mھ mI@ u?9mBmw: m:)m:WWX XW:W2W*WVbUBU*UUU`-@BFB< BA>*BA]AAA ="C*CRCCC)9)I-toGi-@)))-; -EIG>%%u%u% %1:Y%KN1y%y:%5)%-;tOq,>EAY}2{U @}2?y}2u}2kv}2HFbֿDɿ ? zԿA?sο?)~2{U @ ~2];I~2Cɫ99)9 =I9Y}@y}erGZ<MV=YtºQU>aDCyBd}>IȹŽ4?Žھ ƽԉ@ ?9ƽjBǽ߼: ȽQ:)ȹWWX XW:W2W*WVbUBU*UUUˏ@R B*** querying acoustic contact ***P P BqB BAi>*BAAAA- ="C*CRCCCI}iA)}iAIIQGu>Oq,&,>EAY}6 @}6F?y}6cx}6w}6H(տ@-xjʿZ#?ȴӿ`A? ο@.?)~6 @ ~6̘;I~6Cɫyy)y }IyY^@yrGZ****** received transponder code query ******F****** received ping request ******=YQU>aDC y 9}->I15s4?5پ 5{@ E?95B5: 5:)1WWX XW:W2W*WVbUBU*UU)U5@^ @B6B BA!>*BAAAA 2 ="C9*C9RCACACA1IAGmx>I)AA%%w%w% %2:Y%O1y%P:%59-@ iA iA ]>9 I qGi @    ;  EOq,eF>EAY}6@}6h?y}6{}6Ϟw}6H ӿ~@Ըʿ@zU?ҿ@#o? ο`?)~6@ ~6j ;I~4ɫ99)9 9I9Y@ysGxDUSBL response received:!U1,P 37F,000,00622,189,80,80,9B,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %V-?Q?I +?%-?%= %94<)!I!y%5^I ?Mb`?{Gz?%?%;%ף< %@)%lAI%Ai%A!% AÍt>ÍÍO >iÍ3@É č@)č@Ič@ič@=M =Y˺QU>aD*Cy}>Iȹ :Ž4? :Žپ ƽX@ ?9ƽBǽ3: Ƚ:)Ƚ:WWX XW:W2W*WVbUBU*UUU@B-(SB) B)A-4>*B)A5BA1A1A5 ="CI*CQRCQCQC,>Ci]dnGIyi1ٺAM =U ?iU }?) I9 GU >Oq,FE`>EAY}2@}2?y}2|}2u}2H@ ҿiʿ?ѿ@vQ {?cο`?)~2@ ~2ƹ;I~0ɫ99)9 =I9Y}?@y}sGyɮ}a=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5<M5=Y=QU=?9AaEDEPCAyMx}M?I4?پ @ ?9B: P:)WWX XW:W2W*WVbU!BU!*U!U!U%@G@BUgBQ BQA]=>*BYA]+QAYAYA]f ="Ca*CaRCiCiCiEE ExExEv EFI:YE7P1yE:E5d۝Oq,z>EAɫ髙) IY@ytGxDUSBL response received:!U1,R,291,000,00641,189,80,80,B9,FF Fpublishing direction and range infotɰ'> )9CIy=jBbE ?(HX[ٱi=I%4=)!Åu=Å+ÅiÅz@Á ā)āIāią@k?=MD=YQU>aDCy}>9IqGi@; Iȉ :ōR4? :ōYپ ƍ@ ?9ƍuBǍ: ȍ:)ȍ:WWX XW:W2W*WVbUBU*U U U @P*Q=jBZQ1|H@ˆ?JQbE ?(HX[2Qt:QbQ2K!.@lK@C_!%@RQ~v?a?@ׄ?BQ0? Q`^BQ qAP9?P9?PmQuQ?A"QyAB"uB BAQ>*BAAAA ="C*CRCCCѵm<בIG>NäOq,">EAY}no@}n?y}n }nv}nHпs˿`?οpqܯ?`iο?)~no@ ~n';I~nCɫ髹) IY@ytGeDNmea in: $SNTTA,,,,,005730.20*5D 2MH=Y?QU>aDCy̮}>I 4?&پ U@ ?9B: :)mqAdded new target pos. range: 58.559998 m, bearing: 74.837891 deg, deltaT: 4.505479 s, approachRate: 0.412831 m/s, LOS rate: -0.228189 deg/s, posRepo size: 4m ProNav: pos range: 58.559998 m, bearing: 74.837891 deg, approachRate: 0.412831 m/s, LOS rate: -0.228189 deg/s, cmd update: -0.684567 deg/s, cmd heading: 75.865992 deg, new cmd heading: 75.865992 deg. W9?WX XW:W2W*WVbUBU*UUGM@Uy?BefB BA2Q>*BAjAA!A%C ="C-9?*C)RC)C-9?C199)9 9: tt r8:YM1y:5שIG>hOq,,խ>EAY}:M@}:?y}:}:rw}:H@-^Ͽ<W˿?_̿(\?`οO?)~:M@ ~:ŷ;I~:ޖCɫ9A)A MIIY@ytG}Iif@ @)I;@ih@<MG=YQU>aDCy:1}>I -:4? -:߶پ @ -?9fB?; 2*;):W+C?WX XW:W2W*WVbUBU*UU U ?B̠eBA BIAMY>*BQAUAYAAOl="C+C?*CRCC+C?CyIG^>\>9I\sGi@ =; EIձOq,S>EA|i|Y}6@}6p?y}6*ˀ}6Bv}6HPͿ_@˿f?jʿ~?&mο`?)~6@ ~6;I~6Cɫ99)9 =I9Y}Y@y}CuGI)  rh? rh~jth?,?C D;)Iysh|??QaD!CyN>}>I94?iپ Ž@ ?9B{: b:)W C?W X  XW:W2W*WVbUBU*UUU%n?BM@BI BIAU`>*BQAUAQAQAU="C]C?*CYRCaCeC?CaiIqG>%%x%x% %3:Y%7P1y%:%5)%;95Oq,>EAY}2@}2,?y}22}2vs}2Hrʿ``˿H!!a%D%RC)y-P}->I1 =:5+4? =:5kپ 5j@ E?95nB5: 5:)5:We?WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqU}?B^*,B BAy>*BA<AAAt.="CU?*CQRCQCU?CY)I1G]>*Oq,h>EAY}6@}6D?y}6~}6:&s}6H@ȿ`W̿`^?3ſ`'x? ο ?)~6@ ~6wˌ;I~6ߖCɫ99)9 =I9YF@ygvGÍq>Í`<Í9ܙIܝ$tGiܝo@ܝ=ܙܙܝ; ݝE)Ii =;%6)ĉIč@ič@-<M@=Y4:QU>aDCyKI}>I$4?Ɗپ %@ ?9B: U:)W o?WX XW:W2W*WVbUBU*UUU@B 8B  B A%~>*B)A-kA)A)A-p="C5o?*C1RC1C=o?C9!I)GM0> vv8 B:YN1y:5);Oq,??EAY}:b?}:?y}:L|}:t}:Hdſ`)̿ }?`¿ e;}?`?ο@?)~:b? ~: ;I~:Cɫ99)A EIAY}@y}vG5=i5%=I==)==}I<M}O=Y}8:QU>aDCyxX}>Ișŝ4?ŝ8|پ Ɲѐ@ ?9ƝBǝ: ȝM:)șWRե?WX XW:W2W*WVbUBU*UUU@BB BA >*B A A A A="CRե?*CRCCRե?CIG>=i=F?Oq,,/?EAɫ  )  IYEI@yMwGQUAAף</ݽi@ ۭ@)@Ix@iۭ@>=MD=YQU>aD Cy%}->IA ]:EQ4? e:E~lپ E@ m?9EBE%; E/;)E:W? ?WX XW:W2W*WVbUBU*UUU@@R B*** querying acoustic contact ***P P BMxBI BQAUz>*BQAU߼AQAQA}="C? ?*CRCC? ?CI׽hA)׽hAבIGa>tt  2:YM1y:59@٩٭jAܵ[>9ܱIܵPuGiܵc@ܵ!=ܱܱܵ; ݵE#Oq,H?EAY}2?}2?y}26s}2t}2H@A$Ϳ,?&ܺ_ U^?@98ο ?)~2? ~2zr;I~0ɫ99)9 =I9Y}}@y}wGZ****** received transponder code query ******F****** received ping request ******m"> m)iIiym㥛 ?Mb`Q?m?mmu< m@)mAIm@im+ AimA<M5P=Y5;QU5>99a=D=%CAyE5}E>Iim4?m5_پ m0@ u?9mBmr: m:)iW?WX XW:W2W*WVbUBU*UUU @B5T:ɻB1 B1A5>*B9A=ݼA9A9A=T="CE?*CmsRCiCm?CqׁIG=>"MOq,tb?EA|i|Y}FSv?}F9?y}FRn}Fv}FH`%@[Ϳ@t?@~2e@ƭ?@"{ο@?)~FSv? ~F&k;I~FߖCɫYY)Y ]IYY+@yxGxDUSBL response received:!U1,P 291,000,00641,189,80,80,B9,FF Command AckBRequesting micromodem ping code 2iI)I)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =^]=MEP=YUK;QU]>iiaDUCy}>I :4? :Rپ ʒ@ ?9BI< <):W?WX XW:W2W*WVbUBU*UUUO @BșֻB BA>*BAۼAAAϐ="C?*C'k?RCC?CI GEs>I)%%w%w% %X3:Y%O1y%P:%5bwOq,|?EAY}2a?}2՘?y}2h}2W_z}2H`_ο?@{ ? ο ?)~2a? ~2zf;I~2Cɫ99)9 9I9Y}>@y}xG鮅p=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ]\>9YI]|vGi]W@YYY]; ]E @ @ @©iG@ @)IiE@y;M==YP;QU>aD%C!y%Mj}->I15T4?5Eپ 5o@ =?95}B5: 5:)1W]T?WYXY XaWa:Wa2Wa*WaVibUiBUi*UqUqUu@B?B BA>*BAEټAAA="CT?*CRCCT?CIG (>NbOq,?EAiPI`ih2ſٺ?AY}b?}Й?y}Ec}z}Hn@˪ο?@jv%y?!Ͽ`?)~b? ~*c;I~CɫII)Q UIQY@yyGxDUSBL response received:!U1,R,1BE,000,00653,186,80,80,87,FF Fpublishing direction and range infoTFǾɰ>鰵> )CIynB㚰fQ?Iؿٱ>=MM=YA;QU>aDCyp}>I :F4? :8پ  @  ?9BE: :):W-?W)X) X)W):W12W1*W1V1bU9BU9*U9U9U=`V@PI*QMnBZQM]1K@-y6JQM㚰fQ?Iؿ2QMTFǾ:QIbQMo 3@'MK@ v!@RQMqÆ?0}?/ÌZ?BQMVў? QMZ_BQMAPM9?PM9?PMhQMmQM>nA"QM?AB]B BA>>*BA ׼AAAH="C?*CRCC?CׁIG>tt# 1:YM1y:#5Oq,n?EAY}mGs?}m-?y}m_}m{}mHƜ ο`? ͯ`` ?7Ͽ?)~mGs? ~mBa;I~mߖCɫ)1)1 5I1YuL@yuzGUDNmea in: $SNTTA,,,,,005734.64*59 U=iU=I)%=-(\?/$&1-?-, -P))I)y-J +?aDCy=}>I4?%پ C@ ?9B: :)mqAdded new target pos. range: 59.640003 m, bearing: 71.090508 deg, deltaT: 4.418494 s, approachRate: 0.244428 m/s, LOS rate: -0.848113 deg/s, posRepo size: 4m  ProNav: pos range: 59.640003 m, bearing: 71.090508 deg, approachRate: 0.244428 m/s, LOS rate: -0.848113 deg/s, cmd update: -2.544340 deg/s, cmd heading: 72.838499 deg, new cmd heading: 72.499979 deg. W w?W X XW:W2W*WVbUBU*U!U%M@U%?BMHؐBQ BQAU>*BAԼAAAw="Cw?RCCw?CIG5>U^>9QIUwGiUK@U"=QQU; UE$rOq,9B?EAY}F՘?}F?y}FEq^}F{}FHw( @Ͽ@?}~?dʫ?@Ͽ?)~F՘? ~F}`;I~FCɫ髁) IY@y{GU=MU=Y]:QU]?YYaeDe$Caym嚽}m?Iq }:u4? }:uپ u@ }?9uBuV: u:)u:W *BA6ӼAAA="C C xx 3:Y7P1y:5)s;9%Oq,&?EAY}:?}:|?y}:W_}:!z}:Ht?T@(Ͽ??C~?Ͽ?)~:? ~:_;I~:ߖCɫ99)9 9I9Y}K@y}Y{G<MO=YO+QU>a%D%WC!y-_m}->I154?5L پ 5@ =?95B5: 5:)1W]?WaXa XaWa:Wa2Wa*WiVibUiBUi*UiUqUu?BNd:B BA>*BAjмAAAU1="C?RC>C?CשIG >kOq,?EA|i|@Y}^?}^?y}^b}^z}^H@k?`m`IϿ`? >?!I?? ο ?)~^? ~^_;I~^Cɫ髑) IYx@y{G9IxGi?@; EIq)uA yyƽti@ )Ii@L<M<=YQU>aDC y b}>I4?Kؾ  @ %?9Bض: :)WEe?WAXA XAWI:WI2WI*WIVQbUQBUQ*UQUQU]?Bc9B BAe>*BA#μAAA <"Ce?RCK}>Ce?C ?i ?IG(>I ) S  q::Yy5)N;)Pq,b@EAY}F]?}F?y}Fd}Fwv}FH`?@οI?ݳ?픣?[~ο?)~F]? ~F3_;I~FCɫqq)y yIyY{@y{GU :MUV=YU%ϺQU]>YYa]D]Caye}e>Iȹ :Ž4? :Žؾ ƽ@ ?9ƽBǽ: Ƚ:)Ƚ:W*B1A5˼A1A1A=Q<"C=CEQIaG}Y> Pq,ø1@EAY}v?}v8?y}ve}vou}vH`p?fο+?o\?\? VοS ?)~v? ~v_;I~vCɫ) IY5<@y5|G)e= e=<"=P>i\@ &@)ۭ@I@iQ=M2=YQU>  a D C yi}>I64?^ؾ #@ %?9.B#: Q:)WMS?WIXI XIWI:WI2WQ*WQVQbUQBUY*UYUYU]@1@B0:B BA>*B!A%ّȼA!A!A%<"C-S?RC- q>C-S?C17x>IGm>%& %y%y% %6:Y%P1y%':%l59-@5]>91I5dzGi5@5!=115; 5E)݉I݉i݉ݍ!=ݍ!=ݍx4Pq, K@EA||ɫqy)y }IyY@y%}G?A]"~?Dl?~jt]?]O > ]D)YIYy]Cl?Q~jtx]d?]u]Ļ Y)]IYi] AY]f@}<=M}g=YQU>aD'Cy}>Iș :ŝ\4? :ŝ[ؾ Ɲ@ ?9ƝBǝj: ȝ:)ȝ:W ?WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB |x;B o< BA>*BA<ƼAAA$<"C ?RCр>C% ?C!֝?:v>Iש)שyIG^>ia=Pq,ee@EAY}V,/?}Vf?y}Vc}Vt}VH@?6@5ο?Ļ?]u?@7.ο ?)~V,/? ~V[_;I~VߖCɫqy)y yIyYR@y}GZ****** received transponder code query ******F****** received ping request ******aD\Cy}>I4?Vؾ @  ?9B: Y<)WH?WX XW:W2W*WVbUBU*UUU @B <;B) B)A->*B)A-#üA)A)A5g<"C5H?RC=^>C=H?C9ԍjAԍjAm >yIG]>uu w2:YKN1yy:5GPq,:@EAY}2?}2?y}2a}2٫s}2H?Tο ~{??F??p ο# ?)~2? ~2s^;I~2CɫYY)Y YIYܡ9ܡIܥ,{Giܥ&@ܡܡܡܥ; ݥEY]@y}GxDUSBL response received:!U1,P 1BE,000,00653,186,80,80,87,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  hAҍ>=i@ E@)d@IE@i@<;M.=Y޶:QU>aDC y _} >I :4? :ؾ c@ %?9B; ?;):Wc?WX XW:W2W*WVbUBU*UUU @B%L;B) B)A->*B1A=ソAAAAAM<"Cec?RCev^>Cec?Ci֍8ˀ>Q Ia G} >%Pq,@EA|(i|*@Y}ZZ?}Z=?y}ZC]}Z(Nw}ZH?ddUϿ@V?u? Cs@?ο`?)~ZZ? ~Z0];I~ZCɫ髑) IY@y~G=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B >=Mq=Y4;QU?aDķCyF}?I4?jؾ @ ?9Bܹ: :)WƋ?WX XW:W2W!*W!V!bU!BU)*U)U)U5j$@B]N<BY BYA]>*BYAe`AaAaAe*<"CƋ?RC U>C Ƌ?C &<ys>?iu?ױIG> ww& nV:YO1yP:5%,Pq,@EAY}2?}2¬?y}2X}2`v}2H@d?: M?Ͽ^-?{?!b??ο!?)~2? ~2];I~2CɫAA)I IIQY@y~GxDUSBL response received:!U1,R,D24,000,0065B,189,80,80,97,FF Fpublishing direction and range infoƇ#?ɰH>7> )CIyzpB8K?|(F?ٱ u@ u@ u@u©uuiu@u u@)uIu;@iu@;M>=Yr%;QU>aDCyVV}>I E:x4? M:ؾ +@ M?9BS; d;):W?WX XW:W2W*WVbUBU*UUU@P*QzpBZQ a!H@E%Z*A@JQ8K?|(F?2QƇ#?:QbQ^dJ74:cЌK@)RQ1ؿZ;YS?>"ŀBQA? Qf\BQVP9?P9?PdQhQ>"Q>nABE*BIAMAIAIAMl@<"CU?RC]y~S>C}?Cy]zl< u=u=ٙٙܥ\>9ܡIܥ|Giܥk@ܥ =ܡܡܥ; ݥE5I^> I G5 > 3Pq,)@EAY}N6x?}N?y}NS}Nr}NH? vο`}???`n? ο@?)~N6x? ~Nt>];I~Lɫ髙) IY@y~GEdNmea in: $SNTTA,0.070914,0.348019,,,005739.09*53 +:MV=Y=];QU>aD,Cy}?I  4? ؾ {@ ?9 B : :) mEqAdded new target pos. range: 60.120007 m, bearing: 112.914905 deg, deltaT: 4.525549 s, approachRate: 0.106065 m/s, LOS rate: 9.241839 deg/s, posRepo size: 4mU ProNav: pos range: 60.120007 m, bearing: 112.914905 deg, approachRate: 0.106065 m/s, LOS rate: 9.241839 deg/s, cmd update: 12.000000 deg/s, cmd heading: 61.334643 deg, new cmd heading: 60.500965 deg. WUΑ?WYXY XYWY:WY2WY*WaVabUaBUa*UiUm`\N@Um@?BE\<B BAo>*BAnCAAA<"C?*CRCw_=>CΑ?CϹϹ)й йL>CinGIiCٺA%%u%u%* %2:Y%KN1y%y:%5) ! I) GM >J79Pq,@EAY}6}?}6?y}65L}6s}6H@? ]¿ο`?8?9? ?@&ο` ?)~6}? ~6EO];I~6ߖCɫ99)9 =I9Y}@y}G=i=I=)=Mh=MMU=YME;QUU>QQaUD]]CYy]x}e>Iae4?eؾ eҜ@ u?9eBe: e:)aW?WX XW:W2W*WVbUBU*UUUq?BАL<B BA>*BALIAAAMV<"CH?RCzZ>C?C5#Y>)IIG?>=ip=!@Pq,AEAY}N?}Nܣ?y}NڧC}N}p}NHQ?`ж(?ο@?i?a?r?BͿ?)~N? ~NXg];I~NCA9AIE}GiE@AAAE; EEɫ髱) IY@yG   J> 0=i@ @)d@Iz@i@@<MA=Yա;QU>aDCyI :4? :bsؾ /@ ?9B: :):We?WaXa XaW:W2W*WVbUBU*UUU;?B,0<B BA>*B A ̰A A A Ŧ<"CL?RC/=C?C>>׹IGE>ww 0:YO1yP:[5)Y;9%NIFPq,]AEAY}:t?}:VaaaeDeĸCaymcY}m>Iqu4?ufؾ }tI u@ }?9uBu: u:)qWƱ?WX XW:W2W*WVbUBU*UUU9?BM<B BA?*BA}AAA$<"C?RC6<CƱ?C <>IGI>PvLPq,$E4AEA|(i|*@Y}e?}ewÞ?y}e8h5}ed}eH?@j`̿ +=??@П?@!?V̿x,?)~e? ~e];I~aɫ髉) IY@yGI))-A 99a i@a  a m@a  a q@a  a e@a  5+55S>i5̼@1 5@)5E@I5$@i5&@Ex;ME/=YEb;QUM>IIaMDMCQyU&)}U>IY e:]g4? m:]Wؾ ]ܝ@ m?9]B]): ]A>)]:WbP?WX XW:W2W*WVbUBU*UUU?BmQ<B BA?*BA.AAAc<"C}?RCCbP?Cֽ(>i?יIGf>=[>99I=L~Gi=@999=; =Euu  2:YKN1yy:5);>[SPq,NAEAɫyy)y }IyY@yGU<M]p=Y]QU]?aaaeDe,Caym}m?Iqu|4?uMؾ u @ }?9uBu: u4O?)qW?WX XW:W2W!*W!V!bU!BU)*U)U)U-@BU<BY BYA]X?*BYA]AaAaAe<"CmÕ?RCmCm?Cq Յ=ԅ=֭ط=ׁIG=>_YPq,gAEAY}Fֹ?}F ?y}Fύ'}FH^}FH?@H˿Y??e? ;?˿ N8?)~Fֹ? ~F^;I~FCɫaa)a eIiYj@yӀG  <MO=Y! !a%D%^C)y5}5>IAEG 4?E@ؾ Ei@ M?9EBE: Ex?)AWm\?WiXi XqWq:Wq2Wq*WyVybUyBUy*UyUUT@RB*** querying acoustic contact ***PPB<B BA?*BAMAAAqq<"C׸?RCeC\?C֭ȿ=qIG%>ww 2:YO1yP:59%@Bm`Pq,CʁAEAY}2'ѷ?}2 ?y}2'}2AV}2H@?7zʿ??@뵥?@]?-ʿ JG?)~2'ѷ? ~2Ȫ];I~0rZ>9pIrxGir@pppr; rE)yIyiy} =} =},4ɫyy)y }IyY@yGZ****** received transponder code query ******F****** received ping request ******yya}D}Cy}>Iȉō^4?ō2ؾ ƍ@ ?9ƍBǍ: ȍ?)ȉWP,?WX XW:W2W*WVbUBU *U U U d @BUG܂<BY BYA] ?*BYA]<AaAaAe<"Co?RC CP,?CօG=YIiGZ>fPq,襛AEAɫyy)y }IY@y>GxDUSBL response received:!U1,P D24,000,0065B,189,80,80,97,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ]=Me^=YuQU}>aDǹCy}>I :!4? :&ؾ @ ?9B< !@):W?WX XW:W2W*WV bU BU*UUU @B<B BA6?*BA?AAA(<"C?RCC?C<%%v%v% %-:Y%N1y%:%5IG>olPq,ΌAEAY}mŴ?}mx?y}m}m4:}mHP?@jƿ_? ??? O?"ǿt?)~mŴ? ~m];I~iɫii)q uIqY@yāG鮱ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B a ia i a ma m a qa q a ea e Zd;?Mb?/$?= ,)IyMbX?~jtx:v?*?ĻT< ½@)½$AI½5@i½AAõl罩õҍõCaDCykM}>I'4?aؾ }@ ?9Bf: n:)W ]?W X XW:W2W*WVbUBU*U!U!U% @BM<BI BIAU ?*BQAULjAQAQAUD<"C~?RCC]?CX>9I GiG@=; EhW<ױIG>_sPq,[AEA|i|Y}6ۨ?}6ߓ?y}6ڼ}6(}6Hv?` Ŀ3D? ??d\?VĿZ?)~6ۨ? ~6I];I~6ߖCɫYY)a eIaYm@yGxDUSBL response received:!U1,R,502,000,0065F,189,80,80,7F,FF Fpublishing direction and range infof3ɰ> )BIypqBw?amf-ٱI)A A=M=YwB$<B BA?*BA AAA<"C ?RCC}?C֍raIiG9>  m:Yy5yPq,?AEAY}R?}R/?y}Rpa}RP}RH$?F^¿3?l?ե?@k?i¿?)~R? ~R \;I~Pɫ髹) IY @y ցG}TNmea in: $SNTTA,0.051642,,,,005743.54*40 ׼M?=Y@aDdCyK}>I :94? :׾ /@ ?9BV: :):m}qAdded new target pos. range: 60.360008 m, bearing: 2.186371 deg, deltaT: 4.357660 s, approachRate: 0.055076 m/s, LOS rate: -25.410090 deg/s, posRepo size: 4mProNav REINIT: LOS rate is -25.410090 deg/s. Setting heading cmd to target bearing of 2.186371deg and heading rate command to 0 deg/s.WL=WX XW:W2W*WVbUBU*UU.N@U@q?B-D&<B) B)A-?*B1A5A1A1A5{L<"Ck?RCCL=C ==ֵஜבIG>Pq,BEAY}:_ղ?}:? ?y}:&,N}:>}:H`5?@־0?\?? Xʼn?.`?FT>9DIDiDF=DDF; FE)~:_ղ? ~:%&\;I~:CɫYY)a eIaY@yzG ף A> \>i f@  @) @I i @==MF=Y%[!!a%D-C)y5,}5>I9=B4?=׾ =y@ E?9=)B=: =ܹ:)9WaWaXi XiWi:Wi2Wi*WqVqbUqBUq*UyUyU})+?B%<B! BAAEL?*BIAM䋼AIAIAMQ<"CUL?RCQCQCYeۻ9IAGeU>B xx 9:Y7P1y:5)";9%i- oGII ii wͿٺ A"Pq,BEAY}6?}6|?y}6}6DjϽ}6H@? 4@C??`0?@Cu?`ṿ?)~6? ~6[;I~6ߖCɫQY)Y ]IYY"@yG=i=I4=)%=5 ;M5Z=Y=99aEDEɺCAyMh<}M>Iȱ :ŵK4? :ŵ׾ Ƶ@ ?9ƵBǵ: ȵ:)ȵ:WWX XW:W2W*WVbUBU*UUUG?Bf<B! B!A%?*B!A% A)A)A-<"C5s?RC1C1C9%kd&IG (>Pq,6BEAY}e ?}eB?y}eČ:}e}eH 3?XBj?"?`?Qr?)~e ? ~e[;I~aɫIQ)Q UIQYl@yG&1?&1?Mb??P= <)IyNbX9?Zd;Oy&1?%?j`< ¥@)¥AI¥@i¥A@=rhi@ @)I@i"@1<M0=Y\aDC!y%<}%>I)-U4?-׾ -@ =?9-CB-: -:))WWX XW:W2W*W!V!bU!BU!*U)U)U-?B<B BA ?*BAD)AAA'<"CWn?*CRCCCy}hA܅O>9܁I܅RGi܅@܅=܁܁܅; ݅E#`שIG>l  o<:YyH5);Pq,PBEAY}6*5?}6 l?y}6;}6,}6H3?5`/~?@.??tzӜ?)~6*5? ~6[;I~6ޖCɫ99)9 =I9Y@ŷGuғ<Mui=Y}{yaD1CyTE=}>Iȑ :ŕ]4? :ŕ׾ ƕ`@ ?9ƕBǕI: ȕ:)ȕ:WWX XW:W2W*WVbUBU*UUU@B =B  B Av"?*BA0AAA1<"CG ?RCCC2gסIGC>!Pq,~jBEAY}:?}:)?y}: <}:<}:H@d? ?`?`?yx??`K?)~:? ~:\;I~:Cɫ9A)A AIAY}e@y}EG qq?p=MH=YaDfCyV=}>If4?1׾ @ ?9@B; ض;)WWX XW:W2W)*WIVIbUIBUI*UQUQUU @B}'S<By BA(?*BAuAAAޤ<"C?RCCCֽ}?i?בIG> 0:YyH59%@ Pq,YBEAP>9wCI GiG@=D; EY}B?}B3?y}BxG<}BQM=}BHR? i@oB?6#?@A?Xu` ??)~B? ~B{];I~BޖCɫYY)Y YIYY@yGAA@A=/ݽi@ G@)@I&@i&@ zM T=Y;QU>aDCy%|=}%>I)-]n4?-0׾ -@ 5?9-B-: -:))WWX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBU6=BY BYA]$?*BYA];nAYAYAes'<"Ceq?RCiCiCi }>}>a9IIGeU>3Pq,n5BEAY}2T?}23N?y}2̬l<}2+=}2H@?`JC`?ic?) ? k V@BX??)~2T? ~2`;I~2ݖCɫYY)Y aIaY@yӂGZ****** received transponder code query ******F****** received ping request ******!)a-D-˻C1y=s=}=>IA ]:E(v4? ]:EA׾ E@ e?9EFBEZ; EJ;)E:WWX XW:W2W*WVbUBU*UQUQUUm @B <B< BA"?*BAeAAA<"C`;?RCCCIGj> uuJ ?:YKN1yy:~5`Pq,BEAY}n ?}n_C?y}nR<}n=}nH`z?kb` ?+??`*X?@?)~n ? ~nS`;I~nޖCɫ髱) IY@yGxDUSBL response received:!U1,P 502,000,0065F,189,80,80,7F,FF Command AckBRequesting micromodem ping code 2i=i= Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=R=)==mRQ?X9vQ?m>m m<)iIiym+?X9v{Gzm?m}m# mA)mv@Imj@im5@im3@%R>9!I%xGi%@%"=!!%; %E)ݱIݵwCiݱݵ=ݵ=ݵ 6å;åå=iå@á ĥd@)ĥ@Iĥ@iĥz@<M=Yl;QU>aDC!y-/'=}U>Ia :e4? :e׾ e@ ?9eBe[< eW<)e: =i =W!W!XI XIWI:WI2WI*WQVQbUQBUQ*UYUYU]r@B5<B BA3$?*BAYAAA[~<"C?RCnR|CC } I G >EPq,BEAY}2)?}2`?y}2d<}2U;>}2Hv ?3~]C?[? #?`w6?Ԫ?)~2)? ~2zza;I~2Cɫ髁) IY@yGa=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ;M=Y%<%%w%w% %=.:Y%O1y%P:%5oPq,PBEAY}28S?}2?y}2d<}2&? >}2HB2? {>??F? 엿`??)~28S? ~2{L`;I~2ߖCɫYY)Y YIYY@yGxDUSBL response received:!U1,R,502,000,00657,189,80,80,85,FF Fpublishing direction and range infoɰ> )CIyoBw?amf-ٱ-2M-[=YU;QU]>iiaDgCy5{=}=>Iqu4?u*u׾ uޠ@ }?9uסBu: u¿:)qWWX XW:W2W*WVbUBU*UUU@P*QoBZQrT}':@!3\JJQw?amf-2Q:QbQnL@Ρoe(@L"RQ?sI%?2'?ÿBQT> Q+CAQgBP]9?P^9?PQQ"QAB@=B BA#?*BAWKAAAt<"Cҷ?RCȾCC #<Q|?i? I G >% T>9! I% ~Gi% @% #=! ! % ; % EWPq,CEA|i|Y}%?}%Ϭ?y}%w<}%)>}%H@?%G? 6?$?@V ?@]?)~%? ~%5_;I~!ɫ99)9 EIAYup@yuGDNmea in: $SNTTA,,,,,005747.99*5F I)AmO mm`aDCyy=}>Iȩ :ŭǔ4? :ŭ\g׾ ƭg@ ?9ƭ[Bǭb: ȭ:)ȭ:mqAdded new target pos. range: 59.880005 m, bearing: 11.891090 deg, deltaT: 4.471174 s, approachRate: -0.107355 m/s, LOS rate: 2.170508 deg/s, posRepo size: 4m ProNav: pos range: 59.880005 m, bearing: 11.891090 deg, approachRate: -0.107355 m/s, LOS rate: 2.170508 deg/s, cmd update: 6.511525 deg/s, cmd heading: 2.186371 deg, new cmd heading: 2.186371 deg. W.=WX XW:W2W*WVbUBU*UUM@U=?B̮<B BA ?*BAdBAAA%H<"CE?RCM`1CM.=CIe< %>% >m55v5v5 5d0:Y5N1y5:55)5;9=IG% >Pq,p|CEAY}2?}2 ?y}2q<}24I/>}2H@?A?@a?@?6`-=??)~2? ~2ZU_;I~0ɫYY)Y YIYY"@yG5&׼M=b=Y=rQU=>AAaEDEμCIyM=}M>IQU64?U6[׾ U@ ]?9UϢBU: U:)QW=WX XW:W2W*WVbUBU*UUU`[?B1=B BA?*BA<AAAp<"Cm^?RCu=Cu=Cqyy)Ё ЁRP?IGU >ݭPq,_9CEAY}>?}>4?y}>{<}>i1/>}>Hc? G??@? b~鮖`? k?)~>? ~>_;I~<ɫQY)Y ]IYY@yvG Fx?Zd;O?y&1|?  ? j< `;) I y On?~jtMb? ? ļ <  A) @I nAi S@  \@=i@ )E@I@iۭ@-|M-.=Y5+LQU5>19a=D= C9yE{W=}E>II U:M=4? U:MK׾ M@ U?9M^BM: M:)M:W}6>WyXy XyWy:Wy2W*WVbUBU*UUU?Baz<B BA?*BA2AAA ;<"C_?RC ;.>C6>CU>9I}Gi@$=; E]/IY)YI!G=r>55u5u5 5-:Y5KN1y5y:55)5l;Pq,2SCEA||4}6H@? *2 c?ͤ?" ?p` 9??)~6v? ~6_;I~6ݖCɫ99)9 9I9Y}@y}2G=i=!-CiIiuM`=3տٺ Am5?9mAYm@QUu>qqauDu:Cyy}ww=}>IȁŅޢ4?ŅY?׾ ƅ@ ?9ƅѣBDž ; ȅ;)ȁWc>WX) X)W):W)2W)*W1V1bU1BU1*U1U9U=?BIQ=B BA?*BAT*AAA<"C?RC >Cc>CiA֥lؽYIiGZ>ݽPq, mCEAY}2?}2ȸ?y}2}<}2p#>}2H9;?R 2?@4?n?A[@b? •?)~2? ~2: _;I~2ߖCɫQQ)Q UIQY @yҁGFMQ=Y&QU>aDlC yBY=}>I!%84?%f2׾ ! 5?9%IB%; %;)!We*>WaXi XiWq:Wq2Wq*WqVybUyBUy*UUU@B=B BA?*BAk#AAA<"CUp?RC >C*>C  IGn>%%v%v% %-:Y%N1y%:%59%@ V>9 I |Gi k@ ; EiPq,CEAY}>?}>?y}>r̟<}>>}>H?9n`??^?ge?@;`h??)~>? ~>;_;I~<ɫ99)9 =IAY]@y]GiAjA%~%?U%99a=D=CAyEBA=}M>II ]:M4? ]:M%׾ M@ e?9MBMN; M;)M:W!>WX XW:W2W*WVbUBU*UUU d@BX=B BA?*BA|AAAU<"C^Nq?RCC!>C֭.׵?i׵?iIyG>Pq,ĠCEAY}:?}: ?y}:%<}:1>}:H?`0@R?`~?@m?v? nd(?v?)~:? ~:^^;I~8ɫ99)9 =IAY}@y},G@AAAI)MT=Y QU>aDνCy$=}>IȹŽī4?Ž׾ ƽ@ ?9ƽ2Bǽ: Ƚn:)ȹWa>WX XW:W2W*WyVybUBU*UUU@<@RB*** querying acoustic contact ***PPB5<B9 B9A=I ?*B9A=vAAAAAE<"C}Z?RCyC}a>Cm[!I1G]3>I)@AUUsUsU U.:YUM1yU:Um5Pq,ICEAɫyy)y }IyY@y.GZ****** received transponder code query ******F****** received ping request ******@ ף<)Iyp= ף? rhaD Cy}>Iȑ :ŕ)4? :ŕB׾ ƕȟ@ ?9ƕץBǕ; ȕ;)ȕ:W>WX  X W :W 2W *WVbUBU*UUU# @ae<i9iIm{Gim@m"=imDm; mEBV<B BAg ?*BAM AAA<"C@?RCC>Cֽ}<ױIG>Pq,_zCEAY}2*?}2 &?y}23<}2=}2H6ϱ?۲/??@ :? nʃ?;f?u?)~2*? ~2x^;I~0ɫ9A)A EIAYy@y܀GxDUSBL response received:!U1,P 502,000,00657,189,80,80,85,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )-= -=]w>Mej=Ym{4QU}>aD9Cy=}5?IQU4?U;־ U@ m?9UOBU8; U<)QW>WX XW:W2W*WVbUBU *U U U`\ @B]<BY BYA]< ?*BAI:AAA<"Cu+?RCC>C֝np=Iש)שyIG>%x %w%w% %d=:Y%O1y%P:%5 Pq,iUCEAY}:?}:?y}:<}:=}:H !?d]??+}?? E&? ?)~:? ~:0];I~8ɫaa)i mIqYr@y׀GuNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =iC=Ip=)C=U'U-=UGa=iU@Q U@)U@IU@iU@e9Me:=YeaTQUe>iiamDmpCqyu|<}}>Iy :}c4? :}{־ }@ ?9}צB}: }:)}:WMp>WIXI XIWQ:WQ2WQ*WQVQbUYBUY*UYUYU]4@B<B BA ?*BAAAA+<"C?RCCp>C =׹IGh>=ip=a 9a Ie ,{Gie &@a a a e ; e E)wCIi#=#=!t5Qq,0DEAY}2?}2?y}2gr<}2͹=}2Hݯ? -b?@8?C6?@?L@0?j?)~2? ~2\;I~2ޖCɫYY)Y ]IYY@yGxDUSBL response received:!U1,R,0B4,000,00661,185,80,80,6F,FF Fpublishing direction and range info| ɰ>鰥+> )BIyqBfѓ$?p Ŀٱ8Mh=Y룻QU>aDCy;}>I4?־ w@ ?9LB: :)W^ ?WX XW:W2W*W!V!bU!BU!*U!U)U-~@P9*Q=qBZQ=sd!M@"JQ=fѓ$?p Ŀ2Q=| :Q9bQ=#A=*@gƁM@ȼRQ= q_?i9?K*yBQ=? Q=lBQ=QAP=9?P=]9?P=OQ=Q=;@"Q=Bm}=Bi BqA-?*B1A5A9A9A=<"CEY?RCICm^ ?Cqm>J>AIIGe4>--u-u- -0:Y-KN1y-y:-l5)-;95Qq, "DEAY}^+?}^a?y}^#S<}^]=}^HX?붱?@??@ؿ?_Ї??)~^+? ~^Dh\;I~^ߖCɫ髹) IY@yeG=DNmea in: $SNTTA,,,,,005752.43*5C UjAQ9M>=YQU>aDվCy:P}]>Ia m:e4? m:e־ eh@ u?9eBej: ea:)e:mqAdded new target pos. range: 60.480003 m, bearing: 77.464823 deg, deltaT: 4.385425 s, approachRate: 0.136817 m/s, LOS rate: 14.952652 deg/s, posRepo size: 4mProNav REINIT: LOS rate is 14.952652 deg/s. Setting heading cmd to target bearing of 77.464823deg and heading rate command to 0 deg/s.W?WX XW:W2W*WVbUBU*UUp=N@U`?B<B BA8?*BA8AAA^<"C#8>RCC?C N> ?i ?IGI>(HQq,;DEAY}:?}:Ծ?y}:A<}:=}:Hp?`]?E?? ?@5O??)~:? ~:,];I~:ݖCɫ99)9 =I9Y}`@y}/GI) %Q?Mb?X9v?%(?%= %}=)!I!y%uV?IIaMDMCQy]ڼ}]>Iim4?mh־ m@ }?9mvBm ; m~ ;)iWWX XW:W2W*WVbUBU*UUU@;?B<B BAq?*BA\4ԻAAA< U>9 I dzGi @ !=   ; E"C>RCCC֝>YIaG}{>(  7:Yy5)X;0Qq,UDEAY}6P?}6?y}6}E<}63"}6H@?`k@-?q?|?rQ?)~6P? ~6];I~4ɫYY)Y eIaY@yG5M=q=Y=:4:QU=?AAaEDE:CIyMZ}M?I4?־ @ ?9B+: :)WWX XW:W2W*WVbUBU*U U U  ?B5<B9 B9A=>*B9A=OɻA9AAAE׆<"CE->*CM䄼RCICICQe>9IIGeU>^ZQq,0oDEAY}Vq?}V?y}V9Y<}VT}VH@κ?w` ?@?@ݓ?3Փ`;?)~Vq? ~VF^;I~Tɫ) IY=@y=~GmC=m 0=m=im@i m@)mQ@Im@ii96M7=Y3;QU>aDtCyL}>Iȹ :Žq4? :Ž־ ƽŸ@ ?9ƽBǽ>+; Ƚl,;)Ƚ:WWX XW:W2W*W V bUBU*UUU+?Be<B BA\>*BAIiAAA2<"C%G>RC)C)C)QIY)]iA%%z%z% %0:Y%Q1y%:%59-@1I9GU> R>9 I zGi 2@ = D ; EA"Qq,OwDEA||;Y}F_6?}F=m?y}F٣q<}Fo̽}FHC? w t? wJ??`34 ^@U?)~F_6? ~FN_;I~DɫYY)Y ]IYY@y~G-=i-=u\M}^=Y}x;QU}>aDCy}>Iȑŕ4?ŕ-־ ƕݟ@ ?9ƕBǕ: ȕ#:)ȑWWX XW:W2W*WVbUBU*UUUpQ@B<B BA>*BA1IA A A  <"C?RCCCjA>׹IiaIiG>ҿٺAl(Qq,GVDEAY}:?}:?y}:h<}:}:H?;`-4`+?e?T?﬐7&?)~:? ~:R_;I~:ߖCɫ99)9 =I9Y}@y}2~GiMH=Yv;QU>aD׿Cy/}>Iȱ :ŵH4? :ŵX־ Ƶ@ ?9ƵBǵ: ȵ:)ȵ:WWX XW:W2W*WVbUBU*UUU`k@BEܡ<BQ BQAU>*BQA]z0AYAYA]<"CeQ?RCCC%?΅>IAGmx>= =y=y= =E:Y=P1y=':=5f.Qq,4/DEAY}2h?}2D?y}2u<}2E4}2Hx'?``>ſ_?`f?@?@>&jƿ=?)~2h? ~2`;I~2ޖCɫ99)9 =I9Y}@y}*}G]Fx?i|?5? rh?]+?]q= ]C<)YIYy]MbX9?MbpZd;O?]!?]]j<= ]X@)] AIYi]nAY]AuiAqýd?ýGýQiý@ù Ľ@)Ľ&@IĽiĽ&@MG=Y,:QU>aD Cy}>Is4?v־ q@ ?9 B: :)WWX XW:W2W!*W!V!bU!BU!*U)U)U-@R=B*** querying acoustic contact ***P9P9B]!<BY BYA]:>*BaAeAaAaAej<"Cm+?RCiCqCqܵO>9ܱIܵxGiܵ?@ܵ=ܱܱܵ; ݵEօ>׍?i׍?AIIGeV>~5Qq, DEAY}FA?}Fx?y}F(<}F7O}FH Y?H`&ȿ`{3? c`? ?`DɿW?)~FA? ~F%a;I~FݖCɫ髙) IYt@y|GZ****** received transponder code query ******F****** received ping request ******YYa]D]=Caye}m>Iq }:u4? }:umi־ u@ ?9uBu; u;)u:WWX XW:W2W*WVbUBU*UUUUF @B]߽<BY BYA]">*BYAeCAaAaAe35<"CrC?RCCCֽ>בIG>I)%%u%u%  %h,:Y%KN1y%y:%5>;Qq,DEAY}~M?}~(/?y}~@MW<}~͑a}~H?6Iʿ?@@n?`?@u銿 _˿[9?)~~M? ~~3a;I~|ɫ) IY-@y-|G5xDUSBL response received:!U1,P 0B4,000,00661,185,80,80,6F,FF 5Command Ack5BRequesting micromodem ping code 2i19ENmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 E龩E־EiE@A E@)E@IAiE@&M*=YQU>aD{Cy  V} >IY]24?]X־ ]}@ e?9])B]: ]:)YWWX XW:W2W*WVbUBU*UUUd @BEx<BI BIAM.>*BIAM>AQAQAU<"Cu\?RCqCyCyօ>Y Ii G >ܥ K>9ܡ Iܥ pxGiܥ @ܥ =ܡ ܡ ܥ ; ݥ E:BQq,j EEAY}2?}2к?y}2 &<}2lxn}2Hq?W̿ {?@?Ӈ? ^߉Ϳs"?)~2? ~2`;I~0ɫ99)9 =I9Y}@y|G鮕p=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =Mr=Y QU?aDCy} ?Iȱ :ŵ4? :ŵCM־ Ƶ@ ?9ƵBǵV: ȵ:)ȵ:WWX XW:W2W*WVbUBU*UUUA@B%<B! B!A%>*B)A-+tA)A)A-ȑ<"C5.ll?RC1C9C9e?΅>Ii)i9IQGuW>e  ;:Yy5);9%SHQq,o$EEA||Y}68?}6-?y}6t;}6t}6H %?i̿@?G? ֳ? N~`8ο$?)~68? ~6.`;I~4ɫai)i mIiY@y{GxDUSBL response received:!U1,R,06C,000,00667,186,80,80,8A,FF Fpublishing direction and range infoɰD>鰥> ) CIy\sBEä?|ӄ{ٱ=i=?MX=YQU>aDCy:}>In4?^@־ a@ ?9 B: U:)WWX XW:W!2W!*W!V!bU!BU)*U)U)U-@P9*Q=\sBZQ=FoHN@;JQ=Eä?|ӄ{2Q=:Q9bQ=̆/8n7@U=L@)sr??RQ= å?lX&?ck?BQ=t? Q=`BQ=qAP=9?P=9?P9Q=OQ=@"Q=;@B-w$<B1 B1A5>*B1A5`A1A9A=%<"CU#?RCUW4>CQCYeiAaօ>yIGd>|NQq,v>EEAY}66?}6am?y}6V;}6+u}6H@?do̿`=?=?`K?*yZο +?)~66? ~6 6_;I~6Cɫ髱) IY{@y{G]DNmea in: $SNTTA,,,,,005756.88*5F UMb?V-?:v?U#?Um= UT<)QIQyUK7?y&1{Gz?U)?U`U#< U@)UAIUAiUMAQUA-Ponly read 0 of 1 data item for BIT error @ @ @oM0=YV1QU>aDCy}>I4?,0־ @ ?9B2; 1;)m-qAdded new target pos. range: 60.840000 m, bearing: 67.346335 deg, deltaT: 4.444578 s, approachRate: 0.080997 m/s, LOS rate: -2.276591 deg/s, posRepo size: 4IMjAUC>9UvCIQiQU=QQU; UE)Ii჉==5mE ProNav: pos range: 60.840000 m, bearing: 67.346335 deg, approachRate: 0.080997 m/s, LOS rate: -2.276591 deg/s, cmd update: -6.829774 deg/s, cmd heading: 77.464823 deg, new cmd heading: 77.464823 deg. WE?WAXA XIWI:WQ2WQ*WQVQbUYBUY*UU kN@U Z?B<B BA>*BA#GAAAK<"C ^?RC El=C?Cpu>׹IG>%%t%t% %3:Y%M1y%:%5)%;IUQq,YXEEAY}B?}B?y}B?\;}Bv}BH`? H̿m?2?@0?|y οP?)~B? ~B*_;I~BݖCɫQY)Y YIYY@yzGU~`MUa=Y]9QU]>YaaeDe@CaymI}m>Iq }:u4? }:u#־ u@ ?9u"Bu: ub:)u:Wu?WX XW:W2W*WVbUBU*UUU\?Bs<B BAq>*BA8AAAD<"C?RC;Cu?CQ>-?i-?I G-->[Qq,cGrEEA|(i|(Y}F[?}F65?y}Fv;}FՅy}FHM?@DB6̿=?y?&2?@ο` ?)~F[? ~Fe_;I~FߖCɫ髉) IY @y {GI))-A   õ/]>õõϾiõ@ñ ĵ@)ĵ+@Iıiĵd@w<MC=YH;QU>aDvCy}>If4?{־ ۢ@ ?9B: ӻ:)W?WX XW:W2W*WVbUBU!*U!U!U%e?BU<BQ BQAU>*BQAU}$AYAYA]<"Ce-?RCetKCe?Ci u=u=֥vh5>qIG=>[ {{  ;:Y#R1y:m59@E =>9A IE wGiE K@E =A E DE ; E EbQq,$ EEAY}2ȳ?}2?y}2u<}2 y}2HP?dt˿I?@G? ?ں?.` ο`?)~2ȳ? ~2cc_;I~0ɫ99)9 =I9Y@yzG= M=U=Y=\;QU=>AAaEDECIyMʅ}M>IQ ]:U 4? ]:U־ U@ e?9U3BU: U:)U:W2?WX XW:W2W*WVbUBU*UUUG ?Bv<B BA>*BAAAA<"CL?RCmbC2?Cs&4>סIGF>`iQq,EEAY}:z?}:TP?y}:ک<}:&u}:H`?17'˿??? (uYο@?)~:z? ~:]x_;I~:ۖCɫ99)9 =I9Y}@y}zG)-= )UI<M]H=Y].:QU]>aaaeDeCaymrR}m>Iqu*4?uվ u@ }?9uBu: u:)qW?WX XW:W2W*WVbUBU*UUUG@B.<B BAӶ>*BA7AAA%<"Cy?*CRCսC?CJ%>IiA)hAIG'>MMqMqM M2:YMK1yM̅:M52oQq,@EEAY}2?}2?y}2 <}2Kn}2H?@ʿ?@6?ͻ?@p]Ϳ"?)~2? ~2_;I~2ޖCɫYY)Y YIYYb@y:zGp=i=ʡE?ʡE?X9v>= )Iy?I +?~jtxf&?94<Ļ ½@)½7AI½Ai½A3A>Q8i@ ۭ@)h@Iih@%ּM%>=Y-QU->11a5D5C9y=1}=>IA M:E6"4? M:Eվ E@ U?9EMBE: E#:)E:Wue?WqXq XqWy:Wy2Wy*WyVybUBU*UUU g@B郱<B BA >*BA 'غAAA-<"Cb?RCͽCe?C<>>9uCIvGi@=; E֭ =ׁIG=> ,> i1 IA iY (vQq,EEA>Ͽٺ<>;AY}Z٩?}Z?y}Z9;}ZUa}ZH=?SDȿ`3? .p??x˿`O:?)~Z٩? ~Z͍^;I~ZݖCɫ髉) IY[@y1zG!M_=YٻQU>aDACyFԽ}>In+4?վ ɢ@  ?9ǰBM: :)W-ҁ?W)X) X)W):W12W1*W1V9bU9BU9*U9U9UE@RMB*** querying acoustic contact ***PIPIBmZ?<Bq BqAu>*BqAuv AyAyA}X<"C?RC*սCҁ?CU_ =I!GM>tt 11:YM1y:H5D|Qq,XtEEAY}J?}JӇ?y}J;}JQ}JH!9?`:ƿ@?~?ܺ? | ɿU?)~J? ~Jq^;I~JܖCɫYY)Y ]IYY@yyGZ****** received transponder code query ******F****** received ping request ******-н-Ļi-@) -Q@)-Q@I)i-@=:M=8=Y=2;QUE>AAaEDEzCIyU!}U>IY]64?]վ ]@ e?9][B]: ]:)YWv?WX XW:W2W*WVbUBU*UUUkF @B%r<B! B!A%>*BIAMRAIAIAML<"CU ?>9 I |vGi W@ #= ; H/Qq,[ FEAY}Bڥ?}B~?y}B2<}B@}BH?@BĿ ?N?Y?[@ǿvn?)~Bڥ? ~B^;I~BޖCɫQQ)Q ]IYYS@y(zGxDUSBL response received:!U1,P 06C,000,00667,186,80,80,8A,FF Command AckBRequesting micromodem ping code 2iI)AI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 m=M_=Y%-9AaMDCy}>I1 E:5A4? m:5վ 5i@ u?95B5>< 5<)5:Wuh?WyX XW:W2W*WV bU BU *UUU@ @BQ<B BA>*BALA9A9A=A<"CMdl?RCMux<CMh?CQuX% %y%y%1 %4:Y%P1y%':%#5)%|;95IIQGu>[Qq,='FEAY}:?}:?y}:G<}:2*}:HT2?`jBy?`ԗ?&?w0?HQ?ſ*?)~:? ~:W];I~:CɫQQ)Q UIQY@yyGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M@=Y*faDCy2}>IFL4?>վ -@ ?9cB: :)W 3]?W X  X W :W 2W*WVbUBU*UUUG@BE̿<BI BIAM>*BIAMAIAQAUo<"C]Ђw?RC]zK=C]3]?CYeAIiG9>>Qq,AFEAY}2s?}2N3?y}2<}29}2H`h-?p`? ? L?sN¿?)~2s? ~2\;I~2ݖCɫYY)Y ]IYY}9@y}zGxDUSBL response received:!U1,R,114,000,00665,186,80,80,5C,FF Fpublishing direction and range infoϢvɰ>鰁 )BIyrB 2?iCοٱ-x?Zd;O:v-K?-j< -Լ))I)y-V-?/$T㥛 ?-?--= - @)-AI-Ai-A)-AE =EƋ>E#>iEf@A Eη@)E@IE@iE@u<Mu?=Y}pyaDCٕhAٕhAܙ9ܙIܝvGiܝ@ܝ$=ܝSDܙܝ; ݙy:}>I :Z4? :.վ @ ?9B: :):W%rzP?W!X! X!W!:WA2WI*WIVIbUIBUQ*UQUQUU @P*QrBZQ?{M@w,JQ 2?iCο2QϢv:QbQX1E@_E@&{X?RQ=?SA1?&9և?BQ\bM? Q.BQ(BP:9?P9?PaQQ@"Q@BEĝ<BI BIAM~>*BIAUp.AQAQAUky<"C]a^?RCV>CrzP?CxIhA)iA xx T:Y7P1y:F5);שIG>nQq,;ZFEA|,|,Y}n ?}nhB?y}n,<}n}nH ?GT?̇?oy?}.?)~n ? ~n[\;I~nܖCɫ) IY @y VyGuDNmea in: $SNTTA,,,,,005801.31*50 u=iu= ?8M Q=YIaDHCy<}%>I)-f4?-}վ -@ 5?9-gB-: -:))mmuAdded new target pos. range: 60.720005 m, bearing: 45.967378 deg, deltaT: 4.520756 s, approachRate: -0.026543 m/s, LOS rate: -4.729067 deg/s, posRepo size: 4mu ProNav: pos range: 60.720005 m, bearing: 45.967378 deg, approachRate: -0.026543 m/s, LOS rate: -4.729067 deg/s, cmd update: -12.000000 deg/s, cmd heading: 46.659871 deg, new cmd heading: 44.063491 deg. W}}*BA^AAA{<"CPO?RC;>C}Qq,VtFEAY}6T?}6.?y}6P=}6Q}6HH-?@_+ ? ??s t?)~6T? ~6s\;I~4ɫ99)9 =IAY}@y}ryG]]SC]Pi]=@Y ]@)]I]@i]h@m;MmV=YmqqauD}yCyy}` =}>Iȁ :Ņq4? :ŅƗվ ƅL@ ?9ƅBDž<: ȅ:)ȅ:W'?WX XW:W2W*WVbUBU*UUU?BG<B BAۦ>*BA^q9AAA<"CZ;?RC K>C '?C  #'IG&>%$ %w%w% %6:Y%O1y%P:%59%@ܕ A>9ܑ Iܕ PuGiܕ c@ܑ ܑ ܑ ܕ ; ݕ E)%uCI%uCi!%#=%!=%q6zQq,FEAY}6.x?}6?y}6H=}6 4}6H@d?&k)$?`L??LV|?)~6.x? ~6\;I~6ݖCɫYY)Y YIYY@yyGhA5<M=N=Y=Z;QU=>AAaEDECAyM=}M>IQU~4?Uվ U@ ]?9U^BU: U:)QW5~?WX XW:W2W*WV bU BU *U)U1U5[?B}<By BA>*BA:AAAD<"C*?RC >C5~?C֍<ו?iו?aIiG9>Qq,PrFEAY}2Z?}23?y}2t =}2T߸}2HL?SgpN??@̤?m`*?)~2Z? ~2k\;I~2Cɫ99)9 9IAY@yyGI)AI)AU9:M]H=Y]:QU]>aaaeDeCaym<}m>Iq }:uo4? }:uվ uv@ ?9uߴBu: u:)u:Wt>WX XW:W2W*WVbUBU*UUU@b?B]1<Ba BaAe->*BaAek!M:AaAaAmI<"Cx?RCCt>C%=I!GeV>-n ))- -<:Y)y)-H5Qq,SFEAY}2?}2Ǹ?y}2?=}2^&Y}2H}?Yf@r? `?z?%aDCyt;<}>I4?(sվ @  ?9mB: :)im<q9qIusGiu@qqqu ; uEW>WX XW:W2W*WVbUBU*UUU`?B <B  BA>*BAQ:AAA(<"CZ>RC!C%>CA%=IGI>Qq,(FEAY}:ig?}:B?y}:=}:VAW}:H?dc@Dw?]?d?&?68 ㊿?)~:ig? ~:[;I~:ޖCɫ99)9 =I9Y}2@y}xG=AIaMDMGCIyU }U>IY]4?]fվ ]o@ e?9]B]: ] :)YWT>WX XW:W2W*WVbUBU*UUU`@B<B BA>*BA:AAA%<"C>RCCT>C<>IiA)hAIG&>vv  /:YN1y:5Qq,FEAY}2?}2֊?y}2q%=}2`ۼ}2HJ?@LCsE??汨?@Ŭw@^?)~2? ~2t[;I~2ݖCɫ99)9 =I9Y}+@y}wGiI=)=   `eip@ &@)@I@i@ǦMO=Y;QU>aDyCy|}>I  : 4? : Yվ @ ?9 rB ; +;) :W=ۧp>W9XA XAWA:WA2WA*WIVIbUIBUI*UIUQU``(@RB*** querying acoustic contact ***PPB=O<B9 B9A=>*BAAEQ:AAAAAE<"Cmš>RCiCuۧp>Cqe>9IIGeV>=i=u @>9q Iu rGiu *@q q q u ; u EQq,GEAY}2i?}2X?y}2"B/=}2^8}2HLh?&qē?K?6?@楿 2?)~2i? ~26[;I~2ޖCɫII)I IIIY} @y}XwGZ****** received transponder code query ******F****** received ping request ******aDCy<}>I  4? Lվ V@ ?9 B {; ;) WM>WIXI XIWI:WI2WQ*WQVQbUYBUY*UYUYU] F @B*<B BA>*BA:AAA"<"C⿀>RCC>CU,>imGIiпٺAaIyG;>!%w%w% !Y%O1y%P:%5)%;9-Qq,,)GEAY}2A?}2O?y}23=}2Dz}2H`?ڣ` ? ?fJ?n r?)~2A? ~2T[;I~2ܖCɫ99)9 =I9Y}@y}vGxDUSBL response received:!U1,P 114,000,00665,186,80,80,5C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 DӼMK=Y(;QU>aDCygļ}>I :4? : ?վ @ ?9B: :):WM=WX XW:W2W*WVbUBU*UUU`! @BmAĖ<Bue= BqAu9>*BqA})k;AAA<"CmV>RCqCuM=CUS>U?iU? I G5 >Qq,CGEAY}2?}2Ȇ?y}27j4=}28 }2H? z! =?rP??i@f@?)~2? ~2K[;I~2ۖCɫII)Q QIQY}@y}vGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I) S?y&1+>`e )Iy|?5^?~jt~jt?-?< @)hAIAinAA9IqGi@-; EÅAÅ3?Åh>iÅ@Á ąE@)ąf@Ią@ią@;M0=Yf9QU>aDCy 7ۼ} >Ir4?0վ @ ?9%Bӻ: 4:)W]@WaXa XaWa:W2W*WVbUBU*UUU}(@B2p<B BAv>*BA ;AAA <"C =RCC@CE"y>I!GMt> ss p:YM1y:$5)\;Qq,p]GEAY}6n?}6j?y}6T1=}6|}6H+I?@Emu@ς?@ ??(B־?)~6n? ~6[;I~6ܖCɫ99)9 9I9Y]o@y]^uGexDUSBL response received:!U1,R,428,000,00661,18A,80,80,95,FF mFpublishing direction and range infoe+maɰe>e> a)eCIayeqBer3+?]ٱa5UM=f=Y= QU=>AAaEDEICIyM@E}M?Iq }:u4? }:u%վ u@ ?9uBub: u:)u:Wr@WX XW:W2W*WVbUBU*UUU@P*QqBZQ?NB@"h6HJQr3+?]2Q+m:QbQh M@vHt@9C$@RQ;e?9˩U ?MI.ۗ?BQy= Q@QoBPm9?P:9?PQaQ8&A"Q@B]w<BY BYA]c>*BYAe;AaAaAe <"Cm_RCCr@Cm>!I1GM1>V2Qq,YwGEAY} b?} :Ձ?y} r*=} L} H@?9%?&?¸?L5¿`?)~ b? ~ @[;I~ ݖCɫ) IY-@y5MtGDNmea in: $SNTTA,,,,,005805.75*54 "[ҽ#iQ@ @)3@I3@i3@ M>=YQU>  a D Cy Q}>I4?:վ @ -?94B: H:)m]qAdded new target pos. range: 60.480003 m, bearing: 6.531743 deg, deltaT: 4.392611 s, approachRate: -0.054638 m/s, LOS rate: -8.977720 deg/s, posRepo size: 4m ProNav: pos range: 60.480003 m, bearing: 6.531743 deg, approachRate: -0.054638 m/s, LOS rate: -8.977720 deg/s, cmd update: -12.000000 deg/s, cmd heading: 353.870297 deg, new cmd heading: 348.799085 deg. W `@W!X! X!W!:W!2W)*W)V)bU)BU1*U1U5p=N@U5 f?Ben~<Ba BaAeG>*BaAm"#;AiAiAm<"Cu0c̽RCqCu`@CyёԡԥiAi vv 2<:YN1y:9%@֡I׭hA)ש B>9 I toGi @ %= =; Eס I G >Qq,c&GEAY}:e ?}:y|?y}:n"%=}:g4}:H@x?`i 꿿ҭ?,?@Ƞ?`ߢ?vƿ z?)~:e ? ~:}\;I~:ܖCɫ99)9 =I9Y}<@y}sGi=I=)uܼMuT=Y}\QU}>yaDCy }>Iȑ :ŕ4? :ŕM վ ƕ@ ?9ƕBǕ: ȕ:)ȕ :W"8@WX XW:W2W*WVbUBU*UUU@?B-¾<B1 B1A=K=>*B9A=:+;A9AAAEh<"CM4RCQCU"8@CY-2g=IGj>AQq,\GEAY}2G?}2t?y}2=}2M}2Hj?@j¿#?)?`غ?,BɿT?)~2G? ~2w^;I~0ɫYY)Y ]IYY@y@sG#MI=YLQU>aDCyI}>IO4?Ծ ʢ@ 5?9LB; f;)W*P@WX XW:W2W*WVbUBU*UUU ?Bmg<Bi BqAu,>*BqAu n5;AqAqAu <"C}։RCC*P@Cѽ{===t=t=  =3:Y=M1y=:=65?΅>ס I G >(Qq,GEAɫ髙) IY{@yrGA>9IHnGi@$=A; E)QIQiQU$=U$=U4K7?L7A`?v/?I ?+= xi=)IyQ?~jtx?Q?(?;u< @)@I AiMA@m&1m\=miii m@)m@Imd@imߣ@}rM}<=YQU>aDCy}>Ișŝ4?ŝԾ Ɲ@ ?9ƝۺBǝ: ȝ:)șW@WX XW:W2W*WVbUBU*UUUK?Bof<B  B A 9%>*B A >;AAAC<"CRCC@C)))) ) == > ?i ~? I G >SQq,GEA|i|@Y}6?}6|e?y}6=}60o}6Hr?} X8ĿN? |8?'? O>TͿ?)~6? ~6_;I~4ɫ99)9 =I9YW@yqGI9)9uxŽMu]=Y}&QU}>yaDMCY@@@yi'}>Iȑ :ŕC4? :ŕԾ ƕ|@ ?9ƕXBǕ: ȕ:)ȕ :W@WX XW:W2W*WVbUBU*UUU{@BF<B BA>*B A $D;A A Ad<"CݾRCC@Cֽ>׹IGh>I)% %x%x% %>:Y%7P1y%:%5}Qq,`GEAY}:I?}:B4^?y}:r=}:rv}:H[? ,JĿ`ef? ?@??`> }ο`a?)~:I? ~:d_;I~:ߖCɫ99)9 =I9Y}@y}pGu9u=u=iu@q u@)qIu@iu@|?MI=YqQU>aDCyu}>Iȡť+4?ť(Ծ ƥV@ ?9ƥBǥ; ȥ;)ȡWcW@WX XW:W2W*W V bU BU *UUU h@B=+<B9 BAAEm=*BAAEI;AAAAAE<"CURCQCUcW@CQE>I)GEQ>9ImGi@RD;; EdRq,LnHEAY}2ؗ?}2`W?y}2S=}2w~}2HJ?UzĿP?`o?U?n vϿ?)~2ؗ? ~2q_;I~2ݖCɫYY)Y ]IYY@ypGûMX=YQU>aDCy}>I :b94? :Ծ 4@ ?9aB: :) :W ײ@W X  X W:W2W*WVbUBU*UU!U%c@R-B*** querying acoustic contact ***P)P)B,<B BA =*BAnCO;AAA,<"C%*RC!C-ײ@CQ]jA]jAE?΅>II)I!I1G]T>%%v%v% %*:Y%N1y%:%65)%;9- Rq,(I,HEAY}2]?}2jQ?y}2b =}2 l}2H ? Ŀ]?? (?㺡 п`?)~2]? ~2R`;I~2ޖCɫaa)i mIiY@yoGZ****** received transponder code query ******F****** received ping request ******aDCyZ}>II4?Ծ @ ?9B= =)W@WX XW:W)2W)*W)V)bU1BU1*U1U1U5+ @BmF <Bq ByAp=*BA+nT;AAAV<"CR3RCC=@CIM >) I1 GU >vRq,$FHEAY}:?}:bL?y}:1=}:c}:H`R?@bVĿ`k?g?̢?@t%P[п?)~:? ~:b;I~:ۖCɫ99)9 =I9Y}@y}nGxDUSBL response received:!U1,P 428,000,00661,18A,80,80,95,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ٕiAّܽ?>9ܹIܽTlGiܽ@ܽ#=ܹܹܽ6; ݽEq= ףp?+η?{Gz>v= #)Iy|?5^?Mb`{Gzt?2?ף; @)K#AI Ai-Az AĽC iQ@ I@)3@Ih@iI@Ml|M]=YeQUm>qqa}D,Cy, }>I :_4?  :Ծ ȡ@ ?9Bea< H[<) :W^3@WX XW:W2W*WVbUBU*UUU@\@--x-x- -0:Y-7P1y-:-5)-Í;B~;B BAI=*BAW;AAAs<"CM Nim nGI i RC "ӿٺ AC ^3@C IIQGu>Rq,ndHEAɫ髱) IY@y)nGɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Mi=YQU?aDYCy}?Iȩŭm4?ŭԾ ƭ@ ?9ƭ-Bǭ: ȭ:)ȩW@WX XW:W2W*WVbUBU*UUU@BL;B BA =*BAeY;AAA<"C"\RCC@CIG=/>SRq,T;~HEA|i|@Y}60?}6@?y}6<}6@}6HV?J1[Ŀ?1r?@?–XпD?)~60? ~6b;I~6ږCɫ99)9 =I9YuM@y}mGxDUSBL response received:!U1,R,502,000,0065D,189,80,80,96,FF Fpublishing direction and range info}f3yɰ}r>}7> y)}CIyy}pB}w?amf-ٱy 99-R}iz@ @)@I@iyMF=YظQU>aDCy9}>I :S4? :Ծ w@ ?9B : z:) :W%O@W!X) X)Wi:Wi2Wi*WqVqbUqBUq*UqUyU}@P*QpBZQP:@X=KJQw?amf-2Qf3:QbQpK|K@,b4yn*@RQLRJY?5WDտ)?BQ5@ Q%Q\BPe9?Pm9?PQQ[A"Q8&AB-M6;B) B)A-<*B1A5 [;A1A9A=m<"CmHrRCiCmO@CqסIGC>e<>9aIejGieѾ@e!=aae@; eEww /:YO1yP:5);%Rq,HEAY}F y?}F:?y}F2U<}F}FH?(ÿ`A?@?q?l`;пa?)~F y? ~Fn2c;I~FݖCɫ髑) IYT@ymGeDNmea in: $SNTTA,,,,,005810.19*5A ;MO=Y?NQU>aDCy}>Iȱŵ4?ŵԾ Ƶa@ ?9ƵNBǵ: ȵI:)ȱmyAdded new target pos. range: 60.240002 m, bearing: 340.083233 deg, deltaT: 4.535099 s, approachRate: -0.052921 m/s, LOS rate: -5.831957 deg/s, posRepo size: 4m ProNav: pos range: 60.240002 m, bearing: 340.083233 deg, approachRate: -0.052921 m/s, LOS rate: -5.831957 deg/s, cmd update: -12.000000 deg/s, cmd heading: 299.568472 deg, new cmd heading: 294.829252 deg. W驤@WX XW:W2W*WV bU BU *U U`N@U`D?B=;B9 B9AE=*BAAE\;AAAAAEM<"CMu"RCQCU驤@CQIa)a!I1GM>G+Rq,HEAY}Rsr?}R2?y}R)T<}R1}RH?Sÿ 0?~?? `<Ͽ`?)~Rsr? ~Ra;I~Pɫ髙) IY@y!mG{=rh>i@ @)@I@i@)M7=YQU>aDCyI}>I  :4?  :BԾ S@  ?9B0: :):Wꍡ@WX XW:W2W*WVbUBU*UUU`*?Bu8;Bq BqAu^V<*BqAl];AAA <"C{ RCCꍡ@C uu 5:YKN1yy:59@IGn>Q U <] :>9Y I] iGi] .@Y Y Y ] J; ] E-2Rq,[HEAY}6j?}6PD+?y}6!!<}6Q~}6H?xLࢍ¿?`H?q?N9 jvϿ`B?)~6j? ~6A`;I~6ۖCɫYY)Y ]IYY@y*mGI%R=)!`"?y&1~jt?>` <)Iy-?Q{Gz5?uף ­v@)­I©i­ AAz;M-\=Y-QU->11a5D5*C9y=}=>IAE4?ERԾ E@ U?9EgBEw: EI:)AWu@WqXq XyWy:Wy2Wy*WyVybUBU*UUUIZ?B :;B BA,e<*BAF^;AAA5<"CkWRCC@CIG%>i=8Rq,wHEAY}:'b?}:l#?y}:c<}:I+}}:Hv? p@@g?? O?@e쀿RϿ?)~:'b? ~:sE`;I~8ɫ99)9 =I9Y}@y}KlGUkM]T=Y]pQU]>aaaeDeZCaym(}m>Iqu4?u|Ծ uϠ@ }?9uBu4: ub:)qWƘ@WX XW:W2W*WVbUBU*UUU@(S?BF^;B BA*BAAAA;<"CNRCCƘ@C ?i ?IG>ww  ,:YO1yP:65"?Rq,R|HEAY}2EU[?}2?y}2jD<}2}}2HA?qm$SJ? tk?`9R?@(eϿ ?)~2EU[? ~2`;I~2ݖCɫ99)9 9IAY]@y]kGI)$>;=i@ ߣ@)ߣ@Iiߣ@%M%N=Y%{vQU->))a-D-Cy}>Iș :ŝ4? :ŝ#uԾ Ɲ@ ?9Ɲ_Bǝ: ȝ4:)ȝ:Wٙ@WX XW:W2W*WVbUBU*UUUz?BMQh\;Ba BaAe޿*BiAm& ^;AAAM[<"CծRCCٙ@CIG$>9tCIhGi:@#=DH; E)ݙIݙiݙݝ#=ݝ#=ݝ5 FRq,[IEAY}6=T?}6ª?y}6<}6~}6H?`d`D?`??`򸀿`lϿ ?)~6=T? ~6c;I~6ߖCɫ99)9 =I9Y]4@y]>kG MM=Y.5:QU>aDCy 䒽} >I4?nԾ I@ ?9Bw: :)WELC@WAXA XAWA:WA2WI*WIVIbUIBUI*UQUQUU@B}kW;B BAr*BAP];AAAu<"C "RCCLC@C)I1GU>I%AA)!  5:Yy54LRq,23IEAY}6 |M?}6 ?y}6y;}6\Y}6H4?^ȿ ?'S??)@TϿ?)~6 |M? ~6rb;I~6ږCɫ髡) IY;@yGkG)-@A]پ]t]=i]@Y ]Ȣ@)]Ȣ@I]@i]Ȣ@m;Mu5=YuUQUu>yya}D}Cyo}>Iȉ :ō`4? :ōCfԾ ƍ@ ?9ƍhBǍ: ȍ:)ȍ:W8@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB ω ;B  BA.d*BA|\;AAA7<"CĿRCC%8@C!I5iA)1!I1GM1> 9 I hGi @ $= SD  Q;  ESRq,EMIEAY}NHBG?}N?y}N;}NM}NHݛ?@m߿ƾt-?`??5yϿ`?)~NHBG? ~Nb;I~NؖCɫYY)Y ]IYYɾ@yjGZ****** received transponder code query ******F****** received ping request ******aD/Cyn} >I=4?\Ծ @ ?9B: I:)W]b@WYXY XaWa:Wa2Wa*WVbUBU*UUU` @B5.:B BA*BAEsZ;AAAIAMD<"CUпRCQCUb@CYיIGg>5115  55+:Y1y1565)5&;9=FYRq,fIEAY}6A?}6>?y}6؍Z;}6}6H K?'޿\?C?`O?Qk п?)~6A? ~6aWb;I~6ږCɫYY)Y ]IYYyxDUSBL response received:!U1,P 502,000,0065D,189,80,80,96,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)=Y-QU5?AAaMDM\Cykt}>I -:S4? -:TԾ @ ]?9lB< H<):W푎@WXI XIWQ:WY2WY*WVbUBU*UUUʣ @%=i%=BY:B BA*BA.`Rq,ĀIEAY}6;?}6 Y>y}6Ï}6}6H O?`ܿ `'?@g?k?`5?пj?)~6;? ~6Nb;I~6ܖCɫ99)9 =I9YC@yjG鮡ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B eFeaDCy>n}>IȑŕM/4?ŕLԾ ƕ@ ?9ƕBǕ: ȕǺ:)ȑWR@WX XW:W2W*WVbUBU*UUU @BlB BA5*BA~oW;AAA<"C RCCR@C ?i ?IG (>ܱ9ܱIܵ@gGiܵ@ܱܱܱܵO; ݵE 0:Yy5) ;i nGI i E ȿٺA M SAYfRq,ۢIEAY}B-5?}B>y}Bք}B?}BH`Q?ۿwm#?`?c?@њp? ϿN?)~B-5? ~BLb;I~BږCɫYY)Y ]IYYyxDUSBL response received:!U1,R,502,000,0063F,189,80,80,B7,FF Fpublishing direction and range infoɰ>鰙 )7CIyiBw?amf-ٱI)YQU>QaUDUCYy]h}]>Iae A4?eDԾ e@ ?9emBe; e,;)aW@WX XW:W2W*WVbUBU*UUU@P*QiBZQh]Ն9@HJJQw?amf-2Q:QbQBJ6F@/1fA/w*@RQ>:=l?Ÿ ?BQq@ QQ 6BPR9?Pe9?PQQnA"Q[AB9B BA*BA!U;AAA<"CRCC@CIG$>ylRq,IEAY}M$/?}M>y}M }M;}}MH?`?ڿ`V.??F?@M~?]Ͽ ?)~M$/? ~M۟b;I~MܖCɫqy)y }IyY@yiGTNmea in: $SNTTA,0.239496,,,,005814.70*4C !!B`"?1Zd?~jtx>"= Ļ)IyV-?{Gzy&1?-?#`e< )'AI AiEA3AÍÍ<Í`e=iÍ@É č@)čt@Ičičt@MaDCy@I}>I :Z4? :=Ծ j@ ?9B; ;):m%yAdded new target pos. range: 58.440002 m, bearing: 323.082974 deg, deltaT: 4.423905 s, approachRate: -0.406880 m/s, LOS rate: -3.842817 deg/s, posRepo size: 4m ProNav: pos range: 58.440002 m, bearing: 323.082974 deg, approachRate: -0.406880 m/s, LOS rate: -3.842817 deg/s, cmd update: -11.528452 deg/s, cmd heading: 246.364814 deg, new cmd heading: 240.623402 deg. W@WX XW:W2W*WVbUBU*UUR8M@U?IE@A)EAAB0A+9B BAG*BAQ;AAA{<"CGRCC@Cuqqu  u.:Yqyqu659}@IG>ٙ ٙ ܥ ;>9ܡ Iܥ fGiܥ @ܡ ܡ ܡ ܥ R; ݥ EksRq,XIEAY}2)?}2>y}2W$}2M}}2H R? mؿ@_?zv?@8?ߊ?VϿ>?)~2)? ~2zb;I~2ږCɫAI)I MIIY})@y}iG7;M~=YQU ?!!a%D%*C!y-;}- ?I15k4?5w9Ծ 5@ E?95B5: 5:)1We4}@WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqU}/?B8QB BAB*BA/P;AAAP<"CURCQCU4}@CQׁIG>%yRq,<1IEAY}6S!?}67>y}6uB}69*|}6H3?` ׿@x?d?@xc?N?h3Ͽ@N?)~6S!? ~6b;I~4ɫ99)9 =I9Yp@yiG9i===C=i=R=]v`M]F=Y] QUe>aaaeDe_Ciym-}m>Iq }:u4? :uY4Ծ u#@ ?9uBu(: uV:)u:WՁ@WX XW:W2W*WVbUBU*UUU0?B2ߺB BAQ*BAeL;AAA= <"CRCCՁ@CiIG!>UUvUvU U/:YUN1yU:U5|Rq, JEAY}2H?}2>y}2^W}2$z}2H0?`Kտ񊸿C%?)???YϿ ?)~2H? ~2b;I~2ܖCɫ99)9 =I9Y}t@y}iGIR=)%=]}]D<] =i]=@Y ]@)]@I]ߣ@i]@m:MmI=YuMQUu>yya}D}CyZ}>Iȉō44?ō/Ծ ƍ@ ?9ƍBǍ: ȍ:)ȉW\n~@WX XW:W2W*WVbUBU*UUU?BDB BAd*BAH;AA A <"C RCC\n~@CIGm>U<>9QIUxfGiUS@U%=QQU=; UE9i==Rq,2JEAY}27??}2Y>y}2j}2z}2H W? ~ӿn0O?y? ? B?Ͽ ?)~27?? ~2\c;I~0ɫYY)Y ]IYY@yIiG5 M<M=N=Y=tAAaEDECAyM }M>IQ ]:U4? ]:U+Ծ U@ e?9U*BUs: U^:)U:W_y@WX XW:W2W*WVbUBU*U!U!U%*@BMBU< BQAU5*BQAU0E;AYAYA]Fc<"CeBRCaCe_y@CaIIaG}> /:YWU1y:r6ԌRq,5JEAY}% ?}%N>y}%+}%rM{}%H?uѿ:w?@?4?p?:Ͽ ?)~% ? ~%Zc;I~!ɫII)Q UIQYH@yhGI ) I)?zG?{Gzt?f&? = ף;)Iy rh?{Gz?aD%C!y-}->I154?5&Ծ 50@ =?95B5Ǻ: 5:)1W[s@WX XW:W2W*WVbUBU*UUU%@BmBi BiAm*BiAu`@;AqAqAu<"CtRCC[s@CױIGe>9 = jAA 9A IE fGiE @A A A E :; E E)ՊtCIՊtCiъՊ$=Պ%=Պb4ȓRq,eOJEAY}N-?}NS>y}Nl}Nmy}NH$?п >bs??@8?I? ο` ?)~N-? ~Nc;I~NݖCɫ髙) IY@@yhGAA /Mr=YQU?aD-C y g}?I :24? %:Q"Ծ Z@ %?9>B: (:):WEn@WAXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU]@%u@ReB*** querying acoustic contact ***PaPaBKB BAZ*BAk=;AAA<"CRCCn@CqIG>I%AA)%@Azvv #):YN1y:75)[;9Rq,yiJEAY}2a>}2zv>y}2Zݜ}2y}2H`?wͿ`Y^ ?`1?6z?\?4ο` ?)~2a> ~2c;I~2ۖCɫ99)9 9I9Y}@y}`hGZ****** received transponder code query ******F****** received ping request ******aD`Cys}>I  4? EԾ @ ?9 B < <) WupPi@WyXy XW:W2W*WVbUBU*UUU   @BS:B BAk*BA8;AAA*<"C 3"RCCpPi@C@o=ױIG> ˠRq,SJEAɫyy)y }IyY@yhGxDUSBL response received:!U1,P 502,000,0063F,189,80,80,B7,FF Command AckBRequesting micromodem ping code 2i=i==i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 í>íZíV>ií=@é ĭߣ@)ĭt@Iĭ@iĭ@}<M/=YQU>aDCy}>I 4?AԾ բ@ ?9oB6-;9Ii3; E H!;)W.?c@WX XW:W2W*WVbUBU*UUUh @B*BQ BQA]*ByAT3;AAA<"CZ(RCC.?c@C Z v:Yy5); *< I G >}2ڨ@>y}2o}23}2H`pm?@ƿ@+=G?:?<?@ϖ?@+Ͽ`?)~2y> ~2c;I~2ٖCɫ99)9 =I9Y}@y}hG鮁ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IC=)C=M`=Y QU>aDCy}?Iȹ :Ž/4? :ŽzԾ ƽ@ ?9ƽBǽ[: Ƚg:)Ƚ:W"_@WX XW:W2W*WVbUBU*UUU?%@B5j~B1 B1A5**B9A=/;A9A9A=N<"CE+RCACE"_@CIQQ)Q Q==i=a=ױIG>a"Rq,JEAY}5>}5$>y}5Aļ}5~ }5H?ÿ^G?b??@?Ͽ?)~5> ~5ad;I~1ɫ) IYU#@yUhG]xDUSBL response received:!U1,R,365,000,0062D,189,80,80,8B,FF ]Fpublishing direction and range infoU"BQɰU>Q Q)U CIQyUpeBU\Q\/;?i-ٱQM?y&1n? `)IyuV?V-?Mb`?r(?<; @)~*AIizAAåM⾩å|?åiå@á ĥ@)ĥ@Iĥiĥ@;M-=YhQU>aDCyj}>I54?Ծ 1@ ?9B4: :)W Y@WX XW:W2W*WVbU BU *U U U@@P!*Q%peBZQ%^I*D@ NCJQ%\Q\/;?i-2Q%"B:Q!bQ%Ky ~G@1w?M81ʩ%@RQ%^c3;6?E/U<_+?BQ%]@ Q%Q%;BP%]9?P%R9?P%Q%Q%A"Q%nABU#BQ BQA]¢*BYA]*;AaAaAe<"Cm1RCiCm Y@CiqIG_>     z.:Y y  759@ =>9 I i E Rq,#JEAY}f>}fZ8 >y}fѼ}fm}fH?s@M`{?o? &?U1?@Ͽ`?)~f> ~frd;I~fۖCɫ) IY5@y5hGDNmea in: $SNTTA,,,,,005819.15*5F I)8M^=YQU>aD6Cy}>I :@J4? 5:zԾ T@ U?9BimmG< <):IieĿٺAmuuAdded new target pos. range: 57.360001 m, bearing: 326.525062 deg, deltaT: 4.510828 s, approachRate: -0.239424 m/s, LOS rate: 0.763072 deg/s, posRepo size: 4m ProNav: pos range: 57.360001 m, bearing: 326.525062 deg, approachRate: -0.239424 m/s, LOS rate: 0.763072 deg/s, cmd update: 2.289217 deg/s, cmd heading: 194.316852 deg, new cmd heading: 189.521823 deg. WZ@WX XW:W2W*WVbUBU*UUL@U@?B?B BA*BA&;AAAe<"C6RCCZ@CIGj>O1Rq,}:1=y}:⼙}:}}:H ? ո@Dc`u? ?{?`(U? ,п8?)~:1> ~:Yd;I~:ٖCɫ99)9 =I9Y}V@y}hG II<M[=Y>QU>aDfCy7}>I  ^4? bԾ |@ =?9 B ; ?;) W[@WX XW:W2W*WVbU)BU)*U)U)U5?B}h[>By ByA}̕*ByA#;AAAn<"C8RCC[@CסIGA>IA)EAA55y5y5 5,*:Y5P1y5':5H5)Rq,EKEAY}2>}2L =y}2}2`~}2Hx? :먿=? O?~?@)|?tϿ`?)~2> ~2 Rd;I~2ݖCɫ99)9 =I9Y}ͽ@y}iG-r-=- =i-@) -@)-@I)i-l@u=MuM=Y}ЭQU}>yyaDCyb}>Iȑ :ŕCt4? :ŕ Ծ ƕ@ ?9ƕBǕ+: ȕ8:)ȕ:W[@WX XW:W2W*WVbUBU*UUU1-?BQB BAXp*BAc ;AA A n<"C9RCC[@CQIaG}>ܕ?>9ܑIܕxfGiܕS@ܕ&=ܑܑܕ=; ݕE@CRq,BvKEAY}2m>}2Fb=y}2}21y}2Hb?ꂧ ~A?t?E?>?@ο` ?)~2m> ~2\d;I~2ܖCɫ99)9 =I9Y}@y}hG=i1MP=YQU>!!a%D%C)y-熽}->I154?5) Ծ 5ܣ@ E?95B5=: 5I:)1Wex\@WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}r?B=_B9 BAAE*BAAE;AAAAAE<"C}& :*C}RCyC}x\@CׁIG>pRq, `8KEAY}^I>}^N ~^e;I~\ɫ髑) IY@ynhGI=)=}?5^I?/$Zd;OM>1 j<)IyI +?y&1|~jt?94?`< ¥@)¥'AI¡i¥A Aý=ý>ý=iý @ù Ľt@)Ľ7@IĹiĽ@ M/=Y iQU>aDCy r} >I :4? : Ծ @ ?9.B: c:):W.^@WX XW:W2W*WVbUBU*UUU`#@B TXB  B A *BA2;AAA<"C=R8RC9C=.^@CA1IAU=iU=e aae e3:Yayae5GuX>y y ܅ @>9܁ I܁ i܁ ܁ ܁ ܅ D܅ :; ݅ ENURq,,RKEAY}:+>}:#b:y}:r }:dy}:H)?@v~?`T-`@L?@? ?`?@ο ?)~:+> ~:7c;I~8ɫ99)9 =I9Y}#@y}hG<Mo=Y9QU%?!!a%D%2C)y-}-?I15̹4?5 Ծ 5@ E?95B5$: 5s:)1Wu _@WyXy XyWy:Wy2W*WVbUBU*UUU@BO~B BA¢*BA+;AAAq<"Cs}6RCC _@C)I1G]>cRq,lKEAY}2a>}2G+@y}2ӏ}2W|}2H ?x2?@ `}?`%U?ѡ?4Ͽ@?)~2a> ~2'c;I~2ږCɫ99)9 =I9Y}i@y} iG@AI)A<MP=YQU>aDdCy}>I 4?9 Ծ @ ?96B: :)W`@WX XW:W2W*WVbU!BU)*UIUQUU$@R]B*** querying acoustic contact ***PYPYBM4*B BA+*BA9+;AAA <"CA+2RCC`@C!I)GU2>mmvmvm m|,:YmN1ym:mn5DgRq,KEA|i|@Y}6ҪD>}6B@y}6Ky}6&~}6H?`r0?@Ƭ?:?..?}Ͽ@?)~6ҪD> ~6Rc;I~6ۖCɫYY)Y ]IaY߽@yiGZ****** received transponder code query ******F****** received ping request ******iiamDmCyz}>I! -:%^4? -:%D Ծ %3@ M?9%B%]; %;)%:W2a@WX XW:W2W*WVbUBU*UUU| @191I5fGi5@5%=1158; 5E)IiŃ%=ŃL4B BY BYA]g*BaAe ;AaAaAm<"CmZ/RCqCu2a@CqaIiG9>I]@A)YpRq,4KEAY}2(>}2a@y}2}2;,~}2H?@? ˍf??`R?lϿ?)~2(> ~2c;I~2ږCɫYY)Y ]IYY@yDiGxDUSBL response received:!U1,P 365,000,0062D,189,80,80,8B,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ᲼MP=Y-QU5>AAaMDMCayu=}}>Iȑŕ(4?ŕ Ծ ƕĦ@ ?9ƕaBǕ= ȕ=)ȑW%Gb@WX XW:W2W*WVbUBU*UUU @BUBQ BYA]"*BYA]E;AYAYA]<"CwR.RCCGb@C}}|}|} }*:Y}R1y}i:}5ׁIGj>Rq,$KEAY}: >}:X@y}: }:'{}:H? ν?8P?.e?`@?@% Ͽd?)~: > ~:Zc;I~:ۖCɫ99)9 =IAY}@y}MiGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i==5^I ?Pn?MbP=?=> =)9I9y=y&1?{Gz?=`%?=̼=#< 9)=&AI= Ai=$A99jaD Cy s} >I :4? :Ծ X@ ?9Bk: :):WE_Rc@WAXA XAWA:WQ2WY*WYVYbUYBUY*UaUaUey@Bp$)B BAH*BA@;AAAX<"C.*CRCC_Rc@CסIGA>) - <1 95 uCI1 i1 1 5 RD1 5 /; 5 E٣Rq,2vKEAY}2=}2@y}2H}2T|}2H?RI?Pzo șA?M?`?2Ͽ?)~2= ~2!d;I~2ږCɫYY)Y ]IYY}K@y}jGxDUSBL response received:!U1,R,277,000,00606,189,80,80,73,FF Fpublishing direction and range info} ɰ=鰁 )BIy\B+E?LfٱI=)4=B~=Mt=YQU?aD4Cy[}?I,4?Ծ ɧ@ ?9fB; .+;)W=?Ed@WAXA XAWA:WA2WA*WIVIbUiBUi*UqUqUu@P*Q\BZQCqG@0<JQ+E?Lf2Q} :QbQα%E@O5^A2!@RQ+?BXl2F?BQn]@ Q@Q,)BPY9?P]9?PQQlA"QABԓB BAe1*BAY;AAA<"Cu-RCC?Ed@C IG (>]=i]=mmvmvm m.:YmN1ym:m\5)m.;9uRq,XKEAY}f =}fl@y}f"$}f³{}fH@s? Z?^?C,ſ ?݊?9?-Ͽ[?)~f = ~fd;I~fۖCɫ) IY5@y=qjGDNmea in: $SNTTA,,,,,005823.60*54 = W>=D='=i=p@9 =Ȣ@)=Ȣ@I=@i9m3<Mm3=Yu-.QUu>qqauD}nCyy}~}>Iȉ :ōD4? :ōUԾ ƍd@ ?9ƍBǍ: ȍ:)ȍ:myAdded new target pos. range: 55.019997 m, bearing: 321.151725 deg, deltaT: 4.390205 s, approachRate: -0.533006 m/s, LOS rate: -1.223938 deg/s, posRepo size: 4m ProNav: pos range: 55.019997 m, bearing: 321.151725 deg, approachRate: -0.533006 m/s, LOS rate: -1.223938 deg/s, cmd update: -3.671813 deg/s, cmd heading: 204.358375 deg, new cmd heading: 205.319464 deg. Wob@WX XW:W2W*WVbUBU*UU@K@U?BB BA*BAY;AAA%ܹ<"C-.RC)C-ob@C)IGI>bSq,*LEAY}:DW=}:@y}:H&}:y}:H\?@ c?̀?ȿ f?E?Ѥ?οt?)~:DW= ~:vd;I~:ږCɫ99)9 =I9Y}a@y}:jGI)moMm]=Ym3QUu>qqa}D}Cyy\}>IȁŅ_X4?ŅeԾ ƅ@ ?9ƅwBDžb: ȅ:)ȁW_a@WX XW:W2W*WVbUBU*UUU@$?B)B BAH&*BA2):AAAV<"CY0RCC _a@C 9IgGiF@SD:; EIG>mamymym m$':YmP1ym':mI5)m;i nGI) iA m v¿ٺq u ASq,!LEAY}2<}2)@y}22 '}2t}2H*?k??̿o=?y?ߤ?@?ο?)~2< ~2-Od;I~2ܖCɫ99)9 =I9Y}e@y}?jG C:MO=YʌQU%>!!a%D%C)y-}5>I9=m4?=Ծ =k@ E?9=B=: =w:)9WIY_@WX XW:W2W*WVbUBU*UUU-?BeL\Bq BqAuo$*BqAu:AqAqA}<"C}m2RCCIY_@CׁIG>I]AA)Y Sq,:LEAɫyy)y yIyY@yjG> ףp=?ʡE?{Gz?> ף)IyK7?~jtS㥛?)?D/< ­@)­&AI­Ai­AAEE>E7iE@A EI@)E@IEߣ@iEߣ@U<MU8=YUQU]>YYa]D]Caye}e>Ii u:m"4? }:mԾ m7@ }?9mBm : ms:)m:W]@WX XW:W2W*WVbUBU*UUU?B5B BA*BAU:AAA<"C3RCC]@CIG&>mmvmvm/ m-:YmN1ym:m59u@ A>9 I hGi @ $= RD 0; ESq,TLEAɫ髉) IY@ykG==i9up<MuY=YyQU}>yaD9Cy}>Iȑŕ4?ŕ#Ծ ƕ@ ?9ƕBǕ.: ȕ:)ȑW] \@WX XW:W2W*WVbUBU*UUU\?BT,9Bkp< BA良*BA_W:AA A <"C5RCC] \@CשIG">Sq,nLEAY}J @}J@y}JVg#}JBu}JHp??V?`ޒӿ?u?k?``ο >?)~J @ ~Jc;I~JۖCɫaa)a mIiYw@ykGIE4=)EC=Õ`e=ÕM>ÕaDmCy:W}>Iȹ :Ž04? :Ž'Ծ ƽ@ ?9ƽBǽ|: Ƚ:)Ƚ:W)_Z@WX XW:W2W*WVbUBU*UUU@B@B-:B1 B1A5]ۻ*B1A5M:A1A1A=Bq<"C=7RCACE)_Z@CA)I1GU>]=i]=mmrmrm m.:Ym_L1ym7:m[5"Sq,2rLEAY}62@}6?@y}6#}6Kv}6H*?-?ĥ? 3տ`7?~?W~?ڌο`} ?)~62@ ~6Jc;I~6ٖCɫ99)9 =IAY}ӿ@ylGI<M[=YɹQU>aDCyK}>I4?,Ծ H@ ?9B: :)WsX@WX XW:W2W*WVbU BU *U U U 8>@RB*** querying acoustic contact ***PPBM:B BA*BAAAAj<"CBH9RCCsX@Cy9yI}hGi}:@yyy}+; }EסIG >-(Sq,MMLEAY}2M@}2[@y}2&}2z}2H`?u? ?`)ֿ?@?f?)Ͽ?)~2M@ ~2Qc;I~2ۖCɫ9A)A MIIY@ykGZ****** received transponder code query ******F****** received ping request ******aDCy%}%>I) =:-Y4? =:-@2Ծ -@ E?9-B-'; -K;)-:Wm W@WiXi XiWi:Wi2Wq*WqVqbUyBUy*UyUyU} @BB BA*BAAAA-<"C#:RCC W@CѥW.Sq,p(LEAY}2`\@}2j@y}2׃'}24z}2H`?r~?`? ؿ??`?ο?)~2`\@ ~2zc;I~2ٖCɫAI)I MIIYп@ykGxDUSBL response received:!U1,P 277,000,00606,189,80,80,73,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 5Q?MbPy&1|5?5 5`)1I1y5(\? aDC!y-}a}->I9=Y4?=:Ծ =T@ M?9=_B=*; =2;)9Iޅ@A)ޅ?AWcT@W!X! X!W):W)2W1*WYVYbUYBUa*UaUiUm@B!B! B)A)*B)A)A)A9AE<"CURI=RCYC]cT@Caq q ܅ B>9܁ I܅ iGi܅ .@܅ %=܅ SD܁ ܅ ; ݅ E) uCI uCi 4х zl?5Sq,LEAY}>f@}>gt@y}>m'}> y}>H; ?`2?@.? 1aڿ)? ,?`f@ ~>Uc;I~<ɫYY)Y eIaY!@yblG鮡ɮ4=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ( =M=Yk8QU?aDRCYC]S@CYaa)a a .:Yy5)Q;9ױIG>i;Sq,LEAY}e!@}e֏@y}ei}ev}eH%L?`w?ݳ?@ݿ]?C?`?ο ?)~e!@ ~eb;I~aɫ11)1 9I9Y~@ylGxDUSBL response received:!U1,R,138,000,005D1,185,80,80,77,FF Fpublishing direction and range info'gɰ=鰕+> )BIy\OBjWhM:?]^|5ѿٱ=i=O>xii\@ 3@)3@IQ@i3@<ME=Y;;QU>aDqC!y%}%>I)-4?-GԾ -@ =?9-VB-: -ӻ:))WeR@WaXa XaWa:Wa2Wi*WiVibUiBUq*UqUqUu@P*Q\OBZQH@I%+JQjWhM:?]^|5ѿ2Q'g:QbQ[.?B@ A@@RQN=J?: ,忬jTWk?BQ@ Q QBPT9?PY9?PQQz4A"QlABI;B BA;*BAh7:AAA<"C@RCCR@C׉IG">SBSq, MEAY}r@}r`@y}r}rt}rH?@?z?`L߿@? ?`?{1ο`?)~r@ ~rb;I~pɫ) IY@y*mG}DNmea in: $SNTTA,,,,,005828.04*5D I>)=•iA•jAC>9IiRD; EM}<MUF=YU\};QUU>YYa]D]Caye&}e>Iimf,4?mOԾ m@ }?9mBm: m:)imyAdded new target pos. range: 51.840004 m, bearing: 317.027629 deg, deltaT: 4.444287 s, approachRate: -0.715524 m/s, LOS rate: -0.927954 deg/s, posRepo size: 4m ProNav: pos range: 51.840004 m, bearing: 317.027629 deg, approachRate: -0.715524 m/s, LOS rate: -0.927954 deg/s, cmd update: -2.783863 deg/s, cmd heading: 188.025518 deg, new cmd heading: 186.511971 deg. WP@WX XW:W2W*WVbUBU*UU@I@U?B=n9;B9 B9A=,e<*B9AE:AaAaAe%<"CmaARCiCmP@CqaIiG9>}=i}=Mww %:YO1yP:5)A;C}HSq,R#MEAɫ髁) IY@ymGUf3MU\=Y]QU]>YYa]DeCaye}m>Iq }:u>4? }:u WԾ u@ ?9ugBu: u:)u!:WO@WX XW:W2W*WVbUBU*UUU Y?BYT+;B BA"<*BA:AAA <"C*BRCCO@CaIqG>ޥNSq,p=MEAY}V_@}V@y}VP3}VVu}VH@?`?@?`m ?7?fe?Zο ?)~V_@ ~V c;I~VؖCɫyy)y yIyY@ynGI!)!L7A`?&1~jt?+>P D<)Iysh|??~jt?=Y-R;QU->11a5D5 C9y=}=>IAES4?E^Ծ Ei@ U?9EBE; EM;)AW2N@WX XW:W2W*WVbUBU*UUU-#?Bu^m;Bq BqAum=*ByA}[8:AyAyA},<"CCRCC2N@CaIqG9>yuu ):YKN1yy:59@  9 I (kGi "@    (;  EUSq,TWMEAY}bD @}b@y}bv}b0{}bH?@t?@y?tS?9? ? Ͽ@?)~bD @ ~bxb;I~`%L>!imGIiɫ) IY@CĿٺbAyNnG 鿙)å= å=O<MP=Y:QU>aD?Cy}>I :f4? :OfԾ @ ?9B: :)":W}M@WX XW:W2W*WV!bU!BU!*U!U!U- ?B]v;BY BYA]/=*BaAe[:AaAaAe3<"Cm8ERCiCu}M@CqAIQGm>I}AA)}AAl[Sq,D5qMEAY} @} @y}  } Fy} H?P_?H7?f ?? ݖ?ο?)~ @ ~ [?c;I~ ɫ) IY-g@y5mG - - --1--jAIaMDMuCQyUh}U>IY]z4?]nԾ ]@ m?9]B]: ]Y:)YWyK@WX XW:W2W*WVbUBU*UUU1@B죌;B BA =*BAˊ;AAA<"C=fFRCCyK@CIG(>yy ^+:YP1y':5bSq,MEAY}B@}B|@y}B9*}B'x}BH@N?1?@??`m? ?Ġ?@=ο{ ?)~B@ ~Bg%c;I~BٖCɫqq)q qIyY@y`nG=i==i4=5G<M5]=Y5B;QU5>99a=D=CAyE.}E>II U:M4? ]:MvԾ MA@ ]?9MBMe: Mq:)M#:W}J@WyXy XW:W2W*WVbUBU*UUUE&@ܵD>9ܱIܵkGiܵs@ܱܱܱܵ4; ݵEB;B BA27=*BA;AAA<"C GRCCJ@CיIG!>JhSq,,MEA||Y}>.@}>@y}>y}> w}>H C??`h? d?@??ο ?)~>.@ ~>b;I~>ۖCɫQQ)Q UIQY@ynGAA­jA©<MR=Y-j;QU>aDCy}->IQU4?UyԾ U@ ]?9UBU4: U@:)QW}QI@WyXy XW:W2W*WVbUBU*UUU#d@RB*** querying acoustic contact ***PPB.;B BAc=*BAF;AAA<"C%HRC)C-QI@C)I G- >vv S,:YN1y:5DnSq,鸾MEAY}6u@}6*@y}6`}6kt}6H?? 6?&,?+?@޴? ?ο)?)~6u@ ~6Qb;I~6זCɫ99)9 =I9Y}@y}wnGZ****** received transponder code query ******F****** received ping request ****** =)IyS?i}Q@y }~@)}@Iyi}I@痼M0=YB;QU>aDCy}>Iȩ :ŭа4? :ŭ$Ծ ƭ@ ?9ƭBǭ: ȭ0:)ȭ$:WUG@WQXY XYWY:WY2WY*WaVabUaBUa*UUU @BX;B BAu@=*BA  ;A A A |<"CG@RCCG@CI)GEQ>ٹٽ4=9IkGiĿ@$=:; EJuSq,ݘMEAɫ髙) IY@ycoGxDUSBL response received:!U1,P 138,000,005D1,185,80,80,77,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 E=MMb=Y]QUe>qqa}D}@Cy}>IY]|4?]jԾ ]k@ e?9] |Sq,9}MEA|i|@Y}>E @}>@y}>z輙}>*s}>H``?`?̪?`?@?X?Nο?)~>E @ ~>Rb;I~>ؖCɫQQ)Q QIQY6@ynGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )}= }=ujaDuCye}>I$4?=Ծ Ӱ@ ?9B: b:)W|E@WX XW!:W!2W!*WVbUBU*UUUJ6@B ;B BArr=*BA?;AAA<"C|E@RCACE|E@CAIQ)UiA9IAGe4>Sq,bI NEAY}:*@}:7@y}:lݼ}:u}:H`d?ݚ?? nV?8q?? cο?)~:*@ ~:!b;I~8ɫ99)9 9IAY]@y]oGexDUSBL response received:!U1,R,FD0,000,0059D,185,80,80,9E,FF mFpublishing direction and range infoe+=aɰep=a a)eCIayeBBe/q? ùp?ٱaG=Mb=Yt;QU>aDCyD}>Iȩ :ŭ24? :ŭԾ ƭ0@ ?9ƭCBǭf: ȭ:)ȭ%:W\D@WX XW:W2W*WVbUBU*UUUV@eE>9aIelGieg@e%=aae4; eE)Ii4P*QBBZQmТVH@PJR@JQ/q? ùp?2Q+=:QbQ7A@m@M2?RQVw ?}3c,4x?BQ.@ Q6QM BPS9?PT9?PQQ`@"Qz4AB-<BQ BQAUT=*BQA];AYAYA]EҺ<"Ce\D@RCaCe\D@CiIIQGu>8uu #:YKN1yy:75)ς; Sq,$&NEAY}^YC@}^Q@y}^Ҽ}^x}^H`s?v-?$? ?`?V?ֲο@?)~^YC@ ~^b;I~^זCɫ) IY@yoGDNmea in: $SNTTA,,,,,005832.49*5F =i=;M6=YB>;QU>aDCyY} >I"4?Ծ @ ?9Bn: 8:)mMyAdded new target pos. range: 48.720001 m, bearing: 316.058261 deg, deltaT: 4.422119 s, approachRate: -0.705545 m/s, LOS rate: -0.219209 deg/s, posRepo size: 4m] ProNav: pos range: 48.720001 m, bearing: 316.058261 deg, approachRate: -0.705545 m/s, LOS rate: -0.219209 deg/s, cmd update: -0.657627 deg/s, cmd heading: 175.792599 deg, new cmd heading: 174.542013 deg. We@D@WaXa XaWa:Wa2Wi*WiVibUqBUq*UqUu)\H@Uu $?Bb;B BA=*BAAV;AAAJ<"CD@*CRCC@D@CI!G]3>4Sq,@NEAY}2.S@}2`@y}2C(ʼ}2y}2H]??`:y?Y?`R?@`D?_ο@ ?)~2.S@ ~2b;I~2ۖCɫYY)Y ]IYY@y_oGv/?B`"۹ν t)IyʡE?Mb~jt?-2?D< •A@)‘I•Ai• A A5X95>5Vi5\@1 5h@)5I@I5h@i5@EéMEE=YMt%;QUM>QQaUDUCYy]}]>Ia u:e4? u:e*Ծ e@ u?9etBea; ef;)e&:WC@WX XW:W2W*WVbUBU*UUU?B;B BAq=*BA;AAAf <"CC@RCCC@CIG-->ww h,:YO1yP:59@QQY9YIYiY]$=YY]6; ]E+Sq,YNEAY}2JV@}2c@y}2 }2]{}2H?#Z?Dt?`??ع?-6?Ͽ`3?)~2JV@ ~2kb;I~0ɫ19)9 =I9Yuu@yuypG=M a=Y 9;QU >aDACy}>I!% 4?%nԾ %o@ 5?9%B%/: %:)!WUuC@WQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUeg)?BT<B BA=*BA ;AAA@<"CuC@*CRCCuC@CiIyG=.TSq,sNEAY}:O@}:y]@y}:bͺ}:2{}:H#-?#?W??{ Cv??'Y?@'Ͽ`p?)~:O@ ~:Qb;I~:ٖCɫ99)9 =I9Y}@y}pGI)AI)AÍ=Í^:ÍȽiÍ@É čߣ@)č@Ičičߣ@<MA=Y;QU>aDwCyl}>Iȹ :Ž4? :ŽԾ ƽܲ@ ?9ƽBǽ: Ƚ:)Ƚ':Wa&C@WX XW:W2W*WVbUBU*UUUQ?B%z <B) B)A-m=*B)A-&;A1A1A5Y<"C=a&C@*C9RC9C=a&C@CA)I1GU>vv; ,:YN1y:G59ImGi@<; E)-= ->MJ=Y;QU>aDCy}>IP(4?Ծ B@ ?9B{: :)W%B@WX XW:W2W*WVbUBU*UUU`N4@B5ώ<B1 B1A5n=*B1A=+;A9A9A=<"CE%B@*CARCACE%B@CIIIYG>iEnGIYiqٺA"fSq, lNEAY}2^4@}2B@y}2S}2{}2HFs?{? ?p@?`??I?@4!Ͽ ?)~2^4@ ~28 b;I~2ۖCɫII)I IIIY]@yepGb<MV=Y:QU>aDC y } >I044?Ծ @ %?9B : :)WEUB@WAXA XIWI:WI2WI*WIVQbUQBUQ*UYUYU]`B@B&<B BA=*BAb0;AAAɸ<"CUB@*CRCCUB@CIG>uxx  (:Y7P1y:m5fNSq,HNEAY}25@}2C@y}2Z}2!B{}2Hݛ?`?/?W?`m?` ?@Ͽ?)~25@ ~2ha;I~2ٖCɫ99)9 =I9Y @y0qGp=ia=e!rh?y&1|?y&1el>e`; e`)aIayeˡE?Mbp?I +?e'?e;e9< e"@)aIeAie+ Aae3 Aý@ý W>ý>iýG@ù Ľh@)Ľh@IĽ@iĽh@<<M==Yi:QU>aDCyv}>I :@4? :2վ @ ?95B: w:)(:Wr=B@WX XW:W2W*WVbUBU*UUUv@RB*** querying acoustic contact ***PPBߺ*<B BA=*BA%q7;A!A!A%bĴ<"C-r=B@*C)RC)C5r=B@C1AIIGm5>9ImGi[@A; E;xSq,"NEA||p;Y}>AL@}>Y@y}>+}>z}>HB?I?@Ĭ?@`Ql?I??Ͽ ?)~>AL@ ~>=a;I~<ɫYY)Y ]IYY@ypGZ****** received transponder code query ******F****** received ping request ******aDGCy}>I#L4? վ @ ]?9Bl< m<)W!A@WX XW:W2W*WVbUBU*UUU@ @B'<B BA=*BA%j=;A!A!A% <"CM!A@*CIRCICM!A@CQe?ie?aIiG9>}=i}p=_vv &:YN1y:5);9BSq,vNEAY}6i@}6w@y}67}6mx}6H?|?? ;@?? ?@ο`?)~6i@ ~6a;I~6ږCɫYY)Y ]IYY.@y]qGxDUSBL response received:!U1,P FD0,000,0059D,185,80,80,9E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Ul=UC UViU@Q U@)U@IU@iUI@=M+=Y:QU>aDCy?p}>I :X4? :E վ @ %?9[Br; ;)):We!A@WiXi XiWi:Wi2Wi*WqVqbUqBUq*UqUyU}` @B_p2<B BA =*BAD;AAAX<"C!A@*CRC!C%!A@C)9IQG{>Sq,OEAY}2@}2@@y}2P靼}2:y}2HFz??@؎?`?¾?ټ?Wο ?)~2@ ~2a;I~2֖Cɫ99)9 =I9Yu @y}4qGyɮ}R=G>9IHnGi@<; ENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Iq)uAKGMt=Yyv;QU?aDCy°}?Iȱŵ a4?ŵ+վ Ƶj@ ?9ƵBǵn: ȵ:)ȱW^A@WX XW:W2W*WVbUBU*UUU,@BIgH<B! B!A%=*B!A%I;A!A)A-XV<"C^A@*CRCC^A@CסIG&>dtt b':YM1y:75)ׅ;Sq,(OEAY}2}@}2{@y}2i}2'{}2He?=H?@G?(@?`'?T?Ͽk ?)~2}@ ~2ھa;I~2ٖCɫ99)9 =I9Y}@y}qGxDUSBL response received:!U1,R,E43,000,0056C,186,80,80,95,FF Fpublishing direction and range info>ɰh=鰅> )CIy7B å>=MH=Y~:QU>aDCy}>I :j4?  :8վ ص@ ?9TB&; ;)*:WM5A@WIXI XiWi:Wq2Wq*WqVqbUqBUy*UyUyU}`-@P*Q7BZQ/E@CnU1@JQ:QbQcZ{@@,є?(edD RQV+ ?YS?,rBQ@ QQBPR9?PS9?PQQ.@"Q`@B@@<B BA>*BA‚Q;AAAEh<"C%5A@*C!RC!C%5A@C)I)GuW>Iޅ@A)ށuSq,:BOEAY}2u@}2*@y}2"}2)x}2HS?I?ug?s`J?@? d?uο@S?)~2u@ ~2``;I~2זCɫII)I MIIY}@@y}tqGdNmea in: $SNTTA,0.391025,0.391112,,,005836.92*58 }S?&1}/?}P }̼)yIyy}Fx?/$?~jtx}+?}<}Ļ } @)}!AI}Ai} Ay} Au1>ujiu\@q uI@)u3@Iu3@iu3@M>=Yh ;QU>aDCy}>I u4?Gվ ܵ@ ?9B: :)muAdded new target pos. range: 45.780003 m, bearing: 316.229617 deg, deltaT: 4.476692 s, approachRate: -0.656735 m/s, LOS rate: 0.038277 deg/s, posRepo size: 4m- ProNav: pos range: 45.780003 m, bearing: 316.229617 deg, approachRate: -0.656735 m/s, LOS rate: 0.038277 deg/s, cmd update: 0.114832 deg/s, cmd heading: 172.839261 deg, new cmd heading: 172.557243 deg. W-JA@W)X) X)W):W12W1*W1V1bU1BU9*U9U= F@U=1?BGC<B BA=*BAW;AAA?<"CJA@*CRCCJA@CIGE>vv ):YN1y:59@hAH>9InGi@J; E)1I1i15$=5$=5w4Sq,vk\OEAY}2@}2L@y}2}2tt}2H5D? ?`{n?8^??r? Eοj?)~2@ ~2l`;I~2ؖCɫ99)9 =I9Yyyy=i=YE&;QUE>IIaMDMGCQyU}U>IY e:]|4? e:]Tվ ]޵@ m?9]cB]: ]:)]+:W)A@WX XW:W2W*WVbUBU*UUU[?BėO<B BA*BAd];AAAC<"C)A@*CRCC)A@C)I1GM>]Sq,EvOEAY}2o@}2$@y}2(}2u}2HXs?QS??`%?94?@?mο ?)~2o@ ~2e`;I~2ږCɫyy)y yIyY@yqGI%=)%=mm>m㥽im@i m3@)iImimI@,!<MaD|Cy2}>In4?bվ  ?9B: D:)W7A@WX XW:W2W*W V bU BU *UUUe?BEzK<BA BAAE>*BAAMd;AIAIAM-<"CU7A@*CYRCYC]7A@CYiIqG>}=i}=|ww L):YO1yP:5ASq,C OEAY}2 @}2@y}2mt}2w}2H`?@??w ?dB? C?ο?)~2 @ ~2`;I~2ؖCɫYY)Y ]IY܁9܅vCI܁i܁܅#=܁܁܅W; ݅EYL@yqGU=M]P=Y]-X;QU]>aaaeDeCaymɤ}m>Iqǔ4?upվ uܵ@ }?9uzBu : u:)qWDA@WX XW:W2W*WVbUBU*UUUB?BEG<B BA=*BAGk;AAAr<"CDA@*CRCCDA@CסIG">Sq,OEAY}6@}6X@y}6#`}6w}6H@k??a?`0?g?j?`~ο`?)~6@ ~6Da;I~6זCɫ99)9 =I9Yu@y}qGI) <MP=YK;QU>a D C yi}>I %:|4? %:վ ֵ@ %?9BV: :),:WMxQA@WIXI XIWI:WI2WQ*WQVQbUQBUY*UaUiUuঔ?B@]<B BAM >*BAq;AAA~ƭ<"CxQA@*CRCCxQA@CבIG- > -:Yy75Sq,OEAY}2C@}2@y}2ОX}2˪w}2H? *?wX?% ?@ ?@?ο?)~2C@ ~2W`;I~2ږCɫ99)9 =I9Y}@y}= \=)Iy|?5^?y&1|Mb`2?` •9@)•!AI•hAi• Az>Q8Ji@ @)Iҭ@i3@v~<M;=Y:QU> a D Cy}>Iu4?վ @ %?9B;: #:)WM_A@WIXI XIWQ:WQ2WQ*WYVYbUYBUY*UYUaUe E@B[<B BA>>*BAz;AAA<"C_A@*CRCC_A@CAAIIGm5>I}AA)yqu<y9yIyiy}$=yy}I; }E Ci% oGIA iY ÿٺ ASq,9OEAY}6盥@}6@y}6T}6 w}6H@v@?:`??yC?M7?`? ݭο?)~6盥@ ~6`;I~6ؖCɫYY)Y ]IYY@y rG@A{`Ma=Y(3:QU>aDGCy}>I :ʝ4? :վ @ ?9B: M:)-:W kA@W X  X W :W 2W *WVbUBU*UUUm+@R%B*** querying acoustic contact ***P)P)BMGf<BI BIAM' >*BQAUgT;AQAQAUs`<"C]kA@*CYRCaCekA@CaIG>wzz (:YQ1y:%5)&;9>Sq,֌OEAY}2>@}2@y}2L}2'z}2H #?k?$?`Ms@+}??j? ο' ?)~2>@ ~2`;I~2זCɫYY)Y YIYY@ySrGZ****** received transponder code query ******F****** received ping request ******yya}D}~Cy錽}>Iȉō)4?ō<վ ƍ.@ ?9ƍBǍ': ȍ:)ȉWyA@WX XW:W2W*WVbUBU*UUU` @B_<B BA>*BA;AAA<"CyA@*CRCCyA@CIG )>(Tq,nPEAY}6 @}6ʛ@y}6DF}6+y}6HK?@? J?ʛ`k?`$(?@rȈ? ο ?)~6 @ ~6`;I~6ٖC!9!I!i!!!!%M; %Eɫ99)9 =I9Yu@y}8rGxDUSBL response received:!U1,P E43,000,0056C,186,80,80,95,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=R=)=4=ۻMJ=Yq:QU> a-D5C9yEՊ}E>Iy :}4? :},վ }L@ ?9}SB}< }<)}.:WMA@WIXQ XQWQ:WY2WY*WVbUBU*UUUI @Bm;[<Bq BqAu>*BqAu;AqAqA}ժ<"CA@*CRCCA@Cށiޅ=~yy t):YP1y':5);׹IGj>P Tq, E+PEAY}>آ@}>@y}><}>Dhx}>H ^?`?@O?`,T?`h?@^?Ǿο?)~>آ@ ~>4`;I~>זCɫYY)Y ]IYY@yjrG鮥a=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -s><M5?=YEǺ:QUE>aaamDmCyys}>IŨ4?wվ f@ ?9BP;  ;)WA@WX XW:W2W*WVbU!BU!*U!U)U-`3@Buu<Bq BqA}>*ByA};AyAyA}S0<"CA@*CRCCA@CiIGL>9Tq,"EPEAY}2@}2R@y}22|9}2z}2Hx?[?@??x9?e/?@; Ͽ ?)~2@ ~2_;I~2֖CɫYY)Y ]IYY@yrGxDUSBL response received:!U1,R,CCD,000,0053F,189,80,80,A1,FF Fpublishing direction and range infoc6?ɰ =鰝7> )!CIyQ,BtD+?vë ?ٱI)AI)M rh?I +{Gz?M>M94 M#<)IIIyMV-?X9v?Mb`?M?MaDCyC}>Iș :ŝګ4? :ŝվ Ɲk@ ?9ƝeBǝ: ȝ:)ȝ/:WA@WX XW:W2W*WVbUBU*UUU:@PI*QMQ,BZQM-D@@Ec<<@JQMtD+?vë ?2QMc6?:QIbQMSmZ>@*=RQMh=?'?NAÿBQM.i@ QMEQMAPMN9?PMR9?PMQIQM-"QM.@Bje<B BA>*BA8;AAAl<"CA@*CRCCA@CIGI>Huu &%:YKN1yy:59@99EI>9AIEoGiEO@AAAEE; EEfTq,N _PEAY}f@}f~)@y}fbH3}f{}fH?%??#`b?@B?h?-Ͽ`?)~f@ ~f_;I~fזCɫ髱) IY@yqGUDNmea in: $SNTTA,,,,,005841.36*53 X+MR=Y:QU >  a D OCy}>IV4?Lվ n@ -?9B : :)m]yAdded new target pos. range: 43.080002 m, bearing: 315.862426 deg, deltaT: 4.458654 s, approachRate: -0.605564 m/s, LOS rate: -0.082355 deg/s, posRepo size: 4mm ProNav: pos range: 43.080002 m, bearing: 315.862426 deg, approachRate: -0.605564 m/s, LOS rate: -0.082355 deg/s, cmd update: -0.247064 deg/s, cmd heading: 173.351445 deg, new cmd heading: 173.396203 deg. Wu"A@WqXq XqWq:Wq2Wy*WyVybUyBUy*UU=E@UHM?Bei<B BA >*BA܆;AAA)<"C"A@*CRCC"A@CIG%>Iu@A)u@ATq,xPEAY}2b @}2.@y}2j9.}2}2H(!???`??`Dž?Ͽ?)~2b @ ~2$_;I~0ɫ99)9 =I9Y@yqGu#uC=uC iuf@q u3@)u@Iqiu@eMS=Y#Q:QU>aDCyw}>Ișŝ24?ŝվ Ɲp@ ?9ƝXBǝ': ȝU:)șWkA@WX XW:W2W*WVbUBU*UUU`_?B :g<B BA>*BAnݖ;AAAHE<"CkA@*CRCCkA@CׁIG>yy '0:YP1y':%5t$Tq,ꯒPEAY}:@}:#@y}:\(}:4T}:HS??_?` ?ˉ?`?`Ͽ?)~:@ ~:_;I~:ۖCp9pIpippppr/; rE)]vCI]vCiYYY]3ɫYY)Y ]IYY@ySrGE=iE=Ep=iE=<MG=Ym:QU>aDCyġ}>I :|4? :־ r@ ?9B; ;)0:WeMA@WaXa XaWa:Wi2Wi*WVbUBU*UUU?B5m<B BA>*BA;AAA<"CMA@*CRCCMA@CIG )>۞*Tq,PEAY}2@}2@y}2%}2E~}2H}@3?@z? . Dq??Ͽ1?)~2@ ~2L_;I~2ٖCɫAA)A IIIY}@y}!rGjArIMJ=Y99QU>aDCy(}>I4?־ t@ -?9[B: n:)W1A@WX XW:W2W*WVbUBU*UUU?BUm<BY BaAew>*BA;AAA<"C%1A@*C)RC1C51A@Ca vv D:YN1y:m5׹IGf>1Tq, fPEAY}2z@}20@y}2A(}2}}}2H W?c?`˫si?\Ͽ?)~2z@ ~2`;I~2זCɫ99)9 =IAY}@y}qGm333333?Mbp?~jt?m?m; mD<)iIiym"~?V-?I +m3?mIIaUDUCQy]R}]>Ia m:e4? m:ef$־ eP@ u?9eBej: e/:)e1:WtA@WX XW:W2W*WVbUBU*UUU q?Bj<B BA>*BA,-;AAAE<"CtA@*CRCCtA@CIG (>4=J>9Ii&; E7Tq,9BPEAY}2@}2a)@y}2-}2z}2H @J?@?``ྵ!!a%D%NC)y-}->I154?52־ 52@ =?95tB5: 5:)1We@@WaXa XaWa:Wa2Wi*WiVibUiBUq*UqUqUu@Bo<B BA5>*BAP;AAA<"C@@*CRCC@@C׉IG=ww /:YO1yP:5)$;9!=Tq,PEA|i|Y}65@}6NC@y}6)}6ww}6H5 D??@C@8А=?˱ο`?)~65@ ~6T`;I~6ؖCɫ99)9 =I9Y]@y]\rGaa)y y$ 0=Mi@ )@IiI@=MO=Y:QU>aDCy}>I :4? :wB־ @ ?9B: :)2:WQ@@WX XW:W2W*WVbUBU*UUU;@RB*** querying acoustic contact ***PPBBx<B BA|>*BAJ;AAAw<"C-Q@@*C)RC1C5Q@@C1IEhA)EhA)I1GU>DTq,QEAY}6,I@}6V@y}6}6stv}6H@5?a?I [OЃ?Eο`?)~6,I@ ~6}`;I~6ٖC@9@I@i@B#=@BDB+; BEɫyy)y }IyY@y3rGZ****** received transponder code query ******F****** received ping request ******i!ÿٺUAa D C yx}>I4?3U־ @ e?9B< @<)WL@@WX XW:W2W*WVbUBU*UUU @B%xl<B! B!A%Q>*B)A-;A)A)A-9<"C5L@@*C1RC1C=L@@CY9IAG]U>vv o/:YN1y:5)̌;JTq,-QEAY}2X@}2Qf@y}2}2v}2H{ſ?E?`v>!ſ$. ?οf?)~2X@ ~2O`;I~2זCɫAA)A IIIYW@yqGxDUSBL response received:!U1,P CCD,000,0053F,189,80,80,A1,FF Command Ack%BRequesting micromodem ping code 2i!!E=iE=MNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ýd;>ýj<=ýA>iýQ@ù Ľh@)Ľ3@IĹiĹdM'=Y:QU>aDCy恽}>I :e4? :bg־ @ ?9TB: :)3:WUߛ@@WYXy XW:W2W*WVbUBU*UUU @BEh]<BI BIAu>*ByA}茱;AAAi<"Cߛ@@*CRCCߛ@@CIG >yQTq,NGQEAY}:f@}:t@y}:W}:w}:H`2ɿr?@?^_ȿ٣?@Ӣο?)~:f@ ~:k`;I~:ٖCɫAA)I MIIYu@y}\rG}p=ɮ}p=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B x&?ˡE?l7 ?'= )IyCl?+?{Gz;?=# …@)…!AI…hAi… A= A=M=Y58QU?aMDUCQyU.}] ?IY]4?]r־ ]@ ?9]B]; ];)YW-@@WX XW:W2W*WVbUBU*UUUG@BMa<BI BIAM|>*BQAU;AQAQAU<"C]-@@*CYRCYC]-@@CYIiG9>}=iy ww 5:YO1yP:59@ٕjAٕjA-^Failed to parse device response: 6.12,,4852.35 WTq,aQEAY}2y@}2/@y}2,&}2t}2H̿`J??@N1r̿+D?@Nο`?)~2y@ ~2B`;I~2ۖCɫ99)9 =I9YW@yqGxDUSBL response received:!U1,R,B51,000,0051E,189,80,80,A6,FF Fpublishing direction and range info?ɰ= )&CIyf$BZ/0?$?ٱZMW=Y3ɹQU>aDPCy!} >I  ܢ4? ־ p@ ?9 .B : :) W=Hl@@W9X9 XAWA:WA2WA*WAVIbUIBUI*UIUIUU`@Pa*Qef$BZQe[4@E/RaA@JQeZ/0?$?2Qe?:QabQe_]6 =@M-;z RQe=qh?n{:,pɿBQe@ QeQeAPeJ9?PeN9?PeQeQe"Qe-Bdu<B BA>*BAf;AAA&v<"CHl@@*CRCCHl@@C׉IG= )^Tq,d{QEAY}Z_@}ZĎ@y}Z}Z,w}ZH`Ͽ?`? ϿLf?@ʬο`?)~Z_@ ~ZY`;I~ZږCɫ髙) IY@yqGeTNmea in: $SNTTA,0.060596,,,,005845.83*4B Ia)eAIa)eA=>Gai@ )I@II@i<M==Y:QU>aDCy7v}>I :y4? :־ ?@ ?9Bw: :)4:m-uAdded new target pos. range: 41.099998 m, bearing: 316.249452 deg, deltaT: 4.381156 s, approachRate: -0.451936 m/s, LOS rate: 0.088339 deg/s, posRepo size: 4m= ProNav: pos range: 41.099998 m, bearing: 316.249452 deg, approachRate: -0.451936 m/s, LOS rate: 0.088339 deg/s, cmd update: 0.265016 deg/s, cmd heading: 172.266008 deg, new cmd heading: 172.159047 deg. W=@@W9XA XAWA:WA2WA*WAVIbUIBUQ*UQUǓD@U]`?Br<B BA >*BAB;AAAʡ<"C@@*CRCC@@CIG--> h,:Yy5eTq,>?QEAK>9Ii; EY}BqЕ@}B'ލ@y}B"}B5x}BH<ѿ@~???@;ѿ@筿J? ο??)~BqЕ@ ~BX'`;I~BזCɫYY)Y aIaY@@ytqG5M=U=Y=Q:QU=>AAaEDECIyM}M>Iqu4?u2־ u@ ?9u4Bu: u;:)qWͪ@@WX XW:W2W*WVbUBU*UUUw?B=Dm<BA BAAE=*BAAEr;AAAIAM<4<"CUͪ@@*CQRCYC]ͪ@@CYIIQGu>>kTq,*QEAY}vҔ@}vߌ@y}vQ}vhz}vH&ӿ`?`?yӿf(?7ο ?)~vҔ@ ~v#B`;I~tɫ) IY-@y-qGm=zP>i̤@ 3@)ߣ@Iߣ@iߣ@5<M=;=YU:QU]>aDCy-k}5>Ii :mѓ4? :m־ mܴ@ ?9mBmD< mF<)m5:W=@@W9X9 X9WA:WA2WA*WAVAbUIBUI*UIUIUM ?B$n<B BA` >*BA-;AAA<"C@@*CRCC@@Cluu (:YKN1yy:[5 IGEs>"rTq,8QEAY}2ɓ@}2{׋@y}2]}2|}2H{տ@(5?? f$`7Կ3# ``?@IϿ 6?)~2ɓ@ ~2`;I~2ؖCɫYY)Y ]IYY}@y}qGp=i=x?~jt?K> L=)Iyoʡ?X9v?I +-?<9  @) AIAi™ A;MS=Y4QU>aD"Cyh}>Iȍ4?־ @ ?9CB: :)W@@WX XW:W 2W *W V bUBU*UUU:?BEB<BA BAAE>*BAAMȎ;AIAIAU<"C]@@*CYRCYC]@@CaiIqG>!%<)9)I)i))))-&; -ENxTq,sQEA||4yya}D}TCy}>Iȉ :ōU4? :ō־ ƍN@ ?9ƍBǍ(: ȍ:)ȍ6:WEA@WAXA XAWA:WA2WI*WQVQbUQBUQ*UYUYU] dk@Bau<B BAn>*BA4;AAAS<"CA@*CRCCA@C׵?i׵?סIG">g   <:Yy$5nw~Tq,OQEAY}2 @}2@y}2s(}27.{}2Hkؿൌ?@?v`ؿ赿 ^?Ͽ\ ?)~2 @ ~2$_;I~2ՖCɫ99)9 =I9Y@yqGmaDCy}>Ișŝ~4?ŝ־ Ɲ@ ?9ƝXBǝU: ȝ :)șWP%A@WX XW:W2W*WVbUBU*UUU @BS<B  B A s >*B Ap;AAA<"CP%A@*CRCCP%A@CIG&>- L>9) I- nGi- @) ) ) - $; - E)#I#i#+#=+#=+K 4s`Tq,?REAY}@}X%@y}1}\}Hzڿ`2?P?q!>ٿE2?Ͽ?)~@ ~;`;I~֖Cɫ) IY5@y5qG=AA=AAIA)AUKM]L=Y]QU]>aaaeDeCiym}m>Iquou4?u־ u@ }?9uBu: uǺ:)qWCA@WX XW:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PPBj<B BA*=*BAo;AAA<"CCA@*CRCCCA@CIG> ?,:Yy5) ;9Tq, m0REA|4i|6@Y}=E@}=S@y}=n-}=B}=H Xۿ??`<?ۿ<`3?ϿX?)~=E@ ~=6`;I~=זCɫ) IYe@yqGZ****** received transponder code query ******F****** received ping request ******)1a5D5C1y=iS}=>IA M:Ej4? M:E־ Ef@ M?9EBE8: Ef:)E7:WiA@WX XW:W2W*WVbUBU*UUU' @BEj<BA BAAM>*BIAM;AIAIAM*<"CuiA@*CqRCyC}iA@CyI׍iA)׍iAqIyG~>+qTq,%>JREAY}F&j@}Fw@y}F}FoZ|}FHݿm?LD? e ܿ2 ?p9Ͽ?)~F&j@ ~F:`;I~FؖCɫ髙) IY@ypGxDUSBL response received:!U1,P B51,000,0051E,189,80,80,A6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %V-?bX9ȶ?{Gz?%|>%E= %ף<)!I!y%m??~jtx?%.?%L=%; %"@)%1"AI%Ai% A!% AE}:MEI=YE ;QUM>IIaMDM/CQyU憽}]>IY]`4?]L׾ ]g@ ?9]B]: ]:)YiA9Ii; EWUA@WYXy XW:W2W*WVbUBU*U9 vv ^8:YN1y:5);UU@E@Bb<B Bl>CA=*BA;AiMnGIYiqA)A{<¿ٺYA"CA@*C ?9 θARC C A@C  I G- >Tq,dREAY}:Os@}:@y}:!T}:$x}:H1߿i?<\?Og޿@1@tJ? öοT?)~:Os@ ~:@3`;I~:ՖCɫ99)9 =I9Y}W@y}qG鮅a=ɮR=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=V=M=YR;QU ?aDXCyS} ?I :X4? :o ׾  ?9B: M:)8:WBA@WX XW:W2W*WVbUBU*U U U  @?@B5<B9 B9A=>*B9A=;A9AAAE<"CEBA@*CIRCICMBA@CQ)I1GU>5ƞTq,}REA||;Y}Jy@}J@y}J }J(y}JHp??s`cgཿR?@ο`?)~Jy@ ~J`;I~JؖCɫyy)y }IyYO@yqGxDUSBL response received:!U1,R,DE7,000,00511,188,80,80,2F,FF Fpublishing direction and range info>ɰ=鰽> )!!a%D%C)y-b}->I15LM4?5׾ 5e@ =?95+B5: 5Ǻ:)1WecA@WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqUu@ @P*QG!BZQ՟A@m52@JQ2eE֌?~z?2Q>:QbQФ FX$CSRQLN\1KEa깿BQv!@ QQUP9?PJ9?PQQd@"QBʭt<B BAu=*BA;AAAT<"CcA@*CRCCcA@CIGI> ww -5:YO1yP:n59@ M>9 I HnGi @ ; E:Tq,xӗREAY}f@}f@y}f* }f(x}fH`;p#? ? `WQ?ο@`?)~f@ ~fh`;I~f֖Cɫ髱) IY@ypG]DNmea in: $SNTTA,,,,,005850.27*53 M Y=Y{6QU>aDCy%}%>I) 5:-*C4? 5:-w)׾ -d@ 5?9-B-: -:)-9:mm}Added new target pos. range: 40.319996 m, bearing: 265.227010 deg, deltaT: 4.514568 s, approachRate: -0.172775 m/s, LOS rate: -11.301733 deg/s, posRepo size: 4m} ProNav: pos range: 40.319996 m, bearing: 265.227010 deg, approachRate: -0.172775 m/s, LOS rate: -11.301733 deg/s, cmd update: -12.000000 deg/s, cmd heading: 173.462361 deg, new cmd heading: 173.560641 deg. W}<@WyXy XyW:W2W*WVbUBU*UU(D@U?Bys<B BA=*BAI{;AAAÚ<"C@@RCC<@CIG&>۫Tq,8REAY}v@}vu@y}v}vs{}vH I4?`C`? S{I{X? Ͽ@ ?)~v@ ~v?n`;I~vזCɫ) IY'@yTqGI)AI)A\Ͼf>mi\@ 3@)3@II@i3@<M:=YaDC!y%}->I)-64?-8׾ -c@ =?9-FB-: -M:))W]6@WYXY XYWa:Wa2Wa*WaVabUiBUi*UiUiUu@?Bhu<B BAF=*BA;AAAz<"C=@RCC6@CיIGI>vv ^+:YN1y:5Tq,REAY}2ӊ@}2O@y}2w}2~}2H`V(?uC?@ P$i`\5?}Ͽ`?)~2ӊ@ ~2^`;I~0ɫ99)9 =I9Y}@y}pGmV-?I +ƿi|?5?m-?m94 mq=)iIiymsh|??V-?  a D (Cyْ}>I %:,4? %:C׾ e@ -?9B: (:)::WM&1@WQXQ XQWQ:WQ2WY*WYVYbUYBUa*UaUaUeX?BOw<B BA=*BA;AAA?~<"C}l:@RCC&1@CסIG">aaܝO>9ܙIܙiܙܝ$=ܙܙܝ; ݝEIޱ)ޱfTq,eREAY}F@}F@y}F }F8}FH`V`?n?@X~*¿ ?Ͽ?)~F@ ~F`;I~FٖCɫyy)y }IyY@ypGuMuK=Y} QU}>yya}DYCy}>Iȑŕy 4?ŕ>P׾ ƕg@ ?9ƕGBǕ: ȕ:)ȑW,@WX XW:W2W*WVbUBU*UUU@?BRIp<B BA=*BAs;AAA9٘<"C05@RCC,@CIG (>yxx ):Y7P1y:5FTq,:REAY}:@}:+@y}:#}:}:H` ?u?+r`[ÿ@lq?Ͽz?)~:@ ~:R`;I~:֖Cɫ99)9 =I9Y}@y}KqGi=p=i4=]̼]㕿]M>i]f@Y ]h@)]@I]@i]@<MH=Y{QU>aDCy}>Iȱŵ4?ŵ\׾ Ƶj@ ?9ƵBǵ: ȵM:)ȱWX'@WX XW:W2W*WVbUBU*UUU~?B<B! B!A%l=*B!A%y;A!A)A-l2<"C5,/@RC1C5X'@C9 IG5 >Tq,CSEA 9 I"mGi"[@"#= "EY}vpD@}v'R@y}v,$}v\}vHS?9?`l@@ÿ`z?Ͽ?)~vpD@ ~vӚ`;I~tɫ) IY-@y-pG¡¥iALMF=Y¸QU>aDCy}>I :i4? :i׾ m@ ?9_B4: b:);:W!@WX XW!:W!2W!*W!V!bU)BU)*U)U)U5 @B] l<BY BYA]=*BYAeH;AaAaAeW<"Cmxv*@RCiCu!@CqIIQGm>vv  *:YN1y:65);9G%Tq,A2SEAY}6ig@}6@~@y}6g%}6G}6H@RZ?:?`HĿ?`Ͽ?)~6ig@ ~6`;I~6זCɫaa)i mIiY@ypG@A@A]Q?]m>]7 >i]@Y ]@)]@I]@i]@m;MmA=YmtMQUu>qqauDuCyy}}>IȁŅ04?ŅVv׾ ƅq@ ?9ƅBDž: ȅ:)ȁWl&@WX XW:W2W*WVbUBU*UUU7m@RB*** querying acoustic contact ***PPBn<B BA=*BA:;AAAٖ<"C$@RCCl&@CסIGA>0Tq,LSEAY}Jۅ@}J$'}@y}J%}J}}JH ?@)1a5D5'C9yE}E>II U:M4? ]:M׾ Mt@ ]?9MlBM; M;)M<:W?@WX XW:W2W*WVbUBU*UUUZ @B9Ii*; E)ɄIɄiɄɄɄ̈́4 +:Yy[5);<7Tq,YfSEA|i|Y}>Ό@}> 5{@y}>&'}>x}>H@0f? ? mĿ`?ο?)~>Ό@ ~>ͣ`;I~>זCɫYY)Y YIYY@ypGxDUSBL response received:!U1,P DE7,000,00511,188,80,80,2F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= ==MC=Y6QU>aD]C1y=}E>IQU4?U׾ Uz@ m?9UBU; U;)QW@WX XW:W 2W*WV!bUIBUQ*UYUYU@ai @BMBc<BI BQAU=*BQA]Ѿ;AaAaAeXx<"C@RCC@CIY)]hA1I9G]>"Tq,KSEAY}F@}FCy@y}F4}Fu}FH W2? ?@?ſ`9?fο?)~F@ ~F`;I~FՖCɫqq)q qIyY@ypGɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B V>=i@ ~@)3@I3@i3@;MG=YXQU>aDCy}>I :4? :׾ @ ?9B: (:)=:W%R% @W!X! X!W!:W2W*WVbUBU*UUU` @BN<B BA=*B9Ae;AaAaAeK<"CmZ@RCiCmR% @CqyIG<>\ &:Yy59@ P>9 wCI mGi @ ZITq,^SEAiVdnGI`il ÿٺ  AY}5@}5~w@y}5F}5 u}5Hj ?S? 5; Pſ Hވ?hpο`_?)~5@ ~5 a;I~5ؖCɫ11)1 =I9Yu@yupG}xDUSBL response received:!U1,R,E69,000,0050B,185,80,80,65,FF Fpublishing direction and range info}oٵ>yɰ}=}+> y)}BIyy}B}?A?ٱy=i=y;MN=Y>QU>aDCyQ}>I4?q׾ @ ?9BH: :)W@WX XW:W2W*WVbUBU*UU U  @P*QBZQCB@0|*+@JQ?A?2Qoٵ>:QbQϒ)+3K}A6obRQ޿]sĐABQ͆@ Q QјPħ9?P9?PQQ3Q@"Qd@BU:b}<BQ BQAU!=*BQA];AYAYA]1<"CeKh@RCaCe@CiQIYGu>|xTq,@NSEA|$|$Y}@}ru@y}:Y}w}H]q?'?@Wƿ`'?Hο ?)~@ ~`;I~ԖCɫ) IY% @y%oGDNmea in: $SNTTA,,,,,005854.70*55 I=)C=`only read 0 of 1 data item for water mass range.a i@a  a m@a  a q@a  a e@a  iAjA?=iQ@ )h@I-@iK@-{EM-(=Y5QU5>99a=D=C9yE9J}E>II U:MY4? U:Mn׾ M@ ]?9MBM1: M>)M>:myAdded new target pos. range: 39.959999 m, bearing: 241.363340 deg, deltaT: 4.397251 s, approachRate: -0.081869 m/s, LOS rate: -5.426952 deg/s, posRepo size: 4mrPowering the camera and arming the DDM at range: 39.96 m.X m= ProNav: pos range: 39.959999 m, bearing: 241.363340 deg, approachRate: -0.081869 m/s, LOS rate: -5.426952 deg/s, cmd update: -12.000000 deg/s, cmd heading: 120.692288 deg, new cmd heading: 114.647768 deg. W=@W9X9 X9W9XA:WA2WA*WAVAbUIBUI*UIUM@C@Um:r?  "6:Yy5B̹T<B BA=*BA;AAAL<"C%Q@RC)C-@CI]?i]~?AIQGm>A[Tq,SEAY}6q5@}6Pt@y}6ma}6|}6Hg?`B? 6@Bǿs:?EϿ?)~6q5@ ~6"`;I~6ؖCɫ) IYU+@yUpG.Powering up loadControliMu@<Mul=Yu ǺQUu?yya}D}/Cyi}?Iȉō\4?ōo׾ ƍ@ ?9ƍ+BǍ: ȍU?)ȉ:uAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;vZEntering USBL mode with 5.000000 count pings.1;q;Wy ?WX XWX:W2W*WVbUBU*UUU?B5l(s<B9 B9A=S=*B9A=`B<AAAAAE촒<"CM,,@RCQCUy ?CY٩٭<eQ>9evCIaiae$=aae7; eEסIGA>Tq,#SEAY}J|@}Js@y}J/Z}JYB}JH`UX? ڭ?ׇȿV?GϿ?)~J|@ ~Jc;I~JזCɫQQ)Q QIQY@yoGUMUL=YU:QU]>YYa]D]bCqy}e}>Iȑŕ4?ŕ׾ ƕ@ ?9ƕBǕ; ȕ]?)ȑX@q;uCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:uAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLW|:?WX X W X:W2W!*W1V9bUABUI*UQUYU]?BR<B BAz=*BANe<AAA<"C%?RCC|:?C  I:Yy5IGj>LmUq,mTEA|i|Y}6ϭ@}6 wq@y}6,Q}6f}}6H:?E?x@'`ȿw ?YϿ`?)~6ϭ@ ~6+:;I~6ؖCɫ) IY-@y-oGi)å= å=ʽt=X9>i=@ ߣ@)@Ii@:MP=Y:QU>  a D Cy}>I5{4?V׾ @ %?9:B: g?)WM?WIXI XIWQXQ:WQ2WY*WYVYbUYBUY*UaUaUe@3?B5-a<B9 B9A=f=*B9A=B<<A9A9AEV<"CmR?RCiCm?CiIy)yaIiG9>] P>9] wCI] mGi] @] "=Y Y ] .; ] EiUq,TEAY}J@}Jqo@y}JѾR}Jo[|}JH@Q?+?32tȿW? F9Ͽ@?)~J@ ~J;I~JזCɫ15)1 9I9Y@yoGi5\M5G=Y5QU5>99a=D=CAyEփ}E>IQUti4?U.׾ Uó@ ?9UBU; U@)QW:?WX XWX:W2W*WVbUBU*UUUR@B8W<B BA=*BA<<AAAt<"C&?RCC:?CׁIG?>xx [/:Y7P1y:5);9 Uq,"5TEAY}-g~@}-/n@y}-TX}-z}-H \?b?  Wɿ@i ? Ͽ ?)~-g~@ ~-y;I~-ՖCɫ55)9 9IAY@yoG=i>ia ia i a ma m a qa q a ea e "~?S㥛?~jt??/< =)Iy> ףp=?&1?MbP?1?P=: ¹)½I½Ai½| A3A-?--i-z@) -3@)-3@I)i-@=9<M=-=Y==QUE>AAaEDECIyMW}M>IQ ]:UyS4? e:Ua׾ U@ e?9UnBU: U:)U?:Wa?WX XWX:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPB?]<B BA7=*BAK<AAA.ҏ<"C?RCCa?CQIYG}z>ڪUq,aOTEAY}B>|@}Bl@y}B h}B>|}BH w_?@?`"@[ɿ@A?@qFϿ?)~B>|@ ~B;I~BזCɫQY)Y YIYY@yoGZ****** received transponder code query ******F****** received ping request ******9IlGig@#=(; EyIG=> yy3 5:YP1y':5)>;Uq,P8iTEAY}6{@}6&k@y}69m}6M}}6Hp??tɿ"? yVϿ?)~6{@ ~6;I~4ɫ99)9 9I9Y}@y}oGxDUSBL response received:!U1,P E69,000,0050B,185,80,80,65,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i/;MS=Y 'tQU>!!a-D-_CAyUMG}>I %:g04? -:׾ @ m?9tBׂ< a<)@:W/?WX XWX :W 2W *W V bUBU*UUU`` @BX<B BA=*BA<AAAt[<"C!?RCC/?CשIGh>p Uq,+TEAɫ髙) IY@yoG=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)AI)AiY=\i@ ߣ@)@Iiߣ@%HM%8=Y%QU%>))a-D5C1y5}=>I9=4?=Q׾ =@ M?9=B=@: =:)9Wm?WiXq XqWqXq:Wq2Wq*WyVybUyBUy*UUU@1 @Bm4Pd<Bq BqAuA=*BqAu-z<AqAyA}g<"C}[?RCC?CaIiG9> xx< @:Y7P1y:~59@ܡ 9ܡ Iܥ mGiܥ @ܥ "=ܡ ܡ ܥ "; ݥ E)ݵwCIݵwCiݱݱݱݵo5Q&Uq,xTEAY}2hx@}2i@y}2t}2!,|}2H g ?`Җ?޿I S~ʿ@?`P3Ͽ@?)~2hx@ ~2(;I~0ɫ99)9 9I9Y}@y}oG}p=ɮ}a=xDUSBL response received:!U1,R,C9E,000,00516,189,80,80,5C,FF Fpublishing direction and range info]wA?ɰQ=鰅7> )BIyz"BOI?y]9?ٱi<Me=YKQU>aDCyJ}>I : 4? :ؾ @ ?9B#: :)A:W_-?WX XWX:W2W*WV bU BU *U UUI@R%(Combining 5 samples.P!*Q%z"BZQ%$5i=@tx8;@JQ%OI?y]9?2Q%]wA?:Q!bQ% N"*f+mB85fRQ%XrAԿ^6yM/ĿBQ%<.@ Q%Q%QP%Χ9?P%ħ9?P%Q%Q%"Q%3Q@Bގq<B BA=*BAk<AAAc<"Cl?RCC_-?CIG>0-Uq,Q۶TEAY}Uw@}U-g@y}U6Ӂ}Uy}UHewf? ?`{ݿ@Wrʿ@::?Pο ?)~Uw@ ~U;I~Qɫ)))) )I1Ym@yuoGDNmea in: $SNTTA,,,,,005858.74*5D i!!a i@a  a m@a  a q@a  a e@a  Gz?On?MbpP?> )IiMb@Mb@Mb@© µ)µ@Iµl@iµ@G@ @ @ @©i@ @)Ij@i-P'M5(=Y5QU5>99a=D=CAyE4}E>IIM4?M ؾ M@ U?9MCM: M>)ImEqAdded new target pos. range: 40.620003 m, bearing: 250.992404 deg, deltaT: 4.008625 s, approachRate: 0.164646 m/s, LOS rate: 2.402087 deg/s, posRepo size: 4mU ProNav: pos range: 40.620003 m, bearing: 250.992404 deg, approachRate: 0.164646 m/s, LOS rate: 2.402087 deg/s, cmd update: 7.206259 deg/s, cmd heading: 72.594307 deg, new cmd heading: 66.517435 deg. WUpT?WQXQ XqWyXy:Wy2Wy*WVbUBU*UU@\OD@U„?BxY<B BA=*BAg <AAA<"C?RCCpT?C $ ttJ 6:YM1y:~5IG5r>{3Uq,i>iMi=YߧQU>aD0CyFf}>Iȱŵ4?ŵؾ Ƶ@ ?9ƵXCǵ: ȵV?)ȱ; wAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;wdResuming normal ranging with 1.000000 count pings.;1<W?WX XWX:W2W*WVbUBU*UUU ?BEh<BI BIAM=*BIAU͇ <AQAQAU\<"CeA?RCaCe?Ci1IAmP>9iIiiiiiim#; iG>iuoGIjAiAA;ٺjA+B!:Uq,~TEAY}2Xu@}2$te@y}2L}2u}2H Rj?|?vۿ#hʿH ?cο@(?)~2Xu@ ~2k;I~2זCɫ99)A AIAY]@y]pGI @)"@iq=MV=Y*QU>aDaCy U%} >Ie4??ؾ %tI @ -?9C=; ?)Xu?1<}w}Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;} w}Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRW?WX XWX:W2W *W1V9bU9BUA*UIUqU}`?BEdy<BA BAAE=*BiAm <AiAqAu]<"CuG ?RCyC}?CyׁIG=>ޝ=iޝp= vvc 3:YN1y:5 AUq,YUEAɫyy)y yIyY@yoGiAA   Õc?ÕY=Õ=ʾiÕ@Õ ĕ@)ĕ@IđiđhvM?=YQU>aDCy}>I :4? :$ؾ @ ?9C1: ?)B:W?WX XWX:W2W*WVbUBU*UUU@D?B ڥb<B  BAƗ=*BAH <AAA5<"Cg?*C!RC!C%?C!!I1GM1>a 9a Ia ia a a a e ; e E3GUq,4UEAY}:UPs@}:kc@y}:}:!Uz}:H 'Q`ۋ?ν?`+ٿ5@L˿? ,ο ?)~:UPs@ ~:-n;I~:֖Cɫ99)9 9IAY}@y}pGI!)%AI))-Ai19A=MK=YĻQU>aDCy}>I4?+ؾ ɳ@ ?90C"; w@)W >?W X  X W X:W2W*WVbUBU*UUU%sj@BM<B BA=*BAyH<AAA版<"CG?RCC>?CiIqG>yya =.:YP1y':k5)ċ;9cMUq,)8UEAɫyy)y yIyY@yoG fAfAia ia i a ma m a qa q a ea e n?+?Q?V?> u<)IyQ?l!a%D%C!y-}->I154?50ؾ 5@ =?95{C5d: 5a:)1W]?WaXa XaWaXa:Wa2Wi*WiVibUiBUq*UqUqUu@ @RB*** querying acoustic contact ***PPIޑ)ޑB]<B BAA=*BA<AAAcV<"C`?RCC?CaIqG>ETUq,>QUEAY}22p@}2PN`@y}2$$}26n}2H`@?@M? ֿ* =ʿ?@|Ϳ@n!?)~22p@ ~2c;I~2ԖCɫ9A)A AIAY @yoGZ****** received transponder code query ******F****** received ping request ******9ܑIܑiܑܕ!=ܑܑܕ'; ݕE:W2W*WVbUBU*UUUs @B~<B BA-=*B)A5y<A1A1A5<"C=1?RC9C=@?CAaIiG9>uu] ):YKN1yy:5);oZUq,zkUEAY}2(Mn@}2h^@y}2i"ż}2i}2HJ:@?q?kԿlOʿ@?y̿_*?)~2(Mn@ ~23a;I~0ɫ99)9 9I9Y]'@y]pGexDUSBL response received:!U1,P C9E,000,00516,189,80,80,5C,FF eCommand AckeBRequesting micromodem ping code 2iiim>im>Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ie1<MmJ=Y0.QU>19a=DEhCIyu,}}>IȁŅi4?Ņ5ؾ ƅ@ ?9ƅCDž; ȅD\;)ȁW,?WX XWX:W2W *W V bU BU*UUU @B]@q<B BAe=*BA]<AAAjf<"C4?RCC,?C׹IGk>XaUq,UUEA||Y}6-sl@}6\@y}6weͼ}6;Gb}6Hi d?iͶ?d0ӿ`X@ɿ? ̿K6?)~6-sl@ ~6u`;I~6ՖCɫ99)9 9I9Y@ypGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Ie"@)e!@iaa=>=<=DaaaeDeCiymВ}u>Iq }:uW4? :u7ؾ uI@ ?9uCuV: u :)uD:Wؕ?WX XWX:W2W*WVbUBU*UUUT @BevE<Bm; BiAm>=*BiAmx<AqAqAu?f<"C}M?RCyC}ؕ?Cy׵?i׵?ׁIG=>ޙiޝ=ww?  -:YO1yP:#59@ܑ 9ܑ Iܕ mGiܕ [@ܑ ܑ ܑ ܕ *; ݕ EρgUq,|UEAY}2j@}2#Z@y}2lԼ}2=Gb}2H ??ѿʿ@J? ̿6?)~2j@ ~2~`;I~2זCɫaa)i iIqY@ypGxDUSBL response received:!U1,R,06D,000,0052D,187,80,80,46,FF Fpublishing direction and range info½ɰ=鰥1> )BIy(BCҽ?rhjPٱi];Mg=Y!QU>aDCyQ}>ItF4?9ؾ Զ@ ?9OC]: :)WF?WX XWX!:W!2W!*W!V!bU)BU)*U)U)U5@*@PA*QE(BZQED@1JQECҽ?rhjP2QE½:QAbQET~ZkD7M hV?RQE+k )i￘[ǿ֨+g?BQET@ QEjQE$PE~9?PEΧ9?PEQEQE)A"QEBr[<B BA=*BAr,<AAAo<"C%+?RC!C%F?C)IIQGm>mUq,wgUEAY}nXi@}ntY@y}n'Ҽ}nc}nH`(D?w{?5п>,kʿ\?U$̿4?)~nXi@ ~np`;I~nԖCɫ) IY @y9qGDNmea in: $SNTTA,,,,,005902.78*5F I)I)i/$?#~j~jtx?&>㥽 ;)Iyjt?l?S㥛? ?=/< "@)AIIAi| A A @ @ @í©ííií@í ĭI@)ĭIĭ3@iĭg<M#=Y/9QU>aD Cy:;}>I :K-4? :_?ؾ a@ ?9Ch; :)E:m%yAdded new target pos. range: 42.000000 m, bearing: 190.663132 deg, deltaT: 4.043416 s, approachRate: 0.341295 m/s, LOS rate: -14.920372 deg/s, posRepo size: 4m-!ProNav REINIT: LOS rate is -14.920372 deg/s. Setting heading cmd to target bearing of 190.663132deg and heading rate command to 0 deg/s.W-T@W)X) X)W1X1:W12W1*W1V9bU9BU9*UAUEE@UE?Bmt<Bq BqAu=*BqA}#<AyAyA} <"Cr?RCCT@CqIzz] ):YQ1y:5Ga>OtUq,79UEAY}2L h@}2%X@y}2˼}24d}2H v?G?ͿCb@ʿV{?@V̿`%2?)~2L h@ ~2+B`;I~2֖Cɫ99)9 9I9YuH@y}}qG i5)<M==Y=/;QU= ?AAaMDM4CQyU}] ?Iae4?eBؾ e@ u?9eCe; e;)aWWX XWX:W2W*WVbUBU*UUUEo?Br<B BA=*BA qj<A A A 0<"CRY?RCCCuP>9qIuHnGiu@u#=qqu0; uE)9I9i9="=="==5<IG%M>Iޙ)ޝAAzUq, UEAɫ) IY}5@y}fqGi } } }}?}Ǿ}i}=@} }~@)yI}@i}h@2M2=YQU>aDnCy}>I4?Gؾ 9@ ?9CM: /:)W9W9X9 X9W9X9:WA2WA*WAVAbUIBUI*UIUIUU@x?B}6<By ByA}=*ByA7<AAA<"Ct?RCCCх#2;YIiGY> wwc a4:YO1yP:5Uq,VEAY}6!Te@}6oU@y}6}6a}6H`eY?;?Cȿ@ʿ`2?˿@7?)~6!Te@ ~6Q_;I~6ՖCɫYY)Y YIYY@y9qG=i=>i>iWMm=Yn;QU%?!!a%D%C)y-}-?I1 =:514? E:5Jؾ 5@ E?95UC5: 5:)5F:WWX XWX:W2W *W V bU BU*UUU`J?B=<BA BAAE=*BAAE[<AIAIAMo}<"CU@RCQCQCYaa)a aױIG>u Q>9q Iq iq q q q u /; q i- SoGIA ia ٺ HBχUq, VEAY}2Bc@}2S@y}2t}2ma}2Hwj?G? Qſ V˿E?˿@-8?)~2Bc@ ~2=4_;I~2֖CɫII)Q QIQY}'@y}TqGI@)@iE};MEH=YEu:QUM>IIaMDMCYy]f}e>Iim 4?m'Nؾ m@ }?9mCm8; m#9;)iWW1X1 X1W1X1:W92W9*W9V9bUABUA*UAUAUM`m@B2<B BAF=*BAC<AAA,}{<"C\@RCCCIG (>ޙiޝ4=uuX J+:YKN1yy:~5)7;9dUq,ܠ:VEAY}2[b@}2lwR@y}2}2e}2Hȥ`|?@p?¿`@{˿V?Qt̿1?)~2[b@ ~2_;I~0ɫYY)Y YIYY @y0qGiYYx&?Q?y&1|?7 ?< `;)IyX9v?i|?5?Zd;O?q=j X@)AIAi AAåAྩååViå@á ĥ@)ĥI@Iĥ@iĥ@M5=Ye0;QU>aD CyS}>I :,4? :Qؾ @ ?9C: 8:)G:WWX XWX:W2W *W V bU BU*UUU`\@BE:<BA BIAM=*BIAM<AIAIAUYRy<"CUrb @RCYCYCY!I1GM1>Uq,zTVEAY}Ns_@}N.O@y}N}NK_}NH)$ٶ?`ɣ?q` X˿?ǯ˿ YaaeDe7Ciy}>Ișŝs4?ŝ Tؾ Ɲl@ ?9ƝCǝ; ȝj;)șfA%R>9!I%nGi%@!!!%3; %EWiWX XWX:W2W*WVbUBU*UUU`v@RB*** querying acoustic contact ***PPB5(<B1 B1A53=*B1A=p<A9A9A=ew<"CEV@RCACACI!I1GIOvvP %:YN1y:5)e;| Uq,TSnVEAY}Je]@}JM@y}J}JDZ}JH3iy?`A:?&G5 ʿ@힐?˿E?)~Je]@ ~JO^;I~Hɫ髁) IYi@yqGZ****** received transponder code query ******F****** received ping request ******qya}D}oCyyt}>Iȉ :ō 4? :ōaVؾ ƍ@ ?9ƍ]CǍ: ȍ:)ȍH:WWX XWX:W2W*WVbUBU*U U U@T @BUr <BY BYA]>*BYA](!<AaAaAeu<"Cu>@RCCCׁIG=>Iޙ)ޝ?AUq,0VEAY}F[@}FQK@y}Fb}FFV}FHG?ܖ?G ~ʿ]?FʿL?)~F[@ ~F^;I~F֖CɫYY)Y YIYY@yqGxDUSBL response received:!U1,P 06D,000,0052D,187,80,80,46,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i@<M%a=Y-Q;QU5>AIaUD]Ciy}}>Iȡť4?ť Xؾ ƥ÷@ ?9ƥCǥ< ȥd<)ȡWAWX XWX:W2W*WVbUBU*UUU @Bez<Bi BiAm>*BiAm #<AiAiAus<"Cu@RCyCyCyׁyy y0:YP1y':459@IGm> 9 I oGi O@    ,;  E%Uq,,VEAY}2Y@}2!J@y}2@}2MY}2H`o@A??8?@Gʿ?`3ʿG?)~2Y@ ~2 _;I~2ԖCɫ)))) )I)Ym@ymSrGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B E=iE=E>iE>iIQY<MB=Y;QU>aDCyR}>Iȡťv4?ťyYؾ ƥg@ ?9ƥCǥ: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU %A@Bdͬ<B BA>*BA$<AAA7r<"C @RCCC׹IG#>_HUq,VEAY}2X@}2lH@y}2)K}2c}2H rR?I{? 5>̿ Ri? <̿@5?)~2X@ ~2 _;I~2ՖCɫ99)9 9I9Y}@y}/rGI@)i~jt?MbEE=YeH;QUm>qqauDu Cyy}}T}>Iȑ :ŕ`4? :ŕ[[ؾ ƕ3@ ?9ƕCǕ8; ȕ+;)ȕI:WWX XWX:W2W*W!V!bUABUI*UIUQUU L @B<B BA>*BA"&<AAA~p<"C&@RCCCI G%M>ޝ=iޝC=xxP n1:Y7P1y:5/2Uq,2VEAY}r(W@}rCG@y}r}rg}rH N?`.Ĝ?Y+U̿`p`~?@b̿.?)~r(W@ ~r_;I~pɫ) IYU@yUsrGeTNmea in: $SNTTA,0.031193,,,,005907.22*42 iqq~<MY=Y;QU>ܽQ>9ܹIܽnGiܽ@ܽ"=ܹܹܽ!; ݽE  aDI!%K4?%\ؾ %@ M?9%\C%f; %ۻ;)!WWX XWX:W2W*WVbUBU*UUUY@B Tj<B  BA>*BA̚(<AAAPo<"C+@RCx>C!C)!I)GE0>[Uq,£VEAY}vkU@}vE@y}v}vBk}vH@5@!XxE=?`%Ϳ`?v?4&Ϳ(?)~vkU@ ~vy`;I~tɫ  ) IY-@yrGI)))I)))i99Í>ÍLÍjaDnCy$\}>I :=74? :]ؾ ƶ@ ?9C%H; Y;)J:W!W!X) XWX:W2W*WVbUBU*UUU <>@Bmi˪<Bq BqAu>*BqAu*<AyAyA} m<"CPa1@RC(>CCיIGA>ww 1:YO1yP:}5 BUq,yx WEA|@i|@Y}6[T@}6vD@y}6c}6P7l}6H`vɶ.a?8Ϳyql? DͿ&?)~6[T@ ~6`;I~6ԖCɫ) IY-x@y5qG AEgAiAAUfM]P=Y];QU]>aaaeDeCiymol}m>Iqu"4?u^ؾ u@ ?9uCu: u:)qWWX XW:W2W*WVbUBU*UUU U@RB*** querying acoustic contact ***PPB&<B BA>*BA1,<AAAl<"C6@RCڃ=CCI eA) fA)I9GU>Iޙ)ޝAAܵP>9ܱIܱiܱܵ!=ܱܱܵ; ݵE)IIIiIM#=M#=M,V5tlUq,T#WEAY}2R@}2B@y}2Ǻ}2^h}2HS= <˔ɸ?@4E̿@4X?0̿-?)~2R@ ~2~`;I~2ՖCɫYY)Y ]IYY@yqGip-<MU=Y";QU>aDCyⅽ}>I :4? :,_ؾ J@ ?9C: :)K:W W X  X W :W 2W*WVbUBU*UUU 8@BE=<BI BIAM>*BIAM-<AQAQAUsk<"C] @;@RC]»CYCa4(>׹IGE>c tt[ ;:YM1y:"5)h;9DUq,.=WEAY}2&P@}2A@y}299}2We}2H@g @ ל߿?@A̿2>|̿2?)~2&P@ ~2qg;I~0ɫYY)a eIaY@y*rG>i>iE/$?RQ?/$?E ?E= E,=)AIAyEx&?Mb?~jtE7)?E@=E E"@)EMAIE-AiE AAE= AÝQ8Ý>ÝF>iÝף@Ù ĝ@)ĝ@Iĝiĝߣ@[<M<=YD;QU>aD Cy4}>I4?+^ؾ @ 5?9_C_< _<)WqWqXy XyWy:Wy2Wy*WyVbUBU*UUU@3@Bأ<B BAd>*BAa/<AAA+Ij<"CheA@RC׽C C)%#hw>IG-N> Uq,~WWEA||42aDACy}>ٺSkAxBI  : 4? : \ؾ s@ ?9 C ;  ;) L:WWX XW:W2W*WVbUBU*UUUq@P*Q|DZQ<ԛ@]<JQ*c-?Gۿ2Qq:QbQwsfF@N"g@RQF`4?(x?BQy"@ Q5DQP9?P~9?P*QQ=?C"Q)AB,,<B BA: >*BA 2<AAA9i<"CG@RCQQCCuC>}?i}?zze J+:YQ1y:G5)7;IIYGuy>Uq,MpWEAY}lM@},=@y}Ƣk;}Ca}Hs ;ƿaa@?`rX˿Ttm˿:?)~lM@ ~S;I~ՖCɫ) IY-@y-XrGiM?i@ h@)I@Ij@ih@`<MF=Y Y;QU>aDrCy  } >I)4?Zؾ @ ?9C: Y:)mMAdded new target pos. range: 1979.880127 m, bearing: 145.881380 deg, deltaT: 6.961437 s, approachRate: 278.373566 m/s, LOS rate: -6.432832 deg/s, posRepo size: 4m] ProNav: pos range: 1979.880127 m, bearing: 145.881380 deg, approachRate: 278.373566 m/s, LOS rate: -6.432832 deg/s, cmd update: -12.000000 deg/s, cmd heading: 190.663132 deg, new cmd heading: 190.663132 deg. W]*#P@WaXa XaWa:Wa2Wi*WiVibUiBUi*UqUu@@Uu@t?BT-<B BA->*B)A-3<A1A1A5_h<"CEmFRCE CM*#P@CI=r >IG%M>Uq,WEAY}2?$K@}2?;@y}2+;}2 \}2HA)ʿ_) ti?t`ʿZv`jg˿@A?)~2?$K@ ~2;I~0ɫYY)Y ]IYY@yerGI)Ai5j;M=X=Y=;QU=>AAaEDECIyMޢ}M>IQUF4?UXؾ U@ ]?9U*CUY: U:)QWK@WX XW:W2W*WVbUBU*UUU7?B"<B BAi>*BAy5<AAA3g<"CUJ7DRCQCUK@CYm:=AIIGm5>vv +:YN1y:9@Y9YI]HnGi]@YYY] ; ]E+Uq,+WEAY}2J@}2B:@y}2<}2 aDCy5}>I! -:%b4? -:%QVؾ %B@ 5?9%nC%: %:)%M:WUE@WQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUaUe@M?BÞ<B BA=*BA7<AAA.g<"CؖBRCCE@Cm=AIQGm>xUq,vWEAY}:XI@}:mt9@y}:W]K<}:M}:H Ϳl H?lr`cmȿ k@ɿ`fZ?)~:XI@ ~:N;I~:ԖCɫ99)9 =I9Y}@y}srGirh|?ʡE?11a=D=C9yEo}E>IY]Ї4?]KTؾ ]k@ u?9]C]4X; ]jW;)YWۆ?@WX X!W!:WI2WI*WIVQbUQBUQ*UYUYU]v?Bm<B BA>*BApS9<AAAAAEf<"CMB*CQRCQCUۆ?@CQ=[R;9j #:YyY5IG%n>Uq,rRWEAY}FtH@}F9@y}F<}FK@}FH@iο@?`}Xƿǿ o?)~FtH@ ~F#;I~FӖCɫYY)Y ]IYYO@yqGQ>9ImGi @ ; =i=i!!/xMS=YIOaD@Cyy}>I :-t4? :rRؾ @ ?9C: :)N:WЛ:@WX XW:W2W*WVbUBU*U U U 5>?B5i<B9 B9A=u=*B9A=:<AAAAAEWf<"CMuCRCICMЛ:@CQM4|Ż IG=.>wUq,~9WEAY}ZxH@}Z8@y}Z <}Z/}ZHϿ@C? ؐbĿຠſ?)~ZxH@ ~Z;I~Z֖Cɫ髱) IYD@yyqGI]@)]@iYYIep=)e4=egAehA    @ @ @iz@ I@)II@iz@ UM D=Y <aDuCyĻ}>I!%^4?%hPؾ %@ 5?9%0C%{: %:)!WUw5@WQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUqUu@B$<Bx< BA=*BAv<<AAAqvf<"CHFRCCw5@C* yyp 4:YP1y':5IGj>SVq, XEAY}6H@}6N 9@y}6<}6U4}6HJο8^˰? <¿`؟@ÿ{?)~6H@ ~6;I~6ՖCɫ99)9 =I9Y@yqGa=ɮa=i<M_=YZaDCy;}>I  : RL4? : Nؾ @ ?9 iC : a:) O:W=0@W9X9 X9W9:W92WA*WAVAbUABUI*UIUIUM@R]B*** querying acoustic contact ***PYPYB}ܣ<B BA>*BA><AAAf<"CnH@RCC0@CԭgAԭgAmoM)I9GU>P>9ImGi@; E Vq,2%XEAY}2w+I@}2F9@y}2m=}2 }2H@lο Q`*aDCy <} >I:64?Lؾ ´@ ?9Cf: Q:)W=f>*@W9XA XAWA:WA2WA*WIVIbUiBUi*UqUqUu l @B <B BAH>*BA5?<A)A)A-Nig<"C=YB@RC=jBC=f>*@CieݑYIaGZ>A uu^ 9:YKN1yy:5);92Vq,?XEAY}6KI@}69@y}6A=}6_p}6H#Ϳs'€?㹿 '@?)~6KI@ ~6;I~6ՖCɫYY)Y ]IYYi@yqGxDUSBL response received:!U1,P 206,000,08357,187,80,80,46,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i &1?Q9AaEDECIyU90<}U>Iȉ :ō4? :ōIؾ ƍ@ ?9ƍCǍ < ȍ<)ȍP:W"@WX XW:W2W*WVbUBU*UUU  @B <B1 B1A5>*B1A553B<A1A9A=Wh<"C=q*;@RCE½CE"@CAE 8< l I G5 > Vq,VYXEAY}6 *J@}6E:@y}61=}6^}6H`̿ MJ? @I/(?)~6 *J@ ~6[;I~4ɫ99)9 =IAY}@y} qGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ٽgAٽgA9IkGiĿ@; E)YIYiY]"=]"=]A4i 1iM=Y´svv; (:YN1y:G5);4Vq,2sXEAɫyy)y }IyY@yKqGxDUSBL response received:!U1,R,DB6,000,00591,189,80,80,90,FF Fpublishing direction and range info?ɰx=7> )CIy?Bl?6Z R?ٱi=i -@ -@ -@-©--i-ף@- -))I)i-ߣ@E|<MEG=YEQUE>IIaMDMtCQyU}U>IY]T4?]@Fؾ ]ֲ@ m?9]e C]: ]:)YW\@WX XW:W2WI*WQVQbUQBUQ*UYUYU] ڇ@Pi*Qm?BZQm ED@xx}7@JQml?6Z R?2Qm?:QibQm5TFm*0zRQm(Db9ѿBQmTZ@ QmoSQm7Pm_9?Pm9?PmQm*Qmg @"Qm=?CBLi<B BAl=*BAD<AAA#j<"CH2@RC<C\@C3|</ZIG>#Vq,XEAY}z(L@}z3D<@y}z\=}zj}zH@(Q<5ɿ Lb?`[镫`̀u?)~z(L@ ~zGX~;I~xɫ) IY5@y5pGDNmea in: $SNTTA,,,,,005914.09*5E iIC=)R=±±eɼMe9=YmqqauDuCqy}l=}}>Iȁ :Ņ4? :ŅzDؾ ƅ@ ?9ƅ CDž: ȅ :)ȅQ:mAdded new target pos. range: 47.999996 m, bearing: 196.035664 deg, deltaT: 4.384576 s, approachRate: -440.608185 m/s, LOS rate: 11.438799 deg/s, posRepo size: 4m ProNav: pos range: 47.999996 m, bearing: 196.035664 deg, approachRate: -440.608185 m/s, LOS rate: 11.438799 deg/s, cmd update: 12.000000 deg/s, cmd heading: 138.192314 deg, new cmd heading: 132.884210 deg. WJ @WX XW:W2W*WVbUBU*UUG@U?B<Bt< BA%4=*B)A-2F<A1A1A5l<"CE,@RCM=CMJ @CQYY)Y Y yyo IE:YP1y':k59@i}nGIjAܹ9ܹIܽiGiܽ.@ܹܹܹܹ ݹijٺjAVB֭9냾ׁ I G >F)Vq,XEAY}6M@}6r=@y}6o=}65챺}6H@rHvƿ @o?ހRI?ﭿ`3V ?)~6M@ ~6s;I~6ԖCɫ99)9 =I9Y}b@y}cpGi Mb=YP!!a%D%C)y-,=}->Iȉō4?ōJCؾ ƍc@ ?9ƍ CǍ: ȍ:)ȉW.G%@WX XW:W2W*WVbUBU*UUU:?Bc<B BA6=*BA`ZG<AAAOhn<"C )(@RC ˪<>C.G%@CMƂ I1G=>s/0Vq,XEAY}2yO@}2t?@y}2_=}2=}2HN@Y#ÿrU ?``7ޤ? F??)~2yO@ ~2Eo;I~0ɫ99)9 9I9Y|@ypGid;O?333333?ˡE4?> ')IyQ?Mbp?{Gzt(?;ף ­A)­ AI­Ai­/AA    $> ؾ i @  &@) I @i @;M4=YaDCy!=}>Iȱ :ŵԸ4? :ŵ@ؾ Ƶ@ ?9Ƶ. Cǵ: ȵf:)ȵR:W 2+@WX XW:W2W*WVbUBU*UUU?B6f<B! B!A%=*B!A%H<A)A)A-p<"C5&@RC5hv>C5 2+@C1}FӅMvv= %:YN1y:51IAG]v>Y6Vq,XEA|@i|@Y}>oQ@}>-A@y}>=}>=}>H; O`a? Q?u`S?R?)~>oQ@ ~>:j;I~<ɫYY)Y ]IYi9iImhGim@m#=iim!; mEY@yoGiII)U= U>kQM\=YyaDDCyЉ=}>Iȱŵ_4?ŵ`?ؾ Ƶ(@ ?9Ƶl Cǵ: ȵn:)ȱW?+0@WX XW:W2W*WVbUBU*UUU`N?B ~<B! B!A%ϣ=*B!A%)I<A!A)A-CJs<"C5Ų$@RC5 >C5?+0@C9 E>E > uIfA)IG%>$yya}D}wCyu=}>Iȉ :ōQ4? :ō>ؾ ƍ@ ?9ƍ CǍI: ȍ:)ȍS:W5@WX XW:W2W*WVbUBU*UUU@BZ<B BAX=*BAosJ<AAA - v<"C$@*CRCC5@CE<%XMGuu@ %:YKN1yy:Y5IGUt>jCVq,UYEAɫ髙) IYQ@ymG9i====i==iAAu[MuJ=Y}QU}>yaDCy}>Iȑŕw4?ŕ<ؾ ƕ߮@ ?9ƕ CǕb: ȕ8:)ȑW=(;@W9X9 X9WA:WA2WA*WAVAbUIBUI*UiUiUu@8f@Bqm<B BAN<*BATJ<AAAuy<"C&@RCC(;@C8<ya9aIeeGie@e"=aaa aױIG>IVq,0(YEAY}2T@}2E@y}2=}2C=}2H> @Fկ? >`?@1?c?)~2T@ ~24e;I~2ՖCɫ99)9 =I9Yc@ymGɮp=I@)@ifA;MT=Y/|;QU>aDCyS=}>Ib4?;ؾ ?@ ?95 Ch: :)W5V@@W1X1 X1W9:W92W9*W9V9bUABUA*UAUAUES@RUB*** querying acoustic contact ***PQPQBu-s<By ByA}=*ByA}HK<AyAA{<"C?f(@RCCV@@Cϙϙ)Й Й=i=vwwS (:YO1yP:k5);95=ҽI9G>|PVq,( BYEAY}2#V@}2)F@y}2-o=}2=}2H`@`õõCiõ@ñ ĵl@)ĵߣ@Iĵ@iıgM0=YH:QU>aDCyc=}>I :L4? M:s<ؾ Y@ M?9z Cud< .d<)T:WF@WX XW:W2W*WVbUBU*UUU2 @BR<B BA -;*B A 0fK<A A A ^<"Cq-@RC[>CF@CrIGk>xVVq,[YEAY}2f9W@}2TG@y}2~=}2g=}2Haߡ!ຝ?` ? @*?'?)~2f9W@ ~2a;I~0 9 I XcGi ȸ@    $; EɫYY)Y ]IYYs@ykGxDUSBL response received:!U1,P DB6,000,00591,189,80,80,90,FF Command AckBRequesting micromodem ping code 2iI)AI)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i5 ǽM=g=YM8QU]>iiauD}ECyM=}>I15|94?50=ؾ 5n@ =?95 C5: 5:)1W K@WX XW:W2W!*W!VbUBU*UUU\} @BXC<B BA-*BALK<AA!A%Q<"C-i3@RC5>C5K@CA@ *:YyY5);ur绹QIYG}>3\Vq,YuYEAY}2WX@}2CsH@y}2t=}2=}2He@ ? b? ?/?)~2WX@ ~2Rja;I~0ɫ99)9 =I9Y}@y}kGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B gAhAi @ @ @ý©ýýiý@ý Ľ@)Ľh@IĽҭ@iĽ3@ڼMA=Y$QU>aD{Cy'-=}>I :Z&4? :1>ؾ @ ?9 CE: :)U:WP@WX XW:W!2W!*W!V!bU)BU)*U)U)U5u!@B]3<BY BYA]*BYAe3K<AaAaAeb<"Cm7@RCm@=CmP@CqM)< IG-->I)@AcVq,0YEAY}2Y>Y@}2YI@y}2ת=}2[|=}2HҪW@} prd(?ё ?@?)~2Y>Y@ ~2$a;I~2זCɫYY)Y ]IYYt@yQjGxDUSBL response received:!U1,R,F9C,000,005BF,187,80,80,3B,FF Fpublishing direction and range info¸=ɰ=鰥1> )lBIy KBo~6?O?ٱin[M\=YōQU>aDCy:=}>I`4?Q?ؾ @ ?9# C/: :)WU@WX XW:W!2W!*W!V!bU!BU)*U)U)U-.@PA*QE KBZQE`HI@>3@JQEo~6?O?2QE¸=:QAbQE :I˚dM]$RQEa￉,k`zJ&BQEN@ QESQEIPEL9?PE_9?PEQEQE>7@"QEg @B,<B BA*BAӠJ<AAAx<"C%<@RC%u=C%U@C)=IG$>9IaGi@#=); E)ݑIݑiݑݑݑݕz4vv<  +:YN1y:~5);iVq,#YEAY}n|Y@}nI@y}nK =}nƏ=}nH+y?E Quı?C ??)~n|Y@ ~nIa;I~nҖCɫ) IY@y[iGDNmea in: $SNTTA,,,,,005918.54*5A =i==i >iTM.=YbuQU%>11a5D5C1y=g\<}=>IA M:E4? M:E@ؾ E@ U?9Ej CE: E%:)EV:muAdded new target pos. range: 50.760002 m, bearing: 185.249019 deg, deltaT: 4.405832 s, approachRate: 0.626444 m/s, LOS rate: -2.448265 deg/s, posRepo size: 4m ProNav: pos range: 50.760002 m, bearing: 185.249019 deg, approachRate: 0.626444 m/s, LOS rate: -2.448265 deg/s, cmd update: -7.344795 deg/s, cmd heading: 191.348236 deg, new cmd heading: 197.180152 deg. W7Q@WX XW:W2W*W V bUBU9*U9UEGaI@UE@?B <B! B!A-*B)A-I<A1A1A5<"CM@(D@RC}ټC7Q@CMu>ׁ I G >pVq,PSYEAY}2_Y@}21{I@y}2}1=}2X=}2H>1i?@Ӱ z `? ð ?`?)~2_Y@ ~2a;I~2ԖCɫYY)Y ]IYY^@ygGI ) i  +?~jtI +v? 94)Iyjt?S㥛I +? ?/ݼ9< A)AIAiA A - - - -@ -@ -@)))i-p@) -)-I-x@i-x@=yؽMET=YEdnQUE>IIaMDMCQyUB}U>IY]M4?]d@ؾ ]n@ e?9] C]: ]Y:)YWON@WX XW:W2W*WVbUBU*UUUJ?B.;B BAӽ*BAlH<AAAb<"CYG@RC/CON@C}33>AIQG}X>=iUUUxUxUZ U/&:YU7P1yU:U59]@ > iU dnGvVq,.YEAI2SkAi8T9TIVo_GiV@V"=TTV-; VEbFpٺbSkAb\BY}jX@}jH@y}jcu=}j*<}jH@`]@|?@Dɛ?k ID?8?)~jX@ ~ja;I~jӖCɫ髱) IYƻ@ygGiYYFMV=YdQU>aDICy}>Iȱ :ŵ4? :ŵ?ؾ Ƶ2@ ?9Ƶ Cǵk: ȵ:)ȵW:W]tK@WYXY XaWa:Wa2Wa*WaVibUiBU*UUU?Bp;B BA*BAF<AAA<"C GRC }C tK@Cya>IGK> }Vq,AYEAY}2TGW@}2bG@y}2s=}2J}2H EHÚ?``*鯿 P`r?)~2TGW@ ~2Ta;I~2іCɫ99)9 =I9Yu@y}eGI)i = E EEA?EQEA>iE@E E@)E@IE@iE@U*MUO=YU薻QUU>YYa]D]{CayeE}e>Iim,4?m>ؾ m@ }?9m$ Cm: m:)iWDWH@WX XW:W2W*WVbUBU*UUU ?B :B BA!*BAD<AAA<"C FRCnCDWH@CI ) IG%>UtUzUzUQ U(:YUQ1yU:U5!Vq,ZEAY}:1U@}:F@y}:1w=}:s}:HF(O?㬿oᮿ`P`?)~:1U@ ~:]Qc;I~:ՖCɫ99)9 =I9Y}@y}IdGiEiMEK=YMUQUM>IIaUDUCQy]oS}]>Iae4?e=ؾ ḙ@ m?9ed Ce4: eǺ:)aW% E@WX XW:W2W*WVbUBU*UUU@#C@BúB BA,D*BAXB<AAA#<"CÞE*CPRC/C% E@CBv>׹IGE>ܡ9ܡIܥ|]Giܥ@ܡܡܡܥ2; ݥEB1Vq,*ZEAY}2T@}2 D@y}2ro=}2!Խ}2H 6 (ﯰ@ñ?`^O l)?)~2T@ ~2\e;I~2іCɫYY)Y ]IYY~@ybGipMF=Y)QU>aDCy[}>I :4? %:;ؾ @ -?9 CO; ;)X:W-oA@WX XW:W2W*WVbUBU*UUU`@BT$EB BAe*BA><AAA\<"CFRC-C-oA@C%`>I)GMt> 2 4:YyZ54Vq,tDZEAY}2R@}24B@y}2h=}2 q}2He7 n?̐ @J?)~2R@ ~2h;I~2ԖCɫ99)9 =IAY@y bG=i=ie+?MbP?~jtx?ev>?e: e;)aIayeK7A`? rh?Q?e+?eCiýf@ù Ľ)Ľ-@IĽl@iĽX@XnMF=YQU>aDCy}>I~4?:ؾ @ ?9 C: ]:)W#>@WX XW:W2W*WVbUBU*UUU@5@RB*** querying acoustic contact ***PPB:lͻB3P= BA~*BAM;<AAAѓ<"CkH@RC-$C-#>@C)%x 6>-?i-?IG J>=CVq,6v^ZEA||$9$I&[Gi&o@&#=$$&.; &EY}VP@}VP@@y}Vx#b=}V)}VH@ ĕ"@#?DYÿ@ſ`C?)~VP@ ~V};I~Tɫyy)y }IyYͶ@y`GZ****** received transponder code query ******F****** received ping request ******aDKCy}>Iȱ :ŵg4? :ŵ9ؾ Ƶ@ ?9Ƶ1CǵM: ȵ:)ȵY:Wn:@WX XW:W 2W *W V bUQBUQ*UQUQUU@Q$ @BB BA*BA@8<AAA6<"Co'E@RCeK Cn:@C}>IG wwH n1:YO1yP:5);9_mVq,aQxZEAY}2TN@}2>@y}2[=}2:}2HF¿@J`6?nſ`q@,ǿ`l?)~2TN@ ~2;I~0ɫYY)Y ]IaY}@y}`GxDUSBL response received:!U1,P F9C,000,005BF,187,80,80,3B,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iE >E EZd>iE@A E@)E@IE7@iE@M6=YhQU>aDCy}>IN4?o7ؾ n@ ?9~C< :<)Wo,7@WX XW:W2W*WVbUBU*UUU @BB BA뒾*BA53<AAA<"Cs>@RC~eCo,7@Cu=IG>RUVq,,ZEAY}: M@}:=@y}:)V=}:jB}:Hqf ƿ赿`?`Tzƿ֪Kȿ`-b?)~: M@ ~:;I~:ӖCɫ99)9 9IAY}@y}_G@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)iA<MU=YIJQU>!!a%D%C1y5}=>IA U:E94? U:EE5ؾ Eb@ ]?9ECEX; EP;)EZ:W74@WX XW:W2W*W V bU BU *UUUhf@B]Dd>Ba BaAe*BaAN70<AAA<"C :@RC/C74@CI9IIMYGiM*@IIIM4; MEѝ<}}ۀVq, ZEA|i|ɫ髑) IY*@y^GxDUSBL response received:!U1,R,D3E,000,005E6,189,80,80,57,FF Fpublishing direction and range infoϸ?ɰe=7> )BIyfTBY;?c<}?ٱi99)= = @ @ @©i@ @)Ii%W_M-:=Y-QU->11a5D5C1y=}=>IAE7!4?E2ؾ ET@ U?9E CEU; E ;)AW0@WX XW:W2W*W VbUBU1*U1U9UE`],@P*QfTBZQ[E@*>@JQY;?c<}?2Qϸ?:QbQ1xOGGRI5Ȃ RQ&쿱)ڿ<"eÿBQ%?d@ Q QJ?PK9?PL9?PQQ"Q>7@B+B BA6*BA+<AAA<"C 5@RC k<C 0@C  = :W׹ I G >jVq,ZEAY}PJ@};@y}FV=}ƍ=}H0.ʿ+?`#ſŪǿi?)~PJ@ ~]9;I~ԖCɫ) IY-L@y5]GTNmea in: $SNTTA,0.044944,,,,005922.97*4B iQ? rhy&1?(?C `e<)Iyi|?5?V-?I +?1?m=9< •A)•I•Ai•| A\ A|MR=Y*QU>aDCy}>I : 4? :0ؾ @ ?9OC: :)[:m qAdded new target pos. range: 53.100006 m, bearing: 204.337035 deg, deltaT: 4.569553 s, approachRate: 0.512086 m/s, LOS rate: 4.177217 deg/s, posRepo size: 4m ProNav: pos range: 53.100006 m, bearing: 204.337035 deg, approachRate: 0.512086 m/s, LOS rate: 4.177217 deg/s, cmd update: 12.000000 deg/s, cmd heading: 158.039222 deg, new cmd heading: 155.280444 deg. W5@WX X!W!:W!2W!*W)V)bU)BU)*U1U5͌J@U5?B]SB BA*BA{8'<AAA<"C `3@RC <C 5@Cii)i i  x x  ):Y 7P1y : |59@ O I G >5 =5 <9 99 I= hXGi= @= "=9 9 = #; = E)ыVq,ZEAIi4Y}V!wJ@}V:@y}Vu[=}V8S.}VH@t#@.˿8Ű?Dÿmx ſ }?)~V!wJ@ ~VΌ;I~Tɫyy)y yIyY@y\G=ii!)=TzM=f=Y=|;QU=>AAaEDELCIyM}M>IQU4?U.ؾ U@ e?9UCU;: UH:)QW]:@WX XW:W2W*WVbUBU*UUUO?BB BA5*BA"<AAAÙ<"C$2@RCc<C]:@C;Ͻ׉IG>Vq, ZEA||Y}6H9J@}6T:@y}6b=}6}6H ˿ } g(? n@R }¿j?)~6H9J@ ~6wh;I~6іCɫ99)9 =I9Y}f@y}\GifAgA m m mmlg>m/=m/]=im•@m m)mx@Im@imx@}^{M}F=Yf;QU>aDCy}>Ișŝ4?ŝ,ؾ Ɲe@ ?9ƝCǝ: ȝ]:)șW ?@WX XW:W2W*WVbUBU*UUU ?BB B A rľ*B A C<A AAZ<"C2@*C汽RC<<C ?@CMD IG-->uuyuyu u*:YuP1yu':u}5[Vq,!t[EAY}26J@}2Q:@y}2j=}2zk}2H`g=̿(-?4@P< ⱼ?)~26J@ ~2;I~2ԖCɫ99)9 =IAYE@yM+\GiMQ=Y%`;QU%>))a-D-C1y=}=>II U:M4? ]:MS*ؾ M@ ]?9MCM<; M<;)M\:W vdE@WX XW:W2W*WVbUBU*U!U!U%` P?Br+B BA˾*BASC<AAA<"Ccg3@RC4CCvdE@Cֵt(/inGIjAiM>lٺMjAMXBׁIG=>9IsVGiN@#=/; EVq,UO-[EAɫ髡) IY!@y'[GIy)yIy)yi&>=-2i@ )$@IZ@i$@VuM>=YQU>aDCy}>Iȑŕ&4?ŕ'ؾ ƕ@ ?9ƕnCǕ: ȕY:)ȑWn1K@WX XW:W2W*WVbU!BU)*U1U9UEc[?BUPBY BYAؾ*BA<AAA<"C6@RC'JCn1K@C  >>52/]_]x]x]e ]&:Y]7P1y]:]G5 I G5 >YVq,^*G[EAY}:&/K@}:J;@y}:+Rt=}:^}:H`4`_˿`@G?@-Ba㠿?)~:&/K@ ~:ic~;I~:іCɫ99)9 =I9Y}@y}cZGi!!Pn?+?{Gz?D?= ף<)Iyn?/$? rh?V.?<C< µhA)µ3AIµtAiµ AA)> >(FMK=YB;QU>aDCyj"=}>I :4? :"%ؾ q@ ?9C<: :)]:W%@P@W!X! X!W!:W!2W)*W)V)bU)BU1*U1U1U5̣@B],o˼Ba BaAe*BaAe <AiAiAm<"CYQ:@RCC@P@C$סIGA> fA 9 I SGi @ "= -; EVq,a[EAY}6oL@}6!<@y}6 v=}6$!;}6HJ Ƴɿ`ﭿ?Y?`|Ю=6d? ?)~6oL@ ~6hp;I~6ҖCɫ99)9 =I9Y},@y}YG鮅p=ɮa=iM`=Y:QU>aDLCy=}>I4?"ؾ )@ ?9C;; ;)W%*=U@W!X) X)W):W)2W)*W1V1bUBU*UUU @RB*** querying acoustic contact ***PPBnHüB BA*BAl <AAA<"C-J?@RC50) C5*=U@C1 s9IG%> vv 5:YN1y:)O;9 Vq,z[EAY}6L@}65=@y}6ix=}6Z.=}6Ha@}ȿ  `?ggڧ?B\?@?)~6L@ ~6Uh;I~4ɫ99)9 9IAY}@y}RYGZ****** received transponder code query ******F****** received ping request ******YYa]D]Caye =}e>Ii u:mj4? u:m/ ؾ mت@ }?9m;Cms: m:)m^:W'I[@WX XW:W2W*WVbUBU*UUUgA @B(¼B BA*BAvU<AAAх<"C%/E@RC%%ICM'I[@CIYYEM?iM?9IIGeU>Vq,軔[EAY}6dM@}6 >@y}6gsv=}6aDCy=}>IR4?ؾ @ M?9C"C< X%;)W] a@WaXa XW:W2W*WVbUBU*U U U  @BU|-ʼB](+= BYA]*BYܩ9ܩIܭPGiܭܩ@ܩܩܩܭ"; ݭEA~Y;AAA<"CtFRCyޅC a@COIG >  x x j  i*:Y 7P1y : Y5) u;!Vq,갮[EAY}>cN@}>>@y}>|Fs=}>Ck=}>H Ŀ)r>)?l?cN@ ~>2e;I~>ҖCɫ) IY @y BWG]Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i U@ U@ U@M©MMiM@M I)MIM@iM@ M8=YQU>aDCy <}5>I9 E:=y74? E:=ؾ =2@ M?9=C=: =:)=_:W; g@WX XW:W2W*WVbUBU*UUU #@B-JB) B)A-*BIAU;AQAQAU<"C]BARC] C]; g@Cam2AIIGm>$Vq,t[EAY}2@O@}2?@y}2 n=}2h=}2H4¿S@w?`?ڭ?L?)~2@O@ ~2c;I~2֖CɫII)I MIIY}^@y}VGxDUSBL response received:!U1,R,D08,000,00614,18A,80,80,7A,FF Fpublishing direction and range info)?ɰ=鰅> )BIyp_BxkTb7?j$?ٱi-|?5^?EԸQ?-2?-ƽ -u<))I)y-MbX?I +?~jt?-*?-9<-= -A)-& AI-Ai))-(AM RMMb=YM?QUM>QQaUDUCYy].=}e ?Iae'&4?e)ؾ e3@ u?9e Ce : e:)aWk@WX XW:W2W*WVbUBU*UUUT@Pq*Qup_BZQuVF@vN2A@JQuxkTb7?j$?2Qu)?:QqbQur JHfS;(X2ǿRQuʱӹ뿇.X]߿p NjBQu j@ QuQuPBPuA9?PuK9?PuQuQu@"QuBqB BA~ *BA;AAA~<"C<RCCk@CɽI)gAׁIG=> S { {  q::Y #R1y : j59 @܁ 9܁ I܅ NGi܅ @܅ #=܁ ܁ ܁ ݁ .Vq, R[EA|&@i|$Y}rˈP@}r<@@y}rSi=}rۇ=}rH8?72?Y&@Dg??)~rˈP@ ~rLa;I~rԖCɫ) IY5@y5VGDNmea in: $SNTTA,,,,,005927.43*50 i)õ= õ=]"ۼM]:=YecMQUe>aaamDmVCiyu<}u>Iy} 4?}xؾ }8@ ?9}XC}+: }:)ymqAdded new target pos. range: 55.859997 m, bearing: 209.582552 deg, deltaT: 4.358229 s, approachRate: 0.633283 m/s, LOS rate: 1.203589 deg/s, posRepo size: 4m ProNav: pos range: 55.859997 m, bearing: 209.582552 deg, approachRate: 0.633283 m/s, LOS rate: 1.203589 deg/s, cmd update: 3.610768 deg/s, cmd heading: 210.465484 deg, new cmd heading: 215.734888 deg. Wl@WX XW:W2W*WVbUBU*UU`K@U@?BkB  B A  *B A ;A A A<"CK7RCCl@C=@o=sIG5>WVq,c([EAY}2$kQ@}2A@y}2~b=}2'=}2H@ֺ`便@&J??%L`1? ?)~2$kQ@ ~2A_;I~2ՖCɫYY)Y YIYY@yTGi    @ @ @ÁÁÁiÅ@Á ā)ąЎ@IąЎ@iąЎ@MX=YoQU>aDCy=}>Iȱ :ŵP4? :ŵ6ؾ Ƶ?@ ?9ƵCǵ4: ȵb:)ȵ`:Wcn@WX XW:W2W*WVbUBU*UUUT?BcB! B!A%L*B!A%;A!A)A-L)<"C5;H2RC1C5cn@C9m)=-ZHI G%M>A@Wq,6\EAY}6YUR@}6pB@y}6lX=}6K=}6HEBPv`f? 6?n?1?)~6YUR@ ~6c_;I~6ӖCɫYY)a eIaY@ySG=i=i!!UKMUN=Y]KQU]>YaaeDeCaym=}m>Iqu4?uؾ uL@ }?9uCuM: u:)qWWo@WX XW:W2W*WVbUBU*U)U1U5@?B-FB BA*BA@ѩ;AAAڠ<"Co,RCCWo@Cϱϱ)б б)9)I-LLGi- @)))-; -E)ݹIݹiݹݽ#=ݹݽ4wwj i*:YO1yP:Y5)9-[5?i5? I) GE >l Wq,J/\EA|8|:;Y}=?S@}=ZC@y}= 'K=}=n=}=Hl1᥿Ķ?@dz?@7b ??)~=?S@ ~=V`;I~9ɫ) IYM˪@yU!RGi   Õ>Õ=Õ>iÕz@Õ ĕf@)ĕ@Iĕ@iĕ@M%%=Y%/޻QU%>))a-D-C)y5 <}5>I9 E:=/4? E:=ؾ =f@ M?9=1C=: =:)=a:Wu_q@WyXy XyWy:Wy2W*WVbUBU*UUU@~?BH B BA'*BAf;AAAU<"CL&RCC_q@C·IG>QWq,غI\EAY}:u5T@}:PD@y}:R;=}:3=}:H峿 D?;?`/w@ٵ?v?)~:u5T@ ~:g;I~8ɫ99)9 =I9Y}k@y}QGi!))\(?;QU?aD#Cy\;=}?I<4?{ؾ  @ ?9hCʽ: :)W\Os@WX! X!W!:W!2W!*W)V)bU)BU)*U1U1U5@@B]ABY BaAe**BaAeJ;AaAaAm!T<"Cf"RCC\Os@CƂuuK ,:YKN1yy:59@IG5q>  Ciu 3oGI SkAi lٺ SkA YB! % gA) 9) I- XJGi- v@) ) - D- ); - E{Wq,}c\EAY}28U@}2SE@y}2c"+=}2GG=}2H@گ@׭?1?b`1??)~28U@ ~2;I~2іCɫ99)9 =I9Y}v@y}~PGI)i٠MW=Yc/QU>!!a%D%SC)y-7*=}->Iș :ŝ4? :ŝؾ Ɲ@ ?9ƝCǝ: ȝ:)ȝb:W t@WX XW:W2W*WVbUBU*UUUk<@B&:B  B A 1*B Aj;AAA5<"C&RCC t@C!%}I)GmV>Wq,Lp}\EA|@i|@Y}6mV@}69F@y}6[C=}6f=}6H @6/x"0?? LX??)~6mV@ ~6͐;I~6ӖCɫ99)9 =I9Y}s@y}zPG鮅a=ɮp= 鼉i>u>>i@ )@I@i@EMM=YaDCy A=} >I4?ؾ X@ ?9C: :)W=sv@W9XA XAWA:WA2WA*WIVIbUIBUI*UIUQUUS@R]B*** querying acoustic contact ***PYPYB>B BA1*BAݝG;AAA|<"C-RC1C5sv@C1AI)GEQ>I)AAa xx^ ;:Y7P1y:5%Wq,L\EAY}J7W@}JH@y}JU=}J~=}JH@ܱU ?}%? J]??)~J7W@ ~J;I~JЖCɫ髉) IYȨ@yOGZ****** received transponder code query ******F****** received ping request ******99a=D=CAyMc=}M>IQUs4?UFؾ U @ e?9U.CUU; Ut:)QWax@WX XW:W2W*WVbUBU*UUU@{ @B`?B BA)7*BAi ;AAAӿ<"CRCCax@C9IHGi@%; EֽFӅיIGb>X+Wq,4\EAY}nY@}nI@y}n?<}n->}nH``Wv?` r н@|2?"8? ?)~nY@ ~n:;I~nіCɫ髱) IYUͧ@y]rNGuxDUSBL response received:!U1,P D08,000,00614,18A,80,80,7A,FF uCommand Ack}BRequesting micromodem ping code 2iy=i==i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i19õ/ݼõ1õhiõ@ñ ĵf@)ĵ@Iĵf@iĵf@ lM =Y#QU=>99a=D=CAyEoC=}M>II }:MU4? }:Mؾ M@ }?9MCM; M;)Mc:WOz@Wwwr 1:YO1yP:5X XW:W2W*WVbUBU*UUU @BE /BI BqAu?*BqAut:AyAyA}T<"CwRCCOz@C Ƃ ?i ?׹ I G >ß2Wq,\EAɫyy)y }IyY@yMGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i99IER=)E=5K7A?A`" < < 9 I pFGi J@ "= 2; E8Wq,D\EAY}B\@}BBM@y}Bn<}By >}BH@1u8?@Uf@𤯿`ݧ@?@<"?`?)~B\@ ~B[ ;I~BӖCɫYY)Y ]IYY@yLGxDUSBL response received:!U1,R,F14,000,00642,186,80,80,52,FF Fpublishing direction and range infoAR>ɰ<>鰽> )BIyzjB*R?gO(,?ٱi07Ma=YrܼQU>!!a%D%VC)y->}->I1 =:504? E:5ؾ 5ũ@ E?95C5: 5:)5d:We|@WaXa XiWi:Wi2Wi*WiVqbUqBUq*UqUyU} @P*QzjBZQu˰L@MK'@JQ*R?gO(,?2QAR>:QbQ`(GL͕b.) ?RQT|#wпxxt [/:Y7P1y:}5);9H>Wq,\EAY}:^@}:)N@y}:/=<}: 3 >}:H@9H?@嗿 ᶿ79? ٥@? ?)~:^@ ~:;I~:іCɫ9A)A EIAY}@yTLGMDNmea in: $SNTTA,,,,,005931.91*58 IQ)UAiyyMM+MM>iM@I M@)M@IM@iM@] M]7=Ye=QUe>aDCyw=}>I4?qؾ @ ?9DC:  :)mMuAdded new target pos. range: 58.620003 m, bearing: 195.236928 deg, deltaT: 4.413594 s, approachRate: 0.625342 m/s, LOS rate: -3.250327 deg/s, posRepo size: 4m] ProNav: pos range: 58.620003 m, bearing: 195.236928 deg, approachRate: 0.625342 m/s, LOS rate: -3.250327 deg/s, cmd update: -9.750981 deg/s, cmd heading: 226.488752 deg, new cmd heading: 228.152601 deg. W]w@WYXa XaWa:Wa2W*WVbUBU*UU@\OM@Ux#?B.zRB) B)A-L*B)A-|0A1A1A5<"C=!*C=RC9C=w@CA QU>5?΅I9)=fA)IAGm>EWq,ș]EAY}F˝`@}F=P@y}Ftù;}F_>}FH=?`畿`}~?`f8w??)~F˝`@ ~Fb;I~FӖCɫQY)Y ]IYY2@y>KGi)) )))5> 5=u˖MuZ=YuQU}>yya}D}Cy=}>Iȉ :ō4? :ōؾ ƍH@ ?9ƍCǍ: ȍ:)ȍe:Wt@WX XW:W2W*WVbUBU*UUUO,?B}B BAS*BA7>AAAR<"C =RCCt@Cq9qIuDGiu@qqqq qFӅIGI>yyU -:YP1y':5)͊;>LWq,o2]EAY}6b@}6aR@y}6ƻ8}6k >}6H`&?픿` Tÿ5X ?x@??E?)~6b@ ~6;I~4ɫ99)9 EIAY}@yJGi @ @ @Ý©ÝÝiÝG@Ý ĝ)ĝ@Iĝ@iĝ@XM8=YMQU>aDCy=}>I4?lؾ .@ 5?9C: :)Weo@WaXa XW:W2W*WVbUBU*UUUx?BeB BAsW*B A C1ƺA A A  <"Cs8RCCo@C?΅IG->RWq,^IL]EAɫyy)y yIyY@ynIGi!tV?I +?Q2?94< u)IybX9?  a D (Cy}>I %:4? %:wؾ l@ -?9CH:  ;)f:Wuk@WqXq XqWy:Wy2Wy*WyVybUBU*UUU `?B/~B BA_*BA. AAA<"C!RCCk@C?i?׹Il 0:Yy59@Gi>i 9i Im CGim @m #=i i m E; m E)Ii#=uN4YWq,$f]EA|4<|4}6HQ,?Iʿ@?" ???)~61f@ ~6q;I~6ҖCɫ99)9 =I9YI@yHGi9AIMfAuMuT=Y}$ǼQU}>yaDZCy>}>Iȑŕn4?ŕ7 ؾ ƕ@ ?9ƕ>CǕY: ȕʽ:)ȑWf@WX XW:W2W*WVbUBU*UUU<@BB BA#c*BAK;9AA A & <"C="RCCf@CIGj>%B_Wq,]EAY}: g@}:~W@y}:wUe}:#>}:H`{(' ?#!@Ϳ`%:?q?i1?`?)~: g@ ~:;I~8ɫ99)9 =I9Y}@y}HGi!! u u }}h>}zT}%i}@} y)}1@I}Ў@i}1@JMI=Yi=QU>aDCyc=}>Iȡť4?ťg#ؾ ƥ@ ?9ƥ{Cǥ: ȥ|:)ȡWnb@WX XW:W2W*WVbUBU*UUUH~@B=gB9 B9A=se*B9AEbiAAAAAEp<"CM&>'RCICMnb@CQAI)GEQ>W xxy ::Y7P1y:5*fWq,ڙ]EAY}2,i@}2&HY@y}2n}28>}2H ?숑 9 п@K@Z6?`?>-?p?)~2,i@ ~2;I~0ɫ99)9 =I9Y}ڢ@y\HG鮵p=ɮa=inGIAI)I A) Ai-mٺZBi5MH=YTQU>aDCyo=}>I :+4? :&ؾ @ ?9C: y:)g:W%]@W!X! X!W):W)2W)*W)V1bU1BU1*U1U9U= @REB*** querying acoustic contact ***PAPABe[Bi BiAmf*BiAuvAqAqAuh<"C}*,RC}fC}]@C9IBGi@"=@; EֽFӅI)יIGb>&TlWq,ٵ]EAY}Bj@}BLZ@y}B̼}BZR>}BHW`Ӷ?ѿw@A?q?? ?)~Bj@ ~Bp;I~BӖCɫ髡) IY!@yxGG5Z****** received transponder code query ******=F****** received ping request ******E ףp=?{Gz{Gz?>ף ף<)Iyףp= ?I +?v/??94<xi= #A)| AItAiA\A)5= 5=tvJi@ @)Ў@I@i@BM+=YUDQU>aDCy`=}>I  4? +ؾ @ ?9 C : ;:) W5X@W9X9 X9W9:W92W9*WAVAbUABUA*UIUIUM @BPB BAel*BAAAA<"C3RCLCX@C֝Wxx y0:YyX5YIaG}z>=sWq,>]EAY}6#l@}6\@y}6/}6T=}6H|t?1Bm^ӿ9=ο?ʄ??=?)~6#l@ ~6 = 9 I #BGi ̝@    ?;  E/fyWq,Dl]EAY}:OBn@}:]^@y}: }:k=}:H@9 >?1Կ>.? 8?E??)~:OBn@ ~:S `;I~:ҖCɫ99)9 9I9Y]@y]FGaaNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iRӼMK=YXQU>aD]Cyx=}>ITc4?3ؾ u@ ?9xC8: :)WP@WX XW:W2W*WVbUBU *U U U:@B=2B9 B9A=q*B9AENֻAAAAAE<"CMH;RCMq<CMP@CQM_e?ie?aIiG9>P n 3::Yy45);9 NWq,NG^EA|;|ɫyy)y yIyY~@yFGxDUSBL response received:!U1,R,E9A,000,00667,185,80,80,95,FF Fpublishing direction and range info>ɰD>+> )CIy\sBASvs?uY?ٱigA-MB?--i-@) -)-@I-G@i-G@vMI=YQU>aDCy}>I  :$O4? :8ؾ @ ?9CX ; e ;)i:WMwDL@WIXI XiWi:Wq2Wq*WqVqbUqBUy*UyUyU}@P*Q\sBZQ{L@جo2@JQASvs?uY?2Q>:QbQz;FH0d6B>|Wq,3^EAY}n/q@}nEKa@y}na%}n%>}nH@ 3?O< R׿ 9n ? ª??J??)~n/q@ ~n?\;I~nӖCɫ) IYԠ@yEGDNmea in: $SNTTA,,,,,005936.31*55 iM JMMB=YMGQUM>QQaUDUCYy]=}]>Iae;4?e>ؾ e@ u?9eCe{: ef:)amqAdded new target pos. range: 60.840000 m, bearing: 216.878450 deg, deltaT: 4.481615 s, approachRate: 0.495357 m/s, LOS rate: 4.828956 deg/s, posRepo size: 4ܭQ>9ܩIܭAGiܭz@ܭ#=ܩܩܭH; ݭEm ProNav: pos range: 60.840000 m, bearing: 216.878450 deg, approachRate: 0.495357 m/s, LOS rate: 4.828956 deg/s, cmd update: 12.000000 deg/s, cmd heading: 182.869727 deg, new cmd heading: 178.829272 deg. WWQ@WX XW:W2W*WVbUBU*UU kN@UE`?B vۚB BAv*BAjAAA)<"C%'ERC%s8>C%WQ@C)IIG N2:Yy!5)G;զWq,5^EAY}E&r@}Eb@y}Eگ3}E=}EH`Ci6?Y}ٿ(a? #t?վ?`k?)~E&r@ ~E\;I~EҖCɫii)i mIiYyI)iS㥛?`"I +$&? 94)IyZd;O?Zd;O~jt?~*?j= ½"A)½& AI½Ai½nAAe?/i@ 1@)f@I1@i@Y-ZQU->)1a5D5C1y=d=}=>IA M:E_$4? M:ECؾ E}@ M?9EECE: EM:)Ej:WuПW@WqXq XqWq:Wy2Wy*WyVbUBU*UUU>?BqB BA*BAU>AYAYA]<"CeGRCej>CeПW@CiU*IY)Y)I9GUu>Wq,{N^EA|i|@Y}>Ut@}>8d@y}>Cm@}>=}>H!`~?@q`Rڿ`!`Ue?d ?`?`?)~>Ut@ ~>,\;I~>ӖCɫYY)Y ]IYY@yEGiII)]= ]=[MaD,Cy{=}>Iȱŵ 4?ŵHؾ Ƶ=@ ?9ƵCǵ׾: ȵ:)ȱWT\@WX XW:W2W*WVbUBU*UUU?BvB! B!A%w*B!A%A!A!A-y<"C5H@RC5>C5T\@C1^IG'>5 tt  8:YM1y:!59@ܵ P>9ܱ Iܵ \AGiܵ )@ܵ "=ܱ ܱ ܵ >; ݵ EWq,h^EAY}2Nu@}2Oje@y}2)K}2z6=}2H ?W; fۿ@?b?Ѻ??)~2Nu@ ~2I[;I~0ɫ99)9 =I9Y}@y}FGiʫ<MS=Y^ݻQU>!!a%D%]C)y-D=}->I15'4?5XNؾ 5@ =?95C5: 5Q:)1Wa@WX XW:W2W*WV bUBU*UUUM?BBH= BAu*B A +AAAb_<"CU I@*C]뱽RCe >Ca@C֝u \qIG~>Wq,^EAY}2(v@}2Cf@y}2U}2>=}2Hد[? p?)ܿ?? w?v?)~2(v@ ~2L[;I~2ҖCɫ99)9 =IAY@yEG==i==iAA @ @ @Í©ÍÍiÍ@Í č)č@Ičič@<MB=YƻQU>aDCy=}>Iȹ :Ž4? :ŽTؾ ƽ @ ?9ƽ Cǽ: Ƚ:)Ƚk:WmQfg@WiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUyU`@BB BAnx*BA=8AAA<"CfGRCQ>CQfg@C%)-?i-? IG5O> yy M4:YP1y':5ǦWq,3p^EAɫy髁) IY~@yvEGiYYaa%MK=YQU>aDCy}>Iȩŭ4?ŭZؾ ƭ@ ?9ƭOCǭ: ȭ#:)ȩWRl@WX XW:W2W*WVbUBU*UUU[3@B5B BAxy*BA%oDA!A!A%<UQ>9QIQiQQQQU8; UE)Ii"="=ij4"C CRl@C] ;ׁIG?>Wq,R^EAɫ髩) IY@yrDGa=ɮirh|?MbX{Gzt?;?ʽ ף;)Iy rh?Mb`V-?C+?< A)AIAiAA M M MM@?MAM`aiamDmCmyq}u>Iy :}4? :}Xbؾ }@ ?9}C}: }/:)}l:Wr@WX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBB BA*BA"SAAAk<"CZ@RCR$>Cr@C  zz| 4:YQ1y:45S,=֭Ex=iIyG>=سWq,2 ^EAɫ髙) IYG@y1EGZ****** received transponder code query ******F****** received ping request ******99a=D=1CAyI}m>Iy}ѩ4?}ahؾ }@ ?9}C}; }4;)yW2w@WX XW:W)2W)*W1V1bU1BU9*U9UAUE@ @B|iB BA5{*BA68`AAAd<"CK;RC=C2w@CD=Ul>Q֥a5=imGIjAi ujٺ}jA}/WBױIG>Q 9Q IU AGiU z@Q Q Q U @; U E]Wq,U^EA|i|@Y}6-x@}6[Ih@y}6}6wU=}6H@5@g%??ݿ-`? `-?f?{?)~6-x@ ~6dc;I~6ӖCɫYY)Y ]IaY @yDGxDUSBL response received:!U1,P E9A,000,00667,185,80,80,95,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i )= >-M5M=YEFQUM>YaaeDmaCyy|=}>Iȩ U:ŭ 4? ]:ŭnؾ ƭ~@ e?9ƭCǭ)= ȭ=)ȭm:W}@WX XW:W2W*WVbUBU*UUUn @B %B BA}*BA26nAAA<"C25RCG=C}@C) d yy ;:YP1y':F5)z;9% b(> I G% >PWq,_EAY}>/Bx@}>]h@y}>9}>d=}>HP0@"0?`j?޿ 0Hf?`Q?`耣??)~>/Bx@ ~>g;I~>ԖCɫYY)Y YIYY@yDG Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iyy @ @ @©iG@ G@)G@IiG@;M?=YdQU>aDCy?B;}>I4?-vؾ r@ ?9dC: Y:)W% .@W!X) X)W):W)2W)*W1V1bU1BU1*U9U9U=@@BB BA|*BA-iyA)A)A-s<"C5y0RC5XC5 .@C9%E>I G%N>Wq,_EAY}6w@}6Kh@y}6O}6Ss<}6H ?C??@ݿ`Kd?@?:h??)~6w@ ~6e;I~6іCɫqy)y }IyY͟@yDGxDUSBL response received:!U1,R,DAA,000,00685,189,80,80,85,FF Fpublishing direction and range info0?ɰ>鰽7> )CIyzB @?9?ٱ=i=i#мM[=Y{QU>aDCy9}>I  o4? |ؾ S@ ?9 C < <) 9I#BGi̝@#=S; ėEW5@WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYU]@Pq*QuzBZQuA&K@d9?@JQu @?9?2Qu0?:QqbQu}J@vnJ{oM@RQu>`XK sh+Q?BQuȄ@ QusSQulPuT9?Pu39?Pu!QuQuA"QusABVB BA*BA\AAA<"C-+RCC@Ct>׹IGE>ww 3:YO1yP:5);iEWq,ũ7_EAɫaa)i mIiY@yDG DNmea in: $SNTTA,,,,,005940.75*54 iI%=)!ˡE?Mb`?V-?'?; <)Iygfffff?{Gzty&1?33?ף`e= ­A)­AI­zAi­AA   å>å`åiå@å ĥZ@)ĥ@IĥG@iĥ1@<M#=YQU>aDCy}>I9 =:=hU4? E:=ͅؾ =@ E?9=C=': =:)=n:mqAdded new target pos. range: 62.640007 m, bearing: 237.748476 deg, deltaT: 4.436270 s, approachRate: 0.405748 m/s, LOS rate: 4.704408 deg/s, posRepo size: 4m ProNav: pos range: 62.640007 m, bearing: 237.748476 deg, approachRate: 0.405748 m/s, LOS rate: 4.704408 deg/s, cmd update: 12.000000 deg/s, cmd heading: 236.166865 deg, new cmd heading: 242.017405 deg. W+@WX XW:W2W*WVbUBU*UUQO@U`?B llB BA}*BAPAAAsb<"CV$RC%̃,C%+@C!= > I) Ge > 'Wq,jQ_EAɫ髙) IYş@yDGiAA}j{M}|=YyQU} ?aD0Cy} ?IȑŕD4?ŕyؾ ƕ@ ?9ƕ6CǕr; ȕ];)ȑW}_@WyXy XyWy:W2W*WVbUBU*UUU a&?B(:½B) B)A-A*B)A-A)A)A5<"C58 RC=6aC=_@C9%L>IG-N> ~ 76:Yy59@9IBGi@"=DG; E'RWq,Ik_EAY}NQt@}Nd@y}Nړ}N}NH`c(? 2?ڿ@(@IBw?@x¿|?)~NQt@ ~N5f;I~NԖCɫy髁) IY@yDGI)Ai];<M]<=YeUQUe>aiamDmhCqyu}u>Iy :}.4? :}ؾ }@ ?9}C}3: }L:)}o:W @WX XW:W2W*WVbUBU*UUUI G%M>q8Wq,y_EAY}Js@}J c@y}J(p}J5}JH-@?@?&ٿǩ?@rƿj?)~Js@ ~J)j;I~JҖCɫyy)y }IyY@yEGiII II)U= U= @ @ @Ý©ÝÝiÝ@Ý ĝG@)ĝIĝiĝ@w=MV=YQU>aDCyK}>I4?՘ؾ @ ?9CR: /:)W@WX XW:W2W*WVbU BU *U UUШ?B=B9 B9AEx*BAAE|:AAAAAEL<"CMRCQCU@CQ-.>IG)>I)@A yy` dJ:YP1y':45bWq,_EAY}F`r@}F |b@y}F𖽙}FPF}FH@m _t?i?+ؿ@!5ÿٲ?Ƥȿ@P?)~F`r@ ~F k;I~DɫYY)Y ]IYYŠ@yEGi5h<M=R=Y=QU=>AAaEDECAyM=Q}M>ܙ9ܙIܝCGiܝ@ܙܙܙܝC; ݝEI :4? :"ؾ 6@ ?9C#: /:)p:Wmk@W!X! X!W!:W!2W!*W)V)bU)BU)*U1U1U5`@B]Ba BaAeEw*BaAeAaAaAm%<"CuQRCqCumk@Cqm=!I1GM1>AWq,_EAɫ髱) IY@yEGIiM=U=iU=iYY%|?5^?~jt?Zd;O?% ?%= %j<=)!I!y%sh|??Q?l?%)?%u<%= % A)%`)AI%Ai%!A!%A    @ @ @ÁÁÁiÅ@Á ā)ą1@IāiąG@ 5M6=YQU>aDCy}>Iȱŵ4?ŵΥؾ ƵX@ ?9ƵXCǵ: ȵ:)ȱWPM@WX XW:W2W*WVbUBU*UUU@B%尽B! B!A%x*B!A-A)A)A-<"C5 RC1C5PM@C9֝H=QIaG}Y>Y ):Yy5tWq,_EAɫ髁) IY@yEG鮽p=ɮp=I@)@i;Mk=YQU?aD0Cy}?I  : e4? : 4ؾ C@ ?9 C ;; =;) q:WU@WQXQ XYWY:WY2WY*WaVabUaBUi*UiUiUu@R]@RB*** querying acoustic contact ***PPB*B BAw*BA0AAA6<"CRCC@CG<שIG >i=ّٕ4=ܙ9ܙIܝDGiܝ@ܙܙܙܝ9; ݝE))I)i)))-ʸ4;Wq,G_EAY}2@%p@}2@`@y}2o}2cC}2Ho?oI?ֿ@@hÿ ?5ȿXU?)~2@%p@ ~25a;I~2іCɫ99)9 =I9Y}Ԡ@y}EGZ****** received transponder code query ******F****** received ping request ******aDgCy}>I84?cؾ f@ ?9C0U; V;)WM~@WiXi XiWi:Wq2Wq*WqVqbUyBUy*UyUyU}@ @B B  B A v*B A]0AAAmS<"CΏRCC~@C!%፨I G%M>{{j n1:Y#R1y:Y5);9Xq,f`EAY}2p@}2/`@y}2a}25}2H@]?e?uֿ{$H?rƿ j?)~2p@ ~2_;I~0ɫYY)Y ]IYY@y9FGxDUSBL response received:!U1,P DAA,000,00685,189,80,80,85,FF Command AckBRequesting micromodem ping code 2iIA)IA)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i m  =NjQQaUD]Caym^}m>Iy}î4?}ؾ }@ ?9})C}; }w;)yW@WX XW!:W!2W!*W)V)bU)BU)*U1U1U5, @B}ۯB BA~t*BAQAAAy<"CTRCC@C*IG>i mGI i  lٺ  XBAXq,C `EAɫ髙) IY!@yxGGAAAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =P>99I=EGi=@999=7; =E 鼽gAi7=Ma=YQU>aDCy}>I :e4? :ؾ @ ?9fC: :)r:W]:@WYXa XaWa:Wa2Wa*WaVibUBU*UUU T-@BHB BAel*BAüAAA?<"C WRC C :@C/IGI>IAA)BAyyc h,:YP1y':5).; Xq,L:`EAY}2W7p@}2R`@y}2]y}2}2H ?@?ֿܸ7?cP?)~2W7p@ ~2Ze];I~0ɫYY)Y ]IYY},@y}GGxDUSBL response received:!U1,R,F93,000,006AC,187,80,80,77,FF Fpublishing direction and range info=ɰ >鰅1> )BIyBCҽ?rhjP?ٱi5:v? 5`;)1I1y5Q?Q?Mb?5(?5<5< 5-A)5+AI1i5= A11M/>MM>iM@I MG@)M@IMiMG@]*S;M]B=Y]aaaeDeCiy;;}>Iȑŕ4?ŕ<ؾ ƕ@@ ?9ƕCǕ: ȕf:)ȑWա@WX XW:W2W*WVbUBU*UUU@@P *Q BZQ S+P@=@JQ Cҽ?rhjP?2Q =:Q bQ &ZM<4"! @RQ  쿖1@Aܿͳed?BQ r^f@ Q Q hP  9?P T9?P Q !Q XA"Q ABe ^Ba BaAe l*BAɼAAAH<"C޿RCCա@C֕d#YIiGZ>EXq,`T`EAY}np@}n`@y}n2|}np}nH?G ?`*+׿x!`$?`?)~np@ ~n ];I~lɫ) IY5@y5HGDNmea in: $SNTTA,,,,,005945.20*51 =i==i=i]=MeJ=Ye;QUe>iiamDm9Cqyu<<}u>Iy :}r4? :}Iؾ }@ ?9}C}: }':)}s:muAdded new target pos. range: 64.980003 m, bearing: 206.236988 deg, deltaT: 4.463924 s, approachRate: 0.524202 m/s, LOS rate: -7.059145 deg/s, posRepo size: 4m ProNav: pos range: 64.980003 m, bearing: 206.236988 deg, approachRate: 0.524202 m/s, LOS rate: -7.059145 deg/s, cmd update: -12.000000 deg/s, cmd heading: 289.762766 deg, new cmd heading: 294.534231 deg. WO+@WX XW:W2W*WVbUBU*UU`>P@UD?B (B  B A d*BAGϼAAAޑ<"CN8ԿRCCO+@C!},׹IGf>vvf ):YN1y:}59 @))191I5pFGi5J@11154; 5E Xq,m`EAY}Bq@}Boa@y}Bvo}B9Z}BH??@2׿ &U@w?H`X?)~Bq@ ~B.\;I~@ɫYa)a iIiY3@yHGIe@)e@iii @ @ @ý©ýýiý=@ý Ľ@)ĽIĹiĽ̘@e-<MU=YC aDjCy=}>I=_4?<ؾ @ ?91C]: :)W @WX XW:W2W*W!V!bU!BU!*U!U)U-?BU)BY BYA]c*BYA]KռAYAaAeZ<"CeʿRCiCm @CiMB9IG5->=ip=!Xq,N`EAY}FPfr@}Fāb@y}FTc}FOp}FH@hu`?@?ؿs?f?f?)~FPfr@ ~F)e];I~FΖCɫqy)y yIyY@yIGiU=MUR=Y];QU]>YYaeDeCaye=}m>Iq }:uK4? }:umؾ u=@ }?9usCu: u:)ut:WB@WX XW!:W!2W!*W!V!bU)BUI*UIUQUU.?BఽB BA]*BA&'ۼAAA0<"C`RCCB@C'gיIGC>uu{ /:YKN1yy:5'Xq,`EAY}2ds@}2c@y}2Y}2ۥ<}2HCD5??@ٿIJ?f9Ii#=D EI)AI)Ai!!U|<M]J=Y];QU]>aaaeDeCaymc=}m>Iqu74?uؾ u@ }?9uCu : u:)qWG@WX XW:W2W*WVbUBU*UUU &?Br{B BA[*BA~AAA0<"CuRCqCuG@Cqm@AIIGm5>K).Xq,e`EA|"@i| ɫ) IYݤ@yJG yyiy ?+~jt ?  D) I y Mb?L7A`?Mb?  ? += @= A) AI  Ai A  \A m m mm>mmG>imz@m m@)m@Im@im@3:=M3=YQU>aD C)y-}->I1 =:5!4? =:5Sؾ 5@ E?95C5Q: 5:)5u:W(@WX XW:W2W*WVbUBU*UUUAU@B#B! B)A-V*B)A-A)A)A-<"C5S RC9C=(@C9I)@Ah f.:Yy55Ռ=?i=?IGU>5Xq,>`EAɫyy)y }IYW@ylKGiaag*=Md=YQU>aD8Cy}>Iȱŵ<4?ŵؾ Ƶ@ ?9Ƶ:CǵY: ȵ/:)ȱWϑ@WX XW:W2W*WVbUBU*UUUY@BN}B B!A%R*B!A%A!A!A%<"C-*C5RC1C5ϑ@C1EƂI)GEQ>P>9I8GGi@"=D,; E<;Xq,"`EAY}vXZx@}vuh@y}vhQ}v~=}vHS0@kJ?`ikG޿9?`/*?%?f?)~vXZx@ ~v\;I~vЖCɫ11)1 5I1YuH@yuZKGua=ɮua=}=i}==i=i=I>==33i=f@9 =@)=@I=@i=@M]MM?=YUN;QUU>YYa]D]oCYyeL9>}e>Iim4?mؾ m%@ u?9m~Cm: m:)iW@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA*S*BA9iAAAT<"C<RCC@CIzz` S,:YQ1y:45);9 Gm>"BXq,QaEAY}2tZz@}2uj@y}2[#I}21=}2H`Q?~ b߿@Cpw?@!?`(? %?)~2tZz@ ~2΃\;I~0ɫ99)9 =I9Y@yKGZ****** received transponder code query ******F****** received ping request ******!!a%D%C)y-Ư=}5>I9 E:=4? M:=sؾ =@ M?9=C=; =3;)=v:Wu|@WqXq XqWy:Wy2Wy*WyVybUBU*UUU`t @BPB BAnQ*BAoNAAA<"C&¿RCC|@CׁIG=>i=MHXq,W"aEAY}V{@}V l@y}VX?}V*>}VH`fPண?q.!6? ?ű?`S?)~V{@ ~VT];I~VΖCɫyy)y yIy܉9܉I܉i܉܍!=܉܉܍); ݍE)Ii5YyxDUSBL response received:!U1,P F93,000,006AC,187,80,80,77,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iiY%;QU->QQa]D]CayuA`=}u>IȁŅ4?Ņ(پ ƅ>@ ?9ƅ CDž< ȅjv;)ȁW}V@WyX XW:W2W*WVbUBU*UUUP @BUw#BQ BQAY*BYA]DAYAYA] <"C̿RCCV@CMMwMwMZ M[/:YMO1yMP:M5)M;IG5 >OwNXq,ͬqqauDu Cyy}}}>Iȁ  :Ņz4?  :Ņپ ƅ@  ?9ƅE CDžD< ȅ<)ȅw:WU驆@WQXQ XQWQ:WQ2WY*WYVYbUYBUY*UaUaUeH4@BöB BAO*BAAAAk<"Cv,׿RCC驆@C 5·IG5>;aUXq,VaEAY}VWS~@}Vnn@y}V9=}Vi>}VH@Q?ccG`?ڶ?5?O?)~VWS~@ ~V%`];I~VԖCɫ髑) IYK@yLGxDUSBL response received:!U1,R,DDA,000,006CF,189,80,80,6D,FF Fpublishing direction and range info >ɰ>7> )BIy(Bdb?J?ٱ i R=M c=Y &:QU>aD9Cy%=}%>I!%b4?%\پ %@ 5?9% C%: %U:)!WUc@WQXY XYWY:WY2WY*WaVabUaBUa*UaUiUm@+@P1*Q5(BZQ5oM@g s^>@JQ5db?J?2Q5 >:Q1bQ5b" C@%5MyRDk@RQ5j߿Nۻ!z"w?BQ5}@ Q5hQ5P5H9?P5 9?P5/Q5Q5HA"Q5XAy}CBҹBi BAKISkA*BA*Xi =Olٺ=SkA=:YBAiAqAuU <i@9UB"CiRCCc@C?΅I)AA  t t | ,:Y M1y : 459@ܝM>9ܙIܙiܙܝ =ܙܝDܝ&; ݝEױIG>[Xq,PrpaEAY}=t@}=o@y}=E}=|>}=H@+H`2?0@&? ??@?)~=t@ ~=];I~=ҖCɫ)))1 5I1Ym@ym9LGDNmea in: $SNTTA,,,,,005949.65*5C i    @ @ @ÙÙÙiÝz@Ù ę)ĝ@Ięiĝ@&M0=YމQU>aDtCyU==}>I  :4?  :;پ K@  ?9 C: :)x:m=qAdded new target pos. range: 67.080002 m, bearing: 240.803838 deg, deltaT: 4.416948 s, approachRate: 0.475441 m/s, LOS rate: 7.825958 deg/s, posRepo size: 4mM ProNav: pos range: 67.080002 m, bearing: 240.803838 deg, approachRate: 0.475441 m/s, LOS rate: 7.825958 deg/s, cmd update: 12.000000 deg/s, cmd heading: 237.038149 deg, new cmd heading: 231.457201 deg. WU @WQXQ XQWQ:WQ2WY*WYVYbUaBUa*UaUeP@Um`b?B?B BAM*BA@AAA#<"CE-RCACE @CAׁ֩IG>LqbXq,>aEAY}Jq@}JWrq@y}JӖM}JG>}JH%@?`6l?@?@??)~Jq@ ~J\;I~Hɫ髙) IY@y0LGu=iu=u=iu=iyy"Ma=Y4QU>aDCy =}>I܎4?=!پ @ ?9!Cr: :)WD@WX XW:W2W*WV bU BU *UUUv?B=*ֽB9 B9AEM*BAAEAAAAAE$<"CMsXRCQCUD@CQaI1GUS>%%y%y%b %-:Y%P1y%':%5hXq,aEAY}^ג@}^#As@y}^gS}^$>}^HB?+q]?@i?k? ?)~^ג@ ~^^\;I~^ЖCUO>9QIUGGiU=@U!=QQU-; UEɫ髙) IYƥ@yKGI9)=@iAAusMuN=Y}jQU}>yaDCy=}>IL|4?*پ @ ?9X!C]: :)W],@WYXY XaWa:Wa2Wa*WaVabUiBU*UUUȑ?B,mB BA;O*BAn AAA.<"C VJRC C,@C!=ip=IG-p>lnXq,h aEAY}Nq@}Nt@y}N0Y}N>}NH`A?E~@@T&? "? [?E?)~Nq@ ~N\;I~Lɫqq)y }IyY*@ypLGiQQ}?5^I?~jty&1|M"?Ľ `)Iy7A`?Mb?6?= #A)AIAiCAA   Ý9=Ýy>ÝTiÝ@Ý ę)ĝ@Iĝ@iĝ@<M8=Y8PQU>aDCyz=}>I :Wh4? :r5پ @ ?9!C/: 8:)y:Wa@WX XW:W2W*WVbUBU*U U U QN?B5'B9 B9A=L*B9A='AAAAAE,<"CM8RCICMa@CIuFӅH vvo 9:YN1y:k5iIqG}>uXq,aEAY}R>@}R՘v@y}R a}Rӣ>}RH`#3!?i:?4? Y?B?)~R>@ ~RA^\;I~RӖCɫyy)y }IyYm@yLGI)I)i!)=Y<M=f=Y=QU=>AAaEDEIQUX4?U>پ U@ e?9U!CU8: U#:)QW @WX XW:W2W*WVbUBU*UUU`?BCB BAJ*BAsAAA<"C*CRCC @C?΅סIGC>9=<EP>9AIEHGiE@AAAE3; EE{Xq,ظaEAY}^6@}^#x@y}^j}^,>}^H ӯ&m?` p ALv?`CS? 0?-?)~^6@ ~^ʹ\;I~^ΖCɫ髑) IYW@yLG }hA}hAiyy @ @ @©i@ )@Ii@лM@=Y7QU>aDrCyg=}>I :E4?  :Jپ @  ?94"C: Z:)z:W- Ҕ@W)X1 X1W1:W12W1*W9V9bU9BU9*U9UAUE@h@BmBi BiAuJ*BqAu7AqAqAu%<"C}<RCyC Ҕ@C}FӅQIaG}Y>I@A)@A~~` ,:YT1y@:45);9Xq, bEAY}6@}6y@y}6.u}6 >}6H`/M?Fy?@??@p?)~6@ ~6P^;I~6ЖCɫ99)9 =IAY}@y}LG鮁ɮp=i_<Mb=YQU>aDCy#=}>IȹŽE54?ŽSپ ƽ@ ?9ƽv"Cǽ: Ƚ:)ȹW>@WX XW:W2W*WVbUBU*UUUhM@R B*** querying acoustic contact ***P P B-TB1 B1A5H*B1A5A9A9A=<"CE@RCACE>@CA-?΅IG-->Xq,j%bEAY}Jq@}Jz@y}JMN}Ji>}JHTu?T@wA@W??`9pIpippprDr,; rEɫ) IY5@y}LGZ****** received transponder code query ******F****** received ping request ******aDCyK=}>Iȩ :ŭ"4? :ŭ`پ ƭ@ ?9ƭ"Cǭ/; ȭ;)ȭ{:Wq+@WX XW:W2W*WVbUBU*UUU @B8B BA K*B A uA A A<"C-IRC)C-q+@C)q%%x%x% %J+:Y%7P1y%:%X5)%7;QIYG}{>UXq,6;?bEAY}:<)@}:m|@y}:B}:T~>}:H(09? ܰ`7 ~?S? {?l?)~:<)@ ~:t_;I~:ЖCɫ99)9 =I9Y}@y}LGxDUSBL response received:!U1,P DDA,000,006CF,189,80,80,6D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I@)@iS?{GzMbp/?# )Iy)\(?Mb`?Q?G!?;u= ½"A)½AI½Ai½ApA   Q8=l=i@ @)Ў@I@i-ܛ<M-=Y5QU]>aaamDmCqy+=}>I4?mپ j@ ?9#C~;i= ;)WM@WX XW:W2W*WVbUBU*UUU@@@B,B BA7I*BAAA!A%W<"C-޿RC)C-M@CIE FӅ! I) GM >}Xq,YbEAɫ髹) IY@ySMG@A@A%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i =M=YQU?aDACy}?I :q4? :rtپ M@ ?9H#C=: :)|:Wß@WX XW:W2W*WVbUBU*UUU@@B5WӽB1 B9A=RF*B9A=A9A9A=<"Ce׿RCiCmß@Ciy9IHGi1@    L ):Y y  5)  ;5; E)qIqiqu!=u!=u.5)I9G]v>J%Xq,NrbEAY}:,@}:y@y}:f掽}:,>}:H@?@u? ٱ?໨?W?)~:,@ ~:-f^;I~8ɫ99)9 =I9Y}@y}NGxDUSBL response received:!U1,R,EB2,000,006F7,185,80,80,92,FF Fpublishing direction and range info;>ɰ>鰅+> )CIyBe[{?gd?ٱI)AI)Ai`?=i@ Ў@)x@I@i@XH=MN=Y:VQU>aDtCy=}>IS4?~پ @ ?9#Ck: ܹ:)W AR@W X  X W1:W12W1*W1V1bU9BU9*U9U9UEe@Pq*QuBZQu| +P@uO3?3@JQue[{?gd?2Qu;>:QqbQuhW^zѻ?BQu@ Qu{QuPuL9?PuH9?Pu:Qu/QuLA"QuHAB佽B BAXA*BA3 AAAܣ<"C̿RCCAR@CIGj>CXq,݌bEAY} e@}  @y} *} >} H`RP ? `5f?1?@#?`#?)~ e@ ~ o;I~ ɫ) IY-a@y-MGTNmea in: $SNTTA,0.045906,,,,005954.08*4B gA鼩i#MH=YλQU>aDCy(=}>I4?ԉپ @ ?9#Cr: :)mqAdded new target pos. range: 69.479996 m, bearing: 245.330641 deg, deltaT: 4.450836 s, approachRate: 0.539223 m/s, LOS rate: 1.017068 deg/s, posRepo size: 4m- ProNav: pos range: 69.479996 m, bearing: 245.330641 deg, approachRate: 0.539223 m/s, LOS rate: 1.017068 deg/s, cmd update: 3.051204 deg/s, cmd heading: 290.635179 deg, new cmd heading: 295.497015 deg. W-@W)X) X)W):W)2W1*W1V1bU1BU9*U9U=@^Q@U=?BmBi BiAmcB*BiAuA"AqAqAu1.<"C}w¿RCyC}@Cֵ?΅בIG`>IAA)yyl .:YP1y':59@inGIjAi$iٺjAUB]7Xq,㧦bEAD9DIFIGiFԣ@DDDF+; FEɫ髙) IYԦ@yAMGiIIe3MeQ=YeQUe>iiamDmCqyu}u>Iy :}]4? :}Uپ }N@ ?9}$C}: }:)}}:Wu@WX XW:W2W*WVbUBU*UUU@[#?BýB BAF*BA_%AAA<"C[,RCCu@CIGE>NXq,MbEAY}2@}2w@y}2񅛽}2 >}2H@?Ȍ ^S ?k? ??)~2@ ~2#x;I~2ӖCɫYY)Y eIaYŧ@yiNG=i==i=i)) 7A`?q= ףpMb? ?  <) I y Fx?:v~jt? +? Լ = !A)  AI i A  A m@ m@ m@m©mmimf@m m)m@Iiim@}=M}:=Y}QU>aDCy>}>Ișŝ4?ŝDپ Ɲ@ ?9ƝR$Cǝ: ȝI:)șWlm@WX XW:W2W*WVbUBU*UUU?BBB BAC?*BA'AAAY0<"CRCClm@C֙    ? 0:Y y  #5YIaG}{>QIXq,]bEAY}2@}2ƒ@y}2%➽}2>}2H{w?u`llઇ#4?`+׳?=? ?)~2@ ~2q;I~2ҖCɫII)I MIIY}@y}3NGI@)iwMd=Y땻QU>!!a%D%@C)y-6=}->I1 =:54? =:5پ 5~@ E?95$C5: 5b:)5~:We @WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqU} Y?BɽB BA@*BA*AAA+<"C5VRC1C5 @C9AI)GEQ>yy܅P>9܁I܅XJGi܅v@܁܁܁܅!; ݅E=i=sXq,.;bEAɫ髙) IYŧ@yiNGiYa   Lrh>=i@ \@)@IiЎ@-O<M>=YQU>aDwCy}>I{4?پ @ ?9$C: :)W˥@WX XW:W2W*WVbUBU*UUU@=@Be\(Ba BaAC?*BA,AAA<<"CRCC˥@C֝FӅ  s s ~ z.:Y M1y : 5qIG~>_[Xq,wcEAɫ髙) IYyI9)9I9)9iAAYQQU]>YYa]D]Caya}e>Ii u:m4? }:mپ m@ }?9m%CmD; mQ;)m:Wm@WX XW:W2W*WVbUBU*UUU3@BPɽB BA*BA/AAAa<"CRCCm@C?΅IGI>Xq,9'cEA9IKGij@*; E|&@i|$Y}F"|@}F݉@y}FR}F >}FH`! ߿?"EYL;޿D??r??)~F"|@ ~Fb;I~FЖCɫYa)a aIaY}@y}NG鮍p=ɮ= 鼽gAi<M a5D=C9yE4^>}E>IIM4?M`پ M@ }?9M_%CM; M;)IW @WX XW:W2W*WVbUBU*UUU@{@RB*** querying acoustic contact ***PPBeBa BaAei=*BaAmDž1AAA<"C;6RCC @CסII)?A55x5x5d 5,:Y57P1y5:55)5c;9mG}>LmXq,mAcEAɫyy)y }IyY~@yMOGZ****** received transponder code query ******F****** received ping request ******))a-D-C1y5}5>I9 E:=4? M:=rپ =@ M?9=%C=n: =:)=:W@WX XW:W2W*WVbUBU*UUU#3 @B-B1 B1A5z9*B1A5F4A1A9A=\<"C=cyRCaCe@Ca}.ąQIYGu>Xq,[cEAY}6@}6@y}6-}6I >}6HTpܿ p?@Ͷۿ@z?`?`??)~6@ ~6_;I~6ϖCɫ99)9 =I9YuU@y}UPGxDUSBL response received:!U1,P EB2,000,006F7,185,80,80,92,FF Command AckBRequesting micromodem ping code 2i=i==i=%Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iAI=Me=Y7;QU>aDICy_=}>IȹŽ4?Ž7پ ƽ@ ?9ƽ%Cǽ8< Ƚ<)ȹWZ@WX XW:W2W*WVbUBU*UU1U5U @B"B BA2*BA6AAAm<"CRCCZ@C!9!I%KGi%@!!!%,; %E3 zz 7:YQ1y:5);FӅIG>Xq,ucEAY}6@}6@y}6z}6>}6H!ۿ?Ygڿ ?@ ?i?@?)~6@ ~6^;I~6ЖCɫ99)9 =I9Y`@ycPGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I@)@i m@ m@ m@m©mmimד@m i)m@Im$@imC@:_;MM=Y5MQU>aDxCy|=}>Ișŝ~4?ŝgپ Ɲ@ ?9Ɲ%&Cǝ: ȝb:)șW&1@WX XW:W2W*WVbUBU*UUU @B} ɽBy ByA}k2*ByAQ8AAA7<"Ck(RCC&1@C֥?΅יIGb>=ip=rXq,[cEAY}:ބ@}:@y}:e}:{=}:Hٿ9?7`6`ؿK?@*g?Ž?-?)~:ބ@ ~: _;I~8ɫ9A)A EIAY}@y}QGxDUSBL response received:!U1,R,ED1,000,00700,186,80,80,79,FF Fpublishing direction and range infoa>ɰ>鰅> )BIy B5VI?&̅?ٱi6=MJ=YeQU>aDCy=}>I :%w4? :Xھ @  ?9i&C; @;):Wu@WqXq XqWq:Wq2Wy*WyVybUyBU*UUUi@P*Q BZQ>nwP@L2@JQ5VI?&̅?2Qa>:QbQz2$M5Q5#i@RQªv7¿~% >9! I% MGi% @% =% ND% D% E; % E)ݱIݱiݱݱݵ=ݵE8Xq,7cEAY}bh@}bu@y}bP }b=}bH@׿ϒ?3ز`a׿?қ?"?`?)~bh@ ~bI _;I~bҖCɫ) IY-@y5QGDNmea in: $SNTTA,,,,,005958.55*5F I)I)i:MD=YQU>  aDC!y5=}=>IIM(p4?Mjھ M@ u?9M&CM; M;)ImqAdded new target pos. range: 70.020004 m, bearing: 261.456445 deg, deltaT: 4.453535 s, approachRate: 0.121254 m/s, LOS rate: 3.620900 deg/s, posRepo size: 4m ProNav: pos range: 70.020004 m, bearing: 261.456445 deg, approachRate: 0.121254 m/s, LOS rate: 3.620900 deg/s, cmd update: 10.862699 deg/s, cmd heading: 304.235126 deg, new cmd heading: 305.570394 deg. Wj@WX XW:W2W*WVbUBU*UUGQ@U[?Bm8Bq BqAu-*BqAus=AqAyA}f<"CkRCCj@C!օ ?΅a Ii G >^Xq,cEAY}:T@}:Fb@y}:}:?=}:HEֿ@ ?o&` տ㗽?U}? ??)~:T@ ~: ^;I~:ЖCɫ99)9 =I9Y}@y} RG QUhAiQQUZd;?{Gzt?S㥛U?Uף; U/ݼ)QIQyU/$?&1?U1(?U̼UP= UA)U-AIU AiUAQUA    @ @ @i3@ )Ii@ Z=M :=Y :QU>aDCy)=}%>I! -:%f4? 5:%#ھ %S@ 5?9%&C%D: %:)%:WU@WQXY XYWY:WY2WY*WaVabUaBUa*UiUiUm`?B}B BA'*BA"x?AAA4<"C-[RCC@CyI@A)@Awwu -:YO1yP:59IAGew>Xq,>cEAY}6IE@}6S@y}63ʢ}6>}6HԿ`*? 4ӿ[?S?ѿ?`h?)~6IE@ ~6_;I~6ΖCdfCi=oGIQiilٺYBɫ髡) IY/@yRGiYYW&=Mf=Y :QU>aDGCy=}>Iȱŵ_4?ŵ&0ھ Ƶu@ ?9Ƶ0'Cǵ: ȵӻ:)ȱW(@WX XW:W2W*WVbUBU*UUUk?Bf½B B!A%#*B!A%.VAA!A!A-<"C-ORC1C5(@C1E6ɅP>9I@NGi@ =RDD&; I)GEQ>Xq,!cEAY}2#@}2q1@y}2h}2y>}2H@ҿ e?ߖx'ҿ`e?g??4?)~2#@ ~2E_;I~2ЖCɫ99)9 =I9Y]r@y]RG=i==ii E E E E@ E@ E@AAAiE@A E@)E@IAiA]"<M]N=YeGQUe>iiamDmzCqy}{=}>Iȉ :ō/X4? :ō=ھ ƍ@ ?9ƍr'CǍ< ȍҙ<)ȍ:Wu@WqXq XyWy:Wy2Wy*WyVbUBU*UUU?BXB BA!*BAgCAAAl<"CX;RCC@C IGj>%%x%x%k %z.:Y%7P1y%:%5Yq,dEAY}2@}2@y}2쥽}2 >}2H )ѿ?@Y@ bп`?ɷ?`8?`k?)~2@ ~2%^;I~2іCɫ99)9 AIAY]@y]RGI@)@iS׼MO=YKQU>!!a%D%C)y-b=}->I15_Q4?5Kھ 5@ E?95'C5Ǻ: 58:)1We@WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqUu`k?B0ýB BA$*BAcxEAAA3<"C(RCC@C?΅׹IGE>ia= 9 I OGi F@ != 1; E! Yq,~*dEAY}N@}N@y}N[G}N>}NHUο? d.Ϳ?"?@?q?)~N@ ~N^;I~NΖCɫYY)Y ]IYY}j@y}RGi99ɸ<MB=Y~QU>aDCy ҆=}5>Ii :mgJ4? :m [ھ mi@ ?9m'Cm!,< mo<)m:W-Rĸ@W)X) X)W):W12W1*W1V1bU1BU9*U9U9U=@BSB BA"*BAGAAAk<"CRCCRĸ@C% %w%w%j %N?:Y%O1y%P:%Y5)%;9-IG>z Yq,}YDdEAɫyy)y }IyY@ySGIA)AIA)Ai=RQ?y&1MbP="?=` =)9I9y=333333?:vl?=?=Լ== =A)=AI= Ai=A9=\A    @ @ @i @ )x@I$@i7@-n;M-A=Y5QU5>11a=D=C9yE}E>IIM~D4?Mgھ Mz@ U?9M;(CM: M:)IWu@WyXy XyWy:Wy2Wy*WVbUBU*UUU@RB*** querying acoustic contact ***PPB½B BAh!*BAIAAA\<"CRCC@CyIG^>3Yq,4^dEAY}2Ř@}2bӐ@y}2"}2 >}2HNǿ7?`U`SƿS?j?0f?@?)~2Ř@ ~28a;I~2ϖCɫ99)9 =IAY@ySGZ****** received transponder code query ******F****** received ping request ******19a=D=HC9yE>}M>IQU@4?U)tھ Ux@ m?9Ut(CU'; U1;)QW\@WX XW:W2W*WVbUBU*UUU @B-B) B)A-*B1A59KA1A1A5<"C=D۾RC9C=\@CAaai9iImOGim@iiim6; mE֙I)-> ))-X -8:Y)y)-~5)-ܔ;ױIG>/_Yq,xdEAY}2@}2t@y}2}2$>}2H@?Ŀ_?xÿ9-? Q?1j? ?)~2@ ~2O_;I~2ΖCɫ99)9 =I9Yu@y}7SGxDUSBL response received:!U1,P ED1,000,00700,186,80,80,79,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iAI E M MM>M?5M"=iM@M I)M$@IIiM@M%=YeL:QU>aDCyM=}>I! -:%:4? 5:%pھ %@ 5?9%(C%: %:)%:Wu`@WqXq XyWy:Wy2W*WVbUBU*UU!U% @BDB! B!A- *B)A5UtNAQAYA](<"CeRCiCm`@Ci֡ y I G >E$Yq,dEAY}2J@}2^X@y}2}2 =}2H `? v@`Z2?`L?`??)~2J@ ~2_;I~0ɫ99)9 =I9Y}n@y}$TGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i==i=i t=M%m=Y-2l9QU-?11a=D=CAyEW=}M?IY]74?]ʏھ ]@ m?9](C]>; ],;)YWSw@WX XW:W2W*WVbUBU*UUU@L2@Bm3ǽBi BiAu*BqAuj PAqAqAuu<"C})RCyCSw@C֙--{-{-Y -5+:Y-#R1y-:-595@בIG>e Q>9a Ie PGie @a a a e :; e Eo*Yq,;ƫdEAY}2 @}2W@y}2x櫽}2o=}2H "Y`m?A⺿ z? Zv???)~2 @ ~2X;_;I~2ЖCɫYY)Y ]IYY@yRTGxDUSBL response received:!U1,R,D93,000,00703,189,80,80,89,FF Fpublishing direction and range info ?ɰ >鰥7> ) CIyfBӔ:j?4weQ?ٱI@)@i55<M=I=Y=ͺQU=>AAaEDECIyMp=}M>IQ ]:U044? e:U&ھ U@ e?9U2)CU: U:)U:W@WX XW:W2W*WVbUBU*UUU`@P*QfBZQ- N@\[B@JQӔ:j?4weQ?2Q ?:QbQ3'E<@?IƼʪO&"@RQ^OU?uts\?BQZ}@ QV}QAPާ9?Px9?PDQIQgA"Q6MABeTֽB BA*BAw RAAA<"C F YRCC@Ci=QI!G=>Z1Yq,dEAɫ) IY55@y5UGTNmea in: $SNTTA,0.063667,,,,010002.97*4F i=i|?5?=t =`<)9I9y=/$?ktkt?=&1?= 0= 0= =A)=AI=-Ai=nA9=AUz8=M]9=Y]QU]>aaaeDeDiym}m>Iqu/4?uھ u&@ ?9u)CuL: u:)qm5qAdded new target pos. range: 70.200005 m, bearing: 294.517593 deg, deltaT: 4.455365 s, approachRate: 0.040401 m/s, LOS rate: 7.420525 deg/s, posRepo size: 4mm ProNav: pos range: 70.200005 m, bearing: 294.517593 deg, approachRate: 0.040401 m/s, LOS rate: 7.420525 deg/s, cmd update: 12.000000 deg/s, cmd heading: 352.580664 deg, new cmd heading: 357.509700 deg. Wm@WiXi XqWq:Wq2Wq*WqVbUBU*UǓQ@UI?B=B9 B9A=*BAAE"3TAAAAAE&<"CMPRCICM@CQ%+ %w%w%t %@7:Y%O1y%P:%}5ׁ֡ I G >7Yq,N|dEAY}2]@}2Ŕ@y}2GI}2=}2H#?.`E@c?a?౉??)~2]@ ~2la;I~2ΖCɫ99)9 =I9Y}@y}UGI)AI)Ai==M=u=Y=0QUE?AAaEDE%DIyMn>}U?IQ ]:U,4? e:UǺھ U3@ e?9U)CU: U:)U:W4=WX XW:W2W*WV)bU1BU1*U1U1U=?BnýB BA *BAUAAA<"CQRCC4=C< P>9 I (RGi Ъ@    -; E)ݩIݩiݩݩݭ!=ݭp4.ąIGj>=Yq,WdEAY}6٤@}6@y}6𱽙}6=}6H?."I S瘿I ? 6?̼??)~6٤@ ~6}`;I~6ЖCɫ99)9 9I9Y­@yUG i--Ponly read 0 of 1 data item for BIT error -@ 5@ 5@eOYMeH=Ymg:QUu>yyaD@Dy=}>Ișŝx*4?ŝھ Ɲ~@ ?9Ɲ*Cǝ; ȝA;)șW3=WX XW:W2W*WVbUBU*UUU *?B=wB9 BAAE[*BaAmWAiAiAm"<"Cu{<RCqCu3=Cy}?΅IAA)BA5 5v5v5 55:Y5N1y5:55QIaG}z>UDYq,5eEAY}:ك@}:@y}:-6}:K=}:H/ }?-k??`ߵ?7?૤?)~:ك@ ~:_;I~8ɫ99)9 9I9Y}K@y}pVGi!)] *=M]K=Y]X;QUe>aiamDmYDyy}=}>Iȉō(4?ō3ھ ƍ@ ?9ƍJ*CǍ; ȍ;)ȉW0P>WX XW:W2W*WVbUBU*UUUDA?B꽽B BA *BA%BYA!A!A%WN<"C-,=RC)C50P>C1Ai mG!I1IESkAiYGmV>hٺSkA]UB Q>9 I TSGi ī@    3;  EJYq,^-eEAY}2#^@}2k@y}2jۭ}2=}2H?Ͻ? ??@?`?`ã?)~2#^@ ~2@^;I~2ΖCɫ99)9 =I9Y}@yXWG=i= =i =i u u uu@u?utiu(@q u@)u@Iun@iu@U=M8=Y~:QU>aDvDyo=}>IQ :UU'4? :Uھ U'@ ?9U*CU9o< Uq<)U:W>WX XW:W 2W *W V bU BU*UUU`֯@B}B BA,*BAo[AAAU<"CV>RCC>C%%y%y%u %/:Y%P1y%':%5)%;95֩׉ I G >֥QYq,OFeEAɫyy)y }IyY{@yWGI@) @i!!Q?(\µI +?? 94<)Iy-?y&1|i|?5?5?`q= A)-AIG AiAAN=MS=Y QU >aDDy}>I!%C'4?%ھ %o@ 5?9%*C%U: %:)!WU@>WQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUe6@BB BA*BA7\AAA<"C>RCC@>C֡YIiGZ>iWYq,`eEAY}2gJ@}2#X@y}2}}2=}2HI?b? ۈW?LL??P?ۣ?)~2gJ@ ~2ͳ^;I~2ϖCɫ99)9 9IAYۯ@y\XG鮩ɮa=i;=Ma=YOgQU>aDDy)>}>I :Q(4? :&۾ @ ?9 +C: s:):W->WX XW!:W!2W!*W!V!bU)BU)*U)U)U5@ @R=B*** querying acoustic contact ***P9P9B]YBa BaAe&*BaAe@5^AaAiAm"<"Cma>RCqCu->CyIٱٱܽP>9ܹIܽTGiܽ@ܹܹܹܽ-; ݽEAIIGe4>%%w%w%` %*:Y%O1y%P:%45)%/;\]Yq,zeEAY}2-C@}2P@y}2ů}2=}2H&?ੈ?@j?@k;??4?@>?)~2-C@ ~2"^;I~2͖Cɫ99)9 =I9Y}@y}!XGZ****** received transponder code query ******F****** received ping request ******QX?K>i¥@ )Z@Iҭ@i@XM7=YM:QU>aDD!y%=}%>I)-N*4?-i۾ -L@ =?9-S+C-U: -@:))W] ?WaXa XaWa:Wa2Wa*WiVibUqBUq*UqUyU} @BB BA*BA `AAAi<"Co>RCC ?C׹IGf>dYq,}zeEAY}6(@}6z6@y}6hQ}6d==}6Hk?l?``ʽ?w?@C? y?`:?)~6(@ ~6 ^;I~6ЖCɫ9A)A AIAY}@y}XGxDUSBL response received:!U1,P D93,000,00703,189,80,80,89,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i =M\=Y-;QU5>AIaUDUDay}T=}>I U:,4? U: "۾ @ ]?9+C <  <):W"?WX XW:W!2W!*WVbUBU*UUU M @BM7BQ BQAU*BQAU$aAQAYA]<"C?RCC"?CI%@A)%?AUqUxUxUW Uk(:YU7P1yU:UG59e@ֱqIyG>ܩ 9ܩ Iܭ HUGiܭ Z@ܩ ܩ ܩ ܭ (; ݭ E kYq,>\eEAY}F.@}F@y}F}F=}FH2?T?迿!{?p? =M???)~F.@ ~F2_;I~DɫYa)a mIiY?@yXG  -Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i%=%?%E>i%\@! %Z@)%@I%Z@i%Z@A<M2=Y$aDDy Y=}>I15/4?5 1۾ 5A ]?95+C5p; 5;)1We:?WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqUu W@B۴B BA*BAcAAA <"C ?RC C :?C IG >qYq,0eEAɫ髙) IYU@yXGxDUSBL response received:!U1,R,AFD,000,006FD,18A,80,80,99,FF Fpublishing direction and range infoO?ɰ>> )CIyBKc?wnL?ٱ=iiEkt?+Mb?E ?E E<)AIAyECl?Q:vEd;?EuET EA)EAIEAiE9AAEAuL;MuO=YuQU}>aDDy}>I %:`34? %:tA۾ A M?9!,C; ;):WN?WX XW:W2W*WVbUBU*UUU @P*QBZQ6uBs>@mO@JQKc?wnL?2QO?:QbQ~P@p.gR3TR #@RQ@^Fp?UI~ѿMmfr?BQn@ QQ߄BPA9?Pާ9?PQDQ}pA"QgABB BA*BAteAAAQ<"C2?RCCN?CE EyEyEu Ea4:YEP1yE':E56ɅI)IG> xYq,eEA|*4<|(ɫ11)1 5I1Ye~@ym$YGDNmea in: $SNTTA,,,,,010007.41*5D i-M<M-N=Y1QU5>11a5D=*D9y9}E>IIM64?MP۾ M$A U?9Mh,CMw: M:)ImyAdded new target pos. range: 69.840004 m, bearing: 343.784676 deg, deltaT: 4.477108 s, approachRate: -0.080409 m/s, LOS rate: 11.004220 deg/s, posRepo size: 4m ProNav: pos range: 69.840004 m, bearing: 343.784676 deg, approachRate: -0.080409 m/s, LOS rate: 11.004220 deg/s, cmd update: 12.000000 deg/s, cmd heading: 46.297309 deg, new cmd heading: 50.690809 deg. W}b?WX XW:W2W*WVbUBU*UUuQ@Uc?I9IIMUGiM@IIIM-; MEBsB BA*BASfAAA-<"CJF?RCC}b?CIG>&H~Yq,eEAY}2Q@}2^@y}2 }2`'=}2H??Ћ`??|?1e?1?)~2Q@ ~2 _;I~2ϖCɫ99)9 =I9Y}̰@y}YGi e@ e@ e@e©eeie@e eO@)e@Ieieh@u<M}W=Y}PQU}>aDBDſ@@yH>}>Iȑŕ;4?ŕ"`۾ ƕiA ?9ƕ,CǕ: ȕ:)ȑWv?WX XW:W2W*WVbUBU*UUUՁ?Bl B BA*BA CgA A A g<"CЩY?RCCv?CE?΅I G%N>%%v%v%Y %*:Y%N1y%:%5/Yq,fEAY}6B@}6uP@y}6>}6n=}6H ??{`@?ܩ?@??.?)~6B@ ~6|_;I~6ΖCɫ99)A EIAY@yZGI)i<=MP=YQU%>!!a%D%[D)y-.=}->I1 =:5A4? E:5o۾ 5A E?95,C5: 5w:)5:We?WaXa XiWi:Wi2Wi*WiVibUqBUq*UqUyU}3?BeB BA%*BA SiA A A  ="CJo?RCC?C!-?i-?I G%M>Q 9Q IU VGiU @Q Q Q U 0; U E)ىIىiىىى݉ 4-ZYq,b/fEA|i|@Y} 1@} ?@y}  壽} 8=} H@O?[?`r `% ?`O? w?@RC? ?)~ 1@ ~ g/_;I~ ϖCɫ!)! %I)YUı@yUZGi)Å= Å=   >?i@ )@I@i̘@i$<M%=YY:QU>aD{Dy ep=} >IJ4?|۾  A 5?9V-CVk; l;)Wel?WaXi XiWi:Wi2Wi*WqVqbUqBUq*UqUyU}:?B֭B BA޾*BAkAAA="CՄ?RCCl?CEEsEsEG E|,:YEM1yE:E5)E@;9MֱqIyG>BYq,{IfEAɫ髙) IY@y[Gi99n?V-Mb`?V>m ;)IyQ?V-Zd;?(?my= A)IAiA Am<Mq=YQU?aDDy}?I  :M4? :۾ A ?9-C: {:):WEa?WX XW:W2W*WVbUBU*UUU ͭ?B%8ضBI BIAMپ*BIAUOlAQAQAU4="C]n?RCYC]a?CayQIiG|>Q Q i nGI i cٺ *QB+lYq,ScfEAY}2[@}2&@y}2џ}2=}2H )? t?BY@?? ? q? ?)~2[@ ~2'_;I~0ɫ99)9 =I9Y}ò@y}[G=i=iMg=MMU=YM;QUM>QQaUDUDYy]{>}e>IaeS4?eh۾ eCA u?9e-Ce: e<:)aW?WX XW:W2W*WVbUBU*UUU`@B˲B BAξ*BAmAAAQ="C?RCC?ChA9IWGiB@"=1; EI!IIG[>%%w%w% %3:Y%O1y%P:%5)%;DYq,.}fEA|;|;ɫyy)y }IyY@y[G鮡ɮ=I @)i @ @ @©i̜@ )7@Ii@:MN=YQU>a%D%D!y-}->I1 =:5X4? =:5۾ 5A =?95.C5: 5:)5:W]A?WaXa XaWa:Wa2Wa*WiVibUiBUi*UiUU@h@R5B*** querying acoustic contact ***P1P1Bu|By ByA}о*ByA}nAAAn="C8^?RCCA?C֡yIG^>=i=Yq,fEAY}J|@}J8@y}J:K}JX=}JH??f?A`¿ 2@T*?@?C?`Y^? P?)~J|@ ~J:^;I~Hɫyy)y yIyYֲ@y\GZ****** received transponder code query ******F****** received ping request ******19a=D=DAyE>}M>IQU_4?U۾ UA ]?9UV.CU ; U:)QW=?WX XW:W2W*WVbUBU*UUU 6 @B좲B BAy;*BA .pAAAE="CI?RCC=?CI%%x%x%x %0:Y%7P1y%:%X59-@G5q> 9 I hXGi @ != /; EYq,fEAY}no@}n,@y}nX}nt=}nHM?@?@w¿`(?q??l? ?)~no@ ~nS_;I~nΖCɫ) IY [@y \G-xDUSBL response received:!U1,P AFD,000,006FD,18A,80,80,99,FF -Command Ack5BRequesting micromodem ping code 2i19II)MAIQ)UAuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i    @ @ @i3@ )IiC@=<=M=#=YERQUM>aDDyW=}>Iȱ :ŵTi4? :ŵ۾ ƵzA ?9Ƶ.CǵV: ȵ :)ȵ:W0*?WX XW:W 2W *W)V)bU1BU1*U1U1U=mf @BB BA$ž*BAqAAA="Cݻ?RCC0*?C?i?י I G >Yq,fEAɫ髙) IY6@y}\GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i mZd;O?Mb?{Gzm~ ?m< mף)iIiymL7A`?{Gzty&1?m+'?mףm`< mA)mAIm~AimOAim\AyRMh=YQU?aDDy}?Iȡťp4?ť۾ ƥA ?9ƥ.Cǥ: ȥ:)ȡW?WX XW:W2W*WVbUBU*UUU @B엵B BAuǾ*BArAAA="C~0?RCC?C57 5v5v5_ 558:Y5N1y5:559IG=>AYq,$fEAY}2@}2p@y}2Y}2 =}2H`2?`? ޖ?_?@ʳ? z?Ӱ?)~2@ ~2_;I~2ЖCɫII)I MIIY}X@y}\GxDUSBL response received:!U1,R,BDB,000,004DB,189,80,80,BF,FF Fpublishing direction and range infom?ɰ=鰅7> )?CIyQB|[}?Iy4?9۾ RA ?9/C: :)WVYq,wfEAY}2nl@}2+z@y}2ܟ}2A=}2H&? q?i)Z?[?g??f?)~2nl@ ~2~J_;I~2̖Cɫ9A)A EIAY}@y\GuDNmea in: $SNTTA,,,,,010011.89*5E u=iu=i   `e</=?P>i@ @)l@Il@i@&<M8=YúQU>aDFDyZ=}>I m:w4? u:g۾ A u?9h/Cb< c<):muAdded new target pos. range: 37.080002 m, bearing: 351.523199 deg, deltaT: 4.346915 s, approachRate: -7.536380 m/s, LOS rate: 1.780233 deg/s, posRepo size: 4mrPowering the camera and arming the DDM at range: 37.08 m.mlFinal approach. Armed for intercept at range: 37.08 m.m\Transitioning guidance mode to: FINAL_APPROACH"Xm ProNav: pos range: 37.080002 m, bearing: 351.523199 deg, approachRate: -7.536380 m/s, LOS rate: 1.780233 deg/s, cmd update: 5.340700 deg/s, cmd heading: 98.582619 deg, new cmd heading: 104.111499 deg. W?WXD; X?W:W2W*WV)bU)BU1*U1U==B@U=H?B8iB BAþ*BAAEzuAIAIAMt="CU?RCYC]?Ca u=u=-~-~-~- -t):Y-T1y-@:-5֕?΅QIYG}>Yq,LSgEAY}Jj@}JMx@y}J5i}J=}JH?|? Ba(?7? '? `?q?)~Jj@ ~JL_;I~JϖCɫYY)Y ]IYYʳ@y3]GIU @)U @iQQI]=)YYY<MP=YLQU>aD_Dyá=}>Iȱŵ4?ŵ۾ Ƶ^A ?9Ƶ/CǵǺ: ȵ:)ȱ:uAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;vZEntering USBL mode with 5.000000 count pings.1;q;W=?WX XW:W2W*WVbUBU*UUU@?B%v B) B)A-3*B)A5;vA1A1A5S="C=M?RC9C==?CAa9IAGeU>ܑ 9ܑ Iܕ YGiܕ ذ@ܑ ܑ ܑ ܕ *; ݕ E Yq,72gEAY}6je@}6's@y}6ē}6 =}6H[?j?@"?K|?-?#!?@>?)~6je@ ~6M_;I~4ɫ11)9 =I9Yu@y}j]Gi!! @ @ @Å©ÅÅiÅ(@Å ą@)ąIąiąC@ K<M;=YBQU>aD{DyC=}>Iȱ :ŵo4? :ŵ+ ܾ ƵA ?9Ƶ/Cǵ: ȵ+:)ȵ:X@q;uCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:uAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLW)?WX XW:W2W*WVbUBU*UUU G?BҫB BAl*BAwAAA*="C3?RCC)?C)%%x%x%q %.:Y%7P1y%:%5)%.;9-I! I1 GM >6Yq,LgEAY}2G@}2yU@y}2Ϟ}2=}2H yJ??9`#0u?8m? Գ?{? L?)~2G@ ~26_;I~0ɫ99)9 =IAY}j@y}]GiˡE?{GzĿ~jt?# )IyB`"?l񢿺I +?.?94< •A)•AI•hAi•AfA\=MX=Yoi;QU>aDDyN=}>I4?ܾ IA ?940C: b:)W%?W!X! X!W!:W)2W)*W)V)bU1BU1*U1U1U=@Pn?Be\Ba BaAe?*BaAmSxAiAiAm"G="Cuy?RCqCu?Cy?i?יIGb>tYq,"egEA|i|@ɫyy)y }IyY_@y]Gi9A AA)M> M>u cMuQ=Y}QU}>yaDDy}>Iȑ :ŕ4? :ŕK#ܾ ƕA ?9ƕx0CǕ: ȕ:)ȕ:W@?WX XW:W2W*WVbUBU*UUUX@191I5\ZGi5{@5"=115&; 5E)قIقiققق݂4B?B BA*BAL%zAAAvb="CG?RCC@?CFӅ׹IGf>%%v%v%b %*:Y%N1y%:%5)%;3Yq,gEAY}:ճ@}:k@y}:qᗽ}:=}:H.??@9:`ѯ?6e?``?@?)~:ճ@ ~:+_;I~:͖Cɫ99)9 =I9Y}Ѵ@y}w^Gi   e e eeOe̾e&>ie@e e@)e@Ie@ie@ =MH=YaDDy=}>Iȱŵ 4?ŵ00ܾ Ƶ A ?9Ƶ0Cǵn: ȵ߼:)ȱW3?WX XW:W2W*WVbUBU*UUU,@B]B! B!A%ĭ*B!A%`9{A!A!A-:="C53?RC1C53?C1e6Ʌ9IIGeU>Yq,䟙gEAY}6@}6U@y}6r}6e=}6H,?L?@@"O?U{ʲ? ??)~6@ ~66j_;I~6ΖCɫy髁) IYٴ@y^Gɮ=i";MT=Yd:QU>aDD y =} >Iq }:us4? :u<ܾ ug A ?9u1Cu: uw:)u:W=?WX XW:W2W*WVbUBU*UUU @ioGI1iIRmB*** querying acoustic contact ***}`ٺy}NBPiPmBX}B BAN*B!A-Md|A)A)A-="C5&R?RC1C5=?C9=FӅII)I-. -w-w- -}7:Y-O1y-P:-F595@I9GUu>5 O>91 I5 $[Gi5 @5 !=1 1 5 #; 5 EDYq,utgEAY}F>@}F@y}F}FJp=}FHC? ?z f&.?rX?m? ۺ?)~F>@ ~FzS_;I~Dɫ髁) IYt@y?_GZ****** received transponder code query ******F****** received ping request ****** D =) I y x&1?T㥛 Dl? A ?  O= A) hAI /Ai A   A!!ýKý?ý W>iý@ù Ľn@)Ľ@IĽiĽ@=M%=YL:QU>aDDymh=}>I4?Jܾ < A ?9R1C : {:)W@WX XW:W2W!*W)V)bU)BU)*U1U1U5ຩ @B]|Ba BaAe*BaAeܘ}AiAiAma="Cu@RCqCu@Cqu?΅QIYGu>-Yq,RgEAɫ髙) IYܵ@y_GxDUSBL response received:!U1,P BDB,000,004DB,189,80,80,BF,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i M =M]~=YeQUm ?yaDDy}>I4?TUܾ  A M?91C =<  @<)WLl@WIXI XIWI:WQ2WQ*WQVYbUaBUa*UiUiUm`. @BmBq BqAu*BqAx~AAA="C@RCCLl@C=k=u=u=g =':Y=KN1y=y:=5i A II Gm >VYq,|*gEAY}6@}6w@y}6,(}6?=}6HT?O~?`zj?s "!?`?ཬ?)~6@ ~6-_;I~4ɫ99)9 =I9Y}@y}_GAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iiV<ME=Y;QU>aD.Dyd,>}>Iȹ :Ž4? :Žo_ܾ ƽ| A ?9ƽ1Cǽ: Ƚ:)Ƚ:P>9I[Gi@&; EW l@W X  X W :W2W*WVbUBU*UUU`xJ@BM}nBI BIAUS*BQAUuqAQAQAU" ="C]y@RCYCel@CaeFӅ}?i}?9IIGeU>?Zq,hEA|i|@Y}6b~@}6@y}6S䎽}6=}6H??T!@4?yͣر?ﵾ?@ð?)~6b~@ ~6l_;I~6͖CɫYY)Y ]IYYͶ@y`GxDUSBL response received:!U1,R,D67,000,006D4,189,80,80,A4,FF Fpublishing direction and range info?ɰ2>鰩 )$CIy†Bi1?mF:?ٱi)= =%%;=%ƽi%@! %@)%@I%@i%@5{=M5R=Y59;QU=>99a=D=GDAyE=}E>IIM4?Miܾ M" A ]?9M2CM: M#:)IW}@WyXy XyW:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q†BZQE,L@I?xB@JQi1?mF:?2Q?:QbQ}mP@EM(x @RQh R5?[LkǿKAÿ?BQ @ Q?EQmBPE9?P9?PQQ*aA"Q+ABU}BQ BQA]*BYA])AYAYA]H="Ce@RCaCm@Cօ?΅YIqG\>%%y%y%V %N2:Y%P1y%':%57jZq,hEAɫQQ)Q UIQY^@y^`GDNmea in: $SNTTA,,,,,010016.31*5A iM6=YQU>aDcDy}>Iȩ :ŭ4? :ŭ&vܾ ƭ A ?9ƭN2Cǭ: ȭ :)ȭ:muAdded new target pos. range: 67.380005 m, bearing: 349.374613 deg, deltaT: 4.460966 s, approachRate: 6.792252 m/s, LOS rate: -0.481641 deg/s, posRepo size: 4m ProNav: pos range: 67.380005 m, bearing: 349.374613 deg, approachRate: 6.792252 m/s, LOS rate: -0.481641 deg/s, cmd update: -1.444924 deg/s, cmd heading: 122.405807 deg, new cmd heading: 124.801843 deg. W'@WX XW:W2W*WVbUBU*U U RP@U `o?B5B1 B9A=*B9A=A9A9A=Dw="CE_ @RCICM'@CIy1IAG]v>O>9I\Gic@#; E̒ Zq,4hEAɫ髑) IY¶@y`G==i=a=iAA|?5^?QI +? ? 94<)Iy/$?~jt+?1(?= A)AIitA A]?]?]i]@Y ])]ߣ@I]V@i]@u<Mu==YqQUu>yya}D}Dy}>Iȑŕ 4?ŕܾ ƕp A ?9ƕ2CǕD: ȕU:)ȑ; wAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;wdResuming normal ranging with 1.000000 count pings.;1<WM@WX XW:W2W*WVbUBU*UUUn.?BB  B A *B A 0A AA ="C @*CRC!CM@C-))-n -.:Y)y)-45)-;95FӅI)IG>zZq,9NhEA||ɫ髙) IY@y=aGi9AIMhA<Mo=YQU?aDDy}?Iȡ :ť-4? :ť8ܾ tI ƥ A ?9ƥ2Cǥ4: ȥo:)ȥ:X?1<wCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR; wAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRW@WX XW:W2W*WVbUBU*UUU ?BbOB BA*B!A%A!A!A%="C- @RC)C5@C1օ?΅9IIGeV>Zq,XrhhEAɫ髹) IYK@yaGiYYqufAy9yI}]Gi}@yyy}!; }E<MI=YQU>aDDy}>IY]f=4?]֖ܾ ]kA u?9]3C][; ]pi;)YW @WX XW:W2W*WV bUBU*U!U!U- B?BfB  B A 1*B A 8A AA="Ci2@RCC @C=FӅxx .:Y7P1y:5) ;IG=> Zq,MhEAY}F@}F|@y}F}F=}FH`w??ý@?6`R?%? ?)~F@ ~FAn_;I~FϖCɫYY)Y ]IYYd@yaGi99 @ @ @Í©ÍÍiÍ\@Í ĉ)č3@Ič@ič;MJ=YQU>aDDym>}>IȹŽ)N4?Žyܾ ƽA ?9ƽW3Cǽ0: Ƚ:)ȹW"r@WX XW:W2W*WVbUBU*UUU A@BgB BA*BArAAAh="C@RCC"r@C?΅?i?׹IGf>&Zq,(hEAY}J޾@}J@y}JQ}J=}JH@?@?N#?N?:? ?)~J޾@ ~Jq_;I~JΖCɫYY)Y ]IYY@yaGi!! )))5= 5>u}q<MuM=Y}9QU}>yaDDy=}>Iȑ :ŕ_4? :ŕ!ܾ ƕrA ?9ƕ3CǕ: ȕ:)ȕ:W[@WX XW:W2W*WVbUBU*UUUq@BlB BA*BA a؂A A A 7="C[@RCC[@CIGH> {{ b?:Y#R1y:59@y9yI}]Gi}V@yyy}; }E) I i L4B,Zq,hEAɫ髉) IY@yaGa=ɮieZd;?L7A`?e?e+> e)aIayeX9v?Q:v?e?eue< eVA)eAIaieAae A = = ==lg>=?=v>i=G@= 9)=@I=l@i=ߣ@M::MM/=YUQUU>QYa]D]Daye}e>Iimr4?m*ܾ mA u?9m3Cm: m:)iW @WX XW:W2W*WVbUBU*UUU +@RB*** querying acoustic contact ***PPBͤB BA*BASAAAZ="C @RCC @CFӅ׉IG>3Zq,hEAY}2@}2r@y}2W}2=}2H@9??<@ ;߿@?`>?'??)~2@ ~2j`;I~0ɫ99)9 9I9Y}Y@y}bGZ****** received transponder code query ******F****** received ping request ******} ?I %:׀4? %:ܾ AA -?94C; ;):WUi@WQXQ XQWY:WY2WY*WYVYbUaBUa*UaUaUe@G @Bu>Bq BqAuj*ByA}_AyAyAz="Ci@RCCi@C6ɅI)L>iSoGI!I9iQGm>YٺGB9Zq,(hEAY}2J@}2@y}2ʍ}2|(=}2HD?(?^ @ѪݿII?Re? ??)~2J@ ~2y3b;I~2͖Cɫ99)9 9I9Y0@ybGxDUSBL response received:!U1,P D67,000,006D4,189,80,80,A4,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iIa=)EP>9AIE^GiE@AAAE; EE¡¥iA<M==Yh%;QU>19a=D=3DIyUn=}]>Iim4?mܾ mA ?9mc4Cm@=< m=<)iWϹ@W X  X W :W 2W *WVbUBU*UUU @B:B BAo*BA;AAAJ="CϹ@RCCϹ@CFӅIG >@Zq,_iEAY}2`@}2en@y}2=}2g=}2H[?%?@\/ܿԥ?@1R`;?λ? 9?)~2`@ ~2b;I~0ɫ99)9 9I9Y}]@y}bGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iíI >í>íX>ií@é ĭ@)ĭl@Iĭ@iĭ @Z<MI=Y:QU>aDJDyɔ=}>I :d4? :uܾ A ?94C[: :):W%I,@W)X) X)W):W)2W1*W1V1bU1BU1*U9U9U=<@Be^Bi BiAm!j*BiAmfmAqAqAu="C}I,@RCyC}I,@Cye?΅9IQGuX>||D ,:YR1yi:55GZq,epiEAY}2/@}2=@y}2։}2=}2H?6?`кڿM?`߱ 7?Ł??)~2/@ ~2`;I~2ϖCɫYY)Y ]IYY׸@yicGI)Ai2&=M^=YQ;QU>aDbDy=}>Iݵ4?ܾ pA ?94C: ӻ:)W A@W X XW:W2W*WVbUBU*U!U!U%`ε@BMBQ BQAUZ*BQA]쿄AYAYA]Y="CeA@RCaCeA@CiFӅ?i?IGF>9Io_Gi@"=!; 2MZq,F\7iEAY}]O@}] @y}]}]=}]HT?a?9;ٿ \O?n-b?@?&?)~]O@ ~]`;I~]ΖCɫ)))1 5I1Ym@ymcG}DNmea in: $SNTTA,,,,,010020.75*5F i 鿑 ףp= ?y&1 ףp= ?Q?`e Q8=)IyGz?I +I +?p?994= ­A)­AI­Ai­\Af A)>   @  @  @ ©  i @  ) @I i 7@48<M)=Y%æ:QU%>))a-D-D)y5Y=}5>I9 E:=64? E:=ܾ =A M?9="5C=: =w:)=:W^@WX XW:W2W*WVbUBU*UUU@@BEBA BIAMLU*BIAM,AIAIAM"="CU^@RCyC}^@Cy֭?΅UUzUzU U -:YUQ1yU:U5)U;9]ׁIG>[TZq,-QiEAY}2a@}2@y}2BR}2Ru=}2H7?'?3պ ׿_?r(!?k??)~2a@ ~2,_;I~2͖Cɫ99)9 9I9YuX@y} dG}p=ɮ}a=i<Mu=Y:QU?  a D Dy\=}?IB4?ܾ iA -?9W5CI: :)WMB@WQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UaUaUe@B:B BAJ*BAnAAAI="CB@RCCB@C֡yIG?>@ZZq,kiEAY}:D@}:@y}:v}:=}:HQ ? ? տ6? 6`ݰ? [??)~:D@ ~:o_;I~:ΖCɫ99)9 9I9Y}@y}dGi<MQ=Y9QU>aDDy=}>9I7`Gi>@; EI^4?9ܾ A ?95CM: Y:)W #?WX X!W!:W)2WQ*WYVYbUaBU*UUUe@RB*** querying acoustic contact ***PPB-ĞB BA'>*BA(DžAAA%!v="CE #?RCICM #?CIyI׉)׉QIaG|>e e|e|eo e]R:YeR1yei:ek5)e;)aZq,݄iEA||ɫ髙) IY@yVdGiI=)hAhA % % %%?%?%>i%@% %@)%@I%K@i%@5/M5A=Y=QU=>99aEDEDAyM}M>II :M4? :M+ܾ M]A ?9M5CM< M <)M:W?WX XW!:W!2W!*W!V!bU)BU)*U)U1U5`HP@B]B BY BaAeB*BaAeAaAaAe4="Cm?RCqCu?CqցYIaGY>RgZq,ᷞiEAY}2@}2$@y}21 }2d=}2H 9?)?۸ѿ:?P ?^? ?)~2@ ~2 _;I~0ɫII)I MIIY}@y}dGiG =MT=Y&QU>aDDy91>}>I4?ܾ A ?96C: ':)W?WX XW:W2W*WVbUBU*UUU@B-젽B) B)A-\5*B1A5VA1A1A5="CE?RCACE?CAI!I)GM1>9IaGi@; ]]{]{]O ]+:Y]#R1y]:]5)]l;`mZq,iEAY}N7M8}N@y}NR}Nr=}NH s?`F? |aϿ?xB f?`[W??)~N7M8 ~Nu_;I~N͖Cɫ髑) IYM@y5eGxDUSBL response received:!U1,R,E1D,000,0722C,187,80,80,81,FF Fpublishing direction and range infou>ɰ@1> )CIyD3?̱"/?ٱi7A`?333333?:v?>= T<)Iy+?{Gz{Gz?ף# tA)AIhAi;A AGai¥@ )@I@i@Ԥ<M6=YL"QU>aDDy=}>Iș :ŝ])4? :ŝ?ܾ Ɲ A ?9Ɲ_6Cǝ; ȝ ;)ȝ:W ?W X  X W :W 2W*WVbUBU*UUU@@PI*QMDZQM`w@ɆD@JQM3?̱"/?2QMu>:QIbQMfB@;hwXr@ ]g@RQMj6 nU?0?X*aM?BQM1> QMÒCQMDPM9?PME9?PMQMQM@C"QM*aABB BA,*BA AAA="C?RCC?C6Ʌ?i?שIG>dtZq,miEA|i|@ɫ髙) IY@yeGiII QQ)]= ]=m<MmU=YuQUu>yyaDDy}>Ișŝ<4?ŝܾ Ɲ:A ?9Ɲ6Cǝ; ȝ;)șmyAdded new target pos. range: 1716.179932 m, bearing: 9.907618 deg, deltaT: 6.923074 s, approachRate: 238.160095 m/s, LOS rate: 2.965881 deg/s, posRepo size: 4m ProNav: pos range: 1716.179932 m, bearing: 9.907618 deg, approachRate: 238.160095 m/s, LOS rate: 2.965881 deg/s, cmd update: 8.897643 deg/s, cmd heading: 112.407827 deg, new cmd heading: 111.879347 deg. W#2@WX XW:W!2W!*W!V)bU)BU)*U1U5@К@U=q?Be~bBi BiAm *BiAm熽AqAqAu="C}*?RCyC}#2@Cy?΅יIGg>zz +:YQ1y:9@zZq,=IiEAY}2L=}2D@y}2A}2֙=}2H%L? (?`ҜU(ɿ]>? T???)~2L= ~2_;I~0ɫYY)a eIam=m<q9qIqiqqqqu; uE)YIYiY]"=]"=]I\4YP@y:eGi!QݼMC=Y|JQU>aD3D y =}>I :Q4? %:)ܾ oA %?96C: :):W}nh@WX XW:W2W*WVbUBU*UUU 4?BB BA+*BA+2AAAH="C-;@RC1C5nh@C1FӅIG5q>MwZq, &jEAY}66ߘ=}6@y}6ˍ}6p=}6H mq?`q?@ƿFa?\ѷѵ?@4?޽?)~66ߘ= ~6_;I~6ЖCɫII)I MIIY}Һ@y}eGi-C ->-=i-f@) ))-r@I-V@i-@=(=MEU=YE t9QUE>IIaMDMLDQyU=}U>IY](e4?]ܾ ]A m?9]7C]a: ]:)YW @WX XW:W2W*WVbUBU*UUU`ʀ?Be5Bi BiAmp*BAkoAAA:8="Ch@RCC @C}?΅IׅgA)ׁYIaGY>wwa ,:YO1yP:k5Zq, jEAi.nGI8iD|P|PZXٺXZ$GBY}z]=}z\@y}z}zg=}zH?`?@_¿s?@?ڻ??)~z]= ~zs_;I~z͖Cɫ) IYM@yUeGiIR=)%=gAM?=Y:QU>aDgDy=}>Iq }:u{4? :uݾ uA ?9u`7CuV: u:)u:WH @WX XW:W2W*WVbUBU*UUU?Bv;B BA*BAgAAAT="C5N@RCCH @CFӅIG=r>Y9YI]aGi]@YYY]; ]EˍZq,9jEAY}:W~>}:I@y}:6}:|=}:H? ? `?M [?{? ҹ?)~:W~> ~:_;I~:ΖCɫ99)9 =I9Y}@y}5fGiK7?ti@ )l@I@il@-=<M-G=Y5):QU5>11a=D=D9y==}E>IAE14?Ezݾ EXA ]?9E7CE|; E;)AW}r@WyXy XyWy:W2W*WVbUBU*U)U)U-@Bu9By ByA}.*ByA}AyAyAo="C @RCCr@Cֽ6ɅבIG>6 @*:Yy55)R;9Zq,SjEAY}2$>}2E@y}2|"}2o=}2H??`C糿=? π?@h?ີ?)~2$> ~2_;I~2ϖCɫYY)a eIaYٺ@yeGi MT=Y8QU>aDDyH=}>IȹŽ4?Žݾ ƽA ?9ƽ7CǽR: Ƚ:)ȹWF@WX XW:W2W*WVbUBU*UUU` @B%B) B)A-*B)A-+A1A1A5="C=Դ@RC9C=F@C9օ?΅׍?i׍x?YIiGZ> ݚZq,mjEAY}6rC>}6:@y}64}6=}6Hm?`˨?`N$A85?<@?`5??)~6rC> ~6Q_;I~6͖C 9 I ,bGi Է@ !=    ; Eɫaa)i mIiY@y+fGɮp=i)) AA)u= u>E6=iQ@ )I7@iߣ@m?<Mu==YuQUu>yya}D}Dym=}>Iȑ :ŕ&4? :ŕ3 ݾ ƕ^A ?9ƕ8CǕ: ȕ:)ȕ:W @WX XW:W2W*WVbUBU*UUU~@RB*** querying acoustic contact ***PPB<B BA*B A lA A A ="C@RCC @C6ɅIG5q>  z z  -:Y Q1y : F5) l;ġZq,jjEAY}6a>}6T&@y}6}6W>}6H?@ ~6G_;I~6ΖCɫ99)9 9IAYyZ****** received transponder code query ******F****** received ping request ******aDDy-=}>I4? ݾ A ?9W8C: :)WEٿ@WAXA XIWI:WI2WI*WQVQbUQBUQ*UQUYU]` @BœB BA*BAAAAH="Cw@RCCٿ@C?΅IG->Zq,GjEAY}:~>}:q:y}:_}:@=}:H$?`h?6 A?d?TV@\?yA?ද?)~:~> ~:zG_;I~:͖Cɫ99)9 9I9Y}j@y}fGxDUSBL response received:!U1,P E1D,000,0722C,187,80,80,81,FF Command AckBRequesting micromodem ping code 2ii=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iW<M!a%D%D1y==}E>Iȉ :ō4?  :ō] ݾ ƍ_A ?9ƍ8CǍ< ȍr<)ȍ:W!@WX XW:W2W*WVbUBU*UUU `DF @Buu=Bq BqAuv*BqA}舽AyAyA}7="C~!@RCC!@C!9!I%bGi%w@%"=!!%; %EI fA)  I G= >  w w W H-:Y O1y P: G5) ;IZq,p"jEAY}:e>}:( ~:6_;I~:˖Cɫ99)9 =I9Y}@y}fGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iYYIeC=)e=ˡE?Zd;O/$>j< ,)Iy{Gz?T㥛 ?#?< VA)AIAi5hA1}>}>}Խi}ף@y }@)}~@I}i}@<M9=Y 9:QU >aDDy=}>I!%4?%{ ݾ %A -?9%8C%: %w:)!WU%@WQXQ XQWQ:WQ2WY*WYVYbUYBUY*UaUaUe K+@B<B BAK*BAAAA="Cc]%@RCC%@CyQIaG}z>Zq,PjEAɫ髙) IY@y8gGxDUSBL response received:!U1,R,027,000,00666,185,80,80,BE,FF Fpublishing direction and range info'g ɰ/>+> )>CIysBT$A?Ellٱi %!=M%o=Y%QU%?))a-D-D1y5}=?I9 E:=,4? E:=bݾ =A M?9=9C=: =:)=:W-9o)@W)X) X)W):W12W1*W1V1bU9BU9*U9U9U=}@Pi*QmsBZQmiOU_N@mPJQmT$A?Ell2Qm'g :QibQmΉTN@?Yѿl(@RQmg?UPr<)K>?BQm@ QmQmrBPmH9?Pm9?PmQmQmA"Qm@CBB BA*BAIAAA="C(@RCC9o)@CIGj>i1Zq,gjEA\9\I^cGi^@\\\^ ; ^EY}i >}=y}3}Jd=}H@?@`Y i?` ?Ulᢱ?&??)~i > ~K_;I~͖Cɫ) IYymDNmea in: $SNTTA,,,,,010027.62*5E Ii)mAiyyףO+=i@ )@I@iY4FQU>aD8Dy >}>I!4?ݾ A ?9Z9C: :)m5Added new target pos. range: 60.780006 m, bearing: 359.734917 deg, deltaT: 4.414806 s, approachRate: -374.965485 m/s, LOS rate: -2.304226 deg/s, posRepo size: 4m ProNav: pos range: 60.780006 m, bearing: 359.734917 deg, approachRate: -374.965485 m/s, LOS rate: -2.304226 deg/s, cmd update: -6.912677 deg/s, cmd heading: 151.685626 deg, new cmd heading: 155.585107 deg. W &@WX XW:W2W*WVbUBU*UU@cN@UKp?BE|<BA BAAA*BAAMAIAIAM0-="CU9)@RCQCU &@CY)EwAAEU5?i5? E(:YAyAE5)E&;IG->?Zq,5kEAY}2K>}2=y}2A}2=}2H`?`Aw? ?`ı?@?`+?)~2K> ~2p_;I~2˖Cɫyy)y }IyY@ygGi!! )))5> 5><MaDODyo=}>I :44? :kݾ A ?99C: :):W<#@WX XW:W2W*WV bU BU *U UU{?B=䘽B9 B9AEǽ*BAAE&AAAAAE;="CM^)@*CQRCQCU<#@CQցYIaGZ>X=Zq,;"kEAY}6w>}6>y}6#}6-a=}6H(?=[ÿ@;(}?s?@D? ? ?)~6w> ~6_;I~6͖Cɫ99)9 =IAY@ygGi!UwbM]P=Y]9QU]>aaaeDehDaym.=}m>IquI4?u ݾ uTA }?9u9Cu: u:)qW5 @WX XW:W2W*WVbUBU*UUU?B]TؗBY BYAeʽ*BaAeyΉAaAaAeL="C(@RCC5 @C֡ס9I dGik@$; E)1I1i1115s4I1G>- ))-e -4:Y)y)-G5)-;tgZq,Mj}2M2>y}2.}2}=}2H;q?ƿ?@I?F}`C?@Ի?`&?)~2K> ~2?_;I~0ɫYY)Y YIYY@ygGil?S㥻Zd;O?>/ݽ j<=)Iy?v/l? ?xi= ½A)¹I½/Ai½AG A:MB=Y;QU>aDDyi=}>I_4? ݾ A ?9:C8: :)W%@W!X! X!W!:W!2W)*W)V)bU)BU1*U1U1U5`?B]Ba BaAeɽ*BaAe:AiAiAm_="Cu &@RCqCu@CyaIi)i9IIGeU>HOZq,=EVkEA||4}B MP>y}B[}B`=}BH$E?ʿԥ@?0?F ?\?`?)~BJ> ~Bw_;I~B˖Cɫ髙) IY@yhGi9AIE=)E=MgAI=MM=Y|;QU>aDDy9=}>I :t4? :0 ݾ HA ?9Z:C: :):W@WX XW:W2W*WV bU BU *U UU@B=aB9 B9AE*BAAE7AAAAAEu="CM1"@RCQCU@CQ,>Ci-mGIAiY YٺGByIG^>u uyuyuV u4:YuP1yu':u59}@|Zq,.pkEA "gA090I2dGi2@0002,; 2Eɫii)q qIqY@yhGi @ @ @:M==YQU>aDDy}>Iȩŭ4?ŭ ݾ ƭA ?9ƭ:Cǭ: ȭ^:)ȩW@WX XW:W2W*WVbUBU*UUU @BWB BA**BA%@A!A!A%="C-r@RC)C-@C1Q)I9G]v>y}:N}:=}:Hy? ѿ i??P.@&??p?)~:? ~:N_;I~:͖Cɫ99)9 =I9Y}@y}hG鮅a=ɮa=i};Mq=YԹQU?aDDy3>}?I9 E:= 4? E:=ݾ =0A M?9=:C=: =L:)=:WmT@WiXi XqWq:Wq2Wq*WyVybUyBUy*UyUUa@RB*** querying acoustic contact ***PPBzB BAv*BA^_AAA="C@RCCT@C֡׭?i׭?ׁIG?>eezezeD e-:YeQ1ye:e55rZq,֣kEAY}J> ?}J3Y>y}J}J=}JH?`ҿg\?`V?@?aU??)~J> ? ~J;_;I~Hɫ髙) IY9@yhGZ****** received transponder code query ******F****** received ping request ******11a5D5D9y==}E>IAE4?Eݾ EA u?9E;CE; E';)AWV@WX XW:W2W*WVbUBU*UUU @B5^唽B1 B1A54*B9A=A9A9A=L="CEѴ@RCACeV@CieQ>9aIedGie @aaae7; eE֥FӅבIG>~Zq,kEAY}6|Y?}6Ž>y}6O}6[=}6HN?wԿ ??}#???)~6|Y? ~6._;I~6̖CɫYY)Y ]IYYi@y iGxDUSBL response received:!U1,P 027,000,00666,185,80,80,BE,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i- rh?sh|?{Gz?- ?- -#<))I)y-M?ʡEy&1?-n2?--`e= -A)-jAI-Ai-A)-A   <+>C =i@ )V@Il@iV@-,;<M-=Y5+GQU5>99a=D= DAyUma=}U>Ia }:e4? :eݾ ewA ?9ex;Ce; eP;)e:Wj @WX XW:W2W*WVbUBU *U UUQ @ww^ +:YO1yP:5BB BA+*BAݪAAAc="CX @RCCj @C% ?΅ I G% >ݞZq,kEAY}F5?}FG>y}F%}Fx<=}FH@~?ֿ7Q? _?A"?½?³?)~F5? ~F&_;I~F˖Cɫyy)y }IyYѽ@yiGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iQY4=M=YGQU?aDDy=}?Iȩŭ4?ŭܾ ƭA ?9ƭ;Cǭ: ȭܹ:)ȩWO @WX XW:W2W*WVbUBU*UUU@BB BA~n*BA4AAA="C-+ @RCCO @CFӅױIGe>Zq,)ukEA9IeGi@2; E|\|\Y}~#?}~2#>y}~[}~=}~H?t׿+ܗFH??b'?q?C?)~~#? ~~-_;I~~̖Cɫ) IY@yiGxDUSBL response received:!U1,R,1F7,000,0063A,186,80,80,9F,FF Fpublishing direction and range infoྩɰ>> )CIyhBN*^b?6 63ۿٱiIp=)4=hAMTM~MD=Y]QU]>aaaeDe9Diym=}m>Iq }:ui4? }:uܾ uA ?9u;Cu: u:)u:W@WX XW:W2W*WVbUBU*UUU`Z@P*QhBZQUa}iPJ@ y8JQN*^b?6 63ۿ2Q:QbQ:}M@H. -;?RQWT?0wRΎ?BQ@ QxhQhBPI9?PH9?PQQ@"QAB]BY BYA]lV*BYAҊAAA="C@RCC@CqQe, e{e{e_ eT7:Ye#R1ye:e5)e;9mIqG}>[q,M lEAY}y&?}>y}m}(=}HK`?`Yٿ?r&?@ ?=??)~y&? ~R_;I~ɫ) IY5߽@y5iGTNmea in: $SNTTA,0.049850,,,,010032.06*46 i )M O=Y:QU>aDRDy%=}%>I)-4?-ܾ -*A 5?9->[q,.%lEAY}:.?}:>y}:m}:==}:H?ۿY`y??< ?U??)~:.? ~:_;I~:˖Cɫ99)9 9I9Y}p@y}LjGiE5?=MEX=YMX:QUM>IIaUDUkDQy]ա=}]>Iae%4?eܾ eA m?9eeeyeyel ew2:YeP1ye':e5)ek;[q,H>lEA|i|Y}25?}2>y}24}2Ci=}2Hw?@bܿ]It?`EX? `?*??)~25? ~2a_;I~0ɫYY)Y YIYYG@yjGi "~j?x?:vS?K7> T)Iy%C?Q롿Q?Z$?\\=  A)@IAivA)=  %@ %@ %@%©%%i%@% !)%I%@i%@5|;M5<=Y= 9QU=>99a=D=DAyE=}M>IQ ]:UQ;4? ]:Uܾ UDA ]?9U[q,XlEAY}:&m=?}:>y}:U}:6=}:H#?@w޿>"??@?#?@I?)~:&m=? ~:I_;I~:̖CɫII)I MIIY}۾@y}jGi`I=M^=YĺQU>!!a%D%D)y-I=}->I15QM4?5^ܾ 5A =?95=C5: 54:)1We@WaXa XaWa:Wa2Wi*WiVibUiBUq*UqUqUu$?Bj펽B BA^Ҽ*BA=AAAb="C-@*C1RC1C5@C9AII)MgAI)GEQ>mUmzmzmb m/&:YmQ1ym:m59u@  9 I fGi @   [q,rlEA5; 1)Ii>4ɫ) IY@yujGu=iu=iyy   7 > 0i@ @)ߣ@Ii@cM>=YQU>aDDy}>I :Zb4? :ܾ ; A ?9K=C9: 0:):Wy@WX XW:W2W*WVbUBU*UUU ,@B%ӏBA BAAE7*BIAM&AIAIAMo="CUy@RCQCUy@CY9I9G]v> "[q,׈lEAY}>"L?}>& ?y}>J}>=}>H`/?J"e?`|?` $?? K?)~>"L? ~>b^;I~<ɫ99)9 AIAY}@y}jGi!!I-4=)-R=11u<M}Q=Y}6˻QU}>aDDy>}>Iȑŕt4?ŕIܾ ƕ A ?9ƕ=CǕw: ȕ:)ȑW@WX XW:W2W*WVbUBU*UUU E@BB BA'*BA/AA A q="C@RCC@CIGK>eeyeyer en1:YeP1ye':e5i DnGI i 5 =}6H?@ȝW?!?@m?{m?B??)~6FT? ~6^;I~6ϖCɫYY)Y ]IYY@yjG鮡ɮir¼MW=Y3IQU>aDDy=}>I :4? :yܾ 1!A ?9=C: :):W @W X  XW:W2W*WVbUBU*UU!U%@R-B*** querying acoustic contact ***P)P)BMB BA*BAd<AAAQ="C@RCC@C?i?9I@gGi@; EIGL>0[q,AlEAY}2;[?}2?y}25}2L=}2H0?}bu? :?6??w? W?)~2;[? ~2^;I~2͖CɫII)I MIIY}@y}jGZ****** received transponder code query ******F****** received ping request ******aD Dyl=}>In4?ܾ !A ?9>C; @;)WU?WQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaU @BLB BA*BAKAAA="C?RCC?C 5FӅmmzmzmV m+:YmQ1ym:m5IG=>96[q,lEAY}2$b?}2"?y}2v򚽙}2O=}2H|??`?8n?@ Y?c?`??)~2$b? ~2^;I~0ɫ99)9 =I9Y@ykGxDUSBL response received:!U1,P 1F7,000,0063A,186,80,80,9F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i )-= -=M=M]f=Ye6$QUm>yaD Dyߕ=}>Iv4?ܾ "A ?9I>C; =)W}?WX XW:W2W*WVbUBU*UUU%e_ @BMKBQ BQAU*BQAQAQAQA]="C]?RCC?CשIG>ٽ <ٹ  9 I gGi F@ ; Ec<[q,lEAY}Rh?}R3)?y}R˛}R=}RH*0?.|?@8?@?;t? e?@?)~Rh? ~Ry^;I~R˖Cɫyy)y }IyYs@ykG@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iYa5^X?>i@ )I@Ib@iM@=YQU>aD;Dy=}>I  :  4? : ܾ {"A ?9 >C : :) :W=?W9X9 X9W9:WA2WA*WAVAbUABUI*UIUIUU "@B}9iBy ByA}-*ByAtNAAAj="C?RCC?CIGk>eewewe\ e.:YeO1yeP:eY5)e?;9mKC[q,F mEAY}2$o?}2/?y}2蛽}2=}2H?c?`[??zj?@Hx?`һ??)~2$o? ~2:^;I~2̖Cɫ99)9 =I9Y}7@y}}lGxDUSBL response received:!U1,R,375,000,00611,189,80,80,7C,FF Fpublishing direction and range infoEɰq=鰅7> )BIy^B\T? 6LTٱ=i=i =Ma=YQU>aDRD0ym=}>IS4?ܾ "A ?9>C: :)W ?WX XW:W2W*WVbU BU *U U U @P!*Q%^BZQ%iC@0.mCJQ%\T? 6LT2Q%E:Q!bQ%K@ǀǢ)QRQ%f?wOgEWG]BQ%Z@ Q%Q%]BP!P%I9?P%Q%Q%'@"Q%@BUtNB BA*BAAAA,Q="C% ?RC!C% ?C!!I G%M>GxI[q,('mEA|(|*;Y}rv?}r:7?y}r'C}r=}rH?c7V?@? ]?c?@ܻ?`?)~rv? ~r_;I~pɫ11)1 5I1Ym̿@yukGDNmea in: $SNTTA,,,,,010036.51*5E iI=)=gAfA-M-4=Y56:QU5>11a=D=oD9yE=}E>II U:M4? U:MAܾ MU#A U?9M?CM: M:)M:myAdded new target pos. range: 55.680000 m, bearing: 355.457306 deg, deltaT: 4.380754 s, approachRate: -0.561547 m/s, LOS rate: -0.219221 deg/s, posRepo size: 4m ProNav: pos range: 55.680000 m, bearing: 355.457306 deg, approachRate: -0.561547 m/s, LOS rate: -0.219221 deg/s, cmd update: -0.657662 deg/s, cmd heading: 111.067496 deg, new cmd heading: 110.057179 deg. Wv?WX XW:W2W*WVbUBU*UU@ K@U@i?BB BA*BAAAA33="Cv?*CRC!C%v?C1q9qIulhGiu@qqqu; uE?΅YzzO &:YQ1y:5);1IYG}>]P[q,AmEAY}2~?}2??y}2b)}2#=}2H@_n?`@??,?@l`?!??)~2~? ~2^;I~2͖Cɫ99)9 =I9Y}0@y}tlGiK7A`?Mb?V-?>= <)IyCl?y&1S㥛?d?`e ¥A)¡I¥@i¡QAף=S=ip@ ߣ@)I@i@ l<M M=Y9QU>aDDy%=}%>I)-H4?-ܾ -#A 5?9-B?C-: -:))W]?WYXY XYWY:WY2Wa*WaVabUaBUa*UiUiUm89?BB BA*BAAAA="C?*C!RC)C-?C)=.ąI!G=r>ŇV[q,c[mEAY}2[?}2%G?y}2-}2}=}2Hֺ? 7"?@hd?x?F@?>??)~2[? ~2^;I~0ɫyy)y }IyYQ@ylGI)i50<M=Y=Y=଺QU=>AAaEDEDIyM=}M>IQ ]:U=4? ]:Uܾ U)$A e?9U|?CU^: Uk:)U:W/L?WX XW:W2W*W V bU BU)*U1U1U5u?ByBy BA*BAAAA="C/L?*CRCC/L?C֥FӅיIGb>eaaeI el3:YayaeG59m@e P>9a Ie hGie :@e !=a a e ; e E\[q,O?umEA|i|@Y}6c?}6x5O?y}6l}6=}6H?@5K?J?@%?Q sȳ?`?@??)~6c? ~6?^;I~6̖CɫYa)a eIaY@y*mGi!! !!)-= -=uuAuC iu@q q)u@Iuߣ@iuߣ@ =ME=Yn-QU>aDDy=}>Iȡť@4?ťܾ ƥ$A ?9ƥ?Cǥ: ȥk:)ȡW-?W)X1 X1W1:W12W1*W9V9bU9BU9*U9UAUEDs?BJB BA,e<*BAHAAA="C?*CRCC?C?΅׹IGf>Lc[q, mEAY}26?}2@V?y}2A}2=}2HFO?@?N?`?"?K?@ײ?)~26? ~2\_;I~2͖Cɫ99)9 =I9Y]@y]3mGi5p;M5O=Y=4fQU=>99aEDEDAyM^=}M>IQ ]:U4? ]:Uܾ U %A ]?9U?CUg: U0:)U:W}Q"?WX XW:W2W*WVbUBU*UUUQH@BkB BAs<*BABAAA="CQ"?*CRCCQ"?C֡Iש)׭fAyIGD>eewewee e4-:YeO1yeP:eG5i[q,{mEAY}:,?}:6]?y}:;}:=}:H`? k ?"O?^?`?q?@?)~:,? ~:+<_;I~:̖Cɫ99)9 =IAY}@y} nG=i=iMl=MMI=YUdQUU>QYa]D]DYyea=}e>Iim,4?mܾ m}%A u?9m9@Cm : m:)iWO?WX XW:W2W*WVbUBU*UUU@BB BAG=*BA 2AAA="CO?*C RC C O?C Q>9 I iGi .@ "=   ; E)ݹIݹiݹݹݹݽ24!I)GmW>p[q,mEAY}2X?}2d?y}28=}2'=}2H?q??@a?3?`<`?`?)~2X? ~2-^;I~2˖Cɫ99)9 =I9Y}@y}amG鮁ɮp=iI=)4=%X9v?㥛 ¿x&?%>% %7=)!I!y%333333? rh rh?%?%C%C< !)%@I%K@i%\A!% A9=gAÅ#>Å>Å=iÅ¥@Á ą@)ąI@Iąiā5M>=YQU>aD D!y%|=}->IQU;4?Uvܾ U%A ]?9U|@CU: U:)QW?WX XW:W2W*WVbUBU*UUUz@RB*** querying acoustic contact ***PPBB! B!A%<*B!A%)AAAIAMK="CU?*CQRCQCU?CYY1IAeeueueT ei*:YeKN1yey:e5G>v[q,ޫmEAY}6?}6 k?y}6褽}6q=}6HiQ?{V? a?@, ?`kO?`aD$ Dy =} >I :lJ4? :`lܾ H&A ?9@C: :):WF?WX XW:W!2W!*W!V!bUIBUI*UIUIUUn @Ba„B BA 9=*BA7AAA="CF?*CRCCF?C?i?IG> < < 9 I jGi Ѿ@    ;  E }[q,+mEAY}R?}Rr?y}Rd}R =}RHs?`BUn? c?Z?ݿ@Y?κ??)~R? ~R^;I~RΖCɫyy)y }IyY:@ynGxDUSBL response received:!U1,P 375,000,00611,189,80,80,7C,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iuuu/]=iu@q u+@)u=@Iu+@iu+@<M.=Y;QU>aDB D yo=}E>IIMY4?M aܾ M&A U?9MACMU: M:)IW?WX XW:W2W*WVbUBU*UUUG@BB9 BAAELt=*BAAMAIAQAU="C}?*CRCC?Cyy; *,:YP1y':G5);9֩i Iy G >[q,anEAY}:?}:>z?y}:1ߛ}:"=}:H@?``W?rt?ʕ?-⾿w?s?N?)~:? ~:^;I~:̖Cɫ99)9 =I9Y}@y}voGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i! !!)-= )5$=M==Y=;QU= ?AAaEDEV DAyMt=}M?IQ ]:Uc4? ]:U'Yܾ U&A e?9U1ACU: U:)U:W)?WX XW:W2W*WVbUBU*UUU@@@B%~B1 B1A5=*B1A=ኽA9A9A=="CE)?*CIRCICU)?CQa9IIGeU> [q,=*nEAY}2?}2(?y}2oǗ}2:=}2H?)??`T?@6⽿|?@8?;?)~2? ~2^;I~2ʖCɫ99)9 =I9Y}6@y}nGxDUSBL response received:!U1,R,502,000,005F0,18A,80,80,A7,FF Fpublishing direction and range infof3ɰ =鰅> )'CIyVBw?amf-ٱi MS=Y[;QU>aDn Dy=}>IIp4?Nܾ M'A ?9mAC: ':)W?WX XW:W2W*W VbUBU!*U)U)U5@PY*Q]VBZQ]1MOt7@uïm3'HJQ]w?amf-2Q]f3:QYbQ]lpJ@H>G5Kv RQ]r \?,^XBQ]d@ Q]Q]KUBP]H9?PYP]Q]Q]8@"Q]'@B5wB1 B1A5rr=*B1A=ƊA9A9A=="CE?*CARCACe?Ci9I(kGi"@; E֡I׹)׹mm{m{md m+:Ym#R1ym:m5)ml;בIG>[q,$DnEAY}n- ?}nD?y}ns핽}n%=}nH?Z@Wy???e??@?)~n- ? ~n^;I~n˖Cɫ)1)1 5I1YUj@yU1oGDNmea in: $SNTTA,,,,,010040.95*57 =i=i]HzG?]t ]=)YIYy]+?i|?5Q?]?]q]\= ]AA)YI]b@i]AY]A @ @ @ý©ýýiýQ@ý Ĺ)ĽIĽiĽh@Z<M,=Y:QU>aD Dy=}>I :~4? :~Aܾ 'A ?9ACf: :):myAdded new target pos. range: 53.700005 m, bearing: 354.121703 deg, deltaT: 4.484857 s, approachRate: -0.441485 m/s, LOS rate: -0.297803 deg/s, posRepo size: 4m ProNav: pos range: 53.700005 m, bearing: 354.121703 deg, approachRate: -0.441485 m/s, LOS rate: -0.297803 deg/s, cmd update: -0.893408 deg/s, cmd heading: 108.144875 deg, new cmd heading: 107.832966 deg. W?WX XW:W2W*WVbUBU!*U!U%J@U%`@?BMBQ BQAU/=*BQAUAYAYA]Do="C}?*CRCC?C֍FӅIIYGu>A$[q,A]nEAY}20?}2g?y}2>}2&=}2H@Es?h`Ư?M ?@w?ؽ ò??>?)~20? ~2#_;I~0ɫ99)9 =IAY@yQoGi!!I-4=)-R=11}3<M}c=Y}QU}>aD Dy3=}>Iȑŕ4?ŕ7ܾ ƕJ(A ?9ƕACǕw: ȕ@:)ȑW4?WX XW:W2W*WVbUIBUI*UQUQUU ?BB BA=*BAAAAO="C4?*CRCC4?C?΅׹IGf>eevevej e,:YeN1ye:eY59m@١ ٥ hAܩ 9ܩ Iܭ kGiܭ Ŀ@ܩ ܩ ܩ ܭ %; ݭ EO[q,5wnEAY}6?}6;?y}6|}61=}6H@?? }? &?\E ? ??)~6? ~6E_;I~4ɫ99)9 =I9Yu@y}pGi = = ==>==нi=@= =ߣ@)=ҭ@I9i=@M|=MUM=YU3QUU>YYa]D] Dayen=}e>Ii u:mݔ4? u:mB+ܾ m(A }?9m2BCmb: m:)m:W"?WX XW:W2W*WVbUBU*UUU ?BRtB BA=*BAcAAAi ="C"?*CRCC"?C ?i ?IGI>6[q,nEAY}B?}BÐ?y}B񽚽}B7=}BH`+? Y'F?6?+?F`S?s>??)~B? ~Bҽ^;I~BʖCɫYY)Y ]IYYP@yLpGI9)9iAA%MF=Y.QU>aD Dy5=}>I4?ܾ B)A ?9tBCZ; p/;)WoM?WX XW:W2W*WV!bU!BU!*U)U)U5?BuSzBq BqA}=*ByA}9AyAyAS="CMoM?*CQRCYC]oM?Ca֙ee|e|es e.:YeR1yei:eF5qIG~>`[q,nEAɫ髡) IY@ypG hAhAi )5= 5=Ý&>Ý<Ý7 >iÝ@Ù ĝ+@)ĝ&@Iĝ+@iĝ+@<M:=YQU>aD Dy}>I4?ܾ )A ?9BCs: :)Q9QIUlGiUg@QQQU#; UEW4a?WX XW:W2W*WV bU BU*UUAUM@BjyB BA=*BAAAA="C4a?*CRCC4a?C֩׉ I G >L[q,%tnEAY}>@?}>v?y}>}>Z=}>HI?/@P?`A? ?`c̼`:?`R?Dz?)~>@? ~>Q^;I~>ΖCɫQQ)Q UIQY@yqGi11+?~jt? rhv>D< C)Iym?S㥫aD Dy% >}>I  :;4?  :ܾ  *A ?9BC;  ;):Wq?WX XW:W2W*WVbUBU*UUU@B5oB1 B1A5*=*B1A=ۉA9A9A=="CEq?RCACEq?CIqIy)yIee{e{e e*,:Ye#R1ye:e35IqG}>:r[q,K;nEAY}:?}:ܚ?y}:$}: =}:H C?@ re? 0?@?ly? i?`,?)~:? ~:JX^;I~:˖Cɫ99)9 =I9Y}@y}FqG鮅p=ɮi=i 8<Mb=Y\;QU>aD# Dy[=}>IȹŽĻ4?Ž۾ ƽO*A ?9ƽ$CCǽ: Ƚ{:)ȹW?WX XW:W2Wq*WqVqbUyBUy*UyUyU} e@RB*** querying acoustic contact ***PPB7moB BA=*BAήAAAR="C?*CRCC?CFӅIGI>I 9I IM mGiM @I I I M ,; M E)Ii3[q,nEAɫ髱) IY@yqGZ****** received transponder code query ******F****** received ping request ******iÅz@Á ą)ą@Iąh@ią@<M.=YQU>aDB Dy}>I :4? :۾ *A ?9gCCH: :):WM?WIXI XaWa:Wa2Wi*WiVibUiBUq*UqUqUu$ @BHoB BA>*BAUnAAA_="C?*CRCC?C?΅eS eyeye} eq::YeP1ye':ek5)eN;9uIG>,oEAY}2?}2?y}2֒}2C=}2H5?jI{?@6p? S?@V?@)??)~2? ~2d^;I~0ɫYY)Y YIYY@yrGxDUSBL response received:!U1,P 502,000,005F0,18A,80,80,A7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i9Am=<Mm>=Yu ;QU}>aD] Dy>}>I4?۾ *A  ?9CC$; ;)WM?WIXI XIWQ:WQ2WQ*WQVQbUYBUY*UYUYU{ @BlB BA >*BAM/AAAS="C?*CRC C ?Ci%DnGIAiy[q,,oEAY}R?}Rå?y}RK}Rj=}RHa? s,?b?`?%uE?`?p?)~R? ~R?l^;I~Pɫyy)y yIyY@yJrGAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I))-Ai19=u!i׫@ +@)@Ii+@<MT=Y3:QU>aD 9 I HnGi @    !; Eu DYye=}m>Iȁ :Ņp4? :Ņu۾ ƅ6+A ?9ƅCCDž; ȅ;)ȅ:W=R?W9X9 XW:W2W*WVbU BU *U U U\@B}biBy ByA}>*ByAAAA="CR?*CRCCR?Ce5 ezeze e 8:YeQ1ye:e}5)e=;։i Iq G >;[q,ۧFoEA|@i|@ɫyy)y }IyY@yrGxDUSBL response received:!U1,R,D46,000,005D8,189,80,80,AB,FF Fpublishing direction and range infoH?ɰ=鰽7> )+CIy QBF*>?wO?ٱi !!}?5^I?~jth{Gz?M?D #=)Iyjt?Mbl? ?= " A)K@Ii AA)%> %>5gM5E=Y5QU5>99a=D= DAyE}M>IIMO4?Mo۾ M+A ]?9MDCM&: MY:)IW}?WyXy XyW:W2W*WVbUBU*UUU`@P*Q QBZQ@9nE@8q3|=@JQF*>?wO?2QH?:QbQ1LH@þ^@RQ@7~ԿvX?Չ?BQ? QDBQ'P9?PH9?PQQGA"Q8@BTTgB BA >*BAmAAA="C?*CRCC?C׹IG> [q,G`oEAY}vd?}v?y}v}v=}vH-?`S˸?0?? O?`/?M?)~vd? ~v^;I~tɫ) IY5 @y5orGTNmea in: $SNTTA,0.057578,,,,010045.39*42 i]4<M]Y=Y]_;QUe>aaamDm Diyu2&>}u>Iy }:}4? :}ɽ۾ }!,A ?9}ZDC}: }:)}:myAdded new target pos. range: 52.260002 m, bearing: 109.152775 deg, deltaT: 4.485171 s, approachRate: -0.321059 m/s, LOS rate: 25.646973 deg/s, posRepo size: 4mProNav REINIT: LOS rate is 25.646973 deg/s. Setting heading cmd to target bearing of 109.152775deg and heading rate command to 0 deg/s.W?WX XW:W2W*WVbUBU*UUG!J@U@*BA A A A V="C!?RCC?C5.ąIG=r>ee{e{e e0:Ye#R1ye:eE59@ 9 I oGi O@ != ; [q,dzoEAY}2 k?}2 ?y}2t}2ů=}2H%>?tPڸ?c?n/? t@?@\u??)~2 k? ~2(^;I~2̖Cɫ99)9 =I9Yu@y}sGiE"[E`E=iE@A EI@)E@IEI@iEh@U>=MU]=Y]>;QU]>YYa]De DayeB=}m>IquB4?u@۾ u,A }?9uDCu: u:)qWWX XW:W2W*WVbUBU*UUU`?B_B BA(>*BAAAAA)="CQ?RCCC֝?΅yIG]>[q,:oEA| | Y}Z`l?}ZM?y}ZW}Z`!=}ZHM?Ex@ο??(B?m|??R?)~Z`l? ~Z^;I~Z˖Cɫ髙) IY@y@sGiiiIu=)qy}gA<MG=Y:QU>aD Dy8=}>Iȡť4?ť=۾ ƥ -A ?9ƥDCǡ ȥk:)ȡWWX XW:W2W*WVbUBU*UUU  ێ?B5t`B1 B1A=,>*B9A=AA9A9A=="CE?RCACICIAI)GEQ>eevevek e*:YeN1ye:e5b[q,oEAY}Be?}B霹?y}B3}B=}BH6?sVx?[?y???@?)~Be? ~B^;I~B̖Cɫaa)a iIiYl@yrGi9A澩Yi@ ~@)Ʒ@Ih@i|MC=YyQU>  a D  Dy=}>I %:4? %:ɔ۾ -A -?9EC: :):WYWYXY XaWa:Wi2Wq*WyVybUܱ9ܱIܵtoGiܵ@ܵ"=ܱܱܵ$; ݵEBU*UUU ,?BIieB BA_#>*BAAAA="C*CRCCCFӅ?i?שIG>[q,oEAɫ髹) IY@yWsGiYaEFx?MbPX9v?E ?E E}=)AIAyEbX9?~jtMb?EE?EDE< EAA)E5@IE@iE& AAEGA]<M]D=YeQUe>aaamDm Diyu}u>Iy}4?}P۾ }-A ?9}ZEC}: }U:)yWWX XW:W2W*WVbUBU*UUU ?BZB BA.>*BAiAAA:="C*CRCCC?΅IGk>mmtmti m?,:YmM1ym:ip[q,}oEAY}2m?}2X?y}2x}2 =}2Hz?`ߊ?s?@?  ??k?)~2m? ~2^;I~2ɖCɫ99)9 =I9Y@ysGi!! !!)-= -=U<M]]=Y]}QU]>aaaeDe' Diyh>}>Iș :ŝ4? :ŝ {۾ Ɲ.A ?9ƝECǝ: ȝ+:)ȝ:WWX XW:W2W*WVbUBU*UUU@BrYB  B A 5>*B A"#AAAie="C*CRCCC֥FӅyIGb>ى ٍ <ܑ 9ܑ Iܕ oGiܕ @ܑ ܑ ܑ ܕ 0; ݕ E8[q,ߦoEAY}R?}R ?y}RU}R=}RH?^&???V f? jѺ?@?)~R? ~RYh^;I~R˖Cɫyy)y }IyY@ysG鮹ɮi @ @ @Ý©ÝÝiÝQ@Ý ĝ)ĝ@Iĝiĝߣ@;ME=YkZQU>aDB Dy8~=}>I=4?m۾ ^.A ?9EC: {:)WWX XW:W2W*WVbU BU *U U U#7@RB*** querying acoustic contact ***PPB=ªZBA BAAE8>*BAAEcՆAAAAAMj%="CQ*CQRCQCQCQe?΅Ii)i9IIGeU>eeyeyeU eJ+:YeP1ye':e5)e7;9ml \q,pEAɫyy)y }IY@yQtGZ****** received transponder code query ******F****** received ping request ******!)a-D-] D1y5}5>I9 E:=4? E:=_۾ =.A E?9=FC=: =:)=:WiWiXi XiWi:Wq2Wq*WqVqbUyBUy*UyUyU} Q @BVB BAfH>*BAAAA}="C*CRCCCIG l>4N \q,+k/pEAY}r?}r?y}r}r=}rH׋`?$?@mf籿 y\??;??)~r? ~r^;I~rʖCɫII)I UIQY@ydtGxDUSBL response received:!U1,P D46,000,005D8,189,80,80,AB,FF Command AckBRequesting micromodem ping code 2i!I9IIMpGiM@M!=IIM; ME)Iin4!Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I?)?iIC=)%=±µhA   @~n>i\@ ҭ@)\@Iҭ@i@_;M=Y9QU>aD]]|]|]k ]-:Y]R1y]i:]5)]%;- Dqyu=}}>Iy}4?}M۾ }/A ?9}`FC}:: }J:)yWWX XW:W2W*WVbUBU*UUUY @B5[B9 B9A=@J>*BAAEAAAAAE="C*CRCCC FӅ I G >c2\q,6IpEAY}BG?}B~?y}B*}B=}BH`@^??`GE?`'?`?)~BG? ~B^;I~B̖CɫYY)Y ]IYY@yVtG@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iYY%On?V-l?%?% %=)!I!y%x?㥛 Zd;O?%K?%%j<= %| A)%@I%@i% A!%(AE~ME=YM;QUM?QQaUDU DQy]=}]&?Iae4?eD۾ eg/A ?9eFCe_< e_<)aW WX XW:W2W*WVbUBU*UU!U%`k@BHB BAH>*BAӅAAAP[="C*CRCCCֽ?΅בIG>q q i oGI i ^\q,PcpEAoVٺEBF]@9FKBY}]9?}]p?y}]PX}]՟=}]H@t??`DbL`?Y?h?)~]9? ~]^;I~Yɫ11)1 5I1Y @ytGxDUSBL response received:!U1,R,0AA,000,005DB,186,80,80,90,FF Fpublishing direction and range infoɰ=鰝> )CIyQB?%)k¿ٱi=MS=Yh;QU>aD Dy=}>I :4? : 8۾ /A ?9FCQ: :):WWX XW:W2W*WVbU!BU!*U!U!U%@P9*Q=QBZQ=7]I@Z'JQ=?%)k¿2Q=:Q9bQ=k}3@<J@"E@RQ=&To ?fB?-?BQ=? Q=PBQ=y@P=ʧ9?P=9?P=~Q=Q=A"Q=GABmX|LBi BqAu6W>*BqAuAqAqAuU!="Cy*CyRCCC}FӅAIiG_>o zz` <:YQ1y:459@1 91 I5 qGi5 @1 1 1 5 #; 5 E\q,|pEA|@i|@Y}6bQ?}6M?y}6r}6=}6H7Ժ`@}?̿?`6 j?@ ? \?)~6bQ? ~6n^;I~6˖Cɫ99)9 =IAYE@yMuGi)= >e 0=eebie@a e@)er@Ie~@ie~@[=MO=Y:QU>!a%D% DQy]=}]>Iquu4?u)۾ um0A ?9uGCu; u);)qmqAdded new target pos. range: 52.440002 m, bearing: 85.728484 deg, deltaT: 4.398258 s, approachRate: 0.040925 m/s, LOS rate: -5.325811 deg/s, posRepo size: 4m ProNav: pos range: 52.440002 m, bearing: 85.728484 deg, approachRate: 0.040925 m/s, LOS rate: -5.325811 deg/s, cmd update: -12.000000 deg/s, cmd heading: 109.152775 deg, new cmd heading: 109.152775 deg. W(h?WX! X!W!:W!2WA*WIVIbUIBUI*UQUUR8J@UU(?B-߄KB) B)A5l>*B1A5A1A1A5<"CMaC?RCICM(h?CY թԭ>֕?΅qIG>;q%\q,ӖpEAY}Vb?}V?y}V9}V-=}VHp}4?:?L¿ ? ??)~Vb? ~V}^;I~Tɫ) IYQ@y:uG}TNmea in: $SNTTA,0.049474,,,,010049.91*4E iME=Y`zQU>aD Dy=}>I :X4? :۾ 0A ?9?GC: :):W8?WX XW:W2W*WVbUBU*UUU x?B ;IB BA`>*BA^AAAi<<"C%'?RC-nC-8?C)9IG=q>]]x]x]z ]/:Y]7P1y]:]5G+\q,ԶpEAY} 3?} j?y} } K=} H4ſmKD?`7{?& ƿ l Y?[?)?)~ 3? ~ {^;I~ ʖCɫ) IY5@y5uG9IqGi@); E5=i5=iQQi|?5?X9v?Mb??= =)Iy!rh?L7A`尿m1?mV>im@i m)m&@Im+@imI@}<M&=Y޹QU>aD Dyw=}>Ișŝ4?ŝ ۾ ƝX1A ?9ƝGCǝ{: ȝ:)șWt?WX XW:W2W*WVbUBU*UUU X?BlJB B!A%Ho>*B!A%IA!A!A%<"C-U?RC5ʽC5t?C1fxIG>y2\q,V~pEA|&4<|&4*BaAeAaAaAm1<"Cu?RCuB<Cu9?CqԁԅhA֥:nץ?iץ?yIG_>e eveve` e4:YeN1ye:e458\q,YpEAY}2W@}2?y}2Z}2F=}2HL̿ g@-[?d"?`>$ͿW@(?`w?|?)~2W@ ~2i^;I~2˖Cɫ99)9 AIAY@yvGi5 =M=U=Y=P;QU=>AAaEDE* DAyMw=}M>IQUz4?UHھ U1A ]?9UHCUܹ: U+:)QW4?WX XW:W2W*WVbUBU*UUU@B=?=BA BAAE6>*BAAEqAAAAAM<"Cmj?RCuK>Cu4?Cqeҹ`AIIGm5>9I0rGi@"=+; >\q, 5pEAY}Bq@}B>?y}BE}B=}BH ѣϿڿ??4пա෥???)~Bq@ ~B)x^;I~@ɫyy)y }IyYyIY)]AiaaíCíAí>ií @é ĭ@)ĭ@Iĭ@iĭ@Y;QU>aDD Dy=}>I :4? :ھ O2A ?9MHC^: :):Wm?WiXi XW:W2W*WVbUBU*UUU}@B4?B  B A *B A !AAA"<"CA?RC >C?C!%xj0I G5O>eeyeyew eC3:YeP1ye':e"5)e;9mE\q,qEA| i|"@ɫ髱) IYr@yvGɮ gAgAi 8M!!a%D%] D)y-}->I154?5ھ 52A E?95HC5: 5:)1We?WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqU}Qm@RB*** querying acoustic contact ***PPB9B BA>*BATAAA<"CV?RCC?CQI)סIG >IQ)U@AK\q,j1qEAY}n= @}n²?y}nx}nk=}nH SjԿ55 ?@D?ԿK } ?d?@q?)~n= @ ~np9`;I~nʖCɫ) I܉9܉I܍rGi܍*@܍#=܉܉܍; ݍEY @yvG-Z****** received transponder code query ******-F****** received ping request ******5aD Dy>}%>I! -:%4? 5:%ھ %-3A U?9%HC%; %Y;)%:W?WX XW:W2W*WVbUBU*UUU @BpCB BA>*BAt)AA!A%S3<"C%i?RC)C-?]YY] ]0:YYyY]E5)];CiM`! I) GM >R\q,KqEAɫyy)y }IyY@yvGxDUSBL response received:!U1,P 0AA,000,005DB,186,80,80,90,FF Command AckBRequesting 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=ME=YMQU]?aiauD} Dy5}5?I9=94?=иھ =~3A E?9=IC=b: =:)9W?WX XW:W2W!*W)V)bU1BU9*U9UAUm @B2B BA>*B!AEˁAAAAAMs<"CUo?RCQCU?CY}XҼYIG>X\q,eqEAɫ髹) IYI@ywGMNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I?)?i:=M?=YQU>aD Dy} >I4?ھ 3A ?9KIC: Y:)W= i?W9X9 XAWA:WA2WA*WAVIbUIBUI*UIUQUU ,@B}.-By ByAz>*BAdAAAd<"C-j?RC)C- i?C1%X< IAGuW>qiqV zzt ::YQ1y:}59@١١ܩ9ܩIܭrGiܭ{@ܭ"=ܩܩܭ; ݭE) I i i4^$_\q,qEAY}F @}F ?y}F}FN=}FH`Yֿq`K?.?ֿ`g_?@r?@?)~F @ ~F=^;I~F˖Cɫyy)y yIyY(@y|wGxDUSBL response received:!U1,R,36B,000,005E1,189,80,80,80,FF Fpublishing direction and range infozCɰ=鰽7> )CIy3SB_?l ٱi - - - -@ -@ -@)))i-@) ))-@I-~@i-~@=.M=V=YEQUE>AIaMDM DIyU =}U>IY e:]4? e:]ٟھ ]N4A e?9]IC]: ]:)]:WEiy?WAXA XIWI:WI2WQ*WQVQbUQBUY*UYUYU]n@P*Q3SBZQSU?C@ABJQ_?l 2QzC:QbQhcv4@T%VH@pzwȿRQ??no(?pmBQ? QBBQAP9?Pʧ9?PQ~Q @"QAB4B BAe>*BA%ꀽA)A)A-:<"C5?RC1C5iy?C1='<I!GMt>- f\q,aqEAY}  @} $?y} ]j} s9=} Hֿ?D?%׿'X?;?\?)~  @ ~ ^;I~ ʖCɫqq)q uIyY @yswG5TNmea in: $SNTTA,0.048041,,,,010054.29*42 I5A)1I=A)9iAImMm8=YuQUu>qqa}D} Dyy_<}>Iȉō4?ōƑھ ƍ4A ?9ƍICǍ: ȍ:)ȉmqAdded new target pos. range: 52.799999 m, bearing: 67.197088 deg, deltaT: 4.458771 s, approachRate: 0.080739 m/s, LOS rate: -4.156167 deg/s, posRepo size: 4i5 nGmE ProNav: pos range: 52.799999 m, bearing: 67.197088 deg, approachRate: 0.080739 m/s, LOS rate: -4.156167 deg/s, cmd update: -12.000000 deg/s, cmd heading: 55.747817 deg, new cmd heading: 50.722001 deg. IIWUʠb?i%^Yٺ!%GBWYX! X!W):W)2W)*W)V)bU1BU1*U1U5`ffJ@U=?B7B BA>*BA fA A A ><"Co ?RCCʠb?Cu}=vvr [/:YN1y:5)I9GU>9l\q,gFqEA|i|@Y}Nw @}N#?y}N1}Nw}=}NH`ֿ`?@R? 4׿Bt?7?`b?)~Nw @ ~NS^;I~N˖Cɫqy)y }IY\@ywG)9)I-\sGi-@)))-; -E id;O?Q롿J +??\ H=)IyM?QX9v?n?u< ½A)½K@I½@i½AA ] ] ]]Q8=]<]&>i]G@] Y)]O@IYi]@<M:=YB:QU>aD Dy;}>Iș :ŝ4? :ŝyھ Ɲ?5A ?9ƝJCǝ: ȝo:)ȝ:WKK?WX XW:W2W*WVbUBU*UUU@(?B Jj-B  BA>*BAAAA<"Cbk?RC!C%KK?C!_=IGi>ImAA)is\q,qEAY}6 @}6(?y}6-}6d=}6H ֿ@v?@?` ׿9-?х?@?)~6 @ ~6%r^;I~6ʖCɫaa)i mIiY}_@y}wGi%?:M%{=Y-Z;QU- ?))a5D5 DAyE}E?IIMZ4?Mzھ M5A e?9M8JCM-; MB;)IWJ9?WX XW:W2W*WVbUBU*UUU4?B%4"'B! B!A%ސ>*B)A-A)A)AM0<"CUX?RCQCUJ9?CY-=IG+>{{ 0:Y#R1y:5Hy\q,kqEAY}6 @}6G?y}66}6$=}6Hֿ 9-??`@ֿ F?Y?S?)~6 @ ~6zy^;I~6˖Cɫ99)9 =I9Yqyy=i==i=iY:QU>  a D , Dyj2}>I4?nھ 6A -?9rJC: :)WMw'$?WIXI XIWQ:WQ2WQ*WQVYbUYBUY*UYUYUe-?B\+B BA*BA:~AAA<"C('D?RCCw'$?Cmb(>AIQG>4=9I$tGio@; E!/\q,rEAɫyy)y }IY@ywGIM?)M?iIIý9ý-ýiý3@ù Ľ@)Ľ@IĽ@iĽ@;MaDG Dy}>I :W4? :faھ y6A ?9JCW; N;):WE ?WAXA XAWA:WA2WI*WIVIbUIBUQ*UQUQUU@B-B BA>*BA3}AA A <"C3+?RCC ?C%S^>IGK>u=iua=[ ,:Yy"5)u;9X\q,rEAɫ髙) IY@ywGi9AMP=YQU>aD` Dy}>Ișŝ74?ŝUھ Ɲ6A ?9ƝJCǝ : ȝf:)șW>WX XW:W2W*WVbUBU*UUUG.@B (B  B A .>*BA1I|AAA<"C?RCC>C!m>!I1GM1> \q,z4rEAY}rv @}ra?y}r샽}rc<=}rHBԿ@JX H?@Կ`\z?ט`I?)~rv @ ~r^;I~rɖC9ItGi@; Eɫ髙) IY@y`xGI)AI)AiCl?L7A`?V-;>+= m)IyK7?I +:v? ?94T< A)jAI@iAGA 5@ =@ =@5©55i5Q@5 5)5I5i5I@M(<MM1=YMsQUU>QQaUDU~ DYy]}]>Ia :e24? :eGھ eA7A ?9e*KCe: e/:)e:W>WX X!W!:W!2W)*W)V)bU)BU)*U1U1U5`@R=B*** querying acoustic contact ***P9P9Bh,B BA>*BA{AAA<"C>RCC>Cl xx o<:Y7P1y:45>);׉IG>pl\q, \NrEAY}6G@}6v?y}6򍆽}6}6H` ҿ`@2V~?ҿa`ΰ?@x}Y?)~6G@ ~6~^;I~4ɫ99)9 9I9Yu@y}xG}Z****** received transponder code query ******F****** received ping request ******WX XW:W2W*W V bU)BU1*U1U1U5@O @B} BN9< BA>*BAJzAAA@<"C:>RCC4>C >!>ױIGe>Iu@A)u?A\q,3hrEAY}6@}6^?y}6wi}6ȷ}6HdѿG踿?пр?``V?)~6@ ~6b^;I~6̖Cɫ99)9 =I9Y]@y]%xGexDUSBL response received:!U1,P 36B,000,005E1,189,80,80,80,FF eCommand AckeBRequesting micromodem ping code 2iaauNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i8;MU=YQU> aD Dy_x}>I :4? :I1ھ 7A ?9KC0< <):WeI>WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqUue @B= -BA BAAE>*BIAMyAQAQAU|<"CP>RCCI>C  @:YyX59@9IuGi@; E)  I G- >|\q, rEAY}:X@}:X?y}:Ƈ}:1}:H`rϿ`S?Ϳ*@?(ÿ@?)~:X@ ~:,?_;I~:ɖCɫ99)9 =I9Y}@y}|xGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U=iU=U=iU=iaa   õ9õQ8õ>iõG@õ ĵƷ@)ıIĵҭ@iĵҭ@G<M<=YعQU>aD Dy}>I4?~%ھ @8A ?9KC:  :)W L>WX XW:W2W*WVbUBU*UU!U%@BMʖBQ BQAU[>*BQAUYxAQAYA]<"C]?>RCaCeL>Ca?΅>׹IGf>ŧ\q,!rEAY}2i@}2I?y}2[}23}2H@˿ÿ`[(?.#ʿ\Ѱ?Fƿq?)~2i@ ~2*_;I~2˖Cɫ99)9 =I9Y}@y}SxGxDUSBL response received:!U1,R,26D,000,005F3,189,80,80,7F,FF Fpublishing direction and range info ɰ=鰁 )BIyWBӔ:j?4weQٱI)?i2MZ=Y :QU>aD Dy}>I  :4? :=ھ 8A ?9KCE; .;):Wuc7=WX XW:W2W*W!V!bU!BU)*U)UIUM@O@Pa*QeWBZQexG@Sa;JQeӔ:j?4weQ2Qe :QabQejTF*[0@(IJPOI@`Q =z@RQeȢ/? J?;?BQeG? QezJBQeAPe9?Pe9?PexQeQebA"Qe @BR$B BAF>*BAQwAAA,<"C(>RCCuc7=CV =u=iqp yyy <:YP1y':5ֱ׉IG>Ԭ\q,tеrEAܡ9ܡIܥ|vGiܥW@ܡܡܡܥ ; ݥE)IIIiIIIM}4Y}ɱ@}y?y}Յ}F}HVȿ@ ƿ`X?YƿY?{ȿT?)~ɱ@ ~_;I~ɖCɫ髩) IYec@yeyGDNmea in: $SNTTA,,,,,010058.72*57 im(\?&1?~jtmz?mP= mD)iIiymZd;?I +?~jt?m?m9qqauDuDyyb}>Iȉō;4?ōھ ƍ9A ?9ƍPLCǍ: ȍw:)ȉmmAdded new target pos. range: 53.880001 m, bearing: 71.745052 deg, deltaT: 4.434986 s, approachRate: 0.243519 m/s, LOS rate: 1.025474 deg/s, posRepo size: 4m ProNav: pos range: 53.880001 m, bearing: 71.745052 deg, approachRate: 0.243519 m/s, LOS rate: 1.025474 deg/s, cmd update: 3.076422 deg/s, cmd heading: 2.565280 deg, new cmd heading: 356.606440 deg. WL=WX XW:W2W*WVbUBU*UUJ@UtZ?B%B BA>*BA$ vAAAi[<"C.R=RCCL=C ]< 6Ʌ>I ) I G >\q,rEAY}B?}B?y}B?:}BfS}BHpĿcȿg?¿1@F? .ʿA?)~B? ~B_;I~BȖCɫYY)Y ]IYY@y@yGIy)yIy)yi<M=Y>s:QU ?aDDy} ?I  : ˝4? : پ d9A %?9 LC  ^; f;) :W]?'=WYXY XaWa:Wi2Wq*WqVqbUyBUy*UUU@ ?BeBi BiAmO>*BqAu-uAqAqA}.<"Cu=RCC?'=Cϡϡ)С СQ vvx H::YN1y:X5 >i DnGI! i1 e Wٺa m FBa 9 II Ge >)\q,uxrEAɫ髙) IY@yyG =gA=gAiAA<MP=YQU>aD/Dy}>Iȡť4?ťOپ ƥ9A ?9ƥLCǥSd; ȥ0;)ȡW=,=WX XW:W2W*WVbUBU*U U U  3?B5B9 B9AE>>*BAAM 1tAQAQAU7<"Cu6r%=RCyC}=,=C֥FӅ>yIG^>y9yI}DwGi}@}#=yy}; }EIޑ)ޕ@A\q,SsEAY}29?}2 ?y}2샽}2{7`}2H-@ $ʿ`? շ@z?@˿+?)~29? ~2X]_;I~2˖CɫII)I MIIY}@y}{yGieeL=erh>ie @a e@)e@Iep@ieh@}9MK=Y#:QU>aDIDym}>Iȩŭe4?ŭ_پ ƭ$:A 5?9ƭMCǭj< ȭ<)ȩW>WX XW:W2W*WVbUBU*UUU"?B=|BA BAAEQ>*BAAesAiAiAm,;<"Cu%-=*CurORCqCu>Cy֝?΅>ץ?iץ?ׁ||u &2:YR1yi:5IG>F\q,4/sEAY}2?}2?y}2}2Gd}2Hr"ވ˿?a̿ 2%?)~2? ~2T_;I~2ǖCɫ99)9 =I9Y@yyG=i=i!!=<M=O=Y=d;QUE>AAaEDEbDIyM3}U>IY ]:]ʓ4? e:]پ ]:A e?9]?MC]b: ]o:)]:W:>WX XW:W2W*WVbUBU*UUU?B8h B BA߬>*BArAAAk<"C~u=RCC:>CסIGA>#\q,27sEAR>9IpxGi@"= ; EY}El?}E?y}E'}Ee}EHC;+`Y˿?mg$@P?ad̿]#?)~El? ~E+_;I~EʖCɫ!)! %I!Y]@y]czGI?)?iI=)=~jt?B`"۹?kt??=  0=)Iy!rh?y&1kt?l'?`e 0= z@)nAIb@i| AA)-fAuGὩuۙu+>iu@q u&@)uIu=@iu&@ <M*=YQ:QU>aDDyS}>Iȡťe4?ť4پ ƥ*;A ?9ƥMCǥ: ȥϸ:)ȡWm6>WX XW:W2W*WVbUBU*UUU@|@BB BA>*BApAAAq<"Cm=RCCm6>Cލ=iލ=yy P0:YP1y':X5);9IG>-\q,PsEAY}65;?}6r?y}6\}6f}6HH/ VW̿?0͓`?ّ̿ ?)~65;? ~6B _;I~4ɫ99)9 =I9Y}@y}zG鮁ɮa=ie=M=YTQU?aDDy+}?Iȹ :Ž4? :Žپ ƽ;A ?9ƽMCǽ: Ƚ:)Ƚ:W9G>WX XW:W2W*WVbUBU*UUU`B@R B*** querying acoustic contact ***P P B-B1 BA>*BAoAAA <"C)>RCC9G>C6Ʌ>סIGB>A1\q,jsEAY}2v?}2]&?y}2A܁}2i}2H#_+4̿=?x?J`8?`̿#?)~2v? ~2 I_;I~2˖Cɫ99)9 =IAY}@y}{GZ****** received transponder code query ******F****** received ping request ******aDDy%?|}->I15ޑ4?5پ 5+WX XW:W!2W)*WQVQbUYBUa*UUU` @BMbf BQ BQAU8>*BQAUXnAYAYA]*<"Ce}V>RCaCe^>C}?΅>)9)I-8yGi-@)))) )QIaG}z>{{d 1:Y#R1y:5)-;+\q,NsEAY}:В?}:?y}:>}:"k}:H W'?%@EͿ?Q? Pڭd?`Ϳ?)~:В? ~:(#_;I~:ɖCɫ99)9 =I9Y}@y}{GxDUSBL response received:!U1,P 26D,000,005F3,189,80,80,7F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 hA鼱iIi@ )"@I@iҭ@M2H=MU*=Y]QU]>aDDy]}>I :4? :Ėپ WX XW:W2W*WV!bUABUA*UIUIUM$ @BB BAA>*BAlAAA8<"CŽg>RCC߬y>C IޕAA)ޑQ) I9 G] >LC\q,uvsEAY}:$?}:i[?y}:H}:o}:Hæ?@ο?٭?Ѫ"?ϤͿ?)~:$? ~: _;I~8ɫ99)9 =I9Y}i@y}~{GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iyyMg=Y0QU>aDDyY}?Is4?!پ T=A  ?9NC; ;)WMR>WIXI XQWQ:WQ2WQ*WQVQbUYBUY*UaUaUm%)@BUo9BQ BQAUx>*BYA]kAYAYAef<"Cp7>RCCR>CֽFӅ>ב{ 1:Yy59@IG>q\q,csEAY}VN?}V4?y}Vj}Vٳr}VH@yK? ο?ñ?vg?Ϳ W ?)~VN? ~V^;`9`IbdzGib@```b ; bEI~Tɫ) IY 5@y x|GxDUSBL response received:!U1,R,025,000,00567,184,80,80,6A,FF Fpublishing direction and range info Aɰ=> )BIy5B<?J!eٱ-=i)-=i-=i11}Fx?333333?J +?} ?}= }H=)yIyy}Mb?Mb~jtx?}#?}}; }&@)}AI}@i} Ay}A>+iG@ @)@Ii=@ef=M9=YQU>aDDy|}>Iy :}4? :}yپ }=A ?9}NC}Q: }8:)}:WԒ>WX XW:W2W*WVbUBU*UUU@@P*Q5BZQ=vgF@O_}JQ<?J!e2Q A:QbQG#@.YعiF@mCZ? @RQ8J?K#;?ہw?BQܻ? Q{4BQt@Pɧ9?P9?P|QxQA"QbABB BA3>*BAhQjAAAe<"CԒ>RCCԒ>C֭?΅>ׁIG>(X\q,8sEAY}n>?}nu?y}nÁ}n=r}nH?`+Gο?@K? 7@Tm?Ϳp ?)~n>? ~n._;I~nǖCɫ) IY@yE}G}DNmea in: $SNTTA,,,,,010103.16*5A I?)?i T=MP=Y@:QU>aDDy}>IȹŽ,4?Žlپ ƽ>A ?9ƽOCǽ0; Ƚ1;)ȹmqAdded new target pos. range: 45.479996 m, bearing: 84.090352 deg, deltaT: 4.499672 s, approachRate: -1.866804 m/s, LOS rate: 2.743600 deg/s, posRepo size: 4m5 ProNav: pos range: 45.479996 m, bearing: 84.090352 deg, approachRate: -1.866804 m/s, LOS rate: 2.743600 deg/s, cmd update: 8.230801 deg/s, cmd heading: 16.431322 deg, new cmd heading: 17.594514 deg. W5->W1X1 X9W9:W92WI*WIVIbUQBUQ*UQU]pF@U]U?B0^ڼB BA>*BAhAAAs<"C[9>RC!C%->C!56Ʌ>ޕ=iޑ xx @:Y7P1y:j5 IGm>b\q,sEAY}2?}2?y}2Ӂ}2{p}2Hȿ?@(ο ?\?_v@7?@Ϳ?)~2? ~2Ĩ^;I~2ɖCɫAA)I MIIY@y}Gi)) E@ E@ E@E©EEiEz@E EƷ@)E@IAiEU1MUO=Y];QU]>YYa]De3Daye}m>IquB4?u^پ uQ>A }?9uZOCu: uD:)qWP>WX XW:W2W*WVbUBU*UUUdb?B]ۼBY BYA]`>*BYAegAaAaAeۇ<"CP>RCCP>Cֽ?΅>Q>9I{Gix@ ; )QIQiQQQUI4ױIG>8g]q,tEAY}24?}2Ƶ?y}2p}2gp}2Hj-?ο>?v?c ?`Ϳ@?)~24? ~2g^;I~2ʖCɫ99)9 =IAY}%@y}}GI)I)i-=Ma=Y::QU>!!a%D%KD)y-6}->I1 =:54? =:5Qپ 5>A E?95OC5: 5(:)5:Weg>WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU}`;?B%%ɼB! B)A->>*B9A=VbfA9AAAE<"C]v>RCYCeg>CaaYIaGY> d0:Yyj5r]q,<tEA|i|@Y}6?}6|N?y}6)~}6{yp}6H?`οQo?@?l`ͯ?Ϳ`?)~6? ~65l^;I~6ǖCɫII)I IIIinGIYo@iy}GRٺAB 鼝hAi <M?=Y:QU>aDfDy}>I)-?4?-}Bپ ->A =?9-OC-Ǻ: -:))We#?WaXa XaWa:Wa2Wi*WiVibUqBUq*UqUqU}?BҼB BA>*BAdAAA<"C#?RCC#?CֹyIG^>Iޝ@A)ޙ ]q,c9tEA494I6X|Gi6@4446; 6EY}JM?}J2ɮ?y}J ~}J_p}JH ?q_οD?.?˥`?oͿ`?)~JM? ~J-m^;I~JɖCɫYY)Y YIYY}@y}m~Gi))S㥛?Mb`?~jth??; D;)Iy\(\?Zd;O?5Q85Ƌi5@5 5&@)5&@I1i5\@M<MMC=Y 9QU>aDDyY}>I :Ԧ4? :4پ :?A ?9PCL ; ;):Wm$4?WqXq XqWy:Wy2Wy*WVbUBU*UUU @BѼB BA>*BA2cAAAŠ<"CE*?RCACE$4?CIu6Ʌ>yyY +:YP1y':5)~;9QIYGu>\]q,%tStEAY}2?}21?y}2ej|}2&q}2H?*`Gο@? ?q 0?7Ϳ?)~2? ~2$\^;I~2ȖCɫ99)9 =I9Y]@y]G=i==i=im=MuY=Y}:QU}>yaDDy}>IșŝY4?ŝ(پ Ɲv?A ?9ƝVPCǝ|; ȝ;)șW( ?WX XW:W2W*WVbUBU*UUU@BRSB BA=>*BAaA!A!A%<"C-?RC)C-( ?C1e?΅>9IIGeU>{]q,DOmtEAY}2Ef?}2+?y}2w}22m}2H?3udοe??4d?*?`dͿ?)~2Ef? ~2z^;I~2ʖCɫ髁) IYs@y:Ga=ɮ=I ?) ?iMѦMUM=Yek1;QUe>aDDy@}>I :4? :Wپ ?A ?9PC: Q:):WO/?WX XW:W2W!*W!V!bU!BU!*U)U)U-`@REB*** querying acoustic contact ***PAPAB} B BA>*BA=`AAAN<"C(?RCCO/?Ci9iIm}Gim@m!=iim; mEיIGb>ޕ=iޕ=uuN *:YKN1yy:Y5);d!]q,*tEAY}2?}2{?y}2 n}2Yk}2H 6?@οƞ???`/Э?`)ͿP?)~2? ~2]^;I~2ɖCɫYY)Y ]IYY@yGZ****** received transponder code query ******F****** received ping request ******ie׳@a a)e@Ie@ieu<MuH=Yu`;QU}>yya}D}DyҐ}>Iȉō4?ōe پ ƍ?A ?9ƍPCǍo: ȍ{:)ȉW=?WX XW:W2W*WVbUBU*UU1U5 \ @BB BAR>*BA΢^AAAĊ<"C59?RCC=?CיIG']q, tEAY}6|?}6?y}6a}6Un}6H0?`x@ο`H`??R,? V:?୉Ϳ?)~6|? ~6 ~^;I~6ʖCɫ99)9 =I9Yuz@y}?GxDUSBL response received:!U1,P 025,000,00567,184,80,80,6A,FF Command AckBRequesting micromodem ping code 2iIA)AIA)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i)QhE=MF=Y3;QU>aDD!y-|}->I9=Ź4?=lؾ =9@A }?9=QC=< =7<)9W%xHN?W!X XW:W2W*WVbUBU*UUU @B}һB BA@?*BAͺ\AAAX<"C{D?RCCxHN?CD || >9:YR1yi:59@6Ʌ>I G- >] P>9Y I] ~Gi] @] "=Y Y ] ; ] EN.]q,TtEAɫ髹) IY@yHGAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 鼹ieOn?p= ף?~jthe?e> eD)aIaye5^I ?~jt?V-?e?eiýG@ù Ľ@)Ľ@IĽ@iĽ9@x;M8=YQU>aDDy}>I) 5:-4? 5:-[ؾ -@A 5?9-WQC-/: -:)-:W}]?WyXy XyWy:Wy2W*WVbUBU*UUU~@B'B BA?*BA[AAAt<"C-kkS?RC)C-]?C)U?΅>Iޙ)ޙ1I9G]>4]q,tEAY}67?}6n?y}6N}6q}6H?@"ο?`^?0?@1Щ?@Ϳ ?)~67? ~6u^;I~6ɖCɫYY)a eIaY3@yGxDUSBL response received:!U1,R,502,000,005FF,189,80,80,B6,FF Fpublishing direction and range infof3ɰ~=7> )6CIyfZBw?amf-ٱi!!5t=M=k=Y=P^xxw 0:Y7P1y:"5&;]q,tEAY}M^-?}MCd?y}MK}Mot}MH/?Qο?`:?`Ѧ?{?@/ο?)~M^-? ~Mlj^;I~Iɫ髙) IY@yGMTNmea in: $SNTTA,0.407140,,,,010107.61*46 M=iM=M=iM=iYY @ @ @í©ííiíG@í ĭ=@)ĭIĭiĭ@A<M3=YK:QU>aD7Dy"U}>I :4? :Aؾ MAA ?9QC: :):mqAdded new target pos. range: 54.599998 m, bearing: 5.076309 deg, deltaT: 4.375938 s, approachRate: 2.084125 m/s, LOS rate: -18.056483 deg/s, posRepo size: 4mProNav REINIT: LOS rate is -18.056483 deg/s. Setting heading cmd to target bearing of 5.076309deg and heading rate command to 0 deg/s.W%s=W!X! X!W!:W!2W)*W)V)bU)BU)*U1U5LK@U5#?B]p Ba BaAe ?*BaAerWAaAiAmn<"Cus?RCuu ;>Cus=Cy<<O>9IxGi@!= ; E֥FӅ>ׁIG>B]q,PruEAY}:0?}:;?y}:P}:Kv}:H?QP`1vο@dF?R?`L̩?`?sο@ ?)~:0? ~:c^;I~:ʖCɫ99)9 =I9Y} @y}BGI)?iu1/=Muc=Y}5QU}>yaDNDy}>Iȑŕ<4?ŕؾ ƕAA ?9ƕRCǕ@: ȕ :)ȑWWX XW:W2W*WVbUBU*UUU?BP3B BAq?*BAUAA A x<"C{?RC=CC 蘀>IG*>޽=i޽=( {{ 7:Y#R1y:5-H]q,rM"uEAY}2?}2Ґ?y}2nV}2v}2H@/?`Odο?`;)? rc? ʪ?v{ο?)~2? ~2X^;I~2ɖCɫYY)Y ]IYY@y'Gi5p`M=N=Y=lQU=>AAaEDEgDAyM}M>IQ ]:U4? ]:Uؾ UAA e?9UCRCU: U:)U:WWX XW:W2W*W V bU BU)*U1U1U5`|?B}gB BA ?*BATAAA<"Ce?RC=CCօpT>aIiG9> M>9 I Gi G@    ;  E)ݑIݑiݑݕ!=ݕ!=ݕ4WN]q,(u½u >iu=@u u&@)u@Iu/@iuM7=YQU>aDDy}>Ișŝ4?ŝؾ Ɲ@BA ?9ƝRCǝ: ȝ3:)șWWX XW:W2W*WVbUBU*UUUwN?B-*tB1 B1A5x ?*B1A=;:RA9AAAE"<"CMt|?RCU7R=CQCY;>יIGb>" yy} 6:YP1y':k5);92AU]q,( VuEA|i|Y}>f?}>z?y}>{X}>Fq}>H`e?`.@!jͿ?`?K?2ٰ?t?Ϳ?)~>f? ~>q^;I~>ʖCɫYY)Y ]IYY@yG Y]gAiYY=M[=Y:QU>aDDy}>Iȩ :ŭ4? :ŭؾ ƭBA ?9ƭRCǭ: ȭb:)ȭ:WWX XW:W2W*WVbUBU*UUU@$@BB B!A%%?*B!A%gPA!A!A%<"Ciu?RCUW=CC?i?iUmGIiQٺ@BIGm>I޵AA)޵BAj[]q,~ouEAY}% ?}%@?y}%uS}%yk}%H?E ]̿@ȳ?@?2?k? #Ϳ@?)~% ? ~%;^;I~!ɫ11)1 5I1Yu.@yuKGi---j<>i-=@) -@)-@I-9@i-@=M=@=Y=C;QUE>AAaEDEDIyU|}U>IY]j4?]ؾ ]BA e?9] SC]: ]:)YWWX XW :W 2W *WVbUBU*U!UIUMm@B8j`B BA?*BA~lNAAAS<"CSg?RC=CC ܵJ>9ܱIܵGiܵ;@ܵ=ܱܱܵ%; ݵER(>IGj> || +D:YR1yi:|5);Qb]q,RuEAY}6?}6?y}6M}6%Yc}6H4?@|AV˿N?i?@??@o&̿,?)~6? ~6pt_;I~6ɖCɫYY)Y YIYY@yG鮡ɮp==i==i=i`!=Mf=Y-;QU>aDDy}>I4?ؾ BA ?9BSCk: :)W W X XW:W2W*WVbUBU*U!U!U%`d@R-B*** querying acoustic contact ***P)P)BUBQ BQAU~?*BYA]LAYAYA]<"CeX?RCel>CaCi>׉IG>{h]q,duEA|;|Y}6!?}6X?y}6xF}6e^}6HG2?A(ʿ@3???̨? -˿N5?)~6!? ~6b_;I~4ɫiq)q uIqY @yԁGZ****** received transponder code query ******F****** received ping request ******99a=D=DAyMmT}M>IQ ]:U4? e:U^ؾ U?CA e?9USCU; U@;)U:WWX XW:W2W*WVbUBU*UUU @BIB BA?*BAeJAAAx<"C@?RChc>CC֍=aIqG;>޵=i޵p=zz n1:YQ1y:F59@ܥ I>9ܥ vCIܥ Giܥ @ܥ =ܡ ܡ ܥ ; ݥ En]q,uEAY}6?}6i|?y}6?}6T}6Hl??ɿ ?@ ?;`??@^ʿ`G?)~6? ~6 Y_;I~6ȖCɫ99)9 =I9Y@yDGxDUSBL response received:!U1,P 502,000,005FF,189,80,80,B6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ikt?:v{Gzt? 0?T ף;)IyCl?y&1|/$?;?`< )VAI@iAA @ @ @Å©ÅÅiÅ @Å ā)ąIą@ią.=M=YP;QU>aD Dy%^}%>I9=h!4?=tؾ =CA u?9=SC=V; =;)9W1WQXY XYWY:Wa2Wa*WiVibUBU*UUUiT@Bq[B BA?*BAwHAAA5<"C%)#?RC% >C!C!% lT= I G5 >=u]q,~QuEAY}V-?}Vx?y}V6}VH}VH?'`ǿ) {{ 7:Y#R1y:45{]q,e6uEAY}+Ś?}u?y}})}8}HP?Vſ4?T:?̱?@F!?`ƿ t?)~+Ś? ~;^;I~ɫ) IY-@y-AG5xDUSBL response received:!U1,R,502,000,005F4,188,80,80,7F,FF =Fpublishing direction and range info11ɰ5=5> 1)5BI1y5WB5w?amf-ٱ1 gA鼉i    y/=iµ@ @)@I@i@%:M%6=Y%x;QU->))a-D-:D1y5ɼ}5>I9=74?=_ؾ =BDA M?9=PTC=8: =Y:)9WiWiXi XqWq:Wq2Wq*WqVqbUyBUy*UyUUR@P*QWBZQH<T7@(BHJQw?amf-2Q:QbQr(E3J@F *\[X#@RQ _?0 ÿ7kJ?BQr@ QQQBPL9?PI9?PQQRA"QuAB B BAg?*BADAAAi<"C>RCCCEJ>9AIELGiE/@E"=AAE; EE=ױIGe>Iީ)ޭAA΢]q,V vEAY}~?}~7s?y}~y}~#W+}~H?{`TĿ` ?`v?@!?`?Mſ?)~~? ~~y^;I~~ɖCɫ) IY-Z@y5GDNmea in: $SNTTA,,,,,010112.06*5B i-Q=M-\=Y-]=11a5D5RD9y=¼}=>IA M:EB4? U:EUؾ EDA U?9ETCE+: E:)E:myAdded new target pos. range: 53.939995 m, bearing: 350.953752 deg, deltaT: 4.495385 s, approachRate: -0.146818 m/s, LOS rate: -3.141567 deg/s, posRepo size: 4m ProNav: pos range: 53.939995 m, bearing: 350.953752 deg, approachRate: -0.146818 m/s, LOS rate: -3.141567 deg/s, cmd update: -9.424701 deg/s, cmd heading: 5.076309 deg, new cmd heading: 5.076309 deg. Wz><WX XW:W2W*WVbUBU*UUQJ@U?B B BAD ?*BA*BAAA<"C>RCCz><Cf>IGM>zz} 1:YQ1y:k5Ɉ]q,$vEAY}2?}2 q?y}2}2j}2H ?`a^¿?h??0۠?ÿI?)~2? ~2*^;I~0ɫYY)Y ]IYY}@y}߂G=i=,>i=i5P=M=\=Y=n2AAaEDEjDAyM}M>IQUzN4?UJؾ UDA ]?9UTCUM: U{:)QW@WX XW:W2W*WVbUBU*UUU?BHB BAc#?*BAf@AAA+<"CU`>RCQCU@Cie9IQGmx>E K>9A IE ~GiE @E #=A A E ; E E]q,$>vEAɫ髹) IY<@y,GI]?)]?iaai|?5?~jth?{Gz??D; #=)Iyx?MbV-?K7?@m= &@) AI@iA @MMK>MD=iM@I M@)M@IM@iM@]=M]9=YeQUe>aaaeDmDy}>I :_4? :?<ؾ lEA ?9UCo: ^:):WE@WAXA XiWi:Wi2Wi*WiVqbUqBUq*UqUqU} gS?BHB BAS'?*BA*>AAA<"C-)q>RC)C-@C1ek<5y>޵=iޱ yyV T:YP1y':5)լ;9IIYGu>\ݕ]q,(XvEAY}>n֖?}>n?y}>ܼ}>j}>H ?I d??t?@? &ÿˠ?)~>n֖? ~>t^;I~>ȖCɫYY)Y ]IYY1@y%Gi]nMe\=YeiiamDmDqyu*}u>Iy}ym4?}81ؾ }EA ?9}[UC}: }:)yW@WX XW:W2W*WVbUBU*UUU ?BV;B BA&?*BAeT<AAA7<"C)>RCC@C  )  ֍>a Iq G > ]q,k~rvEAY}>`?}>/k?y}>ּ}>5 }>Hi? `l? I? ?n՚?yÿ?)~>`? ~>W^;I~>ʖCɫ髑) IY@ŷGI1)5Ai99ý&>ýtýiý@ù Ĺ)Ľ\@IĽiĽ@k,MC=Yd:QU>aDDy;߼}>I}4?_$ؾ uFA ?9UC@: :)W9~@WX XW:W2W!*W!V!bU)BU)*U)U)U-@$?BU4BY BYA]v"?*BYA]&:AaAaAe2<"Cmȟ=RCiCm9~@CqJ>9Ii; )ݕvCIݕvCiݑݕ"=ݑݕ5>ױIGh>K xx^ 9:Y7P1y:5);]q,IvEAY}6Z=?}6wf?y}6S!ּ}6q.}6H? ÿ?n?ྼ?bÚ?\ſ?)~6Z=? ~6j^;I~6˖Cɫ99)9 =I9YN@y8G %hA%hAi!! )))-= ->u3^=MuQ=Y}b89QU}>yaDDy.}>Iȑ :ŕ_4? :ŕؾ ƕFA ?9ƕUCǕ: ȕ:)ȕ:WHn@WX XW:W2W*WVbUBU*UUUu@B:B BA'?*BA 8A A A <"CRCCHn@C֡יIGb>I޵@A)ޱi DnGI i! M "TٺI M CB]q,$vEAY}B‘?}BGa?y}Btؼ}B>}BH`Z?@)VĿ?!?@?_?`ǿ}p?)~B‘? ~BjL^;I~BȖCɫYY)Y ]IYY@yƂG鮥p=ɮ=i sMW=YoOQU>aDDyUS`}U>IY]{4?] ؾ ]GA e?9]8VC]': ]:)YWW@WX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBe8B BA"?*BA5AAA@'<"C}RCCW@C> IG=Q> {{ 5:Y#R1y:59 @ 9 I i "= ; E/B]q,vEAɫyy)y }IyY8@y*GZ****** received transponder code query ******F****** received ping request ******P )IyPn?v/{Gzt$?xiף ‰) AI@i@@%%Q8>%̼i%@! %@)!I%@i%r@M'=MM(=YUQUU>QYa]D] DYye}e>Ii u:mm4? u:mؾ mGA u?9mVCm{: m:)m:Wֺ@WX XW:W2W*WVbUBU*UUU @B=TB9 B9A=5'?*B9Ae*f3AiAqAub<"C}kBRCCֺ@CֵN؅>׉IG>*]q,vEAY}2XӉ?}2qT?y}2Fcּ}24S}2H ?< ſk?L?,?@˚?BʿN?)~2XӉ? ~2l^;I~0ɫII)I MIIY]@y]GexDUSBL response received:!U1,P 502,000,005F4,188,80,80,7F,FF mCommand AckmBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I)?iM{=YW:QU ?!a-D-D9yM }U?Iim4?mH׾ mGA ?9mVCm; m;)iWڸ@W X  X W:W2W*WV!bUIBUI*UQUYU] @B#;B BA[%?*BAV1AAA'<"CƊRCCڸ@C)u>Iy)yޱi޵a=n zzl <:YQ1y:51IAG]>6T]q,vEAY}:?}:L?y}:_Ѽ}:]}:H`O?`G`ſ@I?t?e?<+?`i˿@0??)~:? ~:Y^;I~:ǖCɫ99)9 =I9Y}@y}G@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iYY@Q8=i@ )@Ii@˻M;=Y:QU>aD:Dy}>I  : d4? : F׾ GA ?9 WC : :) :W= ض@W9X9 X9W9:W92WA*WAVAbUABUA*UIUIUMK@Bu;By ByA}$?*ByA}o/AAA<"CRCC ض@Cܙ9ܙIܝGiܝ@ܙܙܙܝ; ݝE>׹IGh><]q, wEAY}6`X?}6E?y}6\̼}6B c}6H@O?К@ſ`D?z?@ ?`=?$̿4?)~6`X? ~6`^;I~6ȖCɫyy)y }IyYe@yGxDUSBL response received:!U1,R,502,000,005DF,189,80,80,90,FF Fpublishing direction and range infoɰ@=鰥7> )CIyRBw?amf-ٱI)I)Ai-M[=Y:QU>aDRD y } >I4?׾ HA %?9@WC=: I:)WE@WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQU] {@Pa*QeRBZQeB7@U<+GJQew?amf-2Qa:QabQet%AH@\[1h^%@RQe͖aw?a̽տYb#ε?BQe&@ Qe؊Qe BBPeG9?PeL9?PeQeQe A"QeRABu:By ByA} ?*ByA}a-AyAyA><"C-FܾRCC@C֡יIGd>^ ww Q;:YO1yP:50f]q,Hl'wEAY}2[}?}2=?y}2KD}2/h}2H^?hſr??` aDmDyT}>IȱŵV4?ŵo׾ ƵFHA ?9ƵWCǵ: ȵ :)ȱmyAdded new target pos. range: 52.680004 m, bearing: 340.313629 deg, deltaT: 4.372112 s, approachRate: -0.288188 m/s, LOS rate: -2.433635 deg/s, posRepo size: 4m ProNav: pos range: 52.680004 m, bearing: 340.313629 deg, approachRate: -0.288188 m/s, LOS rate: -2.433635 deg/s, cmd update: -7.300904 deg/s, cmd heading: 323.870016 deg, new cmd heading: 319.873444 deg. Wn'@WX XW:W2W *W V bUBU*UU` WJ@U ?B%|;B BA&?*BA+AAA<"C-cRC1C5n'@CA֝6Ʌ>I޹)޹?i?בIG>܍ I>9܉ I܉ i܉ ܍ #=܉ ܉ ܍ ; ݍ E N]q,ZGAwEAɫyy)y }IyY@yGiIIʡE?Zd;O?{Gz?>j<= #<)IyS㥛?~jtl?$&?= @)AI@iAA55G59IQaUDUDQy]}]>Ia m:e34? m:eq׾ eHA m?9eWCe: e:)e:Wi@WX XW:W2W*WVbUBU*UUU;)?BmP$];Bi BqAu=%?*BqAu!(AqAqAu)<"C}!(RCCi@C>H {{ 9:Y#R1y:j5);9IG>(x]q,l"[wEAɫyy)y }IyY@yG=i==i=i 5J ;M=]=Y9QU=>AAaEDEDAyI}M>IQU4?U׾ U IA ]?9U XCU: Un:)QWׯ@WX XW:W2W*W V bU BU *U1U1U5@!?B}`;By BAy%?*BA&AAA<"CE-/RCCׯ@C֥>yIG^>@]q,mtwEAY}2 j?}2{*?y}2?}2"m}2H %(?W >Ŀ?? Ct?@?@^Ϳ~#?)~2 j? ~29^;I~2ȖCɫ99)9 =IAY@y߂GI!)!i!!uGau`>uYiu @q uƷ@)u@Iu@iu@ME=Yc;QU>aDDyX:}>Iȡ :ť$4? :ť׾ ƥmIA ?9ƥOXCǥ: ȥ:)ȥ:WU&@WQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUaUe``?B@%~;B BAc#?*BA%$AAAd<"Cˤ?RCC&@C15gA=H>99I9i9="=99=; =E>IG k>޵=i޵=5 5|5|5 58A:Y5R1y5i:55)5);]q,ގwEAY}2c?}2D[$?y}28}2Ȧm}2Hs?k߶ÿf(???f?oͿ "?)~2c? ~2^;I~2ɖCɫ99)9 =I9Y]@y]Gi5<M=O=Y=:QU=>AAaEDEDAyMx}M>IQU54?Uݸ׾ UIA ]?9UXCU: U:)QWœ@WX XW:W2W*WVbUBU*UUU76@B;B BA%?*BA"AAAs<"CRRCCœ@C>IG J>E]q,ȳwEAY}:]?}:t?y}:}:~p}:H ?whÿW? x?K?ޕ?ͿJ?)~:]? ~:^;I~:ʖCɫ99)9 =IAY}@y}߂GI)I)i]ǼM]H=Y]QU]>aaaeDeDiymx}m>Iq }:uH4? }:uȰ׾ u-JA ?9uXCu=: u(:)u:W@WX XW:W2W*WVbUBU*UUUy@BHӜ;B BA c#?*B A ( A A A<"C4bRCC@CIGEQ>UUyUyUj U&2:YUP1yU':UY59]@) 9) I) i) ) ) ) - ; - E)Iiʼn"=ʼnus4s]q,2wEA|i|ɫyy)y }IyY@yւG鮹ɮp= ieMbX9?zGếI +e?e ׽ e94)aIaye@5^I ?MbP?I +eb?e:e9 e@)epAIe@ie/AaepA 5@ =@ =@5©55i53@5 5r@)5=@I5i5EHMM<=YMQUM>QQaUDU DYy]}]>IaeY4?eߨ׾ eJA u?9eYCe: e:)aW,@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBhs;B BA"?*BAcAAAeF<"CyiyRCC,@C]>9IIGew>I޵AA)޵@A@]q,iwEAY}2 P?}2{?y}2s}2 n}2H ?ྃ)¿?9e? y?? Ϳ ?)~2 P? ~2^;I~2ȖCɫ99)9 =IAY@y؂GZ****** received transponder code query ******F****** received ping request ******!!a-D-!D)y5}5>I9 E:=Vh4? M:=׾ =JA M?9=HYC=; =;)=:W}@WyXy XyWy:W2W*WVbUBU*UUU @B<B BA #?*BAxAAA<"C"Ci]dnGIqiRCC@DSٺ5BBC>׹IGi>U` UzUzU UO:YUQ1yU:U5q]q,cEwEAY}:mI?}:^ ?y}:u}:%n}:Hv?]߿x7h??2?`??F~Ϳo!?)~:mI? ~:^;I~8ɫ99)9 =I9Y}@y}܂GxDUSBL response received:!U1,P 502,000,005DF,189,80,80,90,FF Command AckBRequesting micromodem ping code 2i=i==i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i1<G>9Ii#=; E   íbоí^=íV>ií̴@í ĭ@)ĭ\@Iĩiĭ@ :M%=Y'QU>aDADy#V}>I!%|4?%׾ %IA -?9%YC%Ǻ: %:)!Wuϡ@WqXq XqWq:Wq2Wy*WyVybUyBU*UUU@ @B5`:B9 B9A]F#?*BaAeFAiAiAm<"CRCCϡ@C >ש I G >A^q,C xEAY}:B?}:[?y}:5*}:[m}:H?@Y;޿Fl[?9?UP?$? wͿ !?)~:B? ~:@^;I~:ɖCɫ99)9 =I9Y}@y}GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I}?)}?iyyх<Mv=YQU?aDVDy^}?Iu4?׾ IA ?9YC': :)WdO@WX XW:W 2W *W V bUBU*UUU@@BUd"f<BQ BYA]$?*BYA]"AaAaAes<"Cm"RCyC}dO@C ޹i޽p= yyw D:YP1y':"5יIG>` ^q,a)xEAY}6;?}6;>y}6}6An}6H5N?;ܿ' ?@!??@#?@Ϳ ?)~6;? ~6z^;I~6ȖCɫYY)Y YIYY @yGxDUSBL response received:!U1,R,454,000,005C8,18A,80,80,6D,FF Fpublishing direction and range infowɰ{=鰥> )BIy3MB+?%"WٱiE<MZ=Y+;QU>aDnDyx}>I :B4? :-׾ IA ?9YC: o:):W[Ȣ@WX XW!:W!2W!*W!V!bU)BU)*U)U)U5@]@PA*QE3MBZQEۺ`!=@k EJQE+?%"W2QEw:QAbQEU]F@;6ac' $@RQEBJgŷ?aܿh^?BQE@ QEQE2BPEC9?PEG9?PEQEQEGA"QE AB`;B BA%?*B!A%@A!A!A%)<"C-RC)C5[Ȣ@C1!I1Gm5> F>9 I i "= ; EG^q,7CxEAY}f+4?}f>y}fz}fE$q}fHg?p*ۿ@M9?@?y??Ϳ@?)~f+4? ~f_;I~fƖCɫ) IY@yG}TNmea in: $SNTTA,0.053963,,,,010120.94*45 Iy)yIy)yiuV?)\(? rh?r?G= C =)IyV-?Mbp/$?|?< µ@)µAIµ@iµA=A  @ @ @ ©  i   Ʒ@) @I i %M%*=Y% a:QU->))a-D-D1y5n}5>I9=߰4?=׾ =&JA M?9=BZC=: =:)9myAdded new target pos. range: 51.299995 m, bearing: 332.913365 deg, deltaT: 4.439036 s, approachRate: -0.310880 m/s, LOS rate: -1.667088 deg/s, posRepo size: 4m  ProNav: pos range: 51.299995 m, bearing: 332.913365 deg, approachRate: -0.310880 m/s, LOS rate: -1.667088 deg/s, cmd update: -5.001264 deg/s, cmd heading: 291.461203 deg, new cmd heading: 287.864048 deg. W  h@W X  X W :W2W*WVbUBU*UU=@fI@U=z?Bhx;B BA$?*BA(yAAAX<"C4RCC h@C?i?IGUu>e 2:YyG5);9^q,E]xEAY}2-?}2>y}2I}2o}2H?@oٿ8 :?d? ?`? Ϳ ?)~2-? ~2_;I~2ȖCɫ99)9 =I9Yqyyi Y D;QU ?  aDDy }?I! -:%4? -:%׃׾ %UJA -?9%wZC%I: %:)%:WUC@WQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUaUe?B<B BA*BAAAA<"CrRCCC@CiIyG=>^q,wxEAY}:%?}:2>y}:}:-o}:H{?׿`@B??X?a5?@Ϳ  ?)~:%? ~:_;I~:ƖCɫ99)9 =I9Y}@y}Gi } } }}-}=}i}@} }@)}@I}@iyûMaDDyX}>Iȩŭ/4?ŭ~׾ ƭJA ?9ƭZCǭ: ȭ4:)ȩW0T@WX XW:W2W*WVbUBU*UUU?BE"<BA BAAE#?*BAAMAIAIAM<"CURCQCU0T@CYqq}C>9}uCIyiy}!=y}D} ; }EIG )>||} -:YR1yi:k5)%;n&$^q,'hxEAY}2r?}2V>y}2E}2Ip}2Hm?`/Hֿ` -???@ph?`tͿ ?)~2r? ~2MU_;I~2ȖCɫYY)Y ]IYY)@y!Gi5=M=P=Y=;QU=>AAaEDEDIyM.}M>Iȹ :Ž 4? :Žx׾ ƽJA ?9ƽZCǽw; Ƚۅ;)Ƚ:W5+@W1X1 X1W1:W92W9*W9VAbUABUA*UIUIUUNi?Bd)<B BA&?*BAm AAA <"C(RCC+@CIgA)סIG >wP*^q,BxEA||;Y}6a?}6ޞ>y}6}6n}6H!?ϱԿm?]??B?OͿ@H!?)~6a? ~6;_;I~6ɖCɫQQ)Q UIQY@yGiI 4=) 4=  hA5M=J=Y=.6;QU=>AAaEDEDIy]D}e>Iy}4?}:t׾ }JA ?9}:[C}&; };)yWC@WX XW:W2W*WVbUBU*UUUj@B-|y"<B1 B1A=$?*B9A=5 A9AAAE+F<"Cm_FRCiCmC@CqiIGA>{{ E1:Y#R1y:59@ܱ 9ܱ Iܱ iܱ ܱ ܱ ܱ ܵ ; ݵ E81^q,xEAY}:?}:>y}:}:?n}:HJe?`B5ӿp#?`?a?@V?JͿ` "?)~:? ~:_;I~:ǖCɫ99)9 =I9Y}K@y}5Gii|?5?HzG?~jt?1?= > D<)Iygfffff?kt?I +?33? 0=9< @)AI@ipA=ɾ=$>='i=\@9 =Ʒ@)9I=i=@M<MM:=YU;QUU>QQa]D] DYy]En}e>Ia u:eY4? u:em׾ e$KA u?9e[Ce: e:)e:Wԛ@WX XW:W2W*WVbU!BU!*U!UIUM@Bup;<Bq BqAu'?*ByA}NAyAyA}3<"C>촿RCCԛ@CסIGb7^q,fxEAY}6w[ ?}6j>y}6}6ns}6H?׮ѿ!*m?&?eK?rW? #ο?)~6w[ ? ~6^;I~6ȖCɫYY)Y ]IYY@yGI)iܼMg=Y4;QU>aD#Dyx}>I'4?h׾ DKA ?9[C: +:)W @W X  X W :W 2W*WVbUBU*UUU@R-B*** querying acoustic contact ***P)P)BMM<BI BIAU[%?*BQA3AAAɿ<"CҶRCC@CIG>M  M |M |M j M 5:YM R1yM i:M Y5=^q,ZxEAY}21?}2\?>y}2x}2 t}2H@?`0@п`?@?`s??6ο`?)~21? ~2^;I~2ǖCɫYY)Y ]IYYa@yCGZ****** received transponder code query ******F****** received ping request ******=Y:QU>aD>Dy3e}>Iȡť?4?ťNc׾ ƥkKA ?9ƥ\CǥD: ȥ:)ȡQQ]?>9YIYiY] =YY].; ]E)uCIuCiႉ!=!=5W؜@WX XW:W2W*WVbUBU*UUUG @BMd)<BI BIAM{(?*BIAUAQAQAUn<"C]RCYC]؜@CaaIiG9>I޵@A)ޱvD^q,yEAY}6+>}6z>y}6Dl}6Qw}6H# ?Ϳ C?`-?@ ~6^;I~6ȖCɫ99)9 9I9Yu@y}ӂGxDUSBL response received:!U1,P 454,000,005C8,18A,80,80,6D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i99OM;=Y:QU>aD[Dy&\}>I :X4? :]׾ KA -?9e\C< L<):Wc@WX XW:W2W*WVbUBU*UUU @B5.<B9 B9A="?*B9A}~hAAAI<"C.¿RCCc@CׁIGb>iAIaiMٺ]=BM M yM yM s M 2/:YM P1yM ':M F5J^q,X,yEAY}2>}2a_>y}2n}2x}2H@ ~2:^;I~2ƖCɫAA)I IIIY}@y}GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=i!<MV=YQU>aDsDy}>I6n4?Y׾ KA U?9\CI< <)W[@WX XW:W2W*WVbUBU*UUU ^@BTw<B BA$?*BAkAAA l<"CEgſRCICM[@CYIfA)IG-p>U <>9Q IU ~GiU @Q Q Q U +; U EQ^q,EfFyEA||4<ɫ髙) IY@@y.GxDUSBL response received:!U1,R,2FA,000,005A7,188,80,80,C1,FF Fpublishing direction and range info;*ɰ=> )ACIyGEB V.?˺R ¾ٱi!!I-=)-=Mjt?ˡE? rh?M>M= MC<)IIIyMNbX9?{GzMb?M%?M#M< M@)MAIM@iMAIMA    @ @ @i )Ii@<M9=YQU>))a-D-D1y5}5>I9 E:=4? E:=oV׾ =KA m?9=\C=Y; =v;)=:W"@WX XW:W2W*WVbUBU*UUU`K@P*QGEBZQ7(gC@iJn>JQ V.?˺R ¾2Q;*:QbQ) 9(F@q4>,#t@RQGz?_ڿ]}h?BQ1@ QQ0BPI9?PC9?PQQrhA"QGABeX<Ba BiAmp'?*BiAmX4AiAiAmļ<"Cuu0˿RCqC}"@CyיIGb> . } } v }7:Y kS1y Ԋ: 5) “;9 2W^q,\`yEAY}fb>}fY)>y}fu{}fބv}fH F?Ŀ@?#??nn?ο?)~fb> ~f^;I~fǖCɫ) IY@yGDNmea in: $SNTTA,,,,,010125.39*53 iF4M]=YnQU>aDDyS}>I4?fT׾ KA  ?9.]C/: :)muAdded new target pos. range: 49.320000 m, bearing: 335.171781 deg, deltaT: 4.531862 s, approachRate: -0.436906 m/s, LOS rate: 0.498342 deg/s, posRepo size: 4m ProNav: pos range: 49.320000 m, bearing: 335.171781 deg, approachRate: -0.436906 m/s, LOS rate: 0.498342 deg/s, cmd update: 1.495025 deg/s, cmd heading: 268.816278 deg, new cmd heading: 266.922539 deg. Ws@WX XW:W2W*WVbUBU*U U H@U K?B5<B9 B9A=f&?*B9A=@AAAAAE<"CM οRCICMs@CIYIaG}8>]^q,;zyEAY}:p>}:` >y}:|x}:`Yw}:H ?`2?@h?c? {?? ο@@?)~:p> ~:0^;I~8ɫ99)9 =I9Y}@y}ÂGi    @ @ @ÁÁÁiÅ=@Á ą=@)āIāiąP3MP=Y-9QU>aDDy}>Iȱ :ŵʮ4? :ŵR׾ ƵLA ?9Ƶo]Cǵ: ȵ(:)ȵ:W–@WX XW:W2W:>9ILGi/@!; E*WVbUBU*UUU?BEQM<BA BAAE"?*BIAM[gAIAIAM8<"CU:ο*CURCYC]–@CYu?iu?iIqG> ' w w } 6:Y O1y P: k5) F;d^q,QyEA|i|@Y}6\>}6P=y}6+5r}6_r}6H@5?Ee_??? ]F?@=Ϳ??)~6\> ~6^;I~6ȖCɫYY)Y eIaY@yтGi!! )))== == ;MI=Yυ:QU>aDDy&}>I4?.Q׾ 5LA ?9]C`: B:)W@WX XW:W2W*WVbUBU*UUULd?B5^v<B1 B1A5"?*B1A=8A9A9A=o<"CE̿RCACE@CI)I1Gj^q,VҭyEAɫ髡) IYe@yGiyy % % %%xi=%C =%C i%@% %@)%@I%@i%@5M=A=Y=QU=>AAaEDEDAyM}M>IQ ]:U4? e:UO׾ UWLA u?9U]CUe; U;)U:Wv@WX XW:W 2W*WVbU!BU!*U1U1U=Z|?BzX9<B BA ?*BA FAAA<"CpcƿRCCv@CyIG_>9tCI~Gi@"=SD); E/q^q,yEAY}6>}6pc=y}67]}6d=m}6H@?i? @?h@?O?@cͿf$?)~6> ~6l_;I~6ɖCɫAA)I MIQY@yGi99Cl? rh?I +?C = 94)IyV-?y&1V-??`e< @)AIb@i/AAN<MP=YQ;QU>aDDy }>I 4?O׾ LA  ?96^Cf: :)Wr̗@WX XW:W2W*WVbUBU*UUU?BM=8<BI BIAM!?*BQAUߍAQAQAUܸ<"C]ÿRCYC]r̗@CIב)וgAYIiG8>yy 2:YP1y':5)ԏ;w^q,ƈyEAY}:\>}: ~:a;I~8ɫ99)9 9I9Y}l@y}GiI=)4=hAU -MUT=Y]-QU]>YYaeDe'DaymA}m>Iqu4?uN׾ uLA }?9ur^Cu˵: us:)qWq@WX XW:W2W*WVbUBU*UUU@@B1f<B BA ?*BAsAAA<"CIÿ*CRCCq@CIG>)~^q,fyEAY}2͉>}2Q;y}2o}2"r}2H?=dRS])s????mͿ@2?)~2͉> ~2r`;I~2ǖCɫYY)Y ]IYYV@yG鮙ɮa=i @ @ @©i@ @)Ii=@ MO=YT QU>aD@D!y%}%>I) 5:-P4? 5:-N׾ -MA =?9-^C-: - :)-:ّٕ<ܙ9ܙIܝLGiܝ/@ܝ$=ܙܙܝ&; ݝEWqr@WX XW:W2W*WVbUBU*UUU`Y@R B*** querying acoustic contact ***P P B5ʀ<B1 B1A5& ?*B1A=߼A9A9A=E<"CEu¿RCACEqr@CI)I1GM> {{_ k5:Y#R1y:5);^q,?zEAY}2f>}2JS@y}2_fy}2ucw}2H??ؐL?෨?},?ο,?)~2f> ~2`;I~0ɫYY)a eIaY}@y}ƂGZ****** received transponder code query ******F****** received ping request ****** a D ZDy}>I!%-4?%fO׾ %ZMA -?9%^C%: %:)!W]DŘ@WYXY XYWY:WY2Wa*WaVabUaBUi*UiUiUm2 @Bؖ<B BA"?*BAۼAAAl<"C[*RCCDŘ@CQe?ie?)I1GI'=^q,#/zEA|$i|$Y}FH>}FBd@y}F͂}F9Vw}FH? ?Bh ?߭?Y? ο-?)~FH> ~FЯ_;I~FƖCɫYa)a iIiY9@yGxDUSBL response received:!U1,P 2FA,000,005A7,188,80,80,C1,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 iai 鿁)Ý= Ù u u uuVu\u">iu@u u@)u@Iqiu@M=YTQU>!a%D%|D!y-^}->I1 ]:5H4? ]:5P׾ 5MA ]?95D_C5; 5P;)5:W%:@WX XW:W2W*WVbUBU*UUU%+ @xxW 11:Y7P1y:G59@B)<B BA9?*B A-2ռA)A)A5p<"C5VRC9C=%:@C9ܙ9ܙIܙiܙܙܙܙܝ; ݝE)-tCI-tCi)-"=-"=-5A IQ Gm >"^q,4HzEAɫyy)y }IyYD@yGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iyy)\(??MbG?= )IyV-?y&1|~jt?|?`D< )AIjAiAA5;M5=Y=QU=?99aEDEDAyM}M?IQUX4?U4Q׾ UMA ]?9Uu_CU: U:)QW}y@WyX XW:W2W*WVbUBU*UUU@B=<B9 B9A=?*BAAEҼAAAAAE<"CmyWRCiCmy@CqaIiG9>L^q,bzEACiNmGITi` Kٺ  0;Bɫ髁) IY@yGxDUSBL response received:!U1,R,1BE,000,00579,186,80,80,5A,FF Fpublishing direction and range infoTFǾɰ=鰝> )BIy=:B㚰fQ?Iؿٱi۱<MO=YQU>aDDy} >I :m4? :R׾ MA ?9_C: :):W=Ι@WAXA XAWA:WA2WA*WIVIbUIBUI*UQUQUUߐ@Pa*Qe=:BZQe8E@5iߪ1JQe㚰fQ?Iؿ2QeTFǾ:QabQeayPE@__3y6@RQe,i+?ᮗءڿ!a?BQe>@ QeQe4(BPeJ9?PeI9?PeQeQe8A"QerhABT<B BA!?*BAμAAA<"CRCCΙ@CI)fAiIyG>wwm h,:YO1yP:5Vw^q,|zEA||;Y}b_=}b4@y}bXHn}bu}bHʗ??`T;?DĿ੬? N? ȍ?fο?)~b_= ~b_;I~bǖCɫ髹) IY@ydG=9>99I9i9999=$; =E]DNmea in: $SNTTA,,,,,010129.85*58 iiiyyý9ýK7>ýʡiýQ@ù Ľ@)ĽƷ@IĽ@iĽƷ@mX0MuC=Yu%^;QUu>yya}D}Dy3}>Iȉōp4?ōpT׾ ƍNA ?9ƍ_CǍ : ȍ::)ȉmuAdded new target pos. range: 46.560001 m, bearing: 335.262294 deg, deltaT: 4.393396 s, approachRate: -0.628215 m/s, LOS rate: 0.020602 deg/s, posRepo size: 4m ProNav: pos range: 46.560001 m, bearing: 335.262294 deg, approachRate: -0.628215 m/s, LOS rate: 0.020602 deg/s, cmd update: 0.061807 deg/s, cmd heading: 275.390445 deg, new cmd heading: 276.024323 deg. WYҙ@WX XW:W2W!*W!V!bU!BUI*UIUM GG@UM q?BM<B BA$?*BAsʼAAAݲ<"C*CRCCYҙ@CIGG>`^q,zEAɫ) IY1@yGiYa<MW=YQU>aDDy}>I4?V׾ BNA ?94`C: :)Wՙ@WX XW:W2W*WVbUBU *U U U?B=3Ͱ<B9 B9A=?*B9AEƼAAAAAE<"CM輿*CIRCICUՙ@CQAIQGm>xxB /:Y7P1y:51^q,{zEAY}60=}}@y}-#o}xz}HS? ?1?@ʿ _?? ?@BϿ` ?)~60= ~@_;I~ŖCɫ) IY @y [GI)i M@ M@ M@M©MMiM׳@M M\@)MIMr@iM]M]2=YeQUe>aiamDmDiyuν}u>Iy :}4? :}Z׾ }lNA ?9}}`C}: }:)}:Wٙ@WX XW:W2W*WVbUBU*UUU ?BJ <B BA?*BA-¼AAA<"C{ؼ*CRCCٙ@C?ii?IGJ>-:>9)I-Gi-@-%=))-&; -Eq^q,?zEA|i|@Y}6AU<}6@y}6 |}6E{}6H'?`M?3?$Ϳ`A2?@?/? Ͽ ?)~6AU< ~6J^;I~6ȖCɫ99)9 =I9Y}@y}dGimkt?Zd;OX9vm ?mj< m})iIiym|?5^?~jtx?y&1?m-?m;m`e< m@)mOAIiimAim3A)Å= Å>;M n=Y QU >aDDyS}>I!%4?%\׾ %NA 5?9%`C%%: %:)!WUܙ@WQXQ XYWY:WY2WY*WYVYbUaBUa*UaUaUm?B<B BA$?*BAAAA33<"C˼*CRCCܙ@CׁIG>  >:Yy!5);9^q,vzEAY}2@}2@y}2z}2ȣy}2H? ?@Qz?@y.пP? f?%? ο ?)~2@ ~2^;I~2ǖCɫ99)9 9I9Y}5@y}Gi'zMT=YbQU>aD(D y } >I %:F4? %:X`׾ NA %?9`C: e:):WM-@WIXI XIWI:WI2WQ*WQVQbUQBUY*UYUYU] ?B<B BA?*BAAAAQ<"C*CRCC-@CiIyG=,ž^q,bzEAY}:~@}:5@y}:Ԉ}:@x}:H?`š?^?@ѿ`??\?iοS?)~:~@ ~:^;I~:ƖCɫ99)9 =I9Y}@y}fG<9IGi@; Eiqq   X>?i r@)I\@i\@c=M==YQU>aDDDyg}>I4?d׾ NA ?9GaC: :)W%@W!X! X!W!:W!2W)*W)V)bU)BU1*U1U1U5@X@B]m<Ba BaAeA?*BaAeSAiAiAmN<"Cux*CqRCqCu@CyI׉)׉IG$>M yy 9:YP1y':5);*^q,g{EAY}Bb @}B@y}BO}Bv}BH u?`7E?@u? ӿ}?M?)?>ο Y?)~Bb @ ~Bu^;I~BǖCɫQY)Y ]IYY}9@y}G鮁ɮ=I?)?iI=)=gA™M\=Y%QU>aD\Dy}>I :h4? :h׾ NA ?9aC: I:):W%F@W!X! X!W!:W!2W)*W)V)bU)BU1*U1U1U=BR@REB*** querying acoustic contact ***PAPABX-<B BA=?*BA ٲAAA]<"C-S*C1RC1C5F@C1!I1GM>^q,o1{EAY}V@}VA-@y}Vp}Vvv}VH)?`]?`p?Yտ`@? ]z?`-?@ο l?)~V@ ~V^;I~Tɫqq)q uIqYZ@yGZ****** received transponder code query ******F****** received ping request ******9IIaMDM{DQyUu}U>IY]4?]n׾ ],OA ?9]aC]: ]:)YW@WX XW:W2W*WVbUBU*UUUCI @BMy{<BI BIAMG?*BIAUo.AQAQAULO<"C}*CyRCyC}@CQIaG}Y>zzx 3:YQ1y:X59@9>9Ii$= ; E^q,K{EAY}2[4@}2B@y}2(}2_mv}2H?%? ?׿?:?@뱑?ο?)~2[4@ ~2^;I~2ƖCɫ99)9 9I9Y*@yGxDUSBL response received:!U1,P 1BE,000,00579,186,80,80,5A,FF Command AckBRequesting micromodem ping code 2iI)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iMb?S㥻? rh?/= C )Iyp= ף? rhI +?%?C9< @)I@iA@)e> aTM5=YՑQU>aDDyV}>I  M: 44? M: u׾ qOA U?9 'bC < 0<) :W@WX XW:W 2W *WVbU!BU!*U)U)U5C@B^<B BA?*BAZ{AAA9<"C !*C RC C5@C1E?iE?IG >%^q,_e{EAY}2ML@}2Z@y}2򕼙}2Kv}2H?L?@Pl?ؿ g?9?? ο`A?)~2ML@ ~2m _;I~2ǖCɫyy)y yIyY@@yGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i !!UJ<M]=Y]eQU]?aaaeDeDaymʽ}m?IC4?y׾ OA ?9YbC\: h:)W%E@W!X! X!W!:W!2W)*W)V)bUIBUQ*UQUQUU'@B|<B BAx?*BA覼AAA`<"CXv*CRCCE@CIGM1> ^ 4:Yy5D^q,:{EAY}2y@}2@y}2}󗼙}2r}2H`-??x?@Bڿ N?^?@(?^οb?)~2y@ ~2_;I~2ŖCɫYY)Y ]IYyy܅7>9܁I܅Gi܅;@܁܁܁܅ ; ݅E)Ii$=$=m4Y@yGxDUSBL response received:!U1,R,071,000,00549,187,80,80,94,FF Fpublishing direction and range infoɽɰ=1> )CIy.BS3?Fο4ٱiÍ=Í >ÉiÍ@É čƷ@)č@Ič@ič@X<MA=Y@QU>aDDy w} >I15W4?5׾ 5OA =?95bC5': 54:)1W@WX XW:W2W*WVbUBU*UUU`}@P*Q.BZQHE@Ac3JQS3?Fο42Qɽ:QbQS$B@sR58"2q?RQgGP?Z"nȴ߿.Y$J?BQu@ QQBPG9?PJ9?PQQA"Q8AB=<B9 B9A=p?*BAAEAAAAAE$H<"Cmg*CiRCiCu@CqaIiG9>g^q,'{EAY}r@}rG@y}r }rr}rH?@#.? ;µ?ۿ$? /?@?SͿ ?)~r@ ~r^;I~rƖCɫ) IY #@yGuDNmea in: $SNTTA,,,,,010134.28*53 u=iu=ihAgAMM=YGQU>aDDyL}}>I :&k4? :W׾ tI PA ?9bC\: :):m%yAdded new target pos. range: 43.680000 m, bearing: 330.274972 deg, deltaT: 4.460402 s, approachRate: -0.645682 m/s, LOS rate: -1.118133 deg/s, posRepo size: 4m5 ProNav: pos range: 43.680000 m, bearing: 330.274972 deg, approachRate: -0.645682 m/s, LOS rate: -1.118133 deg/s, cmd update: -3.354399 deg/s, cmd heading: 275.665628 deg, new cmd heading: 275.689840 deg. W5:@W1X9 X9W9:W92W9*WAVAbUABUA*UIUM@ E@UM`?Btf<B BA?*BA䞼AAA8<"C%RC!C%:@C)I9)9iesoGqIyiIDMٺ3 { 7:Yy5}%^q,${EAY}6@}6c@y}6}6o}6HŁ?@߃?@s?@ ݿ«? ?`)s?ͿF?)~6@ ~6b;I~6ǖCɫYa)a mIiY@yGiI=)Cl?{Gzt?ˡE??ף; '=)IyMb?MbP?Q?#?:u< …@)…AI…K@i…dAA%%ף>% i%\@! %@)%r@I%@i%@M̼MM5=YU7QUU>QYa]D]DYyeAV}e>Iȉō 4?ō׾ ƍLPA ?9ƍ)cCǍ: ȍ:)ȉW!_@WX XW:W2W*WVbUBU*UUU s?B5>f<B9 B9A=?*B9A=AaAaAe<"Cm¿RCiCm!_@CqyIG^>y9yIyiyyy}D}; }E ^q,>{EAY}2 ,@}29@y}2}2o}2H'??@? c޿ S?E?O?Ϳ?)~2 ,@ ~2cb;I~0ɫ99)9 =IAY}@y}Gi<Mw=Y9QU?!!a%D%D)y-}-?I9 E:=4? E:=-׾ =pPA E?9=^cC=I: =V:)=:We@WiXi XiWi:Wi2Wi*WqVqbUqBUq*UyUyU}?B%W3<B! B!A%X?*B)A-A)A)AM4 <"CU7ſRCQCU@CYIIQGu>* vvh ,7:YN1y:5J7^q,{EAY}2b@}2Hp@y}2j}2q}2H?@j!?$?߿@u?!??Ϳk?)~2b@ ~2a;I~0ɫ99)9 =I9Y@yGI)i!!)-= -=]W;M]F=Y]e:QUe>aaaeDe,DiymFt}m>Iquڣ4?uk׾ uPA ?9ucCuU: ub:)qWe@WX XW:W2W*WVbUBU*UUU ??B<B BA?*BAœAAiAm <"CuMȿRCqCue@Cyשi׭~?qIG">&_q,|EA))191I5Gi5@5%=115; 1ɫyy)y }IyY=@yGiiq yy @ @ @©i@ @)Ii<MC=YQU>aDGDy}>I :~4? :͡׾ PA ?9cC: :):W%2@W!X! X!W!:W)2W)*W)V1bU1BU1*U1U1U=j?Be%<Ba BaAeZ?*BaAmAiAiAmB<"Cus˿RCqC}2@CyIIQGu> || E>:YR1yi:5);9RI_q,]|EAY}2Ҿ@}2m@y}2+䓼}2-s}2H`G?`r?p?%8 #??C|?@ο?)~2Ҿ@ ~2}_;I~0ɫYY)Y ]IYY@y8Gi5=M=U=Y==:QU=>AAaEDE_DAyMR}M>IQU4?U׾ UPA ]?9U$dCU: U:)QW r@W X  X W :W 2W*WVbUBU*UUUw0@BE<BI BIAM?*BIAUGAQAQAUǢ<"C]vtοRCYC]r@CaIIQGqs _q,94|EAY}N@}N @y}N.}N5s}NH)?`u?߽??G??@v?ο?)~N@ ~N_;I~Lɫ) IY@yЁG5a=ɮ1IiM=iaa5K7?~jt?V-5 ?5D< 5m)1I1y5On?/$?58?5,=5 5@)5AI5@i5A15\AAEhA   Õ>Õx?Õ iÕ @Õ ĕƷ@)ĕ&@Iĕ@iĕ@=M5=Y]8QU>aD|DyT}>Iȹ :Ž4? :Žv׾ ƽPA ?9ƽwdCǽ: Ƚ:)Ƚ:W@WX XW:W2W*WVbUBU*UUUT@RB*** querying acoustic contact ***PPB5)<B1 B1A=?*B9A=FA9A9A=H<"CEѿRCICM@CIIY)YAIIGm5>%6>9!I!i!!!!%; %E ] 5:Yy5)>;[_q,UN|EAY}2"K@}2X@y}2x}2t}2H@?@?T?|J??@j?;Rοl?)~2"K@ ~2^;I~0ɫ99)9 =I9Y}@y}ɁGZ****** received transponder code query ******F****** received ping request ******q_q,_g|EAɫyy)y yIyY#@yGxDUSBL response received:!U1,P 071,000,00549,187,80,80,94,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i5ME<M=F=YEQUM>YaamDmD y5}5>I9=I 4?=׾ =QA E?9= eC=; =D;)9W]@WYXa XW:W2W*WVbUBU*UUAUEr @Bm<Bq BqAu?*BqAu,~AqAqA}D<"C׿RCC@CYIqGb>yy 4-:YP1y':59@p _q,Z؁|EAY}V@}V@y}VN\\`9`I`i````b&; bE}Vz}VH[?b? ? z??\?I? Ͽ ?)~V@ ~V\_;I~VĖCɫ髑) IYf@ynGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ix=}"۽i@ @)@Ii\@5fWM5:=Y=>:QU=>99aEDEDAym}m>Iq }:u4? }:u-׾ uQA }?9uVeCu: u:)u:Wa@WX XW:W2W*WVbUBU*UUU`'@B~<BA BAAE?*BAAE)xAIAIAM7<"CUڿRCQCUa@CQm?im?9IIGe4>v&_q,|EA|@i|Y}6@}6B@y}6)}6!ky}6H;~?v?@h$?`Օ@)???jο ?)~6@ ~6`_;I~6ǖCɫYY)Y ]IYYm@yrGxDUSBL response received:!U1,R,F29,000,00516,186,80,80,73,FF Fpublishing direction and range info7 @>ɰQ=鰥> )BIyz"B]~;p?qX?ٱi %;Me=YQ"QU>aDDy姽}>I/4?׾  QA ?9eC: A:)Wa@WX X!W!:W!2W!*W!V!bU)BU)*U)U)U5@PA*QEz"BZQEk(C@cqN@JQE]~;p?qX?2QE7 @>:QAbQETNn{A@Gn4ׯRQE{"b?tTzٜ߿[̉ݛBQE@ QEQE4 BPEF9?PEG9?PAQEQE@"QEAB<B BA?*BA3qAAA+<"C%]ݿRC!C%a@C))I1GU>ww 3:YO1yP:}5,_q,X|EAY}-U@}- ʱ@y}-+}-v}-H`H?A?`?]E <?]?@/%?`ο?)~-U@ ~-x^;I~-ĖCɫIQ)Q UIQY@yGiX9v?/$?V-??,> m=)Iy L= 9=i p@  r@) @I @i @<M*=Y}QU>!!a%D-D)y5r}5>I1 =:5LD4? E:5C׾ 5TQA E?95eC5E: 5o:)5:muAdded new target pos. range: 40.620003 m, bearing: 330.387506 deg, deltaT: 4.390450 s, approachRate: -0.696967 m/s, LOS rate: 0.025632 deg/s, posRepo size: 4m% ProNav: pos range: 40.620003 m, bearing: 330.387506 deg, approachRate: -0.696967 m/s, LOS rate: 0.025632 deg/s, cmd update: 0.076895 deg/s, cmd heading: 260.911077 deg, new cmd heading: 259.247436 deg. W%ս@W!X! X!W):W)2W)*W)V)bU1BU1*U1U5@\OD@U=?BT <B BA?*BAE#hAAA~ԛ<"CHݿ*CRCCս@Cܹ9ܹIܽRGiܽ@ܽ$=ܹܹܽ8; ݽE)IIIiIM%=IM4IGk>3_q,\|EAY}:g@}:@y}:{S}:u}:H fY?`[?? ?E? #j?@ Vο?)~:g@ ~:^;I~:ŖCɫ99)9 =I9Y}@y}Gi!!-gA)UMUl=Y]GQU]?aaaeDeDaymN}m?IquGS4?u׾ uQA }?9u+fCu: u:)qWs@WX XW:W2W*WVbUBU*UUUV?BGE<B BA?*BA5bAAAxʚ<"C9ݿ*CRCCs@CI ) IG > s D:YyF5 Ci% :oGI9 iI } Jٺy } -:B9_q,7|EAY}21@}2s?@y}2㞼}2#-r}2H? ?ZE?e ?,?%ܓ? (Ϳx?)~21@ ~2^;I~2ǖCɫ99)9 9I9Y}@y}GiIR=)=<MN=YQU>!!a%D%.D)y-rj}->Iȑ :ŕd4? :ŕ׾ ƕQA ?9ƕtfCǕ: ȕ:)ȕ:Wő@WX XW:W2W*WVbUBU*UUU]?B%<B! B!A%?*B!A-$^ZA)A)A-<"C5'ݿ*C1RC1C=ő@C9IqG>@_q,}EA02<496sCI4i46%=446<; 6EY}FSy@}F @y}F선}FHu}FH ZV?\?R ?`?L?`I?@\ο?)~FSy@ ~F ^;I~FŖCɫyy)y }IyYyiUSc?U~>U=iU\@Q U@)QIUƷ@iU@YeQUe>iiamDmHDiyu_}u>Iy}=u4?}ؾ }RA ?9}fC}': }:)yWoʑ@WX XW:W2W*WVbUBU*UUU@=?BEO<BI BIAI*BIAUjRAQAQAUI<"C]ݿ*CYRCYC]oʑ@CaIIQGu>~~] *:YT1y@:5);9-F_q,D}EAY}2@}2Tʮ@y}2&?}2|'y}2H?`?g?i`%?U?? ο. ?)~2@ ~2x^;I~0ɫ11)9 9I9Y@yGI)i)%> %>UGMUYYa]D]bDayeKj}e>Iim4?m{ ؾ mGRA }?9mgCmI: m:)iWΑ@WX XW:W2W*WVbUBU*UUUG@BC<B BA?*BAJKAAA<"CTݿ*CRCCΑ@C?i?AIQGm>M_q,6}EAY}=@}=@y}=7}=z}=H3?Y?@? (v? E_??@Ͽ`a ?)~=@ ~=^;I~9ɫ) IYMP@yU`G 鼱i 鿹MOn?Zd;?S㥫?M?My= M/]=)IIIyM?Q?{Gz?M,?Mu%=%\i%3@! %=@)%@I!i%=@5M=/=Y=z6QU=>AAaMDMDIyU^}U>IQ e:U4? e:Ukؾ URA e?9UUgCU: U:)U:Wӑ@WX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBZ<B BA?*BABAAA3<"Cܿ*CRCCӑ@C׹IGG>e5>9aIaiaaaae?; eEzz @*:YQ1y:X5)R;S_q,wP}EAY}2i@}2! @y}2v,}2z}2H u??*?@?? 3?Ͽ ?)~2i@ ~2ϩ^;I~0ɫ99)9 =I9Y}@y}9GZ****** received transponder code query ******F****** received ping request ******"Z_q,j}EAY}FC@}FaQ@y}F_ }F uv}FHW?`h?SB?QQa]DeDqyu}>IA }:Ed4? :E0ؾ ERA ?9EgCE4t< E]w<)E:Wܑ@WX XW:W2W*WVbUBU*UUU @BmĒ<Bi BiAm ?*BiAu=3AqAqAuh-<"C}ܿ*CRCCܑ@CIױ)ױaIyGc>) yyV 7:YP1y':59@Y Y a 9a Ie Gie G@a a a e ;; e E)a_q,}EAY}2~@}2P@y}2|}2r}2HR? ?`]?``W?K?@?`ο@?)~2~@ ~2<_;I~2ĖCɫ99)9 =I9Y@y'GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I=)=mhm~>mffim@i m@)mr@Iiim@}<M}A=Y}ӺQU>aDDyn}>IșŝM4?ŝ-<ؾ Ɲ SA ?9ƝhCǝ¿: ȝv:)șW@WX XW:W2W*WVbUBU*UUU@O @Bw=B7Ӕ; B A  ?*B A-AAA"<"Cܿ*CRCC@CIG$>Gg_q,}EAɫ髱) IY@y "GAAAAxDUSBL response received:!U1,R,D69,000,004F0,189,80,80,83,FF Fpublishing direction and range info?ɰ=7> )CIy\B_i?ev?ٱ-2Powering down loadControl --I5)5i55E{MEP=YMQUM>QQaUDUDQy]}]>Ia m:eT4? m:eGؾ e>SA u?9ebhCe: e:)e:W@WX XW:W2W*WVbUBU*UUU >;@P*Q\BZQQ @@T@r/4@JQ_i?ev?2Q?:QbQZ4"A@ *8X\ RQy?^"yJֿn;gLBQ@ QUQBPL9?PF9?PQQ@"Q@BC<B BA ?*BA &AAA<"C[ܿ*CRCC@CAIIG>xx\ ,:Y7P1y:Y5>sm_q,j}EAY}%cܱ@}%@y}%@̱}%Hr}%H!?`?@oW?as\?%?9?ο?)~%cܱ@ ~%`;I~%ŖCɫ  )  I Y@yaDDyٽ}>Iȩŭ4?ŭUؾ ƭNSA ?9ƭhCǭ ; ȭ ;)ȩmuAdded new target pos. range: 38.340000 m, bearing: 339.485564 deg, deltaT: 4.059990 s, approachRate: -0.561578 m/s, LOS rate: 2.240907 deg/s, posRepo size: 4m ProNav: pos range: 38.340000 m, bearing: 339.485564 deg, approachRate: -0.561578 m/s, LOS rate: 2.240907 deg/s, cmd update: 6.722720 deg/s, cmd heading: 261.223272 deg, new cmd heading: 261.260198 deg. W@WX XW:W 2W *W V bU BU*UU +C@Uq?BE&M<BA BAAE?*BAAMAIAIAM)6<"CUdؿRCQCU@CYm?im?4>9IGi@9; E1I9G}Y>Wt_q,7}EA|@i|@Y}J@}J@y}J+}J-v}JH9C?@@? D? X?i??ο ?)~J@ ~JU_;I~JĖCɫ髩) IY@yG qqwMo=YZA:QU?aDDy&}?I :4? :_ؾ YSA ?9hC?F; }G;)::uAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;vZEntering USBL mode with 5.000000 count pings.1;q;W@WX XW:W2W*WVbUBU*UUU@ ?BM<BI BIAU4 ?*BQAU.RAQAQAU1<"C]4SӿRCYC]@Cѕe || l:YR1yi:6yz_q,}EAY}:@}:%@y}:}:\v}:H8? 3??|g?j ?@?`΅ο`?)~:@ ~:^;I~:ǖCɫ99)9 =I9Y}'@yGG5<=M5C=Y=+7QU=>99aEDE3DAyMχ}M>IQU4?Ukؾ UfSA ]?9U-iCUǺ: U8:)QX@q;uCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:uAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLW@WX XW:W2W*WVbUBU*UUU ?B% <B! B!A%?*BIAMAIAIAM<"CUʿRCQCU@CYe&t;9IIGeU> <  9 I i ;; E)usCIusCiqqu%=u^ 3g_q,`~EAY}F?@}FUM@y}F}F=u}FH/??? `?U??V?Zο@L?)~F?@ ~Ff`;I~Dɫyy)y }IyY.@yKGMH=M.M/>iM3@I M\@)M\@IM=@iMr@:;MU=Y$~QU>aDKDy}>Iȱŵ4?ŵwؾ ƵsSA ?9ƵliCǵ: ȵ :)ȱW@WX XW:W2W*WVbUBU*UUU?B%J=B! B!A%?*B)A-+ A)A)A-uI<"C5BſRC1C=@C9};I׍gA)׍hAYIaGY>P d 3::Yy5);9f_q, ~EAY}2Cw@}2@y}2}2 q}2H;0?Ă? ?@5}?̑?@Ֆ?Ϳ ?)~2Cw@ ~2(_;I~2ŖCɫYY)Y ]IYY@y GIUa=)U4=ienGI}kAiAMٺkAs=BMH=YQU>aDfDyo}>I! -:%4? -:%gؾ %SA 5?9%iC%: %H:)%:WU@WQXQ XYWY:WY2WY*WYVYbUaBUa*UaUaUmU@B<B BA ?*BAAAAމ<"CRCC@Cϱϱ)б бI9G}>5_q,9~EAY}F@}Fȥ@y}Fķ}Fpo}FH`f?`?3??¿? ?Ϳ@?)~F@ ~F;`_;I~FǖCɫqq)q uIqY@yGRQ?Mb/$?? <)Iy> ףp=?S㥫?V-?1?/]=< &@)I@idAA?(>=i\@ @)@I@iƷ@{b=M==YʞQU>aDDyB^}>Iȱŵ4?ŵؾ ƵSA ?9ƵiCǵ: ȵ:)ȱW(@WX XW:W2W*WVbUBU*UUU @B%o.=B! B!A%?*B!A-A)A)A-Ja<"C5_RC1C5(@C9I Ge4>܁9܁I܁i܁܁܁܁܅D; ݅Eyy" ,:YP1y':5)Q;g_q,TtS~EAY}2> @}2@y}2_D}2p}2H? ~!?Ի?>?`ֶ?h?(ͿR?)~2> @ ~2rd_;I~2ŖCɫ99)9 9I9Y]@y]GIi)mA)}= }=\Mo=YI:QU?aDDyC~}?I :%4? :/ؾ SA ?99jC6; 8;):WS@WX XW:W2W*WVbUBU*UUU@R-B*** querying acoustic contact ***P)P-Bu[ =Bq BqAu?*BqA}rAyAyA}.<"C;RCp>CS@CסIG >Ϛ_q,Um~EAY}FnN@}F&\@y}FY}F>u}FH Q?,f?V?)`,J??`ʔ?j[ο?)~FnN@ ~F[_;I~Dɫ髙) IY@yG Z****** received transponder code query ******F****** received ping request ******aDDyK}>I?34?ؾ TA ?9jC: :)Wd2@WX XW:W2W*WVbUBU*UUaUeK @B=B BAC?*BAԻAAA}<"CHRC#0>Cd2@C׹IGE>Iޱ)ޱ zz  B:YQ1y:59@} hA} jA܁ 9܁ I܁ i܁ ܁ ܁ ܁ ܅ G; ݅ Eص_q,s,~EAY}2pu@}2(@y}2 s}2#v}2H m?>?`"J?] o??.??ο?)~2pu@ ~2_;I~2ƖCɫYY)Y ]IYY'@yGG鮥a=ɮR=xDUSBL response received:!U1,P D69,000,004F0,189,80,80,83,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 IM]=Yʊ;QU>aDDqy}F}}>I :N>4?  ::ؾ JTA ?9jC< <):Wן@WX XW:W 2W *W V bUBU*UUUJ @Bd=B BA?*BA3ŻAAAz<"Cg䧿RC׌=Cן@CׁIGc>_q,~EAY}JP@}J@y}J4}Jx}JH)"??e? 5?>?J? ο ?)~JP@ ~J_;I~JŖCɫ髑) IY@yYYa]DeDayeY}m>IquG4?uؾ urTA }?9ukCu: u:)qW=$@W9X9 X9W9:WA2WA*WAVAbUIBUI*UIUIUM<@B=B BA?*BAwAAAۂ<"C&RC*;C$@Cׄ>IhA)IGj>~~ 1:YT1y@:5 _q,a~EAY}2"@}2ڽ@y}2 }2fv}2H v?'Q?9?v$@9?C?ҁ?$οa?)~2"@ ~2\K_;I~2ĖCɫ99)9 =I9Y2@yNGxDUSBL response received:!U1,R,C6D,000,004C6,189,80,80,7C,FF Fpublishing direction and range infoiL?ɰ6= )BIyGBݾLT?$`?ٱI4=)%=uMbX?~jt?J +?u ?u< uH=)qIqyu%C?X9v?:v?uZ$?ui̴@ r@)\@I\@iƷ@ <MB=Y;QU>aDDyX}>I :VP4? :ؾ TA  ?9ZkC: I:):Wǵ@WX XW:W2W*WVbUBU*UUU5@R (Combining 5 samples.P *Q GBZQ  ]G8@|Mwn9@JQ ݾLT?$`?2Q iL?:Q bQ ̗.?@-H).ƳERQ Ibm|?$ŐaLۿo 9nĿBQ oú@ Q ytQ AP F9?P L9?P Q Q Y?"Q @B])d=BY BYA]?*BYAe5AaAaA~<"C_RCVٽCǵ@C)9)I)i))))-S; -E֥C|w>YIiGZ>޵=iޱ_q,~EAY}%d@}%@y}%%z}%p}%H ??` ?b@G?@J?`fD?Ϳ@?)~%d@ ~%A_;I~%ŖCɫ) IYM@yMGTNmea in: $SNTTA,0.036050,,,,010147.21*40 zؼM G=Y .;QU>aDDyi}>I!%aX4?%ؾ %TA 5?9%kC%: %+:)!meyAdded new target pos. range: 35.820000 m, bearing: 334.398603 deg, deltaT: 4.487092 s, approachRate: -0.561611 m/s, LOS rate: -1.133688 deg/s, posRepo size: 4m  ProNav: pos range: 35.820000 m, bearing: 334.398603 deg, approachRate: -0.561611 m/s, LOS rate: -1.133688 deg/s, cmd update: -3.401063 deg/s, cmd heading: 291.331247 deg, new cmd heading: 293.982163 deg. W@WX XW:W2W*WVbUBUA*UAUEA@UE _?Bč=B BA? ?*BA$AAA0<"CʗRCz72C@CI>ױIGe>ww -:YO1yP:5_q,=~EAY}B:@}BH@y}B~d}Blp}BH@? m??`ٙ`U?@Ǹ?s?XͿv?)~B:@ ~B_;I~BƖCɫYa)a mIiY@y GIY)]AýCý=ýGaiýp@ù Ľ@)ĹIĹiĽr@;MN=Y2Y;QU>aD4Dy9e}>I_4?Hؾ TA ?9kCǺ: :)Wz5@WX XW:W!2W!*W!V!bU!BU)*U)U)U5 ?B]=BY BYA] ?*BYAen AaAaAe}<"Cm]RCm\Cmz5@Cq֥D->שi׭?aIiG8>! 9! I! i! ! ! ! % [; % E6_q,pEAY}fΊ@}f@y}fC?}fk}fHf`??X??`8?$?`K;Ϳ@&?)~fΊ@ ~f_;I~fŖCɫ髹) IY@yG aaaR=MN=Y;QU>aDNDyH^}>Iȱ :ŵf4? :ŵؾ ƵTA ?9Ƶ lCǵ(: ȵV:)ȵ:Wt@WX XW:W2W*WVbUBU*UUUV?BF=B BA?*BA}J{AAAr{<"CШ*CRChmCt@C֥S-=aIqG9>I޽AA)޹ <0:Yy5)};9-_q,M"EAY}:4ݦ@}:@y}:}: e}:H m? 7?8?Qg?F?Q?@Dd̿3?)~:4ݦ@ ~:IW_;I~:ÖCɫ99)9 =I9Y}P@y}`G=JM=P=YEP AAaMDMgDIyU\}U>IY]l4?]k پ ]TA e?9]alC]ӻ: ]#:)YWе@WX XW:W2W*WVbUBU*UUU5?BH"=B BA?*BA__AAAh3y<"CRC|gCе@C }=IG%>WZ_q,L3<EAɫ) IY@yGu=iu= ~jt??V-? ? < h=) I y 9v?Q?y&1|? 4? u< `; @) I @i dA  e=eʽeGie@a e=@)e@Ie@ie@u8Mu8=Y}QU}>yaDDy}>Iȑ :ŕ6t4? :ŕsپ ƕTA ?9ƕlCǕ: ȕ:)ȕ:Wݞ@WX XW:W2W*WVbUBU*UUU@B}r=B BA? ?*BABn>AAAv<"CRC#Cݞ@C5>9Ii^; E)YIYiYYY]4ֽhW~~y 1:YT1y@:5);?_q,}VEAY}:㿥@}:͝@y}:}:I}:H??[w?`h<A?`?_3?ɿ La?)~:㿥@ ~:G^;I~:ȖCɫYY)a aIaY}@yGI=)=5uM=a=Y=AAaEDEDIyMĽ}M>IQUby4?Uu,پ UTA ]?9UlCU : U8:)QW\-@WX XW:W2W*WVbUBU*UUU&@B=*[=BA BAAE ?*BAAEz$AAAAAMt<"Cu\㨿RCuCu\-@Cqm2;AIIGm5>i-mGI9iQyٺAi\@ @)r@I@i@=M@=YaDDy}>I  :84? :<پ TA ?9@mC< <):WS@WX XW:W2W*WVbUBU*UUU -@RB*** querying acoustic contact ***PPBUV=BQ BQAU?*BYA]AYAYA]xs<"CeARC5_CS@CֹבI/ zz 7:YQ1y:59@G> 4>9 I Gi S@ &= `; EQ_q,้EAY}:kG@}:#U@y}:H;}:s!}:H W?`-?E?wU@Y?? Ŀ`$?)~:kG@ ~: _;I~:ƖCɫ99)9 =I9Y]@y]GeZ****** received transponder code query ******eF****** received ping request ******eaDDyB}>I4?Lپ TA ?9mC: :)W]@WaXa XaWa:Wa2Wa*WiVibUBU*UUU  @B=B BA~?*BAͺAAA~{q<"C [RCEWC@CX ?i ?IGK>{_q,ꔣEAY}J2@}JQ@@y}JEDP<}J:}JHp?@?c?@BY ?X@?Z¿ɭ?)~J2@ ~J? _;I~JŖCɫyy)y IYL@y^GxDUSBL response received:!U1,P C6D,000,004C6,189,80,80,7C,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 鿑żM>=Y-a D Dy%y}->I9 :=4? :='_پ =TA ?9=mC=4;< =^6<)=:Wܬ@WX XW:W2W*W)V1bUaBUi*UiUqU @o{{ B(:Y#R1y:n5B==B9 B9A=?*BAAEڪAIAqAuOp<"CRCo_ּCܬ@C Ȅ I G >_q,.pEAY}2!@}2/@y}2̗<}2}2H`Vb? ??`[z?{?R]￿?)~2!@ ~2]_;I~0ɫ99)9 EIAY}E@y}YG鮅p=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Mb?ʡE?iM3@I M\@)MIM@iM@]KM]O=Y]aaaeDeDiyu'}u?Iy}b4?}&mپ }UA ?9} nC}8: }:)yW^ @WX XW:W2W*WVbUBU*UUU@@Be |8=q9qIu~Giu@u%=qquS; uEB BA?*BAP(AAAro<"CRC3{ZC^ @Cֽ"בIG>؎_q,OEAY}Ry'@}R15@y}R{<}R4ٽ}RHnw?`*?Ի?Y ?em`! k?)~Ry'@ ~R_;I~RĖCɫ髱) IY@y'GxDUSBL response received:!U1,R,BF0,000,004A4,189,80,80,A9,FF  Fpublishing direction and range infoVh?ɰ= ))CIyBr޷?&+Ob7?ٱ%=i%=MܼMM^=YM5YYa]D]DYye:}e>Iim"4?m|پ m UA u?9mfnCm": m:)iWuG@WqXq XyWy:Wy2Wy*WyVbUBU*UUU@R(Combining 5 samples.P*QBZQ 4@ M'v:@JQr޷?&+Ob7?2QVh?:QbQ0HE>@9ҩj.f\ RQ5y-pz?*~ܿV?7BQ7@ QpQAPD9?PF9?PQQN@"QY?B=B BA ?*BAR:`AAAJn<"C%= RC-9<C-G@C)-|I G%N>yy 5+:YP1y':5B_q,4EAY}@@}>N@y}<}}H ?:?6?pS`9?@c ?)~@@ ~_;I~ɫ)1)1 5I1Ym@ymGTNmea in: $SNTTA,0.432968,,,,010151.67*47 I>)> @ @ @Í©ÍÍiÍp@Í č@)č\@Iĉič\@gR=M6=YVaD9Dy;}>Iȹ :Ž4? :Ž+پ ƽUA ?9ƽnCǽ: Ƚ:)Ƚ:myAdded new target pos. range: 33.779999 m, bearing: 333.422596 deg, deltaT: 4.433620 s, approachRate: -0.460121 m/s, LOS rate: -0.220138 deg/s, posRepo size: 4m  ProNav: pos range: 33.779999 m, bearing: 333.422596 deg, approachRate: -0.460121 m/s, LOS rate: -0.220138 deg/s, cmd update: -0.660413 deg/s, cmd heading: 276.238104 deg, new cmd heading: 274.809508 deg. W # @W X  XW:W2W*WVbUBU*UU@@U%U?BM_"=BI BQAU?*BQAU9AQAQAU m<"C]|*Ce yRCeS<Ce# @Ca]}!I)GER>ޭ=iީ] <] %=a 9a Ie }Gie _@a a a e Q; a ̟`q, EAY}2t@}2@y}25v=}2RO}2H7? ??@? PGY? -Y㩿Y?)~2t@ ~2}U_;I~2ŖCɫ99)A EIAY} @y}5GbM_=YjkaDPDy<}>IȡťӞ4?ťپ ƥ UA ?9ƥnCǥ: ȥ:)ȡW{@WX XW:W2W*WVbUBU*UUU9?B'a)=BOZa< BA ?*BA d.:AAAm<"C%I*C%C:RC%N?=C%{@C)ergYIiG\>{{ .:Y#R1y:75);9`q,$EAY}2@}2@y}2+v$=}2=M}2Hr?@'9? ?8?``[@@t?)~2@ ~2M_;I~2ÖCɫII)I MIIY}@y}GMT=YDa D iD y̠<}>I %:4? %:پ UA %?9GoC: :):WMٙ@WIXI XIWI:WI2WQ*WQVQbUQBUY*UYUYU]?B?W#=B BAo ?*BA ^:AAAvm<"CZۼ*CRCKz=Cٙ@C P<?i?IG+>`q,>EAY}2@}2@y}27=}2Ӷ}2H LZ?@0?@? ,`׀?T@*4@?)~2@ ~2_;I~2ŖCɫ99)A EIAY@y.G iiV-?bX9ȶaDDy]<}>I4?Sپ UA ?9oC: :)W@WX XW:W2W*WVbUBU*UUU` ?9I|Gik@D; EBM=BQ BQAUg ?*BQAU(J:AYAYA]m<"Ceu*Ce RCer!=Ce@Ci}iA}iAE.=I G=P>I޵@A)ޱzz *:YQ1y:%5)͈;`q,ЛXEAY}F@}F @y}F J=}F Ǽ}FH.?`W*?̡?@&%W? ܥN ؘ?)~F@ ~F7i_;I~FÖCɫQY)Y YIYY@yGUM]b=Y]ZOaaaeDeDayms<}m>Iq }:ux4? }:uپ uTA ?9uoCu/: u:)u:W@WX XW:W2W*WVbUBU*UUUu?B'=B BAX?*BAE;AAAn\n<"C$*C?RC%=C@C;ֵ#@=בIG> `q,|rEAY}:@}:@y}:P[=}:}:HI?`)?梤?Y$_?@M\ fᶝ ?)~:@ ~:Ҷ^;I~:–Cɫqq)q }IyY`@y/GAEhAaDDy r} >I4?lپ TA ?9pCk: :)W=c@WAXA XAWA:WA2WI*WIVIbUIBUQ*UQUQUU J@B}=B BAq?*BA-;AAA Oo<"Cc*C+߰RCya=Cc@CJ{{ O%:Y#R1y:59@-a< `= I  5>9 I ,{Gi &@ '= O; E)ݙIݙiݙݙݙݝ55G- >"`q,IEAɫyy)y }IyYB@yG@AIa=)R=(!M^=YQU>aDDy}>It4?پ TA ?9NpC: :)W-@@W)X) X)W):W12W1*W1V1bU9BU9*U9U9UE;@RMB*** querying acoustic contact ***PIPIBm86 =Bi BqAu>*BqA}45;AyAyA}Vp<"C:<*CRC>=C@@Cϑϑ)Б Бޱi޵=?=IG >i mGI i = ٺ9 = A0&)`q,_EAY}6@}6m@y}6js=}6?0}6Hc?+'? X;?`%`ֻ? 4èq+?)~6@ ~60_;I~6ŖCɫAA)A EIAY/@yGZ****** received transponder code query ******F****** received ping request ******aiamDuDqy}}>Iȉ :ō4? :ōپ ƍTA ?9ƍpCǍO+; ȍ?;)ȍ:WS@WX XW:W2W*WVbUBU*UUU@w @B y=B  BA>*BA Q;AAA_Hq<"C޿*CwRCL=CS@C=IGL>yy +:YP1y':5<0`q,EAY}2yޥ@}22@y}2|=}2RR}2HD7?a%?T?}&@? K?)~2yޥ@ ~2_;I~2ÖCɫ99)9 =I9Y}o@y}6GxDUSBL response received:!U1,P BF0,000,004A4,189,80,80,A9,FF Command AckBRequesting micromodem ping code 2iI)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 6>9I8yGi@Q; EʡE?p= ף?I +??= 94<)Iy#~j?{Gzt~jt?%?ף= -@)AIAi@ @)M= M>t>>iz@ @)@I&@i&@9M =YM;QU>AIaMDM DYy )}>Iȑ :ŕ+4? :ŕھ ƕTA ?9ƕpCǕh< ȕO <)ȕ:W@WX XW:W2W*WVbUBU*UUU`0&@B5-4=B5T< B1A=>*B9A=yt;A9A9A=s<"CE*CERCM=CM@Cie }=9 II Gm >)6`q,ـEAY}Bǥ@}B?՝@y}B9m=}B*BA΁;AAAEt<"C*CTRC=C˘@CM!=I1GUS>I޹)޹i{{ ':Y#R1y:5*T<`q,EAY}6@}6x@y}6=}6|}6H?=?%?`p͵?c2@`?@𭨿@?)~6@ ~6&^;I~6ŖCɫ99)9 =I9Y}@y}%}GxDUSBL response received:!U1,R,B77,000,00486,18A,80,80,86,FF Fpublishing direction and range infoY?ɰ=鰅> )CIyAbͳ?o&?ٱ==i׫@ @)~@I~@i~@M[=Y#;QU>aD 8D y Z}>I4?aھ TA %?9ZqC: 8:)W@WX X W :W 2W *WVbUBU*UUU@?@R-(Combining 5 samples.P)*Q-AZQ-|S0@r ";@JQ-bͳ?o&?2Q-Y?:Q)bQ-`>@XU<,\3%MѧRQ- Dt?@26տ';īBQ-2@ Q-)Q-AP-F9?P-D9?P-Q-Q-EV@"Q-N@B =B BA>*BA ;AAAu<"C **C 1RC =C @C-W=IGn>ܵ 7>9ܱ Iܵ wGiܵ K@ܵ &=ܱ ܱ ܵ Z; ݵ E?C`q,؟ EAY} Tf@}  t@y} =} S} H@k`? )?@?m= ?tN Yd?)~ Tf@ ~ )^;I~ ƖCɫ11)1 5I1YUG@yU|GDNmea in: $SNTTA,,,,,010156.10*5C i=i> M9=YZ;QU>!!a%D%TD)y-j}5>I1 =:54? E:5--ھ 5TA E?95qC5: 5:)5:m-uAdded new target pos. range: 31.979998 m, bearing: 340.548014 deg, deltaT: 4.425313 s, approachRate: -0.406751 m/s, LOS rate: 1.610150 deg/s, posRepo size: 4m= ProNav: pos range: 31.979998 m, bearing: 340.548014 deg, approachRate: -0.406751 m/s, LOS rate: 1.610150 deg/s, cmd update: 4.830450 deg/s, cmd heading: 273.312902 deg, new cmd heading: 273.021313 deg. WE֙@WAXA XIWI:WI2WI*WIVQbUQBUQ*UQU] ?@U]`h?B=B! B!A%[>*B!A-};A)A)A-8w<"C=oRC==CE֙@CAMjZX<\vv &:YN1y:5)J;9e w=9 II Gu >.fI`q,@l'EAY}6@}6:,@y}6Bڊ=}69JĽ}6HQG?.? bn?uK ?@<%WAq?)~6@ ~6_"^;I~6ŖCɫYY)Y ]IYY@y{GI =) =5vM=Z=Y=;QU=>AAaEDElDAyM}M>IQU4?U:ھ UTA ]?9UqCUw: Ub:)QWȚ@WX XW:W2W*WVbUBU*UUU`??Bf =B BA>*BA;AAAry<"CuP;RCu<CuȚ@Cymp޽=i޹OP`q,MAEAY}6Τ@}6Mܜ@y}6x#=}60߽}6H@?`$2?t?Z>?ί`Oǻ X?)~6Τ@ ~6lh^;I~6ĖCɫ99)9 =I9Y}@y}hzG rh?+η?~jt?,?v= D<)IyʡE?~jtQ?-2?Du< @)^ AI~Aib@AY9YI]PuGi]c@YYY]M; ]E>}>i­@ Ʒ@)Ii-_M-.=Y-ů:QU5>11a5D5D9y=}=>IA M:E4? U:ELھ EzTA U?9E5rCEf: E+:)E:Wu @WqXy XyWy:Wy2Wy*WVbUBU*UUU?Bԁ<B BAZ>*BA;AAAF{<"C%7RC-|C- @C)U< ?,:Yy5) ;=IG>xV`q,%[EAY}:6x@}:@y}: =}:L}:H`?:?=?jԣ?@ϧ ꝱ ƽڴ?)~:6x@ ~:3_;I~:ŖCɫ99)9 =I9Y}@y}2yGI)I))> U>MUn=Y]:QU]?YYa]DeDaye`}m?Iim4?mYھ mMTA }?9mrrCm: m:)iW@WX XW:W2W*WVbUBU*UUU?B<B BA>*BAӲ;AAA}<"CSRCQнC@C!!)) )ff=ס I G >c\`q,tEA|i|@Y}6,@}6U:@y}6=}6e}6H Ǒ?C??v ?Oڿ@bƾ?)~6,@ ~6g{_;I~6ÖCɫYY)Y ]IYY@yxGQ?33;=i3@ @)I@I@i`@Y)M @=Y+:QU>aDD!y-l}->I154?5jھ 5TA M?95rC5; 5);)1W}=#@WyXy XyW:W2W*WVbUBU*UUU`C@Be<B BA>*BA`;AAA<"CvRC&C=#@C֍| u=aIiG:>Iޱ)ޱ(xx ":Y7P1y:[59@I M hAU 6>9U tCIU sGiU @U %=Q Q U P; U E1c`q,؎EAY}2@}2@y}2=}2A}2H}?N?`k?` ?9߱^?)~2@ ~2Z_;I~2ŖCɫII)I MIIY}@y}3xGeM[=Y:QU>!!a%D%D)y-}->I1 =:54? =:5xھ 5SA E?95sC5: 5:)5:Wew!@WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU} 5@Bj<B BA>*BAy;AAAT<"Cu}RCMBCw!@CmԅXi`q,EAY}2@}2@̛@y}2~,=}2f}2H&?Z? ?a?ϩ᱿p?)~2@ ~2Yq_;I~0ɫ99)9 =I9Y@y!wG=i=)M%J=Y%8QU%>)1a5D5D9yEd}E>IIMF4?Mھ MSA ]?9MIsCM]; M;)IWK>@WX XW:W2W*WVbUBU*UUU`@R B*** querying acoustic contact ***P P Bp<B BAĈ>*BA k;AAAy<"C<RCCK>@C %=%=;I)IAG}{>uu ):YKN1yy:5.p`q,EAY}2@}2N@y}2k=}2}2HoJ? h?yU?`1?=ժ@㻿@?)~2@ ~2\`;I~0ɫ99)9 =I9Y}@y}uGZ****** received transponder code query ******F****** received ping request ******IQaUDU DQy] }]>Ia :e4? :e^ھ eSA ?9esCe; e;)e:W`@WX XW:W2W*WVbUBU*UUUOW @B-<B1 B1A5p>*B1A5);A9A9A=ڃ<"Ce%RCe Ce`@Ci]@I!GEr>޵=i޵=_v`q,{j܁EAY}2ŀ@}2~@y}2Pː=}2Ͻ}2HP?s?S?Jv?䫿 ṿ t?)~2ŀ@ ~2~_;I~0ɫyy)y }IyYo@y^uGxDUSBL response received:!U1,P B77,000,00486,18A,80,80,86,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 MMUq=Ye:QUm?99aEDM#Dqyu-}}>Iȉō4?ōIھ ƍcSA ?9ƍsCǍ}G; isoG ȍX;Ii )ȉ=5ٺ9=AW}}@WyXy XW:W2W*WVbUBU*UUU> @BE@<BA BAAEc>*BAAM};AIAIAMSA<"CURCQCU}@Cysxx (:Y7P1y:%5֭Gg̽q I G >|`q,CEAY}2}@}26@y}25K=}2}2H@??f?Q`p?{kE(⵿ ?)~2}@ ~2D9`;I~0ɫyy)y yIyY@ydtGa=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B n> Ga? i @  ~@) I `@i `@@lM>=Y%:QU%>!!a%D-=D)y5:}5>I9 E:=4? E:=ھ =@SA E?9=-tC=: =:)=:Wml@WiXi XiWi:Wi2Wq*WqVqbUqBUy*UyUyU}3@B<B BA@J>*BAO;AAAM<"Cs,RCCl@C+޽?i?ׁIG=>9IoGiO@ EJ؃`q,h EAY}2)@}2@y}2)=}2 1}}2Hh??`y?`J?fʋ?)~2)@ ~2.`;I~2ĖCɫ99)9 =I9Y}@y}RsGxDUSBL response received:!U1,R,26F,000,00473,189,80,80,99,FF Fpublishing direction and range info- ɰ=鰅7> )CIyAσAAaEDEUDIy}}<}}>IȁŅ 4?Ņھ ƅSA ?9ƅstCDžF; ȅ;)ȁW]@WiXi XqWq:Wq2Wy*WyVybUBU*UUU@R(Combining 5 samples.P*QAZQ~.d:@mV/JQσ*BAAEKd;AaAiAmʇ<"Cu攑RCqCu@Cqeh!I1GUS>I)AAww .:YO1yP:\5);9`q,)EAY}f@}f@y}f"=}f}fH8?? ?u}@ ?U? S?)~f@ ~fi_;I~fŖCɫ髹) IY5@y5 sGDNmea in: $SNTTA,,,,,010200.56*5E AM==Y ;QU>!a-D-pD9yE<}M>Ia e:eO4? m:eھ eRA m?9etCe_ = e=)e:m}Added new target pos. range: 30.839998 m, bearing: 247.783035 deg, deltaT: 4.464865 s, approachRate: -0.255327 m/s, LOS rate: -20.776659 deg/s, posRepo size: 4m!ProNav REINIT: LOS rate is -20.776659 deg/s. Setting heading cmd to target bearing of 247.783035deg and heading rate command to 0 deg/s.W^c@WX XW:W2W*WVbUBU*UU >@U ?BU6g<BY BYAe'>*BiAu;AqAyA}Z<"CRCC^c@CUױIG>X`q,CEAY}2N@}2}\@y}2 =}2c5}2H? ǂ? a?m @?HP ?)~2N@ ~2`_;I~2ĖCɫYY)Y ]IYYb@yqG =i =ܙ9ܙIܝTlGiܝ@ܙܙܙܝC; ݝE+?+I +?v? 94<)Iy?S㥛l?,?/ݼ= A)^ AI^ Ai/AfA]/]=],?]i]p@Y ]n@)]@I]l@i]7@mMm5=YuC;QUu>qqa}D}D}~@}@@yyk<}>Iȉō4?ōھ ƍRA ?9ƍuCǍ: ȍ{:)ȉWWX XW:W2W*WVbUBU*UUU?Bد<Bh+= BA >*BA!Y;AA A <"C t*C❯RCCC %>%>ޜ{I)׹IGf>g|| ':YR1yi:5) ;`q,]EAY}2R@}2 ʜ@y}2=}2r<}2HQ?q?h?Y ?`C ]@A? ?)~2R@ ~2^;I~2ŖCɫ99)9 9IAY]2@y]'pGI4=)%=Mz=YU;QU?!!a%D%D!y-Y'=}-?I9=k 4?=ھ =RA E?9=HuC=: =+:)9WaWiXi XiWi:Wi2Wi*WqVqbUqBUq*UyUyU}`?Bg<B BA,=*BAG;AA)A-9<"C5(玿RC1C9C9-}I G-->>`q,CwEAɫyy) IY+@ypGf>>S=iz@ @)ߣ@I@iߣ@ M==YQU>aDDiy}>I :@4? :u۾ RA ?9uC; ;):WAWAXI XIWI:WI2WQ*WQVQbUQBUQ*UYUYU] %?BcT<B BAS=*BA ;AAA/,<"CmiRCCC5FӅ=?i=?yy 3:YP1y':I59@IG=>ܑ9ܑIܕiGiܕݽ@ܑܑܑܕH; ݕE`&`q,gEAY}:Xѥ@}:ߝ@y}:9=}:՘=}:H?a,?۬'"SK? fֶ+p?C?)~:Xѥ@ ~:ܓ`;I~8ɫ99)9 =I9Y}/@ynGI)UM]U=Y]QU]>aaaeDeDaym=}m>Iqu4?u۾ uRA ?9uuCu{: u#:)qWWX XW:W2W*WVbUBU*UUU?B><B! B!A%n=*B!A-_;A)A)A-<"C=RC=zC9CAeP`q,CEAY}6s@}6@y}6=}6=}6Hu?9?FB@x{?>Ͳc?`_?)~6s@ ~6_;I~6ĖCɫAI)I UIQY3@ymG !!ϒM%?=Y-/[QU5>9AaMDMDYym :=}u>Iy :}4? :}!&۾ }RA ?9}!vC}; } ;)} :W1W1X1 X9W9:W92W9*W9VAbUABUA*UaUiUm3@B"<B BA%<*B)A5c3;A1A9A=e<"CuѦRC}׽CC *:Yy52g="f|ש I G >S8`q,łEAY}2!@}2+@y}2lr=}2nu=}2H N? o?$跿?@'6`OJJ?3?)~2!@ ~2~5_;I~2ŖCɫAA)A AIAY@ymG=7>99I=fGi=@999=L; =EmQ?+/$?m>i m,=)iIiym5^I ?/$Q?m8?m,m< m" A)mAIm AimIAimAd;>= >9=i@ )V@IV@i7@]M]F=Y]8QU]>aaaeDe DiymRR=}u>Iqu4?u'6۾ uSRA ?9ukvCu: u:)qWWX XW:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PPBE <Bi BiAmG<*BiAm;AiAqAu*<"Cu%ѰRC}}.f<CyCyωω)Љ Љ% \zI) )) I G- >j`q,.߂EAY}2ק@}2z@y}2~=}2Z>}2H?@?@Ѻ`;A?(}??)~2ק@ ~2^;I~2ÖCɫ)))) -I)Ymӿ@ymlGuZ****** received transponder code query ******uF****** received ping request ******uyyaD$DyCs=}>Iȹ  :Ž 4?  :ŽDE۾ ƽ+RA  ?9ƽvCǽ)< Ƚ;)Ƚ :WiWiXi XqWq:Wq2Wq*WqVybUyBU*UUU @B-;B) B1A5*B1AQAYAYA]˔<"CeRCej>CaCiUJatIGEQ>M{{ %:Y#R1y:n5`q,EAY}2բ@}2@y}2=}2:>}2H`n?E?@ajb?@O @??)~2բ@ ~2];I~2ĖCɫYY)Y ]IYY @y kGxDUSBL response received:!U1,P 26F,000,00473,189,80,80,99,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Ia=)= @ @ @©i@ )ߣ@Iߣ@i@%WMm0=YuQUu>aDBDy)W=}>I'4?W۾ QA ?9 wCw; 8;)WIWIXI XIWI:WQ2WQ*WQVQbUQBUY*UYUYU]` @BR(;B BA;*BA;AAAD<"CǿRC >CC15<999I= dGi=k@=&=99=Y; =E)هIهiه݇%=݇%=݇/4[v`q,cEAY}2]y@}2@y}2[=}2W>}2H??9'@tA?೾H@:?Y?)~2]y@ ~2˱];I~2–Cɫ99)9 =I9Yu@yucjG}p=ɮ}a=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B AMg=YQU?aDXDy1=}?I :-4? : e۾ QA ?9GwCP; C;) :W!W!X! X!W!:W2W*WVbUBU*UUU*@B];B BA*BA#;AAA<"CiѿRCCC}AaIqG[> || Z:YR1yi:5);9 i% :oGIA iY ٺ A`q,?,EAY}:+P@}:]@y}:\.w=}:K>}:H 6? ?䳿`_ ?Lி?`Y?)~:+P@ ~:{];I~8ɫ99)9 =I9Y}O@y}hGxDUSBL response received:!U1,R,AFD,000,0045E,189,80,80,80,FF Fpublishing direction and range infoO?ɰ,=鰁 )CIyAKc?wnL?ٱOMK=YQU>aDrDy=}>IX44?t۾ QA M?9wCL"< "<)WWX XW:W2W*WVbUBU*UUUP@R(Combining 5 samples.P*QAZQt)@wĞ:@JQKc?wnL?2QO?:QbQr==@.nukE @RQ]?4ѝl?BQQ@ Q&>QAPG9?P٧9?PQQA"Q-@BU;BY BYAe*BiAu;AqAqA}<"CݿRCCCֽLͽבIG>`q,FEAY} ƫ@} ӣ@y} [=} >} H@}O?,? tSW.?<rce? ?)~ ƫ@ ~ ];I~ ĖC8>9tCIaGi@l; EɫII)I MIIYS@ygGETNmea in: $SNTTA,0.035535,,,,010204.99*42 aa%Zd;? ףp= Mb%>%Q %)!I!y%"~j? rh??%S#?%C<%< %A)%AI%Ai%~A!% A = = ==>=`;=$i=ף@= 9)=@I=`@i=7@Mv}MU$=YU_QUU>YYa]D]Daye=}e>Ii u:m,?4? u:mƄ۾ mQA }?9mwCm: m#:)m :myAdded new target pos. range: 29.580002 m, bearing: 354.198119 deg, deltaT: 4.446850 s, approachRate: -0.283346 m/s, LOS rate: 23.930442 deg/s, posRepo size: 4mProNav REINIT: LOS rate is 23.930442 deg/s. Setting heading cmd to target bearing of 354.198119deg and heading rate command to 0 deg/s.WQ@WX XW:W2W*WVbUBU*UU{=@U?BU@8BQ BQA]ֽ*BYA];AYAYA]"<"Ce`RCaCmQ@CmQI)@A vv 5E:YN1y:5);!I1GU>k`q,H`EAY}F1^@}Fk@y}F#L=}FV>}FH f??P`/?rā@?x?)~F1^@ ~F];I~DɫQY)Y ]IYY}_@y}fGͽM=YQQU?!a%D%D!y-"=}-?I15F4?5h۾ 5QA =?95xC5Y: 5ʽ:)1WaWaXa XaWa:Wa2Wi*WiVibUiBUq*UqUqUu]?BB BA *BAi;AAAf,<"CRCCC֭񖼹iIqG>`q,?zEAY}Nͬ@}Nۤ@y}NL<=}Ng=}NH}2??`ҫȶ? By_?@?)~Nͬ@ ~N];I~Lɫyy)y }IyY@y+fGÕtÕMb>Õ+=iÕכ@Ñ ĕ@)ĕ7@Iĕ@iĕ@MB=YUQU>aDDyX=}>IȹŽ.P4?Ž۾ ƽQA ?9ƽWxCǽ: Ƚ4:)ȹWWX XW:W2W*WVbU!BU!*U)U1U5?Bu17By ByA}*ByA1^;AAA䋝<"CRCCC 5>5>jZX<IGE>ww .:YO1yP:59@<>9Io_Gi@(=; ˗E `q,( EAY}> @}> @y}>-=}>=}>H?H?cճi)L? +?`N?)~> @ ~> ^;I~<ɫqq)y }IyY@ydGI%=)!ÛMJ=YbQU>aDDyH<}>Iȱ :ŵ Z4? :ŵ۾ ƵQA ?9ƵxCǵ: ȵ4:)ȵ :WWX XW:W2W*WVbUBU*UUU+e?B%B) B)A-2*B)A-;A)A)A5ʞ<"C5oa*C=뭽RC9C9C9uhW=ia=J`q,ݭEAY}F2@}F@@y}FA =}F=}FH`?ֺ?W `?@➲@`?@/?)~F2@ ~F ^;I~FÖCɫ髡) IY޸@yrcG>>.ip@ )@I@i@5M5A=Y=QU=>9AaEDEDQyUo<}U>Iqud4?u۾ uQA ?9uxCu; u_;)qW9W9XA XIWI:WQ2WY*WVbUBU*U!U)U-v@BB BAY*BA;AAAB<"CdRCCC=?i?שI xx =:Y7P1y:[5G>e`q,ǃEAY}20@}2R>@y}2P=}2Ɇ=}2H@?@?Htʹ?8@iOӰ?`?)~20@ ~2^;I~0ɫ99)9 =I9}:>9yI}]Gi}@}&=yyy yY@y|bGIq)qV-?~jt?{Gz?h?D< #=)Iyv?I +?{Gzt?8?9<ף; pA)AIAAi A%xM%K=Y%QU->aDDy-)}>Iȡ :ťp4? :ťf۾ ƥQA ?9ƥ+yCǥ: ȥ:)ȥ:WWX XW:W2W*WVbUBU*UUU g@B+99B BAr*BA;AA!A%Y<"C-6KRC)C)C19=hA% =IGI>`q,EAY}:M@}:#@y}:. =}:<=}:H@??Mf?&өLTǔ??)~:M@ ~:^;I~:–Cɫ99)9 9I9Y]@ye=bGaeAA yyMe=YQU>aD%Dy}?Iy4?۾ kQA ?9kyC߼: Q:)WWX XW:W2W*WVbUBU*UUU@P@RB*** querying acoustic contact ***PPB@-=B BAgy*BAг;AAAdr<"C-)޿RC)C1C1MҖ=!I1GM1>  | |  =.:Y R1y i: (`q,cEAY}2@}2@y}2=}2'<}2H`X?M?y@jP?eiV@a??)~2@ ~2^;I~2ƖCɫYY)Y ]IYY4@yfaGZ****** received transponder code query ******F****** received ping request ******aDADy%j}%>I) 5:-#4? 5:-۾ -KQA 5?9-yC-4: -:)-:WYWYXY XYWY:WY2Wa*WaVabUaBUi*UiUiUm< @B0EB BA*BA"];AAA3<"C>ӿRCCC֍l,>I׉)׍gAAIQGm5>yy܁9܁I܅$[Gi܅@܅%=܁܁܅; ݅ΗEaq,>EAY}2@}2X@y}2o<}2fһ}2H?9?? `?.`,@IzF?)~2@ ~2_;I~2ȖCɫ99)A EIAY]@y] `GmxDUSBL response received:!U1,P AFD,000,0045E,189,80,80,80,FF mCommand AckmBRequesting micromodem ping code 2iiiNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 jM%[=YUJջQU]>iaDZDy$μ}>Iސ4?i۾ 0QA ?9zC/; ;)WWX X W :W2W*WVbU!BUQ*UQUYUeX6 @BbB BA+*BAb;AAA<"CNƿRCCC !>>c>בIG>& ww 6:YO1yP:5*; aq,P/EAY}Z/@}Zh=@y}ZP<}Z}ZH?/?!?4$?}!ɛ@m C?)~Z/@ ~Z_;I~ZĖCɫ) IY-b@y-(_GuNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IR=)%=\>>=i(@ )@Ii@9M$=YPQU>aDyD y ;ɼ}>I|4?ܾ QA e?9_zCb< <)WWX XW:W2W*WVbUBU*UUUb@BbhB BA*BA l;A A A -<"CMRCCC]E>1I9Ge>k#aq, HEAY}6&@}6£@y}6<}6}6H7?`N?̳?tf D?x? =ͲP?)~6&@ ~6`;I~6ƖC!9!I%YGi%ذ@!!!%; !)ݵtCIݵtCiݱݵ&=ݵ&=ݵcm5ɫYY)Y ]IYY@y^G5y&1?V-?X9v?5`?5< 5<)1I1y5ʡE?CC>%?i%?~~ f.:YT1y@:5);9IG>yOaq,DbEAY}jN@}j-@y}j<}j}jH#?k?`?@a%??A'o/?)~jN@ ~j V`;I~jC],>]CioGIiɫ) IY@%Wٺ!-aaaeDeDiymB}u>Iqu"4?u ܾ uYQA ?9uzCu: uk:)qWWX XW:W2WI*WIVIbUQBUQ*UQUQUU kR@B@B BA1*BAB;AAA$N<"C*RCQX=CC  iA>׹IGI>#waq,|EAY}6t@}6@y}6Q<}6 }6H@?`L?l? B?Pݡ?iÿ@?)~6t@ ~6fn`;I~6ÖCɫ99)9 =I9Y@y]\G ->-5>?-IIaMDMDQyUT}]>IY e:]k4? m:]P,ܾ ]QA m?9]4{C]: ]A:)]:WWX XW:W2W*WVbUBU*UUU`@B5¼B BAɾ*BA ;AAAa<"C[RCCCJFX>IG'>iAjA%;>9!I%hXGi%@!%RD!%; %ЗEI)yy !+:YP1y':[5);a%aq,KEAY}Fe@}FΡ@y}F!<}F6}FH $?h??l?@?]$ƿ |?)~Fe@ ~Fb$b;I~Dɫ髑) IY@y[GxDUSBL response received:!U1,R,275,000,03B6A,189,80,80,68,FF Fpublishing direction and range info ɰ?鰹 )BIyZDO>8L? Qg6ٱy<MP=Y.QU>aDDye}>I4?o;ܾ QA  ?9{C: ]:)WWX XW:W2W*WVbUBU*UUU@~@R(Combining 5 samples.P*QZDZQ5-X{ZT@e|JQO>8L? Qg62Q :QbQ@YeԨ`ekQ@RQAȿ5W+H?BQ}@ QUQ*P<9?PG9?PQQǓB"QABgB BAUҾ*BA;AAA<"Cw#RC)MCCօ/>I׉)׍hA9IIGu6>+aq,pEAY}@}@y}-h<}I}H 2?V? ]?w\`)? *?`sɿ`X`?)~@ ~lb;I~ĖCɫ) IY5@y5ZG=i=qqååP=åyiå̜@á ĥ@)ĥZ@IĥZ@iĥr@XM$=Y᷻QU>aDDy<}>I :4? :Nܾ QA ?9{C1; &;):mMAdded new target pos. range: 875.100037 m, bearing: 258.709999 deg, deltaT: 5.630195 s, approachRate: 150.175980 m/s, LOS rate: -16.960002 deg/s, posRepo size: 4mU!ProNav REINIT: LOS rate is -16.960002 deg/s. Setting heading cmd to target bearing of 258.709999deg and heading rate command to 0 deg/s.WU}@WYXY XYWY:Wa2Wa*WaVabUiBUi*UqUuX@U}?BB BA\۾*BAZ!~;AAA߱<"C-RC C}@C ]>]=|| ):YR1yi:59@MYX+>1 IA G] >q2aq,=ʄEAY}2 J@}2W@y}2XJ<}2zT}2H`4? ????J)^ʿO?)~2 J@ ~2`;I~0`9`IbIy}4?}[ܾ }QA ?9}|C}: }:)y; wAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;wdResuming normal ranging with 1.000000 count pings.;1<WWX XW:W2W*WVbUBU*UUU?B"B BA*BAi;AAAa<"C RC C C@">IGF>i=a8aq,EAY}2u@}2/@y}2f.<}2c[}2H`[?`?"?k G?@f?̅`~6˿@D?)~2u@ ~2`;I~0ɫ99)9 =I9Y}!@y}YGUM]=Y:QU>aD ( D y 1}>Iim4?miܾ mQA u?9m^|Cm: mW:)iX?1<wCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR; wAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRWWX XW:W2W*WVbUBU*UUU`-?BB BA*BAS;AAAϢ<"C"RCCC m=?iIG5.>zz 0:YQ1y:n5>aq,EAY}2ۦ@}2@y}2M <}2-Z}2H?B?@}???˿jF?)~2ۦ@ ~2qU_;I~0ɫYY)Y ]IYY@yXGI)Uη>U7=U=iU@Q U@)QIQiUZ@eWMeD=YeWVQUm>iiamDmC DyG}>I :&4? :/yܾ RA ?9|C: :):W!W!X! X!W!:W!2W)*W)V)bU1BU1*U1U1U5@?B]Ba BaAe*BaAei8;AiAiAm<"Cuj5*Cu`RCqCqCyԉԉm=AIIGm5>9IVGi@$=; їEEaq,hEAY}J%P@}J]@y}J<}JaT}JH?m??`?W̤?rb[ʿ@-P?)~J%P@ ~J^;I~JÖCɫai)i mIiY@yXG =M=M=Y=JMQU=>AAaEDE\ DIyM6}M>IQU44?Uܾ U%RA e?9U|CU: U :)QWWX XW:W2W*WVbUBU*UUU@BB BAm*BA;AAAMǯ<"CURCQCQCYM}I)AA{{ 2:Y#R1y:5Kaq,1EAY}J!@}J@y}J*;}JsG}JH4??@pc?n0B?@ma?`0 7ȿ d?)~J!@ ~J^;I~J–Cɫii)i mIiY @y XGíG>í ?í= iéé ĭp@)ĭp@Iĭp@iĩ-<M3=YX!QU>aDy DyǼ}>I :4? :ܾ =RA ?9<}CU: Y:):WWX  X W :W 2W *WVbUBU*UUU@BE/BA BIAMM*BIAMR;AIAIAM<"C]66RCYCYCYmƼI)IGK>Raq,ӄKEA494I6TGi6 @4446; 6ЗEY}RV@}Rȝ@y}R2<}R7}RH˷?|?@_?`[=ns?@ş?Psƿ|?)~RV@ ~Rƀ^;I~RCɫyy)y }IyY@y!XG=i=Q?{Gz?V-?(?#< <)Iy@5^I ?~jth?Q?D;\= A)(AI AiAAԼM_=Y|:QU>aD DyF}>I4?uܾ gRA ?9}}C: :)WWX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPB5B9 B9A=*B9A=:A9AAAE<"CERCICICQ ]=]=5Љ IG]3>xx +:Y7P1y:5);9yXaq,1aeEAY}6D@}6@y}6 <}6!#}6Ha?? )? B`5??AdĿ@?)~6D@ ~6^;I~6–Cɫ99)9 =I9Y}8@y}WGZ****** received transponder code query ******F****** received ping request ******aD Dy } >I :4? %:ݴܾ RA %?9}C3; ;):WIWQXQ XQWQ:WQ2WY*WYVYbUYBUY*UaUaUe e @BBQ BQAU*BQA]:AYAYA]<"CeRCeeCaCiMq I1Gu6>i=H_aq,;EAY}2V@}2@y}2%<}2p }2H}???o@mi?i?@ ?)~2V@ ~2^;I~2ÖCɫ99)9 =I9Y @y]WGxDUSBL response received:!U1,P 275,000,03B6A,189,80,80,68,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ux ?u=u-iup@q u@)u$@IuĘ@iu@V2M$=Y;QU>aD D)y5:}5>I9=5?=ܾ =RA ?9=~C=f< =%g<)9WW!X! X)W):W)2W1*W9ehAaq9qIuTGiuf@u%=qqu; uӗE)Ii%=%=~4V9bUBU*UUU@BB BA*BAR!':AAA<"CPRCvCCyy .:YP1y':%5)?; B9 I G >heaq,/EAɫyy)y }IyYɮ@y WG@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ļMq=YQU?aD Dy}?I :5? :ܾ RA ?9T~C: :):W!W!X! X!W!:W)2W)*W)V)bU1BU1*U1U1U=`,@Be7Ba BaAe#*BaAmVM9AiAiAm<"CuXRCu $CqCymV)I1GM1>iunGIiٺAM%laq,ZEA|i|Y}B:@}BMH@y}BD_<}B}BH4?!?8? @?_?b苿 캰?)~B:@ ~Bdg_;I~BŖCɫ髁) IYѮ@yWGxDUSBL response received:!U1,R,DC3,000,00435,189,80,80,B6,FF  Fpublishing direction and range infoj?ɰt= )6CIyA? p?ٱ %Q?Pn~jt?%?% %<)!I!y%@5^I ?~jt?~jt?!%<%= %A)%hAI%Ai%vA!%Ap>C̽i=@ ;@)@I$@i$@:M+=Y ;QU>AAaMDM DQy]=}]>Iae5?eܾ e&SA }?9e~Ce2; e;)aWWX XW:W2W!*W!V!bU)BU)*U)U)U5D.@Pa*QeAZQeZͯ7@2i{*@JQe? p?2Qej?:QabQe9"2@aoP!4lRQef?rH~Δ`*BQe:C@ Qe QeAPe09?Pe<9?Pe QeQe>@"QeǓBBXZB BA*BAT@AAA<"C*RC>CC6I)ww ,:YO1yP:59@בIG>m <>9i Im RGim s@i i i m ; m җE\>saq,ȚͅEAY}%@}%NŞ@y}%={<}%㯼}%H@s?v?`/? ?`6y c%?)~%@ ~%`;I~%–Cɫ) IY5^@y5VGTNmea in: $SNTTA,0.035917,,,,010215.09*47 'Mo=YǦ;QU?aD!Dy9=}?I5?%ܾ KSA ?9~C: :)mAdded new target pos. range: 27.119997 m, bearing: 312.015991 deg, deltaT: 4.552062 s, approachRate: -186.284821 m/s, LOS rate: 11.710296 deg/s, posRepo size: 4mProNav REINIT: LOS rate is 11.710296 deg/s. Setting heading cmd to target bearing of 312.015991deg and heading rate command to 0 deg/s.W:C@WX XW:W2W*WVbUBU*UU ;@U`?BU+BQ BQAU~ *BQA]+AYAYA]S<"CFȿRC^>C:C@CƂשIG>Vyaq,*EAY}2?V@}2c@y}2ph<}2H<}2H?r?J-?yՌ?`?)~2?V@ ~2#b;I~2ĖCɫ99)9 =I9Y} @y}#VG=i=EռMEW=YEW;QUM>IIaMDM,!DQyU"P=}]>IY e:]5? m:]Fݾ ]uSA m?9](C]R: ]:)]::uAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;vZEntering USBL mode with 5.000000 count pings.1;q;WWX XW:W2W*WVbUBU*UUUD3?BL\+B BA *BAruAAA|<"CͿRC >CC5)IIGm5> ~*:YWU1y:65>aq,EAY}2@}2@y}2*<}2kVy=}2H /?9?`.@Ҭa?䡿 䒿$?@o?)~2@ ~2?b;I~0ɫYY)Y ]IYY&@yBVGM`e=M7 >MףiM@I M)M@IMЎ@iM@]^;M]H=YeS;QUe>aiamDmF!DiyuIy} "5?}Oݾ }SA ?9}pC}4: }:)yX@q;uCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:uAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLWWX XW:W2W*WVbUBU*UUUg?BMBQ BQAU; *BQAUAQAYA]C<"CeѿRCaCaCiօIUAIQGi<<9I`QGi-@; ԗE޵=i޵a=haq,vEAɫyy)y }IyY@yVGU7MUK=Y]QU]>YaaeDe_!Daym}m>Iq }:uh)5? }:u+ݾ uSA }?9uCu: uI:)u:WWX XW:W2W*WVbUBU*UUU` ?B'B BAc *BA AAA˼<"C.ѿ*C׭RCCC0(שIG!>xx *:Y7P1y:5aq,04EAY}ec@}esq@y}e<}e=}eH??%D=@?w﫿`@US??)~ec@ ~eza;I~aɫyy)y }IyYt@yhUGI)A rh?l¿+?C ? =)Iy~jt?Zd;O/$?$?j,= ­A)­ AI­;Ai©GA)ý= ý=ÅÅ=Å~>iÅ@Á ā)ąZ@Ią$@ią$@\M+=Yp;QU>aD~!Dyھ=}>Iȱŵ05?ŵ/ݾ ƵTA ?9ƵCǵ: ȵD:)ȱWWX XW:W2W*WVbUBU*UUUx?B'B! B!A%*B!A-vA)A)A-퟾<"C5οRC1C1C9pܽIGj> ;>9 I OGi @ ; ؗEzaq,9NEAY}2p"@}2+0@y}2<}2X=}2H@M?S?Dۺ` c?g`` w? B?)~2p"@ ~2-`;I~0ɫII)I MIIY} @y}TG w&M}=YQU ?!!a%D%!D)y-=}- ?I1 =:5565? =:5:ݾ 5$TA E?95C5: 5:)5:WaWaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqU}`l@BKEB BA$*BA4AAA <"CU˿RCQCQCQMs͌!I9Ge3>Iޱ)ޱzz J+:YQ1y:n5)7;90aq,xhEAY}2cѪ@}2ߢ@y}2<}2=}2Hಓ?? ˞LeG?kQ?@?)~2cѪ@ ~2_;I~2Cɫ99)9 =I9Yuj@y} TGyɮ}p=GMM=YqQU>aD!Dy[=}>I  P=5? Hݾ PTA ?9 >C : :) W9W9X9 X9W9:WA2WA*WAVAbUABUI*UIUIUM@՝@R]B*** querying acoustic contact ***PYP]B}9By BA*BA~SAAAm<"C!ÿRCCC֕8Ƽ׉IG >aq,MEAY}2R@}2``@y}2#љ<}2=}2H;?`(g? QT`b>?`9P? I?)~2R@ ~2ԧ^;I~2ĖCɫ99)9 =I9Y}@y}SGZ****** received transponder code query ******F****** received ping request ******aD!D y=}>I :yE5? %:}Wݾ TA %?9bCw: :):WAWIXI XIWI:WI2WQ*WQVQbUQBUQ*UYUYU]) @B8B BAy*BAvAAA<"C {RCd>CC)9qIu@NGiu@qqqu; u՗EסIGB> ~~ a4:YT1y@:5);aq,(EAY}2v@}21@y}2ћ<}2=}2H ]? 9Y??66v?|@y@??)~2v@ ~2"!^;I~2ŖCɫYY)Y ]IYY֫@yiSGxDUSBL response received:!U1,P DC3,000,00435,189,80,80,B6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I4=)%=YM[=Y- *:QU->AAaMDM!Dayu<}>I  %M5? )eݾ TA M?9 C Q< <) WWX XW:W2W*WVbUBU*UUU` @BI8B! B!A%*B!A-*ՍA)A)A-v<"C5>RC5=C1C9%=IGMs>޵=i޵=aq,_ EAY}}:@}}@y}}R<}}=}}H?@`? r` ף;)Iy!rh?~jtl'?D A) AI™i;AA}q?}>}i}@y }ף@)}l@I}i}@oM(=YQU>aD!Dy;}>IȩŭV5?ŭtݾ ƭTA ?9ƭCǭ: ȭ:)ȩWWX XW:W 2W *W VbUBU*UU!U%@@B=xFB=z'= BAAE &*BAAE=AAAAAEZ<"CUlRCuͺ;CyCyu'>yy 4-:YP1y':59@QIaG>e @>9a Ie MGie @e &=a a e ; e ܗE)Ii 5ȳaq, φEAY}6ۋ@}6@y}6x<}6]t_=}6H`?p?`'k@w?``?`?)~6ۋ@ ~6<^;I~6–CɫYY)Y ]IYY@yQGxDUSBL response received:!U1,R,CCC,000,0042C,188,80,80,98,FF Fpublishing direction and range info07?ɰ=鰥> )CIyA6&?*M=YQU?aD"Dyߝ}?I :]5? :ݾ TA ?9ĀC: #:):WWX! X!W!:W!2W!*W)V)bU)BU)*U)U1U5A@RE(Combining 5 samples.PA*QEAZQEPh4@ٳ$p1@JQE6&?*@B5sB9 B9A=(*B9A=ݬAAAAAEu<"CMARCuCqCy֭.>aIqG9> ̘> $Ci dnGI i E ٺA E A8aq,eEAY}ve@}vs@y}vZe<}v<}vH?6?`ş?×\?E?)~ve@ ~vQ^;I~vCɫ) IY 0@ybQGTNmea in: $SNTTA,0.043682,,,,010219.54*41 鿙 dɼM+=YѭQU%>))a-D-2"D1y5u}5>I9=f5?=ݾ =tTA M?9=C=; =;)9muAdded new target pos. range: 26.580002 m, bearing: 333.863991 deg, deltaT: 4.316492 s, approachRate: -0.125100 m/s, LOS rate: 5.061517 deg/s, posRepo size: 4m ProNav: pos range: 26.580002 m, bearing: 333.863991 deg, approachRate: -0.125100 m/s, LOS rate: 5.061517 deg/s, cmd update: 12.000000 deg/s, cmd heading: 312.015991 deg, new cmd heading: 312.015991 deg. Wlj@WX! X!W!:W!2W)*W)V)bU)BU1*U1U5{:@U5 ?B#BB BA+*BA(ûAAA <"CyRCUClj@CIީ)ޭ@Azz -:YQ1y:5.[>׉IG>aq,EAY}6!@}6/@y}6j:F<}6ȵ}6H)?V?`1?@ +?V%LjXsO?)~6!@ ~6`^;I~6ÖCɫ99)9 =IAY~@yPGu5~?u~j?u>iu@q u @)uЎ@Iu@iu @{Mh=Y=QU>aDH"Dy}}>Iȡ :ťm5? :ťݾ ƥiTA ?9ƥ Cǥ: ȥ:)ȥ:WM`@WQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUex?Bd_tB BA~1*BAһAAAVq<"CRC C`@C< B>9 I KGi j@ '=   ; ڗES^>שIG>:aq,OvEAY}6@}6@@y}6,<}6%:}6HS??[? U?{?`\Y ?)~6@ ~6L_;I~6Cɫ99)9 =I9Yu%@y}PGi=hAiAUMS=Y@QU>  a D a"Dy}>I'u5?`ݾ _TA -?9*Cܹ: n:)WMm@WIXI XIWQ:WQ2WQ*WQVYbUYBUY*UYUYUe _t?B.oB BAE4*BAAAA<"CpRCCm@Cэ"=ECT>!IAGe4> -:Yy5Z1aq,U7EAY} @} )@y} pe!<} ,} HA?t??58?mU?,s@?)~ @ ~ }a;I~ ÖCɫ) IY-@y-OGI=)=%p= ף?~jtaD"Dy X} >I :~5? :ݾ TA ?9TCD: M:):WEސ@WAXA XAWA:WI2WI*WIVIbUIBUQ*UQUQUU@5?By]B BA7*BAAAA<"CДWRCCސ@Cѕe(=u4#>}?i}z?޵=i޵p=aIqG> 9 uCI JGi Ȥ@    ;  ֗Eaq,&QEAɫ髙) IY@yNG} pM}f=Y}QU}>aD"Dy}>Ișŝs5?ŝݾ ƝTA ?9ƝtCǝQ: ȝ:)șW@WX XW:W2W*WVbUBU*UUU Y@BE|BA BIAM.=*BIAUAQAQAU<"CeDRCaCe@Ciyy)y y  C:Yyn5):;9L=IG>Aaq,ykEAɫ髙) IY@yNNGIa)eA)Õ= Õ=UͼM]==YiQUm>yaD"Dy}>Iș :ŝ5? :ŝݾ ƝTA ?9ƝCǝ; ȝe;)ȝ:W @W X  X W :W2W*WVbUBU*UUU@BpB BA?*BAuAAA<"C<,RCC@C֝i=yIG]>(aq,݄EAY}2}@}28@y}22r;}2{"}2H?=?@~!?@n?`??Rn9Ŀ ?)~2}@ ~2R`;I~2Cɫ99)9 9I9Yi@yMGa=ɮa= %b>%O ?%ƾi%@! %@)%@I%Ў@i!5M5_=Y5QU=>99a=D="DAyE^ }M>IIMG5?Mݾ M$UA ]?9MCM: Mo:)IW}3L@WyX XW:W2W*WVbUBU*UUU"@RB*** querying acoustic contact ***PPBVpB BA(B*BA%AAA^<"CRCC3L@C֭٩٭gAܱ9ܱIܵIGiܵ%@ܵ$=ܱܱܵ; ݵӗEIޱ)޵BA|| /:YR1yi:5);JSaq,EAY}2 @}2@y}2:}2 ,}2Hfd?V7??m&?uݧ?@6Ygſࠌ?)~2 @ ~2o`;I~2ĖCɫ99)9 =I9Y}@y}LGZ****** received transponder code query ******F****** received ping request ******aD"Dy}>I  B5? |ݾ [UA ?9 C M< h<) W$@WX XW:W!2W!*W!V!bU)BU)*U)UIUU`@! @B}W[By ByA}H*ByA&$AAA /<"C|RCC$@C֥೼ׁIG=>aq,EAY}J9@}Jß@y}J1/:}J^,}JH ףp=?I +?{Gz?1?9<ף< C A)'AIVAiAAeiAehAýCýZdýC >iý@ù Ľ|@)ĽIĽG@iĽG@M=Y yźQU >11a=D=#DIyut}u>{{ 0:Y#R1y:59@Iȁ :Ņ5? :Ņ8 ޾ ƅUA  ?9ƅCDž< ȅ5<)ȅ:W-@W)X) X)W1:W12W1*W1V1bU9BU9*U9U9UE@B)wjB BA_J*BAE2AAAY<"CǾRCC@Cֽ (׵ס ܵ A>9ܱ Iܵ ,IGiܵ @ܵ #=ܱ ܱ ܵ ; ݵ ؗEI G >daq,l҇EAY}B@}B@y}Bv:}Bk!}BHS?k?f?`?@ST?N@;Ŀ-?)~B@ ~BiO_;I~BĖCɫYY)Y ]IYY&@ykLGAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IM=)M%=M=Y:QU,?aD#Dy<ʼ}3?IT5?r޾ UA ?9*C-; ;)W v<W X XW:W2W*WVbUBU*UUU`Z@B}B  B A 9L*B A9AAAf<"CRCCv<C!eIGI>޵=i޵= aq,^IEAY}:C@}:@y}:Ņ:}: }:H T?*??@ .?!? P`3@?)~:C@ ~:^;I~:–Cɫ99)9 =IAY}@y}4LGxDUSBL response received:!U1,R,DFC,000,00429,187,80,80,63,FF Fpublishing direction and range info>ɰ}=鰅1> )BIy3A\$Qi?2T?ٱUGjM]W=YekX9QUm>yaD1#Dyr8}>I :5? :"޾ UA ?9NCb: :) :W8=WX XW:W2W*WVbUBU*UUUm@R(Combining 5 samples.P*Q3AZQ$_7@E_&@JQ\$Qi?2T?2Q>:QbQKe1@E3Q>RQ0n?{jBQݭ@ Q^Q*AP39?PB9?PQQg@"Q^@B%BA BAAEM*BAbYDAAA3<"CRCC8=Cօ!,aIqG`>xx 1:Y7P1y:5ybq,0EAY}@}ȟ@y}S9:}PϽ}Ht?@)? %? ?@=?)GY``?)~@ ~^;I~ÖCɫ) IYm@ym0LGDNmea in: $SNTTA,,,,,010223.99*5C I)5945V?5i5̌@1 5@)5|@I5@i5|@EbME5=YE:QUM>IIaMDUM#DQyU<<}]>IY]@5?]P2޾ ]UA m?9]sC]j: ]?:)YmyAdded new target pos. range: 26.399998 m, bearing: 311.306963 deg, deltaT: 4.495137 s, approachRate: -0.040044 m/s, LOS rate: -5.018096 deg/s, posRepo size: 4m ProNav: pos range: 26.399998 m, bearing: 311.306963 deg, approachRate: -0.040044 m/s, LOS rate: -5.018096 deg/s, cmd update: -12.000000 deg/s, cmd heading: 5.909230 deg, new cmd heading: 10.804498 deg. E9IIMHGiM1@M"=IIM; I)uCIuCi჉$=5W<<WX XW:W2W*WVbUBU*UU@ff:@UƼ?BLjB! B!A%M*B!A%OA)A)A-~<"C5$RC1C5<<C1 Յ>ԅ>u_Iy)y1IAG]v>bq,EAY}2C@}2"@y}2_:}2P}2H@j? q?`2^?b? Ӑ?J_ ;?)~2C@ ~2h^;I~2–Cɫ99)9 =I9Y}H@y}ZKG EnM`=Y~:QU>!!a%D%d#D)y-D<}->Iȉ :ōL5? :ōG@޾ ƍUA ?9ƍCǍ: ȍo:)ȍ!:W6 @WX XW:W2W*WVbUBU*UUU?B=QiYBQ BiAm*SIq*BqiAXAAA8<ٺA"CҽRCC6 @CDI GEQ>I޹)޽@A{{ ,:Y#R1y:5- bq,9EAY}2\@}2@y}2&K;}2}2HHL??N?`HK?7z?d`R`?)~2\@ ~2_;I~0ɫ99)9 =I9Y}@y}KGu(\?:v? ut<)qIqyu?Mb?Mbu ?u=u uM A)uhAIu AiupAquA5ʡ=5O5"=i5=@1 5^@)5^@I5^@i5^@E4<ME9=YEB9QUM>IIaUDU#DQy]q=}]>Iae>5?eN޾ eUA m?9eCee: e:)aW<@WX XW:W2W*WVbUBU*UUU J?B7B BAO*BALOdAAAq7<"ChnRCC<@CƂIGj>M C>9I IM GGiM =@M %=I I M ; M ڗE bq,SEAY}2@}2$@y}2Z:}24<}2H U?NW? ͦ|WCU?`nU??)~2@ ~2_;I~0ɫ99)9 =I9YP@ycKGMV=Y_QU>aD#Dy6=}>Iȱŵ5?ŵ [޾ ƵUA ?9ƵւCǵ: ȵn:)ȱW@WX XW:W2W*WVbUiBUi*UqUqUu?BںB BAR*BA)oAAA&<"CJRCC@ChAFӅ?i?I)GMt>5 115 5?:Y1y155)5;9=Bbq,qmEAY}:X@}:̡@y}:#:}:27=}:H?`?戥@ @%?``|A??)~:X@ ~:w_;I~:Cɫaa)i mIqYE@yUKGIeC=)e4=>>ߏi׋@ |@)@I|@iVME=YUQU>aD#Dy#J=}>I  :5?  :h޾ UA ?9C: :)":W5@W1X1 X1W9:W92W9*W9V9bUABUA*UAUAUM@BhB BAHS*BA#yAAAC<"C: *C^ðRCC@CֹיIGc>s!bq,rEAY}2a@}2no@y}2$;"}2eW=}2H? ?B ó?ddG$??@$?)~2a@ ~2 _;I~2Cɫ99)9 =I9YuL@y}^KG;M[=YMQU>aD#D y Z=} >I5?t޾ UA ?9C: Y:)W&K@WX XW:W2W*WVbUBU*UUU!@BLVB BA S*BA+AAA$<"C HQRCC&K@CjAE>9IpFGiJ@&=; ԗEi9IaGZ>55w5w5 50:Y5O1y5P:55)5 ;+'bq,VGEAY}6# @}6@y}6FT}6,=}6H I??з`?Ϣ@ÈJ?@??)~6# @ ~6_;I~6ÖCɫ99)9 =I9Y}@y}JG鮁ɮp=KMP=YۺQU>aD#DyU=}>Iȹ :Ž5? :Ž޾ ƽUA ?9ƽ5Cǽ: Ƚ:)Ƚ#:WĹ@WX XW:W2W*WVbUBU*UUU` %@R B*** querying acoustic contact ***P P B-VmB) B1A5X*B1A5bA9A9A=<"CELjRCACEĹ@CA U>U=M?΅II)I)IIGe4>N.bq,"EAY}6⾫@}6̣@y}6%]}6=}6HK?`H4?d&?⦥`c?Gϼ??)~6⾫@ ~6_;I~6–Cɫ99)9 =I9Yf@yDJGZ****** received transponder code query ******F****** received ping request ******O =)Iyףp= ?õy?õ9=iõ@ñ ĵ@)ĵ$@Iĵiĵ@'M,=YYQU>aD$Dy==}>I5?޾ UA M?9[C< <)Wm߂@WiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUyU} @B B BA:Z*BA8AAAQ<"CE|3,RCICM߂@CIuFӅ5i5z5z5 5':Y5Q1y5:559=@QIYGu> 9 I DEGi V@ %= D u; ΗE(5bq,ԈEAY}:͆@}:@y}:Hv}:_)=}:H?@?@?@䦿r? }? ?)~:͆@ ~:^;I~8ɫ99)A AIAY}E@y}JGxDUSBL response received:!U1,P DFC,000,00429,187,80,80,63,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }8Mb=YǻQU>aD$DyJ=}>I  =: T5? E: ޾ VA M?9 xC  P< <) $:WA@WX X W:W2W*WV!bU!BUI*UQUQU]59 @B%B! B)A-D[*B)A-哼A)A)A-O<"C54RC9C=A@C9}?΅QIYGq,;bq,EAY}>4d@}>q@y}>軙}>=}>HH? x?i`_`t?(}?C??)~>4d@ ~>#^;I~>Cɫ髹) IY @yIG?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B QiU=&{?µ>iz@ @)G@Ii(@}M@=Y!ûQU>!!a%D%5$D)y-=}->I155?5޾ 5KVA E?95C5: 5:)1WeR@WaXa XaWa:W2W*WVbUBU*UUUh!@BSB BA]*BA 1A A A <"CJRCCR@CIMiA=I)GMt>miim  m/:Yiyim50Bbq,EAY}2=@}2K@y}2}2H >}2H@?@: ?`fQ t? =?.?`z?)~2=@ ~2^;I~2–Cɫ99)9 =I9Y}B@y}HGxDUSBL response received:!U1,R,D2F,000,0042A,189,80,80,92,FF Fpublishing direction and range info!?ɰ=鰅7> )CIyA+F8C?y.?ٱIp=)=5OM=Z=Y=[ӻQU=>AAaEDEM$DIyMA=}M>Iq }:u 5? }:u޾ uVA ?9uCu: ub:)u%:W@WX XW:W2W*WVbUBU*UUU@R(Combining 5 samples.P *Q AZQ VbFd5@n5y4$/@JQ +F8C?y.?2Q !?:Q bQ 8u7@l*u'DcZ@RQ v~Uˌ?Ab{^ܿG2?BQ qN@ Q ;Q ۼAP G9?P 39?P  Q Q @"Q g@B} By ByA^c*BAូAAA<ٕ<ٕ=ܝD>9ܙIܝ|DGiܝ@ܝ#=ܙܙܝx; ݝїE"C4ҾRCC@C?΅׹IGi>޽=i޽=CHbq,"EAY}r @}r@y}rn=}r!>}rHy1?Š? y?  ?O? 5?)~r @ ~r>_;I~pɫ) IY @y @IGmDNmea in: $SNTTA,,,,,010228.42*51 .<MA=YQU>aDh$Dyo=}>I5?޾ VA ?9؃CǺ: 8:)mqAdded new target pos. range: 26.460001 m, bearing: 333.580347 deg, deltaT: 4.417969 s, approachRate: 0.013582 m/s, LOS rate: 5.041544 deg/s, posRepo size: 4m ProNav: pos range: 26.460001 m, bearing: 333.580347 deg, approachRate: 0.013582 m/s, LOS rate: 5.041544 deg/s, cmd update: 12.000000 deg/s, cmd heading: 312.893804 deg, new cmd heading: 307.906352 deg. Wԉ@WX XW:W2W*WVbUBU*UU%u:@U%`C?BƨB BA`*BAeAAA<"CNRCCԉ@CƂIGU>xx G/:Y7P1y:5tgNbq,Mj}2H5?B? Nz?@?^??)~2ッ@ ~2^;I~0ɫII)I UIQY} @y}HGuV-?{Gz~jt?u ?u# u=)qIqyuZd;?J +u?uHu u!A)u" AIuAiuAquA5>5>5>i5@1 5(@)1I5G@i5G@E#MEC=YEQUM>IIaUDU$DQy]X=}]>IaeS 5?e޾ eVA m?9eCe: e:)aW'X@WX XW:W2W*WVbUBU*UUU`V}?B谽B BAe*BAtAAA^<"CmRCC'X@C =?΅I)yIG^>ܕ F>9ܑ Iܕ CGiܕ @ܕ $=ܑ ܑ ܕ ; ݕ חE)!I!i!%%=%$=% k5ZOUbq,EVEAY}B@}Bُ@y}B}B; >}BH`.? ?z0=?}Ò?o?/?)~B@ ~BD^;I~BCɫYY)Y eIaY@yHG !!UM][=Y]a)QU]>aaaeDe$DaymW=}m>Iq }:uU)5? }:u}޾ uVA }?9uCu(: uV:)u&:Wٶ@WX XW:W2W*WVbUBU*UUU9?BB BAuh*BAPAAAI<"C4RCCٶ@C%FӅI G5O>Iޱ)޵AACiaIiyٺAyy 2:YP1y':5);9 ~[bq,3pEAY}W@}e@y}7ۻ}>}H@ΐ?@Zg? 6y?z? f?`H?)~W@ ~D1^;I~ɫ) IY-@y-HGtE>K7i@ )@I(@i(@sM@=Y1QU>aD$Dyp{=}>I  45? ޾ VA ?9 9C : @:) W=@W9X9 X9W9:WA2WA*WAVIbUIBUI*UIUIUU }?B%#B! B)A-h*B)A-ⶼA)A)A5w<"C5g!RC9C=@CYQ)I9GUv>Babbq,jEAɫyy)y yIyY@yGG]'M]U=Y]QUe>aaaeDe$Diym}m>Iq }:u=5? :uS޾ uVA ?9uXCu: u:)u':WD@WX XW:W2W*WVbUBU*UUU@@BB BAgo*BA.AAA*q<"C "*CbRCCD@C  15hA=G>99I=BGi=@999=; =ۗEam?im?!IIGuW>}} .:YkS1yԊ:[5)b;`hbq,֣EAY}2@}2~&@y}2c+}2U">}2H?@S?@i¿?`ͱ*d?8?;?)~2@ ~2];I~0ɫ99)9 9IAY]@y]/GGI=).=<MQ=YQU>aD$D y W>} >IH5?޾ VA %?9wC: ӻ:)WE@WAXA XAWI:WI2WI*WIVIbUQBUQ*UQUYU]@=6@BB BA?n*BA}¼AAA1<"CRCC@C)IiG_>޹i޽p=}nbq,EAY}6۳@}6m@y}6> }6">}6H`?#?`¿~D??(E? ?)~6۳@ ~6^;I~6ÖCɫ99)9 =I9Y!@yxGG鮡ɮ=bX9?ÝZ>iÝQ@Ù ĝ(@)ĝ(@Ięię<M@=YQU>aD%Dy^d=}>I :V5? : ߾ /WA ?9C: E:)(:Wu@WqXq XqWy:Wy2Wy*WyVybUBU*UUU @RB*** querying acoustic contact ***PPB-B) B)A-el*B)A5[ɼA1A1A5v<"C=]RC9C=@CA=?΅I)GUu>xx 1:Y7P1y:659@5 H>95 vCI5 #BGi5 ̝@1 1 1 5 ; 5 ؗEubq,׉EAY}R@}R@y}R}R)>}RH \)?l?K¿p? @3?? ?)~R@ ~Rq^;I~R–Cɫqq)q }IyYd@yFGZ****** received transponder code query ******F****** received ping request ******aD%Dy_=}>IQUTe5?U߾ UtWA ]?9UÄCU: U:)QW@WX XW:W2W*WVbUBU*UUU_ @BE1=BI BIAMKr*BIAM2мAQAQAUu<"C]RCYC}@C Չԉ֍FӅiIqG>w{bq,xEAY}RK@}RY@y}R4}R.>}RHD??g%¿!Z&?7@ґ?? ?)~RK@ ~R7^;I~Pɫqq)q uIqYo@yFGxDUSBL response received:!U1,P D2F,000,0042A,189,80,80,92,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }C =}=}Ļi} @y }@)yI}@i}@F;M6=Y=QU>AAaMDM9%DQyeK=}e>Iq :ut5? :u)߾ uWA ?9uCu< uC<)u):W=@WAXA XAWA:WA2WA*WIVIbUIBUI*UQUQUU`J @BB BAq*BAּAAA ="CѾRCC@C?΅IAA)@A׉IG>% % z% z%  % .:Y% Q1y% :% 5cbq,C EAY}:@}:A@y}:T%K}:)>}:HI?s? C¿`@qA?@`b?? r?)~:@ ~:6<^;I~8ɫ99)9 9I9Y}Y@y}FGAA@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B uM}f=Y}}QU}>aDP%Dy,=}?Iȱŵ5?ŵS4߾ ƵXA ?9Ƶ Cǵ?: ȵ*:)ȱ4=I>9IAGiz@#=; ݗEW%r<W!X! X!W!:W!2W)*W)V)bUYBUY*UYUYUes4@BjʽB BAr*BA ۼAAAg="CRCCr<CFӅIGj>yوbq,%EAɫ髙) IY)@yGFGxDUSBL response received:!U1,R,CBD,000,00423,189,80,80,A3,FF Fpublishing direction and range infoq:?ɰ= )#CIyQAF׈?1\ N?ٱi=hA vM Q=YQU>aDi%D!y%}%>I)-5?-Z@߾ -PXA 5?9--C-Y: -:))W={ =W9X9 X9WA:WA2WA*WAVAbUIBUI*UiUqUuP@R(Combining 5 samples.P*QQAZQGgem3@f?V1@JQF׈?1\ N?2Qq:?:QbQ 9@dQX+,؝# @RQ|? ^{/J?BQc@ Q"=Q APP9?PG9?PQ QA"Q@BYB BA%t*BAlAAA;="CڀRC)C-{ =C)9=hAI9IQG}z>= = u= u=  = B:Y= KN1y= y:= I5bq,?EAɫ) IYM@yUFGDNmea in: $SNTTA,,,,,010232.88*5C IC=)%= ףp= ?ˡE?S㥛?Q?'= /<)Iyw/?V-?&?Lm= &A)x AIAiAzAC  ?TaD%Dy}>I! -:%5? -:%*N߾ %XA 5?9%TC%#: %:)%*:muAdded new target pos. range: 26.039999 m, bearing: 353.423030 deg, deltaT: 4.459581 s, approachRate: -0.094180 m/s, LOS rate: 4.449450 deg/s, posRepo size: 4m- ProNav: pos range: 26.039999 m, bearing: 353.423030 deg, approachRate: -0.094180 m/s, LOS rate: 4.449450 deg/s, cmd update: 12.000000 deg/s, cmd heading: 6.408081 deg, new cmd heading: 11.934693 deg. W-LU>W1X1 X1W1:W12W1*W9V9bU9BUA*UAUE`= :@UE?BB BAu*BAѭAAA="CRCCLU>C=i ?΅J>9Ii; EIG >bq,dXEAY}6ܸ@}6P@y}6}6">}6H`D?]i?`ÿ P}?IJ5?fW߾ jYA %?9pC^: :)WEꥌ>WAXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU] Ϯ?BdڽB BAu*BAiAAAJ="C{RCCꥌ>CyYIaG}8>  z z  /:Y Q1y : 5) 6;9 bq,rEAY}:ι@}:ܱ@y}:z}:$>}:H aD%Dy=}>I :[5? :b߾  ZA ?9C0: :)+:W h>W X  XW:W2W*WVbUBU*U!U!U% n2?BUp½BQ BQAUv*BQA]!.AYAYA]="CeRCaCeh>Ca qu>ցaIiGZ>5bq,EAY}6@}6c@y}6/}6\>}6Hy??@iÿ@o~u? H±? ?I?)~6@ ~6_;I~6CɫYY)Y ]IYYԠ@yEG 5'M5Q=Y=QQU=>9AaEDE%DAyM=}M>qq܁9܁I܁i܁܁܁܁܅; ݅ݗE)vCIvCi#=#=b4IAEy5?Em߾ EZA M?9ECED: E:)AWuJ>WqXq XqWq:Wq2Wy*WyVybUyBUy*UUU}?BiƽB BAv*BAAAA="C]=RCCJ>CFӅIGj>I@A)  { { Y I:Y #R1y : 5) T;'bq,fEAiFnGIPi\vhٺtvAY}E@}E@y}EՕ}E>}EH@?p? ¿|^?m?@;?P?)~E@ ~E^;I~E–Cɫ) IYU@yUEG5M5;=Y5X QU5>99a=D=%DAyE4q=}E>IQ ]:U5? ]:Uw߾ UP[A ]?9U؅CU: U:)U,:W4g ?WX XW:W2W*WVbUBU*UUU-@BLʽB BAw*BAkAAAi="C+.>RCC4g ?C?΅יIGb>bq,tAEAY}2S@}2`@y}2)}2->}2H x?`?`@7?o???)~2S@ ~2Y_;I~0ɫ99)9 =I9Yw@ylEGi=?q= ףp(\µ? ? =)Iysh|??MbP?~jt?)?:<  &A)| AI Ai!AAÍ>ÍX>ÍE=iÍ=@É č(@)č@Ič(@ičG@덼MD=YQU>aD&Dyu=}>IȹŽ 5?Ž4߾ ƽ[A ?9ƽCǽ@: Ƚ:)ȹW7?WX XW:W2W*WVbUBU*UUU ك@B%+˽B) B)A-y*B)A-cnA)A1A5+="C5m>RC9C=7?C9IMiA=FӅE?iEj?IG%n>}K>9yI}#BGi}̝@yyy}; }E  y y  N2:Y P1y ': 5) G;9bq,ڊEAY}:@}:+@y}:}:j=}:H?=>?]Βr?@r ?߾?6?)~:@ ~:,^;I~:Cɫ99)9 =I9Y}@y}zEG鮁ɮR=I)=;Mq=Y\4QU?aD&Dy=}?IȹŽY5?Ž߾ ƽ<\A ?9ƽCǽ÷: Ƚ:)ȹW1?WX XW:W2W*WqVqbUqBUy*UyUyU}`[@RB*** querying acoustic contact ***PPBhֽB BA[y*BAMAAA="C>RCC1?C?΅IGI>cbq,EAY}2@}2>@y}2<}2-H=}2Hh??v!@}? ~ a?`پ?w?)~2@ ~2^;I~2CɫYY)Y ]IYY@yFGZ****** received transponder code query ******F****** received ping request ******i̔@ @)I^@i^@ =M%4=Y%"ĻQU%>))a-D-:&D1y5p=}5>I9 E:=)5? E:= ߾ =\A M?9=>C=: =:)=-:WmBJ?WiXq XqWq:Wq2Wq*WyVybUyBUy*UyUU` @B3ɽB BAku*BA, AAAQ4="C,>RCCBJ?CֹיIGb> 2  7:Y y 59 @Kbq, EAY}2߾@}2P@y}2䋮}2*=}2H>??`@8? ʵ?4??)~2߾@ ~2$^;I~2CɫII)I MIIY}@y}9FGxDUSBL response received:!U1,P CBD,000,00423,189,80,80,A3,FF Command AckBRequesting micromodem ping code 2iI)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 "<M`=YfQU >)-<I9IIMBGiM@IIIM;aDS&D ME1yE=}E>I &5?߾ []A ?9bC'< <)W߫b?W!X! X!W):W)2W)*W1V1bU1BU9*U9U9UE  @BŽB BA~t*BA hAAA_="CA?RC C ߫b?C QU=iIq)qI IQ Gu >ubq,'EAY}2Fѿ@}2߷@y}2}22=}2Hc?@A?\PBt?J/`q ?aDl&Dy=}>Iș :ŝX75? :ŝ|߾ Ɲ]A ?9ƝCǝ: ȝs:)ȝ.:W|t?WX XW:W2W*WVbUBU*UUU@B dB BAs*BAkAAA="C?RC!C%|t?C!!IG J>E l E zE zE  E o<:YE Q1yE :E 5"^bq,ҊAEAY}22@}2ڸ@y}2c+}2>}2HaD&Dy=}>IK5?߾ ^A ?9CU: :)W2?WX XW:W2W*WVbUBU*UUU@RU(Combining 5 samples.PY*Q]AZQ]d7%@_6@JQ]Kc?wnL?2Q]O?:QYbQ]C4@J%,@CpKT@RQ]*?d?x[d?BQ]? Q]gAQ]AP]H9?P]P9?P]Q]Q] A"Q]ABDɽB BAr*BA[AAA="Cp/?RCC2?CױIG>L>9IPCGi@; Ejbq,o[EAY}n@}nع@y}n&,}nD>}nHU? +[?J`-ݿ`,_?㳿?@?@.?)~n@ ~nvM_;I~nCɫ) IY5@y5FGTNmea in: $SNTTA,0.063894,,,,010237.31*45 i=-5<M-R=Y5ͻQU5>11a=D=&D9yE=}E>II U:M]5? U:MU߾ M2_A U?9MņCM: M(:)M/:mqAdded new target pos. range: 25.199999 m, bearing: 35.555103 deg, deltaT: 4.471548 s, approachRate: -0.187854 m/s, LOS rate: 9.422255 deg/s, posRepo size: 4mVStarting intercept timer at range: 25.20 m.m ProNav: pos range: 25.199999 m, bearing: 35.555103 deg, approachRate: -0.187854 m/s, LOS rate: 9.422255 deg/s, cmd update: 12.000000 deg/s, cmd heading: 60.015083 deg, new cmd heading: 64.684115 deg. Wv?WX XW:W2W*WVbUBU*UU 339@U?B yսB BAqp*BAKAAA="C]C?RCCv?CיIGa>bq,:?uEAY}:@}:dպ@y}:ze}:->}:H? Á?|S¿hۿ`y?8÷?@? ^?)~:@ ~:^;I~8ɫ99)9 =I9Y}ġ@y}GGI=)=ÅtÅ ?Å=iÅ3@Á ą@)ą^@IāiąG@@<MU=YQU>aD&Dy=}>IȱŵKp5?ŵ߾ Ƶ_A ?9ƵCǵ: ȵ:)ȱWl͚?WX XW:W2W*WVbUBU*UUUg?B%)ֽB! B!A%Io*B!A-4A)A)A-="C5W?RC1C5l͚?C9%6ɅIG J>i=ww G/:YO1yP:5™bq,"EAY}2Ҽ@}2ʻ@y}2iĽ}2 ?>}2H`'? ?B¿`ٿ+-?@󦶿`券?^??)~2Ҽ@ ~26^;I~2CɫYY)Y ]IYY@yFGٹٽgAM>9ICGi@; E徻MS=YQU%>!!a%D%&D)y-=}->I1 =:55? E:5߾ 5`A E?95C5: 5:)50:Wr?WX XW:W2W*WVbUBU*UUU ?B}iҽBy ByA}o*ByAHdAAAQ4="Cm?RCCr?C?΅׹IGf>bq,'EAY}2ک@}2@y}2gɽ}2>}2H F??=#׿ ?ʵ"?2? ?)~2ک@ ~2^;I~2–CɫQQ)Q ]IYYv@yGG5p=M=H=Y=SQU=>AAaEDE&DIyMR=}M>IQU'5?U߾ U:aA ]?9U'CU: U:)QWQ"?WX XW:W2W*WVbUBU*UUU ?B} ӽB BAi*BA[ AAAD="C%,?RCCQ"?C  AE>aIׁ)ׁYIG>zz 0:YQ1y:5Gbq,‹EAɫqy)y }IyY/@yHG !!rh|?M?>̼ n>)Iy rh?{GzS㥛?C+?#/< ­"A)­M AI©i­#A(A =  W> =i @  @) @I @i @U=M<=Y%QU%>!!a%D- 'Dy}>Iȱ :ŵ֭5? :ŵH߾ ƵaA ?9ƵMCǵ: ȵ:)ȵ1:WeL?W!X! X)W):W)2W)*W)V)bU1BU1*U1U1U= @BʽB BAc*BA#AAAaG="C?RCCeL?CFӅܽN>9ܹIܽDGiܽ@ܹܹܹܽ; ݽE)YIYiYYY]4II))-?AG=>bq,܋EAY}2aj@}2x@y}2zν}2_=}2H ?? @Կ /?@ @!Ĺ?@ʼ? )?)~2aj@ ~2^;I~2Cɫ99)9 =I9Y}@y}HG=fM=Z=YEػQUE>AAaEDM!'DIyML>}U>IY]c5?]t߾ ]^bA e?9]lC]': ]:)YW?WX XW:W2W*WVbUBU*UUU :@BhݽB BAse*BAE'&AAA'\="CCݖ?RCC?C?΅ ioGIiIGI>-ٺ)-A=99=  =w2:Y9y9=5Wbq,EAY}2L@}2Z@y}2J=Ͻ}25=}2H a?U?nӿ@Av?r`Yܹ?@(??)~2L@ ~2^;I~0ɫ99)9 =I9Y}@y}dIG=i=S>7 >H=i@ G@)^@Ii^@a=MO=YwQU>aD:'Dy=}>I  5? ߾ bA ?9 C D: :) W=a?W9X9 X9W9:WA2WA*WAVAbUABUI*UIUIUM@R]B*** querying acoustic contact ***PYPYB@ҽB BA_*BA,(AAAa="C ߡ?RC C a?C ?i ?IGcq,aEA||Y}6/@}6=@y}6pϽ}6=}6HJ?`M?@Tѿ? @?@c??)~6/@ ~6G_;I~6CYYa9aIeEGie@aaae; eEɫ髙) IY@ywIGZ****** received transponder code query ******F****** received ping request ******;MmC=YmuQUm>qqauD}U'Dyy$=}>Iȉ :ō.5? :ō߾ ƍcA ?9ƍCǍ(; ȍ;)ȍ2:WY?WX XW:W2W*WVbUBU*UUU`l @BU?ʽB]= BYA]o_*BYA]M,AYAYAeW="Cx?RCCY?C֙qIG>5=i5=EEEE En1:YET1yE:E5)E;9M cq,|C*EAY}J |<}J@y}Jߔ̽}J =}JH??`@ ˿%!?@_?o?#?)~J |< ~J"_;I~Hɫyy)y }IyY@yIGxDUSBL response received:!U1,P AFD,000,00415,189,80,80,9E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 U<M]L=Yeb;QUu>yaDo'Dy >}>I|5?[߾ "dA ?9ԇCI; ;)W/x?WX X!W!:W)2W1*W9V9bUiBUi*UqUU@ن @BW^ĽB BA\*BA/AAAjF="C ?RC1C5/x?C1 qu=y Iׁ )ׁ Y Ia G >cq, DEAY}ROi=}R7@y}Riʽ}R=}RHYC?.?@ :ȿ@M?57? ??)~ROi= ~R9^;I~RCɫyy)y }IyYP@y(JG@A Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Iq)qK7A`?S㥫?I + ?/]= 9)Iy rh?Mb+?= A)" AIx Ai!AA=Q>i @ Ў@)Ў@IЎ@i@b<M3=Y1;QU>aD'Dy4=}>I  : 5? : ߾ dA ?9 C : :) 3:W=?W9XA XAWA:WA2WA*WIVIbUIBUI*UQUQUU(@B}By BAZ*BA2AAAj="C?RCC?C}6Ʌ9IAa9ewCIe8GGie@e"=aae; eݗEG}{>EEyEyE E2:YEP1yE':E5)E;$cq,R]EAY}N8=}Ny@y}NȽ}Nu=}NHn?+?@iuĿr?`׷`?$??)~N8= ~N^;I~LɫYY)Y ]IYY}@y}KGxDUSBL response received:!U1,R,C82,000,00407,189,80,80,74,FF Fpublishing direction and range infoG?ɰ=鰁 )BIyAOX޾?5?ٱ 鿡=Mt=Y ;QU?aD'Dy=}?I+5?_߾ ieA ?9C: I:)WD?WX XW:W2W*WVbUBU*UUU@R%(Combining 5 samples.P!*Q%AZQ%>eP1@x|SI{"1@JQ%OX޾?5?2Q%G?:Q!bQ%13@($,@/*) @RQ%|dB?vy~|?[?BQ%? Q%$aAQ%}AP%M9?P%H9?P%Q%Q% A"Q% AB}ֽBy ByA}T*ByAI4AAA="C?RCCD?Cѝ$=֕FӅI5AA)5AAבIG% >NRcq,wEAY}~Y=}~@y}~ǽ}~=}~HZ?`?d@T? , R?}? B?)~~Y= ~~v^;I~|ɫ) IY-@y-YLGTNmea in: $SNTTA,0.037510,,,,010241.77*46  >=Ti@ @)@Ii@Mi=MM5=YMk:QUM>QQaUDU'DYy]4=}]>Ia m:eD5? m:e߾ e%fA u?9e=Ce^: eI:)e4:mqAdded new target pos. range: 24.359999 m, bearing: 35.729382 deg, deltaT: 4.404511 s, approachRate: -0.190714 m/s, LOS rate: 0.039568 deg/s, posRepo size: 4m ProNav: pos range: 24.359999 m, bearing: 35.729382 deg, approachRate: -0.190714 m/s, LOS rate: 0.039568 deg/s, cmd update: 0.118705 deg/s, cmd heading: 112.921356 deg, new cmd heading: 118.059949 deg. Wa?WX XW:W2W*WVbUBU*UU(\8@U0D?Bn˽B BAL*BAN7AAAa="C?RCCa?Cѝ2g=֭?΅==|=|= =3:Y=R1y=i:=59M@סIG>7$cq,ɰEA|~hAO>9IHGi@; Eɫ髙) IY9@yLGn-<MU=YQU>aD'Dy}>I3Z5?a߾ fA ?9^C ; 2;)WX}?WX XW:W2W*WVbUBU*UUU t?BYνB BAK*BA%9A!A!A-K="C-?RC1C5X}?C199)A A ׹ I G >.`*cq,ӄEA||Y}B;>}B@y}Biɽ}B*N=}BHH?@?q亿?`M"?@ʐ?@?)~B;> ~B^;I~BCɫYY)Y ]IYY@yLGI4=)%=<MH=YQU>aD%'DIyU>}U>IY]zq5?]߾ ]vgA e?9]C]: ]:)YW?WX XW:W2W*WVbUBU*UUU`?B=AͽBA BAAEI*BAAm<AiAiAmȖ="C}?RCC?C5FӅI1i1E EvEvE ED:YEN1yE:E5GU>H1cq,`ŌEAɫyy)y }IyY@y\MGS?Mby&1?? `e<)IyS㥛?Mb~jtx?$&?; dA)x AI Ai9 AGA-j-Y=-ƽi)) ))-Ў@I-@i)=<M=D=Y=QUE>AAaEDE (DIyM}U>IQ ]:UR5? e:U߾ UgA e?9UCU~: U:)U5:W?WX XW:W2W*WVbUBU*UUU?BнB BAF*BA?AAAe="Cɿ?RCC?C >?΅I)IP>9IIGiԣ@; EGn>Cr7cq,q;ߌEAY}6Iy>}6@y}6ɽ}6_=}6Hw?@`;zs-? PE?@Q@?`?)~6Iy> ~6 ^;I~6CɫYY)Y ]IYY@yNG5Q=M=\=Y=:QU=>AAaEDE#(DAyM%>}M>IQU}5?UN߾ UGhA ]?9UCUR: U:)QW?WX XW:W2W*WVbUBU*UUU@BѽB BA;A*BAjYAAAA="CM?RCQCU?Cie.ą9IIGeV>e+ ewewe  e@7:YeO1yeP:e5ӝ=cq,EAY}264>}2p ~2@^;I~2Cɫ99)9 9I9Yu@y}NG =94==>=$>i=@9 =@)=@I=@i=@MhMUI=YU&;QUU>YYa]D]=(Daye=}e>Ii u:m5? u:m߾ mhA }?9mCmN: mb:)m6:W?WX XW:W2W*WVbUBU*UUU F@B;ͽB BAvA*BACAAA:="C$?RCC?C?΅׹IGE>I-@A)-@A$Dcq,5EAY}: >}:I?=y}:y½}:G=}:H*?@C,\Ŷi˧?ɿ?H?x??)~: > ~:^;I~:CPR<T9TIVJGiVȤ@TTVDV; VE)=wCI=wCi9="=="==ڲ4ɫ99)9 =I9Y}@y}NG鮁ɮ=aDV(Dy=}>IȹŽv5?Ž߾ ƽiA ?9ƽCǽ: Ƚ:)ȹW}?WX XW:W2W*WVbUBU*UUUم@RB*** querying acoustic contact ***PPB5n˽B9 B9A=<*B9A=6[FA9A9AE&="CE"?*CMRCICM?Cqe6Ʌm?im?9IIGeV>= =y=y=  =F:Y=P1y=':=5)=Ǡ;9Ei mGI) iA m ٺi m cARJcq,,EAY}6 >}6"=y}6݀}6=}6H&?k޴TZ?`?&` ?@]?5?)~6 > ~6^;I~6Cɫ99)9 =I9Y}@yOGZ****** received transponder code query ******F****** received ping request ******aDq(Dynh=}>I  : 5? : l߾ iA ?9 'C o: :) 7:W!?WX XW:W2W*WVbUBU*UUU @B ƽB BA8*BAiHAAA="C!?RCCE!?Ci?΅שIG>(Qcq,FEAY}2Ʊ>}2=y}2 ᵽ}2o=}2Hط?@c ɳ@0-?o?<`{?? ?)~2Ʊ> ~2^;I~2Cɫ99)9 9IAY̨@yOGxDUSBL response received:!U1,P C82,000,00407,189,80,80,74,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)=-Dl?S㥛?-O ?- -/<))I)y-S?L7A`尿J +?-?-+-H= -A)-| AI- Ai-A)-zA#X>,=i=@ @)@I@i@;M=Y;QU>aD(DyZ=}>IS5?߾ NjA ?9NCK< }<)ܵQ>9ܱIܵKGiܵ@ܱܱܱܵ; ݵEW5F?WX XW:W2W*WVbUBU*UUUZ@5=i1M IIM M6:YIyIM$5)M;BŽB BA 7*BAG0LA A A U="C 5F?*C RC C 5F?C I G% >9Wcq,o`EAY}B>}B>y}B5m}B=}BHI? _`$0 D?*?@U?%?3?)~B> ~B^;I~BCɫYY)Y YIYYĩ@yPGAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m =Mu=Yu2f]cq,]zEAɫyy)y }IyY@y0QGxDUSBL response received:!U1,R,D9F,000,003E1,189,80,80,B5,FF Fpublishing direction and range infoJ ?ɰ= )5CIyAv?V.ח7?ٱIA)---Q8>i-@) ))-I-$@i-@<MB=YQU>aD(D y}>Ib5?߾ ]kA %?9C|: 0:)WE_s?WAXA XIWI:WI2WI*WQVQbUQBUQ*UQUYU]@Rm(Combining 5 samples.Pi*QmAZQm3@&;2a&@JQmv?V.ח7?2QmJ ?:QibQm {J1@KċO*@b [@RQmȩ1?F/"{?4/3?BQm`/)? QmWAQmSAPmN9?PmM9?PmQmQmA"Qm ABŽB BA6-*BAOAAAtG="C_s?*CRCC_s?CIGl>= =z=z= =5:Y=Q1y=:=59E@dcq,GEA "jA.R>9,I.MGi.@,,,.; .EY}߇>}5B>y}צ}=}HQ?5%ɿv?1?uմ?2?2?)~߇> ~^;I~Cɫ髱) IY@yBQGUTNmea in: $SNTTA,0.060819,,,,010246.20*45 aa;MA=YB"aD(Dy>}>Iȡť15?ťw߾ ƥkA ?9ƥCǥ: ȥ÷:)ȡmqAdded new target pos. range: 22.079998 m, bearing: 37.865585 deg, deltaT: 4.453113 s, approachRate: -0.512002 m/s, LOS rate: 0.479710 deg/s, posRepo size: 4mTStopped intercept timer at range: 22.08 m.m ProNav: pos range: 22.079998 m, bearing: 37.865585 deg, approachRate: -0.512002 m/s, LOS rate: 0.479710 deg/s, cmd update: 1.439130 deg/s, cmd heading: 113.450419 deg, new cmd heading: 113.500661 deg. W?WX XW:W2W*WVbUBU*UU z6@U 5?BĽB BA,*BA!5RAAA,~="C?RCC?C I II))-BAG=>jcq,EAY}F\>}F2c>y}F`ܤ}F =}FH? Ϳ@c??8ٕ?1?}?)~F\> ~F^;I~FCɫaa)a mIiY=@y==RG Լ ļ >i   $@) ;@I ;@i ;@-!=M5Q=Y5!;QU5>AAaMDM(DYymC=}u>Iȁ :ŅE5? :Ņ߾ ƅlA ?9ƅĉCDžU; ȅ;)ȅ9:WM@WIXQ XQWQ:WY2Wa*WiVqbUyBUy*UUU@?B}ĽB BAb&*BAxTAAAu="C@RCC@CѵNw =M MvMvM  M4:YMN1yM:M5֩ ׉ I G >>qcq,ǍEAY}:?}:ߑ>y}:3p}:=}:H?@aпf?@?,_?@B-??)~:? ~:T_;I~8ɫ99)9 =I9Y}@y}jRGi=I +?A`"?+?9?= =)Iy rh?I ++?,?9= µA)µ AIµ AiµA\AiAiA<<MP=Y :QU>aD )Dy=}>I*[5?߾ mA ?9C#: :)W[@WX X!W!:W!2W!*W!V!bU)BU)*U)U1U5E?B]FWнBY BaAe:%*BaAe7=VAaAaAe="C[@RCC[@C&=ES>9AIE@NGiE@AAAE; EE֙qIG>hxcq,\EAY}6FH ?}6Hl>y}6n㤽}6~c=}6H O? ޟҿST ?`c?@@(ຖ??`5?)~6FH ? ~6^;I~4ɫYY)Y ]IYYn@yRGI)4=5=M=U=Y=QU=>AAaEDE&)DAyM{=}M>Iȩ :ŭp5? :ŭI߾ ƭmA ?9ƭCǭV: ȭ:)ȭ::W7M@WX XW:W2W*WVbUBU*UUUේ?B^ǽB BA!*B!A%JXA!A!A%l)="C-7M@RC)C57M@C199)9 9==i==]]{]{] ]3:Y]#R1y]:]5I)ש I G >{8~cq,HEAY}6i?}6>y}6ۥ}64=}6HoG?Կ = ?y? `? :??)~6i? ~6^;I~4ɫII)I MIIY}@y}NSG 5@ 5@ 5@5©55i5@5 5)5@I5i5@E<MEJ=YEQUM>IIaMDM@)DQy]O=}]>Iae,5?e-߾ e@nA m?9e)Ce*: e:)aW]@WX XW:W2W*WVbUBU*UUU`?BMZŽBY BaAep*BaAeaZAaAaAeZ^="Cu]@RCqCu]@CyցYIiGZ> cq,=EAy9yI}lOGi}@yyy}; }EY}:\"?}:t >y}:!}:I=}:HQ?[ֿ@H?#?`ʴ? :޽?@ͬ?)~:\"? ~:=d;I~8ɫYY)Y ]IaY@yESGI5A)1)E= E=uSMuG=Y}NQU}>yaDZ)Dy=}>Iȑ :ŕ85? :ŕs߾ ƕnA ?9ƕLCǕs: ȕ=:)ȕ;:WS@WX XW:W2W*WVbUBU*UUU=@B@ȽB BA*BAe\A A A ה="CS@RCCS@C֙yIG^>=99=  =/:Y9y9=m5)=H;9EMcq,Mi/EAY}fj ?}f>y}fV}f=}fH`? 4 ؿfx?Dn?^vĴ?H? ?)~fj ? ~f:p;I~f–Cɫ) IY=@y=VTGAɮEa= Y]A   h=-=i=@ $@)$@I$@i$@=M@=Y%Z9QU->99aEDEu)DQy]=}>Il5?߾ oA ?9sC)f< f<)W'[@WX XW:W2W*WVbUBU *U U U @RB*** querying acoustic contact ***PPB}JBy ByA*BA^AAA(="C'[@RCC'[@C֭6Ʌ׵?iױIQ)U@AסIG>n5cq,CIEAY}:.'?}:7>y}:}:I0=}:HQ?!ٿ@xA ?C?@? S? g?)~:.'? ~:Ou;I~:Cɫ11)1 9I9Yun@yu$TG}Z****** received transponder code query ******}F****** received ping request ******}AAaEDE)DIyM=}U>IQ ]:U5? e:U߾ UoA e?9UCU4: U:)U<:W@WX XW:W2W*WVbUBU*UUU @Be$.̽Ba BaAe*BiAm|`AiAiAmC="Cu@RCqCu@Cy9IPGi@!=; ܗE)ݡIݡiݡݡݡݥ4]FӅ1IAGex>]j YY] ]F<:YYyY]5)];\cq,ZcEAY}2;-?}23<>y}2Uۡ}2i=}2H@? ۿ@▿ ߚ??6???)~2;-? ~2ٿp;I~2Cɫ99)9 =I9Y}@y}TGxDUSBL response received:!U1,P D9F,000,003E1,189,80,80,B5,FF Command AckBRequesting micromodem ping code 2ii=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 <Mb=Y zn;QU%>->1inG!I1!aeDiqٺe)D yr=}>}?9}AIȉō5?ō߾ ƍpA ?9ƍCǍ; ȍ;)ȉW@WX XW:W2WA*WAVAbUIBUI*UIUIUM @BB BA*BAbAAA4="C@RCC@CױIG>ފcq,|EAY}>[4?}>>y}>[{}>=}>H?uܿ@x<@?Ui?`C?`#O?$?)~>[4? ~>Uk;I~>CɫQQ)Q UIQYf@yVUGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IU4=)Qå ¾å?å=iåz@á ĥҭ@)ĥ@Iĥp@iĥ@J=M>=Y1;QU>aD)Dyi=}>I5?߾ =pA ?9̊C: b:)W/5@WX XW :W 2W *W V bUBU*UUU@Bx^˽B BA?*BA YdAAAlq="C/5@RCC/5@C?΅IGm>IiM=]? ]x]x] ]8:Y]7P1y]:]m59e@ gA T>9 I `QGi -@ x; חEpcq,ЖEAY}f?;?}f4 >y}f'}fp=}fH C?ݿ@? ?1?@r?`?)~f?;? ~f'Hg;I~fCɫ) IY @y UGxDUSBL response received:!U1,R,EEB,000,003C4,186,80,80,7E,FF Fpublishing direction and range infow>ɰ=> )BIyAb?bP?ٱ=w<MER=YEO:QUE>IIaMDM)DQyU=}U>IY e:]5? e:]߾ ]zpA m?9]C]R: ]=:)]=:W@WX XW:W2W*WVbUBU*UUU`@R(Combining 5 samples.P*QAZQ3@X|y@JQb?bP?2Qw>:QbQrQ.@||]Z*@ Jd@RQJ"?j? hV?BQV9? QrVAQrAPP9?PN9?PQQ@"QAB"ƽB BA*BAfAAAɯ="C@RCC@CIGE>cq,SEAY}MB?}M?y}M:T}Mm=}MH? ߿ꊿ \$????๶?)~MB? ~M d;I~Iɫ19)9 =IAY5D@y=gVGTNmea in: $SNTTA,,0.196051,,,010250.65*4F I)A~jt?I +?:v?>9< T=)Iy rh?A`"V-?C+?Ym= A)AI^ AiOAA)= >5-55i5@1 5)5$@I5@i5$@M,=MM"=YMR:QUM>QQaUDU)DYy]^=}]>Iae5?eb߾ eOqA u?9eCeʽ: e:)amqAdded new target pos. range: 20.339998 m, bearing: 41.480938 deg, deltaT: 4.421026 s, approachRate: -0.393574 m/s, LOS rate: 0.817763 deg/s, posRepo size: 4m  ProNav: pos range: 20.339998 m, bearing: 41.480938 deg, approachRate: -0.393574 m/s, LOS rate: 0.817763 deg/s, cmd update: 2.453290 deg/s, cmd heading: 119.812418 deg, new cmd heading: 120.554904 deg. W>@WX X1W1:W12W9*W9V9bU9BUA*UAUE W4@UE)?B%XB BAN *BAomhAAA="C>@RCC>@Cme iim m;:Yiyim5FӅס I G >wcq,N~ʎEAɫyy)y }IyY@yVG )-AUM]=Y]QU]?aaaeDe*Daym}m?Iq }:u'5? }:u߾ uqA ?9u/Cug: u=:)u>:W @WX XW:W2W*WVbU)BU1*U1U1U5]?B} нB BA *BAiAAA( ="C @RCC @Cܑ9ܑIܕ(RGiܕЪ@ܑܑܑܕ|; ݕڗE֥?΅יIGd>IUAA)Qcq,_EAY}FP?}Fx?y}F}FZ=}FH ?H><>@?y?xo?`ʺ?YaaeDe(*Daym >}m>Iqu;5?u߾ }tI u{rA }?9uRCu: u2:)qW ) @WX XW:W2W*WVbUBU*UUU$d?B ŽB BA *BANkAAAi ="C ) @RCC ) @C!IyGa>] ]y]y] ]5:Y]P1y]':]5׾cq,d@EAY}5^W?}58?y}5?왽}5r^=}5Hs?dP ?M9? 8?@ɻ?U?)~5^W? ~5_;I~1ɫQQ)Q UIQYi@yVGIiM=aa]z]q>]n>i]@Y ]p@)]@I]@i]@m;Mm"=Yu:QUu>qqa}D}I*Dyyj=}>Iȉ :ōT5? :ō߾ ƍNsA ?9ƍ}CǍ: ȍ(:)ȍ?:W @WX XW:W2W*WVbUBU*UUUS{?B]B BA% *BAmAAA ="C  @RC C  @C)IG >y } <܉ 9܉ I܍ RGi܍ s@܉ ܉ ܉ ܍ ; ݍ ޗEBcq,EAY}v__?}v}?y}vY}vu=}vH ?7u??? 0?`3|?U?)~v__? ~v_;I~v–Cɫ髱) IY@yXGIp=)==M=Yi";QU?aD]*Dy=}?Iȩŭyc5?ŭ߾ ƭsA ?9ƭCǭk: ȭ4:)ȩWHe @WX XW:W2W*WVbUBU*UUU8@BlɽB BA*B!A%oA!A!A% ="C-He @RC)C5He @C1!IG-O>M=iMp=] ]{]{] ]>:Y]#R1y]:][5)]h;9ecq,"1EAY}>b!g?}>='?y}>I}>=}>H Q? ,?dm??`??ɷ?)~>b!g? ~>e^;I~>Cɫ髙) IY@ytWGÕGὩÕ->ÕQ8iÕp@Ñ ĕ)ĕZ@IĕZ@iđM:=Y8QU>aDy*Dy=}>I :Ux5? :̚߾ tA ?9CR: =:)@:WI @WX XW:W2W*WVbUBU*UU U ๾@B!뽽B BAz*BApAAAN4 ="CI @RCCI @CשIG>cq,KEAɫ髱) IYZ@yWGI)uʡE?X9vT㥛 ?u-?u} u=)qIqyu\(\?S㥫~jt?u?u/]u< unA)uAIu(Aiqqq)Í= Í=ؠ<M^=YQU>aD*Dy}>Iȱŵ65?ŵ!߾ ƵtA ?9ƵًCǵ: ȵ+:)ȱW\ @WX XW:W2W*WVbUiBUi*UiUiUu@@R}B*** querying acoustic contact ***PyPyBŽB BA*BArAAAx ="C\ @RCC\ @C))-U>9)I-SGi-@)))-; -E9I!G=r>u uxuxu uH:Yu7P1yu:u5)u;cq,eEAY}:6v?}:6?y}:P̜}:z=}:H?3 E7?? ?@=w?H??)~:6v? ~:}^;I~:Cɫ99)9 =I9Y}@y}XGZ****** received transponder code query ******F****** received ping request ******aD*DyW>}>I5? ߾ OuA ?9C8: #:)WE/@WAXA XAWA:WA2WA*WIVIbUiBUq*UqUqUue @B^B BAO*BA)tAAAx ="C/@RCC/@C6ɅIGn>IU@A)Q(#cq,}EAY}V}?}VYH>?y}V#}V =}VH |?`8 ?@?@4?!*? ??)~V}? ~V^;I~VCɫyy)y }IyY@yXGxDUSBL response received:!U1,P EEB,000,003C4,186,80,80,7E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ===`;= =i=@9 =@)=@I=@i=@}<M/=Y7QU>aD%*D!y-q=}->I1 =:55? =:5!߾ 5uA =?95C5Y; 5;;)5A:W@WX XW:W2W*WVbUBU*UUU@n @B%$hB) B1A5M*B1A=vAaAiAm ="C@RCC@Cu u{u{u u5:Yu#R1yu:u659}@FӅ I G >! ! Q 9Q IU TGiU @Q Q Q U r; U ՗E)ݹIݹiݹݽ!=ݽ!=ݽ#4cq,ލEAY}V2q?}V>PE?y}Vp}V=}VH@?Z@˙?8?? l?'?d?)~V2q? ~Vb;I~Tɫy髁) IY@yXG@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }<M}o=YQU?aD*DyǮ=} ?Ișŝk5?ŝD{߾ Ɲ&vA ?9Ɲ7Cǝ: ȝb:)șWd@WX XW:W2W*WVbUBU*UUU`0@BV#˽B B A *B A \RwA A A  ="Cd@RCCd@C ))-?΅I1)1I G5P>iMnGIiiٺ0A!5cq,3EAY}VkӅ?}VL?y}VÈ}Vߓ=}VH`H?Ya???W¿@?#??)~VkӅ? ~Vb;I~VCɫ髁) IY@y.YGxDUSBL response received:!U1,R,F9A,000,00395,187,80,80,AA,FF Fpublishing direction and range infoK=ɰ==1> )*CIy(AoW??ٱI=)=l?S㥛T㥛 ??$ )Iyd;O?kty&1?? `e< A) AI AiAA]@=]u]i]f@Y ]p@)]@I]@i]p@m<Mm$=Yu:GQUu>qqauD}*D}~@yyY=}>Iȉ :ō5? :ōaq߾ ƍvA ?9ƍ\CǍ: ȍ:)ȍB:WNK@WX XW:W2W*WVbUBU*UUU`B.@R(Combining 5 samples.P*Q(AZQEC]s1@A9?JQoW??2QK=:QbQDeN=&@Q+@Z?RQ' (?i_?̗l?BQFb? Q.XAQ0APK9?PP9?PQQ7@"Q@B`B BA*BATyAAA= ="CNK@RCCNK@CU=iUa=eezeze e3:YeQ1ye:e5׉ I G >cq,͏EAY}6[?}6R?y}6¨}6ǩ=}6H1?p?@_?a?`3¿`8?Ƈ??)~6[? ~6~a;I~6Cɫ99)9 9I9Y@y;YG%dNmea in: $SNTTA,0.343466,0.343841,,,010255.09*5D u;Mu=Y}QU}?yaD+Dy˩=}?Iȑŕ5?ŕk߾ ƕvA ?9ƕsCǕ: ȕ4:)ȑmqAdded new target pos. range: 17.520002 m, bearing: 50.759145 deg, deltaT: 4.547641 s, approachRate: -0.620101 m/s, LOS rate: 2.040224 deg/s, posRepo size: 4m ProNav: pos range: 17.520002 m, bearing: 50.759145 deg, approachRate: -0.620101 m/s, LOS rate: 2.040224 deg/s, cmd update: 6.120673 deg/s, cmd heading: 130.969336 deg, new cmd heading: 131.721495 deg. Wc@WX XW:W2W*WVbUBU*UU1@U@?BɽB BA*BAzAAAg ="C  @RC Cc@CV>9IUGi@; ݗEIGj>tIcq,EAɫ髱) IY-@yXG)Í= Í=WMD=YQU>aD,+Dy}>I :5? :b߾ &wA ?9C: :)C:WV<@WX XW:W!2W!*W!V!bU!BU)*U)U)U5@ ?B]*ĽBY BYA]*BYAeI|AaAaAe+ ="Cm6@RCiCmV<@Cqԁԁ}6ɅIIQGuX>]]{]{] ]1:Y]#R1y]:]5.dq,nEAY}2?}2 _?y}2w}2;=}2H`K{?@?s?1? X?`? ?)~2? ~2r`;I~2Cɫ99)9 9I9Yް@yYG AAÍ>ÍÍ>iÍ\@É č@)č@Iĉič@_=MN=Yɬ;QU>aDE+Dy#>}>IȹŽ5?ŽY߾ ƽywA ?9ƽCǽ: Ƚ:)ȹW@WX XW:W2W*WVbUBU*UUU?BB BA*BAn}AAA ="CaK@RCC@C?΅׹IGf>IUAA)UAA <ܙ 9ܝ xCIܝ sVGiܝ N@ܙ ܙ ܙ ܝ ; ݝ EYdq,EAY}r?}rC?f?y}r}r=}rH!? L?`?`x?`y`9?5??)~r? ~r`;I~rCɫ髹) IY@yYG<MI=YD;QU>aD_+Dy]=}>I15?P߾ wA ?9ΌC÷: :)W3@WX XW:W2W*WV bU BU *U UU@b?B=.½B9 B9AE*BAAEAAAAAEx ="CM2x@RCQCU3@CQY9IQGuW>]]z]z] ]/:Y]Q1y]:]5)]6;9e dq,z4EAY}%j?}%CCm?y}%[-}%#=}%H+'?=??`?dX ??ȵ?)~%j? ~%$`;I~%Cɫ!)! -I)YM@y$ZG=i=sh|??MbV-?)? m=)IyʡE?A`"v/??Yxi= …A)…~AI…~Ai…OAzA====i=@9 =@)=@I=Ę@i=Ę@Mf<MU3=YU]:QUU>YYa]D]}+Dayeu=}m>Ii u:m5? }:mE߾ mxA }?9mCm: m=:)mD:WV@WX XW:W2W*WVbUBU*UUU;?BȞB BA*BAGgAAA) ="Cz@RCCV@C  =I1)1IG> mdq,^NEAY}N?}Nt?y}N$}NN>=}NH`h?@"@P? ??l9?`a?@?)~N? ~NUa;I~NCɫ髙) IY@yZGI]C=)]C=8l=Mh=YQU>aD+Dy=}>I!5?;߾ yA ?9C: :)WC"@WX X W :W 2W *WVbUBU*UUUҪ@BEC½BA BAAM۾*BIAMAIAIAUX ="CU!@RCYC]C"@CY)9)I-M=iM=] ]w]w] ]5:Y]O1y]P:]m5)];dq,0hEAY}6ם?}6|?y}6̤}66=}6H?@W?I?`X?lғ?@?g?)~6ם? ~6_;I~4ɫ99)9 =I9Y@yZG鮥p=ɮ=:MX=YoQU>aD+D y e=} >I :S.5? :1߾ yA %?9,C: :)E:WE$@WAXA XIWI:WI2WI*WIVIbUQBUQ*UQUYU] @ReB*** querying acoustic contact ***PaPaBB BA\۾*BA证AAAX ="C$@RCC$@C֝FӅׁIG=>| dq, EAY}ZP?}Z;?y}Z𧽙}Z=}ZH`?_$`T?? ?-j` ?`щ?=?)~ZP? ~ZT7`;I~ZCɫ髙) IY@yZGZ****** received transponder code query ******F****** received ping request ******qya}D}+DyyՁ=}>Iȉō<5?ō\%߾ ƍlzA ?9ƍOCǍ?: ȍi:)ȉW'@WX XW:W2W*WVbUBU*U)U)U-`h @Bu<By ByA}޾*ByA}=AyAA5 ="Cr'@RCC'@Cԙԙ֝6ɅבIG>]]{]{Y ]2:Y]#R1y]:Y9e@i i 9 99 I= WGi= B@= =9 9 = ; = E &dq,盐EAY}2?}2V?y}2}2`z=}2H?g??`Ý?GQ=?@Ψ?@?)~2? ~2_;I~0ɫYY)Y YIYYӱ@yZGxDUSBL response received:!U1,P F9A,000,00395,187,80,80,AA,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ;Ma=Y-2@QU5>AAaMDM+Dayuߜ=}>I  =: ;H5? E: ߾  {A M?9 mC <  <) F:WuM*@WqXq XyWy:W2W*WVbUBU*UUU" @BEBI BIAMݾ*BIAMDAIAIAU ="CUM*@RCYC]M*@CY֕FӅIU@A)QiIyG>,dq,WѵEAY}?}?y}˄}%g=}H ?  ?V??`1`/j? Q??)~? ~`_;I~ɫii)i uIqY@yZGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B E"~j?1Zd?aD+DyTk=}>IU5? ߾ {A ?9C: :)W-@WXy XyWy:Wy2Wy*WVbUBU*UUU]@BTeB BAIܾ*BAAAA ="C x,@RC C -@CIeeyeye e.:YeP1ye':e5! I1 GM >3dq,ϐEAY}2?}2T?y}27}2=}2H #? -n ҭ?`]??{`?}?`?)~2? ~2M^;I~0ɫ99)9 =I9Y}}@y}[GxDUSBL response received:!U1,R,084,000,00381,186,80,80,93,FF Fpublishing direction and range info뽩ɰ=鰅> )CIyA|9ˮ?NZlٱ=i¡¥hAr=M=Y99QU?aD,Dy=}?I :^5? :߾ {A ?9CE: :)G:W/@WX XW:W2W*W V bU BU *U UUF@R%(Combining 5 samples.P!*Q%AZQ%k;;60@)IB+JQ%|9ˮ?NZl2Q%:Q!bQ%+"@tP+@+MAFm?RQ%d~W?!Hq?~Dz?BQ%E{? Q%XAQ%AP!P%K9?P%Q%Q%X@"Q%7@BUƽBY BYA]Ӿ*BYA]AaAaAe ="C܁.@RCC/@C >܍W>9܉I܍XGi܍6@܍!=܉܉܍; ݍݗE)ݽxCIݽxCiݹݹݹݽaJ4ֽ?΅יIGb> i nGI1 iI 9dq,EA6ٺ8:AY}u?}u?y}ud}uy=}uH࢛? ?ಾ?? o?Ƚ?f?)~u? ~ue_;I~qɫQQ)Q UIQYM@y^[GmDNmea in: $SNTTA,,,,,010259.53*57 IR=)=FJM,=YQU>  aD1,Dyp[=}>Iȱŵ/l5?ŵ޾ Ƶc|A ?9ƵӍCǵ: ȵ:)ȱmqAdded new target pos. range: 16.319998 m, bearing: 56.237715 deg, deltaT: 4.321419 s, approachRate: -0.277688 m/s, LOS rate: 1.267771 deg/s, posRepo size: 4m ProNav: pos range: 16.319998 m, bearing: 56.237715 deg, approachRate: -0.277688 m/s, LOS rate: 1.267771 deg/s, cmd update: 3.803313 deg/s, cmd heading: 157.421787 deg, new cmd heading: 160.478573 deg. W1@WX XW:W 2W *W V bU BU*UU`Q0@U@?BEBA BAAE ־*BAAMK_AIAIAMC8 ="CU1@RCQCU1@CYqIeezeze e.:YeQ1ye:e[5IqG>@dq,SEAY}2?}2~?y}2}2 >}2Hs*?*? ?n?j? ?¡?)~2? ~2;}`;I~0ɫ99)9 9I9Y'@yk\GUC=UuUiU=@Q U@)U@IU@iU@eљ=Mef=Ym;QUm>iiamDuG,Dqy}ՙ=}}?IȁŅt5?Ņ޾ ƅ|A ?9ƅCDž': ȅU:)ȁW^3@WX XW:W2W*WVbUBU*UUU@K?BLýBi BqAubȾ*BqAu兽AqAqAuU ="C}{3@RCyC^3@CցYIiGZ> <܁ 9܁ I܅ YGi܅ ذ@܅ =܁ ܁ ܅ ; ݅ EFdq,4EAY}:?}: (?y}:a}:>}:Hѱ?@b?@xd?`J?) ?H??)~:? ~:9`;I~8ɫYY)Y YIaY}+@y}o\Gu:MuI=Yun}QU}>yya}D}a,Dy<}=}>Iȑ :ŕ~5? :ŕ޾ ƕ+}A ?9ƕCǕ: ȕ:)ȕH:W5@WX XW:W2W*WVbUBU*UUU@?BN%B BA&Ⱦ*BAHAAA k ="C5@RCC5@C9E?iE?I!GUS>miim m /:YiyimI5)mt;9uX#Mdq,7EA|Pi|PY}- '?}- ^?y}-e}->}-H~5?@Tx?F?@f?,??D?)~- '? ~-_;I~-Cɫ)))) 1I1Ye@ym]G eZd;O?Pn?~jtxej eĻ)aIayeQ?+~jt?e\?eeD< eOA)eEAIe AieAaeA @ @ @©i@ )Ę@IĘ@i@-h=M-1=Y5=mQU5>19a=D=,DAyE^=}E>IIMQ5?M޾ M}A U?9M/CMӻ: M:)IW}x7@WyXy XyWy:W2W*WVbUBU*UUU"?BdB BA*BA$;AAAq ="Cx7@RCCx7@C׉IG>II)I"Tdq,PEAY}6H?}6?y}61}6>}6H 2?E?`?d?@۶?`)̿??)~6H? ~6i_;I~6Cɫyy)y }IY'@y]G{;Mh=YvQU>aD,DyЍ=}>I :5? :޾ }A ?9ICW1; 51;)I:Wȓ8@WX XW!:W!2W!*W)V)bU)BU1*U9U9U=@q@B}HB BAj*BAÇAAA| ="Cȓ8@RCCȓ8@C)9)I-\ZGi-{@-!=))-z; -ڗE׹IGf>] YY] ]3:YYyY]5)];1Zdq,jEAY}6W?}6A?y}6P}6=}6H@;?><Mݵ? x8??!?@?o?)~6W? ~6T__;I~6CɫYY)Y ]IYY@y ^G=i=!%jA]g<MeO=Ym1QUm>yaD,Dyd=}>Ii5?޾ G~A ?9eC< <)W]c:@WX XW:W2W*WVbUBU*UUU_@B=ĈB9 B9A=**B9AEQ`AAAAAEz ="CM]c:@RCICM]c:@CQ]FӅ1IAG]v>;adq,EAɫ) IY9@y^Ga=ɮp=I%=)%=    @ @ @ÙÙÙiÝp@Ù ę)ĝ@Iĝ@iĝ@zQ=ME=YQU>aD,Dy}>I :Ɲ5? :P޾ ~A ?9C: :)J:W<@W X  X W :W 2W*WVbUBU*UUU@R%B*** querying acoustic contact ***P)P)BM\B BAI*BA7AAAz ="C<@RCC<@C?΅IGn>U=iQeaae ey0:YayaeH59e@ hA X>9 I [Gi o@ = {; ۗEPCgdq,vEAY}2Y?}2BJ?y}2.}2}=}2H?@ Z? ?h?0@=?/?@S?)~2Y? ~2#^;I~0ɫ99)9 9I9Y}#@y}^GZ****** received transponder code query ******F****** received ping request ******aD,Dy/ >}>I  ģ5? ޾ A ?9 C < <) W=@WX XW:W2W*WVbU BU *U U)U5! @B]NBY BYA]*BYAeplAaAaAew ="Cm=@RCC=@C֙yIG^> qmdq,`EAY}Nd?}NM?y}N}N=}NH?`}_? ?}?gW?`[½?@?)~Nd? ~NZ^;I~NCɫ髱) IY*@y^GxDUSBL response received:!U1,P 084,000,00381,186,80,80,93,FF Command AckBRequesting micromodem ping code 2iI)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 M'1Z?Mb ףp= ?M?M MQ=)IIIyMRQ?S㥫~jt?M"?M/]M= MA)MAIMIAiMAIM A)}= }= % % %%L%33>%Q=i%@% %@)!I%x@i%@E|:ME=YE@QUM>IIaMDM-DYy]H=}]>Ii :mk5? :m޾ mA ?9mʎCm; m:)mK:WUG @@WYXY XYWa:Wa2Wi*WVbUBU*UUU`@UU{U{UA U0:YU#R1yU:U5B%豽Ba BaAe6*BaA.AAAb ="CG @@RCCG @@C֙ q I G >FUtdq,,ґEAY}>X?}>A3?y}>}>@=}>H t? ~F???GMЇ?>?@?)~>X? ~>^;I~>CɫYY)Y ]IYYe@ye_GimAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B YYm(=Mm=Yu-QU} ?yaD-Dy=} ?Iȡť5?ťB޾ ƥA ?9ƥCǥ; ȥI;)ȡW!A@WX XW:W2W*WVbUBU*UUU @F@BMj½Y9YI]P\Gi]@YYY]; ]EBI BA*BA{AAAh ="C!A@RCC!A@CIGj>IQ)Qkzdq,EAY}2?}2῰?y}2`}2L=}2H`?E #? I?@?@ݼQ÷?@??)~2? ~2c^;I~2Cɫ9A)A EIIY}@y}_GxDUSBL response received:!U1,R,253,000,0033F,189,80,80,B9,FF Fpublishing direction and range infoɰ&=鰅7> )9CIyEAھH?߿ٱ<MU=YQU>aD/-D y=}%>IȹŽ5?ŽTz޾ ƽcA  ?9ƽCǽGd< Ƚc<)ȹWuVB@WqXq XqWq:Wq2Wy*WyVybUyBU*UUU@R(Combining 5 samples.P*QEAZQA=v%@@)oJQھH?߿2Q:QbQ#7 @Gj"@(>-?RQ{]]y]y] ]o/:Y]P1y]':]5Vgdq,*EAY}J!?}JzX?y}J}Ja=}JHb?lh?q?!?@K̷?`ez? ʥ?)~J!? ~J(_;I~JCɫ髡) IY@y `G}TNmea in: $SNTTA,0.057602,,,,010303.99*47 yi}==i=™hAC >ףi@ @)@I@iUC;MU4=YUQUU>YYa]D]L-Daye=}e>Ii u:m5? u:mk޾ mA }?9m$CmM: m:)mL:muAdded new target pos. range: 12.360002 m, bearing: 49.586504 deg, deltaT: 4.495614 s, approachRate: -0.880858 m/s, LOS rate: -1.479489 deg/s, posRepo size: 4m ProNav: pos range: 12.360002 m, bearing: 49.586504 deg, approachRate: -0.880858 m/s, LOS rate: -1.479489 deg/s, cmd update: -4.438467 deg/s, cmd heading: 174.504307 deg, new cmd heading: 176.077319 deg. Wh@@WX XW:W2W*WVbU)BUI*UIUM R(@UM@H?B}XBy ByA}+*ByAAAAG ="CQGC@*CRCCh@@CױIG>I I Q 9Q IU D^GiU @Q Q Q U ; U E)YIYiY] =] =]i4kdq,EAY}2?}2?y}2}2=}2H@p?@>?b? v.?+?`??)~2? ~2I_;I~2Cɫ99)A EIAY]@ye`GUS[=MU\=Y]fV:QU]>aaaeDed-Diyu=}}>Iy} 5?}^޾ }A ?9}BC}PB; }QY;)yWi?@WX XW:W2W*WVbUBU*UUU?B-B1 B1A5*B1A=A9A9A=; ="CE|B@RCICMi?@CIinGIi55ٺ9=Aa!I)GUT>]=i]a=  4:Yy5);9ݻdq,9EAɫyy)y yIyY@yaG&1?RQ?y&1?= `e)Iy$C?~jt/$??< pA)IAiA A5!>5Ga5ji5G@1 5)5`@I5@i5M@=u*<ME<=YEQUE>IIaMDM-DQyU}U>IY e:]5? e:]~P޾ ]3A m?9]cC]A: ],:)]M:Wq<@WX XW:W2W*WVbUBU*UUU@X?BB BA*BA3jAAA' ="C@@RCCq<@CIGj>kdq,dtSEAY}2?}2|Q?y}2Ĺ}2=}2Hoc?`?@?@Ӱ?y0?ֻ??)~2? ~2 _;I~2Cɫ99)9 =I9Y@ysbGIY)]AIa)a)}= }==MS=Y5;QU>aD-Dy>}>I999I=^Gi=@999=; 95?C޾ iA u?9C1< D<)W:@WX XW:W2W*WVbUBU*UUU ?BuBq BqAus*BqA}<ӌAyAyA} ="C<@RCC:@CֽFӅבIG>] ]w]w] ]5:Y]O1y]P:]5)]O;͚dq,"PmEA|i|@Y}:/?}:?y}:Y}:D=}:H~_? ͺ??T? ?ϻ?j?)~:/? ~: _;I~8ɫAA)A MIIY@yObG  j<= =J ƽi @  @) ~@I 7@i 7@MD=Y%.&;QU%>!)a-D--D)y5Y=}5>I9 E:=5? E:=5޾ =A E?9=C=w: =:)=N:W8@WX XW:W2W*WVbUBU*UUU`2@B]WBa BaAew*BaA<:AAA ="C9@RCC8@C֝?΅qIG~>\dq,k*EAY}2H?}2?y}2}2#=}2H k? <@ ?`? ?zBOض?@z?˯?)~2H? ~2[_;I~2Cɫ99)9 =I9Y}Y@y}bGMf =MUY=Y]hL:QU]>YYaeDe-Daymw=}m>Iy}u5?}(޾ }ՁA ?9}C}: }2*;)yW7@WX XW:W2W*WVbUBU*UUU )-@B% B) B)A-j*B1A5lA1A1A=6 ="CE7@RCACE7@CI%FӅI G%M>e eyeye e4:YeP1ye':e759u@) - gA1 91 I5 _Gi5 @5 =1 5 D5 ; 5 E{ߧdq,EAY}2C?}2+?y}2}2F=}2H`7 |~»??`ڐ;@ٶ? ~??)~2C? ~2_;I~2CɫYY)Y ]IYY@y cG鮥p=ɮy<MT=YQU>aD-DyL=}>I5?޾  A ?9܏Cw: @:)W 1!5@W X  X W:W2W*WVbUBU*UU!U%4@R-B*** querying acoustic contact ***P)P)BM*ܮBQ BQAUd*BQA]鍽AYAYA] ="Ced5@RCaCe1!5@Ci =?΅IGE> dq,ຒEAY}2?}2V?y}2᷽}2=}2H% @?r?@FߵS?ͻ?X?)~2? ~2=_;I~2CɫYY)Y ]IYY!@ycGZ****** received transponder code query ******F****** received ping request ******  a D .D yT=}>I %:5? %:+ ޾ JA -?9C: :)O:WM]2@WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYU]@I @BUB BAQ*BA%WAAA ="C]2@RCC]2@CqQeN aae e ::Yayae5IqG>dq,+ԒEAY}2?}2޷?y}2K2}2=}2H@ |.@1??ȱ@x޶?`ż?"?)~2? ~2_;I~2Cɫ99)9 =IAY]@y]cGmxDUSBL response received:!U1,P 253,000,0033F,189,80,80,B9,FF mCommand AckmBRequesting micromodem ping code 2iii}Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 eϹMm=Yw:QU?Y>9IaGi@!=; E aD.Dy%m=}M?IY]5?]ݾ ]vA ?9]C]_< ]]<)YWѸ0@WX XW:W2W*WVbUBU*UUUZ @B%B! B!A%R*B)A-hA)A)A-C ="C5Ѹ0@RC1C5Ѹ0@C9֑QIaG}>dq,EAY}J'?}J?y}J.}JY>=}JHiWQ? ?h賿G? N? ٮ?)~J'? ~J_;I~JCɫai)i mIqY@y{dGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )-= ->       ʡ =i @  M@) +@I 7@i @$=M1=Y5;QU%>!!a%D-6.D)y52x=}5>I9 E:=5? E:=rݾ =A E?9==C=: =:)=P:WmT.@WiXi XiWi:Wq2Wq*WqVqbUyBUy*UyUyU} B@BuB BA?*BA%AAA ="CT.@RCCT.@ChAFӅױIG>eaae e):Yayae[5~dq,"rEAY}2Z?}2?y}2m}2D:=}2H׼ h?`:?$`( ?J??)~2Z? ~2_;I~0ɫ99)9 EIAY}@y}dGxDUSBL response received:!U1,R,502,000,00321,189,80,80,95,FF Fpublishing direction and range infof3ɰ<=鰁 )CIy(Aw?amf-ٱ aaUk;M]X=Yez;QUe>aaamDmO.Diyu=}u>Iy}5?}ݾ }ڂA ?9}ZC}: }߼:)yWD,@WX XW:W2W*WVbUBU*UUU@:@R(Combining 5 samples.P*Q(AZQŀHcTs@0Y$"JQw?amf-2Qf3:QbQӺz!@J,@?|{zRQuDT?^˙V?A7BQ? Q@Q APN9?PPQQϥ@"Q@BfB BA=*B A AA A A  ="CD,@RCCD,@CY9IIG{><Z>9IaGi@ =; E0dq,W"EAY}nr?}nX?y}n}n=}nH`iv ?@ɑ?;ÿeU???)~nr? ~nk_;I~lɫ) IY5X@y5CeGTNmea in: $SNTTA,0.057580,,,,010308.42*43 7=ME=YA;QU>aDi.DyQ=}>I :5? ::ݾ  A ?9yC*; n;;)Q:muAdded new target pos. range: 10.559999 m, bearing: 32.872229 deg, deltaT: 4.447020 s, approachRate: -0.404766 m/s, LOS rate: -3.758534 deg/s, posRepo size: 4m- ProNav: pos range: 10.559999 m, bearing: 32.872229 deg, approachRate: -0.404766 m/s, LOS rate: -3.758534 deg/s, cmd update: -11.275602 deg/s, cmd heading: 154.749185 deg, new cmd heading: 152.894625 deg. W-'@W1X1 X1W1:W12W1*W9V9bU9BU9*UAUE@%@UE ?Bm覽Bq BqAu**BqAuAyAyA} ="CqV)@RCC'@C?΅uI u{u{u u9:Yu#R1yu:u65)u;9ׁIG>Wdq,(xi /<)Iygfffff?KˡE?3?^'= ½A)½AI½Ai½A A===9=ji==@9 =l@)=~@I=l@i=l@MJ=MMP=YU;QUU>QYa]D].DYye-=}e>Iim5?mݾ mKA u?9mCmY: m :)iW"@WX X)W):W)2W)*W1V1bU1BU1*U1U9U=I?BeؤB BA*BAȏAAAB ="Ch$@RCC"@CֽFӅI)בIG>?dq,mVEA||4@}>l?y}>0}>=}>H`ɿ>?D?`c8ʿUެ ?@ս??)~>@ ~>_;I~<ɫyy)y yIyY@yfGI%=)%=܁9܁I܅bGi܅w@܁܁܁܅; ݅E)IiK 5rJ=MP=YZ/;QU> a D.Dyʔ=}>I) U:-5? ]:-ݾ -A ]?9-C-; - ;)-R:Wo@WX XW:W2W*WVbUBU*UUU}?B6B BA*BAAAA ="C !@RCCo@Cֽ6ɅבIG}}y}y}B }-:Y}P1y}':}5)}l;Ci] nGIq i ٺ XAmdq,oEAY}M@}M?y}M={}Mٌ=}MH$̿B?`:?ͿqS?E?`?)~M@ ~M`3`;I~MCɫ ) IYMI@yMkfGmaD.Dy=}>Ișŝ5?ŝݾ Ɲ˃A ?9ƝҐCǝY: ȝ:)șWp@WX XW:W2W*WVbUBU*UUU?BB  B A  *B A x7AAAˇ ="C@RCCp@C5?΅)I9GUu>)Sdq,HEAY}2O@}2?y}2壽}2.=}2Hpп@ K??@п@#w?gZ?ϫ?)~2O@ ~2%`;I~2Cɫ99)9 =I9Yu@y}4gGI))> e=Mf=Y;QU>  a D .D y>=}>I15?{ݾ A %?9C': :)WM%@WIXI XQWQ:WQ2WY*WYVabUaBUi*UqUqU}`ӟ?BB BA*BAodAAA ="C٭@RCC%@C IGI>}}w}w} }0:Y}O1y}P:}[59@܉9܉I܍cGi܍@܉܉܉܍; ݍE{dq,ٔEAY}:v@}:m?y}:բ}:[=}:Hѿmjfg?`? Zdҿ K@&U?$E?w?)~:v@ ~:-`;I~:Cɫ99)9 =I9Y}[@y}gG E=MEF=YMM:QUM>IQaUDU.DQy]F=}]>Iq :u5? :uݾ uBA ?9u Cuo; uR;)uS:W@WX XW:W2W*WVbUBU*UUU`~ @BISB BAԽ*BAːAAA  ="C @RC C @C.ąIG J>I}AA)ydq,pEAY}6w@}6T&?y}6z}6x;=}6H`ӿ`_' ?IY?@#Կ +? ?? ?)~6w@ ~6_;I~4ɫYY)Y ]IYYռ@yShG鮡ɮa==w/?J +/$=F?=H =,)9I9y=zG?Zd;O?= ?=j<=< =QA)=AI=Ai=7A9= AM9=M=M"۽iM@I M@)Mף@IM@iM@e =Me9=Ym3:QUm>qya}D}/Dy=}>Iȑŕ5?ŕՈݾ ƕ}A ?9ƕ,CǕ; ȕ;)ȑW=# @WaXi XiWi:Wq2Wq*WqVqbUyBUy*UyUyU}@RB*** querying acoustic contact ***PPB\B BA3*BAAAAu ="CX @RCC=# @C!FӅIG>}}{}{} }).:Y}#R1y}:}5ʎdq,OדEAY}JU @}J?y}J}Jz=}JHkտ `? ?yտ `?@? ?)~JU @ ~J(_;I~JCɫ髱) IY@yhGZ****** received transponder code query ******F****** received ping request ******9AIEdGiE@AAAE; EEu=iu=hA‰q~<MX=Y>:QU>aD/Diy=}>Iȑ :ŕ5? :ŕ{ݾ ƕA ?9ƕKCǕk: ȕ4:)ȕT:W @WX XW :W 2W *W V bUBU*UUU @BԜB BA**BAސAAAo ="C6` @RCC @Cֽ?΅בIG>dq,3EAY}f* @}f?y}f}f=}fH!׿@}?@1? Ж׿@;?8?`V?)~f* @ ~fX`;I~fCɫ髡) IY@yViGxDUSBL response received:!U1,P 502,000,00321,189,80,80,95,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)R=UUv>U=iU(@Q U@)U@IU@iU@%-=M.=YkQU>  a D ;/Dy=}>IY]5?]+mݾ ]A m?9]nC]: ]/:)YWn?WX XW:W2W*WVbUBU*UUU@E @B-vB) B)A5n*B1A5AYAYA]$b ="Cm,@RCuHOCn?Cm=im=}}y}y} }n1:Y}P1y}':}%5 I G >ϟeq, EAY}6 @}6?y}6`}6?=}6H[ؿ.Q?g?.ٿ@Yd /??2?)~6 @ ~6a;I~6Cɫ99)9 =I9Y}S@y}hG@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B uM}v=Y} ̺QU} ?aDO/Dy<=} ?Iȑ :ŕO5? :ŕVcݾ ƕA ?9ƕCǕ: ȕ :)ȕU:W??WX XW:W2W*WVbUBU*UUU@BTCB B A *B A A AA\ ="C?RCAC??CAIG$>9IeGi@; E>eq,3$EAY}2@}2W?y}2h}2l=}2H@Zڿ c? ?ڿxQ???)~2@ ~29`;I~0ɫYY)Y ]IYY}@y}iGI))Õ= Õ=5;=M=N=Y=QU=>AAaEDEi/DIyM=}U>I!%E5?%.Vݾ %UA ?9%C%Ir< %p<)!W?WX XW:W2W*WVbUBU*UUU@BB BAcc*BA.AAAI ="C ^\?RC p(=C ?C%C[IIGew>  -5:YT1y:5eq, >EAY}Zqt@}Z@y}Zj}Z=}ZHۿrѢ?@??bܿy,lY?J? ?)~Zqt@ ~Zqa;I~ZCɫ) IY@yiGTNmea in: $SNTTA,0.023754,,,,010312.88*46 e;O?333333A`"?> Y=)Iy\(\?)\(aiamDm/Dqyuǀ=}u>Iy :}5? :}Hݾ }A ?9}őC}: }:)}V:We?WX XW:W2W*WVbUBU*UUU@Ce?C2PיIGb>Iލ@A)މ,eq,àXEAY}::;@}:V@y}:J}:L=}:H`ݿF?@F?`ݿD` ,?l?@?)~::;@ ~:a;I~:CɫQQ)Q UIYܹ9ܹIܽxfGiܽS@ܹܹܹܽ; ݽEY@yiGa=ɮR=E!]<ME^=YE:QUM>IIaMDU/DQyUK=}]>IY]5?]T=ݾ ]҅A m?9]C]: ]:)YWL?WX XW:W2W*WVbUBU*UUUY@BB BAvI*BAGWAAAM- ="CC?RC >CL?CRCIG$>}} -:YkS1yԊ:\5)%;9eq,urEAY}2>@}2@y}2K}2=}2H!߿? ?]x߿?@m??)~2>@ ~2/a;I~2Cɫ99)9 =I9Yu@y}qjGi   DԸD=i@ +@)@I`@i+@4=MP=Y:QU>aD/Dyd=} >I  5? 1ݾ A ?9 C : :) W?WX XW:W2W*WVbUBU*UUU@~@RB*** querying acoustic contact ***PPB[B BA%*B!A%fA!A!A% ="CM?RCICU?CQ ae=E-II)I!I)GE0>"eq,oIEAY}6@}6(@y}62C}6=}6H`P@)9ZX?pj?`m4C?P0?"?)~6@ ~6`;I~6CɫAI)I UIQYu@yujGI4=)%=U<MP=YɈ:QU>aD/Dyɑ=}>Iȱ :ŵa5? :ŵ%ݾ ƵNA ?9ƵCǵb: ȵA:)ȵW:W?WX XW:W2W*WVbUBU*UUU@@B%ٔB! B!A-'*B)A-oA)A)A- ="C5!?RC9C=?C9a5սIG >ٱٵjAܽ\>9ܹIܽgGiܽF@ܽ!=ܹܹܽ; ݽE)aIaiaaae54ލ=iލ=|| 0:YR1yi:$5);)eq,'EAɫ髉) IY̾@yjGimGAAI i!UhٺQUtAe,Mm>=YmQUm>qqauDu/Dyy}}}>IȁŅ 5?Ņݾ ƅA ?9ƅ@CDž: ȅ:)ȁWw?WX XW:W2W*WVbUBU*UUU ȸ@BuUHBq BqAu/*BqA}{AyAyA}S ="C&?RCCw?Cօ! UIIG?>%B/eq,EAY}:@}:C @y}:'}:i=}:H`is??/'??` ?@?)~:@ ~:Pe`;I~:Cɫ99)9 =I9Y})@y}0kG]MbX?V-Dl?]*?] ]O=)YIYy]l?:v~jt?]?]T]< ]A)]fAIYi]AY]Aý~꾩ýýP=iý@ù Ľ@)Ľ=@IĽ@iĽ@E<MD=Y8^QU>aD0DyV=}>I :>5? : ݾ ɆA ?9_C,; (;)X:W-?W1X1 X1W1:W92W9*WAVAbUBU*UUU y@BU3BY BYA]*BYAeAAA ="Cw_?RCC?C9?i?ׁIG`>xx 2:Y7P1y:59@+6eq,ٔEA|i|i9iImlhGim@m =iim; mEɫ髱) IY@ykGxDUSBL response received:!U1,N,80,80,63,E4 1,189,80,80,95,FF ZNo reply:!U1,N,80,80,63,E4 1,189,80,80,95,FF -!)a-D-0D)y-}5>I15{u5?5gܾ 5A E?95~C5Q: 5:)1W?WX XW:W2W*WVbUBU*UUUE@B)B BAQ*BA[AAA ="C?RC!C-?C)l;=IGI>Iމ)ލ?AT?@o?)~6N@ ~6Z_;I~6CɫII)I IIIY}@y}=lG鮁ɮp=D;>i@ )@I@i=MM=YQU>aD70Dy}=} >I  : ~l5? : ܾ 3A ?9 C w: :) Y:W=?WAXA XAWA:WA2WA*WIVIbUIBUI*UIUQUU@B}[Bz< BA*BAAAA ="C'?RCC?CU=IIYG}>U zz  ::YQ1y:65aDQ0Dy#;}>I!%vb5?%ܾ %lA -?9%C%: %Ǻ:)!WUG?WQXQ XQWY:WY2WY*WYVYbUaBUa*UaUaUm`Y @B-B BA*BA慑AAAN~ ="CFC?RCCG?C֭N>Iױ)׵gAiIyG>Y9YI]3iGi]@YYY]; ]E0fIeq,Hl'EAY}R@}R @y}R}RSM=}RH /`Oj?`OT?$@ .??,?)~R@ ~R2c_;I~RCɫyy)y }IyY@y9lGI=)=-<M-H=Y-F:QU5>11a=D=k0D9yEż}E>IIMX5?M4ܾ MA U?9MؒCM: M?:)IWu?WyXy XyWy:Wy2Wy*WVbUBU*UUU` @RB*** querying acoustic contact ***PPB慑B BA*BAAAAX ="C`L?RCC?C#>IG J>ޕ=iޕ={{ q-:Y#R1y:$5NPeq,IGAEAY}FZJ@}Fe @y}F}F}M<}FH`^?x? g3δ?2?4?)~FZJ@ ~F_;I~DɫYY)Y ]IYY@ylGZ****** received transponder code query ******F****** received ping request ******iõ@ñ ĵ @)ĵ\@Iĵiĵ @.=M3=Y2:QU>aD0DyJ}>I :M5? :ܾ A m?9C< <)Z:WUq?WX XW:W2W*WVbUBU*UUUA!@B-CB) B)A-<*B)A5#A1A1A5, ="C=T?RC9C=Uq?CaUC"=52/>=?i=?) I1 GU >AxVeq,"[EAY}FG@}F @y}F֥}FQ}FH`@߱?@?Z?`ys@?)~FG@ ~FD`;I~FC]>9I`jGi@; EɫYY)Y ]IYY@ymGxDUSBL response received:!U1,P 80,80,63,E4 1,189,80,80,95,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 5 ;M=h=YM$:QUM>aaamDm0Dy}>IȹŽD5?Žܾ ƽGA ?9ƽCǽ,< Ƚ<)ȹW/]?WX XW:W2W*WVbUBU*U!U)U-b"@BꏽB BA8<*BA|AAAa ="C3v?RCC/]?Cѽu<֝w\>iIy# || 6:YR1yi:5);9G>\eq, &uEAY}2@}2-@y}20ۥ}2= }2HS?? `?@~?)~2@ ~2b;I~2CɫAI)I MIIY@y/mGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B  ý;ýy=ý=iý¥@ù Ľ+@)Ľ @IĽ@iĽ@;M@=YQU>aD0Dy }>I :F;5? :Iܾ A ?97CV: :)[:WFK?WX XW:W!2W!*W!V!bU!BU)*U)U)U-@Z#@BU/BY BYA]l<*BYAewAaAaAe ="CmhTe?RCiCmFK?Cqyy)y y]>Iމ)ލ@A׹IG>dceq,َEAY}6Z@}62v@y}6aR}6X)}6HkaB?\o@7rĴ?yTB?)~6Z@ ~6T{b;I~4ɫ99)9 9IAY}\@y}mG鮁ɮa=xDUSBL response received:!U1,R,18D,000,00317,185,80,80,B3,FF Fpublishing direction and range infoaɰ=鰅+> )3CIy\ABHNE?-?UտٱK=M`=YY#QU>aD0Dyk}>I35?:ܾ A ?9SC: ":)W4[9?WX XW:W2W*WVbUBU *U U U `$@R(Combining 5 samples.P!*Q%\AZQ%"@PY JQ%BHNE?-?Uտ2Q%a:Q!bQ% @<~o#@0V9?RQ%?,ɿ'ˍ8??BQ%-s? Q%{AQ%P%,9?P%N9?P%Q%Q%@"Q%ϥ@BUɎBQ BYA]4=*BYA]jAYAYA] ="CeQ?RCiCm4[9?CiM>!I9G]3>9I(kGi"@=}; ݗEyy 2:YP1y':5);ieq,xEAY}r(@}r@y}rDJ}rǽ}rH߿@W ?`tB߿blU?и@?)~r(@ ~rac;I~rCɫ) IY@yNmG}DNmea in: $SNTTA,,,,,010318.53*53 yi}=S M9=YLQU>aD0DyY}>I 5:(5? =:ܾ FA M?9wC47< o9<)\:muAdded new target pos. range: 9.960000 m, bearing: 101.364249 deg, deltaT: 10.044911 s, approachRate: -0.059732 m/s, LOS rate: 6.818579 deg/s, posRepo size: 4m ProNav: pos range: 9.960000 m, bearing: 101.364249 deg, approachRate: -0.059732 m/s, LOS rate: 6.818579 deg/s, cmd update: 12.000000 deg/s, cmd heading: 41.484890 deg, new cmd heading: 35.913062 deg. WS?WX XW:W2W*W V bU BU *U U #@UU?B#B BA6<*BA-aAAA ="C>?RCCS?CM >! I1 GM >>peq,T•EA|4<|;Y}B@}B @y}BS[}BU}BH+6޿ @!?@xݿ`u?`?)~B@ ~Bc;I~BCɫYY)Y ]IYY@y%nGIU=)U=zG?Mbp?Q? ?; u<)IyZd;O?Mb~jt?j?D< A) AIi AA=q==ף=;i= @9 9)=+@I=+@i=+@MO=MMC=YUQUU>QQaUD]1DYy],}e>Iae 5?eܾ eyA u?9eCe: e:)aW%nwh?W!XI XIWI:WQ2WQ*WQVYbUYBUY*UYUaU``?B B BA =*BAQAAAc ="CE5?RCACMnwh?CQqQIYG>ޑiޕ=vv /:YN1y:%59@Lveq,+jܕEAY}2)@}2#E@y}2}2%}2Hܿplv`?Kۿj¿ݴ?zĿz?)~2)@ ~2d;I~2CT9TIVlGiVg@TTTV|; VܗE)IIIiIIIM4ɫYY)Y YIYYeT@yemGJM`=Y_9QU>!!a%D% 1D)y-Y}->I1 =:5 5? E:5ܾ 5A E?95C5{: 5:)5]:We{?WaXi XiWi:Wi2Wi*WiVqbUBU*UUU%?B%5gB! B!A%=*B)A- FA)A)AM= ="CU1?RCQCU{?CYimiAe>m?im}?))IIQG\>imGIi%iٺ!%qA[|eq,EEAY}2@@}2m\@y}2楽}2~ <}2H sڿ @@?@uٿ ÿ?@,Lǿ`[?)~2@@ ~2d;I~0ɫ99)9 9IAY@ynGI)mS>mCm\=imf@i m`@)mIm@im@}U=MD=Ye:QU>aD:1Dyc}>Ișŝz5?ŝzܾ Ɲ߉A ?9ƝғCǝ: ȝ@:)șW?WX XW:WI2WQ*WQVQbUQBUY*UYUYU]l?B޺B BA`Z=*BA.AAA ="C2?*C%YRCC?CN؅>׹IGf>zz /:YQ1y:5كeq,'EAY}2L@}2,?y}2}2 L}2H@{ٿ Wÿ \S?׿ 3ÿx}?iAɿ %D?)~2L@ ~2Lnd;I~2Cɫ99)9 =I9Yu@y}QoG -"=MS=Y;QU>  a D S1Dy!}>I5?4nܾ A -?9Ch: :)WMf?WIXI XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUe:@BІB BA=*BAAAAb ="C7?RCCf?Cօ>AIIGm5>ٙٝ<ܥ\>9ܡIܥmGiܥ[@ܡܡܡܥ; ݥߗEIލAA)ލBAueq,)EAY}:$h @}:+?y}:K}:UU}:HaZ׿ Rſ ?!տ¿ $?@grʿ`G5?)~:$h @ ~:Hc;I~:Cɫ99)9 9I9YyyyYMY;QUM>YaamDmn1Diyu}u>Iy :}5? :}`ܾ }HA ?9}C}: }:)}^:W8C?WX XW:W2W*WVbUBU*UUU@BEcBI BQAQ*BYA]~AaAaAer ="C}:D?RCC8C?C %>Ii)mhAQIaG}z>xx ^+:Y7P1y:5@eq,CEAɫ髙) IY@yoG=i=/$?MbX9Mb??ʡ <)IyRQ?~jt?L7A`?"?<+= ¥O@)¥AI¥fAi¥AG AGᾩ}i@ )I@II@iҭ@˙<MaD1D!y%}->I155?5Rܾ 5A =?953C5: 5;:)1W]7?WYXa XaWa:Wa2Wa*WaVibUiBUi*UqUqUuI@R}B*** querying acoustic contact ***PyPyBLB BA=*BAOАAAA˂ ="CU?RCC7?C֡YIiGZ>ieq,ͱ]EA&[>9$I&oGi&O@$$$&; &ޗEY}B@}B +?y}B}B ))a-D-1D1y=}=>IA M:E5? M:EFܾ EƊA U?9EQCE; E;)E_:W}Ƴ?WyX XW:W2W*WVbUBU*UUU @B}4B BA6=*BAJAAAq] ="C/k?RCCƳ?C֝>yIG^>ލ=iލp=zz ,:YQ1y:5);9>eq,TwEAY}2j@}2 ?y}2}2e}2Hҿ@`kȿ ?h:ѿ@WA@3?Q̿]?)~2j@ ~2a;I~2Cɫ99)9 =I9Y]@y]pGe@AaexDUSBL response received:!U1,P 18D,000,00317,185,80,80,B3,FF mCommand AckmBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 eĻeI e`iez@a e@)e~@Ie@ie~@$d=M4=Y\:QU>aD1D yV}>I)-B5?-6ܾ -A E?9-wC-3< --<))W 4?W X  X W :W 2W*WVbUBU*UUU\ @BB BA=*BAwAAA/ ="CO?RCC4?C6Ʌ>?i?IG >Y&eq,gEAY}2@}2h2?y}2}2h}2HKLѿ@s(3ɿ`?`[Ͽ@\? ̿?)~2@ ~2jec;I~2Cɫ99)9 EIAY}@y}pGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I):M]=Y޺QU>aD1Dy@|}>I :Q5? :*ܾ GA ?9C; ;)`:W?WX! X!W!:W!2W)*W)V)bU1BU1*U9U9U=M@B}nq~B BA=*BAPAAAy ="CwF?RCC?Cֽ>a9aIepGie@aaae; a׹IGg>xx 2:Y7P1y:5)|;|Peq,BEAY}2|@}2@0?y}2d}2 h}2H CϿ`7Vɿ? ̿r5?`̿ r?)~2|@ ~2.c;I~2Cɫ99)9 =IAY}@y}qGxDUSBL response received:!U1,R,1BA,000,00336,186,80,80,AD,FF Fpublishing direction and range info|žɰ=鰅> )-CIy=A4d\?*ؿٱ 鿡v=MZ=YRQU>aD1DyE}>I5?ܾ A ?9C: :)Wn?WX X!W!:W!2W!*W!V!bU)BU)*U)U)U5`@Re(Combining 5 samples.Pi*Qm=AZQm遴 4%@U8)ѲJQm4d\?*ؿ2Qm|ž:QibQm0?y\2+('@ Eiu?RQm{BI?AX?MS+?BQmQ? QmA9AQm?Pm39?Pm,9?PmQmQmu@"Qm@BRzB BA">*BAAAAu="Cv?RC)C-n?C1AQIaG}z>Iލ@A)ލ@A>eq,9ŖEAY}n@}nj?y}n }ng}nH؜̿@dxɿ ?ɿ1?a̿?)~n@ ~nHTb;I~nCɫ) IYx@yqGUTNmea in: $SNTTA,,0.412520,,,010322.96*4D w/?I +V-??9 m=)Iy?:v?~jt? ?<D< 1@)dAIAiAf AK7>taD 2D y U} >I :5? : ܾ A %?9ٔC: 4:)a:mUqAdded new target pos. range: 11.820001 m, bearing: 82.599288 deg, deltaT: 4.453612 s, approachRate: 0.417639 m/s, LOS rate: -4.213425 deg/s, posRepo size: 4me ProNav: pos range: 11.820001 m, bearing: 82.599288 deg, approachRate: 0.417639 m/s, LOS rate: -4.213425 deg/s, cmd update: -12.000000 deg/s, cmd heading: 94.865416 deg, new cmd heading: 100.580992 deg. We)?WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUu ף'@U}kA?BEQ|BI BIAM>*BIAUُAYAYA]="Ce?RCaCm)?Ci֡Iש)שaIql  o<:Yyn59@G>1 91 I5 hqGi5 6@1 1 1 5 z; 5 ڗEbeq,ޖEAY}2E@}2?y}2?3}2 i}2H`iqɿ@|Tʿ@B?ƿ``?C̿K?)~2E@ ~2$a;I~2Cɫ99)9 =I9Y@y\rG==i9u<=Mug=Y}BQU}>yaD#2Dyj}>Iȑŕ^5?ŕܾ ƕߋA ?9ƕCǕ: ȕ:)ȑW8?WX XW:W2W*WVbUBU*UUUBI?B}$rBy ByA}|>*BA.AAAKW="C(?RCC8?Cֽ>יIGb>eq,EAY}:2E?}:|?y}:}:L-m}:H@}<ƿ`@0˿h?@dÿ- ?IͿ ?)~:2E? ~:`;I~:Cɫ99)9 =I9Y}{@y}rGI R=) =]7=]|]yi]@Y ]~@)]`@I]`@i]`@mn=MmK=Ym7ҺQUm>qqauD}=2Dyy}}>IȁŅ5?Ņ۾ ƅ A ?9ƅCDž: ȅ:)ȁW?WX XW:W2W*WVbUBU*UUU?BƷoB BA9%>*BAcAAA="Cė?RCC ?C %?΅>I G-N>ލ=iމ || >:YR1yi:5teq,įEAY}2?}2,?y}2N}2kTn}2H¿@˿ˊ?0K@.?mͿ { ?)~2? ~2`;I~0ɫ99)9 =I9Y}@y}aaaeDeV2Diyu}}>Iȁ :Ņ5? :Ņ,۾ ƅ;A ?9ƅ5CDž<; ȅ=;)ȅb:W%?W!X! X!W):W)2W)*W)V1bU1BU1*U1U9U=@mF?BeoBa BaAe*,>*BiAm AiAiAm="Cu*?RCuo>C}?Cyօ >׍?i׍?\>9IrGi{@ =q; ՗E)yIyiy}=}=}4yIG^>iM DnGIY iq xٺ Aeq,,EAY}2?}2?y}2<}2q}2H @f̿ ?P@a?Ϳ?)~2? ~2W)`;I~2CɫYY)Y YIYYe@yesGI)Am<MmI=Y:QU>aDr2Dys}>I  5? ۾ kA ?9 WC : :) W=d͜?W9X9 X9W9:W92WA*WAVAbUABUA*UIUIUMd@B ekB BAl5>*BA͎AAAw="C ϻ?RC:>Cd͜?C֭V}>׉IGH> <0:Yy%5eq, lFEAY}29?}2?y}2}2q}2HM@ x̿@=? y1?`Ϳ@?)~29? ~2`;I~2Cɫ99)9 9I9Yu?@y}sG }!rh?~jth+?}l?}D }=)yIyy}d;O?aD2Dy{}>I  : 5? : ۾ A ?9 tC Z: b:) c:Wm?WX XW:W2W*WVbUBU*UU U @BUbiBQ BQA]=>*BYA]wzAYAYA](="C!~?*CήRC ">Cm?C֝+Oo>qIyG~>Iޑ)ޕ?A 9 I sGi @ j; їEeq,pA`EAɫ髹) IY @ytGɮR=='=M=W=Y=QU=>AAaEDE2DIyM}M>IQU^5?U5۾ U܌A ]?9UCU: U:)QWjć?WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB\B BAW>*BA,AAA="C$?RCC">>Cjć?C wf>I)IG%> ww 5:YO1yP:5)a;9eq,zEAY}2o?}2j?y}2蟽}2p}2HBHͿ:?@Rv`?`CͿH?)~2o? ~2 _;I~2Cɫ99)9 =I9Y}@y}uGZ****** received transponder code query ******F****** received ping request ******11a5D52D9y=8}E>IA M:Eg5? U:E۾ EA U?9ECE: EE:)Ed:Whw?WX XW:W2W*WVbUBU*UUU^7 @B]B BAh>*BAAAA%5="C%Բ?RCMgI=>CMhw?CQE6>I)GEQ>eq,IEAY}6?}6a?y}6K}6ol}6H`Sh'̿?ц@W?>4Ϳ`}?)~6? ~6_;I~6CɫQQ)Q QIQY@yuGxDUSBL response received:!U1,P 1BA,000,00336,186,80,80,AD,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=);M2=Y ):QU>!)a-D52DAyEh=}M>ىٍgA-`Failed to parse device response: 6.27,23.858.50 IY]ܿ5?]۾ ]]A ?9]ԕC]B< ];)YW\?WX XW:W2W*WVbUBU*UUU C@Bu9H`By ByA}k>*ByA}GAyAA!="CD?RC >C\?Cޑiޕ= S,:Yy59@ MR!> I G >eq,FҭEAY}J?}JI?y}JWS}Jpe}JH4@Z̿`(?`?ҳ`_ų?`\̿ B?)~J? ~J_;I~Hɫ髁) IY=v@y=vGAAeNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B E33EE(\>iE@A Eҭ@)E~@IE~@iE@)~=ML=Yo:QU>!IaUDU2Day*X}>I :Ϳ5? M:"۾ A U?9C~< 94<)e:WI?WX XW:W2W*WVbUBU*UUU@B=OMBA BAAEI>*BAAE匽AAAAAM="CMj[?RCQCUI?CQU,>1I9Gm>eq,ǗEAY}6Y?}6:?y}6}6i[}6H:?sBY˿,?֦?m@^?/˿ -?)~6Y? ~6s_;I~6CɫYY)Y ]IYY\@yvGxDUSBL response received:!U1,R,1CB,000,00338,186,80,80,B6,FF Fpublishing direction and range infoK;ɰ=鰡 )6CIy ?Aw?QwPؿٱdNmea in: $SNTTA,0.048913,0.115544,,,010327.47*5D /$?V-?{Gz?1?m= ף<)Iy"~j?~jty&1?S#?ļ`< @)IAIfAi AAMX=Y;QU>!!a%D% 3D!y-V}m>Iqu5?u_۾ uύA }?9u Cu: uQ:)qW6?WX XW:W2W*WVbUBU*UUU`G@R(Combining 5 samples.P)*Q- ?AZQ-a} c%@#yJQ-w?QwPؿ2Q-K;:Q)bQ-&ї@j?M%@t(!?RQ-=P?Ј؛?QO?BQ-*BAAAAj="C1 ?RCC6?Cm(Q>9IIG[>yy 1:YP1y':[5܁ 9܁ I܅ vGi܅ @܁ ܁ ܁ ܅ l; ݅ җEeq,+EA|i|@Y}6Yx?}6:?y}6 }6U}6H %? G@pʿ??@-? Lzʿ7?)~6Yx? ~6__;I~6CɫQQ)Q UIQY@y*wG  56=M=Z=Y=~;QU=>AAaEDE%3DAyM*<}M>IQU5?UIz۾ U A ]?9U+CU : U:)QmqAdded new target pos. range: 11.940001 m, bearing: 66.802085 deg, deltaT: 4.500936 s, approachRate: 0.026661 m/s, LOS rate: -3.509760 deg/s, posRepo size: 4m ProNav: pos range: 11.940001 m, bearing: 66.802085 deg, approachRate: 0.026661 m/s, LOS rate: -3.509760 deg/s, cmd update: -10.529279 deg/s, cmd heading: 40.890782 deg, new cmd heading: 36.533618 deg. W%?WX XW:W2W*WVbUBU1*U1U5G'@U5?BHB BA;>*BA!AAAm3="Cĉ?RCC%?C M=M=S%}>I ) IGI>(eq,cEAY}>SD?}>4{?y}>}>=Q}>H_A?H@Fdʿ ?{?@h˲?ɿ]??)~>SD? ~>_;I~>Cɫ99)9 =I9Y}@y}wG]=]rh] =i]\@Y ]@)]@I]@i]@mF=MmG=Ym:QUm>qqauDu?3Dyy}+}>Iȁ :Ņ#5? :Ņk۾ ƅMA ?9ƅLCDž: ȅ:)ȅf:WJ?WX XW:W2W*WVbUBU*UUUik?BLCB BAj>*BAAAA="C?RC C J?C %>IG5P>wzz (:YQ1y:5fq,>EAY}6?}6l ?y}6#}6S}6HW?9`aʿ?@c?`? %?`=ʿ;?)~6? ~6__;I~4ɫ99)9 EIAY}@y}WxG=<M=M=Y=89QUE>AAaEDEY3DIyMC}M>IQU5?U]۾ UA e?9UmCUw: U@:)QW.>WX XW:W2W*WVbUBU*UUU ?B@B BA>*BAR0AAAF="C,j?RCC.>C!%<-]>9)I-DwGi-@)))-t; -חEIGI>> fq,)/EA|;|ɫ) IY5@y5$yG+=Dti׫@ @)@I@i@i-=M*=YQU>aDx3Dy}>I :j5? :3L۾ ݎA ?9CH; ;)g:WMՏ>WIXI XIWI:WI2WI*WQVQbUQBUQ*UyUU?B ZDB  BA>*BA5A9A9A=n="CMJoN?RCICMՏ>Cqԉԉ֍>W yy ,O:YP1y':5׭?i׭?ׁ I G >w#fq,QU?aD3Dyx}?Iq5?A@۾ A M?9C8< <)WuEN>WqXq XqWq:Wq2Wq*WyVybUyBUy*UUU~?B+B BAf>*BAAAA="CCN؅>I G-p>! 9! I% pxGi% @% =! ! % y; % ٗEs\fq,cEAɫ髙) IY@yyGI9)=AI9)9)I M=uMuK=Y}QU}>yaD3Dy}>Iȑ :ŕ5? :ŕ1۾ ƕ7A ?9ƕЖCǕR: ȕ:)ȕh:W >WX XW:W2W*WVbUBU*UUU@B0H2B BA>*BA ؎A A A _=9=CimGIi4ٺA"CMg&?RCICM >CQ֕>yIG>}}x}x} }/:Y}7P1y}:}[5)}ތ;9wfq,|EAY}:]?}:>S?y}:=m}:f}:H9?࿪Ϳ`E?8? 2_i?̿?)~:]? ~::M_;I~:Cɫ99)9 9IAYE@yEzGMp=ɮM= aaí">ííף=ií(@é ĭ@)ĭ@Iĭ@iĭ@`=MH=YU;QU>aD3Dy:}>If5?n#۾ hA ?9C: :)W K>W X  X W :W2W*WVbUBU*UUU`Y@R-B*** querying acoustic contact ***P)P)Be+Ba BaAe#>*BaAmAiAiAm="Cup?RCqCuK>Cy>IGj>`%fq,뎖EAY}F ?}FB?y}F}Fk}FH1?)WPοi?"?@`L?uͿ@?)~F ? ~Fhz_;I~FCɫqq)y }IyYyZ****** received transponder code query ******F****** received ping request ******))a-D53D1y=~}=>IA M:E45?  :E۾ EA ?9ECEo< E<)Ei:WUK]=WQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUe` @B*B BA*BAeUAAA="C/>RCCK]=C 9IyGi@m; ӗE)sIsis{ =s{4I GEs> || ]E:YR1yi:\5);׌+fq,qEAY}-4?}-U?y}-:x}-Sm}-H~?iο F??@RX+?`SͿ ?)~-4? ~-[_;I~-Cɫ) IY5 @y5{GUxDUSBL response received:!U1,P 1CB,000,00338,186,80,80,B6,FF UCommand Ack]BRequesting micromodem ping code 2iYaqiqNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }iAy=>=t==i=@9 =\@)=@I=i9Σ;MaD3Dym0}>I!%5?%1۾ %ՏA -?9%=C%4: %@:)!W<WX XW:W2W*WVbUBU*UUU @B]x3Ba BaAet>*BiAAAA="Cj>RCC<C= > I! G= >q2fq,y=ʘEAY}25?}2k?y}2м}2o}2HT? <ο??\3?`Ϳ~ ?)~25? ~25_;I~2Cɫ99)9 =I9Y@@yK{GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I=4=)=C=On?~jt?S㥛?< /ݼ)Iy333333?~jt rh??ļC = @)OAIiA_<M=Y۹QU?aD4Dy}?I5?hھ A ?9SC-< <)W4@WX XW:W2W*WVbUBU*UUU$@Bm]Bq BqA>*BAiAAA="C>RCC4@Cօ>qIG>ޕ=iޑ xx E:Y7P1y:n59@ 9 I zGi @ l; җE8fq,EAY}:W?}:?y}:듽}:Xs}:HJ? vϿd?5?Fy? ο/?)~:W? ~:#i;I~8ɫ99)9 =I9Y}@y}{GxDUSBL response received:!U1,R,1BE,000,00346,186,80,80,A3,FF Fpublishing direction and range infoTFǾɰL=鰁 )#CIyzLA㚰fQ?Iؿٱ=Ma=Y?QU>aD&4Dy|}>I :5? :ھ DA ?9oC: :)j:W@WX XW:W2W*WVbUBU*UUU|@R(Combining 5 samples.P*QzLAZQBP'@*eJQ㚰fQ?Iؿ2QTFǾ:QbQ,|78@Qk$@3&?RQfzҖ?섣`?-u?BQ+q? QZ#AQ@PC9?P:9?PQQ;A"QPABMBQ BQAUg>*BQAUAQAYA]O="Ceo>RCaCe@Cae>AIGj>>fq,EAY}2g?}2?y}2Ju}2.&u}2H?Ͽ?Q?ZwTʲ?Eο?)~2g? ~2v;I~2Cɫy髁) IY<@y|GEDNmea in: $SNTTA,,,,,010331.89*5F II)I)ý= ý>9DVi@ @)@I@i\@x$=M5=Yz4QU>a%D%C4D!y-P}->I15J5?55ھ 5A =?95C5Ǻ: 58:)1mmqAdded new target pos. range: 12.779997 m, bearing: 53.976769 deg, deltaT: 4.401406 s, approachRate: 0.190847 m/s, LOS rate: -2.913913 deg/s, posRepo size: 4m} ProNav: pos range: 12.779997 m, bearing: 53.976769 deg, approachRate: 0.190847 m/s, LOS rate: -2.913913 deg/s, cmd update: -8.741741 deg/s, cmd heading: 354.459410 deg, new cmd heading: 349.976759 deg. W}@WyXy XW:W2W*WVbUBU*UU[)@U [?BZB BA>*BA/΅AAA|="C>RCC@C>יIGc> ):Yy5VEfq,EAY}JJ}?}J(?y}JO}Ju}JH@\? "Ͽ|??V0?7Pο !!a%D%[4D)y-{}->I1 =:55? E:5\ھ 5ϐA E?95C5: 5:)5k:We@WaXa XiWi:Wi2Wi*WiVqbUqBUq*UqUyU} t?BBA < BA">*BA/AAA'V="C53[=RC1C5@C9qu<}\>9yI}{Gi}@yyy}p; }ԗEeN؅>9IIGuW>IލAA)ލ@ArKfq,c1EAY}Vg?}VEˠ?y}V`o}Vd\t}VH@?cmϿW?CU?Ai?%i?@?+ο?)~Vg? ~V~;I~VCɫyy)y IY@y}GõO=õ 0õ$>iõQ@ñ ĵ@)ıIıiĵ@_9=M2=YgQU>aDx4DyJ}>I5?ھ A ?9їC4: :)W Կ@WX XW:W2W*WVbUBU*UU!U%?BM_BQ BQAU>*BQAU `AQAQA]x|<"CeڼRCaCeԿ@Ca֕>iIyG> yy 4:YP1y':5Rfq,KEAY}:?}:ם?y}:}:r}:H$?`( |Ͽh??衁?,R?Ϳ?)~:? ~:>y;I~8ɫ99)9 =I9Y}@y}}Gi==i=V-? rh?I +?>C< 94<)Iy#~j?y&1|aD4Dy{}>I  :5?  :ھ LA ?9C:  :)l:W5@W1X1 X9W9:W92W9*W9V9bUABUA*UAUAUM:?BuwBq BqAu>*ByA}ĶAyAyA}q<"C׽RCC@C >IGn>i 9i Im }Gim @i i i m q; i 2Xfq,`eEA||4AAaEDE4DAyMo}M>Iȩŭ_5?ŭھ ƭ{A ?9ƭCǭ: ȭ:)ȩW @WX XW:W2W*WVbUBU*UUU@-@BB BA>*BA%rA!A!A%_<"C- @RC)C- @C1э=֕g>iIy   B5:Yy5)ԑ;9G>@_fq,:EAY}2?}2 ?y}2 }2p}2Hw?m@Ͽ ?@IIaMDM4DIyUa}U>IY] 5?]wھ ]A e?9]1C]U: ]@:)YW)@WX XW:W2W*WVbUBU*UUU,T@BE=BI BIAM6>*BIAmS<AiAqAu=<"Cu2cRCyC})@Cym<]?΅>1IAG]v>eefq,"EAY}2?}2G?y}2.{}2n}2H?h οV??U?&?`~Ϳ ?)~2? ~2rg;I~2Cɫ99)9 =I9Y@yvG =MQ=Y:QU>aD4Dyh}>I : 5? :kھ ؑA  ?9QC : {:)m:W-C?@W)X) X)W):W12W1*W1V1bU9BU9*U9U9UEv@RMB*** querying acoustic contact ***PIPIBm Bq BqAu>*BqAuaAyAyA}&<"C?RRCCC?@Cωω)Б Б  hA9IL~Gi@`; ˗E %=%=>{{ +:Y#R1y:75)~;iDnGII i G% >= ٺ9 = AG%lfq,AEAY}JC,?}J!c?y}J)}Jbm}JH`q?]οu ?X?N ??`aͿ@??)~JC,? ~J_d;I~Hɫaa)i mIiY@yGZ****** received transponder code query ******uF****** received ping request ******}]ף= ]C)YIYy]V-?aD4Dy\9}>I]!5?Oھ A ?9|C: :)W)ϵ@WX XW:W2W*WVbU!BU!*U!U)U-cu @BU`BQ BQAU>*BYA]~AYAYA]z<"CiRCC)ϵ@C> I G5 > sfq,B̙EAY}2!?}2W?y}2ے}2 Hm}2H`?yVοJ?n?+?ZN?QͿ?)~2!? ~2b;I~2Cɫ99)9 =IAY]3@y]GexDUSBL response received:!U1,P 1BE,000,00346,186,80,80,A3,FF eCommand AckmBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 <M=Y5%;QU?aD5Dy-}- ?II m:M)5? }:Mtھ MFA ?9MCM; M<)Mn:W-@W)X1 X1W1:W92W9*WAVibUqBUq*UyUyU}@ @B=߼B BA>*BAeeAaAiAm$<"Cu RCqCu@CyֽV݅>בzz -:YQ1y:#59@IG> 9 I xGi @ p; ԗE)ݡIݡiݡݥ=ݡݥe4F7yfq,EAY}6O?}6,4?y}6ŝ}6lm}6H8?`r`6ο;a?n?ܮ?`?`bͿ9?)~6O? ~6`;I~6Cɫ99)9 EIAY}@y}SGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=yy<M<=Y;QU>aD+5Dyl}>I55?ufھ ~A ?9C: ӻ:)W2@WX XW:W2W*WV bU BU *UUU0@B=¼B9 BAAEK?*BAAE}AAAAAE<"CMYRCQCU2@CQaaE>!IAGmW>Xfq,wEAY}2ը?}2 ?y}2T}2>m}2H]? pͿ@|? ]?&?Ŀ?MͿ@1?)~2ը? ~2_;I~2CɫYY)Y ]IYY@yGxDUSBL response received:!U1,R,236,000,00358,188,80,80,B3,FF Fpublishing direction and range info'ɰ?=鰥> )3CIy]AZ,?AvW޿ٱI=)4=  `e !)a-D-D5D)y5}5>I9 E:=?5? E:=Yھ =A M?9=ޘC=: =:)=o:W%93@W!X) X)W):W)2W1*W1V1bU1BU1*U9U9U=@#@RM(Combining 5 samples.Pi*Qm]AZQm3P!&h(@fHJQmZ,?AvW޿2Qm':QibQm* Ϩ&@#T@.7Mr@RQmQ?r,_?9舿?BQm[? Qm@Qme6APmP9?PmC9?PmQmQmA"Qm;ABbyּB BA?*BA)|AAAn<"CH-RCC93@C>IGEs>ލ=iލ=  w w  H-:Y O1y P: 5Ofq,yEAY}nͥ?}n?y}nA }nl}nH? `Ϳ??@n? =?-Ϳ>?)~nͥ? ~n'?b;I~lɫ) IY E@y GmDNmea in: $SNTTA,,,,,010336.29*52 B<M<=Yӕ;QU>  a D _5D y]_}>IL5?Kھ A %?9C: v:)mUqAdded new target pos. range: 13.860000 m, bearing: 33.428028 deg, deltaT: 4.462603 s, approachRate: 0.242012 m/s, LOS rate: -4.604654 deg/s, posRepo size: 4me ProNav: pos range: 13.860000 m, bearing: 33.428028 deg, approachRate: 0.242012 m/s, LOS rate: -4.604654 deg/s, cmd update: -12.000000 deg/s, cmd heading: 315.485042 deg, new cmd heading: 311.899416 deg. Wmzs@WiXi XiWi:Wi2Wq*WqVqbUqBUq*UyU}Q+@U}7?١١ܩ9ܩIܭRGiܭ@ܩܩܩܩ ݩBżB BA?*BAjzAAAJ<"CBRCCzs@CשIGd>tsfq,&94EAY}h?}D?y}ec}o4l}H?gX4Ϳ`JB?͡?G?@h?3Ϳ?)~h? ~Ka;I~ɫ) IYu@yڀG㥛 ? ףp= ?{Gzt?Q= ף)IyJ +? rhQ?(?C< @)jAIO@iC AA=>=L==#=i=f@9 =@)=r@I=@i=Ʒ@UW<MU7=YU;QUU>YYa]D]|5Daye#]}m>Ii u:mY5? }:m=ھ m-A }?9m)Cm: m:)mp:W~v@WX XW:W2W*WVbUBU*UUU`D0?B ̼B BA ?*BA2yxAAA5!<"C ZRCC~v@CI)IG >  x x  /:Y 7P1y : 5>[fq,NEA|i|Y}6?}6?y}6(}645m}6H E?`t̿@?;?X?)? TͿ ^?)~6? ~6`;I~4ɫ99)9 =I9Y}@y}'G >=Mw=Y;QU?!!a%D%5D)y-ّ}-?I15d5?53ھ 5`A =?95DC5: 5:)1We>@WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}K?BXB! B!A% ?*B!A%vA!A!A-x <"CU1lRCQCU>@CQa9IIGmW>Iޭ@A)ޭ?Aܱ 9ܱ Iܵ Giܵ ;@ܵ =ܱ ܱ ܵ x; ݵ חEpfq,[gEAY}2>ǜ?}24y?y}2މ{}2 p}2H@ǜ? ~2`;I~2Cɫ99)9 =I9Yb@ykG5#=M=H=Y=;QU=>AAaEDE5DAyMe}M>IQUp5?U.'ھ UA ]?9UgCU: Uӻ:)QW@WX XW:W2W*WVbUBU*UUU@j?B0B BA?*BAuAAA<"CҀRCC@C>׹IGE>- 2 - y- y) - 7:Y- P1y- ':) )- ;95 >mfq,2ʁEAY}:ؙ?}:t?y}:v}:([o}:H|? ̿ ?`Ba??0ή? Ϳ?)~:ؙ? ~:x_;I~8ɫ99)9 =I9Y}m@y}G=i))}Ҿ}'=},i}@y }Ʒ@)}@I}3@i}@Ԡ=ME=Y>;QU>aD5Dy-b}>Iȡ :ťu~5? :ťھ ƥۓA ?9ƥCǥQ: ȥ:)ȥq:Wܺ@WX XW:W2W*WVbUBU*UUUt@Bx֕B BA?*BAVsAAA%<"C%pRC)C-ܺ@C)E>9IIGmW>cfq,jEAY}2 ?}2 n?y}2ru}2hp}2H ?Q̿`??@}??`Ϳ`?)~2 ? ~2> _;I~2Cɫ99)9 9I9Y}@y}FGIC=)<MR=Y+:QU>!!a%D%5D)y-e}->Iȉō5?ōھ ƍA ?9ƍCǍ: ȍo:)ȉW @WX XW:W2W*WVbUBU*UUUi;@BtʅB BA?*BAqAAA<"C 讖RCC @CUiAQY9YI]Gi]@]=YY]l; ]їEe>9IIGq޵=i޵=- - |- |-  - -:Y- R1y- i:- 5)- Z;Ĭfq,㎵EAY}}!?}}h?y}}'u}}Jn}}H@?J@%˿ 2?`F|??@?wͿ ?)~}!? ~}^;I~yɫii)i uIqY@yGɮp=ml?Q?I +?m>m(> m9<)iIiymX9v?MbP?Mb?m3?m:m= m@)mOAImf@im AimA>/]=ip@ @)r@I@i+M1=Yv}8QU>aD5DyJJ}>I :5? :ھ ZA ?9әC: ':)r:W@WX XW:W2W*WVbUBU*UUU?@RB*** querying acoustic contact ***PPB5̂B1 B1A=?*BYA]nAYAYAe <"CehRCiCm@CiU>)I1GU>dfq,[ϚEAY}2 ?}2db?y}2t}2Pmn}2H`;?˿ ˷?@B???`f{Ϳ@?)~2 ? ~2+_;I~2Cɫ99)9 =I9Y@y?GZ****** received transponder code query ******F****** received ping request ******<Mm=Y9QU?!!a%D%6D)y5}5?I9=5?=Jپ =A M?9=C=I: =:)9Wu@WqXy XyWy:Wy2Wy*WVbUBU*UUU= @B,B BAJ?*BAo mAAAy{<"CRCC@C =  >IGI>U [>9Q IU GiU @Q Q Q U [; U ȗEm |m {m {m  m L):Ym #R1ym :m [5)m ~;ӹfq,6EAY}:5?}: H\?y}:Us}:n}:Hi?`QO9˿7?@?@IX? ]?؀Ϳ`?)~:5? ~:E^;I~:CF̘>FCivdnGIiMV޿ٺIMAɫyy)y }IyYZ@yGxDUSBL response received:!U1,P 236,000,00358,188,80,80,B3,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 54=M5:=Y5%:QU=>99aEDE/6DYy`}>I : 5? %:پ єA U?9Co< <)s:W-b@W1X1 X1W1:W12W1*W9V9bU9BU9*U9UaUe @B@떼B BAD ?*BAjAAA<"CwRCC%b@C!ԥԥ խԭIީ)ޭBA I) GE >_fq,EAY}6?}6U?y}6sm}6n}6H@0t?~ʿණ?@9???#Ϳk?)~6? ~6\];I~6CɫYY)Y ]IYYp@yGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B /<tTaDH6Dy}>I5?uپ A ?9=C: :)W%@W!X) X)W):W)2W1*W1V1bU1BU9*U9U9U="@BeBi BiAm ?*BiAuhAqAqAuP<"C}1b¿RCyC}@CiIqG> u u  W@:Y KN1y y: 59 @ a)eCIayebAe uD?1ݿٱayi}=‰jA=<MZ=Yڨ;QU>aD`6D y } >I1 =:55? =:5پ 5>A E?95_C5: 5b:)5t:Wύ@WX XW:W2W*WVbUBU*UUUF@R(Combining 5 samples.P=4=9IGit@F; E)݉I݉i݉݉݉ݍc4*QbAZQ`GD)@FJQ uD?1ݿ2Q{:QbQDdt*@."@6@RQ<홯?KT~? F$)?BQ> Q@QSAPZ9?PP9?PQQA"QABe.FBa BiAm"?*BAfAAA'<"CQͿRCCύ@CסIG >ofq,Y6EAY}-w?}-[I?y}-#\}-Zo}-H ?@=ɿ?D? A?}?Ϳ@?)~-w? ~-_;I~-Cɫii)i mIiYu]@yuAGTNmea in: $SNTTA,0.033006,,,,010340.75*42 I-=)-=S㥛?Mb?~jt>< )IyK7?;i@ @)Ʒ@I@i1@%:B=M-+=Y-l;QU->11a5D5~6D1y=cK}=>IQU85?Uپ UA u?9UCU; Ulj;)QmeqAdded new target pos. range: 14.159999 m, bearing: 18.919815 deg, deltaT: 4.423390 s, approachRate: 0.067821 m/s, LOS rate: -3.279886 deg/s, posRepo size: 4mu ProNav: pos range: 14.159999 m, bearing: 18.919815 deg, approachRate: 0.067821 m/s, LOS rate: -3.279886 deg/s, cmd update: -9.839657 deg/s, cmd heading: 262.403832 deg, new cmd heading: 256.488360 deg. WuL؏@WqXq XW:W2W*WVbUBU*UU`Q,@U?BeB1 B1A5](?*B1A=dA9A9A=<"CEƅڿRCACEL؏@CIIIYG}{>ޭ=iޭ=  { {  *:Y #R1y : n5fq,PEAɫ髙) IYY@y>GUdM]n=Y]QU]?aaaeDe6Daym}m?Iqu%5?uپ u̕A }?9uCu^: u:)qW@@WX XW:W2W*WVbUBU*UUU?B`B BA@(?*BA~bAAAR<"CRCC @@C  IGU>\>9IGih@Y; ǗE!fq,~jEAY}2|?}2Z=?y}2L}28Ap}2Hכ?`5 %ȿ؊?`=??>?OͿ?)~2|? ~2)^;I~2CɫYY)Y ]IYY@yzGI)) > >=R<MEL=YMIIaUDU6Dy}>I : 5? :پ A ?9ǚC$; ;)u:W}@WX XW:W2W*WVbUBU*UUU?By2B BAB+?*BA_AAAp<"CRRCC@CIGE>  | |  ):Y R1y i: %5) ;9 fq,-[EAY}2Dw?}27?y}2M0H}2Mm}2H?5ǿA?? ?|?`VͿ?)~2Dw? ~2^;I~2Cɫaa)i mIiY@yG U'=Uu=UĽiU(@Q U@)U@IUz@iU@e:<MeH=Ym,;QUm>iiauDu6Dqy}d}}>IȁŅ5?Ņپ ƅTA ?9ƅCDž÷: ȅU:)ȁW@WX XW:W2W*WVbUBU*UUU4?BB BA&.?*BA]AAAl]<"C&RCC@CסIG >Iޱ)޵@A35fq,T;EAY}2Tq?}272?y}2UE}2&n}2H?``ǿ 0??M? N?`wͿ3?)~2Tq? ~2^^;I~2Cɫ99)9 9I9Yus@y}G<MQ=Y:QU>aD6D y `} >I %:-5? %:֡پ A %?9 Cs: :)v:WMP~@WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYU] @B`^B BّٕjAܝ[>9ܙIܝGiܝ @ܝ =ܙܙܝW; ݝŗEA 1?*BA[AAAF<"CRCCP~@C׉IG=  { {   ,:Y #R1y : 5) u;Rbfq,#EAY}Z l?}Zx,?y}Zb:B}Zn}ZH? &@ ǿ 2??h?D?Ϳ ?)~Z l? ~ZR^;I~Xɫ髑) IY@yGG1i5=S?~jtx~jt?/?Ļ <)IyK7?{Gz? rh?#<C< ~@)AI@iEA(AhA5=5(5d;>i5Q@1 5@)5Ʒ@I5Ʒ@i5@E%=ME7=YMc:QUM>IQaUDU6DQy]M}]>Iae=@5?e1پ eA m?9e/Ce: en:)aW W@W X XW:W2W*WVbUBU*U9UAUE@BB BA5?*BA YAAA <"C>RCCW@C?i?IGM>Efq,ћEA||;Y}6 f?}6&?y}6>}6ln}6Ho?ƿ !\?`??ҧ?Ϳ@P?)~6 f? ~6 ^;I~6CɫYY)Y YIYY@y+G鮡ɮ=I=){Mg=Y";QU>aD7Dy/}>I :O5? :پ ߖA ?9MCg: :)w:W @W X  XW:W2W*WVbUBU*UU!U%r@R-B*** querying acoustic contact ***P)P)B7:B B!A%I4?*B!A%*WA)A)A-<"C5_RC9C=@CA)I9GU>ܝ\>ޱiޱ9ܙIܝ@Giܝ[@ܙܙܙܝH; ݝE B    9:Y WU1y : 5) ";pfq,EAY}2]`?}2u ?y}2N=}2=o}2Ho?ƿ? c?ݙ?à? Ϳ ?)~2]`? ~2G^;I~2CɫYY)Y ]IYY}s@y}GZ****** received transponder code query ******F****** received ping request ******yaD07DyP}>I!%sc5?%پ %A ]?9%sC%; %<)!Wd@WX XW:W2W*WVbUBU*UUUo+ @BmBi BiAm 1?*BiAuaTAqAqAu<"C}uF RCyC}d@CaIiG9>Wgq,sEAY}:+Z?}: ?y}:<}:rn}:H`G?q@6ſ2?`R?t ?? Ϳ?)~:+Z? ~:k^;I~:Cɫ99)9 =I9Y}@y}GxDUSBL response received:!U1,P 22F,000,0035D,189,80,80,95,FF Command AckBRequesting micromodem ping code 2iI)AI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= =õ=õ>õP=iõ@ñ ĵO@)ĵ@Iıiĵ@'=M1=Yz9QU >aDM7D!y]M}]>Iȹ :Žx5? :Ž{پ ƽ2A  ?9ƽCǽ%< ȽL%<)Ƚx:W=*|@WIXI XIWI:WI2WQ*WQVQbUQBUY*UYUYU]@m @BKB BA:?*BAQAAAL<"CRCC*|@CIGEs>% % y% y%  % =.:Y% P1y% ':% I59- @ʁgq,|EAY}2iT?}2?y}2r<}2'Rn}2H`̲?@ſ8?t1?? ˕?}Ϳ?)~2iT? ~2=V^;I~2Cɫ99)9 =I9Y}@y}GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =<=<E[>9AIEGiE@E=AAA A5=MUj=Y]aQU]>YYaeDec7Dayeu}m?Iim/5?mtپ mPA }?9mCm: m:)iWpx@WX XW:W2W*WVbUBU*UUU%@B$=<B BA>?*BAOAAAk<"CRCICUpx@CQIIQGm>ioGIiܿٺAIޱ)޵AA gq,X9EAY}Z}BN?}Z0?y}Z3=}Zp}ZH` ?+Ŀ??`!>?P?Ϳ?)~Z}BN? ~Z|^;I~ZCɫ髙) IY@yGxDUSBL response received:!U1,R,275,000,00362,189,80,80,5D,FF Fpublishing direction and range info ɰ= )BIy\gAO>8L? Qg6ٱdNmea in: $SNTTA,0.298069,0.297956,,,010345.18*5E )\(?X9v?{GzG>}= #)IyS㥛?I +?$?̼9< I@)AIO@iAzA%Sc>%=%G=i%f@! %Ʒ@)%r@I!i%@5̼M5.=Y=yQU=>99aEDE7DAyMZ}M>IQU5?Ukپ UA ]?9UۛCU: U:)QW}^s@WX XW:W2W*WVbUBU*UUUt@R(Combining 5 samples.P*Q\gAZQǰ?(@<~-JQO>8L? Qg62Q :QbQ /,@^N?g5@RQhlOM?P m??BQǟ< Qm~>QQdAPb9?PZ9?PQQA"QAB0x=B BA:?*BA MAAA<"CF7RCC^s@CI G%M>%  % }% }%  % 4:Y% kS1y% Ԋ:% 5&gq,Y4SEAY}2"G?}2 ?y}2n<}2o}2Hಎ??޿ÿ 3??@?+?CͿ?)~2"G? ~2^;I~2Cɫ99)9 9I9Y}@y}҄Gi==i=iA5<M=q=Y=9QUE?AAaMDM7DIyɔ}>I :25? :Feپ A ?9C: 4:)y:mMmAdded new target pos. range: 14.459998 m, bearing: 0.997529 deg, deltaT: 4.504988 s, approachRate: 0.066593 m/s, LOS rate: -3.978321 deg/s, posRepo size: 4m] ProNav: pos range: 14.459998 m, bearing: 0.997529 deg, approachRate: 0.066593 m/s, LOS rate: -3.978321 deg/s, cmd update: -11.934962 deg/s, cmd heading: 218.039279 deg, new cmd heading: 214.467100 deg. We^n@WaXa XaWa:Wa2Wi*WqVqbUqBUq*UqU},@U}a?BhW;B BA=\>99I=փGi=O@= =99=B; =E)ɇIɇiɇ͇ =͇ =͇4:gq,ImEAY}21@?}2i?y}2a;}2~*p}2H?vݿ`0dÿ?Ve? D? 3p? Ϳ]?)~21@? ~2]^;I~2CɫII)I IIIY}j@y!G}=MF=Y:QU>aD7Dy}>I5?^پ A %?9C: :)WM#Oi@WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYU] ŀ?B@u;B BA@?*BAuHAAA<"Cu[$RCC#Oi@CשIG!>ޭ=iޭp=E E |E |E  E -:YE R1yE i:E Z5٥!gq,[醜EAY}2q:?}2¾>y}2x!:}2p}2HZ?%ܿ7¿ ??`?@"B?lͿ?)~2q:? ~2^;I~2Cɫ99)9 =I9Yc@yGM?MM-?iM̼@I M1@)M@IMO@iMf@]M]L=YeKg:QUe>aiamDm7Diyu}u>Iy :}d5? :}Xپ } A ?9}:C}x; }!;)}z:W d@WX XW:W2W*WVbUBU*UUUsw?B/;B BA@?*BAFAAAK<"Cg(RCC d@C׉IG>'gq,ĠEAY}:i4?}:6 >y}:7}:Sq}:H@?dڿ%¿6? G?d?? Ϳ?)~:i4? ~:s^;I~:Cɫ99)9 9I9Y}I@y} GhAhA!9!I%:Gi%@!!!! !}'MH=Ya:QU>aD7Dyw}>Iȩŭ5?ŭiRپ ƭ;A ?9ƭ\Cǭ=: ȭk:)ȩWs^@WX XW:W2W*WVbUBU*UUU ?Ba;B BA??*BA7CAAA%<"C%-RC- C-s^@C)IA)A IG5 >   11:Y y 5) P;9 -gq,^EA|i|@ɫyy)y }IyYT@yG !!333333?V-?Q>h> )Iyy&1?{Gzt:v?`%?ף< )AIf@iA\@e=e5^eie\@a e@)eƷ@IeƷ@ieƷ@uL;Mu<=YuQUu>yya}D}8Dy}>Iȉ :ō5? :ōyKپ ƍlA ?9ƍCǍ: ȍ":)ȍ{:W(X@WX XW:W2W*WVbUiBUi*UiUiUm@@B;B BA@?*BA@AAAߕ<"C13RCC(X@CIG J>IޭAA)ީ4gq,pzԜEAY}6'?}6,>y}64}6Pq}6HZ?` ؿ $V??]C? y?`]Ϳ?)~6'? ~6_;I~6Cɫ99)A EIAY]@ye?Gc<M%c=Y-:QU=>AIaMDM8DQyU}U>IY]5?]5Fپ ]A m?9]C]: ]':)YWsT@WX XW:W 2W*WVbUBU*UUU`\@B}h<By ByA}IB?*ByAނ>AAAP<"C|7RCCsT@CׁIG>9IlGiC@=4; E  ~ ~  ):Y T1y @: 5) ;7 ;gq,eVEAY}Bo "?}BB>y}Bq3}B[p}BH@? ֿ@&;?@?? s?@Ϳ?)~Bo "? ~B^;I~BCɫy髁) IY@yhGɮ-=i-=Y]jAn>7 >i@ @)@I@i1@<M>=Y%K$:QU%>))a-D-38D1y5W}5>I9 E:=%5? E:=K@پ =ƘA M?9=C=0: =:)=|:WmRN@WiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUyUQ@RB*** querying acoustic contact ***PPB#;B BA^D?*BAS;AAAh<"CH<RCCRN@CƂ>׹IGf>Agq,0EA||4y}:1}:r}:H`?bտYs?`;6?2?@8?(ο?)~:? ~:ʁ^;I~:Cɫ99)9 =I9Y}@y}JGZ****** received transponder code query ******F****** received ping request ******QQa]D]L8DYy] }}e>Iae85?ep;پ eA u?9eCe; e;)aW1I@WX XW:W2W*WVbUBU*UUU`e @BU<BQ BQA]B?*BYA]k9AYAYA]J<"Ce@BRCaCm1I@C֍|>AIQGm5>Hgq, "EAY}6?}6ξ>y}6i 0}6zcr}6H+?ӿa*?u?? ?Ϳ7?)~6? ~6Y^;I~6Cɫ99)9 9I9Y}@y}]GxDUSBL response received:!U1,P 275,000,00362,189,80,80,5D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 <<[>9IЄGi@  <M?=Y:QU >  a5D5g8D9yMb}>IȹŽO5?Ž6پ ƽ!A ?9ƽCǽ<< Ƚ<)ȹWB@WX XW:W2W*WVbUBU*UUU. @BM;BQ BQAUC?*BQAU6AQAQA]$<"C] HRCCB@CԕiAԕiAօH>aIG>zz *:YQ1y:I5);HNgq,;EAY}2^?}2>y}2.}2p}2Hh?@ҿ?Ͳ?Ѵ?ե? %Ϳ?)~2^? ~2s^;I~2Cɫ99)9 9I9Y]y@yeȅGiiNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I) rh?J +?{Gzt ?H= ף)IyˡE?ˡE~jt?'?'< )pAI1@iA@U`=UL>U,iU@Q U@)U@IU@iU@e Q=MeD=Ye{I:QUe>iiamDm8Dqyuj}}>Iy :}d5? :}A2پ }SA ?9}'C}L: }v:)}}:WM=@WIXI XIWQ:WQ2WQ*WQVQbUYBUY*UYUYUe@_@B[C<B@< BA;I?*BA4AAA<"C[dD@RCC=@C*>׹IGj>0Ugq,UEA|i|@Y}67 ?}6н>y}6k`-}62zq}6H? 7ѿ ^9P? ?$?@e?@Ϳ$?)~67 ? ~6^;I~6Cɫ9A)A AIAY]@yeхGuxDUSBL response received:!U1,R,212,000,00367,188,80,80,5F,FF Fpublishing direction and range infomh쾩iɰm=m> i)mBIiym(lAm̢0bM?Hܿٱi%;Mi=Yx:QU>aD8Dy}>Iw5?5/پ ~A ?9DC: ϸ:)W bb9@W X  X W :W 2W*WVbUBU*UUU9q@R-(Combining 5 samples.P)*Q-(lAZQ-⡞ k*@?TVWJQ-̢0bM?Hܿ2Q-h:Q)bQ-ƾ!,@'s4Z;X I4@RQ-θY:A?EĿy-?BQ-@ Q-Q-fAP-j9?P-b9?P-Q-Q-NA"Q-ABe B<Ba BaAeI?*BiAm1AiAiAm\x<"C5 @@RC1C5bb9@C9- =IG-->ܹ9ܹIܽGiܽ7@ܹܹܹܽ2; ݽE yy -B:YP1y':65); > Ci} SoGI i ۿٺ A5 y?95 A[[gq,oEAɫ髱) IY=@y@GUDNmea in: $SNTTA,,,,,010349.63*54 í<í^íȽií׻@é ĭ1@)ĩIĭiĭ1@A=M.=YQU>aD8Dy}>I :̐5? :+پ A ?9kC: k:)~:muAdded new target pos. range: 14.759997 m, bearing: 350.650109 deg, deltaT: 4.362781 s, approachRate: 0.068763 m/s, LOS rate: -2.371750 deg/s, posRepo size: 4m- ProNav: pos range: 14.759997 m, bearing: 350.650109 deg, approachRate: 0.068763 m/s, LOS rate: -2.371750 deg/s, cmd update: -7.115251 deg/s, cmd heading: 165.964667 deg, new cmd heading: 160.347513 deg. W-ɤ5@W)X) X1W1:W12W1*W1V9bU9BU9*U9U=`-@UE)9?B<B  B A ]O?*B A .AAAL<"Cy;@RCCɤ5@CA M=M=|^=IGk>Bbgq,xEAɫyy)y }IyY @y GE=iE=ՍM`=YQU>aD8Dy}>Iȱŵb5?ŵ'پ ƵA ?9ƵCǵ: ȵ:)ȱW2@WX XW:W2W*WVbUBU*UUU?BrE<B B!A%M?*B!A%s,A!A!A%Nv<"C-V7@RC1C52@C1E<8<IG=r> *:YyI59@lhgq,*UEA||;Y}6>}6ѹo>y}6P}6N}6H??$̿@r-٫?Y??`w?`XɿS?)~6> ~66?_;I~4ɫYY)Y ]IYY}@y}nGفمgA܉9܉I܍4Gi܍@܍ =܉܉܍.; ݍE)Ii=46"=MS=Yl5!!a%D%8D)y-}->I1 =:5x5? =:5`%پ 5A E?95C57: 5e:)5:We@/@WaXa XaWi:Wi2Wi*WiVibUBU*UUUi?BEtz<BA BAAEQ?*BAAM)AIAIAU<"Cu3@RCqCu@/@CyM4|E<KIGI>Dngq,.EAY}6H>}6Lc>y}6Ԯ}6?}6H 0?ʿZ`=?`?p.? ?`ǿl?)~6H> ~62_;I~6CɫYY)Y ]IYY@yG(\?S㥫?z?/] L=)Iysh|??~jt?)?= ©)­AI©i­A@UUV>U=iU@Q Q)U@IU@iU@e =Mm7=YmK;QUu>qqauDu9Dyy}Ҽ}>IȁŅ5?Ņ!پ ƅJA ?9ƅНCDž#: ȅ+:)ȁW,@WX XW:W2W*WVbUBU*UUU`?Bd<B BAU?*BA&AAAC<"C.@RC C ,@C ) ԡԡmĽww -:YO1yP:5Y Ii G >>ugq,.םEAY}N>}N[]>y}N}N,}NH~=?=jʿ3۰q??L%?@ȼ?iyſ ?)~N> ~Nz.`;I~NCɫiq)q uIqY@yˆGI)))I1)1m <Mm[=Yu^3qqauD}9Dyy}X}>Iȉō 5?ōhپ ƍwA ?9ƍCǍ: ȍ:)ȉWr$)@WX XW:W2W*WVbUBU*UUUT@B<B BAlV?*BAE<$AAASY<"C10+@RC C r$)@C סIG!>uZ>9qIufGiu@u=qqu9; uE֫{gq,EAɫ)))1 5I1Ym^@ymG%H=%G=%=Y5QU=>99a=D=69DAyM}M>IQ ]:Ue5? ]:Uپ UA ]?9UCU|: U:)U:W}ݺ%@WX XW:W2W*W V bU BU *U UU@B]:<BY ByAcX?*BAy!AAAG<"Cݺ%@RCCݺ%@C֝i7qIG]>|| -:YR1yi:[5 gq, EAɫ髙) IY5@yنGa=ɮ=7`Ma=YQU>aD M9D y }>I' 5?پ ՚A %?93C: :)WE8"@WIXI XIWI:WI2WI*WQVQbUBU*UUUQ@RB*** querying acoustic contact ***PPB0<B  B A W?*B A5A1A1A5<"C=|"@RC9C=8"@CA-b5?i5?IG-,>麈gq,$EAY}J?}Jǂ>y}J'M}Jʛ'}JH? !п@e+?c?T? ??)~J? ~JYYe;I~JC]9aIaiae=aae5; eEɫ髹) IY@y+GZ****** received transponder code query ******F****** received ping request ******qya}D}h9Dyy=}>Iȉ :ō' 5? :ōپ ƍA ?9ƍWCǍ^7; ȍ7;)ȍ:WO@WX XW:W2W*WVbUBU*UUUGB @B=<B BAH[?*BA-A)A)A-<<"C5& @RC1C5O@C9%@I!G[>0 }} 7:YkS1yԊ:I5);9 gq,v>EAY}Foh?}F<>y}Fmâ}F^;}FH`I?|ѿG#q{?@W?@(Al hXt?a? ?)~Foh? ~Fb;I~DɫYY)Y ]IYY@y;GxDUSBL response received:!U1,P 212,000,00367,188,80,80,5F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Ia=)C=-1Zd?Mbl-"?- -))I)y-I +? rh?X9v?-94?-C<-< -@)-+AI-@i-@)-(@=;94i@ @)I@i@;M=Y a D 9D yQ'=}>IJE 5? پ  A U?9C*C; H;)W`5@WX XW:W2W!*W)V)bU1BUY*UYUaUegt@Bw<B BA\?*BA2AAA$<"C`5@RCC`5@C!ީiޭ=% Ƃ I G5 >̕gq, TXEAY}J ?}J3>y}J}JM4=}JH@F?ҿ ?!??" B?`I?`?)~J ? ~JQb;I~HɫYY)Y ]IYY@@y}GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B A2=M=Yr]%=BA BAAMr_?*BIAM6 AIAIAU w<"CUl@RCYC]D@CYa9IAGmW>EZ>9AIE4GiE@E=AAEP; EED {{& >9:Y#R1y:5)F;gq,CrEAY}B6?}BW>y}B(N;}BD=}BH`hS?`YԿ?`m?< )BIyuAjT?ˬQiԿٱI)>aD9D!y%|=}->I15tk 5?5پ 5KA =?95ÞC5k: 5w:)1W]W@WYXa XaWa:Wa2Wa*WiVibUiBUi*UqUqUu @R(Combining 5 samples.P*QuAZQyp-@q`˘JQjT?ˬQiԿ2Q6:QbQM<.@~gq,QEAY}r?}rd>y}r;}r=}rH ? տ ݤ?`qqauDu9Dyy}]=}}>Iȁ :Ņ0 5? :Ņhؾ ƅeA ?9ƅCDž: ȅ:)ȅ:miAdded new target pos. range: 15.359997 m, bearing: 0.066463 deg, deltaT: 4.456310 s, approachRate: 0.134640 m/s, LOS rate: 2.113040 deg/s, posRepo size: 4mVStarting intercept timer at range: 15.36 m.m ProNav: pos range: 15.359997 m, bearing: 0.066463 deg, approachRate: 0.134640 m/s, LOS rate: 2.113040 deg/s, cmd update: 6.339121 deg/s, cmd heading: 134.256691 deg, new cmd heading: 131.074680 deg. W!@WX XW:W2W*WVbUBU*UUQ.@U?B<B BA&c?*BA AAA%\<"C-@RC)C-!@C)]FӅI!G=r>I)< zz 8:YQ1y:59@ gq,饞EAY}2?}2D>y}2;}21=}2H?׿ ?A=??xi`}2??)~2? ~2M a;I~2CjA 9 I Gi @ !=   [; ƗEɫ99)9 =I9Y]-@y]rGBMh=Y;QU>aD9Dy=}>I 5?ؾ yA ?9 C: ߼:)W@W!X! X!W!:W!2W!*W)V)bU)BU)*U)U1U5`E?B]<Ba BaAe^?*BaAe AaAaAm<"C-@RCC@CiI1iI}ٺy}AցyIGa>2gq,EAY}6rr$?}6>>y}6;}6 >}6H`?Hؿ5? ?I? $<ݓ`Q?@j?)~6rr$? ~6Ia;I~4ɫii)i mIiY@@y}Gi=x?x&?I +K7?7= 94)IyQ?Q롿{Gz?(?\#< x@)\@I@i@@¥hA¥iAeʡe=e9ie@a e@)e@Ie@iau;Mu3=Y}®:QU}>yaD:Dy I=}>Iȑŕ 5?ŕnؾ Ƒ ?9ƕ2CǕY: ȕ:)ȑW@WX XW:W2W*WVbUBU*UUU|?B΢<B BAr_?*BAJ A A A wY<"Ck@RCC@C?΅׹IGf>~~ E1:YT1y@:52gq,ٞEAY}6)?}6g>y}6=<}6">}6H`H?yvٿ@? r??]@VS?R?)~6)? ~6)Ma;I~6Cɫ99)9 =I9Yu@y}TGI4=)4=Me=YE:QU>  a D :D yn=}>I %: 5? %:ؾ  -?9PC9: g:):WMqb!@WIXI XIWQ:WQ2WQ*WQVQbUYBUY*UYUYUe8?B<B BA]]?*BAAAAϿ<"C@RCCqb!@CօFӅYIiG8>9IGi@ =`; ɗE)QIQiQQU=U4k5iDgq,tEAY}:.?}:>y}:'u<}:>}:H? Cڿﺱ??@?P?@?)~:.? ~:JR`;I~:Cɫ99)9 =I9Y}@y}FG=׻M=G=YE}9QUE>AAaMDM7:DIyUlH=}U>IY]e 5?]ؾ Y e?9]sC]: ]:)YWpL$@WX XW:W2W*WVbUBU*UUU,@B<B BA\?*BAnAAAkM<"C &@RCCpL$@C!I G%M>r yy <:YP1y':I5n,gq,O EAY}24?}2>y}2<}2b>}2H?Sۿc?? is?Vlހ@??)~24? ~2_;I~0ɫYY)Y ]IYY@yGI)A) = >=M=K=Y=m9QU=>AAaEDEP:DIyMJ=}M>Iȱ :ŵ 5? :ŵ ؾ ƵxA ?9ƵCǵ: ȵI:)ȵ:W>'@WX XW:W2W*WVbUBU*UUUk@B%<B! B!A-[Z?*B)A-A)A)A5˾<"C5 @RC9C=>'@C9ցYIqG[>Vgq,*'EAY}2T9?}2>y}2M <}2>}2H{r?ܿ +?@M?*?ۖ@?U?)~2T9? ~2(_;I~0@B<D9DIFGiF@DDDFX; FŗEɫYY)Y ]IaYyɮp= Yph:QU> a D j:D yU=}>IA 5?1ؾ wA -?9C4: b:)WM)@WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYUe@`@RmB*** querying acoustic contact ***PiPiBp/<B BA*BAAAAB<"C1#@RCC)@CE?΅9IIGmW>I@A)?Azz =.:YQ1y:5)ċ;9>gq,!AEAY}62??}6>y}6 ;<}6\a>}6H ?p/޿@?6??\@Pǂ`_{?Ω?)~62?? ~6P$_;I~6Cɫ99)9 =I9Y@@yGZ****** received transponder code query ******F****** received ping request ****** ףp=?Mb?Mbp?@= )Iyx&1?S㥫:v?A ?/]< ½A)½@I½@i½@@ %@ -@ -@56TM599a=D=:DAyEB=}E>II U:Mg 5? U:Mؾ MA ]?9MݟCMV: M:)M:W}uU-@WyXy XW:W2W*WVbUBU*UUU 4b @B<B BAvW?*BA%A!A!A%Ͻ<"C-)'@RC)C5uU-@C15FӅIG=>hgq,*ZEAY}:IE?}:>?y}:X;<}:>}:H ^? ǂ߿G?@?@+u?`7`XG?˧?)~:IE? ~:Gb_;I~:Cɫ99)9 9I9Y}@y}GxDUSBL response received:!U1,P 174,000,00371,185,80,80,73,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iAjA]Mi=Y<5:QU>aD:Dy%=}%>IY]X) 5?]ؾ ]A ?9]C]4< ]54<)YW=0@WX XW:W2W*WVbUBU*UUU @BC<B BAVT?*BAlVAAAQ<"Ce.,@RCaCe=0@Ci܉9܉I܍@Gi܍[@܉܉܉܍U; ݍ×E}} <0:YkS1yԊ:5)};I! G= >gq,tEAY}2L?}2T ?y}20<}2>}2H K?Z|e??`? Aӧ?@2?)~2L? ~23_;I~2Cɫ99)9 =I9Y@yGAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I=)= m m mmtm}>mim@i m@)m@Im @im1@}ML=YQU>aD:Dy=}>Iș :ŝd; 5? :ŝؾ ƝA ?9ƝCǝ^: ȝ:)ȝ:Wk2@WX XW:W2W*WVbUBU*UUU3@Bl=B BAS?*BAϊAAAnļ<"C@Q0@RCCk2@CֹיIGb>i}gq,ࡎEAY}:?S?}:?y}:c;}:RG>}:H@,?; 0?@s?@?ܾU{`?g?)~:?S? ~: ^;I~:CɫQQ)Y ]IYY@yGEMX=Y;QU>aD:Dyx=}>IAEM 5?Eؾ EA U?9E9CE : EN:)AWus5@WqXq XyWy:Wy2Wy*WyVbUBU*UUU l@B<B BAR?*BArAAA*<"C2@RCCs5@C?΅׹IGE>xx .:Y7P1y:59@&gq,|EA9I܂Gi@ Y}]Z?}]/?y}]Ž;}]>}]HW??*??k(`Qp!?_?)~]Z? ~]^;I~]CɫQQ)Q UIQY@yGDNmea in: $SNTTA,,,,,010358.52*56 IA))õ= õ=M;=Y6ͻQU>aD:Dy {=}>I`a 5?7ؾ A ?9[C: :)W 2r8@W X  X W :W2W*WVbUBU!*U)U1U={@Bm<Bi BiAuK?*BqAuAAqAqAu<"C}7@RCyC2r8@C֙aIGf>gq,dŸEAY}:E`?}: ?y}::}:>}:H`e <)Iysh|??Mby&1?)?@`e< A)@I@i@@}O}Q8}i}3@y }=@)}\@I}\@i}\@GMM=Y8ǻQU>aD;DyEw=}>I! -:% u 5? -:% ؾ %A 5?9%~C% : %:)%:WU`;@WQXQ XYWY:WY2WY*WYVabUBU*UUU\$@BC<B BAF?*BAݼAAA޺<"C9@RCC `;@C FӅIGm>IAA)AAyy w2:YP1y':5gq,(ܟEAY}22f?}2[&?y}2^9}2>}2H!u? 2g?sc?5?`Q \2@|?+?)~22f? ~2(^;I~2Cɫ99)9 =I9Y]I@y]G<MV=YA\QU>aD;Dy&x=}>IP 5?ؾ A ?9Cϸ: :)W5=@W1X9 X9W9:W92W9*W9VAbUABUA*UAUIUM@@RUB*** querying acoustic contact ***PQPQB}<By ByA}G?*ByAؼAAA$<"CJ=@RCC=@Ci!I1GM1>!9!I%xGi%@!!!! ! >inGIiMWٺIMAzgq,EAY}FEk?}Fg,?y}Fׁ9}F, >}FHl?J@`? O?o?@:0??)~FEk? ~Fi^;I~FCɫYY)Y ]IYY[@yG=i=±±U/>UU>iU@Q U@)UƷ@IU@iU@e=;MeB=Ym+QUm>iqauDu:;Dyy}\=}}>Iȁ :Ņę 5? :Ņؾ ƅA ?9ƅCDž: ȅ:)ȅ:W5@@WX XW:W2W*WVbUBU*UUU@E@BiF<B BANH?*BAӼAAAc<"C?@RCC 5@@C IG J>  {F:Yy5hq,EAY}2Er?}2Y2?y}223:}2 >}2Hރ? `=?@2?qK? =PfF2?@?)~2Er? ~2?^;I~2CɫYY)Y ]IYY+@yGI=)C={MV=YJ:QU>aDR;Dy=}>I- 5??ؾ ěA ?9C: :)W +C@W X  X W:W2W*WVbUBU*UU!U% @BM<BI BIAUF?*BQA μAAAP<"CŔC@RCC+C@CIGI>i% }FH?@r??+??Krs??)~Fx? ~FL`;I~FCɫyy)y }IyY@y1GHME=Y9QU>!a%D%m;D!y-ot=}->I1 =:5 5? =:5Ւؾ 5ʛA =?95C5m: 5X:)5:WeF@WaXa XaWa:Wi2Wi*WiVqbUyBUy*UUUy@B|<B  B)A-A?*B1A=Q*ɼAAAAAEB<"CMF@RCICMF@CQYQIaG}z>wwV E1:YO1yP:5)b;9hq,CEAY}:?}:??y}:޹}: >}:Hk? cַ? O?2?¹;?i??)~:? ~:C`;I~:Cɫ99)9 =I9Y}@y}HGxDUSBL response received:!U1,N,80,80,63,E4 1,185,80,80,73,FF ZNo reply:!U1,N,80,80,63,E4 1,185,80,80,73,FF -ʽ <)Iygfffff?Zd;OV-?33?j<< A)@I@i@\@)= =í)íz4?íií@é ĭ@)ĭ@Iĭ@iĭ@!<M2=Yb5QU>aD;Dyp=}>I 5?yؾ A ?9.C@: :)W I@W X  X W :W 2W*WVbUBU*UUUJ@BM"<BI BIAMB?*BIAU<üAQAQAU]#<"C] [HRCYC]I@CY9I!G=r>"hq,u]EAY}V?}VبF?y}VC0}V >}VH?7Ÿ?i??%&f?` H??)~V? ~V_;I~VCɫqy)y }IyY@y˄G鮹ɮR= kMn=YػQU?aD;Dy=}?I9 5?~ؾ A ?9MCb: :)W{gL@WX XW:W2W*WVbUBU*UUU`y@BE<BA BAAEbI@A)@A k x x  ':Y 7P1y : $5) R;.hq,EKwEAɫyy)y }IyY@yG @ @ @©i@ )Ih@i=@-JM-F=Y-QU5>11a=D=;D9yE}E>II M:M 5? U:Mtؾ MA U?9MrCM: M:)M:WUO@WX XW:W2W*WV!bU!BU!*U!U!U-2 @B}<By ByA}:?*BA}AAAU<"CBRCCUO@C֡yIG^>$hq,)EAY}FH!?}F9R?y}F ӻ}F=}FH`?`ZL +?`+v?? k˶naz?t??)~FH!? ~F+_;I~Dɫyy)y yIyYo@yG=i=⌼MO=YQU>aD;DyD=}>I 5?riؾ A ?9C: w:)W%|Q@W)X) X)W):W)2W)*W1V1bU1BU9*U9U9U= @REB*** querying acoustic contact ***PIPIBm<Bi BiAm8?*BiAuAqAqAu$<"C}@RCyC}|Q@C֥?΅aIiG9> zz D:YQ1y:59@ٹ ٽ gA 9 I ~Gi @ c; ˗EoP*hq,BEAY}6?}6g{X?y}6ڻ}6r=}6H@I9?@h???=V{?H?@?)~6? ~6c_;I~4ɫ99)9 9I9Y@yBGZ****** received transponder code query ******F****** received ping request ******!)a-D-;D1y5q^=}=>IA M:Er 5? M:E]ؾ E4A U?9ECE; E(;)E:W}T@WyX XW:W2W*WVbUBU*UUU,!@B<B BAq5?*BAOӰAAA<"C.=RCCT@C1IG>ޭ=iޭa=(1hq,ĠEAɫ髹) IY@yGxDUSBL response received:!U1,P 80,80,63,E4 1,185,80,80,73,FF Command AckBRequesting micromodem ping code 2i Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ʡE?S㥛? ףp= ??/< Q8=)IyS㥛?1ZdMb?$&?"۽< ‰)\@I@i‰@   Y=n>7>i@ @)C@I@i@սM=YQU>aD I. 5?Qؾ R7hq,̷ޠEAY}2?}2Ǖe?y}2}2ǥ=}2H?x???1 qq?B?~?)~2? ~2^;I~0ɫ99)9 =I9Y}@y} GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)5H<M==Y= }M?IQ ]:U9 5? ]:UJؾ U?A e?9UCU: U^:)U:WeZ@WX XW:W2W*WVbUBU1*U1U1U5@Lo#@B}ؐ=B BA3?*BAlħAAA<<"C\9RCCeZ@Ci9iImGim@iiimm; mЗEיIGd> =hq,|EAɫ髱) IYz@yGp=ɮp=xDUSBL response received:!U1,R,F81,000,003BC,187,80,80,97,FF Fpublishing direction and range info=ɰ=1> )CIyAg?!cP?ٱ  m@ m@ m@m©mmim@m m\@)mIm@ii}/M}F=Y}QU>aD<IșŝJ 5?ŝ}@ؾ ƝDA ?9Ɲ"Cǝ0: ȝ:)șW]@WX XW:W2W*WVbUBU*UUU j8$@R(Combining 5 samples.P*QAZQ3@U@JQg?!cP?2Q=:QbQ缇$:%@RBT0@R4?RQ+?S ?)J?BQ~? QBAQ)APv9?Pt9?PQQz@"QI@B\<B BAF1?*BArA A A  <"C-45RC)C-]@C1=FӅI!G=r>IAA)BA|| +:YR1yi:5dDhq,]nEAY}Z&?}Zt?y}Z軙}Z^>}ZH>u?~@غ?`#?D? '}???)~Z&? ~ZR_;I~Xɫ髙) IYC@y΃GTNmea in: $SNTTA,0.038056,,,,010404.19*41 MC=YܻQU>a D W}>I! -:%&[ 5? 5:%f5ؾ %JA 5?9%EC%; %T;)%:mqAdded new target pos. range: 19.860001 m, bearing: 57.690059 deg, deltaT: 10.136607 s, approachRate: 0.443936 m/s, LOS rate: 5.684702 deg/s, posRepo size: 4mTStopped intercept timer at range: 19.86 m.m ProNav: pos range: 19.860001 m, bearing: 57.690059 deg, approachRate: 0.443936 m/s, LOS rate: 5.684702 deg/s, cmd update: 12.000000 deg/s, cmd heading: 198.360296 deg, new cmd heading: 201.137186 deg. W=qc@WX XW:W2W*WV!bU!BU!*U!Um)3@Um@f?B<B BA/?*BA(AAA<"Cez/RCaCe=qc@Ci֑iIyG>e [>9a Ie Gie ;@e !=a a e g; e ͗E_Jhq,N,EAinnGIi1}ٺy}AY}rD?}|?y}s}ze>}H j?b{"??`f?@M?`~?@p?)~rD? ~}e;I~CɫQY)Y eIaY-%@y-Gi   />hi\@ @)@Ii@M3=YQU>aDuIY](m 5?]m(ؾ ]QA ?9]nC]< ]Z<)YWE]i@WAXA XAWA:WI2WI*WIVIbUIBUQ*UQUQUUΧ?Bn<B BA.?*BA^AAA$<"C+RCC]i@C{{ +:Y#R1y:5);9?΅ I G > yQhq,-FEAY}2?}2Q}2H@?.]j?!9? b?a﴿>?c?ı?)~2? ~2kdd;I~2Cɫ19)9 =I9Yu@yuGI=)=}HzG? rh?~jt?}=>}C= }<)yIyy}S?Zd;:v?}?}y}T< }$A)}@Iyi}@y}@QMq=YQU?aDi=Whq,)`EAY}Rz?}R?y}R+B}R;>}RH?QuT?@ت?Z?M]R???)~Rz? ~Rb;I~RCɫqy)y }IyY@yZGu¼MuM=Yu̬QU}>yya}D}Iȑ :ŕ 5? :ŕؾ ƕbA ?9ƕCǕw: ȕ:)ȕ:W 8s@WX XW:W2W*WVbUBU*UUU`_k?B<B BA)?*BArA A A d <"C$RCC 8s@C9IRGi@ =t; ԗE)ݙIݙiݙݙݙݝ 4]?΅I)GER> yy H:YP1y':\5);@]hq,#yEAY}2PĨ?}2"?y}2Dz1}2=}2H@?t\???j?^`<6?@,&??)~2PĨ? ~2h`;I~2CɫYY)Y ]IYYG@y3GI)I)UUMb?U>iU@Q U)U@IU\@iUr@MH=Yq%;QU>aDIȱŵ 5?ŵO ؾ ƵlA ?9ƵŢCǵ: ȵD:)ȱWx@WX XW:W2W*WVbUBU*UUU@?B%<B! B!A-'?*B)A-3A)A)A53<"C5RC9C=x@C9օFӅYIaGY>@dhq,EAɫ髹) IY@yG 鿁{MF=YQU>aDI : 5? :׾ vA ?9C: :):W-:~@W)X) X)W):W12W1*W1V1bU9BU9*U9U9U=@G@Bee<Bi BiAm &?*BiAuAqAqAu <"C}RCyC}:~@CֹיIGc>I)@A{{ 1:Y#R1y:59@   9 I Gi G@ j; ϗEjhq,EAY}B)?}B?y}B}B=}BH@E?ǯN??`j?`4@^???)~B)? ~BŽ^;I~BCɫaa)i mIqY@yڂG-2>IIaMDM}U>IY] 5?]׾ ]A u?9]C]go; ];)YW9@WX XW :W2W*WV!bU)BU1*U9U9UE`@RmB*** querying acoustic contact ***PqPqB}=<<B BA(#?*BAWӃAAA<"CARCC9@C֑qIyG>9qhq,XuǡEAY}VA?}Vx?y}VxT}V$=}VH? 3?3u =)Iysh|??x&I +? ?79< •~A)•@I•@i•ArM?=YPP9QU>aD=Dyӈ=}>I : 5? :׾ A ?9#CA: :):W@WX XW:W2W *W V bU BU *UUU  @B=%v<B9 BAAE ?*BAAEkAIAIAM<"CU}RCQCU@CQq9IIGmx>@ || 8:YR1yi:50whq,kGEAY}2?}2p?y}2}2[=}2H`l?I`@?৓?0?@R? -??)~2? ~2+];I~0ɫYY)Y ]IYY9@yGxDUSBL response received:!U1,P F81,000,003BC,187,80,80,97,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)%=Mj=Y-tɺQU->AAaMDM$=Dy ̓=}>I 5?׾ A %?9=C; ;)W^@WX XW:W2W*WVbU)BU)*U1U1U= T; @ܹ9ܹIܽxGiܽ@ܽ!=ܹܹܽm; ݽЗEBc+<B BA%9?*B)A-IwA)A)A- <"C5 RC1C5^@C9֝?΅׉IG>i=~hq,(EAɫ髹) IY@yTGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =hi(@ @)@I@i׼M>=YQU>aD?=Dy}>I : 5? :׾ A ?9YC4:  :):W@WX XW:W2W*WVbUBU*UUU S2@B= <B9 B9A=T?*BAAEDZoAaAaAe;<"CmcRCiCu@CqqYIG>zz -:YQ1y:$5$hq,~EAY}:/?}:f?y}:J}:I=}:Hh??'? /?#`?à?@?)~:/? ~:^;I~:Cɫ99)A EIAY}'@y}GxDUSBL response received:!U1,R,03D,000,003D9,185,80,80,86,FF Fpublishing direction and range info^ Zɰa=鰅+> )CIy̬AYe?/H>ٱI)AyuM]=Y8QU>aDY=Dy >}>Iȩŭ 5?ŭ"׾ ƭA ?9ƭtCǭA; ȭ;)ȩW@WX XW:W2W*W!V!bU!BU!*U!U)U-@o@R](Combining 5 samples.PY*Q]̬AZQ]e@Qođ5@aTiscJQ]Ye?/H>2Q]^ Z:QYbQ],Zi @3@c ?RQ]R!}?٥ <١ ܩ 9ܩ Iܭ ~Giܭ @ܭ =ܩ ܩ ܩ ݭ їE5/hq,).EAY}H?}?y}껙}=}H@?P1@ ϼ?g?@ݾ?@`PQ}? ??)~H? ~3{^;I~Cɫ髉) IY@yKGmTNmea in: $SNTTA,0.047459,,,,010408.62*42 鿩=Ľ=#=>i=@9 =3@)=1@I=Ʒ@i=\@MR =MM=YM;QUU>QQaUDUx=DyE=}>Iȡ :ť 5? :ť=׾ tI ƥ͜A ?9ƥCǥ; ȥ;)ȥ:m%mAdded new target pos. range: 21.600000 m, bearing: 67.429519 deg, deltaT: 4.433635 s, approachRate: 0.392454 m/s, LOS rate: 2.196721 deg/s, posRepo size: 4mU ProNav: pos range: 21.600000 m, bearing: 67.429519 deg, approachRate: 0.392454 m/s, LOS rate: 2.196721 deg/s, cmd update: 6.590164 deg/s, cmd heading: 251.806509 deg, new cmd heading: 257.848378 deg. WU }@WQXY XYWY:WY2WY*WaVabUaBUa*UaUm5@UmG)?B=(<B9 B9A=?*B9A=3^AAAAAE'<"CMsRCIC }@CI@A)}} ,:YkS1yԊ:5);9 ?΅ ?i ?׹ I G >6hq,HEAɫ髙) IYx@yGQ?~jt??ļ <)Iy!rh?Cmݣ@Ci}FӅQIiG|>B=hq,ގbEAY}N?}N?y}N"^}N =}NH ?`aD=Dy>}>Ișŝ 5?ŝ׾ Ɲ՜A ?9ƝǣCǝ: ȝ:)șW@WX XW:W2W*WVbUBU*UUU`#?B <B  B A]?*BAPAAA=w<"CRCC%@C!Q9QIU}GiU_@U!=QQUs; UԗEeDŽ,>Ci3oGI9iYyWٺdAIGD>q k(:Yy[5);eghq,j|EA||4IIaMDM=DQy]=}]>Ia m:ey 5? m:en׾ eٜA m?9eCe: e:)e:W섒@WX XW:W2W*WVbUBU*UUU{z?B.<B) B1A5?*B1A5UIA1A1A5k<"C=tH޿RCACE섒@CAMZRIQ)Q!I)GM1>=i=Phq,KEAY}R?}Ra?y}Rه}Ra=}RH P? ?@H?$?:P?5? ?)~R? ~RX'^;I~RCɫqy)y }IyY@yGɹMC=Y8:QU>aD=Dy=}>I' 5?׾ ܜA ?9C: n:)W@WX XW:W2W*WVbU BU *U UU` @Bw<B BAk?*BA=@AAAߡ<"C"׿RCC@CN!יIGA>{{ ]-:Y#R1y:J59@M Z>9I IM }GiM @M =I I M f; M ͗E)ىIىiىىى݉ş4|hq,#.EAY}M ?}M@?y}MZ}M5=}MH`? K?Fb?r?F?`@CU??u?)~M ? ~M];I~MCɫ) IYUq@yUtGI)AI)]=>]D]Pi]@Y ]3@)]f@I]@i]@u!M}1=Y})"QU}>aD=Dyh=}>Iȑ :ŕ 5? :ŕ4׾ ƕA ?9ƕCǕe; ȕa;)ȕ:WÕ@WX XW:W2W*WVbUBU*UUUF@B<B  B A ?*B A R8A A A<"C1ͿRCCÕ@Cy]׽IIYGuy>chq,%ʢEAY}Fq?}FA>?y}Fn}F[ =}FH?e?@ݓ?? b?s??)~Fq? ~FS^;I~FCɫyy)y }IyY@yG K7A`??&1 ?L> P)IyK7A?DlQ? "?Ou< µ~A)µ@Iµ-@iµA@NMj=Yf%QU>aD>Dy=}?I 5?(u׾ A ?9;CQ: ӻ:)W @WX XW:W2W!*W!V!bU!BU!*U)U)U-@R=B*** querying acoustic contact ***P9P9B]v<BY BYAez ?*BaAe_M2AaAaAe S<"Cm"xǿRCqCu @Cqe!I)GE0>I)vv ,:YN1y:5hq,EAY}67`?}6?y}6';}6=}6H ih??Ϫ?@;H?mB}g?E? ?)~67`? ~6}^;I~4ɫ99)9 9IAY]@y]GeZ****** received transponder code query ******eF****** received ping request ******eaD&>D y pG=}>I9 E:= 5? E:=g׾ =A E?9=ZC=: =:)=:WmIs@WiXi XiWi:Wq2W*WVbUBU*UUU@ @B2<B BA ? ?*BAQ+AAAȆ<"C5ÿRCCIs@C![>9I|Gik@k; ЗEuIG-->hq,ܷEAɫqy)y }IyY@yGxDUSBL response received:!U1,P 03D,000,003D9,185,80,80,86,FF Command AckBRequesting micromodem ping code 2i=i==i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 55H>51i5@1 5S@)5@I5=@i5@%M&=YQU>aDF>Dy%}%>I)- 5?-V׾ -A 5?9-C-: -i:))W]J@WYXY XYWy:W2W*WVbUBU*UUU @B!<B B A  ?*BA=Jk"A9AAAE<"CURCqC}J@C֕[1=iIyG>{{ *:Y#R1y:5hq,ѕEAY}VN ?}VW?y}VŒ4}V^=}VH 8]?j?A?7?n؈Vf?䦳??)~VN ? ~V^;I~VCɫqq)y }IyYg@yЀG@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B VԼMj=Y 9QU?aD\>Dy#=}?I 5?K׾ A ?9C: :)W>@WX XW:W!2W!*W!V!bU!BU)*U)U)U5#@B] M=BY BYA]?*BYAeAaAaAeq<"Cm5~RCiCm>@CqE=I G-,>i=  9 I {Gi @ != w; ֗Ehq,y1EAY}^Ê?}^?y}^}^̆=}^H@䉾?`ᨰ?}? p?`烿^?@dְ?`??)~^Ê? ~^9_;I~^Cɫ) IYU@yUGxDUSBL response received:!U1,R,DA2,000,0040D,189,80,80,2E,FF Fpublishing direction and range infoa?ɰ=7> )8BIyAB?@%?ٱʡE?S㥛Mb?>/ݼ <)Iy/$?(\µl??= EA)O@I‰i@@)Ý> Ý> @ @ @©i\@ )@Ii@yM,=Y:QU>aDz>D y ;} >I :_ 5? %: ;׾ A %?9äCZ: :):WElB@WAXI XIWI:WI2WI*WIVQbUQBUQ*UQUYU] @Rm(Combining 5 samples.Pi*QmAZQmy|W5@(@JQmB?@%?2Qma?:QibQm~ fО#=&y6@ @?RQm*fٿ5:Y?ѦU?iU? IG5>zz .:YQ1y:I5).;9hhq,1CKEAY}n]{?}n,?y}n﹙}nq=}nH{?{? ?$? ~=? ?`?)~n]{? ~n`;I~lɫ) IY@yJG}DNmea in: $SNTTA,,,,,010413.07*5E Iy)y5M=m=Y=;QU=?AAaEDE>DAyMk}M?IQU 5?Um/׾ U6A ]?9UޤCU: Un:)QmuAdded new target pos. range: 24.720001 m, bearing: 113.396556 deg, deltaT: 4.512710 s, approachRate: 0.691381 m/s, LOS rate: 10.186127 deg/s, posRepo size: 4m ProNav: pos range: 24.720001 m, bearing: 113.396556 deg, approachRate: 0.691381 m/s, LOS rate: 10.186127 deg/s, cmd update: 12.000000 deg/s, cmd heading: 281.571982 deg, new cmd heading: 283.845582 deg. WY@WX XW:W2W*WVbUBU*UUR8@U /2?Bn<B BA?*BAAAAj<"C㧿RCCY@C e> j?1>IGG>hq,eEAY}2?}26?y}2d':}26=}2H?`*?H??sD`զ??)~2? ~2q_;I~2Cɫ99)9 =IAYU@yUG NM_=Y%B;QU%>))a5D5>D1y=b'}=>II :M  5? :M#׾ MOA ?9MCMҖ< M<)M:W*@WX XW:W2W*WVbU BU *U UUh[?B=<B9 B9AE,>*BAAEmAAAAAE8Û<"CM:֡RCQCU*@CQܑ9ܑIܕ,{Giܕ&@ܕ =ܑܑܕv; ݑM ^>IG-->IAA)}} ):YkS1yԊ:5);hq,j~EAɫ髙) IY@yG   ÍÍQÍTaD>Dy-}->I15 5?5m׾ 5lA =?95C5: 5:)1W]@@WaXa XaWa:Wa2Wa*WiVibUqBUq*UqUyU}pZ?Bj<B BA>*BA1AAA<"C{PRCC@@C֥>Iש)שׁIG=>{hq,ؘEAY}6n?}6?y}61.;}6#}6HY?` yW?`X?cp?/ew?)~6n? ~6^;I~6Cɫ99)9 =IAY]@y]G$;MS=Y;QU>!)a-D->D1y=[}=>IA U:EZ! 5? U:E׾ EA ]?9E*BAaaAAA}<"CRCC{@CԉԍhA}>YIaGY>yy C3:YP1y':59@܉ 9܉ I܍ dzGi܍ @܍ !=܉ ܉ ܍ j; ݍ ЗEi nGI i1 e Wٺa e Ahq,EAY}Fup?}FD?y}F%X ;}FD}FHwR?n?`H?@J?` d?)~Fup? ~Ft^;I~Dɫaa)i iIiYB@y~GI=)=e#=e$e/ݽie@a eƷ@)e@Ie@ie@uMu6=Y}QU}>yya}D>Dy}>I9( 5?־ A ?9`C: :)W3@WX XW:W2W*WV)bU)BU)*U)U1U5?B}s<By ByA}>*BAuAAAܙ<"CURCC3@C֝>qIG>=i={hq,̣EAY}6r?}6A ?y}6{:}6팺}6H ?@Z:ڶ{? ? (? bU[I?)~6r? ~6_;I~6Cɫaa)a eIiY}@y;~GˡE?{Gzt?p= ף??ף; =)Iyjt?/$Mb? ?,< @)x@I@iA@%JM%O=Y-2AQU->11a5D5?D1y=S}=>IA M:E1- 5? M:E־ EA U?9ECE: E:)E:Wuy@WqXq XyWy:Wy2Wy*WyVbUBU*UUU3@B+<B BA>*BAD]߻AAAC<"COwRCCy@Co>?i?IGh>w{{ (:Y#R1y:5'hq,eEAY}6?}6?y}6l{}6= }6H?c '`V? ?`?`m/?S̿ ?)~6? ~6-_;I~6CɫII)I MIIY}@y}n}G鮁ɮ=I)jMf=Y쌻QU>aD(?Dy}>I.2 5?m־ A ?9CM: 8:)Wy@WX XW:W2W*WVbUBU*UUU@R B*** querying acoustic contact ***PPB5<B1 B1A=>*B9A=2nջA9A9A=I<"CE*dRCACMy@CI ]=]=999I=yGi=@999=i; 9)قIقiق݂!=݂!=݂ڛ4m6Ʌ>)IQG:>iq,JAEAɫ髑) IY%@y}GZ****** received transponder code query ******F****** received ping request ******aDD?Dy}>In8 5?@־ ˝A  ?9C = 1 =)WMⲲ@WIXI XIWQ:WQ2WQ*WQVQbUYBUY*UYUYU]M @B=ڭ<B BA>>*BA+ǻAAA<"C 8JRC C Ⲳ@C>IG>I@A) }} N?:YkS1yԊ:59iq,EAY}:?}:+?y}:$}:513}:HC? y`2ſ ?L ? :n?~d?Hƿ݂?)~:? ~:n`;I~:Cɫ99)9 9I9Y}@y}}GxDUSBL response received:!U1,P DA2,000,0040D,189,80,80,2E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 MK=YQU>aD_?Dy} >I U:@? 5? U:־ ٝA ]?9C+< <):W=c@W9X9 XAWA:W2W*WVbUBU*UUU @B <B BAE>*BAAETAAAIAM;K<"CU3RCQCUc@CQ֕>Iי)יQIYG}>1 91 I5 8yGi5 @5 =1 1 5 ^; 5 ʗEc iq,@3EAɫ) IY<@y%|GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=x&1?ʡE#~j?!?- =)IyQ?iýp@ù Ľ@)Ľ@IĽҭ@iĽҭ@M-=YQU>aD|?Dy}>IF 5?־ A ?9Cm: :)WJ@WX XW:W!2W!*W!V)bU)BU)*U)U)U5 @B]֬<BY BYA]>*BaAeWTAaAaAe#<"CmFRCiCuJ@CqԁԅiAug>1IAGe>yy ,:YP1y':5);9Kiq,MEAY}2?}2p%?y}2֙}2zP}2H̢?ȿt?z>?x;?`:S?ɿ`wV?)~2? ~2z`;I~0ɫ99)9 =I9Y@y|GxDUSBL response received:!U1,R,E91,000,0043D,186,80,80,58,FF Fpublishing direction and range info(>ɰı=> )BIyA3E$r_?1i&?ٱIR=)4=_=M=YB;QU?aD?Dy 4} ?I :oK 5? :־ A ?9!C: :):WE_@WAXA XAWA:WI2WI*WIVIbUIBUQ*UQUQU]^@Re(Combining 5 samples.Pi*QmAZQmzgxR2:@C`!@JQm3E$r_?1i&?2Qm(>:QibQm{7m! jBt;@{!TRQm) b?brpBQm/X? Qm]AQm yPmb9?PmG9?PmQmQmC@"Qms@B~<B BA>*BAѨAAA<"CRCC_@C>סIGA>=ip=uiq,gEAY}:?}:T?y}:6θ}:ǣX}:H -?@'@V^ɿ2??@ñ??ʿZI?)~:? ~:`;I~:Cɫ99)9 =I9Y}@y}+|G0M>=Y#;QU>aD?D9IxGi?@a; ̗Eyn}>IS 5?־  A %?9FC; j;)mqAdded new target pos. range: 27.600000 m, bearing: 90.126470 deg, deltaT: 4.344110 s, approachRate: 0.662966 m/s, LOS rate: -5.356698 deg/s, posRepo size: 4mZTarget missed at range: 27.60 m. Rolling out.Xm NTransitioning guidance mode to: ROLLOUT"X WWX; X%L?WIXI:WQ2WY*WaVbUBU*UU;@U@w?B} <By ByA}D>*BA9훻AAA^<"CaRCCC ==?i? }} `6:YkS1yԊ:5)˒;IG >] iq,EAɫ髙) IY@y{GI9)=A뽩O v>i=@ r@)@Ii@kMI=YQU>aD?Dy}>I :([ 5? :־ A ?9hC: :):WWX X!W!X!:W!2W!*W)V)bU)BU)*U1U1U5 ?BeB<Ba BaAe>*BiAmcAiAiAmД<"CuRCqCyCyօ>YIiGZ>Ň&iq,cEAY}6?}6ȗ?y}6!=D:}6a}6H?P<ɿ@e?dr?`_!?H ˿:?)~6? ~6˿_;I~6Cɫ99)9 9IAY@y8|G ))]R<M]R=Y];QUe>iiamDm?Dyy}4}}>Iȉōzc 5?ōK|־ ƍ*A ?9ƍCǍM ; ȍQ;)ȉWqWqXq XyWyXy:Wy2W*WVbUBU*UUU/?B<B BA>*BAXiAAA3<"C%JOھRCICICI]>1IAG]v>IAA)  -:Yy59@jA9IpxGi@g; ϗE;,iq,YEAY}]Ѵ?}]o?y}]%9}] d}]H`M?`R`ʿ@d? ?z?ö$`a̿4?)~]Ѵ? ~] e;I~]Cɫim)i iIiY@y|G}K7A?On?y&1|?} "?}> }`;)yIyy} rh?{GzQ?}C+?}#}\= y)}jAI}Ai}Ay}GAeףeȽe#aD?DyB:}>Iȑ :ŕn 5? :ŕk־ ƕNA ?9ƕCǕ: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU')?B3<B BAj>*B A W;zA A A l<"CҾRCCC  >I)IG >ߙ3iq,ϤEAY}2?}26?y}2 }2&_i}2H`?FZUʿZ?q? ?OTA?j̿,,?)~2? ~2\f;I~2Cɫyy)y yIyY@yzG9i=='Ml=YQU?aD@Dy}?IIv 5? `־ hA ?9ϦCB; ;)W1W1X9 X9W9XA:WA2WI*WIVIbUQBUQ*UQUYU]Ni@B><B BAK>*BAhAAA7<"Cѣվ*CRCCC Սԍ {{ K6:Y#R1y:5 I G5 >9iq,4EAY}26?}2_m?y}2}2k}2H`x?` Hʿ ~?"??aQ? ,!Ϳ )?)~26? ~2g;I~2Cɫ9=)9 9I9YyIEC=)E=iMDnGy9yI} xGi}@yyy}r; }ԗEIiYQU>gٺAQaUDU-@DyyQ}>I 5?CQ־ A M?9CH< H<)WWX XWX:W2W*WVbUBU*UUUh@RB*** querying acoustic contact ***PPB-;<B1 B1A1*B1A5[SA1A9A==[<"CejsRCaCaCiAIIGeV>=i=߫@iq,EAɫ髹) IY *@y 0{GZ****** received transponder code query ******F****** received ping request ******aDG@D!y%}->I1 U:5r 5? e:5`D־ 5A m?95C5; 5_;)5:WIWIXI XIWIXI:WQ2WQ*WQVQbUYBUY*UYUYU]`f#@Bп<B BA>*BAN@AAAu<"CTRCCC?i?IGI>X}} m&:YkS1yԊ:5Fiq,EAY}24?}2‰?y}2["}2Fj}2H`? amɿe*?3?OF?K$U?Ϳ*?)~24? ~2\i;I~0ɫ99)9 9I9Y}m@y}HzGxDUSBL response received:!U1,P E91,000,0043D,186,80,80,58,FF Command AckBRequesting micromodem ping code 2iI)I)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 yM^=Y"QU >a%D%_@Dy`}>I 5?=7־ ĞA ?97C; K;)WWX XWX:W2W*WVbUBU*UUU w @BMꃬ<BI BIAM>*BIAU-AQAQAU<"C] *CYRCYCYCaAIYGZ>qqy9yI}wGi}K@yyy}f; }ΗE) I i = = 4Miq,6EAY}*K?}?y} <ź};/l}H=?@|ɿ`Y? ?m?`X?CͿ '?)~*K? ~A~;I~Cɫ) IYM@yMhzGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B YYE/$?~jth:vE&>ED EԼ)AIAyEp= ף? rh?Q?E%?ECQi@ @)@I$@i@B;M"=Ye߹QU>aD@D y Y} >I :7 5? %: (־ ϞA %?9^CE:  :):WAWAXI XIWIXI:WI2WI*WQVQbUQBUQ*UQUYU] @B `<B BAZ>*BAvAAA|<"C*CRCCCבIGc>I@A)?Azz *:YQ1y:5Siq,aPEAY}:aB?}:.y?y}:Gw0}:p}:Hz?2ɿb?9?$I? f?/Ϳl?)~:aB? ~:;I~:Cɫ]Y)Y YIYY=@y zGAA9M=YQU?aD@Dy}?I$ 5?־ מA ?9wCn: Y:)WWX XWX:W2W*WVbUBU*UUU@/@B%<B! B!A->*B)AU AQAQA]p<"Ce*CaRCaCaCiIׁ)ׁIIQGu>aZiq,FjEAY}b&%?}b[?y}bw~}bp}bH6?7@cɿ?@?A?o?`Ϳ?)~b&%? ~b;I~`ɫ) I!9!I%DwGi%@!!!%h; %ϗEY]@y]yG-DNmea in: $SNTTA,,,,,010421.54*59 )i-=ÕÕԽÕԼiÕ׫@Ñ đ)ĕ@Iĕ@iđM#=YQU>aD@DyoG}>I : 5? : ־ A ?9C: :):WWX XWX:W2W*WVbUBU*UUU@B-<B1 B1A5>*B1A5!A1A9A=0<"CE*CARCACACII!GEQ>}} ,:YkS1yԊ:75);9`iq,EAɫyy)y yIyY^@y6zGI=)=N=M=YQU?aD@Dy}?I 5?B־ A  ?9C: w:)W)W)X) X1W1X1:W12W9*W9V9bU9BU9*UAUAUE`|_@Bm(<Bi BqAuΰ>*BqA}pҺAyAyA}m<"C*CRCCCשIG==i=%giq,EAY}2e?}2-9s?y}2T̻}2?p}2Hr?`sJ`cȿ?#?୬??y?{Ϳh?)~2e? ~2vؔ;I~2Cɫ99)9 9I9Yu9@y}zG}p=ɮ}p=v6MI=Y⽻QU>aD@Dy}>I   5? վ A ?9 ۧC ]: j:) WIWIXI XQWYXY:WY2Wa*WqVybUBU*UUU@RB*** querying acoustic contact ***PPBE<B BA~>*BAlAAA2ύ<"C*CRCCC?i? IG= >iAhA-Z>9)I-|vGi-W@)))-n; -җE) {{ 7:Y#R1y:n5)i;Rmiq,CᷥEAY}f?}fk?y}f<һ}fnl}fHZ]?ǿ@y? ?` ?Gz?ZͿ`%?)~f? ~f^<;I~dɫ髑) IY@yyGI)/$?:v)\(?&?T Ga=)Iy{Gz?I +aaaeDe@Diymℽ}m>Iq }:u 5? }:u3վ uA ?9uCu: u:)u:WAWAXA XAWAXA:WI2WI*WIVIbUQBUQ*UQUQUU@B{?<B BA>*BAAAA<"C*CRCCCIGI>5tiq,qѥEAY}2?}2sd?y}2ﵻ}2Cl}2H`?p;2:ǿ?@?`?v?]EͿ&?)~2? ~2Ì;I~2Cɫyy)y yIyY@y{yG IMg=Y;QU>aDADyu}>I1 5?^վ A ?9C@: :)WIWQXY XYWYXa:Wa2Wi*WqVbUBU*UUUQ@B<B BAQ>*BA:fKAAAL<"C*CRCCCIG-->I)@A~~ 2:YT1y@:59@ `ziq,EAY}25p?}2N]?y}2|}2Kg}2H ?@Y7-ƿ` X?B?I?`no?̿.?)~25p? ~2Z;I~2CɫYY)Y YIY9IvGi@s; ՗EYc@yyG@AM H=Y=";QU=>IIauDu.ADy}>I  : 5? 5:վ A =?9ACz(< *<):WWX XWX:W2W*WVbUBU*UUU` @Bu<B BA>*BAAAAs<"C-*C)RC1C1C1IEgA)EgA!I1GM1>Hiq,_EAY}:?}:iV?y}:h}:%h}:H@e?,ྠſY?`L??m`?̿ -?)~:? ~:W|;I~8ɫ99)9 9I9YyyyxDUSBL response received:!U1,N,80,80,63,E4 D,186,80,80,58,FF ZNo reply:!U1,N,80,80,63,E4 D,186,80,80,58,FF -QQaUDUJAD]@@Yyew}e>Iȉō6 5?ōXվ ƍ)A ?9ƍdCǍF; ȍ7!;)ȉWWX XWX:W!2W!*WIVIbUIBUQ*UQUQUU@BL<B BA*BA!AAA<"C*CRCCCI G%M>  pG:Yy5riq,:EAY}2?}2UP?y}2C}2j}2H@?YG0ſB?g?*?bh>? )Ϳ`)?)~2? ~2bp;I~2Cɫ99)9 9I9Y}P@y}xGI=)%=2:MaDaADyt}?I :A 5? :^վ 1A ?9CP#; D;):W)W)X) X)W)X):W)2W1*WVbUBU*UUUe!@B-<B B A >*B A ZͷA A)A5l<"C5*C9RC9C9C9)I1GU>idnGI)iEAAmٺquBٱٱܹ9ܹIܽuGiܽ@ܹܹܹܽf; ݽΗE=i=iq,9EAɫyy)y yIyYu@yyGɮa=]kt?~jt?] ?] ]<)YIYy]V-?{GzV-?]|?]ף]< ]@)]jAI]Ai]AY] Aeže=eOie\@a e@)e@Ie@ie@<M.=YQU>aDADy}>I$ 5?վ QA ?9C: :)WqWqXq XqWyXy:W2W*WVbUBU*UUU@B#<B BA:>*BA%Ȏ9A!A!A%ʼn<"C-*C)RC1C1C1E?iE?I)GEQ>{{ f.:Y#R1y:n5$iq,5REAY}2b?}2p3E?y}2)}2oh}2HP?@; c2ĿH?,b?@?`9EW?̿-?)~2b? ~2e;I~0ɫYY)Y YIYY:@yxGI)Mj=Y@1QU>!!a%D%AD)y5}U>Ia m:eB2 5? m:eվ ejA ?9e¨Ce; e;)e:WWX XWX:W2W*WVbUBU*UUU4 @R-B*** querying acoustic contact ***P)P)Bm<B BA>*BA:AAA 2<"C*CRCCCסIG >Яiq,lEAY}2?}2>??y}22{}2h}2Hs?0`ÿ *?S?`?`Lfo?@̿ -?)~2? ~2Fb;I~2Cɫ99)9 9I9܁9܁I܅PuGi܅c@܁܁܁܅e; ݅͗E)!I!i!!!%e4Y5+@y=xGUZ****** received transponder code query ******UF****** received ping request ******]aDADy-C}M>IY]D 5?]*վ ]A ?9]C]; ];)YWWX XWX:W2W*WV bU BU *U U U $!@B?ܨ<B BA>*BAdL:AAAcp<"C*CRCCCיIGd>I)AA||  /:YR1yi:5)t;9'iq,EAY}2(y?}2r9?y}2Yܻ}2l}2H? @Ŀ@4? 7\?@f?{?QͿ &?)~2(y? ~2`;I~2CɫAA)I QIQY @yxGAAAAxDUSBL response received:!U1,P 80,80,63,E4 D,186,80,80,58,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 5M_=Y QU> a D ADy}>I0S 5?վ A -?9C; ;)W9W9XA XAWAX:W2W*WVbUBU*UUU`!@Bu<Bq BqAu>*BqA}!q:AyAyA}<"C*CRCCCI׹)׹סIGl>Oiq,˂EAY}28r?}2>2?y}2}2ϓi}2H? &oÿ??y?%?̿@+?)~28r? ~23`;I~2Cɫiq)q qIqY2@yxGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M=iM=M>iM>*(<M)=Ya%D%AD!y-lf}->I1 =:5f 5? =:5վ 5̟A =?95*C5; 5;)5:WaWaXa XiWiXi:Wi2Wi*WiVqbUqBUq*UqUyU}"@B?<B BA>*BAʧ:AAAԆ<"C*CRCCCיIGh>q9qIutGiu@qqquo; uӗEyy *:YP1y':5);iq,W_EAY}25Sk?}2+?y}2Y}2\ b}2H#?[G\¿`? f?5?? ̿8?)~25Sk? ~2_;I~2Cɫ99)9 9I9Y}n@y}wGIC=)C=Q?HzG?ˡE\?= > ')Iy r?Mbp?Mbp#?; ™)AI+Ai™<*BA:AAA<"C*C)RC)C)C)!I)GM1>=iZԴiq,AԦEAY}-N{^?}-?y}-$}-O[}-Hm?!@ ?y?`e?}?4˿`nD?)~-N{^? ~-ks_;I~-Cɫ) IYU @yUxGYɮ]p=eDNmea in: $SNTTA,,,,,010427.21*5D M=MS=YQU>a]D]BDaye}e>Iq }:u 5? :u:վ uΟA ?9uhCu": u:)u:WWX XWX:W2W*WVbUBU*UUUK$@B12<B! BA>*BAb:AAA5<"C*CRCCC?i?׹IGE>vv /:YN1y:59@wiq,UEA!9!I%tGi%@%!=!!%~; %ڗEɫ) IY@y3xGI)))ý ý>ýOiý̬@ù ĽS@)Ľ`@IĽiĽ`@#żMF=YQU>aD2BDy}>I 5?xվ ПA ?9C: :)WYWiXi XiWqXq:Wq2Wq*WyVybUyBUy*UyUUs%@B<B BA>*BA6;AAA^<"C*CRCCCIG$>Biq, EAY}:X?}:?y}:F3}:f[}:H]t?1`it>?S??+`?b=˿`C?)~:X? ~:2_;I~:CɫYY)Y YIYY}y@ywG 鿑%^M%V=Y-QU->))a5D5KBD1y=?y}=>IA M:E 5? M:EOpվ EџA M?9ECE: E:)E:WiWqXq XqWqXq:Wy2Wy*WyVybUyBU*UUU %@RB*** querying acoustic contact ***PPBٻ<B BA}>*BA,;AAAS<"C*CRCCCIG>I)xx Y7P1y:5kiq,h!EAY}J$L?}JY ?y}J!c}Jb}JHK?6 `6???@c?̿k8?)~J$L? ~J^;I~JCɫ髙) IY>@ywG@A@AMM=YYQU>aDdBD y }>IҺ 5?hվ ՟A %?9ǩC': U:)WWX XWX:W2W*WVbUBU*UUUI&@B%l<B! B)A-Ɏ>*B)A-y;A)A1A5 <"C=*C9RC9C9CAIq)uhAIIQGm>)9)I)i)- =))-x; -חE8iq,;EAY}FE?}F?y}Fw}Fid}FH`? _ ߿y?U?ޒ??`O̿!4?)~FE? ~FE^;I~FCɫYY)Y aIaYT@ywG=i==/$?T㥛 ?Mb`?=1>== =;)9I9y=ףp= ?{Gz?=?==ף< 9)=/AI9i99=\AÕ=ÕÕ =iÕ@Ñ ĕv@)đIĕ`@iđ;M@=YAQU>))a5D5BD1y=i}=>IA u:E 5? u:E`վ EA }?9ECE&; E;)E:WWX XWX:W2W*WVbUBU *U U U T'@B <B BA,>*BA-;AAA<"C*CRCCCIGI>syy (:YP1y':\5!iq,UEAY}J)??}Jx>y}J$}}J,e}JH?@ݿ`̈́?w?@" ?B?g̿2?)~J)?? ~Je_;I~JCɫqy)y yIyY+@ywGI=)=5QM5R=Y=P\QU=>99aEDEBDAyM㎽}M>IQU 5?UZվ UA ]?9UCUI: U4:)QWyWX XWX:W2W*WVbUBU*UUU@(@B`<B BA>*BA[:;AAAq<"C*CRCCCIG >=i=i m Ci mGI SkAi A- ٺ- SkA5 %B!Qiq,pwoEAX9XIXiXXXXZz; ZؗEY}y8?}N>y}>~}c}Hz?`Aܿ5+*? ?!;?Ǐ?16̿5?)~y8? ~^;I~ɫ髡) IY@ywGa=ɮa=xDUSBL response received:!U1,N,80,80,63,E4 D,186,80,80,58,FF ZNo reply:!U1,N,80,80,63,E4 D,186,80,80,58,FF -Mv>M>iMz@I M@)M@IM$@iM@eMe8=YmQUu>yyaDBDy`}>Iy} 5?}Rվ }!A ?9}.C}: }:)yWW X  X W X :W2W*W9V9bUABUA*UAUAUM {=)@Be<B BAa>*BA6K;AAA~<"C*CRCCC?i?IGi> *:Yy5)/;92iq,7EAY}62?}6>y}6䷃}6jb}6H*?ڿ`4? +? q?v?̿7?)~62? ~6W_;I~6CɫYY)Y YIYY_@ywGI)Y=Mk=YtӺQU?aDBDyy}?I :5? :Nվ 4A ?9GC0: :):W W X  X W X :W2W*WVbUBU*UUU%k)@BM<BI BIAMސ>*BIAU|V;AQAQAUaK}<"C]*CYRCYCaCaשIG>\iq,fEAY}6Z,?}6>y}6}6c}6H"? @ٿROzq?Ry???7̿-5?)~6Z,? ~6;_;I~6Cɫii)i iIiY@yxG 鿩<MJ=YkQU>aDBDyk}>I5?1Hվ NA ?9gCӻ: #:)W W X  X W X :W 2W*WVbUBU*UUU'*@BMU <BI BIAMW>*BIAMf;AQAQAU{<"C]*CYRCYCYCaQIYGu=٭hA٭fA9Iit; ֗E)qIqiqqqu4I)  | |   -:Y R1y i: n5) ͊;iq, EAY}6dl&?}6>y}6o}6s{d}6HCr?&ؿ⠺?`?? {?Q̿g3?)~6dl&? ~61,_;I~6Cɫ11)1 1I9Yu>@yuwGy}AAmQ?/$ˡE?m?m m'=)iIiymm?I +X9v?m.?m94m< m@)mIiim$AimzAI^:>i@ @)v@IiɼM9=YyQU>aDCDy1a}>I :/5? :hBվ ~A ?9C : :):W!W!X! X!WX:W2W*WVbUBU*UUU9+@RB*** querying acoustic contact ***PPB%<B) B)A-Ɏ>*B)A-v;A)A)A5 x<"C5*C9RC9C9C9Ii)i9IIGe4>piq,֧EAY}V?}V>y}V:?}V\f}VH? ѡֿ#๿?? ? g?̿.?)~V? ~VS_;I~VCɫ髑) IYX@ywGZ****** received transponder code query ******F****** received ping request ******19a=D=CD9yE}}E>IimuF5?mL=վ mA ?9mCmf9; m9;)iWWX XWX :W2W*WVbUBU!*U!UaUe]i,@B`<B BAg>*BAd;AAA;$v<"C*CRCCC!I!GEQ>zz /:YQ1y:I59@͛iq,EA,9,I.tGi.@,,,.q; .ԗEY}M?}MBu>y}M}M*j}MH?Կ̸ {?W? j? Ȟ?gͿ@D(?)~M? ~MD_;I~MCɫ)1)1 1I1Y@yxGxDUSBL response received:!U1,P 80,80,63,E4 D,186,80,80,58,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I)4=Õ)?ÕSÕ~jiÕ@Ñ đ)ĕ+@IĕZ@iĕ+@<M]0=YeQUm>qqaD:CDy)i}>I :Ja5? :7վ A ?9ܪC: :):W)W)X) X)W)X):W12W1*WQVQbUYBUY*UYUYUe|Y-@B<B BAW>*BAD;AAAos<"C*CRCCCIG>=i=sjq, EAY}2?}2=>y}2}2l}2HSb?=ӿ`t ???1?W?Ϳ%?)~2? ~2`;I~2Cɫ19)9 9I9Yu@yuxG}p=ɮyNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B rM|=Yy;QU?aDNCDyɽ}?Iȩŭq5?ŭ4վ ƭA ?9ƭCǭ: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU-@BB.<BA; BA>*B!A%;A!A!A%\q<"C*CRCCC%?i%z?IG*>|| 0:YR1yi:5jq,Y$EAY}: ?}:G>y}:~}:l}:H?`'ѿ@Q??@}s? ?KͿ@C%?)~: ? ~:{oc;I~:Cɫ99)9 9I9Y}@y}wGxDUSBL response received:!U1,R,357,000,004C2,188,80,80,65,FF Fpublishing direction and range infoC?ɰ=鰅> )BIyQB4?YٱI)<MZ=Y;QU>aDfCDy*}>I5?t1վ +A ?9C: :)WWX XWX:W2W*WVbUBU*UUU.@R(Combining 5 samples.P*QQBZQ'B :@ɻ&8JQ4?Y2QC?:QbQ?@Tnϙ&.3qs@RQƏG{?`"ۿ)'D?BQ#غ@ Q4qQWAPȨ9?Pb9?PQQDA"QC@BU(<BQ BQAU.>*BYA]6_;AYAYA]bo<"Ce*CaRCaCiCi׉IG>a9aIaiaaaae{; eٗEjq,9>EAY}2?}2!݆>y}2x}2m}2H`?п j??@?@n?jtͿ /#?)~2? ~2a;I~2Cɫ) IY5@y=vGDNmea in: $SNTTA,,,,,010432.89*5B Uv?MbpMbUԸ>U U)QIQyUʡE?Mbp?õ3>iõ\@ñ ĵ@)ĵҭ@Iĵiĵ@OM-=Y;QU>aDCDyi}>I :5? :,վ =A ?9@Cy< <):myAdded new target pos. range: 35.579998 m, bearing: 334.543403 deg, deltaT: 15.367307 s, approachRate: 0.519284 m/s, LOS rate: -7.521362 deg/s, posRepo size: 4WW X  X W :W2W*WVbUBU*UAUE`=A@UM?B1<B BA>*BAΡ;AAAm<"C*CRCCCI!G=r>IAA)@Ayy /:YP1y':I5jq,XEAY}F?>}F5t>y}F_}F$~n}FHe? |ͿnC ~Fܠa;I~FCɫYY)Y ]IYYr@ywG5{=M5g=Y=Ǎ;QU=>99aEDECDAyM}M>IQU5?U7)վ UIA ]?9U_CU: U:)QWyWX XW:W2W*WVbUBU*UUU m?B=m<B9 B9A=>*BAAE8Χ;AAAAAEaLk<"Cm*CiRCqCqCq}urjq,qEA9Ii}; ڗEY}R>}R]>y}R\Z}Rjn}RH^@?`Xʿٯ|x?`n?}?@VW?Ϳ @"?)~R> ~R j;I~RCɫqq)q uIqY@yxGU=iU=åZd>å־åiå@á ĥ@)ĥIĥ@iĥ@v<MB=Y>:QU>aDCDylW}>I :l5? :%վ XA ?9C: :):WWX XW:W2W*WVbUBU*UUU`?By<B BAD>*B A ;AAAd&i<"CE*CARCACACI=yb];I)G]U>< {{# M:Y#R1y:#5)\;9"jq,PƋEAY}>}>}>ӱD>y}>̎[}>Do}>H@h?aǿ.@o??@ ?q?qͿ@ ?)~>}> ~>%~;I~>CɫYY)Y ]IYY}@y}wGI-4=))UM]Q=Y]QU]>aaaeDeCDaym*~}m>Iqu5?u"վ ufA }?9uCu: uϸ:)qWWX XW:W2W*WVbUBU*UUU`,?B<B BA>*BA;AAA5g<"C*CRCCC) QIaG}{>=ip=a(jq,裥EAY}2@>}2a6&>y}2T}23:q}2H?ÿ@z? ?8?@?oͿ@?)~2@> ~2G;I~2Cɫ99)9 =I9Y]@y]rxG<MP=Yə:QU>aDCD y } >I :5? : վ sA %?9ɫC: :):WWX XW:W2W*WVbUBU*UUU.@B=<BA BAAE>*BAAE#;AAAIAMxe<"CU*CQRCQCQCYm?im?iMmGyIkAIiG&>=ٺEkAEA[>9IPuGic@!=p; ӗE yy H:YP1y':5)Ƣ;V#/jq,V~EAY}2&>}2>y}20:}2Qt}2Hw? &5???dT?=Oοy?)~2&> ~2A;I~2Cɫ99)9 =I9Y}@y} mף)iIiymˡE?~jtxy&1|?m'?mĻm`; i)mIAImAim Aii=x齩====i=G@9 =`@)=`@I=`@i=`@MFMM7=YMb;QUU>QQaUDUDDYy]}e>Iaed5?eվ eA u?9eCew: e:)aWWX XW:W2W*WVbUBU*UUU@Bm<B BA>*BAQ;AAAWb<"C*CRCCCIG$> 6jq,*X٨EAY}2ﹲ>}2 ~2;I~2Cɫ99)9 =I9Y@ynxG?A 鿹/d<Me=Y;QU>aDDDyY}>I : %5? :վ A ?9 C: ":):W!W)X) X)W):W)2W)*W1V1bU1BU1*U9U9U=t@REB*** querying acoustic contact ***PAPABm<Bi BiAm>*BiAuZ;AqAqAu8a<"C}*CyRCyCCiIyG=I)AAzz  /:YQ1y:59@ 9 I i y; ؗE)ݩIݩiݩݩݩݭY44}B ։=y}B=Ļ}Bup}BHN?b [7?  ?? x?Ϳ3?)~Bh> ~BJ;I~BCɫYY)Y ]IYY6@yxGZ****** received transponder code query ******F****** received ping request ******=if@ @)@I@i@է<M9=Y;QU> a D 8DD1y5}5>I9==5?=վ =A E?9=2C=: =|:)9WWX XW:W2W*WVbUBU*UUU @B%<BI BIAMJ>*BIAM;AIAIAU>_<"CU*CYRCYCYCYIוhA)בaIiG9>KCjq, EAY}6ƫ>}607 =y}6NL[}6Oq}6H'? @|@?`#??`ik?`Ϳ?)~6ƫ> ~6F3;I~6CɫYY)Y ]IYYE@yxGxDUSBL response received:!U1,P 357,000,004C2,188,80,80,65,FF Command AckBRequesting 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-S;QU5>AIaMDUPDDyu}u>IȁŅqT5?Ņ@վ ƅA ?9ƅUCDžB; ȅA;)ȁWqWyXy XyW:W2W*WVbUBU*UUU@{ @B*<B BA7>*BA;AAAm]<"C*CRCCCI9Gew>e }} ;:YkS1yԊ:75FIjq,h&EAY}2>}2VL;y}2s}2lr}2H?f\`̊i?C?@?~P?ο K?)~2> ~2;I~2Cɫ99)9 9I9Yv@ywGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I=p=)==uxMuD=Y};QU}>yaDjDDy}>Iȑ :ŕi5? :ŕLվ ƕA ?9ƕtCǕ: ȕ:)ȕ:WWX XW:W2W*WVbUBU*UUU` (@B<B BAA>*B A ;A A A '\<"C*CRCCCiIG!>م<م<܍\>9܉I܉i܉܉܉܉܉ ݉i.Pjq,e@EAY}2$c>}26@y}2Z+-:}2|r}2H?`9?|?#$?? kE0οc?)~2$c> ~2";I~2Cɫ99)9 =I9Y}@y}WxGxDUSBL response received:!U1,R,241,000,004DF,189,80,80,7C,FF Fpublishing direction and range info-ɰN=鰅7> )BIyGBA?ET`޿ٱ-RQ? ףp= ?Mb?-?-Q8= -=))I)y-x&?{Gz/$?-7)?-#-< ))-AI-EAi-A)-Aed>eG=eiez@a e@)ev@Ie7@iev@(<M:=Yx;QU>aDDDy܉}>Iȩŭ5?ŭվ ƭA ?9ƭCǭ: ȭ:)ȩWWX XW:W2W!*W!V!bU)BU)*U)U)U5@R=(Combining 5 samples.PA*QEGBZQE X@@2JQEA?ET`޿2QE-:QAbQE<D@@]2h٣@RQEt?>\?~߿IԼ?BQEW{@ QEQEBPEѨ9?PEȨ9?PEQEQE,(A"QEDABS-<B BA>*BAD;AAAZ<"C%*C%RC)C)C1M?iM?)I9GeU>xx .:Y7P1y:I5ZVjq,ZEAY}fD>}fD@y}f ;}f ~fu;I~fCɫ) IY@yixG}TNmea in: $SNTTA,,0.238648,,,010437.30*41 Iy)}A;MR=Ycv;QU>aDDD!y%}%>I) 5:-)5? =:-վ -̡A =?9-C-Y: -f:)-:mmuAdded new target pos. range: 37.320004 m, bearing: 330.313385 deg, deltaT: 4.489170 s, approachRate: 0.387601 m/s, LOS rate: -0.942272 deg/s, posRepo size: 4WiWiXi XqWq:Wq2Wq*WqVybUyBUy*UyU}B@U P?B<B BAn>*BA;AAABY<"C*ChRCCCׁIG$>܁ 9܁ I܁ i܁ ܁ ܁ ܁ ܅ w; ݅ חE\jq,xtEA|i|Y}BwH'>}BW@y}B:3[;}Bp}BHf?`? ~Bl;I~BCɫYY)Y ]IYY@yWxG ))}@=}I>}C >i}=@y y)}`@I}v@i}`@UMT=YO;QU>aDDDyW}>Iȩŭ5?ŭվ ƭܡA ?9ƭ۬Cǭ: ȭ:)ȩWWX XW:W2W*WVbUBU*UUUt?B<B BA>*BA;AAA3W<"C*C; RCCCIG'>m (:Yy5)v;9jcjq,UEAY}: >}:yk@y}:;}:Fp}:H?`P?@ B?@ ? ?Bq`Ϳ?)~: > ~:mf;I~:Cɫ99)9 =I9Y}P@y}xG=Y=MEO=YE;QUE>IIaMDMDDIyU }U>IY e:]d5? e:]վ ]A e?9]C]: ]:)]:WWX XW:W2W*WVbUBU*UUU ?B<B BA>*BA%Y<AAAmV<"C*C/RCCCI)IG% >ijq,0EAY}2ŵ=}2d|@y}2;}2s}2HB?u? ?@=¿? ? }v(ο;?)~2ŵ= ~2yc;I~2CɫYY)Y YIYY@yrxG>i=MM=YQ;QU%>!!a%D%DD)y-}->I15c5?5"վ 5A E?95C5: 5^:)1WWX XW:W2W*WVbUBU*UUU`-?Bu<Bq BqAu>*BqA}p~<AyAyA}~XU<"C*CR]O<RCCCIG*>191I5tGi5@1115t; 5֗E{{ *,:Y#R1y:5);|pjq, ©EAY}27=}2k@y}2f;}2jv}2H;?W?`?@Pſ?mʡ= mt<)iIiymjt?Mby&1?m ?mm`e< i)mAImAimEAimAEף;Eʡ=E>iE­@A Eʭ@)Eʭ@IEʭ@iEʭ@U<MU8=Y]:;QU]>YYa]D]EDayey}m>Iq }:u`5? }:uq%վ u A }?9uBCu: u:)u:WWX XW:W2W*WVbUBU*UUU`v@B(<B BA>*BAE <AAAMT<"C*C =RCCCIG$>=i= vjq,m۩EAY}2M=}2@y}2Ń<}2y}2H@_?@3?P;?^0ɿv??lο?)~2M= ~2\7`;I~2Cɫ99)9 =I9Y@yxGU:QM]\=Y]u;QU]>aaaeDeEDaymܔ}m>Iqu}5?u(վ uA }?9u`Cu: u^:)qWWX XW:W2W*WVbUBU*UUU@B<B BAW>*BAYK<AAAS<"C*C@Eh=RCCC ?i ?IIQGu>L>C  ~ ~   U*:Y T1y @: 59% @iA I] lAi Ŀٺ lA A) 9) I) i) - =) ) - s; ) |jq,EAY}2?׺<}2d@y}2<}2Όx}2H70?`z??̿J?@k?qeο@?)~2?׺< ~2_;I~0ɫ99)9 =I9Y}@y}\xGI)-6only read 3 of 4 data items @ @ @[<MT=Y;=;QU>aD8EDy}>I35?<,վ $A ?9C0: :)WWX XW:W2W*WVbUBU*UUU@;@RB*** querying acoustic contact ***PPB5 <B1 B9A=>*B9A=aN<A9A9A=[Q<"CE*CE =RCICICI)I1GU>jq,4EAY}2@}2M@y}2p,<}2>v}2H ??Kб?`п ?<=?荅 8ο?)~2@ ~29_;I~2Cɫ99)9 =I9Y}@y}xGZ****** received transponder code query ******F****** received ping request ******aDREDy}>I  : *5? : x0վ 0A ?9 C ; ;) :WAWAXA XIWI:WI2WI*WIVQbUQBUQ*UQUYU]`[ @B<B BA>*BA<AAAP<"C*C=RC~>CCשIG >I@A)BA{{ z.:Y#R1y:5&jq,hx)EAY}2@}2d@y}2=<}2g%u}2H??l?ѿ C??@2`oYο ?)~2@ ~2=_;I~2Cɫ99)9 =I9Y@ywGxDUSBL response received:!U1,P 241,000,004DF,189,80,80,7C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 m MmB=Y&#;QU>aDmEDyj}>Iȑ9ItGi@!=u; )aIaiae!=ae4ŕcC5?ŕ5վ ƕ>A  ?9ƕǭCǕO~< ȕy<)ȑWWX XW:W2W*WVbUBU9*UAUIUu` @Bt<B BA.>*BA<AAAO<"C*CRCJi>CC IQ)Q I G5 >ːjq,UCEAY}2`.@}2<@y}2U<}2s}2H`?t?@4S?mXӿ?@@?@@&ο`?)~2`.@ ~2^;I~2Cɫai)i mIiY}>@y}wG鮁ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=S㥛?+?Zd;O?$?= j<)Iyn?Zd;O?~jtxV.?j<Ļ …@)…AI…~Ai…~AzA   Ý<ÝĻÝ>iÝ(@Ù ĝ@)ĝ@Iĝ@iĝ@M7=YY;QU>aDEDyt}>I :*B9A=-<A9A9AEO<"CM*CIRCMxAR>CICQAIiG9>}}9 *:YkS1yԊ:5jq,v4]EAY}2N@}2\@y}2xm<}2q}2Hw9?77?@? aտl?@?@ڮ@Ϳ?)~2N@ ~2^;I~2Cɫ99)9 =I9Y}3@y}wGxDUSBL response received:!U1,R,1E2,000,004EE,186,80,80,94,FF Fpublishing direction and range info\׾ɰ=鰅> )CIyB'5?b7"ڿٱI]R=)]R=mtMma=Ym;QU>aDEDyP}>IȡťRl5?ť>վ ƥA ?9ƥCǥ: ȥr:)ȡWWX XW:W2W*WVbUBU*UUU>@R(Combining 5 samples.P*QBZQ_"qA@ix6/JQ'5?b7"ڿ2Q\׾:QbQ%F<@ ~9DWg) @RQlv?EՏA^qf?BQ<@@ QcQ/APͨ9?PѨ9?PQQA"Q,(AB-<Bi BqAu>*BqAu"<AqAqAuLN<"C}*CRCʣ;>CC֝;>yIG]>=i 9 I sGi @ z; ٗE!jq,wEAY}~@s@}~@y}~<}~Kq}~H@_?` ??3ֿ&?` ;?_ݐ)Ϳ?)~~@s@ ~~&^;I~~Cɫ) IY-@y-awGTNmea in: $SNTTA,0.058390,,,,010441.75*45 #$>i׳@ @)A@Ii@;MA=Y;QU > aDEDy}>I! -:%(5? -:%YCվ % A -?9%,C%: %:)%:m]uAdded new target pos. range: 38.220001 m, bearing: 317.366543 deg, deltaT: 4.402102 s, approachRate: 0.204447 m/s, LOS rate: -2.941059 deg/s, posRepo size: 4WYWaXa XaWa:Wa2Wi*WiVibUiBUi*UqUu)C@Uu ?B=<B9 B9AE>*BaAey&<AaAiAmM<"Cm*CqRCu7&>CqCqօ2rw>׍?i׍?QIaGZ>: || r8:YR1yi:[5);9jq,䐪EAY}2Ϙ@}2@y}2<}2lr}2H M?`uH?Wκ?3ؿ?@$? 6ο >?)~2Ϙ@ ~2^;I~2CɫYY)Y ]IYY@yvGI)A5$M=Y=Y=d;QU=>AAaEDEEDIyMԐ}M>Iȩŭ 5?ŭHվ ƭA ?9ƭNCǭ=; ȭR;)ȩWWX XW:W2W*WVbU BU *UUU`?BU=H<BY BYA]>*BYAe<)<AaAaAeV M<"Cu*CqRCu>CqCy Օ=ԕ=UO>!I1GM1>>1jq,EAY}2@}2Ȼ@y}2<}2zq}2HxG?M? f?ٿ`!?h?Ϳ?)~2@ ~2_;I~2CɫII)I IIIY}@y} wG ^<M%L=Y%u;QU%>))a-D-ED)y5S}5>I9=Ŭ5?='Nվ =A E?9=pC=÷: =:)9WiWiXi XiWi:Wi2Wq*WqVqbUyBUy*UUU@*?B<B BA>*BAP-<AAA#L<"C*CRC=CCqujA}]>9yI}rGi}{@yyy}}; }ۗE ;>IG}Y>I)AA yy  G:YP1y':75)1;jq, ĪEAY}:@}:f@y}:pH<}:o}:H?G? ?Kۿ8? >i =@  @) `@I v@i `@M;=Y%`;QU%>!!a-D- FD)y5q}5>I9 E:=5? E:=Tվ =١A E?9=C=: =:)=:WiWiXi XiWi:Wq2Wq*WqVqbUyBUy*UyUyU} ?BE<,<Bi BiAm%>*BiAm0<AiAiAuL<"Cu*CyRC}=CyCy֝;>Iס)סqIG>ACjq,GvުEAY}2t @}2&@y}2P|<}2?k}2H`&?`?VA?ܿ.??@ NͿ2'?)~2t @ ~2d_;I~2CɫYY)Y YIYY@yvGi=5cM=Z=Y=;QU=>AAaEDE!FDIyMg}M>Iȩŭ.5?ŭ9[վ ƭΡA ?9ƭCǭ: ȭ:)ȩWWX XW:W2W*WVbUBU*UUU %@Bۙ<B BA>*BA%R4<A!A!A%˼K<"C-*C-=RC-w=C)C1EiAEiAm.0>!I1GM1>|| 3:YR1yi:59 @i 9i Im rGim *@m =i i m ; m Edmjq,vQEAY}25@}2B@y}2I<}2e}2HP+?;E?'? S޿਍?@Т?Șu̿@{0?)~25@ ~2^;I~2CɫII)I QIQY}F@y}gvGI)=5+>5O-?5Ti5@1 5@)5@I5`@i5+@EMEJ=YE9;QUE>IIaMDM;FDQyUƄ}]>IY e:]5? m:]bվ ]¡A m?9]C]: ]:)]:WWX XW:W2W*WVbUBU*UUU@M@BMf<Bi BiAm~>*BqAuh`7<AqAqAunK<"C}*C}b=RC}f=CCm>AIIGm5>=i=Vjq,'3EAY}2Rn@}2|@y}2<}2l_}2H?.??`:߿ H;?u?O96˿`i:?)~2Rn@ ~20^;I~2Cɫ99)9 9I9Yu@y}vGy}@A<MP=YI;QU>aDTFDyd|}>I  5? Tiվ A ?9  C =; (;) WQWQXQ XYWY:WY2WY*WaVabUaBUi*UiUqUu}@RB*** querying acoustic contact ***PPBxj<BC< BA^>*BA:<AAAyYK<"C*C=RC=CC}=?i?סIG >zz &2:YQ1y:%5^jq,,EAY}2ο@}2۷@y}2#<}2]U}2H:y? ?T?aG?@?BÞ`Gwʿ2K?)~2ο@ ~2^;I~2CɫQQiy)i IIkAiY@yvG˿ٺkAٻAZ****** received transponder code query ****** F****** received ping request ****** aDrFDy+}>I :n"5? :*BAY><AAAK<"C*Cb=RC.<CC ===>- = I G- >8gjq,EEAY}2W@}2e@y}2? =}28F}2H;?I? ?`??Ix@ȿ a?)~2W@ ~2_;I~2Cɫ99)9 =I9Y@yuGxDUSBL response received:!U1,P 1E2,000,004EE,186,80,80,94,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  +?y&1|?y&1|?>`; `;)Iy/$?YaDFDyn}>Iȑŕ\95?ŕyվ ƕA ?9ƕ[CǕ4; ȕ;)ȑW WX XW9:WA2WA*WIVIbUQBUy*UUU`@Bv<B BA5p>*BA+B<AAAK<"C*C7=RCXN4<CCI)@A# }} 6:YkS1yԊ:5 "= I G >ijq,_EAY}:@}:p@y}:=}:v<}:H ??@?` `? ??`xhǿ`o?)~:@ ~:Z_;I~8ɫ99)9 =I9Y}@y}uG鮅a=ɮR=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B K:M=YU*BAAE\-D<AIAIAM}3L<"CU*CU =RCU#(;CQCYE#2;B=I!)!IGEs> 9 I qGi @ y; ٗE)ݡIݡiݡݡݥ!=ݥM4jq,9yEAY}6@}6R@y}6{>-=}6D3}6HJ? F??pR`T?`ѿ?@(Xƿ`z?)~6@ ~6<_;I~6CɫYY)Y ]IYYY@yCuGxDUSBL response received:!U1,R,0DD,000,004FF,186,80,80,91,FF Fpublishing direction and range info|Eɰ=鰡 )CIyB7lh?3sBȿٱ=i=       > j<= `i @  @) ף@I @i ף@M%T=Y%+))a-D-FD1y5׼}5>I9=)\5?=վ =IA M?9=C=÷: =:)9W!W!X) X)W):W)2WI*WQVQbUQBUQ*UYUYU]@k@Rm(Combining 5 samples.P*QBZQ|rTAC@auJQ7lh?3sBȿ2Q|E:QbQ0x,`<@w;0Y2ԿRQ3#? l濜 cxBQ@ QQAP֨9?Pͨ9?PQQ@@"QAB<B BA`>*BA ;G<A A A < M<"C*C=RC+CC/C<15fA5U<I!G=>  5:Yym5)a;9+jq,{EAY}zZ@}zg@y}z{B?=}z,}zHD?}(??@'@y?dc? 槿`yvſ`?)~zZ@ ~z^;I~xɫ11)1 =I9Yu]@yuHuGDNmea in: $SNTTA,,,,,010446.19*51 I =) =M:MU8=YU"YYa]D]FDYye}e>Iimr5?mվ m"A u?9mCm: m:)imuAdded new target pos. range: 39.240002 m, bearing: 316.315568 deg, deltaT: 4.463076 s, approachRate: 0.228542 m/s, LOS rate: -0.235482 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU`C@U-A?BT<B BAea>*BA'J<AAAN<"C*C=RC:_CC  )  =i=֥ jq,OEAY}6~@}60@y}6S=}6g!}6H@e? Mj?O?^ _??z Ŀ6?)~6~@ ~6 _;I~6CɫAA)A MIIY@y?tGD;>i̬@ @)Iʭ@i@#MQ=Y!S aUDUFDiyu첼}u>Iy9IoGi@ = ڗE :}5? :}վ }A %?9}ޯC}< }k<)}:WWAXI XIWI:WQ2WY*WVbUBU*UUU ?BtE<B BA F>*B A /"M<A A A IJO<"C*C s=RCCC*:<?i?IG->zz /:YQ1y:5);jq,{-ǫEAY}:@}:@@y}:>i=}:C}:H h?8??@T??#@?)~:@ ~:#_;I~:Cɫ99)9 =I9Y}N@y}sGMbX9?x&Q?>7 \=)IyX9v?{Gz?l񢿙?#< ­@)­AI©i­A3AMM=YZUaD GDy}}>I5?վ àA ?9C: :)WWX XW:W2W!*W!V!bU!BU)*U)U)U-`2?B]Y<B]{< BYA]?>*BYAeO<AaAaAeUP<"Cm*CmD=RCmrEϼCiCq Յ=ԅ=e!I1GM1>jq,:EAY}2½@}25е@y}2}=}2t}2H`%U?`?۾? `Q?x&?,Z?)~2½@ ~2b_;I~2Cɫ99)9 =I9Y}@y}7sG  QMW=YX!!a%D%#GD)y-}->I1 =:55? =:5]վ 5A E?95C5: 5:)5:WaWaXa XaWa:Wi2Wi*WiVibUqBUq*UqUyU}@I?B=<BA BAAE+>*BAAE:MQ<AAAIAMR<"CU*CU =RCU`CQCYe2DAIQGuW>I)?A {{ `6:Y#R1y:59@ܱ 9ܱ Iܵ HnGiܵ @ܵ !=ܱ ܱ ܵ t; ݵ חE jq,EAY}2½@}2е@y}2 =}2ziֽ}2HmS?a?e?`\`m]??08?)~2½@ ~2%_;I~2Cɫ99)9 9I9Y})@y}sG -@ -@ -@-©--i-@- -@))I-+@i-@EW=MEH=YE1/IIaMDM>GDQyUm8}U>IY]s5?]>վ ]EA m?9]:C]=: ]:)YWWX XW:W2W*WVbUBU*UUU`?B<B BA:>*BAS<AAA4T<"C*Cΰ=RCڃCC-ȷ̼I1)1IG-->kq,QEAY}:fȽ@}:ֵ@y}:=}:}}:HT??`'1?_ h??` ?)~:fȽ@ ~:yH_;I~:Cɫ99)A EIAY}D@y}rGU M]I=Y]1aaaeDeXGDaymF:}m>Iq }:u5? }:u վ uA ?9uZCu: u:)u:WWX XW:W2W*WVbUBU*UUU~,@B<B BAG>*BA%U<AAA|W<"C*C`=RCZ޼CC0:D<iA߼IG->xx y0:Y7P1y:[5 kq,o.EAY}J4˽@}Jص@y}J =}J}JHS??`=? o?t?<,.P?)~J4˽@ ~Jh_;I~JCɫ髙) IY@yqGAAI p=) R=   ==Sc>i\@ d@)d@Id@id@MMA=Y+aDsGD)y5P:}=>]<]<q9qIuTlGiu@u =qqux; uڗEIAE5?Eվ EA ?9ECEP< EQ<)AWWX XW:W2W*WVbU9BUA*UAUAUE @RUB*** querying acoustic contact ***PQPQBӰ<B BA>*BAW<AAAZ<"C*CSH=RCݼCC oE<=i= S޼ ?i ? I G >0kq, uHEAY}6ʽ@}6׵@y}6==}6.R}6HP? ? GQ? @p?Ľg@`D-`?)~6ʽ@ ~6_;I~6Cɫ99)9 9I9Y}H@y}}qGZ****** received transponder code query ******F****** received ping request ****** ףp=?J +/$?1?H< x@)=AI AiAA5M5F=Y= F9AaEDEGDAyML}M>IQ ]:U5? ]:Uվ UA e?9UCU: U:)U:WWX XW:W2W*WVbUBU*UUU @Bj+<B BA=*BAm=Y<AAA؋]<"C*C7=RC߼CC)   { {  3:Y #R1y : 5օ ybݼ׉ I G >-kq,MbEAY}6ݽ@}6@y}6U=}6*}6HY??'N?|v{?rõ ݢ ?)~6ݽ@ ~6Ki_;I~6Cɫai)i mIiY@ypGxDUSBL response received:!U1,P 0DD,000,004FF,186,80,80,91,FF Command AckBRequesting micromodem ping code 2iI)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 u,M`=Y[19aEDEGDYym;}u>Iȑŕv5?ŕ2վ ƕ}A ?9ƕ°CǕb; ȕy<)ȑWWX XW):W12W1*W9V9bUABU*UUU[ @B <B qR< B A !=*B A6Z<AAA8Ha<"C*C.կ=RC!μCC! 5>5=l>iEDnGIii]տٺaeA?9HA߼IG>Q 9Q IU iGiU .@Q Q Q U ; U ޗEYkq,0|EAY}27@}2 @y}2]e=}2cǼ}2H `i? ?Z? x4?I Ķ@xۘ?)~27@ ~2-_;I~2Cɫ19)9 =I9Yu+@yupGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B YYÝ7 >Ý[?Ýף=YaDGDy<}>I5?=վ [A ?9C: D:)WWX XW:W!2W!*W!V!bU!BU)*UUU 5@B<B BAR=*BA[<AAAd<"CE*CeT=RCe1CaCiuǼQIaG|>I)AAww 0:YO1yP:65) ;9 ?%kq,EAY}J 3@}J@@y}JKh=}J(h}JH?? ??8d@x c?)~J 3@ ~J_;I~JCɫyy)y }IyYM@y oGxDUSBL response received:!U1,R,FC3,000,004FC,185,80,80,58,FF Fpublishing direction and range info^ Z=ɰ=+> )BIy=BYe?/H>?ٱM[=Y\;QU>aDGDyI<}>I :(&5? :վ 9A ?9 C¿;  ;):W1W1X1 X1W1:W92W9*W9V9bUABUA*UAUAUE6@Ru(Combining 5 samples.Py*Q}=BZQ}@NC@=bQ@JQ}Ye?/H>?2Q}^ Z=:QybQ}ʂWw@@ H3 X RQ}Ql?2-:*jg"BQ}@ Q}tQ}BP}9?P}֨9?P}Q}Q}@"Q}@@B%<B BA}=*BA\<AAAh<"C*Cj=RCSćCCI G%o>_n+kq,EAY}e$[@}eh@y}eͿ=}et?}eHV?f?`?lĻ?[Ӈ?)~e$[@ ~eI_;I~eCɫ)))) -I1 9 I @gGi @    ; E)ɂIɂiɂ͂ =͂ =͂4Ye@ye2nGDNmea in: $SNTTA,,,,,010450.64*5C =i =ˡE?Zd;O99a=DEGDAyE<}M>IIM=5?Mվ MA }?9M5CM: M:)ImuAdded new target pos. range: 39.060001 m, bearing: 329.385654 deg, deltaT: 4.441240 s, approachRate: -0.040529 m/s, LOS rate: 2.942891 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU *UiUm C@Uu?B<B BA$=*BAj]<A)A)A5m<"C=*Ce#=RCmWCiCqy~~ ):YT1y@:%5)I;ѝ U֣<ԡ ԡ ֍ a Iq G >2kq,t^̬EAY}:ީiޭp=9kq,$EAY}25l@}2y@y}2=}2f0ܻ}2HϠ?@c? Ñ?`zq?23e{ ?)~25l@ ~2u^;I~0ɫYY)Y ]IYYl@ykG)= >5M=M=Y=J;QU=>AAaEDE)HDAyMR}M>Iȩŭ]5?ŭվ ƭA ?9ƭpCǭv: ȭa:)ȩWWX XW:W2W*WVbUBU*UUUf?Be1T<B BA*BA%O]<A!A!A%u<"C-*C-ͮ=RC-+GC1C1хu<lX9IdGi@z; ܗE55|5|5 53:Y5R1y5i:55)5;׉IG>X@kq,EAY}2Zj@}2 x@y}2=}2ORܻ}2H؞?ߋ?@ ߵ?zx?`ޚ ph{?)~2Zj@ ~2i^;I~2Cɫ99)9 =I9Yɾ@yjGI)Am=m&>mV>im@i m@)m@Im@im@} EM}F=Ykb;QU>aDCHDy}>Iș :ŝn5? :ŝ־ ƝʞA ?9ƝCǝN: ȝ9:)ȝ:WWX XW:W2W*WVbUBU*UUU-/?B]<<B  BA*BA\<AAAk z<"C*Cp=RC}@KCCϩϩ)Щ ЩE 0:D! I) GE >*Fkq,EAY}>v@}>@y}>=}>7߻}>H@դ?Q?-)?p`_?ԨW@{?)~>v@ ~>^;I~>CɫYY)Y ]IYYɽ@yiGU2M]M=Y]E;QU]>aaaeDe]HDaym=z;}m>Iqu\5?u ־ uA }?9uCuw: u:)qWWX XW:W2W*WVbUBU*UUUG@Bf9<B BA2r*BA+\<AAA~<"C*C2g=RC3=5CCONIGI>I޹)޽@A55x5x5 51:Y57P1y5:5%59=@XLkq,!3EAY}F@}F>@y}Fsp=}Fր}FH? c? 念?`P`? ȩ C p?)~F@ ~F^;I~FCe Լ)IyZd;?L7A`?:v?>?+=< A) AI7AiEA AhA5}>5?5i5@1 5@)5/@I5@i5@E1ME.=YM",QUM>IIaUDU{HDQyU!!<}]>Ia m:e5? m:e־ eA m?9eޱCe8: e:)e:WWX XW:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PPB~;B BAb*BA_Z<AAAC0<"C*C%.=RCrCC0׉IG>;Skq,ѐMEAY}6Ҿ@}6@y}6 =}6'}6H?5?@]?@#V?娿鸿 r`?)~6Ҿ@ ~6^;I~6CɫII)I QIQY}@y}fGZ****** received transponder code query ******F****** received ping request ******55{5{5 5X3:Y5#R1y5:558fYkq,jlgEAY}6B@}6 @y}6K=}6}6HQ? ?? ?v}`_@`?)~6B@ ~6^;I~6Cɫ99)9 =I9Y@ydGxDUSBL response received:!U1,P FC3,000,004FC,185,80,80,58,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)=5M=F=YM֦QUU>aiauDuHDy;W<}>IȹŽ5?Ž$־ ƽ8A ?9ƽ&Cǽ_; Ƚ;)ȹWAWAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQUU3 @BZ;B BA4*BAxnV<AAA@L<"C*Cѭ=RCo&;CCq9qIu^Giu@qqi=qut; uٗEU?Bɺ I G5 > N`kq,RGEAY}6@}6%@y}6Y2=}6_}6HD?`?z?H ?6Vhݷւ?)~6@ ~6^;I~4ɫ99)9 =I9Y}@y}*cGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )> >í<í\íyií@é ĭ@)ĭ@Iĭ@iĭ@ѽMA=Y՚QU>aDHDy;}>I :[5?  :K-־ A  ?9NCR: :):W1W1X1 X1W1:W12W9*W9V9bU9BUA*UAUAUE`Z @Bu聻Bq BqAuUa*BqA}~ T<AyAyA}rj<"C*C=RCR;CC֥] ;יIGi>|| YR1yi:n5xfkq,>%EAY}2c @}2@y}2t3=}2aR}2HN???`? L^ ;@ ?)~2c @ ~2$_;I~2Cɫyy)y }IyYȷ@ybGxDUSBL response received:!U1,R,FE0,000,00515,184,80,80,4F,FF Fpublishing direction and range info<ɰ'=鰽> )BIy="BZ?|p}?ٱI)ّMZ=YaQU>aDHDy{}>I  5? 5־ A ?9 qC {: :) W1W9X9 X9W9:W92W9*WAVAbUABUA*UAUIUMd*@R](Combining 5 samples.PY*Q]="BZQ]jxЧED@$?JQ]Z?|p}?2Q]<:QYbQ]-)+dA@lQ}54ɧB RQ]Uq?I/2࿗L;3sBQ]@ Q]=Q]! BP]9?P]9?P]Q]Q]@"Q]@BMX1BQ BQAU|*BQAU(P<AQAYA]0<"C]*Ce=RCe2;CaCa}2g=u3;IIYGu>i mGI i U ׿ٺQ ] -ATlkq,EA|Hi|J@  hA)9)I-$[Gi-@)))-w; -ۗEY}%@}%@y}%|=}%e}%H@??˵? ?`&׶M?)~%@ ~%*_;I~%Cɫ  )  I YE@yM`GTNmea in: $SNTTA,0.037544,,,,010454.72*40 EZd;?))a-D-HD)y5ϻ}5>I9 E:=r5? E:=@־ =֝A M?9=C=: =:)=:muqAdded new target pos. range: 40.559998 m, bearing: 329.449257 deg, deltaT: 4.043835 s, approachRate: 0.370934 m/s, LOS rate: 0.015728 deg/s, posRepo size: 4WyWyXy XyWy:W2W*WVbUBU*UUGD@U`L?B6ΨB BA*BAZL<AAA<"C*CM=RC|CCIޱ)ޱC"= {{ 5:Y#R1y:5)s;9 2;׹ I G >hskq,έEAY}2ھ@}2@y}2=}2mC}2Hq? $?S?1!@H?k 2V B3?)~2ھ@ ~29_;I~2Cɫ)1)1 5I1Ym.@ym^GiA'M=YNֻQU?  a D IDy<}?I5?H־ ƝA %?9C: r:);m wmAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;mwudResuming normal ranging with 1.000000 count pings.;u1Xykq,EAY}:վ@}:@y}:ݤ=}:Ǥ}:H ?g)?%?&@M?{@͵`w?)~:վ@ ~:&_;I~:Cɫ99)9 =I9Y}W@y}_G=i=mC<MmD=YmlQUm>qqauDu,IDyy}}>Iȁ :Ņ6)5? :ŅQ־ ƅA ?9ƅCDž: ȅ>:)ȅ:X?1<wCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR; wAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRWWX XW:W2W*WVbUBU*UUU@?B&B! B!A%o*B!A%D<A)A)A-<"C5*C5=RC5"2C1C9II%"5)i-?IGI> 9 I XGi @     )نIنiننن݆93yy l3:YP1y':m5)>;kq,dEAY}2@}27@y}2;=}2 ژ}2H@? ?@jz?f|?q; Y?)~2@ ~2%_;I~2Cɫ99)9 =I9Y}@y}]G u u uuu=u;߾iu@q u;@)u;@Iu`@iu;@ŽMH=YQU>aDFIDyv;}>Iȡť<5?ť[־ ƥA ?9ƥCǥ: ȥ:)ȡWWX XW:W2W*WVbUBU*UUUU#?B^B BA*BA?<AAA<"C%*C%ά=RC%,㭺C!C)օ 79IIGeV>MƆkq,/jEAɫ髙) IYֲ@y\G)E= E=u#ƽMuK=Y}QU}>yaD_IDy}>Iȑ :ŕpP5? :ŕd־ ƕA ?9ƕ+CǕg: ȕ:)ȕ:W9WAXA XAWA:WA2WA*WIVIbUIBUi*UqUqUu`q@B恼B BAy;*BAO:<AAA8ߘ<"C*C-=RCҺCCvт׹IGj> zz 5:YQ1y:59@ kq,zT6EAPR<`9`IbTGib @```by; bݗEY}e@}eZ @y}eҟ=}e푼}eH`d? ?`OO? s?7)*`A/?)~e@ ~eh^;I~eCɫ髩) IY@yvZGII)I`"? C<)Iy/$?y&1|?y&1?i==@9 =$@)=$@I=$@i=$@MMM0=YU0QUU>QYa]D]}IDayeL;}e>Iim i5?mo־ mnA u?9mWCm : m8:)iWWX XW:W2W*W!V!bU!BU!*U)U)U-"@R5B*** querying acoustic contact ***P1P5BDB BA*BA3<AAAvś<"C*Ck=RC@:CCNJκI)IG>Hؓkq,` PEA|i|@Y}>@}>h @y}>'=}>'}>H? ?R'? ? Z `?)~>@ ~>^;I~<ɫYY)Y ]IYY}G@yXGZ****** received transponder code query ******F****** received ping request ******aDIDy}>I  {5? v־ ZA ?9 xC ,; 7;) WQWQXQ XYWY:WY2WY*WaVabUaBUi*UUU{@B-ͼB1 B1A5p*B9A=.<A9A9A=z<"Ce*CmD=RCmhb!:CiCi=?B:I!GMs> x x  4:Y 7P1y : n5okq,iEAɫ髉) IY@y!XGxDUSBL response received:!U1,P FE0,000,00515,184,80,80,4F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ))] :MeC=YmQU >aD%ID)y=}=>Ii :m5? :m־ m@A ?9mCmE< m[J<)m:WWX X!WA:WA2WA*WIVIbUIBUI*UQUQUU @B|UB BA*BA&<AAA<"C*Ck=RC3:CC ܵ^>9ܱIܵ(RGiܵЪ@ܱܱܱܱ ݱ֍"9i Iq G >Mkq,փEAY}6@}6@y}67v=}6:ݼ}6H?@ ?໲?@??˱㡛2?)~6@ ~6^;I~6Cɫ99)9 9I9Yp@yVGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B UC=iU4=í}í?í-iíz@é ĭM@)ĭ@Iĩiĭ@̽MU=Y҂QU>aDIDy}>IU5?i־ /A ?9ijC: I:)W W X  X W :W2W*WVbUBU*UUUti @BpB BA *BA2| <AAAR<"C*CO=RCn7#CC=rg:AiEn?I1G]v>- D ) ) -  - >9:Y) y) - [5nkq,ⱝEA||;Y}>j@}> @y}>-=}>V}>H?I?Vh?h ^?'])c?)~>j@ ~>^;I~>CɫYY)a eIaY@yUGxDUSBL response received:!U1,R,2DE,000,0051F,189,80,80,6D,FF Fpublishing direction and range info(#ɰ=鰥7> )BIy$B@f%?Eþٱ-(TM5C=Y5QU5>99a=D=IDAyE~#;}E>II U:Mt5? U:M־ MA ]?9MCM: M:)M:WWX XW:W2W*WVbUBU*UUUKY@P*Q$BZQP3 x#@@&8JQ@f%?Eþ2Q(#:QbQ{-@C2C*+Z(RQ?:~HBQ΋@ QQClAPŨ9?P9?PQQ~@"Q@BUNBQ BQAUx*BQA]?<AYAYA]<"Ce*Ceƿ=RCV:CC֝vт:qIG~>rBkq,VEA.]>9,I.lOGi.@,,,.; .EY}]@}]i*@y}]#Sp=}]|}}]H? I??`$?q' ?)~]@ ~]p_;I~]CɫII)I UIQYά@yTGdNmea in: $SNTTA,0.466728,0.466815,,,010458.77*57 X9v?Zd;O~jt?>j< =)Iy/$?QI +?&1?u9< • A)•QAI•Ai• ApA)é í=ÅÅ=ÅI >iÅ@Á ą|@)ąIą|@ią|@M5=YՈQU>aDIDy<}>Iȩŭp5?ŭ$־ ƭ A ?9ƭCǭ: ȭ:)ȩmuAdded new target pos. range: 41.159996 m, bearing: 291.037694 deg, deltaT: 4.089120 s, approachRate: 0.146730 m/s, LOS rate: -9.393601 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UUzD@U N?B-$JB) B1A5*B1A5|\<A1A1A5B}<"C=*CE9=RCEK;CACA֕rg:aIyG> 8 } }  I8:Y kS1y Ԋ: 5) r;9 c&kq,gѮEAɫ髙) IYë@ySSGI9)9UʽM]x=Y]QU]?aaaeDeJDaym}m?Iq :u5? :u2־ uA ?9u1CuZ; u;)u:WWX XW:W2W *W V1bUQBUQ*UYUYU]@$Q?BAB BAS*BAB5 <AAA<"C*Cl=RCd;CCqZ;IGj>Pkq,NCEA|i|@Y}677@}6D@y}6`=}6y}6H|#??P? U@1?av MC@?)~677@ ~6G_;I~4ɫ99)9 =I9Ci=mGIQiqY]@˿ٺ AyRG @ @ @M5=Y^ QU>aD1JDyz;}>I  5? ־ A ?9 YC D: /:) WQWYXY XYWY:WY2WY*WaVabUaBU*UUU?B;B BA'*BAnM;AAAZ[<"C*C @=RCK;;CCq9qIuMGiu@qqquy; uݗEIG->M  M M M  M 3:YM T1yM :M 5)M ;_8kq,.EAY}:S@}:`@y}:O=}:=Ƽ}:H@3?@a????Cxߩ #?)~:S@ ~:^;I~:Cɫ99)9 =I9Y}I@y}QGjAEMEg=YM`HQUM>IIaUDUHJDYy]P<}]>Iae 5?eH־ eA m?9exCew: eǺ:)aWWX XW:W2W*WVbUBU*UUU 7?B2B BA +*BA';AAAp<"C*C=RC<CC;IGI>|bkq,DEAY}2uc@}2'q@y}2hQ@=}2 ɼ}2H=?Ӵ?O?z H? m@@5`|?)~2uc@ ~2\^;I~2CɫYY)Y ]IYY@yPGR=ia=5xM=K=Y=QU=>AAaEDEaJDAyM*;}M>Iȩ :ŭG5? :ŭ־ ƭA ?9ƭCǭ5; ȭ;)ȭ:WaWaXi XiWi:W2W*WVbUBU*UUU'@B"B BA`1*BA v;A A A *<"C*C+=RC*<CCX<?i?׹IG%>m m zm zm  m ?:Ym Q1ym :m 59u @kq,C8EA^>9yCIJGiȤ@QD}; E)݃I݃i݃݃݃݋ݯ4|(|*4ie@a e@)aIe@ie@u8M}7=Y}#~QU}>aD~JDy}>Iȑŕ 45?ŕ־ ƕ˜A ?9ƕĴCǕ : ȕ:)ȑWWX XW:W2W*WVbUBU*UUUd@BL]:B  B A ?9*B A 5;A A A{0<"C*Cʪ=RCTd;CC50<IG5r>tkq,ޯREAY}F<@}F @y}F=}F }FH` ?.?J?!%?@?{z1`?)~F<@ ~F^;I~FCɫYY)Y ]IYY@yENGɮa=)> >Md=Y%3QU%>))a-D-JD1y=n}=>II U:M F5? ]:M־ MA ]?9MCM:; MY<;)M:WWX XW:W2W*WVbUBU*UUU(Q@RB*** querying acoustic contact ***PPBNIB BA0@*BA^;AAA ><"C*C==RC_6CC֍cU;AIQGm5>u u yu yu  u w?:Yu P1yu ':u 5kq,ߊlEAY}J@}Jh@y}JG=}J}JH_ ?`?3??@MR?@!w?)~J@ ~J^;I~HɫYY)Y ]IYY&@yMGZ****** received transponder code query ******F****** received ping request ******Ý?ÝC iÝz@Ù ĝp@)ĝ@Iĝ@iĝ@M3=YQU>aDJDyt:}>I\5? ־ A ?9Cӻ: :)W9WAXA XAWA:WA2Wi*WiVibUiBUq*UqUqUu@ @BF8B BA=D*BAן;AAAf<"C*Co=RCh9CC9xCIdHGi@!=RDD; E5qZ;I9)9IG5>&kq,_yEAY}> )@}>6@y}>)<}>}>H v#?`?@J? W'?!??$ [N?)~> )@ ~>^;I~>CɫQQ)Q QIQY @yKLGxDUSBL response received:!U1,P 2DE,000,0051F,189,80,80,6D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 nɽMj=YaQU>)1a=D=JDyW<}>I  : o5? : l־ A ?9 2C ,; {;) :WyWX XW:W2W*WVbUBU*UUU] @BM%MBI BQAUM*BQAU;AQAqA}Ϻ<"C}*CC=RC;CC֭9I)ׁIG> % | |  6:Y R1y i: 5kq,>BEAY}6XU@}6 c@y}6+<}6iʿ}6HX;??g? >?8jx?@D?)~6XU@ ~6f^;I~6Cɫ99)9 =I9Y@yKG@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B UMUE=Y]?߻QU]>YaaeDeJDaymd<}m>Iqu 5?u־ uA }?9uUCu: u@:)qWWX XW:W2W*WVbUBU*UUU`(@BtB BAP*BADp;AAAK<"C*C$=RC<CCօvт;YIaGY>  9 yCI FGi @ = QD D ; Ekq,EAY}>_l@}>z@y}><}>y}>H@G?l?C?j`I?>?П@?)~>_l@ ~>^;I~<ɫyy)y }IyY@yKGxDUSBL response received:!U1,R,253,000,00534,189,80,80,55,FF Fpublishing direction and range infoɰ<= )BIy)BھH?߿ٱdNmea in: $SNTTA,0.251252,0.251245,,,010503.20*5D |?5^?~jt?? <)Iyl? rh?Zd;O?7?C<j< •A)•AI•Ai•AQA994= ip@ )@I@iԄ@ M@=YQU>  a D JDy6;}>I %:S5? %:־ A -?9|C: B:):WWX XW:W2W*WVbUBU*UUU@@P)*Q-)BZQ-8mjB@N0 5JQ-ھH?߿2Q-:Q)bQ-l4@V.7B<*! fT˿RQ-;AAAK<"C*C=RCz2<CCiAX<?i?ױIG> r v v  <:Y N1y : 5) q;9 kq,ӯEAY}:I@}:W@y}:M <}:&"}:Hu6? ,?4?*5?@H? FX?)~:I@ ~:_;I~:CɫAA)A EIAY}@y}IGIY)Y˽MQ=Yi(QU>aDKDy0}>Iȱŵ5?ŵu־ ƵA ?9ƵCǵϸ: ȵ:)ȱmqAdded new target pos. range: 42.419998 m, bearing: 298.779385 deg, deltaT: 4.454275 s, approachRate: 0.282875 m/s, LOS rate: 1.738036 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU5E@U@Mf?B-N|B1 B1A5 ^*B1A5;A1A1A=k<"C=*CELթ=RCE;CACA%*:<IG I>=i=kq,EAY}F@}F'@y}Fu<}F@}FH`?? G?E? Q? ( ?)~F@ ~F^;I~FCɫaa)a mIiY@yIGÅ->ÅP=Å>iÅ @Á ą @)ą @Ią @ią @ ;MJ=Y8QU>aD1KDym}>Iȩŭ5?ŭ׾ ƭA ?9ƭŵCǭ: ȭw:)ȩWWX XW:W2W*WVbUBU*UUUW?BpB! B!A%Y]*B!A%W:A!A!A-)<"C5*C5窩=RC5:C1C9eg;ܭ_>9ܩIܭDGiܭ@ܩܩܩܭz; ݭE9IIGeU>%  % z% z%  % 3:Y% Q1y% :% %5)% ;~lq,1EAY}2@}2@y}24<}28}2H ?`?@?  ?0?6B@+?)~2@ ~2O^;I~2CɫII)I IIIY}g@y} IGSHMS=Y(QU>!!a%D%JKD!y-w}->I1 =:55? =:5 ׾ 5A E?95C5R: 5:)5:WaWaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}4?BGm}B BA6b*BARym:AAA<"C5*C5~=RC5BC1C9 E=A%[RS:I))-iAI G%M>lq, !EAY}2@}21@y}2 ; <}2YC}2H ?@v ?@]G?`@?@j3?T'+Ǣ`3?)~2@ ~2|^;I~0ɫ99)9 =I9Y@yGG !!UUM]F=Y]һQU]>aaaeDedKDaym;}m>Iqu?5?uT׾ uA }?9uCub: u:)qWWX XW:W2W*WVbUBU*UUU?BSB BAbi*BAP"9AAA]<"C*CS=RCC7CCNJκIGI>i!IIiqwϿٺ;AM F M |M |M  M g9:YM R1yM i:M 59e @م <م <܉ 9܉ I܍ CGi܍ @܉ ܉ ܉ ܍ ; ݍ E(lq,4d;EAɫ髙) IYQ@yGG7A`? rh:v??C <)IyCl?{Gzt)\(?/?ףGa= rA)AIAiAA-Ponly read 0 of 1 data item for BIT error @ @ @%_M%>=Y%QU->))a5D5KD1y=}=>IA E:EE5? M:ED׾ EA M?9E4CE: E:)E:W W X  XW:W2W*WVbUBU*UUU%[%@ByB BAj*BA1AAA<"C*C!=RC+aBCCֽבIG>lq,HUEAY}6@@}6N@y}6-;}6}6H2?@?@<Γ?0?ֱ?s;`t?)~6@@ ~6_;I~6CɫQQ)Y ]IYY@yFGGUMUX=Y]IQU]>YaaeDeKDaym<}m>Iqu5?u #׾ uA }?9uUCu : u8:)qWWX XW:W2W*WVbUBU*UUU@Bq7B BAm*BA$AAAkV<"C*C=RC:;CC?i?IGI>:lq,PoEAY}nhJ@}nX@y}n;}n!}nH 8???`4?(? ;{`?)~nhJ@ ~n_;I~lɫQQ)Q UIYY-@yLFG鮹ɮIC=)4=   Ga=>i\@ @)@IԄ@iԄ@-hlM5>=Y5RѻQU5>99a=D=KD9yEV1;}E>II U:M)5? U:M+׾ MCA ]?9M{CMV: MM:)M:WyWyXy XyWy:W2W*WVbUBU*UUUWv@RB*** querying acoustic contact ***PPBcB BAt*BA AAAE<"C*CӨ=RCm;CCI9IIMBGiM@IIIM~; ME)ݽyCIݽyCiݹݹݹݽ4P;yIG^>! {{ t6:Y#R1y:5)ܒ;9 >%"lq,EAY}2J>@}2K@y}2k}2 }2H1??@/? >-?K ? _?ೳ@?)~2J>@ ~2^;I~0ɫ19)9 9I9Yu@yuEG}Z****** received transponder code query ******}F****** received ping request ******}aDKDyy}>IE<5?3׾ pA ?9C@: +:)W9W9X9 X9W9:WA2WA*WAVAbUIBUQ*UQUQUU` @BBՏB BAw*BA@AAA<"C*C=RC;CCr;IG-o>M(lq,ТEAɫ髙) IY@yEGxDUSBL response received:!U1,P 253,000,00534,189,80,80,55,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 XMG=YQU%>IQaUDUKDQy]}]>Ii :mP5? :m<׾ mA ?9möCm~< m<)m:WWX XW:W2W*WVbUBU*U!U!U% W @BB BAw*BAi|AAA<"C*CP{=RC(ٮ;CC%d %x%x% %;:Y%7P1y%:%59-@5ϩ;I! Ge >! ! - `>9) I- \AGi- )@) ) ) - |; - Ew.lq,EA|i|@Y}F3@}F:A@y}F}F5}FH+? =?Wd? ]&?@a? ?6?)~F3@ ~F]^;I~FCɫYY)Y YIYYe@yVEG?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B {Gz?~jth?M94iM@I M @)IIM@iM@]M]C=Y]yuQUe>aaaeDeLDiymS}u>Iquf5?uE׾ uA ?9uCu: uܹ:)qW!W!X! X!W!:W)2W)*W1V1bU1BU1*U9U9U=@*@BܦB BAHz*BAAAA۳<"C*CU=RCbƄ;CC;ױIG>a5lq,KְEAY}J/@}J=@y}Ja}J;8}JH )?? A?`%?`?"L?Ơ`F?)~J/@ ~J^;I~JCɫqq)q uIyY@yDGxDUSBL response received:!U1,R,14D,000,00551,185,80,80,82,FF Fpublishing direction and range info,ɔɰ=鰽+> )CIy0Bm?kVҿٱiAټMe=YQU>aDLDy}>Iy5?M׾ ۝A ?9 Cb: :)W1W1X1 X1W1:W92W9*W9V9bUABUA*UAUAUEf@P*Q0BZQ"|'E@{؝LN)JQm?kVҿ2Q,ɔ:QbQ0֚9=@]<@1W\?RQ-?pey~`?BQ@ QaQAP9?Pۨ9?PQQs@"Q?@BEBi BiAm|*BiAmAiAqAuU<"Cu*C}0=RC}s;CyCy֝r;בIGa>^ yy Q;:YP1y':$5;lq,lEAY}E5@}E:C@y}EF}Ea}EH,?@,? 67?`(?@3?U? ?)~E5@ ~E^;I~ECɫ11)1 1I1Ym-@yuEGDNmea in: $SNTTA,,,,,010507.65*5E =i=R=iC=]C =]]=iYY ]@)YIYiYm;Mm4=Yuu-QUu>qqauD}5LDyy}:}>Iȉ :ō5? :ōW׾ ƍA ?9ƍ8CǍ: ȍ:)ȍ:mqAdded new target pos. range: 44.160000 m, bearing: 311.447009 deg, deltaT: 4.408390 s, approachRate: 0.394702 m/s, LOS rate: 2.873526 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UUzF@U?B攽B  B A |*B A ȻA AA<"C*C=RC*;CC))9I@Gi؜@=z; EqZ;IGj>pBlq,G= EAY}2=@}2K@y}2Y}2y}2H`1?#?R? c,?ɠ?vփ? -@D?)~2=@ ~2^;I~2Cɫ99)9 =I9YП@yDGUM]^=Y]QU]>aaaeDeMLDejym,4;}m>Iquʥ5?uA`׾ uA }?9u[Cu: u@:)qWWX XW:W2W*WVbUBU*UUU u?BFB BA~*BAAAA<"C*C=RC,;CC;IGM>V {{ ::Y#R1y:5!Hlq,$EAY}:I@}:V@y}:w:}:}:H6??2$?`f1?d?-]? נ?)~:I@ ~:i^;I~:Cɫ99)9 9I9Y}p@y})DG=NM=L=YEӌQUE>AAaMDMgLDIyUd`;}U>IY e:]O5? e:]Ai׾ ] < 9 I 0@Gi 5@ = ; EmNlq,=EAY}6$H@}6U@y}6=Wa}6N }6H96?`5?>z? @0?ঢ?`*? h?)~6$H@ ~6mS^;I~4ɫYY)Y YIYYx@y2DG㥛 ?PnT㥛 ?? =)IyQ?~jtx?J +?(!!a%D%LD)y5}5>I9=95?=r׾ =pA E?9=C=: =k:)9WaWaXa XiWi:Wi2Wi*WqVqbUqBUq*UqUyU}?BFB BA؀*BA> AAART<"C*C=RC;CCX;I)hAיIGb> yy* 6C:YP1y':5);95Ulq,cWEA| i| ɫ髱) IYl@y$DGeMS=YQU>aDLDy}>I :<5?  :z׾ A  ?9зC{: Q:):W1W1X1 X1W1:W12W9*W9V9bU9BU9*UAUAUE 4@Bm+Bq BqAu*BqAu4AqAyA}<"C*C/f=RC;CC;ױIGf>I Q i nGI [lq,qEAi 2οٺ02AY}n@}n@y}nJ}n0#}nHZ?@?@{? ???cL?)~n@ ~nU^;I~lɫ髱) IY@yCGY]hA-}Ponly read 0 of 1 data item for BIT error }@ }@ }@MH=YfQU>aDLDy}>I35?׾ ҞA ?9C@: ӻ:)WWX XW:W2W*WVbUBU*UUU @BnB BA;*BAd&AAAJ<"C*C9=RC5ٺCCua>9qIu?Giu@qqquv; uEIGn> zz ?:YQ1y:5)ɚ;blq,ÂEAY}>@}>@y}>@ }>$}>H@? s ?v }?? ? p?,?)~>@ ~>Z^;I~>Cɫ99)9 =IAY}x@y}2DG鮅p=ɮ==ia=<M^=YҦ8QU>aDLDy;}>Iȹ :Ž5? :Ž׾ ƽA ?9ƽCǽ: Ƚ:)Ƚ:WWX XW:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PPB 'B1 B1A5؀*B1A5B3A9A9A=j<"CE*CE=RCEUCACI-?Bɺ5?i5?IGU2>Shlq,`EAɫ髙) IY@yCGZ****** received transponder code query ******F****** received ping request ******aDLDy}>I'5?N׾ 8A 5?9ACM; ;)WqWqXq XyWy:Wy2Wy*WyVybUBU*UUU`f @BB BAނ*BAAAAA<6<"C*CVߦ=RCiCC)C)] 1IAG}{>=i=5 5}5}5 5B:Y5kS1y5Ԋ:559M@e iAe gAi 9i Ii ii i i i m ~; m E)Ii==4olq,?`;< A)?AIAijA   Í.Ín?Ín>iÍz@É č@)č @Ičič(@>ŻM=Y o:QU>9AaEDE MDIy}m[<}>Iȑ :ŕB5? :ŕ׾ ƕeA ?9ƕsCǕ < ȕn<)ȕ:WWX XW:W2W*WVbUBU*UUU?L@BؘB BAF*B A SA A A PE<"C5*C5P=RC5I;C9C9E 71 IQ Gu >Vulq,ٱEAY}BCT@}Ba@y}B}BA}BH . yy GG:YP1y':m5`%|lq,EA|i|Y}6pg@}6"u@y}63}6\}6H F?ڼ?m/? RA?}?`2f?. ?)~6pg@ ~6$?^;I~4ɫ99)9 =I9Y}O@y}BG;+=i@ @)@I@i@ͼMX=YwQU>aD5MDy;}>I  Vf5? ծ׾ A ?9 C : :) W9W9X9 X9W9:W92WA*WAVAbUABUI*UIUIUM @BB BAx*BA!iAAAy<"C%*C-Ti=RC-a <C)C)b>9Ih?Gi@ ={; EEqZ;I)GEQ>lq, EAY}vQ@}vp_@y}v}v}vH:??@)?@kK5??V?ܠ@?)~vQ@ ~v5^;I~vCɫ11)1 5I1YmS@yuBGTNmea in: $SNTTA,0.039240,,,,010512.09*42 ‘‘a:M?=Yc2QU>!a%D%PMD)y-û}->I1 =:5~5? =:5e׾ 5ȟA E?95ܸC5: 5:)5:WaWaXa XiWi:Wi2Wi*WiVqbUqBUq*UqUqU}q@BѩB BAj*BAYHxAAA'P<"C*C?=RC ;CCֽ<בIGa> ~~ @D:YT1y@:[58lq,&EAY}2s2@}2%@@y}2}2? }2H)?@O?0,?i$?V?P?9S?)~2s2@ ~2.X^;I~2Cɫ99)9 =I9Yuƞ@y}WCGyɮ}a=p=i==MU=YQU>  a D iMDy *}>Ȋ5?c׾ A -?9C: ':)WIWIXI XIWQ:WQ2WQ*WQVYbUYBUY*UYUYUe@S@B/NB BA*BAVAAA <"C*C=RC#;CCѭ=ֽX;I G>  < c>9 I ?Gi A@ =   ;  E*lq,@EA|4<|Y}6."@}6/@y}6PE}6ʗ}6HH!?@-?E@%? ? @?B?)~6."@ ~6_^;I~6Cɫ99)9 =IAY]b@y]BGV-?Q롿+??\ =)IyI +?~jty&1?94?`e< A)jAIAiAAý>ýd;>ýQ8iý@ù Ľ(@)Ľ @IĽ(@iĽ @M>=YMQU>aDMDya}>I :5? :׾ A ?9&C: :):WWX XW!:W!2W!*W!V!bU)BU)*U)U1U5@R=B*** querying acoustic contact ***P9P9B]a$Ba BaAe.*BaAe)AiAiAm<"Cu*Cu=RCu‘:CqCy-BJ= ;I G%o>=i={ }}  R:YkS1yԊ:5);9 @Ilq,]ZEAY}2y3@}2+A@y}2}2/}2Hh*?`?a &?I٢? Е? Ӟm?)~2y3@ ~2^;I~2Cɫ99)9 =I9Y]@y]CG)u= u={=M^=YܹQU>aDMDy;}>IO5?׾ A ?9GC: :)WWX X W :W 2W *W VbUBU*UUU@BE'BA BAAEJ*BIAMЏAIAIAMV<"CU*C]ǥ=RC]T;CYCYaa)i irg:I)שIG>kslq,9tEAɫyy)y yIyY^@yBGAAI)G?z?&>i@ ף@)@I@i@ cME=YQU>aDMD!y%}%>I)-5?-׾ -4A =?9-lC-: -:))WYWYXY XYWY:Wa2Wa*WaVabUiBUi*UiUiUm@B @B BA=*BAd䖼AAABn<"C*C=RC<;CCܱ9ܱIܵ>Giܵ@ܱܱܱܵ; ݱyb];IGF> {{ 9Y:Y#R1y:5);>[lq,EAY}:@@}:[N@y}:ᄐ}:(|}:H 1??.p ,?'`?fݗ?0̞`?)~:@@ ~:&_;I~:Cɫ99)9 =I9Y]@y]BG qqMR=YVQU>aDMDy;}>I1 =:55? =:5׾ 5NA E?95C5: 5:)5:WaWaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU}c@B0B BAW*BA᝼AAAC<"C*C!t=RC濌;CC 7;IGI)AAklq,F鱗EAY}2(@}26@y}2ȼ}209}2HH$?M?ti @?? ? ?)~2(@ ~2\_;I~2Cɫ99)9 =I9Y}@y}TBGxDUSBL response received:!U1,N,80,80,63,E4 1,185,80,80,82,FF ZNo reply:!U1,N,80,80,63,E4 1,185,80,80,82,FF -aDMDy}>I05?4׾ gA ?9C: :)WWX XW:W2W*WVbUBU*UUUw@B{B BA놿*BAAAAH<"C*CI=RCX:CCiUmGIyiwοٺOA%vт;5?i5?IAG|>% %~%~%& %Bg:Y%T1y%@:%59-@٭ hA٭ hAܵ d>9ܱ Iܱ iܱ ܱ ܱ ܱ ܵ ; ݵ Enlq,EAɫqy)y }IyY@yABG鮹ɮp==i=]Cl?"~j rh?];??]S ]C<)YIYy]J +?J +?](?]]H= Y)YI]GAiYY]A-6only read 0 of 4 data items @ @ @M;=YQU>aDNDy}>Iȹ :Ž 5? :Ž׾ ƽA ?9ƽعCǽ: Ƚ:)Ƚ:WWX XW:W2W*WVbUBU*UUUS@B-"B BA&*BA!AAA<"C*CW=RCT&:CCvт:IGj>lq,e۲EAY}:B @}:@y}:Cټ}:7}:H? ?#ymW? }?`'?U@H?)~:B @ ~:ӕ_;I~:Cɫ99)9 =I9Y}@y}AGI)M\=YQU>aDNDy %}>IȹŽ(5?Ž׾ ƽԠA ?9ƽCǽ÷: Ƚϸ:)ȹWWX XW:W2W*WVqbUqBUq*UyUyU}@ @BzǽB BA?*BAAAAq<"C*C}=RCQ1CC0::IGI>=i= {{) gk:Y#R1y:l5zlq,gEAY}6@}6$@y}6⼙}6}6H&??`o`??@1R? ?)~6@ ~6_;I~6CɫYY)Y ]IYY@yAG   ,==j?%i=@ @)I @i@  M C=Y2QU>aD7NDy%p;}%>I) 5:-.5? =:-2ؾ - A =?9-C-; -;)-:WWX XW:W2W*WVbUBU*UUU @R B*** querying acoustic contact ***P P Y9YIYiY]=YY]; ]E)Ii-5BI½B BA*BA.yAAAZ<"C*CƤ=RC^CC  == I)iAIGj>lq, aEAY}6N'@}65@y}62}6ݼ}6H"? ?? I? ?Pݝ?m?)~6N'@ ~6vz`;I~6Cɫ99)9 =I9Y @yoBGZ****** received transponder code query ******F****** received ping request ******AAaEDERNDIyUݠ;}U>Iae%B5?e: ؾ eGA m?9e=Ce÷: e:)aWWX XW:W2W*WVbUBU*UUU@!@B˽Bq BqAu*ByA}AyAAm<"C*Cŝ=RC:CCΒ{ױIGe> ~~ Z:YT1y@:65lq,h?)EAY}2B4@}2A@y}2}2?6}2H@(??  >%??}?A ,?)~2B4@ ~2a;I~0ɫ19)9 =I9Yuf@yuAG}xDUSBL response received:!U1,P 80,80,63,E4 1,185,80,80,82,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 鿁U8M]9=Ye7QU>aDnND y6`;}>I9 m:= X5? u:=Gؾ =A }?9=eC= < =r<)=:W!W!X! X!W!:W)2W)*W)V)bU)BU1*U1U1U5:"@BH]B BA*BAɼAAAe<"C*Cf=RCK&;CCI)@AI I U c>9U zCIU <>GiU @Q Q Q U z; U E ?B: ?i ?ס I G >rlq,CEAɫ髑) IY@yBGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }?5^I?ˡE?aDNDy}>I  m5? ؾ A ?9 C *: r:) W1W1X9 X9W9:W92W9*WAVAbUABUA*UIUIUMx#@BuB'ֽBy ByA}*ByA}мAyAyAg<"C*CG=RC;CC֕] ;qIyG~>  \:Yy[5)ܳ;9)lq,\EAY}2j)@}27@y}2}2}2H}!? k??T`?#?`£?,z`?)~2j)@ ~2D?a;I~2Cɫ99)9 =I9Y}[@y}AGxDUSBL response received:!U1,R,2A3,000,00592,189,80,80,99,FF Fpublishing direction and range infoɰ=鰅7> )CIy=@BМ(f?0X:;ٱiMx=YƞQU?aDNDyP}?I5?$ؾ ѡA ?9C]: :)WWX XW:W2W*WVbUBU *U U U !$@P*Q=@BZQ^aedC@8{a:JQМ(f?0X:;2Q:QbQ!3@%lEPI @RQOA)D?Jlq,vEAY}a%@}3@y}xr&}}H? 9?@2@f ?F?̤?-?)~a%@ ~`;I~Cɫ) IY5E@y5~AGDNmea in: $SNTTA,,,,,010517.74*5F I>)=b>9yCIi; E=`弩=?=CQYa]D]NDYye}e>Ii u:m5? u:m.ؾ mA u?9m׺Cms: m:)m:myAdded new target pos. range: 48.060001 m, bearing: 294.268537 deg, deltaT: 10.096110 s, approachRate: 0.386288 m/s, LOS rate: -1.701494 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU H@U`E?B#ͽB BA*BAaݼAAA="C*C=RCI(:CC֕rg:Iי)םhAiIyG~>=i= ||  ]:YR1yi:5)´;lq,EAY}2:@}2sH@y}2,}2Y}2H)??`s&?s6?@?F?)~2:@ ~2`;I~0ɫYY)Y ]IYY@yKBG5b=M=^=Y=YQU=>AAaEDENDAyM;}M>IQU5?U6ؾ U*A ]?9UCU: UǺ:)QWWX XW:W2W*WVbUBU*UUU@us?BB׽B BA*BACMAAAh="Cu*CuУ=RCuI;CyCyօyb]:YIaGY>%lq,2EAY}FO@}F]@y}F2}F(x}FH`X4?f?@ E1?fѩ? W?@>?)~FO@ ~F`;I~FCɫqq)q uIqY'@yYAGII)IiMB=Y9jQU>aDNDy;}>I :f5? :x@ؾ \A ?9&CV: b:):WWX XW:W2W*WVbUABUI*UQUYU}`N4?BVɽB BA*BA ڢA A A@="CM*Ce=RCed;CaCq  W:Yy9 @ jZX;gA9Ii; EI G- > lq,YijEAɫ髙) IYq@yAG AADl?-i-@) -@)-@I-@i-@=<MEB=YEQUE>IIaMDM ODQyU}U>IY]5?]Hؾ ]A e?9]KC]Q: ]:)YWW)X) X)W):W)2W)*W1V1bU1BU1*U9U9U=[?BY׽B BA*BAAAA4 ="C*C{=RCY;CCu;?i?ױIG>I)5lq,>޳EAY}NS@}N`@y}Np@}NM}NH4??c@2?@/? E?p ?)~NS@ ~Na;I~NCɫqq)q }IyYʝ@y"BGu<MuX=Y}QU}>yaD!ODy:}>Iȑ :ŕ5? :ŕ"Qؾ ƕA ?9ƕpCǕ: ȕ:)ȕ:WWX XW:W2W*WVbUBU*UUU @B߽֙B BA*BA 6A A A ="C*CX=RC*Ѡ;CC};aIyG\> }} Z:YkS1yԊ:5>i= mGIq i ӿٺ *A]lq, EAY}2A@}2?O@y}2CH}2 }2H+?)?`@((???lt`q?)~2A@ ~2wa;I~2CɫII)I MIIY}@y}AG=i=  @  @  @5M=O=Y=?QU=>AAaEDE:ODAyM0}M>IQUW5?UYؾ UA e?9UCUD: U:)QWWX XW:W2W*WVܝc>9ܙIܝ>Giܝ@ܝ=ܙܙܝ; ݝEbUBU)*U1U1U5@s@B}ԽB BA*BAAAA="C*C.=RC-7;CC֥u;יIGb>Emq, EAY}J3@}JxA@y}J:tP}J5}JH##??Z]) !?J?@ ? ڟl?)~J3@ ~Ja;I~Hɫyy)y }IyY|@yAGI=)4==mMEJ=YEQUM>IIaUDUTODYye}e>Ii }:m5? }:mbؾ mA ?9mCm-J; mJ;)m:WWX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBuؽB BAň*BA#AAAE="C*C%=RCD:CC] ;IGn>=iy {{ Q:Y#R1y:5o mq,P+EAY}:2@}:Z@@y}:Y}:r$}:H!?? @!?=T?9?Yx?)~:2@ ~:aDpODy٦}%>I!%35?%kؾ %LA U?9%C%; %;)!WWX XW:W2W*WVbUBU*UUU@ @B2ؽB BA{*BAAAA="C=*Cmk֢=RCiCqCy5?B:ܕd>9ܑIܑiܑܑܑܑܕ; ݕE))I)i)-=-=-5) I9 G] > Ymq,;EEAɫ髱) IY @ytBGxDUSBL response received:!U1,P 2A3,000,00592,189,80,80,99,FF Command AckBRequesting micromodem ping code 2iI )  Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 - - -5;߽5>5O=i5@1 5p@)5 @I5 @i5 @u =Mu3=Y}QU>aDODy}>I :L5? :vؾ A ?9C7; %;):WWX XW:W2W*WVbU BU *U U U ` @B}ȗѽB BA*BAQ AAAj="C*Cڧ=RC:CC ~~ W:YT1y@:5)t;9 E q:! I) GM >΁mq,|_EAY}2P@}22^@y}2sg}2f\ɼ}2H&0??`z23??@? @t?)~2P@ ~2nRb;I~0ɫ99)9 =I9Y@yAGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 99u Muq=Y} QU}?yaDODy/7<} ?Iȑŕ\^5?ŕ}ؾ ƕA ?9ƕ4CǕw: ȕb:)ȑWWX XW:W2W*WVbUBU*UUU($@BB BA"*BAkAA A `="C*C=RCo|;CCNJ:׹IGf>I)?Agmq,$byEAY}Rj@}Rw@y}RRk}R}RH%=?? =A?R? 7f?U`Z?)~Rj@ ~Rb;I~RCɫqq)q }IyY@yBGxDUSBL response received:!U1,R,297,000,005B4,189,80,80,A3,FF Fpublishing direction and range infoɰ4=鰹 )#CIyfHB_i?evٱ=e>99I=h?Gi=@999=~; =EE>>{>i@ @)I@i(@5;;M5?=Y5QU5>99a=D=ODAyE;}E>Iim(v5?moؾ mA }?9m^Cm: m:)iWWX XW:W2W*WVbUBU*UUUa@P*QfHBZQyD@޼Sue;JQ_i?ev2Q:QbQi\5@xF ,/GC@RQs,TJ?`VV(?BQ@ Q4QAP9?P9?PQQ@"Q@B}r6ؽBy ByA}燿*ByA|\AAA="C*C`=RC*;CC;שIG> {{ S:Y#R1y:5)%;$mq,2EAY}R@}R@@y}Rn}R}RH@~H??壿`! M?@?@z٭?tC?)~R@ ~Ra;I~Pɫ) IYL@yBGTNmea in: $SNTTA,0.059760,,,,010522.20*4B i=a=i=@=MO=YQU>aDODyz;} >I :5? :؎ؾ  A %?9CI: :):mUqAdded new target pos. range: 50.099998 m, bearing: 295.288885 deg, deltaT: 4.477874 s, approachRate: 0.455573 m/s, LOS rate: 0.227864 deg/s, posRepo size: 4WQWQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUe I@Ueݔ?BB BA*BAAAA>="C*CV>=RCG;<CC;yIG^>*mq,EAY}Jۓ@}J@y}Jts}JW%}JH R?Μ? U blW?@.?j? Xڕ@?)~Jۓ@ ~Ja;I~JCɫ髩) IY5@yBGI4=)%=½i@ @)@Ii@UٻM%H=Y-p0QU5>99aEDEODAyM?;}M>IQUt5?Uؾ UXA ]?9UCUܹ: U :)QWyWyX XW:W2W*WVbUBU*UUU`Sg?B#߽B) B1A5*B1A=C$AAAA"n ="C*Ck=RCm1<CC!ֵ<ia= || EV:YR1yi:59 @=iA=hAA9EzCIE?GiE@AAAE{; EE׉IG>Х1mq,6ƴEAɫ髁) IYž@ySCGa i@a  a m @a  a q @a  a e @a  ]*=M]F=Y]QU]>aaaeDe PDiym}u>Iq }:u5? }:uaؾ uA ?9uӼCu: u>)u:WWX XW:W2W*WVbUBU*UUU=?BfB BA*BAǂAAA ="C*C=RC? ,<CC9<IGn>7mq,SEAY}R@}RΪ@y}RM}Ra}RH`T? ?<U W?@Ԯ?`T?C,?)~R@ ~R1a;I~RCɫyy)y }IyY؞@ynCGI)A5 ;M5_=Y=TDQU=>99aEDE#PDAyMI;}M>IQU=5?U3ؾ UŤA ]?9UCU_: UF?)QWyWyX XW:W2W*WVbUBU*UUU?B^B BAT*BA]AAAŲ ="C*C?ԡ=RC"p<<CC &<I!G=Q>%A %}%}% %kM:Y%kS1y%Ԋ:%I5 =mq,^EAY}2@}2@y}2o}2:e }2H@E?=?)`*G?`+1? ?":?)~2@ ~2^a;I~2Cɫ99)9 =I9Y]ž@y]SCG 9I0@Gi5@=l; ޗE-->-?-Ti-z@) -@)-I-Ԅ@i-G@*ջMD=YڻQU>aD>PDy}>IȹŽ15?Ž"ؾ ƽA ?9ƽCǽ: Ƚ՘?)ȹWWX XW:W2W*WVbUBU*UUU`?B%B) B)A-*B)A-#A1A1A5K ="C=*C==RC=<C9CAE9IAA)yDmq,@EAY}Jl@}Jjz@y}J+}J}JH 9??w`< P;?@??``?)~Jl@ ~Ja;I~JCɫ髙) IY@yCG<MH=Y4QU>aDXPDyƻ}>I5?ؾ @A ?9FCh: ?)WWX XW:W2W *W V bUBU*UUU'@B=BA BAAEg*BAAM&AIAIAM ="CU*CU=RCU9;CQCY]<1IAG]U> || aDsPDy̥}>I5?Oؾ A ?9pC; @)WWX XW!:W!2W!*W!V!bU)BU)*U)U)U5@R=B*** querying acoustic contact ***P9P9B>ܽB BA*BAu*AAAt ="C*CX=RC;CCf>9I@Gi؜@={; EX;IG>YQmq,;HEAɫ) IY؞@ynCGZ****** received transponder code query ******F****** received ping request ******99a=D=PDAyE}E>II U:MT%5? ]:Mؾ M̥A ]?9MCM+: M:)M:WqWyXy XW:W2W*WVbUBU*UUUx @B%1B! B!A%T*B!A--A)A)A- ="C5*C52=RC5;C1C9ur;iC=  } }  3G:Y kS1y Ԋ: 5aIiG>cXmq,c bEAY}2[@}2i@y}2v}2d}2H.?/?`E3`5?ï? ?`?)~2[@ ~2a;I~2CɫAA)A EIAY]@y]CGmxDUSBL response received:!U1,P 297,000,005B4,189,80,80,A3,FF mCommand AckuBRequesting micromodem ping code 2iqq}Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 _;Md=YQU> a DPD!y5P9}>I 85?ؾ A ?9C:  :)WWX XW:W2W*WVbUBU*UU)U5" @B-&YB) B)A-*B)A5'1A1A1A5 ="C=*C=K =RC=*C;C9Ca=;)I9GU>#H^mq,{EAY}NU@}NFc@y}Nw;}N}NH,*?@d?i`׽1? 5f?B?)^?)~NU@ ~N]a;I~NC܉9܉I܍AGi܍z@܍=܉܉܍; ݍE)zCIzCi==A4ɫ) IY@yCG-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)A e e ee>e\=e>ie׃@a e@)aIe@ie@^:M/=YQU>aDPDyT޺}>I :>M5? : ؾ nA ?9ٽC: :):WWX XW:W2W *W V bUBU*UU!U5.@BxB BA*BA,x4AAA="C*C=RCvfz;CC    b zz ;:YQ1y:H5)W;9 ס I G >0emq,]•EA|i|Y}:U@}:Dc@y}:_}:q}:H8(?D? 1?@? /?@G՝ ?)~:U@ ~:5a;I~8ɫYY)Y ]IaYe@yDGxDUSBL response received:!U1,R,258,000,005D3,189,80,80,A2,FF Fpublishing direction and range info ɰI= )"CIyOB\oz?-Bٱ (*=Mk=Y*QU?  a D PDy7}?I^5?ؾ A -?9C: +:)WIWIXI XIWI:WQ2WY*WYVYbUYBUa*UaUaUe u@Pq*QuOBZQuOl F@K9JQu\oz?-B2Qu :QqbQuV4A8@DtUNF-z8@RQut=V1?'#쿖5?BQu@ Qur6QuAPu 9?Pu9?PuQuQuA"Qu@BB BA"*BA=E7AAA="C*C<Ġ=RC{;CCשIG>I)AA<_kmq,EAY}]s_@}]%m@y}]}]\׼}]H +?5?h`-k7?"??暿@?)~]s_@ ~]ta;I~]Cɫqq)y yIyY@yDGDNmea in: $SNTTA,,,,,010526.63*5B M?On?y&1|n2?> `)IyI +?Mb`+?94?= )AI" AidAAVrh>lg>if@ Z@)@I|@i@#=M=YQU>aDPDy;}>I :x5? :ؾ tI A ?9&Cu: :):m5qAdded new target pos. range: 51.959999 m, bearing: 298.254499 deg, deltaT: 4.393208 s, approachRate: 0.423381 m/s, LOS rate: 0.675045 deg/s, posRepo size: 4W1W9X9 X9W9:W92W9*WAVAbUABUA*UAUM@I@UM ?BuؽB}d%&= ByA}|*ByA}o;AyAyA="C*C=RCG ;CC q9qIuBGiu@qqqu; uE || @:YR1yi:85);aIqG>Armq,wɵEAɫyy)y }IyYC@y-EGi=%=i%4=<M=YQU?aD QDy}?Iȱŵ5?ŵؾ ƵXA ?9ƵACǵ: ȵ:)ȱWWX XW:W2W*WVbUBU*UUU@|`?B֦B! B!A%R{*B!A%d=A!A)A-Fm="C5*C5t=RC5Љ;C1C9)I1GU>&lxmq,SEAY}6=q@}6~@y}6 ௽}64ü}6H2?@?6@@A?yaD&QDy;}>I :5? :[ؾ A ?9eC: :):WWX XW:W2W*WVbU!BU!*U!U!U%?BUzBQ BQAUw*BQA]*AAYAYA]="Ce*Ce N=RCe;CaCiX;IG k>=i=E xx S9:Y7P1y:59 @\~mq, /EA!9!I%CGi%@%=!!%v; %Eɫ髩) IY۠@yEG @ @ @Í©ÍÍiÍ̄@Í č)čIčԄ@ičԄ@]<M]<=YeQUm>  a DCQDy}>I!%h5?%پ %A m?9%C%< %<)!W)W)X) X)W1:W12W1*W1V1bU9BU9*U9U9U=Q?BmzBi BiAmv*BqAuDAqAqAu$.="C}*C}u!=RC}HH;CCѵGQ=֥ [R;ׁ I G >xmq,ZEAY}bJ@}bX@y}bK.}b'}bHo?`?`׫"??@ݶ? 㤿g?)~bJ@ ~bb;I~bCɫ髙) IY5F@y5lFGI)I) =MQ=YQU>aD[QDybP}>I  5? ! پ SA ?9 C : :) W9W9X9 XAWA:WQ2WY*WiVbUBU*UUU@B=ZB9 B9A=8s*B9AEGAAAAAM="Cm*Cm=RCmH:CiCq].=Q}} 0:YkS1yԊ:75IIYGu>mq,0EAY}~*)@}~6@y}~qk}~ f5}~H@?? =@ ?$?ʤ??)~~*)@ ~~b;I~~Cɫ) IYd@yGG 鿁U"~j? rh:v?US?UC U<)QIQyUףp= ?Mbpy&1?U>?UU`< UGA)UAIUI AiUAQUA   õzõff>õuiõ@õ ĵ@)ĵ@IĵЎ@iĵЎ@k=M0=YֻQU>aDxQDy}>I :W5? :mپ A ?9ھC: :):WWX XW:W2W*WVbU!BU!*U!U!U%@R5B*** querying acoustic contact ***P1P1BUPBQ BAOj*BA' KAAA="C*C|͟=RChC C <g>9I|DGi@=; EI@A)@A %= rg: I G >)mq,#JEAɫ髙) IY@yHGZ****** received transponder code query ******F****** received ping request ******mq,dEAY}2-@}2:@y}24Ž}2P}2H>?V?@)<?w?ҭ??)~2-@ ~2A(b;I~0ɫ99)9 9I9Y] @y]HGexDUSBL response received:!U1,P 258,000,005D3,189,80,80,A2,FF eCommand AckeBRequesting micromodem ping code 2iaim=im=uNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ;MF=YQU>aD-QD1yEd:}E>IY :];5? :]0'پ ]HA ?9]!C]<< ]<)]:WiWqXq XqWy:Wy2W*WVbUBU*UUU @B}Ὡ>Ci}SoGIiοٺ;AB BAid*BAaPAAA%CD="C5*Cmq,(}~EAY}2L;@}2H@y}2Kǽ}2 }2H ??௞@?]v? )?(s?)~2L;@ ~2_a;I~2C`9`Ib FGib@```b; bEɫQY)Y ]IaYyyy%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I4=)R===<=xi=i=@9 =^@)=I=G@i=^@YUSQUU>QQaUD]QDYy];}e>Iae5?e(0پ eA u?9eHCe: e+:)aWWX XW:W2W*WVbUBU*UUUch @BB BA*BADSAAAπ="C*C0X=RC4P:CC"׹IGf>=ip=~~ P0:YT1y@:75);9ͥmq,XEAY}F\8@}FF@y}FȽ}F }FH ? ?œ?`p??`?)~F\8@ ~FwRa;I~DɫQY)Y ]IYY@yEIG@AxDUSBL response received:!U1,R,16F,000,005F6,186,80,80,4A,FF Fpublishing direction and range info(ɰ=鰥> )BIy=XB3E$r_?1i&Կٱ<MaDQDy0}>I :i-5? :8پ A ?9iC< <):WWX XW:W2W*WVbUBU*UUU@:@P *Q =XBZQ tҧI@]1JQ 3E$r_?1i&Կ2Q (:Q bQ D,A@dʶDLrq@RQ ~qU?]|`>^?BQ K@ Q t%Q g BP ,9?P  9?P Q Q +A"Q AB},By ByA`*BAJ_VAAAV="C*C/=RC'09CC֝q:בIGd>mq,6EAY}*@}N8@y}eʽ}q}H b?`?@Ԃd=? :?@*B?`u?)~*@ ~`;I~Cɫ)! %I)Y@yIGTNmea in: $SNTTA,0.047794,,,,010530.67*4F I)AI)A +?ˡE?X9v?6?'= <)Iyd;O?y&1|?4?`L= A)™It AiA<^:>>i@ @)@IЎ@iЎ@ 2<M  =YQU>aDQDy%W}%>I)-F5?-Bپ -bA 5?9-C-: -f:))meqAdded new target pos. range: 54.060001 m, bearing: 309.708398 deg, deltaT: 4.059348 s, approachRate: 0.517325 m/s, LOS rate: 2.821611 deg/s, posRepo size: 4WaWaXi XiWi:Wi2Wi*WqVqbUqBUq*UqU} K@U`$?BEhܽBA BAAMw]*BIAMYAIAIAM="CU*Cu=RC}ΜCyCyܹ9ܹIܽGGiܽ=@ܹܹܹܽ; ݽE)QIQiQU=U=U4 }} 5:YkS1yԊ:n5)s;9ׁ I G >E޲mq,̶EAY}6+@}6v9@y}6Zʽ}6Q}6H??@mx?@q?`@??)~6+@ ~6J`;I~6CɫYY)Y ]IYYj@yKG ))]>Me=Y}T8QU} ?yaDRDya9} ?IȑŕV5?ŕrIپ ƕA ?9ƕCǕ: ȕ:)ȑWWX XW:W2W*WVbUBUI*UQUQUUV%?BB BA R*BA\AAAo="C*C7ܞ=RC̓CC?BɺיIGb>I) mq,EAY}:J@}:X@y}:E ˽}:e}:H@&? R?a@'? ?W?`?)~:J@ ~:w`;I~8ɫ9A)A EIAY}|@y}KG=a;MEM=YU_QU]>YYa]De(RDaye<}m>Iy :}j5? :}Qپ }A ?9}׿C}; }Q;)}:WWX XW:W2W*WVbUBU*UUU` O?B=B BAQ*BA%^A!A!A%X:="C-*C=RCTg;CCvт׹IGf>' || 6:YR1yi:59@2mq,YEA6f>94I6,IGi6@6=446; 6EY}Rj@}RDx@y}RN̽}RH}RH@4&??wʱۢ@Y9?@Z?~?  ?)~Rj@ ~R!&`;I~RCɫyy)y yIyY@y+LGYi]=]p=i]=õ\=õB>õd;>iõ=@ñ ĵ/@)ĵЎ@Iıiĵ@ =MB=YQU>aDCRDy <}>IP5?~Zپ yA ?9C: :)W WX XW:W2W*WVbUBU*UU!U%`{?BMnBQ BQAUM*BQAUuOaAQAQA]_="C]*Ce=RCe;CaCaօ] ;YIaGZ>wmq,tEAY}2@}2p@y}2Lͽ}2:}2Hp3?? q@mG????)~2@ ~2;_;I~2Cɫyy)y }IyY@yLGIMa=)M=F=MK=YaD]RDy|<}>I :5? :bپ ݫA ?9!C:K; hL;):W)W)X1 X1W1:W12W1*W9V9bU9BU9*U9UAUE6@BmVBq BqAuH*BqAucAqAqA} ="C}*Cwi=RC!;CC֥;יIGb>=i= yy 4:YP1y':5Dmq,?t3EAY}B@}B@y}Bν}Bk}BH6? ?< ?K? ?ƹ?k ?)~B@ ~B=_;I~BCɫ髡) IY@y%eNGMRQ?(\¿Mb?M?Mz M=)IIIyMNbX9?Mb?Mb?ME?MaDyRDy9;}>Iѫ5?:lپ >A ?9KCӻ: ܹ:)WWX X W :W 2W *WVbUBU*UUUƪ@BEzvڽBA BIAMa?*BIAMfAIAIAU="CU*C];B=RC]B<CYCYYYa9aIe KGie@aaae; eE8<IG>-mq,UMEAY}6ˆ@}6t@y}6rϽ}6S:}6H 4?9?:``I? _ӳ?`?@@?)~6ˆ@ ~6_;I~6Cɫ99)9 9I9Y}@y}NGI)]<M]c=YeVQUm>iqauDuRDyy}ꌺ}}>Iȉ :ō5? :ōtپ ƍA ?9ƍoCǍ/: ȍ:)ȍ:WWX XW:W2W*WVbUBU*UUUޜ@RB*** querying acoustic contact ***PPBB BA=*BAhAAAM="C*C=RC;CCΒ;IGj>  z z  6:Y Q1y : 5Vmq,|*gEAY}:z@}:g@y}:7ν}: }:H -?`?ﱿ@?@*?`ӹ?@VX?)~:z@ ~:j^;I~8ɫ99)9 =I9Y}@yNGZ****** received transponder code query ******F****** received ping request ******aDRDy}>I  n5? }پ A ?9 C ]: :) W9W9X9 X9W9:W92WA*WAVAbUABUI*UIUIUMM @B}C߽B BA<*BAOkAAA="C*C=RC%Q;C!CQױIG>I)?Aa 9a Ie LGie ^@e =a a e ; e EMmq,pCEAɫ髙) IY?@y:PGa=ɮa=xDUSBL response received:!U1,P 16F,000,005F6,186,80,80,4A,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 tߏ >i=@ ;@)@I@i@=M*=YQU%>AAaEDMRDIyU}U>IQ ]:Ua5? e:Uپ UYA ?9UCUd< Udd<)U:WWX  X W :W 2W *WVbUBU*UUU @B8:нB BAu3*BA;nAAAr="C*C1ʝ=RC;CC yy E1:YP1y':5)b;9m X;A IY G} >hmq,ᚷEAɫ髙) IYϩ@yPGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B u=iqv`=M~=YQU ?aDRDy} ?I5?gپ A ?9C:  :)WWX XW:W 2W *W V bUBU*UUUR*@BErBA BAAE.*BAAMoAIAIAMs="CU*CU=RCU~s;CQCY[R;׹IGf>i- nGIA ii Dпٺ Amq,ʹEAɫ!))) -I)Ye@ye+QGuxDUSBL response received:!U1,R,2D8,000,00624,188,80,80,9F,FF }Fpublishing direction and range infom"iɰm>m> i)mCIiymGcBm뮞?sŠIٱidNmea in: $SNTTA,0.283610,0.283347,,,010535.13*59 I=)hAjA9INGi@; ?J +??f&?= <)Iygfffff?~jtx?~jt?33?;D<  A)QAI$AiAA=ip=R uu \::YKN1yy:5)=; =@=L==J?==i=9 =@)=@I=Ў@i=@M60<MM =YQQUU>QQa]D]SDYya}e>Ii u:m!5? u:m8پ mA u?9mCm8: m(:)m:W W X  X W :W 2W *W VA bUA BUI *UI UI UM v@PY *Q] GcBZQ] %F@  @JQ] 뮞?sŠI2Q] ":QY bQ]  35@4J"k@RQ] qm˃? Ȟ-o?BQ] @ Q] QQ] AP] 9?P] ,9?P] )Q] Q] W/A"Q] +AB ǽB  B A S-*B A OsA A A ="C *C gu=RC Ϳ;C C I G >mq, ϷEAY}VBn@}V{@y}V@Ͻ}Vd }VH&??7???t@?)~VBn@ ~Vc];I~VCɫqq)q qIqYE@yRG*>M=YrߺQU=?aDSDyһ}=?Iȩŭ-5?ŭپ ƭ,A ?9ƭ0Cǭ: ȭϸ:)ȩmuAdded new target pos. range: 56.820004 m, bearing: 292.024000 deg, deltaT: 4.651779 s, approachRate: 0.593322 m/s, LOS rate: -3.801642 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UUhL@U?B-ZB1 B1A5B#*B1A=qbtA9A9A=="CM*CM-b=RCMl<;CQCQu;QIYG}X>mq,ԺEAY}R`@}Rm@y}RBCϽ}RC}RH?? .? ~?ݹ?`?)~R`@ ~R-}];I~RCɫyy)y IY@ySGI)A g=MH=YM&:QU>aD-SDyU}>I)-B5?-lپ -rA U?9-UC-; -;))WWX XW:W2W*WVbUBU*UUUl?BԳͽB BA[*BAðvAAA="C*C*6=RC?;CCr;m m{m{m m5:Ym#R1ym:m859u@IG>e g>9a Ie PGie @a a a e ; e E)Ii=5nq,EAY}FF@}F2T@y}F3ν}F/}FH?? F ?@ߵ??J ?)~FF@ ~FEx];I~FCɫii)i uIqY@yiTG   jA UU=U>Uo>iUz@Q Up@)U;@IUZ@iUZ@eO=MeP=Ye:QUm>iiamDmFSDqy}}}>Iȁ :ŅU5? :Ņ/پ ƅA ?9ƅwCDžR: ȅ:)ȅ:WWX XW:W2W*WVbUBU*UUU =?BսB BAD*BAsxAAA ="C*C=RCF'9CC"5;IGj>IQ)U@Anq,EAY}6F@}6GT@y}6˽}6 C}6H`? ?@ !?B?@X?܏ V?)~6F@ ~6];I~6CɫII)Q UIQY@yTG۰<MC=Y(c;QU>aDaSDyk7}>Ij5?پ A  ?9C5; 6:)WWX XW:W2W*WVbUBU*UUU@>?BdϽB BA*BA$uzAAA="C*Ci=RC8:CC-9IG-p>U UxUxU UG:YU7P1yU:U|5?2 nq,dY7EAY}z:H@}zU@y}zɽ}z=}zH /? %=)!I!y%K?{Gz? ףp= ?%^:?%#<%Q8= % A)%7AI%`Ai%A!%A -9=ip@ )p@Ip@ip@=M9=Y:QU>aD}SDs@s@y M9} >I :5? :پ aA ?9C: :):WAWAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQUU?BͽB BA*BAn|AAA$="C*CS=RC :CCy9yI}RGi}!@yy}D}; }Eֵ9qIyG~>nq,&QEAY}6?Y@}6f@y}6 ʽ}6}6H?r?yY+?N? 6?)뢿?)~6?Y@ ~6.];I~6CɫYY)Y ]IYY@yUG 5=Md=Y_ QU>aDSDy;}>I5?Uپ A ?9Ca; ;)W!W!X! X!W):W)2W9*W9V9bUABUA*UAUIUM@BxѽB BA *BA~AAA#="C*C=RC ;CC֡yIG^>QiUa=e e{e{e e6:Ye#R1ye:e5@nq,kEAɫ髙) IY@yVG=MT=YQU>aD SD y }>I %:x5? %:8پ A %?9 C: =:):WWX XW:W2W*W1VYbUaBUi*UqUqU}o;@RB*** querying acoustic contact ***PPBʽB BA|*BAAAA$="C*Cq=RC ;CC2;IGj> 9 I TGi @ D ; Er(!nq,bۄEAY}>h@}>Hv@y}>1Ƚ}> }>H &?D?@, c "2? ?`??)~>h@ ~>L{];I~>Cɫ99)9 =IAYs@yWGZ****** received transponder code query ******F****** received ping request ******aDSDy;}>I&5?,پ xA  ?91C = % =)WQWQXQ XQWQ:WQ2WY*WYVYbUYBUY*UaUaUe<@BƽB BA*BAIڀAAA"="C*CGH=RCV)t;CC5 ;=?i=?uuzuzu  u-:YuQ1yu:u5)uH;9}IG=>S'nq,ϺEA|i|Y}>BW@}>d@y}>ƽ}>{}>H ? ?`j`Y)? x?]Ǹ?6֣ [?)~>BW@ ~>Z];I~>CɫYY)Y ]IYYd@yYGxDUSBL response received:!U1,P 2D8,000,00624,188,80,80,9F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ʘ=MP=YY;QU>aDSD)y=}=>IQU5?Uپ UٰA ?9UWCU < U <)QWWX XW:W2W*WVbUBU*UUU`c @B1ĽB BA*BAAAA="C*C=RC2:CCqZ;IG= >H-nq,EAY}>;@}>XI@y}> Ž}>,$}>H? ?W`??@8?7 S?)~>;@ ~>h];I~>CɫQQ)Q UIYY]@yXGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B L7A`?{Gz?Mb?+'?#= =)IyV-?~jt~jtx?h1?ļ; µ A)µAIµEAiµ A @ @ @ ©  i p@  ) I i %~M%3=Y%:QU->))a-D-SD1y5}5>I9 E:=5? M:=#پ =A M?9=~C=: =:)=:WiWiXq XqWq:Wq2Wq*WyVybUyBUy*UUU`15@ iA gAj>9IsVGiN@=D; B>ŽB BA *BAAAAJ="C*C*=RC+wCCu" u}u}u u6:YukS1yuԊ:u5)u;[R:IG>d4nq,enҸEAY}:+@}:U9@y}:½}:_'}:Ho? ?`$`@2?? N?ؤ@)?)~:+@ ~:d];I~8ɫ99)9 =I9Y}@y}ZGxDUSBL response received:!U1,R,2D9,000,00647,189,80,80,9E,FF Fpublishing direction and range info4"ɰ>鰅7> )CIykB=Lq?`5 ٱC=i= >M}=Yi;QU ?aDTDyRƻ} ?IV5?"پ KA ?9C< '<)W W X  XW:W2W*WV!bU!BU!*U!U!U-@ @Py*Q}kBZQ}''hG@AJQ}=Lq?`5 2Q}4":QybQ}Ek5@fn.HK.)3˳@RQ}؎D?:etQ$&?BQ}Ģ@ Q}EZQ}ZAP}9?P}9?P}0Q})Q}7A"Q}W/ABSrŽB BA!۾*BAxAAA "="C*Ckћ=RCBCC=#2IA)AI!G=r>:nq,CVEA|.;|.;Y}*@}z8@y}P}V$}H??­ W`j?k?? ^?)~*@ ~k];I~Cɫ)! %quCinGII)i1uʿٺquAY@y[G DNmea in: $SNTTA,,,,,010539.58*5D e=Mm%=Ym*;QUm>qqauDu3TDyy}]}}>I :5? :پ A ?9C: :):m%uAdded new target pos. range: 58.920006 m, bearing: 291.430949 deg, deltaT: 4.269974 s, approachRate: 0.491807 m/s, LOS rate: -0.138889 deg/s, posRepo size: 4W!W!X! X!W!:W)2W)*W)V)bU1BU1*U1U5uM@U5`?B?B BAѾ*BAU߃AAA="C*Cʡ=RCl;CCiAhAu uyuyu uF:YuP1yu':u%59}@_IG>% p>9! I% hXGi% @% "=! ! % ; % EvAnq,y$EAY}2B@}2O@y}2𼽙}2v}2H@??h F ?{5? ?VC?)~2B@ ~2];I~2Cɫ99)9 =I9Y}_@y}\Gw=Mz=Yz;QU?!!a%D%HTD)y-;<}-?I15 5?5ھ 5ñA =?95C5: 5:)1WaWaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}`?BB1 B1A5ľ*B1A5qbA1A1A=="C=*CEc=RCEb)OCACAE 7I)GEQ>Gnq,vEAY}2V@}2kd@y}2ܺ}2+}2H!?@(?-+??8S?`Z_?)~2V@ ~2^;I~2Cɫ99)9 =I9Y@y\]GI)=M,=M=H=Y=#;QUE>AAaMDMbTDQy];}]>Ia }:e45? }:e ھ eA }?9eCe6D; e6D;)e:WWX XW:W2W*WVbUBU*UUU?BB BA*BAAAA="C*CX=RCH:CC?i?׹IGf>e exexe ek5:Ye7P1ye:e5Z@}>g@y}>4}>}>H@$??޴.?@׳? ? @<?)~>Z@ ~>^;I~<ɫYY)Y ]IYYW@y]GK7A`?{Gz? ?ף< )IyS?Mb`?X9v?/=?;< C A)AI+AipA( Au<Mu8=Y}3?;QU}>yyaD~TDyto:}>IL5?ھ YA ?92C: +:)W1W1X1 X1W1:W92W9*W9V9bUABUA*UAUAUM "J?Bu~iBy ByA}g*ByA}AyAyA="C*C.=RCT:CC ՝=ԝ=ܵt>9ܱIܵ\ZGiܵ{@ܱܱܱܵ; ݱ)YIYiY]=]=] 6ֽ] ;qIG>Tnq,ĵSEAY}2^@}2Yl@y}2 }2 }2Hp'??` 5 g1?Ia?`?b ?)~2^@ ~2HN^;I~2CɫYa)a aIaYK@y _G)=MZ=Yօ;QU>aDTDy.:}>Iȹ :Ž`5? :ŽUھ ƽA ?9ƽTCǽNN; ȽN;)Ƚ:WW X  X W:W2W*WVbUBU*U!U!U%@BmWBi BiAm!*BqAuY"AyAyA}="C*C =RC;CCօ0::9IIGeV>ee|e|e e1:YeR1yei:e%50Znq,%mEAY}2k@}2Uy@y}2}2}2Hi/?s? A9?.?@?xs+?)~2k@ ~2kp^;I~2Cɫaa)i mIqY@y_G]=i]=]=i]=   -2>?>i@ A@)d@I/@iM@<MF=Y;QU>aDTDy]|;}>Iu5?&'ھ A ?9{C: w:)W!W!X! X!W):W)2W)*W1V1bU1BU1*U1U9U=@S@Be6Ba BaAm៾*BiAmAiAiAu^="Cu*C}o=RC} Y;CyCy֥] ;Iס)סYIiGZ>ܭ u>9ܭ {CIܭ P\Giܭ @ܭ =ܩ ܩ ܭ ; ݭ Eanq,jEAY}>@}>A@y}>>}>}>H@ ~>^;I~>Cɫ99)9 =IAY@y_GI)ݟ:M\=Yo;QU>aDTDy;}>It5?/ھ 7A ?9C: M:)W!W!X! X)W):W)2W)*W)V)bU1BU9*UAUAUM@O@ReB*** querying acoustic contact ***PaPaB2B BA*BA!AAA'="C*C=RC ;CCyb];IGE>]=iYuuxuxu u3:Yu7P1yu:u[5)u;9}8gnq,GEAY}:~@}:1@y}:tߪ}:{=}:HL?z?bEV{X?R?U?훿r?)~:~@ ~:_;I~:Cɫ99)9 =I9Y}-@y}]aGZ****** received transponder code query ******F****** received ping request ******aDTDy <}>I :R5? :48ھ A ?9C; X;):W1W1X9 X9W9:W92W9*WAVAbUABUA*UAUIUM @B/ B BA *BAAAA-)="C*Cƚ=RCz <CC;IGEr>nnq,5$EAY}2@}2Q·@y}2}2}2HW?@Ӈ?&kjKb?M5? ?է`?)~2@ ~2_;I~0ɫYY)Y ]IYY@y0aGxDUSBL response received:!U1,P 2D9,000,00647,189,80,80,9E,FF Command AckBRequesting micromodem ping code 2iI)I)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 QUjAmx>9m|CIm]GimV@m=imDm; mE5^I ?{Gz?Mbp8?#= )Iy\(\?Mb`?y&1?:?`< $A)=AIAiQA A?">i@ @)M@Ii/@M=Y h;QU >99a=D=UDAuf u{u{u u;:Yu#R1yu:uI5)u;yU`;}>IȹŽ5?ŽDھ ƽA ?9ƽCǽn: Ƚ:)ȹWWX  X W :W 2W)*W1V1bU1BU1*U9U9U=)V@B}̨B BA[*BA;AAA)="C*CDj=RC'<CC <׹ I G > unq,ԹEAY}Bz@}B-@y}B}B=}BH ?W? ?nk`!`?@ɱ?@'?`Qh?)~Bz@ ~B!^;I~@ɫYY)Y eIaY@ybG鮡ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B e=M=Y,:QU"?aDUD!y%c}-&?I1 5:5w5? =:5\Iھ 5A =?95C5: 5^:)5:WYWYXa XaWa:Wa2Wa*WiVibUiBU*UUU8@B=ҐB9 B9A=l*BAAE݀AAAAAE7="CM*CUT=RCUD!<CQCQ]'<1IAIY)]AAGew>v,{nq,EAY}B@}BO@y}Bt}B,}BHO??꪿@xX?Q?@ȴ??)~B@ ~B^;I~BCɫ) IY]s@y]bGexDUSBL response received:!U1,R,2A2,000,00672,188,80,80,7A,FF mFpublishing direction and range infoeaɰe+>e> a)eBIayevBeA^?TIٱa @ @ @©iQ@ @)@I@i@5k=M5H=Y5:QU=>99a=D=3UDIyU}U>IY]5?]Qھ ]eA u?9]8C]'; ]=;)YWWX XW:W2W*WVbUBU*UUU`@P*QvBZQY$I@csk<AJQA^?TI2Q:QbQ5`>9@C2K|(Q@RQ' ?lcU$?BQΤ@ Q]QAP+9?P9?P4Q0Q0A"Q7AB]lB BAZg*BA䈽AAA;="C*C.=RC<CCI 9I IM o_GiM @M =I I M |; M E|nq,.EAY}n@}n5@y}n }n>}nH#L?8?dߪ T?x?웴?^(@Q?)~n@ ~no^;I~nCɫ) IY @y wcGuDNmea in: $SNTTA,,,,,010544.03*59 u=iq  =M L=Y:QU>aDMUDy%"}%>I) 5:-5? 5:-QZھ -A 5?9-]C-^: -:)-:mmqAdded new target pos. range: 61.500000 m, bearing: 295.086876 deg, deltaT: 4.480513 s, approachRate: 0.575826 m/s, LOS rate: 0.815962 deg/s, posRepo size: 4WiWiXi XiWi:Wq2Wq*WqVqbUqBUy*UyU}N@U}~?BB BAwY*BA6AAA@="C*CG=RC{;CCiA֕O=nq,"EAY}2z@}2-@y}2 }2}2H@HL? 0?@ U? ?JM?`ž`}?)~2z@ ~25^;I~2Cɫ99)9 =IAY@ycGUCC<M]X=Y]P;QU]>aaaeDeeUDaym}m>Iqu 5?uGbھ uA }?9uCu: uM:)qWWX XW:W2W*WVbUBU*UUU ?BSB BAT*BA6AAAH="C*C"=RCJn;CC;zz 2:YQ1y:5IiSoGIi MοٺIMAG]>ggnq,jaDUDy<}>I :5? :kھ 1A ?9C: :):WWX XW:W2W*WVbU BU *U UU@?B=B9 B9AED*BAAE.݉AAAAAER="CM*CUǙ=RCUr;CQCQ9IaGi@=t; EMr;I)GEQ>>Onq,EVEAY}F'@}Fڛ@y}F}F }FH`F??@K`V,L??`o?爡=?)~F'@ ~FH.^;I~FCɫYY)Y ]IYY@yeG5v=M=R=Y=L;QU=>AAaEDEUDIyM}M>Iȡť45?ťtھ ƥpA ?9ƥCǥ; ȥr#;)ȡWWX XW:W2W*WVbU BU*UUU@?B]>͠BY BYA]O#*BaAe4!AiAiAmY="Cu*C}=RC}V;CyCyam?imx?9IIGeU>e aae e@:Yayae5}nq,1pEA|?@v? A?@?)~w@ ~3^;I~ɫ) IY-g@y-UeG 鿙mGMm8=YuU-;QUu>qqa}D}UDyyǻ}>IȉōxK5?ō~ھ ƍA ?9ƍCǍw: ȍ:)ȉWWX XW:W2W*WVbUBU*UUU@?B8RB BA(*BAjAAAe="C *C {=RC Z;C C;IGi> w>9 I ,bGi Է@ = p; E)}|CI}|Ciy}=}=}5Qanq,EAY}2aaaeDeUDaym}m>Iq }:u^5? }:uoھ uA }?9uCu: u^:)u:WWX XW:W2W*WVbUBU*UUU@BƞB BA*BA'AA A m="C*CU=RCk:CCqZ;׹IGg>ee~e~e e3:YeT1ye@:e5)e;9m{nq,֣EAY}:,a@}:n@y}:+D}:̪$}:H`0??jL1?j??`?)~:,a@ ~:I^;I~:Cɫ99)9 9I9Y]@y]&gGaeAAm=im=)}= }>pg=MU=Y.-;QU>aDUDy+}>IQUs5?Uھ U+A ]?9UACUb: Un:)QWWX XW:W2W*WVbUBU*UUU@c*@RB*** querying acoustic contact ***PPB%B! B!A%M*B)A-lԊA)A)AM*s="CU*CU/=RC]:CYCYe#2?:AIiG_>nq,EAY}6o@}6}@y}6}67}6H`9?S?&`%;? C? γ?`,@?)~6o@ ~6sz^;I~4ɫYY)Y ]IYY}f@y}gG}Z****** received transponder code query ******F****** received ping request ******?]Ļ] 0= ]A)] AI]Ai]rAY]AٕhAٕgAܥz>9ܡIܥcGiܥ@ܥ=ܡܡܥt; ݥE u } }}^}>}9=i}@} }@)} @I} @i} @=M#=Yl ;QU>aDVDyh;}>I 5:5? 5:yھ A 5?9pC; ;):WqWyXy XyW:W2W*WVbUBU*UUU$ @B9B BAѽ*BA AA!A%3x="C-*C-=RC-7;C)C1U=iU=ee|e|e e1:YeR1yei:e75)e;Mq:A IQ Gm >nq,u׺EAY}J/@}J╷@y}JB}Jrg}JH0F??@Ӧ@ГJ?E?n?@g?)~J/@ ~J^;I~JCɫ髹) IY@y*hGxDUSBL response received:!U1,P 2A2,000,00672,188,80,80,7A,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 e5<Mmy=Y}Q;QU}?aDVD)y= <}E?Iaeh5?e(ھ eҶA ?9eCe; e;)aWWX XW:W2W*WVbU1BU1*U1U1U5A @BöB BA*BA/AAA\="C*Cݘ=RCd;CCֵqZ;בIG>˻nq,wEAY}^@}^a@y}^h䒽}^v}^HR?˘?`զW?@v?X? `?)~^@ ~^^;I~^Cɫ髑) IY@yIiG鮹ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I))-A‰iAHD`i @ )d@IM@id@@=MB=YT:QU>aD5VDy;}>I  :G5?  :ھ  A ?9C: :):WQWQXY XYWY:WY2WY*WaVabUaBUa*UiUiUu@B6B BA5*BAEGAAAAAE="CM*CUq=RCU|;CYC Օ=ԕ=ֵ;eeyeye e0:YeP1ye':e59u@׉IG>܍ |>9܉ I܍ LeGi܍ _@܉ ܉ ܉ ܍ y; ݍ Ecnq,C EAY}6n@}6!@y}6Yؐ}6gU}6H\R?`?m >T?g:? .?]鰥7> )CIy B3H?o m4ٱ qM^=Yi2;QU>aDLVDyٹ}>I5?ھ hA ?9CM: :)WWX XW!:W!2W!*W!V!bU)BU)*U)U)U5 v@PA*QE BZQE &JI@Y!CJQE3H?o m42QE[(:QAbQE|aA6@";9=M&wo@RQEB~km?L>_/ߛA?BQE^@ QEinQEAPE*9?PE+9?PE>QE4QE.A"QE0AB3B BA*BAaAAA)="C%*C%$=RC%g;C!C)EΒ;I1GUS>IQ)U@Anq,O%EAɫ) IYUܽ@yUiGDNmea in: $SNTTA,,,,,010548.48*5A 5Ȥ<M56=Y5QU5>99aEDEiVDIy]}]>Ii }:m5? }:mھ mA ?9mCmo; m9;)m:muAdded new target pos. range: 64.020004 m, bearing: 290.957698 deg, deltaT: 4.367509 s, approachRate: 0.576989 m/s, LOS rate: -0.945431 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UUGP@U r?B5y@B9 B9A=h*B9AE{AAAAA="C*Cs=RCH ;CCtt -:YM1y:5@;) I G >nq,>EAY}21@}2䍷@y}2q}2r}2H C?෴?ۤ<D?K?p?w?)~21@ ~2^;I~2Cɫ99)9 =I9Y@y_jGGz? ףp= ?~jt??Q= D<)IyOn?y&1Mb?8?`e= µA)µ AIµAiµXAA15<=}>9=}CI=fGi=@9999 9  ? i @  @) C@I @i @A=MB=Y:QU>aDVDy}>IF5?ھ A ?9*C: :)W W X  X W :W2W*WVbUBU*UUU?BMP̐BI BIAMy*BIAUAQAQAUĐ="C]*C]P=RC]Qa;CYCaqq][R;Ia)a1IAGew>Znq,nXEAY}:@}:I@y}:?}:(}:HC?@?@c7E?|?Rı?衿8?)~:@ ~:Ҋ^;I~:CɫQQ)Q ]IYY@yjGI=)= k<MX=Y/:QU>aDVDy2M}>I   5? ھ HA ?9 MC U: b:) W9W9X9 X9W9:W92WA*WAVAbUABUI*UIUIUM?B5AB9 B9A=B*BAAm񘋽AiAiAmԓ="Cu*Cu*=RC}t;CyCֵ_;QiU=mmymym m2:YmP1ym':m5׉IG> CPnq,}rEAi6nGI@iHnDοٺpr AE?9E.AY}M@@}M@y}M򌽙}M}MH@J??qݥO?ͯ?@?@?)~M@@ ~Muv^;I~MCɫ) IYž@yjGEBEx?EiEG@A ES@)E @IE @iE @];M]D=Y]:QU]>aaaeDeVDiym;}m>Iq }:u5? }:uھ uA ?9usCu: u:)u:WWX XW:W2W*WVbUBU*UUU?BB BAe*BaAmAiAiAmX="Cu*CuR=RCuhp;CqCyֵjb;בIG>5 |>91 I5 @gGi5 @5 =1 1 5 ; 5 Enq,7EAY}2T@}2@y}2 }2}2HU?U?䘥~Y?-?+p?۟`?)~2T@ ~2h^;I~2CɫII)I IIIY}Ծ@y}jGI)AE;Ma=Y:QU>!!a%D%VD)y-p;}->I15q15?5ھ 5ʸA E?95C54: 5:)1WaWaXa XaWa:Wi2Wi*WiVibUqBUq*UqUyU}7@B6B BAټ*BAîAAAe="CU*CU =RCU;CQCYMϩ;I)GEQ>eaae e2:Yayae5)e;9m'nq,fEA|i|@Y}2@}2C@y}2q}21}2HZ?? O@w^?@%?*?@R`?)~2@ ~2b^;I~2Cɫ99)9 =I9Y߾@yjG AAuU;MuD=Y}&;QU}>yaDVDy1;}>Iȑ :ŕF5? :ŕ|ھ ƕA ?9ƕCǕ: ȕ=:)ȕ:WWX XW:W2W*WVbUBU*UUUq@BmEB BAμ*BA ƹA A A T="C*C=—=RCI<CCΒ;יIGb>Ia)eAAnq,FAEAɫ髙) IYĿ@ykG@A?{Gzt?I +fF?ף; 94)Iy-?{Gzt~jt?5>?ףD< ‘)•? AI•@i•AAjA{>9IlhGi@=x; E)݅}CI݅}Ci݁݁݅=݅5;Q=iz@ ʭ@)d@Iף@i@%=M%@=Y-QU->11a5D5WD9y=}=>IAEw]5?Eھ EEA U?9ECE: EL:)AWWX XW:W2W*WVbUBU)*U)U1U5 3"@REB*** querying acoustic contact ***PAPABƹB BA*BAAAA="C*C3=RC&;CC=89nq,ڻEAɫyy)y yIyY@y]lGZ****** received transponder code query ******F****** received ping request ******99a=D=WDEIQ ]:UUq5? ]:Uھ UtA e?9UCU; U;)U:WWXi XiWi:Wq2Wq*WqVqbUyBUy*UyUyU}. @BB BA*BAAAA="C*Cz=RC;CC11;I!)!IG=r>cnq,IEAY}2}@}2@y}2Y}2}2HC?`f?}͝@,C?UC?GQ?QKg?)~2}@ ~2^;I~2Cɫ99)9 =I9Yo@ylGxDUSBL response received:!U1,P 2F4,000,0069C,189,80,80,95,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)4=9=b?`ei@ +@)@I @i @<M(=YQU>  aDIim'5?m۾ mA }?9m6Cmk; m;)iWWX XW:W2W*WVbUBU*UU!U%@B BB BASk;*B!A%䷋A)A)A-^="C=*CEK=RCEd*;CIyi}=vv 1:YN1y:59@CQ |>9IiGiݽ@=q; E9 IA G] >Poq, EAY}B$s@}B׀@y}B^}B }BH k=?`S? ??b? jN?}8 ?)~B$s@ ~BF^;I~BCɫQQ)Q UIQY@ymG鮙ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B R<Mq=Y9QU?aDQWDyO}?I5? ۾ ޹A ?9UC@: :)WWX XW:W2W*WVbUBU*UU U `D@B5B1 B1A=$@<*B9A=SA9A9A=c="CE*CM1=RCM:CICI)I9Gu>u oq,'EAɫ髙) IY@ymGxDUSBL response received:!U1,R,38D,000,006CA,188,80,80,6A,FF Fpublishing direction and range infoKɰ`>> )BIyBr?UٱI)A9MU=YQU%>!!a%D%iWD)y-}->I1 =:5u5? E:5`۾ 5A E?95yC5: 5R:)5:WWX XW:W2W *W V bUBU*UUU`@P!*Q%BZQ%lG@Z˻#GJQ%r?U2Q%K:Q!bQ%R2%-@޸9PD*%@RQ%ԃ?q c F?BQ% @ Q%΁Q%oAP%9?P%*9?P%KQ%>Q%,A"Q%.AB B BA8<*BAeAAA="C*C =RCz;CCIGG>{{ 0:Y#R1y:5]oq,AEAɫyy)y }IyY@yDnG%dNmea in: $SNTTA,0.055875,0.431605,,,010552.92*59 11qu<}}>9yI}`jGi}@yy}D}p; y]n?~jt?]< ]t<)YIYy]~jt?Q8=i@ @)ף@Iף@iA@ =M /=Y QU>aDWDy}>I!%V5?%۾ %fA U?9%C%: %:)!muAdded new target pos. range: 66.779999 m, bearing: 282.995501 deg, deltaT: 4.473329 s, approachRate: 0.616989 m/s, LOS rate: -1.779927 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UUP@Uާ?B%xBI BIAM,=*BIAMqAIAIAU="CU*C]dߖ=RC]:CYCyIGb>Iq)u?A_oq,j[EAɫqy)y yIyY:@ynGUUO=MUk=YYQU]?YYa]DeWDaya}m?Iq u:u5? }:u%۾ uA }?9uCu=: u:)u:WWX XW:W2W*WVbUBU*UUU g?BB BAKt=*BAʆAAA="C*C=RCQ:CC[R;׹IGG>|| d0:YR1yi:5߱oq,>uEAY}:d@}:@y}:􉽙}:}:HbQ?@b?@5 U??;;? ?)~:d@ ~:6^;I~:Cɫ99)9 =I9Y}(@y}nGi=)= =Í(>Í#ÍG=iÍ(@É č@)ĉIĉičף@HMF=Y0::QU>aDWDy$9<}>IȹŽ5?Žu-۾ ƽA ?9ƽCǽI: Ƚ:)ȹWWX XW:W2W*WVbUBU*UUU O?B%9UB) B)A- k=*B)A-mA1A1A5r="C=*C==RC=l;C9CA%] ;I)))I G%M>y9yI}(kGi}"@yyyy y™#oq,"EAY}2x@}2+@y}2󷊽}2}2HL? ?@{`@=O?`?S?u?)~2x@ ~2c^;I~2Cɫ99)9 =I9Y}/@y}nGI4=);MS=Ym|QU>!!a%D%WD)y-6M}->I1 =:55? =:5S5۾ 5;A E?95C5^: 5:)5:WaWiXi XiWi:Wi2Wi*WqVqbUqBUq*UyUyU}@w?B%B! B!A%n=*B)A-GUA)A)AM="CU*CUw=RC]r:;CYCYe;AIIGmV>qiu= zz 76:YQ1y:5);9)oq,ZEAY}2Ǎ@}2z@y}2k̊}2TD}2H0K?@Х?rQ`JP? c? 'V? |?)~2Ǎ@ ~2];I~2Cɫ99)9 =I9Y@ycoG5<M=H=Y=ȸQU=>AAaEDEWDIyM}M>IQUQ5?U=۾ UA ]?9U6CU: U:)QWWX XW:W2W*WVbUBU*UUU@B~B BA^=*BA7AAqAus="C*CQ=RCω;CCidnGIieȿٺae%Aօyb];yIG>ū0oq,t¼EAɫ髙) IY@yoG!9!I%TlGi%@!!!%s; %EIY)]AIY)Y bX9?kt?~jth? E6?  = D;) I y M?{Gzt?Mb? n2? ף; = A) AI C@i  A  A!%hAm9mS=m=im@i mS@)mA@Im`@im`@}T =M}7=Y}QU>aDXD y } >I :|45? :F۾ һA %?9_C: :):WAWiXi XqWq:Wq2Wy*WVbUBU*UUUW@B=UB9 BaAeׯ=*BiAm AiAiAuR^="Cu*C}z'=RC};CyCujb; n1:Yy5);QIqG>6oq,ܼEAY}2 @}2@y}22}2ݼ}2HY?@?@hN`4y _?ј? 2??)~2 @ ~2];I~2CɫYY)Y YIYY @ypG 鿱;Mk=Y&:QU?aDXDy$<}?I'E5?mM۾ A ?9|C: %:)W W X  X W:W2W*WVbUBU*UU!U%[@R-B*** querying acoustic contact ***P)P)BMFyBQ BA=*BAfAAAM="C*CU =RC;CCΒ{;IGI>I޵AA)޵@A=oq,EAY}2ٸ@}2Ʒ@y}23}2fۼ}2Ha?@a?|k\g??=?nu?)~2ٸ@ ~2];I~2CɫII)I MIQY}@y}pGZ****** received transponder code query ******F****** received ping request ******QQa]D]9XDYye;}e>IimbZ5?mU۾ mKA u?9mCm8: mQ:)iWWX XW:W2W*WVbUBU*UUUݺ @B>yB BA=*BA=AAA45="C*Cu=RC <CC Β;IGn> {{ 5:Y#R1y:I59@9ImGi @r; E)ݩIݩiݩݭ=ݭ=ݭ+4Coq,bEAɫ髁) IYO@yqGxDUSBL response received:!U1,P 38D,000,006CA,188,80,80,6A,FF Command AckBRequesting micromodem ping code 2ii=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ) = >5O=M=L=YMQUU>aaamDuRXDy}>Iȱ :ŵJoq,=*EAY}27ο@}2۷@y}2.T}2}2Hk?`n?Xq? &#? 鈴?+l?)~27ο@ ~2˓];I~2Cɫ99)9 =I9Y}b@y}qGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Ip=)=;MD=YQU>aDmXDy;}>IȹŽ5?Že۾ ƽмA ?9ƽCǽ; ȽG;)ȹWaWaXi XqWq:Wy2W*WVbUBU*U)U)U-`K@B@oB BA >*BAQAAA#="C*C̟=RC,<CC!޵=iޱ zz @:YQ1y:5שIG >Poq,+DEAɫyy)y }Iy9IHnGi@q; EY@yqGxDUSBL response received:!U1,R,C8D,000,006FA,18A,80,80,36,FF Fpublishing direction and range infoCE?ɰO>> )XBIyQB|^?6 J?ٱi|?5?#~j?X9v?>= <)Iy rh?{GzMbp?,?ף; …fA)… AI…@i…^ AA}=}ν}½i}f@y }A@)}ף@I}+@i} @\<M;=YQU>aDXDy}>I :5? :n۾ A ?9C:  :):WWX XW!:W!2W!*W!V!bUIBUI*UIUIUU@Pa*QeQBZQe]H@FBH@JQe|^?6 J?2QeCE?:QabQeoP@n0@l=s@RQeb?dV?aC#?BQeEn> QeAQe}BPe9?Pe9?PeQeKQe.A"Qe,ABnB BA>*BAcAAA="C*C~=RC A%<C C x/<IG>*Woq,^EAɫ  )  I Y-@y-!rGTNmea in: $SNTTA,0.074456,,,,010557.36*47 I)©­iAK<MU=YQU>aDXDy}>IŪ5?v۾ &A  ?91C: I:)mqAdded new target pos. range: 69.659996 m, bearing: 13.353133 deg, deltaT: 4.484271 s, approachRate: 0.642244 m/s, LOS rate: 20.149903 deg/s, posRepo size: 4WW!X! X!W!:W!2W)*W)V)bU)BU)*U1U5`=jQ@U5`?B+KkB BAw>*BAd݉AAA="C*C$]=RC1$<CC-< /:Yy75IG >N]oq,BwEAY}2v@}2=@y}2j}2$}2H=?@?椿`_@}??0`? ?@C?)~2v@ ~2m^;I~2Cɫ99)9 =I9Y}@y}7sG e>ee>iez@a e@)ev@Ie@iev@u=MuS=Y}]QU}>yyaDXDy}>Iȑ :ŕ*5? :ŕ~۾ ƕOA ?9ƕRCǕ: ȕ:)ȕ :WWX XW:W2W*WVbUBU*UUU>?B`BV= BA+>*BAEA A A P{="C*C==RC@0a8CC%h%<IG J>I޵@A)޵AA9ItoGi@h; E5doq,eEAY}6q@}6~@y}6Ğ}6= }6H@e;? ?U8=? ٰ?`(б?@>?)~6q@ ~6{^;I~4ɫYY)Y ]IYY@y%sG5M=N=Y=:QU=>AAaEDEXDIyMdܺ}M>IY]5?]ӆ۾ ]yA m?9]tC] ; ]e ;)YW9WAXA XAWA:WI2WI*WqVqbUqBUy*UyUyU}D?B:dB BA)>*BATAAAI="C*C%=RCA:CC%9I1G]U>yy 0:YP1y':5)Z;9+`joq,DŽEAY}6r@}6%@y}6z}6i}6HE??X@H?yo? ?@?)~6r@ ~6^;I~6CɫYY)Y YIYY@ysG%>i%=)]= ]==MD=Y:QU>aDXDQyU;}]>IY e:]5? m:]؏۾ ]A m?9]C]+; ];)] :WWX XW :W 2W *W VbUBU*UUU ?B`B BA  9>*BAAA!A}="C*C=RC1>;CC1 I G5 >Hqoq,_ŽEAaegAi9iImQYa]D] YDYye}e>Iimg5?mg۾ mA u?9mCm: m+:)iWWX XW:W2W*WV!bU!BU!*U!UIUM@#@B<\B BAJ=>*BANAAA ="C*CRǔ=RC :(;CC.=ޱi޵=zz 1:YQ1y:5);- jZX; I G- >9swoq,y?߽EAY}6t@}6@y}6R}6)}6H@g=?;?# =??Ʊ?wI?)~6t@ ~6s^;I~6CɫYY)Y ]IYY@yVtG52<M5^=Y=QU=>9AaEDE!YDAyMܩ}M>Iȡť 5?ťj۾ ƥ3A ?9ƥCǥ : ȥ:)ȡWWX XW:W2W*WVbUBU*UUUv@BTB BAH>*BAkAAAE="C%*C%=RC%<:C!C)uV =]e;1IAGmx> ! i mGI i пٺ 7Ak}oq,EAY}6@^@}6k@y}6F}6׃}6H.1??䤿 2?c??if@ `@)IA@i`@H2=MO=YdQU>aD:YDyq}>I  : E 5? : ۾ yA ?9 C :  :)  :W9W9X9 X9WA:WA2WA*WAVAbUIBUI*UIUIUUI@R]B*** querying acoustic contact ***PYPYB}QB BAtZ>*BAAAA*p="C*Ce=RC׺CCr=֝"9a9aIeqGie@aaaev; eEyI||  -:YR1yi:\5);G>oq,EAY}6>R@}6_@y}6 }6 }6H*?@?@;,?`?@?@t@ ?)~6>R@ ~6 ^;I~4ɫ99)9 9I9Yud@y}QuG}Z****** received transponder code query ******F****** received ping request ******qqauDuUYDyyWd}>Iȑŕ1 5?ŕ۾ ƕžA ?9ƕ%CǕ; ȕ;)ȑWWX X W :W2W*WVbUBU*UUU x @BEHRBi BiAmRb>*BiAu𱇽AqAqAu)="C}*C}V=RC}2CyCϩϩ)Щ ЩIޱ)ޱE ! I) GM >^oq,,EAY}6#W@}6d@y}6Q}6}6H-??G@-[2??@t?$&?)~6#W@ ~6d];I~6Cɫ99)9 =I9Y}h@yUuGxDUSBL response received:!U1,P C8D,000,006FA,18A,80,80,36,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 5:ML=Y;QU> aD%pYD9yE:}M>Iy :}F 5? :}̺۾ }A ?9}KC}= }5=)} :WWX XYWa:Wa2Wi*WiVibUqBU*UU!U-D @vv '0:YN1y:n59@BԃXB  BAb>*BA0AAA="C*C%k =RC% C!C!% "5 I G= > oq,iFEA9IrGi{@t; E)ݑIݑiݑݑݑݕY3ɫ髙) IY@yvG]Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=Eףp= ?MbX9vE>E E)AIAyEGz?YYa]DeYDay}>Iȑŕ_ 5?ŕ۾ ƕ~A ?9ƕyCǕM: ȕض:)ȑWWX XW:W2W*W V bU BU *U UUA@@B;B BA6>*BAzچAAA="C*C=RCֈCCֵ בIG>Poq,ς`EAY}2I@}2@y}24}2>ϼ}2H G??M?@?,?  ?)~2I@ ~2t];I~2CɫYY)Y ]IYY}@yOwGxDUSBL response received:!U1,R,477,000,00725,189,80,80,55,FF Fpublishing direction and range infoAYɰ>鰅7> )BIyzBo7s_[?:c? ٱIR=)%=B=M}=YB*B9AE{AAAAAEZ="CM*Cm=RCmR;CqCq։YIiG[>޽=i޽=6 || !8:YR1yi:5oq,AczEAY}n,@}nߥ@y}nć}nFk޼}nHAQ?:? ϥއpV?q?p?缛@?)~n,@ ~n(];I~nCɫ) IY@y=wGDNmea in: $SNTTA,,,,,010601.81*51 U U UUU=UY=iU=@U U)Uv@IUv@iU`@edMe4=YeO:QUe>iiamDmYDqy}:;}>Iȡťs 5?ť۾ ƥ6A ?9ƥCǥ: ȥ:)ȡmyAdded new target pos. range: 72.240005 m, bearing: 271.425789 deg, deltaT: 4.375619 s, approachRate: 0.589633 m/s, LOS rate: -23.294382 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU@\R@Ud?B%cAB! B!A%(>*B!A-A)A)A-="C5*C5-=RC5c;C1C9qZ; |>9 I $tGi o@    s; EױIG>OҤoq,9EAY}25@}2觷@y}2O}2}e}2HR??jFgU?u??M԰? #`3?)~25@ ~2];I~2Cɫ9A)A EIAY@yxGIY)]AimiAra=MX=Y̯:QU>aDYDy,:}>Iȱŵ 5?ŵ۾ ƵA ?9ƵCǵ: ȵ:)ȱWWX XW:W2W*WVbUBU*UUUU?B*6B BA͔>*BAAAA="C*C=RC;CCr;׹IGh>xx P0:Y7P1y:75noq,/EAY}J@}JD@y}JC}J}JHN?@_?@MG`܌rQ?9?^Ű?(@P?)~J@ ~J];I~JCɫaa)a mIiY[@yxG/94AIaUDUYDay}>II :MH 5? :M۾ MA ?9MCM\)< Mn<)M:WYWYXY XYWY:W2W*WVbUBU*UUU$?B7B BA>*BAZ턽AAA2}="C*Cn=RC%ʹP;C!C!Iޱ)޵@Avт;IG >Hoq,9ǾEAPRhAT9TIVtGiV@TTTVv; VEɫ髹) IY@y`xG "~j?zG?~jt? S>  = =) I y bX9?y&1|? rh? E6? `; C< Z@) EAI @i $A  pAUMUG=YUQUU>YYa]D] ZDaye}e>Iim 5?mv۾ m*A }?9mBCm: mU:)iWWX XW:W2W*WVbUBU*UUU?B^+B BA>*BAAAAr:="Cm*CmIP=RCmS;CiCq֝qZ;qIG>b {{  P:Y#R1y:5);9coq,GEAY}2@}2J@y}2}2q}2HW?@}?@=~~Z?ಽ?? ?)~2@ ~2];I~2Cɫ99)9 EIAY@yyGi) = ==v=M=^=Y=9:QU=>AAaEDE$ZDIyM;}M>IQ ]:U 5? ]:U۾ UYA e?9UcCU: UI:)U:WWX XW:W2W*WVbUBU*UUU`>@BEl'BA BAAEy>*BAAM[AIAIAM="Cu*Cu".=RCu>r;CqCyցYIiGZ>8oq,EAY}2_@}2@y}2܄}2}2HCZ?;?Z@mzd]?@? ?/?)~2_@ ~2];I~2Cɫ99)9 =I9Y2@yyGI!)%=ux齩u7I?uiuQ@q u@)u`@Iu`@iuv@ <MF=Y. 9QU>aD>ZDy:}>Ișŝ 5?ŝKܾ ƝA ?9ƝCǝ: ȝϸ:)șWWX XW:W2W*WVbUBU*UUUM@Bt'B BA>*BAjAAA="C*C =RC;CC%ϩ;ܩ9ܩIܭvGiܭ@ܩܩܩܭs; ݭE1IAGew>ޱi޵=yy 0:YP1y':5) ;a oq,EAY}:Ǚ@}:z@y}:)}:}:H (S?aDVZDyM }M>IQ ]:U, !5? ]:UO ܾ UA e?9UCU: U:)U:WWX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBK@"B BA>*BAソAAAK="C*C8=RC0f;CCIGE>Joq,\/EAY}z}@}z~@y}z'聽}z2 }zH D?C?( E?T?`;:?@<@?)~z}@ ~z];I~xinGɫ) %I!Iqiοٺ;AY@yhzGZ****** received transponder code query ******F****** received ping request ******i@ r@)@I@i@ <M  =Y :QU>aDwZDyc}%>Iim!&!5?mܾ mA u?9mCm: m]:)iWWX XW:W2W*WVbUBU*U!U!U%O @B>,B BAZ>*BA$AAA@ ="C*Ci=RC8{:CCE AAE  E}D:YAyAEm59e@qZ; I G >3oq,9$I&DwGi&@&=$$&t; $ɫ髹) IY^@yp{GxDUSBL response received:!U1,P 477,000,00725,189,80,80,55,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Ponly read 0 of 1 data item for BIT errora i@a  a m@a  a q@a  a e@a  ;=Mc=YQU>  a DZDyE}M>IY :]"9!5? :]/ܾ ]0A ?9]C]uG< ]$>)]:W1W1X1 X1W1:W92W9*W9VbUBU*UUU @BB BA>*BAAAA) ="C*C =RC \:C C I޹)޽AAM9 I G5 >\oq,cEAɫ髹) IY@y+|GɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B CL=M\=YQU>aDZDy}>IEK!5?d%ܾ \A ?9Cį: ]9?)WWX XW:W2W*WV bU BU *U UUOC@B=:BA BAAED>*BAAEs AAAAAM+C ="CU*CUv=RCU9hN:CQCYցaIG%o>5@ 5z5z51 58:Y5Q1y5:5#5oq,B|EAY}6f@}6ft@y}6؟r}69 }6H:??`@:?Ϯ?pO? ∡?)~6f@ ~6S~^;I~6CɫYY)Y YIYY@y|GxDUSBL response received:!U1,R,F70,000,00753,187,80,80,87,FF Fpublishing direction and range info>ɰ>鰥1> )CIyBJFTg? nk ?ٱi=)> >94<?#i@ @)@I@i@E]dMMR=YML0QQaDZDy޻}>I!%`!5?%-ܾ %A -?9%BC! %?)!WiWqXq XqWq:Wq2Wq*WyVybUyBUy*UyUU@P*QBZQ&R@-"@JQJFTg? nk ?2Q>:QbQZQ@R]4>Py U@RQ ?.=Qڿ0 \,߫?BQz@ QQ|BP9?P9?PQ]Q'A"Q('ABYB BA >*B A5XAAA ="C-*C-M=RC5(VC1C1 E=E=rg:M|>9IIM xGiM@M=IIM}; ME)Iiᅉᅩ4IG=r>poq,іEAY}r |@}r@y}r?m}r}rHUF?@ڳ?Vᠿ@F?G0??@`7?)~r |@ ~rξ^;I~rCɫ) IY5&@y5f|GDNmea in: $SNTTA,,,,,010606.25*58 I=)M<MM:=YUI;QUU>QQa]D]ZDYyex;}e>Iimu!5?m[6ܾ mA u?9mgCm|: m?)imuAdded new target pos. range: 75.000008 m, bearing: 335.680821 deg, deltaT: 4.490110 s, approachRate: 0.614685 m/s, LOS rate: 14.310347 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU R@U?By B BAF>*BA_AAA{ ="C*C(=RC=M:CC"5IG%o>-))- -l3:Y)y)-5oq,EAY}zf@}z@y}z'Ph}z}zH`eR??Ls@LR?^Ӭ??@@@?)~zf@ ~z_;I~zCɫ) IYU@yU|GQ8=>&1>iQ@ )I@i%<M-==Y-1;QU->11a5D5ZD9y=;}=>IAE!5?E*?ܾ EA M?9ECEl: E?)AWqWqXq XqWq:Wy2Wy*WyVbUBU*UUU|?B-\ B1 B1A5>*B1A5}AYAYA]M ="Ce*Ce=RCmB=;CiCi֍"9aIqG>1 5 gA9 99 I= xGi= ?@= =9 9 = s; = Eoq,AʿEAY}R@}RL@y}Rjc}R}RHW??=Y"X??@s?Ԟ`?)~R@ ~RW_;I~RCɫyy)y }IyYV@y|Ga i%a i% a m%a m% a q-a q- a e-a e- -S㥛? rh?/$?-?-C< -,=))I)y-Zd;O?L7A`?V-?-jQQaUDU[DYy]D;}]>Ia :e!5? :eEܾ e&A ?9eCe͑< e<)e:W1W1X1 X1W1:W12W9*W9V9bU9BUA*UAUAUe@Ʊ?BVZB BAH>*BA||AAA ="C*CUޑ=RCBi;CCqZ;i?IG>UU{U{U UY1:YU#R1yU:U[5)Ut;9]Moq,:XEA|i|@ɫyy)y }IyYU@y}G !!5{=M5^=YmQUm>iqauDu&[Dqy}}}>IȁŅ!5?ŅLܾ ƅZA ?9ƅCDž0: ȅ:)ȁWWX XW:W2W*WVbUBU*UUU^?B FB BA@>*BAS{AAA. ="C*C-=RC9b[;CC ejZX;aIGa>oq,4EAY}2@}2V@y}24Z}23}2H[?T?@&瞿 [?"?KC?s?)~2@ ~2^;I~0ɫ99)9 =I9Y}J@y}GM`eaiamDm@[Diyu:}u>Iy :}a!5? :}Tܾ }A ?9}C}E: }R:)}:WAWAXI XIWI:Wi2Wi*WqVqbUqBUq*UyUyU}z@B6B BA>*BAyAAAe ="C*CϘ=RC};CCqZ;9IyGi@=]; ݗEIGl>< zz 8:YQ1y:I5);pq,EAɫ髙) IYl@y}G1i5==p=i==u#<MuI=Y}QU}>yyaDZ[Dy}>Iȑŕ!5?ŕo[ܾ ƕA ?9ƕ!CǕU: ȕ :)ȑWWX XW:W2W*WVbUBU*UUU*@BIB BA>*BATxAAA ="C*Cu=RCx;CC~;I!)!IGn>+ pq,U1EAY}JY@}J @y}J S}J}JHK??`qwI? @? %^?}?)~JY@ ~J_;I~JCɫyy) IYu@yu{~GAAI p=) C=@5^I ?Zd;?Mb?b?y= <)Iy|?5^?Zd;Oy&1?R?j`< @)I@iEAf@=+====Ga>i=\@9 9)=@I=@i9M<MM0=YUv;QUU>QYa]D]x[DYye}e>Ii u:m)!5? u:m gܾ m A u?9mRCmA: m:)m:WWX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBB BAZ>*BAʯvAAA ="C*CL=RC0l8CC֕r;iIyG> ~~  E:YT1y@:59@ < 4= 9 I zGi @ = X; ٗEpq,KEAɫ髙) IY@y~GZ****** received transponder code query ******F****** received ping request ******aD[D y }->Iae"5?eepܾ eAA m?9eyCe: e]:)aWWX XW:W2W*WVbUBU*UUU/ @B :ټB  BA>*BA-OuAAAy ="C*C%*=RC%9C!C!9IGK>pq,weEAY}6`@}6n@y}6WO}6}6H:? +?Zغ9?? ?=o?)~6`@ ~6w(`;I~4ɫ99)9 =I9Y],@y]~GexDUSBL response received:!U1,P F70,000,00753,187,80,80,87,FF mCommand AckmBRequesting micromodem ping code 2iiiIq)q}Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 A<M \=Y;QU>)1a=D=[DIy]$}e>IȁŅi)"5?Ņyܾ ƅxA -?9ƅCDžx< ȅ<)ȁWqWyXy XyWy:W2W*WVbUBU*UUU`1j @B/d󼩺U>UzCBi nGIiQͿٺA BA>*BA&~sAAA% ="C*C=RC%UCC iA hA}} /:YkS1yԊ: 9 ?i ? I G >+pq,EAY}2{@}2[@y}2OM}2<Ѽ}2HI?@!?=. J?`?@?g?)~2{@ ~2!`;I~2Cɫ)))) -I)Ym@ymGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B II @ @ @Ý©ÝÝiÝp@Ý ę)ĝr@Iĝiĝ@q=M?=Y:QU>aD[Dy;}>I :A"5? :Vܾ A ?9C: :):WWX XW:W2W*WVbU BU *U U U`@BﰼB BA>*BA'rAAA ="C *C 9ݐ=RC f/C9C Cy܅{>9܁I܅{Gi܅x@܅=܁܁܅i; ݅EIGG> &pq,WEAY}:@}:@y}:}H}:x}:H"W?@?@Ho@X?8?( ?f?)~:@ ~:_;I~8ɫ99)9 =I9Y}@y}GxDUSBL response received:!U1,R,4BC,000,00783,189,80,80,59,FF Fpublishing direction and range infoaɰ>鰅7> )BIy›B߮j?ٱz:M]=Y_;QU>aD[Dy<}>IW"5?ܾ A ?9C: 6:)WWX XW:W2W*WVbUBU*UUUY@P*Q›BZQX㥤C@bg=hPJQ߮j?2Qa:QbQPcNHpS5 @RQ`/ª?xƔ~a?BQ@ QQ@"P 9?P9?PmQQMA"Q'ABM.(BQ BQAU>*BQAUpAQAYA] ="Ce*Ce#=RCe$3;CaCiօ0:DYIiGZ>  { {  5:Y #R1y : 5i7,pq,O=EAY}@}·@y}wgB}}H g? ?YZsi?%?J?ٗ?)~@ ~_;I~Cɫ  )  I YMX@yM*GDNmea in: $SNTTA,,,,,010610.68*56 =i=a=i%=)\(?QMb`G>\ )IyV-?MbPMb`)1a5D5[D1y=F;}M>IQ ]:Ur"5? e:Uܾ U A e?9U$CU] ; Ur;)U:myAdded new target pos. range: 77.880005 m, bearing: 268.132682 deg, deltaT: 4.416674 s, approachRate: 0.652074 m/s, LOS rate: -15.293893 deg/s, posRepo size: 4WWX XW:W2W!*W!V!bU!BU!*U)U-RxS@U-@k?BI9B BA6?*BAznAAA- ="C*C펐=RC#Z;CCqZ; I G >y } hA܁ 9܁ I܅ X|Gi܅ @܁ ܁ ܁ ܅ ]; ݅ ܗE)IiG43pq,9EAY}F@}F@y}F{>}F }FHVc?'?1{a?맩?@Fͧ?7T?)~F@ ~F/_;I~FCɫYY)Y ]IYYn@y8GI C=) %=5<M==Y=#L;QU=?AAaEDE\DAyMk}M?IQU"5?UEܾ UA ]?9UACU: U+:)QWWX XW:W2W*WVbUBU*UUU?B=*B9 BAAE?*BAAEaLmAAAAAE="Cm*Cuu=RCu_އ;CqCqֽX;יIGb>=i=M # M ~M ~M  M 6:YM T1yM @:M 5)M ;9U F9pq,WEAY}FՏ@}F@y}F};}Fg }FH@T?໠?@_$@ܓQ?@?s?xG?)~FՏ@ ~F_;I~DɫYY)Y ]IYYr@y:GU:M]H=Y]!:QU]>aaaeDe)\DaymW }m>Iq }:u"5? }:uܾ u9A }?9uhCu: u:)u:WWX XW:W2W*WVbUBU*UUU*Q?BZB BA?*BAέkAAA="C*CYR=RC:CCoM;IGI>.@pq,"EAY}Jց@}J@y}J 6}J}JH`%N?? `K?@b?(¦?7@?)~Jց@ ~J_;I~HɫYY)Y ]IYY@yJGu@>uu;߽iu@q uS@)u=@Iu@iu@;MG=YY;QU>aDC\Dyu}>Iȡťa"5?ťܾ ƥSA ?9ƥCǥض: ȥ:)ȡWWX XW:W2W*WVbUBU*UUU?BB BA?*BAiAAAI="C%*C%,=RC%3qC!C)9=iA%rg:-?i-?a9e|CIe|Giek@aaaeW; eٗEIG J>M I I M  M 1:YI yI M I5)M ;f]Fpq,1EAY}6~@}6@y}6wr0}6^f}6H M??֢iJ?? ?@㟿`l?)~6~@ ~6s_;I~4ɫ11)1 5I1Yu@yuG  <MR=Yi;QU>aD\\Dy%q}%>Iȁ :Ņ"5? :Ņܾ ƅkA ?9ƅCDžk: ȅk:)ȅ:WWX XW:W2W*WVbUBU*UUU@&@B!B BA?*BAEhAAA="C*C e=RC C C ]1IAG]U>ALpq,l{4EAY}eZ@}e @y}e:)}eL}eHP? ?N?@ɧ?%?E?)~eZ@ ~e_;I~eCɫQQ)Q ]IYYu3@yuGmT㥛 ?y&1L7A`尿m!?m`e m+)iIiymCl?iG@ @)I=@iS@f<M1=Yz;QU>aDz\Dy:}>I"5?ܾ A ?9C: b:)W!WX XW:W2W*WVbUBU*UUU`@B%╵B) B)A- ?*B)A-M M }M }M  M 2:YM kS1yM Ԋ:M n59U @% <% <) 9) I- }Gi- @- =) ) - Z; - ڗEjSpq,UNEAY}6@}6H@y}6!}6}6H`V?@?F7uT?]?@:?z4?)~6@ ~6_;I~6Cɫ99)9 =I9Y}j@y}ӀGU<Mp=Y;QU?aD\Dyp;}?I"5?"ܾ A ?9Cϸ: :)W1W1X1 X9W9:W92W9*W9V9bUABUA*UAUAUM@x@RUB*** querying acoustic contact ***PQPQB}\fBy ByA}?*ByAYdAAAm="C*C9=RC :CC ե=ԥ=m9Iq)qQIYG}7> Ypq,0hEAY}:@}:_@y}: }: }:HY?C?` $V?J?D`?@a?)~:@ ~:`;I~:Cɫ99)9 =I9Y}@y}GZ****** received transponder code query ******F****** received ping request ******aD\Dy:}>I :#5? :ܾ /A  ?9)C0: =:):WYWYXY XYWY:WY2Wa*WaVabUaBUi*UiUU` @BMVBQ BYA]z ?*BYAebAAAy&="C*CД=RC:CC!0::IG->m  i i m  m 6:Yi yi m 75}`pq,EAɫyy)y }IyY@yGxDUSBL response received:!U1,P 4BC,000,00783,189,80,80,59,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ýN>ýý-iý@ù Ľ=@)ĽIĽ@iĽ=@%ŻM56=YMQUM>YYa]De\D9}CI}Gi_@=N; ԗEy}>I!%R#5?%;ܾ %yA -?9%VC%: %:)!WqWqXq XqWq:Wy2Wy*WVbUBU*UUU @B5J墼BY BaAe ?*BaAmp`AiAiAmm="Cu*C2k=RC:CC I G >fpq,EAY}6@}6@@y}6d}63ȼ}6Hb?ɋ? a?@ڬ? iK?K?)~6@ ~6R_;I~6Cɫ99)9 =I9Y@yG鮡ɮ4=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B !%jAU<MUm=Y]Q9QU]?YaaeDe\Daymx;}m ?Iq }:u2/#5? }:u1ܾ uA }?9utCu: u4:)u:WWX XW:W2W*WVbUBU*UUU`)$@B̙!B BAz ?*BAU_AAAmZ="C*CP=RCZ;CCԡԡyׅ?iׅ?YIaGY> z z  m>:Y Q1y : 5i DnGI i - wϿٺ1 = ;Alpq,ֵEAɫ) IY @yBGxDUSBL response received:!U1,R,F4F,000,007AD,186,80,80,60,FF Fpublishing direction and range info1+>ɰ >> )BIy̠B{i[x?K?ٱdNmea in: $SNTTA,0.067763,0.280675,,,010615.14*55 !!EPonly read 0 of 1 data item for BIT errora iE@a M a mM@a M a qM@a M a eM@a M =/=E>== >i=p@9 =@)=S@I=x@i=S@<M+=YQU>aD\Dy}>IH#5?ܾ A ?9Cį: P>)W1W1X1 X1W1:W12WI*WIVIbUIBUQ*UQUQUu$@P*Q̠BZQѭRVS@> (@JQ{i[x?K?2Q1+>:QbQP3R@Q U j>"!@RQEyG?5ؿKZ0$?BQ@ QPQBPީ9?P 9?PQmQ!A"QMAB攝B BAq?*BA ]AAAsK="C*C%=RCRvA;CCI)@AqZ; I G- >ٹ ٽ iA x>9 |CI L~Gi @ = G; ЗEspq,EAY}2@}2W@y}2}2}2H g?Ђ?@Zz g?`?@?+@?)~2@ ~2C_;I~2Cɫ99)9 =I9Y}>@y}GM~=Yx)QU ?!!a%D%]D)y-};}- ?I15Y#5?5ܾ 5(A =?95C5: 5$M?)1mmuAdded new target pos. range: 80.399994 m, bearing: 337.759275 deg, deltaT: 4.532556 s, approachRate: 0.555975 m/s, LOS rate: 15.361442 deg/s, posRepo size: 4WqWqXq XqWq:Wy2Wy*WyVybUyBU*UUT@Uy?Bu`BBq ByA}b?*ByA}[AAA-="C*C =RCR;CC] ;׹IGf> G | |  |9:Y R1y i: 5) {;9 6ypq,xEAY}2@}2r@y}2B !}2 }2HWe?ń?Θ)}f?(i?`?K?)~2@ ~2X_;I~2Cɫ99)9 =I9Y @y5G5y=M=H=Y=QU=>AAaEDE+]DIyMc}M>IQ ]:Uo#5? ]:Uݾ UiA e?9UCU: UҚ?)U:WWX XW:W2W*WVbUBU*UUU?BhB BA ?*BA YAAiAu="C*Cl=RC8d;CC 5=5=]r;Ia)a1IAG]v>ˀpq,SEAY}:]@}:@y}:"}: }:H oa??l c?|?@BO?@~X?)~:]@ ~:r_;I~:Cɫ99)9 =I9Y}@y} GI =) %=UDUG=U=iU@Q U@)U=@IU=@iU=@eMmG=YmfQUm>qqauDuE]Dyy}}}>IȁŅ#5?Ņ ݾ ƅA ?9ƅCDž : ȅ[?)ȁWWX XW:W2W*WVbUBU*UUU ?BTusB BA ?*BAZXAAA]="C*CĎ=RC,;CC ܝz>9ܙIܙiܙܝ=ܙܙܝ$; ݝE)=|CI=|Ci999=p 5!I G%M>=i=pq,0EAY}2@}2Y@y}25#}2-}2Hp_? ?B`d`? "?Bs?`?)~2@ ~2P?_;I~2Cɫ99)9 =I9Y}u@y}wG=-_=M=M=Y=4QU=>AAaEDE_]DIyM[}M>IQUٚ#5?Uݾ UA e?9U5CU: U"@)QWWX XW:W2W*WVbUBU*UUUM?BYMB BA?*BA ;VAAA="C*Cz=RC B;CC] ;׹IGE> }} $4:YkS1yԊ:n59@"pq,v7EAY} ϣ@} @y} ,R&}  } H`?{?嗿`)a? k? Ȥ?`=??)~ ϣ@ ~ T^;I~ Cɫ) IY@yGI)a iMa iM a mMa mM a qMa qM a eMa eM MS?!rhy&1M>Ml M`e)IIIyMOn?{Gzt?y&1|?M8?Mף;M`; M@)Mx@IMf@iMAIM@aehAí<í?íYiíG@é ĭ@)ĭS@Iĭr@iĩ&M4=Y@QU>aD|]Dy^:}>I#5?ݾ  A ?9_CG ; m ;)WWX XW:W2W*WVbUBU*UUU?B 툼B  B A \ ?*B ATAAAߡ="CM*CMdw=RCM);CICQm(;IIaG>a e <i 9i Im ~Gim @m =i i m ; m E0pq,PEAY}2t@}2(@y}2k)}2tͼ}2HW\? R? @[? a?@@2?E@g?)~2t@ ~2~^;I~2CɫYY)Y ]IYY#@yEG5C<M=h=Y=QU=>AAaEDE]DIyMs=}M>IQ ]:U#5? e:UV#ݾ U&A e?9UCUw: U:)U:WWX XW:W2W*WVbUBU*UUU@BU` BQ BYA]?*BYA]DRAaAaAeF="C*CuX=RCW:CCֽqZ;יIGb>IAA)AA|| 2:YR1yi:5)Ï;92pq,jEAɫqy)y }IyYH@y[G09<ML=YQU>a%D%]D!y-}->I15#5?5+ݾ 5DA =?95C5U: 5@:)1WaWaXa XaWa:Wa2Wi*WiVibUiBUq*UyUyU@RB*** querying acoustic contact ***PPB%(HB BA?*BAkPAAA="C*C3=RC :CCrg:ױIGe>&pq,9EAY}:{@}:/@y}:y0}:"}:HR?ˤ?y̙ P?T\?b ?`2 ?)~:{@ ~:m^;I~:Cɫ99)9 9I9Y}@y}GZ****** received transponder code query ******F****** received ping request ******99aEDE]DAyM7}M>IQ ]:U#5? ]:U4ݾ UfA ]?9UCU: UR:)U:WWX XW:W2W*WVbUBU*UUU 8g @9Ii=D; EB]KBa BaAe?*BAΒNAAAn="C*CF =RC CC =}U;I)ױI yy 4:YP1y':ʽ5)ː;G>>Cpq,:vEAY}2dy@}2@y}2q4}2,}2HI?`?]`WAG?@㈩?`.? ?)~2dy@ ~2^;I~2Cɫ99)9 =I9Y}f@y}nGxDUSBL response received:!U1,P F4F,000,007AD,186,80,80,60,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  ͼMb=Y7QU >!a-D-]D9yMj}>I$5?<ݾ A ?9C: :)WWX XW:W2W*WVbUBU*UU)U5 @B9B BA?*BAǢLAAA="C*C=RC CC q=i=IG>ppq,=_EAY}F5i@}Fv@y}F&6}F_}FHRA??^c[>??Y?@ם?)~F5i@ ~F^;I~DɫQQ)Q ]IYY@yGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B a i@a  a m@a  a q@a  a e@a  >p>\i@ @)r@I@i@<M;=YmHQUm>iiamDu]Dqyu푻}}>Iy :}"$5? :}Eݾ }A ?9}C} : }>)}:WWX XW:W2W*WVbUBU*UUU@BM@E BM޺< BIAUN?*BQAUJAQAQAU="C]*C]=RCuCC֕"5iIyG~>ww E1:YO1yP:59@  hA y>9 I xGi @    :;  ȗEQUpq,,EAY}:a@}:o@y}:!7}:z}:He=?T?蕿 I:?`ݩ?B?aJ?)~:a@ ~:g^;I~:Cɫ99)9 =IAY}@y}4GxDUSBL response received:!U1,R,502,000,007DE,18A,80,80,7E,FF Fpublishing direction and range infof3ɰ$>鰅> )BIyBw?amf-ٱ6=Ma=YCQU?aD^Dy)}?I)-$5?Mݾ A ?98C< M?)W W X  X W):W12W1*W9V9bU9BU9*UAUAUEry@Pq*QuBZQuI3B@fgljRJQuw?amf-2Quf3:QqbQu$0I?E ; kThJ @RQu2,p@0H\h f?BQu@ QuQu"Pu 9?Puީ9?Pu|QuQu*A"Qu!AB(˻B BA?*BAHAAA ="C*C=RC-CCy%?i%?IGn>łpq,EA|,i|,Y}=n[@}=!i@y}=5}=U}=H#:?G?ē @5?B?`?@?)~=n[@ ~=^;I~=Cɫ)! !I!Y@yہGu>uoCDNmea in: $SNTTA,,,,,010619.57*53 imGI i!MTʿٺQUA 鿉 @ @ @©i=@ S@)Ii@& M =Y%:QU>aD3^DyȺ}>I  G$5? Wݾ A ?9 gC а: P?) myAdded new target pos. range: 83.340004 m, bearing: 264.263243 deg, deltaT: 4.374752 s, approachRate: 0.672040 m/s, LOS rate: -16.800046 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UUT@U ?B`2B BA2?*BA ;FA A A c="C*C5m=RC5JC9C9I@A)|| w2:YR1yi:5M! I1 GM >3gpq,EAɫyy)y }IY@y(GUE=M]=Y]QU] ?aaaeDeH^Daym}m ?IX$5?^ݾ A ?9C: e?)WWX XW:W2W*WVbUBU*UUUg?B5VB1 B1A5!?*B1A=*EA9A9A=}="CE*CEN=RCECACIܹ9ܹIܽGiܽ@ܹܹܹܽJ; ݽїEѥG=֕፨qIG>\pq,EAY}2-h@}2u@y}2 /}2X,}2HOA??C%>??ߥ?򀠿B?)~2-h@ ~2^;I~2Cɫii)i mIiY@y/G>i=) = =5-^;M=L=Y=K;QU=>AAaEDEa^DIyM~;}M>IQUm$5?Ufݾ U#A e?9UCU|: U&@)QWWX XW:W2W*WVbUBU*UUU ?BB BAz?*BAt#CAAA="Cu*Cu'=RCusCqCyme<9I!G=r>q  <:Yy5pq,F9EAY}:}@}:@y}:ʶ-}:u }:H@L? ,?f&`ȣI??.?@. ?)~:}@ ~:K^;I~:Cɫ99)9 =IAY}@y}4GIp=)=a ia i a ma m a qa q a ea e m?Mbp?J +>; H)IyX9v?:v?Q?=?T<\= f@)@I1@i A@ % % %%R%?%.>i%=@% %@)%@I!i%@5;M5;=Y=C:QU=>99a=DE}^DAyEo;}M>IQ ]:U$5? ]:U pݾ U^A ]?9UCU: U:)U:WyWX XW:W2W*WVbU)BU)*U)U)U5v>?B}By ByA}?*ByA@AAAV="C*C=RCAͺCCϹϹ)й й=i=ٹ ٽ < 9 I RGi @ = D A; ̗E)IIIiIM=IMj4E r I) GE >`pq,6tSEAY}2@}2:@y}2B,}2t }2HW?? sB }S?)? ??)~2@ ~2h_;I~2CɫYY)Y ]IYY@yVGT<MV=Ys:QU>aD^Dy;}>Iȩŭ.$5?ŭxݾ ƭA ?9ƭCǭ: ȭ@:)ȩWWX XW:W2W*WVbUBU*UUUe@BpźB B!A%r?*B!A%?A!A!A%F(<"C-*C5ތ=RC59C1C1eeYIaGY>j  F<:Yy5);9vpq,/OmEAY}6f@}6@y}6<)}6b}6HW?c? ̳zT?@t? 3?@砿?)~6f@ ~6d_;I~6Cɫaa)a mIiY<@yGIa)a…jA-2>j>xiz@ r@)Ir@ir@Y<MC=Y:QU>aD^D y } >I :$5? :ɀݾ A %?9Cb: 8:) :WAWAXA XIWI:WI2WI*WQVQbUQBUQ*UQUYU]]@BPcB BAW?*BA<AAA<"C*C=RC0CC9יIGb>npq,*EAY}6n@}6"@y}6i"}6r}6HZ?8?`x@(X?덧?@V?`n?)~6n@ ~66X_;I~6Cɫ99)9 =I9YE@yExG YYmQMmg=Yuk;QUu>qqaD^Dy:}>I.$5?Vݾ A ?9@Ck: :)WWX XW:W2W*W!V!bU!BU!*U!U)U-\I@RUB*** querying acoustic contact ***PQPQB/B BA.?*BA ;AAAd,<"C*C=RCc:CCY9YI]Gi]@]=YY]H; ]ϗEIGI>I)  4:Yy%5);pq,EAY}:@}:g@y}:n}: }:H`L[??#~Z?@XH??潗?)~:@ ~:+_;I~:Cɫ99)9 =I9Y}@@y}GZ****** received transponder code query ******F****** received ping request ******aiamDm^Diy8}>I :$5? :ݾ 2A ?9jC: =:)!:W W X  X)W1:W12W1*W1V1bU9BU9*U9U9UE@ @BpeB BAt?*BA8AAA,<"C*CVp=RC9CC"9׹IGf> pq,EAY}2@}2s@y}2 }2}2HZX? n?@+aՔX?6?@@? c?)~2@ ~2 #_;I~2Cɫ99)9 =I9Y}<@y}GxDUSBL response received:!U1,P 502,000,007DE,18A,80,80,7E,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 S㥛?ˡE?I +?$?= 94<)Iyd;O? rh?MbP?4?C =: ½@)¹I½@i½@@)= ==9?Q=i@ $@)IS@i aM=Y;QU>!!a-D-_D)y5/Ӻ}5>IAE$5?ELݾ EMA e?9ECE_; E];)AWWX XW:W2W*WVbUBU*UUUP@BP㻉{{ :2:Y#R1y:59@B BAW?*BA6AAA(<"C*C%>=RC%C!C!a a ܁ 9܁ I܁ i܁ ܅ =܁ ܁ ܅ Q; ݅ ԗE 9 I G% >pq,EAY}2(@}2ܙ@y}2L}2N}2HV?@(?iV?gB?@:? ?)~2(@ ~2_;I~0ɫ9A)A EIAY@yGp=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B x<M=Y i=$pq,bEAY}B$@}Bؙ@y}B }B}BH`V??`SlV? ?B?`f`K?)~B$@ ~BV_;I~@ɫYa)a eIiY@yGxDUSBL response received:!U1,R,441,000,0080E,189,80,80,72,FF %Fpublishing direction and range infoHsɰ(>7> )BIypBR?Cz ٱÍL=Íη>Í+iÍ@É ĉ)č@Ič@ič@A =MJ=Y-;QU>aD1_Dy+}>IȹŽ%5?Žoݾ ƽmA ?9ƽCǽ: Ƚ:)ȹWWX XW:W2W*WVbUBU*UUUC@P *Q pBZQ 뙑I@qQJQ R?Cz 2Q Hs:Q bQ Dxy@Yyf{U@`w"@RQ U?rFk?BQ #,@ Q ܫQ @P :9?P  9?P Q |Q A"Q *AB:B BA$?*BAy2AAA<"C*C=RC|CCq׹IG zz w?:YQ1y:\5 qq,EAY}~@}~^@y}~}~`}~H5Z??_ې@`Z?@뭞?R?`}@6?)~~@ ~~9IGi;@=<; ɗEhMC=Y;QU>  a D L_Dy:}>I/%5?^ݾ A %?9C8: :)mUqAdded new target pos. range: 86.220001 m, bearing: 274.254143 deg, deltaT: 4.430873 s, approachRate: 0.649984 m/s, LOS rate: 2.254838 deg/s, posRepo size: 4WYWYXY XYWY:Wa2Wa*WaVabUiBUi*UiUmU@Um S?B5H:BY BYA]n$?*BYA]L0AYAYAe<"Ce*Cmۋ=RCmxmڹCiCiyy֍vтבiו?aIqG~>$-qq,EK"EAY}6@}6G@y}6h漙}6}6H@[??@ʎo"[?'?`̜?VΑ@?)~6@ ~6_;I~6CɫYY)Y ]IaY @yG=;l<M=Y=Y=;QU=>AAaEDEd_DIyM{":}M>IQ ]:UC%5? ]:Uݾ UA e?9UCU: U:)U#:WWX XW:W 2W *W V bU1BU1*U1U1U=?B;B BA%?*BAJ.AAA<"C*C%=RCCC9סIGk>}} .:YkS1yԊ:5iDnGIi1 пٺ AXqq,,= 94)IyX9v?Zd;O? rh?=?j<C = …f@)…Z@I…G@i…@@%>%?%Pi%@! %@)%@I%@i%r@= M=;=Y=<;QU=>AAaEDE_DIyMj}U>IQUz[%5?Uvݾ UA e?9UHCUM: U4:)QWWX XW:W2W*WVbUBU*UUUB?B:B BAl!?*BAP$,AAA8!<"C*C=RCgRCC"5׹IGf>y>9Ii=:; ȗEFAqq,| VEAY}F\@}F@y}F˼}F?ȼ}FHfY??uBV?Q? x? ?)~F\@ ~F_;I~FCɫYY)Y ]IYY@yGuC=MuX=Yu`z;QU}>yya}D}_Dyf)}>Iȉ :ōp%5? :ō9ݾ ƍA ?9ƍlCǍ: ȍk:)ȍ$:WWX XW:W2W*WVbUBU*UUU@?Bĭ;B BA &?*BA%*AA A b<"C*Cr=RCCC֝Β{Iס)סyIG^> P0:Yy5);9 iqq,oEA|L|LY}]@}]h@y}].ż}]ɼ}]H O\?ޗ?ƓY?@y)?4? 2@%?)~]@ ~]G`;I~]Cɫ11)1 =I9Yu@yuςGIR=)R=-K7>->-G=i-@) -@)-@I-@i-@=NM=>=YEr:QUE>AIaMDM_DQyU:}U>IY]{%5?]ݾ ]A e?9]C]0: ]=:)YWWX  X W :W 2W *WVbUBU*UUU`o@Bek:B BA"?*BA'AAA"<"C*CI=RCv=CCֽqבIG>Q"qq,EAY}2Ѭ@}2@y}2¼}2* ׼}2HVi?n?Y{P~Df?ɡ?W? ޚ?)~2Ѭ@ ~2Ӎ`;I~0ɫYY)Y ]IYY@yvG5BM=]=Y=Q:QU=>AAaEDE_DAyM<}M>ܙ9ܙIܝGiܝ@ܝ=ܙܝDܝ-; ݝE)AIAiAE=AE4I :Ŝ%5? :ݾ =A ?9C(: :)%:W9WAXA XAWA:WA2WA*WIVIbUiBUi*UqUqUu V@B r;B BA?*BAS%AAA<"C*C (=RC ;C C IGl>yy 1:YP1y':5);{(qq,EAY}2;ǿ@}2Է@y}2)rż}2~м}2Hv?@k?@0Dg t? ??5 ?)~2;ǿ@ ~2d`;I~2CɫII)I MIIY}@y}G@AI)™iA=MT=Y1_QU>aD_DyB <}>IȹŽ%5?ŽZݾ ƽcA ?9ƽCǽ^: Ƚ:)ȹWWX XW:W2W*WVbUBU*UUU`Y@R B*** querying acoustic contact ***P P B-` <B1 B1A5$?*B1A=$A9A9A=U8<"CE*CE =RCE:ћ;CACIM ;IG-->.qq,pEAY}6ݿ@}6@y}6pɼ}6Ƽ}6HX?bX?D큿 &T??@k-?֘?)~6ݿ@ ~6f`;I~6Cɫ99)9 =I9Y@yGZ****** received transponder code query ******F****** received ping request ******aD`Dy&;}>I -:h%5? -:ݾ zA 5?9CD; ξ;)&:WqWqXq XqWq:Wy2Wy*WyVybUyBU*UUUF @B:B BA=%?*BAe!AAAb<"C*C%=RC%z;C!C)=;I)?Af {{ ;:Y#R1y:59@IG=>ّٕjAܙ9ܙIܙiܙܙܙܙܝ; ݝEߏ5qq,&TEAY}Rm@}R!@y}RIǼ}R?Ꞽ}RH =?sQ? kM ?!ҝ?&?rۓ ?)~Rm@ ~RX`;I~RCɫqq)y }IyYG@y3GxDUSBL response received:!U1,P 441,000,0080E,189,80,80,72,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 <M_=Y&:QU>))a-D-`D1y5;}=>I9=7%5?=ݾ =A U?9=*C=Oe; =bt;)9WWX XW:W)2W)*W)V1bU1BU9*U9UiUm s @B;B BA'?*BAm3AiAiAm;<"Cu*CuŠ=RC}';CyCֵ8;׉IG>;qq,5EAY}jA׿@}j@y}j}j-w}jH#?@]?`OˉY~??1?7㎿?)~jA׿@ ~js`;I~jCɫ髱) IYZ@yGa=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m=im=M,>M;_>ME>iMp@I M@)M@IM@iM@]uM]@=Ye:QUe>iiamDm5`Dqyu}u>Iy}%5?}`ݾ }A ?9}OC}: }:)yWWX XW:W2W*WVbUBU*UUU`*A@B;B BAD ?*BASAAA<"C*C=RC;CCA U=U=5r;I9)9IGUu>Q }} H::YkS1yԊ:5ŸBqq, EAY}2ι@}2Ƿ@y}2$ }2s}2H'p?yv?Ɇ@Csko??}? @?)~2ι@ ~2a;I~2CɫYY)Y ]IaY@yGxDUSBL response received:!U1,R,493,000,00841,18A,80,80,7D,FF Fpublishing direction and range infoM͂ɰ->鰭> )BIyBDǮ6?XĔLٱI)=,=Mg=Y:QU>aDL`Dy&}>I :&5? :޾ A ?9nCI: w:)':W!W)X) X)W):W)2W)*W1V1=x>99I9i9999=; =EbUQBUQ*UQUYU]`E@Pi*QmBZQmNDJG@\(i SJQmDǮ6?XĔL2QmM͂:QibQm F7??3OVF8@RQm Ha?NN(!h֐К?BQmr@ Qm~QmA?Pm29?Pm:9?PmQmQmA"QmABJ<B BA$?*BAnAAAo <"C*C=RCX;CCϩ;ׁIG?>=iHqq,$EAɫ  )  I YM@yMGDNmea in: $SNTTA,,,,,010628.47*50 ;M9=YQU>aDh`Dy}>I  &5? d ޾ A ?9 C : 4:) muAdded new target pos. range: 89.279999 m, bearing: 270.486474 deg, deltaT: 4.423078 s, approachRate: 0.691825 m/s, LOS rate: -0.851821 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UUQV@U 1?Be7;Ba BaAe$?*BaAmAiAiAm]7<"Cu*Cu_=RCuo0;CqC ;ש || [:YR1yi:5I9G}>Nqq,ط>EAY}2f@}2@y}2 }2Z}2HY?7?@`oX? @?`u?)J?)~2f@ ~2N_a;I~2Cɫ99)9 9I9Y}@y}G1Zd?~jtx?I +"?; 94)Iy r?y&1Zd;O?C?`ej<= •@)‘I•G@i•$@f@j<=ʑ?i@ @)@Ii=@<MI=Y ;QU > aD`DyZ}>I! -:%,&5? -:%޾ %A -?9%C%z: %L:)%(:WQWQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUe?B <B BAf&?*BAAAA_y<"C*C==RC%qCCԹԹ"5;?i?סIGd>999I9i9==99=; =EUqq,OXEAY}:@}:k@y}: }:}:HZ??@-aD`D y 9} >I A&5?+޾ !A %?9Cܹ: +:)WAWAXA XAWI:WI2WI*WIVIbUQBUQ*UQUYU]\?BX4<B BA&?*BA9AAA<"C*C=RCdԺCC  7IG (>I)@A ~~ rE:YT1y@:5)П;9Y \qq,|rEAY}:ᚿ@}:@y}:Z}:g}:H a?C?wA_??]? ',`?)~:ᚿ@ ~:Da;I~:CPVjCi oGI!i9ɫ髙) IY^@пٺ7AyGÅÅ=Åq=iÅ@Á ą@)ąݸ@Iąݸ@iąݸ@hkM@=Yc;QU>aD`Dy%e;}>Iȱ :ŵ.X&5? :ŵ'޾ ƵUA ?9Ƶ Cǵ: ȵz:)ȵ):WWX XW:Wa2Wi*WiVibUiBUq*UqUqUuj?B8;B BAa ?*BAAAA<"C*C =RC-?CC=e)I9GUu>bqq,sIEAY}:@}:@y}:w}:}:Hj?b?ph?  ?? ?)~:@ ~: a;I~:Cɫ99)9 =I9Y}p@y}G9IGi;@=; E==i9==i==uz;M}M=Y}ݗ;QU}>aD`Dy;}>Iȑŕm&5?ŕ0޾ ƕA ?9ƕ2CǕI: ȕU:)ȑWWX XW:W2W*WVbUBU*UUU E@B!<B BA ?*BAA A A Kz<"C*CӉ=RC :CCΒ{IG J>. }} }7:YkS1yԊ:5)“;0iqq, %EA||Y}6A@}6·@y}6b}6ޚ}6Hn?\y?đawNm?T?U^? [?)~6A@ ~6=Ba;I~4ɫ99)9 =I9Y}@y}߂G=<M=N=YEO;QUE>AIaMDM`DIyU/:;}U>IY]&5?]:޾ ]A e?9]YC]: ]:)YWWX XW:W2W*WVbUBU*UUUps@Bȕ#<B BAc#?*BA AAA`<"C*C|=RC3;CCEz: I!GEQ>=i2Boqq,EAY}2E@}2÷@y}2T}2ʼ}2Ho?`_x?z;Z? wl?@唜??`CY@?)~2E@ ~2aa;I~0ɫYY)Y ]IYY@@yGEQ?~jtS㥛?E(?ED E$>)AIAyE/$?~jth?aDaDy=9}>I U:&5? U:TB޾ A U?9~C< }<)*:WWX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPB;B BAt?*BA%l A!A!A%E<"CM*CM=RCM;CQCQ}] ;QIaG}z>$ zz 6:YQ1y:59@iA9Ii ; E)qIqiqu=u=uo4,vqq, EAY}2@}2S@y}2J}2"(}2H@e? ?% n?`a?:?@5Y?C@@?)~2@ ~2Va;I~0ɫ19)9 9I9Y]x@y]GeZ****** received transponder code query ******eF****** received ping request ******e99aEDEaDAyM>ʻ}M>IQU&5?UJ޾ UA ]?9UCU: U :)QWWX XW:W2W*WVbUBU*UUU@ @B9F<B BA1!?*BA ߅ A)A)A-^<"C5*C5j=RC5쒳C9C9Yqiu?9IAG]U>U|qq,EA|i|Y}6撿@}6@y}6GD}6aE}6Hk]?`d?Lp?c Y? G?@"?`7g B?)~6撿@ ~6y2a;I~4ɫ99)9 =I9Y}@y}TGxDUSBL response received:!U1,P 493,000,00841,18A,80,80,7D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ;_>tp>i̴@ @)S@I@iS@E%Mm-=YuP:QU}>aD:aDy_}>Iȱ :ŵ'&5? :ŵS޾ ƵA ?9ƵCǵ<; ȵ<;)ȵ+:WWAXA XAWA:WA2WI*WIVIbUIBUI*UQUQUU @Bx;B BAT?*BA AAAv<"C*C ==RC [CCI)AA ~~ v4:YT1y@:5-9IG >gfqq,/m'EAY}>@}>@y}> J}>l}>HV? w?Cp?@aS?@?^?`(?)~>@ ~>c`;I~>CɫYY)Y ]IYY@ymGxDUSBL response received:!U1,R,502,000,0086F,189,80,80,90,FF Fpublishing direction and range infof3ɰ0>鰥7> )CIyBw?amf-ٱ=i=)= =MW=YfgQU>aDhaDyٹ}>I :&5? :$b޾ A ?9 C&< 7<),:WWX XW:W2W*WVbUBU*UUU @P*QBZQh٧D@ܔ-TJQw?amf-2Qf3:QbQd6|]! ;V?]ه@RQU&aWl+XU?BQœ@ Q,Q P 9?P29?PQQA"QAB<B BA?*BAqNAAA<"C*CQ=RCCC֝ 7yIxx ,:Y7P1y:5G=>Pqq,;RAEAY}@}Ϝ@y}"I};}Hm[?@?@Cu? W?`?2$? ?`?)~@ ~a;I~ɫ) IY5 @y5qGTNmea in: $SNTTA,0.067211,,,,010632.91*4D Ip=)4=a i%@a % a m%@a % a q-@a - a e-@a - uuf&?u1iu@q uf@)u@Iqiu@;M1=Y9QU>aDaDy;}>Iȡť&5?ť_k޾ ƥ A ?9ƥ3Cǥ: ȥ>)ȡmuAdded new target pos. range: 92.040001 m, bearing: 264.584426 deg, deltaT: 4.467135 s, approachRate: 0.617846 m/s, LOS rate: -1.321216 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU`W@U?B<B BA?*BAAAAM<"C*C҈=RC> CCQy}<܁9܁I܅RGi܅@܁܁܁܅; ݅E=i=)I1GU>dxqq,h#[EAY}>Ř@}>x@y}>{O}>}>H f`? o?@[ s?V8\?s? 5??)~>Ř@ ~>%a;I~>Cɫii)i mIiY5@yG5a<M=c=Y=̌QU=>AAaEDEaDAyMbV;}M>IQU'5?Ur޾ UA ]?9USCUc: UR?)QWWX XW:W2W*WVbUBU*UUUeM?BN<B BA?*BA[AAA|<"Cm*Cȴ=RC×CCօ"5YIaGZ>1 zz 7:YQ1y:5ͣqq,uEAY}2Т@}2@y}2U}2ݞ߼}2H`e?@?vh? b?Ӟ?ⵊ?`\@?)~2Т@ ~2a;I~2Cɫ99)9 9I9Yu@y}[GIA) =@ =@ =@=©==i= @= =)=I=@i=@M쾼MUI=YUsQUU>YYa]D]aDaye8E;}e>Ii u:me%'5? u:mz޾ m&A }?9mwCm: mx?)m-:WWX XW:W2W*WVbUBU*UUU,?B><B BA?*BA[AAA<"C*C됈=RCPCCq?i?יIGA>qq,ێEAY}J @}J@y}JkJf}J0ͼ}JH *h??LN?.%e?`w?@Ɍ?m?)~J @ ~J`;I~JC!9!I% Gi%G@!!!%; %EɫYY)Y ]IYY@yFG C"MG=Y!QU>aDaDy:}>Iȡť9'5?ť޾ ƥ6A ?9ƥCǥ: ȥ?)ȡWWX XW:W2W*WVbUBU*UUU?B f4?<B BA?*BAAAAP<"C%*C%m=RC%^|8C!C)%"IGI>I){{ 2:Y#R1y:%5)Ï;9Ŵqq,ᵨEAY}6@}6@y}6w}6 =Ҽ}6H`#l?`%~?03?W|h?@x??@#F _?)~6@ ~60`;I~6CɫYY)Y ]IYY@yOG5w;M=O=Y=)QU=>AAaEDEaDAyM ;}M>IQUM'5?UŠ޾ UFA ]?9UCU: U5@)QWWX XW:W2W*WVbUBU*UU!U-,@B]lF<BY BYAe?*BaAegAaAaAe<"Cm*Cu_I=RCu[:CqCq֍9i]nGIסiC̿ٺHAI)G>qq,hEAɫ髹) IY#@yGU=iU=   t>#>i@ G@)Iݸ@i@uGMu8=Y}QU}>yaDbDy}>Iȑŕc'5?ŕ޾ ƕWA ?9ƕCǕ: ȕ@)ȑWWX XW:W2W*WVbUBU*UUU~@B-<B BA?*BAPPAA A <"C *C$=RC{):CC %=%==yb9IA)A%y>9!I%Gi%@!!!%; %EIAG]v>|| 0:YR1yi:5);Mƶqq,/jEAY}:广@}:Ƿ@y}:)|}:oݼ}:H 8q?u?8G?sm?e֟?΄? > ?)~:广@ ~:,`;I~:Cɫ99)9 =I9Y}@y}2GIC=)R=t<=Mn=YnQU?aDbDy4g;}?IȹŽ;u'5?Žs޾ ƽeA ?9ƽCǽ: Ƚ4@)ȹWiWiXi XiWi:Wi2Wq*WVbUBU*UUU}@RB*** querying acoustic contact ***PPB9x<B BA?*BAAAA<"C*CR=RC.9:CC ?B9IGE>=ip=Hqq,HEAY}Jɿ@}J3׷@y}J"ps}J1ļ}JH@Iy?4h?\o?qf v?@ٜ?m?؄@?)~Jɿ@ ~Jm`;I~Hɫyy)y }IyYO@yGZ****** received transponder code query ******F****** received ping request ******11a5D5:bD9y=\;}=>IAE'5?Er޾ EwA U?9E,CE|: EQ@)AWqWqXq XqWq:Wy2Wy*WyVybUBU*UUU@ @B?<B BA?*BAm}AAA`<"C*C=RC%4S;CC]] ;1IAG]v>R {{ \::Y#R1y:59@fqq, EAY}2/ѿ@}2޷@y}2Sl}2ٶ}2H D}?a?O@_@z? 1? ?@#ږ?)~2/ѿ@ ~2b`;I~0bu>9`I`i`b=``b; bE)YIYiYYY]Z5ɫYY)Y ]IaY}x@y}GxDUSBL response received:!U1,P 502,000,0086F,189,80,80,90,FF Command AckBRequesting micromodem ping code 2iIA)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ]<M5_=YE]:QUM>YaaeDmRbDy;}>IQUd'5?Uw޾ UA ?9UPCU[; Ul@)QW)W1X1 X9W9:W92WA*WVbUBU*UUU\ @B59<<BA BAAE4?*BAAM AIAIAM)<"CU*CUa=RCUy;CQCYy}hA]qZ;1I9GU>qq,:*EAY}V`Ϳ@}V۷@y}VVg}V}VH`Y{?d?a(c y?@zy??@ߓ?)~V`Ϳ@ ~VR`;I~VCɫqq)y }IyY@yЁGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 鿑7M@=Y>:QU>aDlbDy}>Iɳ'5?޾ A ?9rCՐ; V@)WaWaXi XiWq:Wq2Wy*WV!bU!BU!*U)U)U-M@BuH$o<By ByA?*BA gAAA7<"C*C=RCXQ;CCֽr;׉IG>I)@Azz f.:YQ1y:5Rqq,CEAɫyy)y }IyYq@yGa iUa i] a m]a m] a q]a q] a e]a e] ]|?5^?I +?~jt?] ?]94= ]<)YIYy]uV??Eu=iE@A E@)E@IEr@iEr@Ua<MU@=YUQU]>YYa]D]bDaye}e>Ii u:ma'5? }:mк޾ mA }?9mCm{: mI:)m.:WWX XW:W2W*WVbUBU*UUU5@B~<B BA?*BA (ܼAAA #<"C*C}=RCCC]qZ;ٹٽ<y>9IxGi@= ; E1IAG}z>9qq,]EAY}r黿@}rɷ@y}rM}rW}rHr? }s?BOE ]>eYMeZ=Ye;QUm>iiauDubDqy}}}>IȁŅw'5?Ņ޾ ƅA ?9ƅCDž: ȅ:)ȁWWX XW:W2W*WVbUBU*UUULY@B5<B BA?*BAټAAAt<"C*C\=RC@:CCױIGe> || 4:YR1yi:5>qq,wEAY}:@}:F@y}:PD}:$}:Hm?g{?L~Q?`Fzzk??え?n?)~:@ ~:V`;I~:Cɫ99)9 =I9Y}@y}GI=)=Ga=ʡi@ @)@I@i@exd;MmR=Ym:QUm>qqauDubDyy}9}}>Iȁ :Ņ'5? :Ņ޾ ƅA ?9ƅCDž: ȅ:)ȅ/:WWX XW:W2W*WVbUBU*UUU @B4j<B BA;?*BADռAAA<"C*C ;=RC X9C C q:IGE>i=(qq,rEA2z>90I2Gi2S@2=0023; 2ėEY}e@}@y}>}%}H@%k? ?`?~h?`?|?ˣD?)~e@ ~}_;I~Cɫ) IYH@yG5=M5F=Y5s:QU=>99a=D=bDAyEDк}M>I(5?޾ A ?9C ; C ;)WQWYXY XaW:W2W*WVbUBU*UUU ɰ@RB*** querying acoustic contact ***PPB th<B  B A ?*B A ѼAAA<"C*C=RCASCC!U91I9G]v># yy 6:YP1y':5);9Pqq, CEAY}2@}2G@y}21}28}2H;i?ག?v?` `e?!?caDbDyӜ}>I(5?Q޾ A ?9C': :)WWX XW:W2W*WVbUBU!*U!U!U% @B<B1 B1A=?*BAAMͼAqAAZ<"C*CQ=RC-"CC֍ጹyIG^>8qq,TEA| i|"@ɫ髹) IY@yG  T㥛 ?L7A`?{Gz!?+= #)IyJ +?MbpI +?H?9< @)™I@iZ@@^lg>v>>i@ S@)=@I=@i@fM6=Y QU >aD cDy}>I :u.(5? :޾ A ?9IC: :)0:W)W1X1 X1W1:W12W1*W9V9bU9BU9*U9UAUE`@B3I<B BA?*BAAɼAAA<"C*C̆=RCCCmhAmgAy9yI}~Gi}@}=yy}-; }—EqI) ||# D:YR1yi:#5); IG5>bqq,EAY}:@}:@y}:}:!*}:HT?F? ?fM??s?@lB?)~:@ ~:)`;I~:Cɫ99)9 9I9Y}@y}GxDUSBL response received:!U1,R,CF3,000,07C55,189,80,80,7D,FF Fpublishing direction and range info"z.?ɰ"@鰁 )BIyDグ?!Q(?ٱMc=Yw;QU>aDcDy"l}?IYA(5?޾ A ?9kC < .<)WWX XW:W2W*WVbUBU*UUUq@P!*Q%DZQ%YZ淖@ Qn@JQ%グ?!Q(?2Q%"z.?:Q!bQ%j|k@:"MHo@CHARQ%g?ݓ ?>8;BQ%O > Q%BzCQ%DP%W9?P% 9?P%?Q%Q%"Q%AB})<By ByA}?*ByAżAAA-<"C*C3=RCHCCֽיIGd>5 ԙ>1 i nGI i wϿٺ ;Aqq,EEAY}Jy@}Jq@y}JT}J&}JHP?+?`?I?? ?@Ѥ?)~Jy@ ~Jk`;I~JCɫyy)y }IyY@y.G=i=) = =ÅC ÅL=Å&iÅ@Á ąr@)ą@Iāią=@J&M<=Y0:QU>aD;cDy&}>Iȱ :ŵY(5? :ŵ޾ ƵA ?9ƵCǵ: ȵ(:)ȵ1:m}Added new target pos. range: 1872.239990 m, bearing: 7.682995 deg, deltaT: 6.868980 s, approachRate: 259.165100 m/s, LOS rate: 15.009300 deg/s, posRepo size: 4mCompleted rollout at range: 1872.24 m. Resuming terminal guidance.mbTransitioning guidance mode to: TERMINAL_GUIDANCE"XWW!X! X!W!:W!2W!*W)V)bU)BU)*U1U5@@U5?B]t<Ba BaAeg ?*BaAe0¼AaAaAm^<Cq Յ=ԅ=օ9IIGeV>t {{ =:Y#R1y:n59@Y 9Y I] L~Gi] @Y Y Y ] ; ] EIrq,EAY}2t@}2c@y}21Q}2rG}2HM?@?`k?\G?`ڢ?ʀ?@?)~2t@ ~2`;I~2Cɫ99)A EIAY_@yiGI =) C=]<M]L=YeP:QUe>iiamDmUcDqy}rɺ}}>IȁŅYp(5?Ņ+޾ ƅ(A  ?9ƅCDž< ȅ<)ȁW1W1X1 X1W1:W92W9*W9V9bUABUA*UAUAUE A?Bu !<Bq BqAui?*BqA}fAyAyA}<C֥𕭻yIG^>=ip= rq,,EAY}N@}NO@y}N}N}NH`V?Р?`?`R?@?@ ?3/?)~N@ ~N`;I~NCɫyy)y }IyY5@y=G-=-?-(>i-Q@) -S@)-@I-@i)==ME>=YEp:QUE>QYa]DepcDqyu;}u>Iy :}(5? :}%߾ }AA ?9}C}: }:)}2:WWX XW:W2W*WVbUBU*UUUɶ?BMi<BQ BQA]R ?*BYAeAiAiAu <C== Օԕ xx %?:Y7P1y:5 I G- >rq,eFEAɫ髙) IY@y GIA)Arh|?MbXaDcDy}>I  (5? ߾ kA ?9 C +: f:) W9W9X9 X9W9:WA2WA*WAVAbUABUI*UIUIUU#?B<B BA ?*BAwAAA%k~<C)IG-->9I}Gi_@D'; E)ݡIݡiݡݡݡݥJ4!rq, C`EAY}F`@}F@y}F廙}F䨼}FH`gj?ۀ?r?`yh?ɕ?S|? ?)~F`@ ~F `;I~FCɫYY)a eIaY@yG ;MY=Y ;QU>!!a%D%cD)y-H<}->I1 =:5(5? E:5 ߾ 5A M?954C5δ< 5<)53:WWX XW :W 2W *W VbUBU*UUU@%@BE3<BA BAAE! ?*BIAMAIAIAM!<CQ)I1GU>I)% %~%~% %A:Y%T1y%@:%5rq,zEAɫ髙) IYW@yeGÝף=Ý8?Ýh=iÝ @Ù ĝ@)ĝS@IĝS@iĝS@=M==YQU>aD cD y}>I3(5?$߾ A %?9]C': :)WAWAXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU]Yr@BF<B BA.?*BAدAAA:<CIש)שסIG > 9 I i     U;  חET$rq, EAY}^<ؿ@}^@y}^ɻ}^BU}^Hx?tZ?6V?*Z`?S\? paaaeDecDiym,j<}u>Iy}(5?}.߾ }A ?9}C}: }:)yWWX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB<B BA?*BA5AAA><CIIQGu>}} 3:YkS1yԊ:5)s;9 *rq,cҭEAY}:@}:E@y}:t}:EK}:HЉ?@dL?T? L@? ?x?Zh:?)~:@ ~:Mx_;I~:Cɫaa)i mIiYr@y׀GUZ****** received transponder code query ******UF****** received ping request ******UUP=U=iUp@Q U=@)U@IU @iU@<M *=Y:QU>))a5D5cDiyu;}u>Iy :}(5? :}R:߾ }A ?9}C}; }4;)}4:WWX XW:W2W*WV9bU9BUA*UAUAUEƬ @Bm"J<Bq BqAu ?*BqAuAqAA:<CבIG>i=1rq,EAY}J@}J?@y}Jϻ}Jh}JH`͊?@J?)]?jJۉ?@a?y? 2?)~J@ ~J+_;I~JCɫ) IYyxDUSBL response received:!U1,P CF3,000,07C55,189,80,80,7D,FF Command AckBRequesting micromodem ping code 2i-Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ^I +??{GzX>< #)IyCl?V-?;??< …@)…@I…@i…@@ܩ9ܩIܭ }Giܭ@ܭ=ܩܩܭL; ݭҗEYQU>aDdDy[:}>IE )5?B߾ A  ?9C߼: :)W)W)X) X)W):W12W1*W1VQbUYBUY*UYUYUe9 @B)u<B BA*BA%!SA!A!A-f<C9 yy v4:YP1y':5)$;׉IG>7rq,EAY}:@}:@y}:i_}:w}:H@܇?O?@4s?`BO?`F?ڋ~?@ZN?)~:@ ~:G_;I~8ɫ99)9 =I9Y}r@y}:GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IY)Yii,M*>rq,jEAY}NԿ@}N@y}N }NdVѼ}NH?@;]?"w?\|?"?`? )?)~NԿ@ ~NM_;I~NCɫ髹) IY @yGxDUSBL response received:!U1,R,FE2,000,008F0,185,80,80,69,FF Fpublishing direction and range infoPw<ɰn;>+> )BIyBy[1?P!Κ?ٱ =>>i@ 1@)@Iʭ@i@cO=MC=Yy QU>!!a%D%?dD)y-藻}->I152)5?5#Q߾ 5'A =?95C5: 5:)1WaWaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqU} @P*QBZQjKX@x>@JQy[1?P!Κ?2QPw<:QbQs-P?U@ٽ_aH]e{R?RQIK}?F߿2c?BQ @ Q CQBP/9?PW9?PPQ?Q@"QB<B BAu?*BAzPAAA(<CׁIG >IAA)|| .:YR1yi:59@ܡ 9ܡ Iܥ X|Giܥ @ܡ ܡ ܥ Dܥ g; ݥ EErq,p@EAY}>.Ŀ@}>ѷ@y}>}>Ėм}>Hw?k?`:x?`Sk`*t????)~>.Ŀ@ ~>^;I~>Cɫ髹) IY/@yG]DNmea in: $SNTTA,,,,,010644.24*5F 5MM=Y9QU>aDXdDyp}>I  : H)5? : +Y߾ ,A ?9 EC w: :) 6:mEMAdded new target pos. range: 99.779999 m, bearing: 330.744998 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1mMProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 330.744998deg and heading rate command to 0 deg/s.WM @WIXI XQWQ:WQ2WQ*WQVYbUYBUY*UYU]X@Ue;?B: <B BA>*BAAAA-<"CNRCsm<C @CסIG2;Krq,q/EAɫqq)q uIqY@yGi=mGIi5Cſٺ9=ӵAi=6only read 3 of 4 data itemsa i@a  a m@a  a q@a  a e@a  )= >í=íí̽ií̴@é ĭG@)ĭ=@Iĭ@iĭ=@M$=YQU>aDxdDy}>Ied)5?0c߾ 1A ?9uC5: y?)WIWIXI XIWI:WI2WI*WQVQbUQBUQ*UYUaUe`?BLQ?<B BA>*BAAAA<"ClRC0B==CCvv [/:YN1y:I5IGe>"Rrq,HEAɫyy)y }IyY@yGI%p=)%=eL;Me=YaQUm?iiamDmdDqyq}}?Iy}t)5?}i߾ }4A ?9}C}%: }J?)yWWX XW:W2W*WVbUBU*UUU/?B<B BAz>*BAxϔAAAK<"CnRCjK=CCIIQGu>AE4=I9IIM{GiM@IIIMi; MEip=LXrq,bEAY}Fᬿ@}F@y}F1!}FOӼ}FH`$k?q?^{?T@)h?XÚ??y@?)~Fᬿ@ ~F^;I~FCɫyy)y IY/@yGUͮ<M]K=Y]p:QU]>aaaeDedDaym}m>Iq }:uۊ)5? }:uHq߾ u9A }?9uCu%: uܘ?)u7:WW!X! X!W!:W!2W!*W)V)bU)BU)*U1U1U5?BeV<Ba BaAe>*BaAmgAiAiAm <"Cuo*Cu=RCuĶ"=CqCyօ &yIGg> zz $4:YQ1y:n5 w^rq,|EAY}6]ǿ@}6շ@y}6}6야}6H x? h?@h?h`9w?|?:~?6g?)~6]ǿ@ ~4I~4ɫ99)9 =I9Y@yGI)M̼M?Mlg>iM\@I M@)M@IM@iM@]MeJ=Ye_:QUe>iiamDmdDqyu<}u>Iy}C)5?}ty߾ }=A ?9}C}: }?)yWWX XW:W2W*WVbUBU*UUU?B<B BA>*BAuIAqAqAu<"C}r*C}=RC}3=CyCm:A 9A IE {GiE x@E =A A E e; E ߗE)Ii኉=4berq,EAY}]@}]@y}] ˻}]z }]H ?`)J?r?Je?4"?`ty?Ǡ@V?)~]@ ~]x[^;I~]CɫII)I UIQY@yG -;M->=Y-Z1;QU->11a5D5dD9y=%<}=>IAE%)5?E߾ E@A U?9ECE): E@)AWWX XW:W2W*WVbU BU *U U U `@B5J<B9 B9A=A>*B9AEAAAAAE.]<"CMo*CM=RCM1B=CICQ=ȿ=IG%M>I@A)xx 1:Y7P1y:\5);9Vkrq,oEAɫQQ)Y YIYY@yG51>5u>5̼i5@1 5@)1I1i5@EME:=YMQUM>IIaUDUdDQyU}]>Iae)5?eߊ߾ eDA m?9e1Ce: e@)aWWX XW:W2W*WVbUBU*UUU`k@RB*** querying acoustic contact ***PPB5<B BA>*BASAAAL<"Cl*C|=RC @=CC ==l"=שIG>prrq,< Q8)IyK7A`??Mb?K?<= @)@I@iA@ጼMO=YQU>  a D eDy}>I %:)5? %:W߾ aA ?9ZCib< b<)8:WWX XW:W2W*WVbUBU*UUU+ @9IzGi@=m; EBeF<Ba BiAmv>*BiAmAiAiAul<"Cuq*C}Ir=RC}[?=CyC֕&t@= {{ n:Y#R1y:5);iIyG>xrq,EAY}FĿ@}Fiҷ@y}F}F*}FH}w? i?@?@j}p?ӣ?rw?6Y?)~FĿ@ ~FA^;I~FCɫYY)Y ]IYY)@y~GxDUSBL response received:!U1,P FE2,000,008F0,185,80,80,69,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I==)==mMh=YO:QU>aD&eDyO} >I15)5?5q߾ 5}A E?95C5C ; 5;)1WYWaXa XW:W2W*WVbUBU*UUUr @BuM<Bq BqAuq>*BqA}AyAyA}ņ<"Cn*CAf=RC-=CC=i=5+E=IG >~rq,EAY}F)@}Fݭ@y}Fj}}FI}FHd? ?B?H*[??Ov?-`?)~F)@ ~FZ^;I~FCɫYY)Y ]IYY@yv~Ga=ɮ=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Q=n>Vi@ ݸ@)@Iʭ@iʭ@ȼM@=Y-:QU>a%D%AeD!y-2}>IF*5?߾ A ?9C: :)WWX XW:W2W*W V bU BU *U UU K;@B= <B9 B9A=>*BAAE~|AAAAAEc<"CMk*CUY=RCU=CQCQeiAeiAES,=I G%M>f zz ;:YQ1y:o59@ 9 I dzGi @ = o; E2rq,EAY}R[u@}R@y}R }RX}RH@}N?@?Y鰽7> )|BIypBoNn?ހaDZeDy#[}>I :,*5? :Ԭ߾ A ?9C; ;)9:W1W1X1 X1W1:W12W9*W9V9bU9BUA*UaUaUe s@Pq*QupBZQuj/.S@68W}P@JQuoNn?ހ RQui謤?^W?@.BQu> QuMrAQuBPu]9?Pu/9?PuQuPQuT@"Qu@B:V<B BAB>*BA vAAAn<"Cp*C4J=RC =CC!U31=)I9GUu>ۋrq,Z1EAY}=L@}=Y@y}=n}=)@o}=H 8?J?]C?@!,? ,g?m?㭿?)~=L@ ~=p|^;I~=Cɫ11)9 =IAY-@y-)~GDNmea in: $SNTTA,,,,,010648.67*54 鿹Zd;?{Gz rh??ף C<)Iy㥛 ?{Gzy&1|?5?ף`; @)+AI‰i A@`<;=i@ )@I@ij;M"=Y<;QU>aD yeD y ,}>ID*5?\߾ A %?9C: :)mUmAdded new target pos. range: 102.720001 m, bearing: 8.481878 deg, deltaT: 4.442795 s, approachRate: 0.661746 m/s, LOS rate: 8.493947 deg/s, posRepo size: 2me ProNav: pos range: 102.720001 m, bearing: 8.481878 deg, approachRate: 0.661746 m/s, LOS rate: 8.493947 deg/s, cmd update: 12.000000 deg/s, cmd heading: 330.744998 deg, new cmd heading: 330.744998 deg. We@WaXa XiWi:Wi2Wi*WiVqbUqBUq*UUY@U|^?BeҞ^<Ba BaAe/>*BaAmoAiAiAm<"CKRCA;C@CI)?A. xx }7:Y7P1y:J5C =ׁ I G >%rq,4KEAY}:|1@}:0?@y}:$6}:_}}:H*??`?@?`譫?`f?𷯿;?)~:|1@ ~:^;I~:Cɫ99)9 =I9Y}G@y}}GuMu=Y}.;QU} ?yaDeDy%} ?Iȑ :ŕT*5? :ŕj߾ ƕA ?9ƕCǕk: ȕV:)ȕ::W@WX XW:W2W*WVbUBU*UUU@+?Bˮ<B BAS>*BA kA A A fk<"CoRC|ϼC@C<ܑ9ܑIܕyGiܕ@ܑܑܑܕq; ݕEױIG">:rq,(`eEAY}2@}2?-@y}2}2g݂}2H m!??Z??`]U?`b?XB?)~2@ ~2ƍ^;I~2Cɫ9A)A EIAY}@y}}G=i};M}J=Y:QU>aDeDy}>Iȩŭi*5?ŭi߾ ƭA ?9ƭ>Cǭ; ȭ/;)ȩW@WX XW:W2W*WVbUBU*UUU )"?B-s<B) B1A5>*B1A5&eA1A1A5<"C=žRCECE@CA-Β{;5?i5?IG-,>aainGIi  z z  ~*:Y Q1y : 5-˿ٺ)-ٻAN?9=Arq,<EAY}2b@}2+@y}2ɻ}2;u}2HJ ??\?@`h? o? yW?*9?)~2b@ ~2^;I~2Cɫ99)9 9I9Y}p@y}|GI4=)%=5ף<5?5jIIaUDUeDQy].}]>Ia m:e|*5? m:e$߾ eA m?9ebCe: e;)e;:Wj@WX XW:W2W*WVbUBU!*U!U!U%?B;n<B BA>*BAC[`AAA<"C5RCčCj@C֭"5;יIGb>=ip=܍ {>9܉ I܍ 8yGi܍ @܉ ܉ ܉ ܍ ; ݍ EOrq,EAY}20@}2+@y}2v}2-]}2H ? ?@}?@N?ħ?^N?j?)~20@ ~2Ë^;I~2Cɫ99)A EIAY@y|G2<ME=Y:QU>aDeDyw9}>Im*5?W߾ tI A ?9C5; .;)WmL@WiXi XiWi:Wq2Wq*WqVqbUyBUy*UyUyU}(@By<B BA7>*BAZAAA3<"Cr[RCVbCL@ChA1׉IGI> 2:Yy5)|;9 ]%rq,EAY}J @}J.@y}J\x}J~C}JH !"??™?`!?Ԥ? /?@ }?)~J @ ~JXy^;I~JCɫYa)a mIiY]5@y]x|GI)I +?t <)IyzG?y&1?Q? 7?`<< •@)•EAI•@i•fA@ @ @ @©i@ @)I@i@ռM5=Y :QU > aDeDy<:}>I!%*5?%J߾ %A -?9%C%: %:)!WU;WQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UaUaUe@Bf<B BA3>*BA UAAA<"C9RC C;CֵmyIG]>* rq,qEAY}2@}2o(@y}2[9}26"}2H? z??u?)?`5Z?)~2@ ~2I^;I~2Cɫ9A)A EIIY}@y}O|G 鿡JMy=Y:QU?aD fDy}?I :N*5? :߾  A ?9C; p;)<:W=WX XW:W2W*WVbUBU*UUU}@R B*** querying acoustic contact ***P P Bmć<Bq BqAu>*BqAu^NPAqAyA}L<"Ctz=RCC=C11=|>99I=xGi=?@==99=; =E)IiŃ=Ń4mrAн)I9G]2>IAA)@Ayy /:YP1y':[5);@7rq,iEAY}2;@}2VI@y}2Hr:}2"}2HK0??BM?-?`w?XN b?)~2;@ ~2_;I~2Cɫ99)9 9IAYE@yMT|GMZ****** received transponder code query ******UF****** received ping request ******UaD'fDy_#<}>Ig*5?߾ #A ?9C: :)W7B">WX XW:W2W*W!V!bU!BU!*U!U)U- @BU<BY BYA]Y>*BYA]qKAYAYAe<"Ce_<RCiCm7B">Ci }=}%>U.)I1GU>zrq,EAY}2}@}2@y}2:}2Ի}2HS?x? 6ds?R?`9s?B5ZEz?)~2}@ ~2_;I~2Cɫ99)9 =I9Y@y{GxDUSBL response received:!U1,P CE1,000,00921,189,80,80,3F,FF Command AckBRequesting micromodem ping code 2i i Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )M= M>   ýQ=ý ?ý!)a-D-HfD)y5<}5>I9 :=*5? :=߾ =AA ?9=#C=1< =@<)==:WE>WX XW:W!2W!*W!V!bU!BU)*U)U)U-@ @B9<B BAT>*BAfDAAAN<"C/>RCCE>C O z z  ::Y Q1y : 59@- M I ) 9) I- xGi- @) ) - D- ; - EGM >TIrq,^EAY}2J@}2@y}2:}2|<}2H? R?W| PS?`}B^f/??)~2J@ ~2^;I~2CɫYY)Y ]IYY@y{GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I%R=)%={Mw=YD:QU?aD]fDy=} ?I*5?7 TA ?9AC=: :)W>WX XW:W2W *W V bUBU*UUU`9@BExc<BA BAAE>*BAAM5@AIAIAMy9<"CURS>RCQCU>CYMN! IG-->i=trq,>4EAY}MT@}MAb@y}M;}Mx-=}MHL??` s`߿?@i c`k?`?)~MT@ ~M:_;I~MCɫQQ)Q UIYY@y{GxDUSBL response received:!U1,R,E45,000,00956,186,80,80,67,FF Fpublishing direction and range info.>ɰC>鰝> )BIyB%#n?H'M!?ٱUQ??I +?U(>U> U9<)QIQyUd;O?~jthy&1?U4?UDU`e< UZ@)UAIU@iU@QU @õCõ^:>õ=iõ@ñ ĵ7@)ĵ@Iĵ@iĵ@"M-=Y:QU>aD{fDy4<}>I : +5? : `A ?9kC: :)>:W֜>WX XW:W2W*WVbU!BU!*U!U!U-@P1*Q5BZQ5iX@C@JQ5%#n?H'M!?2Q5.>:Q1bQ5B];Z@^},٬JD?RQ5eFǴ?h`}77RK?BQ5@ Q5cQ5BP5m9?P5]9?P5Q5Q5)@"Q5T@BmY<Bi BiAm>*BqAui:AqAqAu<"C}>RCyC֜>Cԑԑ}Q9IAG]v>~~ P0:YT1y@:5[rq, NEAY}F@}Fܸ@y}FM#;}Fm4=}FHo??@A ߿ {?`Ϯid/C? T?)~F@ ~F*_;I~FCɫ髡) IY &@y ,{G}DNmea in: $SNTTA,,,,,010653.13*5D Iy)y‘‘[3Mp=Yv~9QU?aDfDy 4=}?I%+5?C iA ?9C: :)myAdded new target pos. range: 105.900002 m, bearing: 352.269219 deg, deltaT: 4.500515 s, approachRate: 0.706586 m/s, LOS rate: -3.602398 deg/s, posRepo size: 3}>9IvGi@; Em ProNav: pos range: 105.900002 m, bearing: 352.269219 deg, approachRate: 0.706586 m/s, LOS rate: -3.602398 deg/s, cmd update: -10.807194 deg/s, cmd heading: 24.799744 deg, new cmd heading: 29.115172 deg. W>WX XW:W2W*WVbU)BU)*U)U5yZ@U5n?B8r<B BAN>*BAD6AAA#<"CW >RCC>Ce}IGj>irq,=gEAY}:\@}:j@y}:`;}:Ҹ=}:H1@??9,޿!?bR??)~:\@ ~:^_;I~:Cɫ99)9 =I9Y}@y}{G YY:=MN=YQU>aDfDy!2=}>I ::+5? rA ?9C5; C;)?:W  >W X  X W :W2W*WVbU!BU!*U!U)U-б?B jZ<B1 B1A=>*B9AEW1AIAIAU>2<"Ck>RCC >C II@A)AAh }} <:YkS1yԊ:o5G>Amrq,>ʁEAY}2 @}2@y}2l]:}2Aj=}2H /??ܿq`? W@R\??)~2 @ ~2K_;I~0ɫYY)Y ]IYYD@yP{GMjME>iM3@I M)M@IM@iMʭ@MJ=Y6QU>aDfDy[=}>IȱŵO+5?ŵ Ƶ}A ?9ƵCǵܹ: ȵ+:)ȱW_>WX XW:W2W*WVbUBU*UUU`4?B><B! B!A%(>*B!A%,A!A)A-<"C5>RC1C5_>C9EE MMױIG> 9 }CI vGi @ = ; Errq,EAY}2-@}2@y}2T"}2QP>}2H? &'? 䮿mۿ?{JD??@?)~2-@ ~2_;I~0ɫYY)Y ]IYY@yzGi)> >UpDM]N=Y]QU]>aiamDmfDqyuJ}=}}>Iy}e+5?}& }A ?9}C}$P; } ;;)yW>WX XWI:WQ2WQ*WQVYbUYBUY*UaUaUe`;?B`<B BAo>*BAt'AAA`j<"C Z>*C =RCC>CIG (> ww v4:YO1yP:%5)$;9 8rq,EAiF nGI`i|MտٺIUAY}2@}溻@y}&}p<#>}H ?C? ?!ٿ@?Es¿d?`qQ??)~2@ ~v_;I~Cɫ) IY@yzGI=)6only read 3 of 4 data itemsa i@a  a m@a  a q@a  a e@a  `;?= >i @ )S@I$@i@->;M5/=Y5 QU5>99a=D=fDAyE5g=}E>II U:MH~+5? U:M. MA ]?9M CMv: M>)M@:W}a=WyX XW:W2W*WVbUBU*UUU@B e<B BA!>*BA:"AAA*<"C(+>RCCa=CIIYGuX>=i=crq,[EAY}2@}2X@y}2}2/>}2H`G? ?ȱdRؿ`,?Zÿ t???)~2@ ~2|_;I~2Cɫ99)9 =I9Y}@y}{Gm =Mmm=YuQUu?yya}D}gDy=}?IȑŕF+5?ŕ3 ƕA ?9ƕ@CǕ; ȕ2P?)ȑW@WX XW:W2W*WVbUBU*UUU@B=:R<BA BAAE%>*BAAMAIAIAMk<"CUP>RCQC]@CaIIaG>9I$tGio@=; Ezz 4-:YQ1y:85)ߊ;rq,6EAY}2]@}2j@y}2X}2[8>}2H`N? R?>,ֿp?@V ſˀ? u?@R{?)~2]@ ~2lV_;I~2Cɫ99)9 =IAYED@yMzGIQ)UAaehAmMm\=Yu QUu>qya}D})gDyy=}>Iȉōå+5?ō49 ƍA ?9ƍaCǍ: ȍN?)ȉW@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB <B BA/>*BA!mAAA<"C >>RC C @CIG=sq,EEA|i|Y}2,@}2A:@y}2B>}2<>}2Hi.?k? ]KtAտ`?@ſeև?`?u?)~2,@ ~2\_;I~2Cɫ99)9 9I9Y@yzGZ****** received transponder code query ******F****** received ping request ******ÕDÕD;iÕ@Ñ ĕA@)ĕv@Iĕv@iĕv@I =M8=YQU>aDEgDyRh=}>Iƾ+5?=? A ?9CD"; ?)WP@WX XW:W2W*WVbU)BU)*U)U)U5@ܕ @B}^<By ByA}Ӷ>*ByAAAA <"Csa>RCCP@CױIGC>I)yy 1:YP1y':\59 @a 9a Ie \sGie @a a a e ; e E)}CI}CiXC5sq,EAY}:)@}:@y}:u}:K`<>}:H@r?-/?*@dӿS? ſp?ki?t?)~:)@ ~:d1_;I~:Cɫ99)9 =I9Y]@y]qzGexDUSBL response received:!U1,P E45,000,00956,186,80,80,67,FF eCommand AckeBRequesting micromodem ping code 2iaiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 MZ=Y'QU>Ya]De]gDyd=}>I :+5? :ID A ?9C: @)A:W!D@WX XW:W2W*WVbUBU*UUU@: @B<B BAг>*BA AAA;<"C >RCk탾C!D@CIGH> sq,6EAY}~@}~@y}~}~:>}~H?C?ҿ@9?@ſI?`7?`v?)~~@ ~~KY_;I~~Cɫ) IY2@yyGp=ɮ4=ENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i=a ia i a ma m a qa q a ea e "~j?ktS> )IyuV?~jt?r(?D< 7A)@I AiAA)-= -=u=u?u7=iu @q uʭ@)u=@Iu@iu@OM$=YQU>aD}gDyk=}>Iȡťq+5?ťH ƥA  ?9ƥCǥ _< ȥ^<)ȡWU_w@WQXQ XQWQ:WQ2WY*WYVYbUYBUY*UaUaUe.1@Bd<B BA>*BA A A A F<"C'=RC]K$C_w@C5?i5?IG-p>}} -:YkS1yԊ:ܾ5sq,@PEAY}2@}2@y}2r}2A;>}2H?z?@W`Bп zw? ſ-?WE?@Xu?)~2@ ~2{_;I~2Cɫ99)9 =I9Y}@y}VyGxDUSBL response received:!U1,R,1DD,000,00986,187,80,80,68,FF Fpublishing direction and range info* վɰG>鰅1> )BIyBS>vD?^ٿٱIa=)%={6MZ=Y2QU>aDgDyښ=}>I :,5? :+L A ?9C: :)B:W%G@W!X! X!W!--hFailed to parse device response: 2,4.75568,4862.45 :W12W1*W1V1bU9BU9*U9U9U=@PQ*QUBZQUD}lX@جEJQUS>vD?^ٿ2QU* վ:QQbQURuwXU@ PZTK}[RQUS?dQA BQU@ QUOQUêBPUA9?PUm9?PUyQUQU?"QU)@B<Bd< BAw>*BA!FAAA`<"C֞RC۞CG@CױIGC>/%sq,ajEAY}~<}~r@y}~zܼ}~:>}~H,??@̿ 4?8ſ? 5?-u?)~~< ~~Z_;I~~Cɫ) IY5@y5DyGTNmea in: $SNTTA,0.254520,,,,010657.55*41 ]̽]-2>]`ei]@Y ]`@)]v@I]@i]@iM<=Y"QU>aDgDyߒ=}>IȹŽ6,5?ŽwO ƽA ?9ƽCǽ: Ƚ!:)ȹmyAdded new target pos. range: 108.780006 m, bearing: 321.813706 deg, deltaT: 4.414160 s, approachRate: 0.652447 m/s, LOS rate: -6.899504 deg/s, posRepo size: 4m  ProNav: pos range: 108.780006 m, bearing: 321.813706 deg, approachRate: 0.652447 m/s, LOS rate: -6.899504 deg/s, cmd update: -12.000000 deg/s, cmd heading: 337.109683 deg, new cmd heading: 332.452971 deg. W c@WX XW:W2W*WVbUBU!*U!U%1[@U%`?BMwV`<BQ BQAU>*BQAU?AQAYA]:<"CeRCe=q<Cec@CiU9냾ww 3:YO1yP:I!G5> !sq,YEAY}:8Z=}:@y}:}:4>}:H `?~? ȿ\?LſY?~?`?|?)~:8Z= ~:_;I~8ɫ99)9 =I9Y}/@y}xG=V%M=|=YE!|QUE ?AIaMDMgDIyU.=}U ?IY]+,5?]Q ]A e?9]5C]÷: ]k:)YW6@WX XW:W2W*WVbUBU*UUU/?BЅ<B BAԝ>*BAfAAAd7<"CACRC^=C6@C [I)IG%> ~>9 I rGi {@ ; E3'sq,4EA|i|@Y}6;N=}6@y}6# }6/>}6H@f?`?bC Ŀ]#? Ŀq? ? !?)~6;N= ~6D`;I~4ɫYY)Y ]IYY@yExG VMM=Y{@QU>!!a%D%gD)y-;=}->I1 =:5A,5? E:5S 5*A E?95VC5a: 5L:)5C:Wi@WX XW:W2W*W V bU1BU1*U9U9U=@?BK<B BA>*BAJAAA@<"C.ERCt]H>Ci@CP<ֽIױIzz f.:YQ1y:5);9 G>a-sq, EAY}R=}Re@y}Rȼ&}Rg(>}RH?@(?ħ8 7O?Ŀ֤? ??Ŋ?)~R= ~R`;I~RCɫqq)q uIqY6@yxG?{GzI +f?# 9)Iy&1?0?L ¥A)¥@I¥x@i¥A\Amt>m>m̼iii mA@)m@Im`@im`@}<M}6=Y}ZQU}>aDgDyx=}>Iȑŕ[,5?ŕUW ƕ*B A m(A A A-U<"CϛRC >C@Czl<AױIGe>G4sq,EAY}2P >}2@y}234}2e>}2H ??`}`| y? a¿@?`?k?)~2P > ~2`;I~0ɫ19)9 =I9Yu@yu*xG)= =6Mf=YQU>a D hD y =}>I %:o,5? %:Y MA %?9C: t:)D:We@WiXi XiWq:Wq2Wy*WVbUBU*UUUaq?B#oj<B B A 1>*BA AAA<i9iIm\sGim@m=iim; mE"CVRCC@C)   | |  5:Y R1y i: \5) >;-Kǽ I G- >o:sq,EAY}:%>}:E@y}:y:}:# >}:Hn?@?J`OD;?`d,M?`'?@R?)~:%> ~:{``;I~:Cɫ99)9 9I9Y}f@y}yGI=)>J=M%:=Y%cQU%>))a-D-/hDQyUN=}U>IY],5?]\ ]cA e?9]C]: ]k:)YW)@WX XW:W2W*WVbUBU*UUU7@B3k<B BAM>*BA޻AAA5<"C-`x RC)C-)@C)>Ci mGI!%~iI}!ɿٺy}dAI G5O>=iWAsq,ZEAɫ髙) IY@yxGAAAA=;߽=`e==D>i=(@9 =@)=@I=@i=@MMMX=YMQUU>QQa]D]GhDYye}e>Ii m:m,5? u:m^ mvA u?9mCm: m:)mE:WI@WX XW1:W12W1*W1V9bU9BU9*UAUAUMZ@R]B*** querying acoustic contact ***PYPYBGu<B BA>*BAj2ֻAAAl<"CRC C I@C%o=ZIG J>zz 2:YQ1y:59@- >9) I- sGi- @) ) ) - {; - EׁGsq,|EAY}2{GI>}2g@y}27}2Fr=}2H? a§?@aƩw?`??n?)~2{GI> ~2`;I~2Cɫ99)9 =I9YL@yxGZ****** received transponder code query ******F****** received ping request ******AAaEDEahDIyM=}U>IY]J,5?]` ]A m?9] C]: ]:)YW+@WX XW:W2W*WVbUBU*UUU t @B<B BA>*BAhλAAA <"Ct3RCC +@C mMsq,W9EAY}: V>}:G@y}:$3}:=}:H? /?@a &`? ~`Lt???)~: V> ~:`;I~:Cɫ99)9 =I9Y}@y}xGxDUSBL response received:!U1,P 1DD,000,00986,187,80,80,68,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 % ףp= ?J +{Gz?%Q>%H %ף<)!I!y%S?aDhDyV<}>I :,5? :b A ?99CԚ; ;)F:W=9@WAXA XAWI:WI2WQ*WYVYbUYBUa*UiUiUm`i @BRG<B BA>*BAAûAAA[<"C`PRCC9@IAA) 1:Yy\5CE < I) GE >ГTsq,2SEAY}>( b>}>-@y}>;0}>R=}>H`N?๠?@U6?w?`.?@2?)~>( b> ~>a`;I~>CɫYY)Y ]IYY@y-yG鮭a=ɮa=MNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Y]<9I$tGio@=h; E:=M=Y@;QU?aDhDy=}?I,5?c A ?9RC: :)W55g@W1X9 X9W9:W92W9*WAVAbUABUA*UAUIUM@@B~<B BAb>*BAOAAAQ<"C%K`RC!C%5g@C)$ӿ<IGI>Zsq,mEAY}6i>}6_m@y}6/}6Z_=}6H`?}4?@¶`]Jg?J`?}??)~6i> ~6 q`;I~6Cɫ髁) IY@yxG=i=)í> í>   \,=i@ @)v@I@iv@=MEE=YM^1:QUM>QQaUDUhDYyeK<}e>Iqu,5?ue uWA }?9uwCuϸ: u:)qW-{@W1X1 X1W1:W12W9*W9VAbUIBUI*UIUQUU @BYv<B BAH>*BAдAAAG<"CGwRCC{@C ?=IGk> {{ 84:Y#R1y:[5Ĩasq,EAY},=m>}x@y}|,}=}H ?`?1@= B?`kʛ???)~,=m> ~9k`;I~Cɫ) IY-@y5yGEDNmea in: $SNTTA,,,,,010701.99*59 IU=)U=eބ=MeY=Ye:QUe>iaD hD y_<}>I %:M-5? %:@f A %?9C: ;)G:WM@WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYU]{E@B<B BAǧ>*BA_鬻AAA]ϳ<"Cd]RCC@Cօew=AIIGe5>=ip=9ItGi@Z; ݗE)ݹIݹiݹݽ=ݽ=ݽ4gsq,HĠEAY}6l'k>}6v@y}6+}68_=}6Hm?Ɛ? ݥ`?dx @a?٫?`?)~6l'k> ~6`;I~6Cɫ99)9 =I9Y@yRyG@A@APMR=YH:QU>aDhD y ^} >I)-5?Tg A %?9Cض: :)WE,}@WAXA XAWA:WI2WI*WIVIbUIBUQ*UQUYU]%@B+5<B BA<>*BAKAAAY<"CwERCC,}@CU'>)I9G]>%6 %z%z% %_u:Y%Q1y%:%5)%8;9Mjmsq,EAY}2[b>}2k0@y}2X(}2<}2H ?@?@W盿? 3H ?`k? ?)~2[b> ~2&`;I~2Cɫ99)9 =I9Y}@y};yGI)Aux&1?~jt?~jtxuA>uD< uĻ)qIqyu|?5^?Mb`Q?u2?uuu< u A)u@Iu@iu AquA‰‰>j<>i̴@ x@)Iv@iM<=Y":QU>aDhDy}>I  : C-5?  :g A  ?9C: :)H:W53@W1X1 X1W1:W92W9*W9V9bU9BUA*UAUAUE|@RUB*** querying acoustic contact ***PQPQBu?<By ByA}>*ByA}AyAyA<"CRCC3@Cօ N>AIQGm5>tsq,pzEAY}2sU>}2-@y}2Z%}2V+}2H? ? Bv2e?0?y?Tm?)~2sU> ~2Y`;I~2CɫYa)a aIaYW@yxG 5M\=Y:hAQU > aDiDy%7 }%>I)-%Y-5?-zh -A 5?9-C-: -:))W] @WYXY XYWY:Wa2Wa*WaVabUaBUi*UiUiUm@%@u~>9qIutGiu@qqquK; u՗EBŗ<B BA_>*BA/AAAl@<"C%iRC!C% @CQM~`{>!I)GM1>I@A)@A /:Yy%5)%; {sq,UEAY}FD>}FC@y}F}FrH}FH?`.?󄢿@[? .? ?4?)~FD> ~F`;I~Dɫaa)i mIiY@yyGɮR=åHå1>åLiå@á ĥ@)ĥ@Iĥʭ@iĥʭ@i=M>=YS;QU>aD0iDy1}>I :r-5? :ri AA ?9(C; ;)I:W3@WX XW:W2W *W V bUIBUQ*UQUQUU<@B}l<B BA߬>*BA=AAA4<"CGRCC3@C֥>yIG^>sq,0EAY}:1>}:@y}:0}:2}:H?#ܳ?P,@%?@? $? I.?)~:1> ~:fua;I~:Cɫ99)9 =I9Y}@y}_yG=i=)Õ= Õ=jM]=Y͑;QU>aDHiDy[L}>IȹŽ-5?Žj ƽ`A ?9ƽICǽ: Ƚ6:)ȹWܗ@WX XW:W2W*WVbUBU*UUUVE@B|<B BA >*B AiAAA0<"CRCCܗ@C!!5?i5?I G5O>ww &2:YO1yP:ʽ59 @>9IuGi@<; ΗEsq, "EAY}2_K>}2@y}2ݥ}2}2H?@?@1X֌?_?@3?b@(?)~2_K> ~2`;I~2Cɫ99)9 9I9Y}|@y} yGxDUSBL response received:!U1,N,80,80,63,E4 6,187,80,80,68,FF ZNo reply:!U1,N,80,80,63,E4 6,187,80,80,68,FF -aDbiDyIi}>Io-5?l A ?9mCض: k:)W@WX XW:W2W*WVbUBU*UUU @B- <B1 B1A>*BAuAAA֪<"CVſRCC%@C!%>IGMS>=i=i nGI iq ҿٺ >A/Hsq,%;EAY}2B>}2!@y}2 }2)2}2H?`/?@䇿X @?@L?@@?5ƿ?)~2B> ~23a;I~2Cɫ99)9 =IAY}@y}DyG?A6only read 2 of 4 data itemsa i@a  a m@a  a q@a  a e@a  -L--i-p@) -@)-@I-@i-@= <M=A=Y=v;QUE>AAaEDE}iDIyMs}U>IY ]:]&-5? e:]n ]A e?9]C]G: ]>)]J:Wn/@WX XW:W2W*WV bUBU*UUU`j@BE`<BA BAAE>*BAAMebAIAIAuwY<"C} ѿRCCn/@Cօ6Ʌ>YIiGZ>. yy }7:YP1y':50sq,YUEAY}:^P=}:J@y}:}:TfS}:H@ՠ? t?H T ¿@?`+? ? ?9ʿ M?)~:^P= ~:a;I~:Cɫ髑ܡ9ܡIܥvGiܥ@ܡܡܡܥK; ݥ՗E) IY@yyGI)Ŋ<ML=Y%!;QU%>!)a-D-iD)y57}5>I9=q-5?=mp =A E?9=C=: =-S?)9We@WiXi XiWi:Wi2Wi*WqVqbUqBUy*UyUyU}V @Bqʥ<B BA>*BA:RAAAK<"C*6ۿRCC@C֥>Iש)שׁIG=>0Zsq,ooEAY}U#=}Um@y}U }Ue}UH`B}?? ?fƿ?s?x?@dw̿.?)~U#= ~UsDa;I~QɫQQ)Q UIYY}@y}RyG 鿉94<O>i @ =@)ʭ@Iʭ@iʭ@eNM>=Y|:QU>aDiDy&}>I  c-5? [s A ?9 C : ?) W=蝃@W9X9 X9W9:W92WA*WAVAbUABUA*UIUIUM @R]B*** querying acoustic contact ***PYPYBR!<B BA<>*BA-0?A1A1A5<"C=\^RC9CE蝃@CA}>QIaG}z>IAA)AAvv C3:YN1y:n5Bsq,SxEAY}2#D5=}2@y}2E}29n}2H`Q?+?v?Mɿ q??.w?~Ϳ1?)~2#D5= ~2`;I~2Cɫ99)9 9I9Y}@yyGZ****** received transponder code query ******F****** received ping request ******aDiDy ]} >I-5?Jv A %?9Cq: y?)W%"@W!X! X)W):W)2W)*W1V1bU1BU1*U1U9U=t!@B<B BAݩ>*BA-E.AAA1.<"CRCC"@Cֽ>׹IGg>ܙ9ܙIܝDwGiܝ@ܙܙܙܝQ; ݝؗElsq,LSEAY}2 wu<}2J@y}24}2Rp}2H?ز?阘? JͿ 8?@2?@%?@Ϳ ?)~2 wu< ~2`;I~0ɫ99)9 =IAY]@y]yGexDUSBL response received:!U1,P 80,80,63,E4 6,187,80,80,68,FF eCommand AckmBRequesting micromodem ping code 2iiim=im=uNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= =7MK=Y:QU>a%D%iD1yEܑ}M>Ii :m.5? :mz mA ]?9m#Cm= m@)mK:W|@WX) X)W1:W12W9*W9VAbUiBUq*UyUyU}"@B3<B BA%>*B)A-A)A1A5<"C=SRC9C=|@CA} >  u u  /:Y KN1y y: 5qIG>sq,/EAɫyy)y }IyY@yhzGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IC=)R=a ia i% a m%a m% a q%a q% a e%a e% %Gz?Mb?Mbp?%p>%= %;)!I!y%S?I + rh?%/=?%94%C< %S@)%AI%x@i%A!%AÅÅtÅaDjDy}>Iȩŭ0.5?ŭz~ ƭFA ?9ƭMCǭ: ȭ:)ȩW]Z}v@WYXY XYWY:Wa2Wa*WaVbUBU*UUU h#@Bӷ<B BAZ>*BAΆAAA_C<"C IRC C Z}v@C !!ip= I G >8sq,EAY}F0@}F㦿@y}F켙}F~t}FH?q?``?@ъҿ [?% ? Ȑ?gHο?)~F0@ ~F_;I~D9=gAE>9AIEwGiEK@AAAEO; A)AIAiAAAE3ɫYY)Y eIaYuA@y}zGy}@AμMp=Y*B)A5A1A1A5C%<"C=5yRC9C=W$r@CA IG5= zz "6:YQ1y:5);9Gsq,EAY}[@}@y} ߼}u}HS?@(?ީ?WԿf??@>?Qqο?)~[@ ~X^;I~Cɫ) IY @y zG%DNmea in: $SNTTA,,,,,010707.65*5C I!)!11ÅtÅף=Åu>iÅQ@Á ą@)ą@Ią@ią@<M;=YOn;QU>aD3jDy9}>Iȱŵk^.5?ŵ ƵA ?9ƵCǵϸ: ȵ:)ȱW5Jl@WX XW:W2W*WVbUBU*UUU`P$@B7<B BA4>*BAɺAA A 諟<"C7RCC5Jl@CI!GE0>$sq, EAY}:@}:ֽ@y}:˼}:fw}:H ?`?@?Eտ? ?w?PοR?)~:@ ~:^;I~:Cɫ99)9 =I9Y}@y}~zG 鿙oM\=Y;QU>aDKjD)y-Տ}->I15t.5?5H 5A E?95C5U: 5:)1Weg@WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}%@Bp<B BA>*BAl}AAA~<"CsRCCg@CשIG>A9AIE xGiE@E=AAES; EڗEI@A)E {{ S9:Y#R1y:\5)W;sq,g$EAY}2k@}2@y}2}2/x}2H?[/?9=?׿?D?&? Mο@ ?)~2k@ ~2^;I~2Cɫ99)9 9I9Y}@y}lzG鮅a=ɮR= MK=YO{;QU>aDdjDy}>Iȹ :ŽP.5? :ŽZ ƽA ?9ƽCǽ=: Ƚ:)ȽM:Wa@WX XW:W2W*WVbUBU*UUU`x&@R B*** querying acoustic contact ***P P B6<B BA>*BA؞AAAC<"C.RCCa@CIG>nsq,}v>EAY}24!@}2.@y}2%Y}2igz}2Ho?`l?0T?@ٿg?? *?rοm ?)~24!@ ~2#^;I~0ɫYY)Y ]IYY@yzG=i==x?y&1?L7A`堿=K>=`e= =+)9I9y=v/?p= ף?J>i @ =@)ʭ@Iʭ@iʭ@%<M%4=Y%/r;QU->))a5D5jD1y=h}=>I9=.5?=q =A M?9=C=: =:)9Wm[@WqXq XqWq:Wq2Wq*WyVybUyBUy*UyUU a'@B<B BA>*BAU4AAA<"CRCC[@CIG'> || A:YR1yi:o59@sq,WXEAY}:nC@}:!Q@y}:}:|}:H@B?m#?@b?ڿ$?~?"?5CϿ`?)~:nC@ ~:^;I~:Cllp9pIrpxGir@r=ppr`; rEɫyy)y }IyYi@y~{GI=)=4W=M]=Y@2;QU>!a%D%jD!y-}->IQ ]:Ug.5? ]:U UA ]?9U&CU: UM:)UN:WV@WX XW:W2W*WVbUBU*UUU`$(@B}F<B! B!A%x>*B!A%^ϹA!A)A-!ƚ<"CU$RCQCUV@CQ!I1GM>=i=sq,SrEAY}:_@}:m@y}:}:;z}:H?`S?` ?@ܿ U??a? ο 2 ?)~:_@ ~:'(_;I~8ɫII)I IIIi SoGI!iAɿٺTAYt@y{GxDUSBL response received:!U1,N,80,80,63,E4 6,187,80,80,68,FF ZNo reply:!U1,N,80,80,63,E4 6,187,80,80,68,FF -aDjDyu}>Iw.5? A =?9MC)< -<)WTwP@WX XW:W2W*WVbUBU*UUUP)@BFd<B BA*>*BAAAAh<"C*RCCTwP@CIG l>zz E1:YQ1y:&5Ksq,EAɫ髙) IYZ@yk{GI)-$M-h=Y5QU5>99a=D=jD9yE}E?II U:M.5? U:M MA ]?9MkCM: M:)MO:W}K@WyXy XyWy:W2W*WVbUBU*UUU@)@B<B BA>*BAf|V9AAAqi<"C.RCCK@CI) IG5 >>9Iij; Epsq,EAY}2k@}2`y@y}21h}2pu}2H@?`?~ ?ݴ߿?@E? &? Xbο ?)~2k@ ~2S^;I~2CɫYY)Y ]IYY&@yf|G 鿩=MR=YFaDjDy }>I.5? A ?9C: :)W F@W X  X W :W 2W*WVbUBU*UUU'*@BE'<BI BIAMF>*BIAM@:AQAQAUO<"C4RCCF@CשIG=I)@A= =u=u= =>:Y=KN1y=y:=52sq,EAY}27@}2ꌷ@y}2$8}2fct}2H AS?U@??? ?Ց?d?`AοL?)~27@ ~2]^;I~2CɫII)I UIQY}@y}|G鮅p=ɮa= rh?}>i}@y }r@)}=@I}=@i}@vM>=Y];QU>aDkDyw}>Iȡ :ť5 /5? :ťQ ƥA 5?9ƥCǥ1< ȥ<)ȥP:Wun@@WqXq XqWq:Wy2Wy*WyVybUyBU*UUUk+@B<B BAW>*BAk*e:AAA-<"C9RCCn@@C)IG-->Esq,EAY}2@}2@y}2 }2Fw}2H?P?̑? e< ?M?W? ο@K?)~2@ ~2z^;I~2C@9@IBxGiB?@@@@B^; BEɫQY)Y YIYY@yA|G=i=) = =5)<M=O=Y=;QU=>AAaEDEkDAyM}M>IQU /5?U Q ]?9UCU: U:)QW;@WX XW:W2W*WVbUBU*UUU/,@RB*** querying acoustic contact ***PPB%s<B) BIAMl>*BIAU&s:AQAQAUz9<"C]?RCYC];@Caו?iו~?iIG>|| 3:YR1yi:5)s;9Dsq,tEAY}:ý@}:е@y}:3}:Nw}:H`Nb??`"? RP?H?nfv?ο!?)~:ý@ ~:^;I~:Cɫ99)9 9I9Y}@y}|GZ****** received transponder code query ******F****** received ping request ******!!a%D-6kD)yUqy}U>IY]6/5?]l ]A e?9]C]=: ]I:)YWP5@WX XW:W2W*WVbUBU*UUU-@B%Js<B! BIAMW>*BQA]xe:AYAYA]zE<"CDRCCP5@CׁIG=>ip=i-tq,S EAY}6@}6@y}6j>}6{}6H? F?e ?Ne? j?g?`~)Ͽ| ?)~6@ ~6^;I~6CɫYY)Y ]IYY@y{GxDUSBL response received:80,63,E4 !U1,P E4 6,187,80,80,68,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 HM ^=Y ;QU%>19aEDENkDy}>I :TJ/5? %: A %?9%C&; <)Q:W/@WX XW:W2W*WVbU BU *U UU@b-@Bln<B1 B1A5>*BYAeͧ:AaAaAm[<ܕ>9ܑIܕ8yGiܕ@ܑܑܑܕR; ݕڗE)Ii?4"CuF@RCC/@Cxx 1:Y7P1y:\5); IG5>:W tq,-'EAY}62@}6@y}6}6:|}6HST??@?;i??p4?E2Ͽ?)~62@ ~6^;I~6Cɫ99)9 9I9Y@y|GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I1)5AAAu;MuC=Y};QU}>yyaDikDy}>Iȑŕ0]/5?ŕ ƕA ?9ƕHCǕ: ȕ:)ȑWa+@WX XW:W2W*WVbUBU*UUU g.@B=B BAj>*BA ;AAA<"CB@RCCa+@CI)IG-,>Y?tq, AEAɫ髙) IY@y|GxDUSBL response received:!U1,R,164,000,00A37,185,80,80,8A,FF Fpublishing direction and range infoɰ8V>+> ) CIyB㶭 w?t5ӿٱ Zd;O?Mb?ˡE?~ ?@= '=)IyHzG?{Gz?/$?=*?#<< 5@)™IAiAA }=->i\@ @)@Ii@ aM=M A=YQU>aDkDy%}%>I) 5:-Lp/5? 5:-O -A 5?9-lC-: -V:)-R:W]β%@WYXY XYWY:Wa2Wa*WaVabUaBUi*U U U ~/@P*QBZQiik\@>@BJQ㶭 w?t5ӿ2Q:QbQбtQ@$d_X.!@RQu}Q?~ J1&?BQ\@ QQBP09?PA9?PQyQuA"Q?Buj'<Bq BqAuJ>*BqA}h~#;AyAyA}ʑ<"C<@RCCβ%@CIGF>IAA)AA zz K6:YQ1y:59@ktq,ZEA9IiW; ݗEY}M*@}M8@y}M)u;}M.{}MHF0?M?߳?,{?0?`n qϿ ?)~M*@ ~M@^;I~Iɫ)1)1 5I1Ym1@ymt|GTNmea in: $SNTTA,0.235686,,,,010713.31*4A KԼML=Y &aDkDy } >I/5? A ?9C: Ǻ:)mM}Added new target pos. range: 119.400002 m, bearing: 305.033899 deg, deltaT: 15.749668 s, approachRate: 0.674300 m/s, LOS rate: -1.065407 deg/s, posRepo size: 4m] ProNav: pos range: 119.400002 m, bearing: 305.033899 deg, approachRate: 0.674300 m/s, LOS rate: -1.065407 deg/s, cmd update: -3.196221 deg/s, cmd heading: 148.340976 deg, new cmd heading: 143.528687 deg. W]HD$@WYXa XaWa:Wa2Wa*WiVibUiBUi*UqUu]@Uu@4?B2=B BA>*BAue7;AAA=<"C,7@RCCHD$@CIG$>tq,tEAY}2J`@}2m@y}2;}2`z}2H ?`?8]?`@?Ot?nvgο7 ?)~2J`@ ~2.^;I~0ɫ99)9 =I9Y]5@yex|G=i=-C >-->-`ei-@) -@))I-j@i-@E:MEW=YE;QUE>IIaMDMkDQyU}]>IY e:]/5? m:]@ ]A m?9]C]: ]:)]S:Wm"@WX XW:W2W*WVbUBU*UUUM?B.=B BA3>*BAHK;AAAp<"CM2@RCCm"@C?i?IG>8  I8:Yyʽ5z#tq,hEAY}:И@}:@y}:;}:{}:H!?h?`k?@y`x??={V%Ͽ ?)~:И@ ~:^;I~:Cɫ99)9 =I9Y}@y}"|GI4=)R=EMEJ=YM;;QUM>IIaUDUkDQy]v}]>Iaer/5?ey eA m?9eCe: e:)aW w!@WX XW:W2W*WVbUBU*UUU?B<B BA>*BA7)`;AAȀ<"CO-@RCC w!@CIG >%>9!I%xGi%?@%=!!%}; %E=i=)tq,sEAY}2(Ʒ@}2ӯ@y}2Z;}2R}2H?`?J?Ҳ ?@q?@~ Ͽ,?)~2(Ʒ@ ~2-_;I~2Cɫ99)9 =I9Y}@y}{GMM=YG ;QU>!!a%D%kD!y-O}->I15/5?5 5 A =?95C5: 5U:)1Wq@WX XW:W2W*WVbUBU*UUU >?BU<BY BaAeg>*BaAmJu;AiAiAm-<"Cuޤ'@RCqCuq@CyQIyG >iIIiܾٺA 3:Yy5׌0tq,NEAɫ髙) IY@y|GI1)5AI9)9ÕÕ$>ÕiÕ@Ñ ĕ@)ĕ@Iĕ@iĕʭ@<MB=YQU>aDlD9yE}E>II U:MP/5? U:M> MA ]?9MCM: MI:)MT:Wt@WX XW:W2W*WVbUBU*UUU@@B<B BA>*BA%ƅ;A!A!A%ц<"C-q#@RC1C5t@C1!I)GM1> iA jA% >9! I% xGi% @! ! ! % ; % EN6tq,'EA|$i|$Y}F@}F@y}F?<}Fdd}FH2?9,? 4?T@4?`"/?炿Ͽp?)~F@ ~F_;I~FCɫYY)Y YIYY@y{G="M=Q=Y=y;QUE>AAaEDElDIyM}M>IQU|/5?Uz" UA e?9U9CU: U :)QW$@WX XW:W2W*WVbUBU*UUU<@B=B BA>*BAE֎;AAA<"C1@RCC$@CשIG>I@A)?A -:Yyݻ5)Z;9 %?if@ ʭ@)@Iʭ@iwMO=YJ:QU>aD6lDyF}>I  : /5? : - 'A ?9 ZC < <) U:Wâ@WX XW:W2W*WVbUBU*U!U!U% S^@R5B*** querying acoustic contact ***P1P1BU<BY BYA]>*BYA]!f;AaAaAeCtq,EAY}2@}2v@y}2@'<}2vu}2Hɲ?@r??`e7m2??gο ?)~2@ ~2S=_;I~0ɫYY)Y ]IYYb@yt{GZ****** received transponder code query ******F****** received ping request ******aDPlD!y%敽}%>I)-z/5?-z9 -1A =?9-}C-o; -;))WeE@WaXa XiWi:Wi2Wi*WiVqbUqBUq*UqUyU}` @B8<B BA>*BAã;AAAԌ<"C5$u@RC1C5E@C9u?iu?AIYG}7>>9~CIwGiK@=~; E {{ A:Y#R1y:5);Itq,4)EAY}2!@}2"@y}22<}2s}2H ???ƿ??TA3ο8?)~2!@ ~2X_;I~0ɫYY)Y ]IYYt@y{GxDUSBL response received:!U1,P 164,000,00A37,185,80,80,8A,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ;MA=Y=:QUE>aDmlDyp}%>Iȁ :Ņ/5? :ŅG ƅ;A ?9ƅCDž{: ȅo:)ȅV:W@WX XW:W2W*WVbUBU*UUU` @BuD<By ByA*>*BAᢰ;AAA:<"C@RCC@CIG >Ptq,!CEAY}2sF@}2'T@y}2><}2q}2H/W?q? ^? M8w??@1؇Ϳ?)~2sF@ ~2,7_;I~0ɫ99)9 =I9Y @y {GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B a i@a  a m@a  a q@a  a e@a  V?ti@ @)ʭ@I@i@GM 5=Y }:QU >aDlDy}>I!% 05?%S %CA 5?9%C%: %>)!WUp)@WQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUaUm 2@B  =B BA>*BA1;AAA<"Cp)@RCACEp)@CIYIiG[>zz Y1:YQ1y:59@ٹ ٽ = >9 I DwGi @ = z; E)yIyiy}=}=}:4"Wtq,q]EAY}Nx@}N@y}NDH<}Nt}NH`0???``@?`?@Gο`?)~Nx@ ~NT_;I~NCɫyy)y }IyY@yzGxDUSBL response received:!U1,R,39C,000,00A5C,189,80,80,A7,FF Fpublishing direction and range infoplNɰ@Y>鰥7> )'CIy=B6l &?ٱ"&Me=YW:QU>aDlDy9}>Ix05?^ KA ?9C: >?)W5@WX! X!W!:W!2W!*W)V)bU)BU1*U1U1U=@PA*QE=BZQE\xk U@UJQE6l &?2QEplN:QAbQE\Fs8g_]X| 3@RQE^Jɿ"5_f?BQE:@ QEQEPE@9?PE09?PEQEQEA"QEuAB=B BAչ>*BA?;AAA_C<"C 5@RC C 5@CI!)!I G5.>1]tq,TwEA|(i|(Y} 0@} 䦨@y} Ga<} x} H ?J? ?$@?@*?@=οU?)~ 0@ ~ _;I~ Cɫ) IY5@y=zGDNmea in: $SNTTA,,,,,010717.76*5F  ?`e i@ X@)X@IM@iX@%M-A=Y-"m;QU->11a5D5lD9y= }=>IA M:EZ%05? M:Ek ERA U?9E CE6: E?)EW:m}Added new target pos. range: 121.620010 m, bearing: 258.243141 deg, deltaT: 4.416534 s, approachRate: 0.502659 m/s, LOS rate: -10.594452 deg/s, posRepo size: 4m ProNav: pos range: 121.620010 m, bearing: 258.243141 deg, approachRate: 0.502659 m/s, LOS rate: -10.594452 deg/s, cmd update: -12.000000 deg/s, cmd heading: 134.161819 deg, new cmd heading: 132.833917 deg. WJ@WX XW:W2W*WVbUBU*UU@g^@U?B=B BA>*BA;AAAˊ<"C @RCCJ@C׉IGI>( yy 7:YP1y':5dtq,W&EAY}2B@}2ç@y}2y<}2oz}2H.?e? ?`!??M"mοN ?)~2B@ ~2U_;I~0ɫ99)9 9I9Y]@y]zG$Mb=YI;QU>aDlDyG}>I/05?Lw XA ?9(C/; ?)WmV @WiXi XiWi:Wq2Wq*WqVybUyBUy*UyUU@ ?B=B BA#>*BA;AA A O^<"Cu>@RCCV @C)I1GU>m>9iIm|vGimW@m=iimy; mE@jtq,EAY}2#ٮ@}2@y}2a'<}2{}2H.?!?M>?@N y'?`ˡ?@$(Ͽ?)~2#ٮ@ ~2G_;I~2Cɫ99)9 EIAY}@y}zG)> >]MeB=Ym:QUu>aDlDy%uy}->I9=<05?= =_A }?9=NC=< =R?)9WC@WX XW:W2W*WVbUBU*UU)U-?BU<BY BYA]>*BYA]!;AYAYAe<"C!? @RCCC@CIGZ>{{ &2:Y#R1y:n5(qtq,EAY}2 @}2;@y}2~<}2#x}2H v??0?9g??`ο?)~2 @ ~2R_;I~0ɫ99)9 =I9Y}A@y}zGI=)=a ia i a ma m a qa q a ea e I +?x&I +?9>7 94=)Iy ףp= ?~jt?Q8?D= ©)­AI­zAi­AfA = > E6>i @  @) @I @i @M?=Y%Rz:QU%>!!a-D-mD)y5z}5>I9=/I05?=œ =LA E?9=tC= : =@:)9Wm$@WiXi XiWi:Wi2Wq*WqVqbUqBUy*UyUyU}?Bs$=B BA>*BA;AAAÏ<"CY@RCC$@CAIIGm5>=i=e hAe gAi 9i Im vGim @m =i i m ; m ERwtq,EAY}2D7@}2D@y}2B<}2Pw}2H!?m? =m?T` b?@$?(Ȑ Vο *?)~2D7@ ~2)`;I~2CɫII)I MIIY}@y}yGǼM]=Yp:QU>!!a%D%mD)y-}->I1 =:5QT05? =:5ڠ 5:A E?95C5w: 5:)5X:We5?WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU}@"?B=B BAS>*BAt;AAA1<"C5X*@RC5 C55?C9 IG5 > zz V5:YQ1y:%5);9 I M Ci nGI i  Ŀٺ  &A|}tq,OEAY}6W@}6Ee@y}6<}6w}6H`"b?@? ?@L&?@g? /οs?)~6W@ ~6]*`;I~6Cɫ99)9 =IAY@y)yGI)))uy=u94=uF>iu @q u+@)u+@Iuiu+@} MD=Y-9QU>aD:mDyօ}>IȡťA`05?ťү ƥ&A ?9ƥCǥ: ȥ:)ȡW?WX XW:W2W*WVbUBU*UUUI@B ]<B BA&>*BAqz;AAA ؈<"Ci?RCC?CשIG >dtq,mEA|i|@Y}B@}B?@y}B<}B^ix}BH?h?@'?O|\?`? UNο ?)~B@ ~BΆ`;I~@ɫai)i uIqY@yixGp=ɮ JMU=Y}:QU>aDSmDyʃ}>I :[k05? : A ?9C; +;)Y:W%?W!X! X!W!:W)2W)*W)V1bU1BU1*U1U9U=Ǜ@REB*** querying acoustic contact ***PAPABeW<Bi BiAmn>*BiAu;AqAqAu.<"C}w?RCyC}?CסIG >9 I PuGi c@    ;  EI)AA }} 4:YkS1yԊ:5)Y;Ttq,J,EAY}6@}6\@y}61<}6:y}6H1?@? ׂ?@ ?\?`ο ?)~6@ ~6_;I~6CɫAI)I UIQY_@yxGZ****** received transponder code query ******F****** received ping request ******aDomDyˉ}>Iu05? A 5?9C;  ;)Ws?WX XW:W2W*WVbUBU*UUU1 @Bo<B BA֠>*B)A- <A)A)A-00<"C5;?RC1C=s?CA-;> I GE >]xtq,*FEAY}6Ƕ@}6{ġ@y}6 <}6 x}6H?`$5?? "@\"?@ԥ?@gWο 0?)~6Ƕ@ ~6(v_;I~6Cɫ99)9 =I9Yu+@y}xGxDUSBL response received:!U1,P 39C,000,00A5C,189,80,80,A7,FF Command AckBRequesting micromodem ping code 2i=iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -?Mb`??>L ;)Iyy&1?~jt?I +`%?=94 r@)IiEA\@) = ==Ga>R>i@ @)ʭ@Iʭ@iʭ@CM==YEE9QU]>aaamDmmDyyL]}>I :05? :( A ?94Cm < <)Z:W Y?WX XW:W2W*WVbUBU  y y  6:Y P1y ': 9@*UUU@Z@B'<B BA>*BA <AAApه<"C|?RCC Y?C (q>ׁ I G > = < 9 I tGi @ =   ;  E"tq,`EAY}6ݨ@}6@y}6v<}6t}6H?@?*u?`h`~?;?'Jο?)~6ݨ@ ~6B(_;I~6Cɫ99)9 =I9Y}(@y}|wGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IR=)4=߽M=YֹQU?aDmDy7Ľ}!?Iȱŵ05?ŵ+ ƵA ?9ƵJCǵ@: ȵ+:)ȱWH?WX XW:W2W*WVbUBU*UUU@@BĎ =B! B!A%e>*B!A% <A!A)A-<"C5?RC1C5H?C1--tY>IG (>=ia=̝tq,jyEAY}6@}6z@y}6<}6Dv}6HN?%?y? G? 1?@⡑ {ο` ?)~6@ ~6M&_;I~4ɫ99)9 =I9Y}@y}wGxDUSBL response received:!U1,R,157,000,00526,185,80,80,BE,FF Fpublishing direction and range info}@yɰ}=}+> y)}>CIyy}Q&B}G@_V?ۻ5~8ҿٱy ?`ei(@ v@)X@I@i@<MU=YIQU>aDmD y \} >Iؐ05? A %?9jCD: Q:)WES?WAXA XIWI:WI2WI*WIVQbUQBUQ*UQUYU]@Pi*QmQ&BZQm~C@XE?+(JQmG@_V?ۻ5~8ҿ2Qm@:QibQmoo݉Ds^@RQmTˆlI|r%܇?BQmŖ@ Qm&Qm%Pm9?Pm@9?PmYQmQmA"QmAB}6<By ByA}.>*ByA<AAAI<"C?RCCS?CԥiAԥhAօKP&>I׉)׉AIQGm5>/  7:Yyo5tq,EAY}i@}hw@y}B<}ir}Ha?.???g̣? ο?)~i@ ~_;I~Cɫ) IYU:@yUwGDNmea in: $SNTTA,,,,,010722.20*5A I)AjA]ФM]6=Y];QU]>aaaeDemDiym}u>Iq }:uE05? :u uxA ?9uCu: u:)u[:myAdded new target pos. range: 41.579998 m, bearing: 269.955468 deg, deltaT: 4.415786 s, approachRate: -18.125881 m/s, LOS rate: 2.652376 deg/s, posRepo size: 4m ProNav: pos range: 41.579998 m, bearing: 269.955468 deg, approachRate: -18.125881 m/s, LOS rate: 2.652376 deg/s, cmd update: 7.957129 deg/s, cmd heading: 81.166050 deg, new cmd heading: 75.767766 deg. WR?WX XW:W2W*WVbUBU*UU`=D@Ul?B8<B  B A >*B A ɔ<A A A<"C]?RCCR?Cܵ>9ܱIܵsGiܵ@ܵ=ܱܱܵ; ݵE)E~CIE~CiAE=E=E~4=IGE>"ݪtq,됭EAɫy髁) IY@yjwG iiף+>DiG@ @)`@IA@iA@;*MQ=YQU> a D mD y}>I05? XA %?9C{: ʽ:)WMDF?WIXI XIWQ:WY2Wa*WaVibUyBUy*UUU?BS<B BAx>*BAEg<AIAIAU4<"Cm?RCCDF?CEr=I!GEs>I)@AV zz ::YQ1y:5 űtq,/lEAY}N+@}NN9@y}N\<}N4Y}NH@?ݟ??bY? 刕?@!kʿzF?)~N+@ ~N 5_;I~NCɫ髙) IY@yAwG|?5^?Dl? ?O L=)Iyp= ף?/$?y&1|?%?<`; @)AIizAA X$M I=YKaD nDyĽ}%>I! 5:%05? 5:%U %NA 5?9%C%; %;)%\:W]R?WYXY XYWY:Wa2Wa*WaVabUaBUi*UiUiUmT?Bl<B BAc>*BA<AAAX<"Cײ?RCCR?C֭벫٥ iA٥ hAܭ >9ܩ Iܭ rGiܭ {@ܩ ܩ ܭ Dܭ ; ݭ Etq,JEAY}Fä@}Fќ@y}F7<}FG}FH`?? ?l?qP?<\ȿ@vb?)~Fä@ ~Fc_;I~FCɫyy)y }IyY+@ywG=i=5{<M5Y=Y=;QU=>9AaEDE"nDAyM }M>IQUC05?U- UDA ]?9UCU@: U:)QW0?WX XW:W2W*WVbUBU*UUU ?B<B BA>*BA<AAAr<"Cʲ?*C,p=RCC0?C֕aIqG>o || <:YR1yi:5)<;9atq,"EAY}J@}JE@y}J<}J1}JH7*?? ]?]uq?@n?|ƿ?)~J@ ~J_;I~JCɫYY)Y ]IYY @yXwGI-C=)-=u>uC uOiu3@q uv@)u@Iu@iu@ ME=YaD=nDyr}>Iȡ :ť05? :ťc< ƥ7A ?9ƥCǥ': ȥ:)ȥ]:W?WX XW:W2W*WVbUBU*UUUI@BEh<B BA>*BA!<AAAq<"C%?RC!C-?C)-IG*>=i=tq,EAY}:U@}: @y}:0=}:}:H? ?`w{?`Nu"r?0s\` ÿu?)~:U@ ~:`;I~8ɫQQ)Q UIYY@y4vGUȔMUM=YU (YYa]D]VnDayeuҺ}e>Iim05?mJ m)A }?9m4CmǺ: m:)iW ?WX XW:W2W*WVbUBU*UUUx@B<B BAwy>*BA$<AAA8<"C/?RCC ?CiA7M>9IIM0rGiM@M=III II!GE0>eU ewewe e::YeO1yeP:e85)er;'-tq,.EAY}B+@}B߸@y}Bk=}B*}BH@? 3???n`?\A٬#?)~B+@ ~B_a;I~@ɫy髁) IY@yvGI)A]S=]/]>]wi]@Y ] @)] @I] @i] @urC=MuI=Yu-Myya}D}pnDyc<}>I -:05? 5:hY A E?9WC'< wu<)^:i]nGIiCɿٺAW%yD?W!X! X!W!:W!2W)*W)V)bU)BU)*U1U1U5u[@R]B*** querying acoustic contact ***PaPaB^<B BA>*BA.)<AAA<"C?RCCyD?C){K7IG>:tq, HEAY}:@}:@y}:Q1=}:T}:H?`D?s?`c?](~޵Z?)~:@ ~: `;I~:Cɫ99)9 =IAY]@y]vGeZ****** received transponder code query ******eF****** received ping request ******eqya}D}nDyy<}>Iȉōm05?ō:g ƍA ?9ƍwCǍ; ȍM;)ȉWUb?WQXQ XQWQ:WQ2WY*WYVYbUYBUY*UaUaUeM @BZ<B BA^>*BA,<AAAY9<"Cn?RCCb?Cyb]סIGB>I)u u~u~u uA:YuT1yu@:u]59}@E 9I IM pGiM @M =I I M ; M E\=tq,KbEAY}2QH@}2V@y}2H=}29}2H?@I?\ث?K:?ԣ6 ?)~2QH@ ~2@Sa;I~2Cɫ99)9 =I9Y]d@y]vGexDUSBL response received:!U1,P 157,000,00526,185,80,80,BE,FF mCommand AckmBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 MK=Y haD nDy-;<}5>Iȑŕ05?ŕu ƕA ?9ƕCǕ< ȕ;)ȑWU$?WYXY XYWa:Wa2Wi*WVbUBU*UUU- @Bh<B BA!>*BA /<AAAՇ<"C?RCC$?C?i?IG5q>igtq,j|EAY}2Х@}2rޝ@y}2Z=}2m}2H-?`U8?1?`\-?Y;MEm@J?)~2Х@ ~2a;I~0ɫ99)9 =I9Y@yvGAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U=iU=í>íʡíSc>ií@é ĭ@)ĭ+@IĭA@iĭ+@OݼM<=Yq#aDnDy0 =}>I :<05? : A ?9C: q:)_:W ?W X  X W:W2W*WVbUBU*UUU Y@BO6<BD< B!A%9v>*B!A%<2<A!A)A-,x<"Cm?RCiCm?Cq}}YIaG{> xx I:Y7P1y:J5Otq,_FEAY}V2~@}V拞@y}V&h=}V=}VH`? 7?ؘ`&wf?u~??)~V2~@ ~Vc;I~VCɫ髙) IY@yuGxDUSBL response received:!U1,R,2B2,000,00A96,188,80,80,C1,FF Fpublishing direction and range info%ɰ^>> )ACIy3Bڮt=_??5ٱI=)=]MX=YAaDnDye=}>I  05? = A ?9 C < <) W56o@W1X1 X9W9:W92W9*W9VAbUABUA*UAUAUM`@Py*Q}3BZQ}nHY@qQJQ}ڮt=_??52Q}%:QybQ}gNIX F6jx0]fU;1!RQ})r`*ֿP &EBQ}>@ Q}Q}Z0P}9?P}9?P}Q}YQ}c"Q}AB7<B BArs>*BAy5<AAA6<>9IoGiO@; E"C^?RC- >C-6o@C)=ƂI!G=r>iR=}tq,1EAY}ED@}ER@y}E!u=}E =}EH@2? ?@ۂ?-o?T?)~ED@ ~Ee;I~ECɫ) %I!Y J@ykvGTNmea in: $SNTTA,0.375662,,,,010726.64*43 a im@a m a mm@a m a qm@a m a eu@a u r>i@ )Ii@Q<M=YK;QU>aDnDy 9=} >I! -:%d05? -:% %A -?9%C%: %V ?)%`:m]}Added new target pos. range: 125.100006 m, bearing: 249.313024 deg, deltaT: 4.478767 s, approachRate: 18.647991 m/s, LOS rate: -4.608957 deg/s, posRepo size: 4mm ProNav: pos range: 125.100006 m, bearing: 249.313024 deg, approachRate: 18.647991 m/s, LOS rate: -4.608957 deg/s, cmd update: -12.000000 deg/s, cmd heading: 116.770958 deg, new cmd heading: 120.802215 deg. WmI?WiXq XqWq:Wq2Wq*WyVybUyBUy*UUfF_@U [$?Bn<B BA>*BA9<AAAL<"C?RCCI?Catq,"EAY}2E@}2#@y}2ڀ=}2=}2H "c?? }ϵ ?D?@0?)~2E@ ~2,fd;I~2Cɫ99)9 =I9Y}@y}uGI)EGME=YE,*BA;<AAA<"Cd?RCC?C%k<NMI G%o> >9 CI mGi @ = PD ; )݁I݁i݁݁݁݅#5ctq,EAY}2@}2o@y}2=}2>}2Hm?=?@ԹVJ?@཰H?@?)~2@ ~2c;I~0ɫYY)Y ]IYY@yuG  5;M=K=Y=;QU=>AAaEDE%oDIyMK=}M>IQU05?UL UuA ]?9U>CU: U~?)QW[?WX XW:W2W*W V bU BU *U1U1U5o>?B}<By ByA} l>*BA*?<AAA<"Cm8?RCC[?CхeI)AA || 4:YR1yi:%5)j;9tq,ıEAY}2@}2s@y}2=}2 >}2H[U?I?3`?Aƻ`@k? ?)~2@ ~29b;I~2Cɫ99)9 9IAYw@y-tGu;_>u=uI>iu @q u@)u@Iu @iqVMF=Y;QU>aD?oDyh=}>Ișŝ05?ŝG ƝYA ?9Ɲ`Cǝ: ȝj?)șW?WX XWI:WQ2WQ*WQVQbUQBUY*UYUYU]n?B<B BAD>*BAA<AAA<"C?*C=RCC?C  )  ֍2Ľו?iו?i Iq G >Puq,NEAY}FfS@}Fa@y}Fp=}F >}FH!?@p?!ں-?@? ?)~FfS@ ~F`;I~FCɫqq)q uIqY@yisG5=i1mEMmK=Yu 8;QUu>qya}D}YoDyy Y=}>Iȉ :ō205? :ō ƍ*BAC<AAA1<"C `?RC C ?Cܕ>9ܑIܕjGiܕѾ@ܕ=ܑܑܕ; ݕEzIG$>% w % y% y%  % P=:Y% P1y% ':% 5)% ɘ; uq,y1EAY}Zs@}Z'@y}ZØ=}Z3 >}ZH ?~?2:^ ?|?/?)~Zs@ ~Z_;I~ZCɫ髙) IYD@yrGI=)4=Õµ>Õ&Õ7iÕz@Ñ ĕ)ĕ+@Iĕף@iĕ@$M6=Y~:QU>aDvoDyG-=}>I05? A ?9C: J@)W% ?W!X! X!W!:W!2W)*W)V)bU)BU)*U1U1U5` @B]q<Ba BaAeG>*BaAe 0F<AaAiAmu<"CmJ3?RCu Cu ?Cq}NJNQIaG}Y>=i=tuq,cCKEAY}2m@}2{@y}2J=}24=}2HQ?d?@r@?~ +@ҿ? ?)~2m@ ~2T_;I~2CɫYY)Y ]IYY}@y}3rG鮁ɮ=a ia i a ma m a qa q a ea e @5^I ?/$?y&1|?b?< `;)Iym?/$?Q?.?u< A)@It AiAA=M=i=YEj(9QUE>AAaMDMoDIyU\4=}U>IY]F15?] ]A e?9]C]#: ]n:)YW9?WX XW :W 2W *W)V1bU1BU1*U1U1U= W@REB*** querying acoustic contact ***PAPAB:<B BAQ>*BAG<AAA<"Cyh?RCC9?C֭r=Iש)שiIyG;>- C ) ) -  - *9:Y) y) - \595 @ܕ >9ܑ Iܕ hGiܕ :@ܕ =ܑ ܕ Dܕ ; ݕ E{uq,eEAY}2k˫@}2٣@y}2*=}2GI=}2HS?J?첿M`8?`_b@)?}?)~2k˫@ ~2O^;I~2CɫYY)Y ]IaY@yqGZ****** received transponder code query ******F****** received ping request ******!a%D%oD%-@%[@@)y-5<}->I9 E:=15? E:= =A M?9=C=; =;)=b:Wu?WqXq XqWy:Wy2Wy*WyVybUBU*UUU @B<B BA=*BAOI<AAA]<"CTm?RCC?CML=)IQG:>}4>yiSoGIi 5 #ۿٺ1 5 Auq,~EAY}:&@}: @y}:=}:㟱=}:H`?`B?L8P?/Ա?c?)~:&@ ~:^;I~:Cɫ99)9 EIAY}@y}zoGxDUSBL response received:!U1,P 2B2,000,00A96,188,80,80,C1,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 AAýC=ý7 >ý5iý@ù Ľ@)Ľʭ@IĽ@iĹM*=Y%N:QU>aDoDy@X<}>I.15? A  ?9C: r:)WU?WQXQ XQWQ:WY2WY*WYVYbUYBUy*UyUUH @BE<BI BIAM=*BQAUJ<AAA)<"C)?RCC?CI) >I G% >5 5 {5 {5  5 1:Y5 #R1y5 :5 5%uq,fژEAY}6F@}6@y}6G=}6 k=}6H`N?@Q?Z>@a?#TűUK?@?)~6F@ ~6o _;I~6Cɫ99)9 =I9Yuf@y}-oGy}@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B bMm=Y4QU?aDoDy}?IȱŵB#15?ŵ ƵA ?9Ƶ0Cǵn: ȵ{:)ȱWט?WX XW:W2W*WVbUBU*UUU@@B%:<B! B!A%A=*B!A%1K<A)=>99I=fGi=@99=D=; =EA)AMÔ<"CUA?RCQC]ט?CYe/>!I1GM0>,uq,EAY}N@}N@y}NG=}N <}NH ?kp?@?[?`[W?@J땒??)~N@ ~Nic_;I~NCɫ髡) IY`@ymG%xDUSBL response received:!U1,R,2E0,000,00AB5,189,80,80,A6,FF -Fpublishing direction and range infol$ɰ`>7> )&CIyB52b?]3+ٱ=i=}6only read 3 of 4 data itemsa i}@a } a m}@a } a q@a  a e@a  --^=-ףiiauDuoDqy}I}}>Iȁ :Ņo.15? :Ņ, ƅA ?9ƅYCDž; ȅ>)ȅc:WW7?WX XW:W2W*WVbUBU*UU!U%c@P1*Q5BZQ5KjY@//TSJQ552b?]3+2Q5l$:Q1bQ5'v!>?-f^`Ne RQ5Py`ο On4/BQ5@ Q5Q5 P5:9?P59?P5Q5Q5"Q5cBj'n<B BA=*BAeK<AAA=~<"CV?RCCW7?Cֽi>yIG>m m ym ym  m l3:Ym P1ym ':m 563uq,EAY}r+@}r8@y}r=}rɼ}rH ,?@??``R?vs-u?)~r+@ ~r`;I~pɫ) IYF@y lGmDNmea in: $SNTTA,,,,,010731.08*52 I}4=)yĽMe=Y]5QU>aDpDy{2}>I615?8 A ?9wC: Q?)muAdded new target pos. range: 126.960007 m, bearing: 256.240503 deg, deltaT: 4.500585 s, approachRate: 0.413280 m/s, LOS rate: 1.539240 deg/s, posRepo size: 4m ProNav: pos range: 126.960007 m, bearing: 256.240503 deg, approachRate: 0.413280 m/s, LOS rate: 1.539240 deg/s, cmd update: 4.617719 deg/s, cmd heading: 62.764020 deg, new cmd heading: 58.632516 deg. Wď?WX XW:W2W*WVbUBU*UUp_@Uq?B-eK<B- = B1AU*BQAYAYAYA]<"Ce?RCiCmď?Cq֍4(>aIqG}>=i= hA ! 9! I% dGi% @! ! % D% ; % E'9uq,fEAY}6큪@}6@y}6Ƈ=}6Y}6H@?ݻ??`i9?J <@?)~6큪@ ~6,a;I~6Cɫ99)9 =I9Y}@y}kG!`MW=YQU>!!a%D%'pD)y-^}->I150?15?5jF 5lA =?95C5: 5-?)1Wٓ?WX XW:W2W*WVbUBU*UUU@{?BH<B BA*B!A%HK<A!A!A%Q<"C-?RC)C5ٓ?C1֥>yIG^>  z z  4:Y Q1y : 5) ;9 @uq,AEAY}2@}2Wˡ@y}2g=}2՛}2H P?@B?`H??@iғn@Ͼm?)~2@ ~2'a;I~2CɫII)I MIIY}@y}iGI)AI)A5>5Q>5νi5z@1 5A@)5@I5ף@i5ף@EMEH=YE뤻QUM>IIaMDMApDQy]o}]>IaeG15?eU eRA m?9eCe: e?)aW?WX XW:W2W*WVbUBU*UUU ?BM <BI BIAm]*BiAuJ<AqAqAu<"C}Т?RCyC}?CmE}>AIIGm5>9Fuq,EAY}2@}2<@y}2}=}2'}2H ? ?@C?W S?n| @ZĿ?)~2@ ~2 d;I~2Cɫ99)9 =I9Y߽@yiG !!U7M]I=Y]ƻQU]>aaaeDe[pDaym}m>Iq }:uO15? }:uc u8A }?9uCu>: u@)ud:W?WX XW:W2W*WVbUBU*UUUฌ?>9IXcGiȸ@; E)}CI}Ciy}=}=}4B9$ <B BA g*B A QIaG}z>IAA)  { {  5:Y #R1y : n5) a;cLuq,3EAY}B@}@y}u=}I}H`:I?`?)?3?`"`ɿ@ S?)~B@ ~d;I~ɫ!)! )I)Y}@y}shGa ia i a ma m a qa q a ea e ?ʡEÿ ףp= ?? Q=)IyK7A?~jt?Q? B?<\= A)AI Ai`Ap A(>$>v>iz@ @)ۙ@I@iۙ@ M1=YXQU>aDypD!y%sr}%>I)-rY15?-Kv -)A =?9- C-¿: -/:))W]s۠?WYXY XYWY:Wa2Wa*WaVabUiBUi*UiUiUu B?BB;B BA*BAH<AAA<"C ?RCCs۠?Cх@o=])>I!G=r>KSuq,kMEAY}2)@}27@y}2&4p=}2E_}2H`??M?d` ?R? ˿ i/?)~2)@ ~2d;I~2Cɫ99)9 =I9Y}@y}+gGi=AĽMq=YfQU?!!a%D%pD)y-}-?Iȉ :ō)`15? :ō ƍA ?9ƍ/CǍ8: ȍ#:)ȍe:Wz?WX XW:W2W*WVbUBU*UUU@F@B4Z;B BA`*BAXG<AAAX۞<"C Ò?RCCz?C) uM=QIaG><>9~CIaGi@;   z z  2:Y Q1y : ʺ5) Ï;uYuq,gEAY}2q@}2@y}2_p=}2h}2HAu? -?e?-e^? ]v̿?)~2q@ ~2c;I~2Cɫ99)9 =I9Y}@y}8gG鮅a=ɮa=I=)=d;MR=Y8QU>aDpDyl}>IȹŽf15?Ž ƽA ?9ƽSCǽ: Ƚ:)ȹW^?WX XW:W2W*WVbUBU*UUU @R B*** querying acoustic contact ***P P B-9p;B1 B1A5*B1A5$F<A9A9A=7<"CE?*CE=RCACE^?CIU?΅=AIiG>=ip=]`uq,EAY}6-@}6@y}6/s=}6}d}6He? V?`5? %{a?~Oa7̿ '?)~6-@ ~6|b;I~6Cɫ99)9 9I9Y}@y}eGZ****** received transponder code query ******F****** received ping request ******C> 0=i@ /@)/@I/@i/@M7=Y:QU>aDpDy}>IZn15?} A ?9C: :)W56?W1X9 X9W9:W92W9*W9VAbUABUA*UAUAUMZ @B}(:By ByA} *ByAnC<AAA<"CÕ?RCC6?Cօa Y x x  ::Y 7P1y : 59 @‡fuq,cEAY}6M@}6@y}6Du=}6)V}6H i???8?WOʿ@??)~6M@ ~6`;I~4ɫYY)Y ]IYY@yeGxDUSBL response received:!U1,P 2E0,000,00AB5,189,80,80,A6,FF Command AckBRequesting micromodem ping code 2iI)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ;M Z=Yu:QU%>19aEDEpDQyeD}m>ܽ>9ܹIܽ_Giܽ@ܽ=ܹܹܽ; ݽEI9 :=t15? :=~ =A ?9=C=,< =<)=f:W?WX XW:W2W*WVbUBU*UUU" @B=:B9 B9A=u!*B9AeuA<AaAaAeέ<"Cmְ?RCiCm?Cqe!9IYG|>luq,TEAi nGIiؿٺAY}%\@}%rj@y}%!y=}%?}%H`|=?r? ?`yB@??ݔ@/`ǿ&b?)~%\@ ~%_;I~%Cɫ )  I YE>@yEcGIINmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ))6only read 2 of 4 data itemsa i@a  a m@a  a q@a  a e@a  j?0i d@)I@iWM=Y:QU>aDpDy@}>I|15? A ?9C: >)WuB?WX XW:W2W*WVbU BU *U U U F@BEBI BIAMM*BIAU><AQAQAU|<"C]P[?RCYC]uB?Ca-IG=>IM@A)I= O = }= }=  = ::Y= kS1y= Ԋ:= ݸ5suq,EAY}>J@}>X@y}>V|=}>-!}>Hd??K? E@?I[疯Ŀ@?)~>J@ ~>q_;I~>CɫYY)Y ]IYYv@ybGxDUSBL response received:!U1,R,1CF,000,00AD2,186,80,80,A0,FF Fpublishing direction and range infoξɰb>鰥> ) CIyCpm_^l?;N3)ٿٱKM=Y|;;QU"?aDqDy}"?IҀ15?/ A ?9C: D?)Wn?WX XW:W2W*W!V!bU!BU!*U!U)U-`@P*QCZQ%]@ lLIJQpm_^l?;N3)ٿ2Qξ:QbQe$h8Mw_H6?RQ$ȿk"fHjt?BQ+@ QQPK9?P:9?PQQ@"QB-ۻB1 B9A=f*B9A=V<<A9A9A=q֦<"CUM}?RCQCUn?CYMI!I)GM1>ܥ>9ܡIܥ]GiܥV@ܥ=ܡܡܥ; ݥEoyuq,EAY}j]@}jj@y}j=}j&}jH =?:?uh?=A@?8@2`?)~j]@ ~j_;I~jCɫ11)1 5I1Ym@yucGTNmea in: $SNTTA,0.087801,,,,010735.53*40 i==i};M8=Yg;QU>  a D +qDyq;}>I! =:%15? E:% %A M?9%C%Ϻ; %?)%g:muAdded new target pos. range: 128.699997 m, bearing: 258.881300 deg, deltaT: 4.370889 s, approachRate: 0.398086 m/s, LOS rate: 0.604178 deg/s, posRepo size: 4m ProNav: pos range: 128.699997 m, bearing: 258.881300 deg, approachRate: 0.398086 m/s, LOS rate: 0.604178 deg/s, cmd update: 1.812535 deg/s, cmd heading: 82.854773 deg, new cmd heading: 84.981178 deg. W?WX XW:W2W*WVbUBU*UU`f`@U?B-~IB) B)A-c*B)A58<A1A1A5<"C=[?RCYC]?Ca5:1I9G]v>E % E zE zE  E 6:YE Q1yE :E 5)E #;9M _uq,,EAY}2@}2L@y}2=}2tY}2H@W???1@?@5@gص?)~2@ ~2H\`;I~2Cɫ99)9 =I9Yu;@y}bGI=)R=UOm?U\U+iUz@Q U@)U@IUʭ@iU@e&޼MeU=Yeq;QUe>iiamDmDqDqyuF<}u>Iy}Ǎ15?}x }A ?9}AC}J: }?)yWr?WX XW:W2W*WVbUBU*UUUz?BP޻B BAKn*BAf6<AAAp<"Ci̻?RCCr?CZaIG%>U=iU=Նuq,ͫEAɫ髙) IY]@yaGA9ECIE[GiEo@E=AAE; E Em+MmJ=YmQUu>qya}D}^qDyy}>Iȉō715?ō< ƍA ?9ƍiCǍ: ȍ?)ȉW'?WX XW:W2W*WVbUBU*UUU L?B8oB BA*BAV2<AAA\<"C~?RC C '?C ȤIG$>e  e ye ye  e 5:Ye P1ye ':e J5)e O;uq,6EAY}%=@}%@y}%V=}%A\<}%H`!'?@?8p?{!?uG2?@?)~%=@ ~%,a;I~!ɫ) IY-1@y-(`GI)AI)a i-a i- a m-a m- a q-a q- a e-a e- -ʡE?y&1V-?->-`e -m=))I)y-V-??I +?-Õ>iÕ@Ñ ĕ@)ĕ@Iĕ@iĕ@M8=Y;QU>aDzqDy=}>I :15? : A ?9C: :)h:WmE?WiXq XqWq:Wq2Wq*WyVybUBU*UUU Ծ?Ba B BAȗ*BAoc.<AAAȳ<"C%E?RC!C%E?C!M}!I1GU>uq,aPEAY}6/@}6侟@y}6=}6=t=}6H?`?@@b?`u޴n]k? ?)~6/@ ~6jc;I~6CɫII)I MIIY}8@y}1`G ';Mh=YCz:QU>!!a%D%qD)y-(=}->I15֢15?5) 5A E?95C5ʽ: 5;:)1WeQ?WaXa XiWi:Wi2Wi*WiVqbUqBUq*UqUyU}y@B7KB*= BAQ*BAQ6+<AAAm<"CuQ?RCyC}Q?Cօ.ąYIiGZ>11999I=XGi=6@999=; = E)Ň~CIUAA)QIiŇ=Ň=Ň|5  } }  0:Y kS1y Ԋ: 5) ;uq,i;jEAY}2/n@}2{@y}2 =}2W=}2HT ?@u?{`ty ?`:]`1?E?)~2/n@ ~28d;I~2Cɫ99)9 =IAY@y[_G=.UM=H=Y=7QUE>AAaEDEqDIyM}g=}U>IY]&15?]9 ]pA e?9]C]+: ]߼:)YW?WX XW:W2W*WVbUBU*UUU /d@B1B  B A 2*B A (&<AAA<"C?RCC?C]6Ʌ1IAG]v>uq,/EAY}:O!@}:/@y}:Ȉ=}:>}:H`]?+?GBV?@]c@&?@?)~:O!@ ~:4c;I~8ɫ99)9 =I9Y}@y} ^G鮅p=ɮ==i==/=====i=3@9 =;@)=;@I=i=;@EmMMI=YM1QUM>QQaUDUqDYy]\=}e>Ia m:e15? u:eI e\A u?9eCe/: eH:)ei:W?WX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPB!|B BA**BA`"<AAA[<"C?RCC?CƂסIGB>#uq,EAY}2֩@}2l@y}2'=}2A>}2H`}?'?`?W@b@X?r?)~2֩@ ~2sc;I~2CɫYY)Y ]IYY.@y]GZ****** received transponder code query ******F****** received ping request ******AAaMDMqDIyUa=}>I15?EZ IA %?9)Cb: ӻ:)We[?WaXa XiWi:Wi2Wq*WqVqbUyBUy*UyUyU} @B>lB  B A *B A6<AAA<"C[?RCC[?C!y=]=i]=  4:I Yy5)|;G >pQuq,8ܷEAɫ) IY-n@y5\G=xDUSBL response received:!U1,P 1CF,000,00AD2,186,80,80,A0,FF =Command Ack=BRequesting micromodem ping code 2i99ENmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 y&1?I +?J +?`?9< =)IyuV?:vaDrDy}>I :15?  :l @A 5?9VC9k< %<)j:W5?W1X9 X9W9:W92W9*WAVAbUABUA*UQUQUU2@BM[B BAþ*BA <A A A% ֹ<"C5 ?RC1 C5 ?C9 U l,=I !I1GM>5uq,ZEAY}F{@}F@y}Fl=}Ft(>}FH?I7?S`r?@7ɋ`c??)~F{@ ~F`;I~FCɫ髉) IYT@yg[G-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)A̽Mn=Y.QU?aDrDy>}?I15?x =A ?9rC#:  :)W?WX XW:W2W*WVbU!BU!*U!U)U- 5r@BUмBQ BQAUվ*BYA]-+<AYAYA]j<"C-?RC)C5?C199)9 9>9IRGis@; E]8 ]{]{] ]I8:Y]#R1y]:]85)]r; ?΅ I G >q]uq,EAY}l@}Ez@y}\=}3>}Ht??t@?=Ѿn@=?`Sw?)~l@ ~_;I~Cɫ) IYe@ymZGuxDUSBL response received:!U1,R,231,000,00AEE,188,80,80,99,FF uFpublishing direction and range infou?qɰu6e>u> q)uCIqyuaCuh=?q޿ٱq 鿑    @ @ @ip@ )p@Iip@wYMH=Y QU>aD2rDyF=}>I  : }15? :  ;A ?9 C : :) k:W=T?W9XA XAWA:WA2WA*WIVIbUIBUI*UQUQUU@Pa*QeaCZQeke-\@uNJQeh=?q޿2Qe?:QabQeȮ'^$ &"`с0RQe( 仂'AqMBQe@ QeQe8Pe{9?PeK9?PeQeQe4"Qe@BBӱB BA*BAe> <AAAt<"CT?RCai}mGIiC}T?ҿٺACIe@A)aIG%>Duq, EAY}2Dc@}2p@y}2ͅI=}2'7>}2H`c>?@i_?)S?<.෾? s?)~2Dc@ ~2O_;I~2Cɫ11)9 =I9YuȰ@yuYGDNmea in: $SNTTA,,,,,010740.00*5C 5M5W=Y5HQU5>99a=D=JrDAyE=}E>IIM>15?Ma I ]?9MCMf: M:)ImuAdded new target pos. range: 130.380005 m, bearing: 266.657470 deg, deltaT: 4.522134 s, approachRate: 0.371508 m/s, LOS rate: 1.719580 deg/s, posRepo size: 4m5 ProNav: pos range: 130.380005 m, bearing: 266.657470 deg, approachRate: 0.371508 m/s, LOS rate: 1.719580 deg/s, cmd update: 5.158739 deg/s, cmd heading: 91.095408 deg, new cmd heading: 91.782750 deg. W=$?W9X9 X9W9:W92WA*WAVAbUaBUi*UiUm)L`@Um?B<żB BAW*BAa<AAAj<"C $?RC C $?Cm0 mymym m7:YmP1ym':m%59}@֑Iס)סiIyG~> 9 I PGi ܩ@ ; ECluq,T#EAY}JO@}Jx]@y}J1=}Jo8>}JH +??`йB? :8? s?)~JO@ ~J_;I~JCɫYY)Y ]IYY@yXGAiE=qgMD=YHcQU>aDerDy!=}>Iȱ :ŵr15? :ŵ: Ƶ?A ?9ƵCǵ8: ȵ:)ȵl:W)?WX XW:W2W*WVbUBU*UUUd?B%K޼B! B!A%`*B!A-ۺ;A)A)A-61<"C5)?RC1C5)?C9!I)G}Y>[uq,/=EAY}2O.@}2<@y}2=}2#5>}2H m?F?Z ?`@(வv?z?)~2O.@ ~2?D_;I~2CɫYY)Y ]IYY]@yWGIp=)=l?:vL7A`??Խ +=)Iy+?V-?~jt??<= ½!A)½AI½Ai½9AfA   Y>M"?xi3@ @)@I@i@-eIM-A=Y-@QU5>11a5D5rD9y={=}=>IAE15?E EPA U?9ECEf: E:)AWu?WqXq XyWy:Wy2Wy*WyVbUBU*UUU u?B@B BA*BA;AAA6<"C?RCC?C]=i]=u5 uzuzu u 8:YuQ1yu:u5יIGb>uq,WEAY}F@}F5@y}F#<}Fe2>}FHq?@{?`#o0?d㝿t-??)~F@ ~Fb^;I~FCɫqy)y }IyY^@yVGUaMUY=Y]֟QU]>YYa]DerDaye=}m>Iqu15?u ucA }?9uCuw: uǺ:)qW?WX XW:W2W*WVbUBU*UUUc~?B]BY BYA]~ *BaAe;AaAaAe<"Cm?RCiCu?Cq}FӅ܍>9܉I܍OGi܍F@܍=܉܉܍; ݍ%Eץ?iץ?בIGa>uq, qEAY}bְ@}b@y}bL<}bҴ*>}bH $?@q?`y ?ZiÝ@Ù ĝ=@)ĝZ@IęięZxMD=YQU>aDrDyz=}>I :R 25? :3 |A ?99C: :)m:W?WX XW:W2W*WV bU BU *U U U:@BQfB BA*BAi,;AAAX<"C?RCC?Cmmymym m2:YmP1ym':m5IG l>$uq,EAɫ髙) IY @yTG AAMV&MUR=YUQU]>YYa]D]rDaye}m>Iim25?m mA }?9mYCmV: mM:)iW2?WX XW:W2W*WVbUBU*UUU u4@B!B BA*BAI;AAAg<"C2?RCC2?C!IG5O>IeAA)e@A܉ 9܉ I܍ MGi܍ R@܍ =܉ ܉ ܍ ; ݍ !E)ECIAiAE=E=E615]uq,EAY}6x@}6D@y}6i+;}6ʸ>}6H ^?@? E?@l@^e|@?`ݤ?)~6x@ ~6a-_;I~4ɫ髙) IYH@ySGa=ɮp==wMN=YQU>!!a%D%rD)y->}->I1 =:5$25? E:5 5A E?95xC5: 5:)5n:W?WX XW:W2W*WVbUBU*UUU@E@R%B*** querying acoustic contact ***P!P!BetBa BaAe(*BiAmT-;AqAqAu <"C?RCC?CI)  K6:Yy5);9בIGa>{uq,vEAY}6A@}6O@y}67|:}6iF>}6H A#?@(b?.Q ?@ooCX?k?)~6A@ ~6A_;I~6CɫII)I MIIY}@y}*SGZ****** received transponder code query ******F****** received ping request ******̌>;i\@ @)@I@i@3M0=Y^QU >aDsDy:W=}>I!%325?% %A =?9%C%QY; %UX;)!W6F?WX XW:W2W*WVbUBU*UUU#3 @B%bB! B!A-] *B)A-i;A)A)A-$<"C56F?RC1C=6F?C9QIIaG>uq,CTEAY}>@}>@y}>֤}>>}>H>??),?`Xs?n??)~>@ ~>@}_;I~>CɫYY)Y ]IYY@y3SGxDUSBL response received:!U1,P 231,000,00AEE,188,80,80,99,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I =) =);MEj=YU|QU]?iia}D}sDyE=}>I :?25? :9 A ?9C; <)o:W ?W X  X W :W2W*WVbUBU*UUU@l @))5>91I5LGi5^@5=115; 5EB7B7= BA" *BA@;AAAl<"C?RCC?Ce=iep=* {{ ,7:Y#R1y:\5){;IG>uq,-EAY}6aӴ@}6@y}6D}6>}6H^?e?`>ǽK`G2? f 4׃?J? ?)~6aӴ@ ~6g_;I~6CɫYY)Y ]IYY>@yRGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B >CiQ@ @)@IЎ@i@^MA=Y>QU>aD4sDyyt=}>I.N25? A ?9C: :)W%?W!X! X!W!:W!2W)*W)V)bU1BU1*U1U1U5@"@BeY9Ba BaAe}#*BaAm1;AiAiAma<"Cu?RCqCu?Cyaiim?I)GMR>vq, EAY}BD@}B@y}Bqr}B>}BH]?`?-^ $?GQM? '? آ?)~BD@ ~B?_;I~BCɫYY)Y ]IYY@yXRGxDUSBL response received:!U1,R,031,000,00B1C,185,80,80,32,FF Fpublishing direction and range info%/ɰh>鰝+> )HBIy#C<?ssJ㥿ٱI)M]=Y-bQU>aDLsDyM=}>I :s[25? : A ?9C{: :)p:W_J?WX X!W!:W!2W!*W!V)bU)BU)*U)U)U5 ҝ@PA*QE#CZQE~㕠`@9|-JQE<?ssJ㥿2QE%/:QAbQEft3T@9_1Zgp?RQE*2@?^* A,?BQEY@ QEQEBPEn9?PE{9?PEQEQE@"QE4BuOz1By ByA}%*ByA}rf;AAA<"C1?RCC_J?C։aIqG<>mmwmwm mY1:YmO1ymP:m59m@% >9! I% LLGi% @! ! ! % ; % !Et vq,%EAY}M@}Mh@y}M䞼}M">}MH?@)?}@~?૽Jܓ?`$*?%?)~M@ ~MN_;I~MCɫqq)q uIqYϪ@y&RG=TNmea in: $SNTTA,0.229018,,,,010744.49*4B II0M1=YI#QU>aDisDyG=}>Iȩŭl25?ŭZ ƭA ?9ƭ'Cǭq: ȭ:)ȩmuAdded new target pos. range: 133.139999 m, bearing: 308.591608 deg, deltaT: 4.406566 s, approachRate: 0.626337 m/s, LOS rate: 9.516285 deg/s, posRepo size: 4m ProNav: pos range: 133.139999 m, bearing: 308.591608 deg, approachRate: 0.626337 m/s, LOS rate: 9.516285 deg/s, cmd update: 12.000000 deg/s, cmd heading: 113.826351 deg, new cmd heading: 116.204354 deg. WR@WX XW:W2W*WVbU BU*UU5z`@U=?BeZ !Ba BiAm&*BiAmܯ>;AiAiAm\<"CuJ@RCqC}R@CyI]@A)Y+,=I)ii I i տٺ eAI G >3vq,?EAY}2ܓ@}2@y}2|ü}26(>}2H h?:q? 3?p`o?(?`j?)~2ܓ@ ~2_;I~2CɫYY)Y ]IYYg@yQGa I@a  {Gz?A`"?~jt??= <)IyʡE?{Gz~jt?/?ףD= µ!A)µ AIµXAiµA = ? =i @  Ȏ@) @I @i @M%R=Y%;QU%>))a-D-sD9yEâ=}U>Iae{25?e" eA u?9eICe: e:)aWb @WX XW:W2W*WVbUBU*UUU&P?B8B BA3**BA';AAA'9<"C'@RCCb @C@o=u u|u|u us]:YuR1yui:u5֙qIG~>^vq, YEAY}2f@}2@y}2A:伙}2B,>}2H?;?@a@`?@2@V?Cx??)~2f@ ~20^;I~2CɫYY)Y ]IYY@yQG=iU+<M]X=Y]-QU]>aaaeDesDaym׭=}m>Iq }:u͊25? }:u- u8A ?9ujCu^: u:)uq:W@WX XW:W2W*WVbUBU*UUU`?Be7Bi BqAu(*BqAu?:AqAqAu1<"C}] @RCC@Cωω)Б Б>9IKGi@D M ?΅! I1 GM >Fvq,zsEAY}28@}2@y}2}2\+>}2H ? ?`,]?@Iw ?`JO??)~28@ ~2^;I~2Cɫ99)9 =I9Yuש@y}PGIC=)C=EZ>E̽E1iĚ@A E@)E@IEiE@U΂MUK=YU QUU>YYa]D]sDaye=}e>Iim|25?m7 mnA }?9mCmw: mb:)iW@WX XW:W2W*WVbUBU*UUU?B LAB BA.*BA:AAA<"C@RCC @CֽFӅm=im=}A }x}x} }9:Y}7P1y}:}5בIGa>v,#vq,OEAY}:@}:@y}:J }:M>}:Hh? M? 5=?@@~h?2?`,?)~:@ ~:^;I~:Cɫ99)9 =I9Y}\@y}^PG=KM=L=YE}QUE>AAaMDMsDIyU=}U>IY e:]25? e:]OB ]A e?9]C]: ]:)]r:Wg@WX XW:W2W*WVbUBU*UUU@@BVlDB BA2*BABQ:AAAl<"C!@RCCg@CIGI> >9 I KGi j@ = ; "E;W)vq,-EAY}6X^@}6l@y}6ް}6>}6H`?`ȳ?`V?@բ?_??)~6X^@ ~6~_;I~6CɫYY)Y ]IYY}@y}QGI)&=MM=Y\QU>!!a%D%sD!y-ц=}->I1525?5eL 5A =?95C5: 5:)1W@WX XW:W2W*WVbUBU*UUU@@B<B BA^.*BA\g9AAA<"C@RCC@C  @:Yy5)3;9IaG>i>0vq,EAɫ髙) IY4@y,PGp=ɮ= a I}a I} }/$?Dl?&1?}1(?}O= }P=)yIyy}sh|??ˡEMb`})?}'} }A)}zAI} Ai}1Ay}Amَ>mX?m>im@i m)mĘ@Im@ii}AM}6=YQU>aDtDy}>Iș :ŝ25? :ŝW ƝA ?9ƝCǝ : ȝ:)ȝs:W%@WX XW:W2W*WVbUBU*UUU8 @RB*** querying acoustic contact ***PPB ݸDB  BA3*BAŹAAA*<"C+M @RC% >C%%@C!=?΅Ia)eAAI!G=r>h6vq,LEAY}6@}6~ @y}6+}6-y>}6H?ss?Y@K?Dó@c`???)~6@ ~6g`;I~6Cɫ99)9 9I9Y]C@y]>PGeZ****** received transponder code query ******eF****** received ping request ******eYYa]D]tDiy! >}>Ișŝ25?ŝ` ƝA ?9ƝCǝܹ: ȝ :)șW*@WX X W:W2W*WVbUBU*UUU% @BmPB BAX3*BA/oAAA:<"C<$@RCC*@C}>9yIyiyyyy}; }E) I i = 4֥[aIqG9>mZ iim m;:Yiyim]5)mʖ;}:H`h? ?@C`YP? S?@ z? ?)~:ؽ@ ~:`;I~:Cɫ99)9 =IAY}@y}GQGxDUSBL response received:!U1,P 031,000,00B1C,185,80,80,32,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 å=å-?åPiå=@á ġ)ĥ@Iĥ@iĥ@\=M(=YzQU>aD;tDyc=}>I  :25? :k A ?9CCI: :)t:WUK1@WQXQ XYWY:WY2WY*WYVbUBU*UUU @BD6B BA,*BA TͺA A AA<"CE*@RCACEK1@CQ}PHQIaG>zCvq,EAY}:IϾ@}:ܶ@y}:8}:>}:H?`?@kD7@c? /? ??)~:IϾ@ ~:_;I~:Cɫ99)9 =I9Y}~@y}PGAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ImR=)m=}_lM}y=YQU?aDPtDy=}?Ișŝ35?ŝr Ɲ"A ?9Ɲ^Cǝ˵: ȝ:)șW5@WX XW:W2W*WVbUBU*UUU +=@B_iB  B A ~1*B AAAA<"C.@RCC5@C!$IG%>]=i]=m+ mymym m@7:YmP1ym':m59u@q 9q Iu KGiu @q q q u ; u EIvq,r(EAɫyy)y }IyY@y9QGxDUSBL response received:!U1,R,E42,000,0073E,186,80,80,88,FF Fpublishing direction and range infoTF>ɰ>> )CIyzB㚰fQ?I?ٱ;=MT=YQU>aDhtDy%}%>I)-w35?-\{ -4A ?9-C-2< -^<))W;@WX XW:W2W*WVbUBU*UUUM@P*QzBZQ5eQ@$KXa);@JQ㚰fQ?I?2QTF>:QbQI R@xyƇ*.@RQ$IT?欭ǿ\E?BQW?@ Q>TQfBPW9?Pn9?PCQQDA"Q@B57<Ba BaAe,*BiAmw-AiAiAmv<"C}fN5@RCC;@CօA!սYIG>2Pvq,XBEAY} 8@} Ƹ@y} CJ} t>} H0?Em?1n$߿?*`E?@?V?)~ 8@ ~ _;I~ Cɫ) IYMh@yUlPGTNmea in: $SNTTA,0.386746,,,,010748.93*48 I)UZd;?RQ/$?U?U½ U<)QIQyU+?:v:v?U?UԼU< Q)U$AIU AiUAQU Aě>exI?e#=ie@a a)e@Ie@ieȎ@u*Mu'=Y}QU}>yyaDtDy(=}>Iȑ :ŕ,35? :ŕQ ƕhA ?9ƕCǕf: ȕ:)ȕu:myAdded new target pos. range: 73.740005 m, bearing: 349.589162 deg, deltaT: 4.528576 s, approachRate: -13.116705 m/s, LOS rate: 9.053079 deg/s, posRepo size: 4m ProNav: pos range: 73.740005 m, bearing: 349.589162 deg, approachRate: -13.116705 m/s, LOS rate: 9.053079 deg/s, cmd update: 12.000000 deg/s, cmd heading: 168.123136 deg, new cmd heading: 173.057140 deg. WNA@WX XW:W2W*WVbUBU*UU@\oR@U s,?BPB BA02*BAAGSAAA<"CS:@RCCNA@Ce` ezeze ez;:YeQ1ye:e5ֽcבIG>Vvq,(\EAY}2z@}2@y}2kR}2W>}2HD?'?,(ݿ"?lJ?`?*?)~2z@ ~2'_;I~2Cɫ99)9 =I9Yk@yqPG  5\:M=x=Y=ŻQU=?AAaEDEtDAyM=}M?IQU:35?U- UA ]?9UCU: Uܹ:)QW/E@WX XW:W2W*WVbUBU*UUU}?B=qB BA2*BAtoAAAN<"C>@RCC/E@C䢼  <9Ii; EשIG >IY)]@A\vq,vEAY}:@}:@y}:GX}: >}:H?3? dz`ܿ`io?.?`K?`?)~:@ ~:k_;I~:C T> CɫAA)A EIIY]@yeKQGi}nGIiҿٺmAs?9LA̽7?=Y sQU >aDtDy#,=}>I! -:%N35? -:% %A 5?9%C%E: %:)%v:WU}K@WQXQ XQWY:WY2WY*WYVYbUaBUa*UaUaUec?BKB BA,*BAAAA<"C%D@RC!C%}K@C1E=I)GEQ>mF mxmxm m;b:Ym7P1ym:mJ5cvq,ޏEAɫ髙) IY@y QG==i==ꅼMS=YQU>aDtDy}>IșŝC`35?ŝD ƝA ?9ƝCǝk: ȝb:)șW6P@WX XW:W2W*WVbUBU*UUU@?B YB  BA#.*BAAAA<"C2HRCC%6P@C!Mܝ= IG--> 9 I LGi ^@    ;  E0ivq,EAY}2.@}2@y}2[`}2>p=}2HJ??@)@Nۿ?@'&?1Ӽ??)~2.@ ~2_;I~2Cɫ9A)A EIAY@yQGI=)==D=MEO=YMQUU>YaaeDetDaym=}m>Iq }:ur35? }:uО uA }?9u!Cu: u+:)uw:WV@WX XW:W2W*WVbU)BU1*U9UAUM`?B?JB B!A%F)*B!A%A!AIAMC|<"CUABRCQCUV@CQe>Ae=ie=R || N:YR1yi:85);9IGl>pvq,tEAɫ髁) IY@y"QGA`"?~jt?ʡEY>< )IyFx?I +?Q?+?94<u= A) AIt AiAA;t>1i3@ ;@);@I;@i;@ M?=YQU>aDuD y } >Iȱŵ`35?ŵ٥ ƵqA ?9ƵGCǵ׾: ȵ:)ȱW[@WX XW:W2W*WVbUBU*UUU`k(@Bm9XBi BiAu-*BqAu9AqAqAun<"C}<RCyC[@Cօr5>YIiGZ>wvq,*pEAɫ髙) IYީ@yPGɮI)A*MZ=YQU>a%D%uD!y)}->I15q35?5v 5A =?95eC5: 5:)1W]{`@WaXa XaWa:Wa2Wa*WiVibUiBUi*UqUqUu:@R}B*** querying acoustic contact ***PPBykB BA|.*BAлAAA~<"C#8RCC{`@C٩٩ܱ9ܱIܵMGiܵ@ܱܱܱܵ; ݵEXN]>בIG>m m~m~m m_C:YmT1ym@:m85)m;.}vq,MKEAY}2@}2n @y}2i}20c=}2HU??M5`5ڿ@?Xך@6?`S??)~2@ ~2\_;I~2Cɫ99)9 =I9Y}@y}QGZ****** received transponder code query ******F****** received ping request ******>i=@ A@)t@I^@it@;M==Y̯QU>aD9uDy|e<}>I  5: 35? 5:  A 5?9 C ; a;) x:W}f@WyXy XyWy:W2W*WVbUBU*UUU@ @BTB BA-*BAAAA;W<"C5r"2RC9C=f@C9E;>I)GEQ>IY)Yvq,c&EAY}6ߤ@}6@y}64l}6hD<}6H?N?QJ,ۿ[?//??@o?@?)~6ߤ@ ~6`;I~6Cɫ99)9 =I9YyyyxDUSBL response received:!U1,P E42,000,0073E,186,80,80,88,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 YQU>a%D%QuD9yE}M>Iim35?m- m]A U?9mCm< mC<)iWl@WX XW:W2W*WVbUBU*UUU` @Bm#XBi BiAi*BiAuAqAqAu2<"C},RCyC}l@C zzE B:YQ1y:l59@ֵ>qIyG>ܵ >9ܱ Iܵ MGiܵ R@ܵ =ܱ ܱ ܵ ; ݵ E)IIIiIM=M=Mq64@vq,+EAY}:t@}:*@y}:Cn}: }:Hx??|=ܿ@my?(D?0ĭ?@`A?)~:t@ ~:{{`;I~:Cɫ99)9 =I9Y}!@y}PQGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 9i==Ep=iE=ý>ý?ý&iý @ù ĽĘ@)Ľ@IĽ@iĽ@;MaDouDyPC}>I :35? : A ?9C>; -/;)y:WMTq@WIXI XIWI:WI2WQ*WQVQbUQBUQ*UYUYU]@BfufB BAf,*BA2AAA%<"C[&RCCTq@CֱבIG>)vq,&DEAY}^hu@}^@y}^&(s}^}^H ??0?{߿|?p?s`?+ 4?)~^hu@ ~^(a;I~^Cɫ髙) IY@y9QGxDUSBL response received:!U1,R,2C1,000,00B75,18A,80,80,3B,FF Fpublishing direction and range infoɰEp>> )lBIyz C !?W9p$wٱdNmea in: $SNTTA,0.098321,0.205676,,,010753.37*5B I p=) %=?K7A?:v ? > Լ)Iy-?Mb~jt??5?< A)AIZ AiAAML=YBQU>aDuD y s} >I35?9 A ?9CM: :)WuMw@WqXq XqWq:Wq2Wq*WyVybUyBUy*UUU@P*Qz CZQUfE\@SJQ !?W9p$w2Q:QbQG4{3M@_B0@RQ?Ģt"{?BQդ@ QQiBP99?PW9?P QCQݮA"QDAB-Ea`B) B)A-,*B)A5A1A1A5<"C=\!RC9C=Mw@CaYi]=m m}m}m mG:YmkS1ymԊ:m5qIIYG>Rvq,÷^EAY}F@}Fպ@y}Fv}F{&}FH^?@?r? wl?ɞ? 8?@_Ŀ?)~F@ ~Fb;I~FCɫYY)Y YIYY@yQG=[1=M=f=Y=QUE>AAaEDEuDIyMr}U?IQ ]:U45? e:U UA e?9UCUg: U:)Uz:mAdded new target pos. range: 138.480011 m, bearing: 295.136709 deg, deltaT: 4.439703 s, approachRate: 14.582058 m/s, LOS rate: -12.264886 deg/s, posRepo size: 4m!ProNav REINIT: LOS rate is -12.264886 deg/s. Setting heading cmd to target bearing of 295.136709deg and heading rate command to 0 deg/s.Wդ@WX XW:W2W!*W!V!bU!BU!*U)U-@\Oa@QQ]>9]CI]NGi]@]=YY]; ]EUuE?BmB BA )*BAAAAl<"CORCCդ@C&>IGn>}vq,xEAY}Fʾ@}FHض@y}Fw}FWC}FHy?z>?Ϊ?7 bD?@?ܮ?9ȿ\?)~Fʾ@ ~Fb;I~FCɫ髁) IY@yPGI)I)A u@ u@ u@u©uuiuf@u u@)uIuiu|@+MF=Y QU>aDuDyψ}>Iȡť45?ť3 ƥWA ?9ƥ;Cǥx; ȥ;)ȡWaWaXa XiWi:Wq2Wq*WqVqbUyBUy*UyUyU9?B 6jB  B A 0*B AJ!AAA*<"C~RCCC!=_>u u{u{u u1I:Yu#R1yu:u85I!G=r>dvq,znEAY}JQϽ@}Jݵ@y}J5Xt}JdX}JH`U]? ?~ ? ࢘?f?c?ʿ ;?)~JQϽ@ ~Ja;I~JCɫYY)Y YIYYM@yQG IIFf=MG=Y:QU>aDuDy}>I :)45? : A ?9`CKG; 7;){:W!W!X! X!W):W)2W)*W1V1bU1BU1*U1U9U=P?BeޯlBa BaAe+*BiAm'AAA <"C>RCCC?΅>IY)]AAIGn>] >9Y I] OGi] @Y Y Y ] ; ] E8vq,ZEAY}6ۼ@}6}@y}6p}6c}6H`q??k?@?`(?`?5̿`(?)~6ۼ@ ~60 a;I~6Cɫ99)A EIAY7@ykQG - - --V?-C =-u>i-@- -;@)-;@I-@i-@=|һM=A=YE;QUE>IIaMDMuDIy]M}e>Iy}=45?}h }A ?9}C}: }j:)yWWX XW:W2W*WVbUBU*UUU\?BD ^B BA+*BA31A A)iE nGe* aae eK:Yayae5)e;9mIqiA-ճ<пٺvA"Ce RCCC֥>ׁ I G >)wvq,%EAY}2@}2@y}2m}2Ig}2H@O?Z??]}\t?*?(?q̿!?)~2@ ~2H`;I~2CɫII)I MIIY}@y}}RG=i=m9v?S㥛?S㥫?m4?m$> m/]=)iIiym(\?I +V-?mz4?m9mm= mA)m=(AIm AimKAimA>=MW=Y:QU>aDvDy7}>IȡťN45?ť ƥA -?9ƥCǥp< ȥ^<)ȡWqWqXq XqWq:Wq2Wy*WyVybUyBUy*UUU?BrB BA$*BAW9AAA<"CRCCC>IGn>vq,hEAY}2I@}2AW@y}2m}2h}2Ha?`b?U? ?@?`? X̿?)~2I@ ~2_;I~2Cɫ99)9 =I9YuI@y}RGI4=) <MS=Y7QU> a D  vD yo}>I %:`45? %:M jA %?9CE: :)|:WIWIXI XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUe}@BpB BA$#*BA@AAA<"CRCCCjA>9IPGi@; Eօ>YIiG8>iii} yy} }S:Yyyy}5)};7˽vq,EAɫ髙) IYc@yRGɮa=e^:>e>eþie@a ep@)e@Ie;@ie;@}I;M}C=Y}QU}>aD;vDy}>Iȑŕs45?ŕ ƕA ?9ƕCǕ: ȕϸ:)ȑWWX XW:W2W*WVbUBU*UUU@"@RB*** querying acoustic contact ***PPB :cB  B A U"*BAIAAAܬ<"CRCCC!%g>IG J>vq,EAY}2E@}2@y}2o}2Bs}2H`U?~?2 ?`g!?t? ?`$ο/ ?)~2E@ ~2-_;I~2Cɫaa)a aIiYB@yRGZ****** received transponder code query ******F****** received ping request ******!!a-D-TvD)y='}=>IA M:E45? :E9 EA ?9ECEe< Ev<)E}:WYWYXY XYWY:WY2Wa*WaVabUaBUa*UiUU@ @B#eB BA`#*BARAAAԛ<"CZRCCC>m iim mB:Yiyim59}@IGj>>9IQGi@r; E3vq,2-EAY}B| @}B2@y}B€p}Bhw}BH`g?y?;? ~t?n?` ?@ο?)~B| @ ~B^;I~BCɫai)i mIqY@y!SGxDUSBL response received:!U1,P 2C1,000,00B75,18A,80,80,3B,FF Command AckBRequesting micromodem ping code 2i 5Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 QQ |?>i\@ @)Ў@IЎ@i@<M=YC׹QU>aDuvDyK}>I#45?S# A ?9CC: :)WWX XW:W!2W!*W!V!bU)BU)*U)U)U-x @IY)]@AB%VB) B)A= *B9A= ]A9AAAEe<"CUl߿RCYCYCi֍ >a Iy G >uvq,mGEAY}67'@}64@y}6s}6Nz}6HH??`q?c>?@kF?7y?>ο@b?)~67'@ ~6]_;I~6Cɫ99)9 =I9Y}b@y}TG@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Zd;?V-?:v??|?> T<)Iykt?y&1?Q롿 0?`=\ …A)…I…I Ai…fAp A%=M%|=Y%)QU% ?))a-D-vD1y5}= ?I9 E:=V45? M:=* =uA U?9=_C=R; =F;)=~:WqWqXq XqWq:Wy2Wy*WyVybUBU*UUU@BǒB BAY*BA;bAAAu<"Cz׿RCCC>u u|u|u uxJ:YuR1yui:u5IGj>+vq,VGaEAY}6V@}6c@y}6Tv}6Bw}6H 3?ȧ??fC?@i?Ů? $ο ?)~6V@ ~6K _;I~6Cɫ99)9 EIAY@ySGxDUSBL response received:!U1,R,3FC,000,00BA6,189,80,80,7B,FF Fpublishing direction and range infocɰIt>7> )BIyk Cyd#? t=aٱi=ȼM]=Y%2ϺQU%>!!a%D-vD)y-;}5>I9=45?=3 =fA E?9=C=: =:)9WaWaXi XiWi:Wi2Wi*WiVqbUqBUq*UyUyU}{@P*Qk CZQ`Y?V@ y[JQyd#? t=aܙ9ܙIܝRGiܝ!@ܝ=ܙܙܝZ; ݝE)5CI5Ci111542Qc:QbQ5I0)a`ħ@?@RQ`dpMLrCOI?BQ<@ QQzP|9?P99?P"Q QB"QݮABM3oB BA*BA|jAAAj<"CͿRCCCE>I G%N>Pvq,"{EAY}R~@}R4@y}Rx}Rbx}RH{?44???Q??ο ?)~R~@ ~R$_;I~RCɫ髙) IY@y[TG}DNmea in: $SNTTA,,,,,010757.83*51 I=)= @ @ @©i@ @)@I@i@Y=M>=YQU>aDvDyw}>I  : 045? : [> UA ?9 C : :) :mEyAdded new target pos. range: 141.420013 m, bearing: 263.309038 deg, deltaT: 4.372726 s, approachRate: 0.672350 m/s, LOS rate: -7.278679 deg/s, posRepo size: 4mU ProNav: pos range: 141.420013 m, bearing: 263.309038 deg, approachRate: 0.672350 m/s, LOS rate: -7.278679 deg/s, cmd update: -12.000000 deg/s, cmd heading: 295.136709 deg, new cmd heading: 295.136709 deg. W]A@WYXY XYWY:WY2Wa*WaVabUaBUa*UiU pa@U m?B5={^B5@< B1A=*B9A=8sA9A9A=:<"CESRCqCuA@Cy]=i]=u qqu uH:Yqyqu5օ6Ʌ>QIaG}z>"vq,vEAɫ髙) IY@yTG}=M}R=Y}QU}>aDvDy}>Iȑŕ45?ŕH ƕFA ?9ƕCǕ: ȕܹ:)ȑW3W@WX XW:W2W*WVbUBU*UUU,?BJ mB BA*BA ~+zA A A b)<"CѷRCC3W@C֥>yIG^>ܙ9ܙIܝTSGiܝī@ܝ=ܙܙܝL; ݝE+vq,ٮEAY}V@}V:@y}Vpv}Vp{}VH@6?@U?^? @IG? x?`Uɮ?@Ͽ ?)~V@ ~V _;I~VCɫ) IY@yUGIY)Y    T>  &>i @  @) @I @i @ez=Me<=YM:QU>aDvDyI}>I45?T 4A ?9Cڶ< 7<)W  @WX XW:W2W*WVbUBU*UUAUE`??Bm@TBi BqAu*BqAuAqAqA}<"C)ǮRCC @Cu u{u{u uJ:Yu#R1yu:u5)u9;9}ֵ>׉IG>lvq,EAY}6#@}6@y}6>w}6-|}6H t??`;?RU?"?`ݮ?Y3Ͽ ?)~6#@ ~6_;I~4ɫ99)9 9I9Yح@yUG !!X9v?Zd;O?I +?j< 94)IyQ??aD wDy9}>I :55? :^ TA ?9C: :):W@WX XW:W2W*WVbUBU*UUUp?B,kB BA*BA΄AAAy<"C%V7RC!C%@CI=V =Ia)aM>) I1 GU >M=vq, EAY}:Բ@}:@y}:y}:)+v}:H??m?m7?` ??1? ?kο?)~:Բ@ ~:_;I~8ɫ99)9 =I9Y}K@y}pVG=>99I=TGi=@999=B; =ߗEU=MUR=Y]X׺QU]>YYaeDe#wDaymꎽ}m>Iqu55?uj uxA }?9u4Cu: uM:)qW?@WX XW:W2W*WVbUBU*UUU3@BIfB BA *BAAAA(<"CJѧRCC?@CQ<> || "C:YR1yi:5)ѝ;I)Gew> i ]nGI i) ] Ͽٺy } Algvq,+jEAɫyy)y }IyYyi=Ý?Ý)>ÝI>iÝz@Ù ĝ@)ĝۙ@Iĝ@iĝ@YQU>aD>wDy}>I :55? :2w A ?9XC: :):W$w@WX XW:W2W*WVbUBU*UU U ̅@B5N^B1 B9A9*B9A=CȋA9A9A=q<"CE"*CE=RCICM$w@CQeB<5>IG=>KOwq,JEEAY}NAK@}NX@y}Ndx}N1s}NH@8?wE? ? ԧ?`?`? ο ?)~NAK@ ~N5._;I~NCɫ髙) IY@@yWGa=ɮ=I)C=V=M  a D VwD y}>Ir+55?0 A %?9zCϸ: :)WM)@WIXI XIWI:WI2WQ*WQVQbUYBUY*UYUYU]-@RmB*** querying acoustic contact ***PiPiB ^B BAo*B AAAAi`<"C5kӪRC1C5)@C9%*?i?IG>=>99I=UGi=@==99=R; =E| wq,.0EAY} @@} @y} 8q} &x} H?(?`@?& ?@qf?"?`ο?)~ @@ ~ 5_;I~ ɫ) IY5a@y5WGUZ****** received transponder code query ******UF****** received ping request ******]<M&=Y=x;QU>aDvwDy!L}>I :z;55? : A ?9C(: V:):W]@WYXY XYWa:Wa2Wa*WaVabUiBUi*UiUiUu! @BYKB BAe*BA2?AAA<"CkRCC@C) ԥ ԥ թ ԩ !I1GM>%`wq,|(NEAY}2@}2e@y}2Q_;I~2Cɫ11)1 5I1Y@y*XGxDUSBL response received:!U1,P 3FC,000,00BA6,189,80,80,7B,FF Command AckBRequesting micromodem ping code 2iI)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  }} w?:YkS1yԊ:55Nonly read 0 of 1 data item for altitudea i5@a u a mu@a } a q}@a } a e}@a } ;<M%=Y=a;QU>aDwDy^a}>IJ55?/ A ?9C: >)WE/@WAXA XAWA:WI2WI*WqVybUyBU*UUU@BM$IBi BqAu*BqA}|AyAyA<"CRCC/@CסIG>1 5 <= >99 I= VGi= @= =9 9 = L; = EЅwq,gEAY}2@}2Φ@y}2-g}2}2H?i??i2?og?@?@Ͽw?)~2@ ~26_;I~2Cɫ99)9 =I9Y}@y})YGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B &=M=Y:;QU?aDwDyṽ}?IȩŭS55?ŭ$ ƭ0A ?9ƭCǭ; ȭL?)ȩW:@WX XW:W2W*WVbUBU*UUU`w@B5rrB9 B9A=*B9A=AAAAAE <"CM1ƿRCICM:@CQ1IYIq)u?AG>m wq,}ˁEAY}>@}>@y}>Nc}>x}>H@N*?O?@"?@m`??s?Ͽ2?)~>@ ~>o{_;I~>CɫYY)Y eIaY@yWYGxDUSBL response received:!U1,R,39F,000,00BCE,189,80,80,77,FF Fpublishing direction and range infoOɰw>鰡 )BIyCp@ω?3{'ٱO =-=iQ@ Ę@)@IiĘ@%.=<M%Q=Y-;QU->)1a5D5wD1y=}=>IA M:E^55? M:ED EQA M?9E CE>: EC?)E:W-Ҝ@W1X1 X1W1:W12W1*W9V9bU9BU9*U9UAUE Y @Pq*QuCZQuWS|gX@ nZJQup@ω?3{'2QuO:QqbQum~6*F(`ԵP?@RQu ԿT?PW&?BQuS@ QuQup4Pu49?Pu|9?Pu Qu"QuWB"QuBB1PB BAl*BA֜AAAG<"C}~ѿRCCҜ@Cua uzuzu u;:YuQ1yu:u95IG-->&wq,|EAY}f@}f!@y}f_}f~}fH`ϭ?r$?`r?? "??qϿj?)~f@ ~f;9`;I~fCɫ) IY@yYGUDNmea in: $SNTTA,,,,,010802.33*55 U=iU=]=i]=)<MC=Y;QU>aDwDym~}>Iȩŭj55?ŭ ƭsA ?9ƭ2Cǭ5: ȭ?)ȩmyAdded new target pos. range: 143.820007 m, bearing: 251.254656 deg, deltaT: 4.537973 s, approachRate: 0.528869 m/s, LOS rate: -2.656336 deg/s, posRepo size: 4m ProNav: pos range: 143.820007 m, bearing: 251.254656 deg, approachRate: 0.528869 m/s, LOS rate: -2.656336 deg/s, cmd update: -7.969009 deg/s, cmd heading: 241.022888 deg, new cmd heading: 235.802275 deg. W!@WX XW:W2W*WVbUBU*UU=a@U6?B=Z0QB9 B9A=A*B9AeAaAiAmW<"CmܿRCqCu!@CqIGH> >9 I XGi @ =   N; E)qIqiqu=u=u5;,wq,EAY}]B@}]O@y}]:[}]n|}]H'2?.z??q% i?g?`m? 0Ͽ?)~]B@ ~] _;I~YɫQY)Y ]IYY~@y_ZGI4=)4=a ia i a ma m a qa q a ea e Cl?&1?~jt?d;?P= D<)Iy rh?L7A`?Mb`?C+?+=; Z@)+AII AiA3Ae=iea=u4 u|u|u u7:YuR1yui:u\5)u,;9}ÝԽÝ,>Ýu=iÝ̔@Ù ĝ@)ĝQ@IĝQ@iĝ;@r=M+=Y ;QU>aDwDy \}>IGv55? A ?9[C: :)W5@W1X9 X9W9:WY2WY*WaVabUaBUa*UiUiUm?B/IB BA*BALAAAY|<"CRCC@CIGn>^3wq,[EAY}6ec@}6q@y}6|"Y}6'#|}6Ha?@Y?@RC?@ ~!?@?!?`'Ͽ@?)~6ec@ ~6_;I~6Cɫ99)9 =IAY}@y}ZGM<M=Y:QU ?!!a%D%xD)y-䰽}- ?I1 =:5}55? =:5> 5A E?95vC5A: 5:)5:We9@WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU} ?Be]Ba BaAet*BiAmAyAyA}<"CnRCC9@CסIG > >9 I XGi 6@ =   \;  E9wq,7EAY}2@}2@y}2X}2Ѱx}2H`&? ?@Z??I5?`v?οt?)~2@ ~2C_;I~2Cɫ99)9 =I9Yӱ@yZGIA)IA)AUW<MUF=Y]:9QU]>YaaeDe*xDayu}}>Iȑŕa55?ŕ ƕA ?9ƕCǕM: ȕ:)ȑW%~@WX XW:W2W*WVbUBU*UUU?B :NB BAݾ*BA%AAAIAMp<"CUcRCQCU%~@CQu u}u}u u?:YukS1yuԊ:u&5)u;AIIGm5>`@wq,EA|i|@Y}>@}>]@y}>QX}>x}>H`/g?f?`?5m ???@Oο ?)~>@ ~>d7_;I~>CɫYY)Y YIYY}@y}[G ))u>uu`iu@q uۙ@)uۙ@Iuiuۙ@=MG=Y9QU>aDDxDyx}>Iȩ :ŭ55? :ŭ ƭA ?9ƭCǭ: ȭ:)ȭ:W{@WX XW:W2W*WVbUBU*UUU`@BLB BA%{о*B!A%F'A!A!A%6^<"C-Ii)m@AFwq,EAY}2|֨@}22@y}2V}2oB{}2HQ?Ԣ?:? a |?w?Ԫ? Ͽ`?)~2|֨@ ~2_;I~2Cɫ99)9 =I9Y}@y}[GMR=Yo:QU>!!a%D%]xD)y-}->IȁŅ!55?Ņ ƅA ?9ƅCDž#: ȅ:)ȁWw@WX XW:W2W*WVbUBU*UUU6@B&QLB BAhѾ*BAӭAAA&M<"CURC C w@C)I1GQu~ u|u|u u=:YuR1yui:u]59}@ܭ>9ܩIܭYGiܭ*@ܭ=ܩܭDܭ^; ݭEMwq,Q6EAiemGIyiĿٺAY}@}=@y}R}1y}H 8/??? ?@n۽?`[?@Iο?)~@ ~#@_;I~Cɫ) IY @y [G=i=p=i4=d;O?/$?X9v?4?,= <)IyS㥛?~jt?Mb?$&?D=< ½x@)½,AI½ Ai½A(A>h>iG@ @)@Ii@M&=Y:QU>aD}xDy`}>I :55? :I  A ?9CE: :):W 5Is@W X  X W :W 2W*WVbUBU*UUU @R-B*** querying acoustic contact ***P)P)BM CBI BQAUѾ*BQAUAQAQA].<"C]}HRCaCe5Is@Ca1IAG]U>Swq,rPEAY}2}@}24@y}2?O}2By}2HIq??A?%hp??@P?rο??)~2}@ ~2._;I~0ɫ99)9 =I9Y @yb\GZ****** received transponder code query ******F****** received ping request ******ٝ =ٝ =ܥ >9ܥ CIܥ ZGiܥ ̱@ܥ =ܡ ܡ ܥ l; ݥ E!Zwq,~jEAY}B+@}B?9@y}BWUN}B?w}BH`g? S?X?9?`B? ǩ?]ο`E?)~B+@ ~B|_;I~BCɫYY)Y ]IYY@y\GxDUSBL response received:!U1,P 39F,000,00BCE,189,80,80,77,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  =MD=YI;:QU>aDxDiyd}>Iȩŭ55?ŭ9 ƭ7A ?9ƭGCǭ; ȭ;)ȩW)l@WX XW:W2W*WVbUBU*U U U  h @B<B BA*BA1AAA<"CFRCC)l@C׹IGk> awq,YEAY}6J@}6X@y}6nN}6v}6H??@إ?J?)?ʩ?`ο@ ?)~6J@ ~6#g_;I~6Cɫ99)9 9IAY@yO]GAAAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I1)5AI1)5AÍÉÍȶ>iÍ@É č@)č@Iĉič@N<MI=YvQU>aDxDy}>Iȹ :ŽQ55? :Ž F ƽMA ?9ƽfCǽ: Ƚ:)Ƚ:Wni@WX XW:W2W*WVbUBU*UUU@B>SMB  B A ϼ*B AMAAA5<"CRCCni@C!u uxuxu uLA:Yu7P1yu:u5IG--><4gwq,H7EA|i|@Y}Nkk@}N"y@y}NO}Ncgx}NH@??'?@u@Xd?]A? ?ο?)~Nkk@ ~N֌_;I~NCɫyy)y }IyY@ye]GxDUSBL response received:!U1,R,20D,000,00BFB,186,80,80,39,FF Fpublishing direction and range info꾩ɰ?{>> )dBIyC4w.?6uNܿٱ ;MV=YXQU>aDxDyڊ}>Iȩŭй55?ŭcT ƭeA ?9ƭCǭ; ȭ9;)ȩWxe@WX! X!W!:W!2W!*W)V)bU)BUI*UQUQUUu@Pa*QeCZQem`@ϴ w3PJQe4w.?6uNܿ2Qe:QabQe1sCn*paI156@RQe8|Iп{Hwi!g?BQeB@ Qe QePeG9?Pe49?Pe0Qe QeA"QeWBB¶FB BA*BAjAAAi<"C;$RCCxe@CIi)iIG )>M>9IIM[GiMo@M=IIMp; MEFamwq,EAY} ɗ@} @y} [mO} z} HM?฿?h?c2?@<̵? ?`Aοw?)~ ɗ@ ~ _;I~ Cɫ) IY-9@y5^GDNmea in: $SNTTA,,,,,010806.77*51 MS?T㥛 ítaDxDyn}>I :55? :du uzuzu uF:YuQ1yu:u5)u;9} A ?9C< <):muAdded new target pos. range: 146.520004 m, bearing: 254.419683 deg, deltaT: 4.441807 s, approachRate: 0.607860 m/s, LOS rate: 0.712554 deg/s, posRepo size: 4m ProNav: pos range: 146.520004 m, bearing: 254.419683 deg, approachRate: 0.607860 m/s, LOS rate: 0.712554 deg/s, cmd update: 2.137662 deg/s, cmd heading: 205.431326 deg, new cmd heading: 201.777025 deg. W_f@WX XW:W2W *W V bU BU*UUPb@U :v?B}6B BAI*BAh&AAA<"Cؤ(RCC_f@CיIGb>Etwq, EAY}2fƢ@}2Ԛ@y}2L}2$~}2H?@? i?@&?5?`Ę?4gϿ`?)~2fƢ@ ~2ʞ_;I~0ɫ99)9 =I9Y@y^G=i=uּM}b=Y}:QU>aDyDy!}>Iȡť55?ť r ƥA ?9ƥCǥ; ȥ,;)ȡWbg@WX XW:W2W*WVbUBU*UU U Z?Bo;FB BA%*BAAAA<"C*RC C bg@C)IG-->A E gAM >9I IM \GiM c@M =I I M x; M E)݊CI݊Ciي݊=ي݊5ozwq,&EAY}RL@}R @y}RQH}RFy}RH?+? ?F:?@"T? ?ο`?)~RL@ ~RbD_;I~RCɫyy)y }IyY@y^GIe=)aMI=Y<;QU>aD-yDy m} >IA M:E55? M:E EA m?9ECE&; E;)E:WVhh@WX XW:W2W*WVbUBU*UUU@K?B-Y?B1 B1A5*B1A5}]A1A9A=<"C=>,RCACEVhh@iimp=} yy} }?:Yyyy}85)}ɚ;CaIiG9>Ywq,ڪEAY}2f8@}2F@y}2ˠB}2"v}2HƳ?@?o?@> )X? |?Q?oο` ?)~2f8@ ~2?6_;I~2Cɫ19)9 =I9Yuɵ@yu_G--o>-=i-@) -M@)-/@I-M@i-M@mo=MmL=Yu[Y;QUu>qqa}D}GyDyy}>Iȉō55?ō ƍA ?9ƍCǍ: ȍ:)ȉWLi@WX XW:W2W*WVbUBU*UUU@b?B=B BAC*BA?<üAAA]<"C D,*C RCCLi@C!I1GM>wq,5|EAY}2{l@}22z@y}2<}2F.t}2Hhڪ??`M??@9?o?`3ο?)~2{l@ ~2_;I~2Cɫ99)9 9IAY}ص@y}_GI)K;MR=YHv;QU>aD_yD y }>I455?d A %?92C: Y:)WE9j@WAXA XIWI:WI2WI*WIVQbUQBUQ*UYUYU] ?B<B BAV*BA0żAAA]<"C*RCC9j@C)I1GIu u}u}u u76:YukS1yuԊ:u\59}@>9CI|]Gi@=o; Ewq,W9EAY}2@}2@y}2[6}2t}2Hz?K?`$!?l`7??ɦ?>ο?)~2@ ~2Z_;I~0ɫ99)9 =I9Y@y_G !!m?lMb?? =)IyMbX9?X9v?~jt!?}=D µ@)µ+AIµAiµAA}>}x}i}@y }ۙ@)}@I}i}@"<M3=Y\;QU>aD}yDy{}>Iȩ :ŭ55? :ŭ ƭA ?9ƭWCǭ : ȭ:)ȭ:WnPk@WX XW:W2W*WVbUBU*UUU@ @B 5B BA*BA%sǼA!A!A%<"C-T'RC)C-nPk@C1Ii)mAA!I1GM1>ʓwq,2SEAY}:@}:Ű@y}:/}:ox}:Hk? ?@mA@?? Tο?)~:@ ~:dv_;I~:Cɫ99)9 =I9Y}O@y}L`G鮁ɮp=<Mo=YW;QU?aDyDy}?I55?޺  ?9sC; v;)W3l@WX XW:W2W*WVbUBU*UUUv@RB*** querying acoustic contact ***PPB]a:Ba BaAe*BaAeFɼAiAiAmD<"Cb&RCC3l@C}w }z}z} }P=:Y}Q1y}:}J5סIG > >9 I D^Gi @ h; Ewq,=mEAɫ髡) IYж@y`GZ****** received transponder code query ******F****** received ping request ******i}@y }@)}M@I}d@i}d@e =M0=YQU>aDyDy}>I :55? : A ?9C; f:):W5Em@W9X9 X9W9:W92W9*WAVAbUABUA*UiUiUu! @B 0B BAԍ*BAoO˼AAA:<"C$RCCEm@Ct>C i=nGIQIIiieٺWAG_>=wq,1EAY}6#؜@}6@y}6y)}6i(w}6HjU`?? 6D?-? Ǒο ?)~6#؜@ ~6_;I~6CɫAI)I MIIYu?@y}taGxDUSBL response received:!U1,P 20D,000,00BFB,186,80,80,39,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 IC=)4==Mh=Y;QU >!a-D-yD9yM }U>Iqu`55?uc uA ?9uCu; uE=)qm=im=~~ 2:YT1y@:5WEx=n@WX XW:W2W*WVbUBU*UUYUeʜ @B1W/B BA↾*BA+ͼAAA<"C<#RCCx=n@CיIGf>ϧwq,*ĠEAY}66@}6@y}6(}6ȁt}6H@Y1?C?BI?v?`?ο?)~66@ ~6g _;I~6Cɫ99)9 =I9Y}@y}KaG@A@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B YM>=Y9QU>aDyDyx}>I :55? :G  ?9CI: :):Wo@WX X W :W 2W *WVbUBU*UUU``@BU;BQ BQA]*BYA]μAYAYA]S<"Ce-#RCaCeo@CiiIyܕ>9ܕCIܕ _GiܕJ@ܑܑܑܕo; ݕEG> wq,^EAY}67@}6dE@y}6e&}6W%t}6HoX?o?˽9U?@פ?q4ο?)~67@ ~69_;I~6CɫYY)Y ]IYY@yaGdNmea in: $SNTTA,0.245939,0.244558,,,010811.21*5E I)MQ?333333?{Gz?M(?M= Mף<)IIIyMMbX?Zd;O?~jtx?M*?Mj<=M; M@)M=(AIM AiMQAIMAe;eQ=e7ie@a e@)eĘ@IeĘ@ieۙ@um<Mu?=Yu:QU}>yya}D}yDyHr}>Iȑŕ55?ŕ\ ƕ A ?9ƕCǕ: ȕ:)ȑW p@WX XW:W2W*WVbUBU*UUUe@B"/B BA*BATgмAu& uxuxu u6:Yu7P1yu:u85)u5;9}AA<"C!RCC p@CׁIG>>wq,:zEAY}2=\@}2i@y}2_"}2!s}2H8vg? |?@*¿x? J? ο ?)~2=\@ ~27_;I~2Cɫ9A)A EIAY@yaG Gw<Mc=YC;QU>!!a%D%zD!y-}->I15$55?5 5A =?95C58: 5:)1Wep@WaXa XaWa:Wa2Wi*WiVibUiBUi*UqUqUuEE@B4B BA*BAѼAAA<"C#!RCCp@CqIG=ImAA)m@Aى ٍ hAܕ >9ܑ Iܕ _Giܕ @ܕ =ܑ ܑ ܕ z; ݕ Exwq,aD0zDy}>Iȱ :ŵ55? :ŵ Ƶ.A ?9Ƶ?Cǵ: ȵ:)ȵ:Wq@WX XW:W2W*WVbUBU*UUUQ@B%pr*B1 B1A5^m*B1A= zӼA9A9A=&<"CE,! RCACEq@CIIG- >ww /3:YO1yP:5) ;wq,0EAY}2q@}2(@y}2!}2q}2H$ȿ? >?tfȿ zk3?Ϳ@?)~2q@ ~2_;I~2CɫYY)Y ]IYYԷ@y*bG=i=MZ=Y>QU>aDHzDy1}>IW55?" ?A ?9_Ck: :)W r@W X  X W :W 2W*WVbUBU*UUUu@R-B*** querying acoustic contact ***P)P)BM'!3BI BIAMA{*BQAU8ԼAQAQAU@<"C]<RCaCer@CaIG>wq, "EAY}2m@}2$@y}2"}2/u}2H7˿O?@ڰ?>˿v/N?OοW?)~2m@ ~2!_;I~2CɫYY)Y ]IYY@ycGIR=)=V=MJ=YrQU>aDazDy%x}>I : 55? :1 QA ?9C: s:):W8s@WX XW:W2W*WVbU!BU!*U!U!U%@BM~!+BQ BQAUe*BQA]xּAYAYA]KO<"Ce~DRCaCe8s@CiiIyG=M>9IIM`GiM@M=III I)IiŃ=Ń=Ń+5m=ima=}= }{}{} }8:Y}#R1y}:}J5)}ʔ;uHwq,K;EAY}2@@}2*@y}2F}2v}2H`4ο@. ? ?@H !ο?ο ?)~2@@ ~2^;I~2Cɫ99)9 =I9Y}o@y}bGEMb@Mb@Mb@EE E)EIAyEE?Zd;O?y&1|E&?AE` E@)EIEAiEAAE\A   å= å+=åiåG@å ĥۙ@)ĥĘ@Iĥۙ@iĥĘ@hM<=Yi:QU>aD}zDya}>I55?vA WA ?9C: :)Wt@WX XW:W2W*W V bU BU*UUUY@BU)*BQ BQAUg*BQA]AؼAYAYA]\b<"Ce:RCaCet@CiIIQGu>0wq,UUEAY}: I@}:V@y}:}:j{}:Hп?C?пjs?Ͽ?)~: I@ ~:^;I~:Cɫyy)y }IyY@ycGI)AI)A:=MY=Y$;QU>aDzDy}>I :55? :O ]A  ?9C4: :):W--u@W)X) X)W):W12W1*W1V9bU9BU9*U9U9UER@Bmg*Bi BiAm:V*BiA_ټAAAky<"CTRCC-u@CIG- >u& u|u|u u6:YuR1yui:u59}@% <% <- >9) I- aGi- @) ) ) - ; - E]wq,oEAY}%ee@}%s@y}%Z}%y}%Hojҿܦ?`?kLqҿ@ѥ\[? οk?)~%ee@ ~%^;I~%Cɫ) IY-ĸ@y-ScG5xDUSBL response received:!U1,N,80,80,63,E4 B,186,80,80,39,FF =ZNo reply:!U1,N,80,80,63,E4 B,186,80,80,39,FF -=ÝiÝף@Ù ĝ@)ĝ@Iĝiĝף@kM==Y9QU>aDzDy傽}>I~55?^ =tIIm@A)i cA u?9CU= m=)WU w@WQXQ XW:W2W*WVbUBU*UUU@c@B #B BA+]*BA7ۼAAA<"C%RC!C% w@C)1I9GUv>Bwq,{EAY}6f@}6@y}6}6y}6H`Կ b?`?4[Կ ̴?ο`~?)~6f@ ~6^;I~6Cɫ99)9 =I9Y];@y]cGep=ɮea=x&1?kt?{Gzt?? = ף;)Iy+?Mb`?I +?v?;94< @)&AIi\A=MU=YUQU>!!a%D%zD)y-Z}->I1 =:5d55? =:56k 5}A E?95C5: 54:)5:Wew@WaXa XiWi:Wi2Wi*WiVibUqBUq*UqUyU}@ҕ@B%d/B! B)A-[N*B)AM>ܼAQAQAU_<"C]aRCYC]w@CYIIQuqquE u3:Yqyqul5G>"lwq,zSEAY}2@}2@y}2Z!}2px}2HYտ??@Ĩտ R@/?`ο ?)~2@ ~2^;I~2Cɫ99)9 =I9Y@yQU>aDzD y } >Iy55?Tx A %?9(Cx: c:)WEx@WAXA XAWI:WI2WI*WIVIbUQBUQ*UQUYU]@ @B.B BA|_*BAݼAAA<"CmRCCx@CיIG=9I,bGiԷ@=; Ei nGI! iA } Tÿٺy Awq,e5EAY}FΒ@}Fh܊@y}F!}Fy}FHM׿`??2׿ \ת@3?:ο?)~FΒ@ ~F*^;I~FCɫQY)Y ]IYYǹ@ydGI=)MaaaeDmzDiyuÂ}u>Iy}55?} }A ?9}IC}: }:)yWy@WX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPB -#B BA<*BAR޼AAA<"CnRC!>Cy@CIG- >e=ie=ub uyuyu u;:YuP1yu':u5wq,EAY}F@}FL@y}F]}Fىx}FHؿ|?$6?`]qؿ2m?iο ?)~F@ ~F^;I~FCɫqq)q }IyY@ydGZ****** received transponder code query ******F****** received ping request ******)1a5D5{D9y=Ύ}=>IA m:EÞ55? m:E EA m?9EhCE= E=)E:Wtz@WX XW:W2W*WVbUBU*UUUu!@BX#B BA>*BA3AAA<"CAeRC%]c>C%tz@C)9IIGe4> >9 I bGi &@ = ; Ewq,EAY}b@}b@y}b&}bx}bH,ڿ@ ?5?`Zڿ@̰?Iο ?)~b@ ~b^;I~bCɫ髱) IY\@yHeGxDUSBL response received:!U1,P 80,80,63,E4 B,186,80,80,39,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Y || ::YR1yi:5);9%(>%>%>i%@! %@)%@I!i%@5D!=M5"=Y=C8QU=>9AaEDE8{DAyMa}M>IQU55?U UA ?9UCU`< U`<)QW{@WX! X!W!:W!2W!*W)V)bU)BU)*U)U1UU"@Bx0B B!A%@**B!A-AIAIAU<"C]:RCe*?>Ce{@CIG>xq, EAɫyy)y }IyY@yeGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B AAetV?"~jMb?e?eS e=)aIayeK7?{Gz? rh?eI,?e#=eC< e@)e&AIeAierAaeA=Mk=YQU?aDN{Dy}?Iș :ŝ55? :ŝ ƝA ?9ƝCǝe: ȝ:)ȝ:Wì|@WX XW:W2W*WVbUBU*UUUl#@B Af#B BA*BA[AAA<"CrRC%U7>C%ì|@Ii)iC!֝3>qIG~>Mxq,$EAY}Bv@}Ba@y}B (}Bw}BH@bݿrr? ?`eݿ("?`fοE ?)~Bv@ ~B_;I~BCɫYY)Y ]IYYn@y^eGa=ɮxDUSBL response received:!U1,R,502,000,00C08,18A,80,80,39,FF Fpublishing direction and range infof3ɰP|>> )IyLCw?amf-ٱ%M%d=Y%gŻQU->))a-D-e{D9y=y }=>IAEʄ55?E| E'A M?9ECE: E::)AWu}@WqXq XqWq:Wy2Wy*WyVybUBU*UUU$$@P*QLCZQF?_P@d'`JQw?amf-2Qf3:QbQ:ac?g @31A@RQ5x )?8?BQG@ Q9K@Q1P39?PG9?P@Q0Q B"QAu>9uCIuXcGiuȸ@u=qqu; uEB#B BA'*BASUAAA<"CRC=C}@C  RF:Yy5);֥}>ׁIGE>xq,Wy>EAY}fŽ@}fІ@y}f%}f8y}fHX޿"? }?@xK޿@鵴?@ο ?)~fŽ@ ~fw^;I~fCɫ髹) IY-@y-eGTNmea in: $SNTTA,0.100586,,,,010816.88*44 =i=a=i=%C ?%<%?5i%@! %/@)%@I%@i%/@E{<ME9=YMR:QUM>QQaUDU{DYy]L}]>Ia m:e;z55? m:e eFA u?9eCe: e:)e:m]}Added new target pos. range: 147.300003 m, bearing: 178.729644 deg, deltaT: 10.074163 s, approachRate: 0.077426 m/s, LOS rate: -7.513283 deg/s, posRepo size: 4m ProNav: pos range: 147.300003 m, bearing: 178.729644 deg, approachRate: 0.077426 m/s, LOS rate: -7.513283 deg/s, cmd update: -12.000000 deg/s, cmd heading: 226.975119 deg, new cmd heading: 227.969066 deg. WMw@WX XW:W2W*WVbUBU*UUib@Uv?BzB BA *BA*AAA<"CiRC=CMw@Cֽ)J>?iy?בIG>xq,ZXEA|"4<| Y}F @}F@y}F }FEx}FH@o߿ }?`@?߿ C? ο`H ?)~F @ ~F_;I~FCɫQY)Y ]IYY@yeGU;MU[=Y]c;QU]>YaaeDe{Daym}m>Iqup55?uW u_A ?9uCu; u;)qWَr@WX XW:W2W*WVbUBU*UUU#?B!B BA$*BAyAAAȤ<"CMRCU>Cَr@Cu uwuwu uA:YuO1yuP:u%5ֽ6>9@יIG@>m >9i Im cGim @m =i i m ; m E)Ii==4xq, .rEAY}:%+@}:8@y}:FB}:Pp}:H #e?`?;F@|@?.Ϳ?)~:%+@ ~:z^;I~:Cɫ99)9 =I9Y}W@y}fG±±j?+Тi@ @)d@Iid@%/=M-0=Y-;QU->11a5D5{D9y=f}=>IA M:Ed55? M:E EA U?9E;CEV: E8:)E:W}fl@WyXy XyWy:Wy2W*WVbUBU*UUUmk?BMB BA *BAxsAAA<"CRC->Cfl@Cֽ}7>בIG>W"xq,oEAɫ髱) IY@y5fGIy)yI)\(\?L7A`堿X9v??+ }=)IyGz?ˡE?{Gzp?'=# @)X)AIi7AAEMMY=YMQUM>QQaUDU{DYy]}]>Iaeh[55?ed eA u?9eYCe: eD:)aW_g@WX XW:W2W*WVbUBU*UUU Yk?BMBQ BQAU.*BQAU]AQAYA]<"C] u qqu u^:Yqyqu65RCO[>C_g@C}Dk)>I׉)׉YIaG}Y>m)xq,EAY}2@}2ʞ@y}2[}2.a}2H@n ܤ?{?h * l`Z?˿@b5?)~2@ ~2_^;I~2Cɫ99)9 =I9Y}û@y}gG%c=M-`=Y=;QUE>AAaMDM{DIyU }U>IY]Q55?]g ]A e?9]vC]: ]:)YWlb@WX XW:W2W>9I dGik@=; E*WIVQbUQBUQ*UQUQU][@BB BA*BAU!AAA<"C=$RCo>Clb@CImAA)mBA=>I!G=r>3/xq,ÿEAY}J@}J@y}J}J]}JH~M??`lZ 0`X?g˿uFuu@=iu@q u@)u@Iqiu@TMD=Y:QU>aD|DyI}>Iȡ :ť1F55? :ť ƥA ?9ƥCǥ#: ȥ:)ȥ:W\@WX XW:W2W*WVbUBU*UUUP@BB BA*BAAAAv<"C)RC >CE\@CI }} E>:YkS1yԊ:5%l,>IG5O>w6xq,tEAY}:U@}:b@y}:`B}:ZzW}:H ? ?Mzθ\?`UʿfF?)~:U@ ~:P^;I~:Cɫ99)9 =I9Y}*@y}gG=i=F=M[=Y;QU>aD|Dy%G}>I9=(;55?= =A E?9=C=8: =߼:)9WW@WX XW:W2W*WVbUBU*UUU@@RB*** querying acoustic contact ***PPB D4B9 B9A=*B9AEAAAAAE<"CMd.RCiCmW@CqօU>aIiG9> >9 I dGi @ =   ;  EMMiM@I M@)Md@IMd@iMd@}`һM}=Y}>;QU}>aD=|Dy}>Iȑ :ŕ+55? :ŕB$ ƕA ?9ƕCǕ6; ȕ;)ȕ:W5YP@W1X1 X1W9:W92W9*W9V9bUABUA*UAUAUM` @BB BA1*BAUAAA<"C}86RCCYP@C +Oo>י I G >l,Cxq,O EAɫyy)y }IyYʼ@yEhGxDUSBL response received:!U1,P 502,000,00C08,18A,80,80,39,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %W=M-=Y=QUE)?QYaeDeN|Dyy}$?Iȩŭ"55?ŭ+ ƭA e?9ƭCǭv< ȭwX;)ȩWjL@WX XW:W2W*WVbUBU*U U U @B|B BA*BAz0AAA<"C:RCCjL@Cw>ױIG>YIxq,m7'EAY}J}@}JM@y}JB0}JS}JH)~ ?i{?`!u7H߻@D?-ʿ`-O?)~J}@ ~JN_;I~JCɫy髁) IY@ynhGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Ii)iܵ>9ܱIܵLeGiܵ_@ܱܱܵDܵ; ݵ E\<M@=YaDi|DyĽ}>I :355? :27 A ?9C: :):W=G@WX X!W!:W!2W!*WVbUBU*UUUQR@ || @:YR1yi:5)!;BB BA*BA-A)A)A5<"C5c?RC9C]=G@CY=>I9)9IG5q>h>Pxq,AEA|i|@Y}>Ƈ@}>֨@y}>缙}>qY}>He @Jp?@?I(`e?`ʿD?)~>Ƈ@ ~>]_;I~>Cɫyy)y }IY@yhGxDUSBL response received:!U1,R,502,000,00C01,189,80,80,99,FF Fpublishing direction and range infoɰ{>7> )CIyCw?amf-ٱ)> ?Di@ @)@Ii@YX<M G=Y H;QU >11a5D5|D9y=M\}=>IAE55?EJB EA U?9E6CE; EN;)AW iA@WX XW:W2W*WVbUBU*UUU;@P*QCZQ): P@J`JQw?amf-2Q:QbQ ^aB@^E\@=@RQXE$?8?o6?BQwO8@ QBQ P:9?P39?P Q@QHB"Q BBu Bq BqA}*ByA}w>AyAyA}l!<"C ERCC iA@Cֽ>בIG>3kVxq,ZEAY} @} 3~@y}ݼ}^}H? ?@m@7`)v?˿@;?)~ @ ~ q_;I~Cɫ) IYe@yiGDNmea in: $SNTTA,,,,,010821.31*56 M<MMF=YUWC;QUU>QQaUD]|DYy]hd}e>Iq }:us45? }:uM uA ?9uVCu: u:)u:m}Added new target pos. range: 146.880005 m, bearing: 165.003259 deg, deltaT: 4.489447 s, approachRate: -0.093552 m/s, LOS rate: -3.057478 deg/s, posRepo size: 4m ProNav: pos range: 146.880005 m, bearing: 165.003259 deg, approachRate: -0.093552 m/s, LOS rate: -3.057478 deg/s, cmd update: -9.172434 deg/s, cmd heading: 173.150210 deg, new cmd heading: 168.317798 deg. WH=@WX XW:W2W*WVbUBU*UU)\b@U?u_ qqu uf;:Yqyqun59}@B'o B BA*BAźAAABP<"C5G@RCCH=@C5> IG5>٩٭=ܵ>9ܱIܵfGiܵ@ܱܱܱܵ; ݵE\xq,  a D |Dy H}>IS45?X A -?9xC: :)WM8@WIXQ XQWQ:WQ2WQ*WQVYbUYBUY*UYUYUe4D?BtB BA*BAHAAA1<"C4B@RCC8@C֝FӅ>qIG~>zcxq,EA| | Y}J@}JJy{@y}JH˼}Jl}JHG?}? ~B¿@}r?9VͿ V#?)~J@ ~Jj_;I~Hɫ髙) IY{@y iG!!6=Mf=YK;QU>aD|Dyz}>Ișŝe45?ŝ(a ƝA ?9ƝCǝb: ȝ+:)șWM5@WX XW:W2W*WVbUBU*UUU(?B  B  B A*BAAAA><"C%s=@RC!C%M5@C!}v }z}z} };=:Y}Q1y}:}5E6Ʌ>I)GEQ>ixq,rEAY}2@}2y@y}2}2Kr}2H<^??` š~ÿd?ο`?)~2@ ~2j_;I~2Cɫ99)9 =IAY}@@y}hGMQ=Y.`;QU>!!a%D%|D)y-}->I1 =:545? =:5j 5A E?95C5: 5:)5:]>9YI]xfGi]S@]=YY]; ]E)CICi==|_5W@1@WX XW:W2W*WVbUBU*UUU%2g?Be B BAZ*BA-`3A1A1A=<"C7@RCC@1@Cֽ>בIG>pxq,]NEAY}b$@}bev@y}bc}bu}bH K??@ /ſ@k? zSο`?)~b$@ ~bS_;I~`ɫ髙) IY@y-iGI1)5AI9)=AÍ͵Í}iÍ@É čף@)č@Ič@ič@<MB=Y:QU>aD}Dy}>IȹŽ;45?Žt ƽA ?9ƽCǽU: Ƚ:)ȹW,@WX XWy:W2W*WVbUBU*UUU@B B BAÉ*BAEAAA;[<"C-3@RC)C-,@C1=iA=hAuo qqu u<:Yqyqu\5]>1IAG]v>vxq,(EAɫyy)y yIyYp@yiG)E= E=u߻MuM=Y}QU}>yaD}Dy}>Iȑ :ŕ45? :ŕ~ ƕ0A ?9ƕCǕb: ȕ:)ȕ:W7(@WX XW:W2W*WVbUBU*UUU T@BjX B BAQ*BAA A A \<"CS.@RCC7(@C%>I G%M>QUjAY9]CI]fGi]@]=YY]; Yk|xq,`EAɫ) IYV@yhG(\?~jt ףp= ?>ļ Q=)IyS㥛?T㥛 ?{Gz?$?=#< ½@)½("AI¹i¹Q A]]]9:Yu7P1yu:um5)uF;9}ۻM-=YQU>aD;}Dy}>Iȡť45?ť ƥ9A ?9ƥCǥi: ȥ:)ȡW$@WX XW:W2W*WVbUBU*UUU G@RB*** querying acoustic contact ***PPB B BA̕*BAA!A!A%P<"C-H(@RC)C-$@C1>IG>ȃxq,EAY}FI@}Fq@y}FFaʼ}Fv!v}FH@ ?U?.M ƿ K?.vο@?)~FI@ ~F_;I~FCɫYY)Y ]IYY@yDiGZ****** received transponder code query ******F****** received ping request ******!xq,)EAY}V`@}Vd|o@y}VE̼}Vxw}VH`Me "e?`?Mǿ?ßοr?)~V`@ ~V`;I~VCɫ髙) IY@yriGxDUSBL response received:!U1,P 502,000,00C01,189,80,80,99,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 9IfGi@=; EI=)%=±±s+<M==Y.QU>aDm}D y]}>I)' vv 6:YN1y:5)F;-}45?-U -JA ?9-^C-)< -<))W-M@W)X) X)W):W)2W1*W1V1bU1BU1*UYUYU]`u @BK:B BAw*BAfAAAUt<"C#3@RCCM@C>i5SoGIYiqпٺɿA I G- >ސxq,CEAY}6}@}6(m@y}6; μ}60#}}6H@`??@f@p$@pȿ`?OϿs?)~6}@ ~6Q_;I~4ɫ11)1 5I1YU@yUiGYY}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B %F?%什%-i!! %@)!I%@i%@5)<M5V=Y5GҹQU=>99a=D=}DAyEؕ}E?IIMKo45?M" MRA ]?9MzCM: M:)IW}k@WyXy XW:W2W*WVbU)BU)*U)U)U-@@BB BAT*BA#AAA<"CW@RCCk@C>ױIGe>Sxq,r]EAY}JO|@}J7l@y}JBѼ}J}|}JH@H |?4?`Lɿ /?[Ͽ?)~JO|@ ~Jk_;I~JCɫ髡) IY@yDiGxDUSBL response received:!U1,R,502,000,00BEC,189,80,80,C9,FF Fpublishing direction and range infoɰz> )ICIyCw?amf-ٱ^ML=YvQU%>!!a%D%}D)y-S}->I1 =:5]45? E:5 5ZA E?95C5M: 5{:)5:W:@WX XW:W2W*WVbUBU*UUU`@P*QCZQoiO@o롑_`JQw?amf-2Q:QbQ7]%,%R@AE@@RQC!l|Sb#?y ?BQ%@ QBQPg9?P:9?PQ QB"QHBB B BA"*BA9AAAY<"C@RC C :@C iAu uuu u5:YuT1yu:u59}@_>I!)%iAIGn>>9Ii; EA2xq,mYwEAY}ez@}*j@y}uԼ}ń|}Hk@?`b?;߿xɿ@ ?@<Ͽ`?)~ez@ ~i`;I~Cɫii)i uIqYm@yiGTNmea in: $SNTTA,,0.482105,,,010825.77*44 ))a i-@a - a m-@a - a q-@a - a e-@a - - rh?bX9ȶ?-C+?-E= -̼))I)i-Mb@Mb@Mb@-©-- -(@)-|@I-^@i-|@--f@)E= AÍd;>Íh=ÍC =iÍ@É č@)čd@Iĉiĉ'6M'=YGQU>aD}Dy`}>IȹŽKH45?ŽA ƽeA ?9ƽCǽZ: ȽE>)ȹm}Added new target pos. range: 145.619995 m, bearing: 147.781374 deg, deltaT: 4.406940 s, approachRate: -0.285915 m/s, LOS rate: -3.907901 deg/s, posRepo size: 4m  ProNav: pos range: 145.619995 m, bearing: 147.781374 deg, approachRate: -0.285915 m/s, LOS rate: -3.907901 deg/s, cmd update: -11.723702 deg/s, cmd heading: 132.701068 deg, new cmd heading: 128.314920 deg. W f @W X  X W :W2W*WVbUBU*UU3b@U%խ?Bu B BA>*BAUAAA<"C@RCCf @C FӅ>IG>xq,/EAY}Vx@}Vh@y}V7nڼ}V z}VH-.`?ʐ?MF޿sɿL?ο@ ?)~Vx@ ~V_;I~VCɫ髙) IYa@yiGMm=YSQU?aD}Dy9}?I :845? :J nA ?9C6c; jV?):WM^ @WQXQ XQWQ:WY2WY*WYVYbUaBUa*U)U)U- tB?BUBY BYA]*BYA]0AYu uzuzu u5:YuQ1yu:u5AaA}L<"C @RCC^ @CֵV݅>׉IG>@xq,EAY}6ʠv@}6;f@y}6?NἙ}6x}6Hanh? P?ZܿPɿ@(?ʲο ?)~6ʠv@ ~6S_;I~6Cɫ99)9 =I9Y}@y}RiGܹ9ܹIܽ@gGiܽ@ܹܹܹܽ; ݽE<MZ=YQU>aD}Dy} >I  h'45?  wA ?9 C E: ?) WmA@WqXq XqWq:Wq2Wq*WyVybUyBUy*UUU@O?B. B BA[*BAAAAw<"C @RCCA@C 5=5==>AiE?I!G=r>(xq,EAY}Rt@}R=e@y}RP伙}Riv}RH@l? ? 2ۿ@?3,ʿඓ?N~ο?)~Rt@ ~R/_;I~Pɫ髙) IYh@yCjGIE4=)E4=IMiAÕ$?Õ(\Õ/]iÕf@Ñ ĕv@)ĕף@Iĕiĕ@a=M<=Y)vQU>aD~Dy}}>I45? A ?9#C: (?)W-3?W)X) X)W):W12W1*W1V1bU9BU9*U9U9U=!?BmBi BiAm"*BqAuAqAqAu<"C}j@RCyC}3?Cuqqu u1:Yqyquo5֥>aIiGZ>Rxq,EAY}6Xs@}68tc@y}6~ 漙}6X6w}6HPNM??`ٿ cʿ x?οK?)~6Xs@ ~6ز_;I~4ɫ99)9 =I9YR@y(jG=M=U=Y=QU=>AAaEDE~DIyMɂ}M>IQU45?Uj UA e?9UCCU: U@)QW?WX XW:W2W*WVbUBU*UUUZ@BB BA-*BAAAA\<"C?RCC?C>IGI>ٙٝhAܡ9ܡIܥgGiܥF@ܥ=ܡܡܥ; ݥE)5CI5Ci15=5=5:4xq,EAɫII)I MIIYa@y:jGa ia i a ma m a qa q a ea e J +?Q뱿Mb`(?\ )Iyv>iG@ @)@Ii@%};M%.=Y-QU->))a-D5=~D1y5}=>IA M:E?35? M:E= EA M?9EfCE: E:)E:m m}m}m muA:YmkS1ymԊ:mo5)m^;9uW-U?WX XW:W2W*WVbUBU*UUU@BCmB BAI&*BA>mAAA<"C{=?RCC-U?ChAMFӅ>IQ)UhA1IAG]>ydxq,alEAY}6Eo@}6`@y}6)뼙}6v}6HM`x?=5?ֿH)q\˿`.d?ο?)~6Eo@ ~6!_;I~6Cɫ99)9 =IAY}h@y}CjG鮁ɮ 鿑)Ý= Ý>8;M=YtQU ?aDQ~Dy'} ?I<35? A ?9}C{: :)W"?WX XW:W2W *W V bUBU*UUUm@R-B*** querying acoustic contact ***P)P)B0B BA"*B A A AA<"C5@?RC1C5"?C9E>I)GEQ>xq,I,EAY}Fn@}Fj7^@y}F 9}FIu}FH:A@??5Կy@˿?`Zο`?)~Fn@ ~F_;I~FCɫyy) Iܭ>9ܩIܭhGiܭ@ܭ=ܩܩܭ; ݭEYu۾@y}jGZ****** received transponder code query ******F****** received ping request ******i@ @)@I@iy<M%(=Y%QU%>IIaMDMq~DQyUt}U>IYuv uyuyu u;=:YuP1yu':un5)u; :]"35? :] ]DA ?9]C]; ]L;)]:W?WX XW:W2W*WVbUBU*UUU c @BM4BI BIAM`Ҽ*BQAU\AQAQAUi<"C]5?RCYC?CqQIYGu>vxq,}$FEAY}6>l@}6Y\@y}6 }6r}6H P ?"? #ҿ8˿t? nͿ?)~6>l@ ~6^;I~6Cɫ99)9 =IAY}@y}kGxDUSBL response received:!U1,P 502,000,00BEC,189,80,80,C9,FF Command AckBRequesting micromodem ping code 2iiNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ԧ<Mw=Y-ӺQU?aD~Dy}>Iy}P35?}\ }{A ?9}C}< }<)yW|?WX XW:W2W*WVbUBU*UUU @Bu#Bq BqAuԚ*ByA}AyAyA}_<"C=?RCC|?C ՙԝ=֑iIG>xq,_EAY}6Bj@}6Z@y}6}6}r}6H7m?zU?Tѿ`˿ B0?ο`?)~6Bj@ ~61_;I~6CɫYa)a eIaY۾@yjGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I}=)}=…jAM>=Y@;:QU>aD~Dy"}>I 35? A ?9C : :)W]?WX XW:W2W *W V bUBU*UUUAE@B B BA`Ҽ*BAx AAA<"C-?RC)C5]?C1uX u}u}u u::YukS1yuԊ:u59}@yQIay}<܉9܉I܍lhGi܍@܉܉܉܍; ݍEG->xq,yEA>"CiTI`ip2ɿٺtAY}Eyh@}EX@y}E[켙}Et}EHX@?@? ܂Ͽ/z̿!!a%D%~D)y-AX}->I1 =:5<35? =:5 5A E?95C5: 5:)5:We?WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUqU`/@B=j2BA BAAE)*BAAE8NAIAIAM&<"CUE?RCqCu?Cye>A II Gm >xq,EAY}2Dg@}28`W@y}2缙}2>t}2H 0 ?E? `̿]j̿9?@:ο ?)~2Dg@ ~2[_;I~2Cɫai)i mIiY4@y>kGI)I)%<M-=Y-;QU5?99a=DE~DAyMݦ}U?IY]y35?] ]A u?9]C]"; ]y);)YW%?WX XW:W2W*WVbUBU*UUU`^@B=Q#B9 B9A=s*B9AEaAAAAAE4<"CM?RCICu%?CqԁԅiAu2 uzuzu u7:YuQ1yu:uo5֥>yIG^>Ixq,EAY}>۞e@}>MU@y}> .弙}>!v}>H\]?Ҳ?` (ɿ @?Ϳ̤?@eοx?)~>۞e@ ~>'_;I~>C999I=hGi=:@==99=; =Eɫ) IYu@yukG}p=ɮ}R=   ·?,+i@ )@IiS@<M==Y 7:QU >YYa]D]~Dayeo}e>Iq }:uc35? }:u8 uA }?9u;Cu: uM:)u:W?WX XW:W2W*WVbUBU*UUU`@BB BAI*BAfAAAtC<"Cy?RCC?CIm@A)m@A >IGj>dxq,qEAY}Fc@}FlT@y}Fm3漙}Fw}FHv\v?Ne?ſ$ ͿuŜ?ο]?)~Fc@ ~F O_;I~FCɫyy)y IY@y=lGxDUSBL response received:!U1,R,329,000,0462F,189,80,80,83,FF Fpublishing direction and range infoz4ɰ? )CIyD|Y?ٱX =MM=YQU>aD Dy } >IO35? A %?9ZCD: r:)Wɕ?WX XW:W2W*WVbUBU*UUUq@P*QDZQR}t@ jJQ|Y?2Qz4:QbQN΁)@Λοrf@RQNJ2Lx:jj?F%?BQj'@ QaCQ]Py9?Pg9?PQQ=C"QBB=fBA BIAM*BIAIAIAIAMO<"CUJ?RCYC]ɕ?CYuu|u|u u3:YuR1yui:u\5ԅԅ Յԅ I G- >.xq,cGEAY}2STb@}2oR@y}24輙}2v}2HH?` ̯?`¬¿>`гͿ&?Aο!?)~2STb@ ~2H_;I~2Cɫ99)9 =I9Y}@y}&lGp=iEMEU=YMGQUM>IIaMDU"DQy])}]>Ia m:e<35? m:ep eA m?9exCe: e:)e:mAdded new target pos. range: 1040.520020 m, bearing: 150.084637 deg, deltaT: 5.691100 s, approachRate: 157.245529 m/s, LOS rate: 0.404713 deg/s, posRepo size: 4m ProNav: pos range: 1040.520020 m, bearing: 150.084637 deg, approachRate: 157.245529 m/s, LOS rate: 0.404713 deg/s, cmd update: 1.214139 deg/s, cmd heading: 66.062525 deg, new cmd heading: 61.700405 deg. W&?WX XW:W2W*WVbUBU*UUB@UPk?BB BA*BAAAAHX<"CϘ?RCC&?CI!G= >%iA%jAA9AIE3iGiE@AAAE; E"ETxq,"EAY}2`@}2P@y}2C뼙}2?x}2H!?@? G#`οog?"ο@* ?)~2`@ ~2=_;I~0ɫYa)a eIaYmG@ymUkGa Ia I Mb?lS㥛? ? /<)Iy^I +?Q?:vX?\=T )$AI Ai AQ A==`=Ƚi=@9 =@)9I=@i=MBMM;=YMBQUU>QQaUDU>DYy]}e>Iae&35?e eA u?9eCep; e1;)aWjȕ?WX XW:W2W*WVbUBU*UUU8?BhB BAM*BA}AAAf<"C?RCCjȕ?C} }{}{} }\:Y}#R1y}:}5)};9IG (>1yq,EAY}2^@}2 N@y}2d뼙}2`x}2H @ ?? Ps@=]οk? ο  ?)~2^@ ~2_;I~0ɫaa)a aIaY@ykGu>=MuY=Y}-QU}>yaDVDy,}>Iȑŕ35?ŕ ƕA ?9ƕCǕ: ȕr:)ȑW͖?WX XW:W2W*WVbUBU*UIUQUU ?B}B BA*BAAAAn<"C:?RCC͖?CסIG >- yq,D.EAY}R\@}RL@y}RK꼙}Rwl9lIniGinݽ@llln; n#E)ݩIݩiݩݭ=ݭ=ݭy4}RH/L?@8?;Vgο@]H?yοH?)~R\@ ~R'_;I~RCɫQQ)Q UIYYe,@yeolGI)I)eI>eAe'>ie̤@a eX@)eף@Iaie@}%=M};=Y}à9QU}>aDrDy}>Iȑ :ŕ25? :ŕN ƕA ?9ƕCǕ: ȕ:)ȕ:W?WX XW:W2W*WVbUBU*UUUo?BB  B A *B A A AAv<"C I?*CRCC?Cu9 qqu u^8:Yqyqu5)u;!I)G8>yq,HEAY}:Z@}:qJ@y}:X鼙}:w}:H??uRο@*?]ο`a?)~:Z@ ~:!%_;I~:Cɫ99)9 =I9Y}%@y}flG)= ='Mg=YMa9QUM>QQaUDUDYy]}]>Iae25?eH eA u?9eCer: ea:)aW?WX XW:W2W*WVbUBU*UUU@?BB BA*BAAAA<"C厒?RCC?CIG>F=yq,bEAY}2X@}2vI@y}2C꼙}2'1x}2Hcz΁?/l6Lο [G?@eο`M ?)~2X@ ~2_;I~0ɫYY)a eIaY@y*mG3<=MA=YGQU>aDDy}>Iȱ :ŵ25? :ŵ ƵA ?9ƵCǵ; ȵ;)ȵ:W?WX XW:W2W *W V bU BU*UUU+@B=^BA BAAE(e<*BAAE eAIAIAM<"CU?RCQCU?CYQIauu}u}u u0:YukS1yuԊ:u59}@G><9IiGi.@; !Egyq,Yk|EAY}2[W@}2bwG@y}2jA꼙}2x}2H B͟`J?0?  ο'G?@,ο ?)~2[W@ ~20_;I~0ɫII)I MIIY}@y}lG=i=%"~j?{Gzt?aDDyP}>Iȩŭ25?ŭ ƭA 5?9ƭ6Cǭb< ȭK<)ȩW}?@?WyXy XyWy:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PPBߖB BAJ <*BAUAAA-<"C-?RC1C5?@?C1m?im?AIIGm5>P%yq,bKEAY}JU@}J,E@y}J꼙}Jx}JHpO0?? @ο V?οn ?)~JU@ ~JJ"_;I~JCɫqy)y }IY;@ymGZ****** received transponder code query ******F****** received ping request ******aDDyi}}>Iȡ :ťU25? :ť ƥ>A ?9ƥYCǥnZ; ȥ[;)ȥ:WL?WX XW:W2W*WVbUBU *U UU @BBB BA<*BA0'AAA<"CL?RCCL?C} }x}x} }5:Y}7P1y}:}5IG$>|+yq,-EA<9jGi>Ѿ@>=<<>; >,EY}m+T@}m2D@y}mH꼙}mWv}mH?@"n?`οH?{ο?)~m+T@ ~m|T_;I~mCɫ)1)1 1I1Y@y/mGxDUSBL response received:!U1,P 329,000,0462F,189,80,80,83,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 õ 0>õQõ=iõ@ñ ĵף@)ĵף@iyIĵ@iĵף@Iiÿٺ%AԼM=Y$8QU>aDDyG}>I25? ~A ?9C?|; |;)WÝ?WX XW:W2W*W!V!bU)BU)*UQUQU] @B B BAl<*BAA!A!A%<"C]Ý?RCaCeÝ?CiIי)יׁ I G >?a2yq,]EAɫ髙) IY@yAmG a=ɮ a==Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)j;M=YQU?aDDy}?I :V{25? :t A ?9CE; F;):WE1?WIXI XIWI:WI2WQ*WQVQbUQBUY*UYUYU]@BEBA BAAU<*BQA]AYAYA]/<"Ce1?uqqu u2:Yqyqu5RCaC1?CׁIG=>\8yq,sEAY}2P@}2t@@y}2㼙}2cr}2Hַrm`3?Cο@q?@2ο@?)~2P@ ~2`;I~0ɫ99)A AIAY}@y}mGxDUSBL response received:!U1,R,1C1,000,0462F,189,80,80,83,FF Fpublishing direction and range infoyȾɰ鰁 )Iyk'?spؿٱ 鿩)õ= õ=<M^=Y;QU>aDDy}>If25? A ?9Ct; ;)W%Ƀ?W!X! X!W):W)2W)*W1V1bUBU*UUUj@P*QZQCSL @䛋xJQk'?spؿ2QyȾ:QbQ[$RB@}^@RQ3XO5B$1? ?BQ<(@ QCQ%aPP9?Py9?PQQB"Q=CB}[&By ByA}u<*ByAEAAAf<"CɃ?RCCɃ?CIG$>mhAmhA܁9܁I܅(kGi܅"@܁܁܁܅; ݅/E{>yq,EAY}j9N@}j?@y}j'༙}jQt}jHa]?Ŀb d?լ@zο@?Oο?)~j9N@ ~j_;I~jCɫ髱) IY`@ymGdNmea in: $SNTTA,0.458423,0.458048,,,010835.89*59 S?`"~jth?/? D;)Iyrh|?:v?~jth??T<D; 1@)I Ai AA%L%"۾%>i%@! %X@)% @I% @i% @5^<M=(=Y= b:QU=>Au qqu u4:Yqyquo5)u|;9}AaD!Dy PY} >I :L25? : A =?9C; ;):myAdded new target pos. range: 1040.520020 m, bearing: 150.613881 deg, deltaT: 4.414432 s, approachRate: 0.000000 m/s, LOS rate: 0.119889 deg/s, posRepo size: 4m ProNav: pos range: 1040.520020 m, bearing: 150.613881 deg, approachRate: 0.000000 m/s, LOS rate: 0.119889 deg/s, cmd update: 0.359668 deg/s, cmd heading: 71.402529 deg, new cmd heading: 72.027541 deg. W?WX XW:W2W*WVbUBU*UUU ?B]BY BYAe=*BaAe؆AaAaAeͅ<"Cm?*CiRCqCu?C׭?i׭?QIaG{>5Eyq,ܜEAY}FEM@}Fa=@y}Fۼ}Fy}FHt@\ǿ@J:? &οp? ο ?)~FEM@ ~F=\_;I~FCɫQQ)Q UIQYX@ymG1i5=m>+Mul=Yu/:QUu?yya}D},Dyyp} ?Iȉō<25?ō ƍA ?9ƍCǍa: ȍ:)ȉW6.?WX XW:W2W*WVbUBU*UUU@?B޼B BAZ=*BA^AAAW<"C 6.?*C RCC6.?CiIyG>q 9q Iu kGiu s@u =q q u ; u 5E*Lyq,n2EAY}B!K@}B;@y}Bd1ּ}Bz}BH@Jʿ@`X?SϿdŚ?lϿ % ?)~B!K@ ~B1_;I~@ɫYY)Y aIaY@ynGIMa=)M=YYK7>I i3@ @)@I@i@&=M==Y:QU>aD:Dyk{}>I&25?6 A ?9Dِ< <)W?WX XW:W2W*WVbUBU*UUU@?a }} O:YkS1yԊ:5);BؼB BAK=*BAAAA<"C?*CRCC?CסIGA>Ryq,KEAY}6I@}69@y}6Լ}6 y}6H)ͿGz?+$ο?οP ?)~6I@ ~6<8_;I~6Cɫ99)9 =I9Y}@y}nG=;M=Z=Y=8:QUE>AAaEDEFDIyM}M>IQ ]:U25? e:Uz UA e?9UDU+: U:)U:WmԠ?WX XW:W2W*WVbUBU*UUU ?B\ӼB BACO=*BAAAA&<"CmԠ?*CRCCmԠ?CI)1IAGe>Xyq,IeEAY}2?G@}28@y}2X/Ҽ}2 #w}2H п[棿Y?@@Zο .E?`@ο?)~2?G@ ~2_;I~2CɫYY)Y ]IYY@y{nGI)MC=Y :QU>aDSDyS}>I15? A ?9/D; *$;)W-+?W)X) X1W1:W12W9*W9V9bUABUA*UAUAUE J@B}aؼB BANB=*BA_AAAK<"C+?*CRCC+?Cmmymym m2:YmP1ym':m59m@שIG+>9ITlGi@=; 9 ;)IyK7?:v? áEC >EµE>iE@A E @)E@IE@iE@Ux =M]@=Y]:QU]>aaaeDeaDiym}m>Iq }:u15? }:u uA ?9uADu: u:)u:WT?WX XW:W2W*WVbUBU*UUU`"@BT5ϼB BA}=*BAwAAA<"CT?*CRCCT?CIG )> fyq,1_EAY}2-D@}2I4@y}2<Ƽ}2{t}2H@Q=.Կ@j@ Nh?vhͿ Ƙ?Jο ?)~2-D@ ~2_;I~2Cɫ99)9 =I9Yuu@y}?oGy}@AE\<ME^=YM ;QUM>QQaUDUmDYye}e>Iqu15?u uA ?9uQDu%; u;)qWϡ?WX XW:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PPB$ʼB! B!A%=*B!AĉAAAs<"Cϡ?*CRCCϡ?C?im?]( ]|]|] ]mK:Y]R1y]i:]5IG$> >9 I i = ; +E4lyq,3EAY}6eB@}6b2@y}6")}6t}6HOտ@ծ ? sͿ$?Kο@?)~6eB@ ~6Y%_;I~4ɫ99)9 9I9YyyyZ****** received transponder code query ******F****** received ping request ******  aDzDy]}>I! -:%15? -:% %A 5?9%dD%t; %o;)%:WUS&?WQXY XYWY:WY2WY*WaVabUaBUa*UaUiUm@ @B2˼B BA*BAAAA|<"CS&?*CRCCS&?C IG (>syq, EA||Y}6o@@}60@y}6ڠ}6[$t}6Hh׿@(`/?@] Ϳs?`8ο.?)~6o@@ ~6 _;I~6CɫYY)Y ]IYY@yoGxDUSBL response received:!U1,P 1C1,000,0462F,189,80,80,83,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 f<MAIaUDUDiy獽}>I!%#15?%^ %A e?9%uD%L < %" <)!IiM=m mxmxm mv4:Ym7P1ym:m5W ?WX XW:W2W*WVbUBU*UAUAUM @B6ʼB BA=*BAKAAAت<"C ?*C!RC!C- ?C1YIqG>Fyyq,EAY}6>@}6.@y}6]}6eu}6H ]Rؿ]b?w̿Ek?@_ο`?)~6>@ ~6&_;I~6Cɫ99)9 =I9Y}@y}ZoGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B mMmE=Yu;QUu>yya}D}Dy[}>IȉōҒ15?ō ƍA ?9ƍDǍ`: ȍ:)ȉWlȢ?WX XW:W2W*WVbUBU*UUU)@B\¼B BA=*BA&AAAr<"C lȢ?*C RC C lȢ?CI!)! IG>i9iImlGimg@m=iim; m#Ey } Ci nGI i = ÿٺ9 E JA/yq,EAY}> =@}>+'-@y}>;}>ys}>H@`ڿ 塴?-t̿?@8$ο ?)~> =@ ~>:_;I~<ɫYY)Y YIYY#@ypGxDUSBL response received:!U1,R,00C,000,00B6E,183,80,80,A1,FF Fpublishing direction and range info+ɰo>鰝$> )!CIy C3?z;rٱI)I)kt?ˡE~jt? ?' <)IyRQ?I +?Q?"?94<< ¥@)¥"AI¥Ai¥t A AU! U|U|U Ut6:YUR1yUi:U5)Uݒ;9]Õ=ÕÕ>iÕf@Ñ ĕʭ@)ĕ@Iĕ@iĕ=M(=Yyq:QU>aDDy l} >I :z15? : A %?9D: H:):WE,?WAXA XAWI:WI2WI*WIVIbUQBUQ*UQUQUU@@Pa*Qe CZQe|Aa@y!JQe3?z;r2Qe+:QabQe'p£A _'^:M@)Nrh @RQe?w20?E{?BQe`,@ QeFnBQePeD9?PeP9?PeQeQebA"QeBBB BAx=*BAEqAAA<"C ,?*C RC C ,?CIGn>1[yq,EA|(i|(Y}jQ;@}jm+@y}j}j]v}jH ܿa`? »u̿(?$~ο`E?)~jQ;@ ~jW_;I~jCɫ) IY1y1TNmea in: $SNTTA,0.091816,,,,010840.31*48 鿩Y5[q:QU5?99a=D=DAyE}E?IIMj15?M M2A ]?9MDM: M :)ImAdded new target pos. range: 138.059998 m, bearing: 154.431342 deg, deltaT: 4.530187 s, approachRate: -199.210327 m/s, LOS rate: 0.842672 deg/s, posRepo size: 4m ProNav: pos range: 138.059998 m, bearing: 154.431342 deg, approachRate: -199.210327 m/s, LOS rate: 0.842672 deg/s, cmd update: 2.528016 deg/s, cmd heading: 73.040689 deg, new cmd heading: 73.165076 deg. W ?WX XW:W2W*WVbUBU*UUAa@UY?BĸB BA*BAAAA<"C ?RCC ?CIG )>a 9a Ie mGie @a a a e ; e *Eyq,s4EAY}29@}2)@y}2fR}2aDDy}>I :pW15? : RA ?9D"; `;):Wcx?WX XW:W2W*WVbUBU*UU=` 99= =z;:Y9y9=5)=4;UE?BοB BA#=*BAdYAAA;<"Ccx?RCCcx?C?iz?IGE>kyq,VNEAY}:7@}:p(@y}:R}:w}:H޿4 F?@U˿`;?Uο?)~:7@ ~:LJ_;I~:Cɫ99)9 =I9Y}@y}oG=i=E.MER=YMXQUM>IIaUDUǀDQy]`}]>Iae(E15?e- erA m?9eDe: e:)aW!?WX XW:W2W*WVbUBU*UUU ?BB BAo=*BAAAA<"C!?RCC!?CIGM>ryq,2hEAY}2@6@}2@\&@y}2}2x}2H@Cg-@)G?>˿=?Rο ?)~2@6@ ~2g_;I~2CɫYY)Y ]IYY#@ypGI)%=  =o<M=K=YEc QUE>IIaMDUԀDyz}>I :115? :η A ?9DI; >J;):W=O?WAXA XAWA:WI2WQ*WQVQbUQBUY*UYUYUe`P?BB BAx=*Byy 3:YP1y':59@=4= 9 I mGi  @    ; 'EA%8CA!A!A%<"C-O?RC)C-O?C1I)GmV>|yq, EAɫ髙) IY@ypGGz? rh?A`"?p>C = Y=)IyMbX9?MbMbp!? ) !AIi AMDMȽiM@I M @)M@IM@iM@]l<M]9=Y]QUe>aaaeDeDiyu}u>Iy}p15?}د }A ?9}D}a: }r:)yWtH?WX XW:W2W*WVbUBU*UUUp?B?B BA=*BAAAAg<"CtH?RCCtH?CI)IG)>yq,2EAY}6S2@}6Ƥ"@y}6̨Ƽ}6aDDyn}>I : 15? : A ?9D/#; ;):W s?WX XW:W2W*WVbUBU*UUU`@Bmv|Bi BiAmx=*BqAuAqAqAu<"C}s?RCyC}s?C ~~ &J:YT1y@:5IG%M> 9 I mGi [@ ; -E)ݱIݱiݱݱݵ=ݵi449Ѭyq,rµEAɫ髹) IY@ypG  ) = =]t<]"]Ġ>i]Q@Y ]@)]"@I]"@i]"@m0=MmM=YmQUm>qqauDuDyy}}>IȁŅ05?Ņ ƅA ?9ƅ DDž: ȅm:)ȁW ?WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBëB BA=*BA]AAA'<"C  ?RC C  ?CIG>yq,kEAY}2.@}21@y}2庼}2m}}2HoN@/`^?n(ʿ:\?YϿS?)~2.@ ~2_;I~2Cɫ99)9 =I9Y}L@y}GpGZ****** received transponder code query ******F****** received ping request ******aDDyb}>Ix05?S A ?9D; c;)W:?WX XW:W2W*WVbUBU*UUU: @BB BA=*BAAAA<"Cm:?RCiCm:?Cqׅ?iׅ?. yy }7:YP1y':ʺ5סIGE>yq,BxEAɫyy)y }IyY@ypGxDUSBL response received:!U1,P 00C,000,00B6E,183,80,80,A1,FF Command AckBRequesting micromodem ping code 2i=i=R=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -,=M5F=Y=QUE>QYaeDeDyy}>I1 M:5 05? u:5 5A }?95*D5T(< 5(<)5:We'?ٵiAٵgA9IHnGi@=; 'EWaX XW:W 2W *W V bU BU*UUU` @B^B BA4=*BAAAAϽ<"C'?RCC'?CIaG>yq,HSEAɫ髙) IY@ypGp=ɮ=%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m^I +?S㥫?&1?mX>m/]= mP=)iIiymtV?I +:v?m?m94mT< m@)m!AImEAim Aim Aí>í,ín2iéé ĭA@)ĩIĭA@iĭX@yrM'=YQU>ip={{ /3:Y#R1y:5aD$Dy}>I05?E A ?9;D¿: ;)Wm?WiXq XqWy:W2W*WVbUBU*UUU2@BB BA=*BA%)A!A!A%t<"C-?RC)C-?C11IAG]v>yq,.EAY}6 )@}6|@y}6T}6#az}6H T x¿^?@ȿ ? mο`6 ?)~6 )@ ~6%_;I~6CɫYY)Y ]IYY@y+qGxDUSBL response received:!U1,R,EBA,000,00546,187,80,80,97,FF Fpublishing direction and range info>ɰ/=鰥1> )CIy.B󔹶? -q?ٱ<M=Y|QU?aD.Dyτ}?I :޽05? :} A ?9FD: :):W?WX XW:W!2W!*W!V!bU!BU)*U)U)U- Z@P9*Q=.BZQ==#2D@JWk(@JQ=󔹶? -q?2Q=>:Q9bQ=Qi,BuC U3@:݇RQ=uqT?Br?vIkBQ=+@ Q=AQ=P=9?P=D9?P=*Q=Q=X@"Q=bAB-B1 B1A5=*B1A5EA1A9A=<"C=?RCACE?CAIY)Y1IAG]>ܭ >9ܩ Iܩ iܩ ܩ ܩ ܩ ܭ ; ݭ #E!yq,7EAY}f'@}f* @y}fм}f*|}fH|@[ÿ`,? ;ȿ&?@y1Ͽ L?)~f'@ ~f.*_;I~dɫ髱) IY@ypGi=nGIQiiTNmea in: $SNTTA,0.092242,,,,010844.76*47 I)I)ٺA7|>i̤@ v@)@I@i@&M(=YŗQU>aD>Dym}>Iȡť05?ťdr ƥA ?9ƥYDǥ4: ȥ:)ȡ zz  C:YQ1y:%5);9m}Added new target pos. range: 43.500000 m, bearing: 153.580519 deg, deltaT: 4.340164 s, approachRate: -21.787195 m/s, LOS rate: -0.196035 deg/s, posRepo size: 4m  ProNav: pos range: 43.500000 m, bearing: 153.580519 deg, approachRate: -21.787195 m/s, LOS rate: -0.196035 deg/s, cmd update: -0.588104 deg/s, cmd heading: 84.012586 deg, new cmd heading: 85.269657 deg. W Y?W X  X W:W2W*WVbUBU!*U)U5E@UM $?BuoBq BqA}Q=*ByA}AyAyAI<"CY?*CRCCY?CבIGb>yq,PEAY}2&@}2"@y}2߼}2Ǔ|}2H@LbKQ`(ÿ`?Jȿ?=Ͽ?)~2&@ ~2_;I~2Cɫ99)9 =I9Y@ypGu}<Mum=Y}lQU}?yaDHDy}?Iȑ :ŕ05? :ŕj ƕ*A ?9ƕeDǕZ: ȕ:)ȕ:W~?WX XW:W2W*WVbUBU*UUU@?BҤB BAG=*BA*AAAW<"C~?*CRCC~?C I)?AIG-->1yq,YjEAɫyy)y }IyY@yqG/<MP=YQU%>!!a-D-UD)y5}u>I05?5` FA ?9uD: d:)Y9YI]nGi]@]=YY]; ]E X3:YyJ5)-;WE?WAXA XIWI:WI2WI*WIVQbUQBUQ*UQUQU]@?BeBi BiAu==*BqA1CAAA#<"C?*CRC!C%?C1׉i׍}?qIyG>yq,EAY}:gE"@}:`@y}:M޼}:x}:HD@ ſ  ?<Aƿԛ?οc ?)~:gE"@ ~:_;I~8ɫ99)9 =I9Y}Z@y}qG=i=%p=i%= +?L7A`? ףp= ?>+> Q8=)IyʡE?Mb? rh??<C = ±)µ !AIµAiµ? AG A'z-2i@ )v@Iv@iv@%f<M%;=Y%o9QU%>))a-D5cD1y5a }=>I9 E:=j05? M:=]V =lA M?9=D=; =;)=:W{?WX XW:W2W*WVbUBU*UUU?B}By ByA}>*ByAAAA<"C{?*CRCC{?CIGI>!!a%D%oD)y-9}->Iȑŕkx05?ŕ_L ƕA ?9ƕDǕ;: ȕ&:)ȑW?WX XW:W2W*WVbUBU*UUUT@B-B1 B1A5 >*B9A=A9A9A=<"CM?*CIRCQCU?CYAI=i}} 1:YkS1yԊ:%59@G$>I 9I IM oGiM O@I I I M ; I nyq,eTEAY}2@}2y@y}2oѼ}27u}2HGyſ1?@7ſ1AIaMDM|DIyU}U>IY]Tk05?]A ]A e?9]D]@: ]:)YWp{?WX XW:W 2W*WVbUBU*UUU@c@BEBI BiAm =*BiAuAqAqAu<"C}p{?*CyRCyC}p{?CIב)בiIG>SUyq,,EAY}2S@}2n @y}2ZҼ}2\t}2H`pƿ?,cĿ`J?qQο ?)~2S@ ~2D_;I~2Cɫ99)9 =I9Y@ypGI)!MQ=YRQU>aDDy}>I :^05?  :7 A  ?9D; o;):WME AAE E G:YAyAEJ5yq, EAY}2a@}2 @y}2g׼}2Cu}2H`&w@[ƿ` ?`7Ŀ?jbο ?)~2a@ ~2^;I~0ɫAA)I MIIY}.@y}]qGZ****** received transponder code query ******F****** received ping request ******qya}DDyd}>I}Q05?,+ A ?9D; ;)W}Za?WyXy XyWy:Wy2W*WVbUBU*UUU*< @9Ii; E)ݩIݩiݩݩݩݭ4BB BA =*BAcAAAK@<"CZa?I)AA*CRCCZa?CIGUS>izq,EAY}2<@}2X @y}2>༙}2w}2H Oǿ?"ÿ@?`ο?)~2<@ ~2 _;I~0ɫ99)9 =I9Yuq@yuqG}xDUSBL response received:!U1,P EBA,000,00546,187,80,80,97,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 B`"?l񲿺I +?> 9<)Iy"~?S㥫y&1?3?/]`e< @)~ AI`Ai A= AE E{E{E E5:YE#R1yE:E5ý!?ý@ýL=iý@ù ĽA@)ĽA@IĽM@iĽA@-w<M-=Y]QU]>aiamDmDy;}>Iȱ :ŵA05? :ŵ Ƶ8A ?9ƵDǵT< ȵ]<)ȵ:W,?WX XW:W2W*WVbUBU*UUUR@B]IBa BaAe>*BaACAAA'<"C,?*CRCC,?C?ix? I G >nzq,+EAY}:9@}:@y}:꼙}:-x}:H&[@ ȿ Z?`qdtÿp[?οO ?)~:9@ ~:^;I~:Cɫ99)9 =I9Y}9@y}kqG鮁ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ]=i]=%¼M=YyQU?aDDy}#?Iȱŵ:05?ŵV ƵRA ?9ƵDǵb: ȵn:)ȱW$X?WX XW:W2W*WVbUBU*UUUFA@B%B! B!A%=*B!A-A)A)A-<"C5$X?*C1RC1C5$X?C9IGE> >9 I toGi @ ; Eջ zq,x9EAY}B@}Bv@y}BN#9}B^x}BHb@ȿx?@p߿¿S?@ƺο ?)~B@ ~BL_;I~@ɫYY)Y ]IYY@yqGxDUSBL response received:!U1,R,1D2,000,00B15,186,80,80,9C,FF Fpublishing direction and range info5оɰhh>鰥> )CIyCȨc?/PٿٱI=)R= } + Ti \@  @) @I A@i @%_M%R=Y%ǮQU%>))a-D-D1y}>I :/05? : zA ?9D: :):W zε?W X  XW:W2W*WVbUBU*UUU%e@PY*Q]CZQ]j[y^@ f$?JJQ]Ȩc?/Pٿ2Q]5о:QYbQ]'}-v2E3 M`@ 7)0@RQ]'r?]*,?BQ]-? Q]nCQ]P]Q9?P]9?P]cQ]*Q]GA"Q]X@B%BI BIAM==*BIAU߼AQAYA]0<"Cezε?*CRCCzε?Ci=E ExExE EFI:YE7P1yE:E5)E;9UIGE>zq,}SEAY}f@}f:@y}f }fdvu}fH'߿ B0ȿ ?Mݿ¿@?@H`ο@-?)~f@ ~fXI_;I~fCɫ髹) IYt@yqG]DNmea in: $SNTTA,,,,,010849.19*52 =M <=Y QU>aDʁDy}>I!%$05?% %A 5?9% D%: %:)!me}Added new target pos. range: 132.720001 m, bearing: 98.056033 deg, deltaT: 4.480362 s, approachRate: 19.913570 m/s, LOS rate: -12.392857 deg/s, posRepo size: 4mmProNav REINIT: LOS rate is -12.392857 deg/s. Setting heading cmd to target bearing of 98.056033deg and heading rate command to 0 deg/s.Wm-?WiXi XiWi:Wq2Wq*WqVqbUqBUy*UyU}@ `@U}/?B&B BA[>*BAN(߼AAA6<"Cڷ?RCC-?CI)שIG%>zq,OmEAY}2d @}2(@y}2}24t}2H@uݿ9$&ɿGd?9ܿQ@8?Hο{?)~2d @ ~2v_;I~2CɫAA)A MIIY@yqGIY)Y @ @ @©i@ X@)A@Ii$@<MM=YږQU>aDׁDyߚ}>IN05? A  ?9D: :)ܩ9ܩIܩiܩܩܩܩܭ; ݭEWWX XW:W2W!*W!V!bUABUI*UQUYUe "?h yy <:YP1y':J5);B-IB1 B1A=>*BYA]޼AYAaAe<"Cmc?RCiCiCizCi nGIQiiSٺ[A?9A1IAG>b!zq,*EAY}29@}2T@y}2:u}2=t}2Hhۿnɿ?Yڿ@o ?nGο ?)~29@ ~22_;I~0ɫ99)9 =I9Y}@y}rG m9v?~jt?m?m m=)iIiymzG?aDDy%ǎ}%>I) 5:-05? 5:-3 -A 5?9-.D-: -:)-:WiWqXq XyWy:W2W*WVbUBU*UUU.?B<B BA9 >*BA_ݼAAA<"CKb?RCCCIAA)IG%>'zq,EAY}2!g@}2&?y}2}}24t}2H ,ڿu %ʿ/?ٿ ?#Mοg?)~2!g@ ~2_;I~2Cɫ99)9 =I9Yi@yqGUM]N=Y]ڷ:QU]>aaaeDeDaym-}m>Iqun 05?u uA }?9u<Du/: u:)qWWX XW:W2W*WVbUBU*UUUb?B(㐼B BA>*BAܼAAAg><"C}?RCPS>CC ?i ?yIG> || 4:YR1yi:59@ܑ 9ܑ Iܕ oGiܕ @ܕ =ܑ ܑ ܕ ; ݕ E .zq,.EAY}29 @}2U}?y}2}2u}2HbؿR ۵ʿ:?`s׿B@؝?ukο?)~29 @ ~2N_;I~2Cɫ99)9 =I9Y}@y}rG=i=C=i= e e mmN>m1Ⱦm\im@m mv@)m"@ImX@im"@}J<M}H=Y}:QU}>aDDyK}>Iȑ :ŕ05? :ŕ ƕ:A ?9ƕLDǕ: ȕ:)ȕ:WWX XW:W2W*WVbUBU*UUU @BnB BA 9 >*B A ֫ۼA A A^<"C- @?RC5>C9CAIIQG}>4zq,UEAY}2o @}2'?y}2p뼙}2nkz}2H@n׿ ˿@?տ|?ο ?)~2o @ ~2B_;I~2CɫYY)Y ]IaYx@yqGUJMUM=Y]of:QU]>YaaeDe Daym}m>I/5?3 aA ?9[D: :)WWX  XW:W2W*W!V!bU!BU!*U)U)U-@.X@BUⶑBY BYA]>*BYA]dڼAYAaAeϠ<"Cep?RCmڲ=CiCiyI=i=G )> zz 5:YQ1y:n5;zq,EAY}6Y @}6!?y}6eO뼙}6?{}6H;}տP _̿@ ?oԿh?;Ͽ _?)~6Y @ ~6%_;I~6Cɫ髙) IY@ysGAAu=uuiu@q u@)uv@Iuv@iu@,=MG=Y>9QU>aDDys|}>Iȡ :ť/5? :ť ƥA ?9ƥjDǥ: ȥZ:)ȥ:WWX XW:W!9=hAM>9IIIiIIIIM; ME2Wa*WiVibUiBUi*UiUqUu @R}B*** querying acoustic contact ***PyPyBuSB BA%&>*BAfټAAA B<"CE|?RCM=CICy֍4(>Iב)בaIqG>Bzq,2rEAɫ髙) IY@yrGZ****** received transponder code query ******F****** received ping request ******!!a-D-&D)y5}=>IAE/5?E EA U?9E~DE/; E6-;)AWWX XW:W2W*WVbUBU*UUU@A @BB BA%>*BA}ؼAAA<"C-?*CZ^RC=t=CCS yy q::YP1y':5Jz>ױIG>-Hzq,DM"EA|i|Y}6@}6pf?y}6}6&w}6Heҿ{B̿@?qѿ <ޝ?ο *?)~6@ ~6R _;I~6CɫYY)Y ]IYY}D@y}rGxDUSBL response received:!U1,P 1D2,000,00B15,186,80,80,9C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 `M r=YQU%?19a=DE1Dy}>I  :/5?  : A u?9D4q< s<):W WX XW:W2W!*W!VbUBU*UUU`dž @BU"BQ BQAUG>*BQA]s׼AYAYA]<"Ca*Ce RCe<CaCie@N>YIG>1 91 I5 iÕ@Ñ đ)ĕ\@Iĕiĕ@?<M@=Y?QU>aD>Dy}>IȹŽg/5?Ž8z ƽA ?9ƽDǽ: Ƚ:)ȹWWXI XIWQ:WQ2WQ*WQVQbUYBUY*UYUYUe)@B~iiB BA^#>*BArּAAA)<"C*CRC,<C Ceb">qiu?. zz }7:YQ1y:5)“;9qIG]>+?Uzq,VEAY}V@@}Vb?y}V}Vm5s}VHο@A Z̿? ̿렵)?>οq?)~V@@ ~V^;I~VCɫyy)y }IyY@ysGxDUSBL response received:!U1,R,B46,000,00AF3,189,80,80,89,FF Fpublishing direction and range info(?ɰe>7> ) CIyC.ރ?g*?ٱ=i=T<ML=YQU>aDKDy}>I/5?|k %A ?9DZ; ;)W1W9X9 X9W9:W92W9*WAVAbUABUA*UAUIUM v@Py*Q}CZQ}Mz eP@F9*BArռAAAP<"C*CƱRCyCC *=IGF>m[zq,oEAY}}^@}}?y}}a}}l}}H`˿uC˿ :?ʿ³Н?XLͿ"?)~}^@ ~}^;I~}Cɫai)i mIiY@ysG9IpGi@; E-TNmea in: $SNTTA,0.100429,,,,010853.64*43 Im=)m=…iA=7 H=i@ X@)A@I@iv@xx y0:Y7P1y:ܾ5);<M=Y =:QU >  a D\Dy;8}>I! -:%/5? -:%X %XA -?9%D%(: %w:)%:m}Added new target pos. range: 130.680008 m, bearing: 163.309591 deg, deltaT: 4.448231 s, approachRate: -0.458608 m/s, LOS rate: 14.669552 deg/s, posRepo size: 4mProNav REINIT: LOS rate is 14.669552 deg/s. Setting heading cmd to target bearing of 163.309591deg and heading rate command to 0 deg/s.W'k6@WX XW:W2W*WVbUBU*UUU`@Us|?B%3vB! B!A%4>*B!A-~ӼA)A)A-G<"CUE|?RCU`~nCU'k6@CYM=! I) GM >Qbzq, EAY}2"@}2'e?y}2޼}23`}2H`(ɿ ֩iʿ]?ǿ`ї ՛?˿@y9?)~2"@ ~2^;I~0ɫ99)9 =I9Y}@y}sGi|?5?S㥛y&1|1?/ݼ `)Iy$C? rhQ??C  ½@)¹I½Ai½t AAE;M=Y;QU?aDeDy}?I/5?N xA ?9Dʽ: :)W!W!X! X)W):W)2W)*W1V1bU1BU1*U1U9U=g?BeN4Ba BaAm4>*BiAm'ӼAiAiAu<"Cu&?RC}̽CyCy֥8=YIqG\>{hzq,EAY}2N.@}2}?y}2ʼ}25T}2H `ǿoSɿs?=ƿkO?.TʿDN?)~2N.@ ~2FN_;I~0ɫ99)9 =I9Y)@ysGI)A]kx<M]S=Y]S;QUe>aaaeDerDm-@iym%}u>Iy }:}/5? :}A }A ?9}D}w: }:)}:WWX XW:W2W*WVbUBU*UUU`?B[JOB BA:>*BAѼAAiAm<"CR?RC'CCma5U=IIaG9>eezeza e3:YeQ1ye:a9@9IqGi@; Ei 3oGI i  ǿٺ % Anzq,pEAY}F?}Fv0?y}F򳼙}F2jE}FH`ƿ`S!ǿ?,ſ}? ȿKf?)~F? ~F`;I~FCɫYY)Y ]IYYl@ytG )))-> ->}}$ƾ}ҽi}­@y y)yI}A@i}G@v<MG=Y;QU>aDDy=ؼ}>IȩŭH/5?ŭ3 ƭA ?9ƭDǭ: ȭ':)ȩWWX XW:W2W*WVbUBU*UUU?BcIB BAOC>*BAмAA!A%wj<"C%J?RC-GuC)C) &<IG )>uzq,CTEAY}F?}F/?y}F~}F|b5}FH`)ſ`ſ4?nEĿ`? ƿT~?)~F? ~Fb`;I~FCɫqq)y }IyYY@y tGuVMuK=Y};QU}>yyaDDy}>Iȑ :ŕ/5? :ŕP& ƕA ?9ƕDǕ: ȕ:)ȕ:WWX XW:W2W*WVbUBU*UUU ?B\GB BA@>*BA xϼA A A :<"C?@RC CCgEaIiG:>=u ={={= ='=:Y=#R1y=:=5{zq,r3EAY}^f?}^?y}^}^"}^H vĿ@3@'ÿ ?ÿ`?CĿ?)~^f? ~^J`;I~^Cɫ髱) IY@ytGܑ9ܑIܑiܑܑܑ=i==ia=ܑܕ; ݕE'\>i@ A@)I@Ii"@'=M(=YE;QU>aDDy*}>I  /5?  A ?9 D O: :) W1W9X9 X9W9:WA2WA*WAVAbUABUI*UIUIUME@BuBBy ByA}\U>*ByAͼAAAE<"C9@RCCC֕(׵QIYGuz>ßzq, EAY}:E?}:|?y}:=A}:}:HxVĿI[?@ÿG[`'?`¿׭?)~:E? ~:\`;I~:Cɫ99)9 =I9Y}@y}htG@AmJ +?~jthI +?m(?mD m94<)iIiymE?y&1|:v?m&?m`m< m@)mAIm AimAimA M|=YtZ*B!A%%̼A!A!A- <"C- @RC1C1C1-D%˽ip=IG+>ej e}e}e eF<:YekS1yeԊ:e5<ʈzq,+$EAY}2?}2?y}2mk޻}2x6}2H 5ĿP]`d('?Ŀ._{? =ս?)~2? ~2`;I~2CɫAI)I UIQYY@yCuGZ****** received transponder code query ******F****** received ping request ******aDDy%<}%>I)- /5?-+ -MA =?9-0D-; -;))W9W9XA XAWA:WA2WA*WIVIbUiBUi*UqUqUu @B!B BA`>*BA:˼AAA"<"C@RCCC$˽׹IGf>y9yIyiy}=yy}; }Ezq, >EAY}6?}6?y}6}6׶}6Hݺſ`i r?ſ UQ?1Ӷ^?)~6? ~6{)`;I~6CɫYY)Y ]IaY}k@y}ZuGxDUSBL response received:!U1,P B46,000,00AF3,189,80,80,89,FF Command AckBRequesting micromodem ping code 2iI)AI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }/]=}׾}Ga=i}׫@y }@)}A@I}ʭ@i}A@;M0=Y Ia%D%Dy~<}>I/5?h iA -?9DD6< :<)WWX XW:W!2W!*W!V)bU)BU1*U1UaUm`L @|| ]-:YR1yi:5);9Bm,3Bq ByA}?c>*ByA-XɼAAAx<"C@RCCC֍Q Ia G >ܕzq, XEA|i|@Y}B%@}B?y}BM;}BQxu}BHPǿ!h`v?MǿT|pF9?)~B%@ ~B:`;I~BCɫYY)Y YIYY@yuG鮙ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M<<MMh=YUFnYYa]D]̂Dayep=}e?Ii :m/5? :m mxA ?9mRDm; m;;)m:WWX XW:W2W*WVbUBU*UUU`@B]TBa BaAel>*BaAe KȼAaAaAm<"C-@RCCCօ_!aIiG9>Hzq,qsrEAY}>1$@}>D?y}>5<}>}>H`lDɿZXꟿ@^?Iɿ@a?怿ڞ`?)~>1$@ ~>e`;I~>CɫYa)a mIiY@yuGxDUSBL response received:!U1,R,B23,000,00AD9,18A,80,80,A8,FF Fpublishing direction and range info^?ɰ}c>鰽> )(CIyCr?zPQ?ٱ%<%<999I=pGi=@999=; =E)ݩIݩiݩݩݭ=ݭn4ҽнi@ X@)v@IX@iX@5;M5/=Y5"99a=D=ۂDAy==}>Iȉō/5?ō ƍA ?9ƍeDǍ; ȍ;)ȉW!W)X) X)W1:W12W1*W9V9bUYBUa*UaUaUe R@P*QCZQ=`N@ /W)A\@JQr?zPQ?2Q^?:QbQ}2C^$m .B@#4mwRQ5?9!}=BQ6@ QpBQP89?P;9?PQQ@"Q)BeG Ba BiAmo>*BiAmGbƼAiAqAu#7<"CH"@RCCC xx 4:Y7P1y:%5)̐;֕g\QIYGu>zq,TEAY} @} ?y} *L<} <} H@@οK}?B?2ο U?(`]??)~ @ ~ a;I~ Cɫ) IY5h@y5UuGDNmea in: $SNTTA,,,,,010858.08*52 R=i4={Gz??S㥛?#?L= /<)Iy#~j?X9v~jtx?%?; $@) AIAi+AAsMR=Y1aDDy=}>I :/5? : A ?9uDb:  :):myAdded new target pos. range: 129.119995 m, bearing: 163.636634 deg, deltaT: 4.515528 s, approachRate: -0.345477 m/s, LOS rate: 0.072426 deg/s, posRepo size: 4m% ProNav: pos range: 129.119995 m, bearing: 163.636634 deg, approachRate: -0.345477 m/s, LOS rate: 0.072426 deg/s, cmd update: 0.217279 deg/s, cmd heading: 163.309591 deg, new cmd heading: 163.309591 deg. W%6@W!X! X!W):W)2W)*W)V)bU1BU1*U1U5#`@U=;?BuBq BqAub>*BqA}"żAyAyA}l<"C%V&@RC!C%6@C)=8ˀI!G=r>zq,$EA||ɫyy)y }IyY@yvGUS=M]d=Y]QU]>aaaeDeDaym}m>Iqu/5?u uA }?9uDuϸ: uǺ:)qW26@WX XW:W2W*WVbUBU*UUU?BPŻB BAu>*BA^üAAAQ<"C]+@RCC26@C}I)׹. {{ }7:Y#R1y:59@IGg>9IoGi@=; Emzq,EAY}R@}R>?y}RN|<}R=}RH0Tҿ-?ڧ?(ҿ`q?@TQ??)~R@ ~RKa;I~Pɫyy)y }IyY]@yHuGu\>uuy=iu@q u)u@Iu@iu@FMG=Y;QU>aDDy>}>Iȡ :ť/5? :ť ƥA ?9ƥDǥD: ȥT;)ȥ:W6@WX XW:W2W*WVbUBU*UUU@?BV9 B BAea>*BAC¼AAA<"C%1@RC!C%6@C)=iA=hAAI)GEQ>*zq,EAY}J<@}JX?y}J<}J=}JH Կ/%? b?ӿ 0?b!$? ?)~J<@ ~Ja;I~JCɫ髙) IYQ@y:uGIY)YIY)YZMI=YN;QU>aD Dy=}>Iȱŵ/5?ŵC ƵzA ?9ƵDǵ : ȵ:)ȱW6@WX XW:W2W*WVbUBU*UUU`p?BѐB! B!A%`>*B!A%FA)A)A-n<"C5L5@RC1C56@C9EƂ!I)GUS>'Tzq,ݵEA|(i|*@Y}Fͬ @}Fz?y}F!<}F|>}FHտ@\ ?:? Rjտ'?CO??)~Fͬ @ ~Fb;I~FCɫai)i mIqYC@y(uGhAgA9InGi@; >iESoGIYiϿٺݾAI@A)?A yy 4:YP1y':5)Y;9Pn?kt?~jtx$? 0> Ļ)Iy|?5^?:v{Gz?-?T#< ? A)$@IAiAEHEp]EuaaaeDeDiymzo=}m>Iq }:u&/5? }:u uoA ?9uDu3; u;)u:W6@WX XW:W2W*WVbUBU*UUU@8-@B!B`h= BA(^>*BAAAAs<"Ca7@RCC6@C֭׵?i׵?׉ I G >@zq,3 EAY}: @}:f?y}:<}:2D>}:H`׿`@o`'/??(׿ ?U`?ঝ?)~: @ ~:_b;I~8ɫqq)q uIqY;@yuGMAMU=YU;QUU?YYa]D]'DYye=}e?Iim/5?mx mgA u?9mDmb: m:)iW6@WX XW:W2W*WVbUBU*UUU @BX3B BA:]>*BAnAAA6<"Ce:8@RCiCm6@Ci֕ƂqIG_>fzq,m'EAY}:Sj@}: ?y}:Ų<}:*x">}:H@Fٿ@N3}?c?>ؿ ?@FX8?-?)~:Sj@ ~:a;I~:Cɫ99)9 =I9Y}]@y} tG=i=a=i쑽MW=YX7QU>aD3DyH=}5>I9=/5?=ej =\A E?9=D=: =+:)9WmG7@WiXi XiWi:Wq2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB&F"B BAuA>*BAAAA$<"C 8@*C%RC!C%G7@C!ww .:YO1yP:I59@)I G%M>ܹ9ܹIܽmGiܽ @ܽ=ܹܹܽ; ݽENzq,xGAEA||Y}69?@}6Z@y}6_e<}6(>}6H ڿѬ>?o? eڿ`_?L씿 ? >?)~69?@ ~6pa;I~6Cɫ99)9 =I9Y}@y}tGZ****** received transponder code query ******F****** received ping request ******=Q=i=@9 ="@)=A@I9i9U<MU@=YU[UQU]>YYa]D]@Dayed=}e>Ii u:mf/5? }:m[ mRA }?9mDm: m:)m:W=07@W9XA XAWA:WA2WA*WIVIbUIBUi*UqUqUu@F @B5B BAN>*BABJAAAW<"C @7@RC C07@C=i=}I)IG5 >Bxzq,"[EAY}6@}6X@y}6_<}63.>}6H |ܿ`Hh??ۿYaamDmMDyyD=}>Iȱŵ}/5?ŵM ƵIA ?9ƵDǵ; ȵ;)ȱ- xx i7:Y7P1y:5WL7@WX XW:W2W*WVbUBU*UU!U% @BM!.BQ BQAU]<>*BQAU깼AQAYA]N|<"Ca>7@*CRCCL7@C}G=m FӅI Iq G >Nzq,tEAY}B@}B@y}B$b<}B1,>}BH G޿.?`:B? vݿ`A?ZD?ೊ?)~B@ ~BW_;I~@ɫ髡) Iy9yI}TlGi}@}=yy}; }EY @y IsGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)))V-?Zd;S㥛?y /ݼ)Iyy&1?~jt{Gz?`%?D A)@I Ai`AfA===̼i=ף@9 =@)=ʭ@I=@i=@M&MM,=YUQUU>QQa]D]\DYy]Ym=}e>Iq }:u4r/5? :u= uHA ?9uDu: u:)u:W+e7@WX XW:W2W*WVbUBU*UUU/ @B2-B BA->*BAxԸAAAn<"C+e7@*CRCC+e7@C ) ֥ V݅y I G >izq,َEAY}>\@}>Vx@y}>X=<}> ,>}>H}߿@*~Z?F?޿ ? h 8g??)~>\@ ~>_;I~>Cɫ髙) IYp@yrGxDUSBL response received:!U1,R,D33,000,00AB8,189,80,80,95,FF Fpublishing direction and range info- ?ɰ`>7> )CIyGBq ?AbjŽ?ٱ ) ZMv=YڻQU?!!a%D%gD)y-?=}-?I15i/5?5h3 1 =?95D5w: 5@:)1Wey7@WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU} i[@P*QGBZQX"pY@숝R@JQq ?AbjŽ?2Q- ?:QbQa 7\&gJ@ ZΉ"&@RQ۳[d<:?x]?BQs -@ QVBQePM9?P89?PQQhA"Q@Bu#W-By ByA}#>*ByA}s巼AAA<"Cy7@*CRCCy7@CIAA)AA2 yy 7:YP1y':&5IGj>Ŷzq,DEAY}rs @}r(@y}r%<}rH7.>}rH !{+?`vm?d2 ?G@ū?P?)~rs @ ~r͎_;I~pɫ) IY5K@y5rGDNmea in: $SNTTA,,,,,010902.53*52 5(M59=Y5ZQU=>9AaMDMuDYyees=}m>Iȁ :Ņ]/5? :ŅL% ƅIA ?9ƅ1DDž; ȅ;)ȅ:m]}Added new target pos. range: 127.140007 m, bearing: 154.917693 deg, deltaT: 4.341387 s, approachRate: -0.456073 m/s, LOS rate: -2.008331 deg/s, posRepo size: 4m ProNav: pos range: 127.140007 m, bearing: 154.917693 deg, approachRate: -0.456073 m/s, LOS rate: -2.008331 deg/s, cmd update: -6.024993 deg/s, cmd heading: 164.255414 deg, new cmd heading: 164.356044 deg. W[4@WX XW:W2W*WVbUBU*UU _@U %?BUHBY BA4>*BAAAAWO<"C[5@RCC[4@CY9YI]kGi]s@]=YY]; ]E)Ii醉醩4׉IG> zq,֎EAY}2@}2@y}2<}2.>}2H:š` ?`F?`6 g6?``R ??)~2@ ~2k_;I~0ɫ99)9 =I9Ym@yqG==i==E=iE=ÕÕbÕ`e>iÕ@Ñ ĕ @)ĕ@Iĕv@iĕX@ MT=YHQU>aDDyߒ=}>IR/5? KA ?9AD': :)W1@WX XW:W2W*WVbUBU*UUU_?BXOB BAn>*BAAAAs<"C^3@RCC1@Cx  d=:YyJ5)ۘ;9IGj>Hzq,jEAY}:c@}: @y}:&<}:f*>}:H7 v??q? "?΄@E? ύ?)~:c@ ~:_;I~8ɫ99)9 9I9Y}@y}/rGUZ=M]P=Y]QU]>aaaeDeDaym=}m>Iqu"G/5?u uMA }?9uQDu8: uf:)qWC/@WX XW:W2W*WVbUBU*UUU`|?BVBB BA>*BAAAA]L<"CW/@RCCC/@C=ip=FӅIGG>>zq,"QEA9IjGiѾ@; EY}@} @y}/#;}G">}H@Jश?`U?`S?Zy %3?@/?)~@ ~_;I~ɫ) IY-@y-pG=p= ף?I + rh?=?=94 =C<)9I9y=Q?&1~jt?=(?=P== =A)=@I=`Ai=$A9=\AÝ!>ÝEÝϾiÝ=@Ù ę)ĝ5@Iĝ@iĝ @)  7:Yy5)j;M)=YnQU>aDDy=}>I : 9/5? : fA ?9fD:  :):W%*+@W!X) X)W):W)2W)*W1V1bU1BU1*U1U9U=OG?B,yB BAZ=*BA-?AAA <"Cc,@RCC*+@C) I G- >{q,&EAY}2@}2@y}2G;}2u>}2HH? h {q,)EA|i|Y}6Y @}6@y}6]}6(>}6Hh~M%>??`JF ? 3W?j?N?)~6Y @ ~6l_;I~6Cɫ99)9 =I9Y @ypGuvMuC=Y},.QU}>yaDDy=}>Iȑ :ŕ3"/5? :ŕ{ ƕA ?9ƕDǕ: ȕ+:)ȕ:Wu&@WqXy XyW:W2W*WVbUBU*UUU@BE+Ba BiAm=*BiAmAiAiAm<"Curv(@RCyC}&@Cy ս=Խ= {{ K6:Y#R1y:ܾ59@9IiGi.@; EIG>iI i! m ٿٺi m A?{q,CEAY}:y"@}:@y}:t»}:I>}:H`F9@_??E?Nx?$?ร?)~:y"@ ~:z_;I~:Cɫ99)9 =I9Y}@y}oGAAq=-2>xi3@ )ף@Iף@i@MS=Y?QU>qqa}D}ƒDyy=}>Iȉō/5?ōq ƍA ?9ƍDǍ<; ȍ;)ȉWP$@WX XW:W2W*WVbUBU*UU U `@R5B*** querying acoustic contact ***P1P1BuZBy ByA}=*ByA}~AAA<"Cʥ%@RCCP$@C֙yIG`>j{q,ѱ]EAY}6$@}6k@y}6K!}6>}6H@U` |? -Z?e\?7?O?ӡ?)~6$@ ~6T_;I~6CɫYY)Y ]IYY@y pGZ****** received transponder code query ******F****** received ping request ******aD΃D!y%1=}->I) =:-5/5? =:- -A E?9-D-*; -;)-:WE!@WAXA XAWI:WI2WI*WyVybUyBUy*UyUU@ @BB BA=*BAA屼AAAF'<"C!@RC{rC!@C|| ,:YR1yi:85IGj>B{q,ÛwEA|D|DR}H Pn?ƽ?MK ?@}?{?۟?)~\\&@ ~Ed_;I~Cɫ) IY@ynG xDUSBL response received:!U1,P D33,000,00AB8,189,80,80,95,FF  Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 m rh?㥛 v/?m>m mxi=)iIiym?#~j~jth?mf&?m㥽mD; mA)m@ImAimAimA=R>ip@ )X@I@iף@5UM5=Y=֯QUE>IIaMDUDYye8=}>Ișŝv.5?ŝ ƝA ?9ƝDǝ; ȝP<)șWE z@WI XI  XI WI :WI 2WI *WQ VQ bUQ BUQ *UQ UY U] @B [@B  B A c=*B A BZA A A \<"C @RC ;C z@C iA HsI ) ב I G >O&${q,gEAY}2%(@}2[A@y}2u}2t)>}2Hy"?r? ?G?`??)~2%(@ ~2=_;I~2Cɫ99)9 9I9Y}@y}`nGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B LM=Y[QUN?aDDy>}O?Iȱ :ŵ".5? :ŵ ƵA ?9ƵDǵ; ȵ0;)ȵ:W&@WX XW:W 2W *WVbUBU*UUU%`<@B]Ba BaAe27=*BiAmD5AqAqAuc<"C}c@RCBC&@C  z z  ?,:Y Q1y : 5օ12qYIiGZ>P*{q, CEAY}2/*@}2/@y}2n}2">}2H6@/̻?e? @M?`ݑ?`tS?@X?)~2/*@ ~2X_;I~2Cɫyy)y }IyY@ynGxDUSBL response received:!U1,R,D9A,000,00A8F,189,80,80,95,FF Fpublishing direction and range info>+ ?ɰn]> )Iy\B$?^V?ٱI)<MS=YλQU> a D Dy-F=}->IAE.5?E" EA ?9EDE< E<)AWmV@WX XW:W2W*WVbUBU*UUUO@P*Q\BZQqx5Z@7xO@JQ$?^V?2Q>+ ?:QbQ?[m^`K;8@m<%@RQǨ<ᅩ/b?PW܆?BQ;<@ QAQjP69?PM9?P QQ\A"QhAB%PB! B!AEQ=*BIAMFٰAIAIAMh<"CUV@RCU&C]V@CYe`!I9G]U>ܭ>9ܩIܭhGiܭ:@ܭ=ܩܩܭ; ݭE81{q,EA|i|ɫ髑) IY @ymGmDNmea in: $SNTTA,,,,,010907.02*53 )Ý= Ý=e$>e e"۾ie@a eף@)aIe@ia}ƀM}4=Y}QU}>aDDy}>Iȑŕ.5?ŕ ƕA ?9ƕDǕ: ȕ÷:)ȑmyAdded new target pos. range: 124.680008 m, bearing: 168.515575 deg, deltaT: 4.485970 s, approachRate: -0.548376 m/s, LOS rate: 3.031202 deg/s, posRepo size: 4m ProNav: pos range: 124.680008 m, bearing: 168.515575 deg, approachRate: -0.548376 m/s, LOS rate: 3.031202 deg/s, cmd update: 9.093606 deg/s, cmd heading: 137.276611 deg, new cmd heading: 134.773245 deg. WW@WX XW:W2W*WVbUBU*UU@+_@U 0?B%WѣB! B!A-<*B)A-A)A)A-z<"C5Y@RC5,J+C5W@C9 M=M=}} -:YkS1yԊ:5)I;9 3?iIGI>b7{q,EAY}2-@}2 @y}2k_}2>}2H@İU¸?@[?@(?o?N?-?)~2-@ ~2R_;I~2Cɫ99)9 =I9Y}@y}.nGD=Md=YhaQU>!!a%D%D)y-W,>}->Iȁ :Ņ.5? :Ņ ƅA ?9ƅDDž7: ȅ:)ȅ:WO!@WX XW:W2W*WVbUBU*UUU@q?B0B BA"=*BA#vAAAc<"C@RCH<C O!@C MFIG-->={q,"EA"iA"jA090I2lhGi2@2=002; 2E)!I!i!%=%=%4Y}uK/@}u@y}uEaʼ}uJ=}uH,$? D?|i?K??@?)~uK/@ ~ug_;I~qɫII)Q QIQY@yEmG-=i-=㥛 ?#~j/$??㥽 <)Iyv?Q뱿I +??\94< A)$@I`AizA;>S$i3@ x@)@I@i@BM(=YQU>aDDyW=}>IȹŽ(.5?Žɋ ƽA ?9ƽDǽ: Ƚ:)ȹzz ]-:YQ1y:o5);Wa1&@WX X W :W 2W *W VbUBU*UUU?BEBA BAAMΈ<*BIAM{TAIAIAM@<"CUY@*CU-oRC]=C]a1&@CYU+)I1GU>tD{q,կEA|4<|Y}60@}6-!@y}6ڼ}6Mn=}6H-?o?T@?z\?ٽ?,?)~60@ ~6J_;I~6Cɫ99)9 =I9Y@y|mG}<M}t=Y}GŻQU?aD)Dy=}?Iȡ :ť.5? :ť! ƥA ?9ƥDǥ&; ȥ';)ȥ:W)@WXa XaWa:Wa2Wa*WiVibUiBUq*UqUqUu:?BB< BA=<*BA 4AAA<"C@RC<C)@ChAׁIG=>J{q,ߊ,EAɫ髡) IY=@y=mG += -2 94i  @   @) @I @i  @M@=Y%QU%>!!a%D-7D)y5}5>I9=.5?=rz =A E?9=+D=k: =b:)9W .@WX XW:W2W*WVbUBU*UUU )8@B5YB1 B1A=)<*B9A=!A9A9A=m<"CE@RCM/CM .@CIEϰ]]|]|] ].:Y]R1y]i:]J59]@I)A9AIEhGiE@AAAE; AGeU>~Q{q,eFEAY}6~3@}6)#@y}6: }6k=}6HDl`-??> #?T?ͽ?@p?)~6~3@ ~6+_;I~6Cɫ99)9 =IAY}@y} mGI)AI)AM:MMY=YM1QUU>QQaUD]CDYy]!=}e>Ia m:eT.5? u:e2r eA u?9e:De: e:)e:W1@WX XW:W2W*WVbUBU*UUU@BB BAR1<*BAYAAAh<"Ca@RCC1@C [1IG (>W{q,@`EAY}2!4@}2$@y}2w}2%:=}2H ୲?:? `,?Tw?_?w?)~2!4@ ~2_=_;I~2CɫYY)Y ]IYY\@ylG 鿱.ɼMS=YLQU>aDODy-=}>I3s.5?i &A ?9HD+: Y:)W 5@W X  X W:W2W*WVbUBU*UU!U%@.@R-B*** querying acoustic contact ***P)P)BMHBQ BQAUg:*BQA]0AYAYA]o<"Ce#@RCePCe5@Ci=Uw U}U}U UP=:YUkS1yUԊ:U5X<יIGf>E aD_Dy<}>I :)].5? :^ OA ?9]D: :):W%:@W)X) X)W):W)2W)*W1V1bU1BU1*U1UAUE= @BmBi BiAu;*BqAuAqAqAu(<"C}s*@RC#&C:@Cu0:d{q,QEAY}:G5@}:%@y}:}:S=}:H?B??`?7?@:? ?{?)~:G5@ ~:_;I~:CɫAA)A MIIYeF@yelGuxDUSBL response received:!U1,P D9A,000,00A8F,189,80,80,95,FF uCommand AckuBRequesting micromodem ping code 2iqq=i==ia=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 eMm}=YtQU?aDjDy<}?IimM.5?m*W mlA ?9mlDm<< m <)iWQ>@WX XW:W2W*WVbUBU*UUU v[ @UUxUxU UE1:YU7P1yU:U5B]BY BYA]*BAAAA<"C0@RCBfCQ>@Cϙϙ)й йE 9< I) GE >j{q,ҭEA||Y}F5@}F %@y}F[}FJ6=}FH@G9?`?GB}ɩ?``?1ݴ?#?)~F5@ ~F8^;I~FCɫ髡) IY0@ytlGa=ɮ4=eNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B %Ga=%l%Ci!! %A@)%X@I%"@i%"@5BλM=>=Y=NQU=>AAaEDExDAyMN;}M>IQU.<.5?UN UA ]?9U}DU: U:)QWgB@WX XW:W2W*WVbUBU*UUUf!@BB BA*BAAAaAmF<"Cm 5@RCu CugB@Cq֥ >9IhGi@=; EyIG`>q{q,:EAY}B5@}B%@y}B{}B-=}BH+L`f?̧?K@?`2???)~B5@ ~B^;I~@ɫ髙) IY@y9lGxDUSBL response received:!U1,R,EFA,000,00A67,186,80,80,C8,FF Fpublishing direction and range info j>ɰ'Z>> )HCIyB_*?[?ٱM `=Y FƺQU >aDDy8;}>I! -:%(,.5? -:%F %A 5?9%D%; %;)%:W] F@WYXY XYWY:WY2Wa*WaVabUaBUi*UiUiUm K@Py*Q}BZQ}5B]@.;@JQ}_*?[?2Q} j>:QybQ}V\w e,C@a+@RQ}k Vg_-f?)8 Ӫ?BQ}Н4@ Q}fBQ}P}@9?P}69?P}Q} Q}FA"Q}\ABB BA*BAAAA<"Ca&:@RCC F@C q?i?U U{U{U U5:YU#R1yU:U5)U;9eׁIG=>x{q,EAY}n 6@}nz"&@y}nP=}nou=}nH@*UȄ@??` W?? &?ࣘ??)~n 6@ ~n^;I~lɫ) IY-s@y-lGTNmea in: $SNTTA,0.083689,,,,010911.41*41 I)AI)AU>=MU7=Y]V[9QU]>YaaeDeDaymS;}m>Iqu.5?u< uA }?9uDu׾: u:)qm}Added new target pos. range: 122.279999 m, bearing: 161.696259 deg, deltaT: 4.400863 s, approachRate: -0.545350 m/s, LOS rate: -1.549540 deg/s, posRepo size: 4m ProNav: pos range: 122.279999 m, bearing: 161.696259 deg, approachRate: -0.545350 m/s, LOS rate: -1.549540 deg/s, cmd update: -4.648622 deg/s, cmd heading: 177.372476 deg, new cmd heading: 181.433853 deg. WC@WX XW:W2W*WVbUBU*UU^@U@?BB BAu;*BAA A A i<"CE>@RCCC@C޽׹IGD> hA gA 9 I i ; E *~{q,hEAY}2wS6@}2n&@y}2^}2V=}2H hg@ ?kx?klT? ?Ȫ?@?)~2wS6@ ~2e^;I~2Cɫ99)9 9I9Y}\@y}lGGz?~jt~jt?p?ļ D<)IyQ?V-~jt?(?h< Z A)AIAi A=A/]=I >i@ @)@Id@i@'MP=Y 9QU >aDDyeB<}>I! -:%.5? -:%4 %A 5?9%D%: %#:)%:WUA@WQXQ XQWY:WY2WY*WYVYbUaBUa*UaUaUmE?Bj5B BAg:*BAbAAAF<"C@@RCCA@C)%<II)M?A]Q ]y]y] ]H::Y]P1y]':]5)]+;IGI>{q,>?EAY}26@}2i&@y}2@^}2^(Y=}2H@=`L1?N? $`H? ?`??)~26@ ~2W^;I~2Cɫ9A)A EIAY@ylG5X<M=Y=Y=9QU=>AAaEDEDAyMT<}M>IQU0-5?U+ UA ]?9UDU: U:)QW?@WX XW:W2W*WVbUBU*UUU??B=ါBA BAAE;*BAAEAIAIAM<"C0B@RCC?@C֝[Z&Iס)סyIG^>:{q,i/EAY}n77@}nS'@y}nFO}no=}nH@ {?J?`@P?@?$?@T?)~n77@ ~n^;I~nCɫ) IYU@yUnmG=i==iEt>EE=iE@A E @)E @IE @iE @U<MU9=Y]8QU]>YaaeDeDaymK<}m>Iq }:ud-5? }:u! uCA }?9uDu: u:)u:W=@WX XW:W2W*WVbUBU*UUU~?B:B BA <*BAɯAAA<"CnB@*CRCC=@C6U UzUzU UA:YUQ1yU:U\59e@ܕ>9ܑIܑiܑܑܑܑܕ; ݕ E)Ii={4IGE> #{q,HEAY}27@}2(@y}2}2=}2HCe߿z?@?M@??6? ?)~27@ ~2^;I~2Cɫ99)9 =I9Y}~@y}lG=#+M=^=Y=[9QUE>AAaEDEĄDIyM<}M>IQU-5?U UdA e?9UDU: Um:)QW!;@WX XW:W2W*WVbUBU*UUU&0@BʆB BA;*BApAAA<"Co@@RCC!;@C֭-_IG (>U=iU=L{q,bEAY}6d8@}6(@y}62}6=}6H` ޿^?`?L@ǚ?C?>;?!?)~6d8@ ~6^;I~6Cɫyy)y }IyYF@ylGUKM]I=Y]GQU]>aaaeDeфDaym&=}m>I-5? A ?9D: .:)WAp9@WX XW:W2W*WVbUBU*UUU @B5pB9 B9A=*B9A9A9A9AEMK<"CE>@RCICMAp9@CI֍񽃾׍?i׍?U U|U|U UV5:YUR1yUi:U85YIiGC>} =} 4=܁ 9܁ I܅ hGi܅ :@܅ =܁ ܁ ܅ y; ݅ Ew{q,ū|EAY}2&:@}2A*@y}2%}2=}2HWRݿ@(!?`ߛ? M@1?c?ж??)~2&:@ ~2^;I~2CɫYY)Y ]IYY@ymG?AI)AI)AE|?5^?J +ɿI +?E2?EH E94<)AIAyEjt?:vV-?E ?EԼE< E A)AIEAiE AAEA @ @ @Ý©ÝÝiÝ@Ý ĝ@)ĝ@Iĝiĝ@<ME=YQU>aDބDyYC=}>I U: -5? U: A ]?9D< p<):W:7@WX XW:W2W*WVbUBU*UUUJ@RB*** querying acoustic contact ***PPBsB! B!A%)<*B!A%A!AIAM~<"CU09@RCQCU:7@CQֽ?΅יIG>c{q,|EA|$i|&@Y}R};@}R+@y}Rn}RrB=}RH`ۿ?G? @QR?@?u?@?)~R};@ ~R _;I~RCɫ髑) IY@yjmGZ****** received transponder code query ******F****** received ping request ******aDDyen=}>Iȡť-5?ť ƥA ?9ƥDǥ; ȥ:)ȡW?5@WX XW:W2W*WVbUBU*UUU  @B%y}B! B!A%m<*B!A-ȎA)A)A-Z<"C56@RC5;]C5?5@C9I=@A)=AAMIIM M1:YIyIMJ5QI!G=P>Nj{q,nmEAY}D=@}N`-@y}j}\=}H Yڿ#?Z?\??@L_??)~D=@ ~C_;I~Cɫ) IYI@ymGxDUSBL response received:!U1,P EFA,000,00A67,186,80,80,C8,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 } } }} >}'}`ei}@} }@)}X@I}@i}@<M(=Y gQU>5>91I5lhGi5@1115~; 5 EYa]D]DayeR=}m>Ii u:mg-5? }:m mA ?9m'Dm; m2;)m:i-nGIAWM2@WIiY"ѿٺAX XW:W2W*WVbUBU*UUU%%O@B}eƠBy ByA<*BAFAAAs<"C2@RCC2@C 34lI ) ׁ I G >Lq{q,>EAY}2?@}2&0/@y}2"}2 >}2He`Kؿ?'?7 ? ]?@f?f?)~2?@ ~2_;I~0ɫ99)9 9I9Y}@y}mG鮁ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=i=M=Y;9QU?!!a%D%D)y-=}-?I15(@B7B! B!A%Y<*B!A% /A)A)A-P<"C5a1@RC5zؽC5$1@C9-_IG )>U QQU UY>:YQyQUݻ5L{q,LEA||4}BH ֿS?t?!;??`~?v?)~B@@ ~Bf_;I~@ɫ髉) IY@ynGxDUSBL response received:!U1,R,FB9,000,00A36,184,80,80,AA,FF Fpublishing direction and range info}=ɰ#V>> )*CIyB?G?\ o볯?ٱ & =M K=Y #ݺQU>aDDy%=}%>I) 5:-`-5? 5:-a -VA 5?9-CD-v: -:)-:W]Q /@WYXY XYWY:WY2Wa*WaVabUaBUi*UiUiUmJ@Py*Q}BZQ}{]@T7ӎ@JQ}?G?\ o볯?2Q}}=:QybQ}:#V\U|kB@%-@RQ}"O]e?y?*hS?BQ}4@ Q}[BQ}P}A9?P}@9?PyQ}Q}5?A"Q}FABnB BA=*BAvAAA<"CQ /@RC>^CQ /@C ]IG%M>) 9) I- hGi- :@) ) ) - ; - E<ž{q,EAY}~ B@}~z2@y}~.)}~{t>}~H@ 5տJ? ?m@K?P$? ?6?)~~ B@ ~~n_;I~~Cɫ) IY5y@y5 nGDNmea in: $SNTTA,,,,,010915.88*52 5x&1?ʡEÿ333333?5!?5 5=)1I1y5K7?/${Gz?5)?5,5ף< 5rA)5@I5Ai5t A15A xi  hi ¥@  @) @I i @sM-=YQU%>!!a%D%!D)y5k=}5>I15H-5?5D 5}A E?95WD5: 5:)1muyAdded new target pos. range: 119.340004 m, bearing: 161.996555 deg, deltaT: 4.444035 s, approachRate: -0.661560 m/s, LOS rate: 0.067573 deg/s, posRepo size: 4m ProNav: pos range: 119.340004 m, bearing: 161.996555 deg, approachRate: -0.661560 m/s, LOS rate: 0.067573 deg/s, cmd update: 0.202719 deg/s, cmd heading: 156.714722 deg, new cmd heading: 154.525300 deg. W(/@WX XW:W2W*WVbUBU*UU]@U_C?B&B BA=*BAAAA<"C`.@RCiɼC(/@CU QQU Uk5:YQyQU5)U;9]=nHIG%n>{q,EAY}F)CD@}F^4@y}F,}F'#>}FH@P@ӿ?P?`?? @J? ?)~F)CD@ ~FU_;I~FCɫaa)i mIiY/@ymGI)5jؼM5o=Y=*QU=?99aEDE+DAyM=}M?IQ ]:U7-5? ]:Uf UA ]?9UfDUo: UY:)U:Ww;{q,u1EA| i|"@Y}>E@}>5@y}>l1}>@E">}>HF@X8ҿb?p?`BG?1?.??)~>E@ ~>9u_;I~<ɫII)I MIIY@ysmGÝv?Ý~ÝَiÝ=@Ù ĝ)ĝA@Iĝ@iĝף@dMB=Y5QU>aD9Dyh=}>I!-5? A ?9xDn: :)WT/@WX XW:W2W*WVbUBU*U U U z?BB BAխ<*BA]AAA<"CT/@RC|CT/@C =9Iiy; EڽEAAE E1:YAyAE5)E-;ױIGC>{q,KEAY}:*G@}:%F7@y}:&6}:>}:Hɽп@?`֊?w@Z?Ӧ?@ע?ɖ?)~:*G@ ~:a_;I~8ɫ99)9 =I9Y}@y}nG=ؘ=M=S=YEQQUE>AAaMDMEDIyUb=}U>IY] -5?] ]A e?9]D]3: ]?:)YWUk/@WX XW:W2W*WVbUBU*UUUd?B:B BAjM=*BAWAAAC;<"Cc>/@*CeRCu<CUk/@C ЉIG%>{q,_eEAY}2aH@}2|8@y}2;}2>}2H`wϿ?_?@|f?u?|?k?)~2aH@ ~23W_;I~2CɫYY)Y YIYY}@y}@nGiR=,MM=Y1KQU>!!a%D%RD)y-IB=}->I1 =:5,5? =:5 5A E?95D5: 5:)5:Wk/@WX XW:W2W*WVbUBU*UUU J@B-VnBI BIAU<*=*BQAUƭAQAQAU{<"C]k/@*C]'RCe<Cek/@Cau u֭cuu uJ:YuT1yu:u59@׹IGf> 9 I i x; )YIYiY]=Y]/4R{q,*;EA|;|;ɫ髙) IYQ@ymGrh|?sh|?ſ~jt?;?) =)IyMbX9?MbQ?!?\= A)@IAi AAM>M}M,iM@I Mף@)M"@IM@iM@]2M]7=YeQUe>aaamDm`Diyu}u>Iy},5?}& }:A ?9}D}: }Ǻ:)yWM/@WX XW:W2W*WVbUBU*UUU T@BGB BAL<*BAAAA<"CM/@*C걽RC<CM/@Cֽl"IGI>{q,> EAY}2 J@}2Q(:@y}2{x@}27$=}2HÖ̿K?? ?@ ???)~2 J@ ~2)2_;I~0ɫ99)9 =I9Y@ynGz=Mf=YvTQU>aDlDy=}>I :,5? : fA ?9D: :):W-/@W)X) X)W):W)2W1*W1V1bU1BU9*U9U9U=@RMB*** querying acoustic contact ***PIPIBmBi BqAuX=*BqAu?AqAqAu% <"C}/@*C}RC!B=C/@CM9U?iU?!I1GM>Mk MzMzM M[<:YMQ1yM:M5R%{q,oEAY}:fJ@}:q:@y}:>}:0=}:H`]$̿??,pX?ا?@?P?)~:fJ@ ~:*_;I~:Cɫ99)9 =IAY}@y}nGZ****** received transponder code query ******F****** received ping request ******ií¥@é ĭ)ĭ@Iĭ@iĭ@b;M;=Yvn:QU>aDzDyK<}>I,5?1 A  ?9D : :)WMv/@WiXi XqWq:Wq2Wq*WqVqbUyBUy*UyUyU@v @B}B BA{e=*BAn֬AAA-<"Cv/@*C]RCC=Cv/@Cy9yI}iGi}ݽ@yyy}r; }E=<I!G=r>G {q,EAY}6lJ@}6G:@y}6 <}6=}6H R%`̿`??`,ȵ?~?S ? ?)~6lJ@ ~6vy_;I~4ɫYY)Y ]IYY@yZoGxDUSBL response received:!U1,P FB9,000,00A36,184,80,80,AA,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )> =0=MY=Y-Į:QU->AAaMDMDy ȇ:}>I :ޣ,5? %:' A %?9D; ;):W%y/@W!X XW:W2W*WVbUBU *U U U @]0 ]y]y] ]7:Y]P1y]':]5B=҇BA BAAE=*BAAEJAIAIAMv@<"Cy/@*C RCr>=Cy/@C<1=בIG>8{q,EAɫ髁) IY@yVoG鮹ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B u퍺MuD=YuQU}>yya}D}Dy}>Iȑŕ,5?ŕP ƕA ?9ƕDǕ߼: ȕ:)ȑWE/@WX XW:W2W*WVbUBU*UUU E4@Bb|B BA=*BAAAA<"CE/@*CaְRC?:=CE/@Cֽ2D=I)yIG^>a e hAi 9i Im `jGim @m =i i m Y; m E Ԛ> zCi 3oGI i } 3տٺy } A |q,ˆEAY}FzJ@}F:@y}FW7}F_=}FHJ' R[̿?7?'??@? ?)~FzJ@ ~F!_;I~FCɫYY)Y ]IYY[@yoGxDUSBL response received:!U1,R,09C,000,00A07,186,80,80,B6,FF Fpublishing direction and range info'g ɰIR>鰝> )6CIy B]4? M _ٱ"~j?~jtMb?S>D <)Iy+?Mb+??@=  A)Z@Ix@iZ AGA]=]s]ni]3@Y ]A@)]5@I]"@i]@mKMu;=YuL1;QUu>yya}D}Dyy :}>Iȉ :ō>z,5? :ō ƍ9A ?9ƍDǍ: ȍM:)ȍ:W=0@W9X9 X9W9:W92WA*WAVabUaBUi*UiUiUm`@Py*Q} BZQ}H\@MLP/JQ}]4? M _2Q}'g :QybQ};uy8[m;D@FSF@RQ}32]ޠ?:?BQ}c1@ Q} %BQ}P}E9?P}A9?P}QyQ}I&A"Q}5?AB%VĉB! B!A-{=*B)A- uA)A)A-<"C50@*C5RC=8=C=0@Mz M|M|M M=:YMR1yMi:M5)M;9UC9֕C;=iIyG>K|q,fhEAɫ) IYUI@yUoGDNmea in: $SNTTA,,,,,010920.31*56 I=)C=  M Q=YQU>aDDy%}%>I)-f,5?- -lA 5?9- D-: -:))me}Added new target pos. range: 116.519997 m, bearing: 159.246830 deg, deltaT: 4.509724 s, approachRate: -0.625317 m/s, LOS rate: -0.609732 deg/s, posRepo size: 4mu ProNav: pos range: 116.519997 m, bearing: 159.246830 deg, approachRate: -0.625317 m/s, LOS rate: -0.609732 deg/s, cmd update: -1.829197 deg/s, cmd heading: 157.628091 deg, new cmd heading: 157.704201 deg. WuN/@WqXy XyWy:Wy2Wy*WVbUBU*UUG!]@U?BB BA{=*BAAAA<"CN/@RC jg=CN/@CiA8=יIGa>ps |q,94EAY}2.?J@}2Z:@y}2`+}2*<}2H`!Ϳ ?!? ):D?`? T?@i?)~2.?J@ ~2G`;I~2Cɫ99)9 9I9Y}@y}QoG]v=]]tqqa}D}Dyy};}>IȁŅpS,5?Ņ ƅA ?9ƅDDž|: ȅ:)ȁW̅.@WX XW:W2W*WVbUBU*UUU?BL0B BA=*BAêAAARu<"C̅.@RC =C ̅.@C >9I(kGi"@=M; E-t[=)]R YY] ]\::YYyY]5)]=;IiG8>[|q,rNEAY}2I@}2^9@y}2L"}2OŻ}2HtͿ0?D?@&!!a%D%ƅD)y-6}->I1 =:5?,5? E:5N 5A E?95+D5: 5:)5:We -@WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU}(T?BA{B BAS=*BA+AAA <"C -@RC==C -@Cdh=סIGA> |q,gEAY}:2RI@}:m9@y}:}:}:H/@H Ͽ 3?{?@ =?Z?)~:2RI@ ~:ހ`;I~:Cɫ99)9 =I9Y}@y}oG)= =-ML=Y;QU>aDӅD y 5} >I+,5? A %?9;D: m:)WE,@WAXA XAWI:WI2WI*WIVIbUQBUQ*UQUYU]଺?B@nB BA=*BA AAAhA<"C,@RCCW=C,@C խ=ԭ=֍ur=IIyG&>U^ UyUyU UQ;:YUP1yU':U59U@ >9 I kGi s@ = Q; EDm |q,KʁEAɫyy)y }IyY+@ypG5^I ?/$ rh?8?1 C =)IyMbX?Zd;O{Gz?*?j#< +A)AIi A(A-ʡ=-y=-i-p@) -@)-"@I- @i)==M=7=YEQUE>AAaMDMDIyU}U>IY e:],5? e:]Q ]'A e?9]ND]7: ]:)]:W+@WX XW:W2W*WVbUBU*UUU`?B$XqBI BIAMR=*BIAM AQAQAU<"C]+@RC]Y=C]+@CY}m=qIG~>f&|q,vEAY}64H@}6O8@y}6nR }6;4}6Hi&п??` Kqi? N?)~64H@ ~6[I`;I~6Cɫ99)9 =I9Y}@y}pGC=i:=M_=Y!!a%D%D)y-;C}->I15,5?5O 5@A E?95^D5: 5:)1We:>+@WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUyU}@BTB! B!A%=*B!A%1aA)A)A-<"C5:>+@RC5If=C5:>+@C9-=IG)>U U{U{Q U?:YU#R1yU:Q,|q,EAY}2/G@}27@y}2}2Z}2H ѿ@H?a? ?_M`?)~2/G@ ~2n$`;I~2Cɫ99)9 =I9Y @ypGAAI4=)%=¹¹w>(>ף;i@ A@)IA@iA@q7MJ=Y;QU>!!a%D%D!y-Ն}->I1 =:5b+5? =:5͝ 5[A =?95oD5: 5:)5:Wej*@WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}@RB*** querying acoustic contact ***PPBiB BA=*BAYҧAAA<"Cj*@RC=Cj*@Cܵ>9ܵCIܵkGiܵĿ@ܵ=ܱܱܵJ; ݵE)QIQiQU=U=Uxd5֥p=E=iE=ׁIG=>X3|q,[EAY}6aG@}6}7@y}6N}6S{}6HoѿEۈ?`X?/ 1/?@a?)~6aG@ ~6_;I~6Cɫ99)9 =I9Y}@y}pGZ****** received transponder code query ******F****** received ping request ******aDDy~}>I  +5? B uA ?9 D < <) WX)@WX XW:W2W!*W!V!bU!BU)*U)U)UM` @BҐ\B BA=*BAAAA!<"CX)@RC;=C X)@CUU|U|U U/:YUR1yUi:U59E?iEn?I!G=r>9|q,6EAY}6qG@}67@y}6=?輙}6k}6H ѿ@??M? DZ`?)~6qG@ ~6_;I~6CɫYY)Y ]IYY@ypGxDUSBL response received:!U1,P 09C,000,00A07,186,80,80,B6,FF Command AckBRequesting micromodem ping code 2iI)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 (M H=Y~;QU%>19aEDEDQye>i}m>I M:+5? }:4 A ?9D< <):Wŕ(@WX XW:W2W!*W!V!bU)BU)*U)U)U-`D @B}:npBy ByA}=*ByAlAAAX<"Cŕ(@RC\'=Cŕ(@Cõ=IG >ܵ >9ܱ Iܵ lGiܵ g@ܱ ܱ ܱ ܵ M; ݵ E@|q,YEAY}6wF@}66@y}6ۼ}6 }6H$6ҿBq?`"? y? 8[?)~6wF@ ~6f_;I~6Cɫ99)9 =I9Y]+@y]pG}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B q= ףp?{GzMb` ?ף )Iyv/? rhMb?x)?C < @)Z AI Ai? ApA)= >5l>5z5ji5@1 5 @)5@I5 @i5 @En;ME8=YM`;QUM>QQaUDU"DYy]}]>IaeΧ+5?e eA u?9eDe: e:)aWy'@WX XW:W2W*WVbUBU*UUUz @BM>^BQ BQAUR=*BQAU_饼AYAYA]i<"Cey'@RCe=Cey'@CIA)E@A]]z]z] ]2:Y]Q1y]:]5)];9ee=9IIGeU>F|q,EAY}>E@}>J6@y}>2sͼ}>Qѥ}>H`>ҿ(0?`?@/{ ൭??)~>E@ ~>_;I~>CɫYY)Y ]IYY} @y}0qGxDUSBL response received:!U1,R,02F,000,009D6,184,80,80,B5,FF Fpublishing direction and range info'ɰFN>鰅> )5CIy(B7G?+qٱo=Me=Y;QU>aD.Dy~ؼ}>I+5? A ?9D{: :)W%!'@W!X! X!W!:W)2W)*W)V)bU)BU1*U1U1U=@*z@PI*QM(BZQM?w_\@^g\JQM7G?+q2QM':QIbQMKZτwB@׈we @RQMXm."H2?F? ?BQM:r3@ QM{BQM=PMC9?PME9?PMQMQMA"QMI&AB}\$>By ByA=*BA9AAA<"C!'@RC(i=C!'@Cօ7=I׉)׉AIQGm5>M|q,g6EAY}n;E@}n*W5@y}n}n^}nH |uӿpg?l\?U?@?)~n;E@ ~n|_;I~nCɫ) IYU@yUqGDNmea in: $SNTTA,,,,,010924.75*52 =i=U>9QIQiQU=QQUb; UEinGIimxi>mҍ>m\>im@i m@)mIm@im@}οٺAPM#=Y ;QU>aD>Dy}>I :z+5? : A ?9D: :):mEyAdded new target pos. range: 113.580009 m, bearing: 160.648590 deg, deltaT: 4.371400 s, approachRate: -0.672550 m/s, LOS rate: 0.320666 deg/s, posRepo size: 4mU ProNav: pos range: 113.580009 m, bearing: 160.648590 deg, approachRate: -0.672550 m/s, LOS rate: 0.320666 deg/s, cmd update: 0.961998 deg/s, cmd heading: 149.624442 deg, new cmd heading: 148.708298 deg. WU'@WQXQ XQWQ:WYmmxmxm m/:Ym7P1ym:mJ5)mH;2WY*WyVybUBU*UUe\@UX?BzWB BA=*BA_HAAAg<"C'@*C`RC=C'@CO=שIG>S|q,QPEAɫ髙) IY@ypGI-a=)-=5hA5hAuYMuy=Y}QU}?yaDHDy}?Iȑŕi+5?ŕ ƕA ?9ƕDǕ : ȕ:)ȑW(@WX XW:W2W*WVbUBU*UUU?B-ئ?B1 B1A5=*B1A=A9A9A=<"CM(@*CMB̯RCUu]=CU(@CYm&=!I1GM1>e=iea=!Z|q,~jEAY}6 C@}6z3@y}6V}6G}6H DhԿp?`^:? η G?)~6 C@ ~6{>_;I~6CɫYY)Y YIYY@ypGrX<MG=Y0faDUDyX}>I 5:S+5? =:y A E?9D; h;):Wy~(@WX XW:W2W*WVbUBU*UUUe?B6!NB BA=*BA뢼AAAb<"Cy~(@*CwRC.\=Cy~(@C}}y}y} }0:Y}P1y}':}59@.=?i?IG>Q 9Q IQ iQ Q Q Q U m; U E} a|q,YEAɫyy)y }IyY'@yTqGI)AS?MbX9 ףp= ??ʡ Q8=)IyNbX9?:v?%?< ­C@)­ AI­Ai­ AAÝ>Ý1ÝhiÝ̬@Ù ĝ@)ĝ@Iĝʭ@iĝʭ@N<M;=YQU>aDcDy}>I=+5?t =A ?9D: T:)W(@WX XW:W2W*WVbUBU *U U U?B=9B9 B9A=F=*B9AEJ&AAAAAES;<"CM(@RCM&P=CM(@CQ e=e=֥p,=aIiGZ>=5g|q,~;EAY}6B@}6,3@y}6E}6=ݽ}6H!|տ?~G5?`ba?)~6B@ ~64>_;I~6Cɫ99)9 =I9Yu@y}FqG )> >~Mj=Yt  a D nDy}>I! -:%++5? -:%p %UA -?9%D%: %:)%:WU>O)@WQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUe 1@B|1B BA=*BAxAAA*4<"C>O)@*C>RCݴ =C>O)@Cm-tY=AIQGm>Ia)am m}m}m m>:YmkS1ymԊ:m5\^m|q,jEAY}:B@}:.2@y}:\'}:}:H  տ? 6s?@@e?)~:B@ ~:%T_;I~:Cɫ99)9 =I9Y}@y}qG m@ m@ @m©mmimf@m m@)m@Im@im@MB=Yy;QU>aD|Dyc}>IȩŭM+5?ŭk ƭqA ?9ƭDǭ: ȭ:)ȩW%)@WX XW:W2W*WVbUBU9ImGi@ *UUU`3@BeBBa BaAe*=*BaAm󩠼AiAiAm@<"Cu%)@*CuRC}2<C}%)@Cyu \=I)׹IGh>Et|q,hEAY}2B@}2n82@y}2"}2ս}2H@Jֿ_`[?e ?`Li?)~2B@ ~25!_;I~2CɫYY)Y ]IYY@ypG?A=i=z MY=Y8;QU>aDDyϪ}>I+5?f A ?9)Dӻ: D:)W **@W X  X W :W 2W*WVbUBU*UUU%@R5B*** querying acoustic contact ***P1P1Br>B BA=*BA% A!A!A%V<"CU**@*CUˮRCU\<CU**@CYaaM$=!I1GM1>u) uzuzu u7:YuQ1yu:uJ5oz|q,CEAY}6A@}6 1@y}6 }6~ƽ}6HZֿO>?ؿwv? ѸI?)~6A@ ~6[_;I~6Cɫ99)9 =I9YD@yyqGZ****** received transponder code query ******F****** received ping request ******iqa}D}Dy!}>I :*5? ::a A ?9;D' = d =):WG*@WX XW:W2W*WVbUBU*UUU P @Bux`9B BA=*BA AAA_<"CG*@*CRCV:CG*@C8<IG >>9IlGig@=r; E)ݕCIݕCiݑݕ=ݕ=ݕ5(X|q,EAɫyy)y }IyY@ypGxDUSBL response received:!U1,P 02F,000,009D6,184,80,80,B5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 u uyuyu u4:YuP1yu':u5)u;9}S?MbI +? 9=)Iy"~j?{GztMb?S#?ף< …$@)… AI…AiGA M M MMžMV>M?iM\@M M"@)MA@IMA@iM @UM=YQU>aDDy } >I9 u:=I*5? u:= Z =A }?9=RD=b< =<)=:Wf>+@WX XW:W2W*W!V!bU!BU)*U)U1U5@BneQB BA4=*BAAAA\<"Cf>+@*C]RCΡCf>+@C rg; ?i ? I G >́|q,|EAɫyy)y }IyY@ypGp=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B u%<Mu=YyQU})?yaDDy}-?IȹŽ}*5?ŽV ƽA ?9ƽ\DǽQ: Ƚ:)ȹW+@WX XW:W2W*WVbUBU*UUU )Y@B^B BA=*BA AAA<"C+@RC C+@Cq:IGj>|q,Zd9EAY}:I@@}:1@y}:2P;}:Q}:H`Ff׿`۠~?r\q@,q?)~:I@@ ~:4^;I~:CɫQQ)Q UIYY@ypGxDUSBL response received:!U1,R,FEA,000,009A3,183,80,80,CA,FF Fpublishing direction and range infonF<ɰJ>$> )JCIy B0}?]~?ٱ)= =MM1ؿMmiM(@I Mף@)M$@IM@iMף@]M]L=Ymܝ>9ܙIܝTlGiܝ@ܝ=ܙܙܝ; ݝ EaDDy}>IȹŽA*5?ŽGQ ƽA ?9ƽmDǽ: Ƚ:)ȹW+@WX XW:W2W*WVbUBU*UUU@@P*Q BZQ<[@ɀ>@JQ0}?]~?2QnF<:QbQ>TY= \KC@spRQ7#&%JY?wBQL;2@ Q_BQPE9?PC9?PQQ4@"QAB^=B BA=*BA霼AAA^><"C+@*CS<RCrüC+@Cu? uuu u8:YuU1yu:uܾ5)u;IGH>|q,y=Y5;QU5>99a=D=ʆDAyEQ}E>II U:M6*5? U:MK MA ]?9M~DM{: M:)M:m}Added new target pos. range: 110.519997 m, bearing: 159.561251 deg, deltaT: 4.470939 s, approachRate: -0.684423 m/s, LOS rate: -0.243201 deg/s, posRepo size: 4m ProNav: pos range: 110.519997 m, bearing: 159.561251 deg, approachRate: -0.684423 m/s, LOS rate: -0.243201 deg/s, cmd update: -0.729604 deg/s, cmd heading: 153.925269 deg, new cmd heading: 154.331145 deg. W+@WX XW:W2W*WVAbUABUI*UIUMG[@UM|q,9mEAY}2@@}20@y}2R&;}2m}2H7@p׿`@{?-$`G?)~2@@ ~2q_;I~2CɫAA)I MIIYj@ylpGC=i=qh}=i @ S@)@Iף@i@ KM M=YE0e;QUE>AIaMDM׆DQyUJ}U>IY]*5?]+F ]A m?9]D]: ]:)YWC+@WX XW:W2W*WVbUBU*UUUf?B$DB BA=*BAAAA><"CC+@*CRC OCC+@C oM 1:YWU1y:9@!IIGuX>>uCi-nGIAiYDпٺAٕ<ٕ<ܝ>9ܙIܝkGiܝĿ@ܝ=ܙܙܝ~; ݝE|q,EA||ɫyy)y }IyYb@ycpGI]R=)]4=MbX9?V-Mb!?m )IyJ +?{GzV-?(?ף< @) AI+AiAzAhAMK=YQU >  aDDy}>I! -:%r*5? -:%c@ %A -?9%D% : %:)%:WUM*@WQXQ XQWQ:WQ2WY*WYVYbUYBUa*UaUaUe@ъ?BGB BA5=*BAAAA<"CM*@*C˭RC' CM*@C)IGn>ϧ|q,*ĠEAY}2@@}21@y}2<<}2kw#}2H`׿陿AAaEDEDIyM6o;}M>IQUi_*5?U: UA e?9UDUQ: U]:)QWH*@WX XW:W2W*WV bU BU *U UU??B=;B9 B9AE=*BAAEHAAAAAE4Y<"CMH*@*CU4RCU>PCUH*@CQ֍ &׍?i׍{?AIQu u|u|u u3:YuR1yui:u85G8>|q,IEAY}2S/A@}2J1@y}2o<}2}2H60׿`9?@2`@?)~2S/A@ ~299_;I~0ɫ99)9 =IAY@yoGI)I)=>99I=(kGi="@999=; = E @ @ @Í©ÍÍiÍ(@Í č"@)čIč@ič"@NYMD=Y;QU>aDDy<}>IȹŽ J*5?Ž4 ƽA ?9ƽDǽǺ: Ƚ:)ȹWmG*@WiX XW:W2W*WVbUBU*UUU@K@BXB  B A o=*B AAAA<"CG*@*CpRCM<;CG*@C!=] I!G=r>x|q, EAY}2xA@}21@y}2.ƍ<}2ۼ}2Hֿ`?NA|n@?)~2xA@ ~27=_;I~0ɫ99)9 =IAY}=@y}5pG !!)%= %>U<MUP=YUj;QUU>YYa]D] DayeO:<}e>Ii u:m5*5? u:m2/ mA }?9mDm: m:)m:W4)@WX XW:W2W*WVbUBU*UUU[I@BfvEB BA=*BAi'AAA,<"C4)@*C)CRCS@<C4)@Cq:סIG$>m$ mwmwm m6:YmO1ymP:mʺ55|q,^EAY}NA@}N1@y}N<}N飺}NH`Bֿw`[?i[ߍ*|R d?)~NA@ ~N!%_;I~NCɫ髡) IY@y_oG@A   ^:> 7ui@ @)I@i@JM>=Y;QU>aDD!y%W<}%>I)-*5?-!) -A E?9-D-; -;))W})@WyXy XW:W2W*WVbUBU*UUU౿@RB*** querying acoustic contact ***PPB!dB BAp=*BA"AAA<"C)@*CRCx<C)@C uvт;Iy)y15jA=>99I=`jGi=@999={; =EIIYGu>|q,0EAY}2B@}2032@y}2N'<}2A7}2H@\Zֿ.@_?ߪDυ1?)~2B@ ~2q+_;I~2Cɫ99)9 =I9YP@yoGZ****** received transponder code query ******F****** received ping request ******aD$Dy(<}>Iȩ :ŭ9 *5? :ŭ# tI ƭA ?9ƭDǭR: ȭ:)ȭ:W)G)@WX XW:W2W*WVbU BU*UUU`^ @B]^jBe5= BaAeg=*BaAB9AAA<"C)G)@*CɬRC<C)G)@C}}y}y} }N2:Y}P1y}':}J5)}H;9֥v|q,M"EAY}2)B@}2]E2@y}2ӣ<}2,U}2H`wKֿחN?!`{u z ?)~2)B@ ~2_;I~2CɫAA)I MIQY@ynGxDUSBL response received:!U1,P FEA,000,009A3,183,80,80,CA,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I!)%=99]RMeR=Yu:QU}>aD1Dy^6;}>I)5?  ?9 D%; );)W(@WX XW:W!2W!*W!V!bU)BU)*U)U)U5 @BwB BAR=*BA;ٗAAA\<"C(@*CRC@T=C(@C-፨< I G- >+H|q,;EAY}2zB@}212@y}2<}2s`}2Hi]ֿ`8a?Gwܝ ?)~2zB@ ~2^;I~2CɫYY)Y ]IYYB@ymG鮥a=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 9I3iGi@;  E)yIyiy}=}=} 5<i@ M@)I@i@UMA=Yf9QU>  a D >DyH;}>I! -:%u)5? -:% %A M?9% D%; %a;)%:Wt(@WX XW:W2W*WVbUBU*UUU?@BɅB BA|<*BAAAAH0|q,7UEAY}F A@}F|2@y}F}<}FW{}FH}ֿ p5? h +~]ovf?)~F A@ ~F^;I~FCɫyy)y }IyY@y)nGxDUSBL response received:!U1,R,006,000,00972,183,80,80,83,FF Fpublishing direction and range infoɰF> )CIy(Boܴ@?SNruٱI)H<MZ=Y.QU>!!a%D%JD)y-k}->I15")5?5n 5A E?95$ D5{: 5:)1WeYT(@WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU} [@P*Q(BZQDZ@VnJQoܴ@?SNru2Q:QbQJ\Y78Ob.C@XSRQMԸ8o?>=4ZBQ1@ QsBQPF9?PE9?PQQOz@"Q4@B6]B BA =*BARrAAAm<"CYT(@*CRCP=CYT(@Cѥ<} =QIaG}z>]^|q,oEAɫ髱) IY>@ymGDNmea in: $SNTTA,,,,,010933.65*55 !!)=> 9miim m0:Yiyim59m@>aD[Dy}>I :8)5?  : A  ?9: D(: :):m=}Added new target pos. range: 107.580009 m, bearing: 159.104517 deg, deltaT: 4.425080 s, approachRate: -0.664392 m/s, LOS rate: -0.103215 deg/s, posRepo size: 4mM ProNav: pos range: 107.580009 m, bearing: 159.104517 deg, approachRate: -0.664392 m/s, LOS rate: -0.103215 deg/s, cmd update: -0.309645 deg/s, cmd heading: 150.696391 deg, new cmd heading: 150.310249 deg. WM|%(@WIXI XQWQ:WQ2WQ*WYVYbUYBUY*UaUeZ@Ue?BˈB BA<*BA2AAA<"C|%(@*CRC$=C|%(@C>9IhGi@; E% @o= = I G >rB|q,-zEAɫ髙) IYU@ylGi|?5??+?1?L= =)IyFx?I +Q?+?94< EA) AIzAiAAM=YQU?aDeD!y!}%?I)-ۧ)5?- -%A =?9-G D-?: -/:))W] (@WYXY XYWa:Wa2Wa*WaVabUiBUi*UiUqUu?B閼B BA9*BA1AAAx<"C (@*CGRC*=C (@CϹϹ)й йM #'=! I1 G] >!!a%D%qD)y-_}->I15Q)5?5H 51A =?95W D5: 5i:)1We '@WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}[?B1B BA*BAAAA{w<"C '@*C.RRCj=C '@C֩} }|}|} }D:Y}R1y}i:}5ׁIG=>P|q,.EAiV3oGI`ilfпٺA܅>9܁I܅fGi܅@܁܁܅D܅; ݅Eɫ髑) IY]@ypkGI==)9AAÍ94Í#=Í$iÍ3@É č@)čd@Ičd@ičd@dM4=YQU>aDDy}>Iȹ :Ž}|)5? :Ž ƽ?A ?9ƽj Dǽ: Ƚ:)Ƚ:W'@WaXi XiWi:Wi2Wi*WqVqbUqBUq*UqUyU}?BvB BA!*BAEAAA<"C'@*CRCX#=C'@C!e=ie==IG>E|q,EAY}V(@@}V0@y}VfY<}Vi}VHet׿ 56X? `.?)~V(@@ ~V=^;I~VCɫ髱) IYž@yjGLM]=YaQU>aDDyc}>Ih)5?j LA ?9{ D; =;)W5'@W1X1 X1W1:W12W9*W9V9bU9BUA*UAUAUE`p[@Bm򓨼Bq BqAu*BqAupAyAyA}<"C'@*CΪRC=C'@C}} H-:YkS1yԊ:I5"=IGi>|q,EAY}f@@}f0@y}f<}ft}fH.׿ Մ@? DX`gܕ)|?)~f@@ ~f0^;I~fCɫ髡) IYd@yykGI1)5AI1)5AÕ>ÕÕiÕ@Ñ ĕ@)ĕ@Iĕ@iĕ@DA=MF=YҺQU>aDDy}>I :Q)5? E: ZA M?9 D/v< &<):W}v'@WX XW:W2W*WVbU BU *U U U @R=B*** querying acoustic contact ***P9P9B}GAB BA*BAAAA<"C}v'@*CRC{=C}v'@C֕r=QIYquiA}>9yI}fGi}@yyy}; }EG~>ʔ}q, EA|$i|&@Y}B*U@@}Bp0@y}Bm2<}B,^{}BH@T׿s?`1唿 e@?)~B*U@@ ~B^;I~BCɫQQ)Q UIQYѽ@yiGZ****** received transponder code query ******F****** received ping request ******=YQU>aDDy}>Iȱŵ?)5?ŵ: ƵjA ?9Ƶ Dǵ&: ȵʽ:)ȱWU'@WX XW:W2W*WVbUBU*UUU@B%ຼB! B!A%n*B!A-rڗA)A)A-<"C5U'@*C5QRC5<C5U'@C9IY)]?Am m{m{m mG:Ym#R1ym:mJ5)mC;9uU=)I9GUu>}q,,$EAɫyy)y }IyYؽ@yiGxDUSBL response received:!U1,P 006,000,00972,183,80,80,83,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %&;M-f=YQU>aD%D)y}>Iȩ :ŭ,)5? :ŭH ƭzA ?9ƭ Dǭ < ȭ<)ȭ:Wn/'@WX XW:W2W*WVbUBU*UUU@ @BB BAj*BAGAAAN<"C%n/'@*C-IRC-b=C-n/'@C9M G}q,w>EAY}>?@}>M0@y}>؜<}>r\}>H,<ؿX%Z?@9`)ǚ (@*?)~>?@ ~>6^;I~>C->9)I-dGi- @-=))-; -EɫYY)Y ]IYY@yiGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B QiU=Ua=iU=í->íníףií@é ĭd@)ĭd@Iĭ@iĭd@@@<MA=YBNQU>aDDy"v}>I2)5? A ?9 D: :)W '@W X  X W :WI2WQ*WQVQbUQBUQ*UYUYU]N @B PB BAmV*BAAAA9<"C'@*CکRC۽<C'@C zz 5:YQ1y:5)a;9=IGj>}q,YXEA||Y}BQ?@}B/@y}B<}Bs}BH`^zؿ@<஗?@r1+ 7?)~BQ?@ ~BU^;I~@ɫQY)Y ]IYYa@yiG鮝p=ɮxDUSBL response received:!U1,R,FDF,000,00942,185,80,80,63,FF Fpublishing direction and range info<ɰ&B>鰝+> )BIyfBo2At?MG&c)|?ٱdUM[=YRQU>qqauDu̇Dyy}:)}}>Iȁ :Ņ)5? :Ņ ƅA ?9ƅ DDž; ȅY;)ȅ:W&@WX XW:W2W*WVbUBU*U U)U-?@P9*Q=fBZQ=*Z@[hd)@JQ=o2At?MG&c)|?2Q=<:Q9bQ=QpX ʼJӷB@M=^'RQ=x d3?$BQ=1@ Q=BQ=P=G9?P=F9?P9Q=Q=q@"Q=Oz@BW ¼B BA*BA AAAW<"C&@*CRC+<C&@C<?i?IG}q,7rEAɫ99)A EIAY@y;iGMDNmea in: $SNTTA,,,,,010937.68*5C m 0=mm=imQ@i mA@)m@ImM@imM@}C<M}&=Y}QU}>aDۇDy}>Iȑŕc(5?ŕ ƕA ?9ƕ DǕ?: ȕ:)ȑm}Added new target pos. range: 104.700005 m, bearing: 159.045203 deg, deltaT: 4.063522 s, approachRate: -0.708746 m/s, LOS rate: -0.014597 deg/s, posRepo size: 4m ProNav: pos range: 104.700005 m, bearing: 159.045203 deg, approachRate: -0.708746 m/s, LOS rate: -0.014597 deg/s, cmd update: -0.043790 deg/s, cmd heading: 149.439396 deg, new cmd heading: 149.295464 deg. W&@WX XW:W2W*WVbUBU*U U ,Z@U y?B5ؼB9 B9A=*B9A=BAAAAAE<"CM&@*CM]RCM<CM&@CQ~~ 0:YT1y@:ݻ59@>9CIcGi@; )ݹIݹiݹݹݽ=ݽ4<שIG><"}q,EAY}6b[?@}6v/@y}6|=<}6Ts}6Hx^ؿ`Ф@?o.4ad?)~6b[?@ ~6^;I~4ɫ99)9 =IAY}@y}*hGI)AI)AuI +?y&1?~jtu9?u`e< u)qIqyup= ף?{Gz?u%?uףu< u+A)u9AIuZ Aiu AquA M f=Y  :QU>aDDy|}%>I!%(5?%; %A 5?9% D%: %H:)!WU&@WQXY XYWY:WY2WY*WYVabUaBUa*UaUiUm?BFӼB BA*BAAAA1<"C&@*C,RC<C&@C֥)}q,TEA| i| Y}JE?@}J`/@y}JΜ<}J_q}JHs`ؿ4椿 ?`k꧿Hӓ,8?)~JE?@ ~Jz^;I~Hɫ髑) IY@y3hGu;MuT=Y}E:QU}>yaDDyg}>Iȑ :ŕ(5? :ŕd ƕA ?9ƕ DǕ{: ȕf:)ȕ:W&@WX XW:W2W*WVbUBU*UUU@-?B,ϼB BA*BA`AAA<"C&@*CRCf<C&@CI)AAxx =.:Y7P1y:52/}q,wEA`9`IbbGibw@b=``b; bEɫ髙) IYH@ygGí94=í@=íaDDy}>II(5?" A ?9 D : D:)W&@WX  X W :W 2W *WVbUBU*UUU`?BEGؼBI BIAMaٽ*BIAD]AAA<"C&@*CݺRC<C&@C0:<׹IGf>6}q,EAY}NH?@}Nc/@y}NB<}N\}NHKt ؿ ̣ F? n &` ?)~NH?@ ~N^;I~Lɫyy)y }IyY_@yfG=i=a=i%=mMM=YعQU>aD Dy9}>Iȩ :ŭ(5? :ŭ ƭA ?9ƭ Dǭ: ȭ:)ȭ:W&@WX XW:W2W*WVbUBU*UUU`@BӔB BA% *B!A%L>A!A!A%;<"C-&@*C5<RC5 1<C5&@C9E< yy ?:YP1y':I59IIGeV>(E<}q,vEA||4l L̩3?)~69?@ ~6^;I~4ɫ99)9 =I9Y}@y}fGuV>uƋuGaiu@q u@)u/@Iu/@iu/@I<M<=YQU>aDDy}>Ișŝ(5?ŝ~ ƝA ?9Ɲ1 Dǝ: ȝ:)șW7&@WX XW:W2W*WVbUBU*UUUʎ@B 4B  B A|*BAAAA<"C7&@*CzHRC% x<C%7&@C!Ԛ>oCieSoGIyi=iϿٺjAֽF<׽?i׽?>9IaGi@=; EשIG>.C}q,Y EAY}NA?@}N./@y}N,<}NʩC}NH@3j@Mٿ@ɾ-?de@˲`qn?)~NA?@ ~Nhy^;I~NCɫ髑) IY @yfGu!rh?㥛 ?y&1ulG?u> u`)qIqyuK7?:v~jtx?u)?uTu; uA)uAIu AiuAqu AhMZ=YIQU>aD'Dyͻ}>Iȱ :ŵ|(5? :ŵ ƵA ?9ƵA DǵU: ȵ:)ȵ:W&@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB,B BA*BA AAA<"C&@*C%RC<C&@Cxx 3:Y7P1y:85);98<IGi>VI}q,*'EAY}:>@}:/ /@y}:2<}::E}:HbB=ٿ ubO? ]tX +@`l?)~:>@ ~:Y^;I~:Cɫ99)9 =I9Y}@y}eGZ****** received transponder code query ******F****** received ping request ******aD4Dyg}>Ih(5?ʤ A  ?9R Df: /:)W-\&@W)X) X1W1:W12W1*W1V1bU9BU9*U9U9UE @Bm<:B BA#*BAAAA<"C\&@*CۧRCdY<C\&@CU<IGn>@P}q,AEA|i|6>94I6`Gi6@4446; 4ɫ11)1 5I1Yen@ym^eGqu?AuxDUSBL response received:!U1,P FDF,000,00942,185,80,80,63,FF uCommand AckuBRequesting micromodem ping code 2iqyNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 &1>Yi\@ A@)@I@if M ,=YQU>YaaeDeCDqy}>Iȡ :ťO(5? :ť8 ƥA ?9ƥg Dǥ : ȥ{:)ȥ:zz 2:YQ1y:%5)Ï;W'&@WX XW:W2W*WV!bU!BU!*U!U!U-` @BB BA'*BAuAAAS~<"C'&@*CmRC'<C'&@C hV}q,ZEAɫyy)y }IyY@ydGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U/M]=YYQU] ?aaaeDeMDiyi}m?Iqu@(5?u uA }?9ut Duf: u:)qWu&@WX XW:W2W*WVbUIBUQ*UQUQUU@+@B}&0 B BA5*BAVAAA}<"Cu&@*C$\}q,qtEAY}Vm>@}Vݱ.@y}VMŽ<}Vߛ,}VH`iQ Ϗٿ-Π?KN 2`ؑ|?)~Vm>@ ~V^;I~VCɫ) IYU@y]dG}xDUSBL response received:!U1,R,FC1,000,00911,184,80,80,AE,FF Fpublishing direction and range infomz0a=iɰm">>m> i)m.CIiymBmـ^h?ɕn"?ٱi=i=Cl?~jt?HzG?;?= = >)IyMb?:v~jt?#?ԼD< `A)I? Ai Ae/yya}D}\DyS8}>Iȉō)(5?ō ƍA ?9ƍ DǍ: ȍ߼:)ȉW&@WX XW:W2W*WVbUBU*UUU@P*QBZQvfY@]@JQـ^h?ɕn"?2Qz0a=:QbQ=W]zA@&~ RQ] thF>]?Z6S/BQ52@ Q<BQPF9?PG9?PQQs@"Qq@ 2:Yy59@BjB BA3*BAֺAAA<"C &@*C 6/RC <<C &@CYYa9aIe_Gie@e=aae; eE <IG >zc}q, EA||p;Y}6|>@}6[.@y}6ݏ<}6(}6H3LQٿ@E@?Iฑ@?)~6|>@ ~6^;I~4ɫYa)a eIiY@yMdG5TNmea in: $SNTTA,0.096744,,,,010942.15*42 1Mg=Y;QU>aDhDy} >I :(5? : A ?9 DM: :):mMyAdded new target pos. range: 101.760002 m, bearing: 159.542714 deg, deltaT: 4.500529 s, approachRate: -0.653257 m/s, LOS rate: 0.110545 deg/s, posRepo size: 4m] ProNav: pos range: 101.760002 m, bearing: 159.542714 deg, approachRate: -0.653257 m/s, LOS rate: 0.110545 deg/s, cmd update: 0.331635 deg/s, cmd heading: 149.242254 deg, new cmd heading: 149.226729 deg. W]'&@WYXa XaWa:Wa2Wa*WiVibUiBUi*UqUupY@Uu X?BVB BAC*BAA£AAA9*<"C'&@*CRCt<C'&@C յ=Ա֝<סiץ?qIG~>i}q,{EAY}Jo>@}J.@y}J*<}J*}JHwI ٿ5 ,? F |t`ےOR?)~Jo>@ ~Jt^;I~JCɫ髁) IY@ycGU MUU=Y]@:QU]>YYa]DetDaye }m>IquA(5?u uA }?9u DuY: u:)qW&@WX XW:W2W*WVbUBU*UUU@~?B5 B9 B9A=R*BiAu)AqAqA}<"C&@*CϦRC!P<C&@C~~ 3:YT1y@:ֵu<בIG>] >9Y I] ^Gi] @] =Y Y ] ; ] E)틁CI틁Ci鋉==x5p}q,EAY}R=k>@}R.@y}R<}R0}RH`HpٿN`%?sE`% b ?)~R=k>@ ~Rl^;I~RCɫ髑) IY@ywcGIQ)QIQ)Qí&>í~ítiíp@é ĭ/@)ĭ/@Iĭ/@iĭM@vMB=YQU>aDDyy"}>I :'5? :P} A ?9 Dw: :):W "'@W X  X W :W2W*WVbUBU*UUU@R}?BEEBI BIAMwY*BIAUAQAQAU<"C]"'@*C]jRC]^.<C]"'@Ca/C<ױIGe>v}q,PqEA| i|"@Y}Nql>@}N.@y}N<}NV&}NHHٿ?`KF͞@ Ȥ?)~Nql>@ ~N^;I~NCɫqy)y }IyY@y7cG)= =5)M5S=Y=xQU=>99aEDEDAyM^G9}M>Iȩŭ'5?ŭ w ƭA ?9ƭ Dǭ: ȭ:)ȩWDH'@WX XW:W2W*WVbUBU*UUU@?BB BA_*BAA!A!A%JX<"C-DH'@*C-4tRC-PD<C-DH'@C1AEhA} &y|}q,REAY}}`>@}}|.@y}}I<}}H}}H`Fٿğ?Dݛ.ב 4'?)~}`>@ ~}^;I~}Cɫii)q uIqY,@ybGV-? ףp= +-?Q8 )IyJ +?ktS㥛?(? 0/< A)9AIZ Ai? A A=7>=u=/aDDy}>I :'5? :n A ?9 D: :):Wu'@WX XW:W!2W!*W!V!bU)BU)*U)U)U- z@@BUaB]n*= BYA]%p*BYAeRĩAaAaAe<"Cmu'@*Cm#=RCmq;Cmu'@Cq!%gA->9)I-|]Gi-@-=))-; -E֍Lك}q,$EAY}JeX>@}Js.@y}J<}J}JHDٿi$u?CCwbyo?)~JeX>@ ~J4^;I~JCɫ髡) IYs@yaG=i=UhMU}=Y]ןQU] ?YYaeDeDe[@@aymv̺}m ?Iqu#'5?uOi uA }?9u Du: u߼:)qW2'@WX XW:W2W*WVbUBU*UUU.@B'B BA*BA, AAA ><"C2'@*CRCё;C2'@C֝;xx /:Y7P1y:5);9yIG^>`}q,a)EA||;ɫ髙) IY@y=bGɮp=EM =MEK=YMQUM>IIaUDUDQy]}]>IaeN'5?elb eA m?9e Deʽ: e¿:)aWB'@WX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBmBy ByAgy*BA IˬA A A <"CB'@*CD襽RC6;CB'@C M=M==y;AiE?1IAG]v>i I i! M DпٺI M A- >9) I- \Gi- c@- =) ) - ; - E}q,CEAY}J%<>@}JW.@y}J7<}J}JH@/? ٿ@/c>?= &`&A?)~J%<>@ ~J2^;I~Hɫ髑) IY@y"aGZ****** received transponder code query ******F****** received ping request ******MMLiMz@I M@)M@IM@iMۙ@]KM]9=Ye0o:QUe>aiamDmÈDqyu@}u>Iy :}'5? :}Z }A ?9} D}; };)}:W'@WX XW:W2W*WVbUBU*UUU D @B-"B) B)A- *B1A5A1A1A5Y<"C='@*C=RC=PC='@Ca|| /:YR1yi:ʽ5);U=mԅ#;A IY G} >}q,и]EAY}2<>@}2jX.@y}2n<}2}2H`C?`ٿ|e?f>ޖ ג`H@?)~2<>@ ~2L];I~2CɫAI)I IIIY]@y]`GexDUSBL response received:!U1,P FC1,000,00911,184,80,80,AE,FF eCommand AckeBRequesting micromodem ping code 2iaaIi)mAIi)mAuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Mh=Y:QU> aDΈD!y5\9}=>IY]r{'5?]T ]+A ?9] D]; ];)YW (@WX XW:W2W*WVbUBU*UUU @B &B BAÑ*BAAAAE<"C] (@*CeMRCeDV Ce (@Ci]+,=Mq) IY G >5C}q,wEA|\i|^@ɫ髑) IY @y4aG@A=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B >Nmea in: PROC,0.20.0.39330*71 Response from modem failed NMEA checksum: PROC,0.20.0.39330*71 expected 0%(\?zG?{Gz?%z4?% = %ף<)!I!y%Q?X9vy&1?%5?%%`< %$A)!I% Ai%Z A!%3 AÅ9Å;ÅiÅ@Á ąĘ@)ą@Iąp@ią@ <M=Iޙ)ޝ@A {{ a4:Y#R1y:59@YQU>ٹٽ<9I[Gio@=;  EaD߈Dy}>I :s_'5? :BK ~y}q,ĒEAY}:>@}:Y,.@y}:<}:l}:H*6@ڿ[,?Q6+뒿Cד3 ?)~:>@ ~:];I~:Cɫqq)q uIqY@@y:`G=ME=YEM;QUE?IQaUDUDYy]}e?IimN'5?mE mEA }?9mB Dm; m ;)iWU(@WX XW:W2W*WVbUBU*UUU@B\9B BAۖ*B A <A A A <"CU(@*CTERC CU(@C!IG%+>m}q,KEAY}JV>@}J-.@y}JCp<}Jg}JHq6 ڿ!7?@6`GP퓿,?)~JV>@ ~J];I~Hɫy髁) IY8@y1`G=i= MC=YV9QU>aDDyZ9}>I :8'5? :L> RA ?9T D#: Q:):W|}(@WX X!W!:W!2W!*W!V!bUIBUI*UIUQUUE@B-B BAQ*BA;HAAA<"C|}(@*CRCb C|}(@C--z-z- -1:Y-Q1y-:-J5֭鑻yIG]>! 9! I% \ZGi% {@! ! ! % ; % E}q,fEAɫ髙) IY*@y^GI4=)%=Eu=E/EjiEz@A Eף@)Eۙ@IEۙ@iEۙ@UMUQ=Y]QU]>YYa]DeDaye}m>Iim#'5?mN7 m^A }?9mf Dm: m:)iW6(@WX XW:W2W*WVbUBU*UU)U5@@B}>:By ByA}6*ByA?nAAA<"C6(@*CRC<C6(@C)i)ֽיIGb>K}q,4LEAY}RD_>@}Rz.@y}Rҏ<}RW}RH;Fٿ@?@9F f؈x?)~RD_>@ ~R9];I~RCɫqq)y }IyY@y^GxMP=Y_]QU>aDD y C<} >I :l'5? %:Y0 kA %?9x D: :):WE(@WAXI XIWI:WI2WQ*WQVQbUQBUQ*UYUYU] ,a@ReB*** querying acoustic contact ***PaPaBAB BAa*BA}~AAA<"C(@*C֤RCpC(@Cօ:5q 5}5}5 5<:Y5kS1y5Ԋ:5o5AIIGm5>^}q,3EAY}Fk>@}F۟.@y}F~<}Fʼ}FH`M@ٿ|@(?N@#@ϑ`Y??)~Fk>@ ~F];I~FCɫiq)q uIqYѴ@yw^GI)I)m?DlMbp.?O )IyL7A`?/$~jt?+?< ­A)©I­ Ai­ A A;_if@ @)@I@i@wɻM9=YۺQU>!a%D%D)y-J;}->I15&5?5* 5tA =?95 D5: 5k:)1W j(@W!X! X!W!:W!2W)*W)V)bU)BU1*U1U1U5=@B8B BAĭ*BAdAAA0<"Cj(@*C!RCCj(@ٹٽjA>9IYGiذ@; E)aIaiae=ae5C}IG>}q,EAY}Jk>@}Jڞ.@y}J<}J'E}JHM>ٿ^Q(?sN@$d@'m?)~Jk>@ ~J];I~JCɫyy)y }IY@y<^G#M`=YQU>aD)Dy /} >I &5?% |A %?9 D; i ;)W)@WX XW:W2W*WVbUBU*UUU@B8GB BAư*BA`AAA<"C%)@*C%ΊRC-;C-)@C)I!)%AA==|=|= =.:Y=R1y=i:=5Eh%I!GER>}q,-EAY}F >@}F.@y}F~<}F{}FH`LSٿJ5?`Mu}܏ ?)~F >@ ~F];I~FCɫaa)i mIqY@y|]Gím>íYí+=iíp@é ĭ@)ĭv@IĭQ@iĭp@`4M>=Y(QU>aD7Dy}>I :&5? :C A ?9 D: :):W <)@W X XW:W2W*WVbUBU*UU!U%S@BM{GBI BQAU*BQAUAQAQAUI<"C]<)@*CefRCe r]Ce<)@Ca֥*:yIG^> >9 I hXGi @ = ; E}q,|GEAY}^a>@}^У.@y}^9d<}^q}^HOٿ $?@O j!P?)~^a>@ ~^];I~^Cɫ髙) IYճ@yA]GxDUSBL response received:!U1,N,80,80,63,E4 1,184,80,80,AE,FF ZNo reply:!U1,N,80,80,63,E4 1,184,80,80,AE,FF -  a D CD y:}>I&5?S A %?9 D: :)WM`)@WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYU] &@BNB BA*BAüAAAa<"C`)@*CERCEpC`)@C֥NJN5z 5}5}5 5=:Y5kS1y5Ԋ:5J5)5;9EaIiG9>}q,aEAɫ髙) IYT@y\Ga=ɮ%M-H=Y-QU->11a5D5PD9y=}=>IA M:ED&5? M:E EA U?9E DE: E':)E:Wu)@WqXq XyWy:Wy2Wy*WyVbUBU*UUUz@B=PB BAž*BA*vƼAAA<"C)@*C#RCڤC)@C)i-p=EON!IAG]U>*}q,Hl{EAiu]Cɫ髹) IiY>@y\GIi =Dѿٺ9=A?9tA]K?Mb`?Zd;O?]^?]; ]j<)YIYy]Cl?y&1I +?]d;?]`e]94< ] A)YI] Ai]t AY]z Aý=ýl'ýIiýG@ù Ľ"@)Ľp@IĹiĽQ@M2=YQU>aD_Dy}>i9iIm}q,>EAY}2>@}2.@y}2#<}2݅}2H|\mٿp?b\Q `< ?)~2>@ ~2l];I~0ɫYY)a eIaYB@yP[GZ****** received transponder code query ******F****** received ping request ******99a=D=jDAyE@;<}M>IQ ]:Uݏ&5? e:U UA e?9U DUf; UD;)U:W~)@WX XW:W2W*WVbUBU*UUU @BM iBI BIAm־*BiAu˼AqAqAuH="C}~)@*C}ߣRC}zPC}~)@C֥(yIGa>=}q,%EA|4i|6@Y}UO>@}U.@y}U ;}UyNh}UHD]lٿ0@"n?]`4MLU ?)~UO>@ ~Ul];I~UCɫiq)q uIqYy?AxDUSBL response received:!U1,P 80,80,63,E4 1,184,80,80,AE,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 EEzEzE E3:YEQ1yE:E\59U@ m@ m@ m@m©mmim@m m@)iIm"@im@YQU>aD{Dy9}>I  Kr&5?  A 5?9  D n; ;) WX*@WX XW:W2W*WVbUBU*UUU!@BmfgOBy ByA*BA٘ϼAAAj="CX*@*CRC8CX*@C9=iA= } >9y I} VGi} @} =y y } ; } E I! GE >"}q,VEAY}2/>@}2.@y}2x;}2Y}2H Z_cٿķ-e?_u )"*?)~2/>@ ~2];I~2CɫYY)Y YIYY@yZGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U?M]XQ}q,EAY}N>@}N/@y}ND;}Nj}NH`bTٿ:@ ~N];I~NCɫqq)q qIqYı@yZGxDUSBL response received:!U1,R,FA6,000,008A8,187,80,80,AE,FF Fpublishing direction and range info|٠=ɰ5>1> )IyBX.?5;?ٱ=i==i=5pM5L=Y5ɻQU5>99a=D=DAyEd#;}E>IIMK&5?Me MA ]?9M DMD: M :)IW}UG*@WyXy XyWy:W2W*WVbUBU*UUUH#@P*QBZQiHW@ Vu@JQX.?5;?2Q|٠=:QbQVVbl=>@SXN ٿRQBUItz?pBQ 4@ QaAQPD9?PF9?PQQ4@"Qs@BiB BA޾*BA)DԼAAA{="CUG*@*CRCAԪCUG*@C/5 115 55:Y1y155׹IGD>cw}q,!EAɫyy) IY @yYGmTNmea in: $SNTTA,0.073492,,,,010951.88*47 I=)=#~j?bX9ƿ{Gz?%?E6 ף<)IyQ?:v?Q?(?T<u< t A)AI9Ai9A A u u uuߏ>u>ut9IUGi@=; #EY=QU=>AAaEDEDiym}m>Iqu\3&5?u uA ?9u0 Du: u:)qmuAdded new target pos. range: 95.459999 m, bearing: 161.178066 deg, deltaT: 9.643948 s, approachRate: -0.653260 m/s, LOS rate: 0.169573 deg/s, posRepo size: 4m ProNav: pos range: 95.459999 m, bearing: 161.178066 deg, approachRate: -0.653260 m/s, LOS rate: 0.169573 deg/s, cmd update: 0.508719 deg/s, cmd heading: 152.441367 deg, new cmd heading: 152.599779 deg. %=i%=WҌ*@W)X) X)W):W)2W)*W1V1bU1BU1*U9U=pW@U=@9C?BNbB BA,*BA׼AAA="CҌ*@*CT]RCȼCҌ*@CԅבIG>Mg~q,EAY}R>@}Rh/@y}Rgr }Rv`}RHWfFEٿ`ZQE?:fztLNA? u?)~R>@ ~RV^;I~RCɫ髑) IY@yDYGM[=Y%QU>aDDyUU;}?Iȡ :ť!&5? :ť ƥA ?9ƥ> Dǥ: ȥ:)ȥ:W*@WX XW:W2W*WVbUYBUY*UaUaUe@/?B~B BAY*BAڼAAAB="C*@*CDRCӼC*@CU U{U{U U84:YU#R1yU:U\5*שIGd>\ ~q,o0EAY}r>@}r*/@y}rN}rb}rH gAٿ\`A?f$IT??{?)~r>@ ~rG];I~rCɫ髱) IY İ@y {YGIq)uA9=ff/aDDym:}>I9 &5? A ?9P D: ?:)W%*@W!X! X!W!:W)2W)*W)V)bU1BU1*U1U1U=`"?BeuBa BaA*BAݼAAAY="C*@*Cn)RC;YC*@C5}м)I9GUu> >9 I TGi @ ; $E)ݙIݙiݙݝ=ݝ=ݝ5p~q,.=JEAY}N?@}NB*/@y}Nt麙}N%}NHqj2ٿaDʼnDy);}>I :w%5? : A ?9a D: f:):WO5+@W!X! X!W!:W!2W!*W)V)bU)BU)*U1U1U5` %?B]|Ba BaAe*BaAekAaAaAm,$="CuO5+@*Cu]RCuCuO5+@CyI))-?A= =|=|= =4:Y=R1y=i:=5)=;9Me߼9IQGuW>~q,PdEAY}2+?@}2JG/@y}2-}2/5}2H@!p`ٿV_`p?o @]e?b@w?)~2+?@ ~2];I~0ɫII)I IIIY}@y}WG MW=YQU>!!a%D%щD)y-˘;}->I15%5?5< 5A =?95q D5f: 5Q:)1Wel+@WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}U@B WB BAZ*BAPAAA="C5l+@*C5dRC5uC5l+@C9E!IIGZ>~q,f}EAY}JT?@}JXp/@y}Jxv}Jz#}JH`x%ؿbO?? wȎu?5oz?)~JT?@ ~J ];I~JCɫyy)y }IyY@yXGU=iU=]p=i]4=ʡE?Ȗ94iQ@ M@)Iip@a=M1=Y*QU>aDDy;}>I :{%5? :& A ?9 D#: Q:):W="+@W9X9 X9W9:WA2WA*WAVAbUIBUI*UIUIUU @B} uBy ByA}*ByAAAA2="C"+@*CۢRCaC"+@C5_ 115 5f;:Y1y1585)5";5IG5>%~q,b֗EAY}J!v?@}J/@y}Jw}JLA#}JHZ~ؿ p? ? }G ΁?gH?)~J!v?@ ~Jo];I~JCɫqq)y }IyY@yXG鮝p=ɮ%4M%k=Y%!QU-?))a-D-D1y5;}=?I9=%5?= =A M?9= D=: =f:)9Wm\+@WiXq XqWq:Wq2Wq*WyVybUyBUy*UyUUϖ@RB*** querying acoustic contact ***PPB5B BA*BAAAAd ="C\+@*CƢRC C\+@C-=i-=׹IGE>[+~q,mEAY}F?@}F/@y}F ?}F)}FH`jؿ`!?? rF? p~7?)~F?@ ~F];I~Dɫ髙) IY"@yxWGZ****** received transponder code query ******F****** received ping request ******qqauDuDyy};}}>Iȁ :Ņ%5? :Ņ ƅ-A ?9ƅ DDža: ȅX:)ȅ:W/#,@WX XW:W2W*WVbUBU*UUU `& @BUCBQ BQAU\*BQA]eAYAYA]U( ="Ce/#,@*CeƬRCC/#,@CUUzUzU UY1:YUQ1yU:UI59U@ցiIi-Ͽٺ)-KAqIG~>ܵ >9ܵ CIܱ iܱ ܵ =ܱ ܱ ܵ ; ݵ E2~q,EAY}6r?@}6Y/@y}63i}6O7}6H>}ؿ@?@b?};@%=?^t ?)~6r?@ ~6Z];I~6Cɫ99)9 =I9YyyyxDUSBL response received:!U1,P FA6,000,008A8,187,80,80,AE,FF Command AckBRequesting micromodem ping code 2iI)AI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 YQU> aDD)y=^}E>Iae9%5?et eCA ?9e De< e!<)aWx^,@WX XW:W2W*W V bUBU*UU!U% z @B>B BA*BA AAA{ ="Cx^,@*CMRCMr$CMx^,@CQ]1I9GU>8~q,^EA|i|@Y}_?@}z/@y}G3}b}H@?y@zؿ~Č??`zdx8?@c?)~_?@ ~R];I~Cɫ髩) IY@y+WGmiim m0:Yiyimo5AEAA]Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B % % %%ff>%D;%C>i%f@% !)%@I%@i%@5M599aEDEDAyMS}M>IQ ]:Udp%5? ]:U˵ UfA ]?9U DUb: U:)U:WS,@WX XW:W2W*WVbUBU*UUU@BB BAT*BATTAAA  ="CS,@*CRC_i7CS,@C))֥ ;a Ii G >6?~q,:EAY}6s?@}6/@y}6X}6M}6H@}ؿ?`?`~֪?`?)~6s?@ ~6+^;I~4ɫYY)Y ]IYY@yVG)xDUSBL response received:!U1,R,FB3,000,00872,184,80,80,A3,FF Fpublishing direction and range info=ɰ1>鰥> )#CIypBipgB?zc0?ٱM{Gz?Mb`?Q?M#?M; Mu=)IIIyMS?{Gz9YI]RGi]!@]=YY]; ]EW,@WX XW:W2W*WVbUBU*UUUj@P*QpBZQ|OW@*Yݯ@JQipgB?zc0?2Q=:QbQE>VU(!=@2?RQ-ImAi?zG?|?BQ3@ QAQbPE9?PD9?PQQ@"Q4@BÚB BAi*BAAAAe% ="Cm,@*CurRCuF9Cu,@Cqe7B09IIGeU>E~q, EAY}r?@}r./@y}rT}rmo}rH` ؿ" ?@?{?`hm`?)~r?@ ~r^;I~rCɫ11)1 5I9Ym@yuVGTNmea in: $SNTTA,0.072303,,,,010956.28*44 R=iC=MN;MMG=YUEQUU>QQaUD]-DYy]U <}e>IimpL%5?mT mA u?9m Dm: m׾:)imyAdded new target pos. range: 92.220001 m, bearing: 161.018691 deg, deltaT: 4.477202 s, approachRate: -0.723666 m/s, LOS rate: -0.035597 deg/s, posRepo size: 4m ProNav: pos range: 92.220001 m, bearing: 161.018691 deg, approachRate: -0.723666 m/s, LOS rate: -0.035597 deg/s, cmd update: -0.106791 deg/s, cmd heading: 154.718861 deg, new cmd heading: 154.925850 deg. W+,@WX XW:W2W*WVbUBU*UUW@U`o)?B͞B BA.*BABAAA ="C+,@*C [_RC (C +,@C --{-{- -J+:Y-#R1y-:-85U<1I!G=r>L%L~q,V2EA||Y}>u @@}>&0@y}>h}>J}>HǙlJؿ@N6?G?@Rl? ^qK?)~>u @@ ~>.^;I~>CɫYY)Y ]IYY@yVGÝ?ݵÝ94iÝ@Ù ĝ;@)ĝv@Iĝ@iĝ@WMV=YxQU>aD9Dyiw<}>I :,8%5? : A ?9 D: a:):Wx,@WX XW:W2W*WVbUBU*U U U @J3?B5FB9 B9A=*B9A=~A9A9AEl ="CEx,@*CMJRCMCMx,@CQe.)m?im?9IIGeU>Q 9Q IU (RGiU Ъ@Q Q Q U ; U E" S~q,OLEAY}2s@@}260@y}2´}2V}2H ׿?` ?ݮo? J?)~2s@@ ~2^;I~2CɫYa)a aIaYyYmQU>aDFDy<}>Iȱŵ"%5?ŵ ƵA ?9Ƶ Dǵ: ȵ:)ȱW9,@WX XW:W2W*WVbUBU*UUU5?BNB! B!A!*B!A%A!A)A- ="C59,@*C50RC5LC59,@C9==|=|= =:2:Y=R1y=i:=˷5)=6;9MօSYIiGZ>;7Y~q,TfEAY}2@@}2,0@y}25ʼ}2EC;}2H@`T׿`b? ? @fy`T? fh? u?)~2@@ ~2y^;I~0ɫII)I MIIY}Z@y}VGI)I) M!!a%D%SD)y-y<}->I1 =:53%5? =:5ݙ 5A E?95! D5: 5:)5:We_,@WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU}@ ;?BOnB BA *BAfDAAA="Cu_,@*CuRCuȼCu_,@CyօI_YIiG `~q,EA|i|Y}6A@}6h+1@y}6 n༙}60;}6H T׿dߜ?U?@&@i` ?4~??)~6A@ ~63^;I~4ɫ99)9 EIAY]a@yeVG9Ii=; E)ݍCIݍCi݉ݍ=ݍ=ݍ'55{Gz?ˡEX9v?什 <)IyZd;?99a=DEbDAyM;}M>IQU$5?U] U A ]?9U7 DUQ: U:)QW},@WX XW:W2W*WVbUBU*UUU` o@B$UI!)%@A55{5{5 5.:Y5#R1y5:5\5)5Q;B9 B9A]a *BYAe1fAaAaAeJ?="Cm,@*Cm=RCmCm,@CquF˼Iy)yiIqG>cIf~q,B^EAY}: *A@}:|E1@y}:9}:<}:H9m:׿:?tl~q,=EAY}27A@}2:S1@y}2/?}2Xj<}2H` -+׿Ѡ?/?xe? f?G? ?)~27A@ ~2^;I~2Cɫyy) IYa@yVG鮩ɮ=i=a=iR=55+5=i11 5p@)5@I5p@i5p@MޑMUI=YU]QU]>YaaeDezDaym;}m>I :$5? :b SA ?9[ D: :):W-|,@WIXI XIWI:WQ2WQ*WQVQbUQBUY*UYUYU]@@RmB*** querying acoustic contact ***PPBΎB B A a *B A A A A uN="C|,@*C2RCɕC|,@CMMMM M/:YMT1yM:M59U@=FΞIGn>>9Ii=; "ED[s~q,EA||Y}6?_A@}6z1@y}6HV}6*{<}6H`׿? ?@H n?I?l?s?)~6?_A@ ~6^;I~4ɫYY)Y ]IYY@y0VGZ****** received transponder code query ******F****** received ping request ******!!a%D%D)y-<;}5>I9=$5?=` =wA M?9=l D= ; =:)9Wup,@WqXy XyWy:Wy2Wy*WVbUBU*UUU2 @B&B BA *BAYu AAA="Cp,@*CnRCS~Cp,@CIiM=}?i?׹IGf>چy~q,IEAY}6A@}6 1@y}69 }6]J<}6H@y@ֿ@l? #?`\M??@H??)~6A@ ~6];I~4ɫ99)9 EIAYuܭ@y}UGxDUSBL response received:!U1,P FB3,000,00872,184,80,80,A3,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 MB=YQU> aDDayu;}}>Iȑ :ŕח$5? :ŕx ƕA ?9ƕ DǕf< ȕ}g<)ȕ:MMzMzM M:2:YMQ1yM:M5Wea,@WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqUu @BwB BA*BAR AAAN~="Ca,@*C%iRC%3DC%a,@C!oMIG > > iM nGIa iq wӿٺ A[m~q,EAY}6A@}6Y1@y}6F}6w;}6Hֿ^.?֛?@p?0 ~??)~6A@ ~6^;I~6CɫYY)Y YIYY}"@y}>VGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)I)ّٕgAܝ>9ܙIܙiܙܝ=ܙܙܝ; ݝ-E 333333?Mb?L7A`? 9? < +=) I y V-?Mb`L7A`? h1?  += A) 9AI  Ai A   AÍw>ÍÍv>iÍ=@É č@)č@Ič@ič@<M;=Y8QU>aDDy)<}>IȹŽe$5?Žs ƽA ?9ƽ Dǽ: Ƚ:)ȹWV,@WX XW:W2W*WVbUBU*UUU3@B5B9 B9A=X *B9A=9VA9A9AE="CMV,@*CM1JRCM CMV,@CQ}NJNQIaG}z> ~q,TEA|i|@Y}6jA@}62@y}6~}6p;}6H@ֿ`'? 5?7@t ? |?K?)~6jA@ ~6=];I~6Cɫ99)A EIAY}O@y}uVGxDUSBL response received:!U1,R,FD6,000,00846,184,80,80,CA,FF Fpublishing direction and range infoQ =ɰ->鰉 )JCIy(B-?(א¢?ٱes<Mm`=YuQUu>yya}D}DyyOU;}>Iȑ :ŕgo$5? :ŕn ƕA ?9ƕ DǕz: ȕY:)ȕ:WuJ,@WqXy XyWy:Wy2Wy*WVbUBU*UUU @P*Q(BZQy@B EaV@t'B @JQ-?(א¢?2QQ =:QbQ;C8U]X*s<@;q.[@RQSk!lS?Swa?BQ]4@ QAQǩPD9?PE9?PQQA"Q@B=<˕B9 B9A= *B9AEAAAaAex="CmJ,@*Cm#RCmCuJ,@CqIA)A]]y]y] ]2/:Y]P1y]':]75}Iׁ)ׁQIYGyy~q,c5EAY}VUA@}V2@y}VW}VXs;}VH` ֿ`r?Չ?``j{? jx??)~VUA@ ~V^;I~VCɫ髡) IY.@yLVGeTNmea in: $SNTTA,,0.032207,,,011000.75*46 ;?ſGa>iQ@ X@)I@i@$MB=YZQU>aDDy$} >I!%tX$5?%h %*A E?9% D%i_; %A;)!muuAdded new target pos. range: 89.580002 m, bearing: 161.471956 deg, deltaT: 4.446291 s, approachRate: -0.593753 m/s, LOS rate: 0.101942 deg/s, posRepo size: 4m ProNav: pos range: 89.580002 m, bearing: 161.471956 deg, approachRate: -0.593753 m/s, LOS rate: 0.101942 deg/s, cmd update: 0.305827 deg/s, cmd heading: 154.244435 deg, new cmd heading: 154.201577 deg. Wn,@WX XW:W2W*WVbUBU*UUeV@U-?B]Bi BiAm *BiAmAqAqAu ="C}n,@*C}RC}KC}n,@C]r绹I!GEs>ܕ>9ܑIܑiܑܕ=ܑܑܕ; ݕ!EҪ~q,aOEAY}6JA@}62@y}6'}6Oi;}6Hbdֿ 4?`?@bâ?$m?q?)~6JA@ ~6];I~4ɫ99)9 =I9Y}i@y}VG=i=%=i%C=E<MMV=YM;QUU>QQa]D]NJDaym}m>Iq :uC$5? :u{c uXA ?9u DuKf; uh;)u:W,@WX XW:W2W*WVbUBU*UUU?B˘B BA% *BA>AAAK="C,@*CXܠRCR.C ,@C MMxMxM M3:YM7P1yM:MJ5)MP;9UIGn>ә~q,6iEA||Y}BA@}B2@y}Bh}Bq68}BH)~ֿ?/z?g +?A?`A?)~BA@ ~B#^;I~@ɫYY)Y ]IYY5@yUVG}|MG=YQU>aDԊDy;}>IȩŭF-$5?ŭ] ƭA ?9ƭ Dǭ]: ȭj:)ȩW,@W!X! X)W1:W92WA*WIVIbUQBUY*UaUiUuk~q,fEAY}2A#B@}2>2@y}2}2Jr}2Ha@Wֿ,?R? \? Jc?)~2A#B@ ~2^;I~0ɫYY)Y ]IYY@yVGA9AIAiAAAAE; EEK7?~jt?{Gzt?IL?= ף;)Iyq= ףp?Zd;Okt?+?j< 0= • A)•XAI•t Ai•QA3A'=TaDDyD;}>Iȡ :ť-$5? :ťV ƥA ?9ƥ Dǥ: ȥ:)ȥ:W1,@WX XW:W2W*WVbUBU*UUU{?BA4B BAt *BA^sA!A!A%[="C-1,@*C-jRC-5C-1,@C1UU|U|U U2:YUR1yUi:U5)U;U*:)I9GU>~q,EAY}2kB@}22@y}2h}2}2Hֿ`?? `֣?$v@?)~2kB@ ~2)^;I~2Cɫ99)9 9IAY@yVGI)I)U<M]j=Y])8QU]?aaaeDeDaymY<}m?Iqu$5?unQ uA ?9u Du4; uET;)qW,@WX XW:W2W*WaVabUaBUi*UiUiUu@B˼B BA*BAAAAD="C,@*C&qRCy C,@CֹיIGb>3~q,ζEA|i|@Y}6EB@}62@y}6o#}6}6H `տ/X?J?s풿y?BtV?)~6EB@ ~6^;I~6Cɫ99)9 =I9Y]H@y]kVGff><i@ @)@I@i@ MB=Y@QU>aDDy;}>I  >#5? J 7A ?9 D ; {;) W<-@WX XW:W2W*WVbUBU*UUU6_@Bg陽B BA0 *BAVAAAs="C%<-@*CEJRCECCE<-@CIUQQU UR.:YQyQUo59U@uzIy)y1IAG]v>5>91I1i15=115; 5 E)ɇIɇiɇ͇=͇=͇5~q,EAY}:ϩB@}:>2@y}:*}:@r}:H@g տ U?@? g V?p?)~:ϩB@ ~::^;I~:Cɫ99)9 9I9Y]p@y]VGea=ɮea=^<M_=YsQU>aDDy\:}>I :s#5? :fE lA ?9D: :):W~?-@WX XW:W2W*WVbUBU*UUUv\@RB*** querying acoustic contact ***PPB%-ӝB! B)A- *B)AU%AQAQAU="C]~?-@*Ce^(RCeHCe~?-@CיIGd>!~q,~EAY}2B@}2S2@y}2/}2R.}2Hտo?@6?`IF`?EE?)~2B@ ~2D$^;I~2CɫYY)Y ]IYY}@y}VGZ****** received transponder code query ******F****** received ping request ******!a-D-DAyEm}M>I#5?> A -?90Dl< q<)Wf-@WX XW:W2W*WVbUBU*UUU @BurBq BqAu*BqA}pAyAyA}MX="Cf-@*C=RCOCf-@C] ]{]{] ]5:Y]#R1y]:]5օܪ&YIG>z ~q,}YEA||ɫyy)y }IyY@yKWGxDUSBL response received:!U1,P FD6,000,00846,184,80,80,CA,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 hA>9IRGis@=; EIeC=)e4= h=)Iy/$?/$?:v?&1?<T<  A)SAI AiMA\AtO=iQ@ @)p@Ip@ip@-<M5=Y=QU=>AAaMDM'Dqy}>Iȱ :ŵΥ#5? :ŵ7 ƵA ?9ƵIDǵv: ȵ#:)ȵ:W-@WX XW:W 2W *W V bU1BU1*U1U1U5B@B(lB BA*BAG AAAY="C-@*C ՟RCqC-@C == NJN ?i ?׹ I G >3~q,r4EAY}6xB@}6l2@y}6m5}6&.7}6H@*ֿ Ҥ?>?Y |O?f`?)~6xB@ ~6^;I~4ɫ99)9 =I9Y}@y}/WGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )M=Y%ʻQU+?aD/DyU}/?I#5?4 A ?9TDt.; .;)WE-@WIXI XIWI:WY2WY*WYVabUaBUa*UiUiUu @BM<창BI BIAM6*BIAU!AQAQAU-="C]-@*C]RC]QC]-@Ca] ]v]v] ]v4:Y]N1y]:]ܾ5}+wqIG~>]~q,8EAY}6B@}62@y}6y6}6}6HP Oտ? ?  Kͦ?H[?)~6B@ ~6Z^;I~6Cɫyy)y }IyYܮ@y"WGxDUSBL response received:!U1,R,FDA,000,00813,185,80,80,AA,FF Fpublishing direction and range info=ɰT)>+> )*CIy BS?B3?ٱI)AM =MnMxiiM=@I MQ@)M@IMQ@iM;@]dM]R=YeQUe>aaaeDmI %:y#5? %:/ A %?9fD: :):WM-@WIXI XIWq:Wy2Wi3oGIi*WVbU ̿ٺABU*U!U!U%@-@PQ*QU BZQU1h9ITSGiī@=; EIG>uH~q,QEAY}n'B@}n2@y}nq8}n}nH`,տ? ?@q@Θ7 ?w`R?)~n'B@ ~nC^;I~lɫ) IY5@y=kWGTNmea in: $SNTTA,0.068513,,,,011005.17*4A )-= ->\<M7=YQU>aDJDy]<}>Ii#5?* ?A ?9yD: :)muuAdded new target pos. range: 86.520004 m, bearing: 161.922052 deg, deltaT: 4.463378 s, approachRate: -0.685579 m/s, LOS rate: 0.100842 deg/s, posRepo size: 4m ProNav: pos range: 86.520004 m, bearing: 161.922052 deg, approachRate: -0.685579 m/s, LOS rate: 0.100842 deg/s, cmd update: 0.302526 deg/s, cmd heading: 155.601586 deg, new cmd heading: 155.736764 deg. W@-@WX XW:W2W*WVbUBU*UUGU@M M|M|M MV5:YMR1yMi:M5)M;9UU@?B,/B BA*BA%AAAW ="C@-@*CsyRCvC@-@C!-oM I G= >o~q,kEAY}:B@}:2@y}:9}:?}:H@ǧտA?`?mL7?@ӂ`:?)~:B@ ~:X^;I~:CɫAA)I MIIY@yXWGMh>M˾M>iMד@I I)MQ@IM;@iIeqMeP=Ye[QUe>iiamDuVDqyu_:}}>Iy}T#5?}% }bA ?9}D}H: }:)yW .@WX XW:W2W*WVbUBU*UUUA?BB BA,*BA 'AAAp="C .@*C^RCʈC .@CEvI!G=r>W~q,'EAY}2B@}2k2@y}29}26}2H `~տ ?S?@v@3aDdDyʹ}>I =:`<#5? =: A =?9D~< :) :WV;.@WX XW:W2W*WVbUBU*UUU`Η?B]B! B!A%*B!A-(A)A)A-="C5V;.@*C5<RC5y]C5V;.@C9Ut UzUzU U=:YUQ1yU:U\5)U;u QIiG>~q,=|EAY}67B@}62@y}6:}6[w}6H``ܿտE??FN? i$?)~67B@ ~6^;I~4ɫAI)I MIIYu@y}WG%=Mf=Y.̹QU>!!a%D%oD)y-}->I150(#5?5 5A E?95D5Y: 5:)1WeOX.@WaXi XiWi:Wi2Wi*WqVqbUqBUq*UyUyU}@/?BE BA BAAEx*BAAMXW*AIAIAMD="CuOX.@*Cu)"RCuCuOX.@CyE=iAօ7ƙYIiGZ>~q,WEAY}6B@}6F2@y}6B;}6}6H`~տm?`"?{t&L|?`‘?)~6B@ ~6f^;I~6Cɫ99)9 =I9Yׯ@yWXGuV>upuiu@q u@)u@Iup@iup@<MC=Y;[QU>aD|Dy&9}>I :#5? : A ?9D8<; <;) :Wk~.@WX XW:W2W*WVbUBU*UUU @Bm&ݙBi BiAmb*BqAu,AqAqAu="C}k~.@*C}~RC}Ck~.@C]]|]|] ]2:Y]R1y]i:]%59e@֝?q܅>9܁I܅TGi܅f@܅=܁܁܅~; ݅EIG>W~q,&5EAY}:B@}:T3@y}: L<}:K}:H}տ@??@u]ߛ`b?@n?)~:B@ ~:];I~8ɫ99)9 =I9Y}@y}sXGI)AI!)!E;MEP=YMaQUM>QQa]D]Dayey;}e>Iȑŕ<"5?ŕ ƕPA ?9ƕDǕ: ȕ:)ȑW.@WX XW:W2W*WVbUBU*UUU @BB BA*BA̡-AAAL="C.@*Cw瞽RCHC.@C ׹IGf>~q,,EAY}2h C@}2$3@y}2{<}2[N}2H@տ?%x?"@U?<։?)~2h C@ ~2];I~2CɫAA)I MIIY@yjXG鮱ɮR=MN=YpQU>aDDy;}>I :"5? := A ?9D=; @>;) :W.@WX XW:W!2W!*W)V)bU)BU1*U1U1U5T@RMB*** querying acoustic contact ***PIPIB}НB BAu*BApE/AAA}="C.@*CʞRCC.@CIIuu}u}u u -:YukS1yuԊ:u85AI!G=r>եq,KEAY}2w(C@}2C3@y}2 =}2A}2HA!hտ@>?Z?r'/-?@-?)~2w(C@ ~25];I~2C%>9!I%TGi%@%=!!%m; %E)Ii5ɫ9A)A EIAY~@y$YGZ****** received transponder code query ******F****** received ping request ****** u#<)qIqyu1Zd?I +{Gz?u";?qq ut A)unAIqiuAqqU7=U\ULiU@Q UQ@)U@IU;@iUQ@]5=Me*=YeCQUe>iiamDmDqyu;}u>Iy}C"5?} }A ?9}D}: }]:)yW.@WX XW:W2W*WVbUBU*UUUj @BmǗBi BiAm*BiAu1AqAqAu="C}.@*C}YRC}wC}.@C֕qIG>q,T EAY}RPC@}RBl3@y}Ru?}R{T}RH 'Cտj]? 4? -e}?@݇@]?)~RPC@ ~RQ];I~RCɫyy)y }IyYY@yXGxDUSBL response received:!U1,P FDA,000,00813,185,80,80,AA,FF Command AckBRequesting micromodem ping code 2i=ip=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 3LM%a=Y5RԺQU5>19a=D=DAyUC;}U>Ii :m "5? :mw m A ?9mDm< m<)m :W9 /@WX XW:W2W*WVbUBU*UUUN: @UUzUzU U,:YUQ1yU:U5BsB BAH*BAΣ2AAAP="C9 /@*C(RCC9 /@CֹבIG> q,4:EA||Y}F|C@}F3@y}F>}F9S}FHP2cտW??p8@Kӧ?_ r?)~F|C@ ~F!^;I~FCɫYY)Y ]IYY@y@YGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I%=)%%=ms>mߏm=im@i m@)mĘ@Im@imĘ@}<M}U=Y1:QU>aDDy'<}>Ișŝ="5?ŝ, ƝEA ?9ƝDǝ : ȝ8:)șWe,/@WaXa XiWi:Wi2Wi*WqVqbUqBUq*UqUyU}`b @B{B BA*BA^4AAA="C,/@*CcrRCjC,/@C == I!9!I%HUGi%Z@%=!!%s; %EG=r> q,{TEAY}FC@}Fb3@y}Fm?}FL0}FH>qԿ2/? ?E`Lx? ?)~FC@ ~F^;I~DɫYY)Y eIaYӰ@yYGxDUSBL response received:!U1,R,00E,000,007E1,183,80,80,A7,FF Fpublishing direction and range info+Hɰ;%>$> )'CIy Bd$}c?I:ٱ5L<M=O=Y=QU=>AAaEDEʋDIyMC<}M>Iqu,"5?u uA ?9u2Du: u:)qWN/@WX  X W :W12W9*W9V9bUABUA*UIUIUm@@P*Q BZQV`T@fEiSJQd$}c?I:2Q+H:QbQ#S&C;@.H@RQK* p_~l?ˑ?BQ13@ QAQ5PE9?PPQQA"QABEB<Bi BiAu*BqAu5AyAyA}$="CN/@*C RRCCN/@C]]|]|] ]*,:Y]R1y]i:]5)];9e֝q歼qIG~>q,hnEAY}} D@}}&4@y}} @}}6p}}H#FÌԿG ?[?)N``? m ?)~} D@ ~}^;I~}Cɫ髉) IY@yYGETNmea in: $SNTTA,0.086583,,,,011009.62*4D IQ)Q}`=}}Ti}@y }ף@)}@I};@i}Q@;M=Y՘QU>aDڋDy׮;}>I :@g"5? : A ?9JD: Y:) :myAdded new target pos. range: 83.519997 m, bearing: 160.420503 deg, deltaT: 4.417441 s, approachRate: -0.679128 m/s, LOS rate: -0.339914 deg/s, posRepo size: 4m- ProNav: pos range: 83.519997 m, bearing: 160.420503 deg, approachRate: -0.679128 m/s, LOS rate: -0.339914 deg/s, cmd update: -1.019741 deg/s, cmd heading: 156.943446 deg, new cmd heading: 157.096234 deg. W5t.@W1X1 X1W1:W92W9*W9V9bU9BUA*UAUEGT@UE?BmBq BqAu}*BqA}m7AyAyA}؆="Ct.@RCƒCt.@C99iSoG֭5%Ii ѿٺ Aׁ I G >2!q,#KEAY}6D@}664@y}6@}6}6HH E|Կ?u?Q@?@R?)~6D@ ~6];I~6C^>9\I^UGi^@^=\\^~; ^EɫII)Q UIQY?@yZG~jt?H(q, EAY}2C@}24@y}2ZB}2ݖ;}2H|CԿ`T?J?L+^0[?@,w? ?)~2C@ ~2h ^;I~2Cɫyy)y }IyYz@yZZG=<M=[=YE.QUE>AIaMDMDIyU$}U>IY e:]C"5? e:] ]A e?9]gD]: ]:)]:W>-@W X  X W :W 2W)*W)V)bU1BU1*U1U1U=;?Be<ǠBa BaAe;*BiAma:AiAiAm@="Cu>-@RCu:C}>-@CyօzYIqG`>-H.q,EAY}2C@}23@y}2!E}2);}2H l<ӻԿS?_?@ F/@á?]:y?[?)~2C@ ~2];I~0ɫii)i mIiYY@y1ZG=i=R=i=U/iiamDmDqy}л}}>IȁŅ/"5?Ņ ƅ"A ?9ƅyDDž@: ȅӻ:)ȁWz-@WX XW:W2W*WVbUBU*UUUEv?BcB BAP*BA;AAA="Cz-@*C RC b;C z-@C9U UvUvU Uk5:YUN1yU:U]59]@IGF>>9IsVGiN@=; 15q,EAY}>C@}>`3@y}>E}>$;}>H#=Կͧ??yF Z/?6|d?`k?)~>C@ ~>1];I~<ɫYY)Y ]IYYJ@yZGaMG=Y߹QU>aD Dy<:}>Iȩ :ŭ!"5? :ŭ9 ƭAA ?9ƭDǭ: ȭD:)ȭ:W -@WX XW:W2W*WVbUBU*UUU@B.퟽B B!A%=*B!A%<A!A!A%="C -@RC+<C -@CE=iEp=ֽ9בIGa>];q,EAY}5C@}54@y}5C}5BN|}5HCaԿ@? ?.L`|}?@o?)~5C@ ~5];I~5Cɫ) IYM@yMZG].>]+=]`>i]@Y ]Ę@)]@I]@i]@]=M1=YJ|:QU>aDDy-;}->M MzMzM M3:YMQ1yM:M85I15<"5?5 5fA e?95D5Z; 5;)1Wr,@WX XW:W2W*WVbUBU*UUUw@RB*** querying acoustic contact ***PPB% B) B)A-޾*B)A->A)A1A5p="C]r,@RC]{<C]r,@CYM0nBBq,z EA02gA494I6VGi6@6=446; 6EY}BMD@}Bh4@y}Bx>B}B '}BH@sPRԿ\?E?`WsKzE?ۄ`]?)~BMD@ ~BI];I~@ɫyy)y }IyYz@yZZGZ****** received transponder code query ******F****** received ping request ******:QU>aD&Dy[<}>Iȹ :Ž!5? :Ž[ ƽA ?9ƽDǽ; Ƚ;)Ƚ:W> ,@WX XW:W2W*WVbUBU*UUU@~@B=D"BA BAAE;*BA?AAAD="C> ,@RCȏ<C> ,@C'>lHq,S#EA|i|Y}66D@}64@y}6I@}6x`l}6H@^pԿl?@?d`?v?)~66D@ ~64];I~6Cɫ99)9 9I9Y,@y5[GxDUSBL response received:!U1,P 00E,000,007E1,183,80,80,A7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =\x=MEd=YU:QU]>iiauD}1Dyq<}>IȹŽ!5?Ž ƽA ?9ƽDǽ; ȽB;)ȹW +@WX XW:W2W*WVbUBU*UU!U- \H @II)Iee}e}e e,:YekS1yeԊ:e5B<B BA%ؾ*B)A5AA1A9Ae9="C +@*CBRCN!=C +@C- R5JNq,.=EAY}6qD@}64@y}6B}6넕}6HkgӿH.?g? l _@? q?)~6qD@ ~69];I~6CɫYY)Y ]IYY@y[GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B @ @ @©i@ )Ii@ MA=YQU>aD?Dy <}>I!5? =A ?9Dʽ: ׾:)W)+@WX! X!W!:W!2W!*W!V)bU)BU)*U1U1U5 @B]BY BYAeپ*BaAeݱBAaAaAe="Cm)+@RCu/UA=Cu)+@CqM}< IG-->e>9aIe )>CIyB3?4ٱ=i=iFR=M X=Y QU >aDKDy}>I! -:%!5? -:%w %A 5?9%D%: %:)%:WU*@WQXQ XYWY:WY2WY*WYVabUaBUa*UaUaUm v@Py*Q}BZQ}UCT@]JQ}3?42Q}d:QybQ}qm)Sߡ{:@ms(@RQ}BO#?EH?BQ}4@ Q}AQ}OP}D9?P}E9?P}Q}Q}A"Q}ABM뒝BQ BYA]о*BYA]{CAaAaAeX="Cm*@*CmfzRCmU=Cm*@CqUU~U~U U1:YUT1yU@:UJ5)U̎;9]} =9IAG]U>[q,pEAY}̛D@}<4@y}D}3}H\`Կ 7]?g? aؠ.?`t@ ?)~̛D@ ~R];I~Cɫ) IYM>@yML[GDNmea in: $SNTTA,,,,,011013.66*5C    @ @ @if@ @)I@iݼM#=YQU>aD[D y m}>IF!5?j A %?9D: :)==i==m]uAdded new target pos. range: 81.059998 m, bearing: 161.218091 deg, deltaT: 4.006495 s, approachRate: -0.614003 m/s, LOS rate: 0.199074 deg/s, posRepo size: 4mm ProNav: pos range: 81.059998 m, bearing: 161.218091 deg, approachRate: -0.614003 m/s, LOS rate: 0.199074 deg/s, cmd update: 0.597222 deg/s, cmd heading: 152.845930 deg, new cmd heading: 152.334557 deg. Wm+@WiXi XiWi:Wq2Wq*WqVqbUyBUy*UyU}CT@U?BB BA־*BAޱEAAAa ="C+@*Ch.RCd/=C+@CֵXR=qIyG~>bq,@EA2<2<494I6XGi6@4446; 6 EY}B"=D@}BX4@y}B F}BF}BHMjԿУ? U?QQ ? 4ٖb?)~B"=D@ ~BL];I~@ɫYY)Y ]IaY@y[G rh?Q?C+? \=)Iy&1?(@?ԜM?)~2JC@ ~2];I~2CɫII)I IIIY}ݲ@y\GI)AI)A(<MW=Y]:QU>!!a%D%qD)y-@}->I15`p!5?5ժ 5A E?95D5{: 5:)1We*+@WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}@|`?B6B BA;*BAHAAA!="C5*+@*C5ɜRC5<C5*+@C9-͢!=IG*>nq,vEAY}6C@}63@y}6m'C}6}6H:/$տ??q.?Vb?Qs?)~6C@ ~6W];I~6Ci  nGI)iAɫYY)Y ]IaѿٺqAYA@y\G   ÍvÍ Í= >i͝@Í č@)č@IčĘ@ičĘ@g<MB=YFn:QU>aDDybE}>Iȹ :ŽsY!5? :Ž ƽ.A ?9ƽ&Dǽ: Ƚo:)Ƚ:W+@WX XW:W2W*WVbUBU*UUU[?BMיB BAƾ*BAnIAAA|!="C+@*CǐRC["<C+@CIEAA)EAA] ]~]~] ]5:Y]T1y]@:][59e@Z==e>9aIehXGie@aaae; aIGn>Quq,UEAY}B}8C@}BS3@y}BV.C}B]Y+}BH@b#kտ@?gK? jNmc?`Yc?)~B}8C@ ~B^];I~BCɫYY)Y ]IYY@y]GU =MUO=Y]QU]>YYaeDeDaym5}m>IquC!5?u uGA }?9u8Du: u:)qW,@WX XW:W2W*WVbUBU*UUUs8@BגB BAҿ*BAJAAAK!="C,@*CdRC{q,-EAY}2 C@}2%3@y}2 B}2B}2H@`xտ?v?@ '@HU?F7?)~2 C@ ~2];I~2Cɫ99)9 =I9Y}ʳ@y3]G=i =i %=/ݼµSi@ @)@I@i@;M1=YEu9QU%>99aEDEDIyMTŻ}M>IY m:]*!5? m:] ]fA u?9]LD]&; ]&;)]:We,@WX XW:W2W*WVbUBU*UUU`F@RB*** querying acoustic contact ***PPB▽B BA3*BA%LA)A)A-m?"="C5e,@*C=/RC=;C=e,@CY} zz 4R:YQ1y:5}<IG>Y ] hAe >9a Ie XGie 6@a a a e ; e Eq,H EA|4<|4?EO= ED=)AIAyE?Mb`?X9v?Ef&?E;E}= E A)EnAIE AiEAAE Ae:MeT=YeO9QUe>iiamDmDqyu}}>Iy}(!5?}v }A ?9}\D}3: }:)yW,@WX XW:W2W*WVbUBU*UUU@BVӝB BA*BAP)MAAA"="C,@*C2 RCpJ;C,@C)i)M$<I)GEQ>fq,%EAY}6C@}63@y}6 A}65E}6H@տ@ Ҝ?`Q~?@&L`,?vm?)~6C@ ~6];I~6Cɫ99)9 =I9Y@ye]GxDUSBL response received:!U1,P 010,000,007B8,183,80,80,BE,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =/L<MEa=YUN:QU]>iqa}D}Dyn9;}>I!5? A ?9lD0< k<) yy g:YP1y':5W,@WX XW:W2W*WVbUBU9*UAUAUM @BhB! B!A-*B)A5@NA1AqA} #="C,@*CJ՛RC9C,@Cօ 0;a Ii G >2q,?EAY}26C@}2^R3@y}2=}2@:}2H#mտ?@9M?!`ݭ+?@J@?)~26C@ ~2];I~2Cɫ99)9 =I9Y@yj]G鮥p=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)I)mj=mtm+>im@i m@)m@Im@im@}:M}F=Yx;QU>aDDy<}>Iș :ŝF 5? :ŝ9 Ɲ@A ?9Ɲ|Dǝ: ȝb:)ȝ:Wa*-@WX XW:W2W*WVbUBU*UUU/ @BB BAl*BAOAAA^#="Ca*-@*C RC]UE:Ca*-@C}U;IGE> >9 I YGi ذ@ =   ; hq,5YEA|i|@ɫ髙) IY6@y]GxDUSBL response received:!U1,R,FFC,000,00786,182,80,80,B4,FF Fpublishing direction and range infod;ɰ>> )4CIyB 29?QC1ml?ٱ5X<M=O=Y=QU=>AAaEDĚDAyM}M>IQU 5?U UA ]?9UDUH: U:)QWm-@WX XW:W2W*WVbUBU*UUU ,@P*QBZQxRUσS@=@Qp?JQ 29?QC1ml?2Qd;:QbQ1r>"gR׸Hl9@AE @RQ8X%-#/]?űR?BQ3@ QAQ9PE9?PD9?PQQA"QABp0B BA}*BAPAAA%#="Cm-@*CRCV:Cm-@C"9I 1:Yyo5)̎;9GG>Gq,sEAɫQY)Y eIaYδ@yr^GMDNmea in: $SNTTA,,,,,011017.70*5F E?sh|?~jt?E@?E ED<)AIAyEQ?S㥛E\/?E/ݼE E$A)EAIEAiEAAEQ Aõ;>õ/ݼõ^iõ@ñ ĵۙ@)ĵĘ@IĵĘ@iĵĘ@=M'=YQU>aD܌Dy}>I : 5? : A ?9D: :):m%yAdded new target pos. range: 78.060005 m, bearing: 160.737178 deg, deltaT: 4.044978 s, approachRate: -0.741659 m/s, LOS rate: -0.118892 deg/s, posRepo size: 4m5 ProNav: pos range: 78.060005 m, bearing: 160.737178 deg, approachRate: -0.741659 m/s, LOS rate: -0.118892 deg/s, cmd update: -0.356675 deg/s, cmd heading: 155.261657 deg, new cmd heading: 155.553640 deg. W5;-@W1X1 X1W1:W92W*WVbUBU*U!U% ׃S@U% ?BMyܓBI BQAU*BQAu"RAqAyA}/$="C;-@*C`RCB:C;-@Cօ*:a Ii G > = < >9 I \ZGi {@ ; E)ݑIݑiݑݑݑݕp(5;q,EAY}NRC@}N3@y}N2}N}NH; Կ@w?j?[;Kw@p@?) 5?)~NRC@ ~N];I~NCɫ髙) IY@y^G=a=i==uH<Muv=Y} Vq,*EA|;|Y}BkC@}B3@y}B$1}Bʼ}BHr9Կ@N۠?? ;4 3?M@?)~BkC@ ~B];I~BCɫYY)Y ]IYY@y^Gu MuL=Y}{9QU}>yaDDy}>Iȑ :ŕg 5? :ŕVu ƕA ?9ƕDǕ{: ȕ:)ȕ:W[,@WX XW:W2W*WVbUBU*UUUD~?BB BAܲ*BA TA A A O$="C[,@*CRC@*<C[,@C -=-= < I!G=/>=q,qEAY}6C@}63@y}6 2}6”}6HG5Sտ?? 8=@? ?)~6C@ ~6]];I~4ɫYY)Y ]IaYA@y]G M@ M@ M@M©MMiM@M M)IIMۙ@iM@e✼MeL=YeQUe>iiamDmDqys}>I 5?}o A ?9D: :)W%,@W!X! X!W!:W!2W)*W)V)bU1BU1*U1U1U5&?BeҜBa BaAe˶*BaAmaHUAiAiAmi%="Cu,@*Cup㚽RCu58<C},@Cy֥h%9IZGi̱@=q; EEEEE En1:YET1yE:En5)E;yIG^>hq,EAY}2xC@}23@y}2K2}2:}2Hq/`!տ?`? 2 h]`G?<8z?)~2xC@ ~2];I~2Cɫ99)9 9I9Y@y^GIA)AIA)AUAa=M]K=Y]QU]>aaaeDe Daym}m>Iqu3n 5?uj u A ?9uDu#: uQ:)qWY,@WX XW:W2W*WVbUBU*UUU -@B웽B BAt*BAXVAAA%="CY,@*C?RCrW;<CY,@C9<IGI>q,˻EAY}J[C@}Jw3@y}J0}JR}JH*`=տ%?a+?-硿?j`d?)~J[C@ ~J];I~Hɫ髁) IYu@y}^GZd;?V-?Q?>h= u<)IyK?V-?y&1?^:?<`<  A) AIAiA A)å= å=    @ @ @i@ )I@ip@G;M2=Y9<:QU>  a D Dy|}>I %:_S 5? -:d BA 5?9DH; SM;):Wo,@WX XW:W2W*WVbUBU*UUU@ @BӗB BAu>}RCinG*BI!i9E E|E|E Eb?:YER1yEi:E59E@AWAIAIAUN&=m˿ٺimA"Cuo,@*Cu{RC}M<Co,@C։i Iq G >  >9 I i e; ED{q,=EAY}6EC@}6ia3@y}6:90}6}6H>'Qտ?`??`*i?  ?)~6EC@ ~6];I~6CɫYY)Y ]IYYi@y2_G@Ai=Mx=YU :QU?aD&Dy^}?I @ 5?` jA ?9 D: :)WN,@W X  X W :W 2W *WVbUBU*UUU{@R%B*** querying acoustic contact ***P!P!B8B BAG*BA`XAAA&="CN,@*CYRCW<CN,@C%LM<I G%M>äq,r(EAY}6E>C@}6Y3@y}6x0}6}6H%Zտݠ?G?`\(t`S ?@ :?)~6E>C@ ~6];I~6Cɫ99)9 =I9Y}@y}^GZ****** received transponder code query ******F****** received ping request ******aD3Dy } >I :' 5? :[ A %?9D'; &;):WM$,@WIXI XIWQ:WQ2WQ*WYVYbUYBUY*UYUaUe@l @B_B BA#*BiAuYAqAqAu'="C$,@*CD(RCv<C$,@CjZXq,jMBEAY}2HC@}2c3@y}2/}2&Ƽ}2H 'Pտv?@z=?`)"?ʘ@ ?)~2HC@ ~2^;I~2Cɫ99)9 =I9Y@y_GxDUSBL response received:!U1,P FFC,000,00786,182,80,80,B4,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Ia=)=jA   94<<Hi@ ۙ@)I@i@o=M-=Yj9QUM>QYa]D]CDy:}>I" 5?U A ?94D: a:)WZ+@WX XW:W2W*WV!bUaBUa*UaUiUm @܉9܉I܍$[Gi܍@܍=܉܉܍J; ݍEBB BA*BAZAAAۙ'="CZ+@*CS홽RC<CZ+@Cu<IG>q,(\EAY}2QC@}2sl3@y}2·/}2o}2H) Jտ@?x5?`"*>?s@d?)~2QC@ ~2Y^;I~2Cɫ99)9 =I9Y}@y}^G鮅a=ɮR=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ݟMd=Y{8QU>aDNDy:}?Iȱ :ŵp5? :ŵQ ƵA ?9ƵCDǵ: ȵ:)ȵ:Ws+@WX XW:W2W*WVbUBU*UUU$4@B%kڢB! B)A-^*B)A-0[A)A1A5<'="C5s+@*C=řRC=8i<C=s+@C9E̓<9IQGuX>{{ 1:Y#R1y:J5q,vEAY}nC@}g3@y}3}l}H-1տ? ?-`^I@`?ՠ ?)~nC@ ~z^;I~Cɫ髑) IY^@y$_GxDUSBL response received:!U1,R,004,000,00754,183,80,80,AD,FF Fpublishing direction and range infodɰ>$> )-CIyB 29?QC1mlٱdNmea in: $SNTTA,0.062191,0.293547,,,011022.14*58 I)AI)AJ +?i|?5Zd;O?(?q j<)Iy?I + rh?f&?9C = µ; A)µ9AIµ AiµSA( A5V>5 5`e>i5@1 5X@)5@I1i1E<ME&=YMOںQUM>IQaUDU]DQy]s;}]>IȁŅ.5?Ņ(K ƅ>A ?9ƅXDDž3: ȅ;:)ȁWs+@WX XW:W2W*WVbUBU*UUU|4@P*QBZQfTR@s}eпJQ 29?QC1ml2Qd:QbQ]g߬Q]8@ZAP @RQ F$]DN?Wro?BQ0Q3@ QAQfPPE9?PQQOA"QAB7B BA*BA]AAA~(="Cs+@*CqRC<Cs+@C֭`=<׉ I G >} <} <܅ >9܁ I܅ [Gi܅ o@܅ =܁ ܁ ܅ 6; ݅ ڗEq,"ߏEAY}2CC@}23@y}2w4}2}2H7~Կ??44C ?ѣ?)~2CC@ ~20^;I~0ɫYY)a eIaY@y_G5 =M==Y=QU=?AAaEDEgDAyM<<}M?IQ ]:U5? ]:UAG UeA e?9UdDU8: U:)U:myAdded new target pos. range: 75.059998 m, bearing: 160.533051 deg, deltaT: 4.553152 s, approachRate: -0.658886 m/s, LOS rate: -0.044832 deg/s, posRepo size: 4m ProNav: pos range: 75.059998 m, bearing: 160.533051 deg, approachRate: -0.658886 m/s, LOS rate: -0.044832 deg/s, cmd update: -0.134496 deg/s, cmd heading: 153.637776 deg, new cmd heading: 153.532357 deg. W+@WX XW:W2W*WVbUBU*UUR@U`?Bb;B BA៾*BA]AAAR(="C+@*C XRC I<C +@CI@A)?A=F<|| -:YR1yi:5)H;9I!G=r> q,réEAɫqq)y yIyY@yq_G=M=J=YEQUM>QQaUDUtDYy]}]>Iae"5?eA eA u?9euDe': e?:)aW%+@W!XI XQWQ:WY2Wa*WVbUBU*UUU?BM,BI BIAM *BQAU^AQAQAUI)="C]+@*C]RC] <Ce+@C֕q,EAY}2~C@}24@y}2a4}2+(}2HoCԿ ?ܚ??`>`C?`?)~2~C@ ~2i^;I~2Cɫ99)9 =I9Yt@y?_G=i==iR=u94=uNǔiuQ@q uĘ@)uIu@iuĘ@SEMF=Y2V8QU>aDDy9<}>Ișŝ!5?ŝ< ƝA ?9ƝDǝǺ: ȝ:)șWr+@WX XW:W2W*WVbUBU*UUU?Bz̞B BA*BAb_AAA&)="Cr+@*C阽RC =Cr+@C ==5>91I5P\Gi5@5=115I; 5E)Iiᄉ==S5Eq,pEAY}:DC@}:3@y}:xm3}:}:H:xԿ D?9?8@o⨿k? ٖ ?)~:DC@ ~:f)^;I~:Cɫ99)9 =I9Y}@y}_GI-=))Ue =M]M=Y]:QU]>aaaeDeDaym}m>Iq }:uɐ5? }:u7 uA ?9uDu: u:)u:WRc+@WX XW:W2W*WVbUBU*UUU`%?BJB BA*BA`AAA*="CRc+@*ChRCG<CRc+@C =IGF>1q,VEAY}mWC@}m"s3@y}m}!3}m3 }mH)`Gտ?.?`( @ʧ[b?W`v?)~mWC@ ~m,^;I~iɫQY)Y YIYYܵ@y_G}Q?v/?Mb}\/?}x= })yIyy}MbX?{GztMb`?}*?}ף}; }A)} AI}Ai}Ay} AEt=E9E">iE̜@A Ev@)E@IEĘ@iAU9MU.=Y]!9QU]>YYa]DmDqyu[}u>Iy}w5?}1 }!A ?9}D}': }{:)yW0Q+@WX XW:W2W*WVbUBU*UUU?B%SUB! B!A%*B!A-bA)A)A-*="C=0Q+@*C=uRCEe<CE0Q+@CI  k5:Yy59@u<שIG>  % >9! I! i! % =! ! % G; % Eq,g&EAY}2B@}23@y}2D4}2B[}2Hտ@?؂?e)?pE9?)~2B@ ~2];I~2Cɫ99)9 9IAY}@y}_GI) <Mz=YxQU?a D D yD} ?I %:f5? %:X- 6A %?9D: M:):WMD+@WIXI XIWI:WI2WQ*WQVQbUQBUY*UYUYU]q@B4BN= BA*BAbAAA*="C-D+@*C-JRC5<C=D+@CQE@ q,+EAY}2B@}2.2@y}2o5}22}2H  Cտ?W?e@穬?@MJ0?)~2B@ ~2N)^;I~2Cɫ99)9 =I9Y&@y`G )= =<MK=YDQU>aDDy } >IQ5?( QA E?9D; ;)W4+@WX XW:W2W*WVbUiBUi*UqUqUu@H@R}B*** querying acoustic contact ***PyPyB/B BAy*BAcAAAm+="C4+@*CRCi<C4+@CIAA)AA <I* zz ,7:YQ1y:5G l>i SoGI i пٺ ɿA(q,DEAY}:B@}:2@y}:y4}:0?}:H@rտ`K4?M? #2Ε? ?)~:B@ ~:#<^;I~:Cɫ99)9 =I9Y}@y}`GZ****** received transponder code query ******F****** received ping request ******nrʽi(@ /@)ݸ@I/@i/@-v=M-8=Y59QU5>19a=D=ÍD9yE<}E>II U:M :5? U:M\" MmA U?9MDMs: M:)M:W}$+@WyXy XyWy:Wy2W*WVbUBU*UUUI @BB BA*BA&dAAA+="C-$+@*C-RC-&<C-$+@C1== ==9I\Gic@K; EשIG>Rq,^EAY}6(B@}62@y}6~;5}6^K}6H3տM?? `? yq?)~6(B@ ~6M^;I~4ɫYY)Y ]IYY}@y}`GxDUSBL response received:!U1,P 004,000,00754,183,80,80,AD,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Y̻Ma=Y٬QU>a%D%΍D9yM9}U>Iw%5?G A -?9D< W<)W+@WX XW:W2W*WVbUBU*UUU` @B B BA:*BAfAA!A-P,="C5+@*C]ǢRCe<Ce+@Ci=={={= =/:Y=#R1y=:=5ut(/=i Iq G >q,_xEAY}zB@}z 2@y}z2}z<}zH; @տ@ٙ?@? ƭV?`򌧿@?)~zB@ ~z9^;I~zCɫ) IYE@yM`GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ENmea in: *7F EtResponse from modem failed NMEA checksum: *7F expected 0Iea=)e4=kt?~jt?{Gz? 0?< ף<)Iyn?MbpL7A`?V.?+= …zA)…9AI…Ai…A A™iA===ƾ==i=@9 =@)=S@I=ۙ@i=ۙ@MݼMM=YU:QUU>QQa]D]ߍDYye}e>Ii u:mG 5? u:m mA u?9mDm: m:)m:޵=i޵=W+@WX XW:W2W*WVbUBU*UUU%@B{B BAf*BA gAAA,="C +@*C oRC <C +@C;O=I)GE>ٱ ٱ ܹ 9ܹ Iܹ iܹ ܹ ܹ ܹ ܽ H; ݽ Ed$q,;nEAY}:aB@}:}2@y}:4}:8?}:H7`>5ֿ'љ?D?~6Q?ާ?)~:aB@ ~:r^;I~:Cɫ99)9 =I9Y}{@y}`GxDUSBL response received:!U1,R,FD1,000,00724,185,80,80,9F,FF Fpublishing direction and range info'=ɰ>鰅+> )CIy\B7G?+q?ٱ0=M=Y3ֺQU?aDDyt}?I5? A ?9D: :)W^*@WX XW:W2W*WVbUBU*UU!U%`"g@PQ*QU\BZQUGwR@[?V\@JQU7G?+q?2QU'=:QQbQU i)Q; Ye6@U@RQUtǨXPnP:?㓥?BQU5@ QUAQUHPUC9?PQPUQUQU A"QUOAB0B BA'*BA gAAA"-="C^*@*C;GRC2U<C^*@C)  =R 99= =\::Y9y9=5)==;9E׉IG>*q,0IEAY}2.B@}2I2@y}2h7}2!E}2H`fֿ`/ۙ?LF?W@S? lE?)~2.B@ ~2f^;I~2CɫYY)Y ]IaY߶@y`GI!)!I)))=~9i\@ @)@I@i@e'<Me1=YmݺQUm>qqauDuDyy}߻}}>IȁŅp5?Ņ ƅ&A ?9ƅ#DDž: ȅv:)ȁmuAdded new target pos. range: 72.180000 m, bearing: 162.140563 deg, deltaT: 4.356848 s, approachRate: -0.661028 m/s, LOS rate: 0.368962 deg/s, posRepo size: 4m ProNav: pos range: 72.180000 m, bearing: 162.140563 deg, approachRate: -0.661028 m/s, LOS rate: 0.368962 deg/s, cmd update: 1.106887 deg/s, cmd heading: 153.053470 deg, new cmd heading: 152.995127 deg. W+@WX XW:W2W*WVbUBU*UU R@UU?BmrB BA猾*BA*hAAA -="C+@RC<C+@C H<IG>v1q,%$EA|i|@Y}6P B@}6(2@y}68}62&@}6H`;ֿ@a? d?@@@]?`D?)~6P B@ ~6^;I~6Cɫ99)9 =IAY@yaG)%= !U ;M]]=Y]mQU]>aaaeDeDaym}m>Iq }:u5? }:u uVA ?9u3Du: u:)u :W+@WX XW:W2W*WVbUBU*UUU9?B]}Ba BaAep*BaAeiAaAiAm-="C+@RCߡ;C+@C܁9܁I܅|]Gi܅@܁܁܁܅5; ݅ڗE֝jZXUJ U|U|U U9:YUR1yUi:U%5)U;}7q,EAY}2jB@}202@y}2:}2Q}2H wֿ@Z?`6]?]K[?@3?)~2jB@ ~21^;I~2Cɫ99)9 =I9Y]Ŷ@y]`G *MP=YQU>aDDy N:} >I15|5?5 5A =?95DD5: 5:)1Ws,@WX XW:W2W*WVbUBU*UUU ?BB BA*BAy~jAAA Z.="Cs,@RCFCs,@C]L=q,EAY}R_;B@}RV2@y}R>}RT}RH`\ֿv?x9?`@#?$?)~R_;B@ ~R^;I~RCɫqq)q uIqY@y+aGUp=iQZd;O?Pn?Mb`?j?> ;)IyMb?y&1|?{Gz? ?`;#<  A)AIzAirAM>MSMuaaamDmDiyu;}u>Iy :}R5? :}B }A ?9}VD}*: }:)}!:W%@-@W)X) XAWA:WA2WI*WIVIbUIBUI*UQUQUUe?BB BA*BAMkAAA.="C@-@RCC@-@C"5ױIGh> xx @:Y7P1y:59@a e gAm >9i Ii ii i i i m 8; m ۗE)Ii==4[Dq,=EA|4<|;Y}6FTB@}6o2@y}6A}6aTL}6H `jEֿ?!? &(2?`?)~6FTB@ ~6Q^;I~6Cɫ99)9 =IAY}@y}`G%M%a=Y-QU->11a=D=)D9yE;}E>IQU*5?U UA e?9UeDUm ; U ;)QWs-@WX XW:W2W*WVbUBU*UUU o?Bp]B BAÑ*BANlAAA3%/="Cs-@RCEICs-@Cyb]IG5O>Jq,ڐ-EAY}J SB@}J|n2@y}JG}JX4}JH Dֿ,?"?խ`? F?)~J SB@ ~JT^;I~JCɫaa)a mIiYE@yE`G O> & ף=i @  v@) f@I @i @ ;<M<=Y fQU%>!!a%D%7D)y-b4}5>I1 =:5|5? E:5 5A E?95vD5: 5:)5":W.@WX XW:W 2W *W VbUBU*UUU`@Be`3Ba BA7*BAZmAAAs/="C.@RCC.@C֥BJסIGd> }} 84:YkS1yԊ:75Qq,'lGEAY}2]4B@}2O2@y}2}L}2l}2HH]ֿt??? ׍?qR`?)~2]4B@ ~2D^;I~2Cɫ99)9 =I9Y}@y}=aGAAI)AI)A<Mf=Y8OQU>aDBDy~}>IȹŽj5?Ž ƽ A ?9ƽDǽ: Ƚ*:)ȹWl.@WX XW:W2W*WVbUBU*UUU G@R B*** querying acoustic contact ***P P BcB BA*BAnAAAK/="Cl.@RCؼCl.@C>9I]GiV@G; E?BI?i?IGG>'Wq,EGaEAY}26*B@}2E2@y}2JeP}2E}2H& cֿ@U?LH? ??)~26*B@ ~2^;I~0ɫYY)Y ]IYYŶ@y`GZ****** received transponder code query ******F****** received ping request ****** %M D=YQU>aDPD!y-º}->I151V5?5 51A E?95D5; 5;)1Wm.@WiXi XiWi:Wq2WI*WQVQbUQBUQ*UYUYU]` @BpʝB BA*BAhoAAA@0="C.@RC>C.@CǼIG J>zz <0:YQ1y:5I^q,p"{EAY}2FB@}2a2@y}2+ S}2E˼}2HGֿO?-?`a?@r ?)~2FB@ ~2^;I~2CɫYY)Y ]IYY}@y}aGxDUSBL response received:!U1,P FD1,000,00724,185,80,80,9F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iAIQiqfοٺ?A5m?/$~jtx?5.?5 5;)1I1y5K7A`?Mbi@ /@)@I@i@E31=ME=YM—QUu>aDbDyC;}>Iȱ :ŵ75? :ŵ ƵpA ?9ƵDǵr: ȵ:)ȵ#:W/@WX X W :W 2W *W1V1bU1BU1*U1U9U=_@B –B BAˁ*BAIpAAAK0="C/@RC /'C/@C  4= 9 I D^Gi @    X;  E Ѽ I G% >eq,LEAY}2qB@}22@y}2eZS}2}2H8qֿ?@7?Tg`Lh?9 7?)~2qB@ ~2^;I~0ɫYY)a eIaYa@yaG鮥p=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B uüMu=Y}lQU}5?yaDjDy3<}:?I7*5?f A -?9DH: :)WM{/@WQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUe@+@BHB BÄ́*BAEpAAA&0="C{/@RC,C{/@CuIIiG9> || D:YR1yi:5)C;9"+kq,خEA|;|p;Y}bB@}b(2@y}b=U}b}bH@ 5տu? ?^`ΰ?@?)~bB@ ~b|F^;I~bCɫqq)q uIyY@yaGxDUSBL response received:!U1,R,FCB,000,006F1,184,80,80,8F,FF Fpublishing direction and range infoq==ɰ>鰽> )CIy=B:CO=?_?ٱhA>,P=iף@ )@IiM@<M5=YQU>aDxDy(<}>I :k5? : A ?9D7: :)$:W=0@W9X9 X9W9:WA2WA*WAVAbUIBUI*UIUIUU@PY*Q]=BZQ]BQ@# @JQ]:CO=?_?2Q]q==:QYbQ] {Pl=|s4@(Z @RQ]f>!Y?T(xCA?BQ]5@ Q]AQ]܃PYP]C9?P]Q]Q]A"Q] AB-EB1 B9A=,*BaAeqAaAaAe?1="Cm0@RCu8Cu0@Cq֕ iIyG>rq,EAY}~%B@}~3@y}~8Y}~S}~H#տ`PY? ?xў.?8s@?)~~%B@ ~~=.^;I~|ɫ) IY-@y-ObGDNmea in: $SNTTA,,,,,011031.03*5F <M\=Yi)QU>aDDy;}>I  5?  A ?9 D ;: :) mEuAdded new target pos. range: 69.120003 m, bearing: 162.766400 deg, deltaT: 4.478436 s, approachRate: -0.683274 m/s, LOS rate: 0.139744 deg/s, posRepo size: 4mU ProNav: pos range: 69.120003 m, bearing: 162.766400 deg, approachRate: -0.683274 m/s, LOS rate: 0.139744 deg/s, cmd update: 0.419233 deg/s, cmd heading: 158.024681 deg, new cmd heading: 158.435976 deg. WUt0@WQXQ XQWY:WY2WY*WYVYbUaܩ9ܩIܭ^Giܭ@ܩܩܩܭ`; ݭEBUa*UU GQ@U1?BUBQ BQAUw*BYA]p{rAYAYA]1="Ct0@*C8RC7Ct0@C֕3qIG> ~~ 4:YT1y@:)5;A=xq,ڎEAY}:B@}::3@y}:'a}:}:H@+տ?g? 4 =[X!?فP?)~:B@ ~:5^;I~:Cɫ99)9 9I9Y}@y}cGI)E1==MEV=YM!QUM>IIaUDUDQy]Q.;}]>Ia m:e5? m:e eA m?9eDe: eM:)e%:W>0@WX XW:W2W*WVbUBU*UUU ?BrB BAe*BA!sAAA71="C>0@*C1,RCB=C>0@CB4IG J>Zg~q,iEA|i|@Y}6C@}643@y}6i}6ʻ}6H@C uտ Ir?f?% g1?Ey`?)~6C@ ~6}^;I~4ɫYY)Y ]IYYk@ybGv/?A`"?:vx)?Y= T)Iy|?5^?L7A`堿ˡE?-?+'= ­; A)­ AI©i©)= = Ƌ> 7 >i  @  @) /@I i "@ͻM%==Y%QU%>))a-D-D1y5;}5>I9=5?= =TA E?9=D=Q: ={:)9Wm1@WiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUyU Q?BkCB BAGh*BAsAAA 2="C1@*CRC\AC1@C֥8Iס)סaIqG\>٩ ٭ jAܱ 9ܱ Iܵ _Giܵ J@ܱ ܱ ܱ ܵ [; ݵ EPq,@KEAY}NZbC@}N}3@y}Nr}N_ۺ}NH`%+տ`5[?@ ?@2 [`Y? lo[?)~NZbC@ ~N"#^;I~NCɫ髱) IY;@ybG"yMS=YQU>aDDy ?<}>I :5?  : A  ?9D: :)&:W5A1@W1X1 X1W1:W92W9*W9V9bU9BUA*UAUAUEI?Bu֛Bq BqAuKn*BqA}tAyAyA}A2="CA1@*CRC:CA1@CԝhAԝiAֽ`9 " y y  6:Y P1y ': 5) ;יIGa>(~q,L40EAY}+C@}3@y}<@z}:}H`9ɯԿ٭?p??H@` C?`qZ?`?)~+C@ ~ ^;I~Cɫ) IY ޸@y rcGý<ý(ýO>iý¥@ù ĽM@)Ľ@IĽM@iĽd@SE=MF=YQU>aDDyΚ<}>I5?@ A ?9!D: :)Ws1@WX XW:W2W*WVbUBU*UUU @B5DB BAY*BAUouAQAQAUp2="Cs1@*CRC)Cs1@C*:שIG>Saq,IEAY}:wD@}: 4@y}:o|}:N<}:HQԿ |yaDĎDy<}>Iȑŕ5?ŕ ƕB ?9ƕ2DǕ: ȕf:)ȑW1@WX XW:W2W*WVbUBU*UUU'@B$ B BAa*BAvA A A 2="C1@*C*떽RCKC1@C]>9YI]o_Gi]@YYY]N; ]E)Ii邉邩킊4)I=i=F {{ g9:Y#R1y:n5)i;GER>nq,cEAY}2E@}2x!5@y}2),~}2MR<}2H`f{ӿ?@?Mw{ M?aDЎDy6<}>Iȹ :Ž5? :Žг ƽ.B ?9ƽBDǽ: Ƚ:)Ƚ':W1@WX XW:W2W*WVbUBU*UUU`@R B*** querying acoustic contact ***P P B-z/B) B1A5N*B1AwvAAA2="C1@*CՖRCs C1@C >=mIG=P>q,}EAY}2sE@}25@y}2#}2<}2Hvӿ!?)?"0S?`A?@^?@?)~2sE@ ~2[/^;I~2Cɫ99)9 =I9Y}(@y}cGZ****** received transponder code query ******F****** received ping request ******YYa]D]Daye^<}}>Iȉōg5?ōo ƍGB ?9ƍWDǍ: ȍ:)ȉW 2@WX XW:W2W*WVbUBU*UUU@( @BMߕBI BIAMP*BIAUwAQAQAU\2="C] 2@*C]RC]C] 2@C 0:Yy\59@֕;iIyG>Q 9Q IU 7`GiU >@U =Q Q U R; U Eoq,:EAY}FƾE@}F65@y}Fg}FTl<}FH@ ҿO??UXm?? ?@?)~FƾE@ ~F^;I~FCɫ髁) IY@ycGxDUSBL response received:!U1,P FCB,000,006F1,184,80,80,8F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= ==SMEs=YU^QU]?iiauD}DyY<}?I :}U5? : ZB ?9eD =  =)(:W":2@WX XW:W2W*WVbUBU *U U U D @B}81By BAsS*BArBxAAA 3="C":2@*C򠖽RCiC":2@CI@A)@Aֵ:W׉IG>p˫q,pxEAY}Rq F@}R%6@y}Re}Ro<}RH K@=ҿBƲ?@?zs?=#aDDy06<}>I?5?i qB ?9wD: H:)W-$d2@W)X) X)W):W)2W1*W1V1bU1BU1*U9U9U=@BeBi BiAm9*BiAmxAiAqAu3="Cu$d2@*C}fRC}ؼC}$d2@CyiA?弉 3 y y  7:Y P1y ': 5IGm>iIi fϿٺ +Agq,-CEAY}2`鰡 ) CIyׄB:9?.ٱ=i=<M^=YTQU>aDDy<}>I :N,5? : B ?9D: :)):WS2@WX XW:W!2W!*W!V!bU)BU)*U)U)U-`/}@P9*Q=ׄBZQ=,#P@Q6 eJQ=:9?.2Q=nF:Q9bQ=FLTO5@@RQ=F`0&7AA־?+?BQ=H3@ Q==AQ=zP=D9?P9P=Q=Q=(A"Q=A>9IaGi@f; EBM콕Bi BiAu 3*BqAuTyAqAqAu"3="C}S2@*C}fsRC'ּCS2@C7༹יIGd>ܸq,+EAY}nXF@}n>t6@y}nL}nD$<}nHUAҿI?@NL? bH? ֓?@?)~nXF@ ~nY^;I~nCɫ) IY-@y5dGDNmea in: $SNTTA,,,,,011035.48*54 I4=)R=  hAM;MM4=YMDHQUU>QQaUDUDYy]z;}]>IaeT5?e eB }?9eDe; eǛ;)amyAdded new target pos. range: 66.419998 m, bearing: 161.036955 deg, deltaT: 4.374386 s, approachRate: -0.617231 m/s, LOS rate: -0.395357 deg/s, posRepo size: 4m ProNav: pos range: 66.419998 m, bearing: 161.036955 deg, approachRate: -0.617231 m/s, LOS rate: -0.395357 deg/s, cmd update: -1.186072 deg/s, cmd heading: 159.858597 deg, new cmd heading: 160.050616 deg. W1@WX XW:W2W*WVbUBU*UU@P@U@}?B:B! B!A%2*B!A%yA)A)A-n!3="C51@RC5C51@C1% %z%z% %5:Y%Q1y%:%5Ucռ IGU>q,nEAY}2TgF@}2Ă6@y}2ɕ}2U<}2H@E2ҿ e?@X>?0Y ?Q?q?)~2TgF@ ~2G^;I~2Cɫ99)9 =I9Y}@y}dGuQ?i5p@1 5)1I5/@i5M@E5MEK=YM`QUM>QQaUD] Diy};}>Iȉ :ō5? :ōj ƍB ?9ƍDǍ: ȍ:)ȍ*:WLl1@WX XW:W2W*WVbUBU*UUU~?BkOB BA2*BA΃zAAAH"3="C Ll1@RC C Ll1@CĎסIGA>>9IdaGi2@=Z; Eŀq,EAY}2F@}26@y}2ƶ}2qS<}2H@w eҿc:? 7 ?w˘u~Ҳ?౞??)~2F@ ~2;n^;I~2Cɫ99)9 =I9Yn@y^eGI)AU<MU[=Y]zQU]>YaaeDe,Daym̩;}m>Iqu5?ue uB }?9uDuf: u:)qWm0@WX XW:W2W*WVbUBU*UUU -?BB BA'*BAh{AAA:!3="Cm0@RCwCm0@C%  | |  M4:Y R1y i: 5) ;9I!G}Y>̀q, 2EAY}:F@}:6@y}:u}:*<}:H@ĠCѿ?? K`< ? GC?`?)~:F@ ~:s^;I~8ɫ99)9 9I9Y}Һ@y}eG )))5= 5>}>} }/]i}@y y)}1@I}M@i}d@<MG=Y/QU>aD9Dy<}>Iȡť5?ť ƥB ?9ƥDǥ:: ȥ2:)ȡWd0@WX XW:W2W*WVbUBU*UUU4?B5w=B9 B9A=p*B9A={AAAAAEs3="CMd0@RCMM<CMd0@CQM_ IG-->1Ҁq,LEAY}6G@}65 7@y}6}6x;}6H֩ ѿ ?ʦ?`;)Տ]?7v?f?)~6G@ ~6^;I~6Cɫ99)9 =I9Y} @y}9fG<MT=YXQU>aDED y o7<} >I :ؽ5? %: B %?9DN: :)+:ܙ9ܙIܝbGiܝ&@ܙܙܙܝN; ݝEW/@WX XW:W2W*WVbU)BU1*U1U1U5i@B}jBy BA*BA|AAA3="C/@RCi<C/@C?Bɺ~~ -:YT1y@:n5)I;׹IGf>'ـq,efEAY}61?G@}6Z7@y}6}6a;}6He xѿ@a?`m?`́`?,=c??)~61?G@ ~6i^;I~6CɫII)I MIIY}@y}fG=i=IMJ=YQU>aDRD y <} >I5? 7B %?9DH: :)WE`X/@WAXA XIWI:WI2WI*WIVQbUQBUQ*UQUYU]@k@B B BA*BAt|AAA2="C`X/@RC<C`X/@C֍q,SAEAY}6VG@}6r7@y}6褽}6&h}6H :fѿ`#?V?r*C`i?@Mt?)~6VG@ ~6^;I~6Cɫ99)9 =I9Y@yfGI=)=eV-?y&1i@ @)@Id@i@G=M;=Y*QU>aD`Dy V;} >Iȉ :ō5? :ō} ƍ`B ?9ƍDǍ: ȍ:)ȍ,:W.@WX XW:W2W*WV bU BU *U UU0@RB*** querying acoustic contact ***PPB]G:BeZ&= BaAe*BaA}|AyAyA}2="C.@RCٔ=C.@C i =% %{%{% %3:Y%#R1y%:%%59-@ֽD-<בIG>ّٕ<ܙ9ܙIܝXcGiܝȸ@ܙܙܙܝM; ݝE))I)i)))-Z 59q,vEAY}:UG@}:p7@y}:}:»}:H@d/nѿ`C?>W?-✿m-? ?x?)~:UG@ ~:3^;I~8ɫ99)9 =I9Y}λ@y}gGZ****** received transponder code query ******F****** received ping request ******aDmDy?k}>Iy5? B 5?9D< <)Wu/9.@WqXq XqWy:Wy2Wy*WyVybUBU*UUU01 @BTB BA*BAmQ}AAA2="C/9.@RCU5/=C/9.@C  U=U=%<<I G-N>cq,wEAY}2TG@}2 p7@y}2(}2}2H`1csѿ4$?`W?`5q? 3j]?)~2TG@ ~2:^;I~2CɫYY)Y YIYY}L@y}gGxDUSBL response received:!U1,P 02C,000,006C4,184,80,80,A0,FF Command AckBRequesting micromodem ping code 2iIA)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 j<.>i@ @)I@i@]=Me)=YgQU>aD|Dy6i}>I :_5? :y B ?9(Dx; z;)-:W-@W!XA XAWA:WA2WI*WIVIbUIBUI*UQUQUUm @BB BAtؽ*BA}AAAzh2="C-@RC0N=C-@C|| :2:YR1yi:5U= I G= >Kq,EAY}2VG@}2Xr7@y}2}2Km}2H`ޮwѿ!?@T?~۵?D:?)~2VG@ ~21^;I~2Cɫ99)9 =I9Yͼ@yJhGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i9iImdGim@iiimR; mE 鿉)Í> Í>07=Mg=Y/QU?aDDy9}?IM5?u B ?97D: Q:)W"-@WX XW:W2W*WVbUBU *U U Ue@B|B BA *BA}AAA42="C"-@RC;=g=C"-@CI)?AQ=ֽ04=בIG>uq,EAY}:6aG@}:|7@y}:xX}:I~}:H`oѿ ;? 9J?#?``R?)~:6aG@ ~:S_;I~:Cɫ99)9 =I9Y}@y} hGxDUSBL response received:!U1,R,032,000,00691,185,80,80,A2,FF Fpublishing direction and range info¸2ɰ >鰅+> )"CIyp}B3?GUٱM_=YFQU>aDDy:}>I85?q B ?9GD< :<)W,@WX XW:W2W*WVbUBU*UUU *@P*Qp}BZQG۲o\O@w@[JQ3?GU2Q¸2:QbQݿ-M0,Tt3@&@RQMXF,Ì?i'J?BQ4@ QAQoPPD9?PQQ6A"Q(ABWB BAŽ*BAH~AAA'1="C,@RCq=C,@C1%_'=)-hA  v4:Yy5=dO=I9G>! % HCAaq,EAiDIPi\Y}!TG@}o7@y}F}}H@rѿX?V?c(ޘ?nb?)~!TG@ ~B^;I~CҿٺAɫ) I Y%@y%-iGdNmea in: $SNTTA,0.063824,0.447811,,,011039.91*58 =i==ien?I +ˡE?eV?e94 e'=)aIayeDl?I +?~jt?eO-?e94/Ci @ @)@I@iTy=M,=YvQU>aDDy6ܺ}>I :5? :!m %B ?9[D: f:).:muAdded new target pos. range: 63.360001 m, bearing: 161.756788 deg, deltaT: 4.472733 s, approachRate: -0.684145 m/s, LOS rate: 0.160938 deg/s, posRepo size: 4m ProNav: pos range: 63.360001 m, bearing: 161.756788 deg, approachRate: -0.684145 m/s, LOS rate: 0.160938 deg/s, cmd update: 0.482815 deg/s, cmd heading: 154.559137 deg, new cmd heading: 154.000596 deg. W,@W9X9 X9W9:WA2WA*WAVAbUABUI*UIUMO@UM|?BH+B BAÉ*BA;~AAA֦1="C,@*C!RC4m=C,@C) 15hA=>99I=eGi=@999=S; 9֕ ~=i Iy G > q,EAY}2G@}2 97@y}2\}2S}2H@@1ѿ??Լ`S{?`I?)~2G@ ~2 _;I~2Cɫ11)1 5I1Yuؽ@yuiG <M g=YQU>aDDy%}%>I)- 5?-i -IB 5?9-kD-׾: -:))W]-@WYXY XYWY:WY2Wa*WaVabUaBUi*UiUiUmmm?BM`MBI BQAUj*BQAU³~AQAQAUpc1="C]-@*Ce)ꕽRCe X=Ce-@Cae|=9IAG]3>=i {{ C:Y#R1y:75);;91 q,P5EAY}6F@}66@y}6 }6s}6H`Dҿ"C??j ޘ?&䠿@?)~6F@ ~6^;I~4ɫ99)9 =I9YV@yhGm=m^:mim3@i m@)mIm@imף@}kM}D=YQU>aDDyP}>Iș :ŝ5? :ŝe ƝsB ?9Ɲ}Dǝw: ȝ:)ȝ/:WM-@WX XW:W2W*WVbUBU*UUUTc?B4ԉB BA̕*BA~AAAd 1="CM-@*C!RC:=CM-@C =>&lm=׹IGf>q,OEAY}:OF@}:j6@y}:}:T!}:Higҿ?{M? PC?%?)~:OF@ ~:8_;I~:Cɫ99)9 =I9Y}@y}iGܥ>9ܡIܥfGiܥ@ܡܡܡܥM; ݥEIA)I)5I=M5O=YUYQUU>YYa]D]ǏDaye}e>Iim/5?m}a mB ?9mDm%< mW<)iW-@WX XW:W2W*WVbUBU*UUU?B]%SBa BaAe[*BaAmAAAy0="C-@*CnRC=C-@C֥?=aIqG9>  5:Yy5)a;q,)xiEA|i|@Y}6E@}6>5@y}65C}6@}6H bo@O)ӿ?u??~M9?[@?)~6E@ ~6h_;I~6CɫAI)Q UIYY@yjG=v=M=J=Y=5QUE>AAaEDEԏDQye }m>Iy :}$5? :}=] }B ?9}D}+: }:)}0:W$-@WX XW:W2W*WVbUBU*UUU @B-PσB1 B9A=*BAAM7AQAQA]M0="Cu$-@*C}9RC}9R<C}$-@CI)}8=YIG> q,mSEAY}6aE@}65}5@y}6۾½}6!^}6H`ӿv?`.?k@@xN?`?)~6aE@ ~6t_;I~6Cɫyy)y }IyY@yjGQ?y&1kt?\/?`  0=)Iy(\?L7A`?z4?+= +A)? AI$@irAA -@ -@ -@-©--i-@- -@)-@I- @i-@=VK<M=;=YE&ٺQUE>AAaMDMDIyU\}U>IY]ذ5?])X ]B e?9]D]׾: ]:)YW-@WX XW:W2W*WVbUBU*UUU@BB BAü*BALAAA//="C-@*C=RCI<C-@CiA=סIJ ~~ 9:YT1y@:59@GE>ّٕ<ܙ9ܙIܝlhGiܝ@ܝ=ܙܙܝ@; ݝݗE&q,.EAY}2(E@}2#5@y}2Y½}2}}2H/Siӿ1??W)Ķ`A?@ ?)~2(E@ ~2_;I~2CɫYY)Y ]IYY}@y}OlGp=i=c=Mf=Y:QU>aDDyN|}>I :5?  :S B  ?9D: :)1:WM*.@WIXI XQWQ:Wq2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBLB BA*BAAAAx/="C*.@*CM۔RC(PZ<C*.@CE -q,EA||Y}6D@}6M4@y}6X}61}6HMԿ@c?)?L@Ti!?UƱ`?)~6D@ ~6;_;I~6Cɫ99)9 =I9Yu@y}=lG}Z****** received transponder code query ******F****** received ping request ******AAaEDEDIyM}U>IQU5?U{N UEB e?9UDUǺ: U:)QWfg.@WX XW:W2W*WVbUBU*UUU@ @BB BA*BAAAA*/="Cfg.@*CRC<Cfg.@CHu<ww Y1:YO1yP:I5IGH>t4q,:EAY}2D@}24@y}25߿}2}2HKF`HԿD0?`%?IE@C@??)~2D@ ~2 _;I~0ɫ99)9 9IAI9IIMiGiM.@IIIMR; ME)Iir4Y}@y}amGxDUSBL response received:!U1,P 032,000,00691,185,80,80,A2,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 p=Mc=Y ;QU>aDDy%}->I9=!m5?=I =mB }?9=D=< =<)9W$.@WX XW:W2W*WVbUBU*UUU ] @B-yB1 B1A5<*B1A5:A9A9A=.="CM$.@*CUeRCUh;CU$.@CֵhW<׉IG>?1:q,EAY}2D@}24@y}2c}2Q}2H?npԿ?`#?@ӕ@⪷?U@?)~2D@ ~2h_;I~0ɫII)I MIIY}v@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%G=Y%1;QU%>))a-D-D1y5}5>I9 E:=TX5? E:=E =B M?9=D= : ={:)=2:W=.@WAXA XAWI:Wq2Wy*WVbUBU*UUUH@BwtB! B!A%*=*B!A%A!A1A5#".="CM.@*CM)\RCMAiCU.@CQEe;II)II)%  6:YT1y:J5GZ>Aq,EA|i|@Y}JOD@}Jk4@y}J?}Je}JH 9@3ԿW?`4?@?`杬?)~JOD@ ~J7^;I~HɫYY)Y ]IYY@ynGxDUSBL response received:!U1,R,FE4,000,0065F,184,80,80,85,FF Fpublishing direction and range info+<ɰ>鰥> )CIypqB?{J?ٱdNmea in: $SNTTA,0.064975,0.220524,,,011044.37*50 %x?zG?ˡE?%K7?% = %'=)!I!y%V-?Mbp?X9v?%-?%;%< %@)% AI%@i!!%\A)== => @ @ @Å©ÅÅiÅQ@Å ąX@)ąA@Ią"@iąA@k=M5=YW;QU>aD#Dyӻ}>Iȱŵ?5?ŵ? ƵB ?9Ƶ Dǵ: ȵ:)ȱWO/@WX XW:WI2WI*WIVIbUIBUQ*UQUQUU @P*QpqBZQfU+N@z?JQ?{J?2Q+<:QbQAs%Lq}ڧ1@g=#y@RQwj=bl?YĶ?BQ`5@ Q>AQePC9?PPQQ6A"Q6ABpB BAT=*BAW~AAA !-="C O/@*C6RCsʻCO/@CqZ;9=gAA9AIEkGiEs@E=AAEg; EEIG>@CGq,BvEAY}F\iD@}F̄4@y}F'}Fa[}FH.> tԿ`u?T?FU? ?L 4?)~F\iD@ ~Ff^;I~DɫYY)Y ]IYYr@y:oG5%=M=d=Y=:QU=>AAaEDE.DAyMn;}M>IQ ]:U,5? e:U; UB e?9UDU: U{:)U3:muAdded new target pos. range: 60.360008 m, bearing: 162.922196 deg, deltaT: 4.497829 s, approachRate: -0.666987 m/s, LOS rate: 0.259105 deg/s, posRepo size: 4m ProNav: pos range: 60.360008 m, bearing: 162.922196 deg, approachRate: -0.666987 m/s, LOS rate: 0.259105 deg/s, cmd update: 0.777314 deg/s, cmd heading: 156.725183 deg, new cmd heading: 156.898680 deg. W/`/@WX XW:W2W*WV)bU1BU1*U1U5.N@U= ?B.jB BA=*BA~AAAL-="C/`/@*C.RC, C/`/@C֭3ׁIG=>  G:Yy5);9ZmMq,LQ8EAY}FD@}F4@y}FW}FTT}FHF@@Կ |?`B?yO@@ζ?1un?)~FD@ ~F^;I~DɫYY)Y ]IYY@yoG m m uuupuiuG@u u@)u"@Iu @iu"@ <ME=Y:QU>aDIȡťA5?ť6 ƥB ?9ƥ.Dǥ: ȥ3:)ȡW6/@WX XW:W2W*WVbUBU*UUU^)?BhB BA=*BAd~AAA,="C%6/@*C%RC%'C-6/@C)inGIiUοٺQU;Ae&tiim?!I)GEQ>YTq,?REAY}:D@}:n4@y}:S޴}:14}:HjM@Կ?Q?QZb E?#z@%?)~:D@ ~:ܪ^;I~:Cn>9lInmGin@n=lln~; nEɫqq)q uIqY}@y}pGI) hA iAUu=MUM=YU;QU]>YaaeDeHDiyu$;}u>Iy :}5?  :}?2 }*B  ?9}?D}< }ܙ<)}4:WU0@WQXQ XQWQ:WY2WY*WYVYbUaBUa*UUU ?BaAaB BA=*BAW#~AAAk,="C0@*C&דRC`SC0@C  }} 4:YkS1yԊ:5)j;5' IG5q>Zq,lEAɫ髁) IY @y4qG5?5->5µ>i5@1 5)5A@I5"@i5@ES<ME<=YEQUE>IIaUDUVDQy]}]>IaeJ5?eK- eRB m?9eRDe: e:)aW)u0@WX XW:W2W*WVbUBU*UUUd?B(\B BA=*BA2}AAA+="C)u0@*C=RCC)u0@C ==ONIG >Mgaq,EAY}6D@}64@y}6k}6q}6H|R`ӿj?? Ce`Ƶ? q?)~6D@ ~6a^;I~6Cɫ99)9 =I9Y}2@y}bqGI)J +?/$Mb?(?1 <)IyNbX9?~jtx? rh?%?;C< @); AI@iAQA?<MT=YaDcDy+F;}>I :W5? :) oB ?9bD: :)5:W0@WX XW:W2W *W V bUBU*UUU`V?BEZYBA BIAM =*BIAM^}AIAQAU+="C]0@*C]RC]OC]0@Ca-*IG (>|| /:YR1yi:59@9InGi@=; EXgq,ŸEA|i|Y}6D@}634@y}6:}6}6H`T@ӿ$?Ų?@hI:m?K*&?)~6D@ ~6^;I~4ɫYY)Y ]IYY1@yrG ) = >5=M5S=Y=g;QU=>9AaEDEoDAyM@:}M>IQUG5?U$ UB ]?9UqDU¿: U:)QW$1@WX XW:W2W*WV bU BU1*U1U1U5 @B}QB BA>*BAX|AAA#+="C$1@*CRC`˼C$1@Cֽ]יIGb>mq,EAY}2D@}25@y}2y}2r}2HIX@ ӿ J?`?`mܸ (? >?)~2D@ ~2^;I~0ɫ99)9 =IAY@yIsG?A O h =i @  ) @I v@i v@/=ML=Y)+;QU%>!!a%D%|D)y-c;}->I9=5?= =B E?9=D=: =:)9Wm$z1@WiXi XiWi:Wi2Wq*WqVqbUqBUy*UyUyU}@@RB*** querying acoustic contact ***PPBAJB BA->*BAuU|AAA*="C$z1@*CoRCC$z1@CqqM*IG-->] {{ =;:Y#R1y:5tq,{EAY}2%E@}2@5@y}2<}2}2H` גӿ ?n?Tv}?@@?)~2%E@ ~2^;I~0P9PIRiiamDmDy;}>Iș :ŝ5? :ŝ ƝB ?9ƝDǝ; ȝu;)ȝ6:W51@W1X1 X1W1:W12W1*W9V9bU9BU9*UAUAUEw @BkJB BAF7>*BA{AAA_@*="C1@*CRWRCuC1@C¼IGi>zq,OEA||4LE@}6g5@y}6{}6dT_}6HfAjӿ ²?@I?*}z8 ɴ?ҋ`0?)~6>LE@ ~6^;I~6CɫAA)I MIIY@yqtGxDUSBL response received:!U1,P FE4,000,0065F,184,80,80,85,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 m=mxm 0im@i mA@)mA@Im"@imA@ip=)  7:YT1y:5]K=M]=Ym3:QUm>qaDDy[;}>Iz5?U B ?9DӮ< <)WV2@WX XW:W 2W *W V bUBU*UUU@@B}JBy ByA}K>*BA!zAAAҩ)="CV2@*C*;RCP CV2@C >>֥ G꼹y I G >^q,s*EAY}6lE@}65@y}6.ڤ}633E}6H4l]Iӿ?@*?>?Б@?)~6lE@ ~6^;I~6Cɫ99)9 9I9Y}@y}uGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B x?)\({GzK>Ga #)Iy?Q?Q?,?u<< bA)AI@i A AD=M=YP2;QU?  a D Dy;}?I %:k5? %:d B -?9D: :)7:WM2@WIXI XQWQ:WQ2WQ*WQVYbUYBUY*UYUYUe@Ba%BY= BA l>*BA RzAAAQX)="C2@*CX/RCcC2@C֭rׁIG=>ܥ>9ܡIܥhqGiܥ6@ܥ=ܡܡܥ{; ݥE)Ii==45߇q,!EAY}2~E@}25@y}2*}2'#}2Ho &6ӿʲ? $?DžA'? _bI?)~2~E@ ~2c_;I~2Cɫ99)9 =I9Y}@y}uGxDUSBL response received:!U1,R,FF6,000,0062F,183,80,80,87,FF Fpublishing direction and range info5<ɰ>鰅$> )CIyeBޙ%?B7߁?ٱI)NMMc=Y/s:QU>aDDyB;}>IW5? #B ?9D: ":)W22@WX XW:W2W*WVbUBU *U U U `s@P*QeBZQ( +()L@Rf5 ?JQޙ%?B7߁?2Q5<:QbQ3aThK,ZO0@)c@RQ9U<2ޗ?`y?BQ(6@ QjAQB[PB9?PC9?PQQU-A"Q6ABU5BQ BQAUjg>*BYA]yAYAYA](="Ce22@*CeRCeCe22@Cim!I1GM1>~~ R.:YT1y@:5)֋;9 q,:EA|i|Y}j;E@}j5@y}j}j@}jHuӿ?D?`0`iZ?`5w ?)~j;E@ ~j _;I~jCɫ) IY\@yvG}TNmea in: $SNTTA,0.049667,,,,011048.82*4C C=b94yya}D}Dyv;}>Iȑ :ŕ>5? :ŕ tI ƕKB ?9ƕDǕ: ȕ:)ȕ8:muAdded new target pos. range: 57.480007 m, bearing: 163.078088 deg, deltaT: 4.365220 s, approachRate: -0.659761 m/s, LOS rate: 0.035712 deg/s, posRepo size: 4m ProNav: pos range: 57.480007 m, bearing: 163.078088 deg, approachRate: -0.659761 m/s, LOS rate: 0.035712 deg/s, cmd update: 0.107137 deg/s, cmd heading: 160.130923 deg, new cmd heading: 160.490171 deg. W[2@WX XW:W2W*WVbUBU*UUpL@U?B%!5B! B!A->*B)A-LxA)A)A-b(="C5[2@*C5z RC=C=[2@C9II]I!GEs>q,TEA&>9$I&rGi&*@&=$$&o; &EY}JZF@}J"6@y}JX}Jm}JH1ҿ?@? %?m`?)~JZF@ ~J_;I~JCɫYY)Y eIaY@yvGU=MUU=Y]^;QU]>YYaeDeʐDaym~<}m>Iim*5?m mjB }?9mDm/: m:)iW2@WX XW:W2W*WVbUBU*UUU x?B։(B BA>*BAwAAA'="C2@*CRCC2@C.= }} K6:YkS1yԊ:5);SIG>Oq,znEAY}:iF@}:إ6@y}:А}: A}:H,ҿ ? ?ம ? h?)~:iF@ ~:a^;I~:Cɫ髙) IY@yOwG]=i]=õ>õ5^õ1iõµ@ñ ĵ@)ĵ@Iĵ@iĵS@ <MC=Yn:QU>aDאDyi<}>I :5? : B ?9D@:  :)9:W-3@W)X1 X1W1:W12W1*W9V9bU9BU9*U9UAUE&?Bm =+Bi BqAu>*BqAuvAqAqAum'="C}3@*C}ݒRCмC3@Cѵ=ֵ׽?i׽?׉IG>  CCi 3oGI i "ӿٺ Am ?9u Aq,XtEA||p;Y}6 G@}6x87@y}6[l}6Ee}6H`ѿ?͎?Ɩd? L0?)~6 G@ ~6^;I~4ɫ99)9 9I9Y}@y}xGm333333?/$Mb`?m?m, m;)iIiymx&?y&1:v?m7)?m`em< mA)m&AIm|@im AimAM=MN=Y:QU>  a D DyE<}>IC5?l B -?9 D: :)WM3@WIXI XQWQ:WQ2WQ*WQVYbUYBUY*UYUYUe?B##B BAD>*BAuAAA&="C3@*CRCၙC3@Cϩϩ)б б|| .:YR1yi:n59@A9AIE$tGiEo@AAAEx; EE Ձԅ=e TмA II Gm >-q,YMEAY}6|G@}6x7@y}6Ý}6P@;}6H`Iw=ѿ{,?`3?@%Y`e?g??)~6|G@ ~6L^;I~4ɫ99)9 9I9YI@yxG5O=M=P=Y=;QU=>AAaEDEDIyMG{<}M>IQU75?U\ UB ]?9UDU: U;:)QW3@WX XW:W2W*WVbUBU*UUUH@B/B BAs>*BA+uAAAKn&="C3@*CRCgtC3@C׉IG>Wq,(EAY}:ĖG@}:47@y}:{}:g<}:Hf `ѿNR??`_y???)~:ĖG@ ~:^;I~:Cɫ99)9 9I9Y}y@y}yGI)I)]xi]-]>i]Q@Y ]X@)]I]A@i]"@mj<MmG=Ym ;QUu>qqauD}Dyy}/;}>Iȁ :Ņr5? :Ņ ƅB ?9ƅ-DDžU: ȅn:)ȅ::W4)3@WX XW:W2W*WVbUBU*UUUБ@B/B BAu>*BAsAAA%="C4)3@*C RC VqC 4)3@C%I)))@ yy 8:YP1y':I5I G%M>A 9A IE PuGiE c@E =A A E q; E E@q,lEA|i|Y}vyG@}vI7@y}v$m}vI<}vHB J4ѿ`L?6? )?B ?g?)~vyG@ ~v^;I~vCɫ髹) IY@y[yG@A)= =m<<MmJ=YmyH;QUu>qya}D} Dyy}>Iȉō5?ō ƍ B ?9ƍ>DǍ: ȍ:)ȉW53@WX XW:W2W*WVbUBU*UUUI@RB*** querying acoustic contact ***PPB`B BA>*BASrAAA0h%="C 53@*C jRC 6VC53@C!%hAEvI)GEQ>klq,EAY}-sG@}-7@y}-}-<}-H1`S>ѿ²?H=? f XѲ?`?}?)~-sG@ ~-^;I~-Cɫ) IY5[@y51zG=Z****** received transponder code query ******=F****** received ping request ******=uz>ujiu3@q u5@)uS@IuS@iuj@+=M!=Y-;QU>aDDyBH}>Iȡ :ť.5? :ť, ƥ1B ?9ƥSDǥ: ȥ:)ȥ;:WE3@WX Xzz <0:YQ1y:5W:W2W*WVbUBU*UUU` @B-B) B)A5>*B1A5sqA1A1A=F$="C=E3@*CEFRCE CEE3@CA ױ I G >Qq, EAY}2ѕG@}2A7@y}2j}2r;}2Hn!ѿG?`? O@2?@*2y?W?)~2ѕG@ ~2Y^;I~2Cɫ99)9 =IAY} @y}{GxDUSBL response received:!U1,P FF6,000,0062F,183,80,80,87,FF Command AckBRequesting micromodem ping code 2iC=i4=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 @5^I ?IIaMDM'DQyU;}U>IY]75?] ]TB ?9]eD]; ]]:)YWmQ3@WX XW:W2W*WVhAbU)BU1*U1UaUe 5@9CIwGiK@o; EBmx Bi BiAmt>*BqAv#pAAAfA$="CmQ3@*C&RC/CmQ3@C֭ mׁ I G >{ȁq,#EA||;Y}:G@}:7@y}:}::}:H"п'?t?o%Er?ڳV??)~:G@ ~:^;I~:Cɫ99)9 =I9Y}@y}"{GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -iA-jA5@<MU=Y]8:QU]?YYaeDe1DaymD<}m?Iq :uA{5? :u unB ?9utDu: u:)u<:WZ3@WX XW:W2W*WVbUBU *UUUPI@B];Ba BaAe׼>*BaAeLoAaAaAmi#="CZ3@*CKRC_CZ3@C ե=ԥ=   6:Yyn5);9=IGl>΁q,p=EAY}:VG@}:8@y}:}:IK:}:H <@Yп@ )=CIypYBD/vq ?&k۱ٱ<ԸaD?Dy B;} >Iyb5? B ?9Dӻ: :)W=g3@WAXA XAWA:WA2WA*WIVIbUIBUQ*UQUQUUb@Pa*QepYBZQe+!K@8UJQeD/vq ?&k۱2Qe5:QabQepyIKء1@lD+@RQe-$./?``!?BQe3@ QeŎAQeLPeD9?PeB9?PeQaQe#A"QeU-ABWB BA=>*BA:nAAAR#="Cg3@*C-RC-OC-g3@C1]lX1IAG]v>Ձq,WWEAN>9LINxGiN?@N=LLNh; NE)CICiCK=K=KiZ5Y}}0H@}}/8@y}}Ȑ}}B[]:}}H mfп^?٣?`ܑV?`K??)~}0H@ ~}b^;I~}CɫIQ)Q UIQY@y|GTNmea in: $SNTTA,0.047255,,,,011053.25*40 I)I)m=MmC=Ym;QUu>qqauDuLDyy};}}>Iȁ :ŅI5? :Ņ: ƅB ?9ƅDDž: ȅ+:)ȅ=:myAdded new target pos. range: 54.359993 m, bearing: 160.784429 deg, deltaT: 4.485768 s, approachRate: -0.695536 m/s, LOS rate: -0.511319 deg/s, posRepo size: 4m ProNav: pos range: 54.359993 m, bearing: 160.784429 deg, approachRate: -0.695536 m/s, LOS rate: -0.511319 deg/s, cmd update: -1.533958 deg/s, cmd heading: 160.611501 deg, new cmd heading: 160.656488 deg. Wp2@WX XW:W2W*WVbUBU*UU@.K@UO?BUB BA>*BA6lAAA'"="C%p2@RC%C%p2@C! .:YT1y:5);5jZX IG5>ہq,5qEAY}fH@}f58@y}f}fA;}fH.п?>?|o?@_h??)~fH@ ~fE^;I~fCɫ髑) IY-@y-/|GResponse from modem failed NMEA checksum: $CAREV,011OC,0.20.0.39330*7A expected 69)> >Ý+ÝÝ`iÝ@Ù ĝ@)ĝ|@Iĝ@iĝ@߃;M6=Y<;QU>aDZDyO?:}>I/5? B ?9D: r:)WU1@WQXQ XQWY:WY2WY*WYVabUaBUa*UaUiUm ?BB BA>*BA0kAAAX;"="C1@RC<C1@C?BɺIG>q,~EAY}28H@}2`T8@y}2}2}2H5 oп@[??@@?!LB?)~28H@ ~2^;I~0ɫ99)9 =IAY]w@y]|GmZd;O?i|?5Q뱿m~>m m\)iIiymK7?{Gz?X9v?m)?m#=Mx=Yu;QU?aDeDyK;}?Iȩŭ5?ŭ ƭB ?9ƭDǭ: ȭ:)ȩWY1@WX XW:W2W*WVbUBU*UUU@ &?B8˼B BA]>*BA%!jA!A!A%!="C-Y1@RC-~<C-Y1@C1ErgىىzzI 3:YQ1y:59%@GER>ܽ>9ܹIܽzGiܽ2@ܽ=ܹܹܽo; ݽEq,ܤEAY}2gH@}28@y}2jJ}2̻}2Hdп`!?U? |[? ˏy?)~2gH@ ~2^^;I~0ɫII)I IIIY}@y}J}GE=MR=Y;QU>!!a%D%qD)y-O;}->I1 =:55? =:51 5B E?95D5: 5:)5>:We0@WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU}``?B)MۼB BA>*BAhAAAxQ!="CU0@RCU<CU0@CYM0:D)q,xEAɫ髉) IYs@y~GiSoGIi)IE=)E=MhAMhAfҿٺAõ5>õAõȶiõ@ñ ĵ@)ĵ5@Iĵ5@iĵ@.=M@=YQU>aDDy}>I5?b 3B ?9D@: Y:)W /@W X XW:W2W*WVbUBU*UUU`7@BU޼B  B A >*B A)gAAA ="C/@RC=C/@C! QU= || 4:YR1yi:5]e<I!GEs>] >9Y I] zGi] @] =Y Y ] p; Y aq,EAY}>_H@}> 9@y}>܀}>}>H_ Ͽլ?؞?X+?a?)~>_H@ ~>J^;I~>Cɫyy)y }IyY@y$~G5<M=Q=Y=;QU=>AAaEDEDIyM<}M>IQ ]:U5? ]:U UPB e?9UDU: U:)U?:W+I/@WX XW:W2W*WVbUBU*UUU@7@B[¼B BA>*BA eAAAK ="C+I/@RCZ=C+I/@Cq,UlEAY}6H@}69@y}6c}6A}6H`6Ͽ? ? jס ? ]H?)~6H@ ~6ª^;I~6CɫAI)I UIQY@y~G5;>5Sc5>i5 @1 55@)5I5@i5ʭ@m#<Mu:=Y}:QU>aDDy}>I  95?  rB ?9 D : :) W]Y.@WYXY XYWY:WY2Wa*WaVabUBU*UUU@RB*** querying acoustic contact ***PPBbּB BAG>*BA:dAAAJ="C Y.@RC Д{=CY.@C~~ 0:YT1y@:55=IG>q,VI EAY}6ѡH@}6@8@y}66~}6߱}6H@9п? ~?\'Ģ?@|0M?)~6ѡH@ ~6f^;I~6CɫII)I MIIY}\@y}GZ****** received transponder code query ******F****** received ping request ******aDDy=}>Iȑ :ŕ|5? :ŕV ƕB ?9ƕDǕ: ȕY:)ȕ@:Ws-@WX XW:W2W*WVbUBU*UUU @B%,ѰB! B!AM>*BIAMbAIAIAM;="CUs-@RCU=C]s-@CY)-gAErA=9CIX|Gi@=r; EI)GEQ> q,$&EAY}6A=H@}6X8@y}6{}6Ӽ}6H<@gп? ~?+7褿q?m?)~6A=H@ ~6^;I~6Cɫ99)9 =I9Y@ycGxDUSBL response received:!U1,P 050,000,005FB,184,80,80,BD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -<M5R=YEU:QUM>YYaeDmDyy |}>Iȩŭ5?ŭ ƭB ?9ƭ#Dǭb; ȭ3;)ȩW]-@WYXa XaW:W2W*WVbUBU*UUU ` @  76:Yy5);9B5żB1 B1A5(>*B9AE`AAAIAMu="C}-@RC=C-@C֭fm=ױi׵?i Iy G >"Bq,?EAY}6G@}6h 8@y}6w}6 }6Hkп`L?\?` 1?*n?)~6G@ ~6^;I~6Cɫ99)9 =IAY@yG鮩ɮR=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5=i5=ÍTÍ>ÍQ>iÍ(@É č@)čS@IčS@ičS@`;MC=Y ;QU>aDDyA}>IȹŽ5?Ž ƽB ?9ƽ4Dǽ+: Ƚ:)ȹWey,@WaXa XaWa:Wi2Wi*WqVqbUqBUq*UqUyU}+@B`B BA>*BAz_AAA2="Cy,@RC=Cy,@C=סIGA> 9 I |Gi k@ s; 9q,ZEAY}>rG@}>7@y}>s}>-}>H !ѿ敧?w?@s@r?`藥@3?)~>rG@ ~>^;I~>CɫYY)Y ]IYY@yGI=)C=iAiA<MU=Y;QU>aD̑Dy,}>I :q5? : B ?9DD:  :)A:W-<+@W)X) X)W):W)2W1*W1V1bU9BU9*U9U9U=`5@Be(Bi BiAm,>*BiAm^AqAqAu{="C}<+@RC}ʣ=C}<+@Cօx=aIiG9>=ia=S  q::Yy5)N;,Tq,sEAY}G@}"7@y}fn}[}H?ѿ@ZU? ?`3`ȭ?j[?)~G@ ~_;I~Cɫy髁) IY@yUG5DNmea in: $SNTTA,,,,,011057.71*5A K?~jt?D< t)Iysh|??I +{Gz?)?9#= @) AI1@iAp@ÍjÍ"Í}iÍf@É č1@)čIĉiĉ-=M'=Y-;QU>aDۑDyg9}>IȹŽxW5?ŽR ƽB ?9ƽYDǽ: Ƚ:)ȹW+@WX XW:W2W*WVbUBU*UUU@@B-B) B)A-h?*B1A5[A1A1A5="C=+@RC=j=C=+@Cֵ@=I׹)׹׉IG><#q,EAY}6{G@}67@y}6Nh}6}}6Hpѿ@d?`m:? B,?@L?)~6{G@ ~6a_;I~6Cɫyy)y }IyY@ycG?AIA)A <M=Y:;QU ?aDDy }?I  :F5?  :խ B  ?9fDA: o:)B:W5 w*@W1X1 X1W1:W92W9*W9V9bUABUA*UAUAUE @Bu|TB BA?*BAZAAAé="C w*@RC%=C% w*@C!-=%=IG=/>܁9܁I܅}Gi܅_@܁܁܁܅m; ݅E)݉IݍCi݉ݍ=ݍ=ݍ4F  M:Yy75) ;f)q,nEAY}2pG@}267@y}2e}2}2H7ѿ? ?`T,@`?`鱿 ?)~2pG@ ~2<_;I~2CɫYY)Y YIYY6@yG 鿱)ý= ý=!=ML=Y;QU>aDDy*p}>I15?S (B ?9wD߼: :)W )@WX XW:W2W*WVbUBU*U!U!U%@u@R-B*** querying acoustic contact ***P)P)BU/BQ BQAU'?*BYA]XAYAYA]#="Ce)@RCeY=Ce)@Ci֕2=ׁIG=>IAA)AAN0q,GEAY}20F@}26@y}2b}2}2H)Xҿ`C? ?w Zi@BY?4@?)~20F@ ~2)K_;I~0ɫ99)9 =IAY]X@y]ǀGý\?ýqý;_>iùù Ľ@)Ľ5@IĽ5@iĽ@$<MJ=Y:QU>aDDy}>I :5? : IB ?9D: U:)C:W)@WX XW:W2W*WVbUBU*UUU:%@B4"B BA2?*BAWAA!A%="C%)@RC-0=C-)@C1E=M?iM?[ }} ;:YkS1yԊ:59@I)GEQ>9 99 I= ~Gi= @9 9 9 = k; = EAx6q,"EAY}2dE@}26@y}2 _}2=۪}2HɌҿLC?a?Or z@?LU?)~2dE@ ~2߉_;I~2CɫYY)Y ]IYY@yGi=R=i4= k<MH=YT:QU>aD D y Jɼ} >Iu5?ş iB %?9D: /:)WEab(@WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQU]@Bp'sB! B!A% ?*B!A%WEUA!A!A-1="CMab(@RCUu=CUab(@CQօGg=YIaGY>RE@}>Sn5@y}>ӁZ}>}>Hv/ӿ֗?L?Ua4L?!&?)~>RE@ ~>x_;I~>Cɫ髙) IY@yGõV>õnõiõ@ñ ĵ$@)ĵ@Iĵ@iĵ@T_<M0=Y3;QU>aDDyU}>I :5? : B ?9DY: #:)D:W'@WX XW:W2W*WVbU!BU!*U!U)U-ਓ@BU@ }BQ BQAUR ?*BYA]JSAYAYA]="Cu'@RCu4=Cu'@Cy=i%0 %|%|% %7:Y%R1y%i:%5e<>a֕=inGI i!]ͿٺY]AaIiG|>&Cq, EAɫ髙) IY@yG)<M%j=Y%QU%?))a-D-&D1y5}5?I9=5?=ו =B E?9=D=8: =/:)9Wm&@WiXi XiWi:Wq2Wq*WqVqbUyBUy*UyUyU@B%B BA? ?*BAwQAAAw="C&@RCt=C&@Cz=I)>9IxGi@=c; EIGF>Iq,F( EAY}2,D@}2:4@y}2uP}2н}2HGԿǏ?@p?`=`" ?@ﹿ`.?)~2,D@ ~2;_;I~2CɫYY)Y ]IYY@y.G@AIA)I)A<<MQ=YT;QU>aD3DydD}>I/5?͐ B ?9D: :)W Q&@WX XW:W2W*WVbUBU*U!U!U%Q@BM @BI BQAg ?*BA#OAAA="CQ&@RC_=CQ&@C=I G--> ~~ X:YT1y@:\5Pq,ŎB EA|i|@ɫ髙) IYm@yrG=>=p==i= @9 =@)=I=j@i=@M=MUB=YUQUU>YYa]D]@Daye}e>Ii u:m5? }:m` mB }?9mDmE: m:)mE:Wx%@WX XW:W2W*WVbUBU*UU)U5% @B]KBY BYA]?*BYAeMAaAaAe="Cmx%@RCo=Cx%@C֥ =yIG^> >9 I Gi G@ a; E9Vq,?r\ EAɫ髑) IY@yGb<MP=YQU>aDMDy } >I5?S  B ?9DD: :)WE$@WAXA XAWI:WI2WI*WIVQbUQBUQ*UQUYU] @ReB*** querying acoustic contact ***PaPaB4.B BAC?*BA&LAAA_p="C$@RC=C$@C֥=aIiG9> c2:YT1y:5)Y;9\q,eSv EAY}m"B@}m82@y}mG@}mb}mHYֿ8Bd?@U?oZ9?%&`?)~m"B@ ~m*`;I~mCɫ髉) IY@yGɮp=p=i=a i@a  a m@a  a q@a  a e@a  MTMοM >iM@I Mx@)IIM5@iM5@m7<Mm)=Yuqya}D}\DyyW}>Iȉ :ōu5? :ō ƍ, B ?9ƍDǍ: ȍO>)ȍF:Wa$@WX XW:W2W*WVbUBU*UUU !@BKNB BA?*BAIAAA="Ca$@RC=Ca$@C ս=Խ=֭=׉IG>cq,% EA|;|Y}:pA@}:S1@y}:ZC<}:}:H 8`&׿hwD@? Ov@L?@?)~:pA@ ~:_;I~:CɫYY)Y ]IYY@yGSetting waiting for range response to false due to timeout. Elapsed:6.0740155eH<M5v=Y=YB;QU=?99aEDEgDAyMQ}M?Iq5?z E B ?9D: (U?)W`#@WX XW:W2W *W VbUBU*UU!U%T"@Bep,Ba BiAm?*BiAud1HAqAqAum="C}`#@RCX=C`#@C9CIGi@=[; Euv=YIiG:>8 || I8:YR1yi:\5)r;Zjq,H EAY}2@@}2E0@y}2Hw6}2og}2H]׿Gtg?`Rt[̦? 5?)~2@@ ~2Y_;I~0ɫII)I MIIY}.@y}G7<MU=Yq;QU>aDsDy.˼}>IȹŽ^5?ŽBu ƽa B ?9ƽ"Dǽ: ȽǙ?)ȹW"@WX XW:W2W*WVbUBU*UUUL#@B%(B) B)A-?*B)A=oFA9AAAEx="C]"@RC]6=C]"@Ca֍^=AIQGm5>pq, EAY}>E@@}>Ha0@y}>IM0}>}>H I3ؿYK f ?`S@@?@p?)~>E@@ ~>_;I~>CɫYY)Y YIYY@y8GI)> >i@ @)@Iݸ@i@-$=M-A=Y5h;QU5>99a=D=DAyEب}E>IIMI5?Mn M B U?9M4DM: M?)IW}?$"@WyXy XyWy:W2W*WVbUBU*UUU@d%$@B@ܻB BA?*BAVDAAAt="C?$"@RC4=C?$"@CiA=יIGA>}} ,*:YkS1yԊ:59@ >9 I Gi @ J; ݗE)Ii==~R5wq, EA|i|@Y}>#?@}>/@y}>H)}>}>H ؿdD`:?4 0?#ױ?)~>#?@ ~>&_;I~>CɫYY)Y ]IYY@y$G)õ= õ=+MR=Y(;QU>aDDyϼ}>I :A55? : i  B ?9DD: @)G:W[r!@WX XW:W2W*WVbUBU*UUU$@BB BA ?*BAQBAAAn="C[r!@RCC=C[r!@C!Eh=I@A)@A!I1GMR>B}q, EAY}e>@}e`/@y}e$}e| }eH@\8kٿ`O? @~?`į?)~e>@ ~e^;I~eCɫ)))) 5I1Y@yHGa i-a i- a m-a m- a q-a q- a e-a e- -?Mb`?Q?- ?-; -\=))I)y-'1Z?Mb?-"?--< -j@)- AI-^@i-|A)-z@ÍÍ1HÍ.>iÍ@É čf@)č\@Ič@ič@h~<M/=Y?;QU>aDDyȼ}>IȱŵX5?ŵxb Ƶ B ?9ƵWDǵ: ȵ:)ȱW# @WX XW:W2W*WVbUBU*UUU%@RB*** querying acoustic contact ***PPBB BA?*BA?AAAnz="C# @RCeT=C=# @C9bzz 9':YQ1y:&5-w=1i5y? IG->X&q,g EAY}6}.>@}6I.@y}6}6P }6H@7 `ڿc?n@o?c@?)~6}.>@ ~6*+_;I~6CɫII)I MIIY]G@y]GeZ****** received transponder code query ******eF****** received ping request ******eAAA ="CD @RC=CD @C ՝=ԝ=9IGi@=I; ܗE֥V=yIG^>Rq,{I+ EAY}F=@}Fn-@y}Fn3}F- }FHcڿ)?y7?L@@??)~F=@ ~F&_;I~FCɫYY)Y ]IYY^@yGxDUSBL response received:!U1,P 050,000,005FB,184,80,80,BD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I%=)%4=99m;MuA=Y;QU>aDDy%}>I : 5? :W  B ?9wD< ) =)H:W:@WX XW :W 2W *W V bUBU*UUU`S'@BhٻB BAa ?*BA=;AAA="C:@RC =C:@  | |  0:Y R1y i: J5C/=IG>i 3oGI i οٺ nAi8q,XE EAɫyy)y }IyYl@yGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B b>v=iz@ @)ݸ@I1@i@};MB=YQU>aD’Dy} >I  N5? P  B ?9 D n: :) W=m@W9X9 XAWA:WA2WA*WAVAbUIBUI*UQUQUU s<(@B}";B BA ?*BA9AAA2="Cm@RC[=Cm@C֝^1=Iס)סyIG^>ܵ >9ܱ Iܵ LGiܵ /@ܱ ܱ ܱ ܵ Q; ݵ Ebq,{^ EAY}Jކ<@}JN,@y}J&}J?_?)~Jކ<@ ~J__;I~JCɫyy)y yIyY@yςG?AxDUSBL response received:!U1,R,F55,000,0057B,187,80,80,93,FF Fpublishing direction and range info>ɰ=1> )CIy:BsZL?b1Dz?ٱ <M]=Y2aDΒDy(0}>I  : b5? : OK  B ?9 D : H:) I:W=@W9X9 X9W9:W92WA*WAVAbUABUI*UIUIUM(@PY*Q]:BZQ]G@'` @JQ]sZL?b1Dz?2Q]>:QYbQ]`jQFT9;AyC+@3Hm?RQ]! < ,Ȏ?`?BQ]6@ Q]ZAQ]2P]A9?P]D9?P]Q]Q]@"Q]#ABU2BQ BQAU"?*BQA]7AYAYA]C="Ce@RCe=Ce@Ciԙԙu0=AIiG9>     c2:Y WU1y : 5) Y;9q,Tx EAY};@}+,@y} 0 }}H[4ܿ`9 ?jv@?0t?)~;@ ~\_;I~ɫII)Q UIQY@yGDNmea in: $SNTTA,,,,,011105.79*54 M?y&1Mb?n?`e <)IyB`"?l~jt?.?= ¥S@)¡I¡i¥ A)ý= ý=zA>if@ @)=@Ii5@Y<M,=YV:QU>a%D%ݒD!y-A}->I15g5?5B 5 B =?95D5Q: 5:)1meyAdded new target pos. range: 46.680000 m, bearing: 163.018898 deg, deltaT: 12.490467 s, approachRate: -0.614868 m/s, LOS rate: 0.178894 deg/s, posRepo size: 4mu ProNav: pos range: 46.680000 m, bearing: 163.018898 deg, approachRate: -0.614868 m/s, LOS rate: 0.178894 deg/s, cmd update: 0.536682 deg/s, cmd heading: 141.451559 deg, new cmd heading: 140.673217 deg. WN@WX XW:W2W*WVbUBU*UU@ WG@U@k?BB BA3$?*BAaX5A!A!A%S ="C-N@*C-ɃRC-la=C-N@C1M#=) I9 GU >wq, EAɫ髱) IY@yGλMd=YQU>aDDy}>I :>5? :;  B ?9D: \:)J:W @W X  X W:W2W*WVbUBU*UUU%@4?IIU>9QIU~GiU@QQQUF; UڗEBx;B  B A%#?*B!A%3A!A)A-="C-@*C58RC5=C5@C1-6[=  | |  4:Y R1y i: 5) ;IG=P>q, EAY}:Y:@}:Nu*@y}:n }: }:H dpݿ`o?  l?߭?)~:Y:@ ~:P_;I~8ɫ99)9 9I9Y}4@y}(G-?-#- =i-G@) -1@)-@I-ݸ@i-@==M=B=YE:QUE>AIaMDMDIyUrm}U>IY]`5?]3 ]3 B e?9]D]: ]D:)YWO@WX XW:W2W*WVbUBU*UUU y.?B-c:B) B)A-'?*B1A5ag1A1A1A5 6="C=O@*C=됽RC==CEO@CA ]=]==D%=I!G=r>q,To EAY}F9@}F`)@y}F;}F}FH; ޿@ ? w=? D ?)~F9@ ~F*D_;I~FCɫqq)q }IyY @yGI4=)C=!!UMW=Y&;QU>aDDy}>Iȡ :ť5? :ťi, ƥM B ?9ƥDǥ: ȥ:)ȥK:W@WX XW:W2W*WVbUBU*UUU$?B ;B BA%?*BAEm/AAAX="C%@*C%RC%d~=C%@C)E=YIiG:>i=  z z  B:Y Q1y : n59@M >9I IM GiM @M =M QDI I M ٗEq, A EAY}29@}2G4)@y}2t}2Nt }2H 8 ޿Hy?& jM?ޝ٭?)~29@ ~2_;I~2CɫII)I QIQY}@y}WG=MR=Y`;QU>!!a%D%D)y-}->I15dm5?5$ 5f B E?95D5Q: 5]:)1We7@WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqU} /@BP.;B BA)?*BAP-AAAJ="C57@*C5UjRC5X=C57@C9e(=9IIGeU>߽q,j. EAY}R8@}Rm(@y}R}R} }RH`@#޿c?ӭ Q?a?)~R8@ ~R6_;I~RCɫqq)q uIqY@yGII)I> ףp=?(\ſ~jth?1?. D;)IyQ?Zd;OX9v?(?j< )Ii|A(@ÝjÝÝX9>iÝ@Ù ĝ@)ĝ@Iĝ@ię7M3=Ya;QU>aDDyu}>IW5?  B ?9D¿: f:)W}@WX XW:W2W*WVbUBU*UU U `@B5@`S:B1 B1A=*&?*B9A=*A9A9AE="CE}@*CM$RCMԱ5=CM}@CIYY]Sf=  | |  5:Y R1y i: J5I!G=Q>Ăq,n EAY}28>8@}2Y(@y}2꼙}2{ }2H<߿@Y錄K?`@o\?m-?)~28>8@ ~2^;I~0ɫAA)A EIAY}-@y}#G 鿡)í= í=<Mq=YQ;QU?aD(Dy}?I :GG5? :  B ?9D ?; @;)L:Wд@WX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPiA>9IiB; ؗE)ݝCIݙiݙݝ=ݝ=ݝ5BEx;BA BAAM&?*BIAMW(AQAQAUf="Cuд@*CuRCu=Cuд@CyegW=I)9IIGeV>ʂq,@- EAY}V[7@}V'@y}V༙}V}VH߿"@)?uj¿?`H@T?)~V[7@ ~V_;I~Tɫ髹) IY@y~G5Z****** received transponder code query ******5F****** received ping request ******5åCåDiå@á ĥ1@)ĥS@Iġiĥj@=M.=Y+;QU>aD7Dyf}>I15?  B ?9$Db: +:)W@WXA XIWI:WQ2WY*WYVYbUaBUa*UaUaUme @B`uf;B BA}+?*BAZl&AAAM="C@*C`RC<C@C=- ))- -a4:Y)y)-5׹IGf>?тq,)G EAY}20_7@}2z'@y}2ڼ}2<}2HM@l䡿?@u K X?ؓ2?)~20_7@ ~2^;I~0ɫaa)i iIiY@yuG鮝a=ɮR=xDUSBL response received:!U1,P F55,000,0057B,187,80,80,93,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ٩Mj=Yp ;QU%>19aEDECDYye}m>Iȉ :ō 5? :ō~ ƍ B ?9ƍ4DǍ< ȍ<)ȍM:W7 @WX  XW:W2WI*WIVIbUQBUY*UYUaU @BA;B BA +?*B A -$A A A r="C7 @*CRCٸ<C7 @C U=U==l=I!G=>>9Ii=<; ՗E ؂q,a EAY}J6@}J5'@y}JB׼}Jֽ}JH 6S8?:b` ??ͺ#?)~J6@ ~J3^;I~JCɫqq)q uIqY@yGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IUp=)U=Y]hAg<MB=Y:QU>aDPDy}>Iȩŭ 5?ŭh߾ ƭ B ?9ƭEDǭ: ȭ:)ȩWp @WX XW:W2W*WVbUBU*UUU<@Bl><B BAb.?*BAe?"A!A!A%R="Cp @*C]RC+4<Cp @CֽS-<יIG@>i 2:Yy5);9 )ނq,sd{ EAY}:6@}:&@y}:μ}:Wʽ}:H``z_`~@Ia?O`` ٙ?`mCc?)~:6@ ~:|^;I~:Cɫ99)9 =I9Y}@y}gGxDUSBL response received:!U1,R,ECF,000,00544,186,80,80,64,FF Fpublishing direction and range info{F>ɰ=鰅> )BIy-Bî?1?ٱ+?B`"۹I +v>?ν 94)IyI +?y&1 rh?94?`C = j@)AIip@@e =eCeX>ie@a e|@)e@Iaie@uMu==Yu;QUu>yya}D}^DyX}>IiMnGIa e:5?iq m:߾  BϿٺKA ?9YD8< ѻ<)N:Wٸ @W X  X W :W 2W *WVbUBU*UUUy"@PI*QM-BZQMhD@ڷ+&@JQMî?1?2QM{F>:QIbQMEhDz^'@T_бRQMGi7!wt#=?0YHZBQM7@ QM:AQM'PMB9?PMA9?PMQMQMb@"QM@B`X;B BAU*?*BAљAAA="Cٸ @*C.RCN;Cٸ @C5%<IG>jq,UN EAɫII)Q UIQܕ>9ܑIܑiܑܕ=ܕPDܑܕA; ݕחEY@yGTNmea in: $SNTTA,0.159300,,,,011110.23*4F I)mv=MmJ=YmQUm>qqauDukDyy}}}>IȁŅ%5?Ņz߾ ƅ B ?9ƅkDDžM: ȅ߼:)ȁmuAdded new target pos. range: 43.380001 m, bearing: 164.374008 deg, deltaT: 4.539867 s, approachRate: -0.726893 m/s, LOS rate: 0.298491 deg/s, posRepo size: 4m ProNav: pos range: 43.380001 m, bearing: 164.374008 deg, approachRate: -0.726893 m/s, LOS rate: 0.298491 deg/s, cmd update: 0.895473 deg/s, cmd heading: 143.885868 deg, new cmd heading: 144.082385 deg. W!@WX XW:W2W*WVbUBU*UUࣰE@U/?B6<B BAo2?*BA}cAyAyA}'="C!@*C< RCpyC!@C~~ .:YT1y@:5);֕m;qIyG~>$;q,7 EAY}r'6@}rBC&@y}rq{}rM}rH`) j?@@»@N?rᵿ`?)~r'6@ ~r^;I~pɫ) IY@yG 鿉)Õ> Õ> >`i@ @)@I@iݸ@MS=Y;QU>aDwDy}>I  : 5? : ߾  B ?9 |D : :) O:W=x!@W9X9 X9WA:WA2WA*WAVAbUIBUI*UIUQUU?B}F<By ByA+?*BAvAAA ="Cx!@*C:RCڐ=Cx!@CI)AA=NJN;I!GUu>g%q,\ EAY}J}/6@}JJ&@y}JY}Jà}JHb j閿 ˉ?`G ʕ??)~J}/6@ ~JM^;I~JCɫ髑) IYk@yGulV=MuR=Yuy;QUu>yya}D}Dy:}>I#5?n߾ + B ?9D: 7:)W !@W X  XW:W2W*WVbUBU*UUU%LD?BM@4<BI BIAU0?*BQAU5AQAQAUT ="Cu!@*C}ӎRCDxC!@CօYIiG8>W  ::YT1y:59 @ܕ>9ܑIܑiܑܑܑܑܕD; ݕؗELq, EAY}2V6@}2vq&@y}2=}2M}2Hl@zpƒXy?4W-N'? 䱿5?)~2V6@ ~2^;I~2Cɫ99)9 =I9Y@ywG=i=5eM=N=Y=|:QU=>AAaEDEDAyM;}M>IQU5?U߾ U? B ]?9UDU: U:)QWA"@WX XW:W2W*WVbUBU*UUU@Yq?B(0<B BA$+?*BAfAAAH ="CA"@*CDRCCA"@C ==E:1IaG^>Y}q," EAY}V 6@}Vz&@y}V)}Vw}VH@xgg)`e?Rh@ۯۤ?@c[?)~V 6@ ~V _;I~VCɫ髉) IY 4@y ŃGIu=)u=gfffff?T㥛 ?{Gzt3?> ף)Iyoʡ? rh{Gzt?-?Cף; @) AI@i@@9=jA>:94i@ 1@)j@I @ij@=M0=Y:QU>aDD y ;} >I :5? :߾ H B %?9D: :)P:WE""@WAXA XIWI:WI2WI*WIVQbUQBUQ*UQUQU] ?Bl<B BA/?*BAAAA ="C""@*CRCC""@C~~ /:YT1y@:[5m )I9GUu>cq, EAY}Vh6@}V&@y}V梼}VdN}VHE`zSŞP?y@)^\?@iȩ ?)~Vh6@ ~Vc_;I~VCɫ髑) IY?@ỹGqujAy9yIyiy}=}QDy}S; }ߗEs;M`=YKF:QU>aDDy<}>I 5?P߾ O B ?9DN; ;)W=#@W9X9 X9W9:WA2WA*WAVIbUIBUI*UIUQUU@B}hg<By ByA}l/?*BA?mAAAo ="C#@*CRC뿼C#@C}`=QIaG}Y>3 q,ds0 EAY}-D6@}-&@y}-}-S$}-HF`SiHm@P?}`?@~@?)~-D6@ ~-w_;I~-Cɫ ) IYMz@yMGQQIY)]A5K>5>5َ>i5(@1 5)5S@I5j@i1ET<MEC=YM4:QUM>IIaUDUDQy]}]>IY m:]l5? m:]ָ߾ ]W B m?9]D] : ]8:)]Q:W#@WX XW:W2W*WVbUBU*UUUo3@RB*** querying acoustic contact ***PPBK<B BAF1?*BA AAA ="C#@*CnRCpC#@C G }} M:YkS1yԊ:n5בIGb>pq,))a-D-ēD1y5 ;}=>IAE [5?Ep߾ E^ B U?9EDE: E;)AW} #@WyXy XyWy:W2W*WVbUBU*UUU:# @Bhw<B BAD.?*BAAAA? ="C #@*Cg\RCRC #@C֝߼יIGd>}>9yIyiyyyy}V; }E)ɇIɇiɇ͇=͇=͇4?q,y!d EAY}Z6@}Z&@y}Z6}Zv+ۼ}ZH@ώ CX?zA?jZ?c?)~Z6@ ~Z)_;I~ZCɫ髙) IY@y4G%xDUSBL response received:!U1,P ECF,000,00544,186,80,80,64,FF %Command Ack%BRequesting micromodem ping code 2i!!-Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Px=MD=Y{?;QU>aDѓDy~[;}>I  5: PF5? =: è߾ f B E?9 D ; ;) R:W"Y$@WX XW:WY2Wa*WaVabUaBUa*UiUiUmA @--z-z- -i*:Y-Q1y-:-5)-u;9MB5,d<B9 B9A=4?*BAAEf AIAIAe ="C}"Y$@*CDRC`7C"Y$@C => rס I G >q,,} EAY}2. 7@}2('@y}2χ}2Ǽ}2H9-e5`?*?l`? p?)~2. 7@ ~2^;I~2Cɫ99)9 =IAY}@y}GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i~jt?ʡE?V-$?> m)Iy r? rh+?#?= G@)p@I(@ip@ @mm;mHim(@i m@)m@Im@im@}xM}<=Y;QU>aDߓDy;}>Ișŝ 35?ŝǠ߾ Ɲ{ B ?9Ɲ Dǝ: ȝ :)șW$@WX XW:W2W*WVbUBU*UUU`@B<B  B A Q2?*B AU! AAA1d ="C$@RCT"C$@C!օ9IIGeV>V%q,ϗ EAY}VX7@}Vs'@y}Vkw}Vu劼}VH=X pr? ?MÖ?[ ?)~VX7@ ~Vr_;I~VCɫ髡) IYk@yGxDUSBL response received:!U1,R,EE4,000,00512,187,80,80,78,FF Fpublishing direction and range info}>ɰ=1> )BIy!B#A?/;f?ٱ<%>9%~CI!i!!!!%U; %ߗEI5R=)54=9=hAEKMMa=Y];QUe>qqauDuDyy}7K<}}>IȁŅ#"5?Ņؙ߾ ƅ B ?9ƅDDž: ȅ:)ȁWS%@WX XW:W2W*WVbUBU*UUUlr@P*Q!BZQ^CҶC@U#@JQ#A?/;f?2Q}>:QbQ媶^jCݚ&@R> ?RQԑK;ޅ?ݔl?BQO7@ Q0AQVPC9?PB9?PQQ@"Qb@BX<B BA0?*BAAAA ="CS%@*C{5RCj$CS%@C=ia= 0:YV1E3y:5);I!G=r>A+q,Ǻ EAY}V:7@}V'@y}VOx}VUk}VH@ ߿@x??(z? i@6?)~V:7@ ~V^^;I~VCɫ髱) IY@yGDNmea in: $SNTTA,,,,,011114.69*55 @ @ @©i@ )I@i@;M >=Y yaQU >aDDy_<}>I! -:%5? -:%߾ % B 5?9%)D%V: %#:)%S:m]yAdded new target pos. range: 40.380001 m, bearing: 164.108846 deg, deltaT: 4.363895 s, approachRate: -0.687459 m/s, LOS rate: -0.060763 deg/s, posRepo size: 4m- ProNav: pos range: 40.380001 m, bearing: 164.108846 deg, approachRate: -0.687459 m/s, LOS rate: -0.060763 deg/s, cmd update: -0.182288 deg/s, cmd heading: 147.797252 deg, new cmd heading: 148.178066 deg. W-(%@W)X1 X1W1:W12W1*W9V9bU9BU9*UAUE0D@UMc?Bi<B BA1?*BAkAAAے ="C(%@*C$!RCՇC(%@CAEhA-ȿ IG5>imGI i) U "ϿٺY ] A2q, EAY}J_8@}J.(@y}J6|}J'>+}JH@u߿@'? r?~@?`g`?)~J_8@ ~J^;I~JCɫ髡) IY0@yƒGIY)YѼMR=YjQU>aDDyHm<}>Iȱŵ5?ŵ߾ Ƶ B ?9Ƶ9Dǵ: ȵ¿:)ȱW$@WX XW:W2W*WVbUBU*UiUqUu`z?BP<B BA.?*BAAWAAA`+ ="C$@*C RCXC$@C#׹IGG>{{ -:Y#R1y:859@9I~Gi@=]; E/8q,_ EAY}:h8@}:(@y}:}:턻}:Hr5*߿ƈ?N(? R? "p?)~:h8@ ~:^;I~8ɫ99)9 =I9Y}@y}=G QQ)]= ]>|w=MJ=YMQU>aDDyR<}>Iȱ :ŵ5? :ŵV߾ Ƶ B ?9ƵJDǵ{: ȵ:)ȵT:W$@WX XW:W2W*WVbUBU*UUUs?B%x<B! B!A%65?*B!A-A)A)A-K="C5$@*C5RC5%C5$@C9-C !IIGmW><?q,: EAY}B+8@}B(@y}B}BE:}BH` ޿ ^M?? ~`?@p@??)~B+8@ ~B^;I~@ɫ) IY8@yǃG%)\(?sh|?ſ rh%G!?%) %C)!I!y%n?y&1{Gz?%V.?%`e%#< %^@)%@I%|@i%;@!%@   Å@?ÅlÅ㥾iÅ@Å ą$@)ąݸ@Ią@iąݸ@_\M;=Y~QU>aD Dyio<}>Iȱŵ5?ŵz߾ Ƶ B ?9Ƶ]Dǵ]: ȵf:)ȱW׿$@WX XW:W2W*WVbUBU*UUU`?B^<B BA%1/?*BAAEKAAAAAMxB="CM׿$@*CU#֍RCUӕCU׿$@CQ ե>ԥ=" }} 6:YkS1yԊ:5֕iIyG>6Eq,] EAY}2-C9@}2^)@y}2}24;}2H&i޿@a?`h?(@;v`?`f??)~2-C9@ ~2^;I~2Cɫ99)9 =I9Y]!@y]G>9Ii=_; Ei=5|M=d=Y=QU=>AAaEDE+DAyM<}M>IQ ]:U5? ]:Ur߾ U B e?9UmDU: U:)UU:W]$@WX XW:W2W*WVbUBU*UUU@8@B]<Ba BaAe.?*BaAe|AaAaAm="C]$@*CRCBDC]$@Cօ aIiG9>J%Lq,N2 EAY}6ϥ9@}6?)@y}6@}6<}6H>>޿ ???j!G'?՟??)~6ϥ9@ ~6|^;I~6Cɫ99)9 =IAYR@y׃GImC=)m=qqýK>ýý#=iý@ù Ľ;@)ĽZ@IĽ@iĽ@gc<MA=YQU>aD9Dyh<}>I%5?i߾  B U?9D_< :)Wt$@WX XW:W2W*WVbUBU*UUU@g@B <B BA0?*BAFAA!A%[="CMt$@*CMRCMsCMt$@CQ     z.:Y T1y : I5]t01IAG]v> Sq,%L EAY}:.9@}:)@y}:}:n\'<}:HKPݿ` ??@4MDmS?`8?? j?)~:.9@ ~:i^;I~:Cɫ99)9 =I9Ye`@ymG@A@;M`=Y0QU>aDEDy<}>I1 =:55? E:5a߾ 5 B E?95D5#: 5/:)5V:Wer$@WaXi XiWi:Wi2Wi*WiVqbUqBUq*UyUyU} @RB*** querying acoustic contact ***PPB<B BAw0?*BA=AAAZ="Cr$@*CwRCR߸Cr$@CiA֭軹iIyG>ܽ>9ܹIܽLGiܽ/@ܽ=ܹܹܽQ; ݽܗE97Yq,Lf EAY}29@}2e*@y}2/ }23<}2H` R@Aݿ@(?T?vSX? ?r?=?)~29@ ~2!^;I~0ɫII)Q QIYY@yGZ****** received transponder code query ******F****** received ping request ******aDSDyCq;}>I܇5?Y߾  B ?9D: ?:)WEm$@WAXA XAWA:WI2WI*WiVibUqBUq*UqUqU}` @B$<B BAu-?*BA[AAAh="Cm$@*C`NRC!;Cm$@C)|| /:YR1yi:5)H;9%=yb]I!G=r>`q, EAY}2r9@}2*@y}2}2T<}2H`Q8ݿ@ޔ?B?RH{]`S?@)?I?)~2r9@ ~2^;I~2CɫYY)Y ]IYY@yGxDUSBL response received:!U1,P EE4,000,00512,187,80,80,78,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Zd;O?A`"?j>Y= )IyL7A`?I +Zd;O?+'?94j< @)@I@iC@@)= u=C >if@ )@I@i@t=M!=Y'QU>IAA)@A!a%D%cD1y=g۹}]>Ii :mn5? :mO߾ m B ?9mDm < m<)mW:WmQ$@WiXi XqWq:W2W*WVbUBU*UUU`KZ@Bmg<B BA2?*BA.AAA="CQ$@*CRCagO;CQ$@C ] ;י I G >jIfq,_^ EAY}2O9@}2 *@y}2_}2g;}2HOݿ?@K?P@gnt?Ry?`4?)~2O9@ ~2(^;I~2Cɫ99)9 AIAYYm>9iIiiiiimDmX; mߗE)~CI~Ci=C5Y@y~Gɮp=-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B  M=YcrQU?aDmDybߺ}?I`5?J߾  B ?9D: ]:)WEC$@WAXA XAWA:WI2WI*WiVibUqBUq*UqUqU}=@B<B< BA}+?*BABAAAb="CC$@*CBRCa;CC$@CqZ; *:Yy5)߈;IGj>oslq,9 EAɫyy)y }IyYe@yEGxDUSBL response received:!U1,R,F00,000,004E6,186,80,80,96,FF Fpublishing direction and range infod>ɰt=> )CIyBXckl4?@|[?ٱi=jž>i@ @)@Ij@ij@MG=YQU>aDzDy}>IUM5?C߾ # B ?9D: 3:)W5.$@W1X1 X1W1:W92W9*W9V9bUABUA*UAUAUE@PQ*QUBZQU%iXfB@&k @JQUXckl4?@|[?2QUd>:QQbQUaCY9B.5}#@1ht3?RQUڙSf׵?a]?BQUW8@ QUAQUPUB9?PUC9?PQQUQU@"QU@B#<B BA(?*BAۼAAA="C.$@*C܌RCof;C.$@C֥yb];YIiGZ>^sq,! EAY}eD:@}e4`*@y}eM}ew}eH`bΉݿz?w?`>b@>I?^K?)~eD:@ ~eX_;I~eCɫ99)9 =IAYU@yUgGDNmea in: $SNTTA,,,,,011119.12*54 I=)=  Mք<MMC=YM^QUU>QQaUDUDYy]L<}]>Ia m:e$95? u:eF<߾ e3 B u?9eDe: e:)eX:muAdded new target pos. range: 37.739998 m, bearing: 165.032069 deg, deltaT: 4.460063 s, approachRate: -0.591921 m/s, LOS rate: 0.206998 deg/s, posRepo size: 4mrPowering the camera and arming the DDM at range: 37.74 m.Xm ProNav: pos range: 37.739998 m, bearing: 165.032069 deg, approachRate: -0.591921 m/s, LOS rate: 0.206998 deg/s, cmd update: 0.620993 deg/s, cmd heading: 146.984234 deg, new cmd heading: 146.908129 deg. Wx$@WX XWX:W2W*WVbUBU*UU@B@UN?B7<B BAU*?*BAc׼AAAR="Cx$@*CRCӦ;Cx$@C=ip=     -:Y y  59 @5፨;e>9aIaiae=aaeV; eݗEIG>myq,N EAɫQQ)Q YIYYu@yu~G.Powering up loadControlim2<ME=YQU>aDDy}>I$5?4߾ C B -?9Ds; ;):uAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;vZEntering USBL mode with 5.000000 count pings.1; q; W*$@WX XWX:W2W*WVbUBU!*UAUAUEw?Br<B BA}+?*BA1jҼAAA="C*$@*C7RC2:C*$@CG= ; I G >Gmq,XEAY}Rj:@}R*@y}R`ߩ}R}RHIk iݿi?Yc?@i61@;?@ ?)~Rj:@ ~R :t;I~RC\>9CinGIimҿٺq}mAɫ髙) IY@ypGIQ)QIQ)UA-n?)\(?Zd;O?-V?-Ga= -j<))I)y-B`"?~jtl?-.?-D-= -@)-@I-^@i-$@)-@Å>ÅÅOiÅ@Á ą)ą@IąS@ią@7̻M<=Y8QU>aDDy;}>Iȱ :ŵ5? :ŵZ,߾ ƵZ B ?9Ƶ Dǵ: ȵ:)ȵY:X@q;uCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:uAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLWP%@WX XWX:W2W*WVbUBU *U U U  I?B.<B BA*?*BA ͼAAA0.=     1:Y T1y : 5"CP%@*CfeRC*CP%@C9~M<9שIG>oq,EA|i|@Y}Jj`:@}J{*@y}J C}JH}JH@hrݿۂ?k?@g@?:g$?)~Jj`:@ ~J;I~JC||9}CIGi@=X; ܗEɫ髙) IY@y|Gi9E];Ms=YQU?aDDy}?Iȡť"5?ť%߾ ƥl B ?9ƥDǥ: ȥ:)ȡWK%@WX XWX:W2W*WVbUBU*UUU?B{<B BA_+?*BAwʼAAA5="C%K%@*C%JRC%EC%K%@C)eKvq,V5EAY}FG:@}FFc*@y}F{Ұ}F }FH Gcݿ??Fa ?@U?)~FG:@ ~F;I~Dɫqu)q qIyY@yeGiAA W? Ļ Y=i =@  f@) @I ݸ@i @.MA=Y%8)QU%>!!a-D-D)y5+h}5>I9 E:=P5? E:=߾ = B E?9=,D=u: =:)=Z:Wmі%@WiXi XqWqXq:Wq2Wq*WyVybUyBUy*UyUU`4@B<B BA7*?*BAżAAA="Cі%@*CO)RCLCі%@C)   { {  c2:Y #R1y : M S! I1 GM >ﮓq,rOEAY}: :@}:L&*@y}:Ͳ}:f}:H`,Uݿ@;??@S `? 튗?)~: :@ ~:;I~:Cɫ  )  I YM@yMcGiiŔMM=Y8QU>aDǔDy }>IȁŅ5?Ņ߾ ƅ B ?9ƅ>DDž ; ȅ ;)ȁW%@WX XW:W2W*WVbUBU*UUU`4@B-ױ<B1 B1A5*?*B9A=AAAAAAEwz="CM%@*CU RCURCU%@CY]1IAG]U>9ILGi/@=R; ؗEәq,7iEAY}:9@}:X)@y}:ʪ}:#˼}:HQG ݿ{??D 6 X?Nb?)~:9@ ~:.;I~:Cɫ9A)A EIIY}@y}^G fA鼥eAiIp=)%=½hA½eA!M_=Y;QU>YaamDmԔDy}>Iȩŭ5?ŭ# ߾ ƭ B ?9ƭODǭ< ȭfV<)ȩW)&@W X XW:W2W*W!V!bU!BU!*UIUIUM@@RUB*** querying acoustic contact ***PQPUB<B BA)?*BA׹AAA ="C)&@*CRC󶷼C)&@Ci=     P0:Y T1y : 5) ;9I!GE>q,EAY}2E9@}2)@y}2I}2Ѽ}2H@8)޿@`x?@J#? 6@{?`t4?)~2E9@ ~2*;I~2CɫYY)Y YIYY<@y,GZ****** received transponder code query ******F****** received ping request ******aDDy }>I :5? :2߾  B ?9aD: :)[:Wt&@WX XW:W2W*WVbUBU*UUU1 @B,<B BAS'?*BATAA!A%N="C-t&@*C-ۋRC-C-t&@C1=bިI!GMt>6榃q,EAY}2t9@}2f)@y}2}2y̼}2H@S2 B޿@Ww?@U9TIVGiV@TTTV[; VܗEɫ99)9 =I9Y@yuGxDUSBL response received:!U1,P F00,000,004E6,186,80,80,96,FF Command AckBRequesting micromodem ping code 2iI)AI)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iAI =M^=Y:QU>!)aUDUDayeX}e>Iȑŕܛ5?ŕ޾ ƕ B ?9ƕqDǕ^< ȕU<)ȑWý&@WX XW:W2W*WV bU BU *U UU@ @B]5<B BA+?*BA7AAAi<"Cý&@*CȋRC$ Cý&@C  y y S 0:Y P1y ': k5) ;ֵ ׉IG>q,ȶEAY}2z9@}23)@y}2]}2xڼ}2H 3 =޿&s?C7? 0DǠj ?CT?)~2z9@ ~2|;I~2CɫYY)Y ]IYY}@y}GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I@)%@i M M UU5^U ¾U>iU@U U@)U@IU@iUݸ@<MG=YR5:QU>aDDyo:}>I :5? :8޾  B ?9D: <:)\:W%&@W!X! X)W):W)2W)*W1V1bU1BU1*U9U9U=H%@Be<Ba BaAm,?*BiAmTAiAiAuO<"Cu&@*C}eRC} VC}&@CyM!I1GE0>I)@Aq,EAY}2!9@}2)@y}2o}2ռ}2H A ޿qr?@?>P m?c@?)~2!9@ ~2͌y;I~2CɫII)I MIIY}@y}sGxDUSBL response received:!U1,R,EF2,000,004B7,186,80,80,80,FF Fpublishing direction and range info:Fq>ɰ=鰁 )CIy Bp$?%E?ٱiʳM\=Y}:QU>aDDy<}>Iw5?޾  B ?9D#;  ';)WU>'@WQXQ XYWY:WY2WY*WYVabUaBUa*UiUiUu@R(Combining 5 samples.P*Q BZQ/B@@$oM @JQp$?%E?2Q:Fq>:QbQ1 ~@*"nu!@s̼ +?RQ*)B}f?xe~Y?BQ8@ Q AQ;PC9?PB9?PQQ@"Q@B`<B BA*?*BAgAAA<"C>'@*CRCC>'@CE {{ j S9:Y#R1y:Y59E@ܭ|>9ܩIܩiܩܭ=ܩܩܭW; ݭٗE)E}CIE}CiAE=E=E¾5IGj>!q,~EAY}Z49@}Z*@y}ZȘ}ZS}ZH UPݿ@Iw?(?`N[?h o?)~Z49@ ~ZFin;I~ZCɫ) IYK@y5GDNmea in: $SNTTA,,,,,011123.57*5C =i8>>i>i ټM1=Y7:QU>aDDyN<}>I :a5? :P޾  B ?9D: :)]:mEuAdded new target pos. range: 34.920002 m, bearing: 165.522436 deg, deltaT: 4.418859 s, approachRate: -0.638173 m/s, LOS rate: 0.110971 deg/s, posRepo size: 4merPowering the camera and arming the DDM at range: 34.92 m.mmlFinal approach. Armed for intercept at range: 34.92 m.mm\Transitioning guidance mode to: FINAL_APPROACH"Xmm} ProNav: pos range: 34.920002 m, bearing: 165.522436 deg, approachRate: -0.638173 m/s, LOS rate: 0.110971 deg/s, cmd update: 0.332914 deg/s, cmd heading: 149.725957 deg, new cmd heading: 150.015431 deg. W}9k'@WyX}D; X?W:W2W*WVbUBU*UUuA@UO?BE<BI BIAM'?*BIAMAIAIAU<"CU9k'@*C]RC]jC]9k'@CYU I G5 > q,KZEAY}:G:@}:b*@y}:".}:y}:Hc`ݿ@Z?^?b@n|?@l7`?)~:G:@ ~:8f;I~:Cɫ99)9 9I9Y}@y}wG aefAiai=x&1?y&1| rh=?=` =C)9I9y=l?i|?5ˡE?=7?=q='= =^@)=@I=@i=p@9=@h+i@ 5@)IS@iS@- <M-A=Y569QU5>11a=D=#D9yEG<}E>IIMoL5?MX޾ M B U?9MDM: Mr:)IW}|'@WyXy XyWy:Wy2Wy*WVbUBU*UUUq?B̓<B BA$+?*BAKKAAAԵ<"C|'@*CpRCvC|'@C&ּ =i  }}$ D:YkS1yԊ:Z5יIGb>3ǃq,+5EA&}>9$I$i$$$$&R; &חEY}BV\:@}Bw*@y}B}Bɶ}BHZhzrݿ`)? o?=i& ?ut@d?)~BV\:@ ~BDa;I~BCɫYY)Y ]IYY@yeGie+Mem=Ye;QUm?iiamDm.DqyuCq;}}?Iy :}:5? :}޾ } B ?9}D}: }r:)}^:W]'@WX XW:W2W*WVbUBU*UUU}?B<B BA7*?*BÄAAA<"C]'@*CXYRCA9C]'@C e(9IIGeU>]̓q,(8EAY}2Y:@}2t*@y}25}2.+}2Hvg:tݿ M?r?h胿F?D@@U?)~2Y:@ ~2 ^;I~2Cɫ99)9 =I9Y}h@y}GGI)I)iu(>ulǿu9>iu@q u$@)qIqiqEkMH=YdQU5>19a=D=Iimo$5?m޾ m9 B ?9mDmǀ; miz;)iW3'@WX XW:W2W*WVbUBU*UUU?BE<BA BAAE(?*BIAU#AQAQAUB<"Cm3'@*Cm<RCm1zCm3'@Cq ||A 5:YR1yi:5iunGօIjAiAAψٺjA,zBבIG>Eԃq,QEAY}6J:@}6.f*@y}6e}6H7:}6H@d@=ݿ??eÀ G?=]?'?)~6J:@ ~6\;I~4ɫ99)9 =I9YK@y5GI$@)#@i=OMEO=YE &QUE>IIaUDUHDYy]}e>Iimm5?m޾ mN B }?9mDm; m1;)iWg(@WX XW:W2W*WVbUBU*UUU`.;@BH<B BA'?*BAƘAAA <"Cg(@*CQ&RCCg(@CԅI ) M{>9IIMGiM@IIIM`; MݗE׹IGf>oڃq,~kEAɫ髙) IY@ygGiYa<MA=YQU> aDVD!y-}->I9 E:=^5? E:=S޾ =g B M?9=D=; =<)=_:W)+(@WX XW:W2W!*W!V!bU!BUA*UIUIUML@B[<B BAU*?*BAӐAAA<"C)+(@*CRC0ؼC)+(@C=# 99=F =6:Y9y9=5)=;9Uu¼QIYGu>Wq,wEAɫyy)y yIyYR@y:G=i=>i>iOn?bX9ȶˡE??E '=)Iyv?L7A`?Mb`?+= @)@I^@i@@w>4m=i̼@ @)@I@i@M G=Y QU >aDcDy}>I!%5?%ŷ޾ %k B 5?9%D%: %3:)!WmO(@WiXi XqWq:Wq2Wq*WqVybUyBUy*UyUyU)@RB*** querying acoustic contact ***PPB<<B BA(?*BAhЌAAA_<"CO(@*C'RCCO(@CA}qڼQIaG}z>9 9 A 9A IA iA A A A E c; E ߗE+q,(~EAY}2M:@}2*@y}28}2 }2H@>t`Cݿ`]?Y??`u A?,?)~2M:@ ~2[;I~2CɫYY)Y ]IYY@yGZ****** received transponder code query ******F****** received ping request ******aDnDy%=@<}%>I) E:-5? E:-޾ -o B M?9-D-o; - ;)-`:W8s(@WX XIWI:WQ2WQ*WQVYbUYBUa*UaUiUm @BEh<Ba BiAm &?*BiAmQAiAiAu<"Cu8s(@*C}㊽RC}ҼC}8s(@Cy =i p=%%~%~%P %4-:Y%T1y%@:%5)%ߊ;֝+OIץdA)ץeAבIG>q,WEAY}2:@}2#*@y}2j}2 z}2Hȃ{ݿ@G?p?``yi` ?R@?)~2:@ ~2[;I~2Cɫ99)9 =I9Y@ycGxDUSBL response received:!U1,P EF2,000,004B7,186,80,80,80,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i5d?5i5ηi5@1 5x@)5j@I5i5j@]=Me*=YQU>aD~Dy <}>I95?޾ u B ?90D#:  :)W=(@W9X9 XaWa:Wi2Wi*WiVibUiBUq*UqUqUu`Q @B\<B BA*?*BAcAAA<"C(@*C ʊRC ǼC(@C֍Ѽi Iq G >Ɠq,2EAY}:#;@}:I?+@y}:}:C}:H:@ܿ?ঽ?`0`ϖ?`I~a?)~:#;@ ~:[;I~:Cɫ99)9 9I9Y}h@y}GGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)AI)AiuMb=Y-:QU>!!a%D%D)y5Z<}5>I9 :=5? :=E޾ =y B ?9=>D=< =<)=a:W(@WX  X W :W2W*WVbUBU*U!U!U% ]@Bm=Bi BiAm(?*BiAueAqAqAu2<"C}(@*C}YRC}. C}(@C%%|%|%z %1:Y%R1y%i:%59-@5|>95|CI1i15=115g; 5E֝8ƼYIaG}{>q, EAY}2ij;@}2م+@y}2%}2E}2H`ܿ2? ~?@`N)@)?@?)~2ij;@ ~2;\;I~0ɫ99)9 9I9YyyxDUSBL response received:!U1,R,F47,000,00488,186,80,80,63,FF Fpublishing direction and range infoMQ%>ɰ =鰙 )BIyfBgy?ZS6?ٱI#@)"@i ECEfEiE@A E@)E;@IEj@iAYu9QUu>yya}D}Dyk*<}>Iȉōĝ5?ō¡޾ ƍ~ B ?9ƍNDǍr: ȍ]:)ȉW`(@WX XW:W2W*WVbUBU!*U!U!U%[@Re(Combining 5 samples.P*QfBZQe{ȯ?@K=@JQgy?ZS6?2QMQ%>:QbQ1չ>[h"@9f$?RQsFF?nY܉?BQj5@ QAQEPD9?PC9?PQQ@"Q@I AA) AABei}<Bi BiAi*BiAmuAiAqAuЭ<"Cu`(@*CURCCC`(@C֭׵?i׵?׉ I G >q,EAY}n;@}n+@y}n}n*#}nH ; Qܿ@?*M?` >Ӗ?c?)~n;@ ~n[;I~nCɫ) IYM{@yUSGDNmea in: $SNTTA,,,,,011128.00*55 i-?T㥛 ?Q?5>= \=)Iy/$?~jtMb?1(?= |@);@I@ip@Q@0;M  a DDy!<}>I :`5? :޾  B ?9`D: :)b:myAdded new target pos. range: 32.099998 m, bearing: 162.806930 deg, deltaT: 4.509130 s, approachRate: -0.625399 m/s, LOS rate: -0.602224 deg/s, posRepo size: 4m= ProNav: pos range: 32.099998 m, bearing: 162.806930 deg, approachRate: -0.625399 m/s, LOS rate: -0.602224 deg/s, cmd update: -1.806672 deg/s, cmd heading: 151.224538 deg, new cmd heading: 151.368745 deg. We (@WaXa XaWa:Wa2Wi*WiVibUiBUi*UqUu @@Uu\?BT=B BAJ)?*BA(lAAAG<"C (@RCIt;    : 2:Y WU1y : 5C (@C(IG > ~>9 I i = m; E)iIm|Ciim=m=mK5q,v EAY}J;@}J#+@y}J7}JG*ֻ}JHd7ܿ`eԑ?`3?@6x&?|z@?)~J;@ ~J[;I~JCɫYY)Y ]IYY@ylG>i=%>i%>i))ue<Mug=Y}iQU}>yaDDy؟;}>Iȑŕ_x5?ŕ޾ ƕ B ?9ƕnDǕ/: ȕ:)ȑW<`'@WX XW:W2W*WVbUBU*UUU ?Bj=B BA*?*BA eAA A <"C<`'@RCYx<C<`'@Cօx/aIqG9> q,:EAY}>;@}>f+@y}>$}>X}>H%0%ܿ@q?` ?@ 곖??)~>;@ ~>[;I~>CɫYY)Y ]IYY@yG ))i))ף=>i(@ @)I5@i5@M2=Y%y:QU->11a=D=DAyE8;}E>IIM"b5?MC޾ M B e?9MDM2; M@;)IW-p&@WX XW:W2W*WVbUBU*UUU@{?B<B BA*&?*BA[AAAw<"C-p&@RC˱=C-p&@C=i=  } } B F:Y kS1y Ԋ: 5ֵr;׉IG>q,TEAY}6;@}6^,@y}6u.}6\ad}6Hܿ?@5 ?@S{`_?@>@O?)~6;@ ~6F\;I~6Cɫ99)9 EIAY}h@y}GGi]<M]l=Ye:QUe?aaamDmɕDiyu~;}u?Iy :}zQ5? :}޾ } B ?9}D}: }:)}c:W %@WX XW:W2W*WVbUBU*UUU?BQ5=B BA(?*BA0{TAAAA*<"C %@RCjS=C %@CE:<I G5.>܅>9܁I܁i܁܁܁܁܅i; ݅E q,mUnEAY}F<@}F:!,@y}F}F}FH`~ ۿg?^?@P??)~F<@ ~F*\;I~Dɫ髡) IY @yGIQ)QIY)Yiaa @ @ @©i @ @)@IG@i@.ܼMB=Y:QU>aDוDy ;}>I!%<5?%]}޾ % B =?9%D%; %ϟ;)!W}~$@WX XW:W2W*WVbUBU*UUUp?B<B BA%?*B A KAAAZ<"C]~$@RC)=C~$@C  z z 8 3:Y Q1y : 5ֵ=׉IG> |> 3Ci nGI i! M *ٺI M B!q,f1EAɫyy)y yIyY@ywGI@)@i!!"~j?K?:vS#?^= Լ)Iy+?~jtS㥛??D/< ­@)­$@I­(@i© @CT=ML=YQU>aDDy}>I :Z*5? : w޾  B ?9D: ':)d:W'$@WX XW:W2W*WVbUBU*UUU`0@B:=B BA$+?*BAVBAAA5<"C'$@RC-{=C-'$@C)%K-7=II@A)@AG J>܁ 9܅ }CI܁ i܁ ܅ =܁ ܁ ܅ t; ݅ E(q,, EAY}R <@}R(,@y}R:}R%м}RH ;ۿ@4Ny?m?x@??)~R <@ ~R?j];I~RCɫyy)y yIyYY@y>Gi5M5T=Y=3;QU=>9AaEDEDAyMЎ:}M>IQUW5?Up޾ U B ]?9UDU: U:)QWP#@WX XW:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PPB=B BA@(?*BA{:AAA<<"CP#@RCPC=CP#@C@=שIG">    ^ .@:Y T1y : 5) D;9J.q,EAY}2L;@}2+@y}2 }2C}2H_'1ܿc]?*?@Wj@?` ?)~2L;@ ~2];I~2Cɫ19)9 =I9Yu@yupG}Z****** received transponder code query ******}F****** received ping request ******}i>i    @ @ @if@ )Iʭ@i@ <M ==Y;QU>aDDy%,}%>I) 5:-!5? 5:-j޾ -B 5?9-D-: -:)-e:W]q"@WYXY XYWY:WY2Wa*WaVabUaBUi*UiUiUm@ @B =B BA*?*BA 1AAA)c<"Cq"@RCnc=Cq"@Cx=ױIGf>05q,EAɫ髹) IY@yGxDUSBL response received:!U1,P F47,000,00488,186,80,80,63,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 )-eAi99}c]MT=YQU>)IaUD] Diy}>Iȡť5?ťLc޾ ƥB M?9ƥDǥ< ȥ|<)ȡI9IIIiIM=IIMz; MEW~!@WX XW:W2W*WVbUBU*UUU Z @=i=    C ]-:Y y  5) ;B+9<B! B!A%y%?*B!A%&A)A)A- <"C5~!@RC5l>C5~!@C1=ٹ=IG=>2Z;q,wEAY}%;@}%b++@y}%K}% ]}%H`@ZܿCG?@gC?@>?)~%;@ ~%^;I~%Cɫ)! !I!YU@yUG]p=ɮY}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i U ] ]]y?]…]d;i]p@] ]$@)]ݸ@I]f@i]ݸ@5<M=1=YM;QUM>YYaeDeDyѼ}e>Ii u:m5? u:m[޾ m1B }?9mDmo: m:)mf:W @WX XW:W2W*WVbUBU*UUU2W@B=3=BA BAAEf&?*BIAMgAIAIAMp<"C] @RCei>Ce @Caue=I IY G} >BBq,Sx EAY}2[:@}2*@y}2vj}2r}2HZz+ݿۯ,?h@+mV? K?)~2[:@ ~2^;I~0ɫyy)y yIyY@yGxDUSBL response received:!U1,R,F17,000,0045D,187,80,80,60,FF Fpublishing direction and range info5P>ɰ=1> )BIy(Aj=W?&?ٱI)I)imFx?y&1?{Gz?m+?m`e< m#<)iIiymNbX9?Mb{Gz?m%?mm#= m^@)mbAIm@iiim@U[MUZ=YU;QUU>YYa]D]%Daye}e>Iim5?m V޾ mBB ?9mDm; m{;)iW@WX XW:W2W)*W1V1bU1BU1*U9U9U= @Ru(Combining 5 samples.Py*Q}(AZQ}M>p<@-@JQ}j=W?&?2Q}5P>:QybQ} V\r<|g2ٌ@hC̡?RQ}+F(̄x"?h#KS?BQ}Q7@ Q}f@Q}P}C9?P}D9?P}Q}Q} @"Q}@B =B9 B9Am$?*BiAuEbAqAqAu0<"C}@RC} >C}@C  ~ ~  .:Y T1y @: 9@}m=QIaG}z>% fA% fA- ~>9) I) i) - =) ) - l; - EQlHq,?T#EAY}FN::@}FU*@y}F>Q}F噽}FH@aݿ旿 Ž?`I>?7 6?)~FN::@ ~Faia;I~FCɫ髡) IY@yG=DNmea in: $SNTTA,,,,,011132.46*5C II)IiIIMW=YV;QU>aD1DyӐ}>Iȱŵe5?ŵO޾ ƵUB ?9ƵDǵ: ȵ8:)ȱmuAdded new target pos. range: 29.519999 m, bearing: 164.502661 deg, deltaT: 4.441240 s, approachRate: -0.580919 m/s, LOS rate: 0.381815 deg/s, posRepo size: 4m} ProNav: pos range: 29.519999 m, bearing: 164.502661 deg, approachRate: -0.580919 m/s, LOS rate: 0.381815 deg/s, cmd update: 1.145444 deg/s, cmd heading: 143.200888 deg, new cmd heading: 142.536498 deg. W}mm @WyXy XyW:W2W*WVbUBU*UU=@U::?BZ=B BA#?*BAKAAAL<"C-` @RC5=C5mm @C1I)AAֽ>ױIG>ENq,.=EAɫyy)y }IyY@y߂GiIIÝ̼ÝbÝS>iÝ @Ù ĝ@)ĝ+@Iĝj@iĝ@MF=YQU>aD>Dy}>I :5? :H޾ jB ?9$D: {:)g:Wl @W!X! X!W!:W!2W!*W)V)bU)BU)*U1U1U5?B]3=Ba BaAec#?*BaAeAaAaAm <"Cul @RCu)-=Cul @CqM=9IIGu6>  | | ' .:Y R1y i: 5Uq,WEAY}J29@}JHN)@y}J:}J"%ͽ}JH# `a޿E`w? ䷿R?>@h?)~J29@ ~Jb;I~JCɫ髑) IY@y؂G5=i5=5>i5>i9AubMuP=YuMn;QU}>yya}D}KDy(}>Iȉōّ5?ōA޾ ƍ}B ?9ƍ5DǍ;: ȍ&:)ȉW=z!@W9X9 X9W9:WA2WA*WAVAbUABUi*UiUiUm =?B=B BA #?*BAAAAg<"Cz!@RCכ=Cz!@C}>9IGi;@j; E)YI]}CiY]=]=]5ͳ=IGi>{[q,pEA|<|>pie@a e|@)eIe5@ie5@FKM,=Yh(:QU>aDZDy2ʼ}>I :z5?  :9޾ B  ?9IDP; ?B;)h:WU"@WyXy XyWy:W2W*WVbUBU*UUU {}?=i }}@ V5:YkS1yԊ:Y5Bu=Bq ByA!?*BAAAA<"C"@RCR=C"@CԵfAԵfAu=AIQGm>bq,׿EAY}:7@}:4'@y}:&,}:*[}:H8 ߿` @?]?S2?)~:7@ ~:ۅ;I~:Cɫ99)9 =I9Y}i@y}Gi!!oʡ?~jtL7A`? ? +=)Iykt?:vQ? 0?Լ< µ@)µ\AIµ|@i±@Ml=Y:QU?aDeDy}?IKj5?42޾ B ?9WD: :)WT"@WX! X!W!:W!2W!*W!V)bU)BU)*U1U1U5?B]2k2=Ba BaAe ?*BaAeڻAaAaAmS<"C T"@RC =C T"@C=IGG>  {>9 I i k; E?hq,EAY}6h7@}6v'@y}6Uq}6}6H³K߿ $?`A{ aN?+ @7?)~6h7@ ~6s;I~6Cɫ99)9 =I9Y}@y}[GI)I)iy*MW=Y@;QU>!!a%D%qD)y-$}->Iș :ŝV5? :ŝ&*޾ ƝB ?9ƝiDǝ: ȝ/:)ȝi:W@#@WX XW:W2W*WVbUBU*UUUR@B =B  BA?*BA(˻AAA"<"C@#@RC%at<C%@#@C!%=I)GmW>zz9 /:YQ1y:5);9"nq,pyEAY}67@}6 ;'@y}6}6^}6H@ _`h#?yh ?n?)~67@ ~6R;I~6CɫYY)Y ]IYY*@yGI@)@i C˾ X  0i @  @) @I @i @֤<MJ=Y"Z;QU>!!a%D%~D)y-3}->I15C5?5"޾ 5B E?95zD5߼: 5/:)1WeQ#@WaXa XiWi:Wi2Wi*WiVqbUqBUq*UqUyU}@RB*** querying acoustic contact ***PPBV=B BA?*BA?AAA<"CQ#@RCJA:CQ#@CiYIujAi>ٺjAyBօt=AIQGu6>I}AA)yuq,(`EAY}66@}6'@y}6+ϻ}6ۑ}6H`b5@G1?``Zy? }?)~66@ ~6(;I~6Cɫ11)1 5I9Yu@yuvG}Z****** received transponder code query ******}F****** received ping request ******}YaaeDeDaym}>IȑŕH/5?ŕ{޾ ƕB ?9ƕDǕ: ȕ:)ȑW $@WX XW:W 2W *W V bUBU*UUU @B}d=B BA?*BAAAAV<"C $@RCT<C $@Cu|>9u|CIuGiu@u=qqut; uE֕ B N2:YWU1y:5)G;{q,/EAY}2w6@}2'@y}2d }2.}2H@b`@1?`cZ`$u?;?)~2w6@ ~2R^;I~2CɫII)I MIIY}9@y}GxDUSBL response received:!U1,P F17,000,0045D,187,80,80,60,FF Command AckBRequesting micromodem ping code 2i=i==i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i]$>]v]C>i]׳@Y ]S@)]I]S@i]j@<M+=Y3;QU>aDDy[}>I  :5?  :޾ B  ?9D*: :)j:WU$@WQXY XYWY:WY2WY*WVbUBU*UUU`^ @B h =B BA9?*BA҅AAA< <"C$@RCI1C$@Ce kMނq, EAY}:$7@}:N@'@y}:J }:}:H  p 6!?`r`ܹ!s?z@@A?)~:$7@ ~:A;I~:Cɫ99)9 =I9Y}@y}mG鮁ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B %gA%gAi!!On?V-?:v?8?|?> T<)Iykt?~jt?m {>9i Im Gim G@i i i m p; m Erq,%EAY}2^B7@}2]'@y}2(T}2Lٽ}2H߿ ѩ@}?`Zڷj?@?)~2^B7@ ~2F;I~2Cɫ99)9 =I9Y}@y}=GiuټMe=Y;QU>aDDy3;}>Iȹ :Ž5? :ŽI޾ ƽB ?9ƽDǽ: Ƚ:)Ƚk:Wx%@WX XW:W2W*WVbUBU*UUUs@B'=B BA,?*BAsAAA<"Cx%@RC Cx%@C IG=>5q,h?EAY}j 7@}jz'@y}j$躙}j_ɽ}jHm߿K`n?; ]?! k?)~j 7@ ~j;I~jCɫ) IY-@y5+GEDNmea in: $SNTTA,,,,,011136.89*5B IA)AiQQ5E>5 5s>i5@1 5f@)1I5@i5S@EMM2=YMR;QUM>QQaUDUDQy]e<}]>Iae5?eݾ eB m?9eDeA: e:)aW$&@WX XW:W2W*WVbUBU*UUU`I@B=B BA??*BAQAAA <"C$&@RC`r%C$&@C == ?i?~~Q |,:YT1y@:5IGm>q,ݖYEAY}27@}2F(@y}2]}2#}2H{߿@?m)$` +?@?)~27@ ~2S;I~2CɫYY)Y ]IaY @yҁGiIMd=Yݎ;QU>aD˖Dy<}>I  :5?  :ݾ B  ?9D4: b:)l:W5 &@W1X1 X1W9:W92W9*W9V9bUABUA*UAUAUE&@Bu%=Bq BqA}?*ByA}25AyAyA}n<"C &@RCkz)C &@Cu9IxGi@l; E1IAG]>Fq,zsEAY}29U8@}2p(@y}2e:}2}2H z"߿C::?t] [ n?)~29U8@ ~2s;I~2Cɫ99)9 EIAY}@y}ˁGiQYÍv=ÍQ>ÍriÍ(@É č@)ĉIčS@iĉ@M1=Yd;QU>aDږDyPm<}>IȹŽ5?Žݾ ƽB ?9ƽDǽR: ȽI:)ȹW1'@WX XW:W2W*WVbUBU*UUU@R B*** querying acoustic contact ***P P B-=B1 B1A5c?*B1A5TA1A9A=<"C=1'@RCEn6CE1'@CI]  \ 84:YyY51IAG]v>`,q,YOEAY}28@}2r(@y}2`l;}2Qy}2H` @޿` k?; o m@ -?)~28@ ~2k;I~2CɫYY)Y ]IYY @yԁG=ii=n?{Gzt?X9v=?=ף; =)9I9y=%C?X9v?=Z$?=̼=< =@)=AI=;@i=bA9=@;MY=YЩ;QU>aDDyО<}>I :w5? :ݾ B ?9D; :)m:W%¬'@W!X! X!W!:W!2W)*W)V)bU)BU1*U1U1U5@@Ben%=Ba BaAe?*BaAmZAiAiAm#<"Cu¬'@RCuڗ6Cu¬'@Cym3IIYG}7> z>9 I ~Gi @ = D s; E)ݥ|CIݥ|Ciݡݡݥ=ݥ4Vq,+EA||p;Y}69@}6 4)@y}6P;}6,}6Hང޿T?[U`v둥?)~69@ ~6Od;I~6CɫQQ)Q QIQY@yG鮥a=ɮp=i½fA½gA^M]=Y;QU>aDDyL<}>I=5?ݾ  B ?9D: D:)W %(@W X  XW:W2W*WVbUBU*U!U!U%`ٌ@BMh&=BQ BQAU?*BQAU'AYAYA]<"Ce%(@RCeECe%(@Ca։aIqG<>zzF 1:YQ1y:5)̎;9r>q,EAY}6cW9@}6r)@y}6;}6}6H ,Q޿W?w* }(I?)~6cW9@ ~6-`;I~6Cɫ99)9 =I9Y@yGi %@ %@ %@%©%%i%@% %)!I%@i%@5;M5C=Y=q;QU=>9AaEDEDAyM<}M>IQU|5?U,ݾ UB ]?9U)DU*: U:)QW(@WX XW:W2W*WVbUBU*UUU:@BA=B BA?*BA}fAAA;<"C(@RC\C(@C_>?i?׹IGE>hq,HEAY}:O9@}:)@y}: <}:}:H;޿`gh? M;]Ӌ@Kw?)~:O9@ ~:^;I~:Cɫ99)9 =I9Y}@y}āGxDUSBL response received:!U1,N,80,80,63,E4 D,187,80,80,60,FF ZNo reply:!U1,N,80,80,63,E4 D,187,80,80,60,FF -aD Dy,(<}>I :j5? :#ݾ "B ?98D: {:)n:W7)@WX XW:W2W*WVbUBU*UUU  @BK =B BA ?*BA0LɹAAAa<"C7)@RCqC7)@ܵy>9ܱIܵ}Giܵ_@ܵ=ܱܱܵq; ݵECY׹IGg>UU}U}U* UU*:YUkS1yUԊ:U5)Ud;q,EAY}B9@}BK)@y}Bz"<}BH}BHL`Dݿ쬍:?M^qy@@O `?)~B9@ ~B];I~BCɫaa)i mIqY@y'Gi)= >   =}i3@ j@)S@IS@i5@ M 6=Y;?;QU>aDDy%\!<}%>I)-U5?-ݾ --B 5?9-KD-f: -<:))W]d)@WYXY XYWY:WY2Wa*WaVabUaBUa*UiUiUu`|@B4=B BA ?*BA8AAAz<"Cd)@RCCd)@C֥8kYIiGZ>i%3oGI1iI},jٺy}VBxzÄq,EAY}2>:@}2~Y*@y}21<}2/}2H@Jbݿ@g? bb# yр>?)~2>:@ ~2r\;I~2Cɫ99)9 =IAY}@y})Gi)\(?L7A`尿L7A`?G!?+ +=)Iy(\?y&1|?kt?.?`; 0= @)bAI@iZ@@=.:M=Y=YE=;QUE>AAaEDM&DIyM%w<}U>IY e:]BB5? e:]vݾ ];B e?9][D]: ]:)]o:W<*@WX XW:W2W*WVbUBU*UUU @Be =Ba BaAm, ?*BiAE:AAA <"C<*@RCC<*@CIfA)fA׹IGh>UU{U{U@ U*,:YU#R1yU:UY59]@٭ gA٩ ܱ 9ܱ Iܵ |Giܵ k@ܱ ܱ ܱ ܵ r; ݵ EAɄq,p(EAY}:@}*@y}7<}V}H`|z@-ݿpk-? {Ma? jq?)~:@ ~[;I~Cɫ髹) IY@yG=i=i]!M]:=YmU:QUu>yaD4D1yEa<}m>Iqu)5?u]ݾ uLB ?9upDu: u:)qW*@WX XW:W2W*WVbUBU*UUU@!@R5B*** querying acoustic contact ***P1P1Buc=Bq BqA} ?*ByA}&ʄ:AyAyA}^<"C*@RCtC*@CȄIG>|Єq,99a=D=AD9yE<}E>II U:M&5? U:M2ݾ MYB ]?9MDM: Mj:)Mp:W2P+@WX XW:W2W*WVbUBU*UUU@!@BU'=BQ BQAU ?*BQA]:AYAYA]ei<"Ce2P+@RCeCe2P+@C}p,]]}]}]c ]X3:Y]kS1y]Ԋ:]5aIqG|>քq,(\EAY}6;@}6+@y}6;<}66;}6Hά@gܿ1~e?۬-s?}`z?I?)~6;@ ~6f*[;I~6CɫII)I MIIY]P@y]ÀGexDUSBL response received:!U1,P 80,80,63,E4 D,187,80,80,60,FF eCommand AckmBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iMS=Y:QU> aDMD!y5<}=>IY]5?]ݾ ]gB ?9]D]; ];)Yi9iIm{Gimx@m=iimx; mEWM+@WIXQ XQWQ:WY2WY*WaVbUBU*UUU@"@B =B BA?*BA%Z:AAAAAE{<"CU+@RC]RfC+@Cu@}?i}?1I9G]>܄q,vEAY}e;@}e<+@y}eA<}eB<}eH`ܿv?hU= U=)QIQyU-?{GzQ?U5?U#U\= U;@)Up@IUZ@iQQUz@   õt<õCõ:iõ@õ ı)ĵ@Iĵ@iıaM#=Y9&:QU>aD\Dy9<}>I :5? :ݾ tB ?9D: :)q:Wq,@WX XW:W2W*W!V!bU!BU)*U)U)U5#@B=B BA?*BA\<;AAAc<"Cq,@RCϜCq,@C 5>5> 0:Yyl5M p! I1 GM >q,ޏEAY}2B<@}2V^,@y}2 P<}2Dc<}2H`ۿqS? Ŕ? /`ː?ɰ=鰅> )BIy(A㶭 w?t5?ٱi )> =:Mk=YY+;QU?!!a%D%hD1y=<}=>IIM5?Mݾ M~B ]?9MDM; M ;)IW,@WX XW:W2W*WVbUBU*UUU&$@R(Combining 5 samples.Pi*Qm(AZQm}nd6@@JQm㶭 w?t5?2Qm>:QibQm)pK7 @mMſRQm؛@+&֑?u3|BQm?@@ QmN@Qm_PmB9?PmC9?PmQmQm@"Qm @BÃ'=B BA?*BA.;AAA=V<"C,@RCsНC,@C֭yIG]>I M <U x>9Q IU zGiU @Q Q Q U ; U EFq,nĩEAY}n<@}nP,@y}nqya}DuDyW~<}>Iȱŵ5?ŵjݾ ƵB ?9ƵDǵ~; ȵ;)ȱmyAdded new target pos. range: 23.519997 m, bearing: 172.110290 deg, deltaT: 10.097819 s, approachRate: -0.594188 m/s, LOS rate: 0.753393 deg/s, posRepo size: 4m ProNav: pos range: 23.519997 m, bearing: 172.110290 deg, approachRate: -0.594188 m/s, LOS rate: 0.753393 deg/s, cmd update: 2.260180 deg/s, cmd heading: 154.754411 deg, new cmd heading: 155.237341 deg. W?-@WX XW:W2W*WV bU BU *UU7@U J?B=@F=BA BAAEA>*BIAM(3K;AIAIAU<"C]?-@RC]WC]?-@Ci& @*:Yy5)R;9֭Iױ)׵eAa Iq G >q,)EAY}:t'=@}:B-@y}:S<}:<}:Hڿm&l?@`,?0??)~:t'=@ ~:Z;I~:Cɫ99)9 9I9Y}@y}hG=i=iÍ?ÍÍ iÍG@É čG@)čIčf@iĉI%MW=Y#QU>aDDy<}>Iȹ :Ž5? :Ž3ݾ ƽB ?9ƽDǽ{: Ƚ:)Ƚr:WB.@WX XW:W2W*WVbUBU*UUU`a?B-'=B) B)A5c>*B1A5f^;A1A1A5T<"C=B.@RC=wdʽCEB.@CAQQMӦ IG=/>q,?pEAY}2 =@}2|-@y}2GQ<}2t<}2H!~ڿ Eg{?@FF?y8@͕?x?)~2 =@ ~2Z;I~0ɫYY)Y ]IYYJ@yGiI=)  gA5 ǼM=Q=Y=QU=>AAaEDEDIyM<}M>IQU5?Uˆݾ UB ]?9UDU׾: U:)Qv>9IyGi@= )݉I݉i݉݉ݍ=ݍ4W%/@W!X! X!W!:W)2W)*W)V1bU1BU1*U1U9U=M?B~=B BA>*BAЬx;AAAv<"C/@RCtK޽C/@CõIGm>5115% 5).:Y1y155)5;2q,y[EAɫ髉) IY@yd~GiQQl?y&1?̼ `e)IyS㥛?y&1 rh?$?`C = @)@I$@i@@ECEE94iE=@A Eʭ@)E@IE5@iEʭ@U MU,=YUQU]>YYaDDy}>I :5? :ݾ B ?9D; #;)s:Wm1@WiXi XiWi:Wq2Wq*WqVqbUBU*UUU?BQ~=B BA2>*BA;AAA`<"C1@RC%wC%1@C!h׽i? IG-><q,,EAY}6n>@}6ݫ.@y}6mU<}6<}6HP` ٿH?@ ~6Bc\;I~4ɫ99)9 =I9Yu~@y}~GI)iּMz=Y2:QU?  a D D yE<=}?Iˀ5?{ݾ B %?9Dn: :)WM~1@WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYUe JB?Bh&=B BA>*BA{;AAA#K<"C~1@RC0C~1@C >ܽיIGA>--{-{-V -s+:Y-#R1y-:-595@u>9IpxGi@=; E@ q,+EAY}2U>@}2/@y}2&W[<}2h =}2He,GٿP2U?~C?`? j`a?j?)~2U>@ ~2*\;I~2Cɫ99)9 =I9Y}w@y}~Gi )= = M?=Y\:QU>aDDy]v<}>I! =:%mk5? E:%tݾ %B U?9%D%9; %;)%t:W2@WX XW:W2W*WVbUBU*UUU`6/@BE =Bi BiAmU>*BiAmP;AqAqAuK<"C}2@RC}*C}2@Cye9IIGeU>(q,DEAiFnGIPi\hnٺZBY}5?@}5/@y}5jc<}5V!=}5H6ؿ(}d?E? xa?m4??)~5?@ ~5[;I~5Cɫ) IYU@yU}Giai @ @ @©i=@ l@)@Iʭ@i%*M%C=Y-!:QU->11a5D5—D1y=e<}=>IAE_W5?Ejnݾ EB M?9E$DE: Ev:)AWu3@WqXq XqWq:Wy2Wy*WyVybUyBU*UUU d@RB*** querying acoustic contact ***PPB=B BA>*BA:;AAA<"C3@RCC3@CI)fAIG l>A 4 9:YWU1y:5Tq,^EAY}2,@@}2ZH0@y}2b<}2/=}2H-ؿUk?)?Ϙ?8_2? ?)~2,@@ ~2ʝ[;I~2CɫQY)Y ]IYY@yJ}GZ****** received transponder code query ******F****** received ping request ******aDΗD!y% <}->I15 E5?5hݾ 5B E?953D51: 5=:)1Wmw4@WiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUyU[ @ܙ9ܙIܝDwGiܝ@ܝ=ܙܙܝ; ݝEB@=B BAm>*BiAm;AqAqAu<"C}w4@RC}sC}w4@CyԩԭgAօ+AIIGm5>܄q,xEAY}z@@}z1@y}z[<}z<>=}zH`n׿@xr?-k?П?`@ħ?`o?)~z@@ ~zY[;I~zCɫ) IY1@y t|GxDUSBL response received:!U1,P E9C,000,003F9,186,80,80,7B,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i9AI]p=)]%=m/$?~jtX9vm1(?mD m)iIiym rh?MbMb?mC+?mm= mA)mZ@ImAiiimQAfA - - - -@ -@ -@)))i-@) -)-@I-@i-@=E M==YEXjQUE>AAaMDMߗDQyU<}]>Iq :u)5? :uP`ݾ uB ?9uKDuL< u&<)uu:Wf6@WX  X W :W 2W*WVbUBU*UUAUE@s@e# e{e{eX e6:Ye#R1ye:e~5B[<B BA>*BAd$q,nEAY}6A@}61@y}6N<}6.Z=}6Hֿ|??Fǫ?`#ЉA? ?)~6A@ ~6P[;I~6Cɫ99)9 =I9Y}@y}8|GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i M=Yf,QU?aDDy8>=}?I$5?[ݾ B  ?9WDӻ: f:)W-|7@W)X1 X1W1:W12W1*W9V9bU9BU9*U9UAUE<@Bms].=Bq BqAu>*BqAuQ_;AqAqA}E<"C}|7@RC&C|7@CօBAIQG}7>ّّܙ9ܝ{CIܝvGiܝ@ܙܙܙܝ; ݝEz*q,4KEAY}6B@}62@y}6F<}6H=}6H@u_տF?@h? _?`WՈ5??)~6B@ ~6[;I~4ɫ99)9 9I9Y}@y{GxDUSBL response received:!U1,R,F17,000,003CD,187,80,80,89,FF Fpublishing direction and range info5P>ɰj=鰕1> ) CIy Aj=W?&?ٱI)i-= M=U=YE*QUE>QYa]DeDiy}7=}>I1 =:55? =:5Uݾ 5B =?95iD5: 5:)5v:We 8@WaXa XaWa:Wa2Wi*WVbUBU*UUU@@R(Combining 5 samples.P*Q AZQï)s4@Cj[@JQj=W?&?2Q5P>:QbQ*4jF@n֥?RQf#E#?D谯`?BQQ?@ Q4B@QDPPB9?PQQ@"Q@B56=B1 B9A=?>*B9A=*;A9A9A=<"Ce 8@RCm+Cm 8@Ci }>}=}m,QIaG> P Ij:YWU1y:5);9w1q,g'EAY}F7C@}FR3@y}F#7<}F#0=}FH+@Nտ`ِ?2R?@? ٿ?`?)~F7C@ ~F1Z;I~FCɫ髙) IY.@y5{G]DNmea in: $SNTTA,,,,,011147.01*5D iii qq)u= u=    @ @ @i @ )@Ii"@M@=YD QU>aDDy<}>I 5?*ByA}'/;AyAyA~\<"C{7@*CaŊRC<C{7@Cֽl,בIG>7q,`EAY}:C@}:r3@y}:|&<}:=}:H@FԿ!??'mڵ?@τf5??)~:C@ ~:SZ;I~:Cɫ99)9 9I9Y}@y}zGi))999I=tGi=@999=; =EW6MN=Y00QU>aDDy<}>Iȱ :ŵ^5? :ŵJݾ ƵB ?9ƵDǵ: ȵ:)ȵw:Ww7@WX XW:W2W*WVbUBU*UUU ?B%=B! B!A%>*B!A-;A)A)A-Ѿ<"C5w7@*C5抽RC5o C5w7@C9MR!סIGA>  | | 5 ).:Y R1y i: 5) ;7=q,EAY}FD@}Fm4@y}Fk<}FF=}FH:g@ӿ/?`?FN>?@{@?@?)~FD@ ~F#Z;I~FCɫqq)q uIyY@yzG%=i%=iUˡE?Dl? rh?U'?UO= UC<)QIQyUK7?ktˡE?UI,?U 0U'= UA)U@IUbAiU AQUA   í?í0í >iíQ@í ĭ@)ĭ@Iĩiĭ7@<M9=YQUM>IQaUDUDQy]<}]>Iae5?eDݾ e B u?9eDe¿: e :)aWן7@WX XW:W2W*WVbUBU*UUU`?B<B BA>*BAwi;AAAU*<"Cן7@*CRCgCן7@COTIG>Dq,EAY}6E@}65@y}6-<}6kղ=}6H>`fҿ }??`q ?7S??)~6E@ ~6Z;I~6Cɫ9A)A EIAYe@yeyGiIC=)4==ڊM=g=YEX^QUE>AIaMDM)DQy]\L=}]?Ia m:e65? m:ew?ݾ eB u?9eDeb: ee:)ex:W7@W!X! X!W!:W)2W)*W)V1bU1BU1*U9U9U=?B{=B BA>*BAv;AAA약<"C7@*CRCĽC7@CBסIGD>=fA=gAA9AIEsGiE@AAAA A)͇{CIɇiɇ͇=͇=͇,%5)Jq,-EAY}FtG@}F7@y}Fm;}FI=}FH` ̮ѿ@Q?ݶ?D?P|i??)~FtG@ ~FZ;I~FCɫ髡) IY@yIyGiyy @ @ @©i @ )I"@i"@5-M=;=Y=6QU=>AAaEDE7DAyM:=}M>IQU5?U9ݾ U%B ]?9UDUY: UD:)QWZ7@WX XW:W2W*WVbUBU*UUU@B~<B BAŤ>*BAc<AAAF<"CZ7@*CuRCCZ7@CIGE>}}B -:YkS1yԊ:5)%;Qq,UlGEAY}:@H@}:Z\8@y}:(l;}:5=}:Hkyп@?`?>@粷?zxZ?k?)~:@H@ ~:Z;I~:Cɫ99)9 =I9Y}@y}$yGI)AiMqMM[=YUQUU>QYa]D]CDYyetU=}e>Iimۅ5?m35ݾ m2B u?9mDm: m<:)iW'87@WX XW:W2W*WVbUBU*UUU@B{<B BA>*BA<AAAW<"C '87@*C RC2C'87@C %=%=%ۻI G%M>4Wq,|GaEAY}25I@}25Q9@y}23;}2_=}2H? @ϿQ?`,?@\@?@rt??)~25I@ ~2y[;I~0ɫYY)Y ]IYY @yswGAAI@)@i 鿹)ý > ýl>CMS=Y&QU>aDOD9IrGi{@~; Ey=}>I  :p5?  :0ݾ ?B  ?9D: :)y:W57@W1X1 X1W1:W92W9*W9V9bUABUA*UAUAUE4@RUB*** querying acoustic contact ***PQPQB5e<B1 B1A5>*B1A=j <A9A9A=<"CE7@*CEDRCE¼CE7@CIMlؽIG=/> %   ? 0K:Y WU1y : #5) Ƥ;M^q,"{EAY}2I@}2-:@y}2;}2=}2H@@Ϳ`.? ?B ~?}p?@?)~2I@ ~2y\;I~0ɫ99)9 =IAY}@y}xGZ****** received transponder code query ******F****** received ping request ****** `)Iym?{Gzt??̼ף; ¥ A)¥@I¥@i¥AA=A    @ @ @i@ )"@Ii @ =M-=YQU>aD^Dy<}>I[5?,ݾ  ?9D;: f:)W6@W!X! X!W!:W!2W!*W)V)bU)BU)*U1U1U5 @B:<B BA>*BAo<AA>.CA}+eq,EAɫ髙) IY@ywGxDUSBL response received:!U1,P F17,000,003CD,187,80,80,89,FF Command AckBRequesting micromodem ping code 2ii=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i ]Mef=YuQU}>aDjDy}>I :J5?  :T)ݾ  ?9DZ< <)z:WR6@WX XW:W2W*WVbUBU*U1U1U5$o @B~<B BA>*BAR<AAA2b<"CR6@*C:RCx%̻CR6@C  | | E 1:Y R1y i: l59@9IhqGi6@=; EU d6 I G5 >+kq,ٮEAY}B57K@}BR;@y}B:}B=}BH C)˿`.?D?i ?;@U>??)~B57K@ ~Bz[;I~BCɫ髁) IYd@yvGMNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B fAiI=)=eA U ] ] ]@ ]@ ]@YYYi]p@Y ]v@)]@I]@i]X@mMm:=Yu̻QUu>qqauD}wDyy}c@=}>IȁŅ75?Ņ%ݾ ƅ@B ?9ƅ DDž: ȅ:)ȁW6@WX XW:W2W*WVbUBU*UUU"&@BH<B BA!>*BA<AAAkƹ<"C 6@*C RC |<C 6@CSIGE>4rq,EAY}:K@}:r;@y}:oƨ}:N=}:H@NUgɿ?@5?98@S?U? ٵ??)~:K@ ~:[;I~:Cɫ99)9 =I9Y}B@y}bvGxDUSBL response received:!U1,R,FBD,000,003A9,184,80,80,9C,FF Fpublishing direction and range info|o=ɰ=鰅> )CIy•A(Sd?o8?ٱi?Mk=YQU?aDDy<}?I :'5? :2#ݾ AB ?9 D: s:){:W6@WX XW:W2W*WVbUBU*UUU}@R(Combining 5 samples.P*Q•AZQv!2@ p?JQ(Sd?o8?2Q|o=:QbQSO2dan@?RQ!g₩G+I?18y?BQ?@ Q.@Q(P@9?PPQQ@"Q@BuC<By ByA}~>*ByA}i<AyAAo<"C6@*CURC=C6@C֍zAIQGm5>{{L 2/:Y#R1y:5;=xq,EAY}^OL@}^ k<@y}^s}^0=}^H `ɿ@ k??@Hm?@cn???)~^OL@ ~^ [;I~^Cܕt>9ܑIܕaDD!y%|<}%>I)-X5?-ݾ -DB =?9-+ D-: -¿:))mmyAdded new target pos. range: 18.719999 m, bearing: 171.621262 deg, deltaT: 4.411603 s, approachRate: -0.489618 m/s, LOS rate: -0.005075 deg/s, posRepo size: 4m} ProNav: pos range: 18.719999 m, bearing: 171.621262 deg, approachRate: -0.489618 m/s, LOS rate: -0.005075 deg/s, cmd update: -0.015225 deg/s, cmd heading: 163.386368 deg, new cmd heading: 163.252030 deg. W}B6@WyXy XyW:W2W*WVbUBU*UUQ2@UF?BW<B BAu>*BA<AAA#A<"CB6@*CRC5=CB6@C >!>֥`ԻqIG~>xg~q,]jEAY}:nL@}:A<@y}:n}:=2=}:Hc`ȿA? K?@O`?̭t??B?@?)~:nL@ ~:@[;I~:Cɫ99)9 =IAY]z@y]luGi AAM?\(\?V-n?z> )IyS㥛?y&1|~jt?$?`= ; A)Z@Ip@iA A)= = 5 5 55O>5u5hi5p@5 57@)5@I5@i5@EZ"MEG=YMUQUM>QQaUDUDQy];}]>Ia m:e 5? m:eݾ eUB u?9e; DeH: e/:)e|:Wf}6@WX XW:W2W*WVbUBU*U!U!U%w*?BO<B BAe>*BA :<AAABk<"Cf}6@*ClىRC5==Cf}6@C֥8xxb .:Y7P1y:5Pq,#KEAY}NbL@}N}<@y}N}N~=}NH bb@2ȿ@?j? S ?@qv?ԯ?@?)~NbL@ ~N&[;I~NCɫqy)y }IyYk@yZuGi99}jM}X=Y QU>aDDy}>Ișŝv 5?ŝݾ ƝeB ?9ƝK DǝD: ȝ :)șW{6@WX XW:W2W*WVbUBU*UUUNb?B,<B  B A ?c>*B Aw <AAA<"C{6@*CRCp9=C{6@C!e=!I1GM1>y9yI}toGi}@yyy}; }EX}q,00EAY}FOL@}j<@y};}aDP=}H ` ɿ?@' ?`V`b?v??@I?)~FOL@ ~}[;I~Cɫ) IY %@yuGiim=iqyG?Ͽi@ G@)@IK@i@-ƤM-?=Y54QU5>11a=D=D9yE[4}E>IIM 5?Mݾ MwB U?9M] DM: M:)IWuy6@WyXy XyWy:Wy2Wy*WVbUBU*UUUZ7?B P<B BAtZ>*BA#<AAAյ<"Cy6@*CfRCx4=Cy6@CfA3=בIGb>||U -:YR1yi:5)%;9Paq,IEAɫ髉) IYY@y tGiI=)%=  fA=M=\=Y=QU=>AAaEDEĘDM[@@IyM}M>IQ ]:U 5? ]:Uݾ UB e?9Ul DU: UM:)U}:WXx6@WX XW:W2W*WVbUBU*UUUa@B1$<B BA@>*BA&<AAAQ<"CXx6@*Ce0RCb6=CXx6@C;6=סIGA>iq,cEAY}:sL@}:<@y}:V)}:oh&<}:H d ȿjs|?`?c}c?$t?̄?x?)~:sL@ ~:2[;I~8!9!I%oGi%O@!!!%; %E)ݹIݽ{Ciݹݹݹݽƍ4ɫaa)i iIiYV@ytGiMC=Y:QU>aDјDy;}>Iͨ 5?ݾ B ?9} DD: :)Wv6@WX XW:W2W*W V bU BU *UUU@p@B=@<B9 BAAE@>*BAAEv(<AAAAAMW<"CMv6@*CURCUw;C=CUv6@CYEx/=!IIGZ> &2:YT1y:5)$;q,}EAY}2,L@}2<@y}2}2-$}2H@i'sȿ4zi? q?h t?]`{?)~2,L@ ~2̥[;I~2CɫYY)Y YIYY@y%sGIA)AiEn?~jt ףp= ?EV?E EQ8=)AIAyET㥛 ?V-~jt?E!?EmA E\A)EAIEAiEzAAEQA @ @ @©i(@ @)@I@iΣ@YMD=YQU>aD%ޘD!y%$;}->I1 =:5 5? =:5y ݾ 5B =?95 D5D: 5+:)5~:Wet6@WaXa XaWa:Wa2Wa*WiVibUiBUq*UqUqUu@RB*** querying acoustic contact ***PPB<B BA)>*BA*<AAAN<"Ct6@*C㰈RCݼT=Ct6@C =B=׹IGf>Tq,ɐEAɫ) IY@yIsGZ****** received transponder code query ******F****** received ping request ******yyaDDy}>Ișŝ 5?ŝݾ ƝB ?9Ɲ Dǝ[: ȝt:)șWr6@WX XW:W2W*WVbUBU*UU U @j( @BUƴ<BQ BQAU->*BQA]FV-<AYAYA]ز<"Cer6@*CmnRCm4T=Cmr6@C}H\=~~C !+:YT1y@:59@<%s>9!I%HnGi%@!!!%; %EQIaG~>5̫q,{EAY}RéL@}R2<@y}R9}R}RHIi-d;>i-Q@- -@)- @I-@i-@M,=YH:QU>aDDyR9}>I %:f 5? %:ݾ B -?9 D: :):W}p6@WyXy XyWy:W2W*WVbUBU*UUU @Br<B BA>*BA;/<AAA<"C p6@*C O'RC -U=C p6@C1-XR=IG >i- oGII iY lٺ XBlq,BCEAY}:GL@}:Uc<@y}:Ў}:*9}:H_o.ɿgs`.?SW`/q?3?)~:GL@ ~:D2[;I~8ɫ99)9 =I9Y]x@y]qGaɮea=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iMt=Y:QU?aDDyk}?IȡťV 5?ťݾ ƥB ?9ƥ Dǥ-: ȥ1:)ȡWo6@WX XW:W2W*WVbUBU*UUUv)@B<B BA>*BA0<AAA<"C%o6@*C%BRC%}5=C-o6@C)99E&V=9IQGmW>- }}u i7:YkS1yԊ:5ٸq,`EA||;Y}6K@}6 <@y}67G}6*VU}6HV|ɿ@~Y?tK[k`Dh? `?)~6K@ ~6tZ;I~6C 9 I mGi  @ =   ; ɫYY)Y ]IYY2@ybqGxDUSBL response received:!U1,R,F88,000,00375,186,80,80,9E,FF Fpublishing direction and range infoPw=ɰ=鰥> )CIyyAkΔ?4ޮ`º?ٱiƸMW=Y!a;QU>aDDyt}>I'C 5?ܾ B ?9 D/: :)Wm6@WX! X!W!:W!2W!*W)V)bU)BU)*U)U1U5(@RE(Combining 5 samples.PA*QEyAZQEmq/@3F?JQEkΔ?4ޮ`º?2QEPw=:QAbQE /ފ?D3;,;RQEV4pV?@cBQEB@ QE?QE_xPEA9?PE@9?PEQEQE@"QE@B=?<B9 B9A= =*BAAE2<AAAAAE<"Cmm6@*Cm‡RCu(=Cum6@CqM·3= I1G;>q,QEAY}jZZK@}ju;@y}jՋF}jy}jHG@|ʿ`PɈ?8zH?+@?)~jZZK@ ~jZ;I~jCɫ) IY@yqG}TNmea in: $SNTTA,0.035544,,,,011155.89*43 i\(\? ףp= ?{Gzt?Q8> ף)Iy r?y&1?Mb?#?`<< …bA)… AI…AAiA?|Q8i3@  @)$@I @i@wM-=Y;QU>aD Dy}>I  : * 5? : ܾ B ?9  D : :) :mMuAdded new target pos. range: 15.599998 m, bearing: 174.319624 deg, deltaT: 4.423598 s, approachRate: -0.705308 m/s, LOS rate: 0.609993 deg/s, posRepo size: 4m] ProNav: pos range: 15.599998 m, bearing: 174.319624 deg, approachRate: -0.705308 m/s, LOS rate: 0.609993 deg/s, cmd update: 1.829978 deg/s, cmd heading: 163.319012 deg, new cmd heading: 163.311807 deg. W]|e7@WYXY XYWY:Wa2Wa*WaVibUiBUi*UiUu33/@Uu7i?B<B BA=*BA>4<A!A!A-d<"CU|e7@RCUBp;CU|e7@CYh~~9 ':YT1y@:5u d6=1I9G]>Ņq,EAY}FDK@}F";@y}Fk:}F}FH>@8˿,?`/S`mU@?)~FDK@ ~FZ;I~FCɫyy)y yIyY@ypGI)Ai!)UMUh=Y]i;QU]>YaaeDe+Daym*l}m>I 5?ܾ B ?9 D#: ʽ:)W$8@WX XW :W 2W *W VbUBU*UUU@޹?BE<BA BAAEw=*BIAMM`5<AIAIAM^<"CU$8@RC]NC]$8@CYm#=!I1G]3>gAfAt>9ITlGi@|; E̅q,į2EA|$i|$Y}FJ@}Fl:@y}F&1^:}F }FH4E̿[BV?$ۿ$K S`Q?)~FJ@ ~FZ;I~FCɫqq)q qIqY@yoGi!!)-= -=uh=uu=iu@q u@)uף@Iu@iuף@MH=Yx_:QU>aD8Dy-a}>Iș :ŝ 5? :ŝܾ ƝB ?9Ɲ!Dǝ : ȝ:)ȝ:W8@WIXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUe X?B`}<B BAد=*BA6<AAA#<"C8@RC1| C8@CV ||K +:YR1yi:5Ӆq,5LEAY}6rfJ@}6:@y}6M:}6)y}6H-̿`Ͷ?QQI@6?)~6rfJ@ ~6Z;I~6CɫAA)I IIIY@yzoGi))emMeK=Ye@!QUe>iiamDmEDqyun*}u>Iy}B 5?}pܾ }B ?9}!D}ʽ: }r:)yW`9@WX XW:W2W*WVbUBU*UUU&?BGk<B BA=*BAu7<AAA&<"C`9@RC5n`C`9@C r;IGK>'مq,ffEAY}:?J@}:Z:@y}:YX:}:t{}:H (Ϳ`CM@'?@0*K@{s?)~:?J@Fs>9DIF(kGiF"@F=DDFw; FE ~:Z;I~:CɫYY)Y ]IYY@yoGaie=e=ie=iiiE<MF=Y}8QU>aDRDyټ}>I :o 5? :ܾ  B ?9"!D+: :):W :@WX XW:W2W*W V bU BU*UUU_@BE#<BA BAAE.=*BAAM8<AIAIAM<"CU :@RCUCU :@CYii-z컹IG}7>%%}%}%h %+:Y%kS1y%Ԋ:%5)%;9-q,BEAY}2JJ@}2te:@y}2:}2٧w}2H)Ϳ`/A?e Q &?)~2JJ@ ~2Z;I~2CɫII)I IIIY}f@y}-oGimuV?S㥛??mr(?m/< m<)iIiym/$?Mbp~jt?m1(?mm= i)m AImAimAimA…eAE?Ex=ERiE̤@A E)E@IE@iE@UMU@=Y] :QU]>YaaeDe`DaymJ:}m>Iqu 5?uܾ uB }?9u3!Du : u:)qWL|;@WX XW:W2W*WVbUBU*UUU ]@BU<B BAB=*BAj9<AAAP<"CL|;@RCųCL|;@C?IGG>9q,vEAY}2J@}2O:@y}2K;}2]}2H@0̿c൚?]%Ẫ` c #?)~2J@ ~2Z;I~2Cɫ99)9 =I9Y@yoG@Aip<Me=Yk;QU>aDkDy-<}>I  :Q 5?  :ܾ *B  ?9B!DG: 2:):W-6<@W1X1 X1W1:W12W9*W9V9bU9BUA*UAUAUE@RMB*** querying acoustic contact ***PIPIBu><Bq BqAuy=*ByA}M:<AyAyA}0<"C6<@RCLzƽC6<@CmY!I1G]3>yy܁9܁I܅jGi܅Ѿ@܅=܁܁܅; ݅E)Ii==4 m C:YT1y:5)o;cq,jEAY}:J@}::@y}:o[;}:mo3}:H9˿XK??f2@[mk@l@?)~:J@ ~:Z;I~:Cɫ99)9 9I9Y}@y}nGZ****** received transponder code query ******F****** received ping request ******AAaEDEzDAyM5<}M>IQU& 5?Urܾ U:B ]?9UU!DU: U&:)QW =@WX XW:W2W*WVbUBU*UUUDE @Bq<B BA Q=*B A ;<A A A<"C =@RCLݽC =@C -=->-IGE>Kq,cEAY}2EK@}2\a;@y}2;}2}2H@qE˿qކ@'?`Aɞ͔rSA ?)~2EK@ ~2NZ;I~0ɫYY)Y ]IYY$@ynGxDUSBL response received:!U1,P F88,000,00375,186,80,80,9E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I@)@i )> >5<M=\=YMP;QU>aDDyD<}>II ]:M| 5? :Mܾ MJB ?9Mh!DMY< MS<)M:W->@W1X1 X1W1:W12W1*W9V9bU9BU9*U9UaUe @BLhx<B BA0i=*BA;<AAAM<"C>@RC%>C%>@C1%r%z%z%B %(:Y%Q1y%:%59=@֕SĽqIyG>uq,֭EAr>9IiGiݽ@; Eɫ髙) IY@y2nGp=ɮR=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iyy%ME=YQU>aDDy}>Iri 5? ܾ WB ?9v!D '; \(;)W ݿ>@W X1 X1W9:WA2WA*WIVIbUiBUi*UqUqUu P@B-n<B1 B9A=$=*B9Amc`<<AiAqAu<"Cݿ>@RC5Cݿ>@C2ĽI!G>]q,QEAY}2L@}2<@y}27;}2Jf}2Hfcȿx`?f`c&v@=l`?)~2L@ ~2Z;I~2CɫYY)Y ]IaYB@ymGxDUSBL response received:!U1,R,F80,000,00353,187,80,80,5A,FF Fpublishing direction and range info=ɰm=鰥1> )BIyXAT a? -V:?ٱi!!iSoGIi UOlٺQUXB^I +? rh~jtx?X?C ;)Iy?y&1X9v?f&?`< ½ A)½ AI½\Ai½ AfA U@ U@ ]@U©UUiUp@U U @)U@IU@iU @|M.=Y:QU>aDDy0=}>IP 5?!ܾ dB ?9!D: :)W?@WX XW:W2W*WVbU!BU!*UQUQUUW-@R(Combining 5 samples.P*QXAZQ@:s*@1-./?JQT a? -V:?2Q=:QbQ,xI+u@?B>RQoYEݪ?NwBQC@ Q"?Q:XP?9?PA9?PQQ@"Q@BR[<B BA}<*BA<<AAA#֬<"C ?@RC C?@CAA  } } L S,:Y kS1y Ԋ: 5d轹IG>7q,+nEA|,|,Y}r\M@}r#x=@y}r;}r+'<}rHy`ǿ+p?@xy`H?@x3?n?)~r\M@ ~rz[;I~rCɫQQ)Q UIQY7@ymGTNmea in: $SNTTA,0.031192,,,,011200.33*4A iI =) =gA&xMd=Y%m:QU%>!!a%D-D)y5|=}5>I9 E:== 5? E:=5ܾ =nB E?9=!D=: =:)=:muuAdded new target pos. range: 13.559999 m, bearing: 175.302775 deg, deltaT: 4.550738 s, approachRate: -0.448279 m/s, LOS rate: 0.216042 deg/s, posRepo size: 4m ProNav: pos range: 13.559999 m, bearing: 175.302775 deg, approachRate: -0.448279 m/s, LOS rate: 0.216042 deg/s, cmd update: 0.648126 deg/s, cmd heading: 171.628492 deg, new cmd heading: 172.269718 deg. W?@WX XW:W2W*WVbUBU*UU@+@U?B"`<B BAb<*BA#=<AAA<"C|?@*C҇RCuнC?@C׹IGE>!9!I%lhGi%@!!%D%; %E= q,}@5EAY}2h!N@}2<>@y}2k;}2<}2H `ſZ`?@?9yU? ?)~2h!N@ ~2Z;I~2Cɫ99)9 =I9Yyyyi e e ee?edeie@e e)ed@Ieף@ied@Yu=:QU}>yya}D}Dy=}>Iȉō ) 5?ō?ܾ ƍxB ?9ƍ!DǍ: ȍ&:)ȉW=@@WX XW:W2W*WVbUBU*UUU@?B^<B BA*BAD|=<AAA{<"C =@@RCԽC=@@CeI)GER>~~/ ):YT1y@:5q,OEAY}6ܿN@}6L>@y}674;}6.=}6H@ WĿ ??R?@\{?@{&zե?`a?)~6ܿN@ ~6F[;I~6Cɫ99)9 =I9Y}@y}lGiM!!a%D%ƙD)y-<}->I1 =:5 5? =:5Sܾ 5B E?95!D5: 5M:)5:WeX@@WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU}`?B%LD<B! B!A%;*B!A%ݑ=<A)A)A-T<"C5X@@*C5DㇽRC5KƽC5X@@C9 M>I-0IG-->% q>9! I% @gGi% @% =! ! % ; % Eq,hEAY}6H3O@}6N?@y}6;}6aaaeDeәDaym<}m>Iqu 5?uZܾ uB }?9u!Du: u&:)qWi@@WX XW:W2W*WVbUBU*UUUq?Bݑ=<B BA*BAAAAb2<"Cmi@@*CmRCmCui@@Cq֝a5ս--{-{-: -.:Y-#R1y-:-5)- ;9]יIGE>ë q,lЂEAY}:O@}:~?@y}:~/;}:<=}:H`V¿na??Q`ꜰ?}??)~:O@ ~:i[;I~8ɫ99)9 =I9Y}@y}lGi!!K7A`?=Y%:QU%>))a-D-D1y5<}5>I9 E:=w 5? E:=%ܾ =B M?9=!D=: =;)=:Wd%A@WX XW:W2W*WVbUBU*UUU@?BiBi BiAi*BiAqAqAqAu<"C}d%A@*C}RC}}C}d%A@CeKk½9IIGeV>&q, EAY}2f!!a%D%D)y-<}->Iȑŕ 5?ŕNܾ ƕB ?9ƕ!DǕ]: ȕ:)ȑW6iA@WX XW:W2W*WVbUBU*UUUP@B=<B BA*BA =<A A A p<"C6iA@*C RCC6iA@C))e(p>9IfGi@; E9IIGa%i%%%P %':Y%T1y%:%5)%/;-q,EAY}2Q@}2\A@y}2y;}2,=}2H'h>_??e?cy m??)~2Q@ ~2.[;I~2Cɫ99)9 =I9Y۾@yjGiI4=)R=¹½fAK>NVi(@ ף@)ף@I@iף@MK=Y QU>aDD!y%<}->I)-\ 5?-ܾ -B =?9-!D-o: -:))W]A@WYXa XaWa:Wa2Wa*WaVibUiBUi*UiUqUu v@R}B*** querying acoustic contact ***PyPyB& <B! B!A%_Ҽ*B!A%8=<A!A!A-<"CMA@*CURCU1CUA@CYMϰIG-->3q,gdEAY}6Q@}6&B@y}6h;}6=}6H9,W?$?@]? v N?@=?)~6Q@ ~6~6Cɫ99)9 =I9Y@yjGZ****** received transponder code query ******F****** received ping request ******!a%D%D!y-g =}->I1 E:5A 5? E:5ܾ 5B M?95 "D5!; 5;)5:WuA@WqXq XqWy:Wy2Wy*WyVybUBU*UUU`) @BP! <B BAʼ*BA<<AAAī<"CA@*CRC؄CA@C!IGI>%%{%{%A %*:Y%#R1y%:%59-@ o>9 I dGi @ = )QIQiQQQU4:q,?EAY}>R@}>iB@y}> ;}>=}>HPWٸP?ϸ?v3? Avڰ?`?)~>R@ ~>[;I~>Cɫyy)y }IyY@yjGxDUSBL response received:!U1,P F80,000,00353,187,80,80,5A,FF Command AckBRequesting micromodem ping code 2iI) Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i))m;M}E=Y͹QU>aDDy_<}>IŎ 5?ܾ B E?9"D< <)W0VB@WX XW:W2W*WV bU BU*UUyUU @B%%<B) B1A5*BA<<AA A <"CM0VB@*CU RCqdC0VB@C = >G󈽹׉ I G >@q,EAY}6gS@}6$C@y}6+;}6=}6H&5 H?`+?`(?߿t??)~6gS@ ~6 [;I~6Cɫ99)9 =I9Y"@yiGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i !!Cl?e;O?Q;?t> )Iy333333?I +?J +??9<H= ­ A)­AAI­Ai­A\A)= > m@ m@ m@m©mmimf@m m)mM@ImM@imM@}tM}:=Y}0]QU>aD"Dyo<}>Iș :ŝay 5? :ŝܾ ƝB ?9Ɲ/"Dǝ{: ȝ:)ȝ:WB@WX XW:W2W*WVbUBU*UUU 1@Bj<B BAE*BA;<AAA<"CB@*CRCWHCB@Cff55~5~5% 5G/:Y5T1y5@:55IG>+$Gq,EAY}:4S@}: D@y}:k;}:=}:H``> ? dl!?u??)~:4S@ ~:BZ;I~8ɫ99)9 =I9Y}@y}iGxDUSBL response received:!U1,R,FE5,000,0031C,183,80,80,B7,FF Fpublishing direction and range info<ɰj=鰅$> )7CIy($AϺ?е ?ٱiҀMm=YX :QU?aD-Dyg<}?Ig 5?;ܾ B ?9="DV< x<)WB@WX XW:W2W*WVbUBU*UUU o@R(Combining 5 samples.P*Q($AZQăxy$@ !?JQϺ?е ?2Q<:QbQb+*)}$L?[HSRQz2+?hA "nBQҋE@ Q6?Q#P@9?P?9?PQQ@"Q@B;B BA[*BAQ;<AAA}<"CB@*CRCC3CB@C֥(aaIqG9>ّٕgAܝp>9ܙIܝ dGiܝk@ܙܙܙܝu; ݝEOMq, 7EAY}zX~T@}zșD@y}z';}z+=}zH ߱:Ա?`J@_?_sS?9?)~zX~T@ ~zZ;I~zCɫ) IY@y[iGTNmea in: $SNTTA,0.030753,,,,011204.78*4B =i=i   t>`e=i@ )"@I@i@M7=Y^QU>aD;Dy y<} >I :]Q 5? :ܾ B %?9N"D: M:):mUuAdded new target pos. range: 10.260000 m, bearing: 176.852531 deg, deltaT: 4.364905 s, approachRate: -0.756030 m/s, LOS rate: 0.355049 deg/s, posRepo size: 4me ProNav: pos range: 10.260000 m, bearing: 176.852531 deg, approachRate: -0.756030 m/s, LOS rate: 0.355049 deg/s, cmd update: 1.065148 deg/s, cmd heading: 174.461434 deg, new cmd heading: 174.732620 deg. We_C@WaXa XaWa:Wi2Wi*WiVqbUqBUq*UqUu$@U}ढ?BH;B BA*BAx:<AAAn<"C_C@RC(1C_C@CII=QE?iE?I%K %%%I %9:Y%T1y%:%G5G5r>i nGIjAijٺjAVB6Tq,QEAY}6U@}6=:E@y}6:T;}6Qr=}6H8`XK '? LZ?` rE??)~6U@ ~6Z;I~6Cɫ99)9 =I9Y<@yhGi!!I-R=)-=99e|MeU=YmqQUm>iqauDuHDyy<}>Iȉō= 5?ōIܾ ƍB ?9ƍ]"DǍ; ȍ` ;)ȉWPC@WX XW:W2W*WVbUBU*UUUV?B;B BAG*BAu9<AAAc<"CPC@RC#CPC@CI6IG%o>܍ o>9܉ I܍ bGi܍ &@܉ ܉ ܉ ܍ ; ݍ Es`Zq,kEAY}ZU@}ZJE@y}ZUc;}ZW=}ZH@E@{M??jlݪ?`?)~ZU@ ~ZuZ;I~ZCɫyy)y }IyY@y!hGiyy,MC=YQU>!a%D%UD!y-l<}->IQ ]:U( 5? ]:U ܾ UB ]?9Um"DU: U:)U:WYD@WX XW:W2W*WVbUBU*UUUƵ?B%|ߝ;B! B!A%b*B!AM|+8<AIAIAM%Z<"CUYD@RCUYCUYD@CYֽK'--|-|-G -+:Y-R1y-i:-5)-~;95בIG>jJaq,iEAY}2V@}2TF@y}214%;}2;'N=}2HD }%@dD@? ɩ?d ©??)~2V@ ~2];I~2Cɫ19)9 =I9Yu=@yugGiQ?HzG?{Gz(?= > #)IyMb?S㥛/$?#?/ݼ< • A)‘I•Ai• AG A ?\I i=@ d@)@I@iʭ@MG=Y?QU >  a DbDy<}>I 5?ܾ B -?9}"D: :)WM%D@WQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUe?Be;B BA'ܽ*BA6<AAAS<"C%D@RCl C%D@C յ>ԵG>ֽ[I)eAyIG]>tgq,EEAY}BW@}Bv6G@y}Bc;}B+@=}BH @Jt1G@8? `t? b`1??)~BW@ ~B&\;I~BCɫ髑) IY@yTgGi99 AA)E> E=UMUV=Y]9QU]>YYa]DenDaye<}m>IquW 5?uܾ uB }?9u"Du: u#:)qW*JE@WX XW:W!2W!*W!V!bUIBUa*UiUiUma?@B jL;B BA *BAK5<AAAL<"C*JE@RC.C*JE@CI9IIMaGiM@IIIM}; MEyױIGf>%%}%}%O %s+:Y%kS1y%Ԋ:%5)%[;Gmq,EAY}2aW@}2B}G@y}2%:}2:<=}2H@ +1D(?n?T6?`X?)~2aW@ ~2[;I~2Cɫ99)9 =I9Y@yfGiU=U9iiamDm{Dqy}h.<}}>Iȁ :Ņ 5? :Ņܾ ƅB ?9ƅ"DDž: ȅE:)ȅ:WE@WX XW:W2W*WVbUBU*UUU`M@Bm|:Bq BqAuK*BqAu3<AqAyA}I<"CE@RC6 CE@CeI_9IIGeU>%tq,EAY}RQoW@}RG@y}R-:}RN.=}RH@ RU:? Q?9c٥?C٥?`?)~RQoW@ ~Rv[;I~RCɫqy)y }IyY2@yPfGAAiYYmڼMuI=Y}2ѺQU}>aDDy;}>Ișŝ 5?ŝܾ tI Ɲ%B ?9Ɲ"Dǝs:; ȝ7%;)șW=F@WX XW:W2W*WVbUBU*UUU)@RB*** querying acoustic contact ***PPBX:B BAg*BA1<A!A!A%E<"C-=F@RC-/C-=F@C199% -?i-?IG%M>%- %|%|%D %i7:Y%R1y%i:%559-@! 9! I% `Gi% @! ! ! % z; % EFzq,`EAY}2\kW@}2̆G@y}2#}2Ҩ=}2H ŅX?O?`0?3cD?3? ÅϾÅ\iÅG@Á ą@)ą@Ią@ią@{M9=Y=6QU>aDDy!}>Iȱ :ŵ0 5? :ŵؾܾ Ƶ/B ?9Ƶ"Dǵ: ȵV:)ȵ:W%~F@W!X) X)W):W)2W)*W1V1bU1BU1*U1U9U=`% @B h:B BAY*B!Au/<AyAyAM8<"C~F@*CRCzYC~F@CU?2I IQ Gm >lq,EAY}J֍W@}JFG@y}Jܺ}JZ4=}JHX@~nc?h? ?B[?@%??)~J֍W@ ~Je [;I~Hɫ髹) IY(@yeGxDUSBL response received:!U1,P FE5,000,0031C,183,80,80,B7,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(\?Q?~jt?z4?u< =)Iyv/?~jth?Zd;O?x)?D;j<= t A)AIzAi; AzA=~fM=2=Y=QUe>aaamDmDiyu';}u>Iy}k 5?}ܾ }EB ?9}"D}<; };)yWVRG@WX XW:W2W*WVbUBU*UU!U%@? @BBB BA0*BA,<AAA1<"CVRG@RCxCVRG@C=={={=. =/:Y=#R1y=:=~55#Y I G- >Lq, EAY}:W@}:G@y}:?*}:<}:Hۑ mh? ?{/?@Re?F9I_Gi@; E)yIyiyyy}k4UmYIQ)UfAI)GEQ>덆q,b:EA|"@i|"@ɫ髹) IY@ydGxDUSBL response received:!U1,R,016,000,002F2,183,80,80,C1,FF Fpublishing direction and range infonFɰw= )ACIy@0}?]~ٱi)%= %= @ @ @©i@ )Iۙ@i@-M-@=Y5QU5>11a=D=D9yE}E>IIMXx 5?Mܾ MiB U?9M"DM: M&:)IWu/H@WyXy XyWy:Wy2Wy*WVbUBU*UUUy@R(Combining 5 samples.P*Q@ZQ粴L@CIÿJQ0}?]~2QnF:QbQLg𸟥V,?RR?RQ.`7wcPȢ?32#8a?BQF@ Qb>QP?9?P@9?PQQl@"Q@B`B BA9*BA)(<AAA*1<"C/H@RC>Ce/H@Ci}Pz-0 -}-}-d -7:Y-kS1y-Ԋ:-5aIiG|>;Ҕq,8TEAY}V X@}V|H@y}V}V <}VHex`V? x?@p?aWU?@??)~V X@ ~Vj.[;I~VCɫ髩) IY@ydG}DNmea in: $SNTTA,,,,,011209.22*55 i%;M%K=Y%S;QU%>))a-D-ʚD1y5<}=>I9 E:=a 5? M:=ܾ =|B M?9=#D=: =:)=:m}qAdded new target pos. range: 7.740000 m, bearing: 177.897523 deg, deltaT: 4.460807 s, approachRate: -0.564920 m/s, LOS rate: 0.234261 deg/s, posRepo size: 4m ProNav: pos range: 7.740000 m, bearing: 177.897523 deg, approachRate: -0.564920 m/s, LOS rate: 0.234261 deg/s, cmd update: 0.702782 deg/s, cmd heading: 179.216984 deg, new cmd heading: 179.646041 deg. WH@WX XW:W2W*WVbUBU*UU@U?B4B BA67*BAPp&<AAA 8<"CH@*C9퇽RCxCH@C\IGF> 9 zCI o_Gi @ = Efq,qnEAY}^S Y@}^(I@y}^}^t<}^H@`-Y?`[R?`X`΀?`R???)~^S Y@ ~^[;I~^Cɫ) IYEr@yM)dG=i=i   l> E>iQ@ @)d@Id@id@%' M%J=Y%T9QU->))a-D5ךD1y5<}=>IAEEK 5?E&ܾ EB m?9E#DE; Ej;)AWEH@WIXI XQWQ:WY2Wa*WVbUBU*UUUa!?B@%B BAjG*BAg#<AAA%IC<"C%H@*C-s釽RC-uC-H@C)%%~%~%V %,:Y%T1y%@:%5)%c;9-MÞU?iU~?! I1 GM > i ]nGI jAi1 B䡆q, EA||6hlٺ6jA6XBY}>Y@}>lI@y}>򯺙}>m<}>Ha? ^R? C?`VU???)~>Y@ ~>[;I~>Cɫ髙) IYڸ@yncGi9A!rh?I +?Zd;Ol?94< j<)IyS?/${Gz?/?#=  A) AIZ Ai A A  <MK=YQU>!!a%D%D)y-m<}5>I156 5?5Խܾ 5B E?95%#D5ʽ: 5:)1We"I@WaXa XaWi:Wi2Wi*WqVqbUqBUq*UqUyU}O?BMڻB BAdZ*BA!<AAA`<"CH*CㇽRCQVC"I@C֍_ⅽAIQG}7>4q,ѡEAY}FZ@}FJ@y}Fƺ}FŎ<}FH?Q? $K?@qX?fؑ? ?)~FZ@ ~F[;I~FCɫqy)y }IyY@y cGiU MUX=YUjQU]>YYa]D]DayeJ=}m>Iq }:u" 5? }:uܾ uB }?9u4#DuA: u:)u:W7oI@WX XW:W2W*WVbUBU*UUUa?B]UBY BYAeBb*BaAeA<AaAaAe}<"Cm~H*Cu6؇RCuT/Cu7oI@Cqu9yI}D^Gi}@}=yy}~; }E}puyIGf>MM|M|M{ M-:YMR1yMi:M5)M͊;9q,EAY}2D[@}2`K@y}2 }20<}2H?@)KV?`R?3a??F?)~2D[@ ~2Z;I~2Cɫ99)9 =I9Yu@y}jbGI)AiEَ>E =EGiEQ@A EĘ@)EIE@iEĘ@UI7MUJ=Y]νQU]>YYaeDeDaymU<}m>Iqu 5?uܾ uB }?9uD#Du#: u:)qWfI@WX XW:W2W*WVbUBU*UUUo?BJB BAt*BA7<AAAޠ<"CO_H*CȇRCٖCfI@CtE׉IG> q,EA|i|Y}fm[@}fK@y}f}f9<}fHU#?H?N ՞?`W`?ƞ?@H?)~fm[@ ~f5[;I~fCɫ髙) IY@y|bGIE@)E@iII)U= Q]K;M]J=Ye88QUe>aiamDm Diyu<}u>Iy :} 5? :}˽ܾ }B ?9}T#D}+: }8:)}:WJ@WX XW:W2W*WVbUBU*UUU)@B8B BAr*BA<AAAë<"C H*C:RCVCJ@C<1IG J>I@A)?A%%~%~%9 %2:Y%T1y%@:%59-@i 9i Im |]Gim @i i i m ; m ElNq,lEAY}%[@}%rK@y}%#Ǥ}%_=}%H`,?7`*[Q?T? KO??)~%[@ ~%x[;I~%Cɫ) IY-@y- bG5AA1iAA  @  @ @ ©  i G@  ) Ę@I i ۙ@h׼M%>=Y%:QU->19a=DEDIy];}e>Iqu] 5?uܾ uB ?9ue#Du; uZ;)qWqJ@WX XW:W2W*W!V)bU1BU1*UaUiUm @RuB*** querying acoustic contact ***PqPqBTӻB BA~*BAw<AAA<"C%G*C%QRC%UC%qJ@C)-#1i5?! I) GM >3†q,< EAY}J[@}J L@y}JJ}J5 =}JH :?JX刺`Hq?`AI?q?=?)~J[@ ~J"[;I~JCɫ髱) IY@yaGZ****** received transponder code query ******F****** received ping request ******aD%Dyj;}>I : 5? :ܾ B ?9v#D: :):WJ@WX XW:W!2W!*W!V!bU)BU)*U)U)U5j @BjB BA*BA<AAA'<"CbG*CRC*,CJ@CױIGh>M MMMS MFI:YMT1yM:Mk5\Ȇq,U#EAY}2,>\@}2YL@y}25}28<}2H`0 J?`EK`K`e?`ظF?e?@c?)~2,>\@ ~2[;I~2Cɫ99)9 =I9Y@yKaGxDUSBL response received:!U1,P 016,000,002F2,183,80,80,C1,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iI 4=) 4=)-fAMM]g=YePc9QUm>yaD0DyO<}>I· 5?ܾ B ?9#D= =)!9!I%P\Gi%@%=!!%; %EWMK@WX XW:W2W*WVbUBU*UUU u @B*B BA*BA <AAA9f<"Cg G*C􊇽RCza-CMK@C5;IG >Άq,b<EAɫ髱) IY@y`Gɮa=ENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i   &醿$>iף@ /@)@Iף@iM@M>=YQU>!!a%D%>D)y-}->I15# 5?5>ܾ 5B =?95#D5': 5:)1We\[K@WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqU} $@BXB BA%*B!A- <A)A)A-٬<"C5XF*C5tRC5KEC5\[K@C9%.IGI>- ---O -v4:Y-WU1y-:-5 qՆq,VEAY}FU]@}FpM@y}F@Ǻ}F<}FH?N(-?퀱Ynp?X?@`? ?)~FU]@ ~F[;I~FCɫ髑) IY@y`GxDUSBL response received:!U1,R,071,000,002CF,186,80,80,AB,FF Fpublishing direction and range infoɽɰk=> )+CIyz@S3?Fο4ٱIA)Ai ;M ]=Y QU>aDJDy ==}%>I! -:%$ 5? 5:%ܾ %B 5?9%#D%: %/:)%:WUK@WYXY XYWY:WY2WY*WaVabUaBUa*UaUiUm@R}(Combining 5 samples.Py*Q}z@ZQ}8 Ms@F3JQ}S3?Fο42Q}ɽ:QybQ}%j xm??TA5/`RQ}E\??w6BQ}!G@ Q}1.>Q}eP}>9?P}?9?P}QyQ}@"Q}l@B;B BA鏾*BA-L<AAA<"CzF*CyqRCO#CK@Cֽ.בIGe> 9 I [Gi o@ = ; E)ݝzCIݝzCiݙݙݙݝ4jۆq,gpEA|N@i|LY}-]@}- M@y}-,o}-٫<}-H ?@@?ɼ 5 ?`?`u? /?)~-]@ ~-w#[;I~-Cɫ髉) IY*@y`GTNmea in: $SNTTA,0.234437,,,,011213.66*45 i 11)E= E>=n>1>i̜@ )Q@I@i;@-^M-!=Y52QU5>19a=D=ZD9yE<}E>IIMq 5?MWܾ MB U?9M#DMX; M7[;)ImqAdded new target pos. range: 5.639998 m, bearing: 178.271598 deg, deltaT: 4.407374 s, approachRate: -0.476475 m/s, LOS rate: 0.084875 deg/s, posRepo size: 4m ProNav: pos range: 5.639998 m, bearing: 178.271598 deg, approachRate: -0.476475 m/s, LOS rate: 0.084875 deg/s, cmd update: 0.254625 deg/s, cmd heading: 182.314516 deg, new cmd heading: 182.672170 deg. WK@WX XW:W2W*WVbUBU*UU[@U/X?B15B BA>*BA<AAAv8<"CTF*CNZRCCK@C%%{%{% %*:Y%#R1y%:%l5)%͈;95er! I1 GM >{q,_~EAY}2]@}2 M@y}2>U}2<}2H_"?@A?@* `:?b?@??)~2]@ ~2Z;I~0ɫ99)9 =I9Y}Ƶ@y}_Giq= ףp?Mb?)\(?+?< Ga=)IyQ?MbP? rh?(?:C =  A) AIAi A3 AM}=YGQQU ?aDdDyL;} ?I :_ 5? :=ܾ B ?9#D: :):W %K@W X  X W :W2W*WVbUBU*UUU@~?BM_BI BIAM~*BQAU;AQAQAU<"C]=F*C]JRC]WC]%K@Cae:W!I1GUS>q,YEAY}J]@}JM@y}J(A}J<}JHB?#WW?h k?8h?@>?]?)~J]@ ~J[;I~JCɫyy)y IY@y_G==i==iAAML=YqӺQU>aDqDy;}>II 5?eܾ  B ?9#D: :)W_K@WX XW:W2W*WVbUBU*UUU ?B5.glB1 B1A=X*B9A=;A9A9A=ѭ<"CEV F*CEF7RCE^CM_K@CIܵl>9ܱIܵ\ZGiܵ{@ܵ=ܱܱܵ; ݵE֑yIG^>%!!%I %3:Y!y!%G5)%;q,C:EA||ɫ髉) IY@yQ_GiI%=)%=)-gA u@ u@ u@u©uuiṳ@u u/@)uX@IuiuA@K9ML=YQU>aD~Dy}>Iȡ :ť^3 5? :ťܾ ƥB ?9ƥ#Dǥ: ȥj:)ȥ:W|L@WX XW:W2W*WVbUBU*UUU'?BTvB BA*BA|7;AAA"<"C9F*C$RCQC|L@CinGIjAilٺjAMXBIGj>8q,EAY}Z^@}ZN@y}ZVd}Z7<}ZH`V,?Mae?`*@7?Ɯl?ئ??)~Z^@ ~Z[;I~ZCɫ髙) IY@yW^Giai}|M}K=Y}lQU>aDDy =}>Ișŝ 5?ŝܾ Ɲ'B ?9Ɲ#Dǝ: ȝM:)șW9L@WX XW:W2W*WVbUBU*UUU @@BgB BA c*B A  -;A A A}<"CE*C RCvC9L@C=ɯIA)A)IAGeU>%%%%\ %2:Y%WU1y%:%Y59-@ܩ 9ܩ Iܭ YGiܭ ذ@ܩ ܩ ܩ ܭ ; ݭ Ewq,EAY}2@0_@}2KO@y}25}2~(<}2H#@?`\?=帿 i?@f?? ?)~2@0_@ ~2 [;I~2CɫYY)Y ]IYY@y7^GIA)i!!     @ @ @   i \@  ) ʭ@I @i %vM%2=Y%:QU->))a-D-D1y5r<}5>I9 E:= 5? M:=ܾ =8B M?9=$D=: =:)=:Wm&[L@WiXq XqWq:Wq2Wq*WyVybUyBUy*UyUU@BB BA*BA;AAA<"CE*C醽RC'C&[L@C tIGj>q, EAY}2j_@}2O@y}2}$}2!?<}2HAϹ?EJ?͹uS?@.d?'??)~2j_@ ~2[;I~0ɫYY)Y ]IaY}@y}^G@A@Ai 鿩sh|??MbX?Mb`)?= )Iyoʡ?{Gzt?-?ףL=  A) AIt AiA A)= =C#Ma=Ys@:QU>aDDy <}>I"5?ܾ KB  ?9$D: :)W-uL@W1X1 X1W1:W12W1*W9V9bU9BU9*U9UAUE @RMB*** querying acoustic contact ***PIPIBuBq BqAuܲ*BqA}z;AyAyA}I<"C"E*CΆRCCuL@Cه׹IGf>%%%%< %l3:Y%T1y%:%~5q,¡%EAY}:_@}:O@y}:AO}:<}:H`˞?`)T?-0?@Ei?? ?)~:_@ ~:"[;I~8ɫ99)9 =I9Y}@y}]GZ****** received transponder code query ******F****** received ping request ******aDDy<}>ID5?Sܾ aB ?90$D: :)W-L@W)X) X)W):W)2W1*W1V1bU1BU9*U9U9U= @QUhAY9YI]XGi]6@YYY]; ]EB晼B BA*BA;AAA<"CnjE*C\RC4ԻCL@Czi?IGj>"q,|?EAɫ髙) IY@y\GxDUSBL response received:!U1,P 071,000,002CF,186,80,80,AB,FF Command AckBRequesting micromodem ping code 2ii=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i!)    @ @ @éééií@é ĭ@)ĭ@Iĭ/@iĭ@aM.=YQU>  a D Dy}>I E:c5? M: ܾ zB M?9D$Dm; ;):WL@WX XW:W2W*WVbUBU*UUU` @B-tB1 B1A5p*B1A5=;A9A9A]1<"CmiE*Cu7RCucCuL@C=99=k =^+:Y9y9=5r绹׉ I G > q, XYEAY}2`@}2hP@y}2ɣ}2d'<}2H@Ev?T p?sz?,yt???)~2`@ ~2[;I~2Cɫ99)9 =I9Y@y\GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i99IE=)EC=AEfAu*5Muz=Y}QU} ?yaD̛DyA=} ?Iȑŕ>5?ŕeܾ ƕB ?9ƕR$DǕ: ȕM:)ȑWL@WX XW:W2W*WVbUBU*UUU 4@BμB BA*BAv?;A A A <"CRE*ClRC$<CL@C֥yIG^>ܑ 9ܑ Iܕ XGiܕ @ܑ ܑ ܑ ܕ ; ݕ E4q,2sEAY}:`@}:Q@y}:\}:9 ;}:H@ӿ@6?zo?`yw? ~s?aA}??)~:`@ ~:b[;I~:Cɫ99)A AIAY}ݲ@y\GxDUSBL response received:!U1,R,FFD,000,002B7,183,80,80,8D,FF Fpublishing direction and range info+;ɰc=鰝$> ) CIyf@h,?8$Sre?ٱi    @ @ @i@ )I;@i@EBM3=Y:QU>!!a%D%ڛD)y-T<}->I1 =:5\5? =:5nܾ 5B E?95f$D5: 5:)5:WkL@WX XW:W2W*WVbUBU*UUU@y @R(Combining 5 samples.P*Qf@ZQh@dք?JQh,?8$Sre?2Q+;:QbQb Meo p9?PQQ@"Q@BB BA;*BAo|;AAA<"CJ1E*C;<RCAM<CkL@C֝X;IץeA)ץaA- -{-{-\ -3:Y-#R1y-:-Y5)-;9=YIaG}z>#q, EAY}na@}n,Q@y}nc}nlC <}nH<`.?Hc?`&.@2j?pl? X?`?)~na@ ~nj[;I~nCɫ髹) IYF@yU[GTNmea in: $SNTTA,0.025599,,,,011218.11*49 I)i%Gz?Zd;O?Q?%p=?%j< %<)!I!y%bX9?:vI +%E6?%T%94 % A)!I% Ai%SA!%G AEIMEY=YEJb;QUE>IIaMDMDQyU;}]>IY]z5?]ܾ ]B m?9]w$D]: ]:)Y8qjAggregate::initialize lineCaptureDepth:SetNavAcoustic19 r~Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNavq9rdReseting nav to dock location at range 4.199998 m q99 s6Initialize SetNavComponent.mqAdded new target pos. range: 4.199998 m, bearing: 187.321244 deg, deltaT: 4.523585 s, approachRate: -0.318332 m/s, LOS rate: 2.000547 deg/s, posRepo size: 4m ProNav: pos range: 4.199998 m, bearing: 187.321244 deg, approachRate: -0.318332 m/s, LOS rate: 2.000547 deg/s, cmd update: 6.001642 deg/s, cmd heading: 183.464061 deg, new cmd heading: 183.559385 deg. WpO@WX XW:W2W*WVbUBU*UU`@U#?BM˼BQ BQAU־*BQA];AYAYA]Ƣ<"CCRC-CpO@C֕XH)q,EAY}2L`@}2 Q@y}2v!}2(;}2HP Hۿ?#Y?Sڿ`@}?.d?`|?@?)~2L`@ ~2S$[;I~2Cɫ99)9 EIAYu@y}\Gi)) 99)E= E=UBZ=MU[=Y]y0;QU]>aaaeDeDiym}u>Iȁ :Ņwd5? :Ņܾ ƅB ?9ƅ$DDž; ȅt;)ȅ:XXXslSetNav fix at 20210814T011218: (41.552319, -70.708603)9 s:Uninitialize SetNavComponent.rfCompleted lineCaptureDepth:SetNavAcoustic:UpdateNav19 rAggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNavqRCompleted lineCaptureDepth:SetNavAcoustic8qnAggregate::uninitialize lineCaptureDepth:SetNavAcousticWQ@WX XW:W2W*WVbUBU *U U U`{?191I5VGi5@5=115; 5E)ݑIݑiݑݕ=ݕ=ݕ/4B˼B BAQ̾*BAC@;A A A (+<"CfARC"愽CQ@C-NJκ!I)GER>%%~%~%Q %,:Y%T1y%@:%5)%Q;"/0q,EAɫyy)y }IyY@y[GiAA   Õ>ÕAÕxiiÕ@Õ ĕ"@)ĕ @IĕA@iĕĘ@ЅME=YQU>aDDy}>I ?  y$D ?  Y ?  @ ?  /@ <  :< :- 5? :xݾ tI  ?9v; ;)o:AFix residual: 1.1 %DT, over the last 658.4 m. Residual distance 7.5 m at bearing 157.6 degrees. Fix at (41.5533, -70.7054) with 0.0 m made good.W T@W X  XW:W2W*WVbUBU*UUU%`q?BMO1˼BI BIAUϾ*BQAUk;AQAQAU{<"C]۬=RC]JH CeT@Caօ}U9IIGeV>Y6q,ǟEAY}2`@}2dP@y}2Lt}25}2H? n?` ,/n?રF?)~2`@ ~2)[;I~0ɫyy)y }IyY3@y>[Gii))iMH=YJQU>aD Dy}>I{ 5?Tzݾ W`  ?9>; w;)W=8|W@W9XA XAWA:WA2WA*WIVIbUIBUI*UQUQUU?B}JϼBy BA׾*BA\y;AAA P<"C;RCc@C8|W@C֍:WAIQG}7>%!!%D %):Y!y!%559-@M k>9I IM VGiM @M =I I M {; M E˃iiamDmDqyu2;}}>Iy :}b 5? :}|ݾ }7 ?9}?}: }U:)}p:WJZ@WX XW:W2W*WVbUBU*UUU _?B%ռB BAܾ*BA0a;AAA <"C7RC}CJZ@C*סIGA>iE }nGIY ii =jٺ +VBlCq,]EAY}2`@}2P@y}20j}2f}2HQ`?@Pv?@HhDEm?Y5?)~2`@ ~2hZ\;I~2Cɫ19)9 =I9Y}@y}ZGi\(\?)\(?)\(?:?G= Ga=)IyHzG?~jth?I +?=*?D;94= )9AI Aip A(MO=Y%x=:QU%>)aD'Dy w;}>IȹŽK 5?Ž~ݾ ƽVH< ?9ƽ]?ǽ6; Ƚg5;)ȹW 6]@W X  X W :W2W*WVbUBU*U!U!U-1@BrڼB BA߾*BAI;AAA<"C6RC C6]@C8IfA)fAIGi>%L %%%: % w:Y%T1y%:%5Iq,.(EAY}R*a@}ROFQ@y}Rs"}R?}RH@&`?2p?^a@vNd?G j?)~R*a@ ~R\;I~RCɫyy)y yIyYz@yZZGI)iMa=YE;QU>aD2DyuX<}u?Iy}|7 5?}ݾ }< ?9}č?}: }f:)yWS_@WX XW9IUGi@n; ߗE:W2W*WVbUBU*UUU@R B*** querying acoustic contact ***P P BuBu< ByA};*ByA}I4;AyAyA}6<"Cd3RCCS_@C@ yIG^>|Pq, BEAɫyy)y }IyY@yZGZ****** received transponder code query ******F****** received ping request ****** e e ee`?ee=ie3@e eۙ@)aIeĘ@ied@0;M0=YQU>aDADy}>I :_ 5? :!ݾ cJ= ?9B?: :)q:Wub@WqXy XyWy:Wy2Wy*WyVbUBU*UUU @BcؼB BAa*BA;AAA<"C%/RC)C-b@C)=V--|-|-" -.:Y-R1y-i:-5I9GUu>Vq,>[EAY}2b@}2zR@y}2}2M;}2H y?EE@yÿxJx?1?ix??)~2b@ ~2e[;I~2Cɫ99)9 =I9Yz@yZZGxDUSBL response received:!U1,P FFD,000,002B7,183,80,80,8D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iE&MMf=YU;QU]>iqa}D}MDy{=}>I, 5?Cݾ 7= ?9Q??; O;)W%Re@WX XW:W2W*WVbUBU*UUUQ @B1IB BA;*BAL;AAAR<"Cn-RCC%Re@CPױIG>l>9ITGi @q; E.\q,DuEAɫyy)y }IYJ@yZGɮ=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M=iM=iaaPn?V-?~jt?$?h> D<)IyGz?QMb??< ­ A)­nAI­ Ai­nA A ? h=  =i @  Q@) Q@I "@i AM$=YQU>!!a%D%\D)y-}5>I1 =:52 5? =:5̅ݾ 5= E?95d?5n: 5:)5r:WKJh@WX XW:W2W*WVbUBU*UUU`G@BE*BA BAAE=*BIAM:AIAIAM<"CU)RCQCUKJh@CY----x -,:Y-V1y-:-X5)-c;95U <- Ձ I G= >cq,EA||4 )CIy@(I8?s!D?ٱi99IE=)E=AAuM}=Y}4iq,EAY}zre@}zV@y}z"P,;}zc<=}zH %W?z5ɿ@uE ?e`?$? ?)~zre@ ~z[;I~zCɫ) I!YU@y]XGuaDvDy9=}>I :} 5? :cݾ "= ?9 @: +:)s:m%mAdded new target pos. range: 4.860001 m, bearing: 193.492251 deg, deltaT: 4.431237 s, approachRate: 0.148943 m/s, LOS rate: 1.392615 deg/s, posRepo size: 4m5 ProNav: pos range: 4.860001 m, bearing: 193.492251 deg, approachRate: 0.148943 m/s, LOS rate: 1.392615 deg/s, cmd update: 4.177845 deg/s, cmd heading: 210.060295 deg, new cmd heading: 212.677197 deg. W5l@W9X9 X9W9:W92WA*WAVAbUABUI*UIUMp@UM`u?Bu3By ByA}*ByAlY:AAAW<"C s%RCCl@Cϙϙ)Й Й%%}%}%I %<0:Y%kS1y%Ԋ:%G5)%}; \A I G >pq,YEAɫ髑) IY @yXGiaa);Mw=YQU?aDDy}?Iȩŭ 5?ŭݾ ƭ= ?9ƭ$@ǭ#: ȭ:)ȩW7n@WX XW:W2W*WVbUBU*UUUD/?BsB! B!A%$*B!A%:A)A)A-2<"C5}v$RC1C57n@C9%ƂIG%M>3vq,.EA|i|@Y}6]h@}61yX@y}69}6=}6HS? ӛ`ο`3`?67ͼ??)~6]h@ ~6~b[;I~4ɫ99)9 =IAY]ɯ@y]EXGi)> >MU=Y$»QU>aDD y =} >Iޫ 5?3ݾ I= 5?92@Ƣ< <)W  p@W X  X)W1:W12W1*W9V9bUABUi*UqUqUu?B B BAO*BAЦ8AAA%<"C-.!RC)C5 p@C1=}--~-~-X -R.:Y-T1y-@:-~595@I9GUu>}k>9yI}RGi}!@}=yy}; }E))I)i)))-a4#}q,mEAY}}i@}},Y@y}}{׺}}>}}H ?X 6п`פR/?Z??`?)~}i@ ~}+[;I~}CɫII)I MIQY@yWGiAIS?y&1/?̼ `)IyS?~jth?/$?/?D;< A)AI9AiA3A   Í{?Í=ÍtiÍד@Í č;@)ĉIčQ@ičpM&=Y;QU>aDDyA=}>Iȹ :ŽS 5? :Žݾ ƽ= ?9ƽWE@ǽ/: Ƚ:)Ƚt:W`Nr@WX XW:W2W*WVbUBU*UUU?B-' B) B)A-*B)A5 A1A1A5<"C=URC9C=`Nr@CAiAIQGm>q,EAY}6Xk@}69t[@y}6z}6K|>}6HB?E#ҿb)?`R@o??ð?)~6Xk@ ~6FZ;I~6Cɫ99)9 =I9Y@y8XG)>i=i5<M=|=Y=RۻQU= ?AAaMDMDaym=}m?Iy} 5?}ޔݾ }= ?9}HR@}9; }P;)yWs@WX XW:W2W*WVbUBUq*UqUqU}`a?BB BA*BA-?A)A1A5P<"C=ARCACEs@Ci}Ƃ-h -}-}-J -<:Y-kS1y-Ԋ:-~5QIaG}z><1q,*EAY}:l@}:\@y}:t}:>}:H@n}\@?餿`lӿo#4z? Nt?/1?@J?)~:l@ ~:"[;I~:Cɫ99)9 =I9Y}a@yWG999I=`QGi=-@999=z; =EiI>)8>gA @ @ @©i@ )@IiȎ@]ʼM3=Y#QU>aDDy==}>I :l 5? :ݾ = ?9 d@A: :)u:W%9u@W)X) X)W):W)2W1*W1V1bU1BU1*U9U9U=$O@BeBi BiAme*BiAmRAiAqAu0<"Cu{+RCyC}9u@Cy}}9IAGew>%q,5DEAɫ髁) IY®@inGyWGIjAi oٺ jA [Bi-9dM-j=Y-QU5?aDDy}>I\Z 5?ݾ => ?9r@A; N;)WEw@WAXA XAWA:WA2WI*WQVQbUYBUY*UYUaUeQ@RuB*** querying acoustic contact ***PyPyBc"B BA^*BA˺AAA{<"CMkRCiCmw@Cq]ƂIa)a----7 -):Y-WU1y-:-l51IAG]v>KCq,qv^EAɫyy)y }IyYѮ@yWGZ****** received transponder code query ******F****** received ping request ******99a=D=ΜDAyA}M>IQ ]:UG 5? e:Uݾ U> e?9U׀@U; U;)Uv:Wzy@WX XW:WI2WQ*WQVQbUQBUY*UYUYU]@ @BclB BA*BAJAAA)~<"C/RCCzy@CFӅIGj>j>9IPGi@y; qq,`xEAY} h5p@} P`@y} Zr!} >} H ]?v ֿUk?5.?f?F?)~ h5p@ ~ [;I~ Cɫ) IY- @y-VG5xDUSBL response received:!U1,P FC8,000,002C2,184,80,80,99,FF =Command Ack=BRequesting micromodem ping code 2i99ENmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iai 鿁zG?v/Zd;O? ?x j<=)IyOn?Qx&??u7= •z A)•AI•nAi•hA A)ý= ý= E E E E@ M@ M@AAAiE@A E@)E@IEd@iEۙ@}.7M}=Y}QU}>aDߜDy=}>IN- 5?\ݾ +7> ?9U@< j<)==}=}=e =):Y=kS1y=Ԋ:=G5)=;9UW/|@WX X W :W2W*WVbU!BUI*UIUIUM`o@BB BA( *BA *AAAm<"CRCC/|@C ?΅ױ I G >-Uq,8,EAY}Bq@}Ba@y}Bn[}B~ >}BH@G-?@kXKؿ~M`?q?`]??)~Bq@ ~B[;I~BCɫYY)Y YIYY5@yUVG鮡ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iqy<M=YLQU?aDD)y5=}5?I9 E:= 5? E:=ݾ =tL> M?9=ϐ@=: =:)=w:W Q{}@WX XW:W2W*WVbUBU*U!U!U%`@BKB BA *BA@=AAA<"C@RCCQ{}@CֹבIG>hq,EAY}2s@}2c@y}2 }2* >}2HQ83?_zڿ@?`l3?V?R?)~2s@ ~2P\;I~2Cɫ髡) I9I4PGi:@; EYE@yEUGmxDUSBL response received:!U1,R,018,000,00311,183,80,80,89,FF uFpublishing direction and range infoeaɰe=e$> a)e CIayeAeHV4?P4qٱai     =+~ji @ )@IȎ@iȎ@-gBM-7=Y-QU5>99aEDEDIymO=}m>Iqu 5?u,ݾ uGn> ?9uF@uO; u;)qW@WX! X!W!:W!2W)*W)V)bU)BU)*U1U1U5@@Re(Combining 5 samples.Pa*QeAZQeл82#@ɿJQeHV4?P4q2Qe:QabQevh !v e&?RQeUsH|>=#ؿ*B?BQe}b@ QenQe Pe19?PeC9?PeQeQeѱ@"QeY@B'B B A 5*B A 9_A A A H<"C%RC!C-@C)%r%%%, %(:Y%T1y%:%5)%Ά;MFӅ) I1 GU >Pgq,EA|4<|;ɫ髱) IYb@yQUGeDNmea in: $SNTTA,,,,,011227.01*58 iqqyyOMe=YQU>aDDy}>I5?ݾ x> ?9@: D:)m mAdded new target pos. range: 9.599998 m, bearing: 202.851987 deg, deltaT: 4.471857 s, approachRate: 1.059962 m/s, LOS rate: 2.093031 deg/s, posRepo size: 4m ProNav: pos range: 9.599998 m, bearing: 202.851987 deg, approachRate: 1.059962 m/s, LOS rate: 2.093031 deg/s, cmd update: 6.279094 deg/s, cmd heading: 228.744789 deg, new cmd heading: 230.158058 deg. W@WX XW:W2W*WVbUBU*UU23#@U`?B5>B9 B9A=]*B9A=yAAAAAEt<"Cm=RCiCm@Cq Յ>ԅ>yIׁ)ׁqIG>Xq,ϽEAY}6uw@}6Qg@y}65^}6Q>}6Hm@z+? @[ݿ@'|? +?t?`d?)~6uw@ ~6\;I~6Cɫ99)9 =IAY}i@y}ZUGi U(;M]P=Y]DQU]>aaaeDeDaym>}m>Iq }:u5? }:u ݾ uk> ?9uj@u: u:)ux:W]$f@WYXY XYWY:Wa2Wa*WaVibUBU*UUU?B,45B! B!A%"*B!AM̋AIAIAM]&<"CUnS RCQC]$f@CY֝?΅----V -2:Y-WU1y-:-59M@Yi>9IlOGi@{; EIG>xq,EAY}NGx@}Nh@y}N#\}N#>}NH"??w޿n@b?@?˒?@Ka?`?)~NGx@ ~NF\;I~NCɫ髁) IYn@y$TGI1)5Ai99Fx?Q뱿{Gz?+?\ #=)IyMbX? rhy&1|?*?C`; EA)AIiMAA @ @ @Ý©ÝÝiÝ@Ý ĝ(@)ĝ@Iĝiĝ3M6=YᱺQU>aDDy2=}>I`5?ݾ 2> ?9@Q: {:)W%@WX XW:W2W*WVbUBU *U U U &?B55=B9 B9A=*B9AEAAAAAAE<"CMS RCICM%@CQ5FӅIG=r>Wćq,tEA|i|Y}:z@}:>!j@y}: D}:t>}:H ( *h?l߿"o@?#Ȕ?@x?@?)~:z@ ~:d:\;I~:Cɫ99)9 =I9Yy@y2TGi)))== =>s;M`=YQU>aD)Dyd=}>Iȩ :ŭ>5? :ŭ#ݾ ƭ> ?9ƭ͸@ǭY; ȭD;)ȭy:W,@WX XW:W2W*WVbUBU*UUU ڎ?Bi>IB BA*BA%TA!A!A%ڗ<"C=B RC9CE,@CIԡԡ֥?΅׵?i׵?׉IG`>%!!%2 %Y1:Y!y!%Z5ʇq,Q-EAY}2{@}2k@y}2}2 q>}2Hj Ng?`|@@?? )? [?)~2{@ ~2&\;I~2Cɫ9A)I MII܅j>9܁I܅NGi܅@܁܁܁܁ ݁)1I1i1115#4Y @y [TGi - - --,-\-pi-@- -)-Ę@I-@i-@m<Mu==YuQUu>yya}D}6Dyyi=}>Iȉō 5?ō%ݾ ƍ> ?9ƍ @Ǎ{: ȍD:)ȉW5@W1X1 X9W9:W92W9*W9VAbUABUA*UaUiUmN?Bp7B BA*BA.AAA;<"C?RCC@CIG>uчq,*GEAɫ髁) IYҫ@yeSG=i=i!!]M]^=Y]QUe>aaaeDeBDiym}m>I :j5? :.ݾ > ?9-@{: r:)z:W@WX  X W :W 2W*WVbUBU*UUU @BE~UBI BIAU*BQA]ʻAYAYAe<"Cu RCqC}@C֥FӅyIG^>%%%%Z %/:Y%U1y%:%5ׇq,aEA|;|Y}6@}6v,o@y}6*}6a >}6Hz ? @<, ƈ?]?`j?,?)~6@ ~6 \;I~4ɫaa)a eIaY@y|SGAAAAigAfAn;MR=YQU>aDODy >}>I!%d5?%ݾ %> -?9%L@%: %:)!Wm`@WiXi XqWy:Wy2Wy*WyVbUBU*UUUs@RB*** querying acoustic contact ***PPBNB BAH*BAڻAA!A%mp<"C%2RC)C-`@Ci }=ye?΅Ii)meAAIaG}Y>}i>9yI}@NGi}@}=y}D}; }EJ އq,zEAY}2>@}2p@y}2h0}2< >}2H``y?er j``?]%?Zw?C?)~2>@ ~2];I~2Cɫ99)9 =I9Yu@y}SG}Z****** received transponder code query ******}F****** received ping request ******iu @q uȎ@)u@IuiuȎ@M&=Y{QU>aD^Dy":=}>Iȹ  :ŽRn5?  :Žݾ ƽa> ?9ƽ@ǽD; ȽeA;)Ƚ{:WM: @WIXI XQWQ:WQ2WQ*WYVYbUyBUy*UUU @BZ?B BA *BAf)AAA2<  3C"CE@iiIjAiRCC: @fٺjAcRBC-))-. -,:Y)y)-~5)-u;95 I G >q,EAY}21@}2q@y}2F }2E>}2Hլp?S4pa ?)|??4?)~21@ ~22Y];I~2Cɫ99)A EIAY}ë@y}SSGxDUSBL response received:!U1,P 018,000,00311,183,80,80,89,FF Command AckBRequesting micromodem ping code 2iI)I)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i;<M =YQU% ?aDiDyu=}>I)-A]5?-ݾ -> ?9-@-G< -I;))Wx@WX XW:W2W*WVbUBU*UUU@$ @Bm_TBq BqAuS*BqAu.AqAqA}Ac<"C IRCCx@CשIG>q,1EA|@i|@9IMGiR@=; EY}@}tu@y}Q(}2=}H` zo?`Ţ`0qPU?`?@T Mp=?MQ8MiM @I MQ@)MĘ@IM@iM/@];Me*=YmlQUm>qqauDuxDyy}=}}>IG5?Jݾ > ?9@S; #;)W@WX XW:W2W*WVbUBU*UUU~6@BQB BA=!*B9A="aAAAAAE<"CM; RCICM@CII)@A5 5556 5Fn:Y5WU1y5:555)5;֍FӅi Iq G >q,qrEAɫ髙) IY}@yRGxDUSBL response received:!U1,R,152,000,00318,186,80,80,6C,FF Fpublishing direction and range infoɰ=> )BIyQ A}ӄ7?TcݚҿٱiǴ;M y=Y QU ?aDDy}?I! -:%95? -:%5޾ %> 5?9%@%': %:)%|:WU@WYXY XYWY:WY2WY*WaVabUaBUa*UaUiUm@b@R}(Combining 5 samples.Py*Q}Q AZQ}j,#@|MJQ}}ӄ7?Tcݚҿ2Q}:QybQ}!YA9s"FPK?RQ};ivzؿIau^t?BQ}b@ Q}6zQ}P})9?P}19?P}Q}Q}@"Q}ѱ@B"wB BA!*BAmAAAV <"C!RCC@C!IG J>,0q,WEAY}5 ӄ@}5y@y}5,}5<=}5H' ?o @\?@?f?s?)~5 ӄ@ ~5Ç;I~5Cɫ) IYu@yuxRGDNmea in: $SNTTA,,,,,011231.43*59 =i=iM:=Y%QU>aDD!y%>}%>I)-%5?- ޾ -}> =?9-!@-: -:))meqAdded new target pos. range: 10.019998 m, bearing: 202.965669 deg, deltaT: 4.348701 s, approachRate: 0.096581 m/s, LOS rate: 0.026142 deg/s, posRepo size: 4mu ProNav: pos range: 10.019998 m, bearing: 202.965669 deg, approachRate: 0.096581 m/s, LOS rate: 0.026142 deg/s, cmd update: 0.078425 deg/s, cmd heading: 256.102285 deg, new cmd heading: 258.851430 deg. W} @WyXy XyWy:Wy2W*WVbUBU*UU = $@U W#?B= SBi BiAm$*BqAu AqAqAuQ<"C}kRCC @CEEEE' E0:YEV1yE:E59u@Y9YIYiY]=YY]; ]EցIIQGu>\Yq,0/EAɫqy)y yIyY@ySG 鼁iI=)=Cl?kt&1?;? P=)IyZd;?Mb/$??,= µA)µ AIµ Aiµ-AAfAgA`e=Ը>i@ @)Ȏ@IȎ@i@%3 =M%:=Y-QU->)1a5D5D1y=}=>IA M:E5? M:E7޾ E> M?9EAE: E:)E}:Wu@WqXq XqWq:Wq2Wy*WyVybUyBUy*UUU?BXB BA!*BA AAAx<"C=*CE׬RCACE@CI=i=U?΅)I9GU>?q, EAY}jn͆@}jO}@y}j.}j=}jH໿2h?`$nܻ?` ץ?@=? ?)~jn͆@ ~j΃;I~jCɫ髹) IY5 @y5oRGi3Mc=YQU>aDDy/>}>I5??޾ > ?9{A: &:)W@WX! X!W!:W!2W!*W!V)bU)BU)*U1U1U5 ?B]lBa BaAe%*BaAeI(AiAiAm"<"Cu*Cu+̈RCqCu@Cy׹IGg>%%%%M %2:Y%U1y%:%"5bm q,/ EAVfAVgA`9`I`i`b=``b; bEɫII)I QIQY$@yRGI ) ie=e >eC ie@a e@)e@Iep@ie@ur;M}@=Y}QU}>aDDy}>Iȑ :ŕ;5? :ŕ)޾ ƕ> ?9ƕ AǕ: ȕ:)ȕ~:W}@WX XW:W2W*WVbUBU*UUUd?B:^B BAM$*BA6=1AAAK<"Cv*C+0RCC}@CIG>zVq,1I EAY}:@}:n@y}:3}:Q=}:H)?N7@d?ex?@?@?)~:@ ~:rt;I~:Cɫaa)a eIaYu@yuJSGI@)i S=Md=YxaQU>aDÝDy%;>}%>I)-)5?-n3޾ - ? 5?9->A-U: -Ǻ:))W]@WYXY XYWY:WY2Wa*WaVabUaBUa*UiUiUmW'@B kB BA*BA8AAA<"Cq*CCRCC@CֹיIGE>IAA)?A%%~%~%N %|,:Y%T1y%@:%Y5}q,˜c EAY}2@}2@y}2k/}2=}2H`X@i?v s o???`=?)~2@ ~2k;I~2Cɫ99)9 =I9Yur@yuRGiML=Yi/;QU>  a D НDy=}>I)5?e>޾  ? -?98A: f:)WM$@WIXI XIWQ:WQ2WQ*WQVQbUYBUY*UYUYUez]@B2-eB BA!*BA$@AAA<"Cl*CRCC$@C֥FӅyIGH>ܹ9ܹIܽ@NGiܽ@ܹܹܹܽ{; ݽE)цIцiцццՆ4q,?p} EAY}:@}:n@y}:Pp(}:=}:H@? ' [c͸? ? ??)~:@ ~:/e;I~:Cɫ99)9 =I9Y}g@y}RG@A=i==i=iʡE?~jt/$??D <)Iy|?5^? rhQ??Cu< A)Z AI AiA=AG=j`i @ Ȏ@)@I@i@LLM<=Yb;QU>aDޝDy =} >I :h5? :I޾ ? %?95A: f:):WE(@WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQU]@ReB*** querying acoustic contact ***PaPaB`B BA7"*BA ,IA A A 8Y<"C*C-RCC(@C?΅I%%|%|%| %s+:Y%R1y%i:%45G=q>%q,T EAY}Jы@}J߃@y}J"}Jh=}JH@z? eW?U??11a=D=D9yE*=}E>IIM5?M{S޾ M? ?9MAM< M׾:)IWUr-@WQXY XYWY:WY2WY*WaVabUaBUa*UaUU " @BgB BA*BApRAAA<"C*CRCCr-@CIGi>-=i-p=+q,~6 EA(9(I*MGi*R@(((*; *Eɫ ) IYM+@yMRGUxDUSBL response received:!U1,P 152,000,00318,186,80,80,6C,FF UCommand Ack]BRequesting micromodem ping code 2iYYeNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i?>什i@ @)Q@I;@i@MaDDy}>I %:5? %:,a޾ R? -?9zA%< `<):W53@WX XW:W2W5555S 5,:Y5V1y5:5k5)5;9M*WqVqbUyBU*UUU _m@BmBSBi BiAu$*BqAu^AqAqAu<<"C}r*C}?RCyC53@C֝ FӅiE 3oGIe jAiq y #cٺ jA >PBI G >2q,T EAY}Jy@}J@y}J!}J =}JH m[?4`n8?@"?/?@?)~Jy@ ~J]`;I~HɫYY)Y ]IYYP@yRGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IUA)QIUA)QiYYv<M=YB:QU?aDDy1>}?Iȱŵ,5?ŵCi޾ Ƶ ? ?9Ƶ6"Aǵ: ȵD:)ȱWT6@WX XW:W2W*WVbUBU*UUU8@BB! B!A%"*B!A%bA!A!A-.<"C5f*C5꬏RC1C5T6@C9e?΅9IIGuX>N8q, EA|@i|Y}:X@}:f@y}: }:=}:H`Y߿t??ɲD޿v?O?` %?|?)~:X@ ~:n_;I~:Cɫqy)y }IyYj@yRGI) @i<MW=Yv9QU>aDDyl=}>I :5? :s޾ ? ?9%Aw: +:):W:@WX XW:W2W*WVbUBU*UUU@B%0pB BA"*BA FkA A A ?<"C#T*CZRCC:@C %?i%?I)I9IIM@NGiM@M=IIM; MEGY>I@A)@A%%%%H %/:Y%WU1y%:%5)%%;>q,ܷ EAY}2A@}2lO@y}2 }2J=}2H0ݿ;?²M@cݿ"?`_?k?`?)~2A@ ~2l^;I~0ɫYY)a eIaYuǫ@y}WSGTNmea in: $SNTTA,0.060567,,,,011235.90*4F i\(\?oʡſ)\(??- Ga=)IyuV?{Gzt?ˡE?r(?ף;'= ) AI9AifA M@ M@ M@M©MMiM @M M)MȎ@IM"@iMȎ@]u<M]4=Ye툵QUe>aaamDmDiyut=}u>Iy}5?}޾ }H%? ?9}u*A}: }ܹ:)yW?@WX XW:W2W*WVbUBU*UUU`'@BDphB BA5*BAtAAAE<"C@*CRCC?@C֙qIG~>.Eq,g!EAY}26@}2FD@y}2E }2i=}2H` ܿ`U?@lQ`ۿ@?l?o??)~26@ ~25^;I~0ɫ99)9 =I9Y:@yRG=i==i=iFMg=Ya9QU>aD*Dy=}>I :w5? :U޾ Y+? ?9+.A: ,:):WC@W!X! X!W!:W!2W!*W)V)bU)BU)*U)U1U5`@B]ӀBY BaAe#*BaAeÂ{AaAaAezL<"Cm0*Cu}RCqCuC@CyeFӅ!I1GU2>%%{%{%e %0:Y%#R1y%:%G59-@= gA9 A 9A IA iA A A A E ; E ELq,2!EAY}B12@}B?@y}B}B&I=}BHEڿ?鴿G'ٿs0? 7?@V?`?)~B12@ ~B+_;I~@ɫYY)Y ]IYY@y SG fAi % % % %@ %@ %@!!!i%@! !)%p@I%@i%d@5<M5B=Y=:QU=>9AaEDE8DAyM=}M>IQU5?U|޾ U2? ]?9U2AUa: U:)QW}[H@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB)qB BA-!*BAAAA<"C*CPRCC[H@C?΅ׁIG?>=i=Rq,8IL!EAɫ髙) IY@yJSGi%*<M-M=Y-QU->11a5D5ED9y=}=>IAE5?E޾ EQ9? M?9E6AE: E:)AWuL@WqXq XqWq:Wy2Wy*WyVybUBU*UUU>@BLvB BA*BA'AAAgk<"C# *CpRCCL@CFӅIGK>%I %%%D %9:Y%WU1y%:%55 Yq,$f!EAY}6@}6O@y}6& }6=}6H` ׿ ?E}C@)ֿ ,?@@?z?Q?)~6@ ~6z^;I~6CɫYY)Y ]IYYT@yRGI)AI)AiMQ=Y;QU>aDQDy>}>I :"y5? :a޾ ?? ?9:Ak: :):W 5Q@W X  XW:W2W*WVbUBU*UU!U%(@BM:}BI BIAU"*BQA:AAA<"C*CƒRCgC5Q@C?΅׹I9Ii; EGI>B_q,i!EAY}6“@}6ϋ@y}6#}6=}6Hտ?`) O@/%տ@_{????)~6“@ ~6^^;I~6CɫII)I MIIY}@y}SGI @)@ioʡ?~jt:v?-?D <)Iy ףp= ?V-:v?Q?T< A)IiA=A } } }}l?}>}b>i}=@} }@)}Q@I}i}@ <M>=Y:QU>aD_Dyp=}>Iȩŭp5?ŭ޾ ƭ$C? 5?9ƭ>Aǭ:< ȭ<)ȩW}CV@WyXy XyW:W2W*WVbUBU*UUU؝@B5joB1 B1A5 *B9A=A9A9A=R<"CEa*CeRCmMCmCV@CieXiyAIQGuW>I=AA)9MM{M{M M.:YM#R1yM:ME5*fq,ۙ!EAY}6@}6o@y}6m}6I=}6H}ӿ A?|cyӿ`"?,?@?"?)~6@ ~6#^;I~6Cɫ99)9 =I9Yë@ySSGxDUSBL response received:!U1,N,80,80,63,E4 8,186,80,80,6C,FF ZNo reply:!U1,N,80,80,63,E4 8,186,80,80,6C,FF -aDkDy=}>I  :i5?  :޾ )F? ?9BAk: :):W5RZ@W1X1 X1W9:W92W9*W9V9bUABUA*UAUAUE`k@Bu/؃Bq BqAuS*ByA}AyAyA}u<"C$*CBRCQ-CRZ@CmgIIQGu>  9 I i ; E)݁I݁i݁݅=݅=݅3>Tlq,=!EAY}B@}B@y}B_}B|!=}BH ҿ.?6@HѿA?s?`:??)~B@ ~B8^;I~BCɫYY)Y ]IYY@y!SG=i==i=i=#>=L==xii=3@9 =)=;@I=;@i=;@M^CMMD=YUYQUU>QYa]D]xDYyej=}e>Iimc5?m޾ m}I? u?9mFAm8: m:)iW^@WX XW:W2W*WVbUBU*UUU>@B{B BA *BAזAAA'<"Co*CfRCw/ C^@CIGK>}}P .:YkS1yԊ:5);9  a D D y}>I %:v\5? %:I޾ L? -?9SJA=: :):WMjc@WIXI XIWI:WQ2WQ*WVbUBU*UUU2 @B={B9 B9A=*BAAEhAAAAAE<"Cm±*CuRCurCujc@CqmXAIQGm5>9i==fyq, n!EAY}6i@}6v@y}6F }6=}6HͿ`(?^T%eu̿k'?O?@HD??)~6i@ ~6g^;I~4ɫII)I MIIY}@y}SGi)*<MQ=Yݺ;QU>aDDyG>}>IȹŽ W5?Ž޾ ƽO? ?9ƽNAǽ: Ƚ8:)ȹWg@WX XW:W2W*WVbUBU*UUU u @RB*** querying acoustic contact ***P P 1(  P lAggregate::initialize lineCaptureDepth:MicromodemCommsq( P |Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn( B5B1 B1A5*B9A=TҞA9A9A=<"CE5*CERCECMg@CI5.1IQ܉9܉I܉i܉܉܉܉܍; ݍE~~q /:YT1y@:5)6;GU>xMq,v"EAY}2[,@}2:@y}2t}2$=}2Hʿb/? Oɿb?M? e(??)~2[,@ ~2 ^;I~2CAE.Cɫyy)y }IyYΫ@y`SGiSoGIZ****** received transponder code query ******iF****** received ping request ******) ) a- D- D) y5 <}5 d>I9 E := N5? E := c߾ = R? M ?9= yUA= : = A:)= :Wm p@Wi Xi  Xi Wi :Wq 2Wq *Wq Vq bUy BUy *Uy Uy U @B"@B- @QBI  Bi Am *Bi Au 림Aq Aq Au 7<"C} 0}*C} hkRC} 'C} p@C ] 9IAGe?q,ٵ%"EAY}2˘@}2ِ@y}2ň}2=}2H@ǿS?$p'oP-ǿ[?o?fJ? )?)~2˘@ ~2d`;I~2Cɫ19)9 =I9YyxDUSBL response received:!U1,P 80,80,63,E4 8,186,80,80,6C,FF Command AckBRequesting micromodem ping code 2iBNmea in: $CACYC,0,1,10,1,0,3*69 Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iI5@A)5?A ||T W@:YR1yi:59@Yb;QU:?IQaUDUDay=}0?IL5?߾ R? %?9WA< <)Wmt@WqXy XyW:W2W*WVbUBU*UUU!#@BeƏBa BaAa*Biy}fAܡ9ܡIܡiܡܥ=ܡܡܥ; ݥEAmtAAAe<"Cco*CpURCOCt@CօA II Ge >"q,|?"EAɫ髙) IY@ySGNNmea in: $CADRQ,011241,1,10,0,64,1*71 |Response from modem unexpected: $CADRQ,011241,1,10,0,64,1*71 iQQí>í?í>ií@é ĭ)ĭd@Iĭ@iĭ@^MaDDy}>I : H5? :/&߾ T? ?9[AR: :):W x@W X  X W :W2W*WVbUBU*UUU#@BMjBI BIAUJ!*BQAU쑭AQAQAU?<"C]Z_*C]?RCe9lCex@Ca֥QNĽaIiGZ> q,WY"EAY}2ię@}2$ґ@y}2*}2=}2HÿF?`v kÿ@æ??@ ?)?)~2ię@ ~2`2_;I~2CɫYa)a eIaYn@yRGxDUSBL response received:!U1,R,081,000,00368,186,80,80,74,FF Fpublishing direction and range info潩ɰގ=鰩 )BIymA%?a~A¼ٱNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ) i5 5~5~5b 5m>:Y5T1y5@:55urMuO=YuށQUu>yya}D}̞Dyǝ=}>IȉōD5?ō.3߾ ƍIU? ?9ƍ_AǍb: ȍ:)ȉWo|@WX XW:W2W*WVbUBU *U)U)U-v$@R=(Combining 5 samples.P9*Q=mAZQ=mfs-@̥JQ=%?a~A¼2Q=:Q9bQ=9Z"/[-,\h?RQ=A^]п!/z.f?BQ=:@ Q=dQ=zP=09?P=)9?P=Q=Q=D@"Q=@BˈB BA!*BA߱AAA$<"CM*CRC.<Co|@C = >^SיIGb>7q,>s"EA9Ii=; |\|\Y}H@}IV@y}{ }2=}Hš?ឲdY? .?3?Y?)~H@ ~W^;I~ɫ) IY@ySGuTNmea in: $SNTTA,0.039965,,,,011241.70*40 }gAi}fAi U ?Q:v?U >U \ U <)Q IQ yU X9v?S㥫?U ?U LU /]= U -A)U AIU AiU MAQ U A  @  @  @ ©  i =@  ) I i Q@ ;M  ! a% D% D! y- <}- >I1 = :5 =5? = :5 ]I߾ 5 a? = ?95 fA5 : 5 :)5 :mm uAdded new target pos. range: 14.820001 m, bearing: 254.661363 deg, deltaT: 10.321512 s, approachRate: 0.465048 m/s, LOS rate: 5.008539 deg/s, posRepo size: 4m}  ProNav: pos range: 14.820001 m, bearing: 254.661363 deg, approachRate: 0.465048 m/s, LOS rate: 5.008539 deg/s, cmd update: 12.000000 deg/s, cmd heading: 256.910810 deg, new cmd heading: 256.962208 deg. W @W X  X W :W 2W *W V bU BU *U U ף-@U @?B ɮjB  B A *B A pA A A #<"C w߿RC C @C %)סIG>fq,u"EAB! B}B}BW Bt6:YBkS1yBԊ:BG5Y}j[Қ@}j@y}j }j=}jHE?`Աƽڍ?@N? ? x?)~j[Қ@ ~jz~^;I~hɫ) IY@ySGiiqQ=M=YEoQUJ?aDDy=}J?I  :5? P߾ )e? ?9 1hA Ǻ: Y:) W=[@W9X9 X9W9:WA2WA*WAVAbUIBUI*UIUIUU;?B}3B}= ByA*BA՜AAA<"CWܿRC#C[@C֥daIiG9>q,I"EAɫ髡) IYg@yRGI)i )= = ] ] ]]ף=]|]ʽiY] ]@)]@I]@i]@uNOMuC=YuQUu>yya}D}Dy}>ّّܙ9ܙIܙiܙܙܙܙܝ; ݙIȩŭ65?ŭI_߾ ƭl? ?9ƭ`lAǭ : ȭ8:)ȩW2@WX XW:W2W*WVbUBU*UUU`?BB BA7"*B!A%UA!A!A%z<"C-8ӿRC-w,C52@C1=yIG%n>zq,;5"EAY}V귛@}Vœ@^^^^/ ^/:Y^WU1y^:^5)^H;9by}V:}V=}VH%?<JX`b?rơ?~'? ?)~V귛@ ~V];I~Tɫ髑) IY@y.SGi  Mk<MML=YMfQUM>QQaUDUDYy]=}]>Iș :ŝF25? :ŝm߾ Ɲ;t? ?9Ɲ[pAǝE: ȝ/:)ȝ:W@WX XW:W2W*WVbUBU*UUU?B ['B BA@ *BA]&üAAA<"CiȿRC%2KC%@C!_>1IAG]U>q,"EAY}2 @}2 @y}2 }2V=}2H`浿`?A:+@G?`?`m??)~2 @ ~2~];I~2CɫAI)I UIQY@ySGie=Me[=Ye;QUe>iiamDmDqyu<}}>Iy}.5?}y߾ }z? ?9}sA}: }:)yWZ@WX XW:W2W*WVbUBU*UUU`p@BvB BA*BA7ƼAAAe<"C[RC CZ@C!$ӿIG l>ܑ 9ܑ Iܑ iܑ ܑ ܑ ܑ ܕ ; ݕ E)1I1i1115.R4Ͻq,J"EAY}V0@}V<>@y}V}V=}VHd u?7 n ̳?`G?#??)~V0@ ~V];I~VC%!!%P %.:Y!y!%5)%;ɫ) IY @y JSG=i=i!!I-C=)-C='1Z?rh|Mb?"? <)IyCl?Mb?Q?;?<u< A) AI AiAA  fAUGa>U`?UiU@Q U)U@IUȎ@iU@e¼Me;=Ye:QUm>iiamDmDqyuk]<}u>Iy :}j-5? :}߾ }~? ?9}TxA}: }:)}:WJ@WX XW:W2W*WVbUBU*UUU e@Bg1B BA*BAL˼AAAZ<"CڲRCCJ@C=IG>Ĉq,#EAY}2T@}2`b@y}2yL}2_=}2H D?Geʲg??@?`X?)~2T@ ~2];I~2Cɫ99)A EIAY+@yRGi #IM d=Y:QU>aD%(D!y-gH<}->I9=5,5?=߾ = ? M?9={A=K ; = ;)9WuC@WqXq XqWq:Wy2Wy*WyVybUyBU*UUUs@RB*** querying acoustic contact ***PPBP@B BA$*BAϼAAA8J<"CcRCCC@C) mjQ IY Gu >ʈq,?-#EAee|e|eA e3:YeR1yei:e59}@ɫ髑) IY˪@y!RGZ****** received transponder code query ******F****** received ping request ******í>í&1iíz@é ĭ@)ĭ@Iĭ@iĩüM&=YQU>aD8Dy}>I :*5? %:߾ a? %?9eAY!< !<):Wm@WiXi XiWi:Wi2Wq*WqVqbUqBUq*UyUyU}@ @BsB BA'*BAԼAAAxf<"C~RCC@C!m(IG>шq,QlG#EAi~nGIi)U ]ٺQUJBɫ髹) IY@yJRGxDUSBL response received:!U1,P 081,000,00368,186,80,80,74,FF Command AckBRequesting micromodem ping code 2iI ) Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i)%= %>uv8<Mub=YqQUu>yya}D}CDy}>IȹŽX)5?Žj߾ ƽ? ?9ƽ8Aǽ< Ƚ<)ȹW-0@W)X) X)W):W)2W1*W1V1bU1BU1*U9U9U=@B*B BA &*BAؼAAA k<"CYRCC0@C!))BIG%>׈q,Ra#EAY}f7@}fE@y}f}fC-z=}fH ^`H?]=`d?m?;?`?)~f7@ ~f~];I~fC=99=. =2:Y9y9=~5ɫ髱) IY@y!SGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iYY_=MR=YQU>aDPDy2=} >I :(5? :߾ ? ?9A4: A:):W=@WAXA XAWA:WA2WI*WIVIbUIBUI*UQUQUU@`@B}pB BA *BA0ܼAAAhJ<"C<뇿RCC@Ce'g!I)GE0>1 91 I1 i1 1 1 1 5 ~; 5 Eވq,${#EAY}F@}Fg@y}Fc}Fܻ=}FH ?VZ6U ^?@ ?௲?k?)~F@ ~Fn];I~FCɫyy)y }IyY@yRGxDUSBL response received:!U1,R,27D,000,0037B,189,80,80,5B,FF Fpublishing direction and range infoNɰ=7> )BIy\A~.?:Tٱ)iQQn?&1I +??P 94=)IyDl?Mb`?~jt?O-?;D= A) AI AiAA u@ u@ u@u©uuiu@u u)qIuiu@MB=YDQU>aD]Dy<}>Iȡť'5?ť߾ ƥڊ? ?9ƥfAǥ/: ȥ8:)ȡWMڭ@WX XW:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q\AZQ#'+@D JQ~.?:T2QN:QbQ*!FDY*P 'jһRQKWjῧj_O4H{BQ @ QBTQ P"9?P09?PQQB@"QD@B-.&B1 B1A5'*B1A51A1A9A=@<"C=yRCACEMڭ@CAE@I G%M>q,#EAY}m7@}mZE@y}mGL%}m=}mH͐?`+9@KO?`?mR?`?)~m7@ ~ms@];I~i1 0:YWU1y:#5ɫ髉) IY@yTRG5TNmea in: $SNTTA,0.027273,,,,011246.24*45 5=i54>i•gA‘g@<M =Y0QU>aDpDyk=}>I :'5? :߾ j? ?9A: :):m uAdded new target pos. range: 15.960001 m, bearing: 236.226491 deg, deltaT: 4.519010 s, approachRate: 0.252268 m/s, LOS rate: -4.079405 deg/s, posRepo size: 4m-  ProNav: pos range: 15.960001 m, bearing: 236.226491 deg, approachRate: 0.252268 m/s, LOS rate: -4.079405 deg/s, cmd update: -12.000000 deg/s, cmd heading: 311.282127 deg, new cmd heading: 318.208323 deg. W5 @W1 X1  X1 W1 :W1 2W9 *W9 V9 bUA BUA *UA UE @/@UE @[?Bu ^Bq  Bq Au %*By A} Ay Ay A} {8<"C ;eRC C @C ՝ >ԝ >֕ FӅIי )ם fAQ Ii G >Oq,q#EAY}@}@y},}=}HXw?]?@Xz? 3'?`>?@EC?w?)~@ ~6^;I~Cɫii)i mIiܑ9ܑIܕxMGiܕ@ܑܑܑܕw; ݕEY@yQGi m m mm m+>mim@m m@)m;@Im@imĘ@}AM}=YQU:?aDwDy}=}:?Ișŝ'5?ŝ߾ Ɲ? ?9ƝΊAǝA: ȝ :)șW%b@WX XW:W2W*WVbUBU*UUU ?BB BA(*BAAAAe<"C}^RCC%b@Cֱ׉IG>4q,?#EAY}V~@}V9@y}Vl>-}VF=}VH?@?@f i@?ƣ?`&?F? ?)~V~@ ~VXj^;I~Tee}e}eR e+:YekS1yeԊ:e55)el;9mɫqq)y yIyY@y=RGi!!u<Mu]=YuQUu>yya}D}DyIz=}>Iȉō'5?ō߾ ƍ]? ?9ƍˌAǍw: ȉ)ȉW]ƥ@WYXY XYWY:WY2Wa*WaVabUaBU*UUU@HO?B횽B BAb&*BAAAAc<"C YRC C ƥ@CI G-p>\q,#EAY}2X@}2f@y}2-}2>>}2H` ?I?=f??@ ? 1?@?~?)~2X@ ~2u^;I~2Cɫ99)9 =I9Y3@yRGI@)@i<MB=Y8QU>aDDy rU=} >IY e:](5? e:] ]? m?9]A]: ]:)]:W@WX XW:W2W*WVbUBU*UUUN?BB BA#*BA5AAAܠ<"CY*CkRCC@CgA?i?I G%o>ܭj>9ܩIܩiܩܩܩܩܭ{; ݭEq,=#EAY}VH @}V@y}VA0}V >}VH`??F ??K??a?`~?)~VH @ ~V ^;I~VCɫyy)y }IYg@yRG)AiE(\?ˡE:v?E>E什 ET<)AIAyEGz?S㥫?y&1?E0?E/]=E`< E A)E; AIE AiEAAEfA @ @ @©i=@ )Ę@IȎ@iȎ@;l<M:=Y  ۺQU > aDDyK=}>I!%9,5?% %? -?9%{A%: %:)!WM&@WQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUeU@BAB BA7"*BAvQAAA,x<"C`@`RCC&@CֱqIG~> 7 Y y l59 @vpq,h$EAY}J8ȡ@}Jՙ@y}Jt5}J} >}JH@?D? ?l?ĺ?m??)~J8ȡ@ ~J];I~JCɫqq)y }IyY@y=RG fAi5M= =Y=Z6QU=>AAaEDEDIyM9=}M>IQ ]:U%15? ]:U2 Uh? e?9UKAU: U:)U:W @WX XW:W2W*WVbUBU*UUU;i@RB*** querying acoustic contact ***PPBxB BAb&*BA=AAA[<"CpRCC @C! I G= >S q,0$EAY}nB@}n@y}n9}nW >}nH@_^?`s? ¿ b? ?85?Vx?@ת?)~nB@ ~n;1^;I~lɫ) IY (@y RGZ****** received transponder code query ******F****** received ping request ******9aIaiaaaae; eE)فIفiففف݁&4i   Ý!?Ý>Ý/]=iÝד@Ý ę)ĝ@Iĝ@iĝ@<M=YQQU?aDDyb=}?I  k45? j= ? ?9 A I: 4:) WU@WQXQ XYWY:WY2Wy*WVbUBU*UUU`@BB BA/$*BAAAA<"C}RC C @C ) IG->    3 1:Y U1y : 5) ̎;9 q,˿J$EAY}BS@}BPa@y}B;}B>}BH@? 5V?3i¿`?@eÙ?`[}?t? 2?)~BS@ ~BH_;I~BCɫYY)Y ]IYY@yRGxDUSBL response received:!U1,P 27D,000,0037B,189,80,80,5B,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i=&MEf=Y]ɺQUe>qya}DğDyp=}>I :85?  :GK  ?  ?9AQ*= ^(=):W@WX XW:W2W*WVbUBU*UUU6 @BeRBi BiAm'*BiAmAiAiAui<"C}%RCyC}@C?΅שIG>q,ad$EAY}J @}JS@y}J>}J.>}JH?6?@¿ۆ@? ;ۖ?@٧???)~J @ ~J^;I~JCɫ髑) IYE@yRGɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)))i11m(=Mm:=YuVҺQUu>qqa}D}ҟDyyW=}>Iȉō>5?ōS[ ƍ? ?9ƍJAǍ: ȍ:)ȉWEs@WX XW:W2W*WVbUBU*UUU W @BrB BAB#*BAAAA<"C RC C Es@CFӅ5?i5?IG=r>999I9i9999=; =E  N *:Y y Y5) ͈;q,5~$EAY}2Ƥ@}2Ԝ@y}2cD}27>}2H`?`?¿we#?\??b?@?)~2Ƥ@ ~2Y^;I~2Cɫ99)9 9I9Y}X@y}RGxDUSBL response received:!U1,R,EB7,000,00398,186,80,80,6B,FF Fpublishing direction and range info>ɰ=鰅> )BIyAOڼ?ph?ٱi|?5^?y&1Zd;O? ?` j<=)IyT㥛 ?Mb?Q?!?<\= z A) AI AiAA e@ e@ e@e©eeiez@e a)eĘ@Ie@ie@u;MuJ=Y}qQU}>yyaDߟDyef=}>Iȑŕ%C5?ŕLi ƕ2? ?9ƕQAǕ: ȕӻ:)ȑW[@WX XW:W2W*WVbUBU*UUUO,@R(Combining 5 samples.P*QAZQp"0@׍ @JQOڼ?ph?2Q>:QbQ"l^ @3 +b/ tL?RQ<;l?PyyՆ^쿣e{?BQ@ Q{QAPO9?P"9?PQQ@"QB@B0B BA"*B!A%A!A!A%z<"C-ܐRC5lC5[@C13Ci]nGIqi+ZٺHB-`l@9-XB=?΅IGn>%q,~$EAY}B@}@y}q,M} >>}H)*?? WEÿ :?qg?`Ϣ?`Q?I?)~B@ ~H^;I~Cɫ) IYmg@ymRGTNmea in: $SNTTA,0.055160,,,,011250.28*4A i-ؕ;M-O=Y5㥻QU5>19a=D=D9yEM=}E>II U:MG5? U:Mv M? U?9MLAM: MM:)M:muAdded new target pos. range: 17.700001 m, bearing: 297.149265 deg, deltaT: 4.045461 s, approachRate: 0.430112 m/s, LOS rate: 15.059537 deg/s, posRepo size: 4mProNav REINIT: LOS rate is 15.059537 deg/s. Setting heading cmd to target bearing of 297.149265deg and heading rate command to 0 deg/s.W@WX XW:W2W*WVbUBU*UU@31@U:V?BmbBi BiAm7"*BqAuAqAqAuR2<"C}e̦RC}C}@C]b|I)GER>  } } '0:Y kS1y Ԋ: 9 @h+q,$EAY}2r@}2@y}2ƴT}2W>}2H`Ky?$? Hÿ` !?7?? ?ě?)~2r@ ~2ށ^;I~2CɫQQ)Q UIQY@yFRG9IMGiR@; E  gAi   ] ] eeE>eeie@e a)eȎ@Ie@ie@m%MuW=YuQU}>yya}D}Dyu=}>Iȉō M5?ōσ ƍ ? ?9ƍ3AǍ'< ȍ:<)ȉWYWYXY XYWY:WY2WY*WaVabUaBUa*UiUU@?BsB BA'&*BA AAA<"C RC CC C 4lI!)!IGn>2q,q$EAY}JN@}J\@y}JZ}JƼ>}JH:? r?@Ŀ:?aDDy=}>I :(S5? :ʑ Ĺ? ?9EAI: :):WWX XW:W 2W *WVbUBU*UUU;?B`JB BA'*BA  A A A <"CQRC);CC I^IGK>  M .:Y y "58q,ܡ$EAY}J&@}Jh4@y}Jr^}JF>}JH?aaaeDeDiym=}m>Iqu|Y5?u uT? }?9u;Au: u+:)qWWX XW:W2W*WVbUBU*UUU@=?BP5B BA1'*BAAAA I<"CSˮ*CRC=CCh5ױIG*>9Ii; ES#?q,J~$EAY}>@}>@y}>&b}>[>}>H?` ?w8¿U}]?օ?@QQ?@,??)~>@ ~>|^;I~>Cɫyy) IYI@yRGI5?)5?i11K7?Mb?~jth)?< D)Iyl?Mbp~jtx??;  !A)KAII AiA3Aeje>ie@a e;@)e;@Ie;@ie@u/=Mu:=YuwQU}>yya}D}Dyl=}>Iȑ :ŕ3`5? :ŕ ƕ{? ?9ƕPAǕ: ȕ{:)ȕ:WWX XW:W2W*WVbUBU*UUU$@BBB BA$#*BAghAAA<"C|RC- =CCօa׉i׍?9IIGeV>    R .:Y T1y : 55 Fq,KX%EAY}2x@}23@y}2Mf}2=}2H@Xm?@?F`p?T?Aլ?@r?@?)~2x@ ~2ž^;I~2Cɫ99)9 9I9YP@yRGI))!i|;MU=YE,QU>aD,Dyp=}>I9=f5?=> =o? M?9=,A=M: =3:)9WiWiXq XqWq:Wq2Wq*WqVybUyBUy*UyUyU@J@Bv;B BA"*BAOuAAAc<"C]RC C'<CC&סIGA>4Lq,23%EAY}:vH@}:1V@y}:Ái}:{=}:H?@ ? aȿ ?v ?`,,?@mt?ؿ?)~:vH@ ~:u_;I~:Cɫ99)A EIAy}gA܉9܉I܍@NGi܍@܉܉܉܍; ݍEY@yaRG15@A YYiYYí-=íw>í=ií@é ĭ)ĭ@Iĭ@iĭ@-M=YQU>aD>DyR=}>I :,p5? : 9? ?9̪A: :):W W X  X W :W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB B  B A u%*B A 9A A A 5<"C ۘRC% ˽C! C! = |(H { { h Y #R1y : 5) ;9  I! G= >5Sq,L%EAɫ髱) IYڪ@y4RGZ****** received transponder code query ******F****** received ping request ******G7Yq,f%EAY}6fS@}6!a@y}6u}6a=}6Hnz?^? l,X??? N?+?)~6fS@ ~6_o;I~6CɫAI)I MIQY}6@y}RGxDUSBL response received:!U1,P EB7,000,00398,186,80,80,6B,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i<M%W=Y5SQU=>IIa]D]RDiy}=}>I{5? ? U?9ۭAj< <)WyWyX XW:W2W*WV bUBU*UAUIUUm @BRB BA#*BA,AAAwd<"CPRC*/CC=+ܽj>9ܹIܽNGiܽ@ܹܹܹܽ; ݽE)1I1i1115n41IaG> ~ ~ 8 ?:Y T1y @: 5) ;`q,%EAɫ髙) IYǪ@yRGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Cl?QV-?;?u <)Iyjt?Mb`V-? ?< fA)Z AIZ Ai-AA)õ> õ>C >Y?>i @ z@)Q@IQ@i3@ BM .=YQU>aDaDy%}%>I) 5:-5? 5:- -M? 5?9-A-': -:)-:WWX XW:W2W*WVbUBU*U U U @K@BUګBY BYA]1'*BYA]IAAA<"CRC:)CC֕AɽiIG[Ifq, ^%EAY}60@}6y>@y}6 o}6g=}6H?M?lL(rQ?@s?+?'ӳ??)~60@ ~6j;I~6Cɫ99)9 AIAY@yRGxDUSBL response received:!U1,R,125,000,003B2,186,80,80,68,FF Fpublishing direction and range info邾ɰ= )BIyAO$?I/пٱ)}2Powering down loadControl }}I})}i<Mc=YQU>aDlDy=}>IJ5? x? ?9ݱA); ?;)WWX XW:W2W*WVbUBU *U U U @R(Combining 5 samples.P!*Q%AZQ%6$C2@[|JQ%O$?I/п2Q%邾:Q!bQ%RX#M @=PP2dV–?RQ%s?2dA?BQ%x@ Q%ڗQ%lJ@P%E9?P%O9?P%)Q%Q%@"Q%@BB BA$*BALAAA@<"C`*CGRCJ:CC役׹IGf> { { ; B:Y #R1y : G59 @vlq,cF%EA99A9AIEOGiEF@AAAE; EEY}es@}e.@y}e,}ee=}eHV??VPJ?hܚ?O?D??)~es@ ~eg;I~eCɫii)q uIqYu@yRGDNmea in: $SNTTA,,,,,011254.71*5B I)AI)Aý̽ýý>iý@ù ĽȎ@)Ľ@IĽ^@iĽ@]<M=YrQU>aDDy<}>I :V5? : ? ?9AM: {:):m% uAdded new target pos. range: 19.260002 m, bearing: 279.460086 deg, deltaT: 4.447623 s, approachRate: 0.350749 m/s, LOS rate: -3.977221 deg/s, posRepo size: 4m% ZTarget missed at range: 19.26 m. Rolling out.X- m- NTransitioning guidance mode to: ROLLOUT"X- W) W) X- ; X- L?W1 X1 :W1 2W1 *W1 V9 bU9 BU9 *U9 U= B3@UE `ET?B B  B A !*B A l5 A A A <"C h*C ~RC ڽC C i1 IU SkAi} A Tٺ SkA BB= ]& I G >[sq,%EAY}R/@}R@y}R6}Rh?=}RH`N??f`S@d?(?c?$9?@?)~R/@ ~R_g;I~Pɫ髙) IY@ySGe<Mm=YmкQUf?aDDy`=}_?Iȱŵǝ5?ŵN Ƶ? ?9ƵAǵw; ȵ_3;)ȱWWX XWX:W 2W *W VbUBU*UUU%?BUBϽBQ BQAU *BYA]j?!AYAYA]<"Ceh*Ce)RCe֧ýCiCie)I)GER>  ~ ~ @ ,:Y T1y @: Y5zyq,%EAY}2A@}2N@y}2!}2=}2H ?@͛?$>?ϖ?͐? г?3?)~2A@ ~2ce;I~0ɫYY)Y YIYY3@yRG5mM=N=Y=QU=>AAaEDEDAyM<}M>IQ ]:U5? ]:U U? e?9UշAUw: U:)U:WWX XWX:W2W*WVbUBU*UUUP?BB BA#*BA}E#AAIAM<"CUh*C]”RC]CYCY֍MaIiG9>a9aIelOGie@aaae}; eEnq,&EAY}2"@}2ݶ@y}2}2=}2H ?@j?l@b?^?}???)~2"@ ~2d;I~2Cɫ9=)9 9I9Y}@y}SG =i =㥛 ?y&1?J +??`e= H=)Iy rh?{Gzt?~jt?C+?ף;D= µA)µ AIµ AiµAA)= =x=?V>i(@ j@)Q@I;@iQ@$V=M%/=Y-QU->)1a5D5D1y=i<}=>IAE}5?EW. E|? M?9EQAE: E8:)AWqWqXq XqWqXq:Wq2Wy*WyVybUyBUy*UUUt?BtB BA*BAݠ%AAA~<"CEh*CEƔRCECACI]gA]hA=lؽIGn> A   [ a:Y V1y : "5yq,ƥ&EAY}J+@}J9@y}J?-}J=}JH? ,?`J`J?@u? ?@_?`?)~J+@ ~JJjb;I~JCɫYY)Y YIYYP@yTGu<Muj=Y}ƸQU}>yaDDy;=}?Iȑŕ5?ŕ9 ƕ? ?9ƕ+AǕ: ȕn:)ȑWWX XWX:W2W*WVbUBU*UUUФ?B1B BA*BA Z'A A A <"Ch*CÔRC^vCC%/ýI G%M>q,5&EAY}2@}2Jæ@y}2:_}2df=}2H/??@ ?f? 㨰?? i@ Q@);@Ii;@  ;M A=YlQU>aDD)y-"=}5>I9 E:=5? M:=G =? M?9=nA=; =;)=:WWX XWX:W2W*WVbUBU*UUUPB@BSB BA*BAE{)AAAu<"Ch*CKRCBOCCօ呞YIaGY>     3:Y T1y : 5) P;9 yq, \O&EAY}2zh@}25v@y}2G}2=}2H`? [?@?>??@c?_?)~2zh@ ~2t;I~2CɫYY)Y YIYY@ywSGAAIA)AIA)AiAiAr!M_=Y8QU>aDƠDyt=}>I*5?S ? ?9_A: :)W1W1X9 X9W9X9:W92W9*WAVAbUABUA*UAUIUM$@RUB*** querying acoustic contact ***PQPQB}<By ByA}f*BAO+AAA<"Ch*CRC;CC֥ aIqG9>I ) @Aәq,7i&EAY}2@}2h@y}2HDž}2=}2H@g`?D?Y i?'?ݵ?ϫ?E?)~2@ ~2B;I~2Cɫ99)9 9I9YE@yEVTGMZ****** received transponder code query ******MF****** received ping request ******MaDӠDy'=}>Ia :e5? :eb tI e? ?9eAe6< e3<)e:W1W9X9 X9W9X9:W92WA*WAVAbUABU*UUU` @BB BA*BA6-AAA3w<"C%h*C%RC%C!C)[19IPGi@=D; EIqG>  MY:Y y 5) ;|q,^&EAY}6N@}6\@y}6sQ}6^=}6HQ??uv=?5?@+?@x?H?)~6N@ ~6;I~6Cɫyy)y yIyYʬ@yTGxDUSBL response received:!U1,P 125,000,003B2,186,80,80,68,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Q?Dl?ˡE\?O= 什)Iy-?i@ )I@i@F<M=YN9QU>aDD y <}>I5?r R? e?9A*&< %<)WWX XWX:W2W *WVbU9BU9*UAUAUMR @BңB BA*BA0AAA<"Ch*C ^RC R9C C1=hA9E C Q iU ~? I) GE >妉q,&EAY}B9@}B@y}Bs}B=}BH??㻹# !?????)~B9@ ~Br;I~BC]:Could not parse whisker stateɫYY)Y YIYYլ@yTG鮥p=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i=;M=Y:QU?aDDyި<}?I :<5?  :| ? U?9=A**< +<):WWX XWX:W2W*WVbUBU *U UU g(@BB BA*BA1AAAw<"Ch*C7ERC%yѻCC֥cռYIiGZ>     /3:Y V1y : 759 @Rq,ƶ&EA@B4=D9DIFPGiFܩ@F =DFDFw; FE)!I!i!!!%4ɫ髹) IYƬ@yTG xDUSBL response received:!U1,R,F7E,000,003CB,187,80,80,6D,FF Fpublishing direction and range info V= ɰ = 1> ) BI y A g4W?5?ٱ ))E6>>d;>iG@ @)@IiM8=YQU>aDDy}>I5?L ? ?9A: :)W W X  XWX:W2W*WVbUBU*UU!U%@R5(Combining 5 samples.P1*Q5AZQ5XҲe4@o@JQ5g4W?5?2Q5V=:Q1bQ52M)@J?0KD?RQ5_?1 鿨r}/?BQ5/@ Q5Q5PMAP5b9?P5E9?P1Q5)Q5P@"Q5@BmBi BiAu9*BqAut3AqAqAu%<"C}h*C}##RCCC}*:QIaG}z>q,&EAY}~ͭ@}~@y}~ 6}~}g=}~H?U?Q% ? ?@ð?۬? ]?)~~ͭ@ ~~a;I~|ɫ  ) IYU@yUUGDNmea in: $SNTTA,,,,,011259.16*57 +=M=YHĺQU>aDDy<}>I  : s5?  : r  <@  ?9 A :  V:) :m= qAdded new target pos. range: 20.759998 m, bearing: 308.300068 deg, deltaT: 4.446677 s, approachRate: 0.337330 m/s, LOS rate: 6.485738 deg/s, posRepo size: 4WA WA XA  XA WA XI :WI 2WI *WI VI bUQ BUQ *UQ UU @4@U] V?B B  B A *B A 6A A A Lu<"C h*C &RC 2\C C խ >ԭ >  z z  -:Y Q1y : 5I gA) gAש I G >eq,&EAY}Vа@}VRި@y}VJ}VJ=}VH?`I?өt1?Y? Kư?jE?`c?)~Vа@ ~Vny;I~VCɫ髉) IY @yUGI)I)e=e3?eEie@a ep@)e@Iep@iep@u<Mu=Yu,QU}8?yya}D}Dyˏ<}8?IȉōF5?ō ƍD@ ?9ƍHAǍ: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUU ?BpýB BA *BA977AA A <"Ch*CSؓRC6!:CC]vт9IaG^>9I`QGi-@=Dp; ߗEHq,`'EAY}2@}2s @y}2Q}2j6=}2H.Cie3oGIjAim ٺmjAuhA7A`?l?~jth??= D;)IyB`"??L7A`?.?<+= hA) AIZ AiAA_MC=YQU>aD#DyW<}>I  ,5?  A@ ?9 A H: /:) WWX XWX:W2W*WVbUBU*UUU?Bl;B BA*BA]@9AAA%o<"CEh*CMRCMR;CICIU"51IIGu>m 5 m ~m ~m  m 8:Ym T1ym @:m \5Prljq,;'EAY}2(&@}23@y}2݄}2#=}2H _? ?@Uv???`T?J?)~2(&@ ~2*v;I~2Cɫ99)9 9I9Y@yVG=MP=Y]:QU>aD/DyM<}>II U:MH:5? ]:M M1@ ]?9MAMF: M1:)M:WWX XWX:W2W*WVbUBU*UUUs?BM |eBI  BQ AU E *BQ AU d;AQ AQ AU 3<"C] h*Ce grRCe '<Ca C Թ Խ gA ϩ; ?i ? i>9 I RGi !@ = |; Eױ I G >A͉q,<3:'EAY}B@@}ByN@y}B}B33=}BHxu? q?ͯ`" ?|?`q?|? ?)~B@@ ~B im;I~@ɫqq)q qIqY@y'VG1i5=)9=+==>=;i=̔@9 =;@)=;@I=;@i=ۙ@MW;MMF=YU:QUU>QYa]D]=DYye<}e>Iim(G5?m m @ u?9mAmǺ: m:)iWWX XWX:W2W*WVbUBU*UUU(J@B׷B BA *BA <AAAgv<"Ch*CWRC7F<CC8<יIG@>     /:Y WU1y : 5) ތ;9 ;ԉq,S'EAY}F%H@}FU@y}F{}Fڻ<}FH{?׾?.ϫӍ?/? n?gn?@?)~F%H@ ~Fxg;I~FCɫYa)a aIaY@yUG]7M]=Y]8QU]>aaaeDeNDiym:}m>Iq }:uX5? }:u u @ ?9uAu: u+:)u:WWX XWX:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBRB BA *BA:?AAAF<"Ch*CRCEOO<CC% Xډq,km'EAY}BG@}BU@y}Bf}Bg <}BHG{? ? _`>?^??&?`?)~BG@ ~Bec;I~BCɫ髁) IY@yVGZ****** received transponder code query ******F****** received ping request ******ý ?ý>iý@ù Ľۙ@)Ľ@IĽۙ@iĽ@=M=Y-[QU5?9AamDmWDyyc}?II9IIMRGiMs@M=IIM; ME\c5? @ ?9A< [<)WW9XA XAWIXI:WI2WI*WIVQbUQBUQ*UQUQU}@p@BsB BA*BA@AAAq<"Ch*CrRC{N<CCcU< I G > B    9:Y T1y : 5) ";q,'EAY}2S@}2a@y}2S}2 9}2H@??w@?@? `ǰ? ?b?)~2S@ ~2%a;I~2CɫYY)Y YIYY*@yGVGxDUSBL response received:!U1,P F7E,000,003CB,187,80,80,6D,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 {Gz?Q롿:v?\ T)IyV-?~jt~jt?h1?D= nA) AIi-A(AeMe5=YmQUm>iiamDufDqyu[;}}>Iȁ :Ņtp5? :Ņ^ ƅC@ ?9ƅADž: ȅ:)ȅ:WWX XWX:W2W*WVbUBU *UUAUE @BB BA *BA BA AAn<"CEh*CM)ŒRCMf<CQCy֭ gW<ׁ I G >q,'EAY}2X@}2f@y}2I}2D}2H?;?<""?$??Jo`?)~2X@ ~2<`;I~2Cɫ99)9 9I9Y}@y}VGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B *=Mk=YQU?aDqDy:}?IG{5? !@ ?9A: :)WWX XWX:W2W*WVbU BU *U UU@N @B=TB9 BAAEi*BAAE DAAAIAM<"CMh*CUzRCU-m<CQCQ]Hu     3:Y WU1y : 59 @! % <) 9) I- SGi- @- =) - D- |; - E>)q,^e'EAY}2ug@}21u@y}2}2(h}2H`$?`?8O4?@-??t ?)~2ug@ ~2pZ_;I~2CɫYY)Y YIYY}@y}VG鮁ɮxDUSBL response received:!U1,R,E46,000,003ED,186,80,80,69,FF Fpublishing direction and range info|>ɰ=鰅> )BIyfA4d\?*?ٱ>E6>@>i•@ z@)@I@i@);Mj=YhQU ?  a D |Dy;}>I! -:%'5? -:%7 %@ -?9%A%: %k:)%:WIWIXQ XQWQXQ:WQ2WY*WYVYbUYBUa*UaUaUe @R(Combining 5 samples.P*QfAZQ.5@T%'!@JQ4d\?*?2Q|>:QbQzCe2@y:)k}?RQejX?m ¬?BQѵ@ Q NQ+APv9?Pb9?P'QQ@"QP@BmVhBi BA.*BAEAAAn<"Ch*CvRC$<CC֝#rq,K'EAY}vq@}v~@y}v}vE}vH?6?TƝ? ?@O/?U?)~vq@ ~v1^;I~tɫ) IY-@y5tWGTNmea in: $SNTTA,0.017248,,,,011303.23*49 =i=>i>=M1=Y׺QU>aDDy&;}>I5?X @ ?9GA : :)mqAdded new target pos. range: 22.799997 m, bearing: 325.547443 deg, deltaT: 4.035055 s, approachRate: 0.505569 m/s, LOS rate: 4.274384 deg/s, posRepo size: 4WW!X! X!W!X!:W)2W)*W)V)bU)BU1*U1U56@U5@F?BƪB BAz*BAbGA A A '<"Ch*C_BRC+<CC5< IG5>  | |  2:Y R1y i: 5mMq,g'EA|b4<|b4aDD191I5TGi5@5=15D5; 5E)Ii==4y*?:}>Iȡ :ť%5? :ť* ƥ@ ?9ƥAǥ: ȥ:)ȥ:WWX XWX:W2W*WV!bU!BU!*U!U!U-"q,(EAY}:Yr@}:@y}:d}:}:H&?x?@쓿 c? k?ޱ? R`?)~:Yr@ ~:3^;I~:Cɫ99)9 9IAY}&@y}}WG=?{GzI +?=,?=# =9<)9I9y=X9v?:v?Mbp?=?=<=; = A)=AI=Ai999m<Mm^=Yu,jQUu>yyaDDy  } ?I5?Q4 @ ?9A: :)WaWaXa XaWX:W2W*WVbUBU*UUU /?B`B BA?*BA  KA A A b<"Ch*C䑽RC `<CC5 <IG=> ~ ~  X:Y T1y @: 5Lq,c"(EAY}2p@}2~@y}2}2ۼ}2Hq? ?C5`7??/?@b^?)~2p@ ~2^;I~0ɫYY)Y YIYYR@yWGI)I)5s<M=`=Y= _QU=>AAaEDEDIyM}M?Iȱŵ5?ŵg> Ƶ.@ ?9ƵSAǵ+: ȵY:)ȱWWX XWX:W2W*WVbUBU*UUU?B%$B! B!A%*B)A-<LA)A)A-e<"C5h*C5޼RC=<C9C9A!IIGZ>I ) A A M h>9I IM TGiM @I I I M ; M Ewq,ū<(EAY}2`r@}2@y}2 }2Zg}2H`?[?ː ?*? O?@r9?)~2`r@ ~2^;I~0ɫII)I QIQY}N@y}XGe?e3>eie@a e@)eĘ@Ie@ie@}u=M}F=YQU>aDDyr9}>Iȩ =:ŭ5? =:ŭI ƭg@ E?9ƭOAǭ< ȭ<)ȭ:WWX XWX:W2W*WVbUBU*UUU!]@BM꨽BQ BQAU*BQAU8NAQAYA]<"C]h*CeRCe<<CaCiunG։ISkAiAA*ٺSkABQIaG> ' { {  6:Y #R1y : 5) F;9 aq,uV(EAY}bZ@}b@y}bw}b}bH?`?x ɥ?]?`6r?朿 o?)~bZ@ ~bI^;I~bCɫ髱) IY@yXG)YMC=Y⧺QU>aDʡDy;}>IY]5?]U ]@ m?9]jA]: ]:)YWWX XWX:W2W*WVbUBU*UUU3@BqB BAs*BABOAAAim<"Ch*C[RCt<CC=]<IG=q>q,qp(EAY}v@}v]@y}v[}vݼ}vHe??> ^?C? ?.@w?)~v@ ~vһ^;I~vCɫ髱) IY @y DYG5=i5=E>iE>9IVGi@; E X9v?i|?5S㥛? ? q /<) I y kt?~jt?S㥛? 0? D< /< A) AI Ai A 3AE ?E ?E iE 3@A E X@)E IE p@iE ;@U O<MU a a ae De ߡDi ym a;}m >Iq } :u 5? } :u i u "@  ?9u Au : u f:)u :W W X  X W X :W 2W *W V bU BU *U U U آ@R B*** querying acoustic contact ***P P =i %= ~ ~  B:Y T1y @: 5) U;B B  B A Y*B A CRA A A <"C h*C RC ʹ<C C! u< I G >B#q,ͬ(EAY}2/@}2븩@y}2ĕ}2#}2H@B???Y~?@?>?@?)~2/@ ~2!_;I~2Cɫ)))1 1I1Ymo@ymMZGuZ****** received transponder code query ******uF****** received ping request ******uM=YLUQUy?aDDy!<}x?I5?o #@ ?9A4; :)W!W)X) X)W)X):W)2W)*W1V1bU1BU1*U9U9U=f)q,k(EAY}2m@}2)@y}2_n}2}2H?-?@욋  ?J?xɲ?0Ѡz?)~2m@ ~23_;I~0ɫII)I IIQYB@yZGxDUSBL response received:!U1,P E46,000,003ED,186,80,80,69,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 5fWM=F=YM$MQUU>aiamDuDy }>I) E:-q5? M:-q} -%@ e?9-MA-; -;)-:WWX XWX:W2W*W!VAbUABUI*UIUIUM` @B\ΥB BA*BATAAA(<"Ch*CRC̣<CC5U<5?i1 I G5 >U U |U |U  U ):YU R1yU i:U 59] @e ];=]>i]@Y ]@)]@I]@i]@M6=Y׹QU>aDDy}>IȩŭD 5?ŭ ƭ'@ ?9ƭAǭU: ȭ:)ȩWWX XWX:W2W*WVbUBUa*UiUiUm;@BB BAg*BA,VAAAr<"Ch*C:RCk<CChAױIG> x6q,K"(EAY}2@}2؏@y}29}26%}2HԨ?Z?}@ ?7?/??)~2@ ~2_;I~2Cɫii)i iIiY@yZGxDUSBL response received:!U1,R,D91,000,00406,189,80,80,77,FF Fpublishing direction and range info- ?ɰ=鰥7> )BIyfAσaD Dy }>IQU% 5?U' U)@ ]?9UAUM: U߼:)QWWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*QfAZQ D4@"°#)@JQσ] ] }] }]  ] S,:Y] kS1y] Ԋ:] I5)9IXGi@D; Eɫ!!)) )I)Ye7@ymC[GDNmea in: $SNTTA,,,,,011307.73*5E zG?Zd;O?~jt? ? j= =) I y n?~jtQ? V.? D \=  A)™ I Ai™ =A ~> d? >i @ ʭ@) I i  y<M   a D !D y 3:} >I! - :% ) 5? - :% M % ^-@ 5 ?9% &A% : % :)% :me qAdded new target pos. range: 24.300001 m, bearing: 334.752462 deg, deltaT: 4.522610 s, approachRate: 0.331668 m/s, LOS rate: 2.035333 deg/s, posRepo size: 4Wa Wa Xa  Xa Wa Xi :Wi 2Wi *Wi Vi bUq BUq *Uq Uu L8@U} =?B ȝB  B A m׾*B A 3YA A A <"C h*C RC Σ<C C = =֭ D-3Dq,)EAY}^x@}^5@y}^?(}^9}^H@9?/?ݒ`9 ?-?v ?}`v?)~^x@ ~^1_;I~\ɫ髡) IY@y\G=i=>i>=M=YbQUO?  a D (Dya;}N?I)-=0 5?-B -.@ =?9-SA-; -Z;))WaWaXa XiWiXi:Wi2Wi*WqVqbUqBUy*UyUyU}?BB BA̾*BAMg`ZAIAQAU/<"CUh*C]RC]<CYCYa9IIGew>~~ ,:YT1y@:5oPJq,B+)EAɫ髙) IY@y&\Gmv>?mml>imG@i m@)mIm@im@};M}D=Y}QU>aD5Dy}>Iș :ŝ= 5? :ŝ Ɲ0@ ?9ƝAǝ: ȝ:)ȝ:WWX XWX:W2W*WVbUBU*UUU?B  B  B A ˾*BA=[AAA+<"Ch*CʏRC<C!C!}~MٱٵgAܹ9ܹIܽ0YGiܽ@ܹܹܽDܽ~; ݽE)QIQiQQQU24:Qq,'E)EAY}J@}J@y}JIe}J%}JH?:?ǬMx ?F?`G?}`b?)~J@ ~J,_;I~JCɫ髙) IY@y]GMv=MMM=YUƺQUU>QYa]D]BDYye>(<}e>IimrI 5?mG m3@ u?9m]Bm: m8:)iWWX XWX:W2W*WVbUBU*UUUd?B6B BA*BA\AAAK<"Ch*C3RCj<CCgAoE<?i?IGi>^ }} Q;:YkS1yԊ:5bWq,f^)EAY}:˱@}:٩@y}:}:f}:H@?? kk?`8?@?T?)~:˱@ ~::b;I~:Cɫ99)9 9I9Y}L@y}]GI)AI)AU+L=M]\=Y];QU]>aaaeDeNDaym<<}m>Iq }:u U 5? }:u! u5@ ?9u_Bu: u4:)u:WWX XWX:W2W*WVbUBU*UUU,,@B⣽B BA*BA|^AAAm<"Ch*CiRCcP<CC%J<I G%M>]q,x)EAa9aIeZGie̱@aaaen; eܗEɫ) IYE6@yE]GIɮM=V-?&1?m?mim@i m@)m@Im@im@}rM+=YQU>aD]Dy}>Ișŝe 5?ŝ8 Ɲ7@ ?9ƝBǝ;: ȝn:)șWWX XW:W2W*WVbUBU*UUUo@B ̞B  B A }*B Aim_AAA<"C%h*C%-RC%<C!C!֥ <3C%k %%% %[<:Y%V1y%:%m5)%;9-i3oGסIIiAG> #ٺ % Btdq,2)EAɫyy)y yIyYƴ@yi^GVa=M=Y QU  ? aDgDy!}% ?I) =:-Wq 5? =:-n -u8@ E?9-B-@; -A;)-:WWX XW:W2W*WVbUBU*UU U @@R5B*** querying acoustic contact ***P1P1B]BY BYA]v*BaAece`AaAaAe<"Ch*CRCB<CC ==jq, )EAY}rʱ@}rfة@y}rۄ}r"}rH ??N]u0o? ' ?'m?O?)~rʱ@ ~rb;I~rCɫ!)! -I)YE@yE[_G]Z****** received transponder code query ******eF****** received ping request ******eia=kI>i@ v@)I@i@ $P=M-=Y_aDwD!y%}%>Iae9 5?e eN:@ u?9eBe: ef:)aWWX XW:W2W*WVbUBU*UUUXq @B5FB1 B1A=2*B9A=aA9A9A=W<"CEh*CMŎRCICICI=9iIm[Gim@iiimm; mۗE5   8:YU1y:[5)=;1I9GU>qq,l)EAY}Fxñ@}F5ѩ@y}F}Fn#}FH`5?މ?&lr`s? ?`{:? Br?)~Fxñ@ ~F?~;I~FCɫQY)Y ]IYY2@y^GxDUSBL response received:!U1,P D91,000,00406,189,80,80,77,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 UM]k=YmE;QUu>aDDy }>I 5? ;@ ?9BC; q;)WqWqXq XyWy:W2W*WVbUBU*UUU` @BmBi BiAu*BqAuشbAqAqAu+<"Ch*CRC<CCֱשIG>wq,W)EAY}b˱@}b٩@y}b}b"}bHS?@?jCr+o?ҳ??LR?)~b˱@ ~bY;I~bCɫ髱) IY5@y,`G%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B E=ME;=YM:QUM>IQaUDUDQy]h;}]>Ia m:e 5? m:e eG=@ m?9e"Be(: e:)e:WWX XW:W2W*WVbUBU*UUU0K@BM%BQ BQAU*BQAUcAQAYA](l<"Ceh*CebRCe66<CaCiquiAu<ׅ?iׅ?iIG>EE|E|E E<0:YER1yEi:E59]@}q,0)EAY}6@}6@y}6 }6}6H?ox?Y{cG?>?@?΢@?)~6@ ~6N;I~6CUg>9QIU]GiU@U=QQUu; UߗEɫ髙) IY@y`GxDUSBL response received:!U1,R,EB3,000,00432,186,80,80,76,FF Fpublishing direction and range info,ɔ>ɰ=> )BIyAm?kV?ٱudNmea in: $SNTTA,0.047680,0.295716,,,011312.22*5D Iy)yIy)y)#~j?~jt{Gz?>D #=)IyM?~jt?ˡE?n2?<'= A)IAiA AÅ$>Å?Å#iÅ@Á ą@)āIą/@iąM@ =M7=Y_:QU>aDDy;}>IK 5?{' ?@ ?9eB: :)WW!X! X!W!:W!2W!*W)V)bU)BU)*U)U1U5@RE(Combining 5 samples.PA*QEAZQEC{9@Ng9@JQEm?kV?2QE,ɔ>:QAbQEY[4@=^o03 ?RQE?ko?21#p?BQE>@ QEQEAPE9?PE9?PE7QAQE@"QE@B} By BA*BAǝdAAAX<"Ch*C)RCA<CC֭<ׁIG>„q,*EAY}2 @}2K@y}2셄}20 }2H??`?`K@?ш?ȍ?`GF`.?)~2 @ ~2K;I~2Cɫaa)a aIaY4@yfaG=M!=Y$;QU>aDDy*+<}>I : 5? :'7 B@ ?9 B: :):%%%% %+:Y%WU1y%:%5m-uAdded new target pos. range: 26.939999 m, bearing: 320.931984 deg, deltaT: 4.530416 s, approachRate: 0.582727 m/s, LOS rate: -3.050598 deg/s, posRepo size: 4W)W1X1 X1W1:W12W1*W9V9bU9BU9*U9UE:@UE ?BuєBq BqAu*BqA}5eAyAyA} <"Ch*C3卽RCޝ=CC Gq,-*EAY}f:@}fcH@y}fY}f }fH D?E?@p`2 C@ ?9x Br: j:)W9WAXA XAWA:WA2WA*WIVIbUIBUI*UIUQUU?B蟽B BA%*B!A%-h>9)I-D^Gi-@))-D-|; -Eԑq, G*EAY}6k@}6yy@y}6i;{}6KX}6H&m?e)?w@d?`!(?bb?;?)~6k@ ~6;I~6Cɫ9A)A AIAY};@y}bG=i=}N=MS=Yx;QU>aD¢Dy}<}>Iș :ŝ 5? :ŝK ƝE@ ?9Ɲ Bǝ^: ȝ:)ȝ:WWX XW:W2W*WVbUBU*UUU?B B BAKn*BA fAAA<="Ch*C%qRC%ap6=C!C!EV =I)GEQ>~~ |,:YT1y@:5q,a*EAY}6=@}6@y}6<u}6$f}6H??Ts K? =??â?)~6=@ ~6nn;I~4ɫ99)9 =IAY}@y}SbG 鿹)= =ާMC=Ym;QU>aDТDyY<} >I   5? X H@ ?9  B b: n:) W9W9X9 X9WA:WA2WA*WAVAbUIBUI*UIUQUU 3?B}By BAw*BAgAAA{k="Ch*CIRCH=CC֍[1=AIQGm5>(q,c{*EAY}6˲@}6ت@y}69Yn}6ɕ}6H`??i@^? ɱ?`ƭ? (?)~6˲@ ~6p;I~6Cx9xIzo_Giz@xxxz; zE)IIIiIM=M=M4ɫAA)A AIAYĸ@yScG)IE/$?MbX9{Gz?E&?Eʡ E#<)AIAyEK??Q?E^:?Eå=iå@å ĥ­@)ĥE@Iĥd@iĥd@q=M?=Yx;QU>aDޢDyh<}>I : 5? :e I@ ?9 B: :):WWX XW:W2W *W V bU BU*UUU?BE/)BA BAAE+]*BIAM0hAIAIAM="CUh*CU]RCU_]=CYCYii}п8=QIaG}z>%!!% %1:Y!y!%I5)%ݎ;9-q,1?*EAY}>@}>q@y}>h}>~1}>Hj?`?X?h? VD?@p?$?)~>@ ~>՚;I~>CɫYY)Y eIaY@y*cGI!)%AI4=)R=!%hA=/M==YE.;QUE>AAaMDMDIyU <}U>IY]d 5?]v ]{K@ e?9]uB]: ]:)YWWX XW:W2W*WVbUBU*UUUv@RB*** querying acoustic contact ***PPBghB BAUa*BAxiAAA="Ch*CRCk=CC $OV= I G >:q,e*EAY}e]@}e@y}eGb}e(4>}eH? ?Vs? @?dj?PE? ?)~e]@ ~e;I~eCɫii)q uIqY@ycGZ****** received transponder code query ******F****** received ping request ******@; EE0f=% %%% %4:Y%V1y%:%\5)%G;I9GU>"q,s*EAY}J@}J@y}J[}JTifnG}JHX?`?(?@ r? ?r?k3?IrkA)~J@ ~J;I~JCi1]׿ٺekAe Aɫ) IYUg@yUdG]xDUSBL response received:!U1,P EB3,000,00432,186,80,80,76,FF ]Command AckeBRequesting micromodem ping code 2iaamNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 \=MJ=YÁ;QU>aDDy;}>I :! 5? : M@ -?9{B< @<):WW X  X W:W2W*WVAbUABUI*UQUQU]t @BѐB BAH*BAjAAAC="Ch*C0RC/-x=C!C! 5=5>5Jz= I G5 >Lq,*EAY}2}@}2:@y}2X}2[}2H?`?d8?`@? ?@ ?@Ge?)~2}@ ~2\;I~2Cɫy髁) IYo@y$dGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B QiQ qq)}= }=$;MH=YW:QU>aDDyP9}>I1 5? /O@ ?9B: M:)WWX XW:W2W*WVbUBU*UUU @B(B BAG*BAHkAAA%~="Ch*C$RC_x=CCur=I% %~%~% %4:Y%T1y%@:%%59%@G5>Pzq,g*EAH9HIJaGiJ@HHHJ{; JEY}@}@y}T}:`}H?@%?I?Y1?@(?`菪??)~@ ~w;I~ɫaa)a eIaYP@y:eGAAxDUSBL response received:!U1,R,EFE,000,00451,187,80,80,6E,FF Fpublishing direction and range infof>ɰ =1> )BIyfA1٠c>1?Nu?ٱdNmea in: $SNTTA,0.268661,0.228667,,,011316.27*5D }K7A`?x&?}>}7 }<)yIyy}\(\?Q?Q?}:?}<}< }A)}SAIyi}Ay} AH=H?Q>i@ @)z@I@id@4l=M+=Y;QU>aD!Dyй}>I  : yC 5? :  5Q@ ?9  B h< O<) :W9W9X9 X9W9:W92WA*WAVAbUABUA*UIUIUul@R(Combining 5 samples.P*QfAZQ<@ݸ@JQ1٠c>1?Nu?2Qf>:QbQT5@tX32`eh?RQ%o;?俧e X?BQP@ Q7QxAP9?P9?P>Q7Q@"Q@BaB BA+*BA7kAAA="Ch*C6RCx=CC)-hA yz= I G% >cŊq,+EAY}^d@}^!@y}^LP}^d}^Ho??{?n?Z??1?)~^d@ ~^8n;I~^Cɫ髑) IY-T@y-?eG:M=YJ`;QU?aD*Dy}?I  EO 5? Ҳ }R@ ?9 B ^: :) mMuAdded new target pos. range: 28.799999 m, bearing: 319.271811 deg, deltaT: 4.112960 s, approachRate: 0.452229 m/s, LOS rate: -0.403644 deg/s, posRepo size: 4WIWIXI XIWI:WQ2WQ*WQVQbUQBUY*UYU]<@U]T2?BUSBQ BQA]-+*BYA]_lAYAYAe="Ceh*CmlRCmt=CiCiUw=)I9GUv> -:Yy5wˊq,Pp0+EAY}zw@}z4@y}zH}zZd}zH` ??`ׂ? @8? ?`C?a?)~zw@ ~z?i;I~zCɫ) IY g@yUeGIy)yI)=‘•iA)>q=i\@ @)/@Id@iM@n;MJ=Yΐ;QU>aD7Dy }>I  : ^ 5? :  $T@ ?9 B : :) :W1W9X9 X9W9:W92W9*WAVAbUABUA*UIUIUMp?BuɎBy ByA}(*ByA}dlAAA6="Ch*C.RCwn=CC}Hu=QIay9yI}aGi}@}=yy}g; }ؗEG_>pҊq, =J+EAY}6в@}6ު@y}6B}6t}6H?@R?@?@@ͬ?rв?\?,!?)~6в@ ~6:v;I~6CɫAA)A EIIYeκ@yeeG5m=M=W=Y= };QUE>IIaMDMCDU-@Qy]@}]>IimVm 5?m mU@ }?9m8Bmt; m ;)iW)W)X) X)W1:W12W1*W9V9bU9BU9*UAUAUE&?BAB BA*BAJemAAA}="Ch*C0슽RC^=CCm=׹IGg>|| 2:YR1yi:5 ؊q,;d+EAY}2H@}2Ϊ@y}2c>}2}2H??X?`v?@i?8ҧ?s?)~2H@ ~2F;I~2Cɫ99)9 =IAY @y9fG5<M=J=Y=,;QU=>AAaEDEPDIyM8}M>IQ ]:U| 5? ]:U UFW@ e?9UcBU: U:)U:WWX XW:W2W*WVbUBU*UUU@C?BnB BA*BAmAAAJ="Ch*CqRC\Y=CCm_=I GUS>'ފq,M}+EAg>9IbGi&@=; EY}Z6@}Z@y}Z9}Zݭ}ZH ?|?We? ?`?@;?s?)~Z6@ ~Z*;I~ZCɫ髙) IY2@yPfGaie= 鿁M rh?v/S㥛?M ?Mx M/<)IIIyMV-?{Gz?Q?Mh1?Mף ]> D d? (i ̤@  @) I i ;M/=Y!;QU>!!a%D%_D)y-q}5>I15% 5?5V 5X@ E?95B5f: 5:)1WaWaXi XiWi:Wi2Wi*WqVqbUqBUq*UqUyU}@?BɉB BAg*BA]nAAA="Ch*CShRC?T=CCmY=בIG> c2:YT1y:\5)Y;9%#q,Iח+EAY}B4@}B@y}Be5}B}BH` ?`O?ⱞ?@C?`m?@Ъ?-?)~B4@ ~B ;I~BCɫQY)Y ]IYY@y+fG)P%Md=Y%J;QU>aDkDy}>Iՙ 5?l Y@ ?9B߼: :)WWX XW:W2W*WVbUBU *U U U9@B=(B9 B9A=*BAAEnAAAAAEa="CMh*CMs0RCUXR=CQCQ]Q=9IAG]U>dq,(+EAY}:|@}:9@y}:2}:Y}:H?Y?ܟ?ƃ?`{h?S? #ñ r?)~:|@ ~:J;I~:CɫQQ)Q UIYY@yfG!9!I%XcGi%ȸ@!!!%; %E)ݹIݹiݹݹݹݽ4½hA¹? ?xi(@  C:Yy5)); @)Ii@-.<M- =Y5 :QU5>19a=D=}D9yE`Ӻ}E>II U:M 5? ]:M MD[@ ]?9MJBM(: M:)M:WyWyXy XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBB BA*BAPdoAAAl="Ch*CՉRCP=CC XR=ױ I G >,q,Q+EAY}2@}2?@y}2L1}2}2H??@ź?y }?:?'?.?)~2@ ~2"w;I~0ɫ99)9 =I9Y@yfgGZ****** received transponder code query ******F****** received ping request ******q,_+EAY}:V@}:@y}:0}:&}:H??ȡ? _u?@tҳ?:?`s?)~:V@ ~:=n;I~:Cɫ99)9 =IAY}@y}+gGxDUSBL response received:!U1,P EFE,000,00451,187,80,80,6E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 eMC=Y>:QU>aDD)y5`}=>II :M< 5? :Mu M ]@ ?9MBM < M<)M:WqWyXy XyW:W2W*WVbUBU)*U1U9U= L| @BmBi BqAu_*BqApAAAS_="Ch*CndRCfK=CCMM|M|M M.:YMR1yMi:M59u@m QO=׍ ?i׍ ?a Ii G >% f>9! I% cGi% @% =! ! % ; % Ejq,;+EAY}>v@}>@y}>e-}>8Ș}>H z?`(? =?@\?`Qس?@ ? ?)~>v@ ~>h;I~>CɫYY)Y ]IYY @y]gGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ~jt?y&1~jtx?` Ļ)Iy333333?{Gzt?/$?9?ף;< ½&A)½AI½zAi¹ A @ @ @©if@ )IM@iM@-3<M-4=Y5Y:QU5>11a=D=D9yE}E>IIM 5?M& M{^@ U?9MUBM: M׾:)IWqWyXy XyWy:Wy2Wy*WVbUBU*UUU ~@BwB BA0*BAipAAA="Ch*Ca1RC>=CC5\>1inGIiԿٺAU3J=IGE>Bq,,EAY}6V@}6d@y}6W)}6Uy}6H`?*?٣?)@ B? rݳ?@o)?@?)~6V@ ~61d;I~6CɫYY)Y ]IYY}=@y}gGxDUSBL response received:!U1,R,E82,000,0047C,186,80,80,34,FF Fpublishing direction and range info㭪>ɰ=鰅> )PBIy A}=?#e#?ٱ=i=i=)5<M=q=YEs>;QUE?IIaMDMD1y=-}=>IA u:E 5? u:E+3 E_@ }?9Eh BE; E^;)E:WWX XW:W2W*WVbUBU*UUUK@R(Combining 5 samples.P*Q AZQ; =@YD$@JQ}=?#e#?2Q㭪>:QbQ]e5m9@[l{b2@.1R?RQtx5?xDA?BQm@ QQiAP9?P9?PBQ>Qf@"Q@BꇽB BA'ܽ*BApAAA="Ch*CRC1=CCֽ==בIG>= =}=}= =5:Y=kS1y=Ԋ:=5' q,H2,EAY}n4@}nfB@y}n# &}n}nHE?=?:?d=&?@Vij?Ͽ??)~n4@ ~n7a;I~lɫ) IYH@ygG}TNmea in: $SNTTA,0.146158,,,,011320.69*41 ٽhAٽhAe>9I dGik@=; E   Å>Å|?ÅiÅ̤@Å ą@)ą@Ią@ią@;M=Y:QU>aDDy}>Iȩŭ 5?ŭF ƭa@ ?9ƭ"Bǭ: ȭ:)ȩmqAdded new target pos. range: 31.379999 m, bearing: 324.131190 deg, deltaT: 4.330553 s, approachRate: 0.595767 m/s, LOS rate: 1.122115 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*U U Ga?@U ?B D@B  B A `ٽ*B A DqA A A ]s="C h*C BRC %=C C 5 [1=I9 )= hA I G5 >q,`N,EAY}2@}2)@y}2 }20}2H0?jK?@?K ?X?h?^}?)~2@ ~2u`;I~2Cɫ11)1 5I1Yux@yugGe<Mm=Ym;QUuA?qqauD}ƣDyT}??Iș :ŝ 5? :ŝCN ƝEb@ ?9Ɲ"Bǝ; ȝ`;)ȝ:WWX XW:W2W*WVbUBU*UUU?B-`VB) B)A-Xͽ*B)A52qqA1A1A5="C=h*C=RC==C9CAE+,=I!GE0>]) ]|]|] ]K:Y]R1y]i:]m5q,sh,EAY}2@}2@y}2-/}2.}2H ?@W?@q?nW?@{?d??)~2@ ~2_;I~2Cɫ99)9 =I9Y}Ѽ@y}NhGI)<MP=Ymk;QU%>!!a%D%ңD)y-fʻ}5>I9=e 5?=G[ =xc@ E?9=#B=: = :)9WaWaXa XaWa:Wi2Wi*WiVibUqBUq*UqUyU}?BwB BA *BAqAAA="C=h*CEMRCe=CaCi}$=YIG > 9 yCI dGi @ = D ; E+ q,K,EAY}>@}>i@y}>}>{}>H@ ?`e?YB?%f`j??n?)?)~>@ ~>Cm_;I~>CɫAA)A EIIY @yhG ))A`"?p= ף~jt? )Iy/$?Mb?))a5D5D1y55ػ}=>I9=r 5?=k =Te@ M?9=G%B=: =j:)9WiWiXq XqWq:Wq2Wq*WyVybUyBUy*UyUUl?B-:B) B)A5P*B1A5 rA1A1A5n="C=h*C=RCE] =CaCaU=]?i]?B ~~ 9:YT1y@:n5)";9 I!G=>&q,(,EAY}6Zֱ@}6@y}6/ }6}6H{?`r?@+?`Lt? ??Z/b?)~6Zֱ@ ~6f_;I~6Cɫ99)9 =IAY}H@y}hG=L<M=o=YE;QUE?AAaEDMDIyMd}U?IY e:]) 5? e:]v ]f@ m?9]I&B]: ]:)]:WWX XW:W2W*WVbUBU*UUU@BڽB BA*BA@rAAAq="Ch*CꇽRC=CCE =I)GEQ>,q,,EAY}2̸@}2Ʃ@y}2}2ji}2H5?~? ˤ?!@?@J?Q?`F@?)~2̸@ ~2Q/_;I~2Cɫyy)y IY@yhG>i=%p=i%C=   >>#!!a%D%D1y5`}5>I9=[9 5?=4 =Kh@ M?9='B=U: =:)9WiWiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUyU@w@BEʄB BA*BArAAA7="Ch*CRCO<CCىٍ<ܑ9ܑIܕLeGiܕ_@ܕ=ܕRDܑܕx; ݕߗEV<׹IGf> || 4:YR1yi:5)G;3q,,EAY}2@}2E@y}2}2}2H?? z? Y?@˰?A?[ڱ?)~2@ ~2U:_;I~2CɫYY)Y ]IYYe@yiG=M^=YNM;QU>aDD y ӛ} >I :}F 5? %: i@ %?9(B: :):WAWAXA XIWI:WI2WI*WIVQbUQBUQ*UQUYU]e@ReB*** querying acoustic contact ***PaPaB B BA*BArAAAŚ="Ch*CRC6<CC<סIGC>C9q,/,EAY}2<@}2@y}2?l}2ɇ}2HX?֔?F?3`M? ?4? ?)~2<@ ~2$_;I~2Cɫ99)9 =I9Y}@y})iGZ****** received transponder code query ******F****** received ping request ******aDD)y5}=>IȩŭW 5?ŭ& ƭyk@ ?9ƭ*Bǭf< ȭ<)ȩWWX XW:W2W*W!V!bU)BU1*UUUh @/ {{ 7:Y#R1y:59@B}B BA*BA|sAAAp;="Ch*C=RCw}<CC܉ 9܉ I܉ ֥ @q,-EAɫ髙) IY@yiGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IQ)UAIQ)UAw/?~jt~jt??ļ <)IyNbX9?Q?Mb?%?\=@= A)AIAi Ap Aף<Py=i3@ ­@)IE@i/@ =MA=YQU>aD"Dy} >I :d 5? :F m@ ?9+B#: :):W9WAXA XAWA:WA2WI*WIVIbUIBUI*UQUQUU ` @B}E҂B BA!Z*BA(7sAAAņ="Ch*C2RC<CC֝Gq,7p-EAY}2 }@}2Ɋ@y}2ɐ鼙}2npp}2HA?@?@F?\@??1??)~2 }@ ~2n_;I~2Cɫ99)9 =I9Y}@y})iG鮉ɮa=1Mv=YF ,:YT1y:5.Mq,jK7-EAY}2{@}2@y}2㼙}2]}2HV??Ձ?+@*?*?@Gu? ?)~2{@ ~2"_;I~2Cɫaa)a mIiY}Ž@y}{iGTNmea in: $SNTTA,0.047753,,,,011324.79*49 )b>b  a D ;Dy}>I! %:%~ 5? -:% %4p@ -?9%-B%: %/:)%:WQWQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUe`@Bm]B BA t*BAĞsAAAmp ="Ch*CRC<CC999I=eGi=@===QD9=y; =E֥]iq I i "Ͽٺ ATq,|&Q-EAY}2@}2h@y}2߼}2H}2H?B? F?ٝ:?@~?? #?)~2@ ~2_;I~2CɫYY)Y ]IYY@yriGxDUSBL response received:!U1,R,F45,000,02EEB,186,80,80,5E,FF Fpublishing direction and range info'>ɰu?鰱 )BIy*DF)?9[?ٱ=i=R=iR==i= {{ 4:Y#R1y:5ȺM =Yw:QU>aDNDy;}>IY 5? r@ ?9.BǺ: :)WWX XW:W 2W *W V bU BU *U U U j(@R (Combining 5 samples.P! *Q% *DZQ% ;@x@GT[@JQ% F)?9[?2Q% '>:Q! bQ% l$!}@.Z5Cn)@RQ% J?"={cTdq}_?BQ% Ӯ@ Q% Q% CP% (9?P% 9?P% Q% BQ% ՖA"Q% f@B oB  B A w*B A sA A A l) ="CE h*CM &xRCM z<CI CI ] *<1 I9 G] >Zq,#m-EAY}6s@}61@y}6pټ}69}6H`y?`?G?@5? >-?H-?1?)~6s@ ~67_;I~6CɫQY)Y aIaY}@yiGj=K7?#=i̤@ (@)/@I@i/@e<M=Y9;QU6?aDUDy\;}6?Ib 5?- s@ ?9=/B: +:)m-Added new target pos. range: 683.159973 m, bearing: 313.027624 deg, deltaT: 5.041780 s, approachRate: 129.275772 m/s, LOS rate: -2.202311 deg/s, posRepo size: 4m-Completed rollout at range: 683.16 m. Resuming terminal guidance.m-bTransitioning guidance mode to: TERMINAL_GUIDANCE"X-W5W1X1 X1W1:W12W9*W9V9bU9BU9*UAUEGY@UEjf?BuBq BqAua*ByA}}tAyAyA}p =CօF- d>9) I- fGi- @) ) ) - ; - Eåaq,-EAɫyy)y IY-@yiG%Q?1Zd˿+η?%?%"[ %v=)!I!y%jt?AIaMDMcDQyU}U>IY e:] 5? e:]d ]'t@ m?9]~0B]Y: ]k:)]:; wAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;wdResuming normal ranging with 1.000000 count pings.;1<WWX XW:W2W*WVbUBU*UUU'?B/B BA5@*BAd/tAAA =Ca5<׹I .:Yy5) ;9Gj>gq, Ġ-EAY}:Fh@}:v@y}:Ǽ}:7:}:Ho?@? i8?@?@?`? /S@?)~:Fh@ ~:_;I~:Cɫ99)9 =I9Y}1@y}iGI)AI)A 鿹)ý> ý>6:MO=Y;QU>aDoDyuo} >I 5? t@ ?91B: +:)XU?1*B!A%WtA!A!A%s =CI]<9IaG>mq,ǡ-EAY}2C@}2Q@y}2l¼}2,G}2H ??dž?`@ t?hѧ?`L?@O?)~2C@ ~2_;I~2CɫYY)a eIaYm@ymiG)<_>9IeGi@=|; E+>i@ @)ף@I@i@MQMUD=YU:QUU>YYa]D]}Daye>/}e>Ii u:me 5? u:m0 m5u@ }?9m2Bm: m:)m:WWX XW:W2W*WVbUBU*UUU?B$B BA]*BAtAAA =C֝<n  <:YWU1y:5)+;בIG>tq,z-EAY}6,0@}6=@y}6}69N}6Ho? ??ib?!:?=?^ҩF?)~6,0@ ~6Ny_;I~6CɫYa)a eIaY"@yiGAA1<M=Y8QU>aDDy}>Iȡť 5?ť ƥu@ ?9ƥ4Bǥ: ȥӻ:)ȡWWX XW:W2W*WVbUBU*UUU@@B PB BAE*BAftAAA =C!E Z< I) GE >{q,9`-EAY}Z6@}ZnD@y}Zļ}ZJ}ZHu???@h?"?? W?)~Z6@ ~Z{(_;I~ZCɫ) IYl@yHjG=i==i=m=m7m7 im@i m)m@Im@im@} =M}=Y}qQU}$?aDDy-?;}#?Iș :ŝ 5? :ŝ7" ƝBv@ ?9Ɲd5Bǝe; ȝ_;)ȝ:WAWIXI XQWQ:WY2WY*WiVibUqBUy*UUUt@BB BA *BAtAAA =C * }} ,7:YkS1yԊ:%59@ <c>9Ii=; EIG > q,M1.EAY}:>@}:zL@y}:c}:?}:H{???yp?@&7?+?%?)~:>@ ~:^;I~8ɫ99)9 9I9Y}@y}iG@Am/$? rhy&1m&?mC m`)iIiymuV?/$?y&1?mr(?maDDy,;}>Iȡť} 5?ť~- ƥEw@ ?9ƥ^6BǥG: ȥ:)ȡWWX XW:W2W*WVbUBU*UUUL@@RB*** querying acoustic contact ***PPBB BA%q, ".EAY}61@}6[?@y}6Q}6?}6Hp???e?Ϧ?@'>? ?)~61@ ~6^;I~4ɫ9A)A EIIY})@y}iGZ****** received transponder code query ******F****** received ping request ******=Y] ;QU]>aaaeDeDiymt}m>Iq }:u) 5? }:u: umx@ ?9u7Bu: u(:)u:WWX XW:W2W*WVbUBU*UUUl@B%KB) B)A-B*B)A-'uA)A1A5=C9 m=m=]:YuT1yu:u5IG>1Hq,.;.EAY}2 @}2@y}2{N}2.B}2HR?@R?[?@)G?@UV?a?B ?)~2 @ ~2^;I~2Cɫ99)9 =I9Y}]@y}6jGxDUSBL response received:!U1,P F45,000,02EEB,186,80,80,5E,FF Command AckBRequesting micromodem ping code 2iI)I)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ܡ9ܡIܡiܡܡܡܡܥ; ݥE)Ii=ڎ5å/=å/ݼå~>iå\@á ĥd@)ĥE@Iĥd@iĥz@u1k<M}9=Y@;QU>aDDy#}>IZ 5?;H y@ ?98B; b;)WAWIXI XIWI:WI2WI*WQVQbUQBUQ*UQUYU]@Z @B1(B BA#(*BAqNuAAA=C!T<IG>1q,U.EAY}Rq@}R/@y}R*B}RۀP}RH3??&? `e'?@?ۧ? ?)~Rq@ ~R^;I~RCɫyy)y yIyY߽@yiGa=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5Ml=Y >:QU?aDʤDyML}M>IQU| 5?US Uz@ e?9U9BU: U:)QWWX XW:W2W*WVbUBU*UUU0@B%_B! BIAMg*BIAMwuAIAIAUV0=Cuc<zz f.:YQ1y:5QIYG}z>]q,.o.EAY}-ٰ@}-=@y}-}-áL}-H &?@6???ۦ???)~-ٰ@ ~-^;I~-Cɫ) IY-1@y5iG=xDUSBL response received:!U1,R,039,000,004DE,184,80,80,72,FF =Fpublishing direction and range info5%K1ɰ5%=5> 1)5BI1y5 B5ϓ0?)nuٱ1>+?Ji@ @)­@I@i@¨<M)=Y-vڸQU->)1a5D5٤D1y=}=>IA M:E' 5? M:E[a E{@ M?9E:BE: E:)E:WqWqX XW:W2W*WVbUBU*UUU A@P9*Q= BZQ=t{aB@LҀSJQ=ϓ0?)nu2Q=%K:Q9bQ='Ab2@3XE2@@4?RQ=#sx?8N4k8?BQ=&P@ Q=Q=AP=9?P=(9?P=dQ=Q=e@"Q=ՖABG〽B BA[>*BAuAAA=CiAq9qIqiqquRDqu; uEI)ס I G >Dq,4.EAHHi%3oGIaiϿٺjAɫII)Q QIQYmZ@ym1jGTNmea in: $SNTTA,0.383088,,,,011330.04*4C =i==i%=$C?Q?ˡE?= ')IyCl?~jt?~jt?/?=D= ) AIAizAI<MJ=Y-QU->11a5D5D9y=}=>IAE4 5?E n ER}@ M?9E;BE : Eܹ:)AmMAdded new target pos. range: 37.259998 m, bearing: 299.572917 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1mrPowering the camera and arming the DDM at range: 37.26 m.XmProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 299.572917deg and heading rate command to 0 deg/s.W&P@WX XWX:W2W*WVbUBU*UUGB@U@?BB BA)*BA!uAAA^="C RC-C&P@C }} 5:YkS1yԊ:5)>;9mT<) I1 GM >*lq,S.EAY}:@}:E@y}:}:'}:HM??i?@D?@?@?@:?)~:@ ~:^;I~:Cɫ) IY5@y5iG.Powering up loadControli-OļMd=YUQQU>aDDy<}>I :@ 5? :.y ~@ ?9Bq,..EAY}2#@}2@y}2꫼}2_%}2H@KS???@O`J?C2?@|? ?)~2#@ ~2 w_;I~2Cɫ) I191I1i15=115}; 5EY]ؽ@y]iG}C>}ʡ=}i}@y }@)}d@I}d@i}d@㔼MM=Y]:QU>aDDy;}>IȡťN 5?ť ƥ"@ ?9ƥ>Bǥ: ȥ:)ȡX@q;uCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:uAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLWWX XWX:W2W*WVbUBU*UUU{?BB  B A j*B A  vA AAu="C[h*C\aRCEu˼CCm%?i%? l3:YU1y:5)>;IGn>Uq,.EAY}Fܰ@}Fz@y}Fᦼ}F'}FH )?Z?T?B!??۔?ߤ|?)~Fܰ@ ~F{;I~FCɫ11)1 1I1Yu@yuiGI))iim<MH=YJ:QU>aD Dyqo}>I :\ 5? : @ ?9*?B: :):WWX XWX:W2W*W!V!bU!BU)*U)U)U- m?B]B]>= BYA][*BYAeKvAAAS="C*CiLRC94ҼCC5 IG5>sq,>.EAY}Vt@}V2@y}V`F}VR.}VH@?@|&??'?2b?l?`jǥ@?)~Vt@ ~VƤ;I~Tɫ) IYܽ@yiG  RF:YT1y:59@ 9 I i     {; ߗEi m &1?/$?Mb?m >m 1> m <)i Ii ym -?y&1m ?5?m m `e m AA)m AIm &Aim Ai m A = C> =i \@ @) @I M@i M@ M =Y НQU > a D D y i} >I p 5?  @  ?9 @B ߼: :) W W X  X W X :W 2W *W V bU BU *U U U @B= BA  BA Ae h*Ba Am vAi Ai Am T="Cu *Cu \0RCu Cq Cy ֝TмIםgA)םdAqIyG?;ċq,/EAY}u@}u]@y}u }}u }uH`Th?v?o?v"`?>ӣ?-O?v@?)~u@ ~uQ.;I~uCɫ%-)) )I)Y}½@y}viG?Aij;M=YQU!?aD)Dy}!?I :y 5? : @ ?9AB: I:):WWX XWX:W2W*WVbU BU *U U U 1@B=\IB9 B9AEu*BAAE%vAAAAAEL="CM*CM*RCUPCQCQ]]1I9GUT>Seʋq,g+/EAY}N3ů@}Nҧ@y}NJƹ}N }NH`+;?@Ւ?M? `'5?*?F8? ?)~N3ů@ ~N;I~NCɫqq)q qIqYɽ@yiG=i=i/;MY=Y "QU>aD5Dyވ}>IAE 5?E E@ U?9EBBEY: Eʽ:)A}}, +:YkS1yԊ:5WWX XWX:W2W*WVbUBU*UUUy@R B*** querying acoustic contact ***P P BU݃BQ BQAU2r*BQA]vAYAYA}="C*C#RCb[CCщօY Ii G >ٽ gAٽ eA 9 I LeGi _@ = ~; EVHыq,$aE/EAY}2ġ@}2@y}2k}2y˼}2H`?`v?@ ?@^`Q?`?"?lE?)~2ġ@ ~21;I~2Cɫ99)9 9I9Y]@y]iGeZ****** received transponder code query ******eF****** received ping request ******eÍ(>Í=?ÍrhiÍ­@É č@)č@IčΣ@ič@-<M?=Y}QU>aDBDy'}>Iȹ :ŽC 5? :ŽJ ƽ@ ?9ƽDBǽ: Ƚv:)Ƚ:WWX XWX:W2W*WVbUBU*UUU " @BeB BA_*BA7wAAAc="C*CRC1hCCѥ==}I6QIiG|>qr׋q,2<_/EAY}J|@}J܉@y}J.¼}J,}JH?ʸ?Jd?`'@u??R? ?)~J|@ ~JW;I~JCɫ髉) IY@yDiG鮽p=ɮa=xDUSBL response received:!U1,P 039,000,004DE,184,80,80,72,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )Ai {{] C@:Y#R1y:5ļM<=Y᪺QU>aDPD!y%&}->I)- 5?- - @ =?9-OEB-k: -U:))WYWYXY XWX:W2W*WVbUBU*UUU @BUB! B!A%"*B!A%`YwA!A!A-="C-*C5fRC56wC9Caqq)q q @WI5 dA)1  I G= >sދq,z/EAY}6^@}6?l@y}6<ɼ}6F1}6H`a? ?f@?+U? &? ' ?)~6^@ ~6x~;I~6CɫQQ)Q QIQYO@yhGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)))܉9܉I܉i܉܉܉܉܍; ݍE)!I!i!!%=%Tm4i]333333?q= ףp/$?]9?] ]<)YIYy]1Zd??{Gz?]";?]L=]ף< ]\A)]t AI]Ai]t AY]zAueAudAý;_>ý/>ýG>iýf@ù Ľ)ĽE@IĽE@iĽE@cM=YyQU>aDcDyEջ}>I : 5? : @ ?9FB: :):W W X  X W X :W 2W *W V bU BU *U U U Y(@B ʄB  B A *B A wA! A! A% ="C- *C- _RC- S%C) C1 ֍ hpi I G >yq,×/EAY}Rhd@}R&r@y}RҼ}RX}RHc?G?I@?`?"P?k@?)~Rhd@ ~Rkt;I~RCM8 MMMB MI8:YMV1yM:M5)Mr;9eɫy髁) IY%½@y%viGi99MMr=MM=YMޜQUUq,p/EAY}F@}F=@y}F漙}FL;}FHQ?`?@9?,`?`ۜ?@i??)~F@ ~Fh;I~Dɫ髑) IYe@yiGDNmea in: $SNTTA,,,,,011334.60*5C iåm=åp=?åOiå@á ĥ@)ĥԸ@Iĥz@iĥz@޼ME=YIĻQU>aDwDy )<}>I% 5?< @ ?9HB :)WWX XWX :W 2W *WVbUBU*UUU@BEBA BIAM*BIAMB xAIAQAUq="CU*C]RC]inCYCY] yz!IYG}Y>)-<191I5dGi5 @5=115; 5EԱq,YM/EAi.SoGIBliAiNAAf\ٺfliAfxBY}rï@}rѧ@y}r-}rxJ<}rH8???`o=?T?7?`Q?`R?)~rï@ ~r0Gc;I~pQiUp=e e~e~ea e4:YeT1ye@:ek5)eː;ɫ) IY5@y5iG MeAMeAiIQ8=M>=YQU>aDDy<}>Iȡ :ť% 5? :ť ƥ'@ ?9ƥJBǥ: ȥV:)ȥ:WWX XWX:W2W*WVbUBU*UUUl@BfGB BAT*BA,9xA!A!A%|="C*C_ RC0TCCֵ@p׉IG>q,T/EA|-;|-;Y}@}J@y} }<}Hy?!h?7&i?1?l? ??)~@ ~$`;I~Cɫ) IYѽ@yiG!ɮ%p=iQ Y  `e= :? V>i @  ) @I @i @ M a D D y OU<} {>I  : 3 5? % : , 5@ - ?9 0LB  z z [ N2:Y Q1y : "59 @ < J<) :5d>91I1i11115; 5EW)W)X) X)W1X1:W12W1*W1V9bU9BU9*UAUAUM@f@RB*** querying acoustic contact ***PPB#B BAn*BAOxAAA="C*CARC77CC >,>gWI)IG'?Wq,0EAɫ) IY 5@y hGi~jt?~jt?:v>D= T)IyS?/$?V-??<< ­A)­AI­Ai­Z AA=`MEl=YEQUE?IIaMDMDIyU}U?IY] 5?]|6 ]@ e?9]MB]: ]:)YWWX XWX:W2W*WVbUBU*UUUH@B يB  B A !*BA6xAAA ="C%*C%RC-9C)C15<HIG%M>ӳ q,(0EAY}:@}:u@y}:9(}:j=}:H`?>"? %?`oS??i?@?)~:@ ~:1^;I~:CɫAI)I QIQY}D@y}hGI)AI)AiI=)=;Mi=YܗQU>aDDYye)=}e>Iim 5?m@ mf@ ?9mMBmL?; m?;)iWWX XWX :W 2W1*W9VAbUIBUq*UyUU V6@B}By ByAm*BAQyAAA=b="C*CQRCwCC55}5}5> 5'0:Y5kS1y5Ԋ:55֭ d6qIG>2q,!B0EA"eA"fA$9$I$i$$$$&; &EY}b @}b@y}b6}b=}bH?@ ? ? S4?Ϧ? U??)~b @ ~b\^;I~bCɫ髙) IYS@yhGxDUSBL response received:!U1,N,80,80,63,E4 E,184,80,80,72,FF ZNo reply:!U1,N,80,80,63,E4 E,184,80,80,72,FF -99a=D=DAyEe,<}E>II U:MP 5? ]:M!M M.@ ]?9MNBM : M{:)M:WyWyXy XWX:W2W*WVbUBU*UUU{@BaWB BA*BA/AyAAA @="C-*C-ͅRC5lC1C1% IG J>^q,wj\0EAY}2а@}2cި@y}2tD}2/<}2Hd?U?@W@ (?0?•??@Y?)~2а@ ~2Ձ^;I~0ɫyy)y yIyYԽ@yiGi3=Mb=YeQU>aD̥Dy$<}>I 5?>W ۆ@  ?9OB: :)WQWQXQ XQWQXY:WY2WY*WYVYbUaBUi*UiUUVb@Bu93Bq BqAul*BqAudoyAyAyA="C*ClRCo8ԼCCr=i- -|-|-R -$4:Y-R1y-i:-55׹IGf>q,Vv0EAɫ) IY @y riG=i=)i 鿉ˡE?Zd;Oy&1|>j `)Iy%C?~jtX9v?Z$?<  A)AIAi9A(A)-= -= ?A?,>i@ @)Σ@IΣ@i"@mM =YQU>a%D%ܥD!y-}->I) 5:-( 5? =:-g -ۇ@ =?9-QB-: -:)-:WYWaXa XaWaXa:Wa2Wi*WiVibUiBUi*UqUqUup( @BB BAw*BAoyAAAa"="C*C-RC%׼CCEe>9AIELeGiE_@AAAE; EE֭cռiIqG>#q,&0EAɫ髙) IY@yiG----> -/:Y-U1y-:-5)-;95iM<<MU =YQQUU>YYa]D]DYya}e>Iim6 5?mv mڈ@ u?9mkRBmw: mǺ:)iWWX XWX:W2W*WVbUBU*UUU`=-!@ByヽB BA_*BAyAAAKh="C*C6RCc׼CC I ) I G >[*q,L0EAY}V7i@}Vv@y}V.x}V<}VHG??/@]? ۣ??̕??)~V7i@ ~V _;I~Tɫyy)y yIyY@yMiGiM<MM=YUxQUUX?YYaeDeDiyȴ=}S?Iș :ŝ< 5? :ŝd} ƝT@ ?9ƝRBǝ; ȝ;)ȝ:WAWIXQ XQWQXY:Wa2Wi*WqVybUBU*U U U !!@RB*** querying acoustic contact ***PPB]B]]:= BaAeH*BaAe8 zAaAiAmQu="C*CuRC%CCI)))&ּIG>A 9A IE eGiE @A A A E ; E E)ыIыiыՋ=0q C4,0EAY}Fc@}F!@y}Fb}F4.<}FH`{?G? <?`:?.?Y??)~Fc@ ~Fӆ_;I~FCɫ髙) IY@yiGZ****** received transponder code query ******F****** received ping request ******)1a5D5D9yE0;}M>IimI 5?m mb@ }?9m&TBm{: m:)iWWX XWX:W2W*WVbUBU*UUU`"@B=SB9 BaAelV*BaAe8zAaAaAmj7q,ѱ0EAY}J@}J>@y}JM}Jt<}JH@?? -?ͧ? ?p?8?)~J@ ~Jh_;I~JCɫYY)Y YIYY@yiGxDUSBL response received:!U1,P 80,80,63,E4 E,184,80,80,72,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iRMO=YQU>aDD)y=aL<}=>Ii :m]U 5? :mޗ mS@ ?9m.UBm<< m9<)m:W)W)X) X)W)X1:W12W1*W1V1bU9BU9*U9U9Ud#@Bz˄B BA]*BA@hzAAAu="C*C>5RC/CC ?i }?IGE >A=q,0EAY}]ϱ@}]Xݩ@y}]N}]J<}]H?%y?}Ibl`?@\?q?ށ??)~]ϱ@ ~],_;I~]Cɫ9A)A AIAYm"@ymiGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )iMb?w/?Zd;O?&> j)Iykt?Zd;O?l? 0?j<=  A)zAIAiAQA    @ @ @ÙÙÙiÝ@Ù ĝ1@)ęIĝiĝף@ M<M.=Y'QU>aDDyn<}>Id 5?ߥ @f>9IxfGiS@ =; E ?9iVB(; R;)i- ---I -OW:Y-DW1y-Y:-G5)-?;W1W1X1 X9W9X9:W92W9*WAVAbUABUA*UAUIUM@$@BuMBy ByA}E*ByA}ӓzAyAAZh="C*C?RC 8CCѭB=Y Y i nGI i! U UٺQ ] ϋB֝ vтq I G >@+Dq,_|1EAY}6@}6@y}6}6);}6H ?@h?gǥY@?C?б??p??)~6@ ~6^;I~6Cɫ11)1 1I1Yqyq}=i}=i ) >YMANQUU>QQaUDU,DYy]<}]>Ia m:e5t 5? u:e eƍ@ u?9eWBe: e,:)e:WWX XWX:W2W*WVbUBU*UUU`'%@B惽B BA*BAlzAAAT="C*C鄽RC);CCl=5 ! IA Gm >dJq,>+1EAY}v@}v@y}ve}vM,}vH@t?\?W K#?Vy?? {e@?)~v@ ~v?^;I~vCɫ11)9 9I9YC@yjGUDNmea in: $SNTTA,,,,,011340.57*5B iii   Q8>G==iG@ )@Iz@i@;M9ܹ Iܽ fGiܽ @ܽ =ܹ ܽ Dܽ ; ݽ Ei Iy G >lQq,]E1EAY}F@}F| @y}Fu}Ff}FHW!?!Y?` =E2(?]?*? ߃?)~F@ ~F^;I~Dɫqq)q qIqYR@y(jGi:;Mo=YǺQU?aDADyf;}?IA 5? @ ?9kYB: :)W!W)X) X)W)X):W12W1*W1V1bU1BU9*U9U9U=@o&@BmmkBi BiAm-*BqAuzAqAqAu3="C}*C}ﮄRC}~;CyCօt;AIIGe>I޵AA)޵AAsWq,@_1EAY}:J@}:*@y}:qE}:%D}:H )?`OT?@}?.?İ?D?`t?)~:J@ ~:^;I~8ɫ99)9 9I9Y}@y}kGI)i±µfA d=M:=YlQU>aD ODy-;}>I! 5:%f 5? 5:% %@ =?9%ZB%z_; %'[;)%:WiWiXi XqWqXq:Wy2Wy*WVbUBU*UU U :\'@RB*** querying acoustic contact ***PPB&B BAl*BAm {AAA{="C*CJRC;CC6 C3:YT1y:55;׹IG->]q,Py1EAɫ髱) IYK@yjGiʡE?Mb?{Gzt?< ף)Iy|?5^?Zd;O?y&1|?2?j<=`; ¥A)¥AI¥Ai¡A>kx=i̤@ )@I@i@}MH=YQU>a%D%\D!y-}->I15L 5?5 5y@ =?95[B5: 5Ǻ:)1WYWaXa XaWaXa:Wa2Wi*WiVibUiBUq*UqUqUuy!(@BB BAe1*BA/{AAAH="C*C_RC;CCI9IIMgGiMF@M=MQDIM; MEX;בIGb>bdq,?t1EAY}2G@}2U@y}2a}2>}2H L?0=?A䙿f&oN?? r?`3"?)~2G@ ~2:^;I~2CɫYY)Y YIYY̾@yjGi=4=Mc=YQU>aDgDyq<}>I : 5? :1 !@  ?9\B3; 4;):W9WAXA XAWAXI:WI2WI*WQVQbUYBUY*UYUaUe`(@BB BA/*BAE{AAA$="C*CG;RC?<CCa=i=~~a .:YT1y@:k59IIGeU> jq,Q1EAY}6T@}6b@y}6j}6I¼}6HW? 6? ]n @V?T?@0i?`8`}?)~6T@ ~6&3`;I~6CɫYa)a aIiY=4@y=>kGE=iE=iYY)e> av= >=i@ @)@Id@i@%c<M-6=Y-9QU->11a5D5vD9y=Ge;}=>IAE* 5?E E@ U?9E^BE: E:)AWqWqXq XqWqXy:Wy2Wy*WyVybUBU*UUU)@B_B BAr*BAR{AAA="C*CRCL<CC9<IGj>! ! - d>9) I- hGi- :@) ) ) - ; - Eqq,*1EAY}RW@}RCe@y}Rm}Rcټ}RH`Y? |5? 즓@@(W?TԲ?@aDDy\:}>I 5? @ ?9_B:; JO;)W1W1X9 X9W9:W92WA*WAVIbUIBUQ*UQUQU]`*@Bq|B BA*BA X{AAAo="C*C~⃽RC2P<CC2 YU1y:Z5)c;9LM<IG >wq,1EAY}6+e@}6r@y}67}6̼}6H e?F-?ಃ qc?`a?@?ۊ4?)~6+e@ ~6=b;I~4ɫYY)Y ]IYYӿ@ylGi<M\=YB/;QU>aDDyJ;}>I :Y 5? :2 G@ ?9&`B^: :):W W X  XW:W2W*WVbUBU*U!U!U%@EF+@BU X{B BA*BAAAA ="C*CRCj<CC0:D ~q,1EAY}6{@}6d@y}6}6Ҽ}6Hw?F ?VJ@ u?|,?ਞ?A?)~6{@ ~6=YX;QU>aDDy;}>I15B 5?5: 5@ M?95BaB5< 5D;)1WWX XW:W2W*WVbUBU*UUU4,@BszB BAw:*BAV{AAAa="C*CʍRC3<C9I3iGi@RD; E)aIaiae=ae 5C F kZ:YT1y:5);Uzlq,2EAY}2ِ@}2@y}23}2*Qм}2HV??`$n B??@`?w?)~2ِ@ ~2q;I~2Cɫ99)9 =I9Yu@y}AmG)iQQu=M}L=Y};QU}>aDDy;}>Iȑ :ŕ 5? :ŕ( ƕ@ ?9ƕ6bBǕ: ȕ:)ȕ:WWX XW:W2W*WVbUBU*UUU,@RB*** querying acoustic contact ***PPBNUvB  B A <*B A J{AAAzJ="C*ChRC+<CC!ֽ]<בIGb>q,$.2EAY}=@}=ª@y}=>u}=@ؼ}=H@??q" 1 1 a5 D5 D9 yM ;}U >Ii m L5?m 3: m @ u ?9m cBm : m :)i W W X  X W :W 2W *W V bU BU *U U U `)B.@ e>9 I `jGi @ = EB rxB  B A )<*B A Q<{A A A #'="C *C RC ]<C C  5%< I i=3oGIUjAGe>iiq,EL2EAٺjAfBY}b@}b@y}b}}b}bH p??咐e?`? ? ?)~b@ ~b ;I~bCɫ髑) IY k@y mG%xDUSBL response received:!U1,P 80,80,63,E4 E,184,80,80,72,FF %Command Ack%BRequesting micromodem ping code 2i!!-=i)5R>i5=5Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iii-=M=Y;QUB?aDŦD y<}%@7q,if2EAY}6Q@}6@y}6<}6#}6H@??^@T?'??l?)~6Q@ ~6y;I~6Cɫ99)9 =IAY@y@nGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 6Buffer fill timout failure.i9A<M>=YQU>aDӦDyb<}>Iș q B5:YU1y:5ŝ~*5?ŝK Ɲ]@ ?9ƝyeBǝ< ȝ)<)șWWX XW :W 2W *WVbUBU*UUUE/@BnB BA<*=*BA{AAAE="C*C*ȂRC%=CCֵ<בIG>Pq,V2EAY}2F@}2S@y}2?҈}2 }2H?J?@k7@U?@$߲?@?~L ?)~2F@ ~2!;I~2Cɫ99)9 9I9Y]@y]mnG]g>9YI](kGi]"@] =YY]; YIޭAA)ީuOutgoing frame #1, 64 bytes: CC101761160001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BEuOutgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662uOutgoing frame #3, 64 bytes: A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B707260262696593C37F3F9CEDFBA5EE3DE5AC732A14AE42F3647FC15CA04FAB07F0EEED9E8DNmea out: $CCCYC,0,1,10,1,0,3*6B I@)@i ?^I +?:v ? X>  Լ) I y  r?Mb? #?  =  A) I @i A  A     @  @  @ñ ñ ñ iõ @ñ ı )ı Iĵ "@iĵ A@ R;M =Y ;&QU > a D D y 8/<} >I - : 2>5? - : ]  ԛ@ E ?9 gB ފ;  ?;) :Wq Wq Xq  Xy Wy :Wy 2Wy *W V bU BU *U U U h0@B5 8oB9  BY A] <=*Ba Ae CzAa Ai Am 2="Cu *Cu 3zRC} L=Cy C ֵ 2g= ?i ?שIG>Wq,Ҩ2EAY}Rɒ@}R@y}R函}RL }RHY?6|?mf?R?̲??w 1?)~Rɒ@ ~R;I~RC55~5~5K 50:Y5T1y5@:55ɫ髡) IY@ynGBNmea in: $CACYC,0,1,10,1,0,3*69 I)AI))iAA<M=Y:QU+?aDD y =}+?IF5?yd r@ %?9gBr: :)WAWAXA XIWI:WI2WI*WIVIbUQBUQ*UQUYU]@0@BhB BAF=*BAfzAAAQ="C*CYRCn<=CC֕ =QIYGu6>q,X2EAY}6@}6@y}6}6&}6H?`L?@` 7?`j? ذ?@x`?)~6@ ~6z;I~4ɫ99)9 =IAY@ynGNNmea in: $CADRQ,011347,1,10,0,64,1*76 uNmea out: $CCTXD,1,10,1,CC101761160001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE*41 <<h>9IkGiĿ@; E gA gAi 5 5 5 5 @ 5 @ 5 @1 1 1 i5 @1 1 )1 I1 i5 "@M ʡ;MM Q Q a] D] Da ye s<}m >Iq } :u [5? } :u v u @  ?9u SiBu '; u m(;)u :W W X  X W :W 2W *W V bU BU *U U U M1@R B*** querying acoustic contact ***P P B WnB  B A R=*B A }mzA A A O="C *C RC V/X=C C ޕ =iޕ = L   W w:Y U1y : G5) ;9 >=IG >q,d2EAY}2`,@}2:@y}2W}2ɂ}2H`?`P?@( i?@!Բ?? 墿`O?)~2`,@ ~2ɒ;I~0ɫ11)1 5I1Ym_@yu$oG}xDUSBL response received:!U1,R,155,000,045B1,186,80,80,67,FF }Fpublishing direction and range infou:\qɰu?u> q)uBIqyuDuaP.?csҿٱqDNmea in: $SNTTA,,,,,011346.33*5F zTXD response from modem unexpected: $SNTTA,,,,,011346.33*5F it=M=Yſ;QUS?aD Dy2=}S?Ib5?| v@ ?9iB: :)WWX XW:W2W*W V bU BU *UUU:1@R%(Combining 5 samples.P!*Q%DZQ%0$|܎@&FrJQ%aP.?csҿ2Q%:\:Q!bQ%?JA`w@eIQ TJļR@RQ%?1Y,?rT !P(?BQ%q@ Q%oQ%CP%L9?P%9?P%Q%dQ% B"Q%e@BcB BAh=*BAKzAAA~="C*CρRCށ|=CC$=יIG@>q,)2EAY}2a@}2o@y}2}2D}2H??@uG`\`l?@ݝ?`2?`?)~2a@ ~2:;I~0ɫ99)9 =I9Y@yVoG}=i}=i    @ @ @i̤@ )I@i@+<M,=Yb5;QU>aDDya<}>I  :r5?  : @  ?9kB: ,:):m=Added new target pos. range: 1032.959961 m, bearing: 291.286941 deg, deltaT: 17.510906 s, approachRate: 56.861702 m/s, LOS rate: -0.473189 deg/s, posRepo size: 2mM ProNav: pos range: 1032.959961 m, bearing: 291.286941 deg, approachRate: 56.861702 m/s, LOS rate: -0.473189 deg/s, cmd update: -1.419568 deg/s, cmd heading: 299.572917 deg, new cmd heading: 299.572917 deg. WU@WQXQ XQWQ:WQ2WY*WYVYbUYBUa*UaUe#@Ue?BgB BA=*BA zAAAe="CERC =C@CֽQ=yIG>e i>9e zCIe TlGie @a a a e ; e E] A ] {] {] B ] 9:Y] #R1y] :] 5)] ;Œq,Ҋ 3EAɫyy)y yIyY#@ypGiI4=)R=NbX9?ktZd;O?? 0 j<)IyQ?Mb?Q?5?=< …|A)…; AIi… AAfA™dD=MN=YQU>aD&Dy}>Ic5? ~@ M?90lB6<  <); wAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;wdResuming normal ranging with 1.000000 count pings.;1<W@WX XW:W2W*WVbUBU*UUU u?Bo`aB BAx=*BA^yAAAG="C4ӉRCv&=C@C֝|=YIaG}{>I @A) 'Ɍq,f&3EAY}6w@}6j@y}6V|}6I}6HH?j?;u?#?@??)~6w@ ~6t;I~6CɫII)I MIIY}P@y}LpGaaaeDe1Daym;}m>Iqu5?uN uS@ }?9u5mBu: u:)qX?1<wCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR; wAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRWV@WX XW:W2W*WVibUiBUq*UqUqUuY?Bb]B BA=*B AwyAAA-1="C犿RC =CV@C!=dA=I!G=r>] ] ] ] q ] /:Y] WU1y] :] 59e @,Ќq,?@3EAY}>"f@}>s@y}>>{}>Oc}>H?)?t?@@??b?X?)~>"f@ ~> l;I~>Cɫ99)9 =IAY@ypG=NNmea in: $CADRQ,011348,1,10,0,64,2*7A EuNmea out: $CCTXD,1,10,1,0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662*33 iqy9ImGi@=u; ޗE)iIiiim =m =m4   åO >åԼåA`>iå @å ġ)ĥ @IĥA@iĥ"@=M=Y::QU>aDBDyV}>I :(5? :ů @ ?9nBH; ;):W]\@WYXa XaWa:Wa2Wa*WiVibUiBUi*UiUqUu?B\B BA=*BAyAAA%="CRC=C\@Cl=IG >9֌q,XZ3EA|@i|Y}6Q@}6^@y}6Sy}6yr}6H`y???`??2?L<@t?)~6Q@ ~6f;I~6CɫYY)Y ]IYY@ypG@;M=Y:QU?aDLDy }?I5?ظ 4@ ?9oBI: :)W @W X  X W :W2W*WVbUBU*UUU`g@BUSBQ BQAU=*BQA]\xAYAYA]X="CeeRCe1=Ce@Ciօ =I׍eA)׍eAYIiGZ>} } ~} ~} z } {F:Y} T1y} @:} 5c܌q,s3EAɫ髡) IY@yqGNNmea in: $CADRQ,011350,1,10,0,64,3*72 uNmea out: $CCTXD,1,10,1,A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B707260262696593C37F3F9CEDFBA5EE3DE5AC732A14AE42F3647FC15CA04FAB07F0EEED9E8*48 iQY- rh?J +? rh?->-H= -C<))I)y-MbX? rh?ˡE?-*?-C =-'= -bA)- AI-p@i-t A)-pA @ @ @Å©ÅÅiÁÅ ā)ąIą"@iāË;M=YQU>aD]Dy}>Iȱ :ŵ5? :ŵ Ƶ@ ?9ƵpBǵ5; ȵ:;)ȵ:W B@W X  X W :W 2W *WVbUqBUq*UyUyU} @RB*** querying acoustic contact ***PPB\B BAc=*BA>xAAA="C3RC?=CB@Ch>9ImGi @r; ܗE% h= I G% >I I i SoGI i % jٺ! % VBKq,1ҍ3EABp4@9B%BY}BX#@}B1@y}BNw}BCg}BH?!?A? y O?@?`ݮ??)~BX#@ ~Bea;I~BCɫai)i mIiY#@yPqGZ****** received transponder code query ******F****** received ping request ******  S +:Y y k5tuq,O3EAY}:@}: @y}: r}:X}:HC?7??(?@ӷ?aDrDy8}>I :5? : A@ ?9rBb= w=):Wܫ@WX XW:W2W*W!VAbUABUI*UIUIUM` @B"RB BA >*BAswAAA="CRCA=Cܫ@C=IG>]q,3EAY}2 @}2ʫ@y}2i}2x0}2Hc}?[??P@S?ָ??)ֵ`?)~2 @ ~2B`;I~0ɫYY)Y ]IYYL@yqG)iu9yI}nGi}@}=yy}p; y   9z>i@ A@)IA@i3M@=Yi;QU>aDDy d} >I'5?p A@ ?9sB: :)WEf@WAXA XAWA:WA2WI*WIVIbUIBUQ*UQUQUU@c @B2OB BA=*BAwAAA="C%RC x=Cf@C֥=aIqG;> f    >  ;:Y xZ1y q: 5) ;9% q,d3EAY}2q@}2@y}26f}2^TĽ}2HA?L?pʥ?H~?@:?|۬?vl?)~2q@ ~26_;I~2CɫYY)Y YIYY@y rG@AiYY<M=YMt:QU>aDDyᇼ}>Iȡ :ť55? :ť: ƥ@ ?9ƥRuBǥ: ȥ:)ȥ:W@WX XW:W2W*WVbUBU*UUU @BTB BA' >*BA|vAAA`="C%hRC%>C-@C)- =I= dA)= bA I) GE >-q,:@3EA|i|ɫ9A)A EIIY@yqGia ie@a e a me@a e a qe@a e a ee@a e a Im@a m eMb@Mb@Mb@ee e)eIaieMb@Mb@Mb@e©ee e)eIeieee @ @ @©i @ )IiM=YQU?aDDy}?I 5?S C@ ?9vB: >)W%:@W!X! X!W!:W)2W)*W)V)bU1BU1*U1U1U5 @BeGBa BaAe >*BiAm+vAiAiAm6n="CuNRCu >Cu:@Cyօ>AIIGeU>}f>9yI}oGi}O@yyy}i; }חE    Y  :Y U1y : 5) ;q,4EAɫyy)y }IyY@yJrGi<Mq=YQU?aDDy}?I5? @ ?9vB: ?)Wt@WX XW:W2W*WVbUBU*UUU z@B%2^JB) B)A->*B)A5uA1A1A5X="C= oRC=H>C=t@CA U=U=օ>YIaGY> q,'(4EAY}2v@}2@y}2ɚe}2W}2H@w?I ?{?`Z 1? !?@?= ?)~2v@ ~2b;I~2Cɫyy)y }IyY1@yrG?i?iI=)=-<M8=Y-E:QU5>9AaMDMDYym늽}u>IȁŅ'5?ŅL ƅ(@ ?9ƅ0xBDžO; ȅ?)ȁWc@WX XW:W2W*WVbUBU*UUU`3T@RB*** querying acoustic contact ***PPBLB BA>*BAY(uAAA"A="C%闿RC-m=C-c@C)V >IGn>׫q,B4EA || ;|:YR1yi:59@Y}R+Ա@}R@y}R7p}RW}RH@?b?|V?m؝?`r#??`A?)~R+Ա@ ~Rnd;I~Pɫ髑) IYq@yqG)bA!9!I%oGi%@!!!%l; %ؗEi99    @ @ @ÉÉÉiÍ @É č@)ĉIĉič^@wMR=Y~QU>aDDyU}>Iȹ :Ž45? :Ž ƽ@ ?9ƽ1yBǽ: Ƚy?)Ƚ:We)ˢ@WaXa XaWi:Wi2W*WVbUBU*UUU @BNB BA>*BAtAAA['="C RCQ=C)ˢ@C_>IGI AA) AAq,\4EAɫ髩) IYV@yrGi MPM=MM=YUQUU>QQaUD]ҧDYy]}e>IimG5?m1 mi@ u?9mzBm: m@)iW\@WX XW:W2W*WVbUBU*UUU@@Br3MB BA >*BAtAAA="Cm˚RCu>Cu\@Cyu ]=I׍ bA)׉ y I G >] R pq,,v4EAuzuzu7 u\::YuQ1yu:ul5ɫ) IY {@y rGI)i!!a ia i a ma m a qa q a ea e a i@a  a m@a  a q@a  a e@a  Mb@Mb@Mb@ )IiMb@Mb@Mb@ )Ii U U U U@ U@ U@QQQiU̬@Q U@)QIQiUv@ml<Mm=YiQUm?qqauDuܧDyyy}}?IȁŅ]R5?Ņd: ƅ*@ ?9ƅ{BDž: ȅ@)ȁW@WX XW:W2W*WVbUBU*UUU7@BY?B BA9%>*BAsAAA="CnɛRC 4>C @C =שIG>9IpGi@ )ݕzCIݕzCiݑݕ=ݕ=ݕ$4/#q, x4EAY}nk@}n*@y}na}nh\}nH1?`?@ޭ? ?{V?6?&T¿?)~nk@ ~nb;I~nCɫ  )  I YM@yMsG]0Nmea in: $CATXF,192*5E ]^Response from modem unexpected: $CATXF,192*5E iii}N5=M}s=Y}/IȹŽ^5?ŽE ƽ@ ?9ƽ|Bǽ; ȽE-@)ȹW-ϡ@W)X) X)W):W)2W1*W1V1bU1BU9*U9UYU]l@B?B BA4>*BAsAAA="CiRC=Cϡ@Cֵط=qIyG]> =i p=*q,L4EA.D ,,. .>9:Y,y,.5Y}BL@}BZ@y}B_}BA}BH8?&?M?`$CL?r?@? p¿7?)~BL@ ~Ba;I~BCɫqq)q uIqY@ysGNmea in: $CAXST,7,20210814,011351.000200,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*6D Response from modem unexpected: $CAXST,7,20210814,011351.000200,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*6D I@)@i5P;M5?=YE:QUm>qya}D}Dy}>Ik5?eR @ ?9}B: 6G@)W5~}@W9X9 X9W9:W92WY*WaVabUaBUa*UiUiUm b@B,@B BA5>*BArAAA="CtIRC)=C~}@C>IG>0q,/4EAɫyy)y yIy9yCIqGi@o; ڗEYyɮi   ÝCÝjÝ=iÝ3@Ý ĝ@)ĝX@IĝX@iĝX@YQU>aDDy}>Idw5?] Ұ@ ?9~B9: ^@)W4@WX XW:W2W*WVbUBU*UUU @B5;B1 B9A9*B9A=rA9A9A=‘="CE3oRCE=CM4@CI5=iIjAiٺjABAIIGm5>&7q,4EA||2= 2~2~25 28:Y2T1y2@:25)2ʔ;96Y}J{@}J:@y}JY}J)}JH??@iҸ? Jh??i/?<¿`?)~J{@ ~J `;I~JCɫQY)Y ]IYY@y{sGiׇMaD Dyq}>I5?mi @ ?9B: v@)W%Z@W!X! X!W!:W)2W)*W)V1bU1BU1*U1U9U=) @REB*** querying acoustic contact ***PAPABe >Bi BiAm2>*BiAuJvqAqAqAuh|="C}RC}q=C}Z@Ce(=9IIGe4>I ) Q=q,4EAY}5:@}5H@y}5T}5}5H }? Ĭ?@? `??j?\¿?)~5:@ ~5Ay_;I~5Cɫ) IYM@yUsG eeAaiaaa ia i a ma m a qa q a ea e a Ia I  ףp= ?t< )IyV-?sh|??~jt?|??=< @)nAI@i AAף7 ?`i̬@ @)Iiv@ Y<M ,=Y !;QU >aDDy}>I! -:%ה5? 5:%y %s@ 5?9%B%: %:)%:WUƆ@WQXQ XQWY:WY2WY*WYVYbUaBUa*UaUiUm@!@B[7AB BA 9>*BApAAA^i="CU$RC9=CƆ@C^=IdA)eAܹ9ܽzCIܽhqGiܽ6@ܹܹܹܽl; ݽؗE IG5>&:Dq,ܺ5EAY}R@}R@y}RR}R[}RHo?@? ?@ 9?? V?-¿@?)~R@ ~RA_;I~P^2 ^|^|^) ^7:Y^R1y^i:^l5)^;ɫ髑) IY@yhtG-Setting waiting for range response to false due to timeout. Elapsed:6.07239515AAiaD=Md=YB:QU>aD(Dy'}>IB5?L  @ -?9 Bt; ;)Wuz:@WqXy XyWy:Wy2Wy*WVbUBU*UUU`!@B26B BAJ>*BA"pAA!A%R="C-URC-H=C-z:@C)U==)I9GUu>(`Jq,+5EAY}6@}6Z@y}68R}6F}6H`XO?$?Xe?" c?r?'D??)~6@ ~6^;I~4ɫaa)i iIiY@yuuGiБ=MZ=Y9QU>aD3Dy.}>I -:ȯ5? =:F @ E?9Bg; k;):WE@WAXI XIWI:Wi2Wi*WqVqbUqBUq*UqUyU}1"@B.B BAf>*BAgoAAA 6="CRC7x=C@Ch=IG-p>EKQq,rmE5EAY}J7/@}J<@y}JR}J#m}JH`̨?,?`ܛ?N3?@"?T?` ?)~J7/@ ~JI_;I~HY]gAa9aIe0rGie@aaaa aɫ髱) IYk@yZuGI @) @ieCeԸ>e 0=iaa a)aIev@iau\лMu@=Yu1QUu>yya}D}ADy޼}>Iȉō5?ō ƍS@ ?9ƍ?BǍ߼: ȍ/:)ȉWUV@WYXY XYWY:WY2WY*WaVabUaBU*UUU`{#@B*/B BA?c>*BACnAAA="C ⥿RC D=C V@C^=IGi> [   H ;:Y T1y : 5) ۖ;qWq,9_5EAY}>{ѭ@}>:ߥ@y}>x R}>4 }>H ?W??z@]? ? A??)~>{ѭ@ ~>^;I~>CɫYY)Y ]IYYh@yUuGɮ)i19uM}J=Y};9QU}>aDNDy%}>Iȑŕ5?ŕ9 ƕ@ ?9ƕڂBǕ2: ȕ:)ȑWoI@WX XW:W2W*WVbUBU*UUU>$@Bw,B BAb>*BA mA A A ="CRCG=CoI@Cֽ6[=יIGb>]q,j4y5EA|L|LY}vw@}v݄@y}vP}v }vH]a?`ʁ?`PI?ࢢ`??.?`_J,?)~vw@ ~v1^;I~tɫ) IY%@y-uG -gA)i))Q9QIUrGiU{@QQQUg; U՗EHzG?~jtV-=*?D m)IyCl?y&1|?X9v?/?`;< @)AIp@i AAõm>õ ?õGaiõ(@ñ ĵ@)ĵIĵ@iı;M=Y :QU>aDbDy}>I :5? :5 @@ ?9B: :):W ͞@W X  X W :W 2W *W V bU BU! *U! U! U% w%@R5 B*** querying acoustic contact ***P1 P1 Be 8Ba  Bi Am jg>*Bi Am FlAi Ai Am ;="Cu  RC} _=C} ͞@Cy % % ~% ~% 8 % .:Y% T1y% @:% 5)% c;֍ 2=i Iq G >dq,n5EAY}B#@}B0@y}B O}B }BH?`֨?N? 3?3?i??)~B#@ ~Bb^;I~@ɫQQ)Q UIQYuh@yuUuGZ****** received transponder code query ******F****** received ping request *******BAAmlAAAb="C oRCD;=C@CS-=IGH>jq,U5EAY}V׬@}V@y}V]O}V}VH@KC??x?Q?Ĺ?R??)~V׬@ ~V^;I~Tɫ) IY5F@y5,uG9=@A=xDUSBL response received:!U1,P 155,000,045B1,186,80,80,67,FF =Command AckEBRequesting micromodem ping code 2iAAiUr?U`?U7)iU(@Q U@)QIUl@iUX@e.!MeF=YmQUm>iqauDuvDqy}}}>Iȁ :Ņj5? :ŅC ƅ@ ?9ƅBDž: ȅ,:)ȅ:W{K@WX XW:W2W*WVbUBU*UUU@&@B5H-B1 B1A5^>*B1A=\kA9A9A=.="CE~RCe=Ce{K@Ci}A!=QIYG}z>   K6:Y y l59 @nqq,*5EA|i|@Y}6@}6@y}6XxP}6}6H`%?`??* ??) ? `j?)~6@ ~6h^;I~6Cbe>9byCI`i````bl; bؗE)YIYiYYY]3ɫYY)Y ]IYYQ@y:uGi™gAg;MU=YLQU>aDDyͼ}>I5? ]@ ?9B#: :)W@WX XW:W2W*WV!bU!BU!*U!U!U-`'@BU**BY BYA]`>*BYA]MkAYAYAe="Ce IRCm=Cm@Ci }=}=֥S-=ץ?iץ?yIG^>wq,5EAY}N8@}NF@y}NhQ}N}NHA"?K ??`7*'? OY?? `?)~N8@ ~N^;I~NCɫqy)y }IyY@yzuG)iQQ}<MN=YQU>aDDyɼ}>Iȩ :ŭ5? :ŭz ƭ0@ ?9ƭBǭ: ȭ:)ȭ:W@WX XW:W2W*WVbUBU*UUUN(@B*B BA}f>*BA-AjAAAWi="C|RCC@Cֽ2=בIGb> } | |  =:Y R1y i: 5 ~q,"5EAɫ髙) IY7@yTvGɮa==i=9I\sGi@=g; ՗Ei&1?J +?㥛 ?H= )IyS?Mb? rh?/?<C = |@)SAI@iZ AAļ9<Zi­@ ʭ@)ʭ@Iʭ@iʭ@&=M =YQU>aDDy } >I5? q@ ?9mB6: :)9AiIilٺ#YBW- 1@W) X)  X1 W1 :W1 2W1 *W1 V1 bU9 BU9 *U9 U9 UE @)@B 10/B  B A |>*B A iA A A ?="C {RC r=C 1@C - fA- gA I% fA)% fA I! GU >rq,6EA| | Y}NW@}N@y}N4P}N\}NH [?R?ϸ?p cQ?{??+?)~NW@ ~N^;I~NCɫyy)y }IyYJ@ykvGiR<M=Y]Z:QU*BiAmhAqAqAub ="C}"RC}=C} @CyօC=AIIGu> f   4 ;:Y T1y : 5q,06EAY}f@}f[+@y}fO}f|}fH@M?w? չ?w?@;l? ?ʋ ?)~f@ ~fp^;I~fCɫ髹) IY@yvGiM?MM什iM@I M@)MA@IM@iMA@]<M]B=YeG;9QUe>iiamDmDqyu}u>Iy}5?}! }ݻ@ ?9}RB}A: }+:)yW@WX XW:W2W*WVbUBU*UUU*@RB*** querying acoustic contact ***PPBAZB BAՄ>*BAgAAAa="C]yRC-)=C@C `=IGL>ٵ fAٵ fAܹ 9ܹ Iܽ sGiܽ @ܽ =ܹ ܹ ܽ b; ݽ җERq,HJ6EAY}^ֺ@}^Ȣ@y}^OP}^}^Hc??3[? ?9? ??)~^ֺ@ ~^ ^;I~^Cɫ髑) IY@ywG?AI@)@i/<MB=YzQU>aDĨDy}>I  /'5? 0 ż@ ?9 B 4: b:) W5\@W9X9 X9W9:W92W9*WAVAbUABUA*UIUIUM]+@BucBy ByA}%>*ByA}fAAA6="C%ϲRC-6=C-\@C)Vo=?i?IGK>    , <0:Y U1y : 5) };9 q,Yd6EA|@i|@ɫ髙) IYM@ywGi7=M[=YQU>  a D ШDy}>I %:b/5? %:= @ -?9hB: (:):WMV@WIXI XIWQ:W2W*WVbUBU*UUUg,@B-\B) BIAM>*BIAUeAQAQAU?="C]RC]=C]V@Ca֍!=yIG^>՞q,m8~6EAY}J@}Jp&@y}JE2U}J}JH/4? ?0?[@?@ ? 4?`H?)~J@ ~Jn_;I~JCɫ髹) IY(@y|wGNmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i)1 l?Q?:v ? u= T) I y K7?Q?i|?5? I,? < q= @) AI @i A  \Amf>9iIm$tGimo@m=iim_; mЗE @ @ @Í©ÍÍiÍ3@Í č@)čIčič@ M=YQU>aDDy3}>IȹŽ*;5?Ž P ƽ@ ?9ƽBǽ: Ƚ8:)ȹWM@WX XW:W2W*WVbUBU*UUU j-@B-r!B) B)A-e>*B)A5dA1A1A5a="C6RC=CM@C =I )  } } ' I G > 0:Y kS1y Ԋ: 5) ;Kq, 6EAɫ髑) IY@ywGɮ%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=iKM=YQU?aDDy}?I :7B5? :Z @ ?9B: (:):Wf@WX XW:W2W!*W!V!bU!BU)*U)U)U-` .@B] BY BYA]N>*BYAe+dAaAaAe3="Cm飶RCm?==Cmf@Cqօ$=AIIGe4>꫍q,&6EAɫ) IY-X@y-wGiAA    @ @ @i@ @)IZ@i@=MJ=YQU>aDDy}>I[K5?h  @ ?9B: :)W%@W!X! X!W!:W!2W)*W)V)bU)BU1*U1U1U5V.@BeBa BaAmg>*BiAm*cAiAiAm="Cu췿RCu=Cu@Cy}a=1IIGeV>  ~ ~  .:Y T1y @: 59 @Y Y e e>9a Ie tGie @a a a e Z; e ΗEβq,~6EAY}fX@}fgf@y}f oP}fU}fHP?>?@m?T8@C?? ?@-?)~fX@ ~f_;I~fCɫ髹) IY@ywG DNmea in: $SNTTA,,,,,011403.09*50 i%&}<M%W=Y-[H;QU->))a5D5D1y=q|}=>IA M:EvS5? M:E/v E5@ M?9EBE^: E:)E:Wujǚ@WqXq XqWq:Wy2Wy*WyVybUyBU*UUU//@BM BQ BQAUj>*BQAUDbAYAYA]="Cu!RCuF=Cujǚ@CyMu=IGE0>'q,X6EAY}J@}JA@y}J1L}J}JH@&?{/??T?MF?~?`RC`Y?)~J@ ~J{_;I~JCɫqq)y }IyY@yWxGAA@AI@)@i5r<M5I=Y5&;QU=>99a=D=DAyEּ}M>IQU[5?Us U[@ ]?9UBU: U:)QW}t@WyXy XW:W2W*WVbUBU*UUU60@RB*** querying acoustic contact ***PPB B BA>*BAFaAAA="CkRC9?=Ct@C~=סIGG> #    6:Y T1y : 5"q,|6EA|i|@ɫ髙) IY@y xG) iqq&1?p= ף?+??> =)IyHzG?y&1?aD D!y%}->I1 5:55e5? =:5 5@ =?95B5: 5A:)5:W]@WYXa XaWa:Wa2Wa*WiVibUiBUi*UqUqUu0@BB BA>*BA+`AAAH]="C廿RC#=C@C191I5uGi5@5=115a; 5җE)ݥyCIݥyCiݡݥ=ݥ=ݥe4օ:=AIIGeV>U ƍq,Y7EAY}J)@}J6@y}J\II}JK }JHΊ?Ai??QG?յ?&??)~J)@ ~J_;I~JCɫ髹) IY$@yxGUSetting waiting for range response to false due to timeout. Elapsed:6.116768iYY=M=Yײ:QU>aD0DyO}>IȹŽn5?Ž ƽ@ ?9ƽnBǽ: Ƚ:)ȹW@WX XW:W2W*WVbUBU*UUU@21@B5B9 B9A=">*B9A=)^AAAAAE"="CMLRCMG=CM@CQY]fA : C:Y y 5֥ S-=I׹ )׽ eAי I G >4̍q,Y237EAY}6Nǧ@}6՟@y}6ݞK}6j[ }6H`t?`? 0^?ܱ`C??,q?a?)~6Nǧ@ ~6`;I~6Cɫ99)9 EIAY}@y}xG=i=i    @ @ @i@ @)I@i@2M=Y*QUK?aD7D y r_} L?Ir5?Į +@ %?9Bn: :)WE@WAXA XAWA:WI2WI*WIVIbUIBUQ*UQUQU]j1@BqμB BA>*BAP^AAA_="C<RC=C@C =IG%>% gA% eA) 9) I- vGi- @) ) ) - j; - ֗EӍq,M7EAijnGIi!ulٺy}YBɫii)q uIqY@y;yGi=M==YQU>aDEDym}m>Iq }:uz5? }:u u@ ?9uRBu: u;)u:W$@WX XW:W2W*WVbUBU*UUU1@BB BA>*BA!]AAA="CRC <=C $@C 5A=IGUu>  D 3:Y y 55) ;9 Gٍq,f7EAY}:yY@}:8g@y}:sM}:}:H>?F?`?@v?5?? ;?)~:yY@ ~:b;I~:Cɫ99)9 =I9Y]@y]yGexDUSBL response received:!U1,N,80,80,63,E4 1,186,80,80,67,FF mZNo reply:!U1,N,80,80,63,E4 1,186,80,80,67,FF -maDRDyf}>I5?p o@ ?9ՍB{: ߼:)W=֘@W9XA XAWA:WA2WA*WIVIbUqBUq*UyUyU} 9C2@BTXB BA>*BA\AAA-t="CE-RCm>=Cm֘@Cyֽ2=יIG >0q,-̀7EAY}J*@}J)@y}J&H}J}JH K?i?ʼ? L?+?0?hO?)~J*@ ~J Ta;I~Hɫqy)y }IyY@yryG@A)iV-?A`" ףp= ?h>ٽ Q8=)IyQ?Mb?Mb?\/?=< (@) AIiAfA 5 5 5 5@ 5@ 5@111i5 @1 55@)1I5i5@EMMA=YM*;QUM>QQaUDU`DYy]}]>Ia m:e 5? u:e e@ u?9ehBe: e:)e:W@WX XW:W2W*WVbUBU*UUUJ2@BB BAۦ>*BAZAAA}6="Ce8¿RCe=Cm@Ci9I|vGiW@=k; uA=QIYG}z>  | | ! a4:Y R1y i: 5) ;Xq,7EA|i|Y}6.@}6͞@y}6[B}6& }6H@?`?`T??+?I?+?)~6.@ ~6`;I~6CɫQQ)Q ]IYY@yVyG 鼹i M=YF;QU%>!!a%E%pD)y-}->I155?5 5@ E?95"B5: 5:)1We@WaXa XaWi:Wi2Wi*WiVibUqBUq*UUU% 93@R-B*** querying acoustic contact ***P)P)BUV BQ BQAUw>*BQA]YAYAYA]="CeoÿRCenV=Ce@Cie S-=A Ii G >q,c}7EAɫ髹) IY@yryGZ****** received transponder code query ******F****** received ping request *******B9A=xXA9AAAE="CmRĿRCm=Cm@Ci}a5=QIaG}z> ~ ~ R T:Y T1y @: 559 @ 9 I vGi @ y; ޗEkq,}X7EAY}: @}:@y}:h>}:}:H oC?7??`,8?IS?:ϧ?:`}?)~: @ ~:j%`;I~:Cɫ99)9 =I9Y}@y}yG鮁ɮp=xDUSBL response received:!U1,P 80,80,63,E4 1,186,80,80,67,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i<MM=Y;QU>aEDy}>I15(5?5 5@ ?95B5f>< 58<<)1W@WX XW:W2W*WVbUBU*UUUi3@BB BA>*BA8WAAA="C%3ƿRCB=C@C=שIG>q,77EA|"4<| Y}J@}JǏ@y}JA}JI# }JH[??`a߿?@??8?:?)~J@ ~J\_;I~JCɫ髙) IYL@yzGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ifAM_<MM>=YU/QUU>QYa]E]DYyek}e>Ii u:mZ5? }:m m@ ?9mBmw; m:;)m:W6@WX XW:W2W*WVbUBU*UUUS4@B{B BA>*BYAewVAaAaAeI="CmcǿRCm=Cm6@Cq Յ=ԅ=ez=ׅ?iׅ?qIG>    ? 5:Y T1y : #5|q,$ 8EAY}6'8@}6E@y}67"C}6F }6Hc??V?OZ?ֲ?@a?h|?)~6'8@ ~6_;I~6Cɫ99)9 =IAYH@yzGxDUSBL response received:!U1,R,1FC,000,00673,187,80,80,8A,FF Fpublishing direction and range info⾩ɰ?>鰭1> ) CIy=vB j?hVsۿٱi]Zd;?X9v?:v?]?]}= ]<)YIYy]? rh?Q?],?]C<]\= ]@)]AI]@i]AYYý>ý۹ý 0iý\@ù Ľ5@)ĽIĽ­@iĽ­@MS=YMPMQUm>qqauEuDyy}w}}>IȁŅ5?Ņ% ƅ@ ?9ƅ-BDžD: ȅ:)ȁW<@WX XW:W2W*WVbUBU*UUU64@P*Q=vBZQ_K@\+eg:JQ j?hVsۿ2Q:QbQ1,lKeMhq~@RQ"F"#ο3-HU?BQ&@ QnQgP_9?PL9?PQQzIA"Q BB]%BY BYA]k>*BaAefUAauf>9qIuDwGiu@qqqu}; uEAaA="C{ȿRCz=C<@C}D=9IAGew>ժq,8EAY}Y@}@y}fGA}p}H֭?I*?֢? ]P?@.:?@&?9/?)~Y@ ~e~_;I~Cɫ) IY}b@y}:zGTNmea in: $SNTTA,0.052261,,,,011408.33*4E I)iMQ;MMB=YM:QUM>QQaUEUDYy]}]>IaeѲ5?e4 e@ u?9eBe: eQ:)am=Added new target pos. range: 61.560005 m, bearing: 256.310143 deg, deltaT: 20.706192 s, approachRate: -46.913502 m/s, LOS rate: -1.689195 deg/s, posRepo size: 3m ProNav: pos range: 61.560005 m, bearing: 256.310143 deg, approachRate: -46.913502 m/s, LOS rate: -1.689195 deg/s, cmd update: -5.067585 deg/s, cmd heading: 270.184248 deg, new cmd heading: 269.592430 deg. W+@WX XW:W2W*WVbUBU*UU@N@U` ?BEB BA >*BAX7TAAA="Cb̿RCl=C+@C2=שIG>  9 c2:Y y 59 q,r58EA|i|@Y}6S@}6@y}6@}6(}6H?58?m?`"j? ӱ? s?`m?)~6S@ ~6'{_;I~6CɫYY)Y ]IYY@yzGi  )= =ÍO=Í?ÍiÍ@É č@)ĉIĉič@Q<MV=YH:QU>aEDy}>I :5? :B z@ ?9;B: :):W@WX XW:W2W*WVbUBU*UUU?B5˼B1 B1A=Ӷ>*B9A=V0SA9A9A=-="CEmyѿRCE:5>CE@CIY]gAMo==IQ)UfA!I1GM0>i 9i Im wGim K@i i i m o; m ٗE)Ii4kq,O8EAY}Nk@}Ny@y}NL{>}N}NH@?nC??`v^? ? 7ͧ?L x?)~Nk@ ~NV_;I~NCɫ髙) IY@ylzGiAIu6M}M=Y}Ҁ:QU}>aEƩDy˫}>Iȑŕ/5?ŕQ ƕJ@ ?9ƕĒBǕ+: ȕY:)ȑWE@WIXI XYWY:Wa2Wa*WaVibUBU*UUU3?B5P6B1 B9A=>*B9A=QA9AAAE@="CuӿRCu/A>C}@Cy}e=QIaG|>   H KC:Y U1y : 5) ;9 Fq,xi8EAY}2#@}21@y}2<}2J}2H@v? ^P? ~? +??`՜?ҁͲ?)~2#@ ~2d_;I~2Cɫ99)9 =I9Y@yzG>i==i=i!!e;<MmL=Ymp:QUm>qqauEuөDyy}d}}>Iȁ :Ņ5? :Ņq` ƅ@ ?9ƅOBDžf: ȅ:)ȅ:Wm@WX XW:W2W*WVbUBU*UUUk3?B5ҼB1 B1A=չ>*B9A=YPA9A9A=&="CEؿRC]2>C]m@CiE>I)G\> q,S8EAY}Jѣ@}Jrߛ@y}J3;}JX}JH3? a[?U;? I?ư? w?/?)~Jѣ@ ~J<@_;I~JCɫyy)y }IY@yzGUeAiUeAiYYIe=)e%=oʡ?L7A`尿~jt>+ D)Iy&1?/$?~jt?0?<< (@)9AIp@iA3AgA M@ M@ M@M©MMiIM M@)IIM@iM@]\M];=Ye-:QUe>aaamEmDy}>I5?q @ ?9B: :)9Iit; ܗEWEK$@WAXA XAWi:Wiu|>q2Wy*WVinGIbUi5mٺ15YBBU*UAUaUe@@BTݼB BAӶ>*BADjOAAAF="C>߿RC V>CK$@C!8>IG>Iޭ @A)ޭ ?A  | | N [/:Y R1y i: Y5) ;)&q,.8EAY}2p@}2~@y}29;}2g! }2H ?`f??`g`?w?'e?`,?)~2p@ ~2rc_;I~2CɫYY)Y ]IYY@yzG)iyy<MV=YI9QU>aEDy*}>I :5? : |@ ?9pB: :):Wv@WX XW:W2W*W V bU BU*UUU.!@BE_BA BAAE>*BAAMpNAIAIAMs="CUݴRCU]>CUv@CY-8e>!I1GM1>L-q, 8EAY}2@}2@y}2C<;}2}2H?@o??UK?l0?@re??)~2@ ~2Y_;I~0ɫYa)a eIaY@y{GI)AI)Ai99   Ý`eÝ=ÝtiÝz@Ý ĝ5@)ĝA@Iĝ@iĝ@;M=YQU>aEDyC׼}>I5?T o@ ?98BD: :)W@WX XW:W2W*WVbUBU*UUU `ب@R%B*** querying acoustic contact ***P!P!BM9BI BIAM%>*BIAUHLAQAQAU>!="C]3RC]>C]@Ca֍ ǵQ> G   9 |9:Y V1y : 59 @ 9 I pxGi @    ;  EI IQ Gm >4q,8EAY}2k@}2ly@y}2J<}2&}2H S?w? J? Q P?oί?`Ɣ?)¿Q?)~2k@ ~2E.`;I~0ɫ99)9 =I9Yu@yuzG}Z****** received transponder code query ******}F****** received ping request *******BA%HKA!A!A- ="C-RC5T>C5/Ӎ@C1]&V>1I9G]v>ޡ iޥ =H1:q,8EAY}:ס@}:@y}:@}:] }:H@?{?B?r?j?l? ÿ?)~:ס@ ~:v`;I~:CɫAA)A EIAY}S@y}b{GxDUSBL response received:!U1,P 1FC,000,00673,187,80,80,8A,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i/<M>=Y5QU=>IqauEuDy!'}>Iȱ :ŵ5? :ŵH Ƶ@ ?9Ƶ&Bǵz < ȵ <)ȵ:W@WX! X!W):W)2W)*W)V)bU1BU1*U1U1U=b @B μB9 B9AE>*BIAUp~JAyAyA}v ="C<RC >C@C =={n>ס I G > H | | 3 9:Y R1y i: 52Aq,k9EAY}2N@}2[@y}2H}2x&}2H{s?G?`(?/?-H?A?MĿK?)~2N@ ~2|`;I~2Cɫ99)9 =I9Y}K@yY{G鮥a=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=iu(\?333333Mb`u?u u)qIqyuCl?~jt?S㥛?u/?uҍ>iz@ @)5@Iij@EM:=YQU >  a E"Dy2#}>Ih5?F S@ -?9B ;  ;)WUUk@WQXQ XQWQ:WQ2WY*WYVYbUYBUY*UaUaUe=3@B-fB) B1A5>*B1A5fIA1A1A=; ="C=RCaCeUk@Ca]K>e?ie?I!GEr>BCGq,Kv9EAY}:@}:QϘ@y}:hO}:0|/}:H@k?w|?nb?`X^Q?`?Zߩ? ſ@}?)~:@ ~:]O`;I~8ɫ99)9 EIAY}e@y}y{GxDUSBL response received:!U1,R,2EC,000,006A5,189,80,80,76,FF Fpublishing direction and range info'ɰX >鰍7> )BIyB)>k?ljoٱ)Ai <M[=Y%^QU%>!!a-E-.D1y5c;}5>I9 E:=5? E:= =@ M?9=k?ljo2Q':QbQ|SAҖ9JQ"@RQ>݈ῙS%`^n&&a?BQ @ QTQr P*9?P_9?PQQzA"QzIABEqBm< BiAm=>*BiAm.HAiAqAu} ="C}('RCyC})Y@Cyֽ[>יIG>I AA) BA   X >:Y WU1y : ~5]pMq,]89EAY}~n$@}~.2@y}~#V}~b8}~H@Z?@v?9?@9?`GP?@W?wƿ@o?)~~n$@ ~~o:a;I~|ɫ) IYMp@yM{GTNmea in: $SNTTA,0.052102,,,,011412.78*4C i }I>}(>}1i} @y }K@)}­@I}­@i}­@*;M =Y#BQU>aEADy}>Iȩŭ5?ŭ ƭ@ ?9ƭ Bǭ: ȭܹ:)ȩmuAdded new target pos. range: 64.559998 m, bearing: 236.394404 deg, deltaT: 4.439454 s, approachRate: 0.675757 m/s, LOS rate: -4.486078 deg/s, posRepo size: 4m ProNav: pos range: 64.559998 m, bearing: 236.394404 deg, approachRate: 0.675757 m/s, LOS rate: -4.486078 deg/s, cmd update: -12.000000 deg/s, cmd heading: 247.711640 deg, new cmd heading: 244.778101 deg. Ww@WX XW:W2W *W V bU BU *U U #P@U RO?B= ThּB9  B9 A= >*B9 AE !lFAA AA AE Qa ="CM &RCI CM w@CQ i m fAܩ 9ܩ Iܭ 8yGiܭ @ܩ ܩ ܩ ܭ {; ݩ } ?΅>Iy )} eA1 IA G] >ZTq,pDR9EAY}BJ@}BX@y}BҼZ}B>E}BH@?h?b?@*{??FT?wȿ]?)~BJ@ ~Bg;I~BCɫqq)q uIqY}@y{GI)i!!u<Mu=YuQU}Z?yaEGD y } I?I :H5? : @ %?9WB; ;):W@WX XW:W2W*WVbUBU*UUU+?BXRB BA?>*B A EA A A 7 ="ĆRCC@C5> IG5q>   i pG:Y T1y : "5`Zq,l9EAY}2(T@}2a@y}2`}2Q}2H`tR? >$? @h (?`X?`ʿ`gH?)~2(T@ ~2M;I~0ɫ99)9 =I9Y@y/|Giy @ @ @©i­@ )Ii%<M%@=Y-gQU->11a5E5UD1y=햽}=>IAE5?E_ EI@ M?9EBE: E:)AWu>@WqXq XqWq:Wq2Wy*WyVybUyBUy*UUU@*?B B BA>*BAjDAAA ="CݿRCC>@Cr =IG > =i p=Egaq,9EAY}:H@}:V@y}:%k}:\}:HH55?@?( ŧ?Wz?Z˿4?)~:H@ ~:N؏;I~8ɫAA)I IIIY}@y}{GI@)@iQ9QIUyGiU@QQQUz; UޗE)Ii邉邩킲w4=Q?Mb?p= ף?=(?=< ==)9I9y= rh?Zd;O?I +?=C+?=j<=94< =@)=MAI9i= A9=AmMm7=Yu6ƻQUu>qqa}E}cDyy}>Iȉ :ō5? :ō$ ƍ@ ?9ƍ~BǍo: ȍ4:)ȍ:Wك~@WX XW:W2W*WVbUBU*UUUO?BǴB BAg>*BaAeCAaAaAe ="CmRCiCuك~@Cq]<֩׽?i׽?׉ I G >    8 1:Y U1y : 5) ̎;9 cgq,9EAɫyy)y }IyY@y{Gi!!e<Mes=YeQUm?iiamEmnDqyu}}?Iy}5?} }e@ ?9}B}: }:)yWy@WX XW:W2W*WVbUBU*UUU?BYΐB BA>*BAAAAAԩ ="CG]RCCy@C  ) ֝?΅>׉ I G |mq,9EAY}2K@}2xY@y}2Ƃ}2h}2H_wB?)?y=?U?̿?)~2K@ ~2;I~0ɫ99)9 =IAY}@@y}|Gi     ÍqÍ>ÍpiÍ@Í č5@)č@Ič@ič@e=M?=YoQU>!)a-E-|D1y5}=>IAE5?E) E@ U?9EBEQ; E;)AWu *BA5@AAA ="CRCC IGj>Q Q Y 9Y I] dzGi] @Y Y Y ] ; ] Ei I i ~ ~ \ `6:Y T1y @: Y5) ˒;% $kٺ) - WBatq,:t9EAɫ髁) IY@y}GAA fAi*&=M^=YQU>  a EDy}>I) 5:-r5? =:-7 -@ =?9-B-1; -#=;)-:WmEo@WqXq XqWq:Wq2Wy*WyVybUyBU*UUU?@RB*** querying acoustic contact ***PPBo脼B BA>*BAj=?AAA|v ="CRCCEo@C>I)׹IGE> zq,jM9EAY}:C@}:Q@y}:%φ}:t}:H`ſ?@.A? v%ǿ0?@ְ?` =ο ?)~:C@ ~: ;I~:Cɫqy)y }IyY=@y=}GZ****** received transponder code query ******F****** received ping request ******aEDy}>I  :85?  :L @ ?9ÛB(: :):W}Ig@WyXy XyWy:Wy2W*WVbUBU*UUU` @B%B BA>*BArG=AAA΢="C $RC C=Ig@CA  e K6:Y y G59 @a ! I) GM >kq,*:EAɫyy)y }IyY@yT|GxDUSBL response received:!U1,P 2EC,000,006A5,189,80,80,76,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i9I,{Gi&@w; ݗE K7? ףp= ?Mb  ? Q8= ) I y n?MbX9?Zd;O? V.? ʡ= j< S@) GAI i  A  GAM\MMh=YMQUU>QQaUEUDYy]}>Iȉō.5?ō\Z ƍ@ ?9ƍ?BǍ: ȍ:)ȉWpb@WX XW:W2W*W!V!bU)BU)*U1U1U=@( @B%ԛB) B)A-Y>*B1A <AAA ="C(RCCpb@C ?΅>ס I G >~߇q,!:EAY}:s@}:4 @y}:n}:i|}:H ο` ?-?`@Ͽ8p? ?7Ͽ ?)~:s@ ~:;I~:Cɫ99)9 =I9Y}@y}|GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I}@)} @i%B=M%v=Y%QU-?11a=E=D9yMY}M?Iae5?eg e@ ?9eBeя; e<)aW Q^@W X  X W:W2W*WVbUBU*UUU%.@BMSUBI BQAUr>*BQAU:AQAQAUz="C]f,RCYCeQ^@Ca}6Ʌ>YIG> ]   R =;:Y X1y /: 55 q,::EAY}6 ە@}6@y}6g}65{}6Hѿ@?.?@`ҿXn I?`)Ͽ?)~6 ە@ ~6C;I~4ɫYY)Y ]IYY@yD~GxDUSBL response received:!U1,R,17D,000,006CE,185,80,80,7C,FF Fpublishing direction and range info;ɰ>鰥+> )BIy BCB[??s2Կٱ)i Ļ Ġ> i @  j@) K@I K@i K@=MJ=Y%QU%>!!a%E%D)y=x}E>IY e:]25? m:]xv ]7@ m?9]AB]; ] ;)]:WiY@WX XW:W2W*WVbUBU*UUUp@P*Q BZQh>O@!^5JQCB[??s2Կ2Q;:QbQ+zCBEogOKj<⑩,#@RQx0uG]xO?BQx}@ Q{ZQP#9?P*9?PQQ]A"QzABeV^Bi BiAm>*BiAm9AqAqAu="C}1RCyC}iY@Cy֝>qIG~>fAfA9I{Gi@u; ܗEFq,T:EA|.;|,Y}vƔ@}vӌ@y}vZ'}vy}vH{ӿ`de?R?c ԿB`~a?ο ?)~vƔ@ ~v{;I~vCɫ11)1 5I1Yu@yu}GDNmea in: $SNTTA,,,,,011417.22*5C imgAiiqhM =Y8#QU>aEϪDyil}>I5? tI #@ ?9 B: B:)m} uAdded new target pos. range: 67.019997 m, bearing: 235.432140 deg, deltaT: 4.436175 s, approachRate: 0.554532 m/s, LOS rate: -0.216913 deg/s, posRepo size: 4m  ProNav: pos range: 67.019997 m, bearing: 235.432140 deg, approachRate: 0.554532 m/s, LOS rate: -0.216913 deg/s, cmd update: -0.650739 deg/s, cmd heading: 194.371351 deg, new cmd heading: 187.388154 deg. W X@W X  X W :W 2W *W V bU BU *U U GP@U 0?B !B  B A Q>*B A m7A A   y @:Y WU1y : 5A ="C 6RC C X@C 5 > I9 G} >ѷq,$&q:EAY}j!@}j⽋@y}j|7}jRz}jHJտ@ ?{?6 @ֿZ`c?ο`}?)~j!@ ~jC;I~jCɫ髙) IY@y;~Gi5xi=5Լ5*BAe6AAAI="C߰8RCCyX@C֕?΅>iIyG>q,߿:EAY}2\@}2@y}2G}2w}2H׿?5?! ؿ@ܜE?οk?)~2\@ ~2>;I~2CɫYY)Y eIa܉9܉I܍|Gi܍k@܉܉܉܍y; ݍݗEY@y~GiIQeM?J +ʡE?en?eH e-=)aIayev/?{Gz?:v?ex)?e#=eT< e@)eAIep@ieZ AaeA<M[=Y:QU>aEDy}>Iȡťv5?ť ƥ.@ ?9ƥBǥ: ȥj:)ȡW3X@WX XW:W2W*WVbUBU*UUUO?B5@B BA>*BA4AAAR="C9RCC3X@C>IG> {{) @:Y#R1y:l5);9=q,:EA|i|Y}6i@}6zw@y}6{̉}6cv}6H)ٿW6?`I?2,ڿ!Ѣ;6?rο?)~6i@ ~60p;I~6CɫQQ)Q UIQYY@yGigA =MR=Y :QU>aED!y%}%>I) 5:-5? =:- -@ =?9-yB-: -:)-:W]:W@WYXY XaWa:Wa2Wa*WaVibUiBUi*UqUqUu K?B\ B BAt>*BAt3AAA'="C9*CRCC:W@C ==>?i?׹IGf>}䮎q,v:EAY}:I@}:DW@y}:r}:gu}:H`ۿ@o??iܿH禿`u??XPο?)~:I@ ~:;I~:Cɫ9A)A EIAY}g@y-G)yi====@i99 =j@)=@I9i=@UϏ;MUF=YUQUU>YYa]E]Daye⮽}e>IimA5?m mg@ }?9mBm : m:)iWW@WX XW:W2W*W!V!bU!BU!*U)U)U-&@BuH>By ByA}a>*ByA}1AyAA#="C:RCCW@C}͵q,*X:EAɫ髑) IY@yG=i= !!i))u'<Mu=Y}QU}>yyaEDy}>Iȑ :ŕۢ5? :ŕp ƕ:@ ?9ƕBǕ: ȕA:)ȕ:W9W@WX XW:W2W*WVbUBU*UUU5@RB*** querying acoustic contact ***PPB }YB BA>*BA"/AAA )="C%:*C!RC!C%9W@C)х 2I IY G >q,@:EAɫ) IY%>@y%G-Z****** received transponder code query ******-F****** received ping request ******-ÅQiÁÁ ą5@)āIąią5@=MA=YQU>aEDy}>I5? @ ?9>B: n:)WFV@WX XW:W2W*WVbUBU*UU U &@B5_ B9 B9A=>*B9A= .A9AAAEX="CMp4;*CM)RCICMFV@CQYY)Y YIm@A)mAA} }y}y}  }3:Y}P1y}':}59}@ \> 9Ci ) 9) I- L~Gi- @) ) ) - ; - EI9 iY aٺ NB% > I G%>lyĎq,?;EAY}B@}Bޑ@y}Bˆ}Bnw}BH@7y?G?R/@?ݓο?)~B@ ~BGvj;I~@ɫQQ)Q UIQYuI@yu!G}xDUSBL response received:!U1,P 17D,000,006CE,185,80,80,7C,FF }Command Ack}BRequesting micromodem ping code 2iyyNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i)r;M_=Y:QUe>iiauEu*Dy}>Iȩŭ5?ŭ ƭ=@ ?9ƭBǭ: ȭb:)ȩWvV@WX9 X9W9:W92W9*WAVAbUABUA*UAUIUM f @B0B BA>*BAD_,AAA="C?;*CRCCvV@C!IG >ݟʎq,,;EAɫ) IY@yGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I))-Ai  IC=)fAfAÍr>Í<ÍףiÍ@É č@)čj@Ičj@ič@lD=M<=YQU>aE7Dy}>Iȹ :Ž5? :Ž ƽ@ ?9ƽ5Bǽ: Ƚ#:)Ƚ:WoVV@WX XW:W2W*WVbUBU*UUU@B-B) B1A5?*B1A5*A1A1A5<<"C=F;*CARCACEoVV@CA}} 0:YkS1yԊ:5U>)I9GU>юq,eF;EAY}26@}2@y}2}2Lp}2H T?? Iwrꑰ?`AͿ ?)~26@ ~2q;I~2Cɫ99)9 =I9Y}A@y}GxDUSBL response received:!U1,R,390,000,006F3,189,80,80,B4,FF Fpublishing direction and range info%Kɰ>鰅7> )4CIyzB'dc?9ٱiG<M=YV;QU?aEADyR&}?I5? @ ?9Bb: :)W&V@WX XW:W2W*W V bU BU *U UU@P!*Q%zBZQ%q8H@A.+HJQ%'dc?92Q%%K:Q!bQ%fvP\an%6 v:-@RQ%R< FLÿ$VF?BQ%SS@ Q%,Q%P%ԧ9?P%#9?P%sQ%Q%:A"Q%]AB]@0:BY BYA]?*BYAe])AaAaAe/<"Cm<*CiRCiCm&V@CqgAgA9IxGi@}; ߗE֍V݅>aIiG8>մ׎q,R`;EAY}r(@}r6@y}rx}rq}rH@t'? b? UN,?Ϳ@ ?)~r(@ ~rsz;I~rCɫ) IY-T@y-ŀGDNmea in: $SNTTA,,,,,011421.40*5D iM;MM3=YM^;QUU>QQaUEUODYy]qS}e>Ii m:ms5? u:m m@ u?9m Bm: m:)m:myAdded new target pos. range: 69.240005 m, bearing: 189.189738 deg, deltaT: 4.128640 s, approachRate: 0.537709 m/s, LOS rate: -11.200396 deg/s, posRepo size: 4m ProNav: pos range: 69.240005 m, bearing: 189.189738 deg, approachRate: 0.537709 m/s, LOS rate: -11.200396 deg/s, cmd update: -12.000000 deg/s, cmd heading: 191.684696 deg, new cmd heading: 191.387226 deg. WO@WX XW:W2W*WVbUBU*UU@\OQ@Ud?BǻB BA?*BA _'AAAx<"C >RC C O@C , 0:YWU1y:5>IGj>ݎq,,z;EAY}2$t@}2偁@y}2{}2q}2H7k1?G?  @+u?#Ϳ ?)~2$t@ ~2{;I~0ɫ11)1 1I9Yu@yu'G=i= i9v?+l? )IyZd;?!)a-E-\D)y5c}5>I9=xh5?= =o@ M?9=B= ; = ;)9Wm9J@WiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUyU}O?B5@=κBA BAAE ?*BAAM%AIAIAM<"CUuiARCQCU9J@CYmgAmgAU>IY)YIIYGuz> e>9 I Gi G@ ; Eq,Q;EAY}Nˆ@}N`Ѐ@y}Nou}Nxgq}NHA ?@?@!eH?Ϳ?)~Nˆ@ ~Ny;I~Lɫyy)y IY@y)Gi11.:MS=Y;QU>aEhDy>e}>Iȹ :Ž-]5? :Ž$ ƽ2@ ?9ƽBǽV: Ƚ:)Ƚ:WXvE@WX XW:W2W*WVbUBU*UUU~?B-EB1 B1A5, ?*B1A5(#A1A1A={l<"C=~ERCACEXvE@CAօ>Iޱ)ޱ 6 F:YU1y:55);9YIaGY>q,cҭ;EAY}B0@}B@y}Bl}BGt}BHF'R?q?Aː@`??ο ?)~B0@ ~Bv;I~BCɫ髁) IY@y~Giaa @ @ @õ©õõiõ3@õ ĵԸ@)ĵIĵiĵ@'=MH=Yf;QU>aE uD1y5(S}5>I9=P5?=0 =@ E?9=B=b: =Y:)9Wm?@WiXi XqWq:Wq2Wq*WqVybUyBUy*UyUUK?B@tCB BAt?*BA!AAAZ<"C/F@RCC?@C>׹IGf>Oq,;EAY}JdU@}JJ~@y}Jd}J w}JHW?`?`~? Ĉο@m?)~JdU@ ~Jo;I~Hɫqy)y yIyYW@yeGI=@)=@iAAuNMuO=Yu;QU}>yya}E}Dyu}>IȑŕD5?ŕG: ƕ@ ?9ƕBǕ@: ȕ:)ȑW:@WX XW:W2W*WVbUBU*UUUW@B :B BA.?*BA AAAl<"C 9A@RCC:@Cٕ<ٕ<ܙ9ܙIܝGiܝ;@ܙܙܙܝ; ݝE> ?i ?( }}) 7:YkS1yԊ:l5)X;IGF>q,;EA|@i|Y}B`@}BB*}@y}BD[}B(v}BH Q?@?`<@)e?`Dnο@ ?)~B`@ ~Bi%k;I~BCɫYY)Y ]IYYD@yG)Ai=MC=Y§;QU>aEDyFu} >I :D75? :FE @ ?9BV: :):W=[5@W9XA XAWA:WA2WA*WIVIbUIBUI*UQUQUU@B}@#:B BA?*BA]AAAg<"C <@RCC[5@Cޥ=iޥ=>I!Gew>R)q,e;EAY}J@}J{@y}JR}JO4v}JH? j?>@/@(N?pο ?)~J@ ~Jig;I~JCɫyy)y }IyY#@yG~~L .:YT1y@:59@iMbX?Mb?*?@= )IyS?Q?I +/?\=94 ½@)¹I½@i½ A)=    Xy=i̴@ @)@Ii@-M-=Y5r;QU5>11a=E=D9yE5}E>II U:M$5? U:MT M@ U?9M?BM;: M:)M:W}\-@WyXy XyWy:Wy2W*WVbUBU*UUU nN@RB*** querying acoustic contact ***PPB= B9  B9 A= ?*BA AE I<AA AA AE ><"CM N4@RCI CM \-@CQ ܕ b>9ܑ Iܕ Giܕ @ܕ =ܑ ܑ ܕ |; ݕ ޗE)1I1i115=58S5} >9 IA Ge >7q,ZIGh>< q,p"/ aEDy]4}]>Iae 5?eoh e@ m?9e+Beb: e{:)aWO#@WX XW:W2W*WVbUBU*UUUSV@B'5B BA?*BAAAA^<"C*@RC CO#@CY 9 IA Ge >"q,ZH99I=LGi=/@==99=l; =՗Eun<Mu=Yu6K;QUu ?yya}E}īDy}?Iȩ :ŭ5? :ŭsp ƭ@ ?9ƭBǭb: ȭ:)ȭ:W@WX XW:W2W*WVbUBU1*U9U9U=>o@BI<B BA$?*BAAAA&<"C&@RCC@C>ױIG>TNq,wb )BIypB?KYٱI A) IA)A)iqqeJ<MuK=Yu ;QUu>yya}E}ѫDyyj}>Iȉō<5?ōmz ƍ@ ?9ƍBǍD: ȍ :)ȉW@WX XW:W2W*WVbUBU*UUU@P*QpBZQ9L@ DJQ?KY2QK :QbQ:|}Q'MԁT#(@RQ/o` ğm6o?BQGM@ QQPǧ9?Pԧ9?PmQsQPA"Q:ABP>;B BAj?*BA$AAA<"C5]V!@RC1C5@C9=  8:YT1y:}5֝>yIG>wq,ګ|+i\@ Ը@)@Ii@.:M =Y::QU>  a E D y } >I  : 5? % : '  i@ % ?9 B o:  w:) :1 91 I5 ~Gi5 @1 1 1 5 \; 5 ͗Em uAdded new target pos. range: 71.220001 m, bearing: 184.190954 deg, deltaT: 4.500886 s, approachRate: 0.439912 m/s, LOS rate: -1.110622 deg/s, posRepo size: 4m  ProNav: pos range: 71.220001 m, bearing: 184.190954 deg, approachRate: 0.439912 m/s, LOS rate: -1.110622 deg/s, cmd update: -3.331866 deg/s, cmd heading: 137.674554 deg, new cmd heading: 130.601046 deg. W @W X  X! W! :W! 2W) *W) V) bU) BU) *U1 U5 Q@U5 `'?B B  B A ?*B A A A A <"C +=@RC C @C >ש I G >t%&q,Ǚ!I1GMR>D,q,TtaEDyM}>I5?ה (@ ?9vB: :)We"@WaXa XaWi:Wi2Wi*WqVqbUqBUq*UqUyU}?BE<B BAa ?*BA AAA}<"C1@RCC"@C>IGn>-.3q,VYYa]E]DayeJ}e>Ii u:m|5? u:m^ m@ }?9mBmM: mY:)m:W@WX XW:W2W*WVbUBU*UUU?B`r5<B BA&?*BAh AAA(<"C@RCC@C=K ===W =9:Y=V1y=:=G5)=;N؅>׹IGf>W9q,099aEEEDAyMM}M>IQU5?U U@ ]?9U[BU: U;:)QW}<@WyX XW:W2W*WVbUBU*UUU4@BKh<B BA'?*BA m AAA<"C1@RCC<@C?΅>׹IGE>?@q, =EAY}B6|@}Bl@y}B}B(3n}BH`,G?@?L[ƿ ?`|Ϳ?)~B6|@ ~BR_;I~BCɫYY)Y ]IYY~@yUGI)I)iMb?Pn?Mb??> <)Iym? rh?I +??C<94< @)AI^@iAAA=I >== ׽i= @9 =@)=@I=i9Mk|<MU:=YU`;QUU>YYa]E] DYye]}e>Ii u:m~5? u:mM md@ }?9mتBm: m{:)m:WҘ@WX XW:W2W*WVbUBU*UUU k@55}5}5M 5n1:Y5kS1y5Ԋ:5"59=@B}0(<By ByA}h)?*BAAAA ^<"C@RCCҘ@C>i9iImGimt@iiim@; mEױIG>hFq,=EA|@i|@ɫyy)y }IyY@yZGɮi%;Me=YQU>aE+Dy}>I5? @  ?9>B4: :)W- E@W)X1 X1W1:W12W1*W9V9bU9BU9*UAUAUEŕ@RMB*** querying acoustic contact ***PIPIBuX“<Bq BqA})?*ByA}AyAyA}$%<"C E@RCC E@CAI)GEQ>Lq,H4=EAY}J2z@}J_Nj@y}J}J;q}JHm??߿ $`̹ǿ@qO?_Ϳ?)~J2z@ ~JSz;I~HɫYY)Y YIYY@ygGZ****** received transponder code query ******F****** received ping request ******aE9Dy'}>Iȩ :ŭw5? :ŭ ƭ@ ?9ƭBǭ: ȭ{:)ȭ:W @WX XW:W2W*WVbUBU*UUU(4 @B C<B  B AU*?*BAYAAAW<"C @RCC% @55~5~5h 5*:Y5T1y5@:55C!9I!G=r>xzSq,N=EAY}:y@}: i@y}:!|}:Ks}:HW g?I?޿@OhxUȿ?@ο?)~:y@ ~:)A;I~8hA 9 I FGi @    9; E)ݙIݙiݙݙݝ=ݝ3ɫ99)9 =IAY}@y}GxDUSBL response received:!U1,P 2CF,000,00714,189,80,80,7F,FF Command AckBRequesting micromodem ping code 2i=i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iAIaMK=YR:QU>aEFDy7}>I15f5?5Q 5l@ M?950B5< 5!<)1Wu) @WyXy XyW:W2W*WVbUBU*UUUk @BE=<BI BIAM$?*BIAMRAQAQAUc<"C]) @RCYC]) @CֵN؅>qIyG>Yq,|h=EAY}Fw@}FyaESDy?}>I :ZU5? : @ ?9B>; ;):I)))S  q::YWU1y:!5Wr @WX XW:W2W*WVbUBU*UUU}@B5q<B9 B9A=(?*BYAe4AaAiAm<"Cr @RCCr @C֕?΅>׉IG>`q,M=EAY}2jv@}2Zf@y}2l}2#r}2H&2??jܿu ɿ?@EͿ?)~2jv@ ~2;I~2Cɫ99)9 =I9Y?@ỹGxDUSBL response received:!U1,R,19F,000,0072D,185,80,80,66,FF Fpublishing direction and range info}lɰ|>+> )BIypB:3嫠?*Vֿٱ)i19?~jtx?y&1? ?; `e<)IyMb?Zd;O?Mb`? ?j<=; v@)AI@i AzA T< D= !IaMEMaDIyU-F}U>IY]B5?]r ]@ ?9]0B]; ];)YW@WX XW:W2W*WVbUBU*UUU@P *Q pBZQ +1Q@nh9JQ :3嫠?*Vֿ2Q }l:Q bQ 0Q0Kh @RQ A_Ü43pM&?BQ O@ Q WQ P 9?P ǧ9?P tQ mQ oA"Q PA}|>}3CiSoGIi 5^Xٺ15^FBBE<BI BIAMl/?*BIAM SAIAIAUN<"CU@RCYC}@Cy 9 I xGi @    /; E>ש I G >fq,==EAY} 1 u@} $e@y} 0} o} H}?@G?,ۿ@|Gb1ɿ`瘠?Ϳ ?)~ 1 u@ ~ G;I~ Cɫ) IYMd@yMGTNmea in: $SNTTA,0.064531,,,,011430.33*42 IA)AIA)A--~-~-^ -11:Y-T1y-@:-5)-P;95 iiiii<M=Y͖:QU>aEsDy }>I :(5? : #@ ?9B#; ;):m qAdded new target pos. range: 72.720009 m, bearing: 186.091755 deg, deltaT: 4.530407 s, approachRate: 0.331098 m/s, LOS rate: 0.419565 deg/s, posRepo size: 4m=  ProNav: pos range: 72.720009 m, bearing: 186.091755 deg, approachRate: 0.331098 m/s, LOS rate: 0.419565 deg/s, cmd update: 1.258695 deg/s, cmd heading: 122.593051 deg, new cmd heading: 120.778464 deg. WE  @WI XI  XQ WQ :WY 2Wa *Wi Vi bUq BUy *U U .R@U ?B PB<B  B A 0?*B A 'A A A l<"C # @*C RC C  @C ֩ i Iq G >mq,=EAY}Bs@}B=c@y}B'}Bo}BH:?`ye?3ٿ@`τɿ @d?٭Ϳm?)~Bs@ ~B;I~BCɫII)I QIQY}h@y}GiAAÕ?ÕzÕ/]iÕ@Ñ ĕԸ@)ĕԸ@Iđiĕ@c:M=Y::QU5?aE{Dyͬ}5?I5? 9@ ?91B: #:)=iW @WX XW:W2W*WVbU BU *U U U6?BE&=BA BAAE0?*BAAMAIAIAM%<"CU @RCQCU @CYug>IIYGuX>ٽ <ٽ < 9 I i !; Edtq,zn=EAY}2{r@}2Nb@y}2}2pt}2H y@Ҷ??@]ؿ@v^ʿN?@@ο?)~2{r@ ~2@sy;I~0ɫyy)y }IyY@yGi!!b<ML=Y:QU>aEDyC}>I 5? ]@ ?9B; ;)H .:YT1y:5);W @WX! X!W!:W!2W!*W!V)bU)BU)*U)U1U5`?BeU*<Ba BaAe1?*BaAmA/AiAiAm<"Cu @RCqCu @Cyօ>9IIGeV>+zq,I=EAY}2?q@}2Q[a@y}21}2 s}2H:? y? M׿@ʿ Br?`-ο@?)~2?q@ ~2=p;I~0ɫII)I IIIY@yGI5@)5?i11 @ @ @í©ííiíz@í ĭj@)ĭIĩiĭ8<M9=Yd:QU>aEDy3}>I :5? :W @ ?9@B: :):W%a< @W!X) X1W1:W12W1*W1V9bU9BU9*U9U9UEu?BH<B BA2?*BA NAAAyM<"CMa< @RCQCUa< @Ca֑! I1 G >Qxq,c*>EAY}2o@}2 `@y}2}2Nu}2H N=j?Y?yֿN/˿@qў?m[οu?)~2o@ ~2i;I~0ɫ99)9 =I9Yw@yG)9iI)Y U ::YDW1yY:59@y&1? ףp= ?S㥫`%?Q8> /])IyK?&1?{Gzt?^?P=ף; )hAI@i&AA}MG=YR:QU>aEDyI95?R @ ?9B:  :)W5 @W1X1 X1W1:W92W9*W9V9bU9BUA*UAUAUM6H@Bur<Bq BqA})1?*ByA}`AyAyA}m<"C @RCC @Ci9iImGimh@iiii i֙qIyG~>q,>EAY}:un@}:"^@y}:k}: r}:Hp2]? fͺ?տp"˿E~? \ο ?)~:un@ ~:>e;I~:Cɫ99)9 =I9YN@yՃG 99i99uM}=Y}:QU}>aEDy4}>Iș :ŝ5? :ŝ Ɲ@ ?9Ɲ`Bǝ; ȝv;)ȝ:W @WX XW:W2W*WVbU BU *U U U @R B*** querying acoustic contact ***P P B] b<Ba  Ba Ae /?*Ba A ?6ڼA A A h<"C  @RC C  @C fAֽ ?΅>ב I G >!q,:>EAY}Bm@}B;!]@y}Br}BSiIyG}> gA 9 I ܂Gi @    *;  Eᔏq,SzT>EAY}2&k@}2[@y}2뼙}2 s}2Hs? %?_ҿ˿@u?ο`?)~2&k@ ~2ˮa;I~0ɫYY)a eIaY}@y}GxDUSBL response received:!U1,P 19F,000,0072D,185,80,80,66,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i-|;M5h=YEI:QUM>aEȬDyq}->IA :E5? :E: E@ ?9E2BE< EH<)E:W @WX XW:W2W*WVbUBU*UAUAUET @B$l<B BAo2?*BAGҼAAA<"C @RCC @C>שIG>_q,cn>EAY}R'Aj@}R\Z@y}R弙}R &u}RHld1??\ѿQ̿ ?Vο<?)~R'Aj@ ~R2{`;I~Pɫ髹) IY@y G=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ||X ).:YR1yi:~5Im?)m?iiim+>maE٬DyD,}>Ie5?  5@ ?9˱B; ;)W]Q2@WYXY XYWY:Wa2Wa*WaVabUaBUi*UiUiUm @B?a<B BA3?*BA/ͼAAAx<"CQ2@RCCQ2@C > i I G% >q,0>EAY}2Xh@}2X@y}2z⼙}28t}2H@^`?~?hwϿA0_̿Z?BDοt?)~2Xh@ ~2#_;I~2CɫYY)Y YIaY@yG?AxDUSBL response received:!U1,R,C6D,000,00736,189,80,80,7A,FF Fpublishing direction and range infoiL?ɰ9>鰥7> )BIyBݾLT?$`?ٱi-+?nl?->-V -=))I)y-MbX?~jt?3?*BA`ɼAAAE<"Cբ@ܵd>9ܱIܱiܱܱܱܱܵ+; ݱ)QIQiQQQUê4RCCբ@CֽFӅ>ױIG> q,">EAɫ) IYU@yU4Gu` (:YWU1y:45);9DNmea in: $SNTTA,,,,,011434.43*5A iaEDy}>Iȡ :ťCr5? :ť^ ƥ@ ?9ƥBǥ: ȥ:)ȥ:muAdded new target pos. range: 73.260002 m, bearing: 238.980779 deg, deltaT: 4.048898 s, approachRate: 0.133368 m/s, LOS rate: 13.062573 deg/s, posRepo size: 4mProNav REINIT: LOS rate is 13.062573 deg/s. Setting heading cmd to target bearing of 238.980779deg and heading rate command to 0 deg/s.Wx@WX XW:W2W*WVbUBU*UUPR@Ug~?B-}<B1 B1A54?*B1A5OļA9A9A=<"CE@RCACEx@CI]g>1IaG>Gq,>EAY}:e@}:$U@y}:.⼙}:n}:H%\@/?n?`9ɿ aU̿^?`DͿ?)~:e@ ~:{^;I~:Cɫ99)9 EIAY}4@y}ŃG 99i99Ím>ÍCÍ33iÍ@É č(@)č@Iĉič@rM[=YQU>aEDy }>IȹŽa5?Ž  ƽ@ ?9ƽBǽ: Ƚ:)ȹWWX XW:W2W*WVbUBU*UUU?B-<B1 B1A5/?*B1A5A1A9A=<"C=@RCACACA>I)fAיIGb>iI i! U UٺQ U PCBܱ 9ܱ Iܱ iܱ ܱ ܱ ܱ ܵ 0; ݵ E1q,>EAY}Vc@}V_T@y}V漙}Vm}VH@`Ѕ??ſطc̿؜?iͿp!?)~Vc@ ~Vz^;I~Tɫ髙) IY@y+GIa)aiiq*P=ML=YAQU>aE Q :YU1y:5) ; Dy]}>Iȹ :ŽO5? :Ž ƽ%@ ?9ƽnBǽ: Ƚ:)Ƚ:WWX XW:W2W*WVbUBU*UUU@?B-"<B) B)A-I4?*B1A5A1A1A5<"C=0@RC9C9CA!IGI>]q,ͬ>EAY}Mpb@}MkR@y}M꼙}Mq}MH ٢ԇ?ʯ? a¿`G@Ϳ`;Q? vͿ`>?)~Mpb@ ~MN^;I~MCɫ)))1 5I1Y@yGiQQõ;߽õ˾õAiõ̼@ñ ĵԸ@)ĵԸ@Iĵ@iĵ^@(M)=YxQU> a E D y'K}>I95?U s@ %?9B{: 8:)WAWIXI XIWI:WI2WI*WQVQbUQBUQ*UQUYU]੹?B<B BA3?*BAOAAA}<"CU@RCCC ?΅>IG >HBq,}y ?EAY}J^a@}JQ@y}J}J&t}JH`ֻ x?? x `Ϳ?4ο@?)~J^a@ ~J!^;I~JCɫii)i mIiY@y.Gi!! H D:YV1y:59@ ףp= ?~jtx? rh?Q?; C=)Iy$C?Zd;?Q??y=u< v@)3AI@iAAE~<MEj=YMQUM?QQaUEU$DQy]_}]?Ia m:e(5? m:e e@ u?9e`Be3: e:)e:WWX XW:W2W*WVbUBU*UUU#@Bkx<B BAf4?*BA)~AAA!<"CO#@RCCC ==Q9QIQiQQQQU@; UE>i?IGl>mȏq,Y#?EAY}2ߛ_@}2dO@y}2S켙}2Hw}2HY ??7ο?#ο`?)~2ߛ_@ ~2m];I~2Cɫ99)9 9I9Yu @y}IGU=iU=U=iU=)ai _<MN=Y9QU>aE0Dy%a}%>Iy}i5?} }@ ?9}޴B}: }*:)yWWX XW:W2W*WVbUBU*UUU g@Bw<B BA5?*BAAAAB<"C(@RCCC =>I!G=r>SΏq,H7=?EAɫ) IY@yG 5 ?^:YU1y:5 qqiqqh=ף<$>i@ S@)@I1@i@M=YQU>aEBDy}>I : 5? : .@ ?9B4: :):W!W!X! X!W!:W)2W)*W)V)bU1BU1*U1U1U=@REB*** querying acoustic contact ***PAPAB<B  B A 1?*B A NA A A <"C bm0@RC C C A A I 9I II iI I I I M 1; M E9  I) GU >EՏq,W?EAY}J\@}JL@y}J㼙}Jt}JH`W©??^ ο`Ns?Nο@?)~J\@ ~J];I~Hɫqq)y }IyYyZ****** received transponder code query ******F****** received ping request ******C1C1UN؅>1I9G]v>Ԭۏq,p?EAɫ  )  IYM@yMGQɮU=exDUSBL response received:!U1,P C6D,000,00736,189,80,80,7A,FF eCommand AckmBRequesting micromodem ping code 2iiqIEEEEi E).:YEV1yE:E"5)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i mi|?5?333333?v/m>m= mxi)iIiymL7A`?Mb?Mb`?m+'?m=m; mX@)mAIm@imAimAyy?5>E6>i @)@I@i@&7;MaE\Dy}>I %: 5? %:X @ -?9BC*; ;):WyWyXy X W :W 2W *W V bU BU *UA UA UM @B Ȫ<B  B A 32?*B A ͝A A A <"C [;@RC q=C C =j>ױ I G >q,׿?EAY}6dY@}6I@y}6伙}6o}6H $-? Z?Q |@!ߗͿ?0Ϳ?)~6dY@ ~6];I~4ɫII)I MIIY!@yGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iI=)= qM =YgQU6?aEdDy%DY}%7?I!%B 5?% %@ 5?9%B%: %:)!WQWYXY XYWY:WY2WY*WaVabUaBUa*UaUiUm]@BC=B BA.?*BAAAA<"CH>@RC,=CCc>9Ii=8; EY>ׁIGB>q,?EAY}RtW@}RG@y}Rf⼙}Rm}RHV; ?6,? y"|ͿS?4lͿ k!?)~RtW@ ~R\;I~RCɫyy)y }IyY@yGxDUSBL response received:!U1,R,DB9,000,00736,188,80,80,AC,FF Fpublishing direction and range infoS>?ɰ> ),CIyX5gv?,?ٱ)iQQ0=MR=Y49QU>aEqDyx}>Iȱŵת 5?ŵI! Ƶ@ ?9ƵeBǵ: ȵn:)ȱ8 .:YWU1y:5)?;9WWX XW:W2W*WVbUBU*U U U@P*QZQO@dަA@JQX5gv?,?2QS>?:QbQߪ{0P @4k'RQ6`?I(ưdݿzBQg@ QQPç9?P9?PQQ>"Q B-V<B1 B1A52?*B1A5繖A9A9A=3<"CEC@RCE&NCACi]FΞIQ)Q) I1 GM >xq,v?EAY}>V@}>F@y}>oR⼙}>rGo}>H$Ӕ?q??@0ͿbI?`Ϳ S?)~>V@ ~>ي\;I~>Cɫ99)9 =IAY]@y]"G=i=i)> > ]@ ]@ ]@]©]]i]Q@] ]Ը@)]@I]@i]@u;Mu =Yu8QUu>yya}E}Dy<}>Iȉ :ō 5? :ō! ƍ @ ?9ƍ-BǍ8: ȍr:)ȍ:muAdded new target pos. range: 73.260002 m, bearing: 207.455549 deg, deltaT: 4.444002 s, approachRate: 0.000000 m/s, LOS rate: -7.093883 deg/s, posRepo size: 4m ProNav: pos range: 73.260002 m, bearing: 207.455549 deg, approachRate: 0.000000 m/s, LOS rate: -7.093883 deg/s, cmd update: -12.000000 deg/s, cmd heading: 238.980779 deg, new cmd heading: 238.980779 deg. W(@WX XW:W2W*WVbUBU*UUUc?B jo<B  B A% 3?*B! A% T,A! A! A% kJ<"C- ĕFRC5 d$C5 (@C1  b>9 I Gi @ 9; E)ݙIݙiݙݙݙݝ+4e X;i i = 2> I GE >Eq,YN?EAY}vF$T@}v?D@y}v)Ѽ}vui}vH-5?9?`xͿj/?@̿`i)?)~vF$T@ ~v\;I~tɫ) I  4:YV1y:}5)X;Y!@yWGDNmea in: $SNTTA,,,,,011438.94*5C iC&=M=YM׉ I G >cq,j?EAY}JR@}J~ C@y}J_ļ}JN`}JHz 3ɸqg?`?``˿@^? ˿9?)~JR@ ~J\;I~JCɫ髁) IY@y Gi)\(?I +? rhG>94> C)IyQ?y&1?Q??`e<u< •v@)•AI•@i•AA   ,>"[i@ @)@Ii@{̼M<=Yq;QU >  aEDy?1}>I -:f 5? -:X |@ -?9B: :):WMy@WQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UaUaUe.?B O=B  BA3?*BA:AAA<"C*=RC% CEy@CI=:_=E?iEw?IG%n>$Mq, @EAiZnGIdipXٺFBY}JQ@}A@y}߱}U}Hpɼ]??`ʿ;?@ʿ`L?)~JQ@ ~\;I~  } } F Y kS1y Ԋ: 59@ɫQQ)Q UIQY@yGܹ9ܹIܹiܹܹܹܹܽ6; ݽEI)AI ?) ?i5uXM5G=Y=;QU=>AAaEEMDQyU$}]>Iae=R 5?e; e@ u?9eBe4; e;)aW)t@WX XW:W2W*WVbUBU*UUU 2?B<B BA\3?*BA`;AAA <"C}7RCC)t@C =>֕QO=qIyG~>u q,ͭ'@EAY}:Q@}:V#A@y}:a}:H}:Hܿ￿w@?!W ɿ`"4?ȿa?)~:Q@ ~:\;I~:Cɫyy)y }IyYr@yGiQQX=Mi=YY aEDy}>Iȱ :ŵ#A 5? :ŵ# Ƶ@ ?9ƵBǵ4: ȵ:)ȵ:Wo@WX XW:W2W*WVbUBU*UUU`.@B%(%=B! B!A%9?*B!A-f~A)A)A-ȹ<"C=,3RCACEo@CQhW_q,ސA@EAY}V|P@}V1@@y}Vo}V,;}VH` `9?A.dNǿ ?Cǿv?)~V|P@ ~Vi\;I~VCɫqq)y }IyYk@yG -:Yy5i!!<C<#iµ@ @)j@I@i@MF=Y[#aEDy}>I, 5? V@ ?9dB: :)Wj@WX X!W!:W!2W!*W!V)bU)BU)*U)U1U5z@B]=Ba BaAe8?*BaAe tAaAiAmr<"Cu+-RCqCuj@Cqe;Ii)i!I1GM1>ܱ9ܱIܱiܱܵ=ܱܱܵ/; ݵEˇq,d[@EAY}:(HP@}:c@@y}: }:})}:HB J?`Dſ? ſ ?)~:(HP@ ~:|\;I~:CɫYY)Y ]IaY}@y}G@A 鼑i<M]=YVaE˭Dy)}>I 5?k @ ?9ӺB: M:)W=d@W9X9 X9W9:W92W9*WAVAbUABUA*UIUIUM x@RuB*** querying acoustic contact ***PqPqB=B BA:?*BAkAAAB<"C)RCCd@CgAwEFIGK>Pq,Uu@EAY}=bP@}=~@@y}=/}=AD}=Hoe? <[¿`q?2ÿ V?)~=bP@ ~=a\;I~=CI)BA-q---~ -k(:Y-T1y-:-5ɫ!))) -I)Ye3@yebGmZ****** received transponder code query ******mF****** received ping request ******meD= e)aIayeK?Mb`Zd;O?e^?eej< e@)eSAIe@ie@aez@ý<ýNý>iý@ù Ľ@)ĽIĽ@iĽ@ռM=Yy(aEܭDyG;}>I : 5? : @ ?9yB: o:):W]@WX! X!W!:W!2W!*W!V)bU)BU)*U)U1U5μ @BA<B BA7?*BA._AAA<"C&RCC]@CסIG>ə#q,?@EAY}BP@}B"@@y}B]5:}By}BHϼ3@o [?z ; FV c?)~BP@ ~B[;I~@ɫYY)Y ]IYY}%@y}YGxDUSBL response received:!U1,P DB9,000,00736,188,80,80,AC,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i܅c>9܁I܅܂Gi܅@܁܁܁܅1; ݅EM=YZO)q,@@EAY}RUQ@}RqA@y}RR+;}Raн}RH`Yqh?` ]E{`s?)~RUQ@ ~R [;I~RCɫ髉) IY!@yWGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iEE}E}EC E2:YEkS1yEԊ:E5)E|;9MMxMMU=YUvbYYa]E]DYye<}e>Ii u:m 5? u:m* mr@ }?9mNBm: m<:)m :WwT@WX XW:W2W*WVbUBU*UUU,'@Bm͜=Bi BiAm{6?*BiAugUNAqAqAua<"C}%*CyRCyC}wT@C Օ >ԕ>e{n&I)GEQ>ǫ0q,}@EAY}BO R@}B'B@y}BwG<}B܈}BHM` ܑ? ?)~BO R@ ~B@[;I~@ɫYY)Y ]IYY@yĄGxDUSBL response received:!U1,R,502,000,0072F,189,80,80,86,FF Fpublishing direction and range infof3ɰ>鰅7> )CIyBw?amf-ٱ)i99 Ђ? I  =i G@  (@) I @i M@N=M>=Y%KR!!a%E-D)yU<}m>Iqu 5?u u@ }?9uּBun: u8:)qW N@WX XW:W2W*WVbUBU*UUU@P*QBZQ?@j`ЅaPJQw?amf-2Qf3:QbQb8 P|Q@@@RQ=Y耦տSq+? ?BQM? QۈBQ P%9?Pç9?PQQ+A"Q>B=T =B=< B9A= U9 9 aE EE DQ ye <}m >Iy  :} < 5?  :}  } @  ?9} B} ; } в;)} :m= }Added new target pos. range: 72.840004 m, bearing: 109.803514 deg, deltaT: 4.473299 s, approachRate: -0.093890 m/s, LOS rate: -21.829981 deg/s, posRepo size: 4mE !ProNav REINIT: LOS rate is -21.829981 deg/s. Setting heading cmd to target bearing of 109.803514deg and heading rate command to 0 deg/s.WE M?WA XI  XI WI :WI 2WI *WQ VQ bUQ BUQ *UQ U] 5R@U] @>?B al<B  B A =?*B A Fo5A A A ,<"C] V-RCY C] M?Ca ƂI ) eA IG%>?=q,Va@EAY}NT@}N6D@y}N<}Nl;}NH`6TjT@^?;@s ? $=z??)~NT@ ~N+=r;I~Lɫyy)y }IyYk@yG=i=i)) r?M?V-#?n> h)Iy\(\?Mb`?{Gz??;ף< ½@)½AI¹i½@@Í|>Í=Í= >iÍ̼@É č)čp@Ič@ič@yoM=YٜDq,?AEAb>9IFGi@@; E)sIsisss{566}6}64 6?,:Y6kS1y6Ԋ:65)6 ;Y}RU@}RE@y}Rf<}R/=}RHD>@`= ğ?` a? ībܥ? ?)~RU@ ~R};I~RCɫqy)y }IyY@y˄Gi=MY=YgaE(Dyl=}>I : 5? := @ ?9YB: H:) :WWX XW:W2W*WVbUBU*U!U!U% ?B-=B BAboJq,4.AEAY}JW@}J08G@y}J>=}Ju=}JH ןiu? Ԉ?`RI? ~?)~JW@ ~J};I~JCɫ髁) IY@yGI?)?ie?5>eʁe ׽iaa a)eZ@Ie@iausMu@=Y})yyaE6DyTr=}>Ip 5? @ ?9B: :)W!W!X! X!W):W)2W)*W)V1bU1BU1*U1U1U=@ ?Beq"=Ba BiAm:?*BiAm9AiAiAu,<"CuX:RCyCyCy}< Յ>ԅ>qu?iu?I IQ Gu >UQq,pGAEA6666U 6):Y6T1y6:659:@Y}BIX@}B I@y}B=}B&=}BHb /n`ܢ `(?`PT3?'.??)~BIX@ ~B9v;I~@ɫyy)y }IyY@yGI)A)!i;MU=YaEBDyɘ=}>I] 5? @ ?9TB{:  :)i}3oGWIWX XiW:W2WYٺFB*WVbUBU*UUUeݬ@BY*=B BA:;?*BAfAAA <"C@RC<(>CC) %a>9!I%Gi%@%=!!%B; %Eօ }Y Ii G >jXq,daAEAY}6Z@}6 J@y}6 #=}6=}6H4?۝@޻?p'?`?)~6Z@ ~6l;I~6CɫII)I MIIY]!@y]WG i]\ Me=Ymͫ;QU>aEUDyKT=}>I :@ 5? :a @ ?9B: v:) :W9W9X9 XAWA:WA2WA*WAVAbUIBUI*UIUQUU}@R]B*** querying acoustic contact ***PYPYB=B BA{6?*BAAAA8<"C5GRC CC֍ Wg~i I G- >9^q,z{AEA6666[ 60:Y6V1y6:6"5Y}R\@}RkL@y}R2/=}RA=}RH`j+?`Spr??䥿@??)~R\@ ~Re;I~RCɫyy)y }IyYC@y΃GZ****** received transponder code query ******F****** received ping request ****** P)IyK7A?/$% `>9! I% Gi% @! ! ! % F; % E eq,MAEAY}>D^@}>ɣN@y}>:=}>I>}>H|`?E@B`?`@jY?`?)~>D^@ ~> [a;I~>Cɫyy)y }IyYJ@y҃GxDUSBL response received:!U1,P 502,000,0072F,189,80,80,86,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i1;M%u=Y-I :j 5? :A @  ?9B: :) :WWX XW:WI2WQ*WQVYbUYBUa*UUUڒ @B#=B BA/?*BAE AAAAAEO?<"CMKA@RCMbǺ=CICQEJ>I9Gmx>Skq,AEAFF~F~Ft Fw2:YFT1yF@:F}5Y}] `@}]}]H`' ú?`4ۯ 򘼿.?@ ?ޮ?)~] `@ ~]Z_;I~]Cɫ!!)! %I)Ye@yeGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iI=)=5;=5z>5h>i5f@1 1)5@I5K@i5Ը@EEټME+=YE;QUE>IIaMEMxDQyU]=}]>IY]_ 5?]x ]d@ m?9]hB]: ]߼:)YWWX XW:W2W*WVbUBU*UUUb @Bm!"=Bi BiAm,?*BAW2ڻAAAw{<"C;@RC7>CCցyIG>c2rq,6AEAY}>a@}>&Q@y}>J=}>>}>Hԫ@8?`+ v ?S`?p?)~>a@ ~>^;I~>Cɫ99)9 9I9Y}-@y}#GxDUSBL response received:!U1,R,502,000,00726,189,80,80,BD,FF Fpublishing direction and range infoɰ>鰁 )=CIyBw?amf-ٱiM=Y;QU ?aEDyǑ=} ?I :y 5? : 9@ ?9B<: ':):WWX XW:W2W*WVbUBU*UUU F@P*QBZQo\?@+oBPJQw?amf-2Q:QbQ_ܿCwHM@roa%$RQ1Ż[s{[fm?&PPBQ @ QnBQP9?P%9?PQQQZ"Q+ABUX4=BY BYA]&?*BYA]m̻AYAYAe<"Ce7@RCm>CiC֍VT5AIQGm5>^>9I GiG@=DG; `xq, AEA>>>>V >~*:Y>T1y>:>5)>;9FY}u5b@}uS@y}u.J=}u>>}uHI@?@ ÿ`~?`!C ?ٰ?)~u5b@ ~uJ^;I~uCɫii)i uIqY @yGTNmea in: $SNTTA,0.054634,,,,011447.44*47 IA)i!!mMm1=Ym̎QUm>qqauEuDyy}8=}}>IȁŅ 5?Ņ ƅ@ ?9ƅeBDžӻ: ȅ#:)ȁmuAdded new target pos. range: 72.300003 m, bearing: 123.483741 deg, deltaT: 4.070803 s, approachRate: -0.132652 m/s, LOS rate: 3.360572 deg/s, posRepo size: 4m ProNav: pos range: 72.300003 m, bearing: 123.483741 deg, approachRate: -0.132652 m/s, LOS rate: 3.360572 deg/s, cmd update: 10.081716 deg/s, cmd heading: 109.803514 deg, new cmd heading: 109.803514 deg. Wj8?WX XW:W2W*WVbUBU*UU@3R@U`dW?B+P=BJ< BA%?*BA1ݸAAA<"Cr1@RC >Cj8?CcI G-p>~q,AEA|i|Y}6cd@}66T@y}61F=}6OR>}6Hlzy< D=)Iy-?~jtxMb?5?Ļ<  A)@IAi@p@)á å=j\?Vξi@ )@I@i5@{MR=YXQU>aE D yD=}>I %: 5? %: @ %?9B+: ˑ<):W;@WX XW:W2W*WVbUBU*UUU?Be =Ba BiAm?*BiAm쨻AiAiAm26<"Cu8,@RCqC};@Cy} ǫ9IIGuW> 9 I L~Gi @ = N; ėEsq,BEA::~:~:E :1:Y:T1y:@::l5):;Y}-1&e@}-AU@y}-A=}-\=}-H`bW? 7ȿ@9 @?`<`?`aEDyR$=}>I!%; 5?%@ %j@ 5?9%aB%: %:)!WUX@WQXQ XQWY:WY2WY*WYVYbUaBUa*UaUiUm?BD$=B BA ?*BAFAAAd<"C%+&@RC!C%X@C) I!)%fAIGL>䛋q,0BEAY}ze@}zY V@y}z>=}z/=}zH >O`u?@TNɿ.~?ҧn?b?)~ze@ ~z-`;I~zCɫ) IY'@yG=i=i> i@ @)@I@i@%PM%I=Y%QU->))a-E5D1y5<}=>I9=p 5?= ="@ M?9=B=: =:)9Wm( @WiXi XqWq:Wq2Wq*WqVybUyBUy*UyUyU@2?Bm#=B BA?*BAAAA*<"C5!@RCC( @CoM<ֵu<׉IG>ŀq,JBEAn n}n}n n5:YnkS1ynԊ:n59r@ɫ) IY@yGiI=)%=‰‰ E4M L=YQU>aEĮDy%}%>I) 5:- 5? 5:- -@ 5?9-`B-{: -s:)-:W]@WYXY XYWY:WY2Wa*WaVabUaBUa*UiUiUmM@B1=B BA%?*BA/uAAA<"CU@RCC@C89yI}|Gi}k@} =yy}S; }ŗE)Ii==֥FJ=X5ׁIG_>;q,R`dBEAY}62f@}6W@y}6;=}6߱=}6H`5 ?S,˿ & n)?`?a.??)~62f@ ~68_;I~6Cɫ99)9 9I9Yu@y}G)iQQdMR=YfQU>aEЮDy4=}>Iȩŭ,w 5?ŭb# ƭ@ ?9ƭBǭM: ȭ{:)ȩW @WX XW:W2W*WVbUBU*UUU@Wi@B`:=B BA% ?*B!A%!;YA!A!A%.<"CsH@RCC @CϹϹ)й й-=5?i5? I1 Gu >՞q,.8~BEArrrrH r2:YrT1yr:r5ɫ) IYM@yMGI]A)Yi9Ci=nGIQiZٺHB n@9 PZBE (\?l¿ˡE?E ?E  E '=)A IA yE S? rh+?E ?E CE = A )E G@IA iE @A E @)U = U =Ý =Ý 둾Ý /]=iÝ @Ù ę )ĝ K@Ię iĝ @ hM =Y QU > a E D y } >I  : 9W 5?  : ^' @  ?9 B : :) :W &8@W X  X W :Wy 2W *W V bU BU *U U U @R B*** querying acoustic contact ***P P B Q<B  B A  ?*B A *A A A )<"C O@RC C &8@C  f/>ܕ ^>9ܑ Iܕ yGiܕ @ܕ =ܑ ܑ ܕ U; ݕ ǗE I G= >1q,BEAY}Bt.g@}BIW@y}B78=}Bb7=}BHW.?/~1̿`2S?a?`{?)~Bt.g@ ~Bb^;I~@ɫii)i mIqY$@y GZ****** received transponder code query ******F****** received ping request *******BAIAAA<"C @RCCf@C{K7>ױIGC>Sq,SBEA2 2228 2V:Y2WU1y2:25Y}Bmf@}BV@y}B5=}Br<}BH8 k?ԧ y˿@@"t?@H??)~Bmf@ ~Bz^;I~BCɫyy)y }IyY@yGxDUSBL response received:!U1,P 502,000,00726,189,80,80,BD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iUt=UU$iU@Q Uv@)UIU@iUv@lM/=YQU>aEDy'G}>I E:@5 5? M:+  @ M?9sB#<  $<):W %@WX XW:W2W*WVbUBU*UUU@Bm<Bq ByA>*BAAAALs<"C\@RCC %@C!M U7>IQ )Q ! I1 GM >=q,ȗBEAY}6e@}6# V@y}63=}6 ϙ}6H#P`A?I ɿU>r 4?)~6e@ ~6^;I~6Cɫ99)9 =I9Yu@y}@~GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U=iU=U6Buffer fill timout failure.i m ʽMm_=Yu˺QUu>qya}E}Dyy }>Iȩŭ# 5?ŭ- ƭ3@ ?9ƭBǭ¿: ȭ:)ȩWL(@WX XW:W2W*WVbU1BU1*U1U9U=s@B=B BAX>*BAӺAAA)<"C%r@RC!C%L(@C)I9MxCIM xGiM@M =IIMW; MȗE]A>1I9G]v>Vjq,}BEA6 6|6|6) 6b?:Y6R1y6i:6l5)6;9:Y}Nd@}NT@y}Nߥ1=}Ny_}NH`p`?綠;ǿ`h]2 ?)~Nd@ ~N_;I~NCɫqq)q uIqY@y|}GxDUSBL response received:!U1,R,488,000,0072D,18A,80,80,52,FF Fpublishing direction and range infoɰ|>鰵> )BIypB C?t:5#ٱ uOutgoing frame #1, 64 bytes: CC101761160001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE uOutgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662 uOutgoing frame #3, 64 bytes: A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B707260262696593C37F3F9CEDFBA5EE3DE5AC732A14AE42F3647FC15CA04FAB07F0EEED9E8 DNmea out: $CCCYC,0,1,10,1,0,3*6B )9 i "~j? t= ) I y S?y&1~jth? `e D;  @) bAI Ai p@ QA V> >i @ @) @I @i @ӼM aEDyܼ}m>I! -:% 5? -:%1 %@ 5?9%B%: %<:)%:WUW1@WQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUm`g@Pq*QupBZQuDC@]NJQu C?t:5#2Qu:QqbQuG\OH=(J@qNZ)!?RQufN#r?Y#Z?BQu@ Qu VBQuDPu֧9?Pu9?Pu QuQu%A"QuQZB ^<B B9A=d>*B9AE`AAAAAESҶ<"CMp@RCICMW1@CQ>%?i%?IG?q,:Y CEAY}Jfa@}JQ@y}J<&=}J}JH M )?B Sq]lݤ`?)~Jfa@ ~Je_;I~JCɫiq)q uIqY@y|GBNmea in: $CACYC,0,1,10,1,0,3*69 =]>99I=|vGi=W@==99=V; 9-? ---0 -BM:Y-WU1y-:-5)-;i% E+M% L=Y% ջQU- >) ) a- E- +D1 y5 C}5 >I9 = S 5?= p3 = h@ M ?9= EB= : = :)9 m} qAdded new target pos. range: 72.720009 m, bearing: 132.579532 deg, deltaT: 4.852615 s, approachRate: 0.086552 m/s, LOS rate: 1.874410 deg/s, posRepo size: 4m  ProNav: pos range: 72.720009 m, bearing: 132.579532 deg, approachRate: 0.086552 m/s, LOS rate: 1.874410 deg/s, cmd update: 5.623230 deg/s, cmd heading: 158.766186 deg, new cmd heading: 162.796735 deg. W 3@W X  X W :W 2W *W V bU BU *U U .R@U k?B =<B  B A >*B A +A A A !<"C T#@RC C 3@C >׉ I G >ɐq,%CEAY}6&`@}6AP@y}6G=}6}6H9 U߽? x$iÿǣ \ÿ?)~6&`@ ~65s_;I~6CɫII)I QIQY@yzGNNmea in: $CADRQ,011452,1,10,0,64,1*75 uNmea out: $CCTXD,1,10,1,CC101761160001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE*41 i!)-^M5=YM/QUUG?aE2Dyǽ}}=?Iȑ :ŕ 5? :ŕ>4 ƕA@ %?9ƕBǕtk< ȕ1j<)ȕ:W#5@WX XW:W2W*WVbUBU*UUUx?Beg<Ba BaAeK>*BaAmzAiAAT<"Cc'@RCC#5@CցY Ii G >2ϐq,I?CEAY}:a^@}:N@y}:=}:I5}:H@ *?`{඿Zƿ@䝢 ƿz?)~:a^@ ~:im@i m@)mIm@im/@}&C<M}W=Y}ŻQU>aE>DyY}>Iȑŕ 5?ŕ5 ƕ@ ?9ƕBǕ>: ȕJ:)ȑW7@WX XW:W2W*WVbUBU*UUU ?Be<B B A >*B A dA AAs<"C+@RCC7@C>IGG>5555  5,:Y5T1y5:5m59=@ 9 I tGi @ R; ŗE2֐q,YCEAY}2\ ]@}2(M@y}2 =}2>yH}2H^DZ?^O@ɿ`zȿ^?)~2\ ]@ ~2`;I~2Cɫ99)9 =I9Y}@y}yGI?)?iMC=YQU>aEKDy$y}>I  :  5? : 5 @ ?9 B o: :) :W=nC:@W9XA XAWA:WA2WA*WAVIbUIBUI*UQUQUU?B}N̼<B BA->*BA8AAA÷<"C11@RC~>CnC:@C_>IG%n>Dܐq,tsCEAY}22[@}2@NK@y}2$=}2T}2H?]` (J5qʿa@Lʿ@L?)~22[@ ~2_;I~2Cɫ髁) IYP@yxGi!Dl?EԸ?~jtO-?= D)IyK7A`?~jt?~jth?+?= ½@)½3AI½Ai½ AQAfAu`e=u=u->iup@q u@)u@Iuiu@WM3=Y~xQU>aEZDyB}>Iȡť 5?ť07 ƥ|@ ?9ƥBǥU: ȥ:)ȡW]=@WX XW:W2W*WVbUBU*UUU`?Bbp<B! B!A%>*B!A%9A)A)A-<"C5BQ7@RC5P>C5]=@C1 H~>IAA)AAI)GEs>}}1 3:YkS1yԊ:#5,q,PCEA||Y}6n*Y@}6EI@y}6<}65W}6H? 0`l k Jʿ j@ʿ@F?)~6n*Y@ ~6#_;I~4ɫ99)9 =I9Y}@y}xG鮁ɮp=*BAe:AAAE<"C:@RC=CP1?@C%Y>܅\>9܁I܅sGi܅@܁܁܁܅P; ݅ėE)}xCI}xCiy}=}=}~4I GeV>Vq,*CEAY}:?W@}:V[G@y}:<}:``}:H@$ D?:l˿@[՝ ˿8?)~:?W@ ~:^;I~8ɫ99)9 =I9Y}I@y}wGNNmea in: $CADRQ,011453,1,10,0,64,2*77 uNmea out: $CCTXD,1,10,1,0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662*33 IA)ixMA=Y=QU> 1a=E=rDqy}>I :p 5? -:p8 @ =?9(Bh0< 4<):WUMB@WQXQ XQWQ:WY2WY*WYVYbUBU*UUU@RB*** querying acoustic contact ***PPBn<B BAz>*BA%< [:A!A!A%o<"C-A@RC-C-MB@C1}wf>QIYGu>& 2/:Yy5o>q,CEAY}2U@}2.E@y}2ڄ<}20h}2H`*n?-&̿ ̿`c+?)~2U@ ~2R^;I~0ɫ99)9 EIAY@y]wGZ****** received transponder code query ******F****** received ping request ****** u>/=?~>i@ @)@I@i@-~M-7=Y5}QU5>19a=E=D9yE;p}E>Iim#X 5?m8 m@ u?9mBm: m:)iW D@WX XW:W2W*WVbUBU*UUU@Be<Ba BaAeƋ>*BiAmLj:AiAiAmj˸<"CuQE@RCu#bĽCu D@Cy}q$9>inGI9iIyMWٺdEBIG>١ ٥ <) 9) I- rGi- *@- =) ) - M; - ×Ehq,zCEAY}2XT@}2_tD@y}2<}2m}2HY@{@4th?e0Ϳo>yͿ]!?)~2XT@ ~2^;I~2Cɫ99)9 =I9Y0@yKvG@AxDUSBL response received:!U1,P 488,000,0072D,18A,80,80,52,FF Command AckBRequesting micromodem ping code 2iNNmea in: $CADRQ,011455,1,10,0,64,3*70 uNmea out: $CCTXD,1,10,1,A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B707260262696593C37F3F9CEDFBA5EE3DE5AC732A14AE42F3647FC15CA04FAB07F0EEED9E8*48 iE͢MMp=Y]QUe?qyaEDyj}>I }:=D 5? :M8 H@ ?92B< <):Wr6G@WX XW:W2W*WVbUBU*UUU @BeXs<Bi BiAm{>*BiAm<Ԣ:AiAiAuF<"CuRH@RC}uFC}r6G@Cyօ>Iב)בyIG' /:YWU1y:5)%;9q,)CEAɫ) IYm@ymuGaED[@@y}>I+ 5?47 @ ?9B; ;)WEMJ@WAXA XAWA:WA2WI*WIVIbUIBUQ*UqUqUuА@B~<B BA"q>*BA׾:AAA-<"ComHRCCMJ@C =IG >zq,DEAY}2R@}21B@y}2{<}2f}2H`F$ѷئ ? ̿nփ̿/?)~2R@ ~2^;I~0ɫYY)Y YIYYk@yZuG0Nmea in: $CATXP,192*48 ^Response from modem unexpected: $CATXP,192*48 [>9IqGi@=F; Ei™gAQܼM"=9 ? ^8:Yy#5);Y1BQU>aEDyi}>I : 5? :5 @ ?9`B: :):W% =M@W! X!  X! W! :W) 2W) *W) V) bU1 BU1 *U1 U1 U= @@Be tŀ<Ba  Ba Am ?c>*Bi Am N:Ai Ai Am g<"Cu NDRC} hC} =M@Cy t=ב I G > q,rP)DEAY}2Q@}2A@y}2<}2qY}2H@oɦ@NG?`@ ʿv@˿@E?)~2Q@ ~2+o_;I~2CɫIQ)Q UIQY@ymtG鮕p=ɮiM=Y(QUo?aEDy-}q?I 5?4 @ ?9B: @:)WeN@WX XW:W 2W *W V bUBU*UUU !~@BE<B BA-K>*BA:AAAd<"C?CRCCeN@C=IG#>\q,CDEAY}2pP@}2@@y}2<}2K}2H T 'þ@]5? !ȿޔOɿ@~\?)~2pP@ ~2Uf;I~2CɫYY)Y ]IYY@ytGIA)Ai % % %%%%>i%(@% %@)%@I!i%"@5j<M=C=Y=QU=>AAaEEEDIyM }M>IQU" 5?U<3 Uk@ e?9UBUM: U{:)QW]Q@WX XW:W2W*WVbUBU*UUU*@B<B BAU>*BA:AAA-k<"C5XARC5 C=]Q@C9-8=IG-,>ui uuu u2<:YuT1yu:u659u@ fA dAa 9a Ie aEͯDy=ȼ}>Iȩ :ŭ 5? :ŭe1 ƭ@ ?9ƭBǭ: ȭ:)ȭ:W&S@WX XW:W2W*WVbUBU*UUUk@RB*** querying acoustic contact ***PPB%r<B! B)A-7>>*BA;AAA<"CH?RCC&S@C֥0:DaIiG9>hq, vDEAY}uO@}uQ@@y}u.$<}uر&}uH  `1h`?HĿ #9Ŀs?)~uO@ ~uKc;I~uCɫII)I UIQY@ysG)i  a i@a  a m@a  a q@a  a e@a  a I@a  Mb@Mb@Mb@ )IiMb@Mb@Mb@© )Ii 5@ 5@ 5@5©55i5G@5 5X@)5I1i5X@E!ME2=YE;QUM>IIaMEMۯDQyU}]>IaeO 5?eJ/ e @ m?9eBe: eC>)aWV@WX XW:W2W*WVbUBU*UUU`@Bc{f<B BA9>*BA;AAA<"Cy<RCCV@Cp\׹IGg>@ ' 8:YDW1yY:5#q,DEAY}2O@}2?@y}2<}2}2H`s,@?Y4¿`@¿?)~2O@ ~2b;I~0ɫ99)9 EIAYE@yM7sGU?iU@ 9 I nGi @    U; ǗEi%dA%dAm1ۼMm!=YuQUu>yya}E}DyyG'}>Iȉ :ō 5? :ō, ƍe@ ?9ƍBǍ: ȍw?)ȍ:W]Y@WX XW:W2W*WVbUBU*UUU`@BxR<B BA+>*BAm;AAAON<"C Xi8RC C ]Y@C֭ 潹ׁ I G >!*q,~DEAY}2P@}2T+@@y}2K<}2;}2Hl2n?@#w u@xpR?)~2P@ ~2Hc`;I~2Cɫ99)9 9I9Y@ysGiM=Y,*BA_(#;AAAn<"C=6RCC&[@C(ׁIG>> 1q,YDEAY}:cP@}:\@@y}:l<}:ɽ}:Hv@ʣ#? ,@'?)~:cP@ ~:N_;I~:Cɫ99)9 =I9Y}@y} sGi - - --C>--=i-@- -@))I-@i-5@ElMEF=YE;QUE>IIaMEMDQyUTM<}U>IY]W 5?] * ]@ e?9]sB]B: ]?)YWS]@WX XW:W2W*WVbUBU*UUU@@B5e<B BA'>*BA+;AAAϺ<"Cbg4RCCS]@C֭كA׉IG>Q M H::Y0Y1y:"5ّ ٕ <ܙ 9ܙ Iܝ mGiܝ @ܙ ܙ ܙ ܝ Z; ݝ ɗE)ݩIݩiݩݭ =ݭ =ݭ֠437q,76DEAY}2 %Q@}2@A@y}2y=}2aE Dy<}>Iȱŵ~ 5?ŵP( Ƶ@ ?9ƵBǵ : ȵa@)ȱWyS`@WX XW:W2W*WVbUBU*UUU]@BD_<B! B!A%q">*B!A%c4;A!A)A-9P<"C5;1RC1C5yS`@C1- dI5cA)5bAIG (>a=q,DEAY}AR@} ]B@y} =}c}H @񋺿k@Һ?} S Ȗ@G?)~AR@ ~4a;I~ɫ) IY-@y-!rG=0Nmea in: $CATXF,192*5E E^Response from modem unexpected: $CATXF,192*5E iIIa ia i a ma m a qa q a ea e a i@a  a m@a  a q@a  a e@a  \(\?V-{Gz?> #=)IiMb@Mb@Mb@ ©)©I©i©m1?m:mim @i m@)mA@Im@im"@}"M}/=Ymr;QU>aEDy=}>If 5?& >@ ?9Bа: @)WRc@WX XW:W2W9*W9V9bUABUA*UAUAUM@RUB*** querying acoustic contact ***PQPQB*A<B BAw>*BAN=;AAA<"C4.RCCRc@Cޑiޕ= , K6:YWU1y:5 'gIG- > \> ia Iy i ٺ =BEDq,FEEAY}2NS@}2C@y}2=}2y4<}2H@`ִ?_?`k?d?)~2NS@ ~2 a;I~2CɫYY)Y ]IYY@yqGNmea in: $CAXST,7,20210814,011456.579957,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*6F Response from modem unexpected: $CAXST,7,20210814,011456.579957,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*6F i4M=Yu;QU?aE&DyH=}?IW 5?% b@ ?9Bn; 3@)WEFe@WAXA XIWI:WI2WI*WQVQbUYBUY*UYUaUe` @B d_<B BA>*BAB;AAAcs<"CE-RCCFe@C999I=kGi=s@==99=E; =E֍0pAIQGm5>1qJq,-+EEAY}6\U@}6xE@y}6]=}65=}6H I}?V ?`wJ :?/?)~6\U@ ~6`;I~6Cɫ9A)A MIIYux@y}qG?i4>ie MeB=Y3;QU>aE4Dy k=} >I :A 5? :$ @ %?9_B: O@):We h@WaXa XaWa:W2W*WVbUBU*UUU l!@B?<B BA>*BA;J;AAA5<"C q*RCC h@C%}-?i-?IG%M>* = ,7:YT1y:5WQq,aEADyX=}>IE. 5?$ @ ?9BJ: i@)Wj@WX XW :W 2W *WVbUBU*UUU@2"@BEm:<BA BIAM=*BIAMP;AIAQAUp<"CU^(RCYC]j@CYEƂI)GEQ>5 dA5 gA= Z>99 I= iGi= .@9 9 9 = :; = EWq,N|_EEAY}6X@}6QH@y}6#=}6Q=}6H`m {P5A@f?@:?`NuJ.?x?)~6X@ ~6C_;I~4ɫYY)Y ]IYY@ypG鮡ɮR=iмM\=Ym ;QU>aEMDy=}>I 5?# @ ?9EB: v@)W l@W X  X W:W2W*WVbUBU*UU!U% "@BM2<BI BIAU=*BQAY#U;AAA읾<"C&RCCl@C}סIGA>! 0:YWU1y:5);9]q,dyEEAY}R"hZ@}RJ@y}RE#=}R=}RHb`2?D7F1Ӿ?Og ??)~R"hZ@ ~R!_;I~RCɫ髱) IY@ypGI)Ai  a ia i a ma m a qa q a ea e a Ia I S㥛?~jt?aE\Dy`=}>Iȩŭ 5?ŭ# ƭ@ ?9ƭBǭ: ȭb:)ȩWo@WX XW:W2W*WVbUBU*U U U`#@BV( <B BA>=*BA<[;AA!A%ە<"C%]"RC)C-o@C)-ƂI5eA)5fA IG=>Ɠdq,2EEAY}2\@}2L@y}2 =}2˒>}2HY ~?r ?l ??)~2\@ ~2^;I~0ɫ99)9 =I9Y@ynG)iqyDMZ=YYQU>aEhDy=}>9IhGi@ =A; EI :M5? :# G@ ?9ZB:  :):WtBr@WX XW:W2W*WVbUBU*UUUa$@Bd;B BA_=*BAW^;AAA \<"C RCC tBr@C ·8 ~~  I8:YT1y@:5)r;IGj>սjq, EEA|i|@Y}F0]@}FM@y}Fc=}F2>}FH`m?l@ {?=^`W?`ԩ?)~F0]@ ~Fk_;I~FCɫ髁) IYUT@yUoGY]@Ai]ҍ>]b]Ѿi]z@Y Y)YI]"@i]@mHa<Mu =Y}*QU}>aE{Dy5=}>IȡťV5?ťZ$ ƥ@ ?9ƥBǥ?; ȥ;)ȡWu@WX XW:W2W*WVbUBU *U U U @%@R B*** querying acoustic contact ***P P B] >;BY  BY A] =*BY Ae c;Aa Ai Am <"Cu ?RCq C} u@Cy ԙ ԝ fA֝ }ץ ?iץ ?q I G >qq,EEAY}FvY_@}FtO@y}FC*=}F >}FH ?@O`_u*??@}N?^?)~FvY_@ ~F_;I~DɫIQ)Q QIQYn@ymGZ****** received transponder code query ******F****** received ping request ******0wq,kGEEAY}2 a@}2r'Q@y}2 =}25>}2Hk?L!`k[?7sF??)~2 a@ ~2s_;I~2CɫII)I MIIY}@y}EmGxDUSBL response received:!U1,P 488,000,0072D,18A,80,80,52,FF Command AckBRequesting micromodem ping code 2i:Nmea in: $CAACK,10,1,1,1*7B iAHM]=YQU>aEDy=}?I :[5? :% @ ?9B: ]:):Wy@WX XW:W2W*W V bU BU *UUU&@BE;BA BAAEψ<*BAAMO&e;AIAIAM%<"CURCQCUy@CYM IG-->V~q,"EEAɫ髁) IY@ylGɮp=:Nmea in: $CAACK,10,1,2,1*78 gA鼕gAiS?x&?L7A`堿/?7 > +)IyV-?L7A`堿Mb`? ?+; MA);@I AizAzA>i@ E@)Σ@IE@iE@2M *=Y QU >aEDy}>I!%5?%& %8@ 5?9%hB%: %:)!WU|@WQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUm@j'@BBӂ;B BAE;*BAAE$e;AAAIAMl<"CMRCQCU|@CQm3 iim0 m7:Yiyim5U_ⅾI]fA)YIIYGu>&q,FEAY}:d@}:6:T@y}:<}:~>}:H#`d?9I5ƿ , ߊ?2@5z?`?)~:d@ ~:z^;I~:CɫYY)Y aIaY@y"lG:Nmea in: $CAACK,10,1,3,1*79 I)ASent 184 bytes from file Logs/20210814T003940/Courier0022.lzma.parts.Packets left to send: 1E[>9AIEdGiE@AAAE^; E̗E)сIсiсссՁt4)i11}RM}T=YBQU>aEDy=}>Iș :ŝ5? :ŝL( Ɲ@ ?9ƝBǝ: ȝw:)ȝ:W@WX XW:W2W*WVbUBU*UUU,(@B $e;B  B A *BAAAA$D<"CEQRCC@C!=g煾I!G=r>*.q,.FEAY}Ee@}E#U@y}Es<}E>}EH`] W?ZI L ɿ>?@??)~Ee@ ~E@z^;I~ECɫ) IYm@ymkGQNmea in: $CACST,6,0,20210814011503.265024,06,32767,45,0106,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,23.0,12.52,23,-9.52,-01,0.11,43,14500,4000*5E Response from modem unexpected: $CACST,6,0,20210814011503.265024,06,32767,45,0106,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,23.0,12.52,23,-9.52,-01,0.11,43,14500,4000*5E eW eeeS e::YeU1ye:ek5 2Using rate 1 for 9 bytes. \Outgoing frame #1, 9 bytes: CC1017611600000000I- ?)) i1 1  @  @  @Õ ©Õ Õ iÕ p@Õ ĕ )ĕ X@Iĕ iĕ @ nM a E D y =} r>I  : c5?  : w+ @  ?9 B : :) :W QӁ@W X  X W :W 2W *W VbUBU*UU U  !4*@B1B1 B9A9*B9A9A9A9A=l[<"CEyRCICMQӁ@CIiI!i9udٺquQB}v񅾹1IAG]?Kq,ISFEAY}F!g@}Fr=W@y}F$<}F[w>}FH5`a?,̿|D?ĖZ?@ğ?)~F!g@ ~Fr^;I~FCɫiq)q uIqY@yjGiGM=YYQUs?aE ǰDy%>}-l?I15B[5?5k, 5y@ E?95B5; 5V;)1=Z>99I=XcGi=ȸ@999=d; =ϗEW{@WQXQ XYWY:WY2WY*WVbUBU*UUU@*@B9B9 BAAE *BAAMȕd;AIAIAM<"CUB RCQC]{@CY֍_ⅾiIqG}>꽚q, mFEAY}6h@}6X@y}6j<}6H>}6H`6#? ͸ vϿp? 풿J?@2?)~6h@ ~6jO^;I~6CɫAA)A MII~~< o/:YT1y@:~5)̌;9Y]@y]iGi   =vIiG@ )@Id@iE@ 9=M :=Y5 QU5>11a=E=հD9yEz=}E>IAE/G5?E. EJ@ u?9EXBEù; E';)AW ؃@WX XW:W2W*WVbUBU*UUU}+@R5B*** querying acoustic contact ***P1P1B pkB BA]*B!AMa;AQAQA]A8<"Cuo RCyC} ؃@CN؅IG >եq,KFEAɫyy)y }IyY<@y jG 鼱iu-?1Zd˿{Gzu??u"[ u#)qIqyuM?X9v rh?un?uuC = uA)uZ@Iu AiuAquf Aɮ<MA=Y-QU5>19a=E=DAyE}e>Ii :m425? :m1 m@ ?9mBm; m1;)m :W8@WX XW:W!2W!*W)V)bU)BU)*U)U1U5@_,@B}9B BA8*BA_;AAA<"CxRCC8@Cֵ׉IG>1 91 I5 ,bGi5 Է@1 1 1 5 g; 5 їEЧq,`ǠFEAY}6Al@}6j]\@y}6#lP<}6Bz>}6H ŵ?@@ӿC?`V @C?Ь?)~6Al@ ~6`^;I~6CɫYY)Y ]IY + k5:YT1y:5);Y @yhG鮭a=ɮiݽMl=YQU?aEDy%>}?I"5?4 @  ?99BM: ߼:)W-3@W)X1 X1W1:W12W1*W9V9bU9BU9*UAUAUE,@Bm[WB BA=*BA[;AAA[ <"ChRCC3@CIGI>q,FEAɫ髉) IYq@ygGNmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i>ҽ=i@ /@)E@Ii/@6M(=YQU>aEDy}>I  : R 5? : 7 "@ ?9 B I; s;) !:WЇ@WX XW:W2W*WVbUBU*UUU@.@BxCB BA1Ͻ*BA T;A A A |<"C}RCCЇ@CmN؅I IQ Gm >ᴑq,zFEAY}>]o@}>y_@y}>Ƙ;}>22>}>H?ܬտ ?U?D?)~>]o@ ~>M^;I~>Cɫ99)A EIAY}@yagGޝ=iޝ=||h .:YR1yi:59@Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5DNmea out: $CCCYC,0,1,10,1,0,1*69 I?)?i9IaGi@!=n; ԗEM%b=Y-bQUM>qqa}E} Dy >}>Iȱŵ5?ŵD; Ƶk@ ?9Ƶ7Bǵʽ: ȵ:)ȱW@WX XW:W2W*WVbUBU*UUU |.@B=t㬻BA BAAEC*BAAEO;AAA.<"CpRCC@Cg煾ױIG>q,aFEA|i|@Y}Jj q@}J&a@y}Jaԡ;}J>}JHc u> q)u&CIqyuBu[[p?8F,wٱqBNmea in: $CACYC,0,1,10,1,0,1*6B iH> 0i@ )@I/@ipML=Y+QU>aE%D1y5E=}5>I9=5?=(? =@ M?9=B=": =:)9W"&@WX XW:W2W*WVbUBU*UUiUm/@Pi*QmBZQm BJ@OHJQm[[p?8F,w2Qm֭?:QibQm1 Qm:.:@!p RQmph4_?:dBQmv1@ QmtAQmPm9?Pm֧9?Pm<Qm Qmaɿ"Qm%ABE"BI BIAu*BqAuG;AyAyA}c/<"CRCC"&@C N؅I ) I G >Jq,]2GEAɫyy)y }Iy7 6 58:YWU1y:55Y|@yfGeNNmea in: $CADRQ,011508,1,10,0,64,1*7B e^Received CADRQ with bad size: 64 expected <= 32m^Nmea out: $CCTXD,1,10,1,CC1017611600000000*4E }2Using rate 0 for 9 bytes.\Outgoing frame #1, 9 bytes: CC1017611600000000i 鿙9I7`Gi>@t; חEE p= ף?bX9ȶ?e Me =Ym QUm >i i am Eu )Dq yu }} >Iy  :} 5?  :} UE } :@  ?9} XB} : } :)} ":m uAdded new target pos. range: 73.260002 m, bearing: 158.946343 deg, deltaT: 15.811734 s, approachRate: 0.034151 m/s, LOS rate: 1.667547 deg/s, posRepo size: 4m  ProNav: pos range: 73.260002 m, bearing: 158.946343 deg, approachRate: 0.034151 m/s, LOS rate: 1.667547 deg/s, cmd update: 5.002641 deg/s, cmd heading: 247.354753 deg, new cmd heading: 250.757021 deg. W ֋@W X  X W :W 2W *W V bU BU *U U PR@U H?B "B  B A %*B A >;A A A *<"C RC C ֋@C! 5 FӅIIQGu>>,ɑq,>y&GEAY}J*v@}JrFf@y}J:}Ji>}JHE7?5ܿ`bp` $?2^g??`T?)~J*v@ ~J(_;I~Hɫqq)q }IyY@yzeGmdNmea in: $SNTTA,0.385417,0.064357,,,011508.03*5F mTXD response from modem unexpected: $SNTTA,0.385417,0.064357,,,011508.03*5F )yi-LM-=Y5QU5%?11a=E=2DAyMd>}M%?IQU5?UH Uz@ m?9UBUk; U;)QW@WX XW:W!2W)*W1VQbUYBUY*UYUaUe?B&B BA)%*BAY8;AAAI<"CrsRCC@CIG>  9 5:Y y 5Бq,A@GEAY}6bw@}6g@y}6}6&y>}6H`]R?kŰdݿ ?`?*?ݨ?)~6bw@ ~6_c;I~4ɫyy)y yIyY@yeGI)I?)?i @ @ @Å©ÅÅiÁÅ ą)ą@Iąią@iX;M=Y":QU>aECDy79=}>Iȱ :ŵ5? :ŵO Ƶ@ ?9ƵBBǵ: ȵ{:)ȵ#:W@WX XW:W2W*WVbUBU*UUU`?B%B! B!A%O#*B!A-?.;A)A)A-k<"C5URC1C5@C9E o셾 I1 GU >\9֑q, ZGEA2gA2hA6[>94I6 _Gi6J@4446o; 6՗E)Ii!=!=4Y}FSIy@}Fdi@y}F}}Fws>}FH@^?@p{@C޿ *n?Fw?@^?@?)~FSIy@ ~Fl;I~FCɫyy)y }IyY@yvdGiyyFM=YD~QU6?aEKDyq=}/?I)-5?-yS -:@ 5?9-B-T; ->;))Wuq؎@WyXy XyWy:Wy2W*WVbUBU*UUUi?B1_B BA?*BA1';AAA<"CARCCq؎@CN؅׹IGf> i  x x Q 1:Y 7P1y : 5) -;9 sܑq,X;tGEAɫ) IY=U@y=dG:Nmea in: $CATXD,1,10,1,9*72 DNmea out: $CCCYC,0,1,10,1,0,1*69 ia iM@a M a mM@a M a qM@a M a eM@a M a IM@a M MMb@Mb@Mb@MM M)MIIiMMb@Mb@Mb@M©MM M)MIMiMMM   />Yi@ )d@I/@i/@-GM-'=Y5QU5>11a=E=[D9yE}E>II U:Mt5? U:MZ M@ U?9MBM: M>)M$:Wut+@WyXy XyWy:Wy2W*WVbUBU*UUU`@B*B BAK*BA;AAA<"CRCCt+@C׉IG>SLq,ZՍGEA|i|@Y}>8|@}>Sl@y}>y}>Oa>}>HB? 2l ?#? ?½?)~>8|@ ~>lf;I~>CtvCCiU3oGImliAɫ髁) IiY@mٺliAXBydG},Nmea in: $CATXP,9*4B }ZResponse from modem unexpected: $CATXP,9*4B ]?i @iQQuL=Mun=Y}޼QU}?aEfDyI>}>I|5?n_ @ ?9xB; U?)Wu1@WqXy XyWy:Wy2W*WVbUBU*UUU^@B5/B1 B1A59*B1A=?|;A9A9A=<"Ce6iRCaCe1@Ci }=}>a9aIeD^Gie@aaaev; eٗE֕o셾iIyG>    P 5:Y V1y : 5) a;uq,OGEAY}2 }@}2m@y}2}2 0=}2H 2T?@QN g@zy?A? P?o?)~2 }@ ~27c;I~2CɫYY)Y ]IYY@ycG,Nmea in: $CATXF,9*5D ZResponse from modem unexpected: $CATXF,9*5D )i19uMu\=Y},QU}>yaErDy~=}>Iȑŕ&n5?ŕ5e ƕ@ ?9ƕBǕ: ȕ?)ȑW};@WyXy XyW:W2W*WVbUBU*UUUP@R5B*** querying acoustic contact ***P1P1BPB BAW*BAP;AAA-<"C%ܿRC!C%;@C)5FӅIG5>I ) @A7_q,\GEAY}2U@}2qo@y}2"}2gP=}2HiY?IJ1?S?`gv?@?)~2U@ ~2sa;I~2Cɫ99)9 =I9Y@y.cGZ****** received transponder code query ******F****** received ping request ******9 9 a= E= D9 yE =}E >II M U5?M o M H@ U ?9M BM : M ?)I Wu u@Wy Xy  Xy Wy :Wy 2Wy *W V bU BU *U U U `z @B 1B  B A `*B A Z@:A A A ]<"C ԿRC C u@C -   i7:Y WU1y : 9 @y 9y I} |]Gi} @y y y } j; } ӗE _ⅾ ?i I G >Yq,GEA|4<|4q,ܟGEAY} GT@} r@y} י} p!=} H`MpR?Cʭgg 6 |e? :?`Ͼ? ?)~ GT@ ~ a;I~ Cɫ) IY5@y5bGiQQa iMa iM a mMa mM a qMa qM a eMa eM a IMa IM M-?Q롿 ףp= ?M?5?M\ MQ8=)MIIyMףp= ?õףõiõ@ñ ĵ/@)ĵ/@IĵE@iĵE@2M/=YQU>aEDya=}>I85?} x@ ?9nB< Y<)Wu@WqX XW:W2W*WVbUBU*UUU`³@BWB BAvr*BAn:AAA <"C%bt̿RC)C-@CQe V݅9 A iE =U U {U {U + U 1:YU #R1yU :U 5Ia G >dq,TnHEAY}2+=@}2ޕt@y}2ϝ}2K=}2Hi ?\qv5??2A? ?)~2+=@ ~2N`;I~2Cɫ99)9 =I9Y @yobG:Nmea in: $CAACK,10,1,1,1*7B Sent 1 bytes from file Logs/20210814T003940/Courier0022.lzma.parts.Packets left to send: 0 fAi/MN=Y3QU>aEDyt=}>I :)5? : +@ ?9B: :)&:WE@WX XW:W2W*WVbUBU*UU U @B=5B9 B9A=Pt*B9AE:AAAAAEz<"CMU~ȿRCICME@CQ܁9܁I܅]Gi܅@܁܁܁܅l; ݁=N؅IG%n> q,4I,HEA|i|@Y}>-@}>vv@y}>}><]=}>H`~F?@9:`- ? {?I?@?)~>-@ ~>k]_;I~>CɫYa)a eIiYC@ybG@AQNmea in: $CACST,6,0,20210814011512.092247,06,32767,45,0104,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,25.4,10.15,20,-7.15,-01,0.36,40,14500,4000*5A Response from modem unexpected: $CACST,6,0,20210814011512.092247,06,32767,45,0104,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,25.4,10.15,20,-7.15,-01,0.36,40,14500,4000*5A a M iu&1>uP=uף;iuz@q uۙ@)uE@Iud@iu@4E<M=Yx9QU>aEDyQ=}>I5? =@ ?9B: q:)W% V@W! X!  X! W! :W! 2W) *W) V) bU1 BU1 *U1 U1 U5 ^]@1(E  PE pAggregate::uninitialize lineCaptureDepth:MicromodemCommsq(E PE Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn(E Be LBi  Bi Am ^m*Bi Am ':Ai Aq Au =;<"Cu ¿RCy C} V@Cy ԉ ԍ gAU q U |U |U J U <:YU R1yU i:U ~5֙ ץ ?iץ ?Y Ia G >5q,FHEAY}2@}2Xx@y}2e}2v=}2Hu? -$``Vt? `p?@C??)~2@ ~2^;I~2Cɫ)))1 5I1YmN@ymaGi6&M=Yx9QUs?aEDy,>}?IȹŽ 5?Ž- ƽ@ ?9ƽBǽ: Ƚ:)ȹW@WX XW:W2W*WVbUBU*UUU@B-iܼB) B)A5*B1A5 |:A1A1A53R<"C=RC9C=@CA]V݅1IAG]3>= fA9 A 9A IE P\GiE @A A A E n; E ՗Eq,@`HEAY}2@}2"z@y}2L}2+=}2H\ ? 2 s??`???)~2@ ~2҂^;I~2CɫYY)Y ]IaY@yaGI?)i}q<M}>=Y\QU>aEαDy=}>Iȩ :ŭ5? :ŭ ƭa@ ?9ƭZBǭ;; ȭj<;)ȭ':W-C@W)X) X)W):W92WA*WAVAbUABUA*UIUIU@@RB*** querying acoustic contact ***PPB炼B BA*BA>:AAAU7<"C2RCCC@C?΅IGEr>5 5 5 5 l 5 G/:Y5 T1y5 :5 5)5 ;9= Pq,I/zHEA|;|;Y}6,Յ@}6{@y}6C}6->}6Hv ˨?k :s??2?i?)~6,Յ@ ~6^;I~6Cɫ11)1 5I1YuͶ@yu`Gyɮ}a=i}MbX9?QV-?}!?} }<)yIyy}-?=ip@ )/@IE@i/@CXMC=YQU>aE۱Dyz=}>I  5?  @ ?9 B D: n:) Wq@WX XW:W2W*WVbUBU*UUU u@B-B1 B1A5*B1A5^D:A9A9A=)<"CeFyRCaCeq@CiuFӅIy)yIIYGuy>$q,bHEAɫ髙) IYY@yaGi99]7=M]U=Y]QUe>aaamEmDqy}}}>Iȁ :Ņu5? :Ņ ƅ@ ?9ƅXBDžD=; ȅ>;)ȅ(:Wd|@WX XW:W2W*WVbUBU*UUUK@BB! B!A%D*B!A%E9A)A)A-<"C5MRC1C5d|@C99I[Gio@b; ϗE)݉I݉i݉݉݉ݍ3!IG J>5 Y 5 5 5 H 5 ::Y5 WU1y5 :5 5)5 ;*q,HEAY}>SQ@}>/~@y}>}>>}>H@b {?b'@??,'??)~>SQ@ ~>Ff];I~>Cɫ髱) IYͶ@y`Gi  )= = @ @ @Õ©ÕÕiÕG@Õ đ)ĕۙ@Iĕiĕ@)ME=Y"QU>aEDy=}>I5?` @ ?9B: :)W@WX XW:W2W*WVbUBU*UUU@@B5B1 B1A5*B9A=ڦ8A9A9A= <"CERCACM@CI]V݅1IAG]U>>1q,%HEAY}2@}2T@y}2d}2=}2HF)?BDx%??`"?@?)~2@ ~2^;I~0ɫYa)a eIaY@y`G=i=i)iQY~]ML=Y%QU>aED)y5[=}5>I9 E:=5? E:= =_@ E?9=_B=: =:)=):We̞@WiXi XiWi:Wi2Wq*WqVqbUqBUq*UyUyU}S@B㓝B BA*BA4C!AAA%<"C RCC̞@CinGIjAie ]ٺejAeJBֽN؅יIGb> <  9 I $[Gi @ n; ՗E5 5 ~5 ~5 L 5 4:Y5 T1y5 @:5 5)5 X;|8q,HEAY}2k@}2/@y}2uͼ}2=}2H 1ʶ?@g\??*??)~2k@ ~2^;I~2Cɫ99)9 =I9Yuض@y}`Gi I 4=) C=?Q?~jth? ?u< D;)IyV-?MbpX9v? ?}= A)IiG AgAfA ] ] ee?eSe=ie @e e/@)eX@Ie/@ieԸ@u?W;M}aEDy=}\>Iȩŭ5?ŭW ƭR@ ?9ƭDBǭ: ȭ+:)ȩWd@WX XW:WY2WY*WYVYbUaBUa*UaUaUmQ @B eB BA]*BA AAAW<"CRCCd@CFӅIG'?zBq,uX IEAY}:`׊@}:$@y}:+ּ}:=}:H ~?  ft ׵?@ޚ?)?`p?)~:`׊@ ~:#^;I~:CɫQQ)Q UIQYu-@yu#`GIy)yiSϽM=Y'QUZ?aE#Dy->}[?I :5? :b @ ?9}B: :)*:W~@WX XW:W!2W!*W!V!bU!BU)*U)U)U5 ; @R=B*** querying acoustic contact ***P9P9> K 8:YT1y:59@B1B BA*BA~?AAAd<"C zRC C ~@CI G-N>I9IIIiIIIIMw; MڗEHq,\%IEAY}2)@}2ǃ@y}2~̼}2(=}2H@Yc? @ `ٵ?A?ݞ?h?)~2)@ ~2j];I~2CɫII)I MIIYe@ye_Giyy 9ML=YaO;QU>aE0Dy=}>I*5? @ ?9B: ߼:)W@WX XW :W 2W *W V bUBU*UUU`}!@BElBA BAAES*BIAMR|AIAIAMU<"CU9=RCQC]@CY im>ցaIGB>Oq,>IEAY}2s@}2N@y}2Լ}2=}2HN?~@ŵ?? g"?`?)~2s@ ~2i_;I~0ɫ99)9 =IAY]@ye_Giqq qq)= = @ @ @©i@ )@Ii@- M-C=Y5ޖ;QU5>99a=E==D9yE?]=}E>II U:MK5? U:MR M@ ]?9MdBM: M:)M+:W}]@WyXy XyWy:W2W*WVbUBU*UUUuT"@N ||&  ::YR1yi:5B>B BA-*BAퟺAAAM<"CdRCC]@C?΅IGI>*Uq,AXIEAY}: @}:.@y}:}:=}:Hػ ? 嶿#D?@t?nm??)~: @ ~:S_;I~:CɫYY)Y ]IYY}G@y}C`GSetting waiting for range response to false due to timeout. Elapsed:6.365639gAgA\>9I\ZGi{@n; ՗E=i=i<M@=Y9QU>aEKDyK=}>I5?n @ ?9B: Ǻ:)W8@WX XW!:W!2W!*W!V!bU)BU)*U)U1U5.#@B]BY BYA]d*BaAe:gAaAaAeC<"CRCC8@CN؅IGl>\q,rIEAY}2z@}2?@y}2ɼ}2#=}2H6?`յ -߿@h??`&޼?@D?)~2z@ ~2q3_;I~2Cɫ99)9 =I9Y]յ@ye_Giqq T 5:YDW1yY:5 } }  @ @ @ÁÁÁiÅp@Á ą/@)ąE@Iāią/@oM==YvQU>aEYDyb=}>I : w5? :  @ ?9XB: :),:WE(X@WAXa XiWi:Wi2Wi*WiVqbUqBUq*UqUqU}`N$@BB BA*BAݯAAA0<"CފRCC(X@CFӅIG>{bq,IEAY}2Ԏ@}2@y}2_:ټ}2=}2Hn޿?Dq@#0޿ ?`{&?~?&?)~2Ԏ@ ~2t_;I~0ɫ99)9 =IAY]@ye_GIq)u?iqq/$?~jt?Zd;O??= j<=)IyM?{Gz~jt?n?ף< )I; Ai A|Mi=Y%QU%>!)a-E-dD)y5=}5?I9=n5?= =7@ E?9=B= : =ӻ:)9WmM@WiXi XiWi:Wi2Wi*WqVqbUqBUy*UyUyU}`$@I@A)BeͼBa BaAeX*BiAm[AAAo(<"CCRCCM@CיIGf>9Iiq; חE'iq,eIEA||4aEqD y S=} >I/e5?" @ %?92B: :)WEk@WAXA XAWA:WI2WI*WIVIbUIBUQ*UQUQU]T%@B+ ̼B BAΠ*BAAAA<"CǃRCCk@C-$ ---[ -6:Y-WU1y-:-"5)-;95֍v񅾹aIiG9>|pq,@IEAY}:@}:pʈ@y}:Lμ}:=}:H ۿ`? r ,ڿW?ٙ? ?`?)~:@ ~:d^;I~8ɫYY)Y ]IaY}µ@y}_Gi    @ @ @i@ ^@)p@Iik%<MK=Yuk;QUu>yya}E}~Dy&=}>Iȉ :ō[5? :ō. ƍ,@ ?9ƍBǍ; ȍe;)ȍ-:W眩@WX XW:W2W*WVbUBU *U U U5Ci&@R=B*** querying acoustic contact ***P9P9B}‹By ByA*BA>"AAA <"C{RCC眩@C ֽo셾יIGg>9vq,PIEAY}2L@}2@y}2}2e =}2Hٿ@ ?_M |Rٿ@ͱ?? IK? w?)~2L@ ~2];I~2CɫYY)Y ]IYY}@y}h_GZ****** received transponder code query ******F****** received ping request ******))a-E-D1y==}=>IAES5?EL: E@ M?9E!BE: E+:=i=% %%%E %K6:Y%T1y%:%l5)%;)AWM@Ū@WiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUyUc='@B>ȼB BA*BAW[3AAAJ<"CmuRCC@Ū@C?΅IG-p>c|q,QIEA|@i|@Y}JF@}JST@y}JL}J=}JH xMؿ@l?m@f׿d?ɕ?@O? ?)~JF@ ~J];I~Hɫ髁) IY2@y^G%xDUSBL response received:!U1,P 35A,000,00736,188,80,80,A6,FF -Command Ack-BRequesting micromodem ping code 2i1Qi-)\(?Mb`X9v?-G>- -<))I)y--? 0=?iQ@ @)@Ii@ʼM%=Y';QU> a E D yn?=}>I E:iI5? E:1J @ E?9B ; ;).:W@WX XW:W2W*WVbUBU*UUU /(@BSżB  B A *B A ~GA A A/<"ChRCC@C95FӅ I G5 >Kq, JEAY}:c@}:(!@y}:}:u=}:H@ֿ M? X฿`ֿ@?–?Ƽ?@ ?)~:c@ ~:Z];I~:C-<>-HCɫaa)a eIaY@y^GimGIi)TٺmBBi~~| 1:YT1y@:459%@-M-k=Y53QU5?11a5E=D9y==}E?IAEB5?ERU E@ ?9E+BE< E<)AWM@WX XW:W2W*WVbUBU*U U U(@BeBi BiAm*BiAuWAqAqAuR<"CaRCCM@CԥgAԡֽg煾?i?בܥ]>9ܡIܥYGiܥذ@ܡܡܡܥs; ݥؗEIG>uq,'JEAɫyy)y }IyY@y^GiI=)=gA̻Mb=YQU>aEDy}>I :;5? :a  @  ?9B(: A:)/:W@WX XW:W2W*WVbUBU*UUU)@B-]@B) B1A5*B1A5'gA1A1A5v<"C=NWRC9CE@CAeN؅!I)GMR>_q,ŎAJEAY}6@}6@y}6~}66=}6HVӿ4[?@ ~@ӿP?L? ??)~6@ ~6^;I~4ɫqy)y }IyYٴ@y^GJNmea resend: $CCCYC,0,1,10,1,0,1*69 i%%%%Y %/:Y%T1y%:%5 e@ e@ e@e©eeie@e e)e@Iaie@ۻM-=Y'QU>aEDy5=}5>I9=35?=p =X@ E?9=4B=: =:)9Wmqc@WiXi XiWi:Wi2Wi*WqVqbUqBUq*UyUyU}r*@BռB BAN*BA}={AAA\<"CQRCCqc@CFӅױIG>χq,d[JEAIIQ9QIU0YGiU@QQQU|; UݗEɫyy)y }IyY@y^GBNmea in: $CACYC,0,1,10,1,0,1*6B Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 NNmea in: $CADRQ,011522,1,10,0,64,1*73 |Response from modem unexpected: $CADRQ,011522,1,10,0,64,1*73 i]<Mei=YuQU}>aE̲Dy}>Iqu-5?uF} u@ ?9uBuv; u';)qW%}@WIXI XQWQ:WY2WY*WaVabUBU*UUU%c+@B&KܼB BA*BAAAAl<"CERCC}@C =I)IG>²q,BuJEAY}-ꍖ@}-@y}-}-=}-H1п?֑@`Ͽ` ?`?̼?R?)~-ꍖ@ ~-];I~-Cɫqq)q uIqYyNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 7 ~~w 58:YT1y@:"5i11 99%C? rhQ?Z>C <)IyX9v? rhQ??C < hA)\AIAiA A)u= u=   ýý1>ýG>iý@ý Ľ@)Ľ3@IĽ@iĽQ@Y;QU>aE۲Dy=}>I :g&5? :0 @ ?9;Bo: :)0:W@WX XW:W2W*WV!bU!BU!*U!U)U-2,@R5B*** querying acoustic contact ***P1P1BUrBY BYAY*BYArAAA<"C5?RCC@CIG>虣q,JEAY}6_@}6m@y}6"}6=}6Hw5Ϳ@?NdJ& Q̿=?ē?G??)~6_@ ~61^;I~6Cɫ99)9 =I9Y]@ye`^GmxDUSBL response received:!U1,R,1E4,000,007AC,187,80,80,76,FF mFpublishing direction and range infoe@ؾaɰe >e1> a)eBIayeBe%:y0?9-<ڿٱayi}=iM999I=XGi=6@999=; =EƩq,JEAɫIQ)Q UIQYδ@yr^GE EEEo E4:YEDW1yEY:Ek5)E;9TNmea in: $SNTTA,0.067576,,,,011522.54*41 it?I,?Ji @ @)E@I@iE@rg;M =YQU>  a E D y}>I %:@5? %:W A -?9=B: M:)1:mUuAdded new target pos. range: 80.340004 m, bearing: 232.764705 deg, deltaT: 14.403956 s, approachRate: 0.491532 m/s, LOS rate: 5.124867 deg/s, posRepo size: 4me ProNav: pos range: 80.340004 m, bearing: 232.764705 deg, approachRate: 0.491532 m/s, LOS rate: 5.124867 deg/s, cmd update: 12.000000 deg/s, cmd heading: 319.701247 deg, new cmd heading: 322.262619 deg. Wm@WiXi XiWi:Wi2Wq*WqVqbUqBUy*UyU}T@U}s?BԼB BA*BA&AAAQ<"C#RCC@C_ⅾ?i?שIG>ݫq,JEAɫyy)y }IyY@y@^Gi!!I-C=)-C=11xMz=YQU?aEDy}?I]5?B :A ?9B4: a:)W.@WX XW:W2W*WVbUBU *U U U?B=fBA BAAE*BAAEZyAAAAAMݖ<"CU:RCQCU.@CQ֥FӅyIG^>Uֶq,mJEAY}6*@}68@y}6}6X=}6H;¿ v?- S? 7?@M ? ?)~6*@ ~6)^;I~4x9xIxixz =xxz; zEɫ99)9 =I9Y@y<^GI1)1iAAu[MuN=Y}?:QU}>yyaE Dya>}>Iȑ :ŕ15? :ŕĿ ƕwA ?9ƕ"BǕ: ȕ:)ȕ2:WP׺@WX XW:W2W*WV||^ 1:YR1yi:5);bUIBUI*UQUQUU?B>B BAư*BA䲻AAAa<"CRCCP׺@CֹיIGb>Qq,UJEAY}@} @y}}}=}H߽P? T弿@ @8 u?`?䍽? qqauEuDyy}xb=}>IȁŅ 5?ŅS ƅA ?9ƅBDžӻ: ȅw:)ȁW@WX1 X1W1:W12W9*W9V9bU9BUA*UAUAUEp?BB BAc*BAoAAA(A<"CR7ԾRCC@C =N؅I ) I G% >Òq,aKEAY}:pț@}:5֓@y}:;DV}: =}:HP E?@nIk#g?`UȊ??@L?)~:pț@ ~:`;I~8ɫYY)Y ]IYY}@y}]Gi ) >UsMUu=Y];QU]?YaaeEe&Daym+=}m?Iq }:u 5? }:um uA }?9uBus: u:)u3:W;@WX XW:W2W*WVbUBU*UUU`-P@BPd B B A % %}%}%D %v4:Y%kS1y%Ԋ:%5595@*B A=ĻA9A9A=<"CE໸RCICM;@CQEg煾I)GEQ>9IhXGi@!=v; ۗE)yIyiyyy}4ʒq,.=*KEA|@i|@Y}6:@}6@y}6-G}6q=}6H`k@y?Ug6ꌓ?}?K??)~6:@ ~6`;I~4ɫYY)Y ]IYY}E@y}]G=i=i5p<M=L=Y=;QU=>AAaEEE3DAyMy=}M>I 5?] A ]?9B}< <)W1@WX XW:W2W*WVbUBU*UUU `@BMBI BQAU*BQAU1UϻAQAQAU7<"C]cRCaCe1@Ca}QIaG}{>Вq,&DKEAY}6l@}6z@y}6+I}6=}6H Cv?@'qCT`:Ð? V%?8?U?)~6l@ ~6_;I~4ɫII)I MIIYe@ye]Giqq @ @ @©i @ @)@I@i@bMQ=Y_QU>aE?Dyˌ=}>I5? A ?9B: {:)W%@W!X! X!W!:W!2W)*W)V)bU)BU1*U1U1U=`@REB*** querying acoustic contact ***PAPABen Bi BiAmW*BiAm@׻AiAiAu<"C}MoYRCyC}@CyԉԍfA-# ---z -6:Y-WU1y-:-5im?im?!I1GM1>iU]nGIiiQٺ@B$גq,]KEAY}6X@}6e@y}69}6'=}6H@(? 䎺`1辉?`8?1?%?)~6X@ ~6f^;I~6CJ^>9HIJXGiJ@HHHJy; JܗEɫ99)9 =I9Y]@ye\]GeZ****** received transponder code query ******mF****** received ping request ******maEMDy=}>I :5? :c A ?9B^; ;)4:Wt@WX XW:W2W*WVbUBU*UUU> @B YB BA*BAxAAAK<"CSRC!C%t@C!=V݅I!G=r>Qݒq,wKEAɫII)Q UIQY2@y]GxDUSBL response received:!U1,P 1E4,000,007AC,187,80,80,76,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iA n1:YU1y:5 Q?V-?? \? < L=) I y n?=i@ @)@Ip@ip@}<M =Y5QUE>QQa]E]_Dayu}u>IȁŅ5?Ņ ƅA ?9ƅ*BDž< ȅ <)ȁW=WX XW:W2W*WVbUBU*UUU_@B% B!  B) A- *B) A- A) A) A- <"C5 \[;RC9 C= =C9 5 I9 )9  I G= >U+q,|KEAY}:(@}:[6@y}:}:=}:H\? ]?C?vvi?`?I?b?)~:(@ ~:Lb;I~8ɫqq)q qIqY@y]GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iyyčM=Y[g}6?I :5? :l A ?9pB9; b:;)5:W 2>W X  XW:W2W*WVbUBU!*U)U1U5`I@BZ1Bs = BA*BAAAAAo<"C55=RCC2>C-- --ܙ9ܙIܝQq,IKEAY}6 @}6@y}6;ڻ}6~=}6Hgy?j? :u ;?CI nG{?,??)~6 @ ~6,a;I~6Cɫ99)9 9I9Y}@y}S]GxDUSBL response received:!U1,R,FA9,000,007D7,186,80,80,67,FF Fpublishing direction and range info|=ɰi$>鰅> )BIyץBf?Rj?ٱi 鿡)í> é<MZ=YH;QU>aEsDy=}>I5?-( (A  ?9Bw; ;)= =~=~= =5:Y=T1y=@:=H5)=,;9EWmr>WiXq XqWq:Wq2Wq*WyVybUyBUy*UyUU0@P*QץBZQ~aAT@ m=V(@JQf?Rj?2Q|=:QbQ~̲i(@(TB*Ri?RQ M9?pr{?BQX@ QQMCAPP9?P9?P QQ@"QR@BCB! B)A-*B)A-3xA)A)A-)<"C5>RC9C=r>C9aIiG8>l8q,dKEAY}2@}2@y}2d޻}2y=}2H`y??u@F?@m{?vk?`?)~2@ ~2vl`;I~2Cɫ9A)A EIIYe}@ye\GDNmea in: $SNTTA,,,,,011527.01*5F =i=i! @ @ @©iz@ ۙ@)ۙ@I@i@ M 7=YbQU>aEDy%=}%>I) 5:-[5? =:-"6 -^A =?9-ZB-!; -"";)-6:muAdded new target pos. range: 82.919998 m, bearing: 278.466047 deg, deltaT: 4.490742 s, approachRate: 0.574514 m/s, LOS rate: 10.176791 deg/s, posRepo size: 4m ProNav: pos range: 82.919998 m, bearing: 278.466047 deg, approachRate: 0.574514 m/s, LOS rate: 10.176791 deg/s, cmd update: 12.000000 deg/s, cmd heading: 13.542104 deg, new cmd heading: 18.398564 deg. WAi>WX XW:W2W*WVbUBU*UU@T@Uq?B>B BAþ*BAAAA<"CY>RCCAi>CשIG )>bq,KEA "=$9$I&VGi&@& =$$&; &EY}B@}Be@y}B}BpA=}BHr?2?P=@y?@H{`~?:?N?)~B@ ~B_;I~BCɫYY)Y ]IYY}@y}Y\GiM[=YQU>!!a%E%D)y-=}->Iȉōw5?ō(B ƍA ?9ƍBǍ: ȍ:)ȉW1>WX XW:W2W*WVbUBU*UUUv?BŕB BAOɾ*BA AAA<"C \V>RCC1>CEY E}E}E9 E::YEkS1yEԊ:E5)E;e}<9IIGeU>.q,aKEAY}ni@}n.@y}n }nv=}nH F?`^?@"ے`l?  p9?? ?)~ni@ ~n^;I~nCɫ髱) IY@yB\GiQQI]=)]=/$?L7A`~jtx?&>+ ;)Iy`"?ÅGiÅG@Å ą@)ąE@Ią@iąۙ@FM4=Y+QU>aEDy=}>Iȱ :ŵM 5? :ŵP ƵA ?9ƵMBǵ: ȵ:)ȵ7:W>WX XW:W2W*WVbUBU*UUU?BB BAwʾ*BAEAAAi<"Cy>RCC>CV =ױIG>tq,LEA||Y}6T@}6@y}6;㻙}6G=}6H?2?#h`v?@`v|?&X? ?)~6T@ ~6%{^;I~6Cɫ99)9 =I9Y@y[GI)i))u M}_=Y}:QU>aEDy?=}>Iȡť3 5?ť\ ƥA ?9ƥBǥ; ȥ;)ȡW!?WX XW:W2W*WVbUBU*U= ===U =@:Y=T1y=:=59E@UiUm`?B B BAپ*BAYAAA<<"C>RCC!?C) A9AIEUGiE@AAAE; EE׉IG> q,,LEAɫ髡) IY=@y=[Gi   rh>i 3@  3@) I 3@i 3@0!=M@=Y%QU%>!!a-E-D)y5}5>I9=5?=j =A M?9=>B=: =:)9W)?WX XW:W2W*WVbU BU *U U UA@B=B9 B9A=о*B9AETAAAAAE<"CMo ?RCICM)?CQAIQGm5>q,fFLEAY}2[@}2!@y}2E仙}2Q=}2Hp?`? ? 1|?/?@?)~2[@ ~2T^;I~2Cɫ99)9 9IAY}@y}[Gi )= =DM_=YՑQU>aED y  >} >Iy :}t5? :}Ww }:A ?9}B}h: }:)}8:W=?WX XW:W2W*WVbUBU*UUU`v$@BR(B BAپ*BAe]AAAT<"C3!?RCC=?CE\ E~E~EF E(;:YET1yE@:E5 IG5 >9 = fAE ]>9A IE HUGiE Z@A A A E ; E E)q,SB`LEAI#i#+ =+ =+?4|i|Y}6)S@}6`@y}6?C}6f=}6Hk?@|?`aEͳDy9|=}>I!%5?% %eA -?9%)B%: %:)!Wu+R?WqXq XqWq:Wy2Wy*WyVybUBU*UUU P@RB*** querying acoustic contact ***PPBq]%B BAݾ*BA%AAA<"C6?RCC +R?C E?iE?)I1GU>q,?zLEAY}2/@}2W=@y}2<}28=}2H`?7j?`Z]?T㕿5?kw??)~2/@ ~2^;I~2CɫII)Q UIQY}@y}[GZ****** received transponder code query ******F****** received ping request ******u@ uq=)qIqyuS?MbQ?u/?u@u\= uA)u\AIu AiuAquA=` ===: =z;:Y=WU1y=:=5>  Wi@ )E@I@i@Uk<M-=YQU>a E ܳD y]k=}>I %: 5? %: A M?9B; ";)9:W&k?WX XW:W2W*WVbUBU*UUU9 @B8B  B A oھ*B A +AAAs<"C:P?RCC&k?CI)GEQ> i- 3oGIA iY Rٺ AB$q,LEAY}2E@}2 %@y}2Z}2.=}2HU?Z#? .V3M?`N R?`v? {?)~2E@ ~2(_;I~2CɫAA)A EIAY@yZGxDUSBL response received:!U1,P FA9,000,007D7,186,80,80,67,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I)i  IEp=)EC=yyM^=Y4QU>a%E%Dy0=}>I#5?< A ?98B?< ?<)W?WX XW:W2WA*WAVAbUIBUI*UIUIUM' @B&B BAa*BAT1AAA1I<"Cg?RCC?C^>9ITGi @!=; EI G=r>*q,ҭLEAY}B/@}B@y}Bq}Bv=}BH??` ?\@ ?? W?)~B/@ ~B_;I~BCɫ髡) IY@yYGp=ɮp=ENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)i= 99=j =PU:Y9y9=Y5)=;9EU?Ud?UiU @Q UK@)U@IU@iU@nM/=YBQU>aEDaym=}m>Iq }:uV)5? }:u u1A }?9uBu< u<)u::Wj?WX XW:W2W*WVbUBU*UUU`7@Bm?$B  B A *B A 9E9A A A <"C ?RC C j?C I׹ )׹ ׁ I G >1q,!LEAY}: @}:@y}:-p}:=}:HZ?@{? ?n ?M?~?)~: @ ~:R:_;I~:Cɫ99)9 =I9Y}!@y}YGxDUSBL response received:!U1,R,EF3,000,00808,186,80,80,6F,FF Fpublishing direction and range infovap>ɰm(>鰁 )BIyBNQ?8?ٱiA<M=Y}`?QU?aEDy"=}?Ișŝ.5?ŝҺ ƝbA ?9Ɲ+Bǝn: ȝ:)șW\Δ?WX XW:W2W*WVbUBU*UUUT@P*QBZQs&=TT@5`3@JQNQ?8?2Qvap>:QbQu-H@kIQ [ @RQ#l?` ?O'?BQUs@ Q6QEBP9?PP9?PQ QA"Q@BZB! B!A%*B!A%<A)A)A-<"C5IP?RC9C=\Δ?C9IIQGu> 9 I TGi f@ = ; E7q,3LEAY}E ɫ@}E֣@y}En}E=}EH@]?Q(?ռ_pP?dP?C??)~E ɫ@ ~E_;I~ECɫQQ)Q UIYY@yDYGDNmea in: $SNTTA,,,,,011531.43*5E i   )= ===|=|=m =E1:Y=R1y=i:=5)=b;M(MM3=YUi;QUU>QQa]E]DYy]@~=}e>Ia u:e455? u:e eA u?9eBe : e:)e;:mqAdded new target pos. range: 85.860001 m, bearing: 305.190474 deg, deltaT: 4.418250 s, approachRate: 0.665422 m/s, LOS rate: 6.048645 deg/s, posRepo size: 4mU ProNav: pos range: 85.860001 m, bearing: 305.190474 deg, approachRate: 0.665422 m/s, LOS rate: 6.048645 deg/s, cmd update: 12.000000 deg/s, cmd heading: 66.609069 deg, new cmd heading: 71.778898 deg. WU[?WQXQ XQWY:WY2WY*WYVYbUaBUa*UaUm@ wU@Um@i?B/B BAY*BA.CAAA2u<"C٠?RCC[?C IG%M>(>q,cLEAɫyy)y }IyY@y7YG=i=i  {Gz?L7A`堿y&1?#?+ `e<)Iyx&1?:v?A ?< fA)AI Ai3A(A-/]=--Li-@) -)-Q@I-@i-Q@=\MEK=YEQUE>IIaMEMDQyU}U>IY]=5?] ]A e?9]3B]: ]b:)YWo"?WX XW:W2W*WVbUBU*UUU֖?B>B BA *BA'IAAA.<"CO?RCCo"?CIG (>Eq,?MEAY}6o@}6w}@y}6T}6>=}6H\?y?@ϻQ?q9ʔ?>w??)~6o@ ~6^;I~6Cɫ99)A EIAYyi9AY}QU}>yya}E(Dy >}>IȉōCF5?ō ƍ A ?9ƍBǍA: ȍ+:)ȉWqD?WX XW:W2W*WVbUBU*UUUW?BE?B BA*BASdOAAA X<= =}=}=O =3:Y=kS1y=Ԋ:=59E@"C ?RCCqD?CסIG >܉9܉I܍SGi܍@܉܉܉܍|; ݍߗE=Kq,&/MEAY}U`G@}U&U@y}U }U=}UH`??Һ@K?~`mW? d??)~U`G@ ~U^;I~UCɫ11)1 5I1YiyiiI4=)%=-=->-9i-@) -Q@)-ۙ@I-p@i)YEfQUE>IIaMEM6DQyU1z=}U>IY e:]P5? m:]e ]fA m?9]6B]: ]:)]<:W XA?W!X! X!W!:W)2W)*W)V)bU)BU1*U1U1U5c?B_5B BA*BA]VAAA<"Cٲ?RCCXA?CיIG@>"Rq,oHMEAɫ髙) IY]@yXGI9)9iAAMaEBDy}>IȡťZ5?ť@ ƥA ?9ƥBǥO: ȥ:)ȡW?WX XW:W2W*WVbUBU*UUU'@BޔGB BA *BA\AAA"<"C%f?RC!C%?C)==~=~=f =c2:Y=T1y=@:=}5IIQGu>܅ ]>9܁ I܅ TSGi܅ ī@܁ ܁ ܁ ܅ ; ݅ EMXq,bMEAɫ髙) IY@yXGi99uMuK=YyQU}>yyaEODy}>Iȑ :ŕc5? :ŕ ƕA ?9ƕ0BǕ: ȕV:)ȕ=:WU F?WQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUe ф@B2AB BA*BAVbAAAg<"C׫?RCC F?CׁIG>ly^q,|MEAY}2@}2ͨ@y}2¼}2=}2H$??v@6 ?]ˡ:^?`F?f?)~2@ ~2qL_;I~0ɫQQ)Y ]IYY@y%XGi eJ +?L7A`堿Q?e(?a e<)aIaye'1Z?MbQ?e"?eeu< eA)eAIeZ AienAaeA)u> u=ýT>ýý1iý@ù Ľ)ĽQ@IĽ3@iĽ3@^MD=Y䛻QU>aE]Dy >>}>I3o5? A ?9B: :)====1 ='0:Y=T1y=:=#5Wu?WX XW:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PPB=ceq,MEA|i|Y}]@}]@y}]:̼}]=}]Hʷ?@ku?P˲?n?`,??)~]@ ~]$8_;I~]Cɫ)))) 5I1Y=@y=XGEZ****** received transponder code query ******EF****** received ping request ******EaEkDyNT=}>I :|5? :" MA ?9QB : e:)>:ܵb>9ܱIܵRGiܵs@ܵ"=ܱܱܵ; ݵE)ݱIݱiݱݱݵ!=ݵK5W ?WX XW:W2W*WVbUBU*UUU! @B EBB  B A *BA^qAAA2<"C6?RCC% ?C!5?i5?)I9GUu>kq,nMEAY}j'U@}jb@y}j9ټ}j=}jHa?@?@Te -`]?@}!@4? vE??)~j'U@ ~jWU_;I~jCɫ髱) IY @y]WGxDUSBL response received:!U1,P EF3,000,00808,186,80,80,6F,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!)mm}m}mQ m0:YmkS1ymԊ:m5)mՍ;9u>->A>i )Iie5Mm9=Yu|QUu>aEyDyio=}>Iȱŵ>5?ŵ/ ƵA ?9ƵBǵ; ȵ;)ȱW%>?W1X1 X9W9:W92W9*W9V9bUABUA*UAUAUM@ @BPB BA*BA5xxAAA9<"C?RCC>?C IG5>prq,١ ٥ <ܭ ^>9ܭ yCIܭ RGiܭ !@ܭ =ܩ ܩ ܩ ݩ xq,MEAY}J@}J,@y}J,켙}J*=}JH~??`QUI@?-u?@H? ?)~J@ ~Jo_;I~HɫYY)Y ]IYY"@yxWGxDUSBL response received:!U1,R,1A7,000,00822,186,80,80,8C,FF Fpublishing direction and range infoɰ*>鰹 ) CIy׮Bj-?HL׿ٱI)i/ML=Y5QU>!!a%E%D!y-T=}->I1 =:5 5? =:5C 5A E?95B5: 5:)5?:We@WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUyU}Ϸ@P*Q׮BZQzbT@Ŋ?JQj-?HL׿2Q:QbQ"'I9@1T {RQڽ?S!yzNBQp@ QQAPy9?P9?PQQ@"QABZB BA\*BA?AAA<"C?RCC@C====1 =-:Y=WU1y=:=#5)=l;שIG>~q,MEAY}F @}F{@y}F}Fd=}FH@?E?༿z?Ӭ3?`ea??)~F @ ~F!v_;I~FCɫ) IYԮ@yWG}TNmea in: $SNTTA,0.060190,,,,011535.88*4D iA`"?:vy&1|>Լ `)IyGz?Mbp:v?p?T= ) AI AiA\A}>}>}qi}\@y }Q@)}p@I}i}@EM5=Y?QU>aEDy?=}>Iȡť5?ťO ƥ[A ?9ƥLBǥ: ȥL:)ȡm}uAdded new target pos. range: 87.419998 m, bearing: 287.267375 deg, deltaT: 4.431505 s, approachRate: 0.352024 m/s, LOS rate: -4.044472 deg/s, posRepo size: 4m ProNav: pos range: 87.419998 m, bearing: 287.267375 deg, approachRate: 0.352024 m/s, LOS rate: -4.044472 deg/s, cmd update: -12.000000 deg/s, cmd heading: 119.784335 deg, new cmd heading: 125.441483 deg. Wl?WX XW:W2W*WVbUBU*UU@U@U?BmKBi BiAm*BiAu(AqAqAui<"C}@RCyC}l?CיIGb>q,=NEAY}>@}>`@y}>ek}>=}>H@,9?`4?CռU(?ͮ??ƿ??)~>@ ~>\_;I~>CɫQY)Y ]IYY}@y}8WG i )= =5<M5c=Y=7QU=>9AaEEEDAyM̠=}M>IQ ]:Uܹ5? ]:UJY UA ]?9UBUw: U:)U@:WJ?WX X!W!:W!2W!*W!V!)i-p=====k =f.:Y=T1y=:=59E@bUIBUI*UIUQUU ?BeB BA*BA(AAA?<"CQ@RCCJ?CׁIG>M_>9IIIiIIIIM; MEًq,1NEAY}6̶@}6ڮ@y}6T}6=}6H?[ ? \`?@$`@? e?@?)~6̶@ ~6R_;I~4ɫQY)Y ]IYY@ykWGiM=MX?M94=iM(@I M@)M@IM@iM@]F<MeH=YeAQUe>iiamEmDqyuj=}u>Iy} 5?}c }7A ?9}=B}^: }:)yW ?WX XW:W2W*WVbUBU*UUU?Bm \Bi BiAm*BqAuFAqAqAu<"C}@RCyC} ?CׁIG >’q,KNEAY}B@}Bث@y}BU}BwF=}BHn??`S@b?f@ɠ?@V??)~B@ ~Ba;I~BCɫQQ)Q UIQYu@y}BWGi-K'M5M=Y5݅QU5>99a=E=ôDAyEO=}E>II U:M@5? U:Mm MA ]?9MBM: M:)MA:W}_,?WyXy XyWy:W2W*WVbUBU*UUU@@?Bf`B BA*BAΏAAA$c<"Cn|@*C=RCC_,?C~~L 0:YT1y@:5IG >9 9= xCI= (RGi= Ъ@= !=9 9 = ; = E<阓q,1`eNEAY}Bm@}BH{@y}BjP }BVE=}BHU??p@z8?@1i?`?`;?)~Bm@ ~B`;I~BCɫYY)Y ]IYY}@y}VGiI)%=fA5’M5J=Y=fEQU=>9AaEEEдDAyMm=}M>IQU5?Uw U#A ]?9U9BU: U :)QW}TZ?WX XW:W2W*WVbUBU*UUU+@B(`B BA*BANAAA<"C@RCCTZ?CIG>q,,FNEAY}F[E@}F!S@y}FS}F==}FH? i?฿`/@4?? i?@?)~F[E@ ~FH`;I~FCɫQQ)Q ]IYY}ͮ@y}WGI)iףp= ?K~jt?^ ļ)IyV-?~jt~jt?|?D= GA)AI Ai™(Aף=\>hi@ p@)/@I@ip@ O;M ==YQU>aE޴Dy%y=}%>I) 5:-5? 5:-5 5tI -A =?9-B-: -:)-B:W][?WYXY XYWY:WY2Wa*WaVabUiBUi*UiUiUm`¡@B\B BA*BA AAAz<"C4@RCC[?CW F ::Yy5IG$>/q,@NEAY}23@}2dA@y}2e}2d9=}2H "2?ܴ?% @7%?@Q2/?`Ի???)~23@ ~2%b;I~0ɫII)I MIIY}m@y}VG@AiMe=YúQU>aEDy=}>I5? A ?94B: :)W.?WX XW:W2W*WVbUBU*UUU}@RB*** querying acoustic contact ***PPB5pB1 B9A= *B9A=}4A9A9A=^<"CEL?RCACM.?CI1I9GU=9yCIi =; E'q,NEAY}B"@}B0@y}B?}B=}BH?(?`j2`?> f? ?@?)~B"@ ~B`;I~BCɫQQ)Y ]IYYܮ@y"WGZ****** received transponder code query ******F****** received ping request ******õq=iõד@ñ ĵ)ĵQ@IĵQ@iĵ3@<M9=Y|QU>aEDy+=}>IK5? z A 5?9B; ;)We?WX XW:W2W*WVbUBU*UU b B:YU1y:5)x;9U5 @B]oYBY BYA]*BYAKAAA<"C>?RCCe?CyIG=> q,)NEAY}2@}2O@y}2\}2*=}2H+^???9^GxL??qg?@'?)~2@ ~2`;I~2Cɫ99)9 9I9Ye@yVGxDUSBL response received:!U1,P 1A7,000,00822,186,80,80,8C,FF Command AckBRequesting micromodem ping code 2i=iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iMY=Y-QU>aEDy=}>I  : $5? :   A ?9 !C < W<) C:W?WX XW:W2W*WVbUBU*U U U ` @BeB BAC *BA,AAA\<"C?RCC?CIG%o> 9 I QGi @ ; E)ݍyCIݍyCi݉݉ݍ =ݍ=47q,NEAY}vݼ@}v@y}v}v]=}vHQ?_?-?`6α璣?@??)~vݼ@ ~v_;I~vCɫ) IY @yVGɮa=5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i޼M==YDQU>aEDy=}>I55?ɦ ] A ?9aCn: :)W?WX X!W!:W!2W!*W!V!bU)BU)*U)U1U5?@B]~BY BYAeE *BaAe-8AaAaAe#<"Cu0?RCyC? ~~i >:YT1y@:"5)*;CIGI>3q,܂OEAY}2z@}2A@y}2L$}2=}2H O?? 󕸿`+???Hi??)~2z@ ~2;_;I~0ɫYY)Y YIYYS@yyVGxDUSBL response received:!U1,R,CE6,000,00842,189,80,80,77,FF Fpublishing direction and range infoa1?ɰ-->鰅7> )BIyBBe?Lή3p?ٱiI4=)R=5333333?Kǿ:v5?5^: 5T)1I1y5y&1?Mb/$?5`%?55< 1)1I1i5hA15AMfAIu9u,?uK7>iqq q)u@Iu@iu@Q<M@=YeQU>aEDyl=}>I :H5? :  A ?9C: :)D:W%?W!X! X!W!:WI2WI*WIVIbUQBUQ*UQUQUU@P*QBZQ.7>/Q@ZwL@JQBe?Lή3p?2Qa1?:QbQ1"V@rƬ@6^3"@RQ?I?_ie?BQ%w= Q@QBP#9?Py9?PxQQhA"Q@BfB BA *BA}>AAAH<"C  ?RC C ?CIG>RCi]3oGIqiKٺ:B7KƓq,eOEAY}nQ@}n@y}n(}n^=}nH ?=?2w?j²L?5??)~nQ@ ~n\s_;I~lɫ11)1 5I1Yu@yu5VGTNmea in: $SNTTA,0.059146,,,,011540.31*4C I)i-+M-P=Y5{ QU5>19a=E=,D9yE=}E>IIMHY5?M M A U?9MCM: Mn:)ImmAdded new target pos. range: 89.340004 m, bearing: 5.020806 deg, deltaT: 4.509288 s, approachRate: 0.425789 m/s, LOS rate: 17.242953 deg/s, posRepo size: 4mProNav REINIT: LOS rate is 17.242953 deg/s. Setting heading cmd to target bearing of 5.020806deg and heading rate command to 0 deg/s.W%w=WX XW:W2W*WVbUBU*U||T 0:YR1yi:59@UUV@UH?B NxB  BA *BA⤬AAAW<"CF?RCC%%w=C!܍`>9܉I܉i܉܉܉܉܍; ݍEIG-,>Gu̓q,@4OEAY}2im@}20{@y}2.+}2y=}2H[D?r?;`,?$ᴿ>d?@??)~2im@ ~2_;I~2Cɫ99)9 =I9Y}@y}VGiUʡ>U>Ut=iU @Q Q)UQ@IU@iUۙ@e(=MeX=YmȺQUm>qqauEu8Dqy}=}}>Iȁ :Ņj5? :Ņ ƅ< A ?9ƅ'CDž: ȅf:)ȅE:WWX XW:W2W*WVbUBU*UUU@?B̈́xB BAt *BA௼AAA <"C?RCCC IG- >\ӓq,"NOEAY}R:d@}Rr@y}Ry-}R_F>}RH@?`0?@<(߿?`ZH c?;y?`m?)~R:d@ ~Rd_;I~RCɫyy)y }IyY @yVGiAA AA)M= M>MG=YԺQU>aEEDy=}>Iȩŭ}5?ŭY ƭ A ?9ƭjCǭ4: ȭ@:)ȩWWX XW:W2W*WVbUBU*UUUஐ?B% vB1 B9A=( *BAAM蓳AIAIAMɃ<"CU?RCQCQCY ~~P sC:YT1y@:5I!Ge>ف م gA܉ 9܉ I܉ i܉ ܍ !=܉ ܉ ܍ ; ݍ Elٓq,JgOEAY}2U@}2c@y}21}2w2>}2H` 6? F?@J޿?@@2? V? 7?)~2U@ ~2Hg_;I~2CɫYY)Y ]IYY}@y}VG=i=ieMS=YQU>!!a%E%QD)y-=}->I1 =:5ҏ5? =:5T 5 A E?95C5: 5:)5F:WWX XW:W2W*WVbUBU*UUU-?BwB BA *BAgMAAA<<"CU,d?RCQCYCסIGA>nq,ρOEAɫ) IY@y9VGiYY=w/?~jt~jt?=>= =D<)9I9y=S?iÝQ@Ù ĝt@)ĝ@Iĝ@iĝ@U<M3=YQU>aE`Dy}>N 1:YyY5I'5?7 @ A ?9C֥; :)W W X XW:W2W*WVbUBU*UUU%@BT\tB BAv *BA7AAAJq<"Cߘ?RCCCIGE> q,XOEAɫyy)y }IyYͭ@yUGiI%p=)%=%gA!UMUc=YYQU]>YYa]EekDaya}m>Iqu>5?uu u A }?9u*CuI: u:)qWWX XW:W2W*WVbUBU*UUUe@BsփB BA*BA A A A <"CL?RCCC5T>91I1i15=5QD5D5; 5EaIqG>q,솵OEA|4<|;Y}V@}VU@y}VjD}V-=}VHxT??]`hٿ9?J`ꊨ???)~V@ ~Vb;I~VCɫ髙) IYS@yyVGI)i94<=xi@ Q@)ۙ@I3@i3@=MB=Y2QU>aEyDyvE>}>I :5? :  A ?9lC: :)G:WWX X!W!:W!2W!*W!V)bU)BU)*U)U1U5@G@R=B*** querying acoustic contact ***P9P9B]yBa BaAe *BaAeK:¼AiAiAmfK<"CuO?RCqCqCyI׉)׉ }}L 5:YkS1yԊ:5);9aIqGZq,[OEAY}2S@}2@y}2?G}2U<=}2H`?(?<`I׿K?@#ܸ ??M?)~2S@ ~2a;I~2Cɫy髁) IY@yVGZ****** received transponder code query ******F****** received ping request ******)1a5E5D9y=y=}E>IAE5?E E_ A ]?9ECEQ; Er;)AWWX XW:W2W*WVbUBU*UUU`è @BmvBi BiAm *BiAu,ƼAqAqAu<"C})q?RCyCyCaIiG9>- a>9) I) i) - !=- RD- D- ; - Eq,}JH?w\?vǶ`տ ?ǹ[??@?)~JK@ ~Jژ`;I~JCɫ髁) IY@yUGxDUSBL response received:!U1,P CE6,000,00842,189,80,80,77,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i )-> ->]MeG=YuQU}>aEDyN=}>I! u:%5? }:% % A ?9%C%ȅ< %3<)%H:||U E1:YR1yi:5)b;WWX XW:W2W*WV bU BU *U UU@ ; @Bt}B BA*BAe ʼAAA=<"CY?RCCC יIG>Uq,PEAɫyy)y }IyYح@yUG鮥p=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=iUMb@Mb@Mb@UU U)UIQyUZd;O? rhQ?Uj?UCU< UA)UAIUAiQQUzA3>9=i̔@ )p@IQ@iQ@ N!<M 2=YQU>aEDy%}%>I)-U5?-7 -4A 5?9-0C-: -:))WQWQXY XYWY:WY2WY*WYVabUaBUa*UiUiUm`1%@B"B BA*BAӇͼAAA^<"CUE?RCCCסIGA>q,PEAY}J@}J@y}JRQ}Jp=}JH`?? ;lҿtw? t h'?5~??)~J@ ~J_;I~JCɫ髑) IY@y,VGxDUSBL response received:!U1,R,176,000,0084C,186,80,80,67,FF Fpublishing direction and range infoɰ->> )BIyBc*O?VQLԿٱi=ѫ<M=m=Y=QU=?AAaEEEDIyM$)>}U?IQ ]:U5? e:U UA e?9UfCU=: U:)UI:WYWaXa XaWa:Wa2W*WVbUBU*UUU`X@P ; 4:YV1y:G59@9Ii =; E)iIiiiim=m96*QBZQ]IKLU@r;ݤ<JQc*O?VQLԿ2Q:QbQKRYR@w1I̐?RQ9+a?"(<~Hǚ Q?BQW@ QOQʒBP9?P#9?PQxQ@"QhABuBq BqAu *ByA}#ѼAyAyA}<"C`0?RCCCyIG=> q,.6PEAY}b@}bt@y}bU}bF=}bH ??? p@Gп`ƴ?`>Y?9? ?)~b@ ~b _;I~bCɫ)  I Y5@y50VGTNmea in: $SNTTA,,0.059449,,,011544.76*41 iI=)¹¹}}$?}`=i}\@y y)}@I}j@i}@:M7=YF"QU>aEDy1z=}>Iȩŭ *5?ŭ ƭA ?9ƭCǭ: ȭ:)ȩmuAdded new target pos. range: 89.940002 m, bearing: 324.694708 deg, deltaT: 4.415369 s, approachRate: 0.135889 m/s, LOS rate: -9.133123 deg/s, posRepo size: 4m ProNav: pos range: 89.940002 m, bearing: 324.694708 deg, approachRate: 0.135889 m/s, LOS rate: -9.133123 deg/s, cmd update: -12.000000 deg/s, cmd heading: 5.020806 deg, new cmd heading: 5.020806 deg. W @WX XW:W2W*WV bU BU *UU)|V@U?BEABA BAAE *BIAM`ԼAIAIAM<"CU3?RCQCU @CYaIiG9>zq,8PPEAivSoGIi9u;Nٺqu=BY} =} qS@y} s[} V=} H??ٸ?ܳʿ`?`׻@k?@U??)~ = ~ ]`;I~ Cɫ) IY-H@y5kVG \ G:YWU1y:Y5I)i-{b<M5@=Y5RQU5>99a=E=ȵDAyE>}E>Ii :ma?5? :m m^A ?9mCmٓ; m;)mJ:W2*@WX XW:W2W*WVbUBU*UUU(?B EB BA0 *BAؼAAA M<"CEd"?RCACE2*@CI9IIGeU> 9 I i ; E!q,~jPEAɫ髡) IYZ@yVGi];M]Y=YmQUu>yya}E}ԵDyy}>Iȉō R5?ō. ƍA ?9ƍ)CǍk: ȍ:)ȉW۫@WX XW:W2W*WVbUBU*UUUz?BuGBy ByA} *ByA}ۼAyAA%<"C>RCC۫@CסIG I> !q,YPEAɫ髡) IY*@yGVGiAA QQgfffff?gfffffƿ:v3?33 T)IyK?QQ?^?  A)AI; AiAA)%= %=uE6u3>u=iu\@q q)u@Iu@iu@rkMH=YQU>aEDy}>Iȡťe5?ť ƥA ?9ƥhCǥ: ȥ:)ȡx F d=:YT1y:5W2@WX XW:W2W*WVbUBU*UUU?B- ؆B) B)A- *B)A5}߼A1A1A5f<"C=̴>RC9C=2@CAסIGA>3'q,&5PEAY}2:=}2&@y}2\}2]k>}2H`??*j Dÿh?`?`j?ݳ?)~2:= ~2_;I~0ɫ99)9 =I9Y@y0VG==i9=8Not Powering down - fast GPS9 E)EIAiAiEEEɶEE M)MIMiMMMɷMiQQƻM[=YYQU>aEDyq>}>Iȱ :ŵzx5? :ŵo ƵvA ?9ƵCǵ: ȵ:)ȵK:W q@WX XW:W2W*WVbUBU*UUU@ ?y9yI}(RGi}Ъ@yyy}; }EBF~B BA *BA:AAA><"C>RC"loC q@CIG )>]-q,PEAY}:=}:(@y}:=t\}:\=}:H ٴ?A۽?z@^??`??)~:= ~:_;I~:Cɫaa)a mIiYԮ@yWGiaa @ @ @©i3@ )3@Ii3@Ee=MF=Y5'9QU>aEDy<=}>I5? A ?9Cܹ: @:)W`@WX X!W!:W!2W!*W!V)bU)BU)*U)U1U5E@B]8䅽BY BYAe*BaAeaAaAaAe<"CuxA>RCulCu`@Cq0 1:YV1y:5IG E4q,PEAY}6>}6@y}6P]}6l|=}6H??꼸ܦ? f?ҽ?`.?)~6> ~6_;I~6CɫYY)Y ]IYY}ܮ@y}"WGiIC=)%=¡¥gA ;M^=YQU>aEDy.=}>I :z5? : 1A ?9C: :)L:W4@WX XW:W2W!*W!V!bU)BU)*U)U1U5 =@RMB*** querying acoustic contact ***PIPIB:B! B!A%*B!A%2A!A!A-<"CM=RCuzCu4@CqIIQGm>i i u b>9q Iu RGiu !@q q q u ; u Eo:q,*PEA|;|Y}65>}6n@y}6#\}6=}6H?%{?h` `,? G ?N?@_?)~65> ~6n_;I~6Cɫaa)a mIiY}K@ypVGZ****** received transponder code query ******F****** received ping request ******aED y-o=}5>I155?5 5A E?95^C5Ǻ: 5Y:)1Wet4@WaXa XaWi:Wi2W*WVbUBU*UUU@W @ ~~D V5:YT1y@:55);9BӅB BA *B)A-A)A)A--<"C59r<RC=E=C=t4@CI֥;I׹)׹בIG>WAq,QEAɫ髹) IY@yVGxDUSBL response received:!U1,P 176,000,0084C,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 iAImd;O?㥛 &1?m?m mP=)iIiymV-? - - --`e-=-K>i-p@- -Q@)-@I)i-Q@=L<M]=Y]QUe>aaaeEe%Diym}u>Iȉ :ō 5? :ōG ƍ0A ?9ƍCǍ< ȍ<)ȍM:We&@WaXa XiWi:Wq2W*WVbUBU*UUU0@Bm{B BAi*BASnAAAt<"CzUͽRC&=C&@C lס I G >Gq,c|QEAY}6m>}6@y}69[}6 =}6H@8??U?F-#a?c?` ?^?)~6m> ~6_;I~6CɫYY)a eIaY"@yxWGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 9=hAi99 IIac=M=YBP:QU?aE.D9IRGis@QD; EyU>:>}U?IY]5?]# ]A e?9]C]: ]:)YWO°@WX XW:W2W*WVbUBU*UUU'@ }}6 5:YkS1yԊ:55);B%YB! B!A%\*B!AEAAA<"Cq!RCma>CO°@CօȷLYIiGZ>0Mq,X9QEA|i|@Y}6T>}6n ~6_;I~6Cɫ99)9 =I9Y&@y}WGxDUSBL response received:!U1,R,D9C,000,0084B,188,80,80,93,FF Fpublishing direction and range infoܸ?ɰ->> )CIy³B2?v/J?ٱ=i=i E@ E@ E@E©EEiE=@E E)EIAiE@U:MUO=Y]QU]>aaaeEe:DaymN=}m>Ique5?u uA }?9u,Cu: u=:)qW@@WX XW:W2W*WVbUBU*UUU@P*Q³BZQsCWS@>*}VF@JQ2?v/J?2Qܸ?:QbQoWS@clBG@#@RQv4'?D P?YbR?BQ3 ? Q:BQBP9?P9?P7QQtA"Q@B\B BA?*BAAAA$<"C 5lRC  >C@@C֍Ho׍?i׍?AIQGm5>ZTq,35SQEAY}v>@>}vr=y}vdtg}vG8=}vHr?o볿㨿? ? <4?`0??)~v>@> ~vH`;I~vCɫ19)9 =I9YU@yUXGDNmea in: $SNTTA,,,,,011549.21*55 iw<M?=Y,QU>aEHD!y% >}->I) 5:- 5? =:- -pA =?9-vC-p: -|:)-N:mmuAdded new target pos. range: 89.879997 m, bearing: 31.378808 deg, deltaT: 4.414905 s, approachRate: -0.013592 m/s, LOS rate: 15.104314 deg/s, posRepo size: 4muProNav REINIT: LOS rate is 15.104314 deg/s. Setting heading cmd to target bearing of 31.378808deg and heading rate command to 0 deg/s.Wu3 ?WqXq XqWq:Wy2Wy*WyVybUBU*UUQxV@U`6s?~~O U*:YT1y@:59@BʂB BA*BA~AAA\<"CDRCC3 ?C  =>a5սIGk> 9 I i  =   ;  E)ݡIݡiݡݡݥ =ݥ4Zq,VmQEAY}Vmb>}V@=y}Vrh}V=}VH?5¹hz`??@L·`] ?p? ~V6`;I~VCɫ) IY@y XGiI=)>    @ @ @i@ )I3@i ;M K=YQU>aEUDy%p=}%>I)-( 5?- -A 5?9-C-: -:))WQWYXY XYWY:WY2WY*WaVabUaBUa*UiUiUm?BB BA*BA֗AAA<"CoRCCCֽPzשIG J>˥aq,!QEAY}F>}Ff=y}FRe}F=}FH+?a`ѧ@`P??|@R? ?0?)~F> ~FG`;I~FCɫy髁) IY@y+WGI9)9iAIE> ףp=?{Gz?E1?Eף E<)AIAyES㥛?{GztX9v?E$&?EףE< A)AIAiEAAEAeZMeE=Ym:QUm>iqauEubDqy}9=}}>Iȁ :Ņ:? 5? :Ņj ƅZA ?9ƅCDž: ȅ/:)ȅO:WWX XW:W2W*WVbUBU*UUU;?L ||Q 9:YR1yi:5B B  B A T*BAAAAk<"ClRCCC!%0:D5>1inGIi Pٺ ?BYIa}j@9VBGa>4gq,=֠QEAY}B>}B>y}Ba}BG=}BH@?;u- ??@@}@? ɱ??)~B> ~B+A`;I~BCɫQQ)Q QIQYu@yuKWGiMK <MM]=YU(A;QUU>QYa]E]nDYyeS,=}e>Iim7S 5?m mA u?9m>Cm: mk:)iWWX XW:W2W*WVbUܱ9ܱIܵTSGiܵī@ܵ =ܱܱܵ; ݵEBU*UUU"?B"B BA*BAAAAK<"C *C RC C CgAgA<יIG >mq,QQEAY}2D>}2J>y}2 ]}2 =}2H`?|¿æ?@? @괫?8?`?)~2D> ~2m`;I~2Cɫ99)9 =I9Ye@yWGi     q94<#aE|D y<}>I! 5:%?j 5? 5:% %1A =?9%C%>; %5;)%P:WiWiXi XiWi:Wq2Wq*WqVqbUyBUy*UyUyU}Z@BB BAG*BAtAAA<"C^RCCC5 1:YT1y:5=9=I!G=r>tq,zQEAY}2>}2 >y}2 :^}2g=}2H^?Yÿ G??@ë? $?`?)~2> ~2_;I~2CɫAA)A EIAYZ@yWGTNmea in: $CAERR,011552,DATA_TIMEOUT,1*4C %=i!i))uAdM}R=Y}\QU}>aEDy<}>I 5? A ?9C: ):)W1W1X9 X9W9:W92W9*W9VAbUABUA*UAUIUM@Bu{|Bq BqA}*ByA}AyAyA}i<"C)RCCCօ[1=AIQGm5>ٱٵ<ܽc>9ܹIܽTGiܽf@ܹܽRDܹܽ}; ݽE@ {q,VQEAY}R)>}R!>y}Rb}Run=}RH?jĿ@ GO??)JW???)~R)> ~RQ_;I~RCɫ) IY@yXG!%AAi99=>Ci@ )Q@I@iQ@]<Me<=Ye1*QUe>iiauEuDyy}[<}>Iș :ŝ 5? :ŝ| ƝA ?9Ɲ Cǝ; ȝ5;)ȝQ:====` =-:Y=WU1y=:=45)=7;9]WWX! X)W):W12W9*WIVQbUYBU*UUU\@RB*** querying acoustic contact ***PPBBB BA *B A fA A A vV<"CF5ORCCC9 M>M=A=IG>q,0REAY}2 >}2x#>y}2f}2dH=}2H@?Ŀ t`P??Y9ج?@ ?)?)~2 > ~2!_;I~0ɫ99)9 =IAY]@y]XGeZ****** received transponder code query ******eF****** received ping request ******e)=#~j?I +?/$??94< ,=)IyK7A?L7A`堿? "?+< A) AI AihAA-_;M5N=Y5n"QU5>99a=E=D9yE;}E>IIMw 5?M MoA ]?9MLCM-: M:)IWyWyXy XyWy:W2W*WVbUBU*UUU6 @BUVBi BiAmm*BiAmÎ AiAqAu<"CuARCyCyCye#>!I)GER> q, "REAY}6&>}6 >y}6h}6E=}6H;?@4 Ŀ44`??$`? :? ?)~6&> ~6^;I~4ɫyy) IYw@yWGxDUSBL response received:!U1,P D9C,000,0084B,188,80,80,93,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i9ITGi@=QD; E]FM]H=YedQUe>iaEDy}>50 5|5|5Z 57:Y5R1y5i:55)5;I 5?x A ?9C|< <)W1W1X1 X1W9:W92W9*W9V9bUaBUa*UaUiUm @B܉B BA*BA q A A A <"CPRCWi>CC֕G>qIyG>!Hq,;REAY}:F>}:E>y}:s3f}:;}:H'?¿`?m?s|¬? w? ?)~:F> ~:_;I~:CɫII)I MIIYe@yeXGma=ɮiNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iyy=S#i̔@ @)IQ@i<MQ=Y:QU>aEDy ɼ} >I : 5? :4 4A ?9C: :)R:W9WAXA XAWA:WA2WA*WIVIbUIBUI*UQUQUU;@B}[B BA*BA AAAZ<"C=RC8(>CCfAUl>IGI> 0q,@UREAɫ髹) IY@yWGxDUSBL response received:!U1,R,D43,000,00847,189,80,80,AC,FF Fpublishing direction and range info ۚ? ɰ -> 7> ) ,CI y GB c2?{`?ٱ i99 AA5M=F=Y=QU=>AAaEEEɶDIyu}u>IȁŅ 5?Ņ ƅA ?9ƅ CDž; ȅ;)ȁ\ P0:YT1y:Y59%@WQWQXY XYWY:WY2WY*WaVabUaBUa*UUU`-@P*QGBZQ&ʑXR@Ʃ^I@JQc2?{`?2Qۚ?:QbQ:;P@VIgwN@WYi@RQwQܾh.?" l?RC%5=CACA>IG-p>QQY9YIYiY] =YY]; ]E]q,ҫoREAY}}[U>}}=y}}{X}} f~}}H?^`r?=?`o?`6 ? ,?)~}[U> ~}^;I~}Cɫqq)y }IY@yXGDNmea in: $SNTTA,,,,,011553.65*5E =i=i]]>]>i]@Y ]d@)]@I]i]@mU;Mm+=YmI;QUm>qqauEuٶDyy}}>Iȁ :Ņ  5? :Ņ ƅA ?9ƅ] CDž: ȅ:)ȅS:mqAdded new target pos. range: 89.640007 m, bearing: 43.506471 deg, deltaT: 4.504030 s, approachRate: -0.053283 m/s, LOS rate: 2.692625 deg/s, posRepo size: 4m ProNav: pos range: 89.640007 m, bearing: 43.506471 deg, approachRate: -0.053283 m/s, LOS rate: 2.692625 deg/s, cmd update: 8.077875 deg/s, cmd heading: 31.378808 deg, new cmd heading: 31.378808 deg. WWn?WX XW:W2W*WVbU!BU!*U!U%hV@U%)?BmꋽB BA*BAAAA3+<"Cf>RCNCWn?C>i?ס I G > Bq,uxREAY}:S>}:=y}:PT}:`ͽ}:H@\?g@ݮ4ж??]??@?)~:S> ~:_^;I~8ɫ99)9 =IAY]]@y]WGiJ +?x&?y&1??7= `<)Iyv/? rh:v?x)?C<  A) AIAi A5'M5x=Y=UI;QU=?AAaEEEDIyU}U?Iae 5?e eeA u?9e CeT; ee:)a< : 8:YU1y:5W=<)?W9X9 X9W9:WA2WA*WAVabUiBUi*UiUiUu?BuB BA*BAwAAA<"C>RCFC<)?C !>=֥>yIG`>9lq,SREAY}2g͠>}2=y}2AS}2o }2Hn?xŭr̰??M? ;e?@E`?)~2g͠> ~2#_;I~2CɫYY)Y ]IYY}߯@y}aXGiI=)4=9ITGi @=; E)ݑIݑiݑݑݑݕ4/=M^=Y%8:QU%>!!a%E-D)y-҃}5>I9 E:=+ 5? E:=P =A E?9= C=N: =9:)=T:W:6?WX XW:W2W*WVbUBU*UUU`?BeXHBi BA*BADpAAA *<"C`>RCG0C:6?Cօw\>aIiG=>q,1REAY}6>}6&=y}6i}U}6(}6H?`.@ͤ?h??`? Ŀ G?)~6> ~6H+_;I~4ɫQY)Y ]IYY}@y}XGI)i55>5E6>i5@1 5/@)5p@I1i5p@eXMeF=YmQUu>qya}E}DyyRw}>IȑŕB 5?ŕ ƕ-A ?9ƕ CǕ ; ȕP;)ȑWu$~E?WqXq XyWy:Wy2W*WVbUBU*UUU`=g?B5B9 B9A=*B9AE0AAAAAE<"Cm>RCm Cm$~E?CqD .:YWU1y:55eR(>I)GMR>iM nGIa iy MSٺ ABq,REAY}J|ކ>}J@[w ~JOZ_;I~JCɫ髙) IY@yWGiYYLMG=YQU>aE DyK}>Iȩ :ŭY 5? :ŭ ƭA ?9ƭ^ Cǭ: ȭ[:)ȭU:W`S?WX XW:W2W*WVbUBU*UUU[u?B>B BA*BAMAAA-<"C ?RCC`S?CgA^=יIGA><X>9IUGi@=; E]q,REAɫ) IY-@y5eXGi Í>ÍDÍC >iÍ̔@É č3@)č3@Ič@ič۴<M-=||B ?,:YR1yi:5) ;9YQU>aEDy}>Is 5? A ?9 C: :)W od?WX XW:W2W*W9V9bU9BUA*UAUAUE@BB BA*BAbAAA~<"CC$?RCC od?C=שIG> ”q, SEAY}6B\>}6@y}6IP}6 H}6H?K? f=[?@!?`?ȿ`X?)~6B\> ~6^;I~6Cɫ99)A AIAY]@y]XGae@Am=im=iqqn?jt?A`"?? > Y=)IyB`"?I +?kt?.?94< 0=  A) !AI; AiAA%9<M%}=Y-;QU- ?))a-E5#Dy}?IȹŽ4 5?Ž$ ƽzA ?9ƽ Cǽ': Ƚ:)ȹW3p?WX XW:W2W*WVbUBU*UUU%}<@R-B*** querying acoustic contact ***P)P)BsB BA7*BAAAA3<"C"6?RCC3p?C֍ZEȔq,5$SEAY}6eL>}6Ѐ@y}6C}6B}6H?W?@eN樿_? n?{{?@ $ȿqc?)~6eL> ~6zc;I~6Cɫ99)9 EIAY]4@y]XGeZ****** received transponder code query ******eF****** received ping request ******e a E /D yc%}>I! -:%8 5? -:%r %A -?9%, C%: %:)%V:WUt~?WQXQ XQWQ:WQ2WY*WYVYbUYBUa*UaUaUe`G @BKBQ BQA]*BYA]AYAaAe<"CmlK?RCiCmt~?C ==zzI y0:YQ1y:G5);֭-BiIGB>Δq,5}>SEAY}2Q;E>}2{G@y}2T 3}22}2H@z?@?@ :{{s??`_?6ƿ{?)~2Q;E> ~2b;I~2Cɫ99)9 =I9Y]@y]mYGexDUSBL response received:!U1,P D43,000,00847,189,80,80,AC,FF eCommand AckeBRequesting micromodem ping code 2iaamNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iI%C=)!e7eߏ>eaE>Dys}>I15H 5?5 5tA u?95~ C5< 5<)1W^?WX XW!:W!2W!*W!V!bU)BU)*U)U)U5> @BfB BAD*BApAAAr<"CMe?RCC^?C-] I G- >mՔq,ZXSEAY}6E>}6K@y}6P%}6}6H?@?' 4k?`]"??@ÿ?)~6E> ~6a;I~6Cɫqq)y yIyYа@yYG鮡ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Iq)qiyy0;M[=YaEJDyE:}>I : 5? :_ A ?9 Cp;  h;)W:W%O?W!X! X)W):W12W1*W9V9bU9BUA*UAUAUE@@BB BA*BA AAAY<"C-@1w?RCACEO?CI ||> M4:YR1yi:59@%.ۼIGI>ٕfAٕfAܝd>9ܙIܝ}2Zm@y}24}2'}2HP?e?@lߟ8 `?1?̙? ?)~2!I> ~2p`;I~0ɫYa)a eIaY}v@y}VZGxDUSBL response received:!U1,R,E21,000,00845,186,80,80,9C,FF Fpublishing direction and range info>ɰl->鰅> )CIy B FR>?6A?ٱi @ @ @©i@ Σ@)Ii@]NC=Me@=Ym;QU >aEXDy<}>I!% 5?% %TA U?9% C%4; %^:)!WRo?WX XW:W2W*WVbUBU*UUUs@P*Q BZQp5o5sT@?z+B@JQ FR>?6A?2Q>:QbQeT@ݘ?@^48RQ?#?"չ?>=BQ> QMAQVBP49?P9?PPQQGw@"QoABEtBI BIAMv*BIAM|e AQAQAU@<"C]?RCYC]Ro?CԉԍfA]"I!GEs>q,SEAY}n#N>}n@y}n}ny}nH@}? ? Ǿ Y ??a?`2?)~n#N> ~nګ_;I~nCɫ) IY5@y5ZGTNmea in: $SNTTA,0.064874,,,,011558.08*49 i 鿩5#~j?/$y&1?5?5, 5`e<)1I1y5/$?~jt?MbP?5&1?5<5: 5A)5$"AI5 Ai5A15Ael<Me:=Ymă;QUm>iqauEufDqy} <}>I  :g 5?  :( ~A ?9V C; ;)X:%5 %{%{%( % 8:Y%#R1y%:%55muAdded new target pos. range: 89.519997 m, bearing: 20.802958 deg, deltaT: 4.451600 s, approachRate: -0.026959 m/s, LOS rate: -5.100079 deg/s, posRepo size: 4m ProNav: pos range: 89.519997 m, bearing: 20.802958 deg, approachRate: -0.026959 m/s, LOS rate: -5.100079 deg/s, cmd update: -12.000000 deg/s, cmd heading: 67.338140 deg, new cmd heading: 70.858793 deg. W2?WX XW:W2W*WVbU1BU9*U9U=GaV@U="?BwB BA8*BA!AAAl0<"C?RCC2?CM,! I1 G] >gq,SEAY}:P>}:@y}:3 }:m }:H@?`?fݦ L?w??@?)~:P> ~:k_;I~:CɫII)I MIQY9YIYiY]=]QDY]; ]EY}@y}ZG-=i-=i11E=<MEu=YM;;QUM?IQaUEUpDQy];}]?IaeD 5?e_ eA m?9e Ce: e:)aW?WX XW:W2W*WVbUBU*UUU?B B BAܾ*BA"AAA0<"C?RCC?C"#שIG)> 3q,8SEAY}6oS>}6@y}6:}6܁}6H ?`Jb?3+@g???6?)~6oS> ~6@_;I~6Cɫ99)9 =I9Y@y[Gi   U  ÍxiÍq=ÍiÍ(@Í č@)čQ@Ič3@ič3@!V<ME=YaE~DyJ;}>Iȱŵv* 5?ŵ ƵA ?9Ƶ Cǵ : ȵZ:)ȱWn?WX XW:W2W*WVbUBU*UUU k?B5 B9 B9AEپ*BAAMo$AIAQAU<"C]ȗ?RCYC]n?Ca }>}!>MT!I)E E}E}Ed E-5:YEkS1yEԊ:E5GU2>q,SEAY}2!Y>}2@y}25ؼ}2[}2H`??Q?@=??@Ǟn?)~2!Y> ~2 4_;I~0ɫII)I MIIYX@yl[GiI=)=5׳<M=Q=Y=jHAAaEEEDAyM|<}M>IQ ]:UDA 5? ]:U UA ]?9U CU: U$:)UY:W Y?WX XW:W2W*WVbUBU*UUU2?B= &B9 BAAEXվ*BAAE%AAAAAE""<"Cug ?*Cu=RCqCu Y?Cy-jI G-,>9=<Ec>9AIEWGiEB@AAAE; EE)цIцiцՆ=Ն=ՆS6Dq,tSEAY}2Qe>}20H@y}24}2A/<}2H?<Ƙ?@<R?@+?@??)~2Qe> ~2 Z_;I~0ɫAA)I IIIY=v@y=[GI)i5uV?B`"?S㥛?5r(?5N> 5/<)1I1y5~jt?y&1L7A`?5$?5`5+= 5 A)5AI5 Ai5A15Aýtýt>ýТ>iý@ù Ľ"@)Ľ@IĽۙ@iĽۙ@;M'=Y )aEDy:<}>M IIMU Ma4:YIyIM5)M;9UIȁŅ\ 5?Ņ ƅ@A ?9ƅr CDž;: ȅ:)ȁW>?WX XW:W2W*WVbUBU*UUUp@B-B1 B1A5~Ӿ*B1A5'A9A9A]<"CeI?RCaCe>?Ci֭Ƃ׉ I G >a,q,]O TEAY}63z>}6>@y}6'}6yH=}6H?9i?22Mp '?r?@ ?`?)~63z> ~6_;I~4ɫ99)9 =I9Y@y[Gi) = =eԚ>aimGI<Mp=iY5V q,*'TEAY}6`>}6۽ ~6f`;I~6Cx9xIzVGiz@xxxz; zEɫYY)Y ]IaY@y\Gi 鿡<M\=Y9;QU>aEDyo=}>I9 5? A ?9 C: :)W%}?W!X) X)W):W)2W)*W1V1bU1BU1*U9U9U=`G@REB*** querying acoustic contact ***PAPABm Bi BiAmQ̾*BiAu)AqAqAu!<"C}J?RCyC}}?Cց G )S:YT1y:5);YIiGa>b>q,ATEAY}6>}6|V=y}6)7}6=}6H?੒]|@ת?K?o,??`B?)~6> ~6Cy`;I~6Cɫ99)9 =IAY]@y]\GeZ****** received transponder code query ******eF****** received ping request ******e:9QU>aEDys=}%>I! -:%4 5? 5:% %A 5?9%-C%: %$:)%[:WU?WQXY XYWY:WY2WY*WaVabUaBUa*UaUiUm{ @Bp#B BA̾*BA9+AAAW<"C7{?RCC ?CIGn>hq, ZTEAɫyy)y }IyYc@yy[GxDUSBL response received:!U1,P E21,000,00845,186,80,80,9C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i5o'M=Y=YEQUM>YaamEm˷Dy }U>Iae 5?e e@A ?9eqCe1N< e9<)aW >WX XW:W2W!*W!V!bU)BU)*U)U)U55/ @; l3:YU1y:G59@BֵB BAԾ*BA,AAA1'="C-.a?RC)C5 >CYgA9IsVGiN@; Eѕ=֥ ·y I G >ܗq,tTEAY}f>}f=y}fs}fY >}fHv?S 7kc?e?C@?\? ?)~f> ~f5_;I~fCɫ99)A EIQYk@y[GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i))I5=)5%=x&1?aEڷDy6=}>Iȡ :ť$ 5? :ťx ƥuA ?9ƥCǥ: ȥ :)ȥ\:W*t>WX XQWQ:WY2WY*WYVYbUaBUa*UaUaUen=@BtB BA/Ծ*BA&6.AAAZ="CK?RCC*t>C;6=Ƃס I G >z#q,5TEA||Y}6R>}6=y}60s}6>}6HN?TЎ4`?/v?0N??`D?)~6R> ~6cS_;I~6Cɫyy)y }IyY@y[GxDUSBL response received:!U1,R,D80,000,00844,188,80,80,92,FF Fpublishing direction and range info5?ɰW->鰥> )CIyB:5#??<?ٱi<M=Y:QU?aEDy^=}?I 5?S A ?9C: :)W$>WX XW:W2W*WVbUBU*UUU@@P*QBZQrR@&l G@JQ:5#??<?2Q5?:QbQy'amQ@K@<}@RQ(L??UaZ?BQ8",? Q^BQnBP9?P49?P&QPQHWA"QGw@BUO䘽BQ BQA]о*BYA]tH/AYAYA]w="Ce:?RCaCe$>Cϙϙ)Й Йy {{X x=:Y#R1y:~5) I G5 >)q,|TEAH9HIJUGiJ@HHHJ; JEY}p>}z >y}j}N>}H?@ am?=E?.b?¿ ? ?ͭ?)~p> ~^;I~Cɫ髑) IY_@yu[GuTNmea in: $SNTTA,0.201758,,,,011602.53*4B i)= = M-=Y]5;QU>aaamEmDiyu=}u>Iy :} 5? :}8 }A ?9}KC}ҿ; }a;)}]:mqAdded new target pos. range: 89.459999 m, bearing: 38.525518 deg, deltaT: 4.379774 s, approachRate: -0.013699 m/s, LOS rate: 4.046456 deg/s, posRepo size: 4m% ProNav: pos range: 89.459999 m, bearing: 38.525518 deg, approachRate: -0.013699 m/s, LOS rate: 4.046456 deg/s, cmd update: 12.000000 deg/s, cmd heading: 14.733162 deg, new cmd heading: 9.021366 deg. W%>W)X) X)W):W)2W)*W1V1bU1BU1*U1U=p]V@U]?BՎB BAԾ*BA0AAA*R="C= ?RCC>CFӅ-?i-z? I G- >}0q,@MTEAY}69>}6& >y}6 \k}6m3>}6H@E?`pĿ"v?@v?C?¿ ?k?fu??)~69> ~6 ^;I~6Cɫai)i mIiY@yZGi   ] ] ]]X] >]>i]z@] ]@)]E@I]@i]@m&Mmf=Ym c;QUu>qqa}E}Dyy=}?Iȉō` 5?ōy ƍA ?9ƍCǍ: ȍH:)ȉWI>WX XW:W2W*WVbUBU*UUU?B[B BAIܾ*BA2AAA="C?RCCbCI>CN؅) N 7:YDW1yY:Y5׹IGf>;6q,+/TEAY}6">}6=>y}6{}6'>}6H%s? Gǿ@?X? K?&ÿr?`M?@!?)~6"> ~6^;I~6Cɫ99)9 =I9Y@yZG=ip=itMP=Y%QU>aE D!y%Ǒ=}->I)-! 5?- -"A =?9-C-: -:))W].?WYXY XYWa:Wa2Wa*WaVabUiBUi*UiUqUuD,?BH,B BAK߾*BAs3AAA="C1>RCxC.?C֍fIIQGu>y}<܅d>9܁I܅TGi܅ @܁܁܁܅; ݅EH}^>y}sK}lh>}H=? ˿@Ɏ??D?ÿ ??`w?)~n> ~j^;I~ɫ髩) IY@y[GiIIʡE?aEDy=}>I := 5? : A ?9!CJ;  J;)^:W?WX XW:W2W*WVbUBU*UUU?5Q 5}5}5@ 5H::Y5kS1y5Ԋ:5Y5)5+;9=B}sBy ByAپ*BAM5AAA="Cb>RCcC?CyaI)י I G >Cq, UEAY}21c>}2~>y}2N̼}2#>}2H ?Ͽ@vE?@y? .?=Ŀ'?`Y[?'?)~21c> ~2^;I~0ɫ99)9 =I9Y@yYGiI4=)4=5ܽM==Y=QU= ?AAaEEE%DIyM1=}M ?IQUO 5?U UA e?9UYCUz: U.:)QWx-?WX XW:W2W*WVbUBU1*UQUQU]H@B\vB BAT*BAfu6AAA2="CW>RC`Cx-?CYIGI>Iq,)UEA9ITGi@ )ݣIݣiݣݣݫ=ݫk4|(|(Y}FDq?}Fྍ>y}F9w}F"a%>}FH0?Uѿ ?{?:V?@Ŀ:??k?)~FDq? ~F^;I~FCɫYY)Y ]IYY@yYGI)ieMm9=YulQU}>aE4Dy;=}>I :h 5? : W A ?9C ; :)_:WKE?WX XW:W2W*WVbU BU *U UU @B=BB9 B9A=*BAAEP8AAAAAE="CMa>*CUn=RCUCUKE?CY֥q-yI {{E A:Y#R1y:l5);G_>Pq,6CUEAY}:, ?}:.>y}:}:>}:H?)ӿ5?Q?#?@AĿӢ? ? ??)~:, ? ~:^;I~8ɫ99)9 =I9YӰ@yYGi)å= å>UoU>UiU@Q U)Uۙ@IU@iU@e3Me\=YempQUe>iiamEm?DqyuY=}}>Iy}| 5?}F } A ?9}C}: }:)yWCYY?WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA*BAGp9AAA"T="C >RCCCYY?C  ?i?IG$>i]nGIiUTٺBBWq,Hp]UEAɫyy)y }IyY@yRYGZ****** received transponder code query ******F****** received ping request ******!!a-E-LD)y5}5>I :m 5? : 1!A %?91C: :)`:WeEp?WaXa XaWa:Wi2Wi*WVbUBU*UUU @B!B) B)A-*B)A-;A)A1A5="C=9?RC=*vC=Ep?CAE$ӿ%gA!5c>91I5TGi5f@5=115; 5EIIaGZ>n3]q,[^wUEAY}U]?}U߭>y}U2}U>}UH$?zտ@=[?`\L?@?=;V?|M? k?)~U]? ~U_;I~UCɫ)))) -I1Y@yMYGxDUSBL response received:!U1,P D80,000,00844,188,80,80,92,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i ||F 5:YR1yi:5)>;S?õ㥽iõ@ñ ĵ@)ĵ@IĵiĵQ@WTM=YjIQU>aE^D1y==}=>IAEI 5?E@ Et!A ?9ECE* < EL<)AW=@?W9XA XAWi:Wi2Wq*WqVybUyBU*UUU૝@BB BA*BAP=AAA2x="CE :?RCE ^ CE @?CI 5 =cI9 )9 I G5 >R dq,UEAY}: ?}:n>y}:=}:;=}:H`?=rֿc @?q? ` ?6? ξ?)~: ? ~:_;I~:CɫQQ)Q UIQYuU@yuXG}p=ɮ}=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i11 M=Y 'QU)?aEfDy=}0?IG 5? !A ?9Cp; #;)W0s?WX XW:W2W*WV!bU!BU)*U)U)U5 &1@B6B BA*BA,>AAA="C>(?RCx&C0s?C!+W½IG%M>5 d>91 I1 i1 5 =1 1 5 ; 5 E1jq,UEAY}2x}?}2H׽>y}2I}2']=}2H?k_׿4wu)? ?Rܾ@8? 4?@ ?)~2x}? ~2_D_;I~2CɫYY)Y ]IYY@y.YGiI=)=}<MW=Y\QU>aErDyk&=}>I :x 5?  :* !A ?9C[; ~b;)a:Wm?WiXq XqWq:Wq2Wq*WyVybUyBUy*UyUU@B͍B BA*BA6?AAAx4="CȻ=?RC2_C?CX ~~I ::YT1y@:G5);ׁIG=>,qq,RUEAY}6n"?}6>y}6ͤU}6=}6H[?ELؿ@?`h?# ? ??)~6n"? ~6G_;I~6Cɫ9A)A EIAYů@yAXG5DNmea in: $SNTTA,,,,,011607.01*5E I9)9iyy%Mb>%)?%m=i% @! %)%ۙ@I%p@i%p@5VM=6=Y=\һQU=>AAaEEEDIyM =}M>IQU+ 5?U U"A e?9U6CU^: U:)QW~t?WX XW:W2W*WVbUBU*UUUKx@BçB BA*BAlAAAA="C7S?RC C~t?C IGj>QCwq,vUEAY}:rO&?}:<{>y}:o`b}:~=}:Hi?"4ٿ넿?s:? ؽ]H?i??)~:rO&? ~:_;I~:Cɫ99)9 =I9Y}ۯ@y}\XGAAi;Mg=Y QU>aED!y%E)=}->I) =:- 5? =:- -J"A =?9-qC-; -;)-b:W]I?WaXa XaWa:Wa2Wa*WiVibUiBUi*UiUqUu@B~zB BA&*BA$BAAA="COf?RCCI?C֭@LiIqG>* }} K:YkS1yԊ:59@9Ii; Er}q,dUEAY}~i)?}~*>y}~Gm}~x=}~H@;? 6ڿn. ? ?`?ֺ?@ ?)~~i)? ~~i;_;I~~Cɫ) IY@yXGi II$C? rh~jth?>C D;)Iy|?5^? rhl?-?C = A) AI AiA(AMVM\=MhiM@I MQ@)Mp@IIiI]J!<M]2=Y]ûQUe>aaamEmDiyu#<}u>Iy} 5?} }"A ?9}C}H: }Q:)yW%[?W!X! X!W):W)2W)*W)V)bU1BU1*U1U1U5`@ReB*** querying acoustic contact ***PaPaB0]B BA*BAhDAAA"F ="C?RCC[?CֽIבIGc>;Uq,s,VEAY}26-?}2XH>y}2v}2=}2H?ڿ=w$?@?: XѮ?F?3?)~26-? ~2D5_;I~2Cɫyy)y }IyYۯ@y\XGiNMd=YѻQU > aED!y-O=}->I9 E:=$ 5? E:= =<#A M?9=C=; =,;)=c:Wp~?WX XW:W2W*W V bU BU *U1U1U5GD@B}By ByA&*BAGFAAA ="Cۉ?RCCp~?C֥Rv 9 6:YT1y:5ׁIGD> e>9 I TGi @ ; Ewq, ,VEAɫ髁) IY]@y XG!ɮ%p=iQY=~?v>i@ )@I5@i@-=M-9=Y-QU5>11a5E5D9y=}=>IAE< 5?El E#A U?9EICE: E.:)AWut?WqXq XqWy:Wy2Wy*WyVybUBU*UUU @B_B BA *BAeGAAA ="C?RCCt?C?΅סIG3iq,EVEAY}25?}2>y}2ֈ}2# =}2H`? ܿj@x{?`b? (|???)~25? ~2_;I~2Cɫ19)9 =I9YuU@yuXGI?)?iI=)=` M]=Y(QU>!a%E%D!y-=}->I1 =:5cO 5? =:5ݿ 58$A =?95C54: 5:)5d:We?WaXa XaWa:Wa2Wi*WiVibUqBUq*UqUqUug@Bf1B BA*BAXIAAA) ="CȞ?RCC?C ||6 4:YR1yi:55·׹IGE>eq,_VEAY}:g;?}:">y}:̐}:d=}:Hp??޿H?X? ?)??)~:g;? ~:Z^;I~:Cɫ99)9 =I9Y}0@y}XGxDUSBL response received:!U1,N,80,80,63,E4 4,188,80,80,92,FF ZNo reply:!U1,N,80,80,63,E4 4,188,80,80,92,FF -aE͸DyIc 5? $A ?9C: F:)W?WX XW:W2W*WVbUBU*U U U H@B5B=L= B9A=*B9A=KAAAAAE; ="CM?RCICM?Ciaܙ9ܙIܝTGiܝ @ܙܙܙܝ; ݝE))I)i)))-4AIQGuX>辝q,]yVEAY}BwA?}B?y}B3}B=}BH@?``߿Owr ?@?,¿!?ͮ??)~BwA? ~Bغ^;I~BCɫqq)q uIqY@y7YGiE~jt?~jt?~jt?E$?E= E=)AIAyEm?Mbpl?E.?EA EA)EAIEAiEAAEA;t=iz@ 3@)p@IQ@ip@%<M%5=Y-QU->)1a5E5۸D1y=lP=}=>IAE]z 5?E E[%A M?9ECE: E:)AWu.;?WqXq XqWq:Wq2Wq*WyVybUyBUy*UUUt@BtB BA *BALAAASU ="Ca?RCC.;?C~~C E1:YT1y@:5)b;9FӅױIGe> > WC즤q,VEAi3oGIi(BfTٺ@BBBY}b G?}b8y?y}bԕ}bxM>}bH้?L@`?"7?@ÿv ??`?)~b G? ~bz^;I~bCɫ髱) IY ~@y$YG 9=gAi99 AAMT=YQU>aEDyg=}>I : 5? :. %A ?9_C: :)e:W?WX XW:W2W!*W!V!bU!BU)*U)U1U5, @B8B BA*BA<5NAAAuf ="C@?RCC?Ci=ױIGg>y 9y I} HUGi} Z@y y y } ; } E ݪq,VEA|0i|0Y}N|L?}N ?y}N1Х}N>}NH%.? \>t?{??Ŀ:?@'??)~N|L? ~N^;I~NCɫ髡) IY=R@y=XGiIIÝV>Ý 0Ý`eiÝ(@Ù ĝ)ĝ@Iĝ@ięXMG=Y;˻QU>aEDyU=}>I 5?< &A ?9C: :)WI@WX XW:W2W*WVbU BU *U UiUm#!@R}B*** querying acoustic contact ***PyPyBuūB BA*BA8OAAA~p ="C7*?RCCI@C3 0:YT1y:5)Í;K@=?΅I)שIG>hq,*VEAY}:SQ?}:{E?y}:}:>}:H`%?q㣃?>? l?Iſ.???)~:SQ? ~:д^;I~8ɫ99)9 =I9Y}ް@y}YGZ****** received transponder code query ******F****** received ping request ******aEDyNU=}>Iȹ :Ž޴ 5? :Ž7 ƽ'A ?9ƽCǽ: ȽA:)Ƚf:WE@WIXI XIWI:Wi2Wq*WqVqbUqBUq*UyUyU}`!@Bl骽B BA*BAXQAAAr ="C ?RCC@Cl=FӅױIG>߷q,VEAY}2W?}2?y}2-j}2/>}2Hk?O b ??@?ſ?b9AaEEEDqy}nY=}>I 5? 'A -?97C@< <)IAA) zz! 5:YQ1y:59@Mbq,8VEA|4<|4}:H?k>?? }?iƿ`b?@??)~::^? ~:^;I~:Cɫiq)q uIqY@yYGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iiq}?5^I?+? rh?M"?= C<)Iy> ףp=?Zd;O:v?1?j< A)\AIiA(A ]@ ]@ ]@]©]]i]=@] Y)]@I]@i]@mT!=Mm&=YmQUu>qqauEuDyyZ=}>Iȉ :ō 5? :ō ƍ_(A ?9ƍCǍ: ȍ:)ȍg:W\@WX XW:W2W*WVbUBU*UUUw#@Bj<B BA*BATAAA-V ="C6j?RCC\@C-FӅ I G- >Eŕq,QWEAY}VEd?}Vjh%?y}V$}V >}VHq?`d? /??%ƿ eH?@?z?)~VEd? ~V^;I~VCɫqy)y }IyY;@y ZGi9<M=Y4QU ?aE)Dy4=} ?I 5? (A ?9Ck: :)W-7@W)X) X)W):W)2W*WVbUBU*UUUhC$@BAB B A **B)A-UA)A)A5L ="C5?RC9C=7@C9O N ::YWU1y:Y5I G%M> 9 zCI sVGi N@ = ; Et˕q,91WEAY}6k?}6",?y}6 .ý}6'>}6H@?ds?g?o?ǿN\?`V?x?)~6k? ~6 ^;I~6Cɫqq)q qIqY@yZGDNmea in: $SNTTA,,,,,011612.63*5E i  % % % %@ -@ -@!!!i%(@! !)%I%@i%Q@=<M=D=Y=9&QUE>AAaEEE6DIyU=}U>IQ ]:Up5? e:UZv Ue)A e?9U CU: UR:)Uh:W@WX! XAWA:WI2WI*WIVIbUIBUQ*UQUQUU%@ޑiޕ=BMB BAa*BAWAAA ="C!@RCC@C?΅IGj>ҕq,KWEA|i|@Y}JZq?}JO2?y}J#˽}J_>}JHl?N$h?@m??ƿY?{@?`z?)~JZq? ~J^;I~JCɫ髉) IY@yZGxDUSBL response received:!U1,R,C57,000,03473,189,80,80,B2,FF Fpublishing direction and range infoSQ?ɰ~?7> )2CIy@Dd?s!4X?ٱi <MM=YQU>aE%CD!y%Mx=}->I)-5?-l -)A =?9-RC- : -L:))W]"@WYXa XaWa:Wa2Wa*WiVibUiBUi*UiUqUu\%@P*Q@DZQm|j@&@JQd?s!4X?2QSQ?:QbQ( gC@ZI7P@+t a@RQxy?X(s?.C?BQm? Qؕq,dWEAY}2w?}2D8?y}2aн}2H>}2H 5? 3 ? e?h~?`(ƿ ?s?^z?)~2w? ~2^;I~2Cɫ99)9 =I9YuM@y}$ZGi=OMEG=YEػQUE>IIaMEMPDQyU^=}U>IY]D(5?]b ]*A e?9]C]: ]:)YmyAdded new target pos. range: 768.119995 m, bearing: 87.030844 deg, deltaT: 10.932321 s, approachRate: 62.078308 m/s, LOS rate: 4.436873 deg/s, posRepo size: 4m ProNav: pos range: 768.119995 m, bearing: 87.030844 deg, approachRate: 62.078308 m/s, LOS rate: 4.436873 deg/s, cmd update: 12.000000 deg/s, cmd heading: 145.921209 deg, new cmd heading: 150.838629 deg. W}(@WX XW:W2W*WVbUBU*UU@U@9_?B6B BA*BAWZAAA ="C9 @RCC}(@Cٙٙܡ9ܥyCIܥޕq,0~WEAY}6>}?}6=?y}6dԽ}6>}6H{?<*1?@{??~ƿo?`?{?)~6>}? ~6^;I~6CɫYY)Y ]IYY3@y>[GI)?iI a=) =S㥛?V-:v?$?h T=)IyK7?S㥫y&1?)?/]`<  A)AI&AifA\A U U UU&U=U >iUz@U U@)U@IU/@iU@e!=Me9=YmEQUm>iqauEu^Dqy}@M=}}>Iȁ :Ņ;5?Iލ@A)މ~~+ 3:YT1y@:5)P;9 :ŅX ƅ5+A ?9ƅCDž; ȅ;)ȅi:Wt.@WX XW:W2W*WVbUBU*UUUI?BB BA׾*BAB[AAAZ ="C@RCCt.@C1IG5>&q,WEAY}6s?}62UC?y}6.׽}6%>}6H`$?@|<"?R?@?@ƿٺ??@?)~6s? ~6^;I~6CɫII)I MIIY]@y]ZGiMe=Y?yQU>aEiD y Q}=} >I>K5?P +A %?9!Cϸ: :)WE 13@WAXA XAWA:WI2WI*WIVIbUIBUQ*UQUQU]`qM?BFB BA۾*BA]AAA( ="CE@RCC 13@CaAIIG}7>ܕ f>9ܑ Iܕ hXGiܕ @ܑ ܑ ܑ ܕ ; ݕ E)!I!i!!!%4vq,pWEAY}6\?}6 (I?y}6ڽ}6 >}6H}?kW?`??`ſ@3?Sn?@ބ?)~6\? ~64^;I~6Cɫ99)9 9I9Y]@y][Gi--q>-`AAaMEMwDIyMa=}U>IY e:]\5? e:]F ]Q,A e?9]gC]: ]A:)]j:W8@WX XW:W2W*WVbUBU*UUUN?BKGB< BAҾ*BA~^AAAE="CI@RCC8@C' 2/:Yy5);e?΅9IQGmW>q,=IWEAY}:;K?}:O?y}:}ݽ}:G >}:H`?`!BR? ? ˍ?ſ`?`2?`yaEDyd=}>Iȑŕm5?ŕ< ƕ,A ?9ƕCǕk: ȕw:)ȑWGM>@WX XW:W2W*WVbUBU*UUU4H@B% B! B)A-$ž*B)A-_A1A1A=w=ލ=iލp=inGI i!UTٺQU@CB"Cmn!@RCiCmGM>@Ci֝FӅIש)שבIG> q,$WEAY}225?}2T?y}2 Ὑ}2 >}2Hn? +?@?g?.ƿ?L? ?)~225? ~2^;I~2Cɫ99)9 =IAY]@y]\GiQ<MS=Y~QU>aED y Qp=} >I :}5? %:2 -A %?9C: I:)k:W{C@WX XW:W2W*WVbUBU*UUU@=e>99I=YGi=ذ@999=; =EB񥽉 0:YU1y:65)Í;B BA¾*BAaAAA1="C'@RCC{C@CIG-p>"Bq,WEAY}67?}6Z?y}6⽙}62b>}6H ?`;^?5?`qm?8ƿ!Q?༡?&?)~67? ~6^;I~6CɫQQ)Q UIQYҳ@y<]G鮥a=ɮi=#~j?rh|kt?=%?= = 0=)9I9y=V-? rhV-?=-?=C =m= =A)=&AI9i99=A55L>5=i5̜@1 5@)5z@I5@i5@E6<ME7=YM QUM>IQaUEUDQy]W=}]>Iae~5?e& ei.A m?9e:Ce: eQ:)aWpnI@WX XW:W2W*WVbUBU*UUU` @RB*** querying acoustic contact ***PPBbB BA*BA\bAAA="CU,@RCCpnI@C=N؅שIG>+*q,QXEAY}2dd?}26a?y}25余}2>}2H@D?ܢ?h?` ?W1ƿw?`?H~?)~2dd? ~2f^;I~2Cɫ99)9 =IAY]f@y]]GeZ****** received transponder code query ******eF****** received ping request ******eaEDy)=}>Iȱ :ŵ85? :ŵr Ƶ1/A ?9Ƶ{Cǵ=: ȵ:)ȵl:WN@WX X W:W2W*WVbUBU*UUU%C @B}lĤBy BAz*BA~cAAAC=Iމ)މ -:Yy9@"C1@RCCN@Cѥ<}FӅQIaG}z>5 f>95 zCI5 ZGi5 ̱@5 =1 1 5 s; 5 ޗE&T q,ٵ3XEA|;|;Y}>?}>Eh?y}>i余}>>}>H@ŕ?@xD? ??Pƿ@^?@?{z?)~>? ~>^;I~>CɫYY)Y ]IYY@y%^GxDUSBL response received:!U1,P C57,000,03473,189,80,80,B2,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i}O }K7} i}\@y })}@Iyiy_+<M,=YOֹQU>aEDyYk=}>I-5? ,0A =?9C; ;)W8U@WX XW:W2W*WVbUBU*UUU @BUbşBY ByAﱾ*BAdAAAu="C8@RCC8U@C)9 9 ש I G >q,(PXEAY}6?}6Ko?y}6余}60">}6H,??`r?X? OLƿ`惼?\V?w?)~6? ~6=*_;I~4ɫ髩) IY@y^G=A =~=~=7 =a:Y=T1y=@:=l5MNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i @=M N=Y7QU>aEǹD)y-=}5>I9=z5?= =0A M?9=C=w; =51;)9W}MZ@WX XW:W2W*WVbUBU*UUUp@BeꀢBi BiAm*BiAmeAiAqAuN="CuJ=@RCyCMZ@C։iIqG}>l"q,ˁjXEAY}2o?}2Mw?y}2Va彙}24$>}2H?!X?@(?@ؕ?ƿԜ? 6?x?)~2o? ~2_;I~2CYYa9aIeP\Gie@aaaem; eۗEɫyy)y yIyY @y_GxDUSBL response received:!U1,R,D5F,000,00801,18A,80,80,92,FF Fpublishing direction and range infoY?ɰ'>> )CIyBJU?vV?ٱ i -=M^=Y%QU>  a E ҹDy=}>I %:F5? -: 1A9i== M?9PC'; ;)m:W}_@WyXy XyWy:Wy2W*WVbUBU*UUU@@P*QBZQ_Q@DܕG@JQJU?vV?2QY?:QbQ@)߂W?H,7 U@ Lu_-@RQPJV\?Ip_ !q,paXEA|i|Y}J?}J?y}Jf齙}JB>}JH@? U? )?`?ʝſ ,? ?{?)~J? ~J<_;I~JCɫ髑) IYi@yl`GEEEE E<0:YEV1yE:E#5]DNmea in: $SNTTA,,,,,011617.92*55 iaa}oʡ?I +?Mb?}>}94< }=)yIyy}S? ףp= y&1?}/?}Q8}`< }fA)}|AI}Ai}GAy}=A# wti(@ )@Ii@<M/=YSQU>aEDyx=}>I  5?  x2A ?9 C : :) mEyAdded new target pos. range: 85.440002 m, bearing: 89.177019 deg, deltaT: 4.532148 s, approachRate: -150.630554 m/s, LOS rate: 0.473545 deg/s, posRepo size: 4mU ProNav: pos range: 85.440002 m, bearing: 89.177019 deg, approachRate: -150.630554 m/s, LOS rate: 0.473545 deg/s, cmd update: 1.420634 deg/s, cmd heading: 200.258579 deg, new cmd heading: 205.399211 deg. WU^`@WQXQ XQWY:WY2WY*WYVYbUaBUa*UaUm)\U@Um #K?BB BAO*BAgAAAvQ="C%H@RC!C%^`@C)IG3'q,?5XEAY}F7?}Fn?y}F}F >}FH? #,?;??? bſs? G? m}?)~F7? ~Fx<_;I~FCɫyy)y yIyY@y_Gi!!IMb=YQU>aEDya=}>Iȹ :ŽF5? :Ž ƽ 3A ?9ƽCǽ(: Ƚ:)Ƚn:W`@WX XW:W2W*WVbUBU*UUUA?B-)B1 B1A5S*B1A5hA1A9A=Q="C=DRCACE`@CA֡yIG`>y9yI}]Gi}V@yy}D}q; }ݗEb-q,$XEAY}Bn8?}Bo?y}B$y}B >}BHO?%??;]?W-ſ@8ӽ? ?@~?)~Bn8? ~B _;I~BCɫYY)a eIaY@y`GI)?iIa=)4=I))-AA=d =~=~= =;:Y=T1y=@:=5)=z;9E e@ e@ m@e©eeief@e a)e@Ieieۙ@}/P=M}L=Y}fQU}>aEDyp=}>Iȑŕ5?ŕ ƕ3A ?9ƕ&CǕϸ: ȕ:)ȑW5a@WX XAWA:WA2WI*WIVIbUIBUI*UQUQUU"2?B;B BA鏾*BAuiAAAZ="C=?RCC5a@CN؅שIGe>,L4q,uXEA||Y}6@?}6!w?y}6}6 >}6H?,s,?I? h?`Ŀ@?B?&?)~6@? ~6_;I~6CɫII)Q UIQYK@yaGiYYA==MG=Y:QU>aEDy(k=}>I :5? :M ^4A ?9mC?'; 6;)o:Wp:q,XEAg>9I _GiJ@; E)ݝzCIݝzCiݙݝ=ݝ=ݝ~W4ɫ髙) IY@yaGmmmm# m0:YmV1ym:m#5)m ;i   ÝQ8ÝC<Ý>iÝ@Ý ę)ĝΣ@Iĝ@iĝ@<M:=YQU>aEDy}>I 5? 5A ?9C: :)W=b@WAXA XaWi:Wi2Wi*WiVibUqBUq*UqUqU}@Y@BB BAހ*BA-kA)A)A56="CmK5RCqCub@CIG>WAq,YEAY}2ɲ?}2?y}2彙}2>}2H? 5?P?8&?ÿ`r?4?,?)~2ɲ? ~2g_;I~2CɫYY)Y ]IYY@y7cG fAi  1i5=Gz?Zd;Oj< t=)Iy+?x&Q?v?7\= -A)I@i A,=MY=Y2aE !D y >}>I %:5? %:ê 5A %?9C+: :)p:WEc@WIXI XIWI:WI2WQ*WQVQbUQBUQ*UYUYU] J@B@B BA_*BA6lAAA="C0RCCc@Cֽ?΅שIi53oGIaG5q>iy^TٺBBBGq,WzYEA|i|Y}6g?}6?y}6ཙ}6v>}6H@2m?z@Z?^??`ÿ C ?`*?`?)~6g? ~6_;I~6Cɫqq)q uIqY@ycGɮiM^=Y;QU>aE-Dyh=}>I$5? 36A  ?9/C': :)W-Id@W)X) X)W):W1EE~E~E EC3:YET1yE@:E59M@2W1*WQVQbUQBUY*UYUYU]C@RmB*** querying acoustic contact ***PiPiBK[B BAb*BAlAAAQ="C Y-RCCId@CסIGA>9I`Gi@; E{Mq,F^9YEAY}6]?}6m0?y}6ݽ}6[=}6H'?t? ??H@¿??–?)~6]? ~6_;I~4ɫ99)9 =I9Yu!@y}cG}Z****** received transponder code query ******F****** received ping request ****** =i@ )@Iz@iz@E=M:=YMyT;QUM>QQaUEU;DYy]}=}]>Iae)5?e e6A ?9evCe; e;)aWd@WX XW:W2W*WVbUBU*UUU @BEHBI BIAMQ*BIAMmAQAQAUZ="C]*RCYC]d@CYuFӅQIYG}z>ՓTq,3SYEAɫ髡) IYӹ@ydGxDUSBL response received:!U1,P D5F,000,00801,18A,80,80,92,FF Command AckBRequesting micromodem ping code 2iI1)1M MMM ME:YMT1yM:MZ5Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I)?iI4=)MW=MUF=YeQU>a-E-HD)y5}5>IA u:E[45? }:Ev E7A ?9ECE< E<)Eq:We@WX X)W):W12W1*W9V9bUBU*UUU @B |B  BAa;*BAsZnAAA.="C=^)RCACEe@CAQ) I1 Ge >Zq,,mYEAY}:C?}:z?y}:nܽ}:t=}:HT]?`haٲ?fN? ?@V_v?W??)~:C? ~:^;I~:CT9TIVaGiV@TTTV; VEɫ髁) IYn@y^eGqu@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ieJe(>e=ie=@a e/@)e@IeE@ieE@u0<=MuF=YuX;QU}>yya}E}UDy>}>Iȑŕ<5?ŕgx ƕ8A ?9ƕCǕ; ȕY;)ȑWOf@WX XW:W2W*WVbUBU*UUU0@B␽B B!A%'*B!A-nA1A1A=="CMkT**CUd=RCYC]Of@Ciց a Ii G >aq,BYEAY}:k?}:{,?y}:ٽ}:=}:H$?6?@?`?$*? v\??)~:k? ~:r^;I~:Cɫ99)9 =I9Y]@y]0fGexDUSBL response received:!U1,R,DE3,000,007DE,188,80,80,AD,FF mFpublishing direction and range infoe>aɰe$>e> a)e-CIayeBeG2?@r?ٱaiu=Mk=Y\;QU?aE`Dy=}?I :qC5? :Em 8A ?9-Cw: :)r:WѪf@WX XW :W 2W *W V bUBU*UUU@P)*Q-BZQ-ZLR@>B@JQ-G2?@r?2Q->:Q)bQ-<"1/M:T@_ 'M&(@RQ-A铊iȿ':?f?BQ-? Q-ԡBQ-P~P-P9?P-z9?P-Q-Q-_A"Q-ABU׌BY BYA]*BYA]@oAaAaAeP="Cmt+RCiCѪf@CցYIaGY>gq,eĠYEAY}2m?}2| ?y}2gԽ}2=}2H`o? \?`D?}?@v`/?@?``?)~2m? ~2a;I~0ɫAA)A MIIY]@y]fGDNmea in: $SNTTA,,,,,011622.45*59 gAi ))<=M==Y̷;QU>aEnDyS=}>ip=IK5?_ >9A ?9rC: :)m5uAdded new target pos. range: 83.340004 m, bearing: 101.113595 deg, deltaT: 4.392177 s, approachRate: -0.478122 m/s, LOS rate: 2.717690 deg/s, posRepo size: 4mE ProNav: pos range: 83.340004 m, bearing: 101.113595 deg, approachRate: -0.478122 m/s, LOS rate: 2.717690 deg/s, cmd update: 8.153070 deg/s, cmd heading: 206.504056 deg, new cmd heading: 207.124809 deg. WEj@WAXA XIWI:WI2Wi*WqVqbUqBUq*UqU}T@U}?B B BA*BA1oAAAq<"C:+*C.(=RCCj@Cܹ9ܹIܽXcGiܽȸ@ܽ=ܹܹܽ; ݽEI GUt>mq,YEAY}2?}2?y}2*ν}2 >}2H?l@?&??տ2?`Ŀ?`?)~2? ~2`;I~0ɫ99)9 =I9Y}@y}OgGie>eXev>ie@a e@)e"@Ie@ie@}˯<M}L=Y}aE{Dy=}>Iȑ :ŕGR5? :ŕR ƕ9A ?9ƕCǕ: ȕ+:)ȕs:Wy?n@WX XW:W2W*WU ~~' ::YT1y@:5)r;9VbUBU*UUU@°?BdԈB! B!A%*B!A%Q pA!A!A-<"C5x)RC1C5y?n@C1AI G%N>tq,zYEAY}2"?}2 Z?y}2l_ɽ}2>}2H v? B0?`L?@? !?6??)~2"? ~2`;I~2CɫAA)A EIIY@yhGi5M=M=O=Y=;QU=>AAaEEEDAyM=}M>IQU_X5?UD UY:A ]?9UCU: U:)QWq@WX XW:W2W*WVbUBU*UUU`P?B]BY BYAe<½*BaAe@[pAaAaAe-<"Cd&RCCq@C֙yIGa> {q,UYEA*<*<898I:dGi: @888:; :EY}EA?}Ex?y}E.ǽ}E1 >}EH`k?f@_d?y?`U?稽@k?}2??)~EA? ~E8`;I~ECɫ髑) I( -:Yy55)7;Y@y%hGI?)?iI =) = u@ u@ u@u©uuiu@u u)uIu@iu@q,;M=Y:QU>aEDy=}>Iȹ :Ž}_5? :Ž3 ƽ;A ?9ƽACǽ,: ȽL:)Ƚt:W,v@WX XW:W2W*WVbUBU*UUU?BDB BAu*BA˾pAAA4<"C!RCC,v@Cס I G >q,0ZEA||p<ɫ髙) IY@y2iGi9Aa i@a  a m@a  a q@a  a e@a  ұ=M=YQU?aEDy}?Ic5?`) z;A ?9qC>; W>)W"Yy@WX XW:W2W*WVbUBU*U U U d@B5B9 B9A=ֈ*B9A=+pA9AAAE<"CERCICM"Yy@C IG=r>q, "ZEAY}2P?}2]%?y}2b˽}2@>}2H'?- R?V?:?5@a?`c?`K?)~2P? ~2=`;I~2Cɫ99)9 =I9Y}@@y}hGiEIMEQ=YMQUM>IQaUEUDQy]>}]>Iaeg5?e e9IIMfGiM@M=IIM; ME)IiᅉᅩA4Ga>BHq,u;ZEAY}2T?}2?y}2v̽}2S>}2H?(u_?)?,?r ?_{??)~2T? ~2_;I~0ɫYY)Y ]IYY}@y}iG鮁ɮ 鼉i 鿙    @ @ @i@ )d@Ii@X=MO=Y宺QU>aED y =} >Ik5? i SoGI i Tٺ CB0q,UZEA|i|@Y}J?}J?y}J_lʽ}Jv=}JH *i? ?@y?w?L@C?? ʛ?)~J? ~J_;I~JCɫ髑) IYN@y#jGZ****** received transponder code query ******F****** received ping request ******YYa]E]ȺDaye}=}m>Iq }:un5? :uN u(=A ?9u/Cu: uU?)uu:W%@WX XW:W2W*WVbUBU*UUU` @~~ '0:YT1y@:5BZ}B BA/*BA|qAAA -<"CfRCC%@CFӅIGj>]q,oZEAi9iIm@gGim@m=iim; mEY}uD)?}uQ`?y}uĽ}u,=}uH؊?@Y޻?@?d?t`y? ??)~uD)? ~uA_;I~uCɫqq)y yIYa@y:jGxDUSBL response received:!U1,P DE3,000,007DE,188,80,80,AD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i 5 = } }@ }@ }@yyyi}f@y y)}@I}@i}"@֏;M=Y;QU>aEٺDyfT=}>Ijr5?o =A ?9C< S@)W@WX XW:W2W*WVbUBU *U1U1U=k@B&{B) B)A5I&*B1A=-qA9A9AE<"CURCYC]@Cy Q Ia G >Bq,xZEAY}2?}2?y}2}2=}2H@x ?@?@<י`?? k?)~2? ~2CZ_;I~2Cɫ99)9 =IAY8@yBkGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I=?)=?i99IE=)ER=I)%> %%% %.M:Y%V1y%:%5a iMa iM a mUa mU a qUa qU a eUa eU U"~?bX9ȶy&1?U?UE U`e=)QIQyUbX9?~jt~jt?UE?UU< UA)U;@IUbAiUAQUzAu@=Muw=YuA ?9ƍCǍ: ȍr:)ȉW@WX XW:W2W*WVbUBU *U U U h@BUpvBY BYA]k*BYA]qAaAaAeP]<"CCRCC@C֙qIG>6oq,c`ZEA||;Y}6?}6#?y}6"}6E=}6H蒧qyɰ}!>}> y)}!CIyy}B}D?{?ٱyi11E;MM_=YMiqauEuDu-@qy}ɨ=}}>Iȁ :Ņr5? :Ņ ƅ>A ?9ƅCDžξ; ȅD;)ȅv:W@WX XW:W2W*WVbUBU*UUU`P@P1*Q5BZQ5XT@̗ 3[&@JQ5D?{?2Q5r>:Q1bQ5kEhҏ-]3S@rf @RQ5mhǿL0lI?~d?BQ5D? Q5 BQ5~lP5U9?P5P9?P5Q5Q5dA"Q5_AB]OuB BAF*BAqAAA<"CRCC@Cֹ9IlhGi@; !I9G]>Tq,.ZEAY}:2?}:@?y}:,}:+=}:H@I`5?? "VԳR>? z??)~:2? ~::W_;I~:Cɫ9A)A EIIY}׿@ylG}TNmea in: $SNTTA,0.067398,,,,011626.89*40 i$=M?=Y V;QU >aED!y%ŕ=}->I15q5?5 54?A =?95)C5: 5D:)1mmyAdded new target pos. range: 80.820000 m, bearing: 100.595053 deg, deltaT: 4.479135 s, approachRate: -0.562610 m/s, LOS rate: -0.115768 deg/s, posRepo size: 4m} ProNav: pos range: 80.820000 m, bearing: 100.595053 deg, approachRate: -0.562610 m/s, LOS rate: -0.115768 deg/s, cmd update: -0.347304 deg/s, cmd heading: 242.989910 deg, new cmd heading: 246.389725 deg. W}Z@WyXy XyW:W2W*WVbUBU*UUz4T@UZ?B=qB9 B9AE*BAAAAAAAA<"CRCCZ@C ե=ԥ=I)IG>Aq,sZEAY}JY?}Jf?y}J ﰽ}JM=}JH@熻2k?ű?@ ?`r? ?)~JY? ~JD_;I~JCɫyy)y }IyY@y%mG !!i!! ))=MR=Y:QU>aE Dyآ=}>Iȩŭcp5?ŭ ƭ?A ?9ƭbCǭA: ȭ:)ȩW5@W1X9 X9W9:W92W9*WAVAbUABUA*UAUIUM "?BumBq ByA}]<*ByA}±qAyAyA}['<"Ct*CD=RCC@CY9IAGeU> 9 I iGi ݽ@    ;  ESq,ZEAY}Z|?}Z?y}Z]Y}Zt=}ZHPna?@I?`¿3?i?=?)~Z|? ~Z`;I~ZCɫyy)y }IyY@y!mGi.MJ=Y8:UU{U{U@ Uh,:YU#R1yU:UY5)U.;9QU>aEDyC=}%>I9 m:="n5? m:= =-@A m?9=C=M: =:)=w:W w@WX XW:W2W*WVbUBU*UUU]E?B-N&nB) B)A-^V<*B1A5qA1A1A5*O<"C]1*C]h=RCaCe w@Cam?΅IIQGu>–q,K [EAY}6Ys?}6g?y}6)}69r=}6HQlſE?=n?ʝƿ`Jε?^??)~6Ys? ~6 `;I~4ɫ19)9 =I9Yu>@yumGi}Q?gfffff?y&1|}(?}33> }`)yIyy}v? rhV-?}?}C}< }A)yI}p@i}Ay}Ad =MJ=Y;QU>aE#Dy6=}>Iȱŵ@m5?ŵ) Ƶ@A ?9ƵCǵ: ȵI:)ȱWe@WX XW:W2W*WVbUBU*UUU4?B%hB! B!A%<*B)AqAAAح<"CS*Cۜ=RCCe@C fA gAFӅ?i?IGm>QȖq,g$[EAY}>3@}>x?y}>ت}>_=}>HLɿ=? TA?`,lʿ׭T?`?@3?)~>3@ ~>N_;I~>Cɫ99)9 9I9Y}@y}wnGiI4=)4=M<=MMO=YM;QUU>QQa]E]0DYye|=}e>Ii m:mk5? u:m mAA u?9m Cm: m:)mx:W\R@WX XW:W2W*WVbUBU*UUU<@BcB BAt@=*BAiqAAAN<"Cz*C=RCC\R@C% %%%B %4:Y%U1y%:%595@?΅ܡ9ܡIܥjGiܥѾ@ܡܡܡܥ; ݥEIGUS>Ζq,v>[EAY}6)@}6Ԋ?y}6}6YY=}6H@ Ϳgp? ?y*ο ?@??)~6)@ ~63}_;I~6CɫYY)Y ]IYY@yinGI)i   ÍÍ Í)>iÍ@Í čA@)č@Ič"@ičX@VME=Yu;QU>aE=Dy=}>IȹŽTi5?Ž ƽ|AA ?9ƽX Cǽܹ: ȽǺ:)ȹW=@WX XW:W2W*WVbUBU*UUU@*S@B-hdB) B)A-:=*B)A59BqA1A1A5J<"C=*C=l=RC9C==@CAa9IIGmV>Ֆq,XSX[EAY}6@}6,q?y}6\6}6=}6Hsп'? i?@Dпg??۵?)~6@ ~6ؚ_;I~4ɫII)I MIIY}@y}oGic=M\=Y aEIDyӧ=}>Iȹ :Žf5? :Žz ƽAA ?9ƽ Cǽ: Ƚ:)Ƚy:WX+@WX XW:W2W*WVbUBU*UUU`L@R B*** querying acoustic contact ***P P B-![B) B)A5ٖ=*B1A5qA1A1A=<"C=*CEU=RCACEX+@CA QU= *:Yy5MFӅII)IIG--> i>9 I kGi s@ ; E)yIyiy}=}=}sp4sۖq,,r[EAY}JE@}Jg?y}JE}J=}JH`Zҿ@e`mƿ??`ҿaꤿ D?@X?¹?)~JE@ ~JSJ_;I~JCɫYY)Y ]IYY@ymoGZ****** received transponder code query ******F****** received ping request ******](<]-2i](@Y ])]Ը@I]@i]"@2M#=Y0|;QU>aEYDy}=}>IȩŭVb5?ŭ$j ƭkBA ?9ƭ Cǭ: ȭ :)ȩWT@WX XW:W2W*WVbU BU *U U U @U @Buv^By ByA}7=*ByA(pAAA<"C*C Z=RCCT@CֱבIG>q,M[EAY}: @}:&d?y}:tؘ}:l=}:H;@Կ`b9?` C? Կ L?˻??)~: @ ~:G_;I~:CɫQQ)Y YIYY@yoGxDUSBL response received:!U1,P F61,000,007B4,186,80,80,A1,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iUUUU U.:YUT1yU:U5iMnGIiiwSٺAB-'1Z?)\(i|?5?-"?-G -q=))I)y-ˡE?ʡE rh?-'?--C = -9A)-Z@I-;@i-A)-fA<M.=Yq:QU>a EhDy]4=}]>Iȉ :ō\5? :ō0X ƍCA ?9ƍ1!CǍ: ȍ :)ȍz:W@WX XW:W2W*WVbUBU *U UU 6\@Be[B BAΣ=*BAmhpAAAS<"C,*C-=RCC@C֙ y I G >qq,[EAY}6 @}65?y}6Ӂ}6=}6H@ ֿ`"e?m?`[xֿx5 ??`W?)~6 @ ~6{_;I~6Cɫ99)9 9IAY_@y^pGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i99uh=Mu=Y} :QU}%?ya EpDyV=}5?IȑŕY5?ŕbO ƕKCA ?9ƕZ!CǕ: ȕ:)ȑW@WX XW:W2W*WVbUBU*UiUqUu/@BfMB BAH=*BA6pAAA<"CD*CF=RCC@C)99eh>9aIelGieg@aaaa a=N؅E?iE?I!G=r>4q,ǿ[EAY}2e @}2?y}2sƕ}2[=}2H`̻׿d ?@O? $ؿߗ?y y)}CIyy}=B}Xckl4?@|[̿ٱyiQYIe=)e=õƽõ̼õK7>iõ@ñ ĵ@)ĵΣ@Iĵ@iĵ@}=ME=YS;QU>a E~Dy=}>IS5?@ CA ?9!Ca: :)W 6ن@WX XW:W2W*WVbUBU*UU!U%@}}}}}}' }1:Y}kS1y}Ԋ:}5)}?;9P*Q=BZQޏ56o S@N1JQXckl4?@|[̿2Qd:QbQޒU(M"ܢCS@C, @RQ9=Ŀ禂?_'?BQBh? QBQEPZ9?PU9?PQQFA"QdABPB BA=*BAooA A A 4T<"CIm*C8q=RCC6ن@C5FӅIG9q,[EAY}~|@}~p?y}~͑}~z=}~H` fٿA pi?H?ٿo5?` ? ?)~~|@ ~~|_;I~~Cɫ) IYU@yU qGDNmea in: $SNTTA,,,,,011631.30*59 I)i;MG=Y;QU>a EDy=}>I  : M5? : 2 >DA ?9 !C : :) {:mEuAdded new target pos. range: 78.119995 m, bearing: 99.107042 deg, deltaT: 4.454916 s, approachRate: -0.606073 m/s, LOS rate: -0.334016 deg/s, posRepo size: 4mU ProNav: pos range: 78.119995 m, bearing: 99.107042 deg, approachRate: -0.606073 m/s, LOS rate: -0.334016 deg/s, cmd update: -1.002047 deg/s, cmd heading: 241.445273 deg, new cmd heading: 241.303006 deg. W]@WYXY XYWY:WY2Wa*WaVabUiBUi*UqUuS@Uu`.?B]WOBY BAv=*BA?toAAA;<"C*CI7{=RCC@C֑iIyG>] i>9Y I] mGi] @Y Y Y ] ; ] EDq,t[EAY}2j@}2@y}2O}2=}2Hۿ`@w?R?wۿ_?`g? q?)~2j@ ~2f_;I~2Cɫaa)i mIqY5@yfqGi}` }}}: }z;:Y}U1y}:}5)}4;ÍÍÍ/]iÍ@É č­@)č­@Ič­@ič@<M@=Y;QU>a EDyY=}>IȹŽ,F5?Ž# ƽDA ?9ƽ,"Cǽ : Ƚ:)ȹWa@WX XW:W2W*WVbUBU*UUU`K?B%> LB) B)A-=*B)A-5oA1A1A5D<"C=\RC9C=a@C9 IM>9IA)AI!G=r>{,q,O \EAY}:^h@}:@y}:<}: =}:H`ܿ`A`?|?%ݿN$?@t?@?)~:^h@ ~:2_;I~:Cɫ99)9 =IAY}@y}rGi  &1?Zd;O?ˡE??j<= '=)Iy$C? ףp= Mbp??Q; • A)•$@I•Z@i•t AA~=M[=YJ;QU>a EDyݢ=}>I :'@5? : DA ?9f"Cj: :)|:W+@WX XW:W2W*W V bU BU *UUU #?B=BBBA BAAE0>*BAAEřnAAAAAM<"C*Cĝt=RCC+@CIGj>V q,*'\EAY}2S@}2oo@y}2g}2J5=}2H ޿A@? ?`޿BlͰ?Ǽ?@L?)~2S@ ~2S_;I~2Cɫ99)9 9I9Y]@y]arG=i=iYMW=Yd;QU>a ED y =} >IquA95?uC u"EA ?9u"CuǺ: uӻ:)qW@WX XW:W2W*WVbUBU*UUUi?BCB BA>*BAN!nAAAS<"C/8*Cm=RCC@CN   ::YWU1y:59@9ImGi[@=; EE?΅I G%M>,>q,A\EAɫ髙) IY@y2sGi9A @ @ @ý©ýýiý @ý Ľ)Ľ@IĽiĽΣ@E=M==YQU>a EDy}>I :15? : [EA ?9"C: :)}:W@WX XW:W!2W!*W!V!bU!BU)*U)U)U5O@B]X>BY BYA]=+>*BYAecmAaAaAey<"CmTRCqCu@CqԁԅfAց׉i׍?YIiGZ>hq,Z\EAY}2@}2x@y}20m}2 =}2Ho@}?s"?%Tr???`5?)~2@ ~2N_;I~0ɫ99)9 9IAY@y@sGiI=)%=5f;M=T=Y=':QU=>AAaE EE˻DAyM)>}M>IQU*5?U UEA ]?9U!#CU: Ua:)QW@WX XW:W2W*WVbUBU*UUU##@B%;B BA,>*BASmAAAP<"CU*CUZ]g=RCQCU@CY}} .:YkS1yԊ:5օFӅYIiG  9 I nGi @    ;  Ecq,t\EA||Y}vݾ@}vb @y}v4`}vYz=}vH$kek?ϧ?@(R??p??)~vݾ@ ~v<_;I~tɫAA)I MIQYu)@yusG}p=ɮ}=I)i] ףp= ?Mb333333?]Q?] ]=)YIYy]l?S㥫l?]?]/]]= ]OA)]@I];@i]p AY]GA    @ @ @ùùùiý @ù Ĺ)Ľ"@IĹiĽ<M2=Y6:QU>a EٻDy\x=}>I :f5? :' FA ?9f#Co: :)~:W>@WX XW:W2W*W!V!bU!BU!*U)U)U-@R5B*** querying acoustic contact ***P9P9B];BY BYA]:>*BaAeVlAaAaAe)<"CmR*Cmp_=RCqCu>@Cq֙YIaG}{>z#q,5\EAY}:3@}: @y}:)}:=}:H 1`{ (?? {{? 0?!??)~:3@ ~:_;I~:Cɫ99)9 =I9Y}@y}sGZ****** received transponder code query ******F****** received ping request ******I^5? xFA ?9#Cظ; ,;)W]@WYXY XYWY:WY2Wa*WaVabUaBUa*Ui~~ o/:YT1y@:5UiU @B;B BAv(>*BAkA!A!A%KN<"C- *C5&qY=RC1C5@C9 QQ=?΅IA)AI1GUu>)q,r\EAY}2@}2 @y}2sz}2=}2H` $BWw?ԑ?;2? xI? '??)~2@ ~2t'`;I~2Cɫyy)y }IyYa@ytGxDUSBL response received:!U1,P 100,000,00787,186,80,80,98,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i  MBu=MUE=Y]>;QUe>a EDy-p=}->I15 5?5 5FA =?95#C5+: 5:)1W̄@WX X W:W2W!*WQVQbUaܱ9ܱIܵtoGiܵ@ܱܱܱܵ; ݵE)yIyiy}=}=}54BU*UU U Iy @BU7BY BYA]A>*BYA]kAAA<"C*C DR=RCC̄@CבIG>0q,M\EAY}2R@}2׬@y}2p}2i=}2H`g@{w?`?@- ??% ?` ?)~2R@ ~2&?`;I~2CɫYY)Y ]IYY@y?tGAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =ii!    @ @ @i@ @)j@I`@iv@5*<M5<=Y5;QU5>99a= E=DAyEa=}E>II U:M5? U:MX MWGA ]?9M$CM4: MA:)M:}n }}}}} }<:Y}kS1y}Ԋ:}5)}*;9W@WX XW:W2W*WVbUBU*UUU@,@BЄ/B BAF>*BAǍjAAAu<"CRCaCm@Ci}FӅQIaG}z>i3oGIi = Uٺ9 = PCB6q,(\EAY}2!@}2u@y}2hh}25=}2H`E@`?`I?@ͼ?`h?`?`?)~2!@ ~2_;I~2CɫII)I MIIY}@y}QtGxDUSBL response received:!U1,R,2A8,000,00765,189,80,80,9E,FF Fpublishing direction and range infoɰ>鰅7> )CIy(Bcy?yٱi;MD=YA;QU>a E Dyj=}>Iȱŵ5?ŵ ƵGA ?9ƵZ$Cǵ@: ȵn:)ȱWX@WX XW:W2W*WVbUBU*UUUI@P*Q(BZQ]O@#EEJQcy?y2Q:QbQ,#!pڢR@ >RQ-Zh?l:BQ ? QBQP`9?PZ9?PQQȦ@"QFABv3B BAfH>*BAiAAAT<"CNn *COK=RCCX@CgAֽ?΅?i?בIG>܉ 9܉ I܍ mžm}im@m m)m@Im@im@}n<M}<=Y +;QU>a EDy=}>Iȑ =:ŕ5? =:ŕ ƕHA E?9ƕ$CǕ< ȕ<)ȕ:muAdded new target pos. range: 76.080002 m, bearing: 96.743906 deg, deltaT: 4.460311 s, approachRate: -0.457366 m/s, LOS rate: -0.529814 deg/s, posRepo size: 4m ProNav: pos range: 76.080002 m, bearing: 96.743906 deg, approachRate: -0.457366 m/s, LOS rate: -0.529814 deg/s, cmd update: -1.589443 deg/s, cmd heading: 236.965469 deg, new cmd heading: 236.506107 deg. W@WX XW:W2W*WVbUBU*UUS@U9?BE; 3BA BAAEN>*BAAEiAIAIAM<"C}> RCC@C֥FӅy I G >Cq,]EAY}:׿%@}:\@y}:a}:=}:H@HB@j?`?L?88? ?:?)~:׿%@ ~:^;I~:Cɫ99)9 =I9Y}@y}tGI!)!i)1u냻M}s=Y}:QU}?a E%Dy~=}?Iȑŕy5?ŕY ƕ[HA ?9ƕ$CǕw: ȕǺ:)ȑW@WX XW:W2W*WVbUBU*UUU`'?B |%B  BA~M>*BA9hAAAr<"C% RC!C-@C9E?΅I)GEQ>Iq,k)]EAY}2'@}2@y}2_}2=}2H@R^? ??1¤? ߫? bۻ?"?)~2'@ ~2^;I~0ɫ99)9 =I9Y}C@y}(uGi)=M%P=Y5:QUu>qya} E}2Dyy>=}>Iȉ :ō5? :ōn ƍHA ?9ƍ %CǍQ; ȍ;)ȍ:W K@W X XW:W!2W!*W1V1bU9BUA*UIUQU]?) , 7:YWU1y:59@191I5pGi5@5=115}; 5EBm+Bq BqAu(^>*BqAugAyAyA}q<"CA RCCK@C ձԵ=ֽV݅I)בIG>Pq,C]EAY}2)@}2@y}2^\}2=}2Hה#S?` ? ؙ?`???)~2)@ ~2_;I~2Cɫ99)9 =I9Y}@y}uGi 5㥽55i5̬@1 1)5@I5@i5@EL<MEH=YEm:QUM>IIaM EM?DQy]=}]>Iaec5?eڊ eHA m?9eI%Ce: e:)aWo@WX XW :W2W*WVbUBU*UUU\?Bm9%Bi BAh>*BA3 gAAA<"C8 RCCo@CFӅיIGb>Wq,p]]EAY}6|q+@}6@y}6#[}6'=}6H`5൅??8 ΄?`!a?3ݻ??)~6|q+@ ~6b^;I~4ɫ99)9 =I9Ys@ycuG=i=i!!U26M]I=Y]p:QU]>aaae EeLDaym5=}m>Iquu5?uR uBIA }?9u%Cu߼: uʽ:)qW @WX XW:W2W*WVbUBU*UUUR?Bn%B BA,d>*BAkfAAAj<"Cm RCqCu @Cq%%%%M %!+:Y%W1y%č:%"5AI9GUS>! % hA) 9) I- qGi- @- =) ) - q; - ܗE7]q,qw]EAY}ML-@}M h@y}MY}M=}MH`Z|? @%?@?,6?@~?p?)~ML-@ ~M _;I~MCɫAA)A EIAY;@yuGi rh?/$ÿ&1?C+? =)IyS?+??< ¥ A)¥@I¥;@i¥; AAxi=f½i@ d@)A@IA@iA@oM0=Y9:QU>!a% E%[D!y-=}->I1 =:5;5? =:5u 5IA =?95%C5: 5w:)5:We-@WaXa XaWa:Wa2Wi*WiVibUiBUq*UqUqU}G@B,B BA;]>*BA]eAAA<"Ch RCC-@C֩׭?i׭?aIqG}>dq,&]EAY}6/@}60-@y}6xZ}6˨=}6HZL3bl? s?@W`?K???)~6/@ ~6.^;I~6Cɫ99)9 =I9Y]@y]uGea=ɮea=iqqIua=)u=+=M|=YQU ?a EeDy=} ?Iۜ5?Gn IA ?9&C: :)W@WX XW :W 2W *W V bUBU*UUU@R%B*** querying acoustic contact ***P!P!BxB BAk>*BA8dAAA%J<"C-WRCICM@CQ%%%%, %3:Y%V1y%:%5a9IIGeV>@jq,]EA||4<ɫ髁) IY@yuGZ****** received transponder code query ******F****** received ping request ******a% E%tD9yE}E>Ii u:mx5? }:md mNJA }?9mG&Cm+: m:)m:9IhqGi6@=z; EWy@WX XW:W2W*WVbUIBUI*UIUIUU@ @Bu$B BArs>*BAdAAAX<"C,RCCy@CIG>(qq,]EAY}6h2@}6"@y}6y^}6=}6H ho??c Wz?`˫?`i? ;?)~6h2@ ~6^;I~6Cɫ99)9 9IAY!@y9vGxDUSBL response received:!U1,P 2A8,000,00765,189,80,80,9E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i^=-f-}-}-. -':Y-kS1y-Ԋ:-~5i̬@ )@I@iv@W<M*=YQU>a EDy#=}>I!%y5?%XZ %JA 5?9%&C% : %;:)!W)@WX XW:W2W*WVbUBU*UUU @B ?!B  BAy>*BAA'cAAAAAE<"CMcRCICM)@CQ չԽ=֭?΅I׹)׹י I G >Rwq,J]EAY}:i4@}:$@y}:Jl`}: W=}:H@? '?&? ?}?`?)~:i4@ ~:_;I~:CɫYY)Y ]IYY@yvGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iYa aa<=Mu=YQU?a EDyJ=}?Iȹ :Žk5? :ŽS ƽJA ?9ƽ&Cǽ: Ƚ:)Ƚ:Wɀ@WX XW:W2W*WVbUBU*UUU ^@B- B) B)A5Մ>*B1A5~bA1A1A5~<"C=RC9CEɀ@CAEFӅI)GEQ> 4= 9 I qGi @ = u; ߗE)aIaiaaaed4}q,؟]EA|>@i|>@Y}z6@}z&@y}z/b}z/n=}zH?;?`@?PV?? ?)~z6@ ~z _;I~zCɫ) IY@yvGxDUSBL response received:!U1,R,421,000,00739,18A,80,80,9D,FF Fpublishing direction and range info"lɰx>> )CIyB.? .S?Js#~ٱ-=i)i19Fx?A`"aiam EmDiyu =}u>Iy}DY5?}mJ }KA ?9}'C}; }^;)yW _@WX XW:W2W*WVbUBU*UUU`$@PY*Q]BZQ],F@ٗDMJQ].? .S?Js#~2Q]"l:QYbQ]޾[!5);4R@2 RQ]lӈ۾#5?؉B-FBQ]? Q]BQ] P][9?P]`9?P]Q]Q]+)@"Q]Ȧ@BKB BA^>*BAlvaAAA<"CaRCC _@CIG>hq,N{^EAttiSoGIY} 9@}>')@y}Jei})=}H@޿@?@?R ?֟?;%??TٺBB)~ 9@ ~*_;I~ɫ  )  IYM@yM+vGDNmea in: $SNTTA,,,,,011640.19*54 i&MR=YRQU>a EDy =}>I  :DI5?  :B KA ?9B'C: :):m=qAdded new target pos. range: 73.440002 m, bearing: 96.931606 deg, deltaT: 4.487221 s, approachRate: -0.588337 m/s, LOS rate: 0.041830 deg/s, posRepo size: 4mU ProNav: pos range: 73.440002 m, bearing: 96.931606 deg, approachRate: -0.588337 m/s, LOS rate: 0.041830 deg/s, cmd update: 0.125490 deg/s, cmd heading: 229.847912 deg, new cmd heading: 229.242425 deg. WUe@WQXY XYWY:WY2WY*W V bUBU*U9U=)\R@U=?BB BAx>*BAF`AAA|<"CS*CC?G=RCCe@CfA?iz?IG>q,I,^EAY}2$;@}2M@+@y}2Jkh}2G=}2H}7ܿ@Qz? ?@#@Z?k ?7??)~2$;@ ~2k _;I~2Cɫy髁) IYX@y}vGI)?iI=)v=9i@ )@I@i@-<M-X=Y- QU5>11a5 E5D9y==}E>IAEX95?E; EfLA U?9E|'CE: E:)Ay9yI}0rGi}@yyy}g; }חEWl@WX XW:W2W*WVbUBU*UUU ?BB BAo>*BA_AAA.<"C3F*CpC=UUUU@ Uz.:YUV1yU:UY5)U;RCCl@CyQIaG}z>vq,$F^EAY}2=@}25-@y}2m}2<=}2H@oڿ胹?@ ?W?`???S?)~2=@ ~2_;I~0ɫII)I MIIY}@y}vGi<M]=Y~cQU>!!a% E%D)y-=}->I15)5?5l5 5LA E?95'C5: 5D:)1WeMs@WaXa XaWa:Wa2Wi*WiVibUiBUq*UqUqUu?BPB BAՄ>*BA._AAAy<"C-9*C5ڈ?=RC1C5Ms@C9AI)GEQ>q,_^EAY}2>@}2y.@y}2tcs}2 =}2H]Q@Bؿu|?]?`dC?`g?`9??)~2>@ ~2^;I~2Cɫ99)9 =I9Y7@yTvGi!!UM]F=Y]O^QU]>aaae EeͼDaym=}m>Iq }:u5? }:u. uPMA ?9u'Cu: uv:)u:Wz@WX XW:W2W*WVbUBU*UUU,u?BB BA|>*BAX^AAA<"CQ**C4;=RCCz@C  =]]]]< ]/:Y]T1y]:]~59e@aIi)i9IIG}Y>q 9q Iu rGiu {@q q q u a; u ԗEΝq,`y^EAY}>&l@@}>0@y}>w}>=}>H}`׿`? O?`Α??-޼?@?)~>&l@@ ~>_;I~>CɫQQ)Q UIQY@y!wGi99 AA!rh?AAaE EMۼDIyMk=}U>IQU:5?U( UMA e?9U4(CU: UE:)QWǂ@WX X W :W 2W *W V bUBU*UUU ?B&B BAĈ>*BAZ]AAA(<"C&*C)k6=RCCǂ@CשIG>q,^EAY}6B@}6D$2@y}6By}6Xy=}6H<տU?Kd?Y@ʴ?@1?y?඿?)~6B@ ~6^;I~4ɫaa)a mIiY}o@y}vG=i=i  MW=Y᝺QU>a EDy=}>Iȡ :ť 5? :ť$ ƥMA ?9ƥl(Cǥj; ȥ;)ȥ:WP@WX XW:W2W*WVbUBU*UUU@BB BAӁ>*BA\AAA<"C% *C%2=RC)C-P@C)uG u~u~u u|9:YuT1yu@:u5֡yIG^>4ݪq,6^EAɫ) IY@yvGp=ɮ=i)) } } } }@ }@ }@yyyi}@y y)}@Iyi}@$<MJ=YQU>a EDy}>Iȩ9Iis; ݗEŭ 5?ŭ ƭMA U?9ƭ(Cǭ~< ȭ<)ȩW@WX XW:W2W*WVbUBU*UUU4@RB*** querying acoustic contact ***PPBZB BA>*BA%u[AQAQAU<"C]*C]-f.=RCYC]@CaԕgAԑyׁiׁQIaG}z>>DZq,mu^EAY}2E@}2w5@y}2t}2k)=}2H~:ҿ`? ?^pX?/? ?`x?)~2E@ ~2_;I~0ɫ19)9 =I9Yu}@yuwG}Z****** received transponder code query ******}F****** received ping request ******YYae EeDaymn>}m>Iȑ :ŕX 5? :ŕ ƕ,NA ?9ƕ(CǕY: ȕ:)ȕ:Wŗ@WX XW:W2W*WVbUBU*UUU9 @B}B BA>*BA#ZAAA+<"C+*C*=RCCŗ@C]]]] ]c2:Y]W1y]č:]5?΅ױIGe>S﷗q,G^EAY}:˨G@}:P7@y}:p}:=}:Hàпp^?L?ƺ?@?m?e?)~:˨G@ ~:9_;I~:Cɫ99)9 =I9Y}c@y}wGxDUSBL response received:!U1,P 421,000,00739,18A,80,80,9D,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iMQ=Y;QU>a EDy;=}%>IQUe 5?U UdNA ?9U#)CU3< U<)QW@WX XW:W2W*WVbUBU*UUU @B- B1 B1A5>*B1A5_YA9A9A=r<"CU*CUl&=RCYC]@Ci֝FӅiIyG> < 9 I \sGi @  RD  ;  E]q,"^EAY}:{I@}:9@y}:0,q}:K/=}:H Ϳδ?@(x?@?!?y.? ?)~:{I@ ~:_;I~:Cɫ99)9 =I9Y}@y}.xG?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iaa rh?~jtL7A`? ? +=)IyS?Zd;Mb??y< Z A)@I@iAA U U UUX>UOUDa EDy=}>I : 5? -: NA -?9`)C; H;):UUUU U2:YUWU1yU:UH5)U;9]Wm?@WiXq XqWq:Wq2Wq*WyVybUyBUy*UyUU @BڔB BAl>*BAfXAAAx<"C7*C="=RCC%?@C! 15>1I9)=eAIGU>6ŗq,_EAY}6nK@}6;@y}6UYt}6 =}6H;ɿ@h??<)fö??}?@_?)~6nK@ ~6-_;I~6CɫYY)Y eIaY@y%xGxDUSBL response received:!U1,R,D7B,000,00724,188,80,80,99,FF Fpublishing direction and range info)?ɰ>鰥> )CIy\B:B3?c^?ٱi  (Mh=YQU>a E'Dy5=}?In 5? NA ?9)C/: :)W#@WX! X!W!:W!2W!*W)V)bU)BU)*U)U1U5 [@P*Q\BZQ*N@I:BC@JQ:B3?c^?2Q)?:QbQyP:쩹8D@RQr⒒@Vտ>9 ?BQБ_@ QQĆP9?P[9?PQQ^A"Q+)@BuBq BqAu>*BqA}WAyAyA}R<"Cp*C=RCC#@CיIGb>-˗q,._EAY}u7M@}uR=@y}ud.t}u=}uHBhgƿ $?dN?OQlW?+?\? ?)~u7M@ ~uwC_;I~qɫIQ)Q QIQܱ9ܱIܵ$tGiܵo@ܵ=ܵQDܱܵs; ݵݗE)IIIiIIIM54Y->@y-xGDNmea in: $SNTTA,,,,,011644.63*5D =i=i\>>`e=i̬@ )@Iv@i=M+=Y8QU>a E7DUUUU\ Uo/:YUT1yU:UY5)Ǔ;yrc=}>I 5? AOA ?9)Cv: *:)m%yAdded new target pos. range: 72.180000 m, bearing: 200.149896 deg, deltaT: 4.365705 s, approachRate: -0.288614 m/s, LOS rate: 23.642983 deg/s, posRepo size: 4m-ProNav REINIT: LOS rate is 23.642983 deg/s. Setting heading cmd to target bearing of 200.149896deg and heading rate command to 0 deg/s.W-Б_@W1X1 X1W1:W12W1*W9V9bUYBUY*UaUe R@Ue?BȷB BA>*BAoVAAA*=<"CkRCCБ_@C) I G5 >1җq,H_EAY}2N@}2F ?@y}20r}2C=}2H܍Gÿ@'?^?t`?`A?@V??)~2N@ ~28D_;I~2Cɫ99)9 =I9Yn@y yGi 5<M=o=Y=:QU=?AAaE EEADAyMӭ=}M ?IQ ]:U1s 5? ]:Ul UxOA e?9U*CU: U:)U:WWX XW:W2W*WVbUBU*UUUq?B8ݼB BAá>*BAUAAAU<"CJRCCC%?΅-?i-? iI9iQIa"Rٺ@BGa>>ؗq,b_EAY}>@P@}>@@y}>sn}>=}>H@@-:?`Hs?b_?@$ʭ?`v? ?)~>@P@ ~>_;I~>Cɫqy)y }IyY[@yxGiIC=)=M 0=Y ;QU >a EPDyp=}%>UU~U~UK U2:YUT1yU@:U59]@Iȑŕ[ 5?ŕ ƕOA ?9ƕP*CǕ3; ȕ;)ȑWWX XW:W2W*WVbUBU*UUU?B , B BA>*BAviTAAA<"C%&RC!C!C!ٹٽfA9ItGi@=RDj; ؗE FӅ I G% >agޗq,i|_EAY}2R@}2AB@y}2*i}28=}2H`\@0?`?` ? W!???)~2R@ ~2Y5_;I~2Cɫ99)9 9I9Y} @y}yGI)iZd;?Q?u= t=)IyzG?A`"I +? ?Y94= ©)­|@I­$@i­ AfA @ @ @©i@ )Ii@Ej=MEX=YE~_;QUE>IIaM EU\DQyU6=}]>IY e:]K 5? m:]j ]1PA m?9]*C]X: ]:)]:WWX XW:W2W*WVbUBU*UUUa1?BMUBU< BQAU>*BQAUSAYAYA]N<"CeRRCaCaCi]?΅1IAG]v>dQq,N_EAY}RT@}RD@y}R}e}R=}RH + T'??@=???`P?)~RT@ ~R_;I~RCɫ髑) IY@y)yGi99uE5MuX=Yu;QUu>yya} E}iDy;=}>IT8 5?? PA ?9*Cv: :)W9W9X9 X9WA:WA2WA*WAVAbUIBUQ*UQUQUU@@B}[NB BA'>*BARAAA^<"CP#RCCC թԭ=] ]}]}]+ ]$4:Y]kS1y]Ԋ:]5FӅI)fAIGi>t|q,(-_EAY}юV@}VF@y}1Hc}e=}H``.9G? r#?N ?Je? ??)~юV@ ~W(_;I~Cɫ) IY-=@y5 zGY9YI]tGi]@]=YY]g; ]֗Ei 鿙 m m mm;=mV>m茶im׫@m mv@)m­@Im@im@}AS=M}:=Y}ϧ:QU>a EwDyu=}>Iș :ŝ# 5? :ŝ[ ƝQA ?9Ɲ*Cǝ : ȝC:)ȝ:WWX XW:W2W*WVbUBU*UUU /@BYB  B A >*B A @zQAAA<"C)RCCCIGj>aq,_EAɫ髹) IY@ymyGɮp==i=i  4Md=Y%QU%>!!a% E-D)y-}5>I9= 5?= =QA E?9=3+C=: =/:)9WaWaXa XiWi:Wi2Wi*WiVqbUqBUq*UqUyU}`V}@RB*** querying acoustic contact ***PPBC ܼB BA>*BAHPAAAV<"Cd-RCCCmmmmS m/3:YmW1ymč:mk5<ױIG>sq,_EAY}2b4Z@}2OJ@y}2[f}2j=}2H`u`5??Yd?`Ϭ?@M??)~2b4Z@ ~2^ _;I~0ɫ99)9 =I9Y}@y}yGZ****** received transponder code query ******F****** received ping request ******a ED y >}>I 5? QA -?9o+C: :)W W X  X W :W12W1*W1V1bU9BU9*U9U9U=` @BB BAݩ>*BAXOAAA)#<"CjN0RCFxCCu<fAֹ?i?בIG>Y9YI]uGi]@]=YY]k; ]ٗEq,c_EAY}J[@}JsK@y}Jߪi}J}h=}JH `?ܩ?xm? d[?M1?@??)~J[@ ~J^;I~JCɫ髙) IYL@yzGxDUSBL response received:!U1,P D7B,000,00724,188,80,80,99,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i  I-=))mm~m~mA m.:YmT1ym@:m5)m?;9e"~j?ʡE?J +?eS>e= eH=)aIaye&1?{GzMbpe?eףe e A)e@Ie@iaaa =@ =@ =@=©==i=̬@= =)=@I=i=M7<MM=YuQQU}>a EDyi8=}>I :{ 5? : 5RA ?9+C < }<):WWX XW :W 2W*WVbUBU*UUUn@BeUBi BiAm>*BqAuMAqAqAuR#<"Cwr1RCl^CCϙϙ)С С-wI G-> q,`EAY}JN_@}JjO@y}Jm}J)&=}JH9ʺ??`]S`@Dl?@?` ?`F?)~JN_@ ~J^;I~JCɫqq)q uIqY@yyGAA%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)iCMV=Y+QU>a EDy>}>I 5? ^RA ?9+C: M:)WWX XW:W2W*WVbUBU!*U!U!U- @BUżBQ BQAU>*BQA]5LAYAYA]og<"C2RCCCtױIGD>y 9y Iy iy } =y y } ^; } җE/ q,K7`EAY}6^a@}6/zQ@y}6fo}6+=}6H Z`Jy?s?`ʼ??F?@?)~6^a@ ~6iz_;I~6Cɫ99)9 =I9Y]@y]yGmxDUSBL response received:!U1,R,502,000,0071E,189,80,80,9C,FF mFpublishing direction and range infoef3aɰeB>e7> a)eCIayeBew?amf-ٱa {{L LA:Y#R1y:5);;i   5^>i@ @)5@I@i@k;MY=YQU>  a  E D y&=}>I %: 5? %: RA -?9,,C: :):WWX XW:W2W*WVbUBU*UUU(@P)*Q-BZQ-z__?@͏&PJQ-w?amf-2Q-f3:Q)bQ-FbCM@h$RQ-࠯9Mlc}E?m_ñBQ-K @ Q-nBQ-wP-9?P-9?P-Q-Q-?"Q-^ABټB BA>*BA4KAAA3<"C2*CI=RC>ICC = =_I)ׁIG=>q,&Q`EAY}2~{c@}2S@y}2uo}2d=}2H!?+}? Ŀ@[1?`N??`?)~2~{c@ ~2_;I~2CɫYY)Y ]IYY@yyGDNmea in: $SNTTA,,,,,011649.09*5C i   fAfA=iM=G=Y=)9QUE>AAaE EEƽDIyU=}U>Iaex 5?e eRA u?9eh,Ce+< e<)am}Added new target pos. range: 71.820000 m, bearing: 123.809377 deg, deltaT: 4.541767 s, approachRate: -0.079264 m/s, LOS rate: -16.808551 deg/s, posRepo size: 4m!ProNav REINIT: LOS rate is -16.808551 deg/s. Setting heading cmd to target bearing of 123.809377deg and heading rate command to 0 deg/s.WK @WX XW:W2W*WVbUBU*UUzQ@U}?BMePۼBQ BQAU>*BQAUJAYAYA]<"Ce 4RCe)CeK @C} ]QIaG}z>@q,k`EAY}2^e@}2TzU@y}2yj}2ڄ=}2H YgR?? Ǣȿ* ?`2T?U?!?)~2^e@ ~2{h_;I~2Cɫ99)9 9IAA *,:YWU1y:59@Y @y zG=i=iå=åD<åCiå@á ĥA@)ĥv@IĥX@iĥv@ =M5=Y.;QU>a EԽDy=}>I :> 5? : RA ?9,CA: o:):WWX XW:W2W*WV bU BU *UUU?B=)ƼB9 BAAE6>*BAAEn^IAAAIAMd<"CU+6RCU<ϼCQCQ15gAQ9QIQiQU=QQUa; UԗE)фIфiфффՄR4֭ޤNסIG k>T*!q,G`EAY}2Mf@}2W@y}2e}23=}2H@/ d? '?˿`??D?`4?)~2Mf@ ~2G_;I~2Cɫ99)9 9I9Y}@y}zGin?ʡE rh?- C)IyCl?v/I +??xi9< V A)@I@iAA M]=YT;QU>a EDy=}>IŅ 5?% .SA ?9,C: :)WWX XW:W2W*WVbUBU*UUU  S?B TB BA>*BAGHAAA8<"C:RC0<=CC֥d#׭?i׭?YIiG9>>i I!iAUٺDB S@9 5BBR'q,鷞`EAY}:Kh@}:egX@y}:a}:=}:H @;??=XοxEb?8?`??)~:Kh@ ~:_;I~:Cɫ99)9 9I9Y]@y]yG^ 3:YV1y:5i7uMX=Y';QU>a EDya=}>Iq }:uCs 5? :u uzSA ?9u-Cu8: u:)u:WWX XW:W2W*WVbUBU*UUU?B%ͼB! B!A%h>*B!A-+GA)A)A--<"CU?RCU2>CQCY-qIG=/>) 9) I- |vGi- W@) ) ) - ^; - җE }-q,`EAY}2ui@}2PY@y}2r^}2Qv=}2Hc?`Ϟ?Lп$?ʫ?(???)~2ui@ ~2>_;I~2CɫYY)Y YIYY}@y}lzGIA)IA)i =@ =@ =@=©==i= @= =)=@I=i=@M9 =MMC=YUu;QU>a EDy+=}>I_ 5? SA ?9T-C: X:)WWX XW:W2W*WVbUBU!*U!U!U%@r'@BUVIżBQ BQAU>*BQA]rEAYAYA]]<"CeIeERCeX>CaCi-IG (>d4q,Yn`EAY}2Dj@}2ɷZ@y}2[}2 =}2H??@chѿsq?y?W?Z?)~2Dj@ ~2E_;I~2CɫII)I MII ~~6 T:YT1y@:55Y@yzGi]i<M]I=Yei:QUe>iiam EmDqy};=}}>Iȁ :ŅQM 5? :Ņ ƅTA ?9ƅ-CDžn;; ȅ:;)ȅ:WAWAXA XAWA:WA2WI*WIVibUiBUq*UqUqUuw@B;B BA>*BA4DAAA<"CYG@RC >CCI)eAIGj>:q,I`EAY}2 k@}2[@y}2Y}2Pe=}2H`, ??`$ҿ @?4?ߛ??)~2 k@ ~2A_;I~0ɫ99)9 =I9Y@yzGɮ=i 鿩 5 5 5 =@ =@ =@111i11 1)5I1i1MMM<=YMY:QUU>QQaU EUDYy]q(=}]>Iae)9 5?e enTA u?9e-Cej: e:)aWWX XW:W2W*WVbUBU*UUUT@RB*** querying acoustic contact ***PPBB BA\>*BA?CAAA<"C:A@RCCC9IvGi@O; ʗEmAIiG\>1wAq,%aEAY}2l@}2~\@y}2U}2UeQ=}2Hlo`?i?` |ӿ@0i?? ?+?)~2l@ ~2e_;I~2Cɫ99)9 =I9{ . =:YU1y:~5);9YK@yY{GZ****** received transponder code query ******F****** received ping request ******U# UP=)QIQyUa E"Dy=}>I% 5?; TA ?9 .C: p:)W9W9X9 X9W9:W92WA*WAVAbUaBU*UUU7 @Bw$B BA>*BA?BAAA<"C1;@RCCCֽ8ƼyIG^>Gq,maEAɫyy)y }IyY{@y{GxDUSBL response received:!U1,P 502,000,0071E,189,80,80,9C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i5<M=i=YMQUU>aaam Em-D!yu}u>Iȁ :ŅT 5? :Ņ ƅFUA ?9ƅB.CDž)< ȅ5<)ȅ:W9W9X9 X9W9:W92W9*WVbUBU*UUU @BiB BA>*BA@AAA<"C=5@RCACACIii=) 9 I DwGi @ D; ėE,Mq,9aEAY}2n@}237^@y}2I}2r=}2H`+;m?af?ҾԿ}*@`E?@9? ??)~2n@ ~2^;I~2CɫII)I III J B:Yy~5)g;Y^@yp{GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i!I%C=)%%=)-= -> u u u u@ u@ u@qqqiu@q q)u5@Iu@iu­@ME=Y;QU>a E:DyT\=}>Iȡť 5?ť ƥUA ?9ƥy.Cǥ~< ȥ<)ȡWWX XW:W2W*WVbUBU*UUU`|8@B B  B A>*BA?AAAGP<"CT1@RCCC!%C=IGK>Tq, SaEAY}2dn@}2:^@y}2E}2=}2H/n0?z?տO@mX?`⼨?:??)~2dn@ ~2^;I~2Cɫ99)A EIAYe@ye{GuxDUSBL response received:!U1,R,10F,000,00722,186,80,80,96,FF Fpublishing direction and range infom*riɰm>m> i)mCIiymBmVK?_WͿٱiI ) i!!=<M=O=YE;QUE>AAaM EMGDIyU+9<}u>Iy :} 5? :} } VA ?9}.C}: }Q:)}:WWX XW:W2W*WVbUBU*UUU@P)*Q-BZQ-ӣ=yQ@U0JQ-VK?_WͿ2Q-*r:Q)bQ-Q]s4@RQ-t+;El67?BQ-dO@ Q-Q-XP-9?P-9?P-uQ-Q-J A"Q-?B;杼B BA>*BA>AAA<"CD,@RCCC֥=aIqG9>Zq,maEAY}E fn@}E^@y}EB}EPT=}EH/@u*?{?xտ`g'9?@Y? _?`?)~E fn@ ~E<^;I~EC5 555 53:Y5V1y5:559=@ɫ髉) IY@y{G5DNmea in: $SNTTA,,,,,011653.62*5A iAAquhAܑ9ܑIܕwGiܕK@ܑܑܑܕ>; ݕE   ףT19a= E=XD9yE 9}E>IIM 5?M MVA U?9M/CMj: M:)ImuAdded new target pos. range: 72.060005 m, bearing: 185.667805 deg, deltaT: 4.444329 s, approachRate: 0.054003 m/s, LOS rate: 13.918507 deg/s, posRepo size: 4mProNav REINIT: LOS rate is 13.918507 deg/s. Setting heading cmd to target bearing of 185.667805deg and heading rate command to 0 deg/s.WdO@WX XW:W2W*WVbUBU*UU R@U-?B pB  B A >*B1A5j<A1A1A5k<"C=d'@RC9C=dO@CA U>U%>- 3>I1)5fAIG >aq,laEAY}2#m@}2 ^@y}2?}2=}2HB??@?Կ@B ??P??)~2#m@ ~2,_;I~2CɫYY)Y ]IYY@y{Gi   MbX?ˡEQ롿 ?什 \)Iy rh?y&1~jt?C ?`eD< AA)@IiA\@gA<M=Y(-;QU?a EbDyż}?I  :  5? :  VA ?9 +/C : :) :W9W9X9 X9W9:W92WA*WAVAbUABUA*UIUIUM?B}D`By ByA}}>*ByA? <AAA@<"CJ%@RCCCmMT>!I1GU2>'gq,EGaEAY}20m@}2)]@y}2;"<}2`zF<}2H@ g?`p?TӿHmtR?)?qȈ??)~20m@ ~2^;I~2CɫII)I MIIY}@y}{G- '0:YWU1y:H5=i=i MY=Y;QU>!!a% E%nD)y-}->I15 5?5# 5VA =?95_/C5Y: 5:)1WaWaXa XaWa:Wa2Wi*WiVibUiBUq*UqUqUup?B{ӏB BA>*BA:AAA3f<"C5/$@RC1C1C1->IG )>i 9i Ii ii i i i m I; m ǗE)Ii04(nq,I*aEAY}6&k@}6[@y}6Z9}64裼}6H9~? ?`ˈҿ̠x?@Sw`?)~6&k@ ~6aE_;I~6Cɫ19)9 =I9Y}@y} |GiE/?ELEjYYa] Ee{DayecF}m>Iq }:uS 5? }:u/' u8WA }?9u/Cu: u':)u:WWX XW:W2W*WVbUBU*UUUW?BSB BA>*BAƆ9AAA%<"C'$@*Cw!=RCCC>?i?IGI>uq,zaEAiV nGIdip Uٺ CBY}e9Zj@}euZ@y}e*5}eFpl}eH`v??`*ѿc"?r`^?)~e9Zj@ ~e_;I~eC k jB:YT1y:5ɫQQ)Y ]IYY@y/|GiI=)=)> >5 <M5==Y=;QU=>99aE EEDAyE S}M>IQU' 5?Uk* UyWA ]?9U/CUD: U:)QWyWyX XW:W2W*WVbUBU)*U)U)U-l@B]BY BYA]>*BYAe8AaAaAeF<"C%@RCCC֙yIG>+{q,YaEAY}ELh@}EY@y}E.}EVѽ}EHX?C?!Ͽ@O`-֥??)~ELh@ ~Ea;I~ECɫ11)1 5I9Ym@y{GI)imp?mt3m%>im(@i m­@)m@Imim@(MD=Yo;QU>a ED5h>91I5pxGi5@1115A; 5—Ey~J}>I : 5? E:- WA M?90CX&<  <):WWX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBVB9 B9A=>*BAAE6AAAAAE><<"CMb)@RCICICQm>I IY G} >Hq,[bEAY}2cg@}2W@y}2'}2)c}2H )q?K?ਚ̿`@8@X? ?)~2cg@ ~2lb;I~0ɫ99)9 =IAY"@ya|GZ****** received transponder code query ******F****** received ping request ******` )IyMb?a EDy}>IȹŽ m 5?Ž\0 tI ƽ%XA ?9ƽN0Cǽ; Ƚ%;)ȹW)W)X) X1W1:W12W1*W1V9bU9BU9*U9U9UE@BlB BA >*BATy5AAA:<"Cr-@RCCC  >=6Ʌ>I)ױIG>E?q,N"bEAY}6Ce@}6ɼU@y}68>!}6gg,}6H Yz?@-? *ɿe Ŀq&?nſ@?)~6Ce@ ~6Hb;I~6Cɫ19)9 =I9Yu9@yuB{G}xDUSBL response received:!U1,P 10F,000,00722,186,80,80,96,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iIq 鿉fAMS=Y;QU>a ED)y= }=>IimX 5?m3 mXA ?9m0Cm < m<)iWWX XW:W2W*WVbUBU*UUU I @B蘼B B9AEv>*BAAEh/4AAAAAE[ <"CM.2@RCICQCQu>IIYGu> 9 I 8yGi @ O; ʗE}gq,rj}6Hg4?d/?mſ ƿ s#?ǿm?)~6c@ ~6Tc;I~6Cɫ99)9 =I9Y}@y}{GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B # U 6:YWU1y:5);=i=i"۽ʡ=if@ )I@i@=ML=Y;QU>a EDy}>I %:@D 5? %:Z5 YA -?90CV: " ;):WiWiXi XW:W2W*WVbUBU*UUU`3 @B}zB  B A T>*B A 3AAAX<"Cq7@RCCC9I!G=r>Pq,KVbEAY}Na@}N=Q@y}N-}NlWJ}NH V??~rCȿ?ɿ`C[?)~Na@ ~N6c;I~NCɫ髑) IY@y{GAAxDUSBL response received:!U1,R,502,000,0072B,189,80,80,78,FF Fpublishing direction and range infof3ɰR>7> )BIy3Bw?amf-ٱiûMX=Y';QU>!a% E%ȾD!y-ߦ}->I150 5?5'7 5fYA =?951C5*: 56:)1WYWaXa XaWa:Wa2Wa*WiVibUiBUi*UqUqUu@P*Q3BZQ.^9?@j#SPJQw?amf-2Qf3:QbQI|]C ՑM@fAT.+@RQ:{6"?&N?BQFc @ QlBQP9?P9?PQuQA"QJ ABÑB BA,>*BA1AAA<"C<@RCCC>?i?ױIGe>}q,2pbEAY}-_@}-P@y}-24}-U}-H?p?%aɿ`}?omʿJ?)~-_@ ~-*;b;I~-CK ~~ 9:YT1y@:9@ɫII)I MIQYm@ym|GmTNmea in: $SNTTA,0.056941,,,,011657.65*48 9IyGi@U; ̗EiIq)uR=#~j?x?!rh%?K7> l)Iykt?Mbp?I +? ?;9< µ@)µAI±iµzAA)= =C=|i @)@I@i%x<M%=Y%9QU%>))a- E-پD1y5&W}=>I9 E:=z 5? M:=D9 =YA M?9=V1C=A: =:)=:m%yAdded new target pos. range: 72.599998 m, bearing: 123.891189 deg, deltaT: 4.018571 s, approachRate: 0.134374 m/s, LOS rate: -15.372782 deg/s, posRepo size: 4m%!ProNav REINIT: LOS rate is -15.372782 deg/s. Setting heading cmd to target bearing of 123.891189deg and heading rate command to 0 deg/s.W-Fc @W)X) XiWi:Wi2Wq*WqVqbUqBUy*UyU}`f&R@U}@Z*?B+B BAW>*BAO 0AAAf<"CA@RC̙V>CFc @C o> I G >Haq,bEAY}2B^@}2Q^N@y}2 }2^]}2Hs ? :?` 0 +3ʿ? p˿QU?a EDy}?Iȡť 5?ť': ƥYA ?9ƥ1CǥD: ȥ:)ȡWWX XW:W2W*WVbUBU*UUUA?B ݻB BA>*BA6/AAA,<"C%]C@RC%:+>C!C)m}U>!I1GM1>q,ףbEAY}:\@}: L@y}:}:Nd}:H?ب?Э@*` ̿K??Y̿@.?)~:\@ ~:`;I~:CɫII)I MIIY}@y}|G{  =:YU1y:5iMR=Y> QU>!!a% E%D)y-v}->I15 5?5; 52ZA E?951C5ӻ: 5#:)1WaWaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}@\?BoB BA>*BA-AAA[<"C5 D@RC5N >C1C1 E=A bf>I)IG (>ܱ 9ܱ Iܵ zGiܵ 2@ܵ =ܱ ܱ ܵ P; ݵ ʗEq,bEAY}6?[@}60K@y}6A}6Qg}6H@?@/)?@-F֢̿?o̿@w*?)~6?[@ ~6+/`;I~6Cɫ99)9 =I9Y8@y}|Gi9A AAMgAIÕÕD;ÕؾiÕ@Ñ ĕ@)ĕ@Iĕiĕ@<MB=YQU>a EDyr}>I : 5? :; zZA ?91Cb: #:):WWX XW:W2W*WVbUBU*UUU``?B-xB BAn>*BA,AAA<"CKD@*C--"=RCP=CCֽV>׹IGf>ܞq,bEAY}N%sY@}NI@y}NK}Nd}NH:xFo?w4P̿S?U̿.?)~N%sY@ ~Nx_;I~Lɫqy)y }Iy 7 v4:YV1y:l5Y@y|G=i=iϼMG=YMuQU>a E Dy}>IH 5?< ZA ?9.2CM: {:)WWX XW:W!2W!*W!V!bU!BU)*U)U)U5`)V@B]ngBY BYA]>*BYAe)?+AaAaAe$<"CNC@RC N=C C FH>׹IGE>˻q,xbEAY}FnW@}FG@y}FM}Fa}FHXo?z?`6̿?`˿@ 4?)~FnW@ ~F'_;I~Dɫqq)q uIqY@yO|GiUi}Q@y }@)}­@I}­@i}­@P<M1=Y@QU>a EDyZk}>I :9 5? :; [A ?9q2C: ;):W9W9XA XAWA:WA2WA*WIVIbUIBUI*UIUQUU!@R}B*** querying acoustic contact ***PyPyBtB BA>*BA)AAA8y<"Cs?@RC!>CCgAgA>?i?שIG>˜q,C cEAY}FV@}F`0F@y}F}FQ_}FH@ s!??2 ˿?֬˿@w8?)~FV@ ~F^;I~FCɫii)i iIiY@y*}GZ****** received transponder code query ******F****** received ping request ******)1a5 E5%D1y=i}=>IAE 5?E; E2[A M?9E2CE: E:)AWWX XW:W2W*WVbUBU*UUU`5@]CiunGIiwPٺ?BB]KBa BaAe:>*BaAe:(AaAaAm<"Cm;@RCu)=>CqCqu#=IIYGu>/Șq,B%%cEAY}2T@}22D@y}2r}2=Y}2Hs@B??2@/˿3?@SʿGC?)~2T@ ~2^;I~2Cɫ99)9 =I9Yu@y} }GxDUSBL response received:!U1,P 502,000,0072B,189,80,80,78,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iIQ4 M]=Y\;QU%>IQaU EU1DYyf}>Iș :ŝ* 5? :ŝ; ƝT[A ?9Ɲ2Cǝ%< ȝv<)ȝ:WWX XW:W2W*WVbUBU*UUUe`y @BeTy?Bi BiAu>*BqAU&AAA(<"Cw5@RC u>CC!Q 9Q IU zGiU @Q Q Q U [; U ϗEi A II Ge >Ϙq,>cEAY}J S@}JC@y}JR.}J>N}JH@p`Ͷ?`??Z9@ɿ?`ɿU?)~J S@ ~J^;I~JCɫyy)y }IyQ ^+:YDW1yY:5)I;Y%%@y%}G-a=ɮ-R=MNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i = > ^i @  5@) @I 5@i 5@=MC=Y;QU>a E>Dy4}>Iȡť 5?ťF; ƥv[A ?9ƥ3Cǥv: ȥ :)ȡWWX XW:W2W*WVbUBU*UUU`q @B 2B  BA>>*BA%AAA—<"C/1@RC% >C!C! 5=5=ط=I)IGE>՘q,XcEAY}:jR@}:B@y}:34}:nG}:Hdo9@dІ? '*?X9ɿ 鰁 )CIyBw?amf-ٱi 鿡­fA©2A<Mm=Y;QU?a EIDy)}?I : q 5? :: [A ?9P3C: :):WWX XW:W2W*WVbUBU*UUU7@P*QBZQу?@Z`@PPJQw?amf-2Q:QbQ8>nQP@ Z4+@RQ>տ ^8v?E2?BQ? QBQP9?P9?PQQbA"QAB}:iBy ByA}S>*ByAJ$AAA% <"Cr,@RCCC֥]&>aIqG:>Lܘq,ϺrcEAY}Q@}A@y}9^㼙}PB}H p@.&}y?Y?$7*Xȿj?@ȿOj?)~Q@ ~^;I~C ɫ) IR D:YV1y:559E@YU@y}GgA9I,{Gi&@=^; їE}DNmea in: $SNTTA,,,,,011701.69*57 }=i}=i1Zd?T㥛 X9v?"? <)IyZd;?L7A`? rh??+=C = @)hAIp@iAAU+=UUiU@Q UK@)U@IU@iU@x[;M=Y;QU>a EZDy}>IT 5?9 [A ?93C: :)m-yAdded new target pos. range: 72.540009 m, bearing: 110.396102 deg, deltaT: 4.056329 s, approachRate: -0.014789 m/s, LOS rate: -3.326921 deg/s, posRepo size: 4mE ProNav: pos range: 72.540009 m, bearing: 110.396102 deg, approachRate: -0.014789 m/s, LOS rate: -3.326921 deg/s, cmd update: -9.980764 deg/s, cmd heading: 123.891189 deg, new cmd heading: 123.891189 deg. WEФ@WAXA XAWA:WI2WI*WIVIbUIBUQ*UQUU"R@U] m?B.pJB BA@>*BA{"AAA<"CD%@RCCФ@CֵUa>iIyG>q,HcEAY}2 Q@}2'A@y}2ɼ}2%?}2H`|P?:?.@ ȿ@0?ǿ1n?)~2 Q@ ~22^;I~0ɫ99)9 =I9Y]@y]R~Gi Q,=M =Y9*BALx!AAA<"Cɔ!@RCCp@CԹԹ֭6s>iIqG>!*q,apcEAY}Rs)P@}RD@@y}Rx}R1>}RH_{p`?"ǿ`Z^?@Сǿ.q?)~Rs)P@ ~R^;I~RCɫqq)q }Iy ~~B ;J:YT1y@:5YyiI=)=)å> å>Y;QU>a EqDy}>I :/ 5? :8 l\A ?94C: :):W~?WX XW:W2W*W!V!bU!BU!*U)U)U-`{{?BU BY BYAY*BYA]}AYAaAe <"C@RCC~?C,t>IGm>g>9Ii=N; ȗE~q,@cEAY}2"O@}2P>?@y}2}2>}2H@'+ÿ@ `?`@ǿh? ǿ}p?)~2"O@ ~2^;I~0ɫ99)9 =I9Y}@y}w}GI)i m@ m@ m@m©mmim@m mj@)m@Imimj@}5ؼM}a E}Dy'}>IșŝX 5?ŝ6 Ɲ\A ?9ƝU4Cǝ+: ȝ:)șWt?WX XW:W2W*WVbUBU*UUU ?B B B A )>*B A A AAwq<"Ci@RCCt?C-0ƀ>IG-,>9q,qcEAY}JM@}Jr>@y}J'}JC}JHdƿ?aȿ@ྒ?[Xȿi?)~JM@ ~J1^;I~Hɫ髙) IW 2/:YT1y:G5Y@y~GiAAu%=MuK=Y}];QU}>ya EDy?C}>I  :  5? : 35 \A ?9 4C ,: Z:) :W=md?W9X9 X9W9:WA2WA*WAVAbUABUI*UIUIUU`g<@B}By ByA}>*ByA<AAA(<"C@RCCmd?C ե=ԥ=֝>yIGa>>cq,'cEAY}FϔL@}FU<@y}F0}FNN}FH`'fɈȿ!) ?Dɿ`?`?ɿ`Y?)~FϔL@ ~F\^;I~FCɫaa)i mIqY0@y}Gܹ9ܹIܹiܹܹܹܹܽG; ݽŗEi v/?y&1?S㥛x)?`< /ݼ)Iy&1?:v?QQaU EUDYy]6}]>Iae 5?e2 e\A u?9e4Ce: e:)aWh?WX XW:W2W*WVbUBU*UUU W@B-^B1 B1A5>*B1A5WfA1A9A==<"C= @RCaCeh?CaQ1I9G]>Lq, dEAY}V(K@}VC;@y}V}V2 W}VH 4A@ 9˿Z`?5@ʿ``?ʿJ?)~V(K@ ~V^;I~VCɫ髙) IM C3:YWU1y:"5);9Y@yW~G@A=i=iE=Ml=Y:QU?a EDym}?Iȡ :ťF 5? :ť0 ƥ\A ?9ƥ 5Cǥ: ȥ:)ȥ:W\?WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBzB BA>*BADAAA<"C%I@RC!C%\?C)a9IaGZ>u q,'dEAɫ髙) IY @y}GZ****** received transponder code query ******F****** received ping request ******))a5 E5D9y=}=>IAEf 5?E- E\A U?9EH5CE: E7:)AWu4?WqXq XqWy:Wy2Wy*WyVybUBU*UUU @B}·B BA>*BAvAAA`<"C@RCC4?C?΅>IG>ܝf>9ܙIܙiܙܙܙܙܝK; ݝǗE))I)i)))-p4^q,AdEAɫ髹) IS 1:YU1y:k5);Y@y}GxDUSBL response received:!U1,P 502,000,0072A,189,80,80,84,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 iIIIe=)a)Å= Å=%?%+%`i%@! !)%@I!i%K@eӤ;Mm6=YqQUu>a EDy}>I E: 5? E: + \A E?95C"; ;):W?WX XW:W2W*WVbUBU*UUU @BeBi BiAm>*BiAmAqAqAu"<"C?RCC?C>ש I G >i] nGIy i Sٺ ABq,c[dEAY}:=F@}:X6@y}:â}:Qj}:H@>ҿbr?`4 Ȓ̿"X?Ϳ'?)~:=F@ ~:^;I~:Cɫ99)9 =I9Y}@y}.}G鮅p=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)iYiMd=Y:QU>  a  E ̿Dy(a}>I 5?( \A %?95Cӻ: f:)WMO?WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYU]4@BP|JB BAu>*BAAAA˽<"CCy?RCCO?CIGj>q,AudEA/ X3:YDW1yY:59%@AEfAMe>9IIMzGiM@M=IIMB; MEɫ) IY@yn}GxDUSBL response received:!U1,R,502,000,00726,189,80,80,89,FF Fpublishing direction and range infoɰ> ) CIyBw?amf-ٱi11333333?KA`"??^ Y=)IyV-?J +?a EۿDAyE}E>II U:M[ 5? U:M% M\A ]?9M6CM]: Mo:)M:Wc?WX XW:W2W*WVbUBU*UUU@)@P)*Q-BZQ-o\?@+oBPJQ-w?amf-2Q):Q)bQ-EX>c'$ajQ@7.@RQ-(q;ĿwSQb?Q*G?BQ-vY? Q-TBQ-;P-.9?P-9?P-Q-Q-®A"Q-bABeVRBi BiAm>*BiAmlAiAqAus<"CV?RCCc?C խ=ԭ=֭>׉ I G >#q,dEAY}BBB@}B2@y}Bе}Bk}BH@տtD@=?t;@"h̿9?`1Ϳ`%?)~BBB@ ~B/^;I~BCɫ髡) IY@y}GETNmea in: $SNTTA,0.058078,,,,011706.15*47 iII QQ]fA]fA /<M r=Y  QU?a EDy%e*}%?I)-G 5?-G" -\A =?9-06C-: -d:))m}uAdded new target pos. range: 72.300003 m, bearing: 99.528793 deg, deltaT: 4.547120 s, approachRate: -0.052782 m/s, LOS rate: -2.389932 deg/s, posRepo size: 4m ProNav: pos range: 72.300003 m, bearing: 99.528793 deg, approachRate: -0.052782 m/s, LOS rate: -2.389932 deg/s, cmd update: -7.169796 deg/s, cmd heading: 78.508615 deg, new cmd heading: 75.291276 deg. W:?WX XW:W2W*WVbUBU*UU@3R@U?BB  B A>*BAAAA<"C%?RC!C%:?C֝>YIaG{>)q,YdEAY}V@@}V1@y}V8ü}Vio}VH G*׿>w?̿s?ҬͿg?)~V@@ ~Vگ^;I~VCɫ髑) IY@y }G56 555T 5!8:Y5V1y5:55=iip ML=YYQU>a EDy䌽}>I  Vp 5?  \A ?9 i6C ʽ: :) WEa֣?WAXA XQWQ:WY2WY*WVbUBU*UU)U5@?B,B BA>*BAvAAAߎ<"Ci?RCCa֣?C>i|?IG>5d>95yCI1i11115&; 5Ef0q,dEAY}21?@}2JM/@y}28˼}2s}2HoIؿ ?߉̿;v?.οn?)~21?@ ~2^;I~2CɫYY)Y ]IYY}@y}}Gi 5 5 55j=55&?i5G@5 5@)5@I55@i5@EVMEV=YEn)QUM>IIaM EMDy}>I :^ 5? : \A ?96C+: :):W z?W X  XW:W2W*WVbUBU*UUU%`m?BMlBI BIAU$>*BQAU?AQAQAU.<"C]?RCYC]z?CaqqE>I)GEQ>6q, dEAY}NA{=@}NȖ-@y}NԼ}N@Xt}NH`> J=ڿ@OO@ ?0~̿ ۗ?m>ο3?)~NA{=@ ~Na^;I~NCɫ髹) IY@y}G5 555? 55:Y5U1y5:5#5iyyIC=)%=)Í= Í=:M>=Y(QU>!!a% E% D!y-}->I15kL 5?5S 5\A =?956C5Ǻ: 5:)1WeԖ?WaXa XaWa:Wa2Wi*WiVibUqBUq*UqUqUu`o?B8*̻B BA`>*BAAAA<"Cr?RCCԖ?C >יIGb>j=q,dEAY}=.;@}=+@y}=_ݼ}=u}=H ۿG´)?_`$̿@n?mο ?)~=.;@ ~=^;I~=C<c>9I,{Gi&@=*; Eɫ髩) IY@y}GII)IiQQV-?sh|??Mb`?h?= ;)Iy}?5^I?~jtx?Q?M"?;\= S@)AIAi AfAeE>ee94ie@a a)e@Ieie@u=Mu6=Y}ZQU}>ya EDyq}>Iȑ :ŕ6 5? :ŕ ƕ]A %?9ƕ%7CǕ<< ȕ<<)ȕ:WmF?WiXi XiWi:Wq2Wq*WqVqbUBU*UUU@B B BA>*BA # AAAn<"C{?RCCF?C!-- 55I ) I G >Cq,aeEAY}R:@}R^7*@y}RT輙}R=w}RHW0ݿ*>?{nX̿@J? ο@+?)~R:@ ~RF^;I~RCɫyy)y IY@y}GiQQe Met=Ye1QUm?iiam Em%Duu~u~uB u3:YuT1yu@:u5)us;9}y螽}?Iȉō& 5?ōE ƍG]A ?9ƍ[7CǍ: ȍ#:)ȉW0?WX XW:W2W*WVbUBU*UUU@@B5B1 B9A=>*B9A=G AAAAAE Y<"CM&?RCQCU0?CYIG)> Jq,=*eEAY}2n}8@}2(@y}2}28!u}2Hk`޿%@?J̿Dܝ?%Vο@?)~2n}8@ ~2m^;I~2CɫYY)Y ]IYY@yj}G@Ai 鿱<MU=YQU>a E2DyB}>I  :] 5? : ]A ?97CP; 8;):W=?W9X9 X9W9:WA2WA*WAVAbUIBUI*UIUIUM@RB*** querying acoustic contact ***PPBdB BAw>*BA AAA<"C ʔ?RCC?C IG-->9Ii-; EPq,DeEA|i|@Y}:6@}::&@y}:}::o}:HT߷E? ߯l˿8?@ Ϳ>?)~:6@ ~:^;I~:CɫYY)Y ]IaY}@y}%}GZ****** received transponder code query ******F****** received ping request ******hi=@ 5@)5@I5@i5@xM7=YMQU>a% E%@D!y-s}->IQU5?U U]A ]?9U7CU: U:)QW;y?WX XW:W2W*WVbUBU*UUUF @B=B9 B9AE>*BAAE@$ AAAAAM<"CmM?RCiCm;y?Cqׅ?iׅ?ׁIG=>$Wq,]eEAY}2 C5@}2^%@y}2x}2p}2H@# }!u?H O˿1?Ϳ?)~2 C5@ ~2)_;I~2Cɫ99)9 =I9Y@y|GxDUSBL response received:!U1,P 502,000,00726,189,80,80,89,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i=kMEY=YUA%QU]>iia ELDy}}>I5? H^A ?9!8C; =)Wkk?WX XW:W2W!*W!V!bU)BU)*U)U)U5 @B}<By ByA}>*ByAAAAE<"Cd?RCCkk?C׹IGk>Q]q,weEAY}-3@}-?#@y}-}-Sp}-Ho`a E[Dy\}>Iȱ :ŵ5? :ŵ Ƶ[^A ?9Ƶh8Cǵ: ȵ:)ȵ:Wc^?WX XW:W2W*WVbUBU*UUU @B%PB! B!A%>*B)A-N>A)A)A-<"C5m?RC1C5c^?C9I!G=Q>6dq,veEA||;Y}61@}6"@y}6}6c;o}6H`97<@b@MR? Xa;ʿ Dw? ͿT?)~61@ ~6^;I~6Cɫ99)9 =IAY}4@y}}GxDUSBL response received:!U1,R,502,000,00713,189,80,80,B1,FF Fpublishing direction and range infoɰ[>鰁 )1CIyQBw?amf-ٱiu@;M=YJQU?a EeDy}?I5? g^A ?98CM: Q:)WtT?WX XW:W2W *W V bUBU*UUU@>@P9IMWC*Q=QBZQ=m>3?@BPi%3oGI9iQNٺ=BJQ=w?amf-2Q9:Q9bQ=X= 2%@-hF$Q@ W/@RQ=D?aw?p?BQ=An? Q="BQ=)AP=b9?P=.9?P9Q=Q= A"Q=®AB@-B BA+>*BAAAA<"C-/_?RC)C-tT?C1Iq)qAIQGm5>bjq,eEAY}j'0@}jB @y}j;}jnp}jH`6 ˼`A ?dʿ?!Ϳ@?)~j'0@ ~jƼ^;I~jCɫ) I YE-@yM}G DNmea in: $SNTTA,,,,,011710.58*55 ' 2/:YV1y:59@i!!=-2=i@ j@)@I@i@%M-*=Y==QU=>99aE EEuDaym.f}m>Iq }:u`5? }:u u}^A }?9u8Cu: uv;)u:muAdded new target pos. range: 71.159996 m, bearing: 81.212595 deg, deltaT: 4.314826 s, approachRate: -0.264207 m/s, LOS rate: -4.244945 deg/s, posRepo size: 4m ProNav: pos range: 71.159996 m, bearing: 81.212595 deg, approachRate: -0.264207 m/s, LOS rate: -4.244945 deg/s, cmd update: -12.000000 deg/s, cmd heading: 47.562118 deg, new cmd heading: 43.987035 deg. WT9?WX! X!W!:W!2W!*W)V)bU)BU)*U)U5`=Q@U5@?BuB BA>*BA RAAA޵<"C E?RC CT9?C1I9G]v>}b>9yIyiy}=yy} ; }EHqq,_eEAY}2g.@}2/@y}2B[ }2cq}2H+dg` ?oT (ʿ`*?Ϳ?)~2g.@ ~2^;I~2Cɫ99)9 =I9Y}N@y}}Gi gAC<Mp=YjWQU%?!!a% E%D)y-d}-?Ișŝf5?ŝ Ɲ^A ?9Ɲ9Cǝ: ȝ:)șWi'?WX XW:W2W*WVbUBU*UUU`?B  ";B  B A >*BA-AAA<"C38?RC!C%i'?C!)I1GU>#rwq,:eEA|@i|@Y}6,@}6x@y}6}6s}6H `Q]?@ɿE?(ο?)~6,@ ~6a^;I~6Cɫ9A)A EIAY-@y}G=i=i  ]!M]F=Yeh9QUe>iiam EmDqy}{}}>Iȉ  :ōZ5?  :ō ƍ^A  ?9ƍR9CǍ?< ȍ\<)ȍ:5555 5.:Y5T1y5:55WEV?WAXA XAWA:WA2WI*WIVIbUIBUQ*UQUQUU?B}B BA>*BAAAAH@<"C2"?RCCV?CiIqG >W}q,"eEAY}R%/+@}RJ@y}Rh}R=?r}RH%`ە `?3S Uɿ֠?Ϳ?)~R%/+@ ~R^;I~RC%=!-c>9)I-{Gi-x@-=))-; -Eɫ髑) IY@yw}GiYY333333?Q?9? L=)Iy/$?I +y&1??94`e= @)I AiAp@]ȶ>]w]i]3@Y Y)]K@I]i]5@u8Mu9=YuÆ:QUu>yya} E}DyYh}>Iȉō5?ō ƍ6_A ?9ƍ9CǍʽ: ȍӻ:)ȉW>WX XW:W2W*WVbUBU*UUU ?B8B! B!A%)>*B!A-dfA)A)A-c<"C5gt?RC1C5>C99IIGe4>.q,^fEAY}:ɷ)@}:P@y}: }:W v}:HШ@m ?T@Rɿ?@qο@8?)~:ɷ)@ ~:^;I~:Cɫ99)A AIAY}~@y}~GiI]=)]=)e= e= =MW=Y,QU>a EDyu}>I :3|5? :5 _A ?99Cy; ;):W-C>W1X1 X1W1:W12W1*W9V9bU9BU9*U9UAUE/n@mm~m~m: m/:YmT1ym@:m5B}Pt:By ByA>*BAAAA!<"CP>RCCC>CIG%>Dq,W,fEA||Y}68:(@}6U@y}6 }6*kw}6H &3Y ¿b?Oɿ[?ο`[ ?)~68:(@ ~6'w^;I~6Cɫaa)a mIiY@y|}GIA)AiC=i @ @)­@Ii@MG=YxQU>a EDy h} >Im5? K`A ?9:CY: D:)W=I>WAXA XAWA:WA2WA*WIVIbUIBUQ*UQUQUUU@B@PB BAd>*BA߿AAA<"CR>RCCI>CIG$>!9!I!i!!!!% ; %Eq,FfEAY}2i&@}2@y}2}2fy}2H',@¿a EDy } >I`5? `A %?9L:C; *(;)W] q>WYXY XYWY:Wa2Wa*WiVibUyBUy*UyUyU}@RB*** querying acoustic contact ***PPeR eeeF e\::YeW1yeč:e5)e=;9uBu@y9Bq BqAu>*ByA}AyAyA} <"C/>RCC q>CiIyG>Tq,`fEAY}2$@}2@y}2d}2w}2H`6ÿr5?+@V^ȿ? Xοe ?)~2$@ ~2^;I~0ɫ99)9 =I9޹i޽=Yh@y}GZ****** received transponder code query ******F****** received ping request ******IIaU EUDYy]N}]>Ia u:eR5? u:e̝ edaA }?9e:Ce*; eK(;)e:W.>WX XW:W2W*WVbUBU*UUU @B;:B BAh>*BA,AAAn<"C.u>RCC.>CIG>|ꝙq,$^zfEAY}:F#@}:a@y}:m}:(r}:H_S3ÿ?ǿL?ο`?)~:F#@ ~:^;I~:C`bhAfb>9dIf{Gif@dddf; fEɫ99)9 =I9Y}@y~GxDUSBL response received:!U1,P 502,000,00713,189,80,80,B1,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iq  X:YV1y:5)|;E+? ףp= ?/$?Ev>EQ8= E<)AIAyE\(\?y&1?~jt?E?E`ei-@) -@)-I-5@i-5@m'<Mm=YuQU>a EDyE}>I  l?5?  aA %?9 :C [; N;) W<WX XW:W2W*WVbUBU*UUUೊ@B@"B BA >*BAAAAug<"C%R=RC!C%<C)}?i}?I IY Gu >JҤq,8fEAY}2!@}2k@y}28}2p}2H ɤÿX?D@ƿ@}?#Ϳ`?)~2!@ ~2^;I~2CɫYa)a eIaY]@y}G鮥a=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i99kM=Y$QU?a EDyʽ}%?I :65? :4 aA ?9 ;C: :):W=G@W9XA XAWA:WA2WA*WIVIbUIBUi*UiUqUu@Q@B<Bg[< BA>*BA AAAq<"CW*=RCCG@CIG (>q,fEAY}F @}F @y}F<}Fq>q}FH@ia 6Ŀ8?V@.ƿWƣ?Ϳ?)~F @ ~F^;I~FCɫ) IY=h@yE}GMxDUSBL response received:!U1,R,363,000,006F9,189,80,80,B5,FF MFpublishing direction and range infoMAIɰM:>I I)M5CIIyM3BMOnE?VAXlٱIiqqI}p=)}%=)Í= É` *,:YDW1yY:459@ @ @ @©i=@ K@)Ii@E;M6=YQU>!!a% E%DIyMf}M>IQUL'5?U} U+bA ]?9UR;CU: U8:)QWJ@WX XW:W2W*WVbUBU*UUU "@P*Q3BZQE?NI@tE|yGJQOnE?VAXl2QA:QbQ؏>2o@/ Q@I`2*@RQ,?7O[??BQl? QfBQ}@PM9?Pb9?PQQcA"Q AB=9B9 B9A=h>*B9AeսAaAaAem<"CmHzRCiCmJ@CqyIG]>a>9IX|Gi@=; E)QIQiQU=QU94t籙q,fEAY}n{J@}nf@y}nO}np}nH`*u@۸Ŀ_? C ſУ? Ϳ?)~n{J@ ~n^;I~nCɫ) IYM@yU`~GDNmea in: $SNTTA,,,,,011715.02*5F I)iu<MuU=YuX\QUu>yya} E}DyM}>Iȉ :ō5? :ōs ƍgbA ?9ƍ;CǍ: ȍ:)ȍ:mqAdded new target pos. range: 69.600006 m, bearing: 86.133794 deg, deltaT: 4.531629 s, approachRate: -0.344245 m/s, LOS rate: 1.085967 deg/s, posRepo size: 4m ProNav: pos range: 69.600006 m, bearing: 86.133794 deg, approachRate: -0.344245 m/s, LOS rate: 1.085967 deg/s, cmd update: 3.257901 deg/s, cmd heading: 353.248904 deg, new cmd heading: 348.694256 deg. Wf@WX XW:W2W*WVbUBU*UUffQ@U?BJ;B BA%>*B!A% A!A!A-`a<"C-ˤRC1C5f@C1I)GE0>i}nGIi*Lٺ.;Bq,OfEAY}2@}2 @y}2@}26o}2H XEſ?9!Wſ`? Ϳv?)~2@ ~2Z^;I~2Cɫ99)9 =I9Y],@y]~Gi]=M]^=YeQUm>ya EDy}>Iȡťp5?ťi ƥbA ?9ƥ;Cǥ; ȥ<;)ȡW<@WX XW:W2W*WVbUBU*U U U`??BM̸;BQ BQAU>*BQAU'AYAYA]H<"CmjRCqCu<@Cq]oE<9IQGmW>8q,fEA494I4i46=46D67; 6EY}BI@}B @y}B}Bj}BH@@G`H8ſW?`mĿl?@Ϳ [#?)~BI@ ~Bo^;I~@ɫyy)y }Iy @ V5:YWU1y:Y5);9Y@y~Gi9A AAUzG?ˡEV-?U ?U' U<)QIQyU`"?I + rh?U?U94UC< U@)UAIUZ@iUAQUAmfAi   õy=õxi>õu=iõ@õ ĵ@)ĵ@Iĵ@iĵK@9M5=YQU>a EDy"p}>I :5? :[] bA ?9 *BAAAA.<"CE`RCACE @CI<IGn> řq,MgEAY}BD@}B` @y}B0}Bfi}BHh@pLdſ`? lÿk? ̿`D&?)~BD@ ~B*|^;I~BCɫqy)y }IYN@y G%=i%=iII =M`=Y;QU>a E(Dy}>IM5?S .cA ?9A*BQAUݼAYAYA]v<"Ce$K*CeRCaC.@Cϑϑ)Б Б I G= >S˙q,/gEAY}5@}5p@y}5}5Nh}5H[B93ƿ@xI?ÿO?@̿'?)~5@ ~5f^;I~5C ~~B a4:YT1y@:59@ɫAA)A AIIYMk@yU1Gi>D`i=@ K@)@Ij@i@U <MU>=Y]&;QU]>aaae Ee6Diym}m>Iqu^5?uF uwcA }?9u*BAڼAAAɦ<"CRCC@CIG+>]`>9YI]|Gi]k@]=YY]>; ]E[2ҙq,6IgEAY}:@}:@y}:u}:_xl}:H@߿`#,ǿ'?޿ y¿@,^?@$GͿg!?)~:@ ~:w^;I~:Cɫ99)9 =I9Y}@y}GiiiI}4=)}4=)Å= Å><MV=Yn;QU>a EBDy}>I :5? :; cA ?9*B AQ׼AAAɫ<"C%籽RC!CM~<CIAIIGm5>\ؙq,cgEA||Y}6@}6O3@y}6s}6_`m}6H_޿ ǿ%?!ݿ@p? cͿ` ?)~6@ ~6^;I~6CɫYY)Y ]IYYg@y-GAAI)iZ h,:YT1y:5ռMV=YM;QU >  a  E NDy>}>I!%=5?%f0 %cA -?9%*BqAuԼAqAqAu斤<"C}MRCyC}(=CIIQGu>a 9a Ie }Gie @a a a e E; e Edޙq,*}gEAY}2@}2@y}2 }28dp}2Hgݿ`ȿQ? ۿE@`?Ϳ?)~2@ ~2*"_;I~2Cɫ9A)A EIAY@yGZ****** received transponder code query ******F****** received ping request ******t =)Iy"~j?a E^DyE}>I :A5? : YdA ?9G=Co: 4:):W`=WX XW:W 2W *W V bUBU*UUU2 @BEz;BA BIAM>*BIAMмAIAIAU0[<"CU`=RCYC]`=CYYIiGZ>oq,JΖgEAY}F;@}F @y}Fv}Fn]p}FH ϐۿ0ɿ0?`ڿ@`? Ϳ?)~F;@ ~F/_;I~FCɫYY)Y ]IY~~n f.:YT1y@:45Y@yGxDUSBL response received:!U1,P 363,000,006F9,189,80,80,B5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i  aa}gA}hA|;Mq=Y;QU? )a5 E=iDAyM}m>Iy}5?} }dA ?9}=C}M; };)yWMO=WIXQ XQWQ:WY2WY*WaVbUBU*UUU@Y @B06<B BA>*BALͼAAACB<"C,>RCCO=C׹IGk>ϛq,gEAY}NR@}N!?y}NS@}N}o}NHڿgɿ2?ؿA?@ӥͿ?)~NR@ ~NP^;I~NCɫ髑) IY@yG鮹ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -=i-=i99 @ @ @Ý©ÝÝiÝ @Ý ĝ@)ĝIĝiĝ@-*M<=Y9QU>a EwDys}>I :5? :2 dA ?9=C; . ;):W=i)=W9X9 X9W9:W2W*WVbUBU*UUU!@B(k<B BA>*BAʼAAA*<"Cz+>RCCi)=C IGM>-_>9)I-}Gi-@-=))-N; -ėEq,~gEAY}2۠ @}2x?y}2N}2jl}2H@ؿ`ɿ`?nv׿?WͿ@f!?)~2۠ @ ~2^;I~2CɫAI)I UIQ= ,:YT1y:5)c;9Y,@yGxDUSBL response received:!U1,R,2EA,000,006D5,18A,80,80,4C,FF Fpublishing direction and range infos&ɰG>> )BIyB#Ƅt?Adٱi99M=MMg=YU:QUu>yya} E}Dyyi}>Iȉō5?ō[ ƍ>eA ?9ƍ>CǍ; ȍ;)ȉW+>WX XW:W2W *W V bU)BU1*U1U1U5ۍ@PA*QEBZQE"J@ oDJQE#Ƅt?Ad2QEs&:QAbQEΑF0@*'P@w>]:&@RQE^\?,d?:]?BQEk? QEBQE4APEi9?PEM9?PEQEQEA"QEcABsE<B BA>*BA=ǼAAA<"C`>>RCC+>CIG$>q,YgEAY}n @}n ?y}n}nk}nH$ֿ(tɿ ?Kտh1?19Ϳ#?)~n @ ~nߑ^;I~nCɫ髹) IY-M@y5#GDNmea in: $SNTTA,,,,,011719.48*5D iI=)=)> 4<M>=Ym;QU>!!a% E-D1y5r}5>IAE5?E EeA U?9EE>CE"; E;)Am5uAdded new target pos. range: 67.440002 m, bearing: 75.837025 deg, deltaT: 4.390459 s, approachRate: -0.491977 m/s, LOS rate: -2.345260 deg/s, posRepo size: 4mU ProNav: pos range: 67.440002 m, bearing: 75.837025 deg, approachRate: -0.491977 m/s, LOS rate: -2.345260 deg/s, cmd update: -7.035781 deg/s, cmd heading: 7.563058 deg, new cmd heading: 8.937013 deg. WUF=WQXQ XQWY:WY2Wa*WaVabUBU*UU)P@U@?B .d<B BA>*BAļAAA/<"CE;>*CARCACMF=CIiIGj> < ! 9! I% }Gi% _@! ! ! % V; % ȗE)ݑIݑiݑݑݕ=ݕԯ4q,3gEAY}R' @}R?y}R.缙}RMCh}RHNտw@ɿ')?bԿ@Թ?̿ *?)~R' @ ~R^;I~RCɫ髙) I~~r N2:YT1y@:5)G;Y7@yGIY)Yiiiףp= ?kt?L7A`?? 0= +=)IyS㥛?Q? rh?$?<C< @)AI$@iAA   ío>í`eíTiíz@í ĭj@)ĭj@Iĭj@iĭj@лM@=Y6;QU>a EDy}>I :Ȧ5? : eA ?9>CX: n:):W %<W X  XW:W2W*WVbUBU*UUU%z?BMqC<BI BIAUW>*BQAUAQAQAU<"C]&>RCYC]%<CaaIiG9> RCi5 nGIQ q,hEAiDZDNٺ\^=BY}~X@}~?y}~t}~i}~Hҿa ʿ ?Mѿ嵿? ̿)?)~~X@ ~~ˁ^;I~~Cɫ) IYE@yE~Gia=MX=Y_  a  E Dy}>I!%5?% %eA 5?9%>C%Z8; %2E;)!Wmw@WqXq XqWq:Wy2Wy*WyVybUBU*UUU z?Be8Q<B BA~?*BA(lAAAJ<"Cq=RCCw@C׹IGE> q,91hEAɫ髙) Iw -:Yy"59@Y@yZGi9A AAIMgAᄅ+gh=i@ 5@)@Ii5@MI=YQU >  a EDy}>I! -:%5? -:% %fA -?9% ?C%: %:)%:WU@WQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUaUe?B|f<B BA?*BAEAAA) <"Cm=RCC@CסIG >9Ii =R; ŗEq,"KhEAY}6#@}62}?y}6}6Uh}6H<п`)!˿o?yϿߕ?`h̿9,?)~6#@ ~6~g^;I~6CɫII)I IIIY}@y}aG=i=i`p;M]=Y;QU>a ED y .} >I~5?8 6fA ?9I?Cb: :)WEp@WAXA XAWA:WI2WI*WIVIbUIBUQ*UQUQU] ?Bot<B BA?*BA;-AAAk)<"CRCCp@C׉IG=q,ehEAY}JS@}J?y}J*}J6h}JHWʿ `˿J?3{ɿ`e?̿,?)~JS@ ~J_^;I~JCɫYY)Y ]IY[ -:Yy"5Y@yGiAAu<MuB=Y}jya EDy}>Iȑ :ŕ5? :ŕ{ ƕ[fA ?9ƕ?CǕ4: ȕb:)ȕ:W@WX XW:W2W*WVbUBU*UUU`G@B_<B BAk?*BA EA A A WJ<"CRCC@CIG--> 9 I L~Gi @ = W; ȗE"q,|hEAY}V$@}V?y}VOy}VQh}VH Nǿ@`˿v?Hƿ"u`>?̿%-?)~V$@ ~V^;I~VCɫyy)y }IyYX@yǀG@AiI =) R= r?Q?:v??u= <)Iyp= ף?Mb? rh?%?< @)AI@iAA(A)í= í=G>j1>iQ@ @)@I5@i@\<MA=Y ;QU >a EDy}>I!%5?%t %fA 5?9%?C%6; %A6;)!W @WX XW:W2W*WVbUBU)*U)U1U5/@REB*** querying acoustic contact ***PAPAB\<B BA2?*BA8AAAn<"CJ3RCC @CIGE> &q,XhEA|$|$Y}F?}F?y}FG}F4f}FH`ÿ@̿? ÿ?_̿`0?)~F? ~F^;I~FCɫYY)Y ]IYY@yxGZ****** received transponder code query ******F****** received ping request ******9AaE EEDAyMf}M>I :;5? : fA ?9@C: :):We@WaXa XaWa:Wa2Wi*WiVbUBU*UUU# @B<B BA%?*BAxeAAA<"C SpRCC@CI!)!IG-,>9,q,FhEAY}>?}>"?y}>.}>{h}>H```4i̿@Ѹ?飿Ӄ?+̿M-?)~>? ~>_;I~>CɫQQ)Q UIQY@yGxDUSBL response received:!U1,P 2EA,000,006D5,18A,80,80,4C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i ׽Y>iiau EuDyy^O}>Iȱŵ5?ŵz ƵfA ?9Ƶc@Cǵ< ȵ<)ȱa9aIaiaaaaeY; eɗEW@WX XW:W2W*WVbUBU*UUU @B=ve<BA BAAM ?*BIAu`/AqAqAu<"CiRCC@CIG> 3q, hEAY}:?}:?y}:ս}: l}:H`pZ̿?@CD \ ?>Ϳ '?)~:? ~:x`;I~:Cɫ99)9 =I9Y]@y]Gep=ɮaNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ޹i޽p=J ,:Yy~5);9iucM}i=Y}a;QU}>a EDy/}?Iȱŵ8~5?ŵvn ƵfA ?9Ƶ@Cǵ: ȵ@:)ȱW%h@WX XW:W2W *W V bU)BU1*U1U1U5&@B}7-<B BA?*BAyAAAf<"C<RCC%h@CשIG#>F9q,hEA|i|@ɫ髙) IY:@yG=ii<MQ=YQU>!!a% E%D)y-}->I1 =:5{5? =:5` 5 gA E?95@C5^: 5:)5:Wһ@WX XW:W2W*WVbUBU*U U U  /@B5<B9 B9A=E?*B9A=A9AAAE㿖<"CEɾRCICMһ@CQ]?i]?1IYG>e ^>9a Ia ia e =a a e Q; e ėE1@q,iEAY}f ?}f$D?y}fzUݻ}fdxm}fH`ͬ`SͿ?<{?jͿ$?)~f ? ~f^;I~fCc +:YT1y:5);ɫ) IY @yG%DNmea in: $SNTTA,,,,,011723.91*50 i11M"~j?Q?Mu< Mt)IIIyMuV?Q{Gzt?Mr(?MuMף; I)MAIM@iIIM\Aíf>ííií@é ĭ@)ĭ@Iĭiĭ@FM2=Y ;QU>a EDyN}>Iz5?O $gA ?9'AC: :)W@W X  X W :W 2W *WVbUBU*UUU`@B<B BAu?*BAFAAA<"CVRCC@C׹IGE>}XFq,iEAY}>F?}>P?y}>a޻}>Wn}>H `"@ |Ϳ C?`Z@s^{?$Ϳ"?)~>F? ~>^;I~>CɫYY)Y ]IYY@yEGI޹)޽@AI?)?idMp=YEQUM>IIaM EM*DQy]ߚ}]>Ia e:ez5? m:e_B e7gA m?9ecACe: e:)e:Wʳ@WX XW:W2W*WVbUBU*UUU@B{<B BA?*BASAAAA<"C>RCCʳ@CשIG> Lq,z4iEA|4<|4a E7D!y%e}%>I)-z5?-3 -KgA ?9-AC-< -<))W@WX XW:W2W*WVbUBU*UUU% @R-B*** querying acoustic contact ***P)P)Buh<Bq BqAu?*BqAuDAyAyA}ٔ<"C RCC@CIי)יiIqG> 9 I i  =   X; ȗE)ݙIݙiݙݙݙݝ54.kSq,VNiEAY}6?}6)?y}6*α}6Uh}6H@ی?)+`*̿@?@+?xl? 9v?@̿@-?)~6? ~6{^;I~4ɫ99)9 =I9Y}@y}cGi>MR=Y-;QU>a ECDy}>I :{5? :3% ^gA ?9AC: 4:):WT@WX XW:W2W*WVbUBU*UUU @B5<B1 B1A5?*B9A=A9A9A=A<"CERCACET@CIIIYGu=inGIi*Lٺ.;BdYq,D2hiEAY}2ǂ?}2й?y}2y}2i}2H tU?q!`̿?/?@G|?`;r?̿`+?)~2ǂ? ~2^;I~2Cɫ99)9 =I9޽=i޽=4  bL:YW1yč:W5YE@yGa=ɮ !!i))=K*=M=A=YE2;QUE>AAaE EMQDIyMv}U>IY]~}5?] ]rgA e?9]/BC]: ]Ǻ:)YW@WX XW:W2W*WVbUBU*UUU @BH<B BA?*BAAAA<"C!RCC@CIIqG> ]>9 I }Gi _@ [; ʗE}`q,N iEA|i|@Y}RO?}R%?y}RmX}R1j}RH?m Ϳ 9? G?D? k?5Ϳ )?)~RO? ~R4k^;I~RCɫyy)y }IyYn@y8Gii|?5?y&1?Mb`?`< )Iy1Zd?S㥛:v?"?/ݼ< ¹)½GAI½bAi½AA5m>5= 5ti5(@1 5j@)5K@I5i5j@E@uME;=YM%;QUM>QQaU EU_DYyeii}e>I :5? : gA ?9sBC: :):Wm@WqXq XqWq:Wy2Wy*WyVybUBU*UUU@B- v<B1 B1A=?*B9A=A9A9AM <"Cm7RCiCm@Ci׭?i׭?yIG_>6fq,iEAɫyy)y yIyL 0:YWU1y:5Y`@y/GxDUSBL response received:!U1,N,80,80,63,E4 5,18A,80,80,4C,FF ZNo reply:!U1,N,80,80,63,E4 5,18A,80,80,4C,FF -a E kD y }>I5?h gA %?9BC: :)W%İ@W!X! X!W!:W!2W)*W)V)bU1BU1*U1U1U=@Bu<B BAq?*BAAAAy<"CwsCRCCİ@CIG$>lq,ĵiEAY}2?}2?y}2; }2f}2H5?`D`}m̿? ]?ޘ?}'a?Ğ̿0?)~2? ~2ta^;I~0ɫ99)9 =I9Y}>@y}GI?)?iI޽AA)޽AAzt==i@ @)@Ii@%MJ=Y D;QU>a ExD y l} >I.5? hA %?9BC: b:)WE6@WAXA XAWI:WI2WI*WIVIbUQBUQ*UQUYU]@B<B BA>*BAAA A<"C_KRCC6@C IG5 >ܵ\>9ܵxCIܱiܱܵ=ܱܱܵW; ݵǗE*sq,ܝiEA|;|Y}6~?}6?y}6ٺ}6(f}6H`mG?{&:̿?`U?;]?2[?r̿2?)~6~? ~6w^;I~6Cɫ99)9 =I9 R %?:YU1y:55)_;9Y@yxGi9=M%H=Y%4:QU%>))a- E-D)yUX~}U>IY e:]5? e:] ]LhA m?9]*CC]: ]A:)]:W@WX XW:W2W*WVbUBU*UUU" @BeT<Bi BiAm%?*BA8uAAAd<"CZRCC@CI׹)׹׉IG>5yq,xiEAY}:?}:I?y}:]O}:{e}:H k? ̿ ~??`£?KI?v̿@2?)~:? ~:]^;I~:Cɫ99)9 =I9Y}@y}XGiMS=Y;QU>a EDy}>I/5? ~hA ?9fCC: :)W%'@W)X1 X1W9:W92WA*WIVQbUYBUY*UaUU7 @RB*** querying acoustic contact ***PPBM$~<BI BIAM?*BIAU4AQAQAUא<"C]bRCYC]'@CaׁIG?>ٱ ٱ ܽ Z>9ܹ Iܽ }Giܽ @ܹ ܹ ܹ ܽ U; ݽ ƗEˀq,SjEAY}2;?}2D?y}28}2Ug}2H?@c)̿9U? #W? F?? ̿/?)~2;? ~2l^;I~2Cɫ99)9 9I9Y}M@y}#GZ****** received transponder code query ******F****** received ping request ******-v-+i-@) -K@)-5@I)i-5@=M='=Y=I:QU=>AAaE EeDiym]}u>Iq }:u5? :u uhA ?9uCCu: uD;)u:W@WX XW:W2W*WVbUBU*UUU@C!@BeŔ<Ba BaAm>*BiAmZpxAiAiAmP<"Cu `rRCqC}@CyYIiGZ>8q,.jEA|i|@Y}6D?}6{?y}6F8:}6il}6HQ?Sq̿5&? ?!?G`=Ϳ]'?)~6D? ~6X^;I~4ɫ99)9 =I9Y}$@y} GxDUSBL response received:!U1,P 80,80,63,E4 5,18A,80,80,4C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i luMv=Y~;QU%?19aE EEDQyeQ}m?Iȉō[5?ō ƍhA ?9ƍCCǍt#= ȍP;)ȉW}ܓ@WX XW:W2W*WVbUBU*U!U)U-`"@B <B BA.>*BAqAAA%yϏ<"C5lU{RC1C5ܓ@CAm?im?YIqG|> q,o7jEAY}2?}2$?y}2w:}2]l}2H /G?!H̿?$?TV?΁RHͿ&?)~2? ~2m^;I~0ɫ99)9 =I9Yu @y}G< z.:Yy~59@%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i+>=Xi@ 5@)@IiM<=Y:QU>a ED yNz}>I %:5? %:w iA %?9BDCI: :):W@WX XW:W2W*WVbUBU*UUU an#@Q9QIU }GiU@U=QQU]; UɗEB@<B BA>*BAkAAAR<"CWnRCC@CיIGA>.q,PjEAY}:?}:Ԥ?y}:`[&:}:Pk}:H?̿?d?v?kD3Ϳ'?)~:? ~:.S^;I~:Cɫ99)9 =I9Y}@y}cGxDUSBL response received:!U1,R,F7F,000,00665,186,80,80,B7,FF Fpublishing direction and range info=ɰ>鰅> )7CIyrB%?a~A¼?ٱiI=)=)í= í=#Mb=YQU>a EDy?}>I'5?7 JiA ?9DC@: M:)W@WX XW:W2W*WVbUBU!*U!U!U-@D1$@Pa*QerBZQeq*N@}.H@JQe%?a~A¼?2Qe=:QabQe"-fs$@z*BM@dRQe?X?~2㚿BQeXݲ? Qe'oBQe'APeY9?Pei9?PeQeQe@"QeAB<B BA(>*BAeAAAՎ<"C x RC C @CIG5->B3q,ijjEA|*4<|*;= ,:YDW1yY:5ɫ99)9 =IAY @yGTNmea in: $SNTTA,0.047361,,,,011729.56*48 I)iD<ki­@ @)@I­@i­@ <M *=Y QU >a EDy}>Iȁ :Ņ,5? :Ņ; ƅiA ?9ƅDCDž: ȅf:)ȅ:muAdded new target pos. range: 60.720005 m, bearing: 80.063969 deg, deltaT: 10.103513 s, approachRate: -0.665115 m/s, LOS rate: 0.418364 deg/s, posRepo size: 4m% ProNav: pos range: 60.720005 m, bearing: 80.063969 deg, approachRate: -0.665115 m/s, LOS rate: 0.418364 deg/s, cmd update: 1.255092 deg/s, cmd heading: 296.515183 deg, new cmd heading: 293.209913 deg. W%C@W)X) X)W):W)2W1*WaVabUiBUq*UU )\N@U ?B<B BA>*BAc]AAAK<"CucRCqCuC@CyI׉)׉ I G= >A E gAM [>9I IM X|GiM @M =I I M X; M ǗE)݉xCI݉xCiىىى݉5q,jEAY}J˽?}J?y}Ji:}Jl}JHV?g˿4???{0M`^YͿ %?)~J˽? ~JD^;I~JCɫYY)Y YIaY@ylGi5Mb?+η?~jt5 ?5v= 5)1I1y5RQ?I + rh?5"?595C< 5@)5AI5Ai5&A15AUhμMUF=YU":QUU>YYa] E]DayeB}m>Iimη5?mv miA }?9mECm: mY:)iW5@WX XW:W2W*WVbUBU*UUU`*BA {XAAA̍<"CORCC5@CyIG`> > WCim }nGI i Lٺ ;BCq,wjEAɫyy)y }Iy2 <0:YU1y:Z5Y@yqGiaa iiqqب:Mi=YQU>a EDy}>I5?k iA ?9RECӻ: Q:)Wt@WX XW:W2W *W V bUBU*UUU% "C?BM\x<BQ BQAU>*BQAU/RAQAQA]=K<"C]:RCaCet@CaaIqG>fmq,~QjEA|i|Y}6{?}6.?y}6,6;}6j}6H GP? eʿʙ?@?ö?fͿ4)?)~6{? ~6?^;I~6CɫYY)Y ]IYY@yG=i=iU}Uqa EDy}>I :[5? :] iA ?9EC: :):W%4@W!X! X!W!:W!2W)*W)V)bU1BU1*U1U1U5 '?B]<Ba BaAe>*BaAeLAiAiAm<Ќ<"CuRCqCu4@Cy׍?i׍x?9I{Gi@W; ƗEIIYG>CUq,,jEAY}2?}2Γ?y}2d;}2#i}2H ?e7@ʿ@E?&?2&? l(̿,?)~2? ~2FW^;I~2CɫYY)Y ]IYY@yhG9 Y ^8:YWU1y:5);9i  -M-N=Y- :QU5>99a= E=DAyMΌ}M>IQU/5?UYQ UjA e?9UECU2; U;)QW@WX XW:W2W*WVbUBU*UUU@?B- <B) B)A5c>*B1A5YFA1A1A5X<"C=URC9C=@CAIIQGu>oq,jEAY}:??}:$v?y}:ήp;}:k}:Hc?+/ʿ`??ι?`n /Ϳ`!(?)~:?? ~:c=^;I~8ɫ99)9 =I9Y} @y}~GiyyI4=)R=)å= å=MvM;߽MĽiM @I M­@)M­@IM5@iM@]M]8=Y]9QUe>aaae EeDiyn}>Iȱ :ŵ5? :ŵC Ƶ+jA ?9ƵFCǵ: ȵ:)ȵ:WS@WX XW:W2W*WVbUBU*UUU@B{<B BA>*BA>?AAA}<"CRCCS@C!IQG\>  Z>9 I {Gi x@ = b; ̗EHgq,kEA|;|Y}6׬?}6?y}6L w;}6mj}6H&?lɿ@6??$?$nͿ?)?)~6׬? ~6oW^;I~6Cɫ99)9 9I9Y}@y}~GI)iQ 5+:YV1y:5)&;1Zd?MbV-?">@ <)IyZd;O?Qy&1?j?u`< •5@)•AI• Ai•AhMV=Y9QU>a E Dy}>I5?7 VjA ?9VFC: D:)Wٖ@WX XW:W2W*WVbU BU *U UU @RB*** querying acoustic contact ***PPB=?m<BA BAAE>*BAAEf1:AAAIAMx<"CURCQCUٖ@CYIa)aIIQGu>_ǚq,kEAY}2痩?}2Ή?y}2 ;}2}j}2HZ?yrOdɿ+??Bv?>oͿ _)?)~2痩? ~2=^;I~2Cɫ99)9 9IAY}@y}{~GZ****** received transponder code query ******F****** received ping request ******a E,Dy} >I :5? %:1, jA %?9FC; ;):WMGۧ@WIXI XIWI:WQ2WQ*WQVYbUYBUY*UYUYUe @Bhm<B BAZ>*BAm|4AiAqAuU<"C}RCyC}Gۧ@CyiIqG>͚q,59kEAY}2ea?}2l?y}2a;}2chk}2H@l?@ ɿ???:q*Ϳg(?)~2ea? ~2Q^;I~2Cɫ99)9 =I9޹i޽4=r ] (z:YWU1y:59@Y@y ~Ga=ɮxDUSBL response received:!U1,P F7F,000,00665,186,80,80,B7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i)1 qqܡ9ܡIܥ,{Giܥ&@ܥ =ܡܡܡ ݥ˗E @ @ @Í©ÍÍiÍf@Í č@)čIčič­@M%=Yo:QUE>AIaM EM=DIyUH}U>IY]5?] ]jA ?9]FC]; ]+;)YWi8@WX XW:W2W*WVbUBU*UUU( @BMʇ<BI BIAM>*BQAUv,AQAQAU4<"C]*CRCCi8@CבIG>\Ԛq,%tSkEA|i|Y}2Z?}2?y}2q~;}26}m}2H@(?ȿ f?`?IU?`q kͿ$?)~2Z? ~24^;I~2CɫYY)Y eIaYU@y}GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i!!Mq=Y08QU?a EGDyn} ?I5? jA ?9GCi: :)Wp@WX  X W :W 2W*WVbUBU*UUU @BE`<BA BIAM@>*BIAMx(AQAQAU2<"C]}RCYC]p@CY)I1GU>ښq,UOmkEAY}2$L?}2*?y}2٢~;}22l}2H~.? K`|ȿ?U?C(?Uo@TͿ%?)~2$L? ~2 L^;I~2Cɫai)i mIqYl@y}G7 0:YT1y:l5 xDUSBL response received:!U1,R,DD0,000,0063A,189,80,80,78,FF =Fpublishing direction and range info5>ɰ>鰵7> )BIyhBxNA?jѝw ?ٱiyy    `;= >j=i@ K@)@I@i5@0;M%D=Y%6QU%>))a- E-TDyyd}>Iȱ :ŵ5? :ŵ0 ƵkA ?9ƵXGCǵA: ȵM:)ȵ:W¨@WX XW:W2W*WVbUBU*U)U1U=@P*QhBZQcFDӪI@y7#K;@JQxNA?jѝw ?2Q5>:QbQ6@pܦL@qSRQpe:?U,s@%?8UV$kBQ? Q5fBQW@PN9?PY9?PQQO_"Q@Bu<Bq BqA}>*BA!!AAA1<"C4RCC¨@CױIG>ى ٍ fAܕ Y>9ܑ Iܕ dzGiܕ @ܑ ܑ ܑ ܕ i; ݕ ϗE`q,|*kEAY}V"?}VPz?y}V4;}Vm}VH?&?ȿp?3Z?@? fqͿK$?)~V"? ~V/^;I~VCɫ髙) II޹)޹Y@yN}G}TNmea in: $SNTTA,0.061825,,,,011734.03*4B I?)?iv/?Q?~jthx ?< D)IyX9v?I +?Q?=?94<u< S@)fAIAiAAGA=6(M=I=Y=5QU=>AAaE EEbDIyM^}U>IQU#5?Uk U$kA e?9UGCUD: U :)Qm-qAdded new target pos. range: 58.139999 m, bearing: 84.900699 deg, deltaT: 4.519932 s, approachRate: -0.570806 m/s, LOS rate: 1.070089 deg/s, posRepo size: 4m= ProNav: pos range: 58.139999 m, bearing: 84.900699 deg, approachRate: -0.570806 m/s, LOS rate: 1.070089 deg/s, cmd update: 3.210267 deg/s, cmd heading: 302.164555 deg, new cmd heading: 302.644497 deg. W=6r@WAXA XAWA:WA2Wa*WiVibUBU*UUM@Uy?B.Ŷ<B BA>*BANAAAGL<"C)|RCC6r@CIG%M>q,kEA||4AAaE EEmDAyM}M>IQ ]:U8*5? ]:U U5kA e?9UGCU: U:)U:W@WX XW:W2W *W V bU BU*UUU`?B]Pl<Ba BaAeM>*BaAe_AaAiAmш<"CwRCC@CׁIG> q,HkEAY}2,?}2Pl?y}2i,8}2p}2HB?@`ǿ?@?? `Ϳ@?)~2,? ~2-^;I~0ɫ99)9 =IAY@y}Gi!!uu/a E{Dyꈽ}>Ișŝc95?ŝ ƝIkA ?9Ɲ7HCǝw: ȝb:)șWҪ@WX=X>99I=zGi=2@999=c; =̗E)тIтiтՂ =Ղ =Ղb4 XW:W2W*WVbUBU*UUUY?B6Ҡ<B BA>*BAAAA G<"CCqRCCҪ@CE?iE?IG-->aq,kEAY}2E?}2|e?y}2}2n}2H?@Qǿ?`Ir?Y\?WC?RͿ#?)~2E? ~2^;I~2Cɫ99)9 9I9Ye@yu+|G޹i޽a=O }}D ::YkS1yԊ:55);9i3oGI)iAmnMٺquWa EDyˌ}>I  : VI5? :  _kA ?9 HC 8: :) :W]@WYXY XYWY:Wa2Wa*WaVabUBU*UUU?BK<B BAD>*BAe AAA0Ç<"CkRCC@CIG (>q,kEA|i|@Y}??}[^?y}}i}HY?M5ƿy?`?.?@@? ̿`;+?)~?? ~&_;I~ɫ) %I!YQyQ=i=i-Q8-L=-7>i- @) -@)-@I-@i-@YEE89QUE>AAaM EMDIyUB{}U>IaeY5?eK etkA ?9eHCev< e<)aWb@WX XW:W2W*WVbUIBUQ*UQUYU`^@BP<B BA*BAfAAA77<"C-geRCCb@CIGm>) ) 5 W>91 I5 8yGi5 @5 =1 1 5 ]; 5 ȗEq,slEAY}2N?}2xX?y}2t9}2#h}2H 9?^U@ſ@?@?@1(?N4X̿ e-?)~2N? ~2_;I~2Cɫ99)9 =I9Y}@y}|Gp  +Q:YDW1yY:6);i rh?S㥫MbP?C ?/] :)IyuV?{Gz rh?r(?ףC< )AI|AiAA]Ma EDy}>I :mh5? : kA  ?9IC: :):W-@W)X) X1W1:W12W1*W1V9bU9BU9*U9U9UE@Bm<Bi BiAuW>*BqAuU$AqAqAu<"C}rW`RCyC@CIב)בiIqG>-q,YM"lEAY}2mو?}2 R?y}2Ä:}2h}2H?*`Ŀj??? Ĵ? Q̿y.?)~2mو? ~20^;I~2CɫII)I MIIY}@y}"|Gi#;Ma=Yq ;QU>a EDI޽@A)޽@Ayȋ}>Iv5? kA ?9UICϸ:  :)W@WX XW:W2W*WVbUBU*UUU @@RB*** querying acoustic contact ***PPB5<B9 B9A=>*B9A=1AAAAAEA<"CMO[RCICM@CI1I9GU=Wq,)9IxGi?@`; ɗEUd;U9a EDywY}>Iȡť5?ť ƥkA ?9ƥICǥ; ȥ;)ȡWa@WX XW:W2W*WVbU!BU!*U!U!UMI| @B<B BA>*BA+AAA˅<"CSTRCCa@C׹IGE>9?q,VlEAY}V?}VE?y}V[ ;}VMj}VHJ?qĿO?8T? ?|+a@Ϳ*?)~V? ~V^;I~VCɫyy)y yIyYx@y{GxDUSBL response received:!U1,P DD0,000,0063A,189,80,80,78,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i]]<MeK=Y_9QU>!!a% EMDQy]ij}e>Iȑ :ŕ5? :ŕ ƕkA ?9ƕICǕ'< ȕA<)ȕ:W= P@W9XA XaWa:Wi2Wi*WqVqbUyBUy*UUU# @B8<B BAe>*BAAAAR<"CqMRC!C% P@C!5?i5?I1G|>`mq,olEAY}5~?}>M??y} :}3h}H1y?@t3eÿ ?@,? B?@\̿E.?)~5~? ~_^;I~ s &W:YyF5ɫ) IY ^@yp{GENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iQUhAv=L=iG@ v@)"@Iiv@EM3=YNQU>a EDyi}>I#5? lA  ?93JC: w:)W5 @W1X1 X1W1:WY2WY*WYVYbUaBUa*UaUaUm< @B&<B BA>*BAڻAAAKڄ<"C~2HRCC @CIGi>gAU>9I xGi@ =m; ϗEQ"q,ܹlEAY}6ax?}68?y}6:}6p0i}6He?¿%?d?g?U̿,?)~6ax? ~6~z^;I~4ɫII)I MIIY}b@y}t{GxDUSBL response received:!U1,R,C92,000,00615,188,80,80,AC,FF Fpublishing direction and range info%D?ɰ=鰅> ),CIy_BZ9?gY0?ٱ=i=i5S?Zd;?~jt?5>5y= 5D<)1I1y5X9v?y&1?53?5`e5< 5@)5+AI5Ai5A15AU:MU=Y]QU] ?YYa] EeDaye}m ?Ii }:mi5? }:m mBlA }?9mmJCm: m:)m:WЛ@WX XW:W2W*WVbUBU*UUU@P*Q_BZQ}I<%D@ )-84cC@JQZ9?gY0?2Q%D?:QbQQJ@T$v/|K@l!RQ忒f!?$t??Q]'ĿBQ]Ӽ? Q[BQ@PT9?PN9?PQQ"QO_B. <B BA>*BAFѻAAA7b<"C%SCRC!C%Л@CI!I1GM1>{(q,WlEAY}2q?}2 1?y}2‹:}2j}2Hg?֊¿ ?]?o?]xQ`Ϳk)?)~2q? ~2g_^;I~2Cɫ9A)A AIA y }D:Yy5Y @y{GTNmea in: $SNTTA,0.047807,,,,011738.48*4C iԼMC=Y QU>a EDy}>I5?{ plA ?9JC: :)mUuAdded new target pos. range: 55.920002 m, bearing: 84.522751 deg, deltaT: 4.376031 s, approachRate: -0.507308 m/s, LOS rate: -0.086368 deg/s, posRepo size: 4me ProNav: pos range: 55.920002 m, bearing: 84.522751 deg, approachRate: -0.507308 m/s, LOS rate: -0.086368 deg/s, cmd update: -0.259104 deg/s, cmd heading: 316.216567 deg, new cmd heading: 317.557213 deg. WeX@WiXi XiWq:Wq2Wy*WyVybUyBUy*UUK@U?B f<B BAt>*BA ǻAAA<"C%C*C!RC!C%X@CIIY)Y!I1GI.q,3plEAY}6;j?}6D*?y}6h:}6>k}6H?bM@?Fu?@?M@.ͿC(?)~6;j? ~6i^;I~4ɫ99)9 =IAY@yzGiAAIMp=)M4=)U= U=y9yI}wGi}K@yyy}h; }̗EýCýScýq=iý@ù Ľ@)Ľ@IĹiĽ@MJ=YQU>a EDy^}>I :5? :Vq lA ?9KCo: :):W|@WX XW:W2W*WVbUBU*UUU`?B-lU<B1 B1A5>*B1A5PA1A9A=+j<"CE2D*CARCACE|@CiaIiG9>Ȑ5q,WlEAY}Noc?}N#?y}N:}N.wi}NH F? O.?(?@G?4PV̿,?)~Noc? ~Nd^;I~NCɫqq)q uIy L 6:YDW1yY:5);9Yu@yQzGI)i⽼MH=Y(9QU>a E Dy,}>I  (5? g lA ?9 JKC ^: :) W5*n@W9X9 X9W9:W92W9*WAVAbUABUA*UIUIUM %=?B<B BA2>*BA(AAAH<"C% E*C!RC)C-*n@C)I G5->W;q,4lEAY}>\?}>.?y}>¤:}>i}>H'?=@wo? x?@?TT`̿+?)~>\? ~>N_;I~>CɫQQ)Q UIQYuf@yu?zGi @ @ @©i@ v@)Iiv@UM]D=Ye':QU>a EDyw}>I -:R 5? -:^ lA 5?9KC; ;):Wu]@WqXq XqWq:Wy2Wy*WyVbUBU*UUU`VZ?B3<B BAE>*BA6@AAAw<"C%y9}wCI}DwGi}@yyy}i; }͗E)Ii4ğBq, mEAY}2+V?}2?y}2k:}2Ik}2H?HM`?@?`?`|] 'Ϳ(?)~2+V? ~2^;I~2CɫYY)Y YIYY@yyG ( 3:YV1y:55);i ?i|?5Zd;O>q j<)IyV-?~jth{Gz?|?D#< •@)•|AI•Ai•A3A¡¥gAMV=Y:QU>a E#Dy"}>II 5?V mA U?9KCU< /:)WO@WX XW:W2W*WVbUBU*UUU .5@B<B BA>*BA AAA <"C-qF*C)RC)C-O@C1!I)GU1>)5RCinGIi Jٺ  9BHq,~$mEAY}6.O?}669?y}6$;}6 Om}6H ?@޾?`PR?`?`odfͿ$?)~6.O? ~66^;I~6Cɫ99)9 =I9Yu@y}yG=i=i M U=Y S:QU >a E/Dy)}>I!%K* 5?%O %mA 5?9%LC%: %:)!WU[B@WQXQ XYWY:WY2WY*WYVYbUaBUa*UaUaUm@B3<B BAʪ>*BA6AAA̠<"CkF*CRCC[B@C׉IG=Nq,̶>mEAY}BœI?}B ?y}BT;}BSqm}BHu? `u Yn? T?r?Qj`8jͿ`$?)~BœI? ~B^;I~BCɫYY)Y ]IYYq@yyGi~~m 1:YT1y@:59@%T>9!I%|vGi%W@!!%D%c; %ʗE   Y=PF>i@ @)@IK@iK@"M==Y:QU>a E=Dyb}%>I! U:%= 5? U:%G %#mA U?9%ULC%; %.;)%:W1@WX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBv<B BA>*BA%ΑA!A!A%=<"CMF*CiRCiCm1@CqIׁ)ׁAIQGm5>Uq,WXmEAɫyy)y yIyI޽AA)޽AAY@yiyGZ****** received transponder code query ******F****** received ping request ******a EJDy}>I  P 5? @ 1mA =?9 LC ; /;) W} #@WyXy XyWy:W2W*WVbUBU*UUU` @B <B BAd>*BAgJAAAWր<"C-fG*C)RC)C- #@C1IG-->\q,prmEAY}6=?}6>y}6Y;}6l}6H /?ݿrM?`nl? ? z5kXͿ`%?)~6=? ~6_^;I~6CɫAI)I MIIY}@y}yGxDUSBL response received:!U1,P C92,000,00615,188,80,80,AC,FF Command AckBRequesting micromodem ping code 2iI: ( r8:Yy55)%Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iAI @ @ @©i­@ ­@)IiM/<MM!=YU "9QUU>QYa] E]YDyy}>Iȉ :ōf 5? :ō8 ƍBmA ?9ƍLCǍ4: ȍ:)ȍ:W]@WYXa XaWa:Wa2Wa*WiVibUiBUq*UqUU@ @B-:N<B1 BQA]+>*BYA]`|AaAaAed<"CUG*CRCC@ChAR>9IvGi@=f; ˗E?iw?IG >bq,ImEAY}:7?}:>y}:t;}:{Mk}:H h?@/ܿ}͹?@H? %?@Mc'Ϳ(?)~:7? ~:^l^;I~:Cɫ99)9 =I9Y}@y}xG鮅p=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iYY|?5^?X9v?`">}= )IyK7?~jtx?)?; @)AIAizAA=M=s=YEG/QUE?AAaE EEdDIyU8}U?IY] w 5?]3 ]HmA e?9]MC]4: ]ض:)YW@WX XW :W 2W *W VbUBU*UUU8@Be@/<Ba BAW>*BAβpAAA <"CbVH*CRCC@CׁIGA>iq,$mEAY}20?}2>y}2vy|:}2tk}2H _?ڿ`rԸ-j?%? %x?`.Of<Ϳr'?)~20? ~2HW^;I~2CɫYY)Y ]IYYj@y yGxDUSBL response received:!U1,R,B74,000,005F7,18A,80,80,92,FF Fpublishing direction and range info"?ɰ/=鰥> )CIyzXB _?q-R2?ٱ* 2:YWU1y:5i fA=Mb=Y0QU>a EpDy} >I  : H 5? : J- OmA ?9 XMC _: k:) :W=@WAXA XAWA:WA2WA*WIVIbUIBUI*UIUQU-@P9*Q=zXBZQ=2;>ӄ<@Ri=TF@JQ= _?q-R2?2Q="?:Q9bQ=X"xP@óVJ@9%RQ= {2?1~f%?QOȿBQ=o(? Q=RBQ=@P=^9?P=T9?P=Q9Q="Q=BX*<B BA>*BAEaAAA0<"CH*CRCC@CשIG )>&Boq,mEAY}JX)?}Jf>y}J=8}Jrn}JH$I?ٿTɷ ?@~?| ?`Ϳ`"?)~JX)? ~J{^;I~Hɫ髡) IQ>9IPuGic@d; ɗEY@ySxG]TNmea in: $SNTTA,,0.051062,,,011742.91*49 e=ie=iqq   &ף<99aE EE~DAyM}M>IQU 5?U& UZmA ]?9UMCU: U@:)QmuAdded new target pos. range: 54.120003 m, bearing: 82.881006 deg, deltaT: 4.431627 s, approachRate: -0.406171 m/s, LOS rate: -0.370461 deg/s, posRepo size: 4m ProNav: pos range: 54.120003 m, bearing: 82.881006 deg, approachRate: -0.406171 m/s, LOS rate: -0.370461 deg/s, cmd update: -1.111383 deg/s, cmd heading: 315.068316 deg, new cmd heading: 314.951972 deg. WJ@WX XW:W2W*WVbUBU*UU@\K@U@^?B]<Ba BaAeF>*BaATPAAAm=~<"CJRCCJ@CׁIGD>*vq,mEAY}2r"?}2>y}2o8}2Em}2H~? tw׿ ??;?dͿ%?)~2r"? ~2Xj^;I~2Cɫ99)9 =I9Y}@y}@xG9 X3:YU1y:5)-;9imMmX=YmQUu>qqa} E}DyyĚ}>Iȉō 5?ō6! ƍcmA ?9ƍMCǍ: ȍ4:)ȉWt@WX XW:W2W*WVbUBU*UUU`d?B<B BAY>*BA\xBAAA[}<"C LRCCt@C IG5 >+T|q,mEAY}6?}6O >y}6\:}6l}6H?տ@21e?`-?r?VRͿ$&?)~6? ~6ك^;I~6Cɫ髁) IYI@ywGiYaIu=)u=gfffff?V-? ףp= ?3?< Q8=)Iyw/? rhQ?&?C< ‘)•`AI•Ai•AA)å> å>#>i@ @)@Ii­@ M3=Y|9;QU>iiam EmDqyu{}u>Iy :} 5? :}q }mA ?9}2NC}ʿ; }U;)}:W)@WX XW:W2W*WVbUBU*UUU@O?Bu^w<By ByA}z>*ByAȜ0AAA{|<"C5ORCC)@C׹IGf>ٱٵ<ܽR>9ܹIܽtGiܽ@ܽ!=ܹܹܽj; ݽ̗Ey}2%if;}2k}2H`.G?`6Կȵ?x?? l.Ϳ3(?)~2? ~2l^;I~2CɫYY)Y ]IYYr@ywG. 1:YT1y:~5)ݎ;I)i=k<M=l=Y=;QUE?AAaE EEDIyM}U?IY]D 5?] ]mA e?9]jNC]ϸ: ]:)YWg@WX XW:W2W*WVbUBU*UUU@?BԊ<B BA>*BA.$AAAM{<"CuPRCqCug@CyiIyG>3fq,Ul'nEAY}:S ?}:e>y}:+3;}:Xl}:H ?7ҿ@aaae EeDiymt}m>Iq }:u 5? :ua umA ?9uNCu: u=:)u:W@WX XW:W2W*WVbUBU*UUU@B]$<B BA>*BAhAAA5{<"CXRRCC@CIG]>VNq,HAnEAY}26?}2&H>y}20;}2l}2H&?`LѿWP?? g?%z RͿ%?)~26? ~2b^;I~2Cɫ99)9 =I9a9aIe$tGieo@aaaei; e˗E)wCIwCi25Y}@y}fwGV 0:YV1y:5);i gA} }}(\>i}3@y }@)}v@Iyi}@0<MC=Y+;QU>a EDy5i}>I 5?W .nA ?9NC: :)Wq@WX! X!W!:W!2W!*W!V)bU)BUI*UIUQUUi@BF<B BA=>*BAAAAz<"CTRCCq@CIG%>iM nGIa iy Mٺ gy}6;}69m}6Hw?ϿӪF?@ ?ή?zqͿ $?)~6f? ~6u^;I~4ɫ99)9 =I9Y}@y}vGi=iM`=YØ9QU>a EDy}}>I : 5? : YnA ?91OC: :):W7@WX XW:W2W*WVbUBU *U U U P@RB*** querying acoustic contact ***PPB=<B9 BAAE>*BAAElAAAAAE!z<"CMVRCICU7@CQIIYGu=q,tnEAY}V>>}V5p>y}V;}VVo}VH?eͿ@jE?[D??Wvx`-Ϳ!?)~V>> ~VB[^;I~VCL 2:YDW1yY:59@ɫ ) IYU@y]vGeZ****** received transponder code query ******eF****** received ping request ******eM/ݼ Mu)IIIyMʡE?A`"?y&1?M/?MY=M`e< M@)MEAIMAiM AIM Ah>i@ v@)Iiv@-YdM-=Y5QU5>11a5 E=D9y=J2}E>IIM(9 5?M MSnA U?9MOCM: MQ:)IWuL@WyXy XyWy:Wy2W*WVbUBU*UUUv @B l<B BAK>*BAG;ҺAAAy<"CwTYRCCL@CיIGb>Y]fAa9aIesGie@aaaee; eɗE4q,؎nEAY}:4>}:=!X>y}:);}:q}:HJ?6ʿ? i?j?7ssͿk?)~:4> ~:Cw^;I~:Cɫ99)9 =I9Y}@y}vGxDUSBL response received:!U1,P B74,000,005F7,18A,80,80,92,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iI@A)@ArMy=Y]QU?a% E%D)yUI}]?Ii :m/L 5? :m mPnA ?9mOCmV< m<)m:W@WX XW:W2W*WVbU BU *U U U ~ @Buʇ~<By ByA}v>*ByA9AAA y<"C$2[RCC@C׹IG k>Nq,nEA|4<|;Y}>>}> *?>y}>n;}>n}>Hq? 38ǿ.? ^?@(?m@Ϳ"?)~>> ~>^Z^;I~>CɫYY)Y ]IYYw@yguG }}, 6:YkS1yԊ:5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i6/M%F=Y-@QU]>aa EDyFp}>Ic 5? NnA ?9PC< <)Wej@WX XW:W2W*WVbUBU*UUUV@Bʴp<B BA d>*B A |A A A ]rx<"C*]RCCj@CM?iMz?I)GEQ>+q,nEAY}2B>}2@<$>y}25;}2vp}2HԖ??ÿ@ᩡ q??t?fHͿ"?)~2B> ~2^;I~2C P>9 I rGi {@  =   c; ȗEɫYY)Y ]IYY@yuGxDUSBL response received:!U1,R,D4B,000,005E9,189,80,80,76,FF Fpublishing direction and range infoT?ɰ=鰥7> )BIyUB= 2S?Т1?ٱifA @ @ @©iG@ X@)Ii-<M-[=Y-:QU5>11a= E=D9yE}E>IIMuw 5?M MMnA U?9MQPCM: M:)IW}Q4@WyXy XyWy:Wy2Wy*WVbUBU*UUU2@P*QUBZQ]cFE@{;K>@JQ= 2S?Т1?2QT?:QbQy#͋EC@̎< B@-l&߭RQ c.&?kWn?pF9BQC@? QQBQ,BP9?P^9?PQQm"QBM<BQ BQAU l>*BYA] nAYAYA]w<"CuN^RCCQ4@CiIqG>Oɶq,vnEAY}b.>}b>y}b1;}b%o}bH@?;b??g?9f@IͿ!?)~b.> ~bx^;I~`ɫ髱) I޹i޽p= A a4:YWU1y:5Y@yuG}TNmea in: $SNTTA,0.060135,,,,011747.34*42 鼁i 鿑лM@=Y QU>a E Dyh}>I : 5? :  ?9PC: :):muAdded new target pos. range: 53.280003 m, bearing: 43.109323 deg, deltaT: 4.423265 s, approachRate: -0.189905 m/s, LOS rate: -8.991476 deg/s, posRepo size: 4mM ProNav: pos range: 53.280003 m, bearing: 43.109323 deg, approachRate: -0.189905 m/s, LOS rate: -8.991476 deg/s, cmd update: -12.000000 deg/s, cmd heading: 310.121217 deg, new cmd heading: 309.613592 deg. WM$@WIXI XQWQ:WQ2WQ*WQVYbUYBUY*UYU ףJ@U .?Bkg<B BADi>*BAeAAA'w<"CնgRCC$@CIGM>q,PnEA|8i|8Y}mZ>}m|u=y}mi;}m=n}mH}?AH??@ss? ~m:^;I~mCɫ髉) IY@ytGi99U{Gz?bX9ȶ?)\(?Uף>UE= UGa=)QIQyUx&?y&1|?I +?U7)?U`;U9< Q)UAIU\AiUAQUA   õAྩõõ>iõ@õ ĵ@)ĵ@Iıiĵv@bM/=Y:QU>a EDyz}>Iw 5? nnA ?9PC@: :)W ~7@W X  XW:W2W*WVbUBU*U!U!U% ?B{[<B BA#X>*BA)e4AAAv<"C>vRCC~7@CI<9I0rGi@!=q; ϗEGn>:Ûq,% oEAY}2C˥>}2 =y}2v;}2i}2H?@TY`N???s̿*?)~2C˥> ~2^;I~2CɫYY)Y ]IaYN@y5uGL 2/:YU1y:5);9i) = =5#<M==Y=^;QU= ?AAaE EE%DIyM᷽}M ?IQ ]:U6 5? ]:U UnA e?9U!QCU: U:)U:W @@W X  X W1:W12W1*W9V9bU9BUA*UAUAUMq?BI؃<B BA_>*BA AAAv<"C@XRCC@@CIG )>vʛq,)oEAY}2˥>}2D=y}29d;}2w[i}2H ?{@vS?"??@u@̿`,?)~2˥> ~2&^;I~2Cɫ99)9 9IAYd@ytGi9AIM4=)M%=MD=YC:QU>a E2Dy}>I 5? nA ?9iQCf< <)W@WX XW:W2W*WVbUBU*U U U W?B]πM<BY BYA]bB>*BaAeWǹAaAaA u<"C;RCC@CׁIG=>BЛq,CoEA|;|Y}>8ʊ>}>cr;}>HH?SX;? K?N(?`?|w7Ϳ{*?)~>8ʊ> ~>:^;I~>CVO>9TIVhqGiV6@V =TTVv; VҗEɫYY)Y ]IYY@ydtG@ ?,:YWU1y:Y5) ;I9)=AI9)=AiAA @ @ @©iG@ X@)IiX@a<ME=Y4q:QU>a E?Dy {} >I : 5? :6 nA ?9QC: :):W]y@WYXa XaWi:W2W*WVbUBU*UUUt@B"`<B BA-@J>*B)A-kA)A)A5Eu<"C5:3RC9C=y@C9!I)GM1>rכq,]oEAY}2Hl~>}2<9y}2];}2j}2H?X x? j'"?^)?`?Ax|Ϳ9)?)~2Hl~> ~2_;I~0ɫ99)9 =I9Y}@y}sGiBM\=Yf:QU> a  E KD yx}>IB 5? nA %?9QCE: s:)W@WX XW:W2W*WVbUBU*UUU|@B]rQ<BY BYA]38>*BYAeFAaAaAeVt<"Cm TRCC@CIIYGu>Aݛq,_woEAY}5f>}5/R@y}5p|;}5Jn}5H?@ ?U?˴ ? 3?@oyͿ!?)~5f> ~5Y^;I~5C||  -:YR1yi:59@ɫ) IYM@yM;tGQQiaa ii/$?E?l ?F> )IyV-?a E[D!yD}>Iȉ :ō 5? :ōw ƍnA ?9ƍBRCǍ: ȍ:)ȍ:W渙@WX XW:W2W*WVbUBU *U U U E@RB*** querying acoustic contact ***PPB}N<B BAF>*BA O8AAAĊt<"C%RCC渙@CٙٝgAܥN>9ܡIܥqGiܥ@ܡܡܡܥh; ݥʗE)1I1i115!=54׹IGf>k&q,hoEA|i|@Y}2xO>}2@y}2;}2n}2H?@E?`0?@w?? qx`їͿ!?)~2xO> ~2^;I~2Cɫ99)9 =I9Y&@ysGZ****** received transponder code query ******F****** received ping request *******BAAr9AAA~.t<"C!RCCk}@CI ) IGI>Pq,CoEAY}:07>}: @y}: ;}:!l}:H "? ?`l?±?6?bw`TͿ`%?)~:07> ~:^;I~:Cɫ99)9 =I9Y}@y}EsGxDUSBL response received:!U1,P D4B,000,005E9,189,80,80,76,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 eeee@ e0:YeU1ye:eY5i)> >=Ga=̽=q=i=@9 =X@)=@I=@i=@޼M)=Y=QU >  a EuDyA}>I E:hI 5? M: onA M?9RCҿ; w:):W(@WX XW:W2W*WVbUBU*UUU @BE<<BI BIAM->*BIAUG9AQAQA}fs<"CƿRCC(@CױIG>k8q,`oEA$9$I&*BA:AAA}s<"CϿRCC@CIG )>bq,oEA||4}6F&@y}6:;}6۴l}6H???8@??Xu@9SͿ@%?)~6M> ~6^;I~4ɫ99)9 =I9V ~~1 ::YT1y@:#5Y@y.sGxDUSBL response received:!U1,R,AFD,000,005E7,189,80,80,54,FF Fpublishing direction and range infoO?ɰ= )BIyTBKc?wnL?ٱI)i99MYMM[=YMQUU>aEDy }>Ifs 5? 8nA ?9QSC,; ;)W5A@W9X9 X9W9:W92W9*WAVAbUABUA*UAUIUM {@Py*Q}TBZQ}#۔-7@WG@JQ}Kc?wnL?2Q}O?:QybQ} z<@BQE@4j*&RQ} nl;? ?.gMʿBQ}s|? Q}-BQ}AP}9?P}9?P}Q}Q}"Q}mBNH<B BA*>*BA%:AAAs<"CٿRCCA@C?i?IG (>q,oEAY}%p=}%E9@y}%m.;}%n}%Hk?}?e?hGÿ`?#?ƥvͿ"?)~%p= ~%^;I~%Cɫ) IYU@yUxrGDNmea in: $SNTTA,,,,,011751.79*53 iu~jt?Q~jtu>uu u)qIqyu rh?Mb`~jtx?uC+?uu; q)u!AIu AiuAqu A!%gA}O }ҽ}>i}p@y }@)}@I}i}@M+=YH9QU>aEDy}}>Iȩ :ŭf 5? :ŭ ƭ=nA ?9ƭSCǭ: ȭ|:)ȭ:mqAdded new target pos. range: 53.159996 m, bearing: 56.591515 deg, deltaT: 4.472603 s, approachRate: -0.026831 m/s, LOS rate: 3.014395 deg/s, posRepo size: 4m ProNav: pos range: 53.159996 m, bearing: 56.591515 deg, approachRate: -0.026831 m/s, LOS rate: 3.014395 deg/s, cmd update: 9.043186 deg/s, cmd heading: 256.499804 deg, new cmd heading: 250.999003 deg. W^@WX XW:W2W*WVbUBU *U U zJ@U `?6?Bv+<B BAC>*BAJ:AAA@r<"CsRCC^@CEJ>9AIEoGiE@E=AAEj; EʗEaIyGl>tq,hpEAY}2z=}2O@y}2,;}2'go}2H{??@Q*BAtce:AAAFr<"C8bRCCW@CI G-,> q,,pEAY}6 +=}6s@y}6q;}6>l}6HQ?`[?c?e@ʿ`?_x?@?Z|`DͿ&?)~6 += ~6^;I~4ɫ9A)A MIIYyiy?E6i3@ ­@)Iv@iX@Y:QU>aEDy킽}>I : 5? : CnA  ?9"TC: :):WMd@WIXi XiWi:Wq2Wq*WqVqbUyBUy*UyUyU}@bf?Ba=<B BA*BAӂ:AAA8Mr<"CRCCd@CIG)E N>9A IE oGiE O@E !=A A E p; E ΗEq,gFpEAɫ髹) IA F 9:YWU1y:5);YU@yUxrGi)= =zMaEDy}>I  i 5? 9 FnA ?9 hTC ض: :) W=Gl@W9X9 XAWA:WA2WA*WAVIbUIBUI*UIUQUU?B:<B  B A C>*B A  Ғ:AAAr<"C*CRCCGl@C!I G)Mq,C`pEAY}6Z@}6@y}6<}6wo}6H?cl??$Eп? Dn?Ϳ` ?)~6Z@ ~6^;I~6CɫYY)Y YIYYL@yqGiI=)4=5M5W=Y=rI;QU=>9AaEEEDAyM }M>Iȱ :ŵ 5? :ŵ ƵGnA ?9ƵTCǵ(: ȵ:)ȵ:W}g@WX XW:W2W*WVbUBU*UUU`o@B%3&<B! B!A%=*B!A-:A)A)A-1q<"C5`jRC1C5}g@C9)I1G>q,zpEAY}2@}2{ @y}2p<}2m}2H@2?s/?@`? ѿe??a`xͿ@#?)~2@ ~2^;I~2CɫII)I MIIY}^@y}qG||/ 2:YR1yi:59@I)i K? t ) I y (\?aEDya}>Ișŝc 5?ŝ Ɲ9nA ?9ƝTCǝ: ȝ{:)șW@WX XW:W2W*WVbUBU*UUU}@BJ$!<B  B A >*B A t:AAAq<"ChRCC@C!I)GM0>9IHnGi@r; ϗE$q,pEAY}25@}2B@y}2s <}2Bo}2Hx??@?Kӿ u?`?bͿ!?)~25@ ~2^;I~2CɫAA)A EIAY@@ytqGi  %Md=YJ:QU%>!!a%E%D)y-?}5>IQU 5?U U.nA e?9U6UCU: U:)QWr@WX XW:W2W*WVbUBU*UUUu@RB*** querying acoustic contact ***PPB%(<B) B)A-=*BIAU:AQAQAUq<"C]ٿRCYC]r@CaIIQGu>*q,ҭpEAY}Jg@}J{u@y}JG4<}Jm}JHB?!?Z?@Կw??@w悿zyͿ #?)~Jg@ ~J&^;I~JCɫ髉) I F 4:YU1y:5YE@yMKqGMZ****** received transponder code query ******UF****** received ping request ******U!!a%E%D!y-Ok}->I1 =:50( 5? =:5S 5nA E?95UC5k: 5V:)5:We@WaXa XaWa:Wi2Wi*WiVqbUqBUq*UqUqU}@ @B]@X<Ba BaAel=*BaAea:AiAiAmq<"CuͿRCqCu@CqaIiG9> 9 I mGi [@ n; ͗E)qIqiqu!=u =ud591q,ޫpEAY}6@}6@y}6f<}6.i}6H@?y?`R?3ֿA?.?l̿*?)~6@ ~6ܯ^;I~4ɫaa)a eIaYm@ym"qGuxDUSBL response received:!U1,P AFD,000,005E7,189,80,80,54,FF uCommand AckuBRequesting micromodem ping code 2iqy=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i5M_=Y 5:QU>!)a5E=DIyFt}>I= 5? nA ?9UC/; V;)WL@WX XW:W2W*WVbUiBUq*UqUyU}@Z @B-I<B) B)A5=*B1A5Y:A1A1A5q<"C=k¿RC9C=L@CaAIYG\>i}SoGIiLٺ;B7q, pEAY}6@}6@y}6{i<}6 2l}6H@N?n? Uʷ?@|׿?@o? CͿ`&?)~6@ ~6<^;I~6Cɫ99)9 =I9D 3:YT1y:55Yu@yypGa=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iyy)Å= Á M?=Y.9QU>aEDye}>I :T 5? :' nA ?9 VC: :):Wu@WX XW:W2W*W V bUBU*UUU J0@B{<B BA=*BA:AAAq<"C-RC)C-u@C1!I)GM0>+>q,mpEAY}%Db@}%p@y}%S<}%p}%H\$?y? ?nڿ^?3?h*`Ϳ?)~%Db@ ~%_;I~!ɫ) IYU@yUpG]xDUSBL response received:!U1,R,CD1,000,005F4,189,80,80,3C,FF ]Fpublishing direction and range info]6?Yɰ]=Y Y)]pBIYy]WB]Ec=?uh?ٱYudNmea in: $SNTTA,0.059483,0.289725,,,011756.23*5B iI4=)C=)\(?Zd;lG?y )Iy/$?Mb?~jt?1(?<D< G@)!AIiA A>t=i @ @)@Ii@ǼM0=Y[кQU>aEDyս}>Ifl 5? nA ?9\VC: D:)W }@WX XW:W2W*WVbUBU9*UAUAUE@@PQ*QUWBZQUoxnD@<$ܚA@JQUEc=?uh?2QU6?:QQفف܍M>9܉I܍mGi܍@܉܉܉܍q; ݍΗEbQU)I@Y@,@3Ę$!RQU>Sm?M?pWĿBQU> QUbeAQU'MBPU9?PU9?PU/QUQUa"QUB3;B BA=*BAJ:AAAq<"CRCC}@CIG=r>Eq,9DqEAɫ髹) I S TD:YV1y:k5)ٞ;9YU_@y]^pGI)i <Mf=YQU>aE(D!y%}%>I) 5:-^~ 5? 5:- - nA =?9-VC-: -k:)-:meqAdded new target pos. range: 53.939995 m, bearing: 15.616990 deg, deltaT: 4.504883 s, approachRate: 0.173145 m/s, LOS rate: -9.095580 deg/s, posRepo size: 4m} ProNav: pos range: 53.939995 m, bearing: 15.616990 deg, approachRate: 0.173145 m/s, LOS rate: -9.095580 deg/s, cmd update: -12.000000 deg/s, cmd heading: 297.239247 deg, new cmd heading: 300.385516 deg. W}@WyXy XyWy:W2W*WVbUBU*UUQJ@U &?B5;L<B9 B9A=H=*B9A=t:A9A9AEq<"CMRCICM@CIAIIGm4>=Kq,t&/qEAY}MD@}M@y}M <}Mr}MH X??˽?eݿ ?&? *ο[?)~MD@ ~M^;I~MCɫ) IYM@yUmoGifA e@ e@ e@e©eeie@e e@)e@Iaiau/kMuD=Y}8QU}>yya}E6Dy }>Iȑŕ$ 5?ŕ! ƕnA ?9ƕVCǕ÷: ȕ4:)ȑW@WX XW:W2W*WVbUBU*UUUL?Byo;B BA7=*BA o:A A A q<"C RCC@CI)GE0>܅ N>9܁ I܅ TlGi܅ @܁ ܁ ܁ ܅ ; ݅ ֗E2Rq,P7IqEAY}Vγ@}V@y}V<}VJo}VH?qA? ׾?7߿5?BV?  Ϳ!?)~Vγ@ ~V^;I~VCɫ髙) I P >:YDW1yY:5)ҙ;Y@yzoGiYa aaum;M}Z=Y}?:QU}>aEBDyd}>Iȑŕ 5?ŕ( ƕnA ?9ƕWCǕ': ȑ)ȑWb^@WX XW:W2W*WVbUBU*UUU`%?BH;B BA=*BA :A A A Yr<"ChRCCb^@CסIG >LXq,bqEAɫyy)y }IyY@ynG==i==iAAuYM}L=Y}QU}>aENDy}>Iȑ :ŕ- 5? :ŕ. ƕnA ?9ƕ`WCǕ: ȕ:)ȕ:W@WX XW:W2W*WVbUBU*UUU ?Bb;B BAR=*BA U~;A A A ?r<"CRCC@C IG5 >Fw^q,|qEAY}V:&@}V3@y}V<}VKo}VH$?}m?@?@ gp?ԙ? BwͿ1 ?)~V:&@ ~V^;I~Tɫyy)y }Iy 5 76:YWU1y:59@Y@ydnGiAA%}?5^I?/$ rh?%M>%1 %C =)!I!y%㥛 ?Dl?:v?%5?%O=%T< %^@)!I% Ai%; A!% A)5= 5> } } } @ @ @ÁÁÁiÅQ@Á ą@)ą@IāiąkM:=Yy9QU>aE\Dy}>Iȩŭ 5?ŭ6 ƭnA ?9ƭWCǭ: ȭ:)ȩW鼘@WX XW:W2W*WVbUBU*UUU ǖ?Bz;B BA 9=*BA1;AAA{r<"Ct*CRCC鼘@C191I5kGi5s@1115; 5ۗEIGE>beq,qEAY}VZ@}Vh@y}Vm<}VRt}VH??i?@$ ?u?@@jMο?)~VZ@ ~Vګ^;I~VCɫ) IYc@ymGiQYI]a=)]=M\=YߺQU>aEhDyˆ}>Iȩ :ŭ 5? :ŭ= ƭmA ?9ƭWCǭ: ȭ:)ȭ:WU#@WQXY XYWY:WY2WY*WYVabUaBU*UUU`@Bv;B BA=*BA;AAAʫr<"CRCC#@CIG'>kq,qEA|@|B;Y}v@}@}v@y}v;}vsCu}vH:?@?Y?`T‚?@ e?sv|k]ο?)~v@}@ ~v^;I~vC7 ~~J 58:YT1y@:~5ɫ) IY-g@y5mG11I9)9iII:MI=Y0WQU>aEuDy1}>Iȱŵ 5?ŵE ƵmA ?9Ƶ>XCǵ/: ȵ:)ȱW@WX XW:W2W*WVbUBU*UUU ^@RB*** querying acoustic contact ***PPBl;B BA =*BA#;AAA.r<"C嚿RCC@C?i?IG&> M>9 I jGi Ѿ@    ;  E4qrq,K>qEAY}NB@}N@y}N;}Nq u}NH`b?`u?`?` ?@1?x@mVοo?)~NB@ ~N^;I~Lɫyy)y }IyYQ@ymGZ****** received transponder code query ******F****** received ping request ******aEDy}>I  : 2 5? : :N mA ?9 XC V: :) :W=@W9XA XAWA:WA2WA*WIVIbUIBUI*UQUQUU/T @B}y;By BAM<*BA> ;AAAr<"CRCC@CIG$>`xq,"qEAY}J@}J^ͳ@y}JH;}Jfs}JH1?J%??`̺1?Y?_t`#ο?)~J@ ~J({^;I~JCɫqq)q }IyY@yemGxDUSBL response received:!U1,P CD1,000,005F4,189,80,80,3C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 r * <:YU1y:5 i MMV=YQU>a%E%DyÃ}>Iȡť$ 5?ťVW ƥmA ?9ƥXCǥ:; ȥG;)ȡW@WX XW:W2W*W!V!bU!BU!*U)U)U-`x @B-)E^;B1 BYA]<*BaAm; ;AiAqAir<"CNrRCC@CIG>~q,qEAY}2h@}2(@y}2r;}2o}2Hd?`?`@?[@O ? X??q Ϳ!?)~2h@ ~2^;I~2Cɫ99)9 =I9Y}3@y}mG鮁ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iK7?~jth{Gz ?D #)IyK7?I +?~jt?)?94<< |@)&AIV Ai AG A U U UU UY=U9>iU@U U"@)U@IU"@iU@e<Mm:=YmºQUm>qqauEuDyy}}}>Iȁ :Ņ;6 5? :Ņ` ƅmA ?9ƅYCDž: ȅ:)ȅ:W5X @W1X1 X1W1:W12W9*W9V9bU9BUA*UAUAUE@@BN;B BA<*BA ;AAA.r<"Cべ<9I`jGi@; E)aIaiaae!=e4RCCX @CI)GEQ>q,rEAJԚ>Hi%nGI9iQY}MU*@}M8@}Lٺ;By}M;}Mmn}MH`/?0]?`Ŷ?΍??^pͿ"?)~MU*@ ~M^;I~MC!  J:YT1y:5);9ɫQQ)Q UIQY@y!mGxDUSBL response received:!U1,R,246,000,0061C,189,80,80,67,FF Fpublishing direction and range info"ɰ> )BIy\aB+ (?v ߿ٱi)= =MMML=YUeQUU>QQa]E]DYyeUx}e>IimG 5?mj m nA u?9m_YCmI: m:)iWy@WX XW:W2W*WVbUBU*UUU5@P*Q\aBZQgR9H@#7Lof;JQ+ (?v ߿2Q":QbQqE(3@P(3J8[@RQ~ tu?惠 Oxrջ?BQW@ QQQ-AP9?P9?PQ/QaBA"QaBLhJ;B BA^V<*BAs ;AAAs<"C0ÿRCCy@CyIG<>bًq,1rEAY}bW@}be@y}bD;}bn}bH?`?K? ې`s?-?7p`ȒͿ@J"?)~bW@ ~bͳ^;I~bCɫ) IYd@ylG}DNmea in: $SNTTA,,,,,011800.68*58 I?)?iI=)=@\>+i=@ Σ@)@Ii@mټMmH=YuQUu>qqa}E}Dyy瀽}>IȩŭX 5?ŭ't ƭ(nA ?9ƭYCǭ: ȭ:)ȩmyAdded new target pos. range: 56.340000 m, bearing: 290.673344 deg, deltaT: 4.391764 s, approachRate: 0.546479 m/s, LOS rate: -19.341576 deg/s, posRepo size: 4m-!ProNav REINIT: LOS rate is -19.341576 deg/s. Setting heading cmd to target bearing of 290.673344deg and heading rate command to 0 deg/s.W-W@W)X) X)W):W12W1*W1V1bU9BU9*U9U= +L@U=?B;B BAs;*BA ;AAAk s<"CM̿RCCW@C!I!GMR> N>9 I iGi ݽ@ ; EEq,KrEAY}R%~@}R勰@y}RHw;}Rp}RH ;???/q?-? dnͿ /?)~R%~@ ~R^;I~RCɫyy)y }IyY`@ylG7 1:YU1y:l5)-;iQQjMY=YQU>aEDyӐ}>Iȱ :ŵ?h 5? :ŵ} ƵCnA ?9ƵYCǵ: ȵ:)ȵ:WWX XW:W2W*WVbUBU*UUUC ?BP;B! B!A%:*B!A% ;A)A)A-:2s<"C5Q ѿRC1C1C9 IG5 >/阜q,_erEAY}2Ş@}2@y}2 J;}2Zq}2H@2r?Q(? 9? ? ɽ?BiͿi?)~2Ş@ ~2^;I~0ɫ99)9 =I9Y}@y}BlGi MS=YQU>!!a%E%D)y-돽}->IșŝXx 5?ŝ ƝbnA ?9Ɲ(ZCǝ: ȝ8:)șWWX XW:W2W*WVbUBU*UUU`?B ;B B A *B A A AA>s<"CӿRCCC IGm>q,DrEAY}F¶@}FEЮ@y}FE ;}F'r}FH,?@?`?f :?@??'[a@{ͿA?)~F¶@ ~F^;I~Dɫ髑) I& 8 6:YWU1y:59@Yۿ@y lG 99i99 AA5B`"?y&1?/$?5?5`e= 5,=)1I1y5Zd;?aED[@@yr}>Iȹ :Ž 5? :Ž ƽknA ?9ƽnZCǽ: Ƚ:)Ƚ:WWX XW:W2W*WVbUBU*UUU ?aai9iIm3iGim@iiim; mޗEBB BA*BAAAA=s<"C ӿ*CRCCCIG%M>?q,rEAY}2@}2y@y}2ʺ:}2s}2H myaEDy}>Iȑŕѕ 5?ŕ. ƕtnA ?9ƕZCǕ: ȕk:)ȑWWX XW:W2W*WVbUBU*UUU?B:B BA[g*BA } ;A A A :s<"CoпRCCCׁIG>%q,ArEAY}R3-@}R:@y}R|2:}Rsp}RH@ ? ??`t ??@OFR Ϳ`.?)~R3-@ ~R._;I~RCɫyy)y I }}3 4:YkS1yԊ:5YC@yPkGi)å= å=ྩx=b>i̤@ A@)Σ@Ii@bMB=Y呺QU>  a E Dyn}>I! -:% 5? -:%' %~nA -?9%ZC%: %:)%:WQWQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUaUe`:M@B-Q:B1 B1A5`U*B1A5* ;A1A1A=7s<"C=E˿RCACACaAIIGm5>i 9i Im lhGim @i i i i i , q,yrEAY}2]@}2Tk@y}2:}2m}2H? K??@'}?<:?@W ]Ϳ%?)~2]@ ~2_;I~2Cɫ99)9 =I9Y]ſ@y]kGaaIu?)u?iqqI}R=)}C=2=Ma=Y[:QU>aEDy\}>I 5?Ȱ nA ?9%[C¿: :)W W X  X W :W 2W*WVbUBU*UUU y2@R-B*** querying acoustic contact ***P)P)B* ;B BA*BAAAA.s<"C=ÿRCCC IG5 >7q,7rEA||Y}Jy{@}J9@y}Jq:}JKo}JH[Q? h??ۂ??@[ Ϳ`R!?)~Jy{@ ~J*_;I~JCɫ髹) I" ,:YU1y:5Y @y kGZ****** received transponder code query ******F****** received ping request ******%=Y*:QU>a-E5D1y=C{}=>IA E:Eÿ 5? M:E EnA m?9El[CE; E;)E:WWX XW:W2W*WVbUBU*UUU` @BHBY:B BA<*BAD ;AAA%8q,sEAY}2@}2@y}23:}2Nq}2H Β?$U?@l?K?J(?t[&Ϳ`%?)~2@ ~2 _;I~2Cɫ99)9 =I9Y;@yGkGxDUSBL response received:!U1,P 246,000,0061C,189,80,80,67,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i9IhGi@; ٗEDl?{Gzy&1?O ?# `e<)Iyy&1?Zd;O?aE!Dy Pn} >I 5? nA ?9[C; {;)WaWaXa XiWi:Wi2Wq*WqVbUBU*U U U @Bj֤:B BA.d*BA ;AAABs<"CөRCfRL>CCIG >%KƜq,esEAY}J@}Jr@y}JU:}Jao}JH ???8]?g?JCX BͿ@y ?)~J@ ~J$_;I~JCɫ髑) IY@yjGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B > 1:YT1y:5);9 鼡i 鿩 AEM%=Y-h QU-?11a5E5+D9y=}=?IAE 5?E EnA U?9E[CE: E#:)AWqWqXq XqWq:Wy2Wy*WyVybUBU*UUU "@BB BAJ*BA ;AAASs<"CۣRC >C C I G-,>[s̜q,84sEA|i|@Y}6۰@}6@y}69}6S>q}6H@3)?@B?>? a??x:Ϳ ?)~6۰@ ~6^;I~6Cɫ99)9 =IAY}@y}zjGxDUSBL response received:!U1,R,082,000,0063C,187,80,80,78,FF Fpublishing direction and range infoV轩ɰ>鰅1> )BIy iBg4W?5ٱiߟ>7=i@ @)@Ii@pM]=Y |@QU >  aE7Dy`}>I! -:%x 5? -:% %nA -?9%/\C%: %A:)%:WQWQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUaUe@Py*Q} iBZQ}|$#XL@OLaJQ}g4W?52Q}V:QybQ}NxY9@ȇ&J#srA?RQ}ff'?u痹\͉?BQ}`@ Q}0QQ} AP}9?P}9?P}Q}Q}@"Q}aBABe(rBi BiAm] *BiAuo;AqAqAu]s<"C}RC}s=CyC׉IG> 9 I @gGi @ ; ڗE)ݡIݡiݡݡݡݥպ3^Ӝq,#NsEAY}v@}v#@y}vC8}vMr}vH`?ڥ?@?j ?y?t ο?)~v@ ~vY^;I~vCɫ) IUUUU< Un1:YUDW1yUY:U~5)U;Y]5@y]jGTNmea in: $SNTTA,0.051386,,,,011805.12*47 i)m= m>ҼM3=YLQU>aEEDyW}>IȹŽ 5?ŽM ƽnA ?9ƽ{\CǽL; ȽL;)ȹm-qAdded new target pos. range: 58.260006 m, bearing: 296.108863 deg, deltaT: 4.402175 s, approachRate: 0.436149 m/s, LOS rate: 1.234735 deg/s, posRepo size: 4mM ProNav: pos range: 58.260006 m, bearing: 296.108863 deg, approachRate: 0.436149 m/s, LOS rate: 1.234735 deg/s, cmd update: 3.704205 deg/s, cmd heading: 290.673344 deg, new cmd heading: 290.673344 deg. WML@WIXI XIWQ:WQ2WQ*WYVYbUYBUa*UiUmG!M@Um`}?B~Bi BqinGA=C%L@C)-ׄ> I G- >ٜq,gsEAY}jJ@}jX@y}jrC:}ju}jH???྽? ?@n(@Fsο?)~jJ@ ~j^;I~jCɫ髑) IYw@yVjGI5?)5?i11I=4=)==U=<MUP=Y]:QU]>iaERDyz}>I ::5? : {nA %?9\Cr< <):W%X4@W!X! X!W!:W)2W)*W)V)bU)BU1*U1U1U5?Be Ba BaAe-*BiAm=;AiAiAm|s<"CuRCuCuX4@Cy]s9}>!IIG{>mq,ˁsEAY}Fn@}F{@y}FC:}F$w}FH"?h?@? /;F?l?{Tο?)~Fn@ ~F>^;I~FCɫYY)Y ]IYYp@yLjGi  mmmm m1:YmT1ym:m59u@gfffff?ˡE? rh?3?= C=)IyQ?ˡE?I +?\/?=94< @)&AI Ai AAE+E/YYaeEe_Daym_}m>Iqu65?u uknA }?9u]CuD: u :)qWE@WX XW:W2WܵF>9ܱIܵfGiܵ@ܵ=ܱܱܵ; ݵݗE*WVbUaBUi*UiUiUml?BSB BA*BAl;AAAs<"CmۑRC&>CE@C'Q>IGl>aq,asEAY}2@}2f@y}2 :}2os}2H`? C? ?ɠO? b?1Z`$ο?)~2@ ~2Q^;I~0ɫ99)9 =I9Y}R@y}(jGi#Ma=Y:QU>!!a%E%jD)y-O}->I1 =:55? =:5 5]nA E?95D]C5V: 5:)5:Weܰ@WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU}?B%ݲB! B!A%-*B!A%3:A)A)A-xs<"C5{RC5ȽC5ܰ@C9MgAMfAM0(>IQ)Q!I1GM1>q,sEAY}2tͬ@}24ۤ@y}2;}2Un}2H99?Z,?7? e?@? V` Ϳ@#?)~2tͬ@ ~2m_;I~0ɫ99)A EIAY@yiGiII QQU L ::YWU1y:5ý>ýý^=iý @ù Ĺ)ĹIĹiĽ@/M?=YT:QU>aExDyd}>I(5? LnA u?9]C< 8<)Wl@WX XW:W2W*WVbUBU*UUUlx@BiƺB) B)A-O*B)A5:A1A1A5;s<"C=0RC=\C=l@CA%=I G5O>ܵ K>9ܱ Iܵ xfGiܵ S@ܵ =ܱ ܱ ܵ ; ݵ ؗElq,[sEAY}:0@}:j>@y}:==>;}:^a}:H`(?n? i?97-?2(?`g@k˿ :?)~:0@ ~:/_;I~:Cɫ99)9 =I9Y}@y}iG=i=i  UXdM]R=Y] ;QU]>aaaeEeDaymI}m>Iq }:u35? }:u+ u=nA ?9u]Cu: ub:)u:W a@WX XW:W2W*WVbUBU*UUU)u@BB BAT*BAx:AAA (t<"ClRC4V.C a@C=סIG >q,6sEAY}6@}6£@y}6۟;}6LR}6H9?`p? ;?h`?`s?js 8ʿS?)~6@ ~62@_;I~6Cɫ9A)A EIAY}R@y}(jGi<MU=Yq;QU>aEDyG }>I>5?8 /nA  ?9^Cu; ;) 6 4:Yy55W<@WX XW:W!2W)*WQVQbUYBUa*UiUyU@RB*** querying acoustic contact ***PPBE䡀BA BaAm-*BiAm.z:AiAiAmat<"CuiRCuAAC}<@Cy խ=ԭ=֍l;=׉i׍?aIGc>_q,tEAY}6X@}6Jf@y}6;}6@}6H??|?@05?`?j}~Mǿ`n?)~6X@ ~6p_;I~6Cɫ99)9 =I9Y}@y}iGZ****** received transponder code query ******F****** received ping request ****** @)IyzG?X9v? ?}=]O>9YI]fGi]@]"=YY]; ]ڗE …@)…;#AI…p Ai… Ap A<b>Q8i=@ "@)z@Iz@iz@MFżMM'=YMe;QUU>QQaUEUDYy]%}]>IȁŅJ5?Ņq,tEAY}6i@}6*@y}6:0<}6/}6HO ?i2?`?@b ?"ث?@ ſ?)~6i@ ~6g_;I~6Cɫ99)A EIAY@yiGxDUSBL response received:!U1,P 082,000,0063C,187,80,80,78,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iAAU<Ml=YaED/ /:YT1y:5)ތ;9My]}>I U:S5? ]:R mA e?9^C< S<):W @WX XW:W!2W!*W)V)bU)BU)*U)U1U5d @BݺB}J< BAQK*BA/:AAAxu<"CIxRC C @CΒ<׹IG>R q,6tEAɫ髙) IY@y7iGɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iYYíí->í`eií@é ĭΣ@)ĭd@Iĭ@iĭ@5 M5@=Y=QU=>9AaEEEDAyM}M>IQU\5?U] UmA ]?9U^CU: U:)QWǪ@WX XW:W2W*WVbUBU*UUUN@BPYB BA釽*BA7:AAAXv<"Cu\tRCCǪ@CfA4|ŻI)ׁIG=>Y 9Y I] eGi] @Y Y Y ] ; ] ؗEq,PtEAY}2A@}2@y}2Q=<}2a}2H?~?@*?/V?p?jG¿౧?)~2A@ ~2_;I~2Cɫ99)9 =I9Y@yiGxDUSBL response received:!U1,R,D46,000,0066F,189,80,80,3F,FF Fpublishing direction and range infoH?ɰ>7> )|BIyGuBF*>?wO?ٱi ))]<M]Z=Y]4iiaEDy(}>Iȩ :ŭJe5? :ŭGi ƭmA %?9ƭ_Cǭ0; ȭ(4;)ȭ:5555 51:Y5DW1y5Y:55)5?;Ws@WX XW:W2W*WVbUBU*UUU@@P*QGuBZQWV%I@vA@JQF*>?wO?2QH?:QbQ1˳>I@C#A5(RQZvY?՘ӷ41 BQ@ Q QIBP9?P9?PQQ"Q@Bm}Bi BiAm!q,~jtEAY}g@}Du@y}<}r }H`)???O? '? Z ,)2?)~g@ ~nA_;I~Cɫ) IYS@yhGUDNmea in: $SNTTA,,,,,011809.57*5D U=iU=iyyy=#@i X@)E@Id@id@%,M%1=Y-);QU->))a5E5D1y=2}=>IAEo5?Ev EmA M?9EV_CE: E:)Am}qAdded new target pos. range: 61.320004 m, bearing: 325.831251 deg, deltaT: 4.493198 s, approachRate: 0.681029 m/s, LOS rate: 6.614974 deg/s, posRepo size: 4m ProNav: pos range: 61.320004 m, bearing: 325.831251 deg, approachRate: 0.681029 m/s, LOS rate: 6.614974 deg/s, cmd update: 12.000000 deg/s, cmd heading: 307.303507 deg, new cmd heading: 308.888507 deg. W@WX XW:W2W*WVbUBU*UUN@U9??BaB BA*BA:AAAx<"C[\RCC@CLM<役ױIG> !q,[tEAY}2!`@}2m@y}2<}2}2Hտ? ? >?`=??C뽿A?)~2!`@ ~2u/_;I~2Cɫ9A)A EIAY}V@yhGi!P>9IdGi @; חE)݉I݉i݉ݍ"=ݍ =ݍ6-A -|-|-$ -9:Y-R1y-i:-Z5)-;uʡE?~jt~jtu-?u uļ)qIqyuI +?V-?~jthu94?uaEDyj}>Iȩ :ŭx5? :ŭ ƭnmA ?9ƭ_Cǩ ȭ:)ȭ:Wc@WX XW:W2W*WVbUBU*UUU ?BsB BA̕*B!A%[G:A!A!A%b?z<"CIRCCc@Cѽu< =>֕4#ם?iם|?qIG>  im 3oGI i fSٺ AB3'q,5tEAY}6z@}6@y}6<}6򢹽}6Hw?`6?P??$u?@: )?)~6z@ ~6En_;I~6Cɫ99)9 =I9Y@yhGi!!I%p=)%4=U\M]a=Y]p@aaaeEeDaym2<}m>Iqu5?u! uGmA }?9u_Cu: uǺ:)qW@WX XW:W2W*WVbUBU*UUUZ?BB BAc*BA{:AAA3{<"C<RCC@Cϙϙ)С С/vT I! G= >]-q,8tEAɫ髙) IY@yhGIa)aIa)aiiq-6only read 3 of 4 data items @ @ @I ;MC=YQU>aEDy}>I5?| mA ?9)`CG; 1;)/ -:YWU1y:59@W@WX XW:W2W*WVbUBU*UUU?BMBI BIAM*BIAU :AQAQAU}<"C]&RCYC]@CaE,iI G%N>9IcGi@!=~; E4q, tEAY}2!@}2/@y}2=}2#}2H%?h? l?# 5?@Rћnv@:?)~2!@ ~2Á_;I~2Cɫ99)9 =I9Y}ͽ@y}iGi'p=MX=Y aEDyU=}>Iȡ :ť5? :ť ƥlA ?9ƥp`Cǥ); ȥ%;)ȥ:W4@WX XW:W2W*WVbUBU*U UU?B=$k>B9 B9A=Xp*BAAEJ:AAAAAE<"CMRCICU4@CQaaE1kII)II)GEQ>o:q, tEAɫyy)y }IY@yhGiii     @ @ @Õ©ÕÕiÕ@Õ ĕ)ĕz@Iĕz@iĕz@-FM2=YQU>aEDy}>I@ /3:YT1y:Y55? lA ?9`C@; A;)W @WX XW:W2W*WVbUBU*UUU@BMcfBQ BQA]*BYA:AAA.,<"CRCC @Cu QIYGu>WAq,juEAY}26\@}2i@y}2<2=}243=}2H/e?$?bKH?@֌ PT_? b?)~26\@ ~2_;I~2Cɫ99)9 =IAYռ@yShGAA=i=iU/$?Mb? rhU ?U< UC)QIQyUS㥛?~jt?{Gz?U$&?Uyya}E Dy=}>ّّܙ9ܙIܝbGiܝ&@ܙܙܙܝ}; ݙIȉ :ōl5? :ōt ƍlA ?9ƍ`CǍ;; ȍb:)ȍ:W]@WYXY XYWa:Wa2Wa*WaVabUiBUi*UUU@RB*** querying acoustic contact ***PPBIŬB< BA3*BA:AAAR[<"C h߾RCC@CIGF>MGq,uEAY}6@}6{@y}6)==}6$=}6H7?@?`! /o?@ w??)~6@ ~6_;I~6Cɫ99)9 9I9Yu@y}gG}Z****** received transponder code query ******F****** received ping request ******aE-Dy!]=}>I5? ylA ?9BaC: :)WxF@WXF /:YV1y:5)6;9 XW:W2W*WVbUBU*UUU` @B5NB1 B1A5}˽*B1A=!!:A9A9A=ă<"CEDTRCaCexF@Ci խ>ԭ>֕ם?iם?yIG>Mq,W9uEAɫyy)y yIyYѼ@yNhGxDUSBL response received:!U1,P D46,000,0066F,189,80,80,3F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i IC=)%=   åhå<åtiå=@å ĥ@)ĥp@Iĥ@iĥ@<M'=YQU>aEIi u:m]5? }:m mTlA }?9maCm: mw:)m:W}y@WX XW:W2W*WVbUBU*UUU" @BzB BA *BALJ:AAAa<"C-2{RC)C5}y@CYܕQ>9ܑIܕaGiܕ@ܑܑܑܕo; ݕЗE I G >aEHDy}?IȹŽ95?Ž tI ƽ:lA ?9ƽaCǽ\; ȽQ;)ȹWt@WX XW:W2W*WV    H 1:Y WU1y : 5) ݎ;bUBU*UUU -@BNB BA* *BAV%x:AAAB<"C*Y5RCCt@C < y I G >Zq,muEAY}F@}F@y}F|X=}F>}FH +!??` ?< Y @? ?)~F@ ~F_;I~FCɫaa)i iIiY5 @y5fG=xDUSBL response received:!U1,R,120,000,0069D,186,80,80,86,FF EFpublishing direction and range info=9ɰ= >=> 9)=CI9y=(B=XU? Ͽٱ9i,>?>i@ )@Id@id@m^MuL=Yuyya}E}TDy{>}>Iȱ :ŵ5? :ŵ ƵlA ?9ƵbCǵ{: ȵ{:)ȵ:WYW<WX X)W):W12W9*WAVAbUiBUq*UyUUQ@P!*Q%(BZQ%OZ}O@tB/JQ%XU? Ͽ2Q%:Q!bQ%wQmV0@^hN~2HtRQ%4Q? eŧlmBQ%k@ Q%vQ%AP%9?P%9?P%Q%Q%}>"Q%Be%` Ba BaAe*BiAm9T:AiAiAm)v<"CuRCqCuYW<Cu]5aq,AuEAY}ɯ@}Qק@y}W=}>}H@::? >j? U ?@???)~ɯ@ ~__;I~Cɫ) IES>9AIE _GiEJ@AAAEY; EŗEYú@yeG=DNmea in: $SNTTA,,,,,011814.01*52 iQY YY    D 4-:Y V1y : 55) ފ;bX9?~jtx?E6? ;)IyV-?Mbp{Gz?|?ף< ­A)­AI­9Ai­ A AƜM6=YQU>aEcDy+Z=}>I<5?  kA ?9VbC: ʽ:)m%uAdded new target pos. range: 64.080009 m, bearing: 284.824216 deg, deltaT: 4.482675 s, approachRate: 0.615705 m/s, LOS rate: -9.147893 deg/s, posRepo size: 4m5 ProNav: pos range: 64.080009 m, bearing: 284.824216 deg, approachRate: 0.615705 m/s, LOS rate: -9.147893 deg/s, cmd update: -12.000000 deg/s, cmd heading: 0.753716 deg, new cmd heading: 6.026864 deg. W5@W1X1 X1W1:W92Wy*WyVybUBU*UUP@Up?Be&B BAJ*BAS4:AAA<"CT,RCC@C!!)) )י I G >gq,"ĠuEAY}6@}6r@y}6T=}6{>}6H@J?? q`?~d0`?L?)~6@ ~6H^;I~4ɫ99)9 =I9Y]M@y]5eG=i=i>M=Y>GQU? a E mD y=}?I5?^ kA %?9bCb: n:)WEDs@WAXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU]C?BWB BA,*BA:AAAS<"CU<RCQCUDs@CYaIqG> mq,fuEAY}6@}6Ǎ@y}6qL=}6 >}6H@?w?!jaF?_W `c??)~6@ ~6^;I~4ɫ99)9 =I9Y@y?dGi!!)-> ) @ @ @Ý©ÝÝiÝ@Ý ę)ĝ@IĝiĝiM?=YxQU>aE{Dy}=}>I u: 5? u: $ kA }?9bC}< j<):Wf@WX XW:W2W*WVbUBU *U UU#?BeEBa BiAmE*BiAm@9AiAqAu7<"C+2=RCCf@Cץ?iץ?ׁIG=>=T>99I=]Gi=@=#=99=\; =ǗE)ɇIɇiɇ͇!=͇"=͇ 5tq,pzuEAY}:vC@}:7Q@y}:C=}: >}:H@O? ?湿2&?k@u?`?)~:vC@ ~:Ay^;I~8ɫ99)A AIAY]@y]cG@ }}% 8:YkS1yԊ:5);iAAIE=)E=BML=YzQU>iSoGIi =Tٺ9=CBIIaUEUDaymg=}u>Iqu5?uI0 ukA ?9ucCuܹ: u+:)qW(@WX XW:W2W*WVbUBU*UUUi{q,guEAY}:@}:S @y}:E:=}:Q >}:Hh?`~?S" Dై?F )?`?)~:@ ~:]^;I~:Cɫ髙) IYQ@ybGI1)1i99   j< ?n>i(@ )z@Iۙ@iۙ@- 3M-A=Y5$QU=>9AaEEEDIyM%h=}M>IY m:] 5? m:]; ]kA m?9]PcC]5; ]T;)]:W]ݻ@WX XW:W2W*WVbUBU*UUU@BQxB BAk*BA38AAA<"C(C<RCCݻ@CIGi>q,0vEAY}2³@}2[Ы@y}2a-=}2G>}2Hg?`1?-趿Q,?1ѓ? ء?)~2³@ ~2^;I~2CɫYY)a aIaY1@ybaGU>9I$[Gi@"=b; ˗E  ~ ~ K :?:Y T1y @: 5) p;iʡE?{Gzt?kt?/?ף;  =)Iy-?~jt?~jt??5?=< ­|A)­|AI­nAi­V A A¹½fAMQ=YFQU->QQaUEUDQy]|s=}]>Iaez5?eH ekA ?9ecCew< e@<)aWWH@WX XW:W2W*WVbUBU*UUUm@BmkBq BqAuχ*BqAu!AqAqA}<"C}$XRCCWH@CIױ)ױׁIG=>uq,"vEAY}2L@}2 @y}29=}2>}2H`-??@@c?徿??)~2L@ ~2I^;I~0ɫ99)9 =I9Y}^@y}^`G@Ai M W=Y 4QU >aEDyْ=}>I! -:%*5? -:%R %kA 5?9%cC%: %:)%:WUO@WYXY XYWY:WY2WY*WaVabUaBUa*UaUiUm@RuB*** querying acoustic contact ***PqPqBFB BA*BAϻAAA{<"CHRCCO@CIG >%Hq,;vEAY}:~@}:Ջ@y}: =}:>}:H?&? E;ɋ? b@c?>?)~:~@ ~:4^;I~:Cɫ99)9 =I9Y}@y}_GZ****** received transponder code query ******F****** received ping request ****** 9? `ei @  @) @I @i @=@M=8=YEQUE>AIaMEMDiyuq=}u>Iy}f=5?}_ }kA ?9},dC}: }':)yW@WX XW:W2W*WVbUBU*UUU @B%QBI BIAM*BIAM'AIAQAU<"C] RCYC]@CYaIiG9>V>9IYGiذ@c; ̗E/q,UvEAY}FZ@}Fh@y}F<}Fj>}FHX?~?`D3?*`@eZ?`?)~FZ@ ~FǬ^;I~FCɫyy)y }IyY@y_GxDUSBL response received:!U1,P 120,000,0069D,186,80,80,86,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i)= =Um;M][=Ym!QU5>19a=E=D9yE=}E>Iy :}yN5? :}2k }kA ?9}vdC}< }a<)}:W @@W X  X W :W 2W*WVbUBU*UUU @BB BA*BAqpAAA<"CbRCC@@C5?i5?I1Gew>]q,;ovEAY}~'@}~`5@y}~<}~ >}~H ??紿@?pM R4`f??)~~'@ ~~^;I~~Cɫ) I==~=~=A =2:Y=T1y=@:=5YM@yM^GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iI)C=5=56?5u>i5@1 5)5p@I5p@i5Q@]0M]"=YeQUe>aaamEmDiyuW=}u>Iy}b5?}!x }kA ?9}dC};: }b:)yW @WX XW:W2W*WVbUBU*UUU B@B z̼B  B A e*BArAAA<"C4RCC% @C!1I9GUv>Aq,FxvEA||Y}6@}6@y}6<}6s >}6H ?y?)_?Du@՗`Z'?@ݳ?)~6@ ~6VD_;I~6Cɫ99)9 9I9yy܁9܁I܅WGi܅B@܅!=܁܁܅r; ݅՗EYu@y^GxDUSBL response received:!U1,R,E8C,000,006C2,186,80,80,A2,FF Fpublishing direction and range info6>ɰ >鰡 )"CIyBjT?ˬQi?ٱI)iM7A`?{GzV-?M>Mף M<)IIIyMx&1?I +?~jtxMA ?M94:QbQ𢹧M@6N={O}3?RQ"Y\?6AqܿRqn.?BQ?@ QQ=mBP9?P9?PQQW@"Q}>BUuڼBQ BYA]*BYA]zAYAYAN<"Cz`־RCG+DC@CיIGd>_nq,\vEAY}f@}fH@y}fځ<}f};>}fH ,??@wҲ`L?VA`ϔ[?$?)~f@ ~f˃_;I~fCɫ) IY5P@y5\G}}{}{}- }1:Y}#R1y}:}H5TNmea in: $SNTTA,0.056726,,,,011818.46*43 igAeMeM=Ym*QUm>qqauEuDqy}u=}}>Iȁ :Ņw5? :Ņ ƅkA ?9ƅBeCDžV: ȅ:)ȅ:muAdded new target pos. range: 66.300003 m, bearing: 333.478495 deg, deltaT: 4.435152 s, approachRate: 0.500545 m/s, LOS rate: 10.970150 deg/s, posRepo size: 4m ProNav: pos range: 66.300003 m, bearing: 333.478495 deg, approachRate: 0.500545 m/s, LOS rate: 10.970150 deg/s, cmd update: 12.000000 deg/s, cmd heading: 307.219963 deg, new cmd heading: 302.696419 deg. WD@WX XW:W2W*WVbUBU*UU@3P@U ?BB BAž*BAAAAu<"Ce.RCeCeD@CiIש)שaIqG?>>q,.vEAY}2w@}2U@y}2<}2٤>}2H@?Z?@`dx |? `(?`/?)~2w@ ~2n_;I~0ɫ99)9 9I9Y}@y}T\Gi ===S==i=f@9 9)=@I=@i=@MMM^=YUSQUU>YYa]E]Daye=}e>Iiqiqm5?m mkA }?9m}eCmf; m;)iWU&@WQXQ XQWQ:WY2WY*WYVYbUaBUa*UiUU{?B ,B BAɾ*BAIAAA%<"CEcRCMJɼCM&@CIAIQG8>y9}xCI}VGi}@} =yy}; }Ew~q,$ vEAY}JU@}Jc@y}Jwu<}J>}JH K?`?@"?`y'?`?)~JU@ ~J_;I~JCɫ髉) IYT@yg[Gi!!]imM]J=Y]ͻQU]>aaaeEeDiym/=}m> ; :YyG5);9Iȑ :ŕ5? :ŕ ƕ}kA ?9ƕeCǕ(: ȕ4:)ȕ:WP@WX XW:W2W*WVbUBU*UUU_R?B"XB BAվ*BAyAAAs<"C#RCԉ3=CP@CֽAיIGb>q,vEAY}VE@}VXS@y}VN<}V>}VH`+?@?Q?@ʻ`߉@?t?)~VE@ ~V_;I~VCɫqq)q qIqYȱ@yZGiQQ)Å= Å=F>G>i̔@ Q@)IQ@iQ@cM1=Y-奻QU5>AAaMEMDIyUY=}U>Iae5?eɥ efkA u?9e fCe`: e:)aWr@WX XW:W2W*WVbUBU*UUU?BʾB BA^޾*BA#7AAA@<"CԄ/RC]=Cr@C֕(sם?iם?iIyG~>q, wEAY}69@}6G@y}6'<}6ȣ >}6H {?@5? ϲY ;?7˼ܤ '? ?)~69@ ~6_;I~6C%U>9!I%TGi% @!!!%; %E)ݹIݹiݹݹݽ!=ݽO]5ɫAA)A AIAY}@y}YGiI4=)%= C 5:YT1y:5)a;-Dl?A`"Zd;O?-OM?-Y -j<))I)y-S?:v?v/?-/?-<-xi= -A)-\AI)i-nA)-(AMaMMY=YMQUU>QQaUEU#DYy]=}e>Ia m:eq5? u:e ekA u?9eJfCeE: eM:)e:W@WX XW:W2W*WVbUBU*UUUp?BB BA*BALAAA~Z<"C%b'4RC- >C-@C)%JIGK>AAi nGIiMٺ }BHk?g?A`?@w {`? ?)~B5@ ~Bd_;I~BCɫ髑) IYӰ@yYGI1)1i99u*ļMuX=YuQU}>yya}E}/Dy=}>I%5? lA ?9fC : ӻ:)W-o@W)X) X)W):W)2W1*W1V1bU1BU1*U9U9U=@BuBq ByA}*ByA&dAAAu<"C+4*CRCD#>Co@Cօ}aIGA>-Νq,}>wEAY}2)@}27@y}2q;}2 >}2H ?@?j`)y[?A@2n~G??)~2)@ ~2gn_;I~0ɫ99)9 =I9Yu@y}YGy}AAifAE`YYa]E]} }~}~}d }a4:Y}T1y}@:}59@Ii :m5? :mw mjlA ?9mfCmw: m:)m:W#@WX XW:W2W*WVbUBU*UUUF@RB*** querying acoustic contact ***PPBB BA*BA8|AAA |<"CL1/RCO(>C#@Ct۽I ) IG%>9ISGi@; E՝q,PSXwEAY}2W@}2@y}2k:}22->}2H ?`"?kn?``}My?ػ?)~2W@ ~2^;I~2Cɫ99)9 9I9Y})@y}XGZ****** received transponder code query ******F****** received ping request ******aEHDy i=} >Ij5?4 lA %?9gC-: 9:)W@WX XW:W2W)*W1V1bU1BU1*U9U9U=@l @BVB BAJ*BA|AAA<"C#RC$>C@C`kיIGA>z۝q,,rwEAY}6ۘ@}6@y}6@⺙}6X=}6Ha?`jr?Gc2?w: g@\? h? z?)~6ۘ@ ~6_;I~6CɫII)Q UIQY}5@y}WGxDUSBL response received:!U1,P E8C,000,006C2,186,80,80,A2,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iX .:YT1y:~5H>i@ @)@I@i@EnME=YMQUM>IQaUEUYDQy]=}]>IȁŅM5?Ņ ƅJmA ?9ƅqgCDžǺ: ȅn:)ȁW;@WX XW:W2W*WVbUBU *U UU`g @B0B BA*BA aA A A<"CEM RCM͹=CM;@Cqu;u?iu?) I9 G] >Nq,wEAY}:h @}:)@y}:d*}:7=}:H?i?L_,`|?4@Iq?b2?'?)~:h @ ~: G_;I~:CbV>9`IbRGib!@```b; bEɫ99)9 =I9Y}Ů@y}WG鮁ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iyyMOn?|?5^?S㥛?M8?M= M/<)IIIyMS㥛?MbP~jth?M$?MMD; M A)MAIMOAiMAIMA)]= ]>e!Mmn=Ym)QUu?qqauEudDyy})=}}?Iȁ  :Ņ%&5?  :Ņ> ƅRmA ?9ƅgCDžr< ȅ̖<)ȅ:WuF@WyXy XyWy:W2W*WVbUBU*UUU0$@BmM6Bq BqAuA*BqA}5AyAyA}<"C8RC1 =CF@Cy=ױIG>lq,wEAY}2aO@}2"]@y}2{P߻}2©=}2H?`?`$`߿? @{?1? ?)~2aO@ ~2,h_;I~2CɫYY)Y ]IYY@yVGxDUSBL response received:!U1,R,E11,000,006E6,186,80,80,5D,FF Fpublishing direction and range info +>ɰ>鰡 )BIyBF?Uh3R?ٱiIp=)=^(Mh=YQU>aEoDyf<}>I65? \mA ?9gC: L:)W5@W!X! X!W!:W!2W!*W)V)bU)BU)*U)U1U5 l@PA*QEBZQEOO@NvT<@JQEF?Uh3R?2QE +>:QAbQE"#Q@¤z^ύ_@RQE.B? 2Ak?BQE&@ QEQE=BPE59? u X:YW1yč:5PE9?PEjQEQEA"QEW@Bu,;Bq BqAu.*BqA}ٴAyAyA}<"C[ϾRCyzC5@C֍=iIG=>-5q,*ɿwEAY}rgu@}r(@y}r}r͕=}rHY??؉Y߿@L?:@+?9??)~rgu@ ~r4C_;I~rCɫ) IY5a@y5VGDNmea in: $SNTTA,,,,,011822.90*5F I)ie+eY?e/ݼie@a ep@)ez@IaiaujM}2=Y}CQU}>aE~Dy%<}>Iȑ :ŕJL5? :ŕ ƕmmA ?9ƕ/hCǕ=: ȕ:)ȕ:mqAdded new target pos. range: 68.459999 m, bearing: 354.783439 deg, deltaT: 4.358207 s, approachRate: 0.495616 m/s, LOS rate: 4.888465 deg/s, posRepo size: 4m ProNav: pos range: 68.459999 m, bearing: 354.783439 deg, approachRate: 0.495616 m/s, LOS rate: 4.888465 deg/s, cmd update: 12.000000 deg/s, cmd heading: 359.596808 deg, new cmd heading: 5.097380 deg. W3=WX XW:W2W*WV bUBU*UU%pQ@U-:?Bep,Bi BiAma *BiAuiĻAqAqAuJx<"C}͸RC}C3=Cܹ9ܹIܽ`QGiܽ-@ܽ!=ܹܹܽ; ݽE5[1=I9)9IG>xq,xwEAY}6@}6؎@y}6;.}6=}6H`?@u?@߿ g?@]Dž?`Lz?`?)~6@ ~6 C_;I~6CɫYY)Y ]IYY @yVGi  fA=M=a=Y=ĊQU=>AAaEEEDIyM;}M>R 1:YT1y:55)-;9IU^5? |mA ?9nhC@:  :)W->W!X! X!W!:W!2W!*W)V)bU)BUi*UqUqUu?B;B BA( *BA}:һAAAxZ<"C mRC KC ->C2g=IGI>Dq,CtwEAY}2@}2E@y}25;}2I=}2H`(?`}?@"@߿D?d{? 2??)~2@ ~2_;I~2Cɫ髡) IY=@y#UGi gfffff?{Gz?Mb?3?#= =)Iyq= ףp?MbT㥛 ?+?= ­A)­p AI­5Ai­/AAEE̽E=iE3@A E)EQ@IE3@iE@fPM'=Y޺QU>aEDy+8}>I  :6u5?  : nA ?9hC&; #;):WM>WIXI XQWQ:WQ2WQ*WYVYbUYBUY*UaUaUm ?B~p5B BA*BAAAA[<"C RCȌhC>CIG>z,q,O xEA02<6X>94I6PGi6@6"=446; 6EY}Bx@}Ba@y}BFA}B}=}BH`??@oB߿?;v:?? ?)~Bx@ ~B(5_;I~BCɫYY)Y YIYY@yTGU=iU=iaa O 5:YU1y:5)a;~Mw=YQU?aEDynX}?Iȩŭ+5?ŭ ƭbnA ?9ƭhCǭ: ȭ:)ȩWC>WX XW:W2W*WVbUBU*UUU@5?B!ZB BAL*BA.AAA+:<"CERC CC>C j?i?IGI>V q,*'xEAY}:x@}:N@y}:5=}:_<}:H?+?k૞߿@? ڢ???)~:x@ ~:_;I~8ɫ99)9 9I9Y}@y}TGi)))9 ==}8M}L=Y}h8:QU}>aEDy}>Iȑŕ5?ŕ ƕnA ?9ƕ;iCǕ÷: ȕ:)ȑW}C>WX XW:W2W*WVbUBU*UUU`-P@BWIB BAt*BA ^A A A O7<"Cr<RCC}C>CpI G5.>d>q,AxEAɫyy)y }IyYE@ySGi!!I%=)%=b S ;:Yyk59@j<=+?@=iG@ A@)IQ@iQ@8ME=YQU>aEDy}>I :߬5? : NoA ?9iC: :):W?WX XW!:W!2W!*W!V!bU)BU)*U)U1U5 @B1KB BAF*BA9AAAD<"C=RCC?Cօ9IIa9aIeOGie@e!=aae; eE)xCIxCi 5GZ>]kq,ZxEA||4aEDy0<}>I'5? oA ?9iCb: :)W-?W)X) X)W1:W12W1*W1V1bU9BU9*U9U9UEB@RMB*** querying acoustic contact ***PIPIBmdXBq BqAu*BqAu'AqAyA}D<"C}$8>RCC?C֍SĽI׉)׉AIQGm>q,txEAɫ) IYu @yuSG}Z****** received transponder code query ******}F****** received ping request ******}eļ e)aIaye@5^I ?Mb?I +?eb0?e@=e9< enA)eAIe AieAaeAqugA %@ %@ %@%©%%i%@% %@)%I%Ȏ@i%Ȏ@5M5=Y5QU5>99a=E=DAyE}M>II U:M5? ]:M$ MoA ]?9MjCM: M{:)M:W}q1?WX XW:W2W*WVbUBU*UUUI @BAB BA *BAAAALy<"C2>RCCq1?C]ױIG>U fAU fAY 9Y I] OGi] F@Y Y Y ] ; ] E#q,֎xEAY}2@}2`@y}2yG}2 t;}2H?@D? d޿`s? d?'?n?V?)~2@ ~2j_;I~0ɫ99)A AIAY}ǫ@y}WSGxDUSBL response received:!U1,P E11,000,006E6,186,80,80,5D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i ܼM =YQU%?)aEDyr =}?I!%5?% %$pA ?9%YjC%jx< %|<)!WE?WX XW:W2W*WVbUBU*UUU@ @BJXB BA5*BA/"AAAc<"C 姿>RCCE?C)EϚNIG=>)q,qxEAY}:<@}:DJ@y}:I}:?>J<}:H@n0?gE?G޿@1?ht,4?@ G?`?)~:<@ ~: _;I~8ɫ99)9 =IAY}Ī@y}RG鮅a=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iaa}M}E=Y}ƹQU}>aEDR ||A \::YR1yi:5y<}>I :5? :% VpA ?9jC: :):W]vX?WYXa XaWi:W2W*WVbUBU*UUU-2d@BXpB BAO'*BA)AAAt<"C>RCCvX?C֥7xYIiGZ>0q,MMxEAY}2@}2@y}2F}2<}2H` P??@@ݿxO?@␿܈?`??)~2@ ~2l^;I~2Cɫ99)9 =I9Y}u@y}RGxDUSBL response received:!U1,R,D59,000,00707,18A,80,80,89,FF Fpublishing direction and range info?ɰ_>鰅> ) CIyB @}x?7?ٱi)í= é   =?(\>i@ "@)p@I@i@jd=MR=Y 9QU >  a EDyi<}>I!%5?%+ %pA -?9%jC%: %:)!W-Ln?W)X) X)W):W12W1*W1V1bU9BU9*U9U9U=@Pi*QmBZQm(C7M@qkVC@JQm @}x?7?2Qm?:QibQmfGQ@|jS@S-?RQmS?"?a$?BQm= Qm@QmBPmA9?Pm59?PmTQmjQm@"QmAB[fB BA!*BA1AAA<"CH?RCCLn?C?΅IGG> 9 I @NGi @  =   ; E6q,4xEAY}n+@}n@y}n' B}n[5=}nH|??@n#ݿ;x?`jC?`(?e?)~n+@ ~n&^;I~nCɫ) IYM+@yURGO > ::Yy5);9DNmea in: $SNTTA,,,,,011827.34*54 iIC=)%=-RM-9=Y5+:QU5>11a5E= D9y= <}E>II U:Mp,5? U:M2 MpA U?9M/kCM: M^:)M:miAdded new target pos. range: 70.440002 m, bearing: 6.180511 deg, deltaT: 4.482297 s, approachRate: 0.441739 m/s, LOS rate: 2.542683 deg/s, posRepo size: 4m ProNav: pos range: 70.440002 m, bearing: 6.180511 deg, approachRate: 0.441739 m/s, LOS rate: 2.542683 deg/s, cmd update: 7.628051 deg/s, cmd heading: 53.333686 deg, new cmd heading: 58.310434 deg. Wn|?WX XW:W2W*WVbUBU*UU)Q@Uah?BbdB BA$*BAA:AAA~<"C?RCCn|?CFӅױIGe>}>}vi}@y }Ȏ@)}Q@I}@i}@M6=Y9QU>aEDy =}>IȩŭA5?ŭ9 ƭpA ?9ƭxkCǭ: ȭ:)ȩW/?WX XW:W 2W *WVbUBU!*U!U)U-E?B\B BA&*B9A=SDAAAAAE";<"CMM6?RCQCU/?CQaA IQ Gm >  Y>9 I xMGi @ ; ECq,HyEAY}2@}2@y}2{rE}22=}2Hr?@?| z8ۿ`?Ӳ@(?>?j?)~2@ ~2F0_;I~2CɫYY)Y ]IYY@yQGi gA fA=gMEz=YUUQU]?YYa]E]%Daye^=}e?IimQ5?m> m,qA }?9mkCm: m:)i }}[ V5:YkS1yԊ:"5);WE:݋?WIXI XIWQ:WQ2WY*WYVYbUaBUa*UaUiU@mb?B-$~B) B)A-(*B1A52KA1A1A59Z<"C=H?RC9C=:݋?CAY1IAGmx>Iq,й)yEAY}2@}2ģ@y}2GA}2e==}2H[9?`? ë@ڿ@A?>·(?Y??)~2@ ~2HG_;I~2Cɫ99)9 =IAYު@y8RGi99 AA}{<MF=Y!:QU>aE2DyB=}>Iq :u=g5? :uE uhqA ?9ukCu3< uy,<)u:W /?W X XW:W2W*WVbUBU*UU!U%`8?BkB BA&*BATAAAJ<"C_?RCC/?CֹבIG>Pq,CyEAY}:-9@}:F@y}:29}:=}:H[z?@?ЇؿG?㕻6&? '??)~:-9@ ~:_;I~:Cɫ99)9 =I9Y]@y]QG%=i!i)1Å;Åd;Å`eaE?Dy.M=}>!  t6:YWU1y:9@Iȩŭy5?ŭdJ ƭqA ?9ƭ2lCǭ ; ȭ;)ȩW v?WX XW:W2W*WVbUBU*UU U @B5l|B1 B9A=(*B9A="c\A9A9A=Ͷ<"CE3gr?RCACM v?CܭZ>9ܩIܭLGiܭ^@ܭ!=ܩܩܩ ݩ?i?׹IGf>Wq, p]yEAY}2@}2~@y}2/}26>}2H?fQ?󾭿 A׿m?]?`M?D?)~2@ ~2y^;I~0ɫ99)9 =I9Y}@y}QGi)= >MMMO=YMO:QUU>QQa]E]KDYyea=}e>Ia m:ep5? u:eO eqA u?9erlCe8: e:)e:W#?WX XW:W2W*WVbUBU*UUUB1@BwB BAY(*BAdAAA <"CH?RCC#?CE?΅!I)GMS>A2]q,mYwyEAY}Eͭ@}E@y}En7}E$ >}EHr?@? /ֿk?@?`?̱?)~Eͭ@ ~Ex^;I~ECɫ ) IYM@yMPGQUAAiaaT E1:YU1y:5Ii)m=tV?~jt?V-??= <)Iykt?y&1:v? 0?` A) AIAiAA@=/]i@ Ȏ@)@I3@i@uM2=Y?QU>aE}ZDy$K=}>Iȡť5?ťV ƥ rA ?9ƥlCǥf: ȥǺ:)ȡWH?WX XW:W2W*WVbUBU*UUU`@@RB*** querying acoustic contact ***PPBtoB BAi/*BA,oAA!A%[<"C%?RC)C-H?C)MV݅)I1GU>ٝ gAٝ hAܡ 9ܡ Iܥ KGiܥ j@ܡ ܡ ܡ ܥ ; ݡ )1I1i11156b4dq,p'yEA||;Y}6b{@}6#@y}6KF}6>}6H 4H?+^?>`Կ@?y`ވ???)~6b{@ ~6^;I~6CɫYY)Y ]IYY@yQGZ****** received transponder code query ******F****** received ping request ******aEeDy=}?Iȩ =:ŭK5? =:ŭ[ ƭ5rA E?9ƭmCǭ:< ȭ^6<)ȭ:WT?WX XW:W2W*WVbUBU*UUU @B%BA BIAM.*BIAMwAIAIAU'׺<"CU5?RCYC]T?CYu>qinGIi=Rٺ9E$ABFӅI)IG>NBjq,yEAY}6@K@}6Y@y}6_}6>}6H`?@?`٫3!ӿ@pB?}n??`?)~6@K@ ~6^;I~6Cɫ髁) IYh@ylPGxDUSBL response received:!U1,P D59,000,00707,18A,80,80,89,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i¥fA¥gAO M ::YT1y:"5u\>uC>u+iuf@q u@)u@Iu@iu@M M)=YuOQU>aEuDyX=}>Ie5?a rrA %?9VmCD; ;)W?WX XW:W2W*WVbUBU*UUUN @B-@yB1 B1A5/2*BYAey=AaAiAm4H<"CT?RCC?C I G >(qq,yEAY}6@}6Q+@y}6x}6 >}6H@?'??W.ѿ@z?`b?0??)~6@ ~6^;I~6CɫAI)I UIQYN@yLPGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iYY aaAMx=YQU?aEDy=}?Iȱ :ŵ5? :ŵ f ƵrA ?9ƵmCǵ0: ȵ:)ȵ:Wٻ?WX XW:W2W*WVbUBU*UUU@U.@BB BA2*BACA A A z<"CG?RCCٻ?CM[>9IIMJGiMȤ@IIIM; ME9I)GUu>Rwq,yEA|i|Y}B@}B@y}Bih}B>}BH`?:?ইrϿ@ά? L?`}??)~B@ ~B^;I~BCɫYY)Y YIYY@yOGxDUSBL response received:!U1,R,ED9,000,00497,186,80,80,7E,FF Fpublishing direction and range info΃>ɰ=鰥> )BIyBR ?eK?ٱ=iiHMX=YQU>aEDy=}>Iȩ; G 8:YDW1yY:5);9ŭ5?ŭj ƭrA ?9ƭmCǭ; ȭ^;)ȩW?WX XW:W!2W!*W!V!bU!BU)*U)U)UU`@PY*Q]BZQ]Vg?@ @JQ]R ?eK?2Q]΃>:QYbQ]O!J5z@@@H?B`?RQ]9Cg?.Clk? ?BQ][; Q]@=Q]BP]9?P]A9?P]cQ]TQ]@"Q]@BB BA5*BAAAAh;<"C?RCC?C ?i?IG%n>A}q,ƤyEAY}eG=}e@y}eC_}e>}eH[? ?`T`ɿ@?`F¿? ?෢?)~eG= ~e_;I~eCɫQQ)Q UIQYF@yCPGDNmea in: $SNTTA,,,,,011831.79*5A iV-?p= ף?:vh?= Լ)Iy/$? rh? á @ @ @Ý©ÝÝiÝ@Ý ĝ)ĝ@Iĝiĝp@ɪ<M$=YQU>aEDyX=}>I :5? :m =sA ?91nCI: :):mqAdded new target pos. range: 32.999996 m, bearing: 0.192079 deg, deltaT: 4.441994 s, approachRate: -8.428649 m/s, LOS rate: -1.348140 deg/s, posRepo size: 4m rPowering the camera and arming the DDM at range: 33.00 m.m lFinal approach. Armed for intercept at range: 33.00 m.m \Transitioning guidance mode to: FINAL_APPROACH"Xm% ProNav: pos range: 32.999996 m, bearing: 0.192079 deg, approachRate: -8.428649 m/s, LOS rate: -1.348140 deg/s, cmd update: -4.044421 deg/s, cmd heading: 87.217610 deg, new cmd heading: 90.777751 deg. W% ?W!X%D; X%?W!:W)2W)*W)V)bU1BU1*U1U5@@U5?BNB BA:3*BAAAAN&<"C?RCC ?C )IG >= \>99 I= XJGi= v@9 9 9 = ; = Edq,inzEAɫyy)y }IyY{@yHOGi99IE=)A}M}w=YQU?aEDy}?Iȡ}}L 3:YkS1yԊ:5);ťU-5?ťo ƥsA e?9ƥpnCǥ`< ȥ@<)ȡ:uAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;vZEntering USBL mode with 5.000000 count pings.1;q;W&g?WX XW:W2W*WVbUBU*UUUK(?BnB BA9*BA(AAAb<"C@V?RCC&g?C׹IGf>q, R,zEAY}2=}2}@y}2\}2->}2H i??@k@*ƿ1?¿2k?`??)~2= ~2_;I~2Cɫ9A)A EIIY@y{OGI)i    @ @ @i@ )Ȏ@Iit@@<M A=Y QU>aEDyx=}>I!%8G5?%[r %sA =?9%nC%"; %a#;)!X}@q;}uCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:uAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLW?WX XW:W2W*WVbUBU*UUU?B-oɋB) B)A-R8*B)A-CA1A1A5l<"C=?RC9C=?CA9IA)AI!GEs>wq,9'FzEAY}23p=}2]S@y}2l}2A>}2H,? J=? Ԧ¿`@T?1?`?q?)~23p= ~2_;I~2Cɫ99)9 =I9Y}@y}NGiM9oMMX=YMQUM>QQaUEUDYy]=}]>Ia m:e^5? m:et eAtA u?9eoCeb: e:)e:W;e?WX XW:W2W*WVbUBU*UUU|? C K6:YWU1y:59@BB BA=*BA{AAA<"C?*C=RCC;e?C ]>9IIGi%@; E!IGI>!q,`zEAY}Ju>}JE@y}J0缙}JP~>}JH`F?J#?t`Wg? , ?I?`5?)~Ju> ~J_;I~Hɫyy)y }IyY@yNGi!! !!U[<M]I=Y];QU]>aaaeEeDaym\=}m>Ix5? u tA ?9UoCs: ^:)W?WX  X W :W 2W*WVbUBU*UUU`@BE BI BIAM<*BIAU~AQAQAU<"C];?RCYC]?Ca֥?΅yIGa>̝q,yzEAY}F@,3>}F@y}Fs}Fx >}FH`a?@a?p, y^?,T^?ߤ? )?)~F@,3> ~F!]_;I~FCɫai)i iIiY}@y}NG)>i=iu> ףp=?I +?Mb`?u?u9< u;)qIqyuDl?y&1|I +?uO-?u`u94= u!A)uAIuAiuAquQA~~K 1:YT1y@:5   ÅsÅÅr>iÅQ@Å ą@)ą@Ią@ią@GM8=YLQU>aEDyIȱ :ŵ5? :ŵv ƵuA ?9ƵoCǵ: ȵ :)ȵ:W0?WX XW:W2W*WVbUBU*UUU@B0{B! B!A%<*B!A-SA)A)A-%<"C50?RC1C50?C9FӅ%?i%?IGn> ^>9 I ,IGi @ = D ; EŤq,WzEAY}NpO>}N#@y}N}N >}NH`?#?5@f?}?)?@#?)~NpO> ~N(^_;I~NCɫqy)y }IyY@yNNG  i)%= %=-M5a=Y5EQU5>99a=E=D9yE=}E>IIM5?Mw MxuA U?9MoCM=: M:)IW}o?WyXy XyWy:Wy2W*WVbUBU*UUU@t@RB*** querying acoustic contact ***PPBmB BA?*BA!0AAA>9<"C?RCCo?C׹IGE>᪞q,zEAY}Zcim>}Z@y}Z}Z >}ZH?f?ې?0?@?԰?)~Zcim> ~Zo_;I~ZCɫ髹) IY%@y-%NG5Z****** received transponder code query ******5F****** received ping request ******5 Zdi @  @) @I i @M>=YjQU%>!!a-E-D)y51=}5>I9 =:=5? E:=x =uA E?9=)pC=: =M:)=:Wm?WiXi XiWi:Wi2Wq*WqVqbUqBUy*UyUyU}`c @BeBa BiAm@*BiAm1AiAiAm\<"Cu?RCqC}?C֕?΅iIyG~>űq,nzEAY}6>}6S}6H:?9#s??qp ?@^`??)~6> ~6W6_;I~6CɫYY)Y ]IYY@y\MGxDUSBL response received:!U1,P ED9,000,00497,186,80,80,7E,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i%[M-\=Y=߻QUE>I aEDyz=}>I!%5?%6x %WvA =?9%npC%\b; %h;)!Wġ?WX XW:W2W!*WiVibUiBUq*UyUyUb @ܡ9ܥyCIܥHGiܥ1@ܡܥQDܡܥ; ݥE)!I!i!!% =%Q4BxB BAF*BAAE3AAAAAEx<"CMI?RCQCUġ?CQ}FӅI׉)׍eAQIaG>i 3oGI i Sٺ ABA﷞q,GzEAY}2Г>}2pa%=y}2}26>}2H?|@K??``M6? ???)~2Г> ~2 z_;I~2Cɫ99)9 9I9Yyp=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iYYegAefAY}鵻QU}>yaE Dy=}>Iȑŕ5?ŕw ƕvA ?9ƕpCǕ: ȕs:)ȑk 3:YU1y:5);9W~j?WX XW:W2W*WVbUBU*UUUp@BhOB BA*BAb|AAAvr<"Ct?RCC~j?C׹IG%o>Tq,"zEAY}:ڠ>}:pۆ=y}:("}:>}:H@?u`)T԰?`? C?`?@?)~:ڠ> ~:d_;I~:Cɫ99)9 =I9Y}e@y}MGxDUSBL response received:!U1,R,F1F,000,0073C,186,80,80,8F,FF Fpublishing direction and range infoI>ɰ>鰁 )CIy=Bdϗb?aEDyj=}>I :'5? :x wA ?9pC: :):W=Z?WAXA XAWA:WA2Wa*WiVibUiBUi*UqUqUu@R(Combining 5 samples.P*Q=BZQWȄ% R@õ5,@JQdϗb?:QbQO^ҾQ@f2@@RQj?hH y?=0n?BQ> QAQBPS9?P9?PBQcQNA"Q@B蔽B BAEB*BAFFA!A!A%*u<"C-?RC)C-Z?C11IGe>ف ف ܉ 9܉ I܉ i܉ ܍ =܉ ܉ ܍ ; ݍ E&Şq, {EAY} >} N=y} &} O>} H[?`i` ~ o_;I~ Cɫ) IY@yMGTNmea in: $SNTTA,0.088899,,,,011836.23*44 =i=i~~@ 0:YT1y@:Y5) ;JmMZ=Y*IQU>aE(DyL=}>I5?w awA ?9>qC: :)mmAdded new target pos. range: 73.620003 m, bearing: 14.949271 deg, deltaT: 4.485967 s, approachRate: 9.054905 m/s, LOS rate: 3.289635 deg/s, posRepo size: 4m5 ProNav: pos range: 73.620003 m, bearing: 14.949271 deg, approachRate: 9.054905 m/s, LOS rate: 3.289635 deg/s, cmd update: 9.868904 deg/s, cmd heading: 69.092346 deg, new cmd heading: 67.610409 deg. W5n?W1X1 X1W1:W92W9*W9V9bUABUA*UAUE gR@UM@?BuBq BqAuG*BqA}ļAyAyA}j<"CA?*CMq=RCCn?C֝?΅YIaG}Y>L/˞q,.{EAY}5]>}5=y}5Q'}5٫>}5H@>?@E뀙]ٽ?|?F ?{?`{?)~5]> ~5t_;I~5Cɫ  ) IY5@y5MGi)á å>=-?t>i @ )3@Iz@i@<MF=YmɇQUm>iiauEu5Dqy}{=}}>Iy :}15? :}8w }wA ?9}qC}: }:)}:; wAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;wdResuming normal ranging with 1.000000 count pings.;1<Wϫ?WX XW:W2W*WVbUBU*UUU?B}᝽B BAD*BAʼAAARk<"C Sz?RC C ϫ?CFӅIGm>7Ҟq,H{EAY}:{>}:>y}:n%}:, >}:H?-0ÿ@횔`]?qY?l???)~:{> ~: _;I~:Cɫ99)9 =I9Y}8@y}MGi!!I-4=)-%=]!B<M]V=Y]:QUe>aaaeEeADiymu=}m>IquE5?u>v uwA ?9uqCuk: uw:)qX?1<wCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR; wAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRW?WX XW:W6 1:Yy559@2W*WVbUBU*UUU`r?BcdB BAC*BA ZμA A A f<"CP?RCC?C5_>91I1i11111 5EIGE>L=؞q,b{EAY}2>}2r6>y}2]%}2]>}2H@v?9ǿ ?/?@uX?J?Y?)~2> ~2l_;I~2Cɫ99)9 =I9Y}5@y}MGI)iߕMN=Y?qQU>!!a%E%ND)y-)=}->Iș :ŝ\5? :ŝt ƝKxA ?9Ɲ rCǝ: ȝ:)ȝ:W-?WX XW:W2W*WVbUBU*UUU?B I᡽B BAC*BA[ӼAAA m<"CY?RC!C%-?C!A!IIGZ>egޞq,j|{EAY}2L>}2QX>y}21)}29>}2HB? H˿#?%? 4`>?Mt?@?)~2L> ~2L _;I~2Cɫ99)9 9I9Y}ئ@y}FMGiuy&1??~jt?u`>u= u<)qIqyu7A`?~jtx?Mb?u6?u;u@= uv A)u AIunAiuGAquA…fAK 0:Yy5 @ @ @Å©ÅÅiÅ@Å ą@)ąt@IąiąȎ@z̼M4=YQU>aE\Dy6=}>Iȱŵv5?ŵp ƵxA ?9Ƶ\rCǵ: ȵC:)ȱW1?WX XW:W2W*WVbUBU*UUU?B%B! B!A%F*B!AoټAAA|<"Ct?RCC1?C֙qIG~>) 9) I) i) ) ) ) - ; - EOq,G{EAY}JZ>}Jx>y}JK2}J;=}JH? 8Ͽ@Ɖ?h?N?>?@?)~JZ> ~J`;I~JCɫ髉) IYK@yMGi! !!U =MUa=Y]ٻQU]>YaaeEehDaym=}m>Iqu5?u{m uKyA }?9urCu: uI:)qW?WX XW:W2W*WVbUBU*UUU @BB BAC*BAݼAAAm<"Ci?RCC?CyYIaGY>L}q,0{EA|Li|N@Y}nN?}n>y}n.<}n=}nH`s?@haѿ퉿`%?Б?`?f?%?)~nN? ~n_;I~nCɫ髱) IY8@yMG%=i%=i)) } } }}Mb}X>}">i}̌@} })}@I}@i}@MF=YsûQU>aEuDyC=}> ; 3:YT1y:G5I :5? :i yA ?9rC: :):W?WX XW:W2W*WVbUBU*UU U 5@RB*** querying acoustic contact ***PPB=@B9 B9A=C*BAAE/AAAAAE \<"CMf?RCICU?CQֱ׹i׽?סIGd>@aq,a{EAY}6p ?}6>y}6lRB}6w=}6H?ҿQ]?PZ?G`G? 1??)~6p ? ~6ç_;I~6Cɫ99)9 9I9Y}@y}MGZ****** received transponder code query ******F****** received ping request ****** TMU=YoQU>aED y ߆=}>Id5?d RzA -?9/sC: :)W?WX X W:W2W*WVbUBU*UUU%t @BzB BAD*BARXAAAF<"C<|?RCC?C9IdHGi@=; E֡yIG`>Xq,b{EAY}2&?}2V>y}2@}2f=}2HV?WԿ#C ?`t ? b@?`? ?)~2&? ~2__;I~2CɫII)I MIIY}ܦ@y}JMGxDUSBL response received:!U1,P F1F,000,0073C,186,80,80,8F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iI=)=WM I=YP:QU%>19a=EEDQyeg=}m>Iȁ : : 5:YWU1y:5)a;9Ņ5? -:ŅF_ ƅzA 5?9ƅ{sCDžE`= ȅA_=)ȅ:W?WX XW:W2W*WVbUBU*UUU`P- @B}*B BAF*BA@AAAC<"CEAa?RCICM?Caqq I G >q,{EAY}2?}2>y}28}2m)=}2H@%?տzr?@O?`쨾p? n?`?)~2? ~2V_;I~2CɫII)I MIIY]D@y]MGaɮaNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)imFx?v/Zd;?m ?mx my=)iIiym)\(?DlL7A`?mG!?mOm+= mA)m AIm AimAimAMlM>Mx>iM(@I M@)M@IIiI]8<M]6=Ye;QUe>aiamEmDya=}>Ișŝ5?ŝ[ Ɲ<{A ?9ƝsCǝ'; ȝ˻;)șW %H?W X  X W:W2W*WVbUBU*UUU%@L@BӚB BAPC*BA AAA=<"C?RCC%H?C֙Iס)ץfAqIG> `>9 I ,IGi @ = ; E)eyCIeyCiae=e=e4q,u|EAY}>?}>>y}>,}>=}>H? k׿h`?C?z?׾ q?`?@O?)~>? ~>;_;I~<ɫQY)Y ]IYWCYܦ@yJMGiSoGIi1]TٺaeBBexDUSBL response received:!U1,R,DB5,000,00741,189,80,80,A1,FF mFpublishing direction and range infoM#?IɰM >M7> I)M!CIIyMדBM=<}?W^?ٱIi¡¥gA MO=Y;QU>aEDy%<=}%>==}=}=2 =/:Y=kS1y=Ԋ:=Z5)=;II U:M95? U:MX M{A ]?9MtCM: M:)M:W?WX XW:W2W*WVbUBU*UUUW@P*QדBZQ$+P@;OB@JQ=<}?W^?2Q#?:QbQZG@rL@g;@RQ83/7?vՠ? 5?BQR(b? QcBQ:BP9?PS9?PQBQ]@A"QNABU﬽BY BYA]F*BYA] AYAYAeZ<"C[?RCC?C}N؅QIaG}z> q,uv1|EAY}z_'?}z>y}z"}z=}zH?e?Hٿ?)?',?`"U???)~z_'? ~zS_;I~zCɫ) IYM&@yMMGDNmea in: $SNTTA,,,,,011840.67*53 i  @ @ @©iQ@ )@I@i@-9<M5H=Y5b;QU5>99a=E=D9yE=}E>IIM5?MT M{A U?9MCtCM': M:)ImmAdded new target pos. range: 73.920006 m, bearing: 50.616681 deg, deltaT: 4.419234 s, approachRate: 0.067886 m/s, LOS rate: 8.070949 deg/s, posRepo size: 4m ProNav: pos range: 73.920006 m, bearing: 50.616681 deg, approachRate: 0.067886 m/s, LOS rate: 8.070949 deg/s, cmd update: 12.000000 deg/s, cmd heading: 112.746142 deg, new cmd heading: 116.694908 deg. WLM@WX XW:W2W*WVabUaBUa*UaUm`zR@Um?B B BA=D*BAGAAAU<"C?RCCLM@C FӅIG>q,wIK|EAY}20?}2>y}2}2c=}2H?Jۿ?`3?`?g£?DT?(?)~20? ~2_;I~2Cɫ99)9 =I9Yut@y}NG=i=i <M _=Y I;QU >aEDy-=}%>I! -:%a#5? -:%O %,|A 5?9%tC%Z: %s:)% :WU6@WYXY XYWY:WY2WY*WaVabUaBUa*UaUiUmQ?BB = BAA*BAgAAA<"C@RCC6@CuA>9qIuHGiu1@u =quDu; uE ||0 :?:YR1yi:5)q;֡aIqG;>q,2e|EAY}2Na8?}2>y}2!}2Z=}2Hz?R'ݿ@r?;?x:?߿I0?`h??)~2Na8? ~2_;I~2Cɫ99)9 9I9Y}@y}|MGi)= =MMMF=YMPQUU>QQa]E]DYye=}e>Iim75?mJ m|A u?9mtCmb: m:)iW @WX XW:W2W*WVbUBU*UUUi?B͈B BAHE*BAOAAAq<"C@RCC @C)I)GEQ>q,U~|EAɫyy)y }IyYt@yNGi!!I%=)%R=X9v?kt?Q?? 0= u<)IyuV?{Gz~jt?r(?#D< A) AI AiAA E E E E@ E@ E@AAAiE@A A)E@IEiE?@U<MU;=Y]QU]>YYaeEeDaye}m>IquM5?uC u|A }?9u uCu: u@:)q}}9 G/:YkS1yԊ:59@W@WX XW:W2W*WVbUBU*UUU?BbUB BAA*BA AAAX)<"C 7@RC C @CIGj>i m fAu a>9q Iu ,IGiu @u =q u Du ; u E%q, ՘|EAY}2F?}2?y}2](}2 =}2H ?@,@>? f ?@g?@`? ??)~2F? ~2_;I~2Cɫ99)9 9I9Y@yINGI)i!!Uy<M]\=Y]NQU]>aaaeEeDaym>}m>Iq }:u_5? }:u< u|A }?9uIuCu: u:)u :W@WX XW:W2W*WVbUBU*UUU ?BCB BA@*BATPAAAK<"CX@RCC@C)<?΅IG>,q,|EAY}:L?}: ?y}:V#!}:6=}:H@F?g?`?@t?ܿ@#?6?}?)~:L? ~:~^;I~:Cɫ99)9 =I9Y}*@y}MGi!))-fA } } } }@ }@ }@yyyi}\@y }@)}Iyi}Ȏ@MG=Y;QU>aEDyi=}>IȩŭUs5?ŭ55 ƭ8}A ?9ƭuCǭ: ȭr:)ȩW@WX XW:W2W*WVbUBU*UUU"@BܱB BAD*BA AAA%˒<"C%P@RC)C-@C) ? $4:YU1y:#5;=׹IGf>2q,v|EAY}6WR?}6[?y}6}6'=}6H@?\f?\?@?\?調?Ż?)~6WR? ~6^;I~6Cɫ99)9 =I9Y}@y}WNGi 鿑;=MZ=YaEDyh=}>I :5? :- l}A ?9uCE: R:) :W#@WX XW:W2W*WVbUBU*UUU "@R B*** querying acoustic contact ***PPB5$vB BA?*BA1 AAA<"Cɜ@RCC#@C9Ii=; EC"=ֹבIG>'9q,e|EA|@i|@ɫyy)y }IyY@yNNGZ****** received transponder code query ******F****** received ping request ******AAaEEEDIyU}U>IY]5?]% ]}A m?9]vC]: ]:)YWme.)@WqXq XqWq:Wq2Wq*WyVybUyBUy*UUU r @L /:YT1y:5B#B BA?*BAAAAXS<"C%5"@RC!C%e.)@CQϑϑ)Й ЙE FӅM ?iM ? I) GE >@q,A}EAɫ髁) IYt@yNGxDUSBL response received:!U1,P DB5,000,00741,189,80,80,A1,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i@5^I ?V-S㥫b? /])Iy(\?+&1?'?P= A)V AIOAiGAA)-= -=   õIõD?õL=iõG@õ ĵ)ĵ@Iĵ@iĵ@aM=YQU>aE Dy}>I  :#5?  :D <~A  ?9mvC: :) :W$/@WX XW:W2W*WVbUBU*UUU5 @B B BAA*BASMAAA<"C)@RCC$/@C1 91 I1 i1 1 1 1 5 ; 1 )  I G5 >P:Fq,}EAY}6:k?}6Ҩ+?y}6&F }6A=}6H@z? &n?@? ?w!@ߧ?`z}??)~6:k? ~6}^;I~6Cɫ99)9 =I9Y}@y}SMGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iI4=)TvM=Y;QU?aE*Dy>}?Ișŝx5?ŝ& Ɲ~A ?9ƝvCǝ: ȝ^:)șWV3@WX XW:W2W*WVbUBU*UUU@B VֽB  BARF*BAAAA<"Cp,@RC!C%V3@C!) &2:YWU1y:l5)$;9-IGE>cLq,3}EA|4<|4 ),CIyBG.?F+ ?ٱI)i5?55u=5t=i5@1 5@)5 @I5K@i5 @E;=MEN=YEQUM>IIaMEM7DQyU(=}]>IY e:]5? m:] ]A m?9]vC]: ]^:)] :Wmj9@WiX XW:W2W*WVbUBU*UUU@@P*QBZQ i@@\FFfpP@JQG.?F+ ?2QL?:QbQEVcM0})C,!Q@0E#"@RQH ͿWO+?,O=?BQ'? QBQRPz9?P9?PQQiA"Q]@AB%:BI BIAMA*BIAMΝAIAIAU<"CUc2@RCYC]j9@CYyIׁ)ׁ9IAG]v>^NSq,M}EAY}z,z?}z:?y}zJ'}z&=}zH9?@H@?K??輿h?m??)~z,z? ~z_;I~zCɫ) IY¦@y*MGTNmea in: $SNTTA,0.057858,,,,011845.12*4D ܵb>9ܱIܱiܱܱܱܱܵ; ݵE)IIIiIIM=M6igATM?=Y+ͻQU>aEDDy=}>I  5?  A ?9 (wC =: k:) mEyAdded new target pos. range: 73.799995 m, bearing: 103.259613 deg, deltaT: 4.441663 s, approachRate: -0.027019 m/s, LOS rate: 11.852077 deg/s, posRepo size: 4mMProNav REINIT: LOS rate is 11.852077 deg/s. Setting heading cmd to target bearing of 103.259613deg and heading rate command to 0 deg/s.WM'?WQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUe 3sR@Ue?n E <:YDW1yY:l5)*;BоB BA]G*BAAAA*<"CM6@RCC'?CשIiI i!G=r>EUٺIMCBuYq,ڭg}EAY}2G?}2@?y}25&(}2=}2HGO?`V?@r?@?P޻C?+f?~?)~2G? ~2lh_;I~2Cɫ99)9 =I9YZ@yMGi!! ))uC=MuS=Y}'`QU}>yaEQDỹ=}>Iȑŕ,5?ŕ ƕA ?9ƕhwCǕ: ȕ:)ȑWWX XW:W2W*WVbUBU*UUU ?B[B BAMB*BIAUAYAYAe#&<"C6$9@RCCC?΅I)Gm>]`q,}EAɫ髙) IYئ@yFMG==i==iAAK7?~jty&1?I ? `e=)Iyp= ף?Zd;Mb?%?y< A) AI AiA\A-޾--=i-=@) -Ȏ@)-ۙ@I-@i-Ȏ@=ME>=YEQUE>IIaMEM^DQyU}U>IY e:]5? e:]E ]A m?9]wC]V: ]:)]:< n1:YT1y:~59@W)W)X) X)W):W)2W1*W1V1bU1BU1*U9U9U=`p?BB BAF*BA#[AAA<"Cgl:@RCCCFӅ?i?ױIG>ٵfAٵgAܽc>9ܹIܽHGiܽ1@ܹܹܹܽ; ݽETfq,rj}EAY}2?}2hSN?y}2 }2=}2H#? @K???mf f?@?@t?)~2? ~2:_;I~0ɫQY)Y ]IYY¦@y*MGi) = >5M5]=Y=;;QU=>99aEEEjDAyM!>}M>Iȱŵ5?ŵ/ Ƶ4A ?9ƵwCǵ: ȵǺ:)ȱWWX XW:W2W*WVbUBU*UUUh?B;ƽB! B!A%]G*B!A%!A!A)A-0<"C5~|:@*C5ڧ=RC1C1C99I!GEQ>lq,?}EAɫ髙) IY@yfMGi9AIEp=)E= @ @ @Õ©ÕÕiÕ\@Õ ĕ)ĕ@Iĕiĕ@?f<MC=YQU>)a-E-xD1y5}=>I9 E:=(5? E:=. =RA M?9=5xC=: =:)=:WiWiXq XqWq:Wq2Wq*WyVybUyBUy*UyUU@BB BAE*BAO$AAA9j<"C{9@RCCCC .:YWU1y:5יIGb>ՙsq,r}EAY}6]I?}6_?y}6Ш-}6Hd=}6H?Ck`:?@u?Y? ;o?`t? -?)~6]I? ~6b_;I~6Cɫ99)9 =IAY@yLGI)i!!Y9YI],IGi]@YYY]; YuּMuM=Y}}QU}>yaEDy.>}>Iȑŕ65?ŕs ƕoA ?9ƕtxCǕ: ȕ߼:)ȑWWX XW:W2W*WVbUBU*UUU"@BKƽB BAH*BAl&AA A <"C 6@RCCC֙Iס)סyIG^>yq,o}EAY}:eX?}:g?y}:{:}:M=}:H?` @?? ?Zһ[?/?B?)~:eX? ~:,_;I~:Cɫ99)9 =I9Y]@y]&MGae?Aiqqy}fAl/<MW=Y QU>aEDy=}>Iq }:uF5? :u uA ?9uxCu: ub:)u:WWX XW:W2W*WVbUBU *U1UQU]`@R}B*** querying acoustic contact ***PP ( 0>:YU1y:55BEVBa BiAmzG*BiAm)AiAiAm)<"Cu1@RCqCyCy֥N؅׹IG>q,S~EAɫ髙) IY@ysMGZ****** received transponder code query ******F****** received ping request ******q= )IyL7A`?V-I +?+'?h94< ¥A)¥ AI¥nAi¥AzA E E E E@ E@ E@AAAiE@A A)E?@IAiE@u7<Mu&=Y}QU}>yyaEDy}>IȱŵX5?ŵ^ ƵA ?9ƵyCǵf: ȵw:)ȱWWX XW!:W!2W)*W)V)bU)BU)*U1U1U5@7 @B}*B BAE*BA9j,AAA<<"Cx+@RCCCFӅQU<Y9YI]HGi]1@]=YY]; ]EIG >Նq,~EAY}2l?}2Fu?y}2]K}2=}2Ha?)`9? %?!?|O i?0?C?)~2l? ~2\^;I~0ɫII)I MIIY}@y}!MGxDUSBL response received:!U1,P B14,000,0073F,189,80,80,AC,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iμM }=YIQU% ?)1a=E=DQye-,>}m?Iȁ :Ņd5? :Ņ& ƅŀA u?9ƅ>yCDž< ȅ,<)ȅ:( ||D 7:YR1yi:55)X;9WyWX XW:W2W*WVbUBU*UUUYS @BeȽBa BaAmG*BiAm|.AiAiAm<"Cu٨&@RCqCyCyyו?iו?qIG>q,6~EAY}2O?}2{?y}2RJ}2e=}2H?Ր`f??;v?G?@B9? d?)~2O? ~2B`;I~0ɫ99)9 9I9Y@yOMGɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iYY)a e=   íí9íj<=ií\@í ĭȎ@)ĭ3@Iĭ@iĭ@,<M?=Y:QU>aEDy7y=}>Iis5?b A ?9yCӻ: :)W W X  XW:W2W*WVbUBU*UUUO&@B-˽B) B)A-pF*B)A5A1A1A1A5<"C=!@RC9C9CA]?΅1IAGew>瓟q,aP~EAY}:?}:M?y}:I}:o=}:Hj?@j5? ??H99?`=T?@ ?)~:? ~:K`;I~:Cɫ99)9 =I9Y}@y}LGxDUSBL response received:!U1,R,B83,000,0072B,18A,80,80,B8,FF Fpublishing direction and range info3X?ɰR>鰅> )8CIy3BQ7?ֵ8?ٱiI=)=M]=Y9QU>aEDy=}>9Ii; EI5? A ?9yC =  =)WQWQXQ XYWY:WY2WY*WaVabUaBUi*UUU`N@ / $4:YT1y:5)ݐ;P*Q3BZQۇC@{}N@JQQ7?ֵ8?2Q3X?:QbQ$rvI>oݥDP@!@RQP:mCۿ(&M?'lꁿ?BQ@ Q%BQjP[9?Pz9?PQQ8bA"QiAB]ȽBY BYA]TI*BYA]3AaAaAexT<"CmI@RCiCiCq}N؅YIqG|>q,Gj~EAY}4?}4̈́?y}x9J}=}Hq??QQaUEUDYy]d=}]>Ia m:eR5? m:e8 e A u?9ezCe: eo:)e:muAdded new target pos. range: 72.599998 m, bearing: 115.420225 deg, deltaT: 4.446308 s, approachRate: -0.269886 m/s, LOS rate: 2.734991 deg/s, posRepo size: 4m ProNav: pos range: 72.599998 m, bearing: 115.420225 deg, approachRate: -0.269886 m/s, LOS rate: 2.734991 deg/s, cmd update: 8.204973 deg/s, cmd heading: 103.259613 deg, new cmd heading: 103.259613 deg. W$?WX XW:W2W*WVbUBU*UU`f&R@U?BCǽB BAG*BA%H6A!A!A%h<"C-6@RC)C-$?C)?΅IA)AIG5>?q,~EAɫ髙) IY@yLGiAAn?sh|?? rh??= C=)IyCl?Mb??L=  A) AI Ai7AAeA%؍M%`=Y%QU%>))a-E-D1y5}5>I9=5?= =UA M?9=IzC=f: =:)9Wm@?WiXi XqWq:Wq2Wq*WqVqbUyBUy*UyUyUq?BӽB BA7I*BAl8AAA<"C@RCC@?CR -:Yy559@ֽFӅyIG^>9Ii=; E)݉I݉i݉݉ݍ=ݍ$4- >- RCi I i Rٺ [AB#q,~EA"U@9"CBY}6'?}6&"?y}6M}6$=}6H,J?@S?h?`?y`?tǾ?@%?)~6'? ~6i_;I~6Cɫ99)9 EIAY]@y]LGi :M_=Y"QU>aED y I >} >I :5? %:r| A %?9~zC: :):WEoD?WAXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU]?BVӽB BAI*BAQ;AAA6<"C @RCCoD?C֡aIqG9>*Nq,}η~EAY}:ӯ?}: ?y}:O}:5}=}:H`y?;?? ? s??@?)~:ӯ? ~:<_;I~:Cɫ99)9 9IAY]@yeMG=i=im=m>mq=im@i mȎ@)m@Im@imȎ@}+=M}B=Y7QU>aEDy=}>Ișŝ5?ŝ4q ƝƁA ?9ƝzCǝ: ȝ :)șW@WX XW:W2W*WVbUBU*UUU P?BTʽB  B A D*B Aj=AAA<"C|3@RCC@C!U 2/:YWU1y:5 ?i x?IGE>5q,m~EAY}2?}2ܓ?y}20.R}2-=}2H?Y) T?!)a-E-Dy=}>I :5? :e A ?9zC; &;):We@WaXa XaWa:Wa2Wi*WiVqbUyBUy*UyUyU|@B ̽B  BArI*BA@AAA<"Cl@RCC%@C!9I!G=r>*`q,„~EAY}2o?}2?y}2=U}2=}2H?O? ؚ?@?ࣤ?@?^?)~2o? ~2_;I~2CɫII)Q QIQY}@y}&MGiIC=)%=}#<MD=YrQU>a E D yB=}>I5?Z ?A %?92{C: :)WM @WIXI XIWI:WQ2WQ*WQVQbUQBUY*UYUYU]@@BҽB BAzG*BABCAAA68<"Cl@RCC @C||9 /:YR1yi:5ցaIGe>Hq,_EA|;|;ɫ髉) IY@yMG@AI)ie/$?{Gz?Q롿e\?eף= e\)aIaye9v?Zd; rh?e?eyeC< eA)ep AIe AiebAae(Aýý`e>ý`eiý@ù Ľ)Ľ@IĽ@iĽt@ME=YQU>aE Dy}>IY5?O `A ?9m{C: :)W` @WX XW:W2W*WVbUBU*UUUϡ@RB*** querying acoustic contact ***PPB=քϽB9 B9A=H*B9AEHEAAAAAE<"Cm\?RCiCm` @CqyIׁ)ׁQIaG}z>ٝ<ٝ<ܥd>9ܡIܥHGiܥ1@ܡܡܡܥ; ݥE@rǟq,d;EAY}:?}:Ş?y}:Z\}:=}:HS?*@i? 9?@iQ?y?aE,Dy>}>Iȩ :ŭ5? :ŭ=C ƭA ?9ƭ{Cǭz; ȭ;)ȭ:W@WX! X!W!:W!2W!*W)V)bU)BUI*UQUQUUE @B׽B BA}J*BA+zHAAAU<(  7:Yy)X;9"C x?*C =RC C @C?΅IG-p>8͟q,9EAY}2q?}2oK?y}2]}2\=}2H ?`k m7??`?bࡻ?`?Y?)~2q? ~2^;I~2CɫYY)Y ]IYY@yMGxDUSBL response received:!U1,P B83,000,0072B,18A,80,80,B8,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i ååxi=å=iáá ĥ@)ĥ@Iĥiĥ@2<M'=YZQU>aEI5?4 A ?9{C: +:)W4@W!XA XAWA:WI2WI*WIVIbUQBUQ*UQUQU]w @BקͽB BAJH*BAvKAAAN<"CF@RCC4@CFӅבIG>sԟq,REAY}2x?}2v?y}2uD]}2=}2H@uR?2`߶??? ?`җ? A?)~2x? ~2_;I~2Cɫii)i iIiY@yMGa=ɮ4=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U=iU=iaaܩ9ܩIܭ,IGiܭ@ܩܩܩܭ; ݭE}*=Mk=Y:QU?iiamEmGDqyuĢ=}}>Iy :}5? :}) }ʂA ?9}%|C}; };)}:R ? \::YWU1y:#5)=;W ϖ@W!X! X!W!:W)2W)*W)V)bU1BU1*U1U1U5R4@BPٽB BAD*BAMAAAH="C@RCCϖ@CשIG>ůڟq,lEAɫy髁) IY=@y= MGExDUSBL response received:!U1,R,D8E,000,00719,189,80,80,88,FF MFpublishing direction and range infoE ?AɰE>E7> A)ECIAyE BE W?G?ٱAiaa)m= m>õ<õQõD;iõ\@ñ ı)ĵ@IĵȎ@iĵȎ@MJ=YQU>aESDy}>I5?7 A ?9_|C: 3:)W@WX XW:W2W*WV!bU!BU!*U!U)Uu@P*Q BZQd1N@B@JQ W?G?2Q ?:QbQ1R3F"Q@&7@RQfѿJkѪ?t-SwW%?BQ? QBQP}9?P[9?PQQ3HA"Q8bABֽB) B)A5,H*B1A]qPAaAiAm="C@RCC@C) I G- >q,̵EAɫ ) IYUp@yUNGDNmea in: $SNTTA,,,,,011854.01*56 iIR=)=Ux?y&1|l?UK?U` U=)QIQyU/$?X9v:v?U&1?U}UT< UA)U AIUp AiUAQU3Amj=Mu@=YqQUu>yya}E}aDy}}0 2:YkS1yԊ:59@y}E>II U:M5? U:M MA U?9M|CM: M:)M:myAdded new target pos. range: 71.519997 m, bearing: 105.551558 deg, deltaT: 4.446629 s, approachRate: -0.242881 m/s, LOS rate: -2.219359 deg/s, posRepo size: 4m ProNav: pos range: 71.519997 m, bearing: 105.551558 deg, approachRate: -0.242881 m/s, LOS rate: -2.219359 deg/s, cmd update: -6.658078 deg/s, cmd heading: 139.661000 deg, new cmd heading: 143.384704 deg. W@WX XW:W2W*WVbUBU*U U GQ@U `'?BU$ӽBQ BYA}A*ByA}SAyAA9="C&@RCC@CUgAUhAֱ׉܉9܉I܍IGi܍ԣ@܉܉܉܍; ݍEIG>;q,wEAY}6?}6?y}6X}6=}6H?`OCA˺?`qe?N?@ò ? ǽ?ڼ?)~6? ~61`;I~6CɫYY)Y YIYY@yMGI)i  ټM[=YD;QU>aEmDyn>}>Iȩŭ5?ŭ ƭ1A ?9ƭ|Cǭo: ȭ:)ȩW@WX XW:W2W*WVbUBU*UUU?B-B BAxD*BA$UAA!A%jH="C%@RC)C-@C)aAIQGmW>q,^EAY}Bz?}BwӴ?y}B [}B;=}BHl?g`+Z?7?/?QOo?>־?~?)~Bz? ~BW_;I~BCɫYY)Y ]IYY{@yNGi   U@ U@ U@U©UUiUQ@U U)UQ@IUiU@e<MeM=YmZQUm>iqauEuzDyy}=}}>Iȁ :ŅY5? :Ņ ƅTA ?9ƅ4}CDžF; ȅ ;)ȅ:W5f@W1X1 X1W9:W92W9*W9V9bUABUA*UAUAUM`_?BսB BAA*BA%WAAA="C@RCCf@6 0:Yy55CIGj>Oq,9EAY}6O?}6?y}6a}6=}6H@w? g4^?l??鱿,?`)b??)~6O? ~6_;I~6Cɫ99)A AIAY"@yMG191I1i11115; 5E)yIyiy}=y}3iYa aaؼMG=YgQU>aEDyr=}>Iȱŵ5?ŵ ƵxA ?9Ƶ|}Cǵ: ȵ:)ȱW@WX XW:W2W*WVbUBU*UUU6U?inGIi)U3NٺQ] =BB]ٽBa BaAe[D*BATZAAA߫="C)@RCC@CֹבIG>q,%EAY}?}?y}tf}=}Hй? ,?6?]? _ ʬ? ;? ?)~? ~_;I~Cɫ  ) IYM@yM&MG=i=i 5 5 5 5@ 5@ 5@111i5@1 1)53@I5t@i5t@EME?=YM8QUM>IQaUEUDQy]3=}]>5 -  8:YWU1y:H5Iae\ 5?e eA }?9e}Ce`= e=)aW_ @WX XW:W2W*WVbUBU*UUU@B ԽB B1A5zG*B1A=b]A9A9A=1k="CE@*CE=RCACE_ @CIE?΅M?iM?! I) GM >q,EAɫyy)y }IyY@yNNGi!!ףp= ?:v?I +??= 94<)IyMbX9?MbS㥛?!?@/< AA)V AI AiAQA)> >=MO=YQU>aE D y}>I %: 5? %: ̃A %?9~C: 4:):WM @WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYU];@BB BA?*BAZ_AAA!="Cx@RCC @C֙yIG^>e>9IIGi%@; Eq,Z!EAY}F"?}F)?y}Fi}F7=}FH`? Օ??A:? 7? =??)~F"? ~F<_;I~FCɫ髑) IY@yRNGiI=)S:M\=YQU> a E D y>}>I5? A %?9D~Cϸ: :)WM*@WIXI XIWI:WQ2WQ*WQVQbUQBUY*UYUYU]@4@RmB*** querying acoustic contact ***PiPiB8B) B)A-?*B)A5(aA1A1A5="C=e@RC9C=*@CAuu~u~u: u1:YuT1yu@:u5)u;9}֙yIGf>8q,;EA||Y}6v?}6֭?y}6WNd}6 =}6HH?A^/?`??M`??i??)~6v? ~6_;I~6Cɫ99)9 =I9Y@yINGZ****** received transponder code query ******F****** received ping request ******aEDy=}>Iș :ŝ5? :ŝŧ Ɲ)A ?9Ɲ~Cǝ0: ȝ:)ȝ:W @WX XW:W2W*WVbUBU*UUU`{ @BBؽB BA@*BAOWdAAAo`="Cq@RCC @CFӅI)IGj>"q,UEAY}j -?}jd?y}jLF\}j=}jH: ?@?v@ʪc?``??)~j -? ~jz_;I~hy9}zCI}XJGi}v@yyy}; }Eɫ髱) IY5"@y5NG=xDUSBL response received:!U1,P D8E,000,00719,189,80,80,88,FF =Command Ack=BRequesting micromodem ping code 2i99MNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iii•gA‘=MF=Y;QU>aED yÌ=}%>IAEN5?E EZA U?9E~CE^= Ef=)A ? a4:Yy#5);W^@WX XW:W2W*WVbUBU*UUU m @B-ӽB! B!A%^<*B!A%=gA!A)A-(="C-7@RC1C5^@CQI! I1 GU >Nq,moEAY}w?}tQ?y}@V}I=}H@@`y? ?ħUĪ?@q??)~w? ~^;I~ɫ) IY<@yNGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i!! 99~~ji=@ )p@I@i@-;M5(=Y5G;QU5>99a=E=DAyE=}E>II U:M?5? }:M MA }?9MCMʿ; M7;)M:W˛?WX XW:W2W*WVbUBU*UUUg@B=ܽB9 B9A=;*BAAEаiAAAAAE="CM@RCICM˛?CqaA IQ Gm >3"q,h ) CIy=BOu|?ab?ٱiitV?Cl绿+2?;߽ )Iyx&?/$l?7)?=  A) AI AiAAEiٻMEp=YMj(;QUM?QQaUEUDYy]=}]?Iaeb5?e*{ eA ?9eSCe; eq;)aW7?WX XW:W2W*WVbUBU*UU U 2@P*Q=BZQfM@D4P:A@JQOu|?ab?2Q ?:QbQZCwo1L@W@RQ,t$9Z;- ?=⥹Ϲ?BQ @ QaBQrPI9?P}9?PQQCAW {{J ::Y#R1y:~59@"Q3HABKBjF= BA#<*BAkAAA="Cp?RCC 7?C gA?i?=f>99I=JGi=Ȥ@999=; =EIG>\(q,EAY}6*?}6a?y}6@S}6l=}6H`%??뻿 @r?`@? T?)~6*? ~66_;I~6CɫAA)A EIIY1@yNG]DNmea in: $SNTTA,,,,,011858.47*58 iii)u= u=m;MV=YY*QU>aEDy=}>Iȱ :ŵ5? :ŵl ƵA ?9ƵCǵ=: ȵ(:)ȵ:mmuAdded new target pos. range: 69.120003 m, bearing: 124.917207 deg, deltaT: 4.448411 s, approachRate: -0.539517 m/s, LOS rate: 4.353386 deg/s, posRepo size: 4m} ProNav: pos range: 69.120003 m, bearing: 124.917207 deg, approachRate: -0.539517 m/s, LOS rate: 4.353386 deg/s, cmd update: 12.000000 deg/s, cmd heading: 109.909373 deg, new cmd heading: 107.428726 deg. W}-?WX XW:W2W*WVbUBU*UU GQ@U ?BMB BA;*BAnAAA X ="C?RC[C-?CaֹבIG>y.q,EAY}N"?}NY?y}NX}N0u=}NHZ6uſ? ? ց@?1?D?)~N"? ~N4t_;I~NCɫ髹) IY{@yHOGiaaIma=)m4=̼վ94=if@ )@I@i@<MD=YCQU>aED y6=}>I5?O] A %?9C: :)WEKZ@WAXI XIWI:WI2WQ*WQVQbUQBUQ*UYUYU]:?BB BA9*BA6ppAAA ="C!?RC CCKZ@C8 3:YT1y:5֥zaIiG9>p5q,րEAY}R?}R?y}R^}Rz=}RHĿ6O m*??ſU0?Iq?࿹?)~R? ~Rj_;I~RCl9lIn KGin@llln; nEɫ髑) IY@yOGIQ)QiYYu<MuS=YuxZQU}>yya}E}Dy=}>Iȑŕ<5?ŕN ƕPA ?9ƕCǕ: ȕ:)ȑW։ @WX XW:W2W*WVbUBU*UUUZ?B]]BY BYAm7*BiAmQ;q,EAY}r{@}r?y}rQu`}rV%=}rHqȿ"ԓ? \? "ɿ@ ??@?)~r{@ ~r_;I~pɫ) IYU?@yUOGifAgAmxmmC =imQ@i m@)mQ@Im@im@N 3:YWU1y:Y5M,=Y:QU>aEDyp=}>Iȱ :ŵ5? :ŵ= ƵA ?9Ƶ6Cǵ: ȵ:)ȵ:W@WX XW:W2W*WVbUBU*UUU}T?BWڽB BAq;*BAOuAAA ="C=?*CC=RC{UC@CI=[י I G >Bq,~ EAɫyy)y }IyY<@yNGi!! !!?I +?MbX9?,?94< ʡ=)Iyq= ףp?x&y&1|+?7` AA) AI AiAAMi=YQU >  aE"Dy}>I!%5?%/ %A -?9%UC%: %8:)!WMh@WQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUe?B`B BA;*BA.wAAA8K ="Cf?RC$Ch@Cϩϩ)б бe9Ii=; E)ݭzCIݭzCiݩݩݩݭ;4YainGIi E PٺA U >B֍ ZHa Iq G >WHq,\$EAY}J"@}J!|?y}JHPb}J=}JHϿ&K5?B?`%ϿYF? ??)~J"@ ~J>_;I~JCɫ髙) IYJ@yHPG5=i5p=iAAu=MuT=Y}əQU}>yyaE/Dy >}>I :q5? : A ?9wCr: <:):W%@W!X! X!W!:W!2W)*W)V)bU1BU1*U1U1U5(@B]{wBa BiAu3*ByAyAAA ="CO?RC C@C < zH:Yy~5)n;9ֽO-IG-N>Nq,8>EAY}:@}:?y}:Ĝg}:=}:H`#ѿL?+? %qѿ ?`Og??)~:@ ~::_;I~:Cɫ99)9 =I9Y}@y}OGy}?Ai)Ý= Ý>;nn>iz@ Σ@)ۙ@I@iȎ@ MuS=YuRQUu>yya}E}Iȉō 5?ōZ ƍ…A ?9ƍCǍ8; ȍ;)ȉWL @WX XW:W2W*WVbUBU *U U)U-a@R=B*** querying acoustic contact ***P9P9BB BA6*BAT|AAA˼ ="C*@RC7yCL @CYיIGA>&Uq,XEAh>9IKGij@; EY}Z@}1?y}n}-N=}H@8ҿe0? ?@bҿzխ?@??)~Z@ ~_;I~Cɫ) IY5@y5OG=Z****** received transponder code query ******=F****** received ping request ******=qya}E}JDyy#c=}>Iȉ :ō5? :ō% ƍ؅A ?9ƍCǍQ: ȍ:)ȍ:Wv4&@WX XW:W2W!*W!V!bUABUa*UiUiUm~ @Y C ::YT1y:5);BB BA7*BA~AAA}="Cy@RC F1OC v4&@C ~4IGj>[q,1qEAY}6@}6?y}6w}6=}6Hӿ^4@C?QY?7Կ&Z?@??)~6@ ~6d}_;I~6CɫYY)Y aIaYȨ@yOGxDUSBL response received:!U1,P D98,000,006F1,189,80,80,8C,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i%=%\%=i%G@! %Ȏ@)%@I%Ȏ@i!z;M4=Y9QU>aEXD!y->=}->I155?52 5A =?95C5@: 5ӻ:)1WH,@WX XW:W2W*WVbUBU*UUUj @B=BA BIAM)7*BIAUȀAQAQA]8="C7 @RC CH,@C @W I G >bq,ϋEAɫ) IY;@y5PGɮa=eNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iK7A`?MbX?~jt? ?= D=)Iy333333?X9vy&1??`< ;A) AIt AifAA™fA=M^=YQU>aEdDy}>I m:v5? m: A m?9Cm< :) :~~J Y1:YT1y@:~59@W\1@WX XW:W2W*WVbUBU*UUUF@BrB BA3*BA偽AAA="CW@RCC\1@C191I5LLGi5 @5=115; 5EֽyבIG>hq,QEAY}2̈ @}2H?y}2wy}2 z=}2HKտ`'E?@ ?տ?`??)~2̈ @ ~2N_;I~0ɫ99)9 =I9Y}h@y}lPGxDUSBL response received:!U1,R,F1A,000,006C1,186,80,80,8C,FF Fpublishing direction and range infoM>ɰ >鰅> )IyzB S[?i?ٱi 鿡<Mq=YQU?aEoDy=}?I5? LA ?9C: M:)W^5@WX XW:W2W *W V bU BU *UUU`@P!*Q%zBZQ%b'@:P@!9 i*@JQ% S[?i?2Q%M>:Q!bQ%~ni>%AƉ=c5L@aFq@RQ%3@jX/A?F?BQ%|@ Q%aBQ%- P%U9?P%I9?P%Q%Q%y*A"Q%CAB]|BY BYA]02*BYAe;AaAaAej="Cm?@RCiCm^5@Cq5D翽 IG5 >%oq,eEAY}v% @}v?y}vA}v'=}vH2ֿ?@=?@~ֿ@/:@d?? :?)~v% @ ~vo5_;I~vCɫ) IYM;@yU5PGDNmea in: $SNTTA,,,,,011902.90*5C =i=iÍ"?ÍV>ÍC =iÍ@É č@)ĉIčiĉ:>M/=YQU>aE~Dy9<}>IȹŽ5?Ž ƽA ?9ƽ?Cǽ: Ƚj:)ȹmyAdded new target pos. range: 66.239998 m, bearing: 121.294338 deg, deltaT: 4.379611 s, approachRate: -0.657594 m/s, LOS rate: -0.827212 deg/s, posRepo size: 4m ProNav: pos range: 66.239998 m, bearing: 121.294338 deg, approachRate: -0.657594 m/s, LOS rate: -0.827212 deg/s, cmd update: -2.481637 deg/s, cmd heading: 162.513007 deg, new cmd heading: 168.119311 deg. W;4@W X  X W :W 2W *WVbUBU*UU \P@U?BEBI BIAM3*BIAMAIAIAUT="CU܄@RCYC];4@CY}}g 3:YkS1yԊ:5]BI)GER> 9 I MGi @    ;  E vq,mXفEAY}2 @}2T?y}2ݎ}2kN=}2H` ֿ w?? E׿Pd`ر?X??)~2 @ ~2 =m`=Mm`=YmQU}>aEDy<}>Iȩ :ŭ5? :ŭ ƭA ?9ƭ[Cǭ: ȭj:)ȭ!:W53@WX XW:W2W*WVbUBU*UUU?BB BA%-*B!A%A!A!A%="C-$j @RC1C553@C1-DIG)>4|q,2EAY}B @}Bh?y}B>h}B0-=}BH ׿e}? ?j׿` I? o??)~B @ ~B@_;I~BCɫ) IY@yPGiI=)=rh|?bX9ȶ?~jt?;?E= <)IyZd;?~jt+??= -A) AI AiAA%j<%`% =i%̔@! %3@)!I%@i%@QüM,=Y oQU>aEDy <}>Iȩŭ&5?ŭS ƭA ?9ƭCǭ5: ȭ>:)ȩW31@WX XW:W2W*WVbUBU*UUU`?R /3:YWU1y:55B5$B1 B1A5/*B1A=NnA9A9A=0="CEJ&@RCICM31@CIFzIGj>q, EAY}21 @}2\?y}2X>}2=}2Hؿ`[?v?ؿM@{ò???)~21 @ ~2_;I~2Cɫ99)9 =I9YF@y}QGI)i!!u;b=Mut=Y}붻QU}?yaEDyK=}?Iȑ :ŕ5? :ŕW ƕ;A ?9ƕCǕ: ȕV:)ȕ":W0@WX XW:W2W*WVbUBU*UUU V8?BB BA>+*BALWA A A ="CpE*@RCC0@C֍aIqG9>=f>9IxMGi@=; EFq,&EAY}:@}:U ?y}:ӛ}:#=}:H@ٿZ@e?_4?@ڿ0u? >?``?)~:@ ~:u _;I~:Cɫaa)a aIaY!@yPQGi‰‰3MF=YػQU>aEDyH=}>I5? |A ?9C/: ;:)W/@WX XW:W2W *W V bU BU*UUUh@BڛB BAf,*BAAAA,="C+E-@RCC/@C--~-~-: -3:Y-T1y-@:-5)-;95֥FӅYIiGZ>.q, @EAY}2`@}2Y|@y}2+}2=}2H ڿ@E?T?cjۿQ_?_??)~2`@ ~2_;I~2Cɫyy)y }IyYϪ@y&RGi!! !!í%>í/ݽíνií@é ĭ@)ĭ@Iĩiĭ@ W=MJ=YQU>aEDya=}>I :5? :֊ A ?9؁C: M:)#:Wt.@WX  X W :W 2W *WVbUBU*UUU @BE BA BIAM&*BIAMMAIAQAU="CU.@RCYC]t.@CYցYIaGY> h>9 I NGi @ = ; E)iIiiiiimCR5Yq,ZEA|@i|@Y}6B@}6@y}6v}6=}6H v>ܿT?!?`ܿȔ`mh? ,? ?)~6B@ ~6_s`;I~6CɫYY)a aIai3oGIYv@iyQG-Rٺ15CAB9=@AIiIiYYd޼ML=Y&QU>aEDy^=}>I45?} A ?9C: ӻ:)W -@W X  X W :W)2W1*W1V1bU1BU1*U9U9U=@REB*** querying acoustic contact ***PAPAB2AB BA)*BAFAAAG="C.@*Cw=RCC-@C Q D:YU1y:5);׹IGf>q,itEAY}R!.@}RI@y}RWv}Rx>}RH yݿ? :D?ݿS rg??A?)~R!.@ ~Rn`;I~RCɫ髹) IY@yQGZ****** received transponder code query ******F****** received ping request ******aEDy==}>I :>5? :m A ?9C:  :)$:W AJ,@W X  X W:W2W*WVbUYBUY*UYUYUe@2 @BB BA(*BAAAA]="C-@RCCAJ,@CIG>jq,UEAY}2@}2z@y}2l!}2t#>}2H޿ #?L?@5߿ ???)~2@ ~25`;I~2CɫYY)Y YIYY@ySGxDUSBL response received:!U1,P F1A,000,006C1,186,80,80,8C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iI =) 4=E=MM~=YQU?)1a5E5D1y={=}=>IAEi5?E b E'A ?9E 2:YT1y@:59@efAehAi9iImlOGim@iiim; mEBaB BAJ!*BAAAA="C3+@RCC3+@CױIG >q,1EAɫ髙) IYyɮR=-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)iYQU>aEDy}>I  5? T b|q, ‚EAY}6SF@}6a@y}6a#½}6>}6H s? ??tS`;?n??)~6SF@ ~6_;I~6Cɫyy)y IY@ySGxDUSBL response received:!U1,R,FFF,000,00697,182,80,80,B1,FF Fpublishing direction and range infod:ɰ2 >> )1CIy~BA!3?pL?ٱigAgA 5 5 55S㽩5L5^i5p@5 5)5@I5Q@i5Q@a<MaEDy=}>I :5? :kF TA ?9C: w:)%:W=)@W9X9 X9W9:WA2WA*WAVAbUiBUi*UiUiU@P*Q~BZQx(O@,ix?JQA!3?pL?2Qd::QbQ[2(t@_hK@'@RQɶ$+=;?3@C?BQp@ QXBQPW9?PU9?PQQ6A"Qy*ABB BA=*BAgAAA3="C)@RCC)@= 3:Yy5CIG>a 9a Ie 4PGie :@a a a e ; e Eq,2ۂEAY}6@}6(@y}6\ƽ}61u>}6H` 6z ?`Z?`gt@???)~6@ ~6_;I~6CɫYY)Y YIYYA@ySGi!! !!U<M]`=Y]QU]>aaaeEe Daym=}m>Iqu5?u: uiA }?9uCu: u+:)qmyAdded new target pos. range: 63.719997 m, bearing: 121.250065 deg, deltaT: 4.524031 s, approachRate: -0.557025 m/s, LOS rate: -0.009786 deg/s, posRepo size: 4m ProNav: pos range: 63.719997 m, bearing: 121.250065 deg, approachRate: -0.557025 m/s, LOS rate: -0.009786 deg/s, cmd update: -0.029359 deg/s, cmd heading: 151.303962 deg, new cmd heading: 150.430597 deg. W"(@WX XW:W2W*WVbUBUI*UQUU(O@UU@q9?B@B BAc*BA9叽AAAi="C(@*CX=RCC"(@CFӅIGj>Լq,EAɫ  )  IYE@yMSG=i=iE?J +Ýt=iÝ @Ù ę)ĝQ@Iĝ@iĝE@)M*=YQU>aEDy}>I :Q5? :1+ A ?9ǂC: :)&:MMMMN M[/:YMWU1yM:MY5W(@WX XW:W2W*WVbUBU*UUU`?B B "= BA*BAgA!A!A%="C-(@*C-ܞ=RC)C-(@C1IM?iM?! I) GM >àq,$EAɫyy)y }IyYά@yTGi!!)-= )m=Mmy=YiQUm?qqauEu$Dyyy}?IȁŅl5?Ņ ƅA ?9ƅCDž: ȅ:)ȁWT(@WX XW:W2W*WVbUBU*UUUr?BB BA*BA֑AAA="C T(@*CR=RCCT(@Ci>9IQGi@=D; EAI G%N>%ɠq,dx)EAY}2w@}2 @y}2 ҽ}2 # >}2H`1&? t?dPT?E?S~? z?)~2w@ ~2U9_;I~2Cɫ99)9 =I9Y}@yTGiI4=)R=}H<M}I=Y*oQU>aE1Dy-7>}U>Iȑ :ŕO5? :ŕ ƕHA ?9ƕCǕ< ȕ <)ȕ':W%(@W!X! X!W!:W)2W)*W1V1bU1BU1*U1U9U=@?Bl/B BA*BA;AAAp="C(@*C=RCC(@CUU~U~UM U1:YUT1yU@:U"5N؅IG>Рq,SCEAY}65W@}6r@y}6ս}6>}6H" \,?3?V||w?`+?$??)~65W@ ~6J_;I~6Cɫ99)9 =I9Y@yVGI)i!!um=uuZiu@q u@)uۙ@Iup@iup@Ħ=MJ=Y}QU>aE>Dy|=}>Iȡťu5?ť ƥA ?9ƥ$Cǥ: ȥ:)ȡW(@WX XW:W2W*WVbUBU*UUU 8n?B B BAE *BA AAA ="C(@*CGӛ=RCC(@CSE=FӅI)שIG> 9 I RGi s@ ; E.֠q,.]EAɫ) IY=@y=,VGifA*;MA=Y%QU%>))a-E-LD9y=}E>IAECi5?E E܉A ]?9EGCE=; E B;)AW(@WX XW:W2W*W)V)bU)BU)*U1U1U5`J@B}߽By BA *BAAAA="C(@*Cš=RCC(@C]M ]]]; ]9:Y]T1y]:]G5)];9mѽC"=֑q I G >4#ݠq,LwEAɫ髉) IY@yVGi uMbX?/$I +?uJ?u u9<)qIqyu~jt?#~j~jt?u$?u㥽u< uA)u\AIuAiuAquA M@ M@ M@M©MMiM@M M)M@IMiI]<Me7=YaQUe>iiamEmZDiyq}u>Iy :}\5? :} } A ?9}lC}]: }:)}(:W7(@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BAV *BAAAA/="C7(@*C=RCC7(@C  ) y Q Ia G} >q,球EA|$i|&@Y}F.&@}FI@y}Fh轙}Fc>}FH`M;??V??@?|?)~F.&@ ~FJS_;I~FCɫYY)Y YIYY@yVGZ****** received transponder code query ******F****** received ping request ******}E?IIMQ5?M& MVA ]?9MCM; M1;)IW}((@WyXy XyWy:W2W*WVbUBU*UUU @BB! B!A%|*B!A%}A)A)A-:*="CM((@*CM=RCME(CM((@CQ٩٩ܵj>9ܱIܵTGiܵ@ܱܱܱܵ; ݵE)AIAiAE=E=E4UUUU: U/:YUV1yU:U5)UH;t>WCinGIi1}DPٺy}>B֝N؅ץ?iץ?YIaG{>F5q,ЪEAY}B'@}BD@y}B꽙}Bm >}BH@X̫? ?`/N?(J?`?@|?)~B'@ ~B4_;I~@ɫ髙) IY@y!XG xDUSBL response received:!U1,P FFF,000,00697,182,80,80,B1,FF Command AckBRequesting micromodem ping code 2iMNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i)}= }>    @ @ @ùùùiý=@ù Ĺ)Ľz@IĽ3@iĽ@T=M=Y QU>aEwDyF=}>I  5: >5? 5: R A 5?9 C ]; ;) ):W}(@WyXy XyWy:Wy2W*WVbUBU*UUU/ @B}7սB BA*BAVAAA?="C (@*C )=RC %uC (@C U @1 IQ Gu >G,q,tăEAY}2M)@}2ɰ@y}2뽙}2m >}2Hx@d?Ap?@F?@i? #??)~2M)@ ~2U_;I~2Cɫ11)1 =I9Yu`@y}YGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i5p=M5=Y=xQU=0?9AaEEEDIyUV=}U/?IY]65?]D ]ފA u?9]ʃC]?; ]TA;)YWe\(@WX XW:W2W*WVbUBU*UUU@B B BA*BA AAA-="C\(@*C%̗=RC%gRC-\(@CA?5F 115` 5g9:Y1y15459=@IG%M>܉ 9܉ I܍ VGi܍ @܉ ܉ ܉ ܍ ; ݍ ESq,иރEA||p;Y}67A+@}6\@y}6]}6O >}6H.@Db u?`?I??`_>? }?)~67A+@ ~6EK_;I~6Cɫ99)9 =I9Y@y7YGxDUSBL response received:!U1,R,19C,000,0066A,186,80,80,71,FF Fpublishing direction and range infoXɰ>鰭> )BIytB|3?\]㒄ֿٱI)i2b<MP=Yp QU>aEDy=}>I :'5?  :  A  ?9C: A:)*:W-N(@W)X1 X1W1:W12W9*W9V9bU9BU9*UAUAUE|@PQ*QUtBZQU6&L@Q])x5JQU|3?\]㒄ֿ2QUX:QQbQU.2=rIùJ@E# @RQUBɫ޿<|i?'0?BQU@ QUUBQUPU\9?PUW9?PUQUQUA"QU6ABB BA *BA+ϘAAA="CN(@*CW=RC!4CN(@CmLu)I9GU>q,DEAɫ) IY@yDYGDNmea in: $SNTTA,,,,,011911.83*5C i11E!rh?K?-ƿEl>E^= E?5)AIAyECl?Mb/$?E;?E@E,= EA)EAIEAAiEAAEA]fA]gA   åQ8=å=å =iå@å ĥ@)ĥ/@Iĥۙ@iĥ@2;M$=YQU>aEDy}>I5?S A ?9C: :)m yAdded new target pos. range: 61.019997 m, bearing: 118.646601 deg, deltaT: 4.374128 s, approachRate: -0.617266 m/s, LOS rate: -0.595196 deg/s, posRepo size: 4- ---6 -4:Y-T1y-:-55m ProNav: pos range: 61.019997 m, bearing: 118.646601 deg, approachRate: -0.617266 m/s, LOS rate: -0.595196 deg/s, cmd update: -1.785588 deg/s, cmd heading: 151.175337 deg, new cmd heading: 151.160722 deg. W'@WX XW:W2W*WVbUBU*UU@N@Uq?B5pԽB9 B9A=Y*B9A=љAAAAAE="CM'@RCM"CM'@CIedq,]nEAY}2y.@}2@y}2,}2f>}2H?`{?]E?˽?@J%?p?)~2y.@ ~2Td_;I~2CɫYY)Y ]IYY,@yYGi$^=Mu=YSQU?aEDy%>}?I :$ 5? :p ׋A ?9,CU: :)+:W3'@WX XW:W2W*WVbUBU*U U U  Қ?B5dB9 B9A=*B9A=cA9AAAE=="CE3'@RCMCM3'@CI-=-<191I5XGi5@1115; 5EMn I!i!G5.> q,RI,EAY}20@}2l @y}2y}2d5=}2H["?P?z?߽?ܾ? ߋ?)~20@ ~2{_;I~2CɫQQ)Q YIYY@y#[GiII-`廩-O-ji-(@) -@)-"@I-@i-@E9=ME@=YM:QUM>QQaUE]Daye=}m>Iquo5?u u6A ?9uNCu"A; uC;)qWOX&@WX XW:W2W*WVbUBU*UUU1?B~սB! B!A% پ*B!A-$A)A)A-w="C5OX&@RC5ڼC5OX&@C95 555N 53:Y5V1y5:5Y5֭`>yIG^>vq,$FEAY}2qH2@}2c"@y}2}2=}2H ')@?@?Pe? `ν??݋?)~2qH2@ ~2cQ_;I~2Cɫ99)9 =I9Yn@y[GiAA)M= M=u<M}X=Y}7:QU}>aEDyݎ=}>Iȑŕf5?ŕ} ƕA ?9ƕlCǕ#: ȕ :)ȑW%@WX XW:W2W*WVbUBU*UUU[?BvٽB BAӾ*BAěA A A W="C%@RC⛘<C%@C֭d#ׁIG=>) 9) I- YGi- ذ@) ) ) - v; - E1q,G`EAɫ髙) IY[@y\Giqy=MF=YQU>aEDy}>I :5? :[ A ?9CY<; ?;),:W5$@W1X1 X9W9:W92WA*WAVAbUIBUI*UQUQUU$l@B5.ѽB9 B9A=$ž*B9AE uAAAAAEa"="Cm$@RCmA<Cm$@CqI!)!====> =c2:Y=U1y=:=5)=Y;9M}P"YIG>q,yEAY}65@}6w4%@y}6콙}6@=}6H`5.?`>? (剠? ډ?`? ֗?)~65@ ~6O_;I~6Cɫ99)9 =I9Y}@y}]GI)i`"?Q롿rh|>\ )IyMbX?:v~jt?*?T< ­A)©I©i­|A A9I>>i )ۙ@I@iE@ <MD=Y%;QU>!!a%E%D!y-==}->I15@5?5 51A =?95C5: 5:)1Wez#@WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqU}@ð@BӽB BA*BAAAA3="Cz#@RC=Cz#@C[}IGE>$q,EAY}2}c6@}2~&@y}2]뽙}2=}2HCq`"?X?5כ?*d?z?`?)~2}c6@ ~2J_;I~0ɫAI)I MIIYeu@ye^GimAAi‘•fA=Me=Y:QU>aEDyf=}>I :5? :Q sA ?9΄C0:; &;)-:W%b:#@W!X! X!W!:W)2W)*W)V)bU1BU1*U1U9U= @REB*** querying acoustic contact ***PAPABeTOҽBi BiAm*BqA}ΔAyAAu="Cb:#@RC>Cb:#@Ck>9I$[Gi@q; ElؽIG%>5555I 5/:Y5T1y5:5G5)56;>*q,'EAY}687@}6'@y}6꽙}6=}6H@Օ ߿ ?`?a?M?Q&?`?)~687@ ~6e_;I~6Cɫ髙) IYƴ@yi^GZ****** received transponder code query ******F****** received ping request ******aaamEmDiyu1=}u>Iy}ʠ5?}w }ȍA ?9}C}3; }ʽ;)yWM"@WX XW:W2W*WVbUBU*UUUL @Bez˽Bi BiAmv*BiAma;AiAiAu]="CuM"@RC}y8>C}M"@Cy%=i%=]S^I!GMS> 1q,3lDŽEA|@i|Y}>r8@}>(@y}>@꽙}>=}>H&(޿?? ?c@???)~>r8@ ~>uX_;I~<ɫYY)Y YIYYe@y-_GxDUSBL response received:!U1,P 19C,000,0066A,186,80,80,71,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iQL=MQ=Y  :QU>aED!yM1=}U>Ia :e5? :e`o eA ?9eCe'< e1;)e.:W8r!@WX XW:W2W*WVbUBU*UUU| @5555N 50:Y5V1y5:5Y59=@B]ʽBY BYA]*BAϞAAAi_="C8r!@RC]>C8r!@Cֽyb]?i?ױIG> 9 I ]Gi @ = o; ߗE)qIqiqqqu34i nGI jAi Oٺ jA >B~7q,HEAY}2i9@}2)@y}2#A꽙}2=}2H  2`ݿ`??sA@?7?&??)~2i9@ ~2j_;I~2Cɫ99)9 =I9Y}@y}_GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i)=  <MN=Y:9QU>aE Dy=}>IȹŽ*|5?Žg ƽXA ?9ƽ7Cǽ : ȽY:)ȹWB @WX XW:W2W*WVbUBU*UUUM?@B-ZнB) B)A-*B)A5=;A1A1A5;="C=B @RC=y>C=B @CA-[R<IG )>A>q,O"EAY}2'9@}2*@y}2>齙}2 =}2H$`RݿKv??\rF?a.?@?@z?)~2'9@ ~2`H_;I~0ɫ99)9 =IAY}@y`GxDUSBL response received:!U1,R,2C9,000,0063B,189,80,80,9F,FF Fpublishing direction and range info&Iɰ>鰝7> )CIyhB?mٱiu~jt1Zdv/uDu"۽ ux)qIqyu ףp= ?+η{Gz?uQ?uvu#= uMA)qIqiuGAqu A    @ @ @iQ@ @)@Ii@%h=M%4=Y%D9QUM>IIaMEMDU-@Qy]z<}e>Iȩ :ŭoi5? :ŭ9^ ƭA ?9ƭ[CǭC;5 555' 53:Y5U1y5:55 ȭ";)ȭ/:W]<@WYXY XYWY:W2W*WVbUBU*UUU2@P*QhBZQF}G@.)@JQ?m2Q&I:QbQ$5:ȔLI@Z@RQj2Lܿ? Я?BQs@ QOBQP^9?P\9?PQQ@"QABsYĽB BAÑ*BA?ПAAA=="CE<@RCE >CE<@CIM<) I9 G] >Eq,EAY}~.:@}~I*@y}~pn齙}~=}~H/@mܿ?@ i? iX{? ???)~~.:@ ~~@`;I~~Cɫ) IY5Զ@y5`GTNmea in: $SNTTA,0.047231,,,,011916.23*4C I)i=<M=Z=Y=3:QU=>AAaEEE(DIyM2;}U>IQUZ5?UV UA e?9UvCU: Uʽ:)Qim=q9qIu^Giu@u=qquv; uEmyAdded new target pos. range: 58.200001 m, bearing: 116.787560 deg, deltaT: 4.551540 s, approachRate: -0.619570 m/s, LOS rate: -0.408442 deg/s, posRepo size: 4m ProNav: pos range: 58.200001 m, bearing: 116.787560 deg, approachRate: -0.619570 m/s, LOS rate: -0.408442 deg/s, cmd update: -1.225327 deg/s, cmd heading: 143.054924 deg, new cmd heading: 142.432382 deg. WQ@WX XW:W2W*WVbUBU*UUM@U /?Bz_˽B BA *B A  2A A A \="CQ@RCCQ@C-ȿ=IGM>+Kq,M.EAY}UeL:@}Ug*@y}UT齙}Ujw=}UH`6@ݿ?UN?rz?`z?ϰ?`?)~UeL:@ ~Uy`;I~UCɫ99)9 =IAYu@yuaG igAgA u u u u@ u@ u@qqqiu@q u)uz@Iu\@iu\@eh=ME=Y8QU>aE5Dym$;}m>Iqu8I5?u'N u\A ?9uCu; uz ;)qW۵@WX XW:W2W*W V bU BU *U UU`S:Y5T1y5:1B}~½By BA*BA穠AAA~="C۵@RCC۵@C֝=qIG~>&Rq,̳HEAY}2):@}2wE*@y}2v轙}2C+E=}2HZ/@Eݿ@_?m?Ujۃ?bz??)~2):@ ~2C_;I~2Cɫyy)y }IyY@yObGi!!UO<M]a=Y]:QU]>aaaeEeADaymf˻}m?I :7;5? :+G A ?9C: :)0:W=@WX XW:W2W*WVbUBU *U U U @ ?B56,ǽB9 B9A=w*B9A=qAAAAAE$Q="CM=@RCICM=@CQ֍3=-=i-=AIQGm5>q 9q Iu `Giu @q q q u y; u EA=Xq,ڎbEA|@i|Y}69@}6G)@y}6w潙}6aC<}6Hgݿ]?`X?N`H_?y??)~69@ ~6_;I~4ɫYY)Y ]IaY@yIcGi!!U |=M]J=Y];QU]>aaaeEeNDaym+}m>Iqu~+5?u=? uA }?9uЅCu: u߼:)qW<@WX XW:W2W*WVbUBU*UUUU?BeBi BiAm^*ByAZAAA="C<@RCC<@C֍|1>E E~E~E E4:YET1yE@:E#5)E5;9]aIiG9>h^q,p|EAY}2r9@}2:)@y}2㽙}2y}2H ޿ ܸ?X?@ @Kk?@ O\?)~2r9@ ~2_;I~2Cɫ99)9 =I9Yu@y}cGiIa=)=}}`< }m)yIyy}Zd;?/$?}?}L}< }A)}AI}Ai}Ay}z A)Õ= Õ>    @ @ @if@ )Ii&@Y<MA=YI;QU>aE[DyE}>I  :  5? : 07 GA ?9 C D: +:) 1:W@WX XW:W2W*WVbUBU*UUU(q?BUnBQ BQAUR*BYA]mAYAYA]7="C@RCC@Cep{e>I)GEQ>Peq,MKEAY}VW/8@}VJ(@y}V R߽}V}VHF߿?+?@+ܻ? \Ɲ`?)~VW/8@ ~VU_;I~Tɫqy)y }IyYr@y)dGiAAu <MuS=Yu;QU}>yya}E}hDy}>IȑŕM5?ŕ/ ƕA ?9ƕCǕY: ȕD:)ȑW@WX XW:W2W*WVbUBU*UUU@BnmB BAjG*BAAAA)=fAl>9I,bGiԷ@p; ߗE"C-@RC1C5@C1E>I!)%AA9IIGm5> P0:Yy5);~kq,5EA|8|8Y}n7@}n+'@y}n1ܽ}nJ>~}nHuQ`G?`?t@x?`?)~n7@ ~n`;I~nCɫ髩) IY@ydG@Ai U U U U@ U@ U@QQQiU@Q Q)QIU@iUΣ@eQ%=MeK=Ym(x;QUm>qqauEuuDyy}G2}}>Iȁ  :Ņ5?  :Ņ' ƅِA  ?9ƅ0CDž>< ȅQ<)ȅ2:WU>@WQXQ XQWQ:WQ2WY*WYVYbUYBUY*UUU @RB*** querying acoustic contact ***PPBu캽B BA6*BARAAA3c="C >@RC C >@C >IGm>Harq,ɅEAY}6v5@}6%@y}6ڽ}6½}6H'Ҥ?@?`@slD?`%੬?)~6v5@ ~6`;I~6Cɫ99)9 =I9Y@ydGZ****** received transponder code query ******F****** received ping request ******!)a-E-D1y5^}5>IAE5?E E#A M?9EOCE: Et:)AW}@WyXy XyWy:Wy2W*WVbUBU*UUUV @B˼B BA 3*BAAAA6="C@RCC@C!8 }} I8:YkS1yԊ:H59@IG=P> m>9 I dGi k@    H;  ˗E`xq,EAY}:04@}:,$@y}:۽}:Z}:H""?V?_vſ`d?0@ʎ?)~:04@ ~:a;I~:Cɫ99)9 =I9Y}@y}eGxDUSBL response received:!U1,P 2C9,000,0063B,189,80,80,9F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iuA=M}G=YQU>aEDyr}>I 5:5? =: uA E?9qCC < <)3:W}V@WyXy XW:W2W*WVbUBU*UUU @E=iEp=BuBq ByA}$*ByA}梽AyAA="CV@RC|>CV@CU> IQ G >~q,EA|i|ɫyy)y }IyYf@yfGp=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i995B`"?~jt?Zd;O?5َ>5= 5j>)1I1y5%C?L7A`堿l?5Z$?5+5= 5AA)5AI5bAi5A15\ A   Õ>ÕS=Õ,=iÕG@Õ ĕΣ@)ĕE@Iĕd@iđF=M7=YQU>aEDy}>I5? ֑A ?9C; K;)WK@WX XW:W2W*WVbUBU*UUU@ @B]xBG< BA*BAAAA="CK@RC=>CK@# .:YT1y:#5CֽH~>בIG>q,)EAY}BW 0@}B; @y}Bz߽}B4}BH``@ݒ@? Dʿ ?_ƿ`:P?)~BW 0@ ~Bb;I~@ɫyy)y }IyY@yfGxDUSBL response received:!U1,R,213,000,00616,187,80,80,5F,FF Fpublishing direction and range info@ɰC=1> )BIy_BH?<?@LܿٱiI>))> ><Mj=YƻQU>aEDy D6} ?I5? %A ?9C: :)WE@WAXA XAWA:WA2WI*WIVIbUIBUI*UQUQUU@X@Pa*Qe_BZQeui I@49JQeH?<?@Lܿ2Qe@:QabQea8,H@-e)#@RQeE ܿڶf?WyzJ~?BQeޓ@ QeDBQeuPe\9?Pe^9?PeQaQeE{A"Qe@RCl>9IfGi@/; E)IIIiIIIM_4iU3oGIejAiPٺjA^?BB@趽B BA*BA GAAAz="C@RC~#>>C@C=Az|>IGn>>ˋq,w1EAY}.@}@y}3ཙ}G}Hp& @3V? +˿\?`bȿ5?)~.@ ~qa;I~Cɫ ) IYM'@yM}gGTNmea in: $SNTTA,0.043410,,,,011920.67*48 iТ>iz@ @)z@I@iMa<MM6=YMwQUM>QQaUEUDYy]C}]>I) 5:-5? =:- -A ]?9-׆C-|; -,;)-4:muAdded new target pos. range: 55.980003 m, bearing: 116.899152 deg, deltaT: 4.338790 s, approachRate: -0.511663 m/s, LOS rate: 0.025720 deg/s, posRepo size: 4m- ProNav: pos range: 55.980003 m, bearing: 116.899152 deg, approachRate: -0.511663 m/s, LOS rate: 0.025720 deg/s, cmd update: 0.077159 deg/s, cmd heading: 137.733612 deg, new cmd heading: 137.132608 deg. W-g@W)X1 X1W1IA)E@A:W12WY*WaVabUiBUi*UiUupK@Uu )?B eB  B A*B -:YV1y:l5AU䂣AYAYA]="Ceg@*CeÉ=RCe)>Ceg@CiNf>׉IG>cq,CKEA||;Y}6Y+@}6@y}6)(߽}6U}6HCzI٪?@jֻ̿?@Iʿ?)~6Y+@ ~6Ha;I~6Cɫ99)9 9I9Y}@y}3hGixK=Ma=Yї:QU>!!a%E%D)y-崽}->I15-5?5 5A E?95C5: 5߼:)1We@WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}?BB! B!A%*B!A%A!A!A-="CM@*CUo=RCUx=CU@CYE.==CD>I!G=r>ܱ9ܵ{CIܵhGiܵ@ܵ=ܱܱܵ@; ݵƗE٘q,KeEAY}6*@}6 8@y}6ܽ}6`}6HժmFC?\ Ϳ` u? J˿ ?)~6*@ ~6`;I~6Cɫ99)9 9I9Y@yhGi   gA 5]<M=H=Y=AAaEEEDIyM2}M>IQ ]:U5? ]:U U>A e?9UCU: U:)U5:W@WX XW:W2W*WVbUBU*UUUK~?B쯽B BA*BAãAAA ="C@*C=RC*f=C@C9=֥>>E AAE; E-5:YAyAEG5)E‘;9MיIGb>q,b~EAY}:9(@}:@y}:2ؽ}:d}:H@$`@@?`/` Ϳ@2 ? 6̿@?)~:9(@ ~:m`;I~:Cɫ99)9 =I9Y}K@y}hGiNbX9?Gz? t>)IyʡE?MbV-??m= ½@)½\AI½Ai½Ap A<z>i@ @)@I"@i­@-ʲ<M-<=Y-p;QU5>11a5E=D9y=f}E>IAE:s5?Ek EA U?9E5CE": E*:)AWu@WyXy XyWy:Wy2Wy*WVbUBU*UUU @R?BUBQ BQAU*BYA]V棽AYAYA]I="Ce@*C=RCDI<=C@CE=iE=}S%1IYG>륡q,ԘEA|i|@Y}6"'@}6">@y}6(׽}6`}6H`[s`t_X?ܹͿ@oغ?`Ȳ˿?)~6"'@ ~6?`;I~6Cɫyy)y }IyY5@yjGi!!]k>9]zCI]iGi].@YYY]g; ]ڗE.=MQ=Y;QU>aEDyf}>I :d5? : A ?9TCq: :)6:W@WX XW:W2W*WVbUBU!*U!U!U%Z@BUȪBQ BQAU<*BYA]oAYAYA]="Ce@*Ces=RCeћ<Ce@Ciqq)q q}}~}~}0 }2:Y}T1y}@:}5)};#h=שIG>q,EAY}6%@}6D@y}6׽}6ޤ[}6H`8 k@@U?@BRbo̿>?3˿`?)~6%@ ~6Z_;I~6Cɫii)i mIiY4@y>kGi) = =USc>UU+iUf@Q U@)QIUiU"@e=MeQ=YmJ"QUm>iiauEuDqy}+J}}>IȁŅV5?Ņ ƅpA ?9ƅrCDž: ȅ:)ȁW_@WX XW:W2W*WVbUBU*UUU|@BmB BAr*BAAAA="C_@*C.J=RChÙC_@C֥6=ׁIGB>q,̆EAY}23$@}2@y}2;׽}2XT}2H` ? <`j$?ea˿? 5ʿ#?)~23$@ ~2b_;I~2Cɫ19)9 =I9Yu@y}+lGy}AAiu=MQ=YQU> a E D y,}>IH5? ӔA %?9Cܹ: Ǻ:)WM@WIXI XIWI:WQ2WQ*WQVQbUQBUY*UYUYU] s@RmB*** querying acoustic contact ***PiPiBB BA*BAAAAc="C@*C=RC˼C@C֥=IA)EAAׁIG>>  M4:YU1y:59@Uj>9U{CIUkGiUĿ@U=QQUe; UٗE'q,VfEA||Y}6^#@}6 @y}6~ֽ}6+J}6H`{bo`s? _'ʿ?@Lɿ3?)~6^#@ ~6_;I~6Cɫ99)9 =I9Y}F@y}lGZ****** received transponder code query ******F****** received ping request ******aEDy } >I : :5? :D >A ?9C: :)7:W%!@W!X! X!W!:W!2W)*W)V)bUIBUQ*UQUQUU @BB BA*BAAAA* ="C!@*Cٖ=RC-C!@C Jc=IGE>q,NAEAY}6#@}62@y}6}ѽ}6CY<}6H )5@˱G?.ɿ$? IǿK?)~6#@ ~6&_;I~6Cɫ99)9 =I9Y}3@y}mGxDUSBL response received:!U1,P 213,000,00616,187,80,80,5F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iUe;O?ʡE?n?U>U= UV>)QIQyU{Gz?~jt{Gzt?U#?UUף; U@)U+AIUp@iUhAQU A•fA•hA+ .:Yy5`=(\/iiamE"Dy}>Iȹ :Ž&5? :ŽΧ ƽA ?9ƽ߇Cǽf: Ƚ:)Ƚ8:W-@WX XW:W2W*WVbUBU*UU!U%`@BmB BA<*BAAAAƘ="C-@*Cy=RC;FpC-@C֭ Ǥa Iy G >9ơq,mEAY}2"@}2@y}2Ƚ}2+}2H|?i@eǿ?`Iſe?)~2"@ ~2{_;I~2Cɫ99)9 =I9Y+@ynGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B <<9zCImGi[@=c; חEi99u=M}=Y}?Iȑŕ5?ŕT ƕA ?9ƕCǕD: ȕ:)ȑW3@WX XW:W2W*WVbUBU*UUU7@BܘB BAl=*BA ࣽA A A 4l="C3@*CK=RCؐC3@C֥bިAiEp=aIqG9>c̡q,w3EA|i|@Y}>Y="@}>X@y}>8}>8}>H@)Y̫ ?h@ſ ?`oÿ@|?)~>Y="@ ~>W&_;I~>CɫYY)Y ]IYY@yoGxDUSBL response received:!U1,R,0F6,000,005E9,186,80,80,AC,FF Fpublishing direction and range info[ɰ=鰥> ),CIyUBo.EC?AzUmD˿ٱi @ @ @©i=@ 5@)Ii5@=MC=Y%aE7Dys&}>IL5? A ?9C/: :)W5Q<@W1X1 X9W9:W92W9*W9VAbUABUA*UAUAUM@'@PY*Q]UBZQ]d xKJ@1Kӡq,MEAY}2."@}2?J@y}2J}2 }2Hcp1``妿9?"~ÿ`+̶? Q֓?)~2."@ ~2f-_;I~0ɫ99)9 9I9Y}H@y}CpGi)= = N=MY=YuK!!a%E%CD)y-}->Iȑ :ŕ5? :ŕ ƕ#A ?9ƕ4CǕ: ȕD:)ȕ9:muAdded new target pos. range: 53.280003 m, bearing: 118.766895 deg, deltaT: 4.474961 s, approachRate: -0.603357 m/s, LOS rate: 0.417376 deg/s, posRepo size: 4m ProNav: pos range: 53.280003 m, bearing: 118.766895 deg, approachRate: -0.603357 m/s, LOS rate: 0.417376 deg/s, cmd update: 1.252129 deg/s, cmd heading: 138.078899 deg, new cmd heading: 138.108973 deg. W@WX XW:W2W*WVbUBU*UU ףJ@UP?B%B! B!A-=*B)A-A)A)A5 ="C5@RC=˛C=@C9 M=M>5SI9)=eA!I)GM1>inGIjAi9ItoGi@=g; ٗE)݉I݉i݉ݍ=ݍ=ݍ 5=Nٺ=jA= =B-v١q,WgEAY}2V"@}2q@y}2 }2}2H <'?`3]?/?)~2V"@ ~2_;I~2CɫYY)Y ]IYY@yqGi5;L=M=H=Y=2AAaEEEPDAyM;}M>IQU5?U UTA ]?9UUCU4: U:)QWsU@WX XW:W2W*WVbUBU*UUU 8?B, B BAc=*BA$lAAA ="CUsU@RCUCUsU@CYUx!I1IA)E?AGe4>%%%% %1:Y%T1y%:%5)%?;9E]q,EAY}: "@}:>@y}:7}:!}:H:@J?4`!8?ͳ ?)~: "@ ~:_;I~:Cɫ99)9 =I9Y}@y}arGI)ix&?{Gzt333333?7 ?ף =)Iyoʡ?A`"{Gz?-?Y#= )AIZ@inA\A % % %%"[%Ga%u>i%=@% %@)%d@I!i%@=Μ=M=;=Y=AAaEEE^DIyM*<}M>IQ ]:U5? ]:Ur UA e?9UzCU: U:)U::W@WX XW:W 2W *W V bUBU*UUU ?B]BBa BaAe>*BA%AAA ="C@RCz̽C@C}QIaG}z>؇q,9dEAY}6#@}6$+@y}6ɜ}6}6H@&? a?% @ȭW?o!_?)~6#@ ~6{_;I~6CɫYY)Y ]IYܡ9ܡIܥqGiܥ@ܡܡܡܥh; ݡY@yWsGi!!==M=\=Y=5AAaEEEjDIyMN<}M>I95?&g A ?9C: :)W|@WX XW:W2W *W V bUBU*UUUJ?B=SBA BAAE.>*BAAE9䢽AIAIAM ="CU|@RCUYнCU|@CYefAefAM }}; xJ:YkS1yԊ:G5)';q,?EAY}6#@}6f@y}6䍕}6] >}6Hu@+?h?i@8˵{? `?)~6#@ ~6j_;I~6CɫII)I MIIY}]@y} tGi5`e=55~>i5@1 1)5X@I5X@i5X@E6=MEJ=YMIIaUEUwDQy]<}]>Iae5?e[ eAA m?9eCe: e@:)aW@WX XW:W2W*WVbUBU*UUU~?BMBY BYA]uA>*BYA]䓢AYAYAem ="Cu@RCu/0ϽCu@CyAiE=ee9˽YIaGY>ۙq,χEAY}2<$@}2$X@y}2}2j}2H`G`s@A? l?@ 簿? bn?)~2<$@ ~2k_;I~2Cɫ99)9 9I9Y,@y uG8>i=i!!U7=M]I=Y]#'aaaeEeDaymB<}m>Iq }:uV5? }:ulO uA ?9uCu: u:)u;:W@WX XW:W2W*WVbUBU*UUU;:@B&B BAa[>*BA.<AAA] ="C@RCWͽC@Cͽ׹IGF>uu~u~u- u0:YuT1yu@:uH59}@ܙ9ܙIܝqGiܝ@ܝ=ܙܙܝi; ݝڗEq,EAY}:$@}:g@y}:0}:ź}:H@Xi9U?L,??ήX@?)~:$@ ~:_;I~:Cɫ99)9 =I9Y}C@y}(uGi;MW=Y%aEDy:<}>IȹŽ5?Ž0D ƽ̗A ?9ƽCǽ: Ƚ:)ȹW!@WX XW:W2Wy*WVbUBU*UUUj@RB*** querying acoustic contact ***PPBu0.By BA(^>*BAޡAAAoZ ="C!@RCýC-!@C1 =>= >elͽIy)}fAYIG>q,cEAY}2%@}2D@y}2f{}2<}2H@B`)??RŠw??p?)~2%@ ~2b_;I~2Cɫyy)y }IyY@yuGZ****** received transponder code query ******F****** received ping request ******3S7 >i@ @)^@I@i@<M+=Y;QU>aEDy0<}>I :#5? :6 A ?9)C < <)<:WL@WX XW:W 2W *W V bU BU*UUUO @B=?5Ba BiAmk>*BiAuolAqAqA}d ="CL@RC@{CL@COýIG>q,EAY}6&@}67@y}6ؒo}6<}6Hpw?[?@i ?`Ԟ?E?)~6&@ ~6H`;I~4ɫii)i mIiqu<y9yI}rGi}{@}=yy}b; }֗EY@ywGxDUSBL response received:!U1,P 0F6,000,005E9,186,80,80,AC,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i=M%m=Y- Ișŝ|5?ŝm, ƝDA ?9ƝGCǝ< ȝ<)șW^V@WX XW:W2W*WVbUBU*UUU* @B zqB BA>*BAAAA"f ="C%^V@RC%C%^V@CIUQQU* U.:YQyQU5)U ;9]=eIG%n> q,6EAY}2f'@}2O@y}2Ue}2 =}2H@N`:?V?@.ۆߦ?@??)~2f'@ ~2Pa;I~2Cɫ99)9 =I9Y]:@y]wGaɮaiqq %@ %@ %@%©%%i%@% %)%I%A@i%@5<M5H=Y=;QU=>99a=E=DAyE=}M>II U:MZ5? ]:Mb! MyA ]?9MhCM : Mb:)M=:W}@WX XW:W2W*WVbUBU*UUU@BmB BA>*BAܜAAAgl ="C@RCWC@CgA֍יiם?aIqG>(q,bPEAY}2&(@}2A@y}2xZ}2A=}2H 2??*"df\P??>?)~2&(@ ~2`;I~2Cɫ99)9 =I9Y]@yexGiqq<MS=Y;QU>aEDyf<}>ICv5? A ?9C: :)We @WX XW :W 2W *W V bUBU*UUU@B^nB BA>*B!A%_ A!A!A-} ="CUe @RCUC]e @CY] ]}]}]& ]K6:Y]kS1y]Ԋ:]59m@ցYIaGZ>Y9YI]sGi]@YYY]e; ]ؗEq,aEDyW<}>IIg5?f A ?9Cb: :)WE) @WAXA XIWI:WI2WI*WIVQbUQBUQ*UYUYU]C@BMgjBq ByA}>*BAAAA ="C) @RCC) @C&IGMR> q,EAɫyy)y yIyY>@yxGiEMbX?aEDy}>I :X5? : A ?9͉CZ: k:)>:W}!@WyXy XyWy:W2W*WVbUBU*UUU7 @B4hB BA>*BAAAAR ="C-!@RC-1C-!@C1 E=E=UU~U~U? U1:YUT1yU@:U#59IA)AIG%n>! ! &'q,EAi.3oGI:jAiDZSٺZjA^ABk>9I$tGio@h; ٗE)qIqiqu=u=uTM4Y}"*@}z>@y}Ⱦ:}8]=}H YI?Z?Z? U?`5??)~"*@ ~ۙ_;I~Cɫ) IY5W@y5xGiAA]<M]P=Y]DaaaeEeDiy^=}>IȑŕJ5?ŕ tI ƕ8A ?9ƕCǕ: ȕ:)ȑW "@WX XW:W2W*WVbUBU*UUU@֓@RB*** querying acoustic contact ***PPBEGaBi BiAm`>*BiAm,AqAqAuy ="C} "@RC}^^C} "@Cyօ+AIIG9>!N-q,WηEAY}2*@}2@y}25}2[=}2HT& ?:?fۗ?P? i?,?)~2*@ ~2L_;I~2Cɫ99)9 =I9Y} @y}xGI)i @ @ @©i3@ )(@Iiv@RǼMQ=YJ;QU>aEDy <} >I :e=5? : `A ?9 C< <:)?:W^"@WX XW:W2W*WVbUBU*UUU%2@BU!eBQ BQAU>*BQA]AYAYA]L ="Ce^"@RCe|;Ce^"@Ciօ˺w 8 Q:YU1y:5YIiGZ>q64q,PшEAY}>p+@}>@y}>&2}>h=}>H98@i4?5?MA@ύ?`B?? ?)~>p+@ ~>6_;I~>Cɫyy)y }IyY@yyG鮹ɮa=xDUSBL response received:!U1,N,80,80,63,E4 9,186,80,80,AC,FF ZNo reply:!U1,N,80,80,63,E4 9,186,80,80,AC,FF -aEDy<}>I  /5? A A %?9 +C F; %L;) W]<#@WaXa XaWa:Wi2Wi*WiVibUiBUi*UqUqUu@@BZ^B BA+>*BAYAAA="C<#@RCC<#@CfAܝ?i?׹IGE> j>9 I tGi @    a; ՗E#`:q,EAY}29+@}2@y}2Sa.}2ރs=}2H f`!?n?`n ^S?zʥ?@d??)~29+@ ~24^;I~2CɫYY)Y ]IYY2@yyGi<MK=Y;QU>aEDy <}>I : 5? %: A -?9KCj< /<)@:W#@WX XW:WI2WQ*WQVQbUQBUQ*UYUYU];y@BXB BA>*BAAAA9="C#@RCΎC#@C   :?:Yym5̓)p;9-IGj>xIAq,eEAɫqy)y }IyY[@y1zGi=i]"~j?/$?]S?]< ]̼)YIYy]Zd;?:vy&1|?]?]T]`; ]A)]@I];@i]AY]A   ýMbýףý=iý3@ý Ľ@)Ľ@IĹiĹ:<M;=YQU>aE Dy}>I5?@ ʙA ?9nCj: :)Wf$@WX XW:W2W*W!V!bU!BU!*U!U)U@t!@B XB BA>*BA_AAA]="Cf$@RC%*C%f$@C)=I!GMt>rGq,:EAY}:o,@}:@y}:? }:g=}:H6?ZH? eME?@?V??)~:o,@ ~:^;I~8T9TIVPuGiVc@V=TTVd; VחEɫ99)9 =I9Y}'@y}yG?AI?)?iM_=YaE+Dy.,=}>I :5? :M A ?9C: :)A:W$@WXq XqWy:Wy2Wy*WyVybUBU*UUU@B$URB BAU>*BAݛAAA="C$@RC慔C$@C  ==ӦI)שIG%>1 2:YT1y:#5)|;@Mq,9EAY}6-@}6@y}6M}6V=}6H[@ݯ? ?gY?`oh??`?)~6-@ ~6]^;I~6CɫYY)Y ]IYYS@y(zGi/="[i@ )@I@i@ T<MD=YAT;QU>aE9D!y%<}%>I)-5?-3 -A =?9-C-l; -5;))WІ%@WX XW:W2W*WV bU BU *U UUX$ @B]~VBY BYA]>*BaAeqEAaAaAeʵ="CІ%@RCiCІ%@CIމ)ލAA֥벫ׁIGa>"Tq,,REA|4<|4aEEDy<}>I  5?  A ?9 ̊C a#; 1;) WU&@WQXY XYWY:WY2Wa*WaVabUiBUi*UiUqUu @RB*** querying acoustic contact ***PPB^NB BAG>*BA-A1AIAU="CU&@RC]WC]&@CY-*IG )>" -:YU1y:59@ܡ9ܡIܥuGiܥ@ܥ=ܡܡܥb; ݥ֗EXZq,lEAY}6.@}6@y}6}6dD=}6H@P ?|ć?? ?V`Z?6T?t?I?)~6.@ ~6^;I~6Cɫaa)i mIqY@y%qzG=Z****** received transponder code query ******=F****** received ping request ******=aETDyٹ<}>I :5? : 'A ?9Cb: :)B:W_&@WX! X!W!:WQ2WY*WVbUBU*UU)U-^!@B=[BA BAAEг>*BAAEyAAAIAM-="Ce_&@RCeCe_&@Caqq֍Ѧיiם?׉ I G >/aq,EAɫyy)y }IyY@yzGxDUSBL response received:!U1,P 80,80,63,E4 9,186,80,80,AC,FF Command AckBRequesting micromodem ping code 2ii#~j?Q?L7A`尿>\= +)IyZd;O?333333?~*?< A)Z@IZ@iAA='<M=O=Y=QU=>AAaEEEaDIyM}M>IQU 5?U UKA e?9UCU¿: U:)QW>'@WX XW:W2W*WVbUBU*UUU "@BM"CBI BQAU>*BQAUzAQAQA]O="C]>'@RCeiCe>'@CaW 1 ,O:YV1y:#5}̓qIG>gq,MEA $9$I&vGi&@&=$$&c; $Y}B/@}B @y}B}BxM=}BH L`X 7?@:?D2?ؒ?짩?`O?)~B/@ ~B^;I~BCɫyy)y }IyY@yzG=i=i <Mc=Y*QU>aElDy==}>I :X5? :5 lA  ?91C: :)C:W-ؿ'@W)X) X)W):W12W1*W1V1bU9BU9*U9U9UER#@BmBBi BiAmK>*BiAEAAAKp="Cؿ'@RCCؿ'@Cmܪ!I1GM1>mq,1^EAY}2Zb0@}2} @y}2/}2FW=}2H `z??` nY?@椢??:?)~2Zb0@ ~2^;I~2Cɫ99)9 =IAY@yzG@AI)?i   |>ؾ33>i3@ )@I@iv@-M-E=Y5QU5>19a=E=yD9yE.<}E>IIM>5?M MA U?9MTCM: Me:)IW}T(@WyXy XyWy:Wy2W*WVbUBU*UUU%$@BNLB BA>*BAa[AAAK="CT(@RCCT(@Cq }=}=epIi)meAw M P=:YWU1y:"59IIGeV>tq,?ԉEAY}2,0@}2 @y}2p}2BX=}2H@`G?`?@.?m? ?I?)~2,0@ ~2/^;I~2Cɫ99)9 =IAYu@y}zGi듺ML=YE:QU>aED!y%<}->I) 5:-5? =:-i| -A =?9-wC-: -:)-D:W](@WYXa XaWa:Wa2Wa*WiVibUiBUi*UqUqUu=$@BJB BAo>*BAJƗAAA6="C(@RC`C(@C*שIG">inGI1iIuwRٺqu@BIޅAA)ޅ?AEk>9AIAiAE=AAEi; EٗE)Ii酉酩5{q,|&EA|;|;Y}Bb1@}B<~!@y}B6a}BGW=}BHv\ye5?W? S2?6???)~Bb1@ ~B^;I~BCɫ髱) IY@yzGI)i%t%ȶ%li%z@! !)%|@I%@i%­@u͟<MuD=Yu;QU}>yya}E}Dyf<}>Iȩŭ5?ŭq ƭޚA ?9ƭCǭ: ȭ{:)ȩWVz)@WX XW:W2W*W VbUBU*U!U!UE`%@B+JB BA>*BA["AAA#="CUVz)@RC]#CVz)@C 0:YT1y:5)Í;9?i~?IG>H䁢q,9EAɫyy)y }IyY@yzGi]S?aEDy}>Iȑ :ŕpn5? :ŕ-i ƕA ?9ƕCǕm: ȕ<:)ȕE:W *@WX XW:W2W*WVbUBU*UUU`&@RB*** querying acoustic contact ***PPB IB BA>*BAHAAAb1="C *@RCfC *@CIG%o>A 9A IA iA A A A E e; E חEq,O!EAY}>x2@}>"@y}>_}>M^=}>H'gT? ?@h- ?M?4??)~>x2@ ~>^;I~>Cɫyy)y yIyY@y{Gi =MQ=Yq;QU>!!a%E%D!y-B=}->I15 ]5?5` 5A =?95܋C5߼: 5/:)1We*@WaXa XaWa:Wa2Wi*WiVibUiBUi*UqUqU} _'@B=B BA>*BA_AAAQ\="C*@RC!C*@C֭iIqG>q & <:Yy5)_;[8q,¤;EAY}68 3@}6$#@y}6)}6BS=}6H`8 bs? /?J`~?I?r??)~68 3@ ~6^;I~6Cɫ99)9 9IAY}@yzGxDUSBL response received:!U1,N,80,80,63,E4 9,186,80,80,AC,FF ZNo reply:!U1,N,80,80,63,E4 9,186,80,80,AC,FF -v>ʡ=i@ X@)X@I@iX@mML=Y9QU>a E D y<}>I:J5?X 2A ?9Cʽ: :)W% /+@W!X) XIWQ:WQ2WQ*WYVYbUYBUY*UaUaUe@ >(@BGB BAq>*BAUAAA9="C /+@RCC /+@C?׹IGh>Y q,cUEAY}Fsq3@}F#@y}F/}FMP=}FH@7`E ? ?D@D@?@Ge?i?6?)~Fsq3@ ~FP{^;I~FCɫyy)y }IyY@yzGi`&<ML=Y :QU>aEDy<}>I :e95?  :[P LA  ?9C: :)F:W-+@W1X1 X1W1:W92W9*W9V9bU9BUA*UAUAUE3(@Bm<Bq BA>*BA˔AAA="C+@RCC+@C ]=]=-->IG )>\ M (;:YWU1y:"59@9IiV; ϗEMq,{hoEAY}%3@}%#@y}%h}%M=}%H ye?@3?.`)? xO?`#??)~%3@ ~%^;I~%Cɫ)1)1 5I1Yu@yuzGiõ>õõPiõz@ñ ĵZ@)ĵ­@Iĵ­@iĵ­@ܻM-=Y9QU>aED)y=#L<}=>Iȡť]#5?ťSF ƥmA ?9ƥGCǥy; ȥK;)ȡWg,@WX9 XYWy:W2W*WVbUBU*UUU *@BSLBy#= BA>*BAAAAI="Cg,@RC[Cg,@CשIG>3q,l=EAY}2J44@}2O$@y}24}2O=}2HP@?_?`t ?E?@?@[?)~2J44@ ~2z^;I~2Cɫ99)9 =I9Yu@y}"{GI)i}HzG?J +?y&1|?}=*?}= }`;)yIyy}Zd;O?J +Q?}~*?}H}< }A)yI};@i}Ayy<Mc=YWV9QU>aEDy‰<}>Iȱ :ŵ%5? :ŵ> ƵA ?9ƵdCǵ; ȵ;)ȵG:W,@W X  X W :W 2W*WVbUBU*UUU?*@BB4B BA׼>*BAAAA4="C,@RC5NC,@CSs & 3:Yy5IGI> j>9 I |vGi W@ a; ՗E\q,sEAY}N4@}N$@y}NQ}Ni>=}NH` ?F,? @? I?ǧ? ?)~N4@ ~N^;I~NCɫyy)y yIyY@yzG鮹ɮp=i MW=YQU>aEDym͙<}m>IquT5?u5 uA ?9uCu: u¿:)qWm-@WX XW:W2W*WVbUBU*UUU`p+@B <B  B A >*BATAAAa="Cm-@RCBCm-@C!5gA1%I)GmV>q,EAY}2K5@}2.g%@y}2Z}2z;=}2H_%@ a??`$(0??Z?1?)~2K5@ ~2§^;I~2CɫYY)Y ]IYY@yzzGiCi­@ )IiXMG=Y垺QU>aED!y%<}->I) =:-s5? =:-, -ޛA =?9-C-; -;)-H:W&-@WX XW:W2W*WVbUBU*UUUC,@RB*** querying acoustic contact ***PPB]wABa BaAeG>*BaAe"^AaAiAm="Cu&-@RCu󵳽Cu&-@CyхƢ=# 2:YDW1yY:#5֕õiIyG>pq,p֊EAY}J65@}J&@y}J7}Jqu:=}JHN`1??FQ@ǖ?pY?I? W?)~J65@ ~J:^;I~JCɫ髱) IY#@yyGZ****** received transponder code query ******F****** received ping request ******aEDy<}>IȩŭH5?ŭ# ƭA ?9ƭˌCǭ< ȭ*:)ȩW֙.@WX XW:W2W*WVbUBU*UUU`-@B=FXFB9 B9A=>*BAAeđAaAaAeh="Cm֙.@RCmtCu֙.@Cq܉9܉I܍uGi܍@܉܉܉܍c; ݍ֗EuC"=m SI IY G >q,EAY}^6@}^&@y}^{}^7=}^HwW@ǩ?`c?@y6?`W???)~^6@ ~^{^;I~^Cɫ髡) IY@yzGxDUSBL response received:!U1,P 80,80,63,E4 9,186,80,80,AC,FF Command AckBRequesting micromodem ping code 2iNmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i!!U|?>UU!>iU@Q Uv@)U@IUv@iUv@A%=M.=Y7QU>aEDyi<}>I :5? :~ 8A ?9CY: :)I:W:/@WX XW:W92W9*W9VAbUABUA*UAUIUMh.@{{6 +:Y#R1y:55);9B\BB BAӶ>*BAAAA ="C:/@RCiC:/@C 11)1 1 = = ?ש I G >¢q, EAY}2 7@}2''@y}2W}29C=}2H`.@!?*??:j?w?l?)~2 7@ ~2g^;I~2Cɫ11)1 5I1YP@y#zGim?~jtxV-?m ?mĻ m<)iIiym"~j?Q~jth?mS#?mmD; mA)m@Iiim\AimAMg=YGϹQU>aE"Dy<}>Iȡť5?ť ƥHA ?9ƥCǥ: ȥ:)ȡWɶ/@WX XW:W2W*WVbUBU*UUUeǽ.@BT7B BA>*BA$AAA1="Cɶ/@RCCɶ/@C#IGi>i] nGIy i Pٺ 7?B = < 9 I i     h;  ؗE)ݑIݑiݑݑݑݕq44Ȣq,`%EAY}R7@}R#'@y}R{}R}P=}RH˶g߿!=??@?5s?a ?`*?)~R7@ ~R^;I~RCɫ髙) IY@yzGI)i))==M=P=Y= 7QUE>AAaEEE/DIyM=<}M>IQU5?U UYA e?9U0CU: U׾:)QWrC0@WX XW:W2W*WVbUBU*UUU`~/@B6B BA>*BA2AAA0Y="CrC0@RCCrC0@CϰEEEE5 E,:YEWU1yE:E5)Ec;IGI>Ϣq,==lgi=µ@9 =@)=@I=@i=@MMUI=YUQUU>YYa]E]Ii u:m5? u:m mkA }?9mQCm8: m:)mJ:W60@WX XW:W2W*WVbUBU*UUUM,0@BK?B BAΰ>*BAuAAA*="C60@RCz$νC60@CfA(׵I)fA׹IGf>mբq,DYEAY}2Rq8@}2͌(@y}2k }2`X=}2H{1޿`"?@.?v?,???)~2Rq8@ ~2^;I~2CɫAI)I UIQY6@yzGiFMMN=YiQU>!!a%E%ID)y-=}->I15]5?5 5~A =?95rC5n: 5{:)1We-c1@WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}0@B}M9B BAB>*BA2AAA="C-c1@RCC-c1@C֍ɽIIQGm>ܱ9ܱIܱiܱܱܱܱܵf; ݵחE7 1:YW1yč:l5)?;%ܢq,rEAY}29@}2x)@y}2}2xP=}2H Z޿ ?`>? ؜?೿?@? p?)~29@ ~2}^;I~2CɫAA)A MIIYH@yzGi=i]h=]}]>i]@Y ])]@I]v@i]X@m];Mu6=Yu6$QUu>yya}E}WDyyx<}>Iȉ :ōl5? :ō; ƍA ?9ƍCǍ: ȍ:)ȍK:W~2@WX XW:W2W*WVbUBU)*U)U)U-`1@R=B*** querying acoustic contact ***P9P9B}lABy ByA}k>*BA@HAAA="C~2@RC q,2̌EAY}29@}2)@y}2}2vS=}2H9ݿw??@ ;?@%4?g??)~29@ ~2^;I~2Cɫyy)y }IyY@yyGAAiEV-?)\(?~jtE-?EG= Eļ)AIAyE(\?ˡEX9v?E.?E'E< E\A)Ep@IE@iEAAEGA]M]^=YeQUe>aaamEmcDiyu<}>IZ5? A ?9C: :)WeF2@WaXa XaWi:Wi2W*WVbUBU*UUUie1@B:B BAf>*BAAAA_="CF2@RCHܼC-F2@CI ]=]> 2:YU1y:9-@=(I!GMt>ܩ 9ܩ Iܩ iܩ ܩ ܩ ܩ ܭ h; ݭ ؗE8q,⬦EAY}>O:@}>Sk*@y}>}>fU=}>Hb@tVݿ Ȭ?`=w?`d63??@?y?)~>O:@ ~>^;I~>Cɫaa)i mIiY@y~zGxDUSBL response received:!U1,N,80,80,63,E4 9,186,80,80,AC,FF ZNo reply:!U1,N,80,80,63,E4 9,186,80,80,AC,FF -aEoDy<}>I :G5? :: A ?9؍C: :)L:W3@WX XW:W2W*WVbUBU!*U!U!U%1@BU\.BQ BQAU>*BQA]q@AYAYA]="Ce3@RCeCe3@Cim I @A) AIQGm5>q,EAY}2:@}25 +@y}2f}2]=}2Hņ@ܿ@b? ?q3??̶?b?)~2:@ ~2[^;I~2Cɫ99)9 =I9Y}@y}_zGI)i>jнip@ ­@)­@I@i­@5MH=YQU>aE|Dy<}>I  35? H A ?9 C p< <) WJ3@WX XW:W2W*WVbUBU*UUU .2@BU39BY BYA]>*BYA]AYAaAe3="CmJ3@RCmCJ3@C X 5:Yy~5օ#YIaGY>?Iq,]ڋEAY}6;@}6+@y}6c}6ADh=}6H@/ܿ ?kU? # {?`PK?E??)~6;@ ~6^;I~6Cɫyy)y }IyY=@y zGp=ɮp=iѥMK=YQU>aEDyn<}>I  :5?  : @A  ?9CM: Y:)M:W-44@W1X1 X1W1:W12W9*W9V9bU9BUA*UAUAUE2@Bm3Bq BA>*BAQAAAtG="C44@RC:C44@C]h>9YIYiY]=YY]k; ]ڗEAI)GEQ>Xsq,8EAY}z׭<@}zR,@y}zz}z l=}zH@0ۿ#f?@)X? Q? ?@t? K?)~z׭<@ ~z}^;I~xɫ!)! )I)Y}@yyGiuS㥛?A`"iQ@ X@)@Iv@i@M.=YҺQU>aEDy=}>I 5?L iA ?9FC: :)W-4@W)X) X)W):W12W1*W1V1bU9BU9*U9U9U=3@Bz=B BA߬>*BA]tAAA-f="C4@RCC4@C3 ~~ 7:YT1y@:5ϰIG>\q,EAY}F-=@}FH-@y}Fd }Ffi=}FHڿz??@ ?@?@#? d?)~F-=@ ~F^;I~FCɫYY)Y ]IYY@yhzG=i=i&=Mn=Y}!QU?  a E D y<}?IX5?M A %?9cC@: :)WMV5@WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYU]@U`3@Bo)B BAZ>*BAoAAA$l="CV5@RC^CV5@C֍N󡽹IIYG}>M i>9I II iI M =I I M h; M ؗE q,='EAY}J=@}J-@y}J!}Ji=}JHzCڿx?@k? "E?BaEDyl<}>I :5?  :k A  ?9CA: :)N:W5@WX XW:W2W*WVbUBU*UUU 3@RB*** querying acoustic contact ***PPB="2B9 B9A=>*B9AEXAAAAAEz="CM5@RC]kC]5@Ci յ=Ե=-` ---c -z;:Y-T1y-:-5)-4;95֝`YIiGZ>qq,AEAY}6cH>@}6c.@y}6#}6*]=}6H@<6ٿ@;ɭ?? ??_?J?`?)~6cH>@ ~6^;I~6Cɫ11)1 5I1Yu'@yuyG}Z****** received transponder code query ******}F****** received ping request ******}5t5Q=i5׫@1 5@)5@I5@i1E MEC=YM&QUM>QQaUEUDYy]<}]>IaeS5?eZ eѝA m?9eCe: e<:)aWm6@WiXi XW:W2W*WVbUBU*UUU94@B5B BAU>*BA‰AAAS="C6@RCPC6@C䢽IGm>q,[EAY}6>@}6(.@y}6զ$}6~V=}6H YF;ٿ2?^?H\6w?`o?`˪?%?)~6>@ ~6^;I~4ɫ99)9 AIAY@yiyGiIi-xDUSBL response received:!U1,P 80,80,63,E4 9,186,80,80,AC,FF 5Command Ack=Qٺ9=I@BUBRequesting micromodem ping code 2iQQIY)YiaaME=YH{QU>aEDyC<}>I :5? :d A ?9ʎC; ;)O:WE7@WAXI XIWI:WI2W*WVbUBU*UUU@4@9Iic; ֗E)݉I݉i݉݉݉ݍI5B6B BAd>*B!A%s5A!A!A%ә="CU7@RCU9CU7@CQ$ ,:YWU1y:Z5);֙qIG~>q,΍uEAY}md?@}m/@y}ma'}mף=^:i@ @)@IԸ@i@-?<M-4=Y5ۺQU5>11a=E=D9yE<}E>IIM5?Mѩ M)A U?9MCM: M:)IWu7@WyXy XyWy:Wy2W*WVbUBU*UUUk5@B13B BA>*BAɞAAAƣ="C7@RC]C7@CשIG>w#q,\EAY}6 ?@}60@y}6g+}6.Y=}6HS=ؿ?{b??@(?@`k??@X?)~6 ?@ ~6|^;I~4ɫ99)9 =I9Y}[@y}1zGi<M=Y16QU ?aEDy}<} ?Iȹ :Žє5? :Ž ƽMA ?9ƽ CǽV: Ƚ:)ȽP:W%8@WX XW:W2W*WVbUBU*UUUYb5@B-!B) B)A5>*B1A(+AAAq="C%8@RC(C%8@CT^ ~~@ Q;:YT1y@:Y59@I G%M> gA gA 9 I PuGi c@ = e; חE)q, 7EAY}2h@@}2V0@y}2,/}2zgX=}2H@׿sc??`6??b??)~2h@@ ~2^;I~2Cɫ99)9 =I9Y}@y}yGi=i*MJ=Y.QU>aEDyٜ<}>IȹŽS5?Ž ƽ{A ?9ƽ/Cǽ8: Ƚʽ:)ȹW88@WX XW:W2W*WVbUBU*UUU5@B-B/B) B)A-->*B1A5ÜA1A1A5="C=88@RC=CE88@CAMtIG-->o0q,'ÌEAY}6@@}6U1@y}63}6}\=}6H@@M׿@?t? u?Xr??8?)~6@@ ~6t^;I~6Cɫ99)9 =I9Y@yvyG@A@AI)?i;_> ==i@ @)I@iv@H¼MC=Y*QU>!!a%E%D)y-<}->I15j5?5D 5A E?95RC5: 5:)1WemL9@WaXa XiWi:Wi2Wi*WiVibUqBUq*UqUyU}@56@Bռ2B BA>*BA4 AAA="CmL9@RC,CmL9@C ==֥ܪu$ uuu u6:YuWU1yu:u65ׁIG=>6q,W܌EAY}:#oA@}:1@y}:4}:'[=}:H@ֿ9???R?q?@=?)~:#oA@ ~:v^;I~:Cɫ99)9 =I9Y} @y}yGi<MR=Y'4QU>aE Dy,<}->I1 =:5UV5? E:5 5ٞA E?95uC5: 5:)5Q:We9@WaXa XiWi:Wi2Wi*WiVqbUqBUq*UqUyU}6@RB*** querying acoustic contact ***PPBB]-B BA>*BA~AAA="C9@RCC9@Cܑ9ܑIܕuGiܕ@ܕ=ܑܑܕ]; ݕҗEħIeAA)e@AׁIG=q,EA|Z4<|Z4AAaEEEDQyU<}]>Iaes?5?ej eA m?9eCe3: e:)aW:@WX XW:W2W*WVbUBU*UUUf7@Bc6B BA)>*BA!݅AAA_="C:@RC$C:@Cuuuu@ u+:YuU1yu:uY5׉IG>Cq,YEAY}B B@}B2@y}ByO8}BlD=}BHd@տ`?`?@W??@F?`I?)~B B@ ~B_^;I~@ɫyy)y }IyY @yyGxDUSBL response received:!U1,N,80,80,63,E4 9,186,80,80,AC,FF ZNo reply:!U1,N,80,80,63,E4 9,186,80,80,AC,FF -*BA%jA!A!A%l="C:@RCUC:@CֽיIGb>ܕ h>9ܑ Iܑ iܑ ܑ ܑ ܑ ܕ c; ݕ ՗E!Jq,~*EAY}2,pC@}23@y}2c:}2sA=}2Hb-Կ?m?2@I?QJ?%?e?)~2,pC@ ~2Ue^;I~2CɫYY)Y ]IYY@yyGibMJ=YTQU>aE1DyT<}>I%5?ـ `A  ?9ՏC: ׾:)WE];@WAXI XIWI:WY2WY*WaVabUiBUq*UUUj7@Bf.B BA@>*BAτAAA{="C];@RCҜC];@Ce=ie=uuuu u0:YuT1yu:u5)u;9}׹IGf> Qq,1`DEAY}2#D@}2K?4@y}2|=}25>=}2H?J%LԿ?m? O? s??i?)~2#D@ ~2^;I~0ɫ99)9 =I9Y]W@y],zGe=ie=iii %@ %@ %@©i­@ )­@Ii5<M5E=Y5QU=>99a=E=>DAyE<}E>II U:M5? ]:M{ MA ]?9MCM: MY:)MS:W} <@WyX XW:W2W*WVbUBU*UUU`+;8@Bij"B BAX>*BAGAAAf="C <@RCiC <@C𝽹ׁIG=>3Wq,4^EAY}:DD@}:4@y}:C}:I=}:Hb@;ӿZ? ?`bhP?@n?? ?)~:DD@ ~:e^;I~:Cɫ99)9 9I9Y]@y]yGaaiqqMR=Y yQU>aEKDy<}>I5?v A ?9CY: :)W<@WX XW:W2W*WVbUBU*UUU@8@B<|)B BAS>*BA *A A A P="C<@RC핽C<@C -=-=999I9i9999=k; =ٗEE*}}}}}}# }<0:Y}kS1y}Ԋ:}#5)}};I)GEQ>a]q,>!xEAY}~D3E@}~N5@y}~F}~V=}~HsBӿ#?@^k?nx@<?`z?Ϫ?*?)~~D3E@ ~~^;I~~Cɫ) IY b@y :zGi!!!rh?V-?K?l>= ^=)IyS㥛?A`"{Gzt?$&?Yף; )Ii ] ] ]]ף]>]i]z@] ]@)]@I]@i]@m<Mu1=YuѳQUu>yya}E}YDyyp<}>Iȉ :ō5? :ōqp ƍ۟A ?9ƍ;CǍ: ȍ:)ȍT:WQ=@WX XW:W2W*WVbUBU*UUU@9@BR\'B BA} >*ByAAAAi5="CQ=@RCCCQ=@CֵѦ׉IG>Edq,둍EAY}6,E@}65@y}6yH}6Nc=}6H@_ҿ.?? ?@ ?l?@?)~6,E@ ~6_^;I~6Cɫ99)9 =IAY@yyGI)iYMj=YֺQU>aEeDyF<}>I5?k A  ?9XC ;  ;)WMP=@WIXI XIWI:WQ2WQ*WYVYbUYBUa*UaUaUmo9@R}B*** querying acoustic contact ***PyPyB*BANAAAH="CP=@RCݣCP=@Cqeuuuu3 u.:YuV1yu:u59}@11IiIIi3Nٺ =BE=P@9M>BG]v>1 91 I1 i1 1 1 1 5 c; 5 ՗E)ɈIɈiɈɈɈ͈N4&pjq,ǫEAY}:}E@}:5@y}:!%J}:RW=}:H`Љ ҿ?@?ˎ C?B?ު??)~:}E@ ~:~^;I~:Cɫ99)9 =I9Y]^@y]6zGeZ****** received transponder code query ******eF****** received ping request ******eaEsDy2 <}>I5?e A ?9|CQ: :)W=Nl>@W9XA XAWA:WA2WA*WIVIbUiBUi*UqUqUu!9@Bފ%B BAΰ>*BA#AAAU="CNl>@RC ܲCNl>@C&IGn>Wqq,^ōEAY}2`F@}236@y}2[J}2N=}2H@J=iҿ??ؚ^?`T?̩? ?)~2`F@ ~2^;I~2Cɫ99)9 =IAY}@y}yGxDUSBL response received:!U1,P 80,80,63,E4 9,186,80,80,AC,FF Command AckBRequesting micromodem ping code 2iNmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i]xi]`]->i]\@Y ]E@)]I]X@i]n@mMuA=Yu`QUu>yya}E}Dyy:<}>Iȩ :ŭ֟5? :ŭ_ ƭ0A ?9ƭCǭY: ȭ#:)ȭU:W?@WX XW:W2W*WVbU)BU)*U)U)U5M:@B}F&By ByA}ݩ>*BA,jAAA="C?@RCC?@C} yy}9 }4:Yyyy}5ֽ?ƲבIG>ρwq,|ߍEAY}2F@}26@y}2J}2K=}2H@ ѿe?<?vD?@?l??)~2F@ ~2iz^;I~0ɫII)I MIIY}@y}yG=i=LFailed to receive CAREV within timeoutq Hardware Faulta  i+Mm=YY9QU?aEDy<}?Id5?g[ IA ?9Cb: :)WB~?@WX XW:W2W*WVbUBU*UUU:@1(  PlAggregate::initialize lineCaptureDepth:MicromodemCommsq(P|Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn(B=qB9 B9A=f>*BAAEAAAAAE ="CMB~?@RCMwCMB~?@CQ9IvGi@RD_; җE5 I-$-NHardware Fault in component: MicromodemG >P~q,EAɫ髉) IY@yyGAAPowering downI)iI)i%%~%~%' %w2:Y%T1y%@:%5i}/$?Mb?~jth}&?}< }D)yIyy}RQ?lX9v?}"?}}}= }\A)}Q@I}@i} Ay}A>Ế|i @ j@)^@Ij@ij@;M =YQU>aEDy}>I  :q5? :>T A ?9C: /:)V:W5P@@W1X9 X9W9:W92W9*WAVAbUABUA*UAUIUM@8;@Bu1By ByA}>*ByA}+AyAA="CP@@RCm޽CP@@C ՝=ԙ֥=cy I G >0q,HEAY}J&H@}JB8@y}JL}JA=}JHYLrп?.?l??1??)~J&H@ ~Jgy^;I~Hɫqy)y yIyYq@yLzGFLCB 1 fault: Software Overcurrent.ih=M=Yq)QU%?aEDyº=}%?Ioc5?*Q A  ?9CM: :)W-@@W)X) X)W1:W12W1*W1V9bU9BU9*U9UAUE~;@Bm3Bi BiA >*BA-AAAs="C@@RC닦C@@C!-xȽI G-,>ٕ<ٕ<ܙ9ܙIܝ|vGiܝW@ܙܙܙܝg; ݝחEG^q,/EAY}vIH@}v8@y}v:N}vE=}vH ӝϿ9(?M?@Q@˃?ө?`??)~vIH@ ~vzc;I~vCɫ) IY @y zGi =@ =@ E@=©==i=p@= =)=@I=i=@U[<MU5=YUwQUU>YYa]E]Dayev<}m>Ii u:mL5? }:m+L m>A }?9m&CmV: m:)mW:WRA@WX XW:W2W*WVbUBU*UUU;@RB*** querying acoustic contact ***PPB(&B BAq>*BA(=~AAAE="CRA@RC CRA@C5555 5).:Y5WU1y5:5Z5)5;9=ܽבI$\Clearing failed state for component Micromodemq Gb>Cq,~IEAY}2gOI@}2j9@y}2[R}2J=}2H ο??,5?kH?G?1?)~2gOI@ ~2/we;I~2Cɫ19)9 9I9Yu@y}zGyɮy)iaMb=Y !QU > aEDy²<}>I!%2:5?%FH %A -?9%CC%: %m:)!WUA@WQXQ XQWY:WY2WY*WYVYbUaBUa*UaUaUm2N<@BpB BA>*BA0}AAA ="CA@RCCA@CԹԽgAm=ȽAIQGm>0lq,ScEAY}:I@}:79@y}:U}:?Y=}:H`l@Ϳ .?`l?`,??y2?=?)~:I@ ~:Ud;I~8ɫ99)9 9I9I9IIIiIIIIM\; MїEY}@y}zG====? =U*:Y=W1y=č:=#5)=d;i11   õ>õZõff>iõ@õ ĵ@)ĵj@IĵK@iĵ@m;M=YQU>aEDy+<}>I :U5? :A A  ?9vCL; D;)X:W- մB@W) X1  X1 W1 :W1 2W9 *W9 V9 bU9 BUA *UA UA UM A<@B} )B  B A >*B A X{A A A ="C մB@RC QĿC մB@C }  9 IA Ge >0q,|G}EAY}29J@}2>U:@y}2V}2 k=}2H̿@?a? (?` `{?Ϫ? R?K?)~29J@ ~2b;I~2CɫII)I QIQY@yzGxDUSBL response received:!U1,R,502,000,08182,189,80,80,7F,FF Fpublishing direction and range infof3ɰ)@鰕7> )BIyDw?amf-ٱiӓM=YZQU?aEDy6=}?Iw5?? A ?9C: ?:)W gB@W X XW:W2W*WVbUBU*UU!U%=@P1*Q5DZQ5ah%0@nJQ5w?amf-2Q5f3:Q1bQ5_a5#{o3޲@r˶KRQ5/*B)A-xzA)A)A-="C5gB@RC52C5gB@C9%쮽IG+>Fq,EAY}FeJ@}F:@y}F?7V}FKg=}FH`!/್˿3??`2l?ê? ??)~FeJ@ ~F+a;I~FCɫQQ)Q YIYYq@yLzGi5M5D=Y=d9QU=>99a=E=DAyE<}M>IQU 5?U; UkA ]?9UCUʽ: UQ:)QmAdded new target pos. range: 1951.739990 m, bearing: 102.859425 deg, deltaT: 29.107736 s, approachRate: 65.221832 m/s, LOS rate: -0.546503 deg/s, posRepo size: 4m ProNav: pos range: 1951.739990 m, bearing: 102.859425 deg, approachRate: 65.221832 m/s, LOS rate: -0.546503 deg/s, cmd update: -1.639510 deg/s, cmd heading: 174.525530 deg, new cmd heading: 175.048280 deg. W.B@WX XW:W2W*WVbUBU*UU~@U A?B%5555< 5h,:Y5U1y5:5~59=@B9 B9A=>*BAAyAAAT{="C.B@RCtC.B@C խ=ԭ=ֵA9AIEvGiE@E=AAE@; E—EבIG>q,EAY}VOK@}Vʚ;@y}VU}VBm=}VH@@MKʿR?7?@qqauEuDyy}<}}>Iȁ :ŅV 5? :Ņg7 ƅA ?9ƅʑCDž: ȅM:)ȅY:W^A@WX XW:W2W*WVbUBU*UUU2?Bx@B BAΰ>*BAgxAAA3G="C ^A@RC !iC ^A@C 짽׹IGE>q,ʎEAY}2L@}2Y#<@y}2V}2mbe=}2HN Cɿ`?@*?Q??t??)~2L@ ~20_;I~2Cɫ99)9 9I9Y}@y}zGiET=ME`=YE'$QUM>IIaMEMDQy]<}]>Iae 5?e3 eA m?9eCe#: e/:)aW3@@WX XW:W2W*WVbUBU*UUU?BX B BA>*BAOwAAAW="C3@@RCtC3@@C53 1154 57:Y1y155e=UPz)I9GU>i I! i9 m u9ٺi m *Bq,؜EAY}2pL@}2<@y}2U}2”b=}2HX@iyȿ 8?0?` \?`?E?U?)~2pL@ ~2'_;I~2C9Ii;; E)݉I݉i݉݉݉ݍZ3ɫqy)y yIyY@yzGPowering up0Initializing Micromodem.igAgA M >=Y  9QU >QQaUEUDQy]an<}]>Ia m:e 5? m:e/ eXA u?9e Ce`: e6:)eZ:W?@WX XW:W2W*WVbUBU*UUU`M?BOB BA>*BAuAA!A%="CM?@RCML<CM?@CQ-f侣q,\vEAY}2L@}2<@y}2TV}2j=}2H!``tǿ@ԯ?DA?b?@&Ъ?1?i?)~2L@ ~2(^;I~2Cɫ99)9 9I9Y1@y9{GiU>U>U>iU̬@Q U)Uv@IUv@iU@e;<MmU=Ym QUm>qya}E}DyyIK<}>Iȉō 5?ō, ƍA ?9ƍ)CǍ: ȍU:)ȉW5?@WX XW:W2W*WVbUBU*UUU*N@BB BA>*BAtAAA ="C5?@RC<C5?@C) =99=G =*:Y9y9=5U[1) IA G] >ţq,[EAɫqq)q qIqYH@yU{GiU;MUK=YUQU]>YYa]E](Daye}e>Ii u:m 5? }:m) mA }?9mJCm: m:)m[:Wy>@WX XW:W2W*WVbUBU*UUUC@B^rB BAc>*BAsAAAT="Cy>@RC4=Cy>@C &׹IGD>f>9IDwGi@=QDE; ėEvˣq,,2EAY}:3}M@}:=@y}:@#Y}:e>=}:Hq Oyƿ@??wה?'!?@??)~:3}M@ ~:\^;I~:Cɫ99)9 9I9Y}@y}{G?AI?)?i)Ý= Ý>>Ƚri׳@ K@)@I5@iK@ulMuH=Y}ƺQU}>yaE5Dy <}>Iȑŕ~ 5?ŕ% ƕ:A ?9ƕkCǕӻ: ȕ߼:)ȑW=@WX XW:W2W*WVbUBU *UUU@RB*** querying acoustic contact ***P!P!Be0z Bi BiAua>*BqAuK_rAqAqAu="C}=@RC}s=C=@C Օ>ԕ>EDAAE@ E$:YAyAEY5)E;9Mm;!I1G]2>Aңq,LEAY}2%N@}2>@y}2?Y}2H =}2H` }@ſ@?P?K? ??@?)~2%N@ ~2]^;I~0ɫYY)Y YIYY@y|GZ****** received transponder code query ******F****** received ping request ******!!a%E%BD)y5<}5>I9 E:=|j 5? M:=L" =A M?9=C=; =;)=\:WU<@WQXQ XQWQ:WQ2WY*WYVYbUYBUY*UaUaUe`L( @B B BA>*BA qAAA!="C<@RCq=C<@CI5@A)1]&=IGF>d٣q,eEAY}2%\N@}2w>@y}2ۚX}2u<}2H඄Ŀ¶? -?c=? ?#?/?)~2%\N@ ~2^;I~2CT9TIVwGiVK@V=TTVC; V×Eɫ99)9 9I9Y{@y{GxDUSBL response received:!U1,P 502,000,08182,189,80,80,7F,FF Command AckBRequesting micromodem ping code 2i)iQQ%MB=Y9QU>aEODyX<}>IȱŵT 5?ŵ ƵפA ?9ƵCǵӻ: ȵ#:)ȱW2<@WX XW:W2W*WVbUBU*UUUN @B%(<E EEEG E5:YEWU1yE:E5)E,;B! BA>*BAoAAA="C2<@RC E=C 2<@C֕8=iIyG>2ߣq,EAɫ髙) IY@y{Gi!)15hA }@ }@ }@}©}}i}@} })}X@I}i}@;M=YQU>aEbDy}>Iȩ :ŭI7 5? :ŭk ƭEA ?9ƭڒCǭ: ȭ{:)ȭ]:W3;@WX XW:W2W*WVbUBU*UUU@BB BA>*BA:nAAA\/="C3;@RC0 >C3;@ChAiA֍ '߈=a Ii G >xq,xEAY}23N@}2JO>@y}2rU}2;}2H^ſ.?_?nD?vt??)~23N@ ~2 ^;I~2CɫAI)M MIQYS@yb{GiM=Ye;QUK?aEiDy8}K?I  + 5?  oA ?9 C ɐ< <) W:@WX XW:W2W*WVbUBU*UUU`I@BU(Ba BiAm>*BiAuOmAqAqAu="C}:@RC}>C}:@C-=i-=EE}M=E}EX E+:YEkS1yEԊ:E~59u@!I)G9>ٝhAٝjAܥe>9ܡIܥpxGiܥ@ܥ=ܥRDܡܥ@; ݥEDq,itEAY}2M@}2=@y}25U}2C }2HzK%ƿD?``? (@ۑ˷?G?)~2M@ ~2^;I~2CɫYY)Y YIYY@y{Gi   ;>"[i@ @)@I@i-@}<MH=YruQU>aEvD!y%VZ}%>I)- 5?-U -A =?9- C-: -:))W] :@WYXY XaWa:Wa2Wa*WaVabUiBUi*UiUiUuj@B=pB9 B9A=R>*B9AEwlAAAAAE="CM :@RCm6>Cm :@CqM=!I1GM1>,q,P͏EAY}2YM@}2Tu=@y}2GQ}25˼}2H $o;ǿF? ?`^u K8;?] ?)~2YM@ ~2^;I~2Cɫ99)9 9I9Y@y|G@Aiyy)Å> Á<M@=Y<;QU>aEDyE}5>I9 E:= 5? E:= =A M?9=1C=; =;)=^:W} ?9@WyXy XyWy:W2W*WVbUBU*UUU@.@B=B BAj>*BAjAAA_g="C ?9@RCr>C ?9@C ;>!>EjEEE) E':YEWU1yE:El5=׹IGf>Xq,D1EA$9$I$i$&=$$&G; &ėEY}B L@}B<@y}B1N}B*wC}BH Gb@Suȿ@?@`'?_׬~?dS?)~B L@ ~BP^;I~BCɫQY)Y YIYY@y{GxDUSBL response received:!U1,R,D43,000,04E6D,188,80,80,86,FF  Fpublishing direction and range infoۚ?ɰ?> )CIyDc2?{`?ٱ)!i*~MH=Y;QU>aEDy}>I 5?F bA ?9PC: T:)W8@WX XW:W!2W!*W!V!bU)BU*UUU@s@I5AA)5AAPY*Q]DZQ]tԶۍ@Ҿ"@JQ]c2?{`?2Q]ۚ?:QYbQ]hْ6~} 0@RQ]:4|:4RR%ڿĀA?BQ]Ad@ Q]kQ]$P]r9?P]9?P]oQ]ꝿQ]A"Q]0FBM2BI BIAM,>*BIAUFFiAQAQAU ="C]8@RC}) >C}8@C}@ >1IAG]v>?q,| EAY}:-L@}:eI<@y}:I}:C}:HS`ɿT?@Y?B 51:Y5U1y5:55iQQeiAeiAí=í$>í ií@é ĭK@)ĭIĭ­@iĭ­@<M=Y:QU>aEDy}>I :~ 5? :G ѦA ?9~C: o:)_:mAdded new target pos. range: 1167.120117 m, bearing: 204.117102 deg, deltaT: 5.725275 s, approachRate: -137.044922 m/s, LOS rate: 17.686082 deg/s, posRepo size: 4mProNav REINIT: LOS rate is 17.686082 deg/s. Setting heading cmd to target bearing of 204.117102deg and heading rate command to 0 deg/s.WAd@W!X! X!W!:W!2W!*W)V)bU)BU1*U1U5{<@U5?BePpBa BaAe>*BaAmڜgAiAiAm ="CuN9@RCu=CuAd@CyԍiAԉ >J>׹ I G >hq,EAY}6mK@}6j;@y}6BH}6}6H!@ H˿?1?i#@U?#t?)~6mK@ ~6J_;I~6Cɫ99)9 9I9Y}@y}]|Gi!%HC%a<M5=YE*:QUUH?qi3oGIlAi Aٺ lA 2BaE=DAyE<}E/?IIMl 5?M MA ]?9MCM : M :)IWyWyXy XyWy:W2W*WVbUBU*UUU?BIB BA>*BAfAAAܚ ="C;@RC=CC+>ׁIG=>AE<I9IIMxGiM?@IIIMJ; MƗE)Iiᅉᅩb40 q,4EAY}>i}J@}>:@y}>G}>ѽ}>H =&)'Ϳ?^?``Inި?%`o?)~>i}J@ ~>q_;I~<ɫQQ)Y YIYY@y|Gi m@ m@ m@m©mmimQ@m mj@)iIm@ii}זM}D=Yd:QU>aEDyZ}>Iș :ŝ֭ 5? :ŝC ƝNA ?9ƝCǝ]: ȝ:)ȝ`:WWX XW:W2W*WVbUBU*UUU0?ByB BA>*BAbeAAAW ="CBU>@RCLCC}}}}8 }*:Y}T1y}:}5)};9֥c=aIiG9>}zq,NEAY}:I@}:9@y}:kE}:v}:H Ͽ@;?C?@2R ??`һ?)~:I@ ~:S_;I~:CɫYY)Y YIYY@y/|GI?)?i5.;M5@=Y5:QU=>99a=E=DAyE"}E>IIM 5?M MA ]?9MԓCM: M:)IWWX XW:W2W*WVbU!BU!*UiUqUu@?BB BA>*BAdAAAP ="CGC@RCCCI=IG>q,shEAy9yI}8yGi}@yyy}@; }EY}NWH@}Nқ8@y}NOB}N&}NH`5пyÉ?A?rQ??)~NWH@ ~NT~_;I~NCɫ髹) IY@y{GiCMP=Y):QU>aEDy&}>I' 5? A ?9C¿: :)WWX! X!W!:W!2W)*W1V9bUABUA*UQUYUe?}}{}{}B }1:Y}#R1y}:}5)};BpB BAA>*BA/bAAA ="CH@RCyCC֥I=YIiGZ>} q,@MEAY}6G@}6g7@y}6L?}6 }6H@ Yѿ ҁ? ?@¿ߧ?``\?)~6G@ ~6ga;I~6CɫII)I IIIY] @yeF|G   h>=i@ @)I­@i%|<M%V=Y%;QU->))a-E-D1y=}=>IA M:Ep 5? M:E E;A M?9ECE: EM:)Ea:WiWqXq XqWq:Wq2Wy*WyVybUyBUy*UUU@B]ϼB1 B1A5>*B1A5;aA9A9A= ="CE(vDRCE CACA-\|=I5hA)5hAIG )>&q,@1EAɫ) IY@y|Ga=ɮ%Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 U2Powering down loadControl UUI])]iemJNo DVL communication! Re-initializingq (Communications Faulta  a  a  a  a  =M@=YQU>aEDy}>Ișŝ%Z 5?ŝ ƝA ?9Ɲ7CǝB: ȝU>)șWAWAXA XAWI:WI2WI*WIVIbUQBUQ*UQUQU]@uuuu u+:YuT1yu:u59}@RB*** querying acoustic contact ***PPB\B BA>*BA`AAAI ="CRCCC)d>9IyGi@==; E<I-$bCommunications Fault in component: RDI_PathfinderGj>,q,EAY}2irF@}26@y}20}2}2H`pҿT?;?~Q¿ ?Ψ?)~2irF@ ~2;n`;I~2Cɫ99)9 9I9Y}h@y}|GZ****** received transponder code query ******F****** received ping request ******aEDy*}>I :C 5? :~ A ?9[C5: ed?)b:WWX XW:W2W*W!V!bU!BU!*U)U)U- @BRA߼B BAp>*BA%՚^A!A!A%- ="C-}Y8RC)C)C15%) IG5>3q,ϐEAY}F)>F@}FY6@y}F(}F }FH@'ҿ@Cn?@L`P¿.?൫?)~F)>F@ ~F;`;I~FCɫq})y yIyY@yT|GxDUSBL response received:!U1,P D43,000,04E6D,188,80,80,86,FF Command AckBRequesting micromodem ping code 2iM=Y{;QU?aEDy&}?I&4 5? #A ?9tC: @?)W)W)X) X)W):W)2W1*W1V1bU9BU9*U9U9U= @Bm|Bi BiAmY>*B1A5]A1A9A= ="CE5RCACACIEtu=iu= *:YV1y:5IG-,> 9 yCI zGi 2@ = ;; E9q,EA|i|@Y}2i[F@}2v6@y}2|0}28}2HǢ`|ҿaEDyi;}>I 5? nA 5?9Co; ?)WyWyXy XyWy:Wy2W*WVbUBU*UUU@@B?ԼB BA>*BAl"\AAAj ="C 1RC C C =>I$dClearing failed state for component RDI_Pathfinderq G J>@q,EAɫ) IY@y3}G)!    ?'=i@ @)I@i@E;M8=YQU>aED y }>I 5? A %?9C: (@)WAWAXA XAWA:WI2WI*WIVQbUQBUQ*UQUQU]W@B HȼB B!A%>*B!A-ZA)A)A-~ ="C5s.RC1C1C97 ~~; :YT1y@:G5֝qIyG>Gq,vpEAY}6"G@}6%>7@y}69}6}6H 3ѿ?@?;?n:?)~6"G@ ~63a;I~6Cɫ99)9 9I9Y]@y]J}GIu@A)u@A܉9܉I܉i܉܍=܉܉܍3; ݍE-ň;M5=Y599a=E=0DAyE<}E>IIMP 5?M MA ]?9MCM: M%@)IWyWyXy XyW:W2W*WVbUBU*UUU @B ޼B BA>*BAXAAAId ="CC+RCCCB I G% >1Mq,W7EA|;|;Y}N)G@}N7@y}N}N/}NHLѿP?i%G@! %-@)%@I%@i%-@5ب<M5=Y5[*BA-vXA)A)A-D ="C5*RC9C9CAM6uuuu u3:YuDW1yuY:u75)u;99IIGe4>Tq,&QEAY}2,*H@}2E8@y}2q޼}2 }2H@`пi??` "Jڛ?@n?)~2,*H@ ~2T;I~2Cɫ=9)9 9I9YC@y}GxDUSBL response received:!U1,R,D36,000,05081,189,80,80,4D,FF Fpublishing direction and range infoV?ɰ ?鰥7> )BIyD`W?}^?ٱ<MN=Y;QU>aEDD y <} >I 5?k A %?9C: N@)WIWIXI XIWQ:WY2WY*WYVabUaBUa*UiUiUm^@P*QDZQTm@F+#݅@JQ`W?}^?2QV?:QbQ2W!Glsz{4@RQ .k_"Hh*dֿ=x?BQ'`@ QQ5P՜9?Pr9?PQoQA"QABB BA>*BAVAAA2 ="C!F+*C+=RCCC֍"fAIQGm5>iU nGIm;mAiy ;ٺ;mAh-B܁ 9܁ I܅ yGi܅ @܁ ܁ ܁ ܅ :; ݅ E)eyCIeyCiaaae4}AZq,kEAY}J,I@}JVi@ ?@)^@I@iK@-Г<M-,=Y-;QU5>11a5E5TD9y==}=>IA M:Eȵ 5? U:EI EӪA U?9E?CE-: Em@)Ec:m=imp=} }}} }-5:Y}T1y}:}5)}‘;m}Added new target pos. range: 1199.040039 m, bearing: 200.673485 deg, deltaT: 5.595800 s, approachRate: 5.704264 m/s, LOS rate: -0.615393 deg/s, posRepo size: 4m ProNav: pos range: 1199.040039 m, bearing: 200.673485 deg, approachRate: 5.704264 m/s, LOS rate: -0.615393 deg/s, cmd update: -1.846180 deg/s, cmd heading: 204.117102 deg, new cmd heading: 204.117102 deg. Wic@WX XW:W2W*WVbUBU*UU)@Ub?BrB BA~>*BATAAA+ ="CQ-RCCic@C יIGb>H/aq,EA|,i|.@Y}zoJ@}z:@y}z}z(?=}zH`.w̿@)? >?)? aE`Dy_=}>Ișŝ 5?ŝa ƝA ?9Ɲ^CǝZ: ȝЂ@)șWS8b@WX XW:W2W*WVbUBU*UUU{?B-!B1 B1A5>*B1A5CSA9A9A=c! ="CEb/RCACES8b@CImƂIIQGmy>Sgq,EAY}VL@}V!<@y}V\}V^=}VHW fɿMR?@Ǯ?Eq? ?@ ??)~VL@ ~Vn;I~VCɫqy)y yIyY]@y}Guuuu uy0:YuDW1yuY:un59}@MjAMiAUc>9QIU8yGiU@U=QQUA; UE5jA5jA;M=Y[:QU>aErDy%(=}>IN 5? eA  ?9C6~; b@)W= Ya@W9 X9  X9 W9 :W9 2WA *WA VA bUA BUI *UI UI UM G?B} sѼBy  By A} >*By A OnQA A A + ="C d1RC C Ya@C } Q Ia G} >Ǒmq,긑EAɫ髱) IY@y}Gõ>õ?õiõ­@ñ ĵ)ĵj@Iĵv@iĵv@0M=YQUL?aEyDy}Q?I~y 5? A ?9C: @)W 2`@W X  X W:W2W*WVbUBU*UUU%B?BMiBI BIAU>*BQAUXPAQAYA]+ ="C}1RCC2`@CI=AA)=?AuQIYG}Y>utq,)ґEA||Y}J4N@}J>@y}J4Ǽ}Jq9>}JHÿM?@nd?Z@6??:?n?)~J4N@ ~J'Px;I~JCɫ髹) IYo@y}GR<MK=Y,%QU>aEDy=}>Id 5? A ?9Cа: ި@)W_@WX  X W :W 2W *WVbUBU*UUUY@BmRBi BiAu>*BqAu?OAqAqAu ="C}X2RCyC_@C] ]]] ]$4:Y]W1y]č:]5֝_ⅾyIG]>! 9! I% xGi% ?@% =! ! % N; % ǗE؞zq,EAY}6@O@}6@@y}6'LѼ}6->}6H`h`L??_?`(?S?`?)~6@O@ ~6m;I~6CɫAA)A IIIYd@y}GpNmea in: $CATMG,2021-08-14T01:20:07.002211Z,RTC,RTC*58 Response from modem unexpected: $CATMG,2021-08-14T01:20:07.002211Z,RTC,RTC*58 )q u>h>Z/aEDy1=}>I!%3M 5?%M %A -?9%C%N: %&@)!WU^@WQXY XYWY:WY2WY*WaVabUaBUa*UiUiUm`B@BGB BA->*BA6MAAAP ="CED3RCACE^@CI ]>]=U]?i]?1I9GU>뇁q,kEAY}VqAQ@}V\A@y}Vڼ}V>}VH@\ක???m?!U? #??)~VqAQ@ ~Vxe;I~VCɫ髑) IY8@y}G@A5߀M5m=Y=ZQU=?99aEEEDAyMr=}M?IQU; 5?U U6A ]?9UCU: U-@)QW}`%^@WX XW:W2W*WVbUBU*UUU߬@RB*** querying acoustic contact ***PPBl B BAf>*BAiLAAA ="CT3RCC`%^@Cm=ima=}E}}} }$:Y}WU1y}:}I5סIGA>q,A EA|i|Y}6 R@}6B@y}6H漙}6>}6H4.@[?݄?āa?@ Ȝ?B&?`?)~6 R@ ~6 b;I~6Cɫ99)9 9I9Y]@y]R~GeZ****** received transponder code query ******eF****** received ping request ******eaEDy7~=}>If& 5? qA ?9C: @)W%\E]@W!X! X!W!:W!2W)*W)V)bUIBUi*UqUqUu! @B(_B BAE>*BAJAAA ="CY4RCC\E]@Cb>9I xGi@@; E׹IG k>ڍq,.:EAY}JЏT@}JKD@y}J);}J߀>}JH9`{?@??.? 9?@Ȣ?)~JЏT@ ~J_;I~Hɫ髙) IY%@y}GxDUSBL response received:!U1,P D36,000,05081,189,80,80,4D,FF Command AckBRequesting micromodem ping code 2iiA-j?-+=-i-@) -@)-5@I-@i-5@=,MEC=YE嫻QUE>IIaMEMDIyU+=}U>IY]V 5?] ]A e?9]AC]: ]@)YWKz\@WX XW:W2W*WVbUBU*UUUF @BeBi BiA>>*BAjIAAAU ="Cj5RCCKz\@C}b}}} }9':Y}DW1y}Y:}5)};9ֽyIG^>”q,fSEAY}2N\V@}2wF@y}2Y3 }2\>}2H@ <??fTz?`E?@٧?ϣ?)~2N\V@ ~2(^;I~0ɫAA)A AIAYyɮR=YeQU>  a E DyY=}>IM 5? A -?9aC: @)WMC[@WIXI XIWI:WQ2WQ*WQVYbUYBUY*UYUYUeI(@BKB BA*BAuHAAA^ ="Csv6RCCC[@CIi)mAA סIGA> a>9 I i <; E;q,mEA|4|64} Hyw`?@ή??@?@?6?)~ X@ ~ ^];I~ Cɫ!!)! !I!YU@yU}G=9ziG@ @)@I@iv@MaEDyu=}>I3 5? 6A  ?9C: @)W5Z@W1X1 X1W1:W92W9*W9V9bUABUA*UAUAUE @Bu>B BAQ>*BAFAAAi ="C[7RCC%Z@C)55 55uuuu ud0:YuV1yu:u$5)u;i~?שIG>ԡq,ͭEAY}2Y@}2I@y}2D%}2>}2H l? ţ??`5?N?`˟?)~2Y@ ~2Zk];I~2Cɫ99)9 9I9Y}@y}N}G)Õ= Õ=oMb=YQU>aEDy=}>IȹŽ 5?Žį ƽsA ?9ƽCǽ: ȽA)ȹWUZ@WX XW:W2W*WVbUBU*UUU V@B-B) B)A5>*B1A MEAAA ="Ca8RCjCUZ@CIG> i ]nGI i M ٺI M ABq,EAY}J[@}Jr"K@y}J7}JB>}JHs?ja? e?@?3?`g?)~J[@ ~JG];I~Hɫ髹) IY@y}G)J7M8=Y#QU>aEDyR=}>I8 5?$ A ?9ŖCа: 4A)W%Y@W!X! X)W):W)2W)*W1V1bU1BU1*U1U9U=@@Be.Ba BaAm>*BiAmCAqAqAuz ="C}9RC}=C}Y@CyIm=im=}yy} }*,:Yyyy}59}@مiAف܍`>9܉I܉i܉܉܉܉܍C; ݍE)Ii4I)GE0>(q,(dEA|i|@Y}61\@}6L@y}6J}6x2>}6Ht@;?9?.aKJ?`7T?ȴ? ϯ?)~61\@ ~6k];I~6Cɫ99)9 9I9Ya@y|G  jA ]@ ]@ ]@]©]]i]p@] ]j@)]Ը@I]j@i]j@mMm=YmQUm>yya}E}Dy9=}>Iȉō 5?ō ƍ#A ?9ƍCǍ: ȍA)ȉW#W@WX XW:W2W*WVbUBU*UUU`"U@RUB*** querying acoustic contact ***PQPQBE~B BA>*BAAAAA="C):RC,x C#W@CIiA)iA I G >q,?ՒEAY}^py^@}^N@y}^lUZ}^=}^Hʎ?`?8 K?^G?~? ?)~^py^@ ~^I];I~^Cɫ髙) IYE@yE|Gm=Mm=YmQUm:?qya}E}Dyy=}:?Iȉō 5?ō ƍPA ?9ƍCǍ: ȍA)ȉW|wW@WX XW:W2W*WVbUBU*UUU J@Bp%B BA>*BAAAAA(="C 8:RC 6/C |wW@C}}}} }+:Y}U1y}:}5AסIGA>m a>9i Im pxGim @m =i m Dm ;; m E;q,EAY}UP`@}UkP@y}USGg}UE>}UH 4?? dR؂??@ ? 6?)~UP`@ ~U];I~UCɫ11)9 9I9Y@y%}G   .>m=ti3@ X@)@I@i@ <M @=YQU>aEDy%=}%>I)-Mx 5?- -A 5?9-(C-: -A))WU{V@WYXY XYWY:WY2WY*WaVabUaBUa*UaUiUm@L@BB BA>*BA ?AAA!="C9;RCVIC{V@CIm@A)i֍C|wAIQGm5>"¤q,EA||;Y}Fa@}F R@y}FhTs}FV>}FH`!?E? `b@c?e?w?@Z?)~Fa@ ~Fj];I~DɫYY)Y aIaY1@yt|GR7MO=YQU>aE!Dyӄ=}>I_c 5? A ?9HCض: !A)WU@WX  X W :W 2W*WVbUBU*UUU@BE0BI BIAM>*BIAMY>AQAQAU="C]X<RC]`;C]U@CY- J5?i5?uu}u}u u,*:YukS1yuԊ:u%5!I)GM1>LȤq,"EAY}6\c@}6 xS@y}6D}6E>}6H @[?n?Ŀ@C?@?@m???)~6\c@ ~6ݮ];I~4ɫ99)9 9I9Y@y|G)=MM=Y7QU>aE.Dyb=}>Iȱŵ8N 5?ŵ Ƶ;A ?9ƵhCǵR: ȵb(A)ȱWT@WX XW:W2W*WVbUBU*UUU)@BWB BAs>*BAX<AAA+="C*=RC9G=CT@CjAjA  <9IxGi?@=H; —E2IG%M>vΤq,i}:H`f?b?#ǿu*? K? >??)~:0d@ ~:M];I~:Cɫaa)i iIqY@y}Gm=im=}yy} }Y1:Yyyy}H5 @ @ @©i@ )@Ij@i@!;M =YQ޻QU>aE@Dy ( =} >I/ 5?B A ?9C : 1A)W*BI AU :AQ AQ AU ="C] ze>RC] =C] `bդq,SVEA| i|"@Y}Jke@}JU@y}J}J=}JHFP}?Z? lɿ E)9?S?o??)~Jke@ ~J'];I~Hɫ髑) IY@y}G=M=YNQUV?aEGDy =} V?I$ 5?9 ܯA ?9C : 4A)WaLS@WX XW:W2W*WVbUBU*UUU 2 @B=(B=y< B9A=>*BAAEo3:AAAAAe="CmS>RCmJ>CuaLS@Cq}ϰQIaG}Y> 9 I 8yGi @ = M; ėEۤq,vpEAY}=g*h@}=EX@y}=Cޛ}=p=}=Hs?~Щ?` ο S?v??@?)~=g*h@ ~=];I~=Cɫ  ) IYM@yM|GeNmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  {{ 4:Y#R1y:5)5;9       L ^:> >i \@  d@) ­@I @i ­@U׼M}=Yt7QU>aEXDy=}>IșŝV 5?ŝW ƝMA ?9ƝҗCǝ$: ȝR=A)șW @R@WX XW:W2W*WVbUBU *U U U `5!@R]B*** querying acoustic contact ***PYPYB}By BA>*BAu8AAA\="C?RCaB>C @R@C =>YIG>rq,tEEAɫqq)q yIyY@y}GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 56Nmea out: $CCCFG,ALL,0*33 )= >26=Mm=YQU?aEcDy}?Iȩŭ 5?ŭ` ƭA ?9ƭCǭݱ: ȭBA)ȩWQ@WX XW:W2W*WVbUBU*UUU!@B8B BA>*B!A%O7A!A!A%="C-@RC-L>C5Q@C1IeAA)e@A^ӼIGL>q,UEA||Y}>i@}>4Y@y}>}%}>ͳ=}>HH/V?e?Ͽ/?]?``? 3?)~>i@ ~>h`];I~>CɫYY)Y YIaY@yd~GeSetting waiting for range response to false due to timeout. Elapsed:6.091713}4Nmea in: $CACFG,ALL,0*31 }6Nmea out: $CCCFG,SRC,1*31 .[=MW=YݻQU>aEoD y=}>Is 5? A %?9 Cc: HA)WMeP@WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYU]ۥ"@ٵjAٵjAܽ`>9ܹIܽzGiܽ2@ܽ=ܹܹܽD; ݽEBGB BA2>*BA5AAA.="C%P\ARCEo>CMeP@CI} }~}~} }3G:Y}T1y}@:}I5)}T;E=5<IGM>)q,VEAY}6i@}6Y@y}6}6l=}6HE?c[?8п?@ ?+?`?)~6i@ ~6p];I~6CɫYY)a aIaYu0@y}~G4Nmea in: $CACFG,SRC,1*33 VNmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64 +=/>H>i=@ )5@I5@i5@5=M=D=Y=QU=>AAaEEE|DIyM<}}>Iȑŕ 5?ŕſ ƕJA ?9ƕ.CǕ: ȕOA)ȑWO@WX XW:W2W*WVbUBU*UUUK#@BWPB BA>*BA=4AAA7="C;BRC >CO@Cѥu<ԩԩ}Ԙ=QIaG{>Sq,דEAY}:i2j@}:MZ@y}:G}:2m=}:H`7@c?@s?п@O?B? V??)~:i2j@ ~:B];I~:CɫYY)Y YIaY@yW~GTNmea in: $SNTTA,0.026852,,,,012014.89*4C CFG response from modem unexpected: $SNTTA,0.026852,,,,012014.89*4C #Mb=YлQU>aED y 4<}>I! 5?P A -?9KCB; ZUA)We(O@WaXi XiWi:Wi2Wi*WqVqbUyBU*UUU@5$@B7B BA>*BAH2AAAeT="CBRCC(O@CiU3oGIi}=i}p= /:YWU1y:59@i!ٺBѵw<֕| =IםhA)יiIyG>ܽ _>9ܹ Iܽ {Giܽ x@ܹ ܹ ܹ ܽ <; ݽ E)AIAiAE=E=E^ 5q,EA|i|Y}Zh{j@}ZZ@y}Z@}Zs]=}ZH?`= ?O?ѿ )?}??@?)~Zh{j@ ~ZT];I~ZCɫ髑) IYz@yCGŵ>Åף>ÅKiÅQ@Á ą;@)ąK@IąK@iąK@b=M@=Yu_QU>aEDy1,<}>Iȩŭ, 5?ŭo ƭA ?9ƭmCǭ: ȭ\A)ȩW}JN@WX XW:W2W*WVbUBU*UUU %@B\B BA>*B!A%W1A!A!A%_="C-9CRC1C5}JN@C199)9 9֥>ׁ I G >q, EAY}F5j@}FPZ@y}F}F-=}FHh+8??2? п@`e?wj?T4? ?)~F5j@ ~FG`;I~Dɫyy)y yIyY@yG<MU=Y;QU>  a E Dy^5}%>I!%- 5?%> %XA =?9%C%{<; %LbA)!Wm}M@WqX XW:W2W*WVbUBU*UU U%@Bl"B BA>*BA^/AAA5<"CDRCC}M@C}Syy} }&:Yyyy}5 >IGK>q,_%EAY}Fi@}F Y@y}Fէ}Fj <}FHp?#?Wп@͝? ?*? 8?)~Fi@ ~Fsd;I~FCɫ51)9 9I=Yu@yu_Gyɮ}a=TNmea in: $CACFG,nav.dt.txtrig_gpio4,1*66 LNmea out: $CCCFG,pwramp.txlevel,0*2F Y]<i9iIm|Gimk@m=iim>; i5 M=+=Im@A)mAAYEXw;QUm>qqauEuDyy}a}}>IȁŅ)x 5?Ņ ƅȲA ?9ƅCDž < ȅ,jA)ȁWkL@WX XW:W2W*WVbUBU*UUU9&@R-B*** querying acoustic contact ***P)P)Bm MBi BqAu>*BqAu~-AqAqAuv<"CERCCkL@C7@>שIG>q,DN?EA|"4<| Y}B.h@}BX@y}B}B㸼}BH??S&?<οZe\?< @?)~B.h@ ~Ba;I~@ɫQQ)Y YIYYv@yaE=DAyMW}M>IQUic 5?UA U$A ]?9UӘCmmmi m*:YmDW1ymY:iUl: UlpA)QW٩K@WX XW:W2W*WVbUBU*UUU@'@B=-BA BAAE#?*BAAEDA,AAAIAM-<"CMuFRCQCU٩K@CqU,i>IG=r>kq,<YEAY}6Pg@}6kW@y}6v}6],h}6H@?؀?c̿-X{ͳ?P묿`U?)~6Pg@ ~6a;I~4ɫYY)Y ]IYY@yGxDUSBL response received:!U1,P D36,000,05081,189,80,80,4D,FF Command AckBRequesting micromodem ping code 2i6Nmea in: $CACFG,DTO,30*1C >Nmea out: $CCCFG,FC0,14500*47 I5C=)5=u<Mu=YuB;QUu>yya}E}Dy }>IȉōG 5?ō ƍA ?9ƍCǍE: ȍyA)ȉW }J@W! X!  X! W! :W! 2W! *W) V) bU) BU) *U1 U1 U5 (@U ^>9Q IU L~GiU @Q Q Q U 7; U EB} z(By  B A M?*B A )A A A H<"C 9GRC C }J@C ԡ ԡ ֽ g>ב I G >rYq,sEAY}2e@}26V@y}2 !}2}2H@?{? ɿ ?&?@շm?)~2e@ ~2;I~2CɫAA)A EIAYur@yu׀Gyy)I9Gew> ?#q,EA|aEDy}>I& 5? 3A ?91CԳ: A)Wm1I@WX XW:W2W *WVbUBU*UUU%)@BpB BAm?*BA\'AAA <"C GHRC C m1I@C1 IG5>0f)q,HlEAY}:b@}: R@y}:!\}:H&}:Hry?{ͷ?dÿBÿ@?Ŀ n?)~:b@ ~:";I~:Cɫ9A)A EIIY}@y}G4Nmea in: $CACFG,BND,0*38 RNmea out: $CCCLK,2021,08,14,01,20,19*43 ܩ9ܩIܭxGiܭ@ܩܩܩܭ6; ݭE MAMA)]= ]=&<M==Y4aEDy}>Iȩŭ8 5?ŭ ƭA9ƭTCǭ< ȭA)ȩEEEE E.:YEU1yE:E5)E.;W%שIG>N0q,EGEAY}6s`@}6Q@y}6㊽}6<}6H@ ?$?@C@:ƿ`X?5jǿb?)~6s`@ ~6Ga;I~6CɫAA)A IIIY} @y7GLNmea in: $CACLK,2021,8,14,1,20,19*41 VNmea in: $CATMS,0,2021-08-14T01:20:20Z*7B I ) ]UOutgoing frame #1, 60 bytes: CC101761190000005D00000400260000000000000000151D80030C5669C08C79986C18AF461B433D3E0F45E5A65DAC12CA965C757CEE643C42879C00]DNmea out: $CCCYC,0,1,10,1,0,1*69 ) > u= i ½@  @) @I @i @ <M% =Y% .t;QU% >) ) a- E- D1 y5 M}5 >I9 = =5?= m = A M ?9= C= |: = A)9 Wm (G@Wi Xi  Xi Wq :Wq 2Wq *Wq Vq bUy BUy *Uy Uy U +@R B*** querying acoustic contact ***P P 1(  P pAggregate::uninitialize lineCaptureDepth:MicromodemCommsq( P Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn( B 9лB  B A ?*B A "A A A <"C (G@RC :>C (G@C ?΅> I G >k6q,ܔEA|;|Y}F^@}F3O@y}F]}FJ}FH ;6?n0?﷿oFMȿ)߰? ["ɿYN?)~F^@ ~F;I~Dɫqq)q uIyY@yGEzNmea in: $CATMG,2021-08-14T01:20:20.028409Z,USER_CMD,RTC*1B EResponse from modem unexpected: $CATMG,2021-08-14T01:20:20.028409Z,USER_CMD,RTC*1B MBNmea in: $CACYC,0,1,10,1,0,1*6B 3 -:Y0Y1y:59@_>9IGi;@ =>; E0v=MF=Y;QU>aEDy}>IU5?> wA9C$1;  A)Wu GF@Wq Xy  X W :W 2W *W V bU BU *U U U= @,@B )B  B A ;?*B A  A A A j<"C GF@RC ́p>C GF@C 7J>ס I G >=q,lEAɫ髑) IY*@yGNNmea in: $CADRQ,012020,1,10,0,64,1*77 UNmea out: $CCTXD,1,10,1,CC101761190000005D00000400260000000000000000151D80030C5669C08C79986C18AF461B433D3E0F45E5A65DAC12CA965C757CEE643C42879C00*32 IA)AIE=)Aaa @ @ @©i@ Ը@)@I@i@<Mz=Y%QU%?!!a-E-D)y5}u?Iy}E5?} }ĵA9}C} : }A)yWE@WX XW:W2W*WVbUBU*UUU y|-@BET<BI BIAM?*BIAMAIAQAU-<"CuE@RCumԀ>C}E@CymY>IIqG>Dq,3EAɫ髹) IYym= mt=)iIiyml?kt?S㥛?m?m 0=m/< m@)mAIm^@imAimAYQU>aE'Dy}>Iȡťy5?ť ƥA M?9ƥڙCǥƱ< ȥ<)ȡW>D@WX XW:W2W*WVbUBU*UUU 9.@B%;BA BAAA*BAAM;AIAIAM<"CU>D@RCU >CU>D@CYIMRCinGIlAi!UWٺUlAUA֕0p>ױIq G >Jq, -EA9IGi@9; E)Ii=4|4i|6@Y}VorY@}VI@y}Vt}VO@i}VH! xo?@u-̿'?r̿%?)~VorY@ ~V€;I~VCɫ髡) IY@yfG    @ @ @ÙÙÙiÝ@Ù ĝj@)ĝ@Iĝiĝ =MaE3Dyg}>I :5? : A ?9C; :)d:W]{D@WaXa XaWa:Wa2Wa*WiVibUBU*UUU.@BK;B BAA?*BAPhAA A @G<"C{D@RC7(>C{D@C?{>IGE>CQq,|FEAY}JW@}J&G@y}J5o}JFu}JH@j `४?H?iοnޭ?Pο`?)~JW@ ~Jr;I~JCɫ髉) IYi@yG=MW=Y-s;QU>aE?Dy} >Iԑ5? ;A ?9C@: n:)==== =z.:Y=T1y=:=5W]TC@WYXY XYWY:WY2Wa*WaVabUaBUa*UiUiUm¬/@B4B<B BA ?*BAAAA}<"CTC@RC 5>CTC@C ս=Խ=m?΅>u?iu?AIQGm>Wq,L`EAY}:fU@}:F@y}:>b}:#w}:HӃ`?k?O`ο@rV?ο@`?)~:fU@ ~:Sj;I~:Cɫ99)9 =I9Y}@y}G鮅a=ɮ<<MP=Y;QU>aELDy}>IȹŽ<~5?Ž; ƽbA ?9ƽ1CǽǺ: ȽY:)ȹWq|B@WX XW:W2W*WVbUBU*UUUP@0@B>;B  B A !?*B A-aA1A1A5<"C=q|B@RC=~ >C=q|B@C9%>I %^>9!I%Gi%"@%=!!%G; %EGEQ>]q,zEA|,|.4AAaEEEZDIyMh}}M>IQ ]:Usg5? ]:UP UA e?9UTCU: U+:)Ue:WA@WX XW:W2W*WVbUBU*UUU`40@RB*** querying acoustic contact ***PPB;B BAf&?*BALAAAG<"CA@RCg=CA@C7y>IGI>dq,zEAY}2cR@}22B@y}2-H}2Pq}2H 5d ^?.?"Zο@(? Ϳ?)~2cR@ ~2|c;I~0ɫYa)a aIaY}@y}WGa i]@a ] a m]@a ] a q]@a ] a ee@a e a Ie@a e ]K7?Q?+η]I>]u= ]v)YIYi]Mb@Mb@Mb@]©]] ])]I]i]]]}=MW=YCaEfDy }>Ișŝ}T5?ŝ ƝA ?9ƝpCǝ_: ȝ'>)șW ?@@W X  X W :W 2W*WVbUBU*UUUG1@B1<B BA)?*BAAAAټ<"C?@@RC=C?@@ChAhA֭jM>Iױ)׵gAׁIG=> iA gA% ]>9! I% FGi% @% =! ! % R; % ėE kq,YEAY}UP@}U@@y}U4R?}U+u}UH`mߎ?"?@Uο ?Pο ?)~UP@ ~Ua;I~UC5=i5p=EEEE E|,:YEDW1yEY:E#5)E@;ɫ髱) IY8@yǃG    @ @ @ñññiõQ@ñ ĵ@)ĵ@IĵG@iĵ@XK=M7=Y;QU>aEuDy\}>I :=>5? :_ ڶA ?9C: S?)f:W?@WX XW:W2W*WVbU!BU!*U!U)U- 1@BU2<BQ BQAU1/?*BYA]?AYAYA]<"Ce?@RCe@=Cm?@Ci}>J>9IIGeV>qq,0ȕEA|i|@Y}6ZO@}6%v?@y}6~5}6ޡr}6H Rÿ5~?1?kο H?9οH?)~6ZO@ ~6?`;I~6Cɫ99)9 9I9Y}d@y}GSetting waiting for range response to false due to timeout. Elapsed:6.145230eLx<Med=Ye;QUe>iiamEmDqyuD}u>Iy}h,5?} }A ?9}C}B: }?)yW%?@WX XW:W2W*WVbUBU*UUU1@B <B BA0?*BAAAA.<"C%?@RCEݜ=C%?@C D >I G-->xq, EAY}JM@}Je>@y}JMM(}J$i}JH U՘ƿ@?@? `umͿ%? @̿$?)~JM@ ~J_;I~JCɫ髙) IY@yG U<MP=Y>!!a%E%D)y-mk}->EB EEE E9:YEU1yE:E59M@IIM5?MV MA ]?9M̚CM: M?)IWIJ>@WX XW:W2W*WVbU BU *U U U5-I2@BuT_<By ByA}2?*ByA} AAA@1<"CIJ>@RCʭ=CIJ>@C ս=Խ> >[>9I܂Gi@T; ŗE?i?IG|>"H~q,EAY}2L@}2<@y}2 }2[}2H%a`ɿHt~?g˿ @?L?˿ Q>?)~2L@ ~2w `;I~2CɫYY)Y YIYY@yG:Nmea in: $CAACK,10,1,1,1*7B MNmea in: $CACST,6,0,20210814012023.876968,06,32767,45,0106,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,25.8,6.58,14,-3.58,-01,0.06,43,14500,4000*60 - - --j=-z-i-f@I5AA)1- -Ը@)-@I-@i-@E"MEG=YM IQaUEUDYy]Q}]>Iael5?e e;A m?9eCe>: e?)aW?|=@WX XW:W2W*WVbUBU*UUU`2@BLw<B1 B1A=1?*B9A= A9A9A=<"CE?|=@RCEGYe=CM?|=@CIM= IG5->%2q,EA| |";ɫ) IYM@yMBG " I:YWU1y:5a ia i a ma m a qa q a ea e a I a I  Cl? ףp= ? ףp= ??Q8= Q8=)IyPn?Q?Mbp$?< v@)AI@iQAGA%=M%==Y-QU->11a5E5D1y=}=>IA M:EE5? M:E{ EGA U?9ECEv: E:)Eg:W<@WX XW:W2W*WVbUBU*UUU-@3@BuZZ<Bq BqAuq5?*BqA}[CAyAyA}RO<"C<@RC×=C<@C֝ =YIaGY> 9 xCI @Gi [@ Y; ǗE]q,v/EAY}MuJ@}MX:@y}M~}M3G}MH `+ &̿}k?@΍ ~ȿ`?@ȿb?)~MuJ@ ~MBV`;I~MCɫQQ)Q QIQY@yG.>V>iG@ )Ը@IԸ@i @c0=MM=YaE D y[}>I5? OA %?9/Cӻ: :)WE;@WIXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU]3@ReB*** querying acoustic contact ***PiPiB:<B BA9?*BAp AAA<"C;@RCA=C;@CԵjAԵkA֥_=IץiA)ץiAaIiG9>Aq,KxIEAY}2I@}2t9@y}2aʼ}2+5?}2H`:Vο3`@D?`jPǿS?`Jǿ@#o?)~2I@ ~2„`;I~2CɫYa)a aIiY@ÿ́GZ****** received transponder code query ******F****** received ping request ******aEDyμ}>I5? TA %?9PC : 8:)WM:@WIXi XiWi:Wq2Wq*WqVqbUyBUy*UyUyU}3@B-(<B1 B1A5im 3oGI mAi A %ٺ mA eB2lq,ScEA|i|ɫ髹) IY_@yGxDUSBL response received:!U1,P D36,000,05081,189,80,80,4D,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!=MuR=YQU>aEDy}>I :{5? :Y YA -?9qC; U<)h:Wh:@WX XW:W2W*W V bUBU*UUUa^4@mZ>9iImrGim@m=iim[; i)IxCi==$5BS<B BAo@?*BAAAA%<"C5h:@RC]u=C]h:@Ca Ս=ԍ=֥ mY=׭ ?i׭ ?ס I G >Mq,.}EAɫ髙) IY@yaG Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B u=iu= -:YX1y/:5)Z;9uV>uPuiu@q u@)u@Iu@iu@=M:=YQU>aEDy}>Iȡťז5?ťi ƥ_A ?9ƥCǥ: ȥ?:)ȡW><9@WX XW:W2W*WVbUBU*UUU4@B =<B BAD?*BAAAAs<"C%><9@RC%`=C%><9@C֥np=yIG k>q, EAɫ) IY@y_GxDUSBL response received:!U1,R,502,000,004CC,189,80,80,89,FF %Fpublishing direction and range infof3ɰ2= ) CIyBw?amf-ٱIQ)UBA?~jt?Q??< u=)IyK7A? rh?:v? "?C<T< @) AI|@ibA(@RMU=YQU>aEDy}>Iȡ :ť5? :ťu ƥtA ?9ƥCǥ: ȥ`:)ȥi:Wvf8@WX XW:W2W*WVbUBU*UU U @b$5@P*QBZQûb/@*ίZE@JQw?amf-2Qf3:QbQeY~A&-EaA@vQ@RQE-)K˿;?`l~?BQ7? Q BQP(9?P՜9?PQQLSA"QABdi<B BAC?*BAAAA)<"Cvf8@RCq=Cvf8@C̓=ױIG>] jA] jAa 9a Ia ia a a a e `; e ɗEq,3EA|j4<|j4nR}=i3@ ?@) @I@i @%;M%6=Y-'=QU->))a5E5D1y=a}=>IAE|k5?E EA M?9EכCEY: E#:)AmAdded new target pos. range: 36.180000 m, bearing: 102.514849 deg, deltaT: 21.144068 s, approachRate: -54.996986 m/s, LOS rate: -4.642372 deg/s, posRepo size: 4m ProNav: pos range: 36.180000 m, bearing: 102.514849 deg, approachRate: -54.996986 m/s, LOS rate: -4.642372 deg/s, cmd update: -12.000000 deg/s, cmd heading: 165.083684 deg, new cmd heading: 164.289858 deg. W2@WX XW:W2W*W V bU BU *UU@ B@U1?B<B BA#D?*B!A%=A!A!A%TZ<"C-p5@RC-=C-2@C1m˺=IujA)ujAiIqG>q,ʖEAY}6G@}67@y}6~K}6(>}6H@@ѿ `*?}@@N o)`?0ࣸ?)~6G@ ~66`;I~6Cɫyy)y }IyY$@yGIA)Ao<Mk=YLCE-@CA-Vo=IG5.>q,kEAY}2[RG@}2m7@y}2(0;}2}2H3>ѿ $T@i?`fF`(?)~2[RG@ ~2e;I~2CɫYY)Y eIaYP@yG]=i]=m^<MuM=Y::aEDy}>ID5?K A ?9C߼: :)X@q;uCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:u%Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLW%t(@W)X) X)W)5555 5.:Y5Y1y5:5%595@:W92W9*W9V9bUABUA*UAUAUM@|?Buv<Bq BqAuG?*ByA}AyAyA}!<"Ci.@RC>Ct(@CMY>9IIMGiM@IIIMi; MΗE֕=יIGb>j侥q,lvEA|i|ɫ髙) IY@yGÕ=ÕScÕ 0iÕ=@Ñ ĕ(@)ĕIĕ @iĕ@]MG=YQU>aEDy}>Iȹ :Ž/5? :Žػ ƽA ?9ƽ5Cǽ: Ƚ8:)Ƚk:W##@WX XW:W2W*WVbUBU*UUUH?B-֯<B1 B1A5F?*B1A5A1A9A=[d<"C=)@RCE >CE##@CA-M=5?i5?IG (>ťq,REAY}6/G@}6{K7@y}6y5<}6B}6H`Lѿ㧿?ѧ{#?)~6/G@ ~6c;I~6CɫYY)Y ]IYY @yG=iL < 9:YW1yč:~55S?{Gz{Gz?5/?5# 5#<)1I1y5-?Mb55?55 5K@)5AI5@i5@15G@UcP;MU@=YUYYa]E])Daye'}e>Iquz5?u uA }?9uWCu: u:)qW_@WX XW:W2W*WVbUBU*UUU@Bu<Bq ByA}tF?*ByA}~ܼAyAyA<"C##@RCC_@C֥b(>YIiGZ> <) 9) I- @Gi- [@) ) ) - h; - ͗E˥q,-2EAY}2 G@}20(7@y}2|e<}2 }2H cѿf੫? |@B`[l@?)~2 G@ ~2ʉ;I~2CɫII)I MIIY}@y}VG->-绾-Si-@) -?@)-@I-@i)=ME^=YE)IIaMEM5DQyU>}U>IY]L5?]ݲ ]A m?9]tC]: ]ʽ:)YWXz@WX XW:W2W*WVbUBU*UUU@BM9<Bi BiAuqC?*BqAu׼AqAqAuE<"C}dS@RCyCXz@CօT>AIQGm5>ҥq,LEA||p!)a-E-BD1y=\]}=>IA U:E5? U:E? EA ]?9ECE>; E?;)El:W@WX XW:W2W*WVbUBU*UUUE@RB*** querying acoustic contact ***PPMk MMM M[<:YMU1yM:MI5B&<B BA8F?*BAҼAAAR<"C9@RCC@C֭Jz>Iױ)׵iAyIGB>j٥q,eEAY}:E@}:m6@y}:]<}:n}:H'@kTҿ_ g?@E@)Ujÿ?)~:E@ ~:;I~:Cɫ99)9 =I9Y}$@y}GZ****** received transponder code query ******F****** received ping request ******aEODy}>I5?- A ?9C8: ʽ:)WMQ @WIXi XiWi:Wq2Wq*WqVqbUyBUy*UyUyU} @Bt<B4N< BA>?*BALͼAAA%<"C-1@RC)C5Q @C19I܂Gi@!=`; ɗE%vR>IGn>*3ߥq,EAɫyy) IY@yGxDUSBL response received:!U1,P 502,000,004CC,189,80,80,89,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  .:YWU1y:5);9õõnõDiññ ĵ@)ĵ@Iıiĵ@M'MU'=YQU>aE_Dy}>IY m:]5? :] ]A ?9]C]2 < ] <)]m:W@WX XW:W2W*WVbUBU*U!U!U%%@B<B BA~9?*BAαƼAAA(<"C@ @RCC@C >׹ I G >q,EA|i|ɫyy)y }IyY@yGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 1Zd?y&1~jt"?` D)IyV-??y&1|?|?<`; 5@) AI@i@Uԍ<MUq=YQQU]?YYa]E]jDaya}m ?y}HCIqu5?u9 uzA ?inG9uCu5K< u8 Z>9 I xGi @ m; ЗE)=xCI9i9=== ==85VFq,{EAY}2A@}21@y}2<}2IN}2HXտ궿 ?@u`@"ǿɿBX?)~2A@ ~2|j;I~0ɫ99)9 9I9Yu@y}BGxDUSBL response received:!U1,R,502,000,004CA,189,80,80,71,FF Fpublishing direction and range infoyyɰ}=y y)}BIyy}=B}w?amf-ٱy=i=)= =Ít>Í ÍviÍ @É č@)č@Ič@ič@vVME= l3:YW1yč:5)>;YU;QU>aEwDy}>I  :5? : qA ?9C: Y:)n:W=O?W9X9 X9W9:WA2WA*WVbUBU*UUUN@R(Combining 5 samples.P*Q=BZQW/@<.8@JQw?amf-2Q:QbQ0Dʖ eA@z @RQu0ȹ9|\?̂?BQG+? Q] BQlhP+9?P(9?PQQJNA"QLSABU<BQ BQAUq5?*BYA]9bAYAyA}<"CZ@RCCO?Cѵ<ց A II Gm >5,q,N͗EAY}r@@}r+0@y}r<}r ^}rH@q׿e@D?#ȿa˿\=?)~r@@ ~re;I~rCɫ11)9 9I9YU@yUTGIޑ)ޕ@ATNmea in: $SNTTA,0.047901,,,,012031.12*49 <MT=Y[ºQU>!!a%E%D)y-җ}>I5?Ֆ hA ?98C: :)muAdded new target pos. range: 36.060001 m, bearing: 95.867053 deg, deltaT: 4.465371 s, approachRate: -0.026873 m/s, LOS rate: -1.488744 deg/s, posRepo size: 4m ProNav: pos range: 36.060001 m, bearing: 95.867053 deg, approachRate: -0.026873 m/s, LOS rate: -1.488744 deg/s, cmd update: -4.466233 deg/s, cmd heading: 111.597884 deg, new cmd heading: 106.859024 deg. W1_?WX! X!W!:W!2WI*WIVQbUQBUQ*UYU] B@U] ?B%7<BA BAAE^6?*BIAMvŹAIAIAMC<"CU?RCQCU1_?CY%8<IG>Vq,E,EA|;|4@}6X.@y}6F<}6kk}6H ?ٿ ? ɿs)Ϳ&?)~6<>@ ~6b;I~6Cɫ99)9 9I9Y}@y}GU/M]W=Y] QUe>aaamEmDiy}&}}>Iȁ :Ņ^|5? :Ņ' ƅ`A ?9ƅUCDž7; ȅͩ;)ȅo:W?WX XW:W2W*WVbUBU*U U U?Be/<Bi ByA}32?*ByA}bҵAyAyA~@<"C?RCC?Cϡ4 =.:YV1y:59@i9iImGimt@iiiml; mϗEϡ) ց Y Ii G >t>q,EAɫyy)y }IyY@y$GI)A))u=u@>u/]=iu@q u@)uj@Iu@iu@<MD=YQU>aEDy}>Ih5?Ќ WA ?9vC : :)W?WX  X W :W 2W *WVbUBU*UUUJ?BE$<BA BAAM3?*BIAMF/AIAIAU <"CU?RCYC]?CY!IGn>hq,EAɫyy)y }IyY@yGޕ=iޑUn? ףp= ?i|?5?U?UQ8= Uq=)QIQyUV-?~jt=YQU>aEDy}>IȱŵQ5?ŵ ƵmA ?9ƵCǵh; ȵ;)ȱ s+:YW1yč:5WB?WX X W :W 2W *WVbUBU*UUU?BE<BI BIAMy3?*BIAM*AIAIAU<"CU?RCYC]B?CY]>I!GEr>Q Q m Y>9i Ii ii m =i i m a; m ɗE q,,4EA|i|@Y}>9@}>)@y}><}>}>H  ipݿ?\Ieʿ$`gϿ?)~>9@ ~>J3_;I~>CɫYY)Y ]IYY@yGu=uuuiu @q u@)u@IuԸ@iu@iM\=YƄQU>aEDy$b}>Iȡ :ť?5? :ť< ƥA ?9ƥCǥ: ȥ:)ȥp:W?WX XW:W2W*WVbUBU*UUUN[?B <B BA .?*BAvAA!A%<"C%?RC)C-?C1E?΅>I)GEQ>zq,NEAY}2Qx7@}2Γ'@y}2M<}2C}2H!޿B#?@Pʿ`m)Ͽ@?)~2Qx7@ ~2\_;I~2Cɫ99)9 =I9Y}@y}^G)= =%q*M%Q=Y-&QU5>aEDyp}>I*5?ew A ?9C); /;)W?WX XW:W2W*W!V!bU!BU)*U)U)U5@B}<By BA)?*BA󓣼AAAR<"C?RCC?CmH iim  m9:Yiyimm5]>1IAG]v>q,rhEAY}2 5@}2%@y}2|<}2l}2H IMQ8¿*?zɿ`@qϿ5?)~2 5@ ~2 _;I~0ɫ99)9 9I9Y}w@y}QGxMS=YiQU>aEDyt}>Iȹ :Ž5? :Žo ƽA ?9ƽCǽ{: Ƚ:)Ƚq:WJ?WX XW:W2W*WVbUBU*UUUI@R B*** querying acoustic contact ***P P B-8<B) B)A5-)?*B1A5A1A9A=}<"CE7?RCACEJ?CAI)T>9QIGi@=b; ʗE1I9G]3>ی q,NEA||;ɫyy)y yIyY@yGZ****** received transponder code query ******F****** received ping request ******aEDyy}>I5?5e ɷA ?9.C;; =;)WMd?WIXI XIWI:WQ2WQ*WQVQbUQBUy*UyUyU} O @B!?<B BA*&?*BAAAAL<"Cd?RCCd?C ?΅> I G >&q,|(EAY}2T2@}2(p"@y}23A<}2}}2HvXއ@gÿ@(?@ɿL&^Ͽ ?)~2T2@ ~2^;I~2Cɫ99)9 =IAY&@yGxDUSBL response received:!U1,P 502,000,004CA,189,80,80,71,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Ip=)bX9?V-:v?E? T<)Iyx&1?y&1| rh!?`C )|AIAi|A(AQUkA;M@=Y? QU>aEDy }>Iș :ŝ5? :ŝ\ ƝA ?9ƝNCǝQ: ȝ:)ȝr:Wz?WX XW:W2W*WVbUBU!*U!U)U5Kv @BL<B BA&?*BAzvA!A!A%en<"Ces,?RCaCmz?Cq kA  P>9 I LGi /@ =   l;  ΗE IA Ge >,q,EAY}:{0@}:f @y}:Q%<}:}}:H Eÿ? \ґȿ`Ͽ?)~:{0@ ~:^;I~:Cɫ99)9 =IAY]@y]G}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B >"۽i@ @)j@I@i@zM{=YQU ? i= aED!y5}5 ?I9=5?=U =A M?9=iC=.; =E5;)9WױIG>3q,ϘEA|i|Y}6.@}6@y}6<<}6s|}6HG\Ŀ ,?`"@ǿ`7[<Ͽ?)~6.@ ~6]^;I~6CɫYY)Y ]IYY}@y}GxDUSBL response received:!U1,R,502,000,004BF,189,80,80,BB,FF Fpublishing direction and range infoɰ=鰁 );CIy Bw?amf-ٱ<Mb=YSQU>aEDy\}>I85?M vA ?9C: :)W?WX XW:W2W*WVbUBU*U U U k@R(Combining 5 samples.P*Q BZQ=.@k&?JQw?amf-2Q:QbQ}a@܏@@AÇ@RQ\m?U??BQiyIG^>i3oGImAieſٺmAkA9q,*EAY}n,@}n @y}n <}n>{}nH }*!ĿS?@9eǿ&Ͽ@j ?)~n,@ ~nG^;I~nCɫ) IY5@y5xG]TNmea in: $SNTTA,0.067195,,,,012035.56*4A ܵN>9ܵwCIܵGiܵ@ܵ=ܱܵDܵk; ݵ˗E)ݑIݑiݑݕ=ݕ=ݕ6 11)== ==  6:Yy5);Z>t>i@ )@I@i5@-+9M5=Y5QU5>9Ya]E]Daye]}e>Ii u:m!5? u:mA mOA ?9mCm; m";)ms:muAdded new target pos. range: 35.399998 m, bearing: 78.887326 deg, deltaT: 4.357534 s, approachRate: -0.151463 m/s, LOS rate: -3.896637 deg/s, posRepo size: 4m ProNav: pos range: 35.399998 m, bearing: 78.887326 deg, approachRate: -0.151463 m/s, LOS rate: -3.896637 deg/s, cmd update: -11.689911 deg/s, cmd heading: 92.082018 deg, new cmd heading: 89.704651 deg. WϿ?WX XW!:W!2W!*W!V!bU)BU)*U)U- 3A@U5 6?B[<B BA.?*BAoAAA <"C ?RCCϿ?C>ס I G >@q,%EAɫ髙) IY"@yGU?;M]=Y]QU]?aaaeEeDiym}m?Iquѯ5?u: u8A }?9uɞCuY: u :)qW ?WX XW:W2W*WVbUBU*UUU{?B< =B BA?*BA "A A A Gq,.pEA||4QQa]E],Daymu}u>Iy :}5? :}0 }AA ?9}C}; }A;)}t:W-M?W)X1 X1W1:W92W9*W9VAbUABUi*UUUԬ?Bi<B BAJ?*BAAAA?<|| 1:YR1yi:59@"C?RCCM?C ?΅>I G5>ܩ 9ܩ Iܭ Giܭ ;@ܭ =ܩ ܩ ܭ c; ݭ ǗE.Mq,K7EAY}2'@}2&@y}2g);}2e{}2H@ @A.ƿ V?|Aſ&eu@Ͽ? ?)~2'@ ~2c^;I~2Cɫ99)9 =I9Y@y/Gm'>m馾m½im@i mK@)m5@Imj@imj@} MM=YQU>aE8Dy}>Ișŝ`5?ŝ' ƝIA ?9Ɲ Cǝ: ȝ :)șW?Т?WX XW:W2W*WVbUBU*UUU??B}@<B BAz?*BAr9|AAAOn<"Cƒ?RCC?Т?C ==>?iu?׹IGf>Tq,&QEAY}:G%@}:@y}:;}:bw}:H`H`EkƿD? Ŀޜr'ο`?)~:G%@ ~:){^;I~:Cɫ99)9 =I9Y}@y}dGuC<M}K=Y}ܺQU>aEEDy}>Iȩ :ŭH5? :ŭ ƭSA ?9ƭ(Cǭ`+; ȭ1;)ȭu:W%?W!X) X)W):W12W1*W1V9bU9BU9*UAUAQiU=U]hw@B]=<Ba BA$?*BA:sAAA<"C{?RCC?CAEEE AYEDW1yEY:E5>ױIG>@Zq,XkEA|i|@Y}6$@}6X @y}6J;}6Cx}6H`@Sƿ!?v qĿFpο[?)~6$@ ~6]^;I~6CɫYY)Y ]IYY@yxG<MD=YºQU> aERD!EM>9AIAiAE =AAEq; E̗Ey]~}]>Iaeq5?e e]A u?9eJCe[: e:)aW ?WX XW:W2W*WVbUBU*UUU!@Ba<B BA.?*BAgkAAA.(<"Cy?RCC ?CI]>1IAG]v>(aq,܄EAɫyy)y yIyYO@yG ) > >>Yji@ @)j@Ii=MEV=YMQU]>YYaeEe^Daym}m>Iq }:uNd5? }:uR ueA }?9ugCu: u{:)uv:W} ?WyX XW:W2W*WVbUBU*UU1U=`Z-@RB*** querying acoustic contact ***PPBW<B BEEEE Ef.:YEU1yE:E5A%?*BQAUbAQAQAU<"C]?RCC ?C֕>qIG>Rgq,$EAY}2 @}2x@y}2d!;}2Pz}2H@nBȿ`t?@~ÿ ?dϿ ?)~2 @ ~25\^;I~2Cɫ99)9 =I9YyZ****** received transponder code query ******F****** received ping request ******  0)Iy}?5^I?{Gz?I +?M"?ף<94< @)GAIiAAY/_QU>aElDy L} >IQ)UBAIȱŵ{T5?ŵq ƵiA ?9ƵCǵ¿: ȵf:)ȱW%o?WX XW:W2W*W)V)bU)BU)*U1U1U5f @B}"<B BA*BAB[AAA<"C93?RCC%o?Cֽv>בIG>- jA) 5 K>95 vCI5 Gi5 @1 1 1 5 r; 1 }mq,EA|4<|;Y}B)@}BD@y}B:}B|}BH\ȿl ?8(EÿPGϿ?)~B)@ ~Bq^;I~BCɫYY)Y YIYY@y"GxDUSBL response received:!U1,P 502,000,004BF,189,80,80,BB,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 xi>ף>i@ K@)AIK@i}<MMMMM# M1:YMV1yM:M#5)M̎;9UYYa]E]{DyN}>I :#D5? : nA ?9Ca; ;)w:WӺU?WX XW:W2W*WVbUBU*UUU ]@Br<B BA?*BARQAAA{<"CFi?RCCӺU?C == 6Ʌ>ס I G >dtq,mҙEAY}6u@}6g @y}6J}6G{}6H $`P`ȿ?@1¿`W ?Ͽ ?)~6u@ ~6O^;I~6Cɫ99)9 =I9Y}'@y}GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 11Mn=Y\QU?  a E Dy#} ?I95? rA -?9̟Cw: Ǻ:)WM%F?WQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUe S@B{_=BSt< BA?*BALAAAg<"CT]?RCC%F?C֥>yIG^>zq,8IEAY}2@}2 @y}26ٜ}2y}2Hq`yb@Hɿ,&?@C&S? :ο`?)~2@ ~2^;I~0ɫ99)9 =IAY]@y]GexDUSBL response received:!U1,R,48D,000,004BE,189,80,80,A6,FF mFpublishing direction and range infoe!aɰe=a a)e&CIaye\ BeIJ?N6ٱa,M`=YFQU>aEDy-{}5>IIMe-5?M MwA u?9MCMG; M;)IJ>9IRGi@h; ǗEQiU=W#F0?WX XW:W2W*WVbUBU*UUU@@R=(Combining 5 samples.P9*Q=\ BZQ=L2@+ >JQ=IJ?N62Q=!:Q9bQ=4uS=*@4'@@tap @RQ=Kx?$, ?յ%K?BQ=B? Q=BQ=QAP=L9?P=@9?P9Q9Q=]A"Q=dAB+$<B BA0?*BA*CAAAT<"C 5E?RCC#F0?C]>1I9GU>Wzq,2EA|,i|,ɫ11)9 =I9Yu@yuG} }}} }4:Y}T1y}:}H59@DNmea in: $SNTTA,,,,,012040.00*59 \(\? rh? :? C L=) I y x&1?)\(V-? A ? Ga < @) -AI |Ai "A  -m6only read 2 of 4 data items m@ m@ m@uh)<M}=Y}QU}>aEDy}>Iȑ :ŕq5? :ŕ{ ƕA ?9ƕCǕ: ȕM:)ȕx:muAdded new target pos. range: 35.340000 m, bearing: 67.707460 deg, deltaT: 4.513500 s, approachRate: -0.013293 m/s, LOS rate: -2.476983 deg/s, posRepo size: 4m ProNav: pos range: 35.340000 m, bearing: 67.707460 deg, approachRate: -0.013293 m/s, LOS rate: -2.476983 deg/s, cmd update: -7.430950 deg/s, cmd heading: 39.452166 deg, new cmd heading: 33.944032 deg. W5 ?WX XW:W2W*WVbUBU*UU A@U ??B%P<B! B!A-?*B)A-&;A)A)A-g<"C4?RCC5 ?C >I ) jA I G >q,EAY}2H@}2Yd@y}2rԺ}2[Nv}2H 1U@ɿF? P`]Z?~ο&?)~2H@ ~2V^;I~0V>TinGɫYY)Y ]IYIYO@yGi¿ٺ0A-=M=Y?QU?aEDyE3}?I5?p A %?9-C: ӻ:)WE?WAXA XIWI:WI2WQ*WQVQbUYBUY*UYUYU]?BG=B BA?*BA4AAA0<"CQ$?RCC?CO<ֵ>׉IG>9Ii!=X; E)ݝvCIݝwCiݙݝ =ݝ =ݝi\54ˍq,9EAɫ髁) IY'@yG   ÍҽÍÍC iÍ׳@É čj@)čK@Ičj@ičK@IMJ=YQU>aEDy}>Iȹ :Ž 5? :Ž- ƽA ?9ƽMCǽ: Ƚ:)Ƚy:W?WX XW:W2W*WVbUBU*UUUý?II)M?A]]]] ]2:Y]WU1y]:]5)];9eB<B BA?*BA-AAA5'<"Cţ?RCC?Cr<o>IG>򲔦q,SEAɫ髱) IY@yفGMI=YQU>aEDy}>I5?x A ?9mC: Y:)W>WX XW:W2W*W V bU BU *UUU@>?B==B9 BAAE?*BAAEt%AAAAAEN<"CUx?RCQCU>CYaa)a a>?ix? I G >$ݚq,mEAY}F!0@}FK@y}F*W}Ffv}FH@ԗݿ`8ʿ_?`Oܿ@j? Nο?)~F!0@ ~F^;I~FCɫai)i uIqY@yG}K>9yI} Gi}G@}"=yy}M; }E>=i@ K@)5@I5@i5@ʢMH=YQU>aEDy G}>I :/5? :. )A  ?9C: :)z:W-c>W)X) X1W1:W12W1*W1V1bU9BU9*U9U9UE?]]]] ]<0:Y]W1y]č:][5)]};BM<B BA?*BAAAAf<"CP/>RCCc>Cֽ>יIGb>ġq,kEAɫy髁) IY@yGqMG=Y%QU->99aEEEDU=iU=ayu}}>IȑŕV5?ŕt ƕNA ?9ƕCǕ: ȕ:)ȑWW>WX XW:W2W*WVbUBU*UUU J@B<B BA?*BA%wA!AA}<"CW>RCCW>C>IG>罹q,GEAY}2@}2[?y}2Zu}2'u}2HiڿS nt˿%?ƛٿ湿@;n?1ZοK?)~2@ ~2Jw^;I~2CɫAA)A EIAY@yG鮥p=ɮ==S?&1?== =t<)9I9y=x&1?:v?=!?=T=< 9)9I=Ai=AA9=(A]9<M]W=Y]QU]>aaaeEeDiym}m>Iquu5?u ueA ?9uΠCu׾: uD:)qW+>WX XW:W2W*WVbUBU*UUU9@RB*** querying acoustic contact ***PPBv =B BA?*B]YY] ]2:YYyY]59e@AAAAU<"C٥>RCC+>C֡Iס)סיIG k>y9yI}Gi}@}#=yy}X; }EBq,S"EAY}:: @}:l?y}:mO}:p}:HؿA˿@?`ؿȷi?`Ϳ?)~:: @ ~:^n^;I~8ɫ99)9 9I9Y}@y}GZ****** received transponder code query ******F****** received ping request ******aEDy}>I :5? :v ~A ?9C^: I:){:WM>WIXI XIW:W2W*WVbUBU*UUU @Bvm<B  B A ?*B A AAAC<"CVJ>RCC>C֙qIG~>$q,~ԚEAY}6W) @}6?y}6j}6~6n}6H@2׿j˿?ֿ Եl^?:ͿR#?)~6W) @ ~6^;I~6Cɫ髹) IYO@yGxDUSBL response received:!U1,P 48D,000,004BE,189,80,80,A6,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 =MJ=YlL;QU%>IY)]@Au8 uuu uI8:YuDW1yuY:u65aEDy}>I5?.h A ?9CXD< F<)W5W>W1X1 X1W1:W92W9*W9V9bU9BUa*UaUaUmd @B<B BA?*BAAAAt<"CPqd>RCCW>C _>IG>Y+q,EA| | Y}Ma@}M?y}Mf}Mp}MH M-Կ ]@K̿=^?Pӿ۲@|,?Ϳ@~?)~Ma@ ~M^;I~MC!9!I% Gi%G@!!!%n; %ȗEɫ11)1 9I9Yu@yuGy}AANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B n=H=i @)j@I@ij@ TM;=Y(};QU>aEDy}>I :C5?  :oZ A  ?94Co: f:)|:W5Ҡ&>W1X1 X1W1:W12W9*W9V9bU9BU9*UAUAUE@)@BRC9C=Ҡ&>C֕6Ʌ>ם?iםv?qIG>%¦q,ȳEAY}^]@}^?y}^6_}^Z r}^Hҿ @?̿ћ? %ҿV ?_Ϳ8?)~^]@ ~^^;I~\ɫ髡) IYyyyxDUSBL response received:!U1,R,437,000,0049D,18A,80,80,A7,FF Fpublishing direction and range info qɰ~=鰝> )'CIypBD ?FCٱdNmea in: $SNTTA,0.298485,0.300754,,,012044.45*53 ]]{]{] ]2:Y]#R1y]:]#5]Pn?#~j?Mb]>]%> ]@)YIYy]K7A`?Qy&1|] ?]u]` ]@)YI]Ai]AY]AY}9QU>aE#Dyj}>I5?M A  ?9RC; u;)WMM3=WQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UUU`@R(Combining 5 samples.P*QpBZQoΡ3@g:JQD ?FC2Q q:QbQa[3@VjSm:@#5D@RQ>?e{HY? ] I G5 >;=Ȧq,"EAɫ髙) IY@yЁG}ӑ<M}סIGj>4=9Iih; ŗEgΦq,kÝ9ÝiÝ@Ù ĝj@)ĝ@Iĝiĝ-@X;MG=Y$QU>aE;Dy}>I5?7 A ?9C: :)WX@WX XW:W2W*WVbUBU*UU U F/?B5}=B1 B9A=?*B9A=d=A9A9A=<"CEj<RCACMX@]]]]  ],:Y]X1y]/:]65)]c;9eCauu uuI)IG>|Qզq,{NVEAY}Z@@}Z?y}Z }Zɇu}ZH@r˿\ͿwA? ʿ YB?eο?)~Z@@ ~Z^;I~ZCɫ髑) IY@yGuMuN=YuQU}>yya}E}GDyB}>I :5? :r+ A ?9C3: @:)~:W @WX XW:W2W*WVbUBU*UU!U%X?BU  =BQ BQAUC?*BQA]AYAYA]1<"CeRCaCe@CiסIG#>inGIiUſٺQUAۦq,)?pEAY}ȑ@}rV?y}r}rjz}rH`!ȿj}tο@m?`eǿ`41>?Ͽ ?)~ȑ@ ~rdo_;I~rCɫ髩) IܽJ>9ܹIܽGiܽ@ܽ!=ܹܹܽd; ݽėE)AIEvCiAE#=E#=E5YP@y`GÝÝÝaETDy}>I5?G A ?9Cw: Ǻ:)IEAA)AUUUU U+:YUT1yU:UH5)U;W-R@WX XW:W2W*WVbUBU*UUUL?B=B BA?*BA>AAA%$A<"C%NxҽRC)C--R@C)9IAG]4>bq,mEAY}v?}v?y}v!ڹ}vU`{}vH`Ŀ̡aο ?qĿ #W X;?}Ͽf ?)~v? ~vh _;I~vCɫ!)! %I)Y}@y}~GK7A`?~jtxZd;O ?Ļ j)Iyjt?S㥛/$? ?/ݼ< @)AIAi™QAy\<M;=Y8QU>aEbDyA~}>I5? A ?9C: :)W'@WX  X W :W 2W *W VbUBU*UUUഋ?BE=BA BIAMt?*BIAMhᒻAIAIAM1N<"CU_@RCQC]'@CYiim?ׁIG@>>q,'ڣEAY}2?}2P?y}24}2ߴ|}2H3`:ο`?Ψ%[F?@DϿ`?)~2? ~29^;I~2Cɫ99)9 9I9Y}@y}G=><Mi=YIQU>!!a%E%nD!y-R}->Iȁ :ŅҺ5? :ŅG ƅθA ?9ƅCDž: ȅ:)ȅ:WuG@WX XW:W2W*WVbUBU*UUU %@B+=B BA~?*BA\AAAwc<"C|RCCuG@C ] ]]] ]4:Y]DW1y]Y:][59e@ IGm>ٱٱܽI>9ܹIܽxGiܽ@ܽ"=ܹܹܽb; ݽ—Eq,ݱEAY}6?}6?y}6 }6Xx}6H]p@+ο?`Y~÷Q?`mο @?)~6? ~6B_;I~6Cɫ99)9 =I9Y}@y}X9X9i3@ K@)K@Ii0MM=YՁQU>aEzDyU}>I  M5?  A ?9 C : :) W=B@W9X9 X9W9:WA2WA*WAVAbUABUI*UIUIUMb@R]B*** querying acoustic contact ***PYPYB}==By BA?*BA qnAAAs<"C'RCC B@U=iU=C1)I1GM>_q,כEA|i|Y}>)7?}>!n?y}>캙}>w}>H2wο` ? v]?@ο`?)~>)7? ~>>_;I~>Cɫ髉) IY@yGZ****** received transponder code query ******F****** received ping request ******AIaMEMDQyU}]>Ia m:eC5? m:e eA u?9e?Ce$; e$;)e:W@WX XW:W2W*WVbUBU*UUUr @Bo =B BA? ?*BAsPAAAv<]# ]]] ]6:Y]T1y]:]5"C巾RCC@CI)IG$>q,vEAY}F?}F?y}F0 }Fzx}FH0@໲οk?!Daa?pο?)~F? ~F^;I~FCɫQQ)Q UIYa9aIaiaaaaeX; eEY@yGxDUSBL response received:!U1,P 437,000,0049D,18A,80,80,A7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  ¾/=i@ @)$@I-@i@5]M=.=YN:QU>aEDyk}>I÷5? A ?9eC: U:)Wf|@WX XW:W2W*WVbUBU*UU!U%= @B<B BA ?*BA% v*A!A!A%S<"C= TRC9C=f|@CAiIqG>q,b EAY}e?}eF?y}e4 }ev}eH sο@f?uuk6a?xο?)~e? ~eթ^;I~eCɫaa)a eIiY@yGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IA)AUy QQU  Ux=:YQyQUm55^I ? rh?+?8?C= =)Iy"~j?y&1 rh?S#?`eC< @)bAIAiA j=M L=Y8QU>aED!y%3}%>I) 5:-5? 5:- -)A ?9-C-< -<)-:W]uj@WYXY XaWa:Wa2Wa*WiVibUiBU*UUU]+@B5Q=B9 B9A=%?*B9A=AAAAAEO<"CMRCiCmuj@CqiIqG}>q,`%EA|;|Y}6?}6׺?y}6V}6zr}6H @e? ^ ο?@f?`fY@ѪR?`οe?)~6? ~6ó^;I~6Cɫ99)9 =I9Y@y'GxDUSBL response received:!U1,R,2D6,000,0047A,189,80,80,49,FF Fpublishing direction and range info0"ɰ»=7> )BIyA'*?ٱttMu=Y=;QU?aEDy F} ?I߷5? 7A ?9C: :)WEPڵ@WAXA XAWA:WA2WI*WIVIbUIBUI*UQUQUUY@Re(Combining 5 samples.Pi*QmAZQm4}19@ 螁2JQm'*?2Qm0":QibQm3sP!2@"?$9@Qz@RQmu#{?Q?6'?BQmr? Qm!AQmqAPmU9?PmY9?PmQmQm.A"Qm^NAB%~2=B BA ?*BAAAAv<"CÂRCCPڵ@CqIG=]=]<eH>9aIeGieS@e!=aaeQ; eE_q,?EAY}v?}vT?y}vZԯ}vwp}vH@ ֝?lͿ?@G ?t{?@?`=Ϳ?)~v? ~v^;I~tɫ) IY-@y-GTNmea in: $SNTTA,0.047318,,,,012048.88*46 I=)>D">iµ@ Ը@)Ij@ij@w(M:=Y ];QU >aEDyZw}>I! -:%5? -:%9 %IA 5?9%ĢC%: %:)%:]]]] ]N2:Y]WU1y]:]5)]G;9em}qAdded new target pos. range: 31.259998 m, bearing: 54.316345 deg, deltaT: 4.339742 s, approachRate: -0.483900 m/s, LOS rate: 0.123792 deg/s, posRepo size: 4mM ProNav: pos range: 31.259998 m, bearing: 54.316345 deg, approachRate: -0.483900 m/s, LOS rate: 0.123792 deg/s, cmd update: 0.371376 deg/s, cmd heading: 325.606154 deg, new cmd heading: 321.477897 deg. WM@WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYU]@B?@U]-?Bc =B BA ?*BAAAAi<"CRCC@CqIG^>,q,IXEAY}:"?}:?y}:[:}:$p}:Hg?Ϳ`?{G??`@VͿ?)~:"? ~:^;I~:Cɫ99)9 =I9Y}L@y}^Gu#=MuT=Y}6:QU}>yyaEDyD}>Iȑŕ]5?ŕo ƕXA ?9ƕCǕ: ȕ:)ȑW@WX XW:W2W*WVbUBU*UUUNN?BG(=B BA?*BA,wAAA {<"CR*CRCC@CU=iU=IG>q,ٯrEA|i|Y}6?}6;?y}6<}6Gq}6H<~?ZͿ? {???Ϳ?)~6? ~6Pl^;I~6C G>9 I i  "=   P; Eɫ99)9 9IAY]@y]G s>  i 3@  @) @I i @<MP=Y%QU%>!)a-E-D)y5t}>IȹŽu5?ŽϏ ƽiA ?9ƽCǽ: Ƚ :)ȹW@WX XW:W2W*WVbUBU*UUU?BEm=BA BIAM4 ?*BI]Y ]y]y] ]::Y]P1y]':]H5)];AmuAiAqAu{<"C}~RCyC}@CyiIqG>Z#q,嚌EAY}57?}5n?y}5@}5mTs}5HG5?p`+Ϳ ?e?`V?0U?@y!ο?)~57? ~5u^;I~5Cɫ  ) IYU#@yUEG8Not Powering down - fast GPS )Iiiɶ )Iiɷ }ףp= ?V-?S㥛}?}< }/ݼ)yIyy}x&?~jtaEDym}>Iȹ :Ž5? :Ž ƽuA ?9ƽ*Cǽ: Ƚ:)Ƚ:W3@WX XW:W2W*WVbUBU*UUUl?BB=B BA?*BA@q1AAAJa<"C[*CRCC3@C1IIGeV>) - CCi 3oGI i  ٺ  QA] @9] LB ()q,gEAY}6?}6?y}6aU}6Fs}6H@K?EͿ=?M??4j?m2ο@?)~6? ~6zO^;I~6CɫYY)Y YIYY@y9G5*ϻM=e=Y=೻QU=>AAaEEEDAyM}M>IQU5?Ur UA ]?9UHCUӻ: Uf:)QWF@WX XW:W2W*WVbUBU*UUU@Z5@B{)=B BA ?*BAP(9AAAHU9IiY; E)ݑIݑiݑݕ"=ݕ"=ݕf40q,GEA||Y}6;?}6r?y}6צ}6 s}6HX?``6Ϳ??͠? t?ο 7?)~6;? ~6Mg^;I~6Cɫ99)9 9I9Yu@y}GEjEj=iE@A E5@)E­@IE/@iE­@UټMUH=Y]kQU]>YYa]EeDaye}m>Iq }:u5? }:uc uA }?9ukCu: u:)u:W[@WX XW:W2W*WVbUBU*UUU@y@BL=B BA4 ?*BA}Y:AAA*<"CM*CRCC[@C ?i ?IG- >96q,zڜEAY}:~?}:tް?y}:L}:yt}:H@| ? ;Ϳm??? x?Dο?)~:~? ~:xF^;I~8ɫ99)9 9IAY]|@y]{G}h=M}Y=YTQU>aEDy3}>Ișŝm5?ŝU ƝA ?9ƝCǝ: ȝ:)șWo@WX XW:W2W*WVbUBU*UUU@{@RB*** querying acoustic contact ***PPB)=B BAV?*BA,0:AAAP<"C*CRCCo@CeZ e|e|e e;:YeR1yei:e5IG>c9TITiTV#=TTVU; VEɫYY)Y ]IYY}@y}GZ****** received transponder code query ******F****** received ping request ******5ҍ5i5z@1 5@)5j@I5@i5@EME>=YM:QUM>IQaUEUDyV}>I :X5? :E A ?9C: :):Wj@WX XW!:W!2W!*W!V!bU)BU)U=iU=*UQUQU] @B=B BA ?*BA:AAA<"CC*CRCCj@CIG )>.OCq,T EA|aE&Dy\}>Iȱŵf5?ŵ4 ƵǹA ?9Ƶ٣Cǵ': ȵ:)ȱW@WX XW:W2W *W V bU BU *UUU=S@B=B BA?*BAZ;AA A )l<"CuIq,'EAY}2Z٥<٥<ܭE>9ܭuCIܭ~Giܭ@ܭ"=ܩܭDܭV; ݩ]Pq,AEAY}:?}:>?y}:V/}:Lr}:H`Y? ̿` ?`&?@?e? οx?)~:? ~:^;I~:Cɫ99)9 9I9Y}@y}G%µ%Ƚ%ף;i%@! %j@)!I%@i%K@5u<M5Q=Y=T-:QU=>9AaEEE=DAyM悽}M>IQ ]:U5? ]:U UA ]?9UCUb; U:)U:Wƶ@WX XW:W2W*WVbUBU*UUU@BC-=B BAe ?*BA|E;AAA\<"CI*CRCCƶ@CIUAA)UAAm% שImmm m6:YmxZ1ymq:m5)m#;9G- > Vq,zm[EA|(|(Y}hǿ?}]?y}~[}#s}H@.? ̿]??@}@?`ok?`0ο?)~hǿ? ~^;I~Cɫ) IYu@yuGDNmea in: $SNTTA,,,,,012053.33*5B ׄ<MC=YQӺQU>aEJDyx}>IȹŽ/5?Ž ƽA ?9ƽ3CǽU: Ƚ :)ȹWܶ@WX XW:W2W*WVbUBU*UUU@x@B%'=B) B)A-! ?*B)A53tc;A1A1A5-&<"C=*C9RC9C=ܶ@CA]?i]?aIqG>\q,>uEA&D>9$I$i$$$$&G; &EY}Bnn?}Bb?y}B[}B9v}BH@?7̿?H4?;? gr?f{ο;?)~Bnn? ~B ^;I~BCɫ髙) IY@y GI=)R=EEP>E-=iEp@A E@)E@IE@iE@UMUP=Y]UJQU]>YaaeEeWDaymꇽ}m>Iq }:u5? }:u uA }?9uSCu+: u{:)u:W@W!X! X!W!:W!2W!*W)V)bU)BU)*U1U1U5`@] ]]] ]]E:Y]DW1y]Y:]|5)];B}Ƶ)=B BA ?*BAp;AAA-<"CH*CRCC@CשIG >cq,EAɫyy)y }IyY_@ỳG=L7A`?'1Z?i|?5=+>="> =q)9I9y=bX9?ˡEMbP?=E6?='=: =@)=|AI=|Ai=A9=A]M]J=Y]QU]>aaaeEecDiym}m>Iy}T5?} }'A ?9}xC}: }:)yWU@WX XW:W2W*WVbUBU*UUU`Ӫ@RB*** querying acoustic contact ***PPBi-=B BQiU=Am?*BAz;AAA<"C-D*CRCCU@CIG%>iq,4EA|i|Y}>Y?}>?y}>Iǻ}>(u}>H?H9̿q?`m?`?@x?`=Zο1?)~>Y? ~>N^;I~>CɫYY)Y ]IYY@yGhԼMU=YrQU>aEpDy}>I M:5? M: 2A U?9CE: <:):W@WX XW:W2W*WVbUBU*UUU@F@B&)=B BA?*BAÛ;AAAw<"C:*CRCC@CI9)9   4:YU1y:I959m@G}>AElAMC>9IIML~GiM@IIIM:; MEpq,_EAY}2$ű?}2?y}2F}2 %u}2H`aE}Dya}>I  5? z ?A ?9 C : H:) W_2@WX XW:W2W*WVbUBU*UUU@B\+=B BA%m?*B!A%-;A!A!A%/<"CU*CQRCQCU_2@CYIIQGu>vq,zܝEAY}66/?}6*f?y}6{}6p}6HP?ʿ ?`? ? yo? WͿ$?)~66/? ~6^;I~6Cɫ99)9 =I9Y}@y}G.MP=Y;QU>aEDy}>Iȹ :Ž5? :Ž ƽIA ?9ƽCǽk: Ƚ:)Ƚ:WdF@WX XW:W2W*WVbUBU*UUUj@B%{2=B) B)A-?*B)A-p;A1A1A5D<"C=K*C9RC9C=dF@CAIU@A)Qe eee3 e3:YeV1ye:e5IiiSoGIiBٺAG)>A 9A IA iA E #=A A E 8; E E)ՋuCIՋuCiы}q,EA||4 y)}CIyy} E}?%)k¿ٱy94L=I >i@ @)K@Ii MD=Yh;QU>aED y } >IA+5? TA ?9 CY: :)W]@WX XW:W 2W *W V)bU1BU1*U1U1U5`1@RE(Combining 5 samples.PI*QM EZQMG @g]ytJQM?%)k¿2QM:QIbQM2Ѵ]@92@=m`T@RQMn??V?SXԢ?BQMAq? QMDQMDPM9?PMU9?PMꝿQMQMB"QM.AB$=B BA?*BAM;AAA-<"C *CRCC]@C-?i-?IG (>烧q,aEAY}2o?}2?y}2貁}2p}2H L?@#{ʿ m?s??\6P? Ϳ Z?)~2o? ~2^;I~2CɫYY)Y YIYY@yGI4=)-?/$?L7A`?5>?,= +=)Iyv/?:vQ?x)?T< K@)bAIbAiAAAS;M;=YM;QU>  aEDy%Ht}%>I)-65?- -pA =?9-0C-; -;))eeee e1:YeDW1yeY:e5mAdded new target pos. range: 2216.399902 m, bearing: 53.951941 deg, deltaT: 7.300950 s, approachRate: 299.295288 m/s, LOS rate: -0.049912 deg/s, posRepo size: 4m ProNav: pos range: 2216.399902 m, bearing: 53.951941 deg, approachRate: 299.295288 m/s, LOS rate: -0.049912 deg/s, cmd update: -0.149736 deg/s, cmd heading: 328.316039 deg, new cmd heading: 328.473208 deg. WT@WX XW:W2W*WVbUBU*UUP@U`| ?Bֈ.=B BA:?*BA;AAA<"C6 *CRCCT@CIGE>q,<*EAY}:l3?}:_j?y}:`}:Ot}:HY?׹@, ʿ?S?`Iʾ?KB? @ο?)~:l3? ~:z^;I~:Cɫ99)9 9I9Y}X@y}ǀG}t<MS=Y:QU>aEDy能}>I :/B5?  : A ?9QC; ;):U=iUa=; wAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;w dResuming normal ranging with 1.000000 count pings.; 1< WK@WX XW:W2W*WVbU!BU!*U!U!U-$?BU^2=BQ BQA]2?*BYA]/;AYAYA]`<"Ce!*CiRCiCmK@CiaIyG;><<B>9I}Gi_@SD?; Eq,DEAY}2-?}2 &?y}2F}2*/u}2H` ?7Nlɿ?@ؐ?`?pH?#[οJ?)~2-? ~2^;I~2CɫYY)Y YIYY@yzGMGa>M=M3iM@I M@)M@IIiM@lMH=YQU>aEDy}>Iȱŵ(N5?ŵ ƵA ?9ƵsCǵ: ȵ:)ȱX?1<wCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR; wAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRWC@WX XW:W2W*WVbUBU*UUU`;?B%!8=B) B)A-B?*B)A-5;A1A1A5'G<"C=_*C9RC9C=C@CA]/ ]]]" ]7:Y]V1y]:]5)]ӓ;9eIIQGu>T$q,]EAY}2?}2ܩ{?y}2x}25u}2H@H? aɿ]?=??Q?@hοq?)~2? ~2s^;I~2CɫII)I IIIY}@y}xGؘMS=YBQU>!!a%E%D)y-舽}->I1 =:5LZ5? =:5 5A E?95C5k: 5V:)5:We;@WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU}m?BY6=B BA%?*BA;AAA<"C5*C1RC1C5;@C9 IG5 > A>9 I i =; EMq,wEAY}>0?}>t?y}>zS}>q}>H1s? kȿL%?`? *?VoJ?UͿ?)~>0? ~>^;I~<ɫ99)9 9I9Yy-EPonly read 0 of 1 data item for BIT error E@ E@ E@Y}:QU}>yyaEDy}>Iȑŕg5?ŕz ƕۺA ?9ƕCǕ4: ȕ :)ȑW2@WX XW:W2W*WVbUBU*UUU@ @B2=B BA*BA\<AAA -6q,zEAY}:Ö?}:Rm?y}:A\}:Xn}:H$?I¬ǿ? ?"?@ +?RͿ@#?)~:Ö? ~:^;I~:Cɫ99)9 =I9Y}@y}eG V-?&1?Mb`? > P= ;) I y !rh?{Gz~jth? l'? ף D; ) AI Ai A  A-M-11a=E=D9yE}E>II U:Mvv5? ]:M-n MA ]?9MۥCM ; M ;)M:W})@WX XW:W2W*WVbU BU *U UU@B]-=BY BYA]8?*BaAec <AaAaAʨ<"C2*CRCC)@CׁIG=>`q,{EAY}6L?}6g?y}6 f9}66n}6H`{?`o u0ǿ z?NJ?sa?l= Ϳ"?)~6L? ~6^;I~6CɫYY)Y ]IYY@yUG鮡ɮp=nMd=Y:QU>aED yΗ}>I15}5?5c 5A ?95C5 < 5<)1W-!@W)] ]]] ]>:Y]U1y]:]H59e@X) XaWi:Wi2W*WVbUBU*UUU k@RB*** querying acoustic contact ***PPB 8=B  B A h?*B A`f<AAAׄ<"Cu*CRCC!@C!AIIG}7>܍@>9܉I܍}Gi܍@܉܉܉܍:; ݍEGq,_ŞEAY}2 ?}2#`?y}2{:}2o}2H@v?`ƿ ??R?^}O/Ϳ ?)~2 ? ~2 `;I~2CɫYY)Y YIYY@yGZ****** received transponder code query ******F****** received ping request ******aEDyv}>Iȡ :ť5? :ť8X ƥA ?9ƥCǥp: ȥ$:)ȥ:U=iU=W@WiXq XqWq:Wq2Wq*WyVybUyBUy*UyUU @B ;=B BA?*BA<1<AAAX<"C*CRCC@C)IG-->sq,pAߞEA|i|@Y}6x׌?}6Z?y}6:}6p}6H@?? 'l iƿ M?`|??`oC`ͿA?)~6x׌? ~6_;I~6Cɫ99)9 9I9Yu;@y}GxDUSBL response received:!U1,P 0AA,000,092BD,186,80,80,96,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 PMH=YhQU>aE Dy%ru$ uuu u6:YuxZ1yuq:u5}>IȹŽ>5?ŽRL ƽA M?9ƽACǽM< Ƚȟ<)ȹW@WX XW:W2W*WVbUBU*UUU` @BE".=BI BIAM>*BIAMԀ!<AIAQAU<"C]v *CYRCYC]@CIױ)ױיIGk>܅ ?>9܁ I܅ }Gi܅ @܅ "=܅ RD܁ ܅ #; ݅ Eq,EAY}2{n?}2JS?y}2ع}2v}2H?@@jƿk??`ݞ?;?tο?)~2{n? ~2$_;I~0ɫ99)9 9I9YE\@yE,GmNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B --v=-V>i-@) -@)-­@I-i-@=*<M=Q=YE+QUE>AAaMEMDIyU}U>IY]5?]B ]A e?9]`C]w: ]:)YW@WX XW:W2W*WV)bU1BU1*U1U1U=@&@BuC=Bi; BAS?*BA@'<AAA<"CA*CRCC@CסIG >ħq,EAY}6?}6 L?y}6v}6jx}6H`OQ?@2*ƿ?`?`U?@.V?ο?)~6? ~6*_;I~6Cɫ99)9 9I9Y@yGxDUSBL response received:!U1,R,F35,000,003FB,186,80,80,A9,FF Fpublishing direction and range info g5>ɰ= ))CIyA'?*?ٱ㥛 ?:vMb??T =)IyV-?x&I +?aE&Dy}>I :5? ::7 -AIUAA)UBAe eee e4:YeDW1yeY:e5 ?9CK< Z<):W@WX XW:W2W*WVbUBU*UUU`G@P)*Q-AZQ-Dzem E7@/IT@JQ-'?*?2Q- g5>:Q)bQ-Sp*@wit3@;s)_RQ-f͌` ?>0\d?y WBQ-x? Q-AQ-OUAP-Q9?P-9?P-Q-ꝿQ-ΰ@"Q-BB0=B BAR>*BA1.<AAA<"C@*CRCC@CI G%M>>iEnGIYiq1ٺA3ʧq,,EA|*4<|*;Y}-?}- E?y}-Վ'}-au}-H?ޫ"tſ@6S?BH?`>? d?lο2?)~-? ~-^;I~-Cɫ19)9 AIAY@yGDNmea in: $SNTTA,,,,,012100.60*5A uMbu;_uuiu @q u-@)u@Iu"@iuM>=Y2QU>aE4Dyy}>I5?k+ dA  ?9CV: :)m5yAdded new target pos. range: 23.639997 m, bearing: 55.636976 deg, deltaT: 4.473257 s, approachRate: -490.193176 m/s, LOS rate: 0.376691 deg/s, posRepo size: 4mM ProNav: pos range: 23.639997 m, bearing: 55.636976 deg, approachRate: -490.193176 m/s, LOS rate: 0.376691 deg/s, cmd update: 1.130073 deg/s, cmd heading: 327.646759 deg, new cmd heading: 327.584341 deg. WMmA@WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYU]֣7@U]rK?B6=B BAe>*BA4<AAAy<"CmsRCCmA@C׵?i׵?q܅>>9܁I܁i܁܅#=܅SD܁܅;; ݅E)ݹIݹiݹݽ#=ݽ#=ݽ4IG@>wѧq,֨FEAY}2~?}2>?y}2 U}2u}2HZ?t Ŀ??@O?Zj?iο_?)~2~? ~2^;I~0ɫ99)9 =I9Y}@y}zG:Me=YQU?!!a%E%?D)y-}-?I1 =:55? =:5~" 5A E?95ҦC5: 5:)5::uAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;vZEntering USBL mode with 5.000000 count pings.1;q;W{@WX XW :W2W*WVbUBU*UUU%`1?]i ]]] ]2<:Y]V1y]:]5)]җ;9eB<=B BAP>*BA~:<AAAXD<"C: RCC{@Cѽe<יIGb>Cקq,`EAY}6v?}6f7?y}6طR}6\|v}6H@"?@c`VĿ~? (t??Vj?ο?)~6v? ~6^;I~4ɫYY)Y YIYY@yvG5eM=H=Y=Y8QU=>AAaEEELDAyMm}M>IQU5?UO U»A ]?9UCUI: U4:)QX}@q;}u}Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:}u}Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLW&@WX XW:W2W*WVbUBU*UUU`?B==B BA>*BA `@<AU=iU=AAU <"C] RCYC]&@CaMr;!I)GM1>e ?>9a Ie |Gie k@e $=a a e B; e E{ݧq, ^zEA| i|"@Y}Rp?}R0?y}R,}R w}RH ? wÿ \?-?`d?`e?ο`?)~Rp? ~Rs^;I~RCɫyy)y }IyY@yGíCíTíDaEYDyi}>I :l5? :/ A ?9 C: :):W@W X  X W :W 2W*WVbUBU*UUU`>K?BE>;=BI BIAM}>*BI)  7:YU1y:5)i;A+G<AAA<"C$RCC@C";I)iAIGj>Gq,8EAɫyy)y }IY@yVGDl?S㥛?QO ?/< )Iy(\?~jtMb?'?< 5@)EAIAizA=A 0MG=YQU>aEgDy}>I  5&5?   A ?9 CC #: :) W=bA@W9X9 X9W9:W92WA*WAVAbUABUA*UIUIUM?Bu:=By ByA}v>*ByA}M<AAA l<"CsRCCbA@Cϙϙ)Й ЙIG5>0q,V,EAY}:2b?}:h#?y}:xẙ}:4Kv}:H?V¿?@?`\? .7\? }ο@,?)~:2b? ~:^;I~:Cɫ髑) IYo@y6GenҾe>e>ief@a e@)e@Ie @ieMN=Y;QU>aEsDy}>I85?_ A ?9dC: :)Wm@WX XW:W2W*WVbUBU*UUU @B5<=B1 B1A5>*B1A=S<A9A9A=-<"CEnsRCACEm@CIIޅ@A)ޅ?A& /:YV1y:59@yIG>iA>>9tCIX|Gi@M; Eq,kǟEA|;|Y}6Y\?}688?y}6Ҕ}6q}6H'?b`Hx@p?0o?yY?2`?ͿO?)~6Y\? ~6Ru_;I~4ɫYY)Y YIYY@yG鮙ɮa=T%=MW=Y/QU>aED y  } >I :I5? %: +A %?9C=: :):WE@WAXI XIWI:WI2WI*WIVQbUQBUQ*UYUYU]e%@ReB*** querying acoustic contact ***PaPeBE=B BA>*BALY<AAAb<"CKRCC@C׵?iױבIG=q, EAY}6V?}6q?y}65}6\p}6H?@>@@޽??-?a?`EͿ@?)~6V? ~6`_;I~6Cɫ99)9 =I9YuU@y}G}Z****** received transponder code query ******F****** received ping request ******99a=EEDAyE}M>IȩŭF]5?ŭ+ ƭ=A ?9ƭCǭܹ: ȭ:)ȩW @WX XW:W2W*WVbU BU)*U)U1U5 @B}79=By ByA}8>*BA{`<AAA< -:YWU1y:5"Cx^RCC @CIG$> @>9 I i  %=   N;  E8q,EAY}2N?}2i?y}2.F}2p}2H@?ӅX? _?`?a?Ϳ?)~2N? ~2d_;I~2Cɫ9I)I MIIYo@y6GxDUSBL response received:!U1,P F35,000,003FB,186,80,80,A9,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ޑiޕ=\=i@ @)­@I­@i­@;M1=YM9QU>11a=E=DAyMo}M>IY :]s5? :] ]QA ?9]ΧC]< ]<)]:WEaQ@WIXI XIWI:WI2WI*WQVQbUQBUQ*UQUYU]e @BnF6=B BA>*BAg<AAA<"CRCCaQ@C!IIG|> q,MEA|i|@Y}JG?}JI?y}J׺}Jo}JH`?? R߿Jy@>?`?`u?Z?`Ϳ` ?)~JG? ~J_;I~Hɫ髙) IY@y~G@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Mv?J +?M?M= M)IIIyM?MbMbp?M ?MM; MK@)MbAIM|AiM\AIMGAe MeT=Ymf:QUm>qqauEuDyy}}}>IȁW  ::YT1y:H5ŅT5?Ņ ƅXA ?9ƅCDžn; ȅס;)ȁW׊@WX XW:W2W*WVbUBU*UUU@B ^H=B  B A >*BA"m<AAA<"C4PRCC׊@C!I1)5jA!I)GM1>-M q,f/EAY}@?}??y}d }n}H@?޿5???@D?L2?4Ϳ!?)~@? ~iõ@ñ ĵ-@)ĵ-@IĵiĵK@<MU=Y h;QU>aEDyɒ}>I :?5? : tI ^A ?9 C ; ;):W˹@WX XW:W2W*WVbUBU*UUU̹@BƪA=B BA>*BA Q>s<A A A 6<"C^MRCC˹@CܭA>9ܩIܭ{Giܭ@ܭ&=ܩܩܭU; ݭEIG )>4q,?IEAY}r*9?}r>y}rj:}rUp}rH`i?tܿp s?8?ׄ?ZPͿe?)~r*9? ~r(=_;I~rCɫ) IY-@y-~G=DNmea in: $SNTTA,,,,,012105.04*5D LMN=Y;QU>aEDyv}>Iȩŭ5?ŭ ƭcA ?9ƭ+Cǭ: ȭ+:)ȩW|@WX XW:W2W*WVbUBU*UUU4;@B(E=B BA!>*BA%x<A!A!A%<"C-uRC)C-|@C1)I))-@A=* === =,7:Y=]1y=:=75)={;9EIIG>\q,0cEA||iV3oGIditdٺ AY}uZu3?}up>y}u\D;}uq}uH ?AۿU ?? ? hsͿ?)~uZu3? ~ucE_;I~qɫ髩) IY0@y~G鮽p=ɮ=xDUSBL response received:!U1,R,D43,000,036A9,18A,80,80,87,FF Fpublishing direction and range infoۚ?ɰI?鰽> )CIyHDc2?{`?ٱuu3<Mu%=Y}R9;QU>aEEEDQyeF}e>Iy :}[5? :} }jA ?9}UC}< }M<)}:Wu`@WqXq XqWy:Wy2Wy*WyVybUBU*UUUdr@R(Combining 5 samples.P*QHDZQ.7v@: |@JQc2?{`?2Qۚ?:QbQj͟x@K@ͦeo[RQ+v?U78?GkSQBQ ? Qr,DQ(CPD9?PQ9?PIQQ"Qΰ@B  l0=B  B1A5>*B1A5L€<A1A1A=<"C=RCACE`@CAu?iu?I IY G} >ܱ 9ܱ Iܵ {Giܵ x@ܱ ܱ ܱ ܵ W; ݵ E)=tCI=tCi9=%==%===5q,|EAY}2"#-?}2!>y}24"{;}2Pp}2H?`ٿ@ַ?`M?G?AdoͿ@b?)~2"#-? ~2_;I~0ɫ99)9 9I9Yu@yu~G-`;-=-i-@) ))-@I-@i-@=~мME=YE5;QUE?IIaMEMDQyU"}U$?IY]c5?]/ ]mA e?9]jC]: ]=:)YmyAdded new target pos. range: 802.080017 m, bearing: 60.245766 deg, deltaT: 5.368149 s, approachRate: 145.010880 m/s, LOS rate: 0.858544 deg/s, posRepo size: 4m ProNav: pos range: 802.080017 m, bearing: 60.245766 deg, approachRate: 145.010880 m/s, LOS rate: 0.858544 deg/s, cmd update: 2.575631 deg/s, cmd heading: 333.707971 deg, new cmd heading: 333.991932 deg. W9@WX XW:W2W*WVbUBU*UU@U?B?k=B BAm>*BiAm6<AqAqAu7=<"C}*RCyC}9@C==== =1:Y=W1y=č:=5)=;סIG >Ep%q,ϖEAY}FI&?}Fo>y}FC ;}Fq}FH`Hu?+^ؿL???C!s#Ϳ`?)~FI&? ~F_;I~FCɫ髑) IY@y$~G rh?V-?Mbp?C+?h= ;)Iy`"?~jtI +?7?ļ94< ) AI"AiA=AY߼M>=Y:QU>aED!y%Q~}%>I)-5?-ؾ -xA =?9-C-: -:));U wUAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;]w]dResuming normal ranging with 1.000000 count pings.;]1<]Wej\@WaXa XiWi:Wi2Wi*WqVqbUqBUq*UqUyU}i?B2>=B BA>*BAꥅ<AAAL"~<"C7۾RCCj\@C%=i%p=IGI>v+q,6EA|@Y}^!?}^>y}^(T;}^fp}^H ? ֿiiV??@?} wDͿ'?)~^!? ~^k^;I~^Cɫ髱) IY@yM~Gå=å>å>iå@á ĥ@)ĥ@Iĥ­@iĥ­@&<ML=Y\;QU>aEDy}>I  : 5? : a A ?9 C s: ^:) :X5?1<5w=Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;= w=Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRWE@WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQUU`W?Bg)E=B BA >*BA.<AAA#{<"CpҾRCC@CIש)ש==== =-:Y=P^1U@>9UuCIU,{GiU&@U$=QQUf; UEy=:=5)=l;IG(>2q,ʠEAY}2?}2 >y}2;}2Yl}2HH ?qտ`$? O? ?e| HͿ&?)~2? ~2;_;I~2Cɫ99)9 =I9Y}@y}@~GnM\=Yn;QU>aE D y ܡ}>I5? A %?9٨C^: k:)WEvx@WAXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU]7 ?BJ=B BAX>*BA=Q<AAAy<"CJvɾRCCvx@C׉IG=8q,YEAY}:%-?}:6>y}: <}:ri}:H`l?lӿ@`?ʞ??G̿+?)~:%-? ~:_;I~:Cɫ99)9 9I9Y}@y};~G`MK=Y;QUE>AIaMEMDIyU }U>IY e:]+5? e:] ]A e?9]C]: ]:)]:WF@WX XW:W2W*WVbUBU*UUU@ߤ?B{E=B BA>*BA W<AAAVw<"CDRCCF@C II))-AA==~=~= ='0:Y=T1y=@:=#59E@GM>M ?>9I IM zGiM @M #=I I I I '>q,i6EA||Y}6!?}6Ò>y}6o&<}6[j}6HS?ѿ@. 3? ? PD?@ڄͿ%)?)~6!? ~6/_;I~6Cɫ99)9 =I9Y}%@y}}G -@ -@ -@-©--i-@- --@)-@I--@i-=MEE=YE=z;QUE>IIaMEMDIy}>InD5? A ?9%CI: U:)W@WX XW:W2W *W V bUBU*UUUY-@BEA=BA BAAE>>*BAAM!O<AIAIAMQu<"CU.RRCQCU@CYiim?IIQGm>sEq,QEAY}6 ?}6>y}6yt7<}6'n}6H?@o'п @@p??@:?oRͿp!?)~6 ? ~6_;I~4ɫAI)I IIIY}@y}2~GI=)=ףp= ?I +I +>?9 94)IyCl?Q?Mbp?;?u<; j@)AIAiAA==M=K=Y=$;QU=>AAaEEE(DIyM΍}M>IQ ]:UW5? e:U UA e?9UDCUq: U:)U:W9@WX XW:W2W*WVbUBU*UUUH@RB*** querying acoustic contact ***PPBEJgI=BI BIAm>*BiAmE<AqAqAuhs<"C}aRCyC}9@Cy==== =f.:Y=xZ1y=q:=5iIqG>Kq,l1EAY}2Q.>}2p>y}299<<}2s}2H`[?;Ϳ@H} л?:??@.ο o?)~2Q.> ~2 _;I~2Cɫ99)9 =I9Y@y~GZ****** received transponder code query ******F****** received ping request ******aE5Dy}z}>Iȡťl5?ť( ƥA ?9ƥeCǥ: ȥ:)ȡW'Ҿ@WX XW:W2W*WVbUBU*UUU@@BN=B BA>*BA=<AAAq<"CBۣRCC'Ҿ@C<<9IdzGi@h; E)i-=!I)GM0>Rq,?KEAY}:>}:U>y}:{><}:e%v}:H@M?ʿ` ?@Dc??@χ xο?)~:> ~:^;I~8ɫ99)9 =I9Y}@y}<}G?AxDUSBL response received:!U1,P D43,000,036A9,18A,80,80,87,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 MU=Y}ֳ9QU>aEBDy}>I =:M5? =:  A E?9C; ;):mmmm m0:YmV1ym:mI5W|@WX XW:W2W*WVbUBU*UUUT @B;=B BA'>*BAҙ<AAA%po<"C;RCC|@CAIi)iaIyG}>Xq,IeEAY}2Z>}2l8>y}2F<}2 {}2Hz?`{ƿ@/cL?@?N?`Ԉ"Ͽ@U ?)~2Z> ~2v _;I~2CɫYY)Y ]IaY@y!}GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ]jԻM]C=Y]:QU]>aaaeEeODiymP}m>IՖ5? A ?9C: :)W-@W)X) X)W):W12W1*W1V1bU9BU9*U9U9U=`,%@BmBR=Bi BiAm>*BqAu<AqAqAu m<"C}RCyC}@CIIQG > =>9 I zGi 2@ l; Ec#_q,~EAY}2>}2>y}2R<}2z}2Hu?V¿=VV?@??Zο= ?)~2> ~2=J_;I~2CɫYY)Y aIaY@y|}GxDUSBL response received:!U1,R,B86,000,003A2,188,80,80,BE,FF Fpublishing direction and range infoj?ɰ_=鰥> )>CIyfARA I??ٱ  0= H= j))a-E-[D)y5}5>I9=o5?= =~A E?9=ũC=k: =:)9Wm|@WiXi XiWi:Wq2Wq*WqVybUyBUy*UyUyUu@P*QfAZQ!#@><;.@JQRA I??2Qj?:QbQFρ@5[>0@=yRQ~46?g? |ʿBQr? QAQ@PQ9?PD9?PQIQ%@"QB%RM=B BAd>*BAJ<AAIAMk<"CUERCQCU|@CYI))-?AEEEE Ew2:YEU1yE:Em5)Ej;9MIIYGu> fq,cdEA|(|(Y}~e>}~f=y}~7n<}~r}~H ?䮾֌O?@??ƍ@ο@v?)~~e> ~~_;I~~Cɫ) IYM@yM%}GTNmea in: $SNTTA,0.037375,,,,012110.29*4D M%C?~jt?kt?MZ$?M= M 0=)IIIyMB`"?Mbp?qya}E}jDyy}>Iȉ :ō5? :ōa ƍ|A ?9ƍCǍ: ȍ:)ȍ:myAdded new target pos. range: 18.299999 m, bearing: 65.229632 deg, deltaT: 4.275139 s, approachRate: -183.334396 m/s, LOS rate: 1.165779 deg/s, posRepo size: 4m ProNav: pos range: 18.299999 m, bearing: 65.229632 deg, approachRate: -183.334396 m/s, LOS rate: 1.165779 deg/s, cmd update: 3.497336 deg/s, cmd heading: 344.750243 deg, new cmd heading: 345.954520 deg. WIu@WX XW:W2W*WVbUBU*UUL2@U΋?  9CiunGIidٺ1ABa<=B BA>*BA <AAAi<"C54RsRC9C=Iu@C9M?iM?qIyG~>4lq,3EAY}2>}2=y}27<}27 n}2H?r÷@ w@t?@Z??@[@|Ϳ"?)~2> ~2 _;I~2Cɫ99)9 =I9Y@y}GÕ=Õ>ÑiÕ3@Ñ ĕ@)ĕ-@Iĕj@iĕ@<MY=Yy;QU>aEvDy}>I5? yA ?9 Cv: K:):uAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;vZEntering USBL mode with 5.000000 count pings.1;q;W(@WX XW:W2W*WVbU BU *U ܑ9ܕtCIܕyGiܕ@ܑܑܑܕn; ݕ—E)5uCI5uCi15#=5#=54UU`,?==== =G/:Y=X1y=/:=5)=;B%!V=BI BIAMQ>*BIAM4<AQAQAU5h<"C]h\RCYC](@CaׁIG=>sq, ͡EAY}:>}:F=y}:<}:i}:H`:?PZ?&Ű?>?y ?HT̿ M*?)~:> ~:>_;I~:Cɫ99)9 =I9Y}@y}J}G=M=Q=YE;QUE>AAaMEMDIyU\}U>IY e:]5? e:]ϖ ]vA e?9]/C]: ]:)]:X@q;uCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:uAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLW@WX XW:W2W*WVbUBU*UUUl?BT=B BA>*BA&<AAAuf<"C܃DRC)\>C@CIG>-=i)Fyq,EA|i|@Y}6>}64=y}6A<}6%n}6H?o~ Ai?`r??@1?瑿 Ϳ ="?)~6> ~6x`;I~6CɫYY)Y ]IYY-@yo|G5[\M=K=Y= :QU=>AAaEEEDIyMՆ}M>Iȡť5?ť ƥsA ?9ƥSCǥk: ȥ8:)ȡW'@WX XW:W2W*WVbUBU*UUU?B4F=B BA>*BA<AAAd<"C%p*RC%{>C%'@C)IA)A]]]] ]*:Y]WU1y]:]59u@׉IG-->ܑ 9ܑ Iܕ xGiܕ ?@ܕ $=ܑ ܑ ܕ v; ݕ ƗE.q,;EAY}2.>}2P|Q ~2I"`;I~2Cɫ99)9 9IAY]K@y]|GY>i @=`e<Kip@ @)@I@i@-S<M-K=Y-'9QU->11a5E5D9y=u}E>IA M:EZ5? U:E EpA U?9EvCE: E,:)E:WuZ~@WyXy XyWy:Wy2Wy*WVbUBU*UUU&@B5 L=BY BaAe>*BiAS<AAAc<"C0RC^=CZ~@CiIqG>Yq,ßEAY}2Hq>}2ۧ@y}2Z~<}2su}2H?̀?b??@[?`ϑPbο?)~2Hq> ~2x_;I~2Cɫ99)9 9I9Y@y|GˡE??I +?'?< 9<)Iyoʡ??I +-?L=9 ­@)­AI­Ai­AAeM@=YQU>aEDyu}>I65? HA ?9C : w:)W\@WX XW:W2W*WVbUBU*UUU @BB=B BAW>*BA`8<AAAzYaI!G=r>q,Jz4EA||4}B@y}B<}B|t}BH ?@?>?@h~?(?`DDο c?)~BAT> ~B _;I~BCɫYY)Y ]IYY@y"|G鮡ɮp= M@ M@ M@M©MMiM̬@M M@)IIIiM@e;MeQ=Ye(9QUe>iiamEmDqyur}u>Iy :}L5? :} }$A ?9}C}: }|:)}:W@WX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPB]O=B BA>*BA#<AAA_<"CXRCCC%@999I=pxGi=@999=t; 9CI-V}>5?i5?IG-,>nkq,WNEAY}67>}6^@y}6<}6 r}6H9? ?@?? 3 ?? ~ <οh?)~67> ~6X_;I~6Cɫ99)9 9I9Y}=@y}G{GZ****** received transponder code query ******F****** received ping request ******aEDy } >Ic5? A %?9ުC:  :)WEg@WAXA XAWA:WA2WI*WiVibUqBUq*UqUqU}  @BOA=B BA>*BA9<=99= =c2:Y9y9=5AAQAU3^<"C]RCe OĽCg@CօK>9IIGeV>q,0hEAɫyy)y yIyY@y&|GxDUSBL response received:!U1,P B86,000,003A2,188,80,80,BE,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %\=M-G=Y=QUE>QYaeEeDy}>IY]y|5?] ]׻A ?9]C]Es< ]u<)Y5=i1Wl@WX XW:W2W*W!V!bU!BU)*U)U)U- ^ @BE=B BA>*BAQ3<AAA@J\<"CQ7 RCxCl@CZ>IG>1 91 I5 wGi5 K@5 %=1 1 5 w; 5 ǗE}q, EA|i|@ɫ髙) IY@y{G@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B   3?i@ K@)@I@i@ZͼM==Y QU >aEDy}>I! -:%5? -:%Ô %A -?9%'C%I: %:)%:WUu~@WQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUe@D@BT=]s]]] ](:Y]X1y]/:]5)]߆;9}B BAz>*BA,[<AAAZ<"CDeRC84C u~@C֝S=Iס)סYIiG>q,!盢EAY}6U=}6K@y}6<}6?c}6HN?I?,?u¿`?`ps?6*̿`"5?)~6U= ~6O_;I~6Cɫ99)9 9I9Y.@y5{GxDUSBL response received:!U1,R,AFD,000,0038E,189,80,80,88,FF Fpublishing direction and range infoO?ɰ=7> )CIÿAKc?wnL?ٱ=i= mL7A`?J +?Mbm+'?m= m)iIiymS?Q?~jth?m/=?m\=mD; i)m AImAim"AimAMP=Y+aEDyJP}>I5?m A ?9LC: w:)WD;WX XW:W2W*W V bU BU*UUU>@R(Combining 5 samples.P*Q̈AZQI(@T۹$.@JQKc?wnL?2QO?:QbQq9 #@C)T++@2(i RQV ?vJ?o:HʿBQ w? Q\AQfAP^9?PQ9?PQQ5@"Q%@B=E=B9 B9A=Ľ>*B9AE<AAAAAESY<"CmD;RCm CmD;Cqm8k=9IIGeU>~Ҭq,ǵEAY}z=}z@y}zD<}zΜY}zH~??@f?@ſ??@=ʿ@RE?)~z= ~z_;I~zCɫ) IY-H@y-U{GTNmea in: $SNTTA,0.038623,,,,012114.75*49 hA9IDwGi@$=j; E>>Oi@ @)X@IiX@M2;MU@=YU;QUU>YYa]E]DYye-`}e>Ii u:m5? u:m mA }?9mtCmE: m0:)m:I!)!5555/ 5!+:Y5Y1y5:55)5;muAdded new target pos. range: 17.100002 m, bearing: 55.289449 deg, deltaT: 4.482927 s, approachRate: -0.267682 m/s, LOS rate: -2.217342 deg/s, posRepo size: 4m ProNav: pos range: 17.100002 m, bearing: 55.289449 deg, approachRate: -0.267682 m/s, LOS rate: -2.217342 deg/s, cmd update: -6.652026 deg/s, cmd heading: 0.358916 deg, new cmd heading: 1.939691 deg. WI@WX XW:W2W*WVbUBU*UU1@U E?B-|F=B1 B1A5c>*B1A5Η<A9A9A=W<"Cm <*CqRCqCuI@Cq]G<I!G=r>q,ϢEAY}2e=}2@y}2<}2,O}2H f??>?`h? !pȿ @?`$? kɿ` V?)~2e= ~24_;I~2CɫYY)Y ]IYY#@y'{GEHMM^=Y]aaaeEeDaym\}m>IJ5? zA ?9C: r:)WB@WX XW:W2W *W VbUBU*UUU5/?Be)S=Bi BiAm>*BqAu/<AyAyA}V<"C^RCCB@CցYIiGZ>i= nGIQ ia ٺ +Af㹨q,tyEAY}F˰$=}Ff@y}F7 =}F;}FHJ?`@?@ı?nʿ`??^࠿Uǿ/r?)~F˰$= ~FQ7_;I~FCɫii)i iIiY@y"{G=MEJ=YEIIIaMEMDIyU"}U>IY e:]S5? e:] ]dA m?9]C]: ]:)]:W@WX XW:W2W*WVbUBU*UUU ?B H=B  BA׼>*BA-9<AAAaV<"CF=RC!C%@C!==== =1:Y=U1y=:=659=@%j<IGK>9I|vGiW@%=m; E)mtCImtCiim$=m$=m4bq,>YEAY}6H<}6@y}6Z=}6D%}6H`6??s?˿ n??J@Ŀ@?)~6H< ~6_;I~6Cɫ99)9 =I9Yu^@y}6zG]Ga=]Q>]i]@Y ]@)]"@I]K@i]@mjMuG=Yu^yya}E}DyԼ}>Iȉō 5?ōq ƍIA ?9ƍCǍ: ȍ:)ȉWjJ@WX XW:W2W*WVbUBU*UUU`\?BzI=B BAΰ>*BA%A\<A!A!A%{U<"C-'ͽRCeCjJ@C5=i5= Օ>ԕ=֍YIiGZ>+ƨq,&7EAY}V<}V@y}VUC4=}VI}VH+?V? ?d̿ ??tT¿?)~V< ~V_;I~VCɫqq)y yIyY@yzG$C?Mb?> <)IyJ +?aE+DyG}>I :) 5? : 0A ?9CA: :):W=@W9X9 X9W9:W92WA*WAVAbUABUA*UIUQUU[ @B}J=By ByA>*BAE<AAA/U<"C L?RC C @C5d555 5b':Y50Y1y5:5%5%IGI>ͨq,g 7EAY}6Ŝ<}63@y}6G=}6`}6H{)?}??@l̿??` ܷ?)~6Ŝ< ~6 _;I~6CɫYY)Y YIYY@yzG MG?};>9yI}PuGi}c@}$=yy}e; }EM@MiM@I M?@)MIM@iMX@ݼML=YAaE8DyF}>IC 5? A ?97C=: ϸ:)W%=@W!X! X!W!:W!2W)*W)V)bU)BU1*U1U1U5?@B]PJ=Ba BaAe>*BaAe3*<AaAiAmi$U<"Cu[{RC}#^C}=@CyMjIG-,> Ԩq,PEAY}FW<}FL@y}F\=}F Ͻ}FH@-?\0?@?@F˿ ?@H?`ṿ?)~FW< ~Fm_;I~FCɫ髱) IY#@yyGɮ=%MW=Yk_!!a%E%DD!y- <}->I15@\ 5?5 5A =?95]C5I: 5w:)1WuҾ@WqXq XqWy:Wy2Wy*WVbUBU*UUU@Q@RB*** querying acoustic contact ***PPBU.\G=B]$v< BYA]>*BYAed<AaAaAenkU<"CaRCg CҾ@CI)))==== =1:Y=U1y=:=n5U-!I)GE0>Z1ڨq,jjEA||p;Y}>"f =}>b0@y}>cr=}>%}>H 5?E? Ʋ?;˿@5?@r?Gײ f?)~>"f = ~>_;I~>CɫYa)a mIiY@yyGZ****** received transponder code query ******F****** received ping request ******H!a%E-RD1yEZ<}m>Iq }:u y 5? }:u uҺA ?9uCus: u:)u:W%@WX XW:W 2W *W V bUBU*UUU@d @B A=B BA>*BAH<AAAV<"Cr RC =C%@C e?i?IGj>y9yI}sGi}@}#=yy}b; }E'q,EAY}Jf=0=}J~@y}J'σ=}J"?"}JH`^C? ?@L,?`* ʿQ?H?v;?)~Jf=0= ~J_;I~JCɫqq)y }IyYyxDUSBL response received:!U1,P AFD,000,0038E,189,80,80,88,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)4=eeea eE1:YeV1ye:a)eb;9E$EE94=iE@A EX@)E9@IEX@iE9@YUd/QYa]E]aDy-<}>Iȑŕŗ 5?ŕl ƕA ?9ƕCǕ < ȕ'!<)ȑW-1^@W)X) X1W1:WY2WY*WaVibUiBUq*UUU @B>=B BA*BAz<AAAGW<"C`̾RC^>C1^@C?΅ס I G >ECq,WvEAY}6bd=}6@y}61q=}6}6HU?`o?鞱?`mȿ0i??~@Otw V?)~6bd= ~6I_;I~6CɫYY)Y ]IYY@y.xGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B = 94)IyʡE?*BA5<AAAW<"C2ݾRCVU>C4@C-=i-=P;IG- >nq,\TEA| i| Y}Rȗ=}R|@y}R=}Rj=}RHhn?-{?&? ƿ`|?@YIʷ??)~Rȗ= ~R[G`;I~Pɫyy)y }IyY@y%xGxDUSBL response received:!U1,R,DA2,000,00389,189,80,80,83,FF Fpublishing direction and range infoa?ɰF=鰹 )CIyfAB?@%?ٱ=>9IqGi@%=^; EE9aaaeEexDaymE=}m>Iqus 5?u uWA }?9uCuϸ: u:)qW˸@WX XW:W2W*WVbUiBUi*UqUqUu~@R(Combining 5 samples.P*QfAZQxѣ-@ݾ @JQB?@%?2Qa?:QbQ!x/@*<ȔT@٘RQ%?б7?:BQ&> Q@Q{APw9?P^9?PQQİ@"Q5@B==B BA>*BA<AAAjY<"CHRC >C˸@C5) 555 57:Y5WU1y5:55)5i;ѽv<}gq~IׅiA)ׅiAQIaG~>Xq,;ңEAY}m=}@y}T=} =}H ?@?`S?@cM?׽$Ez?ζ?)~m= ~`;I~ɫ) IYU(@yU|wGDNmea in: $SNTTA,,,,,012119.19*5C mMm:=Yu6bqya}E}D}[@@yy=}>Iȉ :ō 5? :ō ƍ!A ?9ƍCǍ3: ȍ?:)ȍ:muAdded new target pos. range: 16.800003 m, bearing: 20.335888 deg, deltaT: 4.436299 s, approachRate: -0.067624 m/s, LOS rate: -7.878991 deg/s, posRepo size: 4m ProNav: pos range: 16.800003 m, bearing: 20.335888 deg, approachRate: -0.067624 m/s, LOS rate: -7.878991 deg/s, cmd update: -12.000000 deg/s, cmd heading: 330.875220 deg, new cmd heading: 327.944337 deg. W׵@WX XW:W2W*WVbUBU*UU0@U`?BR9=B BAe>*BA%<A)A)A-@[<"C5`RC1C5׵@C1AA)A A֥~Iׁ I G >q,EAɫ髹) IYMX@yM}vG -@ -@ -@-©--i-¥@- -Σ@)-Σ@I-n@i-@=uM=N=YEQUE>AAaMEMDIyU}U>IY] 5?] ]A e?9]BC]: ]=:)YWV @WX!I!)%?A5115 5:2:Y1y1559=@ X!W9:WA2WA*WAVAbUIBUI*UIUIUU?B}L83=By ByA}o>*ByAb<AAAL0]<"CP!RCCV @Cօd#QIaG}Y>?>9ItoGi@'=h; EJgq,EA||4}6@y}6 {=}6w>}6Hr? T?O@?Կ`?0ɴj?R?)~6K> ~6`;I~6Cɫ99)9 =I9Y}@y}uG M_=Ye;QU>!!a%E%D)y-Օ=}->I 5? A %?9dC< <)Wm]H@WiXi XiWi:Wq2Wq*WqVqbUyBUy*UyUyU}`?BU0=B BAs>*BA<AAApA_<"C=7RCC]H@CX潉?i?יIGb>q,EAY}byI>}bi@y}bL=}b>}bH? ?|)?D`8?v¿M`oS?@?)~byI> ~b_;I~bCɫ髱) IYQ@y:uG9Ai3oGI4=)%=Ii =οٺ9=GARQ?n?~jt??V> D<)IyFx?{Gz{Gzt?+?#ף;  A)@I AibAA-M2=Y;QU>aEDy=}>I :? 5? : A ?9C: :):W S@W X  X W :W2W*WVbUBU*UUU,?}} .:YkS1yԊ:%5B\,=B&/< B A `>*B A y<A A A 2}a<"CGRCCS@C9IGj> q,R9EAY}FKs]>}F0 @y}FV=}F>}FH?,? ?7[@"?¿j`"??)~FKs]> ~F_;I~FCɫ髉) Iٹٽ<A>9IlGig@g; E)QIQiQU%=U%=U5Y@ytG   ÕDÕ>Õ'iÑÕ đ)ĕ@IĕΣ@iĕΣ@5M_=Y8:QU>aEDyX=}>IȹŽ4 5?Ž ƽiA ?9ƽCǽg: Ƚ:)ȹW72@WX XiWi:Wq2Wq*WqVqbUqBUy*UyUyU}`&@B+=B BAXO>*BA<AAA,zc<"C'[RCC72@Cޭ=iޭ=%짼I G5P>q,|SEA|@Y}j̎n>}j @y}j=}j>}jH1?^ǚ?Ĵ? Vͷ? v d??)~j̎n> ~j_;I~jCɫ髱) IY=@y= sGMG=Y9QU>aEDy&=}>I :L 5? :. =A ?9̭C|: 0:):Wp@WX! X!W!:W!2W!*W)V)bU)BU)*U1U1U5P@B]T=BY BYAec)>*BaAer<AAA\e<"C9pRCCp@C  :YU1y:5uq,#emEAY}R*{>}RO@y}R=}R=}RH`5?`|?4?Bxe?o?ྪ?)~R*{> ~R,_;I~Pɫqy)y yIY1@yrG  ååå`iå@á ĥ@)ĥ@Iĥ@iĥ@ML=YQU>aEDy=}>Ib 5?u A ?9C|: :)W @WX XW:W 2W *W V bU BU*UUU`@R%B*** querying acoustic contact ***P!P!BE@x=BA BIAM>*BIAMн<AIAIAM2h<"CU?:RCYC] @CY]<`=IGm>ܱ9ܵuCIܵiGiܵ.@ܵ&=ܱܱܵl; ݵėE)!q,\:EAY}N>}N j;y}N"3=}N<=}NH?@Kd?? xv??_g??)~N> ~N_;I~NCɫyy) IY@y9qGZ****** received transponder code query ******F****** received ping request ******aEDy><}>IQ :Udz 5? :U UA ?9UCU< U<)U:WE8Ţ@WAXA XIWI:WI2WI*WIVQbUQBUQ*UQUQU] @Iޡ)ޥ@A 2/:Yy5);9Bl=B BA=*BA<AAA^k<"C-]RCC8Ţ@Cm<֭>ׁIG>)'q, EA||;Y}6>}6 !;y}6Nɬ=}6=}6H?@1g`%?~?M?8 ϰ??)~6> ~6Y`;I~6Cɫ99)9 9I9Yu@y}oGxDUSBL response received:!U1,P DA2,000,00389,189,80,80,83,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )\(?+y&1?G? `e=)Iysh|??~jth rh?)?DC = /A)p@Ip Ai"A(AmǔMm"=Yu:QUu>qqa}E}Dy;}>Iu 5? ϸA ?9 ?i ?ܽ B>9ܹ Iܽ gGiܽ F@ܽ %=ܽ RDܹ ܽ o; ݽ ƗE I G >Q.q,ˆEAY}2kK>}2;y}2_p=}2<}2H@?i5?r? `b?-?@8/`dD?@%?)~2kK> ~2a;I~0ɫ髱) IY@y%nG5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I=)=ԼR?i@ \@ Y1:Yy5)t;)@I\@iE@ ޽M V=Y`QU>aEDy%h}%>I) 5:-t 5? 5:- -A 5?9-\C-g: -:)-:W].@WYXY XYWY:WY2Wa*WaVabUaBUi*UiUiUm`@B<B BA =*BAw{<AAAp<"Cm?RCiCm.@Ci]S>1IAG]T>5q,SؤEAY}25v>}2@y}2=}2}2H?@}??F?}?'?)~25v> ~2a;I~2Cɫyy)y yIyY@yNmGxDUSBL response received:!U1,R,DDA,000,00B11,188,80,80,75,FF Fpublishing direction and range info >ɰh>鰽> )BIyzCdb?J?ٱ=i5UM5H=Y='QU=>9AaEEE DAyMͼ}M>IQUR 5?Uܾ UA ]?9U~CUg: U:)QWsr@WX XW:W2W*WVbUBU*UUU@R(Combining 5 samples.P*QzCZQ]`]@]`,N@JQdb?J?2Q >:QbQ{7c]@N@ʨiwS$RQ(e?FPZ?,cBQop> QpBQBP9?Pw9?PQQY"Qİ@B=<B BA6<*BA <AAAs<"C;RCCsr@CU>IGn>;q,-EA|i|@Y}:,f>}:N@y}:,^=}:Y}:H?iٓ?`?@)$@?`k ~:ub;I~:Cɫ99)9 =I9Y̿@ykGTNmea in: $SNTTA,0.043122,,,,012123.62*41 ]<]>]\i]@Y ]n@)]&@I]&@i]&@mMmX=YmQUu>qya}E}Dyy)}>Iȉō| 5?ō8 ƍA ?9ƍCǍ: ȍ+:)ȉmuAdded new target pos. range: 132.479996 m, bearing: 27.130357 deg, deltaT: 4.504174 s, approachRate: 25.682842 m/s, LOS rate: 1.508483 deg/s, posRepo size: 4 .:YW1yč:59 @m ProNav: pos range: 132.479996 m, bearing: 27.130357 deg, approachRate: 25.682842 m/s, LOS rate: 1.508483 deg/s, cmd update: 4.525449 deg/s, cmd heading: 276.536399 deg, new cmd heading: 271.994531 deg. WXg@WX XW:W2W*WVbUBU*UU \`@U?BE <BA BIAM*BIAIAQAQAUav<"CmRCiCmXg@Cqec>Ii)iܭ@>9ܩIܭLeGiܭ_@ܭ$=ܩܩܭj; ݭėE9IIGeV>wBq,Q. EAY}=O>}=>@y}=+=}= ǽ}=H-?B?Ĵ?&i??Y߸@?)~=O> ~=b;I~=Cɫ!!)! %I!Ye@yejG Mb?)\(?Mbp#?G= )Iyn?/$?~jt?6?<D< A); AI Ai‰cM7=YQU>aE#DyE}>I :` 5? :z tA ?9ǮC: 9:):; wAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;w dResuming normal ranging with 1.000000 count pings.; 1< WŠ@WX XW:W2W*WVbU!BU!*U!U!U%2t?BUr<BQ BQAUW*BYA]u<AYAYA]#Iy<"Ce>RCaCeŠ@CiU>)I1GUT>Iq,%EAY}>6>}>C@y}>x=}>V }>H??G?@@?`? `Pp?)~>6> ~>a;I~>CɫYY)Y YIYY@y`iGU'MUd=Y]ZQU]>YaaeEe/Daym}m>Iqu 5?u uTA }?9uCu: u=:)qX?1<wCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR; wAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRWp@WX XW:W2W*WVbUBU*UUU`?B.<B BA(*BA 9IAG]U>١ ٥ <ܭ >>9ܩ Iܭ XcGiܭ ȸ@ܭ "=ܩ ܩ ܭ g; ݭ —E2Oq,D?EAY}2>}2@y}2cŔ=}2-}2H?K?ȉ?l??|ſ`/u?)~2> ~2a;I~2CɫYY)Y ]IYY}ͼ@y}JhG-?- >-C˾i-@) -@)-/@I-@i-ۙ@=ጽM=L=YEQUE>AIaMEMIY e:] 5? e:] ]1A e?9] C]: ]:)]:Ws@WX XW:W2W*WVbUBU*UUU vQ?B<B BA *BIAU <AQAQAUmd~<"C]ʻ*CYRCYC]s@Caa9IIGa$Vq,YEAY}F5=}Fz@y}F=}FH}FH ?~? ?;c`"0??`3oȿO?)~F5= ~F5a;I~FCɫQQ)Q UIQY@yfGM9ʽMUI=YUoQUU>YYa]E]IDYye}e>Iim6 5?m m A u?9m1Cm: mC:)iW%{@WX XW:W2W*WVbUBU*UUU?Bl<B BA8*BA<AAA`< 1:YWU1y:5"C9RCC%{@C >iSoGI;mAiI!EfտٺE;mAEAGMR>D\q,utsEAY}:d=}:)@y}:a]=}:/n\}:H@?? P?ÿ@?ާ? ȱF˿/?)~:d= ~:`;I~:Cɫ99)9 =I9Y}@y}eGu5^>uO@uiu\@q uΣ@)u/@Iu/@iu|@jMG=YQU>aEVDy}>Iȡ :ť-O 5? :ť ƥA ?9ƥVCǥt: ȥ:)ȥ:Wy@WX XW:W2W*WVbUBU*UUU1@ip=B҃<B BA<$*BA%u<A!A!A% <"C-dzRC)C-y@C1 E=E=U<>9QIUaGiU@QQQUm; UŗE)݄uCI݄uCiل݄$=݄$=݄5u.ą>9IIGeU>0cq,`EAY}v^=}v7@y}v_=}vGj}vHe?@6??4ǿM?`0? Ϳ?)~v^= ~v`;I~vCɫ髱) IYX@yCeGa=ɮa=K7?~jtxMbp ?Ļ ) s+:YV1y:5)Z;9Iyףp= ?~jt??>?<< @)"AIMAi; AA)= >ltMA=YܻQU%>!!a-E-cD)y5~}5>I9=i 5?=B =ϷA E?9=C= : =:)9WeЖ@WiXi XiWi:Wi2Wi*WqVqbUqBUq*UqUyU}@RB*** querying acoustic contact ***PPBSz<B BA**BAmg<AAAu<"CRCCЖ@CU?΅>I!G=s>Wiq,,EAY}2=}2X@y}2D=}2yu}2HaEoDy } >I :1 5? %: A %?9C; 8;):WM\@WIXQ XQWQ:WQ2WY*WYVYbUYBUY*UaUaUe@ @BYD<B BAP*BA-<AAA<"C4]RCC\@CօFӅ>9IIGeU>A E jAM :>9I IM _GiM J@I I M DM /; M EV?pq, EAY}~K3<}~;w@y}~ev=}~8{}~H ?^?1? οG?ۄ?bڮbϿ??)~~K3< ~~B3_;I~~Cɫ) IY5@y5cG=xDUSBL response received:!U1,P DDA,000,00B11,188,80,80,75,FF =Command Ack=BRequesting micromodem ping code 2i9AMNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I@A)BA}}}} }1:Y}WU1y}:}5)}ݎ;Z>vvi@ @)@I@i@U*MU=Y]^һQU]>aaaeEeDiym*[}m>Iquޟ 5?u uA ?9uӯCu < u"!<)qWأ@W X  X W :W 2W *WVbUBU*UU9U=7 @BmW<Bi BiAmc*BiAu?<AqAqAucW<"C}RCyC}أ@Cֵ?΅>ס I G >jvq,ڥEA|4<|ɫ髑) IYN@yaGAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5M=YQU ?aEDy} ?Is 5? A ?9C: :)Wb@WX XW:W 2W *W V bUBU*UUU@BE$;BA BAAE*BAAM<AIAIAMl<"CUG)RCQCUb@CY9I!GEQ>ӓ|q,EAY}N\@}N@y}Na=}N M}NHm?@k>?@\}?ҿ?`"8?8Ͽ@?)~N\@ ~N^;I~Lɫ髱) IY%@yTaGxDUSBL response received:!U1,R,CCF,000,0039E,189,80,80,56,FF Fpublishing direction and range info6?ɰ=7> )BIyzA1I4?E';?ٱI4=)4= m@ m@ m@m©mmim@m mۙ@)mۙ@Imim}MM}N=Y}UQU>aEDy}>Iș :ŝ 5? :ŝ ƝyA ?9ƝCǝ: ȝV:)ȝ: P0:YDW1yY:59@We@WaXa XaWi:W2W*WVbUBU*UUU`@P*QzAZQ[qR+@/>'@JQ1I4?E';?2Q6?:QbQK;0@ᓈI@ )9N RQiH?T$u."?L%}ɿBQ > Q@Q؁AP9?P9?PQQ@"QYBEG<BI BIAM*BIAM<AQAQAU<"C]ҐRCYC]@CY9tCI]Gi@#=; EyQIYG|>}q,EAY}R@}RBþ@y}R[Y=}R5a}RHjP?`?I?S7Կ p?h ? (@Ͽ?)~R@ ~RJ _;I~Pɫ) IY@y`GuDNmea in: $SNTTA,,,,,012128.15*52 =i=S?~jt?~jtx:?= Ļ)IyʡE? ףp= ?~jt?-2?Q8=D< ‰)-AIAiAAғM8=Y QU>aEDyym}>I 5?i XA ?9?C+; ;)meyAdded new target pos. range: 18.059998 m, bearing: 23.394245 deg, deltaT: 4.450118 s, approachRate: -25.711678 m/s, LOS rate: -0.839553 deg/s, posRepo size: 4m} ProNav: pos range: 18.059998 m, bearing: 23.394245 deg, approachRate: -25.711678 m/s, LOS rate: -0.839553 deg/s, cmd update: -2.518660 deg/s, cmd heading: 296.631888 deg, new cmd heading: 298.598983 deg. W@WX XW:W2W*WVbUBU*UU\2@U~?BeH;Ba BaAe*BaAm<AiAiAmR<"Cuw+RCqCu@C >IG > q,!x(EA| i| Y}^m@}^(@y}^M=}^)}^H?`M?@?NտH??`8CϿ?)~^m@ ~^^;I~\ɫ髑) IY|@yH_GK^M_=YQU>aEDy}>Iȹ :Ž 5? :ŽV ƽ>A ?9ƽ_Cǽc; ȽP;)Ƚ:  -:YWU1y:5:-u-Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;5vEZEntering USBL mode with 5.000000 count pings.1;Eq;EWe@WiXq XqWq:Wy2W*WVbUBU*UUiUu`?BAI;B BA*BAm<AAAN<"C9*CRCC@CIG> ;>9 I $[Gi @ $= ; Eq,nMBEAY}2[#@}21@y}2B=}2}2H`A? ?.?@r,׿ ?\?aA #п ?)~2[#@ ~2z&_;I~0ɫYY)Y ]IYY@y^G  M M UUO>UI>U+iU@U Q)U@IU@iU@e#MeN=YecQUe>iiamEmDyqp}>I 5?, #A  ?9C=: k:)X%@q;%u-Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:-u-Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLW5~@W1X1 X1W9:W92W9*W9V9bUABUA*UAUAUM?Bu`:Bq BqAu8*ByA}:<AyAyA}h<"CdRCC~@CֹיIGb>q,)\EAY}JF@}JS@y}J5=}Jȇ}JH@^x?R?@/? .ؿҫ?@?෽>пY?)~JF@ ~J#2_;I~JCɫyy)y }IyY´@ye^GUMUK=Y]QU]>YaaeEeDaymU}m>Iq }:u& 5? }:u u A ?9uCu: u:)u:Wn@WX XW:W2W*WVbUBU*UUU@D?I)@A '0:YT1y:5B}:B BA*BA<AAA<"CZRCCn@CֹיIGC✩q, vEA|;|ɫqy)y yIyY@y]GÅY>ÅÅiÅ@Á ą3@)ą@Iąią@MF=YQU>aEDy}>Iȱŵ= 5?ŵ] ƵA ?9Ƶ̰Cǵ: ȵϸ:)ȱW"ڢ@WX XW:W2W*WVbUBU*UUUJ?B%:غB) BA*BA7<AAA<"CBRCC"ڢ@Cܕ=>9ܑIܕYGiܕذ@ܕ%=ܑܑܕ; ݕE>ױIGe>ɣq,EAY}V0G@}VT@y}V5"=}V}VH}?^?0?hܿ??`]0п?)~V0G@ ~V_;I~Tɫyy)y yIyYL@y\GIEa=)E=|?5^?9AaEEEDIyUW}U>IY m:]R 5? m:] ]ŶA u?9]C]D=; ]<;)]:W\:@WX) X)W):W12W1*W1V1bU1BU9*U9U9U=@BxB BAƾ*BAf<AAA<"CtRCC\:@Cֽ>בIG> Ԛ> 3Cii I mAi !ȿٺ mA Aq,EAY}2hX@}2#f@y}2K=}2PI}2H`8?`x? ?޿Q?? RH Ͽ?)~2hX@ ~2J_;I~2CɫYY)Y ]IYY}T@y}g[G鮅p=ɮp=TMb=YQU>aEDy} >I  e 5?  A ?9 C : :) W=پ@WAXA XAWA:WA2WA*WIVIbUIBUI*UIUQU[@RB*** querying acoustic contact ***PPBx B BAվ*BA<AAA e<"CA@RCCپ@C >IG5p>ف ف ܍ ?>9܉ I܍ XGi܍ @܍ '=܍ SD܉ ܍ ; ݍ E)-tCI-tCi)))-5D۰q,æEA|i|Y}N @}N۔@y}N=}Ny}NH?`Y?p?߿/)?`V?@\`οB?)~N @ ~NL_;I~NCɫ髙) IYX@yl[GZ****** received transponder code query ******F****** received ping request ******u>iu@q u@)uۙ@Iqiuۙ@M:M@=YQU>aEDyaw}>Iȡť7z 5?ť ƥxA ? /3:YDW1yY:m5) ;9ƥ3Cǥ< ȥ2<)ȡWS@WX XW:W2W*WVbU BU *U U UW @B]֎BY BYA]Xվ*BYAep<AaAaAe!<"C ֟RCCS@CԱԱ յԵ) I9 G] >q,rpݦEAY}2¿@}2з@y}2 =}2_~}2Hr?`??$j`1??@sϿ?)~2¿@ ~2,?_;I~2Cɫ99)9 =I9Y@yZGxDUSBL response received:!U1,P CCF,000,0039E,189,80,80,56,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  =yMEO=YUĊQU]>iqa}E} Dy s}>I :S 5? :M QA  ?9UCY< <):Wm@WqXq XqWy:Wy2Wy*WVbUBU*UUUR` @B]0HBY BYA]ܾ*ByA<AAACC<"C+7RCC@CיIGg>Q0q,LQEAY}F@}FX@y}F=}FJq}FH? oZ?x?`Q? ?d``п?)~F@ ~FK_;I~FCɫqy)y yIyY@yYG?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B @ @ @å©ååiå(@å ĥ@)ĥ /:YV1y:\59@Iġiĥ@-M-<=Y5QU5>99a=E=D9yESs}E>IIMڢ 5?M9 M+A U?9MyCMϸ: Mw:)IWU@WX XW:W2W*WVbUBU*UUU)@5@>91I5VGi5@5&=5RD15; 5EBet+Ba BiAmT*BiAm2<AiAiAmHG<"CuVRCyC}U@CyaIiG9>ĩq,g&EA||p;Y}6@}6X @y}6<}6}6H ???s?iV?@^ݞ`Ͽ?)~6@ ~6_;I~4ɫYY)Y ]IYY@y)YGxDUSBL response received:!U1,R,F0F,000,003B4,187,80,80,86,FF Fpublishing direction and range info\W>ɰR=鰥1> )CIy A%l~K?ZvѸ?ٱ]E?/$/$?]&?] ],=)YIYy]E?aE&Dy3}>Iȩ :ŭ" 5? :ŭ` ƭ A ?9ƭCǭ: ȭ4:)ȭ:W]d@WX XW:W2W*WV)bU1BU1*U1U1U55@RE(Combining 5 samples.Pi*Qm AZQmb 2@?oAN.@JQm%l~K?ZvѸ?2Qm\W>:QibQm-}@jO1@Vz21vb;RQm{?Qсؿ^,ZմBQm@ QmQmAPm9?Pm9?PmQmQm|@"Qm@B;B BA*BA4Ǻ<AAAi`<"CRCC]d@CIGI>DBʩq,[+EAY}nn)@}n)7@y}ns<}n.}nH?`?X0? I]?E?휿Ͽ ?)~nn)@ ~nz_;I~nCɫ) %I!Yuۯ@y}\XG  5:YT1y:5uTNmea in: $SNTTA,0.059377,,,,012132.58*41 I=)=   >;9i=@ @)Q@I@i@GMD=YQU>aE3Dy } >I$ 5? A ?9C÷: :)mUyAdded new target pos. range: 19.379997 m, bearing: 337.801294 deg, deltaT: 4.462678 s, approachRate: 0.295786 m/s, LOS rate: -10.216500 deg/s, posRepo size: 4me ProNav: pos range: 19.379997 m, bearing: 337.801294 deg, approachRate: 0.295786 m/s, LOS rate: -10.216500 deg/s, cmd update: -12.000000 deg/s, cmd heading: 285.390362 deg, new cmd heading: 284.349566 deg. We^@WX XW:W2W*W V bU BU *UUGa3@UE?B}z7B BA&*BAU<AAAy<"CRCC^@CIGm>! % <) 9) I- HUGi- Z@- %=) ) - ; - E(ѩq,DEAY}2F@}2S@y}2<}2^}2Hv? ?? NA?@??Ͽ ?)~2F@ ~2_;I~2CɫYY)Y YIYY}ɯ@y}EXGKڻMq=Y޻QU?a E >D y}?I %:( 5? %:]$ ϵA %?9ܱC: V:):WMY@WIXI XIWI:WI2WQ*WQVQbUYBUY*UYUYU] ?BHB BAO*BAEδ<AAA[<"CRCCY@C׉IG=Uשq,^EAY}Fn|@}F)@y}FA<}F*x}}FH`0?/??.(b?)?'`6ZϿ?)~Fn|@ ~F_;I~Dɫqq)q uIyY@@yWGu5#MuC=YuзQUu>yya}E}KDy;p}>Iȉō 5?ō, ƍA ?9ƍCǍ: ȍ :)ȉW@WX XW:W2W*WVbUBU*UUU?2 }} 7:YkS1yԊ:I5BkZB BAo*BAa@<AAAUa<"C%vRCC@CׁIG>|ݩq,xEAY}2T@}2ϲ@y}20<}2N{}2HU??`?oK?:1?[Ͽ?)~2T@ ~2n_;I~2Cɫ99)9 =I9Y} @y}]WG es>eq=eĽie=@a e3@)e@Ie@ie3@uMuK=YubûQU}>yya}E}XDyg}>Iȉ :ō' 5? :ō4 ƍA ?9ƍ CǍ; ȍ;)ȍ:WmՔ@WX XW:W2W*WVbUBU*UUU6?BwB BA*B A խ<A A A U<"CƿRCCmՔ@C9uCITGif@$=; E)I9G>fq,uEAY}J@}J @y}Jn<}Jf}}JH j?`T?`A{?`w@o?@?Z`XϿ?)~J@ ~Jˎ_;I~Hɫyy)y }IyY@yVGU  ::YU1y:5)q;9bX9?J +?=YEiQUE>AAaMEMfDIyUd}U>IY] 5?]r> ]dA e?9]DC]n: ]w:)YW@WX XW:W2W*WVbUBU*UUUG?B>wB BA*BA<AAANO<"CjҿRCC@CסIG%>Sq,JEAY}2@}2(@y}2˓<}2K~}2Hy? ?*?c? ?!yϿO?)~2@ ~2P_;I~2Cɫ9A)A MIIY}@yVG;t`e=i@ @)ߏ@Ii@mMQ=YtQU>aErDyJ}>I}$ 5?lG 9A ?9eCw:  :)W%T@W!X) X)W):W)2W)*W1V1bU1BU1*U9U9U=F@Be㚼Ba BaAm *BiAm^<AqAqAuA<"C}PڿRCyC}T@Cy׉IG> ?>9 I RGi s@ #= ; Evq,d$ƧEAY}J$@}J1@y}J`<}J@}JH???o 2? ? ڋϿ?)~J$@ ~Jyn_;I~JCɫ髙) IYѭ@yUGɮa=IR=)R=/MX=YpQU>!a%E%~D!y-}->I1 =:5-4 5? =:5mP 5A =?95C5t: 5:)5:Weʌ@WaXa XaWa:Wa2Wi*WiVibUiBUi*UqUqUu@RB*** querying acoustic contact ***PPBwB BA*BA<AAAj/<"ClRCCʌ@CEE~E~E E1:YET1yE@:E5)Eݎ;׉IG>q,ߧEAY}:(@}:6@y}:K<}:쀾}:H@?O?e?` T?M?7Ͽ?)~:(@ ~:R_;I~:Cɫ99)9 =I9Y}D@y},UGZ****** received transponder code query ******F****** received ping request ******aEDy҉}>IF 5?[ ݴA ?9C; I;)W5@WIXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU] _ @BBDB BAJ*BA<AAA6<"CRCC@CIGI>q,nEA|i|ɫ髙) IY@yVTGxDUSBL response received:!U1,P F0F,000,003B4,187,80,80,86,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 e eee e C:YeV1ye:e759e@܅@>9܁I܅QGi܅@܅$=܁܁܁ ݁) uCI uCi %= 5?C99a=E=DAyM}M>IQ U:UX 5? ]:Uf UA ]?9UвCU: U:)U:W^@WX XW:W2W*W V bU BU *U UU ȅ @BB BA*BA <AAAAM<"CRCC^@CIAG>Lq,EAY}2T@}2>b@y}2)F<}25~}2H???"Z1?pB?@ ňrϿ H?)~2T@ ~2K_;I~2Cɫ9A)A EIAYen@ye$TGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ʡE?Mb`{Gz?-2? ף=)Iy~jt?Mb` q,-EAY}f@}fu@y}f+%<}f6|}fH^ ?? ?@JȔ? /?^5Ͽ^?)~f@ ~f_;I~fCɫ11)9 9I9Yu@yuTG}xDUSBL response received:!U1,R,BE8,000,003E6,189,80,80,8C,FF }Fpublishing direction and range info} j?yɰ}=}7> y)} CIyy} A}s\.O?,joZ?ٱyI))-AA==|=|9 =).:Y=R1y=i:9í#í{>í(\ií@é ĭ@)ĭ@IĭȎ@iĭ@ <M /=Y SQU>aEDy a}%>I! -:%u 5? 5:%} %ڴA 5?9%C%k: %4:)%:WUO@WQXY XYWY:WY2WY*WaVabUaBUi*UqUyU@/@R(Combining 5 samples.P*Q AZQ_bO+@#Ne?1@JQs\.O?,joZ?2Q j?:QbQӚ5@>?BRQr{*[?W?$?N 4ɿBQ/< Qp>QoAP9?P9?P QQo?"Q|@BI0B BA*BAl<AAA><"CRCCO@CIGj>i m %=u A>9q Iu `QGiu -@u %=q q u ; u E-q,lGEA||4Eq,GaEAY}2@}2@y}2;}2"#}2H@u? ?4?]@J?@"?{@Ͽ?)~2@ ~2_;I~0ɫYY)Y aIaYE@ySGIUC=)U=pMN=YZ{QU>aEDy}>Iȱŵ 5?ŵ ƵA ?9ƵNCǵn: ȱ)ȱ==~=~= =.:Y=T1y=@:=5W}sQ@WyXy XyW:W2W*WVbUBU*UUU?BϼB BAF*BA<AAA¡<"C-[RC)C-sQ@C1)IQGiq,({EAY}2 @}2@y}2Q[;}2@~}2H*? ڂ?E?W ? O?@cutϿ?)~2 @ ~2I_;I~0ɫ99)9 =I9Yuj@y} TG=I =(>=q>i=@9 =Q@)=3@I=3@i=@M;<MMO=YUpQUU>QQa]E]DYye}e>Ii u:mB 5? u:m m!A u?9mnCm: mo:)m:WYՈ@WX XW:W2W*WVbUBU*UUU` ?BB BA*BAe<AAAՌ<"CtRCCYՈ@C-=i-=5C>91I5PGi5@5&=15D5; 5EשIG>%%q,EA|i|Y}FY@@}FN@y}F;}F{}FHX~?]?`c?`r@?e?q)Ͽn ?)~FY@@ ~FV_;I~FCɫyy)y yIY@ySGʡE?I +?=Y%QU%>))a-E= =w=w= =-5:Y=O1y=P:=5)=‘;9E-DIyU o}U>IY] 5?]I ]A e?9]C]: ]:)YWG@WX XW:W2W*WVbUBU*UUU?BmؽѼBi BiAmh!*BqAu*<AqAqAuo<"C}ݠ*CyRCyC}G@CׁIG=>-+q,䮨EAY}=q@}=G@y}=b;}=z}=H@?h?~?S:V?]ǿ?]l@ο@ ?)~=q@ ~= 1_;I~=Cɫ) IY@y3SG M94M=MviM @I MȎ@)Mߏ@IMȎ@iMȎ@]E<M]F=Y] QU]>aaaeEeDiym'}}u>Iq }:u 5? :uc uA ?9uCu=: u:)u:W{@WX XW:W2W*WVbUBU*UUU`R?B$-ݼB BA" *BA|<AAAII<"C%8RC!C%{@C)I!G=Q>  F>9 I 4PGi :@    ;  E 2q,ȨEAY}2Y@}2@y}2J;}2z}2HN?Q?+ ?5? W? z\i@ ϿF ?)~2Y@ ~2[_;I~2CɫYY)a eIaY}@y}%SG5rM=_=Y=CQUE>IIaMEMDQy]}]>Iae 5?e eA }?9e˳Ce; e;)aW @W)I1)5@AEE|E|E E/:YER1yEi:E5)E;X) XIWI:WI2WQ*WQVQbUQBUQ*UYUYU]q@BB BA{ *BA^ju<AAAG<"C= RCC @C׉IG )>N=8q,EA||Y}6=@}6@y}6Ԅ:;}6z}6H`?D?`q\?@@??`Pg`ο ?)~6=@ ~6G_;I~4ɫ99)9 =I9Y@ySGa=ɮp=iMP=YT&QU>aE Dyq}>I  : 5?  : A ?9C: :):W5ғ@W9X9 X9W9:W92W9*WAVAbUABUA*UAUIUMQ@RUB*** querying acoustic contact ***PQPQB}QBy ByA} *ByAm<AAAf<"CҌ RCCғ@CiIyG=og>q,8jEAY}:ѭ@}:ߥ@y}:]:}:Yw}:H, ?@?a?^@\;? Oi?J\wο`'?)~:ѭ@ ~:i_;I~:CɫYY)Y aIaY@y=RGZ****** received transponder code query ******F****** received ping request ******9IOGi@; E==== =/3:Y=WU1y=:=75)= ;U>Ur>U=iU@Q U@)U@IU3@iU@e6HMm4=YDQU>aEDyp}>Iȡť 5?ť ƥA ?9ƥ Cǥ<< ȥw<)ȡW5@W1X1 X1W1:W92W9*W9V9bUABUA*UAUAUm @B(B BAb&*BA}c<AAAצ<"CRCC@CI G%M>PEq,KEAY}JM@}J@y}JFxi9}J^u}JH ? ? y?)^?`)/?/-oο ?)~JM@ ~J_;I~JCɫqy)y yIyY@yRGxDUSBL response received:!U1,P BE8,000,003E6,189,80,80,8C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )i-=ʡE?kt?aE*Dy`}>Iȑ :ŕ 5? :ŕ ƕA ?9ƕ4CǕr; ȕ;)ȕ:Wԙ@WX  X W :W 2W *WVbUBU*UU9U=> @BB BA$*BA {Y<A AM>M.CA|Kq,.0EA|ܱ9ܱIܵOGiܵF@ܵ%=ܱܱܵ; ݱ)AIAiAE&=E&=Ez25aRq,*IEAY}2DT@}2a@y}2yǺ}2/v}2HS?@? ? tB?`굷?X?`Jzο@a?)~2DT@ ~2__;I~2Cɫ99)9 9I9Y@yQG =&=Me=Y⬺QU>aE@Dyҙ}>I 5? A  ?9oCܹ: )W-f@W)X1 X1W1:W12W1*W9V9bU9BU9*UAUAUE U@BmBi BqAuY(*BqAu5K<AqAyA}V<"C}FRCCf@CIIYGu=ˍXq,cEAY}ro@}r}@y}rn}ruv}rH ?? j?`/?'aENDyH}>Iȹ :Ž 5? :Ž ƽA ?9ƽCǽP'; Ƚ(;)Ƚ:WiL@W X  X W :W 2W*WVbUBU*UUU`@I)))= === =3:Y=T1y=:=5BeJ'Ba BaAi*BiAmA<AiAiAmA5<"Cuz ܿRCqC}iL@Cy!I9G9>^q,}EA|4<|ɫyy)y }IyYU@yQGɮa= %@ %@ %@%©%%i%@% %@)%@I%i%h@5=M=AAaEEEZDAyM}M>ܝI>9ܝvCIܝNGiܝ@ܝ$=ܙܙܙ ݝEI5? A ?9Cb: :)Wx@WX XW:W2W*W V bU BU *U1U1U=@g@BUB BA**BA8<AAA<"C ѿRCCx@CIG (>eq,uEAY}:&@}:ᢠ@y}:}: t}:H^??1??`QQaUEUhDYy]}e>Ia u:e5? u:e& eA }?9e״CeJK; ee;)e:Wަ@WX XW:W2W*WVbUBU*UUUd@RB*** querying acoustic contact ***PPBB BA.*BAr/<AAA<"C%4ſRC%mp>C-ަ@C)!I)GE0>kq,#iEAY}2߸@}2Ɵ@y}2 >}2(t}2HN?`? ?@N-?`}? g?Rο?)~2߸@ ~2_;I~2Cɫ99)9 =I9Y@y"QG % % %%>% =%Fi%@% !)!I%@i%@5f]<M5^=Y=QU=>99a=EEtDAyE}M>IIM5?M2 M A ]?9MCMA: MM:)IW}L@WyX XW:W2W*WVbUBU*UUU<@B #B BA-*BAs'<AAAe<"C9RC9=CL@C1i5=IG>ّّܙ9ܙIܝ@NGiܝ@ܝ#=ܙܙܝ; ݝEirq,5C˩EA|i|Y}> @}>@y}>~u}>Jr}>Hz(??>?@N? ?Яn?(ο`?)~> @ ~>s_;I~>CɫYa)a eIaYn@yQG=MQ=Y QU>aEDyu}}>Iȁ :Ņt5? :Ņ&@ ƅ'A ?9ƅCDž; ȅ;)ȅ:e eee e4:YeWU1ye:e5)ej;9uWuH!@WqXq XqWq:Wy2Wy*WyVybUyBU*UUU@@B83B BA)*BA<AAAǭ<"CVRCؼCH!@C)IGU1>xq,EAY}2@}2c*@y}2𕻙}2t}2Hb7?F?Ed?'???r?[Rο?)~2@ ~2Ê_;I~2CɫYY)Y YIYY}g@y}QG 鿑5MJ=YQU>aEDy}}>Ix#5?M /A ?93Cb: M:)W%:@W!X! X!W):W)2W)*W)V)bU1BU1*U1U9U=@B!B BA3**BA <AAA~<"CMERCUCCU:@CQ֍}>yIG^>q,;EAY}2F@}2T@y}2}2xx}2H`T?l? ?`U ? 8?`r?`!ο`Q?)~2F@ ~2?]_;I~0ɫII)I MIIY]@y] QGexDUSBL response received:!U1,N,80,80,63,E4 6,189,80,80,8C,FF eZNo reply:!U1,N,80,80,63,E4 6,189,80,80,8C,FF -e!)a-E-DEH>9AIAiAE"=AAE; EEaye~}m>Iq :uy)5? :u)[ u7A ?9uUCu~ ; u ;)u:I1)1+  @7:Yy5);W׹@WX XW:W2W*W V bU BU *UUU@B]rBY BaAe#.*BaAQ <AAA<"C,RC C׹@Cօ2rw>ׁIGh>f텪q,nEA|;|;Y}6=h@}6u@y}6}6Hz}6H??Zs?K?`?[ q? Ͽ ?)~6=h@ ~6*b_;I~6Cɫ99)9 9I9Yu@yu'QGyɮ}R=u?ʡE?Mbu ?u= u)qIqyu@5^I ?v/?MbPub0?uxi=u uA)uG3AIuAiuAquGA;MC=Y.:QU>aEDy̆}>Iȱŵ/5?ŵj Ƶ-A ?9ƵyCǵJ: ȵ:)ȱW?@WX XW :W2W*WVbUBU*UUU@_@B9%B BAq-*BA+<AAA7y<"CݏRCC?@C-jA-jAK>IGI>Vq,2EAY}>!@}>ܕ@y}> }>sy}>H`?`?@r?`\c?? Oq?ο`?)~>!@ ~>>_;I~>CɫYY)Y ]IYYM@yQGýļýV>ý>iýz@ù Ľh@)Ľ@IĽh@iĽh@<ME=YQU>aEDy} >I55?pz #A %?9C,; 3;)W]3@WaXa XaWa:Wi2W ~~ 4:YT1y@:59@*WV bU BU *U UU} @B]rBY BYA]+*BaAe;AaAAh<"CHRCC3@Cօ$z>YIaGZ>15<999I=MGi=R@999=; =E{q,LEAY}6@}6kʚ@y}6ӫ}6Yr}6H޿?`?,?@,`0?^R?`us?ο ?)~6@ ~6ُ_;I~6CɫYY)Y ]IYY@yPG}M_=YεQU>aEDy}>I :c95? :N A ?9C: +:):W r@W X  X W :W2W*WVbUBU*UUU%@ @R-B*** querying acoustic contact ***P)P)BMP;BI BQAU0*BA@;AAAO<"CavRCCr@Cqiq=IG(>(q,jfEAinGI";mAi(BٺB;mABAY}bi@}b$&@y}b윻}b)j}bH]ź?q?@?`ʹ?@?s?Ϳ()?)~bi@ ~b_;I~bCɫ髹) IY@yPGZ****** received transponder code query ******F****** received ping request ******=Y)]8QU>aEDy0}>I .:YW1yč:$5l>5?K A =?9C1K< :<)We@@WyX XW:W2W*WVbUBU*UUU`b!@BLB BA%1*BA;AAAEa<"CR[RCC@@CG=IG >q,AEAY}:Ԏ@}:@y}:B8}:t_}:H`}?<? ?I͵?`H?@fg?˿=?)~:Ԏ@ ~:`;I~:Cɫ99)9 9I9Y}$@y}TQGxDUSBL response received:!U1,P 80,80,63,E4 6,189,80,80,8C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 EG>9AIAiAE!=AAE; A)uvCIuvCiqu"=u"=uN|557 >5n5pi5Q@1 5t@)5@I5t@i5V@}x&=M/=Y ;QU>aED)y5N}=>IQ :UB5? :U UA ?9UCU< U<)U:W@WX  X W :W2WY*WaVabUiBUi*UUUॶ"@BoB BAI,*BA;AAAv<"CKARC!C%@C! &t I G >9q,EAY}2> @}2@y}2(:}2\P}2H@l?`A??l??`X@uɿV?)~2> @ ~2P_;I~0ɫ99)9 9I9Y!@yPGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Ii)i7A`?Zd;O rh??j C =)Iy}?5^I?/$?+M"?< ½"A)½1AI½Ai½A }}  8A:YkS1yԊ:65QAMS=Y5  a EDy1}>ID5? A -?9-C: R:)WMZ@WQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UaUaUe(O#@B]VB+= BAb4*BA0;AAA<"C%F2RC!C%Z@C)$IGj>cq,UEA|4<|Y}>@}>|@y}> ;}>@}>H@?@a??? t? Ax@"ǿvo?)~>@ ~>k6`;I~>CɫYY)Y ]IYYϩ@yPG鮡ɮp=xDUSBL response received:!U1,R,F24,000,0044E,186,80,80,7B,FF Fpublishing direction and range info D>ɰ=鰥> )BIyA..i}i?P@ml?ٱÍz>ÍÍ+>iÍ @É čȎ@)čȎ@Ič@ič@p=Ma=YeIaEDy&}>I :*F5? : ôA  ?9KC: :):W-@W)XI XIWQ:WQ2WQ*WQVQbUYBUY*UYUYUe $@R(Combining 5 samples.P*QAZQ <@G9@JQ..i}i?P@ml?2Q D>:QbQ8 @+;{5RQ;=?QqZ<BQ@ QQ@P9?P9?PGQ Q҃@"Qo?B4B BA.*BAjV;AAA_¶<"C%5}RC!CM@CIeH>9IxMGi@#=; E"Oq,"ͪEAY}%D@}%Q@y}%'<}%&}%H[? ?1? K1?gc@0Ŀ ?)~%D@ ~%`;I~%Cɫ) IY@yGQGTNmea in: $SNTTA,,0.036540,,,012147.12*46 M&<MMA=YU&YaaeEuDyyAʼ}>IȑŕG5?ŕ ƕA ?9ƕnCǕ4; ȕA6;)ȑEE|E|E E /:YER1yEi:E5)Et;9UmyAdded new target pos. range: 28.620001 m, bearing: 284.139530 deg, deltaT: 10.031835 s, approachRate: 0.622020 m/s, LOS rate: -7.623157 deg/s, posRepo size: 4m ProNav: pos range: 28.620001 m, bearing: 284.139530 deg, approachRate: 0.622020 m/s, LOS rate: -7.623157 deg/s, cmd update: -12.000000 deg/s, cmd heading: 351.874721 deg, new cmd heading: 357.345161 deg. Ww@WX XW!:W!2W!*W!V!bU)BU)*U)U-`<@U5 M?BL$B BA,*BA(';AAA0D<"Cf<RCCw@C֕< QIYGuz>uq,EAɫ髙) IYީ@yPGMW=YQU>aEDy}>I! -:%6I5? -:% %rA -?9%C%<: %v:)%:WU]@WQXQ XYWY:Wa}=i}=2Wi*WVbUBU*UUU0?Bh8B BA|.*BAg;AAA@<"C%ARC!C-]@C)7IG>]q, EA|i|@ɫ髉)J>9ILGi^@$=;  E IY@yPG>(?lgi=@ Q@)Ii@VME=YQU>aEDy}>IȱŵJ5?ŵ ƵIA ?9ƵCǵ< ȵ <)ȱU' U~U~U U6:YUT1yU@:Un5)UF;WE(@WX XW:W2W*WVbUBU*UUIUM`XL?Bem-Bi BiAm/*BiAmM?;AqAqAu7<"C}}RCC(@Cu+= Յ >ԅ=m GA IY G} >ƪq,cEAY}:Uנ@}:@y}:<}:T4}:H`nŰ?? n?@?@ᔿ d?)~:Uנ@ ~:N-a;I~8ɫ99)9 =I9Y]@y]GQG X9v?:v?:v>= T)Iy> ףp=?V-?J +?1?<H= ¥ A)¥!AI¡i¥AQA=MM=YaE*Dy9=}>IGM5?F bA ?9ѶC: :)W q@W X  XW:W2W*WVbUBU*UUU%?BMg:TBI BQAU,*BQAUٛ$;AQAQAU|<"C][RCYCeq@Caqq)q q]&IG>ڱ̪q,>5EAɫ髙) IY@y>QGj<>(>iG@ Ȏ@)ۙ@I@iȎ@lM F=YQU>aE7D!y%}->I9 E:=P5? E:=y =}A M?9=C=A; = ;)=:Iq)uAAW@WX XW:W2W*WVbUBU*UUU2@U UUU UB5:YUU1yU:U59]@B3B BA,*BA:AAAnp<"CeRCC@C֥uKYIiGZ>}<}<܅L>9܁I܅LLGi܅ @܅%=܁܁܅; ݅EӪq,OEA|;|Y}6@}6Z @y}6 =}6.#]}6H??`z?`)?+@ `ߠk`?)~6@ ~6a;I~6CɫYa)a aIaY}B@y}yQG<M^=YaECDy~=}>I  S5?  A ?9 C : :) W={@W9X9 XAWA:WA2WA*WAVAbUIBUI*UIUIUU@@B}zEB}?7= ByA}\+*BA{:AAA:L<"C.*CRCC{@CԡԡUV)s)I9GU>c٪q,hEAY}6 @}6܍@y}680=}6l=}6H??@0๮?j@"J?j?)~6 @ ~65Ea;I~6Cɫ99)9 =I9Y}F@y}}QG:MJ=YGaEPDy!=}>I  : V5? : S. A ?9 ;C k: :) :WU@WYXY XYWa:Wa2Wa*WaVabUiBUi*UiUqUuT@RB*** querying acoustic contact ***PPB8B BA>+*BA!m:AAA 7<"C%RCC@C  Y:Yyn5uՌQIYG}z>q,cЂEAY}:{@}:7@y}:-#=}:˘u=}:H@o0??ʪ<?NK[d(?@?)~:{@ ~:/a;I~:C!9!I% KGi%@%$=!!%; %Eɫ99)9 =I9Y}̩@y}PGZ****** received transponder code query ******F****** received ping request ******eCe=ie(@a e@)e@Ie@iet@qiup=}UM}4=Y;QU>aE^DyQ=}>I}[5?e@ A e?9dCŝ< <)WU_d@WQXY XYW:W2W*WVbUBU*UUU`w @Bp,B BA/*BA7Y9AAA%.B<"CEmǾRCACE_d@CAM·) I9 G] >q,ͫEA|i|@Y}6£@}6ϛ@y}6,=}6=}6H @??[[@f`zp?`2 I??)~6£@ ~6`;I~4ɫyy)y }IyYY@yZPGxDUSBL response received:!U1,P F24,000,0044E,186,80,80,7B,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Ԛ> }} V5:YkS1yԊ:5i5nGIIiaw̿ٺyA?9NAuS?X9vMb?u/?u u@=)qIqyuJ +?S㥛?Mb?u(?u/aEoDy(=}>I :9a5? :S A ?9C: :):Weo@WaXa XaWa:Wi2Wi*WiVbUBU*UUUnw@B ]0B  B A 2*B A ( A A A 4<"C RC C o@C  [= % >% > FӅIG >\q,=EAY}:t@}:@y}:n0=}:o >}:H? ? @D`?`s걿jD?a?)~:t@ ~:2a;I~:Cɫqq)q uIqY@yOGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =>if@ )I@i@ZMi=YD;QU>aEzDy">}?Ie5?_ A  ?9C: Ǻ:)W5ר@W1X1 X1W1:W92W9*W9V9bU9BUA*UAUAUMz@BuuBq BqAu5*BqA}QtAyAyA}d<"CV RCCר@CeM>9aIe,IGie@e#=aae; eE)Ii$=$=b&5ѝ"(=֍?΅iIqG}>Aq, ֫EAI`)b@Aɫ11)1 5I1uuuu un1:YuT1yu:uJ5)u;9}Y})@y}NGxDUSBL response received:!U1,R,F0C,000,00483,186,80,80,6F,FF Fpublishing direction and range info^ Z>ɰ<=鰁 )BIyfAn0F?\ ?ٱMN=YQU>aEDy}>Iȩ :ŭk5? :ŭo ƭA ?9ƭѷCǭ: ȭ:)ȭ:W@WX XW:W2W*WVbU!BU)*U)U)U-`h5@R=(Combining 5 samples.P9*Q=fAZQ=sv?@*\i@JQ=n0F?\ ?2Q=^ Z>:Q9bQ=$@)@r=fPۿRQ=1ߜ#?s4BQ=B@ Q=0Q=OAP=9?P=9?P=OQ=GQ=7@"Q=҃@B6wNB BA#<*BAϺAAA<"C&#RCC@Cп8=FӅ I G- >kq,EA|T|V4}vH Co? ?!Z¿?a`v?p?)~v@ ~v~ a;I~vCɫ髱) IY@yNG}TNmea in: $SNTTA,0.050613,,,,012151.56*44 n>aEDy=}>Iq5?| A  ?9C: :)m=qAdded new target pos. range: 31.799999 m, bearing: 294.108246 deg, deltaT: 4.554376 s, approachRate: 0.698229 m/s, LOS rate: 2.188821 deg/s, posRepo size: 4mEZTarget missed at range: 31.80 m. Rolling out.mENTransitioning guidance mode to: ROLLOUT"XEWAWAXE; XL?W:W 2W *W V bU BU*UU?@U]?BѲ[B BA<*BAAAAm<"C8RCCC) m N>9i Im GGim =@i i i m ; m E֍ ?΅I׉ )׍ iAq I G >Qq, EAY} ڧ@}@y}s1=}$>}H?`?*¿iP?`,?]?)~ ڧ@] ]]] ]"6:Y]U1y]:]5)]; ~_;I~Cɫ)1)1 5I1YU@yUMGmI +?Zd;~jt?m9?m m<)iIiymCl?y&1Q?m;?m`emu< m;#A)mV AImAim/AimfAM3=YU!QU>aEDy]]=}>Iȡ :ťw5? :ť' ƥA ?9ƥCǥM: ȥ:)ȥ:WWX XW:W2W*WVbUBU*UUUb?B`bB BAD*BA8AAA]#<"C%$ORC)C)C)5FӅIG5>{q,#EAY}6㬨@}6@y}6'=}6$>}6H?@$?`q ?HW`g?C?)~6㬨@ ~6C_;I~6Cɫyy)y yIyY@yYLGUpM]v=Y]iQU]?aaaeEeDaym=}m?I|5? A ?91C: :)WWX XW:W2W*WVbUBU*UUUa?B5IނB1 B1A5L*B9A=Ц\A9A9A=<}<"CE}aRCACACI׹IGf>q,r=EA|i|Y}JZ@}J@y}J4=}Je&>}JH@"?`?b¿`^.` ?l t@?2?)~JZ@ ~J ^;I~JCɫ髡) IYɦ@y3MGUUyUyU U3:YUP1yU':U59]@åx>å?åiåz@á ĥt@)ĥ@Iĥ@iĥ@U=ME=YQU>aEDy&=}>Ij5?. }A ?9RCf: :)WIWIXi XiWi:Wq2Wq*WqVqbUqBUy*UyUyU}4u?BBiB BA"G*BAQ郻AAA<"CfxRCCC9IEGi@; E?΅!i%?IGn>q,6[WEAY}B@Z@}Bg@y}B|=}B=<)>}BH ?`?,:¿I?죶m ??)~B@Z@ ~B^;I~BCɫQQ)Q UIYYuե@yuLG5XM5R=Y5@QU5>99a=E=DAyE=}E>II U:M$5? U:M MwA ]?9MqCMf: M:)M:WyWyXy XyW:W2W*WVbUBU*UUUs?BƁB BAN*BAnAAATn<"C3ƃRC_CCFӅיIG@>ڹq,.qEAY}J2@}J@@y}J<<}Jio'>}JH G?@C?8^ ?^'@ƛ??)~J2@ ~J^;I~JCɫyy)y }IY @y KG 2:YX1y/:5@ =>i@ ) @I?@i @oM@=YFRQU>aEDyG~=}>I5? sA ?9C: :)W)W)X) X)W1:W12W1*W1V1bU9BU9*U9U9UE!@Bm/1}Bi BiAm"U*BqAuîAqAqAu<"C}RC}q(CyCzׁIG=> O>9 wCI DGi b@ "= ; E"q,wEA|@|B;Y}@}(@y}6<}o">}H? ?iy>o? {:wf6?`b?)~@ ~a_;I~Cɫ) IY q@y QJG p=ɮ S?{Gzt? rh?>ף; C =)Iy#~j?~jt~jt?%?D= ­S)A)­ AI­Ai­AA.M<=YkQU>aEDy=}>Ia m:eo5? m:e0 eA m?9eCe{: eA:)e:WWX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBe{Ba BaAeY*BiAmȻAiAiAuj<"C/RC"NCC_I)jAסIG>(q,ܤEAY}6@}6@y}6cn<}6>}6H@g?? $?#0̍@e?|?)~6@ ~6_;I~6Cɫ髡) IY>@yJGZ****** received transponder code query ******F****** received ping request ******aEDyٟ=}>Ișŝ5?ŝ ƝA ?9ƝոCǝ: ȝ1:~~ 2:YT1y@:m5)șWWX XW:W2W*WVbUBU*UUUW @BMV&BI BIAM[*BIAUFݻAQAQAUo<"C]*CYRC]!޽CYCa֭SyIG^>.q,ƾEAY}2K@}2@y}2+<}2q>}2H@9?(?`w`9?γ@uXz?A?)~2K@ ~2_;I~2Cɫ99)9 =I9Ye@ye)IGmxDUSBL response received:!U1,P F0C,000,00483,186,80,80,6F,FF mCommand AckuBRequesting micromodem ping code 2iqq}Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ٱٱP>9IBGin@; E U@ U@ ]@U©UUiU@U Q)U@IUiU @ GM,=YHAQU>aEDyw=}>Iȩ :ŭC5? :ŭB ƭA ?9ƭCǭ: ȭ(:)ȭ:W9WAXA XAWA:WA2WA*WIVIbUIBUI*UIUQUU _ @BǖB BAfa*BAgAAA <"C%u\*C-RC-d䫽C1C9=q" IG5>5q,yجEA|i|Y}2mɮ@}2)צ@y}2y;}2>}2H`? ? pg? 0>oF? K?)~2mɮ@ ~2_;I~2CɫYY)Y eIaY}Ȣ@y}EHGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Mo=YuQU?aEDy2=}? 0:YW1yč:5)Í;9I۶5?p δA ?9C: ӻ:)WWX XW:W2W*WVbUBU*U!U!U%`@BОB BA0g*BA&AAAm<"Cr\*CtRC.|CCdׁIG>>i3oGIiUͿٺQUvA}2H+?@b?`/w ɪ?ձ@0Y?`X?`ӭ?)~2ʖ@ ~2ZM`;I~0ɫII)I IIIY]B@y]GGexDUSBL response received:!U1,R,EE1,000,004A8,187,80,80,3B,FF mFpublishing direction and range infoe;>aɰeL=e1> a)elBIayeBẽwh?e ^?ٱa   6?E6iG@ )ߏ@I&@i/MW=YgQU>aEDy I=} >I5? A ?98C: f:)WAWAXA XAWA:WI2WI*WIVIbUIBUQ*UQUQU]@@Re(Combining 5 samples.Pi*QmBZQmlz@@[ @JQm̃wh?e ^?2Qm;>:QibQmeO7@ePL8Dڴ?RQmօ"Y]?]{濴򁬰?BQm@ QmfQm6APm9?Pm9?PmKQmOQm@"Qm7@BB BAZk*BAXAAA<<"Cu\*CM=RCU,CQCQE,I)GEQ>ܱ 9ܱ Iܵ AGiܵ z@ܱ ܱ ܱ ܵ ; ݵ E)UwCIUwCiQU"=U"=U4Bq,X EAY}MZ@}Mh@y}M}Mq >}MH@Z?`?`MAF@œ?W@Ę~?@*?õ?)~MZ@ ~MO`;I~MCɫ髑) IY@ybGGH  9:YY1y:5);]DNmea in: $SNTTA,,,,,012156.09*56 a i@a  a m@a  a q@a  a e@a  "~?v?:v3?8? Խ)IiMb@Mb@Mb@© @)@Ih@i@\@?ZM,=YLQU>!!a%E%$D)y-SN=}->I1 =:55? =:5 5A E?95_C5|: 5>)5:muqAdded new target pos. range: 34.020000 m, bearing: 314.375767 deg, deltaT: 4.383566 s, approachRate: 0.506437 m/s, LOS rate: 4.623524 deg/s, posRepo size: 4WqWqXy XyWy:W2W*WVbUBU*UU`A@U@|?BuBq ByAl*BArAAA4<"Cx\*C5sRCZ¼CC֕t۽QIYGuz> Iq,$&EA|4<|4@}>v @y}>'_a}>>}>HW?^?: u@? t7+?`.?|?)~>@ ~>:u`;I~>CɫYY)Y YIYY@yFG]M]l=YeQUe?aaaeEm/Diym=}u?Iy}5?}P }3A ?9}|C}: }R?)yWWX XW:W2W*WVbUBU*UUU31?BvB BAo*BA)AAA<"Cw\*CRRCvCC  ̓שIG)>!BOq,~?EAY}2@}2c@y}2Ρ}2wU=}2H t? Q? C?89?`?`C?)~2@ ~2Df`;I~2Cɫ99)9 AIAY}%@y}CFGåS>åף;åQiå\@á ġ)ĥ @Iĥ @iġ(MD=YkQU>aEI5?/( ]A ?9C; ?)W!W!X! X!W!:W!2W)*W)V)bU)BU1*U1U1U5?]Q>9YI]\AGi])@YY]D]; YB}-ϛBy BACt*BA7AAAG<<"Cv\*CSRCS/<CCm[1)I1GM1>*Vq, YEAY}2@}2+@y}2iͼ}2h=}2H 4??GM)??` ??)~2@ ~2S`;I~0v=iv=~~~~ ~/3:Y~T1y~:~65)~ ;ɫYY)a aIaY}@y}EG MX=YeQU>aEHD y Q=}>I %:5? %:3 A -?9C: 6?):WIWIXI XIWI:WQ2WQ*WQVYbUYBUY*UYUYUe?BB BAw*BABAAA<"Cy\*C걽RC<CCP/סIGA>9T\q,(sEA|i|Y}6g@}6u@y}65}6=}6Hp?R?`}"k?_?-p??)~6g@ ~6o`;I~6Cɫ9A)A EIAYR@y?EG @ @ @©ī@ )IԄ@iԄ@ +M]:=Ye0QUe>iiamEmVDqyu<}u>Iy}5?}IA }A ?9}C}: }S@)yWWX XW:W2W*WVbUBU*UUU`@BɞB BAz*BACQAAA<"Cx\*CRCe<CC > F˼?i?IGI>U R>9Q IU @GiU @Q Q Q U ; U Ej?cq,4EAY}f@}fp@rppr  rN2:Ypyprm5)rG;y}f}fE=}fH ??*\ 8? HQ???)~f@ ~f_;I~fCɫ髱) IYN@y:EGa ia i a ma m a qa q a ea e a i@a  a m@a  a q@a  a e@a  $C?w/ĿS㥛??& /<)IiMb@Mb@Mb@ )AIhAiAVM%I=Y%]QU%>))a-E-cD1y5<}5>I9=5?=:M =A M?9=C=g: =@)9WiWiXi XiWi:Wq2Wq*WqVqbUyBUy*UyUyU}Ю@B]B BAz*BA^AAAF<"Cw\*C_gRC9=CCv<׹IGf>fiq,kEAY}2@}2@y}2#}2=}2H`??@K@ '?}T`p??E?)~2@ ~2_;I~2CɫYa)a aIaY@yDG鮡ɮBPM`=YPQU>a E oD ;yA<}>I!%<5?%7X %A =?9%"C%); %R5@)!W1W1X9 X9W9:W92WA*WAVAbUIBUI*UQUYU]@ReB*** querying acoustic contact ***PaPaB&B BA*BAhkAAAo<"Cv\*CD$RCm=CCR5<IG> Npq,VGEA|;|p;Y}6Y@}6-@y}6r4}6=}6H ?F?`Q?>`?G?aE|D9I0@Gi5@ =; Eym<}u>Iȑŕ]"5?ŕe ƕUA ?9ƕGCǕ: ȕR@)ȑWWX XW:W2W*WVbUBU*UUU`D @B%{B! B9A=g}*B9AExAAAAAEG~<"CMy\*CMⰽRCM6=CQCQ%r=I)))IGK>yvq,(ۭEAY}2T@}2b@y}2_A}2+=}2H@,?{?@ @֒'aEDy<}->IAE.5?ECq EA }?9EhCE; Ek@)AW1W1X9 X9W9:W2W*WVbUBU*UUU @BB BA=}*BAAE6mAAAAAE(<"CMx\*CMRCUL=CQCQ֕=QIYGu>G|q,EAY}2>k@}2x@y}2[L}2yL=}2H B>? :x?Ɀ@N?@,?@?@T??)~2>k@ ~2 `;I~2Cv vvv v5:YvV1yv:v5ɫYY)Y ]IYY@yDGAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B @ @ @©i@ &@)Ȏ@I@i@%T;M%D=Y-iлQU->11a5E5D1y= ;}=>IAE;5?E+} EŶA M?9ECE4: E@)AWqWqXq XqWq:Wq2Wy*WyVybUyBUy*UUUN@BַB BA}*BAMIAAAcq<"Cw\*C`URCS=CC+,=IGE>S>9I@Gi@!=; Edq,EA|i|Y}6 ]@}6j@y}6iX}6=}6H72?p?^e A?RR?`?%y?[?)~6 ]@ ~6n`;I~6Cɫ99)9 =IAY}Ÿ@y}DGxDUSBL response received:!U1,R,DAF,000,004DC,189,80,80,6C,FF Fpublishing direction and range info )BIyBNW^?v1,?ٱa iea ie a mea me a qma qm a ema em m\(\?:vy&1?m?mT m`e<)iIiymp= ף?Q?{Gz?m%?m\=m#= mA)mAIm/AimAAmmAMA=YnٻQU>aEDy5}>I :K5? : A %?9C; ;):WWX XW:W2W*WVbUBU*UUU@R(Combining 5 samples.P*QBZQa^u#@@m_2@JQNW^?v1,?2QDN'A@Hnљl-dSRSW@RQ4"ȋP?qXZٿ`?BQ@ QdkQBPԨ9?P9?P>QKQ!@"Q@BMABI BIAM_*BIAUAQAQAUmY<"C]v\*C]RC]L=CyCuBJ=}?i}?IIYG}>I M $Ci nGI i  ʿٺ  Aq,(EA n1:YT1y:I5Y}Mr7@}M/E@y}M^a}M <}MH?2?R໡`?@ ? 5?LU?`C?)~Mr7@ ~M ga;I~MCɫYY)a eIiY͟@yDGmTNmea in: $SNTTA,0.299982,,,,012200.53*46 u>iu=    õr?õp]?õiõ@õ ĵ@)ĵ&@Iĵiĵ @.K;M;=YQU>aEDy!.}>I[5?4 LA  ?9ѺC: 8:)m]qAdded new target pos. range: 37.139999 m, bearing: 336.616557 deg, deltaT: 4.523633 s, approachRate: 0.689711 m/s, LOS rate: 4.916577 deg/s, posRepo size: 4WyWyX XW:W2W*WVbUBU*UUB@Uk?B&B BA*BAAAA 6<"C y\*CRC<=CCM\J=! I1 GM >#q,BEAY}2`@}2 @y}2i}2c}2H5??a@ ]?-?`?h?)~2`@ ~2Xv`;I~2Cɫ99)9 9I9Y}@y}DG]\d<M]|=YeOQUe ?iiamEmDqy}?ٕ<ّܥU>9ܡIܥ@Giܥ؜@ܥ"=ܡܡܥ; ݥE))I)i))-!=-<;5Iȉōg5?ōܜ ƍ~A ?9ƍCǍ< ȍ<)ȉWWX XW:W2W*W!V!bU!BU!*U!U)U5#?Buf;ŽBy ByA}}*ByA뜼AAA <"Cx\*CHRCEZ$=CC]==1IAG]v>IƖq,j\EA~F ~}~}~ ~g9:Y~kS1y~Ԋ:~5)~i;9ɫyy)y yIyYŸ@yDGqfMD=YQU>aEDy}>I :v5? : A ?9C: :):WWX XW:W2W*WVbUBU!*U!U!U%T?BUַBQ BQAU_*BYA]5vAYAYA]c<"Cew\*CeARCeL<)=CaCiօ$=YIiGZ>cq,(EvEAY}2Ӳ@}2@y}2v}2n}2H?@?< t`V?? ˮ?@;2e?)~2Ӳ@ ~25`;I~2Cɫ99)9 =IAYԟ@yDGI!)!í>ííMiíp@é ĭ@)ĭV@Iĭ @iĭV@<;MJ=Y=QU=>AAaEEEDIyUJ}U>IaeJ5?eD eA u?9e0Ce` ; e ;)aWWX XW:W2W*WVbUBU*UUU@KP?BB B A ~*B A {mA AAR<"Cv\*C4RCa<=CC!#'=IGn>ܕW>9ܑIܕAGiܕz@ܕ#=ܑܑܕ; ݕE٣q,&EAY}2Բ@}2z@y}2~}2,CC}2H??Pa? U L? ?Xد?Y?)~2Բ@ ~2$`;I~2Czzzz  zo/:YzX1yz/:z5)ž;ɫ99)9 =I9Yuߟ@y}DGA`"?~jt?J +?D< H)Iyn?l?S㥛?6?=/< A)AI?AiA AX;MG=YQU>a E Dy9}%>Iȉ :ō5? :ō ƍ:A ?9ƍVCǍ/; ȍO/;)ȍ:WWX XW:W2W*WVbUBU*UUU%?BmgBq BqAur~*BqAu#*AqAyA}Ks<"C}y\*CRC=CCֵ=בIG>dq,rEAY}2²@}2Ϫ@y}2K}27m}2H ??.?@ٛ?V͵?D2??)~2²@ ~2_;I~2Cɫ99)9 =I9Y}@y}EGf=MP=Y1QU>aEDyg} >I)-g5?- -rA U?9-yC-; -;))WWX  X W :W2W*WVbUBU*UUU3@BuƷBq BqA}x*ByA}(AyAyA}e(<"Cx\*CyRCe=CC ս=Խ=֝y=qIG~>I갫q,îEAY}68@}6@y}6+}6쉽}6H??]? <cq?@6? B?D1@?)~68@ ~6_;I~6C%%%% %3:Y%T1y%:%n59-@ɫyy)y }IyY@yDGa=ɮ=i=Y>9=xCI=#BGi=̝@999=F; =EU=UGaU=iU@Q U@)U @IU @iU @e1MeN=Ye&QUm>iiamEmDy*Z}>I :G5? : A  ?9C: :):WIWiXi XqWq:Wq2Wq*WqVybUyBUy*UyUyU@ F@RB*** querying acoustic contact ***PPB$iB BA,}*BA޽AAA<"Cw\*C>RC6<CC)%]=IGn>oq,ݮEAY}6b@}6p@y}6m}63}6He? 8,?.?A?@ ? q?`7?)~6b@ ~6_;I~6CI)AAɫ99)9 =IAY@yDGZ****** received transponder code query ******F****** received ping request ******11a5E5 DAyMY}M>IY]5?] ]A u?9]C]A; ].B;)YWWX XW:W2W*WVbUBU*UUU$P @B%RBI BIAM|*BIAMļAIAQAU<"C]v\*C]RC]^<CYCa}?q,ޒEA||4ýl>iý@ù Ľ3@)Ľt@IĽt@iĽ@U=MU,=Y]_QUe>iiamEmDyyg}>Iȩ :ŭ05? :ŭ ƭ'A ?9ƭCǭ: ȭo:)ȭ:WWX! X!W!:W!2W!*W)V)bU)BU)*U)U1U51/ @BUB BAx*BAҹ˼AAA5Z<"Cy\*CRC,<CCT99I=BGi=n@="=99=T; =ɗEשIG>&īq,siEAY}6H@}6PV@y}6'}6 }6HoN?=?P?( 0? r?`a?" ?)~6H@ ~6q^;I~6CɫYY)Y ]IYY%@yCFGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I1)1I1)1K?ʡE?~jtx?^?> ;)Iy rh?aE'Dysh:}>Iȡť45?ťx ƥlA ?9ƥCǥ/: ȥ:)ȡWWX XW:W2W*WVbUBU*UUUM+@B`B BACt*BAѼAAA<"C%x\*C%RC%A<C)C)U]<1I9G]>/Qʫq,E+EAY}2e@}2>s@y}2ꎍ}2DZ{}2He? H.?H?`K?Fx? B? S@?)~2e@ ~2_;I~2C=ip=  | |  .:Y R1y i: n5ɫAA)A EIAY%@y-FGMxDUSBL response received:!U1,R,ECB,000,00509,186,80,80,83,FF UFpublishing direction and range infoE>AɰE0=E> A)ECIAyE\BE?Ɩo ?ٱAÅ >Å=ÅK7iÅQ@Á ąȎ@)ą @Ią̄@ią @+=MY=YKQU>aE3Dy<}>I5? A ?9/CU: :)WAWAXA XAWa:Wi2Wi*WiVibUiBUq*UqUqUu@R(Combining 5 samples.P*Q\BZQ{=3C@L;9%@JQ?Ɩo ?2Q>:QbQѐ>@(cVS=9S߼@RQ ?V,$Eb #?BQ@ QQAPШ9?PԨ9?PUQ>Q@"Q!@BWB BA6p*BA8׼A A A <"C%w\*C%WORC-<C)C)5<IG5>;ѫq,A)EEA|8i|8Y}6v@}@y}}e}H _s?$?x?g @W]?3?뜱? `?)~6v@ ~+^;I~ɫ) I\>9IDGib@!=W; ̗EY5@y5FGDNmea in: $SNTTA,,,,,012204.98*5A (;MW=Y6:QU>aE?DyJ;}>I -:5? 5: A 5?9OC(O; E9;):muAdded new target pos. range: 39.840000 m, bearing: 320.630062 deg, deltaT: 4.438161 s, approachRate: 0.608360 m/s, LOS rate: -3.602054 deg/s, posRepo size: 4WWX XW:WA2WI*WIVIbUIBUQ*UQU] C@U]^F?BB BAo*BA޼AAA9<"Cv\*CRCv<CC<?i?IG>b׫q,^EAY}2h@}2nv@y}2!!a-E-KD)y5}5>IȹŽd 5?Ž.! ƽ4A ?9ƽpCǽn: Ƚ:)ȹWWX XW:W2W*WVbUBU*UUU!?B5}wĽB1 B1A5k*B1A=H_A9A9A=%<"CEy\*CEଽRCE4o<CACIiEnGIYiiƿٺAօ<9IIGeV>ݫq,xEAY}2K@}2Y@y}2#}2Cu}2HP?=?K? % 7?@CB?? ?)~2K@ ~2^;I~2CI)ɫ99)9 9IAY]@y]eHG%>% %q>i%f@! %@)%?@I%@i%?@55=M5I=Y=(ֺQU=>9AaEEEXDAyMM }M>IQ ]:U5? ]:U, UwA ]?9UCU: U:)U:WWX XW:W2W*WVbUBU*U1U1U5$?BϸB BA`f*BALAAA?p<"Cx\*CRC<CC<IGn> ]>9 I DGi @ = QD  d; ԗE)mxCImxCiiim"=m@5tq,įEA||;Y}69@}6hG@y}6 5}64 }6HHA?@G?͇?`+/f%?@S#?@"?g4?)~69@ ~6վ^;I~6C-g --- - <:Y-U1y-:-5)-;ɫ99)9 =I9Y@y!HGtV?~jty&1|? `)IyQ?I +?I +?5?9<9< ?A)7AIi\A A=}M=;=YE`QUE>AAaMEMfDIyU}U>IY]&5?]: ]A e?9]C]߼: ]:)YWWX XW:W2W*WVbUBU*UUU`2N?B-B^/= BAh*BACAAA<"Cw\*CkRC`<CC=8q,*EAY}:QD@}:R@y}:r}:-o}:H`KI?|B?y? (81?Է??̭E?)~:QD@ ~:^;I~:Cɫaa)a mIiYI@yHGI)}4?}?}"[i}̔@y }&@)}t@I}i}h@;<=MA=Y&QU>aEsDyH;}>I 5:55? 5:,H A 5?9߼C; ;):WWX XW:W2W*WVbUBU*UUU@@BB BA#c*BAAAAAWu<"Cv\*Ch)RCB<CC<IG>q,eƯEAY}2U@}2Gc@y}2}25U}2HV?H9?1`\@xC?F?q? ?)~2U@ ~2Y^;I~2C---- -z.:Y-DW1y-Y:-595@ɫYY)Y YIYٙٙܥ\>9ܥyCIܥ FGiܥ@ܡܡܥDܥe; ݡY}@y%IG<M]=YGQU>aEDy;}>IB5?S .A ?9C: s:)WWX XW:W2W!*W!V!bU!BU!*U)U)U-L@BU4uȽBY BYA]a*BYA]@AYAaAe<"Cey\*CmORCm<CiCqEu<I)GEQ>q,FAEA|i|@Y}6R@}6_@y}6l}6P}6HS?`U;?S KPA?(?(? W@i?)~6R@ ~6^;I~6CɫQQ)Q QIQY:@y JG鮡ɮa=Y~=M\=YQU>aEDy}>I>P5?_ fA ?9"C/: :)WWX X!W!:W!2W!*W!V)bU)BU)*U)U1U5@R=B*** querying acoustic contact ***P9P9Be cBi BiAm[*BiAmV.AiAiAu6="C}x\*C}tëRC}<CyCml;=]Iq,"EAY}2|4@}29B@y}2(}2K!U}2H;? K?5?`x0(?v.??@G X?)~2|4@ ~2^;I~0ɫ99)9 9I9eeee e3:YeU1ye:e5Ymʤ@yuJG}Z****** received transponder code query ******}F****** received ping request ******}aEDy%}%>I) 5:-`5? 5:-m -A =?9-KC-: -:)-:WYWaXa XaWa:Wa2Wa*WVbUBU*UUUज़ @BB BAW*BAWAAAf="CEw\*CE󂫽RCMڠ<CICI=gE=ܵ[>9ܱIܵFGiܵ@ܵ=ܱܱܵ`; ݵҗEMcq,IEAY}2@}2x"@y}2M}2^}2H!?]?d?zB ??3?`DM?)~2@ ~2^;I~2CɫAA)A IIIYe@yeJGuxDUSBL response received:!U1,P ECB,000,00509,186,80,80,83,FF uCommand AckuBRequesting micromodem ping code 2iqyNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 mx&1?7A`¿~jt?mA ?m m=)iIiymDl?{Gz?~jt?mO-?m#aEDy}>Iȡťp5?ť| ƥA ?9ƥtCǥ: ȥǺ:)ȡWWX XW:W2W*WVbUBU*UUU r @BtB  BA}X*B9A="AAAAAM="C}v\*C}=RC}X<CyCωω)Љ Љ  q, 2EA|4<|4? ?@ )?)~6@ ~6s^;I~4ɫ)1)1 5I1Yu@yKG@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B } } }}>}?}i}@} }@)}@I}@i}@=MW=YQU>aEDy}>Iȱ :ŵ|5? :ŵ Ƶ#A ?9ƵCǵ=: ȵk:)ȵ:WWX XW:W2W*WVbUBU*UUU@O@B,B B!A%Q*B!A%KQ A!A!A%="C-y\*C- RC5<C1C1R5<IG=P>Y 9] xCI] HGi] @Y Y ] D] i; ] ֗Eq,ILEAY}>(@}>s6@y}> }>E}>H1? R?j6/!??N?票`$?)~>(@ ~>x^;I~>Cɫyy) IY5A@y5PKG=xDUSBL response received:!U1,R,ED9,000,0053A,186,80,80,9D,FF EFpublishing direction and range info=΃>9ɰ=7=9 9)=CI9y=+B=R ?eK?ٱ9Ia)eAMK=Y#QU>aEDyO;}>IȹŽ5?Ž ƽ\A ?9ƽCǽw; Ƚx;)ȹWWX XW:W2W*W V bU BU *UUU:@R%(Combining 5 samples.P!*Q%+BZQ%zcD@1u%@JQ%R ?eK?2Q%΃>:Q!bQ%ݺ=@@8\]Է;`N@RQ%_AFL?@ƻXT?BQ%t@ Q%Q%BP%ڨ9?P%Ш9?P%]Q%UQ%R@"Q%@BB BAfS*BA AAA="Cx\*C-ӪRC-I><C)C)=ԅ<I!G=r>y i} =  } }  3:Y kS1y Ԋ: \5)q,%fEAY}21D@}2Q@y}2}22}2H@H?@C?.~ &;? ?)~21D@ ~2^;I~2Cɫ99)9 9I9Y}i@y}LGDNmea in: $SNTTA,,,,,012209.42*50 )= =}\=M}K=YQU>aEDy <}>Iș :ŝ]5? :ŝY ƝA ?9Ɲ۽Cǝk: ȝ:)ȝ:muAdded new target pos. range: 42.780003 m, bearing: 319.524883 deg, deltaT: 4.466307 s, approachRate: 0.658262 m/s, LOS rate: -0.247448 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU cE@U`Me?BB BA$J*B!A%~~A!A!A%h:="C-w\*C5RC5ʆ<C1C1MU<I)GEQ> q,.EA|i|@Y}6 G@}6T@y}6}6 R9}6HK?HA?_)v@%`iÍ@É č@)čV@IčV@ičV@ƇMH=Y:f;QU>aEDyX:} >IV5?? мA ?9C : {:);= w=Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;EwEdResuming normal ranging with 1.000000 count pings.;E1 H    9:Y 0Y1y : 5) ;9 9&q,EAY}B)-@}B:@y}BL}B;}BH6? O?m5'?s˵?o?Q4?)~B)-@ ~B^;I~BCɫaa)i mIiY@yXMGq= ףp?Zd;?MbK?y= )IyGz?I +?Q?0?9<u< ­A)­AI©i­AA[=MF=Y;QU>aEDym}>I :B5? : A ?9"C: A:):X?1<wCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR; wAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRWWX XW:W2W*WVbUBU*UUUF?B]BY BYA]5F*BYAeAaAaAe="Cy\*C$RCpW<CC99iI}Ia )a UT,q,EAY}>+ @}>@y}>o}><}>H ?`Ua?bR`H` ?? ! ??)~>+ @ ~>h^;I~>Cɫaa)a aIiYD@yMG @ @ @©ip@ ۙ@)Ii@ <MH=Y py;QU >aEDy%h}->I15\5?5{ 59A =?95FC5+: 5:)1WYWYXa XaWa:Wa2Wa*WiVibUiBUi*UqUqUu`k?BⶹB BAPC*BA%mA!A!A%T="C-x\*C-eRC5zޢ<C1C1=]<I!G=r>  iA \>9 yCI XJGi v@ D ؗE)ݝyCIݝyCiݙݝ=ݝ=ݝ54 ~ ~  Y T1y @: 5) .<3q,ͰEA||p;Y}6@}6@y}6W؍}6x;}6H`y?e?XM@^?@08? j?^?)~6@ ~6}^;I~4ɫYY)Y ]IYY@y NGG<M[=Y];QU>!!a%E%D)y-3}->I15&5?5 5hA E?95gC5Ǻ: 5:)1WWX XW:W2W*WVbUBU*UUU @BB BA%A*B!A%A!A!A%q5="C-w\*C5RC59<C1C1ER5<I)GEQ>Tf9q,lEAY}2c@}2 @y}2ڌ}2y7}2H !?`]?Ka`F W??З?㦿@l?)~2c@ ~2,x^;I~0ɫII)Q QIQYߧ@yNGI =) =]<M]F=Y]:QU]>aaamEmDqy};}}>Iȁ :Ņj5? :Ņ ƅA ?9ƅCDž:; ȅPB;)ȅ:WiWX XW:W2W*WVbUBU*UUU`@B౽B BAt>*B A }A A A Bz="Cv\*C RCI]<CCIG>ޝ =iޝ =  y y  l3:Y P1y ': 59 @]@q,rEAY}B.$@}B1@y}B}B/}BH@0?S?Hj<#?`v?`UM?@a륿?)~B.$@ ~Be^;I~BCɫYY)Y YIYYh@y2OG鮽p=ɮ   =Li@ 3@)@I@i@-F*=M-K=Y59;QU5>99a=E=D9yE;}E>IIMD5?Mh MνA U?9MCM: MU:)IWyWyXy XyWy:Wy2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBᄑB BA,:*BAAAAt="Cy\*CPRC<CC<ܭ]>9ܭxCIܭKGiܭj@ܭ =ܭRDܩܭk; ݭחEI GEQ>MxFq,#EA|i|Y}2@}2M)@y}2}20}2H 6*?1X?$5_@B?E$?۰? ?)~2@ ~2`^;I~2Cɫ99)9 =I9Y@yOGZ****** received transponder code query ******F****** received ping request ****** !!a%E%+D)y-}->I1 =:5 5? =:5| 5A E?95پC5: 5A:)5:WaWaXa XiWi:Wi2Wi*WiVqbUqBUq*UqUqU}24 @BB BA8*BAF AAA3="Cx\*CVRClٴ<CC <I G%> " ~ ~  6:Y T1y @: 5oLq,34EAY}bб@}bpީ@y}bw~}bC}bH?@i?\s?`}n 5?@?w?`n`?)~bб@ ~b<^;I~`ɫ髙) IY@yOGxDUSBL response received:!U1,P ED9,000,0053A,186,80,80,9D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 鿹=>iG@ Ȏ@)Ȏ@IȎ@i@u:MuE=Y}aE8Dy}>II 5?q ;A  ?9C; :)WIWQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UUU@ǵ @BvB BA7*BA"AAA q="Cw\*C%بRC%}c<C!C!5<IG >١ ١ ܭ ^>9ܭ yCIܭ LGiܭ ^@ܩ ܩ ܩ ܭ m; ݭ ؗEIޙ )ޙ RSq,bNEAɫyy)y }IyY@yPGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B k=M%b=Y%QU->11a5E5DD9yE}E>IQ ]:U5? ]:U UfA e?9U!CU\(; Ub;)U:WWX XW:W2W*WVbUBU*UUU>A@B*B! B!A%0*B!A$AAA ="Cv\*CRC?w<CCk<׹IGf>    4:Y T1y : n5oYq,xhEA|;|4ɰh= )CIy7Bv?=9?ٱ M ^=Y ;QU>aEPDy%U;}%>I)-$5?-! -A 5?9-CC-: -<:))WaWaXi XiWq:Wy2Wy*WVbUBU*UUU`@P*Q7BZQM0)F@HP&@JQv?=9?2Q>:QbQa`1A@w$>!$Z@RQFh㥱?k 志w)̨?BQU@ Q&Q BP9?Pڨ9?PfQ]Qp@"QR@B`B BA1*BA&AAA&="Cmy\*Cu}RC}<<<CyC|^<יIGb>V`q,EAY}@}@y}s}W}H@'?e?6eaT@ ?E?z?G?)~@ ~2b^;I~ɫ) IYU$@y]TQGDNmea in: $SNTTA,,,,,012213.95*51 u_>9qIuxMGiu@u=uQDque; u՗EE>?i@ Σ@)@IQ@ih@M '=MM =YU;QU]>aE`Dy;}>I :75? :92 ϾA ?9tC: :):m]uAdded new target pos. range: 45.780003 m, bearing: 318.759055 deg, deltaT: 4.426716 s, approachRate: 0.677703 m/s, LOS rate: -0.173001 deg/s, posRepo size: 4WaWaXa XaWa:Wa2Wi*WiVibUiBUq*UqUu F@Uu`?BQB BAI,*BA)AAAq="Cx\*C5RC<CC < I G >ޝ =iޝ a= *    ,7:Y U1y : 5) {;9 1fq,~EAY}>0@}>%@y}>k}>#}>H )?pX?cG ?yy?s?^ۢ?)~>0@ ~>@^;I~>CɫQQ)Q UIQY@yQG|?5^?%lq,PEA|i|@Y}6R@}6,@y}6a}6΍}6H@/?T?h%F?`kE$?)D? 7?@裿 X?)~6R@ ~6z^;I~6Cɫ11)9 9I9Yu@yuQGe94e>ie@a e)e@Ie@ie@}a;MP=YQ;QU>aEwDyU:}%>I! U:%P5? U:%VH %DA ]?9%C%@; %A;)%:WWX XW:W2W*WVbU BU *U U UN)?B=QB9 B9A=(*B9Ae-AaAaAe<\="Cmv\*CmҧRCm<CqCqU`=<1I9GUu>A E jAM `>9I IM NGiM @I I I M `; M җE K    9:Y WU1y : %5) ;sq,бEAY}Br @}B/@y}B\}B$/}BH?x_?Ls?,Qx??@ڍ?`ڥ?)~Br @ ~B.^;I~BCɫYY)Y ]IYY@ysRGU<M]M=Y]U;QU]>aaaeEeDiymѻ}m>Iqu/^5?uT uA }?9uտCu: u:)qWWX XW:W2W*WVbUBU*UUUm?BB BA$*B A H/A AA="Cy\*C4RCA<CCe<׹IGf>iq I Iޡ )ޥ BAi ƿٺ Azq,@EAY}J'@}J@y}JY}J:}JH? Mc?~? U  ?˱?@0?@xG?)~J'@ ~Jۻ^;I~JCɫYY)Y YIYYe@yefRGSMC=Y:QU>a E Dy-+}5>IQUm5?Uba UĿA ?9UCU6D< UA<)QWWX XW:W2W*WVbU!BU!*U!U!UM@BB BAW%*BA 2AAAG="Cx\*CdRC<CC֝  ~ ~  C3:Y T1y @: [59 @gꀬq,(EA||;Y}6G @}6@y}6ZZX}6+}6H?e_?8r?`Q`?@h5?@?o b?)~6G @ ~6'^;I~6CɫYY)Y YIYY @ySGm#=m-?mO=imp@i m@)m3@Im3@im3@]=MP=YP:QU>aEDy;}>Iȩ :ŭ {5? :ŭ0m ƭA ?9ƭCǭ;?; ȭ%-;)ȭ:WWX XW:W2W*WVbUBU*UUU@~@BE"NBI BQAU*BYAe3AaAaAm="C}w\*C3RCY<CC9IlOGi@k; ؗE)Ii=4֝bިq,lEAY}2@}2@y}2W}2mP}2HX$?<\?\?`wN? ީ?!?`ס@?)~2@ ~2r^;I~2Cɫ99)9 =I9Y}@y}SGI)A%x?MbpQ롿%K?% %\)!I!y%S?:v?S㥛?%/?%T<%/< % A)%MAI% Ai%A!%A]MeL=Ye9QUe>iiamEmDqy}X:}>Iȉō5?ōy ƍ4A ?9ƍ@CǍ< ȍ<)ȉWWX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBMABI BIAU *BQAU?6AQAQAU1="C]v\*C](RC]<CaCa֝Uޥ =iޥ 4=  } }  5:Y kS1y Ԋ: %5>q,7EAY}6@}6>@y}6U}6Y$}6H`[?M`?n?R?R˰??@} L?)~6@ ~6^;I~6Cɫ99)9 =I9Y@y|SGZ****** received transponder code query ******F****** received ping request ******e=eDaEDyJ}>Iȑ :ŕ%5? :ŕD ƕgA ?9ƕcCǕV: ȕ:)ȕ:WWX XW:W2W*WVbUBU*UUU a @B`еB BAH*BA8AAA="Cy\*CæRCԮ<CCIGj>  a>9 I OGi @ o; ۗEk(q,~pQEA|i|@Y}:c@}:!@y}:e9S}:B0-}:HB ?l?=w?`_ ??-d?@?)~:c@ ~:^;I~8ɫQQ)Y ]IYY@y{TGxDUSBL response received:!U1,P EDE,000,0056C,186,80,80,92,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =q=M=>=YEx:QUU>aEDyxƻ}>I5?: A ?9Cx< <)WWX XW:W2W*WVbUBU*UUU ) @BB BA*BAP:AAA'="Cx\*CRC<CCֱiIyG>  Y y 5Pq,CkEAY}6@}6@y}6O}6 )}6H[?v?v?`.j@3?v?;? ?)~6@ ~6^;I~6Cɫyy)y }IyY@ySGAAAA=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B u ?u>uLiu@q u@)u@Iuiu3@<MF=Y;QU>aEDy}>I :h5? : A ?9C; ;):W1W1X1 X1W1:W12W9*W9V9bU9BUA*UAUAUE@f`@BuB BA*BA3<AAA0="Cw\*C>VRCm֎<CC5%Iޙ )ޝ AA79q,!EAY}6б@}6yީ@y}6N}6z+}6H?`G?z?r=?ӱ?ҩ?wj@e?)~6б@ ~68(_;I~6CɫII)I IIIY} @y}TGxDUSBL response received:!U1,R,EA9,000,005A9,186,80,80,72,FF Fpublishing direction and range info@>ɰg=鰁 )BIyEBG@_V?ۻ5~8?ٱܵb>9ܱIܵPGiܵ@ܱܱܱܵs; ݵݗE5U=M=@=YM:QUM>YaaEDy}>Iȩŭ5?ŭP ƭA ?9ƭCǭ: ȭ#:)ȩWWX XW:W2W*WVbUBU*UU U `1@P*QEBZQp-G@3<(-@JQG@_V?ۻ5~8?2Q@>:QbQrVMGC@vN5>n Y]?RQ Fu?J:4J4\?BQq@ Q)Q:BP9?P9?PlQfQ@"Qp@BB BA*BAnI>AAAn$ ="Cv\*CRC<<CC <שIG>iq,EA|24<|0Y}v!ұ@}vߩ@y}v&eL}v7(}vH?l~?#y?@Jr?|?퉩?@ ?)~v!ұ@ ~v-_;I~vCɫ) IY ٬@y TGmTNmea in: $SNTTA,0.057123,,,,012218.38*41 rMd=Y,:QU>aEDy:}?I`5?3 3A ?9CY: )mqAdded new target pos. range: 49.439995 m, bearing: 321.295186 deg, deltaT: 4.525757 s, approachRate: 0.808703 m/s, LOS rate: 0.560377 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UUQH@U@??B=-B9 B9A=*BAAE@@AAAAAE ="CMy\*CMRCM<CQCQM<)I1GMu>Όq,9ոEAY}:rٱ@}:0@y}:pK}: }:H?gz?Vp? @n d?#?`?p? ?)~:rٱ@ ~:r}_;I~:Cɫ99)9 9I9Y}5@y}UGI)Í>ÍS>ÍC iÍ•@É čz@)č@Ič@ič@<ML=Y:QU>aEDy;}>I :5? : eA ?9CK; P;):W9W9X9 XAWA:WA2WA*WIVIbUIBUQ*UQUQUUs?BD?B B!A%*B!AMVAAIAIAUm ="C]x\*C]RC]Y<CYCa Օ=ԕ=}ى ى ܑ 9ܑ Iܕ `QGiܕ -@ܕ =ܑ ܑ ܕ x; ݕ E     /:Y DW1y Y: 5) 6;9 tq,`ҲEAY}2@}2@y}2J}2b)}2HC?v?ԧy?*j*?g?|U??)~2@ ~2_;I~2CɫYY)Y ]IYY=@y#UG)= 5;MM=YR:QU>aEDy;}>Iȱŵ 5?ŵ? ƵA ?9Ƶ7Cǵ@: ȵ:)ȱWWX XW:W2W*WVbUBU*UUUOE?B%6B! B!A%*B)A-CA)A)A-U ="C5w\*C5 RC=̕<C9C9օeʞq,nEA|i|@Y}6\@}6@y}6I}6r!}6H?` s?u|s?#g? ? 5?`?)~6\@ ~6yy_;I~4ɫaa)i iIqY@yUGD>t<i@ @)3@I"@iQ@<MC=YW:QU>!!a%E-D1y5:}5>IA M:E5? U:Eq EA U?9E\CE?'; E<;)E:WWX XW:W2W*WVbUBU*UUUM?BӰB BAH*BAIEAAA ="C v\*CTRC;Қ<CC=0B<I!G=r>  } }  5:Y kS1y Ԋ: 59 @/q,dEAY}B@}B@y}BF}B+}BH?q? p?te`g?@ń?pۨ?`c~d?)~B@ ~B~_;I~BCɫYY)Y YIYY@yUGa i@a  a m@a  a q@a  a e@a   <ML=Y :Q9QIUQGiU@QQQUu; UޗEQU>aE D)y-5y:}->I155?5 5A E?95C5): 5\>)1WWX XW:W2W*WVbUBU*UUU @B诽B BAn*B A GGA A A  ="C-y\*C-RC-a,<C)C199UuհǬq,A EAY}:|@}:9@y}:e}D}:3Y'}:H?[t?{?/i?D?`C?`㤿`?)~:|@ ~:Q_;I~:Cɫ99)9 9I9Y}@y}5VG15jA]*<M]U=Ye|:QUe>aaamEm,Diym}u?Iy}55?} })A ?9}C}: }H?)yWWX XW:W2W*WVbUBU*UUU`@B.FB y8= B A  *B A-IAAA?$ ="Cx\*C%I綠RC%<C!C)>CiIiſٺAօD-<9IIGuX>     &2:Y WU1y : 5ͬq,:EA|;|4i@ @)Q@IQ@i 7<MO=YAL:QU>aE8D!y%@0}%>I) :-W5? :-= -YA ?9-C-< -ۘ?)-:WWX XW:W2W*WVbUBU *U U U%@R-B*** querying acoustic contact ***PiPiB|lB BA *BA KAAAԬ ="Cw\*CRCd><CC֝u) ) 1 91 I5 RGi5 !@1 1 1 5 }; 5 E)Iiň=ň=ň^5Ԭq,SEAY}2yܱ@}27@y}2|\D}2%25}2H ?x?j? "mq?W?`'?`?)~2yܱ@ ~2i_;I~0ɫAA)A AIIY@yVGZ****** received transponder code query ******F****** received ping request ******aEED!y%H:}->I)-)5?- -A E?9-C-; -?))WiWiXi XiWi:Wq2Wq*WqVybUyBUy*UyUyU+ @BײB BAK*BALAAA0 ="Cv\*CRC<CC ==e<?i?׹IGf>  :?:Y y 5ڬq,mEAY}Rѱ@}Rߩ@y}RsH}Rf@}RH` ?}?V?r??@}?6@&?)~Rѱ@ ~Rd+_;I~RCɫ) IY-^@y5VG=xDUSBL response received:!U1,P EA9,000,005A9,186,80,80,72,FF =Command Ack=BRequesting micromodem ping code 2i99MNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )Å= Å=õõ@?õhiõQ@ñ ĵ"@)ĵIĵ@iĵ@}ᇼM}=YQU>aEVDy#}>IȹŽ#;5?Ž6! ƽA ?9ƽCǽ: Ƚ@)ȹW W X  X W :W 2W*WVbU1BU9*U9U9U=c @B_B BA~ *BAOAAAQ ="Cy\*CCRCo <CC r = 5%< I G >q,%EA|i|@ɫ) IYU@y]BWGm@Ai9ITSGiī@{; EMNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B +K=M[=YQU>aEbDy}>IG5?, A ?94C": @)WiWiXq XqWq:Wq2Wq*WqVybUyBUy*UyUU]6@BB BA*BA PAAAXC="Cx\*CRC7̎<CCѽп8= < I G >     =.:Y U1y : 85) ċ;9 q,]EAY}6@}6и@y}6 E}6~F}6H`?ɰ=鰥+> )BIyQBO*?K?ٱ=M=Y7;QU?aElDyy}?IQ5?6 A ?9OC: M2@)WWX X!W!:W!2W!*W!V)bU)BU)*U)U)U5d@P*QQBZQ3n8QH@=sA3@JQO*?K?2Q%>:QbQ)ʮE@aus=??RQ\`6lv?If#ῗ?&?BQs@ QQv-BP9?P9?PnQlQ@"Q@BUBQ BQAU*BQA]jQAYAYA]="Cew\*Cer죽RCe;T<CaCiϑϑ)Б БIIM e<) I9 GU >)q,dEAY}2@}2@y}2_@}2V}2HV?ҟ??h`L?`^w?@?Ҫ?)~2@ ~2M`;I~2Cɫ髙) IY@y8XG]DNmea in: $SNTTA,,,,,012222.85*52 qqD; ?D=i@ @)@I@i@U<M]4=Yey;QUe>aiamEmzDqyu~ӻ}u>IȁŅ`5?ŅD ƅSA ?9ƅwCDž; ȅO@)ȁmqAdded new target pos. range: 52.440002 m, bearing: 325.816935 deg, deltaT: 4.374424 s, approachRate: 0.685806 m/s, LOS rate: 1.033679 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU R8J@U  {?B&ЬB BA*BAvSAAAeF="C v\*CRC6<CC5jZX<I!G=>9ISGi@s; ޗE  | |  v4:Y R1y i: 5) $;q,?ճEAY}B茱@}B@y}B?}BljW}BH`S??????@-l??⪿?)~B茱@ ~B `;I~@ɫyy)y yIyY߯@yaXGu1<MuZ=Y}%?:QU}>yaEDy}>Iȑŕ m5?ŕP ƕA ?9ƕCǕ: ȕWg@)ȑWWX XW:W2W*WVbUBU*UUU @?B}By ByA}*BAgOUAAA="Cy\*CCRC1<CCֽ &<יIGb>v>q,$)EAY}-띱@}-@y}-&C}-G}-HH?c?n͌?`.9?3?wb? 憎?)~-띱@ ~-`;I~-Cɫ) IY@yiYG @ @ @©if@ @)ۙ@I@i@=MD=YQU>aEDĿ@@y;}>Iz5?] A ?9C:  @)W!W!X! X)W):W)2W)*W)V1bU1BU1*U1U1U= ?B%լB! B)A-*B)A-JVA)A)A5lF="C=x\*CEWRCE:jT<CACa qu=֕0<ם?iםy?iIyG>     &2:Y U1y : %59 @"q,EAY}Bt@}B2©@y}B #E}B9}BH?U?@? z`?@? ?`P5`?)~Bt@ ~B`;I~BCɫ髉) IY0@yXGܝc>9ܙIܝTGiܝ@ܙܙܙܝw; ݝEa ia i a ma m a qa q a ea e A`"?ʡES㥛?- /ݼ)IyB`"? í>GM==YQU>aEDy;}>I :Ɖ5? :k A ?9C: {:):WAWAXA XIWI:WI2WI*WIVQbUQBUQ*UQUQU]`Q?B)B BA*BAXAAA="Cw\*C2#RC@{<CChW<IG>Mq,B"EA|i|Y}6<@}6̩@y}6(C}693}6H? _?궃?@}`?\?b? ^?)~6<@ ~6`;I~6CɫQQ)Q UIQY};@y}XG};Mi=Yx:QU>!!a%E%D)y-v;}->I155?5u 5A =?95C5: 5:)1WaWiXi XiWi:Wi2Wi*WqVqbUqBUq*UyUyU}+@B4*B BA"*BAYAAA-D="C5v\*C5RC=ޅ<C9C9e     C3:Y T1y : 5vq,ୱ@}>@y}>^@}>ڬ=}>H? ??`@?(? ?@1?)~>ୱ@ ~>_;I~>CɫYY)Y YIYY@yrYG m m mmEm\mף;im=@m m@)m@Im@imߏ@ =MD=Y:QU>aEDy}>Iȡ :ťi5? :ť ƥRA ?9ƥ%Cǥk: ȥg:)ȥ:WWX XW:W2W*WVbUBU*UUU@]@BYKB BA*BAR[AAA="Cy\*CâRC]Xj<CCֽ<יIGb>qu4=}d>9yI}UGi}@yyyy y2cq,ĘVEAY}R˔@}R@y}R>}RB}RH?^?Ë? ?`?`٧? -:?)~R˔@ ~R`;I~RCɫqq)q qIqY@yDYG鮵a=ɮp=%V<M-P=Y-Nr:QU->11a5E5D9y=&}=>IAE5?E EA U?9EGCEb: E:)AWqWqXq XqWq:Wy2Wy*WyVybUBU*UUU ̂@RB*** querying acoustic contact ***PPBkB BAY*BA]AAABR="Cx\*C%RCgA<CCm<יIG@>i nGI) i9 u ɿٺq u A  } }  2/:Y kS1y Ԋ: #5یq,qpEA|:4<|8Y}rW@}r@y}rn=}rR;}rH`?Ϡ?@ԟ? ?Y?೫?@!t?)~rW@ ~r_;I~pɫ髱) IY?@yZGZ****** received transponder code query ******F****** received ping request ******EN?E%>iEf@A E"@)E@IE@iE@u:=Mu7=Y}O:QU}>yyaEDy,}>I :5? : A ?9oC: :):WAWAXA XAWA:WI2WI*WIVIbUIBUQ*UQUQUU`Y7 @BqNB BA*BA^AAAm="Cw\*C]RC#E<CC0:D<IG>q"q,=EAY}Uٟ@}U@y}U˖>}U}UH?`?z?w 8??Ч?y?)~Uٟ@ ~U_;I~UC)9)I-VGi-@)))) ))Ii`4ɫQQ)Q UIYY @yZGxDUSBL response received:!U1,P E49,000,005DB,185,80,80,47,FF Command AckBRequesting micromodem ping code 2i%Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 A`"?K7A`?{Gz>+> ף)Iyoʡ?~jtxaEDyT;}>I5? A  ?9Cn: :)W1W1X1 X1W1:W92W9*W9V9bUABUA*UAUAUE@H6@Bu Bq BqAua*ByA}9`AyAyA}y="Cv\*C/"RCԿ_<CC == /C< ?i ~? I G >    F:Y Y1y : 5) ;9 +(q,EAY}Rp@}R.@y}R) @}RO}RH@~? ?λv?X@??̮?$?< ?)~Rp@ ~R_;I~RCɫyy)y }IyY@yYGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B lM=YQU'?aEDy+;}'?I :5? :& ,A ?9CV: b:):W W X  X W :W2W*WVbUBU*UUU>-@BEBI BIAM?*B A aA A A ="Cy\*CKRCw<CC]jb<1IAG]v>K.q,EA|i|@Y}6ᬱ@}6@y}6o>}6}6H??4z?`0 ?m?ڧ?@?)~6ᬱ@ ~6`;I~6Cɫyy)y yIyY@yZGxDUSBL response received:!U1,R,ED7,000,0060A,187,80,80,6D,FF Fpublishing direction and range infol>ɰK=鰽1> )BIy ]BI/Xc?U9| g?ٱ-h>i@ @)3@I3@i3@ 1=MH=Y1:QU>aEDy 9}>I5? tI dA ?9Cx: :)W!W!X! X!W!:W!2W)*W)V)bU1BU1*U1U1U=J@PA*QE ]BZQE${qJ@9S,@JQEI/Xc?U9| g?2QEl>:QAbQEEhD@A55By Q?RQE^!J ?un?BQE@ QEQE&BPAPE9?PE~QEnQE@"QE@B} By ByA}8*ByA cAAAyj="Cx\*CΡRC}t<CC֥u!9!I%sVGi%N@!!!%; %E     -:Y V1y : 5) 7;j5q,״EAY}:?@}:@y}:<}:1}:H?`3?a?B?M?}?,@?)~:?@ ~:`;I~:CɫYY)Y ]IYYm@yuZGTNmea in: $SNTTA,0.049410,,,,012227.32*4D UM]R=YeY:QUe>q1a5E5D9y= }E>IAE5?E2 EA U?9ECE/: E:)AmuAdded new target pos. range: 55.259998 m, bearing: 318.746378 deg, deltaT: 4.453344 s, approachRate: 0.633231 m/s, LOS rate: -1.587696 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UUGK@U?BEB BA%*BABdAAA="Cw\*C֜RCQ<CCv;q,EAY}2t@}2@@y}2W$<}2D}2H6?`?@???m?I ?)~2t@ ~2_`;I~2Cɫai)i iIiY@yZG]<]<]/>i]Q@Y ]ۙ@)]@I]@i]@m<MmI=YmG9QUu>qya}E}DyyyA}>Iȉ :ōg5? :ōA ƍA ?9ƍCǍ: ȍ:)ȍ:WWX XW:W2W*WVbUBU*UUU\?BnB BA!۾*BAeAAA{="Cv\*CnRCI<CC/C<׹IG y y  G:Y P1y ': %59 @Bq,1 EA|n;|n;ܙ9ܙIܝVGiܝ@ܙܙܙܝ; ݝEY}A]@}j@y}<,>}@}Hฑ? ?@I? I??Wç?@-?)~A]@ ~(`;I~Cɫ髉) IYQ@yc[GL7A`?&1{Gz?+'?P #=)Iy/$?~jty&1|?,?D`; ; A)AIAi/Ap A-<M-/=Y5\QU5>19a=E=#D9yEǻ}E>IIM 5?M# MA U?9MACM: M:)IWyWyXy XyWy:Wy2W*WVbUBU*UUU}#?BEBA BIAMվ*BIAM1gAQAQAU< ="C}y\*CA:RC;CC֭<׉IG>QHq,`%EAY}:tZ@}:2h@y}:<>}:\3}:H]? ο?`?@˵ ?@r?4ϧ?YQ?)~:tZ@ ~:A,`;I~8ɫ99)9 =I9Y}X@y}l[G=n0;M=t=YEQUE?AAaMEM.DIyU}U?IY e:]5? e:] ]A e?9]^C]: ]:)]:WWX XW:W2W*WVbUBU*UUU?BB BAXվ*BAhAAA&="Cx\*CyRC&1;CC == r;!i%?IG-N>  } }  Y1:Y kS1y Ԋ: %5nOq,;?EAɫyy)y yIyY@y[Gm;_>mz?m~>im@i m@)m@Im@ii<MC=YQU>aE;Dy}>IL$5?3 3A ?9Co: :)W WX XW:W2W*WVbUBU*U!U!U%@BMeҭBQ BQAUо*BQAU'jAQAQA]c="C]w\*Ce)砽RCe;CaCae0;9IIGeU>ٱٵ<ܽe>9ܽzCIܽWGiܽB@ܹܹܹܽ; ݽEXUq,YEA|i|Y}6v@}6N@y}6 <}6_}6H?`?Uu?{?l?@ ?@Ţ ?)~6v@ ~6U`;I~6Cɫiq)q qIqY@y4\GU<M]P=Y]:QU]>aaaeEeHDaym<}m>Iq }:u@05? }:u uRA }?9uCuV: uA:)u:WWX XW:W2W*WVbUBU*UUU?@B]Ba BaAe)˾*BaAe2SkAaAaAm<="Cuv\*Cu󷠽RCu߂-<CqCyօP;YIiGZ>     /3:Y U1y : 54\q,2sEAY}>k{@}>)@y}>P:}>o4}>H?@?r?ཡ?? \? @A?)~>k{@ ~>H_;I~>Cɫ99)9 9I9Y@y[G=K7>`i=@ z@)I@i@%ʼM-K=Y-y:QU->11a5E5UD9y=/:}=>IAE{<5?E EqA M?9ECE: E+:)AWqWqXq XqWy:Wy2Wy*WyVybUBU*UUUu@RB*** querying acoustic contact ***PPB|B BA@о*BAlAAAd="Cy\*CڊRC 0<CC"5cq,݌EAY} ks@} )@y} :} ń} Hb?@v?q?^I?d?cO? i?)~ ks@ ~ _;I~ CY9YI]XGi]@YYY]; ]Eɫ) IYM˲@yM[GUZ****** received transponder code query ******UF****** received ping request ******UqqauEucDyy}}}>Ii :meM5? :m* mA ?9mCmѓ; m;)m:W W X  XW:W2W*W9V9bUABUA*UAUIUM@d @BB BA+ξ*BADnAAA="C x\*C PRC "<C C1-x/< I G- >   5:Y y 5) a;9 q7iq,7EA||Y}6yn@}67|@y}69}6 }6HO?.?@m?)?n? U2?`{?)~6yn@ ~6_;I~6C)-Cɫaq)q }IioGIiƿٺAYu@y\GxDUSBL response received:!U1,P ED7,000,0060A,187,80,80,6D,FF Command AckBRequesting micromodem ping code 2i Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 5[=MR=Y5S:QU=>IqauE}pDyQú}>IȡťZ5?ť6 ƥA ?9ƥCǥÎ< ȥD]<)ȡW)W)X1 X1W1:W12W1*W9V9bU9BU9*U9UaUe @BB BAþ*BAqoAAA55="Cw\*C"RC]<CC&$<ױIG>pq,AEAY}6k@}6x@y}6:}6w}6H`a?(?_?@?N?Q? @8?)~6k@ ~6ud_;I~6Cɫ99)9 =I9Yf@y\GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B åj>å+=å/]=iå@á ĥ&@)ġIĥ@iġMO=Y QU>aE|Dy}>Ish5?B A ?96Cb: M:)WyWX XW:W2W*WVbUBU*UUUS7@B8B BArľ*BApAAA="C-v\*C5NRC5(<C1C1 E=E==YYa9aIehXGie@aaaer; eޗE)zCIic4ޝ =iޝ a=   5:Y y %5) s;!Jvq,_aڵEAɫ髙) IYj@y\GxDUSBL response received:!U1,R,C6A,000,0063B,189,80,80,1E,FF Fpublishing direction and range infoKM?ɰ>7> )AIyhB.D? ?ٱ%:M%T=Y-QU->))a5E5D1y=}=>IA M:EAv5? M:EO EA M?9EYCE: E:)E:WqWqXq XqWq:Wy2Wy*WyVybUyBU*UUU @P*QhBZQIWE@D@һD@JQ.D? ?2QKM?:QbQC'WL@&%xa!?RQ6q?*%ǿ@pBg?BQN@ Q,QdBP29?PPUQ~Q>@"Q@B&kB BA7ľ*BAqAAA /="Cy\*CПRC<CCׁIG=>s|q,9EA|i|@Y}z?@}z@y}z>}zD\}zH? ,?M``q?@J?@ԧ? 恞{?)~z?@ ~z`;I~xɫ) IY$@yf\GTNmea in: $SNTTA,0.053552,,,,012231.73*43 94>=C iQ@ @)@Ii@M>=YQU>aEDy*;} >I5?\ :A ?9C : p:)mMqAdded new target pos. range: 58.200001 m, bearing: 349.309152 deg, deltaT: 4.421586 s, approachRate: 0.664920 m/s, LOS rate: 6.912174 deg/s, posRepo size: 4WIWIXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUeM@Ue?B$ѯB BAȾ*BA"sAAA`="Cx\*CRCA<CC֥h% N    ::Y T1y : %59% @F^q, EAY}N@}N@@y}N[<}Nʴ}NH`1?`f?0j!_?@2?T? ?)~N@ ~N`;I~NCc>9IXGi6@=n; ۗEɫ髑) IYc@y\GZd;O?Qſ+?~ ?( =)Iy5^I ?S㥫?:v?8?/]=<  A)AIV AiAA<MG=Y%:QU%>!)a-E-D)y59}5>I9 E:=5? E:=i =jA M?9=C=; =;)=:WiWiXi XqWq:Wq2Wq*WqVqbUyBUy*UyUyU?BB BAľ*BA.ltAAAF="Cw\*C\nRC!@<CC/C<ױIGe>q,'EAY}:l@}:Sz@y}::}:w.}:H@?`2?t?`%?@?W?@ ?)~:l@ ~:_;I~8ɫ99)9 9I9Y}y@y}\GU&;MUX=Y]:QU]>aaaeEeDaymӻ}m>Iqu 5?uv uA }?9uCuM: u{:)qWWX XW:W2W*WVbUBU*UUU@z?BMβB BA Jþ*B A GuA A A ="Cv\*CBRC3<CC+WB<IGH>    GG:Y V1y : 5kmq,AEA||4U/>U=iU@Q UE@)Uh@IU-@iUh@eMeJ=YeB~QUe>iiamEmDqyu}}>Iy :}5? :} }A ?9}C}s: }^:)}:WWX XW:W2W*WVbUBU*UUU?B<B BAƾ*BAvAAAgW="Cy\*CRCS;CC %<IG5O><<f>9I0YGi@=_; ԗEʘq,K[EAY}2>@}2L@y}2X?}2'}2HMx?J?py?m? ??^^@1?)~2>@ ~2^;I~2CɫYY)Y YIYY@y\G5<M5M=Y=QU=>99aEEEDAyM`}M>IQU5?Uя UA ]?9UCU: U:)QWWX XW:W2W*WVbU BU *U U U I@B=䳱B9 B9A=¾*B9AEZ.xAAAAAE="CMx\*CM螽RCMV;CQCQ e=e=֥8;׭?i׭?yIG_>   3:Y y %5q,buEAY}6<@}6I@y}6D}6h}6H@u?5?D?`m?~??gT?)~6<@ ~6I^;I~6CɫYY)Y YIYYҳ@y<]GMQ=Mt>MƽiM@I M@)Mۙ@IM@iM@e<MeH=YegWQUm>iiamEmDqyu]}}>Iy}5?} }&A ?9}8C}8: }:)yWWX XW:W2W*WVbUBU*UUUo@Bm4B BA*BAlyAAAf="Cw\*CRC ;CC֥;יIGb> q,bEA|i|Y}6lE@}6*S@y}68MJ}6}6H.}?`K? 8S^v?`ʭ?@G? ?)~6lE@ ~6!^;I~6CP9PIRYGiRذ@R=PPRF; RȗEɫ99)9 =I9Yu@y}\GyɮyZd;O?Cl?V-?j?;= m=)IyS?~jthX9v?/?D< ; A)AI™iA AļME=YQQU>aEDy4;}>I :5? :Y ]A ?9\C: :):WWX XW:W2W*W!V!bU!BU)*UUU@@RB*** querying acoustic contact ***PPB!|B BA¾*BA%xzA!A)A-h="C5v\*C58RC5;C1C99I!G=r> G    |9:Y U1y : 5) {;9 өq,7EAY}RR@}R_@y}RXM}R}}RH`??Q9 ?Q?T?)?)~RR@ ~R^;I~RCɫyy)y }IyY@y\GZ****** received transponder code query ******F****** received ping request ******aEDyww;}>I)-5?- -A ?9-C-_< -)d<))W)W)X) X)W):W12W1*W1V1bU1BU9*U9U9U=I @BB BA*BAZ|AAAq="Cy\*C]RC<CCX;ױIG>Iޙ )ޝ @Aq,öEAY}2W@}2e@y}2L}2z}2Ht?K?fY U?t?晩?ࣟ?)~2W@ ~2^;I~2CɫII)I MIIY}@y}\GxDUSBL response received:!U1,P C6A,000,0063B,189,80,80,1E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 õ@=õõ9AaEEmDqy}:}>Iȩ :ŭ5? :ŭ> ƭA ?9ƭCǭ: ȭ:)ȭ:WWX XW:W2W*WVbUBU*UUU@M @BybB BA5*BAKk}AAAv="Cx\*C%`,RC%J <C!C)١١e>9Ii*; EΒ; I G >  z z  k5:Y Q1y : m5) ;q,w.ݶEA||;Y}FN@}FI\@y}FL}FW}FH@?@a?e?( {??ߛ?c@t?)~FN@ ~F/^;I~FCɫYY)Y YIYY@ya]G@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B uq<Mue=Y}3QU}>yaE DyY}?Iȑŕ5?ŕ% ƕA ?9ƕCǕ: ȕ@:)ȑWWX XW:W2W*WVbUBU*UUU L5@BB BA⻾*BAa~A A A f="Cw\*C RCa ;CC] q,EAY}2F@}2S@y}2.jL}2&}2H}??,{?`ܿq?7[??2?)~2F@ ~2<|^;I~2CɫYY)Y ]IYY@y^GxDUSBL response received:!U1,R,F4A,000,0066D,187,80,80,9F,FF Fpublishing direction and range info">ɰ>鰥1> )CIytB+?@\~>?ٱÕ'=ÕqÕv>iÕ3@Ñ ĕΣ@)ĕ@Iđiĕ@:=MI=Y9QU>aEDyw'}>I :u5? :9 5A ?9Ci$< $<):W1W1X9 X9W9:W92W9*W9VAbUABUA*UAUIUM@Py*Q}tBZQ}*V7N@Wb2[#@JQ}+?@\~>?2Q}">:QybQ}^CD@ɀyF,ë@RQ}ZMf'?~/f翕<\?BQ}h@ Q}4Q}$BP} 9?P}29?P}Q}UQ};A"Q}>@B /B BAe*BAAAA="Cv\*CDڝRC;CC 5=5==0;E?iE?I)GMt>ޝ =iޙ y x x  x=:Y 7P1y : %59 @ ĭq,EAg>9IYGi*@=5; E)sI{zCis{={={5Y}er@@}e0N@y}e!fM}eʇ)}eHx??_}?`jl?†??(?)~er@@ ~eq^;I~eCɫQQ)Q QIQY6@y]GdNmea in: $SNTTA,0.068957,0.489568,,,012236.16*56 %kt?y&1Mb% ?%` %)!I!y%9v?v/?~jt?%4?%xi=%< % A)!I%Ai!!% A=ⰼM=1=YEQUE>IIaMEM&DQyUº}U>IY]L 5?] ]jA e?9]C]: ]r:)YmuAdded new target pos. range: 61.200008 m, bearing: 312.280156 deg, deltaT: 4.473144 s, approachRate: 0.670671 m/s, LOS rate: -8.278070 deg/s, posRepo size: 4WWX XW:W2W*W!V!bU!BU!*U)U-N@U-̰?Bu >Bq BqA}}*ByA7zAAAds ="Cy\*CRC";CC[R;IG>!ʭq,V*EA|i|Y}>vH@}>4V@y}>P}>z&}>H@_? ?/y?-Ms?ؗ?s? Ƥ@?)~>vH@ ~>R^;I~>CɫYY)Y YIYY@ye]GAM%b=Y-QUM>QQaUEU2DYy]M.;}]>Ia :e-5? :eF eA ?9e4Cei; e;)e:WWX XW:W2W*WVbUBU*UUU o?BUꌸBQ BQAU*BQA]AYAYA] ="Cex\*Ce;RC;CC֙qIG~>  { {  xJ:Y #R1y : I5# ѭq,B\DEAY}2/T@}2a@y}2~U}2}2H?@? p? W}?s?ཬ?{?)~2/T@ ~2^;I~0ɫyy)y }IyY@yI^GÍ =Í>Í}iÍ@É č)čۙ@Ičۙ@ičۙ@'n=MR=YHQU>aE>Dyu;}>IȹŽ;5?ŽH ƽA ?9ƽWCǽ: Ƚ:)ȹWWX XW:W2W*WVbUBU*UUU$?B-ǴB) B)A-*B1A5[A1A1A5WY!="C=w\*C=JWRC="p <C9CAQQeΒ;A9AIE\ZGiE{@AAEDA EEYIaG}Y>3׭q,5^EAY}6GY@}6g@y}6X}65}6H??I?B@v?S??*?Q?)~6GY@ ~6^;I~6CɫII)I UIQY]f@y]]G鷼MV=Y QU>aEJD y (:} >II5?I A %?9yC: :)WAWAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQU]`&C?BIõB BAz*BAAAAQ!="Cv\*CO,RCu1<CC֥e<ׁIG?>     .:Y T1y : $5]mݭq,YQxEA||Y}B;X@}Be@y}B![}B}BH??IWࡃ? !?@`?\ ?)~B;X@ ~B@V^;I~BCɫYY)Y ]IYY@y]Gm>m?m=im@i mۙ@)m@Im@im@}M}@=YQU>aEXDy}>Iș :ŝmY5? :ŝ Ɲ&A ?9ƝCǝ: ȝ(:)ȝ:WWX XW:W2W*WVbUBU*UUU @BijB BAW*BAAAAAM"="Cy\*C}RC<CCX<IGn>! 9! I% ZGi% ̱@% =! ! % @; % ŗEEq,ꑷEAY}NR@}N`@y}N`\}Nr}NH[??|%Z`y?70?? @?)~NR@ ~N6^;I~NCɫyy)y }IyY@y.^GIY)]A59v?B`"۹~jt5?5ν 5ļ)1I1y5X9v?QQ?53?5u5\= 1)5OAI5Ai5A15 AUO=MU?=YU:QU]>YYa] E]eDaye_ʺ}m>Iquf5?u+ ufA }?9uCu#: u+:)qWWX XW:W2W*WVbU1BU9*UAUaUen@B B BAx*BA^AAA"="Cx\*CɜRC>b <CC = H<?i?IG> w ~ ~  P=:Y T1y @: 5) ɘ;9 oq,ƫEAY}2J@}2X@y}2/|^}2i }2H? ?xHw? z?̫?  ?)~2J@ ~2>^;I~2CɫYY)Y YIYYe@yeW^Gyɮ}a=w:<Me=YQU> a EqD)y=R-}E>Iȑ :ŕr5? :ŕh8 ƕA ?9ƕCǕ m; ȕM;)ȕ:WWX XW:W2W*WVbUBU*UU U L@R5B*** querying acoustic contact ***P1P1Bu跽By ByA}c*ByA}ރAAA1#="Cw\*CRC;CCֽ<יIGb>Wq,'ŷEA|i|Y}6O@}6\@y}6ʪc}6W}6H?`?+g {?c? q?Ѡ?)~6O@ ~6)^;I~6CɫQQ)Q QIQY@y^GZ****** received transponder code query ******F****** received ping request ******]hi]Q@Y Y)]@IYiYm^<MmB=YmEQUu>qqa} E}~DyyM:}>Iȉō/5?ōE ƍA ?9ƍ CǍ: ȍ<:)ȉWWX XW:W2W*WVbUBU*UUUk @B%B! B)A-8*B)A5uA1A1A5%#="CMv\*CmqRCmG <CiCih>9I$[Gi@=B; ƗE}P;QIaG>     5:Y WU1y : I5) ;rq, {߷EAY}BP@}BY^@y}B'f}BB0}BH?'?rʷ}? q?@??)~BP@ ~Bo^;I~BCɫYY)Y YIYY@y^GxDUSBL response received:!U1,P F4A,000,0066D,187,80,80,9F,FF Command AckBRequesting micromodem ping code 2ii=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  =H;MEM=YUǺQU]>iqa} E}Dy9}>I :5? :S A ?90C; ;):WYWaX XW:W2W*WVbUBU*UUU 4w @Buj Bq ByA}թ*ByA}8AyAyAp$="Cy\*C @RC <CCֽ<׉IG>Iޙ )ޙ q,KXEAY}2R@}2v`@y}2fg}2}2H??h e~?`?ެ?@] k?)~2R@ ~2Ƃ^;I~2Cɫ99)9 =I9Y}@y}^GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B õ ?õ7=õ'iõG@ñ ĵX@)ĵ@Iĵ@iĵ@RMB=Y1QU>a EDy,$:}>Iؘ5? a ZA ?9UCb: ӻ:)W WX XW:W2W*WVbUBU*UU!U%m@BMѹBQ BQAU*BQAUAQAQA]jw$="C]x\*CeHRCe*k<CaCaօ    >:Y DW1y Y: \59 @ i>9 I [Gi o@ 8; Eq,3EA||4ɰX >鰭> ) CIyB?0I"?ٱ=K?~jtZd;O?=^?=ļ =j<=)9I9y=gfffff?aaae EeDay}1}>Iș :ŝ35? :ŝn ƝA ?9Ɲ{Cǝ: ȝH:)ȝ:WWX XW:W2W*WVbUBU*UUU@P*QBZQ,NqO@nYbO$@JQ?0I"?2Q?!>:QbQ E@usdGh~qήV @RQDs?)sǿE2?BQl@ Q>Q-BP9?P 9?PQQA"Q;AB%ܰB! B!A*BAAAA6$="Cw\*C{雽RC'<CC<ױIG> > Ci nGI! i9 e ſٺa e KA; q,-EAY}5L@}5Y@y}5m}5E}5H??EMlv?%? ?xߢ?)~5L@ ~5^;I~5Cɫ髩) IY@y_GDNmea in: $SNTTA,,,,,012240.61*5C I)A>N?=i@ 9@)I@i@&?<M@=YкQU>  a  E Dy}>IT5?~| A -?9C: :)mUqAdded new target pos. range: 64.559998 m, bearing: 312.307531 deg, deltaT: 4.458997 s, approachRate: 0.753530 m/s, LOS rate: 0.006139 deg/s, posRepo size: 4WYWYXY XYWY:Wa2Wa*WaVabUiBUi*UiUm#P@Um?B5=RB1 B9A=-*B9AEAAAAAEG%="C]v\*Ce7RCeI4 <CaCa u=u=֍H<ו?iו?iIyG>     /:Y WU1y : %5q,FEAY}>BK@}>Y@y}>Br}> }>H? ?p`z$w?@ t?X[?@)[@?)~>BK@ ~>Y^;I~>CɫYY)Y ]IYY@y_GUMp=YoQU?!!a% E%D)y-}-?I155?5{ 5A E?95C5+: 5:)1WaWaXi XiWi:Wi2Wi*WqVqbUqBUq*UyUyU}@T?Bl0B BAߜ*BA,AAA%="Cy\*C>RC <CC8<فم<܉9܉I܍P\Gi܍@܉܉܉܍;; ݍ—E)Ii==B4סIGB>q,`EA|i|Y}6X@}6e@y}6;s}6I}6H F?`?v _?F?*x?抠`2?)~6X@ ~6^;I~6Cɫ99)9 =I9Y]@y]_Gp<ML=Y]QU>a ED y ,;} >Ia m:e5? m:e eMA u?9eCe1; e;)e:WWX XW:W2W*WVbUBU*UUU?BiB BAݙ*BA{AAA%="Cx\*C-iRC>#<CCE0;I9GmV> ( t t  7:Y M1y : [59q,'zEAY}2Yf@}2t@y}2ju}2]G}2H ??:`bА?<Ű? ?ڜ ?)~2Yf@ ~2Y8_;I~2CɫYY)Y YIYY}@y}`G- 0-V>-`ei-(@) -&@)-@I-@i-@=3N=MEF=YE;kQUE>IIaM EMDIyU.;}U>IY]5?] ]A e?9]C]: ]:)YW1W1X1 X1W1:W12W9*W9V9bU9BU9*UAUAUE?BAϮB BA7*BAAAAS&="Cw\*C7RCy;<CCh%܅ h>9܁ I܅ ]Gi܅ @܅ =܁ ܁ ܅ D; ݅ ǗE$q, {EAY}2n@}2>|@y}2@t}2&}2H??@i?Ͱ?@?J?)~2n@ ~2_;I~2CɫYY)Y eIaY@y`GV-?Q?{Gz-?\> ף)Iy$C?&1?11a5 E5D1y=e;}=>IA M:E5? M:E# EA U?9E)CE: E:)E:WqWqXq XqWy:Wy2Wy*WyVybUBU*UUU @BeB BAu*BAf~AAAn&="Cv\*C^ RCH<CC*:<׹IGh>     y0:Y X1y /: \5;+q,EA|P|R;Y}]o@}]}@y}]!v}]D}]H??y `?^?? x?)~]o@ ~]_;I~]Cɫ11)1 1I9Yu@yu`Gm 0=m7I?mG>im@i m@)m&@Im&@im&@}0<M}C=Y}5QU>a EDy89}>Iȑŕ5?ŕ> ƕA ?9ƕICǕϸ: ȕ:)ȑWWX XW:W2W*WVbUBU*UUUg@B1q,4ȸEAY}:8f@}:s@y}:o)y}:V}:H?@?98w?߬?@C ?Q?)~:8f@ ~:W^;I~:Cɫ99)9 =I9Y}@y}`G鮁ɮR=.;Mq=YQU?a EDyd}?Iȹ :Ž5? :Ž< ƽ8A ?9ƽcCǽ: Ƚ:)Ƚ:WWX XW:W2Wq*WyVbUBU*UUU N@RB*** querying acoustic contact ***PPB\B  B A *B)A-.fA1A1A5o\'="C=x\*C=RC=9<C9CA u=u=))5i>91I5|]Gi5@1115M; 5̗EօLM<׍?i׍?9IIGeV>ޙ iޝ =     /:Y V1y : 75) ;9 88q, EAY}2d@}2r@y}2%{}2ȩ }2H ?߼?}Rv6?`۱?_? L?)~2d@ ~2.y^;I~0ɫyy)y }IyYɶ@y`GZ****** received transponder code query ******F****** received ping request ******19a= E= DAyEQĹ}M>IQU5?Uz UuA 5?9UCU:< U<)QWqWqXy XyWy:Wy2Wy*WyVbUBU*UUU@; @BQB BAJ*BAw㉽AAA˵'="Cw\*C}RC-;<C)C)E0IH>q,EA|i|@Y}6^@}6fl@y}6?}}6ʴ}6H$?`y?doЭ?`TG?Ӣ?l ?)~6^@ ~63|^;I~6Cɫ99)9 =IAYN@yaGxDUSBL response received:!U1,P F4B,000,006A5,186,80,80,8C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =َ>=(\>=i=@9 =@)=ۙ@I=@i=@u =M*=YoQU>a EDy~ͺ}>I %:85? -:g A -?9C]"< "<):WiWiXq XqWq:Wq2Wq*WyVybUyBUy*UUU@ @B>欽B BA*BA&eAAAc(="C%v\*C%HRC%)M2<C)C1֕95 j>91 I5 D^Gi5 @1 1 1 5 K; 5 ˗E     n1:Y U1y : 5) ;4Eq,9EAɫ11)1 5I1Ym@ym=bGqqNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i=sh|??~jt?A`"? ?< =)Iyl?Mb?~jt?7?<= A)AIAiA A b>=M R=Y QU>a E(Dy%}%>I)-+5?- -A 5?9-C-: -ӻ:))WQWQXY XYWY:WY2WY*WaVabUaBUa*UiUiUm@^:@B|B BAgy*BAuAAAW(="Cy\*CRC}4<CCԹԹ֭K']Kq,/EAY}Q@}_@y}~}q}H Y??q `{?fP?ٯ?`8`?)~Q@ ~^;I~ɫ) IY ȷ@ybGxDUSBL response received:!U1,R,F76,000,006D2,186,80,80,9F,FF Fpublishing direction and range infoϢ=ɰ> )CIyBo ?rjƹI?ٱý=ýz?ý$>iý@ù Ľ9@)Ľ&@IĽ&@iĽ&@MN=YwQU>a E5Dy>}>Ih85?I ?A ?9C: M:)WWX XW:W2W*WVbUBU*UUU`@P*QBZQvP@LM*) @JQo ?rjƹI?2QϢ=:QbQE0E@JY&ۧI/Fa@RQZ.x? Xif2n?BQ(;@ Q>MQA-BP9?P9?PQQA"QAB߭B BA|*BA,AAA(="Cx\*CzRC <C C x/<סIG>     '0:Y T1y : [59 @DRq,؃IEA|*4<|*411a5 E5AD9y=b;}=>IA M:EHE5? M:E EA U?9ECE: E:)E:muAdded new target pos. range: 67.260002 m, bearing: 310.169054 deg, deltaT: 4.471503 s, approachRate: 0.603825 m/s, LOS rate: -0.478246 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UUP@Us?B7B BATz*BAAAA(="Cw\*CAșRCF7<CC<9I _GiJ@M; ͗E<IGj>mXq,ZcEAY}6o@}6}@y}6(}6}6H`?!?7? ?0?10?)~6o@ ~61^;I~6Cɫ99)9 =I9YuN@y}bG-=M-\=Y-QU5>11a= E=MD9yE;}E>IIMQ5?MV MA U?9M5CMM: M:)IWqWyXy XyWy:Wy2Wy*WVbUBU*UUU?BJB BAk*BA㋽AAA,)="Cv\*CRCY<CC =inGIi UCĿٺQ]ߵA9<?i?I G[>     f.:Y DW1y Y: 5o^q,Z/}EAY}J@}JA@y}Jhⅽ}J Dݼ}JH`? O?@< 8`?g?@? ?)~J@ ~J^;I~JCɫYY)Y YIYYӸ@yecGÕ;=ÕGÕTiÕz@Ñ ĕ)ĕ@Iđiđ =MC=YQU>a EZDy;}>I :`5? :; A ?9\C<: 3:):WWX XW:W2W*WVbUBU*UUU z?B5>B1 B1A5Q[*B9A=AA9A9A= 9 I _Gi @ I; ˗E)YIYiY]=]=] 3eq,EA|i|@ɫ髑) IYĸ@yScG%C?Zd;Ͽ rh?Z?y C<)Iy~jt?Zd;O?Mb?;?j<= A)5AI"AiA A M D=YQU>a EhDy}%>I!%n5?%.( %LA 5?9%C%: %D:)!WQWQXY XYWY:WY2WY*WaVabUaBUa*UaUiUm&?B8B BA+]*BAqAAA)="Cx\*C:RC~<CCֽˈ<בIGa>     ,:Y T1y : $5ykq,^EAY}F@}FB@y}Fu"}Fj}FH`?N? %?1??&`?)~F@ ~F(^;I~FCɫqq)q }IyYv@y-dGÅV>Å!>ÅK>iÅ@Á ą9@)ąE@IąE@iąE@c=MR=Y8QU>a EtDy$}>Iȱ :ŵ|5? :ŵ;5 ƵA ?9ƵCǵV: ȵ:)ȵ:WAWAXA XaWa:Wi2Wi*WiVibUqBUq*UqUqU}`M?BwB BAF*BAAAA)="Cw\*C RCq<CC  oMȑrq,ʹEAY}2j@}2^x@y}2K}2I}2H Ɨ?`?t5 [?`+?T?`N ?)~2j@ ~2 t^;I~2Cɫ9A)A EIAYu@y}vdGc<MU=Y~8QU> a  E D y9}>I5?B A %?9C: Ǻ:)WIWIXI XIWI:WI2WQ*WQVQbUYBUY*UYUYU]@BZB BA?*BAI;AAAa*="Cv\*CRCdGL<CCimlA}k>օzl<9yI}7`Gi}>@}=yy}R; }ЗEAIQG}6>  | |  .:Y R1y i: 5) .;9 rxq,EA|;|;Y}RS@}Ra@y}R x}RD}RH?`\?uy? {γ?K?{U?)~RS@ ~Rk:^;I~RCɫyy)y }IyYP@y:eG鮹ɮp=aG=MM=Y=QU>a EDy}>Iqu95?uP uA }?9uCu: u:)qWWX XW:W2W*WVbUBU*UUUy@RB*** querying acoustic contact ***PPBB BA+*BALAAA?*="Cy\*CXRC)<CC/C<IG5O>~q, wEAY}2LH@}2 V@y}2}2r}2Hz??rezp?@#??@=?)~2LH@ ~29^;I~2Cɫyy)y yIyY@ydGZ****** received transponder code query ******F****** received ping request ******))a5 E5D1y=+Q}=>IA E:Em5? M:E{^ EWA M?9ECE; E;)E:WqWqXq XqWq:Wy2Wy*WyVybUyBU*UUU @B&!B BA3*BAӍAAAl*="Cx\*C󂘽RCa<CC = &<?i?IGUt>i 9i Im daGim 2@m =i i m Z; m ԗE C    *9:Y T1y : 5) 4;̅q,REAY}2K@}2Y@y}2a}2G}2HX}??)|s?@(? =)IyS?{Gzt{Gz?/?ף#= A) AIAinAp A5=M2=YQU>a  E D yp:}>I5?gm A E?9BC; w;)WWX XW:W2W*WVbUBU*UUU`2N @BB! B!A-$*B)A5N!A1A1A5*="Cew\*CmLRCmA&<CqC<ס I G >q,32EA|i|Y}6;Z@}6g@y}6|}6"}6Hw??}@8?ó? ?T?)~6;Z@ ~6^;I~6Cɫ99)9 9I9Yu:@y}eGy}AANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B å\åC>å;iåף@á ĥ­@)ĥz@Iĥz@iĥz@6Mu=YB:QU?a EDyB;}?I :.5? :w A ?9_C: :):WWX XW:W2W *W V bUBU*UUU`m@BB BAk.*BA|]AAA 2*="C v\*C'RCA<CC &<IGn>   1:Y y 59 @eޒq,FLEAY}fy@}fs@y}f+}f9A }fHޣ??@R8?][?@b?Ӝ;?)~fy@ ~f_;I~fCɫ髙) IYٺ@yeGxDUSBL response received:!U1,R,F67,000,00707,186,80,80,8E,FF Fpublishing direction and range infoܸ>ɰ_> )CIyB?} ?ٱD=MI=Y:QU>a EDy<}>I5? ,A ?9C: Y:)WWX XW:W2W*WV!bU!BU!*U!U)U-w@P9*Q=BZQ= 0Q tQ@%"@JQ=?} ?2Q=ܸ>:Q9bQ= \Ij'G@OxrJ= @RQ= ?]=tiL?BQ=έ@ Q=SQ=;9BP=(9?P=9?P=Q=Q=$A"Q=ABmvBq BqAu*BqAuAqAyA}*="C}y\*CRC0 y<CC9IbGi&@j; ܗE/C<IGg>Iޙ )ޝ BA q,eEAY}̅@}@y}]}Mi}H཭? ի?5BFy?F?-?3⠿@M?)~̅@ ~^;I~Cɫ) IY52@y5PfGDNmea in: $SNTTA,,,,,012249.49*5F z<MK=YɽQU>a EDyp;}>I :5? :ߑ tA ?9C: ;):mqAdded new target pos. range: 70.440002 m, bearing: 311.201286 deg, deltaT: 4.393240 s, approachRate: 0.723839 m/s, LOS rate: 0.234959 deg/s, posRepo size: 4WWX XW:W!2W!*W!V!bU!BU)*U)U-)Q@U5?B] ܢBY BYA]g*BYAe"֎AaAaAe +="Cmx\*Cm^˗RCmU<CiCqev<9IAG]U>     V5:Y V1y : 54q,EA|$|$Y}F쌱@}F@y}F'p}F }FHW?%?3`ܐ}??`Xʱ?r@m?)~F쌱@ ~F_;I~FCɫii)i qIqY@y/gGUt=UD?UQ8=iṲ@Q U-@)QIQiQedg=MeP=Ye*)QUe>iiam EmDqyu`;}}>Iy}5?}g }A ?9}C}ܹ: }+:)yWWX XW:W2W*WVbUBU*UUU`$_?BeПBi BiAmr*BiAuGAqAqAu(+="C}w\*C}RC}'n<CyC֥ 9 I XcGi ȸ@ %q,řEAY}>@}>@y}>}>}>H P?`?}@_?.}??@?)~>@ ~>^;I~>CɫAA)A MIIY@yjgGʡE?Q롿I +?\ 94)IyʡE?#~j?Q?-2?=\= µ\A)µ AIµAiµAf Ad<MB=Y=QU>a EDyB}>I :5? : A ?9C: :):WWX XW:W2W*WVbUBU*UUUv?BZ͞B B!A%j*B!A%;:A!A!A%@+="C-v\*C5hRC5<C1CQ }=}=e] Ci}nGIiCſٺͶA] ?9] A     5]:Y X1y /: 5qGq,EAY}6@}6@y}6}6}6H`l??|?@Ĵ?~N?` ?)~6@ ~6~^;I~6Cɫ11)1 =I9Yu@yuKgGMJ>M!>Mb>iM @I ME@)M\@IM\@iM\@]MeS=YeQUe>iiam EmDqyu=}u>Iy}5?} }AA ?9}C}: }:)yWWX XW:W2W*WVbUBU*UUU ?BӤB BA*BAfAAAU+="Cy\*Cl=RC!ހ<CC!I!G=Q>,q,/PͺEA|i|@Y}6p@}6~@y}6^(}6,}6HV?`n?Pq1@B?@*G?`?@p?)~6p@ ~6^;I~6Cɫ99)9 9I9Y}¼@y}!!a% E%D)y-}->I155?5V 5A =?953C5: 5:)1WaWaXa XaWa:Wi2Wi*WiVibUiBUq*UUU@@B=hB9 BAAEԺ*BAAE$AAAAAEe+="Cmx\*Cu RCuhef<CqCqܱ9ܱIܵ dGiܵk@ܵ=ܱܱܵ^; ݵ֗E)yIyiyy}=}I4ֽ<יIGb>     ]-:Y T1y : 5) ;9 Vq,s+EAY}2a@}2n@y}2)}21I3}2H ?@;?jh ا?E?om?`pX`?)~2a@ ~2^;I~2CɫYY)Y ]IYY@yhG5!M=H=Y=QU=>AAaE EEDAyM}M>IQ ]:U!$5? ]:U UA e?9UWCUI: U4:)U:WWX XW:W2W*WVbUBU*UUU :@BpB BAO*BAAAAHu+="CUw\*CUߖRCUdN<CQCYaaօhW @q, EAɫqq)y }IyY@yhG鮽p=ɮqI>|?>iz@ @)@I@i@-<M-K=Y5QU5>19a= E=D9yE}E>IIMd35?M M A U?9M{CMA: MY:)IWqWyXy XyWy:Wy2Wy*WVbUBU*UUUr@RB*** querying acoustic contact ***PPBxśB BA*BA׏AAA݂+="Cv\*C߳RC T<CC/C<סIG J>ܱ 9ܱ Iܵ LeGiܵ _@ܱ ܱ ܱ ܵ O; ݵ ΗE  ~ ~  0:Y T1y @: 5) Z;hƮq,EA||Y}2=T@}2a@y}2Γ}2(!}2H`W??>{Ǯ`#x?E9 E<)AIAyEtV?~jthy&1?E2?EDE`< EAA)E AIEAiEnAAEzA]ąMe8=YesQUe>iiam Em*Dqyuf}u>Iy :}A5? :}' }QA ?9}C}: }v:)}:WWX XW:W2W*WVbUBU*UUU @BjpB BA*BAAAA+="Cy\*CYRCb=><CC֝QOȒ̮q,4EAY}6Q@}6_@y}6)8}6%}6H`}?9?^}2v??b?~?)~6Q@ ~6~^;I~6Cɫ99)9 9IAY½@yviGxDUSBL response received:!U1,P F67,000,00707,186,80,80,8E,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I)=½i=@ @)z@I@iΣ@%5T=M-1=Y-":QU->11a5 E59D9y=v!}=>IaetP5?em eA m?9eCe{: e:)aWWX XW:W2W*WVbUBU*UUU @B} B B!A%u*B!A-A)A1A5+="Cex\*CmLRCm><CqC9< I G >  >:Y y 759 @ Ӯq,ANEAY}>NR@}> `@y}>"}>>a}>H??{/ޯw?@)? q?\?)~>NR@ ~>z^;I~>CɫYY)Y YIYY@yiGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B u<Mu=Y}6QU} ?ya ECDy9} ?Iȑ :ŕZ5? :ŕ ƕA ?9ƕCǕ+: ȕY:)ȕ:WWX XW:W2W*WVbUBU*UUU @BB BAlV*BA -A A A f+=15<"Cw\*C'RC@<CCul>9qIu@gGiu@qqquC; uȗE9I!GEs>Ӥٮq,shEA|i|@Y}>4W@}>d@y}>f}> }>H?`?Hކ`A G~?"?h?(I?)~>4W@ ~>r^;I~<ɫYY)Y YIYYe@y?jGxDUSBL response received:!U1,R,F5F,000,0073B,187,80,80,AA,FF Fpublishing direction and range info>ɰ>鰥1> )*CIyB*G?d?ٱ5=MX=Ya9QU>a EODy:}>If5?#  A ?9 C$< u<)WWX XW:W2W*WVbUBU*UUU@Py*Q}BZQ}:sMs5R@Fڄ.$@JQ}*G?d?2Q}>:QybQ}D`V@H@7?:K:@RQ}r }? +Q z?BQ}@ Q}Y\Q}BBP}39?P}(9?P}Q}Q}o-A"Q}$AB}By ByAo$*BA@AAA+="Cv\*C}RCYvK<CCֽ/C<בIG>     ?,:Y U1y : 5 q,WEAY}]^@}]l@y}]h}]}]H@? z?70=?@]>i]f@Y ]@)]@IYiY;M1=Yyg:QU>a E^Dy6;}>Iș :ŝ`u5? :ŝ4 ƝTA ?9Ɲ2Cǝ ; ȝ ;)ȝ:mqAdded new target pos. range: 73.560005 m, bearing: 311.362697 deg, deltaT: 4.452002 s, approachRate: 0.700809 m/s, LOS rate: 0.036256 deg/s, posRepo size: 4WAWIXI XQWQ:Wy2W*WVbUBU*UU cR@U?BEBA BAAE *BAAM[SAIAIAMA+="CUy\*CUĕRCuY<CqCyԉԉ֍2Dy 9} {CI} hGi} @y y y } 6; } E˶q,$)EAY}2c@}2q@y}2瑽}2*}2H?ľ?iD@`v?J?@9? /@(?)~2c@ ~2a^;I~2CɫYY)a eIaYJ@yYkGMbX?y&1y&1>`e `e)Iy~jt?I +??;?94<L= •"A)•V AI•@i•OA3AY=MY=Y2a:QU>a!EjDy:}>Ik5?* A ]?9UC< v:)WyWyXy XyWy:W2W*WVbUBU*UUUa?BDB BAF*BA~WAAA+="Cx\*CRC.eb<CCֽhW<יIGb>   2:Y y 85Sq,DEA||4a!EwDy:}>IșŝW5?ŝ8 ƝA ?9Ɲ{Cǝw: ȝ :)șWWX XW:W2W*WVbUBU*UUU#?B̑B  B A !*B Aw[AAA+="Cw\*C8rRCi<CCֽh<יIGq,ϻEAY}:g@}:t@y}:SI}:C }:HƓ??A@̋??m?|*?)~:g@ ~:8^;I~:Cɫ99)9 =I9Y};@y}GkG="*M=Q=YEb:QUE>AAaM!EMDIyUgh}U>IY e:]5? e:]E ]FA e?9]C]: ]:)]:WWX XW:W2W*WVbUBU*UUU`h?BeB BA.d*BA0aAAA+="Cv\*C#GRCh<CC ==m>9I3iGi@=:; ×E8k< ?i x?IGE>ޝ =iޝ p= 5    8:Y T1y : 5) =;9 lq,xEAiVnGI|iMeƿٺIMڷAY}h@}cv@y}D} }H ? &?@`U?@^??GI?)~h@ ~];I~Cɫ) IYN@ylG%%d?%>i%׫@! % @)%@I%"@i%"@51=M=.=Y=7QU=>AAaE!EEDMryM}9}M>IQU*5?UU UA ]?9UCUϸ: U:)QWWX XW:W2W*WVbUBU*UUU`t@B0aB BA*BAAAA+="Cy\*CRC0m<CCk<IG>q,EA|@i|@ɫyy)y yIyY@ylGUG<MUo=Y]QU]?Yaae!EeDaym}m?Iq }:u 5? }:u/a uA }?9uCuA: uo:)u:WWX XW:W2W*WVbUBUQ*UYUYUe^@BB BA;*BA^AAA$+="Cx\*C┽RC-n<C1CAUzl<)I9GU> n>9 I iGi .@ B; ǗE)ݕ{CIݕ{Ciݑݕ=ݑݕ4     2:Y WU1y : 5) ԏ;q,̲EAY}>P@}>>^@y}>s}>}>H? ?ӱ`&x?P@ ~>];I~>CɫYY)Y ]IYY;@ymG ]n?~jtx?Zd;O?]V?]; ]j<=)YIYy]5^I ?ˡE?Zd;O?]8?]'=]j< Y)] AI]p@i]5AY]fAimjA}O`=M}F=Y} չQU>a!EDy}>Ișŝ5?ŝn Ɲ*A ?9ƝCǝ: ȝ8:)șWWX XW:W2W*WVbUBU*UUUb@RB*** querying acoustic contact ***PPB  B BA<*BASAAAկ+="Cw\*CRCC<CC֝8k> q,7EAY}:LC@}: Q@y}:z}:%}:Hu? ?~&l?D*?I?1ʢ`P?)~:LC@ ~:];I~:Cɫ99)9 =I9Y}F@y}mGZ****** received transponder code query ******F****** received ping request ******AAaE!EEDAyMv}M>IQ ]:UJ5? ]:Us| UiA e?9U8CU4: U:)U:WWX XW:W2W*WVbUBU*UUUO @B=7BA BAAE1<*BAAmFAiAiAm+="Cuv\*Cu8RCu2<CqCy]/C<1IAG]v>  } }  3:Y kS1y Ԋ: 59 @n&q,'hQEA||pQYa]!E]Diܕm>9ܑIܕ(kGiܕ"@ܕ=ܑܑܕ:; ݕ×Ey}>Ie5? A ?9_Ca< <)WWX XW:W!2W!*W)V)bU)BU)*U)U1U5`_ @B}[B BA/=*BA 2AAAt+="Cy\*CZRCz3<CC8<בIG>Pq,CkEAY}:|L@}:;Z@y}:}:d }:H}??tu? ѳ?+??)~:|L@ ~:Ŵ];I~:CɫAA)I IIIY@ynGMNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )=    Í>Í1h?ÍiÍp@Í č@)čv@Ič@ičv@ S<M3=Y 9QU>a!EDyz[;}>I :5? :: A  ?9C; *;) :WIWIXI XIWQ:WQ2WQ*WQVQbUYBUY*UYUYUe^K@BꈽB BAG=*BAAAA+="Cx\*C0RCJ<CC =x/<IG>     C3:Y T1y : H58!q,> EAY}2-W@}2d@y}2Jԏ}2a}2H`j??& C}? ??h ?)~2-W@ ~2];I~0ɫyy)y yIyYM@y oGxDUSBL response received:!U1,R,F66,000,00771,186,80,80,8F,FF Fpublishing direction and range info >ɰ>鰽> )CIyBif"?L`u&?ٱ=Mk=YQU?a!EDy%u;}%?I)-5?- -A =?9-C-P: -%:))WWX XW:W 2W*WVbUABUI*UQUYUeY@P*QBZQ+"}S@p,$@JQif"?L`u&?2Q >:QbQlO&%I@G)^L{@RQK?yO?BQu@ QRgQ)IBP=9?P39?PQQ0A"Qo-ABTB BA}=*BAAAA\+="CEw\*CeRCe\<CaCiUNJN<)IAGm> 9 I TlGi @    =;  ŗEe'q,OEA|2@i|2@Y}r]@}rDk@y}rL}rU}rH?`?v:z``? `???)~r]@ ~r];I~rCɫ) IY1y1TNmea in: $SNTTA,0.077428,,,,012258.39*48 K7A?{Gzt?{Gz ?ף; #)IyFx?X9v?Q?+?<< ‰)AI@i A=AYpn9QU>a!EDy:}>I5?f ]A ?9C׾: :)muAdded new target pos. range: 76.800003 m, bearing: 311.010451 deg, deltaT: 4.486107 s, approachRate: 0.722229 m/s, LOS rate: -0.078519 deg/s, posRepo size: 4WWX XW:W 2W *W V bUBU*UU@33S@Ue?BȆB BA*BA#돽AAAx+="Cv\*CՓRCf<CCjZX<ױIG>  x x  .:Y 7P1y : 5G-q,ӸEAY}:[@}:mi@y}:5ӎ}:%}:H@R?@?rg~??ֱ?@u?)~:[@ ~:T];I~:Cɫ99)9 9IAY@yoG>i=11}<}}C=i}@y }K@)}I}z@i}z@<Ma!EDyD }>Iȩ :ŭ5? :ŭ ƭA ?9ƭCǭ: ȭ@:)ȭ :WWX XW:W2W*WVbUBU*UUU`&?B6eB BA-=*BȀAAAbh+="Cy\*CRC%6c<CCjb<יIGb>t4q,ҼEAY}:gW@}:'e@y}:<}:,}:H??5i!y?@D޴? ?`?)~:gW@ ~:Щ];I~:Cɫ99)9 9I9Y @ypG<<MK=YQU>a!EDy}>Iȡť>+5?ť ƥA ?ٱٱܹ9ܹIܽmGiܽ @ܹܹܹܽ'; ݽE9ƥ Cǥr; ȥ;)ȡWWX XW:W2W*WVbUBU*U U U `?B5kB9 B9A==*B9A=A9A9AET+="CEx\*CM߀RCMV-]<CICQea<9IIGeU>     11:Y V1y : $5) P;9 :q,EA||;ɫ) IYx@y~pG-'?->->i-@) ))-@I-@i-@=<M=?=YEQUE>AIaM!EMDIyU}U>IY e:]i95? e:] ]A e?9]1C]s: ]:)] :WWX XW:W2W*WVbUBU*UUUU?BMaBI BIAM=*BQAUQ|AQAQAUQ=+="C]w\*C]ORC]3_<CaCa}hWAq,0fEAY}2]@}2j@y}2}2&}2H@?@?  z?o?6.?V?)~2]@ ~2˴];I~2Cɫ99)9 9I9Y}@ypG}V<MX=YCQU>!a%!E%DYyen:}m>IȡťG5?ťa ƥWA ?9ƥUCǥ?< ȥ:<)ȡW!W!XI XIWI:WI2WI*WQVQbUQBUQ*UQUYU]@BYB BA=*BAMAAA +="Cv\*C5 RC k<CC = =a<?i?IG >ܵl>9ܱIܵHnGiܵ@ܵ=ܱܱܵ#; ݵE    >:Y W1y č: 5) ;Gq, B EAY}2d_@}2$m@y}2䑽}2E}2H??ŀ ??{k?8?`碿@?)~2d_@ ~2];I~0ɫ99)9 =I9YD@yyqGuV?Zd;O?y&1|?r>j<> `;)Iyn?J +?S㥛?6?H=/< •|A)‘I•;@i•p AAeF=MG=YK̹QU>a!E,DykA:}>I :T5? :S A ?9wC8: b:) :WyWyXy XyWy:W2W*WVbUBU*UUU`$@Bx3zB BA=*BAAAA%4*="CEy\*CMRCMo<CICI<>i]nGIqiĿٺ>Ae#r<9IaG>Mq,i:EA|i|Y}>U@}>tc@y}>&}>|7 }>H?@?*"`|?X2?`? b?)~>U@ ~>];I~<ɫYY)Y ]IYY@yKqG鮥a=ɮ M@ U@ U@M©MMiMQ@M M)MIMiMA@e;MeO=Yee̺QUm>iiam!Em8DqyuD}}>Iy}c5?} }A ?9}C}: }Q:)yWWX XW:W2W*WVbUBU*UUU!@RB*** querying acoustic contact ***PPB>zB BAl=*BA펽AAA(*="Cx\*C˒RC^<CC %zl<I G%M>  | |  0:Y R1y i: 59 @Tq,SEAY}6R@}6_@y}6}6k}6H`? ?J/`x? ?`A|?@ؿ@?)~6R@ ~6:];I~6CɫYY)a aIaYb@yqGZ****** received transponder code query ******F****** received ping request ******!!a%!E%ED)y5u}5>ek>9aIetoGie@e=aae; eE)yIyiyyy}4I=r5?' A ?9C : :)WAWAXA XAWA:WI2WI*WiVibUqBUq*UqUqU}@ @BSzB BA >*BAAAAյ*="Cw\*CxRC\<CCa<IG l>Iy )} AAZq,mEAY}FhR@}F(`@y}FT˕}Fv}FH ??k=Lx?9?$?l!?)~FhR@ ~F];I~FCɫ髡) IYa@yrGxDUSBL response received:!U1,P F66,000,00771,186,80,80,8F,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 % u uu=uO-?u=iu@u u5@)uX@IuX@iuX@H=M(=YQU>a!EUD!y-}8}->I1 =:55? =:5O 5\A =?95C5v"< 5"<)5 :WWX XW:W2W*WVbUBU*UUU@o @BezsBa BaAe!>*BaAmcAqAqAu(~*="Cv\*C eRC+_<CC֭jZX     ,:Y U1y : 5aq,ڭEA||Y}Rkb@}R+p@y}R*}R}RHu?@?@z2` ׈?EB??⟿@j?)~Rkb@ ~R[];I~RCɫy髁) IY@yWsGQU?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5Gz?p= ף?Q?5p>5> 5<)1I1y5rh|?I +?y&1?5;?59<5`< 5A)5AI5@i115AU?=MUO=Y]BQU]>YYae!EeaDaym;}m>Iqu5?u# uA }?9uCu: uU:)qWWX XW:W2W*WVbUBU*UUU`S+@BhB BA.>*BA#AAAfI*="Cy\*C<RC5~<CChW<IG>Y9YI]pGi]@YYY] ; ]Egq,㈡EAY}2k@}2yy@y}2hИ}2p}2H`?@?Dِ ?&??@k?)~2k@ ~2=];I~0ɫII)I IIIY]Y@y] tGexDUSBL response received:!U1,R,F7D,000,007A1,186,80,80,96,FF mFpublishing direction and range infoe =aɰe>a a)eCIaye\Be*BAAM䍽AIAIAM*="CUx\*CU{RCU{<CQCY im=օ    aA:Y WU1y : 5(nq,JbEAɫ) IY5@y=MtGDNmea in: $SNTTA,,,,,012302.84*50 ==`ei @ "@)"@I"@i"@ v<M 5=YQU>a!EzDy}>IȱŵƬ5?ŵ\= ƵA ?9ƵYCǵ: ȵ@:)ȱmuAdded new target pos. range: 79.680000 m, bearing: 310.006577 deg, deltaT: 4.359283 s, approachRate: 0.660658 m/s, LOS rate: -0.230284 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU S@U?B-4gB) B)A5G>*B1A5FA1A1A5)="C=w\*C=⑽RCEׅ<CACA] <1IAG]v>uq,:?սEA|i|Y}VP@}V]@y}VX}V}VH ~??rGv? s ?&? U?)~VP@ ~V];I~Tɫyy)y yIyY@ytGj>9zCIqGi@$; EH=MS=YA0QU>a!EDy}>Iș :ŝй5? :ŝI Ɲ]A ?9Ɲ{Cǝ: ȝ:)ȝ:WWX XW:W2W*WVbUBU*UUU`?B [B B= BAV>*BA|4AAA)="Cv\*C% RC%9BY<C!C!E<I)GEQ>     .:Y W1y č: I5) ;9 >{q,I*EAɫii)i iIqY@ytG]q>]?]v>>i]̴@Y ]@)]@I]­@i]@u̻Mu<=YuQUu>yya}!E}Dy}>Iȉō65?ōpX ƍA ?9ƍCǍ: ȍn:)ȉWWX XW:W2WA*WAVAbUABUI*UIUIUM?B+ bB BAS>*BA~ьAAA?)="Cy\*CچRCYb<CCAA-hW"q,{EAY}B;@}BeI@y}BH}Bɒ}BHm?@?tIIMe?@ 2?@l? K?)~B;@ ~Bm];I~BCɫ髡) IY@yuGMd;O?I +y&1?M?M9 M`e=)IIIyMA`"?~jt?{Gz?M9?MD=M#= M@)M\AIM@iMV AIMAe:]=MeK=Ym^/QUm>qqau!EuDyy}˻}}>Iȁ :Ņ5? :Ņoe ƅA ?9ƅCDž{: ȅ :)ȅ:WWX XW:W2W*WVbUBU*UUUZ?BlUB BA1j>*BAvAAA(="Cx\*C]RC=<C C a<יIGd>i>9IrGi{@; E     V5:Y T1y : m5) ;Lq,"EA| | Y}NK@}NY@y}N򜽙}N6}NH@z??HQr?`l?f?`X?)~NK@ ~N^];I~NCɫyy)y yIyYz@yluGuBZMu[=Y}QU}>ya!EDyP;}>Iȑŕ5?ŕ|q ƕ:A ?9ƕCǕ@: ȕ:)ȑWWX XW:W2W*WVbUBU*UUU`]@BtUB BAe>*BAAA A M(="Cw\*C4RCb<CC!*:<IG->wq,֫ >]]]ki]@Y ]n@)]@I]n@i]n@m1=MmK=YuQUu>yya}!E}Dy;}>Iȉō\5?ō{~ ƍA ?9ƍCǍ: ȍ]:)ȉWWX XW:W2W*WVbUBU*UUU@B^(SB BAt>*BAyAAAP(="C v\*C  RC <CC *_=lX<׹IGh>= < = ~= ~=  = 8:Y= T1y= @:= 59E @dq,VEAّٕ<ܙ9ܙIܝ$tGiܝo@ܙܙܙܝ ; ݝEɫ) IY @y vGɮa=5>=M5M=Y=QU=>99a=!EEDAyM}M>IQ ]:U5? ]:UO UA ]?9U5CUI: U:)U:WWX XW:W2W!*W!V)bU)BU)*U)U1U5`+@R=B*** querying acoustic contact ***P9P9B}NB BA>*BAVGAAAp'="Cy\*C֐RC|<CC) } +wOq,spEA|Li|LY}jD[@}ji@y}j{뛽}j}jH??7? A?x?#?)~jD[@ ~j];I~jCɫ) IY @y =wGZ****** received transponder code query ******F****** received ping request ******a!EDy }>IȹŽ|5?Žϙ ƽ*A ?9ƽ^Cǽ: Ƚ3:)ȹWWX XW:W2W*WVbUBU*UUU^ @B%JB) B)A-(>*B)A-ϊA)A)A5R'="C5x\*C=tRC=xz<C9C9U<)I9GUu>rq,(EEA"O """ "::Y"V1y":"5Y}UIF@}U T@y}U쿙}UmX%}UH v?=?}@j? ?^3?@E?)~UIF@ ~UH];I~UCɫ) IY @y 3xGxDUSBL response received:!U1,P F7D,000,007A1,186,80,80,96,FF Command AckBRequesting micromodem ping code 2i=i=%Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 A`"?L7A`堿{Gzt>+ ף)Iy/$?Mb?:v?,?<< Q@)AI^@iApA11;=M=ܭh>9ܩIܭuGiܭ@ܩܩܩܭ&; ݭE)-zCI-zCi)))-n4Y};QU>a!EDy} >I -:$5? 5: A =?9Cτ; w;):WWX XW:W2W*W) V) bU) BU) *U) U1 U5 @B} NBy  By A} >*B A A A A )'="C w\*C ^gRC ^W<C C <ױ I G >.ߨq,6EAY}25@}2B@y}2倘}2[ }2Hh? f?*]?`j?` ? ?)~25@ ~2^;I~2Cɫ11)1 1I1Ym @yuxGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B N=M =Y%;QU8?a!EDy%}%C?IȱŵU,5?ŵ ƵA ?9ƵCǵ: ȵn:)ȱWWX XW:W2W*WVbUBU*UUU pY@B-B! B!A%>*B!A-I؉A)A)A-&="C5v\*C5PRC5N9<C1C9=zl<I!Ge4>- - |- |-  - >:Y- R1y- i:- 5Nq,`EA||4<ɫ髱) IY[@yxGxDUSBL response received:!U1,R,FA1,000,007D8,186,80,80,A5,FF Fpublishing direction and range infoɩ=ɰ~$> )%CIyBl3V?لY.2?ٱe@e5>eEie@a e@)e@Ie@ie@uK<M}D=Y}QU}>a!EDy}>Iȑ :ŕ85? :ŕ ƕA ?9ƕCǕ: ȕk:)ȕ:WWX XW:W2W*WVbUBU*UUU @P*QBZQY{T@4exV|@JQl3V?لY.2?2Qɩ=:QbQT k``I@f(XP6C§-@RQ:u?+76(wL '?BQ.@ QłQKBPG9?PC9?PQQRCA"QP=AB=C<B BA>*BAlIAAAr&="CEy\*CM"RCMENB<CICI]jZX<1I9G]v>뵯q,ؾEAY}:#@}:1@y}:}:Fa}:H[? D?zz @O?`M? z?@ݣ@r?)~:#@ ~:];I~:Cbg>9`IbvGib@```` bEɫ9A)A EIAY}[@y1zG-TNmea in: $SNTTA,0.074594,,,,012307.33*4C I1)5A=ME=Y;QU>a!EDy}>I15F5?5< 5#A =?95C5D: 5:)1muAdded new target pos. range: 82.980003 m, bearing: 307.819195 deg, deltaT: 4.512305 s, approachRate: 0.731334 m/s, LOS rate: -0.484759 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU`T@UR?BM1.BI BIAM>*BIAUAQAQAU^&="C]x\*C]RC]!.$<CYCa u=q]/Ca!EDy>}>I :IR5? :z ]A ?9 C: :):WWX XW:W2W*WVbUBU*U U U  :?B5'B9 B9A=>*B9A=+A9AAAE%="CEw\*CMGЏRCMC<CICQE &<I)GEQ>ïq,$ EA|a!E#Dy;}>Ișŝb5?ŝ ƝA ?9Ɲ4Cǝ: ȝA:)șWWX XW:W2W*WVbUBU*UUU 3?B ^+B  BA#>*BAAAAN%="Cv\*CFRC? <CCe>9I xGi@; EX<IG>'ɯq,g&EA o/:YW1yč:5)̌;Y}:>@}:'@y}: R}:o}:HuT?`x?Ll|@@K?C?`&?`⡿?)~:>@ ~:^;I~:Cɫ99)9 =I9Y@yzG AAUu"M]`=Y];QU]>aaae!Ee.DiymIqupp5?u uA }?9uXCu: u{:)qWWX XW:W2W*WVbUBU*UUU^?B!B BA>*BA&AAA?$="C5y\*C5^|RC5&<C1C9%<I G5O>Яq,A@EAY}:$@}:X2@y}:0}: }:H@]??;U?ॲ?ð? Rנ?)~:$@ ~:i^;I~8ɫ99)9 =I9Y}@y}{G ]@ ]@ ]@]©]]i] @] ]j@)]^@I]j@i]j@mc=MmI=Ymv;QUm>qqau!Eu;Dyy}K;}>Iȁ :Ņ5? :Ņ ƅDA ?9ƅCDž: ȅs:)ȅ:WWX XW:W2W*WVbUBU*UUU[?BxB BA?>*BAYAAAŸ$="Cx\*C DRRC _0<C C%X<I G%M>3;֯q,"ZEA||;"' """ "6:Y"V1y":"59&@00494I68yGi6@44461; 6EY}n8@}nE@y}n僽}nH}nH'n??} h??y? ~מJ?)~n8@ ~nz^;I~nCɫ髱) IY@y]|Gm^)=MmJ=Yud5;QUu>qqa}!E}HDyy;}>IȁŅ45?Ņ< ƅA ?9ƅCDž: ȅY:)ȁWWX XW:W2W*WVbUBU*UUU@+@B8HB BA>*BA:AAAED$="Cw\*C&RC S<C C --<I!GEQ>cܯq,DsEAY}2cC@}2#Q@y}2k}2!}2H@x?t?4x{&`p?-?@*?@"?)~2cC@ ~2];I~2Cɫyy)y }IyY@yT|G   '~j>Qi3@ @)@In@i@-M5N=Y5\H;QU5>99a=!E=UDAyEe;}E>II U:MJ5? U:M- MA ]?9MCM: M:)M:WWX XW:W2W*WVbUBU *U U U-w@R=B*** querying acoustic contact ***P9P9B}rBy ByA}Y>*BAAAAG#="Cv\*ClRCWe<CC ==hW<?i?׹IGf>Oq,䍿EA"""" "'0:Y"WU1y":"5Y}^:@}^H@y}^0~}^}^H`Oq??G%r 7@7h?3? ?@L/?)~^:@ ~^ ^;I~^Cɫ髡) IYR@y|GZ****** received transponder code query ******F****** received ping request ****** t=)IyQ?~jt?Zd;O?(?D<j< @)I@iAzA<M4=Y#;QU>a"EdDy$}>I5??- A -?9Cx; ;)WWX XW:W2W*WVbUBU*UUU) @BEtBA BAAE >*BAAMu<AIAIAM#="CUy\*CU#ƎRCUT<CQCyef>9aIezGie2@e=eRDae6; eEmjBwq,᳧EA|i|@Y}:-@}:;@y}:ߎw}:}:H@f? ?c\??` ?#?)~:-@ ~:[];I~8ɫQY)Y ]IYY@|>Cy%}Gi=nGIQii}xDUSBL response received:!U1,P FA1,000,007D8,186,80,80,A5,FF Command AckTȿٺABRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 } =M}N=Y;QU>a"EqDiy}w}>I E:I5? M:: MA U?9C< ?<):WWX XW:W2W*WV9bU9BUA*UAUAUE@ @BB BA>*BAStAAA2#="Cx\*CRCo$@<CC hW< I G >_q,ɎEA>_ >>> >f;:Y>T1y>:>5Y}J@}JO+@y}J$r}JN}JHiY?`?0A] N?`?`VX?? ?)~J@ ~JK^;I~JCɫ髑) IY0@y}GAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ףO7 >i@ -@)@I-@i-@=MR=Y%C;QU>a "E }D y}>I5?"E xA %?98CI: :)WAWAXI XIWI:WI2WQ*WQVQbUQBUQ*UYUYU]@BB BA>*BA낽AAAL"="Cw\*CvRC o%<CCԩԩֽ/C<בIGa>Q Q a 9a Ie zGie @a a a e ; e E)Ii鋉鋩=틵n5q,ۿEAY}:@}:@y}:^:m}:s}:HN??3`D?v? ? < ?)~:@ ~:^;I~:Cɫii)i iIiY@y}GxDUSBL response received:!U1,R,FB2,000,0080D,185,80,80,82,FF Fpublishing direction and range info'g=ɰ(>鰽+> )CIyQB ۦ?,::si?ٱ MZ=Y.r;QU>a"EDys}>I  : f5? : P A ?9 WC : :) :W9W9X9 X9W9:W92WA*WAVAbUABUI*UIUIUM@PY*Q]QBZQ]mex}U@Qt-@RQ]{?C`{tE?BQ]K@ Q]Q]MBP]N9?P]G9?P]Q]Q])3A"Q]RCABB BA>*BA@AAAA"="C%v\*C%MRC%80<C!C)h%<IGK>nq,ʌEA||p;.... .G/:Y.DW1y.Y:.I5).;92Y}J@}J@y}Jzi}Jf}JHC?e?(7@:?=?@P+?(d`f?)~J@ ~J)^;I~JCɫyy)y IY@y~GDNmea in: $SNTTA,,,,,012311.77*5E 5>5>5xii53@1 5@)5­@I5­@i5­@E=MM7=YM;QUM>QQaU"EUDYy]h}]>Iae05?eg^ eA m?9e}Ce : e:)amuAdded new target pos. range: 86.159996 m, bearing: 306.705519 deg, deltaT: 4.408123 s, approachRate: 0.721394 m/s, LOS rate: -0.252642 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU`=U@Uk?BȋB BA>*BAiAAA:"="Cy\*CU"RC>;CCUH<IG=r>qq,[EAY}:L@}: @y}:e}:*}:H7?`8?@-???N@?)~:L@ ~:^;I~8ɫ99)9 9IAY},@y}~GbX9?/$?MbE?,> )Iy7A`? >&<MR=Y;QU>a"EDyb}>I5?^k &A ?9C: f;)W9W9X9 XAWA:WA2WA*WIVIbUQBUQ*UQUYU] &?BU<BQ BQAU>*BQA]AYAYA]!="Cex\*CeRCe9;CiC Օ=ԕ=9I{Gix@; E}0;QIaG}z> q,RD)EAY}J@}Jv@y}J`}J}JH` 4? x?.Y+?`b?`e?0?)~J@ ~J\"^;I~JC^& ^^^% ^6:Y^V1y^:^5)^5;ɫ髑) IYJ@yG`<MM=YS;QU>a"EDyb}>I :H5?  :x pA ?9C; ;):WWX XW:W2W*WVbUBU*UUU`e&?BB BA>*BAAAAA΍!="Cw\*CύRCNr;CC[R;שIG>Zq,CEA|i|@Y}6@}6@y}6\}6c}6H`Z5??c@`-??e? %?)~6@ ~6i^;I~4ɫQQ)Q YIYYY@yGMТ>Mv=M=iM@I M@)M@IM@iMj@]Ė;MeP=Ye;QUe>iiam"EmDiyu*9}u>Iy}5?}Ņ }A ?9}C}ϸ: }:)yWWX XW:W2W)*W1V1bU1BU1*U9U9U=F?BbB BAt>*BA<~AAA=!="Cv\*CMRC;CC֙yIG^> e>9 I X|Gi @ = %; Eq,1\EAY}^@}^@y}^ΧW}^!.޼}^H`C?E?7v @q>?*??@ ?)~^@ ~^06^;I~^Cɫ髡) IY@yGuP(=MuI=Y}K;QU}>ya"EDy%;}>Iȑ :ŕ5? :ŕR ƕA ?9ƕ CǕ: ȕ:)ȕ:WWX XW:W2W*WVbUBU*UUUD@BNݼB BA>*BA ±|A A A  ="Cy\*CRC&] <CC Iy)}jAIIYGu>I AA)     3:Y Y1y : 5) a;q,GvEAY}:V@}:"@y}:hS}:SҼ}:HS??pz@N? ]?y?@ X?)~:V@ ~:,C^;I~8ɫ99)9 =I9Y}@y}Guh=uX?uj<=iu@q u@)uIu@iu@:MI=Y;QU>a"EDyU;}>Iȡť 5?ťӠ ƥIA ?9ƥ2CǥQ: ȥ:)ȡWWX XW:W2W*WVbUBU*UUU!@BjB BA?>*BAI{AAA^ ="C%x\*C%)ZRC%(<C!C))I1GU>#q,a"EDy;}>I :-5?  :^ A ?9VC;; ;;):WAWAXA XIWI:WI2WQ*WQVQbUYBUY*UaUiUu`@RB*** querying acoustic contact ***PPBDbB BA>*BA_yAAAD ="Cw\*CE-RCMG<CICIAIIGe4>܍d>9܍yCI܍ }Gi܍@܍=܉܉܍.; ݍE  w w  1:Y O1y P: 5) ;!*q,~EAY}2,@}2:@y}2/K}27Լ}2H h?`?ۜuc??`Ic?}-?)~2,@ ~2ބ^;I~2Cɫ99)9 =IAY]@y]GeZ****** received transponder code query ******eF****** received ping request ******e9aE"EEDIyu:}>IJ;5? A ?9xCr< n<)WWX XW:W2W*WV!bU!BU!*U!UIUMW @BuM޼Bq BqAuA>*ByA}YwAyAyA}="Cv\*ClRCAO<CCסIGA> 1q,bEAY}F,@}F:@y}F H}F+}FHh??Lm``=c?_??k`&?)~F,@ ~Fu^;I~Dɫqq)y yIyY@yOGxDUSBL response received:!U1,P FB2,000,0080D,185,80,80,82,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =j<==t==-2i=@9 =j@)=@I=@i=@e<Me=YeW:QUe>iiam"EmDqyut7}u>Iș :ŝjK5? :ŝ^ ƝA ?9ƝCǝ/: ȝ:)ȝ:WWX XW:W2W*WVbUBU*UU!U%@B߼B BA?*BAªuAAAV="C y\*C ˌRCCC9օ H    >:Y T1y : 59 @y } iA܁ 9܁ I܅ }Gi܅ @܁ ܁ ܁ ܅ '; ݅ E37q,"5EA|i|@Y}V!@}V.@y}VG}VU}VH^?@?C?@hYW???%1?)~V!@ ~V*^;I~Tɫyy)y yIyYk@y6GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M=Y_9QU?a"E Dy}?IȹŽU5?Ž ƽA ?9ƽCǽ: Ƚ@:)ȹWWX XW:W2W*WVbUBU*U!U!U%>A@BUBY BYA]?*BYA]qtAYAYAeS="Cex\*CmRCm :<CiCqM0:D<IG=/>iIi Ŀٺ  A^]=q,AEAY}N@}N @y}N'G}N1}NHR?@?.U?,`J? A?n?Ӡ`?)~N@ ~N|Y^;I~NCɫyy)y yIyY@yZGxDUSBL response received:!U1,R,FE1,000,0088B,185,80,80,78,FF Fpublishing direction and range infol<ɰ(3> )BIypBiE?|vв?ٱ->->-1i)) --@))I--@i--@=p<M=Q=YE9QUE>AIaM"EMDIyUˑ}>I!%lc5?%U %OA m?9%C%< %<)!WWX XW:W2W*WVbUBU*UUU@P*QpBZQ(kW@VG@JQiE?|vв?2Ql<:QbQ`lJ@*E!QSْ&T@RQ橽) ?e?a꿓osk?BQF@ QQfSBPV9?PN9?PQQ/A"Q)3ABM\˼BI BIAM?*BIAUgrAQAQAU="C]w\*C]RC]$<CYCa֝LM x    d=:Y X1y /: 5EDq,EAY}Z@}Z@y}ZE}ZXF }ZHD?`?wc? aga"E&Dy?}>I :=q5? :\ A ?9C: ,:):muAdded new target pos. range: 93.720001 m, bearing: 304.371753 deg, deltaT: 4.490048 s, approachRate: 1.683725 m/s, LOS rate: -0.519764 deg/s, posRepo size: 4WW!X! X!W!:W!2W)*W)V)bU)BU1*U1U5nW@U5`?B\ὼB BA?*BApAAAi="Cv\*CURCZ <CC191I1i15=115 ; 5E)ՄyCIՄyCiфՄ=Մ=Մ4h%<ױIG>pJq,q+EA| | ɫ) I Y=@y=GU?Un>Uxi>iU@Q Q)UK@IQiQeuMeQ=YeQUe>iiam"Em2Dqyu}}>Iy}}5?}2 }A ?9})C}: }<:)yWWX XW:W2W*WVbUBU*UUU`E?BթB BA?*BA6oAAAN="Cy\*C/RCd6<CC<IGn> N    ::Y V1y : 5^XQq,aEEAY}:@}:@y}:OE}:& }:H.??d?w R&?@?`?@>?)~:@ ~:D^;I~:Cɫ99)9 =I9Y}_@y}̀GU5=MU]=Y] QU]>Yaae"Ee>Day}3 }>Iȑ :ŕ5? :ŕ ƕA ?9ƕJCǕ: ȕ:)ȕ:WWX XW:W2W*WVbUBU*UUU?B B  B Am?*BA]mAAAc="Cx\*C# RC%;C!C!E! % <- c>9) I- L~Gi- @- =) ) - ; - EWq,o_EAY}J@}J@y}JD}J}JH`w7?K?q/?)90?$? ? ?)~J@ ~J|^;I~JCɫ髙) IY@yGS<MC=YO<:QU>a"EKDyZ@;}>IL5?& A ?9oCM: :)WW!X! X!W!:W!2W!*W)V)bU)BU1*U1U1U5D?B]^sBa BaAe ?*BaAekAaAiAmL="Cuw\*CuዽRCuRp;CqCye;9IAGeU> p   $ <:Y U1y : Z5) N;9 ]q,VyEA|i|@Y}6B@}6 @y}6uA}6T}6HS@??*K 9? _?D ? h?)~6B@ ~6Ζ^;I~6Cɫ99)9 9IAY}@y}GUU`eUtiU@Q U@)U@IU@iU@e<MeR=Ym:QUm>iiau"EuXDqy}hT;}}>Iȁ :Ņ٣5? :Ņ ƅ=A ?9ƅCDžV: ȅ :)ȅ:WQWQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUeS @BbB BA ?*BAiAAAU5="Cv\*CRCV <CCΒ;IGj>Rdq,C9EAY}JN@}J @y}Jv @}JT}JHBA??``W;? ԫ?`n?A?)~JN@ ~J%,_;I~Hɫ髩) IYyu>iq=Gz?'1Z?:v?=?="> =<)9I9y=S?/$?Q?=/?=<=\= 9)=@I9i=A9==@QQY]:QU]>aaae"EefDiym9}m>Iqu 5?u- uyA ?9uCu+: u:)qWWX XW:W2W*WVbUBU*UUU`]@BB BA*BAJ hAAA="Cy\*CRC <CCa>9I~Gi@=; EH<IG    5 4:Y W1y č: 5) ;jq,EAY}^@}^Z@y}^;}^/}^H`;?@?tF?`G4?i? A{?]ܞ?)~^@ ~^8P_;I~\ɫ髡) IYEf@yEnGIɮM= @ @ @í©ííií̴@í ĭ@)ĭIĭj@iĭj@.<Ma"ErDy }>I5?9 A ?9C4: :)W W X  X W:W2W*WVbUBU*UUU% p@R-B*** querying acoustic contact ***P)P)BB BA?*BAEfAAAt="Cx\*CgRCd<CCֽ <יIGb>qq,EA|"4<|"4<ɫ) IY- @y-5G5Z****** received transponder code query ******5F****** received ping request ******5a"EDy}>I :5? :F A ?9C*; O+;) :WWX XW:W2W*WVbU BU *U UU+ @B=bTB9 B9AE ?*BAAEkrdAAAAAE="CMw\*CU}@RCU0^<CQCQ֝oM `>9 I i ; g   A sP:Y V1y : 5) R;wq,DEAY}2@}2x@y}2;}2y}2Hc4?`@?JhR?@ U-??`?@-?)~2@ ~2^;I~2CɫYY)Y ]IYY2@yNGxDUSBL response received:!U1,P FE1,000,0088B,185,80,80,78,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= ==P<MEQ=YM%:QUU>aiau"EDy-)}M>IȁŅ5?Ņ!T ƅA ?9ƅ"CDž; ȅVT;)ȁWWX XW:W2W*WVbUBU*UUU`c @BMRuBQ BQAU?*BQAU JbAQAYA]u="Cev\*CmRCm;CiCy} i =}q,EAY}N.@}N@y}Nd;}N}NH_1?)?d_?)?Mt?Pz? S?)~N.@ ~N!g^;I~Lɫ) IY@yG@A-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B   P=>i@ @)@I@i@<M6=Y)QU>a"EDy}>Iȩ :ŭ5? :ŭa ƭSA ?9ƭFCǭ: ȭ:)ȭ!:WWX XW:W2W*WVbUBU*UUU,@BhRB BA%?*B!A%'`A!A!A%lE="C-y\*C-,RC5Dv;C1C1=[R;I)GMt> , A:Y y 59 @ᄰq,zEA|i|Y}V@}V@y}V:}VՇ}VH -? s?c? e&?;m? R?K@W?)~V@ ~Vx$^;I~VCɫ髙) IY@yGxDUSBL response received:!U1,R,FC9,000,00873,184,80,80,A2,FF Fpublishing direction and range info D=ɰ11>> )"CIyB3?Cwږ?ٱˡE?X9vL7A`?> +=)IybX9?S㥫?+?E6?/]== ¡)¥bAI¥?@i¥A@0MY=YP:QU>a"EDy}>Ic5?-m A ?9hC: :)W W X  X W:W2W*WVbUBU*UUU%`Ӯ@P1*Q5BZQ5І{ W@#@JQ53?Cwږ?2Q5 D=:Q1bQ5vٛJ@5MR3#j;@RQ5?UiLt?>,^Hj胦?BQ5|@ Q5Q5TBP5\9?P5V9?P5Q5Q5/*A"Q5/ABe؇^Ba BaAm?*BiAmw^A A)A-U="C5x\*C5ƊRC5m];C1C9ua>9qIuxGiu@u=quDu; uE0;IGj> Ci I i Cƿٺ AS q,V.EAɫ ) IYM@yMGTNmea in: $SNTTA,0.073796,,,,012320.63*4B =i=))uuG>iu\@q u@)uK@IuK@iuK@/<M1=YQU>a"EDy}>Iȡ :ť 5? :ť{ ƥA ?9ƥCǥV: ȥV:)ȥ":muAdded new target pos. range: 92.280006 m, bearing: 305.257710 deg, deltaT: 4.422872 s, approachRate: -0.325579 m/s, LOS rate: 0.200313 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UUW@Ud?B%vB) B)A-?*B)A-&\A)A)A5m="C5w\*C=RC=X;C9C95[R;I=iA)=iAIG=> G % |9:Y y 5q,0HEAɫyy)y yIyY@yGU:M]v=YYQU]?aaae"EeDayi}m?Iqu5?u uA }?9uCu: u8:)qWWX XW:W!2W!*W!V!bU!BU)*U)U)U-`?B]h*BY BYA]C?*BYAe[AaAaAe="Cmv\*CmIzRCmr;CiCq;יIGc>e iiam"EmDqyq}}>Iy :}5? :} }4A ?9}C}: }:)}#:WWX XW:W2W*WVbUBU*UUU`[*?B8B BiAm?*BiAuRYAqAqAuk="C}y\*C}RRC};CyCօ0;aIG   L >F:Y WU1y : 5!Hq,{EAY}J6ް@}J@y}JtH5}Jf}JH'?a?xW? ?`dM?)?@V?)~J6ް@ ~J.~^;I~JCɫYY)Y YIYY@yG]=]Ev?]rhi]G@Y ]@)]@I]@i]@m]MmI=YmS;QUu>qya}"E}Dyy?}>Iȉō?.5?ō ƍmA ?9ƍCǍ: ȍ:)ȉWWX XW:W2W*WVbUBU*UUU`?BTGB BAv?*BA2WAAAx*="Cx\*C -RC (;C C!-?i-?I G%M>n0q,ÕEAY}n@}n@y}n<4}n+}nH`+??R)?Z@%?۪?`e?;?)~n@ ~n-^;I~nCɫ) IY@y&G%/$?(\ſA`"%&>%. %Y)!I!y%I +?v/?{Gz?%94?%xi=%#< %@)%Q@I%|@i%|A!%@=-N=M=>=YEH9QUE>AIaM"EMDQyU:}U>IY]=5?]< ]A e?9]!C]: ]:)YWWX XW:W2W*WVbUBU*UUU`E@`>9I GiG@=; EBe02JB BA?*BARTAAA="Cw\*CRRC+;CCjAjAֽX;בIG>     6:Y 0Y1y : 5) ;9 W^q,ڮEA|@i|@ɫII)I IIQYt@yG=/]==?=v=i=׻@9 =-@)=X@I=@i=@UtMUI=YUQUU>YYa]"E]Daye}e>Ii u:mUL5? u:m mA }?9mFCm: m:)m$:WWX XW:W2W*WVbUBU*UUU F@B0\B BA?*BASAAA?="Cv\*ClۉRCCCu;IIYGuz>Aq,:xEAY}Fٱ@}F@y}F_7}F }FH@ ??b?s?i?@ގ??@6(?)~Fٱ@ ~F^;I~FCɫ髉) IY@yāGɮ ?4Mc=Y׺QU> a"EDy%}%>I!%1Y5?% %A =?9%fC%/; %-;)!WiWqXq XyWy:Wy2Wy*WVbUBU*UUUu@RB*** querying acoustic contact ***PPBUBQ BQAU ?*BQAUQQAYAYA]="Cey\*CefRCe8/:CaCiօ0;YIqG\> jA ^>9 I i  =   ;  E    ' /3:Y W1y č: 5) ;nq,[EAY}F3@}F@y}F:}F}FH?`@#?|?v?@?rR?Ԣ?)~F3@ ~F];I~FCɫQY)Y ]IYY@y_GZ****** received transponder code query ******F****** received ping request ******QYa]"E] Dayey}m>Iq }:ug5? }:u uA ?9uCu; u@;)u%:WWX XW:W2W*WVbUBU*UUU @BPB BA?*BAEOAAAO="Cx\*CRCT9CCrg:IG$>Wq,.EA|$|$Y}N@}NQ@y}N<}N}NH?&? |??@?@?4 ?)~N@ ~N\];I~NCɫyy)y yIY@y?GxDUSBL response received:!U1,P FC9,000,00873,184,80,80,A2,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }%?}l>}Լi}@y }?@)}@I}@i}@mRM&=Y xQU > a"EDy׺}>I!%Vy5?%t %A -?9%C%{: %:)!WqWqXq XqWq:Wq2Wy*WyVybUyBU*UUU @B-JB1 B1A=J?*BYAeLAiAiAu="Cw\*CgRCiT8CCM 0::U ?iU ?! I1 GM >    $ ]:Y DW1y Y: Z59 @ɁŰq,EAY}v6@}v@y}vkd<}vE}vH?Z ?`V?$@?@5?@m?`?)~v6@ ~v];I~vCɫ髱) IY@ydGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Ii)i!rh?!rh?I +?l?lg> 9<)Iya"E(Dܭ[>9ܩIܭGiܭ@ܭ=ܩܩܭ; ݭEyɍ;}>I :#5? :G BA ?9C: V:)&:WWX XW:W2W*WVbU BU *U U U%G@B=IB=< B9AE$?*BAAEKAAAAAED="CMv\*CMIRCU:CQCQu9IIYGuz>߯˰q,1EAY}V൰@}Vè@y}V<}V}VH4??TwTj?@#l? ?@a"E4Dy;}>I  5?  nA ?9 C Y: 8:) W9W9X9 X9W9:WA2WA*WAVAbUIBUI*UIUIUM@BQһB BAJ?*BA IAA!A%,="C-y\*C-U%RC-AH;C)C1m?B:AIQGmy> _ | | G f;:Y R1y i: 5 Ұq,JEA|0i|0Y}5İ@}5oҨ@y}5 ';}5ؼ}5H? /?^`p ?? b?`?)~5İ@ ~5];I~5Cɫ11)1 1I1Y@y[GTNmea in: $SNTTA,,0.030023,,,012325.08*4D )^<ML=Y;a:QU>a"EADy;}>I :5? : A ?9CE: :)':WWX XW:W2W*WVbUBU*U!U!U%c@BMBQ BQAU?*BQAU#GAQAYA]=>="C]x\*Ce"RCeR;CaCaeqZ;Ii)i9IIGmV>ܭ Z>9ܭ xCIܭ Giܭ ;@ܭ =ܩ ܩ ܭ ; ݭ Eذq,ǜdEAY}6Ѱ@}6ި@y}6::}6Ҽ}6H`H?` ?e|C?@Ī?W?`RW?)~6Ѱ@ ~6];I~6Cɫ99)9 9I9Y}5@y}G±±<M\=Yi9QU>a"EMDy:;}>I5? A ?9@Cw9; 9;)WAWAXA XAWA:WI2WI*WQVQbUYBUY*UYUYUe@B%B! B!A-?*B)AM'EAIAIAU,="CUw\*C]ۈRC]7;CYCYi3oGIi5Cǿٺ15Ae3=u;IIYGu>I @A)   M ։:Y X1y /: "5ްq,t~EAY}>Ͱ@}>mۨ@y}><}>#ݼ}>H`M?p ?>\@-?jT?o?} O?)~>Ͱ@ ~>];I~>CɫYY)Y ]IYYi@yG|?>Oj<=i@ @)@I@i@-x<M-D=Y-mQU5>11a="E=ZD9yE}E>IIM5?Mr" MA U?9MeCMH: M:)IWqWyXy XyWy:Wy2Wy*WVbUBU*UUU@RB*** querying acoustic contact ***PPBQB BA ?*BACAAA(="Cv\*CjRC;CCѭz<֥X;ׁIGi>[q,QEA||;Y}Bhа@}B)ި@y}B;}B<ռ}BH? ?d?.?w? ?)~Bhа@ ~B];I~BCɫYY)Y YIYY-@yG/$?L7A`L7A`堿?+ +)IyCl?{GzL7A`?d;?ף+= )@I @iA@= M=:=Y=_9QU=>I]X>9YI]Gi]@YYY]; ]E)Ii邉邩H4a#EhDyF>:}>I :5? :2 7A  ?9C. ;  ;)(:WAWAXa XiWi:Wi2Wi*WiVqbUqBUq*UqUqU}@zh@B0B BA?*BA@AAA ="Cy\*CzRC;CCc<ϩ;?i? I G > t    C  =:Y U1y : 5) ;95 q,I-EAɫ髙) IY@y G)= ==>="?=hi=@9 =p@)=K@I=@i=K@M7=MM[=YMQUU>a#EuDy}>I5?? iA ?9C4: :)WWX XW:W2W*WVbUBU*U U U @M@B5@:B9 B9A=%?*B9A=>AAAAAEa="CMx\*CM0iRCM;CICQYY)Y Y;ס I G >Lq,EAɫ髙) IY@yG j`M N=YQU>!!a%#E%D)y)}->I9 M:=5? M:=*M =A U?9=C=; =U";)=):WWX XW:W2W*WVbUBU*UUUg@BݺB BA[%?*BAޣ<AAAxh="Cw\*CcARCw;CC iIyG>I I U V>9Q IU GiU @U =Q Q U ; U E |   / =:Y W1y č: 5) !;q,zEA|i|Y}F*@}FǨ@y}FI5}Fa}FH' ?? [?@ Q?;]?`?G?)~F*@ ~F];I~FCɫYY)Y YIYY@yGxDUSBL response received:!U1,N,80,80,63,E4 3,184,80,80,A2,FF ZNo reply:!U1,N,80,80,63,E4 3,184,80,80,A2,FF -a#EDy}>I65?"[ A ?9C: 8:)W!W)X) X)W):W)2W)*W1V1bU1BU9*U9U9U=@BeR:Bi BiAm#?*BiAm޸:AiAqAuv="C}v\*C} RC}nB`;CyCIב)וjAqIyG=3q,aEAY}2@}2@y}20}2}2HH? !?(q? ?[??eR@9?)~2@ ~2p];I~0ɫ99)9 =I9Y}@y}G‘•kAA>i=@ K@)Iij@ X;M G=YK;QU>a#EDy]Ȼ}>Iȹ :Ž5? :ŽQj ƽ A ?9ƽ#Cǽ; Ƚ6;)Ƚ*:WWX XW:W 2W *WVbUBU*U!U!U%ֲ@B]0Ba BaAm$?*BiAun8AqAqAuQF="C}y\*CRC2':CCשIG!>      >:Y V1y : 59- @q,EAY}26@}2@y}2Xt-}2}2HQ? -?&mt?%x??`⬥?Ry i?)~26@ ~2];I~2CɫYY)Y ]IYY4@y(G=(\?Qaaae#EeDaymu}m>U>9ILGi/@; EI)-5?-w -2A =?9-HC-f: -:))WyWyXy XW:W2W*WVbUBU*UUU1 @BϸB BA'?*BAN*6AAA="C-x\*C-#ԇRC-8?C1C1IG-->D q,t3EA||ɫyy)y yIyY@yG=?=S?=i==@9 =@)=@I=@i=@UMUK=Y]QU]>aaae#EeDiyu}}>IȁŅ5?Ņ ƅUA ?9ƅjCDž; ȅ,;)ȁWWX XWI:WQ2WQ*WQVYbUYBUY*UYUaUe@ @RB*** querying acoustic contact ***PPB:B BA*&?*BA4AAA="C%w\*C%VRC%ꬥC!CI9E?iE?I!G=r> U   ? ::Y Y1y : #5t,q,OMEAY}>Ψ@}>@y}> $}>Dڼ}>H@D? X?pDU??`?@?`<@?)~>Ψ@ ~>6];I~>CɫYY)Y ]IYY}@y}GZ****** received transponder code query ******F****** received ping request ******a#EDy&;}>I  :!5? -:s zA 5?9C; C;)+:WWX XW:W2W*WVbUBU*UUU\!@BлT;B) B)A5,?*B1A5M1A1A9A=="CEv\*CERCmB3;CqCq}qQIaG}z><R>9wCI~Gi@=; EVq,*gEAY}2OŰ@}2Ө@y}2)^}2sɼ}2H`? ?#?`?bs?ʣ?(g?)~2OŰ@ ~2W];I~0ɫ99)9 =I9Y}@y}GxDUSBL response received:!U1,P 80,80,63,E4 3,184,80,80,A2,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ag;MU=Y p;QU>a#EDyu<}}>Iȉō'05?ō ƍA ?9ƍCǍ3< ȍ#7<)ȉWWX XW:W2W*W!VAbUABUA*UIUIUM"@B?:B BAj,?*BAF/AAA="Cy\*CaRC;CC-;IG >    P 2:Y W1y č: 5= q,EA|i|Y}ְ@}@y}+y}ʽ}H`"?`?h(0`?U? ?`3?)~ְ@ ~];I~Cɫ) IYU@yUGuNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B %@ %@ %@%©%%i%@% %)%I%@i%@5I&<M=7=Y=x;QU=>AAaE#EEDIyM;}M>IQ ]:U=5? ]:U UA e?9UCUk: U:)U,:WWX XW:W2W*WVbUBU*UUU$k#@B];Ba BaAe-?*BaAW@-AAAh="Cx\*C0?RC;CC=;I9)=iAIG=>h&q,EAY}6Ұ@}6ߨ@y}6}6Լ}6H@? ?5i?? _?@L?`"?)~6Ұ@ ~6#];I~6Cɫyy)y }IyYd@yGm$C??Q?ܥQ>9ܡIܥGiܥ@ܥ=ܡܥDܥ; ݥEm:?mL= mu<)iIiym)\(? rh?~jt?mG!?mC =mD< m^@)mQ@Im @imp@im@U4<M]H=Y]_;QUe>aiam#EmDy޷}>IȡťwJ5?ť ƥA ?9ƥCǥ|; ȥ;)ȡWIWIXI XIWQ:WQ2WY*WYVYbUYBUY*UaUaUe ]G$@B;B BA0?*BAO*AAA  ="C w\*CTRC;CCP;=>EC׹IiSoGG>I i1 e vſٺa e A P    3::Y V1y : 5) ;9 ,q,ȴEAɫ) IY5~@y5GEDNmea in: $SNTTA,,,,,012330.73*59    @ @ @i3@ @)Ii@ <M N=YQU>a#EDy%}%>I) 5:-vV5? 5:- -A 5?9-C-(: -V:)--:WYWYXY XYWY:WY2Wa*WaVabUaBUi*UiUiUms%@B,<B BAd1?*BA(AAAO ="Cv\*C>RCGP;CC֝X;qIG]>z3q,EA||ɫyy)y }IyYyYQU>a#EDy}>Ia5?J A ?97C: b:)W)W)X) X)W1:W12W1*W9V9bU9BU9*U9UAUE9%@Bm6%<Bi BiAi*BqAuξ&AqAqAu ="C}y\*C҆RCY~;CC֍`;׍?i׍?AIQGm5>ّٕiAܝP>9ܙIܙiܙܝ =ܙܙܝ; ݝE)-wCI-wCi)-=-=- 85 x   & d=:Y ]1y : 5) ۘ;9q,erEAY}BŰ@}BӨ@y}B}Bݼ}BH??%v? ? ~? Ͼ?@; ?)~BŰ@ ~B6^;I~BCɫYY)Y YIYY@yG{Ma#EDyr}>I) =:-Un5? =:-* -*A E?9-XC-_; -;)-.:WaWaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqU} &@RB*** querying acoustic contact ***PPB;B BAb.?*BAr$AAA@< ="Cx\*CRC*;CC0;סIGA>@q,wMEAY}2ǰ@}2Wը@y}2ƌ}2̼}2H??0fq?N ?@̅?0?`W?)~2ǰ@ ~2P^;I~2CɫYY)Y YIYYC@y΃G   <5?i׻@ @)Ij@ij@ 2<ME=Y7+;QU>a#ED!y%C:}%>I)-z5?- -CA =?9-xC-A: -8:))WWX! X!W!:W)2W)*WYVYbUaBU*UUUww'@B ;B BA/?*BA!AAAЮ ="Cw\*CRCEx7;CICQ֕ϩ;iIyG>    ?:Y [1y H: l59 @PFq, 'EA| i| Y}>ҽ@}>˨@y}>i}>ͼ}>H?`"?1t? ?@ ?,?ص?)~>ҽ@ ~>;^;I~<ɫYY)Y YIYY@yGEN>9AIEGiE"@AAAE; ExE}!rh?{GzMb}l?}ף })yIyy}v?X9v?/$?}8?}}=}< }?@)yI}?@i}@y}@uMB=Y7;QU>a#E)DyV9}>IȹŽP5?Ž ƽgA ?9ƽCǽD: Ƚ :)ȹWWX XW:W2W*WVbUBU*UUU`9(@B$<B BA-?*BAhAAA- ="Cv\*C]RC;CC֥X;Iש)שyIG^>Lq,6EAɫ髙) IY@yG E@ E@ E@=©==i=@= =@)9I9i=@U;MUO=YUQU]>YYa]#E]6Daye}e>Ii u:m٘5? }:mX mA }?9mCm: mV:)m/:WWX XW:W2W*WVbUBU*UUU)@BT<B BA+?*BA%̢A!A!A% ="C5y\*C=9RC=Tx;C9CAe;9IIGeU>   R t[:Y T1y : 55Sq,OEAY}2&@}2蘨@y}2ț缙}2M}2H?V-?@?*~?@W?@|?@;?)~2&@ ~2(U^;I~2Cɫ99)9 =I9Y}@y}GxDUSBL response received:!U1,N,80,80,63,E4 3,184,80,80,A2,FF ZNo reply:!U1,N,80,80,63,E4 3,184,80,80,A2,FF -a#EBDy}>IӦ5? A ?9C: 8:)WWX XW:W2W*WVbUBU*UUU)@B-DF<B1 BA1?*BAAAA- ="Cx\*CwRCX(CC!%ϩ;I G%M>5<1=K>99I9i9999=; =EYq,iEA||Y}6/@}6@y}6㼙}6X:}6H@)?~1?`5!?@a.?W?{? B?)~6/@ ~6n^;I~6Cɫ99)9 =I9Y}@y}.G<MK=YZ:QU>a#EODyZ}>Iȹ :Ž5? :Ž ƽA ?9ƽ Cǽ: Ƚ:)Ƚ0:WWX XW:W2W*WV bU BU*UUU*@BE<<BI BIAMf4?*BIAMM&AQAQAUv ="C]w\*C]*RC]/CYCa=Β{U?iU?)IAG]>    8 5:Y DW1y Y: 5`q, EAY}2Փ@}2@y}29༙}22μ}2H W?)?|?%???.Ù`Q?)~2Փ@ ~2I^;I~2Cɫ99)9 =I9Y@yG - - --@-…?->i-Q@- -@)-@I-5@i-=?M=@=YE]:QUE>AAaM#EM]DIyU;}U>IY]5?]& ]A e?9]4C]M: ]:)YWWX XW:W2W*WVbUBU*UUU4o+@B50<B BA 3?*BAAAAh ="Cv\*C-҅RC㲵:CCց9IIGeV>gq,*pEAY}2Ԭ@}2@y}2ڼ}2XZ}2H??o?`=?\?@S?ȕ`:?)~2Ԭ@ ~21^;I~2Cɫ99)9 9I9Y}8@y}ǃGI>9vCIi=; ~Ev/?Q뱿/$x>\ )IyGz?Zd;O?A`"?p=?j<Y= …(@)…;@I… @i…@f@MD=Y:QU>a#EjDy;}>I :5? :05 (A ?9\C: :)1:WWX XW:W2W*WVbUBU*UUUD,@RB*** querying acoustic contact ***PPB52<B9 BAAE1/?*BAAMeAYAYA]="Cmy\*CunRCu;CqCye0::!I)GER>    0 5:Y V1y : 5) O;9 .mq,^KEA|i|@ɫyy)y }IyY@yGZ****** received transponder code query ******F****** received ping request ******%@i%@! %@)%@I%@i%@5x=M5B=Y5QU=>99a=#E=xDAyE}E>IQUK5?UC UfA ]?9UCUb: UM:)QWWX XW:W2W*WVbUBU*UUU:-@BpE<B BA>3?*BAAAA="Cx\*CRCft;CCr;I)יIGb>tq,l&EAY}6Ű@}6Ө@y}6x}6S}6H ?@\?v? ??@?z蕿 ?)~6Ű@ ~6k^;I~6Cɫ99)9 AIAYo@yGxDUSBL response received:!U1,P 80,80,63,E4 3,184,80,80,A2,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 fɼM%^=Y-q AIaU#E]Diy}<}>I -:%5? -:cR A 5?9C< <)2:WW!X! X!W):W)2W)*W1V1bU9BU9*U9UUp.@B <B BA0?*BA(IAAA="C%w\*C-9 I i  !=   ; E֑i I G > B .@:Y y 5) D;@zq,EAY}2B@}2Ũ@y}2k}2A>ϼ}2H ?@?;??G? -?噿@u?)~2B@ ~2*F^;I~0i nGI!i9ƿٺXAɫ髉) IYN@yՃGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B uM@=YX;QU>IaU#EUDQy] }]>Iae5?e_ eA m?9eCe; eU;)aWWX XW:W2W*WVbUBU*UUU@.@BMҢ<BI BIAU/?*BQAUU AQAQAU="C]v\*C]:RCeD™;CaC}[R;QIaG}z>(q,EA||p;Y}6ᣰ@}6@y}6'}6}6H??~?`;}?` ?;?:?)~6ᣰ@ ~6n^;I~6Cɫyy)y yIyY@yG 5@ =@ =@5©55i5̴@5 5)5j@I5@i5j@M<MMR=YM:QUU>QQa]#E]DYye8л}e>Iim 5?ml m A ?9mCmɜ< mO<)iWWX X!W!:Wq2Wq*WVbUBU*UUU /@B=jO<B9 BaAe32?*BiAm1 AiAiAu="Cuy\*C}RC}g4;CCԵjAԵjAֵ;׽?i׽?בIG> o  Q:Y y #59 @Uq,EAY}Ea@}E#@y}EXة}Eb}EH?))?Yj?@( ?b?`:?l`?)~Ea@ ~EB_;I~ECܝF>9ܙIܙiܙܙܙܙܝ; ݝE)vCIvCi = =85ɫ) IY@yG5DNmea in: $SNTTA,,,,,012336.38*50 Cl?p= ף ףp= ?d> Q8=)IyS?I +?Mb?/=?9<= )I(@iQ@@M@=YRj:QU>a#EDy0}>I :25? :5{ 5A ?9CD< <)3:WWX XW:W2W*WVbUBU*UU U `E00@BU<B BA&.?*BAJAAA0="Cx\*C'RC#:CC2;שIG=>}q,-8EAɫ髙) IY`@yGxDUSBL response received:!U1,R,FF9,000,02654,183,80,80,91,FF Fpublishing direction and range info+;ɰH?$> )CIy D--1?bAXy?ٱ m m mmĻm1>mim@m m@)m@Iiim@}<M}R=YQU>a#EDy}>Iȡť'5?ť ƥ[A ?9ƥ@Cǥn: ȥf:)ȡWWX XW:W2W*WVbUBU *U U UO0@P*Q DZQ/o9@Ll @JQ--1?bAXy?2Q+;:QbQؽHcr@U- }ro&@RQaµZ?f h} ?BQ+Ѩ@ QQCP9?P\9?PQQ5A"Q/*ABUFO<BQ BQA]w0?*BYA]AYAYA]="Cew\*Ce҄RCe2:CiCI}rg:QIaG}z>     1:Y X1y /: 5dq,HnREA|i|@Y}6M@}6@y}6p$}6qټ}6H@{?`!$?x?"`-?^?:?+?)~6M@ ~6^;I~4ɫ99)9 9I9Y}z@y}Gm<MmK=Yu@;QUu>yya#EDy3E;}>Iș :ŝ55? :ŝ ƝA ?9ƝgCǝt; ȝ ;)ȝ4:mAdded new target pos. range: 551.219971 m, bearing: 302.265787 deg, deltaT: 16.561737 s, approachRate: 27.710859 m/s, LOS rate: -0.180653 deg/s, posRepo size: 4mCompleted rollout at range: 551.22 m. Resuming terminal guidance.mbTransitioning guidance mode to: TERMINAL_GUIDANCE"XWWX XW:W2W*WVbUBU*UU9@U?B%FB<B! B!A-F1?*B)A-dA)A)A5C=C9E] ;IMjA)MjAI G%N>ٕ<ّܝD>9ܙIܝGiܝ@ܙܙܙܝ; ݝE q,ZIlEAY}6Q@}6@y}6a#EDy:}>IC5? A ?9CQ: ':)WWX XW:W2W*WVbU!BU!*U!U!U%?BUDx<BQ BQAU-?*BQA]AYAYA]E=Ca֥0::yIG^> [    ;:Y W1y č: 5wq,%EAY}2@}2@y}2ʌ}2_߼}2H?`}$?`?$L??!? ꛿?)~2@ ~2_;I~2Cɫ99)9 9I9Y@yG E@ E@ E@E©EEiEz@E Ej@)EIEj@iEj@}'M};=YC;QU>a#EDyx}>I : S5?  : A ?9C; V;)5:W1W1X1 X9W9:W92W9*W9VAbUABUA*UAUIUM`?Bu\<By ByA}+?*ByA}aAyAA]=C!#2:IG->q,EA||49MuCIM~GiM@IIMDM; MEY}@y}GZd;O?)\(?y&1?~ ?Ga= `<)IyV-?Q?ˡE?a#EDy}>I`5? A ?9CY: w:)W!W)X) X)W):W)2W1*W1V1bU1BU1*U9U9U=?Bǎ<B BA,?*BA AAA=C*:%?i%?IG-o>     P0:Y WU1y : m5) ;9 6˭q,ڹEAY}2y@}2@y}2(}2 }2Hr?5?`98?5@!??$??)~2y@ ~2_;I~2Cɫ99)9 =I9Y}@y}|G ] ] ]]뽩]t<]Ki]=@] ]@)]j@I]iYm*>MmR=Ym:QUu>qqa}#E}Dyy}>Iȉ :ō`o5? :ō ƍA ?9ƍCǍ: ȍs:)ȍ6:WWX XW:W2W*WVbUBU*UUUd@B(<B BA_+?*BA}AAA=C %0::I G%M>q,ԵEAY}6s@}6@y}6&5}6Mܼ}6Hd?Z8?@Y?98p?l ?@P?` ?)~6s@ ~656_;I~6CɫYY)Y aIaY]@yAGUM]L=Y]9QU]>aaae#EeDaym}m>I~5?d IA ?9&C: :)WWX XW:W2W*WVbUBU*UUU]@B5D<B1 B1A5](?*B1A=A9A9A==CAe#2:9IIGmV>QUjA]A>9YI]LGi]/@]"=]SDY]; ]E 2    7:Y T1y : 5) ;7ݺq,CEA|i|Y}F/y@}F@y}F|w}Fs^ڼ}FH?`5?%? 5?`O?G?.J'?)~F/y@ ~FN^;I~FCɫy髁) IYK@y5Gɮp=Ýl>Ýj<>Ýa#EDy-:}>I5? sA ?9MC < D<)WYWYXY XYWY:WY2Wa*WaVabUaBUa*UiUiUm@R}B*** querying acoustic contact ***PyPyBƉ|<B BA'?*BAAAA~=C =*:IEiA)EiAI)GEs>q,qrEAY}6a@}6#@y}6 a#ED!yM|;}U>Iȉ :ō5? :ōL ƍA ?9ƍuCǍ: ȍM:)ȍ7:WWX XW:W2W*WVbUBU *U U U @ @B=c<B9 B9A=r*?*B9AE!{AAAAAEG<=C:IG >     0:Y Y1y : 59 @DZq,#J!EAr@>9pIrGir@r#=ppr#; rEɫ) IY5@y5cG=xDUSBL response received:!U1,P FF9,000,02654,183,80,80,91,FF =Command Ack=BRequesting micromodem ping code 2iAAMNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 qqinGIiE2ſٺAEAX9v?~jt/$?? <)IyT㥛 ?Q?I +?A?<94= ?@)Q@I@iQ@@]d Me=YmQUu>a#E1Dy}>I 5?s A U?9Cry< t<)WWX XW:W2W*WVbUBU*UUU@B?<B BA*?*BAoAAA=C 0::׹ I G >αq,$;EA||;ɫ髙) IYs@yNG-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B <if@ @)K@I-@i-@<M=YQU-?a#E9Dy} 2?I :ٹ5? : A ?9C: w:)8:WAWAXA XAWA:WA2WA*WIVIbUIBUQ*UQUQUU >0@B} =B BA)?*BAAAAb=C)]:1IAG]v>  } }  .:Y kS1y Ԋ: 5@ձq,TEAY}:H@}: @y}: N}:;7ܼ}:H@?T-?? -@?u??`d?)~:H@ ~:.]^;I~:CɫYY)Y YIaY<@y,GM`=Y?;QU>a#EEDy'':}>I5? A ?9C@: M:)WW X  X W :W 2W *WVbUBU*UUU`Ѥ@BEY<BI BIAMS'?*BIAMݼAIAIAU`=C0::סIGA>9IGi@$=%; )uuCIuuCiqu"=u"=us5U+۱q,nEAY}m}@}m?@y}mE}m<ռ}mHT? S.? %?`. ?{?/?L?)~m}@ ~m\F^;I~iɫQQ)Q UIYY@yGDNmea in: $SNTTA,,,,,012341.66*5B }@ }@ @}©}}i}@} }t@)}Ը@I}@i}@ϼM0=Y:QU>a#ETDyZ}>Iȩ :ŭn5? :ŭ00 ƭPA ?9ƭCǭ : ȭ8:)ȭ9:WWX XW:W2W*WVbUBU*UUU`@B{<B BA%P$?*B!A% /ؼA!A!A%=C191IAG]v> /    7:Y U1y : 5q,FEA| i| Y}J9@}J@y}JD:}Jdμ}JH`?&?q? '?x?R?`z˙`?)~J9@ ~J1^;I~JCɫaa)i mIiYS@y%G5a=ɮ5a=Q?I +?~jt?94= D)Iy"~?Mb?V-?3?=< |@)@I‰ip@@x(MI=Y:QU>a#EaDyڐ;}>I5?p= oA ?96C: #:)WWX XW:W2W*WVbUBU*UUUJ @B5Ɨ<B1 B1A5 ?*B1A=JԼA9A9A=I/=CAE :I)GMt>K=q,EAY}:鞰@}:@y}:.8}:˼}:H`?|!??!?RL??9x?)~:鞰@FB>9DIFGiF@F&=DDF; FE ~:$];I~:CɫYY)Y YIYY@yG±µjAQS=Mo=YS9QU?a$ElDyb;}?I5?H A ?9UC: :)WWX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB<B  B A $?*B A-Z*мA1A1A5v<C9E#2:!IQG\> 0    7:Y V1y : 5) ;9 fgq,jEAY}2M@}2@y}2>}22Ѽ}2H b?(?@4?( 2??@?.@?)~2M@ ~2Z];I~2CɫYY)Y YIYY}@y_G   xio?yiQ@ )@I@i@ǔMG=YIFQU>a$EyDy xu} >I :v5? :U A ?9zC: :)::WAWAXA XAWA:WA2WI*WIVIbUIBUI*UQUUc/@B<B BA?*BA)̼AAA$<C0::IG-N>Oq,GEA|"4<|"4!!a%$E%D)y-ؾ}->I15. 5?5Qc 5A E?95C5Ǻ: 5:)1WaWaXi XiWi:Wi2Wi*WiVqbUqBUq*UyUyU}@Bj<B BAA?*BA*ȼAA)A-<C1AI)GMS>܍A>9܉I܍RGi܍@܍%=܉܉܍#; ݍE     0:Y U1y : 5) ;|q,w-EAY} a@} n@y} PqD}  } H@?A??}Bࡽ??? }?)~ a@ ~ z^;I~ ɫ) IY5@y5}G)M> M=ÕÕu=Õ>iÕ(@Ñ ĕj@)ĕj@IĕK@iĕj@N/<MA=Y9QU>a$EDy }>I :G5? :'q A ?9C{: Q:);:WWX XW:W2W*WVbUBU*UUU@B<B BAj?*BAüAAA&<C!IGn>`q, EAY}E9@}EG@y}EkE}E~}EH?_U?P?V D? ?ƹ? YР?)~E9@ ~E_;I~ECɫ髑) IY@y?GxDUSBL response received:!U1,R,013,000,09627,183,80,80,94,FF Fpublishing direction and range infoԇɰD@ )CIy Er(?HaX$Pٱ$C?"~jy&1|>S `)IyX9v?Mb`S㥛?3?/< ­@)­Q@I­@i­@Q@IļM =Y+QU>a$ED y e}>I)5?x 5tI  A 5?9Cl0; :;)WyWyXy XyW:W2W*WVbUBU*UUU%@P)*Q- EZQ->Ls@P^)BJQ-r(?HaX$P2Q-ԇ:Q)bQ-0/@ 7ή71<@RQ-b Cm+?{O|y&]։?BQ-Կ@ Q-Q-NDP-9?P-9?P-Q-Q- B"Q-5ABpLc<B BAJ?*BA4oAAAB<C֥ #2:ׁ I G > x    d=:Y W1y č: 59 @wq,#EA9IGi@'; E|$i|$ɫ髙) IYq@yG_M=YQU?a$EDy}?Iȱ :ŵ25? :ŵY ƵA ?9Ƶ Cǵ: ȵ2:)ȵ<:mUAdded new target pos. range: 2268.840088 m, bearing: 300.354017 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1mProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 300.354017deg and heading rate command to 0 deg/s.WԿ@WX XW:W2W*WVbUBU*UU  @U <-?B5/J<B1 B9A=?*B9A= 仼A9A9A=<"CE:RCMrCMԿ@CImΒ{:aIG`>q,=EAɫ髙) IY@yGAAÍ=Í,?ÍuiÍQ@É č;@)čK@IĉičK@D;MJ=YQU>a$ED!y!}->I15?5?5 5>A =?953C5: 5:)1WYWYXY XaWa:Wa2Wa*WaVibUiBUi*UiUqUu?B5<B BA?*BAMɷAAAp<"CRC ECC֥*:iIG<> a    ;:Y DW1y Y: m5q,zWEAɫ髙) IY@ýGU(M]O=YYQU]>aaae$EeDayi}m>Iq }:utK5? }:u` uYA ?9uUCuk: u:)u=:WWX XW:W2W*WVbUBU*UUU` ?Bk<B BA?*BAi&AAAD<"C⛄RCgkCC-oMI !!-B>9)I-xGi-@-&=))-,; -EG>i nGI i  !ƿٺ  A(q,t{qEA|(|(Y}JX[@}Ji@y}JvM1}J#}JH@?`E??E?@*=?`)? ?)~JX[@ ~J&^;I~JCɫqq)q uIqY@yGu,=uT>u7iu@q uԸ@)qIuj@iuj@E<MG=YG;QU>a$EDy#<}>IșŝX5?ŝ9 ƝwA ?9ƝzCǝ: ȝ:)șWWX XW:W2W*WVbUBU*UUU`%?B ZO<B BAm?*BA1AAA-<"C@*C%ɄRC%dTAC!C)YIG(>  | |   ).:Y R1y i: 5:"q,7SEAY}}.p@}}}@y}}x}}}}Hy?:?PK?:?^5?@΃?@}C?)~}.p@ ~}Y^;I~}Cɫqq)q uIqY9@yGI ) AS㥛?A`"?#~j?D?Y= =)IyʡE?Q?S㥛?=?\= ¥@)¥@I¥@i¥@3@)õ= õ= ;M8=YP);QU>a$EDyn;}>I e:g5? e: A m?9CY< :)>:WWX XW:W2W*WVbUBU*UUU@p*?Bˆ<B BA=?*BAAAA~H<"C@*C½RCLD<CChשIG> D>9 I Gi S@ '=   3;  E)ݩIݩiݩݭ&=ݭ&=ݭC5(q,EAY}2(@}2ꕨ@y}2D}2o}2H`? C.??`-. ?*? y??)~2(@ ~21^;I~2CɫYY)Y ]IYY@yGUڼMUe=Y].;QU]>Yaae$EeDaym<}m>Iquyt5?u uA }?9uCu: u :)qWWX XW:W2W*WVbUBU)*U1U1U5zY@BuQ<By ByA}?*ByA}OAyAyA<"C@*CRCG2CCցYIiG[>     B5:Y WU1y : %5) ԑ;9 H/q,EA| i|"@Y}Ḅ@}B@y}B }Bv}BH]??@j? ?ۃ?A?r^?)~Ḅ@ ~B{^;I~@ɫYY)Y YIYY@yGp=ɮ%O>%>% 0i%@! %@)%@I%@i%@5KM5M=Y5փ:QU=>99a=$E=DAyE~ <}E>IIM5?M{ MA ]?9MCM: M:)IWyWyXy XW:W2W*WVbUBU*UUUi@RB*** querying acoustic contact ***PPB <B BA?*BAAAA<"C@*C訄RCO&CC֭[5q,EAY}2@}2ƨ@y}2}2a}2H`M ??@ WV9 ?@pЁ? -?{6l?)~2@ ~2^;I~2Cɫ99)9 9I9YyyyZ****** received transponder code query ******F****** received ping request ******a$EDy ;} >I :ߐ5? : A ?9C: r:)?:W9W9XA XAWA:WA2WA*WIVIbUIBUi*UqUqUu@B<B BA*BA1AAA{<"C@*C5RCCCF>9IL~Gi@); E<1׹IG5p>5 5 5 5  5 1:Y5 T1y5 :5 ʽ5)5 ;=i̴@ -@)^@Ii *M%yya}$EDy;}>IȹŽ5?Ž ƽA  ?9ƽ@Cǽj< Ƚ<)ȹWIWIXI XQWQ:WQ2WQ*WQVYbUYBUY*UYUU`{ @B<B BA|?*BAZAAAN<"C@*C RCW2C CMl") I1 GU >Cq, EA|R;|PY}߰@}@y}}<4;}H9-??`[j-?.un? x~?@_s? ?)~߰@ ~^;I~Cɫ) IYM@yM GQU@AuNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ]"~j?Q? ףp= ?]S?]< ]Q8=)YIYy]A`"?aE$EE"DAyMl;}M>IQ m:U5? m:U5 UA u?9UdCUW; UV;)U@:WWX XW:W2W*WVbUBU *U U UC@B<B BA ?*BAИAAA<"C@*CyRCCCסIG>   w2:Y y 759 @ G>9 I }Gi @ ; E(Iq,fj&EAY}:=@}:@y}:M}:OO<}:H`_>?? >?+D)~? ?@?)~:=@ ~:^;I~8ɫYY)Y YIYY} @y}BGxDUSBL response received:!U1,R,FDD,000,009C3,185,80,80,99,FF Fpublishing direction and range info5<ɰL>鰅+> )CIyB%{-?&|E?ٱ)å= á?=Mj=Ylb9QU>a$E.Dy;} ?Iq5?E &A ?9C: :)W!W!X! X!W!:W)2W)*W)V)bU)BU1*U1U1U=z @PA*QEBZQE\@c 2Rx @JQE%{-?&|E?2QE5<:QAbQEcO@4W:$?RQEfK?jj꿠1l<?BQE3@ QEQE}BPE9?PE9?PE4QEQE@"QE BBUi<BY BYA]q?*BYA]ՕAYAYAe*<"Ce@*CmlRCiCCֽyIG^>Pq,N@EAY}r@}r&@y}r껙}rŬ<}rH0]??{Z]?`KMv@IB}?`&? ?)~r@ ~r+^;I~rCɫ ) IYM@yM5什5Gai5@1 1)5-@I5-@i1EDMM5=YM:QUM>QQaU$EUIa m:e5? m:e$ e   } }   H:Y kS1y Ԋ: \59Vq,?ZEA|i|@ɫ髹) IYc@y΀GiMW=YQU>a$EHDy}>Iȱŵt5?ŵ~1 ƵNA ?9ƵCǵ : ȵ8:)ȱWQ @WX XW:W2W*WVbUBU*UUU@s?B<B! B!A%?*B!A%#A!A!A-v<"C5( RC5UC5Q @C1 )IG%>mF>9iIm|Gimk@m%=iim; mEc\q,{sEAɫyy)y yIyY@yG!!Ý=ÝÝ94=iÝ@Ù ĝ@)ĝK@IĝK@iĝ-@#<MI=YQU>a$EUDy}>I'5?L? aA ?9C: :)W@WX XW:W2W*WVbUBU*U U U ?B5sw<B9 B9A= ?*B9A=A9AAAET<"CE]zRCMCM@CQe|(H!I9GmV>I ) ?Ae 3 e ~e ~e  e 7:Ye T1ye @:e [5Ocq,EAY}^@}^X@y}^F}^4=}^HY?@?K? {?E??)~^@ ~^^;I~^Cɫ髑) IY@yGv?Q?y&1?>\= `e<)IyS㥛?:v?L7A`?D?<+= bA)@I@i@(@/?M D=Y gQU >a$EcDy^+=}>I! -:%5? -:%M %A 5?9%C%{: %:)%B:WUW@WQXQ XQWY:Wa2Wi*WyVybUBU*UUU`?BN<B BA?*BAzAAAq<"CbuRC񀥽CW@CיIGA>e G>9a Ie {Gie @a a a e ,; e Eauiq,EA||;Y}6ޱ@}6U@y}6}6 =}6H?n?׳}sQ?@3`m? P? ?)~6ޱ@ ~6^;I~6Cɫ99)9 9IAY@yzGnM[=Y%,QU%>!!a-$E-oD)y5y<}5>I9=(5?=Z =A E?9=CC=: =:)9We@WiXi XiWi:Wi2Wi*WqVqbUqBUq*UyUyU} F6@Ci mGIiUɿٺY]0AB+<B BAB?*BA UAAAD<"COqRC#,C@C%t?9%A䢽IG >     .:Y V1y : 5) b;9 _pq,SEAY}6@}6@y}6;}6] =}6H*?R?WW`)*?>@x?@? L?)~6@ ~6^;I~6CɫQQ)Y YIYY@yOGI)C=)= > @ @ @Å©ÅÅiÅf@Å ąԸ@)ą@Ią@ią@OMB=Y8QU>a$E|DyLj<}>Iȱ :ŵY5? :ŵi ƵA ?9ƵlCǵ: ȵ:)ȵC:W@WX XW:W2W*WVbUBU*UUU@@BEW<BI BIAM?*BIAUۀAQAQAUb<"C]kRC]ԽC]@Cae(׵!I)GE0>ɇvq,cEAY}2:@}2cH@y}2#}2j<}2H@M?;?m螿 1?M?yld???)~2:@ ~2^;I~2CɫII)I IIIY}/@y}G鮁ɮ=|M\=YQU>a$EDy:f<}>IȹŽ 5?Žv ƽA ?9ƽCǽb: Ƚӻ:)ȹW*@WX XW:W2W*WVbUBU*UUUߌ@R B*** querying acoustic contact ***P P B-e<B1 B1A5>*B1A5{A9A9A=<"CE*gRCE{CE*@CAMt hA9I,{Gi&@"; E)Iiń%=ń>y5I9GU2> c  ;:Y y 5) h;|q,y=EA|i|Y}6Gh@}6 v@y}6$%}6<}6Hr? ?9ܞ$'s?:`?`w?@?)~6Gh@ ~6 ^;I~4ɫYY)Y ]IYY@yGZ****** received transponder code query ******F****** received ping request ******iU@U U@)U@IU@iU@e`Mm>=Ym(úQUm>qqa}$E}DyyMT<}>Iȉ :ō15? :ōb ƍ A ?9ƍCǍ: ȍa:)ȍD:W׬@WX XW:W2W*WVbUBU*UUU @BB<B BA>*BAtAAA<"CaRCC׬@CSk۽סIGA>ڙq,EAY}:@}:@y}:6}:"=}:H??`i頿 ڞ?@mÆ?}?`?)~:@ ~:^;I~:Cɫ99)9 =I9Y}@y}GxDUSBL response received:!U1,P FDD,000,009C3,185,80,80,99,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 p= ף?{Gz?%?#< )Iy/$?Mb?Q?&1?@=< p@)@I@iA@))5n;M=%=Y=QU=>AAaE$EEDIyMmX<}M>IQUC5?UW U1A ?9UCU; Uj;)QW@WX XW:W2W*WVbUBU*UUU@Beo<B BA>*BAlAAA<"Cv[RCC@CM i齹! I1 GM >     .:Y W1y č: 59 @% H>9! I% dzGi% @! ! ! % ; % Eĉq,](EAɫ髙) IY~@yHGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Md=YQU>)1a5$E5D1y=}=>IA M:EQ5? M:Ev EOA M?9ECE: E:)EE:Wu1@WqXq XqWq:Wq2Wy*WyVybUyBUy*UUUTt@BF<B BA>*BAKgAAAZ<"CHVRCC1@CֽmyIG^>Tq,BEA|4<|4b>i@ @)­@I@i@ mkM l=Y QU ?a$EDyM=}%?I!%B^5?%o %kA 5?9%%C%o: %:)!WU׷@WQXY XYWY:WY2WY*WaVabUaBUa*UaUiUu@BU<BQ BYA]8>*BYA] bAYAYA]A<"CeRRCmCm׷@CejAIIGe4>    sC:Y xZ1y q: 5זq,h\EAY}=t@}={@y}=}x}==}=HkK?t?$.DH?@@a?Q?e?)~=t@ ~=^;I~9ɫ11)1 5I1YuN@yu GTNmea in: $SNTTA,0.079550,,,,012353.35*4E  MA=Y^QU>a$EDyM<}>Iqn5? A ?9KCE: :)W$b@WX XW:W2W*WVbUBU*UU U~@BJ<B BA>*BAR[AAA%<"CmMRCI&C$b@C  ==ܵI>9ܱIܵzGiܵ2@ܱܱܱܵ ; ݵEI)IGj> =i =q,vEAY}>.ѳ@}>ޫ@y}>}>=}>H?h6?@ M@R?ՠDѐ?`*??)~>.ѳ@ ~>^;I~<ɫYY)Y ]IYY@yZGmA>m(>mʡ>im\@i m@)m@Iiim@}ѝ<MM=YJQU>a$EDy<}>Iș :ŝ}5? :ŝ ƝA ?9ƝnCǝ[: ȝ:)ȝF:W@WX XW:W2W*WVbUBU*UUU*@B <B BA>*BAkUAAA<"C%pHRC%WG-C%@C)-MIG*>5 B 5 5 5  5 9:Y5 WU1y5 :5 I5磲q,aEA|i|@Y}6h4@}6+B@y}6ꏼ}6=}6H?`?dz ?@9? ?G?)~6h4@ ~6^;I~4ɫYY)Y YIYY@y~G r?y&1|~jt??` <)Iy`"? ףp= ?7?̼Q8= …"A)…@Ii…A@JMG=Y6QU>a$EDyh<}>I5? A ?9C4T; (S;)W=\@W9X9 XAWA:WA2WA*WIVIbUQBUQ*UQUYU]@@RmB*** querying acoustic contact ***PiPiBc<B BAG>*BAzOAAA+<"C3CRC{3C\@C֥_'yIG^>ܭ J>9ܩ Iܭ yGiܭ @ܩ ܩ ܩ ܭ ; ݭ Eq, =EAɫ髙) IY@yM~G%M%T=Y-QU->))a5$E5D1y=}=>II e:MJ5? m:M MA }?9MCM; M;)MG:W7Q@WX XW:W2W*WVbUBU*UUUn@B-1<BA BAAe >*BiAmHAiAiAm6<"Cu=RCu0*FCu7Q@Cyԉԉe3m?iiYIaGY>    2n:Y P^1y : 5q,EAY}:&@}:3@y}:K䦼}:=}:H?M? Cw?@rF*ܔ?ù??)~:&@ ~:^;I~8ɫ99)9 9IAYo@y}G=>=<=;i=G@9 =­@)=­@I=­@i=(@M֢MUH=YUQQU]>YYa]$E]Daye=}m>Iimj5?m m@A }?9mCm: mf:)iW @WX XW:W2W*WVbUBU*UUU`@B|<B BA>*BA]CAAA<"CU9RCB9C @C3IGI>$q,REA||Y}>)@}>í@y}> 㹼}>?=}>H ?F?`n2`? U;?`b?@?)~>)@ ~> _;I~>CɫYY)Y ]IYY@y~G%;M%M=Y-QU->)1a5$E5 D9y=4=}=>IA M:E5? M:EB EoA U?9ECEo: EQ:)EH:Wu@WqXy XyWy:Wy2Wy*WVbUBU*UUUP@BUe<B< BA>*BA0=AAA<"C V4RC *<C@Ci9iImxGim?@iiim2; mEq$9סIGA>ioGIiaʿٺA     5:Y X1y /: m5) O;9 Nq,SEAY}6K@}6Y@y}6ʼ}6 =}6Hz??Odj?`,ܬ@Y?@(p??)~6K@ ~6p^;I~6Cɫ99)9 =I9Y@y`~GxDUSBL response received:!U1,N,80,80,63,E4 3,185,80,80,99,FF ZNo reply:!U1,N,80,80,63,E4 3,185,80,80,99,FF -a$EDy<=}>I  5?  A ?9 &C : :) WUe2@WQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUaUe<@B\<B BA>*BAZ7AAAY<"C.RCf>Ce2@C 5=5=;I!)!IGn> 6IJq,EAY}6@}6H@y}6xڼ}6=}6H?{?jM 7?+ GN? _??)~6@ ~6^;I~4ɫ99)9 =IAY@y<}GA`"?/$?y&1?< `e)Iy|?5^?~jt? ףp= ?-?= µA)µ @Iµ@iµAA(AENME6=YEƋQUE>IIaM$EU%DQyU*=}]>IY e:]@5? m:]p ]A m?9]MC]: ]:)]I:Wy׳@WX XW:W2W*WVbUBU*UUU@Bo<B BA&>*BA01AAAN'<"C )RC?Cy׳@Cֽ>יIGb>M K>9M vCIM pxGiM @I I M DM 4; M E)Ii%='3 #    6:Y U1y : 5) ;bʲq,z+EA|i|@Y}6<{@}6@y}68;켙}6g=}6HyV?T?@i``A?Z?`Kݿ?`ܼ?)~6<{@ ~6^;I~6Cɫ9A)I MIIY5o@y=}G E E EE&?E>E=iE@A E@)Ej@IE@iE@U1?=MUI=YUQU]>YYa]$E]2Dayen9=}m>Iqu?5?u uA }?9upCu÷: u:)qWJz@WX XW:W2W*WVbUBU*UUU`@ @B<B BA>*BAQ+AAAZ<"C$RC6@CJz@Cq<֭#@׉IG>HѲq,_EEAY}:@}:]'@y}:}:>+>}:H`S? /?`R鼿u ??\??)~:@ ~:^;I~:Cɫ99)9 9IAY})@y}}GʼMk=Y˻QU?a$E=Dyc=}?IȹŽ5?Ž ƽIA ?9ƽCǽ: Ƚ:)ȹW@WX XW:W2W*WVbUqBUq*UqUyU} @RB*** querying acoustic contact ***PPBrE<B BAy>*BA &AAA<"CR RC7T>C@C'<eA?iw?IGj> ~ ~  W@:Y T1y @: 59 @0rײq,!;_EAY}2¸@}2mа@y}2 }2.> >}2H6;? ?@὿ !?[):?`7?ܰ?)~2¸@ ~2^;I~0ɫYY)Y ]IYY@y}GZ****** received transponder code query ******F****** received ping request ******a$E%JD!y-hI=}->I1 E:51 5? E:5X+ 5A E?95C5,; 5;)5J:WE@WIXI XIWI:Wi2Wi*WqVqbUqBUq*UyUyU}!@B +<B BA>*BAB AAA<"CRCh@C@CM>9IiRD7; E <@>IG>Iݲq,'yEA|;|;Y}6|p@}6?~@y}6#}6 >}6H?@S,?lq{?ȳӴ?@>?3?)~6|p@ ~6^;I~6Cɫ99)9 9IAY4@y}GxDUSBL response received:!U1,P 80,80,63,E4 3,185,80,80,99,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Zd>w?C =i=@ v@)K@I@i@m=Mu*=Y}DĻQU}>a$EZDy/=}>I!5?U7 A ?9C÷: <)W%z@WX XW:W2W*WVbUBU*UUU@"@BM<BI BIA]+>*BYAe"AaAiAm_<"C}RCBC%z@C) % 1 % % % @ % 7:Y% W1y% č:% Y5] -@1 I9 G] >q,EAY}F­@}F@y}Fd$}F(>}FH#?9?'@Yqe?ɴ@?@h??)~F­@ ~Fz^;I~FCɫyy) IY@ya}GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B x&1?Mb~jt!? D)Iyx&1?{Gzt? rh?A?ף;C< ½p A)½@I½@i¹QAM0MUL=YUQUU>YYa]%E]fDYym=}m>Iq }:u45? }:uA uA }?9uCu: u/:)uK:W@WX XW:W2W*WVbUBU*UUU]#@Bm<B BA>*BAAAA<"CRC.C@CoAיIG@>O>9Ii&=SD*; E,q,߮EAY}%c7@}%&E@y}%p*}%8>}%H`i @ @)@I@i@"MR=Ya%EsDy0=}>I$H5?*BQAU!AQAQAU6<"C]s RC]3C]L@CyQIiG|>    <  -:Y DW1y Y: ~56q,EA|i|Y}B@}BOγ@y}B̯-}Bѻ>}BHh,?2b?@8?~ O?D?#?)~B@ ~B _;I~BCɫYY)Y ]IYY@ya}GՍ<M`=Yc QU>a%EDy;=}>I :}Z5? :U EA ?9LC: :)L:W%D@WX XW:W2W*WVbUBU*UUU%@B_<B BA>*BA 4 A A A 7<"C]RC4C%D@C _7?iz?IG (>T=q,*EAY}6xX@}6;f@y}6^0}6t >}6H?Y?-=?m?`@ ?k?̩?)~6xX@ ~6_;I~6CɫYY)Y ]IYY@y|GɼMJ=YԺQU>a%EDy<=}>Io5? ` nA ?9sC: :)W߸@WX  X W :W 2W *W VbUBU*UUUO%@BEH<BA BIAM>*BIAM9AIAIAM# <ܙ9ܙIܝ xGiܝ@ܝ$=ܝRDܙܝ5; ݝE"ĆRC4C߸@C3׹IGE>I ) @A G      |9:Y V1y : #5) {;9 hq,lEAY}2@}2 @y}24}2< >}2H`?@;g?t?S`U?d??)~2@ ~2$_;I~2Cɫ99)9 =I9Y}@y}E}Gh>$i@ )@Ii'<MG=Yv)QU>a%EDypJ=} >I  M5? 7j A ?9 C z: :) W=@W9XA XAWA:WA2WA*WIVIbUIBUI*UIUQUU&@R]B*** querying acoustic contact ***PYPYB<B BA>*BAIAAAGE<"CdRC4C@C֥|5yIG=>Pq,JEA| |"4}NHM?2?@p> )84?@ԵW?E?`V?)~N@ ~N(V_;I~NCɫyy)y }IyY@y3}GuL7A`?{Gz?X9v?u+>u#= u}=)qIqyu$C?y&1?~jt?u:?u`ea%EDyK=}>Iȱ :ŵә5? :ŵs ƵA ?9ƵCǵ8: ȵ:)ȵM:W.@WX XW:W2W*WVbUBU*UUU '@BƢ<B BA>*BAmAAA@X<"C RCS-4C.@C=4II)II!GEs>ܙ9ܙIܝpxGiܝ@ܙܙܙܝ<; ݝE >    .  8:Y WU1y : ~5) ܔ;) 1 i nGI i = w˿ٺ9 E A ~ q,30EAY}JK@} Y@y}IA}kA>}H?Q?J?%8??@?)~JK@ ~5_;I~ɫ) IY @y .}G E@ E@ E@MI=YWQU>a%EDypD=}>IȹŽ5?Ž| ƽA ?9ƽCǽM: Ƚ#:)ȹWѺ@WX XW:W2W*WVbUBU*UUU Z(@B-Uv<B-U< B1A5u>*B1A5\A1A1A5Z<"C=RC=24CEѺ@CA]:41I9G]U>Paq,IEAY}6@}6@y}6VG}6$>}6H??@νN? V뷿 A?`?1?)~6@ ~6_;I~6CɫQY)Y ]IYY8@y}GxDUSBL response received:!U1,R,F21,0063,E4 3,185,80,80,99,FF -zunknown deviceResponse_: !U1,R,F21,0063,E4 3,185,80,80,99,FF U% =M]P=Y]uQU]>aaae%EeDiyuK=}u>Iy :}*5? :}W }SA ?9} C}; }D;)}N:WuLz@WqXy XyWy:Wy2Wy*WVbUBU*UUU`1)@BI<B BAf>*BAGۻAAAz<"CXپRCa5C-Lz@C)=4I!G=r> G    3  |9:Y U1y : 59 @q,{cEA|i|Y}6P@}6@y}6K}6c,>}6H@T?J:?75?e.z? D? ģ?)~6P@ ~6_5_;I~6Cɫ99)9 =I9Y@y|}GvMR=Y%QU>a%EDyU=}>I5?e A ?91C: :)=P>99I=xGi=?@999=4; =E)ՁvCIՁvCiсՁ$=сՁbO5WU @WYXY XYWY:WY2WY*WaVabUaBUa*UiUiUm`)@BH<B BAd>*BAfѻAAA<"CBоRC:3C @C֥vh5׭?i׭?ׁIGG>q,}EAY}:4@}:A@y}:dO}:7>}:H ? a? 2@?br`?2??)~:4@ ~:H_;I~:Cɫ99)9 =I9Y}@y})~G % % %%`=%~*?%:i%@! %@)%(@I%@i%@5!*=M5F=Y=QU=>99aE%EEDAyMC=}M>IQ ]:U5? ]:U UA ]?9UWCU|: U:)UO:W@WX XW:W2W*WVbUBU*UUU@*@BUS<B BA/>*BAŻAAA<"CfžRC3C@CD-<~M2׹IG>  ~ ~ 0  A:Y T1y @: 5%q,pEAY}:@}:X@y}:P}:s>}:H m?L?p޿`?i@??3?)~:@ ~:>_;I~8ɫ19)9 =I9Yu @yu}Gy}AA/$?/$ſDl??, O=)Iy333333?Mb:v?9?T< p A)@I@iAAT#MC=Y`QU>a%EDy>=}>I 5?' A ?9~C: :)WY@WX XW:W2W*WVbUBU*UUU@+@B5L<B1 B1A5>*B1A=VA9A9A=ͳ<"CEcRCE4CEY@CI%t0<53IG=q>5Q>91I58yGi5@1115&; 5E+q,uEA||;Y}:p@}:~@y}:IS}: >}:H??)=?@Xݿ 2 ?@1f?n?ȧ?)~:p@ ~:U_;I~:Cɫ髑) IY@y{~G5j>5EV?594>i5=@1 5@)5@I5@i5@E=MEQ=YMźQUM>QQaU%EUDQy]H=}]>Ia m:e 5? m:eͥ e!A u?9eCe{: e:)eP:W5@W1X1 X1W1:W12W9*W9V9bU9BU9*UAUAUEh,@RmB*** querying acoustic contact ***PqPqBi<B BAZ>*BAAAAe<"CZRCi5C@C) e D4Ii )i  m      <:Y V1y : m59 Ii G >m2q,FCEAY}2*@}2@y}2U}2͊ >}2H@;?4?ўzܿ c?G޹?!}??)~2*@ ~2K_;I~0ɫ99)9 9I9Y@y~Gv<MR=YֺQU>a%EDy?=}>I- 5?( IA ?9C': :)W%ߒ@W)X) X)W):W)2W)*W1V1bU9BU9*U9U9U=?&-@Be{<Bi BiAm\>*BiAmAqAqAu<"C}ϧRC}^q5C}ߒ@Cօ|5iIyG;>8q,TEAY}:s@}:6@y}:oU}:z >}:H`?:?@Wۿ?ҵ?g[? ?)~:s@ ~:=__;I~:Cɫ99)9 9I9Y}@y}[~GSetting waiting for range response to false due to timeout. Elapsed:6.106542!%lA)9)I-yGi-@-#=))-; -E?M?=Y8QU>a%EDy@%=}>IȱŵE 5?ŵ ƵtA ?9ƵCǵ: ȵ:)ȱW:>@WX XW:W2W*WVbUBU*UUU.@B<B! B!A%>*B!A%SA!A)A-@v<"C5RC5 8C5:>@C9)IG-N>  | |   3:Y R1y i: %5) ;9U ?q,EA|i|Y}6$@}62@y}6S}6g >}6H &?`x4? cRڿZ?Rs?@ȁ?@?)~6$@ ~6b_;I~6Cɫ99)9 9I9Y}U@y}GĽb>z>i@ @)@I­@i­@F=MV=Y{:QU>a%EDy==}>I  : "Z 5? :  A ?9 C s: :) Q:W=׿@W9X9 X9W9:WA2WA*WAVAbUABUI*UIUIUM.@Bl<B BA8>*BA AAAc[<"CȁRC%;#9C%׿@C! 89 ?i ?I!GmV>Eq,EAY}2@}2̻@y}2lNP}2>}2H @?? lٿ? b?e??)~2@ ~2|_;I~0ɫII)I IIIY}@y}GX9v?t= =)Iyףp= ?V-I +?>?94= V A)@I?@i @=<M=E=Y=;QU=>AAaE%EE'DIyM :=}M>IQURq 5?Uc UA e?9U8CUM: Uϸ:)QWc}@WX XW:W2W*WVbUBU*UUU`/@B=t<BA BAAE>*BAAExAAAIAM/<"CUr'RCU:CUc}@CYe@99IIGeU>)9-wCI-dzGi-@)))-; -E% $ % }% }%  % 6:Y% kS1y% Ԋ:% 85)% ; Lq,[2EAY}2g@}2\u@y}2hwL}2>}2H [?@E?й ؿ`T?J.5?^g?@?)~2g@ ~2G^_;I~2Cɫ99)9 =I9Y@yG%>%r@%>i%f@! %)%@I%@i%@5Q<M5K=Y5V;QU=>99a=%E=4DAyERQ=}M>II U:M$ 5? ]:M MA ]?9M_CM: M=:)MR:W} @WyX XW:W2W*WVbUBU*UUU30@Bt=B BA>*BA_AAA<"CX~RC9C @Cz:יIGA>vRq,LEA|4<|44'@}>4@y}>ۘI}>R>}>H@?oy?Fo@$׿`?_0???)~>4'@ ~>z_;I~>CɫYY)Y YIYYv@y?GGMR=Y:QU>a%EADyav=}>Iy} 5?} }[A ?9}C}: }ӻ:)yW\@WX XW:W2W*WVbUBU*UUU`0@Bm<B BAN>*BA-EAAA7<"C̏iRCJF6C\@C89I)IGE>     76:Y WU1y : ʺ59 @'Yq,efEAY}2@}2@y}2eG}2>}2H?& ?` տ R?w `9?`B?`?)~2@ ~2]_;I~0ɫ99)9 =I9Y}k@y}6G=ML=Y:QU>a%EMDytt=}>9IzGi@"=; EI : 5? : A ?9C: :)S:W \@W X  X W :W 2W *WVbUBU*UUU0@R%B*** querying acoustic contact ***P)P)B/=B BA?*BAD+AAAH޸<"C@^VRC1C\@Ci=nGIQiɿٺѺA֥6yIG_> i p=u`q,@EAY}2T@}2@y}2xG}2\>}2H`'J?!?귿 &hԿ`? 3?O&??)~2T@ ~2Jt_;I~2Cɫ99)9 9I9Y}M@y}#GZ****** received transponder code query ******F****** received ping request ******!!a-%E-[D)y5S=}>I 5?x A %?9C¿: :)WE@WAXA XIWI:WI2Wi*WVbUBU*UUUer1@BI@=B BA>*BA׹A A A  <"C@RCC2C@C%|1I G%o> #    6:Y U1y : 59fq,7EA|i|Y}61@}6?@y}6H}6 >}6H@mx?'?`LӿA?`i?k?Π?)~61@ ~6h_;I~4ɫ99)9 9I9Y}@y}\GxDUSBL response received:!U1,P F21,0063,E4 3,185,80,80,99,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 gfffff?x?Mb`33?K7> )IyS?~jt?Mb?:?<<  A)@I@i(Ae<Me =Ym$QUm>iiam%EukDqyuO=}}>Iș :ŝd 5? :ŝ ƝA ?9ƝCǝY: ȝV:)ȝT:W5R@W1X1 X9WY:Wa2Wa*WiVibUqBUq*UUU1@BmC<By ByA}?*ByAغAAA<"C'RC]8CR@C9I{Gix@#='; E)wCIwCi#=#=w5֍ 2ב iב q I G >clq,EAY}:.@}:@y}: DI}:>}:Hd?%?@%":Uҿk?ƃ%??ದ?)~:.@ ~:h_;I~8ɫ99)9 9I9Y]$@y]G}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B   å94=åS>å>iå@á ĥ­@)ĥ @Iĥ@iĥ@@=M=Y¹QU ?a%EuDy1L=} ?I 5?< 5A ?9C÷: ϸ:)WO@WX XW:W 2W *W V bUBU*UUU =2@BE0=BE=l BAAE?*BAAMaAIAIAM@<"CU|RCU&7CUO@CY-|5IG )> $    6:Y WU1y : 5Msq,EAY}>1@}>v?@y}>>H}>y1>}>H@??`bѿy?w@?? K?)~>1@ ~> J_;I~>CɫYY)Y YIYY@yGxDUSBL response received:!U1,R,ED7,000,00A8F,186,80,80,9D,FF Fpublishing direction and range infol>ɰn]>鰝> )CIy\BI/Xc?U9| g?ٱM[=YM9QU>a%EDy")=}>I#!5? _A ?9BC: Y:)W@WX XW:W2W*W!V!bU!BU!*U!U)U-Ü2@P9*Q=\BZQ=_!^@%C?@JQ=I/Xc?U9| g?2Q=l>:Q9bQ=I_@ߟg8n˴$@RQ=a-e?UM $A?BQ=|@ Q=Q=uBP=P9?P=9?P=Q=4Q= A"Q=@B-(=B5 B1A5?*B1A5exA9A9A= <"CEPIRCEjp9CE@CAֽ8בIGa>wyq,̵EA|0|2;Y}a@}$@y}?C}>}HK?q?7` Lп ??fDFr?e?@?)~a@ ~S_;I~Ca9aIeX|Gie@e"=aae?; eEɫ11)1 5I1Yu@yu|G-DNmea in: $SNTTA,,,,,012407.52*59 m+BMm2=Yu2;QUu>ya%EDy=}>I :0!5? :E A ?9mC; ;)U:myAdded new target pos. range: 124.680008 m, bearing: 358.972394 deg, deltaT: 18.614713 s, approachRate: 0.657545 m/s, LOS rate: 2.933978 deg/s, posRepo size: 3m- ProNav: pos range: 124.680008 m, bearing: 358.972394 deg, approachRate: 0.657545 m/s, LOS rate: 2.933978 deg/s, cmd update: 8.801932 deg/s, cmd heading: 352.542224 deg, new cmd heading: 353.947311 deg. W-E\@W)X) X)W1:W12W1*W1V1bU9BU9*UYUe@+_@UeQ;?B4=B BA`?*BAAAA{<"C$(RCEYCE\@C ==89I)jAIG >     0:Y U1y : 5) Y;9 (mq,EAY}BM(<}Br@y}BN;}BB>}BH??@%ο?P g?`??)~BM(< ~BQ_;I~BCɫYY)Y ]IYY@yGu뽩u/?uiu@q uj@)u@Iu@iut@<MX=Yv;QU>a%EDyX=}>Iȡť'G!5?ťj ƥA ?9ƥCǥ5: ȥ:)ȡWd@WX XW:W2W*WVbUBU*UUU?B9;'=B BAX?*BAٸAAA<"C<üRCGvCd@C9<ZHIG>ʇq,cEAY}:]<}:@y}: 7}:8>}:Hj7? ?o`˿`?@4-ߦ?^?(?)~:]< ~:u_;I~:Cɫ99)9 9I9Y}:@y}GMPonly read 0 of 1 data item for BIT errora iM@a M a mM@a M a qM@a M a eM@a M j<MK=Y);QU>a%EDyS=}>Iȱ :ŵ]_!5? :ŵ} ƵA ?9ƵCǵh: ȵ>)ȵV:Wgu=WX XW:W2W*WVbUBU*UUUp?Bu=B! B!A%E?*B!A%09A!A)A-a<"C5׀<RC5恾C5gu=C1-0::XIGE>]P>9YIYiYYYY]N; ]E O  ::Y y 5) ;q,W?5EA|i|Y}2(W=}2@y}2N4}2V>}2H@[?[?h汿ȿ ?nJ?`[?`?)~2(W= ~2_;I~0ɫYY)Y YIYYn@yՀGM"=M(|?M>iM@I M@)M@IM@iM@k<MJ=Y:QU>a%EDyT[=}>Iȩŭw!5?ŭ9 ƭA ?9ƭCǭ: ȭN?)ȩWS=WX XW:W2W*WVbUBU*UUU 9?B=B BA?*BA%&E:A!A!A%S<"C-le=RC- C-S=C1eq9imiAUY]?i]?1I9G}>q,OEAY}2~=}2{@y}23}2>}2H@ |?9?``.ƿ>?`7y`8x??k?)~2~= ~2_;I~2CɫII)Q QIQY} @y}5G8H=MR=Y9QU>!!a%%E%D)y-`=}->I15Y!5?5 58A =?95C5): 5?)1We9>WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}`7@B%=B BA ?*BA:AAA-<"C=$>RC9C=9>CAqq)q q4lIG>= = = = @ = 2:Y= V1y= := Y59E @Ùq,hEAY}>=}>@y}>#0}>c >}>HO??Th`ÿcR?` ?@J-?T?)~>= ~>`;I~>C < O>9I|Gik@O; ɫYY)Y YIYY@y>G}>;MD=Y ;QU>a%EDyL5=}>Iȩŭ٨!5?ŭ ƭcA ?9ƭ&Cǭ^: ȭ?)ȩW{>WX XW:W2W*WVbUBU*UUU@=@BM=BQ BQAU6?*BQAU:AQAYA]BĢ<"C]i>RCaCe{>CeAAIQGmW>˫q,ЂEA|;|p;Y}Bf=}B:@y}B-+}B)>}BHb?z?oKp`?W ¿`d?@? ?)~Bf= ~B `;I~BCɫYY)Y YIYYg@yЀGEA>E>Ey=iE3@A E-@)E-@IEj@iEj@Uo^M]M=Y]mG;QU]>aaae%EeDiymD=}m>Iq }:u!5? }:um uA ?9uKCu}: u@)uW:W//>WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB.(=B BA?*BA;AAAVɠ<"Cf}>RCC//>C·I)iAIGI>= 9 = = = - = ^8:Y= xZ1y= q:= H5զq,EAY}2>}2c@y}2A&}2h>}2H n?@e?sQI-q? S¿Ƥ?vu?@?)~2> ~2_;I~2CɫYY)Y YIYY@yGZ****** received transponder code query ******F****** received ping request ******qqau%EuDyy}M=}}>IȁŅ!5?Ņ- ƅA ?9ƅtCDž: ȅ:)ȁW޹>WX XW:W2W*WVbUBU*UUU G @B}=By ByA}! ?*ByAl(;AAA!m<"C0>RCC޹>C֝?΅9I}Gi@D; EqIG~>]>YiI9 ii ٺ q,ӆEAɫyy)y yIyY.@yKGxDUSBL response received:!U1,P ED7,000,00A8F,186,80,80,9D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -]6only read 2 of 4 data items ]@ ]@ ]@u9<MuJ=Y}QU>a%EDy }>I! U:%#!5? ]:% %A e?9%C% < %d<)%X:W\>WX XW:W!2W!*W)V)bU)BU)*U)U1U5 @B4$=B BA?*BAH;AAAK<"CO>RCC\>C6ɅבIG> t t K W@:Y M1y : 5糳q,AbEA|i|Y}R>>}R@y}RQ }Ry'>}RH@? *?먿fӯ$?Ŀ??Z?)~R>> ~R_;I~RCɫyy)y yIyY@yGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m<Mm]=Ym;QUu>a%EDy>}>I' "5?X  A ?9C;  ;)Wel>WaXa XaWa:Wi2W*WVbUBU*UUU@vW@B O<=B  B A ?*BAb;AAA#<"C>RCCl>C!%?i%?IGn>q,1@EAY}BZ>}B@y}B=}BD->}BH@?-?@ ?\_ſ?? ?)~BZ> ~Ba_;I~@T9VvCITiTTTTV5; VE)9I9i9="=="==3ɫyy)y }IyY@yGxDUSBL response received:!U1,R,F27,000,00AB1,187,80,80,A3,FF Fpublishing direction and range infoA>ɰ7`>鰥1> )#CIypB!;m?\2?ٱt<MP=Y9QU>!!a%%E%D!y-=}->I15""5?5 52A ?95C5< 5*<)1W?WX XW:W2W*WVbUBU*UUU@8@P*QpBZQv\_@d7@JQ!;m?\2?2QA>:QbQ,m>%N<_@(43@x!@RQp?x=2f?Z?BQ-> QAQBPZ9?PP9?P~QQ'wA"Q ABu0=Bq BqAu?*ByA}P;AyAyA}9ߗ<"CX?RCC?CֵFӅבIG>I ) # | |  6:Y R1y i: 5) ;9 q,#EAY}nAx>}n@y}n}nH0>}nH?$L >4x c?ſ?+? ?)~nAx> ~n(`;I~lɫ) IY|@y{GDNmea in: $SNTTA,,,,,012411.97*57 5 = ==j<==^=i=­@9 ="@)=@I=i=@bM'=YQU>a%E Dy7l=}>I  : @"5? : q eA ?9 C  : |:) Y:mEmAdded new target pos. range: 126.720001 m, bearing: 8.738694 deg, deltaT: 4.501268 s, approachRate: 0.453204 m/s, LOS rate: 2.169680 deg/s, posRepo size: 4mU ProNav: pos range: 126.720001 m, bearing: 8.738694 deg, approachRate: 0.453204 m/s, LOS rate: 2.169680 deg/s, cmd update: 6.509041 deg/s, cmd heading: 32.126521 deg, new cmd heading: 36.120301 deg. WU?WQXY XYWY:WY2Wa*WaVabUaBUa*UiUm_@Um?B-=B BAV?*BA;AAA<"C͚?RCC?C?΅׉IG>%dzq,EA|4<|;Y}6X:>}6i}6H`?*@D`_(?`j?ƿ@A? ?]?)~6X:> ~6`;I~6Cɫ99)9 9I9Yu9@y}G^I +?A`" rhX?ٽ C)Iyn?Mb`:v?6?T<  A)@I|@i"A@V=Ms=Y59QU?a%E*Dy==}?IT"5?< A ?9,CY: :)WR&?WX XW:W2W*WVbUBU*UUU  ?B$O=B BA=?*BAZ;AAA<"CL&?RCCR&?CFӅI)ܡ9ܡIܡiܡܥ#=ܡܡܥ6; ݥE׹IGf> 6    !8:Y WU1y : H5) O;HNͳq,7EAɫ髙) IY@yGÍÍ>Ín>iÍ̴@É čK@)č@Ičj@ičK@MK=YQU>a%E7Dy}>Iȹ :Žl"5? :Ž ƽA ?9ƽQCǽ: Ƚ|:)ȽZ:W2?WX XW:W2W*WVbUBU*UUU?B-N;=B1 B1A5?*B1A5;A1A9A=]<"C=~g-?RCACE2?CAe?΅9IIGeV>5Գq,eQEAɫ髙) IY@yāG3;MG=YQU>a%EDDy}>IW"5? A ?9vC: z:)W5 >?W1X1 X1W9:W92W9*W9V9bUABUA*UAUAUM{?Bu<=Bq BqAu ?*ByA}Ws;AyAyA}<"Cа:?RCC >?CօFӅYIiGZ> j    F<:Y DW1y Y: 59 @`ڳq,kEA|i|"<"<$9$I&}Gi&_@$$$&7; $Y}F{$>}F=y}Fښ}F&(>}FH@k?`up ?b?Tſ@P?? ?)~F{$> ~F_;I~FCɫYY)Y YIYY@ýG 5@ 5@ 5@5©55i15 5)1I5i5-@E;MEC=YE;QUM>IIaU%EURDQy]ZD>}]>Ia e:e$"5? m:e! eA m?9eCe: e:)e[:W%J?WX XW:W2W*WVbUBU*UUU@Bj==B BA?*BA_;AAAь<"CHB?RCC%J?CjA?΅?i?IGj>%Hq,W`EAY}29>}2>y}2 }2o$>}2H`?3ϊ`ؓ?L?Ŀ@?`=t?Ǒ?)~29> ~2_;I~2Cɫ99)9 9I9Y@yɁG AA MW=Y͔;QU>a%E^Dy=}>I?"5?4 A ?9C< 5<)WV?WX XW:W2W*WVbUBU*UUUG@B  ;=B  B AE?*BA2;AAAe<"CQ?RCCV?CA5FӅI!GU>= = = =  = R:Y= T1y= := Z5frq,}J$>y}J5}JRr>}JH`?@Ŀ@Qg?/? %Ŀ ?@J? ?)~J'> ~J_;I~JCɫYY)Y ]IYYL@yGʡE?{Gz~jt?-># D<)Iyy&1?QZd;O?`E?uj< )…5@Ii…A@<MH=YP;QU>a&EkDy\=}>IȹŽ"5?Ž ƽ'A ?9ƽCǽ: Ƚ@:)ȹW& a?WX XW:W2W*WVbUBU*UUU;^@RB*** querying acoustic contact ***PPB5S=B1 B1A5?*B9A=;A9A9A=<"CEoX?RCACE& a?CIa9I9IIML~GiM@IIIM5; MEIGe>Mq,7EA|;|4}6jC>y}6 }6x>}6H"g?ȿnhBD? ?'jÿo?`?.?)~66> ~6_;I~6Cɫ99)9 9I9Y}@y}ˁGZ****** received transponder code query ******F****** received ping request ******  a &E xDy=}>I %:t"5? %: MA -?9C: :)\:WM m?WIXI XIWQ:WQ2WQ*WQVQbUYBUY*UYUYUe@ @BC=B BAc?*BA;AAAqd<"C1g?RCC m?C յ=Ե=ֹI)יIGb>?q,EAY}6>}6rb>y}6}62>}6H3?i̿zW??? *ÿ@7?ӣ??)~6> ~6`;I~6Cɫ99)9 9IAY}@@y}GxDUSBL response received:!U1,P F27,000,00AB1,187,80,80,A3,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 <M<=Y:QU>QQaU&E]DayE=}>I#5? xA ?9=C : ӻ:)Wz?WX XW:W2W*WVbU!BUA*UAUAUM#m @B%$>=B BAx?*BA\<AAA<"Cz?RCCz?Cֵ?΅׉IG> ]    p  =;:Y Y1y : 59 = jAA 9A IA iA A A A E 1; E Eq,EAY}V>}V֘>y}VJ}V8>}VH#?pпwx??`ޢ?@H¿ ȟ?`0t?m?)~V> ~V`;I~VCiQIqiɫ) Iʿٺ  λAY%@y%4GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B %@ -@ -@UK=MUU=YU:QU]>YYa]&E]DayeY=}e>Iȉ :ō#5? :ōb ƍA ?9ƍaCǍ: ȍ :)ȍ]:W?WX XW:W2W*WVbUBU*UUU'@B=Z=B9 BAAE?*BAAE <AaAaAm&<"Cmx?RCqCu?CqyQIaG}z>q,GEA|i|Y}B?}Bߎ>y}B6}B^>}BH ?`ѿ!Ӈ?`ɞ?`hd?>ÿ ޞ?@\?&?)~B? ~B$`;I~BCɫ髑) IY@yjGxDUSBL response received:!U1,R,DCC,000,00ACA,189,80,80,77,FF Fpublishing direction and range infod>ɰCb>7> )BIy8CśK3?E>?ٱ'<MX=YEZ;QUE>qya}&EDy=}>I7#5? A ?9C: @:)W%䗈?W!XA XAWA:WI2WI*WIVIbUIBUQ*UQUQUU`@P*Q8CZQnv! @\@t60KN@JQśK3?E>?2Qd>:QbQưV@:H$*V@,=(@RQ?VR ?Սv~?BQD? QPBQBP 9?PZ9?PQ~Q%A"Q'wABrP=B BA}?*BA<AAAy<"C ?RC C 䗈?C?i}?IG%>    P zH:Y X1y /: 5q,a EAY}j ?}j h>y}j弙}j/>}jHੁ?$Kӿ@V?`=?)?@ū¿?s?1?)~j ? ~j_;I~jCɫ髱) IY@ymG]DNmea in: $SNTTA,,,,,012416.41*5B x?X9vI +?K> 9<)IyCl?{Gz{Gzt?/?#ף;  A)K@Iiz@̅:M9=Y;QU>a&EDys=}>I :LN#5? : A ?9C: :)^:m qAdded new target pos. range: 128.220001 m, bearing: 43.997948 deg, deltaT: 4.461818 s, approachRate: 0.336186 m/s, LOS rate: 7.902441 deg/s, posRepo size: 4m ProNav: pos range: 128.220001 m, bearing: 43.997948 deg, approachRate: 0.336186 m/s, LOS rate: 7.902441 deg/s, cmd update: 12.000000 deg/s, cmd heading: 61.142349 deg, new cmd heading: 63.743395 deg. WXN?WX XW!:W!2W!*W)V)bU)BU)*U)U5@ `@U5.?B]Z=BY BYAe?*BaAep<AaAaAmT{<"CmԊ?RCqCuXN?CqP>9I~Gi@; E)}vCI}vCiy}#=}#=}4Y9IaG>x q,wf:EAY}>Hy?}>Ω>y}>4μ}>C>}>H?? Կ Q???]`2ۙ?f? {?)~>Hy? ~>_;I~>CɫQQ)Y YIYYS@yG   õ&>õ!õiõ@ñ ĵ)ĵ@Iĵ@iĵK@<M[=YN;QU>a&EDyJ=}>I%c#5?" A ?9C: 8:)WQ?WX XW:W2W*WVbUBU*U!U!U%@g?BMd=BQ BQAU ?*BQAU&<AQAQA]iw<"C]Y,?RCaCeQ?Ca}FӅQIaG}Y> 0    {  7:Y W1y č: 5Eq,8TEA||Y}6Q?}6>y}6M᭼}6^ >}6H@;?@1wֿ` ?`<?@,?.D?m?ֱ?)~6Q? ~6_;I~6CɫYY)Y eIaY*@yG5HSM=T=Y=+AAaE&EEDIyM˒=}M>Iȡ :ťy#5? :ť ƥA ?9ƥCǥ: ȥ:)ȥ_:W?WX XW:W2W*WVbUBU*UUUG?B4^=B BA?*BA .<AAAx~s<"C%?RC!C-?C)֍?΅Iס)סYIiGZ> 9 I Gi S@ ; EEq,J$nEAY}fg#?}f>y}fʒ}f>}fH .?Mؿ?@)`?|K?3?@d ? ?)~fg#? ~f#_;I~fCɫ) IY @y}GľX?>i½@ )I@i@dNM>=Y+  a &E Dy=}>I#5?I A -?9C: :)WM73?WIXI XIWQ:WQ2WQ*WQVQbUYBUY*UYUYUe C?BZ=B BAj?*BAˑ6<AAAǔo<"C?RCC73?CֹבIGa> =i =    6C:Y U1y : 5) ;9 ]!q,EAY}6N,?}6y>y}68j}60g >}6HH'??ڿG? )_? ?@yY F?D?`?)~6N,? ~6`_;I~6CɫAA)I MIIY@yfG9MM=Y K !)aM&EMDQyU=}]>IY]b#5?] ]A m?9]:C]: ];)YW.u?WX XW:W2W*WVbUBU*UUU`9?BMZ=BI BQAUA?*BQAU?<AQAQAUBk<"C]k?RCaCe.u?CyQIiG|>(q,ϡEA| i|"@Y}VN5?}V>y}VF}V( >}VH ?Lܿ@?v?u`?ֈ?^7? ?)~VN5? ~V=`;I~VCɫqy)y yIyYG@yG(\?:vS㥛?T /ݼ)Iy/$?~jtMb?a&EDy=} >I :#5? : A ?9_C: :)`:W=M?WAXA XAWA:WA2WA*WIVIbUIBUI*UQUQUU @B}h=B BA?*BA1F<AAA%]h<"C- o?RC)C-M?C1ܩ9ܩIܩiܩܩܩܩܭ; ݭE=FӅE?iE?IAG{>    `  G:Y [1y H: 45) ;8.q,eEAɫ髙) IY@yOG=`;=s=Zdi=@9 =@)=-@I=@i=-@M!MMV=YUQU>a&EDy}>I#5? 6A ?9C: :)WV?WX XW:W2W*WVbUBU*UUUk9@R B*** querying acoustic contact ***P P B5c=B1 B1A5?*B1A=N<A9A9A=;d<"CEL?RCACEV?CIe?΅9IIGmV>#5q,EAY}VaG?}Vv?y}Vq,}V >}VH`?Q ~?@I(?`}W?@\ә?,b??)~VaG? ~V 1`;I~VCɫ髱) IY@yAGZ****** received transponder code query ******F****** received ping request ******iqau&EuDyy}l0>}}>Iȁ :Ņ9#5? :Ņ ƅUA ?9ƅCDžt.; ȅ-/;)ȅa:WȲ?WX XW:W2W*WVbUBU*UUUa @B$v]=B! B!A-g?*B)A-F[W<A)A)A-&7a<"C52?RC1C=Ȳ?C95FӅIG=r>    LA:Y 0Y1y : 59 @y y ܁ 9܁ I܅ ~Gi܅ @܁ ܁ ܁ ܅ ; ݅ E];q,!EA|X|XY}=ON?}=ʽ?y}=/}=>}=H&?`|???E?:??)~=ON? ~=F_;I~=Cɫ ) IYM*@yMGUxDUSBL response received:!U1,P DCC,000,00ACA,189,80,80,77,FF ]Command Ack]BRequesting micromodem ping code 2iYYeNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }ף=}}?}B>i}z@y })}t@I}@i}@E<MM#=YUS;QUU>a&EDy^=}>I$5? |A ?9C; I;)W]w$?WYXY XYWY:Wa2Wa*WaVabUaBUi*UiUiUm @BbW=B BA?*BAua<AAA'3]<"CU?RCQCUw$?CY Չԍ> ?΅I ) jA׹ I G >BBq,${ EAY} AU?} ?y}  } A >} H? B`?@?@r? gE-x?u?ٻ?)~ AU? ~ _;I~ ɫ) !I!Y@y?GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B /$?y&1l?>` =)IyJ +?MbMb?(?< vA)j@I@i@@lMe=Y IIaM&EM!DQy]=}e>Iȉ :ō$5? :ōn ƍA ?9ƍCǍ: ȍ4:)ȍb:WR?WX XW:W2W*WVbU BU *U U U >@B]q=BY BYA]J?*BYAe6h<AaAiAm&Z<"C?RCCR?C֕FӅiIyG> 1   L 7:Y W1y č: 5lHq,XS#EAY}B`\?}B?y}BGh뺙}BRf=}BH.?`B?e? ?Pm]? ׿?^?)~B`\? ~BP_;I~BCɫYY)Y eIaY@yDGxDUSBL response received:!U1,R,DE3,000,00AD4,187,80,80,95,FF Fpublishing direction and range info>ɰc>鰥1> )CIyCG2?@r?ٱ$/;Mr=YD:QQbQUfB8N@dLs`\@X@RQUtP!?fE2?$ǭ?BQUo? QUBQUqBPU9?PU 9?PUQUQUaA"QU%ABv=B BA?*BAn<AAA2W<"C#?RCC?C։)9)I-L~Gi-@)AIQ))iuC-; )inGIiIʿٺ AGf>0Nq,2=EA| i|"@Y}Nd?}N$?y}N,l%;}NU>}NH.? : :?` -?ki?@d r? ?)~Nd? ~Nk`;I~NCɫ) IYm@ymFGTNmea in: $SNTTA,0.087947,,,,012420.88*40 55ff5Ci5@1 5@)5@I5@i5@E:MM5=YMQQaU&EU:DYy]{=}]>Ia m:e:$5? m:eڤ e~A u?9e:Ce(: e:)ec:mqAdded new target pos. range: 128.820007 m, bearing: 61.967397 deg, deltaT: 4.375098 s, approachRate: 0.137141 m/s, LOS rate: 4.107210 deg/s, posRepo size: 4m ProNav: pos range: 128.820007 m, bearing: 61.967397 deg, approachRate: 0.137141 m/s, LOS rate: 4.107210 deg/s, cmd update: 12.000000 deg/s, cmd heading: 113.737415 deg, new cmd heading: 119.147903 deg. W@WX XW:W2W*WVbUBU*UU=`@U j?Bb=B BA?*BAw<AAA gT<"C?RCC@C?i?IG >    Y>:Y [1y H: 58Uq,NWEAY}Jk?}J% ,?y}J;}JV>}JH?`X?.? ? %z ?`y?)~Jk? ~J}_;I~JCɫYY)Y YIYY2@yGunDMuY=Y}D/yya}&EFDy=}>IȑŕJL$5?ŕ6 ƕzA ?9ƕZCǕw: ȕ:)ȑW9# @WX XW:W2W*WVbUBU*UUUg?BXn=B BA?*BAI~<AAAvQ<"C@RCC9# @CIGE>  < 9 I }Gi @ ; E)ݩIݩiݩݩݩݭ3D[q,pEAY}^s?}^4?y}^<}^ ;>}^H`f?^.ж?@V?:?: ;?@|?)~^s? ~^n_;I~^Cɫ髑) IY@y&G @ @ @å©ååiå@å ĥ)ĥK@Iĥiĥ@<ME=Y/;QU>a&ETDy5=}>ID_$5?m uA ?9~Cض: ':)W@WX XW :W 2W *W V bUBU*UUU?BEYk=BA BAAM?*BIAM.<AIAIAMCO<"CU@RCQC]@CY=?΅IGM> m    <:Y W1y č: 5) ;9 Lbq,ɊEA|<|>;Y}.{?}BQ8 m)Iy|?5^?zGếV-?2? ׽<  A)@I@iQ@z@%(M%6=Y-R;QU->))a5&E5bD1y==}=>IA :Eu$5? :E E|A ?9ECEё< E8:)Ed:W@WX XW:W2W*WVbUBU*UUU~I?B5^=B9 B9AEE?*BAAE<AAAIAMLL<"CU @RCQC]@CaqIy)}iAIIQGu>hq,¤EAY}JЁ?}J@D?y}J`<}J6=}JH@:?A?-?o?@fA ?`r?)~JЁ? ~Jq_;I~JCɫqq)y yIyY'@yGu~<Muj=Yu;QU}?yya}&E}mDy@=}?Iȉō$5?ō ƍA ?9ƍCǍ: ȍU:)ȉWnb@WX XW:W2W*WVbUBU*UUU9L@BV~=B BA?*BA7<AAAJ<"CZ@RCCnb@C9wCI|Gik@"= ; EIGi> *    `:Y U1y : 5) ;lnq,uvEAY}:م?}:!L?y}:AŅ<}:x=}:HY?@0? ?u#>iu=@u u@)u@Iu@iu@둼MI=Y;QU>a&EzDy=}>Iȡ :ť$5? :ťx ƥA ?9ƥCǥV: ȥ:)ȥe:Wo@WX XW:W2W*WVbUBU*UUUH@Bhl=B BA?*BAY<AAAQH<"C%@RC!C%o@C)AI)GEQ>&uq,*UEA| i| Y}J?}JRT?y}J<}J@>}JH 6?Va.?(?x?@7@,?̼?)~J? ~J_;I~Hɫ髙) IY@yGeMT=Y;QU>a&ED y =} >I$5?    #A:Y V1y : H59 @ܩ 9ܩ Iܭ {Giܭ @ܭ #=ܩ ܩ ܭ %; ݭ E{q,w.EAY}2\?}2J']?y}2<}2>}2HL? ?`S?ӫ?;ұ5 ??)~2\? ~2(`;I~2CɫII)I IIIY}P@y}`GZ****** received transponder code query ******F****** received ping request ******QYa]&E]DYyex=}e>Ii u:m$5? u:mxd mA u?9m3CmV: m:)mf:W*@WX XW:W2W*WVbUBU*UUU@ @B{i=B BA?*BAVՖ<AAAWD<"Cy#@RCC*@CֹיIGb>I ) ?AI₴q, EAY}E)q?}EdPe?y}EP<}E >}EH?.`'Ѿ?S?`?Y|`Oə`,?L?)~E)q? ~Ey_;I~ECɫ)))) 5I1Ym@ymGuxDUSBL response received:!U1,P DE3,000,00AD4,187,80,80,95,FF uCommand AckuBRequesting micromodem ping code 2iyyNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 V-?y&1Mb?h>`e <)IyZd;O?ʡE~jthjYYae&EeDaym/s=}m>Iqu$5?uT uaA ?9ufCu{: uU:)qW#1@WX XW:W2W*W!V!bU)BUI*UQUYU]|k@B%hY=BI BIAM?*BQAU<AYAYA]WB<"Cm`+@RCqCu#1@Cy-  - - -  - 5:Y- W1y- č:- 5֝ ?΅q I G >`q,%EA||4}6H` ,?{S?)?@?2G`?=?)~6? ~6m_;I~6Cɫ99)9 9I9Y}@y}G鮁ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5M==Y=;QU=&?AAaE&EEDIyM=}M&?IQU$5?UL UNA ]?9UCU': Q)QWGZ5@WX XW:W2W*WVbUBU*U1U1U5 G@B}‡=B BA ?*BA*.<AAAkA<"C&.@RCCGZ5@C]Q>9YI],{Gi]&@YYY]1; ]E֥6ɅyIG^>4q, ?EAY}J?}JFu?y}J<}JBM>}JHr^? پ?/?;S?@/ݝ )Iyi?eݯ?ٱeZ?e=ehie̤@a e­@)e@Iet@ie­@u<M}F=Y}};QU}>a&EDy=}>Iȑ :ŕ'$5? :ŕ? ƕ0A ?9ƕCǕE: ȕ:)ȕg:W:@WX XW:W2W*WVbUBU*UUU@@P*QZQJ=PU@kxW@JQi?eݯ?2Q[YU?:QbQ3;(e^_@DZ)##@RQҾU˿6TW+?tu?BQ? QBQPߨ9?P9?PQQA"QaABj=B BA ?*BAߡ<AAAX?<"C3@RCC:@C=FӅIGn>     .:Y U1y : 5q,YEAY}:@T?}:}?y}:^W=}:S=}:H? u猾??j?5`3jl2??)~:@T? ~:ʃ_;I~8ɫ9A)A AIAY}@y}G]TNmea in: $SNTTA,0.085541,,,,012425.33*4D y}iAMH=Y;QU>a&EDy=}>I%5?2 A ?9Cd; ;)mmuAdded new target pos. range: 128.820007 m, bearing: 102.365691 deg, deltaT: 4.485384 s, approachRate: 0.000000 m/s, LOS rate: 9.006652 deg/s, posRepo size: 4m ProNav: pos range: 128.820007 m, bearing: 102.365691 deg, approachRate: 0.000000 m/s, LOS rate: 9.006652 deg/s, cmd update: 12.000000 deg/s, cmd heading: 167.365944 deg, new cmd heading: 172.387069 deg. W@@WX XW:W2W*WVbUBU*UUU[?BVd=B BA?*BA%c<A!A!A%5><"CMM9@RCICM@@CQ}?΅QIaG}z>Q U <m P>9i Im zGim 2@i i i m C; m EiM oGIq i 2̿ٺ :AJq,!sEA| i| Y}Nr&?}N{]?y}N|=}N?=}NHN?s ?@9? "?x<^??)~Nr&? ~Np_;I~Lɫii)q uIqY+@yG-6only read 2 of 4 data items @ @ @<MG=Ya&EDyo=}>I :c%5? :[% A ?9Cf; r;)h:W E@W X  XW:W2W*WVbUBU*UUUH?BMl=B BA?*BĄ<AAA=<"C>@RCCE@C!-FӅ IG5q>     5+:Y V1y : 5) &;9 X0q,_EAY}n$?}n\?y}nW"=}n+O=}nH@J?zq? ??F@ Q`9q?_?)~n$? ~nw_;I~nCɫ髱) IY-`@y-/G%Fx?y&1Q?% ?! %u<)!I!y%|?5^?J +{Gzt%2?%Ƚ%ף %; A)%(@I%Ai%p@!%zA=prMEC=YEwIIaM&EMDQyU'=}U>IY]"%5?]. ]A m?9]C]: ]:)YWʶK@WX XW:W2W*WVAbUABUI*UIUIUU?B_=B BAq?*BAqc<AAA?5<<"C yD@RC CʶK@C ?΅IG>Wq,.EAY}Ra?}R?y}R/=}R=}RH@?@i#C?=??Φy?@?)~Ra? ~RQE_;I~RCɫ髙) IY@yG)e= e>MV=Yp a&EDy$=}>Iȹ :Ž/%5? :Ž ƽA ?9ƽm=B1 B9A=>*BAAM2<AQAQA]؃;<"C]-HRCaCeP@CaQ9QIUxGiU?@U"=QQU7; UE)ݥwCIݥwCiݡݡݡݥg4ֹyIG^>     c2:Y WU1y : 5) Y;f>q,EA||;Y}2?}2?y}26=}2T=}2H ?@s?y?0?𘎿`gЦ@nڿ?@#?)~2? ~2T_;I~2CɫYY)Y ]IYY}s@y}:G U U UU9Uiqau&EuDyy}=}}>IȁŅ=%5?Ņ ƅ~A ?9ƅ`CDž: ȅ:)ȁWLU@WX XW:W2W*WVbUBU*UUUK?BmX_=BuF< BqAu>*BqAu\<AyAyA}q:<"C݁CRCCLU@C֥FӅyIG7jq,EAY}J1ϲ?}J9?y}J7=}J6>}JHi2?? ;)?DW?* C??)~J1ϲ? ~JM_;I~JCɫqq)y }IyYz@yCGI) ;MC=YK:QU>a&E Dy=}>I :?J%5? : TA ?9C: :)j:WЇ[@WX XW!:W!2W!*W!V!bU)BU*UUU sl@Bt^=B BA>*BA<AAAt:<"C ^=RC C Ї[@CIGn>   Y Y q 9q Iu DwGiu @q q q u B; u E   /:Y 0Y1y : 5) t;q,4EAY}:n?}:v֖?y}:dB5=}:~h>}:H`r?= ???REg7? ?)~:n? ~:]]_;I~8ɫ99)9 9I9Y}@y}[~GUyU7UiU@Q U9@)Un@IUiU9@e1rMeR=Ym#ٺQUm>iqau&EuDyy}a=}}>IȁŅU%5?Ņt ƅ-A ?9ƅCDžϸ: ȅ:)ȁW`@WX XW:W2W*WVbUBU*UUUi@RB*** querying acoustic contact ***PPBb=B BA>*BAf<AAA9<"C8RCC `@C IGE>}ôq,EA|i|Y}F?}FL?y}F$7=}FUs>}FH? r???-s⦿@b~?r?)~F? ~F9_;I~FCɫqy)y }IY@y~GZ****** received transponder code query ******F****** received ping request ******))a-&E-$D1y=o=}=>IȁŅa%5?Ņ ƅA ?9ƅCDž: ȅ:)ȁWg@WX XW:W2W*WVbUBU*UUU +> @BUQ=BQ BQAUB>*BQA]<AaAaAe29<"C}i`2RCCg@Cэyb];օ ?΅     /:Y WU1y : J59 @i Iy G >ɴq,Cr(EAY}26l?}2??y}2c?=}2>}2H`XF?`?$? {?`?@=꧿??)~26l? ~27_;I~2Cɫ99)9 EIAYa@y|GxDUSBL response received:!U1,P C45,000,00AD4,189,80,80,95,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %ҽM-l=Y=;QUE>QYae&Ee/Dqy=}?IȩO>9IuGi@C; E :ŭi%5? :ŭ ƭ A ?9ƭCǭ= ȭ=)ȭk:W^l@WX XW:W 2W *W V bUBU*UUU5| @BS=B BA>*BAf<AAA+?9<"Cb,RCC^l@C+< ס I G >дq,}[BEAY}%?}%+?y}%SM=}%|0=}%Hx?+`o?k? ?l? `!(??)~%? ~%+_;I~%Cɫ11)1 1I1Ym@ymK|Gqɮup=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ]$]]/]>i]=@Y ]@)]@I]@i]@M0=Y;QU>a&E>Dy.y=}>I  t%5? I A ?9 C @: ӻ:) W=*BA<AAA]#9<"C'RCCִq,-\EA||ɫ髙) IY*@y0{GxDUSBL response received:!U1,R,AFD,000,00AC3,18A,80,80,BB,FF Fpublishing direction and range infoO?ɰa>> );CIyBKc?wnL?ٱ M o=Y QU ?a&EIDy}%?I! -:%{%5? 5:%w %A ?9%3C%< %<)%l:WM(v@WIXI XIWQ:WQ2WQ*WQVQbUYBUY*UYUYUe.@P*QBZQ7UK@6'\@JQKc?wnL?2QO?:QbQqDVp_u0)V@K?i&@RQ8Ua2?]:r?BQ@ QIBQP;9?Pߨ9?PQQA"QABN=B BA>*BA Ze<A A A  9<"C"RCC(v@CFӅIG l> 9 I sGi @    7;  Eܴq,vEAY}2)?}20L?y}2b=}22=}2Hd?. ??`??X`|? Լ?)~2)? ~2^`_;I~0ɫYa)a eIaY@yzGÕ<Õ<ÕiÕ@Ñ ĕn@)ĕn@Iĕ @iĕn@MA=YKa&EVDyG>}>I  %5?  A ?9 XC {: Q:) mEyAdded new target pos. range: 127.800003 m, bearing: 135.869620 deg, deltaT: 4.443792 s, approachRate: -0.229535 m/s, LOS rate: 7.539491 deg/s, posRepo size: 4mU ProNav: pos range: 127.800003 m, bearing: 135.869620 deg, approachRate: -0.229535 m/s, LOS rate: 7.539491 deg/s, cmd update: 12.000000 deg/s, cmd heading: 220.794230 deg, new cmd heading: 225.659150 deg. WUN|@WYXY XYWY:WY2WY*WaVabUaBUa*UiUm@3_@Um ?BxK=B BA^>*BA<AAAl9<"CшRCCN|@C֥?΅YIiGZ> p=i R=% % % %  % .:Y% T1y% :% &5)% ?;9} q,zEAY}2?}2ȭ?y}2 `=}2=}2H?(`&W? :?U?Q? ?`ܾ?)~2? ~2a'EdDy=}>I :%5? : A ?9|C;  ;)m:Wg@WX! X)W):W)2W)*W)V1bU1BU1*U1U9U=܋?BwC=B BA>*BAr3<AAA9<"C<RCCg@CױIG>q, EA|i|Y}>x?}>"?y}>]VV=}>, =}>H@?@@پ? q?@Dg? ?`Ǫ`? U?)~>x? ~>Y_;I~>CɫYY)Y ]IaY}@yRyGܛ>זCi5nGIIiiEsܱ9ܵvCIܵ0rGiܵ@ܵ#=ܱܱܵE; ݵEMK=οٺAYzQU> a 'E qDyV=}>I%5?~ A E?9C; #;)W @WX XW:W2W*WVbUBU*UUU?B ?=B  B A <>*B Ag<AAA :<"CjRCC @CA1IG=>    C:Y WU1y : o5) :;q,EAY}2&?}2]?y}2̃G=}2e=}2H?}k?"? #?`p8??@?`:?)~2&? ~2_;I~2CɫII)I IIIY] @y]xG-Ponly read 0 of 1 data item for BIT error @ @ @OMZ=Yl+QU?!!a%'E%|D!y-"=}-?I15T%5?5r 5A =?95C5: 5߼:)1We{@WaXa XiWi:Wi2Wi*WiVqbUqBUq*UqUyU} _I?BE=B BA>*BA <AAA%:<"C5| RC1C5{@C9AI)GEQ>q,pEAY}6s?}6z-?y}6h?=}6U=}6HJ?`E?`˿?@Z?q?@꧿ z?N?)~6s? ~6^;I~6CɫAA)A AIAY@yixGM@=YQU>a'EDy=}>I :%5? :vb A ?9C: :)n:Wш@WX  X W :W 2W*WVbUBU*UUU *@BX8=B BAn>*BA :<A A A =:<"CbRCCш@CIGn>ى ى ܑ 9ܑ Iܕ pGiܕ @ܑ ܑ ܑ ܕ X; ݕ E)yIyiy}"=}"=}4 c    ;:Y DW1y Y: 5) h;.q,KEA||4a'EDy+ >}>Iȩŭ9%5?ŭS ƭlA ?9ƭCǭf: ȭ<:)ȩW|@WX XW:W2W*WVbUBU*UUU8@B7=B BA(>*BA.<AAA%(o:<"C%RC)C-|@C)AI)GEQ>q,_&EAɫ髙) IY@yvGI4=)%==Zd;?~jtDl?=>=D =O=)9I9y=S㥛?ʡE~jt?=$?==< = A)9I=Ai=A9=A]żM]>=Y]QUe>aaae'EeDiym}u>Iq }:u%5? :u1D uYA ?9u'CuY: uI:)uo:W&_@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB^@/=B BAՄ>*BA<AAA:<"CBRCC&_@CֽFӅבIG> {    =:Y T1y : 59 @@ q,+EAY}F$?}F[?y}F&a=}F@6=}FHtv?c ??? )???)~F$? ~F5^;I~FCɫ髙) IY@yuGZ****** received transponder code query ******F****** received ping request ******a'ED!y%>}%>999I=nGi=@999=e; =ȗEI)-?%5?-5 -DA U?9-HC-o; -:))W@WX XW:W2W*WVbUBU*UUU @ @B5(.=B1 B9A=s>*B9A=?Z<A9A9AEm;<"CUƵRCYC]@C֝?΅qIG>3q, EEA|i|Y}: ?}:W?y}:9h=}:.=}:H3@x ? +?^⓿8? N@d`?`?)~: ? ~:_;I~:CɫAI)I MIQYC@y(uGxDUSBL response received:!U1,P AFD,000,00AC3,18A,80,80,BB,FF Command Ack BRequesting micromodem ping code 2i  Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Õ̼ÕuÕxiiÕ=@Ñ đ)ĕ@Iĕn@iĕn@2M(=Yn;QU>!!a%'E-D)y5u=}5>I9 E:=%5? E:=$ =+A E?9=oC=: =:)=p:W>@WX XW:W2W*WVbUBU*UUUŽ @B%#=B) B)A-(^>*B)A5<A1A1A5Xt<<"CMA RCICM>@CQY1 IA G] >  ~ ~  o/:Y T1y @: 5'Sq,^EAY}2?}2(?y}2i=}27=}2HT`?`? %`?;?3?)~2? ~2]_;I~0ɫ99)9 =I9Y}@y}tGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B - M|=Y8:QU ?a'EDy=} ?Iȱŵ%5?ŵ ƵA ?9ƵCǵ4: ȵ:)ȱWLT@WX XW:W2W*WVbUBU*UUU@*@B%.=B) B)A- S>*B)A56 <A1A1A5C=<"C=WٿRC9C=LT@CAAI)GEQ>) ) 1 95 wCI5 mGi5 @5 "=1 1 1 1 .~q,xEAY}>?}>5?y}>j=}>=}>H _; Ĵ>??݊?:X\ܻ??)~>? ~>GF_;I~<ɫ髙) IYa@ytGxDUSBL response received:!U1,R,D14,000,00AA9,189,80,80,93,FF Fpublishing direction and range info'?ɰ_>7> )CIyzB)>k?ljo?ٱÅ(>ÅÅiÅz@Á ąΣ@)ąX@Ią@ią@ueMu==Y}:QU}>a'EDN@@@yG=}>Iȱ :ŵ%5? :ŵ ƵA ?9ƵCǵs: ȵ:)ȵq:WH@WX  X W :W 2W*WVbUBU*UUU/@Pi*QmzBZQm@\Y@م35+S@JQm)>k?ljo?2Qm'?:QibQm_+UW8ȿeW@4M@RQmDPwȫA?K r?BQm@ Qm-BQm\PmN9?Pm;9?PmQmQm A"QmAB5=B BAA>*BAv<AAA$><"CͿRCCH@C1 IG5>      3:Y W1y č: \5|g$q,yEA|$|&;Y}F?}F L?y}Feo=}Fp=}FH X`A ?@2?0?Uܭ`?`?)~F? ~F>_;I~Dɫqq)y yIyY@yiqau'EuDqy}k=}}>IȁŅ|%5?Ņ ƅA ?9ƅCDžU: ȅ:)ȁm}Added new target pos. range: 126.239998 m, bearing: 132.138834 deg, deltaT: 4.472248 s, approachRate: -0.348819 m/s, LOS rate: -0.834208 deg/s, posRepo size: 4m ProNav: pos range: 126.239998 m, bearing: 132.138834 deg, approachRate: -0.348819 m/s, LOS rate: -0.834208 deg/s, cmd update: -2.502625 deg/s, cmd heading: 274.455532 deg, new cmd heading: 279.180124 deg. W @WX XW:W2W*WVbUBU*UU \_@U>?B =B BA*,>*BA<AAAo#?<"C%iſRC!C% @C)FӅIGj>*q,sIEAY}:q2?}:vi?y}:0fu=}:O=}:H@=ÿ`'pTJ? ?`78¿y??a?)~:q2? ~:&_;I~:Cɫ9A)A MIQY@ysGIp=)=P>9vCI(kGi"@#= ]=]7]>i]̤@Y Y)]@I]"@i]Σ@uMuJ=Yu{;QU}>yya}'E}Dy=}>Iȑ :ŕ%5? :ŕ ƕA ?9ƕCǕ: ȕ^:)ȕr:W +@WX XW:W2W*WVbUBU*UUU@l[?B=q=BI BIAMv(>*BIAMu<AQAQAUP@<"C]ORCYC] +@CYY1IAG]v>  { {  5:Y #R1y : 5) ;9 5w1q,%EAY}2&@}2?y}2j{=}2>}2HHǿ@@??g? &ƿ@cK?8y I?@ɭ?)~2&@ ~2/_;I~2Cɫ99)9 9I9Y}@y}rGQMc=Y;QU>!!a%'E%D)y-=}->I15 %5?5G 5A =?95C5U: 5@:)1Wey@WaXa XaWa:Wa2Wi*WiVibUiBUq*UqUqUu\?B=B9>< B!A% >*B!A%ws<A!A!A%ՁA<"CMRCQCUy@CQa9IIGeV>7q,mEA|i|Y}6i4@}6֟?y}6=}6~ >}6H`K˿0mJ?<3? c$ʿe?) .?7?)~6i4@ ~6S/_;I~6Cɫ99)9 =I9Y.@y]qGQ*MA=Y;QU>a'E Dyb=}>I%5?K yA e?96C< ˍ<)Wq @WX XW:W2W*WVbUBU*UUU@n?BW*=B BA =*BA(K<AAAH C<"Cp*C۰RCCq @C?΅IGj>i 3oGIQiae˿ٺ|AQ>9wCIiGiݽ@s; ЗE     0:Y T1y : 5) ;=q,EAY}:C@}:x?y}:J}=}:=}:HLϿ"@? ?,οN?W3{? ?)~:C@ ~:Rz_;I~:Cɫ99)9 9I9Y}@y}pG  e@ e@ m@ML=YѐQU>a'EDym=}>Iȱ :ŵf%5? :ŵf ƵVA ?9ƵXCǵ: ȵ:)ȵs:W@WX XW:W2W*WVbUBU*UUU@?B%˩ =B! B!A%4=*B!A%W<A)A)A-ZiD<"C5¿RC1C5@C9eFӅ9IAGeU>I ) AADq,$EAY}60@}6?y}6x=}6=}6H ѿ iй?շ?`пb?]h-?ѳ?)~60@ ~6b_;I~6Cɫaa)a iIiY@yoG=S㥛?+?V-?=?== =m=)9I9y=-?T㥛 Mbp=5?== =A)=;@I=V Ai=AA9=\AehMm>=Yu3=QUu>yya}'E}&Dy=}>Iȉōl%5?ō ƍ*A ?9ƍ{CǍ: ȍ+:)ȉW@WX XW:W2W*WVbUBU*UUUR;@BD=B BA6=*BA<AAAKF<"CBƿRCC@C<?΅I)ס I G > i | |  2<:Y R1y i: ݻ59 @hJq,-EA| | Y}>@}>2?y}>Akr=}>=}>H@;ӿ`a@?dv?߸ҿf2?H[??)~>@ ~>\_;I~<ɫ髙) IY+@ynG@AuR>9qIugGiuF@u$=qqur; q) I vCi #= #= 4   ÝLÝ>Ý>iÝ@Ù ĝ)ĝ@Iĝ\@iĝE@MR=YQU>a'E2Dy=}>I  :M%5? :W A ?9C: :)t:W52^@W9X9 X9W9:W92W9*WAVAbUABUa*UiUiUm ]@RuB*** querying acoustic contact ***PqPqB<B BAl=*BA<AAAZxG<"CƎͿRCC2^@C<ֱ׉IG>Qq,]lGEAY}2C @}2?y}2Xn=}2p=}2HԿ@T`?/?LpԿ ,? ԭ??)~2C @ ~2S_;I~2Cɫ99)9 9I9Y@y{nGZ****** received transponder code query ******F****** received ping request ******iiam'Eu>Dyy=}>Iȉō%5?ō/ ƍA ?9ƍCǍW; ȍW;)ȉWvє@WX XW:W2W*WVbUBU*UU U ~ @B<B BANB=*BAD<AAARH<"C%ҿRCICevє@Ciqq)q q $ } }  6:Y kS1y Ԋ: J5 FӅ I1 GM >#Wq,4GaEAY}> @}>.U?y}>l p=}>f=}>H`ֿ@T?f?@Q!ֿ? gS? ?)~> @ ~>~E_;I~>CɫYY)Y YIYYI@ymGxDUSBL response received:!U1,P D14,000,00AA9,189,80,80,93,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Z(MD=Yh=:QU> 1a5'E5LD9yM=}m>Iȁ :Ņō%5? :Ņ ƅA ?9ƅCDž K< ȅL<)ȅu:W*@WX XW:W2W*WVbUBU*UUU > @Bm<Bq BqAu<*BqAu~<AyAyA}J<"CzտRCC*@Cֱqy}<܁9܁I܅eGi܅@܁܁܁܅v; ݅җEIG>O^q,"{EA|i|Y}6W @}6E?y}6v=}6@q=}6H?ؿ`L`?`?!׿G ? 2ۮ`}?ؽ?)~6W @ ~6_;I~6Cɫ99)9 9I9Y@y/lGɮa= Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B = iף@ @)n@I@i@ [̽MF=Yс;QU>a'EZDy=}>I%5?x A ?9Cӻ: ߼:)W@WX XW:W2W *W V bU BU*UUU@]@B]~<Ba BaAe*BaAAAAWL<"CDտ*CRCC@C֝?΅yIG>     2:Y T1y : n5ieq,EAY}N1@}N?y}Nm=}Ns-=}NH ٿ%ɳ?)/?@:lٿ+?ڧ?q?)~N1@ ~N^;I~Lɫyy)y yIyY@ykGxDUSBL response received:!U1,R,DDA,000,00A82,189,80,80,C4,FF Fpublishing direction and range info >ɰ]\>鰹 )DCIyBdb?J?ٱ%?Zd;O/$?% ?%j< %,=)!I!y%Q?QQaU'EUfDQy]ߗ=}]>Iae%5?ek exA ?9eCeY< e/<)aW@WX XW:W2W*WVbUBU*UUU̸@P1*Q5BZQ5,YBy[@}hL@JQ5db?J?2Q5 >:Q1bQ5gڋ*XwJG`S@#ݿRQ5D=pk?͛ZnBQ5@ Q5BQ5TP5-9?P5N9?P5Q5Q5@"Q5 ABn<B BA*BAt<AAABN<"C)׿RCC@C =FӅI)IG>1/kq,EAY}eX@}e9@y}e=}e=}eH ۿ @LƳ?/?`M ۿ?:_b?ȷ?)~eX@ ~e^;I~eC9IcGi@#=; ؗEɫ髱) IY@ykG5TNmea in: $SNTTA,0.086972,,,,012438.63*4B )]= ]>-Ƚ-~-Di- @) -)-z@I-E@i-E@EZ:<ME;=YELg;QUE>IIaM'EMtDQyU=}U>IY e:]kz%5? e:]|] ]`A m?9]   >:Y WU1y : ) ;9 rq,EA||ɫyy)y yIyY@yiGUM]p=Y]QU]?aaae'EeDaym}m?Iy}t%5?}RR }NA ?9}WC}ϸ: }b:)yWŕ@W!X! X!W!:W!2W!*W)V)bU)BU)*U1U1U5R?B]b<Ba BaAeG*BaAeT,<AaAaAm)R<"Cm{EտRCqCuŕ@CqFӅסIGe>?=xq,ҎEAY}2 &@}2A@y}2==}27=}2HA߿@A?3?`޿@ ? @?ó?)~2 &@ ~2^;I~0ɫ99)9 =I9Y@y2iG]7M]J=Ye^QUe>iiam'EmDyy>}>Iȉ :ōl%5? :ōTE ƍ8A ?9ƍwCǍ+; ȍDA;)ȍw:W!@WX XW:W2W*WVbUBU*UUU`r?B c<B BAֈ*BA5<AAAbT<"C/nϿRC!C%!@C!QQAQiU?1IAG]v>9IaGi@; E  } }  2:Y kS1y Ԋ: 5) ;bg~q,jEAY}:4 @}:;@y}:w=}:<=}:H{T?5\?0(?`ݮt?@?)~:4 @ ~:D^;I~:Cɫ99)9 9I9Y}@@y}hG]D;]m]i]@Y ]\@)YI]@i]\@mfMmI=YmQUu>qqa}'E}Dyy=}>Iȉō1d%5?ō8 ƍ$A ?9ƍCǍe: ȍ:)ȉW.@WX XW:W2W*WVbUBU*UUUk?B:4<B BAZ*BA?<AAAIV<"CȿRC C .@C IGI>Pq,JEA| i| Y}^K@}^. @y}^'2l=}^A=}^HO6??`U ?;?@L?)~^K@ ~^^;I~^Cɫ髑) IY@y*hGmoʡ?PnZd;O?m-?m mj<=)iIiymQ?v/~jt?imximD< mMA)m|AImOAimvAim AM9=YĻQU>a'ED)y-=}->I1 =:5NY%5? =:5* 5A E?95C5: 5(:)5x:W !@WX XW:W2W*WVbUBU*UUUK@B%=c<B! B!A%*B!A-<A)A)A- X<"C5ERC1C5 !@C91 IG5>  ~ ~  C3:Y T1y @: 59 @) 1 q,00EAi&nGI8iDbϿٺ`bAY}-L@}- @y}-q0c=}-7U=}-H@ dN?R? .?Tb .??)~-L@ ~-&^;I~-Cܑ9ܑIܕ_Giܕ@ܑܑܑܑ ݑɫ)  I YE@yEfG  @ @ @MP=Y%ٶQU%>!!a-'E-D)y5K=}5>I15O%5?5. 5A E?95C5: 5:)1Wm\g@WiXi XiWi:Wi2Wi*WqVqbUqBUq*UyUyU}@@B0W<B BAr*BAQ<AAAdZ<"C񀴿RCC\g@C ==֩׉IG`>Baq,jIEAY}2@}2c @y}2 ^=}2==}2H @y`kҮ??`i?]ի@P,?p?)~2@ ~2Q^;I~2Cɫ99)9 =I9Y6@yTfGAA} Mb=YCQU>a'ED y ۥ=} >I %:NF%5? %:y A %?9C: :)y:W]@WaXa XaWi:Wi2Wq*WyVybUyBUy*UUU.@RB*** querying acoustic contact ***PPB <B BA*BA<AAA:\<"CQcRCC@CiցYIiG\>    ?:Y DW1y Y: 5kq,cEA||4a'EDy:=}>I\:%5? A ?9C{: ʽ:)W=g'@WAXA XAWA:WA2WA*WIVIbUiBUi*UqUqUu@֨ @B%<B BAu!*BA<AAAVn^<"CݏRCCg'@CIGj>ܽS>9ܹIܽ]GiܽV@ܽ$=ܹܹܽ; ݽE)YI]wCiYYY]~5q,-}EAY}2ܑ @}2]@y}2Bu_=}2GR=}2HeU`ۣ@?ĥ? (?`뫿`ߋ?2?)~2ܑ @ ~22_;I~2Cɫ99)9 =IAY}@y}dGxDUSBL response received:!U1,P DDA,000,00A82,189,80,80,C4,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 IC=)=   ÝÝtÝiÝf@Ù ĝ@)ĝ@IĝE@iĝ&@M.=Ya9QU>a'EDy|=}>I :,%5? : A ?9;C: :)z:WUȟ@WYXY XYWY:WY2W*WVbUBU*UUU2 @B{?x<B BA3*BA\d<AAA>`<"CRC9CEȟ@CQ֡ =i =   3:Y y 5ׁ I G >oq,eEAY}ns"@}n#@y}n)/[=}n=}nH F?X ?@ ?`b?঵?)~ns"@ ~nd_;I~nCɫ髩) IYr@y)dGɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }uV?QMb?}r>}\ }=)yIyy}$C?~jta'EDyY=}>Iȱŵ!%5?ŵ ƵA ?9ƵWCǵ: ȵ:)ȱW@WX XW:W2W*WVbUBU*UUU@p#@B%8<B) B)A-jG*B)A-R<A)A)A5\b<"C5H RC9C=@CA) IG-q>ǫq,hEA|i|Y}N?$@}N[@y}N<\Q=}N>}NH`IkT?hq? ho?(@??)~N?$@ ~N2_;I~NCeU>9aIe[Gie@aaae; eEɫyy)y }IyYo@ybGxDUSBL response received:!U1,R,FD5,000,00A58,184,80,80,A4,FF Fpublishing direction and range info_=ɰX>鰽> )$CIyBY;?ЙPgD5?ٱME>M?5MfiM@I M)M@IMh@iM@uM}M=Y}pŻQU>a'EDy=}>I %5? A ?9wC; ;)WURu@WQXQ XQWQ:WY2WY*WYVYbUBU*UUUL@P*QBZQ ,}R^@v6@JQY;?ЙPgD5?2Q_=:QbQ"HjUtU@ܰijRQ+H濳?U= ʣBQJ@ QBQRPG9?P-9?PQQ%#>"Q@B /<B BAg*BAl<AAAe<"C1嚿RCACERu@CAU?΅1I9Ge>  x x  :2:Y 7P1y : 5) 6;9 dq, CEAY}6%@}6 @y}6G=}6~>}6H;Y` ?@?Q "?`ᨿ?`į?)~6%@ ~6_;I~4ɫYY)Y YIYYF@ybG 5H`M=a=Y=QU=>AAaE'EEDIyMš=}M>Iȩ :ŭ %5? :ŭ ƭ}A ?9ƭCǭ: ȭ:)ȭ{:m}Added new target pos. range: 121.380005 m, bearing: 134.948938 deg, deltaT: 4.461174 s, approachRate: -0.564875 m/s, LOS rate: -1.418673 deg/s, posRepo size: 4m ProNav: pos range: 121.380005 m, bearing: 134.948938 deg, approachRate: -0.564875 m/s, LOS rate: -1.418673 deg/s, cmd update: -4.256020 deg/s, cmd heading: 290.880435 deg, new cmd heading: 293.080552 deg. W@WX XW:W2W*WVbU BU *U U RX^@U\?B=N<B9 B9A=l*B9AEj<AAAAAEf<"CMRCICM@CQeFӅ9IIGeU>I ) ٸq,yEAɫyy)y }IyY@ybGU'M]H=Y]QU]>aaae'Ee Daym}m>Iqu<$5?u uoA }?9uCu: u:)qW@WX XW:W2W*WVbUBU*UQUQU]@g?B"W <B BA~*BA<AAAhi<"CzRC!CM@CQ֝?΅YYa9aIeYGie*@e#=aae; eܗEqIG> 0    7:Y U1y : 5) ; q,EA|4<|pYaae'EeDaymt >}m>Iq }:uC$5? }:u ubA }?9uCuk: u:)u|:WJ@WX XW:W2W*WVbUBU*UUUBW?Bl;B BAχ*BA<AAA[k<"C]RCCJ@CFӅIG%M>8ŵq,{EAY}2e+@}2t@y}2<=}24=}2H64a?l?`N? S$??)~2e+@ ~2 _;I~2Cɫ99)9 9I9Y} @y}_GI=)=rh|?q= ףpa'E'DyҒ=}>IV$5? ^A ?9CR: :)W=]@W9XA XAWA:WA2WI*WIVIbUQBUQ*UYUYUe &?B$];B BAE*BIAM<AIAIAMcm<"C]ҚRCaCe]@Ciyׁiׅ?QIaG}z> =i a=    B:Y xZ1y q: 59 @̵q,2EAY}2c-@}2@y}2L==}2"=}2Hh'"`x? ?.@)?XI? ?)~2c-@ ~2&_;I~2C191I5hXGi5@1115z; 5ؗEɫII)I MIIY} @y}^G5>5d5i5@1 5@)5&@I5@i1EJMER=YE9QUE>IIaM'EM4DQyUɤ=}]>IY e:]<$5? m:]r ]ZA m?9]C]: ]I:)]}:Wd˝@WX X W:W2W*WVbUBU*UUU%lz?Bm:Bi BqAu*BqAu<AqAqAu{o<"C}꠿RCCd˝@CցYIiGZ>ҵq,LEA|i|@ɫyy)y }IyYq@y^GU5?M]I=Y]QU]>aaae'EeADaym}m>IquU$5?un uVA }?9u1Cuܹ: u:)qWԜ@WX XW:W2W*WVbUBU*UUU`@BӹB BAɳ*BA~<AAAr<"C3RCCԜ@C?΅IGj>    B:Y T1y : 5'ٵq,efEAY}jj1@}jP!@y}j23=}jn=}jH u`+! ?c? A?@wb?$?)~jj1@ ~j(_;I~jCɫ11)9 =I9YUٳ@yUE]GY]@A yy 9MG=YQU>a'EODy>}>I$5? RA ?9TC߼:  :)WM"@WIXQ XQWY:Wa2Wi*WqVqbUyBU*UimnGUiIiU}i@ʿٺ޻ARB*** querying acoustic contact ***PPB@ª:B B9A=F*B9AE^}<AAAAAE*t<"CMαRCICM"@CQ!9!I%sVGi%N@%"=!!%s; %՗EMFӅ) I1 GU >{q,@EAY}6O3@}6=k#@y}6U*=}6=}6H ~V?T?*W l{?`Iľ?{?)~6O3@ ~6F_;I~4ɫ99)9 =IAY]n@y]\GeZ****** received transponder code query ******eF****** received ping request ******ea'E[DyǠ=}>I :ס$5? : QA ?9rC4: ;)~:WUښ@WQXQ XQWQ:WQ2WY*WYVYbUaBUa*UiUiUuy @B5(;B1 B1A=þ*B9AEt<AAAQAUv<"CmԸRCqCuښ@Cy֙qIG> 7    58:Y WU1y : n59q,2EA|;|;Y}625@}6'N%@y}6#=}6cY=}6H9|՞??`r@h?_?@]?)~625@ ~6%%_;I~6Cɫyy)y yIyY@y[GxDUSBL response received:!U1,P FD5,000,00A58,184,80,80,A4,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 jt?MbpMb?> =)IyOn?DlIIaM(EMkDQyURz=}]>IY]ю$5?] ]:A ?9]C] : ]¿:)YWǰ@WX XW:W2W*WVbUBU*U!U)U-dq,EAd9dIfTGif@dddfq; fԗE)9I9i999=U5ɫ髹) IYڱ@yZGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Iq)qI}p=)}%= <&1i\@ )@Iih@MMx=YQU ?a(EuDy} ?I :$5? : *A ?9C: :):W?@WX XW:W2W*WVbUBU*UUU@@BLtBt< BA6ݾ*BA榾<AAA #{<"ChRCC?@C!IG>   B5:Y y J5) ԑ;9 Kq,EAY}>7 9@}>;)@y}>h=}>7=}>Hm޿Š????{$??)~>7 9@ ~>u#_;I~>CɫYY)Y YIYYr@yQZGxDUSBL response received:!U1,R,163,000,00A2C,186,80,80,8F,FF Fpublishing direction and range infoɰQU>鰥> )CIyzBlz?N?ӿٱ-M-E=Y5QU5>11a5(E=D9y=>}E>IAEp$5?E} EA U?9ECEL: Ee:)AWu @WyXy XyWy:Wy2Wy*WVbUBU*UUU@@P*QzBZQOE\@!BJQlz?N?ӿ2Q:QbQxXTBe(Bi BiAm*BiAuػ<AqAqAuC~<"C}fĿRCC @CֹבIG>cyq,ϼEA|,i|.@Y}vf.;@}vI+@y}vI+=}v%`=}vH`Nܿʑ? ۰?B[B?D$׼??)~vf.;@ ~vD_;I~vCɫ ) IYMӰ@yMYGDNmea in: $SNTTA,,,,,012447.53*5C 8M>=YºQU>a(EDy=}>I :]$5? :u A ?9C); ;):mu}Added new target pos. range: 118.740005 m, bearing: 133.828841 deg, deltaT: 4.407279 s, approachRate: -0.599009 m/s, LOS rate: -0.254147 deg/s, posRepo size: 4m ProNav: pos range: 118.740005 m, bearing: 133.828841 deg, approachRate: -0.599009 m/s, LOS rate: -0.254147 deg/s, cmd update: -0.762441 deg/s, cmd heading: 272.085892 deg, new cmd heading: 270.090938 deg. W×@WX XW:W2W*WVbU1BU9*U9U=@\]@U=n?BܶB BA*BAW3<AܽX>9ܹIܽRGiܽs@ܽ$=ܹܹܽ; ݽޗEAAo<"C2Ŀ*Cd>RCC×@C ))! I) )- jA _ | |  O:Y R1y i: 5) Ũ; I Ge >]q, EAY}2B-=@}2H-@y}2b=}2J=}2Hc`,ڿy?=?{? ޢ`??)~2B-=@ ~20_;I~0ɫ99)9 =I9Y}@y})YG =>=|?=Si=@9 =@)=@I=@i=@MMMj=YUԺQUU?QYa](E]DYye=}e?IimO$5?mpo mA u?9m Cmf: m:)iWh@WX XW:W2W*WV!bU!BU!*U!U)U- b?BB BA*BAڵ<AAAW<"CſRCCh@Cm<?΅IG >I ) Їq,dEAY}2?@}2+/@y}2'=}2=}2H e fEٿ?,?`/x?sJ?v?)~2?@ ~23_;I~2Cɫ99)9 =I9Y]@yXG?a(EDyӐ=}>I=$5?g A ?9,C: :)W}q@WyX XW:W2W*WVbUBU*UUU`px?BE~,BA BAAE *BaAmj{<AiAiAmI<"C}wƿ*C™RCCq@CхM j M }M }M  M F<:YM kS1yM Ԋ:M 59e @ q,?5EA||6Y>94I6`QGi6-@4446; 6EY}Ni@@}N0@y}N"=}N=}NH ` ׿wق?)?n@W?@ ?`?)~Ni@@ ~N^_;I~NCɫyy)y yIyY&@y}WGÝG>Ýl>Ýh=iÝQ@Ù ĝȎ@)ĝ@Iĝ@iĝ@~MJ=Yu׺QU>a(EDy=}>I :+$5? :` A ?9LC: :):WG@WX XW:W2W*WVbU BU *U UU?B=CB9 B9A=?*BAAEW<AAAAAE$<"CM ǿ*CMRCQCUG@CQYY)Y Y  ?i? I G >ݙq,OEAY}2uB@}22@y}2H=}2==}2H d{!ֿ:~??@Y?ۡǽ?_?)~2uB@ ~2&_;I~2Cɫ99)9 =I9Y}@y}TWG<-MT=YQQU>!!a%(E%D)y-=}->Iȉō$5?ōZZ ƍA ?9ƍjCǍ]: ȍ:)ȉW@WX XW:W2W*WVbUBU*UUU@?BhB BAI*BA<AAA5t<"C ǿ*C ҟRC C @CAI)GEQ> H    9:Y WU1y : \5Yq,8hEAY}2+D@}2sG4@y}2J =}2=}2HAAaE(EEDIyMX=}M>IY e:]$5? e:]T ]lA e?9]C]Q: ]:)]:W9@WX XW:W2W*WQVYbUaBUa*UUU,d@B%vBI BIAM*BIAMl<AIAIAU<"CUzȿ*C]kMRCYC]9@CYae<m[>9mxCImOGim@m#=iim; mE֙בIG> q,[ЂEA|i|Y}6F@}6,6@y}6 =}6=}6H6ҿ"@??`bn3? p2? ?)~6F@ ~6{_;I~6Cɫ99)9 9I9Y@yVGAA 7> v^ i @  ) @I 3@i 3@2MJ=YvQU%>!!a%(E%D)y-~=}->I9=;#5?=*N =JA E?9=C=: =:)9WeŖ@WaXi XiWi:Wi2Wi*WqVqbUqBUq*UyUyU} T@RB*** querying acoustic contact ***PPB,骼B BAE *BA,<AAA}+<"C(ɿ*CNRCCŖ@CI)iAIGI>    >:Y T1y : 5L&q,GEAY}6 H@}6&8@y}6 =}6@=}6H$@пO!j?@ષ?'5t?`?)~6 H@ ~6_;I~6Cɫ99)9 9I9Y}@y}VGZ****** received transponder code query ******F****** received ping request ******QQaU(EUDYy]=}e>Ia m:e#5? u:eH e\A u?9eCe: e:)e:W[@WX XW:W2W*WVbUBU*UU!U- C @BUBQ BQA]c *BYA]c<AYAYA]<"Cɿ*CrkRCC[@CyQIaG}z>a a i nGI ) I i9 m Ͽٺi m A |?9 3A] \>9Y I] @NGi] @Y Y Y ] ; ] E-q,ĶEAY}6J@}6b#:@y}6 =}6=}6H  HͿz?w?@+D?a?)~6J@ ~65`;I~6Cɫyy)y yIyYD@y,UGxDUSBL response received:!U1,P 163,000,00A2C,186,80,80,8F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= =-Nonly read 0 of 1 data item for altitude @ @ @XM%<=YM犺QUU>YYae(EeDy=}>Iȱŵy#5?ŵD ƵnA ?9ƵCǵ; ȵ;)ȱWeob@WiXi XiWi:Wq2Wq*WqVqbUyBUy*UyUU @B烒B BAJ*BA'A<AAAC<"Cʿ*CRC C ob@Cm ?΅ , z z  T7:Y Q1y : 65) ;9 A IQ Gm >3q,aEA||4@W9X9 XAWA:WA2WI*WIVIbUQBUQ*UYUYU] @B A߼B  B A .*BA/<AAA<"CIE˿*C\;RCC%>@C!%FӅI!G=r>G:q,>EAY}>*N@}>wF>@y}><}>{=}>H@ſv?@Um.?៿8=??)~>*N@ ~>_;I~>CɫYY)Y ]IYY@y[TGxDUSBL response received:!U1,R,37C,000,00A01,189,80,80,B0,FF Fpublishing direction and range infoTFGɰQ>鰽7> )0CIyQB?y xٱRƼMP=YD;QU>a(EDyΪ=}>I  D#5? z= A ?9 "C j: :) W@WX XW:W2W*WVbUBU*UUU|@P*QQBZQ__T@Q-9IMGi@"=; E)ݝxCIݝxCiݙݙݙݝA5U?΅1I9GU>     /:Y DW1y Y: [5) ;@q,EAY}q&P@}A@@y}2<} =}H ݮ `?@Vy ? L?@`?)~q&P@ ~j_;I~Cɫyy) IY}@yRGTNmea in: $SNTTA,0.084966,,,,012451.98*47 jA U U UUʡ=UUiiau(Eu Dqy}Bu=}}>Iȁ :ŅC#5? :Ņw9 ƅA ?9ƅICDž: ȅo:)ȅ:m}Added new target pos. range: 116.160004 m, bearing: 125.807618 deg, deltaT: 4.455893 s, approachRate: -0.579009 m/s, LOS rate: -1.800138 deg/s, posRepo size: 4m ProNav: pos range: 116.160004 m, bearing: 125.807618 deg, approachRate: -0.579009 m/s, LOS rate: -1.800138 deg/s, cmd update: -5.400415 deg/s, cmd heading: 268.691601 deg, new cmd heading: 268.334166 deg. Wצ@WX XW:W2W9*W9VAbUABUA*UAUE= ]@UMR?B B BA!*BA,<AAA<"CujпRCCצ@CFӅש I G >$Gq,REA|i|Y}>0 R@}>$B@y}>6<}>B=}>HxxV@r\?9D? 垿@`m?,?)~>0 R@ ~>[d_;I~<ɫYY)Y YIYY>@yRG333333?~jtZd;?9? y=)Iy> ףp=?(\µy&1|??`; A)V AIAi A&¼M|=YQU ?a(E*Dy =}  ?I#5?6 A ?9aC: :)W=@WAXA XAWA:WA2WA*WIVIbUIBUQ*UQUQUU@/?B}Ƚ B BA}#*BA<AAA<"C5+տRC9C=@Ci֙yIG>     11:Y V1y : J59 @ ^>9 I LLGi @    ;  ECNMq,7EAɫ髙) IYڪ@y4RG @ @ @í©ííií=@í ĭ@)ĭ3@Iĭ@iĭ@MN=YQU>a(E7Dy}>I`n#5?3 A ?9~Cn: :)W y@W X XW:W2W*WVbUBU*U!U!U%?BMBQ BQAU&*BQAUˆ<AQAYA]w<"C]bؿRCaCey@CaցYIiGZ>F8Tq,QEAY}2U@}2F@y}2<}2=}2Hp@'0?`߹3?@; ޾??)~2U@ ~2E_;I~2CɫYY)Y ]IYY!@yPQG]wlM]Q=YeٺQUe>iiau(EuCDyy}>}>Iȉ :ō[#5? :ō 1 ƍsA ?9ƍCǍY<; ȍ1;)ȍ:WM:@WQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UaUaUe?BB BAf,*BAj4<AAA<"C޿RCC:@Cֽ?΅בIGa>  } }  0:Y kS1y Ԋ: \5aZq,׊kEA|4<|;Y}6W@}6H@y}6n<}6J=}6H瓿 `{?@\`? @?@?)~6W@ ~6@_;I~6Cɫ99)9 9I9Y}@yPG   K7>$>.i@ ?@)?@IV@iV@e{Me;=YeQUm>iiau(EuQDqy}z=}}>Iy}F#5?}. }bA ?9}C}: }:)yWg@WX XW:W2W*WVbUBU*UUU @Bx2B BA0*BA<AAA溕<"C=KRCCg@Cܥ`>9ܡIܥXJGiܥv@ܡܡܥDܥ; ݥEFӅIGj>Gaq,_EAY}:Y@}:I@y}:)'<}:b=}:H d@a(E^Dy=}>I :P4#5? :- SA ?9C; ;):W@WX X!W!:WI2WQ*WYVabUBU*UUU]@BU8BQ BQAU4*BQA]\t<AYAAns<"CTaRCC@Cֵ?΅׉IG>     3:Y WU1y : I5rgq,:EAY}2G[@}2bK@y}2<}2=}2H@ˠ?@;@6ʼ@$a?@ ?r?)~2G[@ ~29_;I~2CɫYY)Y ]IYY0@y(PG=B`"?1Zd˿I +?=.?="[ =9<)9I9y=l?I +Mb?=?=94=< =A)=AI=/Ai=A9=A]*;M]L=Y]FMQUe>aaae(EejDiym=}u>I #5?, HA ?9C: #:)W%@W!X! X!W!:W)2W)*WIVIbUQBUQ*UQUQU]`u@ReB*** querying acoustic contact ***PaPaB}B BA3*BAl<AAA<"CtRCC@C׹IGi>ܥ c>9ܥ yCIܥ HGiܥ 1@ܥ #=ܡ ܡ ܥ ; ݥ EZmq,nEA|i|Y}6\@}6iL@y}6<}6{e>}6H#`Ǐ?11]ݱ`ֿ?@@r ?@D?)~6\@ ~6E_;I~6CɫYY)Y YIYY@y[OGZ****** received transponder code query ******F****** received ping request ******ie@a e@)eߏ@Ie@ie@}ELM}H=Y}뀻QU}>a(EwDyg=}>Iȑ :ŕp #5? :ŕL, ƕ?A ?9ƕCǕ: ȕ:)ȕ:Wi@WX XW:W2W*WVbUBU*UUUZ @BB BA!9*BAb<AAAD<"CcRCCi@CFӅIGj> /  7:Y y 5) ӓ;9 tq,fEAY}2}^@}2qN@y}2љ<}2"=}2HNE?@5?@2Ͼ?b?)~2}^@ ~2"_;I~2Cɫ99)9 =I9Yuŧ@y}iNGxDUSBL response received:!U1,P 37C,000,00A01,189,80,80,B0,FF Command AckBRequesting micromodem ping code 2i]Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 鿉jMD=YQU%>19a=(EEDQye=}>I!"5?w, 5A ?96Cn< <)W%@W!X) X)W):W12W1*W9VbUBU*UUU @BrB  B A C?*B A 5W<A A AX<"CRC9C=@C9IA IQ G >I ) @ADzq,WEAY}F`@}F}P@y}F$Ƨ<}F=}FH ⶽ?@[H?`d`n? ?)~F`@ ~F&_;I~FCɫ )iE}nGIY)) aIaiqY{@f̿ٺiAyNG鮭a=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B urMuB=YuMQUu>yya}(E}Dy]=}>Iȉōt"5?ō - ƍ-A ?9ƍTCǍM: ȍ{:)ȉW@WX XW:W2W*WVbUBU*UUU#@Bx8B BAA*BAN<AAA ʝ<"CRCC@CIMhAUd>9QIUHGiU@U"=QQU; UE9IG%n>  } }  :2:Y kS1y Ԋ: %5) 6;ԗq,EA|;|Y}Bb@}B2R@y}Br<}B{>}BH `[?`rnÿ`[d@?@??)~Bb@ ~B14`;I~BCɫQY)Y ]IYY@yNGMxDUSBL response received:!U1,R,502,000,009E6,189,80,80,AA,FF uFpublishing direction and range infoEf3AɰEO>A A)E*CIAyEBEw?amf-ٱA  ;M A=Y BQU>a(EDy =}%>II M:M"5? U:M&. M&A ]?9MuCMR6; M;)M:WM@WX XW:W2W*WVbUBU*UUUH@P *Q BZQ `I@K(CYJQ w?amf-2Q f3:Q bQ  -Pڵ^W@x+RQ 1'"?"uBQ )I @ Q BQ oP l9?P k9?P Q Q  "Q B}aB BAXA*BA C<AAAy<"CRCCM@CשIG>8q,k EAY}2d@}2T@y}2<}2>}2H@t?rcǿ2/S??µ?)~2d@ ~2_;I~2CɫYa)a eIiY@ysMGDNmea in: $SNTTA,,,,,012456.43*5D I54=)1d;O?J +?~jth?H> D)IyCl?MbX9l??ʡ= A)V AIAiA2M%[=Y% QU%>))a-(E-D1y5=}5>I9=j"5?=. =2A E?9=C=/: =:)9mu}Added new target pos. range: 114.540001 m, bearing: 124.695116 deg, deltaT: 4.479520 s, approachRate: -0.361647 m/s, LOS rate: -0.248353 deg/s, posRepo size: 4m ProNav: pos range: 114.540001 m, bearing: 124.695116 deg, approachRate: -0.361647 m/s, LOS rate: -0.248353 deg/s, cmd update: -0.745058 deg/s, cmd heading: 244.502335 deg, new cmd heading: 242.562463 deg. W h@WX XW:W2W*WVbUBU*UU`\@UY?B=B BAE*BA:<AAA<"Cm,RCC h@C?΅IGEs> =i p=     B5:Y T1y : 59 @E e>9A IE FGiE @E !=E QDA E ; E E)݊yCI݊yCiي݊"=݊"=݊5ꍶq,$_:EAY}:if@}:DV@y}:XO<}: >}:H@NJ5-?`%'`ʿ@|}? 鑿 U?H?)~:if@ ~:^_;I~:Cɫ99)9 =I9Y}@y}LG @ @ @RMR=Y(QU>a(EDyT=}>I :ʨ"5? :_/ >A ?9Cw: A:):W}>@WX XW:W2W*WVbU BU *U UU?B=#9B9 B9A=I*BAAE0<AAAAAER<"CMRRCICU}>@CQeFӅ9IIGeU>=Ҕq,8TEA|i|Y}6g@}6< X@y}6E<}6,>}6H@z@`*?@`ܯͿ -?@萿?@??)~6g@ ~6O_;I~6CɫYY)a eIaYO@yLG5eM=R=Y=y%QU=>AAaE(EEDAyMz=}M>Iȡť"5?ť|0 ƥLA ?9ƥCǥ': ȥ7:)ȡW@WX XW:W2W*WVbUBU*UUUFC?B :B BAJ*BA#&<AAA*<"C%-*C%RC!C%@C)a9IQG}X> 0 } }  7:Y kS1y Ԋ: 5yq,^nEAY}i@}Y@y}1z<} =}H@b`y#?`s`_п t?[`? C?)~i@ ~'_;I~Cɫ11)1 =I9Yu٥@yu LG  E E E E@ E@ E@E©EEiE@E E)EQ@IE3@iEV@U`M]9=Y]u2QU]>aaae(EeDiymd=}m>Iq }:u?"5? }:u2 u]A ?9uCu: ub:)u:W @WX XW:W2W*WVbUBU*UUUt(?B 6B  B A N*BA<AAA"<"C%nRCC @C!d>9IEGi@ = E=?΅I!G=r>K䡶q,FEAY}2Kik@}2̈́[@y}26^<}2=}2H@ A?L L3ҿ@ʁ f?Ƌ??)~2Kik@ ~2^_;I~2CɫAA)I IIQY9@yGKGJMP=Y\QU>!)a-(E-DIyUr=}U>IY]@n"5?]3 ]nA e?9]C]߼: ]r:)YW @WX XW:W2W*WVbUBU*UU U `Q?B5?FB1 B9A=S*B9A=N<A9A9AE<"Ce1*CiRCiCm @Ci}FӅQIiG|> a    ;:Y V1y : 75]q,.ʡEA||p;Y}>m@}>]@y}>-dH<}>c=}>HbZ O?`@Կb4y0?\ o?@?)~>m@ ~>W_;I~>CɫYY)Y ]IYY@yJGZd;O?I +?j?94< )IyX9v?QX9v??< !A) AI=AiAAMK=Y ZQU>a(EDyή=}>I  : yZ"5? : }7 ~A ?9 %C ; #:) :W=v@W9X9 XAWA:WA2WA*WAVIbUIBUI*UIUQUU@B}=TB}y= ByAU*BA˅<AAA-#<"C-RC1C5v@C1Y9IYGuy> 9 I DGi @ = ; E8q,EAɫ髹) IY@y'KGIa=)=   Q8=-ni@ )@Ī@ī@t]<ML=YQU>a(EDy}>IRF"5?2; A ?9DCY: Q:)W%f@W!X! X!W!:W)2W)*W)V1bU1BU1*U1U9U=$@REB*** querying acoustic contact ***PAPAB}NB BApT*BA9;AAAɪ<"C&R*CRCCf@C֡yIGa> 2    7:Y W1y č: 5) ;9 !q,fEAY}R,q@}Ra@y}R]<}R=}RHqk? ~& Vؿt꺺??? ?)~R,q@ ~RkP_;I~Pɫ髑) IYL@y$JGZ****** received transponder code query ******F****** received ping request ******YYa](E]DayeW)>}m>Iqu:3"5?u? uA ?9ucCu: u:)qWm:@WqXq XqWq:Wq2Wq*WyVybUyBUy*UUUQt @BfTB BA [*BA;AAA쓬<"Cc*CRCC:@C)IGn>2Nq,#kEA|@i|@Y}z9s@}zyUc@y}z~mk<}z>}zHV{:?D ٿ`!`9ܙIܝDGiܝb@ܝ=ܙܙܝ; ݝE}C>}D}v>>i}@y }t@)}@I}i}V@:M =Y:QU>a(EDyjC=}>I  :"5?  :E A ]?9C=< 7><):W=@WX XW:W2W*WV bUBU*UU!U- @B3<;B BA%Z*B!AMؤ;AIAQAUӲ<"Ce<*CaRCaC=@C5 k 5 }5 }5  5 [<:Y5 kS1y5 Ԋ:5 %5)5 ;ѝ <֩ ׉ I G >(öq, EAY}˳t@}Md@y}Ga<}F>}HW a(E"Dyin=}>I"5?/J A ?9Cv: :)W܆@WX XW:W2WA*WIVIbUIBUQ*UQUQU]K@BvB BA b*B A <ê;A AAp<"C=Sf*CARCACE܆@CI=H=) I G5 >'ɶq,f&EAY}2)nv@}2f@y}2E8J<}28>}2Hݩ:"?OqܿvH??F +?>?)~2)nv@ ~2 _;I~2Cɫ99)9 =I9YE@yHGxDUSBL response received:!U1,R,D4A,000,009D2,189,80,80,B1,FF Fpublishing direction and range info ?ɰM>鰱 )1CIyBOXO?0}7?ٱMp=YuQU?a(E-DyJ=}?I  :b!5?  :3N A  ?9Cw: :):W5e@W1X1 X1W1:W92W9*W9V9bUABUA*UAUAUE`@PQ*QUBZQUpKW@f%j!P@JQUOXO?0}7?2QU ?:QQbQU/KFgYXD@RQU7j{߿aڣ>?)4?BQUE@ QUQUi\PU9?PUl9?PU0QQQU(@A"QU BB BA@c*BA;AAA<"C*CRCCe@Cѵ=іCi3oGIiUͿٺGA?΅בIG>]Z ]]] ];:Y]WU1y]:]59e@g>9IBGi@ =; Eжq,O@EA|<|>;Y}^^x@}^yh@y}^=7<}^=}^Hi8?Z%?*޿?(` ? ?)~^^x@ ~^ _;I~^Cɫ髑) IYg@y IGuDNmea in: $SNTTA,,,,,012500.88*58 =rhni@  @)t@I @i @<M;=Y'QU>a(E;Dyލ=}>I!5?S A  ?9C]: U:)m5}Added new target pos. range: 113.340004 m, bearing: 240.851185 deg, deltaT: 4.406962 s, approachRate: -0.272296 m/s, LOS rate: 26.357401 deg/s, posRepo size: 4m=ProNav REINIT: LOS rate is 26.357401 deg/s. Setting heading cmd to target bearing of 240.851185deg and heading rate command to 0 deg/s.W=E@WAXA XAWA:WA2WI*WIVIbUIBUI*UQUUU\@UU?B]B BA6b*BAAE {;AAAAAE<"CM+*CIRCICUE@CQYY)a a FӅ׹ I G >9ֶq,7ZEAY}2Jz@}2:fj@y}2i1<}2=}2H@?"(߿`֖ UW?#@p?`n?)~2Jz@ ~2^;I~0ɫ99)9 =I9Y]?@y]GG'ƽM[=YᐺQU>a(EGD y ݤ=} >I :I!5? :X A %?9CY: #:):WWX XW:W2W*WVbUBU*UUUi?B @B  B A xk*B AʪN;AAAYӵ<"C**CRCCC!!I G%M>]YY] ]3:YYyY]5cܶq,4sEAY}26|@}2l@y}2*2<}2=}2HP%?@.\ )F$?8E˼?`?)~26|@ ~2_;I~2Cɫ99)9 EIAY}@y}|HG5\o?595CIIaM(EMTDQy]d=}]>IaeB!5?e^ eA m?9eCe: e{:)aWi>9IAGiz@!=; E)1I1i15 =5 =5\5WX) X)W1:W12W1*W1V1bU9BU9*U9U9UE?BypB BAe*BAF;AAA<"C+*CRCCC?΅יIGb>:Oq,EA|0i|0Y}N}@}Nm@y}Ne1<}N%=}NH@G /1?@P U`Ӷ?,@y??)~N}@ ~N^;I~NCɫ髉) IY\@yGG"~?y&1/$?3?` <)Iy|?5^?V-Mb??= )IAi=A A2M@=Y_QU]>aaae)EecDiyme=}m>Iq }:u!5? }:ue tI uA ?9u6Cuw; uf;)u:WWX XW:W2W*WVbUBU*UUU`?B ?zB BAj*BA z:A1A1A5p<"CE,*CIRCICICQuFӅIIYGuz>UE QQU US9:YQyQU5uq,EAY}::@}:PVo@y}:K&<}: =}:H`q ?:@M`'?߄ݑ?e?)~::@ ~: ^;I~:Cɫ99)9 =I9Y}%@y}}GG>i=5M=V=Y=OںQU=>AAaE)EEnDIyMێ=}M>IQU}!5?Uk UA ]?9UQCU߼: U:)QWWX XW:W2W*WVbUBU*UUU9@BAB BAGl*BAy:AAA_<"C+*CRCCCסIGA>j>9zCI@Gi؜@ =; E]q,EAY}2@}2(q@y}2;<}2H=}2H?GY8`Ɛ?x܁:??)~2@ ~2^;I~2Cɫyy)y yIyY@yFG @ @ @Ý©ÝÝiÝ@Ý ĝ)ęIĝV@iĝ @rMC=YeQU>a)E|Dy=}>Ia!5?)s A ?9pCg: 1:)WWX XW:W2W*WV bU BU *U UU`@B=+kB9 B9AEo*BAAE|69AAAAAE(<"CM,*CQRCQCQCQցYIaGY>]' YY] ]6:YYyY]5)]F;9eƇq,cEA||Y}N@}N)u@y}N1;}N>>}NHDz(?X uI?z?f?Q?)~N@ ~N_;I~NCɫyy)y }IyYY@yFGMY=YE̻QU>a)EDy*>}>I :!5? :^z  A ?9C : 8:):W!W)X) X)W):W)2W)*W1V1bU1BU1*U9U9U=`Ә@REB*** querying acoustic contact ***PAPABm Bi BiAmr*BiAuվ AAA>i<"C+*CRCCC?΅IGI>q,>EAY}F{@}Fxw@y}F- ;}F>}FH@M? `긿`p?`Au '??)~F{@ ~FA_;I~FCɫii)i mIiY)@yGFGZ****** received transponder code query ******F****** received ping request ******eߏ>e,ie…@e ē@)aIe@iē@mcMuA=}k>9yI}0@Gi}5@}=yy}; }EY5QU>a)EDy =}>IȩŭSu!5?ŭ܂ ƭA ?9ƭCǭ: ȭ:)ȩWWX XW:W2W*WVbUBU*UUU D @B5B1 B1A5%t*B9A=yA9A9A={<"CE,*CaRCiCiCy֝FӅqIG~>]B ]]] ]9:Y]T1y]:]J5)]";ʙq,CEAY}Jr@}Jy@y}Jw;}J>}JH*oX?$X2f?n`?7?)~Jr@ ~JT_;I~JCɫYY)Y YIYY@yEGxDUSBL response received:!U1,P D4A,000,009D2,189,80,80,B1,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 u-?~jt?MbX9u?>u> uʡ)qIqyu +?Mba)EDyp=}>Iȱ :ŵb!5? :ŵ׍ Ƶ,A ?9ƵCǵ: ȵj:)ȵ:WWX XW:W2W*WVbUBU*UUUZ @BU˃Ba BaAew*BiAm)AqAqAu <"C+*CRCCC׉ I G > q, )EA|i|Y}6_@}6z@y}6$Z:}6>}6H`=9?KҹuR`?C Z0? ج?)~6_@ ~6s#_;I~6Cɫ11)1 5I1Yu-@yuEGup=ɮua=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5uM5=Y=@QU=?9AaE)EEDAyM=}M?IQUW!5?U} U5A ]?9UCUM: U:)QWWX XW:W2W *WVbU!BUI*UQUYU]L@BM8BI BIAM|*BIAMeDAQAQAUq]<"C],*CYRCyCC֑iIqG~>U U}U}U U4:YUkS1yUԊ:U59]@mn>9iImh?Gim@iiim; mEq,,BEAY}>H@}> |@y}>Gz?}>= >}>H I%Z?츿`^i&?HG?Y?@a?)~>H@ ~>!^;I~>Cɫyy)y yIyY{@yqEGxDUSBL response received:!U1,R,502,000,009C7,189,80,80,8F,FF Fpublishing direction and range infof3ɰ M> )CIy\Bw?amf-ٱ=i -@ -@ 5@-©--i-Q@- - @)-?@I-V@i- @E<MEJ=YEQUE>IIaM)EMDQyU=}]>IY e:]iI!5? e:] ]BA m?9]C]=: ]:)]:WWX XW:W2W*WVbUBU*UUU@P*Q\BZQVvH@e-WYJQw?amf-2Qf3:QbQ`f Z7x@@㹉h+RQ+۴.CH7;J?@8"BQP5@ QBQP9?P9?PIQ0Q "Q(@ABB BAy*BArAAA#<"C+*CRCCCyYIaGY>%q,\EAY}$@}d~@y}@}>}H? 򱷿^ViR?b?%F?@?)~$@ ~Ķ^;I~Cɫ) IY-ܟ@y-DGTNmea in: $SNTTA,0.082197,,,,012505.35*40 )í= í=:M@=YsQU>a)EDpmy=}>I:!5? QA  ?9&Cb: ӻ:)m=Added new target pos. range: 112.680000 m, bearing: 162.321249 deg, deltaT: 4.456039 s, approachRate: -0.148114 m/s, LOS rate: -17.623261 deg/s, posRepo size: 4m!ProNav REINIT: LOS rate is -17.623261 deg/s. Setting heading cmd to target bearing of 162.321249deg and heading rate command to 0 deg/s.WP5@WX XW:W2W*WVbUBU*UU +\@U@ǜ?BUBQ BQAU~*BQA}ݲAyAyA}C$<"CRC[)zCP5@CM?΅!I1UUUU U1:YUW1yUč:Uܾ5Ge>i- %nGIA iQ U̿ٺ ZAq,vEA||Y}6'@}6@y}6^E}6x=}6H@? K<C ? ֫h? ν?@?)~6'@ ~6={^;I~6Cɫyy)y yIyY@yiDGEo>9AIE<>GiE@AAEDE; EE   õ&>õSõ=iõ@õ ĵ@)ĵ@Iĵ@iĵ@yMM=Y}QU>a)EDy=}>I :U-!5? :̱ `A ?9DC<: :):WWX XW:W2W*WVbU!BU!*U!U!U-S?BUBQ BQA]&*BYA]7AYAYA]<"Ce# RCeBCiCim!I1GM1>#q,aEAY}6Eň@}6Ӏ@y}6 }6=}6H#I ?`'?aq?`G? ?)~6Eň@ ~6^;I~6Cɫ99)9 9I9Y}@y}WDGI)I)}uV?{GzQ롿}r(?}# }\)yIyy}m?I +Mb?}?}94}< }Z$A)}E AI}Ai}Ay}AEMEC=YM?QUM>qqa})E}Dyyn=}>IȑŕI !5?ŕ ƕoA ?9ƕcCǕ: ȕg:)ȑWWX XW :W 2W *W VbUBU*UUU@c?BeB BAa*BA˻AAA<"C" RC3CC֝JzqIG~>QiU=]L ]y]y] ]9:Y]P1y]':]o5 *q,!=EAY}6Ⓣ@}6@y}6}6=}6H[?vm@@ ͱ?w?`b??)~6Ⓣ@ ~64`;I~4ɫ99)9 9I9Y}͞@y`CG]MeZ=YmrQUu>a)EDy=}>I!5? }A ?9}CO< B<)WWX XW:W2W*WVbUBU*UUUe?Be棽B BA*BAAAA<"C'RCFCC&lmׁIG=>=q>9={CI==Gi=N@999=; =E)ݭzCIݭzCiݩݭ=ݭ=ݭ440q,;EA|i|Y}>v@}>z@y}>-&}>=}>H?@3`?}??@?)~>v@ ~>`;I~>CɫYY)Y ]IYY@yCGÕO>Õ9ÕiÕz@Ñ ĕb@)ĕ@Iĕ@iĕ@O<MF=YaQU>a)EDyi=}>I : !5? :& A ?9C=: :):WWX XW:W2W*WVbUBU*UUU=@B- ѥB1 B1A5v*B1A5SkA9A9A=d<"CERCE=CACAM-B IGU2>m mmm mk5:YmX1ym/:mI5 $7q,VEAY}6^@}6l@y}6}6`=}6H5,?dO@ j?Kc?`W??)~6^@ ~6߉_;I~6Cɫ99)9 =I9Y}@y}CG=i= 6MT=YQU>!!a%)E% D)y-b=}->I15 5?5 5A E?95C5b: 5:)1WWX XW:W2W*WVbUBU*UUUM}@B]r&BY BaAm_*BiAu AqAqAu<"C}ԄRC}>CyCM":!I)GM1>N=q,1EAY}21@}2?@y}2 }2s}=}2H ?9 je V.? ? ??)~21@ ~2U_;I~2CɫII)I IIIY}x@y}BG@AjAs>9It=Gi@; E?5^@i…@ )Ii M K=YӺQU>a)ED!y%Ղ=}%>I) 5:-* 5? 5:-\ -A =?9-C-: -:)-:WYWYXY XaWa:Wa2Wa*WaVabUiBUi*UiUiUu`^@R}B*** querying acoustic contact ***PyPyB|B BAք*BAAAA}<"CM"RCM#t>CQCQM潹I!GM0>u7 u|u|u u58:YuR1yui:u5)u`;9}(6Dq,EA|4<|4a)E%DyH=}>IȹŽ 5?Ž: ƽA ?9ƽCǽ; ȽZ;)ȹW)W)X) X)W):W12W1*W1V1bU1BU9*U9U9U=7B @B؁B BA=*BA^m*AAA}<"Cu(RC >CCֽόבIG>=`Jq,+EAY}:@}:ß@y}:5}:=}:H[d? _A?ڼ?@舸??)~:@ ~:^;I~8ɫ99)9 9IAY]Z@y]BGuxDUSBL response received:!U1,P 502,000,009C7,189,80,80,8F,FF uCommand Ack}BRequesting micromodem ping code 2iIA)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Im=)m=5?:i׋@ )@I@i@!M;=YjQU>a)E3Dy\@=}>I : 5? :  A ?9C; ;):WWX XW:W2W*WVbUBU*UU U  @BB BAL*BA:A A A 5<"C%V[/RC!C)C19I=Gi@=; E] ]~]~] ]4:Y]T1y]@:]\5)]X;u01 I9 G] >!HQq,F`EEAY}2=@}2K@y}2]W}2>˯=}2H`^߿ ?p * =a߿ |?X?`?!?)~2=@ ~2_;I~2CɫII)I MIIY]@y]AGea=ɮe=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M|=Y ѻQU ?!!a%)E%=D)y-Y=}- ?I15T 5?5 5,A =?952C5: 5:)1WaWaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU} @BJѽB*G= BA*BAWDAAAC<"C52RC1C1C1-mIG )>fsWq,5@_EA|i|Y}>:@}>@y}>C}}>D=}>H:@ ~>J_;I~>CɫYY)Y YIYY@yBGxDUSBL response received:!U1,R,46C,000,009D2,189,80,80,93,FF Fpublishing direction and range info'|ɰM> )CIyBՉ?&jٱ5N<M5H=Y=[QU=>99aE)EEJDAyMR=}M>IQUj 5?U UZA ]?9URCU: U:)QWyWX XW:W2W*WVbUBU*UUU@P*QBZQTQh2O@O9@ɧWJQՉ?&j2Q'|:QbQ~m*\q|{$L9RQ ÷d "4gFUBQ.N@ Q#QSPާ9?P9?PQIQt"Q B4>B BA*BAfRAAA*<"CZ8RCCC 'IG(>r || <:YR1yi:59@]q,myEAY} s@} V@y} p} !:=} H@rmݿ U?4Qi>ݿ@?6s?ڟ?@?)~ s@ ~ l^;I~ C}t>9yI}11a5)E5XD9y==}=>IA M:E 5? M:E EA U?9EtCE: E:)E:muAdded new target pos. range: 113.340004 m, bearing: 185.194268 deg, deltaT: 4.442113 s, approachRate: 0.148579 m/s, LOS rate: 5.149131 deg/s, posRepo size: 4m- ProNav: pos range: 113.340004 m, bearing: 185.194268 deg, approachRate: 0.148579 m/s, LOS rate: 5.149131 deg/s, cmd update: 12.000000 deg/s, cmd heading: 162.321249 deg, new cmd heading: 162.321249 deg. W-k;@W1X1 X1W1:W12W1*W9V9bU9BU9*UAUeU\@Ue?BB BAY*BAbAAA0<"CԒ>RCCk;@Cu2=ױIGe>Ia)a:dq,EAɫ髙) IY+@y^AG HzG?Mb{Gzt =*? @ ף) I y X9v? rhI + ? C 94 1 A) nAI =Ai A  A%.\M-J=Y-QU->11a5)E5eD9y=}=>IAE 5?E* EA U?9ECEH: E:)AWuP@@WqXq XqWq:Wy2Wy*WyVybUBU*UUU`?BB BA *BA=oAAA <"CCRCCP@@Cڍ=ֽy=בIG>] ]~]~] ]5:Y]T1y]@:]85Ojq,̬EA|;|;Y}F@}F@y}F4}F=}FHcܿ!r?L`ܿ0ޫ?Tf?A?`?)~F@ ~Fig^;I~FCɫaa)a mIiY@yGAGAAi}nGIiοٺAÕ1>ÕВÕl>iÕf@Ñ ĕ@)ĕ@Iĕb@iĕb@MC=YQU>a)ErDy<}>Iȹ :Ž 5? :Žr5 ƽA ?9ƽCǽU: Ƚ:)Ƚ:W/F@WX XW:W2W*WVbUBU*UUU@?B-B) B1A5U*B1A5¶~A1A1A=<"C=fGRCACE/F@CA%B=V >׹IGf>}u>9yI}Hya)E~Dy }>Iȑŕ 5?ŕ]? ƕ~A ?9ƕCǕ: ȕ:)ȑWK@WX XW:W2W*WVbUBU*UUU?BĽB BAn*BAᅼA A A `<"CG@RCCK@CG=1>>׹IGg>]]]] ]y0:Y]T1y]:]5Vwq,EAɫyy)y }IyYj@yq@G]xM]L=Y]QUe>aaae)EeDiym}m>Iy }:} 5? :}8J }zA ?9}C}: }k:)}:W&tP@WX XW:W2W*WVbUBU*UUU.@Br#B BA *BAtAAA<"CՉF@RCC&tP@C)  ]:Wt>1I9G]>d}q,]EA|i|@5v>91I5;Gi5@1115; 5E)ݽ{CIݽ{Ciݹݽ=ݽ=ݽry5ɫyy)y }IyY:@y6@GuG?u~?u!iu@q u@)u@IuE@iu@`M?=Y!QU%>!!a%)E-D)y1}5>I9= 5?=U =wA E?9= C=: =:)9Weu2V@WaXi XiWi:Wi2Wi*WqVqbUqBUq*UyUyU} A@B3B BA͍*BA䔼AAA<"C1F@*CRCCu2V@C֭<->aIqG9>  4:Yyܾ5)5;9҄q,d:EAY}2LՍ@}2@y}2}2W}2H@T ?@0?{& Qdž? i? gƝ?)~2LՍ@ ~2Kz_;I~2Cɫ99)9 EIAY@y@G jt?Zd;OV-? ?j< <)Iyx&?V-kt?7)?m 0= … A)…AI…hAi…AA>MS=Y.ڼQU>a)EDyJ}>Iȹ :Žww 5? :Ža ƽA ?9ƽ+Cǽ{: ȽA:)Ƚ:Wf[@WX XW:W2W*WVbUBU*UUUs@R B*** querying acoustic contact ***P P B$ŽB BAb*BAEAAA<"C= H@RCCf[@C>׹IGf>q,{.EAY}z}!@}z?/@y}zX}zD}zH-'?Ĵ?Bgt B?KAq?)~z}!@ ~z4`;I~zCɫ) IYU@yU?G]Z****** received transponder code query ******]F****** received ping request ******e19a=)E=D9yET}E>IIMi 5?MSn MA U?9MNCM: M:)IW}xa@WyXy XyWy:Wy2W*WVbUBU*UU)U-@A @BU7ĽBQ BYA]*BYA]xAYAYA]e<"CGRCCxa@Cֹ%x>9%|CI%;Gi%f@!!!%|; %EױIG>}}~}~} }/:Y}T1y}@:}5)}%;䑷q,GEA||499aE)EMDy }>I\ 5? z  A E?9pC ; ;)Wef@WX) X)W):W12W9*W9VAbUBU*UUUx @B ǽB  B A ]*BAҫAAAw<"CBRCCef@CaY1I9G]>iq,`aEAY}65z@}6@y}6I}6#}6H?@?Z@E '? eĿ?)~65z@ ~6b;I~6Cɫ99)9 =IAYk@y6?GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IEC=)ER=uMMuC=Y}ҵQU}>ya)EDy}>Iȑ :ŕN 5? :ŕE ƕ]A ?9ƕCǕ: ȕA:)ȕ:Wk@WX XW:W2W*WVibUqBUq*UqUqUu`ND@B ֽB BA *BAAAA<"C&=RCCk@C6Ʌ>I GUu>}}}} }z.:Y}WU1y}:}&59@^:q,2{EAY}B@}BF@y}B#h'}BbA}BH@GG?t? `H@;?`zȿg?)~B@ ~Bc;I~BC\^<b{>9`Ib;Gib@b=``bu; bEɫQY)Y ]IYYȚ@yn>G xDUSBL response received:!U1,R,2C6,000,009E6,188,80,80,91,FF Fpublishing direction and range info  ɰ O> > ) CI y B u; ?d`ٱ }>}>}9>i}@y } @)}̄@I}@i}@"HMI=Y QU>a)EDy}>Iȡť? 5?ťА ƥA ?9ƥCǥ: ȥ#:)ȡW/ q@WX XW:W2W*WVbUBU*UUU`@P*QBZQ'4OW@ftPJQu; ?d`2Q:QbQBtZ= DBeY<^TI0@RQ?FKa iԿ;iPIGn>#q,EA|Pi|R@Y}EЉ@}E[ށ@y}E4}EGDNmea in: $SNTTA,,,,,012514.24*5B Ul?NbX9ȿMb`U?UE U)QIQyUʡE?{Gzt?{Gz?U-?Uף;Uף< U A)US)AIU=AiUAQU Am̻Mu<=Yu#QUu>yya})E}Dyyo}%>I) 5:-2 5? 5:- -A 5?9-C-U: -]:)-:muAdded new target pos. range: 114.540001 m, bearing: 198.796959 deg, deltaT: 4.455986 s, approachRate: 0.269300 m/s, LOS rate: 3.052678 deg/s, posRepo size: 4m ProNav: pos range: 114.540001 m, bearing: 198.796959 deg, approachRate: 0.269300 m/s, LOS rate: 3.052678 deg/s, cmd update: 9.158035 deg/s, cmd heading: 215.790034 deg, new cmd heading: 221.230871 deg. Wu@WX XW:W2W*WVbUBU*UU`\@U ?BʽB BYA]*BYAeԿ¼AaAaAe<"Cm'2RCiCmu@Cq֑i}^ }|}|} }Q;:Y}R1y}i:}\5IG>Mq,@hEAɫ) IYe;@ym>G 5>5T5li5׃@1 5@)5@I5@i5@E/,=MEM=YEQUM>IIaM)EMDQyU}U>IY]!( 5?]= ]A m?9]C]: ]z:)YWy@WX XW:W2W*WVbUBU*UUU߅?B4޽B BȂ*BA}ɼAAA<"CGl-RCCy@C֕6Ʌ>}>9Id2q,6EAY}2p@}22+@y}2E}2Kl}2Hs?`_0? L`&?@JͿ`?)~2p@ ~2=a;I~2CɫII)I QIQY}@y}@>GOM`=Y0QU>!!a%)E%D)y-}->I1 =:5 5? =:5E 5 A E?95 C5: 5:)5:WetG}@WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU}`?BKB BA+*BAkмAAAX<"Cu4(RCue4>CutG}@Cyօ?΅>aIyG]>}}}} }-:Y}V1y}:}5\q,EEA||Y}6K@}6N~@y}6;I}6q}6H@HT?@?tj9*L$?Ϳ@?)~6K@ ~6Pd`;I~4ɫ99)9 =I9Y]ޚ@ye>G<MJ=Y?#QU>!!a%)E% D)y-}->I15% 5?5 53A E?95(C5r: 5;:)1We@WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqU}?B6#ڽB BA>*BA^ؼAAA<"CC#RC(U=C@CV}>׉IG>ienGIyiʿٺ޻Aq,EA6>94I6=Gi6@6=446f; 6EY}jc@}jJ,|@y}jҡT}j] r}jHK ?`V?`rI,?Ϳ?)~jc@ ~j_;I~jCɫ髹) IYk@y=GIm=)m=õף>õlõ W>iõz@ñ ĵ @)ĵ@Iĵiĵ@M@=YջQU>a)EDy}>I :  5? : ]A ?9GC: :):W=@WX XW:W2W*WVbU!BU!*U!U!U-`_2@BUٽBQ BQAU *BYA]+AYAYA]B<"Ce"eRCeTCe=@CimC#P>!I1G]3>u=iu=qq P0:YK1y̅:5);9pŷq,FEAY}J@}J,Mz@y}JPf}J;o}JHm`Z?? :`Nu`<Ƭ?` Ϳ?)~J@ ~JZ_;I~JCɫqq)q yIyYc@y-?G"~j?DlˡE?SC?O =)IyK7A`?L7A`?V-?+?+=< A)p7AIAi"AA=MH=Y,QU>a)E&Dyk}>I5?? A ?9jCD:  :)W5@W1X9 X9W9:W92W9*W9VAbUABUA*UAUIUMx@BuBڽBq BqA})*ByA}AyAyA}Al<"C9RC"˽C@Cօ4>AIIGe4>2˷q,J0EA|(i|*@Y}F`@}Fvx@y}F}t}Fk}FH zp ?ON? '"i@1|?.ͿT?)~F`@ ~FS0_;I~Dɫii)i mIiYB@y?GAA#=,9ī@ ̄@)̄@Ī@ī@%/M%W=Y-QU->11a5)E53D9y=Tr}=>IAE5?E EA M?9ECE: E]:)AWuI@WqXq XqWq:Wy2Wy*WyVybUyBU*UUU@@RB*** querying acoustic contact ***PPB.B BA*BAAAA`<"CRCE}8CEI@CI=4>I!G=Q>m>9m}CImt=Gim@iiimk; mE)|CI|Ci84uuuu u/:YuWU1yu:u5)uH;ҷq,JEAY}2ȃ@}2w@y}2Dx}2k}2Hh??GB> ?`eͿ|?)~2ȃ@ ~2E_;I~0ɫ99)9 9I9Yu@y}?G}Z****** received transponder code query ******F****** received ping request ******!!a%)E-?D)yu:}}>Iy :}|5? :}o }A ?9}C}: }]:)}:W@WX XW:W2W*WVbUBU*UUU @BmVڽBq BqAu㏿*BqAuFAqAyA}<"C} RC C@Cօ$>AIQG}7>طq,YdEAY}2'@}2kv@y}2w}2h}2H"@@?o?q@ ?@̿ ?)~2'@ ~2b_;I~2Cɫ99)9 9I9Y]ϛ@y]?GexDUSBL response received:!U1,P 2C6,000,009E6,188,80,80,91,FF eCommand AckeBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 <MP=Y:QU>a)ELDy-K}5>I5?2 $A  ?9CK< H <)WzE@WX XW:W2Wi*WqVybUyBUy*UUU@"{ @B-ֽB1 B9A={*B9A%*A!A)A-J<"C=<RCYCezE@Ciֽ6[=U  ::YT1y:59@שIG>e >9a Ie <>Gie @a a a e i; a |޷q,r~EA|4<|Y}FFy@}Fu@y}FVz}Fi`}FH`ϯ }??MD`hE?W˿ z,?)~FFy@ ~F_;I~FCɫYY)Y aIaY@y@G鮥p=ɮR=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B íLí=íZ>ií@é ĭ@)ĩIĩiĩȗ<M:=Y>ɺQU>a)EZDyK}>I :ٱ5? : WA ?9C=: I:):W 4;@W X  X W :W 2W*WVbUBU*UUU`D0@BE BI BIAMp*BIAUAQAQAU%<"C]HRCYC]4;@Ca-ڍ=IG]3>ȼq,EAY}>@}>s@y}>dـ}>,R}>H`z (? ]?{}#@t?@H ʿ /D?)~>@ ~>_;I~>Cɫyy)y }IyYj@yq@GxDUSBL response received:!U1,R,502,000,009EE,189,80,80,76,FF Fpublishing direction and range infof3ɰ=P>鰥7> )BIy Bw?amf-ٱI=)%=M ףp= ?~jt?~jt?MQ?M< MD=)IIIyM/$?Mb`?y&1?M,?M;M`e< I)M4AIMAiMZ$AIMpAm<MmR=YmQUu>11a5*E5gD9y=2}=>IAE5?Ef EA U?9ECE: Ej:)AW^@WX XW:W2W*WVbUBU*UUU`B@P*Q BZQ8I@2tYJQw?amf-2Qf3:QbQX']ϮHYʱSH@fNr48@RQƕ#쿣$X?/?BQ,@ QDBQEP9?P9?P:QQA"QABM ۽BI BIAU *BQAUAQAQAU<"C]RCYCe^@Caօu=iup=c  ;:YV1y:J5q,EAY}nΜ@}n Us@y}n;3}n3E}nH7 ?|?`G `缿`w?"ȿV?)~nΜ@ ~ng`;I~lɫ) IY@y@GuDNmea in: $SNTTA,,,,,012518.68*5F -??- -"۽i-z@) -t@)-@I-Σ@i-&@=;M===YExQUE>AAaM*EMtDIyU}U>IY e:]5? e:] ]A m?9]:C]; ];)]:m}Added new target pos. range: 115.020004 m, bearing: 154.083098 deg, deltaT: 4.471249 s, approachRate: 0.107353 m/s, LOS rate: -10.000306 deg/s, posRepo size: 4m ProNav: pos range: 115.020004 m, bearing: 154.083098 deg, approachRate: 0.107353 m/s, LOS rate: -10.000306 deg/s, cmd update: -12.000000 deg/s, cmd heading: 256.703343 deg, new cmd heading: 260.398986 deg. Wg@WX XW:W2W*WVbUBU*UUG\@U p?BviB BA*BA/ AAA="C{RCCg@CewּסIGA>9Ih?Gi@=PDg; Eq,TEA|i|@Y}6@}6hGs@y}6}68}6H< =?`gw?3jcp?@ƿdj?)~6@ ~6)_;I~4ɫ99)9 =I9Y}j@y}AG=k=M=]=Y=OI:QUE>AAaE*EEDIyM;}U>IY]$}5?] ]A e?9]ZC]¿: ]:)YW0@WX XW:W2W*WVbUBU*UUU?Bg5B BA*BA&e AAA="CYRCC0@C֭@IG*>G  |9:Yy5q,+EAY}6@}6s@y}6 ~}6[&}6H#8??@k @`]?`ɽĿ@Ń?)~6@ ~6G;`;I~6CɫYY)Y YIYY5@yBG 5_|=M=K=Y=;QU=>AAaE*EEDIyMK<}M>IQ ]:UMk5? ]:U UA e?9U|CUo: U:)U:W_@WX XW:W2W *W V bU)BUA*UAUAUM0?BuܼٽBy ByA}*ByA} AyAAF="CRCC_@C֕ۻׁIG@>  >9 ~CI @Gi @ =   n;  E#q,|EAY}6t @}6m4t@y}6To}6\ }6H2Д??a5?`.`?)~6t @ ~6D`;I~4ɫ99)9 9IAYW@yBGmff>mlmd;im@i mȎ@)m @Im @im @a*EDy <}>Ișŝ&Y5?ŝ' Ɲ;A ?9ƝCǝ: ȝ:)șWT@WX XaWa:Wa2Wi*WiVibUqBUq*UqUqUu@?BݽB BA[*BAAAA^="C|*C#ӱRCCT@Cֽ)ׁIGF> !+:YT1y:n5);9+ q,aEA|;|;ɫqq)q }IyYƞ@yWCGjt?~jt{Gzt ?D ף)IyMb?a*EDy}>IG5?0 cA  ?9C: :)W2΁@WX XW:W2W*WVbUBU*UUU@|$@B-,ܽB) B1A5*B1A5A1A1A= ="C=gRCACe2΁@Ca]8I!G=r> > ǖCi% nmGI9 iI >5 q,743EAFȿٺDFԹAY}Z@}Zv@y}ZR}ZWk}ZH \Ě?@? @&j6@a[?@g?)~Z@ ~Z|3a;I~ZCɫyy)y }IyYi@y DGIUC=)UR=åE?ån>åIiå @á ĥ@)ĥ@Iĥ\@iĥ@K=ML=Ysa*EDyQ=}>I :{75? :9 A ?9C: :):W%r~@W!X! X!W!:W!2W)*W)V)bU)BU1*U1U1U59@B]4Ba BaAe*BaAeJ8AiAiAm="Cu9RCqCur~@Cye"D)I1GM1>ܩ9ܩIܭ\AGiܭ)@ܭ=ܩܩܭd; ݭE ~~ ?:YT1y@:5);q,(MEAY}2@}2Fw@y}2J}20}2H "?@? ,?R?@?)~2@ ~2>wb;I~2CɫYY)Y YIYY@yDG@Ab=M^=Y;QU>a*EDyI=}>I(5?KB A ?9C{:  :)W y@W X  X W :W2W*WVbUBU*UUU%`8,@R-B*** querying acoustic contact ***P)P)BMBI BQAU|*BA4AAA="C}kRCCy@C oIG%+>Fq,>fEA|i|ɫyy)y yIyY"@yEGZ****** received transponder code query ******F****** received ping request ******11a=*E=D9yE}E>II ]:M5? ]:MK MA ]?9M CMK(; M);)M:Ws@WX XW:W2W*WVbUBU*UUUB @BqֽB BA]|*BA !A AAS="CMM.RCQC]s@CaƂׁIG_>M M M M  M .:YM T1yM :M o59U @ܥ >9ܡ Iܡ iܡ ܥ =ܡ ܡ ܥ i; ݥ E)5~CI5}Ci15=5=5Ǿ5L> q,KEAY}F@}Fz@y}FC}FW=}FH@Y/?I_#@[ '?@^?C?99aE*EEDQy]=}]>I5?W A m?9HC< n<)W͢l@WX XW:W!2W)*W)V1bUYBUY*UaUaUm C@B ʽB BAx*BAs!&AAA<="CqO RCiC͢l@CIUAA)Q ?΅ I G >X&q,kEAɫyy)y yIyY@y FGa=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B jt?vϿS㥛x /ݼ)Iy?~jth?,?D< =A)hAIAi AA<M`=YQU>a*EDy}>Iȡ :ť'5? :ťa ƥA ?9ƥgCǥ: ȥ:)ȥ:Wmh@WX XW:W2W*WVbUBU*UUU@.@Bm- - |- |-  - 1:Y- R1y- i:- 5o,q,^EA||4}Jtt=}JH 6<@?@G4F@?`{է?@3?}?)~J:@ ~J:e;I~Hɫqy)y }IyY4@yUFGxDUSBL response received:!U1,R,E8B,000,009F6,186,80,80,4D,FF Fpublishing direction and range infos>ɰP>鰽> )BIyBcQ? 1`w?ٱ @ @ @©i=@ ?@)t@IiV@<MI=Y.(;QU>a*ED y >}>I5?k BA %?9C: Ǻ:)WEhNc@WAXA XAWI:WI2WI*WQVQbUQBUQ*UQUYU]c@P*QBZQCr[[@CjwB@JQcQ? 1`w?2Qs>:QbQq2 H$Zԁ'#@RQ}sڿPa~dZ0:?BQ@ Q%Qa@Py9?P9?PKQ:QiA"QAB2޽B BAs*BA%x+A!A!A-ֻ="CMRCM˽CMhNc@CQM>9IIIiIM=IMDMX; MEqQIYG}z>m3q,5aEAY}D@} 0@y}EB}Y >}H2?L_ q#?jF?ˇ??)~D@ ~ޕd;I~Cɫ) IYm@ymFGDNmea in: $SNTTA,,,,,012523.13*5B =M I=Y QU>a*EDy%՗=}%>I) 5:-5? 5:-w -qA 5?9-C-: -:)-:mmyAdded new target pos. range: 115.500000 m, bearing: 245.301190 deg, deltaT: 4.442204 s, approachRate: 0.108054 m/s, LOS rate: 20.534422 deg/s, posRepo size: 4muProNav REINIT: LOS rate is 20.534422 deg/s. Setting heading cmd to target bearing of 245.301190deg and heading rate command to 0 deg/s.Wu@WyXy XyWy:Wy2W*WVbUBU*UU\@Uv?B ޽B BAqp*BA.AAA="CΟRCC@C ս>Թ}cx9IAG]U>  z z 1:Y Q1y : 9q,0EAY}2@}2G@y}2E}2Eb>}2Hg>?@ @R??@C?ٚ?)~2@ ~2Nb;I~2Cɫ99)9 =I9Y@ytGG))]%=M]W=Y] QU]>aaae*EeDiymѯ=}m>Iqu5?u uA ?9uCuK; uB;)qWWX XW:W2W*WVbUBU*UUU@?BB BAl*BAc1AAA,J ="C/RC<CC1% LI G%M>A 9A IE #BGiE ̝@E =A A E ?; E ؗE|@q, EA|i|@Y}R@}Rj@y}R/B}R">}RH@`?`:5`-? Q?=??)~R@ ~Ra;I~RCɫyy)y yIyY\@yGG } } }} =}t}Xi}@} } @)}V@I} @i} @F<MG=Y:QU>a*EDyo=}>Iȩŭ5?ŭB ƭA ?9ƭCǭ': ȭ:)ȩWWX XW:W2W*WVbUBU*UUU@?B|ܽB BAj*BAp4AA!A%H ="C%RC-=C)C1IG]3>   5+:Y y n5) &;9 Fq,EAɫ髙) IYyK7A?Zd;Oǿ~jt "?j< D)Iya*E)Dy}>I! -:%5? 5:% %A 5?9%D%a: %:)%:WQWQXY XYWY:WY2WY*WaVabUaBUa*UaUiUm.?B\۽B BA*BA7AAA] ="CM*CRCt=CCԹԹ֥㽉׭?i׭?׉IG=>=Lq,5EAY}2P@}2@y}2I?}29#>}2HY?`Le``)?@?@\??)~2P@ ~2p_;I~2Cɫ99)9 9I9Y@y8HG)-= -=u=uQ=u>iu@q u @)qIu@iu @n<Ma*E5Dy=}>Ișŝ5?ŝ ƝA ?9ƝDǝ: ȝ:)șWWX XW:W2W*WVbUBU*UUU?B RB BAg*BA8u:AAAa ="C5RCѤ=CC9IBGi@=D9; ԗEֽe9˽יIGb>  } }  .:Y kS1y Ԋ: 75) Q;Sq,AOEA|4<|;Y}Bu@}B@y}B@L}BN>}BH; 6?Ð T|@鈿?a??@?)~Bu@ ~B _;I~BCɫYY)Y YIYYr@yGGU۹M]M=Y]#QU]>aaae*EeBDiym=}m>Iq }:u:5? }:u u4A ?9u$Duk: uw:)u:WWX XW:W2W*WVbUBU*UUU\@BB BAi*BAq=AAA ="CRC ƀa=C CDשIG >%Yq,dxiEAY}6 @}6@y}6, `}6Q>}6H?k`P?`?@З??)~6 @ ~6: _;I~4ɫ99)9 9I9Y}@y}GGAAIA)AI=)=<MV=YOQU>a*ENDyC=}>I5? XA ?92DM: Y:)WWX XW:W2W*WVbU!BU!*U!U!U%1@R5B*** querying acoustic contact ***P1P1Bf B BA i*BA@AAAA ="Cm[RCF"W<CCi]nGIi)CʿٺoAIGI>     /3:Y T1y : 859 @  >9 I BGi n@ = D 2; ЗEY`q,TEAY}2@}2@y}2q}2 =}2H  ?@걿@?5?ᠾ? ȶ?)~2@ ~2;_;I~2Cɫ99)9 9I9Y}@y}HGZ****** received transponder code query ******F****** received ping request ******=̽=둾i=z@9 =t@)=Ȏ@I=@i=t@Mr=MM@=YU&QUU>YYa]*E]\DYye[E=}e>Ii u:m5? u:my mA }?9mADm: m:)m:WWX XW:W2W*WIVQbUYBUa*UUU` @Bm=*ؽBi BqAue*BqAu- DAqAqAu ="C+ RCNCC֝a5U@fq,/EA|i|@ɫyy)y }IyYyxDUSBL response received:!U1,P E8B,000,009F6,186,80,80,4D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 5X9v?S㥛YYa]*E]lDaym}m>Iims5?m mA }?9mTDm: mܹ:)iWWX XW:W2W*WVbUBU*UUUX @BKB BA*BAGAAA="CfRC[CC-tY=IG >  ~ ~   3:Y T1y @: 5mq, EAY}2r@}25@y}2vx}2!=}2H T r? s` |?? S??)~2r@ ~2^;I~2Cɫ99)9 9I9Y] @y]HG}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B  @ @ @Õ©ÕÕiÕ @Õ ĕ)ĕ @Iĕ @iĕ @;M9ܩIܭCGiܭ@ܭ=ܩܩܭ.; ݭΗE)!I%~Ci!%=%=%*4IG )>Iu@A)uAAtq,.EAY}> @}>Ж@y}>w}>i=}>H,\@ t? oC(@$? ?@X??)~> @ ~> ^;I~>CɫYY)Y YIYYg@y IGxDUSBL response received:!U1,R,36B,000,00A02,189,80,80,B1,FF Fpublishing direction and range infozCɰQ>鰝7> )1CIypB_?l ٱ)= ><MY=YJF:QU>a*EDyfG}>I :0b5? : NA ?9mDb: :):WWX XW!:W!2W!*W!V!bU)BU)*U)U)U5@PI*QMpBZQMKd8T@=~TJQM_?l 2QMzC:QIbQM l[ e?,P]xRQMla]Iѿ.dlaBQM}Z@ QM(QMPM̧9?PMy9?PMQMKQM2"@"QMiABu<Bq BqAu6b*ByA}aLAyAyA}="C&RCd5CCֽh=יIGb>     '0:Y WU1y : 5X4zq,EA|*;|(Y}r,=@}rJ@y}r}rԖ=}rH`H U?Fx(?3?̲?i?)~r,=@ ~r^;I~rCɫ) IYU @yUHGDNmea in: $SNTTA,,,,,012527.57*5F } } } }@ }@ }@yyyi}@y y)}Ȏ@I}Ȏ@i}Q@{ȼM1=YͻQU>a*EDyk}>IȩŭfV5?ŭ ƭA ?9ƭ~Dǭ: ȭn:)ȩm}Added new target pos. range: 116.220001 m, bearing: 195.676027 deg, deltaT: 4.395191 s, approachRate: 0.163816 m/s, LOS rate: -11.290787 deg/s, posRepo size: 4m ProNav: pos range: 116.220001 m, bearing: 195.676027 deg, approachRate: 0.163816 m/s, LOS rate: -11.290787 deg/s, cmd update: -12.000000 deg/s, cmd heading: 245.301190 deg, new cmd heading: 245.301190 deg. W@WX XW:W2W*WVbUBU *U U ]@U  ?B5B9 B9A=e*B9A=OAIAQAUk="C RC{OC@CPz=יIGف م iA܍ >9܉ I܍ |DGi܍ @܍ =܉ ܉ ܍ =; ݍ חE*q,JEAY}2@}2}@y}2y}28z:=}2H+?ae '?k?`c???)~2@ ~2_;I~2CɫYY)Y YIYYã@y{IG=|=MEc=YMXQUM>QQaU*E]DYy]}e>Ia m:e M5? u:e eA ?9eDef< e<)e:WK;@WX XW:W2W*WVbU1BU9*UAUiUu`o?Bt&B BAQ_*BA%~RA!A!A%;="C-Y*C-9ıRC52VC5K;@C1<IGj>u=iu=E  E E E  E 5:YE T1yE :E 85)E ,;9M ECq,WvEAɫyy)y yIyY@yRIG'1Z?I +:v??94 T<)IybX9?:v?~jt?E6?T<D= ­bA)­ AI­p Ai­7AAMA=YQU>a*EDy}>I@5?% 4A u?9DS< '<)W@WX XW:W2W*WVbUBU*UUU!?BB1 B1A5\`*B1A5KUA9A9A=="CE-ZRCEDCE@CI%mټIG J>cmq,rQ8EA|i|Y}:@}:@y}:Q}:.T}:H+K?`G?@>I??` s?)~:@ ~:f`;I~:Cɫ99)9 9I9Y]ǣ@y]IG ] ] ]]Z>]>]ua*EDyм}>Iȱ :ŵ35? :ŵ ƵA ?9ƵDǵV: ȵ:)ȵ:W|@WX XW:W2W*WVbUBU*UUU-5?B%B! B!A%3_*B)A-WA)A)A-S="C5RC5B.C=|@C9999I=EGi=@999=O; =ߗEׁIG=>E E E E  E o/:YE U1yE :E 5)E ̌;CUq,,REAY}2@}2D@y}2F}2(}2H@h5a??@M=?@y? f`?)~2@ ~2@"`;I~2Cɫ99)9 9I9Y}@y}dJG ei=MeN=YeI8QUm>iqau*EuDyye}>IȉōW'5?ō," ƍA ?9ƍDǍ ; ȍ$;)ȉWv@WX XW:W2W*WVbUBU*UUU@KP@B 2B BAjY*BA[ZAAA="CWRC%C%v@C! qIG%>IuAA)qmq,lEAY}28@}2@y}2Y}2}}2H@6`>?@=? O@Ƨ?`Ʋ??)~28@ ~2_;I~2Cɫaa)i mIiY@yIG?TLi@ ߏ@)@I@i@YMB=YɌ:QU>a*EDyù}>I :M5? :g0 B ?9D:  :):WUp@WQXQ XQWQ:WQ2WY*WYVYbUYBUa*UaUaUe@B>B BAY]*BA]AAAb="C/T RC^BCp@C'ׁIG?>) ) = >99 I= 8GGi= @= =9 9 = P; = EU 6 U U U  U !8:YU W1yU č:U 5)U O;Cgq,EA||Y}6@}6@y}6}6eż}6H *??%.x@?Z޲?@ꚘX?)~6@ ~6,)_;I~4ɫYY)Y ]IYYT@y-JG-<M]=Y'~QU>a*EDyF<}>I155?57= 5=B ?95D5< 5<)1W._k@WX XW:W)2W)*W)V)bU1BU1*U1U1U5 @REB*** querying acoustic contact ***PAPABB BAZ*BA[`AAAk="C(RCz<C._k@C6ױIG>⒧q,DğEAY}2 @}2@y}2嘽}27}2H5??@o&2{?+? L҆?)~2 @ ~2^;I~2Cɫ99)9 =I9YuW@y}lKG}Z****** received transponder code query ******F****** received ping request ******a*EDy<}>I5?L lB ?9D<; i>)W-'e@WAXA XAWI:WI2WI*WIVIbUQBUQ*UQUQU]d @B B BAR*BA?cAAAp="CRCe=C'e@C֝kd&Iס)סYIiG[>qiup=–Ci} nGI i  w̿ٺ) - yA    >:Y T1y : ʽ59 @q,gEAY}2@}2~@y}2~}2##<}2H)F@??fr L?`]N?U? D?)~2@ ~2w^;I~2CɫYY)Y ]IYY@yKGxDUSBL response received:!U1,P 36B,000,00A02,189,80,80,B1,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 å?å(\>9IdHGi@k; Eå̌iå@á ĥ@)ĥE@IĥE@iĥ@[M;=YQU>a*EDy+'=}>I :5? :\ B ?9D: d?):WY_@W!XA XAWA:WA2WI*WIVIbUIBUI*UQUQUU @BVB BAT*BApfAAA="CRCI>CY_@C꽹ױIG>老q,zEA|i|Y}6#C@}6P@y}6嚽}6٬=}6Hn߿?|q?`tW߿*? W?HF??)~6#C@ ~6D^;I~6Cɫ99)9 9I9Y}.@y}tLG鮅p=ɮ=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =Mj=Y޹QU?a*EDypt=}?I/5?g B ?9D: ȝ?)W%[@WX XW:W2W*WVbUBU*UUU``@B5B9 B9A=K*B9A=hA9AAAE]o="CmG!RCm >Cm%[@Ci]~9IAGuW>ͺq,aPEAY}fxՎ@}f;@y}fH}fw=}fH`Qp޿8$?<딿k @2޿@un?? $4? ?)~fxՎ@ ~f^;I~fCɫ) IY-#@y5fLG=xDUSBL response received:!U1,R,2F7,000,00A1A,188,80,80,9A,FF EFpublishing direction and range info=)9ɰ=S>=> 9)=CI9y=QB=p;?=\ ݭٱ9 @ @ @å©ååiåQ@å ĥ @)ĥ?@Iĥ @iĥ @]ML=YP;QU>a*EDy6=}>I5? v B ?90D :  ?)W%U@W!X! X)W):W)2W)*W1V1bU1BU1*U9U9U=@PI*QMQBZQMhhk,1W@}*RJQMp;?=\ ݭ2QM):QIbQM׷Z[| GnBp6_@RQM ONNٿ ?BQMyc@ QM<QMPMӧ9?PM̧9?PMQMQM$@"QM2"@B}B BAWL*BA+XkAAA=="C-&RC1C5U@C1%cռ-?i-?IGI>}}~}~} }1:Y}T1y}@:}75 >9 I ,IGi @ e; E)aIaiaaae4q,9EAɫYa)a IYƦ@y/MGuDNmea in: $SNTTA,,,,,012532.02*5B a i]a ie a mea me a qea qe a eea ee e?ףp= ÿ#~j?ef&?e e=)aIayeA`"?{GzMb`?e9?e#e; eA)eAIaie Aaa)}= }=/=M0=YQU>a*E Dy}>Iȡ :ťT5? :ťt ƥB ?9ƥEDǥ: ȥV:)ȥ:muAdded new target pos. range: 117.660004 m, bearing: 203.646789 deg, deltaT: 4.476408 s, approachRate: 0.321687 m/s, LOS rate: 1.780616 deg/s, posRepo size: 4m ProNav: pos range: 117.660004 m, bearing: 203.646789 deg, approachRate: 0.321687 m/s, LOS rate: 1.780616 deg/s, cmd update: 5.341847 deg/s, cmd heading: 191.567780 deg, new cmd heading: 186.055628 deg. WaX@WX XW:W2W*WVbUBU*UU=j]@U?B-0߽B1 B1A5?G*B1A5FnA1A1A=u="CEJ|,RCACEaX@CAR5<IG l>Ǹq,%!EA||ɫ髙) IY{@yNGu=M}s=YyQU}?a*E+Dy}?IȑŕV5?ŕ[ ƕB ?9ƕUDǕB; ȕמ<)ȑWeZ@WaXa XaWa:Wi2Wi*WqVqbUqBUq*UqUyU}` ?BB BAA*BAJvpAAAL="C61RCCZ@C֝<ׁIGg>y}w}w} yY}O1y}P:}5 θq,&:EAY}6@}6@y}6}6xI=}6Hݿ@Uz?? +eڿܿ ]??4?R?)~6@ ~6?_;I~4ɫ99)9 =I9Yߧ@yNG m m m m@ m@ m@iiiimz@i m@)mh@Im3@im3@<MI=Y?QU>a*E8Dyk=}>I5? ,B ?9hD<: :)W-]@WX XW:W2W*WVbUBU*UU U QB?u>9qIuIGiu%@u=qqum; uEBAB BAt>*BArAAA_c="CG5RCC-]@C >[1=I)ׁIG=>Ըq,TEAY}BS@}BƇ@y}B}Bxڇ=}BHܿ ? qwܿ@??`?(?)~BS@ ~B^;I~BCɫYY)Y ]IaYا@yNG))UMUN=Ye6QUm>ya*EEDy'<}>Iș :ŝk5? :ŝ_ ƝDB ?9ƝzDǝ^: ȝ:)ȝ:W_@WX XW:W2W*WVbUBU*UUU أ?B B  B A>*BADuAAA="C7RCC_@C!-[=IG*>}% }}} }6:Y}V1y}:}5۸q,nEA|a*ESDyc<}>Iȱŵ!5?ŵ@ Ƶ`B ?9ƵDǵ: ȵ:)ȱW]=Gb@WYXY XaWa:Wa2Wa*WaVibUiBUi*UiUiUu w@Bl޽B BA<*BAB xAAA.="C99RCC=Gb@C>IG l>m >9i Im KGim @i i i m r; m Eq,rEAɫ) IY@y%OG(\?{Gz?S㥛?.?ף= /<)Iygfffff?a*E`Dy}>I :5? : {B ?9D: :):W͛d@WX XW:W2W*WVbUBU *U U U @B0kB BAO5*BAazAAA3="C9*C>^RCC͛d@C oA>?i?׹IGh>}}}} }G/:Y}WU1y}:}5)};9-q,MEAɫyy)y yIyY@yPG@A)= =1<Mm=YQU?a+EkDy }?I!%Ԕ5?%W %B -?9%D%: %ӻ:)!WUԱf@WQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUec@RuB*** querying acoustic contact ***PqPqB<B BA4*BAP|AAA="C7RCCԱf@C֭g>iIqG>Wq,(EA|4<|ɫ髙) IY@yPG%Z****** received transponder code query ******%F****** received ping request ******%a+EyDy}>I 9ILGi^@p; E 5: 5? 5:  B =?9 D ; ;) :W]Oi@WYXY XYWY:Wa2Wa*WaVabUaBUi*UiUiUu @BU۽BQ BYA]0*BYA]~AYAYA]H="C4RCCOi@CօE2>9IIGeV>}}}}}} }.:Y}kS1y}Ԋ:}5)};Aq, EAɫ) IY@yQGxDUSBL response received:!U1,P 2F7,000,00A1A,188,80,80,9A,FF Command AckBRequesting micromodem ping code 2i!I!)!-Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %4<M]G=YaQU>a+EDy}>Iȡť{5?ťc ƥB ?9ƥDǥ6< ȥ09<)ȡWl@WX XW:W2WY*WaVabUaBUa*UiUiUm @BܽB BA^.*BAAAAڧ="C-/RCCl@C>u=iu=IG>jmq,EAY}j@}j@y}ja4}j5}jH߿@g?ߤ?1`#ޑ?@?= ?)~j@ ~jA_;I~hɫ髹) IinGY@y%PGI1iIQɮQ}˿ٺy}ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ] =]T=]i](@Y ]@)]t@I]i]@k߼M>=Y(QU>a+EDy}>I  : z5? : G B ?9 D (: :) :W=TNn@W9X9 X9W9:WA2WA*WAVAbUIBUI*UIUIUM L@B}By ByA}`1*BA AAAO="C}*RCCTNn@C֑QIYG}z>u qqu| uGT:Yqyqu]59}@  hA 9 I @NGi @ = t; EQq,0 EA|i|ɫ髱) IY,@y^QGxDUSBL response received:!U1,R,1C1,000,00A33,186,80,80,A7,FF Fpublishing direction and range infoyȾɰU>> )'CIyQBk'?spؿٱx&?MbX9?a+EDy}>IȑŕVm5?ŕL ƕB ?9ƕDǕY; ȕ;)ȑWp@WX XW:W2W *W V bU BU *UUU @PA*QEQBZQEvAE[@)qFJQEk'?spؿ2QEyȾ:QAbQE7qWSR8GiB,@RQE(A.e`V^Hž?BQEBs@ QE?QEPE9?PEӧ9?PEQEQE A"QE$@B޽B BA ,*BAAAA[="C&RCCp@CV݅> I G5 >{q,#EAY}64@}6B@y}6,}6=}6H`$u ?@Tm?`Am?@Eǿ &X?)~64@ ~6b;I~6Cɫ髡) IYM@yQG=TNmea in: $SNTTA,0.217177,,,,012536.48*4A 0<MY=YS;QU>a+EDy#}>I  a5?  B ?9 D : Q:) mEuAdded new target pos. range: 119.160011 m, bearing: 217.566797 deg, deltaT: 4.508804 s, approachRate: 0.332684 m/s, LOS rate: 3.087295 deg/s, posRepo size: 4m] ProNav: pos range: 119.160011 m, bearing: 217.566797 deg, approachRate: 0.332684 m/s, LOS rate: 3.087295 deg/s, cmd update: 9.261884 deg/s, cmd heading: 215.609692 deg, new cmd heading: 217.479296 deg. W]ut@WYXY XYWY:Wa2Wa*WaVabUaBUi*UiUm=]@Uu?B1B BA+*BA6ヽAAA="Cz"RCT>Cut@C6Ʌ>?i?׹IGe>} }}} }>:Y}T1y}:}58q,q=EAY}6@}6"@y}6*c}6S}6HaE?`? p+$@ⅵ? K,ʿ@H5?)~6@ ~69b;I~4ɫAI)I IIIY]@y]]RG)> >#<`>ip@ @)Q@IQ@ih@-e=M-X=Y-6QU5>11a5+E=D9yEֽ}E>IA M:ET5? U:E~ E(B U?9E DE: E:)E:W}bx@WyXy XyWy:W2W*WVbUBU*UUU`{?ܹ9ܹIܽOGiܽ@ܽ=ܹܹܽ; ݽE)IIIiIM=M=M4B=B9 B9A=%*BAAE턽AAAAAE="CmMRCm F>Cmbx@CqMY>IG-->q,3OWEA||Y}>@}>f@y}>}>`}>H@G}?? ba'+?E˿?)~>@ ~>a;I~>Cɫ髉) IY@yfRGU;M]G=Y]_)QU]>aaae+EeDaym}m>IquE5?u+ u@B }?9uDuǺ: u:)qW |@WX XW:W2W*WVbUBU*UUU@D?Bp\B BAW%*BAQAiAiAm6Z="CuRCu7=Cu |@CymY>AIIGm5>}}}} }-:Y}V1y}:}55q,'qEAY}:@}:@y}:`}:?m}:H.?X?A p`?/>Ϳ?)~:@ ~:%`;I~:Cɫ99)9 =I9Y}@y}|SGu¥?ua+ED;@;@y}>Iȡ :ťY65? :ť(8 ƥYB ?9ƥ0Dǥ: ȥ:)ȥ:Wn@WX XW:W2W*WVbUBU*UUUڞ?BT޽B BAH*BAAAAo="C% RC%rC%n@C) ====EܢS>II)MjAI)GEQ>ܱ9ܵCIܵQGiܵ@ܵ=ܱܱܵ; ݵE"q,EAɫ髩) IY@ySGS?))a-+E-D1y5}=>I9='5?=D =B M?9=BD=v: =D:)9Wm ̂@WiXi XqWq:Wq2Wq*WqVybUyBUy*UUU C?BlڽB BA*BA(AAA="CQRCcTĽC ̂@Cֽ@>בIGa>uuuu u1:YuX1yu/:u5)u?;9};(q,'ޤEA|i|ɫyy)y }IyY@y;TG-#J=M-q=Y1QU5?99a=+E=DAyA}E?II U:M5? U:MAN MB ]?9MPDMw: Mo:)M:W}@WyXy XyWy:W2W*WVbUBU*UUU@BU IBY BYA]l*BYA]AYAYAe="Cec RCmTCm@Ce>AIiG<>.q,EAY}2ֆ@}2}@y}2}2z}2H`ԥ G?@޵?_S`?`xο@0?)~2ֆ@ ~2K_;I~2CɫYY)Y YIYY@yMTGAA %)>%н%xi%f@! %@)%Q@I%@i%@5t;M5J=Y=*QU=>99aE+EEDAyMa,}M>]>9]~CI]TSGi]ī@]=YY]; YIQU5?UX UB }?9U`DU(; U:)QW@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB|kB BA*BAAAA5="Cmy.RCu Cu@Cqm/=!I1GM1>Iu@A)q} }}} }5:Y}[1y}ݏ:}5)}>;5q,EAY}R碅@}RWa{@y}R0辽}R$qj}RH ړ??:F` .Է?|̿?)~R碅@ ~Rw^;I~Pɫyy)y }IyY@yUGZ****** received transponder code query ******F****** received ping request ******a+EEy(}>Iȱŵ5?ŵoc ƵB ?9ƵpDǵܹ: ȵ :)ȱW"͈@WX XW:W2W*WV bUBU*UUU@I @BeGٽBa BaAex*BaAm AAA9c="CARCC"͈@C֥dO=aIiG9>i@ @)h@I@i@5c<M=3=YEƆ;QUE>qqa}+E} Ey}>I :L5? :Zo B ?9D: :):W]O@WX XW:W2W*WVbUBU*UUU + @B2ԽB BA *BAAAA -="C <RCCO@C!=#2?IG=>]>9YI]HUGi]Z@]=YY]; ]E}d }}}}} };:Y}kS1y}Ԋ:}\5)}z;cBq,!\ EAY}~@}y@y}޶}Y.L}H@@HE??@{K.Ӷ?@ɿ=?)~~@ ~'_;I~Cɫ  )  IYMԮ@yMWGUa=ɮQuNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B B`"? rh?Q롿.?C = \)IyK7A`?:v?{Gzt?+?<ף; ½@)½(*AI½ Ai½AAl=MP=Y;QU>a+EEyϼ}>I5?ky .B ?9Dj: :)W%X3@W)X) X)W):W)2W)*W1V1bU1BU1*U1U9U=8@BmܽBi BqAu*BqAuӌAyAyA}="CRCCX3@C -=->U֣I)iAIGj>Iq,1A&EAY}:K@}:y@y}:hU}:0}:H<(oR??:jwC?`ſ`h?)~:K@ ~:_;I~:CɫII)Q UIQY@yXG¡¥iA=Mu=Y.;QU?a+EEyo}=?IA M:E5? M:EĂ ECB M?9EDE4: Eb:)E:Wu*@WqXq XqWq:Wy2Wy*WyVybUyBU*UUUl@B&ؽB BA*BAgAAA="C^RCC*@CױIGD>>Ci}}nGIiſٺ[Auuuu u'0:YuDW1yuY:u59u@dPq, @EA|(i|(Y} ^@} Ey@y} "\} Z} H@* z?h?@/@F䤵?P¿?)~ ^@ ~ ~`;I~ ɫ) I9IVGi@; EY5̰@y5YGEDNmea in: $SNTTA,,,,,012540.91*54 E?EEv>>iE@A Eۙ@)E@IEiAUNc=MU3=YUv;QU]>YYa]+E]Eaym恹}m>Iqu5?u u]B }?9uDub: u:)qW`I@WX XW:W2W*WVbUBU*UUU`^0@BͽB BA*BAe^AaAaAe:>="CmRCiCm`I@Cq] I!GEQ>*Vq,YEAY}2@}2y@y}2RM}2}2H^Q??`H #1@n #? T?)~2@ ~2l`;I~2CɫII)I MIIY}U@y}-ZG 鿙D=Mk=Y[;QU?a+E#Eyg<}?I :-5? : qB ?9Dk: :):W@WX XW:W2W*WVbUBU*UUU8@B5jӽB9 B9A=*B9A=A9AAAE{="CEEܿRCICM@CIMஜ IG5 >Iq)u@A}}}} }l3:Y}V1y}:}ʽ56T\q,sEAY}2p-@}2jvz@y}2ࢽ}2Lκ}2H?Ǿ? ?@OϪV? >(?)~2p-@ ~2ya;I~2Cɫ99)9 =I9Y@yZG -@ -@ -@-©--i-3@- -@)-@I)i-@=<MEA=YE;QUE>IIaM+EM*EIyU<}U>IY]͢5?] ]B e?9]D]: ]w:)YWG@WX XW:W2W*WVbUBU*UUU`G@RB*** querying acoustic contact ***PPB̽B BAK߾*BATďAAAD="CWҿRCCG@C>׉IG>4=9IhXGi@;  E)݉I݉i݉ݍ=ݍ=ݍ 44@cq,EA|4|4ɫ) IY%,@y%5[GzG?#~j? t)IyK7A?Mb`?Q? "?;u< A)7AIvAiA3A=M@=YQU>a+E1Ey}>I  :5?  :! B  ?9DU: :):W5h|@W1X1 X1W1:W12W9*W9V9bU9BU9*UAUAUE@Bu%˽Bq BqAuؾ*BqA}؀AyAyA} ="CʿRCCh|@C}ǚ5YIaG}8>uq uuu u<:YuT1yu:u5-fiq,a+E6Ey"=}>I35?v B ?9D : :)W _@W X  X W :W 2W*WVbUBU*UUUlq@BE̽BI BIAM˾*BIAMAQAQAUhZ="C]@¿RCYC]_@Ca$bשIG">u=iu==Npq,(HEAY}2%@}2}}@y}2鑽}2 <}2H H Nd?`F?`Q @藭?C9?@AT?`?)~2%@ ~2b;I~0ɫ99)9 =I9ܡ9ܡIܥYGiܥذ@ܥ=ܡܡܥ; ݥEYݳ@yJ]G   /ݼC>ti@ @)@I@i@-w=M-C=Y5s;QU5>99a=+E==E9yEE=}E>IIMv5?MU MB U?9MDMM: Mf:)IW}@WyXy XyWy:Wy2W*WVbUBU*UUU`@BzŽB BA *BAAAAͲ="CUPRCQCU@CYm@!I1GM1>}r }}}}} }<:Y}kS1y}Ԋ:}5)}q;9yvq,)EA|i|Y}6~@}6@y}6}6f@=}6H4]?1? '@\h?|? ??)~6~@ ~63Mb;I~6Cɫ99)9 9I9Yu@y}j]GxDUSBL response received:!U1,N,80,80,63,E4 3,186,80,80,A7,FF ZNo reply:!U1,N,80,80,63,E4 3,186,80,80,A7,FF -AAaM+EMDEIyUC|=}U>IY e:]g5? e:]" ]B e?9]D]: ]V:)]:W@WX XW:W2W*WVbUBU*UUUq@B-ŽBI BIAMl*BIAU[AQAQAUT="C]zRCYC]@Ca֝ƂyIG]>|q,EAY}>8h@}>u@y}>&}>&=}>H#?<̔uBYxp??쐵?`?)~>8h@ ~>b;I~<ɫYY)Y ]IYY@y^GE"۽EEĽiE@A Eۙ@)AIAiE"@M(=MUI=YU-;QU]>YYa]+E]JEaye=}e>IimY5?m1 mB }?9m'DmA: m:)iW*@WX XW:W2W*WVbUBU*UUU^@BbŽB BAܲ*BA쒽AAAh="CѫRCC*@C%}-?i-?IGI>ّٕjAܝ>9ܙIܝZGiܝ̱@ܙܙܙܝn; ݝE} }}} }m>:Y}WU1y}:}5)};4q,EAY}6T@}6zb@y}6ⷍ}6=}6H J?`, +q#?^??Ѵ?)~6T@ ~6@c;I~4ɫYY)Y ]IYY@y_G=1Zd?I +ƿ M>ֻ=MC=Y39QU>a+EQEy =}>I :DL5? : 'B ?98D: :):W>@WX XW:W2W*WVbU!BU!*U!U!U- @Bu׾Bq ByA}/*ByA}uAAA="CNRCC>@CֹיIGb>q,(EA||4U5@}>C@y}>䎽}>w>}>Hqɏ?@-ʲ`|Y a ?ر?6H?@ߗ?)~>U5@ ~>rb;I~<ɫQQ)Q UIQY@y_G><M]=Yp˺QU>a+EWEy=}>I@5?9 CB ?9GD: L:)Wң@WX  X W :W 2W *WVbUBU*UUU @R%B*** querying acoustic contact ***P!P!BM<BQ BYA]ݙ*BaAm_铽AiAqAu ="C}3RCyCң@Ci!I1GM1>}I }}} }9:Y}T1y}:}59@:q,CBEAY}6 @}6@y}6}65%>}6H`m&?` `-??,?? 9?)~6 @ ~6@a;I~6Cɫ99)9 9IAM>9IIM[GiMo@M=IIM\; MEYw@y~`GZ****** received transponder code query ******F****** received ping request ******a+E^EyPt=}>I :D35? : eB ?9XD< &<):W7@WX XW:W2W*WVbUBU*UUU!@BMBI BQAUb*BQAUuAQAQA]CW ="C] RCaCe7@CyQIaG}z>ǖq,m\EAY}F@}F^@y}F)}F />}FHeu? l)??`? r?)~F@ ~F`;I~FCɫYY)Y ]IYY}@y}`GxDUSBL response received:!U1,P 80,80,63,E4 3,186,80,80,A7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 jAu"l<M}Y=Y5QU>a+EdEy=}>I^'5? B  ?9iDH; ;)WUF@WX XW:W2W*WVbU BU *UUU,"@BS3B BA*BA AAA ="C%jsRC)C-UF@C)Q1IQ}R }w}w} }\::Y}O1y}P:}ʽ5G>iE nmGIY iq Ͽٺ Apq,_EvEA|i|Y}6V@}6@y}6h}6A0>}6H ?`cTM+M̽iMf@I M&@)M\@IM&@iM\@]&<M]D=Y]}QUe>aaae+EejEiym=}u>Iy :}5? :}K }B ?9}xD}: }:)}:WEhM@WAXA XIWI:WI2Wi*WqVqbUqBUq*UqUyU}@GF#@BB BAH*BA5:]A1A1A5M ="C=jRC9C=hM@CA=ƂI!9=<A9AIEP\GiE@AAAEY; EEG~>ڣq,'EAɫ髱) IYl@yaG@AxDUSBL response received:!U1,R,2FC,000,00A57,188,80,80,B1,FF Fpublishing direction and range info*ɰX>> )1CIyB"n$R%? ybrٱdNmea in: $SNTTA,0.105555,0.247497,,,012546.56*53 Fx?|?5^l?+?ҽ =)Iyjt?a+ErEy}>I  +5?  B ?9 D &: ӻ:) W]X@WYXY XYWa:W2W*WVbUBU*UUU'$@P*QBZQKW@.KRJQ"n$R%? ybr2Q*:QbQ b\=U9/EZ"~'RQ@}3JxYֿ4\4_BQB_@ Qy)QP9?P9?PQQ F>"Q AB̸B BA*BA_֕A9AYAe`!="Ce^pRCiCmX@CiyyU}]?i]?)I9GU>}}}} } /:Y}0Y1y}:}n5q,uEAY}2,ʎ@}2׆@y}2}2.>}2Hu޿?`cݿKK?@?#?n?)~2,ʎ@ ~2Q_;I~0ɫ99)9 =I9Yu@y}aG)= =%)<M-j=Y-f;QU->99aE+EEwEQy]+>}e>Iy}5?}F* }B ?9}D}; };)ym}Added new target pos. range: 121.320000 m, bearing: 200.462692 deg, deltaT: 10.083789 s, approachRate: 0.214204 m/s, LOS rate: -1.696198 deg/s, posRepo size: 4m ProNav: pos range: 121.320000 m, bearing: 200.462692 deg, approachRate: 0.214204 m/s, LOS rate: -1.696198 deg/s, cmd update: -5.088595 deg/s, cmd heading: 309.002347 deg, new cmd heading: 312.380045 deg. W@WX XW:W2W*WVbUBU*UUzT^@U@f?BEꓻBI BIAMހ*BIAM8AIAIAU#!="CUhRCYC]@CY]Ƃ1IAG]v>밹q,fEA| |";Y}J@}JӦ@y}J}Jo,>}JH`zݿ G?ſbaۿ ?0? f?hp?)~J@ ~J2^;I~JCp9pIr]Gir@r=pprP; rߗE)qIqiqu=u=u3ɫYY)Y YIYY߷@y8bGmSmP>mm=im=@i mۙ@)m@Imۙ@imۙ@}ɗ<M}E=YרQU>a+E~Ey{=}>Iș :ŝE5? :ŝ6 ƝB ?9ƝDǝ: ȝ:)ȝ:W%ue@W!X) X)WI:WI2WI*WQVQbUQBUQ*UYUYU] `?B'B BAy*BAAAA>!="CeRCCue@CIGi>|| +:YR1yi:J5);9q,)EAY}2lb@}22p@y}2}2(>}2HШۿ|?\ڿ? ?@?Os?)~2lb@ ~27^;I~2Cɫ99)9 9I9Yd@ybGI9)9IE=)E=uq%=MuK=Y}cQU}>ya+EEy z=}>Iȑŕj5?ŕQC ƕB ?9ƕDǕ: ȕn:)ȑW!I@WX XW:W2W*WVbUBU*UUU@`?BWBX#= BA4i*BAfA A A  K!="CohRCC!I@C}יIGb>>q,EAY}RDF@}R T@y}R{}R!>}RHz ڿ?(lo`ؿѩ?\'??x?)~RDF@ ~R^;I~Pɫyy)y }IyY@ywcGu^?u>uI iu@q u&@)u\@IuԸ@iu@=MI=Y0QU>a+EEy$=}>Iȡ :ť5? :ť!P ƥ?B ?9ƥDǥ<: ȥ:)ȥ:WP!@WX XW:W2W*WVbUBU*UUU?B􆵽B BAwY*BAQAAAuD!="C%3oRC!C%P!@C)%ƂI G%M>hA9I^Gi@R; E 1:YWU1y:J5);o&Ĺq,+hEA|i|Y}69@}6G@y}6½}6%>}6H@Jؿa?@Es m-׿?8? ?`^p?)~69@ ~6^;I~4ɫ99)9 =I9Y}@y}cGZd;O?T㥛 ? rh?~>= C =)Iy1Zd?I +X9v?"?9< A)@IAiA( A6 <MA=Y1"QU>!!a%+E%E)y-=}5>I155?5] 5cB E?95D5: 5:)1We#@WaXa XaWi:Wi2Wi*WiVqbUqBUq*UqUyU}}?B̴B BAU*BA^AAA-!="Cl }RCC#@C}IG-p> Rʹq,I+EAY}N#4@}NA@y}Nɽ}NK&>}NHxֿ?@<UտX?F??Fm?)~N#4@ ~N^;I~NCɫ髹) IY@ycG MM=M#=iM̜@I M@)IIM@iM&@];:MeF=YeQUe>iiam+EmEqyuY=}u>Iy :}5? :}i }B ?9}D}: }:)}:W@WX XW:W2W*WVbUBU*UUU @B5gB BALU*BAAAA. !="C*RCC@C4|E= Ƃiy?Ii)i}} 2:YkS1yԊ:59@ I G5 >d8ѹq,CEEAY}2$@}21@y}2ν}2E'>}2H dԿ?@wTPӿ@n? ??j?)~2$@ ~2Ӷ^;I~2CF>9DIF_GiF@DDDF\; FEɫ99)9 9I9Y3@ycGM<Mb=YܻQU>a%+E%E!y-=}->I155?5Ru 5B =?95D5: 5:)1Wel@WaXa XaWa:Wa2Wi*WiVibUiBUi*UqUqUu@RB*** querying acoustic contact ***PPBٶB BAHO*BAxUAAA ="CgRCCl@Cѭ#'=օՌYIiGZ>b׹q,^EA|(|(Y}ZL@}Z@y}Z+Խ}Z$>}ZH[ҿP?s4 |bѿ ? Uy? gO?`k?)~ZL@ ~Z^;I~ZCɫ髙) IY@yeG%Z****** received transponder code query ******%F****** received ping request ******%a+EEy=}>Iȱŵ5?ŵ ƵB ?9ƵDǵ: ȵ;)ȱWφ@WX XW:W2W*WVbUBU*UUU`e @B5ͮB1 B1A5"*B1A=ڛA9A9A=/ ="CERCACEφ@CIхC"=uƂa {{  5:Y#R1y:5IG>ݹq,BxEAɫyy)y }IyY@yeGxDUSBL response received:!U1,P 2FC,000,00A57,188,80,80,B1,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 E#iEz@A E@)E@IEΣ@iEΣ@<M )=Y QU >a+EEy}>IA M:Ea5? M:E9 EB U?9EDE8: ED:)E:Wk"@WX XW:W2W*WVbUBU*UUUR @BhB BA *BAE ꘽AAAIAM_W =ܑ9ܑIܕdaGiܕ2@ܑܑܑܕR; ݕE"CRCCk"@C)9 9 }I ) ױ I G >Gq,%EAɫ) IY@y'fGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B urh|? rhZd;u>uC uy)qIqyuPn?S㥛?Q?u$?u/a,EEy}>Iȩŭ5?ŭ2 ƭ'B ?9ƭ+Dǭ: ȭ:)ȩW@WX XW:W2W*WVbUBU*UUU`D@BB BA%*B!A%}%A!A!A% ="C-RC)C5@C1 Ƃ  4:IYT1y:5Gm>lq,EA|Pi|PY}rx@}r>@y}rW罙}r\>}rH ʿ?mȿ?'ۼ?`HO?@w?)~rx@ ~r ^;I~rCɫ髱) I<>CY-y@yEfGiemGIyiѿٺ,AxDUSBL response received:!U1,R,213,000,00A78,187,80,80,9C,FF  Fpublishing direction and range info@ɰ[>1> )CIyBH?<?@Lܿٱ%?9%A,= >V>i\@ )@IE@iE@2<M<=Y఼QU>a,EEy@S>}>Iș :ŝ5? :ŝd ƝXB ?9Ɲ<Dǝ: ȝ{:)ȝ:WbŸ@WX XW:W2W*WVbUBU*UUU@P*QBZQ[@ue/eKJQH?<?@Lܿ2Q@:QbQE1i:5*S0i7Xv|@2@RQz9 ?BQO@ QQQP9?P9?PWQQ&A"Q F>B-BT< BA*BA]cAAA7="C5RCCbŸ@C ݑIG > 9 I XcGi ȸ@ [; EQq,EAY}2JӘ@}2@y}2齙}2_>}2H`aǿ:?D@jBſ~? ??x?)~2JӘ@ ~2V^;I~2Cɫ99)9 9I9Y]@y]TgGDNmea in: $SNTTA,,,,,012551.01*5D Y=M|=YL'QU ?!!a%,E%E)y-;=}- ?IȹŽdz5?Ži ƽB ?9ƽJDǽn: Ƚ:)ȹmuAdded new target pos. range: 123.299995 m, bearing: 231.526310 deg, deltaT: 4.502513 s, approachRate: 0.439753 m/s, LOS rate: 6.899174 deg/s, posRepo size: 4m ProNav: pos range: 123.299995 m, bearing: 231.526310 deg, approachRate: 0.439753 m/s, LOS rate: 6.899174 deg/s, cmd update: 12.000000 deg/s, cmd heading: 286.047931 deg, new cmd heading: 284.314241 deg. W @WX X W :W 2W *WVbUBU*UU 3^@U#?BEBA BAAM *BIAM܊AIAIAUBX="CURCYC] @CYqqօƂ׍?i׍?AIQGmW>  zH:YU1y:5)n;9-{q,єEAY}2$@}2꾑@y}2'뽙}2x >}2HcÿSc?꿽 d`3?e?@C? r~?)~2$@ ~2k^;I~0ɫ99)9 =I9Y}@y}nhG)= >5=M=H=Y=PQU=>AAaE,EEEIyM=}M>IQ ]:U75? ]:U= UB e?9UZDU: U:)U:W^@WX XW:W2W*WVbUBU*UUU@;?B]Ba BaAe*BaAeAaAiAm="C *C2RCC^@C֡yIG^>q,*pEA||4}FH@ ?`Xü;9?kʽ?T?@?)~F@ ~F!`;I~Dɫ髑) IY@yhG @ @ @Í©ÍÍiÍf@Í ĉ)č"@Ič@ič@y1<MD=Y/sQU>a,EEyk=}>IȹŽ5?Ž ƽB ?9ƽkDǽ: Ƚ:)ȹW v@WX XW:Wi2Wq*WqVqbUqBUq*UyUyU}`?BLB BAc*BAtәAAA,f="CMRCC v@CىٍgAܙ9ܙIܝdGiܝ @ܙܙܙܝ`; ݝE)!I!i!!!%/4#'=  5:YV1y:75);IG >>q,QEAɫ髱) IYŽ@y{iGx&1?V-?S㥫?A?< /]=)IyQ?Mb?J +?\/?<H= A)I;@iAnY=MD=Y QU > a,EEy}>I! -:%5? -:% %B -?9%}D%*: %:)%:WUB@WQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUaUe ?B-SB1 B1A5 t*B1A5K홽A1A1A=="C=RCACEB@CaEG< M>M >1I9)=jA IGM>0 q,H41EAY}6a@}6'@y}6*}6D4=}6H;?9}??`?`%?)~6a@ ~6_;I~6Cɫ11)1 5I9Yu@yu#kG ] ] ]]<]t]̽i]@] Y)]@I]z@i]@m[=MuT=Yu>QUu>yya},E}Eyyc&>}>Iȉō5?ō[ ƍFB ?9ƍDǍY: ȍ:)ȉW.׬@WX XW:W2W*WVbUBU*UUU 2?BlB BA*BAAAAd="C aRC C .׬@C)   4:YWU1y:ʺ59@}ס I G >܁ 9܁ I܅ fGi܅ @܁ ܁ ܁ ܅ X; ݅ Enq,`KEA|i|@Y}6v@}6<@y}6١}6 =}6H`Ji ?is@E"@K?½? S? v?)~6v@ ~6|_;I~6Cɫ99)9 9I9Y}-@y}5kG;MR=YP;QU>a,EE y =}>I5? zB %?9D: :)WEq@WAXA XAWI:WI2WI*WIVIbUQBUQ*UQUYU] @BDB BA耼*BA}AAA="C񇊿RCCq@C%ƂI G-N>=q,/dEAY}2 @}2Ϟ@y}2뽙}2_>}2HFdv?$?Z?`Ol?8??)~2 @ ~2l_;I~0ɫ99)9 =I9Y@y"lG 鿱n=MJ=Y,X;QU>a,EE y ٛ=} >I %:ש5? %:t B %?9Dk: :):WE'@WIXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU]`@ReB*** querying acoustic contact ***PaPaB}B BA*BAAAAY="CRCC'@CցIIqG>> yy B5:YP1y':5q,~EAY}:@}:`@y}:q&齙}:>}:HH? K? *¿.%[?cۻ?@??{?)~:@ ~:8_;I~:Cɫ99)9 =I9Y}@y}nmGZ****** received transponder code query ******F****** received ping request ******ií(@é ĩ)ĭ@Iĭ@iĭ9@ܛ=M<=YcK;QU>a,EE>=y=}>I5?$ B  ?9D: +:)WM-@WX XW:W2W*WVbUBU*UUU @B0!B  B A !<*B AAAA ="C4gRCC-@C!-<)191I5hGi5:@5=115G; 5ڗEցyIG>%q,AEA||;ɫ髑) IY`@ymGxDUSBL response received:!U1,P 213,000,00A78,187,80,80,9C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 1Zd?:v?{Gz"?T= #)IyV-?~jtx:v?|?Ļ< A)I@iAAUU<MU)=YUQUU>Yya},E}Ey}>Iȉ :ō̪5? :ō5 ƍB ?9ƍDǍ; ȍ;)ȍ:W 1f@W X  X W :W2W*WV1bU9BU9*U9U9UEm @B̝s  <:YWU1y:5B BQAU=*BYA]ߙAaAaAeN="CcLRCC1f@C I G% >,q,nEAY}2B@}2ę@y}2߽}2 >}2H`9? ?`@¿`* 9H?@#K? ?S?\?)~2B@ ~2[X`;I~2Cɫ99)9 =I9YT@yoGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I%a=)! m@ m@ m@m©mmim@m i)m9@Im@im"@A=M=Ys}?Iȡť5?ť@ ƥ4B ?9ƥDǥ^: ȥ:)ȡWc@WX XW:W2W*WVbUBU*UUU@B}[iBy ByA}=*ByA˙AAAw="Cț=RCCc@C֥yIG^>) 9) I- (kGi- "@- =) ) - ?; - ՗E2q,/REAY}Jد@}J@y}J^׽}J >}JHL?kg?O¿Ӕ`:i?t(??@]?|?)~Jد@ ~J_`;I~JCɫqq)q }IyY@yoGxDUSBL response received:!U1,R,EDA,000,00AA2,186,80,80,87,FF Fpublishing direction and range infoG\>ɰ^>鰽> )CIyB|;?N=?ٱ==MG=Ya,EEyߗ=}>I :U5? :N ZB ?9D+: :):W%@WX XW:W 2W *W V bUBU*UUU(@P)*Q-BZQ-E{l^@9tޅ?@JQ-|;?N=?2Q-G\>:Q)bQ-~9CG@X\B!1@RQ--N?-mq-k?BQ-I@ Q-Q-8BP-W9?P-9?P-~Q-WQ-A"Q-&AB]BY BaAe=*BaAe|AaAaA}>="CC'RCC %@C 6Ʌ   E:YW1yč:5)x;9IG%o>9q,:$EA|pi|r@Y}ጣ@}@y}9ν}U|>}H?K?;¿`z@ޭ? ??? 6?)~ጣ@ ~]`;I~Cɫ) IY@ypGUDNmea in: $SNTTA,,,,,012555.51*5C u=Mu?=Y}/ya,EEy=}>Iȱŵ\5?ŵ] ƵB }?9ƵDǵ= ȵ#=)ȱm yAdded new target pos. range: 125.820000 m, bearing: 291.761448 deg, deltaT: 4.385253 s, approachRate: 0.574654 m/s, LOS rate: 13.735841 deg/s, posRepo size: 4mProNav REINIT: LOS rate is 13.735841 deg/s. Setting heading cmd to target bearing of 291.761448deg and heading rate command to 0 deg/s.WI@WX XW:W92W9*WAVAbUABUA*UIUMzt_@UM@n1?i}nGIi)]ѿٺY]kABB BA=*BA4kAAA="CORCCI@C ݑ ?i w? I G >@q,cEAY}Big@}B/u@y}BM\ƽ}B>}BHk?+*?`Gz¿`VZ `?}T? ???)~Big@ ~B_;I~BCɫQQ)Y YIYY@ypG !! u u uuu=u>u>iu@u u9@)qIu"@iu9@(FM[=YZ(a,E Ey=}>Iȡ :ťu5? :ťFj ƥB ?9ƥDǥ: ȥj:)ȥ:WWX XW:W2W*WVbUBU*UUU@?B܀B BA=*BAOAAA@h="C 9IlGig@U; ERCCC6Ʌ  ]E:YT1y:5);I G-p>!*Fq,'EAɫ髙) IY@y!rGB`"?~jtx?Mb`?; )IyuV?a,EEy%}%>I)-շ5?-y -B 5?9-#D-r: -:))WYWYXY XYWY:WY2WY*WaVabUaBUa*UiUiU`"?B5셽B9 B9A=w>*B9A=VAAAAAE="CmCRCiCiCqyQIaG}z>SVLq,3EA| | Y}JB@}JO@y}JI.}JX>}JH??F¿@?o?P}?޿?`s?)~JB@ ~J_;I~JCɫqq)q yIyY@y\rGíļíh>í=ií׫@é ĭ)ĭ@Iĭ@iĭ@s<MO=YrNa,EEyN>}>I>5?ԇ B ?94Dܹ: (:)W WX XW:W2W*WVbUBU*UU!U%@a?BM3BQ BQAU|>*BQAU՘AQAQA]="C]~*CeRRCaCaCa]Ia)eiA9IAG]U> /:YxZ1yq:59@ 9 I HnGi @ S; ߗE)YIYiYYY]4U@y}2N}2i>}2H ?`%?¿`ip?/?`$¶? Gz? !?)~2xG@ ~2_;I~2CɫII)I MIIY}d@y}tG=MV=Y;QU>!!a%,E% E)y-&=}->I1 =:5*5? =:5 5B E?95DD5V: 5:)5:WaWaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU}O?B[yB BAbB>*BA AAAcB="CU RCQCQCYօYIaGY>9hYq,tgEAY}JF@}JT@y}J*<}JU >}JH ? 3?ÿpz9R?`%'?@?@7?@M?)~JF@ ~JV_;I~JCɫqy)y }IyY@yhtGAAu9<MuD=Yuyya},E}'Eyy=}>Iȉō85?ōM ƍ B ?9ƍUDǍ: ȍӻ:)ȉWWX XW:W2W*WVbUBU*UUU)M@BzB BAJ>*BAk.AAAE="C]}ORCCC  gk:YW1yč:5&IG>M`q,GEA|i|Y}>T7@}>E@y}>1q}>s >}>H@e?`?@ÿ2`?`??`W??)~>T7@ ~>eh_;I~>CɫYY)Y YIYY@ytGM=M M;߽iMQ@I I)M9@IM9@iM9@]=M]L=Yeaiam,Em-Eiyu=}u>Iy :}5? :}p }9 B ?9}fD}: }M:)}:WWX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBqB BA#X>*BA ڗAAAU="C'RCCC}>9yI}dxfq,h#EAɫ髹) IYo@y^uGZ****** received transponder code query ******F****** received ping request ******a,E4Ey}>Iq5?\ a B ?9yD: :)WWX XW:W2W*WVbUBU*UUUoV @BMNtBQ BQAUc>*BQAUiAQAQA]`C="C]ARCCC1   7:Yy5֍FӅQIYGu>Ilq,EAY}2@}2 @y}2j}2|>}2H? @ @ @Í©ÍÍiÍ­@Í ĉ)č@Ičičn@j=MG=Y-o,19a=,E=;EyJ>}>I :25? :m  B ?9D: 6:):WWX XW:W2W*WVbUBU*U!U1U=R @BHiB BA{>*BAAAA="C>XRCCC6ɅIG>u >9q Iu hqGiu 6@q q q u ; u Esq,HEA| | Y}Z@}Zs@y}Z͛}Z>}ZH\??FĿ; ??t?B?@C?)~Z@ ~Zn_;I~ZCɫ髑) IY@yvGɮENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B /=M]=Y;QU>a,EAEy=}?I  5? :  B ?9 D : :) WAWAXI XQWQ:WQ2WY*WYVYbUaBUa*UaUiUm`1@Bb]B BA>*BAAAAӷ="CukRCCCֽFӅI)jA'  6:YDW1yY:Z5)F;9ױIG>yq,EAY}>@}>a@y}>ϯ}>r>}>HJ?|?$Ŀ@k?̏u? ? 1?`"?)~>@ ~>h_;I~>CɫYY)Y ]IYYQ@ywGxDUSBL response received:!U1,R,FC3,000,00ACE,185,80,80,9E,FF Fpublishing direction and range info^ Z=ɰb>鰝+> )CIyuCYe?/H>?ٱkY=M_=Y;QU>a,EGEy=}>I :!5? :  B ?9D: 3:):WWX XW:W2W*W!V!bU!BU!*U)U)U-@P9*Q=uCZQ=KE`@iY>W@JQ=Ye?/H>?2Q=^ Z=:Q9bQ=o,dN@+\[l}$@RQ=pwWH?&2Nڴ?BQ=r@ Q=]Q=$sBP=9?P=W9?P9Q=~Q= A"Q=ABBYB BA>*B A,AA!AEnu="CMYRCMո1CQCQ]?΅1IIGew>&q,EAɫ)1)1 5I1Ym@ymwGTNmea in: $SNTTA,0.175560,,,,012559.94*47   iA->9)I-rGi-{@-=-QD)-; -E } } } }@ }@ }@yyyi}@y y)}@I}­@i}@0<M1=YQU>a,ENEy}>I5?k  B ?9D < <)muAdded new target pos. range: 128.459991 m, bearing: 298.344029 deg, deltaT: 4.413277 s, approachRate: 0.598193 m/s, LOS rate: 1.491540 deg/s, posRepo size: 4m ProNav: pos range: 128.459991 m, bearing: 298.344029 deg, approachRate: 0.598193 m/s, LOS rate: 1.491540 deg/s, cmd update: 4.474621 deg/s, cmd heading: 291.761448 deg, new cmd heading: 291.761448 deg. WB@WX XW:W2W*W V bU BU *U U@`@U h?B}@aBy ByA>*BAAAA%="C6VRCCB@C`  z;:YX1y/:I5)4;uw1I9GU>Ɔq,@kEA|i|ɫyy)y }IyY@y\xGGz?333333? rhp>= C)IyCl?V-{Gz?;?#< µ A)µ^@Iµ@iµ AA<MW=YQU>a,ETEy}>It5?|  B ?9D:  :)W @WX! X!W!:W!2W!*W)V)bU)BU1*U1U1U= ?Be(HBa BaAe>*BiAm<6AiAiAm#="CuI|RCuνC} @CysP?i?סIGA>M d>I i nGI i - C̿ٺ) - JAq,tF6EAY}JG@}J@y}J]}J>}JH?`E?¿̔|9?4By?z?S?)~JG@ ~J_;I~JCɫ髙) IY@yxG   Õ`eÕ>ÕX9>iÕQ@Õ ĕ"@)ĕ@Iĕn@iĕn@<MM=Y\a,E[Ey\>}>I : 5? :  B ?9D=: {:):WX @WX XW:W2W*WVbUBU*UUU`?B-QB1 B1A55>*B1A5%A9A9A=="CE{LRCE@ǻCEX @CAM3!I)GE0>  5:YU1y:59@ >9 I $tGi o@    ;  Eؓq,!PEAY}2s@}2@y}2Տ}2=}2H #?,? (@f)?"t.??)?)~2s@ ~2`;I~2Cɫ99)9 =IAY]'@y]yG)> =MX=Y;QU>a,EaEyD=}>I5?e  B ?9D+: :)W%@W!X! X)W):W)2W)*W)V)bU1BU1*U1U9U=?Be8DBa BaAmU>*BiAm0AiAiAmm="Cu*C}a&RC}U;C}@Cye|1AIIGm5>q,jEA| |"4a,EhEyfo=}>Iȩ :ŭ5? :ŭE+ ƭ6 B ?9ƭDǭ: ȭ:)ȭ:WL'@WX XW:W2W*W!V)bU)BU)*U)U)UE@BmnRBq BqAuأ>*BqAu̒AqAyA}3="C6RC#;CL'@C֝Iס)ץiAyIG]>~~ ,:YT1y@:n5>꠺q,|փEAY}> @}>'@y}>,f}>W=}>H)? ? HC G?x`ɰ?|Ϻ?@8?)~> @ ~>NZ`;I~>Cɫ99)9 9I9Y}D@y}zGu\?u.?uT=iu@q u@)uK@Iu@iu@c=ML=Y:QU>a,Eܹ9ܹIܽtGiܽ@ܹܹܹܽ; ݽE)ݡIݡiݡݡݥ=ݥ4nEy=}>IF*5?}6 H B ?9 D]: :)WEN@WIXQ XQWY:Wa2W*WVbUBU*U)U1U=`C@B5n/GB1 B1A5/>*B9A=A9A9A=="CERCECMN@CI=h׽IG%n>mq,AEAɫ髱) IY@y{GʡE?~jtx+>Ļ )IyL7A`?a,EuEy}>I  :g65?  :C f B ?9Dj: *:):W] @WYXY XYWY:WY2Wa*WaVabUaBUi*UiUiUm@@R}B*** querying acoustic contact ***PyPyB4B BAa>*BApAAA="C(RCEC @CJz׹IGE>?  8:Yy5>q,ҌEA|i|@Y}6´@}6«@y}6 ȅ}6=}6H Jt?`?B;`ARH? ??ܼ?)~6´@ ~6+"`;I~6Cɫ99)9 9I9Y}@y}{GZ****** received transponder code query ******F****** received ping request ******YYa],E]{EYye>}e>IimB5?myN m B u?9m-Dm#: m:)iW%@WX XW:W2W*WVbUBU*UUU`9 @B 7B BA,>*BAɑAAAKo="C%tRC%YC%%@CIYY%u \)i-?I G%M>ܵ>9ܱIܵ|vGiܵW@ܱܱܱܵ; ݵE>(q,oEAY}J^@}Jl@y}J!}Je=}JH?@?`~?2??`?)~J^@ ~Jp_;I~Hɫ髙) IY.@y5{GxDUSBL response received:!U1,P FC3,000,00ACE,185,80,80,9E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 UjM]J=YeoL:QUm>qqa},E}Ey>=}>I) =:-Q5? =:-[ - B m?9-@D-2< -<)-:W=UF@WAXA XAWA:WA2WA*WIVIbUIBUI*UIUQUU 6 @BFm?B BAĽ>*BAAAAI(="C+LfRCCCUF@C  +D:YxZ1yq:5);9 -X;IG >tPq,BEAY}6۴@}6@y}6ߕ}6=}6HZ?@>[?>`s?@Ml?cc??)~6۴@ ~6R_;I~6Cɫyy)y }IyYO@y|G5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )= =ÕÕ̌>ÕQ8>iÕ@Ñ ĕ@)ĕ­@Iĕ­@iĕ@~=M7=YQU>a,EEy=}>I1_5?g  B  ?9QD: :)WM/:@WQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUe p@B.'B BA>*BAxAAA3="CAR_RCC/:@C}׹IGf>Yk?v?2??)~R%@ ~RA_;I~RCɫ髑) IY@y8|GxDUSBL response received:!U1,R,316,000,00AFE,189,80,80,7D,FF Fpublishing direction and range info|0ɰf>7> )BIyWCy%?^IZٱ%(ڼM%e=Y-G8QU->11a5,E5E9y=<}=?IAU>9QIUwGiUK@U=QQU; UEEk5?Eq E B ?9E_DEC< EFL<)AWM>=@WQXY XYWy:W2W*WVbUBU*UUU`x@P*QWCZQ9VY@Z3TJQy%?^IZ2Q|0:QbQʦ <@X|ki`c-RQ\`?7<￰!ƶBQmI@ QNQ@P9?P9?PQQL@"Q ABk0B BA>*BA=ʏA9A9A=="CEVRCMKCM>=@CIU<HIY)]hA 0:Y]1y:5)Í;IGEs>#dǺq,2EAɫ) IYU@yU8}GTNmea in: $SNTTA,0.234173,,,,012604.40*45 x?S㥛:vK>/ݼ T)IyS? rhI +?/?C9< ­A)­?@I­@i©Ab=M3=YQU>a,EEy}>I :\{5? :C  B ?9sD: :):m%yAdded new target pos. range: 131.339996 m, bearing: 270.878008 deg, deltaT: 4.527149 s, approachRate: 0.636163 m/s, LOS rate: -6.066958 deg/s, posRepo size: 4m5 ProNav: pos range: 131.339996 m, bearing: 270.878008 deg, approachRate: 0.636163 m/s, LOS rate: -6.066958 deg/s, cmd update: -12.000000 deg/s, cmd heading: 311.974131 deg, new cmd heading: 313.747965 deg. W5@W9X9 X9W9:W92W9*WAVAbUABUA*UIUM@j`@UM ?BuV"By ByA}>*ByA}[!AyAyA=="CW{SRC"]C@Ce9IAG]U>ͺq,8EAY}N1j@}Nw@y}NT}N=}NH@??4>?J j???)~N1j@ ~N5_;I~NCɫyy)y IYyaa;=~>i@ @)K@I-@i@Y!QU>a,EE y <}>I5?  B %?9Db: M:)WE@WAXA XIWI:WI2WI*WQVQbUQBUQ*UQUYU];\?BԮB BA*BA|AAA="C'U*C2RCd;߽C@C֝YIiGZ> 2:YW1yč:o59@Y9YI]pxGi]@]=YY]; ]EtԺq,REA|i|@Y}6@}6@y}6}6զ=}6HU?@ ?@麿w.@N?e ?ȴ??)~6@ ~6_;I~6CɫYY)Y eIaY@y}G%lM%IIaU,EUEYye<}e>Ii }:mؖ5? }:mܕ m( B ?9mDm5; m5;)m:W|@WX XW:W2W*WVbUBU*UUUQ?B%V:"B! B!A->*B)A-ЍA)A9A=D="CU]\RCUOCU|@CYMGg̽M?iM?!I)GM1>9ںq,qlEAY}R@}R@y}RU}RP=}RH H?D?@8??DG?m??)~R@ ~RT_;I~RCɫ髡) IY}]@y}}G U@ U@ U@U©UUiU@U U@)U@IU­@iU@e6=Me7=YmQUm>qqau,EuEyy}#<}}>IȁŅ5?Ņ ƅF B ?9ƅDDžo: ȅY:)ȁW~@WXiNmG X WI):W9iA2W9*WQVYuʿٺquAbUyBUy*UyUyU@?BZ#B BA>*BAbAAAZ&="C%jRCLC=~@CAa  ;:Yy855wܽ IG=>q,eEAY}:͵@}:Nۭ@y}:}:W=}:H ??l@6@-?k?@[?\??)~:͵@ ~:*N_;I~:Cɫ99)9 =I9Y}?@y}}GE9]}CI]yGi]@YYY]; ]E)= >MH=YeHQU>a,EEy8<}>I  : ]5? : T c B ?9 D A: o:) :W]@WYXa XaWa:Wa2W*WVbUBU*UUU`@B<B BA>*BARDAAA="C ~RC -=C@C+W½IGm>q,AEA||ɫ髙) IY@y~Gjt?K7A?I + ? > 94)IyGz?Mb?Q?0?=\= A)@IiA@-q=M-Q=Y5QU5>19a=-E=E9yE}E>IIM5?M M B U?9MDM<: I)IW}.@WyXy XyWy:Wy2W*WVbUBU*UUU@B B BA>*BAAAAZ="CaRC#\=C.@C֍`kIב)וiAaIiG9> 2:YU1y:5)q,EAY}2/9@}2F@y}2Ͳ}2;=}2H a?@?u@}?Aq? ϒ??@?)~2/9@ ~2>_;I~2Cɫ99)9 9I9Y@y~G E E MM7 >M-?M#iM(@M M@)M^@IM@iMK@]M]Y=Y]ZQU]>aaae-EeEiym=}m>Iq }:u5? :uL u B ?9uDu: u:)u:W@WX XW:W2W*WVbUBU*UUU:@RB*** querying acoustic contact ***PPBvB BAo>*BAފAAA="C8ؒRC1>C@CMrIG-->=>99I=dzGi=@==99=; =E)݉I݉i݉݉ݍ=ݍr4-q,fEAY}B@}B`@y}B}BU=}BH ?@Rg?!V: ?h? ?@??)~B@ ~B^;I~BCɫYa)a eIaY@yQGZ****** received transponder code query ******F****** received ping request ******a-EEy̲<}>I5?  B ?9Db:  :)WEИ@WAXA XIWI:WI2W*WVbUBU*UUUË @BB BA;>*BA A A A s="CУRC->CИ@C!  t6:YWU1y:&5)ݒ;9IG%n>Iq,?EA|i|@Y}FԶ@}F{@y}F쎽}F/=}FH?,?`L?`0ٱ?`3 ?I?)~FԶ@ ~F_;I~FCɫ) IY\@yGxDUSBL response received:!U1,P 316,000,00AFE,189,80,80,7D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 5@ 5@ 5@5©55i5z@5 5)5j@I5K@i5@]%M]&=YenQUe>aiam-EmEiyu<}u>Iș :ŝL5? :ŝ Ɲ B ?9ƝDǝD: ȝ:)ȝ:W@WX XW:W2W*WVbUBU*UUUr @B>DB BA>*BAAAA)="C%%,RC- >C-@CQiA֥[Rӻ׭?i׭?ס I G >0q,EAɫ髡) I}>9I{Gix@; EY@yG]Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ]K?l񢿸Q]^>] ])YIYy]Q?I +?Mb?](a-EEy}>Iȑŕ 5?ŕ ƕ B ?9ƕDǕ3: ȕr:)ȑWh@WX XW:W2W*WVbUBU*UUU@+@B3RB BA>*BA&[AAAx="C RCCh@C֝ = /:YW1yč:5)6;qIG> q,!EAɫ髙) IY@yEGxDUSBL response received:!U1,R,265,000,00B2A,188,80,80,84,FF Fpublishing direction and range info ɰ j>> )CIyC!Ж?+R 8Pٱ)> 7=Ml=YQU?a-EEy}?ID5?m 3 B ?9%D: :)W@WX XW:W2W*W V bU BU *UUU@P!*Q%CZQ%\@,qܶSQJQ%!Ж?+R 8P2Q% :Q!bQ%^H"}$=@0%W`ت@RQ%r?H9ᅣ.?v?BQ%Н@ Q%Q%#AP%69?P%9?P%Q%Q%A"Q%L@B]YBY BYA]?*BYAeAAaAaAe="Cm錾RCiCm@CqMĎ=IG-->(q, d;EA||Y}nm@}n{@y}n&Q}nޢV=}nH A? ?h)`P ]? s?R?`-?s?)~nm@ ~n _;I~lɫ) IYUr@yU:GDNmea in: $SNTTA,,,,,012608.84*5F 5 = ===p>==i=@= ="@)=@I=@i=@M-MMA=YMҺQUU>QQaU-EUEYy]4=}]>Ia m:e-5? u:e2 eX B u?9e9De: e:)e:muAdded new target pos. range: 133.980011 m, bearing: 282.566155 deg, deltaT: 4.390470 s, approachRate: 0.601306 m/s, LOS rate: 2.662163 deg/s, posRepo size: 4m ProNav: pos range: 133.980011 m, bearing: 282.566155 deg, approachRate: 0.601306 m/s, LOS rate: 2.662163 deg/s, cmd update: 7.986489 deg/s, cmd heading: 259.171862 deg, new cmd heading: 254.092178 deg. W@WX XW:W2W*WVbUBU*UU@\`@U`6?B%B BA?*BAbȆAAAzv="CɿRC C @C  >%=I)))IG J>. ) }7:YX1y/:l59@z>9IX|Gi@; Eq,?UEAY}R{`@}RBn@y}R}R=}RHv7??)z@MQ??@? O?`?)~R{`@ ~R/_;I~RCɫyy)y }IyY/@yG:u=MT=Y@QU>a-EEy,}>I>5? z B ?9KD÷: :)WBZ@WX XW:W2W*W V bU BU *UUUIG )>s>q,)oEAɫ髉) IY}@yހGYYå=ååj<=iåf@á ĥ@)ĥ@Iĥ@iĥ@<M;=YQU>a-EEy}>I :R5? :  B ?9_Dv: :):WN@WyXy XW:W2W*WVbUBU*UUU@&?B9B BAZ ?*BAgAAA7P ="C i׿RCCN@Cb> ! 4:Yd\1y:5IGm>""q,AEA|$i|&@ففܥw>9ܡIܥ}Giܥ@ܥ=ܡܡܥ; ݥEɫYY)a eIiYj@yӀG"~j?MbMb?S> <)Iyp= ף?y&1??E?`e<L= µ@)µ@Iµ(@iµA3@ڵMI=YQU>a-EEy}>Iqe5?  B ?9sDf: :)W@WX! X!W!:W!2W!*W)V)bU)BU)*U1U1U5i?B]ټBa BaAe?*BaAAAA ="CwٿRCC@CX߀>?i?יIGd>|N(q,עEAɫ髹) IY@yGr<M\=YQU>a-EEy}>Ixv5?+  B ?9DI; ;)WUܙ@WX XW:W2W*WVbUBU*UUUR@BмB BAR ?*BA=AAA;- ="Cٿ*C*ѰRCCUܙ@C> ^ E:YU1y:5IG5q>yyi]nGIi - ̿ٺ1 5 Aw.q,ɫEAY}J*N@}J[@y}Jݒ}J{}JH? K^?)?N}^?@? W?Fk?)~J*N@ ~J*`;I~JCɫYY)Y YIYY}@y}G)= =ÅCÅ<Å;iÅp@Á ą^@)ą-@Ią-@iąK@MO=Y2QU>a-EEy^(}>Iȩ :ŭc5? :ŭ{8 ƭ B ?9ƭDǭ: ȭ:)ȭ:WɊ@WX XW:W2W*WVbUBU*UUU@JW@BZʼB B!A%e ?*B!A%UgA!A!A% ="C-s_׿RC1C5Ɋ@C1 >IG$>܉9܍|CI܍~Gi܍@܍=܉܍D܍; ݍEsc5q,ԙEA|,|.p;Y}Vs@}VQ@y}V(}V]d"}VH@? ? **? ?̳? %A?@)Ŀ?)~Vs@ ~V`;I~VCɫ髱) IY@y)GAA% <M%Q=Y-f:QU->19a=-E=EAyE6}E>I5?E H B ?9D ; ;)WU=j@WQXQ XQWQ:WQ2WY*WYVYbUYBUY*UaUiUmW@R}B*** querying acoustic contact ***PyPyBԼB BA, ?*BAnAAA ="C ^ѿRC C=j@C>I) \ LA:YWU1y:Y5);;9IG5q>ҍ;q,uEAY}^@}^s@y}^}^MA}^HN?hI??j@?S?[???ȿ2Y?)~^@ ~^Z`;I~^Cɫ髱) IYb@ykGZ****** received transponder code query ******F****** received ping request ******MM=iM@I M@)Mj@IMj@iM@]<Me8=Ye8QUe>iiam-Em Eqyu}u>Iy :}ͩ5? :}+T }t B ?9}D}: }:)}:WE@WX XW:W2W*WVbUBU*UUU @BB< BA?*BA~AAAQ ="CɿRCCE@C>IGm>:tBq,J EA!%jAEv>9AIEGiE@E=AAE; EE)}CI}Ci=5Y}%|@}%C@y}%򟒽}%U}%H??F?? ?`O?`^ʿ :?)~%|@ ~%_;I~%Cɫ  )  IYMm@yMrG]xDUSBL response received:!U1,P 265,000,00B2A,188,80,80,84,FF ]Command Ack]BRequesting micromodem ping code 2iYYmNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 p /3:YX1y/:5) ;-uV?~jt{Gz?-r?-Ľ -ף<))I)y-9v?㥛 ?y&1|?-4?-=-`; -5@)-p AI- @i-\A)-@QQ]Y&;M]=Y]QUe>aaae-EeEiy}V}>IȁŅ 5?Ņ5d ƅ B ?9ƅDDž: ȅ :)ȁW@WX XW:W2W*WVbUBU*UUUP@BKB BA?*BA`y~AAA ="CRC C @C ] }>1 I9 G] >xHq,.$EA|i|Y}6˱@}6٩@y}6ϒ}6a}6H@?%"?I'?@l?@d?`U?A˿ A%?)~6˱@ ~61_;I~4ɫQQ)Q UIQYm@yG鮕p=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B +>M=YQU4?a-EEyٽ}6?Iȩ :ŭy5? :ŭk ƭ B ?9ƭDǭ: ȭ:)ȭ:W$@WX XW:W2W*WVbUBU*UUU`#@BLB BA?*BA%0N}A!A!A% ="C-%RC- Uy>C-$@C1=6Ʌ>9IQGmW>Nq,9=EAY}6@}6@y}6m}64l}6H`1?p?@? V?S? p?H0Ϳ N?)~6@ ~6ӿ_;I~6Cɫ99)9 9IAY}@y}G 5@ 5@ 5@5©55i5@5 5t@)5AI5i5@Mf$MUO=Y]QUe>aaae-EeEiyuֈ}u>IȁŅ?5?Ņ#x ƅ B ?9ƅDDž< ȅȖ<)ȁWm@WiX XW:W2W*WVbUBU*UUU@@B ǴB  B A?*BAB{AAAW="C懨RCQ>C%@C!r=l 11:YWU1y:59@:y>-u>9)I-Gi-@)))-; -EIG>ƭUq,WEAY}6j@}61 @y}6${}6t}6H`s?@?m]?Y?K?Pk?@l<ο P?)~6j@ ~6ʅ_;I~6Cɫ99)9 9I9Yf@y GxDUSBL response received:!U1,R,F5A,000,00B5F,186,80,80,8F,FF Fpublishing direction and range infoV>ɰxn>> )CIy( C 1?'ЌCz?ٱ=TNmea in: $SNTTA,0.093384,,,,012613.34*45 )e= e=}=MG=YS9QU>a-E#Ey}>I :%5? :f  B ?9 D_; ;):W|@WX XW:W2W*WVbUBU*UUUk|@Pi*Qm( CZQmi0%`@53@JQm 1?'ЌCz?2QmV>:QibQmaU@rZbLZ@RQmpȢz*?c^迈V?BQm@ QmQm߬BPmө9?Pm69?PmQmQm;A"QmAB\B BA?*BA'yAAA="CRCk=C|@C<I_y>IG >[q,qEA||;Y}BP(@}B6@y}Bw}}By}BH@T?sS??@c?@?K?ο?)~BP(@ ~BZ<_;I~BCɫQQ)Q QIYY@yzG   `弩M>G=i @ @)@I@iԸ@ oV=MA=Y:QU>a-E*E!y-}5>I9=5?= = B M?9=D=m ; =] ;)9m%uAdded new target pos. range: 137.160004 m, bearing: 309.095867 deg, deltaT: 4.889843 s, approachRate: 0.650326 m/s, LOS rate: 5.425473 deg/s, posRepo size: 4m5 ProNav: pos range: 137.160004 m, bearing: 309.095867 deg, approachRate: 0.650326 m/s, LOS rate: 5.425473 deg/s, cmd update: 12.000000 deg/s, cmd heading: 298.092722 deg, new cmd heading: 301.375433 deg. W5=@W1X1 X9W9:W92W9*W9VabUaBUa*UaUm%a@Um@?B(B BAL?*BAwwA9A9A=-="CEԑRCECM=@CIQQ)Q Qo  e:YV1y: 68b>י I G >bq,EAnv>9lInGin@n=lln; nEY}8@}F@y}f‘}{}H??`e?A@?FD?]4?ο`?)~8@ ~!D_;I~Cɫii)q uIqYG@yG'1Z?Cl?x&??;_> 7=)IyGz?l?0?= ½n@)½-AI½?@i½ApAN<M>=YY:QU>a-E1Ey}>I :E5? :R  B ?90D: :):W-@W)X) X)W):W)2W1*W1V1bU1BU1*U9U9U=`?B9BA BAAE?*BIAM@tAIAIAU)="C}톿RC}~C@Cux?>QIYG~>a-E6Ey}>Iȩŭy 5?ŭ ƭ B ?9ƭ@Dǭ$; ȭ:)ȩWn@WX XW:W2W*WVbUBU*UU U$?B #PB BA"?*B!AM?sAIAIAM\w="CU zRCUXCUn@CYm>9IIGuX> m I:YDW1yY:5Roq,*;EA|i|@Y}>w@}>>@y}>ݏ}>p}>H*?y{?`'t? #?Yl??@ Ϳ ?)~>w@ ~>Œ_;I~>CɫYY)Y YIYYl@yJGÕ7ÕqÕY=iÕ@Ñ ĕ@)ĕ@Iĕ@iđj=MG=Y;:QU>a-E=Eyzu}>I|5?  B ?9RD: Q:)W"@WX XW:W2W*WVbUBU*UUUn?B5==B1 B1A5(?*B1A='qA9A9A=="CE?fRCE CE"@CIM=IG=/>s>9IFGi@=; E,uq,3EAY}2B@}2 @y}2}2d}2H@+??-?B?*?\?@CH̿0"?)~2B@ ~2M_;I~2Cɫ99)9 9I9Y}@y}G?=MT=Y%;QU->11a=-E=CEAyM{Q}U>I :!5? :  B ?9dD; ;):W%j@W)X) X)W):W12W1*W1V1bU9BU9*UAUIUMw?B?B BAu-?*BAnAAAK="CdORCCj@C֍|=AIQGm5>w b P=:YX1y/:5E%|q,9EAY}2qi@}28w@y}2ꯂ}2@V}2H ?O ?fs?`v~\?@?&S?`Qʿ=?)~2qi@ ~2j~_;I~0ɫAA)A AIIinmGY`@IyGi˿ٺ˼A @ @ @í©ííií @í ĭ@)ĭIĭiĭ@<M==Ya-EJE y o} >Ir+5? B %?9vD : 8:)WE@WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQU]@@BpB BAw0?*BA=rlAAAA="C]:RCC@C`k=יIGb>q, EA00Bp>9B{CIBGiB @B=@@B; BE|h|j4= )Iy?V-?:v?,?m=T< 9@)AI @iAxR=M :=Y*a-EQEy>}>I :w75? : -B ?9DA; 7@;):W5}¹@W1X1 X9W9:W92WA*WAVAbUABUA*UIUIUM@R]B*** querying acoustic contact ***PYPYB},d5By ByA@6?*BAiAAAS="Cv.!RCC}¹@C֕= h 84:YW1yč:5);9QIYG|>8q,&EAY}6@}6M@y}6_}611}6H``G? Tv? ?`ff?`??@ƿx?)~6@ ~6_;I~4ɫ99)9 =I9Yu@y}G}Z****** received transponder code query ******F****** received ping request ******+q,@EAɫyy)y }IyY}@y-GxDUSBL response received:!U1,P F5A,000,00B5F,186,80,80,8F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76   =>i@ ?@)|@I?@i(@iU=M%=YEQUE>IIaM-EM^EIyU}U>IY :]IL5? :] ]NB ?9]D]; ]&;)]:W7L@WX XW:W2W*WVbUBU*UUU @BUL mm>9iImGim@iiim; mzE)|CI|Ci==J=5B BA\A?*BAdAAA_,=F  g9:Yyb6)i;"C=GRCACE7L@CI֍~I IY Gu >QIq,]ZEA|i|@Y}6#`@}6m@y}6i=}6KS }6H@?7??{`*?#_?@ǟ?`w?)~6#`@ ~6u`;I~4ɫYY)Y ]IYYf@yG鮩ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B u=Mu=Y} @B Ӫ;B BAH?*BAbAAA="C BƾRC C V@CŽIGK>Muq,@tEAY}Bt@}B@y}B49)}B}BH@?`? ? @|?V? %?~?)~Bt@ ~B`;I~@ɫQY)Y ]IYY6@yGxDUSBL response received:!U1,R,205,000,00B95,187,80,80,4C,FF Fpublishing direction and range infoq澩ɰr>1> )BIyf C] L?\7ۿٱ UV>U!UiU(@Q Up@)U@IU@iUԸ@eKoMeK=Ym6Eqqau-EujEqy};}}>IȁŅ^5?Ņj ƅhB ?9ƅDDžr: ȅ':)ȁW@WX XW:W2W*WVbUBU*UUUϕ@P *Q f CZQ q,}_@`,>NJQ ] L?\7ۿ2Q q:Q bQ 0um]m'"qlay#(@RQ [k￈yʵ#?BQ @ Q c Q j;P Ԩ9?P ө9?P Q Q ݖA"Q ;AB5wB1 B9A=%G?*B9A=_AAAAAM="Cm)RCqCu@Cy]8'I)GEQ>T ~~o ::YT1y@:k59@a a } j>9y I} Gi} @} =y y } ; } {EYq,َEAY}M@}Mb@y}Mn.}M}MHU??=֯? ^?T?@d??)~M@ ~Ma;I~MCɫ11)1 =I9Yu@yuGTNmea in: $SNTTA,0.406364,,,,012618.13*4D =-?X9viiam-EmrEqyus|<}}>Iy :}j5? :}- }zB ?9}D}{: }:)}:myAdded new target pos. range: 140.400009 m, bearing: 265.196411 deg, deltaT: 4.399691 s, approachRate: 0.736417 m/s, LOS rate: -9.977850 deg/s, posRepo size: 4m ProNav: pos range: 140.400009 m, bearing: 265.196411 deg, approachRate: 0.736417 m/s, LOS rate: -9.977850 deg/s, cmd update: -12.000000 deg/s, cmd heading: 351.059536 deg, new cmd heading: 356.771500 deg. W@WX XW:W2W*WVbUBU*UǓa@U`p?B  B BAK?*BA\AAA4#<"CnRC!C@Cօ!IQIaG}{>q,rEA||;Y}2@}2(@y}2WO}2d5}2H??@~O?@?e?`? 5?)~2@ ~2>`;I~2Cɫ99)9 9I9Y@yGu=Mur=Y}q,MMEAY}:馫@}:@y}:ӳ̼}:a}:H?@n?`.vl?`pg?˕? AsZ?)~:馫@ ~:s"a;I~:Cɫ99)9 =I9Y}@y}GI-p=)-=uuԽuCiu3@q u @)u @Iu @iu @MI=YVa-E}Ey:,=}>Iȡ :ť~5? :ť=H ƥB ?9ƥ Dǥ: ȥ/:)ȥ:W@WX XW:W2W*WVbUBU*UUUn?B <B BAR?*BAXAAA.u<"C%1RC!C%@C)-ƂIG*>i>9zCIlGiC@=D; Eq,(EAY}6R@}6`@y}6}6/=}6HZY?!?`' a?Rm?<"?آ??)~6R@ ~63Ya;I~6Cɫ99)9 =I9Y}@y}G<MR=Y6!!a%-E%E)y-\=}->IȁŅ)5?ŅMV ƅB ?9ƅ DDž: ȅ:)ȁW7@WX XW:W2W*WVbUBU*UUUr?B%@+;B! B)A-VT?*B)A5nAUA1A9A=<"CEW.1*CEqRCACE7@CIe?΅9IIGeU>.  }7:Y]1y:༻q,}EA|i|Y}6@}6%@y}6ꎼ}6"=}6H??@;@ɽ?,.ݑ? O?`?)~6@ ~6a;I~6Cɫ99)9 =I9Y}@y} G-E=->-t=i-G@) -@)-@I-@i-@=x=MEH=YE;QUE>IIaM-EMEQyUp=}U>IY e:]F5? e:]%d mtI ]B m?9]) D]q: ]~:)]:W@WX XW :W2W*WVbUBU*UUU%<@BM ;BI BiAmZ?*BqAucRAqAqAu<"C}/GRCyC}@CօFӅYIiGZ> f>9 I i RD ; zEûq,EAY}6@}6Q@y}6@k}6;=}6H-?@J?B+z @?`, g?ܡ? J?)~6@ ~6a;I~6Cɫ99)9 9I9Y@yG !!$C? rhS㥛?C /ݼ)IyQ?Zd;O? rh?\/?j< ­t@)­?@I­@i­@@MA=Y;QU>Qiau-EuEyy`g=}>Iȱŵ£5?ŵBs ƵB ?9Ƶ< DǵB; ȵh;)ȱW=w@WAXA XAWA:WA2Wi*WiVibUqBUq*UqUqU}@]@B`;B BAZ?*BAu.OAAA~<"C%{RC!C-w@C)  A:YX1y/:5);95?΅I!GE>yɻq,)EAY}:@}:̦@y}:Q=}:=C>}:H ??@Ǿ<؂?@`G?`ѻ?$?)~:@ ~:a;I~:Cɫ99)9 =I9Y}@y}G@A0tMa=YK;QU>a-EEyB=}?IȹŽ5?Ž~ ƽB ?9ƽK Dǽk: Ƚܹ:)ȹWe(@WiXi XiWi:Wi2Wi*WVbUBU*UUU@@RUB*** querying acoustic contact ***PQPQB;H<B BA=Z?*BALAA A <"CC RCC(@CCi]nGIFӅiAuʿٺy}@AIGk>лq,WCEA||4}6H?Z?`&kY? hׄ?6??)~6ʐ@ ~6`;I~6Cɫ99)9 9I9Y}@y}BGZ****** received transponder code query ******F****** received ping request ******a-EEy_j=} >I %:O5? -:? B 5?9_ Dv; ;):Wu8@WqXq XqWy:Wy2Wy*WVbUBU*UUU @Bm]2<Bq BqAup\?*BqAu:IAqAyA}]<"CȾRCC8@Cue>9qIqiqu=qqu; upE0  7:YW1yč:35);)IG5>׻q,Xp]EAɫyy)y yIyY@yGxDUSBL response received:!U1,P 205,000,00B95,187,80,80,4C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)=5M=X=YMQUM>Yaam-EmEy}>Iȱŵ65?ŵ% ƵB ?9Ƶr Dǵ< ȵ<)ȱW 6@WX XW:W2W*W V bU BU *U UU% @BXc;B BA=Z?*BAFAAA'<"C`RCC 6@C֙qIG>.ݻq,fKwEAY}:2O@}:\@y}:}:*>}:H ?s]?@g¿V?$mU?`D?э?)~:2O@ ~:"_;I~:Cɫ99)9 =I9Y}@y}RG鮅a=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B   õm=õ>õC;QU>a-EEy>}>I :5? : B ?9 D: :):W@WX XW:W2W*WVbU!BU!*U!U!U-@3@BlL<B BA@]?*BA1DAAA><"CiRC)C-@C1]?΅  3:Y0Y1y:459@1IQGmx>m g>9m yCIm :Gim @m =i i m ; m jE)5zCI5zCi15=5=5<5q,&EA|i|@Y}6}0@}6E>@y}6}6Р.>}6H[E?@h?5¿@D7 ?H涿@܂?Ѹ? ӈ?)~6}0@ ~6T_;I~6Cɫ99)9 =IAYE@yM)G$C?~jt?)\(>< Ga)IyS? a.EEy%/=}%>I)-,5?-ٳ -B ?9- D-O< -~<))W,@WX X!W!:W!2W!*W)V1bU1BU9*U9U9U=~@BXA<B BA*[?*BALAAAAX<"C9N$RCC,@CFӅIG l>Bq,EAɫ) %I!YU @y]]GTNmea in: $SNTTA,0.235594,,,,012622.58*44 99å>áåa.EEy}>I :5? :X B  ?9 DO; AQ;):W@W X  X W :W2W*WVbUBUA*UAUAUM`H@BA<B BA]?*BA;=AAA<"C!l=RCC@CI  9:YW1yč:5IG>(q,EAY}2'@}2 @y}2uT7}22>}2H?`n?\¿`2x? A)@o?6?`.?)~2'@ ~2 _;I~2Cɫ99)9 9I9Y@yhG?;Mn=YQU?a.EEy(>}?I5?K B ?9 D: :)W5@W1X1 X9W9:W92W9*W9VAbUABUA*UAUAUM@BuPu<Bq ByA}h^?*ByA}f;AyAyA} f<"C@LMRCnC@CmA)I9GU> c>9 I Gi @ =   ; lERq,EA||Y}>P@}>@y}>oY}>4>}>Hn?n3? M¿Gr,?y2?d??)~>P@ ~>b^;I~>CɫYY)Y ]IYY@y)G MM=YQU>a.EEyi=}>I :R5? : B ?9 D(: w:):Wb.@WX XW:W2W*WVbUBU*UUU@@RB*** querying acoustic contact ***PPB=(U<B9 B9A=*[?*B9AEL8AAAAAE<"CMNdRCmm~Cmb.@Cqօ5YIiGZ>@  8:Y0Y1y:5}q,EAY}2Ե@}2@y}2耼}2n3>}2H!? ?¿S@z?9?O??)~2Ե@ ~2_;I~0ɫYY)Y ]IYY @yGIR=)4==>i3@ )I?@iԸ@ RM E=Y5»QU>a.EE!y%=}%>I)-D 5?-{ -*B =?9- D-: -:))W]G@WYXY XYWa:Wa2Wa*WaVabUiBUi*UiUiUmF0@B5d`<B9 B9A=U?*B9A=e6A9AAAE<"CEByRCM<CMG@CQ-swIG-->  hA b>9 I փGi O@ ; pEdq,YnEAY}2ʷ@}2Ů@y}2tU}22>}2Hn?`;?&Nm? ͺj?`$??)~2ʷ@ ~2G8_;I~2CɫYY)Y ]IYY=@y݆Gp=ɮ9v?l¿MbP?4? :)IyGz?Q?{Gzt?p=?u<ף; ­A)­@I­|@i­@f@]r<M?=YQU>99a=.E=EAyE=}E>II U:Ma35? ]:M M3B ]?9M DM: M:)M:W}z@WyX XW:W2W*WVbUBU*UUU<@BZ<B BAYW?*BA)3AAA<"CSORC*=Cz@CPHIGK>Z _ ;:YW1yč:5)ʖ;9 q,O,EA|i|@Y}6o@}67@y}6j}6/>}6H@d?fp?!t`}&?Ѻ`l? ??)~6o@ ~6,y_;I~6Cɫ99)9 9I9Y}@y}ˆG~>=\>i@ @)@I@i@ME=Y%ԻQU%>iiam.EmEqy}=}}>IȁŅE5?Ņ ƅ=B ?9ƅ DDž; ȅY;)ȁWÕ@WX XW:W2W*WVbUBU *U U U O@BU d<BY BYA]lV?*BYA]/A0AYAYAe <"CRCKZ>CÕ@C}(aIiGZ>vq,5$FEAɫ髙) IY@y†GxDUSBL response received:!U1,N,80,80,63,E4 5,187,80,80,4C,FF ZNo reply:!U1,N,80,80,63,E4 5,187,80,80,4C,FF -a.EEy}>IV5? FB ?9 D<: 3:)W@@WX XW:W2W*WVbUBU*UU U @B5Q<B1 B1A=U?*B9A=-A9A9A=6<"CEGuRCE >CM@@CIMӽܽ^>9ܹIܽGiܽ@ܽ=ܹܹܽ; ݽsE!I1GU1>l  o<:YU1y:5);q,_EAY}2@}2)@y}2t˼}25>}2Hy?@j?/M`N? Zm??u?)~2@ ~2_;I~2Cɫ99)9 9I9Y}@y}ɆGAAo;M]=Y-QU>a.EEy>}>Iȹ :Žg5? :Ž  ƽOB ?9ƽ+ Dǽ: Ƚ^:)Ƚ:WŐ@WX XW:W2W*WVbUBU*UUU@B-b<B) B1A5NV?*B1A54+A9A9A=,<"CEeRCACEŐ@CA֍ЉIIQGu>i nGI i ɿٺ A%q,yEA||;Y}6й@}6hޱ@y}6׼}6>}6H`?6?@s85R?y.x?V?`?)~6й@ ~6`;I~6CɫQQ)Q UIQY}@y}GTK?Zd>i @ )@IԸ@i@3MF=Y`QU>a.EEyIZ=}>I  c{5? 7! [B ?9 ? D o: :) W="@W9X9 X9W9:W92WA*WAVAbUABUA*UIUIUM@ @Bu*<By ByA}&U?*ByA}b(AAA<"CxRCC"@Cׁ֥IGA>r a <:YW1yč:k59@ܭ Z>9ܩ Iܩ iܩ ܩ ܩ ܭ Dܭ ; ݭ uE$q,)EAY}>h@}>v@y}>Ἑ}>J>}>H@aV?`T?`'κ&`b7?`&;?'?&?)~>h@ ~>"`;I~>Cɫ99)9 EIAYe@ye~GI)=^I +?Q롿I +?X>\ 9<)Iy r?~jtxa.EEy2=}>Iȹ :Ž5? :ŽK- ƽsB ?9ƽS Dǽ: Ƚ:)Ƚ:Wc$@WX XW:W2W*WVbUBU*UUU @R B*** querying acoustic contact ***P P B@j<B BA|R?*BAf%AAA;<"C{vRCCc$@Cl;ׁIG=>޽=i޽p=%*q,EAY}J@}J@y}J3}J=}JH?@( ?"Y?޲_ŝ? x?` ?)~J@ ~Ja[`;I~JCɫy髁) IYi@yG%Z****** received transponder code query ******%F****** received ping request ******->33>i@ )(@I@i(@p=ME=YlQU>a.EEy $=} >I]5?8 B ?9h Dϸ: b:)W=G\@WAXA XAWA:WA2WA*WIVIbUIBUI*UQUQUU !@B=^<B9 B9A=X?*B9AE;x"AAAAAE~Y<"CUɿRCYC]G\@Cօyb];AIQGmW>'  YK:YV1y:51q,"lEA|i|@Y}6h@}6mv@y}6=}6d=}6H?_? 淿@k?\p?z?@F?)~6h@ ~6(`;I~6Cɫ99)9 =I9Y}@y}GxDUSBL response received:!U1,P 80,80,63,E4 5,187,80,80,4C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 d M]=YQU>a%.E%Ey=}>I :A5? :C B ?9{ D; ;):W@WX  XW:W2W*W!V!a9exCIeփGieO@e=aae; esE)yCIyCi჉==N5bUBU*UUU@"@B <B BAU?*BAAAA<"C%#տRC!C%@C)O=IG}{>7q,MEAY}2@}2hó@y}2 k}2=}2H6(?N?8"=? L?-!? ?)~2@ ~2<`;I~2Cɫ99)9 9I9Y]@y]G}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B EMED=YE3QUM>IIaM.EMEQyU<}]>IY]5?]N ]B m?9] D]: ]ϸ:)YW@WX XW:W2W*WVbUBU*UUUIa#@B<B BAT?*BAFAAA<"C8޿RCC@C:=׉IG">!  J:YX1y/: 5P>q,#/EAY}Fǻ@}Fsճ@y}F?,}FR=}FH$3?Α?@ʱ3.? G`Ġ?B!?`?)~Fǻ@ ~FL_;I~FCɫQQ)Y ]IYY@yGxDUSBL response received:!U1,R,EFB,000,00C14,187,80,80,2F,FF Fpublishing direction and range infoZ;i>ɰK}>鰙 )iõ@ñ ĵX@)ĵj@Iĵiĵj@@SMB=YQU>a.E Ey;}>I5?Y B  ?9 D; ;)WEq:@WAXa XiWi:Wi2Wi*WiVqbUqBUq*UqUqU}`g>$@P*QCZQ< Ob@bM(@@JQR3Mm,?RW?2QZ;i>:QbQֺϿ`@l!9O`=@RQ?KۿT?BQ=@ QyQCP`9?PԨ9?PAQQ!eA"QݖAB/<B BAVT?*B!A%2CA!A!A-I<"C-RC1C5q:@C1=>I!GEQ>U X>9Q IU GiU @U =Q Q U ; U xE5Eq,EA|4<|4̼ 94<)IyI +?~jt~jt?94?D< ^A)@Ii@=@-T;M5D=Y5RZQU5>99a=.E=E9yE}E>II U:M5? U:Mc MB ]?9M DM': M:)M:myAdded new target pos. range: 148.020004 m, bearing: 335.012719 deg, deltaT: 10.128297 s, approachRate: 0.752347 m/s, LOS rate: 6.893193 deg/s, posRepo size: 4m ProNav: pos range: 148.020004 m, bearing: 335.012719 deg, approachRate: 0.752347 m/s, LOS rate: 6.893193 deg/s, cmd update: 12.000000 deg/s, cmd heading: 229.591861 deg, new cmd heading: 224.667672 deg. W}@WX XW:W2W*WVbUBU*UUࣀb@U&?B<B BAT?*BAHAAAL<"CmRCiCm}@Cq֍ E>qIG_>] | =;:Yy45);9Y+Kq,.EAY}U_r@}U'@y}U.z }Uw<}UH` ? ?u`?hd@r.???)~U_r@ ~U_;I~Qɫ11)1 =I9Yu@yuGI=)=t=z@=t>i=p@9 =t@)=@I=@i=t@MuMMI=YMQUU>QQaU.EUEYy]}e>Iae 5?een eB u?9e De: eo:)aWW@WX XW:W2W*WVbUBU*UUU`,?B<<B BA9T?*BAAAA j<"Cr{RCCW@Cr>סIGC>5Rq, HEAY}6@}6(@y}6]}6\q}6H@Q?)AAaE.EEEAyM}M>IQ ]:U 5? ]:Uw UB e?9U DU: U:)U:W8.@WX XW:W2W*WVbUBU*UUU~?B@`<B BAiS?*BAxPAAA<"CRCC8.@C<->T>9Ii=; wE׉IG>  @:YU1y:5);=Xq,bEA|i|Y}Bҥ@}B@y}B}B=}BH@|??rLq?@ Cq?@b??@׬?)~Bҥ@ ~B`;I~BCɫYY)Y ]IYY @yG <MD=YQU>a.E&Ey }>Iȱŵ) 5?ŵ܂ ƵB ?9Ƶ Dǵ: ȵǺ:)ȱW@WX XW:W2W*WVbUBU*UUU@x?B<B B!A%U?*B!A%xA!A!A%<"C-bRC1C5@C1e>AIiG_>[g^q,i|EAY}2@}2P@y}2 # }2ɼ}2H ?3?>? u?X? #?M?)~2@ ~2AAaE.EE,EAyM]}M>I :: 5? : B ?9 D: :):W-I@W)X) X1W1:W12W1*W1V1bU9BU9*U9U9UE`k @Bm<Bi BiAu,P?*BqAu AqAqAu0<"C}RCyC}I@CցYIiG]>  I:YY1y:P69@  R>9 wCI lGi C@ = ; mEOeq,(FEAY}J@}J)@y}J}Jd }JH.x??@o? *?73? I?N\ į?)~J@ ~J}`;I~JCɫ髙) IY@yGrh|?Dl?kt?>O=  0=)IyV-?y&1|?I +?h1?`;9< @)|@IK@i@ +=M ==YV:QU>a.E3Ey%}%>I)-L 5?- -1B 5?9- D-: -:))W]|@WYXY XYWY:WY2Wa*WaVabUaBUa*UiUiUmR@BZ <B BAT?*BAt AAAy<"CͿ*CRCC|@C>יIGb>pkq,BEA|<|<ɫ) IY%A@y%CGC   õrH?õ?õ,=iõ@ñ ĵimG)ĵ@Iĵ@I iĵ@i3οٺAHM@=YQU>a.E:Ey}>I :d_ 5? :ã DB ?9# D: :):W+Y@WX XW:W2W*WVbU BU *U U Uʼ@RB*** querying acoustic contact ***PPB=h<BA BAAEzO?*BAAE^AAAIAM!<"CM0RCQCU+Y@CQU >M\ MMM M(;:YMDW1yMY:M5QIaG}z>arq,EAY}2+B@}2O@y}2ژ}2/L}2H -?? O,?? `^?? j2? poɿrX?)~2+B@ ~2`;I~2Cɫ99)9 =I9Y}@y}wGZ****** received transponder code query ******F****** received ping request ******a.E?Ey }>In 5? TB ?93 DǺ: :)W=Z@WAXA XAWA:WA2WA*WIVIbUiBUi*UqUqUuB @ܕQ>9ܑIܕGiܕ@ܕ=ܑܑܕ; ݕhEBS<B2zS< BA$R?*BAB~AAAy<"C}~RCCZ@C שIG>\xq,sEAY}:/i@}:v@y}:}:{^}:H`?:?@ں?ৠ?Vk??f˿aa.EFEy*}>I 5? fB -?9E DF; ;)Wɹ@WX XWI:WI2WQ*WQVYbUYBUa*UUUW @BǺ<B BA|R?*BAzAAA'<"CURCYCɹ@C  &J:YU1y:|5QIYGu>~q,EA|i|Y}2y@}2A@y}20}2ni}2H ? s?@\?$`G? ?`p?̿`j(?)~2y@ ~2_;I~2CɫQQ)Y YIYY}@y}GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M@ M@ M@M©MMiMp@M M@)M(@IM(@iM?@];M]N=YeL:QUe>aaam.EmLEiyu=}u>Iy :} 5? :} }vB ?9}V D}: }:)}:W*@WX XW:W)2W1*W1V1bU1BU1*U9U9U=@@BJ<B BAS?*BA/AAA}<"C\RCC*@CIG (>ܕ E>9ܑ Iܕ Giܕ 7@ܕ =ܑ ܕ Dܕ ; ݕ lE)UwCIUwCiQU=U=U^5򞅼q,`EAY}6~Ҵ@}6F@y}6}6r}6H 9\?@ ? 4? m?`8?`=ם?yο ?)~6~Ҵ@ ~62_;I~6Cɫ99)9 =I9Y@yuGxDUSBL response received:!U1,R,EA0,000,0069A,186,80,80,89,FF Fpublishing direction and range infonF>ɰq >> ) CIyBN_?-JZ?ٱdNmea in: $SNTTA,0.190569,0.192382,,,012632.67*5A }'1Z?Mb?~jth?}"?}= }D;)yIyy}"~?~jt?Q?}3?}=}u< }@)}5AI}?@i}@y}@!MF=YT/;QU>a.ESEy{}>IȹŽ 5?Ž ƽB ?9ƽi DǽM: Ƚϸ:)ȹW)@WX XW:W2W*WVbUBU*UUU@y@P*QBZQς8VtN@mIR3@JQN_?-JZ?2QnF>:QbQ\?J@VAqvRQ@?_2^  U:Y0Y1y:5)Q;9ʋq,>v1EAY}:@}:@y}:J<缙}:~{}:H? ě?e? 8`?E??V Ͽ?)~:@ ~:f;_;I~8ɫQQ)Q QIQYu@yuG u u }}`?}bо}a.EYEyE}>Iȡ :ťs 5? :ť ƥB ?9ƥ{ Dǥ: ȥ:)ȥ:m}Added new target pos. range: 63.899998 m, bearing: 326.641475 deg, deltaT: 4.447549 s, approachRate: -18.913790 m/s, LOS rate: -1.882215 deg/s, posRepo size: 4m ProNav: pos range: 63.899998 m, bearing: 326.641475 deg, approachRate: -18.913790 m/s, LOS rate: -1.882215 deg/s, cmd update: -5.646645 deg/s, cmd heading: 282.773126 deg, new cmd heading: 287.599742 deg. Wn@WX XW:W2W*WVbUBU*UU  3O@U  TT?B5,<B1 B9A=S?*B9A=piA9A9A=׊<"CEf޿RCICMn@CIEHu<I)GE0>cq,CKEA|;|;Y}2@}2b@y}2g"伙}2~}2H9?@ ?T? \`/?Ym?`[?zϿ*?)~2@ ~2!1_;I~0ɫYY)a eIaY@yG=@<M=P=Y=|:QUE>AAaE.EE`EIyMe}U>IQUP 5?U UB e?9U DUD: U:)QWVl@WX XW:W2W*WVbUBU*UUU?B`<B BAU?*BAAAA<=6>9=vCI=fGi=@==99=; =hE"CmxӿRCqCuVl@CqхS-P  A:Yd\1y:6)p;ژq,t$eEAY}2@}2!@y}2O弙}2Ā}2HJ,?ڡ?=?R`l???9Ͽ`.?)~2@ ~2 _;I~2Cɫ99)9 9I9Y]@y]G5M5J=Y=QU=>99aE.EEfEAyM}M>IQ ]:U 5? ]:Uf UB e?9U DU: Uk:)U:W &@WX XW:W2W*WVbUBU*UUUm?BY<B BA.S?*BAAAAՍ<"CnɿRCC &@C) 1IIGmx>q,@~EAɫ髙) IY @yGII @ @ @Õ©ÕÕiÕG@Õ ĕ@)ĕ@Iĕ@iĕ@<MC=YQU>a.EmEy}>IG 5?w B ?9 D]: v:)WxԘ@WX XW:W2W*WVbUBU*UUU s?B50<B1 B1A5U?*B9A=A9A9A=<"CEN'RCACExԘ@CIIIQG>5} 5|5|5 5=:Y5R1y5i:559=@) ) 5 .>95 uCI1 i1 5 =1 5 D5 ; 5 nE를q,R֘EA|i|@Y}6Bc@}6 q@y}6뼙}6}}6H???`>N?lp?@o?JϿ?)~6Bc@ ~6=_;I~6Cɫ99)9 9I9Y} @y}G+??+?v>?L= =)IyʡE?Zd;O?~jtx?=?j=; ‰)AI|@i@(@#MJ=YQU>a.EsEy}>I :* 5? : B ?9 DZ: 8:):WP@WX XW:W2W*WV bU BU *U UU!?B=[<B9 BAAEU?*BAAEC_ݼAAAAAE d<"CM໿RCU >CUP@CQQIG>q,EAY}2|@}2D@y}2+$伙}2J}}2H?`?x?A???`gϿR?)~2|@ ~2_;I~2CɫII)I IIIY}@y}G 5 5 55z>5+5i5µ@5 5@)5@I5i5@E=MER=YEv;QUM>IIaM.EMyEQy]u}]>Iae 5?e eB m?9e De: e:)aWR@WX XW:W2W*WVbUBU*UUU/@Bm<Bi ByA}T?*ByA}׼AAA<"C%\RCti>CR@C׉IG>I)AA  >:YU1y:5q,EAY}2@}2@y}2ۼ}2ƀ}2Hc? _?Ht? 7&?@9?q?@&Ͽe?)~2@ ~2 _;I~2Cɫ99)9 9I9Y^@yG=MQ=Y.;QU>a.EEy2}>I1!5?P* B  ?9 D: #:)W-r@W)X1 X1W1:W12W9*W9V9bU9BU9*UAUAUE@8@RMB*** querying acoustic contact ***PIPIBu=Bq BqAucX?*ByA}ҼAyAyA}I<"Cd*CcRC >Cr@C,>9tCIGi+@=SDD; hEQIaG=(q,gEA||4a.EEy~} >I :X!5? :8  ?9 DO< ^<):W@WX X!W!:W!2W!*W!V!bU)BU)*UIUqUu @Bߛ<B BA%Y?*BIAUC]̼AYAYA]š<"CuWRCyC@C;>Ii%}nGG=>IQia  @:YWU1y:6ٺiAq,AEAY}2ì@}2bѤ@y}2ͼ}2_}2H`H%?'?p?@?H?য়?eϿ_?)~2ì@ ~2_;I~2CɫYY)Y YIYY@y6GxDUSBL response received:!U1,P EA0,000,0069A,186,80,80,89,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)=@3?K7>i@ @)@I@i@\<M&=Y:QU> a.EEQymZ}>I'!5?;K B  ?9 D#< <)W(@WX XW:W2W*WVbUBU*UUU @B <B  B A [?*BA;ļAAAa<"C5|ſRC1C5(@C9jA*>9sCIʅGi|@!=; ]E% > I G5 >AƼq,!>EAY}2#@}2@y}2zɼ}2v~}2H@h?~?ş?yO?@ξ?"?xϿ?)~2#@ ~2Q`;I~2Cɫ)))) -I)Ym@ym&GqɮqNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ʡE?I +?I +/?94= 9)IyCl?{Gz?{Gztd;?ף=ף )AIt@iAf@Mi=Y:QU?a.EEy } ?I :1!5? :V B ?9& D< <):W@WX XW:W2W!*W!V!bU!BU!*U)U)U-7@BuvqB=By ByA} [?*ByA}AyAAmd<"C̿RCC@C֭>ׁIG>} }}} }A:Y}0Y1y}:}i5)}Ȝ;9c̼q,3EA|i|Y}>,@}>:@y}>}>z~}>H,@ ~>_;I~>CɫYY)Y YIYY@y GEGaE(>ESiE@A E @)E@IE @iE @UUMUV=Y]&*;QU]>YYae.EeEaym~}m>IquIGI>NӼq,MEAY}~a@}~n@y}~}~,}~H`???`͵?ݻ?NT?rп ?)~~a@ ~~_;I~~Cɫ) IY5|@y5GETNmea in: $SNTTA,0.007230,,,,012637.12*44 })>9}rCIyiy}$=yy}; }`E) tCI tCi C = = 6=EM=<=YM׃;QUU>aiam.EuEqy}h}}>Iy :}I!5? :}t }B ?9}M D}s: }:)}:W@WX XW:W2W*WVbUBU*UUUg@Bt7=B BAPY?*BA+mAAA?<"C'W޿RCC@C?΅>שIG>w  P=:YV1y:}5)ɘ;uټq,gEAY}2C@}2 @y}2}2{w}2H@?/I?@V?@q3.!? ?CД? !п ?)~2C@ ~2_;I~2CɫII)I MIIY}@y}+G)Ý= Ý=(<Mi=YH;QU>a.EEyT}?I@R!5? B ?9] Dw: :)Ww@WX XW:W2W*WVbUBU*UUU @B57=B1 B1A5H[?*B9A=e۰A9A9A=<"CERCACEw@CImg>AIIGm5>]q,숁EA||;Y}6ѡ@}6@y}6w}6k}6H?v??`?fz ?@ ?? п?)~6ѡ@ ~6CH`;I~4ɫ99)9 =I9Y@yG%Q%#<%=i%@! %t@)%?@I%;@i%^@5>M=A=Y=9:QU=>AAaE.EEEIyMP}M>IQU\!5?U UB ]?9Uq DUǺ: Uӻ:)QW"@WX XW:W2W*WVbUBU*UUU`Gw@RB*** querying acoustic contact ***PPBY=B BAnY?*BAAAAZJ<"C/JRCC"@CFӅ>IG5O>qu<܅(>9܁I܅Gi܅@܅&=܁܅D܅; ݅bE]  =;:YX1y/:!5);q,0eEAY}2̼@}2ʟ@y}2E`}22}2H%??@? |??຋?TϿ`?)~2̼@ ~2C`;I~2CɫII)I MIIY}@y}MGףp= ?Zd;O?AAaE/EEEAyM}M>IQ ]:Ud!5? ]:UL UB e?9U DUD: U:)U:WY܊@WX XW:W2W*WVbUBU*UUU@@B=(=BA BAAE]?*BAAE< AAAIAMc<"CuRCqCuY܊@Cyօ>ׅ?iׅ|?YIaGZ>q,[?EAY}2ۦ@}2@y}2}2}}2H?`W?@?? 7)?`Ԓ?]Ͽ?)~2ۦ@ ~2`;I~2Cɫ99)9 9I9Y1@ytG% =%>%,=i%׻@! !)%@I% @i% @5#<M5K=Y5:QU=>99a=/E=EAyEQ}M>IIM l!5?Mʬ MB ]?9M DMb: M:)IW}ǖ@WyXy XW:W2W*WVbUBU*UUU@B#.=B BA^?*BAJAAA&<"CxRCCǖ@C%>I G%M>Ùq,&EA|i|Y}>@}>K @y}>u}>;z}>H ?G??@ -ac?7+?@yΑ?  Ͽ ?)~>@ ~>q`;I~>CɫYY)Y ]IYY@y=GtMR=Y(;QU>a/EEyō}>&>9Ii `EIQ ]:Ur!5? e:Uw UB e?9U DU: U:)U:WF@WX XW:W2W*WVbUBU*UUU`a@B}!=B BA5\?*BAxAAAO<"CЁRCCF@CN؅>C  M:YW1yč:6)צ;IGm>q,EAY}23@}2+@y}2r}2!|}2H`lT?*r?=/?\?H?+?@1Ͽ?)~23@ ~2%X`;I~2CɫYY)Y ]IYYC@yGxDUSBL response received:!U1,N,80,80,63,E4 A,186,80,80,89,FF ZNo reply:!U1,N,80,80,63,E4 A,186,80,80,89,FF -a/EEy1}>Ix!5? B ?9 D: M:)W @WX XW:W2W*WVbUBU!*U!U!U%*@BP;=B! B!A-_?*B1A=P=A9AAAE<"C]WRCaCe@Cv>I)IGj>ܫq,EAY}2I@}2W@y}2.n}2'z}2H`?@:? F?r?@?ō? Ͽ`q ?)~2I@ ~2[<`;I~0ɫ99)9 =I9Yl@yG)> >%`=%B>%=i%3@! % @)% @I!i%(@5B<M5C=Y=4;QU=>99a=/EEEAyE}}M>II u:M~!5? }:M MxB ?9M DM{; Mڨ;)M:W1@WX XW:W2W*WVbUBU*UUUG@B\-=B BA`?*BAa'AAA}<"CTRCC1@C>]  =;:YX1y/:D59@IGm>9qCI.Gi@(=; fEq,EA||Y}>t@}>^@y}>NX}>{}>H? F?`-?`>?j̨??@*Ͽ?)~>t@ ~>_;I~>CɫYY)Y YIYY@yG^I +?#~j?v/X?%> xi)Iy5^I ?Q?~jtx?\=Ļ ¥@)¥AI¥^@i¥p@3@H =MA=YI;QU>a/EEyB|}>IK!5? rB ?9 DM: :)W 4o@WX XW:W2W*WVbUBU*U!U!U%` @BM 6=BQ BQAUd?*BQAU AQAYA]<"C]RCaCe4o@Caօ?΅>YIaGZ>% >% C q,6EAi"3oGI,i8R¿ٺPRsAY} L@} @y} )I} N%{} H@??`?~7?@?@%?Ͽ@ ?)~ L@ ~ _;I~ ɫ) IYZ@yG>ti½@ @)(@I?@iH'MH=Y;QU>a/EEy{}>I  : !5?  :9 kB ?9 D: M:):W5e$@W1X1 X9W9:W92W9*W9V9bUABUA*UAUIUM@ @RUB*** querying acoustic contact ***PQPQB}@6=By ByA}B`?*ByA(AAA`<"C RCCe$@Cֽ6Ʌ>?ir?בIGa>  D:Y0Y1y:5q,aPEAY}2ʡ@}2י@y}2!(6}2O}}2HOV? ??c@m?i?`Ć? WϿ "?)~2ʡ@ ~2A`;I~0ɫII)I IIIY}@y}͇GZ****** received transponder code query ******F****** received ping request ******9Ii)= eE))=*=M=W=Y=G;QU=>AAaE/EEEIyM}M>IQU!5?U UeB e?9U DU4: U@:)QW@WX XW:W2W*WVbUBU*UYUYU]k!@Btf>=B BAc?*BA txAAA(׷<"CARCC@C?΅>יIGb>q,.=jEA|i|Y}6g@}60 @y}6V.'}6}6H d?G?@q??@{ț??@қϿ?)~6g@ ~6 `;I~4ɫ99)9 9I9Y@yGxDUSBL response received:!U1,P 80,80,63,E4 A,186,80,80,89,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 }!MF=YV;QU>a/EEy-t}>IIMې!5?M M]B ?9M DMA< M<)IW+q@WX XW:W2W*WVbUBU*UU!U%@,"@Bm`0=Bq BqAuub?*BqAujAyAyA}7<"C`qRCC+q@C  A:Yy56Ʌ>שIG> q, EAɫyy)y yIyY@yGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 鿹}E}rh>}=i}׻@y }?@)} @I} @iyM8=YQU>QQa]/E]Ey}>I : !5? :< UB ?9 D; .|;):W@~@WX XW:W2W!*WAVAbUABUI*UIUIUM}#@BbB=B BAa?*BAp+_AAA<"C]RCC@~@Cٹٹ >9Ii&=; dE)eqCIeqCieCe&=e'=e5N؅>ױIG>#'q,EAY}2B@}2P@y}2\}2ց}2H?F? x ?`y3?R??Hп`?)~2B@ ~2D_;I~0ɫ99)9 9I9Y}@y}GxDUSBL response received:!U1,R,125,000,00CAA,186,80,80,89,FF Fpublishing direction and range info邾ɰʄ>鰙 )IyCO$?I/пٱ(\?K?I +?^= 9)IyK7A?:M=R=YEm:QUE>AIaM/EMEIyU}U>IY]f!5?]' ]NB e?9]" D]: ]:)YW|@WX XW:W2W*WVbUBU*UUUB4$@P *Q CZQ )HbHb@(3CJQ O$?I/п2Q 邾:Q bQ `dAiξL cw;Y&@RQ 3LTͿ x:￉ם?BQ `@ Q jQ P 9?P 9?P Q Q }A"Q @B]n'T=Ba BaAea?*BaAnTAAA5<"C!RCC|@C֝6Ʌ> }} GG:YkS1yԊ:35)f;9שIG>"N-q,[ηEA||Y}Rd@}R[r@y}R}R%}RH@a??01hw??Ͽt?)~Rd@ ~R_;I~Pɫ髡) IY@yG]DNmea in: $SNTTA,,,,,012642.79*53 ýI >ýKý1iý̼@ù Ĺ)Ľ?@IĽiĹr=MR=Y:QU>a/EEyʎ}>I M:f!5? U:5 GB U?92 Dc< 2d<):m}Added new target pos. range: 157.019989 m, bearing: 256.718561 deg, deltaT: 10.108192 s, approachRate: 9.212330 m/s, LOS rate: -6.917450 deg/s, posRepo size: 4m ProNav: pos range: 157.019989 m, bearing: 256.718561 deg, approachRate: 9.212330 m/s, LOS rate: -6.917450 deg/s, cmd update: -12.000000 deg/s, cmd heading: 225.605064 deg, new cmd heading: 223.337021 deg. Wv@WX XW:W2W*WVbUBU*UUc@U k?BURN=BQ BQAUe?*BYA]jHAYAYA]y<"CeRCCv@Cֽ?΅>בIG>64q,vEAY}2@}2f@y}2}28}2H q棿 U??@D@{a?Ͽ?)~2@ ~2_;I~2CɫAI)I UIQm>9iIiiiiiim; m^EY@yG]MeQ=Ye),;QUm>iiau/EuEyy!}>Iȉō՚!5?ōC ƍ?B ?9ƍB DǍ< ȍ'<)ȉW]Nq@WYXY XYWY:Wa2Wa*WaVabUaBUi*UiUU V?BsQ=B BAa?*BA|=AAA`(<"C"RCCNq@C?i?  ]E:YV1y:6);IGm>?`:q,EAY}2N@}2@y}2iݻ}2N~}2Hg?q}?4@{?@߀Ͽ?)~2N@ ~2(_;I~0ɫAA)A AIAYyyyYv$;QU>a/EEy}>I 5:!5? 5:R 6B 5?9R Dj"< "<):W]k@WYXY XYWY:Wa2Wa*WaVabUaBUi*UiUiUuH?BP=B BA*BA&2AAA(<"C"RCCk@CֹיIGb>IAq,bfEA|i|Y}:@}:N@y}:Ļ}:{}:H`k/??/ݑ'x?(Ͽ@i ?)~:@ ~:u_;I~8ɫ99)9 9I9Yua@y}/G<@ =n>i=@ t@)Ը@I5@i]<Ma/EE!y5̓}=>IQU!5?Ub U-B ]?9Ue DUӻ: U:)QWne@WX XW:W2W*WVbUBU*UUU$?B%7L=B! B!A%yh?*B!A-$A)A)A-S<"C5~C'RC1C5ne@C9  R:YxZ1yq:469@QYYa9aIe`Giep@e(=aae; e_EIIaG>'rGq,:EAY}6͚@}6ے@y}6(}6w}6HlJ?@?`<Ծqu?`ο ?)~6͚@ ~6_;I~6Cɫ99)9 9I9Y}8@y}G/$?{Gz?~jt?1?#> <)IyX9v?:v?:v??T=T< @)‰I^@i@=@GTMU=Y;QU>a/EEy}>I :X!5? :0o .B ?9s Df: o:):W[9a@WX XW:W2W*WVbU BU *U U U ?B=ho=B9 B9A=3g?*B9AE:AAAAAE]<"CM+RCICM[9a@CQEFӅ>I)GEQ>IMq,'9EAY}6@}6@y}6}6w}6H -¿p?d?`U¿@ئs?̤ο ?)~6@ ~6_;I~6CɫYY)Y ]IYY @yG) = =UC>U94iiam/EmEy}>I!5?p} /B ?9 DI: :)W%[@W!X! X!W!:W!2W)*W)V)bU1BU1*U1U1U5K,@B]Z=Ba BaAee?*BaAeAiAiAm<"Cu=0RCqCu[@Cyօ?΅>YIiGZ>  AB:Y0Y1y:46$Tq,5REA||49 pCI i  *= TD  ; gEɫYY)Y eIaYd@y1G<MQ=Y=?;QU> a /E !Ey{}>I!%O!5?% %0B U?9% D%; %;)!WV@WX XW:W2W*WVbUBU*UUU C@RB*** querying acoustic contact ***PPBzf=B BAh?*BAAAALt<"C 4RC)C5V@C1EjAEjAE6Ʌ>I)GEQ>cZq,lEAɫ!)! !I)Yu@yuчG}Z****** received transponder code query ******}F****** received ping request ******}  a /E )Ey}>I %:0!5? -:՚ 1B -?9 D: E:):WMdP@WQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUe` @BàQ=i-%nGB9 B9IAiYǿٺxAA=c?*BA'AAAaѦ<"C~;RCCdP@CU  ::Y[1yݏ:35ֵ?΅>׉IG>'aq,EAY}Nព@}N@y}N:}Ns}NHп@?f?@Ͽɰ^_ b@пx?)~Nព@ ~N!_;I~NCɫyy)y yIyY@y؇GɮexDUSBL response received:!U1,P 125,000,00CAA,186,80,80,89,FF eCommand AckeBRequesting micromodem ping code 2iiiNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Ec;MQ=YMf a/E/EIyB}>Iz!5? 0B -?9 D]=< @<)W_J@WX XW:W2W*WVbUBU*U U U  @BU-S=BY ByA}d?*ByA} (лAAAO<"CzQARCC_J@C<<>9Ii(=; XE6Ʌ>׉ I G >Kgq,EA|$i|$Y}F˺@}Fȍ@y}Fk/;}Fc2}FHѿϽ?<?.`*ѿPe}8п@~?)~F˺@ ~F^;I~Dɫqq)q qIqY@y͇GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Gz?~jtx?l?0?; =)Iy^I +?~jt?{GztX?D=ף )AI@i;@@UlMUO=Y]:QU]>Yaae/Ee5Eaym}m>Iq }:uŽ!5? }:uf u*B }?9u Duo: uV:)u:WE@WX XW:W2W*WVbUBU*UUU@B؁=B BAc?*BAQAAA8<"C9ERCCE@C = =?΅>׹I&  DK:Y0Y1y:|5)פ;9=G>mq,EAY}:@}:@y}:7;}:}:H^jӿ`U? ?}Nҿ`cܳf4Ͽ?)~:@ ~: _;I~:CɫAA)A IIIYw@yG U@ U@ U@U©UUiU\@U U@)Ut@IU@iU@mļMmY=Ym߫9QUu>qya}/E};Ey}>IȑŕY!5?ŕ ƕ"B ?9ƕ DǕ; ȕ_;)ȑWG@@WX XW:W2W*WVbUBU*UUUo@Bam=B BA/a?*BAUAAAM<"C1G@RCCG@@C6Ʌ>סIGd>xtq,RFEAY}:@}:@y}: P;}: }}:HzԿ S?t?<@DԿY>j` OϿ?)~:@ ~: _;I~8ɫQY)Y YIaYt@yG@AxDUSBL response received:!U1,R,34C,000,00CCE,188,80,80,B9,FF Fpublishing direction and range info)<ɰD>鰽> )9CIy.CK۫?O(~ٱ>9IGi@D; IE)=pCI=pCi9=(==(==5DNmea in: $SNTTA,,,,,012647.26*5C )= >NjMA=Yk:QU>a/EBE!y%%u}%>II U:Mׄ!5? ]:M MB ]?9M DM: MQ:)M:W};@WyX XW:W2W*WVbUBU*UUUhY@P*Q.CZQtez]@<*ZJQK۫?O(~2Q)<:QbQAajR:cS:9@RQd`u뿖+=/߿qܺ?BQj@ QQP9?P9?PoQQB"Q}AB5 ^=B9 B9A=a?*B9A=AAA,<"CmA@RCC;@C֑`  z;:Yy5)3;׉IG>zq,EA||p@}BK@y}B;}Bl{}BH(ֿ3?]?@@տ@϶p~Ͽ ?)~B>@ ~BR!_;I~BCɫ髱) IY8@yxG   O >Gi@ @)j@Ii@͕MO=Y;QU>a/EIEy}>IK!5?z B ?9 Db: :)m-yAdded new target pos. range: 159.179993 m, bearing: 209.589122 deg, deltaT: 4.843804 s, approachRate: 0.445931 m/s, LOS rate: -9.729840 deg/s, posRepo size: 4m= ProNav: pos range: 159.179993 m, bearing: 209.589122 deg, approachRate: 0.445931 m/s, LOS rate: -9.729840 deg/s, cmd update: -12.000000 deg/s, cmd heading: 167.483591 deg, new cmd heading: 162.791003 deg. W=5@W9X9 X9W9:WA2WA*WAVAbUIBUI*UIUUc@UU?B}q=By ByA}7_?*BApAAAΟ<"Cs<@RCC5@Cԡԡ֙yIG]>䁽q,EEAY}:sa@}:=o@y}:Һ;}:{}:Hؿ@m??, dN׿@ɸRZw&Ͽ` ?)~:sa@ ~: _;I~:Cɫaa)i mIiYa@yGjE<MF=Yz;QU%>!!a%/E%OE)yM'}U>IQ ]:Ux!5? e:U U B e?9UDU: UM:)U:W>0@WX XW:W2W*WVbUBU*UUU?Bh=B) B)A-}`?*B)A-Q@A)A1A5d<"C56@RC9C=>0@C9YE  S9:YU1y:59@ I!GEs>ܵ>9ܱIܵGiܵ+@ܵ*=ܱܱܵ; ݵQE~q,!EAY}6w|@}6A@y}6;}6px}6Hٿt??Jؿc||`ο?)~6w|@ ~6b _;I~4ɫYY)Y YIYY}@y}?GDl?Qx&O ? 7)IyFx?a/EUEy}>Iq!5? B ?9DD: Ǻ:)W+@WX XW:W2W*W V bU BU *UUUS?B=#et=BA BAAES\?*BAAEwAAAAAMs<"CMO1@RCQCU+@CQe?΅>!I)GmV>8q,;EA|i|Y}6@}6٧@y}6;}6 w}6H^ۿ?@T?`xڿ@ݻ}ഩο??)~6@ ~6v_;I~6CɫQQ)Q QIQY}@y} G-@-C >-R>i- @) -t@)-?@I-@i-^@=_MER=YEd:QUE>IIaM/EM\EQyU_}U>IY]Yj!5?] ]B m?9]#D]: ]:)YWE%@WX XW:W2W*WVbUBU*UUU&-?BE]k=BI BIAMY?*BIAuѺAqAqAu$<"C}>,@RCyC}E%@C ձԱ֙yIG^>  H:Yy5h!q,ӄUEAY}Z@}ZЇ@y}Z?K;}Z w}ZH@ܿ?`?Y@ ۿ`: `Y)| ο?)~Z@ ~Z^_;I~ZC]>9YI]fGi]@])=YY]; ]iEɫ髙) IY@yGME=YdQU>a/EbEy}>Iȱ :ŵa!5? :ŵT ƵB ?9Ƶ5Dǵ{: ȵ:)ȵ:WH @WX XW:W2W*WVbUBU*UUU@?Bdk=B BAnY?*BA?iAAA`<"C&@RCCH @C֝6Ʌ>yIG]>Mq,joEAY}%S@}%@y}%%;}%\y}%HJ޿ pb?4?@>0 Nݿ򰾿D|ο?)~%S@ ~%^;I~%Cɫ) IY-^@y5G @ @ @©i׻@ @)Ը@I@iMD=Y˂8QU>a/EiE y s} >I}X!5?" B ?9GD: :)WE%@WAXA XAWI:WI2WI*WIVQbUQBUQ*UQUQU]@?@Bzl=B! B!A%cX?*B!A-@A)A)A-<"C5!@RC1C5%@C9U?΅>  =:Yy351I9Gew>U5q,-CEA||p;Y}B(@}B6@y}BC;}B]'{}BH`R߿??@CK޿l{ gϿ ?)~B(@ ~B^;I~BCɫ) IYUK@yUG-Mb?333333? ףp= ?-?-= -Q8=))I)y-#~j?x&?y&1?-%?-7=-`e< -@)-AI-@i-@)-@E粻MME=YMQUM>QQaU/EUpEQy]ey}]>Ia m:e^O!5? m:e0 eB u?9eXDeE: e:)e:WU#@WX XW:W2W*WVbUBU*UUUЏ@RB*** querying acoustic contact ***PPBUo=BQ BQAUW?*BYA].:AYAYA]픗<"CeӔ@RCiCmU#@Ciyyq>9oCI4Gi@; {EQIYG{>{\q,EAY}6Q@}6^@y}6T;}6 Nz}6H@Ó`?@?^. `yοS ?)~6Q@ ~6m _;I~6Cɫ99)9 =I9Y}@y}MGZ****** received transponder code query ******F****** received ping request ******a/EuE y }>IF!5?< B -?9gD: :)WU`I@WQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUaUeu @Bpt=BmV; BqAu]?*BqAun:AqAqAuy9<"C}@RCC`I@Cׁ֙I=i=H  M:YxZ1yq:5)/;9G k>Y ] Ci NmGI i ǿٺ  Ae S?9e A[q,EAY}2`y@}2*@y}2ZO;}2~}2H`J@?@%3?qIt$Ͽ@q?)~2`y@ ~2^;I~2Cɫ99)9 9I9Y@yG鮥a=ɮxDUSBL response received:!U1,P 34C,000,00CCE,188,80,80,B9,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76     :  =i   (@)  @I  @i ?@M$=Y#QU>a/E}EyY}>I  : :!5? : 6M B ?9 |D 4: :) :W]I @WYXY XYWY:W2W*WVbUBU*UUU` @B(Y=B BA.S?*BAo);AAA<"C @RCCI @C1 I G5 >qq,EA|(i|(Y}RW@}R!@y}RtPw;}R}RH ? v?JV/{¿ n "п I?)~RW@ ~R^;I~RC^>9\I^ЄGi^@^(=\\^ ; ^vEɫqq)q uIyY@yGMNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B B<Mn=Y>aQU?a/EEy}?I  1!5? 0X B ?9 D : :) W=K @W9X9 X9W9:W92WA*WAVAbUABUI*UIUIUM@@B2=B BAT?*BAr%;AAA8<"CEc @RCICMK @CI YYUFӅ>d  ;:Y[1yH:|5)z;QIYG{>q,ȳEAY}^!@}^@y}^ ;}^䨃}^H> )IyG!Cnf?ʿοٱ -@ -@ -@-©--i-@- -^@)-^@I-t@i-=%hMEE=YEQUE>IIaM/EMEQyUZ`}U>IY e:]&!5? e:]qe ]B m?9]D]: ]:)]:WB?WX XW:W2W*WVbUBU*UUU@ν@P*QG!CZQF;JQԑc@k:_CJQnf?ʿο2QVlx:QbQLN'P^~zZ驌d#@RQ;a4!laFC?BQew@ QQPʧ9?P9?PQoQ͂A"QBBEQr=BI BIAMN?*BIAMP;AIAIAU<"CUX@RCYC]B?CYu cA II Gm >x½q,K EAY}Y;@}#I@y}`YG:}}H`"? ?.`ÿ+H Gп?)~Y;@ ~j^;I~Cɫ髱) IY[@ySG-TNmea in: $SNTTA,0.109840,,,,012652.07*41 ~jt?|?5^J +?ҽ H)IyZd;?MbX9?a/EEy]}>It!5?sr B ?9D#:  :)muAdded new target pos. range: 161.280014 m, bearing: 221.137770 deg, deltaT: 4.437806 s, approachRate: 0.473212 m/s, LOS rate: 2.602333 deg/s, posRepo size: 4m  ProNav: pos range: 161.280014 m, bearing: 221.137770 deg, approachRate: 0.473212 m/s, LOS rate: 2.602333 deg/s, cmd update: 7.806998 deg/s, cmd heading: 114.130401 deg, new cmd heading: 108.780609 deg. Wd_@WX XW:W2W!*W!V!bU)BU)*U)U-(d@U5?Bi=B BAJP?*BA ;A A A <"C@RCCd_@C!U>9QIQiQU+=QQU; U_E)݅oCI݅oCi݁݅)=݅)=݅5  A:YY1y:5);eTP;= ?΅> I! G= >Ƚq,Y$EA| |";Y}>q@}>~@y}>I9}>b}>H)`pU?-? +X@Ŀ 9@D]п?)~>q@ ~>^;I~>CɫYY)Y ]IYY@yGRMn=Y%ߌQU%?!)a-/E-E)y5}5?I9=!5?=| =B E?9=D= : =8:)9Wm2@WiXi XiWi:Wi2Wq*WqVqbUqBUy*UyUyU}?B=B BAK?*BA;AAA<"C?RCC2@C) aaI) I1 GU >νq,?:>EAY}27@}2@y}2N29}207}2Hl??P; 0ĿiC&`п`|?)~27@ ~2_;I~2Cɫ99)9 =I9Y}@y}G M U UU;߽Ujiiam/EmEqyuÃ}}>Iy :}9!5? :} }B ?9}D}: }:)}:W @WX XW:W2W*WVbUBU*UUU@?Bo7t=B BAJ?*BA^ ;AAA <"C=?RCC @C %>IG%M>  w?:Y]1y:69@̼սq,XEAY}2g@}2b@y}2z긙}2}2H S??mĿ@O]?@Ͽ`(?)~2g@ ~2g_;I~2CɫYY)Y ]IYY@yG  =Ź;M=M=Y=K9QUE>AAaE/EEEIyM}U>IY][ 5?] ]yB e?9]D]+: ]Y:)YW l @W X XW:W2W*WVbUBU*UU!U% ?BMw=BI BQAUmK?*BQAUg;AQAQAUg<"C]S?*CeRCaCel @Cae?΅>9IIGeU>۽q,_qEA|i|@ɫyy)y }IyY@yGm->mm/>im̼@i m?@)m(@Im(@im?@}6MF=YQU>a/EEy}>Iș :ŝ 5? :ŝ ƝmB ?9ƝDǝ0: ȝ:)ȝ :W-@WX XiWi:Wi2Wq*WqVqbUqBUy*UyUyU}`@B7w=B BAJ?*BAn;AAA<"C޵?RCC-@C  =  Y:YV1y:6IGm>Cq,[EAY}=@}=|@y}=j7:}==x}=H@b1?@?h`kſ FG?ο?)~=@ ~= _;I~9ɫ!!)! )I)Ye@yeG ~jt?kt?y&1 0= `)IyQ?J +?y&1?(?H=`< ‰)‰I‰iQ@f@<M8=YQU>a0EEyJ}>IB 5?R tB ?9D: ߼:)Wq@WX XW:W2W*WVbUBU*UUU@;|@B-f{=B1 B1A5K?*B1A=K;A9A9A=<"CE8@RCACEq@CIu9I:Gi@; eEI IG-p>q,sEAɫyy)y }IyY@yGAAMn=YQU?a0EEy}?I : 5? :0 zB  ?9 D: :) :W.@WX XW:W2W*WVbUBU*UUU ^@RB*** querying acoustic contact ***PPB-S=Bm BiAmJ?*BiAmn;AqAqAun<"C}@RCyC}.@Cya9IIGeU>  >:YX1y/:{5"q,|EA||4i] @Y ]@)]@I]@i]@mQMmB=YmQQaU0EUEYy]}e>Iae 5?e eB u?9e De: ea:)aW@WX XW:W2W*WVbUBU*UUU` @B5y=B1 B1A=NH?*B9A=dT<A9A9A=Ƅ<"CE @RCaCm@Ciԩԩ֙qIG> >9 I i *= ; TE\ q,J^EAY}:c@}:v@y}:%;}:$|}:H$e?? b0ȿu@dBϿ`?)~:c@ ~:_;I~:Cɫ99)9 9I9Y@yGxDUSBL response received:!U1,P 116,000,00CF1,186,80,80,B9,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Ip=)%=<M%O=Y5;QU=>IQa]0E]Eiy}}>Iȡť/ 5?ť ƥB ?9ƥ0Dǥ; ȥ;)ȡWQ@WX X W :W 2W *W V bUBU*UUU@r @Bhw|=B BAmK?*BA<AAA <"C[@RCCQ@C  D:YY1y:E5)T;9%׉IG>4q,2EAY}:ˀ@}:*u@y}:;}:x}:H@??@Sa Sȿ }@ο?)~:ˀ@ ~:3_;I~8ɫ99)9 9I9Y}@y}хG鮅p=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B imGIi˿ٺAe=exeG>ie3@a e?@)e @Ie @ie@uwM}6=Y}l;QU}>a0EEy}>Iȑ :ŕ  5? :ŕ ƕB ?9ƕBDǕ: ȕ:)ȕ :W&"@WX XW:W2W*WVbUBU*UUU!-@B=B B A I?*B A 7><A AA沁<"Cj@RCC&"@CX;6Ʌ>IG>)!q,O EA|Pi|R@Y}zħ@}zks@y}z<}zz}zH 5>"?%?`9sɿ <ο@ ?)~zħ@ ~z_;I~zCɫ) IYe@yeGmxDUSBL response received:!U1,R,0A7,000,00D04,186,80,80,68,FF mFpublishing direction and range infom;iɰmz>i i)mBIiymk"Cm6=)?c]鎖¿ٱi +?NbX9? t=)Iyl?MbX9?{Gzt??ʡ=ף; @)AI3@i5#M5N=Y5;QU5>99a=0E=EAyE戽}E>IIMɒ 5?Mj MB ]?9MQDM: M:)IW}8&@WyXy XW:W2W*WVbUBU*UUUq@PA*QEk"CZQEkpXd@A *7JQE6=)?c]鎖¿2QE;:QAbQEPGߛaoe.TgB@RQE9:g!`ݙ߿`b?BQE]j@ QEuQE PE9?PEʧ9?PE}QEQE0A"QE͂AB?=B BAE?*BA&(<AAA 0<"CA_@RCC8&@!%iA->9)I-փGi-O@-.=))-; -NECY  E:YW1yč:5);M QU=] ?΅>9 II Ge >J q,b&EAY}v>@}vq@y}v(<}v^}}vH ő? ? ɿ XϿ?)~v>@ ~vQ~_;I~tɫ) IY-T@y-GDNmea in: $SNTTA,,,,,012656.51*5C -<M-K=Y-c;QU5>11a50E5E9yE#g}M>Ia u:e 5? u:e eyB u?9eaDe8: e:)e :myAdded new target pos. range: 162.419998 m, bearing: 209.816103 deg, deltaT: 4.462199 s, approachRate: 0.255476 m/s, LOS rate: -2.537239 deg/s, posRepo size: 4m ProNav: pos range: 162.419998 m, bearing: 209.816103 deg, approachRate: 0.255476 m/s, LOS rate: -2.537239 deg/s, cmd update: -7.611718 deg/s, cmd heading: 148.809588 deg, new cmd heading: 151.988808 deg. Wo"@WX XW:W2W*WVbUBU*UUpMd@U ?BUC=BQ BQAUH?*ByA}2<AyAyA}tg}<"C @RCCo"@Cϑϑ)й йU 6Ʌ>1 IA Gm >?q, AEAY}Bo1@}Bs~p@y}B؝D<}B~}BH@4? ? }Bʿ` pϿ`w?)~Bo1@ ~B_;I~@ɫqq)q qIqY@y=G) > =UL=U`qqau0EuEyy}u}}>IȁŅv 5?Ņ ƅqB ?9ƅoDDžQ: ȅ:)ȁWv@WX XW:W2W*WVbUBU*UUUh?B+=B BA+B?*BA;<AAA h >:YX1y/:59@IGj> >9 I Gi @    ;  RExq, "[EA||;Y}BE~@}Bn@y}Be_<}BD~}BH@8h?`(?`= ˿sutϿ?)~BE~@ ~BG`;I~@ɫYY)Y YIYYy@y*GU M]I=Y];QU]>aaae0EeEaymIq }:uf 5? }:u ugB ?9uDu: u':)u :W@WX XW:W2W*WVbUBU*UUUβ?B3i=B BA>A?*BA$E<AAAJ0x<"C%d$@RCC@C6Ʌ>IGI>!q,3tEAY}R=}@}R9m@y}RQz<}R0{}RHY?)? "'& T˿ O 'Ͽ ?)~R=}@ ~Rϕ`;I~Pɫqy)y }IyYv@y(GÕQ=Õ&1>Õh>iÕ\@Ñ ĕ @)ĕ@Iĕiĕ@MG=Y;QU>a0EEyF}>IȹŽW 5?Žk ƽ^B ?9ƽDǽM: ȽY:)ȹW@WX XW:W2W*WVbUBU*UUU`@?B-bɄ=B) B)A-!A?*B1A5DO<A1A1A5Ou<"C=$@*C=^RC9CE@CAYe?ie?9IAGeU> }} E:YkS1yԊ:F5z#q,EAY}2<{@}2Xk@y}2W<}23z}2Hr? ?T˿Jο ?)~2<{@ ~2_;I~2CɫYY)Y YIYYE@y G`"?-?{Gz??5> ף)Iyx&1?L7A`?{GztA ?+=ף µ@)±Iµ@iµ@p@jMG=Ys;QU>a0EEy͒}>I :D 5? :f TB ?9D: :):W @WX! X!W!:W!2W!*W)V)bU)BU)*U1U1U5?Bm=Bq BqAu??*BqA}v]Y<AyAyA}r<"C8>#@RCC @C٩٭<ܵ>9ܱIܵ@Giܵ[@ܵ+=ܱܱܵ; ݵgE)ݱIݱiݱݵ+=ݵ,=ݵ5יIGb>Ʀ)q,-{EA|i|Y}JWy@}Jdsi@y}J<}J$x}JHZ?? ߿Yg̿vuο ?)~JWy@ ~JC_;I~JCɫ髱) IY>@yG<MN=Y;;QU>a0EEy}>I  2 5?  JB 5?9 D &; &;) Wׅ@WX XW:W2W*WVbUBU*UUU (]@Bx=B BAd??*BA kd<AAACp<"C# @RCCׅ@C  0>:YW1yč:5ױIG>0q,YMEAY}2w@}2g@y}2o<}2Pw}2Hi?~? jݿ@NI̿ ο?)~2w@ ~2^;I~2Cɫ99)9 9I9Yy@A %<%%>i%@! %@)%@I!i%@Y5bH;QU5>99a=0E=EAyE}E>IIM[! 5?M M@B ]?9MDM: M:)IW}n@WyXy XyW:W2W*WVbUBU*UUU4@RB*** querying acoustic contact ***PPB=B BA*BAZl<AAAm<"C@RCCn@CסIGA>ܭ >9ܩ Iܭ ܂Giܭ @ܭ )=ܩ ܩ ܭ ; ݭ zE6q,s.EAY}Ru@}Re@y}R.g<}ReXr}RH @c?o?ۿ@|@h'̿} (ο?)~Ru@ ~R^;I~Pɫqy)y }IyY@yۄGZ****** received transponder code query ******F****** received ping request ******a0EEyc}>I  : x 5? : # 5B ?9 D Q: :) :W=3 @WAXA XAWA:WA2WA*WIVibUiBUi*UqUqUu9 @BB=B BA2=?*BA5w<AAA$xk<"C@RCC3 @C  G:YDW1yY:j5);9IGm>MP=iM@I Mj@)M@IIiMԸ@iM;=Y;QU>IQaU0EU EYyd}>Ișŝ 5?ŝM+ Ɲ(B ?9ƝDǝ; ȝ;)șW-@W)X) X1W1:W12W1*W1V9bU9BU9*U9U9Ue`!h @B=B BA9?*BA<AAA i<"C@RCC@C!!1 I1 GM >Cq,eEAY}JSr@}Jb@y}J<}J.:t}JH`6x??CؿXͿ@A@";ο?)~JSr@ ~J^;I~JCɫ髑) IY@yGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I]=)]=y&1?RQ?I +?`?= 94=)IyK?V-?I +?^?<94< ¥9@)¥AI¥@i¥Q@(A`7<MJ=YR;QU>a0EEy}>I :5? :0 $B ?9Dr: :):W1@W!X! X!W!:W!2W)*W)V)bU)BU)*U1U1U5@*@܍ >9܍nCI܍xGi܍@܍*=܉܍D܍5; ݍEB v=B BA:?*BA<AAAf<"C L @RC C 1@C  jB:YY1y:W5)2;?΅> IG5>Iq,=)EAY}2p@}2ya@y}2A<}2y}2Hf?|?a׿ `Ϳpǚ ο` ?)~2p@ ~2^;I~0ɫ99)9 AIAYv@yGxDUSBL response received:!U1,R,502,000,00D0A,189,80,80,68,FF Fpublishing direction and range infof3ɰ>7> )Iy"Cw?amf-ٱ-TM-j=Y5ü;QU5>99a=0E=EAyM}M>IQUd5?U5 U B e?9UDU : U:)QW@WX XW:W2W*WVbUBU*UUU  @P*Q"CZQ>Q@^MbJQw?amf-2Qf3:QbQGp@V]A0i~Z@a@@RQb翸YGC?xOC?BQ|@ QBQPŧ9?P9?P7Q}Q B"Q0ABm7=Bi BiAm%9?*BiAu[:<AqAqAuDd<"C}@RCyC}@C}6Ʌ>>iemGIiבǿٺ&AIG%>Pq,CEA|@ɫ)1)1 5I1Ym@ym0GDNmea in: $SNTTA,,,,,012700.96*55 -Ƌ?-rh-O i-@) -@)-Ը@I-@i-@=/(ME:=YEQUE>IIaM0EMEQyU}U>IY e:] 5? :]< ]B ?9]D]ٲ< ]<)]:mU}Added new target pos. range: 162.780014 m, bearing: 138.303462 deg, deltaT: 4.437498 s, approachRate: 0.081130 m/s, LOS rate: -16.115533 deg/s, posRepo size: 4m]!ProNav REINIT: LOS rate is -16.115533 deg/s. Setting heading cmd to target bearing of 138.303462deg and heading rate command to 0 deg/s.W]|@WYX XW:W2W*WVbUBU*UUXd@U-?B==B9 B9A=4?*BAAE6<AAAAAEzb<"CM1I@RCICM|@CQ Յ=ԅ>&  6:YWU1y:59@qYIaG>܅ >9܁ I܅ Gi܅ t@܅ ,=܁ ܁ ܅ 8; ݅ EJWq,/n]EAY}6Nm@}6]@y}6t0<}6Iz}6HzU@!?p?eKԿl_ο$Gο  ?)~6Nm@ ~6^;I~6Cɫ99)9 9IAY}@y}G g6M`=Yj!!a%0E%$E)y-}->Iȉō65?ō@ ƍB ?9ƍDǍa: ȍm:)ȉWWX XW:W2W*WVbUBU*UUUV?B<ݒ=B BAy3?*BA <AAA`<"C ??RC CCa9IIGeV>0]q,SwEAY}Nk@}N\@y}N\<}Nxx}NH D?dM?:ҿ yοM7ο@! ?)~Nk@ ~N\^;I~NCɫ髱) IY@yG(i@ @)j@I?@i[M>=YP;QU>a0E+Eyu}>I :25? :E B ?9.Dr: :):W)W)X) X)W):W12W1*W1V1bU9BU9*U9U9U=?BmJ=Bi BiAu-?*BqAu <AqAqAu^<"C}>?RCyCyC֙yIG^> 1:YDW1yY:5dq,&EA||Y}6Ij@}6neZ@y}6=}6x}6H '?@R?/ѿsοu`ο K ?)~6Ij@ ~6^;I~6Cɫ99)9 =I9Y@yG oʡ?bX9ȶ?{Gz > E= #) I y M?+?~jt n? = D O@) I i 3@  =@5;M=E=Y=3;QU=>AAaE0EE1EIyMR}U>IQUD5?UI UB e?9U=DU]: Uf:)QWWX XW:W2W*WVbUBU*UUU ?B=B BA .?*BAQ<AAA\<"C$?*C*RCCC5>91I5Gi5@5/=115/; 5EI G-o>#Ajq,EAY}Z{h@}ZX@y}Z:G =}Z3v}ZH c @:?@٦? "οFοFο ?)~Z{h@ ~Z֗^;I~Xɫ髙) IYU{@y]SGmZ$?m-mʽimf@i m@)m@Im@im@{7MF=Y;QU>a0E8Ey}>Iȡť@v5?ťM ƥB ?9ƥLDǥj: ȥ:)ȡWWX XW:W2W*WVbUBU*UUU`#@B tr=B BAJ)?*BA̠<AAAH[<"C?RC!C!C!?΅>%?i%?IG k>%!!% %.:Y!y!%$5(qq,EAY}2wf@}2 V@y}2s=}25r}2HBJ??@ʿMZ Dο {Ϳ?)~2wf@ ~2o^;I~0ɫ99)9 =I9Y}@y}jG2O<Me=Yz;QU>!!a%0E%>E)y-:}->Iȉ :ō'e5? :ōQ ƍB ?9ƍZDǍ: ȍ:)ȍ:WWX XW:W2W*WVbUBU*UUU`D@B~=B BAr*?*BA Ҥ<AAABY<"C J@RC CCe6Ʌ>9IIGeV>5 >91 I5 Gi5 @5 .=1 1 5 2; 5 E)݅nCI݅nCi݁݅,=݁݅ 6UTwq,EA| i| Y}Jd@}JT@y}J=}Jr}JHr 4?a0EDE y c} >IR5?"T B %?9hD]: i:)WAWAXA XAWI:WI2WI*WIVIbUQBUQ*UQUYU]3@ReB*** querying acoustic contact ***PaPaB=B BA&?*BA A<A A A:X<"CP@RCCC%?΅>IG%M>%%%% %n1:Y%V1y%:%[5)%;9=}}q,EAY}6b@}6-R@y}6!=}6Wq}6H@?*jd`SÿHοͿ`?)~6b@ ~6^;I~6Cɫ99)9 =I9Y@yGZ****** received transponder code query ******F****** received ping request ******e(e=ie3@a eK@)eK@IeK@ieK@uJMuC=Y}m;QU}>yya0EKEy#}>Iȉ :ō4?5? :ōV ƍB ?9ƍwDǍH: ȍ:)ȍ:WWX XW:W2W*WVbUBU*UUU< @B=B B A $?*B A I<A AA(V<"C* @RCCCIG%o>fq,vEAY}V`@}VP@y}V.&=}VCn}VHtbW?@<Ɔ@ͿJĤ@}Ϳ?)~V`@ ~V=^;I~VCɫ髙) IYE@yEGUxDUSBL response received:!U1,P 502,000,00D0A,189,80,80,68,FF UCommand AckUBRequesting micromodem ping code 2iQYmNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 lA9IGi@-=U; E/$?/$+? ?, =)Iy(\?:v?y&1?z?<`< ¥n@)¥AI¥"Ai¥@AjȻM=YY;QU>a0ESEyqi}>I!% &5?%Y %B ]?9%D%; %4;)!WWX XW:W2W*WVbUBU*UUU @==== =):Y=U1y=:=5)=;Bٰz=B BA#?*BAb$<AAAcU<"C-TP@RC1C1C9= 6Ʌ> I! GE >q,m,EA||Y}6^@}6O@y}6h+=}6q}6Hx@?璿OοkͿ@?)~6^@ ~6^;I~4ɫIQ)Q QIYY e@y G%a=ɮ%a=uNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B EZd>E 0EtiE@A EԸ@)AIEiAU^!MU~=YU>;QU] ?YYae0EeXEaym}m ?Iq u:u5? }:u[ uB }?9uDu<: uU:)u:WWX XW:W2W*WVbUBU*UUUl"@B=B BA ?*BAS"<AAA,T<"CW@RCCC?΅>IGl>wq,='FEAY}ZR]@}ZAnM@y}Z/=}ZQvv}ZHa ?<@r@`ο{ο ?)~ZR]@ ~Zy^;I~ZCɫ髙) IYO@yGxDUSBL response received:!U1,R,502,000,00D0A,189,80,80,68,FF Fpublishing direction and range infoɰ )Iyw?amf-ٱI4=)4=MR=Y;;QU>a0E_E y-}5>I155?5] 5B E?95D5Ǻ: 5:)1WaWaXa XaWi:W2W*WVbUBU*UUUv@P*QZQ>Q@^MbJQw?amf-2Q:QbQi$LT na@$Mi`s?@RQb v"࿮ַ?Te?BQ%@ QCQ"P 9?Pŧ9?PQ7QB"Q BB =B BA%?*B!A%fR<A!A!AER<"CM]@RCQCQCQY% %%% %K6:Y%V1y%:%59-@1IAGew> >9 I xGi @ .= q; Eq,`EAY}2%[@}2K@y}2[j6=}2mx}2HSЪ?Ҡο]˦@+ο6?)~2%[@ ~2d^;I~0ɫ9A)A EIAY}@y}$G DNmea in: $SNTTA,,,,,012705.43*58 OM0=Y];QU>a0EfEyva}>I  : 5? : ^ B ?9 D : o:) :mmyAdded new target pos. range: 162.780014 m, bearing: 120.935726 deg, deltaT: 4.438362 s, approachRate: 0.000000 m/s, LOS rate: -3.913096 deg/s, posRepo size: 4m ProNav: pos range: 162.780014 m, bearing: 120.935726 deg, approachRate: 0.000000 m/s, LOS rate: -3.913096 deg/s, cmd update: -11.739289 deg/s, cmd heading: 138.303462 deg, new cmd heading: 138.303462 deg. WfU@WX XW:W2W*WVbUBU*UUU??B5l'~=B1 B1A5?*B1A5<A9AYA]=Q<"CeB@RCiCmfU@Ci6Ʌ>ש I G >i I i) @Νq,yEAǿٺ "A|$i|$Y}vZ@}v8J@y}vX;=}v}}vH t?O{`8`dϿ {bϿ?)~vZ@ ~vL^;I~vCɫ) IY@yGt<mi@ @)@I-@i@BnMo=Y;QU?a0EkEy}?Ik5?h_ B ?9D: :)W-@W)X) X)W):W12W1*W1V1bU1BU9*U9U9U=M?Bm=Bi BiAm?*BiAu<AqAqAuIP<"C}@*C}RCyC}@C֙בIGa> ?,:YU1y:65q,еEAY}2mX@}2H@y}2#@=}2[}}2Hl?`MĀ?LϿ73PϿ@?)~2mX@ ~2D^;I~2CɫYY)Y eIaY@y~G rh?l?S㥛?>= /<)IyzG?y&1|?~jth ?`;D ½@)½CAI½Ai½h@AMK=YB(;QU>a0ErEy"}>Iu5?p_ B ?9D{: :)W @W!X! X!W!:W!2W!*W)V)bU)BU1*U1U1U5x?B] =Ba BaAet?*BaAe<AaAiAm]O<u>9qIu~Giu@qqqus; uE"C@RCC @C֡Iש)שyIG^>(ݪq,EAY}fV@}fF@y}f*C=}fd}fH j ?`]Ͽ b@Ͽ?)~fV@ ~fx^;I~fCɫ) I!Y-[@y-gG)å= å=D;>i׳@ @)-@Ij@iK@-2M-E=Y-::QU5>11a50E5yE9y=}E>IA M:E߳5? U:E_ EB U?9EDE: E8:)E:W}(B@WyXy XyW:W2W*WVbUBU*UUUټ?B=By< BAK?*BA<AAA"O<"CfO@RCC(B@CIGj>%%%% % +:Y%V1y%:%5ıq,kEA||p;Y}: T@}:D@y}:E=}:Iz}:HK>M?`lοKοP?)~: T@ ~:=^;I~:Cɫ99)9 9I9Y}@y}G]aM]Y=Y]:QUe>aaae0EeEiymh}m>Iqu)5?ul^ uB ?9uDu{: u:)qWR@WX XW:W2W*WVbUBU*UUUo?Bs=B BA ?*BA<AAAXN<"C@RCCR@C?΅>׹IGE>u >9q Iu }Giu @u /=q q q q ﷾q,GEAY}22S@}2*C@y}2cE=}2M|}2H@@ֳ`˫?T ο/&Ͽ`?)~22S@ ~2~^;I~0ɫ99)9 AIAY]@yeGI)I=)=uVMuI=Y}9QU}>ya0EEyH}>Iȑ :ŕ5? :ŕQ] ƕ{B ?9ƕDǕ: ȕ+:)ȕ:W?WX XW:W2W*WVbUBU*UUU6$@BS|=B BA?*BA_<A A A M<"CW@RCC?C-6Ʌ>I)GEQ>M5 M{M{M M 8:YM#R1yM:M5)M=;9mIq,p"EAY}2AQ@}2o]A@y}2F=}2x}2H> غ w\n?`eͿبο@?)~2AQ@ ~2^;I~2CɫYY)Y YIYY@ycG1Ai@ @)@I@i ƼM Q=Y,:QU>a0EE!y%t}%>I)-y5?-[ -nB =?9-D-: -8:))W]?WYXY XYWY:Wa2Wa*WaVabUaBUi*UiUiUm-D@RB*** querying acoustic contact ***PPB=p{=B9 B9A=?*B9AE<AAAAAEL<"CMn @RCiCm?Cqe"5;]?΅>qIG% > žq,EA|i|@Y}B:O@}BТ?@y}B G=}B{z}BH ?@<Ϳᨿaο?)~B:O@ ~B1_;I~@ɫ髑) IY@yGZ****** received transponder code query ******F****** received ping request ******))a-0E-E1y5yj}=>I9 M:=`5? M:=jZ =ZB M?9=!D=s: =:)=:W?WX XW:W2W*WVbUBU*UUU @B=vFm=Ba BaAe>*BaAm5<AiAiAmF^L<"Cu@RCqCu?Cy%!!% %.:Y!y!%\5)%Q;uH<֥ 6Ʌ>ׁ I G >M4˾q,.EAY}=M@}=/=@y}=,H=}="x}=Hx`0Ŀ@@(K? o/Ϳ~ο@*?)~=M@ ~=^;I~=Cɫ!!)! !I!Ye@yecGmxDUSBL response received:!U1,P 502,000,00D0A,189,80,80,68,FF mCommand AckmBRequesting micromodem ping code 2iii}Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 鿩õ.>õ ׽õ=iõ@ñ ĵ@)ıIĵ@iĵ@M1=Yk:QU>a0EEyy}>I-H5?X GB ?94Dӻ; Q;)WU ?WQXQ XQWY:WY2WY*WYVYbUaBUa*UaUaU @Bm=B BA(>*BAj'<AAAK<"C\?RCC ?C!99)Љ Љ! I G->Ӿq,lLEAY}fK@}f?<@y}fH=}fs}fH Mǿ?ψ` O̿j`)ο?)~fK@ ~f^;I~fCɫ髡) IY@y~Gp=ɮp=UNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B  "MY=Y%9QU%>!!a-0E-E)y5D}5>I9 E:=@45? E:=V =7B E?9=CD=<: =:)=:Wm]?WiXi XiWi:Wi2Wq*WqVqbUqBUy*UyUyU}^@BMu=Bq BqA}>*ByA}<AyAA CK<"C[?RCC]?CEN EEE E ::YEDW1yEY:E59M@?΅>->9-oCI-zGi-2@-,=)-D-z; -E׹IG>'پq,ffEA||4 )a0EEyē}>I  %!5? fT 'B ?9 RD : :) W=ؿ?W9X9 XAWA:WA2WA*WAVAbUIBUI*UIUIUU n@Pa*Qez"CZQe.Q@= EbJQew?amf-2Qa:QabQeZ;T7C~!-QXc@-?@RQeFοjz?l'܏?BQe7? QeCQePe9?Pe 9?PeQeQeB"QeBBmy=Bq BqAu>*BqAu3<AyAyA}lJ<"CX?RCCؿ?C֡YIiGZ>q,MEAY}bH@}bz8@y}bDM=}baBs}bHX`Ϳ`9`?`1˿`ڥ@ο?)~bH@ ~b9^;I~bCɫ髑) IYh@y}G=TNmea in: $SNTTA,0.107964,,,,012709.88*40 IM=)Iý<ýKýL=iý@ù Ľ­@)Ľ@IĽ­@iĽ@U8MU5=Y]:QU]>YYae0EeEaymbd}m>Iqu 5?uIQ uB }?9udDu+: u{:)qm}Added new target pos. range: 162.480011 m, bearing: 103.946416 deg, deltaT: 4.457621 s, approachRate: -0.067301 m/s, LOS rate: -3.811296 deg/s, posRepo size: 4m ProNav: pos range: 162.480011 m, bearing: 103.946416 deg, approachRate: -0.067301 m/s, LOS rate: -3.811296 deg/s, cmd update: -11.433887 deg/s, cmd heading: 85.875177 deg, new cmd heading: 80.590501 deg. WY?WX XW:W2W*WVbUBU*UU@\Od@U`w?Bl=B BAh>*BA <A A A xHJ<"Cf?RCCY?CIiM=uuuu ui*:YuU1yu:uʺ5ֽ6Ʌ>׉IG>9q,EAY}2G@}257@y}2{N=}2%u}2H@S`п@Ҽt?@ip˿@өgο ?)~2G@ ~2}^;I~2Ctv<z>9xIzpxGiz@z*=xzDzw; zEɫ99)9 =I9Y}@y}}G\(\?~jth?L7A`堿?D; +)Iy'1Z?{Gzt?X9v?"?ף;< K@)bAIiAA atMO=Yf:QU>a1EEy%~}%>I) 5:-5? 5:-M -B =?9-tD-: -M:)-:W]E?WYXY XYWY:Wa2Wa*WaVabUiBUi*UiUiUu?BO@l=B BA_>*BA~<AAAI<"C-?RC)C-E?C19I!G=r>eq,EA| i|"@Y}J*jE@}J5@y}JKO=}J5u}JH`){ѿEs6?5N˿ 橿;\ο@n ?)~J*jE@ ~Jj^;I~JCɫqq)y }IyY@y8|GMĜ>UCiNmGIi 52Ϳٺ15'AUF>U 0=UtiU׫@Q U@)U@IU@iQeHMeE=Yeֺ9QUm>iiau1EuEu{@u@@qy}⁽}}>IȁŅ5?ŅtI ƅB ?9ƅDDž: ȅ:)ȁW]?WX XW:W2W*WVbUBU*UUU@ ?B`9d=B BA>*BAM<AAAI<"C?RCC]?CUQQU U,:YQyQU5u?΅>QIYG}z>Kq,EAɫyy)y }IyY@y{G 99uMu[=Y}QU}>ya1EEy}>Iȑ :ŕ5? :ŕE ƕB ?9ƕDǕ: ȕ:)ȕ:W"?WX XW:W2W*WVbUBUI*UQUQUU@SZ?BDe=B BA,>*BA<AAA[I<"C!?RCC"?CIM@A)M?A6Ʌ>׹I>9IvGi@+=; EGj>xq,MEAY}JA@}J2@y}JD:K=}JEt}JHI8տ*o@h?:@!ʿd>5ο :?)~JA@ ~Ja^;I~JCɫqq)q uIqYZ@yk{G)e= e=MH=YQU>a1EEy }>Iȩŭ5?ŭ@ ƭB ?9ƭDǭ: ȭ:)ȩW?WX XW:W2W*WVbUBU *U U UbX@Ba=B BAe>*BiAuO<AyAyAI<"C?RCC?CUUUU U1:YUWU1yU:Un5)U;9e֑qIyG~>]q,EAY}6 @@}6d)0@y}6wH=}6{,o}6H ֿ@``??@8Bɿ@`Ϳ?)~6 @@ ~6|^;I~6Cɫ99)9 =IAY}@y}zGeta1EEy}>I :x5? :~; B ?9D: :):W^J?WX XW:W2W *W V bU BU*UUU ɓ@B=a=BA BAAE#>*BAAE<AIAIAMH<"CU?RCQCU^J?CYM?΅>9IIGeV>eq,jEA@BjAJ>9HIJPuGiJc@J.=HHJ; JEY}b"?>@}bZ.@y}bH=}bDcp}bH@8 ؿ)q?i6ȿ@̼Ϳ?)~b"?>@ ~bk^^;I~`ɫ) IY@yqzGAAu5^I ?Zd;O?~jt?u>uj< uD=)qIqyubX9?y&1?a1EEy}>I  5? ;6  B ?9 D : r:) W]Tm?WYXY XYWY:Wa2Wa*WaVabUBU*UUU`@RB*** querying acoustic contact ***PPBC[=B BAг>*BA` <AAA H<"C o?RCCTm?C E=E=iimp= 1:YW1yč:5);6Ʌ>%?i%?IGj> q,B?5EAY}6w<@}6,@y}6J=}6o}6H$ڿU¿`#?` @ t-ȿ;>-Ϳ{?)~6w<@ ~6`w^;I~4ɫ99)9 =I9Y @yyGZ****** received transponder code query ******F****** received ping request ******a1EEy}>I :~5? :0  B ?9D: :):WdCY?WX  X W :W 2Wq*WqVqbUyBUy*UyUyU`p& @BoZ=B BA>*BA.A<AAAXKH<"C a%1E%E1y5艽}5>IAEZl5?E* E B }?9EDEy; E;)AWUxxB?WQXQ XYWY:WY2Wa*WVbUBU*UUUT @B BL=B BA>*BAl<AAAIH9ܑIܕsGiܕ@ܑܑܕDܕ; ݕE)oCIoCi,=,=5?΅>ױIG>q,hEAY}2'8@}2)@y}2؂N=}2>v}2H@ h ݿĿ@?guͿǿ`ͩ 8rο* ?)~2'8@ ~2 p^;I~2CɫAA)I MIQY@yIxGa=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B JMK=Y:QU>a1EEy}>I:[5?$  B -?9DV/= A/=)Wu-?WqXq XqWq:Wq2Wy*WyVybUyBUy*UUUp@B'R=B BAϗ>*BAX<AAA=H<"CBt?RCC%-?C!111I9)91I9GU>Y q,ׂEAY}V27@}VN'@y}V'Q=}VRCu}VH_?޿Ŀ@?ǿ5eSο ?)~V27@ ~Vj^;I~VCɫ髙) IY@yexGxDUSBL response received:!U1,R,369,000,005F7,18A,80,80,C1,FF Fpublishing direction and range infoCɰ/=> )ACIyzXB{'?nɉٱ)= ==P==z=YYa]1E]EYye}e>Iq :uH5? :u u B ?9uDu< u$<)u:WM?WIXQ XQWY  B:Yyo5:W2W*WVbUBU*UUU 7@P*QzXBZQHmC@̬BJQ{'?nɉ2QC:QbQ2Ի/yI@ߤl3b@RQPҿP?q=Y0?BQ? QMBQ~P9?P9?PQQ{RA"QBB]N=Ba BaAe3>*BaAe<AaAiAmIH<"Cm \?RCqCu?C֍6Ʌ>i I G >&q,뫜EA<>9IrGi*@+=; E|&4<|$Y}F5@}F)%@y}FO=}Fv}FH@1d߿@\ſg?`sƿmο`U ?)~F5@ ~F^;I~Dɫyy)y yIyY@y]wGEdNmea in: $SNTTA,0.109284,0.346722,,,012714.36*5A bX9?S㥛S㥛? E> /ݼ /<) I y ˡE?y&1|?y&1? '? `; `e< @) AI Q Ai =A   A-M-M=Y54QU5>11a=1E=E9yE(}E>IIM65?M M B U?9MDM: M:)ImyAdded new target pos. range: 54.120003 m, bearing: 107.249283 deg, deltaT: 4.559888 s, approachRate: -23.763742 m/s, LOS rate: 0.724331 deg/s, posRepo size: 4m ProNav: pos range: 54.120003 m, bearing: 107.249283 deg, approachRate: -23.763742 m/s, LOS rate: 0.724331 deg/s, cmd update: 2.172993 deg/s, cmd heading: 33.919389 deg, new cmd heading: 29.978254 deg. W^?WX XW:W2W*WVbUBU*UU@\K@U3?Br2U=B BAƋ>*BA<AAA:H<"CJJ?RCC^?C׹IGf>m-q,EAY}V$3@}V#@y}VL=}VNJm}VHŽ@Pſ~? OC8ſG@cͿ`?)~V$3@ ~V%^;I~VCɫ髙) IYU@yyvGIA)AIMR=)M=Ý+Ý WÝiÝ@Ù ĝX@)ęIĝn@iĝnMS=YQU>a1EEy}>I :#5? :  B ?9#D: :) :W7?WX XW:W2W*WVbUBU *U U U  ?B=IH=B9 B9A=4>*B9A=<AAAAAEFH<"CMD6?RCICM7?CQY }} U\:YkS1yԊ:59IAGeV>3q,aEAY}2.2@}27J"@y}2$G=}2/j}2H0Ft@ſ@C3?`}qĿ⨿ Ϳ@ ?)~2.2@ ~2^;I~2CɫYY)Y ]IYY@yuG5ZM=R=Y=]QU=>AAaE1EEEIyM̋}M>Ip5?  B ?94D2; _3;)W"?WX XW:W2W*W!V!bU!BU)*U)U1U5?BueC=By ByA}rs>*ByA}=AAAtSH<"C%?RCC"?Cֽ?΅>->9)I-qGi-@--=))-; -EיIGb>x:q,EGEA| i| Y}f[.@}f@y}f<=}fZc}fHT0`m|ſ`c?¿@٘(̿l.?)~f[.@ ~fz^;I~dɫ) IY,@y uGÝ>ÝÝ;_>iÝ@Ù ĝ9@)ĝ@Iĝ(@iĝΣ@TM4=YQU>a1EEy}>I :5? :  B ?9FD: ):)!:W&?WX XW:W2W*W V bU BU *U UUT?B;=B BAa[>*BA=AAAVH<"C?RCC&?C  }D:YV1y:85);96Ʌ>i}mGIi׹Iƿٺ)AG>@q,EAɫ髁) IY@ytG]@Mec=YmQUu>yya1EEy}>Iȉō 5?ō ƍ B ?9ƍVDǍ6: ȍQ:)ȉW[*?WX XW:W2W*WVbUBU*UUU?Bܷ==B! B!AUoT>*BYA]҃=AaAASH<"C^/?RCC[*?CIG>  % >9! I% toGi% @% /=! ! % o; % E$Gq,EAY}-*@}-^@y}-==}-cc}-H`=``[@Oƿ ?b@+1̿-?)~-*@ ~-n^;I~-Cɫ) IYUY@yU tGMFx?&1y&1?M>Mн M`e=)IIIyMuV?MbPI +?Mr?MM9< M@)MAIMAiMAIMQA)]= ]=mg1M:=Y:QU>a1EEy}>I :5? :  B ?9eD: :)":W-^.?W)X) X)W):W12W1*W1V1bU9BU9*U9U9U=j@Bm6=Bi BqAu@>*BqAu*=AqAqAukH<"C}?*CۼRCC^.?C}} 3:YkS1yԊ:\5);y9IAG]w>QMq,7EA|&;|&;Y}F)@}F_+@y}FB=}FUW`}FHlCǿ@?:x\g>@˿73?)~F)@ ~F~^;I~FCɫ髑) IY)@ysG@A e@ e@ e@e©eeie@e e@)e"@IeX@ie"@uMu[=Y})>;QU}>yya1EEy}>Iȑŕ5?ŕ ƕ B ?9ƕqDǕ: ȕ:)ȑW\52?WX XW:W2W*WVbUBU*UUU`H@RB*** querying acoustic contact ***PPB9=B BA:>*BA=AAAH<"C-%?RCACE\52?CI]?΅>I!GEQ>R;Tq,ƿQEAY}V{`'@}V|@y}Vt/D=}V5a}VH `ǿ m[? ح ˿ 30?)~V{`'@ ~V9o^;I~VCɫ髑) IY@ysGZ****** received transponder code query ******F****** received ping request ******iiau1Eu!Eyy}}>IIM5?M M B ]?9MDM8: M#:)IW}^6?WyXy XyWy:W2W*WVbUBU*UUU[H @Bk50=B BA'>*BA%I=A!A!A%H<"C-|(?RC)C-^6?C1}=i}a= 3:YY1y:59@ >9IHnGi@p; EqIIQGuy>bZq,kEAY}2G%@}2@y}2E=}2d}2H?@M+X~ȿ?@HK =>̿O,?)~2G%@ ~2~^;I~2Cɫ19)9 =I9Y}@y}Q8=9a1E)EyP}>I :5? :-  B ?9D: (:)#:Wu;;?WyXy XyWy:Wy2Wy*WVbUBU*UUU }A @B(=B BA>>*BAk=AAAKAI<"C;;?RCC ;;?C1A ) I1 GM >&Haq,[`EA|i|Y}F#@}F@y}F:FE=}FQb}FH j`Gȿ?@YnV ̿@w/?)~F#@ ~F^;I~FCɫYa)a aIaY@yqG鮥p=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 4Mg=YQU>aM1EM/EQyU#}]>IY]٪5?]i ] B ?9]D]; ]#;)YW>>?WX XW:W2W*WVbUBU*UUU@BM& -=BI BIAM>*BIAU?=AQAQAUI<"C]SD?RCYC]>>?(  7:YV1y:5Cֵ6Ʌ>׉IG>ٹ ٽ < #>9 pCI mGi @ ; E)YIYiY]/=].=]"5gq,(|EAY}N "@}N<@y}NJG=}Npb}NH2@]@ 9ɿ&?Ĵ d̿ .?)~N "@ ~N^;I~NCɫ髙) IY@yqGxDUSBL response received:!U1,R,1F2,000,005F7,18A,80,80,C1,FF Fpublishing direction and range info/޾ɰ )Iy-?˽&@ڿٱ ʡE??>L <)Iy? rhQ?f&?C < ?@)AI Ai A;MT=Y:QU>a1E5Ey 7} >Iȑ :ŕɝ5? :ŕx ƕ B ?9ƕDǕ: ȕ:)ȕ$:WZSB?WX XW:W2W*W)V)bU)BU)*U)U1U5`@PA*QAZQEkH@%]U6JQE-?˽&@ڿ2QE/޾:QAbQEpg."@I@i8d@RQEfdLҿدD? AT+?BQE9? QE-OBQEwPE9?PE9?PEQEQE A"QE{RAB_+=B BA>*BA=AAA*I<"C&cI?RCCZSB?CIa)eAAIG]>Fmq,EAY}FXX @}Fs@y}FI=}F~c}FH@b@صɿ`?  =@/\+̿,?)~FXX @ ~F5^;I~FCɫy髁) IY@ypGeDNmea in: $SNTTA,,,,,012718.83*58 %>% %u99a=1EE;EAyEʋ}M>IQUא5?U U B ]?9UDU@: Un:)QmuAdded new target pos. range: 54.120003 m, bearing: 106.635297 deg, deltaT: 4.393619 s, approachRate: 0.000000 m/s, LOS rate: -0.139745 deg/s, posRepo size: 4m ProNav: pos range: 54.120003 m, bearing: 106.635297 deg, approachRate: 0.000000 m/s, LOS rate: -0.139745 deg/s, cmd update: -0.419235 deg/s, cmd heading: 43.492328 deg, new cmd heading: 44.326046 deg. W^A?WX XW:W2W*WVbU BU *U UU`5?B]T.$=BY BYA]Z=*BaAe2=AaAaA-)XJ<"C5 I?*C5bѼRC1C5^A?C9  A:YT1y:5Q1I9GU>$tq,5EA|4<|4a1EBEy}>Iȱ :ŵ5? :ŵ Ƶ B ?9ƵDǵ: ȵ:)ȵ%:WUR@?WQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUe`E?B4=B BA=*BA1H=AAAJ<"CD?RCCR@?Cm'>9iIm(kGim"@iiim; mŗE?΅>יIGb>zq,EAY}JB@}J @y}J$K=}J5~l}JHt @)I˿`?ز[^wCͿ?)~JB@ ~JP^;I~JCɫyy) IY5@y5oGI) t@>ip@ Σ@)@IX@iΣ@MD=Y QU> a 1E HEyi}>Iw5?ɚ  B %?9D: :)WL@?WX XW:W2W*WVbUBU*UUU ?BE=BA BIAMS=*BIAMg=AIAIAMnK<"CUL@?RCYC]L@?CY Չԍ=} ~~ 4R:YT1y@:ʽ5}6Ʌ>QIYG}z>-q,EAY}:#@}:? @y}:vG=}:ʻl}:Hq-j˿@J?d@g[:KͿ?)~:#@ ~:W^;I~:CɫAA)A AIAY}j@y}1oGMK=Y QU5>9AaE1EMOEyy}>IȹŽ_k5?Ž ƽ B ?9ƽDǹ ȽǸ;)ȹW-K??W)X) X)W):W12W1*W1V1bU1BU9*U9U9U= ?B 0=B BA/=*BA=AAAc-L<"C@?*C[:ȼRCCK??CֹיIG>a e lAm *>9m qCIm iGim .@i i m Dm ; m ɗEIq, EA|i|Y}6X@}6at @y}6hPD=}6=p}6H`= <)Iy}?5^I?+{Gz?M"?ף< );#AIAiA( A}MH=Y%QU%>!!a-1E-UE)y5}5>I9 E:=`5? E:= = B E?9=D=: =f:)=&:Wm>?WiXi XiWi:Wq2Wq*WqVqbUyBUy*UyUyU}[?B~w=B BArr=*BA9=AAAeL<"C>?RCC>?C  V5:YU1y:5);9IGmx> > Ci5 NmGII ꍿq,__:EAY}2{@}2y@y}22:C=}2Um}2H̥f,>̿=I?Ą@d`nͿ?)~2{@ ~2^;I~0iDZȿٺX^eAɫYY)Y YIYY@y@nG m@ m@ u@m©mmim@m m@)mImimz@;MU=Y5QU>a1E[Ey5}>Ișŝ4W5?ŝu Ɲ B ?9ƝDǝ/: ȝ:)șWM=?WIXi XiWi:Wq2Wq*WqVqbUqBUy*UyUyU}(@B=B BA<*=*BAr=AAAZM<"C=?*C}RCC=?CIށ)ށ׹IGf>PҔq,9TEAY}2M@}2@y}2_ =%<ƼM-P=Y-5#;QU5>99aE1EEbEAyM}M>IQ e:UM5? m:Uh U B m?9UDU; U;)U':W=?WX XW:W2W*WVbUBU*UUU3@RB*** querying acoustic contact ***PPB=B BAZ=*BA1=AAAN<"C=?*CǰRCC =?C ->9IhGi:@.=SD; ϗEց yy yU:YP1y':85);ׁIG^>oq,4nEA|*;|*;Y}JE@}J@y}JO=}Jfq}JH 0޿@v>]ͿH+?~޿%uͿ ?)~JE@ ~J'^;I~JCɫ髡) IY@y!mG%Z****** received transponder code query ******%F****** received ping request ******-i@ Σ@)Σ@IΣ@i@4M>=Y.;QU>a1EhEyA}>I  C5? [  B ?9 1D : :) W=\SZ䡿q,EAɫ髁) IYg@ylGxDUSBL response received:!U1,P 1F2,000,005F7,18A,80,80,C1,FF  Command Ack BRequesting micromodem ping code 2i Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 {{ 1:Y#R1y:59@~jt??J +?$?L= H=)IyK7?~jtJ +?)?H= …^@)…t%AI…Ai… A A¹¹M=YQU>a1EqE y}5>IA }:E65? :EH E B ?9EHDEp< E><)E(:WEB;?WAXA XIWI:Wq2Wq*WyVybUBU*UUU /9@B=B  B A 0;*B A h@=A A A- VP<"C5 B;?*C5 RC1 C5 B;?C9 i m > 1>9 I gGi F@ ; ӗE] ?΅>1 Ia G} >y"q,EAɫ髱) IY@ykGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B !M=YQU#?a1EuEy}'?I/05?@  B ?9SD: i:)W:?WX XW:W2W*WVbUBU*UUU`@Bh@=B BA*BAAAAP<"C%:?*C%uRC!C%:?C)֕6Ʌ>iIyG}>Gq,EA|i|Y}>)@}>Պ?y}> Y=}>1w}>Hٿ<@~ο4?ٿ#`dऎο@M?)~>)@ ~>^;I~>Cɫ9A)A AIIY}l@ykGxDUSBL response received:!U1,R,042,000,005F7,18A,80,80,C1,FF Fpublishing direction and range infokɰ鰑 )IyWj?`8.yٱ====mi=@9 =@)=@I=@i9MMMA=Yu;QU>a1E|Ey0}>Iȡ :ť9'5? :ť1 ƥ B ?9ƥeDǥM: ȥ:)ȥ):W:?W X  X W :W 2W*WVbUBU*UUU@P)*Q)ZQ-ZK@DJQ-Wj?`8.y2Q-k:Q)bQ- $3:*II@QRQ-I{BֿԦ?^fBQ-`? Q-NJBQ-&P-9?P-9?P-Q-Q-Pw@"Q- AB}E=B< BA*BAL9=AAAR<"C:?*CRCC:?Cuuuu un1:YuWU1yu:u5?΅>IG->A0q,EAY}Z( @}Z{_?y}ZaiO=}Z+u}ZH:{ؿȑGsο?ؿ? Vꩿ`Pο ?)~Z( @ ~Z^;I~Xɫ髙) IYؾ@yjG}DNmea in: $SNTTA,,,,,012723.28*51 ~<MP=YŻQU>a1EEy} >I5?y#  B ?9vD: :)mMqAdded new target pos. range: 54.120003 m, bearing: 110.732393 deg, deltaT: 4.441342 s, approachRate: 0.000000 m/s, LOS rate: 0.922490 deg/s, posRepo size: 4m] ProNav: pos range: 54.120003 m, bearing: 110.732393 deg, approachRate: 0.000000 m/s, LOS rate: 0.922490 deg/s, cmd update: 2.767471 deg/s, cmd heading: 41.629799 deg, new cmd heading: 41.470047 deg. W].>?WYXa XaWa:Wa2Wa*WiVibUiBUi*UqUqUu[Y?B<B BAּ*BA$=AAA(S<"C >?RCC.>?C11ܕ2>9ܕrCIܕfGiܕ@ܕ,=ܑܑܕ; ݕۗE)%qCI%qCi!%.=!%j5]6Ʌ>Ia)aI!G=r>]q,uEAY}v @}v?y}vB=}v5Nu}vHֿW|wο3?ֿ@ R"Vο  ?)~v @ ~va^;I~vCɫ) IYž@yjGO?1i@ z@)E@I\@i&@U_MUD=Y]TQU]>Yaae1EeEiym]}}m>Iqu%5?u u B }?9uDu: u:)qWC?WX XW:W2W*WVbUBU*UUU@e?BT<B BA*BA! =AAArS<"CC?RCCC?Cmw mxmxm mQ:Ym7P1ym:mn51IG5q>:B¿q,By EA|4<|49 ף)IyˡE?ˡE/$'?' µV@)µ'AIµjAiµAfAg#MC=YlQU>a1EEy}}>I :5? :  B ?9D: :)*:WI?W!X! X!W!:W!2W)*W)V)bU)BU1*U1U1U5@h?Be<Ba BaAe8*BaAmk=AiAiAmT<"CuI?RCqCuI?Cyѹ֭?΅>ׁ I G >܍ 5>9܉ I܍ dGi܍ @܉ ܉ ܉ ܍ ; ݍ ٗE-lȿq,S#EAY}6Y@}6?y}6"k6=}6%p}6H@qӿ)Ϳ[n?oӿA@v˦ֲͿ?)~6Y@ ~6sd^;I~6Cɫ9A)A EIIY}@y}iG,Mb=YѺQU>a1EEy~}>IȹŽ 5?Ž ƽ B ?9ƽDǽ.; Ƚ!;)ȹWHM?WX  X W :W2W*WVbU!BU!*U!U)U-IS?BUš<BY BYA]a*BYA]=AYAYAeU<"CeHM?RCiCmHM?Cim< u=u=J || #N:YR1yi:5)R;9}6Ʌ>qIG>Jοq,.=EAY}2@}2L?y}29Z<=}2Co}2HѿN)ο? ҿ@_U`'+Ϳz?)~2@ ~2z^;I~2Cɫ99)9 =I9YZ@yhGM94=MM%>iM@I M\@)M&@IM&@iIe5MeM=Yen;QUe>iiam1EmEqyuґ}}>Iy :}g5? :}b } B ?9}D}I: }4:)}+:W/wR?WX XW:W2W*WVbUBU*UUU=?Bo<Bi BiAmߔ*BqAu+~=AqAqAuV<"C}/wR?RCyC}/wR?Cωω)Љ Љ)  I G- >_տq,#WEA|i|@ɫ髱) IY@ywhGMC=YQU>a1EEy}>Io5?, { B ?9D0; ^;)WEW?WAXI XIWI:WI2WQ*WQVQbUQBUQ*UYUYU].@-:>9)I-XcGi-ȸ@--=)-D-; -ߗEBE^<Ba BaAeˮ*BaAm]/=AiAiAm:W<"CuW?RCqCuW?Cymiim m/3:Yiyim%5)m ;qQIaG}z>;ۿq,ZpEAY}:@}:u?y}:eN=}:p}:HͿ7`wο?\ͿuɩͿ@m?)~:@ ~:_;I~:CɫQQ)Q QIYYb@ygG)í= í= @ @ @©i@ @)Σ@Ij@i@ >M X=Y>a1EEyV}%>I! :%5? :%t %j B ?9%D%ȑ< %ۑ<)%,:W\?WX XW:W2W*WVbUBU*UUU- $]@R5B*** querying acoustic contact ***P1P1Bu<Bq ByA}ҽ*ByA}=AyAyAX<"C\?RCC\?CimGIiɿٺ AױIGe>q,ϊEAY}5@}c?y}L=}p}Hʿ`c@nοVI?*ʿKͿ?)~5@ ~X^;I~ɫii)q qIqY}W@y}gGZ****** received transponder code query ******F****** received ping request ****** }`e<)yIyy}V-?Q롿Mb?}-?}\}= }@)}9(AI}Ai}V Ay}A6M'=YtQU>a2EEy+I}>Iȱŵu5?ŵ Ƶm B ?9ƵDǵ*: ȵ3:)ȱW]b?WX XW:W2W*WVbUBU*UUU` @B5.+<B1 B9A=ս*BAAEBw=AAAAAE^Z<"CU]b?RCQCU]b?u? uuu u8:YuWU1yu:u59@CסIG>! ! - >9- sCI- ,bGi- Է@- k=- JD- D- ; - Eӻq,EA|;|;ɫqy)y }IyY@yFgGxDUSBL response received:!U1,P 042,000,005F7,18A,80,80,C1,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -M5|=YEQUM ?Yaam2EmEyy}?Iȱ :ŵA5? :ŵN Ƶo B ?9ƵDǵP; ȵ;)ȵ-:Wm2)g?WqXq XqWy:Wy2W*WVbUBU*U UU`T @B}<B BA*BA =AAA[<"C2)g?RCC2)g?CA ! I) GM >q, wEAY}6?}6H?y}6n4=}6o}6HĿL0ο "?*Ŀx?୓@tͿ?)~6? ~6Q_;I~6Cɫ99)9 9I9Y}6@y}TfG鮅a=ɮ=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5 = ====#i=@= =@)=@I=i=@M^MU9=Y]6YQU]>aaae2EeEiyu}u>Iy}W5?} }s B ?9}D}D; };)yW k?WX XW:W2W*WVbUBU*UUU @BŰ<B BA*BAe=AAA\<"C k?RCC k?C =uuuu u.:YuU1yu:u5ֹ?i?בIG>q,ePEAɫyy)y }IY@y0fGxDUSBL response received:!U1,R,F0C,000,00C4B,186,80,80,C1,FF Fpublishing direction and range info^ Z>ɰ>> )IyQCn0F?\ ?ٱ#Mb=Y QU > a2EEy}>I!%5?%P %v B -?9%!D%: %:)!WUJp?WQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUaUe@Pq*QuQCZQu|b@TMH?@JQun0F?\ ?2Qu^ Z>:QqbQurSJ|a@*C+RQu*Xֿ6?>^BQu? Qu CQuWPuR9?Pu9?PuQuQua"QuPw@BEB<BI BIAM*BIAMI:=AQAQAU]<"C]Jp?RCYC]Jp?Ca=>9IaGi@+=SDD; Ea9IIGmV>õ#õl>iõ=@ñ ĵ@)ıIĵ@iĵ@MM1=Y QU>a2EEy{}>I :.5? :~ | B ?95DI: w:).:m%yAdded new target pos. range: 151.320007 m, bearing: 110.964442 deg, deltaT: 4.387957 s, approachRate: 22.151541 m/s, LOS rate: 0.052883 deg/s, posRepo size: 4m5 ProNav: pos range: 151.320007 m, bearing: 110.964442 deg, approachRate: 22.151541 m/s, LOS rate: 0.052883 deg/s, cmd update: 0.158649 deg/s, cmd heading: 53.780103 deg, new cmd heading: 55.060141 deg. W5p?W1X1 X1W9:W92W9*W9V9bUABUA*UAUM=b@UM`?Bu<Bq BqAub"*ByA}=AyAyA} _<"Co?*CRCCp?C mA iim m9:Yiyim5?΅>IG>q,* EAY}53?}5^?y}5+=}5~n}5H@@kͿ|? `v?tJuͿ`?)~53? ~5 ^;I~5Cɫ  ) IYm\@ymHeGeV-?X9v?a2EEy6}>Ișŝ5?ŝtp Ɲu B -?9ƝEDǝD< ȝ :)șWMep?WQXQ XQWQ:WQ2WQ*WYVYbUYBUa*UaUaUec?B<B BA@**BA2=AAA+4`<"Cep?*CRCCep?C 6Ʌ>I)IG> jA >>9 tCI _Gi @ *= ; E)]sCI]sCiY]+=]=]8f q,%EAY}2O?}2?y}23=}22l}2H5ө`6Ϳ?@Mvҟ?_v@OͿ 4?)~2O? ~2^;I~2CɫYY)Y YIYY(@yeG] M]`=Ye;QUe>iiam2EmEyŏ}>I :5? :b o B ?9UDa; /;)/:W5+q?W1X1 X1W9:W92W9*WAVAbUABUI*UIUIUM{?B<B BA0*BAՒ=AAAEga<"C+q?*C[fRCC+q?Cu uuu u4:YuT1yu:uJ5)uː;9}yIG^>2q,j?EA||Y}6?}6;?y}6A4=}6[sr}6HX&ο`??a Ϳ?)~6? ~6[^;I~6CɫYY)Y YIYY @ycGuϾuzuļiu=@q uz@)u\@IuX@iu\@@MH=Yʜ9QU>a2EEyZ}>IșŝR5?ŝT Ɲh B ?9ƝeDǝ: ȝ:)șWrq?WX XIWI:WQ2WQ*WQVQbUYBUY*UYUYU]@T?B<B BA_T*BA=AAAb<"Crq?*CARCCrq?CIGj>q,QYEAɫqq)q qIyYĸ@yScGU9M]M=Y]QUe>iiam2EuEqy}}}>Iȁ :Ņ5? :ŅF ƅa B ?9ƅuDDžB; ȅmC;)ȅ0:Woq?WX XW:W2W*WVbUBU*UUU"K@}B>9yI}^Gi}@})=yy}; }EBzł<B BA+]*BA_1=AAAEd<"C oq?*C [WwRC Coq?C E=E>  A:YV1y:\5);IGm>Dq,\tsEAY}>٨?}>?y}>=}>t}>H@3y?ο`Q?Ҏ?NE?ӣ2ο m?)~>٨? ~>^;I~<ɫ99)9 9I9Y}@y}.cG}j<}}i}\@y }@)}@I}h@i}@MG=YRQU>a2EEy}>Iȡť5?ťr7 ƥ[ B ?9ƥDǥ: ȥ:)ȡWr?WX XW:W2W*WVbUBU*UUU@B<B BA`*BAH<AAA ze<"C%r?*C-9oRC)C-r?C)e?΅>9IIGeV>0/#q,%[EA|@i|B@Y}j)?}j`?y}j(=}js}jHش?`_Ϳ{?t?`A?`ο?)~j)? ~jF^;I~jCɫ髱) IYz@ybGAAe?Q뱿a2EEy2~}>I :5? :' N B ?9DAQ; xP;)1:W[r?WX XW:W 2W *W V bUBU*UUUpQ@mw m{m{m mP=:Ym#R1ym:m59u@RB*** querying acoustic contact ***PPB0Ĉ<B BAmf*BA "<AAAf<"C[r?*CgfRCC[r?C!! IG >i m <u F>9q Iu ]Giu V@u *=q u Du ; u EV)q,*EAY}6ā?}6?y}6Je=}6r}6H@?`8Ϳ??n?K ο`?)~6ā? ~6^;I~4ɫYY)Y YIYY @yobGZ****** received transponder code query ******F****** received ping request ******a%2E%E!y-}->I15#5?5& 5D B E?95D5t: 5:)1Wmr?WiXq XqWq:Wq2Wy*WyVybUyBUy*UUU @Bv=<B BAPt*BA<AAAOg<"Cr?*C^aRCCr?CIGj>>CiE mGIa iq Cǿٺ A@0q,ZEAY}26?}2_"?y}2~_=}2Zbp}2Hǻ? Ϳ@?ָ?`W? Ϳ@?)~26? ~2^;I~2Cɫ19)9 =I9Yu@yubG}xDUSBL response received:!U1,P F0C,000,00C4B,186,80,80,C1,FF }Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ý(\>ýY=ýȶ>iý@ù Ľ@)Ľ@IĽۙ@iĽ M.=Y]K;QU>aiam2EuEyyl}>Iȩŭ5?ŭ ƭ5 B ?9ƭDǭ: ȭM:)ȩW=r?W9X9mmvmvm m0:YmN1ym:m5 X9Wq:Wy2Wy*WVbUBU*UUU@ @Bx<B B!A%~*B!A-<A)A)A50-i<"CEr?*CMPXRCICMr?CYm6Ʌ>) I1 GU >h6q,iEA||Y}6?}6?y}6u=}6o}6H@;A?@̿@? }O?@q?֕Ϳ?)~6? ~64y^;I~4ɫ99)9 =I9Y}Ŷ@y}`G鮅p=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Me=Y;QU>a2EEy}?Iȱ :ŵ65? :ŵ Ƶ+ B ?9ƵDǵ: ȵ<:)ȵ2:WC+s?WX XW:W2W*WVbUBU*UUU@:@I>9uCI\Gic@; EBE4<BI BIAM*BIAUm<AQAQAUpj<"C]C+s?*C]TSRCYC]C+s?Ca qu=a9IIGeU>鰥7> );CIyCY;?c<}?ٱM¿jZi@ @)I@i\@-M-R=Y-;QU->11a52E5 E9y=}E>IAEs5?E* E B ]?9EDE)f; Eg;)AWrs?WX XW:W2W*WVbUBU*UUU@P*QCZQݢO^@9v-vU@JQY;?c<}?2Qϸ?:QbQ]O'͋`@(o8RQH%8ۿ6UQ$v?3@bſBQ<@ Q$CQ|P99?PR9?PQQ"QaB]9<BY BYA]鏾*BYA]$h<AaAaAel<"Crs?*CdMRCCrs?C{{ n1:Y#R1y:85ֽ?΅>בIG>"}Cq,EAY}nL:?}ntq?y}ntQ=}n9r}nH@w?J ̿`n??@v?ȣ`kͿ?)~nL:? ~nW^;I~nCɫ) IYM@yU9aGTNmea in: $SNTTA,,0.462044,,,012732.13*47  rh?/$?Zd;O?C+?< j<)Iyl?Mb`I +?7?94< Q@)5(AI/Ai AA<M%.=Y%1QU->)1a52E5E9y=Q}E>II ]:M5? ]:Mz M B ]?9MDMTA; M +;)M3:myAdded new target pos. range: 148.559998 m, bearing: 115.554069 deg, deltaT: 4.488185 s, approachRate: -0.614950 m/s, LOS rate: 1.022602 deg/s, posRepo size: 4m% ProNav: pos range: 148.559998 m, bearing: 115.554069 deg, approachRate: -0.614950 m/s, LOS rate: 1.022602 deg/s, cmd update: 3.067806 deg/s, cmd heading: 54.486686 deg, new cmd heading: 54.560810 deg. W%cy?W!X! X!W!:W)2W)*W)V)bU)BU1*U1U5b@U5 ?B`.C<B BA剾*BAut<AAAm<"Ccy?RCCcy?C։  O>9 I [Gi o@ )=   ;  Ea Iq G >Iq,Kr(EA|i|Y}67+?}6_b?y}6:=}6Jt}6H`w?@z`̿I?ݫ?@[C?Lfh:ο?)~67+? ~6^;I~6Cɫ99)9 9I9Y}@y} `G#Mr=YQU?!!a%2E%E)y-ӑ}-?IȹŽ5?Ž ƽ B ?9ƽDǽH@; Ƚ>;)ȹWe~?WiXq XqWy:Wy2W*WVbUBU*UUU ?B8<B BA+*BAQ<AAAIo<"C~?RCC~?C ~~ 4:YT1y@:5)j;9ֽ6Ʌ>בIG>Pq,MMBEAY}2|?}2?y}2x =}2 v}2H?J̿?z???@K.qο,?)~2|? ~2w^;I~2Cɫ99)9 9IAY}ص@y}_G)= =5K>5<5"=i5@1 5@)5@I5@i5E̢MEH=YEQUM>IIaM2EMEQy]A}]>Ia m:e5? m:e* e B m?9eDeo: e8:)e4:W ?W X XW:W2W*WVbUBU*UU!U% ?Bml;B BAV*BA\<AAAHp<"C ?RC,t>C ?CיIGf>Vq,t(\EAɫyy)y }IyY@y^G]M]I=Y]QU]>aaae2Ee$Eiym}m>Iqu.5?u1 u B ?9u"Du*: u:)qP>9vCIZGi̱@'=RD; E)euCIeuCiae)=e)=e5W}?WyXy XyWy:W2W*WVbUBU*UUU:?BE;Bi BiAm*BqAum<AqAyA},q<"C?RCSd>C?C  4:YDW1yY:%5)X;֥..{>aIiG[>\q,vEA||Y}>w?}>E?y}>,=}>q}>H-"?tB˿`?`b.?? Z2Ϳ`?)~>w? ~>s^;I~<ɫYY)Y ]IYY}ʴ@y}n^Gu#uuS>iu@q u@)u@Iuۙ@iu@MG=YQU>a2E*Ey0}>Iȡť.5?ťQ ƥ B ?9ƥ5Dǥ: ȥ':)ȡW?WX XW:W2W*WVbUBU*UUU@5?B0!;B BA;*BAd<AAA%%s<"C%?RC-M!>C-?C) ====E(s>I)GEQ>cq,ޏEAY}2?}2ؠ?y}2=}2xp}2H? 5˿@j?@?`x?<@Ϳ?)~2? ~2a^;I~2Cɫ99)9 =I9Y}@y}I^GV-?t< )Iy~jt?Mb`a2E1Ey}>I :,5? %:  B %?9FDI8; >;)5:Wu?WqXy XyWy:Wy2W*WVbUBU*UUUV@BhG;B BA*BAw<AAAt<"C?RCb=C?C  ?:YWU1y:59@ֽ`>yIG^>ٱٱܽS>9ܹIܽYGiܽذ@ܽ%=ܹܽDܽ; ݽEiq,ùEAY}2_}?}2?y}2=}2>p}2H@VA?@nʿ@*?`;?@W?t Ϳ?)~2_}? ~2-^;I~2Cɫ99)9 9I9Y}@y}]G@A OM_=YNQU>a2E7Eyˊ}>I"5?  B ?9UD; ;)W?WX XW:W2W*WVbUBU!*U!U!U%@/@R5B*** querying acoustic contact ***P1P1Be9Bi BqAu*ByA<AAAv<"C%?RC%ί=C-?CQm8>AIIGm5>pq,EA|i|Y}6'x?}6M?y}6E<}6Ċn}6Hw?1 Dʿ`|?`?%?hͿ`?)~6'x? ~6ך^;I~6Cɫ99)9 =I9Y@y]GZ****** received transponder code query ******F****** received ping request ******a2E>Ey_}>Iȑ :ŕ*5? :ŕv ƕ B ?9ƕgDǕY: ȕ:)ȕ6:W?WX XW:W2W*WVbUBU*UUU   @B/;B BA͹*BA<AAA-w<"C?RCK=C?C X3:YV1y:n5MR!>׹IG>wq,HpEAY}: ?}:2?y}:ݳ<}:Oi}:H}?Ftɿ@˨??@\?`j@r̿(?)~: ? ~:^;I~:Cɫ99)9 9I9Y}ݳ@y}J]GxDUSBL response received:!U1,P D3E,000,00C1D,189,80,80,BB,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ܁9܅wCI܅XGi܅6@܅#=܁܁܅; ݅E )5= 5>MpM>=Y0QU>)a-2E5EE9yM>}M>IaeV45?etg e B ?9ezDe: e/:)aWUA?WYXY XYWY:WY2W*WVbUBU*UUU` @BK{;B BA *BA+8<AAAnHy<"C A?RCV?<C=A?CAUr >1 Ia G >c0}q,QEAɫ髁) IiYI@y\GIi ɮa==ǿٺ9=xA]Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B %+>%(% >i%@! %Q@)%@I%Q@i%Q@-M@=YQU>  a 2E KEy}>IA U:Ew<5? ]:EZ E B ]?9EDE@; E{<;)E7:W?WX XW:W2W*WV bU BU *U UU`lS@B] {s}} .:YkS1yԊ:5B BAMƾ*BA <AAAcz<"C?RC=3C?C䪿=IG >q,-EA|>4<|>4<ɫ) IY5@y5[GExDUSBL response received:!U1,R,B6E,000,00BFC,189,80,80,B6,FF MFpublishing direction and range infoE?AɰET{>A A)E6CIAyECE;ON?$H?ٱAudNmea in: $SNTTA,0.279082,0.278975,,,012736.57*5D M~jt?/$?MbM?M1> M)IIIyMGz?qqau2EuQEyyy}}>IȁŅ(E5?ŅuL ƅ B M?9ƅDDž< ȅ<)ȁWߞ?WX XW:W2W*WVbUBU*UUU@@P*QCZQҥ%S@NjW>_@JQ;ON?$H?2Q?:QbQm "UѢl=\@pZ:p>RQi4CKtRH?E1ʿBQ @ QBQP9?P99?PQQ"QB]˘B BAϾ*BAg4<AAAS|<"Cߞ?RC#Cߞ?C ==ֵQf=qIG~>eU>9aIeWGieB@e"=aae; eE@q,~+EAY}2?}2V?y}2#<}2O}2H`n?Bfzſ S?;?C?<㞿@ZɿVT?)~2? ~2._;I~0ɫYY)Y ]IYY}Dz@y}[G11h;MV=YE;QU>a2EXEy%}%>IQ ]:UO5? ]:U> U B e?9UDU,; UB.;)U8:myAdded new target pos. range: 146.580002 m, bearing: 126.125003 deg, deltaT: 4.477427 s, approachRate: -0.442217 m/s, LOS rate: 2.360939 deg/s, posRepo size: 4mM ProNav: pos range: 146.580002 m, bearing: 126.125003 deg, approachRate: -0.442217 m/s, LOS rate: 2.360939 deg/s, cmd update: 7.082818 deg/s, cmd heading: 68.316529 deg, new cmd heading: 69.482762 deg. WUĢ?WQXQ XQWQ:WY2WY*WYVabUaBUa*UU`Rb@UA?BM`+BQ BQAUfξ*BQAU<AQAQA]^}<  `6:YWU1y:5)˒;9"C]?RCi߽CĢ?C\J=IG>(q,DEAY}:%A?}:Kx?y}:3 =}:pB}:HSD?H`fÿ`I?%g??``%ȿh?)~:%A? ~:-_;I~:Cɫ99)9 9I9Y]@y][G]]u=]i]@Y ]@)]@I]@i]@e1MmP=Ym/qqau2Eu^Eyy}(}>IȁŅY5?Ņ1 tI ƅ B ?9ƅDDž: ȅ:)ȁWq?WX XW:W2W*WVbUBU*UUU?BOB BAϾ*BAa<AAAq<"CLޣ?RC2C q?C +,=שIG >Rq,ȷ^EA|i|@Y}2?}28?y}2~ =}2l0}2H?q=^X?`?➼? ſb?)~2? ~25^;I~2Cɫ99)9 9IAY}@y}[GY>9xCIsVGiN@; E*<MP=YJ!!a%2E%dE!y-˼}->I15md5?5$$ 5 B ?95D5: 5:)1Wi?WX XW:W2W*WVbUBU*UUUTc?B5B BAѾ*BA <AAA%l<"C%c?RC-^BC-i?C1 :IG*>~~ 0:YT1y@:\5);S}q,KxEAY}2Q?}2$?y}23=}2~r"}2H?\;v?c?@J?`?v 3ĿX?)~2Q? ~2^;I~2Cɫ99)9 9I9Y}@y}#[G -@ -@ 5@-©--i-@- -@)-I--@i-Q@E MEG=YM9IQaU2EUkEYy]U}]>Ia m:eo5? m:e e B u?9eDeV: e8:)e9:W5qz?W1X1 X1W1:W12W9*W9V9bU9BU9*UAUAUE@L ?Bh]Be< BA پ*BA:<AAA><"C?RCz|Cqz?CtEI)סIGF>dq,nEAY}2D?}2{?y}2E=}2/}2H #?3Kͺ s?{?z?`EC+¿b?)~2D? ~2N^;I~0ɫ99)9 =I9Y>@yL[Gd;O?L7A`?I +?+= 9)IyCl?{Gz?Mb?;??#<< A) "AIAi5AAE<MM;=YU&YYae2EerEqy}q}}>Iȉō |5?ōu ƍ B ?9ƍDǍ/; ȍ:)ȉW2?WX XW:W2W*WVbUBU*UUU?B5 yFB9 B9A=־*B9AE<AAAIAMJ<"CUC?RCU CU2?CYE2Ľ8  I8:YX1y/:59@I G%M>\>9IHUGiZ@ =D; E)ݍwCIݍwCi݉ݍ"=ݍ"=ݍy5Gq,^JEA|;|Y}6Ь?}6?y}6W=}6h}6H? m`x@S? Z??@ξ`?)~6Ь? ~6^;I~6Cɫ9A)A IIIY@y[G   `=d@i @ h@)Q@IE@iXMQ=Y6a2ExEy5<}>I :5? :  B ?9D: :)::W-??W)X) X)W):W12W1*W1V1bU1BU9*U9U9U=@Be)Bi BiAmoھ*BiAu(<AqAqAu!<"C}n?RCyC}??CօwܽAIQGm5>vq,B$EAY}2ح?}2?y}2Gf=}2ý}2H k?$ d?B??׬d?)~2ح? ~2 8_;I~2CɫYY)Y ]IYY@yZG@AIa=)M^=Y#a2E~Ey<}>I5?  B ?9D: :)W ?W X  X W:W2W*WVbUBU*UU!U%G@R-B*** querying acoustic contact ***P)P)BM(tֻBQ BQAU\۾*BQA]<AYAYA]'<"Ce?RCaCe?Ca]<  84:YV1y:ܽIG >q,qEAY}2{3?}2j?y}2lr=}24섽}2H4?\gD??`O״?N k?)~2{3? ~2>_;I~2Cɫ99)9 =IAܥ^>9ܥyCIܥSGiܥ@ܥ=ܡܡܥ; ݥEY@yZGZ****** received transponder code query ******F****** received ping request ******iiam2EuEy<}>Iȩ :ŭ 5? :ŭ ƭ B ?9ƭ.Dǭ&; ȭ;)ȭ;:W?WX XW:W2W!*W!V!bU!BU)*U)U)U@ @B,yB BA*BAO<AAA<"C$?RC C ?C <ׁ֥IG`>%˽q,EA|i|@Y}B?}B?y}B|=}B" }BH"3?D 7r!?c?n?V`U?)~B? ~B_;I~BCɫYY)Y YIYY@yYGxDUSBL response received:!U1,P B6E,000,00BFC,189,80,80,B6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ÅA`ÅÅ1iÅ@Á ą@)ą@Ią9@ią@ 8M)=Y=;QU>a2EEy <} >I5?  B M?9ED; S;) <0:YDW1yY:5W?WX XW:W2W*WVbUBU*UUU~b @BB  BA*B9AEƄ<AIAIAU<"C??RCC?Cϙϙ)С СA A  !E I G >q,*TEAY}bر?}b ?y}b=}b,{U}bH? u?`???I@/j?)~bر? ~bL_;I~`ɫ髑) IY ]@y XG-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 鿑x?{Gz?y&1?K?ף< `e<)IyV-?Zd;OMb?-?j 7 A)dAI/Aip A\A)5= 5==RCM=X=YE;QUE>IIaM2EMEQyU<}U>IY :]#5? :]L ] B ?9]VD];< ]<)]<:WM?WIXI XIWI:WI2WQ*WQVQbUQBUQ*UYUYU}>7@Bu?B BA *BA<AAA<"Co?RCC?C^a>9IQGi@QD; EIGm> >q,['/EAY}@p?}d?y}g=}?<}H0? 9q?/?P?\Ԫ?@l`??)~@p? ~{_;I~Cɫ) IYm@ymeXGuxDUSBL response received:!U1,R,C1B,000,00BDA,189,80,80,C3,FF uFpublishing direction and range infou`^?qɰux>q q)uCCIqyuCu1 ?Su?ٱqY=A u=i@ )@IȎ@iȎ@yMO=Y  a2E%E!y-<}->I155?5 5 B M?95gD5?; 5@;)1W$?WX XW:W2W*WVbUBU*UUU?@P*QCZQҭALW@tQ[@JQ1 ?Su?2Q`^?:QbQL[O i9=`@<1as;i RQ ۿbQ?ۄ¥ BQ#@ QCQ|P?9?P9?PQQ?"Q==|=|= =3:Y=R1y=i:=5)=;9EU$>Yi}nGB.0IBa= BAi*BAR<AAɿٺ%AA5<"C=$?RC9C=$?CA@IG>"q,HEA||;ɫ髙) IY@yoWGMoMMW=YUQUU>YYa]2E]Eaye}e>Iim|5?m m~ B u?9mwDm: mo:)im}Added new target pos. range: 144.539993 m, bearing: 115.945398 deg, deltaT: 4.460569 s, approachRate: -0.457343 m/s, LOS rate: -2.282131 deg/s, posRepo size: 4m ProNav: pos range: 144.539993 m, bearing: 115.945398 deg, approachRate: -0.457343 m/s, LOS rate: -2.282131 deg/s, cmd update: -6.846394 deg/s, cmd heading: 99.748546 deg, new cmd heading: 102.368467 deg. W.?WX XW:W2W*WVbUBU*UUGb@U`?BΠB BA*BA^<AAA<"C ;?RC C .?C %>%>em?im?!I1GUS>NMq,-bEAY}29FzCIFOGiF@F=DDF~; FEɫ99)9 9I9Y]خ@y]WGMR=Y a2EEy=}>I :p5? : o B ?9D: :)=:W%3=?W!X! X!W!:W)2W)*W)V)bU)BU1*U1U1U=[Z?BexBa BaAe*BaAmX0<AiAiAm<"CuC?RCqCu3=?Cye?΅EEEE EY1:YET1yE:E5)Et;IIYGu6>wq,|EAY}2?}2?y}2X=}2ѯ=}2H@<???`z?bŢ?v/??)~2? ~2d_;I~0ɫ99)9 9I9Y@yVGmhmI>m>im@i i)m&@Im@im3@M@=Yl;QU>a2EEy=}>Ișŝ5?ŝ Ɲ] B ?9ƝDǝ: ȝ:)șW ?WX XW:W2W*WVbUBU*UUU@}?BXB]B BA *BA?<AAAܢ<"CM?RCC ?CM<FӅIG> cq,EA|(i|*@Y}R?}R?y}RlӤ=}R>}RH@/+? `?B?u??`@ۖ? *?)~R? ~R_;I~RCɫqq)q uIqYA@y(UG`"?/$I +??, 94<)IyA`"?L7A`堿~jt?9?+< ½A)½p AI½dAi¹AýMB=Y:QU>a 3E E y=}>I :5? %:r L B -?9Dl; ;)>:Wo?WX XW:W2W*WVbUBU*U U U  ,?B0B BAg*BA:<AAAV`<"C%Q?RC!C%o?C!MMzMzM M11:YMQ1yM:M59U@=}`>9yI}MGi}@}=yy}; }EIG>q,iEAY}BR?}Bv?y}BAݞ=}B\>}BH 3?:`?@?`?@Q?`ֳ? ?)~BR? ~B3N`;I~BCɫQY)Y YIYY@yDTG)= > }@ }@ }@}©}}i}\@} y)}3@I}i}t@mMR=YQU>a3EEyt=}>Iȱŵ5?ŵc Ƶ= B ?9ƵDǵ; ȵ;)ȱW E?WX XW:W2W*WVbU BU *U UU?B=p{B9 B9A=1*B9AEP<AAAAAEǚ<"CM#"?RCICM E?CQYY)Y Y?΅ס I G >pq,<EAɫyy)y }IyY[@y TGU_M]N=Y]QU]>aaae3EeEiym}m>Iq }:u5? }:uS u. B ?9uDuf: u:)u?:W-0?W)X) X)WQ:WQ2WY*WaVabUaBUi*UUU@BB BA*BAn<AAA<"CM?RCQCU0?CYE. EEE E}7:YEW1yEč:E5ֹבIG> q,;EA_>9IJGiȤ@=; E)݋zCI݋zCi݃݋=݋=݋$w6|(|*4}JH@!?Jjv??@?.?`>?@zr?)~J"? ~J a`;I~Hɫyy)y yIyYu@yRGEMP=Y ԼQU> a 3E E y>}>I9=5?=cD =" B E?9=D=+: =Y:)9W?WX XW:W2W*WVbUBU*UUU+@RB*** querying acoustic contact ***PPBM)VмBQ BQAU!*BQAUg<AQAYA]ԟ<"C]?RCe:bzCe?Ca֥FӅיIGb>(q,REAY}>?}>@R?y}>fg}=}>5>}>H?^?@K?@p?? )z?p?)~>? ~>,_;I~<ɫYY)Y ]IYY@yQGZ****** received transponder code query ******F****** received ping request ******  P Ei @  ) ߏ@I @i @]kM]6=YeqJQUe>aaam3EmEyls=}>Iȩ :ŭh5? :ŭ2 ƭ B ?9ƭDǭ ; ȭ;)ȭ@:Wm?WqXq XqWq:Wy2Wy*WyVybUyBU*UUUH @BmzhBi BqAuY(*BqAug<AqAqAuv<"C} ?~~ /:YT1y@:5RCC?CQ|׹IG>Jq,EAY}2)S?}2K?y}2l=}2S4>}2HV^?PLY? "t?@T?'Ù?| -c?s?)~2)S? ~2_;I~2CɫII)I IIIY}@y}"QGxDUSBL response received:!U1,P C1B,000,00BDA,189,80,80,C3,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 RQ?~jt?l?"?D< =)IyʡE?Mb?̼ V$A)AI^AiApA5(AM5==Y5-!QU5>99a=3E=EAyEq=}>Iȉō*5?ō# ƍ B ?9ƍ DǍ: ȍ:)ȉWr?WX XW:W2W*WVbUBU*UUUs0 @Bm,Bi BiA-*BAD<AAAQ<"C>#?RC.qCr?C!%hA5^>95{CI5dHGi5@5=115; 5EuJzIIYGu>D q, 1EA|i|@Y}6`?}6?y}6N`=}61>}6H.9?~??@(? ???y?)~6`? ~6o_;I~6Cɫ99)9 9I9Yv@y~PGɮM=M>MtiII Mt@)MQ@IIiM@eAMem=YeQUe?iiam3EmEqyu_=}u?Iy}p5?} } B ?9}D}: }:)yW?WX XW:W2W*WVbUBU*UUU@BM3B BA1*BAf4<AAA<"C?RC[x<C?CmpAIQGu6>  3:YV1y:]5);9 q,KEAY}:|?}:?y}: U=}:"'/>}:H@Fƿ?@o? l???@`?x}?)~:|? ~:q~_;I~:Cɫ99)9 =I9Y}@y}NG 鿑)Ý> Ù~MW=Y߻QU>a3EEyV=}>I : 5? :  B ?9'D: :)A:WZo?WX XW:W2W*WVbUBU*UUUz@B") B BA<*BA H<A A A e<"C5?RC5%=C5Zo?C9-PHIGU2>! 9! I% pFGi% J@% =! ! ! % Eq,F^eEAY}%?}%?y}%@=}%%>}%H@Y;?{?,?@?@?w`S?Nj?)~%? ~%_;I~%Cɫ) IY@yNG%v#M%4=Y%7?QU->))a53E5E1y=d=}=>IAE0 5?E E B u?9E9DE; E;)AW?WXi XqWq:Wy2W*WVbUBUI*UQUYU@BZK - b:YW1yč:H5);B BA>*BA;<AAAr<"C [?RC  Q>C?C@ IG>im nGI i пٺ nAq,DEA||ɫqq)y yIyY1@yMG%%h%d;i!! %)%@I%@i%V@5wM5[=Y5QU=>99a=3E=EAyE}E>II U:ML5? ]:M M B ]?9MGDM: M:)MB:W}?WyX XW:W2W*WVbUBU*UUU@B8B BAC*BAq<AAA2E<"CM [?RCM=y>CM?CQEJͽ!IIG8>o%q,EAY}6?}6?y}6{1=}67>}6H?@?@R? !?+?-?@?)~6? ~6_;I~4ɫ19)9 9I9Y]D@y]LGI=)=uDl?K7A`?{Gzt?uO ?u+> uף;)qIqyutV?~jt{Gzt?u2?uuף; u&A)uKAIuAiu?AquAXMD=Y QU>a3EEyp=}>Iȩŭ5?ŭ ƭ B ?9ƭZDǭ: ȭ:)ȩW ?WX XW:W2W*WVbUBU*UUUh@RB*** querying acoustic contact ***PPBB! B!A%LK*B!A%<AAA<"CsU?RC >C ?C֥t0ׁIG>>9IDGi@=D; E  IE:YWU1y:5);B%,q,,EAY}2n?}2?y}2=}2Il>}2Hb?7? ?@$?ȡ?@@8?m?)~2n? ~2_;I~0ɫaa)i iIqY|@yKGtTX9i׋@ 7@)@It@i7@-M-Q=Y54QU5>99a=3E=E9yEZ=}E>II U:M5? :Mx M B ?9MkDMƐ< Mې<)MC:W~?WX XW:W2W*WVbUBU*UU U @B5>*B1 B9A=Q*B9A=&y<A9A9A=<"CEv?RCACM~?CIepuYIiGZ> 3q,BEA|i|Y}6ww?}6?y}6ɕ =}6S>}6H?`? ?x.??ב?5?)~6ww? ~6_;I~6Cɫyy)y }IyY}@y_JG鮥a=ɮp=MQ=Y[EQU>a3EEyk =}>I(5?%  B ?9}D: b:)W y?W X XW:W2W*WVbUBU*U!U!U%J@BM @BI BQAUY*BQAUn<AQAYA]ҥ<"C]J?RCaCey?Ca5tEIG% >E  S9:Yy59@ _>9 I PCGi @ = D 69q,EAY}2K?}2lH?y}2F<}24=}2HsE\k?@V?@uI\?`[? _??)~2K? ~2*`;I~2Cɫ99)9 =IAY@yIGxDUSBL response received:!U1,R,228,000,092DA,188,80,80,A5,FF Fpublishing direction and range infoϢɰ{@@鰝> )%CIy Eݨ[?pݿٱ )= =MI=Yg4QU>a3EEy<}>Il5?5  B ?9D: :)W m?WX X!W!:W!2W!*W!V!bU)BU)*U)U)U5'@PA*QE EZQEU䶞@xɞ)JQEݨ[?pݿ2QEϢ:QAbQE@Uˏ@G@?ݝ#fRQES[?3Q?TJcpBQEhۋ? QEbDQEZ~DPE`9?PE?9?PEPꝿQEQE+"QE?Bu[;Bq ByA}\*ByA}+c<AyAyA}<"Ceq?RCC m?C֍+QIyG>4@q,EAY}2(c?}2I?y}2^<}2&7=}2H`t``Ĥ?n?e?귺? E?)~2(c? ~2_;I~0ɫ99)9 =I9Y}@y}WIG]f>]>]qqau3Eu Eyy}f<}>Iȁ :Ņ~5? :Ņ ƅ B ?9ƅDDž]: ȅv:)ȅD:mAdded new target pos. range: 2218.139893 m, bearing: 62.603274 deg, deltaT: 6.790814 s, approachRate: 305.353638 m/s, LOS rate: -7.855041 deg/s, posRepo size: 4m ProNav: pos range: 2218.139893 m, bearing: 62.603274 deg, approachRate: 305.353638 m/s, LOS rate: -7.855041 deg/s, cmd update: -12.000000 deg/s, cmd heading: 53.071932 deg, new cmd heading: 50.170054 deg. WfV?WX XW:W2W*WVbUBU*UUGT@U@?B=B BA>`*BAV<AAA%<"C%Tc?RC)C-fV?C)-+,=!Ia-))- -/:Y)y)-5GUS>\IFq,$^EA|4<|Y}6gH?}6?y}6<}6_=}6Hf{[ ??H`¡?@mښe??)~6gH? ~6D_;I~6Cɫ99)9 9I9YF@yGGV-?ʡEJ +?h1? H=)IyV-?V-~jt?-?m< \A) AIAiAACѽMB=YQU>a3EEy]<}>I)5?|  B ?9D>< #<)WU>?WX XW:W2W*WVbUBU*UUU?B-IB) B)A-?CA%K=ma>9iIm#BGim̝@m=iim; mE){CI{Ci==B5IG J>gsLq,84EAY}:)?}:J?y}:i<}:Yٵ=}:H ?? Ja3EEy<}>Iȹ :Ž5? :Žb ƹ ?9ƽDǽ: Ƚ:)ȽE:WP*?WX XW:W2W*WVbUBU*UUUA?B-u^B) B)A5h*B1A5+><A1A1A5ڻ<"C=;?RC9C=P*?CAM>IIYG8>]6 YY] ]!8:YYyY]\5)]O;9eH[Sq,NEAY}2??}2`?y}2 q<}2g=}2Hᖿ06?%?k蔿^^?Y͚`e\??)~2?? ~2n_;I~2CɫYY)Y YIYY]@yFG5;սM=Q=Y=QU=>AAaE3EE EAyM&"}M>Iȩŭ%5?ŭq ƭ B ?9ƭDǭ: ȭH:)ȩW5.?WX XW:W2W*WVbUBU*UUU5?BbB BAr*BA%;@2<A!A!A%<"C-*?RC)C-5.?C1M-@>IQ)UjA!I1GM0>e c>9a Ie @Gie @e =a e De ; e EpYq,[gEA|i|@Y}JF`?}Jg?y}J)ӗ<}J3<}JHp K??]No ?@L_?j?)~JF`? ~Ji_;I~HɫYY)Y ]IYY̡@yGG5{ =M=J=Y=QU=>AAaE3EE&EIyM8}M>IQ ]:U5? ]:Ub U B e?9UDU: U:)UF:W ?WX XW:W2W*WVqbUyBU*UUU@B:RB BAo*BAqm$<AAA)<"C%?RC)C- ?C1%2rw>{ 1:YT1y:&5)?;IGn>`m`q,ʁEAY}F"?}FB?y}F6G<}FA}FH@L ? `c?? `?`房 `3?)~F"? ~F_;I~FCɫYY)Y ]IYY@yEG !!)-= ->uQ8uQ8=umiu@q uȎ@)uIū@iu@ ME=Yj|QU>a3E-EyD}>Iȡť\5?ť:R ƥ B ?9ƥDǥ': ȥ:)ȡWW>WX XW:W2W*WVbUBU*UUU@B 1Bq ByA}w*BA*<AAAV<"C?RCCW>C֭>שIGI>rfq,EAY}JPt?}Jp?y}JL;}J}JH珥?`zY?@?E?z6|p?)~JPt? ~J `;I~JCɫYY)Y YIYYY@yHEG?Al?/$+η??, v=)Iy r?I + rh#?9C A)AIAiAA]ټMH=Y8SQU>a3E4Ey}}>I :!5? :C  B ?9 D: :)G:WY>WX XW:W2W*WVbUBU*U U U `@RB*** querying acoustic contact ***PPB=TrB9 B9A=z*B9AEU <AAAAAEm<"CM$v>RCQCUY>CQ  <f>9Ih?Gi@=;  E֥>yIG]>yy y0:YP1y':%5);lq,șEA|;|;Y}:?}:.Ϳ?y}:Q;}:u}:H'?@c@x?9?`?^t@}?)~:? ~:`;I~:CɫII)Q QIQY"@yCGZ****** received transponder code query ******F****** received ping request ****** @>i @  @) I @i @=ME3=YE4QUE>IIaM3EM;EU{yU^}U>Iy}#5?} 3 } B ?9}D}j; };)yWjl>WX XW:W2W*WVbUBU*UUU@ @B%{nB! B!A%,*B!A-.;A)A)A-<"C5LF>RCQCUjl>CYm>AIQG}> sq,h^EAY}6e?}6?y}6;}6"}6HC?5toÿ?&??@iTy`ÿ@?)~6e? ~6Rqa;I~4ɫyy)y yIyYS@yBGxDUSBL response received:!U1,P 228,000,092DA,188,80,80,A5,FF Command AckBRequesting micromodem ping code 2iI=)4=(M{=Ys;QU ?a3E@Eyƽ} ?IC&5?'  B  ?9+D: n:)W5(>W1X1 X1W1:W92W9*W9V9bUABUA*UAUAUE v @BmYB1 B1A5j*B1A=Ua;A9A9A=3<"CM*ۅ>RCQCU(>Cq֡yI}} 0:YkS1yԊ:959@Ga> k>9 I >Gi @ =   ;  Eyq,7EAY}6?}6?y}6%$<}637}6H ?5}ƿ@ ?`Ѫ?`_W? x䀿ƿM|?)~6? ~6a;I~4ɫYY)Y YIYY@yxBG鮡ɮMK=Y;QU>a3EGE y}>I %:*5? %:% y B -?9<D: b:)H:WMه=WIXI XIWI:WQ2WQ*WQVYbUYBUY*UYUYUe J-@B5yӇB9 BAAEt*BIAu;AyAA7<"C2>RCCه=Cֽ.ą>יIGb>q,EA|i|@Y}6G?}6fJ?y}6> <}6O}6H?@`3ɿ`?] ?ߤ?yɿX?)~6G? ~6`;I~6Cɫ99)9 9I9Yu@y}BG-p---=i-z@) -V@)- @I-@i- @=MED=YE[:QUE>IIaM3EMMEQyU+}U>IY]z.5?] ]r B e?9]LD]: ]ܹ:)YW~@WX XW:W2W*WVbUBU*UUU@BZMB BA*BAW;AAA`F<"C=RCC~@C% >!I1G]T>  84:Yy%55q,EAY}2?}2?y}2i;}2͡a}2H??ЭX˿Sn?`H? ǧ?E3w˿ 9?)~2? ~2`;I~2CɫYY)Y YIYY@y@G 鿩=tV?Q롿 M=MB=YQU>a3ETEy}>I :25? :x  B ?9`D: :)I:W @WX XW:W!2W!*W!V!bU!BU)*U)U)U5@B]MBY BYA]j*BYAevI;AaAaAea<"Cm;RCiCm @Cq}} Յԅܩ9ܭ|CIܭ=GiܭN@ܭ=ܭPDܩܭ; ݭEIG>q,6EAY}24J?}2R?y}2}2Km}2H)X?l@̿B? ?vڨ?`A?`eͿ`%?)~24J? ~2U_;I~0ɫII)I IIIY}@y}AG@AA>C=1Ⱦi@ @)@I@i@9<MY=YdQU>a3EZEyd}>I  975? G  B ?9 rD <: :) W=y@W9X9 XAWA:WA2WA*WAVIbUIBUI*UIUIUU`/@B}By ByA}*BA+c;AAAX6<"CGoRCCy@CבIG=q,PEA|4<|4a3E`EyG}>I  :<5?  :  B ?9D: I:)J:W5<@W1X1 X9W9:W92W9*W9VAbUABUA*UIUIUM|@R]B*** querying acoustic contact ***PYPYBW6B BA*BA\;(;AAAn<"C+!RCC<@CIG>/ yy 7:YP1y':85ܭ n>9ܭ }CIܭ t=Giܭ @ܭ =ܩ ܩ ܭ ; ݭ E)9I=|Ci99===6 "q,9jEAY}:?}: ?y}:W}:'w}:HC?@ !Ϳ??y?@L?೗ο?)~:? ~:^;I~:Cɫ99)9 =I9Y}@y@GI4=)p=™™<MN=Y\QU>a3EgEy}>IB5?T  B ?9Dܹ: :)W@WX XW:W2W*WVbUBU!*U!U!U%[@BmB BA*BA":AAA\<"C~RCC@CשIG!>= q,\EAY}>?}>?y}>8Hx}> lv}>HE7?Ϳ ?@?tt? ?@ο?)~>? ~>Q^;I~<ɫYY)Y ]IYY@yv?GxDUSBL response received:!U1,N,80,80,63,E4 A,188,80,80,A5,FF ZNo reply:!U1,N,80,80,63,E4 A,188,80,80,A5,FF -a3E%nE!y-}->IA =:EI5? E:E E B u?9EDE]= E=)EK:Wк@WX XW ~~ D:YT1y@:5:W2W*WVbUBU*UUUM7@Be2ƔBi BiAm<*BiAm:AqAqAu4i<"C}RCyC}к@CיIGb>3q,4EA|i|Y}6L̽?}6j?y}6Ms}6U x}6HT?I/Ϳ24?K?Ű?|?dο?)~6L̽? ~6^;I~6Cɫ99)9 =I9Y(@y@GEgfffff?㥛 ?:v?E3?E> ET<)AIAyE$C?Zd;E:?EyE E A)E9AIEAiE\AAEAep%=MeE=Ye(:QUm>iiam3EmtEqy}ښ}}>IȁŅT5?ŅH ƅ B ?9ƅDDž߼: ȅ:)ȁW%@WX XW:W2W*WVbUBU*UUU@BYBi BqAu*BqAu%AqAqAu<"C}=uվRCC%@CUs>9QIQiQU=QUDU; UEiIqG>]q,4EAY}:?}:P?y}:mjw}:Nv}:H` ? &Ϳ?@Mj?OF??1}ο??)~:? ~:^;I~:Cɫ99)9 =I9Y}@y}d?G 鿑)Ý= Ý=GaTi@ @)̄@I~@i@BMR=Y} QU}>a3E{Ey}>Iȑŕ^5?ŕ< ƕ# B ?9ƕDǕ+: ȕ:)ȑWҵ@WX XW:W2W*WVbUBU*UUUN*@BB BAw*BA A A A <"CURCCҵ@C IG5 >  4:Yy%5Eq,EAY}2N?}2kǖ?y}2Mm}2gt}2H?Q3̿@??`9{?@y?0Tο?)~2N? ~2P^;I~2CɫYY)Y YIYYc@y-?G^MM=Y^KQU>a3EEyv}>I :i5? :7 . B  ?9D; ;)L:WE8@WAXI XIWI:WI2W*WVbUBU*UUU@@B8B  B A )*B A5gA1A1A5]<"C=RC9C=8@CAIIQGm>U u>9U |CIU =GiU @U =Q Q U ; U Eoq,7EA|;|;Y}6P?}6?y}6(}6pu}6H?WB̿ףi@ @)w@I@ix@-y<M,=YQU>a3EE y 2[}>Iw5?'| < B %?9D: +:)WE@WAX XW:W2W*WVbUBU*UUUDP @BѼ 0:YT1y:5)Ս;9B BA<*BA¯FAAA<"C^.RC!C%@C)I)GEQ>i%nGIiȿٺ3AWq,EAY}2?}2&E?y}2[Z}2uy}2H?w?n-#Ϳ ?`Q?;=? ?ο@ ?)~2? ~2r^;I~2Cɫ99)9 =I9Y@yr?GI=)= խM p=Y 4QU ?a3EE)y=Η}=?IQ u:U95? }:Uo UG B ?9U DU<; U;)UM:W\@WX XW:W 2Wq*WyVybUBU*UUU@!@RB*** querying acoustic contact ***PPBm諽Bi BiAuJ*BqAuAqAqAu<"C} CRCyC\@C׉IGA>́q,|EAY}:y?}:Č?y}:iԼ}:dv}:H?̿a?r??ɑ?~ο Q?)~:y? ~:^;I~:Cɫ99)9 9I9Y}F@y} ?GZ****** received transponder code query ******F****** received ping request ****** UD;)QIQyUM?Q?{Gzt?Un2?Uua3EEjAv>9}CIi=; Ey q} >I5?_ P B ?9D: :)WE⩪@WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQUU!@BتB BA*BAAAA*+<"CXRCC⩪@C#  6:YWU1y:85);סIGq,W9EA|i|@Y}6?}6 ?y}6$rּ}6gt}6H`?3̿ ?@!?E?{͚?K@ο ?)~6? ~6^^;I~4ɫ99)9 9I9Y}@y}V?GxDUSBL response received:!U1,P 80,80,63,E4 A,188,80,80,A5,FF Command AckBRequesting micromodem ping code 2irԸ=i@ )@I?@ī@<Mo=YE.QU?a3EEy } ?I :5? :S W B %?9-D+: A:)N:W;@WX XW:W2W*W V bU BU)*U1U1U5u"@B}By ByA*BAQ&AAA<"ClRCC;@C׉IG>q,2SEAY}2O5?}2kl?y}2Mμ}2Tr}2H ? B˿c?۰??™?ο @?)~2O5? ~2i^;I~2CɫYY)Y eIaY}@y}?G 鿩)õ= ñ<MN=Y';QU>a3EEy}>Ir5? F ^ B ?9?D; ;)W5F@W1X1 X9W9:W92W9*W9VAbUABUA*UAUAUMd#@BuOBq BqA}*ByA}N@ջAyAyA}/<"CRRCCF@C׉IG=<  oa:YT1y:59@ w>9 I i = ; Eq,9mEAY}B?}B.с?y}BƼ}B4vu}BH ?K+e˿@l)?%??Ә? {aοm?)~B? ~B^;I~@ɫaa)a iIiY@y?G?AmKm=mDa3EEy}>I :k5? :`7 g B ?9RDV: :)O:W-Ǣ@W)X) X)WI:WQ2WQ*WQVQbUQBUY*UYUYU]E$@BB BA1*BATAAA<"CRRCCǢ@CIG*>ͥq,)EA||Y}>&?}>3|?y}>fƼ}>ؔw}>Ha?@C@<˿O? F??Mט?`Uο`b?)~>&? ~>n^;I~>CɫYY)Y YIYYڛ@y?G2MJ=YQU>a3EE)y5|}=>IQU5?Uq) Un B ?9UeDU<< U5<)QW@WX XW:W2W*WVbUBU*UUU%@Bm5Bq BqAuO*BqAu} AyAyA}9<"C񹗿RCC@C|| .:YR1yi:ݸ5ׁIG=>q,ĠEAY}6?}6[Iv?y}6Ѽ}6cu}6HJ?c ʿC>?? ?5? pο`5?)~6? ~6^;I~6CɫYY)Y ]IYY@y?GI=)%==S?uV?A`"=?=rh> =Y)9I9y=/$?{GzI +?=,?=ף=94= = A)=A8AI=Ai=!A9=AQQMH=YYQU>a4EEy,}>Ia5?v  B ?9uD]: :)Wa@WX XW:W2W*W!V!bU!BU!*U)U)U-K%@BUPBY BYA]ŏ*BYA]/AYAaAeO!<"CeRCiCma@Cqܥx>9ܥ~CIܥt=Giܥ@ܥ=ܡܡܥ; ݥE)-}CI-}Ci)-=-=-5IIQGu>q,#EAY}6!?}6cp?y}61O߼}6Nw}6Ha?@ʿ?`||??? ο?)~6!? ~6N_;I~4ɫAI)I IIIY}@y}?G鮅a=ɮa==-=i=@ @)@I@i@<MY=YQU>a4EEy m} >I :%5? :  B ?9DA: :)P:WE`ۚ@WAXA XAWA:WA2WI*WIVIbUIBUI*UQUQUUC&@ReB*** querying acoustic contact ***PaPaBpDB BA*BA%AAAn<"CLRCC`ۚ@CIG> 0:Yyʽ5q,zEA|i|@Y}6!1?}6yj?y}6}69^w}6Hr?q߀ʿ e?`W???ο?)~6!1? ~6L_;I~6Cɫ99)9 AIAY]ě@y]?GMH=Y QU>!!a%4E%E)y-Pf}->I15l5?5 5 B =?95D5: 5n:)1We@WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU} =r'@BB BA*BA4AAAJ<"CRCC@C׉IG=ܑ 9ܑ Iܕ =Giܕ N@ܕ =ܑ ܑ ܕ ; ݕ Eq,dEAY}E ?}Ed?y}E"}E0v}EH ?Gʿt?#?6??vο?)~E ? ~E*_;I~ECɫ) IYMX@yMZ@GUxDUSBL response received:!U1,N,80,80,63,E4 A,188,80,80,A5,FF ]ZNo reply:!U1,N,80,80,63,E4 A,188,80,80,A5,FF -]ý?ýI >ý\=iý…@ù Ľ @)Ľ̄@IĽiĽ@-=M?=YQU>a4EEyk}>I :5? :  B ?9DV: :)Q:WB@@WX XW:W2W!*W!V!bU!BU)*U)U)U-M(@BUBY BYA]W*BYA]@uDAaAaAe<"Cm¿RCiCmB@@Cq}} 11:YkS1yԊ:&5)Q;9I G%,>q,0EAY}B?}B]?y}B]}Bp}BH?CV4ɿ5]?`U?j? 'v? =Ϳ@?)~B? ~B/_;I~BCɫ髁) IY(@y@GEyMMT=YUQU]>aiam4EmEy}>I5?  B 5?9DD#< <)W]~@WYXY XYWY:WY2Wa*WaVabUaBUa*UiUiUu`i )@BAʵB BA*BASAAAz<"C |ͿRC C~@C!I1GM1>q, "EA|4<|Y}6_-?}6V?y}6}6fo}6H8_?@ȿ? m???vͿ2?)~6_-? ~6-_;I~6Cɫ99)A EIAYI@yH@GUoʡ?~jt?Q?U-?U= U<)QIQyUsh|??Q rh?U)?UUC< UA)QIQiU!AQQm"<MuG=YuQUu>yya}4E}Ey}>Iȉ :ō5? :ō ƍ B ?9ƍDǍ: ȍ:)ȍR:W@WX XW:W2W*WVbUBU*U=y>9=}CI=<>Gi=@==999 = EUUm`)@B,»B BA*BAebAAA1 <"C׿RCC@C#  6:YT1y:5);IG)> CwJq,;EAi.mGIÍĽiÉÉ č@)č@Ič@iĉ<MG=YںQU>a4EEyI}>IȹŽ"5?Ž ƽ B ?9ƽDǽ : Ƚ:)ȹW,@WX XW:W2W*WVbUBU*UUU૶*@B%B) B)A-/*B)A5pA1A1A5ϓ<"C=eoRC9C=,@CAAIIGm>61q,UEAY}FSك?}F H?y}F}FOo}FH ?@ǿ`K?C? '?@?aͿ@u?)~FSك? ~Fo^;I~Dɫ髙) IY@y"AGp=ɮp=<MU=Y#QU>a 4E E yƛ}>IH25?, . B %?9D': :)W@WX XW:W2W*WVbUBU*UUU)+@BE޹BI BIAMˊ*BQAU~AQAQAU<"C];`RCYC]@CaAIQGm>|| c2:YR1yi:J59@5 z>91 I5 >Gi5 @5 =1 1 5 ; 5 E]q,oEA|8i|:@Y}j*?}j[@?y}j- }j]r}jHU? Nǿt?? ?ׄ?Ϳ?)~j*? ~j^;I~jCɫ髱) IY@yAGUU>U=iUz@Q Ū@)U@IŪ@iQeC=MeD=Ye0QUm>iiau4EuEqy}}}>Iȁ :ŅC5?  :Ņ ƅB B  ?9ƅDDž< ȅ‘<)ȅS:W-汇@W)X1 X1W1:W12W1*W9V9bU9BU9*U9UAUEX,@RMB*** querying acoustic contact ***PIPIBuQMBq BqAu?*BqA}kAyAyA}<"COYRCC汇@CׁIG>B"q,xEAY}f=y?}frr9?y}f }fs}fH G?si@;ǿ}1?`v?@? z?`L-ο ?)~f=y? ~f_;I~fCɫ) IY=ٜ@y=@GUZ****** received transponder code query ******uF****** received ping request ******u11a54E=E9y=}}E>IIMV5?M MY B U?9MDM{: MM:)IWu#@WqXy XyWy:Wy2Wy*WVbUBU*UUU =-@ 3:YWU1y:5B5PB1 B1A5Q*B9A=A9A9A=n=<"CEOZRCACM#@CI!I1G]T>l(q,]SEAY}:K1r?}:2?y}: }:,t}:Hʁ?ƿ7??`y?`ァ?@Dο?)~:K1r? ~:k_;I~8ɫ99)9 9I9Y]@y]@GexDUSBL response received:!U1,P 80,80,63,E4 A,188,80,80,A5,FF mCommand AckmBRequesting micromodem ping code 2iiivM|=Ym:QU ?a4EEy} ?I :d5? :i i B ?9!DR: :)T:W`@WX XW:W2W*WV<<}>9~CI?GiA@;  EbUBU*UUUf-@B];wνBeT?= BaAe/*BaAeДAiAiAm<"CRCC`@C׉IG>>.q,.EA|;|Y}6̑k?}6,?y}6}6m w}6H ?$?ƿ@`?y?jd?H?`Aο@E?)~6̑k? ~6/X_;I~6Cɫ99)9 =I9Y}ǜ@y}@Gtn>T>if@  @) @I@iB4<MG=YD;QU>a4EEy䀽}>I  v5? ' } B ?9 3D : o:) W[[@WX XW:W2W*WVbUBU*UUUh.@B5ifĽB9 B9A=*B9A=ݛA9AAAE^<"CE*O RCICM[[@CqׁIG0 }} 7:YkS1yԊ:o5r5q,AEAY}B|e?}B%?y}BR}BAv}BHz?`lſ`N? ? ?i?οF?)~B|e? ~Bd_;I~BCɫYY)Y ]IYY2@ygAGIa=)=¹¹=MM=YQ;QU>a4E Ey.t}>I :)5? :z  B ?9DDE: :)U:W :z@W X XW:W2W*WVbUBU*U!U!U%`Z/@BMhǽBI BQAU퉿*BQAU[AQAYA]u<"CeTRCaCe:z@CaiIqG=9Ih?Gi@=; E)e~CIe~Ciae=e=eSg5;q,EAY}6֧_?}6  ?y}6-}6v}6He?` `ſ ?yV?p?`b?ο.?)~6֧_? ~6 _;I~6Cɫ11)1 1I1Y@yKAG)>D;ף;i\@ )I @i @-dԻM-C=Y5.9QU5>11a=4E= E9y=(_}E>IAE5?E E B U?9EVDE=: E:)AWu͟t@WqXy XyWy:Wy2Wy*WVbUBU*UUU@+0@BB BAF*BASAAA_<"C=RCC͟t@C  "6:YU1y:5);9IGI>Bq, EA|Ti|V@Y}mY?}m2N?y}mg }mz}mHuX?a ſw!?G?,?`s?Ͽ?)~mY? ~mC^;I~mCɫii)q uIqYٝ@y4BGMi|?5?MbPMbp?M?M M;)IIIyM^I +?~jtMbP?MX9?MM: I)M5AIM9AiIIMGAdN=M3=YDQU>a4E EyJ}>I :b5? :m  B ?9lDo: :)V:W,}n@WX! X!W!:W!2W!*W)V)bU)BU)*U1U1U50@B] Ba BaAeR*BaAm㱼AiAiAmi<"CuRCqCu,}n@CyuK@=QIYG{>@Hq, $ EAY}6S?}6?y}6}6}}6HH? ſ`x?$?@? >?\ϿQ?)~6S? ~6q^;I~6Cɫ99)9 =I9Y}@y} BG 鿑)Ý= Ý=HMv=Y-QU?a4E Ey}?I5?Q  B ?9{D6: :)Wj@WX XW:W 2W *W VbUBU*UU!U%0@R-B*** querying acoustic contact ***P)P)}~>9yI}?Gi}@}=yy}; } EBϽB BA؇*B!A%A!A)A-$<"CU!RCQC]j@CYaa)i i--~-~- -/:Y-T1y-@:-5)-;IG>nNq,}v> EAY}6ЎL?}6 ?y}6,}6Ŋy}6H>?@߿Ŀ/?@ ??@? ο?)~6ЎL? ~6[^;I~6Cɫ99)9 9I9Y}@y}TBG@AxDUSBL response received:!U1,R,DD0,000,060D5,188,80,80,C0,FF Fpublishing direction and range info5>ɰ?鰁 )@CIy:DxNA?jѝw ?ٱ-=Giz@ @)@I@ī@e<MD=Y2QU>  a 4E  Ey}>I5?x  B -?9DI: U:)WMvd@WIXQ XQWQ:WQ2WY*WYVYbUYBUY*UaUaUe d`1@Pq*Qu:DZQu@DE@JQuxNA?jѝw ?2Qu5>:QqbQuB4%tp@8xCO@i|3 [RQu\L?h8LF? tBQu;? QuzDQu;DPu9?Pu`9?Pu=QuPꝿQuy"Qu+BEc=ĽBI BIAM놿*BQAUAAQAQAU[<"C]k'RC] C]vd@CaIIQGm>WUq,QX EA||4aaae4Ee# Eiym}m>Iq }:u5? :up u B ?9uDuk: uw:)uW:mAdded new target pos. range: 1449.839966 m, bearing: 58.743452 deg, deltaT: 17.378658 s, approachRate: -44.209393 m/s, LOS rate: -0.222101 deg/s, posRepo size: 4m ProNav: pos range: 1449.839966 m, bearing: 58.743452 deg, approachRate: -44.209393 m/s, LOS rate: -0.222101 deg/s, cmd update: -0.666304 deg/s, cmd heading: 204.531210 deg, new cmd heading: 199.548881 deg. W'd@WX XW:W2W*WVbUBU*UU \@U ?B ýB BA*BA}>9yI}@Gi}@}=yy}; } Ek[q,,r EAY}:#ly}:@}:tu}:H ?w?Zο ?)~:#li}@y y)}@I}i}@ZMG=YIQU>a4E) Eyo}>Iȩŭ35?ŭVi ƭ B ?9ƭDǭA: ȭ:)ȩWVc@WX XW:W2W*WVbUBU*UUU`Y?B˽B BA.*BA̼A!A!A%7="C-+.RC)C-Vc@C1 IG5 >i}nGIi =¿ٺ9=ճAtbq,L EAɫIQ)Q UIQY@yBGT㥛 ?y&1|?)\(?!?`; Ga=)IyB`"?~jt?/$?.?D=< )…A8AIiAiM:=YQU>a4E0 Ey}>Iȹ :Ž5? :ŽJ` ƽB ?9ƽDǽ/: Ƚ:)ȽX:Wmdc@WiXi XiWi:Wq2Wq*WyVybUBU*UUU?}} 3:YkS1yԊ:5BM辽BQ BQAU9*ByA}ռAyAA="Ce/RCCdc@C3>I)iAסIG>_iq, EA|i|Y}6|t-?}6\>y}6p*5}6v}6H ?U@ٿ ? }e?~? j?Vο`f ?)~6|t-? ~6/>_;I~6CɫQQ)Q QIQY@y!CG>9I@Gi؜@=; 5>+=M=e=Y=;QU=>AAaE4EE6 EAyM'}M>IQU-5?UY UB ]?9UDU÷: U:)QWAc@WX XW:W2W*WVbUBU*UUU ?B}ֽBy BAP*BAڼAAAJm="CP/*CpRCCAc@CE}>IG J>2oq,Q EAY}6'?}6^>y}6a4}6w}6H`B]?׿w)"G???*?9ο ?)~6'? ~6p"_;I~4ɫ99)9 =I9Y@yCGNmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -LFailed to receive CAREV within timeoutq 55Hardware Faulta = aa)}= }>UUz>UtiU׋@Q U@)UV@IU@iUt@m=Mm+=Yui9QUu>qya}4E}> EyyC}>Iȉ :ōE5? :ō"Q ƍ"B ?9ƍDǍ: ȍ:)ȍY: {{ 4:Y#R1y:5Wb@WX XW:W2W*WVbUBU*UAUAUE @1(U PUlAggregate::initialize lineCaptureDepth:MicromodemCommsq(UPU|Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn(UBB BAY*BAvAAA0="C&;/*CORCCb@CK>בI-$NHardware Fault in component: MicromodemG >vq,q EAY}2Q"?}2~>y}2>}2\}}2H`۝?ֿN* ? T?@?Aԧ?@^Ͽ?)~2Q"? ~2_;I~2Cɫ19)9 =I9Yu@yu|CGPowering downI)iI)i_M0=Y}QU>a4EE Ey7}>I]5?0I 5B  ?9D: ߼:)W8b@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB%½B! B)A-(*B)A-=A)A1A5="C=}/*CEqRCE >CE8b@CI9IAGiz@=; E%>-?i-?IG5>e|q,1E EA||;Y}6˿?}6[>y}6O}6*x}6H`z?bտ @2?@*???yοI?)~6˿? ~6_;I~6CɫYY)Y YIYYe@yDGZ****** received transponder code query ******F****** received ping request ******] ]ٽi](@Y ]@)]@I]9@i]@mH=Mm~=YuRQU- ?11a54E5K E9y=d}=?IA}yy} }:2:Yyyy}ݻ5)}6;9 :Eo5? :EC EDB ?9EDE [< EU[<)EZ:W@؃q,>  EAY}2?}2>y}2z-_}2-l}2H@*? AԿ`- h]? G~? N?&?7Ϳ=?)~2? ~2 _;I~0ɫ99)9 9IAYK@yCGxDUSBL response received:!U1,P DD0,000,060D5,188,80,80,C0,FF Command AckBRequesting micromodem ping code 2iI}C=)}%=Mb@Mb@Mb@ )IyB`"? ףp= ?/$Q8= rA)l7AIAiA11=߻M=0=YEQUE>IIaM4EMR EQyUDW}U>IY][5?]< ]GB ?9]#D])< ]y)<)YW%a@W)X) X)W):W)2W)*W1V1bU1BU1*U1U9U=N @B_ǽB BA*BAAAA,="C*0*C RCCa@C֝`T=yI$\Clearing failed state for component Micromodemq G>q,* EA006>94I6BGi6@4446; 6E)Ii = = 5Y}F,?}F 6>y}FHe}Fh]}FHW?pҿ:`?@??@-?k˿ 4?)~F,? ~Fx9_;I~FCɫQY)Y YIYY}t@y}.DG鮅a=ɮ4=iAihA)`<Mb=YJQU->9AaE4EEW E}}}} }G/:Y}WU1y}:}75)};yho}>Iȱ :ŵ5? :ŵ7 ƵJB ?9Ƶ4Dǵg: ȵs:)ȵ[:Wݮa@WX XW:W!2W)*W)V)bU)BU)*U1U1U5 @B} dսB BA怿*BAGAAA="Cp0*CrRCCݮa@Cֽ<יIGb>Gq,C EA|i|Y}6h ?}62 >y}6o_}6чL}6H`?ѿH%?@? :?e?[ɿ0Q?)~6h ? ~6_;I~6Cɫ99)9 9I9Y]Ÿ@y]DG A@)> >}(\}T<}t>iyy }V@)}?@I}@i}ߏ@G<M=Y(;QU>a4E` Ey}>IȹŽ۸5?ŽA0 ƽOB ?9ƽKDǽ; Ƚ8;)ȹWHa@WX XW:W2W *W V bU BU*UUU !@BE6BA BAAE_*BAAM[6AIAIAMhk="CU0*CUxӍRCYC]Ha@CYm LMA IQ Gm >^q,] EAY}2 ?}2S>y}2P}2=}2Hn? dѿù@HB?':?@?@/?ǿ=i?)~2 ? ~2z_;I~2Cɫ99)9 9I9Y}G@y}1EG7=M=Yje>9aIePCGie@e=aae; eE>q,w EAY}2C?}2ƒ>y}2HA}2Ȉ+}2H`?X\ѿx}?@U?? &?@aQſV?)~2C? ~2_;I~2Cɫ99)9 9I9YР@yEG5j<5 0=5rhi5G@1 1)5 @I5i5?@E =ME@=YMIIaM4EUj EQy]}]>Ia m:e,5? m:e' eRB m?9egDeg: e0:)e\:W`@WX XW:W2W*WVbUBU*UUU͗@B'ʽB BAv*BA7AAA6="CN1*CSRCC`@CD׉IG>]&q,g EA|4<|4y}BB 6}B}BH??ѿA NP?3g? Ϳ?`}?B¿` ?)~B9 ? ~B_;I~BCɫYY)Y YIYY@yEGኼM@=Y;QU>a4Eq E y<}>IY5?I" SB %?9zD: ÷:)WE`@WIXI XIWI:WQ2WQ*WQVYbUYBUY*UYUYUe N@} }}} }5:Y}WU1y}:}ݻ5RmB*** querying acoustic contact ***PPBM|ɽBQ BYA]x*BaA AAAr="C.1*C`;RCC`@Cօ_7YIaGY>] <] <e >9a Ie CGie @e =a a e ; e EB`q,' EAY}2A ?}2[`>y}2R-}2l}2H0?{ҿ`?@n?`?䞥? %g@?)~2A ? ~2_;I~2Cɫ99)9 9I9Y}]@yFG=M[=Ys;QU> a4Ew E!y5<}>Iȹ :Ž 5? :Ž ƽTB ?9ƽDǽs: Ƚ:)Ƚ]:W4`@WX XW:W2W*WVbUBU*UUU@B`ѽB BAr*BAtAAAH5 ="C1*C;RCC4`@C֥dׁIG=>D>zCi5nGIIiauٺAe8q,G EAY}2V?}2>y}2'}2}2H@o?~bӿ.eਗ਼?h?{a? ?`Dz@?)~2V? ~2׹_;I~0ɫII)I IIIY}@y}FG鮅p=ɮp=Powering up0Initializing Micromodem. M@ M@ M@M©MMiM\@M M @)M @IIiM @]<M]E=YejU;QUe>aiam4Em~ EiyuC<}u>Iy} 5?}[ }VB ?9}D}: }X:)yWb_@WX XW:W12W1*W1V1bU1BU9*U9U9U=@@}}}}}} }.:Y}kS1y}Ԋ:}5BͽB BAo*BAAAA< ="C-T62*C-in;RC)C-b_@C1%;IGK>dq, EA|i|Y}6/?}6;>y}6 }6%}6HH?1vԿ0 Ȅ?N?`YB? ?1`?)~6/? ~6r`;I~6Cɫ19)9 9I9Yu@y}KGG)Õ= Õ=<MQ=Y;QU>a4E Ey =} >I :1 5? : XB ?9D: ^:)^:WE_@WAXA XAWA:WA2WI*WIVIbUIBUQ*UQUQUU@@BսB BAm*BAAAA ="Cŀ2*C<RCC_@C}יIGA>>9IDGib@; Eq,| EAY}:+?}:3>y}:y}:<}:H?@aտ@- ` ??$ .?@z?@?)~:+? ~:I`;I~8ɫ99)9 9I9Y}@y}HG   |>`^=i@ V@)V@I@iV@7=MK=Y;QUu>qqa}4E} EyyN>=}>IȉōG 5?ō! ƍZB ?9ƍDǍ; ȍA;)ȉWM_@WX XW:W2W*WVbUBU*U U U @Iq)q} }}} }4:Y}U1y}:}5)}|;9BɽB BAh*BAAAA0 ="C 2*C`H<RCCM_@CI_yIGI>xtq,y EAY}2Q?}2>y}2}2؀=}2H,?@׿@`?`B?`g?`? ??)~2Q? ~2`;I~0ɫYY)Y YIYYy?AY;QU>a4E Eylj=}>I\ 5? \B ?9D!; 0;)WM_@WIXQ XQWQ:W2W*WVbUBU*UUUQ@B-NнBI BIAQ*BQAUZAQAQAUi ="C]3*C]M!<RCe Ce_@CaօXMaIiG;> >9 I i    D ;  Eq,D, EA|;|Y}F#?}Fp>y}F }FI=}FH??ؿ@+?os?@c?`Sw??@Q?)~F#? ~F(a;I~FCɫy髁) IY_@yIG99r|>a4E Ey _=} >IQ ]:Us 5? ]:U- U_B ]?9UDU: U:)U_:)  7:YT1y:5)j;W^@WX XW:W2W*WVbUBU!*U!U!U%@ @B/ǽB BAqb*BAAAAv ="Cr3*C_q;RCC^@Cֽ0BיIGb>q,fF EAɫ髙) IY$@yHG)RMQ=YQU>a4E Ey}>Iȱŵ 5?ŵ ƵaB ?9ƵDǵ: ȵ:)ȱW@g^@WX XW:W2W*WVbUBU*UUU@G @RB*** querying acoustic contact ***PPu=iup=BDZӽB BAKd*BAd AAAZ="Cu3*C~];RCC@g^@CIսסIGA>q,A` EAY}:1?}:^>y}:#a}:T>}:H?@ qۿ@?$q??$ ??(?)~:1? ~:_;I~:Cɫ99)9 9I9Y}r@y}IG鮁ɮ= o/:Yy59@ܩ9ܩIܭCGiܭ@ܭ=ܩܩܭ}; ݭE)9I9i9=====5  5^> H=i 3@  V@) @I V@i t@- z<M- =Y5 _;QU5 >1 9 a= 4E= E9 yE Ҩ=}E >II U :M  5? U :M M dB ] ?9M DM : M :)M `:W} ]@Wy Xy  Xy Wy :W 2W *W V bU BU *U U U !@B ޹B  B A a*B A 6%AA AA AE 0="CM .4*CM !:RCI CU ]@CQ ] ; I! GE >q,Zy EA|i|Y}66?}6>>y}6}6>}6H`ȓ?ܿ9j? (?@RJ? @p??@?)~66? ~64_;I~6CɫQQ)Q UIQYmv@ymIGSetting waiting for range response to false due to timeout. Elapsed:6.062002 f0;M =YTQU?a4E Ey%; >}%?I)-o 5?- -eB 5?9-D-: -:))W]@WX XW:W2W*WVbUBU*UUU!@BE4BM w= BIAMa*BIAMb&AIAQAU,="CUP4*C]7RCYC]]@Ca]+WB1IAG]3>q,Ǹ EAɫyy)y }IY@y7IG;MM=YQU>a5E Ey}>I  : 9 5? :  gB ?9 )D : :) a:W=]@W9X9 X9WA:WA2WA*WAVAbUIBUI*UIUIUMধ"@B}|սBy ByA a*BA L)AAA="C4*CRCC]@CIޑ)ޕ@A 1:YWU1y:n5ֵ;=ׁIG>ٹ ٹ  >9 I i l; Eq,C EAY}f>?}fhr>y}f\ }fF=}fH?`4޿?`~??н*?G??)~f>? ~f_;I~fCɫ) IYUݣ@yUIGYYexDUSBL response received:!U1,N,80,80,63,E4 5,188,80,80,C0,FF eZNo reply:!U1,N,80,80,63,E4 5,188,80,80,C0,FF -e99aE5EE EAyM2=}M>IQU 5?U UkB ]?9U>DU: U:)QW})]@WX XW:W2W*WVbUBU*UUU#@B=r~ƽBeyQ= BaAe^*BaAe!,AaAiAm!="Cu4*CuhRCqCu)]@Cy]4>=9IIGmy>Wq,z EA|H|J;Y}E"@?}E?y}E}Et=}EH`? ޿`ّ???㼺(?@??)~E"@? ~EE_;I~ECɫ)1)1 5I1Y=_@y=IG)Q +M _=Y㒻QU>a5E Ey|j<}%>I) -:-U 5? 5:-6 -nB 5?9-ND-: -:)-b:WU \@WYXY XYWY:WY2WY*WaVaE  S9:YT1y:85bUaBU*UUU b$@B5qw۽B1 B1A5qb*B9A=/A9A9A=="CE;5*CEqRCICM \@CIU&t@=5> IGE>q,F EAɫyy)y yIyYv@yIGލ=iލ=i9iImDGimb@m=iime; mE += q>i z@ @) @I @i @ w;M =Y QU > a 5E E y } >I  !5?  sB  ?9 jD k:  :) W Ui\@W X  X W :W 2W *W V bU BU *U U U `]%@R B*** querying acoustic contact ***P P B #B  B A a*B A 4A A A z2="C a5*C 4RC C Ui\@C  Q= % ;>% !>iM mGIy i ٺ A .[>IG->=Dq,6 EAY}:;?}:2>y}:ڒ}:(T<}:H`K?`ݿ?M?@`1??#?)~:;? ~:_;I~:Cb bbb b5:YbU1yb:b\5)b;9fɫQQ)Q QIQYE@yHGZ****** received transponder code query ******F****** received ping request ******M=YرQU(?a5E E y _} %?I :!5? : tB %?9uDc< c<)c:W5\@WX XW:W2W*WVbUBU*UUUv,&@BE*BA BAAE@c*BIAM6AIAIAM?="CU5*CUhORCQC]5\@Cϡϡ)С С > I G- >hq,/ EAY}:YR8?}: >y}:V}:#}:H|?8ݿr??(? S? ^`?)~:YR8? ~:3`;I~:Cɫ99)9 9I9YyyyxDUSBL response received:!U1,P 80,80,63,E4 5,188,80,80,C0,FF Command AckBRequesting micromodem ping code 2ipNmea in: $CATMG,2021-08-14T01:28:16.045226Z,RTC,RTC*57 Response from modem unexpected: $CATMG,2021-08-14T01:28:16.045226Z,RTC,RTC*57 Y9a5E Ey}>I(!5? uB ?9D: :)W[@WX XW:W2W*WVbUBU*UU U #&@Bu߽By ByAy*ByA}_8AAA="C16*CMsRCC[@C֭FӅ>ׁIG?>ّّܙ9ܙIܝ|DGiܝ@ܙܙܙܝl; ݝE q, 4 EAY}63?}6L>y}6}6U}6H"? ۿ ??)?`ޢ?<`s?)~63? ~6p`;I~6CIvAA)t~~v~v~ ~0:Y~N1y~:~]5)~Z;ɫ99)9 9IAY}M@yHGõu=õ;>õ94iõ@ñ ĵh@)ĵt@Iĵt@iı_:Ma5E Eyx}>I ?!5?/  ?9D: ?:)Wj[@WX XW:W2W*WVbU!BU!*U!U!U-'@BUxeܽBY BYA]c*BYA] ;AYAYAek="CeL6*Cm{RCiCmj[@Cq}jA}jAe>m?imv?9IIGeV>zzq,N EAY}6k.?}6>y}6"}6}6H@?a5E Ey%q}>Iȹ :ŽQ!5? :Ž{ ƹ ?9ƽDǽ: Ƚ4:)Ƚd:WZ[@WX XW:W2W*WVbUBU*UUU y(@B-#B) B1A5Xh*B9A=f>A9A9A=e="CE6*CE=RCACMZ[@CIi>IG >Yq,2uh EAY}2'?}2k>y}2cN3}2oJ*}2H`[? Lؿ l캿 P?L?E?@g?`+ſ>?)~2'? ~24a;I~2Cz zzz zC:YzDW1yzY:z%59~@ɫ99)9 9I9Ye@ym!HG  ;M C=Y QU>a5E Ey% ~}%>I)E>9AIEDGiE@AAAEh; EE-2g!5?-; -vB u?9-D-#< -#<))We [@WX XW:W2W*WVbUBU*UUU@S)@B޽B BAh*BA1AA A A="CP7*C/=RCCe [@CNM>סIGA> q,M EAY}:L ?}:Lv>y}:B}:F}:H?ֿ͠@=? K?̫??N?Aȿ #^?)~:L ? ~:a;I~:Cɫ99)9 9I9Ye@ymjHGuNmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Õ ׽Õ94=Õ`iÕ@Ñ ĕV@)ĕ @Iĕ @iĕt@%<M2=Y\QU>a5E Eyw}>Iȑ :ŕq!5? :ŕ\ ƕwB ?9ƕDǕR: ȕ:)ȕe:WZ@WX XW:W2W*WV!bU)BU)*U1U1U5L*@B$ֽB BACf*BA0EAAA="Cq7*C4=RCCZ@C) u=u=u>Iy)}jA1I9Ge>&q,( EAY}2?}2^>y}21L}2V}2Hy ? Կ: c?̇? ?ʘ?`ʿB?)~2? ~2k`;I~2Cv? vyvyv v8:YvP1yv':v5ɫyy)y yIyYB@yHGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 56Nmea out: $CCCFG,ALL,0*33 JNo DVL communication! Re-initializingq (Communications Faulta  a  a  a  a  5l<M5S=Y5xֻQU=>99a=5E= EAyE줽}E>Iqu!5?uÐ uyB }?9uDuJ: u>)qWgZ@WX XW:W2W*W V bU BU *UUU+@RB*** querying acoustic contact ***PPBe;Ba BA^c*BAGAAA~D="C(7*C=RCCgZ@C֥=YIi-$}bCommunications Fault in component: RDI_PathfinderGZ>AAQ9QIU FGiU@QQQUi; Q)ɇIɇiɇ͇=͇=͇x4,q, EAY}>?}>?>y}>[M}>N]}>H`NT?ӿ3 '??`?௨?j˿ _7?)~>? ~>_;I~>CɫYY)Y YIYY}Ģ@y}AHGxDUSBL response received:!U1,R,FB1,000,00B4C,184,80,80,93,FF Fpublishing direction and range info0=ɰl>鰅> )CIyC&N?Á?ٱ4Nmea in: $CACFG,ALL,0*31 6Nmea out: $CCCFG,SRC,1*31 a i@a m@a q@a e@a I@ Powering down  I ) Õ<Õ|>Õ^:>iÕz@Ñ ĕt@)ĕt@Iĕ@iĕ@ M5=YQU>a5E Ey|}>Iܫ!5?f {B ?9Du: P?)WZ@WX XW:W2W*WVbU!BU!*U)U)U5@p+@PI*QMCZQMHOL`@y=~^"@JQM&N?Á?2QM0=:QIbQM 1ۜt_@ӧ#ιI@zoݼ,@RQMV֑Й??qJ~5?dO ?BQM> QMMBQMBPMY9?PM9?PMZQM=QMA"QMyBB BAMg*BA!KAAA!="C 8*Cp"=RCCZ@CֽQ=בIG>3q,d EAY}fX< ?}fU>y}fIIn@A)l~~~~ ~X3:Y~U1y~:~J5}fKgY}fH? ѿ ?? ?`6?@cʿY>?)~fX< ? ~fS_;I~fCɫ) IYc@yIGu4Nmea in: $CACFG,SRC,1*33 }VNmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64 )O=MU=Y;QU%>))a-5E- E1y5Ta}5>I9 e:=!5? e:=, =|B m?9=D=; =?)=f:mAdded new target pos. range: 136.020004 m, bearing: 22.240807 deg, deltaT: 13.961005 s, approachRate: -94.106400 m/s, LOS rate: -2.614614 deg/s, posRepo size: 4m ProNav: pos range: 136.020004 m, bearing: 22.240807 deg, approachRate: -94.106400 m/s, LOS rate: -2.614614 deg/s, cmd update: -7.843843 deg/s, cmd heading: 195.230424 deg, new cmd heading: 194.969724 deg. WyV@WX XW:W2W*WVbUBU*UUa@U%m?BmBi BiAmSb*BiAuNAqAqAu="C9RCCyV@C}ϩ;׍?i׍?qIyG~>9q, EAY}:?}:>y}:B}:K}:H?ѿ?[/? ?@#Y?Bɿ`pU?)~:? ~:&_;I~:Cɫ99)9 =I9Ye@ymNIG>9IFGi@=r; EDNmea in: $SNTTA,,,,,012819.15*59 zCFG response from modem unexpected: $SNTTA,,,,,012819.15*59 E  E ~E ~E  E 5:YE T1yE @:E o5)E >;9M í &>í t<í 9ií @é ĭ ߏ@)ĩ Iĭ @iĭ @ #<M a 5E E y (} x>I !5? { B  ?9 $D N: *?) WhP@WX XW:W2W*WVbU!BU!*U!U!U- =?BUzȽBQ BQA]y`*BYA]TSAYAYA]R="Ced@RCaCmhP@CiE!I)$EdClearing failed state for component RDI_Pathfinderq EGM?Bq, EAY}2M?}2쎎>y}2]z=}28}2H@?`Lп@Ƿ U? )X?`Y5 = =i= =Hq,@% EAY}6r?}6>y}6f7}6)}6H@?/пꕵ y?z?@?U?@ÿҗ?)~6r? ~6j6_;I~6CɫYY)a aIaY}2@yJGU<M]I=Y]i;QU]>aaam5Em Eys}>IH"5?xt B ?9=Di%;  @)W-'WK@W)X1 X1W1:W12W1*W9V9bU9BU9*U9UAUE 1?BmBub= BqAu[*BqAuWAqAqA}="C}FRCC'WK@CiA>9CIGGi=@k; Ee2DIב)וiAiIqG:>U I U }U }U  U 9:YU kS1yU Ԋ:U \5)U ; $> uCi) IA iY vɿٺ A"Oq,{? EAY}2{?}2ӏ>y}2W71}2]}2H?0Jѿ@)? Ő?@ú?&%??)~2{? ~2g_;I~0ɫ99)9 9IAY}@y}IGTNmea in: $CACFG,nav.dt.txtrig_gpio4,1*66 LNmea out: $CCCFG,pwramp.txlevel,0*2F %L%#=%"=i%׋@! %@)%?@I%V@i%V@M3=Y];QU>a5E Ey <}>I "5?mn B ?9RDȲ: =@)WE)=G@WAXA XAWA:WI2WI*WIVIbUIBUQ*UQUQUU`1@B2 ߽B BA]*BA2|ZAAAے="CvG@RCC)=G@C9LבIG> Vq,WY EA|i|Y}6 ?}6X>y}6#w'}6t뮽}6H8? ҿg>@P?Y??@f?ѵ@Q?)~6 ? ~63d_;I~6Cɫ99)9 9IAY}@yKGAAJNmea in: $CACFG,pwramp.txlevel,0*2D 8Nmea out: $CCCFG,DTO,30*1E )=>MEV=YE;QUE>IIaM5Em# Eqyu<}u>Iy}-4"5?}i }B ?9}bD}/; }$U@)yWz D@WX XW:W2W*WVbUBU*UUU@@R-B*** querying acoustic contact ***P)P)BmBq BqAunQ*BqAu5\AqAyA}p ="Cz D@RCCz D@C}dO=up{IIYGu>II )I ] ] ] ]  ] /:Y] WU1y] :] 59e @ 9 I HGi @ t; E15\q,4s EAY}2 ?}2>y}2s}2&}2H }?`)ӿ`A?`)?@kڛ??@Ф"?)~2 ? ~27_;I~2Cɫ99)9 9I9Y} @y} KGZ****** received transponder code query ******F****** received ping request ******Nmea out: $CCCFG,FC0,14500*47 qqýC =ýýMbiý(@ù Ľ@)ĽV@IĹiĹ ʼM =Yl;QU>a5E- Ey{<}>IQ U /T"5?U Oa U B ] ?9U |DU : U z@)Q W} >@W X  X W :W 2W *W V bU BU *U U U @B >\ӽB  B A "U*B A `A A A !="C @@RC C >@C b= 6Ʌ ?i IG >.xdq, EA|<|>4y}b}b&<}bH.H?Կ@揠?nL?哿?`?*?)~bQS? ~b"`;I~bCɫ髑) IY=b@yEyKGIɮMa=UxDUSBL response received:!U1,P FB1,000,00B4C,184,80,80,93,FF UCommand AckUBRequesting micromodem ping code 2iYYm@RCCY<@C)  s+:YV1y:5} FӅY Ii G >jq, EAY}Bϧ?}B+>y}B3I}BU_=}BH? ]%ֿ@{ ??`I?`Gث?m?)~Bϧ? ~B`;I~BC|9~~CI|i|~=||~n; ~Eɫ髡) IYK@yLG:Nmea in: $CACFG,BW0,4000*61 6Nmea out: $CCCFG,BND,0*3A -Ponly read -1 of 1 data item for altitude @ @ @"v=M,=Yur:QU>a5E9 EyU=}>I?|"5?U B -?9DN; ĕ@)W]>8@WYXY XYWY:W2W*WVbUBU*UUU@B5RܽB9 BYA]K*BYAefAaAaAeמ#="Cm=8@RCiCm>8@Cqq׉ I G >qq,/j EAɫ髙) IY@y]LG4Nmea in: $CACFG,BND,0*38 RNmea out: $CCCLK,2021,08,14,01,28,24*45 )= =}M}e=Y}QU>a5E? Ey}>I"5?O B ?9DF: f@)Wf5@WX XW:W2W*WV!bU!BU!*UaUiUm@BZB BAL*BAHWhAAA$="C`}5@RCCf5@C 3:YT1y:J5IG >wq,A EA|i|Y}6&?}6P>y}6C}6$t>}6HNj?.ٿ?? -$?#?r ?ࢸ?)~6&? ~6T`;I~4ɫ99)9 =IAYD@yLGLNmea in: $CACLK,2021,8,14,1,28,24*47 Sent 52 bytes from file Logs/20210814T003940/Courier0025.lzma.parts.Packets left to send: 0Jc<Md=YQU>!!a%5E%D E)y->}-?I15k"5?5I 5B =?95D5ٮ: 5@)1We2@WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU} E@1( PpAggregate::uninitialize lineCaptureDepth:MicromodemCommsq(PAggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn(B2nB BALK*BATjAAA'l%="Cg3@RCC2@Cօ?΅YIiGZ>>9IGGi=@q; E)qIqiqu=u=u4}q,m EAY}V|.-?}V@9>y}V%}V>}VH`^?áڿ@?@/?`ٷ?`A1ÿ(? ؽ??)~V|.-? ~V`;I~Tɫyy)y }IyYK@yLG e e ee=e#=eiep@a eV@)et@Ieie@u`;MuD=Y}QU}>ya5EK EyFx=}>Iȑŕ"5?ŕ1B ƕB ?9ƕDǕc; ȕ@)ȑWU.@WX XW:W2W*WVbUBU*UUU@B%B! B!A%K*B!A-BmA)A)A-xh&="C5K/@RC1C5U.@C9!I G%M># ~~ 6:YT1y@:ݸ5);9Äq,YEAY}23?}2l>y}2U"1}2#>}2H? ܿ` ?? O?Ŀ`"?A`?Ǐ?)~23? ~2U `;I~2CɫYY)Y eIaY@yLGVNmea in: $CATMS,0,2021-08-14T01:28:25Z*76 IA)AzNmea in: $CATMG,2021-08-14T01:28:25.027451Z,USER_CMD,RTC*14 q<MT=Y/QU>a5EQ Ey=}>I"5?: B  ?9Dt: 1@)W-*@W1X1 X1W1:W12W9*W9V9bU9BUA*UAUAUE`y@RMB*** querying acoustic contact ***PQPQBm>qBi BqAurI*BqAuoAqAqA}X'="C},@RCC*@CԑԑցYIaGY>q,t-EAR>9PIPiPPPPRu; REY}09?}>y}<}1N+>}H`6a?@tzݿ? l?y?`ſ?pJ? ?)~09? ~,_;I~ɫ髑) IYѦ@y=MGUҽU>U+=iU@Q U@)QIQiU@e<Me4=YeϻQUe>iiam5EuX Eqyud=}}>Iy}"5?}1 }B ?9}D}x: }@)yW'@WX XW:W2W*WVbUBU*UUUlI@BxB BAF*BArAAAB(="CM(@RCC'@CFӅn  <:YW1yč:5)+;I1GMt>ԑq,ڭGEAY}6@?}6?y}6|H}6X,>}6HQ?`B޿`? @?`}?Zſ ?xr?;?)~6@? ~6u_;I~6Cɫ99)9 9I9Y@yLG쑼Mf=YQU>a5E^ Ey=}>IF"5?<* B  ?9D\:  @)W-#@W1X9 X9WA:WI2WQ*WYVabUaBUa*UaUiUm@BhB BAH*BACtAAA)="C &@RCC#@Cׁ֩IG=>ޙiޝ=q,҉aEAY}VnG?}VC?y}VMW}V)>}VH?A@?7?,?%ſ??`݄?)~VnG? ~VZ_;I~Tɫ髁) IY1@yyLG=i=)]M]5=YeQUe>aaam5Eme Ey;x=}>IȹŽ/#5?Ž, ƽB ?9ƽDǽ: Ƚ@)ȹWU@WX XW:W2W*WVbUBU*UUU@@B-B1 B1A5K*B1A5 wA9A9A=U)="CE 7!@RCACEU@CI U=U= y0:YWU1y:59IHGi@; E9]@e?΅Iy)yIIYG>(q,c{EAY}26&O?}2Z?y}2gm}2.(>}2H`N ? `m?? P? ſ谭??(?)~26&O? ~2A_;I~0i I)iAɫYY)Y ]Ia2ʿٺ_AYp@yLG]ף]=]i]@Y Y)]@I]@i]@}i<M}=Y}&QU}>a5En Ey\=}>Ișŝ#5?ŝ  ƝB ?9Ɲ.Dǝ: ȝ@)șWK;@WX XW:W2W*WVbUBU*UUU`-@B ߽B  B A I*B AP{AAAr*="C_@RCCK;@C!e FӅ9 II Ge > q,)@EAY}V-FV?}VR?y}Vf}Vxi'>}VH͎?P!?`G?`[?`dſ 牰?5??)~V-FV? ~Vr_;I~VCɫ) IY5K@y5LG]˜M]=Y]QU]=?aaae5Eer EiymR=}m=?Iqu*#5?u uB ?9u8Duͭ: uA)qW*@WX XW:W2W*WVbUBU*UUU@w@B]IBa BaAeK*BaAe|AaAaAmi+="CE@RCC*@C֙yIIޙ)ޝAA /:YxZ1yq:&5Ga>Cq,`>EA9IdHGi@|; EY}+]?}͙?y}c}(+>}H}?D Y?;n?`ۉ?wƿU?<=?x?)~+]? ~7S_;I~ɫ!!)! -I)Y-Ԧ@y5AMGI9)=AI9)9Ý =Ý 0>ÝDiÝ3@Ù ĝt@)ĝV@Iĝiĝt@$=MD=YQU>a5Ex Ey~=}>I1=#5?j B ?9KD P A)W@WX XW:W2W*WVbUBU*UUU G@BiB BAF*BAuAAA],="C@RCC@C֩׉IG #q,sEAY}V&c?}VI#?y}Vs}V%1>}VH?`07?@?z?ǿ?;?k?)~V&c? ~VcA_;I~Tɫ髡) IY@y!MGɮp=u'MuO=Y}QU}>ya5E Ey =}>IȑŕqN#5?ŕ ƕB ?9ƕ\DǕ: ȕA)ȑW4@WX XW:W2W*WVbUBU*UUU`Rn @RB*** querying acoustic contact ***PPB B BAG*BA sA A A |,="C@RCC4@C!IG5O>;  8:YV1y:ʺ5Mq,EAY}2[i?}2~H*?y}2}23>}2H ?@4y??|?lȿ p?XJ?b?)~2[i? ~29_;I~2CɫYY)Y YIYYO@yMGB=MW=Y(QU>a5E Ey݅=}>I^#5? B ?9mD: A)WX@WX XW:W 2W *W V bU BU*UUU0!@BE,MBA BAAEB*BAAMl1AIAIAM9,="C*@RCCX@CסIG J>99=CI=IGi=ԣ@==99=v; =Eޥ=iޥp=wq,KEAY}NNp?}N0?y}N}Nl1>}NH@?'y[?@I? u?@#ȿ@??*a?)~NNp? ~NJ;_;I~NCɫ髉) IY8@yMGSetting waiting for range response to false due to timeout. Elapsed:6.165871=i=uuu=iuQ@q uȎ@)u@Iu@iu@λM>=Y vQU>a5E Ey"p=}>Ișŝp#5?ŝM ƝB ?9ƝDǝ: ȝA)șWMA @WIXi XiWi:Wq2Wq*WqVqbUyBUy*UyUyU}*"@BvB>= BAC*BABAAAa*-="CK @RCCA @C ==?΅I)zz} H-:YQ1y:5IGj>dq,9EAY}Js3w?}J7?y}JDͽ}J51>}JHb?`"??c?5ȿ??`\?)~Js3w? ~J!_;I~JCɫ髙) IYyYozQU>a5E Ey=}>I  =#5?  +B ?9 D : #A) W5@W9X9 X9W9:W92W9*WAVAbUABUA*UAUIUM"@Bu:By ByAy*ByA}dAyAyAi-="CV@RCC@C}FӅQIaG}8>q,h0EAu>9qIuXJGiuv@qqqu; uE)SI[CiS[=S[S5Y}UMՂ?}UF?y}U(ཙ}Uc}!>}UHC?`z? :?@e8?\ȿ?{?`i?)~UMՂ? ~U_;I~Qɫ髑) IYw@y NG-\-ʡ=->i-@) ))-@I-@i-Ȏ@=A<M=AIaM5EM EQyU>}U>IY]K#5?] ]GB e?9]D]}: ]++A)YW%}@W)X) X)W):W)2W)*W1V1bU1BU1*U1U9U=`P#@B)>B BAA*BA|4AAA\}-="CG@RCC}@CIޡ)ޡ Y1:YT1y:\5)t;9בIG>pq,a5E Ey}>I#5? ^B ?9D: 0A)W%@W!X) X)W):W)2W)*W1V1bUBU*UUUy$@B5B BA<*BASAAAL-="C @RCC@CXf=ֵ?΅בIG>̝q,#dEA| |";Y}NRy?}N`M?y}N齙}N>}NH?? )?@—?<ǿ%?~0?m?)~NRy? ~N_;I~NCɫ髹) IYȨ@yOG[=M%F=Y%8QU%>))a-5E- E1y5ی=}5>I9=@#5?= =yB E?9=D=: =A7A)9Wm?WiXi XiWi:Wq2Wq*WqVqbUyBUy*UyUyU} B%@BE>qBA BIAM)7*BIAU|AQAQAU-="Cmu?RCiCm?CqeA=9ILLGi @;  E ~~ 5:YT1y@:ܾ5)s;ױIG>%q,E}EAY}6@?}6T?y}6+}6<>}6H@f? u5ӡ? U|??TȿS? ?e?)~6@? ~6_;I~6Cɫ99)9 =I9Y@yPG 94< "> \=i (@  3@) @I 3@i 3@'x=MK=Y%!!a-5E- E)y5*=}5>I9=#5?=k =B E?9=D=J: ==A)9We?WaXi XiWi:Wi2Wi*WqVqbUqBUq*UyUyU} [&@RB*** querying acoustic contact ***PPBkB BA0*BAAAA˟-="C?RCC?C) ޝ=iޙMFӅ) I1 Ge >q,EAY}nS+?}nd?y}nE}nш>}nH@?Z N?>?`_R?@ȿ|?hs?[?)~nS+? ~nX_;I~nCɫ髱) IY3@ygQGZ****** received transponder code query ******F****** received ping request ******a6E Ey>}>IȩŭZ#5?ŭ1 ƭB ?9ƭDǭ: ȭnDA)ȩW`P?WX XW:W2W *W V bU BU*UUU&@B=%BEw= BAAE+*BAAEkAIAIAMvg-="CUF?RCQCU`P?CQ?΅  84:YT1y:59@IGi>ٽ =ٽ < 9 I @NGi @ ; EUq,TEAY}Fc ?}Fl?y}FK }Ff>}FH?@ ?N?"?@$ɿ0?w-? _Y?)~Fc ? ~F_;I~FCɫ髙) IYc@yQG@AxDUSBL response received:!U1,P FB1,000,00B4C,184,80,80,93,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 @ @ @©i@ )Q@IȎ@iߏ@I<M+=Y!QU>a6E Ey =} >Id#5? B ?9D: LA)QQiNmGIiC̿ٺ!%JAW8?WX XW:W2W*WVbUBU*UUU'@BQݽB BAQ**BA<AAAr,="Ci?RCC8?C% FӅ I G5 >q,EAY}r?}rws?y}rJs }r`>}rH^? +7?? .?ȿ?m?[?)~r? ~r+_;I~rCɫ髹) IY@yTRG]Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B T=Mq=Yq,tEAY}V=?}Vz?y}V}V,x>}VH`w?`ũ@Ϳ?4Q??ȿ?@?]?)~V=? ~V_;I~VCɫ髑) IY@y*SGxDUSBL response received:!U1,R,B32,000,00B58,18A,80,80,AA,FF Fpublishing direction and range infood?ɰm>> )*CIyCrĉ?E?ٱI)AI)Ae=M X=Y 涻QU >a6E E@@y=}%>I!%1#5?%9w %B ?9%D%x< %WA)!W5?W1X1 X1W1:W12W9*W9V9bU9BU9*UAUaUe@[)@Pq*QuCZQutsOP@ha ^@JQurĉ?E?2Quod?:QqbQuv PNh`{]@9@RQua޿[`?58[N?BQui@ QuBQuKPuw9?PuY9?PuQuZQuA"QuABN8B BA] *BAAAAJo,="Cu}4?RCyC}?C܁9܁I܅4PGi܅:@܁܁܁܅; ݅EѭG=֡y I G >q,QEAY}zР?}z?y}z}z3 >}zH`?@#p?? h?=.ȿ`X? ?e?)~zР? ~zŤ_;I~zCɫ) IYM:@yMSGTNmea in: $SNTTA,0.093236,,,,012831.90*4D e e eexi=e=e/]>ief@e a)eۙ@IeQ@ieh@uW(=Mu5=Y} 8QU}>ya6E Ey}=}>Iȑŕj#5?ŕh ƕ;B ?9ƕ1DǕį: ȕ^A)ȑmyAdded new target pos. range: 136.740005 m, bearing: 118.543001 deg, deltaT: 12.681201 s, approachRate: 0.056777 m/s, LOS rate: 7.594091 deg/s, posRepo size: 4m ProNav: pos range: 136.740005 m, bearing: 118.543001 deg, approachRate: 0.056777 m/s, LOS rate: 7.594091 deg/s, cmd update: 12.000000 deg/s, cmd heading: 95.774926 deg, new cmd heading: 92.459185 deg. WK?WX XW:W2W*WVbUBU*UU a@Up?B)B! B!A%*B!A% A!A)A-,="C5?RC1C5K?C1=ȿ=~~ +:YT1y@:5 IG>jq,7EAɫyy)y }IyY@yTG=MZ=YQU>a6E Ey}>Iȱŵ$5?ŵh[ ƵZB ?9ƵADǵ: ȵdA)ȱWP?WX XW:W2W*WVbUBU*UUUJ?B_B B!A%_*B!A%V쏽A!A!A-ʸ+="C-?RC1C5P?C1EP=ޥ=iޥ=UFӅ1I9GU>i i } >9y I} RGi} !@} =y y } ; } EX% q,2EAY}Bk?}B{?y}B }Bh >}BH q? #??j?`ǿ ʼn??h?)~Bk? ~B{_;I~@ɫyy)y }IY@y'VGMףiz@ ۙ@)Σ@I@i@=ME=Y;QU>a6E EyU>} >I  $5? L {B ?9 SD : ckA) W=v?W9X9 XAWA:WA2WA*WAVAbUIBUI*UIUQUU`L?B}_A޽By ByA} *BAiܐAAAS+="CYn?RCCv?Cϙϙ)Й Й zz C:YQ1y:5)L;9 %=%= I ) I G >' q,dLEA|@i|ɫ髙) IYŮ@yWG]l=M]U=Y]QU]>aaae6Ee Eiym}m>Iy}$5?}? }B ?9}dD}: }qA)yWb@WX XW:W2W*WVbUBU*UUUs?B޽B BAA*BAmAAA*="C ?RCCb@CֹיIGb>N7q,fEAY}:2g?}:@?y}:T }:A>}:H ?Gb?@??1v? cǿ`ڋ??`?)~:2g? ~:p_;I~:CɫYY)Y eIaY @y]WGM<MMK=YMH'QUU>YYa]6Ee Eaym+>}m>Iqu$5?u1 uB ?9uvDuB: uxA)qW5@WX XW:W2W*WVbUBU*UUU ?B ܽB BA*BAˍAAA*="C?RCC5@C191I5HUGi5Z@5=115; 5 E)CIi==b5IGI>Iޙ)ޝ@A~~ E1:YT1y@:5)b;9 q,EAY}2Cs?}2R?y}23 }2>}2H?Gd?@+?u?`kǿ?@?kZ?)~2Cs? ~2_;I~0ɫ99)9 =I9Y}~@y}$YGI)AI)A AA}=}<}i}p@y }h@)}h@I}h@i}h@q=MF=Y>>QU>a6E Ey=}>Iȩŭ'$5?ŭ=" ƭB ?9ƭDǭ; ȭ~A)ȩWO @WX XW:W2W*WVbUBU*UUU>@B,ֽB BA*BA%ZA!A!A%*="C-?RC)C-O @C1IGFI&q,]EAY}6C?}6z?y}6Q}6>}6H?@`T[?@܆? ? ǿ? ?`]?)~6C? ~6e_;I~6Cɫyy) IY@yYGɮ%K=M%Q=Y-b7QU->99a=6E= EAyE=}M>IQUQ.$5?U UB9UDU: UpA)QWQ@W!X! X!W!:W!2W!*W)V)bU)BU)*U1U1U5 @R=B*** querying acoustic contact ***P9P9Be\OԽBa BaAe*BaAeAAiAiAmK)="CuX@RCqCuQ@CyցYIiGZ>  D:YV1y:59@ < < 9 ~CI WGi B@ = ; xs,q,79EAY}6{?}6,?y}6 }68 >}6HlP?8$??@1?@~2ƿ?A? wg?)~6{? ~6L_;I~4ɫYY)Y ]IYY}\@y}p[GZ****** received transponder code query ******F****** received ping request ******iÍ@É č@)č@Ič@ičۙ@=M<=Y;QU>!a%6E% E!y-=}->IQU5$5?U U!B ]?9UDUB: UA)QWz@WX XW:W2W*WVbUBU*UUUj @BνB B!A%վ*B!A%ڔA!A!AM )="CMҤ@RCQCUz@CQyޡiޥa=QIiG|>V[3q,QEAɫ髹) IY@y&\GxDUSBL response received:!U1,P B32,000,00B58,18A,80,80,AA,FF Command AckBRequesting 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 I-a=)-=)E= E=m2=MuE=Y}QU>a6E EIyU}]>Iae;$5?e eDB9eDe; e|A)aW@WX XW:W2W*WVbUBU *U U U @ @BeɽBi BiAm˾*BiAm*AqAqAu҄(= 0:YU1y:ʽ5"C @RCC@C?΅ס I G >`9q,EAY}6)?}6`?y}6*}6v&=}6H ? ?@o??CGĿY?sk?@\|?)~6)? ~6w_;I~6Cɫ99)9 9I9Y}@y}n]GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5=M=`=Y=آAAaE6EE EAyM*>}M?IQU@$5?U U]B ]?9UDU: U A)QW0 @WX XW:W2W*WVbUBU*UQUYUe$@BCϽB BA1*BA@#AAAZ3(="C@RCC0 @Cܵ>9ܱIܵYGiܵ*@ܱܱܱܵ; ݵEֹבIG>im /mGI i Uѿٺ Ahm@q,EAɫyy) IY^@y]GÍ`eÍ =ÍQ8iÍ@É čE@)čΣ@IčE@ičE@8<MD=YQU>a6E Ey}>I5E$5?: }B9D7: ~A)Wt&@WX XW:W 2W *WVbUBU*UUU@B"ʽB BA*BAAAA N'="C @RCCt&@CIޙ)ޝAA?  8:Y[1yH:5IGj>bFq,eEAY}:I?}:WH?y}:Dr}:J>}:HIQ?Q?@?^?~¿ Z???)~:I? ~:D_;I~8ɫ9A)A AIIY} @y_GI)a i-a i- a m-a m- a q-a q- a e-a e- a I5a I5 -x&?B`"۹?#~j?-7 ?-= -=)-I)y-L7A`?{GzZd;O?-+'?-ף-j<= -CA)-AI-xAi-|A)-fAAAU=MU@=YU_YYa]6E] Eaye!>}e>IquIM$5?u uB }?9uDuQ: uӻ:)qWK,@WX XW:W2W*WVbU)BU)*U)U)U5m{@B}#By ByA}*ByA8AAAb'="CՃ@RCCK,@CֽFӅבIG>ٱ ٵ hA 9 I \Gi c@ = ; ELq,5EAY}B ?}BW?y}BT }B>}BHb?<\?+?`?`Y¿`-? r?~?)~B ? ~B^_;I~BCɫYY)a eIaY}߶@y}`GxDUSBL response received:!U1,R,C32,000,02F87,188,80,80,BE,FF Fpublishing direction and range infoY?ɰ.y?鰅> )>CIy!-Dл?$[ ?ٱTNmea in: $SNTTA,,0.394336,,,012836.38*4D = ==^=i=p@9 =@)=@I=@i=@=MN=Y;QU>a6E E!y%ף=}->I1 =:55T$5? =:5 5B =?95 D5: 5:)5h:W1@WX XW:W2W*W V bU BU *U UU@P!*Q%!-DZQ%j߾|@<B@JQ%л?$[ ?2Q%Y?:Q!bQ%-hLzP1,}@p|^@RQ%L1(q8(?6Po?BQ%@ Q% DQ%fP%Τ9?P%w9?P%Q%Q%<C"Q%AB$B BA猾*BAAAA&="C!@RCC1@C ,*:YV1y:5)@;9ױIG>VSq,y[OEAɫ髙) IY@yBaGuȐ<MuU=Y}QU}>ya6E Ey}>IȑŕZ$5?ŕ ƕ B ?9ƕ DǕǺ: ȕY:)ȑm}Added new target pos. range: 692.520020 m, bearing: 128.125169 deg, deltaT: 5.273077 s, approachRate: 105.399567 m/s, LOS rate: 1.817187 deg/s, posRepo size: 4m ProNav: pos range: 692.520020 m, bearing: 128.125169 deg, approachRate: 105.399567 m/s, LOS rate: 1.817187 deg/s, cmd update: 5.451562 deg/s, cmd heading: 159.053412 deg, new cmd heading: 163.660944 deg. W4@WX XW:W2W*WVbUBU*UU)@U(?BuBq BqAun*BqAuAyAyA}ڞ&="CM8'@RCC4@C֙ޥ=iޥp=qIG>Yq,6iEAY}2{?}2?y}2ؙy}2->}2H`O5?~ =??0??@?`x?)~2{? ~2j_;I~2Cɫyy) IY̷@y!bG==i==EC=iE4=)]= ]=U=M%@=Y-C9AaE6EM' EQye>}m>Iȁ :Ņa$5? :ŅU ƅ<B ?9ƅ$ DDž[< ȅT<)ȅi:W-6@W1X1 X1W1:W12W1*W9V9bU9BU9*UAUAUE?Q9QIU^GiU@QQQU; UEB|B BA.|*BAAAAG&="C%,@RCC6@C 2/:Yy5);IG>^`q,EA|@i|Y}6?}6?y}6c꽙}6>}6H C?@;7Z?@ӥ?B? im=@i mz@)m@Imz@im@}[=M}U=Y;QU>a6E- Ey=}>Ișŝe$5?ŝ ƝfB ?9Ɲ3 DǝU: ȝ:)șW8@WX XW:WI2WI*WQVQbUQBUQ*UYUYU]?BXB BAW*BAJۘAAA%="CA1@RCC8@C׹IGf>fq,bEAY}2-?}2:?y}2罙}2B >}2Hl? gl?'? ?@pSӼ?]??)~2-? ~2&_;I~2Cɫ99)9 9I9Y}Ϲ@y}dG7A`?:vy&1?6?Լ `<)Iy> ףp=?x&y&1?1?7`< A)AIh@iCAz A=MA=Yx;QU>!!a-6E-4 Ey=}>Iȡťi$5?ť ƥB ?9ƥG Dǥ/: ȥY:)ȡW#;@WX XW:W2W*WVbUBU*UUU@?BB BA;*BA:+AAA2%="C-5@RC)C-#;@C)9Iޙ)ޙ> ~~ 8:YT1y@:&59@I!G=r>A E <M >9I IM aGiM @I I I M ; M E)݉~CI݉~Ciى݉=݉=݉t4mq,ȶEAY}:&?}:2?y}:余}:0:>}:H@ȟ?w lg??`?Y?ƿ??)~:&? ~:Ռ_;I~:Cɫ99)9 =I9Y}@y}eGuףuQuiqq u)u@IuE@iu&@݁=MT=Y[3;QU>a6E: Ey3=}>Iȡ :ťl$5? :ťq ƥB ?9ƥW Dǥ: ȥT:)ȥj:W4=@WX XW:W2W*WVbUBU*UUU`Ȫ?BeB BA"*BA iAAAwR%="C%C:@RC!C%4=@C)11!-?i-?IG J>~sq,HEA||p;ɫ髙) IYT@yyfG4c=ME=YQU>a6EA Ey}>Io$5?a B %?9j D ;  ;)W]&S@@WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqU}7@B曬B BA= *BARAAA$="C>@RCC&S@@C֡yIzz <0:YQ1y:ݻ5Ga>!zq,N~EAY}62?}6i?y}6/ཙ}6>}6H ng? -?N 庿???)~62? ~6y__;I~6CɫYY)a aIaY@yTgGl=MZ=Y  ;QU>!!a-6E-G E9yE>}M>Ia :eq$5? :eR eB ?9e{ De; e;)ek:WMB@WIXI XW:W2W*WVbUBU*UUUz@RB*** querying acoustic contact ***PPB B BA *BAI֙AAAT$="C*A@RCCB@C9IbGiw@; Eޝ=iޙIGj> q,SZEAY}2x?}24?y}2۽}2X=}2H@dg?@"?wp o?(? ?)~2x? ~2p_;I~0ɫ99)9 =I9Y@yhGZ****** received transponder code query ******F****** received ping request ****** @ @ @©iz@ )I@i+"=M<=Y`;QU>a6EN Ey=} >Iȱŵr$5?ŵhA Ƶ/B ?9Ƶ Dǵ : ȵ:)ȱWeE@W!X! X!W!:W!2WA*WIVIbUIBUI*UQUQUU @B iB BAƽ*BA:AAA9$="CcE@RCCeE@C+  @7:YT1y:n5)IQG>3q,4EAY}:B?}:N!?y}:{ս}:P>}:H`4??!GLʨ?? ?)~:B? ~:[_;I~:Cɫ99)9 =I9Y}O@y}hGxDUSBL response received:!U1,P C32,000,02F87,188,80,80,BE,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 > ףp=?B`"۹?X9v?= )IyMb?ʡE:v?#?< IA)^AI^AiA= AG=M%-=Y%R;QU->))a-6E-U E1y5=}=>I9 :=s$5? :=1 =VB ?9= D=]"< =:)=l:W0H@WX XW:W2W*WVbUBU*U9UAUMx @B ܣB9 B9A=*BAAM\'AIAIAM#="C"H@RCC0H@C֩ jA jA 9 I LeGi _@ = ; Eׁ I G >9_q, 8EAY}66?}6B4?y}6Ͻ}6>}6H`:Yt?@1?`*׹??@_?)~66? ~6_;I~6Cɫ99)9 9I9Yu@y}iGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B jCimGI!iq̿ٺA - - --- -,>i-׫@- ))-@I-X@i-n@=?e=MEW=YE IIaM6EM[ EQyU=}U>IY]s$5?]# ]tB m?9] D]: ]:)YWfJ@WX XW:W2W*WVbUBU*UUU`c9@B%0}B) B)A-GX*B)A-9A)A1A5#="C=GRC9C=fJ@CAIޡ)ޥ?A 1:Yyʺ5);91IG=>2Eq,2QEAY}J"?}JY?y}J7̽}J@>}JHÿO2?z? Ŀ ,|?\g?j?)~J"? ~Jp_;I~JCɫYY)Y ]IYYR@y(jGxDUSBL response received:!U1,R,D45,000,00B1B,18A,80,80,76,FF Fpublishing direction and range infoy(?ɰh>鰥> )BIyCli:?t[T?ٱI) =My=Yu;QU}?ya6Ea Ey =}?I]s$5? B ?9 DU: :)W%ɔL@W)X) X)W):W)2WQ*WQVQbUQBUQ*UYUYU]@P@Pi*QmCZQmX+E[@ !S@JQmli:?t[T?2Qmy(?:QibQm~! VaAW@梫4@RQm心K?~m?BQmAb@ QmBQmǵPm49?PmΤ9?PmQmQmA"Qm<CBB BA-*BAJAAA W#="C6UFRCCɔL@C?΅I!G=r>rq,kEA|,|.4<ɫqy)y IY0@y9kG]DNmea in: $SNTTA,,,,,012841.58*5D ܑ9ܑIܕfGiܕ@ܕ=ܑܑܕ; ݕEuףu;uiuf@q q)qIu@iu@a=M%=YQU>a6Ei Ey}>I :r$5? :0 B ?9 D: I:)m:mAdded new target pos. range: 133.080002 m, bearing: 133.735336 deg, deltaT: 4.420185 s, approachRate: -126.564842 m/s, LOS rate: 1.269215 deg/s, posRepo size: 4m  ProNav: pos range: 133.080002 m, bearing: 133.735336 deg, approachRate: -126.564842 m/s, LOS rate: 1.269215 deg/s, cmd update: 3.807646 deg/s, cmd heading: 183.150606 deg, new cmd heading: 185.676238 deg. W 8N@WX XW:W2W*WVbU!BU!*U!U%``@U-͎?BUKaBQ BQAUfz*BQA]QAAA5"="C}CRCC8N@C  5:Yy5);FӅ׉IG>Wq,wEAY}6O@}6_?y}6'%˽}6>}6Hʿ`=?? x̿4@Y?_? ?)~6O@ ~6zA_;I~6Cɫ99)9 =I9Y̿@ykGU5m=M]y=Y]:QU]?aaae6Een EaymC>}m?Iqu/q$5?uy uB }?9u Du: uǺ:)qWO@WX XW:W2W*WVbUBU*UUU?BQB BA*BAAAA"="CtBRCCO@CI GZ>ޥ=iޥ=Áq,t|EAY}:u@}:A?y}:9ʽ}:6>}:Hο V? ?@пivG?R??)~:u@ ~:8[_;I~:Cɫ99)9 9I9Y}Q@y}lGM=iM=5Mb?1Zd˿=Me;=Ye*:QUe>a6Eu E =y ҇=} >I :n$5? :C B %?9 D: :)n:WE'Q@WAXA XIWI:WI2WI*WIVQbUQBUQ*UQUQU]o?BB BA*BAAAA(d"="C;@RCC'Q@C թԭ=ֹ]  =;:Yy59@יIG>ى ٍ <ܑ 9ܑ Iܕ hGiܕ :@ܑ ܑ ܑ ܕ ~; ݕ E᫭q,WEAY}6@}68?y}6kIɽ}6>}6H@Fѿ@j?צ?ҿ@"?`? ?)~6@ ~6E]_;I~6Cɫ99)9 9I9Y}Q@y}mG -@ 5@ 5@-©--i- @- ))-9@I-i-@}U=M}Z=Y:QU>a6E{ Eyx=}>Ișŝql$5?ŝ ƝB ?9Ɲ!Dǝ: ȝ:)șW.gS@WX XW:W2W*WVbUBU*UUU ?B戕B  B A M<*B A3FAAA"="C>RCC.gS@C!e?΅9IIGeU>q,2EAY}6W@}6??y}6[ƽ}6!>}6H@2ӿ@ `n?y^?@ӿ ?? ?)~6W@ ~6BI_;I~6Cɫ9A)A EIAY]@yeemG=M=O=YEl;QUE>AIaM6EM EIyU=}]>Ia m:ei$5? m:e eB }?9e!De@; eP;)eo:W--U@WQXQ XQWQ:WQ2WY*WYVYbUaBUa*UiUU@!4@BlB BA<*BA/=AAA!="C%<RC!C%-U@C)FӅIޝAA)ޝAAnn .:YI1y:5I!G=r>Vq,EAY}F @}FZ?y}F$ý}F>}FH#տ`s@? ?sտ`iWW? D?`v?)~F @ ~F^_;I~FCɫYa)a mIiY@y2nGIq)uAIq)uA   ף:ja6E Ey]=}>Id$5? -B  ?9!!DM: :)q9qIujGiuѾ@qqqu; uE)ɂIɂiɂɂɂ͂94W3V@WX XW:W2W*WVbUBU*UUU t@B4jB BA$=*BAI,AAA5y!="C,;RCC3V@C?΅IGj>pq,EA||;Y}>" @}>|?y}>}>>}>H`׿ no@? ?D׿0>'?σ??)~>" @ ~>LW_;I~>CɫYY)Y ]IYY@y`nGCJ<M_=Y;QU>a6E EyĴ=}>I :`$5? :0 AB ?90!DV: :)p:WkX@WX XW:W2W*WVbUBU*UUUQ@R B*** querying acoustic contact ***P P B}B BA27=*BAAAAL/!="CK9RCCkX@CFӅ xx 4:Y7P1y:5IAG{>]q, EAY}6@9@}6?y}6jA}6c>}6H@ؿ``"6? M?ٿ W? ?`?)~6@9@ ~6^_;I~6CɫYY)Y YIYY@yhoGZ****** received transponder code query ******F****** received ping request ******=u =<)9I9y= +?EԸI +?=?=ƽ=94< =OA)=@I=p@i=nA9=A]k=M]3=Y]9QU]>aaae6Ee Eiym*=}u>Iqu[$5?uS uZB ?9uB!Du¿: u#:)qWWeZ@WX XW:W2W*WVbUBU*UUU@ @BB BAJ=*BaAmAiAiAm0 ="Cu^7RCqCuWeZ@CyYޥ=iޥp=IIG>i i q 9q Iu kGiu Ŀ@u =u QDq u ~; u Eq,:EAY}23@}27O@y}2}2>}2H`=ڿޚ`=?@?gۿ@3?` ??)~23@ ~2Œ_;I~2CɫII)I MIIY]E@y]>pGexDUSBL response received:!U1,P D45,000,00B1B,18A,80,80,76,FF eCommand AckeBRequesting micromodem ping code 2iaim=im=uNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 e=e/=e+>ie@a e@)e@IeX@ie@N=MB=Y$EQU>a6E E1y==}E>Iȩ :ŭ/U$5? :ŭ ƭsB ?9ƭR!Dǭ: ȭ:)ȭq:WM\@WX XW:W2WA*WAVAbUIBUI*UIUIUM @By{B BAͼ=*BAXΙAAAhx ="C5RCCM\@C = ~~ @:YT1y@:5);9I)ױIG>q,TEAY}6@}6u:@y}6ý}6"&>}6H@iܿ2 >?@|?`Yݿ皿V?? ?)~6@ ~6Q{_;I~6CɫQQ)Y ]IYYu@y}qGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B u=Mb=YĺQU>a6E EyV=}>Iȩŭ-P$5?ŭ( ƭB ?9ƭ_!Dǭ: ȭ:)ȩWù]@WX XW:W2W*WVbUBU*UUU@B|B BA==*BA%ħA!A!A%) ="Ce4RCCù]@CֹבIGa> q,[nEAY}M @}Mj'@y}M½}Ms>}MH7޿?` ?g޿nڗI??{?)~M @ ~Mb_;I~MCɫ11)1 5I1Yu*@yuYqGxDUSBL response received:!U1,R,EC1,000,00AF3,186,80,80,BD,FF Fpublishing direction and range infoӇ>ɰe>鰅> )=CIyC"C?TK?ٱ>9ImGi @r; EU ?U̾U >iU@Q UX@)U@IU9@iUX@uo<Mu==YuA:QU}>a6E EIyU6=}U>IaeH$5?e} eB m?9eq!De: e:)aW_@WX XW:W2W*WVbUBU*UUU`@P*QCZQ fi_@cVA@JQ"C?TK?2QӇ>:QbQb*ݞVZAX6W@ kh0@RQ:q(zqfz??BQa@ QBQPP49?PQQPA"QABeBi BiAm3=*BiAmkAqAqAuֺ="C}l2RCyC_@CIޙ)ޙ  -5:YV1y:m5)‘;֑iNmGI!iAQIYGu>ʿٺAgq,l?EAɫ ) IYM@yMqGTNmea in: $SNTTA,0.102303,,,,012846.03*49 I)-=M-O=Y-QU5>11a56E5 E9y=}=>IA M:EB$5? U:Eq EB U?9E!DE: E:)Er:myAdded new target pos. range: 130.680008 m, bearing: 134.260332 deg, deltaT: 4.494896 s, approachRate: -0.533938 m/s, LOS rate: 0.116798 deg/s, posRepo size: 4m ProNav: pos range: 130.680008 m, bearing: 134.260332 deg, approachRate: -0.533938 m/s, LOS rate: 0.116798 deg/s, cmd update: 0.350395 deg/s, cmd heading: 200.265689 deg, new cmd heading: 201.652407 deg. Wj_@WX XW:W2W*WVbUBU*UUU`@U0?BĸB BA_ >*BAM9AAA[`="C1RCCj_@C!!9U?iU?1IqG}>Qq, EAY}6@}6b @y}6:}6K=}6H* D??` ӌN??q?ࣝ?)~6@ ~6bo_;I~6Cɫ99)9 9I9Y}a@y}rG/$?kt~jth?1? D;)Iyjt?{Gz~jth? ?ףD; ¥ A)¥@I¥@i¥OAGAp=MP=Y?;QU>a7E Eym>}>I   :$5? %e B ?9 !D ; < ;) WU`_@WQXQ XQWY:WY2WY*WaVabUiBUq*UqUqU}2I?B=AB9 B9AE!>*BAAE!AAAAAm="CuT 2*C}LĚ=RCyC}`_@C 2:Yy59=@I!G=>  >9 I oGi O@ =   i;  E(Hq,EAɫyy)y yIyYh@ytGm=ma7E Ey}>I :E1$5? :NX B ?9!DR: :)s:W&`@WX  X W :W 2W *WVbUBU*UUU mj?BE zBA BAAMB>*BIAM`AQAQAUҏ="C]1*C]=RCYC]&`@Ca֡yIޝ=iޝ=G^>0q,EAY}N@}N @y}Nۋ}N=}NH]^?j7?@ ? yNui?[? ?)~N@ ~Nr`;I~NCɫyy)y }IyY@yqtGUҳ<MUQ=Y]|;QU]>YYae7Ee Eaym>}m>Iqu'$5?uL uB }?9u!Du: u:)qW N`@WX XW:W2W*WVbUBU*UUU?B"xB BAK>*BAQAAA\#="C1*Cqg=RCC N`@C M=M=9IA)A  -5:YW1yč:5I!G=r>dq,EA|8i|8Y}jY@}jݵ @y}j}j=}jH9O?`?hV^@.?`ǽ?~?)~jY@ ~jyr`;I~jCɫ髹) IY@ytG }@ }@ }@}©}}i}@} })}@I}@i}@ <MF=Y.;QU>a7E Eܥ>9ܡIܥpGiܥ@ܡܡܡܥb; ݥEy=}>I :$5? :!? B ?9!D^: :)t:Ww`@WX XW:W2W*WVbUBU *U U U  [?BkqtB BAU>*BA!AAA ="Cէ1*C$D=RCCw`@C?΅IGi>Bq,x EAY}:@}:9@y}:}:o=}:H`Rป`g??n?`?}ݽ?@?)~:@ ~:+ `;I~:Cɫ99)9 =IAY]@y]uuG=%=M=Q=YE2;QUE>AAaM7EM EIyU"=}U>IY]$5?]`3 ]B e?9]!D]k: ]w:)YW`@WX XW:W2W*WVbUBU*UUU`@BclB BAf>*BAAAAV="C 1*CX=RCC`@C IG5O>Iޥ@A)ޥ?A N2:YU1y:5lq,U#EAY}29!@}2@y}2e}2T=}2H` @?=IIaM7EM EQyUͣ=}]>IY]$5?]L' ]>B m?9]!D]Y: ]Ǻ:)YW `@W X  X W):W12W1*W1V1bU1BU9*U9U9U=`",@RMB*** querying acoustic contact ***PIPIBEeB BA%>*BA*AAA,="CV1*C*=RCC`@CFӅ׹IGf>ٱٱܽ>9ܹIܽ0rGiܽ@ܽ=ܹܽDܽK; ݽۗE)IIIiIM=M=M5Pq,.=EA||ɫyy)y yIyY@yvGZ****** received transponder code query ******F****** received ping request ******i]] ]­@)]@I]@i]@mL}MmH=YuQUu>qya}7E} Eyy}>Iȉ :ō#5? :ō ƍaB ?9ƍ!DǍ: ȍE:)ȍu:WG`@WX XW:W2W*WVbUBU*UUUI @BUeBQ BYA]>*BYA]uAYAaAe_q="Cmn/1*Cm=RCiCmG`@Cyy  `6:Y0Y1y:%5)˒;9QIiG|>Wq,WEAY}F&%@}F @y}Fڮ}Fi=}FH H|?#?Co?Ե?`N?@?)~F&%@ ~F'_;I~FCɫQQ)Y YIYY\@ywGxDUSBL response received:!U1,P EC1,000,00AF3,186,80,80,BD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 u=ME=Y";QU>)1a57E5 EAyM>}U>Iae#5?e eB ?9e"De< eA<)aW]a@WYXY XW:W2W*WVbUBU*UUU` @B-_B1 B1A5>*B1A56A1A9A=="CE1*CE=RCACEa@CIޝ=iޙqIIYG>q,4pEAY}>7(@}>-@y}>"ѭ}>s=}>H`@Π? ?*d ?`w? FC??)~>7(@ ~>lH_;I~>Cɫqq)q uIqY@yWxGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ]>9]CI]sGi]@]=YY]P; ]ޗE UM#yya7E EyĤ=}>Iș :ŝ#5? :ŝ5 ƝB ?9Ɲ"Dǝ; ȝ&;)ȝv:W@Ea@WX XW:W2W*WVbUyBU*UUU@BKUB  B A >*B A HA A A3="Ct0*C=RC9C=@Ea@CA IM>ss 2:YM1y:%5)Տ;]?΅Ia)a)I1GU>"q,ƊEA|i|Y}B1*@}BL@y}B}BL[=}BHþ :௧?@YG?+k?༵?Ѹ? ?)~B1*@ ~Bb_;I~@ɫqq)q qIqYu@yyGxDUSBL response received:!U1,R,084,000,00AC9,186,80,80,A7,FF Fpublishing direction and range info뽩ɰ.b>鰹 )'CIy(C|9ˮ?NZlٱ[=Mg=YչQU>a7E Ey=}>IY#5? B ?9"D: :)W5 ha@W1X1 X9W9:W92W9*W9VAbUABUA*UAUAUM l@PY*Q](CZQ];_@u-JQ]|9ˮ?NZl2Q]:QYbQ]NB+5UQ-[JW@ܲ[!@RQ]Oc.?f gc?BQ]O@ Q]JBQ]P]?9?PYP]Q]Q]tA"Q]PAB,FB BA9>*BANAAA.="C0*C=RCC ha@C! I!G=P>w(q,ŤEAY}~6,@}~8R@y}~席}~6=}~H`g r.2[?? ؅9p?r?{U??)~~6,@ ~~%[_;I~~Cɫ) IY%i@y%CzGDNmea in: $SNTTA,,,,,012850.48*5C -uV?I +?-r?- -94=))I)y-^I +?y&1Mb-X?-`- - A)-?@I)i-p A)- A%=M%*=Y-9QU->)1a57EU EaymA=}m>Iq }:un#5? :u uB ?9u2"Dup/; u;)uw:m}Added new target pos. range: 128.160004 m, bearing: 131.570849 deg, deltaT: 4.359173 s, approachRate: -0.578092 m/s, LOS rate: -0.616971 deg/s, posRepo size: 4m ProNav: pos range: 128.160004 m, bearing: 131.570849 deg, approachRate: -0.578092 m/s, LOS rate: -0.616971 deg/s, cmd update: -1.850913 deg/s, cmd heading: 201.794316 deg, new cmd heading: 201.973098 deg. WY`@WX XW:W2W*WVbU!BU!*U!U-`@U-?Iމ)މyy 1:YP1y':59@BtSB BA>*BA,AAA8="C1RCC Y`@C 9=<A9AIEPuGiEc@AAAEO; EߗE5 FӅ I G > D> eC.q,wEAimGI(i4N˿ٺLN-A-?95JAɫqq)q qIqYx@yUzGM(>M W>MtiM(@I MX@)M@IM@iM@];M]Y=YeQUe>aaam7Em Eiyu}u>Iy}Z#5?} }B ?9}@"D}': }b:)yW_@WX XW:W2W*WVbUBU*UUUE?B5B< BAm>*BAAAA/="C |2RCC_@C?΅ױIG>N5q,QEA||Y}6/@}6  @y}6Iz}6>}6H&?@? `Ϫ? )? ? t?)~6/@ ~6cM_;I~4ɫQQ)Q QIQY@yzGń<Ma=YJ;QU%>!!a%7E% E)y-N%>}->I15#5?5 5B E?95N"D5: 5߼:)1We^@WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU}*BAőAAAԿ="Cu$<3RCyC}^@CFӅ c K6:YDW1yY:5IGj>x;q,,EAY}2A1@}2 "@y}2!}2"|=}2H6&`T?C?7ƫ?`{? !?`c?)~2A1@ ~2D_;I~0ɫ99)9 =I9Y@y8|G9IDwGi@=PDP; m\=mߏm7=imp@i m-@)m?@Im-@imj@}=M}D=Yܦ;QU>a7E Ey=}>Iș :ŝ#5? :ŝ ƝB ?9Ɲ_"Dǝ: ȝA:)ȝx:W^@WX XW:W2W*WVbUBU*UUU?B L6B BA>*BA;䒽AAAA="C4RCC^@C յ=Ե=֙yIޙiޝ=G^>HBq, EAY}:s3@}:$@y}:,}:!=}:H?m?@? ?-??)~:s3@ ~:&"_;I~8ɫ99)9 9I9Y}@y}{G%>i%=ģMI=Y`;QU>a7E Ey=}>IK#5? B ?9o"D; ;)WE]@WiXi XqWq:Wy2W*WVbUBU*UUU\@B*>B BA>*BAbAAA="C5RCC]@CZ z ;:Yy5"= I G >dIq,%EAY}2 6@}2&&@y}2^}2=}2H@FT@h?8?IQ ٢?_q?`?`g?)~2 6@ ~2?_;I~2Cɫ99)9 =I9Y}@y}A|Gd;O?{GztT㥛 ?>ף =)Iy~jt?ʡEMb??= •Q A)‘I•@i•AGAݵ<MI=Yu;QU>a7E Ey%=}>I :#5? :j  B ?9~"D: :)y:WW\@WX XW:W2W*WVbU BU *U UU@@B=t%BA BAAEl>*BAAEuAIAIAM _="CU5RCQCUW\@CYm2g=yQIiG|>9IpxGi@=A; חE|2Oq,?EAɫ髙) IY@y}Gp=ɮ===xi=zi==@9 =)= @I=­@i=­@MY=MMQ=YMQUU>QQa]7E] EYye}e>Iimto#5?m m&B u?9m"Dm: m:)iWӈ[@WX XW:W2W*WVbUBU*UUU@@R5B*** querying acoustic contact ***P1P1B]*BY BYA]>*BYAe␽AaAaAe="Cm6RCCӈ[@Cх<ԑԑIޙ)ޝAA ] A:Yy5);9q}?iyQIYGu>nVq,NYEAY}:;:@}:V*@y}:P}:L=}:H`Nܿ?@z?`N#?@5??৯?)~:;:@ ~:2*_;I~:Cɫ99)9 =I9Y}d@y}}GZ****** received transponder code query ******F****** received ping request ******YYa]7E]# Eaye%>}e>Ii :mo^#5? :m mBB ?9m"Dma; m;)mz:WGZ@WX XW:W2W*WVbUBU*UUQUU @BA$B BA->*BA$AAAx="Coq7RCCGZ@C) i I Iq G >D\q,6tsEAY}2EA<@}2\,@y}2 }2>}2HDvۿ6U?@9?@I? @? V ?ඩ?)~2EA<@ ~2h_;I~2Cɫ99)9 9I9Y]@y]~GexDUSBL response received:!U1,P 084,000,00AC9,186,80,80,A7,FF eCommand AckmBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 9IyGi@= ; E)5CI5Ci15=5=555 @ @ @}©}}i}@} y)}@I}i}-@<M%=Y:;QU%>IQaU7EU+ EYye=}e>IimH#5?m mcB ?9m"Dm3< mc3<)iWE/Y@WIXI XIWQ:WQ2Wy*WVbUBU*UU t U:YX1y/:}5)ͭ;UK@B 0B BAB>*BA,AAA="C8RCC/Y@C ?΅ס I G >0cq,aEAY}2C>@}2^.@y}2}25}>}2H/ Q6ٿ@ ??#"?α?@??)~2C>@ ~2#_;I~0ɫ11)1 1I1Yu@yu~Gyy%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ,=Mv=YI;QU? a7E0 E!ym4=}m>Iq :ur8#5? :u؜ u|B ?9u"Dua< u<)u{:WNX@WX XW:W!2W!*W!V!bU!BU)*U)U)U-@B"B BAo>*BA؊AAAE="CgD9RCCNX@C =I)סIG>Wiq,Q0EAY}FM@@}FTi0@y}F{񊽙}Fz>}FH] 7Z׿`W? }?)8@?`Z??`Ŭ?)~FM@@ ~F_;I~FCɫQY)Y YIYY@y~GxDUSBL response received:!U1,R,2A5,000,00A9C,189,80,80,A9,FF Fpublishing direction and range infoF>ɰ~^>鰝7> ))CIyBLTq?ٱ=i=oʡ?Mb?{Gzt?>< ף;)IyS?J +:v??H< ; A)@I?@i A(A%3<M%F=Y-;QU->11a57E57 E1y=<=}=>IAE'#5?E; EB e?9E"DE; Eի;)AWX@WX XW!:WI2WQ*WYVYbUBU*UUU`}@P*QBZQUvp Z@;7xQJQLTq?2QF>:QbQQZ&Y@dzRQ~*Mh?ZFBQ5 @ QBQP_9?P?9?PQQ@"QtABKB BA>*BAAAAx-="C:RCCX@C# v 6:YY1y:59@ܱ9ܱIܵzGiܵ@ܵ=ܱܱܵ; ݵE-FӅ I G- >"Apq,0EAɫ) IYe~@ymHGTNmea in: $SNTTA,0.096218,,,,012854.91*46 5 5 55>55ji5̴@5 5K@)5@I5K@i1E<MEH=YMQUM>IQaU7EU= EQy]}]>Iaeu#5?e eB m?9e"Deo: e#:)am}Added new target pos. range: 125.459999 m, bearing: 124.380545 deg, deltaT: 4.534047 s, approachRate: -0.595496 m/s, LOS rate: -1.585847 deg/s, posRepo size: 4m ProNav: pos range: 125.459999 m, bearing: 124.380545 deg, approachRate: -0.595496 m/s, LOS rate: -1.585847 deg/s, cmd update: -4.757541 deg/s, cmd heading: 193.456514 deg, new cmd heading: 192.738347 deg. WV@WX XW:W2W*WVbUBU*UUp]_@U`N ?B B BA>*BAE AAA_="C%;RC!C%V@C)։iIqG>hvq,*EAY}2_D@}2B{4@y}2~ }29S=}2H0K ӿ?/?8@? ް??`?)~2_D@ ~2]_;I~2Cɫ99)9 9I9Y>@yGU=M][=Y];QU]>aaae7EeC Eaym.>}m>Iq }:u #5? }:u uB ?9u"Du: u:)u|:W T@WX XW:W2W*WVbUBU*UUU CU?BB BA>*BAWAAA`="C'>RCC T@C ?i ?IGH>Iޙ)ޙ|  =:YW1yč:45|q,EAY}:.?F@}:Z6@y}:}:[m=}:H6@ѿ?qg?@}Ӹ? ~?ʾ?d?)~:.?F@ ~:f`;I~8ɫ99)9 9IAI9IIM{GiM@IIIM; M}EY}@y}GIA)EAQUjA @ @ @Ý©ÝÝiÝ3@Ý ĝ)ĝ@Iĝiĝ@y=ME=Yh;QU>a7EJ EyR=}>Il"5? B ?9"D: :)WQ@WX XW:W2W*WVbUBU *U U U M?B=yB9 B9A=?*B9A=tAAAAAEi="CMa?RCICMQ@CQi}nGIi)UϿٺQUAa!I)GER>{zq,EAY}2G@}28@y}2-z}26=}2H@u`3пrw?S?`z a?@,?@ZS?@ֵ?)~2G@ ~2% `;I~2CɫYY)Y YIYY@yG5/M=B=YM-A;QUU>Yaae7EmQ Eyy=}>Iȑ :ŕ"5? :ŕ ƕB ?9ƕ #DǕ; ȕ;;)ȕ}:WupO@WyXy XyWy:W2W*WVbUBU*UUUM?B57 B9 B9A=?*B9A=tAAAIAM}="CmBRCm>]CupO@Cq9 m ^8:YU1y:5ֵ?΅׉IG>q,r(EAY}2I@}2o9@y}2C{}2=}2Hz Ϳ???]?y?@?)~2I@ ~2_;I~2CɫII)I IIIY}@y} G8Not Powering down - fast GPS )Iiiɶ )Iiɷ}Cl?V-?㥛 ?}d>}< }=)yIyy}X9v?MbI +?}?}}9< }A)}@I} @i}Ay}@<=MU=Y%;QU>a7EW Ey-ݕ=}5>IAE"5?E } E B ?9E#DE8v< Evy<)AWLHM@WX XW:W2W*WVbUBU*UUU& @B4B! B!A% ?*B!A-ᑉA)A)A-="C5"DRC5V6C5LHM@C9=[IA)EhAޙiޝ=IG%n>E>9AIE|GiEk@AAAE; EtEq,SBEAɫqy)y }IyYj@yӀGi=)%> %= m m mu^:>uhu,>iup@u uj@)u@Iu@iuj@}ݼML=YQU>a7E] Ey}>Iș :ŝʵ"5? :ŝx ƝB ?9Ɲ+#Dǝ: ȝ:)ȝ~:WnK@WX XW:W2W*WVbUBU*UUU@B  ׼B  B A?*BAXӈAAAȭ="CUOFRCgCnK@C!֭yayIG>>o  <:YW1yč:5)<;9q,(\EA|i|Y}6NM@}6ұ=@y}6Ge}6l=}6H krſ?`d?@^\偷?@+? h? S?)~6NM@ ~6B_;I~6Cɫ99)9 9I9Y}@y}0G鮅a=ɮ=zJ=MZ=Y aa7Ec Ey$>}>IȹŽ"5?Žt ƽ2B ?9ƽ:#Dǽ: Ƚ:)ȹWpI@WX XW:W2W*WVbUBU*UUU@R B*** querying acoustic contact ***P P B>߼B BA ?*BAAAAN="CGRCnCpI@C ]IGE>q,vEAY}6O@}6t?@y}6yY}6x=}6H`̞ q?@q? z?E:? ?3?)~6O@ ~6oF_;I~6C>9I}Gi@=QD; ɫYY)Y YIYY}@y}GZ****** received transponder code query ******F****** received ping request ******a7Ej Eyu=}>I  5: z"5? ]: p HB e?9 L#D "Z< 6c<) :WF@WX XW:W2W*WVbUBU*UUU@ @BuLBq BqAu?*ByA} چAyAyA}="C[G@RC =CF@Cԙԙe3Jm?im?9IIGmW> } l@:YWU1y:k5)y;ȣq,ޏEAY}F~Q@}FA@y}FO}F=}FH Fs Ac? ּ?ӷ??@Yi??)~F~Q@ ~F'_;I~FCɫy髁) IY|@y{G-xDUSBL response received:!U1,P 2A5,000,00A9C,189,80,80,A9,FF 5Command Ack=BRequesting micromodem ping code 2i99IQ)UAuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %#~j?Q롿%?%̼ %\)!I!y%/$?ˡE~jt?% ?%什%D< %rA)!I!i%=A!%@YYeTMe=Ym؝;QUm>iqau7Eur Eqy}6{=}}>IȁŅ2u"5?Ņl ƅYB ?9ƅ^#DDž: ȅ{:)ȁWaED@WX XW:W2W*W!V!bU)BU1*UiUiUߺ @B}B BAV?*BAFAAA="CaED@RC22=CaED@C֭ a Iq G >q,#EAY}>nS@}>C@y}>5F}>=}>H``]7y??^S?Ψ?ĺ?k?)~>nS@ ~>s_;I~>Cɫ99)9 =I9Y}@y}GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B F<M=YH;QU ?!a-7E5w EAyU=}U?Iimg"5?mj mbB ?9mi#Dmm: m:)iWB@WX XW:W2W*WVbUBU *U U U N@B=ÁB9 B9A=?*B9AEAAAAAEL="CM[C@RCMc=CMB@CQօO)ڽaIqG\>=<9~CI~Gi@={; mE z >:YDW1yY:5);)݉I݉i݉ݍ=݉ݍ!5 ۰q,ĖEAɫ髙) IY2@yGxDUSBL response received:!U1,R,425,000,00A77,189,80,80,B9,FF Fpublishing direction and range infomɰv[> )9CIyzB|[a7E} Ey}>I %:U"5? -:g nB -?9w#D: :):WmL@@WqXq XqWq:Wq2Wq*WyVybUyBUy*UyUU z@P*QzBZQƦ;R@*DXJQ|[ ଽI ) fAIGI>ޙiޙq,pEAY}6:V@}6)VF@y}6;7}6Z=}6Hbr?@Hƥ? ?? ?`H?)~6:V@ ~6{^;I~6CɫAA)A MIIY@yGmDNmea in: $SNTTA,,,,,012859.40*5D m=im=nMF=Y/a7E Ey=}>IȩŭC"5?ŭoe ƭzB ?9ƭ#Dǭ: ȭr:)ȩm5}Added new target pos. range: 123.240005 m, bearing: 122.408369 deg, deltaT: 4.397248 s, approachRate: -0.504860 m/s, LOS rate: -0.448502 deg/s, posRepo size: 4mE ProNav: pos range: 123.240005 m, bearing: 122.408369 deg, approachRate: -0.504860 m/s, LOS rate: -0.448502 deg/s, cmd update: -1.345507 deg/s, cmd heading: 172.412932 deg, new cmd heading: 170.553794 deg. WE?@WIXI XIWI:Wi2W*WVbUBU*UU@\^@U`&?BйB BAm?*BA-A A A ="CH:?@RCR'>C?@C IGl> } Y>:Y]1y:k59%@.q,IKEAY}:eEW@}:`G@y}:1}:*=}:H`z  D??^,?`3.?@s??)~:eEW@ ~:^;I~8T9TIVGiVS@TTTVs; ViEɫ99)9 9I9Y}@y}HG }   @ @ @Å©ÅÅiÅ@Å ą)ą @Iąią@O=MG=Y_;QU>a7E Ey "=}>I :1"5? :/c B ?9#D: :):Wc?@WX XW:W2W*W!V!bU!BU!*U!U)U-K?B禼B BA?*BAAAAb="CR+?@*CΈ=RC/>C c?@C ~4סIGA>q,&EAY} cWX@} rH@y} {-} 7X=} HAෳy?໙?h3?`䶥?m?-?)~ cWX@ ~  _;I~ ɫ!!)) )I1Y@y-GJ +?y&1{Gz>` ף)Iyx&?Q롿L7A`?7 ?\+= =A) @I @iA@ FM7=Y;QU>a7E E!y%=}%>I)-"5?-b -B =?9-#D-: -߼:))W]i>@WYXY XYWY:Wa2Wa*WaVabUiBUi*UiUiUu .?BiB BA]?*BAAAAI="Ci>@*C=RCC>Ci>@C֥׭?i׭?yIGc>u. uuun u}7:YuW1yuč:u45;Aq,+EAY}2]Y@}2yI@y}2{,}2t=}2Hhf?WL?@^Iz5?`K?[? ?)~2]Y@ ~2i_;I~2CɫYY)Y YIYY@yoGI)=M\=Y%D$:QU%>11a57E= E9y=.=}E>IA U:E "5? U:Efa EB U?9E#DE: E7:)E:W}(>@WyXy XyWy:Wy2W*WVbUBU*UUU@t?BRB BA?*BA2 AAA ="C(>@RCX>C(>@C֥ܩ9ܩIܭGiܭ@ܩܩܩܭx; ݭlE= $>= jCi nGI i 2̿ٺ :A(q,DEAY}6;Z@}6IWJ@y}6 -}6B=}6H@ԫ?@ޤ?@q`z??@??m?)~6;Z@ ~6^;I~6CɫYY)Y ]IYY@yjG u u u u@ u@ u@qqqiu@q q)u@Iu@iu@CMS=YWQU>a7E Ey=}>Iȡť!5?ť` ƥB ?9ƥ#Dǥ: ȥM:)ȡW-=@W1X1 X1W1:W12W1*W9V9bU9BU9*U9UAUEJ @BtB BA}?*BA~AAA="C=@RCj>C=@C=סIGD>u uuuu u;J:YuX1yu/:u5)u;9}gTq,4^EAY}6?Z@}6J@y}60}6Ȣ=}6H2v?ؤ?ؖ)A??N??)~6?Z@ ~6^;I~6Cɫ99)9 9I9Yu@y}ӂGG\=MS=YQU>a7E E y<}>I9 E:=.!5? E:=T` =B E?9=#D=j: =:)=:Wm_<@WiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUyU@BlB BA"?*BA7"|AAA(="C_<@RC:x>C_<@C >>֍ =Iב)וhAaIqG>ޙiޝ=X}q,`xEA&>9$I&RGi&@&=$$&; &rEY}ZZ@}Z'J@y}Z 2}ZĈ=}ZHI?S ?, @:?`???`q?)~ZZ@ ~Z~^;I~ZCɫ髙) IY<@yGp=ɮa==i=)m= m=   ýd>ýI >ý=iý @ý Ľ7@)Ľ@IĽ9@iĽ-@M>=Y&cQU>a7E Ey:}>I!5?_ B ?9#D: :)WZ<@WX XW:W2W*W!V!bU!BU!*U!U)U-{@R5B*** querying acoustic contact ***P1P1B]BY BYA]W?*BYAeyAaAaAe="CmZ<@RCm>CmZ<@CqM8e> IG-->  H:Yy35);ohq,|EAY}uhZ@}uJ@y}uLE1}u*0=}uH 9?8X?5@?@&?`? ?)~uhZ@ ~u{^;I~uCɫqq)q uIqY@yȂGZ****** received transponder code query ******F****** received ping request ******a8E EyHP}>Iȉō!5?ō^ ƍB ?9ƍ#DǍQ: ȍ:)ȉWۦ;@WX XW:W2W*WV bU BU *U U U8 @B}NBy ByA};"?*BAwAAAs="Cۦ;@RCΦ>Cۦ;@C`=(>סIG>q,IEAY}6ϸY@}6TI@y}6p0}6o(=}6H*?@ḁ?5OO?-? j?`w?)~6ϸY@ ~6D^;I~6Cɫ) IY@y G=xDUSBL response received:!U1,P 425,000,00A77,189,80,80,B9,FF =Command AckEBRequesting micromodem ping code 2iAAMNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Ýҽ?ÝÝף;iÝQ@Ù ĝ @)ĝ@Iĝ@iĝԸ@E<MM7=YUE9QUU>YYa]8E] Eyɼ}>Iȉ :ō!5? :ōN] ƍB ?9ƍ#DǍk: ȍA:)ȍ:Wm:@WiQ9QIUGiU@U=QQU; UuEXq XW:W2W*WVbUIޙ)ޝ@ABU*UUU ? @  E>:YW1yč:5);B-B) BQAU%?*BQAUtAQAQAU="C]:@RCe@>Ce:@Caԑԑm _>>! I1 GM >_xq,*EAɫ髡) IY@yӂGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Ii)mAyyM=YQU ?a8E Ey}?Ie!5?a\ B ?9$D: 8:)Wz:@WX XW:W2W*WVbU BU *U U U @B=hsB9 B9A="?*B9AE:sAAAAAE="Cz:@RC>Cz:@CC[>יIGA>?q,EA||Y}R X@}R\)H@y}Rw<,}R}RH(I M?Ɍ?Z/ ?rW?)~R X@ ~Rח_;I~RCɫ髁) IY@yGxDUSBL response received:!U1,R,4B3,000,00A5A,18A,80,80,C8,FF Fpublishing direction and range info[`ɰY>鰽> )HCIyBS?' -ٱ\W<MX=Y9;QU>a8E Ey}>I  : !5? : Z )B ?9 $D u< <) :W9@WX XW:W2W*WV!bU!BU!*U!U!U-`@PY*Q]BZQ]62JC9@C& >ׁIG=>  ?:YU1y:X59%@E >9A IE GiE ;@E =A A E }; E nE)Ջ~CIՋ~CiыՋ=oq,EA 5Y}6V@}6 G@y}6+}6(}6H醡_?)?*`ְ x?r~?)~6V@ ~6=`;I~6Cɫ髁) IY@yG%TNmea in: $SNTTA,0.102616,,,,012903.83*40 @ @ @Ý©ÝÝiÝ3@Ý ĝK@)ĝIĝiĝK@% M?=YKq9QU>a8E Ey%}>IAt!5?Y 9B ?9#$D; ];)mm}Added new target pos. range: 121.500000 m, bearing: 118.979997 deg, deltaT: 4.432687 s, approachRate: -0.392540 m/s, LOS rate: -0.773430 deg/s, posRepo size: 4m ProNav: pos range: 121.500000 m, bearing: 118.979997 deg, approachRate: -0.392540 m/s, LOS rate: -0.773430 deg/s, cmd update: -2.320290 deg/s, cmd heading: 166.449004 deg, new cmd heading: 165.893210 deg. W8@WX XW:W2W*WVbUBU*UU`^@U?BnB BA#?*BA>oA!A!A%{ ="CM8@RCMzz>CM8@CQ e>e>ֽ>בIG>2q,XEAY}S@}C@y}*21}}H Da??ϏN¿$?`?)~S@ ~_a;I~Cɫii)i iIiY@yӂGi=(\?Zd;OˡE?>j '>)Iy\(\? rh??̼C = ­?@)­^AI­V@i­A@)> =M9=Y\DQU>a8E Eyf}>I :*^!5? :bW VB ?94$D : :):W7@WX XW:W2W!*W!V!bU!BU)*U)U)U- ?BU0fBY BYA]"?*BAmAAAX ="C7@RCZ>C7@Cֽ:y>qIGc>e eee eB:YeW1yeč:eX5 q,c-EAɫ) IYy   T>-2?i @ @)I@i@YQU>a8E Ey}>IaK!5?U nB ?9B$D : D:)W%f6@W!X! X!W!:W)2W*WVbUBU*UUU?BX?KB BA*BA%~ kA!A)A-1 ="C-f6@RC50-m>C5f6@C1iA|>9ILGi/@=PDDu; hE9I!G=r>q,nGEAY}:Q@}:A@y}:74}:/}:H Uǘ?? CO@Aƿ?ſǀ?)~:Q@ ~:ca;I~8ɫ99)9 =I9Y}@y}܂G=;M=AAaE8EM EIyM"}U>IY]8!5?]T ]B e?9]Q$DY ]Y:)YW5@WX XW:W2W*WVbUBU*UUUrw?B %B BAF#?*BA%iAAA ="C5@RC]>C5@CiA Eo>IG%>Iޙ)ޝAAm mmm mLA:Ym0Y1ym:mj5?q,GaEAY}2O@}2S?@y}2ay4}2HD}2H@¿O? ?YȿM?Vȿrb?)~2O@ ~2Wa;I~2Cɫ99)9 9I9Y}@y}GI)A;M%L=Y%h$9QU%>))a-8E- E9yEh}U>Iȹ :Ž<#!5? :ŽQ ƽB ?9ƽa$Dǽ: Ƚ?:)Ƚ:W4@WX XW:W2W*WVbU!BU!*U!U!U-@BSB BA#?*BAfAAAZ ="C4@RCvS>C4@Cֽ&lm>IG5q> o>9 I Gi @ = ; mEq,#{EA||Y}2N@}2)>@y}23}2xS}2HŁ@ ]ƿ$%~?P?yʿa?`Aʿ@I?)~2N@ ~2b;I~2Cɫ99)9 9I9Y]a@y]CGi5mGIIiaʿٺA,>>i@ @)I @i@uy!=Mu7=YuE:QU}>yya}8E Ey}>IO !5?N B ?9r$DQ: :)Wo3@WX XW:W2W*WVbUBU*UUU `@RB*** querying acoustic contact ***PPB=lBA BAAE{(?*BAAEpcAIAIAU ="C]o3@RCe*VL>Ceo3@Ca Յ=ԅ=_ 1:YW1yč:5);9m V>Iq )q ! II Gm >K%q, EAY} *J@} :@y} .,} e} H{-̿"=S?[@y̿#?m̿+?)~ *J@ ~ _;I~ Cɫ) IY5@y5G=Z****** received transponder code query ******=F****** received ping request ******=9< ף)IyCl?Q롿~jt?d?\< @)jAI@iAf@MB=Y;QU>a8E E y } >I : 5? :J B %?9$D: a:):WE~2@WIXI XIWI:WI2WI*WQVQbUQBUQ*UQUYU]@=@BrҺB BA=%?*B A dbA A A { ="C~2@RCڑ*>C~2@C-R> IG5>.+q,.EAY}E=H@}E9@y}E)}E_f}EHϿnp͐?@'̿P3?̿@)?)~E=H@ ~EZ9_;I~Aɫ ) IYM@yUG]xDUSBL response received:!U1,P 4B3,000,00A5A,18A,80,80,C8,FF ]Command Ack]BRequesting micromodem ping code 2iYYe=ie=mNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )í= í=Í;_>Í Í>iÍ @É č @)ĉIč@ič@V <M==Y:QU>))a-8E5 EYye5n}m>Iq܅i>9܅}CI܅Gi܅t@܅ =܁܅D܅; ݅kEu 5?udF uB ?9u$Du ; u;)qWN1@WX XW:W2W*WVbUBU*UUU . @Be@MBi BiAm*&?*BiAm_AiAiAu ="C}N1@RC}h'>C}N1@Cy֥7@>׉IG>x2q,$EAY}FlfG@}F7@y}F%{'}FeTb}FH@.@(wѿ}R?` ,e̿`?@ ̿2?)~FlfG@ ~F_;I~FCɫYY)Y YIYYw@yQGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B UT=MU~=Y]":QU] ?Yaae8Ee Eaym⦽}m?I : 5? :B B ?9$D': :):W=|0@WIXI XQWQ:WQ2WQ*WQVQbUYBUY*UYUYUe  @BںB BA-)?*BA=^AAA* ="C|0@RCR>C|0@C֥zl+>ׁIG?>  #A:YxZ1yq:j59@n@8q,,EAY}N!E@}N5@y}N+'}ND^}NHtҿҙ@D?J˿?y˿@8?)~N!E@ ~N_;I~NCɫqq)y }IyY@ycGxDUSBL response received:!U1,R,30C,000,00A3F,189,80,80,B2,FF Fpublishing direction and range info@.ɰV>鰽7> )2CIyBQ.a?h/d#ٱ<MQ=YJ9QU>a8E Ey]x}>I 5?> B ?9$D*: :)W5/@W1X1 X9W9:W92W9*W9V9bUABUA*UAUAUM@PY*Q]BZQ]KQ=JW@CYRJQ]Q.a?h/d#2Q]@.:QYbQ] ;&'PաcX@nWu 4@RQ]Gc}c ?؈|i?BQ] @ Q]BQ]qP]V9?P]q9?P]Q]Q]A"Q]CABB BA*?*BA6\AAA 7 ="C/@RCk>>C/@Cօh*>AIQG}8>܅ a>9܅ {CI܅ xGi܅ @܅ =܅ QD܁ ܅ ; ݅ qEw>q,ޫEAY}JyD@}JO4@y}J]$}J\}JHY/Կɞ`d? 3˿P?Y˿@\=i@ Ը@)9@IԸ@i9@i=M2=YO:QU>a8E EyD}>Iș :ŝ 5? :ŝ8 Ɲ*B ?9Ɲ$Dǝ: ȝ*:)ȝ:myAdded new target pos. range: 119.880005 m, bearing: 124.369057 deg, deltaT: 4.007937 s, approachRate: -0.404197 m/s, LOS rate: 1.344597 deg/s, posRepo size: 4m ProNav: pos range: 119.880005 m, bearing: 124.369057 deg, approachRate: -0.404197 m/s, LOS rate: 1.344597 deg/s, cmd update: 4.033791 deg/s, cmd heading: 157.140065 deg, new cmd heading: 156.073224 deg. WN1@WX XW:W2W*WVbUBU*UUR]@U?B-B) B1A50?*B1A5YA1A1A54 ="C=[0@RCE=CEN1@CAE>I G-N><  8:Yy5);9OEq,AFEAɫ髹) IY@yGL7A`?I +?a8E E!y%}->I15{ 5?5i5 59B =?95$D5: 5׾:)1W]V3@WYXa XaWa:Wa2Wa*WiVibUiBUi*UqUqUu "?BB BA,?*BAWAAAQH ="C1@RCB=CV3@Cֽ->יIGb>|Kq,^.0EAY}RA@}R 1@y}R}R0vO}RH@x\ֿ@,`? 0=@ɿY?`ɿR?)~RA@ ~Rޭ^;I~RCɫ髑) IYN@yՃGÅ>ÅÅq=iÅ@Á ą@)ą1@Ią@ią o@<MO=Y;QU>a8E EyuԽ}>I 5?Q1 HB ?9$Df: )WX5@WX XW:W2W*W!V!bU!BU!*U)U)U-`?BUrBQ BYA]/?*BYA]EUAYAYA]-="Ce4@RCm<CmX5@Ci֥>-X>9-zCI-Gi-h@-=)-D-; -lE)ݽ}CIݽ}CiݽCݽ=ݽ=ݽl6YIiG8>ޑiޕ=[ { ;:Y0Y1y:5)ܖ;aRq,IEAY}2`@@}20@y}2J}27K}2H}׿@=oH?< 8ɿw? ENɿ@X?)~2`@@ ~2^;I~0ɫ99)9 =I9Y@y0G=iI%=)%=)-= -=={@=M=T=Y=R;QUE>AAaE8EE EIyM?}M>IQ ]:UJr 5? e:U- UWB e?9U$DU: U:)U:W76@WX XW:W2W*WVbUBU*UUU?B@B BA4?*BA SAAAe="C6@RCLAC76@C2=׉IG>vXq,cEA|i|Y}>?@}>P/@y}>h}>H}>H5zؿ@ {?`lҳȿ ,? EȿJ^?)~>?@ ~>+^;I~>CɫYY)Y ]IYYyY5o|;QU=>99a=8E=% EAyE}M>IIM^ 5?M( MfB ]?9M$DM; M~ ;)IWO8@WX XW:W2W*WVbUBU*UUU7@B)B BA*BAkPAAA="CO8@RCGCO8@C=IG-N>u  '=:Y[1yH:j59@- S>9- yCI- Gi- @- =) - D- ; - hE^q,}EAY}6>@}6p/@y}6gM}6)B}6H b,ٿЦ>?`ǿ?`,ȿg?)~6>@ ~6^;I~6Cɫ99)9 =I9Y}U@y}vG->-r->i-@) -@)-I-@i-@}<M}a8E, Ey}>Iș :ŝJ 5? :ŝ# ƝuB ?9Ɲ%DǝI: ȝw:)ȝ:W:@WX XW:W2W*WVbUBU*UUUU@B8ZB  B A 8?*B A=INAAA5="C:@RC䥽C:@C!Mp= IG-->Peq,EAY}6@}6.@y}6}6;}6H D@ٿ@^[?N@ƿ?Nǿr?)~6@ ~6)^;I~6Cɫ)1)1 5I1Ym@yuGIy)yIy)}A 鿉Q?ˡE~jt??' <)Iy"~?99a=8E=2 EAyM\}M>IQU#9 5?Ud ]tI UB ]?9U%DU: UB:)QW}P<@WX XW:W2W*WV bU BU *U UU4@RB*** querying acoustic contact ***PPB=9Ba BaAe9?*BaAeKAiAiAmi="CuP<@RCu&CuP<@Cq}l=9IAGe4>|  =:YW1yč:!5kq,iEAY}2 >@}2&.@y}2}2V0}2H@3 ڿ`*`?@ͶfſoX?ſJ?)~2 >@ ~2^;I~2Cɫ99)9 =I9Y@yGZ****** received transponder code query ******F****** received ping request ******yya}8E}9 Ey[}>Iȉ :ō& 5? :ō ƍB ?9ƍ,%DǍ: ȍ:)ȍ:W=*>@WX XW:W2W*WVbUBU*UUU @B@DŽ:B BA:?*BAC\IAAA="C=*>@RC C=*>@C9xCI@Gi[@=RD; nE;סIGA>mD>meCiNmGIi%vǿٺ!%׸Ajrq,9CEAɫ髙) IY@y߄Ga=ɮp=xDUSBL response received:!U1,P 30C,000,00A3F,189,80,80,B2,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 P<ME=YQU>19a=8EE@ Eqy}}>I   5?  B m?9 <%D PB< A<) W%U@@WX XW:W!2WA*WIVIbUIBUQ*UQUQU] @B 6B BAm=?*BA%qFA!A!A%J9="C-%U@@RC-'C-%U@@C1ޡiޥ=?  BM:Yy5= ?I!G=>xq,CEAY}:>@}:D.@y}:ﺼ}:[}:H@W2ڿ奢'?@z@{w]?T ?)~:>@ ~: _;I~:Cɫ99)9 9I9Y}@y}؄GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i=I}4=)}4=)Å= Å>4_MM=Ya8EF Eyں}>I : 5? : B ?9J%D{: :):W%A@W!X! X!W!:W!2W)*W)V)bUIBUQ*UQUQUUI@Bp<B BA=?*BAvDAAAd="CA@RC#!<CA@Cm CIGj> R>9 I rGi @ = ; pE,q,EAY}>5>@}>mQ.@y}>}>}>H=<ٿ`?@^ `?` q?)~>5>@ ~>^;I~>CɫQY)Y YIYY@y:GxDUSBL response received:!U1,R,293,000,00A17,189,80,80,AA,FF Fpublishing direction and range info8ɰS>鰙 )*CIyB*xqG?%gٱ       hq? ;= hi @  @) c@I @i @L=MR=YX!!a%8E%L E)y-<}->I155?5 5B E?95X%D5: 5:)1W%gC@W!X! X!W!:W!2W)*WIVQbUQBUQ*UQUQU]`@Pa*QeBZQesULX@+OJQe*xqG?%g2Qe8:QabQeUC2 P0~X@s6"@RQei>|RG>A?iݜ?BQeN @ QeBQeaPeW9?PeV9?PeQeQeK|A"QeAB;B BAB?*BAAAAA="C gC@RC ,PCgC@C׹IGE>  I:Yy45)e;9q,EAɫ) IYUc@yUGTNmea in: $SNTTA,0.083366,,,,012912.30*42 }~jt?ˡEy&1|?}$?y }`;)yIyy}!rh?Q?}l'?}}< }@)} AI} @i}Q@y}@TM5=YQU>a8ES Ey}>Iȱŵk5?ŵp ƵB ?9Ƶk%Dǵ: ȵ :)ȱm}Added new target pos. range: 117.480003 m, bearing: 123.230355 deg, deltaT: 4.478060 s, approachRate: -0.535947 m/s, LOS rate: -0.254285 deg/s, posRepo size: 4m ProNav: pos range: 117.480003 m, bearing: 123.230355 deg, approachRate: -0.535947 m/s, LOS rate: -0.254285 deg/s, cmd update: -0.762854 deg/s, cmd heading: 175.186464 deg, new cmd heading: 176.914798 deg. WQC@WX XW :W 2W *W VbUBU*UU`^]@UI?BE;B BA@?*BAT?AAA:="C&D@*Cyx=RCHRCQC@C役׹IGf>q,2EAY}2n%?@}2@/@y}2AD}2\x}2H _nkٿ`-?@^?@'[?)~2n%?@ ~22?_;I~2Cɫ99)9 9I9Y}g@y}GI) u=utuI iu=@q q)u`]@Iu @iuԸ@d:M]=YƜa8EY Ey<"=}>Iȡ :ť5? :ť ƥ B ?9ƥz%Dǥ: ȥ:)ȥ:WQC@WX XW:W2W*WVbUBU*UUUS?Bh<B BA@?*BA=AAA="C%NC@RC%8C-QC@C)-uP>9uwCIqiqu=qqu; uzEIG-,>9  ^8:YY1y:);|q,LEAY}2@@}2/0@y}2}2x}2HFBؿo@?T p?@(~j?)~2@@ ~2'_;I~2Cɫ99)9 =IAYEP@yMG(=MT=Y;QU>a8E_ E y =} >Iĵ5? B %?9%D: ׾:)WEHB@WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQU]?BX$&<B BAG?*BA:AAAҼ="CHB@RC5%CHB@C9IG'>'q,efEAY}6AA@}6H]1@y}6hӻ}6w:}6H(׿w?`(?TVNdzw?@.T??)~6AA@ ~6!`;I~6Cɫ99)9 =I9Y @yG5ŪM=F=Y=AAaE8EEf EIyM 7=}M>IQ ]:U5? ]:Uu U#B e?9U%DUA: U:)U:WZSB@WX XW:W2W*WVbUBU*UUU@wm?B<B BAE?*BA8AAA)="CZSB@*C=RCwCZSB@CzI<IGE>D ~~> b:YT1y@:a 69@m N>9i Im @Gim [@i i m Dm ; m }E)xCIxCi==r6q,AEAY}:pB@}:2@y}: }:=}:H pտ@ο?l?  g?a?V?`?)~:pB@ ~:o`;I~:Cɫ99)9 9I9Y}E@y}G=i=I R=) =)> =] =] 0=]Ti]@Y ] @)]I]@i]@m[<MmG=Ymqqau8E}l Eyy}d]=}>IȁŅ5?Ņ ƅ.B ?9ƅ%DDžm: ȅ":)ȁWA@WX XW:W2W*WVbUBU*UUU?B v<B BAG?*BAb5AAAc="CA@*C=RC \C A@C  oE-IG$>9q,CEAɫyy)y }IyY@y܅GtV?Mb`Q롿? \)Iy&1?S㥫V-?0?/]<  @)@Ii@(@<MB=YQU>a8Es Ey}>I  : u5? :  :B ?9 %D : :) :W=A@W9X9 X9W9:W92WA*WAVAbUABUA*UIUIUM@]@B}0(<By ByA}EJ?*ByA 2AAA7="CA@*Cl9=RCCA@CMӨ!I1GM0>  I:Y0Y1y:5cq,<EAY}2E@}2S5@y}2 =6;}2=}2H`ҿ(??Iwx2?`fN?@?)~2E@ ~2ea;I~2Cɫ99)9 =I9Y}@y}fGAAԼO=`i@ Ը@)I@i@M\=YYa8Ey Ey>}>I  a5? t CB ?9 %D ]: v:) W= MA@W9X9 X9W9:W92WA*WAVAbUABUA*UIUIUMT@R]B*** querying acoustic contact ***PYPYB}BO<By ByAAD?*BAT0AAA="C MA@*C9=RC3C  MA@CJ>9I܂Gi@=; E IGI>Iޙ)ޝ@AKq,EAY}6gdG@}67@y}6d;}6^=}6Ho`Fѿ=p?`W?`nk?4p ?`*?)~6gdG@ ~6b;I~4ɫ99)9 9I9YP@yGZ****** received transponder code query ******F****** received ping request ******!!a%8E% E)y5t=}5>I9 M:=K5? M:= =KB M?9=%D=; =#;)=:Wu+@@WyXy XyWy:Wy2Wy*WVbUBU*UUU @Bf<<B BAG?*BA-AAA="C+@@*C=RCwGC+@@CcשIG!>}  =:Yy!5uq,EAY}6H@}6 8@y}6l;}6S=}6H@ LϿ`П??@t?I>r ??)~6H@ ~6S`;I~6Cɫ99)9 9I9Y} @y}GxDUSBL response received:!U1,P 293,000,00A17,189,80,80,AA,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 MN=Y :QU>QYae8Ee EyyZ=}>I35?o TB %?9%Di(< <)W@@WX XW:W2W*WVbUBU*UUUA @BUH;BQ BQA]E?*BYA]J*AYAYA]="C@@*Cv=RC!"׼C@@C}͢YIG> N>9 I xGi @ !=   ;  i mGI i C̿ٺ JA,]q,ˆEAY}2HI@}2:@y}2;}2P=}2H `ԑͿ`Ǖ?,?l-?s`D?@[?)~2HI@ ~2(`;I~0ɫ99)9 EIAY@yMG鮡ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m@ m@ m@m©mmim̴@m m)iIm@imj@}ҼM}A=Y}ǁ:QU>a8E Ey8=}>Iȑŕ5?ŕ ƕ\B ?9ƕ&DǕ: ȕ׾:)ȑW@@@WX XW:W2W*WVibUqBUq*UqUqUu r*@B̴<B BAB?*BAe(AAA="C@@@*C2S=RC,C@@@CĎp _ <:YW1yč:5)N;9IGj>q,kEAY}>J@}>[:@y}>e;}>r=}>H:`˿c?@? ӻ?r`?? ?)~>J@ ~>`;I~>CɫQY)Y YIYYX@yGxDUSBL response received:!U1,R,39F,000,009E5,189,80,80,92,FF Fpublishing direction and range infoOɰO> )CIyBp@ω?3{'ٱ=iI=)V-?bX9ȶMbP|>E )Iyq= ףp?y&1|?:v?+?`;< "A)K@I‰i@@)Ý= Ý=qؼMG=YQU>a8E Ey =}>I :5? :W fB ?9&D: :):W?@WX XW:W2W*WVbUBU*U U U ܺ@P*QBZQ:"GS@ЧЧdTJQp@ω?3{'2QO:QbQs/MgydX@8/#RQkn࿘{EF?ABQe@ Q$BQylP]9?PW9?PQQ/"QK|AB :<B  BA4@?*BA%AAAL="C?@*C%+2=RC%T1;C%?@CA%cIGI>q,J5EAY}~K@}~ ;@y}~;}~)=}~H`"NnʿB?م?"̌>7 >i\@ @)(@Ii@%<M%C=Y-QU->))a58E5 E1y=<}=>IAE5?E( EpB M?9E*&DE: E:)Am}}Added new target pos. range: 114.480003 m, bearing: 121.211556 deg, deltaT: 4.434445 s, approachRate: -0.676522 m/s, LOS rate: -0.455254 deg/s, posRepo size: 4٭jA٩ܵR>9ܵvCIܵFGiܵ@ܵ%=ܱܱܵ; ݵ~EmM ProNav: pos range: 114.480003 m, bearing: 121.211556 deg, approachRate: -0.676522 m/s, LOS rate: -0.455254 deg/s, cmd update: -1.365762 deg/s, cmd heading: 171.800280 deg, new cmd heading: 171.480164 deg. WM8C?@WIXI XIWQ:WQ2WQ*WQVQbUYBUY*UYU]`\@U?BA<B BAC?*BAt1#AAA="C8C?@RC%{<C%8C?@C!zl` {{m z;:Y#R1y:5)3;IGj>™q,"OEAY}2,L@}2H<@y}2L;}2Đ=}2H 5]`Oɿ%?@Fc?8?oi@H??)~2,L@ ~2R_;I~2CɫYY)Y ]IYY@yG5M=[=Y=-QU=>AAaE8EE EIyM<}M>IQ ]:U)5? ]:Uu UyB e?9U:&DU: U:)U:W>@W X  X W :W12W1*W1V9bU9BU9*UAUAUE@?B@^<B BA:?*BA AAA="C>@RCW=C>@C=zI!GMt>q,#hEAY}2L@}2<@y}22;}2ǥ=}2HiVȿ ?e?:Om?@%cb?(?)~2L@ ~2^;I~2Cɫ99)9 9IAY@y؄GI) !!))]4<MeH=Ye7 QUm>iiam8Em Eqy}<}}>IȁŅm5?Ņ ƅB ?9ƅL&DDž+: ȅY:)ȁW>@WX XW:W2W*WVbUBU*UUU@6?BE<B BA-=?*B)A-orA)A)A-]="C5>@RC=zS=C=>@C9 ;;IGK> e >:Y0Y1y:G59@ܱ 9ܱ Iܵ Giܵ "@ܱ ܱ ܱ ܵ ; ݵ E7q,ւEAY}2M@}2X0=@y}2m:}2=}2Hmsǿt? 5?.b .v?@Q j?`?)~2M@ ~2^;I~2Cɫ99)9 =I9YuF@y}mG=lg>=V>=$i=@9 =@)9I=Ը@i=Ը@MIXMMK=YUQYa]8E] EYye~<}e>Ii u:m5? u:m mB u?9m]&Dm: m:)m:Wt=@WX XW:W2W*WVbUBU*UUU`)?B0En<B BA7?*BA7PAAA4="Ct=@RC=Ct=@C#=סIG">q,ͫEAɫ髙) IY@yGS㥛?ˡE?~jt?$?'= =)Iy~jt?~jta9E Ey}>I5? B ?9n&D: :)W5R<@W1X1 X9W9:W92W9*W9VAbUABUA*UAUAUM3@BuCA<Bq BqA}9?*ByA}AyAyA}="CR<@RCV=CR<@C ;= x m>:YW1yč:X5IG l>q,EAɫ髙) IY%@yYG5=i5=IER=)E%=)M= M=m=H=iz@ K@)I-@i@MK=YQU>a9E Ey}>I : 5? :| B ?9}&Dk: A:):W-1<@W)X) X1W1:W12W1*W1V1bU9BU9*U9U9UE`$m@Q9UwCIU~GiU@U!=QQU; UE)wCIwCi킓C!="=S/6BL<B BA6?*BAiAAA="C1<@RC =C1<@C֥ˈ=aIqG9>q,dEA|i|@Y}2M@}2&#=@y}2I*}2ې<}2H/rǿw?@ ?`qL?`=Ie?0??)~2M@ ~2"^;I~2CɫYY)Y YIYY@yG{ MG=Y%QU%>!)a-9E- E1y=}=>IAEp5?E³ EB ]?9E&DEb; Ex5;)AWw;@WX XW:W2W*WVbUBU*UUUl@RB*** querying acoustic contact ***PPBA<B BA3?*BA AAA="Cw;@RCq԰=Cw;@C=?i? L 5:YU1y:5IGf>q,h=EAY}:tL@}:<@y}:%U}:E:}:Hf@ ȿ`hj?%? f6 j? @??)~:tL@ ~:R^;I~8ɫ99)9 9I9Y}@y})GZ****** received transponder code query ******F****** received ping request ******a9E Ey%ȕ}->Iȑŕ$\5?ŕ ƕB ?9ƕ&DǕ#: ȕ:)ȑW<:@W!X! X!W!:W!2WI*WIVIbUIBUI*UQUQUU, @B?<B BA+4?*BAAAA="C<:@RCɓ=C<:@Cֽ벫=yIGa>-U fFailed to parse device response: 3,4.75164,4849.07 q,7EAY}6 L@}6'<@y}6])}6ͽ}6H YZɿ5ǣ?W%'r??)~6 L@ ~628_;I~6Cɫ99)9 =I9Y}@y}lGxDUSBL response received:!U1,P 39F,000,009E5,189,80,80,92,FF Command AckBRequesting micromodem ping code 2iI)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }^:>}㥽}=i}µ@y }@)yI}@i}@zM8=Yb(QU>a9E E1y=Y}E>Iȩ :ŭkF5? :ŭī ƭB ?9ƭ&Dǭh: ȭS:)ȭ:WwA:@WX XW:Wa2Wa*WaVabUiBUi*UiUiUu @B<B BA*?*BA+AAA%/M="C5wA:@RC5I=C5wA:@Ca E 1I:YW1yč:l5M =! I1 GM >$q,REAɫyy)y yIyYyNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Zd;?Zd;Q?? \=)IyZd;?I +/$??9< @)@I^@i@f@YQU>a9E Ey}>Ișŝ:45?ŝӨ ƝB ?9Ɲ&Dǝa: ȝ:)șWB9@WX XW:W2W*WVbUBU*UUUPF@Bmo<Bi BiAi*BqAu8AqAqAu&="C}B9@RC}>=C}B9@C}ܶ=QIaG>O q,7EAY}B"K@}B>;@y}B~ϲ}B}BHAFi˿@듁`l?`G0@Yv?.?)~B"K@ ~BI7_;I~BCɫQY)Y ]IYY@yGxDUSBL response received:!U1,R,3D2,000,009C3,189,80,80,9B,FF Fpublishing direction and range info|ZɰL>鰙 )CIyBE7 ?= )1ٱZ?lgiz@ ^@)­@I@i@v;Ma9E EyA>9IGi@=; E} >I :=!5? : B %?9&D: :):WE9@WAXA XAWA:WI2WI*WIVQbUQBUQ*UQUQU]@Pi*QmBZQmϓzR@[S.UJQmE7 ?= )12Qm|Z:QibQmp K3̚X@ʯ펚@RQm#i.޿._u?vު?BQm@ QmBQm5XPmc9?Pm]9?PmQmQmPIA"Qm/i5}nGIIiaȿٺ3ABW<B BA+?*BA AAA="C9@RC C=C9@Cޝ=iޝ4=\ Q (;::_=YT1y:5);9בIG>R<q,QEAY}~DJ@}~:@y}~7}~ }~H5@R7̿A?$cv?`ꚵ@?)~~DJ@ ~~%_;I~~Cɫ) IY-Y@y->GTNmea in: $SNTTA,0.080754,,,,012921.18*4E i=I4=))> =i MH=YQU>a9E Ey} >I  h 5?  B ?9 &D b: M:) mM}Added new target pos. range: 112.440002 m, bearing: 118.776061 deg, deltaT: 4.453604 s, approachRate: -0.458056 m/s, LOS rate: -0.546859 deg/s, posRepo size: 4m] ProNav: pos range: 112.440002 m, bearing: 118.776061 deg, approachRate: -0.458056 m/s, LOS rate: -0.546859 deg/s, cmd update: -1.640578 deg/s, cmd heading: 165.717741 deg, new cmd heading: 165.165468 deg. W]^8@WYXY XYWa:Wa2Wa*WaVibUiBUi*UiUm)\@Uu?BP<B BA@(?*BA AAA:="C^8@RC j=C^8@Cֽt=בIG@>aq,kEAY}6!3J@}6N:@y}6}6VE½}6H@ '/Ϳ`??_ Kw? >?@?)~6!3J@ ~6'_;I~4ɫ99)9 =I9Yu@y}GMN=YQU>a9E Ey}>I 5:5? 5: B 5?9&D; ۿ;):Wu7@WyXy XyWy:Wy2Wy*WVbUBU*UUU#?B5<B BA$?*BAAAAf_="C%7@RC- =C-7@C)=˺=x N d=:YU1y:Y59@I!G=r>;>9vCIGi@=D; EH!q, `EAY}>I@}>D9@y}>˻}>ҽ}>H@Hdο``y? *湿%ty?F@?)~>I@ ~>g_;I~<ɫ99)9 =I9Y]i@y]GUUA`>U̼iU@Q U@)Un@IUK@iU@e MeQ=YmQUm>iiau9Eu Eqy}м}}>IȁŅ5?Ņ ƅB ?9ƅ&DDž: ȅ:)ȁW>6@WX XW:W2W*WVbUBU*UUU ?BZU<B BA ?*BAzAAA#="C>6@RC.=C>6@CGg=סIG >3r'q,.;EAY}6BH@}68@y}6޻}6}6H`RϿ5?`]@`{?m?)~6BH@ ~6^;I~6CɫYY)Y YIYYyyyI) {Gz?:v?J +??< H=)IyDl?Mbp~jtx?O-?; ¥@)¥XAI¥@i¥3@=@¹¹YUQU>a9E Eyּ}>I5? B ?9 'D: ʽ:)W %)6@W X XW:W2W*WVbUBU*UU!U%?BMB3<BI BQAQ*BQAUĵAQAQAU="C]%)6@RCe=Ce%)6@Caօ(S=9IIGeV> S @:YxZ1yq:k5-q,EAY}2"H@}2z>8@y}2给}2J}2H Sпۗ`? ˯H|? ?)~2"H@ ~2"^;I~2CɫII)I MIIY}@y}OG-<-->i-@) -t@)-I-j@i-K@EYMEIIaM9EM EQyU}]>IY e:]5? m:] ]B m?9]'D]4: ]b:)]:ٕ<ٕ<ܝ7>9ܝuCIܝGiܝ;@ܝ=ܙܙܝ ; ݝEWs5@W)X) X1W1:W12W1*W1V9bU9BU9*U9U9UE @Bm-<B BA?*BAAAAE="Cs5@RC>v=Cs5@CֽS-=יIGc>84q,EAY}2R~G@}2י7@y}2j}2-}2H`T-ѿ`>?`8?@?)~2R~G@ ~2^;I~2Cɫ99)9 9IAYZ@yG =ME=Y䫺QU>a9EEyƼ}>Iȱŵ5?ŵȎ ƵB ?9Ƶ/'Dǵ: ȵ:)ȱW4@WX XW:W2W*WVbUBU*UUUE@BLF<B BAD ?*BA"AAAMe="C4@RC7=C4@Cֽ+=יޡiޥp=^ _ Q;:Y]1y:5IGg>C:q,SEAY}JF@}J"7@y}J}J }JHѿ ؚ?eX ?Xh?)~JF@ ~JI^;I~JCɫaa)i iIiY@yXGiIE=)E=)M= M= @ @ @Õ©ÕÕiÕG@Õ ĕj@)đIĕiĕ@MI=Y?#QU>a9EEy}>I :5? :f B ?9@'D: @:):W3@WX XW:W2W*WVbUBU*UUU  @RB*** querying acoustic contact ***PPB5N<B9 B9A=?*B9A=7AAAAAE"="CM3@RCMU=CM3@CQe2=9IIGeU>ܕ/>9ܕtCIܕGiܕ@ܑܑܑܕ; ݕE_Aq,EA|i|@Y}6&DF@}6_6@y}6sr}6-8}6H`RVҿ@Yl?dJl`9??)~6&DF@ ~6y^;I~4ɫ99)9 9I9Y} @y}qG}Z****** received transponder code query ******F****** received ping request ******a9EEy:ռ} >Ix5?& B %?9Q'D: \ ;)W%13@W!X! X!W!:W)2W)*W)V)bU1BU1*U1U1U=S @B I<B BA?*BA AAA<"C13@RC=C13@CֽI=I)MM IIGmy>M M`N:YIyIMX5)M;9GGq, EAY}6E@}65@y}6}6z}6H``<ҿD ?L-@ ~?)D?)~6E@ ~6^;I~6Cɫ99)9 9IAY}@y}]GxDUSBL response received:!U1,P 3D2,000,009C3,189,80,80,9B,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %C?K?I +?Z?^= 94<)Iyn? rh&1?V.?CP= @)7 AI@i@z@M"=Y 9QU > a9EEy\}>IA M:E!]5? M:E EB M?9Eg'DE3: EQ:)E:WN2@WX XW:W2W*WVbUBU*UUUऴ @BM<BY BaAe?*BaAmT!AqAyAL/Mq,g:EAɫ髑) IY@y(Gp=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 15hA=(>99I=RGi=@99=D=,; =E)́uCÍuCíĆ=́=́5   +>pͿ= ?i@  @)I@iK@ Mv=YQU?a9EEy}?I5K5?2| 1B ?9u'D: Q:)W1@WX! X!W!:W!2W!*W)V)bU)BU)*U1U1U5Q"@B];<BY BaAe!?*BaAeAaAaA<"C1@RC,=C1@Ce=׹IGE>4 , 7:YX1y/:5),;Tq,9TEA||4鰉 )(CIyGB$??u[ٱ MZ=YպQU>a9E!E y p1} >I :65? :w HB %?9'D: :):WEl1@WAXA XAWI:WI2WI*WIVIbUQBU*UUUl@P*QGBZQJ;S@{fuRSJQ$??u[2Q{NM:QbQ~!s:HѝRX@E&@RQܿ]x?.t?BQ@ QBQAPj9?Pc9?PQQ/A"QPIAB]&J<BY BYAe?*BaAe!AaAaAe|<"Cl1@RC=Cl1@C ե=ԡ֝e=yIG^>Zq,nEAY}AD@}\4@y}\o} }HV`8ԿZH@,W?  ? `?)~AD@ ~>^;I~ɫIQ)Q UIQY@yVGTNmea in: $SNTTA,0.256396,,,,012925.62*44 )= ]"۾]]ƾi]f@Y ]Ը@)]j@I]@i]mD=Mm5=YmQUu>qqau9Eu(Eyy} q}>Iȉōe5?ōq ƍcB ?9ƍ'DǍi: ȍv:)ȉm}Added new target pos. range: 110.640007 m, bearing: 116.114541 deg, deltaT: 4.431230 s, approachRate: -0.406207 m/s, LOS rate: -0.600628 deg/s, posRepo size: 4m ProNav: pos range: 110.640007 m, bearing: 116.114541 deg, approachRate: -0.406207 m/s, LOS rate: -0.600628 deg/s, cmd update: -1.801883 deg/s, cmd heading: 158.481105 deg, new cmd heading: 157.739701 deg. W0@WX XW:W2W*WVbUBU*UU[@U`&?BƾW<B BAr?*BAAAA<"C%0@RC-G=C-0@C)]L%=ޑiޕ= X 6:Yy~59@I!G=r>5$>95sCI5 Gi5G@5=5SD154; 5EinmGI i M ɿٺI M RAaq,EAY}2C@}2 4@y}2}2}2H@I1Կ`X?*'`?`vr?)~2C@ ~2(^;I~2Cɫ99)9 =I9Y}@@y}G=hZM=`=Y==9QUE>AAaE9EE.EIyMw_}U>IY] 5?]m ]yB e?9]'D]ʽ: ]r:)YWa/@WX XW:W2W*WVbUBU*UUUj?B. <B BAx?*BAlYAAA<"Ca/@RCc=Ca/@C֭= I1Gu6>hq,ԡEA|i|ɫ髱) IY5@yG㥛 ?EԸ~jt>ƽ )IybX9?Q롿V-?E?\< @) AI@i^A@MM==YQU>a9E5E!y%}->I1 =:55? =:5g 5B =?95'D5Q: 5:)5:W].@WaXa XaWa:Wa2Wi*WiVibUiBUq*UqUqUu?B4L<B BA?*BAN*߼AAAKX<"C.@RC >C.@CjA=IGMt> 4 B:YxZ1yq:58nq,EAY}:1C@}:L3@y}:}:ع }:H*H8տ`@X?`A?l?)~:1C@ ~:;_;I~:Cɫ99)9 =I9Y}@y}G<!>9rCIGi@!=D9; AAí>íLít>ií@é ĭ(@)ĭ@Iĭ@iĭ@dϼMP=YjQU>a9E;EyK}>I5?b B ?9'DǺ: ӻ:)W -@W X  XW:W2W*WVbUBU*UUU%?BM#i<B BA?*BAnۼAAAx<"C-@RC >C-@C~>I)iAסIGF>Iޙ)ޝAA%#uq,EAY}^VB@}^2@y}^`&}^ }^H `[տʣ'?+?ů?)~^VB@ ~^a_;I~^Cɫ髑) IY.@yG 鿁@<MI=Y=QU>a9EBEy}>I :X5? :] B ?9'D: :):W,@W!X! X!W!:W!2W!*W)V)bU)BU)*U1U1U596@B] o<BY BaAe?*BaAel׼AaAiAm<"Cu,@RCu>Cu,@Cq֥ >qIK 1:YU1y:5Ga> N{q,jEA|<|-z->i-z@) -@)-@I-j@i-@=>M=D=Y=QU=>AAaE9EEIEIyMzͼ}M>IQUa5?U X UB e?9U'DUǺ: UY:)QW,@WX XW:W2W*WVbUBU*UUU0@B\Y<B BA?*BAnӼAAAx<"C,@RC>C,@C>IGj>9qCIi%=A; E2q,7 EAɫ) IY@yG@A=<M=]=Y=QU=>AAaE9EEOEIyM}M>IY e:]5? e:]$S ]B e?9]'D]V: ]M:)]:WP+@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB <B BA?*BAмAAA#<"CP+@RC,>CP+@Cm>ׅ?iׅ?YIiG[> ` /:YDW1yY:45)s;9\q,#EAɫ髙) IYS@ybGZ****** received transponder code query ******F****** received ping request ******D; P)Iy㥛 ?QI +?5?u94< @) AI@i@f@M1=YQU>a 9E VE y}>I5?ZL B %?9 (D: ':)WM c*@WIXI XIWI:WI2WQ*WQVQbUQBUY*UYUYU]4 @BA<B BA?*BA˼AAAM.<"C c*@RC'>C c*@C֭<>ׁIGj>Їq,<EAy}jA܅">9܁I܅Gi܅S@܅(=܁܁܅K; ݅Eɫ髱) IY@yɁGxDUSBL response received:!U1,P 397,000,009A5,189,80,80,A8,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 Õ>Õ/ݾÕE>iÕ@Ñ ĕj@)ĕ(@Iĕ@iđB=M>=YQU>!!a%9E%]E)y)}->I1 =:5v|5? ]:5E 5B e?95(D5 ; 5;)5:W{)@WX XW:W2W*WVbUBU*UUU @BEb<BA BAAEE?*BIAM{ǼAIAIAMhy<"C}{)@RCb3>C{)@C ! -5:YP^1y:5)‘; ,> I G >pq,JVEAY}JP>@}J.@y}JtQ}JB}JH`] >ٿm.l?@ |¿T.?`2ÿ?)~JP>@ ~J^;I~Hɫqq)q yIyY@y G鮽a=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B eMmz=YmQU ?a9EbEy]} ?Iȡť k5?ť@ ƥB ?9ƥ-(Dǥ; ȥn;)ȡW(@WX XW:W2W*WVbU!BU!*U!U!UM-@BC<B BA ?*BA7ļAAA<"C(@RC} >C(@C@">יIGA>Iޙ)ޙ2q,JpEAY}v(=@}v-@y}v}c}vjs"}vH 8*/ڿ PުdR?@W'ÿr?@&8Ŀ Y?)~v(=@ ~vR^;I~vCɫ) IY @y)GxDUSBL response received:!U1,R,2EF,000,00979,188,80,80,B0,FF Fpublishing direction and range infog'ɰF>> )0CIyB^+^?׶ٱI))) 99]뽩]j<]>i]3@Y ]@)]@I]@i]@u[<Mu:=Yu%QUu>yya}9E}iEy}>IȉōS5?ō(9 ƍB ?9ƍ@(DǍ: ȍ:)ȉWa'@WX XW:W2W*WVbUBU*UUU`$@P*QBZQhgU@tPJQ^+^?׶2Qg':QbQ r:IzW@-c,'@RQ ;S޿ƱuE?zv?BQR@ Q˼BQLP\9?Pj9?PQQ/A"Q/ABjX<B BA, ?*BA{AAAE<"Ca'@RC>Ca'@Czz0 2:YQ1y:59@o2>y9yIyiy})=yy}U; }E) qCI rCi C %= $= }6סIG>q,o~EA||;Y}b<@}bS,@y}bp}b)}bH50ڿ-3?@ÿ?ſ@?)~b<@ ~b^;I~bCɫ) IY52@y5NGTNmea in: $SNTTA,0.074286,,,,012930.08*4E }<MJ=YQU>a9EpEy}>I :j=5?  :1 B ?9S(Db; ;):myAdded new target pos. range: 108.000008 m, bearing: 118.462323 deg, deltaT: 4.472749 s, approachRate: -0.590241 m/s, LOS rate: 0.524908 deg/s, posRepo size: 4m ProNav: pos range: 108.000008 m, bearing: 118.462323 deg, approachRate: -0.590241 m/s, LOS rate: 0.524908 deg/s, cmd update: 1.574724 deg/s, cmd heading: 150.385264 deg, new cmd heading: 149.564880 deg. Wf(@WX XW:W2W*WVbU BU *U U [@U&k?BX<B BA?*BAfAAA-<"Cf(@RC=Cf(@C =ֵ#>qIyG>0q,VdEAY}V;@}Vn,@y}VG{}V2}VH``ۿ ᯿@?IZĿ7w?Z%ƿz?)~V;@ ~V^^;I~VCɫ髑) IY@yGx?Mb`V-?K7? m=)Iy r?/$:v?#?< ) AIi"AzA)= =`MS=YQU>a9EvEy}>I`+5?+ B ?9b(D: #:)W]Ta)@WYXY XYWY:WY2WY*WaVabUaBUi*UiUiUm`a?B<B BA ?*BAAAA%q<"C-Ta)@RC-=C-Ta)@C)- >I9G]T> b 4:YU1y:5ծq,9EA d> `C-$>9)I)i)-+=-TD)-V; -Ei/mGɫ髙) IIY@yGiȿٺA=i=I=)=->- - i-p@) -@)--@I-@i-@=V<M=F=YEQUE>AAaM9EM|EQyU}U>IY e:]5? e:]$ ]B e?9]s(D]: ]:)]:W*@WX XW:W2W*WVbUBU*UUU ??B<B BA ?*BA*AAA9<"C*@RC92=C*@C}>QIYG}z>$q,7EA| i| Y}J@/:@}JJ*@y}J!#}J<}JH O^Dݿ ?ſ0?`yǿ s?)~J@/:@ ~J^;I~JCɫ髱) IYf@ynGWm=MV=YVQU>a9EEyE}>I/5? 'B  ?9(D: :)W-*@W1X1 X1W1:W12W1*W9V9bU9BU9*U9UAUE`?Bu<Bq BqAu?*BqA}eAyAyA}@<"C*@RC^=C*@C>ׁIG=>{ 6 =:Y[1yݏ:55vq,EAY}2A9@}20])@y}2狼}2H?}2H&@޿߲i?7ſ |?ǿ`o?)~2A9@ ~2u^;I~2Cɫ99)9 9I9Y@yGm/]=mHm im@i mK@)mK@ImK@imb@}b=M}L=Y}hQU>a9EEy-}>Iș :ŝ5? :ŝ Ɲ7B ?9Ɲ(Dǝ{: ȝ:)ȝ:Wz+@WX XW:W2W*WVbUBU*UUU?BN<B  B A  ?*BA箼AAA<"Cz+@RCZ=Cz+@C֍}=aIiG9>%>9IiSDS; EJq, EAY}R[8@}R;w(@y}R/͐}R̫<}RH`$޿A3?@Djſ h?@orǿt?)~R[8@ ~R^;I~Pɫyy)y yIY#@yEGIA)EAII)I ii&<MG=YQU>a9EEy }>I5?Z HB ?9(D<; B;)W=E,@W9XA XAWa:W2W*WVbUBU*UUU@B}o<By BA?*BA}AAAo<"CE,@RCwt<CE,@C ||r Y:YR1yi:5)s;9l=IG>q,%EAY}67@}6D'@y}64&}65}6H߿5? ?uĿ@$?ƕƿ*~?)~67@ ~6ף^;I~6CɫYY)Y ]IYY6@yPGAA=Zd;O?A`"~jt?=~ ?=Y =<)9I9y=(\?{GzMb?='?=#=< =b@)=AI=@i=A9=GA;MI=Yf۸QU>a9EEy}>I :!5? :3 SB ?9(D: 3:):W,@WX XW:W2W*WVbUBU!*U!U!U%l@R5B*** querying acoustic contact ***P1P1BU_<BQ BYA]#?*BYA]mAYAYA]<"Ce,@RCe/vCm,@Ci-= I1Gu6>R%q,?EAY}N߻6@}Nc&@y}N/ό}Nv*}NH(6걿M?`aÿ ?@<ſ8?)~N߻6@ ~Nq^;I~NCb&>9`I`i`b*=``be; bEɫ) IY@y GZ****** received transponder code query ******F****** received ping request ******å&qå=iå@á ĥ@)ĥ5@Iĥ@iĥ@/MJ=Y:QU>a9EEIyU}U>IY]5?] ]^B e?9](D]@; ];)YWk-@WX XW:W2W*WVbU BU *U U U @B] <BY BYA ?*BAmAAA<"Ck-@RCCk-@C֝ժ =qIޙiޝR= " >:YV1y:5);;Ga> q,^YEAY}2+"6@}2=&@y}2y}2 }2H/``9n@l+ ۏ?T@a+¿? ÿi?)~2+"6@ ~2-^;I~2Cɫ19)9 =I9Yu'@y}GG}xDUSBL response received:!U1,P 2EF,000,00979,188,80,80,B0,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I]=)]=<MG=Y;QU>a9EEyb¼}>I!%Ч5?%; %iB e?9%(D%< %<)!Wd.@W)X) X)W):W12W1*W9V9bUiBUq*UyUyUIQ @B-Cn<B1 B1A5?*B1A5A1A1A=A<"Ced.@RCe:Ced.@Ci=es<I1Gew>4q,/3sEAY}Z5@}ZI%@y}Zo}ZtL}ZH`G˰@F?n>? ÿ?)~Z5@ ~Z#^;I~ZCɫ髙) IY@yGɮR= Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Å7 >Å"[ÅC =iÅ̴@Á ąb@)ą@Ią@iąb@M@=Y;QU>a9EEyY}>I  :55?  : sB ?9(D{: :):W5/@W1X1 X1W9:W92W9*W9V9bUABUA*UAUAUM 5@Buܦ<Bq BqAuz ?*ByA}#+AyAyA}s%<"C/@RCUC/@Ci ) 2<:'>9I~Gi@]; EYU1y:l5)җ;u<IG>yq,EAY}2A5@}2ť%@y}2TW}2\ }2H 8ڵ@qԮ@? _|Mw?``]?)~2A5@ ~2 _;I~2CɫYY)Y YIYY@yGxDUSBL response received:!U1,R,288,000,00950,18A,80,80,5B,FF Fpublishing direction and range infoɰLC>鰵> )BIyB-?ak8~%ٱ7y=Mj=Y|;QU>a9EEyu)}?I  ۄ5?  {B ?9 (D : :) W/@WX XW :W12W9*WAVbUBU*UUU`@P9*Q=BZQ=+fjGV@` FLJQ=-?ak8~%2Q=:Q9bQ=O,#GQ:W@}\݌!!@RQ=Fӯܿڇ? Cys?BQ=@ Q=BQ=9P=b9?P=\9?P=Q=Q=vA"Q=/AB<B BA?*BA\@AAAz9<"C%/@RC-C-/@C)q׹IGf> Jq,<EAɫ ) IY5@y5GTNmea in: $SNTTA,0.093806,,,,012934.51*4D I)A 99-?T㥛 ?L7A`???> +=)IyMbX?Zd;O?*?j< ) AIQ@ixA(A =@ E@ E@=©==i=\@= =@)=I=@i=@Mre:MU=YUQUU>YYa]:E]Eaye}e>Ii u:ml5? u:mA mB }?9m)Dm: m:)m:m}Added new target pos. range: 105.540009 m, bearing: 116.104200 deg, deltaT: 4.455389 s, approachRate: -0.552140 m/s, LOS rate: -0.529274 deg/s, posRepo size: 4m ProNav: pos range: 105.540009 m, bearing: 116.104200 deg, approachRate: -0.552140 m/s, LOS rate: -0.529274 deg/s, cmd update: -1.587823 deg/s, cmd heading: 157.342991 deg, new cmd heading: 158.116562 deg. W.@WX XW:W2W*WVbUBU*UUbZ@U/0? = B5:YDW1yY:59@B&<B BA?*BA$AAAD<"C.@RCfFC.@CI6שIG>L.q,/EA006%>94I4i46(=446N; 6E)IqCi*=*=b5Y}FW5@}Frs%@y}Fh6}FMѽ}FH+&n? g ?  ?)~FW5@ ~FT_;I~FCɫ) IYUy@yUyG Mx=YHXq,EAY}25@}2)%@y}2㻙}2i}2H@<@S`?=!\~|?{s?)~25@ ~22f_;I~2Cɫ9A)A EIAYq@ytGMS=Yе;QU>a:EEy!<}>Iȱ :ŵK5? :ŵ] ƵB ?9Ƶ,)DǵM: ȵ};)ȵ:Wu-@WqXy XyWy:Wy2Wy*WVbUBU*UUU@g?B´<B BA?*BAGWAAAq<"C-@RC)C-@CJMޝ=iޝa=2 P0:YV1y:Z5׹IGf>\q,{EAY}26@}2=5&@y}2>}2b}2H^`x ʝ@?3OZs? ji` ?)~26@ ~2ʢ_;I~2Cɫ99)9 =I9Y}@y}ЁG>iI4=)C= m m m m@ m@ m@iiiim@i m@)mԸ@ImԸ@im@}8=M}L=Yҭ;QU>a:EEy]<}>Ișŝ85?ŝ& ƝB ?9Ɲ>)Dǝ2; ȝ;)șW ,@WX XW:W2W*WVbUBU*UUU`P4?B- <B1 B1A5?*B1A5A1A9A=!<"C= ,@RCEB CE ,@CA-d)I1)1IG )>i!I9iQe'>9aIaiae)=aaeM; aƿٺA0kq,V EA|i|Y}66@}6t&@y}64}6/R4}6HC~@G? /f? c ?)~66@ ~6`;I~6CɫAA)A MIIY]@y]GeMmL=Y;QU>a:EEyX<} >Iae#5?e~ eB ?9eP)De8< e6;)aW,@WX XW:W!2W)*W)V1bU1BU1*U9U9U=@h(@By5<B BA?*BA;YAAA|C<"C,@RCΧL;C,@C  e 5:YyG5yIG> q,0( EAɫyy)y yIyY@yGT㥛 ?L7A`?Mb`?+= )Iy1Zd?L7A`尿a%:E%E)y=}E>IY u:]{5? }:]̱ ]B ?9]c)D],; ];)]:Wd+@W X XW:W2W!*W)V1bU9BU9*UIUQUUi@B-k<B) B)A-a?*B)A5uA1A1A5<"C=d+@RC=0<C=d+@CA}UIGn>] iA] hAe )>9a Ia ia e +=a a e P; e Esq,MB EAY}R`8@}R-(@y}R :}R"}RHNs߿v`tt?` 5DC?)~R`8@ ~R0_;I~RCɫyy)y }IY@yցG?A    v=\=i\@ @)@I­@i­@ =MJ=Ya:EE y IJ=} >I%5?p B %?9v)D: :)WE*@WAXA XAWA:WI2WI*WIVQbUQBUQ*UQUQU]@k@ReB*** querying acoustic contact ***PaPaB<B BA?*BA |AAAg<"C*@RCͲ=C*@CqZ;סIGA>0 3:YY1y:5);9q,[ EA||4!)a5:E=EAyE |<}M>IQ ]:U5? e:U UB e?9U)DU<; U;)U:We)@WaXa XaWa:Wa2Wi*WiVqbUqBUy*UyUyU}9 @B-<B  B!A%8?*B!A%q_tA)A)A-J<"C5)@RC5DJ=C5)@C9 M>M>IGn>'q,'u EAY}208@}2(@y}2 ;}2<}2H ޿eb??2m?d@C? ?)~208@ ~2˃_;I~2Cɫ9A)A AIAYA@yWGxDUSBL response received:!U1,P 288,000,00950,18A,80,80,5B,FF Command AckBRequesting micromodem ping code 2i Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )M> M>X>ҽY=i3@ j@)K@IK@i-@bM'=Y ;QU>a:EEy;}>I5?S B -?9)D; :)Wm))@WqXq XqWq:Wq2Wq*WyVybUyBUy*UUU| @ 9 I }Gi _@ *=   W; EBM$<BI BIAM|?*BIAUkAQAQAUձ<"C}))@RC~=C))@C -:Y[1yH:5)͊; < I G >#q, EAY}Jv8@}J(@y}Ji;}J`;}JH@~ `޿l&?S?`F @?4m |??)~Jv8@ ~JFF_;I~Hɫaa)i mIiY@y'G鮵p=ɮ4=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B UC=iU=Ima=)m=M-?kt?qqa}:E}Eyy8;}>Iȉ :ō5? :ōҌ ƍB ?9ƍ)DǍ: ȍM:)ȍ:W|(@WX XW:W2W*WVbUBU*UUU;@B8<B BA ?*BAeAAA2&<"C |(@RC =C |(@CJ=יIGc>l)q,y EA|i|ɫ) IY[@ygG-xDUSBL response received:!U1,R,2F0,000,00925,188,80,80,85,FF -Fpublishing direction and range info-')ɰ-?>-> ))-CI)y-B-oZ?X'Oٱ)m-=Mmr=YuQU? a5:E5EAyU}]>Iȑŕ5?ŕ ƕB ?9ƕ)DǕ>< ȕ08<)ȑW5''@W1X1 X1W1:W12W9*W9V9bU9BU9*UAUAUE:@Pq*QuBZQu dT@&NiOJQuoZ?X'O2Qu':QqbQu&ID[W@u-IRQu|kJ ٿl"Q?l4|BQu!? QuBQu %Pui9?Pub9?PuQuQuI@"QuvAB>P<B BAK?*BA]AAA:<"C''@RC(=C''@C  >:YU1y:[59@`T=IG> &>9 rCI }Gi @ '=   A;  E_0q,2Y EAY}N8@}N )@y}N`;}Nw}NH@b޿7?; l;y }?)~N8@ ~N^;I~NCɫ) IY@yG]TNmea in: $SNTTA,0.288163,,,,012938.97*49 ý5>ý=ýCiý@ù Ľt@)Ľ-@IĽ-@iĽ@>MD=Y-;QU->11a5:E5E9y=;}=>IA M:E5? M:E~ EB U?9E)DE: E`:)E:m}Added new target pos. range: 102.959999 m, bearing: 113.626597 deg, deltaT: 4.450704 s, approachRate: -0.579686 m/s, LOS rate: -0.556677 deg/s, posRepo size: 4m ProNav: pos range: 102.959999 m, bearing: 113.626597 deg, approachRate: -0.579686 m/s, LOS rate: -0.556677 deg/s, cmd update: -1.670030 deg/s, cmd heading: 150.223606 deg, new cmd heading: 149.619825 deg. W'@WX XW:W2W*WVbUBU*UUpY@U {?B%<B BA\ ?*BA؃VAAA<"C'@RC=C'@Cֽ)n=?i?yIG^>6q,. EAɫ髁) IY@yGII)MAII)I aaּMN=YQU>a:EE)y5}=>IAE5?EUv EB u?9E)DE; E_;)AWS&@WX XW:W2W*WVbUBU*UUU$?B5<B1 B1A5 ?*B1A=?OA9A9A=<"CES&@RCE~ =CES&@Ci]T= !+:YDW1yY:$51IAG]v>Z=q,$ EAY}6ͤ8@}6Q(@y}6;}6}6H`޿;̓r? @`zٜ?)~6ͤ8@ ~6^;I~4ɫ99)9 EIAYn@yՀGm>mama:E EyE}>Ișŝn5?ŝn ƝB ?9Ɲ)DǝL: ȝ6:)șWN%@WX XW:W2W*WVbUBU*UUU`?B <B  B A?*BA3IAAA<"CN%@RC)=CN%@C֍:=aIiG9>ܭ'>9ܩIܭX|Giܭ@ܩܩܩܭG; ݭE)9I9i9=)==)==5_Dq,!EAY}n@8@}nt\(@y}n;}n,}nH@@߿ K? @< A{!@?)~n@8@ ~nl^;I~lɫ) IY@yGQ?v/ rh?>xi C<)Iy&1?V-?0?̼< )^AIQ@iQ@@üM5=Y֙9QU>a:EEyq]}>I  : X5? : e %B ?9 *D : Y:) :W=$@W9X9 X9WA:WA2WA*WAVIbUIBUI*UIUQUU?B}gR<By ByA}:?*BArAAAA<"C$@RCly=C$@C֝/=Iס)סn xx <:Y7P1y:5QIaG}{>0Jq,s*!EAɫYa)a aIiY@y|Gu=iu=I}=)yy=i@ @)@I@i@ML=YQU>a:EEy}>ID5?] /B ?9*D: D:)W$@WX XW:W2W*WVbUBU*UUUC@B<B B A `?*B A ]O:A A A !<"C$@RC=C$@C=IGj> PCi mGI i E ʿٺA M Aٝ jAٝ jAܡ 9ܥ qCIܥ {Giܥ x@ܥ (=ܡ ܡ ܥ ^; ݥ E^Qq,$D!EAɫyy)y }IyYM@y#G}aIM}d=YyQU}>a:EEy}>Iȡ :ť!25? :ťnV ƥ9B ?9ƥ)*DǥP; ȥH;)ȥ:WuQ#@WX XW:W2W*WVbUBU*UUU1@B<B BA>*B!A%^.4A!A!A%<"CMuQ#@RCM>CMuQ#@CQ=l9= ,:YW1yč:65);91IAG]v>;CWq,.v^!EAY}:a}6@}:&@y}:G;}:z}:Hjx@W>6i?dK`~`i?)~:a}6@ ~:R^;I~:Cɫ99)9 =I9Y}@y}G9MZ=Y;QU>a:E#Eyؖ}>IȹŽ5?ŽN ƽBB ?9ƽ9*Dǽl: Ƚ:)ȹWe͢"@WaXa XiWi:Wi2Wi*WiVqbUBU*UUU^#@RB*** querying acoustic contact ***PPB'<B BAT>*BA>Q.AAA?<"C͢"@RC =C͢"@CY>?i?IG$>I޹)޹Ym]q,HQx!EAY}2"5@}2%@y}2:<}2.Ž}2HGTQ?r*ݳZS?)~2"5@ ~2^;I~0ɫ99)9 9I9Y}v@y}?GZ****** received transponder code query ******F****** received ping request ******iÅ@Á ą@)ąj@Iąj@iąj@M-=Y:QU>a:E+EyƼ}>I :5? :QD OB ?9N*Dh; Վ;):WE!@WAXa XiWi:Wi2Wi*WiVqbUqBUq*UqUqU} @B{7<B BAN>*BAF'AAAu<"C!@RCbI=C!@CI9IIM,{GiM&@M)=IIMl; ME ^+:YyI5)I;>IG>Zdq,B!EAɫ) IYQ@y GxDUSBL response received:!U1,P 2F0,000,00925,188,80,80,85,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 mQ?㥛 ¿l?m?m m=)iIiymp= ף?Zd;O rh?m%?mjmC = m?@)mAIm@im@im@M"=YQU>a:E3Ey}>I5?Y: _B ?9c*D": v:)W! @WX XW:W2W*WVbUBU!*U!U!U%@ @BU)O<BQ BQA]>*BYA]AYAYA]݀<"Ce! @RCm>Cu! @Cy֍=a Ii G >jq, !EAY}J3@}J(#@y}J;}J}JH@`c4F`y? `Bg@~ c ?)~J3@ ~J^;I~Hɫy髁) IY@y~Ga=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ">=i@ @)n@I;@i@oM=Y*QU?  a :E 8Ey̽}?I %:5? -:3 iB -?9p*D; I;):WMA @WQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUe&@B<B BA>*BAPAAA<"CA @RC=CA @C  4:YWU1y:59@I)ױIG>E %>9A IE dzGiE @E (=A A E n; E Ehqq,!EAY}N2@}N=#@y}N;}Nt}NH@M G?@Is7|ƿੰ?)~N2@ ~N˲^;I~Lɫqy)y yIyY@y@~GxDUSBL response received:!U1,R,26C,000,008F1,189,80,80,56,FF Fpublishing direction and range infoc ɰ;>鰽7> )BIyB{I%m?U1{ٱi=IR=)4= ܼMs=YiQU?a:E>Ey}?I  5? , tB ?9 ~*D 8: :) W=@W9X9 X9W9:W92WA*WAVAbUABUA*UIUIUM@~@P*QBZQ&eU@a֑zIJQ{I%m?U1{2Qc :QbQH!@EJvV@ZW)@RQZm!?ۿ¦?gmŰ?BQ@ Q4BQ*P_9?Pi9?PQQOA"QI@B=D<B9 B9A=X>*B9AEРAAAAAE<"Cm@RCmc=Cm@Cqe=!I)GM1>wq,!EAY}F02@}FsL"@y}F;}F{}FHNm7?} x`z¿ѩ?)~F02@ ~Fj^;I~FCɫYY)a aIaYo@y}G DNmea in: $SNTTA,,,,,012943.45*52 }M}B=YQQU>a:EDEygܼ}>Iȑŕ5?ŕ" ƕB ?9ƕ*DǕ: ȕ:)ȑmuAdded new target pos. range: 99.840004 m, bearing: 115.254811 deg, deltaT: 4.395962 s, approachRate: -0.709741 m/s, LOS rate: 0.370389 deg/s, posRepo size: 4m  ProNav: pos range: 99.840004 m, bearing: 115.254811 deg, approachRate: -0.709741 m/s, LOS rate: 0.370389 deg/s, cmd update: 1.111166 deg/s, cmd heading: 142.909236 deg, new cmd heading: 142.145271 deg. W 2 @WX XW:W2W*WV!bU!BU!*U)U-X@U-`[?BU<B BA>*BA %AAAL<"C2 @RC2+=C2 @C C3:YU1y:J5t=I!G]>Կ}q,;!EAY}6]P1@}6k!@y}6;}6Հ}6H``4\&?@`z`_¿?)~6]P1@ ~6̎^;I~6Cɫ11)1 1I1Y@yw}GÕG>Õ(ÕE>iÕ@Ñ ĕ@)ĕIĕ­@iđMG=Y&QU>a:EKEy[}>Iȹ :Ž5? :Ž ƽB ?9ƽ*DǽH; ȽT;)Ƚ:W @WX XW:W2W*WVbUBU*UUU?B<B BA)>*BA AAA<"C @RC=C @C=#>9IzGi2@&=T; E?iw?IGI>q,^"EAY}MI0@}Mͭ @y}MW;}M>}MHyƶ?`#|y 7¿p?)~MI0@ ~Mc^;I~Iɫ)1)1 1I1Yue@yu|GIA) Mb?ʡE?:v??= <)IyV-? rh/$?|?C < @)5AI@i@AM-MM2=YU$QUU>QQa]:E]REYyeIϼ}e>Iim5?m mB u?9m*Dm: m:)iWy;!@WX XW:W2W*WVbUBU*UUUI?B<ݜ<B BA5>*BAAAAf<"Cy;!@RCf=Cy;!@C= .:YW1yč:5בIG>͊q,O-"EAY}BF/@}B@y}B?;}B}BHƢ&?f|y;*?)~BF/@ ~BO^;I~@ɫaa)i iIqY@y|Gõ>õ&qõ^=iõ@ñ ĵ@)ıIĵQ@iĵ@<<Mh=Y18QU>a:EXEy}>I :5? : B ?9*D: L:):W!@WX XW:W2W*WVbUBU*U!U!U% f?BMT<BQ BQAUJ>*BQAUcAYAYA]%<"Ce!@RCe,=Ce!@Cam=!I1GM1>  ">9 I 8yGi @ '= J; E)yIyiy}(=}'=}=5൑q,,G"EAY}2[/@}2?w@y}2;}28}2Hy`'61]?T?@N@,yg`?)~2[/@ ~2^;I~0ɫYY)Y YIYY@y8|G0.MV=Y[QU%>!!a%:E%^E)y-}5>I15?5?5 5B E?95*D5n: 5{:)1We%"@WaXa XaWi:Wi2Wi*WiVibUqBUq*UyUyU@B <B BIAM>*BQAU#VAQAQA]<"Ce%"@RCe<Cm%"@C֥Qf=Iש)שׁIG=> 1:YY1y:5)ݎ;9q,9 a"EAY}2S.@}2@y}2_\;}2iy}2HZ-Tۅ?`Y%-y,0?)~2S.@ ~2m^;I~2Cɫ99)9 9I9Yu@y}&|G=i=4=i=IC=)=ML=Y8QU >  a :E dEy}>I! %:%1p5? -:% %B -?9%*D%8: %#:)%:WU"@WQXY XYWY:WY2WY*WYVabUaBUa*UaUiUm?>@B\|<B BA>*BAAAAh<"C"@RC(<C"@C֡yIG<> q,"z"EA|i|@Y}>֙.@}>Z@y}>L;}>#}>H>/~`<ȴ`?`z@l?)~>֙.@ ~>%^;I~>CɫYY)Y ]IYY@y]|GAA@A}=}},>i}@y }j@)}@I}@i}@R<MB=Y:QU>a:EkEyX}>IȹŽR_5?Ž) ƽB ?9ƽ*DǽU; ȽO;)ȹi}NmGIiMǿٺIMAWU9#@WQXY XYWY:WY2Waܑ9ܑIܕpxGiܕ@ܑܑܑܕH; ݕE*WVbUBU*UUU@RB*** querying acoustic contact ***PPB-'<B) B)A->*B)A5h]ݻA1A1A5<"C=9#@RC=_;C=9#@Ca=G=xx  -:Y7P1y:5)};IG%n>q,͔"EAɫ ) IYe@yeK|GuZ****** received transponder code query ******uF****** received ping request ******ua:ErEy}>Iș :ŝN5? :ŝ ƝB ?9Ɲ+Dǝ: ȝE:)ȝ:W-#@WX XW:W2W*WVbUBU*UUU}KB @BX|<B BA>*BAӻAAA<"C-#@RC`;C-#@C5%<?i?IG>q,W"EAY}U.@}U+@y}U;}UJս}UH@`'?@d X%^˜_?)~U.@ ~U^;I~UCɫ11)1 =I9Yu@yu{G}xDUSBL response received:!U1,P 26C,000,008F1,189,80,80,56,FF }Command Ack}BRequesting micromodem ping code 2iIA)AI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ii===M=l=i=@9 =@)=I=@i=@7ͼM.=Y;QU>a:EzEy}>I\;5? B ?9+D; ӻ;)WEN$@WAXA XAWA:WA2WI*WIVIbUIBUQ*UQUQUU @  H:Y[1yH:59@BK<B BA>*BAX-ǻAAAjI<"C%N$@RC%~UC%N$@C!Uyb];) I1 GM >ف م <܍ #>9܉ I܍ wGi܍ K@܍ )=܉ ܉ ܍ N; ݍ Eq,Tr"EAY}2B-@}2@y}2E;}2½}2H ࡬?±(G ?)~2B-@ ~2,_;I~0ɫ99)9 =IAYE@yM{GIɮMa=mNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M=Y9QU?!!a%:E%~E)y-}-?I15"05?5 5B =?95!+D5: 5:)1WeӦ$@WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}b@B]<BY BYAe>*BaAeݿAaAaAen<"CmӦ$@RCu题CuӦ$@Cqօ] ;YIiG\>/q,S"EAY}>-@}>o@y}>Q<}>;}>H|aE?@9 ^@r?)~>-@ ~>>_;I~>CɫYY)Y ]IYY@yzGxDUSBL response received:!U1,R,1F4,000,008C2,187,80,80,AA,FF Fpublishing direction and range infof߾ɰ7>鰽1> )*CIy B;/y?]y- ۿٱmMM=Yeu:QU>a:EEy8}>I  :{ 5? : B ?91+D : ~:):W=%%@W9X9 X9W9:W92WA*WAVAbUABUA*UIUIUM@PY*Q] BZQ]U@|ODJQ];/y?]y- ۿ2Q]f߾:QYbQ]@=B E^>+U@@RQ]ŏƳCܾܿڜ?c3[\?BQ]2@ Q]BQ]p-P]W9?P]_9?P]Q]Q]A"Q]OAB<B BA>*BAAAAK<"C%%@RCjȼC%%@C֍Iי)י׉IG>D {{ >9:Y#R1y:5*Xq,,*"EAY}2.@}2E2@y}2<}2}2HQཫ?  WʩVH?)~2.@ ~2t_;I~2Cɫ9A)A EIAY}@@yK{GTNmea in: $SNTTA,0.066844,,,,012947.88*41 =i=R=i=I=)=F>D̽i@ K@)I@in@ =M 9=YlQU>a:EEy%j;}%>I!%%5?% % B 5?9%C+D%b: %o:)!meuAdded new target pos. range: 97.020004 m, bearing: 116.556946 deg, deltaT: 4.423737 s, approachRate: -0.637470 m/s, LOS rate: 0.294352 deg/s, posRepo size: 4mu ProNav: pos range: 97.020004 m, bearing: 116.556946 deg, approachRate: -0.637470 m/s, LOS rate: 0.294352 deg/s, cmd update: 0.883055 deg/s, cmd heading: 147.847169 deg, new cmd heading: 148.336490 deg. Wu̔%@WqXy XyWy:Wy2Wy*WVbUBU*UUGAX@U\Q?5$>91I5vGi5@5*=115L; 5EBm<Bq BqAu>*BqAu9AyAyA}Q<"C̔%@*C=RC߼C̔%@Cֽ(qIG>B@q,:#EAY}JP.@}Jal@y}J;}J6o}JH(`A ?u~@g ?)~JP.@ ~JT_;I~JCɫ髉) IY@yzGX9v?rh|Q?? <)IyK7A`? rhy&1?+?C`< µ@)µAIµ"AiµxA=A;MN=YQNQU>a:EEy<}>I u:5? u: B }?9T+DM< I<):W%@WX XW:W2W*W)V)bU)BU1*U1U1U5?Bڜ<B BAI>*BA.AAA<"C%@*C^ƅ=RCC%@CTм  -:Y]1y:5IGj>Ilq,W/#EAY}vv.@}v@y}v*<}v/>}vH`:`ء_;I~vCɫ髱) IY q@y LzGb{=i@ n@)@In@i@ѼMI=Yh):QU>a:EEy<}>I^5?# !B ?9e+D: 4:)W%3_&@W!X! X!W!:W!2W)*W)V1bU1BU1*U1U1U=?Be~<Ba BaA>*BAAAAذ<"C3_&@*C=RCm3C3_&@Ci?IGn>- '>9) I- uGi- @- +=) ) - Y; - EQq,ܹI#EAY}2.@}2@y}2<}2}2HLӑtE?EJ<옿 2?)~2.@ ~2_;I~0ɫ99)9 9IAY}P@y}#zGI)AI)A /MX=YS:QU>!!a%:E%E)y-<}->Iș :ŝA5? :ŝ Ɲ+B ?9Ɲv+Dǝ: ȝM:)ȝ:WR&@WX XW:W2W*WVbUBU*UUU?B "<B  B A>*BAb됻AAA6g<"CR&@*C{f=RC%R< C%R&@C!-WgIG=.>  5:YY1y:5)r;9{q,c#EA||Y}2/@}2@y}2J"<}23,}2H^z|@`?!^6 GI G?)~2/@ ~2C_;I~2Cɫ99)9 9IAYE@yMyGML=Y!J;QU>a:EE y |<} >IR5? 4B %?9+D@: :)WE#'@WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQU]9'@Bwޞ<B BAf>*BAAAA)<"C#'@*C3=RC&`C#'@C!I)GmW>q,p}#EAY}2 =/@}2X@y}28*<}2}2H+peg";i?\p@U8F''?)~2 =/@ ~2^;I~2Cɫ99)9 9I9YyMM1HMv=iM=@I M@)M @IM@iIY]=:QUe>aaae:EeEiym<}u>Iy}5?}# }>B ?9}+D}w: }Ǻ:)yW'@WX XW:W2W*WVbUBU*UUUG|@B] <B BA*BAAAAm<"C}'@*Ct=RC|C'@C9ItGi@*=[; E)qIqiqu*=u)=uZ5KI!)! ,:YU1y:5);IG%n> q,T#EAY}>/@}>|@y}>y&<}>a}>Hq|I̐@J?`ۇsڄ!`?)~>/@ ~>2_;I~>CɫQQ)Y ]IYY>@yxG@A=i=%=i /ݼ)IyCl?)\({Gzt?Gaף ¥Q@)¥=AI¥Ai¥AGAN̼Ma;EEyH8<}>I :5? :& :B ?9+D: :):W '@W X  X W:W2W*WVbUBU*UUU/@R-B*** querying acoustic contact ***P)P)BMb/<BQ BQAU>*BQAU nAQAQA]ܺ<"C]'@*Ce„=RCe0H!Ce'@C[ױIGf>ؼq,:;#EA|i|@Y}:=/@}: @y}:<}:}:H ` W?oWۃv H?)~:=/@ ~:^;I~:CɫQQ)Q UIQY@ywGZ****** received transponder code query ******F****** received ping request ******+=C i(@ ­@)@I@in@ SMF=YؚQU>a;EE Y@ @@ y><}>I5?Sw 5B %?9+D: ]:)WE^(@WIXI XIWI:WI2WI*WQVQbUQBUQ*UQUYU] @Bo<B BA>*BAo^AAA<"C^(@*Cr=RCC^(@C֕; *:YV1y:59@׉I>VCG>i-mGIAiYɿٺA )?9 A <  (>9 I sGi @ Q; Eq,\#EAY}2Ne0@}2р @y}2<}2kb}2H@@ԅ ?@u#Q?@?ڂlv?)~2Ne0@ ~24^_;I~0ɫ99)9 9I9Y}+@y}xGxDUSBL response received:!U1,P 1F4,000,008C2,187,80,80,AA,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 S=M^=Y QU>a%;E%E1yEz<}M>Ii :m5? :m@o m2B ?9m+Dm< m <)m:W=H(@W9XA XAWi:Wi2Wq*WyVybUBU*UUU @Be?<Bi BiAm>*BqAuKAqAqAuO<"CH(@*CK=RC0`CH(@Cֱ׽?i׽?qIyG>q,#EAY}n_0@}n @y}nX;}n"Y}nHr؀?^? $k`?)~n_0@ ~nD^;I~nCɫ)1)1 1I1YmM@ymwGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)I) }sM}3=YPQU>a;EEy0<}>Ișŝ5?ŝe Ɲ-B ?9Ɲ+Dǝ': ȝ:)șW/)@WX XW:W2W*WVbUBU*UU Ub@Bm<Bi BiAu>*BqAu >AqAyA}<"C/)@*C=RC%C/)@C~~~ t):YT1y@:5։iIqG>q,#EA||;ɫ髙) IYX@ywGxDUSBL response received:!U1,R,239,000,00897,189,80,80,5F,FF Fpublishing direction and range infoM;ɰ$4>7> )BIyB #"?a~3}޿ٱe =eeK7>ie@a e)e@Ie"@ie"@up;Mu]=Y}QU}>yya;EEy}>Iȑ :ŕu5? :ŕ^ ƕ*B ?9ƕ+DǕ: ȕM:)ȕ:W)@WX XW:W2W*WVbUBU*UUU +@P*QBZQ)-9T@^3P~FJQ #"?a~3}޿2QM;:QbQH|)WD!jNU@J/߿RQ**ۿ#_?1Qp}uBQf@ QtBQ"PY9?PW9?PQQ}@"QABT5<B BAg>*BA%0A!A!A%<"C-)@*C- =RC-!:C-)@C15)>91I5rGi5*@5)=115V; 5EAI G%M>q,S$EAY}2}0@}2!@y}2,-;}2FH<}2HfHQ7?@Pv? %y(?@?)~2}0@ ~2#^;I~2Cɫ99)9 9I9Y}@y}awGV-?On?Mb?h1?> <)IyMb?I +a;EEy<}>Id5?T ,B ?9+D: ]:)myAdded new target pos. range: 94.439995 m, bearing: 115.516175 deg, deltaT: 4.461048 s, approachRate: -0.578342 m/s, LOS rate: -0.233302 deg/s, posRepo size: 4m ProNav: pos range: 94.439995 m, bearing: 115.516175 deg, approachRate: -0.578342 m/s, LOS rate: -0.233302 deg/s, cmd update: -0.699905 deg/s, cmd heading: 151.786484 deg, new cmd heading: 152.149625 deg. W9)@WX XW:W2W!*W!V!bU!BU!*U)U-(W@U-@p?BUC<BY BYA]>*BYA]!AaAaAe<"Cm9)@*Cm=RCm7tCm9)@CqօI6I׉)׉YIiGY>i ':YDW1yY:\5l q,o2$EAY}2 1@}2*!@y}2: ;}2 <}2H@@gT?8? @&?@u??)~2 1@ ~2^;I~0ɫ99)9 =I9Y}@y}vG=i=4=i=I=)4=5>5r5uIIaU;EUEQy];}]>Ia m:eT5? m:eK e.B m?9e,De: e:)e:W M(@WX XW:W2W*WVbUBU*U!U!U%X?B<B BA>*BA2AAAG<"CM(@*Cy=RCCM(@C֥>aIqG9>! ! - ->9- rCI- qGi- @- +=) ) - \; - Eq,kIL$EAY}2;1@}2W!@y}2ڙ;}2<}2H@ `?tU^?!??@7SrU??)~2;1@ ~2^;I~2Cɫ99)9 =I9YJ@ykvG5뮼M=K=Y=vQU=>AAaE;EEEAyM;}M>IQUD5?UB U0B ]?9U,DUf: U :)QW(@WX XW:W2W*WVbUBU*UUU;?B1<B BA>*BAAAA<"C(@*CL=RCҼC(@C[IG J>~~s .:YT1y@:p5);9q,&f$EAY}:1@}:!@y}:,R;}: <}:H$ ~Eb?`~?@ف?B[j@4? ?)~:1@ ~:^;I~:Cɫ99)9 =I9Y}@y}uG5`M=J=Y=KQU=>AAaE;EEEAyM/3<}M>IQU35?U9 U3B ]?9U",DUD: U:)QW9J(@WX XW:W2W*WVbUBU*UUU?BFc<B BAWh>*BAnAAA*<"C9J(@*Cw =RCPC9J(@C߼?i?שIG*>Bq,m$EAY}61@}6d!@y}6Z:}6S'<}6H5q[Tr?[?z5?`PZp?@?)~61@ ~6|^;I~6Cɫyy)y }IyY@yuGI)I) !!íʡ=í6íií@é ĭ@)ĭIĭ@iĭ@'<MB=Y4wQU>a;EEyK<}>I :"5? :b0 6B ?93,DV: :):W '@W X  XW:W2W*WVbUBU*UUU% 8@BMmj<BI BIAUp>*BQAU{tݺAQAQAUG\<"C]'@*C]=RCefD!Ce'@Ca9IpGi@*=[; օ&ּYIiGZ>  F:Y0Y1y:ʽ5)K;)&q,ڙ$EAY}6/2@}6wK"@y}6 c9}6^ <}6HN8u?B8?*N`Z؀?@a6??)~6/2@ ~6^;I~6CɫYY)Y YIYY@ytGS㥛?I +?Dl?$?9= O=)IyZd;?:vQ?>?Լ< "A)AIxAiA3AlML=YQQU>a;EEyV<}>In5?M& CB U?9F,D< <)W'@WX XW:W2W*WVbUBU*UUUi@B]RF<B BA~M>*BA!ǺAAA^<"C%'@*C%tт=RC%ͺC%'@CQENJN!I1GMR>"T,q,ȵ$EAY}:2@}:>"@y}:]Hۺ}:<}:HfJw?X?`ffv? i[?@i??)~:2@ ~:z^;I~:Cɫ99)9 =I9Y}@y}tG%%h%C99aE;EEEAyMZ<}M>II ]:M5? ]:M MOB ]?9MY,DM: M:)M:WW'@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB\-d<B BAU>*BAAAA<"CW'@*C=RCޥ;CW'@C0I)IGG> .:Yyn59@ 9 I ?`yt?{o???)~22@ ~2<^;I~2Cɫ99)9 9I9Y}@y}[tGZ****** received transponder code query ******F****** received ping request ******a;EE y <+<}>Iȱŵ5?ŵ@ Ƶ]B ?9Ƶm,Dǵ]: ȵ:)ȱWD'@WX XW:W2W*WVbUBU*UUU @Be2G<Ba BaAeSI>*BiA1AAA6<"CD'@*C=RC5Z<CD'@C֍yb];aIqG:>=f9q,l$EA|i|@Y}6L2@}6#@y}6»}6@"<}6H @z?t?@Jt?@Zx?X?`s?)~6L2@ ~60u^;I~6Cɫ99)9 9I9Y}@y}tGxDUSBL response received:!U1,P 239,000,00897,189,80,80,5F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 <MK=YqQU>a%;E%E9yEa;}M>Ii :m5? 5:m mkB =?9m,Dm< mj<)m:Wz&@WX XW:W2W*WVbUBU*UUU @BH<B BAR>*BAʃAAAĦ<"Cz&@*Cp|=RCr<Cz&@Cxx 2:Y7P1y:5X;IG >N@q,kG%EAiFmGIPi\~˿ٺ|~AY}5_2@}5#@y}5E}5k;}5H4 ]?@?wD? (??x??)~5_2@ ~5A^;I~5Cɫ) IY@ytGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B u.>9qIutoGiu@u(=qquj; uEÝ=ÝÝAiÙÙ ĝ?@)ĝ@Iĝ@iĝ@&0M1=YmQU>a;E Ey}>I5?a {B ?9,D: :)W}7X&@WyXy XyWy:Wy2W*WVbUBU*UUU`d@B{[<B BAM>*BA>^AAA<"C%7X&@*C-xg=RC- <C-7X&@C)}U5xFq,"%EAɫ髙) IYs@y(tGxDUSBL response received:!U1,R,2A3,000,00868,189,80,80,9E,FF Fpublishing direction and range infoɰJ0> )CIy=BМ(f?0X:;ٱI) tV?X9vX9v?> }=)Iy?Q롿{Gz?,?\#= A)‰IAirA(AM]=YQU>a;EEy}>Iȡ :ť5? :ťB ƥB ?9ƥ,Dǥ: ȥL:)ȥ:W &@WX XW:W2W*WVbUBU*UU)U-M@P9*Q==BZQ= x S@Q_sIJQ=М(f?0X:;2Q=:Q9bQ=^}OApw4U@ti?RQ=bs.ؿZ??L! j?BQ=? Q=BQ=x P=b9?P=Y9?P=Q=Q=@"Q=}@B~@Q<B BA*BA7AAA<"C &@*CS=RCPq<C &@C)w (:YU1y:n55ܝ<I!G=>+Lq, 5%EA|*4<|*4? ?)~n#2@ ~n^;I~nCɫ) IYM@yUrsGTNmea in: $SNTTA,0.348643,,,,012956.73*43 m=m`em^im@i m@)mn@Imn@imn@}+M}==Y}!ƻQU}>a;EEy틻}>IȑŕE5?ŕ ƕB ?9ƕ,DǕ: ȕ:)ȑmyAdded new target pos. range: 91.620003 m, bearing: 112.199777 deg, deltaT: 4.487597 s, approachRate: -0.628397 m/s, LOS rate: -0.739014 deg/s, posRepo size: 4m ProNav: pos range: 91.620003 m, bearing: 112.199777 deg, approachRate: -0.628397 m/s, LOS rate: -0.739014 deg/s, cmd update: -2.217043 deg/s, cmd heading: 148.648398 deg, new cmd heading: 148.369381 deg. W %@WX XW:W2W*WVbUBU*UU V@U`^?B%tA<B! B!A%1>*B)A-4A)A)A-<"C5 %@RC5y=C5 %@C9 M=M=m />9i Im nGim @m )=i i m ; m ŗESq,fN%EAY}22@}2"@y}2BV?}2 R}2H |^fm?@zw?b`o?)~22@ ~20^;I~2Cɫ99)9 9I9Y]1@y]sG <Mg=Y4ZQU>a;E E y Ŝ:} >I/5? B %?9,D: :)W#$@WX XW:W2W*WVbUBU*UUUc?BU<B BA;>*BAAAAlk<"C #$@RCO=C#$@Cօ& h,:YV1y:5).;9ƳYq,h%EAY}62@}69 #@y}6[L}6}6H a@K}uY?@e֞?},?)~62@ ~6_;I~4ɫ99)9 =IAY}@y}[sGR=i!!a%;E%&E)y-;}->I1 E:5s5? M:5 5B ]?95,D5U; 5;)5:W(#@WX XW:W2W*WVbU!BU!*U)UQU]?B%j6<B! B!A%g/>*BIAM`sAIAIAMG<"CU(#@RCU{=C](#@CY-89=I G%M>.`q,%EA|i|Y}62@}6 #@y}6 Z}62}6H BP|`?Z`䀡|A?@6@?)~62@ ~6^;I~4ɫ99)9 =I9Y@yrsGmv>>mm?5>imf@i m@)mQ@Im@im@};MD=YQU>a;E-Ey/}>Ișŝ`5?ŝ ƝB ?9Ɲ,Dǝ+: ȝY:)șW|""@WX XW:W2W*WVbUBU*UUU`%?.>9Ii(=; їEBɻH<B BA1>*BAAAA<"C|""@RC=C|""@CcU=?i? .:YU1y:5)b;IGj>\fq,nj%EAY}:2@}:"@y}:d}:-}:Hy`\?s٣`?`$y?)~:2@ ~:^;I~:Cɫ99)9 =I9Y}@y} sGv?/$a;E4Ey}>I :N5? :* B ?9,D: :):W!@WX XW!:W!2W!*W!V!bU)BU)*U)U1U5 ?B]p9;<BY BYA]'>*BaAeAaAaAem<"Cm!@RCm=Cu!@CqMTJg=!I1GM1>jlq,FE%EAY}22@}2s"@y}2Na;E:Eys }>I>5? B ?9 -D: 8:)Wk @WX XW:W2W*WVbUBU*UUU@B-ID<B1 B1A5->*B1A5N8A1A1A=<"C=k @RCE==CEk @CAe=I1GUS>= === =$4:Y=X1y=/:=H59=@ =  2>9 I HnGi @ )=  D ;  ϗEKsq,m %EA||Y}6D@2@}6["@y}6i}6p>}6H@vR0- 1? H `!?I˧Q?)~6D@2@ ~6Y^;I~6CɫQQ)Q UIQY@y%sGAAV MZ=Y9QU>a;E@Ey\}>I :.5? :  B ?9-D: {:):W 1@W X  XW:W2W*WVbUBU*UU!U% h@R-B*** querying acoustic contact ***P)P)BM0EH<BQ BQAU)>*BQA]\9AYAYA]C<"Ce1@RCe=Ce1@Ciul=Iy)yIIQGm>wzq,%EAY}2 1@}2!@y}2L^}2 2d}2H6>W@TY?l)U`eɋ?΁?)~2 1@ ~2^;I~0ɫ99)9 =I9Y@yArGZ****** received transponder code query ******F****** received ping request ******=Y:QU>99aE;EEGEqy}0T}}>IȁŅ5?Ņm ƅB ?9ƅ0-DDž׼; ȅn;)ȁW @WX XW:W2W*WVbUBU*UUU- @Buh%<Bq BqAu>*ByA}9AyAyA}_<"C @RC2=C @Cֽ7=UUUU6 U/3:YUW1yUč:U55IG>9sCIi*=; ƗE)IIIiIM)=M)=M85   í"[>í BíYií@í ĭ @)ĭX@Iĭ9@iĭ9@|+=M,=Y:QU>a;ENEy|}>I :5? %:] /B %?9C-D; .;):W@WX XW:W2W*WVbUBU*UUUs @BE8<BI BIAM'>*BQAU :AYAYAe<"C@RC=C@C-= I! G= >q,&EA|i|@ɫ髙) IYi@yrGp=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Ponly read 0 of 1 data item for BIT errora i@a  a m@a  a q@a  a e@a  eE9Mec=YeQUe>iqau;EuTEqy}}}>IȁŅ5?Ņ ƅ=B ?9ƅR-DDž: ȅ#>)ȁW@WX XW:W2W*WVbUBU*UUU@BTlP<B BA">*BAO&:AAA<"C@RC\ >C@CzA=-?i-t?IG-p> 0 r:YV1y:5>q,\7&EAY}2p_0@}2z @y}2U1}2C}2H`0@}qK@?"}`N"?g5?)~2p_0@ ~2p^;I~2Cɫ99)9 9I9Ye@yrGxDUSBL response received:!U1,R,25E,000,0083E,189,80,80,96,FF Fpublishing direction and range infoaɰ,> )CIy3BB?@%ٱ-?-b-qi-@) -X@)-"@I-i-"@=rME_=YE;QUE>IIaM;EMZEIyU8}U>IY]5?] ]LB e?9]b-D]Z: ]O9?)YW&@WX XW:W2W*WVbUBU*UUU`%@P*Q3BZQ=m;S@Y zFJQB?@%2Qa:QbQh} Am^ gT@5߹@RQ pٿb^O?dd?BQw? Q8BQ PZ9?Pb9?PQQ1A"Q@BI<B BAq">*BA(E:AAAj<"C&@RC >C&@CMط=PC IGU2>iIiɿٺRAܵ5>9ܱIܱiܱܵ)=ܱܱܵg; ݵE;)q,sQ&EAY}~K/@}~@y}~4k(}~$ʽ}~Hy0 %O1? uε@N ?J~?)~~K/@ ~~^;I~~Cɫ) IYm@ym rGTNmea in: $SNTTA,0.061959,,,,013001.17*47 I)AI)A MBMM:=YMŝ:QUU>QQaU;EUaEYy]}e>Iim5?m~ m^B u?9mu-Dm>: mӔ?)imuAdded new target pos. range: 89.099998 m, bearing: 113.458219 deg, deltaT: 4.393866 s, approachRate: -0.573528 m/s, LOS rate: 0.286409 deg/s, posRepo size: 4m- ProNav: pos range: 89.099998 m, bearing: 113.458219 deg, approachRate: -0.573528 m/s, LOS rate: 0.286409 deg/s, cmd update: 0.859226 deg/s, cmd heading: 138.898586 deg, new cmd heading: 137.926012 deg. W5~@WAXA XAWA:WI2WI*WIVIbUIBUQ*UQUU`fFV@UU-X?B}R:"<B BA' >*BA!f:AAA<"C~@*Cyt=RC|=C~@C l >' ~~4 6:YT1y@:5)F;9IG>{Pq,Bk&EA|;|Y}> /@}>%@y}>z}>Zܽ}>H`Ag`&ͭ}? 6@,8@޵?s}I?)~> /@ ~>^;I~<ɫYY)Y YIYY}@y}rG5ff>55i5@1 5@)5@I5@i5@E\;MEK=YM6:;QUM>IQaU;EUhEQy]l}]>Ia m:e]5? m:e@v enB m?9e-De: ef?)e:W n@WX XW:W2W*WVbUBU*UU!U%^?B/<B BA>*BAЯ:AAA i<"Cn@*CL=RC-=Cn@Cօf=I׉)׍hAYIiGY>`8q,2&EAY}2C.@}2{_@y}2}2}2H$ ? @!!a%;E%mE)y-}->I155?5l 5}B =?95-D55: 5!?)1ܝ6>9ܙIܝmGiܝ[@ܝ'=ܙܙܝY; ݝEWU@WX! X!W!:W!2W!*W!V)bU)BU)*U1U1U5I?Br<B BAl=*BAs:AAA<"CU@*Cꕂ=RC=CU@C=IG>& N2:Y[1yH:5)G;bq,&EAɫyy)y yIyY9@ykqG=i=R=i=Ip=)=a ia i a ma m a qa q a ea e J +?B`"?v/?(?N> xi=)IyMbX?+Q?*?\= •3@)•AI•"Ai•7 A=A;MA=YQU>a;EtEy}>I5?a B u?9-D}: :)WD@WX XW:W2W*WVbUBU*UUU 1?B5^S<B9 B9A==*B9A=:AAAAAE}<"CmD@*Cm&=RCmX=CmD@Cqe==9IIGeU>q,ڸ&EA|i|@Y}63,@}6@y}67ӻ}6}6Hè`B<Q d?l >%{z?ҷ?)~63,@ ~6^;I~6Cɫ99)9 9I9Yut@y}qGEТ>EƫE=>iE@A E9@)E"@IE9@iE"@]ז<M]P=Y]s;QU]>aaae;EezEiymy}m>Iq }:u5? :uV uB ?9u-Du8: uf:)u:W@WX XW:W2W*WVbUBU*UUU 5;@B*B!A%~:A!A)A-<"C@*C=RC?~h=C@C=?i?יIGG> .:YW1yč:I59@ٍ<ىܕ8>9ܑIܑiܑܕ(=ܑܑܕV; ݕEtq,&EAY}:z+@}:@y}:Jͻ}: }:H@?k`@(?k. ; ^y?@*ѵ?)~:z+@ ~:^;I~8ɫ99)9 =IAY}5@y}fqGMG=Y9QU>a;EEy}>Iȱŵ5?ŵK ƵB ?9Ƶ-Dǵ: ȵ:)ȱW|@WX XW:W2W*WVbUBU*UUU`u@BZ!<B! B!A%=*B!A%Z:A!A!A-<"C5|@*C5=RC534=C5|@C9!I G%M>q,Ί&EAY}B+@}B`:@y}BxŻ}B܅}BHg#@@?3|@x?@6?)~B+@ ~BP^;I~@ɫYa)a mIiY@yqG?AI)I) ))ý+>ýýiý@ù Ľ)Ľ@IĽz@iĽz@MG=Yt%:QU>a;EEy}>I :Tx5? :P@ B ?9-D8: :):W@WX XW!:W!2W!*W!V!bU)BU)*U)U1U5@S@R=B*** querying acoustic contact ***P9P9B]å<Ba BaAe=*BaAex:AiAiAm<=<"Cu@*Cu=RCu/<Cu@Cymv=!I1GM1>n .(:YY1y:5ˆq,g'EA||;Y}6vH*@}6c@y}6q垻}6}6HI(t( LR?ϥs?`Ր?)~6vH*@ ~6^;I~6Cɫ99)9 9IAY]@y]qGeZ****** received transponder code query ******eF****** received ping request ******ea;EEy }%>I!%j5?%5 %B 5?=<>99I=mGi= @=)=99=Q; =E9%-D%< %{<)!W,B@WX XW:W2W*WVbUBU*UUU @B50<B1 B9A=>*B9A=:A9A9A=<"CE,B@*CMrk=RCMR<CM,B@Cq }=}=eC;=Ii)i!I1Gu6>q,:A 'EAY}2_z)@}2@y}2o'}2}2H tQtb ?`?e@;K` d? -C?)~2_z)@ ~2^;I~2Cɫ99)9 9I9Y@ypGxDUSBL response received:!U1,P 25E,000,0083E,189,80,80,96,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 e|?5^?J +??e2?e= eL=)aIayeMbX?y&1X9v?ae`ee< e@)eAIeAierAaefA;M=Y;QU>a;EEyƼ}>Iș :ŝT5? :ŝT( ƝB ?9Ɲ.Dǝ: ȝ+:)ȝ:WZ@WX XW:W2W*WVbUBU*UUU4 @B G<B BAm=*B!A-:A)A)A5+z<"CEZ@*CMA=RCMZ:CMZ@CQ%%%% %1:Y%V1y%:%n5M B4= I G- >q,2:'EAY}2(@}2#@y}2ep:}2s}2H Ec૭`?A1? 7`/ nC`?)~2(@ ~2}^;I~2Cɫ99)9 9I9Y}@y}qGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=R=i4=I=)Q8=j$G>i@ @)X@I9@iX@{<M=Y":)W% @W!X! X!W!:W!2W)*W)V)bU1BU1*U1U1U5 s:@Be=-<Ba BaAe=*BaAeH:AiAiAm:E<"Cu @*Cu"=RCu|4mCu @CyMA= I)GE0>11==>9=tCI=mGi=@999=K; =E)ݍsCIݍsCi݉݉ݍ(=ݍ\>5q,fS'EA|i|Y}6(@}6@y}6h~;}6M}6HG`J?P#egoQ0?)~6(@ ~6 ^;I~6CɫYa)a eIaYm@yupG}xDUSBL response received:!U1,R,1B9,000,0080B,186,80,80,B6,FF Fpublishing direction and range info}k žyɰ}(>}> y)}6CIyy}B}Ԛ<(Ϩ?"ؿٱyM^=Ya;EEyZ}>I,95?m  B ?9.D: M:)W f@W X XW:W2W*WVbUBU*U!U!U%@@P1*Q5BZQ5eSS@U!2&@JQ5Ԛ<(Ϩ?"ؿ2Q5k ž:Q1bQ5XHB2RwS@; E @RQ5i)ڿ $ ?R|k?BQ5g0@ Q5#BQ5P5S9?P5Z9?P5Q5Q5A"Q51ABeB<Bi BiAm=*BiAmţ:AiAiAu!<"Cf@*C=RC#Cf@C NJ;?i?IG )>U* UUU U,7:YUWU1yU:U#5)U{;9]kq,m'EAY}}o(@}}{@y}}r;}}8ؽ}}H`<>?`:y` ?)~}o(@ ~}}^;I~yɫIQ)Q UIQY @yoGDNmea in: $SNTTA,,,,,013005.63*5C u>uuxiiu@q u)u@IuΣ@iu@ <M1=Y;QU>a;EEy}>Iȡ :ť&5? :ťH ƥ B ?9ƥ3.Dǥ=: ȥQ:)ȥ:muAdded new target pos. range: 86.040001 m, bearing: 114.760825 deg, deltaT: 4.427654 s, approachRate: -0.691110 m/s, LOS rate: 0.294198 deg/s, posRepo size: 4m ProNav: pos range: 86.040001 m, bearing: 114.760825 deg, approachRate: -0.691110 m/s, LOS rate: 0.294198 deg/s, cmd update: 0.882593 deg/s, cmd heading: 142.703146 deg, new cmd heading: 143.100718 deg. Wl@WX XW:W2W*WVbUBU*UU`U@U @?B5;B1 B1A5=*B1A=O:A9A9A=<"CEl@*CE=RCE>CMl@CIu"51IAG]v>i NmGI! i1 e ƿٺa e HAq,'EAY}:(@}:@y}:q;}:.½}:H{Dl?-@}i7}_I?)~:(@ ~:^;I~:Cɫ99)9 =I9Y}@y}oG9ITlGi@'=M; EIa)eAIi)mA qqMY=Y);QU>a;EEyv;}>Ii5?d " B ?9C.D: :)Wt: @WX XW:W2W *W V bUBU*UUUw?BE+<BA BAAEo=*BAAM;AIAIAM<"CUt: @*CU\=RCU}CUt: @CY5mY I1Gu6>u qqu u5:Yqyqu5)u;q,ӈ'EA||Y}6(@}6 @y}6C;}6.ݩ}6HUN ?@D am}E5 ?)~6(@ ~6^;I~4ɫYY)Y YIYY}@y}oGuA`"??Mb?u?u< u<)qIqyuMb?S㥫X9v?u#?u/]q uQ@)uAIqiuAquAi<MM=Y9QU>aIȩ :ŭ5? :ŭ ƭ. B ?9ƭS.Dǭ: ȭ:)ȭ:W=K @W9X9 X9WA:WA2WA*WAVAbUIBUI*UiUqUu`, ?B<B BAد=*BA8;AAA<"CK @*C]=RCNCK @CI ) iAIGUu>o*q,]j'EAY}6(@}6 @y}6TT;}6߆}6HWm !$?a vK~*zPm`?)~6(@ ~6^;I~6Cɫ99)9 9I9Y}_@y}$oG===H=i=@9 =9@)=Σ@I9i=@M`MMO=YMQUU>QQaUIae5?e@ e: B u?9ec.De]: e:)aW!@WX XW:W2W*WVbUBU*UUUy?B,;B BAh=*BA;AAA <"C!@*C-=RCC!@C IGI>>>9IkGis@&=X; E N2:Y0Y1y:5)G;)q,D'EAY}ZE)@}Z%a@y}Z7;}ZK0W}ZH௨@*f`?`¡w@⪿?)~ZE)@ ~Z#^;I~Xɫ髑) IYc@y(oG]=i]=]=i]C=ImR=)m%=׍:MD=YQU>aI :b5? :4 G B ?9t.Dw: b:):WHl!@WX XW:W2W*WV bU BU *U UU d@B= ;;BA BAAET=*BAAEh ;AAAIAM<"CUHl!@*CU=RCUCUHl!@CY]9IAGeU>>q,o)'EA| =i @  ) z@I @i z@MD=Y9QU>!!a%I155?5& 5T B E?95.D5: 5:)1Wm!@WiXi XiWi:Wi2Wq*WqVqbUqBUy*UyUyU}@B.;B BAx=*BA;AAAU<"C!@*Ct=RC-{'C!@Cd?i}?ױIGj> /:YDW1yY:59@t#q,/(EAɫyy)y yIy܍?>9܉I܍`jGi܍@܉܉܍D܍e; ݍEY(@ynG@AMa=YQU>aI5? _ B ?9.D: +:)W%31"@W!X) X)W):W)2W)*W)V1bU1BU1*U9U9U=@REB*** querying acoustic contact ***PAPABm|;Bi BiAm k=*BiAms;AqAqAu<<"C}31"@*C}:=RC};C}31"@C֭R5#׉IGE>Nq,{"(EAY}2)@}2G@y}2;}2I}2H`68?Fg@x~Y{?)~2)@ ~2._;I~0ɫ99)9 =I9Yu}@y}nG}Z****** received transponder code query ******}F****** received ping request ******aI :5? : e B ?9.D: :):W=^"@W9X9 XAWA:WI2WI*WIVIbUIBUQ*UQUQUUk @B};B BA=*BA;AAA <"C^"@*CE=RC@@C^"@C d6ױIG> j | |  ':Y R1y i: J5wq,֫<(EAY}: *@}:%@y}::;}:઻}:HKi@͕ui? 2?Egy [u ?)~: *@ ~:^;I~:Cɫ99)9 =I9Y}F@y}mGxDUSBL response received:!U1,P 1B9,000,0080B,186,80,80,B6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }t}"۾}$i}@y y)}@I}@i}@MC=Y9QU>  aIae65?e ek B ?9e.De3 < e:)aW<#@WX XW:W2W*WVbUBU*U!U!U-7 @BuЌ;Bq BqAu1<*BqA}j;AyAyA}<"C<#@*C=RC‰JC<#@Cفف܍>>9܉I܍iGi܍ݽ@܉܉܍D܍g; ݍE=I)בIG>bq,V(EAY}Feh*@}F@y}F m;}F(}FH `pFPr@XF?>o?@x%?)~Feh*@ ~FQ^;I~Dɫqq)q qIqY>@ymG鮹ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 6!M^=YѹQU>aI :W5? : p B ?9.DI: :):W9k#@WX XW:W!2W!*W!V!bU)BU)*U)U)U5^K@B]B ;BY BYA]<*BYAe;AaAaAeG#<"C}9k#@*C=RC8HC9k#@C֝tEqIyG]>% % % %  % /:Y% Y1y% :% &5)% ;9- q, qp(EAY}FT*@}F@y}FR;}F :}FH"@j`"? lt?Bw`$Z?`?)~FT*@ ~F_;I~Dɫaa)a aIaY@y鰝1> )BIypBH?<?@Lܿٱ=i=4=i4=IC=)=  @  @  @ ©  i ̤@  @) I z@i \@ MW=Y%ˁQU%>!!a-I9=e5?=ʟ =v B E?9=.D=4: =:)9WeV#@WiXi XiWi:Wi2Wq*WqVqbUqBUq*UyUyU}Y@P*QpBZQjR@֋IBJQH?<?@Lܿ2Q@:QbQZxR?w"q,Y(EAY}n$+@}n2@@y}n,;}n6;}nHW%7??% ?? uz??)~n$+@ ~ni$_;I~nC%=>9!I%lhGi%@%%=!!%Y; %E)ݭtCIݭtCiݩݭ&=ݭ&=ݭ"5ɫ) IY-@y-mGTNmea in: $SNTTA,0.059063,,,,013010.06*4C M==YwQU>  a I E:#y5? M:F | B U?9.D< Ur<):myAdded new target pos. range: 83.220001 m, bearing: 112.110780 deg, deltaT: 4.456588 s, approachRate: -0.632771 m/s, LOS rate: -0.594635 deg/s, posRepo size: 4m ProNav: pos range: 83.220001 m, bearing: 112.110780 deg, approachRate: -0.632771 m/s, LOS rate: -0.594635 deg/s, cmd update: -1.783906 deg/s, cmd heading: 146.636272 deg, new cmd heading: 147.078758 deg. W"@WX XW:W2W*WVbUBU*UU%T@U%?B'3H;B BA&@<*BAK;AAA E<"C"@RC-dWC5"@C1II9 E ?iE ? I! GE >(q,e(EAY}Fp+@}F>@y}FI;}Fq;}FHB>@ @^??@=#6? 5p~?`?)~Fp+@ ~Fu_;I~DɫYY)Y ]IYYz@ylGuV?aI9= j5?=X = B M?9=.D=: =:)9Wm"@WiXi XqWq:Wq2Wq*WqVqbUyBUy*UyUyU@?B-=3;B1 B1A5;*B1A5^;A1A1A=%L<"C="@RCECE"@CAm39IIGeU>h || <:YR1yi:59 @>.q,(EAY}6+@}6d@y}6;}60<}6HO P@ɲu?`u?wO`?64b@??)~6+@ ~6g^;I~6CɫYY)Y YIYY@y&lGI)AI)A %̝>%KCiunGIi5Cʿٺ1=oA    @ @ @ÉÉÉiÍ@É č)č@Iĉičz@K!M@=YQU>aIȹ :ŽiZ5? :Ž ƽ B ?9ƽ/Dǽ^: Ƚ:)Ƚ:W\H!@WX XW:W2W*WVbUBU*UUU`!?Bu^;Bq BqA}*ByAyAyAyA}HK<"C\H!@RCC\H!@C֝I_)9)I-gGi-F@-$=))) -EבIG>5q,|(EAY}2+@}2&@y}2X{:}2m}<}2HNd u??`{ck? vO _? ?)~2+@ ~2X^;I~2Cɫ99)9 =I9Y@ykG5M5d=Y=fQU=>9AaEIQUM5?Umw U B ]?9U/DU: U:)QW @WX XW:W2W*WVbUBU*UUU o?B~;B BAU*BAK;AiAiAm*E<"Cu @RCu;Cu @Cye}AIIGe4>xx ,:Y7P1y:85)։;9 @;q,(EAY}:Q-,@}:H@y}:9}:_W<}:H@r{t?8? zj? p6 ??)~:Q-,@ ~:^;I~8ɫ99)9 =I9Y}@y}kG U U UU>U#UR>iU@U UΣ@)U@IU@iU@e MeG=YmúQUm>iiamIȁŅ=5?Ņm ƅ B ?9ƅ./DDžU: ȅ@:)ȁW@WX XW:W2W*WVbUBU*UUU`?@BX:B BA *BAJ;AA!A%>@<"C%@RC-Z*<C-@C)EϩI)GEQ>Bq, )EAY}6?,@}6@y}6͔)}6)<}6Hv[%{?v?`H?2>`3??)~6?,@ ~6=^;I~4d9dIffGif@f%=ddf_; fEɫ99)9 9I9Y}@y}jG=i=a=i=I=)=~ּME=YbQU>aI  :-5? 5:zc  B =?9?/D< !<):Wk@WX XW:W2W*WVbUBU*U U U @RB*** querying acoustic contact ***PPB|9B BA*BA,n;AAA<<"Ck@RCj=Ck@Cֽu<  4:YW1yč:5);ױIG>Hq,_%)EAY}6p,@}6@y}6/}6;}6H@@T`Sq?T?s?%4?y??)~6p,@ ~64^;I~4ɫIQ)Q UIQY}@y}jGZ****** received transponder code query ******F****** received ping request ******aI  5? Y  B ?9 P/D f: +:) W= @W9X9 X9W9:W92WA*WAVAbUABU*UUU`(@B@`8B BA*BAA;AAA9<"C @RCR=C @Cvɯ<IG >^Oq,\;?)EAY}6-@}6u:@y}6.}6:}6H 4>E\?@8>?@7YQ?@TE?`SR_??)~6-@ ~6*^;I~4ɫ99)9 =I9Y@yqjGxDUSBL response received:!U1,P 213,000,007DC,187,80,80,79,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 @ @ -@©i@ )\@IE@iE@uxMuB=Y}N_QU>aI) 5:- 5? 5:-N - B 5?9-a/D-: -:)-:W}'@WyXy XyWy:W2W*WVbUBU*UUU{ @B0j7B BA*BA;AAA_6<"C%'@RC%R=C%'@C)>>9IeGi@ .:YU1y:ݸ5)Q;&=i; EM+=IG=>0Uq,DY)EAY}24-@}2P@y}2m溙}2q}2Ha`5ZZ5?F`s\?.ns ?)~24-@ ~2o^;I~2CɫYY)Y ]IYYԽ@yiGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)AI!)%A AA5Mk=YOQU?a:)W=~@WAXA XAWA:WA2WA*WIVIbUiBUi*UqUqUu-Q @B B BAl*BAeZ;AAA 9<"C~@RCC!=C~@C֥C=ׁIG?>I%\q,Jr)EA||Y}63 -@}6(@y}6hj}6:}6H@E@J?rE?QMm?Y@j?)~63 -@ ~6^;I~6Cɫ99)9 9IAY@yiG鮱ɮp=xDUSBL response received:!U1,R,256,000,007B2,189,80,80,8D,FF Fpublishing direction and range info0ɰa!>鰽7> ) CIyfB @?9߿ٱ E E MMK7M#MiM@M M@)M@IM@iM@]q<M]P=Y]QU]>aaaeIq }:uF5? :u= u B ?9u|/Du: u:)u:Wܺ@WX XW:W2W*WVbUBU*UUU .@P*QfBZQf 1:YV1y:59 @cq,Ҍ)EA:=>98I:dGi: @:$=88:; :͗EɫQY)Y YIaY@yiGTNmea in: $SNTTA,0.059924,,,,013014.11*44 ](\?:v?X9v?]z?]T< ]<)YIYy]5^I ? ףp= aIȑŕ5?ŕ/ ƕ B ?9ƕ/DǕ: ȕy:)ȑmyAdded new target pos. range: 80.700005 m, bearing: 110.796931 deg, deltaT: 4.046858 s, approachRate: -0.622705 m/s, LOS rate: -0.324659 deg/s, posRepo size: 4m ProNav: pos range: 80.700005 m, bearing: 110.796931 deg, approachRate: -0.622705 m/s, LOS rate: -0.324659 deg/s, cmd update: -0.973977 deg/s, cmd heading: 139.416675 deg, new cmd heading: 138.512918 deg. W-@WX XW:W2W*WVbUBU*UU,T@UE?B%qB! B!A%_*B)A-'J ;A)A)A-~<"C5-@RC53=C5-@C9]=IG%>D7iq,z)EAY}2+,@}2@y}2,}2V0}2H@e@v`w?@4`}?6e?)~2+,@ ~2!^;I~2Cɫ99)9 9I9Y}@y}riG=i=C=ia=Ip=)%=uMu=Y}DQU}?yya}  R:YU1y:n5pq,w)EA|i|Y}62,@}6N@y}6̠}6L'}6H|%Г@?u Ԃ? n?)~62,@ ~6ߠ^;I~4ɫ99)9 =IAY}@@y}hG-X9>-N-Q>i-@) -X@)-^@I-E@i-E@=ZMEN=YEGQUE>IIaMIY e:]Ͻ5? e:] ] B m?9]/D]=: ]I:)]:W8j@WX XW:W2W*WVbUBU*UUU@?BePBi BiAmZ*BA@;AAA<"C8j@*C=`=RC#R=C8j@C֥U=סiץ?ae<i9iImdGim@m%=iim; mҗE)Ii%=%=5ׁIG_>OIvq,])EAY}2+@}2&@y}2F,}2.I}2HVv ? L@`? " ?)~2+@ ~2q^;I~2Cɫ99)9 =I9Y@ynhGu=ϼMuG=Y}RQU}>yaIȑŕ߫5?ŕd ƕ B ?9ƕ/DǕf: ȕ/:)ȑW@WX XW:W2W*WVbUBU*UUUo?B}By ByA*BAgP:AAA<"C@*Cx=RC=C@Cֽ~M=יIGb>  4:Yy5]s|q,8)EAY}:]A+@}:\@y}:7}:Ɂ}:Hp.}렿?  > W?36` ?)~:]A+@ ~:]^;I~:Cɫ99)9 =I9Y}ܼ@y}\hGI)AI)A  ]?]p]ƾi]@Y ]@)]\@I]i]\@m<MmK=Ym[׺QUm>qqauIȁ :Ņl5? :Ņ ƅ B ?9ƅ/DDžv: ȅ*:)ȅ:W@WX XW:W2W*WVbUBU*UUUg)@BB BAY*BAb:AAA~<"C@RC =C @C %d=I G%M>iE%nGIYiqɿٺ Aa 9a Ie dGie k@a a a e ; e ڗEiq,Q*EA||Y}R *@}R@y}R*}R}RH= >`T? CU?O6?)~R *@ ~R^;I~RCɫyy)y yIYƼ@yAhGrлM@=Y .:QU5>AAaMIȹŽ(5?Ž5 ƽ B ?9ƽ/Dǽ < Ƚ* <)ȹWu:@WqXy XyWy:Wy2Wy*WVbUBU*UUU@B.B BA繽*BA8!:AAA{L<"C%:@*C%A=RC-/o=C-:@C) = >== 1:YT1y:5);9=q=I9)9IG>kq,F'*EAɫyy)y }IyY*@ygGUPn?yaIȩ E:ŭx5? u:ŭ ƭ!B }?9ƭ/Dǭ< ȭ)<)ȭ:Wm@WiXq XqWq:Wq2Wq*WqVybUyBUy*UyUU@RB*** querying acoustic contact ***PPB.ĻB BA*BA:AAA.<"C@*C%ɴ=RC%@=C%@C)5=I1G]>^mq,A*EAY}2P *@}2$@y}2+.}2}2H@/Yi? ɲ…?@׶?)~2P *@ ~2^;I~2Cɫ99)9 =I9Y9@ygGZ****** received transponder code query ******F****** received ping request ******ÍF>ÍiÍ@É č@)čE@Iĉiĉ;MH=YQU>aIȱŵTi5?ŵ Ƶ!B ?9Ƶ0Dǵӻ: ȵ#:)ȱWp4@WX XW:W2W*WVbUBU*UUU @B̻B BAݽ*BAE.:AA)A-<"C5p4@*C5=RC53 =C5p4@C9 O=IGE>iA 7>9 I cGi @ "= RD  ; ٗE 1:YWU1y:5)-;ꘖq,ҫ[*EAY}:)@}:@y}:I}:| Ž}:H@ਃ@? H??`{`}?)~:)@ ~:r^;I~8ɫ99)9 9I9Yu@y}jgGy}@AxDUSBL response received:!U1,P 256,000,007B2,189,80,80,8D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 &ML=Y舻QU>aIQ e:U!Y5? e:UY U.!B ?9U!0DU< U<)U:WEs@WaXi XiWi:Wq2Wq*WyVybUBU*UUU` @B ûB BAj*B!A%>:A!A!A%<"C-s@*C-q=RC-(q=C5s@C1q}?i}?QIiG>q,u*EAY}6z)@}69@y}6Vp}6Ƚ}6Hwjr`?Sٴ?=?)~6z)@ ~62^;I~4ɫ99)9 9I9Yû@ygGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B @ @ @Å©ÅÅiÅ@Å ą)ąIāiąۙ@ѼMI=YQU>aIȱŵJ5?ŵ ƵA!B ?9Ƶ10Dǵ: ȵ:)ȱWpS@WX XW:W2W*WVbUBU*UUU@(/@BͷB BA*BA앻:AAA<"CpS@*C=RCc]=CpS@C=I  y y  2/:Y P1y ': 59 @Gm> ?>9 I XcGi ȸ@ &= SD  ;  ՗Eq,B\*EAY}j'@}j2@y}j^}jGYֽ}jH>@`(U/?@ @??)~j'@ ~j_;I~jCɫ髡) IY=ʻ@yE gG]xDUSBL response received:!U1,R,1D7,000,00783,186,80,80,7A,FF mFpublishing direction and range info]qҾYɰ]>]> Y)]BIYy]›B]U?ot36ٿٱYI)AI)A 11rh|?i|?5I +?? 94=)IyʡE?:vV-?/?T< A)AIAi A A3:M+=YfJQU>aI75? W!B E?9F0DU; ;)W@WX XW:W2W*WVbUBU*UUU$@P*Q›BZQo%[/Q@u?JQU?ot36ٿ2QqҾ:QbQXf=bQ@K@RQY@ؿ|w|?Ik?BQJ? QBQPS9?P\9?PQQ[$A"Q@B*ӻB9 B9A=*BAAE>A:AAAAAEj<"CM@*CM =RCMq=CU@CQu=I IY G >թq,@*EAY} X'@} nt@y} w} ݭ} H; K߰d?`A@񴶿??)~ X'@ ~ ^;I~ ɫ) IYUu@yUfGMTNmea in: $SNTTA,0.092800,,,,013018.55*48 } } }}}}B>i}@} }@)}z@I}@i}z@׼MO=Y>3;QU>aIȩ :ŭ(5? :ŭ̴ ƭi!B ?9ƭW0Dǭ: ȭ:)ȭ:muAdded new target pos. range: 77.880005 m, bearing: 112.649449 deg, deltaT: 4.542104 s, approachRate: -0.620858 m/s, LOS rate: 0.407855 deg/s, posRepo size: 4m ProNav: pos range: 77.880005 m, bearing: 112.649449 deg, approachRate: -0.620858 m/s, LOS rate: 0.407855 deg/s, cmd update: 1.223564 deg/s, cmd heading: 134.996651 deg, new cmd heading: 134.623656 deg. WP@WX XW:W2W*WVbU BU *U U RxS@Uwb?B=4*B9 B9A=*BAAEXB:AAAAAE?<"CMP@RCMN}=CMP@CQUȝ=IY)Y     2:Y U1y : l5I)GMt>q,M*EAY}J&@}J~@y}J[}Jv}JH@kr @?̆s?@`Y?)~J&@ ~J^;I~JCɫYY)Y ]IYY@yfG]<M]w=Y];QUe?aaae9ܩIܭbGiܭw@ܭ%=ܩܭDܭ; ݭؗEIGI>q,5*EAY}Fh}&@}F@y}FKL}F߽}FH @֗ಎ )?`i===4=i=a=IE=)E=uCMuI=Y};QU}>yaI :Y 5? :Ҟ !B  ?9x0D: :):W- X@W)X) X)W1:W12W1*W1V1bU9BU9*U9U9UE?Bm!} Bi BqAu*BqAuU:AqAqAuA <"C} X@RCV=C X@Cօ7y=AIQGm5>%2 %%% %7:Y%V1y%:%5q,*EA|i|Y}6&@}6|4@y}6._S}6Kٽ}6H@]j`@ j?@\B dk?` 1?)~6&@ ~6#^;I~4ɫ11)1 5I1Y2@yPfGeLeXe?5ief@a e@)eE@Ie @ieE@uJ:MuJ=Y}zQU}>yya}Iȑŕ5?ŕG ƕ!B ?9ƕ0DǕw: ȕb:)ȑW@WX XW:W2W*WVbUBU*UUUT?BoB BAg*BA99k:AAA<"C@RCW<C@ClT=?i?שIGe>ܝ B>9ܙ Iܝ bGiܝ &@ܝ &=ܙ ܙ ܝ ; ݝ ۗE))I)i)))-"5q,+EAY}@%@}@y}"b};н}H`?F @qD ?` `rhZ?i`?)~@%@ ~^;I~Cɫ) IY-I@y-kfG5p= ף?V-?V-?5%?5h= 5<)1I1y5{Gz?Zd;O{Gzt5#?5j5ף 5xA)5~AI5Ai5 A15 AU;MU0=Y]QU]>YaaeIq }:u5? }:uІ u!B ?9u0Duj: us:)u:W@WX XW:W2W*WVbUBU*UUU ?B]Ba BaAe *BaAe,$K:AaAiAm<"Cm@RCum<Cu@Cu=% %w%w% %D:Y%O1y%P:%5)%;951IAG]w>^"q,*+EAY}2M%@}2*i@y}2Jn}2}}2H`A!K 9 ?`>L $Ӎ?@?)~2M%@ ~2^;I~2Cɫ99)9 9I9Y} @y"fGI)I )  鿱=fM=_=Y=MQUE>AAaEIY]5?]| ]!B e?9]0D]O: ]:)YWD@WX XW:W2W*WVbUBU*UUU @BN B) B)A-*B)A-?.:A)A1A5v<"C5D@RC=؇E;C=D@C9]<1IAG]v> i NmGI! i9 q,OZD+EAǿٺA|"4<|"4<ɫ) IY@yeGa=ɮa=å~j>åå"=iå@á ĥ\@)ĥ@Iĥ&@iĥ&@MS=YQU>aI :5? :r !B ?90Do: :):W@WX XW:W 2W *W V bUBU*UUU@R%B*** querying acoustic contact ***P!P!BES .BI BIAM$*BIAM\:AQAQAUa<"C]@RC]8t5C]@CY֍u9uuCIu,bGiuԷ@u(=qqu; uؗEG9>%k %%% %[<:Y%X1y%/:%I5)%;4q,e6^+EAY}2n$@}2@y}2.J}24}2H ?`\uK? 0@Q`E?~?)~2n$@ ~2K^;I~2CɫYY)Y YIYY}@y}eGZ****** received transponder code query ******F****** received ping request ******aI15"5?5h 5!B E?950D5: 5:)1W@WX XW:W2W*WVbUBU*UUU" @B%T,B) B)A- *B)A5 9A1A1A5'<"C=@RC=gC=@CA%"5;I G5O>]q,8x+EAY}:$@}:~@y}:"}:󣍽}:HzC)JM?<@jGZ?`@?)~:$@ ~:D^;I~8ɫ99)9 =I9Y}I@y}1eGxDUSBL response received:!U1,P 1D7,000,00783,186,80,80,7A,FF Command AckBRequesting micromodem ping code 2i=i=C=i<Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Ie=)e4=mim@i mz@)m(@Im\@im\@ʼM%=Y~;QU>aI5?Z !B ?90D: Y:)W\@WX XW:W!2W)*W)V)bU)BU)*U1U1U5 @B*B BA,*BA9AAA<"C\@RCʼC\@C= === =@:Y=DW1y=Y:=59M@U]n1I9GU>u G>9q Iu aGiu @u '=q q u q; u ɗEIq,?+EA|?= t=)Iy|?5^?Q/$?-?u,= =A)AIAi5A( A=ML=Y;QU>a=EEy.;}>Iȩ :ŭS5? :ŭO ƭ!B ?9ƭ0Dǭ: ȭH:)ȭ:WvI@WX XW:W2W*WVbUBU*UUU@By1B! B!A%*B!A%9A!A!A-A<"C-vI@RC5C5vI@C1 ]?i?IG>oq,mƫ+EAY}2+%@}2G@y}2Y}2zY}2H^Y"`G(?@2 @~?+9?)~2+%@ ~2LY_;I~2Cɫ99)9 =IAYٺ@yeGxDUSBL response received:!U1,R,195,000,00752,186,80,80,A0,FF Fpublishing direction and range infoɰ> ) CIyBש?#&ֿٱ]t>]T=]|i](@Y ]&@)]ҙ@I]@i]&@m <M`=Y:QU>a=EEy5<}>Iȡť 5?ťE ƥ!B ?9ƥ1Dǥ< ȥ<)ȡW_@WX XW:W2W*WV!bU!BU!*U!UIUM @PY*Q]BZQ]qFQ@P6t!9JQ]ש?#&ֿ2Q]:QYbQ]>=,/Q@"{?RQ]ic;lٿ;o[?)?BQ]^? Q]~BQ]%P]N9?P]S9?P]Q]Q]@"Q][$AB59/B BA*BA^7AAA<"C_@RCC_@C!߼IGj>E. AAE E}7:YAyAEn5LZq,y+EAY}~w%@}~,@y}~}~[)}~H0 @@ ?(*AR?)?)~~w%@ ~~{>_;I~~Cɫ) IYҺ@yeGuDNmea in: $SNTTA,,,,,013022.99*5C Iy)y 鿉MT=Ya=EEyH<}>I :@5? :p: !B ?91D: +:):m%uAdded new target pos. range: 74.940002 m, bearing: 113.413208 deg, deltaT: 4.397025 s, approachRate: -0.668634 m/s, LOS rate: 0.173699 deg/s, posRepo size: 4m= ProNav: pos range: 74.940002 m, bearing: 113.413208 deg, approachRate: -0.668634 m/s, LOS rate: 0.173699 deg/s, cmd update: 0.521097 deg/s, cmd heading: 140.376655 deg, new cmd heading: 140.832503 deg. W=@W9X9 X9W9:W92WA*WAVAbUABUI*UIUM)R@UM@?B2B BAp*BAĸAAA<"C%@*C-u=RC-C-@C)< I>9 I daGi 2@ &= RD  c; ×EU鼹I!GEs>ׁq,|+EA||;ɫ髙) IY}@yqeGUۼMUS=Y]QU]>Yaae=EeEaym}m>Iqu0w5?u/ u!B }?9u"1Du3: u:)qW>@WX XW:W2W*WVbUBU*UUU$?B9FB BA&*BAZ?^AAA<"C>@*C[=RC@S C>@CGI ) IGI>m- mmm mi7:YmW1ymč:mn5q,W+EAY}2%@}22 @y}2$}2H}2H#[͜?Y`?yh?)~2%@ ~2'_;I~2CɫYY)Y ]IYY@yeGMQ8=MO Mm>iM@I Mҙ@)MIM@iM@<MF=YQU>a=EEy<}>Iȱ :ŵ g5? :ŵ $ Ƶ"B ?9Ƶ41Dǵ: ȵ:)ȵ:W.|@WX XW:W2W*WVbUBU*UUU?B%"8B! B!A-b"*B)A-ҿA)A)A5<"C5.|@*C=F~=RC=qC=.|@C9օ YIiGZ>- J>9) I- aGi- @- '=) ) - ^; - Eӗq,C,EAY}e)&@}e7@y}ep}e|}eH k `tu?j[Aހ? +@?)~e)&@ ~e_;I~eCɫII)I IIQYm@ymeG=i=I4=)a=EEy;}>IȹŽU5?Ž ƽ"B ?9ƽH1Dǽ: Ƚu:)ȹW@WX XW:W2W*WVbUBU*UUU?B-f1B1 B1A5$*B1A5EMA1A1A=+<"C@*C~=RC0C@CI_E7 EEE E58:YET1yE:E5)E`;9MשIG> q,4-,EAY}B\&@}Blx@y}B}\л}Bv }BH@'L[?@X z?鰁`?)~B\&@ ~B)^;I~@ɫaa)a iIiY@ydG…jA7i`i@ ­@)\@IE@i\@oMX=Y;QU>a=EEy+<}>I5G5?G #"B  ?9Y1D+: :)W]@WX XW:W2W*WVbUBU*UUU`@B-IVB) B)A-5*B)A5J"A1A1A5%<"C=]@*C=5'~=RC=C=]@CA]y1IAGew>ӥq,BF,EAY}:&@}:1@y}:_<}:{}:H`-Bug?? 8 8Mq@t?tO?)~:&@ ~:^;I~8ɫ99)9 9I9Y}I@y}1eG=<M=V=Y=f;QU=>AAaE=EEEIyMH<}M>IQ ]:U585? ]:U U/"B e?9Uj1DU: U4:)U:W.@WX XW:W2W*WVbUBU*UUU"@B:WB BA,*BABAAAtV<"C.@*C}=RC?C.@C٩٭hAܽK>9ܽvCIܽ`Giܽ@ܽ%=ܹܹܹ ݽ—E)MuCIMuCiIM'=M'=Ma5r׹IGE>I=@A)=@AMg MMM M <:YM[1yMݏ:M5)M;q,a`,EAY}2 '@}2U)@y}2}2 ;}2Hz i{qu?`h?K%bu?o?a? ?)~2 '@ ~2^;I~2Cɫ99)9 9I9Y}B@y}(eG鮅p=ɮ=I)9MU=Y6QU>a=EEyD<}>IȹŽ)5?Ž; ƽ;"B ?9ƽ|1Dǽ: Ƚ:)ȹW3h@WX XW:W2W*WVbUBU*UUU?@R B*** querying acoustic contact ***P P B-_TB1 B1A~-*BAdAAA<"C3h@*Cp}=RCC3h@C ==I_IG%M>q,Mz,EA|;|Y}6b'@}6u~@y}6Ի}6 ;}6H`H`?a?@Tz?@r??)~6b'@ ~65^;I~6Cɫ99)9 9I9Y}@y}{dGZ****** received transponder code query ******F****** received ping request ******=#=d;>=ffi=3@9 =@)=I=@i=@M$MU@=YU:QUU>YYa]=E]Eaye~G<}e>Ii u:m5? u:m mH"B }?9m1Dm8: m:)m:W}@WyXy XyWy:Wy2W*WVbUBU*UUU @BYYB BA?*BAnAAA<"C@*C }=RC \C@CYi}]nGIivȿٺĹA伉MMMM M1:YMX1yM/:Mn59U@ױIG>ܭ M>9ܩ Iܭ _Giܭ @ܩ ܩ ܩ ܭ Y; ݭ E$q,,EAY}-'@}- @y}-%5}-@;}-H& @o?3A?@|6Q?x??)~-'@ ~-;^;I~-Cɫ) IYUo@yU$dG]xDUSBL response received:!U1,P 195,000,00752,186,80,80,A0,FF ]Command Ack]BRequesting micromodem ping code 2iYYeNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 +?B`"۹?ν )IyQ?V-X9v?(a=EE y )<} >I5?. \"B %?91D<: :)WE@WAXA XIWI:WI2WI*WIVIbUQBUQ*UQUYU]  @By\B BAG*BAFzAAA<"C @*C В|=5=i5p=RC=e߼CE@CI֥ 7༹י I G >+q,e,EAY}E\'@}E @y}E}Ek;}EH@K-?@t-?@p`? =#==D>i=@9 =)=@I=ҙ@i=ҙ@;M|=YNQU ?a=EEy(<} ?Iȡ :ť&5? :ť ƥh"B ?9ƥ1DǥI: ȥ:)ȥ:Wm=)@WqXq XqWq:Wq2Wq*WyVybUyBU*UUU/@BoB BAF*BAtAAAK<"C=)@*CC|=RC޼C=)@C  (ἉE EEE EK6:YEV1yE:EH5IG>1q,0,EA|i|@Y}60(@}6eL@y}6}6|;}6H@&$$?@?#'JEq?`|??)~60(@ ~6^;I~4ɫ99)9 =I9Y}X@y} dGxDUSBL response received:!U1,R,1EC,000,00721,187,80,80,95,FF Fpublishing direction and range info۾ɰ>鰅1> )CIyB4ԿQv?7Xڿٱ¡¡:XMo=Y:QU?a=EEym6<}?I5? u"B ?91D: :)WXY@WX XW:W2W*WV bU BU *U U Uy@P!*Q%BZQ%]]P@==JQ%4ԿQv?7Xڿ2Q%۾:Q!bQ%: kP@=YO?RQ%8Mѵ׿yU?pJ2r?BQ%? Q%BQ%dP%Q9?P%N9?P%Q%Q%@"Q%@BU&ϊBQ BYA]J*BYA]mĺAYAYA]D<"CeXY@*Ce{=RCm}?ټCmXY@CiIM4=]O>9YI]o_Gi]@]&=YY]Z; Yu7༹AIIGe4> 8q, ,EAY}2t(@}2H@y}22|߻}2O<}2H@2>@ Q? [?n>Ga?x{?`)?`s?)~2t(@ ~2^;I~2Cɫ9A)A AIAY@ycG}DNmea in: $SNTTA,,,,,013027.46*5B 2M9=YY;QU>a=EEy<}>I :5? : "B ?91D: :):myAdded new target pos. range: 72.000000 m, bearing: 111.744996 deg, deltaT: 4.371272 s, approachRate: -0.672574 m/s, LOS rate: -0.381631 deg/s, posRepo size: 4m ProNav: pos range: 72.000000 m, bearing: 111.744996 deg, approachRate: -0.672574 m/s, LOS rate: -0.381631 deg/s, cmd update: -1.144893 deg/s, cmd heading: 142.656640 deg, new cmd heading: 142.895161 deg. W}@WX XW:W2W*WVbUBU*UUR@Uó?BZvB! B!A%R*B!A-SݺA)A)A-ރ<"C5}@RC5 mC5}@C9E&ּ!I9)9E EEE E E:YEWU1yE:E5IIGmx>0H>q,),EAY}:W(@}:@y}:-ƻ}:,<}:HZ@DK?S?`Z@f? x?@[c?{?)~:W(@ ~:e^;I~:Cɫ99)9 9I9Y},@y}cG}/<}}Ii}@y }\@)}ٮ@I}E@i}\@:;MO=YT;QU>a=E Ey3Q<}>Iȡť5?ťϨ ƥ"B ?9ƥ1Dǥ: ȥ:)ȡWG@WX XW:W2W*WVbUBU*UUU?B_B BA5P*BACAAA<"C%G@RC%e.C%G@C)IG$>a 9a Ie _Gie J@e %=a e De e; e ȗEE4Eq,-EA||Y}N)@}N\,@y}N ػ}N8M<}NHs ^? m? s/s?{?æ?-?)~N)@ ~Nõ^;I~NCɫ髱) IY(@ycGK?L7A`? t<)IyK?Zd;?^:?y< Q A)IAip A= A)= =%mM%@=Y-QU->)1a5=E5E1y=-<}=>IAE~5?E MtI E"B M?9E2DE-: E:)AWu@WqXq XqWq:Wq2Wy*WyVybUyBU*UUU`J$?B=сB BAP*BAbAAA~<"C@RC;C@C]nI)ױIGe>= === =4:Y=xZ1y=q:=5)=|;9E]Kq,6/-EAY}n;)@}nyW@y}n}n;c<}nH@(@-0? ? a(s?=?@qb??)~n;)@ ~nI^;I~lɫ髱) IY@ycGåq=å9åtiåQ@á ĥ@)ĥ@Iĥ@iĥ@`MN=YZQU>a=EEyv;}>I  : 5? : ڏ "B ?9 2D : :) :W=:@W9X9 X9W9:W92WA*WAVAbUABUI*UIUIUM@|?BuRBy ByA}9V*ByA}rAyAAC<"C:@RC8~i<C:@C֝?BɺYIiG8>1i1-BRq, yI-EAY}2:)@}2V@y}2v}2Z<}2Hࠁ> ?? En?n? S?`?)~2:)@ ~2\^;I~0ɫ99)9 9I9Y@ycGi=R=iaaae=EeEaym!i}m>Iqu5?u5 u"B }?9u'2DuǺ: uӻ:)qW#@WX XW:W2W*WVbUBU*UUUGP@B|4B BA e*BA@AAA,<"C#@RC6<C#@CP>9I^Gi@c; %X;IG]T>EEEE Ew2:YEX1yE/:En5)Ej;lXq,mSc-EA|i|Y}>()@}>6D@y}>}>H@-<}>H{߻}J? ? | ,S?`fރ??(?)~>()@ ~>ڇ^;I~<ɫYY)Y ]IYYz@ybGU[M]J=Y]{QU]>aaae=Ee%Eaym0}m>Iq }:uL5? }:uw u"B ?9u:2Du : u:)u:W8@WX XW:W2W*WVbUBU*UUU@BB BAmf*BA-%AAAи<"C8@RCd<C8@Cm<?i?IG&>]^q,/}-EAY}2)@}2.@y}2?}2*N;}2H7t`b@Ր?~?td ?it??)~2)@ ~2^;I~2Cɫ99)9 9IAY}0@y}bG鮁ɮa=?5i@ ­@)@Ii@MQ=YW:QU>a=E+Ey<]}>I  q5? l "B ?9 L2D #: :) W@WX XW:W2W*WVbUBU*UUU@@RB*** querying acoustic contact ***PPB5ŚB9 B9A=o*B9A=2A9AAAEx<"CM@RCMQ<CM@Cqeԅ<9IIGeU>E EEE E3:YEW1yEč:E59M@ Q>9 I ]Gi V@ $= `; ǗE)݅vCI݅vCi݁݅%=݅%=݅ 5~eq, -EAY}>)@}>h0@y}>}>}>Ht?NO??t@>c?X| ?)~>)@ ~>^;I~<ɫyy)y yIyY@yAbGZ****** received transponder code query ******F****** received ping request ******a=E3Ey{9}>Iȩ :ŭ@^5? :ŭ^ ƭ"B ?9ƭa2Dǭ: ȭ:)ȭ:W.#@WX XW:W2W*WVbUBU*UUUT @B dB BAx*BA%s@A!A!A%3Q<"C.#@RC#L=C.#@C ս=Խ=օY<9IIGeV>kq, -EAY}2J,)@}2G@y}2ė}2:}}2H@|U OK~`V?`.{L2~?9O R?)~2J,)@ ~2^;I~2Cɫ99)9 9I9Y۷@y3bGxDUSBL response received:!U1,P 1EC,000,00721,187,80,80,95,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= = @ @ @å©ååiå@å ĥ)ĥ@Iġiĥҙ@SMB=Y%T4:QU%>a=E:EyzS;}>IK5?Q #B ?9u2D< B<)W@WX XW:W2W*WVbUBU*UUU@@BB BATz*BAOAAAD<"C@RC?=C@C)]( ]]] ]7:Y]V1y]:]5ACiE nGIY i !̿ٺ *A < I G >#rq, -EAY}:<4)@}:O@y}:}:N}:H`@`f?{@K? ~h]?)~:<4)@ ~:o^;I~8ɫ99)9 =IAY}@y}aGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Mf=Y2QU>a=E?Ey{:}?Iȱ :ŵ+>5? :ŵH Ƶ#B ?9Ƶ2Dǵb: ȵM:)ȵ:W#%@WX XW:W2W*WVbUBU*UUUD@B¼B! B!A%,*B!A%3YA)A)A-<"C5#%@RC5V=C5#%@C9ّٕ<ܙ9ܝwCIܝ|]Giܝ@ܝ#=ܙܙܝb; ݝɗE+=IG$>9i==xq,9-EAY}6=,)@}6G@y}61\}6}6H|@ L?wwˁ?[ӡ`?)~6=,)@ ~6n^;I~4ɫ99)9 =I9Y]l@y]aGexDUSBL response received:!U1,R,22F,000,006EF,188,80,80,9A,FF mFpublishing direction and range infoe{aɰeh>e> a)eCIayeBe uD?1ݿٱa}=i}=mMY=YQU>a=EEEy#}>I.5?%= 1#B ?92D:  :)W@WX XW :W 2W *W V bUBU*UUU@P)*Q-BZQ-e;o7yN@n+@JQ- uD?1ݿ2Q-{:Q)bQ-^ u64T% GP@Y"#}?RQ- Ͽ!տ!m.2?Nj?BQ-%$? Q-8BQ-=P-U9?P-Q9?P-Q-Q-f@"Q-@B'SB BA*BA%m*gA!A!A%pR<"C-@RC-gk=CM@CQaeiAmh=A=YIaGY>EA EEE E9:YEWU1yE:E5~q,-EAY}r )@}r(@y}r%}r0}rHrYg`?`bj`Ҵ?@`?)~r )@ ~r}^;I~pɫ11)1 5I1Ym@yuaGDNmea in: $SNTTA,,,,,013031.89*5F  5 5 55>5n>5`ei5̜@5 5z@)5@I5&@i5@Eo<ME3=YMFQUM>QQaU=EULEQy]숻}]>Iae5?e/ eM#B m?9e2De: e:)amyAdded new target pos. range: 69.000008 m, bearing: 109.283279 deg, deltaT: 4.445035 s, approachRate: -0.674909 m/s, LOS rate: -0.553813 deg/s, posRepo size: 4m ProNav: pos range: 69.000008 m, bearing: 109.283279 deg, approachRate: -0.674909 m/s, LOS rate: -0.553813 deg/s, cmd update: -1.661438 deg/s, cmd heading: 137.567581 deg, new cmd heading: 137.046150 deg. W@WX XW:W2W*WVbUBU*UU @Q@UaL?BB BA*BAeuAAA<"C@RC_=C@C m=IGE>ܥ R>9ܡ Iܥ ]Giܥ @ܡ ܡ ܡ ܥ x; ݥ ՗E΅q,\.EAY}:(@}:R @y}:ZC}:I}:Hgj@?]@u t?@/`?)~:(@ ~:^;I~:Cɫ11)9 9I9YuR@yuaG/$?`"?V-?,?= <)IyDl?Q뱿:v?O-?\T< •7 A)•AI• Ai• A\ A MT=YjQU>a=EREyQ}>I :O 5? :$ V#B ?92D: :):W@WX XW:W2W*WVbUBU *U U UZ?B=湼B9 B9A=*B9AEOKAAAAAE:<"CM@RCMn=CM@CQ]؎=1IAG]U>=% ===  =6:Y=V1y=:=5)=#;9E_q,,2.EAY}6#(@}6@y}67X}6`O_}6H2SSN?F 2?嫿`?)~6#(@ ~6J^;I~6Cɫ99)9 9I9Y}@y}aGI)-=-?-rhi-z@) -"@)-I-@i-@ELMER=YE9[QUE>IIaM=EMYEQyU:}U>IY]5?] ]`#B m?9]2D]ϸ: ]@:)YW"b@WX XW:W 2W*WVbUBU*UUUR?Be켼Bi BiAm*BAAAA(<"C"b@RC@=C"b@C ==օ[=aIiG9>ޒq, L.EAY}Ba(@}B[}@y}Bt!k}Bg}BH67@&{;? )&`c??)~Ba(@ ~B^;I~@ɫYY)Y YIYY@y`G)%> %=UMUI=Y]o2QU]>Yaae=Ee_EaymG}m>Iq }:ux5? }:u ul#B }?9u2Du: u:)u:W@WX XW:W2W*WVbUBU*UUU`&?BǼB BA*BAAAAi<15lA999I9i9="=99=o; =ЗE"C@RC"n=C@C֝=yIG]>E EEE E>:YEX1yE/:E75)E;\q,e.EAY}:'@}:(@y}:in}:h}:Hi&⊝*? !Ս? @?)~:'@ ~:^;I~:Cɫ99)9 =I9Y}Զ@y}`G5&<M=L=Y=.QU=>AAaE=EEfEIyM}M>IQU5?U Uw#B ]?9U2DU: UǺ:)QW@WX XW:W2W*WVbUBU*UUUE@B^^ļB BA*BAAAA<"C@RCַ=C@C벫=שIG )>==i==b3q,.EAY}F'@}F@y}F3g}FDD}FH`J@$WQ? jߌ? ?)~F'@ ~F;^;I~FCɫYY)Y YIYY@yaG=i=MI>MMQ8>iM@I M\@)Mۙ@IM@iMۙ@8;MD=Y:QU>a=ElEy-}>Iȱ :ŵS5? :ŵ Ƶ#B ?9Ƶ3Dǵ(: ȵV:)ȵ:W@WX XW:W2W*WVbUBU*UUU@BIB! B!A%*B!A%oA!A)A-<"C5@RC5X=C5@C9AEjA}x=YIaGY>EEuEuE E-:YEKN1yEy:E59]@I 9I IM \GiM c@M #=I I M a; M ɗEq,.EA|i|@Y}6 !'@}6<@y}6z\}6E[}6H nR[@"x?`9?@1f?)~6 !'@ ~6^;I~6Cɫ99)9 9I9Y@y`Ga=ɮp=e rh?MbP?Mb?eC+?e: e=)aIayerh|?~jtQ?e;?eļe< eA)eAIeAie5Aae Ayy‼MK=Y]:QU>a=EsEyĆ}>Iȡť"5?ť ƥ#B ?9ƥ3Dǥ: ȥv:)ȡW]@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBoPɼB BA7*BA ѥAAA6<"C]@RC=C]@C֭#2=aIqG9>Gq,5.EAY}R֨&@}RV@y}RZ}R|}RH@o Ƣ?@$ =B?gb?)~R֨&@ ~R^;I~RCɫqq)q uIyY8@y1`GZ****** received transponder code query ******F****** received ping request ******IIaM=EMyEQyUU}U>IY e:]5? :] ]#B ?9])3D]!< ] "<)]:W@WX XW:W2W*WVbUBU*UUUW @Bm|̼Bi BiAmQ*BiAuiAqAqAuڌ<"C}@RC} =C}@Cu$ӿ=E@ E}E}E E8:YEkS1yEԊ:E5QIYGuz>h,q,{O.EAY}2'&@}2jC@y}2+c}2}2Ho y?Q``r?ٶ?)~2'&@ ~2^;I~2CɫYY)Y ]IYY@y_GxDUSBL response received:!U1,P 22F,000,006EF,188,80,80,9A,FF Command AckBRequesting micromodem ping code 2iI)AI)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ˼Ma=Y%кQU%>99aE=EEE<< S>9 I P\Gi @    \; ǗE)uwCIuwCiqu#=u#=u֥4Qy]}]>Iqu5?u u#B ?9u<3Du< u<)qW@WX XW:W2W*WVbUBU*U!U!U- @Bu=ԼBq BqAu*BqA}8AyAyA}<"C@RCK1=C@C֕*=QIYGu>Wq,/.EAY}%@}@y};Cm}CŽ}H ;@@e ?Wг#?D?)~%@ ~^;I~Cɫ) IYU@yU_GY]AAuNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ;M3=YNQU>a=EEy}>IC5? #B 5?9P3D~; B;)W%@W!X! X!W!:W!2W)*W)V)bU)BU1*U1U1U5@BcۼB BAS*BA=AAAu9<"C@RCZ=C@CE E~E~E E4:YET1yE@:E75ֵl=I׹)׹׉IG>=q,/EAY}:H%@}:"@y}:x}:_ս}:H@d D4?kr"@t? ۞?)~:H%@ ~:2_;I~:Cɫ99)9 EIAY]D@ym>`GxDUSBL response received:!U1,R,1C6,000,006BE,186,80,80,AA,FF inGFpublishing direction and range infoIbʾɰd >i鰕> )*CI5οٺ9=AyBՍn?Jؿٱ % % %%C>%%>i%̜@% %z@)!I%@i%@5<M5Q=Y5QU=>99a==E=EAyE}M>IQ U:U{5? ]:U U#B ]?9Ua3DU: U:)U:WQ@WX XW:W2W*WVbUBU*UUUS@P*QBZQqwxN@ogX2~9JQՍn?Jؿ2Qbʾ:QbQi\7>=PN@eu~# @RQ괔oֿ[?j?BQ? QzvBQRPN9?PU9?PQQZA"Qf@BU BQ BYA]*BYA]IƻAYAYA]<"CeQ@RCmC?=CmQ@C}=YIG>9I[Gi@"=I; Ejq,O/EAY}Jq$@}J@y}JI'w}Jl޽}JH` >Ng? c`? ?)~Jq$@ ~J:_;I~JCɫ髑) IY@y`G}dNmea in: $SNTTA,0.060959,0.422514,,,013036.33*5E }=i}=Q?T㥛 ? ףp= ?\/?> Q8=)IyZd;O?Q rh?~*?C = XA)~AI AijA A5[M5J=Y=9QU=>99aE=EEEAyM}M>IQUl5?U U#B ]?9Us3DU: U':)QmuAdded new target pos. range: 66.060005 m, bearing: 110.908291 deg, deltaT: 4.500300 s, approachRate: -0.653290 m/s, LOS rate: 0.361090 deg/s, posRepo size: 4m ProNav: pos range: 66.060005 m, bearing: 110.908291 deg, approachRate: -0.653290 m/s, LOS rate: 0.361090 deg/s, cmd update: 1.083269 deg/s, cmd heading: 130.097287 deg, new cmd heading: 129.431647 deg. W @WX XW:W2W*WVbUBU*UU ׃P@U?B]8޼BY BYAef*BaA?λAAAv<"C @RCQ=C @Cֵas=MM}M}M M11:YMkS1yMԊ:M5)MP;9UqIG>6q,4/EAY}6#@}6@y}6=Tk}6E}6Hsr-`?u`Ej?bb`?)~6#@ ~6C_;I~6Cɫ99)9 =I9YuƵ@y}_G E@ E@ E@E©EEiE@E E\@)AIEiAUؼM]Z=Y]:QU]>aaae=EeEaym }m>Iq }:u_5? }:uȡ u$B ?9u3Du+: u8:)u:WtB@WX XW:W2W*WVbUBU*UUU`*?BB BA~*BAwջAAA1<"CtB@RC,=CtB@Cֽ=בIGa>zq,xN/EAY}Z~#@}ZH@y}Zy Y}Z}ZHw@Jk~ҹ?/G ;!?ࢮ9?)~Z~#@ ~Z^;I~ZCɫ髙) IY@y__GUMUK=Y]Z5;QU]>YYae=EeEaye}m>quhA}T>9yIyiyyyy}=; }EIimP5?m2 m$B ?9m3Dm; mӻ:)iW@WX XW:W2W*WVbUBU*UUUf?BmMB BA*BA9ݻAAAo<"C @RC=C@C=IGE>I1)5?AEs EEE E<:YEWU1yE:E5)E;q, rh/EAY}2"@}2A @y}2XF}2!+}2HB@;, ? ш?&?)~2"@ ~2^;I~0ɫ99)9 =I9Y} @y}_GI)=MN=Y:;QU%>!!a%=E%E)y-b}->I1 =:5oB5? E:5 5&$B E?953D5: 5:)5:WH@WX XW:W!2W)*W)V)bU)BU1*U1U1U5@?B]>ܼBa BaAe*BaAmAiAiAm <"CuH@RCuog=CuH@Cy Ս=ԉE=!IAG]U>q,TR/EA|"4<|"4a=EE y}>I(35?~ 9$B %?93D: M:)WEJ@WAXI XIWI:WI2WQ*WQVQbUQBUQ*UYUYU]@BB BA*BA'VAAAV<"CJ@RCLE3=CJ@Cֽy=I)יIGd>MMMM M0:YMDW1yMY:M[59e@ܕU>9ܑIܑiܑܑܑܑܕ0; ݕEq,Z*/EAY}2!@}2@@y}2!}26Q}2H@RC? D 5?Ƕl?)~2!@ ~2^;I~2Cɫ99)9 EIAY@y_Gx&?MbMb?7I? <)Iy?Mb`:v? ?T< ¥=A)¥CAI¥7 Ai¡rMN=Y: ;QU>a>EEy}>I%5?ys A$B ?93D: :)WA@WX XW:W2W*WVbUBU*UUU`\@B-؋B) B1A5*B1A5A1A1A5<"C=A@RC=A<CEA@CAE(a=I)GUT>q,J /EAY}Re!@}Rl@y}R}R4}RHFqG "鴿@j?҄@̴ ?et?)~Re!@ ~R}^;I~Pɫqy)y }IyY@y^G鮽p=ɮa==i=R=ia>EEyT}>Iȩ :ŭ5? :ŭh ƭI$B ?9ƭ3Dǭ: ȭ8:)ȭ:Wq@WX XW:W2W*WVbUBU*UUUa@RB*** querying acoustic contact ***PPBB! B!A%#*B!A%A)A)A-S<"C5q@RC5<C5q@C9E3=I!GEQ>EEEE E0:YEV1yE:E5q,/EA|i|Y}6 @}6@y}6#}6o}6H ku`Y? a`?]q?)~6 @ ~6^;I~4ɫ99)9 9I9Y}*@y}^GZ****** received transponder code query ******F****** received ping request ******a>EEyf} ><-V>9)I-[Gi-o@-#=))-1; -EI 5?p^ P$B ?93D!< A<)W}9@WyXy XW:W2W*WVbUBU*UUU l @BB BA6*BA-7AAA%.<"CM9@RCMeH<CM9@CI%u <)i-y?IG J>9q,/EAY}Jn @}J@y}J }Jt׽}JH`Zh M?@EVײ@U? ế@g?)~Jn @ ~JG^;I~Hɫ髙) IY@yv_GxDUSBL response received:!U1,P 1C6,000,006BE,186,80,80,AA,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ==MEE=YU%9QU]>qqa}>EEy%2}M>Ii :m 5? :mHR mY$B ?9m3Dm< m><)m:W@WX XW:W2W*WVbUBU*U U U @e @BUBQ BYA]Π*BYAAAA4<"C@RCfC@Ce eee e4:YeU1ye:e55%<׉IG>q,0EAY}:h @}:@y}:;P }:ý}:HLรh6? 04`?$v7?)~:h @ ~:^;I~:Cɫ99)9 9I9Y]@y]M_G}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I1)5AI1)5A AAÍ9=͵ÍmiÍ@É ĉ)č@Ič@ič@ MD=Y_9QU>a>EEy7}>IȹŽQ5?ŽG ƽ`$B ?9ƽ4Dǽ: Ƚ:)ȹWI.@WX XW:W2W*WVbUBU*UUU`d @B-% B) B)A-㢾*B1A5OC A1A1A5oP<"C=I.@RC=%>2C=I.@CAh%<סIGA>999I=$[Gi=@999="; =E)Ii"="==4q,;q0EA|;|;Y}J' @}JdC@y}J:}J }JH 39 ?V+? 2!?)~J' @ ~Jn_;I~JCɫ髹) IY&@y^GxDUSBL response received:!U1,R,154,000,0068F,186,80,80,9E,FF Fpublishing direction and range info闾ɰ > )CIy|BrNp ?兗7ҿٱdNmea in: $SNTTA,0.055408,0.196837,,,013040.78*59 Mb?QV-? ?\ h=)Iy$C?Zd;Oa>EEy}>I :5? :z9 l$B ?94DD: M:):W%̷@W!X! X!W!:W)2W)*W)V)bU1BU1*U1U1U5@P*Q|BZQ :f=N@ jU}2JQrNp ?兗7ҿ2Q闾:QbQ7=uh-BM@ZTϕv@RQ*qQ,ؿ_d1?0r>?BQ?? QjBQPH9?PN9?PQQ0@"QZAB4B) B1A5q*B9AELAIAIAM[<"CU̷@RCU槼CU̷@CYMMMM Mn1:YMDW1yMY:M5)M;9]U?BɺIa)a1IaG>Z. q,I70EAY}28@}2@y}2㻙}2ɜ}2H@`9e? _}|?3?)~28@ ~2^;I~2Cɫ99)9 9IAY@y^Guv=uKu;iu@q u@)uۙ@Iu@iu@ߢMa=Y4h;QU>a>EEy%}>Iȡťd5?ť- ƥu$B ?9ƥ-4DǥI: ȥD:)ȡmuAdded new target pos. range: 63.240005 m, bearing: 112.206997 deg, deltaT: 4.473135 s, approachRate: -0.630430 m/s, LOS rate: 0.290335 deg/s, posRepo size: 4m ProNav: pos range: 63.240005 m, bearing: 112.206997 deg, approachRate: -0.630430 m/s, LOS rate: 0.290335 deg/s, cmd update: 0.871004 deg/s, cmd heading: 134.929736 deg, new cmd heading: 135.320846 deg. W@WX XW:W2W*WVbUBU*UUO@U`n0?B~e B BA^*BAg1AAA<"C@*C{=RCC @CeON)IYiNmGG`>Ii!ǿٺA$q,8,Q0EAY}RC@}R@y}RS8}R醽}RHV?@  t?ٰ`"?)~RC@ ~R[^;I~RCɫqy)y yIyٽiAٽjAܽW>9ܹIܽZGi̱ܽ@ܽ"=ܹܹܽ#; ݽEY@y^G=ip=I4=)4=VME=Y\;QU>a>EEy¿}>I -:5? -: $B 5?9@4DN; ;):Wu{@WqXq XqWq:Wy2Wy*WyVybUBU*UUUא?BB BA%*BAAAAZ<"C {@*C D{=RC C {@C&IGn>E7 EEA E58:YEWU1yE:A)E`;@q,k0EA|i|@Y}6 @}6A"@y}6wO}6]}6HI' ~+? Li? ?)~6 @ ~6^;I~4ɫYY)Y YIYYe@ye^G]w<MeR=Ym;QU>a>EEy ;}>Iݲ5? $B %?9S4D: :)WE@WAXI XIWI:WI2Wi*WqVqbUqBUq*UqUyU}E?BEB BA#*BAvAAA!<"C@*C=z=RC#C@C=סIGC>!*!q,q0EAɫ髹) IY@y^GåGa=ååA>iå@á ĥ&@)ĥj@Iĥ@iĥۙ@nMD=YQU>a>EEy}>I&5? $B ?9f4D4:  :)WOE@WX XW:W2W*WVbUBU*UUUO?BB BA%*B!A%"AAAAAEi<"CMOE@*CM6oz=RCUB)CUOE@CQ=e e~e~eA e[:YeT1ye@:e59@IGE>X>9xCIYGiذ@=; ER'q,ط0EAY}:ϙ @}:N@y}:4{}: }:H6` Z`?\@ `fO?~`6?)~:ϙ @ ~:^;I~8ɫ99)9 9I9Y}2@y}^GI)A/$?S㥛y&1|?&>/ݼ `;)Iy +?T㥛 ~jt?6?< ½7 A)½/AI½ Ai½A=A<MH=Y;QU>a>EEy=<}>I :,5? :k $B ?9x4D: w:):W-@W)X) X)W):W12W1*W1V1bU9BU9*U9U9U=@?Bm Bi B A *B A B&A AA<"C@*Cz=RCFC@C! M=M> $IGE>s-q,40EAɫ) IY@y^G)Å> Ájuja>EEy}>IN5? $B ?94D: :)W- @W)X) X1W1:W12W1*W1V9bU9BU9*U9U9UE@@Bm Bi BiAu*BqAu(!+AqAqAun<"C} @*C}ƞy=RC}Β4C @CyQIaG}Y>= === =K6:Y=Y1y=:=5d4q,m0EAY}2]!@}20y@y}2ź}2.y}2H[@9m҅m?1X?@43@ ?)~2]!@ ~2^;I~0ɫ99)9 9I9Y]a>EEy=}>I :u{5? : $B  ?94DHv; m;):WEh@WAXA XIWI:WI2WI*WQVQbUYBUY*UYUaUe@y9yI}0YGi}@}!=yy}8; }ERB*** querying acoustic contact ***PPBM,lBQ BQAUư*BQAUy/AYAYA]<"Ceh@*Ce6y=RCegCeh@Ciօx/YIiGZ>==i==:q,8I0EAY}^!@}^u@y}^-Y}^}^HO`tY@O?@ r$+c?p ?)~^!@ ~^^;I~^Cɫ) IY=@y=^GEZ****** received transponder code query ******EF****** received ping request ******Ea>EEyG<}>Ik5?y $B ?94D: :)WE@WiXi XiWi:Wi2Wi*WqVqbUqBUq*UqUyU} @BB BA׬*B A D4A A A k<"C@*Cֽx=RC #C@C))Mg MMM M <:YMW1yMč:M5I G%>vAq,1$1EAY}: "@}:(@y}:89}:Q;}:H4Rw?`4?sS?'g?t??)~: "@ ~:Q^;I~:Cɫ99)9 9I9Y}j@y}]GxDUSBL response received:!U1,P 154,000,0068F,186,80,80,9E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 IINMZ=Y\QU>a>EEyY<}>I  E: ]5? M:  $B }?9 4D Y< !<) :W=GB@WAXA XAW:W2W*WVbUBU*UUU @BxB BA?*BA%uo9AAAAAE+O<"CMGB@*CMPx=RCM&CUGB@CQ=l"QIaG}>܍Y>9܉I܍XGi܍6@܉܉܉܍=; ݍELGq, 1EAY}JO"@}Jk@y}JA}Jp<}JH`@@ ڂ??` p?@35h?`Ի??)~JO"@ ~J^;I~JCɫ髙) IY@y2^GAA Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B eGz?~jt?/$?ep=?e= e,=)aIaye~jt?&1Mbp?e$?ePe; ep A)e5AIe Aie5AaeG A}_<M}>=YѝQU>a>EEyB<}>Ișŝ P5?ŝƶ Ɲ$B ?9Ɲ4Dǝ: ȝ:)șW@WX XW:W2W*WVbUBU*UUU `@B`B BA=*BA=AAA|(<"C@*Cw=RCf.C@Ct'j  F<:YDW1yY:\5);I!G=>9Mq,91EAɫyy)y }IyY+@y]GxDUSBL response received:!U1,R,1A7,000,00661,185,80,80,A7,FF Fpublishing direction and range infoɰ>+> )'CIyqBj-?HL׿ٱI)-t>-^-`ei)) -@)-9@I-@i-@=MEa=YEQUE>IIaM>EMEIyU}U>IY e:]ND5? e:]1 ]$B m?9]4D]: ]:)]:W@WX XW:W2W*WVbUBU*UUU~@P*QqBZQ,3L@ id5JQj-?HL׿2Q:QbQ74AmL@ܩiPRQJFտT:oL?лGBQ? QmcBQPL9?PH9?PQQƲ@"Q0@BfB BA.*BAPAAAA<"C@*Cw=RC[eBC@C > =S,׹IGf>Tq,+S1EAY}="@}=V@y}=u7}=?X<}=H<`a&? ? G<0? f? ? ?)~="@ ~=^;I~=C!9!I%XGi%@!!!%M; %×E)ݕxCIݕxCiݑݕ!=ݕ!=ݕ4ɫ髉) IY@y]G5DNmea in: $SNTTA,,,,,013045.21*5E )M= M=54M5.=Y=$9QU=>99a=>EE"EAyM<}M>IQU45?U U$B ]?9U4DUϸ: U:)QmyAdded new target pos. range: 60.480003 m, bearing: 109.931615 deg, deltaT: 4.376029 s, approachRate: -0.630709 m/s, LOS rate: -0.519965 deg/s, posRepo size: 4m ProNav: pos range: 60.480003 m, bearing: 109.931615 deg, approachRate: -0.630709 m/s, LOS rate: -0.519965 deg/s, cmd update: -1.559895 deg/s, cmd heading: 138.755091 deg, new cmd heading: 139.163668 deg. Wo,@WX XW:W2W*WVbUBU*UUp=N@Uq?BqB BA*BAGAAA"<"Co,@RC[޼Co,@CU9}} -:YkS1yԊ:5)l;9IqG>AZq,m1EAY}::!#@}:<@y}:9}:R<}:H U??T ?`8g?੕?@"?)~::!#@ ~:^;I~:Cɫ) IYu@y\Gí\íBí`iíz@é ĭh@)ĭ@Iĭh@iĭh@Me=YfQU>a>E(Eyk:<}>I:)5?N $B ?95D: :)W @W X  X W :W2W*WVbUBU*UUU@T?BU!'B]]= BaAmþ*BqA} LAyAyA}g<"C@RCC@Cօ%)AIIGu6>u=iqi% unGI9 iI } ʿٺy } A aq,+l1EAY}6d#@}6 @y}6E7}6}u<}6H@n/h? ?@m#M?f?`!??)~6d#@ ~6[z^;I~6CɫAA)A EIAY}T@y}\G=i=5,M=T=Y=C8QUE>IIaM>EM.EQyU-<}]>Ia u:ea5? }:e e$B }?9e5De%; e%;)e:W@WX XW:W!2W!*W!V!bU!BU)*U)UIUU r?BM !B BAž*BA)_QAAAm<"C@RC C@C߼IGMs> 3:YWU1y:59@Z>9Ia>E5EyI<}>Id 5?t| $B ?9(5D < <)W@WX XW:W2W*WVbUBU*UUU?BZ- B BA¾*BAVAAA<"C%@RCM,;CM@CIE`TM?iM?I)Ga>Pnq,"1EAY}>f#@}>@y}>|}>Aн<}>H͛P˒?*?`n6?^?@z??)~>f#@ ~>zn^;I~<ɫ99)9 AIAY}I@y\G @ @ @ý©ýýiý\@ý Ľz@)Ľ9@IĽ@iĽE@ML=Y&Y:QU>a>E;Ey"<}>I :+5? :~p $B ?9:5D#; m;):WEMn@WAXA XAWA:WA2WA*WIVIbUIBUQ*UQUQUU`S@B;%B BALƾ*BA[AAA@<"CMMn@RCU<CUMn@CQ]5uq,1EAY}JL!$@}J<@y}J/}J)a>EBEy$<}>I5?vd $B ?9L5D: :)W5@W1X9 X9W9:W92W9*W9VAbUABUA*UAUIUM@Bu#{+Bq BqA}wʾ*ByA}Ů`AyAyA}<"C@RC<C@Cml= u=u>E;I)GEQ>/{q,1EA|@|@Y}U]$@}Ux@y}U}U<}UH@S mHv?@-o? \?p?꾒?`?)~U]$@ ~U ^;I~UCɫ)))) -I1Ymݲ@ym\Gqɮq)å= å> ] ] ]]~>]t]+i]@] ]h@)]-@I]3@i]3@m>Mm?=Yu/@QUu>qya}>E}HEyy <}>Iȉ :ō5? :ōW ƍ$B ?9ƍ_5DǍ8: ȍD:)ȍ:Wi@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBA)B BA;*BA:fA A A <"Ci@RC0=Ci@C!!)! !}yy} }0:Yyyy}\5ֽ }?q,2EAY}2ɇ$@}2H@y}2^»}24N<}2H_@?`? tq?Kx? KƉ?5?)~2ɇ$@ ~2^;I~2Cɫ11)1 5I1Yu@yu=\G}Z****** received transponder code query ******}F****** received ping request ******}QQa]>E]NEYye;}e>Iim5?m0M m$B ?9mo5Dm\: mʽ:)iWUP@WQXQ XQWY:WY2WY*WYVYbUaBUa*UUU @Bn,B BAʾ*BAhkAAA<"C P@RC [=CP@C%m<I)GMS>Y>9Ii^; ̗Em=im=Z=q,C"2EAY}6$@}66@y}6뻙}6G;}6H@ _??_?6` z}?s??)~6$@ ~6G^;I~6Cɫ99)A EIAY}@y}"\GxDUSBL response received:!U1,P 1A7,000,00661,185,80,80,A7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 \(\?~jth?:v??D; T<)IyGz?+Mb0? OA) AI AiA AimhA}̭M} =Y}#QU>a>EVEym9}>I m:M5? u:< $B ?95D;{< y<):WmY`@E  S9:YDW1yY:\5WqX XW:W2W*WVbUBU*UUU@Hk@B]rBY BYA]̾*BaAe{rAaAaAe<"CmY`@RCf=CY`@Cԙԙօ 31=Y Ii G >gq,j<2EAY}2j$@}2@y}2[:}2}2HcamV?`Wc? 6?Fv?)~2j$@ ~2^;I~2Cɫ99)9 9I9Y}c@y}y[G@A@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m=mmE[Ey5}5?I9=v5?=3 =$B E?9=5D=: =:)9We@WiXi XiW:W2W*WVbUBU*UUUG@BQB B A Ծ*B A vA A A<"C@RC}m=C@CmY=IG J>Pq,KV2EA"jA"iAY}Vl$@}Vd@y}VП}V롈}VHib{ i? ??)~Vl$@ ~VF^;I~VC^Z>9\I^sVGi^N@\\\^f; ^їEɫ) IY@y[GExDUSBL response received:!U1,R,1FB,000,0062A,187,80,80,76,FF EFpublishing direction and range info=⾩9ɰ=E>=1> 9)=BI9y=dB=i[r/?D8fۿٱ9p5<MH=YWQU>  a>EbEy8}>I!%~5?%j& ! M?9%5D%; %H;)!WS0@WX XW:W2W*WVbUBU*UUU@P*QdBZQJ[HI@>{8JQi[r/?D8fۿ2Q:QbQ2'O1懿>K@ဤFs?RQʤ(`ӿt~?q暍?BQjo? QYBQ|PP9?PL9?PQQ@"QƲ@BE2BI BIAMUҾ*BIAM|{AIAIAUY<"CUS0@RC]=C]S0@CY]ur=1I9G]v>IuAA)u@Azz :2:YQ1y:I5)6;9I~q,4p2EAɫII)I MIIY@y[GTNmea in: $SNTTA,0.048756,,,,013049.66*47 I)M=YQU>a>EiEy}>I :l5? : $B ?95D": ~:):m5yAdded new target pos. range: 57.180004 m, bearing: 107.624397 deg, deltaT: 4.481475 s, approachRate: -0.736365 m/s, LOS rate: -0.514834 deg/s, posRepo size: 4mm ProNav: pos range: 57.180004 m, bearing: 107.624397 deg, approachRate: -0.736365 m/s, LOS rate: -0.514834 deg/s, cmd update: -1.544503 deg/s, cmd heading: 131.770243 deg, new cmd heading: 131.107684 deg. Wmt@WiXi XiWi:Wi2Wq*WqVqbUqBUy*UyU` L@U` d?Be5B BAپ*BA%WՀA!A!A%߼<"C-t@RC-!=C-t@C1 e=e=5ܝ=IA)EiA IG5q>Daq,r2EAY}2^7$@}2R@y}2#0}2}2H8z\n{? X( `b?`q?)~2^7$@ ~2_;I~2Cɫ9A)A EIAYyyyYuQUu>qya}>E}oEy}>Ișŝ5?ŝ Ɲ$B ?9Ɲ5Dǝ#; ȝdE;)șW9@WX XW:W2W*WVbUBU*UUUM?BUDBQ BQAQ*BYA]DAYAYA]<"Ce9@RCeQx=Ce9@Cim=YIiG[>ܽ[>9ܹIܽVGiܽ@ܹܹܹܽa; ݽϗE)ݩIݩiݩݩݩݭ4 tt M4:YM1y:n5);q,أ2EAY}6L#@}6@y}6J W}6y/}6Htr@Y`?o `ȣV?Y@?)~6L#@ ~6^;I~6CɫQQ)Q UIYYuY@yu1ZG%y&1?Q?Mb?%`%?%\= %=)!I!y%n?v/{Gz?%6?%xi%ף< % A)%AI% Ai!!%AUؼMa>EvEyB}>I :t5? :7 %B  ?95D: :):W-@W1X1 X1W9:W92WA*WAVAbUABUA*UIUIUM`'5?u=iu=B}%2B BAP*BA7;AAA<"C@RCθ=C-@C1AAE &=M ?iM ? I) GE >q,ӽ2EAY}6M#@}68i@y}6 x}6U}6He`V?Y`Ě`??@?)~6M#@ ~6&_;I~6CɫIQ)Q QIQY%@y YGi;\Oj>iQ@ @)Ii3@m>i}Mc=YQU>imGIa>E|Ei%Ϳٺ!-Ay5ͷ}5>u?9}AIaei5?e e %B ?9e5DeOe; ec;)aW V@WX XW:W2W*WVbU1BU1*U1U9U=9?B8QB BA*BAljAAAx<"C V@RC_=C V@C֭(S=uuuu u0:YuT1yu:u59}@ׁIG>1 1 ͞q,Œ2EA,9,I.UGi.@,,,.[; .̗EY}V"@}V@y}VHք}V}VH(`$0 ?~@?p?)~V"@ ~V^;I~VCɫy髁) IYQ@y(ZGup<Mu^=Yu AQU}>yya}>E}Ey}?Iȑ :ŕ\5? :ŕ ƕ%B ?9ƕ6DǕ8: ȕ:)ȕ:W@WX XW:W2W*WVbUBU*UUUO?BVB BA*BA AAA 9<"C@RC:R=C@C!IG%M>ǻq,a>EE!y%ϱ}->I15M5?5L 5(%B E?956D5; 5Q;)1Wu@WqXq XqWq:Wq2Wy*WyVybUyBUy*UUUN@ByIB BA*BAdAAA2'<"C@RCX=C@C !>>K=I)hA׹IGf>Iu@A)uAA&  6:Y[1yݏ:75dq, C 3EAY}2!@}2@y}2s}2}2H@`O UH_?8`u?`@?)~2!@ ~2_;I~2CɫYY)Y YIYYȰ@yYG鮵p=ɮI);M`=Y}O;QU>a>EEy}>I@5? 5%B ?9$6D|: :)W%%d@W!X! X!W!:W)2W)*W)V)bU)BU1*U1U1U= 3@REB*** querying acoustic contact ***PAPABe_UBa BiAmW*BiA}'AyAAC <"C%d@RCB=C%d@C֍Gg=iIyG=>9Iii; җE q,%%3EA||4AAam>EmEyy[h}>I %:/5? -: T%B 5?9:6D < D<):W| @WX XW:W2W*WVbUBU*UUU l @B-@>B) B)A-j*B)A5*A1A1A5,<"C=| @RC=F=C=| @CA /:YxZ1yq:5m2=u?iu?) I1 GU >(q,>3EAY}6 @}6 @y}6na}6|ӽ}6H f_?@B@5?mr?)~6 @ ~6g^;I~6Cɫqy)y }IyY@y`YGxDUSBL response received:!U1,P 1FB,000,0062A,187,80,80,76,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -;-n-ףi-p@) -@))I-h@i-Q@@MA=YNQU>a>EEy~}>IJ"5?S n%B  ?9L6D=; >;)W=E @W9XY XaWa:Wa2Wa*WaVibUiBUi*UiUiUu @B\TB BA*BAY(AAA&<"CE @RC==CE @Cw=IG > 9 I i n; ֗Eiq,eY3EAY}>4 @}>P@y}>us}>ܽ}>H82 ?Sln?i?)~>4 @ ~>u^;I~>CɫYY)Y ]IYY@y7YG%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=I=)=?Mk=YUMQU?a>EE yC}>Iȹ :Ž 5? :Žԥ ƽ%B ?9ƽ\6Dǽv: Ƚn:)Ƚ:W$1 @WX XW:W2W*WVbUBU*UUU2@B-]B) B)A- *B)A5꛼A1A1A5<"C=$1 @RC=L=C=$1 @CA=IGn>eeee e1:YeWU1ye:eJ5)e̎;9mq,ٯr3EA|i|@Y}Bݵ@}B\@y}B,򇼙}B߽}BH` Z@?@w`?`ỿ"?)~Bݵ@ ~B^;I~@ɫyy)y }IyYyxDUSBL response received:!U1,R,18A,000,005FF,185,80,80,87,FF Fpublishing direction and range infox ɰ~=+> )CIyfZBirԆ ?Mտٱ @ @ @©iG@ @)Ii@YʍQU> a >E E y}>I 5? %B %?9l6D߼:  :)WMˉ @WIXI XIWI:WQ2WQ*WQVQbUQBUY*UYUYU]@@Pi*QmfZBZQm{ǿI@lZ[g2JQmirԆ ?Mտ2Qmx :QibQm0$1I'I@KC@RQmkRԿm,=0?˪?BQm? Qm NBQmPmI9?PmP9?PmQiQmA"Qm@B>(XB BA*BAAAAu<"C-ˉ @RC-=C-ˉ @C)s=I!)%iAIGq,3EAY}5@}5u@y}5}5h}5H'넴F?Vl]?7꽿@9?)~5@ ~5^;I~5Cɫ) IYh@y YGTNmea in: $SNTTA,0.050477,,,,013054.11*42 ]DMea?EEy}>I :5? :% %B ?96D '; Q>;):mMuAdded new target pos. range: 54.599998 m, bearing: 109.146450 deg, deltaT: 4.430775 s, approachRate: -0.582292 m/s, LOS rate: 0.343518 deg/s, posRepo size: 4m] ProNav: pos range: 54.599998 m, bearing: 109.146450 deg, approachRate: -0.582292 m/s, LOS rate: 0.343518 deg/s, cmd update: 1.030555 deg/s, cmd heading: 124.921147 deg, new cmd heading: 124.199186 deg. W] @WaXa XaWa:Wa2Wi*WiVibUiBUi*UqUuLK@Uu@?9IHUGiZ@p; חEBOB BA [*B A A A A 3<"C% @RC%=C% @C)%  6:YDW1yY:[5)#;UzA= I G5 >'q,e3EAY}F@}F @y}FȨ}F'`}FHXxZR`{? 'H ? X?)~F@ ~F^;I~FCɫYY)Y YIYY4@yXGI) ))"~j?!rhS#?l L)Iy ףp= ?L7A`堿~jt?Q8?+< µA)µCAIµ Ai±A)= >zMg=Y.ߺQU?a?EEyw}?Iy}5?}K }%B ?9}6D}; };)yWd~ @WX XW:W)2W1*W9V9bUiBUq*UyUUm&?BM`BQ BQAU*BQAUAQAYA]<"Cd~ @*Cw=RC\֟=Cd~ @C}^=QIaG{>q,A3EAY}JEJ@}Je @y}J?}J}JH }`w?G{g?1?)~JEJ@ ~J^;I~JCɫyy)y yIyY @yXG   l=`iד@ Q@)3@IQ@i3@BHMI=YAQU>a?EE yڼ}>I -:.5? -:%r %B 5?96De; f;):We @WaXa XiWi:Wi2W*WVbUBU*UUU?BEfBA BAAE$*BaAmAiAiAmO<"Cu @RCu;=Cu @Cy}2=QIa 1:YWU1y:I59@G~>ٹ ٽ < 9 I TGi @ ; E)݉I݉i݉݉݉ݍn49q,3EAY}F@}F @y}F5}Fs|}FH @ʵ ?`yQ@Pf?@Ϻ?)~F@ ~Fe^;I~FCɫ髙) IY@yXG=iM=V=Y=>Q7QUE>AAaE?EMEIyu}u>Iy}U5?}(e }%B ?9}6D}: }ӻ:)yWa @WX XW:W2W*WVbUBU*UUUݒ?BU"gBQ BQAU*BYA]AYAYA]<"Cea @RCeE=Cma @Cim=!I1GM1>qiu=2iq,3EAY}6@}6/ @y}6%=}6}6Htw` ϵ@ ? E 9Ǖ?2@?)~6@ ~6^;I~4ɫQQ)Q UIQY@y.YG=i=IC=)4=  jA}<}۾}ף=i} @y }E@)}Q@I}h@i}Q@=MD=YgQU>AIaM?EMEQyUͼ}U>Iae5?eVV e%B u?9e6De; e[:)aW @WX XW:W2W*WVbUBU*UUU S@BU XBQ BQAU*BQA]HAyAyA}io<"C @RC7 =C @C֭l=  5:YU1y:I5׉IG>iumGIiǿٺxAKq, 4EA|i|Y}6.4@}6O @y}6>}6M}6H@8`H*fL?@}BS?@4 p?)~6.4@ ~6ɕ^;I~4ɫAA)I MIQYd@yYGL"MG=Y:QU>a?E Ey }>I :5? : H  &B ?96D; ;):W]^@WYXa XaW:W2W*WVbUBU*UUU@@B ]B BA*BA\AAA^<"C%^@RCEW<CE^@CIy9yIyiy} =y}D}; }EE=I!)!IGn>u q,ޭ'4EAɫ髙) IY0@yXGɮ=p= ף?S㥫333333?%?/] =)IyMbX9? rhV-?A?Ch= A)AI5AiAAE=xMMD=Y]QUe>qya}?EEIy]}e>Iimg5?m9 m1&B }?9m6Dm]: mn:)iW5@WX XW:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PPB]@cB BA*BAAAAN<"C5@RC8{<C5@C|| 1:YR1yi:n5ֵC =׉IG>]q,߈A4EAY}2@}2h @y}2稠}2/}2H`Z<;z? ;l?Q?)~2@ ~2R^;I~2CɫYY)Y ]IYY@yXGZ****** received transponder code query ******F****** received ping request ****** -̼-ݾ-\i-p@) -h@)-I)i-h@=ǷM=K=YEF;QUE>AAaE?EMEIyU߼}U>IY e:]w5? e:] , ]R&B e?9]7D]: ]4:)]:WD@WX XW:W2W*WVbUBU*UUU` @BpB BA*BABsAAA-6<"CD@RCD:CD@C%<IG J>e iAe hAi 9i Ii ii i i m Dm }; m ޗE·q,d[4EAY}26z@}2 @y}2}2ٽ}2H@Ze4π?P<??)~26z@ ~2t^;I~2CɫII)I MIIY]@y]XGexDUSBL response received:!U1,P 18A,000,005FF,185,80,80,87,FF mCommand AckmBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 BMe=Ym:QU>a?E Ey-cb}5>IIM5?M Ms&B ?9M7DM; M;)IW @WX XW:W12W1*W9V9bUABU*UUU\a @BcB BA`*BAAAAA<"C  @*C Hw=RC C  @Cu< ?i ?3  7:YWU1y:5);9IG>q,?u4EAY}:v@}: @y}:zʙ}:Yý}:H@ol`}?k띱@9?`R?)~:v@ ~:^;I~:Cɫ99)9 =I9Y}%@y}XG?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B <>i̔@ @)Q@I3@i3@<M:=Y:QU>a?EEy}>I :5? : &B ?9(7D: :):W-$/@W)X) X)W):W12W1*W1V1bU1BU9*U9U9U= "@BeprBi BiAm*BiAu;AqAqAu!4<"C}$/@RC}0C}$/@CqZ;׹IGE>ř#q,.4EAY}2|@}25 @y}2}2 }2H 8>qJ? r??V$?)~2|@ ~2^;I~0ɫaa)a iIiY@y.YGxDUSBL response received:!U1,R,10E,000,005CE,186,80,80,A1,FF Fpublishing direction and range info:Fqɰw=鰽> )!CIyNBp$?%EͿٱ =i =I=a=)==II<MG=YU;QU]>aaam?EmEqyuh:}}>Iȉōq5?ō ƍ&B ?9ƍ=7DǍ; ȍ ;)ȉW=@WAXA XAWA:Wi2Wi*WiVibUiBUq*UqUqUu`#@P*QNBZQ,I@;(JQp$?%EͿ2Q:Fq:QbQѷ,,2 )H@~s_"?RQVֿ l?$?BQ? QHABQgPD9?PI9?PQQ@"QABv`B BA*BAV¼A 9 I i    D ; EAA%N<"C-@*C-v=RC-C-@C15S .:YT1y:5)?;I)GE>~)q,74EAY}rP@}rΣ @y}rՋ}r}rHr!}?`z?C?)~rP@ ~r^;I~rCɫ) IYIyQTNmea in: $SNTTA,0.169708,,,,013058.54*4F u(\?HzG?S㥫?uG?u= > u/]=)qIqyuS㥛?Zd;O+?u$&?uju= uA)u^AIuQ AiuAquAף=i@ h@)II@ih@Y-L:QU->11a5?E5E9y=P:}E>IA M:Ef5? U:E| E&B U?9EP7DE: Ew:)E:muAdded new target pos. range: 51.660004 m, bearing: 110.613452 deg, deltaT: 4.483799 s, approachRate: -0.655693 m/s, LOS rate: 0.327178 deg/s, posRepo size: 4m ProNav: pos range: 51.660004 m, bearing: 110.613452 deg, approachRate: -0.655693 m/s, LOS rate: 0.327178 deg/s, cmd update: 0.981535 deg/s, cmd heading: 129.533407 deg, new cmd heading: 129.991479 deg. Ws-@WX XW:W2W*WVbUBU*UU{I@U`9 ?BQaeB BA*BA<żAAA_i<"Cs-@RC=Cs-@C3|I)hAױIG>ʫ0q,4EAY}2@}2 @y}2Qu}2Iw}2H` p@R v?`ot@u.?7㮿?)~2@ ~2,_;I~0ɫ99)9 =I9Y}l@y}YG=脻M=|| |,:YR1yi:59@- \>9) I) i) - !=) ) - ; - E6q,4EAY}2@}2 @y}2}2L}2H n@SGr? T??)~2@ ~2_;I~2CɫYY)Y ]IYY@y2YGI)A  ) = =5<M=K=Y=sQU=>AAaE?EEEIyM;}M>IQU;U5?U U'B ]?9Un7DUn: U:)QW*@WX XW:W2W*WVbU!BU!*U!U!U-*?BUjBQ BQAUF*BYA]U˼AYAYA]7="Ce*@*CeqFv=RCeCm*@CiM-¼IG-->@}6 @y}6ˏ}6>}6H j=`k?@ۑ9?ţ@?)~6>@ ~6 ^;I~6Cɫ99)9 9IAY@y@YGu,=u >u`ea?E Eys;}>Iș :ŝK5? :ŝ_ Ɲ'B ?9Ɲ7Dǝ6g; ȝq;)ȝ:Wp@WX XW:W2W*WVbUBU*UUUXm?BUgtiBY BYA]*BYA]μAaAaAe="Cp@*Cu=RCgCp@C¼?i?}} =.:YkS1yԊ:75IG>Cq,5EAY}>@}>Y @y}>Yf}>}>H`NLb@Њa?gb@L?`Μr?)~>@ ~>^;I~>Cɫ髑) IYm@ymRYGJ +?MbX9?~jt?(?ʡ= <)IyFx?X9v rh?+?C< ­Q A)­AI­ Ai­/AA<;M6=Y9QU>a?EEy;}>I=5? %'B ?97D: ܹ:)W@WX XW:W2W*WVbU!BU!*U!U!U- @BU$mBQ BQA]*BYA]$ѼAYAYA]tQ="Ce@RCeZ Cm@Ciܡ9ܡIܥTGiܥ@ܡܡܡܥ; ݥߗE)AIAiAE =E =E14U IG5P>Jq,<*5EAY}:@}:u2 @y}: ӏ}:-ᘼ}:H,5Vv@T?*$?O?)~:@ ~:-^;I~8ɫ99)9 =I9Y}8@yXGm=im=I=)hA|?>u=i@ Q@)@IQ@iQ@MH=YI:QU> a?EEy.;}>I! 5:%p15? =:%۰ %1'B =?9%7D%/; %X);)%:Wu[@WqXy XyWy:Wy2W*WVbUBU*UUU_@B.rB BA]*BA$ռAAA="C[@*Cliu=RCh.C[@C#|| s+:YR1yi:5IG%>Pq,D5EAY}6V@}6q @y}6}6t?}6HFSD` B?E.ה K?@⇿M?)~6V@ ~6\^;I~6CDF١ ٥ jAܭ ]>9ܩ Iܭ TGiܭ f@ܩ ܩ ܩ ܭ x; ݭ ܗE$Wq,s]5EAY}6@}6 @y}6K€}6}6H?b/1@n%h?/?al? o~ ?)~6@ ~6^;I~6CɫII)I MIIY}@y};YGZ****** received transponder code query ******F****** received ping request ******a?E#Ey$<}>I  : 5? : ? F'B ?9 7D  ; );) :WE)@WIXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU]`A @B|vB BA*BA?ڼAAAY="C)@*Ct=RC>C)@Ce%)9IIGeV>Iމ)މ q-:YWU1y:5);9N]q,lw5EAY}6^@}6 @y}6w}6R3}6H= K?@9?~n? iF?)~6^@ ~6:^;I~6Cɫ99)9 9I9Y@y.YGxDUSBL response received:!U1,P 10E,000,005CE,186,80,80,A1,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= =5%5(<5i5G@1 5@)5Σ@I1i5h@}5M'=Y|:QU>a?E+Ey<}>I 5?E T'B ?97Df: /:)WUE@WQXQ XYWY:WY2WY*WVbUBU*UUUR @BBdgB BA*BA ޼AAA4="CE@*C t=RC KC E@C MQ9) I1 GU >9dq,N5EAY}e;@}e"W @y}eU}ex;}eH@R@f#?`?…*? n??)~e;@ ~e^;I~eCɫ髩) IY`@yYGAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Q9QIQiQQQQU; UE ?ˡEl? @? ' =) I y K? rhX9v? ^:? C < 5A) AI i A  A%-M-@=Y-ӺQU->11a5?E52E1y~Q<}>I :n 5? :z g'B ?97DM: :):W/@WX XW):W12W1*WiVibUiBUq*UqUqU}f@B$-uB BA*BAc-AAAH="C/@*Cs=RC:RC/@C 1:YU1y:5)̎; tE I! G= >7`jq,5EAY}2@}2 @y}2/}2[<}2H??3༃? ?z?)~2@ ~2u^;I~0ɫy髁) IY@yXGxDUSBL response received:!U1,R,159,000,00594,186,80,80,97,FF Fpublishing direction and range info%ɰ= )CIy@Bf?|ҿٱmԼMm=YQU?a?E7Ey%ړ<}%?I)- 5?-o -u'B U?9-7D-; -;))W@WX XW:W2W*WVbUBU*UUU0@P*Q@BZQ7`QG@c",JQf?|ҿ2Q%:QbQ,8.jvdF@ODEU?RQ*Կr,M?20f?BQ? Q}6BQwPG9?PD9?PQQs@"Q@BM{ȆBQ BQAU*BQAUAQAQA]="C]@*Cex2s=RCe OCe@C֝QOqIG>Jqq,j5EAY}n8@}n @y}nΧ}ntC3<}nHv??3t?@Hg??)~n8@ ~n-^;I~nCɫ髱) IY?@yXG]TNmea in: $SNTTA,0.249898,,,,013103.00*46 ]=i]=Ima=)mR=uiAujAýQ8ýýƽiý@ù Ľ3@)Ľ@IĽ3@iĽ3@<M5=YUQU>a?E>EyDK<}>I 5?` 'B  ?98D?; @;)m]yAdded new target pos. range: 48.179996 m, bearing: 108.733975 deg, deltaT: 4.422065 s, approachRate: -0.786964 m/s, LOS rate: -0.425022 deg/s, posRepo size: 4mu ProNav: pos range: 48.179996 m, bearing: 108.733975 deg, approachRate: -0.786964 m/s, LOS rate: -0.425022 deg/s, cmd update: -1.275067 deg/s, cmd heading: 133.874435 deg, new cmd heading: 134.292513 deg. Wu@WqXy XyWy:Wy2W*WVbUBU*UU H@Uȯ?BM>wBI BQAU*BQAU<AQAQAUd="Ce@RCemCe@Cai  5:YWU1y:n59@IIG>E 9I IM SGiM @M "=I I M |; M ޗE7rwq,?;5EAɫyy)y yIyY`@yYG]e;<M]f=Y]QU]>aaae?EeDEiym}m>Iq }:u 5? }:uT u'B ?9u!8Du: uk:)u:Wn@WX XW:W2W*WVbUBU*UUU`?B~ΆB BA*BAAAA'="Cn@RCCn@C d6IG-->C}q,5EAY}2Q@}2ϵ @y}2L硼}28,B<}2H1\Nٕ?@?3(с AAaM?EMJEIyU<}U>IY]E 5?]Iq)q Y1:YT1y:5هq,6EAY}=Y@}=@y}=}=:%<}=H`2PԁГ??@ R8 `0?W? %?)~=Y@ ~=^;I~=CɫII)Q QIQYۯ@y\XGI!)! 11{Gz?^M2=^>9Ii =v; ܗEYN;QU> a ?E RE yl$<}>I %: 5? %:8 'B %?9G8D: 8:):WM/4@WIXI XIWI:WQ2WQ*WQVQbUQBUY*UYUYU]@?B^B B A &*B A A A A #="C/4@RC4C/4@C9IGj>Qq,,6EA|,|.;Y}J>@}JPZ@y}J}JN`<}JHns qfw? 6g?`kuJy ?`p??)~J>@ ~J^;I~JCɫaa)a iIiY@yXGÕ`彩ÕÕtiÕ@Ñ ĕ@)ĕ@Iĕiĕ~@Ma=Y :QU>a?EWEy|v<}>I 5?- 'B ?9W8DU: :)Ww@WX XW:W2W*WVbUBU*UUU 4?B- QB1 B1A5*B1A5dA1A1A=="C=w@RCEu;CEw@CAEoMM?iM?I)GEQ>  #A:YU1y:I5*q,F6EAY}2v@}2"@y}2힚}2t<}2H TK?"V?ȋ~p`S?`mM?`;?)~2v@ ~2z^;I~2Cɫ99)9 =I9Y}Я@y}NXGT<MT=YϺQU>!!a%?E%^E)y-<}->Iȁ :Ņ 5? :Ņ! ƅ'B ?9ƅg8DDža: ȅn:)ȅ :W @WX XW:W2W*WVbUBU*UUU@BTB BA*BAAAAH="C @RC (<C  @C MNJκIG--> ]>9 I i o; ؗE)݁I݁i݁݅!=݅!=݅5Qq,Ԃ`6EAY}2R@}2ϧ@y}2>}2<}2HN.?QO?xgxw?? ,?)~2R@ ~2^;I~2Cɫ99)9 =I9Y}@y}XG鮁ɮa==i=I4=)%=jA™w<MR=ÝQU>a?EdEy^;}>Iؖ 5?5 'B ?9x8D:  :)W@WX XW:W2W*WVbUBU*UUU .@RB*** querying acoustic contact ***PPB52ֆB9 B9A=*B9A=AAAAAEx="CM@RCM<CM@CI֍Β;aIqG;>~~ 3:YT1y@:5)a;9q,_z6EA|i|Y}65@}6@y}66}6t<}6HXQ4=?R? E聿e ?? ?)~65@ ~6q^;I~6Cɫ99)9 9I9Y@yeXGZ****** received transponder code query ******F****** received ping request ******ÅÅa?EkEy,}>IȱŵĈ 5?ŵ Ƶ'B ?9Ƶ8Dǵ@: ȵ:)ȱW6@WX XW:W2W*WVbUBU*UUU @B>́B BA*BAAAAv ="C 6@RCw<C6@CinGIie˿ٺimARդq,E6EAY}b@}/~@y}D(ļ}<}H)\?[? o?h?^?)~b@ ~ۈ^;I~Cɫ) IYM@yUXG]xDUSBL response received:!U1,P 159,000,00594,186,80,80,97,FF ]Command Ack]BRequesting micromodem ping code 2iYYeNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %\>9%yCI%TSGi%ī@%=!!! !rh|?p= ף{Gz?;? ף=)Iyi|?5? rhZd;O?1?Cj< OA)AI Ai/A)]= ]=e;Me=Ye.(QUm>iiam?EmsEy0l}>Iȡ :ťav 5? :ť ƥ (B ?9ƥ8Dǥ: ȥ:)ȥ :W].@WaXa XaWi .:Yy[5).;:W2W*WVbUBU*U UIUM:@B?xB BA*BAqAAA" ="C.@RCT =C.@C e< I G >sq,D6EAY}%jI@}%d@y}%(}%".}%Hw&e׋? Sc?\x F`ė?"E?)~%jI@ ~%^;I~%CɫQQ)Q UIYY@yXGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IA)EA QQ @ @ @Ý©ÝÝiÝ@Ý ĝ)ĝ@Iĝ@iĝh@+M=Yk;QU ?a?ExEy͢}?Ik 5?D (B ?98D: :)Wa@WX XW:W2W*WVbU BU *U U U+@B=xĘB=z?= B9A=M*B9AEAAAAAE` ="CMa@RCM%1=CMa@CQ <IGI>Jq,A6EAY}:U@}:dq@y}:񱼙}:F}:H`=|@b m?_?X{-=?8x?)~:U@ ~:"_;I~:Cɫ99)9 9I9Y}@y} XGxDUSBL response received:!U1,R,19F,000,00564,185,80,80,64,FF Fpublishing direction and range info}lɰ=鰅+> )BIy35B:3嫠?*VֿٱcMr=Y;QU?a?E~Ey;}?I :` 5? : '(B ?98DE: :) :W*@@WX XW:W2W*WVbUBU*UUU@P*Q35BZQ NI.E@Y}m 0JQ:3嫠?*Vֿ2Q}l:QbQ@O *xU 8E@>L?RQ찢tҿ2^? /?BQτ? Qq-BQQPI9?PG9?PQQ?@"Qs@BmHBq BqAu*BqAu'AqAqA}% ="C}*@@RCN=C*@@C=׹IG l> -:YW1yč:59@ <  9 xCI SGi @     mq,q6EAY}2sp@}2@y}2b}2D}2H YqW?@<˔?@z?)~2sp@ ~2c9_;I~2Cɫaa)a mIiYl@yWGDNmea in: $SNTTA,,,,,013107.46*58 7KM;=YfS;QU>a?EEyr;}>IP 5? 8(B ?98DC: :)m yAdded new target pos. range: 45.299999 m, bearing: 106.766560 deg, deltaT: 4.411356 s, approachRate: -0.652860 m/s, LOS rate: -0.445989 deg/s, posRepo size: 4m ProNav: pos range: 45.299999 m, bearing: 106.766560 deg, approachRate: -0.652860 m/s, LOS rate: -0.445989 deg/s, cmd update: -1.337967 deg/s, cmd heading: 128.244648 deg, new cmd heading: 127.718195 deg. W3@WX XW!:W!2W!*W!V!bU)BU)*U)U5`fF@U5`N?B]6BY BYAe *BaAe5AaAaAe ="Cm3@RCupkt=Cu3@Cqm;=)I1GM1>yi}p=8q,*6EAY}2@}22@y}2H}2i%}2H$T`R?Έ]??)~2@ ~27_;I~2Cɫ99)9 9I9Y@yXG=i=I-=)-= } } }}Ȗ}-}33>i}@} }@)}@I}iyk0=MM=YQU>a?EEy-;}>Iȡ :ťC 5? :ťI ƥG(B ?9ƥ8Dǥ: ȥ:)ȥ :Wy @WX XW:W2W*WVbUBU*UUU?B̉B BAM*BAnAAA=d ="Cy @RC=Cy @Cѝr =  ?:YDW1֕dO=yY:5iIyG>$q,7EA|0i|0Y}fbt@}fߏ@y}ft}fK}fH@+ ?XȈBV?ՁV?`砿\?)~fbt@ ~f^;I~fCɫ髱) IY@yXG'1Z?y&1QB?`e u)Iy}?5^I?~jt/$?MB?D< A)AI AiAQAMA=Y%ɻQU%>!)a-?E-E)y5m}5>I9=3 5?=C =X(B E?9=8D=H: =:)9ܩ9ܩIܩiܩܭ =ܩܩܭt; ݭڗEW8a @WX XW:W2W*WVbUBU*UUUF?BeBa BiAm*BiAmB AiAiAm ="Cu8a @RC}=C}8a @C}#2?= Յ=ԅ>Ug=)I9GUv>WMq,g/7EAɫ) IYEN@yMWG)ý= ý= @ @ @©i@ @)Ii@MK=YQU>!a%?E%E!y-}->I1 =:5w% 5? =:5 5i(B =?95 9D5^: 5:)5 :WeH @WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUqU} ?B^gB BA*BA AAA. ="CH @RCo=CH @C)I I} }|}|} }$4:Y}R1y}i:}[5 p,=׹ I G >k2q,6I7EAY}2ž@}2B @y}2D}23}2H>O ?`3.੿o?C_d?)~2ž@ ~2^;I~2Cɫ99)9 9I9Y}@y}oWGI)A ԋM\=Y6QU>!!a%?E%E)y-}->I15d 5?5Þ 5z(B =?959D5: 5:)1We? @WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU} l@BʑB! B!A%*B!A%p A!A!A-$="CM? @RCUr=CU? @CQM`=!I1GM1>٩ ٭ hAܱ 9ܱ Iܱ iܱ ܱ ܱ ܱ ܵ s; ݱ \q,c7EA|4<|4aaae?EeEayml}m>Iqu 5?u u(B }?9u29Dub: q)qWܡ @WX XW:W2W*WVbUBU*UUU`JR@BB BA*BA&1AAA"="Cmܡ @RCuͣ=Cuܡ @Cq֥=יIGh> -:YWU1y:5)͊;9q,|7EAY}:|@}: @y}:>c}:+l}:H>`??@p+?9?)~:|@ ~:^;I~:Cɫ99)9 9I9Y}R@y}WG鮅a=ɮ - - -- -33-G>i-@- -z@)-@I-@i-@=<M=L=YEq:QUE>AIaM?EMEIyU_}U>IY e:]O 5? e:] ](B m?9]E9D]k: ]:)]:Wi @WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA*BAAAAY+="Ci @RCQ=Ci @CX=I)iAסIGA>rq,ٖ7EAY}F@}F]7 @y}F}F}FH@$ `>᣿@?~`{?ϱD?)~F@ ~Fd_;I~FCɫQQ)Q UIQY@y*XGZ****** received transponder code query ******F****** received ping request ******  a @E Ey~}>I 5?bs (B M?9Y9Dù; :)WQ @WX XW:W2W*WVbUBU*UUUe @Bq,7EAY}:D@}: @y}:}:䢽}:Hre& ?U)?T6?)~:D@ ~:^;I~:Cɫqq)q uIqY]@yWGxDUSBL response received:!U1,P 19F,000,00564,185,80,80,64,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 @ @ @õ©õõiõ@õ ĵ~@)ĵIĵh@iĵ~@&ӼMK=Y EQU >a@EEEIyUZR}]>Iȉ :ō) 5? :ōf ƍ(B ?9ƍj9DǍ3< ȍ1<)ȍ:W%5 @W!X! X)W):W)2W)*W)V1bU1BU1*U1U1U @B[B BA*BACAAA1N="C5 @RC=C%5 @C)M벫=) I1 GU > im mGI i !οٺ Ahq,7EAY}2e@}2 @y}2l}2}2H@pK.3@ ;?@)@q?BH?)~2e@ ~2U^;I~2Cɫ)))) -I)Ym@ym XGqu@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B <Mb=YQU>a@EEyG}?Iȡť 5?ť\ ƥ)B ?9ƥy9Dǥ : ȥ:)ȡW4 @WX XW:W2W*WVbUBU*UUU (@B  B BA*BAAAA="C4 @RC@=C4 @C=i~?IG l>uuuu u3:YuV1yu:u59}@I 9I IM TGiM f@I I I M w; M ۗEq,Y7EAY}:!@}: @y}:.}:#}:H@#P`묿 Y?`@Դ`?H?)~:!@ ~:^;I~8ɫ99)9 =I9Y}@y}WGxDUSBL response received:!U1,R,15B,000,00533,186,80,80,A2,FF Fpublishing direction and range info ɰ=鰅> )"CIyp)B=E?̣AӿٱI)A 鿡MZ=YGQU>a@EEy0}>I :d 5? :P 0)B ?99D: 8:):W2@WX XW:W2W*WVbUBU*UUU  4@P*Qp)BZQ;Aea7D@.C)JQ=E?̣Aӿ2Q :QbQ Xqi)541D@ @ȸ@RQ`"ҿ↬~?T>V?BQ}? Q!BQ#HPE9?PI9?PQQ@A"Q?@BXB BA*BAAAA>="C2@RC=C2@C=IG q,A7EAY}~[@}~؜ @y}~i?}~q½}~H q@b2{?@,f?B 8?)~~[@ ~~@^;I~~Cɫ) IY-<@y5WGTNmea in: $SNTTA,0.037261,,,,013111.88*42   < I >i@ @)I3@i3@ M 6=YĻQU>a@EEy%}%>I)- 5?-B -Y)B 5?9-9D-8: -:))meuAdded new target pos. range: 42.360001 m, bearing: 107.208377 deg, deltaT: 4.448472 s, approachRate: -0.660901 m/s, LOS rate: 0.099319 deg/s, posRepo size: 4mu ProNav: pos range: 42.360001 m, bearing: 107.208377 deg, approachRate: -0.660901 m/s, LOS rate: 0.099319 deg/s, cmd update: 0.297957 deg/s, cmd heading: 122.292766 deg, new cmd heading: 121.729782 deg. Wu @WyXy XyWy:Wy2Wy*WVbUBU*UU.E@U 1?BB BA*BA_AAA="C @*CKs=RCL=C @C==IG5q>} yy} }5:Yyyy}5q,<8EAY}2@}2\ @y}2!}20ƽ}2H ( j? o`;?H M?)~2@ ~2^;I~2Cɫ99)9 =I9Y}@y}3XG/$?+η?L7A`?a@EEy}>I := 5? :4 t)B ?99DD:  :):9ITGi@!=; EW@W!X! X!W!:W!2W!*W)V)bU)BU1*U1U1U5l?B]-.Ba BaAe<*BaAeZAaAiAm$="Cu@*CuZs=RCu=Cu@CyMܪ=IQ)QIG--> q,h18EAɫyy)y yIyYV@yWGI%4=)%C=m=m\ϿmG>im@i mz@)iImۙ@im@}MN=YQU>a@EEy } >I 5?& )B ?99DǺ: Y:)WE @WAXA XAWA:WA2WA*WIVIbUQBUQ*UQUYU]@?BfDB BA*BA,AAA="C @*Chs=RC=C @Cׁ֡IGb> 0:Yy5q,PK8EA|i|@Y}6(@}6 @y}6)}6Wͽ}6HqMs?`?d@?)~6(@ ~6^;I~4ɫ99)9 9I9Y@yWGUIL<M]M=Y]QU]>aaae@EeEaym}m>Iqu 5?u1 u)B }?9u9Du: u8:)qWA# @WX XW:W2W*WVbUBU*UUU?BzB BAx*BA:EAAA="CuA# @*Cuhs=RCuj=CuA# @CyM=)I9G]3>jAjA9ITGi @ =; Eq,Ee8EAY}>£@}>>@y}>Ԯ,}>ս}>HH$ ǰ@?e^7?諸?)~>£@ ~>,^;I~<ɫYY)Y YIYY@y!XG)-> -=U[<M]J=Y]FQU]>aaae@EeEaymq}m>Iq }:u 5? }:u u)B ?9u9DuI: uV:)u:WE @WX XW:W2W*WVbUBU*UUU%@B4ϖB BA*BAeAAA]n="CE @*Cas=RCiT=CE @C %?i%v?I!GUS>{{ 0:Y#R1y:5) ;9"q,|8EAY}6*H@}6c@y}61}6;Խ}6H`] L@?m5?t@b?)~6*H@ ~6&^;I~6Cɫyy)y yIyYЯ@yNXGI)A !!uutuiu@q uh@)uh@Iu@iq1<MD=Y|AQU>a@EEy!\}>I 5?S )B ?99D:  :)W!i @WX XW:W2W*W V bU BU*UUUa@B=BA BAAE*BAAE AIAIAM="CU!i @*CUSs=RCU47;=CU!i @CY֍8k=AIQGm5> &q,Z8EA|;|;Y}6@}6@y}6P4}6ҽ}6H `_##w-?`>?G@?)~6@ ~6^;I~6CɫYY)Y ]IYY@y XG鮭p=ɮp=ES?iiam@EmEqy}r}}>Iȁ :Ņw 5? :ŅN ƅ)B ?9ƅ:DDž:ܝ]>9ܙIܙiܙܙܙܙܝ; ݝE ȅ;)ȅ:WM @WIXI XIWQ:WQ2WQ*WQVQbUYBUY*UYUYUe`'@RB*** querying acoustic contact ***PPB^B BA*BAV"AAA?="C @*C>s=RC !=C @C ZR=IG k>  5:Y[1yݏ:%5)>;6,q,98EAY}2M@}2ɝ@y}2m;}2ν}2H @?1`?H?jwv_8`?`1ǹ?)~2M@ ~2:^;I~2Cɫ99)9 =I9Yuׯ@y}WXG}Z****** received transponder code query ******}F****** received ping request ******绾 ׽i(@ &@)ߏ@I@i@<MB=YQU>IIaM@EMEQyUl}]>IY]k 5?] ]*B ?9]:D]; ]0;)YW? @WX XW:W2W*WVbUBU*UUU @BM@BI BIAMb*BQAU $AQAQAU-="C]? @*C]"s=RC]=C]? @CaE$=II)MhAI!GEQ>3q,$8EAY}:@}:.@y}: ?}:½}:H"y_`6d?K?M0V?)~:@ ~:E^;I~:Cɫ99)9 9I9Y}@y}eXGxDUSBL response received:!U1,P 15B,000,00533,186,80,80,A2,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 o;M\=Y}M>QU>a@EEy<}>I :` 5? : *B  ?9,:Dk: 4:):Ws @WX XW:W2W*WVbUBU*UUUT{ @BmDtBi BiAm*BqAu%AqAqAuS="Cs @*Cr=RC<Cs @C  @:Y0Y1y:$59@֍ =ٹٽ4=9IUGi@t; ڗE)1I1i115 =54I IY Gu >F9q,K8EAY}2w@}2@y}2B}2BR}2HOy`0}?`#f@M?`{1?)~2w@ ~2^;I~0ɫYY)Y YIYY0@yXGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U<M]C=Y]QU]>aaae@EeEaymz}m>IU 5?O ,*B -?9=:D2I; 6;)WU @WQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUe`Z2@BuǛBy ByA}*BAH'AAA ^="C @*Cr=RC0<C @C( <יIGb>.@q,9EAY}2G@}2â@y}2B}2}2H=q2`'?˵`T? 9T|?)~2G@ ~2^;I~2Cɫ99)9 9I9Y]~@y]$YGexDUSBL response received:!U1,R,10D,000,004FF,185,80,80,79,FF mFpublishing direction and range infoevapaɰe=e+> a)eBIayeBeNQ?8ͿٱaiunGIi=ƿٺ9=)AEt=EEtiE@A E@)E@IEiE@߬<M6=YQU>a@E Ey濻}>I :J 5? : ?*B ?9P:D: :):W * @W X  X W:W2W*WVbUBU*UUU@Z@P1*Q5BZQ5עC@ޱA"JQ5NQ?8Ϳ2Q5vap:Q1bQ59'B@@RQ5Mҿ3}WIW?a?BQ5E? Q5BQ5?8P5D9?P5E9?P5Q1Q5A"Q5@ABeأBa BaAm*BiAm(AiAiAm0="Cu* @*Cur=RC}Y|<C}* @Cy֝T<סiץ?yIG>I޹)޽@A~  =:Yy%5EYFq,9EAY}2f@}2@y}2-B}2/`}2H.`@;? ! OC??)~2f@ ~2_;I~2Cɫ99)9 =I9Y}װ@y}YGdNmea in: $SNTTA,0.058828,0.424321,,,013116.32*56 I)999I=VGi=@==99=s; 9K7A?{Gz?A`"? "?ף< Y=)Iyx?V-+?K7?= A)(AI7 Ai~AAUD<M]Q=Y]9QU]>aaae@EeEay"}>Iȑŕ> 5?ŕ ƕ]*B ?9ƕb:DǕ{: ȕ:)ȑm yAdded new target pos. range: 39.240002 m, bearing: 107.104278 deg, deltaT: 4.479063 s, approachRate: -0.696574 m/s, LOS rate: -0.023241 deg/s, posRepo size: 4mrPowering the camera and arming the DDM at range: 39.24 m.Xm% ProNav: pos range: 39.240002 m, bearing: 107.104278 deg, approachRate: -0.696574 m/s, LOS rate: -0.023241 deg/s, cmd update: -0.069724 deg/s, cmd heading: 123.628533 deg, new cmd heading: 123.747306 deg. W%8 @WAXI XIWIXI:WI2WI*WQVQbUQBUQ*UYU]`C@U]6?BzB BAj*BAq*AAA="C8 @*Cwr=RCZn<C8 @Cu Lq,z49EAY}2IS@}2n@y}2a@EEy2}>I2 5?G }*B ?9u:D: ):):uAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;vZEntering USBL mode with 5.000000 count pings.1;q;W% @W!X! XWX:W2W*WVbUBU*UUUA?B]򞖽BY BYA]W*BA,AAAs="C @*CDr=RCrf<C @C  ,:YWU1y:55<IG5 >jSq,UN9EAY}2A@}2;]@y}2yq<}2}2H^?@?`=? ?hX?)~2A@ ~2e^;I~2Cɫ) IYU?@yUZG=MY=YA ;QU>a@E Ey:} >Ii }:m' 5? }:m m*B ?9m:Dm; m;)m:X@q;uCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:uAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLW1 @WX XWX:W2W*WVbUBU*UUUqE^>9AIEVGiE@E =AAEy; EݗEYq,0h9EAY}:Z:@}:U@y}:+8}:q}:HX>@@c?` ?@/e?)~:Z:@ ~:!_;I~:Cɫ) IYUB@yUZGiiI=)4=|:MJ=Y;QU>  a@E&E!y5}5>IIM 5?M` M*B ?9M:DM-< MB<)IWu @WyXy XyWyXy:Wy2Wy*WVbUBU*UUUh?B%B) B)A-*B)A-/A)A1A52="C= @*C=Aq=RC=_<C= @CA m=m=u`< .:YT1y:%5);9QIiG>|`q, 9EAY}2%@}2A@y}25}2[}2H`p@@ҡ??h`)?)~2%@ ~2n;I~2Cɫ) IY!@yYGiy   7lg iG@ @)@I@i&ML=Y:QU>a@E-EyP}>I :x 5? :cq *B  ?9:D(: :):W-v @W)X1 X1W1X1:W12W1*W9V9bU9BU9*U9UAUE`\?Bm֯Bq BqAu*BqAuS0AqAqA}="C}v @*CIq=RC[R<Cv @C֥o=Zfq,9EAY}2<@}24@y}2l8}2Q}2H.? ߿@?,@?)~2<@ ~2mt;I~2C`>9I:=M@=Y&ºQU>a@E4EyX}>Iȩŭ 5?ŭa ƭ*B ?9ƭ:Dǭ: ȭ{:)ȩW @WX XWX:W2W*WVbUBU*UUU`%T@B>⓽B B!A%پ*B!A%1A!A!A="C @*Cq=RC`O<C @C/C<?i?  V5:YV1y:5);IG>+lq,7µ9EAY}2 @}2(@y}2;}2),>}2Hq1C୧?߿@b=n?@?)~2 @ ~2ƅ;I~0ɫ) IY5ֱ@y=ZGiII II @ @ @å©ååiåף@å ĥ)ĥj@Iĥiĥ3@UMY=YIQU>a@E:Ey}>I : 5? :gT *B ?9:D: +:):W$ @WX XWX:W2W*WVbUBU*UUUnw@RB*** querying acoustic contact ***PPB}ߗB BAqݾ*B A 73A AAR="C$ @*CWq=RCAK<C$ @CNJN<IGn>sq,s9EA||Y}:7@}:!@y}:8=}:P5}:H!Q@#? ߿]ȯ?`A?)~:7@ ~:l;I~:Cɫ) IY!@y'[G%Z****** received transponder code query ******%F****** received ping request ******%a@E@Ey|}>IȹŽ 5?ŽE ƽ+B ?9ƽ:Dǽ; ȽV5;)ȹWg @WX X W X:W2W*WVbU!BU!*U!U)U-@r @Br#B BAؾ*BA]4AAAޱ="Cg @*C[$q=RC!L<Cg @CLM<<c>9Ii#=n; ؗEIG>]]]]2 ]1:Y]0Y1y]:]Z5)]ݎ; yq,Ox9EAY}2@}2:@y}2Ȓ>}2g9}2H & ?`q %Ч?~$?)~2@ ~2L;I~2Cɫ) I Ym>@ymL[GuxDUSBL response received:!U1,P 10D,000,004FF,185,80,80,79,FF }Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ihAfA5 <M=@=YMP]QUU>aiau@EuGEy`;}>I :~ 5? :%6 )+B ?9:D2=  =):W @WX XWX:W2W*WVbUBU*UUUQ @BU0BQ BQAU־*BYA}H6AyAyA}="C @*Cp=RCbj<C @C֍0:D ˀq,S:EAY}2n,@}2G@y}2rA}2N;}2H  @! 0?@T0? aL?)~2n,@ ~2T;I~2Cɫ99)9 9I9Y@y#[GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5;>i5> =gA=fAi9AIEC=)A   Õ 0>ÕC Õ>iÕ@Õ đ)ĕ@Iĕۙ@iĕۙ@~,MT=YFQU>a@EMEy;}>I 5?( <+B ?9;Dk: :)WU @WX XWX:W2W*WVbUBU*UUU .@B{B BA پ*BAaf7AAA~f="C U @*CFp=RCx<CU @Czl<IIG|>5555^ 50:Y5DW1y5Y:559M@(q,.:EA|i|@Y}>>V@}>q@y}>7E}> %;}>H'FK[? ཇ r? [?)~>>V@ ~>dw;I~<ɫYY)Y YIY܅a>9܅yCI܅hXGi܅@܅!=܁܁܅; ݅E)Ii!=!=5Y@y[GxDUSBL response received:!U1,R,0F6,000,004CE,187,80,80,95,FF Fpublishing direction and range info[ɰ=鰥1> )CIy3Bo.EC?AzUmD˿ٱi5NbX9?{Gz?X9v?5E?5#> 5<)1I1y5ʡE?~jtMb?5/?5ļ5< 5 A)5/AI5Q Ai5~A15A (=M :=YQU>a@ETEy%;}%>I)- 5?-r -P+B =?9-;D-: -:))WeX @WaXa XWX:W2W*WVbUBU*UUUS@R(Combining 5 samples.P*Q3BZQ uA@B_JQo.EC?AzUmD˿2Q[:QbQbQbv&~9:A@ޞqz@RQQ>Wӿh!`?)Hz ?BQd? Q BQ3PA9?PD9?PQQ@"QABE$vBA BAAEϾ*BIAM8AIAIAM="CUX @*CUqp=RCUiÑ<C]X @CYuz<סIG >@q, 7:EAY}6~T@}6o@y}6 L}6+}6H`&l@@9?w@h`~?h?)~6~T@ ~6l;I~6Cɫ髡) IY@y[G}DNmea in: $SNTTA,,,,,013120.80*57 i)Õ> Õ>33>Mbi @ @)I@i@?;MX=YtQU>a@EZEy~}>I  :  5? :  `+B ?9 ,;D ; :) :mMuAdded new target pos. range: 36.299995 m, bearing: 108.053647 deg, deltaT: 4.464019 s, approachRate: -0.658601 m/s, LOS rate: 0.212671 deg/s, posRepo size: 4mUrPowering the camera and arming the DDM at range: 36.30 m.XQme ProNav: pos range: 36.299995 m, bearing: 108.053647 deg, approachRate: -0.658601 m/s, LOS rate: 0.212671 deg/s, cmd update: 0.638014 deg/s, cmd heading: 123.317913 deg, new cmd heading: 123.292335 deg. WeE @WaXa XaWaXi:Wi2Wq*WqVqbUqBUy*UyU}@f&B@U}?BeB BASϾ*BA :AAA ="CE @*Cnp=RC-\<CE @C}m<ׅ?iׅ?IM2CYIqG~>i%%nGI]jAiuAA< 1:YV1y:~5A,ٺjABwq,GP:EAY}25@}2]Q@y}2#W}2z<-}2H`A`?8 @g ު?Ee?)~25@ ~2Wf;I~2Cɫ99)9 9I9Y}ֲ@y}\GI)I)i }$<M}R=YxQU>a@E`Ey}>Iȩŭ 5?ŭ ƭr+B ?9ƭ=;DǭP; ȭQ;)ȩW]J @WX XWX:W2W*W V bUBU*UUU` ?BU◽BQ BQA]y;*BYA]\;AYAYA]S="Ce]J @*Ce/ugAufA}`>9yI}XGi}6@}=}QDy}; }EE1q,j:EAY}2@}23@y}2-!f}25}2H` @@+?߿"!F?⴦@?)~2@ ~2Ne;I~2CɫYY)Y YIYY @yb\Gi!<MB=YJQU>  a @E gEy}>I %: 5? -:w +B -?9O;D: :):W]7 @WYXa XaWiXq:Wy2W*WVbUBU*UUU?B4jB BAȾ*BAL<AAA="C7 @*C>p=RCB;C7 @C<יIGd>~~` /:YT1y@:45%q,5:EAY}2ľ@}2@@y}2yq}25}2H߿0Ƃ.?߿@H*??)~2ľ@ ~2f;I~2Cɫii)i iIiYʳ@y3]GiMJMKM=iM@I Mz@)Mۙ@IM@iM@]'^=MeU=YeQUe>iiam@EmmEiyug}u>Iy}- 5?}g }+B ?9}`;D}U: }b:)yW @WX XWX:W2W*WVbUBU*UUU@^?BB BA3*BA =AAA="C @*Co=RCEC @C"5;IfA)יIGj>Dq,|:EAY}2@}2l@y}2]y}2o)F}2H@N߿Lr?`z߿`i&?A?)~2@ ~2Xnf;I~2C%_>9!I%YGi%ذ@!!!%; %Eɫ99)9 9I9Y]@y]n]G =i =iIa=)=Zd;O?{GzMbpj?# )Iy/$?+Q?1(?< ¥Q A)¥AI¥Ai¥A=Ag<MD=YQU>a@EtEyۻ}>I : 5? : +B ?9q;Do: :):W%p( @W)X XWX:W2W*WVbUBU*UUU`?B%B) B)A-1*B)A-a+?A1A1A5f="C=p( @*C=ro=RC=3C=p( @CA QU>=3I9Gew> 5 5:YX1y/:5)>;9wmq,Q:EAY}:Y@}:Ԥ@y}:ӎ~}:ŅL}:H`߿ w@?}q߿@̯?`_?)~:Y@ ~:} e;I~:Cɫ99)9 9I9Y}@y}\]Gi}^}C }&>i}z@y }@)}@I}E@i}&@MN=YPQU>a@EzEy蘺}>Iȩŭ8 5?ŭ ƭ+B ?9ƭ;Dǭf: ȭ:)ȩW{p @WX XWX:W2W*WVbUBU*U UU@@BEIBA BAAE*BIAM0O@AIAIAM="CU{p @*CU+o=RC]pC]{p @CYu3QIiG>Uq,b.:EAY}2@}2)@y}22}2_ C}2HC߿A?`c߿@4S?a@EE y 4;}>I!% 5?% %+B 5?9%;D%A; %;)!Wm @WiXi XiW X:W2W*WVbUBU*UUU% /@R-B*** querying acoustic contact ***P)P)BޕB BAҿ*BAAAAA=%="C @*C7n=RC.jC @Czl?i?יIGc>!%<-^>9)I-\ZGi-{@)))-; -EI޹)޽?Ad /:YV1y:5);tq,:EAY}2f@}2@y}2k}2+}2HQ߿ll`?z߿@@?q`?)~2f@ ~2a;I~2CɫAA)I IIIY@y]GZ****** received transponder code query ******F****** received ping request ******iQ@ @)I@i@k<M.=YQU>a@EEy- S;}->I1 =:5#y 5? =:55 5,B =?95;D5: 5:)5:W} @WX XWX:W2W*WVbUBU*UUU) @B[B! B!A%*B!A%-BA)A)A-8="C5 @*C5}n=RC5sC5 @C9mfAmfAU1I9Ge>Bgq,;EAY}:@}:Q@y}:4h}:;"}:HD߿ěh??߿ Zɱ?౗?)~:@ ~:`;I~:Cɫ99)9 9I9Y}@y}R^GxDUSBL response received:!U1,P 0F6,000,004CE,187,80,80,95,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i$Q=Ma=Y QU>a@EEy #\;} >I9=o 5?= =5,B u?9=;D=; =X;)9WT @WX XWX!:W!2W*WVbUBU*UUU> @B5B5d= B1A5*B1A=XDA9A9A=?="CeT @*CeB'n=RCe~CeT @CiֽԅבIG>- - ~- ~- M - 0:Y- T1y- @:- "595 @gq,;EAY}2@}2@y}2㕽}2Z}2H߿ ?@s?X?߿@%A?$`?)~2@ ~2*?`;I~2C`9`Ib[Gibo@b=bRD`b; bEɫYY)Y YIYYe@ye)^GimAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i)\(?Mb?~jt?G?= <)IyS㥛?AAaE@EEEIyM:}M>IQ ]:Ue 5? ]:U UL,B e?9U;DU: U:)U:W? @WX XWX:W2W*WVbUBU*UUU @B+B BA*BAEAAA@="C? @*Cm=RCռC? @C IeA)׹IGf>q,-9;EAY}2@}2%@y}2Μ}2T}2H ߿-@We??|߿p@?~?)~2@ ~2Aa;I~2CɫYY)Y YIYY@y^GxDUSBL response received:!U1,R,109,000,0049E,185,80,80,7E,FF Fpublishing direction and range infohlɰ=鰭+> )BIyBB%?>pVͿٱ=iiI=)什DTi@ )@Ii@-G9=M-]=Y5QU5>AAaM@EMEaym:}m>Iqu\ 5?us ub,B }?9u;Du: u#:)qW @WX XWX:W2W*WVbUBU*UUU`@R(Combining 5 samples.P*QBZQqC@@~W:JQB%?>pVͿ2Qhl:QbQm#?@ve,S@RQi񛁴?ҿ?HTk?BQ1? Q_AQxPB9?PA9?PQQ5A"Q@BB BA#*BA)FAAA0="C @*C[~m=RCC @C ==Tм׹IGm m m m  m &2:Ym U1ym :m 5q,}S;EAY}z@}z>@y}z}z }zH߿5Z?l?߿Ѥ?@(?)~z@ ~za;I~xɫ) IY-@y5_GDNmea in: $SNTTA,,,,,013125.21*59 iS"=M<=Y QU >  a @EEy}>Iȩ :ŭQ 5? :ŭx ƭ},B ?9ƭ;Dǭ': ȭ:)ȭ:myAdded new target pos. range: 33.419998 m, bearing: 106.621616 deg, deltaT: 4.378193 s, approachRate: -0.657805 m/s, LOS rate: -0.327083 deg/s, posRepo size: 4mrPowering the camera and arming the DDM at range: 33.42 m.Xm ProNav: pos range: 33.419998 m, bearing: 106.621616 deg, approachRate: -0.657805 m/s, LOS rate: -0.327083 deg/s, cmd update: -0.981248 deg/s, cmd heading: 126.116644 deg, new cmd heading: 126.401671 deg. WMb @WX X W X :W 2W *WVbUBU*UUµ@@U ?BE BI BIAMX*BIAMBGAIAIAU'="C]Mb @RC]MC]Mb @CaM&t@=ٵfAٵgAܵ_>9ܱIܵ\Giܵc@ܱܱܱܵ; ݵE)MyCIMyCiIM=M=M4%d輹I G% >,q,^m;EAY}V@}V'@y}V李}Vôc}VH`߿@UЛ? m?߿G /?_`?)~V@ ~V-a;I~VCɫ髱) IYM@yM_Gi  @  @  @ ©  i f@  ) @I E@i \@<MI=Y%QU%>!)a-@E-E)y5}5>I9=RH 5?=Gl =,B E?9=;D=: =:)9Wm @WiXi XiWiXi:Wq2Wq*WqVqbUqBUy*UyUyU}?BEY폽BA BIAM-*BIAMAHAIAIAM2="CU @*C]-m=RC],ϐC] @C]y=5ż=?i=?)I9Guz>E E E E [ E ,:YE WU1yE :E "5q,,;EAiNmGI i(Bٺ@B=BY}v@}v@y}v}}vd}vH@M߿ @›??`:߿Db*?"?)~v@ ~vx`;I~tɫ髹) IY@y_GI)i 鿩N_MM=YYS9QU>a@EEy:}>I  : > 5? : S_ ,B ?9  q,;EA|4<|6^>94I6]Gi6V@6 =446; 6EY}F@}F@y}Fw}FeO}FHc߿۽`ɜ? ?@߿M ?`$؉`2?)~F@ ~F_;I~FCɫyy)y yIyY@y`Gi9AS?  aAEEyNa;}>I!%4 5?%1S %,B -?9%    < =.:Y U1y : ~5) ċ;9 q,;EAY}28@}2)@y}2v&}2?V}2H`I?`?@ ?Ȋ@C?)~28@ ~2`_;I~0ɫ99)9 9I9Yyi!-fA) u u u u@ u@ u@qqqiu(@q q)uIuiu@Y9QU>aAEEy#;}>Iȡť) 5?ťG ƥ -B ?9ƥ(vq,;EAY}J?@}JD[@y}Jӡ}J*zS}JH֥`W?%?@W_@ 5?Y@?)~J?@ ~JD_;I~Hɫ髁) IYw@yaGiyyIR=)4=c<MaAEEy;}>I : 5? :m; :-B ?98aai9iIm _GimJ@m=iim; mE  Y 0:Y y 5) ;q,9;EA|.@i|.@Y}w@}@y}e䤽}ROk}H`{-1?@@}?[2}ٖ?CQ?)~w@ ~_;I~Cɫaa)a aIaY{@yaG鮙ɮ=i   Ga=GaI >i@ )&@I&@i&@ :M E=Y3lQU>aAEEy%8<}%>I)- 5?-/ -l-B 5?9-Iq,6r99a=AE=EAyM}M>IQ ]:U# 5? e:U# U-B e?9UW    T  1:Y T1y : 59 @a 9a Ie 7`Gie >@a a a e ; e Em<q,a"IIaUAEUEy":}>IA 5? -B  ?9oWq,(<kFq, V ) CIy3Al?yqҿٱi<M-=Y;QU>QQaUAE]EYyeq^}e>Iae 5?eL e .B u?9e9IaGi@=; EQCPD9?PB9?PQQA"Q5ABURBY BYA]V*BYA]OAYAaAex|="Ce@*Cml=RCmsS)=C@CL S,:YWU1y:5);9֝@o=Iס)ץeAY Ii G >?mq,_oaAEEy}?IA M:E( 5? M:E E-.B M?9E@U ?BUBQ BQAUR*BQA}{PAyAyA}V="C@RCbV=C@C ս=Խ=֝$=iIyG~>Q"q,8aAEEy } >I 5? L.B ?9( D 7:YDW1yY:559@ 9 I ,bGi Է@    ;  E)ݑIݑiݑݕ=ݕ=ݕS5p{(q,iiamAEuEqyu+}}>Iy}' 5?}y }n.B ?9}.q,paAEEy}>I : 5? : .B ?98  I8:Yyg5q,YkQQaUAEUEYy]#~}]>IȹŽ 5?Ž ƽ.B ?9ƽ١٥4=ܭ^>9ܩIܭbGiܭw@ܭ=ܩܩܭ; ݭE;q,9q>ip@ E@)I&@i ;M>=YQU>aAE E!y%}->I) 5:-0 5? 5:-˫ -.B =?9-i=M f.:YWU1y:"5Bq,F =EAY}6i@}6@y}62}6F{}6H޿@q?z]޿]ط?zN?)~6i@ ~6 ;I~6Cɫ19)9 9I9Yuy@yufGyɮ}a==i=i/=M^=Y ;QU >  a AEEy@}>I!%S 5?% %.B -?9%>ֵD=׉IG&>ܥ _>9ܡ Iܥ dGiܥ @ܥ =ܡ ܡ ܥ ; ݥ EZHq,$=EA|@i|Y}6@}6^@y}6}6Q}6H_޿@:'?gݿ o?@c?)~6@ ~6mV;I~6Cɫ9=)9 9I9YE@yEfGMZ****** received transponder code query ******MF****** received ping request ******UE> EGa)AIAyE ףp= ?QQaUAEUEYy]饼}]>Ia m:eĝ 5? u:e e/B u?9e=De: e,:)e':W@WX XW:W2W*WVbUBU*UUU@eC @BZvB BA*BASAAAYD="C@RC-=C-@C)=2=IG%n>T 2:YV1y:5)Ï;9>Nq,и>=EAY}24@}2^P@y}2O}2V}2Hݿ\5M?8ݿ`f?ij?)~24@ ~2*.;I~2CɫYY)Y YIYY@ytgGxDUSBL response received:!U1,P 14F,000,00474,186,80,80,A0,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i)= =پ%\>i@ @)I@i@=M-?=Y5;QU5>AAamAEmEqy}>IȹŽ_ 5?Ž ƽL/B ?9ƽ'=DǽPx; Ƚx;)ȹW7?WXA XAWA:WA2WI*WIVIbUIBUI*UQUQUU @BRrB BA*BAidTAAA!="C7?RC=C7?C   ש i׭ ?ׁ I G >Uq,X=EAY}:C@}:@y}:}:}:H@ܿ /u? ܿw8? ) ?)~:C@ ~:S;I~:Cɫ9=)9 9I9Y}b@y}gGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)AI)i<M`=Yq;QU>aAE"Ey}>I 5?r o/B ?97=D: &:)WZ?WX X!W!:W!2W!*W!V)bU)BU)*U)U1U5@@B]*uBY BYAeҽ*BaAeTAaAaAe="CmZ?RCuw=CuZ?CqIG (>I9MxCIMLeGiM_@M!=IIM~; MޗEE P S9:YDW1yY:5)W; \q,Hnr=EA|;|Y}2@}2@y}2}2+½}2HPܿ6N? ۿn$@;?8?)~2@ ~2;I~2Cɫ99)9 9I9Y}f@y}gGxDUSBL response received:!U1,R,102,000,00446,186,80,80,4E,FF Fpublishing direction and range infofɰ==鰁 )BIyA1٠c>1?Nu̿ٱi @ @ @©iף@ "@)Iiz@ڜ:MY=Y zQU >  a AE (Ey}>I! -:% 5? -:%e %/B -?9%H=D%: %Q:)%(:WU?WQX XW:W2W*WVbUBU*UUUd@R5(Combining 5 samples.P9*Q=AZQ=!v%n;@u]!JQ=1٠c>1?Nu̿2Q=f:Q9bQ=T 9Z^}\D;@l@RQ=GVͿ?}4?BQ=? Q="AQ=dP=C9?P=D9?P9Q=Q=AA"Q=ABrB BAѽ*BAUAAAM="C?RCA'=C?CIG [bq,S=EAɫ) IYU@yU*hGEDNmea in: $SNTTA,,,,,013134.10*5B iqy'<M2=YQU>aAE0Ey}>I%u 5?S /B =?9^=D< <)mmyAdded new target pos. range: 28.140001 m, bearing: 103.432567 deg, deltaT: 4.355082 s, approachRate: -0.633742 m/s, LOS rate: -0.045765 deg/s, posRepo size: 4mmrPowering the camera and arming the DDM at range: 28.14 m.mulFinal approach. Armed for intercept at range: 28.14 m.mu\Transitioning guidance mode to: FINAL_APPROACH"Xum ProNav: pos range: 28.140001 m, bearing: 103.432567 deg, approachRate: -0.633742 m/s, LOS rate: -0.045765 deg/s, cmd update: -0.137296 deg/s, cmd heading: 113.108924 deg, new cmd heading: 112.122569 deg. WΈ?WXD; X?W:W2W*WVbUBU*UU #<@Ug?B%"mB! B!A%*B)A-bUA)A)A--="C5T?*CUail=RC]3=C]Έ?CYIi)iQIYG}z>d 2/:YW1yč:59@M `>9M yCIM fGiM @M =I I M p; M חEiq,$=EAY}BKa@}B|@y}B<䍽}B0ӽ}BHRۿ`?skۿ_帱?I?)~BKa@ ~Bx>;I~@ɫYY)Y YIYY5@yhG!i%=i))I5=)5R=\(\?X9vJ +?} Ƚ)IyQ?T㥛 Mb?\/?< ½A)½AI¹i½jA A,=MZ=YQU>aAE6Ey蚼}>I :m 5? :F /B ?9n=D/: :)):W%yn?W!X) X)W):W)2W)*W1V1bU1BU1*U9U9U=?BelnBa BiAm!*BiAmUAiAqAu="Cuyn?*C}ћl=RC} =C}yn?Cy/=IGj> Boq,z=EAY}2@}2!9@y}2aI}28׽}2Hۿ8{ $?@n,ۿW?Fʺ?)~2@ ~2;I~2Cɫ]Y)Y YIYY@yRiGi U  Å94>ÅÅV>iÅ@Å ąz@)ą\@Ią@ią@ =MO=Y;QU>aAE<Ey&+}>Iȩŭe 5?ŭI8 ƭ/B ?9ƭ=Dǭ: ȭ:)ȩWxO?WX XW:W2W*WVbUBU*UUU"@?Bs)hB B!A%[*B!A%UA!A!A%="C-xO?*C5Pl=RC5g=C5xO?C1-=!I)GM1>6 0:YU1y:55b*vq,8=EAY}2F@}2@y}2$}2ս}2H`[ۿ`1ݰ ? ڿ ?~s?)~2F@ ~2h:};I~2Cɫ99)9 9I9Y]@y]iGiY<MU=Y;QU>aAEBE y m} >Ii u:m] 5? u:m) m0B }?9m=DmZ: mf:)m*:Wg0?WX XW:W2W*WVbUBU*UUU?B0eB BAGX*BA|UAAAd="Cg0?*C6 m=RCU=Cg0?C9I@gGi@=z; ݗE)ݑIݑiݑݕ =ݕ =ݕS5e=m?im?I)GER>IAA)@A3T|q,=EAɫyy)y yIyYe@y?jGI)AiUx齩U$fU,>iU3@Q U@)UIU"@iU@eN<MeD=YeQUm>iiamAEmIEy}>ILU 5? 50B ?9=DU: Ǻ:)W%M?W!X) X)W):W)2W)*W1V1bU1BU1*U9U9U=)@BeOaBa BiAmo$*BiAmVAiAqAu<="CuM?*C}Hm=RC}=C}M?Cy Ս=ԍ>m=!I1GM1>^ .:YX1y/:5i nGI jAi {ٺ jA !fBEA||Y}6@}6#@y}6}6G}6H`Eڿ`۲?`#ڿ@ _?@x+``?)~6@ ~6@ig;I~6Cɫaa)i iIqYV@y-jGi!!}MI=Y;QU>aAEPEy}>I! ]:%bM 5? e:% %Q0B u?9%=D% 5< %V7<)%+:W-?W)X) X)W1:W12W1*W9V9bU9BUA*UAUAUmʴ@BaB BA+*BAAVAAA="C?*C\wm=RCHj=C?CZ=IG> _>9 I hGi @ s; ٗE?fq,l'>EAY}>o@}>Q?y}>S}>T/}>H`)ڿ<v~!?`%ٿ @?` S?)~>o@ ~>b;I~>Cɫyy)y yIyY@yiGɮR=i  ףp= ?ˡE~jt??' <)IyFx?MbaAEVEyv}>ISD 5?) r0B ?9=D{: ܹ:)W%?W!X! X)W1:W92W9*WAVAbUBU*UUU Z@RUB*** querying acoustic contact ***PQPQBqeB BAlV*BAcmVAAA="C?*Cm=RCó=C?C=I)yIG^>J 1:Y0Y1y:~5)̎;9XNq,HA>EAY}2I@}2?y}24O}2N}2Hٿ7 >? Sٿ@I@?Ѽ`?)~2I@ ~2_;I~2Cɫ99)9 9I9Y}@y}kGZ****** received transponder code query ******F****** received ping request ******a%AE%]E!y-G}->IQU; 5?U U0B ]?9U=DU: U:)QW?WX XW:W2W*WVbUBU*UUU @B[B BA*B!A%X|VA!A!A%="CM?*CMӬm=RCU=CU?CQ]"=1IAG]v>xq,F"[>EAY}2;@}2L?y}2N}2}2H#ٿ TV@# ]?`ؿ&?`?)~2;@ ~2'^;I~2CɫQQ)Q QIQY۾@yjGxDUSBL response received:!U1,P 102,000,00446,186,80,80,4E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i%M-[=Y=*QU=>IQa]AE]cEiyм}>Iȡ :ť2 5? :ť ƥ0B ?9ƥ=Dǥ<= ȥ[;=)ȥ,:ٕgAّܡ9ܡIܥhGiܥ:@ܡܡܡܥh; ݥӗEW̋?WX XW:W2W*WVbUBU*UAUAUE9 @B]B BA_Ҽ*BAVAAAȤ="C̋?*CLm=RCH=C̋?CֽL=יIG> i 4:YWU1y:"5)5;Sq,t>EAY}2h @}2{?y}2/}2m}2H@(ؿ 0sAs`{?9׿'`-?u, ?)~2h @ ~2r];I~2Cɫ99)9 9I9Y}׿@y}lGAAAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i   ý<ýuýt>iýp@ý Ľٮ@)Ľ@IĽ@iĽ@=M@=YQU>aAEiEy}>I) 5?E 0B ?9=DH: :)Wp?WX XW:W2W*WV!bU!BU!*U!U!U-&@BUVBQ BQA]*BYAYAYAYA]{="Cep?*Cem=RCmEk=Cmp?Ciօ8=׍?i׍?YIiGY>&q,؎>EAY}2 @}2_v?y}2P}2}2H`A ؿ63?@$׿"*@[?`d?)~2 @ ~2K9];I~2Cɫy髁) IY@y"lGxDUSBL response received:!U1,R,081,000,00415,186,80,80,89,FF Fpublishing direction and range info潩ɰ6= ) CIyA%?a~A¼ٱI)AiAA Y]Au;Mu@=Y};QU}>aAEpEy蘼}>Iȡ :ť! 5? :ťV ƥ0B ?9ƥ >DǥN; ȥ;)ȥ-:WEN?WAXA XaWi:Wi2Wi*WiVibUqBUq*UqUqU}r@R(Combining 5 samples.P*QAZQk*] 9@_J%JQ%?a~A¼2Q:QbQq*;W08@xr v <:YDW1yY:59@܍ `>9܉ I܍ iGi܍ ݽ@܍ =܉ ܉ ܍ a; ݍ ЗE\q,>EAY}n @}n?y}n'=}nN'}nH,׿@`"?9׿GsD??)~n @ ~n;\;I~nCɫ) IY@yOlGuDNmea in: $SNTTA,,,,,013138.55*56 imZd;?V-?V-?m9?m< mm=)iIiymMbX9?{Gz&1?m!?mףmP= mh@)mIAImAiiimp A>ҿD>i׫@ @)IO@iO@Z$<M5=Y;QU>aAEwEy=}>I 5? $1B ?9>Dr: :)m5uAdded new target pos. range: 25.199999 m, bearing: 105.683872 deg, deltaT: 4.487357 s, approachRate: -0.655175 m/s, LOS rate: 0.501700 deg/s, posRepo size: 4mE ProNav: pos range: 25.199999 m, bearing: 105.683872 deg, approachRate: -0.655175 m/s, LOS rate: 0.501700 deg/s, cmd update: 1.505099 deg/s, cmd heading: 112.490012 deg, new cmd heading: 112.430439 deg. WE?WAXA XIWI:WI2WI*WIVQbUQBUQ*UQU] 339@U]j?BB BA*BAAAA!="C?RC_<C?C֕`k=IIYG>zq,O>EAY}2I @}2Q?y}2@}2=~ݽ}2H ׿ Գ±?g׿Ef?@,?)~2I @ ~2p\;I~2Cɫ99)9 9I9Y} @y}FlGi8=M=Y>K;QU?!!a%AE%|E)y-C}-?I1 =:5 5? =:5! 5B1B E?95*>D54: 5b:)5.:We?WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU} )?B!B! B!A!*B!A!A)A)A-="C5?RC5ee<C5?C9-F=I))-eAIG )>l h,:Yy5Bƶq,j>EAY}2QZ @}2?y}2}2Dֽ}2HT׿`q ਺?ֿԸ ?? |?)~2QZ @ ~2\;I~2Cɫ99)9 9I9Yd@ylG=i=iI =) =5<M=H=Y=QU=>AAaEAEEEIyM}M>IQU 5?U Ui1B ]?9U;>DU: U8:)QW/?WX XW:W2W*WVbUBU*UUUX^?BUB BAs;*BAӒVAAA="C/?RC*"C/?CfAfA<191I5`jGi5@5=115Y; 5̗EסIG >q,0F>EAY}:`0 @}:?y}:È}:ݞ̽}:H+׿b`?@˵ֿ@@4? fz ?)~:`0 @ ~:\;I~:Cɫ99)9 9I9Y} @y}mGi}ᄅ}׾}jaAEEyɻ}>Iȩ :ŭ 5? :ŭ͐ ƭ1B ?9ƭL>Dǭ: ȭo:)ȭ/:WJ@WX XW:W2W*WVbUBU*UUU ?B%PB BA%<*B!A%$VA!A!A%[="C-J@RC5 C5J@C1<IGI> -:YWU1y:P6Dq,O ?EAY}F @}F?y}F-}F}FH mֿ 8@![?~ֿ Q?jط ?)~F @ ~F]];I~FCɫaa)a iIiY@ynmGi9AuՓM}L=YQU>aAEEy}>I 5? 1B ?9\>D ; 2 ;)W@WX XW:W2W*WVbUBU*UUU?B-(PB) B)A-!<*B)A5;lVA1A1A5b="C=@RC=C=@CAEh%- _>9) I- (kGi- "@) ) ) - N; - ƗE)щIщiщՉ=Չ=Չ4q,,*?EAY}6 @}6 g?y}6}6I}6H`_ֿ` ? 25ֿ5.?@9`?)~6 @ ~6G];I~6Cɫ11)1 1I1Yu@yumGI)i   AB`"?ˡE?Q?'= u)IyZd;?y&1+ "?i¥@ @)Σ@IΣ@iΣ@ ;M3=YQU>aAEE!y%C}%>I)- 5?-Et -1B 5?9-n>D-#: - :))W] @WYXY XYWY:Wa2Wa*WaVabUiBUi*UiUiUm_@BOB BA<*BAVVAAA="C @RCiC @C ====]IGi>% { 6:YU1y:5)#;9Hq,C?EAY}:6K @}:]?y}:s}:֬}:HGSֿި@? տĸ ?A ?)~:6K @ ~:n/];I~:Cɫ99)9 9I9Y}@y}DnG鮅a=ɮp=i >,Co`=Mx=i==nGIQii%ٺaAEEyV}>I : 5? :[h 1B ?9|>D; ׾;)0:W=Y@W9X9 X9W9:WA2WA*WAVAbUIBUI*UIUiUu}U@R}B*** querying acoustic contact ***PyPyBzIB BA,=*BA5VAAAO="CY@RCCY@CmIGj>q,]?EAY}:# @}:~?y}:o}:'w}:H.ֿ@uϤ?տ׷ɲ??)~:# @ ~:G];I~8ɫQQ)Q YIYY6@ynGZ****** received transponder code query ******F****** received ping request ******aAEEy%r̻}%>I)- 5?-[ -1B =?9->D-; -:))W%g@W!X! X!W!:W!2WI*WIVIbUIBUQ*UQUQUUM @B EB BArr=*BA6VAAA-p=^>9ITlGi@=S; ȗE"Cg@RCUCg@CrI)fA׹IGE>^ -:Yy5)7;>q,Tw?EAY}0}0y}2:}2Ȱv}2H`?/ֿS ;?`տ;??)~0 ~2d];I~2CɫYY)Y YIYY@yvoGxDUSBL response received:!U1,P 081,000,00415,186,80,80,89,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iI=)4= @ @ @å©ååiå(@å ĥ)ĥIĥ@iĥn@0<M.=Y%;QUM>QYa]AE]Ey}>I : 5? :BK 1B ?9>D: :)1:W@WX XW:W2W!*W!V)bU)BU)*U)U)U5`A @B}BBy ByA=*BAҽUAAA<="C@RC[wԽC@CgAױIG>*q,Wz?EAY}}\ @}}C?y}}u,}}5S}}H@@dֿu~_?`{2ֿ`fﵿk?`R@?)~}\ @ ~}C];I~}Cɫ) IY @y oG @A -Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iPn? ףp= ?{Gz?Q8= ף)IyE?~jtJ +?&?ļH= …^A)…5AI…@i… A A<MA=Y8QU>aBEEY@y <}>I 5?P= 2B ?9>D: :)W{@WX XW:W2W*WVbUBU*UUU4:@B-<B1 B1A5=*B1A=VwUA9A9A=>="CE{@RCEJ9CE{@CI֭"d *:Yy59@׉IG> ]>9 I mGi @ P; ƗEPq,cC?EAY}2 @}2?y}2}2DUA: U+:)U2:W@WX XW:W2W*WVbUBU*UUU @R(Combining 5 samples.P*QAZQfzc]T6@,׆JQS3?Fο42Qɽ:QbQ: pԤ5@+j?RQ$п ?ce?BQp? QAQPP?9?PQQ,@"Qg@B=9B=ö< B9A=n=*BAAE-UAAAAAEQa="Cm@RCC@Ce/iim?I)GER>:q,'?EAY}r^) @}r?y}r~}rü}rH"׿ ds?@ɽ?׿ `> ? P@?)~r^) @ ~r\;I~pɫ) IYU@yUpGTNmea in: $SNTTA,0.017168,,,,013142.99*4C I)i     @ @ @ÉÉÉiÍ@É ĉ)ĉIčič@E<M7=YJQU>aBEEyb<}>IȹŽ5 5?Ž" ƽb2B ?9ƽ>Dǽa: ȽX:)ȹmyAdded new target pos. range: 22.440001 m, bearing: 105.181744 deg, deltaT: 4.418909 s, approachRate: -0.624588 m/s, LOS rate: -0.113632 deg/s, posRepo size: 4m ProNav: pos range: 22.440001 m, bearing: 105.181744 deg, approachRate: -0.624588 m/s, LOS rate: -0.113632 deg/s, cmd update: -0.340895 deg/s, cmd heading: 119.141440 deg, new cmd heading: 119.770326 deg. W T@W X  X W :W 2W*WVbUBU*UUp6@U?BE56BI BIAMG=*BIAM/TAIAQAU<="CUT@*C]m=RC]ӽC]T@CY }>}>=⽹I G%M>a 0:YDW1yY:k5bq,?EAY}2 @}2a?y}21}2#;}2H؞׿d9?`?6׿@RȲg?@|?)~2 @ ~2];I~2Cɫ99)9 9I9Y}i@y}qGiEg=MEd=YE褻QUM>IIaMBEMEQy]c<}]>IY] 5?]m ]2B m?9]>D]ϸ: ]:)YWS@WX XW:W2W*WVbUBU*UUU`?BM-B BA>*BArTAAA1="CS@*Cyl=RCCS@Cu9܁I܅HnGi܅@܁܁܁܅W; ݅ɗEE役I)GEQ>q,n?EAɫ髱) IYe@yqGiYY    @ @ @i@ @)IO@i@PM@=YQU>aBEEy}>I  :ܾ 5? : 2B ?9>D:  :)3:W5Ο@W1X9 X9W9:W92W9*WAVAbUABUA*UAUIUM %?Bu̖0Bq ByA}>*ByA}TAyAyA}="CΟ@*Ck=RCCΟ@Cѝ$=uG)Iy)}eAaIiG|>=ip=sZ (:Yy5,xq,@EAY}M@}MF?y}MlS}MXL<}MHؿ s.?b?Dٿ6@z?:?@d?)~M@ ~Mɛ];I~Iɫii)i iIqY{@yrGi19T㥛 ?bX9ȶ?Mbp?E= )IyV-?QI +?h1?u9< A)AIQ@iAGA%=M;=YݥQU>aBEEyrD=}>I 5? 2B  ?9?D: :)W-Ku@W)X1 X1W1:W12W1*W1V9bU9BU9*U9UAUE@?Bm'Bi BiAu9%>*BqAuymSAqAqAu="C}Ku@*CCNk=RC$oCKu@C$<fA˺IG>i 9m xCIm toGim @m =i i m Q; m ŗE q,,@EA|(i|(ɫ  )  IYU@yU2sGi       ; `< Ei @  X@) I n@i n@~<MX=Y%QU%>))a-BE-E1y5}5>I9 E:=@ 5? E:= =2B E?9=?D=: =:)=4:WmoP@WX XW:W2W*WVbUBU*UUU@6@BE"Bi BiAm=+>*BiAmRAiAqAu+ ="CuoP@*C}j=RC}tnC}oP@Cyϩϩ) w ,:YW1yč:"5)։;9m 㐽A II Gm >q,eF@EAY}2@}2od?y}2}20=}2HGڿ@?t? ڿW3w?x ??)~2@ ~2#^;I~2Cɫ99)9 9I9Y}-@y}sGi0=M_=Y8:QU>aBEE y 8=}>I1 5?+  3B %?9$?D: ӻ:)W(+@WX XW:W2W*WVbUBU*UUU-@B=BA BAAEp;>*BAAESRAIAIAMݩ="CU(+@*CUj=RCU%CU(+@CY-r5?i5?IG-->q,F`@EAY}JmR@}Jm@y}J}J;;R=}JH@Xڿj??`6ۿc >?k1?@?)~JmR@ ~JWu^;I~JCɫ髑) IY<@ysGp=ɮ=I)i 0;MJ=Y" ;QU >  a BE EyT<}>I! -:%" 5? -:%O -tI %(3B -?9%6?D%~: %z:)%5:WU$@WQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUeC@RuB*** querying acoustic contact ***PqPq[>9IpGi@=@; E)ݩIݩiݩݭ=ݭ=ݭ4B5B1 B1A5J=>*B9A=xQA9A9A=R2="CE$@*CE~x &2:YU1y:X5)$;q,Cz@EA||p;ɫyy)y yIyY@yVtGZ****** received transponder code query ******F****** received ping request ******iå@á ĥ)ĥ@Iĥ@iĥ"@<M?=YQU>aBEEy}>I 5? G3B ?9I?D: :)W@WX XW:W2W*WVbUBU*UUU4 @B=&{BA BAAEH>*BAAmQAiAiAmң="Cu@*Cu2i=RCu`ڻCu@Cye0-!I1GMR>inmGISkAiٺSkA%,B$q,$ @EAY}%;@}%@y}%I}%d\=}%HܿS?b?/aܿ *H۲? ??)~%;@ ~%b;I~%Cɫ) IY @y uGxDUSBL response received:!U1,P 071,000,003E7,186,80,80,6B,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i9A}|?5^?Zd;?S㥛}?}= }/ݼ)yIyy}q= ףp?lS㥛?}+?}}/< }A)}AI}@i} Ay}(A=M=Y;;QU>aBEEy=}>I : 5? : p3B ?9`?D]: #:)6:WD@W X  X W :W12W9*WAVIbUiBUq*UyUyU@ m >:Yy59@Bef B BAk>*BAPAAA="CD@*Ci=RCO+<CD@C 9 I 0rGi @ =; E I ) fA I G5 >T*q,R@EAY}Bx@}B!@y}BI}BM=}BH`G{ܿଌ`̳?`ɏ?@ ܿޥ 餲?`?@?)~Bx@ ~Ba;I~@ɫ) IY@y"vGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m=im=iqqI}p=)}=C~ @i̬@ )­@Ii@MX+=MM=YU:;QUU?QYa]BE]EYye<}e?Iim 5?m' m3B u?9ml?Dm@: mn:)iWB@WX XW:W2W*WVbUBU*UUU `"@BB BAw>*BA#OAAA%="CB@*Ci=RCo;=CB@C}׹IGD>V1q,f@EAY}J T@}Jo@y}J">}JŻ8=}JHܿz~`e?@~?@ܿg`c?`3?@?)~J T@ ~J9b;I~JCɫiq)q qIyY@yvGxDUSBL response received:!U1,R,128,000,003B8,186,80,80,84,FF Fpublishing direction and range info Aɰ= )CIyAT7?l39Yпٱi-b=M-^=Y51;QU5>11a=BE=E9yES<}E>IIMS~ 5?M} M3B U?9M|?DM: M:)IWupg@WyXy XyWy:Wy2Wy*WVbUBU*UUU`@R(Combining 5 samples.P*QAZQq#82@E! JQT7?l39Yп2Q A:QbQ=xYd)3@AS'2?RQ[o'|ʿ`Āȣ@?׏e?BQ? QKAQPA9?PPQQ@"Q,@BB BA8>*BA.NAAA&#="Cpg@*Ci=RCp#=Cpg@C5%<ׁIG>w 3:YV1y:"5q7q,|H@EAY}2v@}2@y}2I}2"=}2HAܿ y\C?@w?@*ݿ&<%??E??)~2v@ ~2,/n;I~2Cɫ99)9 9I9Y}@y}vG DNmea in: $SNTTA,,,,,013147.48*52 iZ>9I\sGi@=2; EUIMU:=YUT;QUU>YYa]BE]Eaye%;}e>Iȉ :ōPt 5? :ō2 ƍ3B ?9ƍ?DǍ: ȍ:)ȍ7:myAdded new target pos. range: 19.619999 m, bearing: 101.961966 deg, deltaT: 4.403217 s, approachRate: -0.640441 m/s, LOS rate: -0.731233 deg/s, posRepo size: 4m ProNav: pos range: 19.619999 m, bearing: 101.961966 deg, approachRate: -0.640441 m/s, LOS rate: -0.731233 deg/s, cmd update: -2.193700 deg/s, cmd heading: 117.639029 deg, new cmd heading: 117.486199 deg. W5N@WX XW:W!2W!*W!V!bUIBUI*UIUM@3@UU ?T?BRB BA>*BAMAAAD ="C5N@RCv9=C5N@C <=?i=?I@A)IG=>~>q,O#@EAɫ髹) IYM@ywGIY)]AiiiQ8=C C=i@ n@)@Iin@N=MP=YQU>  a BE  Ey}>Ik 5?w 3B -?9?D: U:)WMj\@WIXI XIWQ:WQ2WQ*WQVQbUYBUY*UYUYUe A?B3B BA>*BALAAA ="Cj\@RCq=Cj\@C֥G=aIqG9>F  g9:YDW1yY:5kEq,= AEA|0|2;Y}bm@}b/@y}b}b&<}bHܿ |b? D{?|ܿߋgZ? y?@?)~bm@ ~b;I~bCɫ髱) IY@yxGiYYx?V-?V-K?h> )IyK7?aBEEy}>Iȑ :ŕa 5? :ŕi ƕ4B ?9ƕ?DǕ: ȕ:)ȕ8:WaT@WX XW:W2W*WVbUBU*UUU; ?BB  B A W>*B A  KAAA ="CaT@RCP=CaT@C0f=׹IGD>[>9ItGi@ =9; E.Kq,.AEAY}U2h@}U@y}U*>}UN;}UH@!ܿ+-?@}?5ܿ@䬿İ?5r?S?)~U2h@ ~U\a;I~Qɫ)))1 5I1YMP@yUxGix=X>>i@ @)@I@i@c=MI=Yƿ;QU>a%BE%E!y-b}->I15IX 5?5\ 54B =?95?D5: 5:)1W]?WaXa XaWa:Wa2Wi*WiVibUiBUi*UqUqUuJ?BV B BA>*BAAEJAAAAAM ="CM?RCU=CU?CQUX=IY)]gA)I9G]v> 3:Yy5)a;9'Rq,гHAEAY}6$K@}6f@y}6Z}6}6Hܿ`[?`w?ܿX?R?)~6$K@ ~6ȉ;I~6CɫYY)Y ]IYY@yVyG=i=i5<M=Z=Y=];QU=>AAaEBEEEIyM}M>Iȱ :ŵO 5? :ŵO Ƶ=4B ?9Ƶ?Dǵ]: ȵ':)ȵ9:W?WX XW:W2W*WVbUBU*UUU>@B%_ӼB! B!A-w>*B)A-IA)A)A5 ="C5?RC=p>C=?C9M=IG-->9=Xq,bAEAY}N(@}NC@y}Nxw}Nټ}NHQܿk?X?ܿ` ⰿ y?`/?)~N(@ ~Nʅ;I~NCɫyy)y yIyY@yyGi!!UG<M]H=Y]/;QU]>aaaeBEe%Eaym}m>qqy9yI}vGi}@yyy}3; }EIȑŕE 5?ŕB ƕ[4B ?9ƕ?DǕ: ȕ?:)ȑW=\?WAXA XIWQ:WQ2WQ*WQVQbUYBUY*UYUYUec@B$ټB BA>*BAHAAA ="C\?RC[>C\?C֥3=ׁIG%M>! _ t6:Yy5)ܒ;~g^q,wj|AEAY}2@}2V @y}2t}23"}2Hlܿ]?j?Pܿ@62?7U ?)~2@ ~2~;I~2Cɫ99)9 9I9YW@y,zGɮp=i @ %@ %@©i@ )I­@i@-'=M5M=Y5:QU=>99a=BE=+EAyE@}E>II U:Mg< 5? ]:M4 Mx4B ]?9M?DM: M:)M::W}x?WyX XW:W2W*WVbUBU*UUU8@RB*** querying acoustic contact ***PPBZ@ļB BAX>*BAGAAA- ="Cx?RC&>Cx?C >==i?ׁIG=>Peq,KAEAY}f@}fa@y}fszv}fU}fH ܿ`?ۿʮ?ब?)~f@ ~ft;I~fCɫ髹) IY5x@y5UzGEZ****** received transponder code query ******EF****** received ping request ******E= =9)9I9y=1Zd?V-I +?=";?=h=94< =@)=AI=@i=7 A9=A]<M]8=YevQUe>aaaBE2Ey[}>Iu2 5? # 4B ?9 @D; D;)We~?WiXi XiWi:Wi2Wi*WqVqbUqBUq*UyUyU} ZV @B^UԼB BAm>*BA%OFA!A!A%( ="C-~?RC-{4>C-~?C1 >I9GUu> -:YV1y:F59@uZ>9qIuDwGiu@u=qqu8; uE) xCI xCi = = P5}kq,73AEAY}bB@}b@y}bx}b}bH ۿo?@X=ۿ@aBE9Ey w} >I =:)) 5? =: 4B =?9@De; ;);:Wv{?WX XW:W2W*WVbUBU*UUUE @B]~QüBY BaAea>*BaAepDAiAiAm ="Cv{?RCA=>Cv{?CM&>׹ I G >A A i /mGI i `ٺ NBObrq,AEA"G@9"R8BY}R<@}R/@y}Rw}RR}RH`ڿ @ =@n?~iڿ@?. ?)~R<@ ~R$e;I~RCɫ髙) IY@yzG@A%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iMn=Y9QU?aBE?Ey"}?Iim " 5?md m4B u?9m.@Dmӻ: m8:)iW?WX XW:W2W*WVbUBU*UUUJL@BNB BA>*B!A%CA!AAAE(+ ="CM?RCMVc<>CU?CQehAegAEd/>II)I1IIGeV>{ /:Yy5ъxq,,AEAY}:M@}:]?y}:p}:!ν}:Hٿ1u 6? wiٿW? ?)~:M@ ~:=a;I~:Cɫ99)9 AIAY]b@y]t{GexDUSBL response received:!U1,R,0D1,000,00394,186,80,80,83,FF mFpublishing direction and range infoe:aɰe=a a)eCIayeAeUx?T,_7ǿٱayi}=iIR=)C==Ma=Y;QU>aBEDEy0}>%\>9!I% xGi%@% =!!%6; !IȱŵG 5?ŵ Ƶ4B ?9Ƶ?@DǵI = ȵT =)ȱW?WX XW:W2W*WVbUBU*UUU5`U@R=(Combining 5 samples.PA*QEAZQE aT+1@oU JQEUx?T,_7ǿ2QE::QAbQEDԍDf-a0@@66?RQE1ͿŶTb?~,p?BQE6? QEwAQEkPE>9?PEA9?PEQEQE@"QE@BTB BA>*BABAAAů="C?RC:>C?C=>׹IGf>u~q,yAEAɫ99)9 =I9Yu@yu{GTNmea in: $SNTTA,0.037834,,,,013151.88*4C i E E EEEE>iEz@E EԸ@)EK@IEj@iE@ͭ<M.=YQU>aBELEy}>Ii m:m 5? u:m m4B u?9mV@Dm: m:)m<:muAdded new target pos. range: 17.459999 m, bearing: 103.432819 deg, deltaT: 4.463567 s, approachRate: -0.483918 m/s, LOS rate: 0.329524 deg/s, posRepo size: 4m ProNav: pos range: 17.459999 m, bearing: 103.432819 deg, approachRate: -0.483918 m/s, LOS rate: 0.329524 deg/s, cmd update: 0.988573 deg/s, cmd heading: 107.865167 deg, new cmd heading: 106.845482 deg. W?WX XW:W2W*WVbUBU*UUu1@U $?B5B1 B1A5>*B1A=NAA9A9A=M"="C?RC40>C?C֕z:>  5:YW1yč:5iIyG>Ǟq,BEAɫ髑) IY@y|GiAAJ +?!rh̿??lg >)IyˡE?Zd;O rh?'?j<C = V@) AI@iA=AE+<MR=YQU>!!a%BE%RE)y)}->I15 5?5 55B E?95e@D5/: 5b:)1We?WaXa XaWa:Wi2Wi*WqVqbUqBUq*UqUyU} =?BۑB BA.>*BA,@AAAب="C?RCM(>C?C ==mC2>?i?ׁIG=>9I8yGi@!=2; EVȋq,nk1BEAY}2۪ @}2?y}2tS}2g}2Hֿ_i?`տ ,;iu? ÿ]?)~2۪ @ ~28\;I~2Cɫ99)A EIAY@y]|GI9)9iII QQ @ @ @©i@ @)Ii@<MN=Y aBEYEy }>I :B 5? : 45B ?9v@D(: :)=:W9?WX XW:W2W*WVbUBU*UUUN?B%ϝBI BIAM>*BIAMg>AIAIAU}6="CU9?*C]i=RC](=C]9?CY}h`0>QIaG}z> ~~i 7h:YT1y@:"5)ڽ;9`q,CKBEAY}:0 @}:LK?y}:JQ}:*}:Hnտ&e?^ԿR6?>ſ`|?)~:0 @ ~:ܜ[;I~:Cɫ99)9 =I9Y}C@y}|Gi!!U?<M]S=Y]Q:QU]>aaaeBEe_Eaym:}m>IquE5?uP uR5B }?9u@Dun: u:)qW?WX XW:W2W*WVbUBU*UUU?BgB BA >*BA#=AAA="C?RCxGz=C?CX%>׉IG>٘q,OeBEAY}2)F @}2>?y}2P}2W2}2HtԿ 7¿G?ӿQX ?ƿz?)~2)F @ ~2B[;I~2Cɫ99)9 9I9Y}@y}e}G9IdzGi@ =1; iU=MD=Yg:QU>aBEeEyA}>I ::5? :w r5B ?9@Dd; ];)>:Ws?WX XW!:W!2W!*W!V!bU)BU)*U)U1U5 %@B]BY BYA]<>*BaAe!<AaAaAeT="Cms?*Cu7i=RCu A<Cus?CqԅgAԁm,=ImgA)i)IQG:>K q 9:YW1yč:5);q,~BEAɫyy)y yIyY@y|}Gii!!I-C=)-= u u u u@ u@ }@qqqiu@q uٮ@)qIqiu@;MM=YQU>aBElEy}>Iȡť~5?ť_ ƥ5B ?9ƥ@Dǥ+: ȥ]:)ȡWfS?WX XW:W2W*WVbUBU*UUU`M@BB BAd>*BA]:AAA="CfS?*Cփi=RC<CfS?C=סIGA>-q,MטBEAY}:5@}:V-?y}:B}:6}:H@$GҿA ;Ŀ !?`a}ѿ{ ]? ?ƿ`t?)~:5@ ~:Z;I~:Cɫ99)A EIAY}J@y}}G鮍a=ɮ=iS? rh?V-??l> <)Iy/$?ˡEX9v?1(?'< @)/AI@iA\A-<M-@=Y-11a5BE5sE9y=}E>IAE5?E! E5B ?9E@DE< E<)AWL?WX XW:W2W*WVbUBU*UUU@R B*** querying acoustic contact ***P P B5Tr~B1 B1A5>*B1A=+9A9A9A=i="CEL?RCE CML?CI]d=1IAG]v>ܽ[>9ܹIܽ{Giܽx@ܽ=ܹܹܽ/; ݽEN S uN:YDW1yY:k5);q,ɯBEAY}6@}6^?y}6o0}63}6H 7jѿ b DĿ@?Eпm?Qƿz?)~6@ ~64oZ;I~6Cɫ99)9 =I9Y}@y}~GZ****** received transponder code query ******F****** received ping request ******/]>i@ @)I@i@ 9=M L=Y7aBEyEy%{}%>I) 5:-5? 5:- -5B =?9-@D-: -o:)-?:W]%?WYXY XYWY:Wa2Wa*WaVabUaBUi*UiUqUu @B3KB BA>*BA7AAA="C %?*C i=RC feC %?C %=%== i ?IGE>yq,BEAY}6~e@}6?y}6.}6s{+}6H 1пVÿ?`&пid?@Qſ?)~6~e@ ~6fZ;I~4ɫYa)a eIaY@y~GxDUSBL response received:!U1,P 0D1,000,00394,186,80,80,83,FF Command AckBRequesting micromodem ping code 2iI)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i 5X<M=Y=YMbqaBEEy%׼}%>IQU[5?Uq U5B ?9U@DUN< U<)QWf%?WX XW:W2W*WV bU BU *UUU` @BmYnBq BqAu\>*BqAu5AqAyA}="Cf%?*Cash=RC3Cf%?Cօ d8  I8:YX1y/:59 @(q,gBEAY}:}@}:?y}:" }:"}:HRп˘l¿9aIeX|Gie@e=aaa a)Ii = =5Y}@y}cGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i99}J*=M}F=Y}%aBEEy}>Iȑ :ŕ5? :ŕ1d ƕ5B ?9ƕ@DǕA: ȕ :)ȕ@:W?WX XW:W2W*WVbUBU*UUU`@BEBA BAAE(>*BIAMڰ4AIAAb="C?*CYg=RC8C?CGסIGA>zq,@CEAɫ髙) IY @yGxDUSBL response received:!U1,R,FDD,000,0035D,185,80,80,92,FF Fpublishing direction and range info5<ɰ=+> )CIybA%{-?&|E?ٱi  e`eee־ie@a e-@)e@Ieie@e=M9=YQU>aBEEyi-unGIAiY^ٺLB}>Iȑŕ5?ŕ2S ƕ6B ?9ƕ@DǕ4: ȕr;)ȑW?WX  X W :W 2W *WVbUBU*UUU@@RM(Combining 5 samples.PI*QMbAZQMӬN,@<۬?JQM%{-?&|E?2QM5<:QIbQM6NM#+@Q,.?RQMq(-T/ҿG ɪ?zq?BQM? QMYAQMPM<9?PM>9?PMQMQM"@"QM@B/IB BA>*BA(2AAAI ="C?*Cu)g=RC>ѽC?ChA p 2:YWU1y:5I)IQ G >aBEEy!}%>I) 5:-5? 5:-C -&6B =?9-AD-{: -k:)-A:mmuAdded new target pos. range: 14.159999 m, bearing: 106.514464 deg, deltaT: 4.510901 s, approachRate: -0.731561 m/s, LOS rate: 0.683155 deg/s, posRepo size: 4m} ProNav: pos range: 14.159999 m, bearing: 106.514464 deg, approachRate: -0.731561 m/s, LOS rate: 0.683155 deg/s, cmd update: 2.049465 deg/s, cmd heading: 112.328627 deg, new cmd heading: 112.707171 deg. W}?WyXy XyW:W2W*WVbUBU*UU`Q,@U^?B5XB9 B9A=z>*BAAE01AAAAAE]="C]?RCec7Ce?Ca=l;IGn>]W>9YI] }Gi]@YYY]"; ]Edq,3CEAY}2@}2?y}2Sy༙}2=<}2HsIп F?п1@D?`?)~2@ ~22}Z;I~0ɫ99)9 =I9Y}v@y}aBEEy%w}%>IQU 5?Un4 U26B e?9U#ADUi ; U ;)QW ?W X  XW:W2W*WVbUBU*UUU% ?BU`лBQ BQAU#?*BYA]A/AYAYA]]x="Ce?RC C?Ce ǫ9IIGeU>  84:YxZ1yq:5Kq,MCEAY}64@}6Tg?y}6Cϼ}6HǪ}6HIzп@?@Kпt?P?)~64@ ~6Z;I~6Cɫ99)9 =I9Y@yxGiU<M]M=Y]ܬ;QU]>aaaeBEeEaymd<}m>Iqu,5?u[% u=6B }?9u4ADuܹ: uǺ:)qW4@WX XW:W2W*WVbUBU*UUU ?BHՊB BA%?*BAb#.AAAa9="C4@RCQ?C4@C > >MrAнU?iUl?!I1GM1>uq,ŭgCEAY}:n@}:?y}:$}:oY}:H@п`8K?qп`?@1t?)~:n@ ~:Z;I~8 X>9 I i   =   $; Eɫ99)9 =I9Y}@y}hGIY)Yiaa qqzMB=YaBEEyL<}>I  =: 5? =: ] G6B M?9 HAD < <) B:W]H@WaX XW:W2W*WVbUBU*UUUC}?BĿB BAU?*BA),AAA="C H@RC X%C H@C 5нI 0:YW1yč:5)Í;9 G>4^q,CEAɫyy)y yIyY@yGi!!å =åå!>iå@á ĥK@)ĥ@IĥK@iĥK@(=MM=YQU>aBEEy}>Iz5?x Q6B ?9ZAD+: :)W@WX XW:W2W*WVbU BU *U UUw(?B=EBA BAAEG ?*BAAE*AIAIAM="Ce@RCmE6Cu@CyeQ潹!I1GM0>q,kdCEAY}2\@}2{?y}2K]M}2;}2H@ѿ`"7w??ѿ Y`}?Wb?V?)~2\@ ~2[;I~2CɫYY)Y ]IYYy@y܀GiZd;?ˡE{Gz?>什 #<)Iyx&?y&1S㥛?7)?`/< @)=AIi"AAEMMB=Ye aaamCEmEiyuw4=}}>Iȁ :Ņƿ5? :Ņ߾ ƅ`6B ?9ƅlADDž; ȅ>;)ȅC:W,@WX XW:W2W*WVbUBU*UUU @B%[B) B)A-< ?*B)A-t(A1A1A5="C=,@RC=/C=,@C9MgAMhAE II)MfAI G%M>9I|Gik@!= 1 k 7:YWU1y:5);ڳq,AGCEAY}2@}2D?y}2Y}2*<}2Hҿϒ?x? ҿP$?g?$?)~2@ ~2\;I~2Cɫ19)9 =I9Yu@yuG}p=ɮ}p==i=iIp=)C= E@ E@ E@E©EEiE@E E)EIE@iA].=M]Z=Y]'aaaeCEeEiymA=}m>Iqu5?u߾ ul6B ?9u|ADuܹ: un:)qW@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA ?*BA'AAA="C@RC/C@C]%9IAGuW>Йq,]CEAɫ髙) IY@yGZ****** received transponder code query ******F****** received ping request ******qya}CE}Ey}>Iȹ :ŽN5? :Ž߾ ƽ{6B ?9ƽADǽr; Ƚ;)ȽD:We@WaXa XaWa:W2W*WVbUBU*UUUa @B<B BA ?*BAA%A A A ="C@RC7EC@C2/IGj>j 1:YW1yč:Y59@q,^CEAY}6 @}6?y}6ƥ}6.B=}6H`Կ@w*T? q=?Կ`_?`t???)~6 @ ~6C];I~4PPT9TIVX|GiV@TTTV!; VEɫYY)Y ]IYY@yGxDUSBL response received:!U1,P FDD,000,0035D,185,80,80,92,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i%!;M-_=Y=$IQa]CEeEqyο=}>It5?u߾ 6B -?9AD A< B<)WA@WX XW:W2W*WVbUBU*UUU @B==Ba BaAe ?*BaAe`-#AiAiAm`="CuA@RCu (CuA@Cq >=ֱ׹i׽?׉IG>ԫq,DEAY}: @}:&?y}:>}:=}:H`ֿP`4ȵ??lֿ㍚?t?? ?)~: @ ~:'_;I~:Cɫ99)9 9I9Y}@y}GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)iII QQ   t1`i=@ -@)-@I-@i-@Y<M<=YS8QU>!!a%CE-E1y5^7=}5>IA :EX5? :Et߾ E6B ?9EADE7{< Ew<)EE:W-7@W1X1 X1W1:W12W9*W9V9bUABUA*UAUaUm`: @B aB BA! ?*BAv!AAAp="C7@RCR'$C7@CpG(סIGc>uuuu u/:YuU1yu:uX5q,DEAY}295 @}2]?y}2$}2;=}2H~=׿Y^?`?@%׿` ?^t?ߺ?`?)~295 @ ~2_;I~2Cɫ99)9 9I9Y}r@y}׀GxDUSBL response received:!U1,R,10C,000,00332,185,80,80,A6,FF Fpublishing direction and range info|oɰ=鰁 )&CIyG9Aq ?] AͿٱi-I +?/$?kt-9>-< - 0))I)y-q= ףp?L7A`尿y&1|-+?-+-` -A)-@I-Q@i-A)-@jMO=Y8QU>aCEEyI=}>IM5?$߾ 6B ?9AD/; ;)WUτ@WQXQ XQWY:WY2WY*WYVYbUaBUa*UaUaUm C@R(Combining 5 samples.P*QG9AZQ|&@ PuxJQq ?] AͿ2Q|o:QbQ]y &@mZt̿RQG3 u?VmʓBQ? Qu7AQXͿPA9?P<9?PQQH@"Q"@B <B BA ?*BA AAA%c="Cτ@RC%C%τ@C!9ܥY>9ܡIܥ{Giܥ@ܡܡܡܥ/; ݥE)1I1i15!=15|51IAG]v> q,6DEAY}zAP @}zl?y}z'}z5=}zHIDؿg?(?`#ؿ?u?`h?`?)~zAP @ ~zˊa;I~zCɫ) IY @y GTNmea in: $SNTTA,0.020599,,,,013200.76*46 i    @  @  @ ©  i @  ) b@I ­@i -v<M-5=Y5DQU5>99a=CEEEAyM=}M>IY e:]5? m:]߾ ]6B m?9]AD].; ]C;)]F:muAdded new target pos. range: 11.579999 m, bearing: 97.964789 deg, deltaT: 4.388553 s, approachRate: -0.587893 m/s, LOS rate: -1.948176 deg/s, posRepo size: 4m ProNav: pos range: 11.579999 m, bearing: 97.964789 deg, approachRate: -0.587893 m/s, LOS rate: -1.948176 deg/s, cmd update: -5.844529 deg/s, cmd heading: 121.322721 deg, new cmd heading: 122.238430 deg. W@WX XW:W2W*WVbUBU*UU('@U Kt?BB BA ?*BAAAA X="C r@RC F=C @C!!>JI)IGi> n1:YW1yč:!5qqi%nGIi U _ٺQ ] LBq,iPDEAY}2Ta@}2?y}2|}2=}2H@@ٿ&+ ͷ?Yg?ٿ¹?)t?@6ʿ?|?)~2Ta@ ~2}a;I~2Cɫ19)9 =I9Yu>@yuG=i=iI4=)  M u=Y d:QU ?aCEEyrM=}%?I!%+5?%߾ %6B 5?9%AD%b; %f=;)!WTi@WX XW:W2W*WVbUBU*UUU P?Bp7;B BAb?*BAaAAAzC="C hw@RCzCTi@C}_^YIqG[>q,6=jDEA $9$I&{Gi&x@$$$&%; &EY}bj@}b ?y}b+}b>}bH@L3ڿ? 9?`1?ڿՋ?!r?L?9?)~bj@ ~b`;I~bCɫ髙) IY(@yGi=ȻME9=YM{:QUe>yyaCEEy=}>IȹŽ5?Žc߾ ƽ6B ?9ƽADǽS; Ƚ;)ȹWE?WAXi XiWi:Wq2Wq*WqVybUyBUy*UyUU`I?BvB BA?*BAYAAA%@="C-E@RC-C<C-?C1v IGn> ~~ uA:YT1y@:5)^;9  q,/DEAY}2`w@}2Ւ@y}2f}2>}2HL'ۿM??>ڿ]? t?yR??)~2`w@ ~2:_;I~2CɫYY)Y ]IYY@yqGi!!   ÝÝuÝ?5iÝ(@Ý ę)ĝ@Iĝ-@iĝK@MS=YQU>aCEEy^3=}>I :̄5? :s߾ z6B ?9BD: :)G:W?WX XW:W2W*WVbU BU *U UUq?B=@:B9 B9A=?*BAAEAAAAAEM-="CM?RCM=CU?CQ e=e=m ½u?iu?AIIGe4>$'q,oDEAY}2X{@}2͖@y}2{»}26>}2H`ܿM ?@?xۿ@?ZOx? RO?`?)~2X{@ ~2]_;I~2CɫYY)Y ]IYY@yUGI)i   M?i|?5?Zd;O?n?q= j<)Iyx&1?:vQ?!?Tu< Q A) @I@iAA[[MJ=Y QU>aCEEy =}>I{5?e߾ 6B -?9BD :)W?WX XW:W2W*WVbUBU*UUU;@Bq?B BAh?*BA AAA&"="C7?RCoI>C?CI9IIMzGiM@IIIM'; MEיIGb>- ))-^ -4:Y)y)-5)-|;O-q,ԷDEA||4??ֿ?&?)~6j@ ~6^;I~6Cɫ99)9 9I9Yu@y}hGimxmCmXim@i m@)m@Imim­@}><M}N=YQU>aCEEy=}>Iș :ŝr5? :ŝAY߾ Ɲ6B ?9Ɲ'BDǝ: ȝ.:)ȝH:W ?WX XW:W2W*WVbUBU*UUU@74@B x:B  BAU?*BASAAA="C?RCAw>C% ?C!yYIqG[>64q,zDEAY}:78@}:S@y}:&}:<=}:H`ݿ`b# ?e]?xݿ/?$ӄ?@{??)~:78@ ~:^;I~:Cɫ99)9 9I9Y}@y}QG鮁ɮ=iABMV=YλQU>aCEEy,=}>IșŝC%:?C!=hA9%]I))-gAIG J> ).:YV1y:59@E X>9A IE dzGiE @E =A A E 1; E E`:q,fDEAY}2g@}2@y}2M}2=}2HD޿\l?,1? &޿@0?`Q?h??)~2g@ ~2^;I~2CɫYY)Y YIYYm@yuOGZ****** received transponder code query ******F****** received ping request ******aCEEy<}>I :f_5? :p?߾ 6B ?9HBD; ;)I:W5?W1X1 X1W1:W92W9*W9V9bU9BUA*UAUAUE @B4B BA?*BAAAA#="C8?RCC?CׁIG?>GAq,_EEAɫyy)y }IY@yGxDUSBL response received:!U1,P 10C,000,00332,185,80,80,A6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iý7>ýzý1>iý@ù Ľ)Ľ@IĽ@iĽ@MMU/=Y]QU]>aCEEy}>I  S5? B0߾ 6B ?9 [BD ] ; r;) W?WX XW:W2W*WVbUBU!*U1U1U] @BsB BA>*BAAAA=    y LA:Y DW1y Y: 5"C5?RC9C=?CA- BJ=1 i5 |? I G >&rGq,:EEAY}2Z@}2@y}2aCEE!y%@=}-?I)-3K5?-#߾ -6B =?9-kBD-#: -+:))W]F?WYXY XaWa:Wa2Wa*WaVibUiBUi*UiUqUu@#@B;B BA>*BA0AAAo="C-L~?RC)C-F?C1=IV>9IzGi2@=-; EGI>5Mq,9EEAY}2!@}2"=@y}2t}2Ӱ=}2H`L߿@?`{? B߿a۝?蛎?u??)~2!@ ~2 (];I~2CɫYY)Y ]IaY}z@y}CGxDUSBL response received:!U1,R,1D2,000,00308,186,80,80,B0,FF Fpublishing direction and range info5оɰG~=鰅> )0CIyAȨc?/PٿٱI)Ai 鿩<i(@ )Ը@I-@i@tM]=Y šQU >  aCEEy;}>I! -:%A5? -:%E߾ %6B -?9%|BD%: %:)%J:WUr?WQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUaUe8@R5(Combining 5 samples.P1*Q5AZQ5aSj @#L JQ5Ȩc?/Pٿ2Q55о:Q1bQ5R+"@-X9ǿRQ5zD`W& i?%LהBQ5U? Q5AQ5"uP5@9?P5A9?P1Q5Q5@"Q5H@B zֺB BA>*BApG AAAA="Cr?RCCr?C a >IGo 3:YV1y:k5Tq,SEEAY} @} @y} =u} x+=} H޿`AҦ?N ?޿Ex?@w? u??)~ @ ~ ];I~ CɫII)I QIQY)@y~GTNmea in: $SNTTA,0.020302,,,,013205.20*44 i MpMM7=YMaEQUM>QQaUCEU!EYy]}]>Iae65?e߾ e6B u?9eBDe: e+:)amqAdded new target pos. range: 9.059999 m, bearing: 96.068229 deg, deltaT: 4.430931 s, approachRate: -0.568729 m/s, LOS rate: -0.428027 deg/s, posRepo size: 4m ProNav: pos range: 9.059999 m, bearing: 96.068229 deg, approachRate: -0.568729 m/s, LOS rate: -0.428027 deg/s, cmd update: -1.284082 deg/s, cmd heading: 95.544117 deg, new cmd heading: 92.935710 deg. W*?WX XW:W2W*WVbUBU*UU@"@U ?Bp1 B BAq>*BAR AAA="C E?RCC*?C 8>I!)%fAIG  U>9 I i ; E)qIqiqu =quM5Zq,lEEAɫ) IYs@y:Gi,A@ip@ )@I­@i@<MO=YQU >  aCE'Ey}>I! %:%,5? -:%޾ %6B -?9%BD%: %E:)%K:WU# ?WQXQ XQWQ:WQ2WY*WYVYbUYBUY*UaUaUe@m ?BwB BA>*BAO3 AAA ="C5?*C5=Ai=RC9C=# ?CA%g>I G%M>V  ::YX1y/:5);9 !aq,nEEAieNmGIyiɫ髩) IY@`ٺMBy~G==i==iAAIE=)ER=uܼM}T=YyQU}>aCE.Ey}>I"5?޾  7B ?9BD: :)W=?WAXA XAWA:WA2WA*WIVIbUIBUI*UQUQUU`(u?B}@%B BA>*BAAAA¨="C?*C3ck=RCC?C֥1v>יIG k>Bgq,EEA|@i|@Y}6 @}6@y}6V}6A\ }6H%ݿ{:k{?@ݿ?I?)~6 @ ~6J];I~6CɫYY)Y ]IYY@yw}Gi!!K7?aCE4Ey鑽}>I u:R5? u:޾ 7B u?9BDP< 3<)L:W?WX XW:W2W*WVbUBU*UUUE?B}\B BA)>*BA%AAA2q="C?RCC?CܕS>9ܑIܑiܑܕ=ܑܑܕ'; ݕE>?i?׹IG%n>    v .:Y W1y č: 5) Q;mq,[^EEAY}RG@}Rv?y}R歴}R}RHoڿ`)Gf"?` ڿ`*沿D?`?)~RG@ ~R`];I~Pɫyy)y yIyY4@y}GiYYíj<í$í/aCE;Eyv}>I5?޾ '7B ?9BD: f:)W ?W X  X W :W2W*WVbUBU*UUU`r#@BM@eBI BA+>*BAAAA]0="C?RCC?CFӅ>IGj>tq,>EEAY}Vp @}V?y}V\}V],}VH7ؿ¿z? EؿG1@?ſ1?)~Vp @ ~V^;I~VCɫ髙) IY@y3}GIY)Yiaa iiMK=YetQU>aCEAEy<}>I :7 5? : ޾ 87B ?9BD: :)M:Wm?WX XW:W2W*WV bU BU *UUUc\@B=uAB9 B9AE>*BAAEuAAAAAE}<"CMm?RCQCUm?CQօ>YIaGY>  $4:Yy59@} =y ܅ R>9܅ wCI܁ i܁ ܁ ܁ ܁ ܅ .; ݅ E\{q,$EEA|D|DY}]/ @}]?y}]Jϼ}]G}]H 6׿@?O}ſS?`|ֿ@$?ȿa?)~]/ @ ~]^;I~]Cɫ)))) 5I1Y{@y|G鮱ɮp=i @ @ @©i­@ @)Iiٮ@%u¼M%C=Y%QU->))a-CE-HE1y5}=>I9=5?=p޾ =K7B M?9=CD=8: 9)9Wm3:?WiXq XqWq:Wq2Wq*WyVybUyBUy*UyUU`@RB*** querying acoustic contact ***PPB~B BA>*BA* AAA><"C3:?RCC3:?Cֽ>I׹)׽gAqIG^>q,KFEAY}6^d @}6?y}6.༙}6H[}6H տ`c~ȿ`9? ԿƸ?`X9˿ nA?)~6^d @ ~6)^;I~6Cɫ11)1 5I1YV@y|GZ****** received transponder code query ******F****** received ping request ******aCENEy}%>I!%5?%޾ %]7B =?9%CD%_; %U:)!We*?WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqU}@ @B@LB BAH>*BAAAAܡ<"C*?RCC*?CYIG >Yq,O!FEAY}:@}:b?y}:Wd}:f}:H@ӿRbʿ i?@uҿP@p ?̿ !-?)~:@ ~:3!^;I~:Cɫ99)9 =I9Y}Z@y}|GxDUSBL response received:!U1,P 1D2,000,00308,186,80,80,B0,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i)QIm4=)mC=:M?=Y̕QU>aCEUE)y5ǃ}=>II e:M5? e:M޾ Ms7B ?9M'CDM < M <)MN:WU?WYXY XYWa:W2W*WVbUBU*UUUu @B 媻B  B A >*B A 9AAA<"C?RCC?--XFailed to parse device response: 21,4853.24 C)91I9GU>8q,¥;FEAY}2@}2{?y}2W}2Im}2H>ҿT@ 2˿`?*ѿ췿`)?`$tͿE ?)~2@ ~2u^;I~2CɫYY)Y ]IYY@y|GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i m m mm9?m>mLim@m m@)iIm@imn@5B<M5C=Y5-QU5>99a=CE=[EAyE%}E>IIMw5?Mx޾ M7B ]?9M:CDM{: M#:)IW}?WyXy XyW:W2W*WVbUBU*UUU\5@B UB BA>*BA!AAA*<"C?RCC?CיIGc>% %%% %XX:Y%DW1y%Y:% 5 q,UFEAY}RS@}R?y}R}Rs}RH` Wпe ?̿?Hο@Oמ?1ο?)~RS@ ~R];I~RCɫyy)y yIyY@y}GxDUSBL response received:!U1,R,07C,000,002E8,187,80,80,A6,FF Fpublishing direction and range infolݽɰs=鰽1> )&CIyz@ST?3إٱiJ<Mb=Yc:QU>aCEaEy }>I  : ~5? : i޾ 7B ?9 KCD f: s:) O:W= ?W9X9 X9W9:WA2WA*WAVAbUABUI*UIUIUM@@R](Combining 5 samples.Pa*Qez@ZQePd@"JQeST?3إ2Qelݽ:QabQeڏaJ.@@8R?RQe9yÿev?;u_?BQe? Qev@QePe=9?Pe@9?PeQaQec@"Qe@B$B BA>*BAvAAAr<"C ?RCC ?Cօ6Ʌ>AIQGm5>% N>9! I% dzGi% @% =! % D% 5; % E]q,6oFEAY}E=@}E!?y}E}EYw}EHaZͿ`J̿@!?˿D~?1ο"?)~E=@ ~E)];I~ECɫ ) IYMK@yM|GDNmea in: $SNTTA,,,,,013209.64*55 I)Ai Í(?Í=ÍK7iÍ@É č-@)č@Ič@ičK@HM0=Yo>:QU>aCEhEyl}>IȹŽ*5?ŽV޾ ƽ7B ?9ƽaCDǽH: Ƚ:)ȹmmAdded new target pos. range: 7.139998 m, bearing: 98.765498 deg, deltaT: 4.417101 s, approachRate: -0.434674 m/s, LOS rate: 0.610642 deg/s, posRepo size: 4m ProNav: pos range: 7.139998 m, bearing: 98.765498 deg, approachRate: -0.434674 m/s, LOS rate: 0.610642 deg/s, cmd update: 1.831927 deg/s, cmd heading: 89.841201 deg, new cmd heading: 89.245390 deg. W *?W X  X W :W 2W*WVbUBU*UU[@U@?BEQBI BIAM>*BIAUaAQAQAU<"Ce*?RCiCm*?Cq֕?΅>QIYGuz>l  o<:YT1y:5);9t2q,7FEAY}6G@}6ug?y}6V}6x}6H%ʿs=aͿO?{ȿ@B⳿`?ο ?)~6G@ ~6\;I~4ɫ99)9 =I9Y}t@y}|Gi+i<Mj=Y7+QU>!!a%CE%nE)y-}->Iȉ :ō_5? :ō+H޾ ƍ7B ?9ƍrCDǍ8: ȍ:)ȍP:W?WX XW:W2W*WVbUBU*UUU`O?B9B BA">*BAMAAA<"C ?RC C?Ce>AIQG}X>\q,FEAY}2@}2aCEuEy>q}>Iȱŵ5?ŵX7޾ Ƶ7B ?9ƵCDǵ: ȵ/>)ȱW]?WYXa XaWa:Wa2Wa*WaVibUiBU*UUU?BW#B BA>*BAHAAA"<"C?RC^g>C?CK>9IzGi@=<; E>IGj>  4:YY1y:5)j;;q,FEAɫqy)y }IyY@y|}Gi=iI%p=)%=uS>u휿u->iu@q u@)u@Iu"@iux=MK=YQU>aCE{Ey}>IȡťP5?ť&޾ ƥ7B ?9ƥCDǥٮ: ȥO?)ȡWe?WX XW:W2W*WVbUBU*UUUs?B b:B  B Ad>*BAvAAAS<"Ce?RC?Z>C%e?C!֍}>YIiG8>i unGI!i1V]ٺvKBpq,FEAɫ髱) IY@y}GiYYm;MmL=YqQUu>qya}CE}Eyy}>Iȉ :ō5? :ōR޾ ƍ8B ?9ƍCDǍ: ȍb?)ȍQ:W ?WX XW:W2W*WVbUBU*UUU`OF@B:B BAQ>*BAAAAAz<"C ?RC <K>C  ?C "g>IG'> y 5:YW1yč:59%@ٽ <ٽ < I>9 vCI ,{Gi &@ = 3; E)ݛwCIݛwCiݓݛ=ݛ=ݛ@4q,9FEAY}Np?}NX?y}N}N1iE@A E@)E­@IEiE­@UMUK=Y]{QU]>YaaeCEeEay(4}>I5?޾ 8B ?9CD: ?)WM?WX XW:W2W*WV!bU!BU!*U)U)U-@BUtڷBUȤ< BYA]>*BYA]AYAYA]v<"CeM?RCm7<=CmM?Ciuf>QIYG}Y>I ) q,_| GEAY}6?}6p?y}6}6.v}6HnͿ[?@P]?tο?)~6? ~6R\;I~6Cɫ99)9 AIAY@yj}G鮡ɮa=I)i 鿹}<MT=Y;QU>aCEEy}>I5?ݾ 48B ?9CD: @)WB?WX XW:W2W*W!V!bU!BU!*U!U)U-๐@R5B*** querying acoustic contact ***P1P1B]ț1;BY BYA]w>*BYA]1AaAaAeXz<"CmB?RCmE=CmB?Ciu Z>QIyG>%8 %%% %I8:Y%DW1y%Y:%35q,]$GEA||Y}6?}6?y}6}6Ct}6H{U` @VͿ?驿?'9ο@?)~6? ~6#[;I~6Cɫ99)9 9I9Y}@y})~GZ****** received transponder code query ******F****** received ping request ******QQaUCE]EYy].L}e>Iae5?e>ݾ eS8B u?9eCDeM: e:)aW?WX XW:W2W*WVbUBU*UU)U5T @mJ>9iIm{Gimx@m!=iim0; mEB`Q:B BA/>*BAmAAAL<"C?RC;C?C9%>׹IGf>q,CU>GEAY}B?}B:?y}B-}Bl}BH@i#n Ϳ?`ŸƦ ?`I<Ϳ !?)~B? ~Bm[;I~BCɫ髉) IY@yw}GxDUSBL response received:!U1,P 07C,000,002E8,187,80,80,A6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i @ @ @å©ååiå׳@å ĥj@)ĥK@IġiĥM2=Y;QU>!a%CE%E1y2}>Iȡ :ť#5? :ťݾ ƥt8B ?9ƥCDǥ; ȥ];)ȥR:W5 ?W1X1 X1W1:W92WA*WIVibUqBUq*UqUyU}-@Bm-Bq BqA})>*ByA@AAA#<"C ?RCC ?C  5:YyE5 2g=ֵ ?=ס I G >q,(XGEAY}B?}B?y}B}Bd}BH`3@A̿?@3)A@2?``X̿N/?)~B? ~B8[;I~BCɫYY)Y ]IYY@y~GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 9i===a=i==iAAIM=)I}=M}~=Y};QU ?aCEEyTv}?Iȑŕ5?ŕݾ ƕ8B ?9ƕDDǕU: ȕ:)ȑW8P?WX XW:W2W*WVbUBU*UUU<@BE$C<BA BAAMI>*BIAM1߼AiAiAmJ<"Cu8P?RC}=C}8P?Cymq q ܁ 9܁ I܅ {Gi܅ @܅ "=܁ ܁ ܅ (; ݅ Eq,}qGEAY}2^?}2C?y}2;}2XX}2H&~Jʿ? 0O?@{ʿD?)~2^? ~2\;I~0ɫ99)9 =I9Y}7@y}~GxDUSBL response received:!U1,R,E60,000,002CE,186,80,80,73,FF Fpublishing direction and range info޹>ɰFk=鰅> )BIy@$?j?ٱi    @ @ @i=@ @)I3@ii+<MR=Y:QU >  a CE EyS}>I! -:%5? -:%߶ݾ %8B -?9%DD%: %:)%S:W-?W)X1 X1W1:W12W1*W9V9bU9BU9*U9UAUE@RU(Combining 5 samples.PQ*QU@ZQU~&@,A6?JQU$?j?2QU޹>:QQbQU,XR'y@+ͿRQU]ֿ!?GR^BQU:t? QUЦ@QUPU:9?PU=9?PUQUQU@"QUc@B;B BA^>*BAۼAAA1<"C?RC׽C?CǤ<6=?i?--~-~- -R.:Y-T1y-@:-j5)-Ջ;95IG>q,7ƋGEAY}fTD?}f9{?y}fs }fI}fH@`r?'aɿ`??Ϡચ? ɿ\?)~fTD? ~f[;I~fCɫ99)A EIIYu@y}~GTNmea in: $SNTTA,0.024327,,,,013214.10*44 i11mŬMu6=Y:QU>aDEEy׼}>IS5? ݾ 8B ?9+DDխ; ¿;)mqAdded new target pos. range: 5.580000 m, bearing: 110.766175 deg, deltaT: 4.474920 s, approachRate: -0.348609 m/s, LOS rate: 2.681763 deg/s, posRepo size: 4m ProNav: pos range: 5.580000 m, bearing: 110.766175 deg, approachRate: -0.348609 m/s, LOS rate: 2.681763 deg/s, cmd update: 8.045290 deg/s, cmd heading: 98.038273 deg, new cmd heading: 98.915271 deg. W?WX XW:W2W*WVbUBU*UUQ@UP?B ;B BA>*BA?ؼAAAS<"CA?RCXR9C?C) } зe=Q Ia G} > q,#GEAY}2?}2 ?y}2qN}2Jv;}2HQ?Uuq]ǿ t?f?i ?@Jǿ@r?)~2? ~2u[;I~0ɫii)i iIiY@y~GI)Ai !!?+y&1?f> `e=)Iy rh?~jtMb`?,?D; ±)µ(AIµh@iµrAQAME[<MMJ=YU4;QUU>QQaUDE]EYy]"}e>Ii u:m5? u:mݾ m8B u?9m9I|Gik@!=+; EB- <B1 B1A=I>*BAAMռAIAIAUE<"C3~?RC)C?C!U<)I9G]v> .:YDW1yY:5) ;04q,ſGEAY}2?}2?y}2!A}2gD)}2H? @T(ſ x? F ſ_?)~2? ~2[;I~2Cɫ99)9 9I9Yu@y}Gi = = = =@ =@ =@999i=@9 =@)9I=i9Uѕ=MU\=YU;QU]>YYa]DE]EayeC}e>Iim5?mݾ m8B }?9mLDDm: mӻ:)iW?WX XW:W2W*WVbUBU*UUUe#?B&<B BA,>*BAҼAAA<"C?RC C?C ׁIG>q,GEAY}:Ъ?}:?y}:|⼙}:}:H1? <ÿ??@`N?R ÿ ݠ?)~:Ъ? ~:W[;I~:Cɫ99)9 9I9Y}@y}GiE%<MEK=YM^IQaUDEUEQy]K}]>Iae5?exݾ e8B m?9e^DDe: e:)aWZ?WX XW:W2W*WVbUBU*UUU?B^<B BAA>*BAoϼAAA6 <"C$y?RCCZ?CIbשIG >6  !8:YW1yč:59 @ G>9 I }Gi @ ?; EDq,uGEAY}2NV?}23?y}2z}2MU}2H ~? @t?`c?Y ?A`?)~2NV? ~2[;I~2Cɫ99)9 =I9Y}@y}EG=i=iIC=)R= 5 = = =@ =@ =@999i=@9 = @)9I9i=b@MH =MMJ=YMOaDEEyȻ}>I  :[5? :hݾ 8B ?9pDD; ;)U:WU?WYXY XYWY:WY2WY*WaVabUaBUa*UaUiU@67@B<B BA?*BA>̼AAA,:<"C?RCC?C Aɽ׹IGE>i mGI i  4_ٺ .MBe,q,nO HEAY}2?}2?y}2T}23߽}2HJ?@?e#? D gJ?P׻@aDEEqyh<}>I5?tXݾ 8B ?9DD/< <)WQ@WX XW:W2W*WVbUBU*UUU @B-V<B) B1A5?*B1A5fIȼA1A1A5s<"C=@RCaCeQ@Cauֽ J    9:Y y  6iIyG>V q,*'HEAY}2#?}2 ?y}2kQ1}2k}2H%? @ =?? =R*?k?)~2#? ~2 [;I~2Cɫ99)9 =I9YX@yǀGa=ɮi]ףp= ?Gz?:v?]>]p> ]T<)YIYy]?ˡEv/?]f&?]']xi= ]@)]OAI]3@i]AY]=A}37=M}J=YvaDEEy<}>Iș :ŝ(5? :ŝKݾ Ɲ9B ?9ƝDDǝV: ȝ:)ȝV:WS@WX XW:W2W*WVbUBU*UUU`/@RB*** querying acoustic contact ***PPB S<ܕF>9ܑIܕ}Giܕ@ܑܑܑܕ,; ݕE)-vCI-vCi)-!=-!=-a5B BA2?*BA-VżAAA<"C,@RC!C%S@CQ֥]aIiGZ>e>q,AHEAY}:i?}:?y}::f}:B}:H`?5Z[?`e?vtv?R?)~:i? ~:;E[;I~:Cɫ99)9 =I9Y}$@y}GZ****** received transponder code query ******F****** received ping request ******=YMMIQQaUDEUEYy]:<}]>Iae5?e_;ݾ e!9B u?9eDDe; e;)aW @WX XW:W2W*WVbUBU*UUU@ @B5X:<B1 B1A=?*B9A=A9A9A=~[<"CEw= @RCaCm @Cie$9IQGuX>z  =:YT1y:j5hq,ZHEAY}22Y?}2?y}2E}2@i}2H`hp`4?`oeQP?7)?)~22Y? ~2.[;I~2CɫYY)Y YIYY@y)GxDUSBL response received:!U1,P E60,000,002CE,186,80,80,73,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i=M%`=Y-&IAIaUDEEyU=}>I %:5? %:,ݾ 89B %?9DD; ;)W:W5@W1X1 X9W9:W92WA*WVbUBU*UUU)~ @Bme<Bi BiAm, ?*BiAu0AqAqAu<"C}@ @RCyC}@C}9ّ ّ ܵ G>9ܱ Iܵ }Giܵ @ܵ #=ܱ ܵ Dܵ *; ݵ Eq,4tHEAY}:i?}:M?y}:(;}:<}:Hۖ`DΔ?? ̖`h?eUߔ?@E?)~:i? ~:];I~:Cɫ99)9 9I9Y}@y} GAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iYY   í=íí=ií @í ĭ)ĭ@Iĭ-@iĭ@@M@=Y aDEEyB>=}>I5?kݾ N9B ?9DD': w:)W @W X  X W:W2W*WVbUBU*UUU% 5&@BMa<BI BIAM ?*BQAU/AQAQAU<"C]6@RCYC]@Caw{~סIGA>m iim ma4:Yiyim5)m;9uz#q,1HEAY}2?}2?y}2D;}2Io`=}2H` ??`7{`{?eq@ ??)~2? ~2];I~0ɫ99)9 =I9Y}@yGxDUSBL response received:!U1,R,074,000,002CB,186,80,80,9F,FF Fpublishing direction and range info3QϽɰJj=鰑 )CIy̬@?X%H޹ٱi=i IR=)=XMJ=YN;QU>IQa]DE]EyRQ=}>Iȡ :ť5? :ťݾ ƥe9B ?9ƥDDǥ11< ȥ /<)ȥX:Wm@WiXi XiWi:Wq2Wq*WqVqbUqBUy*UyUyU}@R(Combining 5 samples.P*Q̬@ZQdJ}@)hvJQ?X%H޹2Q3QϽ:QbQo~?y]I&f@@A RQӘ$?o^?[ BQ? Q@Q>P@9?P:9?PQQ@"Q@B%|V<B! B!A% ?*B)A-kA)A)A-7M<"C5@RC1C5@C9U?΅1I9GU>)q,9~HEAY}n?}n?y}n#Т;}n=}nHr f?@y?ap?Yt? ?)~n? ~n`;I~nCɫ) IY @y7GDNmea in: $SNTTA,,,,,013218.54*56 iMH>9IIM|GiMk@M$=IMDM!; MEx&1?q= ףp?Q?= u)IyV-?{Gz{Gzt?%i%p@! !)%j@I%@i%j@-<M5)=Y5޾:QU5>99a=DE=EAyEv[=}E>IIMZ5?Mܾ I ]?9MDDMr: M:)ImqAdded new target pos. range: 5.399999 m, bearing: 86.742269 deg, deltaT: 4.492678 s, approachRate: -0.040065 m/s, LOS rate: -5.347347 deg/s, posRepo size: 4m ProNav: pos range: 5.399999 m, bearing: 86.742269 deg, approachRate: -0.040065 m/s, LOS rate: -5.347347 deg/s, cmd update: -12.000000 deg/s, cmd heading: 134.153154 deg, new cmd heading: 137.693001 deg. W@WX XW:W2W*WVbUBU*UU`@U?B[~<B BA ?*BA~AAA<"C@RCC@C W 5:YWU1y:G5),;ֵ斅׽?i׽?ׁ I G >0q,@OHEAY}:P?}:4?y}:xt;}:l=}:Hy~Q?? Wא?`vܽ??)~:P? ~:a;I~:Cɫ99)9 9I9Y]@y]2GiE@ME=YMh:QUM?IIaMDEUEQy]=}]?Iae5?eܾ ed9B m?9eDDe: e:)aW @WX XW:W2W*WVbUBU*UUU?B<B BA ?*BAAAA<"Cl@RCC @CƂIGI>6q,(HEAY}6 ?}6~A?y}6;}6L >}6HP yH{?3?Ͻ ?`G=y`ò?@(?)~6 ? ~6La;I~6CɫYY)Y YIYYf@ynGI)i  5P<M=K=Y=n:QU=>AAaEDEEEAyMiy=}M>Iȹ :Ž5? :Žܾ ƽc9B ?9ƽEDǽ: Ƚb:)ȽY:WC@WX XW:W2W*WVbUBU*UUU?B-a<B) B)A5?*B1A5E嫼A1A1A5qV<"C=|@RC9C=C@CAa9IIGeV>  M4:YV1y:j59@9 9 U I>9Q IU {GiU @Q Q Q U ; U E}2H|¿P@i/?p?@s?x`~|?^?)~2&? ~2Ob;I~2CɫYY)Y ]IYY@yGi U@ U@ U@U©UUiU׳@U Q)U@IU@iUe=MeG=Ym/QUm>iiamDEu Eqy}h=}}>IȁŅ5?ŅCܾ ƅb9B ?9ƅ!EDDž: ȅJ:)ȁW@WX XW:W2W*WVbUBU*UUU@?Bm/<Bi BqAu ?*BqAu4AqAqAu<"C}9@*C} g=RCC@C֝&yIG^>*Cq,*IEAY}FX&?}F;]?y}F;}F$>}FH'4ſ`j'!? ?QĿ[?ɠv ݇? ϕ?)~FX&? ~Fa;I~FCɫYY)a eIiYg@yЀGi+?Mb?L7A`?v?= +=)Iy|?5^?X9vMb`?2?}; ½ A)½@I½3@i½^A(AFݼM5=YcRQU>aDEEy]=}>I :5? :vܾ ]9B ?95ED: :)Z:W%?W!X) X)W):W)2W)*W1V1bU1BU1*U1U9U= @Be<Ba BiAm?*BiAm,dAiAiAu4<"Cu&@RCyC}?Cyu·QIiG|>  4:YY1y:5Iq,)IEAY}:@}:}?y}:ԣ;}:f)>}:HIGȿ @?`/k?ǿx? zt@??)~:@ ~:`;I~8ɫ99)9 9I9Y}@y}Gi=iI=)K<Ma=9I,{Gi&@#=; EYQU=>AIa]DE]Eqy.=}>Ișŝp5?ŝ ܾ ƝX9B ?9ƝGEDǝE< ȝ<)șW%?WIXI XIWI:WI2WI*WQVQbUQBUQ*UQUYU]`M@B$~<B BA ?*BAT AAAg<"Cv@RCC?CֽבIG>Pq,CIEAY}67@}6?y}6;}62*>}6H`_˿} ?jB?=ʿy? ?p@)?0?)~67@ ~6gs`;I~4ɫ99)9 9I9Y}@y}G鮅p=ɮp=i   S'ji(@ )b@IK@ib@h<MV=Y1QU>aDEEy5=} >I  : 5? : 5ܾ T9B ?9 WED : :) [:WE?WAXA XAWA:WA2WA*WIVIbUIBUI*UQUQUUv@R]B*** querying acoustic contact ***PaPaBa<B BA4 ?*BA:ȝAAAy<i%unGI9iI}+_ٺy}&MB"C^@RCC?C֥}yIG^>    Y  S:Y V1y : 5Wq,"p]IEAY}2S@}2?y}2 ;}2+>}2Hxο dȴ? ?@dͿy?Obc?̌?)~2S@ ~26`;I~0ɫ99)9 =I9YA@yGZ****** received transponder code query ******F****** received ping request ******aDE%#E!y-x=}->I155?5Bܾ 5P9B E?95iED5=: 5_:)1Wm?WiXi XqWq:Wq2Wq*WyVybUyBUy*UyUUH @BБ<B BA?*BA;AAA<"CG@RCC?C֥ƂaIqG9>J>9IzGi@$=; E)ݹIݹiݹݽ$=ݽ$=ݽ4.]q,MKwIEAɫ髙) IY @yGxDUSBL response received:!U1,P 074,000,002CB,186,80,80,9F,FF Command AckBRequesting micromodem ping code 2iI) Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i)) AA m@ u@ u@m©mmim­@m i)mImim­@M%=YQU>))a-DE-+E)y5}5>I9 e:=5? e:=zܾ =K9B m?9=ED=; =z;)=\:WL?WX XW:W2W*WVbUBU*UUU f @BEc<BI BIAMu?*BIAM鼕AQAQAU/<"Ce@RCiCmL?Cq    z $4:Y W1y č: 5) ݐ;9 ׉ I G >dq,l&IEAɫ髙) IY@y~G@A?A Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iqqu^I +?#~jMb?uX?u㥽 u<)qIqyuuV?lS㥛?ur(?uu/< uA)u@Iu@iuAqupACMO=YQU>aDE1Ey}>Iȩŭ5?ŭRlܾ ƭP9B ?9ƭEDǭ: ȭM:)ȩW?WX XW:W2W*WVbUBU*UUU$1@Br<B BA~?*BA%A!A!A%<"C-@RC-\C-?C1IG>@jq,IEAɫ髁) IY@yUGxDUSBL response received:!U1,R,050,000,002E4,185,80,80,B1,FF Fpublishing direction and range info5ɰ{r=+> )1CIy@D/vq ?&k۱ٱi UϼM~=YQU% ?)1a=DE=6EIyY}]?ܕK>9ܑIܕdzGiܕ@ܑܑܑܕ ; ݕEIȉōj5?ō^ܾ ƍU9B ?9ƍEDǍӻ: ȍ:)ȉW?WX XW:W2W*WVbUBU *U U U@R(Combining 5 samples.P!*Q%@ZQ%6^c@Y}޿JQ%D/vq ?&k۱2Q%5:Q!bQ%#򿞜B1@[݆RQ%ſ?O|BQ%? Q%@Q%P%;9?P%@9?P%Q%Q%@"Q%@B<B BAh?*BA7iAAAW<"CC?RCZC?CKyIG^>-  - - ) - -5:Y- 0Y1y- :) )- ‘;K*qq,"IEAY}^f @}^v?y}^gd»}^v$>}^HFտ`ѻІ? !?Tտ?Lx?@x?@n?)~^f @ ~^`;I~\ɫ) IYQ@y&G}DNmea in: $SNTTA,,,,,013223.00*5F }a=i}=iIa=)%=   i@ )@I@i@WM<=YaQU>aDE=Eylw>}>I  : 5? : Pܾ \9B ?9 ED : 4:) ]:miAdded new target pos. range: 6.900000 m, bearing: 99.826801 deg, deltaT: 4.425654 s, approachRate: 0.338933 m/s, LOS rate: 2.956519 deg/s, posRepo size: 4m ProNav: pos range: 6.900000 m, bearing: 99.826801 deg, approachRate: 0.338933 m/s, LOS rate: 2.956519 deg/s, cmd update: 8.869558 deg/s, cmd heading: 81.044476 deg, new cmd heading: 76.198492 deg. W?WX XW:W2W*WVbU!BU!*UAUM@UMq6?B\<B BA>*BAAAA<"C6?RC=C?C֍_yIG]>Rwq,ȷIEAY}2 @}2U?y}2黙}2?,>}2HA׿`>xe? m? ֿ!??=}?? ?)~2 @ ~2u`;I~0ɫYY)Y ]IYY@yHGi 5<M=W=Y=OQU=>AAaEDEECEIyM=}M>Iȩŭ5?ŭBܾ ƭd9B ?9ƭEDǭ{: ȭD:)ȩWj?WX XW:W2W*WVbUBU*UUU0?B0<B BA?*BA%&A!A!A%<"C-CC-j?C1օ[YIiGZ>ففI>9IzGi2@#=; Em f m m m  m _P:Ym W1ym č:m 5)m @;}}q,GIEAY}2 @}2ո?y}2 }2:>}2HHؿ 6*m? q?}vؿ?ӛ?`ȃ?`?)~2 @ ~2`;I~0ɫ99)9 9I9Y`@y/Gi!)-= ->u=uоu|?>iu(@q u-@)u@Iu-@iu-@EMF=YUgQU>aDEJEy=}>Iș :ŝ5? :ŝ4ܾ Ɲm9B ?9ƝEDǝ: ȝb:)ȝ^:Wc?WX XW:W2W*WVbUBU*UUUI?B ]<B BAq?*BAׅAAA]X<"CN?RC >Cc?C֥NaIqG9>iq,JEAY}eW@}e?y}ee}es>}eH ڿ@? 5?ٿ@?@??أ?)~eW@ ~e~a;I~eCɫ髉) IY@yGI))-Ai11 99MbX?Q?&1? ?u= P=)IyK7?MbMb?I,?<  A) @IAiAfA~M%2=Y%ԷQU%>))a-DE-QE)y5]=}5>I9=5?=<#ܾ =p9B E?9=ED=: =:)9Wmu?WiXi XiWi:Wq2Wq*WqVqbUqBUy*UyUyU}@?B}<B BAg>*BA,AAA<"Cb?RCCu?Cֵ.@yIGb>     :2:Y U1y : 59 @q,sI,JEAY}2;@}2@y}2<+}2C>}2H@ۿǐ`?? e`ۿ?r?@,??)~2;@ ~2`;I~2Cɫaa)i mIqY~@yHG999I=yGi=@="=99=; =EiYaDZi@ )K@I@i@%M^=Y.[QU>aDEWE!y%=}->I) 5:-W5? =:-ܾ -t9B =?9-ED-: -:)-_:We?WaXa XaWa:Wa2Wa*WiVibUiBUq*UqUqUu?BЛ<B BA>*BA ~AAA<"Cz?RCC?C֍ཹAIQGm5>vq,$FJEAɫyy)y yIyYQ@yGi%hA%iAUiM]W=Y]QU]>aaaeDEe]Eaym}m>IquЪ5?uܾ ux9B }?9uFDuk: u:)qWI?WX XW:W2W*WVbUBU*UUU@B]8 <BY BYAe>*BaAexAaAaAeQ#<"C?RCCI?Cօ.%aIiG9>i=  | | } 1:Y R1y i: k5=q,`JEAY}6Ws@}6Ȏ@y}6a}6Q>}6Hݿ q Ks?[O?@ݿ`)?@7=?H? ?)~6Ws@ ~6_;I~6Cɫ19)9 =I9Yu@yuGyɮy=i=iR<MO=Y  QU > aDEdEy=}>I!%25?%۾ %}9B -?9%FD%\(; %C*;)!W;?WX XW:W2W*WVbUBU*UUUb:@RB*** querying acoustic contact ***PPBQ<B BA>*BAwrAAA/L<"C?*C)i=RCC;?C =>Wi?סIG >))5H>91I58yGi5@1115; 5E$˝q,yJEAY}6E@}6`@y}6 {}6=}6H_޿1z??so޿?`?I?~?)~6E@ ~6g^;I~6Cɫ99)9 =I9Y}@y}GZ****** received transponder code query ******F****** received ping request ******  a DEkEy<}>I %:z5? -:۾ 9B -?9+FD/: :)`:WU۾?WQXQ XQWQ:WQ2WY*WYVYbUYBUY*UaUaUe@m @B<B BA=>*BA)kAAA[<"C?RCC۾?C֥;=aIqG:>i%nGIi)uoVٺy}EB     0:Y X1y /: 5) Í;9 8q,@ÓJEAY}-?@}-@y}-A/}-ʆ=}-H {޿? m? ޿\5??`??)~-?@ ~-^;I~-Cɫ ) IY5`@y5$G=xDUSBL response received:!U1,P 050,000,002E4,185,80,80,B1,FF =Command Ack=BRequesting micromodem ping code 2i99ENmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iai(\?v/? ףp= ?>xi= Q8=)IyCl?x&Q?;?7u< • A)•?@I•@i‘A)%> %>-VM5 =YUQUU>YYa]DE]sEaye\<}e>Iim5?mi۾ m9B ?9m?FDm; m;)iW?WX XW:W2W*WV!bU!BU)*UIUQU] ( @B%ܠi<BI BIAM>*BIAUBcAQAQAU@<"C]a?RCYC]?Cae Q=9 II Ge >bݪq,JEAY}z\@}z@y}z0}z=}zH #߿?@?W޿t?`^?ʹ?@!?)~z\@ ~z!];I~zC9Ii; )݉I݉i݉ݍ"=ݍ"=ݍ+75ɫ) IY\@yGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I ) I@)@i m@ m@ m@m©mmim̴@m m)m@Iiim-@}M=Y0QU ?aDExEy;} ?I :5? : ۾ 9B ?9LFD<: :)a:W-<@W)X) X)W1:W12W1*W1V1bU9BU9*U9U9UE`,@B<<B BA>*BA^AAAs<"C ?RCC<@C?>יIGd>E Y E E E  E ::YE V1yE :E X5)E ;űq,HlJEAY}6X@}6@y}6}6=}6H`޿`Tf?`?޿J?EÐ? ?@R?)~6X@ ~6];I~4ɫ99)9 =I9Y}Q@y}GxDUSBL response received:!U1,R,DD7,000,0030C,189,80,80,66,FF Fpublishing direction and range info1>ɰ=鰅7> )BIyAwX?l`mO?ٱiMm=Y:QU?aDE}Eyۻ}?I5?۾ 9B ?9YFD: :)W@WX XW:W2W*WVbU BU *U U U/@R%(Combining 5 samples.P!*Q%AZQ%1Zy @[lC@JQ%wX?l`mO?2Q%1>:Q!bQ%2)ӟD@dF?RQ%aqjA#ͧ?۠q?BQ%^#@ Q%2@Q%P%(9?P%;9?P%Q%Q%@"Q%@BH<B BA>*BA0YAAAǙ<"C%Y?RC!C%@C) k1>IG$>-q,^GJEAY}60@}6dL@y}6}6lGi=}6H`y޿@!Ȋ?r"?%{޿?x?#??)~60@ ~6k];I~6CɫYY)a aIaYd@y(G-TNmea in: $SNTTA,0.005776,,,,013227.45*47 i99M;MMA=YM1:QUU>QQa]DE]EYye}e>Ii u:mJz5? u:mI۾ m9B u?9mjFDm: m':)mb:mqAdded new target pos. range: 9.299998 m, bearing: 146.461522 deg, deltaT: 4.378610 s, approachRate: 0.548119 m/s, LOS rate: 10.650577 deg/s, posRepo size: 4m ProNav: pos range: 9.299998 m, bearing: 146.461522 deg, approachRate: 0.548119 m/s, LOS rate: 10.650577 deg/s, cmd update: 12.000000 deg/s, cmd heading: 119.917274 deg, new cmd heading: 123.680575 deg. Wܢ @WX XW:W2W!*W!V!bU!BU!*U)U-`"@U-?B}<By ByA}%>*ByARAAA<"C?RCT>Cܢ @C 0>>֥_>׭?i׭?iIG>>ܽG>9ܹIܹiܹܹܹܹܽ; ݽEq,#JEAY}2W@}2s@y}2}2X'<}2Hٹݿ=R?U?1ݿ%W #?.??)~2W@ ~2(^;I~2Cɫ99)9 9I9Y}@y}~Gi=iI=)= = = = =@ =@ =@999i=@9 9)=I=­@i=@MMMJ=YH:QU>aDEEy}>I)r5?~۾ 9B ?9{FDӻ: ӻ:)W.F@WX XW!:W!2W!*W!V!bU)BU)*U)U1U5 ?B]dS<BY BYA]G>*BaAeLAaAaAe<"CmB?RCu >Cu.F@Cqօ l>YIaGZ>  aA:YDW1yY:|59%@q, KEAɫ) IY-R@y5}GiU#~j?I +??U%?U94= U<)QIQyUˡE?~jty&1?U'?UDU`e< U"A)U@IQiUAQUzAm'Mu9=YuQUu>yya}DE}Eyy}>Iȉ :ōh5? :ō ۾ ƍ9B ?9ƍFDǍ: ȍV:)ȍc:W`@WX XW:W2W*WVbUBU*UUUrI?B<B BA>*BAFAAAѿ<"C U@RC d <C`@C[>יIGA>_+q,.KEAY}5Q@}5@y}5n}5i`}5H!mۿ(/?@Wۿ@ ? ?)~5Q@ ~5j];I~5CeF>9aIaiaaaae ; eEɫ髑) IY@y~Gi99   ÕÕI Õz>iÕ@Õ ĕ@)đIĕ@iĕ@O}<MH=YD;QU>aDEEyȽ}>IȹŽ`5?Ž۾ ƽ9B ?9ƽFDǽ: Ƚ:)ȹWUv@WX XW:W2W*WVbUBU*UUU?B-><B) B)A-B>*B1A5@A1A1A5<"C=d @RC=C=Uv@CAUgAQ-},>I))-fAI G%M> r Y>:YX1y/:5);9%*q,ݳHKEAY}:Q@}:?y}:Y}:Lɽ}:HڿS󘵿@6?ٿ,!?`m)?)~:Q@ ~:];I~:Cɫ99)9 9I9Y}d@y}}GI)i UG8MUb=Y]h;QU]>YaaeDEeEaymt}m>IquY5?u]۾ u9B }?9uFDub: ub:)qWsN!@WX XW:W2W*WVbUBU*UUUqO@Bo<B BA->*BAܟ;AAA <"C@RCwCsN!@C_>׉IG>B=q,ގbKEAY}2 @}2w?y}2PF}2}2Hؿ@RC~?Dؿ@Ɉ?dN?)~2 @ ~2];I~2CɫYY)Y YIYYN@y}Gi5޻M=L=Y=e;;QU=>AAaEDEEEIyM7b}M>Iȩ :ŭXR5? :ŭp۾ ƭ9B ?9ƭFDǭs: ȭ:)ȭd:W&@WX XW:W2W*WVbUBU*UUU`W@BWI<B BA>*BA%~5A!A!A%i3<"C--@RC- C5&@C1֥g >ׁIGg>Y]fAeE>9aIeyGie@aaeDe ; eE 2:YV1y:!5);`gq,i|KEAY}2Ҍ @}2P?y}2V3}2}2H ׿ xjT?`,׿K Mc?ÿ@5?)~2Ҍ @ ~2e];I~2CɫII)I IIIY}@y}|}Giyi=@ @)Ii!MO=YiB;QU>aDEEyw[} >I  K5? jc۾ 9B ?9 FD : :) W=+@W9XA XAWA:WA2WA*WAVIbUIBUI*UIUIUUӫ@R]B*** querying acoustic contact ***PYPYB}|<B BAd>*BAU0AAAl<"CVT@RCC+@C ե=ԥ=֍s9=ו?iו?IIYGu>Pq,HKEAɫ髹) IY@ys}GZ****** received transponder code query ******F****** received ping request ******?H  @)OAI^Ai=A AM:=YQU>  a EEEy}>I :B5? :P۾ 9B ?9FD; 7;)e:WMH2@WIXI XIWI:WI2WQ*WQVQbUQBUY*UYUYU] q @B<B BA>*BA)AAA<"C K@RC C H2@C{=IGj> g Y>:YW1yč:59%@|q,.KEAY}b+ @}bI?y}b" }bD&1}bHTտ`N@jĿ@S+?ԿдPd?Xƿm?)~b+ @ ~bο\;I~bC~D>9~uCI|i||||~0; ~Eɫ髑) IY-@y- }G5xDUSBL response received:!U1,P DD7,000,0030C,189,80,80,66,FF =Command Ack=BRequesting micromodem ping code 2i99ENmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i1>nS>i­@ @)I@i­@U+MU*=YUK;QU]>aEEEyͣ}>Iȱŵ;5?ŵ!>۾ Ƶ9B ?9ƵFDǵܹ; ȵj;)ȱWp8@WX! X!W!:W!2W!*W)V)bU)BU)*U)U1U5(@B(<B BA>*BAxT#A!A!A%<"C]3&@RCYCep8@Ci֭hW<ׁ I G >A E 2C aq,KEAi:mGILiXz3VٺxzDBY}!S @} ?y} ǻ}0}H@Կ`A`wĿN?)Կ T#ox?@ƿ`?)~!S @ ~];I~ɫ11)9 =I9Yu@yu|Gy}AANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iuMuo=Yu;QU}?yya}EE}Eyt"}?I :55? :S0۾ 9B ?9 GD; F;)f:W=@WX XW:W2W*WVbU!BU!*U!U!U%`~l@BuJʱ<By ByA}>*ByA}AAAu(<"Cp*@RCC=@CԝhAԝgAebިIi)mgAAIQGuW>- ---} -B:Y-V1y-:-k5dq,KEAY}2@}2?y}2o0}2)}2HԿ@ÿ@d?ӿ@Ǵ f? ſ@̏?)~2@ ~2E];I~0ɫ99)9 =I9Y}@y}a}GxDUSBL response received:!U1,R,EA6,000,00343,186,80,80,98,FF Fpublishing direction and range info#>ɰΈ=鰅> )CIyIA[(f?+0?ٱI)i 鿡|%=Ml=YH:QbQD = A$@B[|RQ{x{ư-k?\"DʧBQ @ QZ$AQP&9?P(9?PQQ5@"Q@B5<B9 B9A=>*B9A=&A9AAAED<"CMWN/@RCICM^A@CqM)IQG:>B>9I8yGi@!=*; E)ݑIݑiݑݑݑݕ4q,KEAY}6@}6`?y}6+:}6.0}6Hӿ5#m¿@l?ӿL%USÿ?)~6@ ~6#];I~6Cɫy髁) IYe@y|G]TNmea in: $SNTTA,0.031426,,,,013231.89*41 iii @ @ @©i@ K@)IiM9=YJaEEEy}>II U:M8)5? ]:M۾ M9B ]?9M1GDM: M:)Mg:muAdded new target pos. range: 12.599998 m, bearing: 125.301924 deg, deltaT: 4.464689 s, approachRate: 0.739133 m/s, LOS rate: -4.739322 deg/s, posRepo size: 4m ProNav: pos range: 12.599998 m, bearing: 125.301924 deg, approachRate: 0.739133 m/s, LOS rate: -4.739322 deg/s, cmd update: -12.000000 deg/s, cmd heading: 173.252476 deg, new cmd heading: 178.734616 deg. Wf;@WX XW:W 2W*WVbUBU*UU33)@U?BÓ<B BA5>*BA AAA<"CML5@RCCf;@C֥]YIiGZ>  \G:YX1y/:5۟q,1LEAɫqq)q }IyY)@y}Gi!!/$?{Gz?kt&?ף<  )IyZd;O?S㥫y&1|?j?/]`; µ@)µAI±iµA3Ar=MJ=YQU>aEEEy}>I$5?۾ 9B ?9AGD;: :)W[46@WX XW:W2W!*W!V!bU!BU*UUU`?B(<B! B!A-y>*B)A-<A)A)A-ڎ<"C5C9@RC1C5[46@C9 m=m!>=kd&AiE?I!G=Q> q,j1LEAY}: @}:&n?y}:<}:Y}:H 5SԿ3p W?@JԿ&@c@淿?)~: @ ~:.5[;I~:CVA>9TIVxGiV?@TTTV3; VEɫ99)9 =I9Y}J@y}}G=i=iI4=)%=    @ @ @ùùùiùù Ľ)ĹIĽ@iĽ@_%<MK=Y5aEEEyϦ<}>I5?[ھ 9B ?9PGD:  :)W 0@WX XW:W!2W!*W!V!bU)BU)*U)U)U5`?B]»<BY BYA]>*BaAeAaAaAeR9<"Cmn;@RCiCu 0@CqeS!I1GM1>5 k  8:YV1y:5)=;9%Zq,BKLEAY}2 @}2?y}2YT<}2W}2H տ+X@y7?mտt @?)~2 @ ~2#[;I~2CɫYY)Y ]IYY@ye}Gi5=ݼM=T=Y=AAaEEEEEIyM<}M>Iȱ :ŵ5? :ŵھ Ʊ ?9Ƶ`GDǵ: ȵ:)ȵh:Wz+@WX XW:W2W*WVbUBU*UUU?B%ϳ<B! B!A%<>*B)A-9A)A)A-<"C5`U=@RC9C=z+@C9mj!I1G]3>q,TeLEAY}6> @}6Z'?y}6z<}6}6H`ֿ[`މ@?ֿ`?q~?)~6> @ ~6< [;I~4ɫII)I IIIY}@y}W}Gi/^ML=Y;QU>!!a%EE%E)y-/=}->I15v5?5%ھ 1 =?95oGD5w: 5Ǻ:)1WeG&@WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}@B<B BA>*BAΪAAA{<"CU{=@*CUd=RCQC]G&@Ciԙԙ֥xI׹)׹יܭ@>9ܩIܭ xGiܭ@ܩܩܩܭ6; ݩIGf>)  7:YW1yč:5)i;q,~LEAY}6$B @}6&?y}6<}6%=}6HH׿+? ?`;׿?Sѡ?@?)~6$B @ ~6\;I~6Cɫ99)9 =I9Y@y*}GIA)i!! )) u u uuu.ur>iu=@u q)u@Iun@iun@1MC=Y;QU>aEEEyE=}>Iȡ :ťh5? :ťGھ ƥ9B ?9ƥGDǥ<: ȥ3:)ȥi:W @WX XW:W2W*WVbUBU*UUUm@BL<B BA:>*BAb#AAAy<"C <@RCC @CƂ׹IG%q,ژLEAY}:@ @}:^?y}:<}:ϗ=}:Hؿ`x@Ů?@?{ؿ@?b??)~:@ @ ~:\;I~:Cɫ99)9 =I9Yu@y}\}GyɮyiuCl?y&1~jtud?u` uD)qIqyux&1?:vQ?uA ?uTuu< u^A)uxAIuAiu@quAI<MJ=Y{;QU>aEEEyf=}>Iȩŭ5?ŭھ ƭ9B ?9ƭGDǭ: ȭY:)ȩWH=@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBE<BA BAAE>*BIAU0AQAQAU<"C]Wy9@RCYC]H=@Ca?΅IGj>z :2:YT1y:59%@,q,BLEA&?>9$I&vGi&@&"=$$&); &EY}BkF@}B?y}B^<}B'=}BH ڿ@例?N7?ٿ:q?@6똿v??)~BkF@ ~B^;I~@ɫYY)Y YIYY@yJ}GZ****** received transponder code query ******F****** received ping request ******QQaUEEUEYy]h=}e>Ia u:eh5? u:eWھ e9B }?9eGDe; e[;)ej:W@WX XW:W2W*WVbUBU*UUU` @B<B BA>*BAػA!A!A%y<"CM5@RCICM@CQ ]>] >Ye?ie?1IAG]v>2q,LEAY}2@}2I @y}2O<}2ă>}2Hۿ˰`6?@I?`+ۿ ?b#?@?)~2@ ~2`;I~0ɫ99)9 =I9Y}w@y}|GxDUSBL response received:!U1,P EA6,000,00343,186,80,80,98,FF Command AckBRequesting micromodem ping code 2i=iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iI=)=8M b=Y;QU%>)IaUEEUEayu=}}>I5?Qھ 9B e?9GDg2< 7<)WC@WX XW:W2W*WVbUBU*UUU @BUN<BQ BQA]]>*BYA]̻AYAYA]<"C/@RCCC@Cֱ%C %%% %*9:Y%V1y%:%j5qIyG>'9q,IfLEAY}:Ҫ@}:@@y}:<}:>}:HݿB@Y7?@p{?Dܿζ?Q0??)~:Ҫ@ ~:`;I~:Cɫ99)9 9I9Y}@y}}G@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i!!]V<M]E=Y] ;QU]>aaaeEEeEiym=}m>IȑŕO5?ŕھ ƕ9B ?9ƕGDǕ: ȕ:)ȑW @WX XW:W2W*WVbUBU*U!U!U%5@BC<B BA$>*BAGûAAA<"C s*@RCC @C֙AE4=M@>9IIMuGiM@M$=MSDIM&; MEיIGb>@q,WAMEAY}2j@}2]@y}2<}2>}2Hd޿P`??޿\?Zq??)~2j@ ~2-`;I~2Cɫ99)9 =I9Y}@y}|GxDUSBL response received:!U1,R,E78,000,00365,186,80,80,8E,FF Fpublishing direction and range info%>ɰ`=鰁 )CIy=jAցU%?g* x?ٱix=$FiQ@ X@)@I@in@$MP=Y:QU> a EE  E y͎=}>I :5? :Dھ 9B ?9GD: :)k:W%t@W!X! X)W):W)2WI*WQVQbUQBUQ*UQUYU]@J@Rm(Combining 5 samples.P*Q=jAZQCm \+@ߤ@JQցU%?g* x?2Q%>:QbQM%w3ޕ#@bc?RQйz0c:g?Z#?BQ&@ QAQ.P9?P&9?PQQ@"Q5@B<B BA.>*BAعAAA4<"C $@RC C t@C!%hAiI1iISٺlBBI!)!IG l>  5:Yy}5aEEEy}>Iȑŕ]5?ŕY{ھ ƕ9B ?9ƕGDǕ:: ȕ:)ȑmqAdded new target pos. range: 14.639997 m, bearing: 138.000885 deg, deltaT: 4.469576 s, approachRate: 0.456419 m/s, LOS rate: 2.841200 deg/s, posRepo size: 4mZTarget missed at range: 14.64 m. Rolling out.mNTransitioning guidance mode to: ROLLOUT"XWWX; XL?W:W2W*WVbUBU*UUG-@UT?B$w<B! BA>*BA'AAAc<"C%@RCCCIG>= B>99 I= $tGi= o@= &=9 9 = 7; = E dLq,3MEA) uCI uCi #= Z5Y}6@}6r@y}6<}60>}6H3Q`o?2?@Lzٗ?_t@??)~6@ ~6 _;I~6Cɫ99)9 =I9Y@yzGiyyObо(\>i@ @)@Ii@MU=YѻQU>aEEEy>}>I :5? :\nھ 9B ?9GD: w:)l:WWX XW:W2W*WVbUBU*UUU ?B <B BAչ>*B)A-A)A)A-4<"C5@RC5C1C9=FӅI!G=r>C t *9:Y[1yݏ:}5)4;9%KSq,MMEAY}:@}: @y}:C<}:f2>}:Hv`k`??'-f?\9?qya}EE}Eyy=}>Iȉō45?ōOaھ ƍ9B ?9ƍHDǍ#: ȍ:)ȉWWX XW:W2W*WVbUBU*UUU?BrK<B BA>*BAAAA̗<"C@RC ]\C C =>u?iq?IG$>vYq,ծgMEAY}2L@}2h @y}2<}2j0>}2HB ~?`E?`t ?/@??)~2L@ ~2_;I~2CɫYY)Y ]IYYi@yCzG=i=i!)I-=)-=)ټMH=YjQU>aEE&Ey<=}>Iȩ :ŭ@5? :ŭSھ ƭ9B ?9ƭHDǭ; ȭӜ;)ȭm:WWX XW:W2W*W V bU BU *UUU?BM<BQ BYA]>*BaAmAiAqAu3<"C@z@RCw<CCQׁIG=>9I\sGi@;; E .:YW1yč:5)b;]`q,3MEAY}2@}2e @y}2<}2.>}2H_j|v?? `?' F?;?)~2@ ~2^;I~2CɫII)I IIIY}P@y}#zGiUuUUViUG@Q U9@)Un@IUn@iU9@e!MmM=YmQUm>qqauEEu,Eyy}=}}>IȁŅ5?ŅFھ ƅ9B ?9ƅ'HDDžQ: ȅ:)ȁW1W1X1 X1W1:W12W9*W9V9bU9BU9*UAUAUE`J@BE<B BA>*BAEAAA<"C` @RC=CC֥KP&ׁIGUfq,wjMEAY}:rw@}:@y}:,<}:&6->}:H Fy?1V?f1L?bŐ??)~:rw@ ~:5^;I~:Cɫ99)9 =I9Y#@yyGiYYJ +?J +?/$??H> <)Iyx&?S㥛Mb7)?/ݼ A)t@IiGA\QM@=Y =ܻQUu>qqauEEu3Eyy}_=}>Iȁ :Ņ5? :Ņ9ھ ƅ9B ?9ƅ9HDDže: ȅY:)ȅn:WWX XW:W2W*WVbUBU*UUU v@BX<B BA>*BAAAA<"C @RC V6>C C gA,I!)!IGn>K ? 9:Yy#59%@ 9 I 0rGi @ $= >; Elq,?MEAY}B@}B$@y}Bh<}Bx,%>}BHiǽ? r?@?7#?ה?)~B@ ~B.^;I~@ɫYY)Y ]IYY$@yxG鮽a=ɮ=IA)i e>ee94aEE9Eyc=}>Iȑŕ5?ŕq.ھ ƕ9B ?9ƕIHDǕ@: ȕM:)ȑWWX XW:W2W*WVbUBU*UUU _p@RB*** querying acoustic contact ***PPB4<B BA ">*B A ` qA A A?u<"C@RC/v>CC [IG%>Лsq,"MEAY}>S @}>@y}>*J<}>g>}>H `O@ɱ?X?4=`6?E`Y?9?)~>S @ ~>2/^;I~>CɫQQ)Y YIYY@y.xGZ****** received transponder code query ******F****** received ping request ******aEE?Ey%A=}%>I)-95?-"ھ -9B =?9-ZHD- ; -:))WWX X!W!:W!2W!*WiVibUqBUq*UqUyU} @B.<B BAl>*BAn`A A A X<"C8?RC >CC}IGI> ,:YU1y:!5yq,AMEAY}2"@}2;@y}2(<}2y>}2H`k? s.?J':?D? g?)~2"@ ~2j^;I~2CɫQQ)Y eIaY@yfwGxDUSBL response received:!U1,P E78,000,00365,186,80,80,8E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iHM%I=Y5QU=>IQa]EE]FEiy}0=}>Iȡ E:ť5? u:ťھ ƥ9B }?9ƥlHDǥ< ȥ<)ȥo:WWX XW:W2W*WVbUBU*UUU@m @܍A>9܉I܍hqGi܍6@܍#=܍RD܉܍2; ݍEBt<B BA=>*BAFPAAA\5<"C׮?RCCCN! ?i ?IG>=i=q,|NEAY}NK*#@}NE@y}NZ<}N>}NHXq@6?n?$ŝ?``?@.?)~NK*#@ ~N_^;I~Lɫyy)y }IyY@y8wGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B yi}=i Y ~ Mi @  ) Ը@I @i @)M;=Y&QU%>!!a%EE%ME)y5 =}5>I9=q5?= ھ =9B E?9=}HD=: =:)9WaWaXi XiWi:Wi2Wi*WqVqbUqBUq*UyUyU}@&@BE^<B BA>*B)A-CA)A)A-U<"C5?*C50e=RC1C9C9%v;I G%M>MMMM{ M1:YMW1yMč:M5Նq,NEA|@i|@Y}6 $@}6z)@y}6;}6ر=}6H@:d ?@?@]n?@My@??)~6 $@ ~6^;I~6CɫYY)Y ]IYYer@yevGuxDUSBL response received:!U1,R,F4A,000,00390,186,80,80,83,FF uFpublishing direction and range infom">iɰml=i i)mCIiym‰Am+?@\~>?ٱiiJ +?V-p= ף? =)IyuV?:v~jt?r(?T< A)@IrAiAA='M=Z=Y=QU=>AAaEEEESEIyM=}M>IQ ]:Ud5? e:Uپ U9B e?9UHDU: U:)Up:W!W!X) X)W):W)2W1*W1V1bU1BU1*U9U9U=)@RM(Combining 5 samples.Pi*Qm‰AZQm#1@T @JQm+?@\~>?2Qm">:QibQmn+pZ%@poY?RQme•p(?!J ?BQmA@ Qm*AQm$XPm9?Pm9?PmQmQm0@"Qm@BLs<B BA>*BAaN6AAA<"Cܒ?RCCCQ9=IGE>܍ ?>9܉ I܍ pGi܍ @܍ "=܉ ܉ ܍ 7; ݍ E q,q6NEAY}-~$@}-@y}-M^,;}-{=}-H 1W±? L?7?ȋe`5?`?)~-~$@ ~-];I~-Cɫ) IYM@yUuGTNmea in: $SNTTA,0.035914,,,,013240.76*4F i====i=@9 =9@)=@I=n@i=@M0$MM:=YMB QUU>QQaUEEUZEYy]<}]>IaeU5?eپ e9B u?9eHDeܹ: e+:)amqAdded new target pos. range: 17.219997 m, bearing: 141.679447 deg, deltaT: 4.440179 s, approachRate: 0.581058 m/s, LOS rate: 0.828472 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UUQ81@U`v?Ba<B BAr>*BAK)AAAz<"C@RCCC7=I)יIGA>y -:Y0Y1y:5)%;9%q q i NmGI i % Mٺ! - .=BSq,cPNEAɫ髙) IY@yuGI9)=AiIIMW=YQU>aEE`Ey}>I :EH5? :پ 9B ?9HD0:; +;)q:WWX XW:W2W*WVbUBU*UUU {?B ^e<B  B A"q>*BAJ%AAAz-<"Ct@RCx>C!C!>IGI>q,AjNEAY}j'$@}j3@y}js:}jtx=}jH @{ ?@?C?`yC ??)~j'$@ ~j[;I~hɫ髙) IYUh@y]UuGiÍ=Í,>ÍmiÍG@É čn@)čIčX@ič9@M;=Y@QU>aEEgEy}>IȹŽQ95?Žپ ƽ9B ?9ƽHDǽ: Ƚ:)ȹWWX XW:W2W*WVbUBU*UUUd?B-HU<B) B)A-b>*B)A5/A1A1A5T<"C9*C=Rf=RC=3u>C9CA!%hA-<>9)I-toGi-@-!=))-G; -E)ݹIݹiݹݽ#=ݹݽ5օvh5>YIaG}Y>W 3:YWU1y:G5)P;q,&NEAɫyy)y yIyYz@yluGi!e;Mea=YeQUm>iiamEEmmEqy}}}>Iȁ :Ņ,5? :ŅQپ ƅ9B ?9ƅHDDž: ȅ:)ȅr:WWX XW:W2W*WVbUBU*UUU?Bk<B BAe>*BAAAAP<"C*CSg=RCǕv>CC )>=%6>)i-}?I G%M>5%q,@NEAY}b:"@}b+V@y}b::}bed}bH`98%݆%?5 "P~@3?)~b:"@ ~bN{[;I~bCɫ髙) IYR@ysG5=i5=i99?B`"?{Gzt? ?N> ף;)IyMb? rh~jt?#?C< Q A)h@IAiAQAެM%?=Y%im:QU%>))a-EE-tE1y5K}5>I9=;5?=uپ =9B E?9=HD=: =:)9WiWiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUyU}`.@B0<B BA@>*BAAAA<<"C*Ch=RCh[>CC֥XF>aIiG9>E EEEr E5:YEW1yEč:E59e@% :>9! I% oGi% O@! ! ! % B; % ENq,WзNEA|@i|@Y}F @}F@y}F:}Frd}FHZ?f?`u?Y`@?)~F @ ~FM\;I~Dɫyy)y yIyY@yvtGiUUpUN>iU@Q U@)QIU@iU"@e<MeW=Ye:QUm>iiamEEmzEqy}yO}}>Iy}5?}˹پ }9B ?9}HD} : }8:)yWWX XW:W2W*WVbUBU*UUU@k7@B&*N<B1 B1A5L>*B1A=+A9A9A=~<"CI*CMYh=RCUjL>CQCam$l>!I1GM1>:8q,̲NEAY}f@}f!@y}f*eU:}f0ý}fH4 @U'@?zJ\?)~f@ ~fX\;I~fCɫ髱) IY-e@y-rG9ɮ=p=iIImpͽMuI=YuQU}>yaEEEy>[}>Iș :ŝF5? :ŝ'پ Ɲ9B ?9ƝIDǝ@; ȝ:;)ȝs:WWX XW:W2W*WVbUBU*UUUN@RB*** querying acoustic contact ***PPB<B! B!A%q">*B!A%ӺA!A)A-<"C1*C58$i=RC5E:>C1C9IMhABv>I!)!I G%M> d a4:Y[1yݏ:5eq,NEAY}6:@}6@y}6"}6}6H\@*A^޺z?}1 :w@y"?;c?)~6:@ ~6%];I~6Cɫ11)1 1I1Yu@y}`sGZ****** received transponder code query ******F****** received ping request ******5Di5Q@1 5X@)1I59@i1eo<Me==YmQUm>iiamEEuEqyui}}>Iy}5?}پ }9B ?9}ID}#: }:)yWWX XW:W2W*WVbUBU*UU!U%H @Bm%e"<Bi BiAm/>*BqAu&ᄎAqAqAu9p<ٹٽ<9tCInGi@#=SD=; E"C*C6i=RCr&>CCֵ(b>qIyG]>Gq,]OEAɫ) IYx@yrG%xDUSBL response received:!U1,P F4A,000,00390,186,80,80,83,FF %Command Ack%BRequesting micromodem ping code 2i!!-Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iIQ'MW=Y%QU->YaamEEmEy}>Iș :ŝ5? :ŝپ Ɲ9B ?9Ɲ&IDǝ < ȝq<)ȝt:WWX XW:W92Wa*WaVabUiBUi*UiUiUu @BH<B BA$>*BATsAAA (<"C)*C]M.j=RCez)>CaC--~-~-/ -d0:Y-T1y-@:-5- y;>1 i5 ? I G >4rq,2;OEAY}6@}6k @y}6׺}6a9}6H?¿ o?I xYZ?ǿy?)~6@ ~6<];I~6CɫYY)Y YIYY@yqGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i ףp= ?ʡE? rh?Q>-= C<)Iy!rh?Mb?l'?< Q@) AIXAi7 AfA5M5@=Y5rQU=>99a=EE=EAyE}E>IIM5?Mljپ M9B ]?9M6IDM׾: M{:)IWyWyXy XyW:W2W*WVbUBU*UUU-@Bж<B BA>*BA8AAA<"C*Cjbj=RC<=CC=v;>I)Gew> <>9 I HnGi @ %= D K; Eq,9OEAY}J@!@}J< @y}Jນ}JFG}JH\_Ŀ/?@5@\Q\?ȿAd?)~J@!@ ~J3\;I~JCɫ髑) IYyxDUSBL response received:!U1,R,120,000,003BD,186,80,80,6D,FF Fpublishing direction and range infoɰ˜= )BIy\AXU? Ͽٱ=i=iI)U=UsU=iU @Q U@)UΣ@IU@iU@Ye\=QUe>aiamEEmEqyu}}>Iy :},5? :}~پ }9B ?9}FID}w: }b:)}u:WIWIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYU]`@R(Combining 5 samples.P*Q\AZQ() OK3@JQXU? Ͽ2Q:QbQK](w2@s?RQu(rԿǽD?U?BQg? QAQZP9?P9?PQQd@"Q0@Bf<B B A *B A A A A o<"C*Cj=RCG=CC%K+>IGI> [/:YY1y:F5);9%q,ROEAY}F8@}F@y}F!}FN}FH ſ@dE?` f]4A?#ɿoY?)~F8@ ~F{\;I~FCɫyy)y IY@@ytqG}TNmea in: $SNTTA,0.032317,,,,013245.22*45 iLMaEEEy`}>I5?qپ :B ?9WID: :)m%uAdded new target pos. range: 19.919998 m, bearing: 108.722453 deg, deltaT: 4.448940 s, approachRate: 0.606886 m/s, LOS rate: -7.407831 deg/s, posRepo size: 4W)WX XW:W2W*WVbUBU*UU3@U3?B%!;B) B)A-=*B)A-%΄A)A1A5ys<"C1*C=j=RC==C9C9=v>I!GEQ>̰q,lOEAY}v\@}vx@y}v:}vkQ}vHT/@t~ƿ ? ߿ 鹿TZ@Aɿ U?)~v\@ ~vP\;I~vCɫ) IYU@yUFqGi v>> Mb =i =@  @) X@I X@i n@2ME=Y%;QU%>!)a-EE-E)y5H}5>I9 E:=y5? E:=cپ =:B M?9=iID=@; =;)=v:WiWiXi XqWq:Wq2Wq*WqVybUyBUy*UyUyU ?BMp;BI BIAM=*BIAM?pAQAQAUsL<"CY*C]+j=RC]'R=CYaam;>9iImmGim[@m$=iimT; mECu=QIYGuz>f /:YU1y:}5)$;&q,OEAY}6{Q@}6l@y}6i;}68L}6Hw߿fL{_ƿ@?޿H< 8m@pɿ`\?)~6{Q@ ~6~W\;I~4ɫYY)Y YIYY@y'qGI)Ai!)iE/mG IIIkAieJٺkA:B%MO=Y;QU>aEEEy?(}>I  5? )Wپ :B ?9 yID : :) W9W9X9 X9W9:W92WA*WAVAbUABUA*UIUIUM=?B};By ByA}=*ByA};YAAA3<"C*Cj=RC`=CCm=)IQG:>q,POEA||;Y}Nm@}N3@y}N;}NC}NH ޿`ſ`?`/޿2 LvvNȿ@j?)~Nm@ ~N+\;I~NCɫ髑) IY@yqGiYYM?/$?Q뱿n?< \)IyMbX?{GzMb?*?#@= @)!AIAi A A.MF=Y%,;QU%>!)a-FE-E1y5~ }5>I9=5?=Iپ =:B E?9=ID= : =:)9WiWiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUyU@?B?v;B BA=*BAAAAAA(<"C*Cjj=RCI4=CC=׹IGE>S o/:YV1y:k59%@e 9>9a Ie mGie @e #=a a e C; e E)tCItCip5q,__OEAY}:]@}:@y}:f;}:9}:H`޿Ŀ ??૦ݿw+}`|@hǿ`My?)~:]@ ~:?\;I~:Cɫ99)9 9I9Y}@y}pGi}T},}i}@y }­@)}@I}9@i}@fMT=Y ;QU>aFEEy}>Iȩ :ŭz5? :ŭ<پ ƭ):B ?9ƭIDǭ: ȭb:)ȭw:WWX XW:W2W*WVbUBU*UUU@?B;B BA=*B!A%c*A!A!A%&<"C)*C-j=RC5=C1C1i=IGI>Lq,`VOEAY}R'@}RB@y}R <}R>,}RHݿuGÿ`za?@ 9ݿ 0Zxſ?)~R'@ ~R%\;I~RCɫ髩) IY@yqG=i=iIa=)%= ;MH=Yj;QU>aFEEy[}>I5?*/پ ;:B ?9ID: {:)WWX XW:W2W*WVbUBU*UUU *C@B5;B1 B1A5c=*B1A=A9A9A=9.<"CA*CEj=RCM*<CICI=lT=IG+>Y L ::YxZ1yq:5q,OEA|*@i|(ɫ髑) IY@y9qGp=ɮa=i5B>55hi5(@1 5@)5ƣ@I5i5@E<MEB=YMQUM>IQaUFEUEQy]}]>Ia m:e5? m:e!پ eN:B m?9eIDe': e:)ex:WWX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB;B BA=*BAAAA4<"C*C2ej=RC1<CC4=%:>9!I%mGi%@%%=!!%B; %E=I)׹IGf>^q,PEAY}J7@}JR@y}J߫P<}J}JHܿYD@8I?@ ܿ`tM^¿ ?)~J7@ ~J[;I~JCɫ髹) IY@ypGZ****** received transponder code query ******F****** received ping request ******aFEEy'}>Ișŝ{5?ŝOپ Ɲ]:B ?9ƝIDǝ: ȝ:)șWWX XW:W2W*WVbUBU*UUU೮ @B;B BA=*BAŹAAA.V<"C*C;j=RC <C C%<IG5p>% %%% %3:Y%WU1y%:%F5[q,%!PEAY}:|@}:@y}:bG<}:\}:H`jܿ`bf ? Kܿ`g@`࠹?)~:|@ ~:[;I~:Cɫ99)9 =I9Y}@y}pGxDUSBL response received:!U1,P 120,000,003BD,186,80,80,6D,FF Command AckBRequesting micromodem ping code 2iI)AI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i x&? ףp= ? rh?7)?Q8= C<)IyX9v?Q롿~jtx?\Ļ @)(AIAi AG A=oM=%=YuK;QUu>qya}FE}Eyy.}>Iȩ :ŭ>q5? :ŭ.پ ƭW:B ?9ƭIDǭM: ȭw:)ȭy:WQWyX XW:W2W*WVbUBU*UUU @B8;B BA>=*BAAAA`<"C*CJi=RCW<CCֽ<׉ I G > 9 I TlGi @ F; E8q,n;PEAY}:@}:@y}:<}:Jx}:H2ܿ~d-(?&%ܿ= ?)~:@ ~:*2[;I~:Cɫ髙) IY@yqGAA%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i @ @ @©i@ @)Ii@u<Mum=YuX S 5:YV1y:k5)r;9%!q,+UPEAY}V_@}V̥@y}Vy<<}V#ѽ}VHAܿ@T4? Lܿ`@昿"?)~V_@ ~VfZ;I~VCɫ髑) IY q@y upGi!!5M5`=Y=;9AaEFEEEAyM~}M>IQU"c5?Uؾ UL:B ]?9UIDU: U:)QWWX XW:W2W*WVbUBU*UUU @BRe;Bk< BA=*BA`AAA?P<"C*Ci=RC<CCh%<׉IG>Nq,loPEAY}MO@}M@y}M<}M#}MHܿ l@??m"ܿQCt@z`?)~MO@ ~M]Z;I~MCɫaa)a iIqY}@yHoGDNmea in: $SNTTA,,,,,013249.64*51 i=iI4=)4= % % %%h>%<%i%@% %@)!I% @i%ƣ@5̋M5;=Y5&99a=FE=EAyM3}M>IQ ]:UUZ5? ]:Uؾ UC:B ]?9UJDU": U.:)Uz:WWX XW:W2W*WVbUBU*UUU@e@ܩ9ܩIܭkGiܭs@ܭ$=ܩܩܭ?; ݭEB};B BAЊ=*BAAAAb <"C*Cui=RC<CCIG>H 1:YxZ1yq:5);\2"q,6PEAY}6@}6"@y}6>=}6}6H`%#ܿô`?@6ܿqrpw  ?)~6@ ~6%Z;I~6Cɫ99)9 =I9Y}@y}oG鮅a=ɮi]-=Mh=YaFEEy.;}>I9S5?wؾ ::B ?9JDI: w:)WWX XW:W2W*WVbUBU*UUU @B=;B9 B9A=\=*BAAEda^AAAIAM<"CQ*CULi=RCUUF"<CYCY֍\(q,PEAY}6e@}6һ@y}6k=}6.}6H.ܿ@P`c?;Eܿs*o?졿?)~6e@ ~6 }Z;I~6Cɫ99)9 AIAY@yoGxDUSBL response received:!U1,R,F2B,000,03716,186,80,80,B3,FF Fpublishing direction and range infoV>>ɰg? )3CIy'JDՑfr?(ҧ?ٱimPn?Zd;O~jtxm$?mj mĻ)iIiym333333?)\( rh?m9?mGamC = m^A)mAIm7 AimAimQA)y }>nM/=YP;QU>aFEEy2:}>Iȡ :ťH5? :ťؾ ƥ@:B ?9ƥ4JDǥ; ȥ;)ȥ{:WWX XW:W2W*WVbUBU*UUUh@R(Combining 5 samples.P*Q'JDZQ~nՈ@rb@JQՑfr?(ҧ?2QV>>:QbQ,;~'7@eŇBRQ#,$E ?𴇧BQu @ Q!DQP19?P9?PTQQ"Qd@B5;B1 B1A=z=*B9A=,s8A9A9A=<"CA*CMi=RCM=+<CICIem<%%%%M %R.:Y%WU1y%:%"59%@m &ܱ 9ܱ Iܵ `jGiܵ @ܵ %=ܱ ܱ ܵ 6; ݵ E.q,PEAY}:2@}:@y}:"=}:[}:H`2ܿ $@>w`ڳ?Jܿ0? ڢ l@?)~:2@ ~:=Z;I~8ɫ99)9 9I9Y}@y}zoG }'}`=}i}@y }@)}Σ@I}"@i}Σ@m M\=Y̟;QU>aFEEykN:}>Iȩŭ@5?ŭؾ ƭD:B ?9ƭEJDǭ; ȭP;)ȩm}Added new target pos. range: 808.620056 m, bearing: 126.783897 deg, deltaT: 5.669615 s, approachRate: 139.109985 m/s, LOS rate: 3.185656 deg/s, posRepo size: 4mCompleted rollout at range: 808.62 m. Resuming terminal guidance.mbTransitioning guidance mode to: TERMINAL_GUIDANCE"XWWX XW:W2W*WVbUBU*UUD@U?B5;B1 B1A5=*B9A=c8A9A9A=K<CAM<=h%<> i1IMSkAiaIi2IٺSkA8BG>!W@9EBbo5q,PEAY}B@}BY@y}B^=}B nD}BH9ܿ?VQܿ@C? }ʣ@@w?)~B@ ~BsZ;I~BCɫYY)a aIaYf@y-oG%2Powering down loadControl %%I%)%i--MD=YO;QU>aFEEyb:}>I  : l65? : ͤؾ G:B ?9 XJD : :) |:;= w=Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;=wEdResuming normal ranging with 1.000000 count pings.;E10;q,PEAY}>C@}>@y}>&=}>n0}>H@$ܿ`îϵ?>ܿ@?xؤj?)~>C@ ~>#Z;I~>CɫIQ)Q UIQY@y;nGEtE5޾EF>iE@A E\@)E?@IE\@iE\@UMUT=YU;QU]>YYa]FE]Eaye3a}m>Iqu-5?u+ؾ uJ:B }?9ujJDu: u:)qX?1<wCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR; wAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRWWM;>9IIMhGiM:@M&=IIM3; ME)Ii邉%=%=4Xa XaWi:Wi2Wi*WiVibUqBUq*UqUqU}"?BhF;B BAb(=*BAQ9AAA=<C0<IGi>Bq,~ QEAY}2u@}23@y}280=}2F9}2H;ܿ@r?`͍ܿ? [`a?)~2u@ ~2VZ;I~2Cɫ9A)A AIAY@y nG]=i]=ep=ie4=Iu=)u=ջME=Y;QU>aFEE@@y7}>I  : $5? :'ؾ L:B ?9~JDK< B<)}:WWX XW:W2W!*W)V1bU9BU9*UaUaUm?BC2;B BAG=*BAeUw9AAABz<C)---- -/3:Y-0Y1y-:-j5Mh%<) I1 Gm >Hq,Y$QEA|i|Y}6]P@}6k@y}6N:=}6&}6H ۿZ( ?`?ۿ3~? WXཡ ?)~6]P@ ~6iQZ;I~6Cɫ99)9 =I9Y}@y}lGZd;O?bX9ȶ?Qj?E= u)IyK7A`?~jt rh?+?DC< =A) AIQ Ai‰5MK=Y;QU>aFEEy!}>I5?>xؾ G:B ?9JD{: :)WWX XW:W2W*WVbUBU *U U U "?B=#@:B9 B9A=;*B9AE{9AAAAAEk<CIM0<]?i]?9IIGeU>U <>9Q IU @gGiU @Q Q Q U 9; U ENq,<>QEAY}6|0@}6K@y}6 A=}6E}6H`ۿ`@ /?`ۿn?Q`qb@?)~6|0@ ~6KZ;I~4ɫQY)Y YIYY޿@ylGÕÕtÕLiÕ@Ñ ĕn@)ĕΣ@IĕΣ@iĕ@ NMJ=Y%m;QU%>)1a5FE5E9y=}E>IAE5?Eiؾ EB:B U?9EJDE: E+:)AWqWqXy XyWy:Wy2Wy*WVbUBU*UUUG@B{9B BA*BAAAA<C֝ &c 0:YT1y:5);9%ʼUq,XQEAY}2@}2)@y}2g5C=}22}2Hۿ@k`r?ۿy?Od/ࡿ?)~2@ ~2,Z;I~2Cɫ99)9 9I9Y"@y'kG@AI)A yMX=Y:QU>aFE"Ey }>I  :o 5?  :\ؾ =:B  ?9JD: :)~:W1W1X1 X1W1:W92W9*W9V9bU9BUA*UAUAUE ,@RUB*** querying acoustic contact ***PQPUBuE Bq ByA}*ByA}n9AyAyA}<Cօ0[q,WqQEAY}:@}:n@y}:4yA=}: }:H7ۿ`% ?@ǡۿ]?@,l?)~:@ ~:z9Z;I~:Cɫ99)9 9I9Y}@y}kGZ****** received transponder code query ******F****** received ping request ******qqauFEu)Eyy}}}>IȁŅg5?ŅKؾ ƅ6:B ?9ƅJDDž: ȅ#:)ȁWWX XW:W2W*WVbUBU*UUU @BX<|B BA*BA7[9AAAJg<Cu &bq,GƋQEAY}6@}6@y}6>=}6l}6H@]pۿ[(?@Kۿ,? Iا@w@?)~6@ ~6"Z;I~4ɫ99)9 9I9Y}@y}jGxDUSBL response received:!U1,P F2B,000,03716,186,80,80,B3,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 0M~=YQU ?a%FE%/Ey}>IQ :U5? :U?ؾ U2:B ?9UJDU= U=)U:WWX XW:W)2W)*W1V1bU9BU9*U9UU| @B{B BAJ*BA% A9A!A!A-<C1mh%hq,jQEAY}2@}2X@y}2?=}2}2H]ۿ  h?zۿ?@U-?)~2@ ~2P3Z;I~2Cɫ99)9 9I9Y}@y}iGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=R=iR=I=)%=m?l?y&1??= `e=)Iy9v?~jt?4?< A) AIp AiA Au[M-=YN9QU>  aFE6Ey:}>I!%}5?%@/ؾ %/:B -?9%JD%f: %:)!WIWQXQ XQWQ:WQ2WQ*WYVYbUYBUa*UiUqU}8@B >zwB"= BA]*BA-9A)A1A50<C0<-Y --- -::Y-X1y-/:-I595@I:>9I dGik@$=@; EG- >"oq,|QEAY}2j@}2@y}2)A=}2}2H\Zۿ`l#?wۿޚ?635?)~2j@ ~22Y;I~2CɫYY)Y ]IYY@yhGxDUSBL response received:!U1,R,F76,000,00427,186,80,80,BC,FF Fpublishing direction and range infoϢ=ɰ)=鰡 )i @  @) &@I &@i @쬽Mo=Y%M:QU%?!)a-FE-;E)y5K$}5?I9 E:==5? E:="ؾ =,:B E?9=JD=M: =8:)=:WiWiXi XiWi:Wi2W)*W1V1bU1BU1*U1U9U=@@PI*QM=AZQMOQ:@S;A @JQMo ?rjƹI?2QMϢ=:QIbQMNXr+uN36@ɇpRQMGB y;O?DcBQM@ QMAQM_PM9?PM19?PMQMTQM@"QMBûB BA**BA<έ8AAAwM<Cx/<IGn>vq,gQEAY}v~@}v@y}vUA=}v~7"}vHUۿ`?sۿ`g?6?k?)~v~@ ~vY;I~vCɫ) IY-@y5whGDNmea in: $SNTTA,,,,,013255.30*5D ]ZM]7=Y]s8QUe>iiauFEuCEqy}90}}>Iȉōn5?ōxؾ ƍ(:B ?9ƍ KDǍa; ȍ;)ȉmMAdded new target pos. range: 26.280003 m, bearing: 122.236453 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1mrPowering the camera and arming the DDM at range: 26.28 m.XmProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 122.236453deg and heading rate command to 0 deg/s.W@WX XWX:W2W*WVbUBU*UU@G:@U@[\?B%ΏB! B)A-ˮ*B)A-J7A)A)A-S<"C5@RC5 سC=@C9U0<)I9GUv> '0:YU1y:$5z6|q,e9QEAY}2@}2 @y}2f==}2bd }2H Jۿ@8%?gۿR?`?)~2@ ~2vY;I~2Cɫ) IY5^@y5gGܝ9>9ܙIܝ,bGiܝԷ@ܝ#=ܝRDܙܝL; ݝEI)AI).Powering up loadControlim qqlKi=@ @)I\@i@- ,M->=Y5"QU5>11a=FE=JE9yE}E>Iȁ :Ņ5? :Ņؾ ƅ%:B ?9ƅ KDDž+: ȅ:)ȅ::uAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;vZEntering USBL mode with 5.000000 count pings.1;q;WWX XWX:W2W*WVbUBU*UUUH?B-tB) B)A5ӽ*B1A5\A1A1A5E<"C]@RCe1CaCaU+O<-$IG >i mGI lAi A ٺ lA Bq,R REAY}6(@}6@y}68P3=}6!}6HBۿ@ ۫? ]ۿ>?1h@8?)~6(@ ~6md;I~6CɫYY)a aIiY@yfG-iM-J=Y5ǻQU5>99a=FEEPEIyM}U>IY]^5?]׾ ]#:B m?9]2KD]; ]5;)YX@q;uCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:uAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLWWX XWX:W2W*WVbUBU*UUU`5A?BB! B!A%*B!A- <A)A)A-<"C1*C5h=RC5'C1C9ѽ"=EEEE E,:YEWU1yE:E5֭~MIiA)iAס I G >Fq,&REAY}6@}6@y}60&=}6G"}6HEۿKG?C]ۿY?kڤ`Q?)~6@ ~6|;I~6Cɫ) IYUҺ@yUeGimQ?&1?~jtm?mP= mļ)iIiym!rh?~jty&1?ml'?mDm`< mrA)mAImAimAim AMT=YQU>aFEVEyd9}>I5?׾ $:B ?9BKD< <)W W X  X WX:W2W*WVbUBU*UUUEg?B20B BAp*BAj;AAAK<"C*CAh=RCu'CC) ܝ8>9ܙIܝ`Giܝ@ܙܙܙܝR; ݝE))I)i)-$=-$=-/5E d! I) GM >.q,7@REAY}6 @}6y@y}6&6=}6}6H@Hۿ un4?\ۿy?e9?)~6 @ ~6 ;I~6Cɫ) IY=κ@y=eG=i=iI4=)C=Õ/ݼÕ>ÕLiÕf@Ñ ĕ)ĕ~@Iĕ~@iĕ~@MI=YQU>aFE]Ey$9}>I :5? :׾ &:B ?9SKD=; G;):WWX XW!X!:W!2W!*W)V)bU)BU)*U1U1U5f@B]x<BY BYAe*BaAeM5۹AaAAzA<"C *C 1g=RC 'C Cl"IG>==== =o/:Y=V1y=:=5)=̌;9E}Zq,ZREAY}63@}6@y}6=}6}6Hh\ۿ@gb@? oۿ?ƹ`װ)?)~63@ ~6;I~6Cɫ) IY@ycGiMY=YdQU>aFEcEyWl;}>I5?׾ ):B ?9cKDM: :)WWX XWX!:W!2W!*W!V!bU)BU*UUU@BCwB BAR*BA,AAA<"C)*C-9g=RC-"C)C1=C"I!G=r>q,ztREAɫ髙) IY@ycGAA gAfAiM7>9IIM _GiMJ@IIIMu; MƗE->X>i@ @)@I&@i&@MH=YQU>aFE iEy}>I! 5:%ި5? 5:%½׾ %+:B =?9%tKD%;(; %i);)%:WiWiXi XqWqXq:Wy2Wy*WVbUBU*U U U @R%B*** querying acoustic contact ***P!P%BvB BAU*BAnEAAA<"C*Cg=RC$CCֽl"בIG>I1)5AAEEEE E*:YEW1yEč:EH5)E͈;Skq,`WREAY}25@}2P@y}2=}2t-}2H`2ۿ@Hg@0?oۿ p?=_?)~25@ ~2;I~2CɫYY)Y YIYY@y7cGZ****** received transponder code query ******F****** received ping request ******aFEpE!y5U<}5>IQU5?U׾ U-:B ?9UKDU>< U<<)QW9W9X9 X9WAXA:WA2W*WVbUBU*UUU@9 @B ?B BA_*BA@vAAAx<"CA*CEӲf=RCE<=CACIUgAUfAA1IAG]>q,0REAY}2D@}2@y}2V=}2s}2H"'ܿE@{5ݶ?`4ܿd?`ȉ<둿_?)~2D@ ~2;I~2Cɫ99)9 9IAY@ycGxDUSBL response received:!U1,P F76,000,00427,186,80,80,BC,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i-(\?~jth?~jth?-'?-D; -D;))I)y-Pn?y&1Q?-$?-`-< -A)-OAI- Ai-7 A)- ASi\@ @)@Ib@i@eRMm=YuQUu>aFExEy?<}>Iȱ :ŵU5? :ŵ׾ Ƶ1:B ?9ƵKDǵ< ȵ<)ȵ:WWX XWX:W2W*WVbUBU*UUUKQ@=M 99=V =9:Y9y9=59E@Q9QIU]GiU@U$=USDQU; U̗EBWrB BA/c*BAe^AAA5<"C*CQ>f=RC*CC I fA) eA׹ I G >q,GREAY}6@}6*@y}6=}69VJ}6H ܿx "? ܿv?5G?)~6@ ~61v;I~4ɫ) IY 8@y kaGɮ5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iM`=Y*QU>aFE~E!y-t<}->I15s5?5ϒ׾ 54:B =?95KD5I: 5:)1WaWaXa XaWaXa:Wi2Wi*WiVibUqBUq*UqUqUu u@BjB BAY*BAܮAAAR<"C*Ce=RCCCօG꼹9IIGew> q,REAY}:Q@}:Gm@y}:x<}:ջ}:Hbܿ@U?`qܿf? Wv୺z ?)~:Q@ ~:`7m;I~:Cɫ99)9 9IAY}@y}aGxDUSBL response received:!U1,R,F7D,000,0045F,187,80,80,41,FF Fpublishing direction and range info =ɰV=鰅1> )BIyA====[ =2:Y=DW1y=Y:="5Ӽq,REAY}~h@}~I@y}~B<}~U :}~H@ܿ8w_?iܿW?g 5A?5?)~~h@ ~~,f;I~~C=9I[Gi@%=~; ʗEɫ) IY5@y5`GDNmea in: $SNTTA,,,,,013259.75*50 i-j<--i-p@) -h@)-h@I-h@i-h@=lM=4=Y=>UQUE>AAaEFEMEIyU^J;}U>IQ ]:U|5? e:UGz׾ U@:B e?9UKDU: U:)U:mqAdded new target pos. range: 29.639999 m, bearing: 123.316538 deg, deltaT: 4.443767 s, approachRate: 0.756115 m/s, LOS rate: 0.243056 deg/s, posRepo size: 2mrPowering the camera and arming the DDM at range: 29.64 m.Xm ProNav: pos range: 29.639999 m, bearing: 123.316538 deg, approachRate: 0.756115 m/s, LOS rate: 0.243056 deg/s, cmd update: 0.729169 deg/s, cmd heading: 122.236453 deg, new cmd heading: 122.236453 deg. W@WX XWX:W2W*WVbUBU*UUף=@U?Bm]"Bi BiAmu*BiAuAqAqAuz<"C}@*C}`e=RC}żC}@C]ԅI)GER>q,9SEAY}B-p@}B@y}B<}B <;}BH "ܿsk?ܿ?@q??)~B-p@ ~Bcb;I~BCɫ髁) IYa@yc`G fA鼱iRQ?K7A`?ˡE?+> ')IyQ?Mb{Gz?(?#<  A) AIp Ai A A=)M=;=Y= 4QU=>AAaMFEMEQyUʅ:}]>Iaer5?ek׾ a u?9eKDe%; e ;)aWB @WX XWX:WA2WA*WAVAbUIBUI*UIUIUU?Bk2B BAŔ*BAjUAAA <"CB @*Cd=RCVwCB @CI5AA)5@AEEEEj Eo/:YEU1yE:EY5IG>Lq,y)SEAY}:cm@}:Έ@y}:a<}:?1;}:HܿE@_nx?ܿ@?F \>f?2?)~:cm@ ~:xu`;I~8ɫ99)9 9I9Y}@y}_GI!)!i))}'Ml=Y߻QU?aFEEy%}>I :hi5?  :_׾  ?9KD; ;):W @WX XWX:W2W*WVbUBU *U UU;?B=5XϼB9 B9A=៾*BAAE AAAAAET<"CM @*CM)d=RCUiCU @CQefAaE߼I G%N>9IYGi*@x; ǗEq,iSCSEAY}2@}2@y}2J<}2k}2H ܿs]x ? +ܿ@ +?`Uؔ=@_?)~2@ ~2_;I~2Cɫ99)9 9I9Y}*@y}^GifAeA m@ m@ m@m©mmim@m m)m@Im@im@}$M}J=Y}]QU>aFEEyP;}>Ișŝ_5?ŝR׾ ƝA:B ?9ƝKDǝʽ: ȝ:)șW @WX XWX:W2W*WVbUBU*UUU`?B-$ؼB1 B1A56*B1A="A9A9AE|<"CM @*CM]YY]6 ]@*:YYyY]55Fq,4/]SEAY}2f@}2@y}2bS2<}20}2H@ݿo`v`? ݿ`8?`OJF@?)~2f@ ~2^;I~0ɫ99)9 9I9Y}@y}^GI@)@isMQ=YxQU>!!a%FE%E)y-U;}->I1 =:5 V5? =:5E׾ 5B:B E?95 LD5: 5f:)5:We, @WaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UqUyU}?B%ռB! B!A%t*B!A-4A)A)A-<"CU, @*CUc=RCUkCU, @CYօYIiG]=i]= q,wSEAY}2Q@}2@y}2? ;}2+}2HOݿ:r upr?!Pݿ`z?AVEC?)~2Q@ ~2];I~2Cɫ99)9 9I9y9yI}XGi}6@yyy}}; }ʗE)1I1i15%=15~ 5Yʴ@yn^G1i1i9A   ÕO=Õ'ÕAiÕ@Õ ĕ@)ĕIĕ@iĕ@RMB=YQU>aFEEy9 <}>IȹŽK5?Ž7׾ ƽD:B ?9ƽLDǽk: Ƚw:)ȹW @WIXI XIWQXQ:WQ2WQ*WQVYbUYBUY*UaUiU v@BԼB BA;*B!A-mGA)A1A5%u<"C= @*CEcc=RCEzCCe @Ci Յ=ԅ=uuQIYG}z>]]]]A ]n1:Y]W1y]č:]5)];9e+q,SEAY}%"@}%]>@y}%@3;}%9}%H@ݿbhb?.ݿpX?gf`9` ?)~%"@ ~%\;I~%Cɫ髑) IYq@y^G@AAAiM?I +?sh|?n?94> )IyDl?~jtZd;O?O-?j<= ½ A)½OAI½OAi½AA)= =ȼM8=Y4QU>aGEEy4<}>I :_B5? :'׾ X:B  ?90LD@: :):W-[ @W)X) X1W1X1:W12W1*W9V9bU9BU9*U9UAUEN@RMB*** querying acoustic contact ***PIPIBu-Bq BqAuɳ*BqA} '[AyAyA}H<"C[ @*C+c=RC$C[ @C}9IAGew>C1q, SEAY}6T@}68p@y}6<}6T}6HJݿ)W5i! #W?BݿZe@gb?U?)~6T@ ~6\;I~4ɫ髱) IY#@y]GZ****** received transponder code query ******F****** received ping request ******aGEEy;} >I695?׾ m:B -?9CLDR; /;)WA @WX XWX:W2W*WVbU!BU!*U!U!U- @BukܼBq BqAu*ByA]qAAA <"CA @*Cb=RC.CA @C܁9܁I܅XGi܅@܁܁܁܅; ݅їEeeee) eC3:YeDW1yeY:el5)e;֭C"i Iy G >:q,SEAY}6q@}6D@y}6Ż}6}6H@ݿ lP`[?DP?ݿA3x Xx?fT?)~6q@ ~6̠\;I~6Cɫ99)9 9I9Y}}@y}\GxDUSBL response received:!U1,P F7D,000,0045F,187,80,80,41,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i=M=Y8GQU?))a5GE=EIy];}e ?I925? ׾ :B ?9QLD: ӻ:)WS @WX XWX:W)2W1*W1V9bU9BUA*UiUqUuMe @B B BAþ*BAShAAAǦ<"CS @*CYJb=RC7CS @C%)IG>aGEEyx;}>Iȩ :ŭ)5? :ŭ־ tI ƭ:B ?9ƭcLDǭ2: ȭQ;)ȭ:W @WX XWX:W2W*WVbUBU*UUU@Bc(B BA%ľ*B!A%2A!A!A%8<"C- @*C5$a=RC5 AC5 @C1%<1IG J>^, &:YW1yč:59@Zmq,LQSEAY}2'@}2@y}2ۡ}2M}2H޿`='o?=?޿_+4? 4?)~2'@ ~2O\;I~2C<<58>91I5v=iכ@ @)@IE@i@VMS=Y,QU>aGEE!y%h;}%>I)-!5?-/־ -:B =?9-tLD-: -:))W) @WX XWX:W2W*WVbUBU*UUU@@B;B BAϾ*BA AAAAh<"C) @*C{a=RC|HC) @Cֽ;יIGb>U=iUa=WYq,=TEAY}@}j*@y}G-}C9}HG\޿p+Ju?` +? \޿dߨ? 7??)~@ ~\;I~Cɫii)q qIqY˲@y[GDNmea in: $SNTTA,,,,,013304.19*53 =ii  |?5^?aGEEy%'<} >I :G5? %:z־ :B -?9LD>_>]YY]H ],:YYyY]5IG>t q,,TEAY}BN]@}Bx@y}BP}Bp;}BH޿@@8?6?F޿`Ƹ ?Lq? B?)~BN]@ ~B\;I~@ɫaa)a iIiY@y[GiYY)e= e> @ @ @©iQ@ )Ii9@M\=YQU>aGEEyMT<}>I5?#־ :B ?9LD : 8:)Wf @WX XWX:W2W*WVbUBU*UUU` @B B  B A UҾ*B AAAAd<"Cf @*C>`=RCKCf @C!=4|E%9>9!I%VGi%@!!!%; %җE9IAG]v>gq,ETEAY}:@}:@y}:'ㆼ}:;}:H޿L5?`]?P޿R3ܐ?<>{?`?)~:@ ~:\;I~:Cɫ99)9 9I9Y}c@y}y[G 鼉iKMa=Y'QU>aGEEyS<}>Iȹ :Ž< 5? :Ž־ ƽ:B ?9ƽLDǽ: Ƚw:)Ƚ:W# @WX XWX:W2W*WVbUBU*UUUڍ@RB*** querying acoustic contact ***PPB B) B)A5Ծ*B1A5UA1A1A5}<"C=# @*C=,3`=RCE/LCE# @CAyYIaGY>IU@A)Qmm}m}m] m +:YmkS1ymԊ:m5zq,^_TEAY}6E@}6@y}6}6Z;}6H >߿@7n??@ ߿v_ ?I|??)~6E@ ~6A\;I~6Cɫ99)9 9I9Y}3@y}>[GI)AiOnMJ=Y(QU>aGEEy;}>IȹŽ5?Žt־ ƽ:B ?9ƽLDǽ: Ƚ{:)ȹWs @WX XWX:W2W*WVbUBU*UUU`@B->B) B)A5׾*B1AqAAA)<"Cs @*C _=RC.UCs @CtE׹IGE>q,tyTEAY}6y@}6@y}6Ǽ}6;}6H>߿@?@L? ߿&?~?Y?)~6y@ ~6\;I~6CbgAbgAf:>9dIfsVGifN@f&=ddf; fїEɫ9A)A AIAY@y[Gi±±    @ @ @iד@ )I3@iI@uTMC=YQU>aGEE!y%;:}%>I) 5:-5? =:-w־ -:B =?9-LD-: -:)-:W]) @WaXa XaWaXa:Wa2Wa*WiVibUiBUi*UqUqUu@BB BAoھ*BA˻AAAJ-<"C) @*CsP_=RC;fC) @CXRIG J>]t]]]k ](:Y]W1y]č:]5)];9eiu mGI i ٺ ÇBA$q,{TEAY}@}%@y}?Լ};}H ߿?`?߿`?@z??)~@ ~\;I~Cɫ  ) IYMϱ@yMZGI]@)]@iaa]Cl?Q롿{Gz?];?]\ ]#=)YIYy]Cl?Mb~jt?]d?]]= ]A)]AI] Ai]AY]AuYvM}5=Y}nQU}>aGEEyk:}>Iȑŕs5?ŕҞ־ ƕ:B ?9ƕLDǕ: ȕ:)ȑW()@WX XWX:W2W*WVbUBU*UUU @B.B B A ݾ*B A I3ػA A A ps<"C()@*C^=RC9xC()@C(aIGm>IiM=*q,rOTEAY}J@}J:@y}JQμ}J;}JH"߿_?5?v'߿An@pə? py?`>?)~J@ ~J];I~JCɫaa)a iIiY@y[GxDUSBL response received:!U1,N,80,80,63,E4 F,187,80,80,41,FF ZNo reply:!U1,N,80,80,63,E4 F,187,80,80,41,FF -  a GE EyA:}>IG5?־  ;B -?9LD: :)WMy@WQXQ XQWQXQ:WQ2WY*WYVYbUYBUY*UaUaUe4@B-B1 B1A5Gپ*B9A=:oAAAAAE!<"C}y@*CoK^=RCwCy@C >>9IVGi@; ͗E)aIaiaae%=e84hpױIG>]]]]& ],*:Y]U1y]:]5)]@;k1q,*TEAY}2g5@}2P@y}2ż}2~~;}2HE\߿%1?``?_߿`e? Io??)~2g5@ ~2\;I~0ɫ99)9 9I9Y}@y}YGi)Ù Ý=˽Md=Y:;QU>aGEEy6<}>Iȹ :Ž5? :ŽA־ ƽ ;B ?9ƽLDǽ: Ƚ:)Ƚ:W@WX XWX:W2W*WVbUBU*UUU S@B5c,B BA*BAAAA&<"C@*C]=RC5HC@C֭pׁIG>7q,TEAY}2@}2@y}2Ƽ}2٠;}2H ߿`P?Q? ߿ 4ߘ?`t?|?)~2@ ~2:\;I~0ɫ99)9 9I9Y},@y}YG 鼉i<MJ=YQU>aGEEyӇ<}>IȹŽ5?Ž|־ ƽ6;B ?9ƽMDǽ: ȽM:)ȹW@WX XWX:W2W*WVbUBU*UUU  @B- B1 B1A5*B1A=A9A9A=<"CE@*CEh]=RCENgCE@CImAIYG}7>IQ)UAAeeee" e+:YeW1yeč:e59e@ >q,TEA6;>94I6UGi6@4446u; 6ǗEY}Bz!@}B<@y}BCkҼ}BՎ;}BHi 7?? @L?Mo}? ?)~Bz!@ ~B/L];I~@ɫyy)y yIyYz@yZZGI)Aiet=ee94ie@a e@)e3@Ie@ie3@uh<Mu>=Y}SQU}>yyaGE Ey<}>Iȑ :ŕm5? :ŕ5o־ ƕM;B ?9ƕMDǕ: ȕo:)ȕ:Wt@WX XWX:W2W *W V bU)BU1*U1U1U5 @REB*** querying acoustic contact ***PAPABi+B BA;*BAeAAA<"Ct@*C\=RCyCt@Ca׹IGf>Dq,UEAY}b @}bw@y}bjἙ}b^^<}bH@|I@d@DY??RM+2?ۋ?"?)~b @ ~bb^;I~`ɫ髁) IY@yZGZ****** received transponder code query ******F****** received ping request ****** C )IyuV?l:v?r(?< OA)AI AijA3A-";M-%=Y5"uQU5>19a=GE=EAyMx<}U>IY]5?]^־ ]d;B m?9]+MD]A; ]A;)YWO@WX XW:W2W*WVbUBU*UUUq!@B-B  B A a*B AOm AAA,<"C%O@*C%*O\=RC%vC%O@C)MMMM4 M/:YMU1yM:M5֝wY Ia G >Kq, .UEAY}-@}-W@y}-r}- <}-H`wu[m@?@Lm?z ӝ??q?)~-@ ~-]a;I~-Cɫ) IYU@yU.YG]xDUSBL response received:!U1,P 80,80,63,E4 F,187,80,80,41,FF ]Command Ack]BRequesting micromodem ping code 2iYamNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I@)@iÝ|?Ý#ÝA>iÝ@Ù ĝ@)ĝ~@Iĝ~@iĝ@MN=Y,QU>yaGEEyYz<}>Iȑ :ŕ*5? :ŕ_Q־ ƕv;B ?9ƕRq,pHUEAY}2X@}2t@y}2}2hu<}2H`@V/?QW?@a?0l?@?)~2X@ ~2s`;I~2Cɫ99)9 9IAY}@y}mYGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i=i=S<M==Y=,QU=?AAaEGEEEIyM<}M?IQUs5?UG־ U;B e?9UHMDUb: U:)QWn@WX XW:W2W*WVbUQBUQ*UQUQU]Se#@BY@B BAD*BAAAA<"Cn@*C`w[=RCoCn@C  >=urIGl>]]]]2 ]1:Y]DW1y]Y:]Z5-Xq,nMbUEAY}2$@}2@y}2wq}2p<}2H`?2?@? #` m?$?@?)~2$@ ~2a;I~2Cɫ99)9 9I9Y@yiYGxDUSBL response received:!U1,R,E4E,000,004C6,186,80,80,9E,FF Fpublishing direction and range info>ɰ6=鰥> )CIyGBjmK=t?ǾHB?ٱi)= =疺MP=Y"QU>aGE$Ey\<}>I#5?:־ ;B ?9YMD: +:)W%ɿ@W!X) X)W):W)2W)*W)V1bU1BU1*U9U9U=!$@RM(Combining 5 samples.PI*QMGBZQM# @@5}*@JQMjmK=t?ǾHB?2QM>:QIbQM ;AQMPMѧ9?PM9?PMQMQMR@"QM@B^3B BA*BALAAA"-<"Cɿ@*Cx [=RCoCɿ@C֥@paIqG9>] fAY e =>9a Ia ia e '=e SDa e i; e —E~^q,|UEAY}2(@}2{C@y}2A}27l<}2H@ g? ?U@ōf?j?Z?)~2(@ ~2c{;I~2Cɫ19)9 AIAYw@yYG gA hAietyyaGE+EyR<}>Iȑ :ŕ5? :ŕ,־ ƕ;B ?9ƕkMDǕ: ȕH:)ȕ:muAdded new target pos. range: 35.820000 m, bearing: 143.275840 deg, deltaT: 10.067860 s, approachRate: 0.613835 m/s, LOS rate: 1.982477 deg/s, posRepo size: 3mrPowering the camera and arming the DDM at range: 35.82 m.mlFinal approach. Armed for intercept at range: 35.82 m.m\Transitioning guidance mode to: FINAL_APPROACH"Xm} ProNav: pos range: 35.820000 m, bearing: 143.275840 deg, approachRate: 0.613835 m/s, LOS rate: 1.982477 deg/s, cmd update: 5.947432 deg/s, cmd heading: 129.586181 deg, new cmd heading: 129.902807 deg. W}F@WyXD; X?W:W2W*WVbUBU*UUA@U)?BP(B BAn*BAa"AAA|<"C )@RC DC F@CIG l>I)o! B(:Yy5);9 Aeq, UEAY}Fv@}FX@y}Fs}F<}FH`@ ? b ?LZn?? k?)~Fv@ ~Fx;I~FCɫqy)y yIyY@y`YGI)i!E?MbP?y&1?&?: `<)IyNbX9?Mb`?%?̼; A) AIQ Ai/AA<MF=YQU > aGE2E1y==<}=>IAE15?E־ E;B U?9E|MDE: E=:)AWug@WqXy XyWy:Wy2Wy*WVbUBU*UUU,?B1B BA*BA&l(AAA<"C}@RC/DQCg@CgAgAׁIG=>lkq, UEAY}Z@@}Z@y}Z }Zp<}ZH(@S??/@\ ?J??)~Z@@ ~Z;I~Xɫ髵) IYR@yXGiYYegAehA~jSt!!a%GE%8E)y-<}5>I1 =:5#|5? E:5־ 5;B E?95MD5: 5;)5:Wm@WiXi XiWi:Wi2Wq*WqVqbUqBUq*UyUyU}`?B4B BA*BAS.AAA<"CB@RConC@CTJ罹yIG?>>>9ITGi @&=RDa; E]|]]]1 ]L):Y]U1y]:]#5)]~;Rrq,UEAY}2i@}2@y}2s}2<}2HQ6@?s?= xԢ?=?@?)~2i@ ~2lV;I~2Cɫ99)9 9I9Y]d@aiy]YGimGISkAi%hٺ%SkA%UUBI@)@i;MR=YQU>aGE>Ey3;}>I\q5?־ ;B ?9MDŊ; x;)W]u@WaXa XaWa:Wa2Wa*WiVibUBU*UUU@E?B4B BA*BA,5AAA7<"C 8@RC  Cu@C= IGK>QiUp={xq,UEAY}:@}:l @y}:<}:)<}:H@ZK!M?k?@S@25`͚?2m?w?)~:@ ~:;I~:Cɫ9=)9 9I9Y]l@y]YG>i=i-;M-S=Y5/QU5>99a=GE=EE9yE<}E>II U:Mf5? U:Mվ M;B ]?9MMDM: M:)M:W}=@WyXy XyWy:W2W*WVbUBU*UUU;:@B=B BA *BA:AAANh<"C@RCC=@C =>4I)GUS>]]]]6 ]/:Y]DW1y]Y:]559e@ < < 9 I i  %=   k;  ėE)ݑIݑiݑݕ&=ݕ&=ݕ5~q,pUEAY}2e@}2F @y}2?}2Ϊ=}2H`nvy?`g?Y`ƣ?Q??)~2e@ ~2&;I~2Cɫ99)9 AIAYM̰@yMYGi)= = @ @ @©i(@ )II@i%<M%K=Y-ZQU->)1a5GEuKEysv<}>IZ5?[վ ;B ?9MDb: ӻ:)W !@WX  X W :W 2W)*W1V1bU1BU1*U1U9U=Ӣ@BP1B BA*BAJvAAAA<"C @RCC !@C֍4a)aIiG;>q,SVEAY}6{@}6 @y}6Ӡ}6OW=}6H f@??T۲?`.?F?)~6{@ ~6%z;I~6CɫQY)Y YIYY@ymYG hA鼩i=J +?L7A`?&1?=(?=+= ==)9I9y=? ףp= rh?=,?=Q8=C= 9)9I=p Ai=A9=A].M]G=YeZ9QUm>yaGEREy<}>Iș :ŝO5? :ŝEվ ƝII)M?A]x]]]# ](:Y]V1y]:]#5q,>1VEAY}2@}2>0 @y}2s}2>=}2H a)F2?Q?31sb?;ѧ?@?)~2@ ~2R#;I~2CɫIQ)Q QIQY-@yXGZ****** received transponder code query ******F****** received ping request ******aGEXEy.$=}>IC5?վ )ʟq,KVEAɫ髹) IY @y.YGxDUSBL response received:!U1,P E4E,000,004C6,186,80,80,9E,FF Command Ack%BRequesting micromodem ping code 2i!)MNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iiq•hA‘D<MK=YQU>aGE_E y}%>I9 ]:=75? e:=6վ =Pɘq,dVEAY}2 @}2$@y}2 }2=}2H@[T)?ws?c ,??W9??)~2 @ ~2R;I~0ɫ99)9 9IAY@yYGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I=?)=?i99u6=MuO=Y}\QU}>yaGEeEy'=}>Iȑŕ ,5?ŕ վ ƕtU=iU=ܡ 9ܡ Iܡ iܡ ܥ $=ܡ ܡ ܥ ^; ݥ Eq,'~VEAY}><@}>@y}> -}>7~=}>HhĹ?n? @с?՟? `? n?)~><@ ~>;I~>CɫYY)Y YIYYװ@yYG=i=i E E EEjE-ExiEf@E EQ@)E@IEQ@iEQ@UMUK=Y] QU]>YYa]GEekEaye)=}m>Iim5?mlվ m>IGK>]]]]" ]o/:Y]V1y]:]5)]̌;9e_ܥq,VEAY}6|G!@}6b@y}6A:}6Q=}6HX 0@?n? @ӣ?@\??S?)~6|G!@ ~6vv;I~6Cɫ髙) IY@yYG@ADNmea in: $SNTTA,,,,,013314.31*58 iJ +? >`;M@=Y%QU%>!!a-GE-rE)y5l=}5>I9 E:=o5? E:=vվ = q,;nVEAY}6¸"@}6,@y}6dG}6+|>}6H/(`@_??:(?`?^??)~6¸"@ ~6\l;I~6Cɫyy)y yIyYz@yZZG gAgAi-C =-Mb-i-@) - @)-3@I-I@i-I@=6=M=Z=Y=QUE>AAaEGEExEIyMSv=}U>IY]5?]`վ ]9IIIiIIIIMZ; MEƂיIGc>]D ]~]~]% ]>9:Y]T1y]@:]5)]F;q,0IVEAY}6p0$@}6K@y}6O}6A >}6Hݲ2)?v?z`?Aߩ?m?)?)~6p0$@ ~6De;I~6CɫYY)Y YIYY@yvYGI)Ai$lMP=YQU>aGEEyo=}>I :5? :վ q,+VEAY}6%@}6\@y}6RT}6t>}6H@{<`Øh?`?6 G?I? s?ؤ?)~6%@ ~6a;I~6Cɫ19)9 9I9YuB@y}ZGigAgA=MH=Y5NQU>aGEE y *i=} >IM5?Eyվ B BA*BA)xAAA#<"CO8@RCCw 9@Cѭ=ƂױIG>]@]]]J ]$:Y]V1y]:]~59e@A A I 9I IM HUGiM Z@M %=I I M Y; M Eq,.WEAY}6E'@}6/a@y}6Z}6>}6H@E@c?`nc?\T!?L???)~6E'@ ~6t_;I~6CɫAA)I IIQY}@y}hZGI?)?it<<-i@ ҙ@)z@I@i@<MK=YuQU>aGEEy}=}>I  u: 5? u: mվ MpٺMjAU\BU=iU=*q,LWEAY}2#(@}2@y}2a}2c>}2HX[@m@R? w? 4S#?2?s5? ?)~2#(@ ~2<^;I~2Cɫ) IY%g@y%DZG-xDUSBL response received:!U1,R,02C,000,07E80,184,80,80,57,FF -Fpublishing direction and range info-nF)ɰ-%@-> ))-BI)y-1D-:9?.ٱ)9i==iII@5^I ?+ˡE?b? '=)IyQ?#~j~jt?(?㥽< A)AIp AiAGA)= =-M"=YcQU>a GE E yM=}>I/5?_վ @RCC?@C) ]]]] ]2:Y]Y1y]:]65 ս >Թ ֵ Ռב I G > q,֬6WEAY}:+@}:f@y}:`u}:]>}:H`a@`ݠ? ? Y ?@1?;E?3?)~:+@ ~:+];I~:CɫII)I IIIYJ@yZGi)) }@ }@ @}©}}i}ד@} })}h@I}i}@M\=YZQU>aGEEy>}>Iȩ :ŭ]5? :ŭUվ ƭq,bPWEAY}6-@}6f@y}6(}6x>}6H 3@6]? ?@s?߯?`!!a%GE%E)y-*{=}->I155?5@Lվ 5=B E?95ND5: 5H:)1;m wmAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;uw}dResuming normal ranging with 1.000000 count pings.;}1<}W;@WX XW:W)2W1*W1V1bU9BU9*U9UAUE?BFB BA*BA}AAA<"CA@RCC;@CƂ׹IGg>I)AA    P ,:Y DW1y Y: 5q,CjWEAY}2@/@}2:@y}2o}2l>}2HY+@?j?X? ??`J?)~2@/@ ~2A`];I~2Cɫ99)9 9I9Y}@y}ZGI)i  -=M-I=Y=ԻQUE>IQa]GE]Eayu y=}u>Iȉō5?ō Bվ ƍ&=B ?9ƍNDǍI; ȍ;)ȉX?1<w%Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;% w%Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRW*:@WX XW:W2W*WVbUBU*UUU@(?B ¸@B  BA߾*BAmyAAAn<"C@A@RCC%*:@Caqq]}IefA)a1IAGex>ٕ gAٕ hAܝ >>9ܙ Iܝ UGiܝ @ܝ $=ܙ ܙ ܝ b; ݝ Eq,zWEAY}:0@}:f @y}:^}:>}:H`@jh ?)?kL? hh? -?/?)~:0@ ~:&];I~8ɫ99)9 9I9Y]@y]ZGi ] ] ee.e%eie@e eҙ@)e@Ie@ie@mi<MuF=YuQU}>yya}GE}Ey=}>Iȉ :ōx5? :ōi8վ ƍ==B ?9ƍNDǍ: ȍ :)ȍ:W8@WX XW:W2W*WVbUBU*UUUQ1?B8@FB BA\۾*BAAAA<"C R?@RCC8@C%ƂIG%M>7 .:YW1yč:l5);9b$q,WEAY}2ن2@}2C"@y}2˒}26>}2H U`8?@?@Zk?`tU?"?@p?)~2ن2@ ~2^;I~2Cɫ99)9 9I9Y}@y}ZGI?)?iZd;?y&1|?S㥛??`; /<)IyMb?X9v rh?#?}C< ¥|A)¥rAI¥ Ai¡A:ME=YkQU>aHEEy=}>In{5?.վ T=B ?9ND: :)W %6@W X XW:W2W*WVbUBU*UU!U%D?BMABI BQAU!۾*BQAU1AQAQAUH<"C]Mc<@RCaCe%6@Caօ}YIaGY>i=#Nq,_ηWEAY}6p4@}60$@y}6V}6#">}6H``}%?Db?`c`?@;? ?#?)~6p4@ ~6];I~6Cɫ99)9 9IAYF@yU[Gi! u@ u@ u@u©uuiu@u u@)uIuiuI@<MN=YFQU>aHEEy{=}>Iȡ :ťj5? :ť%վ ƥk=B ?9ƥNDǥ8: ȥ:)ȥ:=?>99I=sVGi=N@=%=99=]; =EWmR5@WiXi XqWq:Wq2Wq*WqVybUyBUy*UyUyU@<@B(?B BA־*BAVᓼAAA<"C37@RCCR5@C 15>9M?iM?I)GUu>ufqquV u':Yqyqu5)u;7q,-WEAY}2^5@}2ǩ%@y}2xU}2>}2H% e` ?`?*@?@ų???)~2^5@ ~2];I~2Cɫ99)9 9I9YqyyyyiY5HջQU5>99a=HE=EAyMn=}M>IaeY5?eFվ e=B u?9eNDe3; e4;)aWm3@WX XW:W2W*WVbUBU*UUU`CI@RB*** querying acoustic contact ***PPBFB BA*BA!yAAAl<"C w4@RC T[C m3@CƂIGI>$`q,WEAY}:w 7@}:''@y}:v}:(>}:H߿ ??`\뇱?M?v??)~:w 7@ ~:f];I~:Cɫ99)9 9I9Y}@y[GZ****** received transponder code query ******F****** received ping request ******aHEEyQ=}>I  :=F5? :վ =B ?9OD; :):WU1@WiXi XiWi:Wi2Wi*WqVqbUqBUq*UqUyU} @B9Bӱ< BAϾ*BA=AAA$<"Co2@RCC1@CwxיIGc>I)?A, *:YV1y:59@) ) 1 91 I5 AAaMHEUEay=}>I55? վ =B %?9OD{!; ;)W%30@W!X XW:W2W*WVbUBU*UUUM @Bmh=Bi BiAm;*BqAuJAqAqAu<"C}30@RC}jC30@CfA[I)I!GU>rq,<XEAY}:.:@}:IJ*@y}:}:m=}:H)F@ܿM)?j? (S@X?=?:W??)~:.:@ ~:-];I~:Cɫ99)9 9I9Y}>@y}\GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iqqMb@Mb@Mb@ )Iyx?X9vMb?K?< ^A)AIAiAA%X<M%:=Y%8QU%>))a-HE-E1y5k=}=>I9 E:=$5? M:=nվ ==B M?9=%OD=: =:)=:Wu.@WqXq XqWq:Wq2Wq*WyVybUyBUy*UUU@BmBBi BiAmƾ*BqAuAqAqAu<"C}g/@RC}C}.@Cֹי5 R.:IYDW1yY:5G=>= q,9XEAY}6;@}63+@y}6ʥ}6}#=}6H}zۿv?@?` ?.? ;??)~6;@ ~6];I~6CɫYY)Y YIYY@y\GI?)?i    @ @ @i@ )@I@i@<M]=YO\QU>aHEE!y%(=}->I)-5?-Ծ -=B =?9-3OD-: -a:))9uCIhXGi@$=L; EW -@WX XW:W2W*W!V!bU!BU!*U)U)U-@B?I@B BA*BA`AAA<"C h-@RC=C -@Cѽ=֝3J=i=qIG> i unGI i! ٺ oB q,8RXEAY}zL=@}zig-@y}z]}z=}zH`:ڿ@Y?@?`1z_???ǰ?)~zL=@ ~zlm];I~zCɫ11)1 1I1Yu@yux]GDNmea in: $SNTTA,,,,,013321.20*5E i=iIR=)%==MA=YqMQU->11a5HE5E1y=^=}=>IAE#5?E]Ծ E=B M?9EDODEv: E:)AWuX+@WqXq XqWq:Wy2Wy*WyVybUBU*UUU`#R@B8B BA*BAuAAA<"CX+@RC%=CX+@Cх <]\\!I)GMR>F 0:Yy5Qq,lXEAY}Fٲ>@}FB.@y}F}FQ,=}FH`; \ؿ`j?n?I`?-??@?)~Fٲ>@ ~F:k];I~FCɫaa)i iIiYH@y]Gi)1   ý=ýýqiý̜@ý Ľ@)Ľ@IĽ@iĽ@<MH=Y1QU>aHEEye=}>I :%5? :Ծ  >B ?9RODA; ;):WU])@WiXi XqWq:Wq2Wq*WqVqbUyBUy*UyUyU5@B8B BAT*BAWϥAAA><"C])@RCU>C])@C) m=Ƚ@>9IYGiذ@%=B; E)qIqiqqquP4i I G >!q,/XEAY}:?@}:2 0@y}:}:W=}:H`Oy׿x=?@H?U?Hj?Rһ?ԯ?)~:?@ ~:,+];I~:Cɫ99)9 9I9Y}@y}^G 鼍gAi<M_=Y'QU>aHEEyY=}>IȹŽ5?ŽԾ ƽ>B ?9ƽ`ODǽ: ȽM:)ȹWma1(@WiXi XiWi:Wi2Wq*WVbUBU*UUU+n@RB*** querying acoustic contact ***PPB:B BAܲ*BA?AAA<"Ca1(@RCS>Ca1(@C!TIG$>I)@A I E>:YWU1y:G5);9D'q,XEAY}2<@@}21@y}2}2_d=}2Hڶֿn̾?O? ??x?2?)~2<@@ ~2<];I~2CɫYY)Y YIYY.@y^GI)Ai=m??aHEEy=}>I :5? : Ծ :>B ?9qOD]: :):Ws&@W!X! X!W!:W!2W!*W)V)bU)BU1*U1U1U5@@Be1Ba BaAe*BaAm<AiAiAm܈<"Cus&@RCuK>Cus&@CyԅfAԁօȿAIQGm5>_-q,]XEAY}6aA@}61@y}67/}6x\=}6H@Mտ?8? ?`w~? ȸ??)~6aA@ ~61];I~4ɫII)Q QIQY}@y}_Gi @ @ @©i=@ )ҙ@Iiҙ@1=MZ=Y8:QU>aHEEyJ=} >I  5? :Ծ S>B ?9 OD f: :) W=P$@W9XA XAWA:WA2WA*WIVIbUIBUI*UIUQUU@}A>9yI}$[Gi}@}$=y}D}D; yB&s2B BA*BA&AAAq<"CP$@RC >CP$@C1%dI G%M>uuuuv u/3:YuDW1yuY:u5)u ;4q,;XEAY}6B@}6l2@y}6<}6Xָ=}6H Nտ?@?` 1?L?@P?`?)~6B@ ~6h];I~6Cɫ99)A AIAYa@yc`GI)?iW=MK=Y:QU>aHEEyL<}>I  :5? :Ծ m>B ?9OD: :):W=F#@W9X9 X9W9:W92WA*WAVAbUABUA*UIUIUM<@Bu)By ByA}Ŕ*ByA}AyAA0<<"CF#@RCCF#@Cmռ)I1GM>=i=:q,XEAY}UTC@}Uqo3@y}UҰ}UH=}UH Կ@㙻?`j#?`r*@@Z?K???)~UTC@ ~Uh];I~UCɫ11)1 9I9Yu@yu`G}xDUSBL response received:!U1,N,80,80,63,E4 0,184,80,80,57,FF }ZNo reply:!U1,N,80,80,63,E4 0,184,80,80,57,FF -aHEEy "<} >I5?Ծ >B ?9OD: :)WE}!@WAXA XAWA:WA2WI*WIVIbUIBUQ*UQUQUU@7@B}R&B BA:*BAaAAA6<"Cm}!@RCiCu}!@Cqe8qu<y9yI}\Gi}c@yyy}@; }EK C3:YWU1y:5);PAq,[YEAɫ髙) IY{@yaGi=M\=YQU> a HE  E y}>I>5?Ծ >B %?9ODn: #:)WE@WIXI XIWI:WI2WI*WQVbUBU*UUUཊ@B%[#B! B!A-.*B)A-ñA)AIAM<"CU@RCYC]@CYMˈ=)IIGA>oHq,y!YEAY}2{C@}23@y}2}2=}2H /& hyԿ O?@?@f?`搵???)~2{C@ ~2\a;I~2Cɫ) IYU߷@yU8bG aehAiii-J +?~jth{Gz?-?-D -ף<))I)y-(\? ףp= /$?-'?-Q8-< -A)-rAI-=Ai-A)-p AM<MM7=YUh;QUU>QQa]HE]EYyeug<}e>Ii u:mq5? u:mԾ m>B u?9mODm: mM:)m:W%@WX XW:W2W*WVbUBU*UUU " @BrB BAy*BAxAAA(q<"C%@RCC%@C=׉IG=>I)AA a k5:YV1y:k59@8Nq,P;YEAY}2^YC@}2t3@y}2|}2uI=}2H'@8Կ ? ?I3??_)??@?)~2^YC@ ~2`;I~2Cɫ99)9 =I9Y]@y]cGIa)eAiiqB>9ID^Gi@%=H; E=+=>=Q=i=@9 9)9I9i=@M`=MU\=YU;QUU>YYa]HE]Eaye}e>Iim^5?m<Ծ m>B }?9mODm: m:)iWE@WX XW:W2W*WVbUBU*UUU p @RB*** querying acoustic contact ***PPBPB BA e*BA/ִAAA[<"CE@RCCE@CgAgAZ%>I)שIG >N Uq,4UYEAY}VB@}V&2@y}V7}V,<}VH`տ`?z?V5ZO? F??)~VB@ ~Vssf;I~VCɫ髙) IY@ycGZ****** received transponder code query ******F****** received ping request ******aHE!Eyۼ}>I :I5? :Ծ >B ?9ODD: Q:):W]@WaXa XaWa:Wa2Wa*WiVibUBU*UUU@!@BB BA&W*BAVAAA}<"C@RCC@C aZ>IGI> 3:YxZ1yq:5N[q,njoYEAY}vɿA@}v31@y}v@}v}vH biֿ`#??@S@@! ѳ?_qV?)~vɿA@ ~vM;I~tɫ髱) IY@yDdGxDUSBL response received:!U1,P 80,80,63,E4 0,184,80,80,57,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I%?)%?i11>&C>i @ Ը@)IE@iE@E#=MM5=YU;QUU>aHE)Ey}>I15?Ծ "?B ?9OD}c< c<)WS@WX XW:W2W*WVbUBU*UUU "@Be Bi BiAmD*BAu߷AAAһ<"CS@RCCS@C=ip=  9I_Gi@$=4; E-@>5?i5?IG >_2bq,6YEAY}2@@}20@y}2*}2i;}2Hգa׿(Ҫ??Ħ`x ?bZ?)~2@@ ~2;I~2CɫYY)Y YIYY@ycGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i=i9IimnGISkAiU6M5`==uٺ=SkA=aBYEv;QUE>IIaMHEM.EYyeC}m>Iy :} 5? :}Ծ }Ե=N؅>ױIG  %    R  6:Y DW1y Y: 55) #;9 \hq, YEAY}2Bu?@}2/@y}21T}2}2HjKٿY?:? M໿ `?k?)~2Bu?@ ~27G;I~0ɫ99)9 =I9Y @ydGxDUSBL response received:!U1,R,E4B,000,0055E,186,80,80,81,FF Fpublishing direction and range info@>ɰ=鰥> )CIy3B?N?ٱiUZd;?J +?V-?U9?UH= U<)QIQyU/$?V-{Gz?U,?UUף< Up A)UQ AIUAiUAQU Am:=MuV=Yu;QUu>yya}HE}4EyM}>Iȉō 5?ōԾ ƍW?B ?9ƍPDǍX: ȍ:)ȉW@WX XW:W2W*WVbUBU*UUU$@P*Q3BZQHD@ƹ0@JQ?N?2Q@>:QbQg+sF@0/>\?(PU?RQ>չ￀_Œ?=?BQRG@ QR?Q3P9?PK9?PQc흿Q@"QBBB BAo4*BAAAA<"C@RCC@C>יIGa>nq,$YEAY}^ >@}^$.@y}^<(}^}^HH#qڿn??`w¿ $!?b+?)~^ >@ ~^;I~^Cɫ) I9IdaGi2@+; E)UuCIUuCiQU$=U$=U4Yu3@yueGTNmea in: $SNTTA,0.101775,,,,013326.87*4F hAi =@ =@ =@=©==i=\@= =ƣ@)9I=z@i=-@mu:<Mu;=Yujh;QUu>yya}HE};Ey>P}>I) 5:-j5? 5:-tԾ -x?B 5?9-&PD-#: -:)-:meAdded new target pos. range: 44.940002 m, bearing: 178.949016 deg, deltaT: 10.060187 s, approachRate: -184.946869 m/s, LOS rate: 4.389392 deg/s, posRepo size: 4m ProNav: pos range: 44.940002 m, bearing: 178.949016 deg, approachRate: -184.946869 m/s, LOS rate: 4.389392 deg/s, cmd update: 12.000000 deg/s, cmd heading: 134.307195 deg, new cmd heading: 132.639054 deg. WU%@WX XW:W2W*WVbUBU*UURxF@U@?B( B BAX/*BAZaAAAM<"C-@*CRCCU%@CI)@A֕>IץgA)סבIG>puq,YEAY}>+9<@}>T,@y}>$"}>H8Yܿ{zM?O[ƿ? 5Ŀ?)~>+9<@ ~>9;I~>CɫQQ)Y YIYYǺ@yeGI)AiE=MZ=YH";QU>aHEAEy}>Iȡť5?ť4Ծ ƥ?B ?9ƥ5PDǥ: ȥ:)ȡWy @WX XW:W2W*WVbUBU*UUU?B  B BA*BAu:AAA$<"C%h@RC!C%y @C!5hA5hA}>QIaG}Y>*  K:Yyj59 @{q,YEAY}>:@}>n2*@y}>u}>Σ:}>H`Hݿ=ќ?C`Aȿ@?%ǿ`]e?)~>:@ ~>$;I~>CɫQQ)Q QIQY@yfGi M M MMv>M&>M>iM@M M@)M@IM&@iM&@]T<M]M=Yet`;QUe>aaaeHEmHEiyuꪽ}u>Iy}35?}Ծ }?B ?9}GPD}: }D:)yW(?&@W!X! X)W):W)2W)*W)V1bU1BU1*U1U1U=@?BxyB BAl*BA&;AAA:*<"C)@RCd>C(?&@C?΅>ױIGe>ٱٵ<ܽD>9ܹIܽXcGiܽȸ@ܹܹܹܽ&; ݽEq,~ ZEAY}27@}2'@y}2\؈}2LL}2H,`߿H#`0?`3 @0ʿ?`OɿK?)~27@ ~20{;I~2Cɫ99)9 9I9Y]@y]fGI?)?i?Z=MQ=Y;QU>aHENE y } >I :~5? :Ծ ?B %?9WPD: :):WEz+@WAXA XIWI:WI2WI*WIVQbUQBUQ*UYUYU]|?BEB BA!*BAAAAS<"CHk@RC"=Cz+@C֕Y>׭?i׭?׉IG&>=i= h    <:Y V1y : 35) ;9q,Y$ZEAY}255@}2%@y}2Ń}2BY}2H@@*s ?$a@7˿@u?ʿ@6?)~255@ ~2~[q;I~0ɫYY)Y YIYY}2@y}gGi)\(?Mb?v/?G!?< xi=)Iy+?~jt?Q?v?<u< h@)AIXAiAG A[=M>=YF;QU>aHEUEy?}>I5?Ծ ?B ?9hPD: :)W ;1@W X  X W :W2W*WVbUBU*UUU`(9@BMBI BIAM޽*BIAUuAQAQAUa<"C]!@RC]:rC];1@Ca u=u=U d>)IQG;>Վq,8>ZEAY}223@}2#@y}2=y}2c}2H~mu?@˿:?3̿@'?)~223@ ~2Ej;I~2Cɫ99)9 9I9eC>9aIedGie @aaae*; eEY@yhGi99Í+?ÍÍwiÍ@É čO@)č@Ič@ič@M=ML=YaHE[Ey}>Iȹ :Ž 5? :ŽzԾ ƽ?B ?9ƽxPDǽ: Ƚf:)Ƚ:W6@WX XW:W2W*WVbUBU*UUU `m@BB BA;½*BA!gAAAb<"Ce'@RC.C6@Cd>ױIGf> ^ sC:YX1y/:5);Rq,XZEAY}:1@}:< "@y}:+|m}:j}:H@091 ^`'K?@OE˿C?u̿?)~:1@ ~:we;I~:Cɫ99)9 9I9Y]@y]hG iiiiqA:MZ=YaaHEaEy}>IY]5?];sԾ ]@B e?9]PD]׾: ]:)YW<;@WX XW:W2W*WVbUBU*UUU8@RB*** querying acoustic contact ***PPBB BAN*BAAAA<"Cn,@RC C<;@CX>I)gAשIG >I)AAq,hqZEAY}2`0@}2a| @y}2c}2ym}2Hƽ ~@4?`˿@/|?`pSͿ`?)~2`0@ ~2[b;I~2Cɫ99)9 9IAY}^@y}hGZ****** received transponder code query ******F****** received ping request ******aHEhEy _} >I :mu5? :jԾ @B %?9PD: ?:):WEA@WAXA XAWI:WI2WI*WIVQbUQBUQ*UQUYU] @BB BA*BAT}AAA<"C9)2@RCCA@CԩԩmTu)>AIIGe4>    s "6:Y DW1y Y: F59@܁9܁I܅xfGi܅S@܅#=܁܁܅<; ݅E΢q,NjZEAY}2Z.@}2@y}2T\}2wj}2HH`r]@츿ԉ?@kB˿2?Ϳ?)~2Z.@ ~2La;I~2Cɫ99)9 9I9Y}@y}iGxDUSBL response received:!U1,P E4B,000,0055E,186,80,80,81,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i[=M]=Y y;QU>!)a5HE5nEAy]}]>Iȉōd5?ō2cԾ ƍ*@B M?9ƍPDǍ = ȍ<)ȉWuG@WyXy XW:W2W*WVbUBU*UUU@ @BЊܼB BAlV*BAAAA@<"Cҋ8@RCCG@C֥;>סIG>q,/ZEAY}2f-@}2@y}2,T}2e}2Hrй?!5ʿ`=? s̿ '?)~2f-@ ~23`;I~2Cɫ99)9 9I9Y}t@y}QjGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I?)?i^I +?Mb{Gzt?X? ף;)Iy+? ףp= {Gz??Q8ף< @)IAiA=M9=Y;QU>a%HE%uE!y- W}->I1 =:5T5? =:5YԾ 5E@B =?95PD5: 5w:)5:WeuL@WaXa XaWa:Wa2Wi*WiVibUqBUq*UqUqUu`<@BؼB BA*BA-A)AAAM<"CUO=@RCYCeuL@Ci֥z=סiץ?YIiGZ>i    h :2:Y WU1y : 5#q,}ZEAY}2#,@}2J?@y}28F}2W}2H` qiiBఘ?>hbȿĨ? ʿ?A?)~2#,@ ~2F_;I~2CB>9IgGiF@8; Eɫyy)y }IyY@yjGxDUSBL response received:!U1,R,F9C,000,00585,187,80,80,93,FF Fpublishing direction and range info¸=ɰ=鰽1> )CIy=Bo~6?O?ٱi-=-x-J>i-@) -@)-@I-ƣ@i-@=<M=Y=YE-AIaMHEM{EIyUYV}U>IY]GF5?]OԾ ]\@B e?9]PD] : ]Y:)YWExQ@WAXA XIWI:WI2Wi*WiVqbUqBUq*UqUyU}@P*Q=BZQVTόG@7={@JQo~6?O?2Q¸=:QbQBg'>MCXQdB;@N|?RQr8 蘩^es?PIހ?BQ!@ QAQiP9?P9?PsQQ@"Q@BMҼB BAf*BAJPAA)A-<"C5DB@RC1C5xQ@C1 E=E>%oE<IG J>ACi]mGIqi2Fٺ16B q,(cZEAɫ) IYMC@yUPkGDNmea in: $SNTTA,,,,,013331.30*5E iM! =MM:=YUQUU>QQa]HE]EYye}e>Iim55?mGEԾ mv@B u?9mPDm: m:)imuAdded new target pos. range: 47.280003 m, bearing: 144.771023 deg, deltaT: 4.465502 s, approachRate: 0.524017 m/s, LOS rate: -7.653785 deg/s, posRepo size: 4m ProNav: pos range: 47.280003 m, bearing: 144.771023 deg, approachRate: 0.524017 m/s, LOS rate: -7.653785 deg/s, cmd update: -12.000000 deg/s, cmd heading: 187.846049 deg, new cmd heading: 192.867090 deg. W7L@WX XW:W2W*WVbUBU*UU ףG@U?B ȼB BA`U*BAfAAAn<"CF@RC!C%7L@C)?Bɼ׹IGF> b V5:YxZ1yq:54q,3ZEAY}:د*@}:A@y}:E}::6}:H}]Ҷ'?y@C&Ŀ g?^ƿx?)~:د*@ ~:0Y_;I~:Cɫ99)9 9I9Y}@y}/lG i @ @ @Í©ÍÍiÍ@Í čO@)čIč9@ič9@m=MV=YRaHEEys}>Iȹ :Ž~'5? :Ž;Ծ ƽ@B ?9ƽPDǽ: Ƚ:)Ƚ:W%G@WX XW:W2W*WVbUBU*UUU`|Q?B5fB1 B1A5*B1A9A9A9A=<"CEXHRCACE%G@CI-@IG (>I)@AC>9IhGi:@$=.; E)ݡIݡiݡݡݡݥ05q,^ [EAY}2߭*@}2H@y}2}2}2H) ܳ)?``O9?ÿϛ?)~2߭*@ ~2|_;I~2Cɫ99)9 9I9Y}@y}lGiA=MG=YrvQQa]HE]EY@yV}>I+5?0Ծ @B ?9PDr< Q<)WuuA@WqXy XyWy:Wy2W*WVbUBU*UUU` ?B%ƼB! B!A%N <*B)A-UA)A)A-e<"C5cpGRC1C5uA@C9ii=z n =:YV1y:45);9 1IAG]v>Fq,&[EA|4<|Y}6! +@}6&@y}6dм}6}6H`r@?9ܼ ?`Sh?)~6! +@ ~6l_;I~6CɫQQ)Q QIQY@yjmGi#~j?I +Mb??9 =)IyV-?㥛 ??< @)AIAiA A<MM=Y5.xQQaUHEUEQy] n<}]>Ia m:e 5? :e&Ծ e@B ?9e QDej< en<)e:W*;@WX XW:W2W*WV bU BU *U U U?B=KB9 B9A=n<*BAAE2AAAAAM<"CMNG*CQRCQCU*;@CQ=o'I G%n>Y0q,@[EAY}2+@}2 @y}2w}2d}2H W@^@٧@?2(?C"?)~2+@ ~2_;I~2CP9PIRiGiRݽ@PPPR8; REɫ99)9 =I9Yu@y}SmGI ) ?i e e ee&1>e WeCie3@e e@)aIe@ie@uRMuN=Y}"yaHEEya<}>Iȑŕ04?ŕAԾ ƕ@B ?9ƕQDǕb: ȕM:)ȑW6@WX XW:W2W*WVbUBU*UUU?BB BA<*BAAA A <"CHRCC6@Ct(/%?i%?IG%M>=i=% %%%m %4:Y%W1y%č:%5)%5;Xq,MZ[EAY}:ܭ,@}:E@y}:yQ}:S}:H``"gi?˘Py? `t?)~:ܭ,@ ~:z`;I~:Cɫ99)9 =I9Y}@y}nGiE=MEN=YMԆIIaUHEUEQy]/=}]>Ia m:e4? m:eHԾ e@B m?9e(QDe: eI:)e:W(1@WX XW:W2W*WVbUBU*UUU@*@BlQB BA_=*BAkAAAF<"CF@RCC(1@C >,>g<IG$>q,Fzt[EAY}2 -@}2u@y}2ܻ}26}2H`D?`N{? W]r?)~2 -@ ~2ma;I~2CɫYY)Y YIYY@ynGiC = i@ @)@I@i@'MN=YLxaHEE!y%!>=}%>I)-g4?-v Ծ -@B =?9-8QD-: -D:))W,@WX XW:W2W*WVbUBU*UUUv@RB*** querying acoustic contact ***PPBeڣB< BA%DO=*B!A%fA!A!A%FU<"CM1B@RCQCU,@CQM\iIG-->ٝhAٝgAܥE>9ܡIܥiGiܥ.@ܥ%=ܡܡܥ,; ݥE% %%%b %a4:Y%V1y%:%5)%;jq,U[EAY}6X/@}6t@y}66}6<}6H`x`\ ڑ? ^?vd?FQ? ??)~6X/@ ~6b;I~6Cɫ99)9 9I9Y@yMoGZ****** received transponder code query ******F****** received ping request ******99aEIEEEYyeU=}>Iȑ :ŕ4? :ŕӾ ƕ@B ?9ƕIQDǕ?< ȕ><)ȕ:Wm&@WiXi XiWi:Wi2Wq*WqVqbUqBUy*UyUyU}1 @BrB  B A =*B A O⿼AAAl<"Cq<@RCC&@C%ƂI)))II)G%o>q,0[EAY}:G51@}:P!@y}:i;}:=}:H@H p?ž?l7۫?3m`ry??)~:G51@ ~:lb;I~8ɫ99)9 =I9Y}@y}ZoGxDUSBL response received:!U1,P F9C,000,00585,187,80,80,93,FF Command AckBRequesting micromodem ping code 2iI)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iʡE?Pn~jt?/? =)IyK7A?i|?5Mb? "?q= A)Q AIAiA3Am=mm-im\@i m)m@Im@im@(;M=YE7 AAEd E58:YAyAE59]@YaeIEeEiyu]=}>Iȩŭܸ4?ŭӾ ƭ@B ?9ƭ_QDǭ; ȭ<;)ȩW@WX XW:W2W!*W!V!bU!BU)*U)U)U-N@BQB BA=*BARJAAAF<"CLv5@RCC@C ׹ I G >|q, [EA$9$I$i$&$=$$&%; &EY}BN3@}Bgj#@y}B&;}BW=}BHKZ?`? z8 ?@${`?y?)~BN3@ ~B Yc;I~BCɫ髙) IY @yoGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iYYb=M=Y8}.?I~4?@Ӿ @B ?9jQDӻ: :)W%Ѻ@W!X! X!W):W)2W)*W1V1bU1BU1*U1U9U=@BeBa BiAm=*BiAmAiAqAu<"CuS2@RCyC}Ѻ@Cye q,[EAY}6U5@}6q%@y}6" <}6c>}6H`Z+|y? ?`?B$;!?`h?)~6U5@ ~6/d;I~6Cɫ99)9 =IAY#@ypGxDUSBL response received:!U1,R,EE4,000,005B1,186,80,80,52,FF Fpublishing direction and range info}>ɰ=鰵> )BIyGB#A?/;f?ٱI?)?iK <M\=Yx;QU>aIEEy=}>I :4?  : Ӿ AB  ?9yQDo: :):W-޼@W)X1 X1W1:W92W9*W9V9bUABUA*UAUAUM@PY*Q]GBZQ]sB2H@)P}(@JQ]#A?/;f?2Q]}>:QYbQ]jCGȦ.@؏5?RQ]gjuu6ڇw?Ht\X?BQ]-5@ Q]tAQ]>P]9?P]9?P]Q]sQ]@"Q]@BMB BAx=*BAjAAAX<"C I-@RC`C޼@CmV=ip=%) %%%L %7:Y%U1y%:%5q,[EAɫ) I YE@yEmoGDNmea in: $SNTTA,,,,,013335.74*5A i 2? Q= }=i  @  &@) z@I i \@M7=YQU>aIEEy}>I4?Ӿ AB ?9QDD: +:)mqAdded new target pos. range: 49.920002 m, bearing: 162.199057 deg, deltaT: 4.405040 s, approachRate: 0.599313 m/s, LOS rate: 3.956385 deg/s, posRepo size: 4m ProNav: pos range: 49.920002 m, bearing: 162.199057 deg, approachRate: 0.599313 m/s, LOS rate: 3.956385 deg/s, cmd update: 11.869154 deg/s, cmd heading: 134.947456 deg, new cmd heading: 129.367492 deg. W@WX XW!:W!2W!*W!V!bU)BU)*U)U-H@U5 ?B]H뗼BY BYA]8=*BaAe#߽AaAaAep<"Cm '@RCmڽCm@Cqyy)y y191I53iGi5@1115#; 5E %>%>+Oo I G- >i mGI i - Hٺ) - N8B;q,#\EAY}Vm8@}V)@y}V*B<}V#>}VH`Op޿ ??2i?P`??)~Vm8@ ~V[d;I~VCɫy髁) IY#@ypGin?K7A`?p= ף??+> =)Iyx&1?~jt~jth!?ļD /A)h@IAiQ AA=M>=Y4  a IE E y >}>I %:x4? %:zӾ AB -?9QDC: :):WM`"@WQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UaUaUe?B>EB BAx=*BA3HAAA[6<"C7"@RC&=C`"@CeaYIiGY>%%%%c %2:Y%DW1y%Y:%50 q,x)\EAY}2 :@}2r*@y}2S<}2&>}2H@|@ܿ:ԯ?`b$?@$?|? ԓ?)~2 :@ ~2}~c;I~2Cɫ99)9 9I9Y}>@y}nG i5M=l=Y=I;QU=?AAaEIEEEAy=}?If4? Ӿ AB ]?9QD< ^<)W'@WX XW:W2W*WVbUBU*UUUT2?BMBI BIAU&v=*BQAU弼AQAQAU<"C]T @RC]@H=Ce'@Ca}`Iׁ)ׁI1)1QIaG}z>A 9A IE lhGiE @E #=A A E !; A )ыIыiыq,SC\EA 5Y}:<@}:,@y}:_<}:%>}:H 1ۿ ?@l?A`?T?*?)~:<@ ~:cb;I~:Cɫ髉) IY@yoGi!uX9>u?u3iu@q uO@)un@Iun@iu9@.=MF=Y-:QU>aIEEy=}>Iș :ŝT4? :ŝӾ Ɲ@B ?9ƝQDǝ: ȝ:)ȝ:WM,@WIXi XiWi:Wq2Wq*WqVqbUyBUy*UyUyU}pu?BpTB BA.=*BAeAAA;<"C/@RCb4>C,@CܢSIG J>%! !!%; %t6:Y!y!%G5)%ܒ;9->q,/]\EAɫ髁) IY$@ynGi!UUM]M=Y]QU]>aaaeIEeEaym}m>IquA4?u$Ӿ u@B }?9uQDuM: u߼:)qWW1@WX XW:W2W*WVbUBU*UUUA@BNB BA0i=*BA AAAQ<"C@*C:RCW0>CW1@CK+שIG%>]q,1 w\EAY}:@@}:0@y}:I><}:N#>}:H@S׿Q¨?`? N`j?݇ ]S?~?)~:@@ ~:`;I~:Cɫ99)9 =I9Y}@y}nGI%?)%?i!! }@ }@ }@}©}}i}f@} })}E@I}i}E@NMG=YQU>aIEEya>}>Iȡť-4?ť8Ӿ ƥ@B ?9ƥQDǥ: ȥ3:)ȡW)7@WX XW:W2W*WVbUBU*UUU @BzB BAa=*BAAAA&s<"C%0 @RC-Wh>C-)7@C)-~5?i5?IG)>9IgGiF@; Eia=% %%%a %a4:Y%V1y%:%k5)%;$q,\EAY}% B@}%V<2@y}%t<}%@">}%H$&ֿ?@-X?. #T?42? ?)~% B@ ~%y`;I~%Cɫ)! %I)Y@ynGAAi"~?aIEEyb=}>Iȹ :Ž4? :ŽӾ ƽ@B ?9ƽQDǽz: Ƚ :)Ƚ:Wm3=@WiXi XiWi:Wi2Wq*WqVqbUyBU*UUU8@RB*** querying acoustic contact ***PPB5-!B1 B1A5R=*B1A=_GA9A9A=V<"Ce#@RCB=>C3=@C ՝=ԝ >]Pڀ1IAGmx>F1*q,\EAY}2X^C@}2y3@y}2;}2>}2HE2wԿ r ?-?`B?uz ?֝?)~2X^C@ ~2V_;I~0ɫAA)I IIIY`@ymGZ****** received transponder code query ******F****** received ping request ******aIEEy}R=}>Iȱŵ4?ŵӾ Ƶ@B ?9ƵQDǵ : ȵ:)ȱW`B@WX XW:W2W*W)V)bU)BU)*U1U1U5W @BݧB BA=*BAAAA=<"CǓ'@RC>>C`B@C%|׹IGf>% %%%^ %4:Y%U1y%:%59-@ 9 I @gGi @ -; EB1q,\EAY}BED@}Ba4@y}B*;}B,>}BHW@'Կf,? S?@ghn?@p5??)~BED@ ~B_;I~BCɫYY)Y YIYYy@y nGxDUSBL response received:!U1,P EE4,000,005B1,186,80,80,52,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iYY    @ @ @i̤@ )@Iiƣ@h;M*=YaIEEy<}>IA M:E4? M:EJӾ A U?9ERDE: E:)E:W1kH@WX XW:W2W*WVbUBU*UUU @B<BA BAAE=*BAAEͺAIAIAM<"CUc-@RC}Z|<C}1kH@CI!)%AA֝=Iס)סqIG>CC7q,Ov\EAY}2D@}2H 5@y}2Lg/;}2p=}2Hr`%ӿ@ء?g?7ͽ?e`W?H?)~2D@ ~2 _;I~2CɫYY)Y YIYYk@ylG鮩ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i99u}нM}|=Y}QU} ?aIEEy]=} ?Iȑŕs4?ŕӾ Ƒ ?9ƕRDǕM: ȕ߼:)ȑW3L@WX XW:W2W*WVbUBUi*UqUqUu&N@B:̸B BAM;*BAkɺAAAXI<"C\ 2@RC"C3L@CB=IGK>% %%%n %5:Y%DW1y%Y:%45n=q,W\EAY}2+gE@}25@y}2:}2=}2H @E'ӿ???`Yi?tW@?@\?)~2+gE@ ~2_;I~2Cɫ99)9 =I9YqyyxDUSBL response received:!U1,R,F19,000,005D9,187,80,80,65,FF Fpublishing direction and range info}plN>yɰ}D=}1> y)}BIyy}GQB}gZ?՞P?ٱyiYY   õ=õõjaIE Ey4<}>I :g4? :\Ӿ @B ?9-RD: :):W R@W X  X W :W2W*WVbUBU*UUU@P*QGQBZQڗ/YI@$@JQgZ?՞P?2QplN>:QbQg2Jɋb_@'UL?RQYᅯʳҺ? A?BQWB@ Qj@QPPm9?P9?PQQ@"Q@BB BA*BA  ĺAAA <"C7@RC%; C%R@C!l9=فم<ܕD>9ܑIܕxfGiܕS@ܑܑܑܕ; ݕEIGE>/YDq,=]EAY}Z{E@}–5@y}49}[=}H`Kӿ?`,? m)?7@(??)~Z{E@ ~_;I~Cɫ髉) IYӿ@ylG5DNmea in: $SNTTA,,,,,013340.19*53 I=?)=?i9AeJ +?V-V-?e(?em e<)aIayeS㥛?J +Q?e$?eHeu< eA)exAIe Aie Aae A\MaIEEy.;}>Ișŝ 4?ŝӾ Ɲ@B ?9Ɲ@RDǝ]: ȝD:)șmqAdded new target pos. range: 52.319996 m, bearing: 173.984671 deg, deltaT: 4.483952 s, approachRate: 0.535241 m/s, LOS rate: 2.628399 deg/s, posRepo size: 4m ProNav: pos range: 52.319996 m, bearing: 173.984671 deg, approachRate: 0.535241 m/s, LOS rate: 2.628399 deg/s, cmd update: 7.885197 deg/s, cmd heading: 188.033068 deg, new cmd heading: 193.518647 deg. WV@WX XW:W2W*WVbUBU*UU(J@U?B ĺB BA*BAAAA<"CK=@RC~CV@C=ip=%%%%h %0:Y%V1y%:%5#=שIG>qJq,,]EAY}>/E@}>yJ5@y}>PYй}>g=}>H4|lӿ`?Bu?o ?* :? ??)~>/E@ ~>_;I~>Cɫ髁) IY@ykGi @ @ @©iQ@ )-@IiE@Mh=Y QU>aIEE y OX} >I :C4? :DӾ @B %?9NRD: :):WE6Y@WAXA XAWI:WI2WI*WQVQbUQBUQ*UQUYU]}?B$B BA{*BAǺAAA<"C"B@RC C6Y@C >=K=ׁIG=>܉ 9܉ I܍ fGi܍ @܉ ܉ ܉ ܍ "; ݍ EvQq,$F]EA|i|Y}6D@}6X4@y}6;,̺}6ޤ<}6H bԿۡ??_@?Y?s?A?)~6D@ ~6`;I~6Cɫ99)9 =I9Y~@ykGi5M=U=Y=VFQU=>AAaEIEEEIyMܼ}M>IQU4?UӾ U@B ]?9U^RDUD: Ur:)QW\@WX XW:W2W*WVbUBU*UUU>?B 5B BA*BA_кAAA1<"CDG@RCC\@C֭v=̝>iMmGiIyIiG>Hٺ7Ba 1:YT1y:k5)?;9 בWq,_]EAY}6%C@}63@y}6(}6j#}6H 6>@ԿjB??>5ly`e?`Dw@?)~6%C@ ~6`;I~4ɫ99)9 9I9Y}@y}kG i MP=YE(QU>aIE#E y } >Im|4?9Ӿ AB %?9nRD{: :)W!/`@WX XW:W2W*WVbUBU*UUUy?B=żBA BIAM*BIAU%AQAQAUA<"C]BERCYC]!/`@CieIAA)]q,Wy]EAY}6B@}62@y}6Z}6 }6H@տ`cx?ɠ \k?;O?)~6B@ ~6La;I~6Cɫ99)9 =IAY}@y}cjGihAiA 5 5 5=r=C=jQQaUIEU*EYy] }]>Ia m:eg4? m:eӾ e AB u?9eRDe#: e:)e:W*c@WX XW:W2W*WVbU!BU!*U!U!U%@ @BϼB BA*BA2AAA<"C?RCC*c@CgAZҼ191I5eGi5@1115!; 1)ݹIݹiݹݽ#=ݽ#=ݽԄ4IGI>% %%%L %3:Y%DW1y%Y:%5)%;dq,]EAY}%A@}%!2@y}%)?O}%GQ}%H ֿˎ ?`O` @i?&D?)~%A@ ~%a;I~!ɫ ) IYMe@yM?jGiV-?I +/$|?94 )Iyףp= ?{Gz??ף< •A)•Q AI•Ai•Q AG ALM5=Y9QU>aIE1Ey}>IQ4?zӾ AB @9RDQ: :)Wog@WX XW:W2W*WV bU BU *U UUڇ@B=ѼB9 B9A=o$*BAAEuyAAAAAE{<"CMg:RCQCUog@CQ]7ƙI)GER>Tjq,W]EAY}  rA@} r1@y} 7} x} Hvֿ?`uf? ?)~  rA@ ~ a;I~ Cɫ) IYU@yUiGY]@AIa)e?iii @ @ @ý©ýýiý@ý Ĺ)ĽIĽz@iĽz@ټM[=YJ{:QU>aIE7Ey}>I :?4? :uӾ AB @9RD; X;):W={k@W9X9 XAWA:WA2WA*WAVIbUIBUI*UIUQUU@@R]B*** querying acoustic contact ***PYPYBؼB BA+M*BA%̻A!A)A-<"C-դ4RC1C5{k@C1%-?i-?IGI>i=%1 %%%Q %7:Y%U1y%:%59-@! 9! I! i! ! ! ! % ; % Enqq,*]EAY}27`A@}2{1@y}2y}2|}2HE`l׿ 󪔿 ?@T߭`/a?v_?)~27`A@ ~2Ufa;I~2Cɫ99)9 =I9Y}@y}iGZ****** received transponder code query ******F****** received ping request ******aIE=E y 9=}>I(-4?&qӾ 'AB -@9RD: :)WMɑn@WIXI XIWI:WQ2WQ*WQVQbUQBUY*UYUYU]` @BaټB BAO*BAAAA<"Ca/RCCɑn@C = %>oE-׹IGE>wq,]EAɫ髙) IY1@yiGxDUSBL response received:!U1,P F19,000,005D9,187,80,80,65,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i UP <M]E=YeQUm>yaIEDEyM}U>IY e:]n4? e:]kӾ ]1AB m@9]RD]Z; ]n;)]:Wuwr@WyXy XyW:W2W*WVbUBU*UU!U% @B_ԼB BA[>*BA:|AAAbv<"C7)RC C wr@C9e eeeS e5:օfYeDW1yeY:ek5qIyG> ~q,]EAY}:EB@}:2@y}:"g:}:ʼ}:H`;տr?wL@j\{?)~:EB@ ~:_;I~:Cɫ99)9 =IAYyyyNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B yyiyy   =ʡPi@ 9@)z@IiY$;QU>  a IE KEyX=}>I4?fӾ 9AB %@9RD: :)WMu@WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYU]"@BڼB BA*BAAAA<"C$RCCu@CE>9ILeGi_@$=; Ea}IGE>I@A)q,p^EAY}z_C@}z4@y}z4y;}z^9;}zH J<Կrc&?@J@iz?%obx??)~z_C@ ~z_;I~zCɫ) IY @y iGi!!%K?/$l?%^:?%, %=)!I!y% rh?L7A`堿MbP%C+?%+% %XA)% AI%Ai!!!M>SMMQYa]IE]QEaym;=}m>Iq }:u-4? }:uaӾ u8AB @9uRDu*; u;)u:W^y@WX XW:W2W*WVbUBU*UUU w@BؼB BAvI*BAAAA1<"CʽRCC^y@ChAF]~=k ===x =[<:Y=X1y=/:=X5IG>q,Y.^EA|B;|@Y} \E@}uw5@y} vi;}2=}H Hӿ? [J?`6{Aҥ?@.m ;O?*?)~ \E@ ~"*`;I~Cɫiq)q qIqY@y[iGxDUSBL response received:!U1,R,EE1,000,010B0,186,80,80,7D,FF Fpublishing direction and range info;>ɰ>> )BIyZC̃wh?e ^?ٱDNmea in: $SNTTA,,,,,013344.65*5C im5?mmim@i m)m­@ImE@imE@}M}G=Y} R;QU}>aIEXEy[=}>Iȑŕ4?ŕ[Ӿ ƕ6AB @9ƕRDǕ : ȕ:)ȑWn|@WX XW:W2W*WVbUBU*UUU@n@P*QZCZQִoj@w*K@JQ̃wh?e ^?2Q;>:QbQXOk DQy(@ꂋ?RQhf i|?'~?BQ {E@ QCAQxZP9?Pm9?PQQ @"Q@B6B! B!A%*B!A%}A)A)A-<"C5RC1C5n|@C1ֽ;yIG]> D>9 I dGi @ #= ; Eq,zH^EAY}JF@}J 7@y}Ji;}J[l=}JH `4ѿs??`@ܮ? ,mr@%(?{?)~JF@ ~J< a;I~JCɫ髑) IY@y-iGI]?)]?iYYEM[=Y $;QU>aIE^EyLJ=}>Iȩŭ4?ŭ-WӾ ƭ3AB @9ƭSDǭ׾: ȭ:)ȩmyAdded new target pos. range: 218.819992 m, bearing: 176.793846 deg, deltaT: 4.860316 s, approachRate: 34.257030 m/s, LOS rate: 0.577982 deg/s, posRepo size: 4m\Target missed at range: 218.82 m. Rolling out.mNTransitioning guidance mode to: ROLLOUT"XWWX; XL?W:W2W*WVbUBU*UU`=Zk@U`?BB BAÉ*BAc뽼AAA<"CeRCCC!Ƃ%?i%?I =ip=-0 ---> -7:Y-V1y-:-5)-;95GEt>-q,DMb^EAY}:׈H@}:@8@y}:␠;}:-Z=}:H+п &x?`=?2`:?trۼ?@?)~:׈H@ ~:na;I~8ɫ99)9 AIAY]@y]iGim=MmM=Ym :QUu>qqa}IE}dEyy=}>Iȁ :Ņ"4? :ŅRӾ ƅ0AB @9ƅSDDž: ȅ:)ȅ:WWX XW:W2W*WVbUBU*UUUШ?BݼB BA!Z*BAP@AAAeL<"C F,RC C C >>IG-N>Wq,g)|^EAY}JW2J@}JM:@y}JY;}J >}JH'Ϳ?XA?@? ,rK?ɴ?)~JW2J@ ~Ja;I~JCɫyy)y }IyY@yViGi!!Ý->Ý"ÝGaiÝ@Ù ę)ĝ@Iĝ@iężMF=Y2QU>aIEkEy=}>I4?_NӾ ,AB @9'SD: :)WWX XW:W2W*WVbUBU*U U U ?B5uaB9 B9A=n*B9A=A9AAAEj+<"CE[RCICICImgAmhAuB>9qIuXcGiuȸ@u"=qqu ; uEaI)GER>5555G 5E1:Y5xZ1y5q:55)5b;i= mGII ia Hٺ f8BM@q,h^EAY}JL@}J&-<@y}J;}J>}JH vZ`bɿ??X3?oQ? ߤ?)~JL@ ~J'a;I~JCɫ髙) IY@yriG YYiYYCl?^I +?:v?d?X9> <)IyRQ?~jtMb?"?D= dA)AI7 Aip A A=;M=B=Y=ߺQU=>AAaEIEErEIyM=}U>IQ ]:U4? e:UJӾ U8AB e@9U8SDU: U:)U:WWX XW:W2W*WVbUBU*UUU ?BqB BAw*BAAAA <"C0*CRCCC}I)fA׹IGf>I)@Arq,^EAY}bVN@}b+>@y}b۔(;}b/#>}bHउ7tſ?T? " ?eO?+?)~bVN@ ~bha;I~`ɫ) IY%@y%)iGi @ @ @©i )9@I\@iwMN=YZ[QU>aIExEy=}>I  m4? 1HӾ CAB @9 HSD ߼: :) WWX XW:W2W*WVbUBU*UUU`+@B5vBQ BQA]*BYA]AYAYA],<"Ce"RCaCaCiԙԙ֍·9 0:Y0Y1y:59%@ׁIG>] A>9Y I] bGi] &@] !=Y Y ] ; ] E)Ii鉉鉩"=퉊5Qq,^EAY}:P@}:N4@@y}:)Oj:}:lK*>}:H `o }??`Au?IM@W0??)~:P@ ~:`;I~8ɫ99)9 =I9Y}@yhGiII8!MQ=YیQU>aIE~Ey=}>Iȱ :ŵPY4? :ŵEӾ ƵOAB @9ƵXSDǵf: ȵ:)ȵ:WWX XW:W2W*WVbUBU*UUU"@BB! B!A%**B!A%A)A)A-3<"C5G,RC1C1C9%ƂIG5P>:q,^EAY}N R@}N%B@y}NU}N,>}NH1@'0`_??\Q]?ۿJ?G??)~N R@ ~NH`;I~NCɫ) IY H@y gGI)?i!5opM5P=Y5QU=>99a=IE=EAyE=}>IȩŭC4?ŭCӾ ƭ\AB @9ƭhSDǭ{: ȭD:)ȩWWX XW:W2W*WVbUBU*UUU@_@RB*** querying acoustic contact ***PPBD:B! B!A%`ٽ*B!A-GA)A)A-h<"C5F,*C1RC1C1C9Yו?iו?qIyG\>%=i!5, 5~5~5I 5T7:Y5T1y5@:5G5ݥq,p^EAY}6S@}6C@y}6!}6?,>}6H`J@6?u?Rra?`v6d?y?@ۋ?)~6S@ ~6`;I~6Cɫaa)a aIaYܼ@y\hGZ****** received transponder code query ******F****** received ping request ******aIEEy=}>Iȑŕ.4?ŕjBӾ ƕhAB @9ƕxSDǕ: ȕ:)ȑWaWaXa XaWa:Wa2Wi*WiVibUBU*UUU` @B\BB BAY*BAaAA9IaGi@"=; EA +<"C-G,*C)RC1C1C1 E >E>]}1IAG]v> q,B]_EAY}JU@}J*E@y}J؜}J,X&>}JH@@˩@i?j?`? 3r???)~JU@ ~J[_;I~JCɫqq)q uIqY=@ygGxDUSBL response received:!U1,P EE1,000,010B0,186,80,80,7D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i 5X9v?RQMb5=?5½ 5)1I1y5{Gz?S㥛y&1?5#?5/ݼ5`e< 5A)5AI5p Ai5A15 ANM!=YQU>aIEEy"d=}>Iȩ :ŭa4? :ŭ@Ӿ ƭoAB @9ƭSDǭ: ȭ:)ȭ:WWX XW:W2W*WVbUBU*UUU@˞ @B%B! B!A%'ܽ*B!A-:¼A)A)A-9<"C5H,*C1RC1C9C95] 555_ 5O:Y5X1y5/:55eƂ! I1 GM > q,'1_EAY}2?W@}2G@y}2 ﻙ}2z>}2HV`?•?`8?d}???)~2?W@ ~2W_;I~0ɫ99)9 9I9Y}2@y}gG鮁ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ií=íx)í"ií@é ĭ)ĭٮ@Iĭ@iĭ\@M~=YQU ?!!a%IE%E!y-b=}- ?I154?5?Ӿ 5sAB E@95SD5 : 5:)1WaWaXa XaWi:Wi2Wi*WqVqbUqBUq*UqUyU}`h@B9B BA޽*BA¼AAA<"CG,*CRCCCI)gA׹IGi>I)AA 9 I aGi @ !=   ;  Eq,K_EAY}JLY@}JI@y}J}JH @?ó? ` -?I?d)?@/?)~JLY@ ~Jd_;I~JCɫyy)y yIyY@ygGxDUSBL response received:!U1,R,E56,000,0062C,186,80,80,6D,FF Fpublishing direction and range infoV>ɰo>鰹 )BIy3eB j?+=??ٱi<M_=YY&QU>aIEEyS=}>I  : J4? : q?Ӿ zAB @9 SD : :) :W9W9X9 X9W9:WA2WA*WAVAbUIBUI*UIUIUM@PY*Q]3eBZQ]deJ@1u4@JQ] j?+=??2Q]V>:QYbQ]dGJ/{353# @RQ]2k׿$Ȍ?BQ]_a@ Q]Q]jTP]\9?P]9?P]Q]Q]A"Q] @BmBq BqAu}˽*BqAupüAqAyA}<"C}H,*CRCCCԑԑցyIG]>%%~%~%c %/:Y%T1y%@:%5)%H;9-q,d_EAɫ11)1 =I9Yu'@yu}gGDNmea in: $SNTTA,,,,,013349.49*5F i  UżMU6=YUQUU>YYa]IE]Eaye}e>Iqu4?u>Ӿ uAB }@9uSDub: u:)qmyAdded new target pos. range: 57.299999 m, bearing: 201.765578 deg, deltaT: 4.392743 s, approachRate: -36.769733 m/s, LOS rate: 5.684769 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU`fL@U?BB BA*BA4ļAAAH<"CG,*C!RC!C!C!]·I!GEs>Pq,F~_EAY}V_@}V+O@y}V}V">}VHFظ?4Ak?e`hraP? ?h-?!?)~V_@ ~VT_;I~VCɫ) IYy@yfGIU?)U?iYYíԽíxíaIEEy]>}>I :84? :?Ӿ AB @9SD: X:):W W X  X W :W2W*WVbUBU*UUU@?ܭ@>9ܩIܩiܩܩܩܩܭ; ݭEBiB B A *B A żA A A <"CH,*CRCCC9) I-=i-a=====L = /:Y=T1y=:=5)=t;GMt>q,͓_EAɫyy)y }IyYj@yfGi!!Q?Mb`?)\(?(?; Ga=)Iyjt?aJEEy}>Iī4? @Ӿ AB @9SD: :)WWX XW!:W!2W!*W!V!bU)BU)*U)U1U5?B] BY BYAev*BaAeżAaAaAe[<"CmG,*CqRCqCqCq Ձԅ>օƂYIaG}Y>q,y_EA|$i|$Y}r.jb@}rR@y}r0Ѽ}r>}rH ?n?F¿M@?``%?}m? ?)~r.jb@ ~rV_;I~rCɫ) IY @y9fGiEp+i@ z@)@Ii@LMG=YQU>  a JE Eyz>}>I %:4? %:BAӾ AB -@9SDE: s:):WIWQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUee?B& B BA*BA*ƼAAA<"CH,*CRCCC֙qIG]>====; =*:Y=0Y1y=:=G59E@ܩ 9ܩ Iܭ `Giܭ @ܩ ܩ ܩ ܭ &; ݭ Eq,MI_EAY}Fd@}FPT@y}FX}F >}FHu k?p? !ǿ*?`?`>3?`;?)~Fd@ ~F[_;I~FCIMKCinmGIɫ)i IFٺ6BY@y5fGU`@9]MB i=MI=Y QU>aJEE!y%=}%>I)-À4?-BӾ -AB =@9-SD-: -f:))WYWYXY XaWa:Wa2Wa*WaVabUiBUi*UqUqUu q@B$B BAq*BAǼAAA<"CG,*CRCCC·I)yIG^>I9)=@Aq,8_EAY}Rf@}RW@y}RO}R >}RH81?tCO?˿ ಚ?Zӟ?@;&?&?)~Rf@ ~RJ_;I~RCɫ髱) IY@yeGIMA)MAiQYnMS=YWQU>aJEEy=}>Iȩŭyl4?ŭEӾ ƭAB @9ƭ TDǭ: ȭD:)ȩWWX XW:W2W*WVbUBU*UUU|@B%B BA*BAȼAAA<"CH,*CRCCCԹԹֵ}בIGa>====& =/:Y=W1y=č:=5.q,`EAY}:`Ji@}:eY@y}:}: >}:Hl`H?hn ~&п`š ????)~:`Ji@ ~:6h_;I~8ɫ99)9 =I9Y}_@y}fGAAi<&1i @ E@)&@I@iE@i$=MU=YueQUu>yya}JE}Eyyk=}>Iȉ :ōW4? :ōGӾ ƍAB @9ƍTDǍ¿; ȍ ;)ȍ:WWX XW:W2W*WVbUBU *U U U-@R=B*** querying acoustic contact ***P9P9Y9YIYiYYYY],; ]E)Ii邉!=!=-4B8 B BA *BAɼAAA<"CG,*CRCCCƂ׹IGg>*q,`EAY}J}JH$?)]|ҿV%? ?`w?`?)~JaJEEy=}>IȡťB4?ťJӾ ƥAB @9ƥ-TDǥ: ȥD:)ȡWWX XW:W2W*WVbUBU*UUU k @BB BA*BAʼAAA<"CH,*CRCCC ?i?==i9EEEEC E2:YEDW1yEY:E5IG>1T q,3`EAY}2l@}2 ]@y}2 }2k>}2H`o ?Tӿ  ???`#?)~2l@ ~2Ջ_;I~2CɫII)I IIIY}@y}fGxDUSBL response received:!U1,P E56,000,0062C,186,80,80,6D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i=B>iz@ ҙ@)\@Ii@=m<M;=YQU>aJEEyI :L,4? :MӾ AB @9>TD+: :):W9W9Xa XaWa:Wa2Wa*WiVibUiBUi*UqUqUu@ @B B BAl*BA׿˼AAA,<"C G,*C RC CC QU>iI Y 9Y IY iY Y Y Y ] ; ] EI G > <q,M`EAY}Jxn@}J^@y}J}J>}JHG05?տ`?蘢?eJ?`x?)~Jxn@ ~J_;I~JCɫyy) IY@yfG]Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iB=Mh=YxQU>aJEEy;=} ?I  e4? PӾ AB @9 KTD : ׾:) W9W9X9 XAWA:WA2WA*WAVIbUIBUI*UIUQUUH@B% B! B!AUK*BQAU}̼AYAYA]<"CeH,*CRCCC֙M MMM M4:YMT1yM:M5)M5;9]qIG~>.fq,@lg`EAY}6)p@}6JE`@y}6}6r >}6H?剿˯ֿ@2@?`B?F]?0?)~6)p@ ~6B_;I~6Cɫ99)9 9I9Y}I@y}kfGxDUSBL response received:!U1,R,DB4,000,0063F,189,80,80,95,FF Fpublishing direction and range infoG\?ɰ>鰅7> )CIyiBaJEEy#=}>I : 4? :*TӾ AB @9YTDo: :):WWX XW:W2W*W V bU BU *U UU w@P!*Q%iBZQ%YtI@O' <<@JQ%I=AA)=AAO q,UN`EAY}r 0r@}rKb@y}rz$}rs>}rHc@?҇ ؿ2??@D? ?@?)~r 0r@ ~rt_;I~rCɫ) IYU@yUfGDNmea in: $SNTTA,,,,,013353.92*52 i9IaGi@ U|?U U=iU3@Q U@)U@IU@iUƣ@e"Me2=YeQUm>iqauJEuEqy}Ҍ=}}>IȁŅ4?ŅXӾ ƅAB @9ƅkTDDž: ȅ:)ȁmqAdded new target pos. range: 58.440002 m, bearing: 230.039870 deg, deltaT: 4.436233 s, approachRate: 0.256976 m/s, LOS rate: 6.373491 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UUR8M@Ul?BkB BAF*BA(`μAA A <"C H,*CRCCCֵƂMC MMMY M*9:YMDW1yMY:M5)M4;qIG>(x&q,l"`EAY}2b\t@}2wd@y}24'*}2z=}2Hz?;`ڿX:?UC?Cվ? ??)~2b\t@ ~2S_;I~0ɫ99)9 9I9Y@yfGi!!5^I ?ktaJEEy=}>I U:Q4? U:]Ӿ  BB ]@9yTD: f:):WWX XW:W2W*WVbUBU*UUU?BcB) B)A-*B)A-XϼA1A1A5x<"C=G,*C9RC9C9CA=·I!GEs>G,q,`EAY}:ڍv@}:Cf@y}:FS-}:Z=}:HӜӢ?瑿@ܿHXV??`x?@?)~:ڍv@ ~::_;I~:Cɫ99)9 =I9Y]y@y]fGI5?)5?i11ís>ííbiíz@é ĭ)ĭ@IĭE@iĭ@4=ML=YQU>aJEEy=}>Ig4?bӾ "BB @9TD : :)W W X  X W :W2W*WVbUBU*UUU?BE8BI BIA*BA)мAAA1I<"CH,*CRCCCƂ?i?׹IGf>9i=p=E$ EEE9 E6:YET1yE:E59M@9Ii!; E3q,o`EAY}2Fx@}2h@y}2Ƞ/}2>}2H)Y?՗eC޿`c ? `?4h?Դ?)~2Fx@ ~2#_;I~2Cɫ99)9 9IAY}P@y}tfGiEQMES=YE۽QUM>IIaMJEMEQy]-=}]>IaeX4?ehӾ e:BB m@9eTDeܹ: eӻ:)aWWX XW:W2W*WVbUBU*UUU?B9B BA *BAѼAAAE<"CG,*CRCCC >>%}IG J>39q,}`EAY}2Cz@}2e_j@y}2/}22>}2H`?l`4߿ )p`%?@? ? ?)~2Cz@ ~2=`;I~2Cɫyy)y yIY_@yfGiQQ;MA=YQU>aJEEy-r=}5>II e:M4? u:MoӾ MVBB }@9MTDM; Mu;)M:WWX XW:W2W*WVbUBU*UUUX@B B BA *BAҼAAA<"CH,*CRCCCƂUUUU\ U+:YUV1yU:UY5IG>@q,ŎaEAY}2{@}2>l@y}2/}2.>}2HLԪ?(7@?? $j?´?)~2{@ ~2`;I~0ɫYY)Y ]IYY@yfG iUʡ=U-U=iUf@Q U&@)U\@IQiUE@e<MeS=Ye7QUm>iiamJEm Eqyu=}}>Iy}_4?}uӾ }mBB @9}TD}: }/:)yܙ9ܙIܝdaGiܝ2@ܝ =ܙܙܝ; ݝEWWX XWI:WQ2WQ*WQVQbUQBUY*UYUYU]@Զ@BҦB BA{*BAYҼAAA<"CG,*CRCCC·I)iunGI׹IiG%k>52GIE@A)E@Aٺ1M7BFq,rpaEAY}2}@}2[m@y}2M1}2\>}2H [m?sgf `j?'?`??)~2}@ ~21`;I~2Cɫ99)9 EIAY}һ@y}gGi a i]@a ] a m]@a e a qe@a e a ee@a e m;MmI=YuMwQU}>aJEEyۍ=}>Iș :ŝ;4? :ŝ{Ӿ ƝBB @9ƝTDǝX; ȝ>)ȝ:WWX XW:W2W*WVbUBU*U U U `@RB*** querying acoustic contact ***PPB B BA*BAӼAAAc<"CH,*CRCCCgAƂIGj>EE~E~Ep E3:YET1yE@:E5`Lq,E6aEAY}:@}:Qo@y}:2}:=}:H@D@R?? 8 ?`d@?|?Կ?)~:@ ~:_;I~:Cɫ99)9 =I9Y}ջ@y}gGZ****** received transponder code query ******F****** received ping request ******S=7i@ @)@I@iz@1:M@=Y%QU%>!!a-JE-EIyU=}U>IY]y4?]sӾ ]BB e@9]TD]Գ: ][V?)YWWX XW:W2W*WVbUBU*UUUqW @BU BQ BQAU*BQA]pԼAYAYA]_"<"CeG,*CaRC:}CC֙qIG~>ܝ?>9ܙIܝaGiܝ@ܙܙܙܝ; ݝE)1I1i11154ASq,C PaEAY}27@}2q@y}20}2 =}2H 1?6`k_;??}??)~27@ ~2˷_;I~2Cɫ9A)A AIAY}@y}fGxDUSBL response received:!U1,P DB4,000,0063F,189,80,80,95,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I)?i  M]=Y%~:QU->aJE Ey=}>I9=ti4?=ԊӾ =BB u@9=TD=< =D?)9WWX XW:W2W*WVbUBU*UUUf @B B BA{*B!Ae}QռAaAaAe<"CmH,*CiRCmaCqCqeju?ius?==i==eO eeeH eb:YexZ1yeq:e5yIG>)eN;9aZq,eiaEAY}:/@}:s@y}:K0}:N=}:H`?`@z??0?`2?)~:/@ ~:Z_;I~:Cɫ99)9 =I9Y}*@y}gG鮅a=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i=M%:=Y%+9QU%>))a-JE-&E1y5=}5>I9=zY4?=Ӿ =BB E@9=TD=Z: = ?)9WiWiX XW:W2W*WVbUBU*UUU@Z@B B) B)A-*B)A5BռA1A1A5^<"C=G,*C9RC=HC9CA U >Q=b|I)GMt>B`q,փaEAY}6/݂@}6u@y}6Xp.}6W=}6H@v?`tU3 5? [̥?@J?3?)~6/݂@ ~6I_;I~6CɫII)I IIIY}@y}agGxDUSBL response received:!U1,R,D81,000,0064E,189,80,80,7F,FF Fpublishing direction and range info?ɰ8>鰉 )BIy\mB+&??ٱiE>>9AIEbGiE&@AAAA EE e@ e@ e@e©eeie@e e)ez@Ieie\@}M}U=Y#:QU>aJE-Eyڝ=}>Iȩ ]:ŭJ4? ]:ŭZӾ ƭBB ]@9ƭUDǭռ< ȭ!@)ȭ:WWX XW:W2W*WVbUBU*UUU @P*Q\mBZQ,I@5ef?@JQ+&??2Q?:QbQZ.K2nA5Ly'@RQ6ںӿL8FnDTX?BQZ@ Q`QXP9?P~9?PQQuuuui u&2:YuWU1yu:u"5)u$;Kgq,aEAY}nσ@}n w@y}nc+}n>=}nHwNJ?@BKMc|? z? ?ٿ?)~nσ@ ~n_;I~nCɫ  ) IYMb@yMgGTNmea in: $SNTTA,0.046485,,,,013358.37*43 ia ia i a ma m a qa q a ea e oʡ?Zd;1Zd? ?y "=)IyˡE?/$y&1?'?`< IA)AIAiA\ A<M5=Yt:QU>aJE4Ey7=}>I74?Ӿ CB  @9UDH: /:)m=qAdded new target pos. range: 59.340008 m, bearing: 251.951417 deg, deltaT: 4.502257 s, approachRate: 0.199901 m/s, LOS rate: 4.866792 deg/s, posRepo size: 4W9WAXA XAWA:WA2WA*WIVIbUIBUI*UQUU`M@UU?B}B BAҽ*BAYp׼AAA4<"CG,*CRCCCuKיIGb>I5AA)5AAc>mq,PaEAY}:@}:y@y}:)}:%u=}:H6 w?@w{K?`r6?N?`L?)~:@ ~:a_;I~8ɫ99)9 9I9Y}9@y}gGiYa    0=$i@ \@)"@I\@i@ZM\=Yh:QU>aJE:E y=}>I(4?Ӿ CB 5@9"UDS; T;)WiWiX XW:W2W*WVbUBU*UUU ?BE/ Bi BiAmݽ*BiAm#ؼAiAiAuF<"CuH,*CyRC}PCyCyԩԭhA֝PHM MMMG Mv4:YMV1yM:M59]@qIG~>]=>9YIYiYYYY]; ]Ep&tq,0haEA||Y}6@}6h{@y}6'}6=}6HQ?%-@O^ƺ? ?Go??)~6@ ~6eh_;I~6Cɫ99)9 =I9Y}ͼ@y}JhGi==MQ=Y:QU>aJE@EyӔ=}>Iȱ :ŵL4? :ŵշӾ Ƶ/CB @9Ƶ3UDǵ ; ȵ";)ȵ:WWX XW:W2W*WVbUBU*UU U @?B5+B1 B9A= *B9A=ؼA9A9A=<"CEG,*CARCMҽCICI-@>!I1GM1>Pzq,CaEAY}6aq@}6,|@y}6$&}6?'=}6HK@,?ND ~0@Z9?@*ä?1?@?)~6aq@ ~6Ca;I~6Cɫ99)9 =I9Y}q@ygGI%?)%?i))ݼMC=Y:QU>a JE GEyq=}>I!%4?%Ӿ %ECB 5@9%DUD%?; %@;)!WiWqXq XqWq:Wq2Wy*WyVybUBU*UUU&?B,B BA1Ͻ*BAbټAAA(<"CH,*CpRCCC?i?סIGC>5=i5=EEEE E/:YE0Y1yE:E!5o8q,qbEAY}2y5@}2\~@y}2%}2=}2Hs@?%༵RC@?U?ӹ??)~2y5@ ~2 `;I~2Cɫ99)9 9I9YH@ygG9IbGiw@=); Ei!m/>m?mx=im=@i m)iImz@im\@}QM}R=Yd3:QU>aJEMEy\}=}>Iș :ŝ4? :ŝӾ ƝZCB @9ƝUUDǝ: ȝ:)ȝ:WWX XW:W2W*WVbUBU*UUU@.?B٠ B BA`ٽ*BA=ڼAAAu<"CG,*C*RC CC ==IG5p>cq,bEAY}:T@}:@y}:%}:=}:H`)?িz+?`P?@ ? ?)~:T@ ~:4`;I~8ɫ99)9 9I9Y}@y}whGiQY5+?Mb?Mb5v>5> 5@)1I1y5v?:vV-?5?5Լ5< 5/A)5"AI5Ai5A11eD=Me==YeQU>aJETEyE=}>IQ4?Ӿ qCB M@9fUDF<  <)WiWiXq XqWq:Wq2Wq*WyVybUyBUy*UyUUs@B.B BAˮ*BAcڼAAA9<"CH,*CܘRCCCC֝ཹYIiGZ>MM MMM] M9:YMW1yMč:M5q,8bEAY}2@}2Ǚ@y}2:&}2j=}2H q:?rDLk?@Ť????)~2@ ~2_;I~0ɫ99)9 9I9Y}ؼ@y}WhG?A 鼉i+>,i@ &@)I\@iJMe=YߌQU>aJEZEyXr=} ?I  : 4? : 1Ӿ CB @9 sUD 8: :) :WWX XW:W2W*WVbUBU*UUU ^@RB*** querying acoustic contact ***PPBEuBA BAAEF*BAAE5ۼAIAIAMF<"CuG,*CuRCuMCqCymѦIi)iAIIGm5>I=@A)99IXcGiȸ@'; E > i- nGIA iY Eٺ 5Btq,RbEAY}2Q @}2.@y}2&}2!ף=}2H=?Q@M?w٤?p??)~2Q @ ~2'_;I~0ɫYY)Y YIaY@yhGZ****** received transponder code query ******F****** received ping request ******YYaeJEe`Eiyu}1=}}>IȁŅ4?ŅӾ ƅCB @9ƅUDDž.; ȅzD;)ȁWWX XW:W2W*WVbUBU*UUU  @B]BY BYA]v*BaAeۼAaAaAe<"CH,*CXRCɍCCԡԡ֝ M MMMJ M4:YMU1yM:M~5)Mː;9]qIG>q,"lbEAY}Bæ@}Bx@y}BM(}B^=}BHH?@-m`F`Wu`f?4?³??)~Bæ@ ~Bg0_;I~BCɫaa)i iIiYa@yiGxDUSBL response received:!U1,P D81,000,0064E,189,80,80,7F,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 iai E@ E@ E@E©EEiEף@E E)Eƣ@IEƣ@iEƣ@<M+=YCQU> a JE hEy-v=}->I1 =:5ο4? :5PӾ 5CB @95UD5#< 5D#<)5:WWX XW:W2W*WVbUBU*UUU` @Be:Ba BiAm*BiAmWܼAiAiAm<"CG,*CP'RCRACCֵ d6׉IG>q,'fbEAY}2 @}2_.@y}2Lg-}23=}2H3n? zʢ'!?@A?س??)~2 @ ~2%_;I~2Cɫ99)9 =I9Y]@y]hG}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ٙٙܥ;>9ܡIܥcGiܥ@ܥ =ܡܡܥ"; ݥE)!I!i!% =% =%4I?)?iM}=Y|QU ?!!a%JE%mE)y-F=}-?IA4?Ӿ CB @9UD12; 2;)WYWYXY XYWY:WY2Wa*WiVbUBU*UUU@BB BA%*B!A%ܼA!A!AMR<"CMH,*CURCU<CQCQMU֣AIqGe>==i=p=U0 U{U{U^ U7:YU#R1yU:U5)U;q,FAbEAY}2@}2:@y}2-}2'C=}2H ?d-[?@ձ?靴?`?)~2@ ~2X^;I~0ɫYY)Y YIYYO@yhGxDUSBL response received:!U1,R,D4F,000,00649,189,80,80,7A,FF Fpublishing direction and range info?ɰ>鰡 )BIy(lBIc?~t>?ٱdNmea in: $SNTTA,0.166728,0.166609,,,013402.83*53 iekt?l?S㥛e >e= e/ݼ)aIayeX9v?aJEtEy =}>Iȡťg4?ť Ծ ƥCB @9ƥUDǥ: ȥ:)ȡW)W1X1 X1W1:W12W1*W9V9bU9BU9*U9UAUE@Py*Q}(lBZQ}-HWH@-U@@JQ}Ic?~t>?2Q}?:QybQ}M~iM`*@RQ}.=+Fa0x򋛴?BQ}@ Q}LkQ}D׿P}ѧ9?P}9?P}Q}Q}*A"Q}U>EIYG}>Oܭq,"bEA|i|Y}6J@}6@y}6,}6|=}6H` ? N`^b@-?`Q?$??)~6J@ ~6^;I~6Cɫ99)9 =I9Yu½@y}viGi U U UU=UףUiU@U U\@)U@IU\@iU\@e5=MeL=Ym`:QUm>yyaJEzEy<}>Iȩ :ŭh4? :ŭsԾ ƭCB @9ƭUDǭS; ȭ;)ȭ:m uAdded new target pos. range: 59.040001 m, bearing: 268.362367 deg, deltaT: 4.429320 s, approachRate: -0.067732 m/s, LOS rate: 3.705072 deg/s, posRepo size: 4W WX XW:W2W*WVbUBU!*U!UM@ULL?B-sB) B)A5u*B1A5ݼA1A1A=<"CeH,*CmRCm1V<CiCqEEEA E1:YEV1yE:A9M@U"5;ܙ9ܙIܝ dGiܝk@ܝ=ܙܙܝ%; ݝE)IAG}>´q,+bEAY}2 :@}2G@y}2,}2u1=}2HO5?@ि`15.k?Ζ?%aaaeJEeEiyms<}m>Iquˑ4?u!Ծ u DB @9uUDu: uM:)qWWX XW:W2W*WVbU)BU1*U1U1U5R?B]Ba BaAew*BaAe ޼AaAiAm}<"CG,*CORCj =CCօ'I9)=@Aq,bEAY}uT@}*b@y}5,}m=}HR:@-F? CD`|????)~uT@ ~^;I~ɫ) IY=@y=[iGimS>m?m9>im@i m)iImz@im9@JM9=Yן9QU>aJEEy;}>Iȱ :ŵڄ4? :ŵ.Ծ Ƶ(DB @9ƵUDǵO; ȵf;)ȵ:WWX XW:W2W *WVbUBU*UUU%?BewBa BaAe*BiAm~޼AiAqAu/<"C}H,*C} RC}"=CyCԙԙ֝5%q,ɭcEAY}:L@}:Z@y}:os+}:Bn=}:H@D?Q@C)@+?l?NG? ;?)~:L@ ~:[^;I~8ɫ99)9 =IAI9IIMdGiM@IIIM; MEY}<@y}hGi]M]`=Y]+:QUe>aaaeJEeEiym&}u>Iy}Dz4?}8Ծ }>DB @9}UD}ܹ: }:)yWWX XW:W2W*WVbUBU*UUU@w?B%lB! B!A%G*B!A-޼A)A)A-<"CUG,*CUEϰRCUk=CQCYM]>q,!cEAY}20@}2a>@y}2*}2H=}2H W`H7?`m/@uHAٯ?*V?.? ?)~20@ ~2^;I~2CɫYY)Y YIYY}@y}iGI)?i? rh?Zd;?L?C = y=)Iy/$?MbI +&1?94 ­A)­"AI­Ai­A A]=MD=Y9QU>aJEEy}>I  : k4? : =FԾ FDB %@9 VD Mq; {;) :WYWYXa XaWa:Wi2Wi*WqVqbUqBUq*UyUyU})@BJ:B BA[*BAmR߼AAA߫<"CH,*C[RC4}=CCi}m(=ו?iו?AiE=e eeeE ev4:YeY1ye:el5iIyG~>(q,c;cEAY}2 @}2v@y}2P)}2u<}2H#u@#?W`\Vnn?(?p??)~2 @ ~2R^;I~0ɫII)I MIIY}@y}iGi5y=5#<5O >i5@1 5z@)5z@I5\@i5\@Eޘ:MES=YMl:QUM>IIaMJEUEQy]];}]>Iaee^4?e6RԾ eLDB m@9eVDek: ew:)aWWX XW:W2W*WVbUBU*UUU@-@BmBq BqAu!Z*BqAui߼AqAyA}h<"C}G,*CQRC]<CC յ>Ե >֝9=yIG^>E:>9AIEdGiE @AAAE; EE+q,DUcEAY}F@}F@y}FR*}F!<}FH@?@w?2@|D?H? 8??)~F@ ~Fi^;I~FCɫ髡) IYyiY%"QU>aJEE!y%3 }->I)-P4?-^Ծ -TDB =@9-&VD-: -:))WYWYXa XaWa:Wa2Wa*WaVibUiBUi*UiUqUu`\@R}B*** querying acoustic contact ***PyPyB<B BA*BA߼AAA&<"CH,*CRC<CC֥EG E}E}Eu E|9:YEkS1yEԊ:E5)E{;9M^>q,(ocEAY}Պ@}?@y}n,}#}H F??#33f? ?y?)~Պ@ ~^;I~Cɫ) IYMh@yMCjGUZ****** received transponder code query ******UF****** received ping request ******U))a5JE5E1y=rԻ}=>IA M:EA4? M:ENlԾ E\DB M@9E:VDE: E;)E:WqWqXq XqWq:Wq2Wy*WyVybUyBU*UUU @Bm2qBi BqAu"*BqAuKAqAqAu@<"CG,*C&ׯRC <CCֵ"q,wcEAY}2ˊ@}2ق@y}2eiaJEEimGYIiMCGٺQU,7Bym.}u>Iȑŕ_14?ŕ4zԾ ƕdDB @9ƕMVDǕEn< ȕn<)ȑWW X  X W :W2W*WVbUBU*UUU @uuuuy uC3:YuV1yu:u5)u;B}B BA*BAAAA i<"CH,*C ČRC 1<C Ciyye 7<9 II Ge >Lq,[ТcEAY}2HƊ@}2ӂ@y}2Q-}2|}2H`B`?@p? 2@])??_?)~2HƊ@ ~2 _;I~0ɫyy)y }IyY@yqjGNmea in: $SNPGT,10,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Response from modem failed NMEA checksum: $SNPGT,10,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B expected 6FNmea 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 i!!-S?~jth?~jt?-?-D; -D<))I)y-y&1?Mb&1?-`%?)-P= - A)-AI-XAi- A))9=Me=Ymd:QUu>aKEEyM}>I :!4? :Ծ DB @9aVD*; ;):WIWIXI XIWI:WQ2WQ*WqVqbUyBUy*UyUyU+@B8B BA*BA8!AAAP<"CG,*CJSRC<CCE < I) GE >vq,zcEAY}2"@}2ʂ@y}2,&}2}2H`?E?LO? դ?  ?)~2"@ ~2 _;I~2Cɫyy)y yIyYyxDUSBL response received:!U1,R,E26,000,0063E,185,80,80,B7,FF Fpublishing direction and range info>ɰ>+> )7CIyiBM?2t*?ٱ.Nmea in: $CATXF,40*60 \Response from modem unexpected: $CATXF,40*60 Nmea in: $CAXST,7,20210814,013407.271661,3,0,40,4000,14500,-2,19829,28005,0,0,0,-1,0,0*64 Response from modem unexpected: $CAXST,7,20210814,013407.271661,3,0,40,4000,14500,-2,19829,28005,0,0,0,-1,0,0*64 I?)?iM/]>Mף:QbQ(fOO}Lh]'J?RQ条>ʿ)(FxF.o?BQo@ Q?dQ DP9?Pѧ9?P QQ#@"Q*AB%R B) B)A)*B)A5UOA1A1A5<"CeH,*Ce&RCe<CaCi%8>9!I%fGi%@%=!!%; %E)q==i=p=M IIMD M3:YIyIM55)M;Iqiqu=u=u'4ֱ׽?i׹qIyG>fq,cEAY}r @}r@y}rr!}rW}rH5?֬?4^? -?@Me?)~r @ ~rv^;I~pɫ) IY@y jGuNmea in: $CAERR,013407,NI ,29,Busy completing a previous request*7A }Got error from modem: $CAERR,013407,NI ,29,Busy completing a previous request*7A yi}=DNmea in: $SNTTA,,,,,013407.27*5A rResponse from modem unexpected: $SNTTA,,,,,013407.27*5A i)Õ= Õ><MaKEEy}>I :t 4? :Ծ DB @9}VD: :):myAdded new target pos. range: 58.380001 m, bearing: 257.876005 deg, deltaT: 4.480217 s, approachRate: -0.147314 m/s, LOS rate: -2.340592 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU0M@Up?B]nBa BaAeJ*BaAeu}AiAiAm<"CuG,*CuRCu%Ϛ<CqC֭U<ׁIG>q,rcEAY}Ft@}Fc@y}Fу}FW}FH%?{?1js?6ϣ? S ?)~Ft@ ~F^;I~FCɫQQ)Q QIQY@yjGi))}<} >}>i}@y })}@I}@i}@MN=Y:QU>aKEEyK}>Iȩŭ[4?ŭԾ ƭDB @9ƭVDǭ: ȭn:)ȩWWX XW:W2W*WVbUBU*UUU@)?BB BA*BA AAA%h<"C-H,*C-îRC-s<C)C1'<IGM>=99=? =2:Y9y9=#59E@pq,< dEAY}2rd@}2(r@y}2\ }2.}2H@ ?`L?-w?@꿣?;ե@r?)~2rd@ ~2#^;I~2Cf6>9dIfxfGifS@dddf; fEɫYY)Y ]IYY-@y5kG im=MmM=Ym9QUu>qqauKE}Eyy}ޢ}>Iȁ :Ņ&4? :ŅsԾ ƅDB @9ƅVDDž: ȅa:)ȅ:WWX XW:W2W*WVbUBU*UUUu?BUB BA瀼*BAA!A!A%%<"C-G,*C-RC-a<C)C1MzlI9)=?Aq,$dEAY}2kk@}2!y@y}29}2޼;}2H\?c?`o?ţ?qJ?)~2kk@ ~2^;I~2Cɫ99)9 EIAY}о@y}jGiu{Gz?X9v{Gztu?u uף)qIqyuK7?/$?X9v?uI,?uaKEEyM;}>I)- 4?-5Ծ -EB =@9-VD-H: -:))WyWyXy XW:W2W*WVbUBU*UUUZ?B-B1 B1A5zݼ*B1A=A9A9A=<"CUH,*CUTRC]t<CYCqԭgAԩ֝k:YMY1yM:MY5qIG~>q,,=dEA||Y}:j@}: @y}: }:G9}:H`w`?7? fl?4?"@?)~:j@ ~:2^;I~:Cɫ99)9 =I9Y}%@y},kGi  ]^]/]>]ni]@Y ]ƣ@)YI]@i]@<MJ=Y{3;QU>aKEEy;}>Iȱŵ4?ŵԾ Ƶ-EB @9ƵVDǵ8: ȵ:)ȱWWX XW:W2W*WVbUBU*UUU#z?B%B! B!A%O*B!A- A)A)A-<"C5G,*C5#RC5h<C1C9օu5>9I@gGi@D%; Eq,WdEAY}2q@}2'@y}2!}23}2H ?? p`rg?`@C?n ?)~2q@ ~2m];I~2Cɫ99)9 =I9Y}߾@y}jGI?)?iXMS=Yܛ;QU>!!a%KE%E!y-;}->Iȑ :ŕ[4? :ŕXԾ ƕDEB @9ƕVDǕ: ȕ{:)ȕ:WWX XW:W2W*WVbUBU*UUU @BKB BAμ*BA a;A A A f<"CH,*CRC<CCE1i5=E] EEEG E=;:YET1yE:E5&q,qdEAY}2z@}2k@y}2| }2[1}2He??`Y?N?. ?)~2z@ ~2];I~2Cɫ99)9 =I9Y}ɾ@y}jGAAi=V>>i @)@I@i޻MM=YX;QU>aKEEy9k}>I  4? kԾ XEB @9 VD : :) W9W9X9 XAWA:WA2WA*WAVAbUIBUI*UIUIUU@@R]B*** querying acoustic contact ***PYPYB}^B BA*BAhAAA:f<"CG,*CeRC5듆<C1C1 E=E=%'<1I9Ga"q,dEA494I6gGi6F@4446.; 6EY}Ba@}Bn@y}BK}B~-}BH ?E? TK?ː?M^?)~Ba@ ~B];I~BCɫYY)Y ]IYY%@y,kGZ****** received transponder code query ******F****** received ping request ******iiamKEmEqy}}}}>Iȁ :Ņ4? :ŅyԾ ƅoEB @9ƅVDDž; ȅ9;)ȅ:WWX XW:W2W*WVbUBU*UUU @B]B BAO*BAvAAAG<"CH,*CUxRCc<CCuuuuY uC3:YuV1yu:u5)u;9}<IG>?(q,=`dEAY}6^Q@}6_@y}6}61:}6H``?@wH?N]@? aKEE y } >IH4?Ծ xEB %@9WD: n:)WAWAXA XAWA:WI2WI*WIVQbUQBUQ*UQUYU]_ @BB BAL *BAAAA65<"CG,*CMRCM<CCjZX<IG l>I9)=@AD/q,:dEAY}2L@}2Z@y}2{}282}2HMɣ?|%?n .Y`? Bw?)~2L@ ~2];I~2Cɫ99)9 =I9Y}̿@y}kG鮁ɮi=ti(@ ƣ@)Iƣ@i@=M]=YC;QU>aKEEy ú} >I  : 4? : ^ վ EB @9 WD w: :) :W9W9XA XAWA:WA2WA*WIVIbUIBUI*UIUQUU @B}By BA*BAAAA@$<"CH,*CRC  `J<CC%hA!%/C<IG5O>a9aIaiaaaae%; eEEEEES E0:YE[1yEH:Ek5)E;PCim]nGIivCٺ3B+5q,/dEA||4aKE Ey.:}>I4?վ EB  @9'WD: ܹ:)W)W)X) X)W):W12W1*W1V9bU9BU9*U9UAUEx@BiBi BiAi*BiAqAqAqAu<"C}G,*C}묽RCj@Q<CC֥0:D<׉IG@>G%IIaUKEU EQy]}]>Ia m:e΁4? m:e$վ eEB m@9e8WDe=: e:)e:WWX XW:W2W*WVbUBU*UUU#@BB BA*BAAAA<"CH,*CRCP<CCGgL<?i?׹IGH>==i==EEEEX EP0:YET1yE:E~59M@a 9e tCIe hGie @e =a a e '; a )Ii==5Cq,  eEAY}R Q@}R^@y}RѼ}R#}RH`@Ũ?.?`ΰ` i=?`?)~R Q@ ~R^;I~RCɫyy) IYz@ylG@AiK=MD=Yy;QU>aKE Ey%^n:}M>IY]u4?]1վ ]EB @9]KWD]܏< ]<)YWiWqXq XqWq:Wq2Wy*WyVbUBU*UUU @RB*** querying acoustic contact ***PPB]߼BY BYAe!;*BaAeAaAaAe*<"CmG,*CmwRCuAX<CqCq աԥ=֭LM<׉IG>FIq,[&eEAY}2=N@}2[@y}2ļ}2w2}2H `? 4?@i ɸ{?K?)~2=N@ ~2A];I~2Cɫyy) IY @yFlGi]i|?5?+ηRQ?]1?]v ]=)YIYy]M?/$?Q?]n2?]<]\= ]A)] AI]=Ai]p AY]QAME=Y;QU>aKE Ey3a}>I  g4? >վ EB 5@9 \WD Q; r;) WQWQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUaUe{|@BB BA*BAAAA?<"CH,*C:KRC-S<CCֽjZX<-R ---a -\::Y-Y1y-:-k5yIG>.Pq,;@eEAY}2V@}2Ad@y}2L}2 O@}2H ? ?`=i؄??)~2V@ ~2p^;I~2Cɫ99)9 9IAYd@ylG 鼩i5?\=Si@ @)Iƣ@iƣ@  <MY=Y ;QU>aKE E!y%0;}%>I) 5:-\[4? 5:-Jվ -EB =@9-mWD-: -:)-:WYWYXY XaWa:Wa2Wa*WaVabUiBUi*UiUiUu@B6B BA{;*BAAAA[a<"CG,*C<RCae<CCI)fA׹I9Ii0; EGEQ>I)ZVq, ZeEAY}2a@}2n@y}2>}2@}2H@c?@\?*(@Eg?``^?)~2a@ ~2];I~2Cɫ99)9 9I9Yu,@y}olGI)Ai7MK=Y;QU>aKE" E y P;}>IM4?Wվ EB %@9WDn: {:)WAWAXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU]A@BB BA*BAAAAp<"CH,*C#諽RC.x<CCԩԩ֭a<יIGB>%u %%%U %'=:Y%U1y%:%5\q,zteEAY}:l@}:y@y}:O}:<}:H@?+~?`yya}KE}) EyyIȉ :ō @4? :ō(eվ ƍEB @9ƍWDǍ ; ȍv;)ȍ:WWX XW:W2W*WVbUBU *U U U-KN@BuڼBy ByA},e<*ByA}pAyAA<"CG,*C3RC?օ<CC֥v gA 9 I lhGi @ 6; Ejcq,UeEAY}2x@}2@y}2H}2`3}2Hu?@?@DL ?Oa` ?)~2x@ ~2];I~2Cɫ髡) IY~@ylGI9)9iAA-M%9=YMb;QUU>aaKE0 Ey=i;}>Iȱŵa14?ŵssվ ƵEB @9ƵWDǵ; ȵU";)ȱW!W!X! X!W!:WI2WI*WQVQbUQBUQ*UYUU@B|{߼B  B A ;*B AofAAA%<"CEH,*CMrRCM0<CICQ=i=-G ---k -|9:Y-V1y-:-5)-{;95֕iq,0eEAY}2@}2V@y}2 ,x}2"}2Hw?`? .f `3?[?)~2@ ~2^;I~2Cɫ99)9 AIAY}@ymGi%w/?&1?%?% %P=)!I!y%w/?Mbp?Mb?%&?%;%= %A)% AI!i%7 A!%AED<MEY=YEy;QUE>IIaMKEM6 EQy];}]>Ii :m%4? :m:~վ m FB @9mWDm; mr;)m:WWX1 X1W9:WA2WI*WqVqbUBU*UUU՛@Bu(ܼBy ByA}"<*ByA}0VAyAyA/r<"CG,*C>RC9<CC ս=Խ=֝'{~pq,eEA|i|Y}6@}6=@y}6$^}6}6Hm?L?f* ^ċ?@Ԣ@?)~6@ ~6^;I~6Cɫ99)9 =I9Yu@y}lGi = = ==`e==h>=hi=@= =@)=\@I=\@i=\@M}MMI=YU+;QUU>QYa]KE]< EYye:}e>Iim4?mHվ mFB u@9mWDm: m':)iWWX XW:W2W*WVbUBU*UUUU @RB*** querying acoustic contact ***PPBݼB BA;*BAJAAA<"CH,*CRCݣ<CCR5<ܑ9ܑIܑiܑܑܑܑܕ=; ݕE׹IGH>%%%%D %E1:Y%X1y%/:%55)%b;vq,eEAY}2@}2@y}2j>}2E}2H?@L?Pч?R2?)~2@ ~2\)^;I~0ɫ99)9 =I9Yu@y}lG 鼉iy:MV=Y;QU>aKEB Eyjq}>IȹŽ 4?Žվ ƽ+FB @9ƽWDǽ: Ƚ׾:)ȹWWX XW:W2W*WVbUBU*UUU @BݼB BA<*BAc=AAAs(<"CG,*C=٪RCp<CCԅ<׹IGE>IAA)AA$|q,eEAY}6`s@}6@y}6$)}6i}6HQ@? ?@`Uō/?@u?)~6`s@ ~6^;I~6Cɫyy)y }IyY@y%mGi[?rh>i@ @)@I@i@-R<M-B=Y5G;QU5>99a=KE=I E9yE}E>II U:M4? U:M0վ M- ))- ->:Y)y)-59-@܁ 9܁ I܁ i܁ ܁ ܁ ܁ ܅ -; ݅ Eq,fEAi^nmGIti~Bٺ2BY}mLq@}m@y}m%}mC1}mH`ʽ? ? @` ?6?)~mLq@ ~mC^;I~mCɫiq)q uIqY@ylG-Setting waiting for range response to false due to timeout. Elapsed:6.137734i19Zd;O?S㥻Mbj99a=KE=Q EAyE>}M>IIM4?Mñվ MTFB ]@9MWDM: M:)IWyWyX XW:W2W*WVbUBU*UUU?"@Bh ߼B BA;*BAUAAA(<"CG,*CaRC4<CC<IG>q,)fEAY}6$|@}6ۉ@y}6 }6P3}6HG@(??>s?g?)~6$|@ ~6T];I~6Cɫ99)9 9I9Yu@y}9lGI?)?iUM=Y%:QU%?!!a%KE-V E)y5+;}5?I9 E:=Q4? E:=+վ =bFB E@9= XD=w: =:)=:WWX XW:W2W*WVbUBU*UUU@}L#@BUB BA*BAAAA<"CH,*Cb4RC<CC  <I=i=GEs>R &2:YW1yč:55 ːq,SCfEAY}:@}:s@y}:}:y4}:H `:??[@I ݂?.@?)~:@ ~:];I~:Cɫ99)9 =I9Y}@y}mGi+=q=Q8iQ@ z@)z@Iz@iz@L=MM=Yun:QUu>yya}KE}\ Ey%;}>Iȉō4?ōվ ƍvFB @9ƍXDǍ; ȍ;)ȉWWX XW:W2W*WVbUBU *U U U-`$@BBܼB BA"<*BA. AAA;<"CG,*CRC <CC ==a9aIehGie@aaae&; eE)ńtCIńtCiń=ń=ń'45%<IGj>3q,.]fEA|i|@Y}6@}6@y}6]#}6#`/}6H`=@,?9 ? ) v`?!꥿=?)~6@ ~6dh];I~6Cɫ99)9 =I9Y}0@y}tlGi<MO=Yup;QU>aKEb EyǺ}>I :#4? :վ FB @9.XDQ: :):WWX XW:W2W*WVbU BU *U U U $@B=. B9 B9A=*B9AAAAAAAE{<"CMH,*CM0ϩRCMZ<CIC}<סIGD>Z 1:Y0Y1y:5q,V wfEAY}2k@}2Uy@y}2ͻ}2O*}2H`@һ?`?[`Ծy?>@?)~2k@ ~2m];I~2CɫYY)Y ]IYYU@ylGNmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i -@ 5@ 5@-©--i-@- -@)-I-@i-@]<M]&=YedL;QUm>qqa}KE}j Ey}>Iȩŭb4?ŭ5վ ƭFB @9ƭDXDǭd: ȭ:)ȩWWX XW:W2W*WVbUBU*UUU%@RB*** querying acoustic contact ***PPBB BA9*B!A%IA!A!A%-<"C-G,*C5ٍRC5O<C1C1I%@A)!=) 9) I) i) - =) ) ) ) q,%fEAY}b@}np@y} }4}H@޵?3ݣ?a-=Ov?`?)~b@ ~2G];I~Cɫ髱) IYz@ylG Z****** received transponder code query ******}F****** received ping request ******}aKEr EyZ}>I :4? :վ FB @9XXDR; Q;):W1W1X9 X9Wy:W2W*WVbUBU*UUU&@B-c߼B) B1A]!;*ByAnAAA<"CH,*CNRCH<CCԡԡZ x ;:YDW1yY:X5)ʖ;9֍ I1q,#fEAY}:m@}:z@y}:9}:W=}:H]??`@@?v?`ȴ?)~:m@ ~:];I~:CɫYY)Y YIYY}@y}+lGxDUSBL response received:!U1,P E26,000,0063E,185,80,80,B7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i}bM=Y:QU?aKEv Ey,;}?I15g4?5վ 5FB u@95fXD5a< 5<)1WWaXi XiWi:Wi2Wi*WqVqbUqBUq*UqUyU} o'@BnB B A *B A A A A Q<"CG,*C$RC2<CC5<IG5>q,fEAɫ) IYeF@ymlGNmea in: $CAERR,013419,NI ,29,Busy completing a previous request*75 Got error from modem: $CAERR,013419,NI ,29,Busy completing a previous request*75 DNmea in: $SNTTA,,,,,013418.98*50 rResponse from modem unexpected: $SNTTA,,,,,013418.98*50 I?)?i       > ^:> Vξi @  z@) @I z@i z@<M@=Y%QU%>!)a-KE-} E1y5}5>I9 E:=4? E:= ־ =FB M@9=xXD=a: =C:)=:WiWiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUyU`-(@BB BA*BAAAAo<"CH,*CRCB<CC4>9IgGiF@=,; E֝̓<ץ?iץ?YIiG[>=i= q ?:YY1y:5);Cq,wfEAY}2E@}2@y}2V}25oF}2H r?A? p@ܙ׊p?]˨`R?)~2E@ ~2f];I~2CɫYY)Y YIYY4@yxlGi˻Ma=Yz;QU>aKE Ey!m<}>I84?־ FB @9XDs: :)W1W1X9 X9W9:W92W9*W9VAbUABUA*UAUIUM@(@BqBq BqAy*ByAyAyAyA}%j<"CG,*CèRC|<CC ==֥e<ׁIG=>nq,WfEAY}2#@}2ڡ@y}2S?}2E3}2H"??`Ș`?`f#?)~2#@ ~2];I~0ɫ99)9 =I9Yuſ@y}kGi5 ?5n5~j>i5@1 59@)5z@I1i5@EtMED=YM;QUM>IQaUKEU EYy]鞺}]>Iaet4?e"־ eFB }@9eXDe!; ep;)aWWX XW:W2W*WVbUBU*UUU`)@BB BA*BAAAA"<"CH,*C RC F<C C <IG=Q>  4:YWU1y:59@ 9 I @gGi @ (; EZq,@gEAY}m~@}m@@y}m(9}m4*/}mH?3?```% 㥿?)~m~@ ~m2];I~iɫ髉) IY@ykG imp= ף?Mb?A`"?mE?m< m=)iIiymV-?MbI +?mh1?mm94< i)m AImAimQ AimQAPM1=Yp;QU>  a KE  E yg}>I %:>d4? %:0־ FB -@9XD: :):WIWIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYUe`\*@B6B BAI*BATAAAU<"CG,*CMRCGy<CCֵ~Mmq,,gEAY}6{c@}62q@y}63:}6I4}6H ^@˷?`Yɡ? ExݛT ?)~6{c@ ~6];I~6Cɫaa)i iIiYw@ykGɮp=i  @ @ @©i@ ­@)I9@iƣ@!M_=YC;QU>aKE Ey}>I)W4?<־ FB @9XDU: Ǻ:)W)W)X) X)W):W12W1*W1V1bU9BU9*U9U9U=`d+@RMB*** querying acoustic contact ***PIPIBmBq BqAu]ۻ*BqAuAqAqA}<"C}H,*CRC8<CCԑԑօuUUUUp Uy0:YUU1yU:U5@gq,EgEAɫ髙) IY!@yblGib=MZ=YQU>a%KE% E1y=}=>IA M:EI4? M:EG־ EFB M@9EXDE(: E:)E:WqWqXq XqWq:Wq2Wy*WyVybUyBU*UUU`D',@B5B1 B1A5*B1A9A9A9A=a<"CEG,*CEꧽRCE<CACIq9qIufGiu@u=qqu3; uEd>m}Uwq,Q_gEAY}6d@}6r@y}6`;}6_6G}6H`)?`Jm?Ͼ@0,``E䨿L?)~6d@ ~6|];I~6Cɫ99)9 9I9YU@ygkGI)?if~ML=Y:QU> aKE Ey9}>I!%F;4?%1T־ -tI %FB -@9%XD%: %:)!WQWQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUaUe%,@B4MB BAV0*BA AAA-<"CH,*CRC<CCօ <׍?i׍?aIiG9>AiE=uuuud u3:YuX1yu/:u5}q,ygEAY}:~@}:@y}:E;}:yya}KE} Ey;}>Iȉ :ōk,4? :ōa־ ƍFB @9ƍXDǍ: ȍ:)ȍ:WWX XW:W2W*WVbUBU*UUUD-@BB BAF*BA5AA A  <"CG,*CĀRCT<CC %=%=%e<I G%M>m 3>9i Ii ii m =i i m -; m E)Iib4q,gEAɫ髉) IY@ykGiu +?~jt?{Gz?u?u= u#=)qIqyuNbX9?:v?L7A`?u%?uTaLE Ey}>Iȩŭ4?ŭOn־ ƭFB @9ƭYDǭʽ: ȭ@:)ȩWWX XW:W2W*WVbUBU*UUU .@BȼB BA*BA[AAAv<"CH,*C2CRC2<CCֵ፨<שIG> 2:YDW1yY:5);9q,OgEAY}B‹@}By@y}B,;}BC}BH?? v"w`?)~B‹@ ~B];I~@ɫ髉) IY@yjG  i     Ýp=>Ý>ÝIiÝG@Ý ĝz@)ĝ@Iĝ@iĝ@mM[=YR;QU>aLE EyQ;}>I4?y־ FB @9YD;  :)W9W9X9 X9W9:WA2WA*WAVAbUIBUI*UIUiUur/@B/B$= BAʼ*BAAAAI<"CG,*C!RC<CCԅ<IGj>I=AA)=AAq,0gEAY}6@}6@y}6+;}64}6H wl?9?M` W`{?)~6@ ~6՘];I~6Cɫ99)9 9I9Y}a@y:jG鮁ɮa=ia)MV=Y:;QU >  a LE  Ey`}>I! -:%4? -:%־ %FB -@9%&YD%r: %:)%:WQWQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUe 0@BB BAH&*BAPAAAP<"CH,*CঽRCP<CCԹԹ)9)I-fGi-@-=))-); -E֥) R 7:YWU1y:55)j;{q,gEA||;Y}>^|@}>@y}>r;}>94}>H8?$?@xC{`6?)~>^|@ ~>~];I~<ɫaa)a eIaYw@yVjGi;MO=Y8QU>aLE EyƼ}>I4?־ GB @96YD8: :)WWX XW:W2W*WVbUBU*UUU0@RB*** querying acoustic contact ***PPB ;B  B A -*B)A5A1A1A5<<"C=G,*C=RC=H<C9CAօ`= q,gEAY}6{@}6>@y}6;}6 8}6H`?? x{ =`{?)~6{@ ~6];I~6CɫYY)Y YIYYK@yjGI?)?i|>Li3@ @)@I@i VM E=YH9QU>aLE E!y%R}%>I) 5:-4? 5:-־ -GB =@9-HYD-A: -:)-:WWX XW:W2W*WVbUBU*UUU0@BUkBY BYA]e1*BYA]YMAaAaAeb="CmH,*Cm5qRCu<CqCхr=9i=p=uR5<ׅ?iׅ?QIaG>    L .:Y U1y : 59 @ 2>9 I LeGi _@ !; E1q,`hEAY}f {@}f@y}fQ;}f;}fH@D??``j~@1q.?)~f {@ ~fX];I~dɫ) IY Խ@yiGmSetting waiting for range response to false due to timeout. Elapsed:6.021329im?Aiyye/$?Qο&1?eaLE Ey; }>Ișŝ/4?ŝ־ ƝGB @9Ɲ\YDǝ: ȝ:)șWWX XW:W2W*WVbUBU*UUU`Z1@B ^B BAl*BA AAA="CG,*C%@8RC%K<C!C)5Vw$= 9==M፨k q,.hEAɫII)I QIQY½@yviGiJ>if@ \@)&@I\@iE@뾻MS=YQUe>iiamLEm Eqyu}u>Iy :}|4? :}Q־ }%GB @9}nYD}: }M:)}:WWX XW:W2W*WVbUBU*UUU` 1@BCB BAu*BAAAAt="CH,*CRC0/<CC  )      s+:Y W1y č: H5֍ ԅq,`rHhEAɫ髙) IYy iYQU>aLE% E!y!}->I)-$4?-־ --GB =@9-~YD-: -:))WYWYXa XaWa:Wa2Wa*WaVibUiBUi*UiUqUuD2@B^B BA*BAtuAAA="CG,*C5ӥRC<CCܵ/>9ܱIܵdGiܵ@ܵ=ܱܱܵ'; ݵE&I9)9G.q, PbhEAɫ髙) IY@y[iGI)ieM a LE  E y}>I %:b4? %:־ 6GB %@9YD: :):WIWIXI XIWI:WI2W*WVbUBU*UUU 22@B%B) B)A-*BIAMAQAQAU_y="C]H,*C]RC]kѨ<CYCaԑԕgAօ፨m m m m L m 1:Ym U1ym :m 5Wq,)|hEAY}JC@}JQ@y}Jq;}J-}JH?n?@J 矿}`g?)~JC@ ~J];I~JCɫYY)Y YIYY@yhGitxi>iQ@ )\@I@i\@1MI=YݹQU>aLE E!y%}%>I)-V4?-־ -?GB =@9-YD-o: -Y:))WYWYXY XaWa:Wa2Wa*WaVabUiBUi*UiUiUu 2@B* B BA*BAfAAA="CG,*CtjRCbm<C)C1%l<I G%M>٩ ٭ hAܵ 2>9ܱ Iܵ cGiܵ @ܵ =ܱ ܱ ܵ 3; ݵ EiE mGIa i  )Dٺ! % R4BTA%q, hEAY}ZE@}ZCS@y}ZH;}Z$&}ZHN` ?`+? t[ {ä?)~ZE@ ~Z&];I~Xɫ髑) IY@yhGI?)?iPonly read 0 of 1 data item for BIT errora i@a  a m@a  a q@a  a e@a  %#M-I=Y-GQU->11a5LE5 E9y=^9}=>IAEA4?E־ EHGB M@9EYDE: EV>)AWqWqXq XqWq:Wy2Wy*WyVybUyBU*UUUKT3@RB*** querying acoustic contact ***PPBxB BAŽ*BA AAA/="CH,*C7RC<CC֥yb]5=i5=vm+q,FhEAY}RQ@}Rf_@y}R;}RӋ)}RH ? cqqauLEu Eyy}Y;}}>I :4? :־ RGB @9YD: \?):WWX XW:W2W*WVbUABUA*UAUIUM`3@Bu&Bq BqAu׽*ByA}AyAyA},="CG,*CRCK<CC ս=Խ=u<=B ===z =9:Y=DW1y=Y:=5IG>U2q,!hEA| i| Y}>b@}>Ap@y}>;}>*9}>H` ?@yܠ?BNJ 4x~=@h?)~>b@ ~>];I~>CɫQQ)Q UIQY#@yxgGi~Mj=YQU?aLE Eym;}?I~4?׾ ZGB @9YD: ?)WWX XW:W2W *W V bUBU*UUU4@B=JBA BAAE*BAAEqAIAIA8="CH,*CΤRCњ<CCQ9QIUbGiUw@QQQU-; UE)Ii==5 <׹IGF>|8q,RhEAY}2m@}2{@y}2S@;}29}2H¾?@̠? ^@y/<e?)~2m@ ~2,];I~0ɫII)I MIIY}D@y}gG 鼉i&<ML=Yf,:QU>aLE!Eyd;}>IȹŽ(q4?Ž׾ ƽcGB @9ƽYDǽ: Ƚ-?)ȹWWX XW:W2W*WVbUBU*UUU 4@B%ĢB) B)A-Mڽ*B)A-$A)A1A5s0="C=G,*C=kRC=ã<C9CAE7ƙI5@A)5@AEEEE` E0:YEW1yEč:E45 >q,phEAY}2.v@}2惂@y}2;}2u@}2H @`? ա? `Wta ?)~2.v@ ~2q];I~0ɫ99)9 =I9Y@yfGɮp=i % % %-K>-+-\=i-p@- -ٮ@)-@I-@i-@=gM=A=Y=)9QU=>AAaELEE !EIyM;}M>IY]b4?]+׾ ]mGB e@9]YD]: ]@)YWWX XW:W2W*WVbUBU*UUU`4@B B BA*BA AAAL="CH,*CTdRCѿ<CCԅ<סIGA>Y 9Y I] bGi] &@Y Y Y ] 7; ] EhEq,3RiEAY}>u@}>@y}>;}>>}>Ho? ?```p`?)~>u@ ~>];I~<ɫQY)Y YIYYn@yfGia ia i a ma m a qa q a ea e S?X9v?MbpZ?= )IyS?y&1|y&1?/?``e< A)OAI Aip A\ AɰMC=YEQU>aLE!Eyx}>I :&T4? :+׾ rGB @9ZD: Z:):WWX XW:W2W*WVbUBU*U U U  ]5@B5,B9 B9A=*B9A=RAAAAAEBZ="CMG,*CM,RCMu<CICQEoE<I!GEQ>EEEE] E1:YEV1yE:E5)Eݎ;9MKq,g'1iEAɫ髙) IY@yeGI?)?i=v>?=E6>=li=@9 =@)=@I=@i=@M MMQ=YUQU>aLE!Ey}>I.F4?7׾ wGB @9 ZD: :)WWX XW:W2W*WVbUBU *U U UA5@B=LB9 B9A=*B9AE+AAAAAEX="CMH,*CMlRCMQ<CQCQe<9IIGeV>==i==Rq,KiEAY}6P@}6^@y}6IM;}6!9}6H`IѬ?u? ٲ\ 9`Fi2?)~6P@ ~6x];I~6CɫII)I MIIY}@y}zeGAAi MU=Yb+QU>aLE!EyG}>I :F94? :B׾ {GB @91ZD; f;):WWX XW:W2W*W V bU BU *U UU[$6@RB*** querying acoustic contact ***PPBE%BA BAAE)%*BAAMAIAIAMt="CUG,*CUǣRCU@e<CYCY m=m=1>9IdaGi2@=I; EmEw EEEg EP=:YEU1yE:E5)Eɘ;Xq,diEA|i|@Y}6`9@}6G@y}6T:}6 :}6H`+$j?j(?դ@JYn??)~6`9@ ~6T];I~6Cɫ99)9 =I9Y @ydGiMF=Y}QU>aLE$!EyN}>I  *4? O׾ GB @9 CZD : :) W9W9X9 X9W9:W92WA*WAVAbUABUA*UIUIUM 6@BuҢ'By ByA}1*ByA}AAA="CH,*CRC s<CC֍}U<ׁIGB> ^q,~iEAY}:~8@}:6F@y}:]}:+9}:H$?ۭ?P  gI` ?? A!?)~:~8@ ~:hp];I~:Cɫ99)9 =I9Y}@y}dGNmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Å ?Å>ÅiÅp@Á ą@)ą@Ią@ią@m'Mm(=YuQU}>aLE,!Eye}>Iȱŵ4?ŵ^׾ ƵGB @9ƵXZDǵ; ȵ;)ȱW!W!X) X)W):W)2W)*W1V1bU1BU1*U1U9U= 7@B$B BA6*BA;AAA,="CG,*C}URC%y<CChAIMAA)MAA}}}} }&2:Y}T1y}:}59@k9 I `Gi @    0;  EIi G >eq,hiEAY}:>K@}:X@y}:|1ﺙ}:c8}:H@`s? ?oP`.]?{ ?)~:>K@ ~:ck];I~:Cɫ99)9 =I9Y}>@y}cGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U2Powering down loadControl UUI])]i]]Q?I +(?94 )IyGz?{GzZd;O?0?#j<= A)I Ai A M d=Y :wQU>aLE2!Ey;}>I! -:%O 4? 5:%i׾ %GB 5@9%hZD%: %Z:)%:WQWQXY XYWY:WY2WY*WaVabUaBUa*UaUiUm`e7@B'5B BAM*BAAAA- ="C5H,*C5(RC5<C1C9=Hu<IG%n>lq,qiEA||Y}6(b@}6o@y}6}6a.}6Hk ?鰥7> )BIyiBuW?4,?ٱ /]=  =i @  @) @I @i @=M[=Y%QU%>!!a-LE-8!E)y5:;}5>I9=/4?=u׾ =GB E@9=xZD=: =ܹ:)9WaWiXi XiWi:Wi2Wi*W VbUBU*UUU@7@P)*Q-iBZQ-/1;@@I@JQ-uW?4,?2Q-։?:Q)bQ-\ې8@]]]]{ ]2:Y]V1y]:]5rq,DNiEAY}rv@}r̃@y}rsFq}rC5}rH\?]?@˗(n?@?)~rv@ ~r~];I~rCɫ) IY@ycGAEVCܙ9ܙIܝ_Giܝ@ܝ=ܙܙܝ.; ݝEDNmea in: $SNTTA,,,,,013431.10*5B i]/mGIulAiA7ٺlA)B#"M3=Y5AQU>aLE?!Ey^;}>I :74? :G׾ GB @9ZD: :):muAdded new target pos. range: 58.440002 m, bearing: 295.220529 deg, deltaT: 23.793753 s, approachRate: 0.002522 m/s, LOS rate: 1.569510 deg/s, posRepo size: 4WWX XW:W2W*WVbU!BU!*U!U-R8M@U-;?Bq2B BAS*BAgAAAA ="CH,*CWRC<CC 5=5=R5<?iy? IG5>yq,*iEAY}6@}6@y}6'}69}6H ?@?i|w?`-;l?)~6@ ~6&];I~6Cɫ99)9 =I9Y}ĸ@y}ScG=i=)= ԼMk=Y ɻQU ? aLEE!Ey <}?I!%4?%׾ %GB -@9%ZD%Y: %:)!WiWiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUyU,?Bg?<B BA+]*BAAAA ="CG,*CURCȔ<CC"<יIGA>E: AAEz Er8:YAyAE5-Bq,iEAY}6@}6c@y}6}6h *}6H@m@??`@{Bq?? ?)~6@ ~6h];I~6Cɫ99)9 =I9Y]׸@y]icG @?  G=i f@  E@) \@I E@i E@%;M%I=Y%QU%>))a-LE-K!E1y[;}>Iȩ :ŭz4? :ŭ9׾ ƭGB @9ƭZDǭ: ȭM:)ȭ:WWX XW:W2W*WVbUBU*UUU`D?B 6B BAZ*BA%LA!A!A%k6 ="C-H,*C-TRC-<C)C1%u<I G%M>9Io_Gi@-; E)AIAiAE=E=E4,q,jEAɫqq)y }IyY@ycG`"?'1ZĿ:v?7?" T=)IyNbX9?:v?Mb`%?T< ¥A)¥AI¥7 Ai¥ A( A0M@=YQU>aLER!Ey}>I4?׾ GB @9ZDa: :)W WX XW:W2W*WVbUBU*UU!U% ?B9B BAd*BA٨AAA ="CG,*CjRC V<C C I5@A)5@AEAAE E-:YAyAE5)El;9M%Tq,Ե3jEAY}:㐊@}:@y}:s.}:}:H}?@S?p`sG΅?`]`P?)~:㐊@ ~:R];I~:Cɫ99)9 =I9Y}@y}bGI)A}9=}=} =i}Q@y }@)}@I}@i}@ MN=Y!ѻQU>aLEY!Ey^}>Iȩ :ŭA4? :ŭ]׾ ƭGB @9ƭZDǭ: ȭ:)ȭ:WWX XW:W2W*WVbUBU*UUU @B AB BAq*BA% A!A!A%C0 ="C-H,*C-塽RC-(<C1C1%c<IG J> !!a%LE%_!E)y-f`}->E/>9AIE^GiE@E=AAA AIi4?}׾ GB @9ZD]: j:)WWX XW:W2W*WVbUBU*UU U \@B5;B1 B9A=Bb*B9A=A9A9A= ="CEG,*CEͰRCMq<CICIe8<9IIGeU>EEEE E.:YEX1yE/:E5)E.;#fq,lgjEAY}25@}2xC@y}2Nd}2}2H&?@w(?``&L?ң?)~25@ ~2];I~2CɫII)I MIIY}׷@y}/bG@A|MS=YQU>aLEe!Eyt}>IȹŽ4?Žo׾ ƽGB @9ƽZDǽ : Ƚ:)ȹWWX XW:W2W*WVbUBU*UUUP@RB*** querying acoustic contact ***P P B-FB) B)A-z*B)A5A1A1A5% ="C=H,*C=܂RCEsGw<CACAM>JNq,(GjEAY}:@}:F+@y}:}:()}:H9@-?C? F: ߐ?6 ?)~:@ ~:R];I~:Cɫ99)9 9I9Y}@y}bGZ****** received transponder code query ******F****** received ping request ******!!a%LE-l!E)yUӻ}U>IY e:]4? e:]׾ ]GB e@9][D]: ]:)]:WWX XW:W2W*WVbUBU*UUU @B@B) B)A-l*B)A-/A1A1A5~ ="C=G,*C=JRC=IY<C9CA]u<9Mg MMMIY M <:YMV1yM:M59}@G}{>]1>9YI]]Gi]V@]=YY] ; ]Epxq,#jEAY}2)@}26@y}2}2/}2Hb0 0?i4? 1 Q’?@?)~2)@ ~2u];I~2Cɫ99)9 =I9Y]з@y]&bGexDUSBL response received:!U1,P B2E,000,0063F,189,80,80,50,FF eCommand AckeBRequesting micromodem ping code 2iaiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ʡE?~jtl??ļ =)Iy/$?~jt??1(?<L= A)AI Ai™{<M1=YQU>!!a%LE%t!E)y-xF;}5>I15V4?5׾ 5HB E@95[D5; 5;)1WyWyX XW:W2W*WVbUBU*UUU` @Bv?B BA{*BAAAA1 ="CH,*C% RC%ku<C)C1u jZXSq,jEAɫ髙) IY-@y]aGɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B >t`I9)9EEEE E2:YEY1yE:E%5q,sjEAY}2]@}2Ak@y}2}2AE}2H V`|?_?NKx}?"?)~2]@ ~2];I~2Cɫ99)9 =I9Y}s@y}aGxDUSBL response received:!U1,R,0F8,000,00648,186,80,80,7D,FF Fpublishing direction and range infol]ɰ>鰅> )BIykB/8@?N r|˿ٱI)­jA©ֿ<M_=Y9QU>aLE!Ey؎<}>I9Ii&; EXp4?)׾ ?HB @94[DԷ; 8;)WW!X! X!W!:W!2W!*W)V)bU)BU)*U1U1U@P*QkBZQ%TL@`KT)JQ/8@?N r|˿2Ql]:QbQ@$ʧ4Fɢ5cC/V?RQ 1?8迈S )n;$ܜ?BQjv@ QQ1P?9?P9?PQQ@"QAk@B=JB9 B9AE*BAAEsAAAIAM="C]H,*C]RC]<CYCaցYIaGZ>q,@jEAY}nj@}n9x@y}n}n<}nH ?? ?`ܕ?)~nj@ ~n^;I~nCɫ) IY5@y5aG-DNmea in: $SNTTA,,,,,013435.54*5F M@ M@ M@M©MMiM(@M M)ME@IM@iI];M]&=Y]79QUe>aaamLEm!EiyuS;}u>Iy :}`4? :} ؾ }^HB @9}H[D}{: }:)}:myAdded new target pos. range: 58.980000 m, bearing: 221.123850 deg, deltaT: 4.434649 s, approachRate: 0.121768 m/s, LOS rate: -16.708577 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UUp}M@UE?BEB BAˁ*BAVAAA.="C G,*C VzRC fi<C CMMMM M0:YM0Y1yM:UoEq,kEAY}FNp@}F~@y}FÙ}Fa'}FH0`R? ? d@ `)8? 餿 ?)~FNp@ ~F];I~DɫYY)Y YIYY@yaGu-Mup=Y} ߺQU}?yaLE!Ey);}?IȑŕimGI 9 I |]Gi @    $; iU ȿٺY ] AIq,PnkEAɫqy)y }IyYɶ@y`Gi=a=i=UPonly read 0 of 1 data item for BIT errora iU@a U a mU@a ] a q]@a ] a e]@a ] )]= ]=dMB=YQU>aLE!E y}>II4?X!ؾ HB %@9i[D: q>)WAWAXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU]?Bt=QB BAJ*BAAAA="CG,*CIRCCCֽ0<יIGEEEE E0:YEX1yE/:EI5)E;9Mq,E6kEAY}2 r@}2@y}2~:}2*}2H Ҽ?@9? F@f?U`B?)~2 r@ ~2S];I~2Cɫ99)9 =I9YN@yaG M M UU=U=UiiamLEm!Eqyu:}}>Iy :}=4? :} -ؾ }HB @9}y[D}: }N?)}:WWX XW:W2W*WVbUBU*UUUt?BPB BiAm*BiAujAqAqAu`="C}H,*C}៽RC}<CyCe Zq, PkEAY}:^@}:l@y}:u}:b*}:HJ?օ?˹-J?I?)~:^@ ~:"p];I~8ɫ99)9 9I9܁9܁I܅]Gi܅@܁܁܁܅&; ݅E)Ii5Y@y`G->HM5N=Y59QU5>99a=LE=!EAyE}E>IIM04?M 9ؾ MHB }@9M[DMX; MϚ?)IWWX XW:W2W*WVbUBU*U U Uf9@BSB BA鏾*BAyeAAA="CG,*CRC孧<CCU<IGj>EE}E}E Eo/:YEkS1yEԊ:E5)Ě;wq,ikEAY}2fI@}2W@y}2o}2+/}2H@&ԣ?]@?֬`Em?k⥿?)~2fI@ ~2];I~2Cɫ99)9 9I9Y}Ŷ@y`GI)AI)A iAjAEA;ME:=YM5QUM>IQaULEU!EQy]>Ļ}]>Iae"4?euFؾ eHB @9e[De9; e?)aWWX XW:W2W*WVbUBU*UUU@BMSBi BiAm*BiAm\AqAqAu7="C}H,*C}uRC};<CyC]`=<1IAGew>Wq,փkEAY}21@}2?@y}2}28}2H(@??@+5r?@w?)~21@ ~2];I~2Cɫyy)y }IyY@y`GD!>i=@ @)ҙ@Ii@-M-^=Y5 [QU5>19a=LE=!E9yEz}E>IIM4?MQؾ MHB ]@9M[DM; M@)IWWX XW:W2W*W!V!bU!BU!*U)U)U-O@RUB*** querying acoustic contact ***PQPQB(ZB BA:*BA"CAAA="CG,*CFGRC7<CC̓<IG%o>ٍiAٍjAܩ9ܩIܭ\Giܭc@ܭ =ܩܩܭ; ݭE     D:Y X1y /: 5) ;q,NkEAY}2"@}2v0@y}2kͼ}25>}2H4 |? #?6@8`\?§?)~2"@ ~2̛];I~2CɫYY)Y ]IYYͶ@y`GZ****** received transponder code query ******F****** received ping request ******iqauMEu!Eqy}H}}>Iȁ :Ņ4? :Ņ_ؾ ƅIB @9ƅ[DDž: ȅf:)ȅ:WWX XW:W2W*WVbUBU*UUU @BbDVB BA*BA4AAA="CH,*CRC,u<CC <IGj> ?q,kEAY}:&@}:4@y}:*޼}:.F}:H@>1?q%?I5}eћ? d?)~:&@ ~:];I~:Cɫ99)9 =I9Y}@y}`GxDUSBL response received:!U1,P 0F8,000,00648,186,80,80,7D,FF Command AckBRequesting micromodem ping code 2i=iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Ie=)e4=)í= í=í P?íí`aME!Ey*:}>I4?mؾ IB e@9[Dc< c<)WWX XW:W2W*WVbUBU*UUU@ @BeMTBi BiAuu*BqAT AAA[="CG,*C؞RC<CCu uuu uK6:YuV1yu:u59}@ v< I G >e&q,hkEAY}674@}6A@y}6 꼙}6d!C}6HM&?"G?+#w@A?C_]?)~674@ ~6a];I~6C%2>9!I%P\Gi%@!!!%"; %Eɫ99)9 9IAY@yBaGp=ɮ Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U=Mr=Y;QU?aME!EIyMp;}U>IQ ]:Uq4? e:U yؾ U)IB e@9U[DU: U:)U:WWX XW:W2W*WVbUBU*UUUuA@B_B BAn*BA? AAA.="CH,*CRC<CCֽ<יIGb>Rq,IkEAɫyy) IY-5@y5,`GMxDUSBL response received:!U1,R,D8D,000,0064F,189,80,80,AD,FF ]Fpublishing direction and range infoE ?AɰEM>E7> A)E-CIAyEmBE T?<?ٱA+>Mb>v=iG@ @)@I@i@ ME=YQU>aME!Ey%}%>Iȩŭ4?ŭ-ؾ ƭ;IB @9ƭ[Dǭ: ȭ#:)ȩWWX XW:W2W*WVbUBU*U U U `I@P*QmBZQsw,]I@FJZ>@JQ T?<?2Q ?:QbQ5'eM*1RQz`V~°.\&7BQ@ QlQP9?P?9?P,QQ@"Q@BeR]B BA*BA AAA!="CG,*C|RC<CCO:q,(lEAY}~J@}~W@y}~*}~D-}~H^J?`Z?y`G!?2>?Ѵ?)~~J@ ~~u];I~~Cɫ) IYM-@yM]aGDNmea in: $SNTTA,,,,,013439.99*52 I)AjAiA=ML=YQU>aME!Ey;}>I  4? ]ؾ MIB @9 \D Y: f:) mMqAdded new target pos. range: 59.400002 m, bearing: 264.535685 deg, deltaT: 4.484622 s, approachRate: 0.093654 m/s, LOS rate: 9.680155 deg/s, posRepo size: 4WIWIXI XIWI:WQ2WQ*WQVQbUYBUY*UYU]@3M@U]U?BZB BA *BA AAA0A="CH,*CMRC<CC U=U==e<II9IIIiIM=IIM%; MEG>bq,lEAY}2R@}2`@y}2/}2.}2H &?@?p@5Q??`إ?)~2R@ ~2 ];I~0ɫyy)y yIyY@y=aGS㥛?Q롿y&1?$&?\ `<)Iy+?~jt??v?<< 7 A)IAiOAz AMA=YDQU>aME!Ey%;}>I :4? :ؾ bIB @9\D: :):W)W)X) X1W1:W12W1*W1V9bU9BU9*U9U9UE??BmdaTBq BqAu*BqAu AqAqA}Ɗ="CG,*CQRC%̧<CC֝R5<׵?i׵?  -:YyI5שIG > q,8lEAɫyy)y yIyYɶ@y`Gm=mV>m&>im@i mn@)m@Im@im&@}ɼM}^=YQU>aME!Ey}>Ișŝ 4?ŝ ؾ ƝqIB @9Ɲ$\Dǝ: ȝ:)șWWX XW:W2Wi*WiVqbUqBUq*UqUyU}?BoycB BAJ*BAH AAA="CH,*C坽RCv<CCoE<׹IGf> `CiE }nGuq,tRlEAI i$>2ſٺ<>?Ab1>9`Ib\Gibc@```b&; bEY}r|@}r~@y}r}r @}rH @w?A?Q?N^? @?)~r|@ ~r];I~rCɫ) IY5¶@y=`G=i=)> >a MC=YQU>aME!Ey*H<}>I  : 4? : ؾ IB @9 4\D : :) :W9W9X9 X9WA:WA2WA*WAVAbUIBU*UUU`?B\B BA*BAeAA!A%[ ="CMG,*CMϭRCMH<CICQ]jA]jAY1IA}}}} },:Y}W1y}č:}n5)};9G~>q,llEAY}Jꆊ@}J@y}JO4}J2M}JH@ ?@ ?m?p??)~Jꆊ@ ~J.];I~JCɫYa)a mIiY@y`Gý/]ý>ý)>iý@ù Ľ@)Ľ@IĽ@iĽ@E'MM=Y)QU>aME!EyK;}>I4?ؾ IB @9D\D: :)WWX XW:W2W*WVbU!BU!*U!U!U-@?BUebBQ BQAU֐*BYA]AYAYA] F="CeH,*Cep{RCe<CiCqօcg!q,mlEAY}6~@}6͋@y}6 }6J}6H ?@9? LnGR?.@?1;@??)~6~@ ~6];I~6Cɫ19)9 9I9Y]ض@y]`G<MX=YQU>aME!Ey s;} >I :4? :]ؾ IB @9S\D: V:):WAWAXA XAWA:WA2WI*WIVIbUIBUQ*UQUQUU`@B;`B BA]*BAlAAA~="C G,*CFRCb<CC<I!GeV>2>9I]Gi@#; E)ݡIݡiݡݡݡݥ4IQ)UAAmmmm m2:Ym0Y1ym:m5)m;'q,%AlEAɫyy)y }IyY"@yPaG?AI)]MbX9?Zd;O{Gzt?]A?]j< ]ף;)YIYy]x&?l?~jt?]7)?]=]D< ]A)]AI] Ai]AY]p AqujA}<M}B=YQU>aME!Ey}>Ișŝ#4?ŝؾ ƝIB @9Ɲe\Dǝ;: ȝ :)șWWX XW:W2W*WIVIbUQBUQ*UQUQU]@k@ReB*** querying acoustic contact ***PaPaBá[B BA*BAZAAA="CH,*C RCGt<CC ==<<׹IG5p>-q,,lEA|;|;ɫ髡) IYV@yaGZ****** received transponder code query ******F****** received ping request ******aME!Ey}>I :4? :Rؾ IB @9v\D: :):WWX XW:W2W*WVbUBU*UU U ܔ @B X[B BA*BA?AAA="CG,*CEr֜RCEP<CACIU}<1I9]]]] ]1:Y]W1y]č:][59e@Guy>4q,wlEA494I4i44444 4Y}fO@}f]@y}f5%}fD}fH+2?@??Gn?`M?+@?)~fO@ ~f{];I~fCɫ髙) IYN@yaGxDUSBL response received:!U1,P D8D,000,0064F,189,80,80,AD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 } MN=YXݻQU>aME"E)y5]}5>I9=s4?=Sؾ =IB }@9=\D=< =W<)9WWX XW:W2W*WVbU BU *U U U` V @Be~ZBi BiAm*BiAm2AiAiAu ="CH,*C<RCI<CC}uL:q,lEAY}]Q@}]i_@y}]T)}]N}]H{ `ɠ??෭@1i?1?Ω?)~]Q@ ~]h];I~Yɫ11)1 1I1YmV@yuaGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M=iM=MR=iM=)]= ]=    @ @ @áááiå@á ĥ@)ĥIĥE@iĥE@:;M8=Yu QU>aME"Ey :}>If4?ؾ IB @9\D@: n:)WWX  X W :W 2W *WVbUBU*UUU /)@B_B BA*BA A A A MK="CG,*CnkRC<CC]]|]|] ]2:Y]R1y]i:]5֍R5Aq,mEAY}2b@}2o@y}27.}2Y}2H"@?g?@ Ld?Iť?C2?)~2b@ ~2kT];I~2Cɫ99)9 9I9Y׷@y/bGxDUSBL response received:!U1,R,DBE,000,0065D,18A,80,80,81,FF Fpublishing direction and range info^ ?ɰr>> )CIypBm'4?%)?ٱa;=Ml=YUQU?aME "Ey ;} ?I :Y\4? :K پ IB %@9\D#: :):WAWAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQU] ?@Pa*QepBZQeb#Lv^J@M=@JQem'4?%)?2Qe^ ?:QabQeܵ3>9ܱIܵD^Giܵ@ܵ!=ܱܱܵ+; ݵEOHq,;!mEAY}Fz@}F|@y}F-}F.l}FHA`Ѵ?W?@ ?@?)~Fz@ ~F8];I~DɫQY)Y YIYY@y bGdNmea in: $SNTTA,0.365031,0.364400,,,013444.44*5F q= ףp?J +?? ?H= L=)Iy$C?~jt?Mb?:?<= )AIQ Ai rM9=Y9QU>aME"E!y%;}%>I)- M4?-پ -JB =@9-\D-: -:))meuAdded new target pos. range: 60.240002 m, bearing: 262.403054 deg, deltaT: 4.387890 s, approachRate: 0.191436 m/s, LOS rate: -0.486027 deg/s, posRepo size: 4WiWiXi XiWi:Wq2Wq*WqVqbUyBUy*UyU}`N@U}`*?BϚYB BA~*BAAAA="CG,*CRC<CC<׹IIUAA)Qee{e{e e).:Ye#R1ye:e75)e;9mGuy>(Nq,c;mEAɫ髙) IY@yfbGI9)=AMiAMhA   ÝX?Ý>ÝV>iÝ\@Ý ĝ@)ĝ@Iĝ@iĝ@<MQ=YQU>))a-ME-"E1y5}5>I9 E:=>4? E:=&پ =+JB M@9=\D=: =:)=:WiWiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUyU?BZB BA=u*BASaAAA="CH,*C4ћRC<CC ==֥Uq,8iUmEAY}^9p@}^}@y}^1"}^ؔl}^HL@h?6?U>cD? w?)~^9p@ ~^k];I~^C 9 I ^Gi @    ); Eɫ髹) IY@yAbGML=Y;QU>aME!"EyAZ}>Ișŝ14?ŝ3پ ƝCJB @9Ɲ\Dǝ: ȝ`:)șWWX XW:W2W*WVbUBU*UUU ?B\B BAx*BA.AAA="CG,*CCRC<CC֭F<ׁIG_>U* UUU U,7:YUT1yU:U5)U{;>[q,*omEAY}~T@}~a@y}~?!}~ Po}~H@ V??`Rj&?@߭?)~~T@ ~~e];I~|ɫ) IY-?@y-bG @ @ @©iQ@ z@)\@Iz@iz@%<MD=Y:QU>aME("Ey  } >I :"4? :Aپ \JB @9\D: :):W9WAXA XAWA:WA2WI*WIVIbUIBUI*UQUQUU@l[?Bh2YB BAm*B!A%A!A!A%="C-H,*C-\fRC5v<C1C1U8<)I9G]v>"bq,mEAY}JP@}J^@y}JQn%}Jlg}JH U @?@U±?``TY?㬿B?)~JP@ ~Jw];I~JCɫ髙) IY8@ybGu=iu=)Å= Å=MQ=Y+QU>aME."Ey}>Iȱŵ94?ŵNپ ƵtJB @9Ƶ]Dǵn: ȵ:)ȱWWX XW:W2W*WVbUBU*UUU`N@B]B! B!A%n*B!A%A)A)A-"F="C5G,*C57RC5><C1C9MiAMiAinGIiCǿٺ(AoE<9Io_Gi@ =-; Em> mmm m8:YmxZ1ymq:mm5)mܔ;IG>Lhq,cТmEAɫyy)y }IyY@y cGa im@a m a mm@a m a qu@a u a eu@a u }B<M}L=YQU>aME4"Ey}>Ișŝ14?ŝ/\پ ƝJB @9Ɲ]DǝW: ȝ>)șWWX XW:W2WI*WQVQbUQBUQ*UYUYU]X@BWB BAd*BAvAAAq="CH,*CRCW<CCq<IGn>ynq,巼mEAY}J@}Jn@y}J'}JDp}JH?C?UY`ߤ? ?)~J@ ~J=];I~Hɫqq)q uIyY@yIcGAA 5 5 5=?5>= =ffi=(@= =&@)=@I=@i=@EP<MMM=YM_QUM>QQaUMEU;"EYy]<}]>Ia u:ev4? u:eiپ eJB u@9e,]De; eM?)e:WWX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBZB BA^*BAp"AAA-="CG,*C.͚RCE<CC<IGH>]]]] ]3:Y]T1y]:]59e@duq,9mEA898I:_Gi:@888:#; :E)sIsis{ ={ ={ 4Y}Z޾@}Ẑ@y}Z!}ZNi}ZHѴ:?`? W K/?j.N?)~Z޾@ ~Z&];I~ZCɫ髑) IY@ycGZ****** received transponder code query ******F****** received ping request ******aMEA"Eyg<}>I4?wپ JB @9@]DW: ]?)W9W9X9 X9W9:W92W9*WAVabUaBUi*UiUiUm~" @B=XB BA/c*BAAAA="CH,*CLRC=CC %=%=<IGm><{q,{mEAY}Vƶ@}VĂ@y}V[}V^oV}VH[? }?`388??Ū?)~Vƶ@ ~Vz];I~VCɫ髉) IY@ywcGxDUSBL response received:!U1,P DBE,000,0065D,18A,80,80,81,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 uV>u:ujaMEI"EyO}>I  4? ܇پ JB M@9 V]D  < ?) WWX XW:W2W*WVbUBU*UUU @B(xSB BAwY*BAxAAA%="C%G,*C-LRC-G=C)C1uuuu u/:YuV1yu:u[5EG= I G- >pq,K= nEAY}:K@}:@y}:l}:2zL}:H`?P ?@FpT? :v?ԇ?)~:K@ ~:];I~:Cɫ99)9 =I9Y}@y}cG鮅a=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -<M-=Y5:QUU ?YYa]ME]N"Eayel}e ?Iim4?mپ mJB @9me]Dm; m @)iWWX XW:W2W*WVbUBU!*U!U!U%@A@B5\BQ BQA]R*BYAmdRAiAiAu+="CH,*CRC0<CC}4>9yIyiyyyy}; }EUr=]=i]p=1IAG]>-q,-!$nEAɫ髱) IYg@ydGxDUSBL response received:!U1,R,2B4,000,00673,189,80,80,74,FF Fpublishing direction and range info#ɰ?>7> )BIy=vB"W?+ٱ i =a i=a i= a m=a m= a q=a q= a e=a eE E^I +?Mb?{Gz?EX9?E< Eף=)AIAyEm?e<Me8=YeQUm>iiamMEuU"Eqyu}}>Iy :}4? :}پ }JB @9}x]D}: }:)}:W)W)X) X1W1:W12W1*W1V1bU9BU9*U9U9UE '@P*Q=vBZQ2= VI@ imzAJQ"W?+2Q#:QbQF!MysC4/g;Z @RQ\Z+'duտUZa?BQ^@ QQ hP 9?P9?PQ1QhA"Q@BERBI BQAUH*BYAAAA\="CG,*CRCU<C CAEjAeeee e3:YeDW1yeY:e5-$Ŏq,A=nEAY}bX@}bJf@y}b }b6PU}bHb? ꭰ?@bl@?/??)~bX@ ~b]];I~bCɫ髹) IY@ycG]DNmea in: $SNTTA,,,,,013448.89*55 P? s li 3@  @) @I @i @μMO=YCLQU%>!!a%ME%["E)y-珼}5>I15M4?5Mپ 5JB E@95]D5b: 5+:)1muyAdded new target pos. range: 61.560005 m, bearing: 199.255237 deg, deltaT: 4.514151 s, approachRate: 0.292415 m/s, LOS rate: -13.988858 deg/s, posRepo size: 4WqWqXy XyWy:Wy2Wy*WVbUBU*UU@N@U`?Bg[B BAR*BAAAA="CH,*CRC]<CCq,WnEA9I7`Gi>@; EY}Zg@}ZAu@y}ZI!}Z+`}ZHR? zJ?8 MR0? J?)~Zg@ ~Z(w];I~ZCɫ髩) IY0@ycG<MS=YQU>aMEb"Ey;}>Iȩ :ŭ4? :ŭپ ƭJB @9ƭ]DǭI: ȭ4:)ȭ:WWX XW:W2W*WVbUiBUi*UiUiUu?BMXB BAO*BANAAAݵ="CG,*CNRC<CC<ױIGf>]]]] ]2:Y]WU1y]:]I5)];9e0כq,qnEAY}:bz@}:@y}:}:;k}:H<Ե??@1e?rV P?)~:bz@ ~:];I~:Cɫ99)9 =I9Y}@y}?dGI)A iA iA ]@ ]@ ]@]©]]i]=@] ]­@)]I]E@i]@m<MmM=Ymx:QUm>qqa}ME}h"Eyy?;}>Iȉōc4?ōپ ƍJB @9ƍ]DǍ': ȍv:)ȉWWX XW:W2W*WVbUBU*UUU`Iy?BWB BAE*BAAAAL="CH,*C MRC <C C =%u<I G%M>Tq,\nEAY}RJ@}R@y}R-}R4|}RH eg?q? _v d?re?)~RJ@ ~R'];I~Pɫyy)y yIY}@y6dGBMG=YJ:QU>aMEn"Ey:}>I :J4? :پ JB @9]D; ;):WyWX XW:W2W*WVbUIBUQ*UYUU@?BRBQ BYA]F*ByAAAA*="CG,*Cz RC* <Cܹ9ܹIܽ`Giܽ@ܹܹܹܽ-; ݽECeaae e2/:Yayae5)e;<שIG>=q,5`nEAɫyy)y yIyY@yvdG(\?l?{Gzt??= ף;)Iyx&1?y&1Zd;O?A ?`j< A)jAIAiA Az<ME=YQU>aMEu"Ey}>IƁ4?پ  KB @9]D: :)W1W1X9 X9W9:W92W9*WAVAbUABUA*UAUIUM`C?BuYBq ByA}?*ByAO1 AAAm@="CH,*C ߘRCCC֥QiU=q,WBnEAɫ) IYϹ@ydGu=iq)Å= Å=     @  @  @   i @  ) I i n@R<MG=YQU%>!!a%ME%|"E)y)}5>I15Bt4?5aپ 5!KB E@95]D5k: 5:)1WaWaXa XaWi:Wi2Wi*WiVqbUqBUq*UqUyU}p@BTB BA;*BA= AAA!o="CG,*CRC<CCױIGe>e\ aaa e(;:Yayaa9e@i] %nGIq i ɿٺ A &@9 }Bܱ 9ܱ Iܵ daGiܵ 2@ܱ ܱ ܱ ܱ ݱ A q,]nEA|i|Y}6P@}6d^@y}6"}6j}6H)?̲?E`s:?g@?)~6P@ ~6];I~4ɫQY)Y YIYYj@yZeGV=Mb=YS;QU>aME"Ey}>I :@h4? :Jپ 3KB @9]Dw: :):WWX XW :W 2W *W V bUBU*UUU @R%B*** querying acoustic contact ***P!P!BERBI BIAMf(*BIAML!AIAQAU="C]H,*C]NzRC]<CYCa֥s'q,]nEAY}Z^@}ZXl@y}ZaI}ZH}ZH?`?`/ "?`w?)~Z^@ ~Z6+^;I~ZCɫ髙) IYr@yceGZ****** received transponder code query ******F****** received ping request ******aME"Eys;}>IșŝY4?ŝھ ƝIKB @9Ɲ]Dǝ; ȝw;)șW!WAXA XAWA:WI2WI*WIVIbUIBUQ*UQUQUU? @B"LB BAy'*BA,!AAA="CG,*CE<RC<CC~M% q,\ oEAY}6u@}6@y}6&I}6}6H@?? ~`5??)~6u@ ~63^;I~6CɫYY)Y YIYYE@y,eGxDUSBL response received:!U1,P 2B4,000,00673,189,80,80,74,FF Command AckBRequesting micromodem ping code 2iI)I)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  jA5tM=`=YMZ;QUU>aiaME"Ey=;}E>IY :]L4? :] ھ ]\KB @9]^D]e< ]<)]:W1W1X1 X1W1:W92W9*W9V9e5>9aIaiae!=aae$; eE)QIQiQQQU4bUyBUy*UyUU_ @B-D PB) B)A--*B)A5"A1A1AE="CeH,*CmRCm<CiCi֍A:7q,P&oEAɫ) IY5n@y=^eG=p=ɮ9]Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ex&?{Gz?kt?e7 ?e#< e 0=)aIayeJ +?~jt?{Gz?e(?eaME"Ey}>I=4?ھ kKB @9"^DH: 8:)WQWQXQ XYWY:WY2WY*WYVabUiBUi*UiUiUmF@B~RB BA'*BAa#AAA-E="C G,*C ˗RC @<C CJ  9:Y0Y1y:5<?i?IG >(q,@oEAɫ髙) IYǺ@yeGxDUSBL response received:!U1,R,3D4,000,00682,188,80,80,7C,FF Fpublishing direction and range info!Zɰz>> )BIyyB_o?&ٱ M@ M@ M@E©EEiE@E E)AIEiE@=<M=h=YAQUE>AAaMMEM"EIyQ}U>IY e:]24? e:]]$ھ ]vKB m@9]1^D]\; ]ǀ;)]:WWX XW:W2W*WVbUBU*UUUJ@P*QyBZQ}D@ϑGJQ_o?&2Q!Z:QbQ=DG Om9u]@RQloϮ󒹴w 8j?BQCN@ QϡQLxP9?P 9?PQQ0)A"QhABeRB BA*BAՊ#AAAu="CH,*CRC˫<CC֝ 9 I aGi @ 2; EdJq,xbZoEAY}z\@}zj@y}z}z_}zHLЧ?`? x}?=@?)~z\@ ~z4^;I~zCɫQQ)Q QIQY}@yqeGDNmea in: $SNTTA,,,,,013453.33*5E =i!>) = =AML=Y!!a%ME%"E)y-}5>I15%4?50ھ 5KB M@95B^D53\; 5s;)1muAdded new target pos. range: 62.459999 m, bearing: 184.656992 deg, deltaT: 4.420405 s, approachRate: 0.203600 m/s, LOS rate: -3.302468 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU@:O@Up?B`SB BA&*BA=$AAA,="CG,*CjkRCB<CCiA<יIGb>e* eee e,7:YeX1ye/:e5)e{;9msq,i9toEAY}6\@}6j@y}6}6H^}6H:@??϶` A9}`e?!ӫ?)~6\@ ~6 ^;I~6Cɫ99)9 9I9Y]@y]eG % % %%?%?%>i%z@% %@)%z@I%@i%ٮ@51<M=Z=Y=nM9QU=>AAaEMEE"EAyM 8}M>IQ ]:U4? ]:U;ھ UKB e@9UR^DU4: U:)U:WWX XW:W2W*WVbUBU*UUUِ?BSB BA!*BAQ$AAA="CH,*C;RC_<<CC+<׹IGE>>[q,oEAY}Nsk@}N.y@y}ND}N_}NH`?@? }L~؟?=?)~Nsk@ ~N^;I~NCɫy髁) IY}M@y}5eGE%C?rh|?{Gz?EZD?E= E#=)AIAyE"~?~jt?Mb?E3?AE= ErA)EAIAiE5AAE AuͪMu+=Y}:QU}>yyaNE"Eܑ9ܑIܑiܑܑܑܑܕ1; ݑy6q;}>Iȱŵ 4?ŵKھ ƵKB @9Ƶg^Dǵ : ȵ:)ȱWWX XW:W2W*WVbUBU*UUU?BCPB BA,*BA 9%AAAH="CG,*CRC`<CC =ImAA)i /:YDW1yY:5)ތ;eu<) I1 GU >`q,oEAɫyy)y }IyYg@yUeGI)-jA)m<Mmr=YmQUm?qqauNE}"Eyy}?Iȡť}4?ťVھ ƥKB @9ƥw^Dǥ: ȥ :)ȡWWX XW:W2W*WVbU BU*UU!U%@?B\UYB BAe(*BiAm%AiAiAm="CuH,*Cu˖RCu<CyCy}>mq,2oEA||4i@ ۙ@)ۙ@Iۙ@i@M@=Y;;QU>aNE%"E!y%}->I1 =:5=4? =:5=dھ 5KB =@95^D5: 5:)5:WaWaXa XaWa:Wa2Wa*WiVibUiBUq*UqUqUuR@BsVB BA-*BA<&AAA="CG,*C*RC9<CCֽh<?i?yIG^>}| yy} }=:Yyyy}H59@ܑ 9ܑ Iܑ iܑ ܕ =ܑ ܑ ܕ +; ݕ Eq, oEAY}2?@}2:M@y}2鼙}2=N}2H D@'?a?ե}"}7?(©`I?)~2?@ ~2y];I~0ɫ99)9 =I9Y}@y}eGb=M\=YQ:QU>!!a%NE%"E)y-}->I154?5Fpھ 5KB E@95^D5/: 5:)1WaWaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU} @BTB BA$*BA&AAA="CH,*CjRC3?<CCmjAiem<9IIGeU>q,koEAY}:'=@}:J@y}:}:wU}:H ?@Si?=$n~@@?⨪`N?)~:'=@ ~:];I~8ɫ9A)A AIAY}@yfG@A=i=)õ= õ= @ @ @©i\@ @)(@I@i­@<M?=YQU>aNE"Ey>/}>I :4? : ~ھ KB @9^D(: V:):WW!X! X!W!:W!2W!*W)V)bU)BU)*U1U1U5Hv@R=B*** querying acoustic contact ***P9P9B#OB BA*BAH='AAA5m="CG,*C3RCx<CC<IGj>e eee e4:YeU1ye:e5qq,[pEAY}JV@}J}d@y}Jf}J]}JH6 ?V?,|@8?@c@?)~JV@ ~J];I~JCɫaa)i mIiiUnGIiſٺͶAY@yeG%Z****** received transponder code query ******%F****** received ping request ******-aNE"Ey;}>I/4?cھ LB %@9^D; >)WaWaXi XiWi:Wi2Wi*WiVqbUqBUq*UqUyU}@I @BPB BA *B A 9'A A A ׻="CH,*CRCc<CCõ q,6)pEAY}2q,jCpEAY}2 @}2Ď@y}2v}2d}2H!?E?' 3l~}2?,|4?)~2 @ ~2 ];I~2Cɫ99)9 9I9Yu@y}dGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IQ)UAaa   í>í=íHiíG@í ĭҙ@)ĭ@Iĭ@iĭҙ@ڐM?=Y0:QU>aNE"Ey~(;}>I :b4? :oھ 1 91 I1 i1 1 1 1 5 .; 5 E)ɉIɉiɉɉɉ͉14q,[\pEA|4<|Y}>l@}>z@y}> S}>>R}>H=?*̮?B sI? yA?)~>l@ ~>];I~>CɫYY)Y ]IaY@yeGxDUSBL response received:!U1,R,C5D,000,00692,189,80,80,79,FF Fpublishing direction and range infoO?ɰ >鰥7> )BIy}B2_?~/;?ٱbg=MY=Y}QU>aNE"EyĻ}>I4?вھ RLB %@9^DW: ?)WAWAXI XIWI:WI2Wi*WqVqbUqBUq*UqUyU} @P*Q}BZQC@E@Y^*JG@JQ2_?~/;?2QO?:QbQlMM{=&@7OF4>'RQppq?"u#kQ.pBQo@ QyQ1AP9?P9?PCQQs@"Q0)ABrVB BAb"*BA^)AAA="C-G,*C-^RC5<C1C1)<%?i%y?IGn>eeee e2:YeV1ye:e[5)e;9mq,,vpEAY}~R@}~S`@y}~|? }~`E}~H1 c?@?`5] '?`?)~~R@ ~~];I~~Cɫ) IY-ú@y5eGDNmea in: $SNTTA,,,,,013457.76*5B @ @ @©i@ @)I@iz@  8<M 9=Y9QU>aNE"Ey%o}%>I)-4?-ھ -iLB 5@9- _D-: -@))meuAdded new target pos. range: 63.420006 m, bearing: 280.099993 deg, deltaT: 4.434578 s, approachRate: 0.216482 m/s, LOS rate: 21.522454 deg/s, posRepo size: 4WaWaXi XiWi:Wi2Wi*WqVqbUqBUq*UqU}µO@U}`?BCVB BAJ*BA)AAA="CH,*C-RC<CCiAjAֽc<בIGa>#q,pEAY}jL@}j^Z@y}jn}je@}jH۠?E=?#ahE?`MR? 4?)~jL@ ~ju];I~jCɫ) I Y%@y-eG>i=)í> í>M@=YQU>aNE"E9Ii/; Eyݺ}>I84?ھ LB @9_D: Y@)W!W!X! X!W!:W)2W)*W)V)bU)BU1*U1U1U5)?B#VB BA<$*BAr*AAA="C G,*C0RC<CC8!*q,~pEAY}6^@}6gl@y}6}6O}6H??`< `OEТ? |`?)~6^@ ~6<];I~4ɫ99)A AIAY@yeG    @ @ @iC )Iҙ@iҙ@M" ;MMA=YMQUU>QQaUNEU"EYy]Q;}e>Iaet4?e~ھ eLB u@9e/_De9: e'8@)aWWX XW:W2W*WVbUBU*U!U!U%F=?Bm6yWBq BqAuO#*BqAu'+AyAyA}9:="CH,*CRCu<CCֵ 1q,YpEAY}:r@}:W@y}:`}:V}:H@@?D?]?1`m?)~:r@ ~:޾];I~:Cɫ99)9 9I9Y@yeG;Mk=Yx:QU>aNE"Ey;}>ILh4?ھ LB @9>_D: N@)W WX XW:W2W*W!V!bU)BU)*U1U1U5?Bm\B BA!*BA.p+AAA#l="CG,*CSRC<CC 15=<IGn>eeee e0:YeV1ye:e59m@ 9 I ,bGi Է@ (; ET47q,7pEAY}2'k@}2x@y}2@}2sX}2H` )?F?[g $'? d?)~2'k@ ~2];I~2CɫAA)I MIQY@yfGI)e<MmM=Ym;QUm>qqauNEu#Eyy}Q}}>IȁŅZ4?Ņھ ƅLB @9ƅP_DDž9: ȅg@)ȁWWX XW:W2W*WVbUBU*UUU?BI}VB BA*BAn+AAA9="CH,*C^RCH<CC e<9IAGeU>]=q,^pEAY}66P@}6]@y}6B}6vX}6H@X? 5&?@m`Yǡ?p ?)~66P@ ~6];I~6CɫQQ)Q QIQYú@yeG    @ @ @i@ @)I\@iz@ŌMB=Y\:QU>aNE #Ey@}>IL4?v۾ LB -@9c_D%; @)WiWiXq XqWq:Wq2Wq*WqVybUyBUy*UyUUFb@BWB BAJ*BA:q,AAA="CG,*C(RCs+<CCֽ}X }z}z} }::Y}Q1y}:}I5"IDq,qEAY}F6@}D@y} }Xm}Hg#?@$q? ?,.vV?С@?)~F6@ ~];I~Cɫ髉) IY @y9fGAAq9qIqiqqqqu$; uEa ia i a ma m a qa q a ea e (\?:v:v?z4?T T=)Iy> ףp=?Q?ˡE?1?\='= A)jAIijA A<M:=Y0wQU>  a NE #E y}>I %:y>4? %:۾ LB -@9w_D: :):WIWIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYUe@RmB*** querying acoustic contact ***PiPiB CpSB  B A *BA,AAAx="C=H,*C=%RC=}<CACAQUiAU=iU=UmoJq,P+qEAɫ髡) IY|@yfG=Z****** received transponder code query ******=F****** received ping request ******EaNE#Ey}>I14?۾ MB 5@9_DL;  ;)WaWaX XW:W2W*WVbUBU*UUU@ " @B@SB BA%*BA d-A A A N="CG,*C7RCdC<CC5~MWQq,EqEAY}6D@}6R@y}6}6s}6H ?@?o` 5{W?@Un??)~6D@ ~6];I~6CɫYY)Y YIYY@yeGxDUSBL response received:!U1,P C5D,000,00692,189,80,80,79,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 M n=Y:QU%?19aENEE#EyF;}>I :i%4? :(۾ ,MB %@9_D-; ;):WaWaX XW:W2W*WVbUBU*UUUws @B5ԌYB9 B9A=*B9A=-A9A9Ae="CmH,*Cm쉓RCm'<CiCq15VCimGIieȿٺimcA<שIG>q 9q Iq iq q q q u .; u EnWq,s_qEAY}6yK@}65Y@y}6 }6~}}6H?@?d@?@`b?)~6yK@ ~6^;I~6Cɫ99)9 9I9Yu@y}eG}a=ɮ}p=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B y M>=Y/;QU>aNE$#Ey;}>Ik4?5۾ FMB @9_D: :)WWX XW:W2W *W V bU BU*UUU;@B]A]Ba BaAeb"*BAh.AAA>="CG,*CZRC<CC թԭ=֕m< יI "6:YV1y:5);9G=>]q,WyqEAY}R,@}R:@y}R }Rzn}RH`O+K? ;?g 3~+?Э4?)~R,@ ~R0Q^;I~RCɫyy)y yIyYy@yleGxDUSBL response received:!U1,R,CFD,000,006AE,189,80,80,A8,FF Fpublishing direction and range info9>,?ɰ > )(CIy3BrX? 7d;?ٱI)AiAhA @ @ @©i\@ z@)IE@i\@v!MF=Y%9QU%>!!a-NE-*#EIyU}U>IY e:] 4? e:]qC۾ ]aMB e@9]_D]I: ]:)]:WWX XW:W2W*WVbUBU*UUU@P)*Q-3BZQ-5tI@HD@JQ-rX? 7d;?2Q-9>,?:Q)bQ-)?GDPSRQ-k1r?BD{B￴i?0BQ-@ Q-#Q-?P-9?P-9?P-MQ-CQ-%@"Q-s@Br]B BA&*BA.AAA ="CH,*Cq'RCW<CCֽ}<בIG>dq,FqEAɫii)q qIqY@yeG4>9IiE; E)ݡIݡiݡݡݡݥ<4MDNmea in: $SNTTA,,,,,013502.21*58 a i@a  a m@a  a q@a  a e@a  a I@a  J +?Q?~jt??< =)IiMb@Mb@Mb@© ­)­I­i­q<M1=YQU>aNE2#Ey}>I4?NR۾ ~MB @9_DE: >)m-uAdded new target pos. range: 65.100006 m, bearing: 271.647879 deg, deltaT: 4.465164 s, approachRate: 0.376246 m/s, LOS rate: -1.892901 deg/s, posRepo size: 4W)W)X) X1W1:W12W1*W9V9bU9BU9*UAUEfFP@UEL2?BmZ7ZBi BqAu$*BqAu/AAA2O="CG,*CeRCE<CCuqqu u1:Yqyqu5)u̎;<IG>gjq,qEAY}v8@}vMF@y}v+}v6V}vH!?@G?*cm?ͪ@f?)~v8@ ~v$^;I~vCɫii)i qIqY@yeG    @ @ @ÁÁÁiÅ@Á ā)āIą@iąz@<Ma=YےQU>aNE7#Ey;}>IȱŵM4?ŵ^۾ ƵMB @9Ƶ_DǵZ: ȵiR?)ȱWWX XW:W2W*WVbUBU*UUU`i?B\B! B!A-3*B)A-/A)A)A-="C5H,*C5ŒRC=C<C9C9jA0qq,/qEAY}>S@}>`@y}>}>L}>HO ?`?ٯc`8D@Ǜ?@Z?)~>S@ ~>=^;I~>CɫQQ)Q UIQYX@yCeG=i)== =>uIMu_=Y}QU}>yyaNE=#Ey<}>Ișŝf4?ŝ"j۾ ƝMB @9Ɲ_Dǝ(; ȝ?)șWWX XW:W2W*WVbUBU*UUU?Br`B  B A **B A '}0A AAI="CG,*CRC<CCA5*< I!GEs>e aae eM4:Yayae59u@ 9 I bGi &@ 2; ENwq,FqEA|i|Y}B|i@}B8w@y}B= }B'M}BH`ds?K?@DFXN`?`@h?)~B|i@ ~B];I~BCɫQQ)Q ]IYY@yeG]<M]L=Y]ؓ:QU]>aaaeNEeD#Eiym;}m>Iq }:u4? }:u"w۾ uMB @9u`Du: ud?)u:WWX XW:W2W*WVbUBU*UUU?Bz`B BAO#*BA0AAA ="CH,*CbRCTx<CC<IGL>}q,0qEAY}2t@}2ā@y}2"#}2lJ}2H(?.?`qB@fC?`F?)~2t@ ~2-^;I~2CɫYY)Y ]IYYٺ@yeG   í7=ííií(@í ĭ@)ĩIĭ&@iĭ@<MD=Y1 :QU>aNEJ#EyI;}>I"4?ׄ۾ MB @9`D4: @)W9W9X9 XAWA:WA2WA*WAVAbUIBUQ*UQUYU] ?Bp[B BA*BA1AAA< ="CG,*CS*RC=<CC ==<׹IGf>eeee  e/3:YeW1yeč:e5q,rEAɫ) IY-ֺ@y-eGI)Aܱ9ܱIܵ,bGiܵԷ@ܱܱܱܵ1; ݱa ia i a ma m a qa q a ea e a Ia I ~jt?{Gz?ף )Iygfffff?~jtxMb?33?Ļ< •A)•AI•Ai•E A A­jA­jAÇM;=YQU>aNEQ#Ey}>Iں4?۾ MB @9*`Dr: b:)WWX XW:W 2W *W V bU BU*UUU_@BE\BA BAAE*BAAMq2AIAIAM} ="CUH,*CURCU<CQCYe<שIG>Oq,Wx.rEA|:;|8Y}%3?@}%L@y}%}%3}%H`ܙ?@ޜ?%0Pq? Js?@o6?)~%3?@ ~%];I~%Cɫ) IY%+@y%GfG)-@Aýýý5^>iý@ù Ľ@)ĹIĹiĽ&@\<MY=YɻQU>aNEW#Ey΋}>I  : ^4? : h۾ NB @9 ;`D ; +;) :WWX XW:W2W*WVbUBU!*U!U!U-`Y@R]B*** querying acoustic contact ***PYPYB ZB BAT*BA2AAA ="CG,*CŽRCj<CC)<?i?U7 UUU U58:YUU1yU:U5IG>q,0HrEAɫ髙) IY@yfGZ****** received transponder code query ******F****** received ping request ******aNE^#Ey}>I74?۾ NB @9M`D; /;)WYWYXY XYWY:WY2Wa*WaVabUaBUi*UiUU @By^B BA*BA2AAA ="CH,*C RC %<C CiA<I G5p>ܹ9ܹIܽbGiܽ&@ܹܹܹܽ&; ݽE q, brEAY}2@}2%@y}2*}2{H}2H`:~?xe?`_FU p? Y??)~2@ ~2];I~2Cɫ) IY@y0fGxDUSBL response received:!U1,P CFD,000,006AE,189,80,80,A8,FF Command AckBRequesting micromodem ping code 2i)5=i5=ENmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 IUa=)Q)Í= Í=<M#=YQU>aNEf#EyI}>I) :-4? :-׺۾ -0NB @9-c`D-R< -9<)-:eeee e1:YeX1ye/:e65)a9mWWX XW:W2W*WVbUBU*UUU@# @BcVB BA*BA3AAA@!="C G,*C IRC- <C) C1 e 8\q,>|rEAɫ髑) IY@y+fGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 9?=Gi@ @)\@I\@i\@鹺M=YQU ?aNEk#Ey}?I4?i۾ ?NB  @9q`D: :)W1W1X1 X1W1:W12W9*W9V9bU9BUA*UAUAUE@BmYhBq BqAu*BqAu3AyAyA}7!="CH,*Cd.RCw<<CC]U<I)GE0>im /mGI i = 2ǿٺ9 = AAq, rEAɫ) IY+@yGfGxDUSBL response received:!U1,R,D63,000,006C2,189,80,80,81,FF Fpublishing direction and range infot?ɰ > )CIyB"?>?ٱ999I9i9=!=99=; =Ea i@a  a m@a  a q@a  a e@a  ;M;=YQU>aNEr#Ey)}->I9=/r4?=?۾ =SNB M@9=`D=(; =>)9WWX XW:W2W*WVbUBU*UUUK@P*QBZQNXƨK@%AEB@JQ"?>?2Qt?:QbQhBc EJFيPz0^?RQx>Gٯ(!32?BQ͔@ QVQP9?P9?PSQMQ@"Q%@BUYBQ BQAUT*BQA]p4AYAYA]c!="CG,*CRC<CC ՙԝ=I5@A)1Ea EEE E;:YExZ1yEq:EI5)EE;֭bިqq,zrEAY}VQ@}V|_@y}VV,}V'n}VHI L?e_?`qEO=?ƭ@?)~VQ@ ~VB^;I~VCɫ髑) IY-@y-eGTNmea in: $SNTTA,0.050804,,,,013506.71*4E I)A iAÕ=ÕGa=ÕCiÕ@Ñ ĕƣ@)ĕE@IĕE@iĕE@^#MN=YpQU>aNEx#Ey<}>I :\d4? :۾ fNB @9`D: U?):muAdded new target pos. range: 66.300003 m, bearing: 266.433604 deg, deltaT: 4.475095 s, approachRate: 0.268150 m/s, LOS rate: -1.165176 deg/s, posRepo size: 4WWX  X W :W 2W *WVbUBU*UU@3P@Ui?BEɒcBA BIAM *BIAM4AIAIAMύ!="CUH,*C]ǐRC]́<CYCYMq<)I9GUu>Qq,ǹrEAɫ髙) IY$@y>fGU*=MUd=Y]QU]>YaaeNEe~#Eaym}m>IquW4?u۾ uvNB }@9u`Du: u?)qWWX XW:W2W*WVbUBU*UUU o?Be>`B BAA*BAU5AA A !="CG,*CRC<CC!<IG$>EEEE E2:YEY1yE:E59M@999I=bGi=w@= =99=; =E)ɇIɇiɇɇɇ͇*;4|q,[rEAY}2PD@}2 R@y}2/}2WAN}2H?`۰?cR#q?`$?Z %?)~2PD@ ~2];I~2Cɫ99)9 9I9Y}@y}eGMN=YۺQU>!!a%NE%#E)y-}->I15I4?5;۾ 5NB =@95`D5ݱ: 5w?)1WWX XW:W2W*WVbUBU*UUU=O?BaB BA*BA%5A!A!A%z!="C-H,*C-eRC5^/<C1C1AAeڥq,prEAY}27@}2E@y}22}2,J}2H r?,Ͱ? y-O>v?\? <7?)~27@ ~2];I~2CɫII)I IIIY}@y}fGi=)= =5@=5/ݼ5m=i5̜@1 5&@)5@I5&@i5&@Eq=MEH=YEQUM>IIaMNEM#EQy]Xq}]>Iae;4?eܾ eNB m@9e`De: e?)aWWX XW:W2W*WVbUBU*UUU$?BuzZBy ByA}*BAG6AAAd!="CG,*CM1RCL<CCֽT<יIGb>Eu EEE E'=:YExZ1yEq:E5cq,RsEAY}63@}6@@y}6]5}6L}6Hk$ ? L?@1Jw??`z ?)~63@ ~6d];I~6Cɫ99)9 9I9Y|@yfG9Ii; Ea ia i a ma m a qa q a ea e tV?i|?5?I +?>= 9<)IyV-?{GzX9v?h1?#< ­rA)­AI­Ai­A\ A/MB=YQU>aNE#Eyz}>I :,4? :ܾ NB @9`D: :) :WWX XW:W2W*WVbUBU*UUUٲ?B=ZBA BIAM%*BIAM6AIAIAM7 "="CUH,*CURC]t<CYCY=<I!G=r>q,&1sEAY}:3@}:gA@y}:8}:wL}:H`# 8?w#?e1yy??`v?)~:3@ ~:J^;I~:Cɫ99)9 9I9Y}=@y}^fG u@ u@ u@u©uuiu@u u@)uIu\@iu\@MO=YQU>aNE#EyS9}>Iȡť4?ťCܾ ƥNB @9ƥ`Dǥ': ȥw:)ȡWWX XW:W2W*WVbUBU*UUU`@B |`B BA*BA)7AAA%>"="C5G,*C5mϏRC=M<C9CA YYEI9)=@AEh EEE E<:YEW1yEč:E5ʟq,KsEAY}6'@}65@y}6=}6AK}6H`, ?`G?Z+;-W}?*?l?)~6'@ ~6 ^;I~6Cɫ99)9 9I9Y}W@y}}fGAAI)jA™% <MZ=YJQU>aNE#Ey]{}>Iȹ :Ž4? :Ž'ܾ ƽNB @9ƽ`Dǽ: Ƚ:)Ƚ :WWX XW:W2W*WVbUBU*UUU@@R B*** querying acoustic contact ***P P B5`_B BA *BA7AAA@X"="CH,*CwRC<CC%m<I G)9IXcGiȸ@!=$; Eq,DdsEA||p;Y}6@}6c,@y}6@}6K}6H42?}h? BK??@Rt`?)~6@ ~6];I~6Cɫ99)9 =I9Y}A@y}bfGZ****** received transponder code query ******F****** received ping request ******aNE#EyN2} >I 4?4ܾ OB %@9aD; ];)WIWIXI XIWI:WQ2WQ*WQVYbUYBUY*UYUYUe* @B>^B BA *BAuf 8AqAqA}r"="CG,*CkRC<CCEEEE E1:YEV1yE:Em5)Eݎ;9Mq,~sEAY}6a@}6@y}6C}6x?F}6H`@w?=?OG?ur?`9?)~6a@ ~6];I~4ɫ99)9 =I9Yn@yfGxDUSBL response received:!U1,P D63,000,006C2,189,80,80,81,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i@ @)Ii59<M5+=Y=ǺQUE>IQaUNEU#EYymچ}m>Iy :}4? :}zCܾ }$OB @9}'aD}#< }:)} :WWX XW:W2W*WVbUBUA*UAUAUE( @BZB BA*BA8AAA"="CH,*CD3RC*֩<CCԱԱ֕Uq,ѕsEA܁9܁I܅cGi܅@܁܁܁܅ ; ݅Eɫ髙) IY@yagG5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=%? rhMb`?%?%C %;)!I!y%~jt?Mb?Zd;O?%$?%<%j<= %A)%5AI%Ai%A!% A)== ==EY=ME[=YMQUM>QQaUOEU#EQy]}]>IaeP4?eGNܾ eAOB }@9e6aDeO; eX;)aW1W9X9 X9W9:W92WA*WAVAbUaBUi*UiUqUu@BL6ZB BAC*BAJ8AAA"="C-G,*C-RC5><C1C15ԅ q,;nsEA|i|Y}6@}6\'@y}6P]P}6jR}6H27 B|?V?W+H??N?)~6@ ~6d];I~6CɫYY)Y ]IYYq@ygGxDUSBL response received:!U1,R,E0B,000,006DD,187,80,80,A7,FF Fpublishing direction and range infoU>ɰ>鰥1> )'CIyׇB7s?P"?ٱ M M MM?MM~iM@M Mٮ@)Mz@IM^@iMz@]<M]I=Ye QUe>aaamOEm#Eiyu];}u>Iy}4?}=Zܾ }aOB @9}GaD}: }Ǻ:)yWWX XW:W2W*WVbUBU*UUUݛ@P*QׇBZQJN@颅<@JQ7s?P"?2QU>:QbQ&J,EPpVIk?RQ C?xʿ+$sLj%h8?BQ!@ Q܄Q`Pj9?P9?PXQSQH@"Q@B]TVBY BaAe1Ͻ*BaAeD9AqAqAu#"="CH,*C֎RCW<CC֝q,6VsEAY}vs;@}v0I@y}v V}vI}vH`?`?@`|-YՉ?Z֪?T?)~vs;@ ~vI];I~vCɫ)1)1 1I1Ym@ymOgGTNmea in: $SNTTA,0.033946,,,,013511.10*4D 11=B MEM=Y]~QUm>iunGIaOEi#EſٺͶAyA<}>I -:o4? -:fܾ OB 5@9XaD=R; R;) :muAdded new target pos. range: 67.920006 m, bearing: 258.061841 deg, deltaT: 4.404351 s, approachRate: 0.367819 m/s, LOS rate: -1.900794 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU`P@UO?B=qXBA BAAE*BAAE%9AAAAAM"="CMG,*CURCU@<CQCy Ձԅ=E EEE E C:YE0Y1yE:E59M@ܝ5>9ܙIܝdGiܝ@ܝ =ܙܙܝ&; ݝEֵ <׽?i׽r?ׁ I G >q,$sEAY}2]\@}2j@y}2Y}2D<}2H. ܦ??`f$? ;?@}?)~2]\@ ~2Y];I~2Cɫ99)9 =I9YS@ygGI) ))11u<MuW=Y}uQU}>yaOE#Ey;:<}>Iȑŕ4?ŕ8qܾ ƕOB @9ƕfaDǕD: ȕ:)ȑWWX XW:W2W*WVbUBU*UUU?BZ\B BAֽ*BA89AA A ,"="CH,*CvRC <CCֽ<יIGb>q,*tEAY}:a@}:Ao@y}:[}:C27}:H`?T?\4Ȑ? _?ۦ?)~:a@ ~:K];I~8ɫ99)9 9I9Y}ؼ@y}WhGu>uQ8>uiuf@q u&@)u&@Iu@iu&@.$=MI=Y0QU>aOE#Ey:}>Iȡ :ť 4? :ť9}ܾ ƥOB @9ƥwaDǥ/: ȥ:)ȥ :WWX XW:W2W*WVbUBU*UUU`?BpSB BAF*BAA:AAAϜ"="C%G,*C%ARC%n<C!C)%<IGI>E> EEE E8:YEWU1yE:E5 *q,#tEAQ9QIULeGiU_@QQQU%; Q)ݹIݹiݹݹݹݽe4ɫ髙) IY@y7hG-sh|??(\ſL7A`?-)?-. -+=))I)y-/$?~jth?y&1-?-D;-`e -rA)-OAI-=Ai-A)-f AEMM?=YMQUM>QQaUOEU#EYy]}]>Iae4?e#ܾ eOB u@9eaDe: e:)aWWX XW:W2W*WVbUBU*UUU"?BSB BA*BA:AAA"="CH,*C_ RC<CCi]7T q, 3tEAY}28@}2F@y}2,W^}2qS/}2H`@`;?V?8/D? gǫ?tॿq?)~28@ ~2?];I~0ɫII)I IIIY}@y}jhG=i=-lG?->-`>i-@) -@)-@I-@i-@=[<ME]=YEo QUE>IIaMOEM#EQyUZ}U>IY e:]4? e:]dܾ ]OB m@9]aD]: ]:)]:WWX XW:W2W*WVbUBU*UUUE?BmTBi BA*BA :AAAL"="CG,*CK؍RC<CCG<IGj>E$ EEE E6:YEW1yEč:EH5<q,2MtEA|i|Y}64@}6?B@y}6Uc}6j;}6H ?ڱ? ֗3@w?f?@aW?)~64@ ~6R];I~6Cɫ99)9 9I9Y.@yhGu=<MuG=Y}BQU}>yaOE#Ey}>Iȑŕ4?ŕÞܾ ƕOB @9ƕaDǕӻ: ȕD:)ȑWWX XW:W2W*WVbUBU*UUU$@BjQB BA*BA ;A A A ="="CH,*CFRCҪ<CC8<יIGb>I9IIMeGiM@M!=IIM; ME5fq,]lgtEAY}:@@}:N@y}:Ie}:ùH}:H ?d?Z*֏?[? Y?)~:@@ ~:Q];I~:Cɫ99)9 9I9Y}@@y}hG;MY=YQU>aOE#Ey;}>IȹŽw4?Ž/ܾ ƽOB @9ƽaDǽb: Ƚӻ:)ȹWaWaXa XaWi:Wi2Wi*WiVibUqBUy*UyUyU} &H@RB*** querying acoustic contact ***PPBQB BAY*BA[;AA!A%o"="C%G,*C-;vRC-l<C)CYO<?i?׹IGh>EEEE  E3:YEU1yE:Em5)E;9M N q,^GtEAY}2G@}2U@y}2Wb}2M}2H? ?q$'M?HG?.?)~2G@ ~2y];I~2CɫYY)Y ]IYY@yiGZ****** received transponder code query ******F****** received ping request ******E=i@ @)z@I@iz@}&3=M}0=Y}:QU}>aOE#Ey:}>Iȑ :ŕ:u4? :ŕܾ ƕOB @9ƕaDǕ: ȕ:)ȕ:WWX XW:W2W*WVbUBU*UUU @BE%JBA BQAUbc*BQAU;AYAYA]Y"="CmH,*Cm=RCm <CqCq֝+x&q,y"tEAY}2b=@}2K@y}2]\}2J7N}2H@?@鋲?,?J?@?)~2b=@ ~2];I~2Cx9xIzxfGizS@z =xxz; zEɫYY)Y YIYY}V@y}-jGxDUSBL response received:!U1,P E0B,000,006DD,187,80,80,A7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %5^I ?Q? rh?%8?%\> %C<)!I!y%oʡ?Q?Mb?%-?%\=%< %XA)%AI%"Ai%A!%p A<M*=YbG;QU>aOE#Ey%*}%>I9=e4?=ܾ =PB U@9=aD=d; =t;)9WW X  X W :W]t YY] ]=:YYyY]I5)];2Wq*WVbUBU*UUU@B@FB BA+*BA+;AAA!B"="CG,*CBRC<CC!e <9 II Ge >B,q,vtEAY}B@}BM,@y}BSX}BlSE}BH2?`?D@?@:?@/ ?)~B@ ~Bz];I~BCɫYY)Y ]IYY@yiG鮥p=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B @ @ @©i\@ @)I@iM=YP;QU?aOE#EyL}?I  :F\4?  :ܾ PB @9aD*: :):W1W1X1 X9W9:W92W9*W9VAbUABUA*UAUAUM`@BubNBq BqA}T*ByA}9;AyAyA}<"="CH,*C݌RCd<CC c<IGj>==i=a=03q,tEAY}2^@}2@y}2uZ}2,M}2H F9p? r?`R|X?iK? ?)~2^@ ~23];I~2CɫYY)Y YIYY@yjGxDUSBL response received:!U1,R,E69,000,006F9,186,80,80,A4,FF Fpublishing direction and range infooٵ>ɰ:>鰥> )$CIy3B?A?ٱi)= H=M^=YQU>aOE#Ey}>IP4?ܾ &PB @9aD: :)W!W!X! X!W!:W!2W)*W)V)bU)BU)*U1U1U5B@PA*QE3BZQE ZaPP@\$48@JQE?A?2QEoٵ>:QAbQE}ݳ|4ȩPę&@RQE , tҿPF?BQEn@ QE5QEPEV9?PEj9?PE\QEXQEA"QEH@BePEBi BA *BA;AAA+"="CG,*CrRC<CC]<׹I4>9I@gGi@#; EGEF EEE Eg9:YEDW1yEY:EH5)Ei;P9q,tEAY}n<@}n@y}nA]}nV}nHFn?@?|YW?¤? Ȫ`?)~n<@ ~n];I~nCɫ) IY@ycjG]TNmea in: $SNTTA,0.055840,,,,013515.54*4E UûM]4=YeĺQU>aOE$E y 3} >I :cA4? :ܾ ?PB E@9bD; G;):muAdded new target pos. range: 69.600006 m, bearing: 253.232351 deg, deltaT: 4.393802 s, approachRate: 0.382357 m/s, LOS rate: -1.099160 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UUffQ@Ui4?BEB BA*BA=<A9AAAE"="CMH,*CMTwRCM!<CICQUbި<)I1GU>&@q,uEAY}2I@}2@y}2&^}2\}2H<`t?(X?@-)P&?`\?  ?)~2I@ ~2\];I~2Cɫ99)9 =I9Y@ykG ] ] ]]'=]h>]vi]=@] ]ƣ@)]&@I]ƣ@i]ƣ@m-=Mm[=YmQUm>qqauOEu $Eyy}Ԉ;}>IȁŅ/64?Ņܾ ƅQPB @9ƅbDDž: ȅ:)ȁWWX XW:W2W*WVbUBU*UUU 4f?BuBBq BqAu*BqA}z'<AyAyA}"="CG,*CNRCQ#<CC֝<ׁIGa>m$ mmm, m6:YmY1ym:m59@inGIi U TƿٺQ U KAFq,luEAD9DIFhGiF@DDDF; FEɫyy)y yIyYR@ybkGIA)Aa i@a  a m@a  a q@a  a e@a  )<MD=YQU>aOE$Ey}>I(4?ݾ gPB @9/bDl: >)WWX X!W!:W!2W!*W!V!bU)BU)*U)U1U5@S?B]%W?BY BYA]7*BaAeK1<AaAaAe!="CmH,*Cm*RCuP-<CqCq}]Lq,G6uEAY}2@}2+@y}22Y}2H}2HC3`?"? ' BEn?@#?v?)~2@ ~2r];I~0ɫYY)Y YIYY@yBlG}}.}>iyy }@)}I}@i}@b=ML=Y*F;QU>aOE$Ey{;}>I :64? :zݾ {PB @9AbD: Q?):WWX XW:W2W*W V bU BU *UUUH?B=K1<B9 BAAE*BAAAAAAAAE!="CMG,*CU틽RCUُ<CQCQeE EEE E5:YEW1yEč:EH5ASq,C PuEAY}2>!@}2.@y}2W}2<}2H0@?߃?K`%B@??@|?)~2>!@ ~2R];I~2CɫII)I IIIY}@y}lGR/MW=Y]:QU>aOE$E y :}>I'4?{ݾ PB %@9QbDx: ?)WAWAXA XIWI:WI2WI*WIVIbUYBUY*UYUaUe`q1@BB BA*BAAIAQAU!="C]H,*CekRCe<CaCiօ7zZq,iuEAY}2,@}2L:@y}2Y}2 F}2Hx' ??9@ŋ?aOE&$EyyyH;}>Iȉō4?ō(ݾ ƍPB @9ƍdbDǍW: ȍH?)ȉWWX XW:W2W*WVbUBU*UUU=@BB BA*BAAAA!="CG,*C RC <C CL<I Ur U~U~U U<:YUT1yU@:U5Gew>8`q,bփuEAY}:G@}:cU@y}:.5[}:y>E}:H`,? ?`#@?Lc?@V?)~:G@ ~:ޠ];I~8ɫ99)9 =I9Y}z@y}lG@A-=-D-i-@) -9@))I-@i-@==MEU=YEIQUE>IIaMOEM,$EQyU-<}U>IY][4?]P4ݾ ]PB e@9]tbD]: ]@)YWWX XW:W2W*WVbUBU*UUU@@RB*** querying acoustic contact ***PPB:B BA!;*BA~-<AAAO!="CH,*CYRCq<CC}<סIGA>hgq,ȱuEAgA9IiGiݽ@; EY}F[@}Fyi@y}FQW}F6<}FH?y?:]v???)~F[@ ~F];I~FCɫYY)Y ]IYYk@ylGZ****** received transponder code query ******F****** received ping request ******qqauOEu3$Eyy}ҵ;}}>Iȁ :Ņ[4? :ŅAݾ ƅPB @9ƅbDDž: ȅ :)ȅ:WWX XW:W2W*WVbUBU*UUU@ @Bu+O;Bq BqAuM;*BqA}*<AyAyA}m!="CG,*CRC*<CCֽ>mq,ʌuEAY}2 Z@}2g@y}2Q}2 ?}2H? `?`T>?-?اb?)~2 Z@ ~2:];I~2CɫII)I MIIY}@y}emGxDUSBL response received:!U1,P E69,000,006F9,186,80,80,A4,FF Command AckBRequesting micromodem ping code 2iI)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iA>=9=i@ @)@I@i@ !=M@=Yc;QU>iiauOEu:$Eyy&}>Ișŝl4?ŝ6Oݾ Ɲ QB @9ƝbDǝ< ȝ+<)șWIWIXI XaWa:Wa2Wa*WiVibUiBUi*UiUqUu @Bt6B BA<*BA}<AAAT!="CH,*C=劽RC.<CC0=IG >V&tq,guEAY}:?@}:M@y}:0M}:H}:H?`? z4)CX?砩?p`?)~:?@ ~:n];I~:Cɫ99)9 =I9Y}@y}mG鮁ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Mb=YC;QU>aOE@$Eys}>I -:j4? 5:Yݾ )QB 5@9bDr; ƾ;):WqWqXy XyWy:Wy2Wy*WVbUBU*UUUS@B9B BA"<*BAM<AAAiF!="CG,*C鹊RC-RC<C)C)<191I5iGi5.@1115; 5E1IAGew>}} }}} }=:Y}V1y}:}5)}3;}Pzq,CuEAY}69!@}6.@y}6ZL}6Q}6H`^1`>?!?:A?`?`*@?)~69!@ ~6^;I~6Cɫ99)9 =I9Y]!@yemG}xDUSBL response received:!U1,R,EA1,000,00715,185,80,80,B5,FF Fpublishing direction and range infou Ԝ>qɰu>u+> q)u5CIqyuBuK%R?FeL?ٱq%=MW=Y*:QU>!!a-OE-F$Eyy}>IȹŽ4?Žeݾ ƽLQB @9ƽbDǽ: ȽY:)ȹWWX XW:W2W*WVbUBU*U!U!U% @PQ*QUBZQUZP@Z(i^~5@JQUK%R?FeL?2QU Ԝ>:QQbQUÙm7FmP KtS@RQU~$Ƕ7տK9, _Mt?BQU)@ QUkQU PUH9?PUV9?PUaQU\QU7A"QUAB4B BA+<*BA-;AAA!3!="CH,*CRC$P<CCֽ<יIGb>;q,)vEAY}~ @}~@y}~eM}~c}~H@@r? ?`vQf{??@V ?)~~ @ ~~z ^;I~~Cɫ) IY53@y5mGDNmea in: $SNTTA,,,,,013519.99*51 >i=IR=)%=)= ><@q>i\@ 9@)I@i@5ڦ;M58=Y5BQU5>99a=OE=M$EAyE}E>II U:MZ4? ]:Mrݾ MsQB ]@9MbDM: M+:)M:muAdded new target pos. range: 71.280006 m, bearing: 250.628191 deg, deltaT: 4.478646 s, approachRate: 0.375113 m/s, LOS rate: -0.581461 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UUQ@U?B4B BA<*BA;AAA!="CG,*CEYRCL7<CCm<IGEs>  k5:Y0Y1y:59@ 9 I jGi Ѿ@ =   ;  Ebq,vEAY}B@}B@y}BN}BbNd}BH E`o?)?`~V4{? ݩ?|?)~B@ ~B^;I~@ɫYY)Y YIYYX@ymGGz?t= <)IyʡE?l?aOES$Eyc}>Iͣ4?Cݾ QB @9bDL: ]:)WWX X!W!:W!2W!*W!V!bU)BU)*U)U1U5y?B]w2Ba BaAe[=*BaAeT;AaAiAm!="CuH,*Cu6+RCu<CqCyօ]q,8vEAY}2i@}2'@y}2t'L}2R1o}2H IQj??{Z(r? :?Pح`?)~2i@ ~2L];I~2CɫYY)Y ]IYY}@y}nG -@ -@ -@-©--i-@- -@))I-@i-@=6=MET=YE :QUE>IIaMOEMY$EIyغ}>I4?ݾ QB @9bD< <)WAWAXA XIWI:WI2Wq*WqVqbUqBUy*UyUyU}|z?B-B BAI=*BA<;AAA ="CG,*CRC+<CC%U<IGEs>IY)]@A 1:YU1y:n5tq,RvEA6D>6`CY}B@}Bt@y}BeJ}B.j}BHU=b?$N?r`fr?J?E?ifnG)~B@ ~B];IpI~BCi|]ƿٺaeAɫ99)9 9I9Yu@yunGI) jAs ;M>=Y`:QU>aOE`$E!y%}%>I) 5:-4? =:-aݾ -QB =@9-cD-: -M:)-:WYWYXa XaWa:Wa2Wa*WiVibUiBUi*UqUqUu)?B -B BAkM=*BABt;AAA ="CH,*CˉRC <CCֹ3>9I(kGi"@; EyIG^>q,lvEA|$|&4<ɫ) IY  @y nG    @ @ @i@ @)Ii@<MN=YQU>aOEg$Ey}>I|4?ݾ QB @9cD': @:)W!W!X) X)W:W2W*WVbUBU*UUUE@B%-,B) B)A-;\=*B)A-5E;A)A)A5% ="C5G,*C=?RC=ݐ<C9C9=፨  5:YDW1yY:5q,fvEAY}:ԉ@}:@y}:3F}: T}:Hkn@S?`D?``}{?Ĩ?`]?)~:ԉ@ ~:j];I~:Cɫ99)9 9I9Y}@y}VoG=/$=M=U=YE/;QUE>AIaMOEMm$EIyUt }U>IY e:]Jp4? e:]Oݾ ]QB e@9]$cD]k: ]:)]:WWX XW:W2W*WVbUBU*UUU #5@BB&B BA=*BA;AAAd ="CH,*CsRC<CCm<I GEQ> 9 I kGi Ŀ@ ; E)YIYiY]=Y]4q,AvEAY}2މ@}2@y}24E}2G}2H f@Z?;h?f u?@?꨿?)~2މ@ ~2[];I~2CɫYY)Y YIYY@ymoG=i=IC=)==}?5^I?Q?X9v=MB?=\= =)9I9y=~jt?y&1|I +?=;?=`=94= ="A)= AI9i= A9=A)> >;MA=YN9QU>aOEt$Ey8;}>IP`4?ݾ RB @98cD׾: D:)W!W!X) X)W):W)2W)*W1V1bU1BU1*U9U9U=y@REB*** querying acoustic contact ***PAPABm&Bi BiAm8=*BqAu:AqAqAu ="C}G,*C}%CRC}S<CyC֥ 5555 5n1:Y5Y1y5:55)5;9=ڭq,evEA|i|Y}2@}2@y}2oD}2TB}2H`pP@l? ?`w i_iH?`?`R@R?)~2@ ~2];I~2CɫQQ)Q QIQY@yoGZ****** received transponder code query ******F****** received ping request ******yya}OE}z$Ey<}>Iȉ :ōQ4? :ōݾ ƍ?RB @9ƍJcDǍ: ȍA:)ȍ:WWX XW:W2W*WVbUBU*UUU @B6%B BAT=*BAM:A!A!A%?m ="CMH,*CMvRCU<CQCQ]7ƙ´q,nvEAY}6y@}67%@y}6 >}6B}6H9@J~?Cذ?x$H-\??G?)~6y@ ~6&];I~6CɫAA)A AIAY@ypGxDUSBL response received:!U1,P EA1,000,00715,185,80,80,B5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ==MEN=YMJ};QU]>iia}OE}$Ey <}>IZB4?9ݾ `RB @9]cD; ;)WYWYXY XYWa:W2W*WVbUBU*UUU z @BUti9iImlGimg@iiim; mEBY BA=*BA+:AAAO ="CG,*CڈRCP<CCUq,vEAɫ11)1 9I9Yu@yuoGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)A  M M MM"=MM=iM@M Mƣ@)M@IM@iM@]IIM]9=YeQUe>aaamOEm$Eiyu}u>Iy :}a24? :}3ݾ }RB @9}qcD}: }:)}:WWXA XIWI:WI2WI*WIVQbUQBUQ*UQUYU]NK@BH!B BAJ=*BAK9AAAV9 ="CH,*CRC<CCZ<ױIG>q,wEAY}2@}2 @y}2r4}2+}2HNr??`k{Z@t?r?,m@?)~2@ ~2p];I~0ɫyy)y }IyYyxDUSBL response received:!U1,R,EB8,000,00735,187,80,80,9A,FF Fpublishing direction and range infoC>ɰ$>1> )CIyfB)sN9?Ix?ٱYI;QU>aOE$Eyt }>I%4?ݾ RB @9cD : H:)W1W1X9 X9W9:W92W9*WAVAbUABUA*UAUIUMУ@PY*Q]fBZQ]J1Q@F3Jڪ4@JQ])sN9?Ix?2Q]C>:QYbQ]PC9QQ3L@RQ]pֿe"f@A)?BQ]4@ Q]ֈQ]jP]=9?P]H9?P]hQ]aQ]"A"Q]7ABM BI BIAi*BiAu9AqAqAu* ="C}G,*C}RC}<CyC֥A<ׁIGd>UU}U}U U2:YUkS1yUԊ:U659]@a 9a Ie mGie @e =a a e ; e Eq,;!wEAɫ) IY5@y5oGDNmea in: $SNTTA,,,,,013524.44*5F v?Mbp?L7A`?>; +=)Iy/$?~jt?Q?&1?<u< A) AIAi‰fAMaOE$Ey}>If4?o޾ RB @9cD: :)muAdded new target pos. range: 73.199997 m, bearing: 249.246034 deg, deltaT: 4.412113 s, approachRate: 0.435163 m/s, LOS rate: -0.313264 deg/s, posRepo size: 4WWX XW :W 2W *W VbUBU*UULR@U?BE #BA BIAM=*BIAM>_9AIAIAM ="CUH,*C]PRC]<CYCY}~M(q,c;wEAY}:>ɉ@}:ց@y}:B}:6}:HwP?w?Y^烅?Y?`Ѧ?)~:>ɉ@ ~:];I~:Cɫ99)9 9I9Y}@y}pG=i=)= = @ @ @Í©ÍÍiÍ@Í čO@)čn@IčO@ičn@=M]=YQU>aOE$Ey/}>Iȹ :Ž4? :Ž޾ ƽRB @9ƽcDǽ: Ƚ:)Ƚ:WWX XW:W2W*WVbUBU*UUU?B-tsB1 B1A5=*B1A5 9A1A1A=="C=G,*CEP(RCE <CACAE<I)GEQ># 3:YW1yč:#5q,CUwEA|i|Y}J؉@}J_@y}JoK}J<}JH-k ;X?@F?xbz@?@|y?`Y .?)~J؉@ ~J`|];I~Hɫqy)y yIyY @y4qGu<MuM=Y}QU}>aOE$Ey[;}>Iȑŕ14?ŕ޾ ƕRB @9ƕcDǕU: ȕ:)ȑWWX XW:W2W*WVbUBU*UUUp?B/B BA=*BA 8A A A ="CH,*CRC1S<CC9ImGi @=; E-<5?i5?I G%M>>q,*owEAY}z@}z@y}zнN}z@}zHJ@p?@'d?F{ oZ!?ԩ? `?)~z@ ~z];I~zCɫ) IY '@y TqG   b0?B>if@ @)@I@i9@E;MB=YiٺQU>aOE$E y jD<} >I :4? :(޾ RB %@9cD: A:):WAWAXI XIWI:WI2WI*WQVQbUQBUQ*UQUYU]We?BB BAF=*BA8B8AAA="CG,*C ʇRCN0<CCֽR5 , B5:YWU1y:5"q,{wEAY}6"@}6/@y}6uM}6iD}6H0?? @7?Q?򂨿T?)~6"@ ~6];I~6Cɫ99)9 9I9Y*@yYqGI)I)A))U:M]V=Y]E:QU]>aaaeOEe$Eaym'<}m>Iqu4?u'4޾ uSB }@9ucDu: u :)qWWX XW:W2W*WVbUBU*UUU %A@BB BA3=*BA7AAAft="CH,*CRC<CC-7 2>9 I HnGi @ ; ELq,BТwEAɫyy)y yIyYL@yqGuf#<MuH=Y}QU}>yaPE$Ey}>Iȑ :ŕe4? :ŕA޾ ƕSB @9ƕcDǕI: ȕ:)ȕ:WWX XW:W2W*WVbUBU*UUU@B0B BA=*BAw7A A A D="CG,*CiRCn<CC%<I)GmV>f 8 ;:YW1yč:5);9wq,ywEAY}6@}6@y}6N}606}6H@zIr?rְ?{rY? ?`μ@?)~6@ ~6];I~6CɫYY)Y YIYY @y4qGxi='>i¥@ )Ii@ DM Q=Y "QU>aPE$Ey%}%>I!%44?%yM޾ %)SB 5@9%cD%: %:)!WQWYXY XYWY:WY2WY*WaVabUaBUa*UaUiUm7@RB*** querying acoustic contact ***PPBBB BA%=*B!A%7A!A!A%="CMH,*CU:RCU+6<CQCQE<I)GEQ>u=iu=bq,wEAY}BQ@}B@y}B+*R}B*}BH`d^?%o?`f`t@?RB?3K ?)~BQ@ ~B];I~@ɫQQ)Q UIYY@yrGZ****** received transponder code query ******F****** received ping request ******-K=M-H=Y5 QU5>99a=PE=$EAyE(}M>IQUB4?UlZ޾ U>SB e@9UdDUp: U:)QWWX XW:W2W*WVbUBU*UUU` @B_B BA: >*BA6AAA="CG,*Ce RC <CCܩ9ܩIܭnGiܭ@ܩܩܩܭ; ݭE)9I9i999==4}]<9IAG]U>E E E E  E 3:YE X1yE /:E 5)E s;q,pwEAY}JbЉ@}J!ށ@y}J`W}Jq>}JHpUR?J?}\h?y? ?)~JbЉ@ ~Jn];I~JCɫqq)q uIqY@y3rGxDUSBL response received:!U1,P EB8,000,00735,187,80,80,9A,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 d>l?+i3@ K@)9@I9@iO@-"<M-#=Y55QU5>11a=PE}$Eyyy}>Iȉ :ō4? :ōzj޾ ƍXSB @9ƍ(dDǍ; ȍ;)ȍ:WWX XW:W2W*WVbU BU *U U U @B=BA BAAEQ>*BAAu6AyAyA}Z="CH,*CqφRC<CCֽ R5<י I G >Nuq,O xEAY}2։@}2_@y}2EZ}27E}2HkU??``}?`fE?{ ?)~2։@ ~2$];I~2Cɫ11)1 1I1Yu@yuJrGyɮyNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ;M=Y!QU ?aPE$Ey7!;}?IȩŭY4?ŭAt޾ ƭhSB @9ƭ6dDǭ; ȭ';)ȩWWX XW:W2W*WVbU BU *U U U@A@BĭB BA>*BA@5AAAI^="CG,*C󫆽RC/ <CC)֍5%e e e e  e <0:Ye W1ye č:e $59m @ܥ >9ܡ Iܥ toGiܥ @ܥ =ܥ QDܥ Dܥ -; ݥ Eq,r$xEAY}2!@}2@y}2W}2`D}2H b\?'?gs@?@?@倨@?)~2!@ ~2];I~2Cɫ99)9 =I9Y}@y}7sGxDUSBL response received:!U1,R,0E0,000,00756,186,80,80,75,FF Fpublishing direction and range info+Hɰ>鰅> )BIy\BC c?mVѫȿٱI)A 鿡a i%@a - a m-@a - a q-@a - a e-@a - 15iA=b=M=@=Y=:QU=>AAaEPEE$EIyM4k;}U>IQ ]:U4? e:U޾ U~SB e@9UHdDU: U^>)U:WWX XW:W2W*WVbUBU*UUU@P)*Q-\BZQ-xoR@04-JQ-C c?mVѫȿ2Q-+H:Q)bQ-wG _L̫VHP@RQ-@$TS/?BQ-\w@ Q-FQ-`P-9?P-=9?P-KQ-hQ-,A"Q-"AB8B BA+>*BA=5AAA="CH,*C~RC08<CCR5<IG>q,=>xEAY}vZ@}v@y}v\R}vmHL}vHx]_?`? l@nwڅ?X?@}?)~vZ@ ~vU];I~tɫ) IY-@y-[sGDNmea in: $SNTTA,,,,,013528.88*53 5@ 5@ 5@-©--i-Q@- -9@)-I)i-9@<ME=Y7;QU>aPE$Ey:}>Ișŝ~4?ŝǎ޾ ƝSB @9Ɲ[dDǝJ: ȝTW?)șmuAdded new target pos. range: 75.180008 m, bearing: 221.450278 deg, deltaT: 4.503965 s, approachRate: 0.439615 m/s, LOS rate: -6.171397 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU@R@Uq?BB BAh/>*BA4AAA="CG,*CORC5<CCoE] ] ] ]  ] 4:Y] U1y] :] 5'q,WxEAY}68@}6@y}6 DO}6֑M}6H@AAaEPEE$EAyM;}M>IQUr4?U*޾ USB e@9UkdDU: U˙?)QWWX XW:W2W*WVbUBU*UUU1?BPB BAl5>*BA|3AAAF="CH,*C+)RC<CCm1>9iIm4q,ʩqxEAY}:@}:@y}:.L}:/E}:HPRk?惱?`v@`@ߥ? ?@@X?)~:@ ~:Ӽ];I~:Cɫ99)9 9I9Y}@y})sG=i=I 4=) )>  ] ] ]]C>]ļ]=i]@] ]n@)]O@I]O@i]n@mbؼMmG=Yuv:QUu>qya}PE}$Eyyg>;}>Iȉōd4?ō(޾ ƍSB @9ƍ}dDǍp: ȍ[?)ȉWWX XW:W2W*WVbUBU*UUU?B\B BAP*>*BAQp3AAA`="CG,*C%ARC-zQ<C1C1E <I)GEQ>"q,ׄxEAY}6h@}6'@y}6BH}66<}6HKp?'?z )[ ??`苧?)~6h@ ~6];I~6Cɫ99)9 9I9Y}G@y}sG]J=M]K=Ye;QUe>aiamPEm$Eiyu:}u>Iy :}$W4? :}޾ }SB @9}dD}: }@)}:WWX XW:W2W*WVbUBU*UUU8?BrfB BA>>*BA-C2A)A1A5Y!="CmH,*Cu:ŅRC}<CyC*<v  ;=:YY1y:5IG>A E hAQ 9Q IU pGiU @U =Q Q U ; U E=(q,5`xEAY}2@}2O@y}2D}20}2HpQ$n?@89? v `?t??)~2@ ~2o];I~2CɫYY)Y ]IYY{@y2tG{<MG=Y;QU>aPE$Ey}>Iȱŵ5I4?ŵ޾ ƵSB @9ƵdDǵl; ȵ@)ȱW W X  X W :W2W*WVbUBU*UUU?BE(BI BIAM)E>*BIAU[+2AQAQAU-="C]G,*C]RC]p<CYCaօ7IuAA)qS/q,.;xEAY}2k߉@}2*@y}2D}2%}2H3f_?@=\? "gt@?J??)~2k߉@ ~2];I~2Cɫ99)9 9IAY@yqtGI)A !!-iA-hAuuu>iu @q u@)uIu@iu@0<ML=YaDQU>aPE$Ey}>Ie;4?޾ SB U@9dDj< G6@)WqWqXq XqWq:Wy2Wy*WyVybUyBU*UUU8@BTB BAK>*BAQ}1AAA="CH,*CvjRCک<CCֽ<יIGb>x ' d=:YxZ1yq:5  iu mGI i ٺ  6q,9xEA||Y}2Wȉ@}2ց@y}2E}2.^'}2Hux]Q??YeN?? 䤿?)~2Wȉ@ ~2ת];I~0ɫ)))) -I)Ym@ymtGqqD<MS=YQU>aPE%Ey}>I  [.4? ޾ TB @9 dD : M@) W1W9X9 X9W9:W92W9*WAVAbUABUA*UIUIUM%@RUB*** querying acoustic contact ***PQPQBB BAS>*BA0AAA1f="CG,*CARCG<CC9IqGi@; EֵP%11a5PE5%E9y= Q}=>IAE=4?E޾ ETB u@9EdDE; E@j@)AWW X  X W :W 2W*WVbUBU*UUU? @BE^BI BIAMY>*BIAM0AQAQAUU="CmH,*CmRCm|<CqCq]'<1IAG]v>  5:YV1y:5 Cq,B yEAY}2@}2Rȁ@y}2~D}214}2HlPG?'p?@P L?h?@?)~2@ ~2L];I~2CɫYY)Y ]IYYh@yUuGxDUSBL response received:!U1,P 0E0,000,00756,186,80,80,75,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)=)= =E<MMX=Y:QU>aPE%%E1yE.}M>IȁŅ#4?Ņ޾ ƅ1TB @9ƅdDDžb< ȅ@)ȁWWX XW:W2W*WVbUBU*UaUaUeg @BB BAb>*BA?/AAA="CG,*CE߄RCCC]< I G] > 4>9 I qGi @ "= SD ; E)݉I݉i݉݉ݍ=ݍ/7>7Iq,a&yEAɫyy)y yIyY@yuG鮡ɮR=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B a iMa iM a mMa mM a qMa qM a eMa eM U+?Q?~jt?Uv>U= UD<)QIQyUQ?{Gz?/$?U\/?Uףqya}PE}%Eyy}>Iȉō4?ōC߾ ƍPTB @9ƍdDǍ/: ȍ{:)ȉWWX XW:W2W*WVbUBU*UU U @E@BU5ؼBQ BQAUi>*BYA]&.AYAYA]ϊ="CH,*CMRCw<CC 1 4:Yy#5)G;9֙סiץo?iIyG>$Pq,@yEAY}2‰@}2ρ@y}2e@}2;}2H}GK??`U?`u ?|jb?)~2‰@ ~2 ^;I~2Cɫ99)9 =IAY]@y]uGexDUSBL response received:!U1,R,0C7,000,00774,186,80,80,5D,FF mFpublishing direction and range infoe1aɰeM>a a)eBIayeBeσȄ?Tƿٱa    @ @ @iQ@ )I9@i9@ӧMg=Y9;QU>aPE%Ey](;}>I! -:%}4? -:%p ߾ %kTB 5@9% eD%: %:)% :WQWQXQ XQWY:WY2WY*WYVYbUaBUa*UaUaUm@@Py*Q}BZQ}AR@A:0@*JQ}σȄ?Tƿ2Q}1:QybQ}$D<+YLyV߹I @RQ} 翇i~忨Wh?BQ}Dx@ Q}OQ}bP}9?P}9?P}TQ}KQ}&A"Q},ABE|ͼBI BIAMDi>*BIAU-AQAQAUL="C]G,*C]ߏRC]<CYCaօmLIVq,]ZyEAY}2ʉ@}2_؁@y}2"B}2A}2HvO? ? Zx7"?+S?@-?)~2ʉ@ ~2V];I~2Cɫ99)9 =I9Y>@y]vGI)A !!-jA-jAUaB=M]C=Y]QU]>aaaePEe"%Eaymp$;}m>Iqu4?u`߾ uTB }@9ueDu+: u{:)qmqAdded new target pos. range: 76.980003 m, bearing: 222.473195 deg, deltaT: 4.387992 s, approachRate: 0.410209 m/s, LOS rate: 0.233117 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU`>S@Uy?BeʼBi BqAu}>*BqAu3-AqAqA}="C}H,*CbRCo<CCܝ0>9ܙIܝrGiܝ*@ܝ=ܝRDܙܝ; ݙցYIaGY>  w?:YT1y:5);ys\q,;9tyEAY}:{@}:;@y}:C}:+E}:H`waF_?;?`jVp靁? m?w@?)~:{@ ~:f];I~:Cɫ99)9 9I9Y]k@y]vG m m mm?mGm>im@m m @)iIm@im?@Y<MH=Y QU>aPE(%Ey&<}>Iș :ŝ4? :ŝ0&߾ ƝTB @9Ɲ/eDǝk: ȝw:)ȝ!:WWX XW:W2W*WVbUBU*UUU`#I?B ȼB  BA>*BA>,AAA{="CG,*C%+6RC% <C!C!ER5<I)GEQ>J[cq,yEAY}6 @}6@y}6.A}6 @}6H V`^h?@ް?Ms@Le?;!? ?)~6 @ ~6];I~6Cɫ99)9 =IAY}!@y9vGMA=Y-P:QU5>9AaEPEM/%EYye1|;}m>IȁŅy4?Ņ3߾ ƅTB @9ƅBeDDž ; ȅ ;)ȁWiWiXi XiWq:Wq2Wq*WqVybUyBUy*UyUyUt?B6ӼB BAy>*BAT+AAA`="CH,*CWRC<CC< 2:YU1y:$59@ױIG>ܑ 9ܑ Iܕ rGiܕ {@ܑ ܑ ܑ ܕ ; ݕ Egiq,5yEAɫ髁) IY@yuG=i=I%=)%4=\(\?v/?~jt??xi= =)IyNbX9?Mb`?:v?%?;T< @)AIh@i7 AA)= =%M%J=Y5QU5>AAaMPEM6%EYym}u>Iȁ :ŅA4? :Ņ?߾ ƅTB @9ƅReDDžg; ȅ;)ȅ":WWX XW:W2W*WVbUBU*UUU?B-hsϼB1 B1A5ss>*B1A5*A1A1A=="CG,*CЃRC4<CC֕mmpq,yEAY}2Iډ@}2 @y}2<}2/6}2H jZ?6?d lxqT?@?̦`0?)~2Iډ@ ~2:v];I~2CɫAI)I UIQY@yuGM'?M?MĻiM3@I M@)Mn@IM@iMn@]:MeX=YeA;QUe>iiamPEm<%Eiyu}u>Iy}4?}:J߾ }TB @9}beD}: }+:)yWAWAXA XIWI:WI2WQ*WQVQbUQBUY*UYUYU]d@B~¼B BAs>*BA1)AAAW="CH,*CXRCy<CCe<יIGb> 1:Y[1yH:5dvq,nyEAY}6ˉ@}6`ف@y}6V>}6sV1}6H@FvR?@? [ m?ȧ?"}?)~6ˉ@ ~6S];I~6CɫAA)A EIAY@y4wG5͝=M=M=Y=QU=>AAaEPEEB%EIyM}M>IQ ]:U4? ]:UU߾ UTB e@9UreDU4: U:)U#:WWX XW:W2W*WVbUBU*UUUl@BびB;%= BA>*BA(AAAQ="CG,*C|RC?<CC=/>99I=\sGi=@999=(; =EeoE<9IIGeU>|q,ˀyEAɫ髙) IY@yvG?AI)A  iAhA]̼]lg]ףi] @Y ]9@)]@I]@i]@m5ƼMmG=YuQUu>yya}PE}I%Ey}>Iȉōc4?ōa߾ ƍUB @9ƍeDǍ{: ȍ:)ȉWWX XW:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PPBѽB BA>*BA(AAA3="C H,*CRRC<CCER5<I G-N> 1:YV1y:I5թq,]zEAY}B̉@}B?ځ@y}BB}B 05}BHSuOR?ib?[`@ ?@X? ?)~B̉@ ~B_];I~BCɫYa)a mIiY@yfwGZ****** received transponder code query ******F****** received ping request ******=Ye&QUe>aPEP%Ey9}9}>vȿٺDAI4?n߾ #UB @9eD: :)W9W9X9 X9W9:WA2WA*WAVAbUiBUi*UiUiUu_ @BܻB BA=>*BAB'AAA="C G,*C RC u@<C Cԅ1 91 I5 $tGi5 o@5 =1 1 5 ; 5 EӉq,6)zEAY}2@}2΁@y}2LqF}2,}2H #~9L?2?Tь։?˨? ?)~2@ ~2nY];I~2Cɫ99)9 =I9Y}c@y}wGxDUSBL response received:!U1,P 0C7,000,00774,186,80,80,5D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ]Ponly read -1 of 1 data item for altitudea i]@a ] a m]@a ] a q]@a ] a e]@a ] -@ -@ -@-©--i-f@- --@)-I-@i-@=<M=.=YeQUe>aiamPEmW%EiyuD}u>Iy :}{4? :}{߾ }8UB @9}eD}; }>)}$:WWX XW:W2W*WVbUBU*UUU` @BewBa BiAm>*BiAm,&AiAiAmo="CuH,*Cu삽RCv<CC {{ 5:Y#R1y:5) ;9э (=֥ ፨rq,4CzEAY}6@}6Ɓ@y}6xI}6z0}6H[F?m?aO`?9? u?)~6@ ~6?];I~6Cɫ99)9 AIAY@ywGxDUSBL response received:!U1,R,D46,000,01091,18A,80,80,5D,FF Fpublishing direction and range infoH?ɰ>鰽> )IyXCF*>?wO?ٱ=i=IC=))= ><M=Y7QU?  a PE \%Ey\}?I!%q4?%M߾ %EUB 5@9%eD%; %i@?)!WaWaXa XaWa:Wa2Wi*WiVibUiBUi*UqUqU}(@P*QXCZQ> 6>f@<'_@JQF*>?wO?2QH?:QbQv$FskŹg @RQЮ{kD7)+?BQ@@ QXQ'PX9?P9?PyQTQA"Q&AB⇼B BA>*BAY%AAAx ="CG,*C)΂RCj<CC#=֍}q,9\zEAY}Rɉ@}R^ׁ@y}RmV}R")}RHjv@P?ෑ?@X@C?@ʪ?2?)~Rɉ@ ~Rl<];I~RCɫyy)y }IyY@yxGu T;MuC=Y}QU}>yaPEc%Ey ;}>Iȑŕ d4?ŕg߾ ƕYUB @9ƕeDǕ: ȕ?)ȑ9ItGi@SD; E)iIiiiim=m{4m}Added new target pos. range: 216.959991 m, bearing: 267.231479 deg, deltaT: 4.042012 s, approachRate: 34.631264 m/s, LOS rate: 11.073268 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU *U U @k@U ?B=هB9 B9A=W>*B9A=Z$AAAAAE="CMH,*CMܟRCMLШ<CICQEY<5D-<=?i=?~~  3:YT1y@:5);IG=>q,*vzEAY}FTމ@}F@y}F“X}F1}FHe\?`u?d@w@?=?@@?)~FTމ@ ~FQ];I~DɫYY)Y ]IYY@yxG M M MM=MP=M̌iM@M MO@)M@IM@iM@<MG=Y٧QU>aPEi%Ey;}>I :V4? :E߾ mUB @9eD: 1?)%:WWX XW:W2W*WVbUBU*UUU_?B5*CB1 B1A5>*B1A=[#A9A9A=<="CEG,*CESrRCE<CACIQQ)Y Y፨<ס I G >q,zEAɫqq)y }IyY@yixGIQ)Qa ia i a ma m a qa q a ea e (\?&1~jth?н D)Iy+?y&1|~jt??`< Q@)AI@iAfAjAjA vM 5=YQU>aPEp%Ey%}%>I)-H4?-߾ -UB 5@9-eD-: -:))WWX XW:W2W*WVbUBU*UUU e?BUrzBQ BQAUn>*BQA]1"AYAYA]4="CH,*C<RC<CC  @:YW1yč:59@֝]9IPuGic@=RD!; EM&q,zEAY}>@}>@y}>Z}>W2}>HY` S`?(?`hq `?DY? K@?)~>@ ~>?];I~>CɫQY)Y ]IYY@yWxGJMc=Y̺QU>aPEv%Ey;}>I><4?۲߾ UB M@9eD: D:)WqWqXq XqWq:Wy2Wy*WyVybUyBU*UUUe?BHB BA>*BAU!AAAP="CG,*CRCj<CC5U< IG5q> q,0gzEAY}:Y@}:@y}:7]^}:-}:Hc`^?@r?;ft п?@(ȫ?` ?)~:Y@ ~:(];I~8ɫQQ)Q QIYY@yIyGm>mv?mV>im@i m)mn@Im@im@}\w=M}N=Y} QU>aPE|%Ey}>Iȑ :ŕ/4? :ŕ߾ ƕUB @9ƕfDǕ: ȕ:)ȕ&:WWX XW:W2W*WVbUBU*UUU`]@@B]B  B A Ť>*B A aT A AA="CH,*C遽RC?.<CC!<IGM>qiu=} }}} }4:Y}WU1y}:}654q,e8zEAɫyy)y }IyYi@yCzGiI%p=)%=)-= -=y9yI}vGi}@} =}SDy}; }EmS}=MK=YQU>aPE%Ey}>Iȩŭ"4?ŭ߾ ƭUB @9ƭfDǭ4: ȭ:)ȩWWX XW:W2W*WVbUBU*UUU @BrB BA>*BA%(-A!A!A%-O="C-G,*C-RC5_<C1C1E(<I)GEQ>]q,kzEA|i|Y}60@}6@y}6`}6O'}6H@ c`_?`7ڰ?et@'??`@?)~60@ ~6e,];I~6Cɫ99)9 =IAY}@y}qzG @ @ @©i@ )@I@i@F?<MS=Y˺QU>aPE%EyU}>I  : A4? : n߾ UB @9 &fD : :) ':W9W9X9 X9WA:WA2WA*WAVAbUIBUI*UIUIUU @R]B*** querying acoustic contact ***PYPYB}*]B BAѳ>*BAvAAA="CH,*CRC<CC)]<יIGb>#  6:YX1y/:5Hq,j{EAY}=ԉ@}=@y}=7_}="}=H@l9X?`?x^`~`??@WRO?)~=ԉ@ ~=6];I~=Cɫ髉) IYA@yzGZ****** received transponder code query ******F****** received ping request ******aPE%EyH}>I<4?߾ UB @9*BAAEӯAAAIAM,="CUG,*CUXRCU<CQCY֩iy9yI}vGi}@yyyy }EIG>oq,+{EAY}:J@}: ρ@y}:Ec]}:1}:H|M?c?RN??`==?)~:J@ ~:n];I~:CɫAA)I MIQYe@@ymK{GxDUSBL response received:!U1,P D46,000,01091,18A,80,80,5D,FF Command AckBRequesting micromodem ping code 2iqIy)}A 鿉 = = ==O==?=?i=­@= 9)=­@I=­@i=­@uu=Mub=Yu:QUu>yya}PE}%Ey.׻}>Iȩ :ŭ4? :ŭ߾ ƭVB @9ƭMfDǭ: ȭo:)ȭ(:WWX XW:W2W)*W)V)bU)BU1*U1U1U5 @B}đ6B BA>*BAAAAW="CH,*C.RC<<CC֝Wq,E{EA||Y}6<@}6@y}6Z]}6}6H@ F?Iկ?yK` ǔ? u?Ӣ v?)~6<@ ~6X4];I~6Cɫ99)9 9I9Y}*@y}0{GxDUSBL response received:!U1,R,DB7,000,00B98,189,80,80,8E,FF Fpublishing direction and range info?ɰ#s>鰅7> )CIy Ce|?~["E?ٱ`Ml=YDQU?aPE%Ey6}?I4?r߾ #VB @9\fD: ]:)WWX XW:W2W*WVbUBU*U U U @@P*Q CZQJO^@eR)/,Q@JQe|?~["E?2Q?:QbQ׿4`E)`aFPo@RQ_ځ¿9Sڡ?BQ@ Q QP99?PX9?PQyQ'A"QAB%B  BA>*BAuAAA+"="CG,*C%RC%#<C!C!ER5AEVCiNmGIi5Ϳٺ15Áq,|_{EAY}2@}2XƁ@y}2I>^}2k}2H`aG? B?@yM`R?Lī?ͤ`?)~2@ ~2];I~2Cɫ99)9 =I9Y}D@y}P{G.>9IwGiK@; E5;M=B=Y=QU=>AAaEPEE%EAyM:}M>IQUC4?U U=VB ]@9UnfDUf: U:)QmAdded new target pos. range: 140.580002 m, bearing: 261.579306 deg, deltaT: 4.026312 s, approachRate: -18.970211 m/s, LOS rate: -1.403809 deg/s, posRepo size: 4W WX XW:W2W*WVbUBU*UU%`a@U%P?BBB BA(>*BA,AAAՌ="CH,*CۀRC'<CC}<׹IGf>  2:YDW1yY:5)ԏ;q,Wy{EAY}2Љ@}2}ށ@y}2X+\}2L'}2H`gpaU? ?X\`@0?? dिX?)~2Љ@ ~2-];I~0ɫ99)9 9I9Y@y|G=i=I%=)%= u@ u@ u@u©uuiu=@u u@)u@Iu@iu@6I=ME=YJ:QU>aPE%Ey;}>Iȡ :ť4? :ť ƥWVB @9ƥfDǥ: ȥ:)ȥ):WWX XW:W2W*WVbUBU*UUU 8?BzB BA>*BAAAAh="CG,*CDRC5<CCֹיIGb>ڗq,C{EAɫii)i iIiY @yF|GS?y&1aQE%Ey}>IN4?g! zVB @9fD: f:)W)W)X) X)W):W)2W1*W1V1bU1BU1*U9U9U="?Bmc+Bi BiAm>*BqAurAqAqAu6W="C}H,*C}c~RC <CCuU<1I9GUv>}}~}~} }3:Y}T1y}@:}n59@  gA9IxGi?@=; E)ݡIݡiݡݥ =ݥ =ݥj4q, {EAY}B@}BT@y}B N}B!}BH 3Sm??]t b?@1٩?4*0?)~B@ ~B-];I~@ɫaa)i mIiYZ@y|G m u uuQ=uu/aQE%EyS<}>Iș :ŝѳ4? :ŝH, ƝVB @9ƝfDǝV: ȝ:)ȝ*:WWX XW:W2W*WVbUBU*UUU LC?B λB BA>*BA@AAAf="C%G,*C%TRC%p><C!C)E <I)GEQ>Iu@A)qӥq,B{EAY}2@}2@y}2J}20}2HWj?:&?_q f@3?Q?ޣ`?)~2@ ~2T];I~2Cɫ99)9 9I9Y}@y}|GI)A Т<MS=Y/;QU>aQE%E y 6}>IV4?8 VB %@9fDY: f:)WAWAXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU] /9@B0׻B BAs>*BAAAAMG="CH,*C_&RC<CC<IGI>;  8:Y[1yݏ:65q,i{EA||;Y}6@}6~@y}6H}6}6H$`@\e?@=?`Bknښ?]?@3 _?)~6@ ~6u7];I~6Cɫ99)9 9I9Y@yw}G#>9sCIyGi@=RD; EU=M]D=Y] :QU]>aaaeQEe%EiymF}m>Iq }:uЗ4? }:uD uVB @9ufDu: u:)u+:WWX XW:W2W*WVbUBU*UUU@BлB BA)>*BAnzAAA`="CuG,*CuRCu<CqCyօNq,{EAY}:h@}:)@y}:}C}:#}:Hac??j@o@H?Ym?zs@ ?)~:h@ ~:];I~:Cɫ99)9 =I9Y}@y}}G鮅a=ɮp= -@ -@ -@-©--i-̼@- -@)-&@I-@i-@=ʸ;M=L=YEZ;QUE>AIaMQEM%EIyUԹ}U>IY]ω4?]P ]VB e@9]fD]: ]:)YWWX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBXB BAQ>*BAIAAA#="CH,*C'RC7<CCm<יIGA>s  <:YY1y:5Hq,|EAY}rf@}r'@y}r;aA}r֝$}rHd a?@%? 6i q@ۊ?)?qC?)~rf@ ~rH];I~rCɫ) IY a@y}GZ****** received transponder code query ******F****** received ping request ******11a5QE5%E1y=M}=>IA M:Ez4? M:En^ EWB U@9EfDED: Eo:)E,:WqWqXq XqWq:Wy2Wy*WyVybUBU*UUU @BֻB BA>*BAaAAAX="CG,*C%,RC/{<CCT<בIܽ,>9ܹIܽdzGiܽ@ܽ =ܽSDܹܽ!; ݽEG>v q,_.|EAY}Uԉ@}U_@y}U;}U-}UH Ko`X?+z? Fa`|E?r?$ ?)~Uԉ@ ~U5A];I~UCɫ11)1 5I1Ym@yu$~G}xDUSBL response received:!U1,P DB7,000,00B98,189,80,80,8E,FF }Command Ack}BRequesting micromodem ping code 2iyy } } }}C<}!}94=i}­@} }­@)}I}@i}@z<MU=Yn;QU>aQE%Ey}}>Iȩŭ!n4?ŭi ƭWB @9ƭfDǭӻ: ȭ{:)ȩWWX XW:W2W*WV!bU!BU!*U)U)U- @BuYBq ByA}>*ByA}P AyAyAD ="CH,*C~RC<CC4|< .:YV1y:5)?;9ױIGq,0H|EAY}6/@}6ʁ@y}6{Y5}67}6H4@[I?@?wS@M?J?S ?)~6/@ ~6c];I~6Cɫ99)9 9I9Y]l@y]}GaaRMh=YP;QU>aQE%E y O} >Ib4?s WB %@9 gD: :)WAWAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQU]0@BbB BA>*BA AAA{ ="CG,*C~RC<CCօ]Iy)y\q,wb|EAY}B@}BG@y}Be1}B=}BHU@:?1$? Ex?*?ݨ?)~B@ ~BNI];I~BCɫYY)Y ]IYi9iIm,{Gim&@iiim,; mEY,@y~GI)AI)A 鿱kr=MN=Y5;QU>aQE%EyUGۻ}U>IY e:]U4? e:] ]'WB e@9]gD]k: ]:)]-:WWX XW:W2W*WVbUBU*UUU@A@B%0 B) BIAM>*BIAUO AQAQAU ="C]H,*C]/~RC]$<CYCa}R5 /:Yy5);*Hq,{|EAY}2ե@}2@y}2.}2>}2H `:??@E`Et? ϥ?DЧ?)~2ե@ ~2~^];I~2CɫYY)Y ]IYY}@y}Gý{?ý@>ý+iý@ù Ľ@)Ľ@IĽ@iĽ@ :=M;=Y:QU>aQE%EyQ}>I@G4?> 4WB @9-gDo: Y:)WWX XW:W2W!*W!V!bU!BU!*U)U)U-`Ň@B]җBY BYAe>*BaAex AaAaAeW ="CmG,*Cu'}RCu]<CqCqe'<9IIGeU>3%q,Ε|EAi*/mGI@iPjȿٺlncAY}E@}EDÁ@y}Eb(}E,C}EH C??O<6l?#?]?)~E@ ~EK];I~ECɫ) IYM@yUGUp=ɮQ=+?/$~jt=v>= =)9I9y=(\?~jt?aaamQEm%Eiyu?;}u>Iy :}94? :}ۘ }NWB @9}>gD}j: }Q:)}.:WWX XW:W2W*WVbUBU*UUU>9@BB BA=>*BAdAAA ="CH,*C ~}RCB<CC5%<IGn>]+>9YI]{Gi]@YYY]>; ]E:  r8:YDW1yY:5);]+q,묯|EAY}j5ɉ@}jց@y}j!}j`H}jH yO?T ?`!\jSV? !?@?)~j5ɉ@ ~jhn];I~jCɫ髱) IYB@yG=i=I C=) =UTU+UqqauQEu%Eqy}c;}}>IȁŅ-4?Ņ ƅfWB @9ƅNgDDž: ȅ:)ȁWWX XW:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PPB)Z;B BA>*BAGAAA;A ="CG,*C+}RC&L<CC֝bިC2q,|EAY}RIω@}R ݁@y}R}R"<}RH`Eu`cU?@UU?P`~RZ?n!?덧?)~RIω@ ~R3R];I~RCɫqq)y yIyY@yGMO=Y%;QU%>!!a-QE-%E)y5:}5>I9 E:= 4? E:=ǯ =~WB E@9=^gD=: =V:)=/:WiWiXi XiWi:Wq2Wq*WqVqbUqBUy*UyUyU}@J@Bpa;B BA>*BAֲAAA ="CH,*Ca|RC<CC]<׹IGG> ,:YWU1y:59@ l8q,rS|EAY}:ˉ@}:tف@y}:}:,}:HdxZU? I?^[Nf? ~X?/t?)~:ˉ@ ~:5];I~:C 9 I X|Gi @    ?; )ݝsCIݝsCiݙݙݝ=ݝS,6ɫ99)9 9IAYE(@yM GIMAAUxDUSBL response received:!U1,N,80,80,63,E4 8,189,80,80,8E,FF UZNo reply:!U1,N,80,80,63,E4 8,189,80,80,8E,FF -Uyya}QE}&Eyd}>Iȉō4?ō- ƍWB @9ƍngDǍ.: ȍ:)ȉWWX XW:W2W*WVbUBU*UUU@Bpb;B BAj>*BA&AAA@ ="C G,*C |RCg<CC <IG%>q>q,7|EAY}JÉ@}Jfс@y}J!}J@-}JH@~@}P?0?Y@:Cb?,??)~JÉ@ ~J[];I~Hɫ髑) IY$@y GNmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I)  @ @ @í©ííiíz@í ĭb@)ĭb@Iĭb@iĭb@FwM*=Y:QU>aQE &Ey4}>I :#4? : WB %@9gD; ;)0:WiWiXi XiWi:Wi2Wq*WqVqbUqBUq*UyUyU}@B#B BA.>*BA$AAAq ="CH,*C|RC-<CC95U<'  6:YDW1yY:5 IG5>~Eq, }EAY}:༉@}:ʁ@y}: }:,}:H`\L?h?U\p.Z??g?)~:༉@ ~:];I~:Cɫ99)9 =I9Y@yQG=K7A?l~jt?= ?= =<)9I9y=B`"?:v?Mb`=.?=T<= =@)=AI=@i==A9=AUM =M]d=Y];QU]>aaaeQEe&Eaym}m>Iqu4?u uWB }@9ugDu: u:)qWWX XW:W2W*WVbUBU*UUU*@B$K;B BA-?*BAopAAAV7 ="CuG,*Cu{RCuĠ<CqCy֝ d9I|Gik@!=7; EKq,0}EAY}V#@}V@y}VK. }Vi(}VH5@DG? 4?O ѓ`Y?D?@k?)~V#@ ~V];I~VCɫ髑) IY\@y,Ga=ɮa= U U UU>U#Uq=iU@U U)Uٮ@IU@iUٮ@eMeI=Ym#;QUm>iqauQEu&Eqy}?}}>IȁŅ4?Ņ ƅWB @9ƅgDDž: ȅ:)ȁWWX XW:W2W*WVbUBU*UUU@B;B BAS?*BAAAA="CH,*Cq{RC@<CC %<IG%M> ,:Yy$5)Rq,#J}EAY}6@}6\@y}6}6Oa0}6Ho}??`ȫ?@I.`'? U?)~6@ ~6S^;I~6CɫYY)Y YIYY@ySGp=iC=I=)=<MV=Y`:QU>aQE&EyMq}>I :4? : WB @9gD: :)1:W W X  XW:W2W*WVbUBU*UUUA0 @B;B BAK?*BAlAAA35="C G,*C 1{RC `c<C C1%ԅ<I G-N>ɻXq,d}EAT9TIV }GiV@TTTV+; VEY}N@}N߳@y}Nj}N7}NH@=?@H?QH].? 릿 z?)~N@ ~N{(^;I~NCɫ) IYUM@yUGM=M==Y4:QU>aQE%&Eyܹ}>Iȱŵ4?ŵ2 tI ƵWB @9ƵgDǵ : ȵp:)ȱWWX XW:W2W*WVbUBU*UUUL!@RB*** querying acoustic contact ***PPB%;B) B)A-?*B)A5\)A1A1A5M="C=H,*C=SzRC=h6<C9CA֭}<בIGa>  4:YV1y:H5)X;9^q,_}~}EAY}2B@}2@y}2}23}2Hە??@ԫ?`I@Ɯ$;W{?oo`?)~2B@ ~2^;I~2Cɫ99)9 =I9YuI@y}G}Z****** received transponder code query ******}F****** received ping request ******aQE+&Ey%(9}%>I) U:-4? U:- -WB U@9-gD-v; -#:)-2:WWX XW:W2W*WVbUBU*UUU@!!@Bl,;B BA?*BAbAAA%"="CEG,*CMUizRCM&<CICI]D-<1I9G]v>eq,[}EAY}Jv@}J7@y}JG2}J}:}JHD?y?@Nnd e?mQ K?)~Jv@ ~J];I~JCɫ髑) IY3@yGxDUSBL response received:!U1,P 80,80,63,E4 8,189,80,80,8E,FF Command AckBRequesting micromodem ping code 2iEK?~jt?QE^?E= Eu)AIAyEzG?9QUm>iiamQEm2&EqyuQ1;}}>Iy}4?}v }WB @9}gD}<: }D:)yWWX XW:W2W*WVbUBU*UUU I"@Bmx;Bi BiAm ?*BiAu AqAqAu="C}H,*C}xzRC}U.<CyCԱԱܙ9ܙIܝ}Giܝ@ܙܙܙܝ); ݙ%R5< .:YW1yč:5).;IG>rkq,,}EAY}2@}2Ł@y}2C}2~4}2H@`yI?@?`~SHع`z?`" ?)~2@ ~2];I~2Cɫ99)9 9I9Y}@y}G?nR?i@ @)I@i@<Mf=Y:QU>aQE8&Ey+;}>I  : 4? :  WB @9 gD s: :) 3:W9W9X9 X9W9:WA2WA*WAVAbUABUI*UIUIUMvg#@B}C<B}< ByA} ?*ByAAAAw="CG,*CyRC ˰<CC1%oE<I G%M>\rq,}EAY}Jq@}J3Ɂ@y}JG}J-}JHcL?۪? U nR ?@?)~Jq@ ~J];I~JCɫ髑) IYu@yڀGp=ɮ)= =XMI=Y=:QU>aQE>&E y Q:} >I;4?, XB %@9hDܹ: :)WAWAXA XAWA:WI2WI*WIVQbUQBUQ*UQUQU]@V7$@Bt<B BA ?*BAd>AAAؔ="CH,*CnyRC<CCqy~MʿٺlAU?9UAzz P0:YQ1y:59@nyq,}EA$9$I&}Gi&_@$$$&; &EY}B_‰@}B!Ё@y}B&}B}{3}BH઀ P?I?Yކd9?jT?)~B_‰@ ~B]r];I~BCɫYY)Y ]IYY6@yGi=MN=Y^:QU>aQED&Ey ;}>I4?9 $XB @9"hDӻ: :)WWX XW:W2W*WVbUBU*UUU`r %@Br<B  B A '?*B A AAA' ="CG,*CyRCvA<CC!AI)GEQ> 4q,i}EA| i|"@Y}Rɉ@}RMׁ@y}RwZ}R8}RH{T? ?x^C$o&? ?)~Rɉ@ ~R{];I~Pɫ) IYj@yӀG @ @ @Ý©ÝÝiÝz@Ý ĝK@)ęIĝb@iĝ@n<M<=Y:QU>aQEK&Ey;}>I :Px4? :G 8XB @96hD: :)4:WWX XW:W2W*WVbU BU *U UU%@B=W<B9 B9A=?*BAAE,AAAAAEZ="CMH,*CMbxRCU-<CQCQeER=U<,   T7:YY1y:5)I9G}>[q,~EAɫ髙) IY@yGu +?)\(?ktu?uGa= u 0)qIqyuQ?aQER&Ey}>I15j4?5U 5EXB =@95HhD5: 5:)1WyWyX XW:W2W*WVbUBU*UUU D&@RB*** querying acoustic contact ***PPB, &<B BA! ?*BA)ܼA)A)A-="C5G,*C5XxRC1C1C9U<q9qIqiqqqqu ; uE)مIمiم݅!=݅!=݅j47<IG>;Eq,Gw3~EAY}Jk@}J-@y}J弙}J٫6}JHF?ת?`P’t`?=Ѧ@?)~Jk@ ~J];I~Hɫ髙) IY@yG u u uu+=uu`aQEX&Ey}>Iȡ :ť ^4? :ťAa ƥPXB @9ƥYhDǥb: ȥ#:)ȥ5:WWX XW:W2W*WVbUBU*UUU{'@BM<B BA ?*BAؼAAATu="C%H,*C% xRC%ѫ<C!C)11)1 13 {{ 7:Y#R1y:5ֽm<ס I G >-q,*UM~EA|4<|4aQE^&Ey-$}>IbQ4?cm ZXB  @9jhD: :)W)W)X) X)W):W12W1*W1V1bU9BU9*U9U9UE?(@BmXM<Bi BiAm ?*BqAu{ռAqAqAu="C}G,*C}wwRC}<CC-<I G-,>^Yq,6g~EAy9yIyiyyyy} ; yɫ) IYM@yUG)e> au;MuA=YuQU}>yya}QE}e&Ey}>Iȉ :ōjC4? :ōz ƍfXB @9ƍ|hDǍk: ȍA:)ȍ6:WWX XW:W2W*WVbUBU*UUU)@B-&<BI BIAU ?*BQA]~ѼAaAaAmIk="CH,*CzYwRC<CC֕벫l>q,~EAY}:|@}:a@y}:ͼ}:D}:H `$? :7?@00q샿?}?)~:|@ ~:];I~:Cɫ99)9 9I9Y}@y},G-M?-Q-Ii-µ@) -@)-@I-@i-@=<M=N=Y=ϋ;QUE>AAaEQEEk&EIyM}U>IY]H64?]P ]pXB e@9]hD]@: ]n:)YWWX XW:W2W*WVbUBU*UUU`R)@B`v<B BAI ?*BA&μAAA="CG,*C9wRC<CCm<?ir?׹IGE>iq,~EA| i|"@Y}b@}bs@y}bļ}b6K}bH#+?`?7@g? t?)~b@ ~bf4^;I~`ɫ髙) IY@yGMbX?I +:v? ?9 T=)Iyn?Q?Q?V.?<< @)IQ@iAƼM?=Y8;QU>aQEr&E y ]a;}>I :(4? %: XB %@9hD8: :)7:WAWAXA XIWI:WI2WI*WQVQbUQBUQ*UYUYU]վ*@B^!C<B BA ?*BAYʼAAAm="CH,*CvRCT<CCֽoM<9IL~Gi@; EיIGb> /3:Yy$5) ;q,軴~EAY}2@}2Ǣ@y}2sչ}2V_M}2H e3?`?`? @-k+:? y?)~2@ ~2^;I~0ɫ99)9 9I9Y}+@y}IG‘‘'? zԾi@ b@)-@IK@i-@_4=M]=Y^;QU>aQEx&EyW;}>I  4? H XB @9 hD  ; i ;) W9W9X9 XAWA:WA2WA*WAVIbUIBUI*UIUIUU@'|+@B}<<By ByA?*BA ƼAAA="CG,*C.ovRC <C C'<IGI>Iޑ)ޑzq,-~EAɫ髙) IY@y!!a%QE%&E)y5}=>IAE34?E- EXB U@9EhDE: E:)AWqWqXy XyWy:Wy2Wy*WVbUBU*UUUN,@RB*** querying acoustic contact ***PPBl<B BA?*BAW9üAAAt="CH,*CvRC <CCB -:Yy[59@ 9 I }Gi _@ ; q,r~EA|";|"p;Y}>!@}>㰁@y}>O}>z3}>H`S???HzC6)?yt@?)~>!@ ~>];I~>Cɫyy)y yIyY@y GZ****** received transponder code query ******F****** received ping request ******QYa]QE]&EayeZ;}m>Iq }:u4? }:u uXB @9uhDu; u;)u8:WWX XW:W2W*WV bUBU*U!U!U-9(-@BP-N<B BA ?*BAd1AAA<"CG,*C:uRC#Ш<CC<ױIG>q,MMEAY}2&@}2謁@y}2=ޘ}2}M,}2H=?ܦ?SF `@?T?)~2&@ ~2^;I~0ɫ髙) IY:@yRGa=ɮxDUSBL response received:!U1,P 80,80,63,E4 8,189,80,80,8E,FF Command AckBRequesting micromodem ping code 2i)= = %@ %@ %@%©%%i%@% %)%I%@i!5z=M5<=Y=;QU=>99aEQEE&EAyM}M>IQU\4?U UXB ]@9UhDUʽ: U;:)QWyWX XW:W2W*WVbUBU*UUU`-@BJs<B BA%A?*B!A% A!A!A% <"CMH,*CMeuRCU<CQCQe፨<9Iaޙiޙ .:YV1y:5G>i NmGI i M ͿٺI M BAq,)EAY}2@}2Q@y}2“}2*&}2H1W7? ?`J?兿x?ä?)~2@ ~2N^;I~0ɫ99)9 =I9Y}n@y}ՀG/$?~jt?AAaEQEE&EAyMy}M>IQ ]:U 4? ]:U UXB ]@9UhDU: U:)U9:WWX! X!W!:W!2W!*W)V)bU)BU)*U1U1U5z.@B}<By BA?*BAx$AAA"0<"CG,*CuRCV<CCܑ9ܑIܕL~Giܕ@ܑܑܑܕ; ݕEԅ<?i?יIGb>q,6EAY}6օ@}6@y}6\}6}$}6H /?ߥ? 6p r?t?)~6օ@ ~6 S^;I~6Cɫ99)9 9IAYu@ywG e e ee$?ee7ie@e e@)e-@Ie@ia}X=M}F=YM8QU>aQE&Ey}>IȡťV4?ť ƥXB @9ƥ iDǥw: ȥ:)ȡWQWQXQ XQWQ:WQ2WY*WYVYbUYBUY*UaUaUey/@B30<B BA?*BA^AAA?<"CH,*CtRC9<CC5%<׹IGf>  84:Yy$5q,OEAY}2c@}2%@y}2}2L !}2HS,?y?3؄:C? ^?)~2c@ ~2,d^;I~2Cɫ99)9 =I9Yu@y}Gyy‘‘MS=Y9QU>aQE&E y } >I :4? %: XB %@9iD: M:)::WAWAXA XIWI:WI2WI*WIVQbUQBUQ*UQUYU]`+0@BtI<B BA ?*BAAAAa<"CG,*C?ytRC<CC֥ ܁ 9܁ I܅ }Gi܅ _@܁ ܁ ܁ ܅ ; ݅ E)iIiiiiimb4q,iEAY}Z@}ZP@y}ZMՍ}ZH!}ZH@.?` b?5ⅿo?6`b?)~Z@ ~Zr:^;I~ZCɫ髙) IYu@ywGI) 鿡94=?>>i@ K@)I-@iK@^=M0=Y:QU>aQE&EyY:}>I4?m XB @90iD: n:)W!W!X) X)W):W)2W)*W1V1bU1BU1*U1U9U=`0@Be<Bi BiAm?*BiAm;ĬAiAiAu%`<"CuH,*C}tRC}g<CyCy֝]q,EAY}2w@}29@y}2"n}2| }2H A 1?!!?79@a V@M? `?)~2w@ ~2ت];I~2Cɫaa)a eIaYy@y܀GMt=Y:QU?aQE&Eyw ;}?I :4? : XB @9?iD: +:);:WW X  X W :W 2W *WVbUBU*UUU0@R%B*** querying acoustic contact ***P!P!BM <BI BIAM< ?*BIAUҩAAA1<"CG,*CsRC;<CC'<IG J>q, pEAY}6@}6E@y}6w}6!}6H@`3?.?;W?:x?)~6@ ~6|];I~4ɫYY)a aIaY@yGxDUSBL response received:!U1,R,EC9,000,074 8,189,80,80,8E,FF -zunknown deviceResponse_: !U1,R,EC9,000,074 8,189,80,80,8E,FF e ףp= ?㥛 ~jteQ?e eD)aIayeGz?S㥛?Mb?e0?e/aRE&EyP:}>I 4? YB @9SiD': :)WWX XW:W2W*WVbUBU*UUU+o1@B-r<B1 B1A5G ?*B1A5A9A9A=<"CEH,*CEwsRCEH֙<CAC191I5}Gi5@5"=115#; 5E}Ԙ.q,KEAY}2/@}2@y}2C}2V#}2H`b3?i@ b@)@Ii-@-J=M-e=Y5h:QU5>99a=RE=&EAyEq9}E>IIM 4?M MYB U@9MciDM: M:)IWyWyXy XyWy:W2W*WVbUBU*UUUR1@Bh<B BA?*BArAAA\<"CG,*C.sRC<CC5%<׹IGE>q,g&EA|i|Y}B@}B@y}B_$~}B$}BH 2?#"?9 `8ď?@_?)~B@ ~B];I~@ɫYY)Y ]IYY6@yPGNmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %L;M%<=Y-:QU->qya}RE}&Eyh}>Iȑ :ŕ4? :ŕ, ƕYB @9ƕwiDǕ: ȕ:)ȕ<:WWX XW:W2W*WVbUBU*UUU <2@B5<B9 B9A=#?*B9A=KA9A9AEԽ<"CeH,*CmrRCmya<CiCq]u<9IIGew>)  7:YV1y:59@- *>9) I) i) ) ) ) - ; - E@q,EAY}2@}2Q@y}2Op}2/}2H/??D8 `t ?@?)~2@ ~2];I~0ɫYY)Y ]IYY}@y}aiamRE&EyJ}>Is4?8 YB @9iD: :)W!W)X) X)W):W)2WQ*WQVQbUQBUY*UYUYU]2@1(e PmlAggregate::initialize lineCaptureDepth:MicromodemCommsq(mPm|Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn(BJ<B BA?*BA%AAA<"CG,*CrRC.&<CC)I-$NHardware Fault in component: MicromodemIޑ)ޕ?AG >9eq,MEAY}6@}6Ó@y}6YYa]RE]&Eiy}¹}>Iș :ŝb4? :ŝH Ɲ&YB @9ƝiDǝA; ȝ;)ȝ=:UUUU  U2:YUU1yU:U65WqWX XW:W2W*WVbUBU*UUU`/3@BUJb<BY BYA]R ?*BYAe AaAaAeM<"CmH,*CmrRCm;<CiCօ m<q,>zEAY}>@}>@y}>]}>].}>H`j,?m?4ޏķ?nɥ ?)~>@ ~>^;I~>CɫYY)Y ]IYYg@yЀG}v?Mb?{Gzt?}?}= }ף;)yIyy}ʡE?Mb?L7A`?}-2?}<}+= }@)}=AI}3@i}^Ay}f@M=Y:QU?aRE&Eyк}?IȹŽW4?ŽR ƽ3YB @9ƽiDǽ{: ȽǺ:)ȹWWX XW:W2W*WVbUBU*UUUn3@B-<B) B)A5?*B1A5A1A1A5y!<"C=G,*C=KqRCE<CACAܙ9ܙIܝ }Giܝ@ܝ!=ܙܙܝ; ݝE5%<סIGe> q,W9EAY}2}@}2@y}2#T}2;,}2H {*?@7?k2 1@&I? ?)~2}@ ~2^;I~2Cɫ9A)A AIAY}@y}G鮅p=ɮp= @ @ @©i@ )@I@i@<MF=Y¹:QU>aRE&EyZ} >I :I4? :s_ EYB %@9iD:  :)>:WAWAXA XAWI:WI2WI*WQVQbUQBUQ*UQUYU]13@ReB*** querying acoustic contact ***PaPaB[=<B BA ?*BA)AAA=<"CH,*C|qRCO<CC]<I$\Clearing failed state for component Micromodemq G%n>==i=%=E EEEP E#A:YEV1yE:E5œq,2SEAY}2D~@}2@y}2eF}2+&}2H`m`l+?95?2̷ˏ̈?Ϥ?)~2D~@ ~2@:^;I~2CM$>MPCɫYY)Y aIaY@yGimGI) iMȿٺIMADMO=Y ;QU>aRE&Ey9}>I:4?k VYB @9iD; ϸ;)WQWQXQ XQWQ:WQ2WY*WYVYbUYBUY*UaUaUe@4@Bx<B BA?*BArAAA\g<"CG,*Cq9qRC<CC ==<?i}?׹IGf>m +>9i Ii ii m "=i i m ; m Eq,$mEAY}Bf@}B(@y}Bէ6}B8,0}BHJ z0?`ܤ?v8 Ԇ?`p@?)~Bf@ ~By,^;I~BCɫ髙) IY3@yGSetting waiting for range response to false due to timeout. Elapsed:6.094622gAiE@ EEE E8:YEW1yEč:El5)E;9M   år>å`;å|iå@å ĥb@)ĥb@Iĥ@iġt;M=Y:QU>aRE&Ey:}>I :%4? :~ nYB @9iD: :)?:W W X  X W :W 2W *W V bU! BU! *U! U! U- @4@B [<B  B A ?*B A /A A A Jl<"C H,*C% FpRC% P<C! C) 1  I G= >"q,uȈEAY}2@}2@y}2#}24}2H9?j?@B GE`? Ǔ@?)~2@ ~2&7^;I~0ɫiq)q qIqYT@yŀG<M=Yc;QUW?aRE&Ey7<}W?I_4? wYB @9iDn: :)WW!X! X!W!:W!2W!*W)V)bU)BU)*U1U1U5Y 5@B],=Ba BaAe?*BaAeAAA<"CG,*CupRCd<CCD-<IG-N>IUAA)U@AF=(q,EAY}2@}2஁@y}2Ǜ}2P.}2H@?M?gH`9wxhS?5ȥ@A?)~2@ ~2U^;I~2Cɫ99)9 9I9YX@yǀGU:MH=Y ;QU>  aRE&EyF;}>I)-4?-ґ -YB =@9-jD-w; -l;))WiWiXq XqWq:Wy2Wy*WVbUBU*UUU pw5@B9©<B BA2?*BA5AAA<"CH,999I=|Gi=k@999= ; =E)قIقiق݂"=݂"=݂4*Cm@pRCm<CqCօoE< +יIGh> Y>:YX1y/:5);h.q,lEA||4@}>o@y}> }>!&}>H z@[A? ?)HC6?¤ ?)~>@ ~>V^;I~>CɫYY)Y YIYYu@yuGõC?õõ̼iõ@ñ ĵ-@)ĵ@Iĵb@iĵ@!мM1=Ya:QU>aRE&Ey}>I :4? :I YB @9jD: :)@:W9W9X9 X9W9:WA2WA*WAVIbUIBUI*UIUIUU5@B}d<By BA0?*BA$ |AAAF7<"CG,*CoRCǰ<CC}UP5q,wJրEAY}NȖ@}N@y}N- }Nh%"}NH J@;?@ҟ?B`^%?#CK?)~NȖ@ ~N.];I~NCɫqy)y yIyY@yGa=ɮa=Mm=Y}8QU}>yaRE'Ey`[}>Iȩŭ4?ŭ ƭYB @9ƭ+jDǭ; ȭm;)ȩWWX XW:W2W*WVbUBU*UUU 6J6@B5 <B1 B1A5?*B1A=ouA9A9A=w<"CEH,*CEoRCE!<CACI=<I!GEQ>Yi]=mO mmm. m::YmWU1ym:m~59u@1 91 I5 X|Gi5 @1 1 1 5 ; 5 E{;q,*EAY}R4@}R@y}RJ}R"#}RH@8?ﵢ?>@ =?@w .?)~R4@ ~Rc];I~RCɫ髱) IY@ylGPowering up0Initializing Micromodem.`e<xii@ ­@)­@Iٮ@i­@-6M58=Y5M:QU5>99a=RE='E9yE7Ѻ}E>II U:M4? U:M MYB ]@9M>jDM{: M:)MA:WyWyXy XyW:W2W*WVbUBU*UUUQ6@RB*** querying acoustic contact ***PPB8F<B BA?*BAnAAA<"CG,*Cz=oRCQ<CC -=-=bި<?i|?IGm>>aBq,Y EAY}23@}2@y}2D}2H0}2Hভ4??;a\t?'`&?)~23@ ~2];I~0ɫ99)A AIAY@yGZ****** received transponder code query ******F****** received ping request ******aRE'EyҺ}>Iȡť+4?ť ƥYB @9ƥOjDǥ; ȥ;)ȡWWX XW:W2W*WVbUBU*UUU`7@BH<B! B!A%?*B!A%gA!A)A-<"CMH,*CMnRCU]<CQCQu- uuu ui7:YuY1yu:u5}R5֌Hq,#EAY}6[@}6@y}6}6v+}6H,-?Rj? S4@ ^?@fs?)~6[@ ~6];I~6Cɫ19)9 9I9Yu}@y}AGy}AAxDUSBL response received:!U1,P EC9,000,074 8,189,80,80,8E,FF Command AckBRequesting micromodem ping code 2i2ME=Y8QU>aRE'E9I{Gi@; Eyc}>I :m4? : YB @9ajD: :)B:WAWIXi XiWi:Wi2Wq*WqVqbUqBUq*UyUyU}e7@BB<B BA^?*BA$aAAA<"CG,*C,nRC<CCI]@A)YIGn>Nq,=EAɫ髙) IY@yhGxDUSBL response received:!U1,R,F7E,000,00D21,187,80,80,6F,FF Fpublishing direction and range infoV=ɰ>1> )BIy($Cg4W?5?ٱ u@ u@ u@u©uuiu@u uK@)u-@IuK@iuK@s<M==YQU>aRE'Ey}>I4?F YB @9ujD: :)WWX XW:W2W*W!V!bU!BU!*U)U)U- 7@P9*Q=($CZQ=X0Zcd@M\2@JQ=g4W?5?2Q=V=:Q9bQ=58DlwUה ,}aͻNR?RQ=ʫUED2L(2j?BQ=.@ Q= Q=P=t9?P=99?P= Q=Q=@"Q='ABu<By ByA}U?*ByA}YAAAD<"CH,*CBnRC33<CCuM uuu5 u9:YuDW1}(BUq,~WEA||;Y}6h@}6v@y}6$2 }6H)}6H`?@U?%}`7&? );?)~6h@ ~6h];I~6CɫQY)Y YIYY@yXG)%= %=} M\=Y놺QU>aRE!'Ey4}>Iș :ŝ!4? :ŝ ƝYB @9ƝjDǝ: ȝ:)ȝC:m}Added new target pos. range: 164.160004 m, bearing: 238.461903 deg, deltaT: 23.945605 s, approachRate: 0.984732 m/s, LOS rate: -0.965413 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UUd@U0'?BG<B B!A%?*B!A%rSA!A!A%/}<"C-G,*C5mRC5<C1C1օ}9Ii; E[q,hqEAY}2o@}2R}@y}2wf}25+}2H@+`"?? )`SV@,?tn`?)~2o@ ~2G];I~2CɫQY)Y YIaY@yJG)) E E EE =EE'iEG@E E-@)E@IE-@iE@U*λMU>=Y]AQU]>YYaeREe('Eaye:}m>Iquɛ4?u uZB }@9ujDu: u :)qWWX XW:W2W*WVbUBU*UUULL?B^x<B BA?*BA8LAAA<"CH,*CѧmRCkŽ<CC}U<]=i]=m mmm8 m?:YmX1ym/:m5)m;9uIGn>obq,NCEAY}2P@}2@y}2Y }26}2H`lb-? z?`5 @F@w?٦?)~2P@ ~2H];I~0ɫ99)9 9I9Y@yGiNmGIiܹٺīAM =Y:QU>aRE1'Ey S;} >I  : 4?  : F ZB  @9 jD : +:) D:W9 W9 X9  X9 W9 :WA 2WA *WA VA bUI BUI *UI UI UU ?B jV<B  B A >*B A% CA! A! AE <"CM G,*CM ,mRCM }<CI CQ U [iq,l@EA|Di|Dy9yI}{Gi}x@yyy}; }Eɫ髑) IY;@yGma=Mu=Y}QU-?aRE6'Ey})?Ik}4? *ZB @9jDϬ< l<)WWX XW:W2W*WVbUBU*UUUk?e@ eee e8:YeW1yeč:e#5)e;B<B BA>*BA^>AAAs<"CH,*C@lRCe<CC֭R5<ׁIG>e>pq,EAɫyy)y }IyY@yGuC>u94uu=iu@q uٮ@)uٮ@Iuٮ@iuٮ@-M[=YQU>aRE<'Ey}>Ișŝp4?ŝ Ɲ8ZB @9ƝjDǝ: ȝb:)șWWX XWI:WQ2WQ*WQVQbUQBUY*UYUYU]/@B<B BAx>*BAa9AAA0<"CG,*ClRC<CCIi)mAA D-<IGj>&jvq,ځEAY}N@}N@y}N%ۻ}N_<}NH@0??9ʭѓ@d{?`'?)~N@ ~N ^;I~NCɫyy)y IY@yG)== ==mm<Mm<=YuŠ;QUu>qqa}RE}C'Eyy:}>Iȉ :ō5a4? :ōv+ ƍIZB @9ƍjDǍV: ȍA:)ȍE:WWX XW:W2W*WVbUBU*UUUm@B<B BA>*BAgd2AAAc<"C H,*CXlRCȤ<CC!!mq mmm  m<:YmV1ym:m59u@9IA)EiAIG-p>},>9yI},{Gi}&@yyy}-; }E) I i O4|q,4EAY}J"@}J堁@y}J ̻}J;}JH`?7?` y?@?@͗y?@Ew;?)~J"@ ~J];I~JCɫYY)Y ]IYY~@yHG鮡ɮp=)õ(\>õ wõ?iõ@ñ ĵ@)ĵ@Iĵ-@iĵ-@d.MV=Y:QU>aREI'Ey-i;}>IS4?h7 WZB @9jDD: :)WWX XW:W2W*WVbUBU!*U!U!U%`@R5B*** querying acoustic contact ***P1P1BUʿ<BY BYA]>*BYA]r,AYAaAeE<"CeG,*Cm lRCm<CiCqօԅq,CEAY}>@}>@y}>A}>=}>H ݢ@#@ ~>];I~>Cɫ髑) IY@yGZ****** received transponder code query ******F****** received ping request ****** a RE R'E y :} >I! - :% >4? - :% xJ % nZB - @9% kD% 4: % :)% F:WQ WQ XQ  XQ WQ :WQ 2WY *WY VY bUY BUa *Ua Ua Ue 8y @B <B  B A >*B A ~"A A A <"C H,*C kRC <C C oE<ש I G >Bq,֍)EAY}2S@}2@y}2 }2G}2Hf4??=-1q?@ 3?)~2S@ ~2];I~2CL9LINzGiN@LLLN); NEɫiq)q uIqY)@y~GxDUSBL response received:!U1,P F7E,000,00D21,187,80,80,6F,FF Command AckBRequesting micromodem ping code 2iڽM=Y ;QU j? aREU'Eyf}j?I!%_74?%lP %uZB -@9%kD%: %=:)!WWX XW:W2W*WVbUBU*UUU #` @B-=B) B)A-q>*B1A5OA1A1A5A(<"C]G,*CeYkRCe%<CaCaUU<)IAG]v>ːq,rSCEAY}2{q@}2?@y}2yy}2K}2H o"?8?O+нa@J"o?ct?)~2{q@ ~2w];I~2CɫAA)A EIAY@y~G];?]O?]}i]z@Y ]n@)]I]3@i]@m1MuD=Y}\:QU}>yaRE\'EyK }>Iȑ :ŕ(4? :ŕl] ƕZB @9ƕ)kDǕ: ȕ:)ȕG:WWX XW:W2W*WVbU)BU1*U1U1U57@B <B BA!>*BA NAAAx<"CH,*C kRCkD<CC C3:YW1yč:5ֽ፨<יIGc>q,P5]EAY}2(X@}2e@y}2͓}2K}2H@?@U?՛yr?@ ^?)~2(X@ ~2];I~2Cɫ99)9 =I9Yu;@y}~Gu#<MuJ=Y}-QU}>yyaREc'Ey}>Iȑŕ4?ŕi ƕZB @9ƕ;kDǕܹ: ȕǺ:)ȑWWX XW:W2W*WVbUBU*UUU@B<B BA>*BA3nAA A <"CG,*CRjRC{<CC!!֝QQaURE]i'Eaymb}}>I :$ 4? :w ZB @9NkD< Q<)H:WWX XW:W2W$  6:YDW1yY:5);9*WVbU BU *U U U ް@B]Ŧ<BY BYA]>*BYAK AAAc<"CH,*C]hjRCg<CC֕uq,䐂EAɫ髙) IY@yGp=ɮa=Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ==MD=YQU>aREp'Ey}>I4?g ZB %@9akD9< ;<)W)W)X) X)W1:W12W1*W1V1bU9BU9*U9U9UET@RmB*** querying acoustic contact ***PiPiBV<B BA>*BAAAAY*<"CG,*CNjRCy>l<CCk<IG>K1q,+EA&+>9$I&zGi&2@$$$&; &EY}ZrF@}Z6T@y}Z"}Z F}ZH?e??`h w䜿^d? רS?)~ZrF@ ~ZS^;I~ZCɫyy)y yIyY@y~GJNo DVL communication! Re-initializingq (Communications Faulta  a  a  a  a  5TPM5Q=Y5A;QU5>99a=RE=v'EAyEH}E>IIM4?MT MZB ]@9MrkDM˵: M>)IWyWyXy XW:W2W*WVbUBU)*U)U)U-@@B]™<BY BYA]\>*BYAeoYAaAaAe}<"CH,*CiRCh<CC ==֝zl<׭?i׭?בI-$bCommunications Fault in component: RDI_PathfinderG>Zq,ĂEAY}23J@}2W@y}2F}2GG}2H ??!`W?Dᨿ@P?)~23J@ ~2^;I~2CɫYY)Y ]IYYk@y1GxDUSBL response received:!U1,R,EDA,000,07080,186,80,80,99,FF Fpublishing direction and range infoG\>ɰt@鰥> )CIyPD|;?N=?ٱa i@a m@a q@a e@a I@Powering down I)%<M%<=Y-;QU->))a5RE5}'E1y=:}=>IA M:EC4? M:E՝ EZB M@9EkDEy: EP?)EI:WqWqXq XqWq:Wq2Wy*WyVybUyBUy*UUUw@P*QPDZQXj @bz@JQ|;?N=?2QG\>:QbQ>ARf.x2RQsٿ K. K$HU`BQR@ QpQ *PP9?Pt9?PQ Q?"Q@Bf<B BA>*BAϿAAA<"CG,*C2iRCq<CCjb<ױIG>}D>KCimGI i) U ͿٺY ] aA:Cq,)vނEA| i|"@Y}b\Z@}b h@y}b}b"J}bH@+?? `K 0?d@?)~b\Z@ ~b:^;I~bCɫ髹) IY@y~G#2Ma=Y%Y;QU>aRE'Eyl;}>I  @4? ( ZB @9 kD : ?) mEAdded new target pos. range: 1690.500000 m, bearing: 246.271978 deg, deltaT: 6.119129 s, approachRate: 249.437454 m/s, LOS rate: 1.276338 deg/s, posRepo size: 4mMCompleted rollout at range: 1690.50 m. Resuming terminal guidance.mMbTransitioning guidance mode to: TERMINAL_GUIDANCE"XMWMWIXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUej@Ue`%X?BF<B BA>*BAtAAA"<C;  8:YU1y:759@u<I9IIIiIM"=IIM; MEyIG`>qmq,QEAY}2r@}2@y}2X^@:}2IO}2H@ %$?c$?4,"I H K橿?)~2r@ ~24^;I~2Cɫ99)9 =I9Y@y`~G-pNmea in: $CATMG,2021-08-14T01:36:10.888508Z,RTC,RTC*5C -Response from modem unexpected: $CATMG,2021-08-14T01:36:10.888508Z,RTC,RTC*5C )== ==OMP=YP#;QU>aRE'Ey;}>IȱŵI4?ŵd ƵZB @9ƵkDǵ: ȵS?)ȱWWX XW:W2W*WVbUBU*UUU,&?BY<B BA>*BA׊ܻAAAe~<C)9=jA=k=Uq,|,EAY}:Q@}:@y}:7v:}:ؑE}:Hδ3/??Y6~둟`ƮWův?)~:Q@ ~:^;I~:Cɫ9A)A EIAY}@y}$~GmNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 6Nmea out: $CCCFG,ALL,0*33 )\M;=Y:QU>aRE'Ey;}>Iȩŭ̳4?ŭ ƭZB @9ƭkDǭl: ȭ@)ȩWWX XW:W2W*WVbUBU*UUU?Bz<B BA%>*B!A%JлA!A!A-<C1 P0:YX1y/:5}tA 9A IE 8yGiE @E #=A A E $; E E)ыIыiыՋ#=Ջ#=Ջ~4q,,EA|4<|pi}@} }@)}9@I}i}n@P;M=YH*;QU>aRE'EyaQ}>Iȱŵ4?ŵ Ƶ[B @9ƵkDǵ: ȵ$@)ȱWWX XW:W2W*WVbUi BU *U U U jw?B <B  B A >*B A 5eA A A d8<C = = k< ?i ? I G >q,1@GEAY}2l@}2y@y}2M;}2w<}2H +"?%?`' ~S q: ȍf5@)ȉWWX XW:W2W*WVbUBU*UUU 0!@B=Ph=E=iAMMMM M/:YMW1yMč:M5BY BYA]O>*BaAeJAaAaAey<Ciuvq,aEAY}25Y@}2f@y}2;}26}2H ? E?B{`qt`?)~25Y@ ~2_;I~2CɫII)I IIIY}@y}w}GTNmea in: $CACFG,nav.dt.txtrig_gpio4,1*66 LNmea out: $CCCFG,pwramp.txlevel,0*2F U!<M]_=Y]:QU]>aaaeREe'EaymPͻ}m>Iy}S4?}, }[B @9}kD}; })M@)yWWX XW:W2W*WVbUBU*UUU\@B%h<BI BIAU)>*BQAUZAQAQAUaA<CYQ9QIUxGiU?@U"=QQU*; UE}]n q,*zEA|i|@Y}69T@}6a@y}6H;}6b6}6H@? (&?'=R`IvNʦ`?)~69T@ ~6%j_;I~6Cɫ99)9 AIAY@y|G JNmea in: $CACFG,pwramp.txlevel,0*2D 8Nmea out: $CCCFG,DTO,30*1E å>åľåTiå׳@á ĥ @)ĥ@Iĥ@iĥ-@$M3=Y:QU>aRE'Ey}>I  :  y4? : S '[B @9 lD : j@) J:W9W9XA XAWA:WAUB UUU U9:YUU1yU:U5)U";9]2WA*WaVabUaBUi*UiUiUm@R}B*** querying acoustic contact ***PyPyB<B BAs>*BA0AAA<CiAqq,AEAY}NX@}NOf@y}N7-;}N>}NHY@a?̠?@` <xݧ?)~NX@ ~N -_;I~Lɫyy)y yIyY@y|GZ****** received transponder code query ******F****** received ping request ******Nmea out: $CCCFG,FC0,14500*47 )BMQ=Y:QU>aSE'Ey:}>II)M?AIIMMj4?M$ M3[B ]@9MlDM: M<@)IWWX XW:W2W*WVbUBU*UUU@% @B=h3<B9 B9A=J>*B9Ae{AiAiAm*G<Cq}} եԥ! I1 GM >I 9I IM xGiM @M #=I I M +; I !q,EAY}EX@}ERf@y}E;}E?}EHJ ?kj?@ۡ@~ ?)~EX@ ~E^;I~Aɫ ) IY5t@y5|G=xDUSBL response received:!U1,P EDA,000,07080,186,80,80,99,FF ECommand AckEBRequesting micromodem ping code 2iAAU a SE 'E y 6} >I .T4? b D[B  @9 2lD : @) W W X  X W :W 2W *W V bU BU *U U U v@B jΚ<B!  B! A% ">*B) A5 A9 A9 A= <Ca i Iq G >iq,˃EA|;|4?)~6F@ ~6^;I~6Cɫ11)1 5I1Yu@yuK|G:Nmea in: $CACFG,BW0,4000*61 6Nmea out: $CCCFG,BND,0*3A M>Y I[B @99lD: @)WWX! X!W!:WA2WA*WIVIbUIBUI*UIUQUUo=@B=B BA>*BA3AAA(z<CיIG#>q,!EAY}Ja7@}J%E@y}J <}J-}JH.`??,@q ;?)~Ja7@ ~J];I~JCɫ髑) IY@y"|G4Nmea in: $CACFG,BND,0*38 RNmea out: $CCCLK,2021,08,14,01,36,16*4B UvM]B=Ym;QUu>yyaSE'E i =5555 52:Y5X1y5/:5$59E@IyUq}U>9IDwGi@B; EIae>4?e) eU[B E@9eMlDeE; e?@)aWIWQXQ XQWY:W2W*WVbUBU*UUU8@Bp<B BA>*BAhAAA<CyIG>q,зEAY}29@}2G@y}2hz&<}2Z4}2H M`?ќ?wu5τ?)~29@ ~2/];I~2CɫYY)Y YIYYl@y|GVNmea in: $CAMSG,Bad Modlation Header,0*31 Response from modem failed NMEA checksum: $CAMSG,Bad Modlation Header,0*31 expected 44RNmea out: $CCCLK,2021,08,14,01,36,16*4B )Ý= Ý>UC?UAUA>iU@Q U@)UIU@iU@e=Me.=YB]:QU>aSE'Ey*:}>Iȡť.4?ť6 ƥ`[B @9ƥ`lDǥ; ȥ÷@)ȡWW!X) X)W):W)2W1*W1V1bU1BU9*U9U9U= շ@BA<B BA>*BAKTAAA<CIhA)׹IGf>i NmGI i 5 eٺ1 5 Aq,EA|$i|$Y}nHP@}n ^@y}n.<}nk@}nH@@A??q@@T/ …@ ?)~nHP@ ~n];I~nCɫ髹) IY%@y-{G=LNmea in: $CACLK,2021,8,14,1,36,16*49 mQNmea in: $CACST,6,1,20210814013616.105233,05,189,10,0097,0150,149,02,02,02,02,-1,-01,-01,1,3,1,0,150,18.5,0.73,-100,2.27,-01,0.18,56,25000,5000*48   D:YY1y:5UOutgoing frame #1, 60 bytes: CC1017611C0000005D00000400260000000000000000151D80030C5669C08C79985BACBB7B005AB4E8BF65FBB6D7646DD093113F9B5316D9A7086A00DNmea out: $CCCYC,0,1,10,1,0,1*69 VM=Y%?g:QU%>!!a-SE-'E y ;} >I  4? G  n[B % @9 ylD :  .@) W W X  X W :W 2W *W V bU BU *U U U ;@ܱ 9ܱ Iܵ |vGiܵ W@ܵ "=ܱ ܱ ܵ Y; ݵ ER B*** querying acoustic contact ***P P 1(  P pAggregate::uninitialize lineCaptureDepth:MicromodemCommsq( P Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn( B R<B  B A >*B A 9A A! A% ^<CI A Ii G >O q,]o2EAY}2j@}2Dx@y}2<5<}2B}2Hm"?@E?@&7\Y :?)~2j@ ~2}];I~0ɫ99)9 9I9Y}&@y},{G$F?i@ n@)n@I@in@tM=Y ;QU Z?  a SE 'Eyh<}~?I!%4?%nM %s[B -@9%lD%: %@)!WIWIXI XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUe@B;=B BI)@AAN>*BAh1AAA<C! IG= >q,ILEAY}B@}B@y}BcK<}BkE}BH+@/? ?@3ح0`?)~B@ ~B];I~@ɫ髙) IY@yzGNNmea in: $AMS,,202108-14T01:36:17Z*78 Response from modem failed NMEA checksum: $AMS,,202108-14T01:36:17Z*78 expected 72DNmea out: $CCCYC,0,1,10,1,0,1*69 5LNmea in: $CACLK,2021,8,14,1,36,16*49 =zResponse from modem unexpected: $CACLK,2021,8,14,1,36,16*49 aeiAmsfMuD=Yu'M;QU}>yaSE'Ey;}>Iȩŭ4?ŭZ ƭ}[B @9ƭlDǭ@; ȭY@)ȩ5551 5Y1:Y5[1y5ݏ:1WWX XW:W2W*WVbUBU*UIUIUU2r@BZ+<B BAK>*BAA A A d<CI)GEQ>q,S$fEAY}2$@}2蘁@y}2[<}2;}2H2@|7?j?@:h@,ϣ@b`o ?)~2$@ ~2^;I~0ɫYY)Y ]IYYS@y(zGzNmea in: $CATMG,2021-08-14T01:36:17.026809Z,USER_CMD,RTC*1A Response from modem unexpected: $CATMG,2021-08-14T01:36:17.026809Z,USER_CMD,RTC*1A %=i%=BNmea in: $CACYC,0,1,10,1,0,1*6B mSMT=Y&;QU>aSE'Eyl;}>I4?f [B @9lDs: @)W)W)X) X)W):W)2W)*W1V1bU1BU9*U9U9U=@B`<B BA>*B A 0 A A ]*>9YI]uGi]@]#=YY]l; ]E)Ii4A )<CיIGe4>Bq,XEAY}: @}:䖁@y}:]_<}:&4}:Hï6??`T9@{\ n`P?)~: @ ~:];I~:Cɫaa)a eIaY@yyGNNmea in: $CADRQ,013617,1,10,0,64,1*74 UNmea out: $CCTXD,1,10,1,CC1017611C0000005D00000400260000000000000000151D80030C5669C08C79985BACBB7B005AB4E8BF65FBB6D7646DD093113F9B5316D9A7086A00*46 VNmea in: $CATMS,0,2021-08-14T01:36:17Z*78 TXD response from modem unexpected: $CATMS,0,2021-08-14T01:36:17Z*78 9>i­@ ٮ@)­@I@i­@M=Y :QU>  a SE 'Ey}>I4?\w [B %@9lD:: @)WiWiXi XiWi:Wq2Wq*WqVqbUqBU*UUUG@B%<B! B!A%>*B!A-jA)A)A-j<C11I9G]>)&q,ڙEAY}2@}2ď@y}2l\<}24,}2Hd`2?|m?`4 ,d@@?)~2@ ~24^;I~2Cɫ99)9 9I9Y}@y}MyGzNmea in: $CATMG,2021-08-14T01:36:17.027957Z,USER_CMD,RTC*11 TXD response from modem unexpected: $CATMG,2021-08-14T01:36:17.027957Z,USER_CMD,RTC*11 BNmea in: $CACYC,0,1,10,1,0,1*6B xTXD response from modem unexpected: $CACYC,0,1,10,1,0,1*6B )í> í>~(M=YOQU)?aSE'Ey$X})?I4? [B @9lD5: A)WWX XW :W 2W *W V bUBU*UUU@BEbI<BA BAAE>*BAAMkҺAIAIAM2<CQ1I9G]=U +>9Q IU tGiU @Q Q Q U f; U EuT,q,$EAY}2{@}2ֈ@y}2Z<}22}2Hۺ`.?ɟ?0`ʲi`>V`JA?)~2{@ ~2L];I~2Cɫ99)A EIAY@yyGNNmea in: $CADRQ,013617,1,10,0,64,1*74 TXD response from modem unexpected: $CADRQ,013617,1,10,0,64,1*74  aSE'Ey}>I4?W [B @9lDc: &A)Mq MMM M<:YMY1yM:M[5)M_;9WWX XW:W2W*WVbUBU*UUU @B=!<B9 B9AEf>*BAAETAAAAAe<Ci!I1Gu6> <3q,̈́EAY}:|o@}:A}@y}:XNL<}:f05}:H&?ں?)x`Y?)~:|o@ ~:];I~:Cɫ99)9 9I9Y}W@y}xG.Nmea in: $CATXP,60*74 ™dAlM=YʺQU>aSE(Ey9#}>I4? [B @9lDx: ;A)W!W!X! X!W!:W!2W)*W)V)bU)BU*UUUÌ @RB*** querying acoustic contact ***PPB<B  B A `>*B A wA A AM <CQ e ?ie ?! I1 GM >f9q,kEAY}2m@}2\{@y}253<}2--}2H%??`(hyšfã0?)~2m@ ~2إ];I~0ɫYY)Y eIaY@yxG_M=Y=QUW?aSE(Ey}V?I>4? [B  @9lD: A)WWX XW:W2W*WVbUBU*UUU @*>9IsGi@p; E=M === =9:Y=U1y=:=5)=;Bm:<B BA>*BATAAA<C AIIGm5>N@q,4GEA|4<|;Y}6>p@}6~@y}6f<}6G1}6H`z&?hP?@Y*``64쁿&?)~6>p@ ~6C_;I~6CɫYa)a eIiY@ywG.Nmea in: $CATXF,60*62 t>i/?    0O9i­@ @)O@IiO@x M9=YQU>aSE (Ey@:} >I4?7 [B @9mD: A)WAWAXA XAWA:WA2WI*WIVIbUQBUQ*UQUQUU`!@B}\y<B BA>*BAUAAAF<C׉IG$>CxFq,"EAY}21{@}2@y}2@e<}25}2H`,?@-?`1+`,@?)~21{@ ~2`;I~2Cɫ99)9 EIAY@yexG5Setting waiting for range response to false due to timeout. Elapsed:6.113878UNmea in: $CAXST,7,20210814,013618.178970,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*59 E<MN=Yנ9QU>aSE(EyT\;}>I{4? [B @9$mDc: !A)W W X  X 5=i5=EG EEE E|9:YExZ1yEq:E759M@W:W2W*WVbUBU*UUU`"@Bۚ<B BA 3>*B AAAA<C)I=gA)=eA!I)GM1>+>9IrGi*@_; ELq,4EAY}:u@}:a@y}:2 <}:6}:Hk@j)?I?@-@" Á JfӦ?)~:u@ ~:O`;I~:Cɫ99)9 =I9Y]@y]SwGýGa>ý/ݽý(iý@ù ĽO@)Ľ9@IĽO@iĽ9@M[=YȄQU>aSE(Ey}>I84?: [B @94mD!< .(A)WWX XW:W2W*WVbUBU*UUU`d#@B5<B1 B9A=P>*B9A=A9A9AE <CIIIQGu>%Sq,NEA|i|@Y}6en@}6*|@y}6;}6V<}6H#R$?@;?G)@W@.:~{?)~6en@ ~6_;I~6Cɫ髹) IY@y=wGIA)A%eM%E=Y-0QU->)1aMSEM(EYy] }e>Iim9v4?mW m[B @9mGmDm < m.A)iE~ EEE. E=:YEW1yEč:E~5WWX XW:W2W*WVbUBUPC*UUiMunGU]`N$@Iaiyk+ٺlBB$<B BA(>*BAv9AAAb<C!I G%M>Yq,hEAY}:^@}:l@y}:.;}:8}:HM??I|? ~?)~:^@ ~:`_;I~:Cɫ99)9 9I9Y}@y}vGHMS=YCQU>aSE%(Ey١}>Iȱŵh4?ŵ0 Ƶ[B @9ƵXmDǵl: ȵ4A)ȱWaWaXa XaWa:Wa2Wi*WiVibUiBUq*UyUyU}$@ܹ9ܹIܽqGiܽ@ܹܹܹܽW; ݽEI9)9B<B BA>*BAx9AAAv<C ?i ?IG+> `q,֎EAY}2K@}2X@y}2m;}2`9}2He?8?@tBӠx`)u?)~2K@ ~2g^;I~2Cɫ99)A EIAY}@y}wG>Y=NiG@ )O@In@i$<MB=Y%QU->))a5SE5,(E9y=R}=>IIM|Y4?MP M[B @9MkmDM< M;A)IW)W)=+ ===, =K:Y=DW1y=Y:=5X) XIWI:WQ2WQ*WQVQbUYBUY*UYUYU]W%@RmB*** querying acoustic contact ***PiPiB<B BA>*BA;' :AAA<CIG!Kfq,'jEA|;|p;Y}68@}6JF@y}6>;}6>5}6Hs`?? [ЧvH?)~68@ ~6^;I~4ɫQQ)Q UIQYF@ygvGZ****** received transponder code query ******F****** received ping request ******i<8ML=Y 4QU > aSE2(Ey`}%>I!%"K4?% %\B =@9%}mD%; %AA)!WaWaXa XaWa:Wa2Wi*WiVibUiBUi*UqUqUu`&@B#<B BA~>*BAU;:AAAk<CiIqG>ܱ9ܱIܵhqGiܵ6@ܵ"=ܱܱܵJ; ݵE))I)i)))-ߩ4lq, GEAY}2-@}2;@y}20;}2)}2H@ ?d؝?]_3u5?)~2-@ ~2e/^;I~2Cɫ99)9 9I9Y!@y9vGxDUSBL response received:!U1,P EDA,000,07080,186,80,80,99,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 yi}=  a4:YWU1y:I5);9>=i@ @)9@I9@i M=Y-2QU>aSE:(Ey!}>IȹŽ[84?Ž ƽ\B @9ƽmDǽ5: ȽAJA)ȹW W X  X W :W2W*WVbUBU*U9U9UE['@BC<B BAy>*BA N:A A A  <C!IMhA)MiA1I9GU>sq,&ЅEAY}24@}2B@y}2W;}2)}2H`Va?@1?@󹞿 vV1@?)~24@ ~2-^;I~2Cɫ99)9 9I9Y]0@y]KvG}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -;M-=Y59:QU5?99a=SE=?(E9yE<;}E?IIM-4?M M\B ]@9MmDM; MNA)IWWX XW:W2W*WVbUBU*UUU<(@BH1<B BA{>*BA=:AAA<C AIQGm>zq,eEA|i|@Y}JL@}JY@y}JZ;}J 0}JH@`i?:?"w uJQ?)~JL@ ~J];I~HɫYY)Y YIYY@yuGxDUSBL response received:!U1,R,EF0,000,00923,186,80,80,7C,FF Fpublishing direction and range infos>ɰ?>鰡 )BIyB8M?#?ٱI)IMO=Y8QU>Y9YI]qGi]@]#=YY]h; ]EaSEF(Ey;}>I!%s4?%?$ %,\B E@9%mD%}; %UA)!}a }}} };:Y}V1y}:}5)}E;WWX XW:W2W*WVbUBU*UUU@)@P*QBZQt6X@ .8@JQ8M?#?2Qs>:QbQ(EL$UW/C/sRQa~ڿض =8BQ@ QQ,PϦ9?PP9?PQQ֕@"Q?BM|܅<BQ BQAUg>*BQAUd:AQAQA]l<CaAIIGm5>q,EAY}Nbi@}N'w@y}Nג;}N/}NH*j!??J&`T@#`Zr勵@e?)~Nbi@ ~N ];I~NCɫ髡) IY@yuGDNmea in: $SNTTA,,,,,013622.98*5B }@ }@ }@}©}}i}@} }Ը@)}@I}@i}O@s<M@=YͺQU>aSEL(EyG<}>Iȡť4?ťW0 ƥ7\B 5@9ƥmDǥ'< ȥI\A)ȡmQAdded new target pos. range: 102.840004 m, bearing: 245.191060 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1mProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 245.191060deg and heading rate command to 0 deg/s.W@WX XW:W2W*WVbUBU*UUµY@U ?B<B BA[n>*B!A%:A!A!A%<"CeRCmVCm@Cq?i?סIGA>uq,EAY}2z@}2^@y}2 ;}2#*}2H z,?`uO?0h@u^N?)~2z@ ~2~h];I~0ɫ99)9 =I9YC@y(uG(MG=Y:QU>aSES(Ey;}>I4?.= D\B @9mDG: bA)WWX XW:W2W*WV  >:YW1yč:ݻ59@bUBU*UUU ?BEĈ<Bi BiAu(^>*ByAV:AAA(<"CRCJrCCסIGU,>9QIUq,Ό7EA||4aSEY(Ey窺}>Iȡť4?ťI ƥO\B @9ƥmDǥx: ȥhA)ȡWWX XW:W2W*WVbUBU*UUU?Bô<B BAL>*BAua:AAAԆ<"C%! RC%UC!C))I1Gu>P&q,gQEAY}2De@}2 s@y}2x;}2;}2HR?@?#X`}`>?)~2De@ ~2Sx];I~0ɫ99)9 =IAY}@ytG)= ><MJ=Y:QU>aSE`(Ey}>IȹŽY4?Ž3V ƽ[\B9ƽmDǽ/; Ƚ}oA)ȹW W X  X W:W2W*WVbUBU!*U!U)U-7?Bm͕<Bq BqAuO>*BqAu;AqAyA}I<"CRCv_"CCuD u}u}uv u>9:YukS1yuԊ:u5֥oM8Pq,AkEAY}R\@}Ri@y}R;}Rf8}RH 2?2?`e| ?)~R\@ ~R];I~Pɫ髡) IYs@y(tG->9IoGi@#=; ΗE ]A]A   D=\i=@ b@)@I@i@|M*=YʹQU>aSEh(Ey}>IȹŽj4?Že ƽi\B @9ƽnDǽ,: ȽwA)ȹWWX XW:W2W*WVbUBU*UUUG4@BL@<B BA*BA";AAA& <"C)RCJaCC %a=%=k  [<:YV1y:5M)1I9G]?:q,8EA|$i|$ɫ) IY e@y tGI)EeME=YUQU]>aaaeSEep(Eiyu}u>Iy}4?}4u }w\B9}(nD}$4< }A)yimGIi)˿ٺhAWWX XW:W2W*WVbUBU*UUU  @R%B*** querying acoustic contact ***P!P!BUL<BY BYA]bB>*BYAe|;AaAaAe<"CmRRCmlCiCieOAIaG^>`q,EAY}2x@}2̅@y}2N<}2c+}2H`}`+?@;? "/˶j蠿ɩuv?)~2x@ ~2^;I~2CɫYa)a aIiYa@ytGZ****** received transponder code query ******F****** received ping request ******>>i¥@ @)@I@i@LM2=Y";QU>aSEw(EIyMV;}M>IQUB4?U U\B ]@9U=nDU: UiA)QWWX XW:W2W*WVbUBU*UUU@@s@B|<B! B!A%A>*B!A%<';A!A)A-<"C5)>RC5dzC1C1=I!GMt> #    K:Y d\1y : 85) ;9 Gq,_ņEAY}2@}2@y}2!<}2ut}2H@ŞE?9?Gʚ`_?@잿?)~2@ ~22^;I~2Cɫii)i iIiY}@y}sG鮁ɮxDUSBL response received:!U1,P EF0,000,00923,186,80,80,7C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 IUp=)U= I M K=Y*:QU>!!aUSEU}(EYym><}u>IȁŅƢ4?Ņr ƅ\B9ƅOnDDžrw< ȅ͆A)ȁWyWX XW:W2W*WVbUBU*UUU@ @B%3Cm<B! B!A% 4>*B)A- N1;A)A)A-<"C5*>*C5IYjRC52sC1C9Y IG%>?rq,`;߆EA||Y}6@}6@y}6@,<}6Al}6HHX|}?u? } WP` ?)~6@ ~63^;I~6Cɫ99)9 9I9Y}@y}sGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=;Mb=Y:QU>aSE(Ey<}?IȹŽ4?ŽW ƽ\B9ƽ^nDǽP: ȽsA)ȹWWX XW:W2W*WVbUBU*UUUu@B%<B! B!A-5>*B)A-8;A)A1A5g<"C=)>*C=FjRC={?jC9CAE_!I)GEQ>.>9IHnGi@"=; ݗE)ݱIݱiݱݱݱݵ 5 o    <:Y DW1y Y: 5) <;`q,EAY}>@}>@y}>fG<}>`;}>HT?<K@%+z∿ ўw?`B?)~>@ ~>v_;I~>Cɫqy)y }IyYa@yrGxDUSBL response received:!U1,R,F23,000,0094B,187,80,80,65,FF Fpublishing direction and range info|E>ɰB>鰽1> )BIyzB7lh?3sB?ٱ%b>%%(\i%@! %O@)%n@I%9@i%9@=GKM=Q=Y=;QU=>AAaESEE(EIyM-=}M>IQUT4?Uӧ U\B9UpnDU: UA)QWWX XW:W2W*WVbU)BU)*U1U1U5@5@PA*QEzBZQE}Y@l!+4@JQE7lh?3sB?2QE|E>:QAbQE^%fFoY;Wsz_7RQE _A>ۿ]Y7쿊7o(BQE@ QEqQE13PEƦ9?PEϦ9?PEQEQE@"QE֕@B`<B BA!>*BAKA;AAA\<"C*>*CgkRCu=\CC֥3aIiG9>&q,=EAY}V$@}V2@y}Vb<}Vb<}VHe`*?\ȞU.@>f+Eq?xV?9?)~V$@ ~V_;I~VCɫ) IY @y sG}TNmea in: $SNTTA,0.099261,,,,013627.22*44 鿉+c<MA=Yt;QU>aSE(EyB=}>Iquz4?u u\B9unDu; u"A)qmyAdded new target pos. range: 105.240005 m, bearing: 244.805045 deg, deltaT: 4.220854 s, approachRate: 0.568606 m/s, LOS rate: -0.091454 deg/s, posRepo size: 2m ProNav: pos range: 105.240005 m, bearing: 244.805045 deg, approachRate: 0.568606 m/s, LOS rate: -0.091454 deg/s, cmd update: -0.274363 deg/s, cmd heading: 245.191060 deg, new cmd heading: 245.191060 deg. WT߈@WX XW:W2W*WVbUBU*UU@\OZ@U\Q?Bub*BAzlJ;AAAY<"C a*C:lRCEICMT߈@CQ֝daYIaG{>   ^:Y y 59 @Wq,,EA| i|"@Y}N6ԋ@}N@y}NNx<}NQU=}NH@Yn?tz2А?Q?`?)~N6ԋ@ ~NVI`;I~NCɫ髁) Iܹ9ܹIܽmGiܽ@ܹܹܹܽ; ݽ֗EY{@yrGIY)]Aa i-a i- a m-a m- a q5a q5 a e5a e5 a I5a I5 5{Gz?~jth~jt?5>5D 5<)1I1y5w/?Mb`y&1?5&?55`e< 5A)5AI5rAi5rA15AÕ=Õ#Õ=iÕף@Ñ ĕƣ@)ĕƣ@Iĕƣ@iĕƣ@rλM>=YL;QU>  a SE (EyF=}>Im4? \B M@9nDӹ; ;)WvΈ@WX XW:W2W*WVbUBU*UUU@H?B Ph<B  B A 9%>*BA]S;AAA`<"Cʂ*CĽlRC:6C%vΈ@CA5,iIG5>+q,FEAY}2@}2ږ@y}2 r<}2 =}2H =^?舳 8 Ԟ?._?d?)~2@ ~2`;I~0ɫyy)y yIyY@yqGU푽M]b=Y]:QU]>aaaeSEe(Eiymp=}m>I :b4? : \B @9nD: :)K:W@WX XW:W2W*WVbUBU*UU U  E?B5#]<B1 B9A= >*B9A= Y;A9A9A=n<"CEe*CMmRCM^"CM@CI֍7`AIQGm5>      >:Y Y1y : 5Wq,`EAY}2 H@}2U@y}2}<}2=}2H`.?`fYjuj? 7N?`?)~2 H@ ~2a;I~2CɫYY)Y ]IYY@yXrGI=)%==<M=L=Y=8QU=>AAaESEE(EIyMn=}M>IQUW4?UJ U\B e@9UnDU: U:)QWb@WX XW:W2W*WVbUBU*UUU?Bba<B BA>*BA`;AAA{<"Cu*CuumRCuCub@Cym6>AIIGiܥ/>9ܡIܥTlGiܥ@ܥ#=ܡܡܥ; ݥϗEkq,]zEAY}: @}:@y}:! v<}:=}:H߿Ѕ?+ /Y߿i?`@K??)~: @ ~:fUb;I~:Cɫ99)9 9I9Y}@y}qG>i= }@ }@ }@}©}}i}@} })}@I}@i}@ME=YQU>aSE(Eyn=}>Iȡ :ť+L4? :ťp ƥ\B @9ƥnDǥ: ȥ:)ȥL:W@WX XW:W2W*WVbUBU*UUUx@BkN<B BA">*BA%h;AAA%Q<"C%{*C-mRC-]zC-@C1%z6I G%M> k      [<:Y W1y č: 65@q,8EAY}:M֎@}:@y}:f<}:o>}:H޿`?B潿  N`޿J?Qߌ? ?)~:M֎@ ~:`;I~:CɫYY)a eIaY @y0qG]"M]M=Y]QQUe>aaaeTEe(Eiym|=}m>IquA4?u= u\B @9unDu: uY:)qW@WX XW:W2W*WVbUBU*UUU ?@BB&A<B BA=*B A f3n;A A A <"C*C mRC ƽC@C5b( I9Gu6>lq,'EAU0>9QIUjGiUѾ@U"=QQU; UڗEY}m@}mƪ@y}mIaS<}mb>}mH@;$ݿ`:? ľ@|6ܿ"? kp?`t?)~m@ ~m<`;I~mCɫ11)1 =I9Yu*@yuYqGy}@Ay&1?V->=i@ @)I@i@<M3=Y+QU>aTE(Ey kY=} >I :54? : \B @9nD: (:)M:WE@WX XW:W2W*WVbUBU*UUU9 @RB*** querying acoustic contact ***PPBEߑ;<BA BIAM3=*BIAMu;AIAIAU`<"CU *C]mRC]C]@CY Ս>ԍ=]NBI!GEr> E      S9:Y y  5) W;9 q,LJEAY}>N@}>[@y}>><}>< >}>H Zۿ?ۿ@S?Ӈ?@?)~>N@ ~>S_;I~>CɫYY)Y ]IYY@ypGZ****** received transponder code query ******F****** received ping request ******imKCimGIi5!ʿٺ15κAfq,SEAY}:@}:@y}:#!<}:| >}:H`ڿ`? ڿ^*?d$1"??)~:@ ~:>~_;I~:Cɫ99)9 =I9Y}@y}pGxDUSBL response received:!U1,P F23,000,0094B,187,80,80,65,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 mݳMF=YQU>aTE(Ey96=}>I)-"4?- -\B m@9- oD-< -<))WX_@WX XW:W2W*WVbUBU*UUU @BL0<B BAZ=*BAG;AAA5<"CEa*CEmRCEwx&CEX_@CIE7ƽU1>9QIUiGiUݽ@QQQU; UԗEyIG>]  ] ] ]  ] =:Y] X1y] /:] \5)] V;8q,zEAY}BE@}B @y}BN;}B>}BHٿ) ?( @L ٿ ?){͔?˺?)~BE@ ~B*_;I~BCɫYY)Y YIYYm@yppG鮡ɮ=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B íE6?í<í>iíf@é ĭ@)ĭ@Iĭ@iĭ@qļME=YQU>aTE(Ey;=}>I :4? :+ \B @9oD: :)N:W%~Q@W!X! X!W!:W)2W)*W)V1bU1BU1*U1U1U= h'@Be8<Ba BaAe=*BiAm.ʂ;AiAiAm<"Cu|*CumRC}pʼC}~Q@CyiAjA5ׁIG=>!q,jEA|4<|Y}N@}N]#@y}NZ2z;}N>}NHMؿ#J?S~ؿ?@FFo ? 6?)~N@ ~N9_;I~NCɫyy)y }IyY}@yHoGxDUSBL response received:!U1,R,CCA,000,0096C,18A,80,80,30,FF Fpublishing direction and range info7?ɰE>鰽> )@BIypBû0?fjf7 ?ٱ=i=)= =\MX=Y2QU>aTE(EyF=}>I  4? 8 \B @9 ,oD M: :) W=B@W9XA XAWI:W 2W*WV!bUIBUQ*UYUaUe D@P *Q pBZQ d$3T@u.Q@JQ û0?fjf7 ?2Q 7?:Q bQ b@@P.] &bY.ݪ!@RQ /\?Q,7Mc A`?BQ @ Q Q BP 9?P Ʀ9?P Q Q iA"Q @B * <B BAЊ=*BA7Ԅ;AAA]<"CE*CEumRCEsx CEB@CIU`k)I9GU>] a Y Y ]  ] ;:YY yY ] 59e @O q,&q/EAt9vtCIvhGiv:@v!=vRDtvu; v×E)ݩIݩiݩݭ"=ݭ"=ݭ4Y}֦@}@y}l:}$=}HM׿?I& w׿ 5Ǥ?sZ2?`?)~֦@ ~_;I~Cɫ髉) IY@y[nG-TNmea in: $SNTTA,0.142514,,,,013631.64*43 MbX9?#~jMb??㥽 <)IyV-?{Gz?I +?-?#=94= A)IQ Ai7 A= A%>%=%Pi%@! %)%@I%@i%ƣ@5HM5*=Y=rQU>aTE(E@@y =} >I :^4? :J \B @9BoD: :)O:mmuAdded new target pos. range: 107.220001 m, bearing: 288.198712 deg, deltaT: 4.469840 s, approachRate: 0.442968 m/s, LOS rate: 9.708103 deg/s, posRepo size: 3m ProNav: pos range: 107.220001 m, bearing: 288.198712 deg, approachRate: 0.442968 m/s, LOS rate: 9.708103 deg/s, cmd update: 12.000000 deg/s, cmd heading: 243.974292 deg, new cmd heading: 243.834853 deg. W˪@WX XW:W2W*WVbUBU*UUZ@U?B)f;B BAX5=*BA;AA A J5<"C RCߘC˪@C֍$IIQGm>u2q,7IEAY}2$@}21@y}2<:}2=}2HӲֿ@?Uw ֿ ?VG@??)~2$@ ~2@o^;I~2Cɫ99)9 =I9Y]@y]nG =Mu=Y/QU?!!a%TE%(E)y-J=}-?I154?5*V 5 ]B E@95PoD5: 5:)1We@WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}91?B<B BAc=*BA(;AAA@<"CRCxڼC@CuoMIIQGu>e e e e  e A:Ye DW1ye Y:e I5\q, cEA|i|Y}Bz@}B@y}B}B.=}BH ֿ`?t뵿@ Aտm.?#?`~]??)~Bz@ ~B3_;I~BCɫyy)y }IyY@y@nGI)A)-jAUH M]F=Y]m QU]>aaaeTEe(Eaym<}m>Iq }:u4? }:u7e u]B @9uboDu: uk:)uP:Wx@WX XW:W2W*WVbUBU*UUU@?B`1;B BA=*=*BA H;AAA<"C$RCpCx@CzIG-N>2>9IhGi@"=S; Eq,9|EAY}2l@}22@y}2E}2U=}2Hrտ [?@gధտ? P? Kd?`X?)~2l@ ~2Y^;I~2Cɫ99)9 9I9Y7@ymG ? ? i @  \@) \@I @i \@5M5==Y5FQU=>99a=TE=(EAyEM<}E>IIM4?Mu M3]B ]@9MtoDM: M#:)IW}]@WyXy XyW:W2W*WVbUBU*UUU?B;B BAc<*BA;AAAX<"CaRC9C]@C̼?i?ׁIG=>    DX:Y V1y : J5=q%q,ӖEAY}>_@}>%̋@y}><}>K:=}>H<տ ?] տ@c? Yg?JC??)~>_@ ~>^;I~>Cɫaa)a eIaY@ylG]kM]Y=Ym7QUu>yaTE(Ey;}>IȹŽ4?Ž- ƽF]B e@9ƽoDǽX< Ƚ<)ȹWMA@WIXI XQWQ:WQ2WQ*WQVYbUYBUY*UYUYUmB@BR;B BA;*BAA;AAAq<"CR޿RC XC A@C {IGn>+q,'EAY}2ݓ@}2@y}2񝻙}2ps=>4>9@gGi>@<<<>a; >E}2HUտ@z?嫿`I+ Gտ?s? ;v?d?)~2ݓ@ ~2];I~2CɫII)I MIQYk@ylGm=im=`"?'1ZĿ{Gz?7?" ף=)Iy~jt?/$?{Gzt?$?<ף; A)"AIAi AG A)> > @ @ @ý©ýýiýf@ý Ľ@)Ľ@IĽ@iĽ9@M4=YQU>aTE(Ey <}>I :F4? : J]B @9oD: ':)Q:W@W!X! X!W!:W!2W!*W)V)bU)BU)*U)U1U5 vq@B].;Ba BaAeM;*BaAe V;AaAaAm5<"Cm@ӿRCu Cu@Cq֍ĎaIqG}>y i} =     H:Y X1y /: 5) ;9 2q,~ʈEAY}N@}N#@y}NGֻ}NK]=}NH Կ@3? T=Կp?@|z?`,?`?)~N@ ~NW];I~NCɫyy)y }IyYB@ylGpMr=YQU?aTE(Eyإ<}?Iqu4?u uN]B @9uoDu{: u:)qWKM@WX XW:W2W*WVbUBU*UUUF@RB*** querying acoustic contact ***PPB V;B BA*BAAAA<"C4ʿRCCKM@CI)iAשIG >8q,YEAɫ髙) IY@yBlGZ****** received transponder code query ******F****** received ping request ******QQaTE)Ey}>I :4? :4 S]B @9oD; ;;)R:WUl)@WQXQ XQWY:WY2WY*WYVYbUaBUa*UaUaUmk @BB BA*BAAAA/<"CvRCCl)@C =>ױIGI>܅6>9܁I܅fGi܅@܅#=܅SD܁܅z; ݅ȗE     ;J:Y U1y : ݻ5) ;>q,T5EAY}F@}F@y}F+}F2R=}FHӿ\?ף eӿ]?nŀ? &C??)~F@ ~F}^];I~FCɫYY)Y ]IYY@ykGxDUSBL response received:!U1,P CCA,000,0096C,18A,80,80,30,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 II   íbP?í=íף;ií̤@í ĭE@)ĭE@IĭԸ@iĭE@6ƼM(=Yq\QU>aTE )Ey<=}>I4? X]B  @9oD: :)WUN@WQXQ XQWQ:WQ2WY*WYVYbUYBU*UUU!y @B6;B BAoV*BAO;AAA2F<"CRCCN@CB9IG>Eq,EAiBNmGILiXY}bߔ@}b@rͿٺprAy}b&H}b _=}bHlӿ)s?` 05}]ӿ`?Ȃ?g?u?)~bߔ@ ~bM];I~bCɫ) IY5̿@y=kG-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B '1Z?{Gz?ף )IyaiamTEm)Eyyp<}>Iș :ŝ4? :ŝ Ɲl]B @9ƝoDǝǀ; ȝ;)ȝS:WE9@WAXA XAWA:WI2WI*WIVIbUIBUQ*UQUQUUu@BO;B BA*BAAAA<"C+RCC9@C  :nIG% >    f  +D:Y y  59% @ Kq,11EA;>9IxfGiS@%=~; ˗EY}fQ@}f^@y}f3}fCz=}fHUҿ ?}J@ҿ@iߜ?>r? C?8?)~fQ@ ~f|];I~dɫ髙) IY@ykGxDUSBL response received:!U1,R,041,000,0098C,184,80,80,77,FF Fpublishing direction and range infoVhɰ6H>> )BIyGB?>AٱdNmea in: $SNTTA,0.072329,0.157073,,,013636.09*5C ]H?] ]Mbi]@Y ]@)]@I]?@i]@mIMm=YmQUu?qqauTE})Eyy}9=}?IȁŅ]4?Ņ ƅ{]B @9ƅoDDžr: ȅ:)ȁW^&@WX XW:W2W*WVbUBU*UUU`'@P*QGBZQй=[@FJQ?>A2QVh:QbQ!;BvYitr~ ?RQϣ-Bֿ;X :M~?BQ@ QQ,PӦ9?P9?PQQ@"QiABLa;B BA{*BAE;AAA<"CRCC^&@C15iA@IGE>Rq,?KEA|;|;ɫ髙) IYɾ@yjG9i==)M= M=]JM]K=Y]QUe>aaaeTEe)Eiym}m>Iy :}4? :} }]B @9}oD}I: }:)}T:myAdded new target pos. range: 109.139999 m, bearing: 249.878810 deg, deltaT: 4.404642 s, approachRate: 0.435903 m/s, LOS rate: -8.699890 deg/s, posRepo size: 4m ProNav: pos range: 109.139999 m, bearing: 249.878810 deg, approachRate: 0.435903 m/s, LOS rate: -8.699890 deg/s, cmd update: -12.000000 deg/s, cmd heading: 297.490202 deg, new cmd heading: 302.318594 deg. Wt@WX XW:W2W*WVbUBU*UUH[@U`?B k;B  B A *BA;AAAxD<"C?ORCCt@C!-FӅI G%M>]  Y Y ]  ] eH:YY yY ] J54Xq,$eEAY}2p@}26Ǝ@y}2aq}2@=}2HϿ?an`zϿ` 6?!? ? ?)~2p@ ~2^;I~2CɫQQ)Q UIQY۾@yjGM;MMJ=YU\QUU>QQaUTE]%)EYy]=}e>IimR4?m m]B u@9mpDm: mY:)iW@WX XW:W2W*WVbUBU*UUU?BU;BQ BQAU]Ҽ*BQA]TՇ;AYAYA]<"Ce®RCaCe@Ci֑Iי)י%>>9!I%eGi%@!!!%; %ϗE)ݭtCIݭtCiݩݭ#=ݭ#=ݭz5qIyG\>$_q,MEAY}2|@}2@y}2}2*=}2H ̿?%#Y-@Ui̿.ӣ? ??=?)~2|@ ~27^;I~0ɫ99)9 9I9Yu)@y}0kG=X>=j>=xi=@9 =@)=z@I=z@i=z@E+<MMK=YM'QUM>QQaUTEU+)EYy]s=}]>IaeU4?eT e]B u@9e"pDe: e:)aW @WX XW:W2W*WVbUBU*UUU 9K?BOC;B BA*BAUl;AAAT<"CRRCC @C >>ՌIGI> fq,.XEAf  _P:YDW1yY:ʺ5ɫ )  IYU@y]jGI)> ףp=?ˡEMb`?' )Iy1Zd?L7A`?~jt"?+=D ½A)½AI¹i½ A AiAMM3=YQU>aTE2)Ey}>I :a4? : ]B @93pD: :)U:W%@W)X) X)W):W)2W1*W1V1bU1BU1*U9U9U= ?Be&;Bi BiAmü*BiAm;AiAqAub<"C}.*C}G'pRCyC}@C֝ƂYIaG}{>% E>9% uCI% dGi% @% &=% RD% D! % җE 5lq,Y3EAY}6]@}6#@y}6=>}6B>}6H@5ǿ7? 2ҿ@w tƿ???̹?)~6]@ ~6|^;I~4ɫyy)y yIyY@yjGm=m\m>imQ@i mz@)iIiiiڡM_=Y\vQU>aTE8)Eyu=}>I4?$ ]B @9ApDӻ: ӻ:)W-@WX XW:W2W*WV bU BU *U UU@7@B=n:B9 BAAE*BAAE;AAAAAET<"CM瞐RCQCU-@CQ֥?΅׭?i׭q?yIG^>] P Y Y ]  ] N:YY yY ] o5)] ;9e $sq,o/͉EAY}2@}2Z@y}2}2 >}2H+KĿP? ږ`Tÿڪ?`2? We?v?)~2@ ~2$^;I~0ɫii)i iIiY@yqjGe2(MeN=YmQUm>iqauTEu>)Eqy}n=}}>Iȁ :Ņ4? :Ņ1 ƅ]B @9ƅQpDDž: ȅV:)ȅV:W @WX XW:W2W*WVbUBU9*UAUAUE@@B:B BA*BA_;AAAX<"CLRCC @CԱԱשIGd>Hyq,EAY}6|@}6@y}6) }6b>}6Hf? b ϵ`e?@ ?b?`?)~6|@ ~6z^;I~6Cɫ99)9 9I9Yu̾@y}jGi=)Õ= Õ><MR=YȻQU>aTEE)E y =} >Ip4?> ]B %@9`pD: +:)WEK@WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQU]@K~@ReB*** querying acoustic contact ***PaPaBzV;B BA.*BAVW;AAA0<"C뛝RCCK@C֩yIN>9IdGi@(=SDx; ϗEGE>%2q,REA. ... .IE:Y.WU1y.:.5).;Y}Vi@}Vv@y}VTѻ}V>}VH QUu>qqa}TE}L)Eyy=}>Iȩ :ŭU4? :ŭXN ƭ]B @9ƭrpDǭd; ȭe;)ȭW:W8@WX XW:W2W*WVbUBU*UUU {( @BeN:Ba BiAm*BiAmj.;AiAiAmr<"CuRCyC}8@Cy֕}Iי)םhAiIyG~>6Yq,EAY}NR@}N`@y}Nü}Nn!>}NH`@S ?iÿ@H F" ?`t?@??)~NR@ ~NJ^;I~NCɫ) %I!Y@yljGxDUSBL response received:!U1,P 041,000,0098C,184,80,80,77,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 bX9?/$~jth?E? D;)Iyףp= ?:v?I +??T<94= A)AIAi A5ҳ;M5%=Y=QU]>YaaeTEeT)Eaymj=}m>Iqu4?u_ u]B @9upDu; u;)qW݌@WX XW:W2W*WVbUBU*U UUU`1@B%:B) B)AU*BQA];AYAYAe<"CaRC WC݌@C ե=ԥ= Ռי I  R>9 vCI i %= RD D d; ȗEG5 >tq,=4EAɫ髱) IY@yjGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Iq)q>==i=@ z@)@Iiz@%=M=YQU?aTEX)Ey}m?Iq }:u4? }:uj u]B }@9upDuk: u:)uX:Wފ@WX XW:W2W*WVbUBU*UUU"J@B=;BA BAAEü*BaAeᅁ;AaAiAma<"Cu%RCu+Cuފ@CqM􂾹AIIGmW>Iޡ )ޡ 6 | | M L:Y R1y i: L5) ;\q,;NEAY}:z,@}:A:@y}:]Ѽ}: $>}:H2r?ZĿj`?*?`h?}?)~:z,@ ~:^;I~:Cɫ99)9 =I9Yuž@y}jGxDUSBL response received:!U1,R,DC8,000,00778,189,80,80,81,FF Fpublishing direction and range info}>yɰ}>}7> y)}CIyy}pB}(g&?yp?ٱyJM`=YQU>aTE^)Ey!>}>Iq4?1v  ^B @9pD< <)Wd@WX XW:W2W*WVbUBU*UUU @P*QpBZQ"/KP@V%]B@JQ(g&?yp?2Q>:QbQ[A@ŋQ^@RQ?3 ?GW+Wu+?BQp@ QƈQ0 BP9?PӦ9?PQQXA"Q@Bu{:Bq BqAu*ByA}LԀ;AyAyAl<"CɿRCPCd@Cd>4e?i?iM/mGIai˿ٺxA׹IGE>q,gEAɫ髹) IYe@y?jGDNmea in: $SNTTA,,,,,013640.57*5C u мM}1=YQU>aTEf)Ey}>I<4? '^B @9pD; K;)myAdded new target pos. range: 77.220001 m, bearing: 297.133993 deg, deltaT: 4.444022 s, approachRate: -7.182683 m/s, LOS rate: 10.633427 deg/s, posRepo size: 4m ProNav: pos range: 77.220001 m, bearing: 297.133993 deg, approachRate: -7.182683 m/s, LOS rate: 10.633427 deg/s, cmd update: 12.000000 deg/s, cmd heading: 244.213080 deg, new cmd heading: 238.591787 deg. W@WX XW:W2W*WVbUBU*UUNS@U?B-tr:B) B)A5n$*B1A57;A1A1A5ݛ<"C=տRCE3<CE@CAQUjA܍T>9܍wCI܉i܉܍!=܉܉܍k; ݍϗE֕ViIyG> + >:Y y 5) ҙ;lq,ȁEAɫ髙) IY@ycjG9i9Ýn>Ý$?Ý`iÝQ@Ù ĝE@)ĝ@Iĝ@iĝ@<MX=YQU>aTEl)Ey}>I :4? :v >^B @9pD; ];)Y:Wݍ@WX XW:W2W*WVbUBU*U U U `?B::B BA*BA};AAA<"C߿RC=Cݍ@CLסIGA>ޥ =iޥ =ʛq,ᷛEAY}K@}@y}弙}qk(>}H9l?"|?{&ſ3^?@bސ?Ƽ? ?C?)~K@ ~^;I~Cɫ髉) IYp@yLjG$C?Zd;OMbX9>j ʡ)IyCl?{Gzt?{Gzd?ף;ף ½^A)½^AI½Ai½AQ AM8=Y QU>aTEs)EyE>}>I4? =^B @9pD3: ]:)W-א@W)X) X)W):W)2W1*W1V1bU1BU1*U9U9U=T?Be>:Bi BiAm*BiAmT{;AiAqAu)<"C}RC} [S>C}א@C}8e1IAG]U>  ~ ~ / 5:Y T1y @: ߣ59 @} [>9} xCIy iy } "=y } D} v; } ؗE)vCIvCiC%=$= 6q,4EAY}2j@}21@y}29༙}2.>}2H ??z?"ÿ@ ?툊? ? ??)~2j@ ~2lB^;I~0ɫ99)9 =I9Yyyy-v=- ?- ?i-@) -)-@I-@i-@Y}$;QU}>aTEy)Ey=}>Iȑ :ŕհ4? :ŕî ƕ<^B @9ƕpDǕ: ȕ:)ȕZ:W=@WX XW:W2W*WVbUBU*UUU?B u:B  B A *B A y;AAA<"CRCq|>C=@C )-=MX轹!I)GE0>Iq,cϊEA|i|Y}J@@}JN@y}J߼}J>}JH7?|? ¿P??@Q?-?@?)~J@@ ~J^;I~JCɫ髑) IY]@y6jGI1)5AuBMuyya}TE)Ey==}>Iu4? ;^B %@9pDX ;  ;)WU@WYXY XYWY:Wa2Wa*WaVibUqBUq*UyUyU}`L@B(:B BA"(*BA5w;AAA<"CBRC >C@Ct0יIGC>Iޙ )ޙ   7 8:Y U1y : 5ӹq,7EAY}2ɢ@}2֚@y}2缙}2>}2H@? x? ħw /t?_?@?S?ȹ?)~2ɢ@ ~2];I~0ɫ99)9 =I9Y{@yZjG]<M]L=Ymy QUm>yaTE)Ey-'=}>Iȹ :Ž>4? :ŽV ƽ:^B @9ƽpDǽ< Ƚ.<)Ƚ[:W;@WX XW:W2W*WVbUBU*UUUࢡ@B]d:B BAR*BA(u;AAA<"Cc*CnRCC;@C5h>91I1i15'=115r; 1ֽON?i?יIGb>q,EAY}RG@}RJU@y}R}R=}RH ?t?2?e?@Bk?`X?`j??)~RG@ ~R^;I~RCɫyy)y yIyY1@yiGM\?M"?M>iM@I M@)M9@IMz@iMԸ@]2M]J=Y][QU]>aaaeTEe)Eiym<=}m>IquV4?u q @9uqDu: u#:)qWzU@WX XW:W2W*WVbUBU*UUU`ގ@RB*** querying acoustic contact ***PPBX9B BAZ>*BAr;AAA0<"CoRCCzU@C  iAu<שIG > | | J G:Y R1y i: 5q,EAY}UO@}Ư@y}Up}U=}UH? m?@G@{`5?? ?d?`?)~UO@ ~Uڪ];I~UCɫ)1)1 5I1Y@yqjGZ****** received transponder code query ******F****** received ping request ******aTE)Ey<}>Iȩ :ŭ4? :ŭD ƭ\^B @9ƭ$qDǭ: ȭ4:)ȭ\:W@WX XW:W2W!*W!V!bU!BU!*U)U)U-p @BuJ:B BA*BAp;AAAi,<"CRC-x>C@C֍'ޝ =iޝ p=% &>9% yCI% dGi% @% =% PD% D% |; % ۗEq,6EAY}Jh@}J/%@y}JVz}JX|=}JH"I?f?޸ {??@n??@`?)~Jh@ ~J];I~JCɫ髑) IY@yjGxDUSBL response received:!U1,P DC8,000,00778,189,80,80,81,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 /]>>h=i@ @)@Iƣ@i@U]<M]@=YޗQU>aTE)Ey <}>I4?= z^B %@96qDP; ;)We1[@WaXi XiWi:Wi2Wi*WqVqbUqBUq*UqUyU}` @B;B BABǼ*B A ^o;A A A G<"CFܿRCC>C1[@C9 =IG>  y y P V5:Y P1y ': 5) ;9 q,PEAY}:P@}:^@y}:}:n=}:H*?d?N:On??`"? $?`?)~:P@ ~:L|];I~:Cɫ99)9 =I9Y}@y}jG鮅a=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ;Ml=YQU?aTE)Eyݨ<}?I4?5 ^B @9FqD4T; 0U;)W5͔@W1X9 X9W9:W92W9*WAVAbUABUA*UAUIUMR3@BN:B BA*BAkn;AAA<"CfӿRC >C͔@C  > =#=סIGA>"q,jEA| i| Y}Nq@}N@y}N}N=}NH? i?U@Oz?8n?@? ,?{?)~Nq@ ~N];I~NCɫ) IY=۾@y=jGxDUSBL response received:!U1,R,234,000,009B3,188,80,80,8A,FF Fpublishing direction and range infoMdIɰMhK>M> I)M CIIyMBMśK3?E>޿ٱII)A]>]>]=i] @Y ] @)]\@I]z@i]z@mB Mu==Yu(9QUu>yya}TE})Eyy<}>Iȉ :ō4? :ō ƍ^B @9ƍYqDǍ6-; ȍBM;)ȍ]:Wbp@WX XW:W2W*WVbUBU*UUU @#>9zCIeGi@=ODDz; ݗEP*QBZQ=-ڏX@WJJQśK3?E>޿2Qd:QbQR4&A&4pyZpNUܿRQ3XӿqrL1mKB^pBQ~Ɍ@ Q#Q7 Pܦ9?P9?PQQ@"QXAB}:B BA]Ҽ*BAl;AAA(<"C2iǿRC=Cbp@C֝a=QIaG}{>Iޡ )ޥ ?A c   i ;:Y U1y : K5) i; q,YEAY}Zro@}Z9}@y}Z_}ZA=}ZHͣ? s?窪@z?ؖ??6??)~Zro@ ~Z];I~ZCɫ) IYؾ@yjG]TNmea in: $SNTTA,0.076717,,,,013644.99*44 MQ=Y:QU>aTE)Ey%)A}%>I)-4?-' -^B 5@9-kqD-: -:))meyAdded new target pos. range: 111.480003 m, bearing: 252.078295 deg, deltaT: 4.510918 s, approachRate: 7.594907 m/s, LOS rate: -9.988144 deg/s, posRepo size: 4m} ProNav: pos range: 111.480003 m, bearing: 252.078295 deg, approachRate: 7.594907 m/s, LOS rate: -9.988144 deg/s, cmd update: -12.000000 deg/s, cmd heading: 298.007869 deg, new cmd heading: 302.641502 deg. W٣@WX XW:W2W*WVbUBU*UU`[@U?BfI:B BAּ*BAk;AAA<"CRCD;C٣@Cb(>סIGA>i I i - Ϳٺ) - aAZ8q,HEAY}@@}LN@y}}s<}H@$?`?``@? ,?lx?gN?/?)~@@ ~=^;I~Cɫ) IYE@yMjGEX9v?K7AˡEE>E  E什)AIAyEV-?~jtMbpE|?EļE E A)EAIEXAiAAE A`MB=Y:QU>aUE)Ey#_}>I! -:%4? 5:%=6 %^B 5@9%|qD%: %o:)%^:WU4@WQXY XYWY:WY2WY*WaVabUaBUa*UiUiUm`C?BC:B BAf*BAi;AAA<"CRC:NC4@CԹԽjAֵ4\>qIG]> ! ~ ~ D t6:Y T1y @: ^59 @ v>9 {CI fGi @ = QD D i; ߗE]q, EAY}2Eޣ@}2 @y}2Ģ}2M}2Hg??{4?]?-?+?Q?)~2Eޣ@ ~2Z^;I~2CɫYY)Y ]IYY@yjG=i=Uc?U#iiamUEm)EyN}>IW4?B ^B @9qDw: +:)W%{@W!X! X!W!:W!2W)*W)V)bU1BU1*UAUIUU?B:B BAʼ*BA`h;AAA<"CRCcC{@Cm!v>AIIGm5>ޡ iޥ =Fq,ыEAY}JG@}JU@y}Jd}Jc}JH?!??-?m?pk? Cr?)~JG@ ~JC _;I~JCɫ髁) IYG@yjGu,?M}I=Y}A0:QU}>aUE)Ey>}>Iș :ŝv4? :ŝP Ɲ^B @9ƝqDǝ[: ȝ:)ȝ_:W؛@WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYU]@?B9B BA>3*BAif;AAAM<"C\RC3C؛@C7x>IGj>     =.:Y T1y : 5Rqq,EAY}6;@}6@y}6 }6̽}6Hc?@i?@o?@d}?2? 颞?`?)~6;@ ~6_;I~6Cɫaa)i mIiY@yiG YY @ @ @í©ííií̤@í ĭn@)ĭIĭiĭ\@MD=YQU>aUE)Ey]}>I!%;4?%\_ %^B M@9%qD%; %{;)!W<@WX XW:W2W*WVbUBU*UUU?B  mոB BAT*BA4c;AAA<"C%RC%VC%<@CA U0>U=}w>9}|CIyiy}=yyy }E) zCI zCi = = 7%Hh>IGI>Yq,YEAY}V;@}Vϙ@y}V}V+}VH ?Q?? `c? L:?z?¿`?)~V;@ ~Va;I~VCɫqy)y yIyY@yhjGu%=MuQ=YujQU}>yya}UE})Eyr}>IȑŕX4?ŕl ƕ^B @9ƕqDǕ: ȕ :)ȑWq@WX XW:W2W*WVbUBU*UUU @B%$-^:B! B!A%*B)A-a;A)A)A-<"C5X*C5pLoRC=?jC=q@C9En?>IG5.>Iީ )ޭ @A    $ /:Y WU1y : 5q,EAY}6+@}6@y}6}6P6}6H䒱?tn?*[?@?@zP??ƿz?)~6+@ ~6 a;I~6Cɫqq)q qIqY@yiG?A}Pn?RQZd;O?}d?}½ }j<=)yIyy}gfffff?~jt? rh?}33?}<}C = }xA)}AI}Ai} Ay} A4MG=YP$:QU>aUE)Eyz}>I :4? :} _B @9qD: :)`:W @WX XW:W2W*WVbUBU*UU!U%@#@R-B*** querying acoustic contact ***P)P)BUPBQ BQAU]*BQA]^;AYAYA]M<"CeRCe@kCe@Cie >I)GE0>e x>9e }CIe fGie @e =a a e a; e E- q,X9EAY}F,@}F_:@y}Fr}FM}FH3?`T?@a?`G`o?`H? 7 ?ďɿcW?)~F,@ ~Fb;I~FCɫ髙) IY&@yiGZ****** received transponder code query ******F****** received ping request ****** } } }}O=}ߏ>}^:i}G@} }ƣ@)}z@I}z@i}z@n<M<=Y:QU>aUE)Eye}>Iȩŭ4?ŭ ƭ_B @9ƭqDǭM: ȭn:)ȩWɐ@WX XW:W2W*WVbUBU*UUU @BQ9B BAC*BA6\;A!A!A%j<"C-RC-VC-ɐ@C1AEiA%=IG J>  ~ ~ ; 84:Y T1y @: q5fq,31SEAY}>0@}>@y}>Ἑ}>X}>H@Z_?G?@?^`?w?;?@Oʿ@E?)~>0@ ~>6}b;I~>Cɫ99)A AIAY@yMiGxDUSBL response received:!U1,P 234,000,009B3,188,80,80,8A,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 M;=Y;QU>aUE)Ey07}>I -:4? -: 1_B -@9qD; :)a:Wuﺍ@WqXq XqWq:Wy2Wy*WyVybUBU*UUUI @B ,]B BAG*BAGX;AAAeG<"CE&ݴRCEs"CEﺍ@CI=I G%>ޥ =iޥ p=q,mEAY}%;@}%@y}%μ}%IbZ}%H>z?F? ?9&eP??ҙ?:˿@C?)~%;@ ~%2a;I~!ɫ)))) 1I1YZ@y1jG鮩ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -8Not Powering down - fast GPS) -)-I)i)i555ɶ55 5)5I5i===ɷ=Í?Í&Í|?iÍ̬@É č@)č@Ič@ič@w=M[=Y;QU>aUE)EylM}>IȹŽ|4?ŽЭ ƽC_B @9ƽrDǽD: Ƚ:)ȹWNZ@WX XW:W2W*WVbUBU*UUU 9@ܭ>9ܩIܭ@gGiܭ@ܭ=ܩܭDܭu; ݭEBex9Ba BaAe)*BiAm 8V;AiAiAmQ<"CuiRCu<ݽC}NZ@Cu01IAG]v> d 0>:Y y 95) ;9 2!q,EAY}> @}>蓖@y}>nϷ}>0S}>H/{-Q?I? o ?`o?TCʿ`O?)~> @ ~>l_;I~>Cɫaa)a iIiY@yjGxDUSBL response received:!U1,R,C63,000,009C5,189,80,80,73,FF Fpublishing direction and range infoN?ɰL>鰝7> )BIyB"! ?0 ?ٱ 鿹jA =Mn=Yb֍-BaIqG>}'q,۠EAY}JJ@}JjX@y}JZ}JC}JH܌mi?\? qБ? +?Sȿ:i?)~JJ@ ~J _;I~Hɫqq)q qIqY@yqjGudNmea in: $SNTTA,0.446082,0.446082,,,013649.43*50 \(\?DlMbp ? O ) I y 333333?Zd;O?aUE)Ey~}>I4?$ \_B @9&rD+: :)mEyAdded new target pos. range: 112.560005 m, bearing: 315.112116 deg, deltaT: 4.358664 s, approachRate: 0.247783 m/s, LOS rate: 14.461730 deg/s, posRepo size: 4mMProNav REINIT: LOS rate is 14.461730 deg/s. Setting heading cmd to target bearing of 315.112116deg and heading rate command to 0 deg/s.WM@WIXQ XQWQ:WQ2WQ*WYVYbUYBUa*UaUe #\@Ue?BX+|:B BA*BAR;AAANj<"CjпRCěC@C ~ԽIG=r>Iޕ AA)ޕ AA I z z < 9:Y Q1y : 59 @ܽ >9ܹ Iܽ gGiܽ F@ܽ $=ܹ ܹ ܽ i; ݽ E-q,EEAY}:L@}:pZ@y}:Po}: +}:H\@?`N?VyΈ? d?@xGſ@?)~:L@ ~:y_;I~8ɫ99)9 =I9Y}4@y}>kG @ @ @í©ííií@í ĭ@)ĭ@Iĭ@iĭ@^]=MY=Yq2aUE)Ey-:}>I :4? : c_B @94rD: :)c:W WX XW:W2W*WVbUBU*UU!U%@Û?BM2 ;BQ BQAUr*BQAUMR;AQAQA](<"C]ԿRCe:<CaCaM IG-->e4q,ԌEAY}V@}V@y}VM"}V / }VH ' ?Z?[71@ ?sZ?W ?)~V@ ~V_;I~Tɫ髙) IYY@ylkGiMunGIaiyͿٺ"A5p?95A50<M=C=Y=6AAaEUEE*EIyMs<}M>IQUu4?U Uk_B ]@9UDrDU: U:)QWWX XW:W2W*WVbUBU*UUUY?BY#;B BA(*BA'Q;AAA=ѷ<"C`׿RCx]<CC~M2סIGB> P   S 3::Y W1y č: 5;q,_aEAY}5՞@}5@y}5\V}5cŽ}5Hֻg??`?Id?@9ys?`jr?@?)~5՞@ ~5r`;I~5Cɫ) IYMԾ@yUjG>i= U U UU=*?UZ>U>iQU Un@)U&@IU&@iU?@e"MmG=Ym&YqqauUEu*Eyy}<}}>IȁŅ)4?Ņ ƅr_B @9ƅTrDDž: ȅ:)ȁWWX XW:W2W*WVbUBU*UUU@?B;k:B BAټ*BA P;AAA<"Cֿ*CnRC=C C M>9MCIIiIIIMDMG; MޗE53IG=r>ޝ =iޝ =fAq,7EAY}RnE@}R6S@y}R:}RRN}RH ?`}?`ǩ??6?s:@ǩ?)~RnE@ ~R;a;I~RCɫy髁) IY5Y@y5lkGO-=MU=YTaUE *Ey9=}>I :4? : x_B @9crD: :)d:WWX XW!:W!2W!*W!V!bU)BU*UUU@Bhv ;B BA(*BAuO;AAAכ<"CӿRC:><C C Vw$׹IGE> y y l AB:Y P1y ': 5 Hq, "EAY}:П@}:ޗ@y}:擌;}:}:H,?C?Ov?P`/?Mp@yq`v@?)~:П@ ~:c;I~:Cɫ99)9 9I9Y}@y}kG ARQ?aUE*Eyo,=}>IS4? v_B @9vrDQ: :)W!W!X! X!W!:W)2W)*W)V)bU1BU1*U1U1U=Q@Be˜:;Ba BaAmM*BiAmUO;AiAiAu,<"CuVοRC}CyCy > =#ׁIG=>M >9M CIM fGiM @I I M DM *; M ֗E)E}CIE~CiAE$=E =Eo6>HNq,d;EAY}Ff@}F|t@y}F";}F=}FHR?? 6e? wTdy |O? ?)~Ff@ ~FRd;I~FCɫYa)a eIaYy@A 5@ 5@ 5@5©55i5G@5 5)5@I5@i5z@YE;QUM>IIaMUEU*Ey2;=}>I :4? :F" u_B @9rD: :)e:WWX XW :W 2W *WVbUBU*UUU@@R%B*** querying acoustic contact ***P!P!BE:;BI BIAI*BIAUO;AQAQAU<"C]ſRC]S,CYCa-IG )>Iޥ @A)ޥ @A x x  S:Y 7P1y : ˷51Uq,UEAY}N- @}N@y}N<}N=}NHGt??nE?@tU@4߱??)~N- @ ~NaIIaUUEU *EYy]sU=}]>IaeN4?e2 es_B u@9erDe; e;)aWWX XW:W2W*WVbUBU*UUU1 @B~;B BAT0*BAN;AAAS<"CRCEʽCCmƼ׹IGG>_[q,oEAY} a&@} )4@y} +<} =} H4??`p`( غ?\vy??)~ a&@ ~ Zd;I~ Cɫ  )  I YM޿@yMlGUxDUSBL response received:!U1,P C63,000,009C5,189,80,80,73,FF UCommand AckUBRequesting micromodem ping code 2iQYeNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=))í= í=>9CIeGi@=PDD; ԗE   Ý>ÝÝCiÝ@Ý ę)ĝz@Iĝ\@iĝ\@=K=ME"=YM%;QUM>aUE)*Ey6=}>Iȩ :ŭN4? :ŭG ƭo_B @9ƭrDǭ; ȭP;)ȭf:WWX XW:W!2W!*W!V!bU)BU)*U)U)UU@@B}N;By ByA}*BAAAA<"CLsRCʂCCjA֭X<ׁIG>    F:Y U1y : 5) ;9 Cbq,|EAɫ髱) IYR@ybkGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B VMz=YQU?aUE.*Ey} ?I  4? T m_B @9 rD : {:) W9W9X9 X9WA:WA2WA*WAVAbUIBUI*UIUQUU G@B};By ByA}7*BAN;AAAH<"C+HRC(8TCCօ9=YIiG\>ޡ iޥ =lhq,"UEAY}B{@}Bh@y}BW~C<}B镱=}BH%ڽ?? @z?Uno`7+??)~B{@ ~Bib;I~BCɫyy)y }IY@ykGxDUSBL response received:!U1,R,B4D,000,009DB,18A,80,80,73,FF Fpublishing direction and range info[`?ɰN>> )IyBS?' -?ٱ!rh?$C?Mb?l'?Z> <)Iy rh?yya}UE}4*Eyy<}>Iȉ :ō4? :ōd ƍv_B @9ƍrDǍY: ȍ:)ȍg:WWX XW:W2W*WVbUBU*UUU@P*QBZQJ s?WL@ocX@JQS?' -?2Q[`?:QbQ_rZ@KrV]uF@RQe@cR?:>ٿF?BQ @ Q3QBPK9?P9?PQQ]A"QBgL;B BA*BAN;AAA%s<"C-홿RC- C)C)%#r >9 CI dGi @ = OD ; ՗E w W@:Y y K5) h;nq,0EAY}2⦢@}2@y}2C<}2#=}2H1??k@]?`9@1@?`?)~2⦢@ ~2`;I~2Cɫ9A)A EIAY@ykG]TNmea in: $SNTTA,0.077892,,,,013653.89*40 imAqujAý ?ý?ýʡiýp@ù Ľ @)Ľ-@IĽƣ@iĽƣ@-MU=YV8QU>aUE;*EyYa<}>I4?s _B @9rD+: ߼:)muAdded new target pos. range: 113.879997 m, bearing: 336.710950 deg, deltaT: 4.491982 s, approachRate: 0.293855 m/s, LOS rate: 4.808308 deg/s, posRepo size: 4m ProNav: pos range: 113.879997 m, bearing: 336.710950 deg, approachRate: 0.293855 m/s, LOS rate: 4.808308 deg/s, cmd update: 12.000000 deg/s, cmd heading: 315.112116 deg, new cmd heading: 315.112116 deg. W@WX XW:W2W*WVbUBU*UUQx\@U j?B5F9;B9 B9A=M*B9A=/M;A9AAAEŸ<"CmRCqCu@Cq խ>ԭ=օ9IIGeV>uq,I׍EAY}V7@}VϚ@y}V;F<}VEh=}VH a?ٻ?@I@?-qЈ ??)~V7@ ~V^;I~VCɫ) IY@yqjGAML=Y 9QU>aUEA*Ey<}>I4?z _B -@9rD: :)WMQ@WQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUe@fY?B:B BA*BAL;AAA<"CRCCQ@CPיIGA>I )  } } c 5:Y kS1y Ԋ: 59 @Ϸ{q,&EAY}RLȢ@}R֚@y}Rl-O<}R<}RHt??`@(?{h@剿`??)~RLȢ@ ~Rzh^;I~RCɫyy)y }IyY@yjG @ @ @Í©ÍÍiÍ@Í č)čIč&@ič&@;MJ=Y:QU>aUEH*Ey ;}>Iȹ :Ž@4? :ŽK ƽ_B @9ƽsDǽ: Ƚ:)Ƚh:Wn@WX XW:W2W*WVbUBU*UUU@?}>9yI} dGi}k@}=y}D} ; }֗EBh:B BA*BAJJ;AAAa<"C1sRCCn@C~סIGB>/q,< EAY}J@}JM@y}JҪS<}J%R<}JHH?@S?q#?*uD??)~J@ ~JTP^;I~JCɫYY)Y ]IaY@yiGI}4=)y)Í= Í=NMK=Y92:QU>aUEN*Ey<}>I4?h _B @9sD: @:)W@WX XW:W2W *W V bU BU*UUUp?B=Dk7BA BAAElV*BAAEG;AIAIAM<<"CUa^RCQCU@CYaeiA-IN+IG*>imGIi1eȿٺimA    $ 0:Y WU1y : 5q,}$EAY}6+@}6\9@y}6_R<}6<}6H ?@?na `5?@P#`|S`^?@?)~6+@ ~6R^;I~6Cɫ11)1 1I1YU@yUiGEA`"?~jt:vE?Eļ EԼ)AIAyEsh|??~jt?I +?E)?E=E94< EQ A)EAIAiE AAEG A:ML=Y'QU>aUET*Ey<}>Iȱ :ŵ4? :ŵ% Ƶ_B @9Ƶ*sDǵA: ȵ:)ȵi:W܅ >9܅ CI܅ cGi܅ @܅ =܁ ܁ ܅ 0; ݅ ڗEޱ i޵ p=q,)w>EAY}6d@}6-@y}6 hV<}6=}6Him?;?@Q@b6]?WY@̊`ՠ?@?)~6d@ ~684^;I~6Cɫ髁) IY@yiG } } }}>}q}Qi}G@} y)}@I}z@i}z@MK=YU:QU>aUE[*Ey =}>I 4? _B @9     -:Y T1y : q5ەq,XEAɫ髙) IY½@yviG iAhAxMS=YQU>  a UE a*E y}>I %:$4? %:# _B -@9LsD: (:)j:WM@WIXI XIWI:WQ2WQ*WQVYbUYBUY*UYUYUeC@RmB*** querying acoustic contact ***PiPiBľB BAu*BA?;AAA к<"CRCC@C յ>Ե>֍ _IIYGu>{q,,rEAY}:ּ@}:ʜ@y}:\<}: =}:H ?Z?@Zo'?nzL?`V?)~:ּ@ ~:Ɓ^;I~:Cɫ99)A EIAY}{@y} iGZ****** received transponder code query ******F****** received ping request ******9=CI=XcGi=ȸ@="==QD9=E; =E)킂CI킂Ci邉 = =2d7]>]T]Pi]f@Y ]&@)]\@I]\@i]&@eMm7=YvX:QU>aUEh*Ey=}>IE4? _B @9_sD; ;)W56@W1X1 X1W1:W92W9*W9V9bU9BUA*UAUAUe` @BѺB BA*BA:;AAAE<"CxRCC6@C;yIG^>I AA) AA n   ' .(:Y W1y č: (5) ;9 Oޢq,EAY}2f@}2t@y}2DV<}2s=}2H@+q?,?L@N^*?@Q VڊI??)~2f@ ~26^;I~2CɫYY)Y ]IYY@ynhGxDUSBL response received:!U1,P B4D,000,009DB,18A,80,80,73,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 HM%b=Y- QU5>AIaUEn*Ey`=}>I  4? j _B @9 psD : #:) WQ@WX XW:W2W*WVbU BU *UUU& @B5NB9 B9A=*BAAe9%6;AaAiAm <"Cu_NݾRCqCuQ@Cqֽ}יIG>q,i㥎EAY}26@}2D@y}2MD<}2=}2H@Μ? 8?'! >?@ ぽ??)~26@ ~2^;I~2Cɫ9A)A EIAY@yhGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Ia=)=ʡE?:vMb?T )IyE??&?̼< ½A)½XAI½ Ai½ Af A)> >M;M1=Y!QU>aUEu*Eyl=}>I) M:-l 4? U:-K -_B e@9-sD-; -;)-k:WUL=WQXQ XQWQ:WY2WY*WYVYbUYBU*UUU-`@B>B BA*BAe1;AAA_#<"CsjRCCL=CשIG>5 >95 CI5 ,bGi5 Է@5 !=5 PD1 5 D; 5 E  { { & k5:Y #R1y : 5) ;)3q,EAY}F@}Fb$@y}FHp&<}F\ >}FH}? ?S D?æ̈́=??)~F@ ~FI_;I~DɫYY)Y ]IYY@yjhGxDUSBL response received:!U1,R,2C6,000,009E6,188,80,80,55,FF Fpublishing direction and range infoɰO>鰝> )BIyBu; ?d`ٱC>?;if@ @)ٮ@Iz@i\@Z MZ=YjQU>aUE{*Ey =} >I15$4?5 5_B =@95sD5M: 5:)1W>WX XW:W2W*WVbUBU*UUU@@P*QBZQ'4OW@ftPJQu; ?d`2Q:QbQTOCLmֿZΪ<#RQV(ֿ|bK$BQp@ QQPѦ9?PK9?P QQ"Q]ABUZxBY BYA]*BYA]|Z-;AYAYAev<"CԉRCC>C֙qIG~> i =q,/َEAY}~e@}~. @y}~ <}~>}~H:?T?M¿ Rm?Q (k?`?)~~e@ ~~a_;I~|ɫ) IYm@yu!hGDNmea in: $SNTTA,,,,,013658.31*55 MMME=YM3oQUU>QQaUUEU*EYy]R=}]>Ia m:eQ*4? u:eD e_B u@9esDe: e:)el:m}Added new target pos. range: 114.540001 m, bearing: 249.662730 deg, deltaT: 4.444353 s, approachRate: 0.148504 m/s, LOS rate: -19.586252 deg/s, posRepo size: 4mE!ProNav REINIT: LOS rate is -19.586252 deg/s. Setting heading cmd to target bearing of 249.662730deg and heading rate command to 0 deg/s.WMp@WIXI XIWI:WI2WQ*WQVQbUQBUQ*UYU]`\@U]?BkzB  B A a*B A _%(;A A A$ϼ<"CPRCCp@C95x IG5>   9 6C:Y xZ1y q: 59 @Dq,~tEAY}2Ҩ@}2M@y}23;}2r(>}2H??Sÿl@}?QT|?6?)~2Ҩ@ ~2_;I~2CɫYY)Y ]IYY@y hG jA jA]C]o]Zi]@Y ])]@I]@i]@mŻMmZ=Ym咻QUm>9CIdaGi2@=D9; EaUE*Ey=}>I!%04?%8$ %_B 5@9%sD%': %:)!WqWqXq XqWq:Wy2Wy*WyVybUBU*UUU x?BdB BAŽ*BA#;AAA<"C-(RC)C1C1 AE>=?΅I!GMt>b,q,aO EAY}2F@}2@y}2;}2 N,>}2HQ?C?`Ŀ+?^t o?`3?)~2F@ ~2_;I~2Cɫ99)9 =IAY@yfgG#MI=Y6QU>aUE*Ey=}>Iȩ :ŭU64? :ŭ1 ƭ_B @9ƭsDǭv&; ȭd.;)ȭm:WqWqXq XqWq:Wy2Wy*WyVybUBU*UUU;3?B B B)A-V*B)A5v;A1A1A57]<"C=!RCACACIEFӅIAG{>I @A)    / =.:Y WU1y : ߣ5Vq,('EAY}-+b@}-o@y}-l_;}-t*>}-H?~?@ ÿn?USKb E??)~-+b@ ~-q_;I~-Cɫ11)9 =I9Y@yfGE?{Gzl??# =)Iyoʡ?{GzMb?-?#< A)^AI Ai A Au~>u>u@>iuG@q uz@)u@Iu@iu@M"=YQU>aUE*EyfE=}>Iȡť?4?ťC ƥ_B @9ƥsDǥ: ȥ:)ȡWWX XW:W2W*WVbUBU*UUU?B"2ĻB BA^*BA ;AAAI<"C%SZ*C%rRC!C)C)>9CI7`Gi>@ =ODD EIG >p>q,AEAY}6IN@}6\@y}6*}6,>}6Ha|? $?`ÿ๐&?$@RS?v??)~6IN@ ~6^;I~6Cɫ99)9 =I9Y]@y]fG)= =v<M=YCQU?  a UE *Ey-=}?Iș :ŝXF4? :ŝN Ɲ_B @9ƝsDǝ; ȝ$;)ȝn:WWX XW:W2W*WVbUBU*UU U`?BUBQ BQAU{*BQA]u;AYAaAe¿<"Cm'RCqCqCqԁԁa9IIGeU>  | | * 5:Y R1y i: ̢5i m ACi mGI i E ϿٺA E ;Ahq,ZEA||p;Y}F{M@}FD[@y}F:}F>0>}FHP? y?]8ĿW+? հ`t??`.?)~F{M@ ~F1^;I~FCɫYY)Y ]IYY}T@y}yfGQMI=YQU>!!a%UE%*E!y-֢=}->I15O4?5I\ 5_B =@95sD5: 5:)1WaWaXa XaWa:Wa2Wi*WiVibUiBUq*UUU-@BUXBY BYA]= *BYA],9 ;AaAaAe8Ͻ<"Cm#RRCiCiCqeV݅9IAGa =i =q,QtEAY}2O@}2]@y}2Q}272>}2H #?`JH?sĿF@?R,?O:?7?)~2O@ ~2[^;I~2Cɫ99)9 =IAY|@yfGUKW?U$f?U!>iU@Q U&@)U@IU@iUmD<MmE=܍>9܉I܍o_Gi܍@܉܉܉܍ ; ݍEYQU>aUE*Ey=}>INY4?j _B U@9 tDS< j<)WWX XW:W2W*WVbUBU*UUU q@RB*** querying acoustic contact ***PPB]޻BY BYA]%*BaAe.;AaAaAe<"CfRCCCFӅױIG>   2 pT:Y T1y : 5) Ĭ;9 q,8؎EAY}BA@}BO@y}B@}B4>}BHX?\?ĿjO{?@`u?b? ,?)~BA@ ~Bd];I~@ɫYY)Y ]IYYú@yeGZ****** received transponder code query ******F****** received ping request ******99a=VE=*EAyE@=}M>II ]:MWc4? ]:M5x M_B e@9MtDM; Mr;)Mo:WWX XW:W2W*WVbUBU*UUU`G @BB BAJ*BA$:AAA<"CIJRCCC >=N؅׉IG>>q,*rEAY}2#@}20@y}2p}2/>}2H`^?9q?`xÿ pa ?2u??Ɔ?)~2#@ ~2=];I~2Cɫ99)9 =I9Y}@y}eGxDUSBL response received:!U1,P 2C6,000,009E6,188,80,80,55,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ]-?l{Gz?]5?] ]#=)YIYy]ˡE?L7A`?v/?]'?]+=]xi= ]\A)]xAI]Ai]AY]Aý`e<ýj<>ý\>iý̜@ù Ľ&@)Ľ@IĽ&@iĽ&@cM=YjQU>aVE*EyX=}>Iaer4?e e`B @9e1tDeH< e?<)aWYWaXa XaWa:Wi2Wi*WVbUBU*UUU t@BPB BA *BA,:AAAvo<"CRCCC!}>9yI} _Gi}J@}=}PDy}; }ߗE) CI Ci = = 6) I ) / | | 4 7:Y R1y i: 5) ӓ;! I) GE >q,{MEAY}:@}: @y}:c}:#>}:HUk?`?`¿uJ?@`-̒?e? ?)~:@ ~:];I~:Cɫ99)9 =I9Y}@y}dG鮅p=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }M}=Y}JQU}?aVE*Ey¹=}?Iȑ :ŕ{4? :ŕ ƕ#`B @9ƕq,.܏EAY}:@}:@y}:}:Hm>}:H@/?w?`0¿ X? Űoݕ???)~:@ ~:N];I~8ɫ99)9 =I9Yuu@y}heGxDUSBL response received:!U1,R,DFA,000,009E8,186,80,80,A6,FF Fpublishing direction and range info}q>yɰ}O>}> y)}&CIyy}QB}*c-?G?ٱyE =MX=YQU>aVE*Ey՘=}>I4?' @`B @9LtD: :)WWX X!W!:W!2W!*W!V)bU)BU)*U U U8@PI*QMQBZQMy +Y@!"m I@JQM*c-?G?2QMq>:QIbQMi|BX@`K !NG-#@RQM* ?!4#k1@?BQMG@ QMqQMBPM<9?PMѦ9?PMQM QM|A"QMBB  B A '*B A 2:AAA <"CXRCCC11N؅I G-o>  Q /3:Y y '59 @Oq,NEAY}nڱ@}n@y}n"ż}n Y>}nH?? F¿`s&?!`ǰ?~?`?)~nڱ@ ~n^;I~lɫ) I%>9%CI%^Gi%@%=!!! %EYUĹ@yUdGDNmea in: $SNTTA,,,,,013702.75*5B =i=Åj=Å?Å=iÅ@Á ą3@)ąz@IąE@iąE@*>M/=YQU>aVE*Ey%=}>Iȱ :ŵ)4? :ŵ Ƶe`B  @9Ƶ`tDǵf: ȵ:)ȵq:myAdded new target pos. range: 114.659996 m, bearing: 328.161001 deg, deltaT: 4.425075 s, approachRate: 0.027117 m/s, LOS rate: 17.739422 deg/s, posRepo size: 4mProNav REINIT: LOS rate is 17.739422 deg/s. Setting heading cmd to target bearing of 328.161001deg and heading rate command to 0 deg/s.WG@WX XW:W2W*WVbUBU *U U `=\@U  r?B;6B BA:=*BA\5:AAA<"C-RCCG@CֵFӅ׉IG>޽ =i޽ p=q,EAY}6Ѳ@}6ߪ@y}6Cؼ}6>}6H?`T?Trsj?' y?e?5?)~6Ѳ@ ~6];I~6Cɫ99)9 =I9Y@ydG]#Mea=YeлQUm>iiauVEu*Eyy =}>Iȑŕ4?ŕ ƕ`B  @9ƕotDǕ; ȕz ;)ȑWWX XW:W2W*WiVibUqBUq*UyUyU} ?BaFB BA'>*BA:AAA-YO<"C-;G7RC5mC1C1aYIG> 5 ~ ~ Z 8:Y T1y @: 5 q,)EAY}::@}:Ϋ@y}:3Z鼙}: >}:H`?`2?@zV#m?.C*??H?)~::@ ~:N^;I~:Cɫ99)9 9I9Y}@y}RdG T㥛 ?Dl~jt??O <)IyV-?Mbp?S㥛?-?;/< A)‰I AiOA Aףi=@ ҙ@)@Iҙ@i@m2M3=YeQU>aVE*Ey =} >I :i4? :\ `B % @9tD: :)r:WAWAXA XIWI:WI2WI*WIVQbUQBUQ*UQUQU]?BޥDB BA?C*BAx:AAAڻ<"C;{<RCHCC թԭ=֥Q|YIiGZ>>9CI _GiJ@=OD D ; Eq,CEAY}2*@}2@y}25}2>}2H J;?l?` "?ɱne? ?7?)~2*@ ~2v];I~0ɫ99)9 =I9Y}@y}VdG:Mo=YFлQU%?))a5VE5*Ey=}>IȹŽc4?Ž ƽ`B  @9ƽtDǽ: Ƚ ;)ȹWWX XW:W2W *W V bUBU*UUU`?B]VBa BaAeB*BiAm|yb:AiAqAun<"CuԊ<*C}jsRC};3CyC֝6vmyIG^>I ) $   P 6:Y 0Y1y : 5q,]p]EAY}6S@}6@y}6 }6<>}6H? ?8? ֱ`y?t? ?)~6S@ ~6^;I~4ɫ99)9 9I9Y}ڹ@y}dG<MJ=YQU>!!a%VE%*E)y-C=}->I154?5$ 5`B E @95tD5: 5:)1WaWaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}?B=DB9 BAAEs:*BAAE8<:AAAAAE<"Cu-H7RCumU1CqCqe_AIIGm5>.q,^KwEAY}6[@}6i@y}6 }6[>}6H `? U?M`m?㱿`?*??)~6[@ ~6a];I~6Cɫ99)9 9I9Yr@y)dG>9CI^Gi@ =; EIC=)) > >m5^>m=mx=im@i m&@)m\@Im&@imE@MD=Y|QU>aVE*Ey=}>Iȩ :ŭ4? :ŭ ƭ`B  @9ƭtDǭ8<; ȭ;)ȭs:WWX XW:W2W*WVbUBU*UUUS@BU LBQ BYA]iG*BYA]R:AYAYA]1B<"C*RC?FCCԙԙօm7YIiGZ> } } ; T:Y kS1y Ԋ: q5) ֬;9 $q,&EAY}:;@}:I@y}:>}:` >}:H'?4?/;?Q@f?;??)~:;@ ~:^;I~:Cɫ99)9 =I9Y}@y}IdGAAr <MZ=YQU>aVE*Ey-=}>I9=H4?= =`B M @9=tD= ; = ;)9WWX XW:W2W*WVbUBU*UUU @R B*** querying acoustic contact ***P P BM]Bi BqAu,D*BqAu M9AqAqAu <"C}NRC}kKbCCi]mGIyi̿ٺUA֥2ׁIGf> =i =@*q,EAY}6/@}6*@y}6}6>}6H? @*?ڻ`)q@?RQ?`0O?X?)~6/@ ~6 ^;I~6Cɫ99)9 =IAYu@yu_dGZ****** received transponder code query ******F****** received ping request ******aVE*Ey^=}>I :4? :<  aB  @9tDA; :)t:W W X  X W :W 2W*WVbUBU*UUU`S @BMDBI BIAMA*BQAUIn9AQAQAUi<"C]ERC]nCaCa=wFIGn>ܽ>9ܹIܽ _GiܽJ@ܽ=ܹܹܽ ; ݽE    R "6:Y WU1y : ^5) ;6)1q,ĐEAY}6@}6@y}6D5$}6=}6H@e??@`X?'@@?@?`?)~6@ ~6v#^;I~6Cɫ99)9 9I9Y}@y}IdGxDUSBL response received:!U1,P DFA,000,009E8,186,80,80,A6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ]Mez=YQU?aVE*Ey|=}?I)-4?- -(aB e @9-tD-< -<))WWX XW:W2W*WVbUBU*UUU@y @B j[B BA,D*BA8AAA:<"C-o RC-:abC)C9 m=i%aIGEs>R7q,ސEAɫyy)y }IyY@ydGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B R)=ME=YQU>aVE+Ey}>I : 4? :P GaB  @9tD(O; xP;)u:W)W1X1 X1W1:W92W9*W9VAbUABUA*UAUAUM '@BJaUB BA2*BA>JAAA<"CMU *CU tRCUbCQCY]b1IAGmx>I ) ?A L A:Y y 59 @N}=q,6EAY}>ú@}>Ѳ@y}>X4}>Ѫ >}>H:?M)?yx?;d7?C?"?)~>ú@ ~>%^;I~<e>9aIeo_Gie@e=ae De; eE)CICi==v6ɫyy) IYJ@ycGxDUSBL response received:!U1,R,AFD,000,009DC,18A,80,80,A6,FF Fpublishing direction and range infoO?ɰN>鰽> )IyBKc?wnL?ٱåL=ålgå`iåz@á ĥ@)ĥ&@Iĥ@iĥ&@kM:=YQU>aVE +EyV=}>I14?x jaB  @9uD: !:)WWX XW!:W!2W!*W!VAbUIBUI*UIUIUUP@Pa*QeBZQeOFbH@nY@JQeKc?wnL?2QeO?:QabQe-Y@@nxPG@30@RQe R?x.1?L")?BQe.> Qe:BQepBPeP9?Pe<9?PeQeQetA"Qe|AB\B BAL*BA6lAAAص<"C BRCu'CC!bIG>kgDq,xEAɫ) IY5E@y5,eGDNmea in: $SNTTA,,,,,013707.19*54 I=))= =ם=MM=YQU>aVE+Ey}>I :UC4? :& aB  @9!uDb:; M;)v:myAdded new target pos. range: 113.940002 m, bearing: 24.415826 deg, deltaT: 4.478804 s, approachRate: -0.160756 m/s, LOS rate: 12.560233 deg/s, posRepo size: 4mProNav REINIT: LOS rate is 12.560233 deg/s. Setting heading cmd to target bearing of 24.415826deg and heading rate command to 0 deg/s.WE.>WAXI XIWQ:WY2W*WVbUBU*UU)|\@U?BeQ;Ba BaAe-*BiAm*mǹAiAiAm!<"Cq RC?C.>Cԩԩ֕iPIIYGu> / } } Q 7:Y kS1y Ԋ: '5 Jq,ZI,EAY}Je@}Js@y}JFA}Jk>}JHq??ſ1s?!b.?w? ?)~Je@ ~J ^;I~JCɫaa)a mIiY\@yHeGS?I +??94< ̼)IyS㥛?~jt?Mb?$&?<< A)AIrAiIAUN>U>U>iUQ@Q UE@)Uƣ@IU\@iU\@].;MeO=YeQUe>iiaVE+Ey>}>IVU4?U/ aB  @92uDb: :)WAWAXa XiWi:Wi2Wi*WiVqbUqBUq*UqUqU}`?BSBV< BA@**BA:AAA<"CRC+CC/IGg>e>9eCIe_Gie@e=aae; eE i p=vQq,$FEAY}65@}6C@y}6I}6IE>}6H~ ?+?Iݿ`B ?@C@3?? ?)~65@ ~6.];I~4ɫYY)Y YIYY@yeG5<M=_=Y=ZQU=>AAaEVEE+EAyM=}M>Iȡťe4?ť6 ƥaB  @9ƥAuDǥ: ȥn:)ȡWWX XW:W2W*WVbUBU*UU U }?BUKBQ BYA]O#*BYA]AaAaAe<"CmRCuACqCyօpG(YIiGZ> c   l ;:Y U1y : 5Wq,C`EAY}29@}2 @y}25T}28X>}2H`:{? dž?@ h`_?G?t?P?)~29@ ~2^;I~0ɫII)I IIIY}X@y}CeGML=YBһQU>!!a%VE%#+E!y-{=}->I1 =:5w4? =:5R> 5aB E @95QuD5: 5:)5w:WaWaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}?BOB BA**BA lAAAA<"CmtžRCufnCqCq Յ=ԅ >e6AIIGe4>U]q,{yEA>9CI7`Gi>@= D; Eɫyy)y yIyY@yeGIQ)UAí+>í1?í=iíG@é ĭ@)ĭE@Iĭ&@iĭ&@<M@=YQU>aVE*+Ey}>I4?F aB  @9buDm; ;)WWX XW:W2W*WVbU BU *U UU-@B4B BA*BA#gAAA<"CvRC CCѽm<֭B׵?i׵?ב I G >I AA) AA _ W f;:Y y p5) ";9 dq,wEAY}:oQ@}:8_@y}:f}: >}:H 0?AAaEVEE0+EIyMk=}U>IQ ]:U\4? e:UM UaB e @9UruDU: U:)Ux:WWX XW:W2W*WVbUBU*UUU b@BOB BA *BAAAAް<"C°aRCCC u<IIGI>~jq,lEAY}Zۿ@}Z@y}Zm}Z>}ZHw? x?$P@e? ǵ`ޛ? ?ऩ?)~Zۿ@ ~Zo1^;I~ZCɫ11)1 1I9YҺ@yeGIp=)4=]%C?y&1?y&1?]Z>]`e< ]`e<)YIYy]Zd;O?~jt~jtx?]~*?]ļ]; ](A)]AIYi]AY] A;/]=#>iכ@ @)@I@i@ <M1=YNQU>aVE8+Ey=}>I74?W bB  @9uD; ;)WIWIXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU]@RB*** querying acoustic contact ***PPB|.B BAp*BAʕAAAT<"CRCCC9CIaGi@ =ND; ߗEjZX<i I G >    t 4:Y WU1y : 5) ̐;qq,QlǑEAY}67i@}6w@y}6"p}6 >}6Hg??@8뽿@٫߿ S?dn?`q ?"?)~67i@ ~6f/^;I~6CɫYY)Y YIYYu@yfGZ****** received transponder code query ******F****** received ping request ****** =i =?wq,`EAY}64@}6@y}6j,q}6>}6H?,?Z D޿ ?ٓ!??@?)~64@ ~6 ^;I~6Cɫ)1)1 1I1Ymf@ymfGuxDUSBL response received:!U1,P AFD,000,009DC,18A,80,80,A6,FF }Command Ack}BRequesting micromodem ping code 2iyyNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =MA=YQU>aVE D+Ey%>=}E>IQU4?U\f U(bB  @9UuDU< U<)QWqWqX XW:W2W*WVbUBU*UUU@7 @B B BA*BA1AAAAЬ<"CjY=RCCCEՌ I) GE > @ ~ ~  8:Y T1y @: \59 @_~q,"EAV>9VCIVaGiV@V =TV DV; VEɫ髹) IYһ@ygGɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B  @  @ @ ©  i Q@  ) n@I i @<M%C=Y%QU%>))a-VE-J+E1y5}5>I9=4?=m =9bB E @9=uD=: =:)9WiWiXi XiWi:Wq2Wq*WqVqbUqBUy*UyUyU}@V @BZ+B BA*BAAAA<"Cm=RCCC ==?i?׹IGf>q,dEAY}J@}Jߺ@y}Jt}J!>}JH`?i?-龿phۿ?@꽿?`>??)~J@ ~J^;I~Hɫ髱) IYW@ygGxDUSBL response received:!U1,R,BA3,000,009C3,189,80,80,89,FF Fpublishing direction and range infoJy?ɰL>7> ) CIyBV84?Gu{?ٱ%2=M-[=Y-}QU->11a5VE5P+E9y=>}=>IA M:Ex4? U:Ept EIbB U @9EuDE: E:)Ez:WWX XW:W2W*WVbUBU*UUU(@PY*Q]BZQ]KO@V#TCW@JQ]V84?Gu{?2Q]Jy?:QYbQ])xW@Ʌ,L@d1b2@RQ]f%EN1?%́ ?vݷu?BQ]Ni? Q]faBQ]BP]D9?P]P9?P]Q]Q]'A"Q]tABUBQ BYA]ս*BYA}.0ɺAyAA'<"Cfb>RCCCֵ?΅׉IG>I @A) ?A o   { <:Y U1y : &5>q,g)/EAY}e@@}e ӻ@y}e^x}ef%>}eH&??@?[Эٿ ?G?ۚ?Յ?)~e@@ ~e_$^;I~eCɫII)I UIQY@y hGDNmea in: $SNTTA,,,,,013711.64*59 Fx?v/I +?+?x 94=)Iy"~? rh?Mb?3?C == )xAIAiA A E E EEE$F?E|?iE׫@E E@)Ez@IE@iE@U<MU*=Y]QU]>YaaeVEeX+Eaym}=}m>Iqu4?uo{ ubB } @9uuDuf: u:)qmMuAdded new target pos. range: 112.440002 m, bearing: 30.530447 deg, deltaT: 4.444118 s, approachRate: -0.337525 m/s, LOS rate: 1.375891 deg/s, posRepo size: 4m} ProNav: pos range: 112.440002 m, bearing: 30.530447 deg, approachRate: -0.337525 m/s, LOS rate: 1.375891 deg/s, cmd update: 4.127672 deg/s, cmd heading: 24.415826 deg, new cmd heading: 24.415826 deg. W}>WyXy XyW:W2W*WVbUBU*UU)\@U`~?BjtB BAŽ*BA@ӺAAAܯ<"C ՞>RC C>C1ܝ>9ܙIܝbGiܝw@ܝ=ܙܙܝ; ݝݗE)CICi==q6I I G- >;q,$HEAY}2"@}2뻼@y}2*|}2!)>}2H1??6;ؿ@g_?c@)? Y?5?)~2"@ ~2^;I~2Cɫ99)9 =I9Y*@yhGUGX=M]u=Y]QQU]?aaaeVEe]+Eaym=}m?Iq }:u+4? }:u ubB } @9uuDu: uk:)u{:W">WX XW:W2W*WVbUBU*UUU?BB BA蠽*BA!ںAAA͠<"C>RCC">CjA FӅI)IGK> y _C:Y y 5W=q,6bEAY}:@}:⑽@y}:{}:y)>}:H g?@?sֿ?  ???)~:@ ~:c/^;I~8ɫ99)9 =I9Y}H@y}hG=i=U<M]J=Y]QU]>aaaeVEed+Eaymg=}m>IquA4?u ubB } @9uuDuϸ: uܹ:)qW-?WX XW:W2W*WVbUBU*UUU`?BƙB BA*BA<AAAB(<"C>RCC-?CI!GmV> =i =tgq,Mj|EA&>9&CI&cGi&@& =$& D$ &Eɫ髙) IY@yDiGÍ̌?Íxi?ÍiÍp@É č@)č@Ič@ičƣ@ <MF=YQU>aVEj+Ey}>Iȹ :ŽX4? :Ž@ ƽcB  @9ƽvDǽ$: Ƚ:)Ƚ|:W$ ?WX XW:W2W*WVbUBU*UUU@"?B-̻B) B)A5"*B1A5A1A1A5<"C=}?RC9CE$ ?CAaAIiGZ> } }  >:Y kS1y Ԋ: ]5) z;9 Pq,{KEAY}J4@}JB@y}J4}J%A,>}JHIs?kb?`Bӿ k.?. ¿ ?[c?n|?)~J4@ ~JlA^;I~JCɫ髙) IY&@yiG'=MC=Y%>GQU5>9AaEVEEq+EQye=}e>Iy}p4?}͎ }6cB  @9}$vD}M; }|;)yW%T?WX XW:W2W*WVbUBU*UUU&@@B% B! B!A%C*B!A-A)A)A-ޢ<"C5~?RC1C5T?C9 M=M=5=?i=? IG5>~}q,1EAY}:@}:'@y}:@~}:5*>}:H??`͌ѿ n?A¿¯?8/??)~:@ ~:,^;I~:Cɫ髁) IY-@yiGI)AT㥛 ?{Gz?{Gz??#< #<)IyS?~jtyya}VE}x+Eya=}>I :4? : JcB  @96vDg; ;)}:W=?WYXa XaWa:Wa2Wi*WiVqbUqBUq*UyUU@v@B%.!B! B)A-4@*B)A-A1A1A5?]<"CeS]!?RCaCe?CiE>9ECIEdGiE @E =AAE; EڗEmƂAIQGm>I޽ AA)޹ '    6:Y d\1y : J5) G;Oaq,ɒEAY}:j@}:4@y}: |}:8%>}:HQ?`3?@UϿ??@?/?)~:j@ ~:4d^;I~:Cɫ99)9 9I9Y]@y]jGaa 2=Mn=Yv:QU?aVE}+Ey=}?I154?5` 5\cB = @95FvD54: 5:)1We+!?WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}`{@RB*** querying acoustic contact ***PPBB BA*BAAAA"<"C%?RCC+!?CסIGE>xq,EAY}28<}2@y}2x}2]&!>}2H "? ?@m̿@?r??֋?)~28< ~2L^;I~2Cɫ99)9 9IAY}@y}jGZ****** received transponder code query ******F****** received ping request ******aVE+Ey _=} >Iȱŵh4?ŵs ƵpcB  @9ƵXvDǵǺ: ȵ:)ȱW(?WX XW:W2W *W V bU)BUI*UQUQUU @B}X~B BA*BAAAA<"C(?RCC(?CiA·IGk>  y y  S,:Y P1y ': 59 @E >9E CIE eGiE @A A A E ; E ݗE鵾q,_EAɫyy)y yIyYN@y^kGxDUSBL response received:!U1,P BA3,000,009C3,189,80,80,89,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76   ýI ?ý94ý->iýG@ý Ľ@)Ľ@IĹiĽz@M=MM+=YUQU]>aaaVE+Ey}>I :4? : cB  @9mvD: :)~:W׹1?WX1 X1W1:W12W9*W9V9bU9BU*UUUo @B%C.B) B)A5$?*B1A]rAYAaAe<"Cu׹1?RCC׹1?C} I G > i =q,\EAY}27=}2]@y}2k}22>}2H@Dw?)?D!@ƿ1?¿ u?@z?`?)~27= ~2қ^;I~2Cɫ髙inG) IIi!e"ϿٺimmAYu@y}+lG鮉ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =ʡE?㥛 Mb?=>= ==)9I9y=l?+~jt?=7?==D= =A)=3@I9i=A9=3 AY]jA}]:=M7=Y;QU>aVE+Ey8=}>Iȱŵ4?ŵ& ƵcB  @9ƵvDǵy); ȵ=;)ȱW/9?WX XW:W2W*WVbUBU*UUU@L`@B5rB1 B1A5*B1A9A9A9A=-<"CE/9?RCACE/9?CI5ƂIG > /    7:Y 0Y1y : 5q,h1EAɫyy)y }IyY@ylG  M@ M@ M@M©MMiM̤@M M)MO@IIiI]=M]=YeQUe?aiamVEm+Eiyu}u?Iy :}4? :} }cB  @9}vD}: }o:)}:Wv$??WX XW:W2W*WVbUBU*UUU֏@BXB BA<*BA8AAA<"C9IfGi@=MDD; ܗEI G-N>xq,;TKEAY}~>}~C@y}~ \}~U~>}~H ?cݻ?!ERn?`¿}???)~~> ~~9G_;I~~Cɫ) IY-@y-3mG=DNmea in: $SNTTA,,,,,013716.09*55 ]<MeJ=YeiaVE+Ey#>}>I  4?  cB  @9 vD : +:) W=VF?W9X9 X9W9:W92WA*WAVAbUIBUI*UIUIUM`gA@BuʴhBy ByA}t<*ByA} *AAA:<"CF?RCCVF?C֝ƂqIyG]>I޹ )޹     2:Y U1y : J5q,eEAY}6w$>}6 E@y}6bSS}6H'>}6H`? ?=cF?¿`lg?`j?@)?)~6w$> ~6#^;I~6Cɫ99)9 =I9Y3@ymG@A=MR=Yڲ;QU>aVE+E y W=} >I :&4? :V dB % @9vD: :):WEM?WAXA XAWI:WI2WI*WIVIbUQBUQ*UQUYU]@@Bm8B BA<*BAzAAAe[<"Cr@K?RCCM?C֍·iIG=> >9 CI hGi @ = ; E)uCIuCiqu =u =u>6q,~EAY}R]G>}RX@y}R"_N}R[>}RH?'5?~h i?pÿ ɩ?q?i?)~R]G> ~R5^;I~RCɫyy)y }IyY@y;nGI=)%= E E E M@ M@ M@IIIiM @I I)M9@IIiM@]d=M]D=Y]Z>;QUe>aaaeVEe+Eiym[=}m>Iqu?4?uO u&dB  @9uvDu: u':)qW4}U?WX XW:W2W*WVbUBU*UUU`h@RB*** querying acoustic contact ***PPB$:B BAc(=*BAAAA]<"C4}U?RCC4}U?CƂIGK> z    Q:Y W1y č: 5) ;9 q,ԘEAɫ髡) IYv@ynGe<[MmJ=YQU> 1a=WE=+EAyE}E>II u:MY4? u:MY MIdB } @9MvDM : M":)M:W]?WX XW:W2W*WVbUBU*UUU.@B=:B9 B9A=+=*B9AE#AAAAAErv<"CmY?RCiCm]?Cq}·QIaG}z> =i =q,꯲EAY}6>}60Oz}6H?ǖ@zcq???p8¿@;©?,? /?)~6> ~6^;I~6CɫYY)Y YIYY@ymnG鮡ɮ= ףp= ?V-~jth?=Q>=m =D;)9I9y=NbX9?y&1|?Q?=%?=`;=< =A)=@I=XAi=A9= A   Ý>Ýp>Ý,=iÝ(@Ý ĝ@)ĝ@Iĝ@iĝ@/<MF=Y3 9QU>aWE+Ey/6>}>In4? bdB U @9vD< <)Wd?WX XW:W2W*WVbUBU*UUU`@B:B BA-<=*B)A-A)A)A-m<"C5b?RC9C=d?C9>9IhGi:@=; җE=ƂIG%n> D    >9:Y V1y : 5) F; q,̓EAY}>G`>}>A=y}>WL}>>}>H`? ۥ2?h? 96¿ :?`? ?)~>G`> ~>ڰ^;I~>CɫYY)Y YIYY@ynGH;MT=Y:QU>aWE+E y =} >I}4?[ zdB % @9vD: :)WEk?WAXA XAWA:WI2WI*WIVIbUIBUQ*UQUQU]8@B~:B BAF=*BAvAAA1<"Ck?RCCk?C յ >Ե >·?i~?יIGA>m(q,}:8=y}:5cG}: >}:H`?9`x?@? ¿?`S??)~:x*> ~:9^;I~:Cɫ99)9 =I9Y}@y}VoGxDUSBL response received:!U1,N,80,80,63,E4 3,189,80,80,89,FF ZNo reply:!U1,N,80,80,63,E4 3,189,80,80,89,FF -aWE+Ey=}>Iȹ :Ž4? :Ž8 ƽdB  @9ƽ wDǽ: Ƚ0:)Ƚ:Wr?WX XW:W2W*WVbUBU*UUU@B-F;BI BiAm=*BiAu ܺAqAqAu}x<"C}>p?RCyC}r?CeƂ9IIGuW>I ) AA   1:Y y 59 @܅ >9܁ I܅ iGi܅ ݽ@܅ =܁ ܁ ܅ v; ݅ Eq,AEAɫyy)y }IyYc@y(oGAAY= ?G=ip@ @)9@Iƣ@i@-/M-B=Y5QU5>19a=WE=+E9yE}E>IIMb4?M MdB U @9MwDM: Mm:)IWz?WX XW:W2W*WVbUBU*UU U `>@Bu:;Bq BqA}U=*ByA}vպAyAyA}<"C( z?RCCz?C֥·yIG^>=q,-EAY}>>}>Y>y}>O/}> >}>H?@?`bg?@ :?6E??)~>> ~>^;I~>Cɫ髙) IY+@ynG=K7A`?&1?/$?=+?== =<)9I9y=RQ?Mbp?~jt?="?=;=< =A)=3@I="Ai=A9= AUzM]8=Y]1YaaaeWEe+EiymM>}m>Iq }:u4? }:u udB  @9u-wDuI: u:)u:Wh?WX XW:W2W*WVbUBU*UUUt @B%;B BAl=*BA"yϺAAA֍<"Ch?RCCh?C 115I9)9 IG5r>     X3:Y W1y č: [5Ps q,84EAY}:pf>}:&>y}: -"}:t >}:H?)5ſ\#?C?w@FD?/?]?)~:pf> ~:^;I~:Cɫ99)9 =I9Y@yoGiV?O=i@ d@)n@I;@i@-5=M-^=Y-11a5WE5+E9y==}E>IAE;4?E EdB U @9EɌ<"C̄?RCC̄?CƂ>9I`jGi@c; EIGE>ޥ =iޥ =Kq,MEAY}:*>}:7 H>y}:}:>}:H`^?<ɿ@ ??@f??Z?)~:*> ~:}^;I~:Cɫ99)9 =I9Y} @y}oGZ****** received transponder code query ******F****** received ping request ******aWE+Ey=}>I : 4? :ե dB  @9MwD; ;):W5?W9X9 X9W9:W92W9*WAVAbUABUA*UAUIUM e!@B%>;BI BIAM=*BIAURAQAQAU<<"C]?RCaCe?CienGօIi˿ٺxAQIaG}z>  z z  5:Y Q1y : I5uq,ͭgEAY}2PD>}2Aj>y}2# }2>}2H %?WͿN?k?P?Gr`~???)~2PD> ~2^;I~2CɫYY)Y YIYY@ypGxDUSBL response received:!U1,P 80,80,63,E4 3,189,80,80,89,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =M I=Y;QU%>19aEWEE+Eyӥ=} >I4?x eB  @9]wD': U:)W1֌?WX XW:W2W*WVbUBU*UUU`y"@Bh;B BAe=*BAAAAn<"C1֌?RCC1֌?CƂ?i?שIG>- >9- CI- jGi- Ѿ@- =) ) - q; - E] q,ʈEA|i|@ɫyy)y yIyY@ypGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Ii)i=K7ji@ )9@I@i@]N<M>=YQU>aWE+Ey}>IY4?7 eB  @9nwD: :)W#?W!X! X!W!:W!2W!*W)V)bU)BU)*U1U1U5P#@B]0;Ba BaAe=*BaAe'AaAaAm)<"Cu#?RCqCu#?CqIGn>    3:Y W1y č: [5) ;9 &q, vEAY}mס ?}m@ >y}m_}m>}mH?Iҿ ?4}? S?Yʟ? ? ?)~mס ? ~mǣ^;I~iɫii)i mIqYu@yypGxDUSBL response received:!U1,R,E58,000,00967,186,80,80,87,FF Fpublishing direction and range infoq>ɰ.E>> )CIyBӷ?t>i$?ٱy&1?MbV-`> )Iy rh?l񢿺I +?,?9< +A)I@I=Ai AzA)õ> õ>EM<=Y@aWE+Ey>}>I :b24? :a $eB  @9wD: :):WV?WX XW:W2W*WVbUBU*UUU;$@P*QBZQܕbX@ UC@JQӷ?t>i$?2Qq>:QbQ] U@>\P@,%Nj @RQ1D/?9h?! Ҧ?BQI4)? QBQOBP79?PD9?PQQ eA"Q'AB] ;Ba BaAe=*BaAe'AiAiAmi<"CuV?RCqCuV?C֍·iIG>,q,1?EAY}2O3?}22C>y}2SJ9}2F>}2H U?`b[Կ@č?J?` ?>3? ?q?)~2O3? ~2^;I~2Cɫ99)9 9IAY@ypGdNmea in: $SNTTA,0.078147,0.438659,,,013721.74*53 Ip=)=e>e W>eX9>ief@a e@)e@Ie@ie@u׏<Muc=Yui;QU}>yya}WE}+Ey=}>Iȉō'F4?ōϗ ƍ1eB  @9ƍwDǍ: ȍ :)ȉmyAdded new target pos. range: 106.920006 m, bearing: 37.869878 deg, deltaT: 10.118928 s, approachRate: -0.545512 m/s, LOS rate: 0.725317 deg/s, posRepo size: 4m} ProNav: pos range: 106.920006 m, bearing: 37.869878 deg, approachRate: -0.545512 m/s, LOS rate: 0.725317 deg/s, cmd update: 2.175951 deg/s, cmd heading: 66.400178 deg, new cmd heading: 67.804007 deg. W}!?WyXy XyWy:W2W*WVbUBU*UU`Z@U 0?B)6;B BA=*BAFAAA됇<"C-Nc?RC)C-!?C1>9I(kGi"@= Dn; E)ݝCIݝCiݝCݝ=ݝ=ݝ5ƂI)))I G%o>     5:Y Y1y : n5) ;3q,F\ϔEA||4y}6ڼ}6% >}6H2?bֿ@|? ?@? )S@B?`5??)~6`? ~6v^;I~6Cɫ99)9 =I9Y@ypG=isM<MN=Y;QU>!!a%WE%+E)y-=}->I1 =:5[4? =:5u EtI 5?eB E @95wD5: 5o:)5:We?WaXa XiWi:Wi2Wi*WiVibUqBUq*UqUyU}db?B;B BA=*BA-ӈAAAyÆ<"C?RCC?C}׹IGE>9q,wEAɫ髙) IY @y0qGEiAAUd<MUI=YUQU]>YYa]WE],Eaye}m>Iimq4?m mNeB } @9mwDm8; mI;)iW ?WX XW!:W)2W1*W9V9bUABUI*UQUYUe@'?BMg~;BI BIAM=*BIAUDvAQAQAUDž<"C]?RCYC]?Ca}·QIaG}z>    ?:Y W1y č: 59 @ >9 CI i = l; Eȫ@q,EAɫ髙) IY@y+qG !!ÝÝ=Ý=iÝ @Ù ĝ@)ęIęiĝ@ME=YQU>aWE ,Ey}>I :4? :m \eB  @9wD+; ;):W?WX! X!W!:W!2W!*W!V)bU)BU)*U1U1U5`??B]B;BY BaAe=*BaAeV_AaAaAe<"Cm?RCqCu?Cq ՁԁօƂׅ?iׅ?9IIGeV>Fq,EAY}e1?}e_>y}eۺ}e}>}eH#?ۿ?@??V뿿 ?`ф??)~e1? ~e^;I~eCɫ)))1 5I1Yu@yupGI)w/?B`"ɿ:v?>N T=)IyS?i|?5/$?/?q< ¥/A)¥h@I¥Ai¥p AQAIM9=YaWE,EyZ>}>Ia4?{ heB  @9wD: :)W ?W X XW:W2W*WVbUBU*UU!U%?B[;B BA=*BADAAA*<"C?RC!C%?C!-& IG5>  ~ ~ % 3:Y T1y @: 5Lq,<6EAY}:a8:?}:QM>y}:T}:l>}:Hsd?@\dݿ ??!?!2`>?`Ya?J?)~:a8:? ~:^;I~:Cɫ99)9 9IAYx@yqG)%= %= m@ m@ u@m©mmimQ@m m)m@Iiim@[=Mb=YO;QU>aWE,Ey=}>I :4? : reB  @9wD:  :):W؟?WX XW:W2W*WVbUBU*UU U @P@Be<B BA>*BAJP,AAA<"C؟?RCC؟?C u>9qIukGius@u=qqus; uEIGj>Sq,aPEAY}:aB?}:?y}:&}:>}:H?`߿`?`aWE,Ey=}>IșŝQ4?ŝSy Ɲ{eB  @9ƝwDǝ÷: ȝ:)șWD?WX XW:W2W*WVbUBU*UYUYU]F@RB*** querying acoustic contact ***PPB<B BA*BA-AAA<"C%D?RC)CMD?CQaae?΅Ii)miA9IIGY> ^    Q;:Y V1y : \5 Zq,!=jEAɫ髙) IY@@ytqGZ****** received transponder code query ******F****** received ping request ******tYYa]WE]',Eaym}m>Iq }:u4? }:uzq ueB } @9uxDu: u0:)u:W+ ?WX XW:W2W*WVbUBU*UUU@8 @B;B BA=*BAAAA <"C+ ?RCC+ ?CױIG>m >9i Ii ii i i i m o; m E`q,7EAɫ髙) IY@yqGxDUSBL response received:!U1,P E58,000,00967,186,80,80,87,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ))]A<Meq=YiQUu?aWE,,EyI}U>IQU4?Uk UeB e @9UxDU: U::)QW2?WX XW:W2W*W1V1bU9BUA*UIUQU]`p @B5N;<B1 B1A5>*B1A5z A9A9A=kk<"CM2?RCICM2?CY}6ɅQIaG>   5:Y y 5iM %nGIq i % Ϳٺ) - 2A/gq,$EAɫ)! !I!Yu@yu!rGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B a iE@a M a mM@a M a qM@a M a eM@a M ut<M}8=YyQU}>aWE3,Ey}>Iȑŕ 4?ŕe ƕeB  @9ƕ0xDǕ>: ȕ >)ȑW ا?WX XW:W2W*WVbUBU*UUU`@Bb<B BAw>*BAKjAAAԺ<"C ا?RCC ا?C?i?I GM>Omq,ҷEA|i|@Y}:_?}:8 ?y}:<(}:0=}:H?@??O?`Kd`???)~:_? ~:}i_;I~:CɫYY)Y YIYYL@yqGxDUSBL response received:!U1,R,034,000,00939,184,80,80,9B,FF Fpublishing direction and range info9ɰiA>鰭> )CIyQB) ?#Y9ٱI)=+=J>=Ga>i=f@9 =@)=O@I=@i=@M2MMa=YU֛YYa]WE]9,EYye`>}e>Ii u:m4? u:m] meB u @9m@xDm: mG?)m:WU?WX XW:W2W*WVbUBU*UUU`\z@P*QQBZQ#ٗ`Z@ZhJQ) ?#Y92Q9:QbQ`U@) ٓL@pƛ?RQXp?}%?cr?BQ.? QdBQ'BPF9?P79?PQQ@"Q eAB]<Ba BaAe=*BaAe AaAiA)G<"CU?RCCU?C9CIi=ND D`; Eֽ·yIG`>     /:Y X1y /: I5) ;9 5tq,ѕEAY}MYg?}M0(?y}MN໙}M>}MHV? Pg-? ?@b?#`;|? Nw??)~MYg? ~M_;I~MCɫYY)Y ]IYYx@yqGDNmea in: $SNTTA,,,,,013726.20*5D )-= -=tE<M6=Y;QU>aWE@,Ey=}>I24?T eB  @9TxD%: \?)myAdded new target pos. range: 104.159996 m, bearing: 33.279899 deg, deltaT: 4.371640 s, approachRate: -0.631344 m/s, LOS rate: -1.049944 deg/s, posRepo size: 4m% ProNav: pos range: 104.159996 m, bearing: 33.279899 deg, approachRate: -0.631344 m/s, LOS rate: -1.049944 deg/s, cmd update: -3.149834 deg/s, cmd heading: 75.921685 deg, new cmd heading: 76.900435 deg. W% r?W!X! X!W!:W)2W)*W)V)bU1BU1*U1U5`= Z@U=Z?Be<Ba BaAe>*BaAmVAiAiAm֪<"Cu?RCqCu r?Cy}ݑ9IAGew>)`zq,EAY}6Po?}6J0?y}6n}6>}6H?`-1?U? j}?`y0p??[?)~6Po? ~6n\_;I~6CɫYa)a mIiY@yqGIC=)4=Kt>^i\@ @)­@I@i@ V<MW=Y(;QU>  a WE F,EyX=}>IE4?KL eB % @9exDٮ: ?)WMţ?WIXI XIWI:WQ2WQ*WQVQbUQBUY*UYUYU]À?BD <B BA >*BAF8AAA~<"CZ?RCCţ?C=斅IA)EhAI!GMs> >9 I i  =   r;  E)ݽCIݽCiݹݽ=ݽ=ݽu6     /3:Y T1y : I5) ;Hq,`EA||;ɫ髁) IYO@yqG==i==ϼMQ=YQU>aWEL,Ey}>IȹŽW4?ŽC ƽeB  @9ƽvxDǽh: Ƚ@)ȹW?WX XW:W2W*WVbUBU*UUU h?B%3w<B) B)A-u=*B)A5J99A1A1A5(N~<"C=?RC9C=?CAE?΅I)GEQ>bvq,LEAY}B)n?}BJA?y}B}B>}BH M?o?`#? ?`??m?)~B)n? ~Bp^;I~BCɫYa)a mIiYq@yqGa ia i a ma m a qa q a ea e Cl?Dl?L7A`?;>O > +=)Iy%C? rh{Gz?Z$?C ף< A)IrAiQ AA))5 <M=A=Y=;QU=>AAaEWEES,EIyM. >}M>IQ ]:Uli4? ]:U9 UeB e @9UxDU: Ub:)U:W?WX XW:W2W*WVbUBU*UUUYR?B<B BA>*BAd?9AAA}<"CT?RCC?C׹IGk> %    6:Y V1y : 659 @Lq,39EAY}:ؖ?}:I?y}:,}:W,>}:H4?`?`?c?P@b?`R:?@?)~:ؖ? ~:^;I~:CɫAA)I QIQY}@y}qG !!Å=Å94Å`eaWEY,EyR=}>Iȩŭx4?ŭ0 ƭeB  @9ƭxDǭU: ȭ@:)ȩWV?WX XW:W2W*WVbUBU*UUU6@B!<B B!A%>*B!A%339A!A!A%U}<"C-b?RC1C5V?C1ܽ>9ܹIܽ(kGiܽ"@ܽ =ܹܹܽx; ݽE ?i ?IGE>&q,=REA|i|Y}6i?}6AQ?y}6h}6G=}6H ??*?W?Ƿ?`b?S? i?)~6i? ~6^;I~6Cɫ99)A AIAY}L@y}qGI)eMeN=Ye7QUe>iiamWEm`,Eqyu֙=}}>Iy}l4?}& }eB  @9}xD}s: }:)yW?WX XW:W2W*WVbUBU*UUU`d@B<B BA=*BA9AAA {|<"C?RCC?C6ɅIGI> &    6:Y 0Y1y : 5Pq,lEAY}B?}BNX?y}B̺}B=}BH5?@ '? ? ?@Y?F??)~B? ~BK^;I~BCɫ髡) IY@yFqG)> =uD;uDu-2>iuf@q u@)u9@Iu@iu@kMH=Y :QU>aWEf,Ey=}>I :P4? : eB  @9xD: :):W5d?W1X1 X1W1:W12W9*W9V9bU9BUA*UAUAUE`@RuB*** querying acoustic contact ***PqPqBaK <B BA=*BAA:AAA{<"Cd?RCCd?C׹IGf>ܵ >9ܱ Iܵ jGiܵ Ѿ@ܵ =ܱ ܱ ܵ }; ݵ E q,iEAY}2R?}2_?y}2 =9}2=}2H`~?_??]?u=']? G?)~2R? ~2N^;I~0ɫ99)9 9I9YZ@yqGZ****** received transponder code query ******F****** received ping request ******!a%WE%m,E!y-8=}->I15w4?5 5eB E @95xD5: 5:)1Wm?WqXq XqWq:Wq2Wy*WyVybUyBUy*UUU| @Bu <B BA>*BA2:AAAp{<"C ?RCC?C?΅I)׹IGE> 8    I8:Y X1y /: 5q,EAɫ) IY@ypG%xDUSBL response received:!U1,P 034,000,00939,184,80,80,9B,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 S㥛? ףp= ?{Gzt?>Q8= ף;)Iy~jt?T㥛 Mb`??; •A)•@I‘i•AA­jA­iAt M=YQU>aWEu,Ey}>I :4? :Z eB  @9xD: :):W%4?W)X) X)W):W)2W)*W1V1bU1BU1*U1U9U=@@Be;Bi BiAm4=*BiAmzP:AiAiAuiz<"Cu4?RC}C}4?C- 6Ʌ I G >q,^EAɫ髙) IY@yqGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Dv>>O ip@ ƣ@)@I@iƣ@Q<M=YQU ?aWE%z,E!y!}- ?I15y4?5 5eB = @95xD5: 5:)1]>9YIYiY]=]MDYY YW}?WyXy XW:W2W*WVbUBU*UUU@D@B<B BA=*BAmc:AAAvz<"C?RCh{C?CׁIG=>     2:Y T1y : 5) ;9 Ӵq,`>ԖEAɫ) IY5@y5pG=xDUSBL response received:!U1,R,236,000,00908,189,80,80,A7,FF =Fpublishing direction and range info='9ɰ=f=>=7> 9)='CI9y=pB=Z,?AvW޿ٱ9e2|MeV=YiQUm>iiauWEu,Eqyy}}>Iȁ :Ņ4? :Ņ ƅeB  @9ƅxDDžR: ȅ :)ȅ:iemGIyi̿ٺAW ?W X  X W :W 2W*WVbUBU*UUU@P)*Q-pBZQ-'kGV@G\GJQ-Z,?AvW޿2Q-':Q)bQ-Oa#lW@GoeB@e)b'RQ-ތ?x{H[?jҭBQ-> Q-kBQ-aBP-]9?P-F9?P-Q-Q-a>"Q-@B}?<B BA=*BAz:AAAz<"C?RCs`C?Cֵz׽?i׽?בIG>~q,rEA|@ɫ髑) IYS@yPpG=TNmea in: $SNTTA,0.069903,,,,013730.65*40 I9)=AÝ<Ý;Ý=iÝ(@Ù ĝ@)ĝ@Iĝ@ięHM7=YQU>aWE,Ey}>I4? eB  @9 yD]: Ǻ:)myAdded new target pos. range: 101.219994 m, bearing: 22.000838 deg, deltaT: 4.491111 s, approachRate: -0.654627 m/s, LOS rate: -2.511419 deg/s, posRepo size: 4m ProNav: pos range: 101.219994 m, bearing: 22.000838 deg, approachRate: -0.654627 m/s, LOS rate: -2.511419 deg/s, cmd update: -7.534256 deg/s, cmd heading: 61.775503 deg, new cmd heading: 60.511339 deg. W@?WX XW:W2W*W!V!bU!BU!*U)U-`NY@U-?BU;BQ BYA]=*BYA]N:AYAYA]_y<"Ce΃?RCm(5Cm@?Cie8s9IIGeV>U >9Q IU iGiU .@U =Q Q U ~; U E L ~ ~  9:Y T1y @: 5) ӕ;q,EAY}F?}F?y}F(<}F=}FH_/?E? e?`?Dc? ?)~F? ~F_;I~FCɫyy)y }IyYyY]YYa]WEe,Eaye?}m>Ii }:m4? }:m meB } @9myDmI: m:)m:W5y?W1X9 X9W9:W92W9*WAVAbUABUA*UAUIUM>?Buce<Bq ByAy*ByA}:AyAyA}y<"CG?RC"<Cy?Cm_AIIGm5>q,!EAY}6,U?}6M?y}6h<}6_=}6H?`+@Bh?`_?q?8z@=6@s? @?)~6,U? ~6g_;I~4ɫ11)1 1I1Y2@y'pGI=)w/?|?5^kt??ҽ  0=)Iy/$?v/~jth1(?xiD …A)…@I…Ai… AQAMaWE,Ey=}>IȹŽ4?Ž ƽeB  @9ƽ)yDǽ: Ƚ#:)ȹWmk?WiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUyU` ?B<;B BA-=*BA|[:AAA~y<"Cr?RCB=Ck?C!1I!GMu>     c2:Y DW1y Y: 59 @9q,;EA||49CIiGiݽ@v; E)ݝCIݝCiݙݝ=ݝ=ݝ~6Yj@ylpG-=i-= @ @ @Å©ÅÅiÅ@Å ą)āIą@iān<M/=Y~;QU>aWE,EyEq=}>Iȱ :ŵT4? :ŵ ƵeB  @9Ƶ=yDǵ8: ȵ:)ȵ:W&\?WYXa XaWa:Wa2Wa*WiVibUiBUi*UiUqUuÄ?B;B BA=*BAi:AAAy<"C&\?RC >C&\?CLױIG>!q,UEAY}R|Y?}R?y}R0<}R=}RHcn? Q?`<$?`xR? ;0?]?)~R|Y? ~R_;I~RCɫqy)y yIyY@yoG_JMr=Y}0;QU?aWE,Eyw=}?Iȩŭ4?ŭ ƭeB  @9ƭKyDǭ4: ȭ@:)ȩWNQ?WX XW:W2W*WVbUBU*UUU?B;B BAϣ=*B!A%ج:A!A!A%Rz<"C-P?RC-[>C5NQ?C1-A'IG )>     6:Y W1y č: 5Nq,amoEAɫ) IY-@y5{nG 鿙   `eui@ @)@I@i@mMC=YQU>a WE ,E y}>I4?[ eB % @9]yD: :)WE9C?WIXI XIWI:WI2WI*WQVQbUQBUQ*UQUYU] .@B@;B BAOB=*BA$ :AAA}hz<"CzWG?RC0s>C9C?C խ=ԭ=օ뽹9IIGe4>>9IhGi:@=NDc; Ey2q,.7EAY}2?}26?y}2I<}2A=}2HW^?I??M?~`<?`?)~2? ~2^;I~0ɫYY)Y YIYY}+@y}nGI)A<Md=Y;QU>aWE,Ey{>}>I :%4? :L eB  @9lyD7: ":):W j7?W X  X W:W2W1*W1V9bU9BU9*U9U9UE@RMB*** querying acoustic contact ***PIPIB;B BAl=*BA4:AAA4z<"C9?RC >Cj7?C~4׉IG>    4:Y X1y /: %5lq,]SEAY}>V?}>vԛ?y}>~"_<}>7_=}>Hl%?@º?? ?[@䋿`>?`?)~>V? ~>^;I~>Cɫ99)9 9I9Y@ynGZ****** received transponder code query ******F****** received ping request ******Խ +=)Iy|?5^?~jtI +?2?D9< µA)±IµAiµAAM7=Y=;QU>aXE,Ey ;=}>I04?Y eB  @9yDʽ: :)WJ'?WX XW:W2W*WVbUBU *U U U @B];BY BYA]G=*BYAe¥:AaAaAeUI{<"CmG0?RCiCmJ'?Cqm AIaG}Y>q,gEAY}6f?}6ĝ?y}6m<}6=}6H9CIhGi@= D[; E"ף=iף@ ƣ@)@Ii-M-+=Y-&:QU->11a5XE5,E9y==}=>Ia m:e;4? u:e} eeB u @9eyDe: e8:)e:W?WX XW:W2W*WVbUBU*UUU! @Bfs;B BA 9=*BAS5:AAA{<"C5?RCC?C!ԉԍjAuZ%=Iׁ)ׁi Iq G >     1:Y V1y : 5) ;9 oq,֗EAY}F?}F?y}FSo<}F=}FHҬ?`*H?G??7ꍿ@27?`?)~F? ~F-_;I~Dɫyy)y IYT@ymGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 1i5=EiAEjAu0Mu=Y}9QU} ?yya}XE,EyF<} ?IȑŕC4?ŕr ƕeB  @9ƕyDǕ: ȕӻ:)ȑWxq ?WX XW:W2W*WVbUBU*UUU=@B˃;B BA=*BA:AAAU|<"Cg?RCCxq ?Chp=יIGA>q,EAY}:B?}:9y?y}:8p<}:=}:H@m?;I ?R?p?`u4Ӳ??)~:B? ~:_;I~:CɫQQ)Q QIQY@ymGxDUSBL response received:!U1,R,3A8,000,008DE,188,80,80,A2,FF Fpublishing direction and range infoQɰ9>鰝> )"CIyfB6^?Sٱ\=;iz@ z@)ƣ@I@i@6MD=Y_8QU>aXE,Ey <}>I :L4? :rc eB  @9yD:  :):W%>W!X! X!W!:W)2W)*W)V1bU1BU1*U1U1U=E@PI*QMfBZQMK%P@ǿQJQM6^?S2QMQ:QIbQMObV@p D@,_oRQMn?4;/?.0asJBQM> QM,$BQMBPMV9?PM]9?PM QMQM{"QMa>BT;B BAw<*BAq:AAA|<"CP?RCC>C?~=IGi>ܕ>9ܑIܕ@gGiܕ@ܕ=ܑܑܕo; ݕE     /:Y DW1y Y: 5) 7;8q,ۉ EAY}~\?}~ܓ?y}~!h<}~/=}~H`a?nB ?`T?d?~@r°? ?)~~\? ~~w_;I~~Cɫ) IYmU@ymlGDNmea in: $SNTTA,,,,,013735.08*55 -pM-E=Y5~QU5>11a=XE=,E9y=l;}E>IIMV4?MQT MeB U @9MyDM: M:)ImqAdded new target pos. range: 98.700005 m, bearing: 24.625692 deg, deltaT: 4.415720 s, approachRate: -0.570686 m/s, LOS rate: 0.594434 deg/s, posRepo size: 4m ProNav: pos range: 98.700005 m, bearing: 24.625692 deg, approachRate: -0.570686 m/s, LOS rate: 0.594434 deg/s, cmd update: 1.783302 deg/s, cmd heading: 28.513133 deg, new cmd heading: 25.385641 deg. W?WX XW:W2W*WVbUBU*UU̬X@U@?BuqI:Bq BqA}9*ByA}}:AyAyA}d}<"C>RCC?C ս!>Խ>h=?i?בIGb>i%nGIYi!˿ٺAq,)[$EAY}2&?}2FE?y}2^<}2L^=}2H@F?@A?N?n?rËqū?/?)~2&? ~2<_;I~2Cɫ99)9 9I9Y]B@y]lGI)Ponly read 0 of 1 data item for BIT errora i@a  a m@a  a q@a  a e@a  )= >MU=YкQU>aXE,Eyv̻}>Iȱŵ^4?ŵWF ƵeB  @9ƵyDǵ: ȵK>)ȱW?WX XW:W2W*WVbUBU*UUU{?B}:B! B!A%*B!A!A!A)A-8~<"C5>RC1C5?C9M= I1Gu6>     /:Y WU1y : $59 @q,i:>EAY}24g?}2T?y}2\<}2'=}2HD? :@Ϥ?` A??-?@@?:?)~24g? ~2(_;I~2CɫYY)Y YIYY@yOlG999I=xfGi=S@==999 =Em>mp>m"[im @i i)m@Im@imz@}YpM}L=Y}~QU>aXE,Ey`P}>Iș :ŝh4? :ŝ7 ƝeB  @9ƝyDǝ: ȝBI?)ȝ:WU?WX XW:WI2WI*WIVQbUQBUQ*UQUQU]h?BB BA*BAAAA,~<"C|#>*CXqRCCU?Cc}.>׹IGE>Rq,XEAY}2V?}2>?y}2e<}2]<}2H#V?*@ґ?@*? Y???s?)~2V? ~2*_;I~2Cɫ99)9 9I9Yu@y}/lGMS=Yp:QU>aXE,E y } >Iq4?) eB % @9yD: 9?)WE ?WAXA XAWI:WI2WI*WIVQbUQBUQ*UQUYU] Z?BB BA*BAAAAwz<"CB>RCC ?C֍xX>IIQGu>     z.:Y U1y : 5%q,qEA||;Y}6H?}6g?y}6)m<}6 }6HI?`H!?~?*Ɣ?`@ ?)~6H? ~6^;I~6Cɫ99)9 =I9Y}ؾ@y}jGi= ]@ ]@ ]@]©]]i]@] Y)]I]@i]@mMmC=Yuu:QUu>yya}XE},Eyp}>Iȉō4{4?ō ƍeB  @9ƍzDǍ : ȍ?)ȉWa?WX XW:W2W*WVbUBU*UUU @B,B BAּ*BA :AAA$<"C (?RC C a?C >IG (>=>9=CI=eGi=@==99=q; 9)͇CI͇Ciɇ͇=ɇ͇ 6"q,NjEAɫyy)y yIyY@ykGU=<MUL=Y]QU]>YaaeXEe,Eaym}m>I 4? eB  @9#zDR: 8@)Wb?WX XW:W2W*WVbUBU*UUU`#P@B-tV9B1 B1A5k*B1A5}:A9A9A=熀<"CEb?RCACEb?CA֥N؅>yIG^>   1:Y y %5(q,¡EAY}2^?}2?y}2 a<}2l'}2H O?`n9̴?g?J?'#T3?)~2^? ~2W_;I~2CɫYY)Y ]IYY@yujG 鿱a iEa iE a mEa mE a qEa qE a eEa eE EV-?NbX9?y&1?Eh?EE> E`e=)AIAyEx&? rh rh?E7)?EC EC< EA)EQ AIE7 AiEAAE Ae(MeJ=YeQUe>iiamXEm,Eqyuн}}>Iy :}4? :} }eB  @9}3zD}: }4:)}:W?WX XW:W2W*WVbUBU*UUU@4z@RB*** querying acoustic contact ***PPBsB BA7*BA/:AAAU<"C?RCC?C % >%>>IGj>~$/q,0EAY}2?}27?y}2S<}2}2H "?`&15?+?9?}CH?)~2? ~2``;I~2Cɫ99)9 =I9Y}@y}iGZ****** received transponder code query ******F****** received ping request ******9IdGi @= D|; EI1)5AI9)=A   ½Yti@ @)I\@i\@bM@=Y QU->11a5XE5,E1y=z}=>IAEd4?EG EeB  @9EFzDE< E<)AWUS?WX XW:W2W*WVbUBU*UUU @BMBQ BQAUO*BQAU@:AQAQA]W<"C]]*?*CeRCCUS?CyQIYG}z>     "6:Y X1y /: n5) ;9 6q,W٘EAY}2#x?}2A?y}2l%K<}2&}2HA?|`K¿?@)A?ϴ?dĿ`?)~2#x? ~2~_`;I~0ɫ99)9 =I9Y}@y}DiGxDUSBL response received:!U1,P 3A8,000,008DE,188,80,80,A2,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2!M^=Y7QU >aXE-EyS}>I :գ4? :X eB  @9VzD4: b:):W?WX XW:W!2W*WVbUBU*UUU Lx @BMBBQ BQAU"*BQAUv:AQAYA]cɁ<"C?RCC?Cֱ׉IG>4aXE-Ey}>IȱŵԮ4?ŵ ƵeB  @9ƵgzDǵb: ȵ:)ȱWe:?WaXa XaWa:Wa2Wa*WiVibUBU*UUU1@BbB BA*BA :AA A _7<"C:?RCC:?C=6Ʌ>IA)EiAI!G=r>>9IdGi@=; E     4:Y d\1y : 5) ̐;Cq,4 EA||Y}:L?}:׃?y}:X3o<}:P}:Hm?{hſ?+?:;?`%捿SɿU?)~:L? ~:Z`;I~:Cɫ99)9 =I9Y}@y}hGxDUSBL response received:!U1,R,2DB,000,008B9,189,80,80,AC,FF Fpublishing direction and range infoN#ɰ6>鰅7> ),CIyB;4.?)mٱ=i<MZ=YR;QUu>qya}XE}-Eyy'}>Iȉōn4?ō ƍeB  @9ƍxzDǍf: ȍ:)ȉWٹ"?WX XW:W2W*WVbUBU*UUU`@P*QBZQL:Cb`S@VcLJQ;4.?)m2QN#:QbQniU@f hD@ M'$@RQGH?\?4<*,=׻?BQR> Q@#BQBPR9?PV9?PQ Q/A"Q{BB BA*BAj:AAAܵ<"Cٹ"?RC9>Cٹ"?Cֽ>יIGb>wFIq,:&EAY}5#ޤ?}5??y}5<}5Y}5Ht4?@V@Kƿ ?b~?^?`b ˿F?)~5#ޤ? ~5EI_;I~5Cɫ) I!YU@yUgGdNmea in: $SNTTA,0.403488,0.403888,,,013739.52*5A %tV?y&1kt?%>%`e % 0=)!I!y%v?:v?%8?%T%< %h@)%AI%p Ai% A!%p A]L]]9aXE-Ey"Y}>I :n4? :$ eB  @9zD8: :):m%qAdded new target pos. range: 96.479996 m, bearing: 25.185069 deg, deltaT: 4.436908 s, approachRate: -0.500350 m/s, LOS rate: 0.126074 deg/s, posRepo size: 4m5 ProNav: pos range: 96.479996 m, bearing: 25.185069 deg, approachRate: -0.500350 m/s, LOS rate: 0.126074 deg/s, cmd update: 0.378221 deg/s, cmd heading: 36.419966 deg, new cmd heading: 37.322326 deg. W5#?W1X1 X1W9:W92WY*WaVabUaBUa*UiUm@X@Um@e?B¡B BA=Ƚ*B9A=H:A9A9A=j<"CE!?*CE}RCM >CM#?CI֍ x>a Iq G > v    ;=:Y V1y : \59 @.Pq,D@EAY}2?}2ā?y}20<<}2`}2H?`@"ƿ(?@j?g?W@q˿;?)~2? ~2^;I~2CɫYY)Y YIY܅>9܅CI܅cGi܅@܅=܁܁܅; ݅EYA@ygG  =M==Y=YQU=?AAaEXEE-EIyM}M?I~4? eB  @9zDr: :)W$?WX XW:W 2W *W VbUBU*UUU`%?BEBE< BAAE:۽*BAAM]:AIAIAM߃<"CU#?RCUql>CU$?CY->IG-,>XVq,bZEAD>AC|@IPi\v˿ٺtvYAY}U%?}U |?y}Ui<}UOg}UH y? ǿz? ? gR?t2̿-?)~U%? ~U^;I~UCɫ11)1 9I9YU@yUfGI)A5f!M5;=Y5QU=>99a=XE="-EAyEy}E>IQ ]:U4? ]:Un UfB ] @9UzDU{: U:)U:W}r$?WX XW:W2W*WVbUBU*UUU?B,JB BAh*BA-|:AAA"y<"C^#?*C.{RC]>Cr$?C>יIGb>I @A)   /:Y y 5\q,xtEAY}B?}BCu?y}BZ5<}BCk}BH Y[?`ǿs5? ?$?L@/Ϳ '?)~B? ~Bf^;I~BCɫYY)Y YIYY@y=gGmn>mO>mKim@i m@)m@Imimҙ@ <MV=YQU>aXE(-Ey2}>IșŝD4?ŝӒ Ɲ fB  @9ƝzDǝ4: ȝ:)șW6t%?WX XW:W2W*WVbUBU*UUU "?B rB  B A*BAƘe:AAA<"C6t%?RCN<>C6t%?C֍V}>I׉)׉aIiG9>܅>9܅CI܅XcGi܅ȸ@܅=܁܅ D܅; ݅Ejcq,UEAɫ髙) IY@yfGԣMI=YQU>aXE/-Ey}>Iȱ :ŵ4? :ŵ] ƵfB  @9ƵzDǵ: ȵ:)ȵ:WF$&?WX XW:W2W*WVbUBU*UUU@y@B%B! B)A-U*B)A57K:A1A1A=2q<"CEF$&?*CElzRCE?>CMF$&?CQek9IaG> .    K:Y X1y /: I5iq,r3EAY}2Ȓ?}2e?y}2;_;}2]Tq}2H?'aRƿ?`U? _?@@Ϳ@O?)~2Ȓ? ~22^;I~2Cɫ99)9 9I9Y}j@y}fGijt?y&1L7A`? ?`e +=)Iyl?Mb{Gz?7?ף< ½@)½5(AI½Ai½5AAhA"MF=Y&QU>  aXE5-E!y5}=>IQU4?Ux UfB } @9UzDU0; U/;)QWU&?WQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUU)@BOB BAv*BA*:AAAV<"C&?*CyRCΟ>C&?C  d<\> I G > =i =}pq,[ ™EAY}2A?}2^?y}2e<}2]o}2H?` ſ`q? ?@r? ٥Ϳ ?)~2A? ~2^;I~2C%>9!I%bGi%w@% =%OD!%; %E)ŀCIŀCiŀCŀ=ŀE6ɫyy)y yIyY@y+fG-7-#-x>i-(@) -@)-@I)i-@=S޼M=U=YEA/;QUE>AIaMXEM;-EIyU}U>IY]R4?]l ]fB e @9]zD]: ]:)YW|'?WX XW:W2W*WVbUBU*UUU``@RB*** querying acoustic contact ***PPB-*'B) BIAM*BQAUڎ:AQAQAUZ<"C]|'?*C]XyRC]<=Ce|'?Caii)i iϚN>?is?IG >    X:Y U1y : 5) ;9 vq,mۙEAY}>?}>RW?y}>lO@<}>Fh}>H G?W`&Ŀp? J?? ~>Xo_;I~>CɫYY)Y ]IYY@yeGZ****** received transponder code query ******F****** received ping request ******11a5XE=B-E9yE:}E>II ]:M-4? ]:M~` M%fB ] @9M {DM'; M(;)M:W+(?WX XW:W2W*WVbUBU*UUU" @B&B BA*BA9AAA<"C+(?*CxRCÌ=C+(?CHL0>׉IG>=|q,EAY}:/?}:Q?y}:n<}:`}:H? `ÿ`?@? V?U˿:?)~:/? ~:7_;I~:Cɫ99)9 =I9Y}@y}eGxDUSBL response received:!U1,P 2DB,000,008B9,189,80,80,AC,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= >Å>Å33ÅSiÅ@Á ą@)ą@Iąٮ@ią@5&M5.=Y=;QUE>IQaUXEUI-EYywM}>IșŝyA4?ŝeR Ɲ*fB  @9Ɲ#{Dǝ; ȝ;)șW (?W X  XW:W2W*WVbUBU*UUU%@ @Br!B BA#*BAT9AAAA<"C(?*CSxRC~Ђ=C(?C>=>9=CI=,bGi=Է@= =99=; =EIG>I ) @A    D:Y V1y : 5) 2;ȃq,EAY}2A?}2\L?y}2><}2Y}2HT?@y ??K?g@$˿`F?)~2A? ~2$^;I~0ɫ99)9 9I9Y@yeG鮙ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U;M]k=Y]8;QU]?aaaeXEeO-Eiym|}u?Iȁ :ŅO4? :ŅH ƅ-fB  @9ƅ2{DDž55; ȅ&;)ȅ:W~)?WX XW:W2W*WVbUBU*UUUx&@B<B BAu!*BA,9AAAFX<"C~)?*CwRC7=C~)?C!>IGEs>+q,}x)EAY}:\ԃ?}:H?y}:!B<}:FR}:H@̵? q$M̉?(?`?Ȑ ]"ʿ OR?)~:\ԃ? ~:•^;I~8ɫ99)9 9I9YyyyxDUSBL response received:!U1,R,128,000,00887,186,80,80,AE,FF Fpublishing direction and range info Aɰ2>鰅> ).CIyBT7?l39YпٱI4=)R=|?5^?MbQ?? u=)IyB`"?iõG@ñ ĵ\@)ĵIĵ@iĵ@YI:QU>aXEW-Ey}>Ic4?; 7fB  @9G{D': Q:)W [*?W X  X W :W2W*WVbUBU*UUU @P)*Q-BZQ-q;V@_ 7JQ-T7?l39Yп2Q- A:Q)bQ-3C*T@oB[G@u ' @RQ-,?ZL!?9wT?BQ-W? Q-z= = }= }=  = "C:Y= kS1y= Ԋ:= 59E @͐q,)^CEAj>9hIjaGij@j=hhj; jEY}m?}mAD?y}m1y<}m3I}mH` ?@ƿ 2?@?xw?ΐ * ɿ``?)~m? ~mV^;I~iɫ11)1 1I1Yu}@yuqeGTNmea in: $SNTTA,0.232046,,,,013743.96*4C cM޹ i޽ =8q,.]EAY}2R$?}2ٶ@?y}2 <}2?}2H Y?uR?@?`?l#ǿ`o?)~2R$? ~2^;I~0ɫ99)9 9I9Y}@y}dG= M=X=Y=_:QUE>AAaEXEEb-EIyM}U>IY]4?]) ]DfB e @9]g{D]ϸ: ]ܹ:)YW`]5?WX XW:W2W*WVbUBU*UUU)?BhVSB BA3*BA'hAAAۃ<"C`]5?RC\C`]5?C֭z:=IG-->= < = = =  = M:Y= Y1y= := $5q,wEAY}6%}?}6=?y}62ܙ<}6T/}6H~? Y ?3?`? <;`Aſ?)~6%}? ~6^;I~4ɫyy)y yIyY(@yeG !!uף;uq>u'=iuf@q q)qIuE@iu&@;MC=Y;QU>aXEi-EyU}>I :4? :p LfB  @9y{D^: :):W;?WX XW:W2W*W V bU BU *UUUJ?B=SGBA BAAE0*BAAEAAAAAM]<"CU;?RCUqCU;?CQօп8=YIiGZ>>9CIaGi@=ND; E3q,*吚EA|i|@Y}66z?}6i:?y}62߸<}6}6H ?`,tJ!X? x? m?eÿl?)~66z? ~6^;I~6CɫYY)Y YIYYֹ@ydGI!)!]gϼM]P=YeiiamXEmo-Eqy}NҼ}}>IȁŅ4?Ņ ƅQfB  @9ƅ{DDž; ȅ;)ȁW5A?W1X1 X1W1:W12W9*W9V9bU9BU9*UAUAUE ?B3VB BA:*BAAAA>U<"CA?RC2̰CA?CiA֥:WE E E E  E B:YE WU1yE :E 85@q,EAY}>px?}>8?y}>|Y<}>}>H?@ږ$?\?^?Xj3y?)~>px? ~>^;I~>CɫYY)Y YIYYk@y dGPonly read 0 of 1 data item for BIT errora i@a  a m@a  a q@a  a e@a  --$-`=i)) )))I)i)}NM}8=YaXEv-Eyו}>I4?Q VfB  @9{DJ: >)WH?WX X)W):W)2W)*W1V1bU1BU1*U1U9U=`?B `aB BAVH*BA4AAA <"CH?RC'CH?Cֽ*_סIGc>)q,EĚEA6>94I67`Gi6>@6=6MD6D6; 6EY}Fv?}F2L7?y}FC<}FE}FHY!?@G`u??@X?`[]m@J?)~Fv? ~FJ^;I~Dɫyy)y yIyY@y[dGI%=)%=<M^=Y;aXE|-Ey}>Iș :ŝ4? :ŝr ƝYfB  @9Ɲ{Dǝ: ȝO?)ȝ:WwN?WX XW:W2W*WVbUBU*UUU @B xuB  B ARB*BA2WAAAz<"CwN?RCB C%wN?C!mO!I1GM1>    C:Y V1y : 5) ;9 GCq,`vޚEA||Y}6Mv?}6v6?y}6=}6f}6H1? ?@? ?`H7``?)~6Mv? ~6_;I~6CɫQQ)Q QIQYo@y$dG@ATjMW=Y3aXE-Ey }>I4?# [fB  @9{Dį: ?)W S?W X  X W:W2W*WVbUBU*UU!U%@R-B*** querying acoustic contact ***P)P)BMBuBQ BQAUG*BQAU~AYAYA]Ϗ<"CeS?RCeCeS?Ca u=u>mhm?im}?AIIGm5>$mq,jPEAY}2v?}2u6?y}2`"=}2v}2H 1?@J`?@w?`JS?Jf =?)~2v? ~2V _;I~2Cɫ99)9 =I9YyZ****** received transponder code query ******F****** received ping request ******aXE-Ey(}>Iȩŭ4?ŭ ƭ\fB  @9ƭ{Dǭ-: ȭ?)ȩWKZ?WX XW:W2W*WVbUBU*UUUC @BjB= BA*BACAAAS<"CKZ?RC^_3CKZ?CஜׁIG=>e>9eCIe _GieJ@e=aeDe; eE)5CI5Ci5C5=5=597  B:Y y &5) ۜ;OUq,,EAY}Bv?}Bd7?y}B2=}B}BHi?6 P@;??Ã?@Y`mz ?)~Bv? ~BJ^_;I~BCɫYY)Y ]IaY@ycGxDUSBL response received:!U1,P 128,000,00887,186,80,80,AE,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 YYMSMU!a-XE--E9ym;}m>I4?% [fB  @9{D-< @)Wb?WX XW:W2W*WVbUBU*UUUL @B%lB) B)A-d*B)AM2AQAQAU<"C]b?RC]h`KC]b?CYԙԙm x Iq )u hAA II Gm >zq,,EA|i|@Y}6ʜx?}6 9?y}6dD=}6U&}6Hm?2@~?`$?? ֯?`ä?)~6ʜx? ~6"_;I~6CɫYa)a iIiYU@yUwcGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B a ia i a ma m a qa q a ea e 5^I ?Mbp?X9v??; <)Iykt?~jth?/$? 0?D;< A)AIi A A%E>%)>%ҽi%p@! %ҙ@)%ҙ@I%9@i!5<M5L=Y5399a=XE=-EAyEƏ<}M>II U:Mv4? ]:M MVfB ] @9M{DMI: M:)M:W}1_g?WyX XW:W2W*WVbUBU*UUU@B] WBY BYA]wY*BYAǺAAA۔<"C1_g?RCTC1_g?C]BI!GEs>    Z:Y 0Y1y : 759 @e ~>9e CIe |]Gie @e =e ODe De ; e Evq,#FEAY}>l{?}>;?y}>V=}>h2}>H@? ]q@{/?f??{?Ҫ`EC?)~>l{? ~>._;I~>Cɫ髙) IY@yEcGxDUSBL response received:!U1,R,0F8,000,00855,185,80,80,AE,FF Fpublishing direction and range infol]ɰ.>+> )IyB/8@?N r|˿ٱqM s=Y TS@VF@脬RQ}2^J?x]w?/6һBQ}Mc? Q}2BQ}BPyP}H9?P}Q}Q}U?"Q}AB`B BA^*BA,,ںAAA@Y<"Czl?RCZCzl?Cq<VIG >q,_EAY}U?}s??y}#f=}ȸ<}Hzl??V? z{?&?EC? ?)~U? ~n`;I~ɫ) IYm@yubGTNmea in: $SNTTA,0.062662,,,,013748.41*4A I=)-y1M-:=Y5[ 11a=XE=-E9yEa=}E>II U:My44? U:M MIfB U @9M|DM: M:)M:muAdded new target pos. range: 90.480011 m, bearing: 29.629951 deg, deltaT: 4.359114 s, approachRate: -0.688212 m/s, LOS rate: -0.151729 deg/s, posRepo size: 4m ProNav: pos range: 90.480011 m, bearing: 29.629951 deg, approachRate: -0.688212 m/s, LOS rate: -0.151729 deg/s, cmd update: -0.455188 deg/s, cmd heading: 52.927054 deg, new cmd heading: 54.415118 deg. WƖk?WX XW:W2W*WVbUBU*UUV@U`+?Bu/퍼Bq BqAuq*ByA}UAyAyA}-<"C-l?*C wRCMCƖk?C}r=e-yi}?QIG>     I:Y V1y : %5q,RyEA|4<|4<ɫyy)y yIyY@yaGuub>um=iu@q u@)u@Iu@iu@AMV=YQU>aXE-Ey}>IȡťD4?ť} ƥBfB  @9ƥ*|Dǥ: ȥ<)ȡWm`j?WqXq XqWq:Wq2Wq*WyVybUyBUy*UyUU?BLB BAA*BAV AAA6y<"C`j?RCnGC`j?C  )  >9 CI [Gi @  = PD D *; ϗEmVI IQ Gu >qq,~tEAY}2?}2CH?y}2av=}2}=}2H $?@K^ V???q _Ǯ??)~2? ~2k`;I~0ɫ99)A EIAY]۷@y]3bG <M S=Y (aYE-Ey%=}%>I)-T4?-ޭ -:fB 5 @9-;|D-8: -Q:))WUj?WYXY XYWY:WY2WY*WaVabUaBUa*UaUiUm M?B_B BATz*BAAAAd<"Cj?*CTxRC#'%Cj?CZIGF>    G:Y U1y : 5q,PEAY}]:?}]mL?y}]v=}] =}]H@ ??`c??`M?`Iծ`%?^?)~]:? ~]@`;I~YɫQQ)Q QIYY@y`G K7A`?MbpX9v?> )Iy~jt?S㥛I +?;?/ݼ9< µA)µ AIµAiµ A=Q8>i@ )~@I~@ih@M%-=Y%p9QU%>))a-YE--E1y5=}5>I9 E:=i4? M:=m =.fB M @9=Q|D=; =w;)=:Wmi?WqXq XqWq:Wq2Wq*WyVybUyBUy*UUUb?BYB BAM*BAK%AAA <"Ci?*CxRCCi?CֽGyIG^> >9 I YGi *@ =   ,;  zq,*ǛEA|i|Y}2?}2#Q?y}2r=}2݂>}2Hk? S]? V?`E?`槿;@?A?)~2? ~2pa;I~0ɫYY)Y ]IYY @y_G:PMr=Y%edQU%?!!a%YE--E)y-uc=}5?I9=x4?= =&fB E @9=a|D=b: =:)9WWh?WX XW:W2W*WVbUBU*UUUyA@BQ*μB%r%= B!A%*B!A% 73A!A!A-٠<"C5Wh?*C5(yRC5C5Wh?C9MQ(IG--> d> }2H![?^@)?}?@]?` }@_? ?)~2 !? ~2Na;I~2CɫII)I MIIY}@y}_GђMJ=YzkQU>!!a%YE%-E)y-BF=}->I9 =:= 4? E:= =fB E @9=t|D=: =M:)=:Weg?WiXi XiWi:Wi2Wi*WqVqbUqBUq*UyUyU} o]@BǼB BAS*BABAAA-}<"C5g?*C5;yRC=XC=g?C9Ef$I)GeV> q,&EAɫyy)y }IyY@yv_GAAI4=)%=%%">%i%Q@! %~@)%@I%@i%@-M5I=Y5QU=>99a=YE=-EAyE}E>IIM4?M~ MfB ] @9M|DM; M;)IW}f?WX XW:W2W*WVbUBU*UUU.@RB*** querying acoustic contact ***PPB̼B BAΠ*BAYSAAA%<"Cf?*CnyRCCf?C =>֭0BiIyG>ܽ>9ܽ~CIܽWGiܽB@ܽ!=ܽQDܹܽ&; ݽ˗E= = ~= ~= t = m>:Y= T1y= @:= 5)= ;q,@EAɫ) IY @y.^GZ****** received transponder code query ******F****** received ping request ******aYE-Ey}>I :٭4? :)r fB  @9|D: j:):Wve?WX XW:W2W*W!V)bU1BU9*UAUAUU` @B5BԼB9 B9A=x*B9A=hA9AaAe˹<"C}ve?*CeyRCBݽCve?CёmM佹I IQ Gu >: q,T.EAY} \?} 6f?y} 8W=} >} H?`\l?x?`?`dΫ㪿@|??)~ \? ~ !`;I~ ɫ) IY-@y-S]G5xDUSBL response received:!U1,P 0F8,000,00855,185,80,80,AE,FF 5Command Ack=BRequesting micromodem ping code 2i99ENmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -?zG?~jt5> W> D)Iy(\?{Gz:v?z4?ף< …A)…AI…Ai… AA]lG]]Ti]@Y ]I@)]@I]@i]I@m(M=Y-QU>aYE-Ey=}>I4?a eB  @9|D/; <<)Wd?WX XW:W 2W*WVbU!BUA*UIUIUM`ė@B1׼B BA*BAD$AAAu<"Cd?*C(yRC\MCd?Cѝ @%=ܝ >9ܝ CIܝ VGiܝ @ܝ =ܙ ܝ Dܝ 4; ݝ חE)-CI-Ci-C-=-=-\7  z z T B5:Y Q1y : ̫5) ԑ;ש I G > Hq,IEAY}R R?}RBk?y}RF=}Rl>}RH ph?| i?2e??f?}`֨w?C?)~R R? ~Rn_;I~RCɫ髉) IY˲@y[GɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B _M=Y0dQU?aYE-Ey@=}?Iȡť 4?ťHY ƥeB  @9ƥ|DǥǺ: ȥ:)ȡWV'd?WX XW:W2W*WVbUBU*UUUJ^@Be%B BA+ξ*BAYAAA<"CV'd?*C5yRCCV'd?C) qqEOν I1 GU >mq,qZcEA|i|@Y}6.l?}6Fo?y}6\3=}6>}6H?Zu?Z??-֩i\? S?)~6.l? ~6r_;I~6Cɫ99)9 =I9Yuϲ@y}[GxDUSBL response received:!U1,R,234,000,00822,189,80,80,A7,FF Fpublishing direction and range info}dyɰ}*>}7> y)}'CIyy}׮B}śK3?E>޿ٱyI)AM:MMO=YmDQUu>qqa}YE}-Eyy(=}>Iȁ :Ņ4? :ŅL ƅeB  @9ƅ|DDž; ȅ;)ȅ:W_c?WX XW:W2W*WVbUBU*U U U- %@P9*Q=׮BZQ=@uBS@<ĺDJQ=śK3?E>޿2Q=d:Q9bQ=) jOS@B@'"RQ=.?wqd?:nC;BQ=> Q=BQ=BP=M9?P9P=Q=Q=m"Q=U?BgB BA;*BAAAA4<"C_c?*COoyRC4C_c?CPVׁIGE>5 5 |5 |5  5 G/:Y5 R1y5 i:5 )59= @q,1}EAY}UZ?}U#s?y}U=}UӸ>}UH U?p?@?L?`] $?@c?)~UZ? ~UdF_;I~UCɫ11)1 5I9Yu@yuvZGTNmea in: $SNTTA,0.082887,,,,013752.87*40 ===T<=D;i=3@9 =@)=I@I=3@i=3@MMM;=YM_QUU>QQaUYEU-EYy]=}]>Iae}4?e:? eeB u @9e|De: eD:)am=uAdded new target pos. range: 87.419998 m, bearing: 25.497477 deg, deltaT: 4.481606 s, approachRate: -0.682794 m/s, LOS rate: -0.922097 deg/s, posRepo size: 4m ProNav: pos range: 87.419998 m, bearing: 25.497477 deg, approachRate: -0.682794 m/s, LOS rate: -0.922097 deg/s, cmd update: -2.766290 deg/s, cmd heading: 50.888892 deg, new cmd heading: 50.686863 deg. WR]?WX XW:W2W*WVbUBU*UU@U@U?>9CITGif@=PD:; ޗEBFB BA*BAuAAA$<"CR]?RC<CR]?COIG>%q,EAɫ髙) IYQ@y(ZGIR=)=MR=YQU>aYE-Ey}->I9 U:=4? ]:=2 =eB m @9=|D=~; =;)=:W}ȿIGn>5 5 5 5  5 ?:Y5 [1y5 ݏ:5 M5+q,u氜EA|;|Y}6x?}6c^y?y}6<}6f>}6H ~?/$4?@u?`?Ҝ c??)~6x? ~68_;I~6Cɫyy)y }IyYl@yYG=i/$?+?Mb`1(?= )IyHzG? ףp= Zd;O?=*?Q8j< \A)AIAi5AA===#<=Ti=@9 =3@)=ҙ@I=@i=h@MMMC=YUͼQUU>QQa]YE]-EYye5r=}e>Iae.4?e& a u @9e }DeQ: e:)aWR%T?WX XW:W2W*WVbUBU*UUU>?B<%B BA *BAt۶AAAJ<"CR%T?RCegYy=CmR%T?CieNJκI)GER> >9 CI RGi !@ = -; ٗED2q,ʜEAY}2摝?}2{?y}2#<}2=}2Hz?fa`?`ǝ?@a?c ?k?)~2摝? ~2\r_;I~2CɫII)I MIIY} @y}XGM`=YSQU>!!a%YE%-E)y-E<}->I1 =:54? =:5 1 E @95}D5: 5:)5:WeO?WaXa XiWi:Wi2Wi*WiVibUqBUq*UqUyU}s?B*B BA$*BAӉ»AAA;<"CO?RCu=CO?C֥Xa8q,EA  5:YWU1y:5)s;9Y}:?F?}:|?y}:x<}:.=}:HB??5??@`Δpӻ? ?)~:?F? ~:_;I~:Cɫ99)9 9I9Yh@yWG aaAMC=YQU>aYE.EyV<}>Iȱŵ#4?ŵ; ƵeB  @9Ƶ+}Dǵr: ȵ:)ȱWjrJ?WX XW:W2W*WVbUBU*UUU @B%B BA)*BAѻAAA<"CjrJ?RC =CjrJ?CIMhA-e<I G%M>w>q,vEAY}:?}:p}?y}:<}:=}:H܋?y(?U?K?4b? ?)~:? ~:]_;I~:Cɫ99)9 9I9Y}@y}VGI)Aup=u=u+iu@q u@)qIu@iu@jMK=YQU>aYE .Eyʮ;}>Iȡ :ť04? :ť7 ƥeB  @9ƥ<}Dǥ: ȥ:)ȥ:WxE?WX XW:W2W*WVbUBU*UUUN@B;6B BA*BA%V޻A!A!A%慸<"C-xE?RC-e=C-xE?C1-.%=u>9qIu`QGiu-@u=quDu&; u֗EIG (>IA )A Eq,REAY}2E~?}2j}?y}2\<}2w=}2H?`W3? ??@0K`?5?)~2E~? ~2_;I~0ɫYY)Y ]IYY@@ybVGimGI!iӿٺ%AQQPonly read 0 of 1 data item for BIT errora i@a  a m@a  a q@a  a e@a  M 4=Y QU>aYE.Ey}}>I!%:@4?% %eB u @9%O}D%: %>)!W??WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB5l-B1 B1A=k *B9A=CnA9A9A=A<"Ce??RCe,l >Cm??CiU=Yi]p?1I9GU>U U yU yU  U -:YU P1yU ':U q59] @iKq,,2EAY}2?}2|?y}2GN.<}2y=}2H|?ɝW?@E? ޟ?:0Ʌ2˱??)~2? ~2Q_;I~2Cɫ99)9 =I9Y@y0VGZ****** received transponder code query ******F****** received ping request ******];iYY ]@)]@I]@i]@mgMui=YuQUu>yya}YE}.Ey}>Iȉō>L4?ō5 ƍfB  @9ƍ^}DǍ5: ȍiN?)ȉW;?WX XW:W2W*WVbUBU*UUUڽ @B-LB BA *BAWAAAۑ<"C;?RC>C;?C >>=סIGB>m >9i Im OGim @m =i m Dm 9; m ERq,x LEAY}:9?}:z?y}:ؚ<}:H=}:H? ?;? T?`OsO?`?)~:9? ~:sD_;I~8ɫYY)Y ]IYY2@yUGxDUSBL response received:!U1,P 234,000,00822,189,80,80,A7,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 jAjAdMD=Y ɻQU >aYE.Ey}>I!%Z4?% % fB  @9%p}D%`< % ?)!W5?WX XW:W2W*WVbUBU*UUU @BUb8BY BYA}*BAAAA><"C5?RC^ >C5?C}'>YIqG>A iE =U U }U }U / U /:YU kS1yU Ԋ:U ߣ5)U 6;9] Yq,xeEAY}r*D?}rx?y}rE;}r<}rH?n?p?@?@a]`v n? ?)~r*D? ~r,_;I~rCɫ髱) IY@yTGɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B *M G=YYʻQU>aYE%.E)y=}E>IY u:]!i4? u:] ]fB } @9]}D]n; ]j?)]:W<+1?WX XW:W2W*WVbUBU*UUU%9@B} sUB BA.*BA AAA'<"C<+1?RC%W(>C%<+1?C!-a > IG5>3_q,EAY}: ?}:́v?y}:dq;}: }:H@F?DQ?sD?F?Pn? ,nT ?)~: ? ~:a~_;I~:CɫAI)I IIIY}@y}mTGxDUSBL response received:!U1,R,27E,000,007F6,189,80,80,7B,FF Fpublishing direction and range infoӇɰ&>鰁 )BIyBb*?w]zٱh<u=i@ I@)@I@i@M^=Y?QU>a YE +.E yּ}>Iu4? fB % @9}D: >@)WE,?WIXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU]@5@Pi*QmBZQmwvsQ@C{+fFJQmb*?w]z2QmӇ:QibQm|xS@? 0Y@@AʿRQm_lve?;|H?**dBQm> QmBQmÛBPmQ9?PmM9?PmQmQm@"QmmB/XB BA&*BAAAA<"Cm,?RCm/>Cu,?CqԁԅiA>9IlOGi@K; E)ݥCIݥCiݥCݥ=ݡݥ/6֥>aIiG8>U KU zU zU  U c%:YU Q1yU :U 5)U ;wfq,tEA|i|Y}F]u?}FXs?y}F5:}F}FHO? @*; ???fTa?)~F]u? ~Fc_;I~FCɫYa)a iIiY@ySGIA)EAa ia i a ma m a qa q a ea e kt??+ ?L> )IyQ?{Gz?5?#< µA)µAIµAiµAA)= =zM0=YQU>aYE2.Eyټ}>I4?Ƹ fB  @9}D: D:)m5uAdded new target pos. range: 84.779999 m, bearing: 23.271059 deg, deltaT: 4.417129 s, approachRate: -0.597673 m/s, LOS rate: -0.504042 deg/s, posRepo size: 4mE ProNav: pos range: 84.779999 m, bearing: 23.271059 deg, approachRate: -0.597673 m/s, LOS rate: -0.504042 deg/s, cmd update: -1.512126 deg/s, cmd heading: 38.658180 deg, new cmd heading: 37.373025 deg. WEn)?WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUU1U@U] ?B* JB BA*BAhAAAsz<"Cn)?RC->Cn)?C֝R(>YIaG}z>RFlq,{EAY}>?}>?o?y}>Cv}>\}>H?@| ? ?@?yN??)~>? ~>)`;I~>CɫQY)Y ]IYY@y SGM>MMGaiMQ@I M@)M@IMiMߏ@]PM]f=YeɻQUe>aiamYEm8.Eiyu#}u>Iy :}4? :}N }"fB  @9}}D}: }I:)}:W.'?WX X)W):W)2W1*W1V1bU1BU1*U9U9U= |?B™dB BA-!*BAh%AAA<"C.'?RCb(>C.'?Cq->IGi>  iA >9 I OGi F@ = OD H; EM M }M }M  M -:YM kS1yM Ԋ:M M5)M Z;x,sq,O͝EAY}2c?}25k?y}2&}2}2Hj?Z Y@o?\? S?`d??)~2c? ~2.l`;I~2Cɫ99)9 =I9Yr@yRGUܻM]K=Y]QU]>aaaeYEe>.Eaymz2}m>Iqu64?u u&fB } @9u}Du: u:)qWm$?WX XW:W2W*WVbUBU*UUUž?BcB  B A !*B As-AAA)<"Cm$?RCCJ#>Cm$?C`=(>IGj>+Yyq,5EA|(|*;Y}JD?}Jf?y}J_R}JUϽ}JH?`ٴ`Z?@??Kj??)~JD? ~J%`;I~Hɫqq)q yIyY@yfRG%=i!=i M=L=YEغQUE>AAaMYEME.EIyU6}U>IY e:]4? e:] ]+fB e @9]}D](: ]:)]:W!?WX XW:W2W*WVbUBU*UUU`2?BveB BAW%*BAeR6AAA<"C%!?RC%Q>C%!?C)]P">I!GEQ>M tM ~M ~M  M (:YM T1yM @:M r59U @_>q,EAY}2G?}2a?y}2_^}2Hm}2H@X? I 'u`ٲ?4??k? "?)~2G? ~2b[`;I~0ɫ99)9 9I9Y]@y]JRGf?5>i@ @)@II@iI@%G޻M%L=Y%QU%>))a-YE-K.E1y<}>IȹŽ4?Ž ƽ1fB  @9ƽ}Dǽb: Ƚ:)ȹW?WX XW:W2W*WVbUBU*UUU@W@BecofBi BiA &*BAA"?AAA<"C?RC}L>C?Cܵ>9ܱIܵ@NGiܵ@ܵ =ܱܱܵO; ݵEֽO>I)iAיIGb>jq,[EAY}]?}]D\?y}]=F}]}]H ?J??@B?h?`I?)~]? ~]_;I~]CɫQY)Y YIYY/@yRG (\?)\(?Mb?z?Ga= =)Iy㥛 ?y&1|?/$?5?`;< 7 A)AI‰i~AA<M4=YPT:QU>aYER.Ey8}>I :4? :y ;fB  @9~D: o:):W?WX XW:W2W*WVbUBU*UU U @@B59bB1 B1A=#*B9A=,HA9A9A={<"C?RC >C?C->בIGe ^e e e  e &:Ye WU1ye :e 5q,#4EAY}2U?}2ӆW?y}2 5}2u}2H`:P?Pz?k?s?f?`i?)~2U? ~2g_;I~0ɫ99)9 9I9Y@yQGI)ETEu:QU]>aaaeYEeX.Eaymd}m>Iqu4?un uCfB  @9u~Dul: u:)qW?WX XW:W2W*WVbUBU*UUU@?@RB*** querying acoustic contact ***PPB{B BA(*BAOAAA<"C?RC}>C?Ca9IQGmW>ܵ >9ܵ CIܱ iܱ ܱ ܱ ܱ ܵ \; ݵ Ezq,FNEAY}Vg"?}VR?y}Vm.3}V}VH`{?Q32 v??@ ?ef?¿[?)~Vg"? ~V^;I~VCɫyy)y }IyY@yRGZ****** received transponder code query ******F****** received ping request ******QQaUYE]_.EYye?1}e>Iȱŵ4?ŵa ƵMfB  @9Ƶ&~Dǵ ; ȵ ;)ȱW{?W!X! X!W!:WI2WI*WIVIbUQBUQ*UQUQUUJ[ @BTEbB BA$*BAYAAA~s<"C{?RCm>C{?Cֽ>i?iiiunGIiI!EǿٺAEwAG]v>U hU ~U ~U  U ':YU T1yU @:U 5q,GrhEAY}2º?}2M?y}2}2k}2HZ2?$ ?@?t?^? Oÿ7?)~2º? ~2^;I~2Cɫ99)9 =I9Y}@y}QGxDUSBL response received:!U1,P 27E,000,007F6,189,80,80,7B,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 RMc=Y!;QU >!a-YE-e.EyG}>I! e:%K4? m:%YV %UfB  @9%8~D%w< %3w<)%:Wm?WqXq XqWy:Wy2W*WVbUBU*UUUm @BrB BAd)*BA%bA!A!A%<"C-?RC-}=C5?C1 E=E==G>IG=>q,PREAY}V4g?}V}VH?`O` ?X? ?F.? ÿ ?)~V4g? ~Vd^;I~VCɫqy)y yIyYc@yQG-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i=¡¥hA94T=ǐ@ @)V@I@i@M:=Y;QU>aYE l.E y4}>I4?J ]fB % @9J~D: :)WE 6?WAXI]>9]CI]MGi]R@]=]PD]D]e; ]E XIW:W 2W *W V bUBU*UUU`@BeU}Ba BAQ**BAkAAA<"C 6?RC=C 6?Cօ=YIaGY>U U U U  U J+:YU WU1yU :U 5)U 8;9] q,:EAɫ) IYȩ@yPGxDUSBL response received:!U1,R,15C,000,007C0,186,80,80,A1,FF Fpublishing direction and range info|ɰ">> )!CIyB9#?P~ |#ӿٱ dNmea in: $SNTTA,0.287218,0.287218,,,013801.75*57 ~jt?x&?Mb`??7= ;)Iy(\?~jth?/$?z4?D;,= ­A)­+%AI­dAi­AAd)M2=YQU>aYEs.Ey}>I :$4? := pfB  @9_~D: :):W?WX XW:W92W9*W9V9bUABUA*UAUAUMi'@Py*Q}BZQ}jWsS@d?b8JQ}9#?P~ |#ӿ2Q}|:QybQ}n` R@ry0C@.r @RQ}vD?`a2@?|ir?BQ}> Q}BQ}BP}G9?P}Q9?P}Q}Q}A"Q}@BOuB BA-/*BA|2uAAA.Y<"C?RCV>C?C =I)hA I1 Gm >rq,}EAɫ髙) IY@yGQGõõn>õļiõz@ñ ĵh@)ĵ@Iĵ@iĵ3@O<Mo=YQU?aYEy.Ey}?IB24?3 fB  @9n~Db: :)mqAdded new target pos. range: 81.540001 m, bearing: 27.831621 deg, deltaT: 4.545183 s, approachRate: -0.712842 m/s, LOS rate: 1.003383 deg/s, posRepo size: 4m5 ProNav: pos range: 81.540001 m, bearing: 27.831621 deg, approachRate: -0.712842 m/s, LOS rate: 1.003383 deg/s, cmd update: 3.010151 deg/s, cmd heading: 31.798578 deg, new cmd heading: 31.288286 deg. W5?W1X1 X1W1:W92W9*W9V9bU9BUA*UAUE`bT@UE)?BuۺBq BqAu,*BqA}Uc|AyAyA}<"CN?*CxRC1=C?Cԙԙօ>AIQGm5>U >9Q IU xMGiU @U =Q Q U b; U E)刀CI刀Ciሉ==;`6U tU ~U ~U  U (:YU T1yU @:U 5)U ;ʳq,ϞEAY}23}?}2=?y}2 <}2}2H/? d@a?U??C|¿"?)~23}? ~2s^;I~2Cɫ9A)I MIQYF@y}QGI1)5A)E> E=ua<MuP=Y}maYE.Ey}>Iȡ :ťmC4? :ť;) ƥfB  @9ƥ~Dǥs:; ȥ%;)ȥ:W??WX XW:W2W*WVbUBU*UU U @uH?B,|B BA>+*BAuǂA!A!A%G<"C-?RC-=LO=C5??C1>IGm>IA )A q,EAY}V2z?}V:?y}V7<}V}VH?"fP?M?`ż?`ヿy0¿y?)~V2z? ~V@X^;I~VCɫy髁) IYr@yQG7S<MB=Y EG;QU5>9AaEYEE.EIyu޼}u>Iy}QV4?} }fB  @9}~D}: }ϸ:)yW3?WX XW:W2W*WVbUBU*UUU ?BE~Ba BaAm)*BiAmNAiAiAm<"Cu3?RCu;<C}3?Cyօ0=YIaGY>U U U U  U S,:YU V1yU :U 59] @q,1EAɫ髙) IY!@yPQGí7í=íií@é ĭߏ@)ĭ@Iĭ@iĭ@pͼMN=YQU>aYE.Ey}>I%g4?^ fB  @9~D: ܹ:)>9IMGi@=QDX; EW-"?W)X) X)W):W12W1*W1V1bU1BU9*U9U9U=?BeuBi BiAmf,*BqAutAqAqAu<"C}"?RC}Yg,<C}"?C Օ=ԕ=m;ʏ=!I1GM1>+q,BzEA|H|Jp;Y}U up?}UC0?y}U<}UL}UH?`9 z崿 kd?`e?ͼ?1x?)~U up? ~Uh^;I~UCɫ11)1 1I1Ymک@yuPGi=Nonly read 0 of 1 data item for altitudea i@a  a m@a  a q@a  a e@a  •iA•jAM==YQU>aYE.Ey}>Iȹ :Žz4? :Ž? ƽfB  @9ƽ~Dǽ: Ƚ>)Ƚ:W(?WX XW:W2W*WVbUBU*UUU ?B-xB) B)A-.*B)A5?A1A1A5{<"C=(?RC=D--C=(?CAdO=שIG>M d M {M {M  M ;:YM #R1yM :M 5.q,K7EAɫ髙) IY!@yPQG @ @ @Í©ÍÍiÍ\@Í č@)ĉIč3@ič@<M\=YQU>aYE.Ey}>IȹŽ4?Ž ƽfB  @9ƽ~Dǽ: Ƚ+N?)ȹW-?WX XW:W2W*WVbUBU*UUU@BHB BAf,*BAAAA}<"C--?RC-6ZC--?C1%=I)))I G%M>>9CIi=PDD?; ߗEq,'QEAY}jj?}j29+?y}j$B]<}jG}jH^?`b 6??@?`  ?)~jj? ~jj^;I~jCɫ髹) IY-ĩ@y-PG9=?AeMmN=Ym>qya}YE}.Eyc}>Ișŝ4?ŝ ƝfB  @9Ɲ~Dǝ; ȝW?)șW "3?WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB%B) B)A-K/*B)A5}ޘA1A1A5<"C= "3?RC=czC= "3?CAQUjAMNJκ IG5->U ]U |U |U $ U &:YU R1yU i:U 5@q,kEAɫy髁) IY@yQGZ****** received transponder code query ******F****** received ping request ******õ9iõ@õ ĵ@)ĵߏ@Iĵ@iĵ@V<M6=YQU>aYE.Ey}>I :ײ4? :~ fB - @9~D; ]?):Wm?9?WqXq XqWq:Wq2Wq*WyVybUyBUy*UyUU@` @BF}B BA-*BA4AAAK<"C?9?RCz۽C?9?CA I G%o> )q,݄EAY}bh?}b%)?y}bMt<}b3}bHB?}@? ; ?`f?E}?)~bh? ~bN^;I~`ɫ髹) IY@yOGxDUSBL response received:!U1,P 15C,000,007C0,186,80,80,A1,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 eMmd=Y}V>9ILLGi @"=DH; EaYE.Eyè}>I4? fB ] @9DE< r@)Wg>?W!X9 X9W9:W92W*WVbUBU*UUU( @BLwBAK= BAm5*BAAAAO<"C%g>?RC%C%g>?C)MK') I1 Ge >U jU }U }U  U ':YU kS1yU Ԋ:U )5)U A;9] i nGI) iI \q,សEA62ɿٺ46Aɫ) I YE%@yEPGMa=ɮMa=eNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5+<M5==Y5QU=>99aEZEE.EAyM}M>IQU4?U UfB ] @9UDU: UY@)QW}C?WX XW:W2W*WVbUBU*UUUr@B}By ByA}E4*ByA3,AAAl<"CC?RCCC?C =>[RSשIGi>ȁq,EA|(|*;Y}^h?}^#)?y}^<}^"A}^HB?iJ?V8??I- _?)~^h? ~^^;I~^Cɫ) IY-`@y-cPG==i==ý=ýmýHiý@ù Ľ3@)Ľt@IĽt@iĽV@ܗ<MQ=Y;QU>aZE.EyB}>I4?o gB  @9%Dh: Q5@)WH?WX X!W!:W!2W!*W)V)bU)BU)*U)U1U5z@B]rBY BYA]k2*BaAefAaAaAe:<"CmH?RCu&&CuH?Cq](׵I)GE0>>9CIKGij@=?; EM M M M  M !:YM U1yM :M 5)M ;fq,KvҟEAY}f׶h?}f$)?y}f>,<}fyDͼ}fHB?`x#? W?}?? N?2%?)~f׶h? ~f^;I~fCɫ) IYU,@yU#PGeDNmea in: $SNTTA,,,,,013806.21*51 ーMP=YD:QU>aZE.Ey{48}>Ișŝ)4?ŝ ƝgB  @9Ɲ7Dǝ5: ȝwN@)șWmN?WiXi XiWi:Wi2Wq*WqVqbUqBUy*UyUyU} @Bh͎B BA 4*BA4AAA<"CN?RC8CN?CK'=ױIG>`q,\WEAY}bFxi?}bg)?y}bp<}b"}bH 3?w?@6?4?o|? @W?)~bFxi? ~bHo_;I~bCɫ) IYE@yMPGQU@A]xDUSBL response received:!U1,R,0CD,000,007C0,186,80,80,A1,FF ]Fpublishing direction and range infoU07QɰQQ Q)QIQyQUB}?$2ƿٱQ 鿁`e=r\=ip@ )@I@i@<MB=Y';QU > aZE.Ey{;}>Iȩŭ4?ŭ ƭgB  @9ƭJDǭK: ȭj@)ȩWc,T?WX XW:W2W*WVbU BU *U U U @P*QZQ*+FT@fd-JQB}?$2ƿ2Q07:QbQOE[R@5^B@OjPRQ>N?:+?2NpBQW/> QBQBBPN9?PG9?PQQe@"QAB$B BA0*BAAAA<"Cc,T?RCaGCc,T?Cѽ L=iAׁ֭IG>M M |M |M  M :YM R1yM i:M 59U @vq,$EA|i|Y}>k?}>],?y}>l<}>>F<}>Hm?s?`?`Z?@ZqF&?`*?)~>k? ~>e_;I~<ɫYY)Y ]IYYȨ@yOGI)UM]V=Y];QU]>aaaeZEe.EaymJ<}m>}>9}CI}XJGi}v@} =}ODy}1; }E)сIՁCiՁCՁ=Ձ=Ձ6Ișŝ!4?ŝծ Ɲ%gB  @9Ɲ[Dǝ: ȝ @)șmqAdded new target pos. range: 81.540001 m, bearing: 27.773337 deg, deltaT: 5.207008 s, approachRate: 0.000000 m/s, LOS rate: -0.011193 deg/s, posRepo size: 4m ProNav: pos range: 81.540001 m, bearing: 27.773337 deg, approachRate: 0.000000 m/s, LOS rate: -0.011193 deg/s, cmd update: -0.033580 deg/s, cmd heading: 47.486872 deg, new cmd heading: 48.593937 deg. WBT?WX XW:W2W*WVbUBU*UUUj?B%XB! B!A-)7*B)A-AA)A)A5<"C5T?*C=JyRC=>C=BT?C9AA)I I֕2iIyG>q, EAY}Jno?}J/?y}Jb<}JkH=}JH@ֻ?`<= ?`I??@|˙ O?`?)~Jno? ~J?{_;I~JCɫ髙) IY@ydOGa ia i a ma m a qa q a ea e  X9v?V-?{Gz? ? |?> ף<) I y V-?+?Mb? =Y-3;QU->11a5ZE5.E1y==}=>IA M:Ei54? M:E E2gB U @9EoDE: EV:)E:Wu T?WqXq XqWq:Wy2Wy*WyVybUBU*UUU@M M ~M ~M  M 6:YM T1yM @:M ͟56 q,9EAY}2t?}24?y}2ο<}2YD=}2H]?@>ZG?? U?*O8??)~2t? ~2,_;I~2Cɫ99)9 9IAYE@yMOGIC=)R=@i@ @)I@i@%<M%]=Y-vQU->))a5ZE5.E1y= H=}=>IAEDF4?EZ E?gB M @9EDE: E:)AWuS?WqXq XqWq:Wy2Wy*WyVybUyBU*UUU?BB BA%e7*B!A%¼A!A!A%<"CMS?*CU?+zRCU CUS?CQ e>e=-PHIG )>}>9}CI}IGi}ԣ@} =yy}<; }Eq,SEA| | Y}Rx?}Rm9?y}R<}R!=}RH`P?j @Ҵ?`c3?f? ;’0&? ?)~Rx? ~R4`;I~Pɫ髡) IYۧ@yNGQiU=$MC=YiGQU>aZE.Ey<=}>IȩŭX4?ŭ8 ƭOgB  @9ƭDǭY: ȭ:)ȩWS?WX XW:W2W*WVbUBUa*UiUiUmm}?BB BA>*BAǼAAA<"CS?*CczRCECS?CGIGj>E =iE =M rM yM yM  M (:YM P1yM ':M 5=q,\mEAY}}?}, >?y}+<}>>}H?Vm?͡? k? A|`[AAaEZEE.EIyc(=}>I :Il4? :J bgB  @9D: :):WS?WX XW:W2W*WVbUBU*UUU` @B5̛B1 B1A5?*B1A=ͼA9A9A=<"CES?*CEQzRCEfCES?CIE8II)II G-N> !q,}ZH>?P 3?>?`]?ؙEda?@?)~Zƀ? ~Z``;I~Xɫ髙) IY1@yMGe>9aIedHGie@e=aaa eEtKMV=YQU>aZE.Ey*=}>IȩŭC|4?ŭHt ƭugB  @9ƭDǭ0: ȭ:)ȩWS?WX XW:W2W*WVbUBU*UUU`@BB BAC*B!A%ݯѼA!A!A%&<"C-S?*C- {RC5MC5S?C1AA-/IG)>} } } }  } D:Y} WU1y} :} 5)} 2;9 ~'q,HEAY}2?}2^E?y}2}2>}2H??YO?T?P@r???)~2? ~2od`;I~2CɫYY)Y YIYYR@yMGI)n?K?)\(?V?^= Ga=)IyQ?:vMbp( ý=N"<MG=YlQU>aZE.Ey=}>I :4? :h sgB  @9D<: :):WS?WX XW:W2W*WVbUBU!*U!U!U%]@R5B*** querying acoustic contact ***P1P1BU(EBY BYA]B*BYA]ּAYAaAe <"CmS?*Cm88{RCm\սCmS?Cqe.!IIGZ>>.q,B"EAY}JR?}JEI?y}JJX!}J>}JH?#g 1? ?`U?*?,O?١?)~JR? ~J_;I~JCɫ髡) IY5@yMGZ****** received transponder code query ******F****** received ping request ******í 0ií@é ĭt@)ĭ@Iĭ@iĭt@MJ=Y\QU>aZE.Ey =}>Ie4?o]   @9D: a<)W3S?WX XW:W2W*WVbUBU*UUU @Bm,5Bi BiAmC*BiAu EܼAqAqAuu<"C}3S?*C}e^{RC}C}3S?CօWgYIiG]>9YI]8GGi]@]=]PDY]L; ]EU RU |U |U  U %:YU R1yU i:U `5)U ;q5q,ԠEAY}RE?}RL?y}Rgi}RҰ>}RHF?X@??D?@1a,? ?`?)~RE? ~Rx_;I~RCɫyy)y }IyY|@yLGp=ɮp=xDUSBL response received:!U1,P 0CD,000,007C0,186,80,80,A1,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 FgML=Y#1QU>aZE/Ey-=}U>̝>2Ci)IIiqοٺNAI1 :5_4? :5P 5tgB  @95D5;^< 5~b<)5:W=S?W9X9 XaWa:Wa2Wa*WiVibUiBUi*UiUqUum @BB BAI*BAAAA="C S?*C 6w{RCgpCS?C %=%=ֽIG >/;q,EA|\|^4}H ?}#?J??@l_ȓ?e?@q?)~)? ~%_;I~Cɫ) IYm@@ymLGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i====9i=@9 =@)9I=@i=@UيMU?=YUEQUU>YYa]ZE]/Eaye=}e>Iim4?mE mwgB } @9mDmض: m:)iW5S?W9X9 X9W9:W92WY*WaVabUaBUa*UiUiUm@:3@BB BAjK*BA]AAAO="CS?*C{RCCS?C ׹IGf>M PM yM yM  M %:YM P1yM ':M 59U @?Bq,5EAY}2?}2*ET?y}25#ʼ}2D>}2Hٛ?;w@D?–?`e[?`LC?L?@??)~2? ~2_;I~2CɫYY)Y YIYYyyyxDUSBL response received:!U1,R,1F9,000,00751,186,80,80,A4,FF Fpublishing direction and range infoܢᾩɰo>鰁 )$CIy•Bs!K?LۿٱYRwQU>aZE /Eyj=}>>9IpFGiJ@K; EIv4? ; {gB % @9 D&; b:)WES?WAXA XAWA:WI2WI*WIVIbUQBU *UUU`@P!*Q%•BZQ%5pP@?JQ%s!K?Lۿ2Q%ܢ:Q!bQ%SiIQ@ 0<@RQ%΍?%9#s?)蠿BQ%`> Q%AQ%OBP%M9?P%N9?P%Q%Q%:.@"Q%e@BB BA*BAAAAK="CS?*Ck}{RCiCS?Cܪ׹IGh>=Hq,"EAɫ) IY@yKGDNmea in: $SNTTA,,,,,013811.47*57 鿩^I +?^I +ǿv/?X?X9 xi=)Iy|?5^?aZE/Ey}>I :4? :&. gB  @9D: :):m uAdded new target pos. range: 74.879997 m, bearing: 22.472251 deg, deltaT: 4.411063 s, approachRate: -1.509841 m/s, LOS rate: -1.201771 deg/s, posRepo size: 4m ProNav: pos range: 74.879997 m, bearing: 22.472251 deg, approachRate: -1.509841 m/s, LOS rate: -1.201771 deg/s, cmd update: -3.605312 deg/s, cmd heading: 47.339422 deg, new cmd heading: 47.323944 deg. WL?W!X! X!W!:W!2W)*W1V1bU1BU1*U1U=QR@U=$?BeoB BAO*BAzmA AAf="C% L?RC- C-L?C)9=jAE9IAGew>u /u xu xu  u (#:Yu 7P1yu :u M5hNq,p]<]i]@Y ] @)]@I]7@i] @mLMmb=YuQUu>qqa}ZE}/EyyW=}>IȁŅ4?Ņ# ƅgB  @9ƅDDž: ȅ(:)ȁWXAF?WX XW:W2W*WVbUBU*UUUྀ?BvuB BAQ*BA5AAA0="CXAF?RC ;C XAF?C mIG%M>>9CIi=ODD(; E)MCIMCiMCM=M=M6PUq,{KVEAY}Z&?}Z Z?y}Z{0}Z|=}ZH`@?p??}?L캿o?`?@?)~Z&? ~Z^;I~ZCɫ髑) IYS@ygKG-MD=YWQU>aZE!/Eyxt<}>I :4? : gB  @9'D: :):W??WX XW!:W!2W!*W!V!bU)BU)*U)U1U5`Pm?B]BY BYA]R*BaAe'AaAaAeg="Cm??RCm <Cu??CqE31IG-->U U }U }U  U -:YU kS1yU Ԋ:U 5}[q,/pEAY}>?}>;O\?y}>mC}>FS=}>H@?;`?@L? ~>k^;I~>CɫQQ)Q QIQY.@y:KGI=)C=MC =ME6>MP>iM@I M@)Mߏ@IM@iM@]<>M]R=Y]#AQU]>aaaeZEe'/Ey*y<}>I4? gB  @90D': U:)W99?WX XW:W!2W!*W!V!bU)BU)*U)U)U5?B]dBY BYA]S*BYAeJAaAaAe+="Cm99?RCm(X=Cm99?Cq Յ>ԅ>evт!I)GE0>>abq,YEAY}2:?}2]?y}2KR}2 =}2H?`^`?JX?@Ճ?T๿X?+~??)~2:? ~2^;I~2Cɫ99)A EIAܭ>9ܭCIܩiܩܭ=ܩܩܭ; ݭEY#@y,KG]=i]=VMF=Y/QU>aZE./Ey=a<}>I  :$4?  :/ gB  @98DS< <):W5{2?W1X1 X1W1:W92W9*W9V9bUABUA*UAUAUE 2@BuBq BqAuST*BqA}XkAyAyA}="C{2?RC˞=C{2?Cvт;יIGb>] C] {] {]  ] $:Y] #R1y] :] M5)] ;9e hq,ݣEAY}2?}2#^?y}2p^}2nK=}2HQ?@t?i? Ut?Ǹʫ?`(??)~2? ~2 ^;I~2Cɫ99)9 9I9Yu.@y}:KG}?M¿J +?},?}n }H=)yIyy}ˡE?I +Mb?}'?}94}= }\A)}AI} Ai}Ay}AL;M<=YջQU>aZE4/EyL<}>Iȱŵ34?ŵ5 ƵhB  @9ƵBDǵ: ȵ^:)ȱW+?WX XW:W2W*WVbUBU*UUU`J@B%xB%7'= B)A-S*B)A-QA)A)A5)="C5+?RC==C=+?CIED-<I!G=Q>nq,EAY}2,?}2i^?y}2'h}2,v=}2H ?{?l? Tx?@?`? ? }?)~2,? ~2^;I~2Cɫ99)9 =I9Y}ݤ@y}JGAAUU½U =iU\@Q U)Uҙ@IUV@iUV@m޼Mu_=Y}ӻQU}>aZE:/Ey:}>Iș :ŝ/A4? :ŝ ƝhB  @9ƝIDǝl; ȝ(;)ȝ:WO%?WX XW:W2W*WVbUBU*UUU x@RB*** querying acoustic contact ***PPB6JB! B!A%V*B!A%HA)A)A-="C5O%?RC5P=C5O%?C9QQ-#Y=IG )>ّٕjAܥ>9ܥCIܥFGiܥ@ܥ=ܡܥDܥ5; ݥEU cU |U |U . U M':YU R1yU i:U 5)U ƅ;֝uq,סEAY}2?}2q^?y}2q}2i=}2H`?Mwv?d?x?@@u.? ,?l?)~2? ~2 _;I~0ɫYY)Y ]IYY@yKGZ****** received transponder code query ******F****** received ping request ******!!a%ZE%A/E)y-Y}5>I9=nO4?=7 =6hB M @9=QD=g: =:)9WM?WQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUe @B"B BAP*BA AAA ="C?RCsy>C?C2=׹IG>{q,hEAY}6&q?}6fP]?y}6gIx}6F=}6H ?`4L?t?` O?j~??)~6&q? ~6w^;I~6Cɫ99)9 9IAY2@y>KGxDUSBL response received:!U1,P 1F9,000,00751,186,80,80,A4,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =\====D=i=@9 =@)=@I=@i=@üM&=Y YQU>aZEI/Ey} >I :a4? : ZhB  @9\D: c<):W?WX XW:W2W*WVbUBU*UUUD @BeYBi BiAuS*BqAAAAy="C?RCԀ$>C?C- QO=% O)=- ?i- ?] ] }] }]  ] ?,:Y] kS1y] Ԋ:] _59e @ I G% >_q, C EAY}69?}6[?y}67~}6B<}6H`?2?=`.?@^?kk? n?+?)~69? ~6^;I~4E>9ECIE8GGiE@E=AAE0; AɫYY)Y ]IYY@yKG鮡ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B <Mo=YQU?aZEN/Eyu}?Im4?Z shB  @9cD˵: ض:)W%5?W)X) X)W):W)2W1*W1V1bU1BU9*U9U9U=@;,@Bm̽Bi BqAuPQ*BqAuAqAqAu="C}5?RC}:F0>C5?Cm;6=E>I)GEQ>i=nGI i1 ˿ٺ 9Aوq,%EAɫ髙) IYH@yZKGxDUSBL response received:!U1,R,268,000,00720,189,80,80,AD,FF Fpublishing direction and range info ɰl>7> )-CIyBOu|?abٱ =i =6only read 2 of 4 data itemsa i@a  a m@a  a q@a  a e@a  ™™MM=YuQUu>qya}ZE}U/Eyy}>IȱŵY}4?ŵƽ ƵhB  @9ƵlDǵ]; ȵ>)ȱW%r ?W!XA XiWq:Wq2Wy*WVbUBU*UUU @Pa*QeBZQe{뵓N@Ш kBJQeOu|?ab2Qe :QabQeܺ Q@"*>}6@E @RQe(/V?ϭ*??BQe}H> QeSAQeeBPeP9?PeM9?PeQeQeA"Qe:.@BT赽B BA*S*BAUAAAEI="Cr ?RCGG>Cr ?Ct'= >} } ~} ~} ) } .:Y} T1y} @:} 5 I G >q, >EAY}^`?}^9.W?y}^Z0}^_}^HL?`?b?  ? ?)~^`? ~^d_;I~^Cɫ髹) IY@y9LG}DNmea in: $SNTTA,,,,,013815.91*58  >Mb>"۽iG@ &@)@I@iȎ@Y\=MF=Y 'QU>aZE[/EyB}>I :ɋ4? :S hB  @9tD < S?):muAdded new target pos. range: 71.939995 m, bearing: 18.384241 deg, deltaT: 4.518184 s, approachRate: -0.650704 m/s, LOS rate: -0.904790 deg/s, posRepo size: 4m ProNav: pos range: 71.939995 m, bearing: 18.384241 deg, approachRate: -0.650704 m/s, LOS rate: -0.904790 deg/s, cmd update: -2.714371 deg/s, cmd heading: 31.095346 deg, new cmd heading: 29.676079 deg. W;)?WX XW:W2W*WVbU!BU!*U!U%(Q@UM?BnĽB BAM*BAlAAA="C;)?RCYD>C;)?C ) E>9AIEdHGiE@E=AE DE; EޗE֍ >a Iy G >q,XEAY}2k?}2IDS?y}2E݊}2G~}2Hf? _iu??  AX? `n?)~2k? ~2D_;I~2Cɫ9A)A EIIY}=@y}LG5<M=V=Y=>QU=>AIaMZEMa/EQy]#}]>IaeG4?e ehB } @9e|De^; e?)aW-?W)X) X1W9:W92W9*W9V9bUABUA*UAUAUMn?BҟB BAK*BA*AAA="C?RCG>C?C8>סIGC>   -:Y y 5?q,rEA|i|Y}6,8?}6pN?y}6E~}6}6H`n?컿?)?? B?ݵ?)~6,8? ~6;5`;I~6Cɫ99)9 9IAYS@yLGÍ#<Íy=ÍiÍ@É čt@)čV@IčV@ičV@;MD=YQU>aZEh/EyS)}>IȹŽD4?Ž: ƽhB  @9ƽDǽ: Ƚ?)ȹW@t>WX XW:W2W*WVbUBU*UUU ?B%B BAJ*BAhAAA`L="C@t>RC9H>C@t>C -=-=G>%?i%?IGn>q,.EAY}:)?}:jrI?y}:܋}:}:H@k?X@TJ ͛?џ?? x?@'a?)~:)? ~:_;I~:Cz>9zCIz,IGiz@z=xxz; zE)݅CI݅Ci݅C݅=݁݅!6ɫ99)9 9I9Y}W@y}LG|:MI=YF:QU>aZEn/EyyT}>IT4? iB  @9D(; F@)WMZ>WIXi XiWi:Wq2Wq*WqVqbUyBUy*UyUyU}&?B@B BAJ*BA0nAAA="CZ>RCڢF>CZ>C)=G>IAG{>u u }u }u  u -:Yu kS1yu Ԋ:u M5)u };9} 'q,fEAɫyy)y }IyYe@yLGI%a=)%=a ia i a ma m a qa q a ea e K7A`? a%ZE%u/E1y5}=>I9 E:=4? M:=/ =2iB M @9=D=": =@:)=:Wu o>WqXq XqWq:Wq2Wy*WyVybUyBUy*UUUT?B$B BAAJ*BA2!AAA="C o>RC|X>C o>C5cF>IGM>q,SAEA|4<|;Y}6KJ}?}6b=?y}6u}6e}6H َ?GÿҎ?Ԋ?A??ÿ6?)~6KJ}? ~6)_;I~6Cɫ99)9 =I9Y}¦@y}*MG}}K}>i}@y }I@)}@I}@i}ߏ@ S<M J=YaZE%{/E!y%c}->I9=4?={ =QiB E @9=D=u: =`:)9WuӜ>WyXy XyWy:Wy2Wy*WVbUBU*UUU @B=ĽB BA]G*BA#AAAg^ ="CӜ>RC=>CӜ>CiAǵQ>I)סIGC>>9CIXJGiv@= D ; E} } } } 0 } 3:Y} T1y} :} 5)} b;S9q,ڢEAY}24x?}2J8?y}2,>}2-}2H?֐Z.Ŀ?? Q? ?ſz?)~24x? ~2 _;I~2Cɫ99)9 9I9YG@yMG@Au4=M]=Y϶;QU>aZE/E y `} >Io4?-q liB % @9D: 4:)WE>WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQU]v@ReB*** querying acoustic contact ***PaPaBTŽB BA2C*BA%%AAA ="C>RC>>C>C֍KY>AIQGm5>cq,EAY}:Mxi=iM@I Mh@)M@IMiM@8M4=YW);QU>aZE/Ey(}>I  :4?  :Wd iB  @9D; ";):WUT>WQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUU | @BfB BAnC*BA(AAA8 ="CT>RCfA>C T>C vD>IGj>u ~u tu tu  u t):Yu M1yu :u 59u @Kq, EA|i|@Y}6Tn?}63.?y}6z}6A}6HH?w@Y)ſ@&?2?଩?U?V ȿ^?)~6Tn? ~6 _;I~6CF>9FCIFKGiFj@F=DDF; FEɫYY)Y ]IYY@yENGxDUSBL response received:!U1,P 268,000,00720,189,80,80,AD,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =Mf=Y% :QU->99aEZEM/EyR} >Io4?Z iB % @9D: M:)W$>WX XW:W!2W!*WIVQbUQBUY*UYUU @BEBA BAAE0@*BIAMo+AIAIAM ="CU$>RCUp@>CU$>CY m=m=]=>u?iu?QIqG>fwq,x'EAɫqq)y }IyY@yNG5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B p= ף?~jtx~jt%?Ļ )IyK7?i- @) -@)-@I-@i-ߏ@m<Mu=YuQUu>yya}ZE}/Ey}>Iȉ :ō(4? :ōL ƍiB  @9ƍǀDǍ: ȍ/:)ȍ:W>WX XW:W2W*WVbUBU*UUUq7@BLB BA=*BA".AAA  ="C >RC5U>C>C-v@> I G5 >u u u u  u f!:Yu WU1yu :u r5]q, AEAY}2Id?}2$?y}2v}2D}2H?`Ŀ@)?Z?`e?`t֮?XQȿ[?)~2Id? ~2^;I~2Cɫ99)9 =I9Y}s@y}?OGxDUSBL response received:!U1,R,0D6,000,006EE,186,80,80,AA,FF Fpublishing direction and range infot;?ɰS>鰅> )*CIyBWX XW:W2W*WVbU BU *U U U @WV@P*QBZQ)OqP@).߆)JQ@ @RQU.?>?VE.?BQ)> QgAQvBPD9?PP9?PQQjRCe+W8>Ce$̫>CamFH>!I1G]3>܅>9܅CI܅LLGi܅ @܅=܅ND܅ D܅; ݅Eчq,d[EA|;|4aZE/Ey):}>I :G4? :h: iB  @9׀Dq; ;):mqAdded new target pos. range: 68.940002 m, bearing: 26.315834 deg, deltaT: 4.360494 s, approachRate: -0.687994 m/s, LOS rate: 1.818967 deg/s, posRepo size: 4m ProNav: pos range: 68.940002 m, bearing: 26.315834 deg, approachRate: -0.687994 m/s, LOS rate: 1.818967 deg/s, cmd update: 5.456900 deg/s, cmd heading: 19.225131 deg, new cmd heading: 17.985554 deg. W>WX XW:W2W*WVbUBU*UU)RC ">C>CAA5V>IA)AIG=>u Ou ~u ~u  u %:Yu T1yu @:u 5q,>uEAY}2?;Z?}2U?y}29v}2fB}2HI?c ÿ %?@?/*?cή? Pȿ>^?)~2?;Z? ~2-^;I~0ɫYY)Y ]IYY@y PGM㾩M>Mn>iM@I MI@)M@IM@iM@!!=MK=YQU>aZE/EyG}>IȡťX4?ť0 ƥiB  @9ƥ߀Dǥ: ȥ<:)ȡW=>WX XW:W2W*WVbUBU*UUU?BǽB BA4*BA4AAA(e ="C%*>RC%I=C%=>C)MuK>aIiG:>q,EA>9CIxMGi@= D; EY}ZU?}Z?y}Zz}ZPG}ZH@;?N@ Ŀڜ? >f?Jm?`>?ȿTV?)~ZU? ~Z7y^;I~ZCɫ髙) IYk@yqPG 鿉{<MG=YQU>a[E/EyF}>I :j4? :p& jB   @9DX; Y;):WM>WQXQ XQWQ:WY2WY*WaVabUaBUa*UiUqUu@?B亽B BA2*BAW7A!A!A% ="CM>RCM=CM>CQM[Z&>AIiG^>u u |u |u  u U*:Yu R1yu i:u 5)u d;9} q,oEA|i|ɫyy)y yIyY@yPGS㥛?On?y&1?> `e)Iy rh?:v?:v?CK?<< µA)µz(AIµ Ai±A];]]'i]@Y ]@)]@I]i]ߏ@m <Mm2=YuQUu>qqau[E}/Eyy}}>Iȉō΂4?ō ƍ1jB  @9ƍDǍ: ȍb:)ȉW>WX XW:W2W*WVbUBU*UUU`?BB BA/*BA΍9AAAB ="C r>RC :C >C ==P">?iz?IG>ϫq,£EAY}2J?}2 ?y}2f}}20 I}2HX?߿@Tÿ~?`?7?l?ȿ`R?)~2J? ~2b^;I~2Cɫ99)9 =IAY@yQGu<M}q=Y}QQU?a[E/Eyk}?Iȡť4?ť7 ƥJjB  @9ƥDǥr#; ȥ/;)ȡWa?WX XW:W2W*WVbUBU*UUU`_@BýB BA-*BAj;AAA ="C! ?RC ECC a?C N>IGK>-">9-CI-NGi-@-=)- D-; -E)ݽCIݽCiݽCݽ=ݽ=ݽT6u eu {u {u  u v':Yu #R1yu :u M5)u ;eq,ܣEAɫqy)y }IyYX@yQGI%R=)%C=U <MUL=Y]QU]>YYa][Ee/Eaye}m>Iq u:u 4? }:u| ugjB } @9uDu: u:)u:Wk?WX XW:W2W*WVbUBU*UUU[@B½B BA**BA[=AAA="C/?RC(Ck?C&.=׉IG>q,EA||;Y}>7>?}>>y}>}><}>H ?Xݿm¿@x?!?`?`F?jǿ`c?)~>7>? ~> S^;I~>CɫYY)Y ]IYY}@y}]RGȶl>i@ @)@II@ih@P=MQ=YNQU>qqa}[E}/Ey}>Iȱŵ4?ŵ ƵjB  @9ƵDǵ.; ȵ(4;)ȱWEA?WAXA XAWI:Wi2Wq*WqVqbUyBUy*UyUyU`@RB*** querying acoustic contact ***PPB-48B) B)A-%*B1A5?A1A1A5\="C=A?RC=K.$C=A?CAQQ%Ba=I)))I G%M>u du |u |u  u b':Yu R1yu i:u 59} @% 1>9% CI% OGi% @% =! % D% ; ! q,(bEAɫ髹) IY˪@y!RGZ****** received transponder code query ******F****** received ping request ******QQaU[EU/EYy]}]>Ia :e'4? :eg ejB  @9eDej!< e!<)e:WF&?WX XW:W2W*WVbUBU*UUU-2 @Bu Bq BqAu'*ByA}I.BAyAyA}="CF&?RC…@CF&?C9<׹IGEs> q,h=*EAY}24?}2[>y}2}}2 '}2H?0ۿ * ? ?|?`!?Ŀ?)~24? ~2_^;I~2Cɫaa)a iIiY@y@SGxDUSBL response received:!U1,P 0D6,000,006EE,186,80,80,AA,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 99-J +?㥛 Mb`-(?- -))I)y-K?Mb` ףp= ?-^:?--Q8= ))-'AI-E Ai-A)-ASk>j=iכ@ @)3@I@i3@ed=Me =YmP;QUu>a[E/Ey}>I4? jB - @9(D< <)WB3?WX XW:W2W*WVbUBU*UUU`lv@BeȪBa BaAe*BiAmDAiAiAu%="CB3?RC CB3?C} } } } ) } ,:Y} T1y} :} 5֥ ه:Q Ia G} >Sq,!DEA|i|@Y}Bq0?}B O>y}Bn}B>e}BH ?@tڿB@tT? ?S? խ?¿2?)~Bq0? ~Bvi^;I~BCɫQY)Y YIYY@yTG鮝a=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =M=YS3>9CIPGiܩ@=MDD; E$q,I]EAY}6a/?}6>y}6_}62}6H?@Xڿ ?`k?K?b?"@T?)~6a/? ~6^;I~6CɫYY)Y ]IYY@y@TGxDUSBL response received:!U1,R,FBD,000,006BE,184,80,80,AA,FF Fpublishing direction and range info|o=ɰd >鰥> )IyB(Sd?o8?ٱ휼MX=Ya[E/EyF}>I4? kB  @97Do: :)WxXB?WX XW:W2W!*W!V!bU!BU)*U)U)U-@ԯ@P9*Q=BZQ=*|P@@JQ=(Sd?o8?2Q=|o=:Q9bQ=rhM@JQ@A?@,9@RQ=&S&?G?nVW?BQ=ɢ> Q= AQ=vhBP=B9?P=D9?P=Q=Q=A"Q=ju u u u  u /:Yu WU1yu :u 51Nq,wEAY}bdm.?}b>y}bIN}bZ}bH`j?`M\ڿ`' {??|?@nƩ?C?)~bdm.? ~b3^;I~`ɫ髹) IY@yTG]TNmea in: $SNTTA,,0.057061,,,013824.79*47 IuC=)u=;>v=ip@ I@)I@Ih@i@U =MU4=YUYYa][E]/Eaye쪻}e>Ii u:m54? u:m m4kB } @9mADm: m=:)m:mqAdded new target pos. range: 66.060005 m, bearing: 28.271425 deg, deltaT: 4.423857 s, approachRate: -0.651015 m/s, LOS rate: 0.442056 deg/s, posRepo size: 4m ProNav: pos range: 66.060005 m, bearing: 28.271425 deg, approachRate: -0.651015 m/s, LOS rate: 0.442056 deg/s, cmd update: 1.326167 deg/s, cmd heading: 43.496801 deg, new cmd heading: 45.971560 deg. WeE?WX XW:W2W*WVbUBU*UU ׃P@U)?BB BA_*BAJAAA="C H?RC C eE?C!!rI)IG J> 9>9 CI QGi @ = LD D ; E6$q,祝EAY}Bs.?}B i>y}BY=}B}BH6?ڿ@޴@???@a?>(?)~Bs.? ~B^;I~BCɫYY)Y YIYY@yVG`=MW=Y/a[E/Eyh;}>IaJ4?0 SkB  @9JD7%; 51;)WTG?W!X! X!W!:W!2W)*W)V1bU1BU1*U9UAUE`"?BdB BA *BA{KA)A1A5 ="C=KG?*C=V|RCACETG?CAM l iEnmGQIiiпٺAIGe>u u u u = u 3:Yu T1yu :u ަ5)u b;9} 3`*q,脫EAɫy髁) IY@yVG !rh?{Gz{Gz? l'? ף #<) I y y&1?Mb? `%? <  A) AI  Ai A  \Ae/]=e^:>eCieד@a a)e3@IeieI@u/=M}==Y}QU}>a[E/Ey}>Iȑŕj_4?ŕu ƕ`kB  @9ƕSDǕ: ȕ:)ȑW}I?WX XW:W2W*WVbUBU*UUU ;?B~B BA*BA1MAAA="C}I?RCC}I?C֍gH1q,_ŤEAY}22?}2>y}2*"}2~E}2H`?@ۿ묿z??`?C?`v@?)~22? ~2?_;I~0ɫ99)9 9I9Yخ@yWG5<M=a=Y=AAaE[EE/EIyM=}M>IQ ]:Uq4? ]:U UikB e @9UZDU: U:)U:WbL?WX XW:W2W*WVbUBU*UUU ?B~B BA*BAmEOAiAqAu2="C}bL?RCyCbL?C֍gו?iו?i܍.>9܍CI܍RGi܍!@܍=܉܉܍; ݍۗEIG@>u " u u q u J:Yu U1yu :q )u ;.r7q,;ߤEA|i|@Y}>c4?}>>y}>}>}R}>Hj?@XJܿ`/M?p?@ts`? ZV?)~>c4? ~>z;_;I~>CɫYY)Y YIYYs@yWGI)AU>=M]H=Y];QU]>aaae[Ee0Eaym<}m>Iqu4?u uskB } @9ucDuk: u4:)qWjN?WX XW:W2W*WVbUBU*UUUH@B鸰B BA*BAPAAAQ="CjN?RCCjN?C @IG%>J=q,+EAY}68?}63>y}6= }6J<}6H@y?@:,ݿ ?x?`-=i3@ )I@i%z<M%N=Y%;QU%>))a-[E- 0E1y_ =}>I1 E:54? M:5 5|kB M @95lD5; 5>;)5:W YQ?WX XW:W2W*WVbUBU!*U!U!U% %@BʫB BA*BA&RAAA="CYQ?RCCYQ?C5ƂI9)=iAIG=>u u zu zu  u 1:Yu Q1yu :u 59} @m (>9m CIm TSGim ī@m =m KDi m z; m ЗE)CICi==g79Dq,EAY}2"=?}2f>y}2}2e=}2H8?+޿:X W? *?@x0? j??)~2"=? ~2{Q`;I~2Cɫ99)A EIAYɯ@yEXGI=)=Nb;MP=Y;QU>a[E0Ey];=}>Iު4?@ kB   @9sD; ;)W-_S?W)X1 X1W1:W12W9*W9V9bU9BU9*UAUAUE`@RMB*** querying acoustic contact ***PIPIBurbBu5Q= BqAuO*ByA}0TAyAyA}?="C_S?RCC_S?CjA?΅IGL>Jq,,EAɫ) IY5@y5%XG=Z****** received transponder code query ******=F****** received ping request ******=IIaM[EM0EQyU}U>IY e:]4? m:] ]kB m @9]D]+: ]:)]:We+V?WX XW:W2W*WVbUBU*UUU @BVB BA*BALVAAA2="Ce+V?RCCe+V?C׉IG>m 6 m |m |m  m !8:Ym R1ym i:m :5'Qq,FEAY}:G?}:(?y}:꼙}: =}:H@u?5I?8?`~U?@`yX? ??)~:G? ~:}Wa;I~:Cɫ99)9 =I9Y}@y}wXGxDUSBL response received:!U1,P FBD,000,006BE,184,80,80,AA,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 A<M|=Y9 CI i  = LD  ; חEB=Ba BaAe*BiAmWAiAiAmS="CuZX?RCqCuZX?Cy6ɅIG>PWq,ς`EAY}6]M?}6 ?y}6Ἑ}6 >}6H4?@^?`Z?!?؎5? )M??)~6]M? ~6a;I~6Cɫ99)9 =I9Y@y.XGp=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B MO=Y8;QU>a[E#0Eykm=}>Iȱ :ŵ4? :ŵ ƵkB  @9ƵDǵo: ȵ:)ȵ:WoZ?WX XW:W2W*WVbUBU*UUUKA@B >&B BAw*BAyQYAAA5="CMoZ?RCQCUoZ?CY=t(/= E >E>5Ƃ I G= >u q q u 6 u 4:Yq yq u _5 ]q,`zEA|i|@ɫ髙) IY@yXGxDUSBL response received:!U1,R,0B5,000,00688,185,80,80,C5,FF Fpublishing direction and range info?!ɰ>+> )ECIyG{B?0I"ĿٱI)<-=+>ip@ @)@Ih@i@<MD=YQU>a[E*0Ey } >I4?1 kB % @9Dn: #:)WE\?WAXA XAWA:WI2WI*WIVQbUQBUQ*UQUQU]@Pa*QeG{BZQekO@ :tA#JQe?0I"Ŀ2Qe?!:QabQeװ85L@JNیO8@Lܑ+?RQefy?H?CcZx?BQew> QeAQegBPeH9?PeB9?PeQeQe@"QeABfB BA*BA%ZA!A!A%g="C-\?RC)C-\?C1Q=.ąױIG> %>9 I i D ; ۗEdq,@EAY}-X?}-k?y}-%}-'>}-H@i?@ш? ??vPÿ@???)~-X? ~-V b;I~-Cɫ) IY@ysXGDNmea in: $SNTTA,,,,,013829.23*5E UջM]D=YeZQUm>ya[E00Ey =}>I4? kB u @9D< <)muAdded new target pos. range: 62.820007 m, bearing: 22.769206 deg, deltaT: 4.482261 s, approachRate: -0.722849 m/s, LOS rate: -1.227554 deg/s, posRepo size: 4m ProNav: pos range: 62.820007 m, bearing: 22.769206 deg, approachRate: -0.722849 m/s, LOS rate: -1.227554 deg/s, cmd update: -3.682663 deg/s, cmd heading: 49.441026 deg, new cmd heading: 50.072688 deg. W<U?WX XW:W2W*WVbUBU*UUhO@U`p"?B5OB1 B1A]*BYA]\AYAYA]G="Ce-X?RCeCCm<U?Ciqq)Й Йu q q u ; u .:Yq yq u q5)u ;9} 5 ?΅ II G >kq,ᰥEAɫ髉) IYU@yXGI p=) C=V-?ÅiÅQ@Á ą~@)ą@Ią@iā~<M3=YQU>a[E80Ey}>Iȱ :ŵo*4? :ŵ} ƵkB  @9ƵDǵ: ȵ:)ȵ:WN?WX XW:W2W*WVbUBU*UUU`?B%µB! B!A%*B!A-]^A)A)A-^="C5O?RC5;}hC5N?C9%IGL>~rq,k~ʥEA|4<|Y}> f?}>&?y}>`}>=>}>H@{r?`*8??]??@܈ſ`??n?)~> f? ~>_;I~>CɫYY)Y YIYY?@yXGe=ie=)M\=YQU>a[E>0Ey! >}>I=4?.t kB  @9D?; @;)WEDMH?WIXI XQWQ:WQ2WY*WYVYbUaBUa*UaUaUe`t?܅>9܁I܁i܁܅=܁܁܅; ݅EBMBQ BQAU*BQAU_AQAYA]F="C](#L?RCe.CeDMH?C֝6*qIG~> > E I E E A E 9:YE T1yE :A )E ;i unGI i  Ͽٺ  ;Axq,YEAY}2l?}2U-?y}2K\*}2C>}2HS?` O? ?`,T?d7ƿI?oH?d?)~2l? ~22_;I~0ɫYY)Y ]IYY}8@y}XGQMU=YZQU>!!a%[E%D0E)y-=}->I1 =:5pO4? =:5k 5kB E @95D5E: 5:)5:W|A?WX XW:W2W*WVbU BU*UUUS?B]Ba BaAe]*BaAeraAaAiAm!N="Cu$D?RCuWHCu|A?CyM*Mt!IIG?>~q,4EAY}2s?}2 4?y}2C}2EB>}2H`?tB?D?+?Jƿm?`n?c?)~2s? ~2^_;I~2CɫQQ)Q UIQYyyy -@ 5@ 5@-©--i-=@- -@)-@I-i-Y]`tQU]>aaam[EmJ0Eiy}=}>IȡťJc4?ť` ƥlB  @9ƥǁDǥ); ȥd*;)ȡWe:?WiXi XW:W2W*WVbUBU*UUU @BMfBQ BQAQ*BQAU%cAQAQA]="C]:?RCelCe:?Cae!E9IIGeU>= X 9 9 = F = ::Y9 y9 = ̨59E @u >9u CIq iq u =q q u ; u EHq,EAY}2y?}2$:?y}2H[}2R9>}2Hc?@H'@L?=?tO?`ſe??Xn?)~2y? ~2`;I~2Cɫ19)9 9I9Y])@y]XGI)A)]= ]>LMa%[E%Q0EQye6`=}u>Iȉ :ōw4? :ōIU ƍ(lB  @9ƍсDǍ^: ȍ:)ȍ:W3?WX XW:W2W*WVbUBU!*UAUAUM~@BuBBq BqAuJ*ByA};dAyAyA}[="C3?RCC3?C}2/YIiGZ>q,O1EAɫ髙) IY@yXG {Gz?S㥛? C? L $>) I y V-?X9v |??   ;#A) AI i   \A   n;= 0iG@ @)@I@i@M7=Y%QU%>))a-[E5X0E9y=}E>IIMj4?MI M7lB ] @9MہDM: M:)IW}Y-?WyXy XyWy:W2W*WVbUBU*UUU`/?@RB*** querying acoustic contact ***PPB<9B BA_*BArfAAA="CY-?RCCY-?CiAt(/I)hAIG>= = = = _ = EV:Y= WU1y= := '5Βq,*KEAY}2E?}2D?y}2>}2m#>}2H`?7Z?b7?]v?@XĿ`?S?@?)~2E? ~20;_;I~2CɫYY)Y YIYY@yXGZ****** received transponder code query ******F****** received ping request ******9CISGi@=; E)ݭCIݭCiݭCݭ=ݭ=ݭ36Iq }:u4? }:uU? uHlB } @9uDu: u(:)u:We&?WX XW:W2W*WVbUBU*UUUK @B-B) B)A-*B)A5gA1A1A5.="C=e&?RC=G ,=C=e&?CAEC"I)GEQ>q,@eEAY}2j?}2I?y}2)}2>}2H?|?$?@?KÿN!?R$? ?)~2j? ~2[^;I~2Cɫ99)9 9IAY@yXGxDUSBL response received:!U1,P 0B5,000,00688,185,80,80,C5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %\;M-J=Y=kQU=>IQa][E]d0Eiy84=}>Iȡť4?ť4 ƥZlB  @9ƥDǥY!= ȥ!=)ȡW->f?W)X) X)W):W)2W1*W1V1bU1BU1*U9U9U= @BkhB ,= BA*BAiAAAs="C>f?RCӹ=C>f?C߽יIG>- =i- 4== \ = = = a = (;:Y= DW1y= Y:= 5"q,|EAY}2ކ?}24+N?y}2|}2 >}2H?@ \?`? ?@YÿT?@q??)~2ކ? ~2_;I~0ɫ99)9 =I9Y}R@y}XG鮅a=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B @ @ @õ©õõiõf@õ ĵ)ĵh@Iĵ@iĵs<M@=YlQU>a[Ek0Ey/=}>I>4?( qlB  @9D: :)Ws?WX XW:W2W*WVbUBU*U!U!U%H@BM*&BQ BQAU*BQAUYkAQAYA]ǣ="C]s?RCe͋=Ces?Ca }=}=m̓m?imq?!I1GM1> >9 I TGi f@ =   ;  E q,WEAY}B?}B.R?y}BS秽}B%>}BH౲?w ?_?D? Ŀ? LX?@?)~B? ~BX^;I~BCɫ髁) IY@yDYGxDUSBL response received:!U1,R,21A,000,00658,188,80,80,88,FF Fpublishing direction and range infova𾩰ɰ >> )CIyoBD>?5ܿٱx&1?Q?v/?A?< xi=)Iy&1?QZd;O?0?j<= ¥=A)¥rAI¥ Ai¥CAA<M.=Y.QU>a[Er0EyM=}>I :4? : lB  @9D: :):W (?W X XW:W2W*WVbUBU*UU!U%@)@P1*Q5oBZQ5 (J@*r;JQ5D>?5ܿ2Q5va:Q1bQ5riL@mP~5@Pi?RQ5˷v?q3q?5ŀ?BQ5t> Q5(AQ5`BP5J9?P5H9?P5Q5Q5M@"Q5@BeBi BiAmY*BiAmlAqAqAuc="C}(?RC}B>C}(?C=8ƼI!G=r>= 2 = = =  = 7:Y= V1y= := 5#9q,DEAɫ11)1 1I1Ym]@ymXGDNmea in: $SNTTA,,,,,013833.71*52 I)A)= = 5 5 555X5i53@5 1)5E@I5@i5@EDMEe=YMQUM>IQaU[EUx0EQy]}]>Iae4?e` elB m @9e De(: eA:)amuAdded new target pos. range: 59.940006 m, bearing: 20.529872 deg, deltaT: 4.542690 s, approachRate: -0.633986 m/s, LOS rate: -0.492953 deg/s, posRepo size: 4m ProNav: pos range: 59.940006 m, bearing: 20.529872 deg, approachRate: -0.633986 m/s, LOS rate: -0.492953 deg/s, cmd update: -1.478860 deg/s, cmd heading: 32.712030 deg, new cmd heading: 31.400943 deg. Wl?WX XW:W2W*WVbUBU*UUe RM@Ue`5?BB BA *BAenAAA="C)?*C"{RCX=>Cl?CQO=֥I% AA)% AAy I G >q,ͦEAY}2Ԗ?}2Y?y}2}27 >}2H ?`;? ? ?Ŀ`?@S?7?)~2Ԗ? ~2^;I~2Cɫ99)9 =I9Y@yYGTL=MW=Y'QU>a[E~0Ey=}>(>9ITGi @=MD; EI :94? : lB  @9D: f;):W ?WX  X W :W2W*WVbU!BU!*U!UIUM?Bt3B BAT*BAooAAA="C  ?RC Ks;>C  ?C)=֝[RӻqIG~>= = = =  = ?:Y= X1y= /:= &5)= ۚ;9E Fq,`EAY}:ˍ?}:\?y}:}:z=}:H ?@Jr?"?r?mUÿ Ƿ?㶿? 3?)~:ˍ? ~:e^;I~:CɫAA)I MIQY?@yZG]z<M]N=Y]QUe>aaae[Ee0Eiym<}m>Iqu4?u umB  @9uDuw: u:)qWX ?WX XW:W2W*WVbUBU*UUUo?BfB BA *B A 1qA A A="CX ?RCmG>CX ?C!!)) )u$=QIYGu>//q,EA|;|Y}6 ?}6M]?y}6Ľ}6(=}6H@? p@?5B?UZ?@s¿?)?X?)~6 ? ~6^;I~6CɫAA)A AIAY}@y}ZG>i5~5j<5什i5@1 5@)5~@I5~@i5~@m+h=MmI=YuQU}>yya}[E0EyF}<}>Iȉ :ō4? :ōf ƍDmB  @9ƍ#DǍ: ȍf:)ȍ:W?WX XW:W2W*WVbUBU*UUU?B%ٵB! B)A-!۾*B1A5rA1A1A5J="C=?RCE=U>CE?CQM=IG-,>ܵ1>9ܱIܵVGiܵ@ܵ=ܱܱܵ; ݵE5 5 5 5  5 gF:Y5 V1y5 :5 5)5 ;fYq,jEAY}b?}bu^?y}bʽ}b=}bH`ێ? e~?@]Q?@V? ?z`O?8?`?)~b? ~bz^;I~bCi%nGIAɫQiYa)i mIyUѿٺvAYya i@a  a m@a  a q@a  a e@a  YQU>a[E0Ey=;}>I^%4? vmB  @9-D: >)W ?WX XW:W 2W *W V bUBU*UUU`?B=3BA BAAA*BA.tAAA="C ?RC`>C ?C֥ >׭?i׭?yIG^>#q,z4EAɫ髉) IY(@y0[G !! m@ m@ u@m©mmiim m~@)iImim@\;Ma[E0Ey}>Ișŝ34?ŝ ƝmB  @9Ɲ5Dǝ: ȝO?)șW!?WX XW:W2W*WVbUBU*UUUI@BB BAZؾ*BAuAAAw="C!?RC F/h>C !?C>IGn>= = ~= ~=  = D:Y= T1y= @:= &59= @jq,UNEAY}:?}:ZU\?y}:>Խ}:Z_=}:H`տ?X׹@s"??,t?@a??)~:? ~:lN_;I~:Cɫ99)9 9I9Y}@y}[GAAI)AI)A =MZ=YNQU>a[E0Ey2}>IB4? mB  @9=D1: ?)];>9]CI]WGi]B@]=Y]D]; ]ۗEW>WX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPB]BY BYA]Ѿ*BaAevAaAaAmHS="Cu>RCuh>C}>Cy֍K >AIQGm5>q,v3hEAY}67D?}6xX?y}6Žս}6=}6H o? 4??Xw?,?@d?)~67D? ~6^;I~6CɫYY)Y YIYY@y[GZ****** received transponder code query ******F****** received ping request ******a[E0Ey%)}%>I) =:-PS4? M:- -mB  @9-FD-M= -?)-:W%=>WaXa XiWi:Wi2Wq*WqVqbUyBUy*UUU @B%MB! B)A-о*B)A-[xA)A)A-a="C5=>RC=>f>C==>C9ܢS>I!)!IGj>= s = {= {= a = <:Y= #R1y= := 5|q, EAɫ髙) IYn@y\GxDUSBL response received:!U1,P 21A,000,00658,188,80,80,88,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76   n`%?>i@ @)K@I@i@UH=M]*=YeQU>a[E0Ey}>I.g4?ڶ :nB % @9QD÷; @)W >WX XW:W2W*WVbUBU*UUU N2 @B/:B BAþ*BAEnyAAAAAE="CU >RC,r>C >Cu?>9uCIu0YGiu@u=uLDqu; uE)CIiC==j6g> I G >(q,UEAY}75?}xJ?y}"ν}cu}H Z?`n/??rǹ?䱲`_?)~75? ~%`;I~Cɫii)i iIiYݳ@yJ]GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -=i-=a ia i a ma m a qa q a ea e Mb?Mb?#? <)Iy"~j?I +?Zd;O?SC?9< A) AIAi^AAjAhA=M@=Y[a \E 0E y }>I!%x4?% %lnB 5 @9%[D% : %L:)!W>WX XW:W2W*WVbUBU*UUUA@B5-۱BQ BQAU *BYA]zAYAYA]="Ce>RCeIF>Ce>CimŒq>AIQG>] ] ] ]  ] F:Y] U1y] :] Z5'q,'µEAY}FcD?}FD?y}Fsͽ}FT}FH?Na¿ m&??9鰥> )CIycB3?̱"/ڿٱ  @  @  @ ©  i f@  @) I i ҙ@h=M%=Y%:QU%?))a-\E-0E)y5T}5?I9 E:=r4? E:= =nB M @9=cD=: =:)=:WmY>WiXi XiWi:Wq2W1*W1V1bUQBUQ*UQUYU]@Pi*QmcBZQmmxkI@DV@iE7JQm3?̱"/ڿ2Qmu׾:QibQm=EJ@O!3@ @RQmZ;Q?I(?$Qu?BQm^> QmAQmTBPmH9?PmJ9?PmQmQmZVA"QmM@BB BA*BA{AAA~="C Y>RC#=>CY>C5tr>%?i%?IGn> q,ϧEAY}r}?}rB>?y}rR8ν}r> }rH9q?@ſ`?༡?@?仹?`¿ƒ?)~r}? ~r`;I~rCI>9CI$[Gi@D; Eɫ  )  I YE2@yM]GTNmea in: $SNTTA,0.120965,,,,013838.16*4F mMu6=Y} QU>a\E0Eymk}>IK4?͒ nB  @9nDi; ;)muAdded new target pos. range: 56.879997 m, bearing: 19.848651 deg, deltaT: 4.385308 s, approachRate: -0.697787 m/s, LOS rate: -0.155342 deg/s, posRepo size: 4m ProNav: pos range: 56.879997 m, bearing: 19.848651 deg, approachRate: -0.697787 m/s, LOS rate: -0.155342 deg/s, cmd update: -0.466025 deg/s, cmd heading: 26.267857 deg, new cmd heading: 25.568990 deg. W>WX XW:W2W*WVbUBU*U!U%pL@U%M?BB BA*BA5E}AAAB="C>*C$zRC4+>C>CM\>IG->- - - -  - D:Y- V1y- :- 5)- ;95 q,&EAY}:v?}:6?y}:KϽ}:/+}:H` ?1Fǿ?@/?E?`&޹?0ſsd?)~:v? ~:`;I~:CɫQQ)Q QIQY@y^GIA)A)]= ]>]=MW=YYQU>a\E0Ey} >I! =:%Ѭ4? E:%ч %nB U @9%wD% ; %a;)%:W->W)X) X)W):W12W1*W1V1bU1BU9*U9U9UE`?Bm㰽Bi BiAmթ*BiAuXC~AqAqAuR="C}>*C}yRC}>C>C}@>1IAG]U>(q,TEAY}6[n?}6d'/?y}6Aν}6c7=}6H ?VlҪȿ?ɿ?@u? ?fǿ`K?)~6[n? ~6$`;I~6CɫYY)Y YIYY@y_G M M MM~j>M,>MD=iM@M I)M@IM&@iME@t=MM=Y<:QU>a\E0Ey|}>IȱŵZ4?ŵ| Ƶ'oB  @9ƵDǵk: ȵw:)ȱW]>WX XW:W2W*WVbUBU*UUU R(?BB! B!A%*B!A%^)A!A)A-="C5]>*C5HyRC5h=C5]>C9eڅ<>Ii)i9IIGaR>9CI]Gi@D; EM  I I M  M I:YI yI M %5)M f;q,=EAɫ)))1 1I1YmD@ym>`Goʡ?~jtl?> =)IyʡE? rh?~jt?-2?C<< …A)…=AI…Ai…CAA<M:=YQU>a\E0Ey}>I4?q PoB  @9DZ8; :)W%>W!X) X)W):W)2W)*W1V1bU1BU1*U1U9U=@L?BGBҀ= BA*BAAAA="C>*CG`xRCa>C>C(>IGi> q,7EAY}2_?}2 ?y}2oŽ}2M}2H%?#@ȿ@D??GP?\?qɿ5?)~2_? ~2j_;I~2Cɫ99)9 =I9Yu @y}4aGi=iAiAE;E#El>iE @A E@)EIE@iE@U=MUc=YU>YYa]\E]0Eaye,*}e>Ii u:mH4? }:mi mpoB } @9mDm: m4:)m:WnJ>WX XW:W2W*WVbUBU*UUU@e?B誩B BA *BAsAAAfv="CnJ>*CwRC=CnJ>C>סIG!>- =i- =5 5 5 5  5 2:Y5 0Y1y5 :5 859= @q,yPEAY}2vY?}2}v?y}2.ƽ}2>O}2HN?1uȿ?7?d??bɿ^6?)~2vY? ~2%2_;I~2Cɫ99)9 =I9Y}׷@y}/bGܥ\>9ܥCIܥo_Giܥ@ܥ=ܡܡܡ ݥE x=MG=Y0a\E0EY@y}}>I4?_ oB  @9Dm(; 1;)W >W X XW:W2W*WVbUBU*UU!U%Q@BMJBI BQAUz*BQAU퀽AQAQAUI="C]>*C]QwRCel=Ce>Caօط=ׅ?iׅx?IIaIinGGd>Ii =!ǿٺ9=AQ1q,DjEAY}2S?}2%?y}2j?}2lJ}2HL?ɱ ǿ`n?@??[? ɿ@@?)~2S? ~2)^;I~0ɫYY)Y ]IYYȸ@yWcG@A=M%R=Y-.AAaM\EM0EYymEW}u>I : 4? :XV oB % @9D: I:):We>WaXa XaWa:Wi2Wi*WVbUBU*UUU;@RB*** querying acoustic contact ***PPB%B) B)A-\*B1A=OA9A9A="="CM>*CM5vRCU%CY}3=U=1I9G]>= = ~= ~=  = N2:Y= T1y= @:= 59!q,EAY}2=O?}2G?y}2K}2[A}2H "?`ITHſ?@?E?`?`ǿ]Q?)~2=O? ~2ф^;I~2Cɫ99)9 9I9Y@ycGZ****** received transponder code query ******F****** received ping request ******ÍףÍ>Íף=iÍ@É ĉ)čz@Ičz@ič@q<MB=YS a\E0Ey/!}>IȹŽ4?ŽM ƽoB  @9ƽDǽ: Ƚ:)ȹW4>WX XW:W2W*WVbUBU*UUUC @BLB BAR*B A A A A $ ="C4>*CbvRCo.=C4>C ={=יIGb>ܝb>9ܝCIܝdaGiܝ2@ܝ=ܙܝDܝ; ݝEI) )) F'q,4EAY}b(L?}b ?y}b*j}b[;}bH4?@9Ŀ̥?P?@#?`N?`-6ǿ`\\?)~b(L? ~bw^;I~bCɫ髑) IYj@yZeGxDUSBL response received:!U1,P 1E3,000,00625,186,80,80,84,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 K7A`?T㥛 ?|?5^>= ҽ)IyM?Mb?Mb?n2?<= @);#AIXAi^AzA =M =Yq;QU>99aE\EE0EIy]ϼ}]>Ii u:mj74? :mB mpB  @9mDm*; m1;)m:We>WiXi XW:W2W*WVbUBU*UUUR@BЕB BAf(*BA A A A 6="C >*C uRC _"=C >C   )! 5 5 5 5  5 .:Y5 Y1y5 :5 ʽ5 ! _=I)׹IG?7/q,|ӿEAY}2̓I?}2 ?y}2ǡ}21}2H@Ga?N߿ÿ`^?F?@;?3? ƿ@k?)~2̓I? ~2N^;I~2Cɫ11)1 5I1Y@y8gG鮵p=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -=i-=ÅT=ÅԼÅ>iÅ@Á ą@)ą\@Ią\@ią\@:=MI=Y;QU>a\E0EyӼ}>Iȩŭ K4?ŭ: ƭ'pB  @9ƭDǭk: ȭw:)ȩW[>WX XW:W2W*WaVabUaBUi*UiUiUm@BB BA*BA1AAAt="C[>*Co}uRCC"<C[>CS%}=ױIGE>u a>9u CIu dGiu @u =u KDu Du c; u ۗE)ݕCIݕCiݑݑݕ=ݕ6o6q,R٨EAY}blG?}b?y}by }bYj"}bH@?`WS߿8{¿ E&?'r?`0?@P_?(Ŀ?)~blG? ~b3x^;I~bCɫ髙) IYA@ygGxDUSBL response received:!U1,R,077,000,005F4,186,80,80,B7,FF Fpublishing direction and range infoɭԽɰ= )7CIyWB ?iQٱ-jA)]<M]O=Yekiiam\Em1Eqyuw}}>Iy :}^4? :}u2 }IpB  @9}ʂD}: }:)}:WҴ>WX XW:W2W*WVbUBU*UUU'@P*QWBZQ+:J@B~2ؤ]JQ ?iQ2QɭԽ:QbQuoH@ۣ3G6@"<@RQ3?l8So? g$r?BQ> Q*C0'uRC<CҴ>C!I =שIG >ޥ=iޥ=+  @7:YWU1y:n5);9E}ļi}z@y }9@)}@I}ƣ@i}ƣ@=MA=Ya\E1Ey}}>Is4?) lpB  @9ԂD: M:)mEqAdded new target pos. range: 53.939995 m, bearing: 24.505983 deg, deltaT: 4.540967 s, approachRate: -0.647440 m/s, LOS rate: 1.025626 deg/s, posRepo size: 4mU ProNav: pos range: 53.939995 m, bearing: 24.505983 deg, approachRate: -0.647440 m/s, LOS rate: 1.025626 deg/s, cmd update: 3.076877 deg/s, cmd heading: 24.138794 deg, new cmd heading: 23.942345 deg. WUK>WQXQ XYWY:WY2WY*WYVabUaBUa*UaUeQJ@Um?BPB BA*BA AAAf="C>RCyEj;CK>C!d=IGn>X,Cq,7O EA|i|Y}6M2D?}6R?y}6 }6'}6H$?@޿ۿ@6?ٳ?@,?@ꝱ?6 ?)~6M2D? ~6`^;I~6Cɫyy)y IY @yhGI)))<MN=Yh a\E1Ey{}>I :ۇ4? :" pB  @9܂D=: :):W0>WX XW:W2W*WVbUBU *U U U V?B=ޝB9 B9A=<*B9AEAAAAAE="CM0>RCMڀCM0>CQu<^>9IfGi@=U; ӗEׁI +:Yy5)m;G@>VIq,*'EAY}2B?}2C?y}2}2}2H`>?޿8VAT??07?ᾰ?23 !?)~2B? ~2ȴ^;I~2Cɫ99)9 =I9Y@yiGM?/$?{Gz?n?,= ף=)Iy+?~jt?{Gzt?v>?<ף; µ@)µAI±iµ/AQ A)= ==MF=Ypa\E1EyS}>I  4? : pB  @9 D w< <) WZ>WX XW:W2W*WVbUBU*UUU@ m?BCB BAT*BAYAAA%="CEZ>RCM17CMZ>CIIޡ)ޥ@AUd;1I9G]>h>Pq,AEAY}:qA?}:?y}:'~}:ؽ}:Hd? ޿캿?o?"ů?ί? 麿?)~:qA? ~: ^;I~:Cɫ99)9 =I9Y}w@y}VjG=">tiG@ @)@Iz@i@i=ML=Ya\E1Ey!^}>I4? pB  @9D: :)WsC?WX XW!:W!2W!*W!V!bU)BU)*U)U1U5 Q ?B]]BY BYA]-*BaAe%΂AaAaAe="CsC?RC'CsC?C`Ի~~ /:YT1y@:59@IGE> Z>9 I lhGi @ = I; ̗EhVq, ZEA||Y}6D0@?}6J?y}6p}6s}6HS?}d޿J?@?@j??;?)~6D0@? ~6h^;I~4ɫ99)9 9I9Y};@y}GkG=i==MW=Y!!a%\E%!1E)y-:S}->Iȑ :ŕ4? :ŕt ƕpB  @9ƕDǕ: ȕ(:)ȕ:W?WX XW:W2W*WVbUBU*UUU i)@B ؄B BA.d*BAӂAA A ="C?RCoC?C-IG*>\q,MtEAY}2??}2>y}2Wa]}2-}2H2?:޿<? 7?B?? ?)~2?? ~2_^;I~2CɫAI)I MIIY}@y}kGiAeeG>eie¥@a e@)eIe@ieƣ@5<MD=Y\2a\E(1Ey-}%>I!%4?% %pB 5 @9%D%: %A:)!WU y ?WQXY XYWY:WY2WY*WYVabUaBUa*UaUaUm@BcB BA}*BAՂAAA="C y ?RCڽC y ?Cޡiޥp= /:YX1y/:5<1IGk>zcq,ݘEAY}2dv>?}2>y}2gI}2K}2H`?@S1޿ 2g?#?]?H*?ǰu?)~2dv>? ~2^;I~2Cɫ99)9 =I9Y@y9lGr=MS=YNa\E.1E y } >I :4? : pB % @9 D: :):WEً?WAXA XAWI:WI2WI*WIVIbUQBUQ*UQUQU]@ReB*** querying acoustic contact ***PaPaBՂB+= BA*BAAAA3="Cً?RCCً?C յ=Ե>e_m?im?)I1GM>eX>9aIe3iGie@e=aeDeH; eʗEimGI1iAuпٺquJAiq,sEAY}2>?}2H>y}2n}4}2wE}2Hi?a޿c?P?A?@ύ?`?)~2>? ~2QQ_;I~0ɫ99)9 9I9Y}z@y}lGZ****** received transponder code query ******F****** received ping request ******ýD;iý@ù Ľ@)Ľ@IĽ@iĽ@<M#=Y'a\E61Ey*`;}>I)-"4?-Y -pB 5 @9-D-: -?))Wui?WqXq XqWy:Wy2Wy q-:YWU1y:J5*WVbUBU*UUUQ @B-+4B) B)A5!;*BYA]҂AaAaAe="Cmi?RCm?Cmi?CiֵZҽ׉IG>pq,jM©EAY}27Y@?}28?y}2kP"}2}2H?W޿a? l ?S{?`H?~@?)~27Y@? ~2B8_;I~0ɫII)I MIIY}(@y}mGxDUSBL response received:!U1,P 077,000,005F4,186,80,80,B7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= ==M=Y dk Q>9 I iGi ݽ@ =   B;  ƗE.vq,.ܩEAY}27B?}29E?y}2 }2,#r}2H?@]߿ s@`? ?;s W? $??)~27B? ~2^;I~2Cɫ99)A AIAY}@y} nG鮁ɮp=-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B <M==YVa\EB1EyB<}>I  : 64? :  qB  @9 )D . ; n?) :W}#?WyXy XyWy:Wy2W*WVbUBU*UUUF@ByB BAG=*BA AAA="C%#?RC-&C-#?C) R.:Y0Y1y:5)֋;9=I)IG5>|q,EA||p;ɫyy)y yIyY[@yoGxDUSBL response received:!U1,R,0B6,000,005BE,186,80,80,A6,FF Fpublishing direction and range info"ɰ= )&CIyJB+?@\~>Ŀٱ=i= @ @ @©i̤@ )I@i@=MJ=YQU>a\EI1Ey}>IL4? #qB  @93D}: ?)W-+)?W)X1 X1W1:W12W1*W9V9bU9BU9*U9UAUE @PQ*QUJBZQUu撕I@  JQU+?@\~>Ŀ2QU":QQbQUP3G@AZ8rJ1@=yߖ?RQUq8?OD)?mN?BQUK,> QUrAQU>BPUH9?PUD9?PUQUQU@"QU,-AB2rB BA{=*BA#AAAh="C+)?RC?Y9C+)?C,=OTױIG>˃q,EAY}EI?} ?y}R}c<}Hw?h@+b?v?@ᨡ u? C ??)~EI? ~_;I~Cɫ) IY-@y5nG DNmea in: $SNTTA,,,,,013847.15*53 IMhAuѼMuA=Y}S1a\EO1Eyr=}>Iȑŕc4?ŕ{ ƕ0qB  @9ƕ=DǕ: ȕ@)ȑJ>9CI`jGi@=J; ǗE)ݥCIݥCiݥCݥ=ݥ=ݥD5muAdded new target pos. range: 50.699997 m, bearing: 20.274315 deg, deltaT: 4.460182 s, approachRate: -0.726427 m/s, LOS rate: -0.948766 deg/s, posRepo size: 4m ProNav: pos range: 50.699997 m, bearing: 20.274315 deg, approachRate: -0.726427 m/s, LOS rate: -0.948766 deg/s, cmd update: -2.846297 deg/s, cmd heading: 37.862326 deg, new cmd heading: 39.166380 deg. W#?WX XW:W2W*WVbUBU*UUYI@U?BvB BAX=*BA KA A A ="C#(?*CݙuRCC#?C9AA)A Aޥ=iޥ= 0:YV1y:5); Vױ I G >q,)EAY}6L?}6> ?y}6q}6+=}6Hb=?`$k?5?+m?]?@>?)~6L? ~6_;I~6Cɫ99)9 9I9Y}I@y}oGa ia i a ma m a qa q a ea e m?RQMb.?½ )Iyd;O?Mby&1?4?`e< rA)AIAip A\A U U UUjiiam\EmV1Eqyu=}}>Iy}*y4?} }?qB  @9}GD}: }{:)yWD?WX XW:W2W*WVbUBU*UUU`[?B[sB BA{=*BA'mAAA:="CJ"?RCCD?CBױIG>ڐq,CEA|i|Y}6kP?}6?y}6%弙}6@x=}6H?z+"V?&??Lﰿ ?`K ? ?)~6kP? ~6l_;I~6CɫQY)Y YIYY@yoGI)u=Mup=Y};QU}?a\E\1Eyo(=}?Iȡ 5:ť4? 5:ť} =tI ƥKqB =@9ƥODǥ< ȥS<)ȥ:Wј?WX XW:W2W*WVbUBU*UUUN?B nB  B Aٖ=*BAzPAAA ="Cј?RCݤC%ј?C!% [/:YDW1yY:59@I)GEQ>m E>9m CIi ii m =i m Dm I; m ×E~q,;s]EAY}2hpT?}2h?y}2}ؼ}2==}2H@?FP? MP=Yy;QU%>!!a%\E%b1E)y-$=}->I154?5! 5WqB E@95WD5': 5:)1We?WaXa XiWi:Wi2Wi*WiVibUqBUq*UqUyU}`j?BZnB BA=*BA4AAAt="CL6?RCNgC?C֍aIqG>Iޡ)ޥ@A.q,KwEAY}:]X?}:]$?y}:-Ѽ}:7S=}:H`0o?y9??E?;@ ??>޸??)~:]X? ~:_;I~:Cɫ99)9 9I9Y}@y}oGlgi@ )@I@i<M>=Y:QU>a\Ei1Ey~=}>I  %: s4? %:  eqB %@9 aD GD; 8<;) :W]@f?WaXa XaWa:Wa2Wa*WVbUBU*UUUhS@B=mB9 BAAE$=*BAAEv AAAaAmIu="Cm@f?RCu@ͼCu@f?Cq .:Y0Y1y:5Y1IAG]v>q,&EA||;Y}6[\?}6Z?y}63м}6=}6H (? c?i? -?1ul?``? #?)~6[\? ~6_;I~6Cɫ99)9 9I9Y}j@y}1oG=iuhBM}Q=Y}9QU>a\Eo1Eyx=}>I4?ՠ rqB @9jD9; $;)Wj ?WX XW:W2W*W V bU B>9CIi=?; EBU *U!U)U- Y@BU6xpBQ BYA]/=*BYA]AYAYA]s="Cej ?RCe1;Cmj ?Ci- 㽹)IQG9>@q,7EAɫ髡) IY@y]oGAAuS?/$?Dl?u/=?u= uO=)qIqyuoʡ? rh~jtx?u-?uC u; u5A)uAIuXAiu Aqu(AiA E@ E@ M@E©EEiE̤@E A)E@IEiE@Uԅ<M]$=Y]QU]>aaae\Eew1Eiym}m>Iq }:u4? }:uԖ u|qB @9uuDuv: u:)u:ޡiޥp=}} ,:YkS1yԊ:5Wh ?WX XW:W2W*WVbUBU*UUUH@RB*** querying acoustic contact ***PPBpB  B A ٖ=*B A ́A AAf="Ch ?RCDp<Ch ?Cֵc׽?i׽?qIyG>(q,ĪEAY}:c?}:W$?y}:伙}:2=}:H? r ?`7'?Ye?b ?k?@?)~:c? ~:9_;I~8ɫ99)9 9I9Y}@y}oGZ****** received transponder code query ******F****** received ping request ****** @>9 I i = @; EA E ,C.Vq,ުEAi0IHiPjпٺhjA=?9EBAY}UIf?}UH '?y}U+뼙}U=}UHh?RfǦ?`n?3?`;q?=N?]?)~UIf? ~U^;I~Qɫqq)q qIqY@y pGxDUSBL response received:!U1,P 0B6,000,005BE,186,80,80,A6,FF Command AckBRequesting micromodem ping code 2iI)AI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 E<MM==Y]@QUe>qya\E1EyG<}>I1 :54? :5c 5qB @95D5~< 5<)5:(  mK:YDW1yY:5);9W=>WX XW:W2W*WVbU1BU9*U9U9U= @BlB BA=*BAAAA_/="C=>RC=C=>Ce Ѽ! I) GE >~q,5EAY}6]h?}6^$)?y}6켙}6K=}6H WA??`'?`?ҸF??'?)~6]h? ~6^;I~6Cɫ19)9 =I9Yub@yucpGyɮ}a=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @áááiåz@á ġ)ĥ@Iġiĥƣ@/<MT=YйQU>a\E1EyQ<}>I4?~ qB @9D=: I:)W>WX X W :W 2W *WVbUBU*UUU@"@B/cB BA6=*BA bA A A fv="C>RC=C>C}Iޡ)ޡ׹IGE>dq, nEAY}:6|j?}:7*?y}:}:/=}:HX?@`K? ?`? T;ӝ? ??)~:6|j? ~:^;I~:Cɫ99)9 EIAY}@y}oGxDUSBL response received:!U1,R,1D2,000,0058E,187,80,80,8D,FF Fpublishing direction and range info5оɰ=鰅1> ) CIyG?BȨc?/PٿٱsiM[=YdQU>a\E1Ey<}>Iȑŕ%4?ŕu ƕqB @9ƕDǕF: ȕ ;)ȑWs>WX XW:W2W *W V bU!BU!*U)U)UM@Pa*QeG?BZQeKE@<2JQeȨc?/Pٿ2Qe5о:QabQe{G@P0(@DP{)ؿRQe|cC?:?(BQex> QeFAQe8BPeK9?PeH9?PeQeQeF@"Qe@B\kmB BA=*BABAA!A%="CUs>RC]E>Ces>C< -:YU1y:59-@IG=r>Wq,J,EAɫ髉) IY.@y#pGedNmea in: $SNTTA,0.291981,0.382293,,,013851.64*59 Iu=)u=]/$?{Gz?{Gz?]>]#> ]ף=)YIYy]MbX?a\E1Ey}>I :=4? :i qB @9DM: R:):m=uAdded new target pos. range: 47.820000 m, bearing: 15.048073 deg, deltaT: 4.446725 s, approachRate: -0.647667 m/s, LOS rate: -1.175301 deg/s, posRepo size: 4m] ProNav: pos range: 47.820000 m, bearing: 15.048073 deg, approachRate: -0.647667 m/s, LOS rate: -1.175301 deg/s, cmd update: -3.525904 deg/s, cmd heading: 25.229504 deg, new cmd heading: 23.977520 deg. W]>WYXY XaWa:Wa2Wi*WiVibUqBUq*UqUuG@U}q?B$iBA BAAE@=*BAAMAIAIAMK@ ="CU>RCU`>CU>CY]%>=1IAG]v>xq,M,FEAY}2Em?}2Dd.?y}2+}2V=}2Ho?`(?@B$?@?`$? >l?@?)~2Em? ~2L^;I~2Cɫ19)9 9I9Yu@yumoGVMl=Y QU ?  a\E1Ey% =}%?I9=O4?=)` =qB U@9=D=3A; =T;)9Wy>WX XW:W2W*WVbUBU*UUU?BxkB BA8=*BAAAAs ="Cy>RCF5>Cy>C  x=IG (> .:YT1y:55B>95CI5jGi5Ѿ@5=5LD5D5D; 1q,_EAY}:Ӑn?}:.?y}:}:bC=}:H ? 9-r?2?? ?vp?"?)~:Ӑn? ~:^;I~8ɫ99)9 =I9Y}@y}oGE"<MEG=YEQUE>IIaM\EM1EQyUp;}]>IY e:]3e4? m:]T ]qB m@9]D]: ]:)]:Wf>WX XW:W2W*WVbUBU*UUU@?B #lB BA=*BA ွAAA ="Cf>RCI>Cf>CIGI>!q,yEAY}2m?}2k.?y}2}2<}2H'?+srf$?? ١??@-?)~2m? ~2_;I~0ɫYY)Y ]IYY@yoGåj<=åGå=iå̬@á ĥ@)ĥƣ@Iĥ3@iĥƣ@MMC=Y}QU>a\E1Ey}>I3{4?FI rB @9DA; :,;)W-_>W)X) X1W1:W12W9*W9V9bUABUA*UAUAUM?B"mB BAٖ=*BAAAA-!="C_>RC[\>C_>CimjA%a5= 1:YU1y:n5I)GEQ>q,ݵEAY}2Cl?}2,?y}2Y}2&e:}2H @?뜿?m?`y ?@I S?@[?)~2Cl? ~2K_;I~2Cɫaa)a aIiY}@y}oGI>9IkGis@=A; E)ݛCIݛCiݛCݛ=ݛ=ݛ6) = ==Ѕ<M=S=Y=QU=>AAaE]EE1EIyM}M>IQ ]:Uo4? ]:U> U+rB e@9UɃDU: U:)U:WmN>WX XW:W2W*WVbUBU*UUU?BE,jBA BAAMϣ=*BIAM잀AiAiAmo!="CumN>RC}i>C}mN>Cy֕>׉IG@>Dq,yEAɫ) IY5@y5oG#~j? ףp= ?{Gzt?>Q8= ף;)IyE?Mb&?̼ A)XAIAiAUO >U1>UQ8>iU@Q Un@)U@IU@iU@eJMe,=YmQUm>iqau]Eu1Eqy}}}>IȁŅq4?ŅX4 ƅ'rB @9ƅ҃DDž: ȅ=:)ȁW-Ғ>W1X1 X1W1:W12W1*W9V9bU9BU9*UaUaUe@ 11:YW1yč:ݻ5BmB BAƗ=*BA'yAAA!="CҒ>RC>CҒ>C+E>ױIG>q,LlǫEA||Y}>f?}>'?y}>X&}>>d}>H`f?X4갿 7k?;m? `?Ф?@ ~?)~>f? ~>bl_;I~>CɫYY)Y YIYY}@yHoG?AeM=Y18QU ?a]E1Eyj} ?IQUh4?UT- U&rB ]@9UكDU4: U:)QWۈ>WX XW:W2W*WVbUBU*UUU@ i@RB*** querying acoustic contact ***PPB͊jB BAЊ=*BAocAAA!="Cۈ>RC ~>Cۈ>C >>tI>?i?׹IGE>L>9IkGiĿ@=D0; Eq,EEAɫyy)y yIyY[@yoGZ****** received transponder code query ******F****** received ping request ******a]E1Ey } >II }:M4? }:M($ M$rB @9MDM{; M*;)M:W=nt>W9X9 X9W9:WA2WA*WAVibUiBUq*UqUqU} "# @BoB BA {=*B A DA A A 5"="Cnt>RC >Cnt>Cޭ=iީ 1:YV1y:5);9S^>IYG}z>@q,K"EAY}6Y\?}6Tc?y}6//}6F}6H?K4``p??`Gޱ?`,??)~6Y\? ~6 `;I~4ɫ99)9 9I9Y}n@y}6oGxDUSBL response received:!U1,P 1D2,000,0058E,187,80,80,8D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 >7Q8i̴@ b@)I3@i@;M/=Y%kQUm>qqa}]E}1Ey}>Iȱŵ4?ŵ6 Ʊ @9ƵDǵ: ȵb:)ȱWY>WX XW:W 2W *W V bU BU*UUUU @BZnB BA=*BAw&AAAdl"="CY>RCj>CY>CC}>ױIG>`q,EA|i|Y}VlW?}V?y}VQ2}V}VH`?`%?@G_? `-?`ZR? I¿`?)~VlW? ~V*`;I~VC܅@>9܅CI܅TlGi܅@܅=܅KD܁܅%; ݅Eɫ髱) IYE@yEoGIɮMp=}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }<MU=YMQUU>Y!a-]E-1EiEnGIYQi  F:YW1yč:5); ˿ٺxAy='B}E>IQ :UI4? :Ut Q @9UDU%< U;)U:W-^;>W)X) X)W1:WQ2WQ*WQVYbUqBUq*UqUyU}@BkB BAg=*BAuAAA"="C^;>RC >C^;>ChA Wg~>I ) ׹ I G >. q,.EAɫ)))1 1I1Ym3@ymnGuxDUSBL response received:!U1,R,0F6,000,00559,186,80,80,9D,FF }Fpublishing direction and range infou[qɰuL=u> q)uCIqyu2Buo.EC?AzUmD˿ٱqdNmea in: $SNTTA,0.083652,0.182064,,,013856.04*50 a I%@a - %Å둾Å?ÅiÅ3@Á ą@)āIąO@ią@#M9=YQU>a]E1Ey}>Iȱŵ4?ŵ ƵBrB @9ƵDǵ: ȵ:)ȱW]%>WaXa XaWa:Wa2Wa*WiVibUiBUi*UiUqUu- @P*Q2BZQKuE@ymj#JQo.EC?AzUmD˿2Q[:QbQT UʫD@p> Q*AQ^%BPE9?PK9?PQQBA"QF@BmB BAp=*BA^AAA"="C%>RC C %>C 5>IG%>q,HEAY}26K?}21 ?y}2B3}2u@}2HL?@;"(?`M?T?@w?ǿ g?)~26K? ~2 +a;I~0ɫ99)9 9I9Y}@y}coG==M={=Y=\eQUE ?AAaE]EE1EIyMn}M ?IQ ]:U4? e:Up U_rB e@9UDU: Uk:)U:mqAdded new target pos. range: 44.640003 m, bearing: 21.782059 deg, deltaT: 4.514023 s, approachRate: -0.704471 m/s, LOS rate: 1.491793 deg/s, posRepo size: 4m ProNav: pos range: 44.640003 m, bearing: 21.782059 deg, approachRate: -0.704471 m/s, LOS rate: 1.491793 deg/s, cmd update: 4.475378 deg/s, cmd heading: 9.283112 deg, new cmd heading: 8.191115 deg. Wc>>WX XW:W2W*WVbUBU*UUQF@Uw?B5hB9 B9AE^=*BAAEAAAAAMK"="CUU>RCUKE}>C]c>>CaօFӅ>  3:YX1y/:59@AIQGmW>} >9yI}lGi}g@}=}JD}D}8; }ED=q,bEA||4?ʿ K?)~21F? ~2`;I~2CɫYY)Y YIYYu@y?oG5M=J=Y=vQU=>AAaE]EE1EIyMY}M>IQUy(4?U UrB ]@9UDU: U:)QW;`>WX XW:W2W*W V bU BU *U1U1U5-g?B}lBy ByA=*BAmAAA#="Ck->RC9b>C;`>C֥Y>׭?i׭?ׁIG-N>hgq,j|EAY}2@?}2?y}2lE}2^_}2H@?ݿ`¿?`C?@[? _?˿4?)~2@? ~2Fs`;I~2Cɫii)i iIiY+@ynG  U`;UH=UviUQ@Q U­@)U@IUiU@}kMF=YԻQU>a]E1EyY}>Iȡ :ť/>4? :ť ƥrB @9ƥDǥZ: ȥQ:)ȥ:WU>WQXQ XiWi:Wq2Wq*WqVybUyBU*UUUW?B nB  BAl=*BA;AAA>#="C%S>RCM.>CM>CQ4  7:Y[1yݏ:5}E}>QIaG}z>R%q,"TEAY}F:?}F>y}FnV}Fvjk}FH`VW?ܿCÿ?J?@?*ͪ? Ϳ`?)~F:? ~F:_;I~FC%>9%CI%mGi%[@%=!%D%B; %EɫQQ)Q UIQY @yoGi=MC=Ym&QU >a%]E%1EyZ}>IU4?" rB @9!D,;  ;)WmQ>WiXi XiWi:Wi2Wq*WqVqbUqBUq*UyUyU}3Q?BSShB BA=*BA<~AAAN#="CBN>RCl=CQ>C9 l>IGm>=}+q,s0EA|(i|*@Y}R3?}R>y}Rf}R6t}RH`?@sڿՈÿ ?$? ?@׬?0ο ~ ?)~R3? ~R!_;I~RCɫqq)q qIqY @yoGIa)eAa Ia I Q?B`"۹?{Gzt>= ף)Iy+? rh?I +?v>?C<94< @)v AIrAiA Af?Ez>i @ @)ƣ@I@iƣ@5<M58=Y=FQUe>iiam]Em1Eqy}.}}>IȁŅlm4?Ņ ƅrB @9ƅ+DDžh; ȅ;)ȁW  L>W X  X W :W 2W*WVbUBU*UU9U=@BgB BA=*BA~AAAN#=  M4:YDW1yY:%5"C>RC#L=C L>Cֵ,>>I׹)׹׉IG>?a2q,]ɬEAY}6R+?}6>y}63s}6=x}6H@ ?`ؿ@^ÿ09?{?@?a?ο ?)~6R+? ~6+_;I~6CɫYY)Y ]IYY@yoG)%> %=Mk=YHQU?a]E1Eyc}?Iș :ŝ4? :ŝ ƝrB @9Ɲ3Dǝ: ȝ:)ȝ:W}>WX XW:W2W*WVbUBU*UUU@B SeB BA.=*BA>o~AAAE#="C}>RC% C%}>C!m2_.>)I1G]3>%>9%CI%HnGi%@%=%KD%D%K; %E)ݵCIݵCiݱݵ=ݵ=ݵP7t8q,EAY}2#$?}2#>y}2x}2'r}2H?qֿt¿t?'??;?Ϳ` ?)~2#$? ~2Y^;I~2CɫII)I MIIY]L@y]GpGaeAAE&=MX=YrQU>a]E2EyǢ}>I4?< sB @9W)X) X)W):W)2W1*W1V1bU1BU9*U9U9U=O@RMB*** querying acoustic contact ***PIPIBmbBi BiAm=*BqAue$~AqAqAu4#="C}'>RC}MCͿ>Cm".>IIi-  i7:Y[1yݏ:5);9G%M>>q,JEA||;Y}6$M?}69v>y}6 y}6Mm}6H`? vտ ? õN>iõ(@ñ ĵ­@)ĵ@Iĵiĵ@JM;=YaQU>a]E 2Eyy}>I :4? :P %sB @9GD: :):W>WX XW:W2W*WVbUBU*UUUc @B-3eB) B1A5=*B1A5b}A1A1A5!#="C=>RCE8ѽCE>CA u=u=E)]>M?iM?I G%N>Eq,EAY}:?}:-;>y}:RGw}:]~j}:Hs?`#5Կ? |?]??`Ϳ?)~:? ~:o{^;I~8b>9bCIboGib@b=bLDbDbW; bEɫ9A)A IIIY}@y}pGxDUSBL response received:!U1,P 0F6,000,00559,186,80,80,9D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ‰iA=MI=Y:QU>!)aM]E2EytP}>I24? WX XW:W2W*WVbUABUI*UIUIUM @ ,:YT1y:5);Bb`B BAZ=*BAc}AAA% #="C5>RC5BC=>C`=ױIG>2Kq,j1EAY}2;?}2d>y}2w}2oe}2HA?,ӿBE@ww?>?? ?h̿ M$?)~2;? ~2R^;I~2Cɫ99)9 =I9Y}@y'qG鮑ɮR=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Dl?L7A`?ʡE? O> += =) I y Mb?~jtx?:v? @? ; < ?@) "AI XAi A  z Aeja]E2Ey9}>Iȑ :ŕ4? :ŕ# ƕXsB @9ƕ[DǕ: ȕ(:)ȕ:W^c>WX XW:W2W*WVbUBU*UUU@BuEYB B A =*B A L}A A A5"="C^c>RC<C^c>Cօ^=9IIGeV>Rq,EKEA|i|@Y}6|?}6䨞>y}6Rz}6O~]}6H>k?ICҿZLz?? ?TE? k˿+2?)~6|? ~6]^;I~6Cɫ99)9 =I9Y@yjrGxDUSBL response received:!U1,R,F8D,000,00521,186,80,80,8F,FF Fpublishing direction and range info=ɰ=鰹 )CIy%B7?_ȶ쥹?ٱ=Mg=YHպQU>a]E2EyN<}>I  4? ` qsB @9 cD : :) W=B?W9X9 X9W9:W92WA*WAVAbUABUA*UIUIUMZ@PY*Q]%BZQ]AD@>r@JQ]7?_ȶ쥹?2Q]=:QYbQ]MlpB@owzp]0@y?RQ]^r9Y?pPwIA_?:?BQ]D> Q]AQ]sBP]C9?P]E9?P]Q]Q]@"Q]BABOB BA>*BA/|AAA;"="CIg>RCRCB?CԹԽiA֭}UC  *9:YDW1yY:59@>9CIq i mGI i - Tʿٺ) - AXq,U/eEAY}z/ ?}z:>y}z{}zIP}zHr? W|ѿ`Uʽ/?@H? ~?` u?`ɿ G?)~z/ ? ~zF^;I~zCɫ) IY-@y-a]E$2Ey}>I  : 4? :  sB @9 nD : :) :mEqAdded new target pos. range: 41.279999 m, bearing: 23.374881 deg, deltaT: 4.340061 s, approachRate: -0.774184 m/s, LOS rate: 0.367005 deg/s, posRepo size: 4mU ProNav: pos range: 41.279999 m, bearing: 23.374881 deg, approachRate: -0.774184 m/s, LOS rate: 0.367005 deg/s, cmd update: 1.101014 deg/s, cmd heading: 28.706270 deg, new cmd heading: 30.664395 deg. WUi?WYXY XYWY:WY2WY*WaVabUBU*UU ףD@U k?BVB BA>>*BA|AAAV"="Ci?RCEpCEi?CQIޥAA)ޥAAU1I9GUu>_q,~EAY}2?}2«>y}2$bw}2>}2H̬? пuλ?@|L?`R?t? ǿ@c?)~2? ~2rr^;I~0ɫQQ)Y YIYYZ@yrG]>]|?]/qqau]Eu+2Eyy}}}>IȁŅJ'4?Ņ ƅsB @9ƅwDDž: ȅD:)ȁW5Md?W1X1 X1W1:W92W9*W9V9bU9BUA*UAUAUE@?BMB BA!>*BA {AAAȓ"="C=?*CZGvRCwxCMd?C 4-:Yy5tEIGn>^eq,MܘEA||4<2>92CI2hqGi26@2=2MD2 D2z; 2EY}F?}Fd!>y}F }m}F޽(}FH?@vzпp`D? Ky?@ t=)Iy/$?Mb`:v?L?T= t@)AI"AiOA= A<M 3=Y ;QU >a]E22Eyܞ}>I!%D4?%L %sB -@9%D%: %ϸ:)!WU?WQXQ XQWQ:WQ2WY*WYVYbUYBUa*UaUaUew?BBLB BAh/>*BAzAAAu"="C?RC C?C ս=Խ>}cׅ?iׁ9IIGeU>lq, EAɫ髙) IY@y;tGMiAMjAÝ\>Ý>ÝX9>iÝp@Ù ĝ@)ĝ@Iĝ@iĝٮ@|=Md=YQU>a]E82Ey}>I :[4? :ի sB @9D: :):W?U?WX XW:W2W*WVbU BU *U UU79?B=?B9 B9A=F>*BAAElzAAAAAE>T"="CM?U?RCICU?U?CQ-ųֽIG5.> 0:YW1yč:5rq,X̭EAY}2?}2W>y}2AAaE]EE>2EAyMR:}M>IQUt4?U U"tB ]@9UDU': U:)QWR ?WX XW:W2W*W V bU BU*UUU Y@B=H@BA BAAEkN>*BAAEyAAAIAMK"="CUR ?RCQCUR ?CY֍MaIiG9>Y]gAe>9eCIerGie*@e=ae De; eE(yq,gEA|i|Y}6:?}6Q>y}6;}6}6H ?@ѿ`B?ɨ?}?`?{dz ?)~6:? ~6^;I~6Cɫiq)q qIqYk@yZuGU2L=MUH=Y]wYaae]EeD2Eaym"<}m>Iq }:u4? }:u uGtB @9uDus: u^:)u:W~@ ?WX XW:W2W*WVbUBU*UUU |@B}5R:B BA?c>*BAyAAAK"="C~@ ?RCC~@ ?CԱԵhAu;MI׉)׍iAaIyG;> o/:YDW1yY:5)͌;9%q,BEAY}JMj?}J>y}JM'}J黻}JHkd?@ӿB?[k?}`ߤ?@xw?)~JMj? ~JM_;I~JCɫyy)y }IyY@yuG) >y==K7i@ n@)n@IO@iO@-<M5M=YDAa]EK2Ey=}>IL4?- ktB @9D: :)WK?WX XW:W2W*WVbUBU*U U U j@RB*** querying acoustic contact ***PPB=а5BA BAAEl>*BAAEZBxAAAIAMV"="CUK?RCULCUK?CQM8sIG-->;q,%EAR>9RCIPiPR =RODR DR; RE);CI;Ci;C;=;=;C7Y}?}->y}j&}o=}H.?`1տ`c`?,?ϧ ˤ?`?`4?)~? ~pU`;I~CɫII)I MIIY@yuGZ****** received transponder code query ******F****** received ping request ******IIaM]EMS2EQy] =}]>Ia m:e|4? m:e etB m@9eDe: e:)e:W?WX XW:W2W*WVbUBU*UUU * @B!<B BAHo>*BA BwAAAn"="C?RCxC?Cx?i?ש I G >cq,M3EA|$|&;Y}F?}F^>y}F&}FZ~=}FH`n?`oֿ@1L?`?@ؤ? ? ?)~F? ~Fa;I~DɫYY)Y YIYY0@yKvGxDUSBL response received:!U1,P F8D,000,00521,186,80,80,8F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =ҍ>==-=i=@9 =@)=O@I=@i=@=Mm=Y8QU>a]EY2Ey@d=}>I4?X tB %@9D{; #;)We?WiXi XiWi:Wi2Wi*WqVqbUqBUq*UyUyU}`^ @B-B BA{>*BACvAAAgs"="C?RC 4mC%?C)MM UUס I G >0Pq,MEAY}6 ?}6^>y}6;'}6D=}6Hp?׿@? ? ? X(? V?`?)~6 ? ~6|a;I~6Cɫqq)q qIqY$@yxwGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }jA}iA=Mm=Ye QU?a]E^2Ey7=}?IL4? tB @9DŽDX: d:)WnB?WX XW:W2W*WVbUBU*U U U @@B5\B1 B9A=*>*B9A=uA9A9A=l"="CEnB?RCMaCMnB?CQaIqG> }} >:YkS1yԊ:59@}>9}CI}0rGi}@}!=}PDyy y`vq,-gEAY}2%?}2;>y}2$}2a>}2HQt? ٿՉ? ? -? NꝤ?=?`?)~2%? ~2оa;I~2Cɫ99)9 9I9Y}@y}]wGxDUSBL response received:!U1,R,02F,000,004EE,185,80,80,A3,FF Fpublishing direction and range info'ɰ=鰅+> )#CIyB7G?+qٱM]=YZ:QU>a]Ed2Eyz=}>I :4? : tB @9ЄD: <:):Wv?WX XW:W2W*WVbU BU *U U U `\@P*QBZQկ C@+>uJQ7G?+q2Q':QbQ1A@,*@HEl?RQtp3?sw?0?BQǷ> QVAQ BPF9?PC9?PQQ@"Q@BU#BQ BQA]Ƌ>*BYA]tAYAYA]l"="Cev?RCeUHTCev?CiiIqG>_`q,6EA|(i|(Y}r+?}r]>y}r!}r;>}rH)?Oڿܨ?`>:??¿`Y>??Ч?)~r+? ~rOLa;I~rCɫ) IY5@y5AwGTNmea in: $SNTTA,0.039634,,,,013904.94*49 I)UZUH=Ua]El2EyI=}>Iȩŭ!4?ŭ{ ƭtB @9ƭ܄Dǭ': ȭ4:)ȩmuAdded new target pos. range: 38.220001 m, bearing: 20.565993 deg, deltaT: 4.436101 s, approachRate: -0.689794 m/s, LOS rate: -0.633188 deg/s, posRepo size: 4mrPowering the camera and arming the DDM at range: 38.22 m.Xm ProNav: pos range: 38.220001 m, bearing: 20.565993 deg, approachRate: -0.689794 m/s, LOS rate: -0.633188 deg/s, cmd update: -1.899565 deg/s, cmd heading: 33.590508 deg, new cmd heading: 34.102938 deg. W9"?WX XWX:W2W*WV bU BU *U U)C@U ?BE4,BI BIAMc>*BIAUsAQAYA]u"="C9"?RC2C9"?CI)GMS>}}}} }U*:Y}WU1y}:}5q,tEA">9"CI i "'= " D"; "EiMmGIaiyȿٺ¹AY}m1?}f>y}V#}h>}Hp?aۿ@?6?u?2wÿ |i?@"&?@9?)~m1? ~`;I~Cɫaa)a aIaY@ywG .Powering up loadControliMx&1? e>m=Mu$=Yu,QUu>yya}]E}t2Ey@=}>Iȉ :ō]<4? :ōJt ƍtB @9ƍDǍ: ȍ:)ȍ::uAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;vZEntering USBL mode with 5.000000 count pings.1;q;WN ?WX XWX:W2W*WVbUBU*UUU@+?B)B BA>*BArAAA|"="CN ?RC}CN ?C Lu I G >籬q,?EAY}2x8?}2>y}2)}2i">}2HB~? ݿ?@M? ?epĿ/5? @? ?)~2x8? ~2`;I~2Cɫ) IYQyQ--#>-D=i-p@) )))I-@i-@Y=&QUE?AAaE]EEx2EIyU2=}U?IQUL4?Uo UuB e@9UDU: U:)QX}@q;uCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:uAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLWl] ?WX XWX:W2W*WVbUBU*UUU-?BB BA*BA rAAARm"="Cl] ?RCuCl] ?C֭0pׁIGA> 2:YV1y:H5q,"ϮEA|4<|4}6H` ? ޿Q??L?`Ŀ@Z???)~6u?? ~6sv;I~6Cɫ) IYU@yU*xG>i=ir;M!a%]E%2Ey=}>I :a4? :h uB @9D.'; {;):Wi?WX XWX:W2W *W V bU BU*UUUO?BEBA BAAE1>*BIAMj qAIAIAM*\"="CUi?RCU~֡CUi?CYmiAmiA]FHI!GEQ>U>9UCIUrGiU*@U=UODU DU; UEùq,jEAɫyy) IY@y xGiYY}iA}hA @ @ @©i̬@ )­@Ii@EM;=YQU>!a%]E%2E!y-}->I15w4?5a 5*BAw pAAAJ"="CE?RC|CE?Cޥ=iޥ=MיIGd> .:YDW1yY:5);9q,EAY}2RO?}2?y}2)I}2g!>}2H ? @(??V?RĿ9?@c??)~2RO? ~2s;I~2Cɫ) IY5@y5xGi=Ma=Y}QU>a]E2Ey,>}>I :Ή4? :Z XuB @9D: V:):W1?W!X! X!W!X!:W!2W)*W)V)bU)BU1*U1U1U5@B]Ba BaAeH>*BaAe%oAaAiAm""="Cu1?RCuCu1?Cyօ0YIaGZ>Uq,EA">9"CI"\sGi"@" ="ND" D"j; "EY}V?}v3?y}W}[>>}Hъ?`??!?1ÿuߪ?M??)~V? ~+;I~CɫAM)I IIIY@y|xG?AI)Ai-(\?-z?- -L))I)y- +?Zd;QQaU]E]2EYy{=}>I͢4?Q nuB =@9D; R;)Wj(>WX XWX:W2W*WVbUBU*UU U @R=B*** querying acoustic contact ***P9P=B0?!B BA[>*BAmA6 1:YW1yč:55);AA!="Cj(>RC<Cj(>C =>#IGm >q,6EAY}6$^?}6?y}6f}6a>}6H@t?@n?@u??8"ÿҬ?b??)~6$^? ~6 ;I~6Cɫ) IYUE@yUxG]Z****** received transponder code query ******]F****** received ping request ******]q= 0=i@ )K@I@i­@D<M Q=Y ]QU >a]E2Eyu=}>I! M:%@4? U:% J %uB U@9%D%H; %:)%:W=>WX XWX:W2W*WVbUBU*UUU @B}B BA%7>*B!A-lA)A)A->!="CE=>RCMu=CM=>CIIޥ@A)ޡ=ܝI!G=r>q,aPEAY}:de?}:{%?y}:u}: >}:H x?U`7!?@F?Q?`ߕ¿@~?/? ?)~:de? ~:,;I~:Cɫ) IY=@y=7xGExDUSBL response received:!U1,P 02F,000,004EE,185,80,80,A3,FF MCommand AckMBRequesting micromodem ping code 2iII]Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iy5M_=Y$QU>iiam]Eu2Eyy =}>IȹŽ4?Ž@ ƽuB @9ƽ$DǽT; Ƚ;)ȹ>9CI$tGio@h; E)]CI]Ci]C]=]=]<7W>WX XWX:W2W*W!V!bU)BU1= ===c =A:Y=U1y=:=5)=;*UQUYU] v@B%e B) B)AM>*BQAUYkAQAQAUR!="C]>RC]=C]>CaM ፨ I G5 >q,}6H?@r?l??2¿`Z ????)~6rk? ~6;I~6Cɫaa)i iIqYP@yxGɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U=iU=iyyU*=MUA=Y]}QU]>Yaae]Ee2Eaym=}m>Iȑŕ@4?ŕ8 ƕuB @9ƕ-DǕܹ: ȕ:)ȑW?>WX XWX:W 2W *W V bUBU*UUUj@BeZ@Be< BaAe>*BA kAAAO!="C?>RC=C?>CօSYIaGY>q,rEAY}2np?}2r0?y}2}2hH=}2H`?xpf~? X? T?C԰?`?&?@%?)~2np? ~2;I~0ɫ99)9 9I9Yq@yyGxDUSBL response received:!U1,R,1AE,000,004BB,186,80,80,8C,FF Fpublishing direction and range info7 ɰi=> ) CIy B7?ѨCt׿ٱifAeA5 =55i5@1 1)5n@I5X@i5@Ex4<ME]=YMQUM>IQaU]EU2EYy]P=}]>Ia m:e]4? m:e0 euB u@9e5De: e:)e:Wf>WX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q BZQD@S[@@G~)JQ7?ѨCt׿2Q7 :QbQѫ@@շ&@DC@?RQ6Ь:c? wa?n?BQ> Q0AQBPG9?PF9?PQQ@"Q@B B BA>*BA jAAAT ="Cf>RC̮>Cf>Cޥ=iޥ=񖻹yIGd>=j === =F<:Y=W1y=č:=59=@ >9 CI tGi @ = MD  p;  E(q,\EAY}Ϻs?}(4?y}!} =}H V?/ ?I? ?:`? /? ?)~Ϻs? ~!;I~Cɫ) IY @y yGDNmea in: $SNTTA,,,,,013909.40*58 i5\(\?:v{Gz?5>5Լ 5#=)1I1y5^I +?QYa]^E]2EYye<}e>Iim4?m% muB u@9m@Dm@: m:)imuAdded new target pos. range: 35.159996 m, bearing: 18.237614 deg, deltaT: 4.463873 s, approachRate: -0.685505 m/s, LOS rate: -0.521605 deg/s, posRepo size: 4mrPowering the camera and arming the DDM at range: 35.16 m.Xm ProNav: pos range: 35.159996 m, bearing: 18.237614 deg, approachRate: -0.685505 m/s, LOS rate: -0.521605 deg/s, cmd update: -1.564815 deg/s, cmd heading: 25.111885 deg, new cmd heading: 24.217110 deg. W>WX XWX:W2W*WVbUBU*UUzA@U`M?BB BAʪ>*BAhAAA]" ="C>RC+)>C>Cu<׉IG> Nq,SηEA|i|@Y}6 u?}6#6?y}6㒽}6v=}6H,?s^f?L? ?μ vX?8?`?)~6 u? ~6{;I~6CɫAA)A AIAYu@yyGI)Ai  ]j<] 0]y=i]@Y ]@)]@I]@i]@mHMmp=YmQUm?qqa}^E}2Eyy۹<}?Iȉ :ō14? :ō ƍuB @9ƍHDǍ: ȍ:)ȍ:W8>WX XWX:W2W*WVbUBU*U U U .?B]ZBY BYA]:>*BaAeRgAaAaAe="C8>RC?7>C8>Cх.=]蕔=9IIer aae e<:Yayae5Guy> 6q,ѯEAY}6[5v?}6K6?y}6˗}6y=}6H%!?3 `??L@? ,^?@V?)~6[5v? ~6@s;I~6Cɫ99)9 9I9Y@ymyGiiq)Å= Á<MG=Y,QU>a^E2Ey;}>IȹŽ-4?Ž  ƽvB @9ƽRDǽ: ȽI:)ȹW9M>WX XWX:W2W*WVbUBU*UUU)?B B BA>*BA%fAAA%="C9M>RC@>C9M>Cѥ=ep=Iޡ)ޥ@Aܝ>9ܙIܝvGiܝ@ܝ=ܙܝDܝq; ݝE9II>'CGe>iNmGI5jAiMAAu|ٺujAufB$`q,EAY}:t?}:i5?y}:+O}:T=}:H9? ? 4.?@ ɶ ?t?`?)~:t? ~:gk;I~:Cɫaa)i iIiY*@yyGiyy @ @ @©i\@ )I@iٮ@=ME=YQU>a^E2Ey=}>I  : |B4? : g 5vB @9 [D : (:) :W=I>W9XA XAWAXA:WA2WA*WIVIbUIBUQ*UQUQUU,?B}ޜB BA>*BA7eAAAϑ="CI>RCd]E>CI>C) u= uuu u8:YuDW1yuY:u35ԝfAԝeAօ8'>I IQ Gu >Gq,_EA|;|;Y}6Or?}6?C3?y}6vk}6<}6H@e? `t馿`ǎ?l?@{@/?ߗ??)~6Or? ~6Qf;I~6CɫYY)Y YIYYx@yUzG=i=i5<M=W=Y=QU=>AAaE^EE2EIyM}M>IȱŵWX XWX:W2W*WVbUBU*UUU8@B%PB! B!A%m>*B!A-dA)A)A-="C5l>RC=F>C=l>C9օ->YIiGZ>ܭ >9ܭ CIܭ DwGiܭ @ܩ ܩ ܭ Dܭ f; ݭ E8vq, LEAY}:,o?}:30?y}:}:Q}:H͢?N=C?w? Ppjq?4;@?)~:,o? ~:b;I~:CɫYY)Y YIYY@y{Gi$C?zGʿMb`? W )IyQ?y&1L7A`?\/?`+= A)h@IQ@i AA™fACB=MC=Y{QU>a^E2Ey}>Ih4? yvB m@9mDB< /:)W >WX XWX:W2W*WVbUBU*UUU@B-6B1 B1A5>*B1A54EcA1A9A=A="Ce >RCe&5F>Ce >Ci]+<&>IeeA)eeAޝ=iޝ=1IAGeV>  A:YX1y/:5)ɜ;9Ν q,9EAY}2kl?}2Zr,?y}2(}27}2H@?E? ?n `?'ꦿ$?)~2kl? ~2"`;I~0ɫ99)9 9I9Yum@y}HzGyyi = = ==`<=5^=QQa]^E]2EYyee}e>Ii u:mz4? u:m mvB }@9mvDm%; m;)m:Wָ>WX XWX:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPB B BA>*BA>bAAA="Cָ>RCB>Cָ>C >=HC>IG$>.q,^REAY}:g?}: =(?y}:pS}:飽}:H@?R {?@a?ۋ?y?'f`?)~:g? ~:h_;I~:Cɫ99)9 AIAY}@y}zGZ****** received transponder code query ******F****** received ping request ******a^E2Eyc}>I!%4?% %vB U@9%D%; %E;)!Wf>WX XWX:W2W*WVbUBU*UUU  @B B BA!>*BA`AAA="C%f>RC%2>>C%f>CI5>91I5xGi5?@5=5ND15a; 5E=G>9IIGuy>q,lEAY}>b?}>R#?y}>}>#}>HV?t??g?  ?Z?)~>b? ~>A^;I~>Cɫ) IY-m@y-{G5xDUSBL response received:!U1,P 1AE,000,004BB,186,80,80,8C,FF =Command Ack=BRequesting micromodem ping code 2i99ENmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i )]= ]> 5@ 5@ 5@5©55i5=@5 5j@)1I5i1ea;=Me%=YeQUe>iiam^Em2Eqyu?#}u>Iy :}4? :} }vB @9}D}=: }I:)}:IޝAA)ޝAA l @:YDW1yY:N69@Wv>WX XWX:W2W*WQVQbUYBUY*UYUYU] @B=M BA BAAE>*BIAu n_AqAyA})="Cv>RC9>Cv>C =>׹ I G >!q,QEAY}:]?}:?y}:q}:c }:H`(?Z@z¿ s?H??&?0ܙ?)~:]? ~:z^;I~:Cɫ99)9 9IAY}@y}{G鮁ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iaa-><M=YL9QU?a^E2EyD}?Iȱŵ4?ŵ ƵwB @9ƵDǵ: ȵܹ:)ȱW`Ƨ>WX XWX:W2W*WVbUBU*UUU0@B%jB! B!A%>*B!A-^A)A)A-="C5`Ƨ>RC5Đ->C5`Ƨ>C9 9>IG%>E >9E CIE dzGiE @E =A A E j; E E)CICiC==O5'q,EA||Y}6W?}6e?y}63X}6{}6H@g?Oc ÿ A?f?P??ÿ` ?)~6W? ~6X^;I~4ɫYY)Y YIYY@@y|GxDUSBL response received:!U1,R,0F5,000,0048C,185,80,80,70,FF Fpublishing direction and range info!Zɰ=鰝+> )BIy\B+zE?̙I(˿ٱ=i=iM{Gz?l?/$?M?M= M<)IIIyMrh|?Zd;O?M;?MMj< M@)M AIM@iIIM3AW=MB=Y(8QU>!!a%^E%2E)y-R}->I1 =:54? =:5 53wB E@95D5I: 5:)5:We>WaXa XaWiXi:Wi2Wi*WqVqbUqBUq*UyUyU}@R(Combining 5 samples.P*Q\BZQ8?@UxrJQ+zE?̙I(˿2Q!Z:QbQ<-=@9m(@ʚ3C @RQLo~?B,Կ?.ol&?BQ> Q@AQuAPE9?PG9?PQQ'!A"Q@BiټB BA>*BA!]AAAM="C>RC%>C>CN   ::YV1y:6);9](8>AIqG>w-q,^EAY}:R?}:?y}:I}:b.}:H@2? CgĿsT?{?J)?I?@ſ`o?)~:R? ~:d#^;I~8ɫy髁) IY@yA}G]DNmea in: $SNTTA,,,,,013913.84*5B iiiyy   xi@=l=i@ @)@Ii-@%k;=M%J=Y%զ:QU%>))a-^E52E1y5R}=>I9=4?= =UwB M@9=D=4: =:)9m}qAdded new target pos. range: 32.340000 m, bearing: 21.930431 deg, deltaT: 4.471061 s, approachRate: -0.630722 m/s, LOS rate: 0.825937 deg/s, posRepo size: 4m}rPowering the camera and arming the DDM at range: 32.34 m.Xm ProNav: pos range: 32.340000 m, bearing: 21.930431 deg, approachRate: -0.630722 m/s, LOS rate: 0.825937 deg/s, cmd update: 2.477812 deg/s, cmd heading: 18.115918 deg, new cmd heading: 17.481932 deg. W2۪>WX XWX:W2W*WVbUBU*UU +@@U`E ?BbƼB BAb>*BA[AAA="CK>RC` >C2۪>CYX+>ׁIޥ=iޥ=G>>4q,!:԰EAY}:M?}:?y}: Y}:71}:H ? ;IĿ?? ٺ? b?Zƿj?)~:M? ~:];I~:CɫYY)Y aIaY@y}Gi5 FM=[=Y=&;QU=>AAaE^EE3EAyMT}M>Iȩ :ŭ4? :ŭ< ƭuwB @9ƭDǭ: ȭM:)ȭ:Wwb>WX XWX:W2W*WVbUBU*UUU6?B0 B BA>*B!A%lZA!A!A%rG="C-wb>RC- =C5wb>C1>9I{Gi@=MD Dh; EeH%>3  7:YWU1y:5);9IIGeU>;q,*EA|>@i|>@ɫII)I IIIY@yn}GI)i E@ E@ E@E©EEiE3@E Eb@)EIAiAU<MU9=Y]QU]>Yaae^Ee3Eiym}m>IquH 4?uѯ uwB }@9uDu: uf:)qW,>WX XWX:W2W*WVbUBU*UUUP?BżB BA>*BA4XAAAz="C,>RC"7=C,>C>׹IGD>Aq,QEAY}6D?}6+?y}6}61}6Hͮ?@޿@ÿ?7???@ ƿIl?)~6D? ~6];I~6Cɫ99)9 9I9Yu@y}~Gi)= =N=Mc=Y-  a ^E  3Eygƽ}>I!%i4?%g %wB -@9%D%˵: %:)!WM=>WIXQ XQWQXQ:WQ2WY*WYVYbUYBUY*UaUaUe ??Bd B BA\>*BAWAAA\="C=>RC)=C=>C֍=ו?iו?aIqG>Iޝ@A)ޝBAt  =:Yy359@ >9 CI }Gi @ = D q; Ei mGI jAi  ٺ jA ABHq,!EAY}6*]@?}6?y}6O}6,}6HS?Gݿ]¿? '?y?@0e?sſ@Bt?)~6*]@? ~6 ];I~6Cɫ99)9 9I9Y}@y}VGi"~j?bX9ƿMbP?S?E6 :)Iy/$?Q1(?u @)AI@i AA=M?=Y<;QU>a^E3Ey4$}>I :L14? : wB @9ȅD: =:):WU>WX XWX :W 2W *WVbUBU*UUU@O @BE壼BA BAAEv>*BIAMUAIAQAU[="CUU>RC]cW<C]U>CYE~=!IIG\>8Nq,;EAY}6;?}6z>y}6$}6)}6HP8? ;ܿ@?]?,?@P?Ŀz?)~6;? ~6];I~6Cɫyy)y yIyY@yGi=>i>i!!   õ?õ??õ+iõG@õ ĵԸ@)ĵ @Iıiĵb@{$=MJ=Y;QU>a^E3Ey-}>IPE4?r wB @9ЅD: :)W 7M>W X  XWX:W2W*WVbUBU*UU!U%G@BMABQ BQAU>*BQAU*DTAQAQA]!C="C]7M>RCe FCe7M>Cam벫=!I1GM1>T  ::Y0Y1y:W5!Uq, UEAY}J7?}J>y}J2}J }JH`v? ۿ]?LW?v?? >ÿv?)~J7? ~J 3^;I~JCɫqy)y yIyY@yHG@Ai"=MZ=Y&a^E 3Ey0}>I :X4? :u wB @9؅Ds: ^:):W->W)X) X)W)X):W12W1*W1V1bU9BU9*U9U9UEH@RMB*** querying acoustic contact ***PIPIBm4_sBq BqAu?*BqAuRAqAyA}|="C>RCC>C֍S,=Iב)בIIQu>9uCIu~Giu@u=uNDqus; uEG>ޙiޙL[q,doEAY}~d3?}~>y}~P }~O}~H)?5ۿ@㿿?u??V?`ÿ3?)~~d3? ~~`^;I~|ɫ) IY-@y-zG5Z****** received transponder code query ******5F****** received ping request ******5 W>i̴@ b@)@Ib@i<M9=Y  a ^E '3Ey }>I$n4?  xB %@9D: :)WM c>WIXI XIWQXQ:WQ2WQ*WQVYbUYBUY*UYUYUe @BMxBa BaAeB?*BaAm PAiAiAm="Cu c>RCuCu c>Cy]<  H:YW1yč:5I!GEQ>f2bq,6EAY}21?}2>y}2W~}2 }2H?!ڿ@Bf? ???@?)~21? ~2^;I~0ɫYY)Y YIYY}u@y}ڀGxDUSBL response received:!U1,P 0F5,000,0048C,185,80,80,70,FF Command AckBRequesting micromodem ping code 2iI)I)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I@)@i  P=M\=Y%BA9AaE^EM-3EyK}>I :C4? : xB @9D: 8;):W>WX) X)W1X1:W92W9*WAVAbUBU*UUU#] @BetyBi BiAm ?*BiAmvNAiAiAu+="Cu>RC}SC}>Cy}U<I G] >ܥ >9ܥ CIܥ xGiܥ @ܥ =ܡ ܥ Dܥ n; ݥ E\hq,EAY}6N/?}6x>y}6m}6}6H|?@iڿ ? ?*!?? +@r?)~6N/? ~6^;I~6Cɫ99)9 9I9Y}@y}G鮵a=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i99Gz?B`"۹?)\(?p>= Ga=)Iyy&1?MbS㥫?`%?/]= )jAI@iAA;M==Yiiau^Eu43Eqy}}}>IȁŅH4?Ņ ƅDxB @9ƅDDžϸ; ȅ;)ȁWT>WX XWX:W2W*WVbUBU*UUU08@Bm;Bq BqAu ?*BqAu.MAqAqA}="C}T>RCܽCT>C֍ϩ;IޭAA)ޭAAV  ::Y0Y1y:6);9IG l>enq,EEAY}:{.?}:>y}:)\}:F}:HY?@Zڿ@'\???΁?o@h?)~:{.? ~:a_;I~8ɫ99)9 9I9Y}@y}GxDUSBL response received:!U1,R,041,000,0045C,185,80,80,8A,FF Fpublishing direction and range infoVhɰض=鰁 ) CIyA?>Aٱií/ݽí?íMiíp@é ĭ@)ĭIĭK@iĭK@7=MK=Y/a^E:3EyZ}>I4?_| ixB @9D: :)W%a ?W!X! X)W)X):W)2W1*W1V1bU1BU1*U9U9U=@RM(Combining 5 samples.P*QAZQBpi=@JQ?>A2QVh:QbQX;@+%@4E@?RQOD?xZ?C272ԯ?BQ> Q-AQAPPE9?PQQA"Q'!AB4dB BAa?*BAJZKA A A ="Ca ?RCCa ?CIGE>Druq,ֱEA|,|,Y}f.?}>y}5J}jǽ}H?uqڿ@嵿0?? VL?Z?y۸ 1?)~f.? ~Q_;I~ɫ髩) IY@yGMDNmea in: $SNTTA,,,,,013918.26*58 U=iU=U>iU>iaaIma=)mR= >9 CI  Gi G@ = OD  D |; )ݽCIݽCiݽCݽ=ݽ=ݽ6K!<M2=Y#a^EB3Ey9}>Iȡ :ť4? :ťv ƥxB @9ƥDǥ: ȥ:)ȥ:muAdded new target pos. range: 29.460001 m, bearing: 21.588109 deg, deltaT: 4.443867 s, approachRate: -0.648084 m/s, LOS rate: -0.077033 deg/s, posRepo size: 4mrPowering the camera and arming the DDM at range: 29.46 m.mlFinal approach. Armed for intercept at range: 29.46 m.m\Transitioning guidance mode to: FINAL_APPROACH"Xm ProNav: pos range: 29.460001 m, bearing: 21.588109 deg, approachRate: -0.648084 m/s, LOS rate: -0.077033 deg/s, cmd update: -0.231098 deg/s, cmd heading: 29.107209 deg, new cmd heading: 30.245673 deg. W?WXD; X?W:W2W*WVbUBU *U U u=@U {?B54By ByA}?*BA;IAAAs="C?*CvRC|C?C}  =:YX1y/:5)3;ֵhqIG>{q,EAY}:q.?}:>y}:9}:Fئ}:H@?Uڿ@A?@g? ?0?@ϴs?)~:q.? ~:b;I~:Cɫqq)q qIqY@y$Gi!ÝÝףÝ+=iÝ@Ù ĝQ@)ĝK@Iĝz@iĝ@ =Mn=YIq,| EAY}2P0?}2{>y}2>%}2 f|}2H`D?@NۿB?@?@״???)~2P0? ~23a;I~2CɫYY)Y YIYY@y;Gi=><M=S=Y=LAAaE^EEM3EIyMAs<}M>IQ ]:U@4? ]:Uk UxB e@9UDUs: U:)U:W?WX XW:W2W*WVbUBU*UUU@C?BB BA?*BA[EAAA="CU?*CU.EwRCU CU?CqM;Ͻ!I1GU2>M I 9:Y0Y1y: 69@ >9 CI Gi @ =   };  ERq,`$EA|@i|Y}%_2?}%>y}%~}%|\}%H'? ۿj[@??)6?Ʈ? ?)~%_2? ~%o;I~%Cɫ)))) 5I1Y@yvGI)i Mb?MbL7A`?#? +=)Iyn?~jtxI +?V.?Ļ9< ¥?@)¥AI¥V@i¥XA\@)U= U>2<M=YB;QU>a^EV3Eyy<}>I!%5?%2c %xB -@9%D%3: %:)!WMF?WQXQ XQWQ:WQ2Wq*WyVybUyBUy*UUUj?B@(B BA?*BABAAA="C%F?*C%%wRC%C%F?C)UQ) I9 G] >֎q,2:>EAY}:4?}:T>y}: }:q}:H ?`v?ܿ@c͢qC??Z`=?`E0v?)~:4? ~:o~;I~8ɫAA)I IIQY5@yGiAA @ @ @Ý©ÝÝiÙÝ ĝ@)ĝ@Iĝiĝb@W<M=YWX XW:W2W*WVbUBU*U U U `@B5;B9 B9A=?*B9A=&xAA9A9AE="CE>*CMwRCMLCM>CQ]%|Iޥ@A)ޥ?AN   ::YU1y:59IAGeU>ּq,XEAY}26?}2>y}2{G}2 <}2H?\ܿ\ ? |?@ ?(?=?@?)~26? ~2Π;I~2CɫYY)Y YIYY@yGi5z=M=R=Y=;QU=>AAaE^EEa3EAyM<}M>Iȱŵp%5?ŵW Ƶ yB @9Ƶ.DǵǺ: ȵ:)ȱW>WX XW:W2W*WVbUBU*UUU<@B@ʺB! B!A%[%?*B!A%8Y?A!A!A-R="C5>*C5 wRC5WǽC5>C9̝>Cܽ>9ܹIܽGiܽ;@ܽ=ܹܹܽi; ݽEi}mGISkAi{ٺSkA?BIGE>q,BqEA||Y}6t9?}6*>y}6}61<}6Hm?@'^ݿ' Q? `k?B`?@K"?`v?)~6t9? ~6ӿ;I~6CɫQU)Q QIQY@yڂGAAi   #==iz@ @)b@Ib@iK@ cMM=Y;QU>a^Eg3E!y%<}%>I) 5:-?95? =:-P -yB =@9-6D-: -V:)-:W]1Q>WaXa XaWa:Wa2Wa*WiVibUiBUi*UiUqUu U@R}B*** querying acoustic contact ***PyPyBVxB BA(#?*BA R=AAA="C51Q>*C5AxRC5tūC51Q>C9 M>M=-I5fA)5fAIG-,>  C@:YV1y:6Ϣq,ʋEAY}2Ky}2*켙}2f<=}2HC? N޿Pp`? :?@7?? ?)~2Kaaae^Een3Eiym<}m>IquMN5?uI u,yB @9u?Du!: u.:)qWvt>WX XW:W2W*WVbUBU*UUU`^ @BEPm1BI BIA"?*BA ;AAAK="Cvt>*CxRCCvt>Cޡiޥ=ֽཹיIGa>ܽ >9ܽ CIܽ Giܽ @ܽ =ܹ ܽ Dܽ ; ݽ Eq,jEAY}2>?}2>y}2伙}2g{=}2H`z?@޿zs?`? ?):`˒? 6s?U?)~2>? ~2%.;I~2Cɫ9=)9 9IAY}@y} GxDUSBL response received:!U1,P 041,000,0045C,185,80,80,8A,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i](\?RQJ +?]?]½ ]H=)YIYy]/$?/$Mb`?]&1?],]; ]@)]3@I]@i]xAY]@  ?:Y0Y1y:5);9 @ @ @ý©ýýiý@ý Ľ)Ľ@IĽ@iĽE<MM=YU:QU}>a^Ew3EyS<}>Iȡ :ťl5? :ť#@ ƥ7yB @9ƥLDǥM: ȥ:)ȥ:WE>WX XW:W2W*WVbUBU*UUUA@B8B BA%?*BA8AAA63="CE>*CxRC]CE>CԵgAԵgA֍ ~ו ?iו ?A IQ G} >"q,t|EA|i|Y}6@?}6^?y}6ٞݼ}6|=}6Hf?@x߿ ?@?? x?@$??)~6@? ~6$S;I~6Cɫ99)9 9IAY@yGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iUDt;M]=Y]g;QU]8?aaae^Ee{3EaymO=}m>?Iqux5?u4< uWX XW:W2W*WVbUBU*UUU @B}D`<By BA%?*BA6AAAt ="C>*CnwRCZ-C>CօaIiG9> q,R_ٲEAY}6C?}6?y}6]ּ}6{=}6H@?oy߿0X?@p??wʚ?wɲ? ?)~6C? ~6:U};I~4ɫ19)9 9I9Yu@y}GxDUSBL response received:!U1,R,0E8,000,0042A,186,80,80,96,FF Fpublishing direction and range info}3QOyɰ}=}> y)}CIyy}A}M22X?ɿٱyiYYm#MmI=Y;QU>a^E3EyZ<}>Iȡť5?ť15 ƥCyB @9ƥZDǥ{: ȥ:)ȡW>WX XW:W2W*WVbUBU*UUU@R(Combining 5 samples.P*QAZQ lh9@[6HJQM22X?ɿ2Q3QO:QbQҾ.9@~ɒ-< @IJj?RQlyzt?bgGD? E?BQ> QAQuAPG9?PPQQ#@"QAU>9UCIQiQU =QQU~; UEB|:B BA$?*BA4AAA ="C>*C@wRCVC>C֝Iޡ)ޥ@AG }} |9:YkS1yԊ:35){;בIGa>a7q,.=EAɫ11)1 1I1Ym@yuGDNmea in: $SNTTA,,,,,013922.71*53 i 5 5 5 5@ =@ =@111i5@1 1)5@I5z@i5Ը@MՈMM==YMQUU>QQaU^EU3EYy]}]>Ia m:e5? u:e- eJyB u@9edDeg: e:)e:muAdded new target pos. range: 26.460001 m, bearing: 17.866317 deg, deltaT: 4.425238 s, approachRate: -0.677930 m/s, LOS rate: -0.841038 deg/s, posRepo size: 4mM ProNav: pos range: 26.460001 m, bearing: 17.866317 deg, approachRate: -0.677930 m/s, LOS rate: -0.841038 deg/s, cmd update: -2.523113 deg/s, cmd heading: 28.082611 deg, new cmd heading: 27.983418 deg. WU^E>WQXQ XQWQ:WQ2WY*WYVYbUYBUa*UiUmu:@Um?BȺB BAn$?*BAyM2AAA& ="C^E>RCNC^E>C lTI!)%gAIG-p>q, EA||4a ^E 3E yh=}>IǷ5?]' PyB %@9lD: M:)WE7$>WIXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU]3?B0;B BA$?*B A }0A A A Q ="C57$>RC5{B=C57$>C9- l IG-->j  F<:YV1y:69@U >9Q IU RGiU @U =Q Q U ; U E)刅CI刅Ciሉ= ="6Fq,&EAY}2M?}2 ?y}2 }2c=}2H2?@L`?@? ? _?z??)~2M? ~2]';I~0ɫYY)Y YIYY@yςGin?{Gzv/??ף xi=)IyQ?L7A`堿+?(a^E3Ey=}>I 5:5? 5: gyB 5@9vDdd< :d<):Wm1>WiX XW:W2W*WVbUBU*U UUt?B ȺB BA"?*BAT .AAA/| ="CE1>RCEǃ=CE1>CI=i=5IG=>.q,L@EAY}:4Q?}:?y}:͂¼}:@7=}:H?`>#?;?@?@°O? ??)~:4Q? ~:S|;I~:Cɫ99)9 9I9Y]@y]Gi U ] ]]d;>]\]7=i]@] ]j@)]j@I]E@i]K@mߕ<MmO=YmQUm>qqau^Eu3Eyy}~=}}>IȁŅ5?Ņ ƅ}yB @9ƅDDž+: ȅ/:)ȁW)>WX XW:W2W*WVbUBU*UUUa?B8w;B BAn$?*BAG,AAA% ="C)>RC=C)>C  IG&>  m>:YDW1yY:5Xq,^ZEA|i|Y}65T?}6?y}6_м}60f=}6H`J?`^?2?@:?@:`R?[ʬ?^?)~65T? ~6s;I~6Cɫ99)9 9IAY}1@y}GIA)iMnYMML=YMᏻQUU>QQa]^E]3EYye0<}e>Ii m:mt5? u:mD myB u@9mDm/: m':)m:W>WX XW:W2W*WVbUBU*UUU=@B`:B BA?*BA>*AAA ="C>RC!>C>>9CIi=PD; EC 5%<IG)>q,cztEAY}2V?}2?y}2i1弙}2T=}2H ?Yv?#?݅?.@8? {?`?)~2V? ~2l;I~2CɫYY)Y YIYYp@yGi U@ U@ U@U©UUiUp@U U)UIU@iU@e<MeI=Ym?ǻQUm>iiau^Eu3Ey <}>I5?= yB @9Dk: ܹ:)W%>W)X) X)W):W)2W1*W1V1bU1BU9*U9U9U=fu@Be f:Bi BiAm ?*BiAu(AqAqAu` ="C}>RC}'PD>C}>Cy֍K=Iב)וeAIIQGm5>IAA)AA ~~ `6:YT1y@:5jq,UEAY}2?NX?}2%?y}2B}2 r7=}2Hu?800,?? k? ???)~2?NX? ~2ig;I~2CɫYY)Y YIYY}@y}G@Ai=MU=YQU>a^E3Ey\<}>Iu#5?8߾ yB @9Dw:  :)W-]>W)X) X)W):W)2W1*W1VQbUQBUY*UYUYU]fv@RmB*** querying acoustic contact ***PiPiB;B BA$?*BA?&AAAd ="C]>RC_>C]>C >>x=סIG > >9 I i  =  D ;  EiU nmGIu jAi ٺ jA ^sBq,6EAɫqy)y yIyYK@yGZ****** received transponder code query ******F****** received ping request ******11a=_E=3EYye}e>Ii u:m&>5? u:mW߾ myB u@9mDm: m:)m:W>$  6:YX1y/:D5);9WX XW:W2W*WVbUBU*UUU @B]պBa BaAe?*BaAeQg#AiAiAmqq ="Cu>RCu){>Cu>C֭P=ׁ I G >|q, ³EAY}2yW?}2?y}2}2h <}2H ?^?? ?J?㕁?/?)~2yW? ~2_a;I~2Cɫ99)9 9I9Y}O@y}GxDUSBL response received:!U1,P 0E8,000,0042A,186,80,80,96,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i :M=Y #QU?!)a-_E53Ey %} ?I9=SO5?=_߾ =yB @9=D=<< =?<)9Wuç>WyXy XyW:W2W*WVbUBU*UUU# @BUP$;BQ BQAU?*BYA]-~!AYAYA]: ="Ceç>RCeW>Cmç>Ci=ip=e?=9IQG}z>q,B۳EAY}2ŠU?}2?y}2v@ }26j}2H?m&`??@H}`)?`BK?)~2ŠU? ~2`;I~2Cɫ99)9 9I9Yu@y}]G}p=ɮ}a=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iQYܝ>9ܙIܙiܙܝ=ܙܙܝ; ݝE=M?=YGQU>a_E3Ey}>I :c5? :H߾ yB @9D: :):Wz>WX XW:W2W*WV bU BU *U UUO,@Bf;B BA?*BA״AAA| ="Cz>RC >Cz>C~>סI  0>:YW1yč:5);GD>!q, EA|@i|@Y}>! S?}>x?y}>W}>}>H?`cp@k?o?@?2? @\?)~>! S? ~>O^;I~>CɫYY)Y YIYY@y=GxDUSBL response received:!U1,R,131,000,003FA,185,80,80,A5,FF Fpublishing direction and range info{Fɰʦ=鰥+> )%CIyAî?1пٱIA)i    @ @ @ip@ )I@i@|MG=YLQU>a_E3Ey~}>I(y5?߾ zB -@9D: :)WmR>WiXq XqWq:Wq2Wq*WqVybUyBUy*UyUU`&@R(Combining 5 samples.P*QAZQ[CZ6@!JQî?1п2Q{F:QbQD 3o6@;A@+?RQmr?tF*~?j3?BQd> Q@Q~APPG9?PQQ@"Q#@B 2 ;B BA,?*BAAAAg="CR>RCCR>C<>IeA)יIGe>[q, EAY}~LP?}~~?y}~/}~U}~H@?q`!?@?63?9?`Z`t?)~~LP? ~~.#^;I~~Cɫ) IY<@yGDNmea in: $SNTTA,,,,,013927.15*54 i#=MI=YQU>a_E3E yؼ}>I! -:%h5? 5:%߾ %*zB 5@9%ʆD%<; %v=;)%:muAdded new target pos. range: 23.580000 m, bearing: 17.749483 deg, deltaT: 4.471512 s, approachRate: -0.644078 m/s, LOS rate: -0.026128 deg/s, posRepo size: 4m ProNav: pos range: 23.580000 m, bearing: 17.749483 deg, approachRate: -0.644078 m/s, LOS rate: -0.026128 deg/s, cmd update: -0.078385 deg/s, cmd heading: 16.821992 deg, new cmd heading: 15.798274 deg. W >WX XW:W2W*WVbUBU*UUz7@U?B;B BAW?*BA2AAAhk="Ca>*CÊvRCC >C֍,i>I)@A% !!% %%?:יY!y!%{59@IG>ܕ>9ܑIܕGiܕ@ܑܑܑܕ; ݕE q,~)EAY}2DM?}2 ?y}2T}2 }2H`3?@\ѱ5? 2?(?@??bZ?)~2DM? ~2.];I~2Cɫ99)9 9I9Yu@y};Gi-?RQQ5?½ u)Iyoʡ?MbˡE?-?'= @)AIiA@ ] ] ]]߾]>]=i]@] ]?@)]@I]d@i]@mMm5=Yu8QUu>qqau_E}3Eyy}w׼}>Iȉōh5?ō߾ ƍIzB @9ƍԆDǍ߼: ȍb:)ȉW>WX XW:W2W*WVbUBU*U U U m%?BU !;BQ BQA]?*BYA]eAiAqAu="C>*C%uRC].>C>CuIIYGu>q,]SCEA||;Y}BlI?}Bz ?y}B` }B\ý}BHOs?;e?`dh?6?` ?S]?)~BlI? ~B];I~@ɫYY)Y YIYY@yHGEe>iE=iIIi<Mn=YrQU?a_E3Ey3}?Iȱ :ŵR5? :ŵ߾ ƵazB @9ƵۆDǵ: ȵ:)ȵ:Wn|>WX XW:W2W*WVbUBU*UUU@?B<B%< B!A%?*B!A%+A)A)A-K="C5n|>*C5'tRC5o>C5n|>C9Mu>IiM? IG-->7  58:YX1y/:5q,w.]EAɫyy)y yIyYq@yGi!!=>9=CI9i9==99=; =E)ՁCIՁCiՁCՁ=Ձ=ՁM5]M]N=Y]QUe>aaae_Ee3Eiym}u>I5?߾ ~zB @9Dk: :)W%2>W!X! X!W!:W!2W)*W)V)bUqBUq*UqUqUu ?B`);B BA?*BA0AAA="C2>*CrRCr>C2>Ci==>I1G]v>?q, wEAY}2rs??}2>y}2ֲ4}2}2H`?Rݿ:? ?`9?z?¿`?)~2rs?? ~2-];I~2CɫYY)Y YIYY@y6Gi M@ M@ U@M©MMiMQ@M M @)MIMiM@e]<MeJ=YeHQUe>iiam_Em3EqyuĽ}}>Iy},5?}߾ }zB @9}D}^: }:)yW>WX XW:W2W*WVbUBU*UUU?Bm;Bi BiAu?*BqAuƸAqAqAu ="C}>*C}qqRC?>C>C֍&v>AIQGm5>9  ^8:YV1y:!5$q,ꐴEA|i|Y}69?}6B>y}6:?}6m+}6H `e?@ܿ[?@$?X@??Pſ ?)~69? ~66r];I~6Cɫ99)9 9I9Yu@y}FGI)i  %<M-N=Y-ԻQU5>99a=_E=3EAyMf}M>IY e:]u5? e:]߾ ]zB m@9]D]V5; ]z@;)]:W`>WX XW:W2W*WVbUBU*UUU!@B ;B BA?*BATAAAX="C`>*C%pRC%o&>C%`>C!х=ֵ(s>I׹)׽fAE>9AIEGiE@E=AAE; A׉IG>1*q,ªEAY}2A3?}2F>y}2G}2_1>}2H@? ۿྴ$?@g?@?`?ǿ`i?)~2A3? ~2M];I~2Cɫ99)9 9I9Y}@y}TGAAAAi=ʡE?Zd;O~jt=>=j< =ļ)9I9y=-??=t=,= =@)=p AI9i==A9=QA       =ʾ /= />i @  Ը@) Ը@I i ^@ ;M/=Y؎QU%>!!a-_E-3E)y5TT}5>I9= 5?=ܥ߾ =zB E@9=D= : =:)9WeQ>WiXi XiWi:Wi2Wi*WqVqbUqBUq*UyUyU}@RB*** querying acoustic contact ***PPBh;B BAT?*BA{AAA="CQ>*C pRC >CQ>Cх`=I!GMt>1q,ĴEAɫyy)y yIyYb@y GZ****** received transponder code query ******F****** received ping request ******WyXy XyW:W2W*WVbUBU*UUUC @B̃<B BA?*BAG A!A)A-="C5>*C5CoRC5x >C5>C9AA)A A֕1>i Iq G >HC7q,dv޴EAY}2M'?}2^>y}2ʬX}2ͺT}2Hk`?ؿ@Kz`&?@0??]?` ]ʿ D?)~2M'? ~2];I~2C > iunGIi>9CILGi/@=D; EٺBɫ髉) IY@y8GxDUSBL response received:!U1,P 131,000,003FA,185,80,80,A5,FF Command AckBRequesting micromodem ping code 2i=i=>i>Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iUU<M]-=YeQUm>ya _E 4EyEŽ}M>IIM;5?Mϗ߾ M({B ]@9MDM: M:)I  #A:YW1yč:i5);W5D>W1X9 XyWy:W2W*WVbUBU*UUUT @B 7W;B BA?*BA AAA="CED>*CMnRCu=CuD>C= KP&> I! GE >e=q,.EAY}B!?}B >y}B|y`}B U}BHE?_ֿ2?&3?G? ? [fʿLC?)~B!? ~B;];I~BCɫII)I IIIY@yQGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iiiýjý}>ýCiý\@ù Ľ^@)Ľj@IĹiĽK@f<Mh=YQU>a_E 4Ey} ?I :N5? :߾ D{B @9D: :) :W%*>W)X1 X1W9:WA2WI*WIVIbUIBUQ*UQUQUUp@B;<B BA7?*BA5 AA A D:="C *>*Cb2nRC.K=C*>C=H!>i=IGH>EDq,SEAY}64?}6E>y}6d}6P}6H?GտIKc? z??? ɿ@I?)~64? ~6H];I~6CɫYY)Y YIYY^@yGxDUSBL response received:!U1,R,FF4,000,003C9,184,80,80,77,FF Fpublishing direction and range info+<ɰž=鰥> )BIyA3?z;r?ٱi2=M[=Y=QU>a_E4Ey {} >Id5?߾ e{B -@9%Dm ; & ;)WU6>WQXY XYWY:WY2WY*WaVabUaBUa*UaUiUm@R(Combining 5 samples.P*QAZQ'4@be?JQ3?z;r?2Q+<:QbQ~͕:3@լ@.u?RQ?HQ?b?BQ> Qf@QԙAPF9?PPQQ@"Q@BF<B) B)A-a ?*B)A5A1A1A5ZR="C=6>*C=mRC=z<C=6>CA =I1U( UUU U7:YUDW1yUY:U59@G]>>9IGi@; oJq,L+EA|@i|@ɫ) IY @yGDNmea in: $SNTTA,,,,,013931.67*56 I)AiU-?V-? rhU??Um= UC )QIQyU㥛 ?MbP{GztU5?UUף U@)UAIU@iUAQU=A @ @ @©iz@ b@)Ii +=M !=Y QU>a_E4Ey}>I! -:%5? 5:%߾ %w{B 5@9%0D%: %V:)% :m}qAdded new target pos. range: 20.639997 m, bearing: 21.097575 deg, deltaT: 4.432992 s, approachRate: -0.663209 m/s, LOS rate: 0.755267 deg/s, posRepo size: 4m ProNav: pos range: 20.639997 m, bearing: 21.097575 deg, approachRate: -0.663209 m/s, LOS rate: 0.755267 deg/s, cmd update: 2.265801 deg/s, cmd heading: 16.474158 deg, new cmd heading: 16.437088 deg. W.ʜ>WX XW:W2W*WVbUBU*UU֣4@U !?BT <B BA%?*BAAAAU="C.ʜ>RCrr;C.ʜ>Cܪ=I)יIG>XQq,8EEAY}6?}6/>y}6g}6amA}6He?Dҿ@V?? |? ?ǿaa?)~6? ~6];I~4ɫ99)9 9I9Y}@y}GieMe=Ye.QUe ?iiam_Em4Eqyu}} ?Iy}5?}Ђ߾ }{B @9}7D}˵: }=:)yW|">WX XW:W2W*WVbUBU*UUU ?B <B BA$?*BAxnAAA<"C%|">RC%C%|">C)E=I)I9)=@AM IIM M@:YIyIM5G]U>ҁWq,|_EAY}2 ?}2㞖>y}2 _}28}2Hq?`ѿ=f?8?Q?`? [ƿ`o?)~2 ? ~2t];I~2Cɫ99)9 9I9Y}@y}WGܥ>9ܥCIܥGiܥt@ܥ=ܡܡܥ; ݥEiI=MO=Y̳;QU>!!a%_E%"4E)y-B}->I15s5?5J~߾ 5{B E@95@D5÷: 5:)1We>WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}V?BPlm<B! B!A%)?*B!A%k;A!A!A-G<"CM>RCU!CU>CQM(z=IG-->]q,XyEA|4<|4y}6fP}6.}6H?@[п=ct?1a?J??Kſ~?)~6c? ~6{];I~6Cɫ99)9 9I9Ya@yCGi! m m uuؾu?uҽiuz@u u?@)qIu @iu @%MB=Ya_E)4Ey,}>I :5? :y߾ {B @9JD; ;) :W}4>WyXy XyWy:Wy2W*WVbUBU*UUU?B0a<B BA{(?*BAAAA{<"C4>RCC4>Cp<?i?סIGA>Mo MMM M<:YMX1yM/:M6ϓdq,2EAY}::?}:_Q>y}:C}:U$}:H?rп@ĩT.?X}? &?v?Ŀ?)~::? ~:];I~:Cɫ99)9 AIAY}@y}sGi-<M-R=Y5E19a=_E=/4E9yE}E>IIM5?Mu߾ M{B ]@9MSDMG; Mi;)IWs>WX XW:W2W*WVbUBU*UUU ?Bu<B BA*?*BAAAA<"Cs>RCғ2Cs>C7༹שIG*>==i9ܝ>9ܝCIܝxGiܝ@ܝ=ܙܙܝ; ݝE)ECIECiAE=E=E5jq,EAɫ髹) IY@yGi/$?p= ף?Q롿>> \)IyX9v?+?3?= K@)AIt@iXAQA)-= ->u9u7 uĽiu@q u@)u@Iub@iub@ʽ<M6=YQU>a_E74Ey}>Iȡ :ťp5? :ťp߾ ƥ{B @9ƥ]Dǥ: ȥ:)ȥ :W>WX XW:W2W*WVbUBU*UUaUe/@Bk<B BA-?*BAAAA/<"C>RCFC>CֽvMy MMM> Mx=:YMW1yMč:Ma 6)M;9]yIG^>ǥqq,ƵEA|i|Y}6z?}6>y}6q1+}6}6H ?nп@*@?5?`iн?d?G?)~6z? ~6J_;I~6Cɫ99)9 AIAY,@y]Gi=Mn=YdWX XW:W2W*WVbU BU *U U U`7@REB*** querying acoustic contact ***PAPABe<<Bi BiAm6?*BiAm>AiAqAu<"C}O>RC} ^C}O>CeIi)meAAIIGm5>awq,dEAY}>?}>j>y}>[}>߽}>H`?.пt?`d? U? Nj?`绿A?)~>? ~>a;I~<M>9MCIMGiMh@IIIM; MEɫ51)1 5I5Yuv@yuG}Z****** received transponder code query ******}F****** received ping request ******}a_EC4Ey;}>I  : -5? : /h߾ |B @9 nD : :)  :W(>WX XW:W2W*W!V!bU!BU)*U)U)U- @Bl<B BA%9?*BA#AAA<"C(>RCpC(>C/ýIEAA)EAAU UUU U%?:YU0Y1yU:UE5)U_;IGMt>}q,EAY}:j?}:L>y}:}:4}:H?`Aѿc⫿@ z?`L?h?`?'9F?)~:j? ~:b;I~:Cɫ99)9 9I9Y}@y}GxDUSBL response received:!U1,P FF4,000,003C9,184,80,80,77,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i](ܾ]t>]i]@Y ]@)]I] @i]@G4=M1=Y(a_EK4Eyc<}>I85?c߾ |B @9yD: ':)WH>WX! XAWA:WA2WI*WIVIbUIBUI*UQUQUU @B<B BAZ>?*BAAAA5<"CH>RC}CH>C!fIG>+q,EA|";| Y}Nx?}N͑>y}Nк弙}N[bb}NH?@ѿ @???`c?E`F?)~Nx? ~Na;I~NCɫ髙) IYyNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m=im=iyyY{WX XW:W2W*WVbUBU*UUUM9@B=<Ba BiAi*BqA}WAyAA<"CV>RCyCV>C%&DMc MMM M;:YMWU1yM:ME59U@imnG}?i}?IiyٺrBaE>9AIEGiE @E=AEDE; EEIG>q,d.EAY}E ?}E<>y}Eqݸ}E꯼}EH?`tҿ@v???-?}?)~E ? ~Ek;I~ECɫ ) IYMI@yM GUxDUSBL response received:!U1,R,FD3,000,003A3,184,80,80,AE,FF ]Fpublishing direction and range infoU| =QɰU=Q Q)U.CIQyUAU+??ٱQi))K?I +?Mb?^?9< <)IyJ +?{Gz?Mbp(?#< ½@)½AI½?@i½xA=@m-mmim@i m@)m@ImԸ@imԸ@};M}a_EW4Ey{<}>Iȑ :ŕc5? :ŕZ߾ ƕ7|B @9ƕDǕ: ȕ:)ȕ:W!+>WX XW:W2W*WVbUBU*UUUL@R(Combining 5 samples.P*QAZQ4MX2@c]?JQ+??2Q| =:QbQVS1@z/@@Ѓ)?RQu|p2?/"?N9?BQ)X> Q@QAPI9?PF9?PQQ @"Q@B%˼<B! B!A%??*B)A-ܼA)A)A-^<"C5!+>RC5@FC5!+>C9]5=i5=IGi>q,q=HEAY}r?}r>y}rp}r`<}rH`d?ӿ@峎?e?@Nҋ?Cր?R?)~r? ~rY;I~rCɫ) IY-@y5GDNmea in: $SNTTA,,,,,013936.04*54 i)í= í>5/=M=a=Y=S8AAaE_EE]4EIyM{e=}M>IQUw5?UU߾ U:|B ]@9UDUI: U:)QmuAdded new target pos. range: 18.359997 m, bearing: 19.286339 deg, deltaT: 4.488097 s, approachRate: -0.508011 m/s, LOS rate: -0.403564 deg/s, posRepo size: 4m ProNav: pos range: 18.359997 m, bearing: 19.286339 deg, approachRate: -0.508011 m/s, LOS rate: -0.403564 deg/s, cmd update: -1.210693 deg/s, cmd heading: 26.652438 deg, new cmd heading: 27.473099 deg. W?>WX XW:W2W*WVbUBU*UU(\2@UL?B(o<B BAE?*BA׼AAAq<"CTs>*C~nRClC?>C ]]u ]]] ]'=:Y]W1y]č:]5IG%o>q,bEAY}2u?}2Ư>y}2sx{}29%=}2H` !?տ(K ^?`?n?V?`Y?)~2u? ~2[;I~0v>9vCIv܂Giv@v =ttv; vEɫ99)9 9IAYu@y}vGI)Ai  =QǻM=\=YEa AAaM_EMc4EIyUr=}U>IY e:]W5? e:]P߾ ]<|B e@9]D]: ]I:)]:W/>WX XW:W2W*WVbUBU*UUU`d?B%M5<B) B9A=E?*B9AEҼAAAAAEWS<"CM/>RCU8CU/>CQE'g!I9GU2>rHq,>{EAY}V?}V >y}VH}V=}VH?@4׿/?;6??@S@-? q??)~V? ~Vs;I~VCɫyy)y }IyY@ysGiII @ @ @Ý©ÝÝiÝ(@Ý ĝ)ĝIĝiĝ(@ҍMD=YR;QU>a_Ej4Ey`=}>I۟5?J߾ ?|B @9Dz: P:)WZ>WX XW:W2W*WVbU BU *U UU cg?B=(<B9 B9A=D?*BAAEͼAAAAAE><"CMZ>RCM CUZ>CQE!kI)I=@A)9MMMM MC3:YMU1yM:M6G]U>1q,ȕEAY}J%?}Jp{>y}JlJ}J^=}JH`{?rؿН??U?ZAAaE_EEp4EIyM=}M>I :5? :D߾ @|B %@9D6e< h<):Wml>WiXq XqWq:Wy2W*WVbUBU*UUU C?B !<B  BAEJ?*BA_ǼAAA&<"C=l>RCE%CEl>CA Xz>9~CIGih@=D; EIGn>]q,ެEA|D|DY}%3?}%G>y}%X2}%<>}%HK?ۿ`? ?߄?轿@Qf?w??)~%3? ~%5x;I~%Cɫ)))1 5I1YQyQ=i=iu> ףp=?V-Mbu?u u)qIqyu~jt?~jt{Gzt?u$?uDuף; uA)u?@Iu@iuQ@qu@   xiG? ?i )@I@i@Yaa_Ew4Ey=}>I5?>߾   @9Dӻ: I:)W-E>W1X1 X1W1:W12W1*W9V9bU9BU9*UAUAUE?B .=B  B A *B A^¼AAAg?<"C=E>RC=kC=E>CA5R(=?i=?m mmm m5:YmX1ym/:m5)mP;9uIG|Cq,~ɶEAɫ髡) IY'@yGi99uMuya_E}4Ey}>Iȑ :ŕ5? :ŕ*:߾ Ƒ @9ƕDǕ0: ȕ:)ȕ:W>WX XW:W2W*WVbUBU*UUU@B=B BAF?*BA.A A A d<"C>RCq6C>Ce'~9IIGm5>==i==nq,^EABx>9B}CIBxGiB@B=BQD@B; BE)CICiC== 6Y}B?}x?y}D:}>}H@?߿`?U?`s?@HQ?`?)~B? ~Pn;I~Cɫ) IY@y΅G@A@Aiv<MC=Yra_E4EyR >}>I  5? 3߾ ?|B @9 ćD U: +:) W=>W9X9 X9W9:WA2WA*WAVAbUIBUI*UIUIUU2@R]B*** querying acoustic contact ***PYPYB}<B BAI?*BA쪸AAA֏<"C>RCvg=C>C2 MM}M}M M.:YMkS1yMԊ:M5)Mc;IGj>Gq,.EA|i|ɫ髙) IYP@yGZ****** received transponder code query ******F****** received ping request ******a_E4Ey}>Ișŝ>5?ŝ?-߾ Ɲ>|B @9Ɲ͇Dǝ: ȝk:)șW}>WX XW:W2W*WVbUBU*UUUY @BU.i<BQ BYA]G?*BYA]\'AYAYA]<"C}>RC),=C}>CeImfA)mfAI)GMR>q,EAY}b0O?}b ?y}bZx˺}bO>}bH@? &???Ƽ oY?@J??)~b0O? ~b%k;I~bCɫ髱) IYf@yGxDUSBL response received:!U1,P FD3,000,003A3,184,80,80,AE,FF Command AckBRequesting micromodem ping code 2i!!ENmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iai-K;M5O=YE?׻QUu>a_E4Ey=}>II ]:M5? :M&߾ I @9MևDMM< M O<)M:W4>WX XW:W2W*WVbUBU*UUU B @Bo?<B! B!A%H?*B!A%AA)A)A-5<"C54>RC5>C54>I=AA)=@AM MMM M@:YMxZ1yMq:MX59M@܅v>9܁I܅FGi܅@܅=܁܁܅; ݅EC  I G >Ӭq, 0EAɫ) IY%@y%6G-a=ɮ-R=MNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i= r?V-?kt?=?=< = 0=)9I9y=+?Mb?V-?=??===< =A)=@I=@i=@9=(@   Ýy=ÝQ?Ý/>iÝ@Ý ę)ĝԸ@Iĝ@iĝ@rM6=YQU>a_E4Ey}>Iȩŭ05?ŭ߾ ƭL|B @9ƭDǭn: ȭ=:)ȩWn>WX XW:W2W*WVbUBU*UUUQ)@B =B BAA?*BA%ښA!A!A%<"C-n>RC-#>C-n>C1US-м)I9Gex>ђq,GJEA|,|.;Y}Z!_X?}Z?y}Z:}Z=}ZH {w?Z?]?`DA?cº`s?-??)~Z!_X? ~Ze;I~Xɫ髑) IY>@yGxDUSBL response received:!U1,R,167,000,00366,186,80,80,A4,FF Fpublishing direction and range infogɰ=> )$CIy3kADBq?_Uӿٱ=i=i s=M =Y$QU ?a_E4Ey%_=}% ?I! 5:%@5? 5:%߾ %X|B 5@9%D%: %:)%:W]Z>WYXY XYWY:WY2Wa*WaVabUaBUa*UiUiUm Dr@RU(Combining 5 samples.PY*Q]3kAZQ]+@kbzJQ]DBq?_Uӿ2Q]g:QYbQ]B_0,@č؀@aGdn߿RQ]`C#?Њ԰ ?~.BQ]v^> Q]@Q]aAP]G9?P]I9?P]Q]Q]@"Q] @Bi=B BAaG?*BAY AAAG<"CZ>RCF^>CZ>C<IGJ>EEEE E&2:YEY1yE:EF5 Ci mGI SkAi1 ] bٺe SkAe OBq,hdEAu>9|CIi=D; EY}RZ?}RY?y}R䤻}R,=}RH@7O?}`攮? 7?,"? Ut? ?`6?)~RZ? ~R^d;I~RCɫ髹) IY@y:GUDNmea in: $SNTTA,,,,,013940.51*55 iaauKMuC=Y}QU}>yya_E4Ey3<}>IȑŕU5?ŕ{ ߾ ƕh|B @9ƕDǕض: ȕ':)ȑm-uAdded new target pos. range: 14.700000 m, bearing: 16.379542 deg, deltaT: 4.392043 s, approachRate: -0.833324 m/s, LOS rate: -0.661833 deg/s, posRepo size: 4m= ProNav: pos range: 14.700000 m, bearing: 16.379542 deg, approachRate: -0.833324 m/s, LOS rate: -0.661833 deg/s, cmd update: -1.985498 deg/s, cmd heading: 21.368920 deg, new cmd heading: 20.863100 deg. WE>WAXA XaWa:Wa2Wi*WiVibUiBUq*UqUu`ff-@Uu` ?B`=B BAB?*BA^AAAA<"C>RCv>C>C ys=5=i5=בIGa>q,~EAɫ) IY@yXGiyyھ>~j>i@ )@I@if<MD=YQU>a]_E]4Eaye}e>Ii u:mk5? u:m޾ mx|B }@9mDm: m:)m:W>WX XW:W2W*WVbUBU*UUU ~7?BD' =B BAC?*BA晼AAA+<"C>RCv#>C>CÜ=EEEE EN2:YEDW1yEY:E5IGj>q,GTEA|i|Y}>iZ?}>^?y}>(}>QŎ=}>HR? +(@3?C2?`qA?@<e? Ա?`?)~>iZ? ~>a;I~>CɫYa)a eIiY@yGiyyWjMK=Y;QU>!!aM`EU4EYye}e>Iȉō_5?ō8޾ ƍ|B @9ƍDǍw: ȍ@:)ȉWL>WX XW:W2W*WVbUBU*UUU`?B]=BY BYA]=?*BaAe[ΔAaAA<"CL>RC >CL>Cօ:=Iׁ)ׁ-t>9)I-Gi-"@-=))-; -EYIaGY>q,7EAY}J&Y?}J?y}J$}J'5=}JH`j? ?@?c?@u;^???)~J&Y? ~J"_;I~JCɫ髑) IY@yGiyy V-?MbX~jt |? ʽ ) I y \(\?~jt{Gzt? :? D ף; rA) I @i   @e eS?e/a`E4EyP}>Iȑ :ŕ5? :ŕ޾ ƕ|B @9ƕDǕ; ȕf;)ȕ:WE)>WAXI XIWI:WI2WI*WQVQbUQBUQ*UQUYU]@ia?B=B BA:?*BAݏAAA<"C)>RCC)>C %> >@ >I=@A)=?AUX UUU U::YUV1yU:U5בIGa>=q,̷EAɫyy)y yIyYF@ymGi!-gA-gAUUM]_=Y]QU]>aaae`Ee4Eaym}m>IquT5?u ޾ u|B }@9uDu=: u4:)qW>WX X!W!:W!2W!*W!V)bU)BU)*UIUQUU@%@B/=B BA7?*BAAAA<"C>RCC>C֭8>ׁIG=>! 9! I! i! % =! ! % ; % E q,FEA|"4<|"4a`E4Ey(:}>I5?޾ |B @9!DU: :)WufO>WqXy XyW:W2W*WVbUBU*UUUu@B =B BAB9?*BAOAAA<"CfO>RCCfO>C:i>?i{?׹IGE>EEEE E1:YEDW1yEY:E5)Eގ;9M2q,EAY}:4O?}:"?y}:t}:i}:H?` `ih?@?4?^?:@?)~:4O? ~:^;I~:Cɫ99)9 9I9Y}@y}GGi=T==b?=A`i=½@9 =&@)=I=K@i=b@MMMQ=YUQUU>QYa]`E]4EYyek9}e>Ii u:m5? u:m޾ m|B u@9m*Dm: m:)m:W֣>WX XW:W2W*WVbUBU*UUU_q@RB*** querying acoustic contact ***PPB@n=B BA5?*BAPAAA*<"C֣>RCC֣>C7J>׉IG>|q,EAY}bI?}b ?y}b}blŽ}bH@t?8[`. p?@T?@r?[^?q`?)~bI? ~b^;I~bCɫ) IY,@y]GZ****** received transponder code query ******F****** received ping request ****** ףp=?a`E4Ey0F}>I5?޾ |B @95D: :)W=q>W9X9 XaWa:Wa2Wa*WiVibUiBUi*UiUqUuyf @Bq|<9IGi@=; E)]|CI]|Ci]C]=]=]-5B BA6?*BAxAAA#<"C q>RC Cq>CUB UUU U9:YUW1yUč:UF5)U";->I1)1) II Ge >{D q,!t3EA|i|Y}6B?}6#?y}6ԟ}6 }6H`u?߿O^??'?S? .b?)~6B? ~6_;I~6CɫQQ)Q UIQY@yGxDUSBL response received:!U1,P 167,000,00366,186,80,80,A4,FF Command AckBRequesting micromodem ping code 2iIA)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i @ @ @Í©ÍÍiÍz@Í čb@)ĉIčič MW=Y$:QU>11a=`E=4EAy}>Iȹ :Ž5? :Ž޾ ƽ|B  @9ƽ>Dǽ#< Ƚ#<)Ƚ:WMSyy>WIXI XQWQ:WQ2WQ*WQVQbUYBUY*UYUYU˥ @B2$ =B BA3?*BAoAAAZ4<"CSyy>RCCSyy>C U?΅>) I1 GU >a,q,]OMEAY}J;?}J'5>y}J2N:}J­-}JHP?gݿ@,? ?&? ƉC`ſs?)~J;? ~J.@_;I~JCɫyy) IY@yG]Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iM\=YŠ;QU>a`E4Ey} >IG5?޾ |B @9FD÷: ϸ:)W==m>W9X9 XAWA:WA2WA*WAVIbUIBUI*UQUQUU`'@B%=B! B!AM,?*BIAMngAIAQAUb<"C]=m>RC]\x>Ce=m>CqU UUU UD:YUX1yU/:U59]@>בIG> m>9 {CI i = ; EVq,,+gEAY}64?}6>y}6Y:}6AH}6H?`ۿ@9U?#?o?@[ȿIc?)~64? ~6^;I~6CɫYY)Y YIYY@yGxDUSBL response received:!U1,R,0A7,000,00347,185,80,80,7F,FF Fpublishing direction and range info;ɰv=鰥+> )BIypMA6=)?c]鎖¿ٱir<M_=Y G;QU>a`E4Ey5}>I :(5? :G޾ |B @9ND: :):W}`>WX XW:W!2W!*W!V!bU)BU)*U)U)U-Ӟ@R(Combining 5 samples.P*QpMAZQE!dh)@[ݲo|JQ6=)?c]鎖¿2Q;:QbQV>Hg(@R@ ?RQ̼h? ?!7?BQn> Q~@Q8CAPI9?PG9?PQQ@"Q@B=B BA-?*BA!d_AAA<"C-}`>RC5h>C5}`>CA֥E}>׭?i׭?YIiGZ>B q,EA|.;|,Y}r.?}r>y}r:}ruY}rH ?`]ڿWa@(? H]?ച? [Q˿EG?)~r.? ~r^;I~rCɫ  )  IYM@yUGDNmea in: $SNTTA,,,,,013944.93*5F =i=i 5 5 55㥽5nr?5i5=@5 5 @)5Ը@I5@i5 @e١Mm2=Ym?QUm>qqau`Eu4Eqy}U}}>IȁŅA5?Ņj޾ ƅ|B @9ƅXDDž: ȅw:)ȁmqAdded new target pos. range: 12.840000 m, bearing: 18.084343 deg, deltaT: 4.431565 s, approachRate: -0.419716 m/s, LOS rate: 0.384695 deg/s, posRepo size: 4m ProNav: pos range: 12.840000 m, bearing: 18.084343 deg, approachRate: -0.419716 m/s, LOS rate: 0.384695 deg/s, cmd update: 1.154085 deg/s, cmd heading: 12.562191 deg, new cmd heading: 11.654582 deg. W2i>WX XW:W2W*WVbUBU*UU)@Uf?B s=B BAW-?*BAVAAA®<"Cai>RC>>C2i>Cm mmm m%q:YmT1ym:m5Gx>בIG>h&q,aᚸEAY}E(?}Ef>y}Ei}ELh}EHT?`ؿ`?@Ȕ?_?1m2?`̿.?)~E(? ~ES^;I~ECɫ11)9 =I9Ya@yCGii}mGIi`ٺNBev?~jt?~jte?e< e)aIaye?y&1?MbefF?e`a`E4EyZ}>Iȡ :ť[5? :ť-޾ ƥ|B @9ƥcDǥ: ȥ:)ȥ:W s>WX XW:W2W*WVbUBU*UUU?B=B BA{(?*BA|LAAA><"C% s>RC%-B>C- s>C)e>9Ii=; E*i>]=i]=IGn>,q,EAY}2<"?}2S>y}253}2j r}2H`?AZ׿+F?`?@?f?Ϳ@+?)~2<"? ~2^;I~2Cɫ99)A EIAY}R@y}:Gi]A`>]V>]Ҿi]\@Y ]b@)]I]@i]@uϯM}s=Y}QU}?a`E4EyŖ}>Ip5?޾ |B @9lD: -:)W5@z>W1X1 X1W1:W92W9*W9V9bUABUA*UAUAUE`?Bu=Bq BqAu(?*BqA}EAyAyA}C<"C@z>RC=C@z>CmFH>Iq)q!I1GM1>m mmm m?:YmWU1ym:m45z3q,gθEA|i|@Y}6??}6,>y}6ږ}6os}6H?Ԯտ3+@`?`%??`Tr?c*ο+?)~6?? ~6L^;I~4ɫ99)9 9I9Ye@yEGI5A)1iAA AAuU;MuJ=Y}QU}>ya`E4Ey;}>Iȑŕ%5?ŕ|޾ ƕ|B @9ƕuDǕ: ȕU:)ȑW$>WX XW:W2W*WVbUBU*UUU>?B=B  B A(?*BAƪ<AAA<"C$>RC]=C$>Cֽ>>יIGb> `>9 I i D ; E9q,rEAY}N}?}Nק>y}N}Num}NHK?@ӿ+3?~?{?s? oͿS$?)~N}? ~NԱ^;I~NCɫYY)Y eIaY"@yGiQQMG=Y>QU>a`E5Ey }>I :5? %: ޾ |B 5@9DE; ;):W5V̅>W1X1 X1W9:W92W9*W9V9bUABUA*UAUaUmH@B=B BA&?*BA2AAA<"CV̅>RCi<CV̅>Cֽ},>I]AA)]@AuA uuu u9:Yu0Y1yu:uF5)u;9}׹IGf>@q,MEAY}2, ?}2>y}2pVd}2f}2H }?Mҿ+?z?@4?@ʊl? d̿`0?)~2, ? ~2^;I~2Cɫ99)9 =I9Y}e@y}EGi->-m--=i-3@) --@)--@I-@i--@}ا<M}N=Y}9X;QU>a`E 5Ey }>Ișŝ׹5?ŝ޾ Ɲ|B @9ƝDǝ: ȝ:)șWz>WX XW:W2W*WVbUBU*UUU/[@Bl.=B BA (?*B A X+A A A<"Cz>RC&ܼCz>CM>U?iU? IG-->cFq,78EA|8|:;Y}[?}b>y}پ}SY`}Hy?п`M;??U?@4W?˿`*)=@5^I ?&1?:v?b0?= T<)Iyd;O?:v?a`E5Eyl}>I :{5? :E޾ |B  @9D: :):Wms6>WiXi XiWi:Wq2Wq*WqVqbUqBUy*UyUU :@RB*** querying acoustic contact ***PPB=B BA(?*BARC%#ՋC%s6>C!܅Y>9܅zCI܅~Gi܅@܁܁܁܅; ݅E@=eeee e1:YeW1yeč:e5)e?;IGi>Lq,q6EAY}2o?}2>y}2 9:}2ǬX}2Hx?5Ͽwu ?:L?l?C!Gʿ`JI?)~2o? ~2(^;I~2CɫYY)Y ]IYYK@y5GZ****** received transponder code query ******F****** received ping request ******yya`E5Eyn}>Iȉō5?ōk޾ ƍ|B @9ƍDǍ: ȍϸ:)ȉW͑>WX XW:W2W*WVbUBU*UUUZ @Bt=B BA'?*BAWAAA<"C ͑>RC ϽC ͑>C=IGK>]=i]=$Sq,OEAY}2>}2ls>y}26jB;}2١K}2H?Ϳ_`e$?@{?©?`DMhWIɿ@^?)~2> ~2=^;I~2Cɫ99)9 EIAYyyyxDUSBL response received:!U1,P 0A7,000,00347,185,80,80,7F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iaaY";QU>a`E5EyW} >I U:5? U:޾ |B ]@9D< V<):W+Ŗ>WXA XAWA:WA2WA*WIVIbUIBUI*UIUQUU` @B =B BA*BAjAAA<"C+Ŗ>RC C+Ŗ>CmF mmmu mg9:YmX1ym/:m59}@-W^=I1)1 I G5 >܅ V>9܅ yCI܁ i܁ ܅ =܁ ܅ D܅ ; ݅ E)ݝ{CIݝzCiݝCݝ=ݝ=ݝ 5Yq,iEAY}2>}2t+i>y}2;}2f<}2H j,?̿`2d??`?wjǿ`u?)~2> ~2^;I~2Cɫ99)9 9I9Y}@@y.GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)i19 IIEպMEQYa]`E]&5EYyeӼ}e>Iim5?m~޾ m|B u@9mDm: m:)iWw>WX XW:W2W*WVbUBU*UUU@H@B5?$=B9 B9A=p'?*B9A=AAAAAE<"Cmw>RCmCmw>CqeV=9IIGeV>`q,EAY}2֚>}2`>y}2>;}2+}2H:?N˿`??*?@Ň~`dſ?)~2֚> ~2%r^;I~2Cɫ99)9 9I9Y@yaGxDUSBL response received:!U1,R,FCE,000,00307,185,80,80,B1,FF Fpublishing direction and range info¸2=ɰ}= )1CIyA3?GU?ٱi   @ @ @Å©ÅÅiÅ3@Å ąK@)ąIāią<MU=Y˝;QU>a`E,5Ey}>I,.5?X{޾ |B @9D1; 4;)Wř>WX XW:W2W*WVbUBU*UUU@R(Combining 5 samples.P*QAZQ)ۖ!@g ?JQ3?GU?2Q¸2=:QbQ2Gsa!@ ƫ@ |RQ#?T#?Q=.BQ}> Q@Q APH9?PI9?PQQS@"Q@B]T=BY BYA])?*BYAeAaAaAe=<"Cř>RCn,Cř>CօK' gq,EAY}->}-NY>y}-J'<}-s}-HG?ʿ`?? P? zÿ%?)~-> ~-8^;I~)ɫAA)A AIAYa@yCGTNmea in: $SNTTA,0.036008,,,,013949.39*41 i\(\?MbX9?RQ>ʡ= ½)IyGz?Mbp?l?p=?;= K@)AI3@iAASM4=Y7;QU>!!a%`E%35E)y-}}->I1 =:5I5? E:5w޾ 5|B E@95ˆD5: 5 :)5:muqAdded new target pos. range: 8.999999 m, bearing: 15.050334 deg, deltaT: 4.473761 s, approachRate: -0.858338 m/s, LOS rate: -0.678179 deg/s, posRepo size: 4m ProNav: pos range: 8.999999 m, bearing: 15.050334 deg, approachRate: -0.858338 m/s, LOS rate: -0.678179 deg/s, cmd update: -2.034536 deg/s, cmd heading: 17.748337 deg, new cmd heading: 18.246523 deg. W>WX XW:W2W*WVbUBU*UU!@U^?U>9IGi@=RD; EBep=Ba BaAe{(?*BiAmAiAiAuy<"C>RC%C>C֍ ו?iו?iIqG}>f/mq,rMEAY}2&i>}2V>y}2]<}2ҝ }2H@"L?@ʿw? _?`_?@}e`;?)~2&i> ~2A^;I~2CɫYY)Y YIYY1@y%G!i%=i99IE=)E4=   õõ?õ=iõ @õ ĵ@)ĵ@Iĵ@iĵ@"Md=Y-QQaU`EU95EYyek}e>Iȑŕ`5?ŕs޾ ƕ|B @9ƕˈDǕ: ȕ:)ȑW ԏ>WX XW:W2W*WVbUBU*UUU@?B=(=BA BAAE&?*BAA]$ۻAYAaAe<"C ԏ>RCC ԏ>CeDk9IAm7 m~m~mm m58:YmT1ym@:m5G}Y>tq,2ѹEAY}2A>}2aW>y}2w<}2}2H`NJ? ʿ8~??1?@]n ~?)~2A> ~2y];I~2Cɫ11)1 9I9Yu@yuGi %PM%U=Y-11a5`E=?5E9yE;}E>IQ ]:Uw5? e:ULp޾ U|B e@9UԈDU; U[;)U:W$>WX XW:W2W*WVbUBU*UUU?B0F*=B BAf&?*BA˻AAA\;<"C $>RC NC $>CۻסIG!>aie=iMnGIaiy#^ٺ3LB Z@9 IB gA hA) 9- xCI- Gi- @- =) ) - ; - EAzq,EAɫ) IYU<@y],Gi U@ U@ U@U©UUiU@U U@)UIUiUK@m<Mu7=Y}QU}>a`EF5Ey } >I5?l޾ }B @9߈DC: :)WE?؀>WAXA XAWA:Wi2Wi*WiVibUqBUq*UqUqUu,'?Bp=B BAS'?*BAn귻AAAW<"C?؀>RC9ٽC?؀>Cm4 mmm m7:YmU1ym:m5)m,;9u5I9)9IG5>(q,EA|i|Y}:D>>}:3h>y}:<}:,,W}:H`,?C̿X?? ?`?rિn?)~:D>> ~:{V^;I~:CɫYY)Y ]IYY"@yGIA)Ai5YM=`=Y=FAAaE`EEL5EIyMB=}M?Iȱ :ŵ5? :ŵh޾ Ƶ}B @9ƵDǵ: ȵ(:)ȵ:Wt>WX XW:W2W*WVbUBU*UUU`?B%A1=B! B!A%&?*B!A-A)A)A-+<"C5t>RC5sC5t>C9-~IG-->Uq,PEAY}N=>}Nw>y}Ns<}Ne}NH?` ο@fc?@?-?L?`\n?)~N=> ~NP^;I~NCɫ髱) IYyiyL7A`?~jt㥛 ?+'?D =)Iy|?5^?{Gzt~jth2?ףD • @)•AI•@i•@@Yc;QU>a`ES5Ey=}>IX5?d޾ }B @9D: b:)Wyd>WX XW:W2W*W!V!bU)BU)*U)U)U-y@9IRGi@=; EB/j=B BA*BA&AAA%<"C%yd>RC-C-yd>C)IQ)Qeeee e,:YeDW1yeY:eX5)ec;5׽=?i=?1IQG>|q,8EAɫyy)y }IyY@yGi  % %%O=%>%i%̴@% %@)%^@I%-@i%-@5M599a=`E=Y5EAyE}E>II U:Mi5? ]:MXa޾ M|B ]@9MDM: M:)M :W}W>WyXy XW:W2W*WVbUBU*UUUF@RB*** querying acoustic contact ***PPBX;=B BA &?*BAAAAa<"CW>RCZCW>C֭=ȽiIyG>dq,7nREAY}:?}:(>y}:<<}:S?=}:H#?@ѿ@Kͤ?*??@板?@?)~:? ~: a;I~:Cɫ99)A AIAY}@y}܂GZ****** received transponder code query ******F****** received ping request ******!!a-`E-`5E1y5:=}=>IAE/5?E\޾ E|B @9EDE/< E/<)AW-uG>W)X) X)W):W12W1*W1V1bU1BU9*U9U9U=A @B=B BAF#?*BAfgAAAk<"CuG>RC #=CuG>CֽewVuw qquX uP=:Yqyqu~59}@יIGf> 9 I xGi @ ; E q,kIlEAY}Ft?}Fő>y}FN<}F=}FHt?`kѿ???=??)~Ft? ~Fa;I~FCɫYa)a iIiYS@yGxDUSBL response received:!U1,P FCE,000,00307,185,80,80,B1,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iC =<Di@ )-@Ii@M3=Yfv;QU>a`Eg5Ey<}>I %:9 5? -:W޾ |B -@9 D; ;)!:W6>WX XW:W2W*WVbUBU*UUU@ٛ @B-k=B) B)A- ?*B1A5BA1A1A5{RC}U=C6>C֭K׉ I G >zq,L4EAY}2f ?}2>y}2x=}2=}2H@?~ҿމ??@?`]@[0??)~2f ? ~2`;I~0ɫ11)1 5I1Yul@yuGyɮ}p=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iYY<Mq=Y;QU?a`El5Ey =}?I+5? T޾ |B @9D; ;)WR;*>WX XW:W2W*WVbUBU*UUU*@Bm6=Bi BiAm ?*BqAuLe%AqAqAu<"C}R;*>RCY5=CR;*>C֝F˼e eeej e5:YeT1ye:eY5בIGa>q,EA|i|@Y}6 ?}6c>y}6x=}6!=}6H?`, ӿ5? )NCIyG@V ?{]UٱIA)Ai 鿡@5^I ?#~j?~jt?b0?= =)IyCl?Mbpy&1|?;??`; A)@I^Aif@qMF=Y;QU> a `E s5Ey<}>I45?O޾ |B %@9Dϸ: ^:)WM>WIXI XIWI:WQ2WQ*WQVQbUQBUY*UYUYU]@Rm(Combining 5 samples.Pq*QuG@ZQulS @vTJQuV ?{]U2Quq:QqbQuk m@VI\?Bv(b5ѿRQu*\??) ? BQu4Z> Qu?Qu_@PuJ9?PuH9?PqQuQu @"QuS@B;)=B BA?*B)A-A)A)A-Vw<"C5>RC5q>C5>C9u\>9qIu}Giu_@u$=qqu; uE)xCIxCiC==Q6v<IGE>r˭q,۹EAY}b?}bQ>y}b!=}b=}bH`sl?Ɔӿj?S?@&g?bâ?`?)~b? ~b_;I~bCɫ) IYU2@yUGTNmea in: $SNTTA,0.004105,,,,013953.83*46 i]O>]Q?]+i] @Y Y)]t@I]@i]K@uM}C=Y}ڌ;QU>a`Ez5EyI<}>Iȡ :ť*N5? :ťI޾ ƥ|B @9ƥ(DǥY; ȥZ;)ȥ":mqAdded new target pos. range: 6.539999 m, bearing: 12.209227 deg, deltaT: 4.429071 s, approachRate: -0.555421 m/s, LOS rate: -0.641468 deg/s, posRepo size: 4m ProNav: pos range: 6.539999 m, bearing: 12.209227 deg, approachRate: -0.555421 m/s, LOS rate: -0.641468 deg/s, cmd update: -1.924404 deg/s, cmd heading: 8.729481 deg, new cmd heading: 7.862628 deg. Wb\ >WX XW:W2W*WVbUBU*UU(@Uͮ?B=B BA?*BAGɺAAAr<"CEb\ >RCEL>CEb\ >CI=߁=Ii)m?A}}}}R }/:Y}X1y}/:}55I G%o>q,ӺEAY}2B?}2da>y}2=}2~Z=}2H`]?@ӿ*?Q?`~\?@/@G??)~2B? ~2^;I~2Cɫai)i mIiY#@yGi!!UbM]_=Y]:QU]>aaae`Ee5Eaym)<}m>Iqud5?uD޾ u|B }@9u1Du4: u@:)qWQ>WX XW:W2W*WVbUBU*UUU ?B]q+0=Ba BaAe?*BaAeTAaAaAmP<"CuQ>RCutZ4>CuQ>Cqօ=aIiGZ>m a>9i Im |Gim k@m %=i i m ; m E޺q,EA||Y}V?}V^Ӥ>y}V=}V=}VHU?&Կ@D?@8a%`E%5E!y-;}>Iȱ :ŵ~5? :ŵ?޾ Ƶ|B @9ƵCow=C!բ=}}}}S }0:Y}DW1y}Y:}k5)}Ս;9IGi>q,lEAY}6?}6 >y}6=}6mw<}6H@cW?/Կ ?5? \?Ai 9f?@?)~6? ~6n];I~6Cɫ99)9 9I9Y}@y}"GiE|˽MEX=YEQUM>IIaM`EM5EQy]}]>Iae-5?ej:޾ e|B m@9eDDe4: eb:)aWu=WX XW:W2W*WVbUBU*UUUn?B*=B BA ?*BAJjAAA&<"Cu=RCW>Cu=C- >I1)1IG )>aie=,q,ZG!EAiVnGI`il__ٺUMBY}-\?}-^>y}- =}-+}-Hd? ӿZ??@g?s?Ds?)~-\? ~-6];I~)ɫ) IY56@y5Gi?X9v?L7A`?f&?}= +=)Iy#~j?/$?Q?E?<u< ½"A)½3@I½Ai½Q@AmFM3=YBXQU>a`E5EyD1}>Uc>9QIU{GiUx@U#=QQU; UEIȩ :ŭ5? :ŭa3޾ ƭ|B @9ƭPDǭ; ȭ ;)ȭ$:W%=W!X) X)W):W)2W)*W)V1bU1BU1*U1U1U=h@B=B BA'?*BA)9AAA,<"C=RCe>C=C  "6:Y0Y1y:5);~M2>בIG>q,-%;EAɫyy)y yIyY$@yGI)i!! !! u@ u@ u@u©uuiu@u u@)uIuiu'λMd=YQU>a`E5Ey}>IȡťE5?ťn.޾ ƥ|B @9ƥYDǥ|: ȥ˵:)ȡWM\=WIXI XIWQ:WQ2WQ*WQVQbUYBUY*UYUYUe@`@B|&=B BA?*BAe,:AAA<"C\=RCT*s>C\=C04>IGn>q,UEAY}F ?}F">y}F=}F=7}FH y?`^gҿ?@L???r@౿?)~F ? ~F^;I~FCɫqq)q uIqY!@yG)iMS=Y鉻QU> a `E 5E yL}>IE5?$)޾ |B %@9bDض: :)WM]o=WIXI XIWI:WI2WQ*WQVQbUQBUY*UYUYU]`Y@ReB*** querying acoustic contact ***PiPiBw=B BA>*BA|:AAA<"C]o=RCp_>C]o=C֍^>>aIqG>IUAA)UAAeeee e/:YeWU1ye:eX59m@E a>9E yCIE zGiE @E =A A E ; E E/q,_nEAY} ?} >y} =} ҽ} H?`Eѿ m?m&?V?t?> 1 ?)~ ? ~ m^;I~ ɫ) IYMF@yMGUZ****** received transponder code query ******UF****** received ping request ******U))a-`E-5E1y5-}=>I9 E:=5? M:=u#޾ =|B M@9=mD=: =,:)=%:Wm2=WqXq XqWq:Wq2Wq*WyVybUyBUy*UyUU`e @B-=B) B)A-D>*B1A5J:A1A1A54<"C=2=RC][>Ce2=Ca]j>I!G=Q>-q,곈EA|4<|Y}6AX?}6$>y}6s=}6$}6H%?C$пzaX??2?@M?)~6AX? ~6h^;I~6Cɫyy)y yIyY@y~GxDUSBL response received:!U1,P 06A,000,002DE,186,80,80,CE,FF Command AckBRequesting micromodem ping code 2iiNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iI ) 4=My̽M]Y=Ye QUm>a%`E-5EYye8}e>Iy}o5?}y޾ }|B @9}wD}Z< }<)yW<WX XW:W2W*WAVAbUIBUI*UIUIUM @B=B BA>*BAU:AAA<"C<RC%W>C<Cu uuut u76:YuDW1yuY:u}5֭' s>q I G >S=q,&EAY}:S>}:T]n>y}:,Y<}:t#}:HN?lͿ$}h?@??i@JĿ@?)~:S> ~:^;I~:Cɫ99)9 =I9Y}@y})~GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iAA333333?|?5^?y&1?R> `)Iy~jt?I +?~jt?;?9<< @)p AIAi@=AM>=Y2QU>!a%aE%5E!y-P}->I1 =:5*5? =:5)޾ 5|B =@95D5A: 5:)5&:Wea<WaXa XaWa:Wa2Wi*WVbUBU*UUU5@Z>9IyGi@=QD; EBU=B! B!A%/>*B!A%;AAAIAMG<"CUa<RCU)M>CUa<CQEi>I)e=iep=G_>pgq,99a=aE=5EAyE}E>IquC5?u޾ q @9uDu,; u;)qW;WX XW:W)2W1*W1V1bU9BU9*U9UAUE Z@R}(Combining 5 samples.P*Q@ZQ' @&v JQEnk?OH&ۿ2QK:QbQ~@3/‘*BAUO*;AQAQAUg<"C];RC]@C];Cam= mmm m8:YmWU1ym:m5UhW>IIYGu>Qq,OֻEA|4i|6@Y}z>}z߸?>y}zz<}z# ~z,^;I~xɫ) IY5@y5 }GDNmea in: $SNTTA,,,,,013958.27*5D I)i 鿱=M=I=Y=GQUE>AAaEaEM5EIyU}U>IY e:][5? e:]޾ Y e@9]D]: ]:)]':muAdded new target pos. range: 5.279998 m, bearing: 348.555837 deg, deltaT: 4.483809 s, approachRate: -0.281011 m/s, LOS rate: -5.275291 deg/s, posRepo size: 4m ProNav: pos range: 5.279998 m, bearing: 348.555837 deg, approachRate: -0.281011 m/s, LOS rate: -5.275291 deg/s, cmd update: -12.000000 deg/s, cmd heading: 0.132577 deg, new cmd heading: 359.382839 deg. W_@WX XW:W2W*WVbUBU*UU@Uv?B=B BA>*BAFW>;AAA(<"CzP׼RC4I>C_@C`>?i?׹IGE> R>9 I pxGi @ = ; E)=yCI=yCi9==9=6B~q,4EAY}RB>}R$>y}RD<}Rk]}RH?PĿ@@ ?;??`ȗzt˿ ??)~RB> ~R ^;I~RCɫqq)q uIqY@y/|Giaa    @ @ @ñññiõQ@ñ ĵ@)ıIĵ@iıcMQ=YһQU>aaE5Eyۉ}>Ies5?޾  @9Dض: k:)W@WX XW:W2W*WVbU!BU!*U!U)U-S?BU=BQ BQAU>*BYA]UR;AYAYA]>K<"Ce{RCe%Lk>Cm@Ci֝ya>QI]@A)]?Am mmma m4:YmDW1ymY:mk5)mG;9uIyG]>>aq,Y EAY}2c>}2 >y}2z<}2:f}2H k?`l29@??@?}6 ̿@/?)~2c> ~2_;I~2CɫYY)Y YIYYyiY=ƂQU=>AAaEaEE5EAyM}M>IQUȊ5?U' ޾ U|B ]@9UDU#: UQ:)QW;@WX XW:W2W*W V bU BU *UUU`?B=[<BA BAAA*BAAEg;AAAAAMa <"CM!RCU >CU;@CQMj>!I1G]3>iq,#EA|;|ɫyy)y yIyY@y{GiܝQ>9ܝxCIܝwGiܝK@ܝ=ܙܙܝ; ݙm iim\ muA:YiyimY5)m^;{Gz?gfffff?X9v?#?33> <)IyQ?))a-aE-5EQyU}U>IY e:]*5? e:]1޾ ]|B m@9]D]: ](:)](:WG@WX XW:W2W*WVbUBU*UUU-?B% :<BI  BI AM %>*BI AU ;AQ AQ AU '<"C] RCY C] G@Ca ԑ ԑ ֙ Iס )ס q I G >/q,O>EAɫ髉) IY@yzGiMu MM=YIQUUH?QQaUaEU5EYyY}]L?Iaeu5?e޾ e|B u@9eDe: e:)aWBػ@WX XW:W2W*WVbUBU*UUUpm?Bl =B BA6>*BA͆;AAA<"C㡾RCCBػ@C֝n>qIG;>%=i%=@q,{XEAY}: C>}:4p=y}:<}:Yk}:H&?`y? ?z?`T?5:Ϳ%?)~: C> ~:g];I~:Cɫ99)9 =I9Y}@y}zGi) = >MMN=YlQU>!!a%aE%5E!y-@}->I1 =:55? =:5r޾ 1 E@95ĉD5: 5:)5):WeE0@WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqU}]@B<B BA>*BA;AAA0q<"CjɾRCCE0@C֍>iIyG> >i]%nGIyiE^ٺRLB-2 ---x -7:Y-W1y-č:-X595@U P>9Q IU vGiU @U =U RDQ U ; U Eq,tqEA|@i|ɫ髙) IY@yzzGI@)@i = = ==`;=<=Gai=@= =@)=@I=i=@MTػMMG=YUQUU>YYa]aE]5Eaye}e>Iim5?m޾ m|B u@9mωDm: m:)iWFo@WX XW:W2W*WVbUBU*UUU`U+@RB*** querying acoustic contact ***PPB}o<By ByA}G>*ByAQ;AAA6<"C;RCCFo@C֥?΅>׭?i׭?yIG^>)"q,̋EAY}6>}69 ~6Z^;I~6Cɫ99)9 9I9Y]f@y]?zGeZ****** received transponder code query ******eF****** received ping request ******eaaE5Ey}>I : 5? :޾  @9ىD: :)*:W@WX XW:W2W!*W!V!bU!BU)*UiUiUmܙ @BZk<B BAE>*BAQ;AAA<"CsRCC@CI)AA5 555i 55:Y5T1y5:5"5u>1IAG|>(q,}:~@y}:o <}:w}:H ? 2?K?U ? ? !A ο@?)~:&o> ~:|9^;I~:Cɫ99)9 9IAY}@y}yGxDUSBL response received:!U1,P 1F6,000,002C9,186,80,80,9A,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iG>9wCIuGi@=D; EMbX?~jt?yaaE5Ey<}>Iȑŕ3 5?ŕ޾ ƕ|B @9ƕDǕD: ȕ:)ȑWկ@WX XW:W2W *W V bU BU *U1U1U5@B}*<B BA->*BAE;AAA<"C^0RCCկ@C >I ) י I G >"/q,|EA|4<|Y}6R>}6r@y}6Eo<}6)~}6H@?DD?-?Cĥ? V?y荿qϿ ?)~6R> ~6"L^;I~6Cɫ99)9 =I9Y@y|xG鮭p=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i99uKM}=Y}1QU}9?aaE5Eyi}9?Iȑ :ŕB 5? :ŕ޾ ƕ|B @9ƕDǕ$: ȕs:)ȕ+:W$G@WX XW:W2W*WVbUBU*UUU`k@BMZ<BI BIAM[>*BIAU7;AQAQAUC<----c -3:Y-WU1y-:-5"C5K=RC9C=$G@CA֥ >ׁ I G > 6q,WټEAɫyy)y yIyYI@yxGxDUSBL response received:!U1,R,F35,000,002CC,187,80,80,92,FF Fpublishing direction and range info g5>ɰj=1> )CIy@'?*?ٱi<MS=YQU>aaE6Ey}>I  QZ 5? ޾ |B @9 D : w:) W=@W9X9 X9W9:WA2WA*WAVAbUABUI*UIUIUM@@R](Combining 5 samples.Pa*Qe@ZQe_[ډ@EH?JQe'?*?2Qe g5>:QabQeY @<>?`_X&ԿRQeȘ? X(~?WBQe3> Qe4?Qe@PeY9?PeP9?PeQeQe5@"QeY@B5*/<B1 B1A5s>*B9A=o;A9A9A=<"CE>ORCACE@CIEV݅>I)GMR>>>9IPuGic@= ; Ez7aaE6Ey}>I :v 5? :F޾ |B @9Dg: ^:),:meAdded new target pos. range: 5.460000 m, bearing: 7.415553 deg, deltaT: 4.377465 s, approachRate: 0.041120 m/s, LOS rate: 4.308367 deg/s, posRepo size: 4m ProNav: pos range: 5.460000 m, bearing: 7.415553 deg, approachRate: 0.041120 m/s, LOS rate: 4.308367 deg/s, cmd update: 12.000000 deg/s, cmd heading: 307.403111 deg, new cmd heading: 301.864355 deg. WǮ@WX! X!W):W)2W1*W1V9bU9BUA*UIU] @U?B]<Ba BaAmj>*BiAmQ;AiAqAu <"Cu/aRCCǮ@C-/ --- -7:Y-Y1y-:-35)-ӓ;95֭>iIyG>Cq, EA|@i|@Y}>=}> @y}>ON<}>5F}>H ?=??@4?"?ɉɓϿ"?)~>= ~>s_;I~>CɫYY)Y YIYY@yIxGiII II3<M^=Y$QU>aaE6Eyf}>Iȱŵ 5?ŵ ޾ Ƶ|B @9ƵDǵ: ȵ:)ȱW >@WX XW:W2W*WVbUBU*UUU t?B<B! B!A%ϗ>*B!A%;A!A!A-lC<"C5iRC1C5 >@C1e>AIQGmW>FIq,&EAY}2F=}2B@y}2^V4<}2#}2Hw?@P1? Z? !ÿ?@$?୊ ϿL?)~2F= ~2_;I~2CɫYY)Y YIYYI@ywGiܝ;>9ܝvCIܝtGiܝ@ܝ=ܙܝDܝ'; ݝE)=wCI=wCi9=====6K7?I ++I ?94 )IyX9v?y&1?:v?`<Լ  @) "AIi A M%B=Y%VvQU%>))a-aE-6E1y5o}5>I9=آ 5?=k ޾ =|B M@9=D=\: =:)9Wmp@WiXi XqWq:Wq2Wy*WVbUBU*UUU@?B<B BAz>*BAXH;AAA'<"C /oRC Cp@Cq /3:Y0Y1y:5) ;Ug>I!G=>.Pq,"@EAɫyy)y }IyY/@ywGi!m>mףaaE6Ey}>Iș :ŝ 5? :ŝ ޾ Ɲ|B @9ƝDǝ : ȝ:)ȝ-:W}ʶ@WyXy XW:W2W*WVbUBU*UUU@uz?B5~<B BA܍>*BA;AAAw<"CLn*C kRCCʶ@ChA>IGj>XVq,ZEAY}2L1=}2.@y}2y;}2<}2H`4T?? u?ʿ2Y?@?`|EϿ9?)~2L1= ~2A`;I~2Cɫ99)9 9I9Y\@yvG=ii!!I-=)-=ULM]M=Y]u"QU]>aaaeaEe!6EaymO }m>Iqu 5?uU޾ u~|B }@9u Du: u:)qW!P@WX XW:W2W*WVbUBU*UUU ?@Bz<B BA>*BA&;AAA<"CAiRCC!P@C>IG5O>E ):YDW1yY:l59@ܝ9>9ܝuCIܝsGiܝ@ܝ=ܙܙܝ>; ݝE\q,cztEAY}:?X<}:@y}:;}:~ہ}:Ht?4?O?Ϳd"??vп@?)~:?X< ~:ذ`;I~8ɫ99)9 9I9Y}@y}wGi}B}!>}>i}@y }@)}O@I}i}@ =MG=YiQU>aaE(6EyЕ}>Iȩ :ŭ 5? :ŭ2޾ ƭo|B @9ƭ(Dǭ: ȭk:)ȭ.:W_@WX XW:W2W*WVbUBU*UUUU@B<B BA%ׇ>*B!A%gN;A!A!A%|<"C-/^RC1C5_@C1ev>%=i%=9IIGeU>jcq,mUEAY}28@}2@y}2;}2^}2H`&?`+? V ?п2?? 8tAп`?)~28@ ~2I`;I~2CɫYY)Y YIYY@yvGAAi>ļMY=Y+QU>aaE.6Ey3}>I 5?6޾ a|B @90DU:  :)W ᘾ@W X  X W :W 2W*WVbUBU*UUU@R-B*** querying acoustic contact ***P)P)BM <BI BIAU6>*BQA;AAA<"C+NRCCᘾ@C> ?i ?I GZ>n X3:YW1yč:45i nGI i ] ^ٺY ] LBiq,0EA|i|ɫ髙) IY@yuGZ****** received transponder code query ******F****** received ping request ******ÝjiÝ@Ù ę)ĝn@Iĝn@iĝn@NM=YQU>aaE66Ey}>I :A 5? :E޾ tI ^|B @9*BA;AAAa<"C J)1RC C @@@CM >! I1 GM >_~pq, ½EAY}2D@}2˾@y}2Kn;}2p΀}2H`^?? ?.Կj?$? c`Ͽ?)~2D@ ~2(~;I~2Cɫ99)9 =I9Yu@y}zuGxDUSBL response received:!U1,P F35,000,002CC,187,80,80,92,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i)Q9\M=YQU?aaE;6EyV7}?I9=O$ 5?=޾ =\|B }@9=CD=< =<)9W=$@WX XW:W2W*WVbUBU*UUU @Bm!<Bi BqAu}f>*BqAuK%;AqAyA}6<"C)RCC$@CI!)!f k ;:YDW1yY:5N؅>׉IG>vq,۽EAY}2k@}2%@y}2-n:}2c'}2H8?5? P?տ`!?@^?`M@xϿ?)~2k@ ~2!e;I~0ɫYY)Y YIYYh@yUuG鮥a=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iU M]P=Y]O}QU]>aaaeaEeB6Eaymݗ}m>I  : 5? #޾ [|B =@9 LD ; };) We@WaXa XaWa:Wa2Wa*WiVibUiBUq*UqUqUu M@B<B BAb>*BAJ<AAAU<"C5 RC (>C@Cֽ>יIGc>A9EtCIErGiE{@E!=AAEO; EEm|q,LEA|;|4 )CIyf@o ?rjƹIٱii=>=='i=f@9 =@)=@I=i=@M.MMK=YUQUU>QYa]aE]H6E]@@Yye}e>Ii u:mPP 5? u:m;)޾ mZ|B }@9mUDm: m:)m0:Wvk{<WX XW:W2W*WVbUBU*UUU @R(Combining 5 samples.P*Qf@ZQ?qf@BCJQo ?rjƹI2QϢ:QbQ% R@,c b%[?RQ=.G"?vo޿,О?BQ)2@ Q[Q@Pc9?PY9?PQQ@"Q5@Bau<B BA2Q>*BA+<AAA<"CRC0<Cvk{<C֍C}>aIqG;>a 5+:YU1y:k5)&;9ϻq,EAY}~@}~x@y}~F}~4~}~HU?l?9?`ٿm? ? `? pϿ?)~~@ ~~;I~~Cɫ) IYM@yMuGDNmea in: $SNTTA,,,,,014007.15*58 i-=M-<=Y5W2QU5>99a=aEEO6EAyU}]>Iaexh 5?e/޾ a u@9e_De1; e;)amUqAdded new target pos. range: 7.199999 m, bearing: 331.592051 deg, deltaT: 4.456241 s, approachRate: 0.390463 m/s, LOS rate: -8.038953 deg/s, posRepo size: 4me ProNav: pos range: 7.199999 m, bearing: 331.592051 deg, approachRate: 0.390463 m/s, LOS rate: -8.038953 deg/s, cmd update: -12.000000 deg/s, cmd heading: 0.879229 deg, new cmd heading: 6.142681 deg. Wm@WiXi XiWi:Wi2Wq*WqVqbUqBUy*UyU}@U}`?Bƿ<B BA[n>*BAî<AAA<"CRC C@Cօ L>%=i%p=׹IG}>q,Fx)EAY}:@}:kغ@y}:6R}:9-z}:H ? %?`,?ཱྀۿ`a? ?Fj?@5ο ?)~:@ ~:;I~:Cɫ99)9 9I9Y}@y}tG:>9IqGi@#=SDQ; ibX9? rhMbP?E?C :)Iy/$?Zd;O?~jt?UiUp@Q U­@)U@IU­@iU­@eXMm8=Ym7QUm>qqauaEuV6Eyy}B}}>Iȁ :Ņ 5? :Ņ6޾ ƅc|B @9ƅiDDžA: ȅI:)ȅ1:Wg@WX XW:W2W*WVbUBU*UUU`?B<B BAM>*BAd <AAAK<"CҐRC C g@C -Tu)>I)]YY]p ]]-:YYyY]5)];Gew>ʐq,eSCEA|i|Y}6I@}6ι@y}6ӫ}63t}6H Pn?`~??^ݿK?0?wUq?@Uο?)~6I@ ~6@;I~6CɫYY)Y YIYY@ytGI)i=:M=v=Y=IQU=?AAaEaEE[6EIyMcȽ}M?IQUM 5?U<޾ Uj|B ]@9UqDUM: U߼:)QWX@WX XW:W2W*W V bU BU1*U1U9U=?B᯿<B BA~M>*BAr <AAA<"C/eRCCX@CֽQ3(>יIGb>(q,.]EAY}6@}6ո@y}6)}6Fl}6H? VQ?h?߿7??>s?EͿ&?)~6@ ~6;I~4ɫYY)Y ]IYY@ytGi5<M=J=Y=sQU=>AAaEaEEb6EIyM}M>IQ ]:U 5? ]:UnD޾ Us|B m@9UzDUkS; U;)U2:W@WX XW:W2W*WVbUBU*UUU?B]+<B BA2Q>*BA6m<AAAL<"Ct8RCC@C֥t>ׁIG@>I!)!r 3:YDW1yY:59@9>9IiDM; E)mtCImuCiim!=m!=m6 q,wEAY}2@}2@y}2}2f}2H? ?`*?Q`?@?Ls? $̿k0?)~2@ ~2 ӽ;I~0ɫ99)9 9I9Yu@y}tGiEE=E+EٽiE@A E@)E@IE@iE9@u:MuF=YuEQU}>yya}aE}h6Ey}>Iȉō+ 5?ōL޾ ƍ||B @9ƍDǍ: ȍ:)ȉW@WX XW:W2W*WVbUBU*UUU-@B}<B BAQ>*BAM <AAAM3<"C C!RC C@C%! =I)))IG (>q,䐾EA||;Y}>@}>@y}>}>>`}>H?޼?? B`}^??@"r?˿};?)~>@ ~>C;I~>CɫYY)Y ]IYY,@y uG}=iyi<MD=YxZ:QU>aaEo6Ey}>I  :  5? : XU޾ |B @9 D : ]:) 3:W=f+@W9X9 X9WA:WA2WA*WAVAbUIBUI*UIUQUU@B}<By ByA}a[>*BA<AAAVm<"C5t*C;mRCCf+@C0f=IGmV>= | 8:YU1y:451q,êEAY}2 @}2@y}2[}2X}2H?@? L?@"?@v?~k?ʿ.J?)~2 @ ~2O;I~2CɫYY)Y ]IY܉9܉I܍hqGi܍6@܉܉܉܍Q; ݍEY!@ytGi!)Q?zG?sh|??\/? = =)IybX9?Sc>u=iG@ @)9@I9@i- GM-7=Y5d;QU5>11a5aE=v6E9y=}E>Iim 5?m^޾ m|B u@9mDm: m:)iW"@WX XW:W2W*WVbUBU*UUU0@RB*** querying acoustic contact ***PPB5M<B9 B9A=Y>*B9A]w4<AaAaAe<"Cmw:RCiCm"@Ci%=i%=]~;I)GUu>9q,ľEAɫyy)y yIyY@ytGZ****** received transponder code query ******F****** received ping request *******BAw<AAAu<"CN_RCCg@Cm?i?IG5O>e T ;:YY1y:5dCq,v޾EAY}6k@}6y@y}6~:}6]<}6Hg?a?@e? 24-?? Xiǿu?)~6k@ ~6R;I~6Cɫ99)9 9I9Y@ytGxDUSBL response received:!U1,P 08A,000,002E9,186,80,80,9A,FF Command AckBRequesting micromodem ping code 2iI)I)A,>CNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i}%nGIi}3VٺDBi}$M-=Y&aaE6EyϽ}>I1 :5 5? :5p޾ 5t|B @95D5B-< 5*<)54:W{@WX XW:W2W*WVbUBU*UU!U% ] @Bm<Bq BqAuoT>*BqAu<AAAPI<"CgQRCC{@CĽܩ9ܩIܩiܩܩܩܩܩ ݩIG >nq,WEAY}2@}2K@y}2Jס;}2+%}2HE? Z?`H?֠ _?`ο?:tĿ?)~2@ ~2$;I~2CɫQY)Y ]IYY@ytGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i99>?۾if@ @)n@I­@i@cuMb=Y8a aE 6E yK}?IB) 5?x޾ o|B %@9Dk: w:)WES@WIXI XIWI:WI2WQ*WQVQbUQBUQ*UYUYU]@=@B<B BA S>*BA<AAAۼ<"CRCCS@C֥aIiG:>I)@A j A:YX1y/:Y5);98Uq,g,EAY}6ъ@}6@y}6v<}6 }6H??@;??@%4?`~?`FI@?)~6ъ@ ~6;I~6CɫIQ)Q UIQY8@yuGxDUSBL response received:!U1,R,02E,000,00316,184,80,80,97,FF Fpublishing direction and range infol$ɰo=鰭> )CIyfA 2(f?.='ٱi<M^=Y,aaE6E y r}>I! 5:%k; 5? 5:%[޾ %h|B =@9%D%'; %q';)%5:Wmϫ@WiXi XiWi:Wq2Wq*WqVqbUyBUy*UyUyU @R(Combining 5 samples.P*QfAZQ#@]pmٿJQ 2(f?.='2Ql$:QbQK @y}IiDRQj{5QA?Ds !+kBQR@ QQ @Pn9?Pc9?PQQ#@"Q@Be><Ba BaAm\>*BiAm!<AAANo<"CRCCϫ@C֭6I)gAשIGJ>kq,,EA||Y}>m@}>Z{@y}>NQ<}>ͽ}>H6?#?%??@ ?`)`?)~>m@ ~>f;I~>CI9IIMpGiM@M$=IIMO; MEɫ) I Y @ytGDNmea in: $SNTTA,,,,,014011.62*5F =i=i))S?Q? rh/?u= C )Iy333333?L7A`?I +?9?+=94< @)~AIrAiAA]#]XY?]Sci]\@Y ]@)]I]@i]@m6Mm(=Yuqya}aE}6Eyy:}>Iȉō&T 5?ō=޾ ƍe|B @9ƍNJDǍǺ: ȍ:)ȉmqAdded new target pos. range: 9.899997 m, bearing: 319.286236 deg, deltaT: 4.438209 s, approachRate: 0.608353 m/s, LOS rate: -2.772698 deg/s, posRepo size: 4m ProNav: pos range: 9.899997 m, bearing: 319.286236 deg, approachRate: 0.608353 m/s, LOS rate: -2.772698 deg/s, cmd update: -8.318096 deg/s, cmd heading: 307.626395 deg, new cmd heading: 301.872947 deg. Wf@WX XW:W2W*WVbUBU*UU`#@U}?B<B BA6W>*BA%<A!A!A%F<"C-l RC-^PC-f@C1֥)nyIG>C *:YY1y:5);gq,eEEAɫyy)y yIyY]@yHuGi!)[<Mo=YQU?aaE6Ey}?Iȡ :ťe 5? :ť޾ ƥd|B @9ƥϊDǥ: ȥ:)ȥ6:Wk@WX XW:W2W*WVbUBU*UUU3?B"<B BAea>*BA'<AAAɻ<"C%RC%5C%k@C)mA!I1GM1>i=dq,_EAY}2@}2Y@y}2i֤<}2/}2H@I?ؖ? ?K?an?rє?)~2@ ~2"|;I~2CɫYY)Y YIYY}Q@y}:uGicMR=Yc!!a%aE%6E)y-=}->I15y 5?5޾ 5b|B E@95؊D5: 5U:)1We/@WaXa XiWi:Wi2Wi*WiVibUqBUq*UqUyU}V?B'6<B BA`>*BAuL*<AAA棻<"C5uI3RC58@q;C5/@C9E?΅I1GmW>܍:>9܉I܍toGi܍@܉܉܉܍J; ݍEq,pyEA|i|Y}>z@}>H@y}>о<}><}>Hf? (?7p?%b?9ٗ@,/?L?)~>z@ ~> n;I~<ɫYY)Y YIYY@ytGI9)9iIIÝ(?Ý/?Ý$>iÝ@Ù ĝQ@)ĝ9@Iĝ@iĝ@QMA=Y;QU>aaE6Ey,=}>I 5?޾ `|B @9D]: :)W88@WX XW:W2W*WVbUBU*U U U L?B5<B9 B9A=O>*B9A=-<A9A9AE$<"CEIRCM0z>CM88@CIM~IG=/>----Z -4-:Y-W1y-č:-5)-ފ;^q,.tEAY}23@}29A@y}2\<}2ˉ=}2H ?? fho`?>ao6 ̬??)~23@ ~2 g;I~2Cɫ99)A AIAYM4@yMuGi=MT=Y4;QU%>!!a%bE%6E)y- p=}->I1 =:5R 5? E:5޾ 5^|B E@95D5^: 5:)57:WZ@WX XW:W2W*WVbUBU*UUU`3K@B<B BAN\>*BA0<AAA8<"CX_RC>CZ@C֍ϚNבIGC>IAA)`q,h[EAY}:/@}:@y}:<}:D%=}:H |??0*@"Q?]׸@W7? ?)~:/@ ~: c;I~:Cp9pIrHnGir@ppprK; p)݁I݅tCi݁݅$=݅$=݅35ɫIQ)Q QIQY@ytGiCl? rhi=@ z@)Σ@I@i@NM0=Y;QU>abE6Ey P=} >I 5?޾ ]|B @9D: :)W=D@W9XA XAWA:WA2WA*WIVIbUIBUI*UQUQUU@B <B BA%M>*B!A%2<A!A!A%ڷ<"C-IwRC- >C5D@C1aa-R ---J -\::Y-DW1y-Y:-~5)-=;=.IGn>q,0ǿEAɫqy)y }IyYK@ysG=i=i!Mn=YQU?!!a%bE%6E)y-}-?I1 =:5 5? =:5޾ 5\|B E@95D5: 5(:)58:We@WaXa XiWi:Wi2Wi*WqVqbUqBUq*UqUyU}@RB*** querying acoustic contact ***PPB <B BA$?>*BA5<AAAû<"CRCC@C֭h⽹iIqG>q,EAY}N8U@}Nb@y}N=}N>}NH μ??P 0߿e?@ߠ` ? ?)~N8U@ ~N`;I~NCɫyy)y }IyY @ysGZ****** received transponder code query ******F****** received ping request ******qabE6Ey5>}>Iȡť 5?ť޾ ƥY|B @9ƥDǥ< ȥ<)ȡW0@WX XW:W2W!*W!V!bU!BU!*U)U)UM @B}<By ByA}F7>*ByAt7<AAA <"CRCC0@C֍BvAIQGm5>=i=UUUU? U,:YUW1yUč:U#59u@;>9IlGig@%=J;  q,EAY}F%@}F2@y}F =}FG >}FH!? k?@&l޿T?@3kJWXx??)~F%@ ~Fd`;I~FCɫYY)Y ]IYY@yEsGxDUSBL response received:!U1,P 02E,000,00316,184,80,80,97,FF Command AckBRequesting micromodem ping code 2iUNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iyy}\}S?}i}(@y })}n@I}@i}n@tM =Y:QU>abE6EyK=}>I  :e 5?  :޾ U|B @9Dws; h;)9:We4P@WaXa XiWi:Wi2Wi*WiVqbUqBUq*UqUqU}@B9<B BA->*BA V:<AAAp<"CRCC4P@C֝Jͻ׭?i׭?בIG>q,EA|(i|(Y}V+@}V@y}V? =}Vw>}VH`Ls?d>?4j7ݿ-? H`.Xa?@M?)~V+@ ~V`;I~VCɫ髙) IY<@yrGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I1)5Ai99}\RM}=Yi7QU?abE6Ey!=}?IȱŵC 5?ŵC޾ ƵS|B @9ƵDǵb: ȵ :)ȱW~@WX XW:W2W*WVbUqBUy*UUUM@b@BE⡻<BA BAAEZ>*BAAMM<<AIAIAM^<"CU5SRCQCU~@CY5 5553 5@:Y5T1y5:55imNmGu2;IiVٺDB1I9G]>'! q,6.EAL9LIN(kGiN"@N$=LLNF; NEɫII)I MIIY@y\rGxDUSBL response received:!U1,R,F94,000,00356,187,80,80,5D,FF Fpublishing direction and range info=ɰ=鰍1> )BIy[AEä?|ӄ{?ٱi="~j?#~j:v?=S?=㥽 =T<)9I9y=ʡE? rh? rh?=-2?=C ==C = =A)=3@I=7 Ai=rA9=zAUUhU=iU@Q Q)U@IUz@iU@JM-=YQU>abE6Ey}>Iȡ :ť@ 5? :ť޾ ƥZ|B @9ƥ!Dǥ: ȥ:)ȥ::WƖ@WX XW:W2W*WVbUBU*U!U!U%@@R5(Combining 5 samples.PQ*QU[AZQUi[+@1*BA%><AAA<"C%RCCƖ@CI@A)ֵԘ3q,uHEAY}2}@}2ϊ@y}2'=}2's=}2H@+?@Y?` ܿ`? U c??)~2}@ ~2;`;I~2Cɫ99)9 =I9Y}@y}pG TNmea in: $SNTTA,0.035691,,,,014016.10*4B i1mݽMu^=YundQUu>yya}bE}6Eyye=}>Iȉō3 5?ō޾ ƍ_|B @9ƍ)DǍ': ȍ:)ȉmqAdded new target pos. range: 13.739999 m, bearing: 338.179441 deg, deltaT: 4.535748 s, approachRate: 0.846608 m/s, LOS rate: 4.165400 deg/s, posRepo size: 4m] ProNav: pos range: 13.739999 m, bearing: 338.179441 deg, approachRate: 0.846608 m/s, LOS rate: 4.165400 deg/s, cmd update: 12.000000 deg/s, cmd heading: 269.963348 deg, new cmd heading: 266.942565 deg. W]5@WYXY XYWY:Wa2Wa*WaVibUiBUi*UiUu z+@Uu?B/<B BA=*BAm?<AAA-q,MbEAY}6v@}6@y}68o=}6=}6Hv?(?4}N?`ܿ?[w%pz??)~6v@ ~6 `;I~6CɫII)I IIIY}D@y}yqG=i=i=A=M=`=Y=UQUE>AAaEbEE6EIyM}M>IQUF 5?Ue޾ Ud|B e@9U1DUϸ: U:)QW즛@WX XW:W2W*WVbUBU*UUU`?BE<BA BAAE=*BAAM@<AIAIAM <"CuuRCqCu즛@Cyօ=aIiG9>ܡ9ܡIܥiGiܥ.@ܡܡܡܥI; ݥEWq,(|EAY}2U@}2?c@y}2$=}2g0=}2H ƭ? xb??@Pܿͥ?@ݣ? ?)~2U@ ~2`;I~2Cɫ99)9 =I9Y#@ypGi!!ul=u\=u=iu@q u@)u@IuΣ@iuΣ@MF=Y3QU>abE6EyA!}>Iȡ :ť] 5? :ť޾ ƥj|B @9ƥ;DǥA: ȥ:)ȥ;:Wm@WX XW:W2W*WVbUBU*UUU`;?B <B BAx=*BAIB<AAAm<"C¿RCCm@C֍&>aIiGi----K -,:Y-V1y-:-5)-c;95?%q,EAY}R@}RL+@y}R3=}R^<}RHĔ?`?>̗? ڴܿ f?A@Ϡ`rӋ??)~R@ ~R!`;I~Pɫyy)y }IyY@yZoGiAI]>M]M=Y]]:QUe>aaaebEe6EyyN}>Iȩŭr 5?ŭX޾ ƭn|B @9ƭDDǭ]; ȭt;)ȩW]t?@WYXY XaWa:W2W*WVbU)BU1*U9UAUmwF?Bˆ<B BA=*BA!C<AAA<"C¿*CPgRCCt?@CdO>IGj>m+q,EA9IhGi:@#=RDO; E|0i|0Y}n@}nFʹ@y}n=}nG}nH@h?*[?8?`aݿm?Cd?~@擿 3?)~n@ ~n _;I~lɫ髱) IY@y;nGIq)uAiyMb?v/S㥫?#?xi /]=)Iysh|??Mb`y&1?)?`<  A)AIiXA\A m@ m@ m@m©mmim3@m m)mΣ@Imim@}݃M}9=Y0QU>abE6Eyܼ}>Iș :ŝi 5? :ŝ޾ Ɲq|B @9ƝMDǝ: ȝ:)ȝ<:WMs+@WIXI XIWI:WI2WQ*WQVQbUQBUY*UYUYU] ?Br<B BAb(=*BAC<AAA<"CRCCs+@Cd/}>%%%%M %E1:Y%WU1y%:%"5)%b;בIGb>Q2q,EAY}2~9@}27G@y}2Q<}2i}2H`,?@v'??`I޿*?@? 騟3?)~2~9@ ~2ϯ^;I~0ɫ99)9 9I9Y]@yeDnGi';Mg=YaqQU>abE6E y 9} >Iә 5?"߾ t|B %@9TD: :)WE-m@WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQU]@ۘ@Bx<B BA,=*BAD<AAAL<"C5"RC1C5-m@C1E>!I1)5?AIAGeU>{8q,EAY}2 @}2ō@y}2<}2YHν}2H? k>?`R?`߿@? ? 񺹿 ?)~2 @ ~2Ys^;I~2Cɫ99)9 9I9YM@ymGAAi&MJ=Y%QU>abE7E y e} >I : 5? : ߾ x|B %@9]D: :)=:WE"@WAXA XAWI:WI2WI*WIVIbUQBUQ*UQUYU]@@ReB*** querying acoustic contact ***PaPaBg<B BA<*BAP{D<AAA﷿<"C@RCC"@CԩԭgAסIG I>] ]]]i ]3:Y]DW1y]Y:]"59m@܁9܁I܅gGi܅F@܁܁܁܅F; ݅E)1I1i11155>q,;pEA||4i f@  X@) I @i @M9=Y%QU%>!)a-bE- 7E)y5F}5>I9= 5?=߾ ={|B E@9=fD=: =:)9Wm@WiXi XiWi:Wq2Wq*WqVqbUyBUy*UyUyU}\ @BGD<B  B A 9*B A |D<AAA(6<"C-5xRC)C5@C1IGn>Eq,NEAY}6@}6@y}6Z<}6;9}6H>?@ ??)tw?yY?`D ǿ w?)~6@ ~6!^;I~6Cɫyy)y }IyY̾@yjGxDUSBL response received:!U1,P F94,000,00356,187,80,80,5D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i ]mMeX=YQU> 1a=bE=7Eqyڝ}>I ]: 5? ]:߾ |B e@9oD< <)>:W-Y1@W1X1 X1W1:W12W1*W9V9bU9BU9*UUU @B'<B BA/*BAD<AAA<"C+&RCCY1@C-=i-a=EEEE\ E):YEU1yE:EY5M<->1 I9 G] >Kq,4-1EA9IxfGiS@A; EY}B@}Bύ@y}Bh[<}BR}BH9?o?@??P?Gg? * cʿ4Q?)~B@ ~BT_;I~BCɫQY)Y ]IYY@yujGɮR=%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i%HzG?K? ףp= ?%= ?%^= %Q=)!I!y%v/?~jtx?%x)?%Ļ%< %^A)%AI% Ai%A!%G A=$?i@ @)I@i@MM2=YmQU>  a bE 7Ey}>I 5?&߾ |B -@9xD: :)WM@WIXI XQWQ:WQ2WQ*WQVQbUYBUY*UYUYUe @B<B BA7*BAϥC<AAA5<"CIjRCC@CֵFӅ>׽?i׽?בIG>Rq,uKEA|i|ɫ髙) IY@yRiGI)Ai5䫽M5m=Y=QU=?99aEbEE7EAyM}M?IQUO 5?U-߾ U|B ]@9UDU(: U:)QW}@WyX XW:W2W*WVbUBU*UUUh@B;B BA[*BAB<AAA<"C /RCC@C>IGI>- ---Q -[T:Y-V1y-:-5 Ci /mGI i E UٺA E CBXq,LdEAY}-@}-:@y}-z~<}-p}-H/?8$?`?` ?`?9OͿ?)~-@ ~-J_;I~)ɫ11)1 5I1Y@yiGDNmea in: $SNTTA,,,,,014020.50*5C i<MB=YTQU>abE$7Ey }>I : 5? :7߾ |B @9D: :)?:W %ض@W X  XW:W2W*WVbUBU*UUU% @BMD<BI BIAUGX*BQAU2B<AQAQAU<"C]{RCYCe%ض@Caօ>I!)%@A999I=eGi=@=$==SD9=G; =EYIaG}Y>^q,ݶ~EAY}2@}2Dz@y}2i<}2u}2H ??࢖?4?D?Liο`f?)~2@ ~2˰_;I~2Cɫ99)9 EIAY@yriG@A?Ai M? ̼ =i Q@  z@) \@I z@i z@MV=YQU>!!a%bE%*7E)y-O}->I151 5?5@߾ 5|B E@95D5÷: 54:)1WePh@WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU}w@B;B BAw*BApA<AAA{t<"CY;gRC5>CPh@C>IGE>- ---8 -84:Y-U1y-:-5)-;95eq,ؚEA|4<|;Y}6$Ĺ@}6ѱ@y}6o.<}6}{}6H@M?2?5? _?oO?`Ś? r qϿ?)~6$Ĺ@ ~6`;I~6Cɫ9A)A AIIY}@y$iG!i!iihM?=YtQU>abE17EIyM=}U>IQ ]:U. 5? e:UK߾ U|B e@9UDU: U:)U@:Wd@WX XW:W2W*WVbUBU*UUU`l@RB*** querying acoustic contact ***PPBM)+;BI BIAM*BIAUl@<AQAQAU<"C]NRC]0b<C]d@C]w>9IAGuW> <>9 I dGi @    E;  E8lq,nEAɫ髹) IY@y.hGi333333?)\(kt?Ga  0)IyQ?!!a%bE%87E!y-}->I15B 5?5U߾ 5|B =@95D5: 5:)1We @WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqU}J@B;B! B!A%*B!A%4?<AAAIAM;<"CUp9RCUrCU @CQEJ>I i=----# -y0:Y-V1y-:-#5)-;GEQ>rq,IEAY}2@}2gȯ@y}2d<}2t}2H` ??4??`ͷ? U,`Ͽ $?)~2@ ~2/x`;I~0ɫYY)Y YIYYm@ygG鮡ɮp=iͼMc=YQU>abE=7Ey5}>I :S 5? :"_߾ x|B @9DV: A:)A:W u@W X XW:W2W*WVbUBU*U!U!U%^n@BM;BI BQAUн*BA><AAA3<"Cx%RC{Cu@Cֵ;#7>׉IG>yq,W$EA|@i|@Y}6Ѷ@}6߮@y}6<}6{}6H`m?`Ϗ?@K? [P?` ?0 5,Ͽ?)~6Ѷ@ ~6|`;I~6CɫQQ)Q UIQY @yXgGI)AiYMJ=YAѺQU>abED7Ey}>If 5?Cj߾ j|B @9D0: :)W )@W X  XW:W2W*WVbUBU*U!U!U% @BMj;BI BQAU*BQAU=<<AQAYA]z<"C](RCe Ce)@CaM6>AIIGm5>9IcGi@RDF; EMMMMI M!+:YMW1yMč:MG5)M;(Bq,EAY}:.@}:@y}:<}:p}:HP?I?@ݴ?`b?B?ߑͿ`?)~:.@ ~:`;I~:Cɫ99)9 =I9Y}=@y}gGxDUSBL response received:!U1,N,80,80,63,E4 6,187,80,80,5D,FF ZNo reply:!U1,N,80,80,63,E4 6,187,80,80,5D,FF -abEK7EyVX} >I :z 5? :v߾ \|B @9D: :)B:W=k"@WAXA XAWA:WA2WA*WIVIbUiBUi*UqUqUu@B|;B BA'ܽ*BAq:<AAAV<"C˃RCCk"@C!>׹IGE>I=AA)=AA)q,EAY}Be@}Bzs@y}B·<}B`Dl}BHc?`G??@N`Y?Aw? DͿ%?)~Be@ ~B `;I~@ɫaa)i iIiYy@yfG@Ai!)=v?y&1|~jtx=8?=` =Ļ)9I9y=A`"?kt?{Gzt?=9?= ==ף; =3@)=(AI=Ai=OA9=AUkMUD=Y] QU]>YaaebEeQ7EaymN}m>Iqu 5?u\߾ uP|B }@9uʋDuM: uw:)qWF<WX XW:W2W*WVbUBU*UUU C|@B;B BA*BA39<AAAg<"Ck"ƾRCCF<CE߁=II)II)MMMM* MS,:YMV1yM:M59U@G]U> =>9 I bGi w@ )YIYiYYY]+4GTq,c3EA||Y}61@}6ɬ@y}6܃<}6؟c}6HL?`??~?@|Y? f{47̿ g5?)~61@ ~6`;I~6CɫYY)Y ]IYY@y'fGi=i-Ponly read 0 of 1 data item for BIT error5\ M5_=Y=QU=>9AaEbEEW7EAyMf}M>IQUʝ 5?UɌ߾ UG|B ]@9UҋDU: U:)QW=WX XW:W2W*WVbUBU*UUUg@B/:B BA*BAw7<AAAt<"CǞRCC=C @=IG )>=q,xMEAY}6 @}6)@y}6<}61Z}6H?{? ? @st?@>? %˿gD?)~6 @ ~6LH`;I~4ɫ99)9 =I9Yu@y}+fGi:MN=Y7;QU>abE^7Ey &J} >I : 5? :E߾ <|B @9ۋD: :)C:WEX?>WAXA XAWA:WA2WI*WIVIbUIBUQ*UQUQUU @ReB*** querying acoustic contact ***PaPaBp:B BA*BA+5<AAA`<"CthRCCX?>C֍]==i==MMMMM Mn1:YMDW1yMY:M"5eq,HjgEAY}2@@}2@y}2<}2ssK}2H+d??W?r?Ϻ?4Bɿ``]?)~2@@ ~2_;I~2Cɫ99)9 AIAYM@yMeGMZ****** received transponder code query ******UF****** received ping request ******UabEd7Ey*}>I 5?߾ 2|B @9D: :)Ws>WX XW:W2W*WVbUBU*U U U  l!@BE蔙:Bi BiAm3*BiAmze3<AiAqAu <"CubRCyC}s>Cyi9iImaGim@m%=iimG; mEօطAIQGmW>Mq,GEA|@i|Y}6QB@}6 P@y}6ɶ<}63}6Hp"?-?`?? C? ؖV_ƿ?)~6QB@ ~6r_;I~6CɫYY)Y ]IYY@yeGxDUSBL response received:!U1,P 80,80,63,E4 6,187,80,80,5D,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i m  Õ=Õ<Õ;>iÕ @Õ ĕE@)ĕE@Iĕ\@iĕz@]M.=Y;QU->11a=bE=l7Eiyu}u>I  :I 5?  : ߾ $|B @9D: V:)D:Wu>WqXq XqWq:Wy2Wy*WyVybUBU*UUU"@BH:B< BA*BA1<AAAt<"C-RC1C5>]]]]B ]q-:Y]0Y1y]:]5Cy֝xqIyG>q,6?EAY}=.@}=<@y}="G<}=u%}=H@c?@N??` f?`c?`$hÿ`?)~=.@ ~= _;I~=Cɫaa)i mIiY(@yeGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iiIIaiqNٺt=BbX9? rh?y&1?E?C = `e<)Iyl?:v?Zd;O?7?<j< @)!AI5AiAA  M 6=Y X;QU >abEs7Ey,}%>I!% 5?%߾ ! 5@9%D%. ; % ;)!W]>WYXY XYWY:Wa2Wa*WaVabUaBUi*UiUiUm f#@BaĺB BA0*BA.<AAAj<"CE=RCC>CI1)5@A֍iIyG>] >>9] uCI] daGi] 2@] $=Y ] D] K; ] Eq,EAY}2O@}2y]@y}2]<}2z}2H?,?[X??J ??jÿ ?)~2O@ ~2s^;I~2Cɫ99)9 =I9Y}@y}dGxDUSBL response received:!U1,R,FC0,000,003B1,184,80,80,6E,FF Fpublishing direction and range infod=ɰԚ=鰅> )BIyAOF :?ᢔ?ٱi >G>ݤi=@ ­@)@Iƣ@i@ۼM=YSMMMM& M.:YMT1yM:M5)M ;9Uq,jEAY}6@}@y}) =}?}H g? YH??`k k?v?^d{=@H?)~6@ ~^;I~Cɫ)  I YEX@yECeGDNmea in: $SNTTA,,,,,014026.15*5B ii=M<=Y abE7Ey 9<} >IK5?߾ "|B -@9 D;; 1;)muyAdded new target pos. range: 19.199999 m, bearing: 310.005430 deg, deltaT: 10.036743 s, approachRate: 0.544001 m/s, LOS rate: -2.807087 deg/s, posRepo size: 4m}ZTarget missed at range: 19.20 m. Rolling out.mNTransitioning guidance mode to: ROLLOUT"XWWX; XL?W:W2W*WVbUBU*UU 333@U@v?BB BA**BA*<AAA%<"CNW>RCCC~M<֥iׁIG>?q,EAY}6M@}6 @y}6d8=}6,@}6H? \$?x?/2?A%WD?)~6M@ ~67_;I~6Cɫ99)9 AIAY(@yeGi!!)-> ->UzM]U=Y]aaaebEe7Eaym6<}m>Iqu/5?u߾ u |B @9uDug; u7;)qWWX XW:W2W*WVbUBU*UUU HP?BMٺBQ BQAU0*BQAU2(<AQAQA]*%<"C]>RCaCaC9tCI_Gi@DJ; E5+O<;IiMa=] ]]]+ ]B:Y]DW1y]Y:]5)]U;IGj>q,EAY}2@}2@y}2g&=}2e}2H@`? ?I?"?  ˤbl0?)~2@ ~2jZ_;I~0ɫ99)9 =I9Yu˹@y}dGiE`eiE@A E)E~@IE@iE@U$MUJ=Y]YYa]bEe7Eaye'=}m>Iq }:u< 5? }:u%߾ u|B }@9uDuA: u :)uF:WWX XW:W2W*WVbUBU*UUUU?Bh_B BAN<*BA&<AAAU0<"CAA>RCCC) ֍Ƃו?iו?i I G >q,uEA|Ti|V@Y}m;@}mII@y}m.&1=}m/=}mH ? n?sd?`#e??)~m;@ ~mO_;I~iɫ11)1 5I1Ym@yudGI)Aim(\?Zd;?(\µ?m.?m= m=)iIiymZd;O?y&1|I +?m~*?m`m94< mA)mjAImAimQ Aimz AH<M8=Y ;QU>  a bE 7EyG=}>I05?h߾ |B -@9'D<: :)WIWIXI XIWQ:WQ2WQ*WQVQbUYBUY*UYUYUe`Z?BݺB BA6*BAU#<AAAo<"C/\>RCCCEAAE. E/:YAyAE~59M@·בIG> 9 uCI D^Gi @ #=  D G;  E`q,E6EAY}22@}2?@y}29=}2Qj=}2H`c??ԡa z;?3`?@3?)~22@ ~2n`;I~2CɫYY)Y ]IYY@ycGi hA hA @ @ @Í©ÍÍiÍ@Í ĉ)č@Ič\@ičE@YM[=Y;QU>abE7EyX=}>Iȹ :Ž=5? :Ž{ ƽ|B @9ƽ.Dǽ|: Ƚ:)ȽG:WWX XW:W2W*WVbUBU*UUU 6 @B%B) B)A-X*B)A5 <A1A1A5z<"C=?RC9C9CAօƂIA)AYIiGZ>Yq, PEAY}6gC@}6!Q@y}6r>=}6=}6H`*?c?@͸?R6 *̧C?¹?)~6gC@ ~6`;I~6CɫII)I MIIY}@y}cGiP?<MS=YD;QU>!!a%bE%7E)y-=}->I9=L5?= =|B E@9=7D=; =] ;)9WyWX XW:W2W*WVbUBU*UUU,@B|ȕB BAsS*BA<AAA<"CM?RCCCֽFӅI)gAUUUU5 U^+:YUU1yU:U5׹IGf>q,iEAY}6K@}6Y@y}6a>=}6Qb>}6H?`b??\Mv?X`ɧ@v?c?)~6K@ ~6v`;I~6Cɫ99)9 =IAY@y7cGi=i M K=Y0QU%>11a=bE=7EQy]8=}e>Iy :}/]5? :} }{B @9}?D}{; }u;)}H:WWX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA_*BA!<AA!A%<"C%?RC)C)CIܵ=>9ܱIܵP\Giܵ@ܵ"=ܱܱܵE; ݱ)EuCIEuCiAAAEm5]?΅1IAGmx>Oq,փEAY}:3@}:}:Ha?ɑ? }˲ ?@¿&`?9?)~:3@ ~:`;I~:Cɫ99)9 9I9Y}k@y}bGZ****** received transponder code query ******F****** received ping request ******9AaEbEE7EAyMN=}M>IQUn5?U' U{B ]@9UIDUb: U:)QWWX XW:W2W*WVbUBU*UUU @B]ϻBa BaAeGh*BaA[<AAA]<"CK?RCCC9i=C=MMMM/ Mw2:YMV1yM:M5ֹyIG>q,'EAɫ) IYMG@yM}aGQɮUR=UxDUSBL response received:!U1,P FC0,000,003B1,184,80,80,6E,FF UCommand AckUBRequesting micromodem ping code 2iYYeNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iuV?y&1r(?` ̼)IyK7?Mb?{Gzt)?@=ף |A)AIAip A A-M(=YQU>acE7E y } >I E:q5? E:2 {B E@9SD: :)I:WWX XW:W2W*WVbUBU*UUU@B}~BQ= BAl*BA]<AAA<"CN?RCCCܩ 9ܩ Iܭ YGiܭ *@ܩ ܩ ܭ Dܭ F; ݭ E 6Ʌ i ? I G >>q,ōEA|@i|ɫyy)y }IyY@y9aGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i99 @ @ @Í©ÍÍiÍ(@Í č)č@Ičičh@,M=YQU?acE7Ey}?IȹŽI5?Ž}9 ƽ{B @9ƽYDǽs: Ƚ':)ȹWWX XW:W2W*WVbUBU*UUU1@BkhB! B!A%剾*B!AE<AIAIAM <"CU4?RCQCQCYU UUUo U&|:YUDW1yUY:]?΅Uk5)U;9}1IAG}>'q,znEAY}6@}6@y}6 =}64*>}6H`?#?@wg`4?ÿ X)?ۈ?)~6@ ~6a;I~6Cɫ99)9 9I9Yu@y}`GxDUSBL response received:!U1,R,201,000,003DF,187,80,80,3B,FF Fpublishing direction and range info}5復yɰ}]=}1> y)}lBIyy}A}f?uD6/ۿٱyiQYMH=YlQU>acE7Eyz<>}>IE5?B {B @9bDs; ;)W9W9X9 X9W9:WA2WA*WAVAbUABUI*UQUQUU`c@Re(Combining 5 samples.P*QAZQ;*3@/#JQf?uD6/ۿ2Q5:QbQ6T#@P/J#3TZoRQJ&Z*?vnvM2cBQx@ QQAP9?P9?P%QQV@"Qk@B F7B BA$*BA Z <AAA9#<"C ?RCCC6ɅIGn>i mGI) iA m DQٺi u ^@BPq,_CEAY}2Ջ@}2@y}2 =}2/>}2H@+?`?0`R@/?@Y4Ŀ 5 ?K?)~2Ջ@ ~2+b;I~2Cɫ9A)A EIIY}@y_G]DNmea in: $SNTTA,,,,,014030.61*5F i - - - -@ -@ -@)))i-̔@) ))-3@I-~@i-=FM=C=YE3QUE>AAaEcEM7EIyU:=}U>IY e:]5? e:]J ]{B e@9]kD]: ]0:)]J:muAdded new target pos. range: 21.959997 m, bearing: 296.271504 deg, deltaT: 4.451320 s, approachRate: 0.620040 m/s, LOS rate: -3.085360 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU`5@Ud?B5JB9 B9A=*B9A=> <A9A9AEav<U>>9QIUhXGiU@U#=QQUH; UE"Ci*CmXAkRCiCiCqUUUU9 U0:YUU1]a8q,6EA|;|Y}6@}6S@y}6=}6 0>}6HAAaEcEE7EAyM=}M>IQU5?UQ U{B ]@9UsDU: Uܹ:)QWWX XW:W2W*W V bU BU)*U1U1U5\?B}\2By ByA*BA<AAA<"C*CnRCCCѥA=֙qIG>'fq,EAY}Bx@}B@y}Bt/<}B.>}BH?e?{ 7M?|;Ŀ@Ƅ?`?)~Bx@ ~Bb;I~BCɫaa)a aIaY@y^Gi r?&1?&1??P= P=)IyCl?~jthMb?/?D<  "A)‰IAiOAA)Ý= Ý>=<MC=YrQU>acE7Eyȏ=}>I M: 5? M:Z {B U@9|Dx< :)K:WWX XW:W2W*WVbUBU*UUUw?B3sB BA*BA3Z<AAA<"C!*C%mrRC)C)C)11)1 1EEEE E:2:YET1yE:E59M@ FӅE ?>9A IE VGiE @E $=A A E C; E E I G >͔ q,8EAY}2uj@}2/x@y}2<}2r(>}2H }F?V? +G@ ? ÿ`4ؚ`?p?)~2uj@ ~2(c;I~2Cɫ)))) )I)YM@yMn]Gi - 5 55;5+'?5n>i5@5 5@)5@I5@i5@ekMeN=YmbQUm>iqaucEu7Eqy}Q=}}>IȁŅ5?Ņb ƅ{B @9ƅDDž: ȅ:)ȁWWX XW:W2W*WVbUBU*UUUz?B zB  B A1*BA6;AAAe <"C*C uRCCC֭?΅׉IGd>wq,REA|@i|Y}Be@}Br@y}B(<}B #>}BH??@8K߿y`?¿0\I?`u?)~Be@ ~Bb;I~BCɫQQ)Y YIYY}@y}]GIA)EAiQQ_MH=Y/QU>acE7Ey=}>Iȩ :ŭ5? :ŭj Ʃ @9ƭDǭ: ȭI:)ȭL:WWX XW:W2W*WVbUBU*UUU?BB BA[*B!A%x;A!A!A%<"C)*C-3nyRC1C1C1IGI>EEEE) E+:YEY1yE:El5q,̛lEAY}:k@}:y@y}: <}:+">}:H;F?v?n ݿ? c¿0ᐿ/?b?)~:k@ ~:b;I~:Cɫ) IY @y [Giyy…gA…gA @ @ @©i(@ )Q@Ii۠ME=YSQU>acE7Ey`=}>I5?Qr {B  @9D/: :)W)W)X) X1W1:W12W1*W1V1bU9BU9*U9U9UE`%J@Bm22Bi BiAmо*BqAu;AqAqAu"<"Cy*C}|RCyCCQ9QIUHUGiUZ@QQQUB; QYI!I5@A)5AAGER>ˆ!q,XoEAY}:J{@}:@y}:[:<}:=>}:H?`?n`_ܿ b?}¿@RK`)?#?)~:J{@ ~:_Wc;I~:CɫQQ)Y YIYY@yZGi2mM_=Y6dQU>acE7Ey=}>I :.5? :x {B @9D|: 0:)M:W W X  XW:W2W*WVbUBU*UU!U%a9@R-B*** querying acoustic contact ***P)P)BMHɼBQ BQAUھ*BQAUȑ;AYAYA]p<"Ca*CeRCaCaCiցYIiG8>ek eee0 e[<:YeX1ye/:e5'q,[AEA||4}6H(?b? [ڿ P?¿ zLi??)~6l@ ~6Uc;I~6Cɫ99)9 9I9Y3@y>[GZ****** received transponder code query ******F****** received ping request ******acE7Ey=}>I#E5? {B @9D< <)WWX XW:W2W*WVbUBU*U!U!U% @BNBB BA׾*BAσ;AAA<"C*C7ʁRCCCֹיIG >I 9I IM TGiM @I I I M R; M E)ݙIݙiݙݙݝ#=ݝ5 -q,!EAY}JQ@}J>_@y}Jj:}J>}JHA?@t?$׬BؿO/?YU??)~JQ@ ~Jy=d;I~JCɫqy)y }IyY@yZGxDUSBL response received:!U1,P 201,000,003DF,187,80,80,3B,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i)> >    B??|?>i@ )&@I@i@McMM6=YU6QU]>acE7Eyw=}>I E:]5? E: {B M@9Dd< c<)N:WWX XW:W2W*WVbUBU*UUU@P @==i==eeee- e1:YeV1ye:eH5)e;9uB)B BA޾*BAe;AAAc<"C*C؜RCCC!ց a Ii G >4q,EAY}6a7@}6E@y}65}6a>}6H@??`k ׿!?B`f? '?ť?)~6a7@ ~6ZOd;I~4ɫYY)Y eIaY%@yYG鮥p=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i!![Mg=Y>QU>acE8Ey=}?Io5?; {B @9D0: =:)W W X XW:W2W*WVbUBU*UU!U%@BMBI BQAU*BQAUf#;AQAQA]:"<"CY*CesRCaCaCaa9IIGeV>$:q,EA|Di|DY}E5@}EC@y}Eộ}E>}EH1?@? 0տ ?@QT9|??/?)~E5@ ~Epd;I~Aɫ  )  IY5@y5vYG=xDUSBL response received:!U1,R,EB2,000,00410,186,80,80,96,FF =Fpublishing direction and range info5;>1ɰ5d=5> 1)5CI1y53A5e[{?gd?ٱ1II)IiYY YY m@ m@ m@m©mmimQ@m i)m@Imim@}EM}?=Y}dQU>acE8Ey=}>Iȱŵ=5?9ITSGiī@#=]; Eŵ Ƶ{B %@9ƵÌDǵP`< ȵ`<)ȱWaWaXa XaWi:Wi2Wi*WiVibUqBUq*UqUqUu`j@R(Combining 5 samples.P*Q3AZQm)7@@JQe[{?gd?2Q;>:QbQ`N8@<ոk{/T?RQa8?h➙\#ר?BQ@ Q]QAP9?P9?PQ%Qi@"QV@BϼB B!A%*B!A%l;A!A!A%<"C)*C-.Aq,EAY}jK@}jCY@y}j@6}j4>}jH??`= ӿ`:?Pֆ?`T??)~jK@ ~j@d;I~jCɫ) IYU@yXGeTNmea in: $SNTTA,0.048859,,,,014035.04*4F iqq}hA}hA0MX=Y8QU>acE 8Ey=}>I :5? : {B @9̌D0: ^:)O:m uAdded new target pos. range: 24.900000 m, bearing: 357.202610 deg, deltaT: 4.477587 s, approachRate: 0.656604 m/s, LOS rate: 13.608023 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU`f8@Um?B B  B A *B A;AAA&<"C*CRCCC!IA)EBA}6ɅYIqG}>KHq,\!EAY}Rf@}Rs@y}R ~}Rڕ>}RHU?;?``ѿ@?5-؏?`s?m?)~Rf@ ~Rd;I~RCɫ髁) IinGY@IyjXGi1]NٺY]t=BiMNbX9?~jt?I +?M>MD< I)IIIyME?/$kt?M&?MM 0= MA)MAIIiM/AIMAM:=Y#QU>acE8Ey=}>I5? {B @9ՌD;: #:)WWX XW:W2W*WVbU!BU!*U!U!U- O?BU(BQ BQAUu*BQA];AYAYA]<"Ca*CeRCaCiCi}}{}{}: }]-:Y}#R1y}:}5֝?΅9@qIyG> >>9 I RGi s@ E(Nq,c;EA||;Y}6%<}6p@y}6pD}6c>}6H`%?`??@ˊ1ο? 7H?`? ?)~6%< ~6-e;I~6CɫYY)Y YIYY@yXGi=i U U U U@ U@ ]@QQQiU@Q Q)Uߏ@IQiUߏ@e<Mmd=YmBQUm>qacE8EyR=}>I  : n5? : Ɲ |B @9 ݌D =: :) P:W9W9X9 X9W9:WA2WA*WAVAbUABUI*UIUIUU ?B}B}< ByA}*ByAj;AAA(<"C*CRCCCֽ6ɅיIGb>Uq, DUEAY}VE%=}V[@y}V%f¼}V>}VH@J? V?ʿ?`B /L?@G??)~VE%= ~V.e;I~Tɫ) IYׯ@yWXGiyy)Å= Å=DME=Y$QU>acE 8Ey)=}>I15*5?5 5|B =@95D5: 54:)1WYWYXa XaWa:Wa2Wa*WiVibUiBUi*UqUqUu 85?BCxB BAb*BAZi;AAA<"C*CE[RCCC?΅9i9M' MMM M6:YMU1yM:M5IGj>,D[q,AoEAY}z=}zO@y}zy߼}z+>}zHy?&?>ƿ.?e O?@M?@?)~z= ~z?e;I~zCɫ) IY@y3XGiii   ý?ýE?ýHiý@ý Ľ@)Ľ@IĽ@iĽ@MH=Y QU>acE'8Eyޔ=}>I :j5? : /|B @9D:  :)Q:܅?>9܁I܅(RGi܅Ъ@܅$=܁܁܅d; ݅—EWWX XW:W2W*WVbUBU*UUU?B=B9 B9A=<*B9AE\M;AAAAAE0<"CI*CMfRCICICQM6Ʌ!I1GUv>"bq,@EA| i|"@ɫ) IY w@yWGIq)uAIy)}AioMM=YQU>acE-8Ey}>I5? F|B @9D: :)WWX XW:W2W *W V bUBU*UUUv@B= BA BAAE*BAAE4;AIAIAMC<"CQ*CURCQCQCYE=UQQU2 U1:YQyQUZ55?΅I9Ge>Lhq,ТEAY}2; >}2u@y}2x}2}>}2H ? ?0`|?`Y?@|? ?)~2; > ~2)c;I~0ɫYY)Y ]IYY}@y}aWGi%V-?X9v?&1%|>%}= %P)!I!y%V-?y&1|~jt?%|?%`%< %\A)!I% Ai%dA!%fA=aM=R=YE_QUE>AAaMcEM38EIyU6>}>I5? X|B @9D: ϸ:)W!W)X) X)W):W12W1*W1V1bU9BU9*U9U9U=`c>@RMB*** querying acoustic contact ***PIPIBm Bq BqAu*BqAu;;AqAqA}J<"Cy*CpRCCCэ8ܕ @>9ܑ Iܑ iܑ ܑ ܑ ܑ ܕ k; ݕ ƗExnq,lEAY}J3>}J@y}J"#}J>}JHw?WQ?F`ɲ`ڜ?}`V?@? R?)~J3> ~Ja*c;I~JCɫ髑) IY@y XGZ****** received transponder code query ******F****** received ping request ******acE:8Ey=}>Iȡ :ť825? :ť ƥl|B @9ƥDǥ: ȥ:)ȥR:WWX XW:W2W*WV!bU!BUA*UAUIUM @B~RB BA*BAc:AAA&<"C*C4ۏRCCC) MMMM! M/:YMV1yM:M5)MH;9Uֽ ?΅י I G >buq,EAY}>.oV>}>@y}>@G'}>-u>}>H?@?BU@磿`?% k?i??)~>.oV> ~>c;I~>CɫQQ)Q QIQYѮ@yWGxDUSBL response received:!U1,P EB2,000,00410,186,80,80,96,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i5M=c=YEHHQUU>YaamcEu@8Ey=}>IȱŵE5?ŵë Ƶ|B @9ƵDǵ ; ȵ;)ȱWWX XW:W2W*WVbUBU*UUU* @Bf B BA*BAѻ:AAAz<"C*CސRCCCIG>{q,*qEAY}V=u>}V/@y}Vݚ6}V4V>}VH?}g?.lf`׿?翿 lѦ??૷?)~V=u> ~Vc;I~Tɫ髑) IYŮ@yWGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i)å= á   \=V??i•@ )@I3@i@5A>91I1i11115z; 5ΗE)Iił 5MIMM:=YU QUU>QYa]cE]G8EYye=}e>Ii u:m&\5? u:m! m|B }@9mDm: m:)mS:WWX XW:W2W*WVbUBU*UUU8@BB BAA*BA%::A!A!A-)<"CA*CMާRCQCYC9i==UQQU) U-:YQyQUl5)U};uFӅiIyG~>pq,< EAY}2ȱ>}2`֨ ~2==c;I~0ɫ99)9 9I9Y}l@y}WGxDUSBL response received:!U1,R,F88,000,00444,186,80,80,59,FF Fpublishing direction and range infoPw=ɰ=鰁 )BIy(AkΔ?4ޮ`º?ٱin=Mj=YѻQU>acEM8Ey;=}>Iun5? |B @9D: :)WWX XW:W2W*WVbU BU *U U U @m@R(Combining 5 samples.P!*Q%(AZQ%bR4;@\n@JQ%kΔ?4ޮ`º?2Q%Pw=:Q!bQ%;@AmR @jCP?RQ% ?~ 3L ̿?tD?BQ%{= Q%^@Q%AP%ͨ9?P%9?P%Q%Q%n@"Q%i@BUBY BYA] *BYA]`8:AYAYAe<"Ca*Cm^RCiCiCii!I1GU2>"q,1%$EA|4i|6@Y}3>}|P=y})U@}T.=}H@_?,Ŭ@^??@/@b?@] ?y?)~3> ~b;I~Cɫ ) IYM@yUOWGDNmea in: $SNTTA,,,,,014039.48*5D I) rh?(\¿Mb? ?z @=)Iy\(\?kt rh?? 0C = µ"A)µAIµ Ai±AiM,=YrQU>acET8Eyۂ=}>I :5? : |B @9&D=: g:)T:mUiAdded new target pos. range: 28.020000 m, bearing: 7.147542 deg, deltaT: 4.359970 s, approachRate: 0.715601 m/s, LOS rate: 2.280965 deg/s, posRepo size: 4WQWQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUe<@Um?BU)`B BAg*BALC9AAA<"C*CbRCCCEEEE EJ+:YEDW1yEY:EZ59M@שIG>) 9) I) i) ) ) - D- ; - їE"Ŏq,8=EAɫ髙) IY@yoWGe2Powering down loadControl eeIm)mimmqq @ @ @ý©ýýiý3@ý Ĺ)Ľ3@IĹiĽ3@ <M]=YQU>acEZ8Ey}>I~5?լ |B @9-Dg: =:)WWX XW:W2W!*W!V!bU!BU!*U)U)U-`^?BU\ BY BYA]*BYA]ԑ2AaAaAe<"Ci*CmRC CC.ąIA)E@AI!G=r>*q,gWEAY}J >}JЕ=y}JFB<}Jl*>}JH?Ø.@&X??@)??U?)~J > ~J9b;I~JCɫ髙) IYG@yWG]<ML=Y";QU>acEa8Ey->}>I :5? :E |B @95D: :)U:WWX XW:W2W*WVbU BU *U UU?B=$B9 B9A=4*BAAEhgAAAAAEڲ<"CI*CM범RCQCQCQ]?΅CMM}M}MO Mq-:YMkS1yMԊ:M5YiunGIkAIiAIٺkA):BGh>'כq,qEA||Y}6M>}6R>y}6;}6>}6H@Ǖ?@HĿ.?V?`_u?? ?)~6M> ~6c;I~6Cɫ99)9 =I9Y}h@y}WG - - ---j<-Di-@- -@)-ۙ@I-@i-@=R+<MER=YEb9QUE>IIaMcEMg8EQyU=}U>IY]5?]@ ]}B e@9]=D]s: ]÷:)YWWX XWB>9IRGis@g; ŗE:W 2W*WVbUBU*UUU`^?Be>Bi BiAm)*BAiAAAp<"C*CURCCC ==?i?יIGb>q,.EAY}N4>}N!B>y}N<}N>}NH@d?`HȿXr?"? p?\F?´?)~N4> ~N,c;I~NCɫ髡) IY@y%XG)e> e><ME=YvQU>acEm8Ey=}>Iȩŭ5?ŭ ƭ}B @9ƭEDǭC: ȭq:)ȩWWX XW:W2W*WVbUBUi*UiUqUu`@BB BA*BAhAAA(<"C*C땽RCCC!99i=a=MMMM# Mf.:YMY1yM:M#5IG=r>$q,_EAY}:>}:e>y}:%q<}:>}:HW+?d̿`P`_??X ?q?@^?)~:> ~:c;I~:Cɫ99)9 9I9Y}@y}XGoʡ?Zd;/$?-?y ,=)Iy(\?~jtx?I +?.?;94= ±)µAIµp AiµAA#MG=Y+8QU>acEt8Ey =}>I :5? :0 >}B @9ND: :)V:WWX XW!:W!2W!*W!V!bU)BU)*U)U1U5q@BmBy BA2*B A.AAA~<"CY*CenRCCCױIG>9Ii#= Cq,:EA| i|"@Y}R,b?}R>y}R_8}R>}RH?@п@A?:?h ???)~R,b? ~Rfc;I~RCɫyy)y yIyY߯@yaXGI)ED>E"E=iE3@A E)E3@IE3@iE3@U <MUS=Y]';QU]>YYa]cEez8Eaye=}m>Iim5?mk m\}B @9mVDm< m:)iWWX XW:W!2W!*W!V!bU)BU)*U)U)U5`@R]B*** querying acoustic contact ***PaPaBB BA*BAAAA.<"C*CnݖRCCCԵhAԵiAֹIhA)hAUUUU U.:YUT1yU:U5)UQ;9]׹IGf>Aq,EAY}6O ?}6=2>y}60}6 >}6H?tҿt`??@9_? ?%2?t?)~6O ? ~6b;I~6CɫYY)Y YIYY@y!a%cE%8E!y-[=}->I1 E:55? E:5 5z}B M@95_D5; 5;)5W:WqWqXq XqWy:Wy2Wy*WyVybUBU*UUU` @BBB BA*BAW)AAA[<"C*C<RCCC֝.ąyIG^>g'q,+EAY}F'?}FL+>y}Fbl(}F=}FHR?VqԿȃ@?E?`? ?מ?J?)~F'? ~Fmb;I~DɫQY)Y ]IYYۯ@y\XGxDUSBL response received:!U1,P F88,000,00444,186,80,80,59,FF Command AckBRequesting micromodem ping code 2i  Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 مhAمjAܭC>9ܩIܭTSGiܭī@ܭ$=ܩܩܩ ݩå`eåff>å\iå@á ġ)ĥE@Iĥҙ@iĥ@;M=Y߁;QU>acE8Ey΁=}>I45?× }B @9jD; b;)EEEE E/:YEW1yEč:E75)E;WqWyXy XyWy:Wy2Wy*WVbUBU*UUUK@B-BQ BYA]&*BYAe/LAaAaAm:H<"C*C&RCsCC ?΅ I G% >@ q, EA||Y}6+?}62>y}6& }6=}6H@E?@ƈֿ w?e?@?`(`S??`S?)~6+? ~6wb;I~6Cɫ99)9 9I9Y}@y}eXG鮁ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B KD;M=Y$;QU?acE8Ey%=}?Iȱ :ŵE5? :ŵ Ƶ}B @9ƵqDǵz: ȵ:)ȵX:W W X  X W:W2W*WVbUBU*U!U!U%@J@BMx7BQ BQAU*BQAU^AYAYA]_b<"Ca*Ce痽RCenSCaCiM?O!I1GM0>V7q,Ƨ&EAɫ髙) IY@yXGxDUSBL response received:!U1,R,E9B,000,00466,186,80,80,94,FF Fpublishing direction and range infoV>ɰ{= )CIyzA ڧu?E?ٱ}?5^I?{Gzt{Gz?M"?ף ף<)IyK7A?V-{Gz "?m# |A)I Ai~AA)e= e=E`eEo?E=iE@A A)E3@IE@iE@U#4<MU&=YUQUU>YYa]cE]8Eaye}m>Iim^5?m m}B }@9m{Dm;: m:)iWWX XW:W2W*WVbUBU*UUU@>@R(Combining 5 samples.P*QzAZQ}3<@"m"@JQ ڧu?E?2QV>:QbQ?Ũ17@l{O2@@RQ3 ?^MX?]F?BQP*? QAQIAPɨ9?Pͨ9?PQQb@"Qn@B59 B1 B9M MMM M84:YMDW1yMY:M59U@A=*BYA]~AYAaAe:<"Ca*CmCRCmYCiCiy9yIyiyyyy}m; }ȗE) I i $= J4֝6si Iq G >@q,@EAY}:-?}:ɫ>y}:k }::=}:H ?zڿm?`??@`?@'ɾ?.?)~:-? ~:$!c;I~:CɫYa)a eIaYN@yXGETNmea in: $SNTTA,0.036872,,,,014043.94*47 ]<M]=Ye[QUe?aaamcEm8Eiyu0t>}u?Iy}n5?}V }}B @9}D} #; }e`;)ymmAdded new target pos. range: 30.059999 m, bearing: 38.267692 deg, deltaT: 4.563050 s, approachRate: 0.447069 m/s, LOS rate: 6.820032 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU \>@U?B}Oa,B BA*BAW_AAA{I<"C*CcRCSCC֍kAIQGm5>WIq,^ZEAY}:I6?}:->y}:6d&}:=}:H5?`ܿ@??Q? i:ˤ?@? {?)~:I6? ~:b;I~8ɫ99)A AIAY}4@y}XGII)I aaMG=YAUQU>acE8Ey*=}>Iȱ :ŵ5? :ŵ Ƶ}B @9ƵDǵ: ȵ:)ȵY:WWX XW:W2W*WVbUBU*UUU?B%vB! B!A%*B!A-J̕A)A)A-@=<"C1*C5~RC5C1C9EYI)MMMM MU*:YMX1yM/:M5G]U>usq,*9tEAY}2 +>?}21>y}2(}2R=}2H@p$? m޿@i*? gY??f??Y?)~2 +>? ~28c;I~0ɫ99)9 9I9Y}N@y}XG9ISGi@#=f; ŗEym$>i(@ )~@I3@i3@;MF=YQU>acE8Ey=}>Iٖ5? }B @9D: :)WWX X!W!:W!2W!*W!V!bU)BU)*U)U1U5 ?B](BY BYAe*BaAeAaAaAe'<"Ci*Cm9RCu@v̽CqCq-JIG-->I9)=AA<[q,EAY}2zD?}2H;?y}2JR&}2k>}2H?`߿Ah?@]? u?̏Ȥ??@?)~2zD? ~2{c;I~2Cɫ9A)A AIAY@yIYG]&<M]R=Ye:QUe>aiamdEm8Eqy}=}}>Iȁ :Ņ٩5? :ŅCz ƅ}B @9ƅDDžG< ȅF<)ȅZ:W W X  X W :W2W*WVbUBU*UUUw?B]pBY BYAe*BaAe0AaAiAm}<"Cq*C}RC}[CyCօBAIQGu6>uuuu u -:YuU1yu:un5i mGI! i1 e ̿ٺa e Aqq,_EA|4<|4iM=@I I)Mz@IM@iM~@U-<M].=Y]8;QU]>aaaedEe8EiymD=}m>Iqu5?u t u}B }@9uDu : uܹ:)qWWX! X!W!:W!2W)*W)V)bU)BU)*U1U1U5`0@B}PB BA*BAAAAAh<"C*CuRC2CCֽGבIG>9ITGif@g; ƗE;QU>adE8Ey*r=}>I :5? :o }B @9D: :)[:WW X  X W :W 2W*WVbUBU*UUU9@BEf'BI BIAM*BIAM]ǻAQAQAU%<"CY*C]$RC]t8CYCa֡Iש)׭iAAiE=UUUU U*:YUDW1yUY:U5)U;9eyIGb>aq,aEAY}2:|U?}2?y}2_K}2O=}2Hݦ?,ʝ??t? W|?`v??)~2:|U? ~2_;I~2Cɫ99)9 9I9Y}۰@y}YGeܼM]=Y;QU>adE8Eywt=}>I 5?i }B @9D: :)W W X XW:W2W*WVbUBU*U!U!U%`@R-B*** querying acoustic contact ***P)P)B +!B BA.*BAUӻAAA4<"C*CjRCNSCCh⽹IG$>~q,xEAY}2m[?}2\?y}2ek }2V=}2H9ITGi@"=`; EZ****** received transponder code query ******F****** received ping request ******Õu>iÕf@Ñ ĕ~@)ĕҙ@Iĕ-@iđ;M.=YC:QU>adE8EybH=}>I  :5?  :Bb ~B  @9D@; ;)\:WQWQXQ XQWQ:WQ2WY*WYVYbUYBUa*UaUaU  @BFB BA*BAbAAAF<"C*CMDRCCC yMp MMM M<:YMV1yM:MI5)MN;IGj>gq,[EAɫ髁) IY7@yZGxDUSBL response received:!U1,P E9B,000,00466,186,80,80,94,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 - <M5f=Y=QUE>iiaudE}8Ey}>I<5?\ !~B }@9čD< 9<)WWX XW:W2W*WVbUBU*UUU @B44B BAe*BAAAA*^<"C*C%F!RC-0@C)IMAA)ICaX; I G > q,37)EAY}2g?}2f$(?y}2 }2U=}2HUS?@,??@(?@`P?`]?^?)~2g? ~2;_;I~2Cɫaa)i qIqY,@yYG鮡ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -M?MbI +?-n?- -94=))I)y-S?l񢿋l?-/?--= -(A)-AI)i-A)-AÍ`廩Í=ÍE=iÍ@É ĉ)č&@Ič~@ičh@7M)=Y#}QU>adE8Ey=}>Iȱ :ŵ'5? :ŵdR Ƶ=~B @9ƵύDǵ: ȵ:)ȵ]:WWX XW:W2W*WVbUBU*UUU@B%!B) B)A-*B)A-MA1A1A5r<"C9*C=x헽RC=8=C9CAM MMM M E:YMWU1yM:MI59U@U+I!G=r>E>9ITGi @#=f; ŗE,q,rCEA|;|;Y}63l?}6V-?y}6}6=}6H? f zW?`?ؿ?h@?ೱ?`?)~63l? ~6^;I~6CɫYY)Y YIYY}%@y}YGxDUSBL response received:!U1,R,F58,000,00483,187,80,80,56,FF Fpublishing direction and range info}Q >yɰ}<=}1> y)}BIyy}fA}Fs?/8ٲ?ٱy=iI4=)4=C:M=YۻQU ?adE8Ey =}  ?I1565?57K 5P~B =@95֍D5S: 5`:)1WaWaXi XiWi:Wi2W*WVbUBU*UUU`]@R(Combining 5 samples.P*QfAZQ\15wu?@ <@JQFs?/8ٲ?2QQ >:QbQ 5@SOI7@ *lэ?RQgι?93T]o?c`a?BQR? QNAQAP˨9?Pɨ9?PQQ@@"Qb@B%R .B! B!A%*B)AMAIAIAM_<"CQ*CU߸RC]q==CYCYElXI G%,>q,\EAY}vq?}v΄1?y}v"&}vn=}vH? t/?o?h?֤?? ?)~vq? ~vc^;I~tɫQQ)Q QIQY@ycZGTNmea in: $SNTTA,0.036095,,,,014048.37*44 <M0=YΚQU>adE8Ey =}>IK5?@ m~B @9D4: @:)m%mAdded new target pos. range: 31.799999 m, bearing: 47.167446 deg, deltaT: 4.347806 s, approachRate: 0.400202 m/s, LOS rate: 2.046953 deg/s, posRepo size: 4W!W!X) X)W):W)2W)*W)V1bU1BU1*U1U=?@U=`?Be$Bi BiAm*BiAmeAiAiAu s<"Cq*C}mRC}m=CyCy==i==MMMM M.:YMDW1yMY:M5֕7FqIG>q,vEAY}:s?}:B4?y}:0}:=}:H]?wܹ?`f?`*0?`I1?Ƹ??)~:s? ~:.^;I~:Cɫ99)9 9IAa9aIeHUGieZ@aaaer; e̗E)Ii#=#=n4Y};@y} ZGõ94õ$õiññ ĵ)ıIĵh@iıM]=YջQU>adE8Ey<}>I :]5? :*8 ~B @9DZ: :)^:WWX XW:W2W*W!V!bU!BU!*U!U)U-4?BU:I*BQ BQA]**BYA] AYAYA]mi<"Ca*Ce*RCm=CiCimybݹ)I1GU1>#q,rEA|i|@Y}6ZXu?}6$5?y}6E`:}6=}6H`=? zX?`?b?sI?l??)~6ZXu? ~6^;I~6CɫYa)a aIaYo@yMZGI) !!^<ML=YQU>adE8Eyo<}>Io5?. ~B @9D); ;)W9W9X9 XAWA:WA2WI*WIVIbUQBUQ*UQUQU];?B8 #B BA*BAzAAA>B<"C*CxݖRCj=CCU$=)IIG9>miim mz.:Yiyim75!*q,~EAY}2'v?}2ĕ6?y}2$@}2=}2Hi,?uw?? ?@_?`Up}? UL)QIQyU-?~jtMbp?U5>?UU; UA)U7 AIU AiUQUAõTõ#õ/>iõz@ñ ĵߏ@)ĵh@Iĵ~@iĵ~@ʗM:=YbQU>adE8Eyd;}>I :5? :# ~B @9Df: :)_:WWX XW:W2W*WVbUBU*U!U!U%?BM7#BQ BQAU*BQAU8AQAYA]<"CY*Ce'RCeD=CaCiI9)9}%>=ׅ?iׅ?YmF>9iImUGim@iiims; m͗EIG> 1q,YEAY}:Ev?}:e6?y}:UTC}:=}:H)?`1v? ? T?{Z@,h?@9?`?)~:Ev? ~:k.^;I~:CɫYY)Y ]IYY@yvZG =Ma=YQU>adE8Eyy:}>Iȩŭ5?ŭ) ƭ~B @9ƭDǭ,; ȭv;)ȩWWX XW:W2W*WVbU BU *UUU ':@B]+BY BYA]*BaAeAaAiAm<"C *C?RCǯ=CC=IGI>M M}M}M M4:YMkS1yMԊ:M%5)M|;9U37q,4EAY}J6t?}J̣4?y}J)F}J <}JHT?@D!_?@8Q?@EΫ¨?`ٞ? ?)~J6t? ~Ju`^;I~JCɫyy)y yIyYӱ@yZGiI%=)%=}E<M}K=Y}QU>adE9EyL}>Iș :ŝ5? :ŝ Ɲ~B @9Ɲ Dǝ: ȝ:)ȝ`:WWX XW:W2W*WVbUBU*UUU uf@BK&B  B A ݾ*B A0%AA >!AZ<"CI*CeRCm=i}/mGCqICiU!ͿٺY]A?E@9h5B֝=yIG>]=q,#EAY}F&r?}Fb2?y}F/H}F=<}FH`~?p9Ǟ? ?*v ?`0?`?)~F&r? ~F4F^;I~FC))5E>91I5VGi5@1115c; 5ŗEɫyy)y }IyYo@yMZGå=å/ݽåtadE 9Ey(}>I5? ~B @9DrB; ~C;)W1W1X1 X9W9:WA2WA*WAVAbUIBUI*UIUQUUW@ReB*** querying acoustic contact ***PaPaBL&B BA*BA[+AAAT}<"C*CNRCqs=CC֭{=aIqG9>==i==M^MMM M&:YMW1yMč:M5)Mm;EDq,>EAY}Fo?}F/?y}FzK}FvT}FH?H ]ݧF? >?@l?4?)~Fo? ~Fh^;I~FCɫyy)y yIYޱ@yZGZ****** received transponder code query ******F****** received ping request ******IQa]dE]9Eqy}[ؼ}}>IȁŅf5?Ņ߾ ƅ~B @9ƅ DDž; ȅ;)ȁWWX XW:W2W*WVbUBU*UUU y @B(B BAܾ*BA'0AAAvJq,+EAY}NHl?}Nȵ,?y}NM}Ne}NHD? Şs?+?󉀿`?@?)~NHl? ~N_;I~NCɫqq)q }IyY!@y'[GxDUSBL response received:!U1,P F58,000,00483,187,80,80,56,FF mCommand AckmBRequesting micromodem ping code 2iiiIq)q}Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Gz?~jt?~jt??D= D<)Iygfffff?{GzX9v?33?#< A) AI AiAA==== =+:Y=Y1y=:=%59E@t&9ip@ h@)h@Ih@ih@F>9vCIVGi@"=e; ƗEmg<Mm=YuQU}>adE9Ey} >I U:5? ]:߾ B ]@9-D< <)a:WWX XW:W2W*WVbUBU*UUU7@B= B9  B9 AE ؾ*BA AE n49AA AA AE <"CI *CM RCU C#)=CQ CQ M ϚN=1 IA Ge >^dQq,EEAY}Fk'i?}F2)?y}F<;L}Fx5}FHY3?"Z ?(@?q?`?K?)~Fk'i? ~F_;I~Dɫaa)a aIaYҲ@y\G鮡ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }=M}=Y:QU7?adE9EyX}@?Ișŝ?5?ŝ8߾ Ɲ&B @9Ɲ2Dǝ: ȝ4:)șWWX XW:W2W*WVbUBU*UUUr-@BfOB  B A ;*B A ;A AAc<"C*CRC<CC!4|E=IG%>I%@A)%@AсWq,|_EAY}6f?}6&'?y}6zC}6`g}6H`c? XWGw`$k?m?qJ?l?߬?)~6f? ~6_;I~6CɫYY)Y ]IYY˲@y[GxDUSBL response received:!U1,R,D7E,000,004A5,189,80,80,6F,FF Fpublishing direction and range infol?ɰ=鰥7> )BIy\BKk?xf7?ٱMX=YJ;QU>adE"9Eyi̼}>I :; 5? :A߾ @B @9;DL$; %;)b:W1W1X1 X1W1:W12W9*W9V9bUABUA*UIUqUu@R(Combining 5 samples.P*Q\BZQv<@fN׆1@JQKk?xf7?2Ql?:QbQ['@m5?@(M;&?RQ' u?p{?[Dd?BQ*? Q|AQ>AP9?P˨9?PQQ@"Q@@B-4=B) B)A5+ξ*B1A5AA1A1A5t<"C9*C=RCEm<CACAu uuu u@:YuWU1yu:u5}#'=yIG>]q,OZyEA|4<|p;Y}68 e?}6y%?y}612}6k}6H$?)pA?ˋ?q/?`R?F?)~68 e? ~6_;I~6CjH>9juCIjWGijB@j%=hhjm; jʗEɫy髁) IYv@y[G5TNmea in: $SNTTA,0.035216,,,,014052.84*4D Mҿt<|?>i@ ƣ@)@IiO@5QM56=Y599a=dE=)9EAyEo}E>Iim 5?m߾ m\B u@9mEDm÷: mI:)immAdded new target pos. range: 33.839996 m, bearing: 69.455087 deg, deltaT: 4.471996 s, approachRate: 0.456171 m/s, LOS rate: 4.983824 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU@@U`?Bm&Bi BiAm~Ӿ*BiAu8GAqAqAu`<"Cy*C}RC}<CyCԕiAԑe(<9IIGeV>mdq,9EAY}2d?}2%?y}26z$}2*D}2H?@VFt6? ??܍??)~2d? ~2 '_;I~0ɫAA)A EIAY}@y}[GE<ME[=YEtIIaMdEM/9EQy]}e>Ii u:m%25? }:m!߾ msB }@9mMDm=; m-J;)mc:WWX XW:W2W*WVbUBU*UUU?B%K,B! B!A%Ͼ*B)ALAAAl<"C*CkbRC<C)C19i==UUUU U,:YUDW1yUY:UJ5}<9IAGew>jq,~EAY}R)e?}R~%?y}R5}R*}RH`? 0WP E??@ ?@}??/?)~R)e? ~RR^;I~RCɫ髱) IY]@yeO\Gejt?Mbkt?e@?e e 0=)aIayeZd;O?QS㥫?e~J?ee/]= eQ A)eAIeQ AieAaeAA.>i̜@ z@)&@I@i@%~<M%/=Y-^;QU->))a5dE579E1y5;}=>IAEkK5?E?߾ EB M@9EYDE: E:)AWiWiXq XqWq:Wq2Wq*WyVybUyBUy*UUU?B;B BAɾ*BAQAAAt<"C*C -RCX<CCֵ'<L>9vCIhXGi@&=a; ŗE)9I=vCi99=$==5׉IG>ץqq,SEA|i|@Y}23f?}2&?y}2}2o1p}2H}p?@L@!`?t???@m9?)~23f? ~2p^;I~2CɫYY)Y YIYY$@yf\G=f;MEp=YM[:QUM?QQa]dE]<9EYyeA<}e?Iim^5?mo߾ mB @9mbDmG< mf<)iWqWqXq XqWq:Wq2Wy*WyVybUBU*UUU`?B-b(B) B)A-Ⱦ*B1A5 VA1A1A5<"C9*C=XRC=V<C9CA u=u=UQQU U-:YQyQU5)U};9]].wq,EAY}2f?}2HR'?y}2}2G]}2H@b?i`-yq? rh?`?#?M ?)~2f? ~2h[^;I~0ɫ99)9 9I9Y@y]GU?1=M]I=Y]+ QU]>aaaedEeC9Eaym ;}m>Iq }:us5? }:u߾ uB }@9ulDu: us:)ud:WWX XW:W2W*WVbUBU*UUU?B&B BA*BA][AAA<"C*C͓RC<CCօD%}q,EAY}:f?}:'?y}:!}:G}:H h?@Z';@ki?to?@K?7>?@?)~:f?FM>9DIFXGiF6@F%=DDFW; FE ~:<:^;I~:CɫYY)Y YIYY@ys]G @ @ @©i @ )I(@i@!<MA=Y~?QU>adEI9Ey }9}>I5? ߾ B %@9wDǺ: :)WaWaXa XaWi:Wi2W*WVbUBU*UUUy@B]}BY BaAe*BaAe`AAA<"C*CgRC.<CCu qqu uB:Yqyqu[5)u;ֽq,zEA|;|;Y}F)e?}F%?y}F0 }FH<}FH@"?@ 8 0 NE??,?`? $?)~F)e? ~FO^;I~FCɫ) IY+@y]GAA%=i%=uNd<M}R=Y}:QU}>adEP9Eyj}>Iș :ŝ5? :ŝ)߾ ƝB @9ƝDǝ:; ȝT;)ȝe:WWX XW:W2W*WVbUBU*UUUo@RB*** querying acoustic contact ***PPBE_%BI BIAU.*BQA]yeAaAaAm<"C*C_fRCǥ<CCaa]ui=unGIUlAiiȿٺlAcAq,ca.EAY}Mrb?}M6U#?y}M2}M9}MH?@%V ?ֵ?@ٴ? 8?9 ?)~Mrb? ~MX2^;I~Iɫ) IY5@y5@^G=Z****** received transponder code query ******=F****** received ping request ******=`e <)Iy"~j?/$I +SC?9 ­A)­AI­Ai­/A A       Z C= >i @  &@) ۙ@I @i @<M&=Y%V;QU%>!)a-dE-W9E)y5 }5>I9=5?=߾ =B E@9=D=: =U:)9WiWiXi XiWi:Wq2Wq*WqVqbUqBUy*UyUyU eV @B9B BA*BAjAAA<"C*C0RC|V<CCyi}=  k5:YT1y:59@ܥN>9ܡIܥYGiܥذ@ܥ$=ܡܡܥY; ݥ—ER5<׉IG>q,1HEAY}2Jg`?}2 ?y}2 }2p-}2H ? ? ?I?1?H` ?)~2Jg`? ~2T^;I~2Cɫ99)9 =I9Y]@y]^GexDUSBL response received:!U1,P D7E,000,004A5,189,80,80,6F,FF eCommand AckeBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }#RM=Yo(oAYAYA}<"C*CRC֜;CC֍jZXq, bEA|i|@Y}>E^?}>m?y}>'Y}>B7,}>H?؊@ѨB? ?Zs?@J?߂-?)~>E^? ~>vM^;I~>CɫYY)Y ]IYY}@y}<^GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I1)1+<MH=YI#adEc9Ey}>I5?z߾  @9D`: ;)W)W)X) X)W1:W12W1*W9V9bUABUA*UAUIUM@@Bn'B BAư*BArAAA9<"C*C撽RCC C) im=}hW< /:YX1y/:5IG>$Hq,{EA&O>9$I&YGi&*@&#=$&D&P; &EY}B@\?}B?y}Bl=ּ}B8}BH`'? `, k?(?@3?ƚ?`?)~B@\? ~B1U^;I~@ɫyy)y }IyY´@ye^GxDUSBL response received:!U1,R,E60,000,004CC,187,80,80,84,FF Fpublishing direction and range info޹>ɰ2=鰥1> )CIyB$?j?ٱ | /> ,i @  K@) I K@i @%+<M%S=Y%))a-dE-i9E1y5}5>I9 E:=o5? E:=fq߾ 9 M@9=D=: =:)=g:W W X  X W :W2W*WVbUBU*UUUų@RM(Combining 5 samples.PQ*QUBZQUC7@@)@JQU$?j?2QU޹>:QQbQU1D4@HF1=@ΒK?RQU؎?́?IDi?BQU:y? QUAQU!APUը9?PU9?PQQUQU@"QU@BB BA*BAׅwAAAM<"C*CPĒRCWq˻CC] ;ׁIG>>Iy)}AA2q,ΕEAY}[?}?y}о};}H;?D/ pO?v;?Θ?ٗ?n1?)~[? ~?^;I~Cɫ) IYM@yU^GUTNmea in: $SNTTA,0.044491,,,,014057.24*4D 5M=-=YMV;QUU>Yqa}dE}q9Ey }>I5?e߾ B @9D': ϸ:)mmqAdded new target pos. range: 36.180000 m, bearing: 55.932125 deg, deltaT: 4.431993 s, approachRate: 0.527980 m/s, LOS rate: -3.051215 deg/s, posRepo size: 4WiWiXi XiWi:Wq2Wq*WqVqbUqBU*UU@ B@U?BB BA*BAI}AAA<"C*CRCwCC !+:YV1y:5-I1)1 I G- >J]q,qEA|<|? C @5L?=>?w?R?2@l?)~^o[? ~^W^;I~^Cɫ髑) IY@y^Gqiq ʡE?M?X9v? -2? n> }=) I y S?T㥛 ? :?  = Q A) jAI  Ai A  ף=>iQ@ @)@Ii<MQ=YY;QU>adEw9Ey,}>I :"5? :]߾ #B @9D(: :)h:WWX! X!W):W)2W)*W)V)bU1BU1*U1U1U5?Be!'Ba BaAe׬*BiAm@uAiAiAm:<"Cq*CuRCqCqCyԉԉ]Β1IAa9aIaiaaaaeT; eEGY>Bq,dxEAY}2[?}2Ak?y}2}2#}2H4?cS䢿[?3?*y?@!?@r`D?)~2[? ~2:.^;I~0ɫ99)9 9I9Y}@y}^G<Mo=YXlq,KVEAY}6l]?}6-?y}6Nf}6W}6H!?q(ʠw?`?h?Ɍ?@\颿?)~6l]? ~6UE^;I~6Cɫ99)9 =I9Y]@y]^G&\MJ=Y;QU>adE9E y J-<} >IG5?UK߾ ?B %@9ΎD@: n:)WAWAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQU]bY?Bx$B BA%*BALAAAr<"C*C$>RCvQCCE軉]?i]?YIaGZ>] P>9] wCI] \ZGi] {@] "=Y Y ] <; ] E)ݵvCIݱiݱݱݵ#=ݵO5q,yEA|i|@Y}6^?}6a?y}6H}6p}6H`V?ચ[?s?y??মv?)~6^? ~6];I~6Cɫqq)y yIyY@yM_GÍrÍÍGiÍz@É č&@)č@Ič@ič@,=M>=Y;QU>adE9Ey_<}>Iȹ :ŽT]5? :ŽA߾ ƽOB @9ƽ؎Dǽ: Ƚ9:)Ƚi:W9W9X9 XAWA:WA2WA*WiVibUiBUi*UqUyU}\=@BB B)A-㢾*B)A5A1A1A51<"C9*C=RC=:C9CI ]=]=]0:Dmmzmzm m):YmQ1ym:m5)m;9u1IAG]v>q,XEAY}:z_`?}:: ?y}:>}:ueɼ}:H? Nr???߇?@+?)~:z_`? ~:^;I~:CɫYY)Y ]IaY @y^GMG=Y:QU >a%dE%9EQy]?<}e>Ișŝr5?ŝ6߾ Ɲ_B @9ƝDǝ; ȝ!;)șWWX XW:W!2W!*W!V!bU)BU)*U)U)U5u@B}t!By ByA}K*BA;AAA@<"C*C鑽RC&;CCIQ)U@A] ;שIG>q,&1EAY}2!a?}2("?y}2+G}2 }2H@? `3?u?#?`O?q@u?)~2!a? ~20_^;I~2Cɫ99)9 9I9Y}@y}^G@A333333?l?L7A`堿9?= +)Iygfffff?Mb`?Mbp?33?;;  A)/AIp AiAfA\=Ƌniף@ ƣ@)I-@ih@YMH=YVQU>a dE 9Ey[<}%>I1 E:5P5? E:5s-߾ 5aB M@95D5%; 5;)5j:WWX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBDi%B BA*BAlAAA<"C*CRC?<CC9IiM; Emmmm m-:YmW1ymč:mn5)mZ;P;I)ױIGq,uKEA|4<|4adE9Ey /;} >I5?$߾ dB %@9D: ":)WIWIXI XQWQ:WQ2WQ*WYVYbUYBUY*UaUaUe`֤ @Bv0B BIAU*BQAUZAQAQAURd<"CY*C]FRCeP5E<CaCaԱԵjA֥/Cq,dEA>iF%nGIPi\r2̿ٺprAY}a?}s!?y}J}}H@?ٔ`V??/!|? 8Q?z?)~a? ~!];I~Cɫ) IYU@yU^G]xDUSBL response received:!U1,P E60,000,004CC,187,80,80,84,FF ]Command AckeBRequesting micromodem ping code 2iaamNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 <M==Y 9QU>qya}dE9EyX}>I %:5? :߾ gB @9Dz< P=)k:WWX XW:W2W*WVbUBU*UUU @]=i]=miim m<0:Yiyimn59u@B!QB BA訾*BA7AAA5E<"C*Ca_RC]*<CCI I G- > 9 I i R; Eq,~EAY}2z`?}29[!?y}24}2計}2H?@[@3??h|??`\?)~2z`? ~2R];I~2CɫYY)Y ]IYY@y^G鮥a=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m`彩m#mjadE9Eyϻ}>Iȑŕ5?ŕ߾ ƕiB @9ƕDǕ: ȕ:)ȑWWX XW:W2W*WVibUqBUq*UqUqU}@2@B84B BAª*BAZAAA<"C*C?RCnv <CCh%<׹IGf>q,EA|i|@Y}6v_?}65m ?y}6(}69}6H #? V@:G?#?`??B [?)~6v_? ~6&];I~6Cɫ9A)A EIIY}ٴ@y}^GI!)!8CMD=YU;QUU>YaaeeEe9Ey}>Iȡť5?ťf߾ ƥkB @9ƥDǥ; ȥq;)ȡW)W)X) X)W):W)2W1*W1V9bU9BU9*UAUaUm@B&B BAN*BAKaAAA=<"C)*C-|RC-QL;C)C1 Յ=ԁmmmm m,:YmX1ym/:m5uq,nEAY}:_?}:j|?y}:N{λ}:}:H? |`?`=?ʑ?^y?@?)~:_? ~:s];I~8ɫ9A)A AIIY}u@y}^GDNmea in: $SNTTA,,,,,014101.73*5F 㥛 ?(\µ?V-??= <)Iy? rh~jt?fF?C D<  A)OAI AiOA AeQe 0=eT=ieכ@a e)aIe@ie@uXMuA=Y}H;QU}>yaeE9Eyi} >I :5? :g޾ oB @9Dr: :)l:WAWAXA XAWA:Wa2Wi*WiVibUiBUq*UqUqUu@B/B BA*BAౖAAAP<"C*C됽RC%,;CCܕQ>9ܑIܕYGiܕذ@ܑܑܑܕS; ݕ—EIY)Y;ױIG>q,IEAY}2+^?}2`?y}2!}2ü}2Hz ?` ?@ ?c?Cq?o ?)~2+^? ~2)];I~2CɫYY)Y YIYYE@y]G-Mk=YJ;QU?aeE9Ey"}?I5?޾ rB @9"Ds: ÷:)W W X XW:W2W*WVbUBU*U!U!U%@@BM=BM> = BQAU*BAmAAAg<"C*CJ̐RCxCC ;שIG#>mmmm m.:YmWU1ym:mJ5q,S$EA|;|;Y}6.]?}6U?y}6qA}6t?}6H?x`̒ z?? (W?;.h?F ?)~6.]? ~6];I~6CɫQQ)Q UIQY@y&]Gi>%MK=YM;QU>aeE9Ey}>I :5? :޾ uB @9,D: :)m:W W X  X W :W2W*WVbUBU*UUU%@{@R-B*** querying acoustic contact ***P)P)BM7BQ BQAU徾*BQAUPAYAYA]<"Ca*CeRCe.MCaCiy}iA֍e;aIiG9>܅ R>9܁ I܅ 0YGi܅ @܁ ܁ ܁ ܅ H; ݅ EAq,EAY}>\?}>H ?y}>&E%}>+}>H7*?i`-l?@'?`?`d?e?)~>\? ~>\;I~>CɫYY)Y YIYY@y]Gηu=viG@ z@)Ij@i@-KM-D=Y-:QU5>11a=eE=9E9yEZ}E>IAE)5?E޾ ExB U@9E6DE: E:)AWqWyXy XyWy:Wy2Wy*WVbUBU*UUUJ'@B&8B BA *BANAAA<"C*CRCpCC֭yaIyG;>Yi]p=mmmm m1:YmU1ym:m5)m;9uF0q,EAY}RF\?}R?y}R}RX}RH0?`|6c?5.?`&?[:c? `?)~RF\? ~R\;I~RCɫ髱) IYm@yun]G鮍p=ɮp=Uq= ףp?Q롿~jt?U ?U\ U=)QIQyUS㥛?Q롿{Gz?U$&?U\U#= UQ A)UjAIU AiQQU A<M5=Y9QU>aeE9EyB}>Iȱ :ŵ=5? :ŵT޾ ƵB @9Ƶ@Dǵ]: ȵ#:)ȵn:WWX XW:W2W*WVbUBU*UUUU@B%2B! B!A-1*B)A-uTA)A)A-8<"C1*C5^RC=mdzC9C9э=ցY Ii G >DT q,V3EA|i|@Y}6[[?}6B?y}6'躙}6,P}6H8?@:UWW?96?@q? ]?`h?)~6[[? ~6V\;I~6Cɫ99)9 =I9Y}@y}]GI)9>>iG@ @)~@I~@i~@;Mk=Y:QU?aeE9Ey6}?I  +N5? ޾ B @9 GD : :) WWX XW:W2W*WVbUBU*UUU`Zk@B52=B9 B9A=͹*B9A=AAAAAE0K<"CI*CM?RCMKCiCqeȿ=999I=hXGi=@=!=99=G; 9)ńwCIńwCiń"=ń"=ń4mmmm m*:YmV1ym:m5)m;ֽ&tבIG><q,MEAY}6F[?}6 ?y}6}69׼}6H`_\;I~6Cɫ99)9 =I9Y}@y}O]GxDUSBL response received:!U1,N,80,80,63,E4 C,187,80,80,84,FF ZNo reply:!U1,N,80,80,63,E4 C,187,80,80,84,FF -aeE9Ey6}>I`5?޾ B @9ODR: ^:)WWX XW:W2W*WVbUBU*UUU@B-b?B) B1A5ϼ*B1A5^ǤA1A9A=n<"C9*CE+!RCECACAII)Q QIeAA)a軹שIG>Nfq,lgEAY}2[?}2`8?y}2:}2ʼ}2Hr9?@CU`V?A7?y?@"S`^z?)~2[? ~2Z\;I~0ɫ99)9 9I9Y@y\G?A6ּME=Ym;QU>aeE9E y :} >I :s5? :޾ B %@9XD: :)o:WAWAXA XAWI:WI2WI*WIVIbUQBUQ*UQUYU] @B>B BA]¾*BA7\AAA<"C*C1RC׻CC֥aIqG;>mmmm m|,:YmU1ym:m59u@) 9) I) i) ) ) ) - O; - EO q,]OEA|4<|4aeE9EyJ;}>I  z5? ޾ B @9 `D >< Q<) WWX XW:W2W*WVbUBU*UUU@n$ @BU:BQ BQA]*BYA],AYAYA]l <"Ca*CeُRC.CC}`ԻYIiGZ>{&q,2EAY}}\?}}G?y}})G:}}`}}H`%?sq Յ`Ar?$?[Ԑ?EH m?)~}\? ~}3 ];I~}Cɫii)i uIqY@y\Gegfffff?S? et=)aIayeQ?~jt?Q?e5?eDaeE9EyH;}>Iȡ :ť5? :ťK޾ ƥB @9ƥjDǥ: ȥ<:)ȥp:WWX XW:W2W*WVbUBU*UUUX!@RB*** querying acoustic contact ***PPiemGB}֣,q,EAY}68]?}6?y}6}6}6H? {`Y{? ?`ˢ?P?O㒿 ?)~68]? ~6\;I~6Cɫ99)9 =I9Yu@y}]G}Z****** received transponder code query ******F****** received ping request ******-9=-&i-3@- ))-3@I-3@i-3@m)<Mm/=Ym8zQUm>qqaueEu9Eyy} L;}}>IȁŅ5?ŅF޾ ƅB @9ƅuDDžϸ: ȅ@:)ȁWWX XW:W2W*WVbUBU*UUU_!@B5v<B1 B1A5*BYA]AaAaAe<"Ci*CmRCmCiCq Յ=ԅ=m#2?) I1 GM >73q,EA|i|Y}6\?}6Ub?y}6*A}6֎}6H$?sދt?@D#?@?>h?`ڑ ?)~6\? ~6q\;I~6Cɫ99)9 =I9Y@y]\GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IQ)UA aatM=Y̻QU?aeE9Ey[}?Iȱ :ŵ5? :ŵ޾ ƵB @9Ƶ|Dǵ: ȵ:)ȵq:WWX XW:W2W*WVbUBU*U U U"@B5NTB1 B9A=ɾ*B9A= AAAAAE<"C*CokRCf?CCmmmm m*:YmY1ym:m5ֽ?BɺבIG>Q9q,EAY}:6\?}:?y}:[}:|Ȃ}:H\,? hlj i?@+?@օ?v q?X?)~:6\? ~:];I~8ɫ99)9 =I9Y}y@y}[GxDUSBL response received:!U1,R,F05,000,00527,186,80,80,6D,FF Fpublishing direction and range infoK`>ɰ=鰅> )BIy&B(*5=DaeE:Ey5}=>Iqu5?uѓ޾ uB @9uDuD; uR;)qWWX XW:W2W*WVbUBU*UUUq#@R-(Combining 5 samples.P1*Q5&BZQ5EtBRD@5T"@JQ5(*5=D:Q1bQ5SV1 <@tC>@ ΙI?RQ5ٟa?!3hD? Z oC?BQ5T? Q5EAQ5QAP59?P5ը9?P5Q1Q5D@"Q5@B,MB BABӾ*BAAAA:<"C*CHRCuCCI]@A)]AAyb]ױIG> gA 9 I VGi @ @; E0@q,EAY}6[?}6m?y}6@Np}6>}6H5? Zߨ[? 4? W? n??)~6[? ~6];I~4ɫy髁) IY@y[GETNmea in: $SNTTA,0.456064,,,,014106.97*49 @ @ @©i(@ )IQ@iQ@;M6=Y Ð:QU > aeE :Ey}>I! -:%5? -:%޾ %ɀB -@9%D%,: %#:)%r:m]qAdded new target pos. range: 41.640003 m, bearing: 47.671015 deg, deltaT: 9.728802 s, approachRate: 0.561220 m/s, LOS rate: -0.849140 deg/s, posRepo size: 4WaWaXa XaWa:Wa2Wa*WiVibUiBUq*UqUuD@UueO?BTB BAѾ*BAMAAAK<"C*C(RCCC֥3mmmm m+:YmT1ym:m\5)m~;9uyIG^>Fq,tyEA|>;|aeE:Ey>}>I5?i޾ ˀB @9Dn: U:); wAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;wdResuming normal ranging with 1.000000 count pings.;1<WWX XW:W 2W *W V bU BU*UUU?BLQB BAE־*BA<AAA<"C*CRCsڻCC &tIG->Lq,C6EAY}2+e\?}2?y}24}2AH}2HV.?e2 Nf?.? O?f?xZ?)~2+e\? ~2j\;I~2Cɫ99)9 9IAYk@y[G    @ @ @ÑÑÑiÕ@Ñ đ)ĕ@Iĕ\@iĕҙ@4<M]=YZV:QU>aeE:Ey;}>Iȹ :Ž5? :Žty޾ ƽ̀B @9ƽDǽ: Ƚ:)Ƚs:X?1<wCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR; wAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRWWX XW:W2W*WVbUBU*UU U  ?BxWB BA/Ծ*BAAAAM<"C*C㎽RC9}CCQ܅S>9܁I܅sVGi܅N@܅!=܁܁܅E; ݅Eaie=ubu|u|u u9':}`Ի׍?i׍?YuR1yui:u\5)u;qIG>8Sq, PEAY}2}]?}2?y}2YSW}28F}2H &?`K`vރ`??b?hj? ۈ Z?)~2}]? ~2 =\;I~2Cɫ99)9 =I9Y}@y}ZG"MS=Y%QU>!!a%eE%:E)y-5<}->Iȱŵ!5?ŵp޾ Ƶ΀B @9ƵDǵ& ; ȵ ;)ȱWWX XW:W2W*W V bU BU*UUU% 9K?B][Ba BaAeܾ*BaAeNAaAaAm0<"Cq*CuRCu@z[CqCyey9IIGZ>ZZq,HiEAY}6Ѓ^?}6?y}6vƵ}6ߘ<}6H?C? ?!y? Ǹv?⒇T?)~6Ѓ^? ~6:\;I~6Cɫ99)9 9I9Y@yYGI)})MD=Y_QU>!a%eE%%:E)yM<}U>IQUG55?Utg޾ UрB e@9UDU: U:)QWWX XW:W2W*WVbUBU*UUUj@B`B BA-*B)A-a}¼A)A)A5<"C1*C=yRC=C;C9C9} }}} }4:Y}W1y}č:}59@֝9ׁIG>i 9i Im UGim @i i i m N; m E)Ii!=H4B`q,փEAY}2 _?}2z?y}2L }2/}2H?@qh?5?n?`?@A@:?)~2 _? ~2 \;I~2Cɫ99)9 9I9Yk@yHZG m u uuuu-2>uiup@u u@)qIuٮ@iu@h<MJ=YQU>aeE+:Ey;}>Iș :ŝF5? :ŝ _޾ ƝӀB @9ƝDǝ{: ȝ:)ȝt:WWX XW:W2W*WVbUBU*UUU h @B~TdB BA(*BABSżAAAt<"C*CrRCԔ;CCyb];IY)]@A׹IGf>gq,+EAY}v[^?}v)?y}v0}v yJ}vH`? Q`?8?Ao?`x?N?)~v[^? ~v\;I~tɫ髱) IY d@y ?ZG@A'1Z?x&?l?"?7= =)IyzG?y&1I +? 7?`e9< ­ A)­AI­ Ai­AAME=YάQU>aeE2:EyD}>Iu[5?U޾ ـB @9ÏD: :)WWX XW:W2W*W!V!bU!BU!*U)U)U-\@R5B*** querying acoustic contact ***P1P5B]YdBY BYA]*BYAe>ȼAaAaA~<"C*CYIRC:Q;CCyy  V5:Yy5;ס I G >>mq,EA||;Y}6$]?}6M?y}6@>}6Bp}6H?[pd?@?+_u? LJ? ?)~6$]? ~6i\;I~4ɫ99)9 9I9Y}@y}YGZ****** received transponder code query ******F****** received ping request ******iE@A Eh@)Eh@IEh@iEI@UMUS=Y]QU]>YaaeeEe8:Eaym@ }m>Iq }:un5? }:uL޾ u߀B }@9ȕDu: u:)uu:WyWyXy XyW:W2W*WVbUBU*UUU`= @B(fB BA*BAq˼AAAS-<9ITGi @O; "CI*CMe%RCM9CICQ]yb];1IAGmx>b&tq,gEAY}2]?}2ts?y}28}2{}2H@a"? uу`nv?`"?x?? ?)~2]? ~2ٔ\;I~0ɫ99)9 =IAY@yDYGxDUSBL response received:!U1,P F05,000,00527,186,80,80,6D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %TּM-N=YM\:QUU>aiameEu?:EQye}e>Iy}5?}B޾ }B @9}֏D}f; };)yWWX XW:W2W*WVbUBU*UUU-H @BfB BAY*BAμA!A!A%gB="C9e=iep=*C!RCCC ,:YV1y:5"9 'C I iE nGIY Gm >iq ƿٺ APzq,=CEAY}2C]\?}2?y}2s0}2.}2H.? c@v>e?.? |?R? Yt x?)~2C]\? ~2Y\;I~2Cɫaa)a iIiY)@yXGp=ɮ==Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B %n%q=%ҽi%@! %)!I%~@i%~@=M=:=Y=:QU=>AAaEeEEF:EIyMѻ}M>IQ ]:U5? ]:U9޾ UB e@9UߏDU|: U:)Uv:WWX XW:W2W*WVbUBU*UUU@B-~B BAJ*BAjѼAAA(="C*C RCCC m=m=EI)GEQ> 9 I TGi @ =   L;  `8q,2EA|i|Y}6N\?}6?y}6}6y}6H@/?b=@c?/?|??" ?)~6N\? ~6lY\;I~6CɫYY)a eIaYl@yYGxDUSBL response received:!U1,R,E39,000,0055B,187,80,80,77,FF Fpublishing direction and range infoK>ɰ=1> )BIy 3Bn?maG߿?ٱ dNmea in: $SNTTA,0.069391,0.311134,,,014111.40*5F I)A<MU=Yr+;QU>aeEL:Ey}>I!%b5?% 1޾ %B M@9%D%; %;)!WWX XW:W2W*WVbUBU*UUU(@P*Q 3BZQ0j#D@Ƽ&O1@JQn?maG߿?2QK>:QbQ.τh7@hG+}B@g"?RQ% ?e_?yni?BQ/? QBQAP9?P9?PQQ޴@"QD@BeoBi BiAm *BiAmԼAqAqAun="Cy*C}ʻRC}M`CyC} 2/:YU1y:%5);9QIaG{>eq,EAY}F[\?}F?y}Fj'}FaeER:Eyq;}>I.5?&޾ B @9D : I:)m5mAdded new target pos. range: 44.759998 m, bearing: 57.826936 deg, deltaT: 4.436185 s, approachRate: 0.703306 m/s, LOS rate: 2.289337 deg/s, posRepo size: 4W1W1X1 X1W1:W92W9*W9V9bUABUA*UAUEGaF@UM (~?ByB BA*BA%ؼAAA*="C*C%㙍RC% %C!C)5yIa)aIAGq,8EAY}2=]?}2Ԫ?y}25}2]l}2He? ze͑|??`Tu?``? 芍?)~2=]? ~2*\;I~2Cɫ99)9 9I9Y}ɯ@y}EXG-h-<-Pi-G@) -X@)-Q@I-Q@i-3@uMuQ=Y}AQU}>yya}eEY:Ey;}>Iȉ :ō5? :ō޾ ƍ B @9ƍDǍ; ȍ:)ȍw:WWX XW:W2W*WVbUBU*UUUF?BB BAO*BA ~.ۼA A A n="C*CxRC'CC))ܹ9ܹIܽSGiܽ@ܽ!=ܹܹܽP; ݽ×EM[RӺ!I1GUT> .:YV1y:85);tq,REA||Y}6]?}6p+?y}6)q_}69}}6H`?`F ??uds?`? A?)~6]? ~6!\;I~4ɫYY)a aIaY}@y}WGi=)= > M Q=Y ջQU>!!a%eE%_:E!y-;}->I155?5޾ 5B =@95D5ϸ: 5w:)1WaWaXa XaWa:Wa2Wi*WiVibUiBUq*UqUqUu?BzB BAx*BANm޼AAA`n="C*CTRC~:CC rgI G%M>'q,lEAY}Bt]?}B,!?y}B~Մ}Bdw}BH_? Ӈ??$@n? ?0n@?)~Bt]? ~BV\;I~BCɫYa)a iIiY%@y%WGtm>'i@ Q@)IΣ@i;M<=Y*»QU>aeE f:E yeԸ}e>Iq }:u5? }:u޾ u'B }@9uDu_: u:)ux:WWX XW:W2W*WVbUBU*UUU@x?ByB BA*BAAAA="C*C",RC ,:CCrg:Yi]a=IG l>55~5~5 50:Y5T1y5@:559=@ܱ 9ܱ Iܵ TSGiܵ ī@ܱ ܱ ܱ ܵ O; ݵ —Eq,#fEAY}:O]?}:~?y}:h}:g}:H X?z }?`?jw?(?@k?)~:O]? ~:^\;I~:Cɫ99)9 =I9Y}@y}XG=B;M=W=YEQUE>AAaMeEMl:EIyU?}U>IY]75?]Mݾ ]3B e@9]D]s: ]:)YWWX XW:W2W*WVbUBU*UUU˜?B2CB BAO*BAAAA}="C*C6 RC3CC =q:IGI>q,:AEA|i|Y}6.]?}6m?y}6鲟}6}6H !?r`᛿ Du?#?~s?@ ??)~6.]? ~6g\;I~6CɫYY)Y ]IYYp@yWGI)ʡE?V-? rh-2?m= C)IyS㥛?y&1:v?D?`T< ¹)½AI½ Ai½IAzAiA{tMA=Y;QU>aeEs:Ey;}>I ::&5? :Aݾ :B @9"D: s:)y:W!W!X) X)W):W)2W1*W1V1bU1BU1*U9U9U=3@BeʀBi BiAm*BiAmAqAqAu?="Cy*C}匽RC}gǺCyCօ"9YIqGg>]]]] ]1:Y]X1y]/:]5ڭq,2EAY}6{M]?}62?y}6}66}6H9?zz@}?>?p? ??)~6{M]? ~6\;I~4ɫII)I IIIY}C@y}WG?A 0=Խip@ ~@)h@II@ih@mMZ=Y*QU>aeEy:Ey SN;} >I:5?^ݾ ?B @9+D A:)W9WAXA XAWA:WA2WA*WIVIbUIBUI*UIUQUUa2@R]B*** querying acoustic contact ***PYPYB]놽B BAR*BAAAA="C*C"ČRCaCCeT>9aIaiaaaaeL; eE)Ii邉邩!=4֥#2Iש)שaIqG9>Iޙ)ޙ´q,EAY}:h]?}:A?y}:ݝ}:c}:Hg?‡@@??@q?`M? @c?)~:h]? ~:m\;I~:CɫYY)a aIaYG@yWGZ****** received transponder code query ******F****** received ping request ******aaameEm:Eiyux;}}>Iȁ :Ņ-Q5? :Ņhݾ ƅFB @9ƅ6DDž: ȅb:)ȅz:WWX XW:W2W*WVbUBU*UUUx @B³B BA4*BAOAAAd="C*CĝRCj":CC hAֽጹיIGg>==== =y0:Y=Y1y=:=%5q,*EAY}UQ^?}U>?y}U8}U}ԙ}UH$ ?]?@ ?Pc?`Ɩ? 9?)~UQ^? ~UV\;I~UCɫ)))) 5I1YmԮ@ymWGuxDUSBL response received:!U1,P E39,000,0055B,187,80,80,77,FF uCommand AckuBRequesting micromodem ping code 2iyyyiyNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )> =Hi@ 3@)3@I3@iI@5M5$=YEӺQUE>IIaUeEU:Eaym{;}m>Ișŝl5?ŝOݾ ƝNB @9ƝBDǝ: ȝ:)șW W X  X W :W 2W*WVQbUBU*UUU`* @B /|B1 B1A5*B1A=*A9A9AE~="Cq*C}jRC}N^O;CyCI 9I IM RGiM s@I I I M X; M ǗEֽ 0::׹ I G >bq,EAY}63^?}6=?y}6zsż}6}}6H?\K?@?Wҭ?붏`?)~63^? ~6\;I~6Cɫ99)9 9I9Y)@yWGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B u=Mu=Y}»QU}?yyaeE:Ey;}?Iȑŕ|5?ŕ ݾ ƕSB @9ƕJDǕ: ȕ::)ȑWWX XW:W2W*WVbUBU*UUUl@B16B BA!*BAAAA A ,="C*CNRC ;CCqZ;ޥ=iޥ=׹IGi>u u|u|u u4:YuR1yui:u85)uː;9}q,[!EAY}~b^?}~=?y}~ Bռ}~p}~H@a?N@?`?D`{?q'?)~~b^? ~~\;I~~Cɫ) IYQyYi}mGIxDUSBL response received:!U1,R,E66,000,00581,186,80,80,1E,FF iFpublishing direction and range info0>ɰ=ɿٺoA鰍> )AIy(aeE:Eyٷ}>I :{5? :ݾ ^B @9UDw: { <){:WWX XW:W2W*WVbUBU*UUU@P *Q (:Q bQ 18E4:@?C@rD^.?RQ  ohs?A}?F+?BQ xz? Q 8BQ AP 9?P 9?P Q Q X@"Q ޴@B=S|BA BAAA*BAAEAIAIAM})="Cq*C}RC;CC ս=Խ=֥ ;;Iש )ש y I G >(q,(d;EA|i|@Y}61V^?}6?y}60弙}68+}6H?`2U (? ?dѠ?wC ?)~61V^? ~6U~\;I~6CɫYY)Y YIYY@yVGI)Å<Å<Å=iÅ@Á ą@)ąIāią@M X3:YU1y:5)-;Hq,cEUEAY}J]?}J?y}J}J>}JH`s? <I??խn ۝?@M}@t?)~J]? ~J \;I~JCɫ髑) IYp@yWGuy=MuL=YuDQU}>yya}eE}:EyWݻ}>Iȉ :ō35? :ōݾ ƍqB @9ƍeDǍ0: ȍ^:)ȍ|:WIWIXI XIWI:WQ2WQ*WQVQbUQBUY*UYUYU]?BއB BA*BA3UAAA ="C*C݋RCIQ:CC֝8F;yIIޙ)ޙG^>=q,&oEAY}b&]?}b4?y}b}bш}bH ?(vx?!?jDם?,a?)~b&]? ~b\;I~bCɫ髡) IY@yTWGÅ-Åx>ÅX>iÅQ@Á ą@)āIą@ią3@9MH=YJ08QU>aeE:Ey}>IȱŵD5?ŵݾ Ƶ{B @9ƵoDǵI: ȵU:)ȱWWX XW:W2W*WVbUBU*UUU{?BZB BAI*BAAAA ="C *C RC ~C Cyb]:%?i%?I G5q> Y1:YV1y:59@9Ii!=t; ֗E"q,oEA||Y}>\?}>.?y}>t켙}>G}>H$?@8kym?!)?;St?[?)~>\? ~>];I~>CɫYY)Y YIYY}@y}XWG=iE:MEP=YM<:QUM>IIaUeEU:EQy]0}]>Ia m:e5? m:eݾ eB m@9ewDe: ek:)e}:WWX XW:W2W*WVbUBU*UUUy?B]oB BA,*BAAAAW ="C*C˘RCzCCqסIGC>Lq,ТEAY}6C\?}6?y}6켙}6l}6H`(?@Oe%ࡿ` h?'-?)C@і??)~6C\? ~6\;I~6Cɫ99)9 =I9Y})@y}WGl?/$?:v?7?,= <)Iy ףp= ?Mb?ˡE?Q8?<'= • A)•AI• Ai•A<MD=YafE:Ey}>I5?ݾ B @9D: ¿:)WWX XW:W2W*WVbU BU *U UU@h?BE BY BYAe!*BaAmCqAiAiAm ="Cq*CuAtRCuCyCym aIiG[>޽=i޽= .:YU1y:5vq,`EAY}2\?}2U?y}29}2͠}2H&?@_h<k?*?зH?*?)~2\? ~2\;I~2CɫYY)Y ]IYY}@y}IIaMfEM:EQy]:}]>Ia m:e5? m:e$ݾ eB m@9eDe: e:)e~:Wܙ9ܙIܙiܙܝ =ܙܙܝq; ݝԗEWX XW:W2W*WVbUBU*UUU@Be@Ba BaAe*BaAmAiAiAI) ="C*CPRCպCCօ] I׉)׉yIG^>Wfq,EAY}:\?}:79?y}:M}:Vɥ}:H`$?k=n?o(?(7?`?)~:\? ~:r\;I~:CɫII)I MIIYl@yWG@AI) ׼MN=YmQU>afE:E y :} >I(5?ݾ B %@9D: ϸ:)WAWAXA XAWI:WI2WI*WIVIbUQBUQ*UQUQU] @ReB*** querying acoustic contact ***PaPaBHB BA *BA@AAA ="C*C0RCoCC֝NJκQIaG}7> w2:YDW1yY:5q,nEAY}J#]?}Jz?y}J}Jn}JH ?kt`&Ģw?`"?o@?Z?@a~?)~J#]? ~Jx\;I~JCɫqq)q uIqY<@yWGZ****** received transponder code query ******F****** received ping request ******afE:Ey ?;}>I05?qwݾ B @9D: 8:)W1W1X1 X1W1:W92W9*W9V9bU9BUa*UaUaUek @BB BA*BA AAA"> ="C*C;RC8CC Iޱ)޵?AΒ{IG>ىٍhAܑ9ܑIܑiܑܑܑܑܕl; ݕҗE)!I!i!% =!%Ed4pq,< EAɫyy)y yIyY@ytWGxDUSBL response received:!U1,P E66,000,00581,186,80,80,1E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -?)M5j=YEQUM>YaamfEm:Ey }>I1 =:5C5? =:5Enݾ 5ƁB E@95D5; 5:)5:WWX XW:W2W*WVbUIBUI*UQUQU] @B5B BAAEz*BIAM\m AIAIAU ="CY*C]`RC]+8CC=9M?iM?uuuu u-:YuT1yu:u5)uZ;91 IY G >q,$EA|4<|Y}6+]?}6%?y}6}6}6H?ȃɆ?`n?99a=fE=:EAyE/;}E>IIMCW5?Mmdݾ MсB ]@9MDMӻ: M:)IWyWyXy XyWy:W2W*WVbUBU*UUUݨ@BM&BI BQAUO*BQAU AQAQAU9K ="CY*C]gRCe);CaC}9QIaG}z>!q,4=EAY}6X]?}6 i?y}6}6}6H` ? KR??_`B?A?)~6X]? ~6J\;I~4ɫyy)y yIyY]@yWGxDUSBL response received:!U1,R,F3D,000,005B7,187,80,80,76,FF Fpublishing direction and range info@.>ɰ=1> )BIyIB۬?U>?ٱ9ITSGiī@!=f; ϗE   νq/afE%:E!y-,;}->I1 =:5Gn5? =:5*Yݾ 5ށB =@95D5: 5R:)5:WaWaXa XaWa:Wa2Wi*WiVibUiBUq*UqUqUu @P*QIBZQr΅H@5!@JQ۬?U>?2Q@.>:QbQٴA@x,хA@2e?RQfF6?QhS?澪ږ;?BQ0I? QBQ BP!9?P9?PQQ'@"QX@BыB BA*B9AEAAAAAM ="CQ*C}*RC}?;CC=i=uuuu u~*:YuU1yu:u5)u;;ס I G >q,pWEAɫ) IY5p@y5WGTNmea in: $SNTTA,0.058303,,,,014120.29*40 %!;M-p=Y-QU-?11a5fE5:E9y=}=?IAE 5?EPݾ EB U@9EÐDE8: E:)Am}qAdded new target pos. range: 50.279999 m, bearing: 45.205744 deg, deltaT: 4.425619 s, approachRate: 0.732100 m/s, LOS rate: -2.470766 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU#I@U$?BB BA*BAfIAAA9Y="C*CduRC <;CCqZ;I)׹I̝>G-o>iMunGIYiqƿٺAq,ʧqEAY}:~<^?}:0?y}:%k}:.}:H?) T??>??)~:~<^? ~:eP\;I~:Cɫ99)9 9IAY}@y}XGI)AÅJÅ>Åp=iÅ@Á ąh@)ąIąh@iąI@f<MT=YQU>afE:EyP);}>Iȩ :ŭ5? :ŭGݾ ƭB @9ƭ̐Dǭt: ȭ:)ȭ:WWX XW:W2W*WVbUBU*UUU *?BB! B!A%*B!A%A)A)A-="C1*C5QRC5؏};C1C9A!I)G]T>A9AIAiAE =AAA A 1:YT1y:J5);|"q,ҊEAY}2]?}2o^?y}2 }2Ǽ}2H$?@߇`?`?@E? u?(` ?)~2]? ~2_\;I~0ɫ99)9 9I9Y}@y}BWGMRMMO=YM QUU>QQa]fE]:EYye?}e>Iae5?e >ݾ eB u@9eՐDe: e:)aWWX XW:W2W*WVbUBU*UUU L?BtB BA*BAAAA%\="C*C/-RCw3;CCII!GEQ>I޹)޽AA'(q,_EAY}6 ]?}6?y}6 }6*}6H ?rUv?`"?hlHb?`S?)~6 ]? ~6$\;I~6CɫYY)Y YIYY@y!XGn??A`"?V.?> Y=)IyX9v?ˡEˡE?3?''=  A)AI AidAV=MA=Y0QU>afE:Ey}>I :Ժ5? :65ݾ  B  @9ސD(: s:):W)W)X) X1W1:W12W1*W1V9bU9BU9*U9U9UE`q?Bm^吽Bi BqAu*ByAXIAAA="C*C4RC8CC֥] ;aIqG]>  A:YV1y:n59@=/q,:EA||ɫyy)y yIyYe@yWGU>9ISGi@!=\; ʗEQiU= @ @ @í©ííií@í ĭ@)ĩIĭX@iĭ@ׯML=YQU>afE:Eiyu}u>Iy}5?}m,ݾ }B @9}D}: }:)yWWX XW:W2W*WVbUBU*UUU@Fr?B%BI BIAMG*BIAMAIAQAUe="CQ*C]3ችRC]`9CYCY]1IAG]v>k5q,EAY}2-[?}2?y}2,I }2hۼ}2H@?@>@7C?@F?c?D? hB?)~2-[? ~2a\;I~2Cɫ19)9 =I9YuK@yuWG%M%T=Y-+CQU->11a5fE5;E9y=઼}=>IAEC5?E$ݾ MtI E'B U@9EDE: E:)AWqWqXq XqWy:Wy2Wy*WyVybUBU*UUU@B}B BA*BA<AAA="C*CĉRCn1ػCC֥9yIG<>޽=i޽= {{ 3:Y#R1y:5B%U#>iU@U U9@)Uh@IU@iQeO=MeG=Ye{:QUm>iiamfEm;Eqy}J}}>Iȁ :Ņ5? :Ņjݾ ƅ5B @9ƅDDžI: ȅw:)ȅ:WWX XW:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PPBB BA*BA9AAAd="C*CWRC C C [RӻשIG!>9Iic; ͗E+ Cq,u EA|i|@Y}6>Z?}6U?y}6()}6#Ӽ}6HQ?&`~@H+?@rW?c?W?@_@?)~6>Z? ~6E\;I~4ɫ99)9 9I9Y}ۯ@y}\XGZ****** received transponder code query ******F****** received ping request ******afE ;E y b}>I 5?aݾ BB -@9D9: :)WIWQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UaUaUe@K @B]B BA'*BA1AAA="C*C􂉽RCy CC `ԻI)Gmx> C3:YV1y:o5);9V7Iq,Ƨ&EAY}2FZ?}29?y}2 }2&ͼ}2HrQ?'=,?V?ƚ^???)~2FZ? ~2P\;I~2CɫAI)I MIQY@yXGxDUSBL response received:!U1,P F3D,000,005B7,187,80,80,76,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =V-?I +?~jt?=h1?=94< =D=)9I9y=\(\?I +J +?=:?=94=H= = A)=AI9i=A9=GA @ @ @©i•@ ~@)I@I~@ih@N<M=Y j9QU > afE;EyPk9}>I) E:-&5? M:-ݾ -VB M@9-D-; -;)-:I޽AA)޹WWX X!W!:W!2W)*W1VQbUYBUa*UaUiUm@ @BB BA*BA AAA="C*CZYRC C C   I G >2Pq,؂@EAY}2IZ?}2?y}2J }2Xȼ}2HI?@2: 6? O? P?(? @?)~2IZ? ~23\;I~0ɫ99)9 =I9܁9܁I܅TGi܅f@܁܁܁܅t; ݅֗E)Iił!=łH4Ys@yYG鮡ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B  =M=YQU?afE;Ey;}?IM55?Gݾ bB @9D÷: ϸ:)W!W!X! X!W!:W!2W)*W)V)bU1BU1*U1U1U5 @BeNBa BaAe*BaAm@ AiAiAm="Cq*CuOERCu=׻CqCya9IIGeU>PIVq,]ZEA|;|Y}6;[?}6?y}6 }6Ƽ}6H?? @E?E?C4??Ϙ?)~6;[? ~6i\;I~6CɫII)I MIIY}s@y}WGxDUSBL response received:!U1,R,F6E,000,005E7,186,80,80,60,FF Fpublishing direction and range infow>ɰ=鰅> )BIyTBi?afE!;Ey;}>I :G5? :ܾ pB @9D1: :):WWX XW:W 2W *W V bU BU*UUUS@P!*Q%TBZQ%CLS]J@7U@JQ%i?:Q!bQ%TC@P' HA@ۆs#R?RQ%]z?_u?֊#"?BQ% I f.:YDW1yY:59@$v\q,kDtEAY} \?} b?y} *}  Fļ} H/?3WK[?@6?@?@L@?)~ \? ~ p\;I~ Cɫ) IYMJ@yUXGTNmea in: $SNTTA,0.281117,,,,014124.73*4A u u uuC>u>uy=iup@u u@)uIuI@iuI@g=M0=YݺQU>afE(;Ey;}>Ișŝs_5?ŝ(ܾ ƝB @9Ɲ)Dǝ : ȝ:)șmqAdded new target pos. range: 53.159996 m, bearing: 42.140454 deg, deltaT: 4.333554 s, approachRate: 0.664581 m/s, LOS rate: -0.707339 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UUzJ@U ?B.ݑB BA%5*B!A%[{#A!A!A-="C)*C5#RC5kC1C1U3ޱi޵=1IAGmx>܁9܁I܅TGi܅@܁܁܁܅i; ݅їEB[cq,EAɫ髙) IY@y.YGUT<M]`=Y]QU]>aaaefEe.;Eaym}m>Iquq5?uܾ uB }@9u1Du': u:)qWWX XW:W2W*WVbUBU*UUU*q?BB BA*BA$AAA?|="C*CvሽRCCC?BɺIGF>  3:YWU1y:5);9i nGI i1 |iq,"EA|i|@.οٺ,.qAY}6Q\?}6s?y}6=}6ⷼ}6H`+?`]`>Zja?`1?^?-?)~6Q\? ~6b\;I~6Cɫ髑) IY%@yXGIq)q> ףp=?I +Q?1?94 u=)Iy(\?~jtx?~jt?N?;D<  A)/AI AiIAAiAeeνeT=ie•@a eh@)eh@Ie~@ieh@uB˼Mu,=YuQUu>yya}fE}5;Eyj:}>Iȉ :ō5? :ōFܾ ƍB @9ƍ>DǍ; ȍ;)ȍ:WWX XW:W2W*WVbUBU*UUU?BJB BA*BA &A A A J="C*C۸RCG!CC5e I!GM>mpq,EAY}N'\?}N0?y}N| }NW}NH.?Y ʤD]?`4?yY{? 􏖿`;?)~N'\? ~NoQ\;I~L!9%xCI%TGi% @% =!!%b; %͗Eɫ髹) IY@yXG*Ml=Y+H;QU?afE;;Ey}?I65?)ܾ B @9FDk: :)WWX XW:W2W *W V bUBU*UUU@*Z?BEBA BAAE*BAAM'(AIAIAM="CQ*CUqRCU#CYCYe?Bɺiim|?9IAGeU>I޽@A)޽@A <0:YDW1yY:5)};vq,3EAY}F[?}FTF?y}F, }Fs&}FH`4?Q 뫤@DU?P:?4R D?P?)~F[? ~F,\;I~FCɫyy)y yIyY@ymYGUF=M]Q=Y]:QU]>aaaefEeA;EaymgI}m>Iq }:uӴ5? }:uܾ uB }@9uPDu: u:)u:WWX XW:W2W*WVbUBU*UUU N@BB BAD*BA{)AAAs="Ci*Cu`yRCunCCqCyօ"5YIaGY>|q,EAY}JgB[?}J?y}J }J,}JHi??`BcE?E?RYl0?~?)~JgB[? ~JP\;I~JCɫYY)Y YIYY@y.YGi=)-= -=}l>}>}/afEH;Ey}>Iȩŭ5?ŭ#ܾ ƭB @9ƭ[Dǭ4: ȭ :)ȩWWX XW:W2W*WVbUBU*UUUw@B;B BA*BA%?+A!A!A%="C)*C-GYRC-ꟻC1C1EmI)GEQ> YW1yč:%59@!9!I!i!!!!%[; %ʗEq,&oEAY}:~Z?}:?y}:+}:?+}:H@M?`O.~C`1?R?HJ6`Ġ?`?)~:~Z? ~::L\;I~:CɫQQ)Q UIQY@yiYG@A~<MX=Y;QU>afEN;Ey}>I :5? :Lܾ B @9eD: :):WWX XW:W 2W *W VbUBU*UUUP@R%B*** querying acoustic contact ***P!P!BiB BA*BA,AAA%,="CI*CMP9RCUVCQCYu3QIy޽=i޽p=Gd>Ӊq,C8)EAY}2lY?}2?y}2}2}2H ]]?룿`?@)b?[?@!ݟ?@?)~2lY? ~2iS\;I~2Cɫ99)9 9I9Y}@y}mYGZ****** received transponder code query ******F****** received ping request ******?Q8<  A)AI Ai/AAO $>>iz@ h@)@Ih@ih@j:M"=Y/T;QU>afEV;Eyk׻}>I5?Zܾ łB @9qD: :)WWX X!W!:W!2W)*W)V)bU)BU)*U1U1U5@ @B]DBa BaAeD*BaAe.AiAiAmG="Cq*CuRCu x!CqCy$  6:YU1y:5֕iIyG>qq,0CEA|i|@Y}6I%Y?}6?y}6]B}6}6H`f? ?@j?h?8ǝ?D?)~6I%Y? ~6B\;I~6CfV>9dIfHUGifZ@f!=ddfY; fȗEɫ99)9 =I9Y@yYGxDUSBL response received:!U1,P F6E,000,005E7,186,80,80,60,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )-jAUc=M]~=Ym&;QUu ?afE[;Ey}?I : 5? :ܾ ΂B @9yD= <):WWX XW:W2W*WVbUBU*UUU` @Bm~{BmܭH= BiAm*BiAuo!0AqAqAun="Cy*C}RC}[9CyC֝qIG>q,\EAɫyy)y }IyYd@y?ZGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B <MD=YQU>afEb;Ey}>I#5?`ܾ قB @9D: k:)WWX XW:W 2W *W V bUBU*UUUH@BE[BA BAAE*BAAM]1AIAIAM0="CQ*CUdRCU3CQCYeG89IIGeU>I޽AA)޽AA /:YDW1yY:5q,XvEAY}2CZ?}28?y}2㼙}2}2HR? h*,?V?#X`u??)~2CZ? ~2I:\;I~2Cɫ99)9 =I9Y}~@y}_ZGxDUSBL response received:!U1,R,F66,000,0061B,186,80,80,67,FF Fpublishing direction and range info >ɰ >鰁 )BIyaBif"?L`u&?ٱ1t'i=@ @)@I@iҙ@s<MW=Y^;QU>a fE h;E y]<<}>I75?ܾ B %@9D:  :)WAWIXI XIWI:WI2WI*WQVQbUYBUY*UYUYU]@@Pi*QmaBZQm^K@c)@JQmif"?L`u&?2Qm >:QibQm:D@۸6B@P?RQmt?/Ѱ/?:Kҙ?BQm=? QmBQmd&BPm?9?Pm29?PmQmQm@"Qm@B=BA BAAE*BAAE2AAAIAM="CQ*CU@RCUzaCQCYE?3I)GEQ>9Ii\; ʗE)mxCImxCiiim =m74q,ޫEA|24<|24 ->"M3=YQU>afEo;Ey7<}>Iȱ :ŵzP5? :ŵܾ ƵB @9ƵDǵE: ȵ:)ȵ:mmAdded new target pos. range: 56.279999 m, bearing: 42.323226 deg, deltaT: 4.452995 s, approachRate: 0.700653 m/s, LOS rate: 0.041045 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU#L@U `??B5B1 B1A5A*B1A=bz4A9A9A=#>="CA*CERCE\CACI="=zz 0:YQ1y:5);9 m軹A IQ G} >!q,~EAY}:V[?}:7?y}:)}:}:H F6?XR@bޡ:T?`:?dpأ??)~:V[? ~:+\;I~:Cɫ99)9 9I9Y}k@y}HZG}?5^I?Mb?I +?M"?> 9<)Iy7A`?Mb`y&1|?6?`; … A)…AI…Q Ai…AA'==i=@ @)@I@i@=ME=YQU>afEv;Ey߬;} >Id5?zܾ B @9D: :)W9W9XA XAWA:WA2WA*WIVIbUIBUI*UQUQUU?B}uיBy BA(*BA5AAAm="C*Cq{RCCCх<H==i=uzlQIaG> q,YEA6W>94I6UGi6@4446Q; 6ėEY}BZ[?}B?y}B}B }}BH=? (G H?B?@Qws? ?)~BZ[? ~BMA\;I~@ɫYY)Y ]IYYr@yQZG](;M]h=Y][fQU]>aaaefEe{;Eiymj}m>Iq }:uLv5? :urܾ uB @9uDu: u:)u:WWX XW:W2W*WVbUBU*UUU ?B B BA*BAD7AAA^="C*C^RC@;CC)   n1:YWU1y:5);meI IQ Gu >3q,4EA|i|Y}6\Z?}6?y}6}6-~}6H`K?+34?P?@"vW?JЏ@?)~6\Z? ~6I+\;I~6Cɫ99)9 9I9Y}Y@y}1ZGMO=Y:QU>!!a%fE%;E)y-}->I15܉5?5iܾ 5B E@95D5: 5:)1WaWaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}?BB! B!A%P*B!A%8A!A!A-="CQ*CUu>RCU$kջCQCYiiiIkAiDͿٺkA4Aօ񖻉׍?i׍?YIiGZ>]q,EEAY}2xZ?}2 ?y}2XW}2b}2H`T?&<`^(?iY?nI?ߐ?)~2xZ? ~2<\;I~0ɫ99)9 9I9Y@yvZGMI MM7>iMf@I M~@)M~@IM~@iM~@ee<MeF=YepX;QUe>iiamfEm;Eqyu^}}>Iy :}U5? :}.`ܾ }B @9}D}: }(:)}:WWX XW:W2W*WVbUBU*UUU@D?@B<Bq BqAu*BqAu6:AqAqA}="Cy*CRC3DCCօ[RӻYi9iIiiim =iim^; m̗EIG^>I޽@A)޹ '0:YT1y:%5)k;Fq,EAY}:aqZ?}: ?y}:p9}:}:H8O?*/4!1?mS?h ? `?)~:aqZ? ~:'\;I~:Cɫ99)9 9I9Y}U@y}-ZGIMG=YZT;QU>afE;EyJ;}>Iȱŵ5?ŵVܾ Ƶ B @9ƵđDǵ: ȵӻ:)ȱWWX XW:W2W*WVbUBU*UUU@҇@BPB B!A%*B!A%;A!A!A%3="C)*C5RC5ϻC1C1EΒ!IQGuW>oq,C+EA|;|;ɫ髁) IYY@y1ZG(\?YaaefEe;Eaym}m>Iq }:ul5? }:uVMܾ uB }@9uΑDu: u:)u:WWX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBe_~B BAP*BAl[=AAA5="C*C݆RCһCC =ֽ[Rӻ n1:Yyo59@I)בIG>a 9a Ie VGie @a a a e h; e їEgq,EEAY}6]?}6?y}6 }6eL}6H#? t:š Hu?@f#?)`d?? ވ?)~6]? ~6U'\;I~6Cɫyy)y yIyYz@yZZGZ****** received transponder code query ******F****** received ping request ******19a=fE=;EAyE<}E>IIM5?MDܾ MB ]@9M֑DM; M;)IWWX XW:W2W*WVbUBU*UUU@9 @BNB BA;*BAH>AAAs="C*CRCHS;CCޝ=iޝp=IG%o>Ёq,|_EAY}6e]?}6j?y}6m}6@}6H`?(}@|??4,?@b`V?)~6e]? ~6YC\;I~6Cɫ99)9 9IAYr@yQZGxDUSBL response received:!U1,P F66,000,0061B,186,80,80,67,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =JMEK=YUEQU]>iqa}fE};EyL;}>I5?;ܾ )B @9D = M =)WWX XW:W2W*WVbUBU*UUU`' @B=vBa BaAe*BaAe,f@AiAiAm="Cq*CuRRCudK;CqCyօyb]; 1:YWU1y:5aIG=>q,WyEA|i|Y}B~i\?}B#?y}BZ0}BVS}BH'?b˥hb? 0? O?@Td?)~B~i\? ~B>\;I~BCɫYY)Y YIYY@yZG鮥a=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B õD<õ=õO >iõ@ñ ĵ@)ĵ@Iĵ@iĵ@d<MB=Y4,QU>afE;Ey }>I :5? :y2ܾ 4B @9D: H:):WWX XW:W2W*WVbUBU!*U!U!U% +A@BUBQ BQAU*BQA]AAYAYA]`l="Ca*CecuRCeCaCiֽqZ;?i? X>9 I sVGi N@    Y; ʗEיIGf>jq,D1EAY}6Z?}65?y}6E8}6Dp}6HI?`N0. 0?R?Ȥ@??)~6Z? ~6m\;I~6Cɫ9A)A AIAY}@y}ZGxDUSBL response received:!U1,R,0CA,000,00645,186,80,80,80,FF Fpublishing direction and range infoI4ɰ{>鰁 )CIy3kBv ?-jrƿٱ;M[=YQU>agE;Ey}>I5?.*ܾ ?B @9Dk: w:)W!W!X! X)W):W)2W)*W)V)bU1BU1*UUU@P*Q3kBZQϿL@ /$JQv ?-jrƿ2QI4:QbQҝeJ@a׍Cl8@bu@RQ|?m/?I?BQ.> QbAQUBPe9?P?9?PQQA"Q@BԇB BA8*B!A%w CA!A!A%="CQ*C]TVRC] CYCYօqYIiGY>I޹)޽@A  84:YV1y:5ɾq,EAɫ) IY5@y5ZGdNmea in: $SNTTA,0.094877,0.352497,,,014133.62*55 ]ʡE?ʡE?A`"?]?]= ]Y=)YIYy]?L7A`堿V-?]f&?]+]< ] A)]jAI] Ai]IAY]\AõVõZ$?õ=iõ=@ñ ĵ@)ĵIĵҙ@iĵҙ@<M/=YQU>agE;Ey}>I :O-5? :0!ܾ MB @9D: :):mqAdded new target pos. range: 58.799999 m, bearing: 24.570400 deg, deltaT: 4.459492 s, approachRate: 0.565087 m/s, LOS rate: -3.980908 deg/s, posRepo size: 4W!W!X! X!W:W2W*WVbUBU*UU`ffM@U?BE1BA BIAMIܾ*BIAM{DAIAIAUU ="CQ*C]#1RC]0jCYCau1I9Gm> 9 I i     W;  ɗE)ݑIݑiݑݕ =ݑݕ4aq,dEA||Y}2W?}2$?y}2t-}2}2H?k?5?B~?@!?)~2W? ~2r\;I~2Cɫ99)9 AIAY@yZGi==;M=h=Y=w;QU=>AAaEgEE;EIyM{}M>IQU=5?Uܾ UWB e@9UDU/: U;:)QWWX XW:W2W*WVbUBU*UUU@?BB BA\۾*BAEAAA ="C*CRCB-CC𕭻I)סIGA> ):YU1y:) ;9q,TEAY}: X?}:z?y}:-*}:}:H~w?@@ҧ@??u5B?^/?)~: X? ~:V\;I~:Cɫ99)9 9I9Y]@y]ZGM6=Ya:QU>agE;Ey;}>I :0S5? :ܾ dB @9 D: (:):WWX XW:W2W*WVbUBU*UUU@i?BB BA߾*BAGAAAM!="C*C=RCdYCC=i=IG >q,EAY}2Y?}2>?y}21}2L}2H@2d?1{; ??m? { ?`s?)~2Y? ~2,k\;I~0ɫ99)9 9I9Y}@y}[G-ף-=-Ci-\@) -)-~@I-~@i-@u=Mu_=Y}QU}>yya}gE;EyZ6<}>Iȉōc5?ō ܾ ƍoB @9ƍDǍE: ȍ{:)ȉWWX XW:W2W*WVbUBU*UUU`?B]B BAGپ*BAHAAA!="C *CⅽRC!WCCelXܩ9ܩIܭ ~~ 5:YT1y@:5)a;q,_zEA|i|Y}FO@Z?}F?y}F?}Fxj}FH0N? &@ (?X?ۄ?9g`b?)~FO@Z? ~FN\;I~Dɫ髙) IY@y[GU+=M]L=Y]QU]>aaaegEe;Eaym8<}m>Iquv5?uOܾ u{B }@9uDu: uǺ:)qWAWAXI XqWq:Wy2W*WVbUBU*UUUi@B-B) B1A5о*B1A5(MJA1A1A5G+"="C9*CEKRCeaCaCaqq֕ם?iם?iIyG>i} mGI lAi  ƿٺ lA A q,Va.EAɫIQ)Q QIQYQ@yc[GʡE?QbX9ȶ?? E=)Iy:v?y&1|?T?`< ¡)¥AI¥Q Ai¥/AA @ @ @©i@ @)Ih@ih@\M1=YQU>!a%gE%;E)y-}->I1 =:5>5? =:5/۾ 5B =@95(D5: 5o:)5:WaWaXa XaWi:Wi2Wi*WiVibUqBUq*UqUqUu`@B0B! B!A%վ*B!A%KA!A)A-"="C1*C5:RC5eһC1C9Iޱ)޵AA2  7:YU1y:59@5#2 IG5>ܥ Y>9ܡ Iܥ WGiܥ B@ܥ =ܡ ܡ ܥ e; ݥ ЗEq,0HEAɫ髙) IY@y[GAAy<Mr=YQU?!!a%gE%;E!y)}-?I15Ǥ5?5R۾ 5B =@951D5: 54:)1WaWaXa XaWa:Wa2Wi*WiVibUiBUi*UqUqUu@RB*** querying acoustic contact ***PPBB BAҾ*BAyLAAA"="C*ChRCлCC&tIG J>q, bEA||Y}6%Z?}6??y}6a}6}6HAM?`$@PN8$?`Z?-.? Q?)~6%Z? ~6\~\;I~6Cɫ99)9 =I9Y},@y}5[GZ****** received transponder code query ******F****** received ping request ******agE;E y ]}>I %:5? -:۾ B -@9Hq,{EAY}6%9Z?}6Ȧ?y}6a}67}6HK?@&Q8&?^Y?@R1?P|?)~6%9Z? ~6a\;I~6CɫII)I IIIY}n@y}[GxDUSBL response received:!U1,P 0CA,000,00645,186,80,80,80,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76   ýr辩ýG?ý둾iý(@ý ĽE@)ĹIĽҙ@iĽ@<M-=Y aQU>a%gE%;EIy]<#:}]>Ik5?۾ B @9ID: :)W1W1X1 X9W9:W92W9*W9I9IIMXGiM@M=IIMV; MɗEVAbUBU*UUU@f @B4B BAӾ*BAOAAA#="C *C?RCIλCCi=U軹 I G= >z1%q,;ȕEAY}R"Z?}R?y}Ra}R~a}RH C?3{92? P?;?v. ?)~R"Z? ~R,\;I~RCɫqy)y }IyY/@yt\G鮽p=ɮp=MNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =MZ=Y%TQU->99aEgEE;EQye9;}e>IY :]5? :]۾ ]ăB @9]SD]H; ]:)]:WWX XW:W2W*WVbUBU*UUUm@B5.B1 B1A=Ǿ*B9A=#QA9AaAe#="Ci*Cm!RCu?CqCq 1:Y0Y1y:5֕[RӻiIyG>^+q,EA|4i|6@Y}b:1[?}bޞ?y}bj}bl}bHc9?K?`<3??H?xT?@`J?)~b:1[? ~b \;I~bCɫ髑) IYc@y\GxDUSBL response received:!U1,R,0FC,000,00674,185,80,80,96,FF Fpublishing direction and range infoz0aɰT>+> )CIyzvBɵ:?'$˿ٱM@5^I ?~jt{GztMb0?MD Mף)IIIyM +?Mb:v?M6?MM< M A)MAIMAiMIAIMAå'åD<åiå•@á ĥ@)ĥ@Iĥ~@iĥ@s<M@=YQU>agE;E!y%;}->I)-45?-۾ -҃B =@9-\D-: -:))WyWyX XW:W2W*WVbUBU*UUU@P*QzvBZQ5gN@K*JQɵ:?'$˿2Qz0a:QbQ2 .yL@ ku?7@p @RQCN?Vi%?ac?BQu> QAQcBPv9?Pe9?PQQA"QAB5B1 B1A5ľ*BYA]iiRAYAYA]:$="Ca*CeRCmO@CiCiԙԝiA֍3ו?iו?aIqG>A 9A IE hXGiE @E =A A E \; E ̗EE2q,EAY}n/[?}n?y}nrw}nx}nH@R8?[>`>?H?i? ?)~n/[? ~n\;I~nCɫ) IYMr@yU\GTNmea in: $SNTTA,0.050887,,,,014138.06*4B ;M V=YQU>agE;Eyڿ}%>I) 5:-5? 5:-0۾ -߃B 5@9-eD-: -I:)-:meqAdded new target pos. range: 61.619995 m, bearing: 22.208768 deg, deltaT: 4.509797 s, approachRate: 0.625304 m/s, LOS rate: -0.523667 deg/s, posRepo size: 4WiWiXi XiWi:Wi2Wq*WqVqbUqBUq*UyU}\N@U}|?BB BAþ*BAkSAAA{t$="C*C䄽RCNCC#2?ױI޹)޹ 3:YDW1yY:5)a;9IGi>)l8q,SEAY}2jZ?}2 ?y}2ւ}2I"}2H @? 1 `/?`Q?ijW??)~2jZ? ~2j\;I~2Cɫ99)9 =I9YI@y\G5XM=Y=Y=PQU=>AAaEgEEIQU)5?U*۾ UB ]@9UmDU: Uӻ:)QWWX XW:W2W*WVbUBU*UUU m?BǣB BAMƾ*BA"TAAA$="C*C?DŽRCiCCqZIG]T>D>q,.EA|4<|4uv>>iu@q u)uh@IuI@iuh@<MF=Y:ŻQU>agE Iȡť>5?ťc۾ ƥB @9ƥwDǥ: ȥܹ:)ȡWWX XW:W2W*WVbUBU*UUUwT?B ݟB BA *BAUAAA}$="C*C%RC%kC!C! 5=5=9I0YGi@=D[; ˗E)݁I݁i݁݅=݅=݅ 4%I)))IG J>  84:YV1y:5);^Eq,EAY}6X?}6+c?y}6H}6su}6H]?NR?p?Y`%?s`?)~6X? ~6\;I~6CɫYa)a iIiY@yx]G4<MA=Y-ʺQU5>AAaUgEUIȉ :ō=T5? :ō9۾ ƍ B @9ƍDǍ; ȍ;)ȍ:WaWaXa XiWi:Wi2Wi*WiVqbUqBUq*UqUqU}ࡡ?BB BA*BAtVWAAA$="C*CLRC# )CC޹i޽=ױIG>rKq,0EAY}28X?}2-?y}2}2J=}2H`a? (?s?7`?`«`8?)~28X? ~2%\;I~2CɫAA)I MIIYuj@yu]GmHzG?/$?Mb?m=J?m< m@=)iIiymGz?Mb+?mp=?mm= mp A)mOAImAimAim A-H-9--=i-@) ))-@I-@i-@==<MEH=YEB:QUE>IIaMgEMIY]h5?]۾ ]B m@9]D]H: ]<:)YWWX XW:W2W*WVbUBU*UUU ?Bd9B BA?*BAlXAAA%="C*ClRC.CC0יI 1:YDW1yY:59@Ge> Z>9 I \ZGi {@ = L; ×EʏRq,JEA|i|@Y}F15Y?}FӢ?y}FLu}F?-}FH Y?| <0<?`k?@n ?]?)~F15Y? ~F\;I~FCɫYY)Y ]IYY[@y]G!%iAUM][=Y]H9QU]>aaaegEeIq }:u|5? }:uv۾ u0B @9uDug: u:)u:WWX XW:W2W*WVbUBU*UUUm@B=B BA,*BAʁYAAA=%="C*C^QRChFCC  jAօ0YIiGZ>Xq,(dEAY}:9Z?}:??y}:}:J}:H`/G?A)@#?X?`F ?@Ǵ?)~:9Z? ~:k\;I~:Cɫ99)9 =I9QQY]@ym^G@AimGIi!MʿٺIU-A<=MF=Y9QU>agE$Iȱŵ85?ŵ۾ ƵCB @9ƵDǵ: ȵk:)ȱWWX XW:W2W*WVbUBU*UUU`U@RB*** querying acoustic contact ***PPB%tB! B!A-t*B)A-ZA)A)A5`%="C1*C=1RC=`oC9C9e9IIGeU>I޽AA)޽@A~~ ):YT1y@:75^q,v~EAY}66[?}6?y}6k}62}6H@4?`Bh] a gE *I %:5? %:.}۾ VB %@9D: :):WIWIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYU]t @B!B BAc*BA[AAA%="C*CRCCCܑ9ܑIܕZGiܕ̱@ܕ=ܑܑܕM; ݕėEֽSיIGc>^eq,QEA|;|;Y}6q[?}6_?y}6ꌽ}6rC}6H&?T@e+ZO?:? ]?`9c?)~6q[? ~6\;I~6Cɫ99)9 =I9Y}@y^GxDUSBL response received:!U1,P 0FC,000,00674,185,80,80,96,FF Command AckBRequesting micromodem ping code 2i=iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 E<MMW=Y]yQUe>qyagE0Iae5?es۾ eiB @9eDe< es<)aWWX XW:W2W*WVbUBU*UUU` @BeTBa BiAm*BiAm]AiAiAm%="Cq*Cu能RC}W8CyCy == *:YV1y:NJκI)׉IG>kq,@3EAY}2|\?}2"?y}2ؒ}2 q}2Hu?f`(Lb?,?M W?@ ?)~2|\? ~2 \;I~2Cɫ99)9 9I9YuZ@y}_GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 9v?MbP&1? P)Iyjt?Mbp?agE8I :t5? :)i۾ xB @9D4: =:):WWX! X!W!:W!2W)*W)V)bU)BU)*U1U1U5@B]͞Ba BaAe4*BaAm^AiAiAmR%="Cq*CumȃRCu׃#;CqCy֕9=i=qIyG~>܍ [>9܉ I܍ [Gi܍ @܍ =܉ ܉ ܍ Q; ݍ ƗEXrq,EAY}:\?}:B?y}:!}:(5d}:H`i?@Kjñ@kd?*? U:?q@?)~:\? ~:+,];I~:Cɫ99)9 9I9Y}Z@y}Z`GxDUSBL response received:!U1,R,12D,000,006AF,186,80,80,6F,FF Fpublishing direction and range info|ɰ* >鰅> )BIyQB ?4Lпٱ=Mu=Y*QU?agE= QAQ tBP9?Pv9?PQQ*A"QAB;B #= BA<*BA^^AAAO%="C*CRC,/;CC"5; ,:YU1y:85)c;9IGj>( yq,xEA|(i|*@Y}o\?}?y}m}t}H@?WdɲP_?`.? 9??)~o\? ~jM];I~Cɫ) IY8@y1`GDNmea in: $SNTTA,,,,,014142.51*58 I)AURMU2=Y]ѻQU]>aaaegEeDIqu85?uU۾ uB @9u͒Du: u:)qmqAdded new target pos. range: 65.159996 m, bearing: 20.103405 deg, deltaT: 4.383930 s, approachRate: 0.807495 m/s, LOS rate: -0.480246 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU%`=JP@U% 8?BMkBI BIAUQ*BQAU]`AQAQAU%="C*C7RC3 ;CCiA ] ;?iIG >~2q,EAY}2\?}2[?y}2:}2}2H? S}dN?9?X?@d?)~2\? ~28];I~2CɫII)I IIIY]@y]aGr>C ,i@ @)I@i@-bx=M-`=Y-QU->11a5gE5JIA M:E 5? M:EL۾ EB U@9E֒DE: E{:)E:WyWyXy XyWy:Wy2W*WVbUBU*UUUL?B5*SB1 B1A5*B9A=`A9A9A=—%="CA*CEbRCEtA8CICI191I5]Gi5@1111 5ǗEa9IIGeU>I޽@A)޽?A 5+:YWU1y:5)&;~q,EAY}BV[?}B?y}B4;}BWM}BH+? >7;?@G?;?@X`h?)~BV[? ~Bv:];I~@ɫaa)a iIiY@y aG]Fx?J +?~jt?]+?]H= ]=)YIYy]On?~jtxMb?]8?]Ļ]= ]Q A)YIYi]~AY]p A}M}7=YQU>agEQIșŝ>#5?ŝB۾ ƝB @9ƝDǝ: ȝ:)șWWX XW:W2W*WVbUBU*UUU`?BB  B A 5*B A aAAAz%="C*C?RC7CC!BJ=9IG >Dq,t3EA||4ujiu3@q u@)qIu@iu@;=M\=YT:QU>agEWIȡ :ť55? :ť1:۾ ƥ˄B @9ƥDǥ: ȥ{:)ȥ:WWX XW:W2W*WVbUBU*UUU?BB BA*BAubAAA\e%="C!*C%"RC%DC!C)-K'= 5=5=0I!)!  5:YW1yč:59@IGk>) 9) I- D^Gi- @- =) ) - c; - ЗE)Iiʼn =ʼn4v,q,OMEAY}2RY?}2X?y}2}2\$}2HE?Q@I?'b?%ো? Q?)~2RY? ~2];I~2Cɫ99)9 9I9Y}s@y}aG<MR=Yد:QU>!!a%gE%]IȁŅI5?Ņ$1۾ ƅބB @9ƅDDžQ: ȅ':)ȁWWX XW:W2W*WVbUBU*UUU C@BB BA*BA0pcAAAzN%="C*CsRCӻC C ) =ip=֕i Iq G >Vq,*gEAY}2Y?}28?y}2[}2}2H J? `R4@*?`f?@j e?`ꗿ@?)~2Y? ~2\;I~2Cɫ99)9 9I9Y}8@y}bG u=ML=Y$:QU>a gE dI %:T]5? %:R(۾ B %@9D: :):WIWIXI XIWI:WI2WQ*WQVQbUYBUY*UYUYU] 5@B듽B BAn*BA)/dA AA5%="C*C悽RC^CC!EXһI G%N>n {{ <:Y#R1y:n5j>q,EAY}6G*Z?}6?y}6}6'}6HA?; ڳ?`]?H4Z?ϕ5?)~6G*Z? ~6\;I~6Cɫ99)9 9I9Yv@ybGI)A 鿱¹¹a>ip@ ٮ@)IE@i\@J<MH=Y%9QU%>!!a%gE-jI9=q5?=۾ =B E@9=D=: =b:)9WaWaXi XiWi:Wi2Wi*WiVqbUqBUq*UyUyU}w@RB*** querying acoustic contact ***PPByB BAf*BAdAAA.%="C*CǂRC!CC\>9Io_Gi@b; ֥黹aIqG9>Lhq,ߚEAY}u~Z?}uD?y}u0}uw}uHS5?P1׳|.?0Q?@H*{?`?)~u~Z? ~u"\;I~uCɫqq)q qIyY%@ycGZ****** received transponder code query ******F****** received ping request ****** m,)iIiymʡE?I +?Zd;O?m=?m94agErIȩ :ŭ5? :ŭh۾ ƭB @9ƭDǭ: ȭ:)ȭ:WWX XW:W2W*WVbUBU*UUU W @BB BA"Q*BA/eAAA6$="C*C7RC :CCinGIiI)@A  4:YY1y:%5̿ٺAבIG>q, EAY}24[?}2 ?y}2-}2 }2H`O%?@GD?@A?u?؎@?)~24[? ~2\;I~2CɫYY)Y YIYYF@ycGxDUSBL response received:!U1,P 12D,000,006AF,186,80,80,6F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 C=Zj))a5gE5xIae؝5?e ۾ e2B @9eDeP< eb<)aW W X  X W :W 2W*WVbUBU*UUU= @B֏B BAL*BAnfAAA$="C*C~RC48CCֵ0:DqIyG> 9 I `Gi @ ^; ͗E|q,bEA|4<|Y}6`\?}6j?y}6-}6}6H`?`Z^V?@4?k䟿`濴?D`?)~6`\? ~6[\;I~6Cɫ99)9 9I9Yu@y}dGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B QiU=)e= e>u=Muf=Y}4QU}>yagE~q,rEAY}:\?}:(?y}:!}:鬚}:H ?c/_?@Q.?G ?D?)~:\? ~:#\;I~:Cɫ99)9 9I9Y}@y}dGxDUSBL response received:!U1,R,12E,000,006DD,186,80,80,6F,FF Fpublishing direction and range infoUɰ>鰁 )IyׇBg &?v?eпٱ:MX=Y%QU>agEI :5? :5ھ YB @9*D: :):WWX XW!:W!2WI*WQVYbUaBUi*UUU@P*QׇBZQ FdP@~T1JQg &?v?eп2QU:QbQjO@"+7@\B@RQG.y?|?dɅ?BQc> Q_AQ[~BP9?P9?PQQ`8A"Q*ABU_BY BYA]4*BYA]@gAYAaAexv$="C*C8<RC&O;CC}] ;޽p=i޹QIaG}z>q,XEAY}~\?}~3?y}~ƥ}~}~Hs?Fd<``? -?.?BM?)~~\? ~~\;I~~Cɫ) IY5@y5eGDNmea in: $SNTTA,,,,,014146.95*54 D >iQ@ z@)z@Iz@iz@-V=M-4=Y-fֺQU5>11a5gE5IAE5?E*ھ ErB U@9E5DEk: E':)Aq9qIu,bGiuԷ@qqquV; uɗEmqAdded new target pos. range: 67.920006 m, bearing: 20.021694 deg, deltaT: 4.470692 s, approachRate: 0.617356 m/s, LOS rate: -0.018277 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU`P@U*?B B BA"*BA1hAAAE$="C*C#RCBQ;CCuyb];$  K:YW1yč:5);aIiG|>q,;EA|8i|8Y}}uo\?}}?y}}?}}~}}H~?Y\L`W?3?@lA?꾒`U?)~}uo\? ~}#\;I~yɫII)I IIIY@yAgGS㥛?RQ?/$??= <)Iyףp= ?Mb`Q?>?u< µA)µ AIµAiµAf A=M@=Y4QU>agEI :5? :ھ B @9?Ds: |:):WWX XW!:W!2W!*W!V!bU)BU)*U)U)U5`4?B]"wB BA*BA|thAAA$="C*CRCШ;CC%hA%hA qZ;iI!G]>2q, 6EAY}6[?}6>?y}6[}6}6HB"?L׳:G?@>?@??)~6[? ~6@\;I~6Cɫ11)9 9I9Yu@yufG =@ =@ =@=©==i=@= =)=I=\@i=E@M6MMg=YU;QUU>YYa]gE]Iim5?mھ mB u@9mGDm(: m:)iWWX XW:W2W*WVbUBU*UUU`?BWB BAh*BAhAAAr#="C*Ch؁RCCC[R:׹IGD>Iޱ)ޱ{{ 3:Y#R1y:59@m ]>9i Im XcGim ȸ@i i i i i q,OEAY}:H`[?}:?y}:,Ϧ}:)}:H *?6Bo`IIaMgEMIa m:eX5? u:eھ eB }@9eQDe;; e5;)e:WWX XW:W2W*WVbUBU*UUUFI?B ]B BAս*BAK*iAAA#="C)*C-̶RC5ʞC1C9e99IIGeU>0q,iEA|;|;Y}:[?}:V?y}:B}:A}:H`0?@:;-Q`r5? #K?@? @C?)~:[? ~:Q]\;I~:CɫYY)Y YIYY@ywhG7=MA=Y^:QU>agEI9=+5?=ھ =B e@9=[D=; =;)9WWX XW:W2W*WVbUBU*UUU@ @BpB BAˮ*BAwiAAAX#="C*C\RChCC m=m=]?BɺIa)a ^+:YU1y:5IIQGuy>q,ꔃEAY}2p[?}2 ?y}2Y}2Q̎}2H0?@9J'5?@K?@蟿e?ʑ ?)~2p[? ~2@q\;I~2CɫII)I IIIY}@y}hG 5 5 555<5qi5ף@5 1)5ƣ@I5ƣ@i5ƣ@E,<MET=YE-;QUM>IIaMgEMIae>5?eɽھ eB m@9edDem: e:)aWWX XW:W2W*WVbUBU*UUU _@9IdGi @N; ŗE)ݩIݩiݩݭ=ݩݭy4BB BAv*BA{iAAA' #="C*C)tRCCCj⺉޽=i޽=IGj>9q,~EAY}~P|[?}~?y}~$5}~}~H)?`D@;`??~D?@a??)~~P|[? ~~}\;I~~Cɫ ) IYM@yMiGQUAAL7A`?㥛 ahEIȡ :ť/U5? :ťJھ ƥԅB @9ƥnDǥr: ȥ:)ȥ:WWX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBxB BA!Z*BAiA!A!A%"="C)*C-QRC-bC)C15]  +:YV1y:85)I9Gmy>.q,KEA|i|Y}>[?}>$?y}>٢}>}>H%?zJi8E?W@?U?Kȑ ?)~>[? ~>d"];I~>CɫYY)Y ]IYYe@y?jGZ****** received transponder code query ******F****** received ping request ******i=@9 9)=@I=@i=@Ul=MUN=YU9QUU>YYa]hE]Iim i5?mھ mB }@9mwDm: m:)iWWX XW:W2W*WVbUBU*U U U  ? @BUfuBY BYA]o$*BYA]Z jAYAaAe<"="C*C/RC?9CCiAjA?Bɹ?i|?ױIG> ^>9 yCI xfGi S@    O;  ƗEq,+EAY}F\?}Fo?y}F}F6}FHX ?IR *`XM?:?#O?@[?)~F\? ~F];I~FCɫYY)Y ]IYYž@yjGxDUSBL response received:!U1,P 12E,000,006DD,186,80,80,6F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =Ma=Y%9QU->9AaMhEMIy :}X}5? :}_ھ }B @9}D}̉< }z<)}:W WX XW:W2W*WVbUBU*UAUAUE@s @BqB BA*BA&jAAAXM"="C*C RC:CCI޹)޽AA +:YU1y:5);9 ֵrg:iIyG> i- mGIE kAiY 2˿ٺ kA LA ?9 A@q,EAY}>[?}>dm?y}> }>ɉ}>H ?ZR ;M?:?) 9[? ~>];I~<ɫYa)a iIiY%@y,kGQɮQNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B mQ8=mm#ahEIșŝ5?ŝھ ƝB @9ƝDǝ÷: ȝw:)șWWX XW:W2W*WVbUBU*UUU'@BFoB  B A P*B A !3jAAA"="C*CW쀽RC:CC!?B:׹IGg>+q,EA|*4<|(Y}N[?}N>A?y}N}N酉}NH0$?M䲿H? >?@⟿ ?#?)~N[? ~NO}];I~Lɫqq)q yIyY@yBlGxDUSBL response received:!U1,R,284,000,0070F,189,80,80,7A,FF Fpublishing direction and range infoɰ>鰽7> )BIy׍BcR?KR ٱԕ=MY=Yc:QU>ܹ9ܹIܽgGiܽF@ܹܹܹܽH; ݽ—E  a hE I %:;5? -:ھ  B -@9D; ;):WQWQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUaU`@@P*Q׍BZQ-ZʼnN@GG#RBJQcR?KR 2Q:QbQ$Q@d헃e @Yq,EAY}}[?}r?y}j}}H *? E`R@?C?Oȳ?&`{?)~}[? ~FD];I~Cɫ  )  I Y}@y}kGTNmea in: $SNTTA,0.249699,,,,014151.39*43 S?Zd;O?/$?/?j<= <)Iy)\(?{GzI +?GA?ף9< XA)Q AIAiAըM:=YW;QU>ahEIY5?dھ 2B %@9D]: :)mumAdded new target pos. range: 70.919998 m, bearing: 2.674238 deg, deltaT: 4.438763 s, approachRate: 0.675862 m/s, LOS rate: -3.908173 deg/s, posRepo size: 4WqWX XW:W2W*WVbUBU*UU@Q@U@R?BB BA*BAAAA~!="C!*C-_RC- C)C)޵=i޵=֭rg:׉IG>\} q,p8EAY}Jvo[?}J?y}Jώ}JAv}JH\,?`D6=w??@D?. ? Ѻ&?)~Jvo[? ~Jf=];I~JCɫ髙) IY@ymGý>ý!?ýC =iýG@ù Ľ@)Ľ@IĽ@iĽ@=M[=YK;QU>ahEI :5? :zھ AB @9D; ;):WWX XW:W2W!*W!V!bU!BU!*U)U)U-E?BUIfBY BYA]N<*BYA])jAYAaAeB!="Ca*CmRCiCiCqֽ9yIG^>  "6:YW1yč:59@ܱ9ܱIܵ3iGiܵ@ܱܱܱܵC; ݵEdq,/nREA|i|@Y}2 m[?}2?y}2}2'}2H,?XCe| _??`RE?6坿`q?H?)~2 m[? ~2&];I~2Cɫ99)9 =IAY@ymG_MN=Y̌:QU>ahEIȱŵ5?ŵqھ ƵQB @9ƵDǵw: ȵ :)ȱWWX XW:W2W*WVbUBU*UUU^?BfB BA8<*BA jAAA ="C*ChRC5ZCCiA"?i?IGj>uq,QOlEAY}fr[?}fE?y}f}fF}fH,?@C*r '@?E?`gK?Hc?)~fr[? ~fp];I~fCɫ) IYU@yUnG = |> i @  ) @I i @~=MB=YN:QU%>!!a%hE%I9=5?=gھ =bB E@9=D=L: =:)9WaWaXi XW:W2W*WVbUBU*UUU@?B%_BA BAAM=*BIAMiAIAIAM ="CQ*CU[ERC]uCYCYuI޹)޹#  6:Y[1yݏ:%5QIYG}z>v!q,$EAY}2b[[?}2?y}2ʙ}2㱼}2H{.? ?=?wG?`4?+?)~2b[[? ~2\;I~0ɫ99)9 =I9Y}:@y}nGt=M]=Yfu:QU>!!a%hE%Y9YI]`jGi]@YYY]P; ]ǗEI :j5? :^ھ rB @9ēD: :):WWX XW:W2W*WVbUBU *U U U`?B=.XB9 B9A=Kt=*B9AE?iAAAAAEn ="CI*CM2'RCMP)CICQօ"YIiGZ>'q,dEA|;|p;ɫ) IY@ynG5rh|?~jt??5?5D< 5L=)1I1y57A`?y&1?y&1?56?5`e=5`e< 1)5AI5h@i5A15 AuMu6=Y}QU}>yya}hEIȑŕ\#5?ŕSھ ƕB @9ƕ͓DǕ: ȕ:)ȑWWX XW:W2W*WVbUBU*UUUk@BZB BA{e=*BAiA A A 6 ="C*CRCoCC C  *9:Y0Y1y:75Iב)בa Iq G >-q,ٹEAY}2Z?}2xf?y}2$}2}2H#6?`v5@@C4? ;N?K@7? v?)~2Z? ~29\;I~2Cɫ99)9 9IAY@yzoG@ATu<V>i @)Ii0?=Md=Y.l;QU>!!a%hE%I1 =:545? =:5Jھ 5B E@95֓D5: 5:)5:WaWaXa XiWi:Wi2Wi*WiVibUqBUq*UqUyU}@}K@RB*** querying acoustic contact ***PPBfSB BA=*BAfiAAAG="C*CRC9ϺCCבIG=޽=i޽=Y9YI]kGi]s@]=YY]T; ]ɗE)yCIyCi釉釩m4q4q,EAY}FrZ?}F?y}Ff}FƳ}FH99a=hE==EAyE 2}E>IIMH5?M?ھ MB U@9MDMk: M:)IWWX XW:W2W*WVbUBU*UUU @BKRB BA=*BAiA!A!AE)="CI*CMɆRCMy\CICQaIiG9>}} 2/:YkS1yԊ:5);9:q,EA|i|@Y} |Z?} Q?y} 71} B@} H@@?)nñ(?`V?ᗿ@W?|?)~ |Z? ~ ];I~ Cɫ) IY=@y5pG xDUSBL response received:!U1,P 284,000,0070F,189,80,80,7A,FF  Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 QQu/ݽu̽uahE =Ey}>I) U:-b5? U:-O1ھ -B U@9-D-D; -;)-:WWX XW:W2W*WVbUBU*UUU@Aq,wEAɫ髑) IY2@ybqG9ImGi@=a; ϗENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =M=YQU6?ahE =Ey}9?Im5?O+ھ B @9D: :)W1W1X1 X9W9:W92W9*W9VAbUABUA*UAUIUM@@Bu :Bq BqA} =*ByA}rhAyAyA}="C*C RCPb1CC}0::QIiG[>Iޱ)ޱ_  f;:YT1y:5)";Gq,cF!EAY}6Z?}6N?y}63}6.˕}6Hy=?F0 #7f.?^R?4'??)~6Z? ~6*^;I~6Cɫ99)9 9IAY}i@y}qGxDUSBL response received:!U1,R,1B1,000,00749,185,80,80,7A,FF Fpublishing direction and range info]wɰ>鰅+> )Iy̔B]7(?*p׿ٱU r?Zd;O?V-U?Uj= Um)QIQyUx&1?~jtx ףp= ?UA@?UĻUQ8= U"A)UAIU3@iU5AQUAu<MuS=Y}I;QU}>yahE=Ey;}>i/mGIlAi!ɿٺlAAI :5? :!ھ ʆB %@9D:; T;):WWX XW:W2W*WVbUBU*UUU`@P*Q̔BZQ~waIQ@1d~Yr;JQ]7(?*p׿2Q]w:QbQcR@|H0@(!@RQwu?2B?v-?BQh> QAQBP9?P9?PQQ6A"QY5AB=xEB9 B9Ae>*BaAeFgAaAaAm="Ci*Cu~RCuCqCyֵ"5׉IG>Nq,(;EA||;Y}NT%[?}N?y}N<}N a}NH@L5?@ <e7l:?#J?t? 0 @?)~NT%[? ~Ny^;I~NCɫ髑) IYb@yqGõGa=õ =õiõf@ñ ĵ)ĵ@Iĵ@iĵ@#ME=Y/:QU>ahE=Ey;}>IW5?Gھ ݆B @9D: 5<)mmAdded new target pos. range: 74.400009 m, bearing: 13.013547 deg, deltaT: 4.482571 s, approachRate: 0.776343 m/s, LOS rate: 2.306558 deg/s, posRepo size: 4W!W1X9 X9W9:WA2W*WVbUBU*UUR@U?BBB BA >*BAlUq,TEAY}V_[?}V?y}VL}Vᮗ}VHd1?&B`{@? E?@?2꒿@b?)~V_[? ~V&^;I~VCɫ髙) IY^@yrG}DNmea in: $SNTTA,,,,,014155.95*56 =MK=Y=:QU>ahE =Ey;}>I/5?ھ B @9Dض: I:)WWX XW:W2W*W V bU BU*UUU?B=6BA BAAE!>*BAAEgAAAAAM$="CQ*CUK~RCUsз9CQCYeiAeiA޹i޹IGj>/[q,ynEAY}m[?}?y}g}$}H`0?C/:A?!E?@wʗm?Tؓ6?)~m[? ~ ];I~Cɫ) IY}a@y}rGEB>E#E.>iE@A E@)E9@IE9@iE9@U[:MU@=Y]QU]>YaaehEe'=Eiym:}m>Iq }:u?5? }:uھ uB @9uDu: u:)u:WWX XW:W2W*WVbUBU*UUU@K?B}a;B BA!>*BA[fAAAO="C*C~RCy:CC֕9 /:YW1yč:5׉IG>bq,EA|i|@Y}6[?}6?y}6o}6H}6H`6?:4`9?2K? s Z?{?)~6[? ~6K];I~6Cɫ99)9 =I9Y}-@y}sGܥ_>9ܡIܥtoGiܥ@ܥ=ܡܡܥ_; ݥΗEI)hA7=Md=YP;QU>  ahE,=E)y5^g}5>I9=5?=پ =B E@9="D=^: =ϸ:)9WiWiXi XiWi:Wi2Wi*WqVqbUqBUy*UyUyU}?BEJ'/BA BAAEp;>*BIAMeAIAQAU3="Cq*C}RC.CCօrg:׍?i׍?YIiG[>M?hq,pEAY}JZ?}Jk;?y}J{}Jy}JH@\=Y:QU>ahE3=Ey}0}>I :\5? :پ )B @9+D< <):WWX XW:W2W*WVbUBU*UUUK?B1B BAJ=>*BA}UeAAA.="C*C}RC CC ==ጹױIGe>IAA)@An .(:YDW1yY:5egnq,jEAY}:MwZ?}:?y}:2>}:}:HB?`**o )?aV?@?ғ ?)~:MwZ? ~: \;I~:Cɫ99)9 =I9Y}@y}tGÅ=Å>Å\>iÅ@Á ą@)ą@Ią@ią@Q=MN=Yp4;QU>ahE9=EyY}>Iȱŵ:5?ŵپ Ƶ:B @9Ƶ4Dǵ: ȵn:)ȱWWX XW:W2W*WVbUBU*UUU`@B%>$(B! B!A%R>*B!A%dA)A)A-p="C1*C5I}RC5j$C9C9%NJκI G%M>ܥ^>9ܡIܥpGiܥ@ܡܡܡܥP; ݥƗEQuq,NEA|(|(ɫ) IYM@yMtGQUAA]=i]=)m= m=u8MuL=Y}QU}>yyahE@=Ey}>Iȑ :ŕ< 5? :ŕMپ ƕKB @9ƕ=DǕ: ȕk:)ȕ:WWX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB_)B BAQ>*BA dA A A w="C*C }RCCC]Ia)a9IAG]U> 2:YWU1y:5)Ï;9|{q,Z-EAɫ髱) IYY@yCuGZ****** received transponder code query ******F****** received ping request ******e=eҽie@a e)e9@Ie9@ieO@u =M};=YyQU}>ahEG=Ey}>Iȑŕ( 5?ŕپ ƕ]B @9ƕGDǕR: ȕ:)ȑWWX XW:W2W*WVbUBU*UUU ה @BL&B BA`>*BA =cA A A /="C*Cr|RC [CC5=i=IG5q>bq,X EAY}JlqZ?}J?y}J}JA3}JHD?@N+b )?@V?@`?~ ?)~JlqZ? ~Jg6];I~JCI9IIMqGiM@IIIMU; MɗE)рIрiрррՀ4ɫ) IY@yuGxDUSBL response received:!U1,P 1B1,000,00749,185,80,80,7A,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 <MW=YHa%hE%M=Eiyu8k}u>Iy :} < 5? :}پ }nB @9}PD}; };)}:WiWiXq XqWq:Wy2Wy*WV bU BU*UUU $ @B);%B BACi>*BAcbAAA+="C*C}|RC!C!C)  &W:YW1yč:5);UeI Iq G >q,#EA|i|@Y}6TZ?}6?y}6}6ܕ}6HC?,@ژi+?MU?>d?`?)~6TZ? ~6!];I~4ɫAA)I IIQY@yuG鮡ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -?^I +?{Gz ?? X9> ף) I y "~j?Mb?Mb? SC? < = A) =AI i p A  QA%x<M%D=Y-:QU->11a5hE5T=E9y=$ :}=>IAEP 5?Eپ E~B U@9EZDE: E:)AWqWqXq XqWq:Wy2Wy*WyVybUBU*UUU`@B\B BAo>*BAuaAAAq="C*CJ|RC jCCQyׅ?iׅ?QIaG}z>mq,=EAY}R3Z?}R?y}RD~}RdF}RH@A?/R /?@R? lr?@|_ ?)~R3Z? ~R$[];I~RCɫyy)y yIyY@yvGxDUSBL response received:!U1,R,23B,000,00779,189,80,80,A5,FF Fpublishing direction and range info ɰ>7> )%CIyB?T޿ٱEE=EףiE̬@A A)E­@IE@iE@Uz=MUX=Y]ʑ:QU]>YYaehEeZ=Eaymи:}m>IquCd 5?uپ uB }@9ucDu: uI:)qWWX XW:W2W*WVbUBUi*UiUiUuؕ@P*QBZQP@wBJQ?T޿2Q :QbQs''7*,S@7b @fz@RQ w?[{#?yƒ!?BQ= QAQaBPͩ9?P9?PQQ12A"Q6ABJB BA>*BA`AAA;="C*C  |RC FC C  ==?BɺI@A) 3:YT1y:IGm>59@999I=rGi={@9999 =ȗEq,ڍWEAY}ZZ?}Z|Z?y}Zנ|}Z}ZHahE`=Eyy5;}>Iȱ :ŵy 5? :ŵBپ ƵB @9ƵmDǵ: ȵ:)ȵ:mmAdded new target pos. range: 77.280006 m, bearing: 6.097532 deg, deltaT: 4.398371 s, approachRate: 0.654787 m/s, LOS rate: -1.572404 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UUQS@U@?B^zB BA>*BA/_AAAW="C*C{RCҹCCNJκIGk>CiqIiÿٺ#AǛq,gqEA|,|,Y}Z|7[?}Z ?y}Z٫z}Z}ZHf7??`񨮿 >?`G?=yP? :V|?)~Z|7[? ~Z]];I~ZCɫ髹) IY5@y5!wGQ8>5^i=@ @)@I@iǍMD=Yە:QU >  a hEg=EyL2;}>I6 5?پ B -@9wD: ÷:)WIWIXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUeM?B-B) B)A-Ĉ>*B)A5]_A1A1A5c="C9*C={RC=E:C9CA]?BɹIa)a  4:YDW1yY:5QIaG}z>Yq,BEAY}26[?}2?y}2.x}2;}2H@7? >`>?`:H?ɓ_?` t?)~26[? ~22|];I~2Cp9pIrsGir@ppprV; rɗEɫYY)Y ]IYYe\@yewGF(=MZ=Y:QU>!!a%hE%m=E)y-r}->Iq }:u 5? }:uپ uB @9uDu: uk:)u:WWX XW:W2W*WVbUBU*UUU0 ?BE\ BEr< BAAE>*BAAM7^AIAIAM19="Cq*CuH{RCuM9CqCyօv:YIiGZ>=i=٨q,XEAY}b.[?}bp?y}bw}bI }bHf;? 9쮿@z9? K?:@?7`?)~b.[? ~b];I~bCɫ髙) IY:@ywG/$?~jtx?y&1??; `<)Iyp= ף?y&1|~jt?E?`D< A)AIh@i AA-M-:=Y5:QU5>19a=hE=t=E9yE}E>IIM 5?Mپ MˇB U@9MDMY: M:)IWyWyXy XyWy:Wy2W*WVbUBU*UUU!?BHB BA>*BAPB]AAAW="C*C{RC 03CC9׹I q-:YT1y:5Gj>q,UEA|i|@Y}JsZ?}JG?y}JTw}J6}JH@E? e*#*?*V?`@?|?)~JsZ? ~J\;I~JCɫ髉) IY@yxGm,=m;m=im\@i m @)iIm@im@[=MV=Y9QU>ahEz=Ey}>Iș :ŝ 5? :ŝQپ ƝևB @9ƝDǝ(: ȝw:)ȝ:WWX XW:W2W*WVbUBU*UUU?BB BAҚ>*BAWC\AAA؁="C*CzRCCC0:ĺ?i?_>9ItGi@C; EI G%o>-q,MEAY}bZ?}b?y}biu}bį}bH@ZL?` ! ﮿@!?@\?`Bp?@j `?)~bZ? ~b\;I~`ɫ髙) IY@yxG;ME=YY:QU>ahE=Ey]}>I 5?Gپ B @9Db: :)WWX X!W!:W!2W!*W!V!bU)BU)*U)U1U5@=O@B.B BA>*BAW=[AAAi#="C *C LjzRC DC C =I)AA P0:YX1y/:\5);9] IG>q,EAY}JܨY?}Jk?y}Jr}J£}JHxT?`bʮ F?xd?)xT?n?)~JܨY? ~J\;I~JCɫYY)Y ]IYY@y[yG<(?`ei@ @)@I­@i@ eM=M X=Yc:QU>ahE=Ey}>Iȩ :ŭ 5? :ŭuپ ƭB @9ƭDǭ: ȭA:)ȭ:WWX XW:W2W*WVbUBU*UUU@{y@RB*** querying acoustic contact ***PPBB! B!A%>*B!A%Y;ZA!A)A-0="C1*C5PzRC5C1C9-2g=yb]IGn>q, EA||H9HIJPuGiJc@HHHJG; JEY}b"jY?}b?y}bSqp}bԟ}bH Y? W@(k?h? |` ?n@U?)~b"jY? ~b\;I~bCɫ) IYM@yMyG]Z****** received transponder code query ******]F****** received ping request ******]ahE=Eyz}>I!5?kپ B @9D :  :)WiWiXi XiWq:Wq2Wq*WyVybUBU*UUU* @B%B) B)A-S>*B)A-gXA)A)A5Z="C1*C] zRC]CYCaii)i i d0:Y0Y1y:5); 񖻹ױ I G >N'q,d&EAY}>YY?}>?y}>,l}>\I}>H Z?_ As?@i?jꚭ?` ?)~>YY? ~>\;I~>CɫYY)Y ]IYY9@yzGxDUSBL response received:!U1,P 23B,000,00779,189,80,80,A5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }9v?xƿV-?}?}K7 }h=)yIyy}T㥛 ?S㥛y&1?}A?}/ݼ}`e< }^A)}XAI}@i}Ay}A½x=ҽi@ ٮ@)­@Ii<M*=Y:QU>ahE=Ey }>I  :!+!5?  :E`پ  B @9DA: I:):WYWYXa XaWa:Wi2Wi*WqVqbUyBU*UUU`Z @=ip=BB BA~>*BA~WAAAl="C*CyRC죻CC% ϩ I G% >8q,D@EAY}2>!Y?}2͎?y}26f}2hޝ}2H1_?>@Y` ?m?`=@Ѭ?@{ ?)~2>!Y? ~2\;I~2Cɫyy)y }IY[@y1zGɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -Y<M=Y;QU?ahE=Ey5}?I  ;!5? QYپ B @9 ƔD : :) W9W9X9 X9W9:WA2WA*WAVAbUIBUI*UIUIUU"@B}CBy ByA}>*ByAWVAAA^="C*CyRCCCօYIa܁9܁I܅uGi܅@܅=܁܁܅R; ݅ƗE)Ii\4G^> N2:YX1y/:&5)G;9q,ZEA|i|Y}6X?}6N?y}6 c}6.֔}6H`c?@5 H@?q?@t?@&?)~6X? ~6\;I~6CɫQQ)Q QIQY@yzGxDUSBL response received:!U1,R,2D8,000,007AC,189,80,80,6C,FF Fpublishing direction and range info"ɰ >鰡 )BIyB뮞?sŠIٱI)<M_=YC:QU>ahE=Ey/}>I@O!5?Qپ B @9ϔD8: /:)WWX XW:W!2W!*W!V!bU)BU)*U)U)U-@PA*QEBZQEU&*P@:qvoGJQE뮞?sŠI2QE":QAbQE; T@?8@RQE,r?8%>z?j?BQE@ QEG@QEQBPEީ9?PEͩ9?PEQEQE%-A"QE12ABuټBq BqA}>*ByA}aUAyAyA}H="C*CgyRC6ԻCC ՝=ԝ=m&t)I9G]3>gq,tEAY}rX?}r*?y}rQa}rF}rH i?od?Uw?I ?A`S?)~rX? ~r 2];I~rCɫ) IY @yzGDNmea in: $SNTTA,,,,,014204.73*59 -?Q8=i@ )@Ii­@}<M}2=Y}:QU>ahE=EyE(}>Iș :ŝg!5? :ŝFپ Ɲ*B @9ƝڔDǝ: ȝ:)ȝ:muAdded new target pos. range: 80.340004 m, bearing: 357.853582 deg, deltaT: 4.402592 s, approachRate: 0.695045 m/s, LOS rate: -1.872521 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UUT@Uy?B=B B!A%>*B!A%hTA!A!A->="C)*C5'yRC5ccC1C15`ԻI)@A X3:YW1yč:I59@ IG5q>Kq,ҍEA^>9IvGi@=N; ŗEY}ZGX?}Z?y}Z]}Z/}ZHXo?`u(?|?֌@_?-z?)~ZGX? ~Z ];I~ZCɫyy)y }IyYp@y{GD=MX=YX;QU>aiE=EyJ}>I3|!5?>پ 5B @9D^: :)WWX XW:W2W*W V bU BU*UUU ?B= ƼBA BAAE>*BAAMuq,EA||499aEiEE=EAyM}M>IQ ]:UH!5? ]:Uz2پ UGB ]@9UDU; U:)U:WWX XW:W2W*WVbUBU*UUU Z$?BHB BA>*BAQAAA="C*CxRCz CC     !+:Y DW1y Y: 5zI) I G >Y]q,EAY}2dX?}2?y}2&T}2Q{}2H n? 0c? z?sې? Ah?)~2dX? ~2S];I~0ɫ99)9 AIAY&@yf|G5=M==Y=σ;QU=?AAaEiEE=EIyM\;}M?IQU!5?U"+پ USB ]@9UDU: U:)QWWX XW:W2W*WVbUBU*UUUq ?BB BAF>*BAPAAA="Cq*CuxRCu3CqCyօ-_>9)I-wGi-K@)))->; -EYIiGZ>=i=oq,jEAY}2òX?}2M ?y}2d9AaEiEE=EIyM6@;}M>IY]v!5?]a!پ ]bB u@9]D]; ]Q;)YWWX XW:W2W*WVbUBU*UUUM@BB BAj>*BA qOA A A h="C*C LxRCջCC}軹YIqG[>  5:Y0Y1y:5nq,JAEA|i|@Y}>:Y?}>$?y}>}9K}>U}>H_?@H침[ ?j?ɧd?@?8?)~>:Y? ~>];I~>CɫYY)Y ]IYYO@y|GÕ>ÕÕE6>iÕ@Ñ ĕ@)đIđiđY =MC=Y?;QU>aiE=Ey;}>I :!5? :Vپ qB @9 D: :):WWX XW:W2W*WVbUBU*UUU@B5 (B1 B1A5>*B1A=`NA9A9A= ="CA*CEQxRCEECACI ]=]=e0:Ļe?ie?9IIGeU>! 9! I% xGi% ?@! ! ! % .; % Eq,EAY}2Y?}2?y}2TG}2a0}2H`WY?`o`? kc?,`?P?)~2Y? ~2L];I~2Cɫyy)y yIY*@yj|GAMV=Y;QU>a iE =Eyx;}>I!%O!5?%پ %B =@9%D%/; %/;)!WWX XW:W2W*WVbU!BU!*U!U)U- @R]B*** querying acoustic contact ***PYPYBԸB BA>*BALAAA+="C*CwRC fC C 3IAA)5> 5~5~5 58:Y5T1y5@:55)5ܔ;9UIyG> q,j(EAY}6إY?}6b?y}6G}6 }6H@X?@?`aiE=Ey9}>I :"5? :پ B @9!D: =:):W9W9X9 X9W9:W92Wa*WaVabUaBUi*UiUiUmg @BB BAQ>*BA KAAAC="C*CwRCdCC_שIG>q,SBEA||p;Y}:DY?}:~?y}:~6I}:>}:H<_?@{e ? 1i?8$? ?)~:DY? ~:;z];I~:Cɫ9A)A EIAYyyyxDUSBL response received:!U1,P 2D8,000,007AC,189,80,80,6C,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 YގQU?aiE=E!y57}=>IIM?"5?Mgؾ MB @9M)DMk; Mf<)IWAWX XW:W2W*WVbUBU *U U U `j @B]BY BYAY*BYAeKIAaAaAe="Ci*Cm5RwRCmuCqCq9I8yGi@#; E  B:YW1yč:5);qZI)ױIG>q,\EAY}2X?}2H/?y}2خI}2"~ }2Hph?@O?Zr?:?3?9 ?)~2X? ~2+];I~2Cɫ99)9 9I9Y}-@y}}GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B p;MaiE=EyU}>Iȩ :ŭ+"5? :ŭؾ ƭB @9ƭ3Dǭ; ȭ;)ȭ:WWX XW:W2W*WVbUBU*UUU@@BHB BA>*BA%|HA!A!A%="C)*C-[#wRC-"ӻC1C1E3I G-N> =i q,vEAY}2W?}26C?y}2F}27}2H ;y?`/ʧ ? K? T`ר?f ?)~2W? ~2`];I~2Cɫ99)9 =I9Y}a@y}GxDUSBL response received:!U1,R,224,000,007E2,189,80,80,7C,FF Fpublishing direction and range infoHɰP%>鰉 )BIy(Bo3h?]Z7sݿٱ 5 5 55D5-=5 >i53@5 5@)5I5@i5n@M<MMO=YU:QU]>YaaeiEe=Eaym}u>Iy}A"5?}mؾ }B @9}=D}f: }:)yWyWyXy XyW:W2W*WVbUBU*UUU`@P*Q(BZQ__R@|S;CJQo3h?]Z7sݿ2QH:QbQ֣yT@}iR#@VQf@RQ }? ]C?4c±?BQ= QAQץBP9?Pީ9?PQQ'A"Q%-AB5WB1 B1A5>*B9A=FA9A9A=<="CA*Ce6vRCmCiCi}`Ի  | |  *:Y R1y i: 59@ׁIG> 9 I zGi 2@ ); E)YIYiYYY]4I#q,gEA|*@i|*@ɫqq)q qIyY@yR~G5DNmea in: $SNTTA,,,,,014209.17*56 I1)5A<M7=YQU>aiE=Ey}>Iȩ :ŭZ"5? :ŭؾ ƭB @9ƭHDǭ: ȭ:)ȭ:miAdded new target pos. range: 83.580002 m, bearing: 6.645387 deg, deltaT: 4.493166 s, approachRate: 0.721095 m/s, LOS rate: 1.956707 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UUT@U9]?B%B) B)A-E>*B)A-"kEA)A1A5="C1*C=vRC=C9C9 M=M=X5?i5?I!G=r>d*q,>EAY}2K/W?}2֜?y}26}2P#}2H? pХ^?@?@7@iئ?zn?)~2K/W? ~25];I~0ɫ9A)A IIIY}@y}@~Gn?㥛 ?+>= )Iy+?Mbp?~jt???;= ¥Q@)¥AI¥@i¥=A\@ X  0 =i @  @) @I @i @|MB=Y!!a%iE%=E)y-Ż}5>I15mp"5?5ؾ 5ΈB E@95RD5@: 5':)1WaWaXi XiWi:Wi2Wi*WiVqbUqBUq*UqUyU}?BB BAX>*BACAAAJ="C*C{vRC8CC+I@A) -:YV1y:5בIG>0q,/EAY}2wW?}2?y}2C/}2C5}2H`}?6T7?`?2@?ո@?)~2wW? ~296];I~2Cɫyy)y }IyY@y~GU<M]l=Y];QU]?aaaeiEe=Eaym;}m?I"5?Dؾ ۈB @9[D: :)WWX XW:W2W*WVbUBU*UUUr?B5R^B1 B1A54>*B1A=BA9A9A=="CA*CEjLvRCE CACIu^>9qIudzGiu@qqqu%; uE*:yIG^> $7q,VEA||4aiE>Ey1<}>I :ޗ"5? =:ؾ B E@9eD3< Q<):WqWyXy XyW:W2W*WVbUBU*UUUt?BB BA >*BAy@AAAY="C*CvRC.:CC19iunGII)i=ǿٺ9EA׹IGf>  4:YX1y/:\5N=q,OEAɫ髙) IY\@yGÍx齩ÍEÍiÍ@É čٮ@)čٮ@Ičٮ@ič­@=MJ=YQU>aiE>Ey}>IȹŽ"5?Žؾ ƽB @9ƽnDǽ: Ƚ':)ȹWWX XW:W2W*WVbUBU*UUU`?B- XB) B)A->*B1A5m|?A1A1A5;="C9*C=uRC= ͻC9CAe&t9IIGeU>=i=a e jAi 9i Im zGim @m =i i m ; m E)6Dq,"EAY}2bZ?}2?y}214}2Kb}2HQ?% %?wZ?`@Nj?` IM?)~2bZ? ~2g];I~2CɫYY)Y ]IYYv@y?G<MK=YxQU>aiE>Eyh<}>I :"5? :?ؾ B @9xDO; _;):W WX XW:W2W*W!V!bU!BU)*U)U1U5*ByA=AAA4="C*C2uRC?iCC<ȻיIGa>||| L):YR1yi:5)~;9 aJq,Ҋ+EA|@i|@Y}6Y?}6/U?y}67}6zqp}6H`U?  2 3 ?@7^?@au?% ?)~6Y? ~6 &];I~6CɫYa)a iIiYg@y-G?I +?/$f&?94> ,)Iy$C?Q?aiE>Ey}>Ișŝ"5?ŝؾ ƝB @9ƝDǝ: ȝ:)șWWX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBRdB BAa>*BA><AAAd="C!*C%+[uRC%wC)C) =====E?iAI!G=r>GQq,^EEAY}6# Y?}6z?y}6L6}6Y8}6Hd?e ? m?@ Ǧ?B?)~6# Y? ~6,];I~6Cɫ99)9 =I9Y@yGZ****** received transponder code query ******F****** received ping request ******AIaMiEU>EYy]B}e>Ii }:m1"5? }:mGؾ mB @9mDm6; m*;)m:WWX XW:W2W*WVbUBU*UUUѝ @BT> B BAA>*BA;:AAA="C*C!uRC8oCC9I{Gix@= E"5II)?A     ,:Y X1y /: 5) ;Gn>&rWq,:_EAY}:X?}:?y}:Os0}:X炼}:H@Iv?֦?~?f ?XZ?)~:X? ~:\;I~:Cɫ99)9 =I9Y}@y}GxDUSBL response received:!U1,P 224,000,007E2,189,80,80,7C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 eMF=Y[a;QU>aiE">Ey$}>I15"5?5 ؾ 5&B M@95D50U; 5<)1WAWiXi XiWi:Wq2Wq*WyVybUBU*UUU e @BU<_BQ BYA]>*BYA]8AYAYA]="C*CtRClCC𽻹שIG>]q,LyEA||p>ip@ @)Ib@i@^MC=Y;QU>aiE)>Ey* }>I %:#5? -:ؾ /B @9DZ< z<):WWX XW:W2W!*W!V!bU)BU1*U1U1U5`8@B w-B BA>*BA3U7AAA!="C*CtRC0CCz r    (:Y U1y : 59@I)IG%> 9 I {Gi @ ; 4dq,xEAY}:&W?}:?y}:5}:}:H? V`?2?y|o? ?)~:&W? ~:x];I~:Cɫ99)9 =IAY}@y}aGxDUSBL response received:!U1,R,208,000,0081B,187,80,80,61,FF Fpublishing direction and range infoV辩ɰ)>鰅1> )BIyBt ?3Eܿٱ=M_=Yޯ;QU>aiE/>Ey}>Iȡť?ť|ؾ ƥ9B @9ƥDǥ÷: ȥϸ:)ȡWWX XW:W2W*WVbUBU*UUUĭ@P1*Q5BZQ5A}:|S@PuCJQ5t ?3Eܿ2Q5V:Q1bQ51U@o'@mSs @RQ5һ?}=?M֥?BQ5 > Q5 ?AQ51BP59?P59?P5Q5Q5#A"Q5'AB6B BA?*BAQ5AAA="C*CƂtRC/CC=0ia=I G%o>$jq,fجEAY}mW?}m+?y}m}mꐎ}mH`~? x`p? ބ?{\?Α`?)~mW? ~m0];I~mCɫ髩) IYQ@y&GuDNmea in: $SNTTA,,,,,014213.61*5C K7A`?ˡEy&1|? ?什 `;)Iy^I +?Q? rh?X9?C = 3@)AI@iXA(Aq=Q8ʡi@ @)@I@i@ M  =Y ;QU>aiE7>Ey%;}%>I) -:-W>#5? 5:-qؾ -HB 5@9-D-: -:)-:meiAdded new target pos. range: 87.000000 m, bearing: 7.895682 deg, deltaT: 4.425910 s, approachRate: 0.772722 m/s, LOS rate: 0.282494 deg/s, posRepo size: 4WaWaXi XiWi:Wi2Wi*WqVqbUqBUq*UqU}U@U}`_?B%0HB! B!A%>*B)A-l3A)A)A-V="C1*C5AtRC=G C9C9     R.:Y X1y /: 5I! I1 GM >"qq,rEA|i|@Y}6JX?}6?y}6}6ȋ}6Ho?`K?u?@XR?C.?)~6JX? ~6P{];I~4ɫ99)9 =IAY@yGU'q=M]=Y]QU] ?aaaeiEe<>Eiym(<}m?IquM#5?uiؾ uRB }@9uDu: uӻ:)qWWX XW:W2W*WVbUBU*UUUZ?B]@%Ba BaAe?*BaAezt2AaAiAm ="C*C|tRCOCC ե=ԥ>ܱ9ܱIܵX|Giܵ@ܱܱܱܵ"; ݵE)QIQiQQQUMQ4օ׍?i׍z?YIiGZ>wq,ۈEAY}6X?}6 :?y}6 }60ǁ}6Hj?`+`!?q?{{ ?@5 ?)~6X? ~6jq];I~6Cɫ99)9 =I9Yu`@y}/G\.MP=Y3$QU> a iE B>E y;}>Iia#5?a`ؾ ^B %@9•D: :)WiWiXi XiWq:Wq2Wq*WyVybUyBUy*UyUU@w ?BB BAq?*BA`0AAA ="C*C"sRC{CC%#2IG%M>EEEE El3:YEW1yEč:E\5[}q,]EAY}:kX?}: ?y}:@r%}:&Q}:H "l?: äU? {s?@p׬?6?)~:kX? ~:p];I~:Cɫ99)9 =I9Y}n@y}8G)=  }@ @ @}©}}i}(@} }@)}I}i}@J;MA=Y/QU>aiEI>Eym}>Iȩ :ŭUv#5? :ŭiVؾ ƭlB @9ƭ̕Dǭ: ȭ:)ȭ:WWX XW:W2W*WVbUBU*UUU@3?BB! B!A%?*B!A%)/A!A!A-! ="C1*C5sRC5(⵻C1C9%ϩIGI>ܩ 9ܩ Iܭ |Giܭ k@ܩ ܩ ܩ ܭ ; ݭ EL҄q,9EA||;Y}BYAAaEiEEO>EIyM}M>I#5?Lؾ yB @9֕DF: :)WWX XW:W2W*WVbU BU*UU!UUQs@BM BI BQAU?*BQAUG-AQAQAU5 ="CY*C csRC:CCԑԑ3  7:YX1y/:85);9%֕Iי)יQIYG}>iM nGIa iy ɿٺ ҹA|q,j.EAY}v X?}vy?y}vz}vy }vHWx?`&DE?~? ޣ?Z@o?)~v X? ~vL];I~vCɫ) IYUr@yU׀GmQ?MbX9?MbPm?mʡ= m)iIiymv?MbI +?m8?mm94= m@)m^AIiimAimf@   9<A>i @ @)@I@i@<M2=Yi?;QU>aiEW>EyMպ}>I :#5? :Cؾ B @9D: :):W)W)X) X)W):W)2W1*W1V1bU1BU9*U9U9U=`'@BmuNBi BiAm ?*BiAuw+AqAqAu3 ="Cy*C}0sRC}CyCΒIG%>q,GEAY}:RX?}:?y}:}:W?}:H s? `?y?@ІU? 懿?)~:RX? ~:=];I~:Cɫ99)9 9I9Y]@y]hGaay}iA M m=Y =;QU?aiE\>Ey%N;}%?I)-#5?-v;ؾ -B 5@9-D-: -:))WYWYXY XYWY:WY2WY*WaVabUaBUa*UiUiUm@k@R}B*** querying acoustic contact ***PPBJB BAU?*BA)AAA ="C*C~rRCлCC]]>9YI] }Gi]@YYYY YEI G5O> ,:YU1y:[5)u;zq,aEA|i|Y}6ZX?}6h?y}6u<}6̎&}6H7h? ! ?@m?Qf?P΄I?)~6ZX? ~6;I];I~6Cɫ99)9 =I9Y}E@y}GZ****** received transponder code query ******F****** received ping request ******aiEb>Ey ;} >I :K#5? : 2ؾ B @9Ds: :):WW!X! X!W!:W!2W!*W)V)bU)BUI*UQUQUU @BsB BA?*BA(AAA` ="C*CrRCCC ==֝`Իץ?iץ?ׁIGg>8q,Υ{EAY}2îY?}2D?y}2<}2i:}2Hw[?@@?ca?n醿@?< ?)~2îY? ~2T];I~2CɫIQ)Q QIQY@yGxDUSBL response received:!U1,P 208,000,0081B,187,80,80,61,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Q>ni@ j@)@Ii-@!<M'=Y#8QU>aiEj>Ey˳;}>I]#5?'ؾ B @9D; ˻;)WaWaXi XiWi:Wi2Wi*WqVqbUqBUq*UqUyU}`@ @B`XB BAG ?*BA&AAAm ="C*CyrRCr+CC!I)AA%%}%}% %*:Y%kS1y%Ԋ:%595@Uyb] I G5 >M ^>9M xCIM }GiM @I I I M ; M E q,EAY}VB2Z?}Vğ?y}V}VI}VHQ?) N@R)?8X? 5?j6?)~VB2Z? ~V`];I~VCɫyy)y yIyY@yGa=ɮp=MNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5p;M=c=YE:QUM>YYaeiEep>Eiy};}>Iȩŭ\#5?ŭؾ ƭʼnB @9ƭDǭk: ȭw:)ȩWWX XW:W2W!*W!V!bU)BU)*U)U)U5k@B}By ByA} ?*BAD$AAAq ="C*CU=rRChrCC?BɺשIG>Nq,3mEA|<|ɰ->> ) CIyBԚ<(Ϩ?"?ٱ!rh?l?~jth?l?= D;)Iy"~j?X9vQ?SC?u< •3@)•@I•@i•xA@ÕV>Õ1>Õ=>iÕ@Ñ ĕ@)ĕ­@Iĕ­@iĕٮ@4M5=YQU>aiEw>Ey}>I : $5? :Yؾ ΉB @9D": *:):WWX XW:W2W*WVbUBU*UU U @P*QBZQ"T@V@@JQԚ<(Ϩ?"?2Qk >:QbQs|4H@ŰR@xI[@RQ1"v?ԝk@?B7џ?BQT|? QBQEBP9?P9?P=QQzA"Q#ABM` BQ BQAU ?*BQAU"AQAA ="C*CwqRC\tCC +:YxZ1yq:59I)סIG+5q,|BEAY}nY?}n|?y}n{}n}nHe? ` ?gk?q@8?@`?)~nY? ~nU];I~nCɫ)1)1 1I1YmL@yu^GTNmea in: $SNTTA,,0.172969,,,014218.06*4A =Mk=Y}"QU?aiE}>Ey } ?I$5?l ؾ ։B @9D: :)mMqAdded new target pos. range: 89.940002 m, bearing: 56.614140 deg, deltaT: 4.507550 s, approachRate: 0.652240 m/s, LOS rate: 10.808190 deg/s, posRepo size: 4WQWQXQ XQWQ:WQ2WY*WYVYbUYBUY*UaUe)|V@Ue=?B C;B BA?*BA AAA2 ="C*CqRC}CC]>9yCIi$; ENJκױIGe>i=\q,<EAY}2+FX?}2?y}2}2}2Ht?: a? z?u?O`?)~2+FX? ~2R];I~2Cɫ99)9 =I9Y@y%GMZ=Y%R;QU%>!!a%iE->E)y-&}5>I9 E:=1$5? E:=ؾ =މB E@9=!D=: =:)=:WaWiXi XiWi:Wi2Wi*WqVqbUqBUq*UyUyU}r?B :B BA ?*BAV:AAA ="C*CiqRC,U޻CC֭#ׁIGF>% %%% %5:Y%[1y%H:%[5q,FEA|i|@Y}>W?}> ?y}>}>g+}>H?j@YL?`?/@0?o a?)~>W? ~>[];I~>CɫYY)Y ]IYY'@yGGI)A}\}?}+i}f@y }@)}@I}@i}@„<MC=Yie;QU>aiE>Ey(˻}>IȩŭH$5?ŭy׾ ƭB @9ƭ+Dǭ(: ȭ:)ȩWWX XW:W2W*WVbUBU*UUU:?BhB BA?*BAQAA!A%O="C!*C-cqRC-h$C)C1 ====EM?iM?I)GEQ> 9 I }Gi _@ ; E)݁I݁i݁݁݁݅F4pq,xEAY}6-qW?}6?y}6" }6(}6Hh?X`((?@l?%>/;?(?)~6-qW? ~6;];I~6Cɫ11)9 =I9Y}P@y}`GC<MD=Yz;QU>!a-iE5>EAyUɺ}]>Iq :ub`$5? :u׾ uB @9u6DuX; u#;)u:WWX XW:W2W*WVbUBU*UUU M?B ˺B BA?*BA'AAA="C!*C%a&qRC%XC)C)I)@A     ):Y X1y /: 5)  ;9#IG%>q,0EAY}2W?}2[?y}2Œ}2C}2H{? gv0??+م? ς`L?)~2W? ~2eg];I~0ɫ99)9 9I9Y}@y}2Gmn?J +~jtm>mH m)iIiymDl?:v?/$?mOM?mTIQaUiEU>EQy];}]>Iaev$5?eb׾ eB m@9e@De]: e:)aWWX XW:W2W*WVbUBU*UUUg?BbS;B BA ?*BAAAA="C*CppRCiCCIGj>q,~JEA||p;Y}6+^X?}6?y}6T}6?}6Ht?ds ?@x?Bt엠?`"?)~6+^X? ~6!P];I~6Cɫ99)9 9I9Yu@ywG=iU=M][=Y]y :QU]>aaaeiEe>Eaym;}m>Iqu$$5?u׾ u B }@9uJDu÷: uϸ:)qWWX XW:W2W*WVbUBU*UUU@@B|;B BA?*BAAAA0="Cq*CupRCu޷CqCyܝ\>9ܝxCIܝL~Giܝ@ܙܙܙܝ; ݝErI)יIGb> h,:Yd\1y:5).;q,YdEAY}:pX?}:?y}:߽}:],}:Hn??ps?-֠?@?)~:pX? ~:J];I~8ɫ99)9 9I9Y}q@y}tG?AMW=YQU>aiE>EyK;}>I9 E:=$5? E:=c׾ =B E@9=TD=: =:)=:aai%nGIiWWʿٺAX X!W!:W!2W)*W)V)bU)BU1*U1U1U5{@REB*** querying acoustic contact ***PAPABV:B BA?*BAAAAϳ="C*CӃpRCCC=Bʻi=I!G=r>q,75~EAɫyy)y yIyY+@yIGZ****** received transponder code query ******F****** received ping request ******5i5z@1 5 @)1I5@i5@EME3=YEQUM>QQa]iE]>Eayu}u>IȁŅ$5?Ņ׾ ƅ)B @9ƅ_DDžh; ȅ;)ȁW)WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUaUm`ĩ @B:B BA?*B A A AA6="C*C%{EpRC%@C!C) 0    7:Y WU1y : 59@53I)GE>ܑ 9ܕ yCIܑ iܑ ܕ =ܑ ܑ ܕ ; ݕ EQq,EAY}2IX?}2?y}2Mv }2YgB}2Hn? H? a%jE%>E9yM~}m>Iq :u$5? :uS׾ u7B @9ujDu< uv<)u:WWX XW:W2W*WVbUBU*UU U  = @Bu;Bq BqA}^?*ByA};AyAA="C*C pRCCC?iשIG>q,:EAY}:{X?}:?y}:wH}:$}:Hq?\Š@Z?jv? #IȠ?r/?)~:{X? ~:\;I~:Cɫ99)9 =I9Y}@y}G鮁ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B /$?T㥛 ?~jth&>= D)IyQ?~jtˡE?\O?'= )^AI@ixA@5)5>5s>i5@1 5Ը@)5K@I5K@i5@=o<ME==YE!;QUE>IIaMjE>Ey}>IȹŽ]$5?Ž׾ ƽEB @9ƽtDǽv; Ƚ;)ȹWiWiXi XqWq:Wq2Wy*WyVybUBU*UUU@@B-Ь;B1 B1A5?*B1A5A1A1A=8="CI*CM>oRCMCCQCQI)     G/:Y Y1y : 5uKQIYGu>q,CEAɫyy)y }IyY@yG)= <Md=YQU>ajE>Ey}?I :+$5? :׾ QB @9}DE: :):WWX XW:W2W*WVbUBU*UUUz@B% <B%V< B!A%?*B)A- dA)99=xCI9i9==99=; =EAIAM="CQ*CUoRC]CYCYe39IIGeU>q,QEAY}b7X?}bV?y}bp}b}bHj?hw?`n?@}z u??)~b7X? ~bf];I~bCɫ) IYUy@yUyGeDNmea in: $SNTTA,,,,,014222.51*5D \M;=Y;QU>ajE>Eyo;}>I%5?׾ `B @9D4: b:)W!W!X) X)W):W)2W)*W1V1bU1BU1*U9U9U=p$@Be`;Ba BiAm8?*BiAm]y AiAqAuF="Cy*C}'ioRC}nCyCy֥ǤI)יIGb> -:YW1yč:5"q,W|EAY}2IY?}2?y}2$}2E }2H c?c?@ h?F;?8{?)~2IY? ~2];I~2CɫYY)Y ]IaY@yGKpi@ K@)Ii-@<MX=YQU>!!a%jE%>E)y-p~;}->I1 =:5)%5? =:5O׾ 5mB E@95D5: 5I:)5:WaWaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU}@@BX,;B BA0?*BAA AAA="C*C1oRC9CCyb]סIGA>=i== [>99 I= ~Gi= @9 9 9 = ; = E[ q,F^EAY}BZQY?}B־?y}B}B}BHb?@F9 ?g? y@?  d?)~BZQY? ~Bqq];I~@ɫYa)a eIiY@yG;MC=YeQU>ajE>Ey9}>IB%5?׾ {B @9D; ;)WQWQXQ XQWY:WY2WY*WYVYbUaBUa*UaUaUme@RB*** querying acoustic contact ***PPB H;B BA?*BApAAA%A="CQ*C]nRC]*?CYCauG=     84:Y y  5) ;9meu?iu?1 II Ge >4 q,23EA|i|@Y}6Y?}6n?y}6] }6m}6H@Ah?_ `q@j ? m?@[Mv? |?)~6Y? ~6.];I~4ɫ99)9 =I9Y}@y}ہGx?~jtV-?K> <)Iy-?y&1|? rh?5>?`;C< @)h@I@iA@ @ @ @©i@ )Ii@<ME=YmQU>ajE>EyD}>I  W%5? ׾ B @9 D : :) W9W9X9 X9W9:WA2WA*WAVAbUABUI*UIUIUM`@B} <By ByA}2?*ByAFAAA="C*CHnRCSeCCх*<}QIaG}z>*q,MEAY}6ajE>Ey}>Iȹ :Ži%5? :ŽXy׾ ƽB @9ƽDǽ: Ƚs:)Ƚ:WWX XW:W2W*WVbUBU*UUUr@B-0B<B) B)A-!?*B)A5A1A1A5t'="C9*C=nRCEȻCACA9IGiS@; E)}xCI}xCiyyy}%4M<]_I) 3:YX1y/:5)P;1IAG]v>Fq,BfEAY}6yW?}6?y}6" }6w-}6H?@H@??=? Ĭ ?)~6yW? ~6M`];I~6Cɫ99)9 9I9Y5@yGMF=Y:QU>ajE>EyP}>I~%5?o׾ B @9Dk: w:)W)W)X) X)W):W)2W1*W1V1bU1BU9*U9U9U=@Be<Bi BiAm?*BiAmMAqAqAuܑ="Cy*C}bPnRC}X CyCωω)Љ Љ?BɻI!)!IG >. q,/ĀEA||ɫ髙) IY@yGxDUSBL response received:!U1,N,80,80,63,E4 C,186,80,80,8D,FF ZNo reply:!U1,N,80,80,63,E4 C,186,80,80,8D,FF -]=]=i]3@] ]b@)]b@I]@i]b@mMmB=YuQUu>yya}jE}>Eyy}>Iȉ :ō%5? :ōe׾ ƍB @9ƍÖDǍ: ȍV:)ȍ:WWX XW:W2W*WVbUBU*UUU !@B<B BA?*BADAAAv="C *C nRC C CzIGF>   E:YW1yč:759 @9Ii =#; EJY&q,EAY}MKV?}M?y}M }M_K}MHক?@dB;?@ݙ?@y@q?h@?)~MKV? ~MB];I~MCɫYY)Y ]IYY*@yG5y&1?~jt?Mb`5`?5< 5)1I1y5 r?S㥫?5C?55/]= 1)5@I5@i5"A15@U<MU==YU,/YYa]jE]>Eaye }e>Iim%5?m:[׾ mB }@9mΖDm: mӻ:)iWWX XW:W2W*WVbUBU*UUU@B] <BY BYA]?*BYAeAaAaAel="C*CmRC9CC֙iyinGIIG>ieǿٺ GA,q,zEAY}2W?}2o?y}2漙}2i?@-?jל?' ?)~2W? ~2}];I~0ɫ99)9 =I9Y}x@y}GQ8=+i@ @)I@i@<Md=Yn;QU>ajE>Ey ;}>I  : ʾ%5? : R׾ B @9 זD : #:) :W9W9X9 X9W9:WA2WA*WAVAbUABUI*UIUIUM@B}bq<By ByA}4?*ByA#-AAA<"C*CmRCCC %*:-?i-?IG-N>  pT:Y0Y1y:85j3q,~UEA|i|@Y}6מW?}6O ?y}6!;޼}6I}6H`?`z"?`0? j]ƛ?{ ?)~6מW? ~60];I~4ɫ99)9 9I9Y@y6GI)<MI=Yq(;QU>ajE>E y U;} >I]%5?H׾ ͊B %@9D: M:)WAWAXA XAWI:WI2WI*WIVIbUQBUQ*UQUYU] @ReB*** querying acoustic contact ***PaPa}Z>9yIyiyyyy}; }EB@<B BA?*BAgAAAt<"C*CEmRC6CC֥aIqG:>9q,0EAY}:zX?}:P?y}:NTݼ}:hV}:H`*s?sk?v?@q ?x֊N?)~:zX? ~:0];I~:Cɫ99)9 9I9Y}@y}4GZ****** received transponder code query ******F****** received ping request ******ajE?Ey;}>I -:%5? -:=׾ ߊB 5@9Dg; ;):WWX XW:W2W*WVbUBU*UUUE!@Bv<B BA?*BA%'AAA <"C*Ch8mRC ɋC C I)AA O    ::Y U1y : 55軹 I G5 >|@q, EAY}6EJY?}6?y}6⼙}6@}6H@od? #/?h?@8x0T?L?)~6EJY? ~6p];I~6Cɫ99)9 9I9Y}@y}GxDUSBL response received:!U1,P 80,80,63,E4 C,186,80,80,8D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 v9=i @ -@)I@i@%1nMM8=YUźQU]>aaajE ?Ey;}>I!&5?3׾ B @9D: :)W9W9X9 X9Wa:Wa2Wa*WaVibUiBUi*UiUqUu"@B6<B BA?*BA~IAAAz<"C*C lRCBۺCC5yy9yI}xGi}@}=yy}; }E I GA Fq,EA|T|V4a jE ?Eyʹ;}>I! 5:%&5? =:%%(׾ %B =@9%D% M; %Y;)%:WaWaXa XaWa:Wi2Wi*WiVqbUqBUq*UqUqU}{#@B6<B BA?*BAAAA}<"C*ClRC 9CC *:YDW1yY:\5);9%E ?Bɺ I! GE >BLq,5EAY}2Z?}2r?y}23㼙}2//}2H-W?%@ )&? Z?`|e?`ㅿa?)~2Z? ~2+];I~2Cɫyy)y }IyY@@yG@AxDUSBL response received:!U1,R,EA1,000,008CB,185,80,80,6F,FF Fpublishing direction and range info Ԝ>ɰf8>+> )BIyBK%R?FeL?ٱ5-5@=5ti5G@1 5@)5-@I5-@i5-@E;ME=YM9QUM?IIaUjEU?EQy]p:}]?Iaed*&5?eN!׾ eB m@9eDeR: e:)aW1W1X1 X1W1:W12W1*W9V9bU9BU9*UAUAUE$@Pq*QuBZQu24h7AW@(@k=@JQuK%R?FeL?2Qu Ԝ>:QqbQu AM@?S@h12@RQuz`u?O@?MM`YIƗ?BQufh? QuBQuoBPuϩ9?Pu9?Pu2Qu=Qu A"QuzAB9<B BAx?*BAAAA0<"C*C͋lRC%Zc9C)C)9I=ip=G%o>Sq,OEAY}2Y?}2$?y}26^ؼ}2H}2H]? 㛿@6? :`?| ?Aǃ?)~2Y? ~2];I~0ɫii)i iIiY@yG9IGi@-; E5<M=K=Y=zW;QU=>AAaEjEE?EAyM4D}M>IQU?&5?Ux׾ UB ]@9UDUI: U:)QmuAdded new target pos. range: 97.559998 m, bearing: 52.121358 deg, deltaT: 10.044674 s, approachRate: 0.758610 m/s, LOS rate: -0.447280 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UUcX@Uv?Be<B BA?*BA`AA A%<"CI*CUMlRCUa7CQCQ]9-))- -1:Y)y)-5)-;1IAG]v>"Yq,iEAY}2uY?}2m?y}2uɼ}2/}2H`-j?@ & ?m?կt@:? ?)~2uY? ~2 ];I~2Cɫ11)1 =I9Yu@yu2GI) %%<M%K=Y%`;QU%>))a-jE5$?E9yMM}U>Ii :m2U&5? :m ׾ mB @9mDm!; mc;)m:WWX XW:W2W*WVbUBU*UUU l1?B-to<B) B)A-?*B)A5p޼A1A1A5r<"C9*C=lRC=~HC9CA5Β{I!G=r> `q,SEAY}:WX?}:d?y}:]}:9}:H Cv?J6d?x? n/˗?=B?)~:WX? ~:7];I~:Cɫ99)9 9I9Y}@y}=Gulu ?u}=iu@q u-@)uh@Iub@iuK@;MD=Y\;QU>ajE+?Eyv˻}>Iȡťj&5?ť׾ ƥB @9ƥ&Dǥ{: ȥ:)ȡWWX XW:W2W*WVbUBU*UUU?B7<B BA,?*BAJUڼAAAsu<"C!*C%kRC-C)C)% 7IG=P>I)@A-+ --- -@7:Y-U1y-:-59-@Y>9Ii3; E)ݩIݩiݩݩݩݭu4fq,=EAY}W?} !?y}b}}B>}H ?` ?@N?Td:/? Ƈ`?)~W? ~=)^;I~Cɫ) IY)y1m!rh?/$Mbml'?m m)iIiym\(\?/$Q?m:?mm\= m@)mh@Imt@iiim=@Y6k;QU>ajE2?Ey}>Iȩ :ŭ&5? :ŭ־ ƭB @9ƭ0Dǭ: ȭ:)ȭ:WWX XW:W2W*WVybUBU*UUU`Cp?B@[<B BA*BAJռAAAe<"C*CJmq, EAY}6=aW?}6?y}6;ॼ}6=}6H? 2ї@(?`?\?@>?)~6=aW? ~6^;I~6CɫYY)Y YIYY@yKG=i=I=)%=UtUxiU'iU3@Q U)UK@IUK@iQe,];MeiiaujEu8?Eyy} a}}>IȁŅ&5?Ņ־ ƅB @9ƅ9DDž: ȅf:)ȁWWX XW:W2W*WVbUBU*UUU`?Bu<Bq BqAu?*BqA}'-ҼAyAyA}w<"C*CtkRC}CCיIGc>%%%% % /:Y%V1y%:%o5tq,BEAY}6 FW?}6?y}6cN}6P J}6H ?VK's? Ӌ?|w7 i???)~6 FW? ~6r^;I~4ɫ99)9 =I9Yu@y}=GX>9Ii,; Ee ܻMeJ=Ym&Q;QUm>ajE>?Ey}>Iȹ :Ž &5? :Ž־ ƽ&B @9ƽBDǽ/; Ƚ#;)Ƚ:WAWAXA XAWA:WA2WI*WiVibUiBUq*UqUqUue@BEV<B BA,?*BAμAAA<"C*CR>kRCCCIGi>i= iE nG4zq,EAI i>ǿٺ@BAY}fsW?}fj?y}f}f0}fH?qEI??-Ro? p/?)~fsW? ~f^;I~fCɫ髙) IY@yOGmT=mtm >im@i i)m-@Im@ii}<M}:=Y}u;QU>ajEE?Ey^:}>I&5?&־ 1B @9MD: H:)WW X  X W :W 2W *WVbUBU*UUU@R%B*** querying acoustic contact ***P!P!BM)<BI BIAM?*BIAU ɼAQAQAU;<"CY*C]wkRC]CYCa֕%%%% %*:Y%U1y%:%]5׉IG> q, EAY}2W?}2 ?y}2׵}20}2H ?Hߡ`??^V?Ђz?)~2W? ~2P_;I~2Cɫ99)9 9I9Y}V@y}GZ****** received transponder code query ******F****** received ping request ******ajEK?Ey 5;} ?I&5?־ :B %@9UD: :)WIWIXQ XQW:W2W*WVbUBU*UUU @BU^$<BQ BQAU& ?*BQA]ƼAYAYA]4<"Ca*CejRCe лCaCiօ軹YIiGZ>W>9Ii:; EsFq,EAY}NW?}NA?y}NJY}N}NHv? ,v??@ b@*?@G3?)~NW? ~Nl_;I~Lɫ髱) IY@yAGxDUSBL response received:!U1,P EA1,000,008CB,185,80,80,6F,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 +?:v??9< T)Iyn?:vQ?VN?Լ< ­@)­Q@I­@i©@ M%=Y%! ;QU->))a-jE5T?EQy]x:}]>Ii :mH&5? :mN־ mFB @9mcDm; mK;)m:IAA)E E~E~E EN?:YET1yE@:EJ5)E;9]WW!X! XiWq:Wq2Wy*WVbUBU*UUU{@B- 9<B)  B) A- g?*B) A5 %A1 A1 A5 <"C9 *C= ΅jRC= ûC9 CA 5 &t I G= >bq,-$8EAY}2X?}2"u?y}2h}2e }2H` }?,?` ~?8"? ?@?)~2X? ~2_;I~2Cɫqq)q uIqY@y[GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =$>!>i@ @)@I@i@$<M=YS;QU?ajEY?E y /;} ?I'5?>־ LB @9jD: ÷:)WAWAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQUU@h"@B=B BA?*BAAAA<"C*ChjRCݪCCIGm>%Fq,-QEA||;ɫ髹) IY@yQGxDUSBL response received:!U1,R,DE2,000,00900,188,80,80,47,FF Fpublishing direction and range info*>ɰ<>> )BIyzB6|?Х'?ٱ =i =-M5Y=Y=QUE>AIaMjEM_?EYy]}e>ܱ9ܱIܵxGiܵ@ܵ =ܱܱܵ7; ݵEI  : '5? : ~־ TB @9 uD : :) :WWX XW:W2W*WVbUBU*UUUU@P*QzBZQA҅kV@VF@JQ6|?Х'?2Q*>:QbQ`:!t?H@ArV@iN?RQCtp?p ?J\?BQň? QBQABP9?Pϩ9?PQ2Q'@"Q AB<B BA7?*BAĺAAA<"CA*CM2/jRCMrCICI]S9MMMM M1:YMT1yM:Mݻ5)M-;IYG~>oq,ekEAY}:X?}:.3?y}:E}:"}:Ho?@揿?p?E)W? v?\?)~:X? ~:+c`;I~8ɫaa)a mIiY=*@y=GDNmea in: $SNTTA,,,,,014232.62*5C e½eC>e,ie@a e@)e-@Ie@ie-@uFCMu7=Y}J;QU}>yajEf?Ey;}>Iȑŕ42'5?ŕ?־ ƕ]B @9ƕDǕ: ȕ:)ȑmqAdded new target pos. range: 100.740005 m, bearing: 61.221349 deg, deltaT: 4.453454 s, approachRate: 0.714054 m/s, LOS rate: 2.043356 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU@\/Y@UN?B <B BA?*BA׵AAA<"C*C%iRC%W)C!C)׹IGf>==i==Wq,0EAɫ髙) IY@yTGl=MZ=YQU>ajEl?Ey}>Iȱ :ŵG'5? :ŵ־ ƵeB @9ƵDǵ=: ȵ:)ȵ:WWX XW:W2W*WVbUBU*UUUx?B7H<B! B!A%T?*B!A%A!A)A-E<"C1*C5iRC5;C1C9E 7I)GUS> ?,:YxZ1yq:59@Y9YIYiYYYY]A; ]Eׁq,|EA|i|Y}6Y?}6?y}6=}6 ,-}6H'`? @@?`?@a?`?`@?)~6Y? ~68`;I~6Cɫ99)9 =I9Y]@y]GI)HzG?Mb?= ?< )Iyoʡ?Mb`-? ¡)¥^AI¥@i¥h@@ϼMG=Y-:QU>ajEr?Ey.<}>IZ'5?Q־ fB @9D: U:)W W X XW:W2W*WVbUBU*UU!U% ?BM/<BI BQAU?*BQAUGAQAQA]Zj<"CY*CeiRCe 9CaCaa9IIGuX>ޫq,WEAY}2Y?}2`?y}2A}2PO}2H |a?!V?`b?dn?=?`?)~2Y? ~2_;I~2CɫII)I IIIY]@y][G)= > =@ =@ =@=©==i=µ@= =t@)=I9i=@Mp<MMR=YU^GQUU>YYa]jE]x?EayeD}e>IimNm'5?m־ mhB }@9mDm: m :)iWWX XW:W2W*WVbUBU*UUU=?BuG<By ByA}?*ByA} AyAA<"C*CFiRCCC֥9Iױ)ױyIG`>I=@A)9 +:YWU1y:n5ȓq,2EAY}2X?}2`N?y}2q@}2`_}2Hm?Gʑ x ?n?`r??ዿ?)~2X? ~2N)_;I~2Cɫ99)A AIA9IGiS@!=<; E)Iiŀ =ŀ =ŀJ5Y@yƁGݎMB=YK_9QU>ajE?Ey]һ}>I :&'5? :־ jB @9D0: =:):WWX XW:W2W*WVbUBU*UUU@ @BG<B BA(?*BAAAA<"C*C iRCS/CCq׹IGf>q,EAY}RW?}Rg?y}R.1}Rs}RH`P~?F@?~? Qy?%?`uv`?)~RW? ~R^;I~RCɫ髹) IY W@y Gm=ii   ju=i\@ ^@)K@Iib@^<MI=Y;QU>ajE?Ey}}>IQ'5?[־ kB @9D: :)W!W!X! X)W):W)2W)*W)V1bU1BU1*U1U1U=`Z;@Be=ȵ<B BA*?*BA2AAA<"C*CShRC{CC 7IG l> s+:YW1yč:5q,EAY}2V?}2vU?y}2͑}2e}2H?0@S??z?'??)~2V? ~2o^;I~0ɫ99)9 9I9Y}@y&G<M_=Y;QU>ajE?Ey:}>I :'5? :{־ lB @9D: :):W W X  X W :W 2W*WVbUBU*UUU*@R-B*** querying acoustic contact ***P)P)B<B BA?*BAzkAAAQ<"C*C=hRCoCC&t?i?IGI>==i==9I~Gi@H; Eq, EAY}2gKV?}2ٸ?y}2-컙}2j@t}2H@?:@"?t?1?}? ?)~2gKV? ~2O^;I~0ɫ99)9 9I9Y}5@y}GZ****** received transponder code query ******F****** received ping request ******}> }-=)yIyy}/$?{Gzt?Zd;O?}&1?}ף;}j<= }@)}Q@I}@i}^AyyuBɼMu2=Yu;QU}>yya}jE}?Ey7}>Iȩŭ'5?ŭtq־ ƭxB @9ƭDǭC: ȭ:)ȩWWX XW:W2W*WV bU BU*UUU @i=nGIi5ɿٺ15ABM<BI BQAU?*BQAU͙AQAQAU*<"CY*C}jhRCi,CC w2:Yy5)k;9שIG> q,f:EAY}2&V?}2A?y}2ө}2a}2H@+?@b???Y:u?@ =?)~2&V? ~2m^;I~2CɫAI)I QIQY2@yGxDUSBL response received:!U1,P DE2,000,00900,188,80,80,47,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  %v=%C =%@=i%@! %)%-@I%K@i%K@M:=Y;QU>ajE?EyE.}E>II U:M'5? U:Mwg־ MB U@9MɗDMP: M:)M:WWX XW:W2W*WVbUBU*UUU @B=<BA BAAM?*BIAUōAQAQA]g<"C*C@5hRC0CC0ש I G >q,lzTEAY}RW?}R n?y}RH}R("$}RH?% ??@${? i? (?)~RW? ~RT_;I~RC999I=L~Gi=@= =99=F; 9ɫ髹) IYU@yUGYɮY}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Mf=Y;QU>ajE?E!y%<}%?I)-6'5?-`־ -B =@9-ЗD-: -k:))WYWYXY XYWa:Wa2Wa*WaVabUiBUi*UiUqUu@BUQX<BY BYA]?*BYA]HAYAaAe<"C*C hRCCCԝԝ ՝ԝI9)9 0:YDW1yY:%5) ;I1)1 I G5 >q,enEAY}Ey=Y?}E?y}EӺ}E }EH g?m2|T?g?#y}?zZ??)~Ey=Y? ~E^;I~Aɫ  ) IY@yہGxDUSBL response received:!U1,R,D94,000,00933,189,80,80,3D,FF Fpublishing direction and range infoc ?ɰ@>鰍7> )tBIyB{I%m?U1{?ٱO  =jajE?EyK<}>I! -:%'5? 5:%W־ %B 5@9%ٗD%w: %:)%:WQWQXQ XYWY:WY2WY*WYVabUaBUa*UiUiUmѸ@Py*Q}BZQ}5U>V@ouJ@JQ}{I%m?U1{?2Q}c ?:QybQ};xE@x[ŗW@jJ?jؿRQ}ʿ??_f.nBQ}? Q}BQ},BP}9?P}9?P} Q}Q}@"Q}'@B<B BA2?*BAטAAA<"C*CgRCP09CCיIG@>q,Z/EAY}E Z?}E9x?y}E%}Ehs}EH@`Y?$(`}z(?`9Y?@x?d?X?)~E Z? ~EGo];I~ECɫ11)9 9I9Yu@yuGDNmea in: $SNTTA,,,,,014237.05*58 =i=I=)=U!MUF=YUQUU>YYa]jE]?Eaye;}e>Iim8 (5?mM־ mB }@9mDmn: mǺ:)imqAdded new target pos. range: 103.800003 m, bearing: 65.391172 deg, deltaT: 4.432392 s, approachRate: 0.690372 m/s, LOS rate: 0.940761 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU@3Y@U]?B&<B BA?*BAŠAAAKm<"C*CۓgRCA;CC IG (>999I=}Gi=_@999=>; =E5115 5):Y1y155)5;cq,c EAɫ髙) IYL@y^G/$?p= ףl?> =)IyMb?L7A`?/$?@?+=< 3@)AI3@i@@ȳMQ=YQU>akE?Ey}>I  (5? C־ B @9 D < <) WWX XW:W2W*WVbUBU*UUU$A?Boѷ<B BA?*BAAAA*<"C!*C%UgRC%:C!C)IG)>U=iU=0Hq,)EAY}:c@Z?}:ӭ?y}:N}:"}:H@U?-}-?}U?s?`[i?򚀿?)~:c@Z? ~:T];I~:Cɫyy)y yIyY@yGÕ`e>ÕÕiÕ@Ñ ĕ@)ĕIĕ@iĕٮ@<MO=YUкQU>akE?Ey;}>I :0(5? :9־ B @9Ds: |:):WWX XW:W2W*WVbUBU*UUU@"?B-K<B1 B1A5?*B1A59A9A9A=.<"CA*CEgRCE$;CACIEI1GeU>5555 5.:Y5WU1y5:5ܾ59=@;0q,EA|i|@L9LIN}GiN@N!=LLN?; LY}WY?}X?y}bT;}\%}H`f?@ ?e?|{? jg?y?)~WY? ~V];I~Cɫ) IY5u@y5wGI)ڻMI=Y%A:QU>akE?Ey#}>IE(5?t/־ B @9DI: :)WWX XW:W2W*W V bU BU *UUU@?B=<B9 BAAE?*BAAEsAAAAAEZ<"CQ*CU.fRCU|wVCQCYM};!I)GE0>]q,ͬEAɫ) IY-6@y-PG)Ý= Ý= @ @ @©i3@ )I@i-@%&M%C=Y-QU->11a5kE5?E1y=}=>IA M:EZ(5? M:E$־ EB M@9E DE: E:)E:WqWqXq XqWq:Wy2Wy*WyVybUBU*UUU,@B<B BA#?*BAwAAA<"C*CfRCCC+;ױIGg>IQ)Q c2:YDW1yY:5Cq,~ EAY}F{X?}F_?y}F529}FN}FH u?@ |Z?u?*?F@& ډX?)~F{X? ~F];I~FCɫQY)Y YIYY@y@Gu2MuW=Yufyya}kE}?Ey}>Iȑŕ'n(5?ŕ־ ƕB @9ƕDǕ: ȕ4:)ȑWWX XW:W2W*WVbUBU*UUU`77@B<B BAT?*BApAAA)<"C *CumfRC^CC %=%>I G5O>܁9܁I܅|Gi܅k@܅ =܁܁܅H; ݅E)Iiņ 4rq,al#EA||Y}FX?}F&K?y}F4:}F}FHn?U )qs ?]n?g?`FQc`?)~FX? ~F'z];I~FCɫIQ)Q QIQYT@yŀG?Ai-?/$?y&1?5>,= `e<)Iy\(\?y&1?I +?:?`<94= ‰)@I‰i‰@sMG=Y ;QU>akE?Eym;}>I :(5? : ־ tI B @9Du: :):WWX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPB5 =<B9 B9A=?*B9A=;iAAAAAEp<"CI*CMn2fRCM ȺCICQ=_IAG}Y> X3:YU1y:5q,/=EAY}6UY?}6V?y}6U:}6hk}6H@2f?1_q ?e?K?@TY-@?)~6UY? ~6:K];I~6CɫYY)Y ]IYY@yGZ****** received transponder code query ******F****** received ping request ******99a=kE=?E9yE;}E>IIMC(5?M־ MɋB u@9M&DM: MU:)IWWX XW:W2W*WVbUBU*UUUb @B5"v<B9 B9A=?*B9A=0bA9A9AEh<"Ca*CmeRCmL<#8CiCi}0:ĺׅ?iׅ?QYi]p=IiG{>q,fWEA9IX|Gi@Q; Eɫ髱) IY+@yGxDUSBL response received:!U1,P D94,000,00933,189,80,80,3D,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<MmV=Y}QU}>akE?EIy]}e>I %:L(5? -:Fվ ҋB 5@90DU< <):W WX XW:W2W*WVbUBU9*UAUAUE @B~®<B BA?*BAObZAAA+F<"C*CHeRCBCCiAjA9 2:Yy&5)|;9שIG>1 = Ci nGI i = ƿٺA E Amq,pEAY}6YX?}6U?y}68}6Gn}6Hm? E ?6m? y?ȍ@"?)~6YX? ~6];I~6Cɫyy)y }IyY3@yGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IQ)UAIQ)UA aa @ @ @©i@ )I@i@ ;MA=Y;QU>akE?E y 1}>Iݾ(5?վ ۋB %@98D: :)WAWAXA XAWI:WI2WI*WIVQbUQBUQ*UQUYU]`#@BW<B BA ?*BATAAA<"C*CeRCbԺCC9׹IGh>y"q,rEAY}B#X?}BP?y}BN9}B_}BH`{?9`??z??2?)~B#X? ~By)^;I~BCɫyy)y }IyY@yGxDUSBL response received:!U1,R,15E,000,0096B,187,80,80,1E,FF Fpublishing direction and range infoaɰE>鰽1> )AIyQB^iل?->ӿٱQM]=Y{:QU>akE?Ey}>I  -(5? վ B @9 AD #: <:) W9W9X9 X9W9:W92WA*WAVAbUABUA*UIUIUM @PY*Q]QBZQ]AWьY@k @JQ]^iل?->ӿ2Q]a:QYbQ]I,Y@_~>@w?RQ]J?0U?;r?BQ]Ŕ> Q]AQ]UBP]U9?P]9?P]yQ] Q]@"Q]@BM<BQ BQAU/?*BQAUMAQAQA]<"CY*CeDJeRCeqMCaCaօ?BII׉)׉)9)I-{Gi-x@)))-F; -EYIaGY>Iy)}?A  ?:YW1yč:5)ښ;(q,ÜEAY}^:LW?}^?y}^:}^{8}^H֊?mZ݀?É?M?wWF`?)~^:LW? ~^`6^;I~\ɫ髙) IY@yCG=TNmea in: $SNTTA,0.094725,,,,014241.50*4A I +?kt?:v?9? = T=)Iy`"? rhS㥛?7?C/< @)^AIQ@i@uMu4=Yus%;QUu>yya}kE}?Ey}>Iȉ :ōO(5? :ō'վ ƍB @9ƍLDǍ\: ȍC:)ȍ:myAdded new target pos. range: 107.160004 m, bearing: 16.648612 deg, deltaT: 4.406777 s, approachRate: 0.762462 m/s, LOS rate: -11.060818 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU=Z@U` ?B δ<B BA{?*BAoFAAAz<"C!*C-eRC5*nۻC1CA U=U==vтIGn>.q,vEAɫ髙) IY@y~G==i==   Ý/ÝQ8>Ý=iÝ@Ý ĝb@)ęIĝK@iĝK@<MX=YQU>akE?Ey}>I(5?վ B @9TD: :)WWX XW:W2W*WVbUBU*UUU @Í?B5<B1 B1A=~?*B9A=b@A9A9A=<"CA*CEdRCMλCICIeP9IIGeU>{{ 1:Y#R1y:59@! 9! I% ,{Gi% &@% !=! ! % N; % Er5q,7REAY}2 W?}2{x?y}28d;}2ᑼ}2H Y?@$| ?@??l;?)~2 W? ~2];I~0ɫYY)Y YIYY(@y G  hA5mM=R=Y=D;QU=>AAaEkEE@EAyM~'}M>Iȩ :ŭ)5? :ŭ-վ ƭB @9ƭ]Dǭ: ȭ:)ȭ:WWX XW:W2W*WVbUBU*UUU5?BLz<B BA%i>*B!A%w9A!A!A%]<"C)*C5adRC5ǫC1C1օ[RӻYIaGY>u=iu=;q,D6EAY}2aW?}2?y}2Pu;}2v}2H ߆?9y`?`?S? n?)~2aW? ~2];I~2CɫAA)A MIIYu\@yu,G->->-̽i-@) -)-ٮ@I-@i-@=<M=J=Y=(:QUE>AAaEkEE@EIyU;}U>IY]$)5?]վ ]B e@9]fD]: ]:)YWWX XW:W2W*WVbUBU*UUU@?BE<BA BAAES?*BiAmr&3AiAiAm<"Cq*CuwdRC}ìCyCyԩԭiA֝PqIG]> H    9:Y X1y /: %5TBq, EA|i|@Y}6EX?}6s?y}6m};}66}6H@}?`N:x &?|?@e?`Ho ?)~6EX? ~6AQ];I~6Cɫ99)9 9I9Y@yGI9)=A]ˬM]I=Y]9QU]>aaaekEe @Eiym;}m>Iq }:u8)5? }:uվ uB @9upDu: u:)u:WWX XW:W2W*WVbUBU*UUU@@B(L<B BAA>*BA,AAAkM<"C*C:CdRC WmCCօS9IzGi@ =L; iIqGeIq,%EAY}:cX?}:T?y}:_P;}:}:H8w?{٫@?u?p?@ j@ ?)~:cX? ~:1];I~:Cɫ99)9 =IAY}c@y}1Ge;O?Zd;O?{Gz?>j<= #<)Iyv??Mb?8?<< ±)µxAIµ@iµAf@)= =?<MC=YغQU>akE@Ey_;}>IlM)5?վ B @9zDӻ: ܹ:)WW!X) X)W1:W92WA*WIVIbUIBUI*UQUQUU@Ӥ@BE%<BY BYAe?*BA%AAA<"C*CdRC5#CC _I)Iޙ)ޝAAIG >M M M M  M .:YM T1yM :M \52Oq,?EAY}2NX?}2?y}2TA;}2-}2H`x?`De`?aw?9?*hr ?)~2NX? ~2n\;I~0ɫ99)9 9I9Y]o@y]6GaeAA @ @ @ý©ýýiý(@ý Ĺ)ĽIĽ@iĽ@ԤM\=YL"QU>akE@Eye}>I_)5?վ B @9D: :)WWX X!W!:W!2W!*W!V!bU)BU)*U)U)U5{@RB*** querying acoustic contact ***PPB<B BA>*BA AAA1<"C *C-cRC5F?C1C1 E=E=EeI)GEQ> 9 I zGi 2@ P; E)YIYiYYY]i4Vq,YEAY}2W?}2VL?y}2vN;}2򞁼}2H?y@?`?t?i3 ?)~2W? ~27];I~2CɫYY)Y YIYY@yqGZ****** received transponder code query ******F****** received ping request ******aaaekEe!@Eiymt}u>I :0u)5? :/վ B @9D: :):W!W!X! X)W):W)2WI*WQVQbUQBUQ*UQUYU] @B<B BA>*BA~.AAA!<"C*CcRCzCC 7׹IGf>m m m m  m /:Ym W1ym č:m n5)m ;9 eD\q,ssEAY}6PaW?}6?y}6M;}6/x}6HP?Wt`? O?a?p?)~6PaW? ~6];I~6Cɫ99)9 =I9Ys@y:GxDUSBL response received:!U1,P 15E,000,0096B,187,80,80,1E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iA - - --->-Ļi-@- -@)-K@I-@i-@U=M].=Yed:QUe>akE(@Ey{}>IJ)5?վ B @9D: :)WW!X XW:W2W*WVbUBU*UUUI @B~<B BA>*BAjAAAZ<"C1*C=DVcRCEECACIޝ=iޝp=֥ ׁ I G >g,cq,vOEAY}:A2W?}:?y}:Dw;}:}}:H? 1r)?@}?}?Nt?)~:A2W? ~:\;I~:Cɫ99)9 =I9Y}0@y}~G鮁ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Mm=Y4);QU?akE.@Ey}?Iȩ :ŭ)5? :ŭվ Ʃ @9ƭDǭ; ȭ;)ȭ:WWX XW:W2W*WVbUBU*UUU ;@Bb<B BA>*BA%# A!A!A%<"C)*C-2cRC-}λC1C1E#2q9qIu8yGiu@qqquR; u—EI)GEQ>     0:Y V1y : 5) Y;Viq,+EA|i|@Y}B7W?}B0?y}B8;}B}BH-?t`?`?=@?` gu`m1?)~B7W? ~B<\;I~BCɫYY)Y ]IYYl@y}GxDUSBL response received:!U1,R,D5E,000,009A0,18A,80,80,1C,FF Fpublishing direction and range infoinG?IɰI>> )Ai1IyBA^?TI?ȿٺsAٱI)Ajt?Mby&1?> `<)Iyv/?IIaMkEM5@EQyU839}U>IY]1)5?]վ ] B e@9]D]: ]b:)YWWX XW:W2W*WVbUBU*UUU*BAAAAC(<"C*C_bRCZƻCC֭Qϻ׉ I G >@pq,fEAY}r_W?}r8?y}r;;}rpي}rH_? /t`? ??@qv`Z@?)~r_W? ~r\;I~rCɫ) IY%@y}G]DNmea in: $SNTTA,,,,,014245.93*52 )u= qԼMv=Y H:QU ?akE;@EyL:}?I! -:%()5? -:%xվ % B 5@9%D%4: %:)%:m]uAdded new target pos. range: 110.339996 m, bearing: 67.638154 deg, deltaT: 4.572661 s, approachRate: 0.695436 m/s, LOS rate: 11.150956 deg/s, posRepo size: 4WaWaXa XaWa:Wi2Wi*WiVibUqBUq*UqUu•[@Uun?B<B BA>>*BAD,AAA<"C*CRbRCZCCֽ0:ĻבIGa>IޕAA)ޑ     .:Y W1y č: 59 @e X>9a Ie xGie ?@e !=a a e G; e E"hvq,7EAY}>BnW?}>?y}>;}>}>H@V?`z r`Z?? =?Bye@?)~>BnW? ~>\;I~>Cɫ99)9 =IAYN@y}GUU<M]V=Y]:QU]>aaaekEeA@Eiym:}m>Iqu)5?u=nվ uB }@9uDuk: u4:)qWWX XW:W2W*WVbUBU*UUU@?B<B BA>*BAAAAhJ<"C*CbRCCCSIGI>|q,EA||ɫ髙) IY@y}Gí9íq>íakEH@Ey}>I :Z)5? :cվ B @9ȘDR: :):W W X  X W :W 2W*WVbUBU*UUU?BE1<BI BIAM>*BIAMAQAQAU<"CY*C]_bRC]0SCYCa))%?i%}?IG%n>     &2:Y DW1y Y: 85zq,EAY}2)X?}2m?y}2;}2r}2H8{?@6i?z?0l?˼|@-?)~2)X? ~2];I~0ɫ99)9 9I9Y]%@y]}GhA;MX=Y;QU>akEN@E y |;} >I*5?Yվ B %@9јD: w:)WWX XW:W2W*WVbUBU*UUU;?But<By ByA}>>*BAHAAAk<"C*C&bRC6'CCԵԵ յԵ 9 I wGi K@  =   P; E1I9GU>q,r(EAY}21{X?}2?y}2k5;}2cr}2Hzu?hh.?qt?0?&zC@?)~21{X? ~2];I~2Cɫ99)9 EIAY}@y}%}G=/$?y&1?{Gz?= ?=`< =ף<)9I9y=Cl?~jtx  akEU@Ey|.;}>I : *5? :Oվ B @9ܘD< <):W W X  X W:W2W*WVbUBU*UUU%k?BU&V<BQ BQAU>*BYA]YӻAYAYA]8<"Ca*CeaRCmmCiCiYIiGZ>q,YMBEA|i|Y}63X?}6+?y}6;}6U}6H`p? ?KBj`#?p?(? t K2?)~63X? ~6];I~6Cɫ99)9 =IAY{@y|GI)AUfɼM]j=Y]wQU]>aaaekEe[@Eaym?;}m>Iqu2*5?uFվ u!B }@9uDu4: uǺ:)qWWX XW:W2W*WVbUBU*UUUs@B<B BA>*BAʻAAAC<"C*CaRC|_CCI)׉IG>e  ;:YU1y:5 9 I DwGi @ != Y; ƗEq,(\EAY}>X?}>'?y}>6;}>4a}>H t?`r?`s??~p 3 (?)~>X? ~>d];I~<ɫyy)y yIyY@y+|G)= >(MN=Y%$QU%>!!a%kE-a@E)y-I}5>I9=2G*5?==վ =$B E@9=D=: =:)9WaWaXi XiWi:Wi2Wi*WqVqbUqBUq*UyUyU}@ڟ@RB*** querying acoustic contact ***PPBK<B BAD>*BAYAAAL<"C*CDaRCݺCCשIG>q,vEAɫyy)y yIyYw@y|GZ****** received transponder code query ******F****** received ping request ******i@ n@)In@in@T=M;=Y%QU%>!!a-kE-h@EIyU}U>IY e:]]*5? e:]3վ ]'B e@9]D]: ]:)]:WWX XW:W2W*WVbUBU*UUU7 @B%c<BI BIAM]>*BIAMK'AQAQAUK<"CY*C]:@aRC]ǺCYCa]_e?ie?QIaG}z> +:YDW1yY:5ȣq,ޏEA||4<ɫyy)y }IyY@y|GxDUSBL response received:!U1,P D5E,000,009A0,18A,80,80,1C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =DJMEZ=YQQU]>iakEn@EAy}>Iȡťr*5?ťT*վ ƥ+B @9ƥDǥM< ȥ<)ȡY>9I|vGiW@X; )IIIiIM!=M!=M 4WW!X! X!W!:W)2W)*W)V)bU1BU1*U1U1U5 @BMξ<Bq ByA}>*ByAxAAA@ <"C*C}`RC`쾺CC R== ?Bɺס I G >q,ԹEAY}2yW?}21?y}2:;}2+Q}2H ? kb?`†?2{? ~ x7/?)~2yW? ~2d\;I~2Cɫ99)9 9IAY@y{GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B a i@a  a m@a  a q@a  a e@a  iA޾/>i̴@ b@)?@I-@iٮ@%T޻M%/=Y-l;QU->11a5kE5u@E1y=_}=>IA M:Eш*5? M:E վ E.B M@9E DE: E2>)E:WWX XW:W2W*WVbUBU!*U!U!U-@Bm{<Bq BqAuA>*BqAut^AyAyA}Š<"C*C`RCǪCCޝ=iޝ=ww ,:YO1yP:5ֵNJκ׉IG>ڰq,ݔEAY}:ؼW?}:>*?y}:;}:N}:HԂ?`Ʈ[{? ??ƞz Fމ,?)~:ؼW? ~:,];I~:Cɫ99)9 9I9Y}^@y}p{Gu!M=Y:QU ?akE{@EyP;} ?I)-*5?-վ -0B =@9-D-[: -C?))WYWYXa XaWa:Wa2Wa*WaVibUiBUi*UiUiUu@E@B6)<B BA>*BAqAAA><"C*C`RCsCCֵ3Iױ)ױׁIG>ܭ Z>9ܩ Iܭ uGiܭ @ܩ ܩ ܩ ܭ K; ݭ Eq,W|EA|(i|(Y}w@X?}ݭ?y}d;}3}Hy?iEG ?@y?%?`sz!wT?)~w@X? ~"];I~ɫ) IYM=@yMG{G]TNmea in: $SNTTA,0.090255,,,,014250.37*4D }M}==Y>39QU>akE@Eyė;}>Ișŝ*5?ŝjվ Ɲ3B @9ƝDǝ: ȝ?)șWWX XW:W2W*WVbUBU*UUU@B<B B A >*B A zA AA<"C*CQi`RCCC-iA-iASIGI>e>eCinGIi=ſٺ9=A ,:YU1y:ʺ5);9?9A.q,#KEAY}2oX?}2?y}2;}22}2H@Rv? <)G?@u??1z`wPV?)~2oX? ~2\;I~2Cɫ99)9 =I9Y}@y}zG)Ý> Ù>D+i@ @)@I&@i@MT=YQQU>akE@Ey :} >IW*5?վ 5B @9&Dj; ?)WAWAXA XAWA:WI2WI*WIVIbUIBUQ*UQUQU]c}@B<B BA>*BAVAAAu<"C *C3`RCĺCC%eI G%M>Iޕ@A)ޑq,&EAY}6JX?}6A?y}61;}6۬J}6H x?q]/?@$x?`?`wyPU7?)~6JX? ~6Q\;I~6Cɫ99)9 =I9Y@yzGOMJ=YuYQU>  a kE @Ey{}>I)-:*5?-CԾ -8B =@9-0D-`J; -?))WqWqXy XyWy:Wy2W*WVbUBU*UUU#@RB*** querying acoustic contact ***PPB<B BA>*BAsAAA=<"C*C_RCmXCqCqU[>9QIUtGiU@QQQU=; UEօNJκaIGa> 0:YDW1yY:5) ;@q,\+EA||;Y}:W?}:`Q?y}:Bu;}:Q8}:H?`VQ@?y?O?y Q?)~:W? ~:>\;I~:Cɫ99)9 =I9Y} @yyGa iUa i] a m]a m] a q]a q] a e]a e] ]w/??K?]F?]L> ]^=)YIYy]#~j?Zd;O~jt?]E?]j]< ]@)]=AI]@iYY]GA @ @ @õ©õõiõQ@õ ĵԸ@)ĵ­@Iĵ@iĵ­@_M0=Ym;9QU>akE@Ey^}>I :*5? :Ծ ;B @9;Do: w:):WWX XW:W2W*W!V!bU!BU!*U!U)U-/@BUߘ<BY BYA]>*BYA]!_AYAaAeW<"Ci*Cm_RCm[CiCq }=}=}9IAGew>(q,DEAY}6W?}6T?y}6};}6;IF}6H@҅?@YS ??7?o{`Ȉ`7?)~6W? ~6J\;I~6Cɫ99)9 =I9Y}@y}yG‘•jA1Mu=Yg:QU?akE@Ey*v}?IȹŽ+5?ŽԾ ƽ>B @9ƽCDǽ: Ƚ4:)ȹWWX XW:W2W*WVbUBU*UUU0K@B;<B BA@>*BAOA A A ,W<"C*C[_RCCCvтIGI>ޕ=iޕ= 3:YY1y:59@I 9I IM $tGiM o@I I I M J; M ESq,^EAY}2W?}2X?y}2q;}2<}2H@?Dq6`?P?.?!.~wakE@Ey`:}>I :e+5? :>Ծ AB @9NDg: R:):WW X  X W :W 2W *WVbUBU*UUU@BEc<BI BIAM>*BIAM؆>AIAIAU<"CY*C]Z_RC]sCYCa񖻹יIGB>}q,qxEA|i|Y}6 X?}6z?y}6e@;}68}6H}?<f? ?{|?@?;?)~6 X? ~6\;I~6CɫYY)Y YIYY@yyGxDUSBL response received:!U1,N,80,80,63,E4 0,18A,80,80,1C,FF ZNo reply:!U1,N,80,80,63,E4 0,18A,80,80,1C,FF -))a-kE-@E1y5+j;}5>I9=Q1+5?=Ծ =DB E@9=XD=4: =Ǻ:)9WiWiXi XiWi:Wq2Wq*WqVqbUyBUy*UyUyU@B&<B BA>*BA,AAA<"C*C"_RCʹCCqqeyb]9IIGeU> 11:YV1y:o5nfq,tEAɫyy)y }IyY=@yxG)= =5CM5I=Y=QU=>99aElEE@EAyM}M>IQ ]:UG+5? ]:UԾ UFB ]@9UbDU: U:)U:WyWX XW:W2W*WVbUBU*UUU7@B&Ü<B BA>*BAAAA [<"C*C^RC!CC9I\sGi@ =Z; ɗE"5IGL>I޵AA)޵@Aq,sIEAY}2pZX?}2?y}2 ;}2B}2H@w?/0@? w?2?@,`bZ,?)~2pZX? ~2r\;I~2CɫYa)a iIiYj@y yGK7A`?(\µ~jth ? D)IyMb?:v~jt?@?T< xA)AI"Ai"AA = = ==bp?=倿=}i=f@= 9)=@I=^@i=@MKJ<MM:=YUW7QUU>QYa]lE]@EYye.;}e>Iim_+5?mԾ mJB u@9mmDm: m:)iWWX XW:W2W*WVbUBU*UU)U-@ @B}R<By ByA}>*ByA}AAA-<"C*CK^RCaCCֽ 7בI .:YU1y:5G>vq,y$EA||ɫyy)y }IyY@yxG铽Me=YQU>alE@Ey}>I :q+5? :Ծ NB @9uD: I:):W!W!X) X)W):W)2W)*W)V1bU1BU1*U9U9U= @REB*** querying acoustic contact ***PAPABm瞥<Bi BiAmW>*BiAu_A AA<"C*Cly^RC@ºCC M=I%?BɺI)GEQ> 9 I rGi {@ S; ŗE)݁I݁i݁݁݁݅4 q,EAY}2CW?}2J?y}2x<}2}2H z?;@b`?`9?N?u`?)~2CW? ~2!\;I~2CɫYY)Y ]IYYy@ywGZ****** received transponder code query ******F****** received ping request ******!!a%lE%@E!y-}->I9=҇+5?=Ծ =RB M@9=D=; =;)9WyWyXy XyWy:Wy2W*WVbUBU*UUU!@B<B BA}>*BAVٺAAAA}<"C*CgD^RCeMCC1ENJκI)G]U>޽=i޽= ):YWU1y:%5);9q,&EAɫqy)y }IyYX@ywGxDUSBL response received:!U1,P 80,80,63,E4 0,18A,80,80,1C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ƽ`E?iQ@  @)@I@i@f MM-=Y]QU]>alE@Ey}>I :+5? :Ծ VB @9D: R:):W9WiXi XiWi:Wq2Wq*WqVqbUqBUy*UyUU`d"@B4<B  B A g>*B A fA AA9<"C9*CEW]RCE9CACIMyb]IQ)Q! I9 G] >q,EA|i|Y}6[X?}6?y}6 <}6h}6H@u?` O?t? ?`@]@?)~6[X? ~6J3\;I~4ɫ99)9 =IAYe@yevGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ԅMh=Y]:QU?alE@Ey`;}?Iȩŭz+5?ŭԾ ƭYB @9ƭDǭ: ȭ:)ȩWWX XW:W2W*WVbU BU *UUUU.#@B=-0<B9 BAAE>*BAAE2AAAAAEb<"CI*CU]RCU:CQCQܵ\>9ܱIܵqGiܵ@ܱܱܱܵ=; ݵEe 7AIaG[> +:YU1y:ʽ5)~;i mGI i  Ŀٺ  2A` q,-EAY}U>Y?}U?y}US <}UY}UHbj?`xT?@8?i?$?@pj`4 ?)~U>Y? ~UN\;I~UCɫ)))) 5I1Ym/@ymwGuxDUSBL response received:!U1,R,DDA,000,00A16,188,80,80,59,FF uFpublishing direction and range infou >qɰuS>u> q)uBIqyuBudb?J?ٱqdNmea in: $SNTTA,0.184870,0.184951,,,014256.03*5B %J +?Mb`?~jtx?%(?%; %;)!I!y%S?/$?:v?%/=?%<%T< %A)%AI%Ai%A!%3A)== => @ @ @©i @ )@Ii@=M)=Y6 8QU>alE@Eys;}>I  +5? Ծ [B @9 D : :) W9W9X9 X9W9:W92WA*WAVAbUABUI*UIUIUM#$@Pa*QeBZQeM+ Z@rK@JQedb?J?2Qe >:QabQe&xzK@XrY@dۀRQeM.?ݣ6?-tBQe1? QeBQe]BPe9?Pe9?PeQeQe˕@"Qe.@B<B BA܍>*BAmvAAA߽<"C*C]RCo=:CCI޵@A)ޱ"׉IG>q,rGEAY}2ӞY?}24 ?y}2l;}2rR}2H``?@K9?`??@ U?)~2ӞY? ~2 N\;I~2Cɫ99)9 =I9Yu@y}&wGjM=Y QU ?  alE@Ey;}?I! -:%L+5? -:%Ծ %\B -@9%D%: %:)%:m]yAdded new target pos. range: 117.420006 m, bearing: 61.859288 deg, deltaT: 10.070949 s, approachRate: 0.703013 m/s, LOS rate: -0.573815 deg/s, posRepo size: 4WaWaXa XaWa:Wa2Wi*WiVibUqBUq*UqUu`Z]@Uu?B<B BA>*BAvgKAAA{<"C*CA`]RCұM;CC;?i?ׁIG=> ).:YT1y:J59@ܕ ]>9ܑ Iܕ hqGiܕ 6@ܑ ܑ ܑ ܕ 1; ݕ E0q,kGaEA|4<|p;Y}> Y?}>l?y}>B;}>[zd}>H`a??'b?@`?@B?Y3|`⎌`?)~> Y? ~> \;I~>CɫYY)Y YIYYF@ygvG9i==u9MuC=Y}QU}>yalE@Ey}>IȑŕX+5?ŕIԾ ƕ]B @9ƕDǕk: ȕ:)ȑWWX XW:W2W*WVbUBU*UUU(?B*<B BA~>*BA8AA A 8<"C*C"]RC/;CC%qZ;IG J>Sq,"{EAY}2:X?}2\?y}2pj;}2䃼}2HFm?p i # ? l?@BÑ?`=m}E| ?)~2:X? ~2\;I~2CɫYY)Y ]IYY@yuG  iA U } }}<}}`=i}@} }O@)}9@I}9@i}9@BڼMI=Y@:QU>alE@Eyǻ}>Iȩ :ŭ,5? :ŭTwԾ ƭ_B @9ƭDǭ1: ȭ=:)ȭ:WWX XW:W2W*WVbUBU*UUUZ?B<B BArs>*B!A%$ĹA!A!A%<"C)*C-\RC59C1C1օ ;AIiG[>޵=i޵=$ || 6:YR1yi:%5%q,.EAY}FHX?}F?y}F;}F{}FH|?@d@Q?z?p?@'O?)~FHX? ~FO[;I~Dɫ髹) IY@yvGMU;MD=Y:QU >a%lE%@EQ9QIUI,5?lԾ aB @9ÙD; ;)WWX XW:W2W*WVbUBU*UUU ?BmXy<Bi BiAmt>*BiAmMAqAqAuk<"Cy*C}\RC} CC֕9Iי)יiIyG>|.+q,!EA|8i|8Y}zW?}z?y}zL <}zfz}zH? k@f?I??`Α`w?)~zW? ~z[;I~xɫ) IYMz@yUluGI)u+?I +?sh|??u?u94< u=)qIqyuS㥛?X9v?uD?uu< uA)qIu"AiuAqq=ʡ"i 9@)O@IO@iM<=Y:QU>alE@Ey䦻}>I :1,5?  :8cԾ eB  @9ΙD: =:):W)W1X1 X1W1:W12W1*W9V9bU9BU9*U9UAUEջ?BmZ<Bq BqAue>*BqAu7AqAqA}<"C*C>u\RCfnCC֕"5iIyG~>  3:YWU1y:75(2q,ճEAY}:zW?}:U?y}:<}:ۻ}:H Q? m?{?G?d?)~:zW? ~:[;I~:Cɫ99)9 =I9Y]U@y]>uG)> =%UM%l=Y-;:QU-?))a5lE5@E1y=k}=?IAED,5?ET[Ծ EhB M@9E֙DE: Eϸ:)AWiWqXq XqWq:Wq2Wy*WyVybUyBUy*UUU%@B-<B BAx`>*BAw49AAAkb<"C*CG\RCH[pCCy׹IG J>Iޱ)޵AA5 ^>91 I5 toGi5 @1 1 1 5 ; 5 E>8q,EAY}2VW?}2Z?y}2$<}28b}2HP?ubk?}?[?`K?)~2VW? ~2 \;I~2Cɫ99)9 9I9Yu@y}tGl,MS=YwQU>alEAEy;}>IȱŵFZ,5?ŵ~RԾ ƵlB @9ƵDǵ4: ȵ:)ȱWWX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB%"q<B) B)A-O>*B)A-9AAA{;<"C*C@\RCbCCyb]?i?סIGMR> N2:Y0Y1y:n5)G;9hg>q,jEAɫyy)y yIyY%@yuGZ****** received transponder code query ******F****** received ping request ******qqaulEu AEyy}}}>Iȁ :Ņs,5? :ŅGԾ ƅpB @9ƅDDž: ȅ:)ȅ:WWX XW:W2W*WVbUBU*UUUm @B8l<B BAtZ>*BAR :AAA<"C*C[RCPe C C eIGj>OEq,$FEAY}FTX?}F?y}F<}F}FHs? Ae?Yr?ؒ? Ҁ?)~FTX? ~F\;I~DɫYY)Y ]IYY@ytGxDUSBL response received:!U1,P DDA,000,00A16,188,80,80,59,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 !%jAMNMUO=YeQUm>yalEAEy};}> 9 I oGi O@    ; EIȹŽc,5?Ž}>Ծ ƽtB ]@9ƽDǽT< Ƚ3<)Ii = =g4)ȹWWX XW:W2W*W!V!bU)BU)*U)U)U-`H @Bn<B BA#X>*BAa<:AAA,<"C*C>[RC9CC޹i޽=|| .:YR1yi:5)?; ױIG>~Kq,50EAY}:ܜX?}:: ?y}:<}:}:Hs?@l?lq?`=?N`дY?)~:ܜX? ~:Z[;I~:CɫQQ)Q UIQY@yNsGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B X9v? rhQ?>C u<)Iy}?5^I?Mbp?Mb?MB?;< )rAIiAAUUiqaulEuAEqy}9}}>Iȁ :Ņ],5? :Ņ4Ծ ƅvB @9ƅDDž: ȅ:)ȅ:WWX XW:W2W*WVbU9BU9*UAUAUE@B`W<B BA.>*BA]:AAA<"C*C_[RC\-'9CC֭9I׹)׹׉IG>bRq,JEA|i|@Y}BsX?}Bu?y}Bo <}BW}BHu?@nC?/t?@,?`x}0?)~BsX? ~B)\;I~BCɫ髑) IY@yWsGxDUSBL response received:!U1,R,DB9,000,00A50,18A,80,80,3C,FF Fpublishing direction and range infoS>?ɰDX>> )pBIyBX5gv?,?ٱI)A ;%;M d=Y -:QU >alEAEy}%>I!%@,5?%$,Ծ %xB 5@9%D%>: %:)!WQWYXY XYWY:WY2WY*WaVabUaBUa*UaUiUm@b@Py*Q}BZQ} eZ@qK IqM@JQ}X5gv?,?2Q}S>?:QybQ}/TK@usw[@Z֘A@RQ}q1?m?5{A5BQ}? Q}BQ}XBP}9?P}9?P}Q}Q}ń@"Q}˕@BM]<BI BIAM.>*BQAU~:AQAQAUH<"CY*C]-[RCe9ֹCaCae99IAGeU> 0:YWU1y:759@9yCIHnGi@ ; EXq,3cEAY}rIqX?}r?y}r3<}r}rHv?xeg@ ?Ot? L? A1?)~rIqX? ~r \;I~rCɫ) IYU@yU@sGTNmea in: $SNTTA,0.085886,,,,014300.48*41 )= =MMU7=YU:QUU>YYa]lE]$AEaye}e>Ii u:m,5? }:mT!Ծ mzB }@9mDm: mI:)m:Ci/mGI ie!˿ٺimAm}qAdded new target pos. range: 120.900002 m, bearing: 63.364218 deg, deltaT: 4.348377 s, approachRate: 0.800298 m/s, LOS rate: 0.346090 deg/s, posRepo size: 4WyWyXy XyW:W2W*WVbU!BU1*U1Ue9^@Ue`?BEH?<BA BAAM,>*BIAM::AIAIAM<"Ci*CmZRCmJ둹CiCyIޱ)޵?A֍"a Iq G >^q, }EAɫ髙) IY<@yrGÕ,ÕÕ=iÕz@Ñ ĕ(@)ĕIĕԸ@iĕ9@> MV=YQU>alE*AEy}>I,5?Ծ |B @9D: ض:)WWX XW:W2W*WVbUBU*UUU`e?B-~_<B1 B1A5Z>*B1A5,e:A1A1A=x<"C9*CE߽ZRCExvCACA׹IGf>~~ |,:YT1y@:\5eeq,ߌEA|;|;Y}6X?}6[?y}6+<}6͋}6H@m? "OO ?k?@}?@~Dy [?)~6X? ~6~f\;I~6Cɫyy)y }IyY@yrGܙ9ܙIܝmGiܝ@ܝ=ܙܙܝ; ݝEiN<M<=Yo.;QU>alE1AEyr;}>I :,5? :g Ծ }B @9&D9: ';):WIWIXI XIWI:WI2WQ*WQVQbUQBUY*UYUYU]_?BE<B BA%>*BAѕ:A A A Nm<"C*Cb{ZRC׍:CC5IG5>kq,@hEAY}6 hY?}6h?y}6.&<}6H1}6H@d? )̈] ? c?YH?@䃿ő a?)~6 hY? ~6r\;I~6Cɫyy)y yIyY@yrG|?5^?+?l? ?= =)IyzG?l?Mb? 7?=< "A)AIAiAAhAiA55t<5hi5@1 5@)5@I5@i5@EGMEO=YMQUM>QQaUlEU7AEQy],;}]>Iae-5?eԾ a m@9e/De: ej:)aWWX XW:W2W*WVbUBU*UUU v?BS:<B BA9 >*BA::AAAb<"C*CEZRC$M;CC0::I)IGj>޵=i޵a=  3:YDW1yY:ܾ5grq,-CEAɫyy)y yIyY^@yqGU M][=Y]QU]>aaaelEe=AEaym}m>Iqu-5?uӾ u~B }@9u8Du: u :)qWWX XW:W2W*WVbUBU*UUU7@B]8-<BY BYAe>*BaAeh:AaAaAe`]<"C*CL ZRCpA;CC֥yb];yIG^>}_>9yI}TlGi}@} =yy}; }E xq,$EAY}6Y?}6?y}6#;}6gR}6H a?3o?`?q? m|i?)~6Y? ~6>?\;I~6Cɫ99)9 9I9Yu@y}BqGI)I) MP=YnݻQU >  a lE CAEy:}>I! %:%d,-5? -:%Ӿ ! -@9%AD%: %:)%:WIWQXQ XQWQ:WQ2WY*WYVYbUYBUY*UaUaUeE^@BE&<B BA=*BA:AAAI<"C*C!YRCli;CC֍qZ;aIqG9> /:YW1yč:5)ތ;9q,EAɫ髙) IY=@yoqGmO>mlgm>im(@i m@)mƣ@Im@im@}0<M}C=Y}QU}>alEJAEy}>Iȑŕt@-5?ŕӾ Ƒ @9ƕJDǕ: ȕܹ:)ȑWWX XW:W2W*WVbUBU*UUUh@RB*** querying acoustic contact ***PPBD&<B B A =*B A &:A AA3<"C*CYRCEh;CC!-?i-?IG J>I޵AA)޵@Aq,EAɫ髡) IY@yqGZ****** received transponder code query ******F****** received ping request ******9yI}kGi}s@yyy}#; }EV-? rh~jtx?|>C ;)Iyoʡ?~jtx?~jth-?;D )AIrAiAAUMU0=YQQUU>YYa]lE]QAEaya}>Iȑ :ŕWV-5? :ŕӾ ƕ}B @9ƕUDǕ: ȕ:)ȕ:WWX XW:W2W*WVbUBU*UUU @BD<B BA==*BA̅:AAA#<"C*CMYRC`l;CC֕oM;r  <:Yyܾ5)q;iIyG>q,2EAY}6W?}6t%?y}6(<}6r}6H?uc??-?@車 c?)~6W? ~6[;I~6Cɫ99)9 9I9Y}@y}pGxDUSBL response received:!U1,P DB9,000,00A50,18A,80,80,3C,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I4=)%=ýLýt<ýףiýQ@ù ĽO@)Ľ9@IĽ9@iĽ@uMuH=Y}G;QU>alEXAEyB}>Ii-5?Ӿ {B @9]D: 8:)WWX XW:W2W*W!VabUaBUa*UiUiUm @B<B BA=*BA;AAA#<"C*CMYRCecBCC)mrg;I IQ Gu >q,mLEAY}6ʻW?}6&)?y}6T0<}6s}6H ? LU3??`?`n@⿒@&?)~6ʻW? ~6\;I~6Cɫ99)9 =I9Yu@y}oGyɮyNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Mn=Y;QU?alE]AEy .9}?Iȩ :ŭ^y-5? :ŭ|Ӿ ƭyB @9ƭeDǭ: ȭ:)ȭ:WWX XW:W2W*WVbUBU*UUU8@BYZ<B BA%=*B!A%;A!A!A%1<"C*CXRCC C "5I ) IGI>ޱi޵%=  6:Y0Y1y:%59@9I`jGi@D; E)ݭyCIݭyCiݩݩݩݭg4(q,gfEAY}-IX?}-T?y}-A<}-U5}-Hx?` S`?v?@&`?-??)~-IX? ~-A\;I~)ɫ) IY S@y PpGxDUSBL response received:!U1,R,E18,000,00A84,186,80,80,67,FF Fpublishing direction and range info^ >ɰ\>> )BIy Bl R$?IMp?ٱE=MM?=YM ;QUU>QQa]lE]dAEYyun;}}>Iaeߎ-5?eӾ evB @9eoDer: e:)aW W X XW:W2W*WVbU9BU9*UAUAUE?E@PQ*QU BZQUS>XY<\@D,ٝI@JQUl R$?IMp?2QU^ >:QQbQUqs)P@^',tZ@qw9RQU? M?Zr`OBQUނ? QUBQUHBPU9?PU9?PUQUQUp@"QUń@B"<B BA=*BA[ ;AAAT<"C*CXRC S8CC*: I G >q,OEAɫ ) IY5@y5oGTNmea in: $SNTTA,0.088561,,,,014304.91*48 I)A 鿱-6only read 3 of 4 data items @ @ @ M N=Y QU>alEkAEy}%>I! -:%-5? 5:%Ӿ %tB 5@9%wD%|: %R:)%:meuAdded new target pos. range: 124.020004 m, bearing: 58.579295 deg, deltaT: 4.569744 s, approachRate: 0.682752 m/s, LOS rate: -1.047088 deg/s, posRepo size: 4WaWiXi XiWi:Wi2Wi*WqVqbUqBUq*UyU}G_@U?Bh<B BA\=*BA ;AAAd<"C*CyXRC)CC9בIGa>  5E:YV1y:859q,iEAY}J&Y?}J6?y}J3<}Jb}JH`i?d?g?Ķ?x ?)~J&Y? ~J.\;I~JCa>9IiGi.@=P; ȗEɫ)! !I)Y]T@y]oGZd;O?~jt?kt?~ ?=  0=)Iy\(\?~jt~jtx?:?D; •A)•AI•Ai‘fA?M@=YQU>alEqAEy<}>Iõ-5?Ӿ  @9D: U:)WWX XW:W2W*WV bU BU *U UU|?B=y;B9 B9A==*BAAES;AAAAAE<"CI*CU =XRCUC;CQCQ֝!8qIG>Iޱ)޵?AiunGIi% ȿٺ! e ¹Adq,]EAY}:J9Y?}:?y}:<}:g}:H@g? !u@?`_e?*?``@ݗ`h?)~:J9Y? ~:`\;I~:Cɫ99)9 9I9Y}f@y}-oG } } }}t=}$>}alEwAEyI:}>Iȩŭ-5?ŭӾ Ʃ @9ƭDǭ: ȭ:)ȩWWX XW:W2W*WVbUBU*UUU Ԛ?B1;B BAA=*BAts;AAA%<"C!*C-XRC-|>;C)C1eqZ;9IAGeU> J+:YWU1y:5Kq,kEA||4!!a%lE%}AE)y-}->Iȑ :ŕ1-5? :ŕӾ Ƒ @9ƕDǕb: ȕo:)ȕ:WWX XW:W2W*WVbUBU*UUU/?B6;B BA^=*B A >N;A A A <"C*CeWRCfN:C!C9E2;I)GER>9I3iGi@ =Z; ͗E yq,ZEAY}6W@X?}6?y}6> <}6H }6H`y? E@y?v?? m?)~6W@X? ~6 \;I~6Cɫ11)1 9I9Yu@yunGMJ=YW'QU>alEAE!y%}%>I)-Y-5?-іӾ ) =@9-D-@: -:))WYWaXa XiWi:Wq2Wy*WVbU)BU1*U9U9Umm?B=>;B9 B9A=CO=*B9AE@;AAAAAE̸<"CI*CM$WRCMϛCICQU?B:IY)Y1I9GUv>ީiޭ=}} 2:YkS1yԊ:%5)|;9:_q,iEAɫqy)y yIyY@ySmGÍÍh>Í^=iÍp@É č@)č@Ič@ič@KMB=YQU>alEAEy}>Iȱ :ŵ.5? :ŵSӾ Ʊ @9ƵDǵp: ȵ:)ȵ:WWX XW:W2W*WVbUBU*U!U!U%@Bp;B BA<*BA #;AAAS<"C*C|[WRCڶCCqIGj>pq,}wEAub>9qIulhGiu@qqqu_; uЗEɫ )  I YE@yEnGIM?AIQ)UA aa-x&?(\µ?J +?-7I?-= -H=))I)y-/$?{Gz?V-?-1H?-#=-< -XA)-7 AI)i-A)-3AET-=ME2=YIQUM>IIaUlEUAEQyY}]>Iae/.5?eӾ eyB m@9eDe#: eU:)aWWX XW:W2W*WVbUBU*UUU@0@RB*** querying acoustic contact ***PPB[;B BA=*BA^;AAAm<"C*C WRClV8CC׉I ss B5:YM1y:ݻ5)ԑ;G>q,)?5EAY}2W?}2R?y}28.<}2v}2H?Rd ?}? 8!?@ƅg?)~2W? ~2\;I~2CɫYY)Y ]IYY@ymGZ****** received transponder code query ******F****** received ping request ******YYa]lE]AEayes}e>Ii u:m2.5? u:m7wӾ m}B }@9mDms: m:)m:WWX XW:W2W*WVbUBU*UUU; @B=hXL;B9 B9A="<*BAAE;AAAAAE#<"Ci*CmVRCmI޵@A)޵AAq,OEAY}BN;X?}B?y}B.<}B}BHy?0hbf?w?`?@݅qO?)~BN;X? ~BC\;I~BCɫai)i mIiY@ylGxDUSBL response received:!U1,P E18,000,00A84,186,80,80,67,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 uM b=Y8QU%>9AaMlEMAEayue;}}>IȡťF.5?ť(mӾ ƥB @9ƥĚDǥ= ȥ=)ȡWWX XW:W2W*WVbUBU*UUU@ @BUC;BY BYA]J <*BYA}];AyAA\<"C*C#VRC9CCuc>9qIugGiuF@u=֕qqud; uӗE 2:YW1yč:5)ԏ;׉IG>q,whEAY}:X?}:?y}:wC4<}:М}:Hq?)[M?o?\? Q@d?)~:X? ~:z\;I~:Cɫ99)9 9I9Y}N@y}lGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B e=ie=I]=)Y<K7=i@ @)z@I@i@LM/=Y7:QU>alEAE y }|;} >I :^^.5? :aӾ B %@9ϚD[: :):WAWAXA XIWI:WI2WI*WIVQbUQBUQ*UQUQU]`@B];B BA*BAAAAے<"C*CxyVRC :CCֽ9בIG>Lq,҂EAY}J ,Y?}J_?y}J^5<}J}JH`h? .g>?f?N?@A?)~J ,Y? ~JP\;I~JCɫyy)y yIyY@y"lGxDUSBL response received:!U1,R,E44,000,00ABA,186,80,80,96,FF Fpublishing direction and range infoa>ɰ`>鰹 )CIyBw}Y?g|.?ٱMs=YR9QU?alEAEy;}?I   p.5? XӾ B @9 ךD : :) WYWaXa XaWa:Wa2Wa*WiVibUiBUi*UiUUQ@P*QBZQ t]@+)$ H@JQw}Y?g|.?2Qa>:QbQ#Q@pZ@޵=i޵=~~ ).:YT1y@:59@q,EA!9!I%xfGi%S@!!!! !)ɀIɀiɀ̀=̀=̀y4Y}Y?}E?y}sm%<}tE}H@\?#g#?Z??`H?)~Y? ~q\;I~Cɫ髉) IY@ykGdNmea in: $SNTTA,0.479639,0.479651,,,014309.36*5A a i@a  a m@a  a q@a  a e@a  x&1?Q?MbP?A>u= :)IiMb@Mb@Mb@© µA)µIµiµAMM/=YOQU>amEAE@@y;}>I.5?KӾ B @9D#; >)mMuAdded new target pos. range: 127.260002 m, bearing: 56.575912 deg, deltaT: 4.331838 s, approachRate: 0.747950 m/s, LOS rate: -0.462479 deg/s, posRepo size: 4WIWIXI XQWQ:WQ2WQ*WQVYbUYBUY*UU_@U nN?B)B) B)A)*B)A)A1A1A5<"CY*C]@URC].;CYCamqZ;IIyG>kq,^EAY}JZ?}J?y}JM <}J}JH N?7@@d 47?@vM?Q?@[ _?)~JZ? ~J\;I~JCɫiq)q qIqY@ykGIQ)Q aaõõ >õ%iõ@ñ ĵ@)ĵ@Iĵ@iĵz@M^=YQU>amEAEy<}>I :Л.5? :AӾ B @9DS: V?):W W X  XW:W2W*WVbUBU*UUU%@!?B\;B BAV*BA;S;AAA)<"C*CURCև<C!C!5; IG5q> P0:YW1yč:ܾ5q,aEAY}:% [?}:yy?y}:;}:،}:HF?B7rB?@E?F?z`ǚ@?)~:% [? ~:\;I~:Cɫ99)9 =I9Y}%@y},kG#MN=YQU>amEAEy;}>I.5?6Ӿ B @9D6H; ?)WWX XW:W!2W!*W)V)bU)BU)*U1U1U5 (?B]:BY BaAeP*BaAe,z;AaAaAeZL<"Ci*CuSURCu<CqCqօz<׍?i׍?YIiGZ>d>9IeGi@]; ЗEIޱ)޵@Aq, DEAY}JZ?}JS*?y}Je;}Jx}}JHL?:@m2t:?K??ls`?)~JZ? ~JW\;I~H|~Ciu=nGɫqy)y yIyY@yjGIieɿٺ!AÍt=ÍC ÍB>iÍp@É č&@)čIčE@ič&@&M;=YQU>amEAEyC5}>IȹŽn.5?Ž+Ӿ ƽB @9ƽDǽ: Ƚ6?)ȹW)W)X) X)W):W)2W1*W1V1bU1BU9*U9U9U=?Be(C9Bi BiAm*BiAm;AqAqAubl<"Cy*C}AURC}[<CyC֕ 1:YT1y:5q,EAɫ髡) IY@yzjGi=I%=)%4=ULM]b=Y]QU]>aaaemEeAEaym}m>IquR.5?uN!Ӿ uB }@9u Du: u=@)qWWX XW:W2W*WVbUBU*UiUiUu`L@BB BA^ *BA;AAA)<"C*CGURC<CCֽ<יIGb>(q,EAT9TIVdGiV @TTTVc; VԗEY}~lX?}~?y}~w;}~l`}~H v?n?`u??͌?sL `"?)~~lX? ~~ \;I~|ɫ)))) )I)YmG@ymjGa ia i a ma m a qa q a ea e v?V-?y&1??h= `e<)Iy|?5^?Q?-?< ‰) AIGAiGAA|M6=YH9QU>amEAEy1}>I :.5? :Ӿ B @9Dr: Y:):WWX XW:W2W*WVbUBU*UUU @B5Ա,B1 B1A5?3*B1A=Т;A9A9A=<"CA*CETRCM9CICIu8޹i޽=- --- -3:Y-WU1y-:-5)-;9m!N q,W7EAY}:9W?}:?y}:;}:}:H?t ?W? H?jc{@/b`Y?)~:9W? ~:\;I~:CɫAI)I UIQY}1@y}iGAA 0L=Oi@ @)@Iƣ@iƣ@9Ml=Y;QUm?qqaumEuAEyy}S}>IȁŅ/5?ŅӾ ƅB @9ƅDDž: ȅ#:)ȁWWX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB~B BA[>*BAm;AAA<"C *C 4TRC zPCC 9IG$>6q,&QEAY}F\V?}F?y}F <}F屼}FH?\>t`?`?@^?ј ; ?)~F\V? ~F*\;I~FCɫyy)y }IYh@yCjGZ****** received transponder code query ******F****** received ping request ******IIaMmEMAEy}>Ir/5?Ӿ B @9%D=: :)W W Xi XqWq:Wq2Wq*WyVybUyBUy*UyUU @BB BA"*BAD/;AAAe#<"C*CfTRC|CC9ܭe>9ܩIܭ dGiܭk@ܩܩܩܭl; ݭٗEIG=r>  84:YU1y:5);#`q,kEAY}2V?}2U?y}2<}2gؾ}2H|?^t[??E?~7ڗf?)~2V? ~2\;I~2Cɫai)i mIqY@yiGxDUSBL response received:!U1,P E44,000,00ABA,186,80,80,96,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 u=uv>u|iu@q u@)uIu&@iu@DM(=Y;QU>amE%AE1y5a ;}5>I9 :=R+/5? :=Ҿ =B @9=0D=]"< ="<)=:WWX XW:W2W*WVbUBU*UUU @BMv=BI BIAM_*BQAU ;AQAQAU{<"Cy*C)TRCCCXCCI޹)޽AA3i?ש I G >CL!q,qEAY}JoW?}J?y}J<}J'ż}JH?Z x ??(?$т@ H?)~JoW? ~Jf\;I~JCɫqq)q qIqY@yRiGa=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ޼Mu=YQQU?amEAEy<} ?Iȩŭ:/5?ŭҾ ƭB @9ƭ7Dǭϸ: ȭ:)ȩWWX XW:W2W*WVbUBU*UUU@*@BDB BA[*BAu4 ;AAA%-<"C*CTRCKCCyb]IGi> .:YX1y/:\59@gr'q,amEAEyH0<} >I :P/5? :#Ҿ B @9AD: =:):W9WAXA XAWA:WA2WA*WIVIbUIBUI*UQUQUU@B} LB BAZ*BA ;AAA<"C *C jSRCS;CC=+IIG{>-q,EAY} X?} X?y} ^;} +} H`Cr? z@?Lp?`e? z Bt@ ?)~ X? ~ D"\;I~ Cɫ) IY5@y5|hGEDNmea in: $SNTTA,,,,,014313.82*50 %Y%%C99a=mE=AEAyEUԺ}E>IIMLf/5?MtҾ MB ]@9MJDM': M:)IWyWyXy XyW:W2W*WVbUBU*UUU@z@B.={B BAޭ*BAz;AAAF<"C*CSRC ;CCuqZ;Iy)yQIYG}z>޵=i޵=:  r8:YV1y:54q,EAɫ髙) IY@yhG@A߼M`=YQU>a mE AE y}>I %:y/5? %:Ҿ ŌB %@9SD: :):WIWIXI XIWI:WI2WQ*WQVQbUQBUY*UYUYU]@BB BA<½*BA:AAA<"C*CXSRC;CC%] ;I G%M>A9AIEbGiE&@AAAEd; E՗E)مIمiممم݅'4d:q,EAY}Mb_W?}M?y}M;}M&㳼}MH@X?`Ejz@?@+??@|{?)~Mb_W? ~M\;I~MCɫ髉) IY^@ygGI) uP>u?u7=iu@q u@)u&@Iu&@iu&@vM3=Y:QU>amEBEy4}>Iȡť/5?ťKҾ ƥɌB @9ƥ^Dǥ: ȥ:)ȡWWX XW:W2W*WVbUBU*UUUi@RB*** querying acoustic contact ***PPBCB BAӽ*BA%C:A!A!A%<"C)*C-zSRC-MC)C15 ; IG5q> ]-:YU1y:\5-Aq,EAY}JV?}J6h?y}JS<}JYw}JHO?@qR? ?@7ؔ?U*s@;?)~JV? ~JR[;I~JCɫYY)Y ]IYYH@ygGMm=Y&;QU?amE BEy}?II U:M/5? U:MҾ M̌B ]@9MgDMb: M:)M:WyWyXy XyWy:W2W*WVbUBU*UUU1@B3ƻB BAaٽ*BA:AAA:<"C*CRRC&LCC0׉IG>I޹)޹UGq, EAy9}zCI}aGi}@yyy}k; }ٗEY} V?} 1?y} z<} R«} H?` %q@????w?)~ V? ~ `[;I~ Cɫ) IYef@ymgGmp=ɮmR= 7A`?y&1?11a5mE5BE1y=G}=>IAEx/5?EҾ EԌB M@9ErDEA: E:)AWqWqXq XqWq:Wq2Wy*WyVybUyBUy*UUU @BB BAѽ*BA:AAA<"CA*CERRCElCACIi%nGIA]mi!˿ٺA1IYG~>  $4:YW1yč:J5)ݐ;9Mq,^:EA|4<|;Y}6"W?}6$?y}6 <}6񯩼}6H }?``#r`p?w?x?ș`g5?)~6"W? ~6=[;I~6Cɫ99)9 9I9Y}n@y}fG=i=Mg=Y;QU>amEBEy;}>IȹŽu/5?ŽȴҾ ƽیB @9ƽ{Dǽk: Ƚ:)ȹWWX XW:W2W*WVbUBU*UUU`Z@B-(B) B1A5*B1A5:A9A9A=<"CA*CERRCEU CACI-yI G-,>Tq,!?TEAY}RzW?}R ?y}R< <}R}RH`?e]q@(??@?`q ?)~RzW? ~R\;I~Pɫyy)y }IyYyxDUSBL response received:!U1,N,80,80,63,E4 A,186,80,80,96,FF ZNo reply:!U1,N,80,80,63,E4 A,186,80,80,96,FF -  a mE BEy&;}>I %:/5? %:(Ҿ B -@9D: :):WIWIXI XIWQ:WQ2WQ*WQVYbUYBUY*UYUYUe1@BB BA*BA:AAA;v<"C*CQSRRCd CC֥] aIiG9>f>9yCIaGi@=l; ڗE޵=i޵= .:YDW1yY:ʺ5)c;Zq,"nEAY}%D/X?}%?y}%s;}%}%Hz?}ňt K?y?|”?`}`6?)~%D/X? ~%\\;I~%Cɫ) IYML@yMpfGQQ-6only read 3 of 4 data items @ @ @ MamE&BEyϪ;}>I05?BҾ B @9D+: :)WWX XW:W2W*WVbU BU *U U UM@B=xB9 B9A=* *B9AE7:AAAAAE<"CI*CMRRCML:CQCQ}qQIaG}Y>aq,,EA| i|"@ɫ) IY@yfGI!)%AI!)%A=M=R=YEQUE>AAaEmEM,BEIyM}>Iȱ :ŵ05? :ŵҾ ƵB @9ƵDǵ: ȵ^:)ȵ:WWX XW:W2W*WVbUBU*UUU1* @B%B! B!A%l*B)A-Df:A)A)A5mO<"C1*C=QRC=`:C9C9օ?B:YIiG\>?  8:YWU1y:59@ g>9 zCI 7`Gi >@ D m; ۗEhq,F͡EAY}6]W?}6R?y}6g_;}6K}6H@?`ds`?~?p? w)@?)~6]W? ~6[;I~4ɫYY)Y ]IYY}@y}eGMS㥛?x&? rhM$?M7= MC)IIIyMn?:v?qya}mE}3BEyy4}>Iȉō*05?ōҾ ƍB @9ƍDǍ: ȍ<:)ȉWWX XW:W2W*W!V!bU!BU!*U!U)U-B @RUB*** querying acoustic contact ***PQPQBB BA *BA::AAA><"C*CAQRCh9CC9IGn>Iޱ)޵@A);nq,EAY}N)-W?}Nw?y}N,);}N㋼}NH@?@@q???y1|?)~N)-W? ~N-[;I~NCɫqq)y yIyYg@yUeGZ****** received transponder code query ******F****** received ping request ******õõ+>iõ@ñ ĵҙ@)ĵ@Iĵ@iĵ@MD=Y:QU>amE9BEyPݻ}>I :i=05? :Ҿ B @9D/; ;):WWX XW:W2W*WVbUBU*UUU!@B5'B1 B1A5(*B1A=:A9A9A=R/<"Ca*CerQRCe),CaCiu?BI9QIYGuz>G  |9:YV1y:5,!uq,؃EA|*;|(Y}V@\V?}V?y}V2;}V'}VH`]?<d? '?ؑ?D?)~V@\V? ~V \;I~VCɫyy)y }IyY@yeGxDUSBL response received:!U1,P 80,80,63,E4 A,186,80,80,96,FF Command AckBRequesting micromodem ping code 2iiNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ^<MM=Y[;QU>!a%mE-@BEQy]}e>Iȑŕ8Q05?ŕ{Ҿ ƕB @9ƕDǕm; ȕL;)ȑWWX XW:W2W*WVbUBU*U U U "@BuBq ByA}O#*By܍f>9܉I܍o_Gi܍@܍=܉܉܍`; ݍԗEA}ϕ\:AAAİ<"C*C;QRCMCC &שIG>9O{q,roEAY}rU?}rZ?y}r~<}r }rH?W`H?`?H?`/`|?)~rU? ~r\;I~rCɫ) IY c@y dG-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =='==`i=@9 =z@)=E@I=E@i=E@MڱMU?=YU;QUU>YYa]mE]FBEYyeW}e>Ii u:mc05? u:mrҾ i }@9mDm$: m:)m:WWX XW:W2W*WVbUBU*UUUr#@Bީiޭp= 1:YU1y:n5h3q,; EAY}2OV?}2?y}2h&<}2ܸ}2H ?@0ՍZq?y?>?`uׄ9?)~2OV? ~2+\;I~2Cɫ99)9 9I9Y@ydGH1=Mf=Y.;QU>amELBEy;}>IYt05?jҾ  @9ƛDM: :)W!W!X! X!W!:W)2W)*W)V)bU)BUQ*UQUQU])$@BPB BA9*BA:AAAJ<"C*CoPRCNCC֝TлיIGa>܁ 9܁ I܅ _Gi܅ J@܁ ܁ ܁ ܅ h; ݅ ؗE)mzCImzCiim=m=m5`q,"#EA|`i|b@Y}MW?}!?y}Z$<}}H@e?`a??`?4@(?)~MW? ~\;I~Cɫ) IY @y NcGDNmea in: $SNTTA,,,,,014319.47*53 I)AI)AV-?S㥛?Zd;O>/< j<)IyCl?/$?I +?;??<9<  A) AIAi A A M  =YVpQU>amE%UBE)yu;}u>Iy :}05? :}a]Ҿ }B @9}ӛD}: }:)}:WWX XW:W2W*WVbUBU*UUUHG%@  4:YWU1y:5)5;9Bm)LB BA]*B A %9A A A c<"C*CnPRCҽ}CC 3 I G >q,qq,VEAY}NpOY?}N?y}N;}N)}NHf?M #p?e?ɍ?c|`P`?)~NpOY? ~N[;I~Lɫ髑) IY @ycGa=ɮa=xDUSBL response received:!U1,R,E51,000,037DC,186,80,80,61,FF Fpublishing direction and range info>ɰn? )BIy MD[??ٱu3MuF=YuQUu>yya}mE}`BEy;}>Iȩŭ05?ŭ}LҾ ƭB @9ƭDǭU: ȭ@:)ȩWyWyXy XyWy:Wy2W*WVbUBU*UUU0&@P*Q MDZQ!(ه@ؽr@JQ[??2Q>:QbQ B8|@L >@h%RQqܟ?養t?@.;BQXz? Q)DQCP?9?P,9?PQQD"Q-k@BhB BA`T*BA8AAA<"C*Cw6PRC`;CC-g>9)I-]Gi-V@)))-c; -֗Eѽy=֍TP;1  7:YDW1yY:5);IIYGu> Ci nGI kAi M eƿԙq,]pEA||Y}67kY?}6?y}6[a;}6}6H d?@]v? c?@H?!,yl?)~67kY? ~6\;I~6CٺkAf߶Aɫ99)9 9I9Y]s@y]bGi=I4=)C=-6only read 3 of 4 data items @ @ @98MF=Y QU>amEfBEyɆ:}>I :z05? :GBҾ B @9D: :):m}Added new target pos. range: 820.500061 m, bearing: 55.956707 deg, deltaT: 11.344091 s, approachRate: 61.110233 m/s, LOS rate: -0.054584 deg/s, posRepo size: 4mCompleted rollout at range: 820.50 m. Resuming terminal guidance.mbTransitioning guidance mode to: TERMINAL_GUIDANCE"XWWX XW:W2W*WVbUBU*UU- @U-St?B怼B BAZg*BAAAAB<C!)))1 1ֽ ;y I G >Oq,؁EAY}:&X?}:qK?y}:;}:f}:Hn?` ir@d ?&m? A?`y`?)~:&X? ~:8\;I~:Cɫ) IYC@ybGenMJ=Y9QU>amEmBEy}>I05?N8Ҿ B @9Dܹ: :)W9WAXA XAWA:WA2WA*WIVIbUiBUi*UqUqUu i?BB BA^m*BAAAA<C;׹IGe>޵=i޵%=~~ -:YT1y@:59@) 9) I- |]Gi- @) ) ) - `; - ՗Eq, ^EAY}2o'X?}2?y}2N;}2|}2H`U{? @>f{?`1z?T2?i}l?)~2o'X? ~2h\;I~0ɫ99)9 9I9Y]%@y]bGM1Zd?{GztamEsBEyQ}>I U:05? U:/Ҿ B U@9D\: +:):WWX XW:W2W*WVbUBU*UUUك?BWB BAq*B)A5 A1A9A=2<CשIG>z֮q,;EA|i|@Y}BW?}B?y}B<}B }BH?>ve`?@*?Ւ?`!?)~BW? ~BKU\;I~BCɫyy)y yIY@yaGIQ)UA   Z`eYi3@ @)I@i@-2M5@=Y5;QU5>99a=mE=zBE9yE}E>Iim}15?m[%Ҿ mB u@9m Dmw: m:)iWWX XW:W2W*W!V!bUaBUa*UiUiUm@$?BϔB BAg*BA?AAA3<C! 5=5=U#2;]?i]?  E>:Y[1yݏ:5IG5>q,EAY}2-xW?}2w?y}2; <}2ա}2H@? jpJ???qG4: ?)~2-xW? ~24^\;I~0ɫyy)y yIyY@ybG~q;M^=Yu:QU>!!a%mE%BE)y-}->I1515?5Ҿ 5B E@95D5ϸ: 5:)1W!W!X! X!W!:W!2W)*W)V)bUQBUQ*UQUQUUC@BKcB BAl*BA3oAAA<Ch>9IP\Gi@ ;׹IGf>I޵AA)޵AAq,EAɫ) IY @yobG+=iQ@ @)ҙ@I@i@d<M;=YQU>!!a%mE%BE)y-}->I1 =:5.15? =:5Ҿ 5B E@95D5$: 5:)5:WWX XW:W2W*WVbUBU*UUUTZ@BB) B)A-Pt*B)A-%⑺A)A1A5/<C9׹I  4:Y0Y1y:ݻ5G>q,p EA||Y}6غW?}6$(?y}6;}6L}6H?M{QU>amEBEy5;}>I  8A15?  Ҿ B =@9 %D /: :) WyWyX XW:W2W*WVbUBU*UUUQ@RB*** querying acoustic contact ***PPBB BA*BA߫AAA A<ChA֝*;Iס)סYIaG}Y> j>9 I [Gi o@ = _; q,%EAY}6|uW?}6?y}6|+;}6м}6H ч?q`??@Ax?a{@(?)~6|uW? ~6\;I~6Cɫ髡) IY@y`GZ****** received transponder code query ******F****** received ping request ******amEBEy}>Iȱ :ŵ_15? :ŵMѾ Ʊ @9Ƶ3Dǵ\; ȵ:)ȵ:W!W!X! X)W):W)2W)*W)V1ip= -:YW1yč:J5)͊;9bU1BU*U1U1U5`U @BLB BA뒾*BA\غAAA6<C] ϩ; I) G= >[q,zT?EAY}FEV?}Fd?y}F@;}Fjۼ}FH ? Gh??ot?z _?)~FEV? ~F\;I~FCɫ髉) IYG@yC`GAAxDUSBL response received:!U1,P E51,000,037DC,186,80,80,61,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =EӼME=Y\QU?a=mE=BEIyU»}U ?Iimq15?mѾ i @9m;Dm ; mP;)iWWX X1W1:W92W9*W9V9bUABUA*UAUAUE`n @BϼB BAd*BAAAA^<CIG>7q,YEA|i|@Y}6V?}6G?y}6V;}6E̼}6H?`k@6~`?`? ?݇4?)~6V? ~6<\;I~6Cɫ99)A EIAYe@ye`GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B <MB=Y&U;QU>amEBE y}>I %:15? %:Ѿ B %@9DD+: Y:):WWX XW:W2W*WVbUBU*UUU`n@ܑ9ܑIܕZGiܕ̱@ܑܑܑܕ\; ݕԗE)!I!i!!!%4B$仼B BA`*BA AAA<C = #2;?i?I -:YX1y/:ݻ5)l;G>&q,rEAɫ髙) IY@y_GxDUSBL response received:!U1,R,E6B,000,00B79,186,80,80,6E,FF Fpublishing direction and range info>ɰp>鰹 )BIy Cש?#&?ٱuTuC=iu@q uҙ@)uIqiuҙ@瘽MP=YQU>amEmBEiyu}u>Iy}15?}&Ѿ y @9}ND}@: }<)yW)W)X) X)W):W12W1*W1V1bU1BU9*U9U9U=@P*Q CZQ8=D`@o\H@JQש?#&?2Q>:QbQj_fOiT@@\@Ě8pRQ=??ʹ KBQ'q? Q@BQJBPd9?P?9?PQQ+^@"QDBEYBI BIAMk*BIAM)rAIAIAUq<CYU;I@A)@AIG=>q,׌EAY}f6V?}f?y}fˣ<}f;ؼ}fHڝ?8{?ग़??@ftW?)~f6V? ~fFQ];I~fCɫ) IY5@y=v_GDNmea in: $SNTTA,,,,,014325.12*5C AһMA=Y;QU>anEBE!y%{:}%>Iȱ :ŵv15? :ŵhѾ ƵB @9ƵXDǵ; ȵ;)ȵ:muMAdded new target pos. range: 138.720001 m, bearing: 53.939612 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1m}ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 53.939612deg and heading rate command to 0 deg/s.W}'q?WyX XW:W2W*WVbUBU*UyU}@ Wa@UY?BD¼B BAΠ*BAQI(AAAb<"CE ?RCMM׼CM'q?CQ%%%% %0:Y%DW1y%Y:%\59E@IA IQ Gu >܍ k>9܉ I܍ \ZGi܍ {@܍ =܉ ܉ ܍ U; ݍ їE)8q,;EA|4<|p;Y}6,W?}6&?y}6L<}6=}6H?$s?`P?矜? &@?)~6,W? ~6V^];I~6Cɫ99)9 EIAY]@y]d_GˡE?sh|??y&1?= `i}mGIlAi)Iyq= ףp? rh?~jt?+?C =< Q A)I AiA AͿٺlA2A-6only read 3 of 4 data items @ @ @{M.=Y%QU%>!)a-nE-BE)y5<}5>I9=15?=Ѿ =B e@9=bD=n; =;)9WWX XW:W2W*WVbUBU*UUyU}@?BfļB BA*BAT:AAAV<"C5l{?RC5BC9C9II'I)IG- >q,/EAY}2X?}2W?y}26;}2mDͼ}2H t?2&?@q? P?`Ħ~2?)~2X? ~29];I~2Cɫ99)9 EIAY]@y]q_G];M]=YeQUe?iiamnEmBEyy<} ?Iȱŵx15?ŵѾ ƵB @9ƵiDǵ: ȵ:)ȱWWX XW:W2W*WVbUBU*UUU ?B&B BA *BAS0GAAA<"Ce@&?RCmeνCiCi%TмI G%M>=i N2:YT1y:5"Jq,caEAY}:}Y?}:?y}:o;}:}:HOc?w ? a?`Sd?s—?)~:}Y? ~:*];I~:Cɫ99)9 9I9Y]@y]^GVMS=YKQU>anEBEy!<}>Ia m:e*15? :eѾ eB @9eqDe; e;)e:WWX XW:W2W*WVbUBU*UUU?B]߼BY BYAet*BaAeWAaAaAe<"C g:?RC R&C CA9AIEYGiEذ@AAAES; EЗE=}мIG%o>Utq,GaO >ip@ @)3@Ih@ih@;M 9=Y5̆QU5>19a=nE=BEAyM:}m>Iqu15?uѾ uB }@9u{Dub: un:)qWWX XW:W2W*WVbUBU*UUU@?BҼB BA*BAfkAAA<"CR?RCNtCC = =b(?i}?יIGb> /:YW1yč:55\q,EAY}6pY?}6^?y}6Q;}6}6HWd?@(~?7c? ?)~6pY? ~6\;I~6CɫII)I MIIY]u@y]^GK;M_=YԺQU>anEBEy=}>I : 25? :Ѿ B @9Ds: :) :WAWAXA XAWI:WI2WI*WIVIbUqBUq*UqUyU}@B<B BA*BA{AAAu<"Ca?RC CC% ǫIGK>I)BA! ! 1 91 I5 0YGi5 @5 =1 1 5 d; 5 ڗE q,'EAY}2Y?}2P{?y}2S;}2yc}2H @k?HS)uf?@mj?\5?xjn*?)~2Y? ~2@V\;I~2Cɫ99)9 =I9Y]m@y]]Gaɮami|?5?I +?Q?m1?m94< m\=)iIiymGz?Mbmp=?mm mp A)mAImp Aiiimp AM/MM=iM@I M@)M@IMۙ@iM@]CM]=Y:QU>anEBEyF;}>Ișŝ&25?ŝ;Ѿ ƝB @9ƝDǝL; ȝ:)șW W X  X W :W 2W*WVbUBU*UUU`9@RB*** querying acoustic contact ***PPBEмBI BIAM*BIAMKAQAyA}w<"CM}n?RCCCԩԭiA .:YWU1y:ݵ5) ;9m#Iq)q) I9 GU >+nq,AEA|;|4|q,[EAY}6S[?}6O?y}6;}6 !&<}6HA?@I:|? J?A?Įt pwÄ?q?)~6S[? ~6^Q];I~6Cɫqy)y yIyYj@y]GxDUSBL response received:!U1,P E6B,000,00B79,186,80,80,6E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 E<MMT=Y]a;QUe>anEBEQy]<}]>Iȑj>9IhXGi@=\; ֗EŕL25?ŕѾ ƕB @9ƕDǕ< ȕ<)ȑWWX XW:W2W*WVbU!BU!*U!U)U-@#? @BuԩBq BqAu?*ByA}ʛAyAA6<"Cq?*CmQRCCC[Z&=i=%%%% %):Y%U1y%:%5)% ;ױIGE >q,uEAɫ髙) IY=@y]G@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B @ @ @©ip@ )h@Iih@QMA=YQU>anEBEy}>I :i`25? :Ѿ B @9D: I:) :W!W!X! X!W):W)2W)*W1V1bU1BU1*U1U9U= @Be<Ba BiAm*BiA A A A { <"C'q?*C`RRCCC%1-?i-?IG J>Y#q,[EA|i|@Y}6pc?}6($?y}6P;}6^=}6H?D?N$??XN>cz <̫?`?)~6pc? ~6\;I~6Cɫ99)9 =I9Y}@y}]GIA)AKMa=Y;QU>anEBEyܸ=}>IȹŽr25?Žo|Ѿ ƽB @9ƽDǽMu; Ƚr;)ȹWWX XW:W!2W!*W!V)bU)BU)*U)U1U:@B=uBA BAAEW*BIAMdAqAqAu<"C*C$SSRCCC֥XׁIGF>O  ::YX1y/:59@ l>9 I WGi B@ = `; ؗE)aIaiae=e=ea50)q,9EAɫ) IYU@yU]GTNmea in: $SNTTA,0.377422,,,,014329.57*48 ]rh|?~jt?]D< ]t<)YIYy]?ktA`"?],?] 0]Y= ]5A)] AI] Ai] AY]G A   ý=ýh>ýԼiýf@ý Ľ~@)Ľ~@IĽ~@iĽ~@M!=YQU>anEBEy}>I :25? :qѾ B @9DY: (:) :WWX XW!:W!2W!*W!V)bU)BU)*U)U1U5}y@B]NBY BaAe*BaAeθAaAaAe$<"Ci*CmkyTRCqCqCq}?O9IAG]v>IAA)@A0q,EAY}2۲n?}2 /?y}2H;}2\=}2H@?g?8??:ݲ sX??)~2۲n? ~2^;I~0ɫ99)9 9I9Y@y\Gɮ!?M=YQU?  anEBEy% >}%?I)-25?- kѾ - B =@9-ĜD-f=; ->;))WqWyXy XyWy:Wy2W*WVbUBU*UUU @BB BA]¾*BAAAA<"C*C'URCVCCex9IQGmW> /:YT1y:56q,xEA||;Y}>u?}>ă5?y}>&DS;}>$=}>HI?CH?? < ?bhj o2?@?)~>u? ~>_8^;I~>CɫYY)Y ]IYYE@y\Gi=MN=YلQU>anECEyʁ=}>IQU[25?UaѾ UB ]@9U͜DU: U@:)QWWX XW:W2W*WVbUBU*UUU]@RB*** querying acoustic contact ***PPB`$B BAƾ*BAT˻AAA~<"C*CURCpCC9IVGi@\; ֗EIG$> >CiU/mGIiUϿٺ A=q,EAY}2 3|?}2Q}2H? iKַ?? z?`>Ĺ.U? ?)~2 3|? ~2 O^;I~0ɫ99)9 9I9Y}@y}=\G-Ponly read 0 of 1 data item for BIT error @ @ @:MK=YQU>anECEy=}>I :˽25? :XѾ B @9՜Ds: :) :WWX XW:W!2W!*W)V)bU1BU9*U9U9UE`@B5J B9 B9A=ʾ*BAAEGջAAAAAMR<"Cq*CuVRC}۽YCyCyօzYIaGZ>i=B  9:YWU1y:5Cq,fEAY}2&Ё?}2 D?y}2D}2>}2H ?@<? -.?@?PH?Ȍ?@?)~2&Ё? ~2-f^;I~2CɫII)I IIQY}j@y}\GAAv=ML=Y*QU>anECEy`=}>IȹŽe25?ŽNѾ ƽ'B @9ƽޜDǽض: ȽI:)ȹWWX XW:W2W*WVbUBU*U U U Ȇ@BM BQ BQAU7ľ*BYA]@߻AYAYAeҽ<"Ci*Cm(WRCmACqCymLu1I9Ge> 9 I VGi @ = b; ڗE!Jq,*EA|i|Y}> ?}>XK?y}>%wr}>c&>}>H@Qc? x? 3?? Nn?@?\?)~> ? ~>^;I~>CɫYa)a eIiY˲@y[GI)ʡE?Mb?V--?@= m)Iy> ףp=?Zd;OMbp?1?j; µ|A)µAIµAiµAzA 5 5 5 5@ 5@ 5@5©55i5p@5 5)5h@I5i5h@E8"ME&=YMĻQUM>QQaUnEUCEYy]z=}]>Ia m:e625? u:eAѾ e(B u@9eDe: eI:)e:WWX XW:W2W*WVbUBU*UUU@:|@BB BA+ξ*BAJAAAK<"C*CWRC[)CCZyIG^>~~ 11:YT1y@:o5)P;9  Qq,YDEAY}2m?}2HS?y}2(뻙}2./>}2H? /2 ˾? ? D\? 徿`p}?a?4?)~2m? ~2_;I~2Cɫ99)9 =I9Y}r@y}[GxDUSBL response received:!U1,N,80,80,63,E4 9,186,80,80,6E,FF ZNo reply:!U1,N,80,80,63,E4 9,186,80,80,6E,FF -I@A)AA3Wq,4^EAY}2z?}28Z?y}2 f3}2S2>}2HN?@A@?? ?@9l?`L-? ?)~2z? ~2 c_;I~2CɫII)I IIIY}B@y}P[G鮁ɮnMK=YQU>anE!CEy=}>IȹŽg35?ŽE-Ѿ ƽ*B @9ƽDǽ: Ƚ÷:)ȹWWX XW:W 2W *W V bU BU*UUUFa@BM:BQ BQAU־*BYA]AYAaAe <"Ci*C}`UXRC}VCyCULIa)a܉9܉I܍HUGi܍Z@܍=܉܉܍m; ݍߗE)I9GU>%%%% %0:Y%V1y%:%5)%Y;_]q,xEA||Y}67?}6{a?y}6"Qk}6m->}6H]?`B`?a? ?Ci? ??)~67? ~6_;I~6Cɫ19)9 9I9Yu@yu[G=i= = = ==C=m==.>i= @= =~@)=@I=~@i=~@M sMM@=YUQUU>QYa]nE](CEYye=}e>Ii u:m35? u:m Ѿ m,B u@9mDmw: m :)m:WWX XW:W2W*WVbUBU*UUU @BB BAپ*BAHAAA<"C*CҊXRC'ɽCC֭9 ׁIG>Edq,>EAY}:X?}:g?y}:3<}:&.%>}:H|?ǽ?]-?ul?`T?(??)~:X? ~:l `;I~:Cɫ99)9 9I9Y}ڱ@y}ZGMU=YQU>anE.CEy=}>I 35?-Ѿ /B @9 Du ; <)WWX XW:W2W*WVbUBU*UU!U% @R-B*** querying acoustic contact ***P)P)BB BA6ݾ*BAA AAAE<"C*ChXRC&!CCeW1IAG]v>=i 1:YWU1y:o59 @q 9q Iu TGiu @q q q u f; u ܗE:pjq,!ȫEAY}B?}BLn?y}B候}B.>}BH?`i E??P?鋻/?@?%?)~B? ~B `;I~@ɫ髡) IY@yZGZ****** received transponder code query ******F****** received ping request ******yya}nE}6CEyP=}>Iȉ :ō435? :ōѾ ƍ5B @9ƍDǍ: ȍ:)ȍ:WWX XW:W2W*WVbUBU*UUU!@B:B BA!۾*B A :A A A <"C*C9XRCpCCIGj>Wqq,EA|i|@Y}6?}6vt?y}6'6}6@>}6H{?`GT?[?C3?`rBQF? H? ?)~6? ~61`;I~6Cɫ99)9 9I9Y@yzZGxDUSBL response received:!U1,P 80,80,63,E4 9,186,80,80,6E,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =MEw=YM^QUU?aiaunEu;CEyÐ=}?ImA35?-о :B @9Dp; ;)WWX XW:W2W*WVbUBU*UUUɜ"@B["B BA*BA1AAAL<"C*CIXRCZCCֽt(יIG>     U*:Y U1y : 5wq,g|EAY}6Ҝ?}6Qz?y}6KҼ}6T>}6H /?`M@de??? KXH??5?)~6Ҝ? ~66d`;I~6Cɫ99)9 =I9Y}@y}hZGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ME=Y&QU>anEBCEy\=}>Iȩ :ŭP35? :ŭ\о ƭAB @9ƭ)Dǭ: ȭ:)ȭ:WWX XW:W2W*WVbUBU*UUU`HI#@9{CIi=e; )ݹIݹiݹݹݹݽa4BEa1BA BAAE*BAAMAIAIAM<"CQ*CUԐXRC]CYCYe9IIGeV>IAA)ܫ}q,yWEAY}>u?}>,b~?y}>e}>n>}>Hs?@]?`5?`,?繿r??p?)~>u? ~>`;I~<ɫ髙) IYz@yZZGp=ɮp=xDUSBL response received:!U1,R,EC2,000,00BEF,186,80,80,6F,FF Fpublishing direction and range infor>ɰCz> )BIyCC ?eOM?ٱ M M UUݤUDUiUf@U Q)U@IU~@iQe3_MeM=Ye'QUe>iiamnEmHCEqyu-=}}>Iy}_35?}о }HB @9}3D}: }M:)yWWX XW:W2W*WVbUBU*UUU{)$@P9*Q=CZQ=c>a@hߣC@JQ=C ?eOM?2Q=r>:Q9bQ=goE@Aʽ\a@CF#@RQ=Г?R!L5|?3Hd'?BQ=o? Q= CQ=,BP= 9?P=d9?P=Q=Q= uA"Q=+^@B> B BA;*BAǫ#AAAQ<"C*C^XRC0CCwיIGb>!  t6:YDW1yY:ܾ5Cq,4EA|.4<|.4}vH?@h?@t ?Z?o %?? ?)~vՠ? ~v`;I~tɫ) IYUo@yUMZGTNmea in: $SNTTA,0.103886,,,,014335.22*44 i=u_JMu:=Y} QU}>yyanEOCEyJ=}>Iȑ :ŕn35? :ŕо ƕQB @9ƕ=DǕa; ȕ;)ȕ:m]uAdded new target pos. range: 145.800003 m, bearing: 72.709092 deg, deltaT: 10.088945 s, approachRate: 0.701758 m/s, LOS rate: 1.860401 deg/s, posRepo size: 2m ProNav: pos range: 145.800003 m, bearing: 72.709092 deg, approachRate: 0.701758 m/s, LOS rate: 1.860401 deg/s, cmd update: 5.581202 deg/s, cmd heading: 53.939612 deg, new cmd heading: 53.939612 deg. W% m{?W)X) X)W1:W12W9*WiVqbUyBU*UU9b@U +M?B ]#B  B A *B A.*AAA1(<"C%>w?RC%C% m{?C9ǼIG> 9 zCI i  =   m;  ߗE콊q,-EAidIkAi!u!˿ٺukA}xi= =)IybX9?S㥫9AaEnEEWCEIyM}M>IQUl35?U5о UYB ]@9UHDU: U:)QWM?WIXQ XQWQ:WQ2WQ*WYVybUyBUy*UUU??B(B BA=*BA0AAAv_<"C ?RCC?C=i4=s  <:YWU1y:%5);9 -  I G- >٥q,[FEAY}2C?}2y?y}2}2K=}2H`? *J?W^?@X? Gː?)ɻ?@/?)~2C? ~2_;I~0ɫII)I MIIY}@y}ZG9D=M=YQU?!!a%nE%\CE)y-=}-?I1535?5Zо 5_B E@95OD5: 5Y:)1WeC?WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}=x?BEB BA޾*BAFQ4AAAG<"C5ӄ?RC52~C5C?C9-Ѽ5?i5?IG-,>wϗq,]`EA|i|@Y}6?}6&?y}6-}69=}6He?@g?`t?@9>?A@n?4?`w?)~6? ~6Х_;I~6Cɫ99)9 =IAYz@yZZGI9)9uM}D=Y}Y;QU}>anEbCEyO<}>Iȑ :ŕq35? :ŕо ƕgB @9ƕXDǕV: ȕ:)ȕ:ܽm>9ܽ{CIܽTGiܽ @ܹܹܹܽ_; ݽؗEWrO?WX XW:W2W*WV bU BU*UUU?B#'B BA;*BA%:A!A!A% <"CMrO?RCU%oCUrO?CYew!I)GUT>~~ s+:YT1y@:ݻ5)[;q,{zEAY}:J?}:?y}:1 }:q]=}:Hyya}nE}jCEyJ<}>Iȑŕ35?ŕGо ƕpB @9ƕcDǕ4: ȕ@:)ȑW?WX XW:W2W*WVbUBU*UUU@P@Bt&B BAݾ*BAAAAA<"C7H?RCC?Cֵ;I)׉IG>q,[zEAY}J?}J!?y}Jc }JL=}JH@e?`D?a? \?@% `?]?@?)~J? ~Ji^;I~Hɫ髙) IY@yZGҪMl=YQU?anEoCEy<}?I :g35? :͌о wB @9kD+: :):Wo?WX XW!:W)2W1*W9VAbUABUI*UYUaUm`,@B@2B BAa*B AgFAAAm*<"CM?RC#Co?C!2I)׹IGf> 3:YU1y:59@ܱ9ܱIܵHUGiܵZ@ܵ=ܱܱܵX; ݵ՗Eq,IfEAɫ)))) 5I1Ym~@ym_ZGyi}=IC=)=E9v?Q?E?E̼ Eu<)AIAyES?ˡEanEvCEy}>I35?>о B @9sD: :)Wߛ?WX XW:W2W*W V bU BU *UUU|@RB*** querying acoustic contact ***PPBx/B BA*BAޢLAAAf<"C͙?RC8Cߛ?C!IGj>q,0EAY}2k?}2[?y}2x}2-ݒ=}2H??? ?ޅۣ?@T??)~2k? ~23^;I~2Cɫ99)9 9I9YB@yZGZ****** received transponder code query ******F****** received ping request ******AAaEnEM|CEIyUt=}U>IY m:] 35? m:]uо ]B m@9]zD] ; ];)]:WcP?WX XW:W2W*WVbUBU*UUUp @B@B BA*BABQAAA<"CV?RCQECcP?CIGm>i .:YWU1y:5q, EAY}:ة?}:??y}:.}:=}:H`7?W-@[?,?b?y%ҥ??g?)~:ة? ~:>];I~:Cɫ99)9 9I9Y}Q@y}(ZG@AxDUSBL response received:!U1,P EC2,000,00BEF,186,80,80,6F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ܁9܁I܅UGi܅@܅=܁܁܅a; ݅ٗE<;M?=YQU>anECE1y=J<}E>Iqu$35?u iо uB @9uDu;< uZ9<)qW%?WIXI XQWQ:WY2WY*WaVbU BU*UUAUE>\ @B-(B9 BYAe*BiAuYAyAAO<"C?RC mC?CGi?IG>Hq,EA|i|Y}6%)?}6_?y}69}61=}6H)?qS@6?S?`c?C!??`?)~6%)? ~6g];I~6Cɫ99)9 9I9Y}@y}[GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)Aõ<õQ8=õY>iõ@ñ ĵ3@)ĵ3@IĵI@iĵ3@m=MN=YAӻQU>anECEy<}>I :35? :]о B @9Dv: :):W?WX XW:W2W*WVbU!BU!*U!U!U%`@Bu?Bq ByA}پ*ByA}]AAA<"C?RC`sC?C֭B9ׁIG=> +:YDW1yY:850q,eEAY}J?}JT?y}J9}Js=}JH ?xd?{?`?`=?ɰ?`?)~J? ~J^C^;I~Hɫyy)y yIyY˱@yZGMZ=Y8QU>anE CE yc<}>I35?sRо B %@9D: :)WExO?WAXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU]@B{4B BA#޾*B A"RcAA!A%ۈ<"CexO?RC CxO?C֝wFqII@A)G5>QUjA]n>9YI]VGi]@YYY]V; ]ԗE){CI{Ci釉釩jS4u]q,&/EAɫ髱) IYڱ@yZGɮR=xDUSBL response received:!U1,R,F3F,000,014D1,186,80,80,7A,FF Fpublishing direction and range infojw,>ɰF> )BIyCg ?=t?ٱdNmea in: $SNTTA,0.334759,0.334697,,,014339.65*52 sh|??MbX9V-?)?ʡ m=)Iyip@ @)@I@iҙ@;M9=YQU>anECEy}>I :35? :rBо B @9Dr; ';):WEl?WX XW:W2W*WVbUBU*U!U!U%@PY*Q]CZQ]cq@{G@JQ]g ?=t?2Q]jw,>:QYbQ]_U@}ap@dQt0@RQ]3g;?vZd}?"(5e٭?BQ]tE? Q]uCQ],BP]}9?P] 9?P]Q]Q]A"Q] uAB+B BA6ݾ*BAvjAAAl<"CJ?RCCEl?C6VבIG>~~ +:YT1y@:%5)l;9PBq,yIEA|;|p;Y}6 ?}65C?y}62}6=}6H`^s? ???gⴿ T?L??:?)~6 ? ~6^;I~6Cɫ99)9 =I9Y]M@y]^[G=i=Q=M]=Yٝ;QU>anECE y =} ?Iim45?m6о mB }@9mDmf: mr:)imyAdded new target pos. range: 282.239990 m, bearing: 72.636412 deg, deltaT: 4.885829 s, approachRate: 27.925657 m/s, LOS rate: -0.014876 deg/s, posRepo size: 3m ProNav: pos range: 282.239990 m, bearing: 72.636412 deg, approachRate: 27.925657 m/s, LOS rate: -0.014876 deg/s, cmd update: -0.044627 deg/s, cmd heading: 81.209129 deg, new cmd heading: 83.043815 deg. Wc?WX XW:W2W*WVbUBU*UUףq@U5|?B˸BB BA ־*BAOjnAAA<"C c?RC Cc?CGxIG )>hlq,TcEAY}2p?}2Y?y}22}2=}2H]?) ?@?=?yW? ?`?)~2p? ~2];I~2Cɫ99)9 9I9Y}I@y}Y[G9IsVGiN@O; їE?MH=Yp]QU>!!a%nE%CE)y-;=}->I15 45?5 (о 5B E@95D5: 5:)1WeY?WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqU}h?B3B! B!A%E־*B!A%tA!A!A-<"CUڵ?*CU]JYRCQCUY?CY-?΅IqG=>i-unGIMlAiyfοٺlAA=i= 0:YV1y:5)Y;=q,.}EAY}2V?}2?y}2{8}2=}2H ?FL/ҷ?i?@̐? ?ż?V?)~2V? ~2'];I~0ɫ99)9 =I9Y@y[G-MPonly read 0 of 1 data item for BIT error M@ M@ M@u%<MuD=Y}8gQU}>yanECEy^=}>Iȑ :ŕy45? :ŕ5о ƕčB @9ƕDǕ: ȕ:)ȕ:W$O?WX XW:W2W*WVbUBU*UUU#?B@1B BAѾ*BASyAAAu<"C$O?*C(ZRC߀~C$O?C =>׹IGf>q,t EAY}:ì?}:`?y}:žC}:m>}:H~?rG?? T?l`vu??+?)~:ì? ~:];I~8ɫ99)9 =I9Y}@y}=\GImA)i 鿙c=MB=Y 9ϻQU5>AAaMoEMCEqy^u=}>I!45?1 о ΍B @9D$5; 55;)W}eC?WyXy XyWy:W2W*WVbUBU*UUU`?B=6*B9 B9A=ʾ*BaAeAaAaAmF<"CuZ?*CuZRCudiCueC?C}NQIaG}z> 3:YU1y:59@o>9IVGi@T; ӗENq,EAɫyy)y yIyYϲ@y[Gv?/$?+?8?,= =)Iy +?Mb{Gz?6?ף< (A)AI7 AiA A 5 5 55½5P5>i5@1 5~@)5~@I5~@i5@EzMEF=YEQUM>IQaUoEUCEQy]}]>Iy :}+45? :}Ͼ }ٍB @9}ɝD}>/; } ;)}:W9?WX XW:W2W*WVbUBU*UUIUM?Bu7Bq BqA};*ByA} JAyAyA}%3<"C9?*C4[RC"lC9?CֽYבIG>I)q,EAY}6ő?}6bȟ?y}6oM}6]>}6HB?;#?O? I?@${Н??h?)~6ő? ~6JK^;I~4ɫ99)9 9I9Y}˲@y}[GM_=YʻQU>!!a%oE%CE)y->}->I156245?5Ͼ 5B E@95ҝD5: 5¿:)1We0?WaXi XiWi:Wi2Wi*WqVqbUqBUq*UyUyU}@B9B BA+ξ*BAῄAAA<"C0?*C-\RC}u8C0?CmrIq)qAIYG8> .:Yy5q,НEA||;Y}6R?}6S?y}6L}6l'>}6HZ?oI`?͔?=?0?`?ࣈ?)~6R? ~6^;I~6Cɫ99)9 =I9ܥp>9ܡIܥ!!a%oE%CE)y-`=}->IQ ]:U945? ]:UJϾ UB e@9U۝DUM: U:)U:W%?WX XW:W2W*WVbUBU*UUUu@RB*** querying acoustic contact ***PPB]΂.BY BYA]*BYAe.AaAaAel<"Cm%?*C}\RC%C%?C֝34lyIG]>q,vEAY}:?}:?Ԧ?y}:9N}:,>}:HD?~@ ? ?&?@`hĩ?t??)~:? ~:û^;I~8ɫ99)9 =I9Y}@y}B\GZ****** received transponder code query ******F****** received ping request ******QYa]oE]CEYye|=}e>IimA45?m_Ͼ mB @9mDm=P< m :)iW}?WX XW:W2W*W!V!bU!BU!*U)U)U-`Љ @BuR61By ByA}wʾ*ByAuAAA9<"C}?*C]RCjC}?C֥0ZyIG_>=ia= N2:YyJ5q,7SEAY}6'?}6f^?y}6V}6K->}6H[? \`? ?"?@ ?y??)~6'? ~6t^;I~4ɫ9A)A IIIYP@y\GAAxDUSBL response received:!U1,P F3F,000,014D1,186,80,80,7A,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 5<MUN=YeQUm>qqauoEuCEyy}=}}>IfG45?+Ͼ B -@9D>< {<<)Wg?W!X! X!W!:W)2W)*W)V)bU)BU1*U1U1U5 @BD/B BAž*BA%ҌAAATk<"Cg?*CU]RC ~Cg?CY-ܱ9ܱIܵWGiܵB@ܱIG>ܱܱܵJ; ݵΗE` q,42EA|i|ɫqq)y yIyY@yX]GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ImA)mA-gfffff?Dl? rh-33?-O > -C))I)y-Mb?+y&1?-C?--`< -\A)-=AI- Ai-A)-pA=+=P>= 0i=z@9 =@)=@I=I@i=I@U;*=MU7=Y]QU]>aaaeoEmCEqyu}}>Iȁ :ŅP45? :ŅϾ ƅB @9ƅDDž?B; ȅ@;)ȅ:W<?WX XW:W2W*WAVAbUABUI*UIUIUM &@B)s/B BAY*BA{OAAA)<"C%<?*C-.]RC-C-<?C) @*:YV1y:5y%85 I! G= >Lq,LEAY}2?}26??y}2!o}2O,>}2H3?`?@d?9?@;g`߭?f?~?)~2? ~2t_;I~2Cɫ99)9 9I9Y}ó@y}*]GxDUSBL response received:!U1,R,0A2,000,00C4E,186,80,80,7A,FF Fpublishing direction and range infoɰ>鰁 )IyCS,F?"B/ ¿ٱgM=Y@QU ?aoECEy,>} ?IV45?ƝϾ B @9D; g;)W?WX XW:W2W*WVbUBU*UUUy@P!*Q%CZQ%;N{b@X5JQ%S,F?"B/ ¿2Q%:Q!bQ%zt5H@aa@H@RQ%V:t?e]NM??BQ%e? Q%uCQ%ABP%"9?P%}9?P%Q%Q%,A"Q%AB>B BA*BALAAA<"C?*C]RCYC?C֭BׁIG=>IAA)eq,eEAY}V++?}Va?y}VÌ}}V ">}VH?*<?ԅ??` j?aoECEyU=}>I :^45? :.Ͼ +B @9 D= -<):mu}Added new target pos. range: 151.500000 m, bearing: 71.350301 deg, deltaT: 4.370213 s, approachRate: -29.916161 m/s, LOS rate: -0.294290 deg/s, posRepo size: 4m ProNav: pos range: 151.500000 m, bearing: 71.350301 deg, approachRate: -29.916161 m/s, LOS rate: -0.294290 deg/s, cmd update: -0.882871 deg/s, cmd heading: 81.013798 deg, new cmd heading: 80.992079 deg. W?WX XW:W2W*WVbUBU*U Ub@U ?B}*By ByA*BAaAAA@<"C?*C]RCFC?CֵmI׹)׹ ):Yy5);9 qIyG>2q,@EA||Y}6l?}64?y}6c}6[>}6H}?T^S?s?[??N??)~6l? ~6_;I~6Cɫ99)9 =IAY]m@y]]G=iMzԾMOMt=iM@I M@)Mz@IM@iM@}=M}`=Y*QU>aoECEyz=}>IșŝYd45?ŝ>{Ͼ Ɲ7B @9ƝDǝ4: ȝ:)șWe?WX XW:W2W*WVbUBU*UUUY?Bo@B  B A *B AAAAF<"Ce?*C֝]RCؼCe?C!EI G%N>k&q,BEAɫ) IYA@y]G]Gz?Mby&1?]?] ]`<)YIYy]V-?v/:v?]h1?]xi]< ]|A)]"AI]Ai]~AY]3AuKMu;=Y}QU}>yaoECEy}>Iȑ :ŕj45? :ŕjϾ ƕEB @9ƕDǕ: ȕ:)ȕ:Wω?WX XW:W2W*WVbUBU*UUU@?BZ.B BA˶*BAۡAAAG<"Cω?*C;{]RCW ƼCω?C֥ZҽyIG^>Uq>9QIU0YGiU@U=QQUa; UۗE=i= 2:YU1y:5);iM nGI kAi  ȿٺ kA AD,q,uEAɫyy)y }IyY@yR^G-e6only read 3 of 4 data items e@ e@ e@=MZ=YQU>aoECEy}>Iȱŵn45?ŵg\Ͼ ƵQB @9Ƶ'Dǵӻ: ȵ:)ȱW},±?WyX XW:W2W*WVbUBU*UUU ]?Bt/B BA*BArAAAM<"C ,±?*CX]RCwC,±?Cr ?i ?IGM>-3q,UEA|i|Y}6[e?}6?y}6f~}6x>}6HѶ? ~Ͽ?@}?W[?@ ̱?U? ѥ?)~6[e? ~6xl_;I~6Cɫ99)9 =I9Yu@y}@^GI)-M-Q=Y5NQU5>99a=oE=CEAyE>}E>II U:Mr45? U:MaMϾ M^B ]@9M0DM: M:)M:W}?WyXy XyW:W2W*WVbUBU*UUU@Bx5B.H< BA*BAPAAA<"C?*C ]RC/{=C?CסIG">  $4:YDW1yY:&59@V9q,*EAY}26?}2F?y}2=:}2z>}2H#?V׾?b?n)?V @ñ?W??)~26? ~2<_;I~2Cp9pIr\ZGir{@pppr]; rڗEɫYY)Y YIYY@y^Ge<MeG=Ye9QUe>iiamoEmDEqyu=}u>Iy}v45?}=Ͼ }lB @9}9D}4: } :)yW5?WX XW:W2W*WVbUBU*UUU@T@B L.B BA*BA9AAA_<"C5?*C%\RC%.=C%5?C1օ&ּYIiGZ>I)@Ak>@q,EAY}2g?}2?y}2x.}2qt=}2Hְ?&??`Fq?o ;?@>?5?)~2g? ~2٘^;I~2Cɫyy)y yIyYb@y(_Gɮa= - - --9-`e-tAAaEoEE DEIyM<}U>IY]hz45?]7.Ͼ ]zB e@9]BD]: ]:)YWNf?WX XW:W2W*WVbUBU*UU!U%@ڟ@R-B*** querying acoustic contact ***P)P)Buj+Bq BqAu*BqA}fAyAyA}t<"CNf?*C2\RCe=CNf?C֍0:DIי)יaIyG<> 4-:YW1yč:5lFq,EAY}MO?}M?y}M?}Mv=}MH-*?( j?`w?Wv? 粿`w?rd? ?)~MO? ~MZ^;I~MCɫ髉) IY@y_GZ****** received transponder code query ******F****** received ping request ******aoEDEyc<}>I  :?45?  :Ͼ B  @9MD+: :):W5u?W1X1 X1W1:W12W9*W9V9bUABUA*UAUAUEl @Bu9$Bq BqAu*BqA}VգAyAyA}^<"Cu?*CY[RC=Cu?C9I[Gio@T; ՗E9=֍y=ׁ I G >Lq,4EAɫ髙) IYe@yg`GxDUSBL response received:!U1,P 0A2,000,00C4E,186,80,80,7A,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 +iG@ )@I@i%0a=M%G=Y-QU->11a=oE=DEy}>Ișŝf45?ŝ Ͼ ƝB @9ƝVDǝ#< ȝ$<)șWn?WX XW9:WA2WI*WIVQbUQBUQ*UQUyU @B}A B BA*BA AAA<"Cn?*C[RC+=Cn?C=ia=}} w2:YkS1yԊ:5 < .= I G >Sq,OEAY}2?}2j5?y}2p=}2G=}2H 9Z?``M??Ls?@ d$?k?@?)~2? ~2^;I~2CɫQQ)Q QIQY{@y`G@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M;Mh=Y;QU>aoEDEy =} ?I -:45? 5:ξ B 5@9^Dz; {;) :We ?WiXi XiWi:Wi2Wi*WqVqbUqBUq*UqUyU}ZJ@B 2B BA'*BAzAAA:e<"C ?RC=C ?C)  u>u>E8=! I1 GM >9 99 I= P\G%Yq,iEAiu@qqquB; u̗E| i| Y}^?}^;R?y}^}^*v3=}^H???kv? &FͰ? `?|?)~^? ~^M];I~^Cɫ) IY=@y=`G]xDUSBL response received:!U1,R,E8E,000,00C6A,186,80,80,87,FF eFpublishing direction and range infoUMQ>QɰU+>Q Q)UCIQyU.CU~۪X?Hs%N?ٱQI)94^i3@ @)@Ii@m/4<Mm5=Yu?;QUu>yaoE%DEy:}>Ișŝ45?ŝξ ƝǎB @9ƝiDǝh; ȝ;)șWm?WiXi XiWi:Wq2Wq*WqVqbUqBUy*UUU/@P*Q.CZQK(t(b@xۻgMH@JQ~۪X?Hs%N?2QMQ>:QbQ\$EZb@ EQ'@RQQѿ4n?r|?BQ? QCQ(P69?P"9?PuQQA"Q,ABm5Bi BiAm*BiAu©AqAqAu*<"C?*CBZRCQ׾=C?Cmmmm m1:YmY1ym:m5)m;9}֕'=QIYG>`q,sEAY}j-?}j?y}j8}jѾ<}jH`Pܨ? z??!?(谿`?̗?u?)~j-? ~jN];I~hɫ髩) IYY@yaGMDNmea in: $SNTTA,,,,,014348.95*58 h=Mk=Y;:QU?aoE+DEy\5}?I :45? :ξ ׎B @9pD: k:)!:muAdded new target pos. range: 153.180008 m, bearing: 105.967653 deg, deltaT: 4.554223 s, approachRate: 0.368890 m/s, LOS rate: 7.601154 deg/s, posRepo size: 4m ProNav: pos range: 153.180008 m, bearing: 105.967653 deg, approachRate: 0.368890 m/s, LOS rate: 7.601154 deg/s, cmd update: 12.000000 deg/s, cmd heading: 76.999102 deg, new cmd heading: 76.712072 deg. W?WX XW:W2W*WVbUBU*UU%c@UB?B-r'B) B)A-D*B1A5-A1A1AuZ<"C}J?RCf=C?C֭=IA)EAAׁIG>gq,ǁEAɫ  )  IYMw@yMaGEK7A`?:v?{GzE ?ET= Eף)AIAyEZd;?Zd;~jt?E>?EyED< EA)E7 AIAiEIAAEG Ae <Me?=YmQUm>iiauoEu2DEqy}}}>IȁŅ-45?Ņ/ξ ƅB @9ƅ{DDž; ȅ3;)ȁW9I|]Gi@G; ΗE)݉I݉i݉ݍ=ݍ=ݍE4=uuuu uG/:YuWU1yu:u5)u;שIG>1mq,VEA|$|$Y}B.?}B?y}Bv}BC}BH l?\x?Uϰ? =̯K?[\@m?)~B.? ~B\;I~BCɫii)i mIiY@yaG=i=mmm94im@i m&@)m&@Im&@im&@}F<M}Z=YKl;QU>aoE8DEyl+}>Iș :ŝ45? :ŝξ ƝB @9ƝDǝ\: ȝ:)ȝ":W8?WIXI XIWI:WI2WQ*WQVQbUQBUY*UYUYU]?BH; B BA*BA~xAAAʮ<"C ?RCRC8?Ci=׹IGE>tq,(DEAY}2PV?}2錿?y}2㧀}2"}2H`?l`ū@G??྄@G?`vMb?)~2PV? ~2\;I~2Cɫ)))) 1I1Ymз@ym&bG%<M-O=Y-f;QU5>11a=oE=>DE9yEμ}M>IQUs45?U3ξ UB e@9UDUg; U;)QW?WX XW:W2W*WVbUBU*UUU IiM=]]]] ]R.:Y]U1y]:]o59]@ 9 I _Gi J@ L; їE?Azq,EAY}N?}N9??y}NP{}NS}NHE?%j?Ab?@ e?6j?)~N? ~N\;I~NCɫ髁) IiemGIlAiYo@ybGͿٺlAA-6only read 3 of 4 data items @ @ @?9%A T+=M 0=YN;QU>aoEFDEy%<}%>I)->45?-ξ - B 5@9-D-: - :))W]N>?WYXY XYWY:WY2Wa*WaVabUiBUi*UiUiUm?BxB BAg*BAAAAX<"Ca ?RC$!CN>?C L=ױIG>(q,EAY}6Q?}6)?y}6$s}6J}6HW?,@ 2? ?:@Js?H`?)~6Q? ~6\;I~6CɫYY)Y ]IYYQ@ybGI) 5A,M=n=Y=;QU=?AAaEoEEKDEAyMɼ}M?Iȱ :ŵ45? :ŵLξ ƵB @9ƵDǵ: ȵ :)ȵ#:W?WX XW:W2W*WVbUBU*UUU@B%foB! B!A%k*B!A- A)A)A-<"C5?RC5DeC5?C9m$=!I1G]3>eeee eq-:YeWU1ye:e5Wq,EAɫ髑) IYӸ@yecGɮ=uE?NbX9?Q?u&?uE> u\=)qIqyuV-?X9v~jt?u-?uu= uA)ujAIuAiuAqu A=MD=YQU>aoERDEy}>I)-T45?-wyξ -'B 5@9-D-H: -:))W]o ?WYXY XYWY:WY2Wa*WaVbUBU*UUU`@RB*** querying acoustic contact ***PPBiB BAQ[*BA3AAAI8<"C?RC Co ?C܉9܉I܍7`Gi܍>@܉܉܉܍H; ݍϗEסIGB>I]@A)Y}q,W8EAY}2?}2A?y}2&T}2,7}2H Ri}f@y y)}@I}@i}ƣ@<MK=YҜaoEXDEy0ȼ}>Iȩ :ŭ45? :ŭjξ ƭ6B @9ƭDǭ ; ȭ;)ȭ$:W,8@WX XW:W2W*WVbUBU*UUU @BB BAHO*BA6⵼AAA<"C?RCC,8@C8RIGF>eeee e.:YeX1ye/:e5dq,;nREA|4<|Y}>?}>?y}>eB}>q}>H@%? E ?׺?[J? $/?)~>? ~>yq\;I~>CɫYY)Y eIaYQ@ydGxDUSBL response received:!U1,P E8E,000,00C6A,186,80,80,87,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 …iA<M9=Y? aoE_DE)y5X:}=>IIMD45?MYξ MGB e@9MDMB< MB<)IW@WX XW:W2W!*W!V!bU)BU)*U)U)U5 @B}By ByA}K*BAG_AAAIs<"C @?RCC@Cֽ)2ؽיIG>ܕ s>9ܑ Iܕ aGiܕ @ܑ ܑ ܕ Dܕ A; ݕ ˗E\q,JlEAY}B0v?}BȬ?y}Bѹ2}Bu=}BH@9?e֩?8?`e죿iU?}?)~B0v? ~B3\;I~@ɫaa)a mIiYJ@ycG Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Y`ei\@ \@)\@I\@i\@4MY=Y&aoEeDEy&~<}>I  :&45? :Lξ SB @9ĞD': v:)%:W5 3 @W9X9 X9W9:W92W9*WAVAbUABUA*UAUIUM@Bu$By ByA}L*ByA}UzAyAAQ<"C@RCC 3 @C֍":aIqG:>QiUp=eeee e/:YeDW1yeY:e5)eތ;9mwq,$EAY}6_?}6?y}6(}6м}6H?@j?a?磿Z?@I^?)~6_? ~6Hl\;I~6Cɫ99)9 EIAY@yeGxDUSBL response received:!U1,R,E81,000,00C8B,186,80,80,87,FF Fpublishing direction and range infoD >ɰ> )Iy(Cۂ:?Wр?ٱ x=MY=Y;QU>!!a%oE%kDE!y- <}->I1545?5=ξ 5`B =@95̞D5: 5:)1We]?@WaXa XaWa:Wa2Wi*WiVibUiBUq*UqUqUu`S@P*Q(CZQe]Rb@=-sI@JQۂ:?Wр?2QD >:QbQuHCq =b@F%t@RQ˪I=;`Ͽ[?RBX?BQ? QYCQ"PA9?P69?PiQuQM)A"QAB? B BA!*BAUvAAA#<"C1@RCC]?@C =%>[ סIGA> q,9 EA|8i|:@Y}{?}׿?y}s#}I;}H@i?(?5?he?`r {?1i?g?)~{? ~\;I~Cɫ) IY-y@y5leGTNmea in: $SNTTA,0.105427,,,,014353.42*43 I)5K7?S㥻?kt5I ?5/= 5 )1I1y5Gz?+I +?5P?5594< 1)5OAI5Ai5A15\ A)M= M>U%MU7=YUc7;QU]>YYa]oE]rDEay<}>I  : Ǵ45? : (ξ kB @9 ؞D : :) &:myAdded new target pos. range: 155.159988 m, bearing: 104.195970 deg, deltaT: 4.333883 s, approachRate: 0.456861 m/s, LOS rate: -0.408798 deg/s, posRepo size: 4m ProNav: pos range: 155.159988 m, bearing: 104.195970 deg, approachRate: 0.456861 m/s, LOS rate: -0.408798 deg/s, cmd update: -1.226394 deg/s, cmd heading: 129.137088 deg, new cmd heading: 134.771940 deg. W@WX XW:W2W*WVbUBU*UUec@U@5?-t>9)I-daGi-2@)))-D; -͗EBubBq BA&*BAƺAAA<"Cj @RCC@C%c9  D:YV1y:&5)I1GU>)1;ͭq,EAY}6?}6?y}6Y!}6[ =}6Hw? U6??{̫? '@>?@,??)~6? ~6\;I~4ɫQY)Y ]IYY/@yKfGUtaoEyDEy7=}>Ia45?ξ rB @9D: H:)W @W X XW:W2W*WVbUBU*UU!U%@I?BM BI BIAU*BQAUAQAQAU<"C] @RCYC]@CaeS^!I)GM1>Iq)qq,еEAY}:?}:T?y}: {!}:I=}:HD?`9&? ?Ơ?sN .???)~:? ~:\;I~:Cɫ髉) IY@yfGUM]K=Y]9QU]>aaaeoEeDEaymD=}m>Iqu45?uξ u{B }@9uDu4: u@:)qW|@WX XW:W2W*WVbUBU*UUUq}?B]xNBa BaAeF*BaAe$AaAaAm<"Cu6)@RCqCu|@Cqe)I9Ge4> .:YX1y/:ʽ59@) 9- |CI- ,bGi- Է@- =) ) - J; - ЗE)ݹIݹiݹݹݹݽ~4q,OEA|R;|Rp;Y}?}2 ?y}xW}p=}H?Ys,??? P?9P? ?)~? ~S];I~CɫII)I IIIYy@yfG=i=hAÝI ÝǾÝ>iÝf@Ù ĝ)ĝ\@IĝE@iĝ&@;=M4=YF;QU>aoEDEy@=}>I :45? :a; B @9D: :)':W @WX XW:W2W*WVbUBU*U U U ?B59B1 B9A=*B9A=wA9AAAEo<"CE @*CMz\RCICM @CI5?΅IGm>q,nEAY}:?}:D?y}:́}:=}:H n:? 8?@ƈ4@$Ϣ? .#?w?)~:? ~: V];I~:CɫYY)Y ]IYYû@ygGu <Mud=Y}/;QU}>yyaoEDEyN=}>Iȑŕ45?ŕ; ƕB @9ƕDǕ: ȕn:)ȑWv @WX XW:W2W*WVbUBU*UUU=@BP$B BA*BAW0AAA T<"Cv @RCCv @C)I G-N>u=iu=y ):Y[1yݏ:]5Cq,G!EAY}2?}2R?y}2*}2_ >}2H@Y=?`g?0ZJ@? К? ?)~2? ~2Iz];I~2CɫYY)Y ]IYYD@ygG@5^I ?A`"?ʡE?b>Y= =)Iym?/$/$?.?,= µjA)µXAIµXAiµA A =ME=Yz;QU>aoEDEy{=}>I :ռ45? :; B @9 D; ;)(:W @WX XW!:W!2W!*W!V!bU)BU)*U)U1U5O@B]BY BYA]Nڽ*BaAeA꾼AaAaAe4<"Cm @RCiCu @Cq9Ii8; ǗE֡qiunGI!iQIyϿٺ^AG>Rq,";EA|i|@Y}6?}6?y}6 }6E>}6H RɮT _? f?` w?? ۚ?)~6? ~6];I~4ɫ99)9 9IAY*@ygGI)-6only read 3 of 4 data items @ @ @[ MZ=Y(4;QU>aoEDEy=}>Ie45?; B  @9D: :)W5a @W1X1 X1W9:W92W9*W9V9bUABUA*UAUAUE@3@RUB*** querying acoustic contact ***PQPQBuxRBy ByA}*ByA}AyAyAg#<"Ca @RCCa @C։AIaG8> ,:YY1y:5`q,AUEAY}F=?}Ft?y}Fz }F&\*>}FH`] j??@ⷿ@G`|?@=/?-?)~F=? ~FB];I~FCɫqq)q qIqY@ygGZ****** received transponder code query ******F****** received ping request ******yya}oE}DEy=}>Iȑ :ŕ945? :ŕm; ƕB @9ƕDǕ; ȕ;)ȕ):W @WX XW:W2W*WVbUBU*UUU` @BB  B A Ƚ*B A DA AA<"C @RCC @CFӅI)IGi>Ii)m@A r>9 {CI i = E; ΗE.q,nEAY}v?}v}vH A2K ??`EX@%`i?? ?)~v? ~vP];I~tɫ髱) IY-@y-gG5xDUSBL response received:!U1,P E81,000,00C8B,186,80,80,87,FF 5Command Ack5BRequesting micromodem ping code 2i19ENmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76   ÕDÕȆÕtiÕ=@Ñ đ)ĕ@Iĕ&@iĕE@7M)=Y QU>AaEoEEDEIyUs=}}>Iȉō45?ōD; ƍB @9ƍ&DǍi< ȍi<)ȉW} @WyXy XyWy:W2W*WVbUBU*UUU*@~~ f.:YT1y@:o5);9BKB BA~˽*BA(AAA<"C @RCC @C!qqY 1 IA G] >-q,곈EAY}2t?}2 ?y}2}2.>}2H¿ ( 3??@&mÿ-8?l?]?)~2t? ~2^;I~2CɫYY)Y ]IYY@y7hGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=I%=)!<Mu=YQU?aoEDEy=} ?I45?F; ˏB @9-D : Y:)W  @W X  X W :W 2W*WVbUBU*UUU@<@BEBI BIAM*BIAU׏AQAQAU<"C] @RCYC] @Caa9IIGuW>?q,[EAY}N?}NF?y}N+x}N)1>}NHƿy \?uy? ǿ4|ǭ? ?@?)~N? ~N>];I~NCɫ髱) IY@y`hGxDUSBL response received:!U1,R,D40,000,00CA8,186,80,80,87,FF Fpublishing direction and range infonF?ɰ> )IyC  &?N^F:"r?ٱ%dNmea in: $SNTTA,0.106684,0.261884,,,014357.88*56 K7A`?/$?l? ?= =)Iy'1Z?sh|?I +?B?9< "A)@IAiOA A <M9=Y8fQU>a pE DE y =}>I %:.45? E:"; ӏB E@98D; r;)*:i9m|CIiiiiiimD; m͗EW @WX XW:W2W*WVbUBU*UUU T @P*QCZQh0P`@E^MV@JQ  &?N^F:"r?2QnF?:QbQ˟[Dar[@dZ`KY|4@RQ0]y濇e md?D+L_?BQ@ QBQeP9?PA9?PQiQA"QM)ABM2BQ BYAl*BA=¼AAAt<"C @RCC  @Cu=iup= d0:YV1y:5);m?΅) I9 GU >hq,pEAY}2:@}2 ?y}2#}2,4>}2H[ʿ`?I?LʿƼc/q? a?@0{?)~2:@ ~2];I~0ɫ99)9 9I9Y]@y]7hG====C=i=@9 =z@)=@I=z@i=z@M<MUh=YUXQU]>YYa]pE]DEayeհ=}e>Iim 45?m+q; mڏB }@9m@DmǺ: m:)imuAdded new target pos. range: 156.900009 m, bearing: 135.105718 deg, deltaT: 4.521172 s, approachRate: 0.384861 m/s, LOS rate: 6.836667 deg/s, posRepo size: 4m ProNav: pos range: 156.900009 m, bearing: 135.105718 deg, approachRate: 0.384861 m/s, LOS rate: 6.836667 deg/s, cmd update: 12.000000 deg/s, cmd heading: 123.599652 deg, new cmd heading: 123.181809 deg. W @WX XW:W2W*WVbUBU*UU̜c@U૏?BB BA*BA¼AAA=B<"C >{ @RC C @C!IGI>Oq,HEA| i|"@Y}N@}Nw?y}N(}N3>}NHRοݑ?`4?hοO[?x?R?d{?)~N@ ~N-^;I~NCɫyy)y yIyY@yhGI9)9)M= M=<MF=YwGQU>apEDEy=}>Iȱ :ŵ45? :ŵ_; ƵB @9ƵKDǵ#: ȵ/:)ȵ+:W(@WX XW:W2W*WVbUBU*UUU?BrB! B!A%**B!A%7IüA!A)A-<"C5Qm @RC1C5(@C9!IGK>  5:YU1y:n59@i 9m {CIm bGim w@m =i i m H; m ΗE|q,I/EAY}:@}:c?y}:z'/}:/>}:Hп@_W??@ )ѿmr?:?@?_?)~:@ ~:.^;I~8ɫQQ)Q QIQY@yhGMDMM iM@I I)M9@IIiM@\;MK=YQU>apEDEy؛=}>Ișŝ45?ŝoN; tI ƝB @9ƝTDǝ: ȝ:)șW@WX XW:W2W*WVbUBU*UUUN\?B tB BAc*BA&üAAA<"C(@RC!C%@C!}FӅIׁ)ׁQIaG}Y>Ii)mBA}2HUҿ@9@E??xҿNz?`?~?็?)~2Ob@ ~2_;I~0ɫII)I IIIY}ʼ@y}EhG[MT=YEgQU>apEDE y =}>I : 45? %:>; B %@9^D: +:),:WE@WAXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU]?BJ"B BA*BANeļAAACA<"C@RCC@Cׁ֡IG?>8  I8:YV1y:%5qq,#EAY}25 @}2?y}2=}2I">}2H@FfԿr?@K?`iԿO`}?{?-??)~25 @ ~22^;I~2Cɫ99)9 =I9YV@yhGi#~j?S㥫/$??/] <)Iy"~j?Q~jtx?S#?; ­|A)­@I©i­A AjA9#=M>=Y暻QU>apEDEyf=}>Iʠ45?5/; B @9gD: j:)WC$@WX XW:W2W*WVbUBU*UUU i?BB BA̕*BAļAAA<"C@RCCC$@s>9Ii6; ŗE)ݡIݡiݡݥ=ݥ=ݥ5C1YI!GEr>q,ݱ=EAY}> @}>3E}>#>}>HUֿ@ћ?@8?@Mֿt}?̠?*?@ ?)~> @ ~>R^;I~>CɫYY)Y ]IYYy];]-=]mi]@Y ]&@)]ƣ@I]\@i]\@YmQUu>qqa}pE}DEyyc=}>Iȁ :Ņz45? :Ņ!; ƅB @9ƅoDDž: ȅ:)ȅ-:W)@WX XW:W2W*WVbUBU*UUU @BB BA*BAażAAAI<"C@RC C )@C %?΅-?i-?IG=Q>yi}= ,:YT1y:\5 q,WEAY}2 @}2S?y}2K}2[>}2Hi׿4MՔ?B?@"׿?t??I?)~2 @ ~2^;I~0ɫ99)9 =I9Y}p@y}iG鮁ɮ=Æ;MapEDEyߙ=}>IȹŽӓ45?Ž; ƽB @9ƽvDǽ: Ƚ:)ȹW.@WX XW:W2W*WVbUBU*UUU?@R B*** querying acoustic contact ***P P B<B BAQ*BAżAAA}<"Clr$@RCC.@CFӅ׹IGE> 9 I cGi @ =   ;;  ȗE  Ci mGI i E ˿ٺA M IAq,iqEAY}2 @}2|?y}2+L}2l>}2H=tٿ=/?Q?Ƥٿo?`?@%??)~2 @ ~2^;I~0ɫ99)9 =I9Y}ɽ@y}iGZ****** received transponder code query ******F****** received ping request ******8<ME=YQQU>apEDE y 6=}>I45?;  B -@9Dd: :)WUh4@WQXQ XYWY:WY2WY*WYVYbUaBUa*UaUaUm X5 @B#B BA3r*BA?ƼAAA$<"C2*@RCCh4@C֡yIG_>5555 54-:Y5U1y5:55)5ߊ;9=]"q,CEAY}6@}6@y}6H}6>>}6H)ۿw@??@Sۿs??9?l?)~6@ ~6>I_;I~6CɫYY)Y ]IaY-@yiGxDUSBL response received:!U1,P D40,000,00CA8,186,80,80,87,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Y<MI=Y-;QU5>AAaMpEMDEayua=}}>Iș :ŝM45? :ŝ ̾ ƝB @9ƝDǝ= ȝ =)ȝ.:W:@WX XW:W2W*WVbUBU*UUU@ @BuP߼B BA5@*BAdƼAAA/w<"Cg0@RCC:@CIށ)ޅ?A?΅I ) I GU >q(q,EAɫ髙) IY&@yiGAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B &1?X9v?+? ? = =) I y !rh? ףp= V-? l'? Q < A) AI Ai jA  \ A%M-:=Y-QU->11a5pE5DE9y=}=>IAEb|45?E̾ EB U@9EDE: E:)A9IdGi@=K; ЗEWE@@WiXi XqWq:Wy2W*WVbUBU*UUU*@BHB BAC*BAƼAAA<"C$5@RCC@@CFӅ==== =.:Y=WU1y=:=5)=Q;שIG>/q,rEAY}2~@}23@y}2-?}2r>}2H@K޿{`Т??j޿o?E?? ?)~2~@ ~2\_;I~2Cɫ99)9 AIAY}C@y}jGxDUSBL response received:!U1,R,E0B,000,00CC4,186,80,80,87,FF Fpublishing direction and range infoU>ɰۅ>鰁 )IyC7s?P"?ٱi=IR=)¹½iA %@ %@ %@-M<M-\=Y5;QU>apEDEym">}>I :t45? :O̾ (B @9Dr; ;)/:WUE@WYXY XYWY:WY2WY*WaVabUaBUa*UaUiU@P*QCZQP+q=a@ou:P@JQ7s?P"?2QU>:QbQlU _RribW@7)0@RQ "'H鿝݌*??BQq @ QBQPU9?P9?PQQڰA"QAB :B BA5*BAF/ǼAAA(u<"C%:@RC!C%E@CI9I!G=r>5q,EAY}n@}n@y}n+ ?}n>}nHB`)q?`?K r?.ߧ?`z*?`?)~n@ ~nT_;I~nCɫ)1)1 5I1YmV@ym-jGTNmea in: $SNTTA,0.107872,,,,014402.30*4B ;M>=Y :QU>apEEEy n=}>Il45?8̾ 2B %@9D: @:)mUuAdded new target pos. range: 158.580002 m, bearing: 143.634630 deg, deltaT: 4.402445 s, approachRate: 0.381604 m/s, LOS rate: 1.937313 deg/s, posRepo size: 4me ProNav: pos range: 158.580002 m, bearing: 143.634630 deg, approachRate: 0.381604 m/s, LOS rate: 1.937313 deg/s, cmd update: 5.811938 deg/s, cmd heading: 176.450294 deg, new cmd heading: 181.278374 deg. WexG@WaXa XiWi:Wi2Wi*WiVqbUqBUq*UqUu`c@U}?B߼B BA+*BAtǼAAA<"CC?@RCCxG@CֹyIG_>qiup=M M~M~M M4:YMT1yM@:MJ59U@ܩ 9ܩ Iܭ LeGiܭ _@ܩ ܩ ܩ ܭ H; ݭ ϗE}2g>}2H@]6??@?@ק?`7?`?)~2@ ~2^;I~2Cɫ99)9 9I9YG@yjG u u uu^:>u/apEEEy =}>Iȡ :ť,c45? :ť̾ ƥ;B @9ƥDǥU: ȥ:)ȥ0:W;J@WX XW:W2W*WVbUBU*UUU?B RB BA@3*BAeǼAAAy<"CC@RCC;J@Cֽ?΅יIGb>}Bq, EA|i|Y}>JP@}>k @y}>?}>[>}>H@z)5?`t?^?ާ?@V??)~>JP@ ~>`;I~>CɫYY)Y ]IYY@ykGIA) )))5= 5=u=MuK=Y}QU}>yapE EEy=}>IȑŕuY45?ŕ̾ ƕEB @9ƕDǕ: ȕ+:)ȑWL@WX XW:W2W*WVbUBU*UUU?BiҼB BA!*BAwǼAA A <"C$H@RCCL@C׹IGE>e/ aae ef`:Yayae75'Iq,e&EAɫ髙) IY@yjGx?)\(?~jt?K?G= <)Iyy&1?{Gz{Gzt?`%?ףף; A)@IAiA= A5-M5?=Y5QU5>99a=pE=EEAyE}E>QUiAY9]|CI]eGi]@YYY]C; ]̗EIq }:uN45? }:u̾ uJB @9uDu|; u;)u1:WO@WX XW:W2W*WVbUBU*UUU?B=ԼB9 BaAe)*BaAexȼAaAaAmwF<"CmFDRCqCuO@CquFӅIy)}AAQIYGu>zPq,@@EAY}2@}2Y@y}26}2a>}2HQ  ?@x?`Mis?٦?P??)~2@ ~2-`;I~0ɫ99)9 =IAYJ@yYkGm^m/m!>im@i m)m@Im@im@}@<M}V=Y;QU>apEEEy>}>IșŝcD45?ŝ̾ ƝNB @9ƝßDǝϸ: ȝ:)șWlR@WX XW:W2WI*WQVQbUiBUq*UqUqUu@@BvϼB BAF*BA_ȼAAAY<"CJBRCClR@C׹IGh> -:YW1yč:5=;Vq,"ZEA||;Y}6l@}6@y}6Q(2}6 >}6HF?`i? g\?>C?`dM? ?)~6l@ ~6 _;I~4ɫ99)9 =I9Yu@y}kG=iI=)=hA  wM R=Y (A;QU>apE EEy%=}%>I)-945?-t̾ -SB 5@9-˟D-: -:))WUT@WYXY XYWY:WY2WY*WaVabUaBUa*UiUiUm@@ByҼB BAm*BA;6ȼAAAwf<"C!?RCCT@CցYIiG8>Q 9U {CIU fGiU @Q Q Q U E; U ͗E) I i W4c\q,MsEAY}2!@}2@y}2-}2>}2Hb`4`_?m??` W߫???p?)~2!@ ~2D"_;I~2Cɫ99)9 =I9Y}Ŀ@y}kG鮁ɮp=`=ξ$i @)I@i@T=ML=Y&;QU>apE'EEy=}>I  : ,45? : ?̾ WB @9 ӟD < <) 2:W0TW@WX XW:W2W*WVbUBU*UUU@k@RB*** querying acoustic contact ***PPB;6ȼB BA*BA A A A #<"C<RCC0TW@C%?΅-?i-k?I G%M>u=iu= ,:YDW1yY:5)u;9Kcq,FҍEAY}6o#@}6@y}6̦+}6J>}6HvP<??6@?>s?c?`ӱ?)~6o#@ ~6_^;I~4ɫYY)Y YIYY@ykGZ****** received transponder code query ******F****** received ping request ******apE-EEy%=}%>I)- 45?-u̾ -[B =@9-ܟD-; -;))WeY@WaXi XiWi:Wi2Wi*WqVqbUQBUQ*UQUYU]@ @BȼB BAV*BA7ȼAA A ik<"C8RCCY@C!EFӅ!IG>uiq,mEAY}6%@}6A@y}6#+}6@>}6H7Iuο?@? *}?`p? q?@w?)~6%@ ~6w^;I~4ɫ99)9 =IAY @yFlGxDUSBL response received:!U1,P E0B,000,00CC4,186,80,80,87,FF Command AckBRequesting micromodem ping code 2iIA)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =t>9=|CI=fGi=@9imGI9iQ9Ϳٺ"A9=?; =ʗEe1Zd?Zd;O?Q?e"?ej< e\=)aIaye@5^I ?Dl{Gzt?eb0?eOa eA)e^AIeAie5Aae A)Å= Å=-6only read 1 of 4 data items @ @ @-?<M-=YM8QUM>yapE6EEyT=}>Iȱ :ŵ 45? :ŵ*d̾ ƵbB =@9ƵDǵ< ȵ#<)ȵ3:W}]@WX XW:W2W*WVbUBU*UUU@B@B7ȼB BA*BAAAA<"CF5RCC}]@C     [/:Y U1y : \5) ; I G% >]pq,EAY}2RR'@}2m@y}2x+}2 >}2Hb=?@#b?``}?xm?_o?g?)~2RR'@ ~26^;I~2Cɫyy)y }IyY̿@ykGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B [ּM=Yר8QU?apE;EEy=}?I45?[̾ fB @9D: :)WF_@WX XW:W!2W!*W!V!bU!BU)*U)U)U5@}@BYBa BaAa*BaAaAiAiAm-<"Cuk4RCqCuF_@CyցYIiGY>Iq)u@Awvq,fEAY}2\)@}23@y}2v+}2ǒ >}2Hpn?`?W_$? w?A!?@ ?)~2\)@ ~2mj^;I~0ɫ99)9 AIAY%@yflGxDUSBL response received:!U1,R,CA6,000,00CB5,189,80,80,87,FF Fpublishing direction and range info֭??ɰ>>7> )IyC[[p?8F,w?ٱ<MY=Y[QU>  a pE AEEy=}>I! -:%35? -:%P̾ %kB 5@9%D%); %;)%4:WeHa@WaXa XaWa:Wa2Wi*WiVibUiBUi*UqUqUu=@P*QCZQ wx\@ˠZ@JQ[[p?8F,w?2Q֭??:QbQm.cW?s,53@RQHlRA?>;/?BQ!I@ Q=QP9?PU9?PbQQA"QڰABB BA*BAAAA<"C0RCCHa@CIAI)GEQ>      *:ܑ 9ܕ {CIܕ @gGiܕ @ܕ =ܑ ܑ ܕ P; ݕ җEY V1y : %5) ߈;ʸ|q,[EA|,|.4<ɫ  )  I YE7@yM}lGDNmea in: $SNTTA,,,,,014406.75*5B       D= 3 =i @  @) ­@I @i @ߠ;M1=YQU>apEHEEy}>IG35?NC̾ qB @9Dk: :)myAdded new target pos. range: 157.679993 m, bearing: 179.969488 deg, deltaT: 4.408391 s, approachRate: -0.204158 m/s, LOS rate: 8.242204 deg/s, posRepo size: 4m ProNav: pos range: 157.679993 m, bearing: 179.969488 deg, approachRate: -0.204158 m/s, LOS rate: 8.242204 deg/s, cmd update: 12.000000 deg/s, cmd heading: 202.095899 deg, new cmd heading: 204.752943 deg. W g@WX XW:W2W*W!V!bU!BU!*U!U-µc@U-ng?BQBQ BQAY*BYAYAYAYA]@<"CeQ*RCiCm g@Ci y}=֕?΅ם?iםz?aIqG}>ؙq,~EAY}::,@}:@y}:n%}:=}:H@F`6 Ӽ?N?@{?@?`"? l?)~::,@ ~:7t^;I~:Cɫ99)9 =I9Y}׿@y}lG=dM=f=YE΄;QUE>AAaMpEMNEEIyU+>}U>IY]35?]|9̾ ]uB e@9] D]b: ]:)YWl@WX XW:W2W*WVbUBU*UUUo?BB BA*BAAAA+<"C?&RCCl@C FӅI)GuW>ޥ=iޥa=- - - -  - .:Y- U1y- :- 595 @Éq,f(EAɫyy)y yIyY@y8mG9IgGiF@=R; ԗE%%C?333333/$?%ZD?% %,=)!I!y%Cl?1ZdMb?%?%"۽%< %A)!I%Ai% A!% AÅO >ÅÅapEUEEy}>Iȱ :ŵ35? :ŵ-̾ Ƶ{B @9ƵDǵ: ȵ:)ȵ5:Ws@WX XW:W2W*WVbUBU*UUU ߬?B%B! B)A-b{<*B)A-ȼA)A)A-ע<"C5h RC9C=s@C9Q1I9GU>ͫq,BEA|i|@Y}60@}6 @y}6, }6B>}6H`z?$? V` ?D?͓??)~60@ ~6<^;I~4ɫQQ)Q UIQY@ymG5M=z=Y= ;QU=?AAaEpEE[EEAyM@>}M?IQU35?U%̾ UB ]@9UDU+: U:)QWxuw@WX XW:W2W*WVbUBU*UUU?B]FBY BYAeG<*BaAe5ȼAaAaAePH<"CRCCxuw@CԡԡI)יIGb>u u u u  u 0:Yu DW1yu Y:u 5Ֆq,e\EAY}2*2@}2s"@y}2q!}2>}2Hhq@P?%?S e?@,???)~2*2@ ~2#];I~2Cɫ99)9 9I9Y@y8mGU%;M]H=Y]FQU]>aaaepEeaEEaym =}m>Iq }:u;35? }:u̾ uB @9uDu : u:)u6:W|@WX XW:W2W*WVbUBU*UUU]6@BB BAb{<*BA.ǼAAAI<"CRCC|@Cօ?΅YIiGZ>Iޑ)ޕAA9IlhGi@=G; ΗEq,vEAY}:Ϡ4@}:$@y}: $}:3>}:H@ Sº?0?N@?`y? a? ȱ?)~:Ϡ4@ ~:r];I~:Cɫ99)9 9I9Yyyyu>uxIuiu@q q)u@Iu@iu@YQU>apEhEEyG=}>Ișŝ35?ŝ̾ ƝB @9Ɲ&Dǝ: ȝn:)șWA5@WX XW:W2W*WVbUBU*UUUt|@B B BA*BAǼAAAk<"C;{RC!C%A5@C!EFӅI)GEQ>m r m m m  m <:Ym [1ym H:m 5)m q;9u q,aEA|4<|;Y}6Ƅ6@}6&@y}6O'}61>}6Hts? b?|Wz?? 7? ?)~6Ƅ6@ ~6 ];I~6Cɫ99)9 9I9Y}@y}smG=i=w;MapEnEEyg=}>Iȹ :Žj35? :Ž ̾ ƽB @9ƽ-Dǽ: Ƚ:)Ƚ7:W@WX XW:W2W*WVbUBU*UUU}@RB*** querying acoustic contact ***PPBnB BAխ<*BAȰǼAAA<"C +RC1C5@C1 AE=a}?i}?yIGf>q,=EAɫyy)y }IyY;@ymGZ****** received transponder code query ******F****** received ping request ******9܅|CI܁i܁܁܁܁܅A; ݅˗E)݉I݉i݉ݍ=݉ݍݔ4m$C?Sſ{Gz?m>m/ mף<)iIiymI +?zGếMbPm9?m ׽m mA)m@ImAimOAii/<i @ )­@I@ih<M =YQU>apEvEEy}>IZ|35?k̾ B @97D: B:)W%#@W!X! X)W):W)2W)*W)V1bU1BU1*U1U1U=  @Be湸Bi BiAm<*BiAmBvǼAqAqAu1\<"C} RCyC}#@C֕?΅޽p=i޽p=qIyG>m  m m m  m 3:Ym V1ym :m 5)m ;q,EAY}6Q1:@}6L*@y}6=)}6=}6H`YݿԷ??:<k?Z2?gV?`P?)~6Q1:@ ~6];I~4ɫ99)9 9I9Y@yamGxDUSBL response received:!U1,P CA6,000,00CB5,189,80,80,87,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -M==YEQUM ?YaampEm{EEy2>}?I :Lo35? :˾ B @9=D; c=)8:WҴ@WX XW:W2W*WVbUBU*UUU{ @B5z.B9 B9A=<*B9A=UǼA9AA<"ChRCCҴ@CֵFӅשIG>$q,4EA|i|@ɫyy)y }IyYM@ymGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I1)1<MA=YQU>apEEEy}>I]_35?o˾ B @9ED+: ʽ:)W w@W X  X W :W2W*WVbUBU*UUU<@BMBI BIAM<*BIAU)ǼAQAQAUq<"C]RCYC]w@CaquhAi9IIGeU>E,>}t>9yI}hGi}:@}=yy}J; }ЗEIi nGI kA     1:Y U1y : \5) ;i ʿٺ kA κApNq,EAY}2C=@}2-@y}2Q$}2=}2Hڿ?v?@ ?@]?? ?)~2C=@ ~2-e^;I~2Cɫ99)9 =I9Y$@ymGxDUSBL response received:!U1,R,B1C,000,007BC,18A,80,80,AC,FF Fpublishing direction and range infoً?ɰ3">> ),CIyB"s?Eh?ٱ -@ -@ 5@-©--i)- ))-@I-@i)EQMES=YEB;QUE>IIaMpEMEEQyU>}]>IY]O35?]!˾ ]B m@9]LD]: ]ӻ:)YW+@WX XW:W2W*WVbUBU*UUU@n@P*QBZQ B@|[4{ R@JQ"s?Eh?2Qً?:QbQ2O"!H+oQU$@RQic2\ɤMM?BQs@ QGQy}P9?P9?PQbQA"QAB>B BA<*BAƼAAA <"CRCC+@Ce?΅I)GUS>IAA)@A8q,EAY}f?@}/@y}$}&=}H@u@Miؿo?*? S4?G?`? _?)~f?@ ~^;I~Cɫ  )  IYUr@y]nGDNmea in: $SNTTA,,,,,014411.20*5D -<M-<=Y5T'9QU5>11a5pE=EE9y==}E>II U:Mz=35? U:ME˾ MB U@9MTDM: M:)M9:m%yAdded new target pos. range: 81.300003 m, bearing: 218.222877 deg, deltaT: 4.449832 s, approachRate: -17.164690 m/s, LOS rate: 8.596592 deg/s, posRepo size: 4m5 ProNav: pos range: 81.300003 m, bearing: 218.222877 deg, approachRate: -17.164690 m/s, LOS rate: 8.596592 deg/s, cmd update: 12.000000 deg/s, cmd heading: 255.489145 deg, new cmd heading: 260.947765 deg. W5@W1X1 X1W1:W92W9*W9V9bUaBUi*UqU}@3ST@U?BB BAP=*B AƼAA9A=!g<"CURC1C5@C1օ FӅ׍ ?i׍ ?     P0:Y W1y č: %59 @q I G >#`q,+EA|;|ɫ髡) IY@yWnGu>9IiQ; ӗE=i=p= ף?q= ףp?Mb%?= )IyI +?J +7oiQ@ )ٮ@Iƣ@i@C<M>=Y QU > apEEEy}>I!%+35?%˾ %B -@9%\D%m: %:)!W2@WX XW:W2W*W V bU BU *U UUyV?B]/BY BYA~3=*BAnƼAAAz<"CݿRCC2@CֱבIG>Hq, `EEAY}2P-C@}2H3@y}2p$}2=}2H@$vԿB?W?`?“? ؿ??)~2P-C@ ~2H^;I~2Cɫ99)9 =I9Yv@ynG]ݾM]j=Y]QU]>aaaepEeEEiym->}m>Iq }:u35? }:u˾ uB @9ucDu : u:)u::WՖ@WX XW:W2W*WVbUBU*UUU`(g?B|xB BA*=*BA=ƼAAA<"CݼֿRCCՖ@CIGI>=ia=  ~ ~  0:Y T1y @: J5rq,>_EAY}:OE@}:#5@y}:em"}:>}:H$pFӿ`hƳ? V?@A?OL?@?`?)~:OE@ ~:lX^;I~8ɫ99)9 =I9Y}@y}@nG5p<M=L=Y=:QU=>AAaEpEEEEIyMn=}M>IQU 35?U˾ UB ]@9UjDUY: U:)QW惙@WX XW:W2W*WVbUBU*UUU?B!B BA<*=*BA żAAAA<"CK̿RCC惙@CiA?΅I)׹IGE>9I3iGi@^; ڗEEq,yEAY}6F@}66@y}6 }6>}6H#`kѿA? ? `?@U?O? ?)~6F@ ~6 ^^;I~6CɫYY)Y ]IYY@yDnGI)U@>UK7U>iU@Q U@)U@IU@iU@:MB=Y}:QU>apEEEyP=}>I :e25? :˾ B @9rD: :);:W (W@W X XW:W2W*WVbUBU*UU!U%E@BM5BI BQAU,=*BQAUżAQAQAU<"C]$RCaCe(W@CaeFӅ!I)GER>4q,xEAY}6H@}6L8@y}6d}6>}6H@rϿ`E?,? ? h? ?@?)~6H@ ~6Փ];I~4ɫaa)a eIiY@ynG5<M=S=Y= ;QU=>AAaEqEEEEAyMb=}M>IQU 25?U:˾ UǐB ]@9UzDU: U߼:)QW@WX XW:W2W*WVbUBU*UUU\@Bu碧Bq BqAuT=*BqA}VżAyAyA}<"CµRCC@C?΅׹IGf>I@A)AA &2:YT1y:5q,GEAܵt>9ܵ{CIܵiGiܵݽ@ܵ=ܱܱܵc; ݵܗEɫ) IY-+@y-nG5a=ɮ5a=l?+η?ÍʽÍ;iÍ(@É čƣ@)č@Ičƣ@ičƣ@mU<M5=YQU>aqEEEy}>Iȹ :Ž25? :Ž~˾ ƽ̐B @9ƽDǽ: Ƚ:)Ƚ<:W@WX XW:W2W*WVbUBU*UUU@R B*** querying acoustic contact ***P P BUPBQ BQAUl=*BYA])ļAYAYA]<"CecRCiCm@Ci։בiו?iIqG}>0q,EA||Y}>+&L@}>tA<@y}>o}>O>}>HV,ȿLx?l? $᛽?E9? ?m?)~>+&L@ ~>\;I~>CɫYY)Y YIYYE@yoGZ****** received transponder code query ******F****** received ping request ******aqEEEY@yh>}>Iȩŭr25?ŭt˾ ƭАB @9ƭDǭ: ȭ3:)ȩW]/@WYXY XaWa:Wa2Wa*WaVabUiBU*UUUM @BB BAy=*BAļAAA<"CRCC/@CI G-p> -:YU1y:5Gq,EAY}6MM@}6=@y}6UR}64>}6H@`IWſ?? L`?+ ?e??)~6MM@ ~6\;I~6Cɫ99)9 =I9Y}$@y}nGxDUSBL response received:!U1,P B1C,000,007BC,18A,80,80,AC,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ,MS=Yy:QU >aqEEEy=}>I25?D˾ ՐB @9D: :)W9I@WX XW:W2W*W1V1bU9BU9*UAUAUm: @BͤB B=ip=ܡ9ܡIܥiGiܥ.@ܡܡܡܥd; ݥݗE)ݝ|CIݝ|Ciݙݝ=ݙݝW4A-0i=*BqAuU ļAqAqAu@<"C}I䐿RCC9I@C FӅי I G >]q,]EAY}BO@}B`?@y}B}B~E=}BH¿*k?`? q#?@)?`3о??)~BO@ ~BL\;I~BCɫYY)Y ]IYY#@ypG@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B z>O=CaqEEEy_=}>I :25? :˾ ِB @9DM: :)=:W- @W)X) X)W):W12W1*W1V1bU1BU9*U9U9U= ;@Be ):YV1y:\5Bq,8EA|i|Y}F~EQ@}F`A@y}F*V}F'=}FHEW`W? v?$`ý?`)? M ?`U?)~F~EQ@ ~F1\;I~DɫYY)Y aIaY@yoGxDUSBL response received:!U1,R,D62,000,00C8D,189,80,80,AC,FF Fpublishing direction and range info?ɰ>鰥7> )IyGC=J1?gw?ٱI)@M[=Y=;QU>aqEEEy=}>I  ʆ25? e˾ ݐB @9 D D; ;) WEZi@WAXA XAWA:WA2WI*WIVIbUIBUI*UQUU`@P*QGCZQ /`@VmU@JQ=J1?gw?2Q?:QbQfuIa2B@Qײ-@RQ쿂q`pܿV?BQf@ QQK P(9?P9?PQQA"QABmDBq BqA}o=*ByA: üAAA<"C~RCC%Zi@C11IG5> q,%.EAMu>9M|CIM`jGiM@M=IIMX; MחEinGIi˿ٺ,Aɫ髑) IY@ypG-TNmea in: $SNTTA,0.106319,,,,014415.63*4C %S?Mb`?Zd;O?%>%; %j<=)!I!y%ʡE?Cl绿 rh?%?%;߽%C< %A)%@I%Ai!!%QA-}Nonly read 0 of 1 data item for altitude }@ }@ }@ =M=YQU>aqEEEy}>Iȡ :ťwl25? :ť˾ ƥB @9ƥDǥr: ȥb:)ȥ>:m}}Added new target pos. range: 155.279999 m, bearing: 206.517381 deg, deltaT: 4.454087 s, approachRate: 16.609463 m/s, LOS rate: -2.628035 deg/s, posRepo size: 4m ProNav: pos range: 155.279999 m, bearing: 206.517381 deg, approachRate: 16.609463 m/s, LOS rate: -2.628035 deg/s, cmd update: -7.884105 deg/s, cmd heading: 308.701659 deg, new cmd heading: 314.960199 deg. Wq@WX XW:W2W*WVbUBU*UUhc@U ?Bu.Bq BqAu=*BqA}+6¼AyAyA}<"C[llRCCq@CI)  /:YWU1y:I5)t;9 ֹ י I G >Iq,=GEAY}2T@}2HD@y}2}2 =}2H` qM??@";?)?_h?@?)~2T@ ~2|X];I~2Cɫ99)9 9IAYeA@ye:pGEM=Y} ?I]25?˾ B %@9DH: T:)WE*ڨ@WAXA XAWI:WI2WI*WIVIbUQBUQ*UQUYU]@k)?B[B BA=*BAeAAA<"C`eeRCC*ڨ@C!I G5O>uq,aEA|4<|Y}6|V@}6gF@y}6Fn}6X=}6H࣓|ע??`? ?~r??)~6|V@ ~6L];I~6Cɫ99)9 =I9Y@yoGi=)-jAU8 M]D=Y]:QU]>aaaeqEeEEaym=}m>Iq }:uaH25? }:up˾ uB @9uDu<: u:)u?:W @WX XW:W2W*WVbUBU*UUU e=?B@䖼B BA=*BAPAAAi<"Cu_RCqCu @Cye?΅AIiG^>A9AIAiAAAAEO; EҗE| L):Yyn5)~;~8q,U{EAY}:"KX@}:lfH@y}: }:E=}:H@)6zl? +? Q? ?`^c?`?)~:"KX@ ~:3\;I~8ɫ99)9 =I9Y]@y]pG U ] ]]Y=] W>]T>i]f@Y ]@)]@I]@i]@mv=MmI=Ym;QUm>qqauqEuEEyy}_=}}>IȁŅW325?ŅĠ˾ ƅB @9ƅDDž: ȅ:)ȁW:@WX XW:W2W*WVbUBU*UUU?B·B BA=*BAAAA<"C{t^*CcRC C:@C!EFӅII)II)GEQ>i=!%q,bEAY}J3"Z@}J}=J@y}J\2}JJ=}JH1?%Ϝ?גξ? e?`??)~J3"Z@ ~Ji!\;I~JCɫqy)y yIyY_@y^pGu6MuJ=Yu;QUu>yyaqEEEy=}>Iȹ :Ž25? :Žz˾ ƽB @9ƽɠDǽ; ȽJ;)Ƚ@:Wu`W@WyX XW:W2W*WVbUBU*UUUM`\@BW>B BAH=*BAW쿼AAA<"CAdRCC`W@C ?΅zz  +:YQ1y:59 @IG5>:N+q,DkEArt>9r{CIr(kGir"@ppprT; rԗEɫ) IY-.@y-#pGI)AI)AmGz?l?mp?m= m̼)iIiym(\?ʡEm?m-m i)mh@ImAim AimA)Å> Å>ļI>i¥@ )@I@iUUM5=YQU>aqEEEy}>I 25?˾ B @9ѠDz: :)Wtc@WX XW:W2W*WVbUBU*UUU@1@B%B! B!A%?=*B)A-RA)A)A-><"C5pRC1C5tc@C95FӅ IG1h22q,6EAY}6_^@}63N@y}6`M}6/>}6H+`L?0?]R`9? ? ?|?)~6_^@ ~6O\;I~6Cɫ99)9 =I9Y@y'qG鮥p=ɮp=H=Mr=Y;QU?aqEEEy;>}?I15?ț˾ B @9נD: ¿:)W%=@W)X) X)W):W)2W)*W1V1bU1BU1*U9U9U=k@REB*** querying acoustic contact ***PAPABmm5iBi BiAm=*BiAuiAqAqAu<"C}|RCyC}=@Cց׍?i׍?aIqG;>I)@A ,:YU1y:&54]8q,EAY}:E_@}:P@y}:n⼙}::S>}:H g?=?`(ഇ`?@Z??@?)~:E_@ ~:\;I~:Cɫ99)9 =I9Y}P@y}LpGZ****** received transponder code query ******F****** received ping request ******aqEFEy^=}>I :15? :(˾ B @9ߠDk: :)A:W-v @W)X) XIWI:WQ2WQ*WQVQbUQBUY*UYUYU]@j @B+B BA=*BA AAA<"CVRCCv @C9|CIiO; җEI G%o>>q, EAY}2a@}2Q@y}2ؼ}2>}2H@`?݀? @j` T?`G??N?)~2a@ ~2@\;I~2Cɫ99)9 =I9Y}@y}qGxDUSBL response received:!U1,P D62,000,00C8D,189,80,80,AC,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)hAE =EOE=iE(@A E)E@IEƣ@iEƣ@5=M.=Y0+;QU>aqE FEy]=}>I{15?ۚ˾ B @9D@: :)W@WaXa XaWa:Wa2Wi*WiVibUiBUi*UqUqUu[ @BP̀B BA*=*BAy'AAAJ<"CRCC@C  ~ ~  *:Y T1y @: 55?΅IG >pEq,EAY}6c@}6!S@y}6ϼ}6l >}6HAL?o? ĿMKk?@??@?)~6c@ ~62\;I~6Cɫ19)9 9I9Y@ypGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B KMZ=Y @;QU>aqEFE y U|=}>I :w15? %:˾  %@9D: ]:)B:WES@WIXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU] V@B&*B BA=*BAAAAW <"CCRCCS@Ci=IG>rKq,0EA@BjAD9F{CIDiDDDDFT; FԗE)1I1i1115(4ɫ髑) IY5@y=qGExDUSBL response received:!U1,R,DC3,000,00C6C,189,80,80,87,FF MFpublishing direction and range infoEj?AɰE@>A A)ECIAyELCE? p?ٱAOn?&1?Q?8?P= u<)IyZd;O?&1Mb?~ ?P< IA)Q@I"Ai AQAUµ?UUo>iU@Q U@)U@IU9@iU9@e<MmA=YmQUm>qqauqEuFEyy}}}>IȁŅ]15?Ņ˾ ƅB @9ƅDDž: ȅӻ:)ȁW}@WX XW:W2W*WVbU9BU9*UAUAUE@PQ*QULCZQU`@sv`R@JQU? p?2QUj?:QQbQU@J^v)P >Wa@p|*@RQUߓ K@{hRl?BQUr@ QUQUWPUN9?PU(9?PUQUQUA"QUAB|B BA=*BAAAA<"CRCC}@C   FӅ   2/:Y T1y : 5) ;9=IG >]Rq,vJEA|8i|8Y}e@}V@y}~¼}=}H@3T`k?`Z ɿtؿ?U?C?[?)~e@ ~AZ[;I~ɫAA)A EIAYm @ym0qGTNmea in: $SNTTA,0.260476,,,,014420.08*4A I) )= =-K<M-a=Y5;QU5>11a5qE=FE9y=>}E>II U:MИ15? U:M˾ MB U@9MDM: M:)MC:myAdded new target pos. range: 153.300018 m, bearing: 217.497744 deg, deltaT: 4.520394 s, approachRate: -0.438011 m/s, LOS rate: 2.429072 deg/s, posRepo size: 4mU ProNav: pos range: 153.300018 m, bearing: 217.497744 deg, approachRate: -0.438011 m/s, LOS rate: 2.429072 deg/s, cmd update: 7.287216 deg/s, cmd heading: 273.029930 deg, new cmd heading: 270.160226 deg. WUW@WQXQ XQWQ:WY2WY*WYVYbUBU*UU)c@U L5?B)lBy BA=*BAAAA<"CsRCCW@C?΅שIG>Xq,YdEAY}2-g@}2wW@y}2?N}2E=}2H"ڊ?(njgͿ` ?`F)?w?`?)~2-g@ ~2R[;I~0ɫ99)9 9I9Y@yqGUWM]Y=Y]G;QU]>aaaeqEe#FEiym=}m>Iqu15?uw˾ uB }@9uDu: u:)qW @WX XW:W2W*WVbUBU*UUU?B=gB BAP=*BA-cAAAY<"CuoRCqCu @Cy֭FӅi=nGI]lA܉9܉I܉i܉܉܉܉܍[; ݍؗEi׹IοٺlANAGi>I)W  ::Y0Y1y:\5);^q,/5~EAɫ髙) IY@ypG-Nonly read 0 of 1 data item for altitude @ @ @MC=YQU>aqE*FEy}>It15?7˾ B @9 DM: :)Wu5@WX! X!W!:W!2W!*W!V)bU)BU)*U1U1U5D?B]xBa BaAe=*BaAepAiAiAmN%<"C 뜼RCCu5@CIGn>Feq,EA|;|Y}6ik@}6[@y}6}6/=}6He`y?]Erҿ`rh7?kv???)~6ik@ ~6q[;I~6Cɫaa)a mIiY @y4qGi=I=)=  U،<M]B=Y]';QU]>aaaeqEe0FEayu->}u>Iy :}a15? :}˾ } B @9}D}: }:)}D:W@WX XW:W2W*WVbUBU*UUU?B`JrB BA=*BAʸAAA<"CƼ*ChRCC@Cֵ?΅בIG> h,:YT1y:n59@kq, EA9IkGis@Q; ӗEY}Fm@}F]@y}Fz}Fl>}FHMV@P?`PRԿ``D? ?K?਻?)~Fm@ ~F_[;I~FCɫ髙) IYL@yqG{Gz?/$?Mb`?#?,= ;)IyQ?/$U;_>UĻiU@Q U)U@IU@iU@]T<MeJ=YeN:QUe>iiamqEm7FEqyuw=}}>Iy}'M15?}U˾ } B @9}D} ; } ;)yW@WX XW:W2W*WVbUBU*UUU~?Bִ^B BA=*BAAAA<"CKyRCC@C IGn>=ip=rq,GEAY}6Co@}6_@y}6G}6 >}6H?@!ֿJo?@?F? (?)~6Co@ ~6uc[;I~6Cɫ99)9 =I9Y@yqG5M=_=Y=9QU=>AAaEqEE=FEIyM=}M>IQ ]:U:15? ]:U ˾ U B e@9U DU: U:)UE:W@WX XW:W2W*WVbUBU*UUU@ @BfB BA==*BASSAAA <"CRCC@CFӅIGI> ):YU1y:5xq,EA|i|Y}BPq@}Bla@y}B=񨼙}B<1>}BH? xm׿`X=??`6??)~BPq@ ~Bza[;I~BCɫYY)Y ]IYYD@yyqGI) 鿱)ý= ý=<MR=YӿQU>aqECFEyU݊=}]>Iae.&15?en˾ eB m@9e(De: ea:)aW"@WX XW:W2W*WVbUBU*UUU@@RB*** querying acoustic contact ***PPBǐ`B BA=*BA3AAAx<"CJWRCC"@C ?΅I )9)I)i))))-N; -їEGEQ>"q,p|EAY}6wr@}6 c@y}6)}6t>}6Hc/?d Fٿ`? ?:??)~6wr@ ~62m[;I~6Cɫ99)9 9IAYL@yqGZ****** received transponder code query ******F****** received ping request ******EԼE㥽iE3@A E@)E@IE@iE@] ;M]A=Y]QU]>aaaeqEeJFEiyme=}m>Iq }:u15? }:u,˾ uB @9u0Du: u:)uF:WEs@WAXA XAWA:WI2WI*WiVibUqBUq*UqUqU} D] @B{ybB BA=*BAAAA@<"CˢRCCs@CFӅ?ix?׹IGf>I)AA 0:YWU1y:5 q,ZEAY}Bt@}BRd@y}BRW}BE>}BH *?ǤڿhK?`b?@??)~Bt@ ~Bm[;I~BCɫ髡) IY@ypG=xDUSBL response received:!U1,P DC3,000,00C6C,189,80,80,87,FF =Command AckEBRequesting micromodem ping code 2iAAmNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ?+p= ף? ? =)IyuV?~jtQ?r(?Du< dA)@I"AiYYeMe=Ymi5QUm>iqauqEuRFEqy+7=}>IȡťS05?ť#˾ ƥB @9ƥ;Dǥ¿: ȥ:)ȡW]@WYXY XaWa:Wi2Wi*WqVbUBU*UUU @BB BA=*BAӞAAAp<"CՓRCC@C ?΅י I G >! 9! I% (kGi% "@% =! ! % P; % җE5q,33EAɫ髙) IYm@yqGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B QiQIe4=)e%= @ @ @©i@ @)@I9@i9@UX=MU=YUQUU?YYa]qE]WFEaye}e?Ii u:m"05? u:m˾ mB }@9mBDm: m:)mG:WȨ@WX XW:W2W*WVbUBU*UUU@BU/B BAn>*BA@AAA"<"C2RCCȨ@CֽFӅיIGb> /:YV1y:5);9q,MEAɫyy)y yIyY@y9qGxDUSBL response received:!U1,R,FE4,000,00C6C,189,80,80,87,FF Fpublishing direction and range info+<ɰ鰹 )Iy?{J?ٱMc=YQU> a qE ]FE y}>I!%05?%˾ %"B -@9%ID%: %(:)!W]B@WYXa XaWa:Wa2Wa*WiVibUiBUi*UqUqU}+f@P*QZQ!"(c@o+< @JQ?{J?2Q+<:QbQ?f6a)QPRvnJ@RQztB#RܿcԸ4?BQu&f@ QQ P9?PN9?PQQ3#A"QABjZB BA=*BA5aAAA<"CKRCCB@CI ) IGj>iHq,fEAY}2:2y@}2Mi@y}2}29>}2H G?ޢ޿@»@^8?``֝?y?Y?)~2:2y@ ~2o4\;I~2CɫYY)a eIaY-9@y-kqGDNmea in: $SNTTA,,,,,014424.55*59 E9<M:=Y1eQU>!aamqEmdFEiyu>}u>Iy :}$05? :}!˾ }*B @9}SD}: }3:)}H:myAdded new target pos. range: 153.300018 m, bearing: 206.041194 deg, deltaT: 4.352361 s, approachRate: 0.000000 m/s, LOS rate: -2.632261 deg/s, posRepo size: 4m ProNav: pos range: 153.300018 m, bearing: 206.041194 deg, approachRate: 0.000000 m/s, LOS rate: -2.632261 deg/s, cmd update: -7.896782 deg/s, cmd heading: 304.852240 deg, new cmd heading: 308.380091 deg. W ` @W X  XW!:W!2W!*W!V!bU)BU)*U)U)U5Cm?9|CIkGis@=T; ԗE)]{CI]{CiYYY]ޤ4B7fB BA=*B!A%gA!A!A%<"C-tRC)C-` @C1 f.:Yy5);m?΅) I1 GU >p/q,ƀEAY}J|@}Jl@y}J u}Jg=}JH ?@ǣiph?e-??@ؿ?)~J|@ ~JK:\;I~JCɫyy)y yIyY@ypGI)A ))    @ @ @éééií­@é ĭ)ĭ­@IĭiĭJMP=YZQU>aqEjFEy >}>It05?˾ 0B @9[D: :)W s@W X  X W:W2W*WVbUBU*UUU%w?BMXBI BIAM=*BQAU ˱AQAQAUۮ<"C]͓lRCYC]s@Cay9IIGeV>Yq,EAY}e~@}eYn@y}e`}eA=}eHȵ?Ԥ׺ ` ?@?h?@?)~e~@ ~e1\;I~eCɫqq)q qIqY9@ykqG|?5^?  aqEqFEy=}>I!%#05?%˾ %8B -@9%cD%: %':)!W@WX XW:W2W*WVbUBU*UUU?BmZ`Bi BiAm=*BiAuڰAqAqAuL%<"C}TgRCyC}@C֕FӅIAA)@A YT1y:59@iIyG>i mGI kAi Ϳٺ kA ѽA 9 {CI kGi Ŀ@ = R; ӗEq,yEAY}Z/@}Zzp@y}Z=}Z=}ZH @s?@;`5z"aqEwFEy~=}>Iȑ :ŕۋ05? :ŕ˾ ƕ>B @9ƕiDǕ+: ȕ:)ȕI:W@WX XW:W2W*WVbUBU*UUU?B7B BA>*B A "A A A <"Cosg*C5;mRCC@Cֽ?΅יIGb>oq,iEA||4QYa]qE]}FEYye=}e>Iim{05?mo˾ mDB u@9mpDm8: m:)iWP@WX XW:W2W*WVbUBU*UUU4@B ZB BA=*BA`AAAD<"CYlRCCP@C׹IGE> &2:YW1yč:5Hq,1EAY}2@}2t@y}2b}2A=}2H (?R@?Ξ??`=?)~2@ ~2S\;I~2Cɫ99)9 9I9Y}#@y}PqG<MN=Y%av:QU->qqauqEuFEyy}==}>Iȁ :Ņl05? :Ņ˾ ƅKB @9ƅxDDž; ȅ;)ȅJ:W{@WX XW :W2W*W!V!bU)BU1*U9UAUM@Bm[YBi BiAmY=*BiAuAqAqAu<"C}oyRCyC}{@Cq9qIqiqu=qquQ; q֙Iס)סבIG>i=|q, EAY}2=Ђ@}2Ļu@y}2}2Đ=}2H]?} XG ?曞?`p??)~2=Ђ@ ~2 \;I~2Cɫ99)9 =I9Y}@y}FqG鮁ɮ= "MK=Y9QU>aqEFE!y%[=}%>I)-]05?-˾ -RB =@9-D-: -D:))W]ɝ@WYXY XYWa:Wa2Wa*WaVabUiBUi*UiUiUu@O@R}B*** querying acoustic contact ***PyPyBPB BA%=*B!A%ɭA!A!A%\<"CM? RCQCUɝ@CQeFӅ9IIGeU>~~ ).:YT1y@:5q,EAY}=@}=npw@y}=zz}==}=H%?@ᬿ3¶ػ?Ξ?h?E?)~=@ ~=Z\;I~=CɫII)Q UIQY*@yYqGZ****** received transponder code query ******F****** received ping request ******aqEFEy _=}>I :K05? :w˾ SB @9D: :)K:W@WX XW:W2W*WVbUBU*UUU @ @B5ZB1 B1A53=*B1A=\۬AAAAAE<"CMɾRCICM@CI֩iIqG>e s>9a Ie TlGie @a a a e R; a 9q,r5EAɫ髹) IY @y +qGxDUSBL response received:!U1,P FE4,000,00C6C,189,80,80,87,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   Å>ÅGÅ33iÅ@Å ąO@)ąn@Ią9@ią9@7MK=YQU>AAaEqEEFEIyM}U>IQU=05?U̾ UUB @9UDU; U;)QWl@WX XW:W2W*WVbUBU*UUU @BEJXBY BYA]=*BaAeAaAaAe8]<"Cm3RCiCml@CqI@A)AA  5:Y0Y1y:5) ;9%։I IY Gu >q,NOEAY}2@}2V){@y}2}23>}2H`z?@ 0`k@*.?? ?@?)~2@ ~2[;I~2CɫYY)Y ]IYY@y=qG?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =j;M=|=Y=~!QU= ?AAaEqEEFEIyMB>}M?I105?̾ VB %@9D ; q ;)WeK@WaXa XaWi:Wi2Wq*WqVqbUyBUy*UyUUAI@BAB  B A =*B AgAAA<"C'XRCCK@C!?΅IG-p>bq,dyiEA||Y}6x@}6 }@y}6}6>}6H1@?z7`?R?-P?@?)~6x@ ~6H[;I~6CɫYY)a aIaYi@yqGxDUSBL response received:!U1,R,1B4,000,00C17,185,80,80,87,FF Fpublishing direction and range info¾ɰ}>+> )Iy3C"R!'?zM}׿ٱ=iI=)=M<MUI=Ye҈:QUm>qyaqEFEy=}>Iȑ :ŕ$05? :ŕ̾ ƕXB @9ƕDǕ : ȕ:)ȕL:WSq@WX XW:W2W*W V bU BU *UUU@P!*Q%3CZQ%F&e@3a@zo-KJQ%"R!'?zM}׿2Q%¾:Q!bQ%4N`%8OP@RQ%~81P"ڿ!|BQ%d@ Q%yQ%_P%9?P%9?P%Q%Q%N@"Q%3#ABGB BA>*BA߀AAA[x<"C!ưRCCSq@C 9 I lGi g@    \; ؗEֽFӅבIG>~~ S,:YT1y@:5);q,SEAY}>Z@}>:~@y}>F}>H>}>H Y ?|糿 @#?%Y?`?@?)~>Z@ ~>}n\;I~<ɫYa)a eIaYW@yqGETNmea in: $SNTTA,0.108481,,,,014428.98*4E @ @ @Ý©ÝÝiÝ̤@Ý ĝ)ĝ@Iĝ@iĝ@ԱMD=Ys:QU>aqEFEyn=}>I05?}̾ YB @9Do: :)m}Added new target pos. range: 148.200012 m, bearing: 204.923953 deg, deltaT: 4.496151 s, approachRate: -1.134305 m/s, LOS rate: -0.248488 deg/s, posRepo size: 4mu ProNav: pos range: 148.200012 m, bearing: 204.923953 deg, approachRate: -1.134305 m/s, LOS rate: -0.248488 deg/s, cmd update: -0.745465 deg/s, cmd heading: 269.366581 deg, new cmd heading: 266.407736 deg. W}dI@WyXy XyWy:Wy2W*WVbUBU*UUfb@U``?B?B BA>*BAษAAA <"C:պRC C dI@C IGj>=i4q,?EAɫ  ) IYMb@yMqGmQ? ףp= mQ mt=)iIiymx&1?)\(~jt?mA?mGamD< i)m3@Im"Aim AimAfM;M==YQU>arEFEy}>Iȡ :ťL 05? :ť̾ ƥ^B @9ƥDǥQ: ȥ:)ȥM:WE@WX XW:W2W*WVbUBU*UUU@?BQBB BA >*BAݨAAA<"C%J ÿRC!C%E@C)IGm>%%%% %c2:Y%U1y%:%59=@! 9! I% TlGi% @! ! ! % Y; % חE)ݑIݑiݑݑݑݕ-L4.q,JEA|i|Y}No"@}N0@y}NZ}N>}NH`@-?[ Y?\?&?`?)~No"@ ~NB_;I~Lɫ髙) IY@yFrGI9)=A AA   ÕM"?ÕÕliÕ@Õ ĕ@)ĕ9@IĕX@iĕX@B5=MX=YDQU>arEFEy>}>I/5?:'̾ bB @9DI: :)W@WX XW:W2W*WVbUBU*UUU@?B)B BA+>*BA識AAA <"CNȿRCC@CIGj>q, EAY}B(@}B"@y}By}Bv>}BH?m?@ -%dM?m?`E??)~B(@ ~B^;I~BCɫYY)Y ]IYY@yqG:MK=Y 2QU>arEFEy=}>I :!/5? :/̾ fB @9D: j:)N:WǕ@WX XW:W2W*W!V!bU!BU!*U!U)U-Y?BUP6BQ BYA]>*BYA]AYAYA]0<"CeʿRCaCmǕ@Ciyׅ?iׅ?YIaGY>IAA)@A ^+:YWU1y:n52q,aEAY}2Q@}2@y}2Rp}2G>}2H? `A)"?,?fq??)~2Q@ ~24];I~2CɫQY)Y ]IYY}@y}qGimGI5lAiIM;M]C=}Ϳٺ}lA}AY}:QU>arEFEyڈ=}>Iȱŵ/5?ŵ8̾ ƵjB @9ƵDǵI: ȵ:)ȱW@WX! X!WY:WY2WY*WaVabUaBUi*UiUiUm"=@B:B BA>*BA ܭt>9ܩIܭkGiܭĿ@ܭ=ܩܩܭV; ݭ՗EAAA <"CaͿRCC@CױIG>!r,VEAY}BB݋@}B@y}Bf9}B>}BH`m?ͷS@rܸ?@?p??)~BB݋@ ~Bl];I~BCɫYY)Y ]IYYm@yqG=i=IR=)%=Ul=U>U=iU̬@Q U;@)U@IU@iUΣ@ekMeX=Ye40:QUe>iiamrEmFEqyu =}}>Iy :}/5? :}@̾ }nB @9}D}: }:)}O:Ws@W)X) X)W):W12W1*W1V1bU9BU9*U9U9U= )@BYw1B BAn>*BAYAAA0<"C~Ϳ*CnRCCs@Cֽ?΅יIGa> 11:YV1y:5Gr,EAY}Jg@}J @y}Jt}J>}JH`\?(`YB ;?ƀ?`?~?)~Jg@ ~JcL];I~Hɫ髡) IYS@yqGa=ɮR=u rh?arEFEy=}>Iȩŭg/5?ŭK̾ ƭpB @9ƭɡDǭ: ȭ+:)ȩW_G@WX XW:W2W*WVbUBU*UUU Q@RB*** querying acoustic contact ***PPB:B BA1>*BA%AAA<"C!ϿRCC_G@CFӅױIGi>=i=ٙ ٝ hAܡ 9ܡ Iܡ iܡ ܡ ܡ ܡ ܥ K; ݥ ϗEp r,=`8EAY}Ja@}J@y}Ji}J>}JHAdL?I'w $2(?@k?@ ?`5?)~Ja@ ~JRA];I~JCɫqq)q uIqY@yrGZ****** received transponder code query ******F****** received ping request ******i@ 9@)n@Ii9@5<M5@=Y5v QU=>99a=rE=FEAym&y=}m>Iqu/5?u,W̾ usB }@9uСDu: u :)qW1@WX XW:W2W*WVbUBU*UUUE @BeB.Ba BaAe9 >*BiAm׏AiAiAm<"CuϿ*Cu+pRCqCu1@Cyֱ׉IG> 3:Yy\5);9NUr,,REA|i|@Y}6j@}6x@y}6$}6>}6H`<߿Y?2@7=޿@V?`C??@?)~6j@ ~6.];I~6CɫYY)Y eIaY@yqGxDUSBL response received:!U1,P 1B4,000,00C17,185,80,80,87,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 >M?=Y%QU>))a5rE5FE9y~=}>Iș :ŝH/5? :ŝ\c̾ ƝvB @9Ɲ١Dǝ; ȝV;)ȝP:W@WX XW:W2W*WVbUABUA*UAUIUMc @B6B BA">*BAAAA<"Cп*CArRCC@C?΅IG>Ār, lEAY}ZGY@}Zf@y}Zu}Zx>}ZHnݿ,4?@ cZ v&ݿ'?p?G??)~ZGY@ ~Z;];I~ZCɫ髙) IY@yqGY]AA}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B E>E>EʽiE @A A)E@IE@iE@UU;MUU=YUͺQU]>YYa]rE]FEaye=}e>Iim7/5?mm̾ myB }@9mߡDm : mY:)iUs>9QIUTlGiU@QQQU<; UȗEWu@WqXq XqWq:Wy2Wy*WyVybUyBU*UUU:@B'B BA>*BA áA A A c<"C<ѿ*CsRCC@CII@A)?A 3:Yy5);G>Rg!r,EAY}>S<@}>I@y}>OS}>0>}>H0ܿї? Kۿf??8??)~>S<@ ~>\;I~<ɫyy)y IY@yFrGxDUSBL response received:!U1,R,397,000,00BF4,189,80,80,6C,FF Fpublishing direction and range info{NMɰz>7> )BIyC$??u[ٱ<Md=YQU>arEFEy4=} >I  : /5? : w̾ {B @9 D : :) Q:W=X@WAXA XAWA:WA2WA*WIVIbUIBUI*UIUQUU@Pa*QeCZQe3eY@Sq@ZJQe$??u[2Qe{NM:QabQeoIam&Gg$$RQe<[J O+Կ"]KBQe9]@ Qe)8QeK Pe9?Pe9?PeQeQe?v"QeN@BUkBQ BQAU+>*BYA]AYAYA]<"Ce ѿ*Ce=tRCaCmX@CցYIiGZ>p'r,ΟEA|,|.;Y}~@}~&@y}~$P}~D>}~HQuڿ?@& k@ڿ?C?;??)~~@ ~~M];I~~Cɫ) IY-@y-xrGDNmea in: $SNTTA,,,,,014433.41*5A =i=C=iC=I4=)R=zG?S㥛Zd;? ?$ y=)Iyd;O?{Gz~jt??#< ¡)¥@I¥Ai¥ A(A9/<M0=Y!6QU>arEFEyMm=}>I/5?̾ B @9D: :)m}Added new target pos. range: 146.100006 m, bearing: 198.413293 deg, deltaT: 4.386730 s, approachRate: -0.478718 m/s, LOS rate: -1.484171 deg/s, posRepo size: 4m- ProNav: pos range: 146.100006 m, bearing: 198.413293 deg, approachRate: -0.478718 m/s, LOS rate: -1.484171 deg/s, cmd update: -4.452514 deg/s, cmd heading: 266.093449 deg, new cmd heading: 265.747138 deg. W-u@W1X1 X1W1:W12W1*W9V9bU9BUA*UAUE@3Cb@UE*?B4 B BAB>*BAYҟAAA)<"CֿRCC%u@C!1 /3:YDW1yY:59 @ IG5>A 9A IA iA E =A A E =; A -r,BEAY}2@}2:@y}20f}25>}2H`ؿL?`nx kؿI?̠?I9?@|?)~2@ ~2_];I~0ɫ99)9 =I9Y}Z@y}qG=?=q=Ƚi=@9 =@)=@I=@i=@MMMg=YMGDQUM>QarEFEyq=}>I :/5? :̾ B @9D: E:)R:Wc@WX XW:W2W*WVbUBU*UUU?B5"B1 B1A5>*B1A=`A9A9A=褿<"CE ڿRCACEc@CIa9IIGeU>=ip=ɥ4r,R~EAY}Jq@}J@y}J~}Jh&>}JHa׿ ?@࠯ֿ܅???`k?)~Jq@ ~J];I~JCɫ髱) IY@yrG9=ME=YءQU>arEFEy֕=}>I/5?̾ B @9D: r:)W-+@W)X) X)W):W12W1*W1V1bU9BU9*U9U9U=?BmkBi BiAm>*BiAu*AqAqAuw<"C}&޿RC}>]C}+@CױIGe> P0:YU1y:65:r,PEA|i|@Y}n^@}n@y}nK}n^>}nH@Jտ`r?`lg (nԿ`h??]?@?)~n^@ ~n];I~lɫ) IYU@yUrGI)A  ^? k> ti @  @) @I @i @UbMU?=YU8QUU>YYa]rE]GEaye=}e>Ii u:m/5? }:m̾ mB }@9mDm: m:)mS:W|@WX XW:W2W*WVbUBU*UUU?BVB BA>*BA5A9|CIlGig@=4; ėE)݉I݉i݉ݍ=݉ݍ'&5AA [<"C^ORC*C|@C|IGE>Ar,+EAY}RД@}Rތ@y}R>}R2>}RH܆ӿ F?t o#ӿߐ? ?@?@?)~RД@ ~RX^;I~RCɫyy)y yIyYm@yqGU\MU\=Y]m.;QU]>YYaerEe GEaye=}m>IimЂ/5?m2̾ mB }@9m Dm: m:)iW@WX XW:W2W*WVbUBU*UUUE>@B7 B BAn>*BAmAAAuϽ<"C!RCC@C7`?i?IG$>IAA)AA}} 2:YkS1yԊ:\5Gr,!EAY}2@}2@y}2}2?=}2Hѿ?T`ѿ@5s??`k?{?)~2@ ~2l{^;I~2Cɫ99)9 =I9Y}<@y}rGV-? rh?~jt|>C< )IyzG?Mb? ?̼= •A)‘I‘i•Q A\ARy=MD=Y&;QU>arEGEy=}>I|/5?@̾ B @9D]: f:)Wdž@WX XW:W2W*WVbU BU *U UU!@B= B9 B9AEZ>*BAAEaAAAAAEE0<"CMP$RCUCUdž@CQe]AIaG_>inGIkAi%e˿ٺ-kA-{A r>9 {CI i 6; E Nr,v:EAɫ) IY*@yrG!ɮ%a=%=i%=I5=)5= }@}>}V}?i}y }@)}@I}@i}@ML=YQU>arEGEy}>Iȩ 5:ŭu/5? 5:ŭ̾ ƭB 5@9ƭDǭ< ȭ͑<)ȭT:W}S{@WyXy XyWy:Wy2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB B BA >*BAQAAA<"C-RRC-NLC-S{@C1ȷLIGK> .:Y]1y:5);9wTr,TTEAɫ髱) IY@yrGZ****** received transponder code query ******F****** received ping request ******qqa}rE}GEyy}>Iȉōo/5?ō^̾ ƍB @9ƍ#DǍ ; ȍg:)ȉWq@WX XW:W2W*WVbUBU*UUU @B  B B A >*B A wA AA<"CRCeԼCq@CD-I!)!IGL>i [r,nEAY}%HE@}%R@y}%E4}%7=}%H`ɿG3?V U+ɿ=@? ?iw??)~%HE@ ~%c`;I~!ɫ) IYU"@yUrG]xDUSBL response received:!U1,P 397,000,00BF4,189,80,80,6C,FF ]Command Ack]BRequesting micromodem ping code 2iYYeNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 p>9ImGi@D; ˗E åX9@å<åliåQ@á ĥ@)ĥ@Iĥiĥ@@<M)=Y=QU> a rE 'GEy%)>}->I9 M:= i/5? U:=3̾ =ˑB }@9=,D=< =<)=U:WH@WX XW:W2W*WVbUBU*UUUJ @B=BA BAAE>*BAAE7AAAIAMD<"CMRCuy=CuH@CymAɽ *:YV1y:)IIGm>5);br,sEAY}6@}6m@y}6}6=}6HƿU?=y` ;ƿ@n?@Zp?`+ʺ?@#?)~6@ ~65`;I~6CɫYY)Y YIYY1@yrGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I1)1 AAu(;M}z=Y}Z:QU}?arE,GEyj=} ?Iȑŕe/5?ŕk̾ ƕґB  @9ƕ2DǕ: ȕ :)ȑW@WX XW:W2W*WVbUIBUQ*UQUQUUH@BH׻B BA>*BAjAAAº<"C|$RC$=C@CיIGB>0hr,YEAY}J@}J@y}JR}Jȼ=}JHPlĿ q?`PA\`ÿK;? /?@nɹ? ?)~J@ ~JbO`;I~JCɫqq)q qIqY@yOrGxDUSBL response received:!U1,R,502,000,00BD9,189,80,80,6C,FF Fpublishing direction and range infof3ɰvx> )IyzCw?amf-ٱK7A`?GzοQ? ?p u<)Iyrh|?MbMbp??; 5A)h@IAi=AMD=Yj ;QU>arE3GEy4=}>I :a/5? :; בB   @9:D: H:)V:W>r@WX XW:W2W*WVbUBU*UUU@@P*QzCZQ_O@=>`JQw?amf-2Qf3:QbQ\7fk8a1".E( 6ck&RQfj#ۇd̸ҿtܳBQ}\@ Q(Q P9?P9?PQQá"Q?vB= Ba BaAe>*BaAmhAiAiAm*<"CusvRCu>Cu>r@Cy}ו?iו?QIYGuz>I@A)@A     *:Y 0Y1y : 59@ 9 I i = A; ɗEWnr,k(EAY}:@}:1@y}:}:!=}:Hv¿~?`ʻSA¿ ?@?q?`?)~:@ ~:];I~8ɫAA)A EIIYM@yMerGTNmea in: $SNTTA,0.098371,,,,014437.88*41 u@ u@ u@u©uuiu@u u)u@Iqiu@;M'=YNQU>arE;GEy<}>Iȡť]/5?ť; ƥܑB  @9ƥDDǥܹ: ȥ:)ȡm}Added new target pos. range: 144.480011 m, bearing: 196.959447 deg, deltaT: 4.495147 s, approachRate: -0.360388 m/s, LOS rate: -0.323426 deg/s, posRepo size: 4m ProNav: pos range: 144.480011 m, bearing: 196.959447 deg, approachRate: -0.360388 m/s, LOS rate: -0.323426 deg/s, cmd update: -0.970277 deg/s, cmd heading: 246.096585 deg, new cmd heading: 243.986623 deg. W0@WX XW:W2W*WVbUBU*UU@\b@U5?B-B1 B1A5h>*B1A5 IA9A9A=2<"CEVRCEV**>CE0@CI==_I GE>Aur, EAY}R_}@}R@y}R}RH&=}RH k࢞? `ߐ?~?;??)~R_}@ ~R}G];I~RCɫ髑) IY@@yrG==i==IE=)E%=<M=YƻQU?arE?GEyA4=}?Iȩŭ}[/5?ŭ; ƭB  @9ƭJDǭ@: ȭ:)ȩW@WX XW:W2W*WVbUBU*UUU/w?B4V˻B BA>*BA!uAAA!<"C *C YsRC 9>C @C>׹IGD>% %%% %VB:Y%WU1y%:%5nm{r,$EAY}f@}f.@y}f}fө=}fHfҬ?;p?d١?0??)~f@ ~f]\;I~fCɫ髑) IY @y .sG   &>?5>i3@ ^@)@I@i@<MF=Y5һQU>arEFGEy=}>I :X/5? :,; B  @9RD: :)W:W-ä@W)X) X)W):W)2W1*W1V1bU1BU1*U9U9U=?o>9IiDL; ΗEB%ɻB! B!A%*>*B)A-dA)A)A-y6<"C5*C5rRC5 J>C5ä@C9r=IGI>=iRr, EAY}JM@}JK[@y}Jw}J=}JH@ur@+?@َ1ఒS?w٢???)~JM@ ~J\;I~JCɫ髙) IYl@yrGMM=YQU>arELGEy<}>I6V/5?#:; B  @9ZD: :)W+@WX XW:W2W*W V bUBU*UUUh?BEڻBA BAAE^#>*BAAMYAIAQAUl<"C]`RC]Y>C]+@CYM=IG5->  6:YDW1yY:ʽ5{r,F#EA|@i|@Y}2]@}2@y}2Y}2&=}2H`X?# >Ƹ??-?`P?)~2]@ ~2\;I~2Cɫ99)9 =I9Y}*@y}rGI) uB`"? rhy&1|?u.?uC u`;)qIqyu333333?arESGE!y%=<}%>I) =:-S/5? =:- H; -B = @9-aD-H: -+:)-X:W]o[@WaXa XaWa:Wa2Wa*WiVibUiBUq*UqUqUu @BȣB BA >*BAQAAAT<"Ch*CUqRCd>Co[@C֭#>iIGC> n>9 I mGi [@ O; ϗE)Iiň=ň4֨r,|=EAY}N샛@}N@y}N|}N>C=}NHù?` `? w???)~N샛@ ~N\;I~NCɫqq)q qIyYl@yrGÅ-?Å<Å>iÅ(@Á ą3@)ą@Iąią@ <MI=Y;QU>arEYGEy@}>IȹŽ`Q/5?ŽU; ƽB  @9ƽiDǽ: Ƚw:)ȹWv%@WX XW:W2W*WVbUBU*UUU`$@B%Z!λB! BA^#>*BApMAAA۵<"C*C bpRC$i>Cv%@C֥;>yIG<>IAA)AAx (:YU1y:85)8;9lr,NWEAɫ髙) IY@yrGɮp=%`M%R=Y-QU->))a5rE5`GE1y=}=>IA M:E O/5? M:Eb; E B M @9EpDE: E:)EY:Wu@WqXq XqWy:Wy2Wy*WyVybUBU*UUU@@@RB*** querying acoustic contact ***PPBB BA >*BAkAAA"<"C@RCn>C@C!IGI>! % C0r,z8qEAi.%nGI4iD~οٺ|~_A||4 Žmݢ?ݡ?`??)~uӚ@ ~u\;I~qɫ髁) IY@yOrGZ****** received transponder code query ******F****** received ping request ******9ܑIܑiܑܑܑܑܕF; ݕʗE @ @ @õ©õõiõG@õ ĵ)ĵ@Iıiĵ@;b<M2=Y%(;QU>arEgGEyt@}>IȹŽK/5?ŽRr; ƽB  @9ƽzDǽ: Ƚ:)ȹW @W X  X W :W2W*WVbUBU9*U9U9UEs4 @B!B BA>*BA=AAAD<"C*CynRCa>C@Cֵ1>׉IG> ^+:YDW1yY:5)I;r,~EAY}2y]@}2 k@y}26}2w}2HRr`?`e/?@l`?? k?)~2y]@ ~2b\;I~2CɫII)I IIIY}@y}EsGxDUSBL response received:!U1,P 502,000,00BD9,189,80,80,6C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 u=Mp=YmQU?a%rE%lGE1yEX(}M>Ii :m.I/5? :m3}; mB  @9mDmD< m(=)mZ:WE:w@WX XW:W2W*WVbUBU*UUUP @BmfݭBi BiAm->*BqAu&AqAqA}~<"CA1*CmRC[>C:w@C֥^>yIG>=įr, EAɫ) IY-@y-srG11UNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =Zd;?Zd;O?~jt?=۹>=j< ==)9I9y="~j?I +? rh?=S#?=94<=C = =A)="AI=xAi=Q A9=pA]*<M]4=Y]QUe>aaamrEmtGEiyu}u>Iy}dF/5?}،; }+B  @9}D}j: }<:)yWe{>@WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUqUu@;@Bv޻B BA>*BAI+AAA0<"C*C)lRCc>C{>@C( n> 3:YV1y:59 @ױIG>܉ 9܉ I܍ HnGi܍ @܉ ܉ ܉ ܍ D; ݍ ɗEBr,ḾEA|@i|@Y}:7@}:E@y}:}:;᪽}:Hſ`e??`UJƿ5^?Y?`MRA?)~:7@ ~:`<];I~8ɫ99)9 =I9Y}1@y}rGxDUSBL response received:!U1,R,502,000,00979,189,80,80,A0,FF Fpublishing direction and range infoɰF>鰁 ) CIyBw?amf-ٱI) 鿡   `彩>`ei@ -@)9@IO@i9@p9<Mc=Y QU >  arEyGEyM̽}>I!%~C/5?%; %5B - @9%D%b: %ӻ:)!WU@WQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUe@Pq*QuBZQu=)YG@H5kIXJQuw?amf-2Qq:QqbQu'Y<`=hTc#@RQul? ѿԢH 0?BQuZ@ Qu3QuPuj9?Pu9?PuQuQuA"QuáBB BA>*BAMAAA <"C*CkRCC-F>C@C֍f>AIQGm5>޵r,IEAY}vy@}v@y}vf}v}vH@ȿ <%?8?@t^@ɿU'??8 Q?)~vy@ ~vG^;I~vCɫ) IY5t@y5rGTNmea in: $SNTTA,0.052702,,,,014442.30*46 E<ME8=YEl:QUE>IIaMrEMGEQyUYU}]>IY m:]d?/5? m:]M; ]AB m @9]D]: ]Q:)][:m}Added new target pos. range: 108.000008 m, bearing: 195.932637 deg, deltaT: 4.395234 s, approachRate: -8.299900 m/s, LOS rate: -0.233619 deg/s, posRepo size: 4m ProNav: pos range: 108.000008 m, bearing: 195.932637 deg, approachRate: -8.299900 m/s, LOS rate: -0.233619 deg/s, cmd update: -0.700857 deg/s, cmd heading: 241.828299 deg, new cmd heading: 241.395998 deg. WT@WX XW:W2W*WVbUBU*UU [@U ?BHB BAK$>*BA{4AAACA<"CY*CvjRCX#:>C T@C Qc>IGj>I)y  x=:Y[1yݏ:5[r,oEAɫyy)y }IyY5@yrG}94}Q8}=i}f@y }9@)}@I}i}@MW=YQU>arEGEy}>Iȡť;/5?ť; ƥLB  @9ƥDǥY: ȥQ:)ȡWP@WX XW:W2W*WVbUBU*UUUuR?BQB BAm>*BADAAAk<"C%*C%iRC%@>C%P@C)=n>99I=nGi=@==99=I; =˗E-V>IG-,>r,#I EA||Y}F@}F@y}FP}F 0}FH ϿV?eC?hTϿ?lſ?)~F@ ~FĶ];I~FCɫyy) IY@yqGi=I-p=)-=]3,M]M=Y];QU]>aaaerEeGEiym}m>I :7/5? :; WB  @9D+: 8:)\:W-@W X  X W :W 2W*WVbUBU*UUUӻ?BEB}BI BIAMM >*BIAUYAQAQAUUԯ<"C]Z*C]ZhRC]/G>C]-@Ca֍;>aIiG9>---- -+:Y-DW1y-Y:-5r,p$&EAY}2/@}2=@y}2U}2O@}2H Xп D?`Z&?`jпmX>?iǿ`k?)~2/@ ~2.b^;I~2CɫYY)Y YIYYR@yrGZd;O?I +?Q?~ ?94< <)IyV-?v/?/$??xi=< @)/AIAip A3A8I=ME=Yv :QU>arEGEyZ}>I3/5?; ]B M @9DĐ< <)WuVj@WqXq XqWq:Wq2Wy*WyVybUyBU*UUUh?B:xȻB BA! >*BAH6AAA <"C K*CGhRC' >CVj@C9>=ia=IG>) - gA5 m>91 I5 toGi5 @1 1 1 5 B; 5 ǗEr,T@EAɫ髹) IY@y sG @ @ @í©ííií@í ĭ@)ĭ@Iĭ@iĭٮ@<MI=YQU>arEGEy}>I :0/5? :; dB  @9DI: :)]:W *C@W X  XW:W2W*WVbUBU*UUU%U@BMKB BAc)>*BA9AAA)Z<"Cb*CCgRC>C*C@Cq->ׁIG=>  5:YX1y/:5);9  *r,YEA|i|Y}6Q@}6@y}61}6aUQ}6H`Zӿ? ?c| +Wӿ Az?ɿ`Q?)~6Q@ ~6( ^;I~6Cɫ99)9 9I9Y}@y}arGI) KMMX=Y;QU>arEGE y Tؽ} >Iqu+/5?u; uiB  @9uDu: u:)qW@WX XW:W2W*WVbUBU*UUUu@BRB BA>*BAIAAAG<"C*CfRC=C@C->IG )>#Tr,̵sEAY}2{<@}2"J@y}2R|漙}2P}2HIԿ? ?NGlԿ Μ?ɿS?)~2{<@ ~2s];I~2Cɫyy)y IY@ysGɮa= U U U ]@ ]@ ]@QQQiUp@Q U@)Uƣ@IUiU9I99a=rE=GE9yEA}E>II u:M&/5? u:My; MoB } @9MʢDM: M:)M^:W@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB5BI BIAM4>*BIAU#AQAQAUR<"C]?*C]teRC]=C]@Ca= >E?iEp?I!GUu>I@A)l  o<:YT1y:85);<r,EAY}2釓@}2@y}2ּ}2X:L}2H`տ(g?`\? @IտUyњ?YɿZ?)~2釓@ ~2];I~2Cɫai)i mIiY@yEsGZ****** received transponder code query ******F****** received ping request ******arEGE!y%u}->I)-!/5?-ξ -tB = @9-ѢD-$; -b;))Wm˅@WiXq XqWq:Wq2Wy*WyVybUyBUy*UUU @B|_B BA->*BA"AAA~<"C?*C[eRC԰=C˅@CUط=!I1GM0>'fr,"lEAY}:@}:e@y}:dͼ}::G}:H׿X7? D?$ֿz`뫙?wȿ@)b?)~:@ ~:`];I~8ɫ99)9 =IAY}@y}IsGxDUSBL response received:!U1,P 502,000,00979,189,80,80,A0,FF Command AckBRequesting micromodem ping code 2ii=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)inGI)iAm̿ٺimżAJ +? rhS㥛??C /<)Iy}?5^I?I +?Mb`M"?94= V@)AIXAi Af A    @ @ @i3@ ­@)ٮ@I@i@  +:YV1y:[59@ E:M5=Y5:QU5>99a=sE=GEAyE}E>II u:MK/5? u:Msξ MuB } @9MݢDML; M:)M_:W@WX XW:W2W*WVbU9Ii=N; ͗EBU*UUU`e@B= ̻B9  B9 A= ->*BA AE UKAA AA AE <"CM *CM dRCU %=CU @CQ ] /=1 IA G] >Rr,[EAY}B k@}Bx@y}B5Ƽ}B7C}BH ؿ*??ࠥ׿@O`!Ƙ?FUȿ+h?)~B k@ ~B^;I~BCɫQQ)Q QIQYuN@yusGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B  =M=Yc;QUJ?asEGEyɏ}J?Iȩŭ/5?ŭ$ξ ƭvB  @9ƭDǭb: ȭӻ:)ȩWNy@WX XW:W2W*WVbUBU*UUU@9@B Y-;B BA?>*BAkAAA^<"C%-*C-=dRC-%߇=C-Ny@C)A=׹IG#>=i=#xr,W"EAY}2l @}2@y}2}2];}2Hݸؿ@?@F? ܁`ؿNz1?Hǿ.u?)~2l @ ~2A^;I~0ɫ99)9 EIAY]w@y]-tGmX<MY=Y1;QU>asEGEy}}>I/5?1ξ wB  @9D ; z ;)W-S@W)X1 X1W:W2W*WVbUBU*UUU@B  B1 B1A5D>*B1A5V~A1A1A=Ԫ<"C=y*CEcRCEĀ=CES@CA-`=IG-->k ':YU1y:ݻ5r,EA|(i|*@Y}n@}n-lj@y}nC}n2}nH`Qٿ?@U?@a $ٿީS? &ƿ ʂ?)~n@ ~nT^;I~nCɫ11)1 1I1y9}zCI}pGi}@}=yy}F; }ɗEY@yVtGDNmea in: $SNTTA,,,,,014446.74*5E I)A E E EEAEd>EjaaaesEeGEiym̵}m>Iq }:u/5? }:uAξ uxB  @9uDu: u(:)u`:W%@WX XW:W2W*WVbUBU*UUU9@BP B BAH>*BA|AAAcT<"C-*C =i}?IGj>$r,EAɫyy)y yIY@ytGrA<MU=YQU>asEGEy}>I.5?Nξ  u @9Dk< ߔ<)W'@WX XW:W2W*WVbUBU*UUU/@BH B BA~M>*BA &[yA A A թ<"Cf%*CHbRCE=C'@C_=IIGZ>IAA)@ r,(EAY}:@}:"@y}:t\}:d"}:Hhڿ?? JڿFG?X6Ŀw?)~:@ ~:c\;I~8ɫ99)9 9I9Y}@y}VtG}Zd;O?`"+}~ ?} })yIyy}S?v/?y&1|}?}xi=}` }@)}AI}Ai} Ay}(A7MJ=YÀasEGEy I}>I! E:%$.5? M:%g[ξ %vB  @9%D% < %<)%a:Wcӄ@WX XW:W2W*W!V!bU!BU!*UAUIUM+@RUB*** querying acoustic contact ***PQPQBߺB BAH>*BAqvAAA<"Cx*CCbRCiO=Ccӄ@C| u=IG>}o>9}{CIyiy}=yy}D; }ȗEr,ΎBEA||;Y}6ϐ@}6V݈@y}6.}6G&}6H@ڿb??`bڿ F Y݅?Aÿ?)~6ϐ@ ~6]\;I~6Cɫ99)A EIAY}@y}tG h? C +>i f@  n@) n@I X@i  @-<M-T=Y-;QU->1asEGEyP}>IK.5?,hξ uB  @9 D: Q:)WE@WAXA XAWA:WA2WA*WIVIbUiBUi*UqUqUu^@B:G8B BAS>*BA|tAAA^><"Ch*CdaRC>H=C@CQO=I)iAIGI> P0:YDW1yY:\5);9<r,i\EAY}2玐@}2@y}2A' }2}2H`rۿ?B?]@ۿ@ ڄ?@?)~2玐@ ~2g\;I~2Cɫ99)9 9I9Y}@y}qtG\MS=Y;QU>asEGEyM}>IȹŽ.5?Žsξ ƽsB  @9ƽDǽU: Ƚb:)ȹW@WX XW:W2W*WVbUBU*UUU@B-8B) B)A-K>*B)A5qA1A1A5] <"C= *C=raRC=(==C=@CAaAIIGm5>=ia=br,$EvEAY}2Z@}2sh@y}2r ǻ}2 '}2Hۿ??`ۿ@x?͘?)~2Z@ ~2\;I~2Cɫ9A)A EIAY{@y2tG-p>9)I-qGi-@-=))-O; -ΗEÕ<ÕdÕļiÕ̬@Ñ ĕK@)ĕ@Iĕn@iĕn@lM:=Y;QU>asEGEyul}>I :.5? M:ξ pB m @9D< <)b:W[@WX XW:W2W*WVbUBU*UUU`@B B BA)E>*BAnAAA<"C%h *C%aRCM<==CM[@CI=C;=I!G=r>f ':YW1yč:5);\#r, EA|i|@Y}>?*@}>7@y}>/v}>ԍ}>H@k(ܿ ?y? w [ۿmũ n?=?)~>?*@ ~>x\;I~<ɫYY)Y YIYYk@yZuGxDUSBL response received:!U1,N,80,80,63,E4 9,189,80,80,A0,FF ZNo reply:!U1,N,80,80,63,E4 9,189,80,80,A0,FF -asEGEyt}>Iȡť.5?ťξ ƥnB  @9ƥ!Dǥ,; ȥ;)ȡWE4@WIXI XIWI:Wi2Wq*WqVqbUqBUq*UyUyU}8@B :B BA?c>*BALkAAA%˨<"C *C`RCt9=C4@C ==9U?iU?1IAG]v>*r,EAY}6 @}6n@y}6k}6N}6Hbܿd|?R?,\3ܿ`㩿 sM?`@?)~6 @ ~6H\;I~4ɫ99)9 =IAYu@y}uGU/$?y&1~jt?U&1?U`e U<)QIQyUS㥛?~jt?Q?U$&?U11a=sE=GEaym }m>Iq }:uj.5? }:uξ uqB } @9u+Du{: u];)uc:WM@WX XW:W2W*WVbUBU*UUU@Be/:Ba BaAeig>*BaAmߞhAiAiAm:<"Cu *Cu"`RCunA=CuM@Cyu89=I@A)@Ao>9IpGi@=J; ̗E)ݩIݩiݩݭ=ݭ=ݭG65 -:YT1y:ʽ5)};AIQGm>0r,EAY}61@}6@y}6:}6c}6H ܿ@u? ?p@rfܿ_3#Z?)~61@ ~6H\;I~6Cɫ99)9 =I9Y}]@y}HuGXMu=Y *B)A-qfA)A)A-|<"C5YP *C5_RC=8A=C=@C9-&t@=IG )>7r,>EA|4<|4<ɫ髡) IYY@y tG=i=MC=YQU%>!!a%sE%HE)y5}=>IA M:E.5? M:Eξ EuB ] @9E:DE ;; E'<;)Ed:W @WX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBܙB BA@>*BAcAA A ͨ<"C *CZ_RCmU=C @Cԡԡ֙Iס)ץhAyIG^>%%z%z% %,:Y%Q1y%:%59=@Q ] Ci =nGI lAi % ȿٺ% lA% cAu ?9u `A>=r,PEAY}6@}6G@y}6;}6+Ľ}6H`0ݿSc??f@ܿ`Vee{@?)~6@ ~6[\;I~6Cɫ99)9 9I9Y}@y}uGZ****** received transponder code query ******F****** received ping request ******9I; ƗE   뽩xi=9i@ Ը@)@I@i5u=M=9=Y=[4AAaEsEEHEiyu}u>IȁŅ.5?Ņlξ ƅwB  @9ƅDDDžH< ȅ|N<)ȁWEN@WIXI XIWI:WI2WI*WQVQbUQBUQ*UQUYU]@n!@BM:B BA1j>*BAgW`AAA<"C *C^RCH=CN@ClT=ױIG>i='Dr,jEAY}6B|@}6鉇@y}6 <}6}6H_ݿ`R?5ճ? n4ݿtb)v`7?)~6B|@ ~6[;I~6CɫYY)Y ]IYY@ytGxDUSBL response received:!U1,P 80,80,63,E4 9,189,80,80,A0,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %aM-^=Y=;QUE>qqausEuHEyZ}>I =:.5? =:6ξ yB  @9LDQY< [<)e:Wib@WX XW:W2W!*W)V)bU9BUa*UiUU@M"@B B BA\U>}} 1:YkS1yԊ:5*BA \A A A ,F<"C5Z *C5P^RC5J=C=ib@C9 M=M=E K@=M ?iM ? I) GE >/QJr,E+EA|i|@Y}6Q@}6:_@y}6-,<}6;2}6Hࡪݿ>?p?:Z{ݿ[ߪ ݷ`?)~6Q@ ~6]\;I~6Cɫy髁) IYR@ysGMNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I-A))jt?S㥛v/??/ݼ xi=)Iyx&1?Q?Zd;O?!?u<j< Q@) AI=AirAAM(>Mb>M'iM@I M@)Mn@IMn@iMn@]w2Me+=Ye;QUe>iiamsEmHEqyuD}u>Iy}.5?}ξ }|B  @9}UD}j: }:)yW<@WX XW:W2W*WVbUBU*UUUЊ#@B؅:B BA@>*BA`ZAAAt<"C} *C]RC'J=C<@CR=l>9ItoGi@@; IG>Q9Qr,%"EEAY}>p+@}>9@y}>=<}>]}>Hݿ`?-?˳?bH@5ݿ`[?)~>p+@ ~>[;I~<ɫYY)Y ]IYY@y;tGxDUSBL response received:!U1,R,39F,000,00B78,189,80,80,9A,FF Fpublishing direction and range infoOɰp>鰩 )CIy Cp@ω?3{'ٱ<M{=YkY;QU ?  a sE HEy#i}?I!%X.5?%/ξ %~B = @9%[D%?; %A;)!Wm@WiXq XqWq:Wy2Wy*WyVybUBU*UUU4$@P*Q CZQF7tW@^!YJQp@ω?3{'2QO:QbQ: WE`HVB|ug~4 @RQqߧuѿ\*͙?BQZ@ QQP9?Pj9?PQQgA"QAB e:B BAF>*BAXAAA <"C  *C ^]RC #G=C @CD=IG%n>I) l    (:Y V1y : ܾ5iWr,_EAɫ!))) )I)Ye)@yesGDNmea in: $SNTTA,,,,,014452.40*5C zM2=YQU>asE"HEy}>Iȹ :Ž.5? :Žξ ƽB  @9ƽeDǽw: Ƚ:)Ƚf:m}Added new target pos. range: 138.660004 m, bearing: 195.922378 deg, deltaT: 10.106436 s, approachRate: 3.033710 m/s, LOS rate: -0.001015 deg/s, posRepo size: 4m  ProNav: pos range: 138.660004 m, bearing: 195.922378 deg, approachRate: 3.033710 m/s, LOS rate: -0.001015 deg/s, cmd update: -0.003045 deg/s, cmd heading: 234.747172 deg, new cmd heading: 234.428487 deg. W V@W X  X W :W 2W*WVbUBU*UUUa@U%` ?BM0rBI BIAM:>*BIAU)VAQAQAU <"C]; *C]+]RC])H=C]V@CaM#@=IQ)QI1Guz>]r,xEA|;|Y}6jߎ@}6@y}6V<}6z;}6Hs޿ ?ڲ?b$;C޿`@ۊ>s?)~6jߎ@ ~6ã[;I~6Cɫ99)9 =I9a9aIaiaaaae=; eėEY}@y}isG=i=A?>i@ @)I@i@mԼMU=Y%;QU->99a=sE=(HEAyMü}M>IY]..5?]Ͼ ]B m @9]lD]; ]6-;)YW*@WX XW:W2W)*W)V)bU)BU1*U1U1U5?{?B]@pBa BaAe0>*BaASAAAOl<"C` *C\RCψ%=C*@Cֽ&t@=בIG> 1:Yyo5);9%tdr,կEAY}2@}2[@y}2Gh<}2}2H`޿`?? ޿  ?)~2@ ~2F[;I~0ɫYY)Y YIaY@ysGU<M]W=Y]7;QU]>aaaesEe.HEaym}m>I :}.5? :HϾ B  @9tD: a:)g:W@WX XW:W!2W!*W!V!bU)BU)*U)U)U5 ū?B}`9By ByA} 9>*ByA=QAAAª<"C *Cl\RC=C@C֕#'=iIGB>=i=jr,*EAɫ) IY@y%sGNbX9??Dl?%?ff> O=)IyS㥛?J +?Mb?$&?H=< ¥@)¥5AI¥Ai¡fAlg>j<I i@ @)@I@i@-M-0=Y-QU->11a5sE56HE9y=}=>IAEs.5?Eg!Ͼ EB U @9E~DE: E;:)AWu@WqXq XqWq:Wy2Wy*WyVybUBU*UUU?Bm\Bq BqAu)>*BqAuOAqAqA}A<"C *C[RCE=C@Ca9aIeHnGie@e=aaeD; eǗEֱ׽?i׽?%%%% %.:Y%X1y%/:%65)%;׉IG>qr,eEA|i|@Y}>&@}>4@y}>Q<}>e<}>H߿׳? 2?h߿ q@ `^?)~>&@ ~>3[;I~>CɫYY)Y ]IYY@y.sGI%A)%Au);M}j=Y};QU}?asE;HEy>}?Iȑ :ŕXk.5? :ŕ,Ͼ ƕB  @9ƕDǕM; ȕ;)ȕh:W@WX XW:W2W*WVbUBU*UUU`f?@B%19B) B)A-*>*B)A5DMA1A1A5<"C=i *C=ĺ[RC=<C=@CAM= IG5->wr,)AEAY}2{@}2#@y}2@ˎ<}20}2H@# ɘ?=&?-@߿L,ّ`ҋ?)~2{@ ~2[;I~2Cɫ99)9 9I9Y]p@y]rG7MS=Y;QU>asEBHE yꋼ}>I!%b.5?%9Ͼ %B  @9%D%P= %{O=)!W}s@WyXy XyWy:Wy2W*WVbUBU*UUU @B$yB BA#>*BAJAA!A%2<"C- *C-6b[RC-<C5s@C1]=Ii)iI)AA--1I9G]>-- -0:Y-V1y-:-59e@}r,EAY}2Ѝ@}2Iޅ@y}2.s<}2}2H@% ?@#б? I @!"Y }?)~2Ѝ@ ~2[;I~0 9 zCI mGi  @    Q; ϗE)Iiŀ=ŀ=ŀB5ɫyy)y }IyYa@yrGM>=Oi@ ٮ@)9@I@i@--M-G=Y5;QU5>99a=sE=HHEAyE\}E>II U:M@X.5? ]:MMGϾ MB e @9MDMq; M;)Mi:WL@WX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBU "BQ BQAU!>*BQA] IAYAYA]<"Ce *Ce#[RCe/x<CeL@Cmq„r,YEAY}:"@}:Ʌ@y}:<}:u}:H`17??  ד7e,?)~:"@ ~:[;I~:CɫYa)a aIaY@@yrGZ****** received transponder code query ******F****** received ping request ******aiamsEmOHEiyuǻ}u>IȁŅTN.5?ŅTϾ ƅB  @9ƅDDž; ȅ;)ȁW@WX XW:W2W*WVbU)BU1*U9UAUm`P @B]ЇBY BYA]>*BYAFAAAJ<"Cv *CZRC \<C@C֕":<%%%% %.:Y%U1y%:%J5׉IG>r,3-EAY}ME@}M@y}M @<}M}MH,Hv?PE?`=@*f g x5w?)~ME@ ~M[;I~MCi=nGɫIIkA髁)i IǿٺkAIAY9@ykqGxDUSBL response received:!U1,P 39F,000,00B78,189,80,80,9A,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %Q?㥛 ? ףp= ?%(?%= %Q8=)!I!y%)\(?V-?~jt?%G!?%<%< %h@)%AI%Ai%XA!%Am>9ImGi@=L; ̗Eu#=uu=uףiuz@q u@)uz@Iu@iuz@bM =Y<-;QU>asEXHE=i=y(}%>IQ e:U?.5? :UgϾ UB  @9UDU< U* <)Uj:W @W X  X W :W 2W *W V bU BU! *UA UA UM l@B B  B A =*B A TzDA A A 3<"C *C sZRC b?<C @C hW<ש I G >r,eHEAɫy髁) IY@ypG Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M#{MM=YUQUU?YYaesEe\HEiyu}u"?Iy}9.5?}oϾ }B  @9}D}@; }DA;)yW@WX XW:W2W*WVbUBU*UUU ob@BB BA=*BACAAA<"C4 *COHZRCC<C@Cֵ9< ^+:YWU1y:5סIG>A=r,ڎbEA|i|@Y}6j@}6Px@y}6<<}6m }6H|\?@X?Pjb/` 痿@Lڴ?)~6j@ ~6[;I~4ɫai)q uIY@@ytqGxDUSBL response received:!U1,R,3A3,000,00B53,189,80,80,A5,FF Fpublishing direction and range infoOɰ|m> )%CIypC2_?~/;ٱI) ))=9I=M=^=Y=;QU=>AAaEsEEbHEIyMȨ}M>IQU/.5?U4{Ͼ UB e!@9UDUH: UT:)QW@WX XW:W2W*WVbUBU*UUU@P*QpCZQJuW@bTXJQ2_?~/;2QO:QbQDp`IP=̬.@RQ^)4\˿u?BQW@ Q]Q P9?P9?PQQ-@A"QgAB}IBy ByA}=*ByABAAA;<"C *CZRCa;C@C֥/C<ׁIGa>hr,Xp|EAl>9IkGiĿ@A; ƗEY}BW@}Be@y}Bj<}B.}BHZW?ۂ? ` vೂ5 ?)~BW@ ~B8\;I~BCɫyy)y IY5@y5oGDNmea in: $SNTTA,,,,,014456.88*5C ÍC ?Ít>Ít=iÍG@É čٮ@)č@Ič@ič9@ƴM5=Ya:QU>asEjHEy]}>I :w$.5? :aϾ B !@9D; 1;)k:m}Added new target pos. range: 136.440002 m, bearing: 192.571952 deg, deltaT: 4.460004 s, approachRate: -0.497758 m/s, LOS rate: -0.751216 deg/s, posRepo size: 4m- ProNav: pos range: 136.440002 m, bearing: 192.571952 deg, approachRate: -0.497758 m/s, LOS rate: -0.751216 deg/s, cmd update: -2.253648 deg/s, cmd heading: 234.733581 deg, new cmd heading: 234.732197 deg. W-&@W)X) X)W):W12W1*W1V1bU9BU9*U9U=a@U=H4?Bm˻Bi BiAmI=*BqAu@AqAqAu<"C}h RC}<C}&@Cօvт;9IIGeV>Iޑ)ޕ@A @*:YU1y:ʽ5)R;9Pr,4KEAY}B8S@}B`@y}B<}B2⌽}BHҐ@V??^[|@*ѬҘ`e 9?)~B8S@ ~B&\;I~BCɫYY)Y YIYY}x@y}~pGC2=Mg=Y%@c:QU%>11a=sE=oHEIy#ƺ}>I.5?Ͼ B !@9ȣD; ;)Wq@W!XA XAWA:WI2WI*WIVIbUQBUQ*UQUQUU?BJB BA=*BA-?AAA<"CRCf=Cq@Cϩ;IG>F}r,0EAY}>M@}>}[@y}>W-<}>\}>Hh+U?@? <[v :?)~>M@ ~>%&\;I~>CɫQQ)Q UIYY @yoG4=i%=IC=)-^I +?{GzI +-X>-# -9))I)y-K??{Gz?-^?-L=-#< -xA)- AI- Ai))-3Aõm=õףõף;iõ@ñ ĵ@)ĵ@Iĵ@iĵ@M1=Y9QU>asEwHEy_ú}>I :.5?  :|Ͼ B  !@9УD: 8:)l:W-%@W1X1 X1W1:W12W1*W9V9bU9BU9*UUU 8?B-[$B) B)A-=*B)A5Zk>A1A1A55<"C]lRC]P8=C]%@Ca%k>9%{CI%jGi%Ѿ@%=!!%B; %ǗEU&<)I9GUv>}} 3:YkS1yԊ:5)s;Xar,EAɫ髁) IY@ynGU M]f=Y]QU]>aaaesEe|HEaym}m>Iqu .5?u=Ͼ uB }!@9uףDuϸ: ub:)qW@WX XW:W2W*WVbUBU*UUU`?BB BAX=*BA=AAAf<"CCRC~f=C@C =G=IGL>ޕ=iޕ= r,ZEAY}:+@}:Y9@y}:<}:V}:H@G? ?? gIפܨ'|.Ԫ`4?)~:+@ ~:[;I~:Cɫ99)9 9I9Y}:@y}nGu&<MuH=Y}:QU}>asEHEy&}>Iȡ :ť-5? :ťϾ ƥB !@9ƥߣDǥ~(; ȥ#=;)ȥm:W"@WX XW:W2W*WVbU BU *UUUzE@BUABY BYA]Kt=*BYA]=AYAaAeI<"C p RC=C"@C-B=I G-N>xx f.:Y7P1y:%59@! 9% zCI% iGi% ݽ@% =! ! ! % ƗEr,dEA|i|Y}6~@}6&@y}6<}6I}6H9??:Iݧ?)~6~@ ~6̌[;I~6CɫYY)Y YIYY@ynGI) U̽QU>iUG@Q U @)Uƣ@IU@iQмMH=YasEHEy }>IȱŵB-5?ŵϾ ƵB !@9ƵDǵ: ȵM:)ȱW@WX XW:W2W*WVbUBU*UUUx@BB! B!A%I=*B!A%Cd<A)A)A-g#<"C5QRC5W=C5@C9eQf=9IIGeU>yr,3EAY}J @}Ja@y}J-<}Jv}JH@4?7*?9F"`HЮ?)~J @ ~JI[;I~HɫYY)Y YIYY`@ymG鮵p=ɮ0,MS=Y-QU->9AaEsEEHEYymA`}m>Iȉō-5?ō.Ͼ ƍB =!@9ƍDǍ< ȍ?<)ȉW~@WX XW:W2W*WVbUBU*UU)U-@R=B*** querying acoustic contact ***P9P9Bs=B BA=*BA;AAA<"C(RC=C~@Cֽ=יIGb> &2:YV1y:5r,bh1EAY}F@}F @y}F<}F4}FH 6?Fp? <RU`n°`K?)~F@ ~FH[;I~FCɫYY)Y ]IYY/@ymGZ****** received transponder code query ******F****** received ping request ******asEHEy:}>I :U-5? :Ͼ B !@9D; z;)n:W5}@W1X1 X1W1:W92W9*W9V9bUABUA*UAUAUmgP @B|B BA<*BA;AAA<"C2RC=C}@C9IlhGi@9; —E)]zCI]zCiY]=Y]4D=IG>]r,CKEA|.4<|.;Y}N@}Nx@y}N=<}NE}NH@e%?0 ?[-?!'㱿`?)~N@ ~NR[;I~NCɫyy)y yIyYN@ylGxDUSBL response received:!U1,P 3A3,000,00B53,189,80,80,A5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ͔MW=Yq;QU%>)1a5sE5HE1y="}=>IQU-5?UϾ Q !@9UDU< U<)QW5"|@W9X9 XAWA:Wi2Wi*WqVybUyBU*UUU @B;B BA*BAAAA<"C7RC=C%"|@C)]A=m?imz?v  ;=:YW1yč:51I9G]>r,+1eEAY}:@}:@y}:h<}:VF}:H?r?%Bj?)~:@ ~:2[;I~8ɫqq)q uIqY?@ylGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }MJ=YDž:QU>asEHEy}>I :6-5? :Ͼ B !@9D; o;)o:W^{@WX XW:W2W*WVbUBU*U!U!U%`;:@BIBQ BQAQ*BQAQAQAYA]w<"C]W$RCeq=Ce^{@Ci u >u=֝A!=L> YIiG}Z>imGIi!ͿٺAܹ 9ܹ Iܽ @gGiܽ @ܹ ܹ ܹ ܽ 1; ݽ EBr,.EAY}>]@}>k@y}>a<}>ԫ}>H`?_v?D7?r?)~>]@ ~> C\;I~>Cɫqq)q qIqY!@yblGxDUSBL response received:!U1,R,370,000,00B2C,189,80,80,93,FF Fpublishing direction and range info DɰJj>鰹 )CIyC?t1:ٱ%H>%ף%b>i%G@! !)%@I%@i%@5M=T=Y= SQU=>AAaEsEEHEAyMz׼}M>IQU-5?Uо Q e!@9UDUS: U:)QW*{@WX XW:W2W*WVbUBU*UUU`a@P*QCZQDX@JeIWJQ?t1:2Q D:QbQwM`ޮBŲ>>X@RQz9T,0wIMͿ^|?BQRW@ QQlP9?P9?PQQc8A"Q-@ABB! B)A)*B)A1A1A1A5<"C=RC=^=CE*{@CIE=I G%M> -:YDW1yY:5)͊;9Tr,TEA|,i|,Y}-@}- @y}-<}-½}-H ğ??@E`}(@QH ?)~-@ ~-\;I~-CɫQY)Y eIaY8@yBkGDNmea in: $SNTTA,,,,,014501.31*5D RQ?:v?{Gz?"?T< #=)Iyx&1?y&1?atEHE!y-࠼}->I1 =:5Ӹ-5? =:5)о 5B =!@95D5: 5M:)5p:mmyAdded new target pos. range: 134.100006 m, bearing: 193.244985 deg, deltaT: 4.474398 s, approachRate: -0.522975 m/s, LOS rate: 0.150419 deg/s, posRepo size: 4m} ProNav: pos range: 134.100006 m, bearing: 193.244985 deg, approachRate: -0.522975 m/s, LOS rate: 0.150419 deg/s, cmd update: 0.451256 deg/s, cmd heading: 224.717943 deg, new cmd heading: 223.669332 deg. W}4?{@WX XW:W2W*WVbUBU*UU@3`@U?BKB BAk*BAf;AAA<"C*CZYRCr,EAY}:o֋@}:@y}:Y<}:dս}:Hx? Z?@ܑ%@b` ৞?)~:o֋@ ~:b'\;I~8ɫ99)9 =I9Y}@y}zjG }@ }@ }@}©}}i}G@} }O@)}I}i}fMg=Y-QU>atEHEy}>Iȩŭ-5?ŭо ƭ~B !@9ƭDǭE; ȭET;)ȩWmm{@WX XW :W 2W *WVbUBU*UU!U%c?Be)eBm;= BqAu] *BqAuv%<AqAqAuN<"CH*CXRC =C mm{@Cw=i9iImfGim@iiim8; mEIGE>Iޑ)ޕAAO  ::YU1y:5);r,EAY}6z@}6"@y}6<ǥ<}6}6HiI?Ĵ?`h@Yp?)~6z@ ~6[;I~6CɫYY)Y YIYYZ@y1jG5M=P=Y=VQU=>AAaEtEEHEAyM.}M>IQU-5?U(о U}B ]!@9U'DU: U:)QW{@WX XW:W2W*WVbU BU *U U U@J?B=|VlB9 B9A=)*B9AEl<AAAAAEli<"CM5~*CM72XRCU=CU{@CQֽz=יIGb>'r,eEA|;|Y}62@}6@@y}6<}6}6HY :?i? 5/(`ғ1̾?)~62@ ~6[;I~6Cɫ99)9 =IAYK@yjGU7M]H=Y] QU]>aaaetEeHEaymTۼ}m>Iq }:uo-5? }:u 5о u{B !@9u/Du4: u:)uq:W+{@WX XW:W2W*WVbUBU*UUUf?BdnB BAf1*BAF=AA)A- U<"CmK*CuWRC} =C}+{@C =?i?יIG -:YT1y:59@m j>9i Im LeGim _@m =i i m D; m ȗE>r, DEAY}Nˊ@}NYق@y}Nҽ<}N'}NH].? /ɷ?``/w@qX@|?)~Nˊ@ ~N\[;I~NCɫyy)y yIyY@yiG   ÝB?Ý|>ÝOiÙÝ ĝz@)ęIĝ?@iĝE@gͼME=YQU>atEHEy}>Ia-5?hAо zB !@98D: ]:)W |@WX XW:W2W*WVbUBU*UUU +@B5T|B1 B9A=[*B9A==A9A9A=n5<"CE*CE$WRCMi=CM |@CIe;< m=m=Ut=ޕ=iޕ=)I9Gm>9r, EAY}v^o@}v}@y}v|<}v Q}vH?`)%?@Bёqp?)~v^o@ ~vu[;I~vCɫ) I Y=@y=-iGGz?p= ף?~jt?p?> =)Iysh|??{Gz?Mb?)?#<< xA)~AI7 Ai7 A A-cM-4=Y53QU5>99a=tE=HEAyEk˼}M>IQ e:U}-5? e:UKOо U{B m!@9UADUR; Ug;)Ur:WD|@WX XW:W2W*WVbUBU*UUU@B _B BAÉ*BA>AA A 8<"C *C'VRC`=CD|@Cr= R.:YWU1y:\5=I G% >c r,3EA|i|Y}6,4@}6A@y}6XW<}6}6H't?`?ΠH@(ʐ@?)~6,4@ ~6`\;I~4ɫQQ)Q UIQY}m@y}iGI)G>L=i@ @)@I@i@Mw=Y!GQU?atEHEyY}?I  r-5? FYо  !@9 HD : ]:) W=n|@W9X9 X9W9:WA2WA*WAVAbUABUI*UIUIUM@I@R]B*** querying acoustic contact ***PYPYB}P㌼By BA>*BA!?AAAH<"Cݰ*CJVRCZA=Cn|@Cϡϡ)С С 9 I  dGi k@    L; ̗E5=I1)1 I! GE >Kr,MEAY}2@}2!@y}2Q<}2'}2H jAb??ऍ @xݺ?)~2@ ~2޻\;I~2Cɫ99)9 =I9Y@yshGZ****** received transponder code query ******F****** received ping request ******99a=tE=HEAyER}M>IQ ]:URe-5? e:Ueо U|B e!@9UQDU ; U;)Us:WZ|@WX XW:W2W*WVbUBU*UUU @B@ƐB BA*BA@AAAֿ<"CZ{*C\URCa,=CZ|@Cr=ױIG#>Iޑ)ޕ@A  A:YDW1yY:5ur,gEAY}:.@}:@y}:x<}:1n}:HOBX?5?@OB`?)~:.@ ~:j\;I~:Cɫ99)9 9I9Y}H@y}gGxDUSBL response received:!U1,P 370,000,00B2C,189,80,80,93,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 3SMO=Y} QU>atEHEy}>I  9W-5? rо }B ]!@9 ZD 7< ;) W}|@WyX XW:W2W*WVbUBU*UUU 9 I cGi @ = I; ʗE)ݙIݙiݙݙݙݝ4] r,HEAY}2 @}2@y}2Hp<}28}2H\UT?3?.y@.a" j?)~2 @ ~2\;I~0ɫ99)9 9I9Y}O@y}gGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=C=ip=M>M,MiM@I M@)Mz@IM\@iM\@] ;M]C=YeƝQUe>aiamtEmHEiyuD}u>Iy :}vJ-5? :}V~о }~B !@9}bD}I: }:)}t:W}}@WyX XW:W2W*WVbUBU*UUU.@BEBBi BiAm׽*BiAuCAqAqAu<"C}0*C}URC&A =C}@C֥{0=yIG^> P0:YW1yč:n5);9&r,EAɫ髡) IY@yjgGxDUSBL response received:!U1,R,328,000,00B07,189,80,80,AD,FF  Fpublishing direction and range infoI4ɰBg> )-CIyCj^?DeٱB`"?{GztL7A`?N?ף +=)IyQ?y&1?~jth?(?`<D; ­A)­AI­p Ai­ A AuM5=YQU>atEHEy}>I@=-5?"о |B !@9kD: :)WlG}@WX XW:W2W*WV!bU!BU!*U!U!U-@P9*Q=CZQ=ћY@2qV^UJQ=j^?De2Q=I4:Q9bQ= fА `n <: k\!@RQ=NT͏Q)L7f˿l٥Iٰ?BQ=j#W@ Q=Q=lP=9?P=9?P=Q=Q=hA"Q=c8ABmOBq BqAuj*BqAu2_EAAA<"CI*C޽TRC=ClG}@C y=ލ=iލ=IG>i unGI1 iI u ɿٺq u ҹA,r,KEAY}=뛉@}=@y}=y<}=ӽ}=H*?r}?D | C" j`P?)~=뛉@ ~=1\;I~=Cɫ)1)1 5I1YU@yUfGTNmea in: $SNTTA,0.106656,,,,014505.75*45 @ @ @©i(@ \@)Ii@%.M%V=Y-:QU->))a5tE5HE1y=}=>IA  :E1-5?  :Eەо EzB !@9EsDE< E<)Eu:ܱ9ܱIܵbGiܵ&@ܱܱܱܵD; ݵǗEm}Added new target pos. range: 131.880005 m, bearing: 192.601854 deg, deltaT: 4.466812 s, approachRate: -0.496999 m/s, LOS rate: -0.143980 deg/s, posRepo size: 4m  ProNav: pos range: 131.880005 m, bearing: 192.601854 deg, approachRate: -0.496999 m/s, LOS rate: -0.143980 deg/s, cmd update: -0.431939 deg/s, cmd heading: 226.747140 deg, new cmd heading: 226.934253 deg. W4}@WX XW:W2W9*W9VAbUABUA*UAUE)|`@UM?BB BA^*BA9GAAAT<"C *CdfTRCR<C4}@C 0:YU1y:5)Í;ֵ=iIyG>Ù3r,&EA|i|Y}6a@}6n@y}6Ww<}6}6H< ?Vp?m r`ܱ`ꎿ`?)~6a@ ~66\;I~6Cɫiq)q uIqY@yfG=m;M=[=Y=QU=>AAaEtEEHEIyM}M>IQU&-5?UJо UyB e!@9UzDU: U:)QW+|@WX XW:W2W*WVbUBU*UUU?B]nBY BaAe*BaAeAHAaAiAm{<"C5*Cd%TRCP<C+|@C֥T9r,EAɫqq)y }IyY@yeGUcMUH=Y]QU]>YYa]tEeIEaye}m>Iqu-5?uо uwB !@9uDu; uj;)qWе|@W!X! X!W):W2W*WVbUBU*UUUy6?Bm$#Bi BqAu *BqAuԼJAqAqA}~<"Ci*CSRC<Cе|@Cֵ<בIޝAA)ޝAAA  9:YDW1yY:59@IG>ܩ 9ܩ Iܭ daGiܭ 2@ܩ ܩ ܩ ܭ I; ݭ ʗEܫ@r, EAY}2@}2*@y}2`x<}2ܧ}2H?ܫ? `@B!@ `@?)~2@ ~2[;I~0ɫ99)9 =I9Y}@y}eG - - --l?-ļ--i-@- -@)-E@I-ƣ@i-\@u~M}H=Y} "9QU}>atE IEy̦}>Iȑ :ŕ)-5? :ŕо ƕuB !@9ƕDǕ~: ȕ:)ȕv:WY|@WX XW:W2W*WVbUBU*UUU?B +ļB BA*B A LA A A h<"C]*C։SRC8<CY|@Ce}GFr,ǹ EA|<|>4atEIEyj}>Ij,5?о zB !@9D: Q:)W *N|@W X  X W:W2W*WVbUBU*UUU (E@B-4B1 B1A5y'*B9A]"OAYAYA]<"Cm*Cm,SRCuh<Cu*N|@Cymԅ<  1I:Yy5IIyG>Mr,6 EAY}2@}2,@y}2k~<}2̘}2H #? ?  +"͏p9?)~2@ ~2[;I~2Cɫ99)9 9I9Y@ydGÍ >ÍÍ;iÍG@É č­@)čIč@ič@M[=Y#:QU>atEIEy}>Iȹ :Ž,5? :Žо ƽB !@9ƽDǽk: Ƚw:)Ƚw:W |@WX XW:W2W*WVbUBU*UUUA@B(ԼB BA5*BA1QAAAE<"C*CYRRC<C |@CQ9QIU`GiU@QQQUC; UȗEU<IGj>ޑiޕp=Sr,aP EAY}:kو@}:@y}:rρ<}:e⑽}:H9??`|_%`xM9`7 3?)~:kو@ ~:[;I~:Cɫ99)9 =I9Y}:@y}eG鮅a=ɮ<M\=Y `:QU>atEIEy'}>IȹŽ,5?Žо ƽB !@9ƽDǽǺ: ȽY:)ȹWu{@WX XW:W2W*WVbUBU*UUU z=@RB*** querying acoustic contact ***PPBMF̼BQ BQAUk.*BQAU\SAQAYA]<"C].*CeRRCe$<Ce{@Ci֥w {{ P=:Y#R1y:5Zr,=j EA|i|Y}6c@}6 ΀@y}6.<}6x }6H`cL??@@:\%J= b?)~6c@ ~6[;I~6CɫAA)A EIAY}@y}dGZ****** received transponder code query ******F****** received ping request ******1atE$IEy}>I :,5? :о B  !@9D: :)x:WM{@WiXi XqWq:Wq2Wq*WqVybUyBUy*UyUyU` @B ϼB  B A 9*BAqUAAA2<"Cd*CDKRRC<C%{@C!=<I!GEr>I 9I IM o_GiM @I I I M E; I `r, EAY}2@}2H@y}2<}2M}2H?Vǫ?+?D %۫@!?)~2@ ~2[;I~2Cɫ99)9 =IAY]r@y])dGexDUSBL response received:!U1,P 328,000,00B07,189,80,80,AD,FF eCommand AckmBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 õ>õף<õ$>iõ@ñ ĵ&@)ĵ@Iĵ&@iĵE@M/=YQU->99aEtEE,IEyy^`}>Iȱŵ ,5?ŵUо ƵB %!@9ƵDǵ,l< ȵgl<)ȱW΀{@WX XW:W2W*WVbUBU*UUU @B&ѼB BAjG*BAYAAAV0<"C*C%^QRC%<C%΀{@C1Iޥ@A)ޥ@A  3:YV1y:5);9u 'gr, EAY}b@}b>@y}bZ{<}b!}bH^@٤??M`cz|߰ 7?)~b@ ~b`[;I~bCɫ髑) IY !@y cG?A5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B S?Mb~jth?? D;)Iy|?5^?y&1?:v?-?`e<T< rA)/AI Ai Az A=0ּM=W=Y=QU=>AAaUtEU2IEYy%a}%>I) 5:-P,5? 5:-о ) 5!@9-D-{: -4:)-y:W}R{@WyXy XW:W2W*WVbUBU*UUUm7@B!DB BAQ*BA%g[A!A!A%Z6<"C-*C-(QRC-@<C-R{@C1u7JOmr,5ӷ EA||Y}B隈@}B@y}Btԃ<}Bj}BHEi?@Z,? ƣX@Bc_zR?)~B隈@ ~BaX[;I~BCɫYY)Y ]IYY}3@y}cGxDUSBL response received:!U1,R,2E1,000,00ADF,189,80,80,98,FF Fpublishing direction and range info$ɰc>鰁 )CIyzC=tN?㨃0ٱ=i=H1>i @ @)I@i@;Ma=Y;QU> a tE 8IE yꢻ}?I`,5? Ѿ  %!@9ŤDϸ: :)W~'{@WX XW:W2W*WVbUBU*UUU@PI*QMzCZQMn{Y@qiSJQM=tN?㨃02QM$:QIbQM t_,jh>y0> @RQM,hpο#Cf?BQM*=X@ QMCQMPM9?PM9?PMQMQMA"QMhABzB BAHO*BA]AAAB<"C6*C[QRCT<C~'{@C9I^Gi@>; ŗE)ݑIݑiݑݑݕ=ݕ-)4T<IG l>~~ +:YT1y@:\5);8tr, EAY}j@}j/@y}j؉<}jN"x}jH@x?R?Php`:O?)~j@ ~j,4[;I~hɫ) IY5@y5 cGDNmea in: $SNTTA,,,,,014510.19*57 ,M :=Y>:QU>atE?IEy%}%>I)-,5?-)Ѿ -B 5!@9-ϤD-: -:))meyAdded new target pos. range: 129.479996 m, bearing: 193.587150 deg, deltaT: 4.412191 s, approachRate: -0.543950 m/s, LOS rate: 0.223312 deg/s, posRepo size: 4mu ProNav: pos range: 129.479996 m, bearing: 193.587150 deg, approachRate: -0.543950 m/s, LOS rate: 0.223312 deg/s, cmd update: 0.669936 deg/s, cmd heading: 224.844990 deg, new cmd heading: 224.664004 deg. Wuw{@WyXy XyWy:Wy2Wy*WVbUBU*UU \/`@Up?B~B BABb*BA`AAA|<"C*C:QRC%<Cw{@Cc<יIGa>ޕ=iޕ=z`zr, EAY}2s@}2@y}2;<}2j}2H+r?S?-y} p`P _?)~2s@ ~2([;I~2CɫAI)I IIQY@y cG @ @ @©i@ \@)&@Ii&@ԺMN=Y:QU>atEEIEyŻ}>I9 E:=2,5? M:=I#Ѿ󿩺9I 9 ]!@9=ؤD=; =;)=z:i%nGIlAi w˿ٺ lA  AWm{@WiXi XiWi:Wq2Wq*WqVybUyBU*UUU`H?B-?KB1 B1AEd*BAAM dAIAIAM<"C]S*C]PRC]Z<C]{@C֕(<A  9:YWU1y:\59@שIG > 9 I ]Gi V@ T; ЗEHr,` EA|i|Y}:ra@}:o@y}:<}:&r}:H _y?ˡ?@~ ҆Zة´ K??)~:ra@ ~:Z;I~8ɫ99)9 =I9Y}׷@y}/bGI ) UXeM]S=Y]QU]>aaaetEeKIEaymy}m>Iqu,5?u.Ѿ q }!@9uDu8: u:)qW |@WX XW:W2W*WVbUBU*UUU ?BЌB BAz*BAfAAA<"C*CaPRC?<C |@CjZX<׉IG>rr,:> EAY}2P@}2]@y}2+<}2qs}2Hఢ n?X ?s ٩NEt`u?)~2P@ ~2pZ;I~2Cɫ99)9 9I9Y}s@y}aG\(\?A`"˿sh|???Y =)Iy%C?I +?atERIEy}>I :ot,5? :8:Ѿ  !@9D: w:){:W]|@WX XW:W2W*W V bU BU *UUU?B=SBA BAAE*BAAE/jAAAIAM*4<"CU*CUSPRCU<;CU]|@CYցaIG]>IޝAA)ޙ;  8:YW1yč:n5Rr,L9 EAY}2.5@}2B@y}2R<}2e}2H4!^?F?jbiԨ<^ q ?)~2.5@ ~2Z;I~2CɫYY)Y ]IYY@y=bG U U UU>UPUtiU=@U U@)Uҙ@IU@iUҙ@e% =MeP=Yeo}9QUm>iiamtEmXIEy}>Ijf,5?EѾ B !@9Db: :)W%|@W!X! X!W):W)2W)*W1V1bU1BU1*U1U9U=E#@1(E PElAggregate::initialize lineCaptureDepth:MicromodemCommsq(EPE|Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn(MBmaBi BqAugy*BqAuftmAqAqAuUy<"C}s*C} PRCCpC|@Cܙ9ܙIܝ\Giܝc@ܙܙܙܝZ; ݝӗE֍[RS;AIQGM >1r,kR EA||p;ɫyy)y IYd@yaG9i9=6Buffer fill timout failure.]@M]K=Y]QU]>aaaetEe^IEiym}m>Iq }:u Y,5? :u~PѾ q !@9uDuw: u:)u|:W;|@WX XW:W2W*WVbUBU*UUU/=@B=B BA*BAѼpAAA<"Cz)*CORCgp߻C;|@Cօ 7;YIiGZ> *,:YV1y:5r,l EAY}f@}f@y}f%<}fR}fHL4?@?N7#MD>@2?)~f@ ~fZ;I~fCɫ) IY@y`Gp=ɮp=UOutgoing frame #1, 60 bytes: CC1017611C0000005D00000400260000000000000000151D80030C5669C08C79985BACBB7B005AB4E8BF65FBB6D7646DD093113F9B5316D9A7086A00DNmea out: $CCCYC,0,1,10,1,0,1*69 ޝ=iޝp= @ @ @©i@ ҙ@)Ii@M =Y a.QU>atEhIEyeV}>IC,5?aѾ B  !@9D: 3:)W- l}@W1 X1  X1 W1 :W1 2W1 *W9 V9 bU9 BU9 *U9 UA UE .@RM B*** querying acoustic contact ***PI PI Bu z1Bq  Bq Au 7*By A} ChvAy Ay A} x<"C ܑ 9ܑ Iܕ [Giܕ o@ܑ ܑ ܑ ܕ Q; ݕ ϗE*C ORC yC l}@C  = = [RӻI ) I G >r,0J EAɫ髉) IY@y`GZ****** received transponder code query ******F****** received ping request ******<)Wm}@WiXi XqWq:Wy2W*WVbUBU*UUU $k @B5J#B]l%= BYA]f*BYA]?yAaAaAeA<"Cm~*CORC&C}@C֍ON 1:YU1y:5);9iIqG}>r, EAY}6@}63 @y}6Ľj<}6J}6HatEuIEybG;}>I =:3*,5? =:uѾ B =!@9Da< `<)}:W~@WX XW:W2W*WVbUBU*UUUn@B * B1 B9A=Q*B9A=~A9A9AE><"CE5*CMORCMh˼CM~@Ciօ (Y Ii G >@Pr, EAY}2 @}2?.@y}2ϧp<}2S>}2HR?Wj? /U` '`ǧF?)~2 @ ~2Z;I~2Cɫ)))) )I)Ym@ymM_G}9ܑIܕZGiܕ̱@ܑܑܑܕM; ݕ͗EI@A) 2/:Yd\1y:%5); % % % - 7@- !- |?i- @-  - @)- -@I) i- @u },Mu =Y} Q2:QU} >y y a tE }IE y ;} >Iȑ  :ŕ ,5?  :ŕ Ѿ ƕ B  !@9ƕ DǕ : ȕ :)ȕ ~:W c~@W X  X W :W 2W *W V bU BU *U U U @@B /B  B A 㢾*B A A A A <"C *C dORC ּC c~@C } 7ƼaIqG>Ur, EAY}6E3@}6@@y}6Պ<}6}6H`? ?a=,x{Zۣ?)~6E3@ ~6iZ;I~6CɫAA)A EIAYx@yD_G.Nmea in: $CATXP,60*74 \Response from modem unexpected: $CATXP,60*74 4M=Y9ռC~@Cѭ9=mTмIIQGuW>asr,8 EA|4<|;Y}B5@}B]C@y}B!<}B4޼}BHs d?#?Sb@1@Რ B佛c?)~B5@ ~B^;I~BCɫYY)Y ]IYY@yW^Gl>i@=i"?I=)=G?S什i@ )@I@i@W_M>=Y];QU>atEIE yk3:}>I,5?'Ѿ B 5!@9+D>+; ;)Wu~@WqXq XqWq:Wq2Wy*WyVbUBU*UUUG@B5LB9 B9A=c*B9A=@AAAAAEN<"CmA*C#?ORCC~@C d0:YV1y:759@A9AIEYGiEذ@AAAEL; A)مIمiممم݅4#'= I G >C[r, EAY}60@}6e>@y}6 s<}6[ż}6H N``?tdx?@1_޶@ٞ`@#?)~60@ ~6c;I~6CɫII)I IIIY}dz@y}/]G%MP=YdQU>atEIEy˺}>I  :+5?  :Ѿ B !@93D(; y);):WMv*@WQXQ XQWQ:WY2WY*WYVabUaBUa*UiUiUuh@BRS0B BAn*BAAAA <"C?*CQ.ORCKCv*@C) ީiޭ=֍ 鼹a I G >(r,^' EAY}6?@}6hM@y}6‡<}6}6Hj?{1h`5@`?)~6?@ ~6Dj;I~6Cɫ99)9 =I9Y'@y]G.Nmea in: $CATXF,60*62 \Response from modem unexpected: $CATXF,60*62 a i@a  a m@a  a q@a  a e@a  a I@a  Mb@Mb@Mb@ )IiMb@Mb@Mb@© )Ii  4:YT1y:5UE>U}immGIjAU iUQ@iAAQ U@)U@IQiQPٺjABԻ<M=Y,;QU>atEIEyFj;}>I!%Q+5?%ɫѾ -tI %B -"@9%=D%L: %?)!Wu@WqXq XqWq:Wq2W*WVbUBU*UUU`~r@RB*** querying acoustic contact ***PPBt B BAj*BAAA!A%N<"C%*C-{ORC-C-@C)M  ! I) GM >E ^>9A IE hXGiE @E =A A E W; E җEmr,A EA|i|@Y}V^@}Vl@y}V,{<}V삼}VH*@~?L?@2} 8Z (\?)~V^@ ~VAm;I~VCɫyy)y }IyYy@y\GNmea in: $CAXST,7,20210814,014514.684927,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*57 Response from modem unexpected: $CAXST,7,20210814,014514.684927,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*57 I)I) PM=YQU?atEIEydN<}?I+5?Ѿ B "@9BD: kN?)W@WX XW:W2W*W!V!bU!BU!*U!U)U-ۚ@BUGBY BYA]Jþ*BYA]hAYAYAeO<"Ce[*CmORCmCm@Cqe!I1GU1>}r,ץ[ EAY}2@}2@y}2;ֈ<}2n A}2H@Vy`̗?Z`S wxܔ@l I?)~2@ ~2(j;I~2CɫYY)Y YIYY@y]G½gA½gA<MM=Y%QU>atEIEyR<}>I :+5? :LѾ B "@9JD>: ?):W5@W1X1 X9W9:W92W9*WAVAbUABUA*UIUIUM@BU2BQ BQAU*BQA]bێAYAaAe3<"C*CORC^C@CIީ)ޭAA }} dJ:YkS1yԊ:J5ֵיIGb>r,u EAY}2l@}2@y}24~<}2|uػ}2H s@a?s8s`EƏ@ {?)~2l@ ~24e;I~2CɫII)I MIIY}@y}T\G @ @ @©i3@ 3@)Ii3@SBMG=Y>QU>atEIEy;}>I  N+5? Ѿ ÒB "@9 RD :  ?) W=,@W9X9 X9WA:WA2WA*WAVAbUIBUI*UIUIUU @B}`\<By ByAɾ*BAOAAAl<"CQ*C8NRC$C,@Cԥԥ եԥk>9Ikr,[ EA|;|Y}6Ҋ@}6|@y}6pd<}60}6H@u ?@+v`uՍ@q` ?)~6Ҋ@ ~6;b;I~4ɫ99)9 =I9YҲ@y\G?i=-MK=YeQU>auEIEyJN}>I  7+5? Ѿ ʒB "@9 YD : ?) W]S@WYXY XYWa:Wa2Wa*WaVabUiBUi*UiUqU}\@B;B BA;*BAAAA <"C.x*CNRC05CS@CIgA)iIqG> 1:Y0Y1y:5)ݎ;9r,:@ EAY}rC@}r@y}r=A<}rH}rHOi ?Rmxai|?`'|`i?)~rC@ ~reB_;I~rCɫ) IY-n@y-[G=:Nmea in: $CAACK,10,1,1,1*7B ESent 52 bytes from file Logs/20210814T003940/Courier0028.lzma.partsE.Packets left to send: 0)a ia i a mޥ=iޥp=a m a qa q a ea e a Ia I 㥛 ?ˡEZd;O??' j<)IyL7A`?aaaeuEeIEiym~;}m>Iq :uģ+5? :uѾ uԒB "@9udDuX; u ;)u:Ws@WX XW:W2W*WVbU9BU9*U9U9UEy@B2B BAӾ*BAAAA<"C*CNRC9BCs@C!)I9Ge> 9 I VGi @ \; ֗Er, EAY}2tψ@}2݀@y}2*<}2_ú}2H(A ?\rHAn `kX?)~2tψ@ ~2l^];I~2Cɫyy)y }IyYg@yDZGMNmea in: $CACST,6,0,20210814014517.678659,06,9118,39,0101,0150,82,03,03,00,03,1,010,001,0,4,1,0,150,13.2,3.96,05,-0.96,-01,-0.90,50,14500,4000*75 Response from modem unexpected: $CACST,6,0,20210814014517.678659,06,9118,39,0101,0150,82,03,03,00,03,1,010,001,0,4,1,0,150,13.2,3.96,05,-0.96,-01,-0.90,50,14500,4000*75 9  ^8:YU1y:5);=UOutgoing frame #1, 60 bytes: CC1017611F0000005D00000400260000000000000000151D80030C5669C08C799875A2AB340BA1F088417FB40F2F2877D8DB089EFAEC9A688C145800 鿱 =M a uE IE yr<}>I  +5? iѾ B "@9 rD : ߼:) W=nƀ@W9X9 X9W9:W92WA*WAVAbUABUI*UIUIUM !@R]B*** querying acoustic contact ***PYPYB}1B BAc*BACxAAA?<"Cؒ*C;NRCoFCnƀ@Cשi׭?׉IG?r,K> EA|$i|&@Y}jV@}j)d@y}jF;}jNX;}jHt?z x<gyk? ?)~jV@ ~j[;I~jCɫ髩) IY@yYGI)M%>YOQU?auEIE@@yV>}?I3+5?Ѿ B  "@9uDǺ: Ǻ:)W5JҀ@W1X1 X1W1:W12W1*W9V9bU9BU9*UQUQUUR!@BnB BA*BA6hAAA.<"C!{*C?NRCCJҀ@C9IGG>Kr,H EAY}JYx@}J@y}J*;}J+xa;}JH ug/?@̬xp/Fa9v .l?`?)~JYx@ ~J&[;I~JCI9)=BAMMMM M1:YMWU1yM:M\59U@ɫ髱) IY@yYGl>9IHUGiZ@a; ٗEÍÍD;Íߏ>iÍ@É č@)č@Ič@ič@xPM@=Y9 QU>auEIEy<}>Iȹ :Žyx+5? :Ž#Ҿ ƽB "@9ƽ~Dǽ: Ƚ:)Ƚ:Wm@WiXi XqWq:Wq2Wq*WqVybUyBUy*UyUyU4"@BNB BA*BAƠAAA<"CJ&*CNRC8UC@C)5IG=r>r,R EAY}:t}@}:@y}:qA|;}:;}:H`y`s2?}`2rE?)oc}x??)~:t}@ ~:Q [;I~:Cɫ99)9 =I9Y}@yMYGSetting waiting for range response to false due to timeout. Elapsed:6.245893Zd;O?ktƿQ?jAAaMuEMIEIyUԲ:}U>IY]h+5?]XҾ ]B m"@9]D]d: ]z:)YW&@WX XW:W2W*WVbUBU*UUU#@B 6SB BA*BA#AAA"<"C*CNRC(C&@CIhA)IG>' r,1 EAY}Fx@}F`@y}FŐ;}Fe;}FH;`/?`t/@@`hU?aEs??)~Fx@ ~F![;I~FCEEEE E3:YEU1yE:E5ɫ髱) IYG@yXG=i)  @ @ @©i@ O@)Ii@tM `=Y _QU >auEIEy!к}>I! -:%H\+5? -:%Ҿ %B 5"@9%D%8: %f:)%:WUI@WQXQ XYWY:WY2WY*WYVYbUaBUa*UaUaUm`#@BdB BAp*BAAAAЃ<"C*CNRCA9CI@CԽiAԽjAl"יIGb>9ITGif@U; ӗE)ݩIݩiݩݩݭ=ݭC6r,K EAY}2vy@}2!@y}2i8}2;}2H 0?q 90 j? U`M7v? ?)~2vy@ ~2q[;I~2Cɫ99)9 =IAY]"@y]XGUM]=Y]nQU]>aaaeuEeIEiym&19}m>IquI+5?u.Ҿ uB "@9uDu : u8:)qW}@WX XW:W2W*WVbUBU*UUU$@B8JB BA*BAAAALZ<"C#*CNRCZMC}@C d6י I G >6r,{he EAY}^…@}^m@y}^i"꺙}^A;}^H@7?`p@7Ȳ @v? LD]?+z??)~^…@ ~^e[;I~^CU UUU U5:YUDW1yUY:U%5ɫ髑) IY-@y5*XGeeMe=YexQUm8?iiauuEuIEqy};}}8?Iȁ :ŅFA+5? :Ņ)6Ҿ ƅB "@9ƅDDž: ȅ]:)ȅ:W0@WX XW:W2W*WVbUBU*UUU`c%@BFB BA*BA4UAAAQ<"CV*C NRC PC 0@C_>IG-,>el>eCinmGIkAiA-ٺ-kA-{B r,X: EA|i|ɫyy)y yIy9ITSGiī@L; ΗEY@y!XGAAI)    @ @ @i=@ @)Ii MA=YQU>auEIE y }>I2+5?SCҾ B %"@9DI: :)WE@WAXA XIWI:WI2WI*WQVQbUQBUQ*UYUYU]@<&@ReB*** querying acoustic contact ***PaPaBdcB BA*BA ̰AAA<"Ci*C[NRCbC@C յ=Ե>օBJ9IIGeV>%r,! EAY}V@}V@y}V w}V. <}VHh@T?vm T@?u?`Ȑ? ?)~V@ ~VI[;I~VCɫ) I5 555 5`6:Y5Y1y5:Ya@yWG5ݻ5)5˒;9Z****** received transponder code query ******F****** received ping request ******auEIEyE<}>I  :"+5?  :QҾ  B  "@9D : 4:):W5q@W1X1 X1W1:W12W9*W9V9bUABUA*UAUAUE+'@Bu4{aBq BqAue*BqA}#AyAyA}V<"CJ*C=NRC _Cq@C֍YiIqG>D%,r,5 EAY}:{։@}:&@y}:e3ۻ}: <}:H r`1i?@Elni`qr?@_f{?!?l?)~:{։@ ~:[[;I~:Cɫ99)9 =I9Y}@y}XGxDUSBL response received:!U1,P 2E1,000,00ADF,189,80,80,98,FF Command AckBRequesting micromodem ping code 2i    @ @ @iד@ I@)Ii3@ގ<Ms=YQU?auEIEyL<}?I+5?[Ҿ B "@9D: M:)W- @W)X) X)W):W12W1*W1V1bU9BU9*U9U9U='@Bm yB BA*BAwyAAA<"CO *CNRC]C @CmYIGn>ܹ9ܽ{CIܽRGiܽ!@ܹܹܹܽ/; ݽE3r, EA|4<|4< 2:YU1y:5);ɫ髱) IY@yOWGa=ɮE>MW=YQU%>!!a%uE%IE)y-}>IȹŽA +5?ŽgҾ ƽB "@9ƽĥDǽ: Ƚ:)ȹW0@WX XW:W2W*WVbUBU*UUU(@B-*|sB1 B1A5g*B1A5EܺA1A9A=<"CED *CE/NRCEoCE0@CAeY9IAG]U>;79r,T EAɫyy)y }IyY@y+WGkMM=YQU>auEJE y } >I :a*5? :sҾ (B %"@9ͥDI: :):WEJU@WAXA XAWI:WI2WI*WIVIbUQBUa*UaUaUeg)@BrxB B!A%T*B!A%(A!A!A-C<"CM!u *CUNRCUk~CUJU@CQehm?ims?9IIGa!@r, EAY}J@}Jē@y}Ju}J^<}JHM@?@]  ?t?@B?w?)~J@ ~JE~H :2:YWU1y:59@ɫ髩) Iܽm>9ܽzCIܽ(RGiܽЪ@ܹܹܹܽ#; ݽEY@y5VG   Å;>Ål>Å iÅ(@Å ā)ąh@IąI@iāXkM@=YػQU>auE JEyN=}>Iȱŵ{*5?ŵҾ Ƶ4B "@9Ƶ֥Dǵ: ȵ:)ȱW~@WX XWi:Wi2Wi*WiVqbUqBUq*UqUqU}H*@BvB BA *BA:'¼AAA<"C# *CjNRC6>C~@CwIGn>XIFr,^ EA|$i|$Y}]8@}]Ȃ@y}]H }]o<}]HRS?.Uk@ϣ? ?o?`?)~]8@ ~][;I~]Cɫ髑) IY.@yLVGI)MbX?~jt?X9v?j?D< <)Iy)\(?Mb?Mbp?G!?<; µA)±I±iµIAA;M8=Y@'QU>auEJEy{o<}>I :*5? :Ҿ 6B "@9ߥD: :):W%@W!X! X!W!:W)2W)*W)V)bU1BU1*U1U1U5#+@BeX{Ba BiAm *BiAmżAiAiAm+<"Cu *CuNRC}tvAC}@CyeȷL9IIGeU>vLr,C4 EAY}J׊@}JX@y}JV1}JY<}JH,`? g#`` H?@*?Oʖ?}?)~J׊@ ~J[;I~Hɫ髑) I 1:Y0Y1y:5Y@yUG?>i @ @)ߏ@I@iߏ@,<M[=Yu6QU>auEJEy<}>I*5?hҾ 8B  "@9D: ]:)W-Ô@W)X1 X1W1:W12W1*W1V9bU9BU9*U9UAUE+@RMB*** querying acoustic contact ***PIPIBu;Bq BqAue*BqA}fɼAyAyA}<"C *CNRCWUECÔ@C֝g@Iס)ץiAYIaGY>y9}{CI}`QGi}-@yyy}-; }E8[Sr,N EAY}6@}6@y}6c2M}6a<}6H'`t ?k ($?` ?"??)~6@ ~6[;I~6Cɫ99)9 9I9Y}@y}UG)5<M=V=Y=QU=>AAaEuEEJEIyMr;}M>IQ ]:U*5? ]:UҾ U;B e"@9UDU(: U:)U:W@WX XW:W2W*WV!bU!BU!*U)U)UEB,@BB BA*BA<ͼAAAks="C= *CNRC&MC@C!=zGI!G=r>Yr,g EAY}J@}Jv @y}J!}}J<}JH9? Y?@⣏? aӜ??)~J@ ~J[;I~JCɫ髹) IYͭ@yUGɮR=C=i=K  9:YW1yč:o5ýC>ýj<>ýhiý=@ù Ľ3@)Ľ@IĽ@iĽ@ k;M =Y QU >  a uE 'JE y ;} >I! % *5?% صҾ % ?B - "@9% D% : % 8:)! W .@W X  X W :W 2W *W V bU BU *U U U -@B= jBA  BA AE *BA AE ҼAI AI AM J="CU *CU NRCU ]CU .@CY 5 JM= ?i= ? I G5 >`r,P EA 9 I"PGi"ܩ@"= "9; "ŗE){{CI{{Ciss{={>4Y}F)@}F7@y}F,X}FT<}FH@`^1?`0[@ތ??@? ?)~F)@ ~FZ;I~Dɫ髑) IY@yUGNmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 EMU=Ye#UQUP?auE +JEy%e<}-gr, EAY};h@}u@y}kx}2%<}H7-`U?G;S )`B?N?`pb??)~;h@ ~-[;I~C-7 -}-}- -58:Y-kS1y-Ԋ:-5ɫ9A)A AIAY}W@y}CUGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B DNmea out: $CCCYC,0,1,10,1,0,1*69 rh|?sh|??X9v??= )IyMb?:v?/$?#?<< A)OAI5AiA=M$=YQU%>!!a%uE%3JE1y5у<}5>I9=g*5?=Ҿ =JB E"@9= D=: =:)9Wmq@WiXi XiWi:Wq2Wq*WqVqbUyBUy*UyUyU} S/@Bu&B BA*BAEDټAAAgf="C= *CNRCTLCq@Cu \יIG>i /mGI i wοٺ OA/mr,N EAY}F@}F@y}Fӵ}F0#<}FH v?` t@` ?`?Ё??)~F@ ~F?C[;I~DɫYY)Y YIYY@yTG@AxDUSBL response received:!U1,R,3B2,000,00A4F,189,80,80,A4,FF Fpublishing direction and range infoVSɰ/X>鰡 )$CIyB "F{?lkٱBNmea in: $CACYC,0,1,10,1,0,1*6B EV?EEHiEד@A A)EI@IE3@iEI@uZMuk=YuւQU}?yya}uE}8JEy<}?Iȑŕ*5?ŕҾ ƕPB "@9ƕDǕ{: ȕ:)ȑW7@WX XW:W2W*WVbUBU*UUU`c0@P*QBZQV[|T@p'!3VJQ "F{?lk2QVS:QbQkf_~]_n1n$AF#RQB*¿ʖe6sBQБR@ QQPP9?PQQ@"QAB}rNBy ByA}t*ByAtܼAAA="CG *CNRC>@C7@CEn>9AIEPGiE@E=AAE7; EėEֵ`RI׹)׽hAבIG>tr,/6 EA=e === =;:Y=WU1y=:=o5)=;9UY}U5ҋ@}U߃@y}Ue}Ud<}UH j6?`*H@@?d? _?8?)~U5ҋ@ ~UP[;I~Qɫ)1)1 1I1YmP@ymTGNNmea in: $CADRQ,014526,1,10,0,64,1*72 UNmea out: $CCTXD,1,10,1,CC1017611F0000005D00000400260000000000000000151D80030C5669C08C799875A2AB340BA1F088417FB40F2F2877D8DB089EFAEC9A688C145800*4C )A MA=YQU>auE@JEyF<}>I :*5? :TҾ YB "@9D: b:):m=Added new target pos. range: 120.839996 m, bearing: 188.511691 deg, deltaT: 16.015351 s, approachRate: -0.539482 m/s, LOS rate: -0.316912 deg/s, posRepo size: 4mM ProNav: pos range: 120.839996 m, bearing: 188.511691 deg, approachRate: -0.539482 m/s, LOS rate: -0.316912 deg/s, cmd update: -0.950736 deg/s, cmd heading: 235.577231 deg, new cmd heading: 235.898869 deg. WMP@WIXQ XqWq:Wy2Wy*WVbUBU*UU5^@U:?BB BA*BA pA A A ="CU} *CUNRCULCUP@CYe -B9 II Ge >@zr, EAY}6@}6d@y}6ü}6* =}6H@ ?,@ ;@f?u??W?)~6@ ~61[;I~4ɫ99)A AIAY]@y]TGDNmea in: $SNTTA,,,,,014526.19*52 zTXD response from modem unexpected: $SNTTA,,,,,014526.19*52 } 2?} O } =i} =@y } ߏ@)} @I} @i} @ 1=M =Y QU > a uE HJE y ;} >Iȩ  :ŭ G}*5?  :ŭ }Ҿ ƭ cB  "@9ƭ %Dǭ 4: ȩ )ȭ :W & @W X  X W :W 2W *W V bU BU *U U U `?B B!  B! A% r*B! A- iA) A) A- S="C5 i RC5 uּC5 & @C9 ] 3 I1 I 9I IM 4PGiM :@M =I I M #; M EG >Dr,REA|.;|,Y}E@}E@y}Ewμ}EO<}EH೧ȯ??=@%?@Ι?[f?@?)~E@ ~Ey[;I~ECe eee eV5:YeY1ye:e\5)e;ɫ) !I!Y-@y-TG=i=ɽM=YܻQUd?auEKJE y ʤ<} d?Iw*5?wҾ gB %"@9)D4: :)WE@WAXA XAWA:WI2WI*WIVIbUQBUQ*UUUh?B{B BA*BA nA A A μ="CU^B *CU'NRCUuCU@CYimiAօ%|YIiG}>br,EAY}2x;@}2#I@y}2ȼ}2}=}2H}`#?q#@w2? ? e?/?)~2x;@ ~2b_;I~2Cɫ99)9 9I9Y}@y}TGMb@Mb@Mb@ )Iy}?5^I?~jt?M"?< IA)AI AidAGAMP=Y:QU>auERJEy<}>I[l*5?3Ӿ oB "@91D: :)W 0@W X  X W :W2W*WVbUBU*UUU#r?BMhBI BIAU*BQAU AQAQAUO="C]U RC]5C]0@Ca-TмIG (>'r,8EAY}F}@}Fe@y}F\뼙}F<}FHjE? `]?@q? #b?? ?)~F}@ ~F*8d;I~FC }} v4:YkS1yԊ:859@ɫ髡) IY@yTG5i}p@y }n@)}I}@i}&@KM>=YQU>auEYJEyə<}>Iȩ :ŭ_*5? :ŭӾ ƭxB "@9ƭ9Dǭ(: ȭ:)ȭ:W~@WX XW:W2W*WVbUBU*UUU`7,@B팽B BA*BA%h0AAA="C" *C~NRC=W);C~@CfA9Ii0; E֕፨ׁIG>tr,ͯREA|i|Y}6@}6fDŽ@y}6h߼}6Ӥ<}6H@?HG N ??vО?:?)~6@ ~6Ӭd;I~6Cɫ9A)A EIIYym.Nmea in: $CATXP,60*74 Ii)iYKj;QU>auE_JEyq<}>I)-T*5?-Ӿ -B ="@9-AD-n: -߼:))W}]I@WyXy XyW:W2W*WVbUBU*UUU` V@B= B BA*BAAAAr="C- *C->NRC-a<C5]I@C1 E=E=HI gA) eAIG J>Kr,RlEAIbAA)bAAY}Eь@e eee e3:YeU1ye:eJ5}El߄@y}E缙}E<}EH? `n@4mƣ? ?`???)~Eь@ ~Ee;I~ECɫ) IY%@y%mTG5.Nmea in: $CATXF,60*62 > ?=i@ @)ߏ@Iߏ@i3@ +M a uE fJE y;}>I %:H*5? %:+Ӿ B %"@9JDE: Q:):WM@WIXI XIWI:WI2WQ*WQVQbUQBUY*UYUYUe#@RmB*** querying acoustic contact ***PiPiB(ĐB BA&*BAk'AAA ="CL*C"MRCf<C@C֕yb];IIYGuz>ܹ 9ܹ Iܹ iܹ ܽ =ܹ ܹ ܽ :; ݽ ƗEr,=dEAY}6@}6mτ@y}6ن}6<}6H@ ?n@@ ?O??:?)~6@ ~6GXc;I~4ɫYY)Y YIYY@yTGZ****** received transponder code query ******F****** received ping request ******!!a%uE%lJE)y-U}M>IQU=*5?UP7Ӿ UB e"@9URDU : UY:)QWjہ@WX XW:W2W*WVbUBU*UUU @BB BAr*B A-A)A)A-˒="C5h*C5MRC=<C=jہ@C9Ev<I)GEQ>ݰr,BEA  v4:Y^1ya:75ɫ) IYb@yQUG%xDUSBL response received:!U1,P 3B2,000,00A4F,189,80,80,A4,FF %Command Ack%BRequesting micromodem ping code 2i!!5Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }|?5^?:v))a-uE-tJE1y5}5>Ia :e/*5? :eFӾ eB "@9e\De%< e<)e:W@WX XW:W2W *W1V1bU1BU9*U9UAUM<@BB  B A ]*B A ُA A) A- <;="C5 R*C5 9-MRC5 Yh=C5 @C9 = bި#Эr,EAjp=ihɫ髩) IY|@y6TG5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B @ @ @©i@ ~@)@I@i~@&M=YQU?auExJEy } ?I'*5?OӾ B "@9bDk: :)W=)o@W9X9 XAWA:WA2WA*WIVIbUIBUI*UIUQUU@B}By BA%*B!A%A!A!A%="C-cA*C-LRC5E=C5)o@C1]8<܉9܉I܉i܉܍=܉܉܍,; ݍE)Ii==41I9G]T>r,DEAY}J@}J@y}JV}J }JH@#?FĚ?@ yh?I?9oy?)~J@ ~JN];I~JC 1:YY1y:&5);9ɫ) IY5@y5mTGIMa=)M=a<MO=Y~QU>auEJEy(<}>I*5? \Ӿ B "@9jD: r:)W9@WX XW:W2W*WVbUBU*UUU H@B5B9 B9A=&*B9A=ߐA9A9AEV& ="CE*CMΝLRCMRs5=CM9@CQ]=1IAG]U>r,oEAY}uS@}u@y}u3}u@#Q}uHu3?6W?1@62?`}E?@?)~uS@ ~um\;I~uCɫii)i mIq>imGI)iAS9ٺ*BYʬ@yTGDNmea in: $SNTTA,,,,,014530.65*5E I))    @ @ @i@ ߏ@)It@ik <M+=Y8QU>auEJEy<}>I  : *5? : kӾ B %"@9 tD ; ;) :WM/@WQXQ XQWQ:WQ2WQ*WYVYbUaBUa*UaUaUm@BB BA*BA!AAA ="CW/*CLRC|\=C/@C%ȷL=IG>} o>9y I} PGi} @y y y } >; } ɗEr,"pEAY}f@}f~@y}f%.}f喼In@A)n@A}fHI*?s? *@Op??@ْ`?)~f@ ~fSf\;I~fCɫ髹) IY٬@y TGxDUSBL response received:!U1,R,397,000,02662,189,80,80,BB,FF Fpublishing direction and range info {NM ɰ auEJEyl}>IB*5?S{Ӿ ÓB "@9D: :)W@WX XW:W 2W *W V bU BU *U U U J@P! *Q%  DZQ% @nw@xJQ% $??u[2Q% {NM:Q! bQ% *Fڀ:]4@RQ% hmBʿ1Z7?BQ% LV@ Q% }Q% P% ģ9?P! P% hQ% Q% A"Q% @B kB  B A *B A ؝A A! A% N ="C= *C] wKRC] p=C] @Ca m ;6=IIaG}>r,l%EAY}6K@}6̄@y}60}6ܼ}6H* ?W??%%?x?)~6K@ ~6[;I~6CɫAA)A AIIYݬ@yTGn?ˡEZd;?V.?' y=)IyS?<#r,}?EA2002 2-:Y0y02596@ɫ髙) IY@y;TG]R=i]%=   õ?õjõ\iõ@õ ĵ\@)ĵI@Iĵ@iĵ@]MM=YQU>auEJEy}>I)5?DӾ ГB "@9D8: :)9IiD; ̗EW5hw@W1X1 X1W1:W92W9*W9V9bU9BUA*UAUAUEQ?Bu,Bq BqAul*ByA} AyAyA}A ="C0RCy<Chw@Cֽu \=יIGb>% =i% = r,2XYEAY}6@}6@y}6l#}62}6HC* auEJEy/}>I :)5? :Ӿ ؓB "@9D: :):Wx@WX XW:W 2W *WVbUBU*UUUS?BMH BI BIAM.*BQAUp AQAQAU ="C]JRC]ˆ<C]x@Ca֍բ:=aIiG9>9r,VDsEA.0 ... .7:Y.X1y./:.5Y}>@}>@y}>'}>zN}>H !@??` .~?@?pҩ?)~>@ ~>Y[;I~>Cɫqq)q qIqYƬ@yTG5hAi1)9 9< j< +i f@  @) @I @i @gMC=Y%QU%>))a-uE-JE)y5@;}5>I9=)5?=ʭӾ =B E"@9=D=]: =:)9W=d@WX XW:W2W*WVbUBU*UUU<?BmB BA9*BAAAA.2 ="C;W RCŴ;C=d@CJ<IGi> 9 I i O; җEr,sEAY}:瘌@}:@y}:9o'}:Dk_}:H ,?-b?/9}u? i?㫿?)~:瘌@ ~:h[;I~:Cɫ99)9 9I9Y}=@y}#UGI) Zd;O?:v?Q j a vE JE y '} >I  : )5?  : Ӿ B  "@9 D : :) :W% y@W! X!  X! W! :W) 2W) *W) V) bU1 BU1 *U1 U1 U5 @Bm Bi  Bi Am *Bi Au pAq Aq Au S ="C} RC} GNC} y@C I! )% AAֽ c;ב I G >yr,]EA  jB:YDW1yY:]5Y}:Rp@}:}@y}:'}:hb}:H Nr??:A[q??LC?)~:Rp@ ~:ٖ[;I~:Cɫqq)q qIqY}٬@y}TG5֕M==YEj :QUM?iiamvEuJEqy}m}}?Iy}u)5?}sӾ }B "@9}D}; };)yWuP@WqXq XyWy:W2W*WVbUBU*UU U c@BUBQ BQA]*BYA]}AYAaAe ="C~ RCjCP@C֕`;iIyG}>]r,EAɫyy)y yIyY @yTGp=ɮa=>َ>i(@ I@)II@iI@-o<M5K=Y5QU5>99a=vE=JEAyE}E>IIY9YI]`QGi]-@YYY]Q; ]ӗEM4)5?MӾ MB "@9MDMS< Mt<)IW5ƒ@W1X9 X9W9:W92W9*W9VAbUABUA*UAUIUMD@RuB*** querying acoustic contact ***PyPyB؟B BA$*BAkAAA2 ="C RCCƒ@C[RӻIGI>!r,keEA"""" "2:Y"T1y":"J5)"|;9&Y}:F@}:ET@y}:X.}:0Ff}:Hq@Ļ??`~| t??>?)~:F@ ~:ߤ[;I~8ɫyy)y }IyY@yTGZ****** received transponder code query ******F****** received ping request ******avEJEy8}>Iȹ :Ži)5? :ŽӾ ƽB "@9ƽDǽH; Ƚ;)Ƚ:W- A@W1X1 X1W1:W12W1*W9V9bU9BU9*UAUAUE@c8 @B B BAr*BA$AAAw="C RC%?\MC% A@C)U Yi]?IGU>r,?EAY}2rW@}2e@y}2<0}2R}2HHc`z?g ? p@O{?`?U?)~2rW@ ~2[;I~2Cɫ99)9 9I9Y}@y}UGxDUSBL response received:!U1,P 397,000,02662,189,80,80,BB,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 e;eTeSiep@a e@)e3@Ie3@ie3@=M7=YQU>avEJEyK;}>I!%)5?%}Ӿ %B 5"@9%ʦD%: %:)!Wu@WqXq XqWq:Wy2Wy*WyVybUBU*UUU @B=ØBY BaAe*BaAmAiAiAu`="C4RC'vC@CֵC"ep>9aIeQGie@aaaeS; eԗE)Ii釉釩1O4ׁIG>r,+EA.$ ... .6:Y.U1y.:.&5).;ɫ髑) IY@yUGAA%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B <Mp=YQU?avEJE y}%?I :;)5? :Ӿ B "@9ѦD: w:):W"*@WX XW!:W!2W!*W!V!bU)BU)*U)U)U5@B] BY BaAex*BaAexDAaAaAe="CmqRCuCu"*@Cq}4|EqIG>8 r,(EA|i|Y}J:@}J攄@y}Jz^.}JC}JH@<;@{?@h?@FqO?ʥ?+?)~J:@ ~J[;I~HɫYY)Y ]IYYH@ykVGxDUSBL response received:!U1,R,388,000,00A04,189,80,80,B6,FF Fpublishing direction and range infoIɰ R>鰡 )6CIyB:]?Xʹٱ5"~?T㥛 Q?53?5 5u<)1I1y5V-?&1?S㥛?5-?5P=5/< 5p A)5dAI5 Ai5A15zAÍ'=ÍD>Í=iÍ@É č)č@Iĉiĉ]=M2=Yl:QU>avEJEyQ<}>IȹŽ)5?Ž5Ծ ƽ#B "@9ƽڦDǽ<: Ƚ#:)ȹWb@WX XW:W2W*WVbUBU*UUU@@inGIiP*QBͿٺAZQ%~T@*%KTJQ:]?Xʹ2QI:QbQjd\xVsk8W[@RQc<￞kʿ.gI?BQV@ Q[Q#P!9?Pģ9?PQhQI=A"QABeBi BiAm0 *BiAm[AiAiAum="CuRClCb@C խ=ԭ>֕#IםhA)םhAQIYGu> r,BEAJ7 JJH J58:YJWU1yJ:H9R@o>9I(RGiЪ@=L; ЗEɫYa)a eIaY@yUGEDNmea in: $SNTTA,,,,,014535.96*57  M[=YQU>avEJEy}>Iȱ :ŵ)5? :ŵԾ Ƶ-B #@9ƵDǵ: ȵ:)ȵ:mAdded new target pos. range: 116.340004 m, bearing: 192.135025 deg, deltaT: 4.418145 s, approachRate: -98.620575 m/s, LOS rate: -0.006629 deg/s, posRepo size: 4m ProNav: pos range: 116.340004 m, bearing: 192.135025 deg, approachRate: -98.620575 m/s, LOS rate: -0.006629 deg/s, cmd update: -0.019887 deg/s, cmd heading: 239.299274 deg, new cmd heading: 240.053467 deg. WR@WX X W :W 2W *W VbUBU*UU]@Uq?BFfB BAn*B A A AQAU="C]*C]ϐKRC]Z;C]R@Cae{򏽹9IAGm>r,\EAY}: Ќ@}:݄@y}:06)}:}:HH??cVܘ?;%?㘔 Z?)~: Ќ@ ~:6[;I~8ɫ99)9 =I9Y}@y}UGu,tMua=Y}b;QU}>yavEJEy<}>Iȑŕw)5?ŕ!Ծ ƕ7B #@9ƕDǕb: ȕn:)ȑWF@WX XW:W2W*WVbUBU*UUU?B%B) B)A-*B)A5ϒ A1A1A5R="C=**C=KRC=.C=F@CAM IG5->r,vEA|&4<|&;Y}F.@}F@y}Fnx(}F)}FHp5?Q?0e ? ?|?)~F.@ ~Fi[;I~FCj jjj j3:YjW1yjč:j5ɫ髙) IY@y0VG>#Oi(@ ~@)3@IiI@5~<M5?=Y59QU5>99a=vE=JEAyEys<}E>IIMl)5?M/Ծ MCB ]#@9MDM+: M{:)IW}@WyXy XW:W2W*WVbUBU*UUU,?BϝB BA *BAz"AAAAE#="CM*CUKRCUVCU@CQԁԁYe?ie?1IAG]v>p>9Ii=U; ՗E#r,dEAY}6:@}6H@y}6U[)}6w;}6H*LT? IÑ?MY@^?`)?s??)~6:@ ~6|[;I~4ɫ99)9 9I9Y}1@y}PVG)}$<MW=YMQU>avEJEy<}>I :Pb)5? :<Ծ NB #@9D 2; 2;):W=@W9XA XAWA:WA2WA*WAVIbUIBUI*UQUQUU`?B}j࠽B BA *BAw@$AAAM="C*CKRCDkC@Cօ8IIqG>>*r,@EAY}Fq@}F1@y}F (}F}ֆ<}FH@tq?$|? i@rYe?`?֐?`?)~Fq@ ~F[;I~FCɫyy)y }IyY@yVG%ʡE?Q?Q?%?%u< !)!I!y%MbX?Mb?/$?%*?%=%< %OA)%AI% Ai%~A!%AÅ>Å ?Åݤ>iÅ̔@Á ą)ąI@Iąh@iā<M=Y79QU>avEJEy8<}>Iȱ :ŵR)5? :ŵ~PԾ Ƶ]B #@9Ƶ Dǵ/: ȵ:)ȵ:WE@WX XW:W2W*WVbUBU*UUU`@B% g&B!  B! A- *B) A- Z&A) A) A- ="C5 +*C5 KRC= 7VC= E@C9  } }  2:Y kS1y Ԋ: 5 > = DI ) ב I G >L1r,7EA|i| 9 I"RGi"!@ "R; "ԗEY} N@}  @y} )} !=} H A߿>? k@`Q߿o? 8?<??)~ N@ ~  O[;I~ Cɫ) IY-@y-VGM=YYQU*?avEJEy4=}*?IK)5?:YԾ dB #@9DA: :)W-@W)X) X)W):W12W1*W1V1bU1BU9*U9U9U=@Bm -Bi BiAmt *BiAu'AqAqAuG="C}*C}KRC}7r,EAɫ髙) IYŮ@yWGɮ<MZ=YQU>  a vE KEy}>I=B)5?eԾ mB %#@9D: :)WMv@WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYUe`; @RmB*** querying acoustic contact ***PiPiB1 B BAA*BA%)AAAҿ="C*CKRC)4 Cv@C֥gWaIqG9>} } |} |}  } E1:Y} R1y} i:} ݸ5 =r,^EAY}:'J@}:W@y}:*}:0=}:H`r߿i?pX߿p?`Y]? ?A?)~:'J@ ~:X[;I~8ɫyy)y yIyY@yfWGZ****** received transponder code query ******F****** received ping request ******e/]e`ie@a e3@)aIeie3@<M3=YQU>avE KEy<}>Iȹ :Ž6)5? :ŽuԾ ƽyB #@9ƽ Dǽ; Ƚ;)Ƚ:W)@WX XW:W2W*WVbUBU*UUU`v @B5OWB1 B1A5*B1A=+A9A9A=B="CEb*CE?KRCEPCE)@CIYYE$M?iM?I G%M>Mq>9IIMRGiMs@IIIMQ; MӗEDr,EAY}fΎ@}fF܆@y}f '}fG=}fH@޿6? @1l޿$??ߤ?G?r?)~fΎ@ ~fU[;I~fCɫ髱) IY@y!XGxDUSBL response received:!U1,P 388,000,00A04,189,80,80,B6,FF Command AckBRequesting micromodem ping code 2i4=iR= Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )9=MH=Y;QU>)a-vE5KE9yu=}}>IȹŽ+)5?ŽԾ ƽB m#@9ƽ)DǽT: Ƚ:)ȹWۛ@WX XW:W2W*WVbUBU*UUU q @B5RܘB1 BQA]*BYA]Iu-AYAYA]F="Ce*CmPqKRCugCuۛ@Cl"} } } }  } 4:Y} U1y} :} 5ס I G >cKr,c.EAY}@}J@y}&}ƨ:=}H@,޿`Q6?`Ev0 8޿@a?hܤ? N??)~@ ~?[;I~Cɫ) IY Z@yWG5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ]rh|?i|?5Zd;O?]?]q ]j<=)YIYy]Q?Mb?Zd;O?](?]<]j< ]A)] AI]Q AiYY]zAõI>õõTiõf@ñ ĵh@)ĵ~@Iĵ@iĵ~@M=YK>8QU>avEKEyD<}>I :)5? :Ծ B #@95D8: :):W a@W X  X W :W 2W *W V bU BU *U U U @@B% mvB!  B) A- *B) A5 /A1 A9 A= [="Ce *Cm =KRCm eICm a@Cq u HoE o>9A IE TSGiE ī@E =A A E =; E ɗE)ɋIɋiɋɋɋ͋H4ב I G >.Rr,9(IEAY}j:@}j[H@y}j&}j3=}jH5ݿO?QC I Uݿ?gޤ?j?U?)~j:@ ~jS[;I~jCɫ) IY@@yWGxDUSBL response received:!U1,R,465,000,009E2,189,80,80,BA,FF  Fpublishing direction and range infoS{ɰAO> ):CIyB)pA;?s@#fٱ5M5=Y=❸QU=\?9AaEvEEKEAyM:=}M\?IQU)5?U:Ծ UB ]#@9U9DU: U:)QWΙ@WX XW:W2W*WVbUBU*UUUஓ@P*QBZQ7O@hy]WJQ)pA;?s@#f2QS{:QbQ|i\@{!(^%'RQZhM+BQO@ Q@QNP9?P!9?PQQy@"QI=ABĽB=M= BAo*BAq0AAA="C*C'KRC]CΙ@C}UI)סIGc>      2:Y Y1y : 5) ;9 OXr,bEA|8i|8Y}g@}/u@y}D'}f$=}H}ݿe? I ^`fݿ? ?@;??)~g@ ~=;[;I~Cɫ) I Y5@y5*XGDNmea in: $SNTTA,,,,,014540.46*58 I)=M@=Y#QU>avE#KEyR<}>I  I)5? KԾ B #@9 BD : ߼:) mE}Added new target pos. range: 114.300003 m, bearing: 186.046799 deg, deltaT: 4.396568 s, approachRate: -0.463998 m/s, LOS rate: -1.384768 deg/s, posRepo size: 4mU ProNav: pos range: 114.300003 m, bearing: 186.046799 deg, approachRate: -0.463998 m/s, LOS rate: -1.384768 deg/s, cmd update: -4.154303 deg/s, cmd heading: 239.211298 deg, new cmd heading: 239.202845 deg. WUS@WYXY XYWY:WY2WY*WaVabUaBU*UU @3\@U n?BUBY BYA]*BYA]H2AYAYA7="CwRC<CS@C֥`ԻyIG^>imGIiϿٺzAw^r,֫|EAY}2τ@}2|@y}2;&}20=}2HIݿ@Ns?@55l`G8ݿmK?פ???)~2τ@ ~2W[;I~2CɫYY)Y ]IYYׯ@yWXGI=)=iAiAEʡ>E=EZiE(@A EI@)EI@IEI@iEI@U1<M]D=Y]9QU]>aaaevEe)KEaym <}m>Iq }:u)5? }:uԾ uB #@9uKDu: u:)u:W@WX XW:W2W*WVbUBU*UUU?B᡽B BAb*BA3AAA="C RC!:\=C@C܍q>9܉I܍SGi܍@܍=܉܉܍O; ݍӗEyQIaG}z>      G:Y V1y : 5) С;ber,EAY}:b@}:@y}:Q*}:<}:H<ݿ Yw? djo1ݿ?H?`_??)~:b@ ~:>[;I~:Cɫ11)1 5I9Y@y*XGAMU=YQU5>9AaMvEU0KEaym;}u>Iȉō(5?ōԾ ƍB #@9ƍSDǍ; ȍΧ;)ȉW @W X XW:W2W*WVbUBU*UU!U%`#?BMŠBQ BQAU*BQAU5AYAYA]96="C RC=C@CK'=es<?is?סIG>kr,9`EA|;|4<ɫ髙) IYJ@yXG/$?Cl绿S㥛?,?;߽ /<)IyʡE?Q~jt?/?uD< A) AI Ai(A->-X9>-V>i-•@) -@)-~@I-@i-~@=L4=M=B=YEQUE>AIaMvEM6KEy}>I :n(5? :Ծ B #@9\D: :):W%@WIXI XIWI:WI2WQ*WQVQbUQBUY*UYUYU]?BrXB BA5*BA47AAA="CsRC=C@CJM=ֽa5U=בIG> 8  ~ ~   I8:Y T1y @: 59% @܉ 9܉ I܍ TGi܍ f@܉ ܉ ܉ ܍ F; ݍ ΗEqrr,S@EAY}6l@}6@y}65}6I7<}6Hݿ ~?\?Ov ݿPҦ?@?Fچ?`m?)~6l@ ~6{6[;I~6Cɫyy)y yIyYۯ@y\XG II<MV=YQU>avEIȱŵc(5?ŵԾ ƵȔB #@9ƵdDǵ: ȵ:)ȱW@WX XW:W2W*WVbUBU*UUU@7@BB! B!A%'*B!A%٣8A)A)A-u#="C5ҟRC5S=C5@C9AA)A A = >֭u \=ׁ I G >/xr,EAY}6w@}6$@y}6:}6[ϑ}6HCݿ?:'?yݿ u?@A?@5R ?)~6w@ ~6N[;I~4ɫYY)Y YIYY@yXG5<M=P=Y=2QU=>AAaEvEECKEAyM $;}M>IQ ]:U(5? ]:UbԾ UДB e#@9UmDU4: U:)U:W@WX XW:W2W *W V bU)BU1*U1U1U5@BB BA7*BAL:AAA@="C;RC>C@C֭Ba=IGF>      R.:Y DW1y Y: 5@~r,EA|i|Y}6@}6U@y}6T=}6g}6H*ݿv?G7?)r:ݿ@?u?،o?)~6@ ~6Z[;I~6Cɫ99)9 =IAYz@y YG>+G?\if@ ~@)I~@i%<M%K=Y-QU->))a5vE5IKE1y=T}=>IAE(5?EԾ EٔB M#@9EvDE: Eϸ:)AWmh~@WqXq XqWq:Wq2Wy*WyVybUyBU*UUU@@RB*** querying acoustic contact ***PPBB BA3*BA;AAAw="CNbRC #>Ch~@C-=IG )>)9)I-TGi-@)))-L; -җEr,wEAY}2^@}2l@y}2.@}2+ڼ}2Hݿ`Y?`&/?X ݿ??<@?)~2^@ ~2 \;I~2Cɫ19)9 =I9Y}"@y}XGZ****** received transponder code query ******F****** received ping request ******%aqauvEuPKEyt}>Iȑ :ŕ5(5? :ŕ( վ ƕB #@9ƕDǕ: ȕw:)ȕ:W {@W X  X W :W 2W*WVbUBU*UUU7 @BmwB BA*BA=AAA{="C#RCB>C{@CzA=שIG>      2:Y V1y : 58׋r,ک1EAY}:@}:@y}:G}:t5}:H'޿'?+ϯ?.^H޿Q?g?x0?)~:@ ~:[;I~8ɫ99)9 9I9Y}?@y}XGxDUSBL response received:!U1,P 465,000,009E2,189,80,80,BA,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )333333?ʡEÿ)\(?? Ga=)Iy(\?i|?5?~jt?.?q=<  A)AIAidAAít=í}í>ií(@é ĭI@)ĭI@Iĭ3@iĭI@C;M'=YxQU>avEXKEy}E>Iy}(5?}վ }B #@9}D}< }+<)yW2y@WX XW:W2W*WVbUBU*UUU@a@B[B BA*B!A%?A!A!A%="C-RCMSMW>CU2y@CQ- > I G] >! % jA) 9) I- TGi- @) ) ) - I; - ЗE&r,8KEAY}2"@}2@y}2BR}2s}2H+޿ ?*? ޿ ?MW? }?)~2"@ ~2[;I~2CɫYY)Y ]IYYh@y YGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B *<M+=YcQU>avE_KEy w} >I :}(5? :+վ B #@9D: w:):WE=w@WAXA XAWA:WA2WI*WIVIbUIBUQ*UQUQUU @BRB BA[*BA2NAAAAX="CyRCTzh>C=w@C =i =% m 8>% % %  % -:Y% DW1y% Y:% 5)% H;9 a Ii G >Ar,leEAY}>Uo@}>}@y}>b}>B}>H@,߿ ?7?``E_߿T\w?@qUo@ ~>\;I~>CɫQQ)Q UIYYyxDUSBL response received:!U1,R,41A,000,009C3,18A,80,80,B6,FF Fpublishing direction and range infojɰL>> )6CIyB`jAz?m &cٱY QUS?avEcKEy#}%S?I!%(5?%3վ %B 5#@9%D% : %:)!WUǝv@WQXQ XYWY:WY2WY*WYVabUaBUa*UaUaUm)@Py*Q}BZQ}^娾Q@":sMVJQ}`jAz?m &c2Q}j:QybQ}|~[t`͝/pX&@RQ} oᅡ@#¿(?BQ}5R@ Q}~Q}kP}"9?P}9?P}Q}Q}A"Q}y@BB BA*BA$BAAA!="CO(RC?g>Cǝv@C >=֍B>iIG>r,[DEAY}~[@}~,@y}~7l}~`ڽ}~H`s߿Ѕ?I?`T ߿KiĂ? J3@?)~~[@ ~~\;I~~Cɫ) IYM@yMIYGTNmea in: $SNTTA,0.080171,,,,014544.90*46 @ @ @©i=@ @)@I@iҙ@%Y<M%))a5vE5jKE1y=}=>IAE(5?ErBվ E B M#@9EDE#: E<:)Am}yAdded new target pos. range: 112.440002 m, bearing: 188.189443 deg, deltaT: 4.436105 s, approachRate: -0.419287 m/s, LOS rate: 0.483001 deg/s, posRepo size: 4m ProNav: pos range: 112.440002 m, bearing: 188.189443 deg, approachRate: -0.419287 m/s, LOS rate: 0.483001 deg/s, cmd update: 1.449004 deg/s, cmd heading: 220.782410 deg, new cmd heading: 218.954682 deg. WTw@WX XW:W2W*WVbUBU*UU)\@UcD?BF堽B BA*BAPCAAA="C*CIRCX>CTw@9IUGi@O; ӗE)YIYiYYY]@3CB>בIG>  ~ ~   q-:Y T1y @: ݸ5) ;r,EAY}B@}Bm@y}BZPm}B-}BH@E.?@b? }@^@ ˥?/?)~B@ ~BQ\;I~BCɫYa)a aIiYа@yYGʡE?EԸMb`-2?ƽ )IyzG?~jth?MbP? ?D;: A)(AI7 AiAfn<M<=YW!QU>!a%vE%qKE!y- }->I1 =:5(5? =:5Nվ 5B =#@95D5b: 5:)5:Weix@WaXa XiWi:Wi2Wi*WiVibUqBUq*UqUqU}a?BnB BA*BA{EAAA9="CKRCWB>Cix@C(Q>IGi>%r,kEAY}:@}:@y}:m}:}:H`M`?@S?@E$v՟@[?Uÿ ?)~:@ ~:>\;I~8ivunGIiUտٺQU"Aɫyy)y yIyYs@yYG)a % % %%Ⱦ%\=%!>i%@% %h@)%@I%i%3@m!MuV=YuQUu>yya}vE}wKEyya}>I݇(5?Zվ B #@9D: :)Wx@W!X! X!W!:W!2W)*W)V)bU)BU1*U1U1U5I?Be,Ba BaAe*BaAm"GAiAiAm="CusRCu'>Cux@Cyԉԉ֝ X>qIG>  { {   1:Y #R1y : \59% @ r>9 I VGi @ S; ՗E- r,}EAY}28-@}2:@y}2$u}2-}2H@h3?;?#m3韮?ſ{?)~28-@ ~2];I~2CɫYY)Y YIYY}@y}YG<M=Yg[QU>avEKEy:}>Iȱ :ŵy(5? :ŵhվ Ƶ&B #@9ƵDǵ: ȵ:)ȵ:Wy@WX XW:W2W*WVbUBU*UUU׹?B%+B) B)A-}*B)A-!IA1A1A5="C=%RC= >C=y@CAM 6>> I G= >{7r,aEA|4<|Y}:p@}:J~@y}:}::}:Hr??L '(`#KO?.ǿg?)~:p@ ~:R"];I~:CɫQQ)Q UIQY0@yYG5]"=M==Y=dQU=C?AAaEvEEKEIyMν}MC?IQUEs(5?Unվ U*B ]#@9UDU: UQ:)QWy@WX XW:W2W*WVbUBU*UUU/@BE'BA BAAE*BIAuvIAyAyA ="C:RC҈=Cy@CW*>ׁIG=> ,      ~:Y V1y : 856r,EAY}2Ҋ@}2@y}2{}2ZF}2HXD? ?b!X;?@ȿ S?)~2Ҋ@ ~2'];I~2Cɫ99)9 9I9YM@y$ZG @ @ @Õ©ÕÕiÕ̜@Õ ĕ@)ĕ@Iĕ@iĕ\@ <MD=Yh QU>avEKEy<}>I :Gg(5? :Fzվ 3B #@9ȧD: :):Wz@WX XW:W2W*WVbUBU*UUU@BB&= BA*BA vKAAA9="CRC=Cz@Cq9qIuWGiuB@qqquN; uӗE_'>IGj>Ir,^EAY}MC@}MQ@y}M}MkXM}MH1`]? ?@@t ?@oɿ`H?)~MC@ ~M];I~Iɫ髑) IY@yZGa=ɮp=I=)==@5^I ?J +ɿ+?=b0?=H ==)9I9y=x&?Zd;O?l?=7)?=j<=== =A)=#AI= Ai=A9=A]A<M]1=Y]UQUe>aaamvEmKEqyu }u>Iy}Y(5?}ƈվ }DB #@9}ҧD}H: }:)yWQ{@WX XW:W2W*WVbUBU*UUU`J6@RB*** querying acoustic contact ***PPBiӡB BA߾*BAMAAA_="CRC=CQ{@C}0B>QIaG}z> (      7:Y WU1y : o5~sr,P94EA|i|Y}6b@}6@y}6e}6PzP}6H@ ?@?XDD?`ɿC?)~6b@ ~6q7];I~6Cɫ99)9 9I9Y}$@y},[GZ****** received transponder code query ******F****** received ping request ******i@ ҙ@)~@Ii~@l=Mb=Y?QU>avEKE!y%H}->IIMN(5?M%վ MQB ]#@9MڧDMǺ: M:)IW{@WX XW:W2W*WVbUBU*UUU@. @BF5B BAؾ*BAVNAAAq="C 5RC ++=C {@C:=סIGB>u s>9q Iu XGiu 6@q q q u O; q \r,NEAY}B.@}B<@y}B}BRN}BHF9?v? rjS'б?`ɿF?)~B.@ ~BE"];I~@ɫaa)a iIiY}@y}[GxDUSBL response received:!U1,P 41A,000,009C3,18A,80,80,B6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 *=M^=YRӺQU>))a5vE=KEIy]4/}e>Iȉ :ōB(5? :ōџվ ƍ_B #@9ƍDǍ#= ȍ"=)ȍ:Wm|@WiXi XqWq:Wy2Wy*WVbUBU*UUU[ @B2B BAо*BYAeOAaAaAe="Cm RCm<Cm|@CquQ=ԁԁ      0:Y W1y č: &5) Í;9% ֥ =a Iq G >ar,gEAY}:Lj@}:Հ@y}:}:G}:H`:Q?@? ;˱G? ȿP?)~:Lj@ ~:x*];I~:Cɫ99)9 =I9Y}@y}[G@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 鿁^M:=Y-IɺQU5>9AaEvEMKEYyeI}m>IȁŅ4(5?Ņվ ƅpB #@9ƅDDž< ȅ<)ȁWMB}@WIXI XIWQ:WQ2WQ*WQVQbUYBUY*UYUYU]g@ḄB BAѾ*BAX QAAA ="CRCëJ;CB}@Cѽ#'=֝ܝ=qIG>mr,OˁEA|";|";Y}J~@}J@y}J}JB}JH=r?PJ?tZo?@z&ȿW?)~J~@ ~Jh\;I~HɫYY)Y ]IYY_@y\GxDUSBL response received:!U1,R,2CF,000,009A8,189,80,80,93,FF Fpublishing direction and range infoK ɰJ>鰥7> )CIyB?KYٱ=i= @ @ @©iz@ &@)@I@i@%=M%[=Y-XQU->))a5vE5KE1y=;Ǽ}=>IA M:EP)(5? M:Eվ E~B M#@9EDE: E:)E:W-}@W)X1 X1W1:W12W1*W9V9bU9BU9*U9UAUE @Pq*QuBZQu\6mV@ CPJQu?KY2QuK :QqbQubtZG9 ;D2@RQubBUϿl;?BQu_Y@ QuQuPu+9?Pu"9?PuQuQuA"QuABLB BAľ*BANRAAA4="CGRCl5C}@C9IYGi*@F; ΗE)))) )֭2g=% % z% z%  % *:Y% Q1y% :% n5)% ;׉ I G >r,ᶛEAY}I@}V@y}⎽}:}H ̛ ?`?` %󊰿ر?"ǿ d?)~I@ ~̡\;I~Cɫii)i mIiY@y\GUTNmea in: $SNTTA,0.085617,,,,014549.34*47 |?5^?~jt㥛 ?-?D =)IyRQ??I +?"?L=9< @)&AIAi(AA }<M /=Y ;QU>awEKEyf}%>I)-(5?-վ -B 5#@9-D-: -ӻ:))m}yAdded new target pos. range: 110.820000 m, bearing: 194.378209 deg, deltaT: 4.475003 s, approachRate: -0.362012 m/s, LOS rate: 1.382964 deg/s, posRepo size: 4m ProNav: pos range: 110.820000 m, bearing: 194.378209 deg, approachRate: -0.362012 m/s, LOS rate: 1.382964 deg/s, cmd update: 4.148891 deg/s, cmd heading: 227.254815 deg, new cmd heading: 227.948176 deg. W&@WX XW:W2W*WVbUBU*UUz[@U f?B QB  B A 5*BA5SA1A1A5="C=iRC=#<CE&@CAR5< I G >r,AEAY}J@}J'@y}JQ}J!-}JH_@?7?4C\ ?`[?ſ`w?)~J@ ~Jo\;I~JCɫyy)y }IyYP@y]GII)M4=s=Mf=Y;QU>awEKEy넼}>Iȱ :ŵ(5? :ŵվ ƵB #@9ƵDǵ: ȵA:)ȵ:W:Ȁ@WX XW:W2W*WVbUBU*UUU[?BeB BA޵*BAMTAAAp="CBRC'C:Ȁ@CjZX<סIGA>      1:Y WU1y : o59 @ 9 I $[Gi @ = ?; ˗E)ݡIݡiݡݡݡݥS4lr,[EA|i|Y}>@}>@y}>v7}>,:}>H<?`6?@' ps ?hÿ@?)~>@ ~>m\;I~<ɫYY)Y ]IYY@y%^G))<MF=YU;QU>awEKEyHU}>I(5?վ B #@9 D-N; N;)WUC@WQXQ XQWQ:WY2WY*WYVabUaBUa*UiUU ?BB BAﱾ*BA%UA!A!A%7="C-/RC-PȽC-C@C1%׿ѼI G%M>r,@EAY}J:݇@}J@y}J}J8}JH?(?`x``Ģް?`d?)~J:݇@ ~Jq\;I~JCɫqq)q yIyY@yN^GIIimGIiUԿٺAm?9m\A  ~ ~   1:Y T1y @: 5 鿩  =;M a wE KE y jO} >Iȉ  :ō '5?  :ō վ ƍ B  #@9ƍ DǍ : ȍ :)ȍ :W @@W X  X W :W 2W *W V bU BU *U U U @3?B B  B A ٯ*B A ̲WA A A V="C L RC C @@C ! ! - 85 ?i5 ?IG->˪r,EAY}2@}2@y}2i}2޽}2H`?ۿ?@*5Tn@?`5V?)~2@ ~2(\;I~2CɫQQ)Q UIQYu@yuz_G9I[Gi@DD; ͗E->M-=Y5vk;QU5V?19a=wE=KE9yEF<}EV?IȹŽ'5?Žվ ƽB #@9ƽDǽ: Ƚ:)ȹW@WX XW:W2W*WVbUBU*UUU`@B-s\B1 B1A5*B1A5r, EAY}2@}2+@y}2H}2o}2H`@#?? GvDF?w?)~2@ ~2~[;I~2CɫII)I IIIY}Ƶ@y}_GR=i=}1Zd?ktMbp?}";?} };)yIyy}n?Q?~jt?}6?}u<}= }A)}AI}Ai}Ay}A. <MD=Yy;QU>awEKEyT<}>I15'5?5־ 5̕B =#@95'D5i: 5:)1W}T@WyX XW:W2W*WVbUBU*UUU @B }B BA~*BARYAAA-="C5 RC5CJ*C5T@C1% ǫI GER>E=iE=eeee e0:YeW1yeč:e5 r,:EAɫ髁) IYa@yc`Gp=ɮ=    >.`e>i@ \@)Iҙ@iҙ@mP4=Mm==YuQUu>qqa}wE}KEyy}>Iȉ :ō:'5? :ō־ ƍޕB #@9ƍ0DǍ: ȍ:)ȍ:W~@WX XW:W2W*WVbUBU*UUU2@RB*** querying acoustic contact ***PPBB BAŔ*BAIZAAA -="CRCBC~@C %=% >I ) IGI>9|CI]Gi@C; Fr,9TEAY}N@}NJ@y}Ny}Nװ}NH[?I?`|8od?b:?m?)~N@ ~NCp\;I~NCɫqy)y yIyY@y=aGZ****** received transponder code query ******F****** received ping request ******awEKE!y%1&=}%>I)-'5?-־ -B =#@9-9D-@: -n:))W]D@WYXY XYWa:Wa2Wa*WaVabUiBUi*UiUqUu.V @B7"B BA*BA*[AAA="C-.RC-9JC-D@C1] 1MMMM Mn1:YMWU1yM:Mʽ5)M;9UIYGuy>r,_anEAɫ)1)1 1I1Ye@ymaGuxDUSBL response received:!U1,P 2CF,000,009A8,189,80,80,93,FF uCommand AckuBRequesting micromodem ping code 2iqqIy)yNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=AA)9e p=>e De Vie Q@a e @)e @Ie @ie @ <M a wE KE y } x>I  : !'5?  : W1־ B  #@9 ID ^: :) :W I>@W X  X W :W 2W *W V bU BU *U U U < @B= ԃB9  BA AE *BA AE \\AA AA AE ="CM #RCU $wCU I>@CQ a a  9 I ]Gi V@ =; ʗE:?i?yIG?W#r,5EAY}2ډ@}2@y}2Gu}2ia<}2H`E???.`iخ?ӭ?@ˡ?s?)~2ډ@ ~2x\;I~2Cɫ11)1 1I1Ym@ymaGquAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -0;M-=Y-;QU5?11a5wE5KE9y=->}=?IAE!'5?E6־ EB U#@9EMDE: E:)AWڶ@WX XW:W2W*WV 0:YU1y:5);bUBU*UUU@BMvZBQ BQAUT*BQAU]AQAYA}(="CRC^Cڶ@C}PHQIyGa>)r,^EAY}2E@}2%@y}2]q}2p@=}2H6f?` 'HK?J;???)~2E@ ~2F\;I~0ɫ99)9 =I9Y@ycGxDUSBL response received:!U1,R,3CD,000,0097C,189,80,80,B6,FF Fpublishing direction and range info^YɰF>鰩 )6CIy\By1$? 瘢ٱ}?5^I?|?5^ɿMbX9?M?M ʡ=)Iy+?~jt?{Gzt??<ף; Q A) AIXAi/A A E@ E@ E@E©EEiE@E E)EIEۙ@iEۙ@UWv=M]-=Y]R:QU]>aaaewEeKEiymL=}m>Iq }:uȊ'5? }:uCD־ uB #@9uWDu: u:)u:W%jĉ@WIXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUiUm঴@Py*Q}\BZQ}Q@"^(gMTJQ}y1$? 瘢2Q}^Y:QybQ}2=ZfǸL O5i?RQ}0nU<¢}ݳ +?o?BQ}N@ Q}RQ}P} 9?P}+9?P}Q}Q}@"Q}ABB BAe*BA/]AAA%N="CE-RCE{wCEjĉ@CIUJ) I1 Ge >0r,JEA||ɫ髙) IY@ycGMDNmea in: $SNTTA,,,,,014553.88*58 U=iQ;MW=YQU>awEKEy}>IȱŵG'5?ŵ$O־ Ƶ%B #@9Ƶ^Dǵ: ȵ:)ȱ 1:YDW1yY:59@m }Added new target pos. range: 108.180008 m, bearing: 184.450843 deg, deltaT: 4.678559 s, approachRate: -0.564275 m/s, LOS rate: -2.121885 deg/s, posRepo size: 4m ProNav: pos range: 108.180008 m, bearing: 184.450843 deg, approachRate: -0.564275 m/s, LOS rate: -2.121885 deg/s, cmd update: -6.365656 deg/s, cmd heading: 246.671308 deg, new cmd heading: 248.179650 deg. Wy@W!X! X!W!:W!191I5^Gi5@5=115*; 5E2W!*WIVIbUIBUI*UQUU@ [@UU\o?B}B<B BAc*BA^AAA(q="C*RC׀Cy@C խ >ԭ=]P+UIi)i9IIGeV>-6r,ŬEAY}28?@}2L@y}2<m}2.=}2HH@;?`# 2@R????)~28?@ ~2.[;I~0ɫYY)Y YIYY׸@yicG<M\=YT;QU>awELEy=}>Iȱ :ŵt'5? :ŵZ־ Ƶ-B #@9ƵfDǵ: ȵb:)ȵ:W'@WX XW:W2W*WVbUBU*UUU:?B%菽B) B)A-Z*B)A-6_A1A1A5="C=*C=JRC=ָYC='@CA AraIqG9><r,EAY}2@}2b@y}2o}20=}2H ?T M$Z??k?`z?)~2@ ~2v[;I~2CɫYY)Y YIYY@yvdG e e ee9eGie@e a)eX@IeE@ieE@u=M}L=Y}gúQU}>awELEyHP=}>Iȑŕzi'5?ŕe־ ƕ6B #@9ƕnDǕ@: ȕ:)ȑW@WX XW:W2W*WVbUBUi*UqUqUuS?BHB BA?*BAl_AAA="CRC1C@C 3:Yyn5Ex׹IGf>) 9) I- o_Gi- @) ) ) - +; ) )ʼn|CIʼn|Ciʼn=ʼn=ʼnG4=Cr,gEA|i|Y}6@}6@y}64u}6=}6H !?E'o?2?@9E?@x?)~6@ ~6\;I~6Cɫ99)9 =I9Yu@y}hdGe]MmK=YmlnQUu>yya}wE}LEyg=}>Iș :ŝ^'5? :ŝr־ Ɲ?B $@9ƝvDǝ; ȝ?;)ȝ:WH@WX XW:W2W*WVbUBU*UUU *?BB BA@*BAz`AAA4="CRCmCH@ChAmGjׅ?iׅ?IIGG>Jr,<*EAY}: l@}:y@y}:'}}:Me>}:Ht6U?@Pȳ@_#Y1?͟?s9?(?)~: l@ ~:\;I~:CɫAA)I MIIY}c@y}QeGK7?ʡEMbX9I> ʡ)Iy333333?Mbp??< …/A)…=AI…Ai…A A 1:YU1y:5;>G=iQ@ \@)ƣ@I\@i\@-jL=M-1=Y5QU5>11a=wE=LE9yE\=}E>IIMxR'5?M>־ MNB U$@9M~DMʽ: Mn:)IWu@WyXy XyWy:Wy2Wy*WVbUBU*UUU?B"B BAS)*BAaAAA="CERCC@C֭=c=iunGIi=3οٺ9=AיIGa>5Pr,rDEAɫ髁) IY @ydGHMh=YQU>awELEy}>Iȱŵ'I'5?ŵS־ ƵYB $@9ƵDǵ: ȵ+:)ȱWi@WX XW:W2W*WVbUBU*UUU@B%B! B!A%o4*B!A-ÕaA)A)A-="C5 RC5~ ;C=i@C99{CI_Gi@=5; ŗEEy 1I)GEQ>$Wr,]EA||Y}65@}6@y}6k}6>}6HY޿@? ?'LݿV?V?c? ?)~65@ ~6ҽ\;I~6Cɫ99)9 =IAYֺ@yeGɮp=)u~=MuM=Y}1QU}>yawE!LEyO>}>Iȑ :ŕq?'5? :ŕ־ ƕfB $@9ƕDǕ: ȕ:)ȕ:W?@WX XW:W2W*WVbUiBUi*UqUqUu @R}B*** querying acoustic contact ***PyPyBq7B BA*BA3bAAA="CRCe=C?@C~~ 2:YT1y@:5 -=-=N!I ) IGM> Q]r,wEAY}6P̏@}6ه@y}6苽}6=;>}6Hqܿ +c? m/@ ۿ4?y???)~6P̏@ ~6(\;I~6Cɫ9A)A MIIYu@yu0fG}Z****** received transponder code query ******}F****** received ping request ******}awE+LEyg"=}>IF1'5?E־ zB $@9DM; rB;)W 2{@W X  X W :W 2W *W V bU BU *U! U! U- `A @BU IBQ  BQ AU *BY A] bAY AY A] 6="Ce RCe 15>Cm 2{@Ci  9 I aGi @ 8; ǗEE ˺ I G% >6dr,祝EAY}6҆@}6@y}6򏽙}6",>}6HOpۿ@3?4ڿF?`?&?@T?)~6҆@ ~6\;I~6Cɫ99)9 9I9Y}E@y}gfGxDUSBL response received:!U1,P 3CD,000,0097C,189,80,80,B6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ~<M5=Y=%QU=G?AIawE.LE     g:Y T1y : 5) ;9%yU=}U.?I -:)+'5? 5:־ B =$@9DP#< <):WlKy@WX XW:WY2WY*WaVabUiBUi*UqUU`ң @BCB BA *BA3cAAA="C{RC"z>ClKy@C J I G >`jr,QEA|i|Y}R@}R3-@y}Rr}Rʨ>}RHZڿ ?'@=ٿ?`1?`w?@?)~R@ ~R'];I~RCɫy髁) IYP@ytfG}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)A mx&1?J +~jtx?mA?mH m;)iIiym/$?~jth?m1(?mD;m mCA)mAIm"AimAimQ A U@ U@ U@U©UUiU@U Q)U@IU\@iUE@e8;Me*=YmQUm>iiauwEu6LEqy}n:=}}>IȁŅ["'5?Ņ־ ƅB $@9ƅDDž: ȅ:)ȁWv@WX XW:W2W*WVbUBU*UUU0@B/B BA *BAcAAA="CRC >Cv@C oM׹IGf>Gqr,^EAY}6@}6:@y}61ę}6>}6HٿL.?~?`ϸؿ@?3? ,??)~6@ ~6Y];I~6Cɫyy)y yIyY@yfGxDUSBL response received:!U1,R,502,000,0095D,189,80,80,78,FF Fpublishing direction and range infof3ɰ\D> )BIyBw?amf-ٱy9yI}aGi}@}=yy}A; }˗E  v4:YV1y:5)$;MQ<MML=YMmԻQUU>QQaUwEUIi u:m'5? u:mJ־ mB u$@9mDm: m:)m:Wt@WX XW:W2W*WVbUBU*UUUٳ@P*QBZQ-k8G@FyWJQw?amf-2Qf3:QbQyJ{nZ^ZKp#RQqA6rςjBQ3dL@ Q*QsP"9?P 9?PQQz"Q@Bu냽By ByA}^*ByA}cAAA9="CRCCt@Cֵ ;׉IG>8uwr,GEAY}+@}9@y}͐}E[=}Hmkؿz?Sv ׿^?9̴?@a?@?)~+@ ~F];I~ɫ) IYM@yUOgGDNmea in: $SNTTA,,,,,014558.40*57 )=MU=YPQU>awEBLEyC=}>I'5?c־ B $@9D4: :)m}Added new target pos. range: 106.320007 m, bearing: 182.980700 deg, deltaT: 4.427755 s, approachRate: -0.420078 m/s, LOS rate: -0.332029 deg/s, posRepo size: 4m ProNav: pos range: 106.320007 m, bearing: 182.980700 deg, approachRate: -0.420078 m/s, LOS rate: -0.332029 deg/s, cmd update: -0.996087 deg/s, cmd heading: 218.467767 deg, new cmd heading: 216.047455 deg. Ws@WX XW:W2W*W!V!bU!BU!*U)U-{Z@U-3?BB߂B BA*BAMZdAA!A%w^="C%& RC)C-s@C)5u<IAG|>E}r,EA||ɫ髙) IY@yogGYi]=  -:YU1y:59@Ia=)%=      > ? >i z@  ) @I @i @;M=YQU>!!a%wE%KLE)y-}>Iș :ŝ'5? :ŝ־ ƝB $@9Ɲ¨Dǝ: ȝ:)ȝ:Wr@WX XW:W2W*WVbUBU*UUU,?B 9B  B A }*B A dA A A $ ="C "RC C r@C! 5 >5 =u t>9q Iu bGiu w@u =q q u =; u ɗE% \A= I G >/r,cEAY}Jyw@}J(@y}JU}Jq=}JH+׿ ? o@#~׿? ɵ?϶?@?)~Jyw@ ~J+\;I~Hɫ髙) IYռ@yShG0=M=YXQUG?awENLEY@y(=}G?Iȱŵ'5?ŵ־ ƵB $@9ƵƨDǵ: ȵ:)ȱWſr@WX XW:W2W*WVbUBU*UUU`sU?B%B1 B1A=3*BAAM=dAIAIAU="CUA"*C]TIRCYC]ſr@CYMa=)IGA>$r,,EAY}zHp@}z}@y}z.}zHm=}zH׿@a?׿ I??`È??)~zHp@ ~zY\;I~zCɫ11)1 5I1Yuͽ@yuiGtV?I +l??9 =)Iy'1Z?I +?V-?"?94<m= A)‰IxAi/Af A 0:YW1yč:5>>>i̤@ )@Ii@=M5=YQU>awEVLE!y%\}%>I)-&5?-׾ -ҖB =$@9-ШD-#: -:))W]>r@WYXY XYWY:Wa2Wa*WaVibUiBUi*UiUiUu?BsuBN= BAYp*BA%6eA!A!A% ="C-o RC)C->r@C1=O>IG%o>7r,ʧFEA|,i|,Y}NA@}N\O@y}N }N6<}NH@ؿ?Ew? {@.ؿJj?e:???)~NA@ ~N+\;I~NCɫYY)Y ]IYY @yhGI!)%As>9IdGi@?; ʗE)ł{CIł{Cił45M5Y=Y=QU=>9AaEwEE\LEAyMx}M>IQ ]:U&5? ]:U ׾ UB ]$@9UרDU(: Uw:)U:Wiq@WX XW:W2W*W V bU BU *UUU/?B|B BAP*BAK|eAAA -="C *CGRCCiq@CiAhAֽL>?ix?ױIGh>ėr,`EAY}:ߑ@}:@y}: }:7}:Hؿq?`Y?,U+ٿ z?`?@Vf?)~:ߑ@ ~:Z[;I~8ɫ11)1 5I1Yu@yuiG F=M^=Y#fQU>awEbLE!y% }%>Iy}&5?}s׾ }B $@9}ߨD}j: }:)yW1hq@WX XW:W2W*WVbUBU*UUU@@BuB BAmV*BAԢeAAA="C *Cu6FRCC1hq@C   4:YWU1y:n5%4u>I G%,> > ߕCi mGI! iI m пٺi m Ar,^zEAY}2_J@}2X@y}2׵}28D}2H`>ڿ?@r?B@mVڿd?T?`k`^?)~2_J@ ~2n\;I~0ɫ99)9 9IAY]@y]riGaɮe=O >`e=aMwEMhLEQyU(}]>Ia m:e$&5? :e'׾ eB $@9eDe3= e4=)e:Wkp@WX XW:W2W*WVbUBU*UUU @R B*** querying acoustic contact ***P P BeuBi BiAmw*BiAm'eAiAiAue="CuJ?!*C}9DRCyC}kp@Cѕ.= ՝>ԝ> t>9 |CI fGi @    @;  ˗E֥ >Iש )ש ב I G >XҤr,79EA||Y}Jvz@}J%@y}Jȟ}J>`ƽ}JH{ۿg?`?@@5ۿ ? ;̶?4?)~Jvz@ ~J}];I~JCɫ髑) IY@yiGZ****** received transponder code query ******F****** received ping request ******aaaewEeoLEiyu׊}u>Iy}&5?}3׾ },B $@9}D}; };)yW(p@WX XW:W2W*WVbUBU*UUU7N @% %|%|% %v4:Y%R1y%i:%5)!9EB-1uB1 B1A5]*B1A5 fA1A1A=="C=!*CRCC(p@C]X=։i Iq G >r,`!EAɫII)Q QIQY{@yZjGxDUSBL response received:!U1,P 502,000,0095D,189,80,80,78,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 m?!a%wE%xLE1y=}E>II u:Mj&5? }:MF׾ M;B $@9MDM#< MY<)M:Wuo@WyXy XyW:W2W*WVbUBU*UUU`d@B= noBa  Ba Ae S*Bi Am Z7fAi Ai Au y="C} F"RC C o@C ϱ ϱ )б б  9 {CI gGi F@    G; ΗE9E?iE?I!EEEE E1:YEV1yE:E5)E̎;G] ?r,mEA|i|Y}6q@}65@y}6}}6?43}6HA߿D??`v߿찀ڶ? 2ƿb?)~6q@ ~6];I~6CɫQQ)Q YIYY}@y}kGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -=MI=Y'QU>  a wE~LEy"}>I%&5?S׾ FB -$@9D: >:)WMpo@WQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUe`{@BE|lB BA*BA5FfAAA5="C7"RCCpo@C֝V݅>qIG]>>r,=EAY}6k@}6x@y}6ع}6a N}6HIl@S? ? O񌛿2?`2zɿ9?)~6k@ ~6-^;I~6CɫYY)Y ]IaY@ykGxDUSBL response received:!U1,R,502,000,00952,189,80,80,87,FF Fpublishing direction and range infoɰvC>鰡 )CIyQBw?amf-ٱ)åIL?åȽåawELEyܙ}>I :~&5? :a׾ QB $@9 D]; ;):Wn@WX XW:W2W*WVbUBU*UUU`G@P*QQBZQfG@ ?WJQw?amf-2Q:QbQ愓 Yu_($@t7@RQ ^(k?J^$?BQB@ QD!AQ8P'9?P"9?PQQA"QzBkB BAm*BAWfAAA="C-#*CޱRC>7>Cn@Co>שIG>E Y E E E  E ::YE X1yE /:E o59M @{ r,YEAY}>@}>O@y}>}>`}>HW+??A^i`ʊ? ˿@6?)~>@ ~>];I~>CɫYY)Y ]IYY\@ylGDNmea in: $SNTTA,,,,,014602.88*5F ܑ9ܕ|CIܕiGiܕݽ@ܑܑܑܕa; ݕܗE=M=YR"QU>awELEyuO}>I  ܦ&5? &s׾ `B $@9 D ; * ;) mm}Added new target pos. range: 105.660004 m, bearing: 174.389906 deg, deltaT: 4.577347 s, approachRate: -0.144189 m/s, LOS rate: -1.876806 deg/s, posRepo size: 4m ProNav: pos range: 105.660004 m, bearing: 174.389906 deg, approachRate: -0.144189 m/s, LOS rate: -1.876806 deg/s, cmd update: -5.630419 deg/s, cmd heading: 213.914351 deg, new cmd heading: 213.385301 deg. Wk@WX XW:W2W*WVbUBU*UU=jZ@UI?BfB BAg:*BAyVfAAA="C%RC >Ck@C <->I ) I Ge >pqr,7EAY}b‹@}bσ@y}bqż}bl}bHr?` ?:k_@`!?@8Ϳ ?)~b‹@ ~bR^;I~bCɫ髙) IY@ylG]p=i]=&1?&1?{Gz??= #<)Iy#~j?+?l?%?== @)IxAiEAA <M=YQU)?!a%wE%LE!y-}-+?I1 =:5|&5? =:5{׾ 5kB =$@95D5D: 5:)5:WLi@WX XW:W2W*WVbUBU*UU)U-`m?BG7cB BA<*BA8QfAAAy="CU(RCCLi@CN؅>I!GU>  { {  a4:Y #R1y : n5]r,8EAY}6@}6a@y}6깽}6Ju}6Ho^?J? r@815? s>οR?)~6@ ~6^ ^;I~6Cɫaa)a aIaY@ynG}ף}L=}\>i}̤@y }@)}@I}ƣ@i}ƣ@=M]=Yv;QU>awELEyq}>Iȡť&5?ť׾ ƥyB %$@9ƥ%DǥB< ȥW<)ȡWEg@WAXA XIWI:WI2WI*WQVQbUQBUQ*UYUYU]`?BZB BA=*BA5fAAA8="C)RCCg@C֝?΅>yIG^>܉ 9܍ {CI܍ (kGi܍ "@܉ ܉ ܉ ܍ r; ݍ EfFr,=QEAY}2l3@}2A@y}2'}2BOy}2H v?`U?8`% =ȶ?@ο`?)~2l3@ ~2/Q^;I~2Cɫ99)9 9IAYu@yinGmF<Mu<=YuT{;QUu>yya}wE}LEyyl}>Iȉōh&5?ōz׾ ƍB $@9ƍ.DǍ4: ȍǺ:)ȉWd@WX XW:W2W*WVbUBU*UUUIG k>% u % % %  % Q:Y% V1y% :% \5or,"kEA|i|Y}VrW@}V!e@y}Vt}Vz}VH@@r??`Ck:@?ο`?)~VrW@ ~VQ^;I~VCɫ髙) IYy@yDoGIq)uA)E?5E/awELEyƅ}>I :&5? :a׾ B $@96D: 8:):WWb@WX XW:W2W*WVbUBU*UUU ?B5RB1 B1A5=*B9A=eA9A9A=h;="CEe/RCACMWb@CIyQIaG}z>Wr,EAY}2(@}2ט@y}2'}2}}2Ha`i? ?Z L]q)j?@GϿ7?)~2(@ ~2^;I~2Cɫ99)9 =I9Ym+@ympGA9E|CIEmGiE @E=AAEY; EؗE)݃|CI݃|Ciككك݃94I=)=™hA =M=YJ:QU>axELEyI2}>I"o&5?׾ B $@9BD: :)W {^@W X  X W :W! 2W! *W! V! bU! BU) *U) U) U5 Ճ@R= B*** querying acoustic contact ***P9 P9 B] PBa  Ba Ae R=*Ba Am heAi Ai Am ="Cu :b3RCq C} {^@C խ =ԭ = N؅>- r - - ) - TQ:Y- T1y- :) )- ;95 I G >Wr,EAY}j·@}ji@y}jSn}j_}jH@`?5?`aɹF?Ͽ ?)~j·@ ~j]^;I~jCɫ髩) IYA@y:pG Z****** received transponder code query ******F****** received ping request ******שIG>i mGI i = UӿٺA E A r, EAɫ髙) IY@yqGxDUSBL response received:!U1,P 502,000,00952,189,80,80,87,FF Command AckBRequesting micromodem ping code 2i=i=a=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 m@m=mپimf@i m@)m@Imimt@ H=M4=YQU>axELE y}>IY&5?x׾ B u$@9PD>< <)W+Z@WX XW:W2W*WVbUBU*UUUzS @B+FB BA==*BAdAAA(="C%7RCC+Z@C- >u s>9q Iu toGiu @q q q u X; u חE I G- >m m m m  m /:Ym DW1ym Y:m 5)m t;r,EAY}F|/@}FWz|@y}Fvթ}F}FH$2??ot4?7п{?)~F|/@ ~Fx^;I~FCɫ髑) IY@yqGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B eL=Mmb=YmRAqqauxEuLEyy}}}>Iȁ :ŅN&5? :Ņ;׾ ƅB $@9ƅXDDž: ȅ:)ȅ:WX@WX XW:W2W*WVbUBU*UUU @Bn:B BA">*BAkdAAA75="C /89RC C X@C IGj>Or,zEAY}%:@}%dz@y}%}%%}%Hr.? ?G@? Ͽ`:?)~%:@ ~%G_;I~%Cɫ) IY@yrG@AxDUSBL response received:!U1,R,2ED,000,00930,189,80,80,BC,FF Fpublishing direction and range infoT'ɰ@> )ÅÅ=iÅ(@Á ą­@)ą@Ią@ią@C=MX=Y>;QU>axELEy}>IȱŵA&5?ŵx׾ Ƶ×B $@9Ƶ_Dǵ: ȵ:)ȱWU@WX XW:W2W*WVbUBU*UUU@P *Q =BZQ kgɐT@fJ OJQ (g?Lu2Q T':Q bQ vYf%s)ye6@RQ lVd' p,v?BQ  "Q@ Q KQ P *9?P '9?P Q Q sA"Q AB=7BA BAAE>*BAAMcAIAIAM="CU;RCQCUU@CY1IGn>e e e e  e *:Ye T1ye :e 59m @r,rEA|i|@Y}5A@}5x@y}5Q}55y}5H|B?`_?Kÿ?|οH?)~5A@ ~5$_;I~1ɫQY)Y ]IYY@ysGTNmea in: $SNTTA,0.071276,,,,014607.06*47 I)AI)9{CIqGi@=N; їEmUy=Mu>=Yu x8QUu>yya}xE}LEyِ}>Iȉ :ō2&5? :ō׾ ƍɗB $@9ƍhDǍ : ȍ8:)ȍ:myAdded new target pos. range: 103.620003 m, bearing: 187.225594 deg, deltaT: 4.003850 s, approachRate: -0.509510 m/s, LOS rate: 3.205836 deg/s, posRepo size: 4m ProNav: pos range: 103.620003 m, bearing: 187.225594 deg, approachRate: -0.509510 m/s, LOS rate: 3.205836 deg/s, cmd update: 9.617509 deg/s, cmd heading: 191.315630 deg, new cmd heading: 188.889624 deg. WTZ@WX XW:W2W*WVbUBU*UU Y@U ?B3B BA4>*BA`KcAAAf.="C=RC!CETZ@CA=V݅>IG>I] @A)] @A-r,fM"EAɫ髙) IY@y?tGQ?J +?H )Iyw/? rh?~jt?&?C =D< @)V$AI@iA A7=MP=Y%QU%>!!a%xE-LE)y5}5>I9=#&5?='׾ =՗B E$@9=pD=: =ܹ:)9We^@WiXi XiWi:Wi2Wq*WqVqbUqBUq*UyUyU}IJ?B(B BAF>*BAbAAA="Cw=*CRCC^@C?΅>I)׹IGe>m , m m m  m T7:Ym V1ym :m 5Wr,t(<EAɫ髙) IY @ytGÝ56@Ý=Ý ׾iÝ@Ù ĝ9@)ĝ@Iĝiĝ@5+=MR=YQU>axELEy}>I &5?]׾ B $@9xDr: H:)Wb@WX XW:W2W*WVbUBU*UUU @_?B5$B9 B9A=6W>*B9A=u bA9A9AEW*="CEЉ<RCICMb@CIe>9IIGeU> 9 |CI rGi *@ =   Z;  חE@r,_VEAY}Fǁ@}Fs@y}F}Fdy}FH`?? ¿@j?ο`L?)~Fǁ@ ~F7_;I~FCɫqy)y yIyYd@yQuG=i==i<1<ML=Y:QU>axELEyE}>Iȡ :ť&5? :ť ؾ ƥB $@9ƥDǥM: ȥ:)ȥ:W g@WX XW:W2W*WVbUBU*UUU(?BA!B BARb>*BAQaAA!A%ɞ="C% :RC-/y>C- g@C1eo>9IIGa] =iY     q-:Y WU1y : &5ií@é ĭ@)ĭ@Iĭ@iĭ@=MG=Ya;QU>axELE1y5.t}=>I9=%5?=ؾ =B M$@9=D=r: =:)9Wmk@WqXq XqWq:Wq2Wq*WyVybUyBUy*UyUU-I@BB BA"q>*BA<`AAA1 ="C5RC3>Ck@C֥5}>׭?iשyIG=>&S"r,<EAY}2'@}2-kp@y}2򡽙}2Xx}2HW@l?d?`Ugrÿ 8?ͤο@h?)~2'@ ~2x^;I~2Cɫ99)9 =I9Yu@y}/wG)=MM=Y:QU>axELEy}>ܽr>9ܽ{CIܽtGiܽ@ܹܹܹܽ^; ݽؗEI :%5? :ؾ B $@9DM: :):W%o@WX XW:W2W*W V bU BU *UUUe@BB BAv>*BAF_AAAz="Cu0RC=C%o@C=Z z>I!G=r>m m m m  m 0:Ym [1ym H:m 5)m ;9u {(r,EAY}}$~@}}n@y}}#}}u}}H@x?@?? -ÿ?Wο@m?)~}$~@ ~}];I~}Cɫqq)q uIyY@ywGI)AI)AI] AA)] AA 9 I |vGi W@ =   [; ֗E)ݝ{CIݝ{Ciݙݝ=ݙݝ4  4:YT1y:5);I5C=)5=uV?A`"?y&1|?r>Y= `;)IyV-?y&1?Mb??`e=< ½@)½v AI½Ai½A AjA>/ݽiQ@ @)@Ii@5y<M5z99a=xE=MEAyE'}E>II U:Mӭ%5? ]:Mq5ؾ M$B ]$@9MDM: MK:)M:W}Y}@WyX XW:W2W *W V bU BU *U U U O @R B*** querying acoustic contact ***P P B e.B  B A!>*B!A!o\A!A!A!.="C !RC !ªC!Y}@C!"`>I")""I"G"?9r, EAY}NB{@}N ^k@y}N}N(t}NHp?:?`L@ftſ`x? :ο@?)~NB{@ ~N>_;I~Lɫiq)q yIyY@yuzGZ****** received transponder code query ******F****** received ping request ******M=Y?axEMEyQt}>?I%5?::ؾ *B -$@9D; @;)W;@WX XW:W2W*WVbUBU*UUU@@BL%B BA >*BA [AAAk="C%RC%{C-;@C)imGIi)MD=]ɿٺY]A!I1Gmx>@r,EAY}2z@}2 .j@y}2}2Tij}2H, l?@? /߿@U Ŀ@ӱ?̿?)~2z@ ~2_;I~2CɫYY)Y ]IYYx@yUzGxDUSBL response received:!U1,P 2ED,000,00930,189,80,80,BC,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 M%j=Y5Ii :m%5? :mAؾ m3B M$@9mDmT< mP<)m:Wo@WX XW:W2W*WVbU!BU!*U)U)U- U@BGB BAm>*BA=ZAAAy="C&!RC Co@C9I xGi@c; ڗE벫=ױIG>'Gr,c~EA|:4<|8Y}nx@}n}i@y}ny}n:Y}nH(@3(?CE?@޿`ؤÿ+?`ʿR6?)~nx@ ~n];I~nCɫ) IY @yzG5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=@5^I ?~jtX9v?b?D <)IyGz?/$?IQaUxEUMEQy]*}]>I|%5?Iؾ 7B $@9D: ]:)W @W X  X W :W2W*WVbUBU*UUU%c3@BMNBI BIAM>*BQAUvYAQAQAUz="C]RCYCe@CaquiAm=u?iu~?IIyG>v0Mr,Q7EAɫqy)y yIyY @yF|GxDUSBL response received:!U1,R,1C5,000,008FE,186,80,80,A5,FF Fpublishing direction and range infogʾɰ<>鰽> )%CIy=Bo0?}ؿٱ) @ @ @Å©ÅÅiÅ@Å ą@)ą@Iāią-@ o/:Y0Y1y:5=Mf=YQU>axEMEy}>I ::p%5? :Oؾ :B $@9ǩD: :):Wy@WX XW!:W!2W!*W!V!bU)BU*UUU`D@P*Q=BZQ z%7W@E_CJQo0?}ؿ2Qgʾ:QbQ}4fܿXZp%,@RQM{¦GpdG?BQ P@ QS-QP'9?P*9?PQQ6A"QsABeoüBi BiAm>*BiAmBXAqAqAu ="C}< RCyC}y@Ce=I)GEQ> s>9 I yGi @ g; ܗEcTr,r1QEAY}MZcw@}M~g@y}M+Rx}M)>}MHe@(??>ݿ Ѕg?4ǿ [d?)~MZcw@ ~M\;I~Iɫ11)1 5I1YV@Iޝ@A)ޝBAy|GDNmea in: $SNTTA,,,,,014612.18*57 v<M=Y\1axE!MEy*!}>IT%5?Yؾ ?B  $@9ҩD$; /;)mU }Added new target pos. range: 100.619995 m, bearing: 186.244779 deg, deltaT: 5.158635 s, approachRate: -0.581551 m/s, LOS rate: -0.190131 deg/s, posRepo size: 4mm  ProNav: pos range: 100.619995 m, bearing: 186.244779 deg, approachRate: -0.581551 m/s, LOS rate: -0.190131 deg/s, cmd update: -0.570392 deg/s, cmd heading: 240.776537 deg, new cmd heading: 246.596775 deg. Wm >H@Wq Xq  Xq Wy :Wy 2Wy *W V bU BU *U U 'Y@U ?B tB  B A H>*B A pNVA A A CW ="C qRC C >H@C = = ԅ;I ) ש I G >Zr,PlEA|i|@Y}Vv@}V7g@y}Vdi}VX0}VHB?Z?ܿ B@c(?`ſ@x?)~Vv@ ~VX\;I~VCɫ髑) I%%%% %G/:Y%T1y%:%5YN@y}GI) M M MMr?M >MiM=@M M@)M@IM-@iM@]~=M]=Yev*BAmUAAA ="CQRCCU3@C]FΞI)G]T>8gar,EAY}6Zv@}6f@y}6+Z}6(s$}6H):?@He?ܿY@/B?@_pĿ`?)~6Zv@ ~6U\;I~6CɫYY)Y ]IYY@y~G}Ĕ<M}[=Y})#axE+MEy}>Iȑŕ8%5?ŕcؾ ƕCB $@9ƕߩDǕ߼: ȕr:)ȑWi@WX XW:W2W*WVbUBU*UUU:+?BbB BA B>*B A "TA A A+ ="CRCCi@Cw 9 I zGi @ =   f; !I1GM1>tgr,DEAY}6v@}6f@y}6I}6/U}6H( f?s? ܿfm88?Rt¿\?)~6v@ ~6[;I~6CɫII)I MIIY]@y]~Gi%E %%% %S9:Y%WU1y%:%5)%W;9-U/$?:vUԼ Ut=)QIQyU㥛 ?I +?~jt?U?U94yaxE2MEy}>Iȑŕ%%5?ŕjؾ ƕLB $@9ƕDǕr: ȕY:)ȑW@WX XW:W2W*WVbUBU*UUU v-?B?AB BA>*BARAAA0 ="C%j'*C%"RC)C-@C1AA%彉-?i-o?IG-N>mr,JEAY}2} w@}2&g@y}25}2}2Hy??`ܿ@Se@?`?)~2} w@ ~2<[;I~2Cɫ99)9 9I9Y@yG==i==Õ?ÕÕ"۽iÕ@Ñ ĕ@)ĕ@Iĕd@iĕ@=MX=YSaxE8MEyR<}>I :%5? :fpؾ SB $@9D: n:):WӅ@WX XW:W2W*WVbUBU*UU U @B<B BA>*BAPAAA ="C܈RCCӅ@C f$׹IG J> 9 I {Gi @ P; ЗEttr,tEAY}V/w@}Vg@y}V}V(B}VHZ@rD?w?ݿN@u`? \[?)~V/w@ ~V[;I~VCɫ髁) IY/@yG%%%% %+:Y%DW1y%Y:%5)%;u}<MuM=Y}\axE>MEy2<}>Iȱŵ<%5?ŵvؾ ƵZB $@9ƵDǵ3: ȵ:)ȱW@WX XW:W2W *W V bU BU1*U1U1U5b`@BB BA>*BA]OAAA ="CٹRCC@CSסIGF>Azr,REAY}~x@}~5h@y}~}~\}~H`n`k?!?@޿@O?`A{?)~~x@ ~~[;I~|ɫ) IIAA)@AY@ycG>ƾi(@ )&@I-@i=MD=Y^axEEMEy(=}>I :$5? :v}ؾ `B  %@9D: :):W-@W)X) X1W1:W12W1*W1V9bU9BU9*U9U9UEٞ@RMB*** querying acoustic contact ***PIPIBulBq BqAu?*BqA}ԝ>miIi)i!I1GM1>~r,*EAY}2 6z@}2lQj@y}2ƐἙ}2z`x}2H ??߿|@?@/1?  ?)~2 6z@ ~2\;I~2Cɫ99)9 9I9Y}>@y}GZ****** received transponder code query ******F****** received ping request ******a xE KME ---- -*:Y-V1y-:-ܾ595@yym=}5>I9=$5?=݃ؾ =fB M%@9=D=D: =:)9Wmr@WiXi XqWq:Wq2Wq*WyVybUyBUy*UyUU @BjVB BAb?*BAKAAA ="C:RCCr@Cܱ9ܱIܵ|Giܵk@ܵ=ܱܱܵT; ݵӗE)IIIiIM=IM4}׹IGh>߇r,6!EAY}6{@}6=k@y}6S}6"<}6H`_ђ?q?@[`k?@ז?>??)~6{@ ~6\;I~6Cɫ99)9 =I9Y@yG鮥a=ɮ=xDUSBL response received:!U1,P 1C5,000,008FE,186,80,80,A5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ="~j?J +{Gz=S>=H =#)9I9y=Q?y&1|Mb`=(?=`= =@)=XAI=@i=A9=(A<M=Y$axESMEy@=}>Iș :ŝ$5? :ŝ׌ؾ ƝiB %@9ƝDǝgO< ȝ9O<)ȝ:WF@WX XW:W2W*W V bU1BU9*UIUIU](@B,B B!A%G ?*B!A-|IA)AIAU ="C]*CYRCYC]F@Cayyi] nGIy ց ׍ ?i׍ ?i !οٺ AA II Ge > r,;:EAY}2Q}@}2"mm@y}2Δ}2rG=}2H`5?m9x7@@???0?)~2Q}@ ~2)];I~0ɫII)I MIIY}@y}GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B %%%% %.:Y%DW1y%Y:%5e5>?e=e=ie@a e-@)e-@IeK@ie-@uks<M}=Y}_ܵ r>9ܱ Iܵ }Giܵ @ܱ ܱ ܱ ܵ [; ݵ ֗Epr,ӿTEAY}^~@}^] o@y}^Mb}^ח=}^HІ`7> ) CIypB= 2S?Т1ٱi=C=ia=)g=MH=Y.axE_MEyQ}=}>Iȱ :ŵ$5? :ŵؾ ƵkB %@9ƵDǵ: ȵ:)ȵ:W@WX XW:W2W*WVbUBU*UUUs@P*QpBZQ$/3T@ a~ KJQ= 2S?Т12QT:QbQkmkX@O ?% RQK_@J ]?J訿BQH@ QfP?Q3P#9?P'9?PQQO?"Q6AB `B  B A V?*B AeFAAA ="C*CRCC@C!FӅIGn>or,nEAY}EI@}Eɮp@y}E 2}EP>}EHK ds?䰿di lw?@D? ~? :?)~EI@ ~E\;I~A ,:YWU1y:\5ɫ)))1 1I1Ymj@ympGTNmea in: $SNTTA,0.092595,,,,014616.65*45 ý/?ýDýԽiýQ@ù Ľ@)Ľ@IĽiĽ@msM=YX;QU>axEiMEy,=}>IM$5?ؾ mB %@9(Df: ׾:)m% yAdded new target pos. range: 98.220001 m, bearing: 179.524556 deg, deltaT: 4.435936 s, approachRate: -0.541034 m/s, LOS rate: -1.514950 deg/s, posRepo size: 4m5  ProNav: pos range: 98.220001 m, bearing: 179.524556 deg, approachRate: -0.541034 m/s, LOS rate: -1.514950 deg/s, cmd update: -4.544851 deg/s, cmd heading: 238.237034 deg, new cmd heading: 237.890143 deg. W5 Q@W1 X1  X9 W9 :W9 2W9 *W9 VA bUA BUA *UA UM X@UM ?Bu |?wBy  By A} ?*By A} 6CA A A q ="C  RC C Q@C ՝ >ԝ >u ?΅Iy )y 1 I9 G] >E r,EAY}27$@}2cr@y}2W}265>}2HA`?V糿A@mFM???`m?)~27$@ ~2\;I~2Cɫ)))1 1I1Ym@ymG ԑ=M=Y|}%r?Iy}@$5?}ؾ y %@9},D}: }:)yW@WX XW:W2W*WVbUBU*UUUK?B6<B BA?*BABAAA ="C RCC@CA9AIAiAAAAE^; EחE1 I!GER>-r,IMEAY}2@}2Qt@y}2}2L>}2H %?l* d? ? PJ??)~2@ ~2A|^;I~2Cɫ99)9 9I9Y}@y}GI)I)%%%! %!+:Y%xZ1y%q:!)%;9-#~j?RQ?~jtx?>= ;)IyT㥛 ?:vMb?!?T<  A) @I3@iAQA M<=YK<8QU>axE%sME!y%}n=}->I1 =:5Jy$5? =:5ؾ 5oB =%@954D5: 5:)5:We|@WaXa XaWa:Wa2Wa*WiVibUiBUq*UqUqUu@?B %B BAa?*BA@AAAq ="C>RCC|@CIGg>Wr,(EAY}2̂@}2_u@y}2&}2>}2HF`W?``ɍ@3ֿ?@???)~2̂@ ~2&.^;I~0ɫ99)9 9I9Y@yGUC >UU+>iU@Q U@)U@IQiU@e<MeE=Ye6QUe>iiamxEuyMEqyu=}}>Iy}(h$5?}<ؾ }rB %@9}=D}: }:)yWW@WX XW:W2W*WVbUBU*UUU RE?BxܻB BA?*BA>AAA ñ ="C[RCnlCW@C%?i%?IGn>Q 9Q IU X|GiU @Q Q Q U `; U ؗE@r,tEAY}J@}Jlw@y}J(!}J">}JH`@? 4`; ?@%?K=??)~J@ ~Jb];I~JCɫYY)Y ]IYY@ýGia=%%%% %o/:Y%V1y%:%75)%̌;)9<MR=Y`ͺQU>axEMEyN=}>I  : bX$5? : &ؾ tB %@9 DD : b:) :W=u@W9X9 XAWA:WA2WA*WAVAbUIBUI*UIUQUU&=@BB BA?*BAT<AAAТ ="C-?SRC-#&=C-u@C1%Q|I G%M>lr,yEAY}Fp@}FAy@y}Fi4}Fh#>}FHd? 0 0? /?V?@l?)~Fp@ ~F`;I~Dɫqq)q qIyY@yG=i=4=iC=~>1?̌>i@ )I-@ib@ RM=Y: QU>axEME!y%e==}%>I)-A$5?-ؾ -xB 5%@9-PD-: -H:))W]|@WYXY XYWY:Wa2Wa*WaVabUiBUi*UiUiUu@R}B*** querying acoustic contact ***PyPyBM ;BQ  BQ AU ?*BQ AU $:AY AY A] ="C :RC XIC |@C ֕ #*lIי )י q Iy G >ur,R EAɫ髑) I 0:Y[1yݏ:n59@Y@yցGZ****** received transponder code query ******F****** received ping request ******9ܩIܩiܩܭ=ܩܩܭg; ݭܗEW*{@WX XW:W2W*WVbU!BU!*U)U)U-`@Bu;By ByA?*BAj8AAAQ ="CZRCرC*{@C֝VgqIyG\>r,$EAY}6+@}6[s|@y}6e}6&o&>}6H@9@?WR?ಳ?`?`=?)~6+@ ~6P_;I~6CɫII)I IIIY}m@y}rGxDUSBL response received:!U1,P 2B5,000,008D6,189,80,80,A0,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I@A)AAV-?~jtÿZd;> y)Iyx&?:v?~jth7)?T<D 5A)@IQ@iA}+?}C >}z>i}̴@y }K@)}K@I}@i}@oM=Y費QU>axEMEy=}>I"$5?ؾ |B %@9aD#; ;)W=ix@W9X9 X9WA:WA2WA*WAVAbUIBUI*UIUiUuV @Bz-B BA?*BA _6A A A p ="C- KYRC5 C5 ix@C9 M t0U ?iU ? I) GE >*r,Z=EAY}6H@}6~@y}6Cr}6 >}6H`Y\?~ÖUM ?@.?2?b?)~6H@ ~6ZL_;I~6Cɫ99)9 9I9Y_@yiGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B  /:YWU1y:5I)AeݻMe=Ye޻QUm)?axEMEy=}%?Iȱ :ŵ$5? :ŵ"ؾ Ƶ}B %@9ƵfDǵ: ȵ:)ȵ:Wrw@WX XW:W2W*WVbUBU*UUU@9f @B%Б;B! B)A-i?*B)A565A1A1A5C ="C=\RC=99C=rw@CA%*_IG J>ܱ 9ܱ Iܱ iܱ ܱ ܱ ܱ ܵ h; ݱ )QIQiQQQU5r,WEAY}:ч@}:@y}:{}:;>}:H]?@Ϫa! L?̐?&?N?)~:ч@ ~:7O^;I~:Cɫ99)9 =I9Y]@y]GexDUSBL response received:!U1,R,40A,000,008B3,189,80,80,9A,FF mFpublishing direction and range infoeqfaɰeo6>a a)eCIaye=Beê:?qVٱa.Mj=YXڻQU>axEMEy=}?Iȑŕ $5?ŕؾ ƕB %@9ƕnDǕ: ȕ+:)ȑW~u@WX XW:W2W*WVbUBU *UUU3@P!*Q%=BZQ%mG_]M@yRJQ%ê:?qV2Q%qf:Q!bQ%=Wೌ@3,%RQ%i1 a?LBQ%GyF@ Q%7w@Q%P%%9?P%#9?P%Q%Q%}"Q%O?BB BA ?*BAv3AAA* ="C8RCD=C~u@Cx׹IGh>r,qEAY}~g@}~@y}~ϥ}~z>}~Hw|]?@/nn?@?@?Z?)~~g@ ~~B_;I~~Cɫ) I  =i=- --- -5:Y-U1y-:-5Y5.@y=KGTNmea in: $SNTTA,0.087656,,,,014620.69*44 i=nGI)iI3пٺA7 ^=i@ @)@I@ib@5<M,=YƑQU>axEMEy9=}>I0#5?پ B %@9xDa< 6b<)myAdded new target pos. range: 96.120003 m, bearing: 177.682932 deg, deltaT: 4.051746 s, approachRate: -0.518295 m/s, LOS rate: -0.454526 deg/s, posRepo size: 4m ProNav: pos range: 96.120003 m, bearing: 177.682932 deg, approachRate: -0.518295 m/s, LOS rate: -0.454526 deg/s, cmd update: -1.363578 deg/s, cmd heading: 219.840703 deg, new cmd heading: 217.738300 deg. Wt@WX XW:W2W*WVbUBU*UU X@Ur,EA|;|ɫ髙) IY@y%G==i==Mb=YQU>axEMEy}>I  %: 6#5? 5: پ B =%@9 D 8; ;) :Y9YI]|Gi]k@YYY]f; ]ۗEWLt@WX XW:W2W*WVbUBU*UUU@\?BPB BA ?*BA /AAA ="CRC<=CLt@C֭~4ׁIG=>Fr,[`EAY}2@}2^@y}2F9ļ}2E>}2H௚#?1 G^)??e? $?)~2@ ~2_;I~2Cɫ99)9 9IAY@y"G%%%% %?,:Y%T1y%:%5)% ;9-7A`?rh|~jth> D)Iyx&1?~jtx?V-?!?;<  A)@I3@iAAMD=Y QU>ayEMEy=}>IC#5?پ B %@9DH: :)Wޞs@WX XW:W 2W*WVAbUIBUQ*UQUQUe v?Bp,׻B BA ?*BAT-AAAj ="C׀RCd4=Cޞs@CֽoMבIG>r,5AEAɫ髑) IY@yGIAA)@Aí7?íʡ=í\>iíf@é ĭb@)ĭԸ@Iĭ@iĩMN=YQU>ayEMEy}>I :#5?  :8(پ B  %@9D: G:):W-Ds@W1X1 X1W1:W12W1*W9V9bU9BU9*UAUAUE?B5aB1 B1A5 ?*B1A==7,A9A9A=) ="CMp RCM1=CMDs@CQ%T<-?i-?IG%M>Q 9Q IQ iQ U =Q Q U R; U їE+r,/EAY}6 ~@}6@y}6⼙}6o/=}6H"?6 #|q? \?>T??)~6 ~@ ~6M^;I~4ɫ99)9 =I9Y}=@y}UGI)A %%%% %0:Y%V1y%:%5)%;5jf=M5T=YQU>ayEMEy=}>I#5?3پ B %@9D: 8:)W{r@WX XW :W 2W *W VbUBU*UUUI&@BE 3BA BIAM^?*BIAMc*AIAQAU="CURC].>C]{r@CYmy=!I1GM1>G%r,AEAY}6@}6Rǂ@y}6}6me=}6Hɺ?`@x*?)ѝ?޹? ?)~6@ ~6\;I~4ɫ99)9 9IAY}@y} G)T=t=wi@ @)@I@i@ M>=Y^QU>  a yE MEyC<}>I %:#5? %:?پ B -%@9D^: :):WMq@WQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUet@BmlB BA ?*BA(AAA|="CE RC$>Cq@CrE=יIGb>( r,h EAY}6Ċ@}6b҂@y}6}6=}6H?:B``^?U{?*??)~6Ċ@ ~6t\;I~6Cɫ99)9 9I9Y@yGi=%%~%~% %C3:Y%T1y%@:%59-@=q>99I9i9999=N; =ϗE V-? a yE ME y ;} >I  8#5? 7Rپ  B % %@9 D :  :) WM p@WI XI  XI WI :WI 2WQ *WQ VQ bUQ BUY *UY UY U] @Rm B*** querying acoustic contact ***Pi Pi B F+B  B A ) ?*B A %A A A ="C C p@C չ Խ =} Qҭ=Iׁ )ׁ 9 II Ge >@ r,p&EAY}2٪@}2@y}2}2g!=}2H@v?`Tա'@}?`Z?b? ]?)~2٪@ ~27\;I~0ɫai)i mIiYP@yÀGZ****** received transponder code query ******F****** received ping request ******Cmp@CiM+=!I1GMt>(r,@EAY}:p@}:D~@y}:}:&=}:H??`}?Jۤ??)~:p@ ~:[;I~8ɫ99)9 =I9Y}@y}GxDUSBL response received:!U1,P 40A,000,008B3,189,80,80,9A,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ] ]]] ]v4:Y]W1y]č:]n5>/>Zd>i@ @)j@I@i@=R<ME4=YmoQUu>yyayEMEyw}>I :L#5? :dپ ƘB %@9D: e;):Weo@WaXa XiWi:Wi2Wi*WiVibUqBUq*UqUqU}Ҳ @B/)B BAR ?*BAm"AAAk="C!9"RC55>Co@C4#>ױIG> iA hA p>9 I i  =   Q;  ЗEIr,5_ZEAY}2&@}2o4@y}2[6}2C:<}2H`0O?;q?.???@?)~2&@ ~2&[;I~2Cɫ99)9 =I9Y}@y}GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I) UOutgoing frame #1, 60 bytes: CC1017611F0000005D00000400260000000000000000151D80030C5669C08C799875A2AB340BA1F088417FB40F2F2877D8DB089EFAEC9A688C145800 DNmea out: $CCCYC,0,1,10,1,0,1*69 M׺M=YQU>ayEMEy}>I :ۈ#5? :tپ јB %@9ĪDA: :):W% o@W) X)  X) W) :W) 2W1 *W1 V1 bU1 BU1 *U9 U9 U= @v@B ͻB  B A  ?*B A O| A A A ="C5 #RC= S7>C o@C   H%> ?i ? I G>Rr,wEA|(i|*@2222 2E1:Y2V1y2:25Y}Zs@}ZȀ@y}Z}Z@=}ZH@?Ѭ?(Dk`Wx?@?)~Zs@ ~Z[;I~Xɫ髱) IY_@ỳGxDUSBL response received:!U1,R,455,000,00896,189,80,80,A8,FF Fpublishing direction and range infowɰ4> )(CIy¼Bh%?W0[ٱ BNmea in: $CACYC,0,1,10,1,0,1*6B I)A) }@ }@ }@}©}}i}@} }@)}@I}@i}@ M=YPQU?ayEMEyΗ}?I#5?-}پ טB %@9ʪD: :)WuIn@WqXq XqWq:Wy2Wy*WVbUBU*UUU4@P*Q¼BZQqdCeIn@CaUjb+>)I9Gew>M:$r,EAY}B @}B@y}B@f}BE E L=)A IA yE "~j?{Gzt?:v?E S#?E ף;E T= E 3@)E AIE @iE AA E f@m Mm q q a} yE} MEy y} } >Iȁ  :Ņ wi#5?  :Ņ nپ ƅ B  %@9ƅ تDDž : ȅ :)ȅ :޵ =i޵ p=    # 2/:Y X1y /: #5) ;9 m yAdded new target pos. range: 94.380005 m, bearing: 176.381221 deg, deltaT: 4.552802 s, approachRate: -0.382182 m/s, LOS rate: -0.285914 deg/s, posRepo size: 4m  ProNav: pos range: 94.380005 m, bearing: 176.381221 deg, approachRate: -0.382182 m/s, LOS rate: -0.285914 deg/s, cmd update: -0.857743 deg/s, cmd heading: 213.632704 deg, new cmd heading: 212.701706 deg. W m@W X  X W :W 2W *W V! bU! BU! *U! U- RW@U- `?BH)B BA?*BAAAA!="C%$*C(˱RC)>Cm@C}7>בIG?-r,EAi*nGI4iBAA|D|F4Cm@C֍z6>IIQGu6>3r,jEAY}6`@}6 @y}6j}6L}6H4? [?C<2̠? @,?)~6`@ ~6k_;I~6CɫYY)Y ]IYܡ9ܡIܥ}Giܥ@ܡܡܡܥA; ݥǗEY@yzG<MO=Y׊QU>ayEMEy 8} >IR#5?پ  B %%@9Ds; :)W]Um@WaXa XaWa:Wa2Wi*WiVqbUqBUq*UyUyU}?B`B BAB?*BA+eAAAj="C$*CNRC>CUm@CTu)>IGj>ek aae e[<:Yayae5)e;3#:r,EAY}2W@}2~@y}2W}2Wy$}2H@[\h??@t5ɉ?@ayENEy.A}>I :C#5? :Ѯپ B %@9D: :):Wl@WX XW:W2W*W!V!bU!BU)*U)U)U-I`?B]BY BYA]?*BYA]AaAaAe="Cm2%*CmҰRCm >Cml@Cq]>I)GEQ>IU@A)U?A Ar,YEA|@i|@Y}2ņ@}2u}@y}2)}23}2H`??Ol$?[ƿV~?)~2ņ@ ~2o[g;I~0ɫ99)9 =I9Y} @y}GayE NEyF}>Ie6#5?پ %B %@9D9: :)W%l@W!X! X!W!:W!2W)*W1V1bU1BU9*U9U9UE`,@B :B BAu?*BA2AAA="C,%*ChRC>Cl@C@o=miim m+:Yiyim59u@> n>9 I L~Gi @ Z; ԗEI! GU >7Gr,EEAY}N[D@}N|@y}N# }NMB}NH1%?=e?@ :? ȿBh?)~N[D@ ~Nu;I~Lɫ髑) IY@yG.Nmea in: $CATXP,60*74 a i}@a } a m}@a } a q}@a } a e}@a } a I}@a } }-? rhMb?}5?}C }=)yIyi}Mb@Mb@Mb@}©}} })}I}i}}}=>M=@=Y=$QUE>AAaMyEMNEIyU}U>IY ]:]!'#5? e:]پ ]5B e%@9]D]: ]>)]:W*l@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBWB BA/?*BA4AAA.="C%*CRCy=C*l@C <֝a >qIyG]>]Mr,8EAY}2@}2W{@y}2+}25D}2Hौ"?5?;J ~?\ȿ`e?)~2@ ~2=;I~2Cɫ99)9 =I9Y:@yGZ****** received transponder code query ******F****** received ping request ******u =u/]>iu@u uK@)u@Iu@iu@<MW=YQ;QU>ayENEyB>}>Iȡť!#5?ťپ ƥCB %@9ƥDǥ: ȥNM?)ȡWk@WX XW:W2W*WIVQbUQBUQ*UYUYU] @B'B BAE?*BAGAAA="CE6Z&*CE׆RCE =CMk@CIQQ)Q QU=iU=eeee ec2:YeT1ye:e85 *> I G >ETr,QEA|"4<| ɫ髙) IYr@y׀GxDUSBL response received:!U1,P 455,000,00896,189,80,80,A8,FF Command AckBRequesting micromodem ping code 2i Nmea in: $CAXST,7,20210814,014626.450717,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*53 Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i9iIm~Gim@m=iim_; m՗Eu<M5=YQU->99a=yEENEIyU}]>I#5?پ TB %@9Da< [?)WUVk@WQXQ XQWY:WY2WY*WYVYbUBU*UUUFx @B@/m:B B A  ?*B A eA A A ;="C&*CRCۖ=CVk@C9#=IG=>pZr,ukEAY}2 @}2yay@y}2/9}2I;8}2HK`s?`?``+ #Q`N?&ƿ`Tx?)~2 @ ~2ǁ;I~2CɫAA)I MIQY@yGeNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B e?eeief@a e@)e@Ie@ie@}Ͼ;M}S=Y>ayE%NEyg}>Iȡť"5?ť9پ ƥaB %@9ƥDǥ6-; ȥ?)ȡWj@WX XW:W2W*WVbUBU*UU U O@B@ϩ;B BA ?*BAAAA="C '*CRC^ =C j@C GB=e+ eee e@7:YeV1ye:eܾ5IG9War,EAY}2:@}2x@y}2-ݼ}21}2Hؒ`2?f?^@Tػ?@ƿ ?)~2:@ ~2E{;I~2Cɫ99)A AIAY@yG;Mi=Y;QU>ayE+NEy}>I"5?پ mB  %@9DJ: 3?)W-j@W)X1 X1W1:W12W9*W9V9bU9BU9*UAUAUE @Bm _;Bq BqAu) ?*BqA}MS AyAyA}v="Cu'*CLsRCd=Cj@CԝgAԙmL=)I9GU>Uk>9QIQiQU=QQUR; UΗE4gr,N~EAY}fP@}fw@y}fɼ}fd*}fH <?`C?"g ŊY=? 1ſ@d?)~fP@ ~f~q;I~fCɫ髹) IY-6@y5PGEDNmea in: $SNTTA,,,,,014629.42*50 IA)EA)Ia iua iu a mua mu a qua qu a eua eu a I}a I} }Fx?/$I +?}+?} }9<)yIyy}'1Z?I +X9v?}"?}94}< } @)}AI}Ai}"A}}A]$=Me(=Y;QU>ayE3NEy}>Iȱ :ŵJ"5? :ŵپ ƵyB %@9Ƶ(Dǵz; ȵz;)ȵ:W%.j@W)X) X)W):W)2W)*W1V1bU1BU1*U1U9U=`@B%1:B BA#?*BAY AAAM ="C'*CRC{=C.j@CE ~~ S9:YT1y@:%5)W;9}t=I IQ Gu >mr,[EAY}>j@}>8pw@y}>l}>h$}>H 4 ? nQ?4@ @?4uĿ`?)~>j@ ~>G!j;I~<ɫYY)Y YIYY}@y}G鮅p=ɮa=xDUSBL response received:!U1,R,364,000,0320C,18A,80,80,7D,FF Fpublishing direction and range infoAɰ1?鰅> )BIy6Dp@?ٱí>í$>íȾií(@é ĩ)ĭK@IĭK@iĭK@iM=Y;QU>ayE;NEy}>I :"5? :{ھ B %@93D: :):W Zi@W X  XW:W2W*WVbUBU*UUU%#@P1*Q56DZQ5d1I@˄fJQ5p@?2Q5A:Q1bQ59訆&/o4@ZMW@RQ5HB`ӕ9g?๤y?BQ53BG@ Q5~AQ5G5P59?P5$9?P5Q1Q5>B"Q5=ABej:Bi BiAmz ?*BiAmAqAqAu¨="C}[k(*C}RC} =C}Zi@Cֽ =י I G >Ǔtr,2EAY}2Mf@}2v@y}2}2D!}2H`o!֬?@3?` `HB?Ŀ?)~2Mf@ ~2v]d;I~2Cɫaa)a aIaܽj>9ܹIܽGiܽS@ܽ=ܹܽDܽ;; ݽE)yIyiyyy} 5Y@yGM=Y!eeee e3:YeWU1ye:e5)es;Fzr,|EAY}9@}Sv@y}}B}HR|?@e?  º@?=Y;QU>ayEENEy}>Ișŝo"5?ŝھ ƝB %@9Ɲ@Dǝ: ȝӻ:)șWj@WX XiWiu̞>q:Wi2W*WVi=nGIbUiABUM <ٺIMg-B*UQUQUU?B@;B BA ?*BA5AAA="Cԋ'RC}v=Cj@Cֽ=בIG>r,EAɫyy)y yIyY@yG M<MQ=YQU>ayELNE!y%}%>I) =:-j"5? =:-ھ -B E%@9-HD-5; -:;)-:Wk@WX XW:W2W*WVbUBU*UUU@>?B "<B BA? ?*BA+AAAq="C'RC_=Ck@C=I G-p>m& iim m6:ܵh>9ܵzCIܵ~Giܵ@ܵ=ܱܱܵH; ݵȗEYiyim75)m5;χr, EAY}2'@}2!u@y}2K}2}2H `? ׹?0U| Psp?k¿`?)~2'@ ~2];I~2Cɫ99)9 =I9Y@y G)!5K7?A`"/$5I ?5Y 5,)1I1y5S? rh?YYa]yE]RNEaye9}e>IimY"5?m>%ھ mB }%@9mPDm: m+:)iWk@WX XW:W2W*WVbUBU*UUU~?B;B BA ?*BA:AAAj="C$&RC<Ck@CiA%Pz=-?i-?IGL>I]AA)]AAWr,:EA|@i|@ɫyy)y }IyY @y5GI)eueee e(:YeU1ye:e%59m@ E E EESc?E)EףiE\@E E @)E-@IE@iE@r<M =YQU>ayE[NEy}>I :q"5? :q2ھ B %@9\Dk: :):Wbl@WX  X W :W 2W *W V bU BU *U U U c@BM :BI  BQ AU ?*BQ AU -AQ AQ AU F="C] %RCe L<Ce bl@Ca ] |^=1 IA Ge >r,TEAY}RL@}R t@y}R}Rs7 }RH ?ֶ?BDh? @P?)~RL@ ~R[;I~RCEg>9AIAiAE=AAA EƗEɫ) IY@y>G<M=Ywr,dnEAY}-n@}-@s@y}-ƒ}-O}-H 2?H,?`޸qu?5Q ?)~-n@ ~-[;I~-Cɫ) IY-@y5GÕSC?Õ+Õ>iÕp@Ñ ĕt@)ĕ@Iĕ@iĕ@2MP=Y;QU>))a-yE-fNE1y5}5>I9 E:=X"5? E:=S@ھ =B M%@9=hD=: =@:)=:Wmt4m@WiXi XqWq:Wq2Wy*WyVbUBU*UUUm@RB*** querying acoustic contact ***PPB ;B BAz ?*BAzAAA<"CA$RCgC t4m@C^<IGL>U=iUp=]3 YY] ]7:YYyY]5r, 1EA|;|;Y}6u@}6N4s@y}6-3}6}6H>O8o?%? ”# Fsf?@c@ ?)~6u@ ~6g[;I~6Cɫ99)9 =I9Y@y'GZ****** received transponder code query ******F****** received ping request ******!a%yE%lNE!y-d}->I15H"5?5&Iھ 5B =%@95pD5: 5߼:)1W}/m@WX XW:W2W*WVbUBU*UUU@B <B BA ?*BAdAAA~<"Cc$RCIC/m@C+W<h>9IL~Gi@=RD:; E IG=q>r, EAY}:v@}:L s@y}:-}:;}:H`g\c?ѱ?@2ᶿE?B?)~:v@ ~:ܴ[;I~:Cɫ99)9 =I9Y}@y}GAAxDUSBL response received:!U1,P 364,000,0320C,18A,80,80,7D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %V-?Mb?%|??% %<)!I!y%+?/$?l?%?%<%= %@)!I%3@i%"A!%GAjM)=Ye;QU>ayEtNEy-$}5>IQuuuu u!+:YuY1yu:uܾ5U[4"5?UTھ UB %@9UzDU8= U6=)QW^tn@WX XW:W2W*WVbUBU*UUU _ @Bu:R;Bq ByA}\ ?*ByA}AyAyA}Z<"CW#RCC^tn@Cm y! I1 GU >Hr,EAY}2 }@}2~s@y}2:}2d޽}2H`X$l?R? 1@c?yY aȻ?)~2 }@ ~2\;I~2Cɫ99)9 =I9Y1y1Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B >> 0i(@ b@)b@IK@ib@Y=;QUE>AAaMyEMyNEIyU;}U?Ii u:m&"5? u:mE\ھ mB u%@9mDm: m:)m:Wn@WXA XAWA:WA2WA*WIVIbUIBUI*UIUQUU@ @B66h<B BA*BAAAA<"CD#RCCn@C]׹IG>I1r,mEAL9LIN}GiN_@N=LLN4; NEY}b@}b>s@y}b$;}b IŽ}bHK ,? ۋ?@`,dpT?)~b@ ~b[;I~bCɫ髑) IY5E@y5YG=xDUSBL response received:!U1,R,31E,000,0084F,189,80,80,A1,FF =Fpublishing direction and range info=aF29ɰ=>.>=7> 9)=!CI9y==B=坌?I#kٱ9II)II]=)]=mΒ<MmBBw<B BA?*BAuAAA <"C%)"RC-C-Io@C)!IGI>eeee e.:YeV1ye:e5)ec;9mE^r,EAY}-=@}-_s@y}-;}-}-HA@p?@7?@))䱱T{@?)~-=@ ~-y\;I~)ɫ  ) IYe@ym9GDNmea in: $SNTTA,,,,,014634.66*5A -@ -@ -@-©--i-@- -@)-I-b@i-@=ApME==YE;QUE>IIaMyEMNEQyU%;}U>IY e:]Z"5? e:]mھ mtI ]řB m&@9]D]; ];)]:mAdded new target pos. range: 90.119995 m, bearing: 178.004456 deg, deltaT: 4.269642 s, approachRate: -150.153107 m/s, LOS rate: -0.089261 deg/s, posRepo size: 4mM ProNav: pos range: 90.119995 m, bearing: 178.004456 deg, approachRate: -150.153107 m/s, LOS rate: -0.089261 deg/s, cmd update: -0.267782 deg/s, cmd heading: 214.221130 deg, new cmd heading: 214.726783 deg. WMx(o@WIXI XIWI:WQ2WQ*WQVQbUQBUY*UYU]V@U}`N?BK<B BA ?*BAAAA<"C>"*C =RCڻCx(o@CrI)ױIGe>Br,Wx EAɫyy)y yIyY:@yRGUAZ<M][=Y]QU]>aaaeyEeNEaym}m>IquR!5?u>vھ uʙB }&@9uDur: ui:)qW o@WX! X!W!:W!2W!*W)V)bU)BU)*U1U1U5@a4?BeT\<Ba BaAeA?*BaAm̨AiAiAmЧ<"Cu#*Cuh#RC}C} o@CyKܝi>9ܙIܝ }Giܝ@ܙܙܙܝ:; ݝE)ݍzCIݍzCi݉ݍ=ݍ=ݍ5׹IGf>qiu= 3:YDW1yY:o5)s;(lr,S#EA||ɫyy)y yIyY@y G=iCl?I +)\(?d?9 Ga=)IyˡE?y&1?y&1?'?`<`< µV@)µAIµ@iµ^A(A MB=YQU>ayENEy}>Iy :}!5? :}ŀھ }ϙB &@9}D}; }Y;)}:W!n@WX XW:W2W*WVbUBU*UUU?Bmb<Bi BiAu ?*BqAu߼AqAqAuk<"C}5#*CmRCS~C!n@CI_ױIG>i nGI i "Կٺ  ACr,.=EAY}:8ف@}:s@y}:S<}:9}:Hz?@? ,#c7?)~:8ف@ ~:~:Cɫ99)9 9I9Y}I@y}G)    I>-2iG@ @)-@IK@i-@.MJ=Y{ayENEy <}>I!5?ھ әB &@9D: 8:)W%n@W!X! X!W!:W!2W)*W)V)bU)BU1*U1U1U5@?B 4-<B= BA?*BA6aܼA!A!AM<"CUR#*CU⬽RCUCUn@CY}G꼹QIa{~~ 7):YT1y@:59@G~>% hA! 1 91 I5 {Gi5 @5 =1 1 5 ?; 5 —Eu~r, WEAY}62@}6t@y}6-p<}6b}6H``?&y?``m@*?)~62@ ~6l[;I~6Cɫ99)9 9I9Y}@y}G=es<M==Y=WT;QU=>AAaEyEENEIyM<}M>IQ ]:U־!5? ]:Uiھ UؙB e&@9UDU: U:)U:Iu@A)qWТn@WX XW:W2W*WVbUBU*UUUg@B ;B BA ?*BAj׼AAAf<"C|#*CRC vCТn@C 𕭼 I G >r,pEA|i|Y}6w,@}6Rtt@y}6<}6o}6HJg? /Z@|@I?)~6w,@ ~6|[;I~4ɫYY)Y YIYY@yGI)I)U>U(>UԾiU@Q U@)U­@IU@iU@eMm=Ym;QUm5?ayENEy<}+?I !5?ھ ڙB  &@9DS;  ;)WEn@WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQUU`@B<B BA?*BA pռAAA<"C#*C|RCqCn@C֍aIyG;>  >:YV1y:5Br,EAY}2Q@}2t@y}2"C<}2KU}2Hb0?mv.@˕%(.?)~2Q@ ~2 [;I~2CɫYY)Y YIYY}I@y}G鮁ɮp=s<MR=Y;QU>ayENEyF<}>I  !5? ھ ݙB &@9 «D : 8:) W=Brn@W9X9 X9WA:WA2WA*WAVAbUIBUI*UIUIUU y@R]B*** querying acoustic contact ***PYPYB}r,EAY}2e@}2ut@y}22<}2rĻ}2H@T??~ˆ= w`> `YxT?)~2e@ ~2w\;I~2Cɫ99)9 =I9Yug@y}3G}Z****** received transponder code query ******F****** received ping request ******ף ')Iy'1Z?V-?~jt?"?<< @)AI‰i@uM1=Yc[;QU>azENEy;}>I :!5? :ھ ߙB &@9˫D: :):WNn@WX XW:W2W*W!V!bU!BU!*U)U)U-2 @BmD;By ByA?*BAscμAAA;[<"C#*C@RCܝCNn@C8  I8:YDW1yY:5ѵ= 3י I G >r,vEAY}6q@}6t@y}6Ek<}6}6H@'@H?6; F` Cː-`Jpq,?)~6q@ ~6ǵ[;I~6Cɫ99)9 9I9YyyyxDUSBL response received:!U1,P 31E,000,0084F,189,80,80,A1,FF Command AckBRequesting 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=n>iz@ ­@)Ih@i@YP;QU>azENEy 'Y;} >IF!5?ھ B &@9ԫDk: ܹ:)W.,n@WX XW:W2W*WVbUBU*UUU @B<B  B A*BAʼA9A9A=<"CE#*CM&RCM :CM.,n@Cyϑϑ)Й Й 9 I zGi 2@ = =; E5 q I G= >t>r,f0EAY}B~@}Bu@y}BB<}BP}BHR?|@QǾ=Qb ?)~B~@ ~B'|[;I~BCɫQQ)Q UIQY @yG@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B  1:YU1y:5)̎;99MazENEy=;}>I :0j!5? :ھ B &@9D: :):W n@W X  X W :W 2W *W V! bU! BU! *U) U) U- @@B ;B  B A >*B A n=ƼA A A (="C $*C ΫRC 0o;C n@CY ԩ ԩ m ;u ?iu ?A IQ Gm >r,ZEAY}Nl@}N>~u@y}Ny<}N44}NH 1@z? -w ,◿@Ηք@J?)~Nl@ ~NA[;I~NCɫiq)q uIqYU@yGxDUSBL response received:!U1,R,3A2,000,0082A,188,80,80,96,FF Fpublishing direction and range infoOɰ6+>鰵> )CIy̯Bm/?3upMD6ٱ%-?% =%Vi%@! %K@)%K@I%@i%b@5 ƽM5=Y=;QU=C?9AaEzEENEAyM<}MB?IQUa!5?Uھ UB ]&@9UDUw: U:)QWm@WX XW:W2W*WVbUBU*UUU@P*Q̯BZQCK@N@} UOJQm/?3upMD62QO:QbQۓ`U E$@̂RQTk6/o`93?m pBQ֍A@ Q$AQP%9?P$9?PQQ@"Q=AB}G<By ByA}8>*BA XļAAA3="C.$*CRCF<Cm@Cֽr;yIG<>r,& EAY}FPт@}Fu@y}F<}F,y}FHa?3|4`̀+`{@# ?)~FPт@ ~F[;I~FCɫQY)Y ]IYY@yGEDNmea in: $SNTTA,,,,,014639.11*57 IA)AIA)AQiQ<ME=Y:QU>azENEyA<}>I :P!5? :ھ B &@9DwT; U;):܁9܁I܅xGi܅?@܁܁܁܅>; ݅EmyAdded new target pos. range: 87.900002 m, bearing: 173.278593 deg, deltaT: 4.501541 s, approachRate: -0.493163 m/s, LOS rate: -1.049832 deg/s, posRepo size: 4m ProNav: pos range: 87.900002 m, bearing: 173.278593 deg, approachRate: -0.493163 m/s, LOS rate: -1.049832 deg/s, cmd update: -3.149497 deg/s, cmd heading: 213.015698 deg, new cmd heading: 212.895227 deg. W[l@WX X!W!:WA2WI*WIVIbUQBUQ*UQUUU@U]`ka?BL<B BA>*B AAAAn="CU%RC}T=C[l@C 2:YWU1y:5)ԏ; ϩ;IG> r,r) EAY}FIۂ@}Fu@y}F<}F}FH@J{`?_|y@<ɠ?)~FIۂ@ ~Fda[;I~FCɫYa)a iIiYo@y}G%?{Gzt?~jth?% ?%ף; %D;)!I!y%ףp= ?~jth? rh?%?%D;%C< %A)%AI%"Ai%A!%AÅ=Å=Å=iÅ@Á ąn@)ąn@Iąn@iąn@M.=Y NQU>azENEyV+;}>Iȱŵ>!5?ŵ?ھ Ʊ &@9ƵDǵ : ȵӻ:)ȱW?j@WX XW:W2W*WVbUBU*UUU@=?B% ;B! B!A%>*B!A-_սA)A)A-R="C5vK'RC5h=C5?j@C9 M=M==<IGn>r,C EAY}:҂@}:u@y}:T.<}:ʤ}:H̀?@s}~@+垿B.?)~:҂@ ~:*[;I~8ɫqq)q qIqY@yi~Gm=Mmt=YuߺQUu?qya}zE}NEyy!J}?I  :0!5?  :"ھ B &@9D.B; C;):WMRi@WIXI XIWQ:WQ2WQ*WYVYbUYBUY*UaUiUm?B.<B BAm>*BA1AAA="Cc(RC=CRi@Cl=י  -5:YU1IGH>y:59@m j>9i Im xGim @i i i m C; m ėE)Ii==I4r,IJ] EAY}6Â@}6u@y}6h<}6_ۼ}6H?0/? 4Kġni?)~6Â@ ~6:L[;I~6Cɫ99)9 9I9Y8@y}GR=i=U4M]L=Y]rQU]>aaaezEeNEaymS}m>Iqu !5?uھ q }&@9uDu{: u:)qW>h@WX XW:W2W*WVbUBU*UUU_?B`<B BAf>*BAAAA]="C)RC3=C>h@CסIGA> % ڕC@r,Ėw EAi.nGIV;i @ @)­@I@i­@M>=Y%ŹQU%>!QaUzEUNEYy]A}e>I!5?ھ B  &@9D; E;)WeFf@WiXi XiWi:Wq2Wq*WqVqbUyBUy*UUU@Bl;B B!A%<>*B!A%2A!A!A%6="C-o+RC5=C5Ff@C1AA  3:YDW1yY:\5~H=IGj>m&$r,#h EAY}6Ҳ@}6 u@y}6Q<}6c0}6H '{?Y? 'yj@ҧщ z ?)~6Ҳ@ ~6[;I~6Cɫ99)9 9I9Y}w@y}|Gm%MmW=Yu#QU}>azENEy}>Iș :ŝ?!5? :ŝ#۾ ƝB &@9ƝDǝD: ȝ:)ȝ:Wbe@WX XW:W2W*WVbUBU*UUUq@h>9IvGi@=QDE; ƗEB >(<B1 B1A5]>*B1A5s貼A9A9A=W="CE,RCE@=CEbe@CAmا=)IQG:>&Q*r,E EAɫ髡) IY@yK|GɮI)))MMb?x&A`"?M?M7 MY=)IIIyML7A`?:v?/$?M+'?MTSi@ @)n@Iin@M3=YQU>  a zE NEy}>I)-W 5?-۾ -B =&@9-D-4; -N3;))Wuc@WqXy XyWy:Wy2Wy*WVbUBU*U U U >@RB*** querying acoustic contact ***PPB]T;BY ByA>*BAlǯAAAr="CZ.RCU>Cc@C -:YU1y:%5ֵ٦=׉IG>o91r," EAY}>h@}>(t@y}>ў<}>y}>H$??@U#?N@)iٓ- A?)~>h@ ~>:[;I~>CɫYY)Y ]IYY@y{GZ****** received transponder code query ******F****** received ping request ******azENE!y%Ƽ}%>II U:M 5? ]:M۾ MB ]&@9M&DMD: M:)M:W}ub@WyX XW:W2W*WVbUBU*UUU @BP;B  B A >*B A AAA="C/RC9>Cub@C ->->=IGI> f>9 I uGi @ =   H;  ǗEb7r, EAY}26@}2pt@y}2͏<}2mT}2H@@?L?g@:tC?)~26@ ~2 [;I~2Cɫ99)9 9I9Y}@y}zGxDUSBL response received:!U1,P 3A2,000,0082A,188,80,80,96,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  0:YX1y/:5)Í;9 5> Ġi @ @) @I @i @ @˼M a zE OE y ~} >I 5? r+۾ B  &@9 5D {: :) W- `@W) X)  X) W1 :W1 2W1 *W V bU BU *U U U ɹ@B `SB  B A K>*B A5 \A1 A1 A5 _1="C= 2RC= 2>C= `@CA E >I)GE?GC@r,.!EAY}2,@}2t@y}2z<}2G}2H?`>? `@Q ("?)~2,@ ~2-[;I~0ɫQQ)Q UIQYi@yCzGAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B a=i =M=YQU??azE OEya}??I :̶ 5? :0۾ B &@9:Dw: :):W 8_@WX X W :W 2W *W VbUBU*UUU#@BU{P<BQ BQAU>*BYA]&AYAYA]5="Ce2RCeas7>Cm 8_@Cie0>9IAG]3>! 9! I% tGi% @! ! ! % F; % ƗEmFr,!EAY}@ ~~ 5:YT1y@:5);}zs@y}m i<}yŽ}Hv0@?`|?= 9@-!Ҥ ?)~@ ~[;I~Cɫ) IY%[@y-1zG5xDUSBL response received:!U1,R,361,000,00801,189,80,80,AF,FF 5Fpublishing direction and range info-,>A)ɰ-'>-7> ))-/CI)y-B-,N?P,ٱ)m?#~j~jt?m ?m㥽 m<)iIiym1Zd?MbP~jt?m"?mm< m@)m7 AIm=Aim"AimAxnM$=Y QU>azEOEy(}>Iȩŭڢ 5?ŭl;۾ ƭB &@9ƭCDǭ: ȭ:)ȩWU'j]@WQXY XYWY:WY2WY*WaVabUaBUa*UaUiUm@Py*Q}BZQ}քO@}zaEMJQ},N?P,2Q},>A:QybQ}>U1ry@2g@RQ}S,vT?gKw?BQ}vC@ Q}{@Q}PyP}%9?P}Q}Q}1A"Q}@B ΃:B BA>*BA6AAAo="C4RCG>C'j]@CII-k1>! IQ G >Lr,V4!EAY}2`@}2r@y}2BX<}2}2H@Zi`[??q`82*V( ?)~2`@ ~2d];I~2Cɫ99)9 =I9Y@ydyG=TNmea in: $SNTTA,0.488746,,,,014643.61*42 õj<õ`e=õN>iõ@ñ ĵ@)ĵƣ@Iĵiĵ@ rMm=YCQU?azEOEy}?I : 5? :B۾ B &@9JD: :):muAdded new target pos. range: 85.440002 m, bearing: 174.988176 deg, deltaT: 4.697548 s, approachRate: -0.523677 m/s, LOS rate: 0.363931 deg/s, posRepo size: 4m- ProNav: pos range: 85.440002 m, bearing: 174.988176 deg, approachRate: -0.523677 m/s, LOS rate: 0.363931 deg/s, cmd update: 1.091793 deg/s, cmd heading: 198.220714 deg, new cmd heading: 197.186164 deg. W5]@W1X1 X1W1:W12W9*W9V9bU9BU9*UAUE)\U@UE`$?But;By ByA})>*ByA}{AyAyAU="C4*Ch>RC>>C]@C_2>יIG>|Sr,N!EAY}J@}J>q@y}Jj><}JR/}JH ɲ?C?0u@90͇yJ?)~J@ ~J-\;I~JCɫqq)q }IyY@yxG }} TD:YkS1yԊ:9@I))WMY=YψQU>azEOEy }>I_ 5?ZJ۾ B 5&@9QD.; ;)W}H^@WyXy XyW:W2W*WVbUBU*UUU?Be];Bi BiAm>*BiAmAqAqAu="C}k3RC}F">C}H^@Cy9I$tGio@=Q; ʗEօ0=>QIaG}Y>Yr,Xrh!EAY}2@[@}2p@y}2 <}2c}2H@/x? 7?` r2¿`o?)~2@[@ ~2X\;I~2CɫII)I MIIY]\@y]wGe݄?exe9ieQ@a a)en@Ie@ie^@?M =YXhQU>azE'OEy}>I :l 5? : V۾ B &@9]D8: :):W@^@WX XW :W 2W *W V bU BU *U U U ?B CSB  B A >*B A UȞA A A ="C t 3RC _ >C @^@C  = = T>> ?i ? I G >{`r,ۃ!EAY}F@}F%o@y}F;}F }FH@X?@-1?@M)z5G<|`ÿ@ۛ?)~F@ ~F[;I~FC P { {  3::Y #R1y : n5ɫ髙) IYj@ywGu<M}=Y}?QU}F?azE+OEyF}F?Iȡťwc 5?ťZ۾ ƥB &@9ƥaDǥ: ȥX:)ȡWE_@WX XW:W2W*WVbUBU*UUUX?B <B BA>*BAҝAAA="C%2RC%6=C%E_@C)e@>>!I1GM1> g>9 I \sGi @ = RD L; ȗE)ݡIݡiݡݥ=ݥ=ݥ\m5\gr,]!EAY}b`l~@}bƇn@y}b@;}bn0+}bH u??@H¿s Lſ@?)~b`l~@ ~bp[;I~bCɫ髱) IY@ywGM=iM=Ua=iU=-?i|?5~jt?-,?-q -D=))I)y-V-?/$?X9v?-h1?-,=-< -@)-AI-Ai-A)-AM/MM==YMQUU>QQaUzEU1OEYy]+}]>IaexO 5?ed۾ eB u&@9ekDe: e:)aW_@WX XW:W2W*WVbUBU*UUU`*BAAAAp="CS2RC/=C_@C>>יIGD>>mr,m!EAi^nGIp     <0:Y W1y č: %5iEͿٺAEAY}]>}@}]IZm@y}]M;}]f6}]H@x?@?;0`Wÿٵiƿ@W~?)~]>}@ ~]WA[;I~]CɫQQ)Q YIYY3@yPvG`d;>i@ 9@)9@Ii@-M8M-==Y5DQU5>11a=zE=8OE9yEx.}E>II U:M; 5? U:Mn۾ MB U&@9MtDM: M{:)M:W}R`@WyXy XyWy:Wy2W*WVbUBU*UUU@B{B BA>|>*BA5AAA ="C1RC(=CR`@CD >I)ױIG>\&tr,g!EAY}6^|@}6*l@y}6E:}680=}6H6Nh?2?})Ŀ X@ǿ t?)~6^|@ ~6ZI[;I~6CɫYY)Y YIYY@yvG鮩ɮ^=My=YQU?azE>OEy!f}?I  T+ 5? ;v۾  B &@9 |D A; + ;) WM`@WX XW:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***P P BU:BQ BYA]^>*BYA]GAYAYA] ="Ced1RCmwc=Cm`@Ciܽf>9ܹIܽrGiܽ{@ܹܹܹܽC; ݽ×EMP>IG-->Qzr,=G!EAY}V;{@}Vk@y}V[,8}V$>}VH ? ? <rĿ`.ǿ r?)~V;{@ ~V#[;I~VC 0:YT1y:ɫ) I5);9YU@y]vGeZ****** received transponder code query ******eF****** received ping request ******eazEEOEy4}>I 5: 5? 5:۾ B 5&@9D; ;):W}KOa@WyXy XyWy:Wy2W*WVbUBU*UUUn @B4B BA:v>*BA㖼A!A!A%\="C-i0RC-w=C-KOa@C1=\=IG%n>8r, "EAY}:#-z@}:Hj@y}:}:|>}:H/? $ӷ?@ܿ߿N}Ŀ u2W?@vǿUr?)~:#-z@ ~:H[;I~:Cɫ99)9 =I9Y}@y}4vGxDUSBL response received:!U1,P 361,000,00801,189,80,80,AF,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  <M[=YQU>a%zE%KOE)y]g }]>Iqu 5?u۾ uB -&@9uDu< u <)qWa@WX XW:W2W*WVbUBU*UUUU @BU״BY BYA]wy>*BYA]?AAA<="C O0RCo<Ca@C ==ֵX=׽?i׽?׉IG>ܵ d>9ܱ Iܵ 0rGiܵ @ܵ =ܵ QDܱ ܵ Q; ݵ ˗Ecr,"EAY}Jy@}Ji@y}J92}J!;}JH ?=?@e@߿@}v?Ŀ`Ff`?=Xǿ`v?)~Jy@ ~J-[;I~H X3:YW1yč:5)-;ɫ髑) IY@yzuGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }S㥛?:v?Mb?}$&?}T< }<)yIyy}Zd;?~jth{Gz?}?}D}ף< }t@)}AI}XAi}7 Ay}A!1M?=YﳺQU>azEROEy}>Iȹ :Ž5? :Ž۾ ƽB &@9ƽDǽ: Ƚ:)Ƚ:WEb@WX XW:W2W*WVbUBU*UUU@B-0ߺB) B1A5}f>*B1A5A1A1A5P="C=/RC=;CEEb@CAE_=I G%N>Ìr, 8"EAY}:by@}::i@y}:2lк}:3}:H V??@޿`[ÿ Z?@@aƿ́?)~:by@ ~:9[;I~:Cɫ99)9 9I9Y}@y}4vGxDUSBL response received:!U1,R,2A8,000,007DD,189,80,80,90,FF Fpublishing direction and range infoɰ$>鰁 )CIyBcy?yٱ4=ia=G#i@ ­@)n@IO@iO@J=MZ=Yދ:QU>)1a5zE5XOE1y=}=>IAE95?E۾ EB m&@9EDE; Eb;)AWb@WX XW:W2W*WVbUBU*UUU@P*QBZQq5BQ@<HGJQcy?y2Q:QbQW_T@g6E @RQd$$2L?f]?BQvC@ Q@Q(PPPQQhA"Q1ABm}Bq BqAuwy>*BqAu@AqAyA}/="C}]/RCꝖCb@Ce \Xvr,VR"EAY}-x@}-h@y}-۹}-N*}-H@$ ?C|?u޿ , ¿{;W?0ſ?)~-x@ ~-_4[;I~-C}}}} }G/:Y}0Y1y}:}59@ɫ) IY@yuG5DNmea in: $SNTTA,,,,,014648.21*52 Uc>9QIUqGiU@QQQUK; UǗEM<=YG9QU>azE_OEy}>I :5? :۾ #B &@9DY: f:):muAdded new target pos. range: 83.279999 m, bearing: 175.204160 deg, deltaT: 4.384782 s, approachRate: -0.492614 m/s, LOS rate: 0.049258 deg/s, posRepo size: 4m ProNav: pos range: 83.279999 m, bearing: 175.204160 deg, approachRate: -0.492614 m/s, LOS rate: 0.049258 deg/s, cmd update: 0.147773 deg/s, cmd heading: 203.003603 deg, new cmd heading: 203.472348 deg. Wb@WX XW:W2W*WVbUBU*UUT@U U?B]puBY ByA}q>*BAAAA="Co/*CERCCb@C11m`$r,l"EAY}N_x@}NW{h@y}N}Nʛ}NHt8>?@IƲ??,޿ @;S?ÿ'?)~N_x@ ~N [;I~Lɫ髙) IYF@y,uG)I9>;߽ti3@ )In@in@MAMMQ=YU4:QUU>QYa]zE]eOEYyepU}e>Iim5?m ۾ m'B u&@9mDmQ: m:)iW-b@W)X) X)W):W)2W1*W1V1bU1BU1*U9U9U=@1$?BmBi BiAm^>*BqAu9AqAqAuy="C};/*C}RC}pC}b@Ce<I)GER>r,f"EAY}J]$x@}J?h@y}J<}J}0 }JH`tFu?@\?ݿ ɾG?@x Y?)~J]$x@ ~J![;I~JCɫyy)y }Iy /:YWU1y:I5Y@yuGI9)95މ<M5=Y5f:QU=>99a=zE=nOEAyE@ӻ}E>II U:M5? ]:MC۾ M-B ]&@9MDM : M:)M:W}b@WyX XW:W2W*WVbUBU*UUUM?U b>9U yCIU hqGiU 6@U =U RDQ U <; U EB @B  B A Wh>*B A A A A '="C $/*C RC dC b@C 5 Β= ?i= ? I G= >"r, "EAY}Jx@}J9!h@y}J@9}J}JH@M`ϥ?@A? ݿX$ 򫾿?)~Jx@ ~J,*[;I~JCɫqq)q uIqY%@y-tGFx?+I +? ? 9<)Iy?:v?,?< @)dAIAiA\A-?-F-\i-=@) -j@)-"@I-"@i-@=DM=<=Y=:QUE>AazEuOEy}>I5?P۾ 3B &@9ĬD; ;)W c@W X  X W :W 2W *W V bU BU *U U U ?BM (4BI  BI AM #X>*BI AU 񡋼AQ AQ AU 1="C] /*C] RC] tޥCe c@Ca  ] I G- >Jr,"EAp=ip=Y}V<x@}V2h@y}Vv:}Vν}VHI???ݿ@B$``ӎRxɹT?)~V<x@ ~V_<[;I~T~] ~~~ ~r:Y~DW1y~Y:~5ɫ髑) IYh@yUuG@=M=YR;QUI?azEyOEy|;}Y?I|5?۾ 6B &@9ȬD: ¿:)Wic@WX XW:W2W*WV bU BU *UUU&@B=5;BA BAAEb>*BAAE㊼AAAIAM+="C]M/*CeƊRCm[6Cuic@CyY9IAG]U>V1r,"EAY}JFx@}Jbh@y}Jq%;}J}JHe>? \?޿ %ӛ3d@` ?)~JFx@ ~JP[;I~HɫYY)Y ]IYY@ytG9IpGi@>; E)ݱIݱiݱݵ=ݵ=ݵ5]M]@=Ye%V;QUe>aaamzEmOEiyuW;}u>Iy :}dg5? :}۾ };B &@9}ѬD}o: }':)}:Wi)c@WX XW:W2W*WVbUBU*UUU@B 1B BAoT>*BApAAA>="CL.*C[fRC|;Ci)c@CuI!)!IGn>j^r,)"EAY}n܆x@}nCh@y}n'{;}nC}nH4/ A?t֛?~N޿Paps?)~n܆x@ ~n=\;I~nCzzzz zl3:YzxZ1yzq:z5)z>;9~ɫ) IYQ@y:uG)G>rhyi@ 9@)9@I@iK@<MS=Y;QU>azEOEy%<}>IS5?۾ @B &@9ڬD: /:)We:c@WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqUu@RB*** querying acoustic contact ***PPi%nGI)iAmfͿٺquSA?9ABhB BA`>*BA߇AAAT="C.*C?RCIxC%:c@C!- I!G=>Br,hx #EAI)@AY}6x@}6hh@y}6ߺ;}6O}6H?@? ޿_`:[w> O?)~6x@ ~6 [;I~6Cɫyy)y yIyY@yvtGZ****** received transponder code query ******F****** received ping request ****** a zE OE y |;} >I E : 45? E : #۾ GB M &@9 D F< iB<) :Wm Tc@Wi Xi  Xi Wq :Wq 2Wq *Wq Vq bUy BUy *Uy Uy U % @B ZrB  B A L>*B A ^慼A A A ="C= .*C= RCE J[CE Tc@CA U =U =U U U U  U /3:YU Y1yU :U 5)U ;u mxIIQGu>zr,'#EA|i|Y}vLy@}v1i@y}v <}v;}vH @?y{?M޿  ?)~vLy@ ~vvL[;I~vCɫ) IY-@y-tG5xDUSBL response received:!U1,P 2A8,000,007DD,189,80,80,90,FF 5Command Ack5BRequesting micromodem ping code 2i11I9)=AI9)=AENmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 S㥛?{Gz:v?$?ף T<)IyGz?{GzMb`??ף; A)p AI™iApA}A>}T}=i}@y }O@)}@I}9@i}@3=MX=Y;QU>azEOEyP<}>I$5?۾ FB &@9D; ;)WLec@WX XW:W2W *W VbUBU*U!U!UE1@Bp!B BAX>*BAAAA ="Ci.*Ch㩽RC=#CLec@C lXױ I G >]r,A#EAɫ髙) IYl@ytGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ܜM=YQU%?azEOEy}'?I9 E:=5? E:=۾ 9 E&@9=D=: =#:)=:Wm3pc@WiXi XiWi:Wq2Wq*WqVqbUqBUy*UyUyU}{@B:B BAOC>*BAȃAAA_="C.*C̩RC^5C3pc@C֍0aIiG9>m =ii %    6:Y T1y : 59 @ 9 I oGi O@ N; ǗEer,Vb[#EAY}jJoy@}ji@y}j9#<}j}jH'??jb?`߿g`k@?)~jJoy@ ~j[;I~jCɫ髹) IY @ysGxDUSBL response received:!U1,R,2E1,000,007B3,189,80,80,A1,FF Fpublishing direction and range info$ɰv!> )!CIyB=tN?㨃0ٱLۼM:=YN;QU>azEOEyJ<}>I5?۾ EB &@9D: :)Wc@WX XW:W2W*WVbUBU*UUU  +@P*QBZQ!'P@4~7HJQ=tN?㨃02Q$:QbQ Ady3Ts}%@44&?RQ#ϴ^~I?Sv?BQ2d@@ Q.AQ PPPQQ_@"QhABULwBQ BQAUF7>*BQA]ʼnAYAYA]b="Ce.*CeRCeCec@Ci}ܪ&Iׁ)ׁQIaG}z>r,?u#EA||4azEOEyg;}%>I!%_5?%=۾ ! 5&@9%D! %:)!meyAdded new target pos. range: 80.760002 m, bearing: 172.237727 deg, deltaT: 4.544108 s, approachRate: -0.554564 m/s, LOS rate: -0.652809 deg/s, posRepo size: 4m ProNav: pos range: 80.760002 m, bearing: 172.237727 deg, approachRate: -0.554564 m/s, LOS rate: -0.652809 deg/s, cmd update: -1.958426 deg/s, cmd heading: 203.675681 deg, new cmd heading: 203.732387 deg. W b@WX XW:W2W*WVbUBU!*U!U%0T@U%?B<B BA>>*BAJAAA="Ct/RCd;C b@C軹ױIG> ( ~ ~  7:Y T1y @: 5ܙr,#EAɫ髙) IY @ysGMP=YQU>a{EOEy}>I :5? :۾ DB &@9 DF; G;):W-a@W1X1 X1W1:W12W9*W9V9bUABUA*UAUIUM ?B 1B BAF7>*BA1AAAiB="CS0RCԍ<Ca@C _;9IHnGi@I)B; EGuX>Ia )e AAr,?#EAY}By@}Bi@y}B>S><}B}BH I?K`F߿ƖDʇp?)~By@ ~BZ;I~@ɫ髑) IY@ysGFx?{Gz:v+?# Լ)Iyy&1?Mb`X9v?`%?< =A)AI=AirAAÕx ?ÕÕiÕ@Ñ đ)ĕ9@Iđiĕ@+};M/=Y";QU>a{EOEy20;}>Iu5?;۾ IB &@9D: :)W`@WX XW:W2W*WVbUBU*UUU?B-tpB1 B1A5 9>*B1A5ӫ}A1A9A=1}="CEV1RCEI<CE`@CIuX;}?i}?IIQGu>     2:Y U1y : 5<r,.#EA|i|@Y}Jgy@}Jϭi@y}JJ!<<}J蝼}JH|@:?Z>D 8߿`p ?)~Jgy@ ~JZ;I~JCɫ髑) IYw@yrGI))-Am]uMmv=YuӹQUu?qya}{E}OEyy@C}?Iȉ :ō5? :ō۾ ƍMB '@9ƍDǍA: ȍo:)ȍ:W`@WX XW:W2W*WVbUBU*UUU@r2?BuXXBy ByA}$>*ByA}{AyAAZ="C2RC5I=C`@C֝}Uܙ 9ܙ Iܝ mGiܝ @ܝ =ܙ ܙ ܝ F; ݝ —Er,u#EAY}>y@}>}i@y}>7<}>}>H@*?#G?`(߿@ߘ5?)~>y@ ~>@kZ;I~<ɫyy)y }IyYG@yrGlMH=Y-QU>a{EOEy3}>Iȱŵ:5?ŵNܾ ƵRB '@9Ƶ"DǵY: ȵD:)ȱW*_@WX XW:W2W*WVbUBU*UUU?B_B! B!A%>*B!A%yA)A)A-E="C52RC5VJ=C5*_@C9E2g=I)GEQ>e =ie =    Y WU1y : 5) ԏ;9 r,#EAY}2uy@}2xi@y}296<}2D}2H` ?@=r? ߿qdžԝ ?)~2uy@ ~2PZ;I~2Cɫ99)9 =I9Y}@y}8rG)Í/>ÍÍ=iÍp@É č@)č@Ič@ič@MJ=Y#hQU>a{EOEyٺ}>Iȹ :Ž5? :Žt ܾ ƽWB '@9ƽ*Dǽ+: Ƚ:)Ƚ:WG^@WX XW:W2W*WVbUBU*UUU`@B-B) B)A5>*B1A5wA1A1A5="C= 3RC=&u=CEG^@CA 6.=I)IG (>  r,tb$EA||;Y}69Yy@}6ti@y}68<}6}6H@h?~?@߿@M ;Sl?)~69Yy@ ~6Z;I~6CɫYY)Y ]IYY@ySrG=i=ma>9iImlGimg@m=iimW; m̗E)yCIyCi==4 B`"?~jt? ? ̽ <) I y zG?Mb?{Gzt? ? < ף; ¹ )½ AI½ Ai½ A =A ;M a {E OE y -} >I $}5? ܾ % '@9 6D ~^; T;) W] \@WY X  X! W! :W! 2W) *W1 V1 bU1 BU1 *U9 Ua Ue @Ru B*** querying acoustic contact ***Pq Pq B 4B  B A >*B  X      ::Y U1y : 5) ;A5 5tA1 A1 A5 ~="C] B5RC] 鲛=C] \@Ca m\J=IIQGm?E r,/0$EAɫ髉) IY@yqGZ****** received transponder code query ******F****** received ping request ******I)v r,J~J$EAY}:by@}:.i@y}:;<}:^}:H`A `V?@쁐?`޿m9 zի`X?)~:by@ ~:\}Z;I~:Cɫ99)9 =IAY}#@y}PqGxDUSBL response received:!U1,P 2E1,000,007B3,189,80,80,A1,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 P]<MK=YM9QU>a{EOEy%+(}%>IQUj_5?Uc ܾ Q '@9UCDU< U<)QW5yQ[@W1X9 X9W9:WA2WA*WVbUBU*UUU^@BmػBi BqAuY=*BqAu_rAyAyA}="C<6RC=CyQ[@Cօ{0=YIG>I9IIMkGiMĿ@M=IIMQ; MȗE P0:YW1yč:5); r,Zd$EAY}2x@}2h@y}2b@<}2 u}2Hb?? _޿`B 8 ^?)~2x@ ~2dZ;I~2Cɫ99)9 9I9Y]@y]qG}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)AiSMC=Y>.:QU>a{EOE!y%}%>I) 5:- N5? =:-&ܾ -UB ='@9-KD-: -:)-:W]W~Z@WYXY XaWa:Wa2Wa*WaVibUiBUi*UqUqUu y@Bx1ʻB BA==*BApAAA="C-]7RC5/=C5W~Z@C1]D=1IAG]v> r,4~$EAY}2 ux@}2th@y}26<}2z}2H`38??b>޿ @׆@K`?)~2 ux@ ~2DZ;I~2Cɫyy)y yIyY@ypGxDUSBL response received:!U1,R,2C2,000,00789,189,80,80,A6,FF Fpublishing direction and range infoϸɰ> )&CIyzBY;?c<}ٱ)&>=\i@ @)ƣ@I@i-M-I=Y5^QU5>19a={E=OE9yE}}E>IIMh<5?Mt-ܾ I U'@9MSDM: MD:)IW},Y@WyXy XyWy:Wy2W*WVbUBU*UUU@P*QzBZQX)cO@c!FJQY;?c<}2Qϸ:QbQяgSdIL#@'0@RQJب(5zI?$rh)?BQ7A@ QAQ<PPPQQTA"Q_@B2B BA=*BAJoAAA1W="C8RCk=C,Y@C·=ׁIG=>=ip= m      <:Y T1y : %59 @% r,$EAY}vw@}vIh@y}v5-<}vxҜ}vH@ O ??@7ݿ7_ ?)~vw@ ~v/Z;I~vCb>9I(kGi"@R; ɗEɫ99)A AIAYu@yupG DNmea in: $SNTTA,,,,,014657.29*54 e \(\?+V-e ?e  e h)a Ia ye |?5^?MbP?/$?e 2?e :e < e A)e 5AIe Aie Aa e A 3M =Y yQU > a {E OE y B} >Iș % :ŝ 5? % :ŝ 8ܾ Ɲ YB - '@9Ɲ `Dǝ < ȝ :)ȝ :m] uAdded new target pos. range: 78.240005 m, bearing: 172.976890 deg, deltaT: 4.528258 s, approachRate: -0.556505 m/s, LOS rate: 0.163233 deg/s, posRepo size: 4m  ProNav: pos range: 78.240005 m, bearing: 172.976890 deg, approachRate: -0.556505 m/s, LOS rate: 0.163233 deg/s, cmd update: 0.489700 deg/s, cmd heading: 194.807653 deg, new cmd heading: 193.537296 deg. W Y@W X  X W :W 2W *W V bU BU *U U @\S@U ?B% "B)  B) A- w=*B) A- kmA) A A ="C *8*C RC <=C Y@C (S=I)׹IG?- r,o$EAY}Ffw@}Fg@y}Fs!<}F9}FH rA?5|?Oݿ@V I̳Z.}?)~Ffw@ ~F 'Z;I~FCɫii)q qIqY@yoGi=%4=i%R= }@ }@ }@}©}}i}ף@} })yI}ƣ@i}ƣ@M=Yl QU?a{EOEy}?Iȩŭ: 5?ŭ>ܾ ƭ[B '@9ƭgDǭӻ: ȭf:)ȩWZ@WX XW:W2W*WVbUBU*UUUU?BgB! B!A%=*B!A%wlA)A)A-b="C58*C5ӨRC5,=C5Z@C9e!=9IQGu6>  G:YW1yč:ԓ4 r,3$EAY}2v@}2*f@y}2<}2\ݴ}2H `?Z\?@ܿrq )퓶?)~2v@ ~2Z;I~2Cɫ99)9 AIAY}_@y}$oG0MS=Y%7QU%>!!a%{E-OE-@@)y5}5>IȉōT5?ō8Eܾ ƍ^B '@9ƍpDǍ: ȍ:)ȉWPZ@WX XW:W2W*WVbUBU*UUU`?B!B BAg=*BAkAAA$="C 7*CTRC͘=CPZ@CII)M@A]`>9YI]`jGi]@]=YY][; ]ΗEօ}=9IIGeV>.: r,$EAY}Zdv@}ZSf@y}Z'<}Zyɽ}ZHAQ?@w? Aiܿ}x`0`?)~Zdv@ ~ZZ;I~ZCɫ) IY@yqoG } } }}K>}/ݼ}ri}z@} }@)yIyiyY<M5=YQU>a{EPEy}>Iȩ :ŭ5? :ŭLܾ ƭbB '@9ƭzDǭ: ȭ:)ȭ:WZ@WX XW:W2W*W!VbUBU*UUU@[?B cB BA$=*BAajAAAl="CȐ7*C RC=CZ@C% %%% %M4:Y%WU1y%:%5)%;9-=?io?IG>åA r,%EA|i|@Y}6pu@}6e@y}6~<}6iݽ}6HT?`t?ۿ@`o8?)~6pu@ ~6/Z;I~6Cɫ99)9 =I9Y$@ynGI)A]'M]`=Y]QUe>aaae{Ee PEiym}u>Iqu5?uQSܾ ueB '@9uDu¿: u:)qW|Z@WX XW:W2W*WVbUBU*UUU @B]R!B BA0i=*BAmiAiAiAuV="C9^7*C㧽RCi=C|Z@CօԘ=YIiG[>m b>9i Im iGim .@i i i m N; m ȗEG r,r %EAY}:pu@}:e@y}:' <}:J}:H)n?`1?}ۿ࠮F/w9?)~:pu@ ~:+Z;I~:Cɫ99)9 =I9Y}@y}nG鮅a=ɮa=m+?MbMb`?m?m@ m;)iIiymT㥛 ?I +{Gz?m!?m9mף< mxA)mAImAimAimAYMG=Ymu:QU>a{EPEy}>Iȩ :ŭ5? :ŭ-Yܾ ƭhB '@9ƭDǭQ: ȭ:)ȭ:WZ@WX XW:W2W*WVbUBU*UUU%@RB*** querying acoustic contact ***PPB%0Z+B! B!A%_=*B)A-'iA)A)A-="C5$7*C5ٟRC=\nH=C=Z@C9|=IiM=IG+> 11:YV1y:5)P;dM r,ܠ:%EAY}2u@}2H!e@y}2[<}2}2H`n ?@!?-ۿ`滿@^r/?)~2u@ ~25jZ;I~0ɫ99)9 =I9Y}@y}`nGZ****** received transponder code query ******F****** received ping request ******EٽE=iAA E@)AIAiAUͼM%N=Y-:QU->11a5{E5PE9y= |}=>IAEC5?E_ܾ ElB U'@9EDE: E:)AWuU6[@WqXq XqWq:Wy2Wy*WyVybUBU*UUU @B6B BA27=*BAhAAA&="CMa6*CMrZRCU2(=CUU6[@CQ]rg=Ia)a1IAG]v>fT r,T%EAɫ) IY(@ynGxDUSBL response received:!U1,P 2C2,000,00789,189,80,80,A6,FF Command AckBRequesting micromodem ping code 2i!%=i%=-Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 <MF=YMQUU>aa{EPEy}>Iȩ :ŭ5? :ŭdܾ ƭoB '@9I3iGi@= ǗE)ݡIݡiݡݥ=ݡݥ049ƭDǭH< ȭ<)ȭ:Wz[@WX XW:W2W*WVbUBU  6:YT1y:5);*U!U)U-Vt @By,B BA k=*BA gAAAw="C6*C RCgz=C z[@C1-+,=IG >[ r,en%EAY} 9ot@} d@y} 5<} 8} H`?2?PڿRIl@&`]?)~ 9ot@ ~ pZ;I~ Cɫ) IY  @ymG5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =ҍ>=A=>i=¥@9 =O@)9I=@i=@uΤMu==Y}bt:QU}>yya{E&PEyi}>IȑŕL}5?ŕjܾ ƕsB '@9ƕDǕ+: ȕӻ:)ȑW[@WX XW:W2W*WVbUBU*UUUI@IA)ABAVJB BA<*BA\giunGIAAA=iIٺII"C=v6*CU]ئRCUP<CU[@CQ֍#'=iIqG>a r,0%EAY}2_>t@}2Yd@y}2a+<}2Hֽ}2H` "rc?@?wڿ qr@r{ ?)~2_>t@ ~2VZ;I~0ɫ99)9 =I9Y@ymGxDUSBL response received:!U1,R,2CE,000,00760,189,80,80,86,FF Fpublishing direction and range infog ɰ>鰡 )CIyB/E'q?zwٱ)=z#;M=a=Y=M;QU=>AAaE{EE+PEIyM}M>IQUk5?Uroܾ UvB e'@9UDU: U:)QW[@WX XW:W2W*WVbUBU*UUU}@P*QBZQ cFN@T7FJQ/E'q?zw2Qg :QbQߊER:^>eeee e/:YeWU1ye:e859m@ c>9 I lhGi @ = I; ŗE]h r,J %EA|i|Y}V t@}V%d@y}Vhv=<}Vʽ}VH,,8?ڞ? Gڿ@L` R@F?)~V t@ ~VkZ;I~VCɫ髙) IY@y"lG]TNmea in: $SNTTA,0.070590,,,,014701.47*4B Ia)a Zd;O?l{Gz? ~ ?  ף<) I y Mb??Mbp #? <  ) /AI i 7 A A] 0] j] @=i] Q@Y ] \@)] z@I] z@i] z@u YMu y y a {E 6PE y } >Iȑ  :ŕ %K5?  :ŕ 7zܾ ƕ qB  '@9ƕ DǕ : ȕ :)ȕ :m yAdded new target pos. range: 75.780006 m, bearing: 168.699334 deg, deltaT: 4.124489 s, approachRate: -0.596437 m/s, LOS rate: -1.037112 deg/s, posRepo size: 4m  ProNav: pos range: 75.780006 m, bearing: 168.699334 deg, approachRate: -0.596437 m/s, LOS rate: -1.037112 deg/s, cmd update: -3.111336 deg/s, cmd heading: 196.827488 deg, new cmd heading: 197.157653 deg. W Y@W X  X W :W 2W *W V bU BU *U U R@U ߢ?B% gB!  B! A% *B) A) A) A) A- 1 ="C5 ͛8RC5 ]=C5 Y@C9 U <IG5>-8o r,տ%EAɫ髩) IY;@ylGT3=M=YQUN?a{E:PEy}M?I  @5? }ܾ oB '@9 D [: :) WU۾X@WQXQ XQWQ:WY2WY*WYVYbUaBUi*UiUiUu~?BB BA*BAAAAj ="C`9RC͘=C۾X@CG<ױIGE>Qv r,%EAY}2}s@}2c@y}2}[<}2L}2H`3I`?:?ٿ"-o﴿?)~2}s@ ~2KZ;I~2Cɫ99)9 9I99I@gGi@S; ˗EYd@ylG c2:YV1y:5)Y;9 M<MN=Y*;QU>a{E@PEy}>I :-5? :ܾ lB '@9ŭD: A:):WaW@WX XW:W2W*W V bU BU*UUU?BdB BAs;*BA gAAA ="C-۽:RC-$=C5aW@C1%VoQ=I G%M>D| r,t%EA||p;Y}BCs@}B^c@y}BXX<}B9}BHT?? ٿ-< X@ԡ`(?)~BCs@ ~B2Z;I~@ɫYY)Y YIYY׿@ylG=i=Å?ÅÅA`iÅ@Á ąٮ@)ąƣ@Iąƣ@ią@8"M<=YӹQU>a{EGPEy}>IM5?Ŋܾ iB '@9έD3; ;)W-$U@W1X1 X1W1:W92W9*W9V9bUABUA*UIUIUU?B gB BA*BAAAA:x ="CG<RCi=C$U@C֝5[=YIaG}{>h, r,{O &EAY}2s@}2|2c@y}2'MY<}22z}2H]f?@i?iٿuE@)p) j?)~2s@ ~2:AZ;I~2Cɫ99)9 9I9Y}0@y}tlG) [/:YWU1y:59@<M]=Yn8QU>a{EMPEy}>Iȩ :ŭ5? :ŭjܾ ƭgB '@9ƭխDǭ: ȭ:)ȭ:W T@WX XW:W2W*WVbUBU*UUU-@BB B!A!*B!A!A!A!A%2 ="C-=RC5)=C5 T@C1-=IG-,>9IxfGiS@=N; ȗEV r,*'&EAY}2r@}23b@y}2^<}2=#}2HiS2?@%? 5ٿ@2PgZދ$?)~2r@ ~22Z;I~2Cɫ99)9 9IAYE̿@yMkGX9v?X9vI +?? 94<)IyRQ? rh?y&1?"?C<`e< ¥"A)¥AI¥7 Ai¡M CM 6M =iI I M @)M ?@IM @iM @] YMe =Ye 8:QUe >i i am {Em WPEq yu }u >Iy } .5?} יܾ } hB  '@9} D} : } :)y W iR@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 A A A \ ="C ?RC C+>C iR@C  = = t= I G >P r,zB&EA|i|ɫ髁) I .:YU1y:J5Y@yjGZ****** received transponder code query ******F****** received ping request ******CQ@C֍$ӿ=aIqG[> r,(\&EAY}6q@}6!a@y}6Cu<}6脭}6H`?j?'׿`B \)Y ?)~6q@ ~6BMZ;I~4d9dIfeGif@dddfF; fėEɫYY)Y YIYYyxDUSBL response received:!U1,P 2CE,000,00760,189,80,80,86,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 YEfs;QUM>Yaae{Em`PEyy3}>I)-5?-ˢܾ -iB '@9-D-?< -D<))WoP@WX XW:W2W*WVbUBU*UUU @B-ЃB1 B1A1*B1A5gA9A9A= ="C]FBRC]a>C]oP@Cֽ=יIG> r,v&EAY}:_p@}:lz`@y}:a<}:½}:H >? 5?(ֿe< D2 L`=?)~:_p@ ~:TZ;I~:Cɫ99)9 9IAY]p@y]LjG}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B   4:YV1y:o5 @ @ @}©}}i}̤@} y)}@I}ƣ@i}@,EMa{EhPEyM}>I  : \5? : ܾ jB '@9 D +: :) :W=;N@W9XA XAWA:WA2WA*WIVIbUIBUI*UQUQUU^*@B}݊B BA*BA+hAAAk ="C{`CRCQ>C;N@C֝خ>qIG>ȣ r,ޏ&EA||Y}6Wo@}6_@y}6fV<}6ٽ}6H]@e?ƚ?oֿ@`㚺ZЊ@(?)~6Wo@ ~6Z;I~4ɫYY)Y YIYY)@yiG@AxDUSBL response received:!U1,R,277,000,0036B,189,80,80,7E,FF Fpublishing direction and range info} ɰ\=鰡 )BIypA+E?Lfٱ=i=ѼMt=YpQU?a{EmPEy}?I5?Lܾ  '@9Df: ׾:)W-NM@W)X) X1W1:W92W9*W9VAbUABUA*UIUIUMn@P*QpAZQ$Ő)@/CeJQ+E?Lf2Q} :QbQk`n-^Gf@dI?RQT9VOeᅱ×o?rC?BQ<@ Q4@QwkP9?P(9?PQQs@"Q{ AB%D؏BI BIAUB*BQAUxhAQAYA] ="C]hDRCex>CeNM@Cie =d>9IdGi @=Q; ˗E)ݙIݙiݙݝ=ݙݝq4]>I!G=>j r,&EAY}rzo@}ri_@y}r9mO<}rV|}rH`^ ?ǝ?ֿ@v@Ϝy퉿\ ?)~rzo@ ~rsZ;I~pɫ) I Y5@y=iGeeee ed0:YeU1ye:e\5)e;9-TNmea in: $SNTTA,0.176303,,,,014705.57*45 =NbX9?~jtZd;O?=%?= =j<=)9I9y=kt?=i@ @)z@Iz@iz@XM!=Y_QU>a {E uPE yK}>I %:v5? %:oܾ rB %'@9D<: :):mUyAdded new target pos. range: 15.000000 m, bearing: 169.137832 deg, deltaT: 4.148619 s, approachRate: -14.650660 m/s, LOS rate: 0.105697 deg/s, posRepo size: 4m]rPowering the camera and arming the DDM at range: 15.00 m.XYmm ProNav: pos range: 15.000000 m, bearing: 169.137832 deg, approachRate: -14.650660 m/s, LOS rate: 0.105697 deg/s, cmd update: 0.317092 deg/s, cmd heading: 184.044177 deg, new cmd heading: 182.467943 deg. Wm>M@WiXi XqWqXq:Wq2Wq*WyVybUyBUy*UU.@U ?BOiB BAR*BA*iAAAD ="Cw]D*C'RC >C>M@Cѝ+,=i]mGIiiɿٺA֍>I IQ Gm >۰ r,&EAY}2$o@}2 _@y}2p S<}2}2HJ`?x?տx`n_@a`?)~2$o@ ~2[~Z;I~2Cɫ) IY-@y-hG.Powering up loadControliMYMe=Y!:QU>a{E5{PE9yM}M>IQU|5?Uܾ UxB m'@9UDUX; Uo;)Q:uAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;vZEntering USBL mode with 5.000000 count pings.1;q;WM@WX XWX:W2W*WVbUBU*UUU?BuB BA*BAjAAAѬ ="C:D*CRCv>CM@C)   ՝=ԝ=օ M>a Iy G > r,Cp&EA|i|@494I6 dGi6k@6=446[; 6ЗEY}BGn@}Bc^@y}BX^U<}BK }BH<q?j?<Կ@¿-?)~BGn@ ~BmQm;I~BC ~~ 5:YT1y@:5);ɫQQ)Q YIYY1@yhGI)AU;MUN=YU9QUU>YYa]{E]PEaye}e>Iim;l5?mNܾ m}B }'@9mDm߼: m:)iX@q;uCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:uAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLWN@WX XWX:W2W*WVbUBU*UUU}?BB BA*BA{kAAA="C)D*CYRC=CN@Ce >!I)GER>. r,bK&EAY}2[Bm@}2]]@y}2xG<}25}2H@f@?m?ӿrCQ¿ @¿`Ϧ?)~2[Bm@ ~2蝁;I~0ɫ11)1 9I9Yuܼ@y}\hGi15v==Ci @ \@)\@IE@i%żME>=YUQUU>YYae{EePEy}>I :0X5? :Tܾ B '@9D; ];):W b/N@W X  X W X:W2W*WVbUBU*UUU%@?BMBI BQAUY*BQAUlAQAQAU4="C]RC*Ce餽RCe=Ceb/N@Cau>QIYGu>W r,-'EAY}2"l@}2+\@y}2N7/<}2}2H@"@?a{EPEy]}?IH5?ܾ B %'@9#D: :)We*ON@WaX XWX:W2W*WVbUBU*UUU`/@BH۲B BAʽ*BA%@mA!A!AM="CMC*CURCU,=CU*ON@CQeE=Iy)}gAYIG_>ܹ9ܹIܽXcGiܽȸ@ܽ=ܽQDܹܽP; ݽʗE@ r,+'EA||4 ףp=?kt?{Gz?]1?] = ]#=)YIYy]L7A`?a{EPEy}>I  :/5? :ܾ B '@9-D: #:):W5)yN@W9X9 X9W9X9:W92WA*WAVAbUIBUI*UIUIUM~@B`KB BA*B9A=oAAAAAEi="CMC*CM4RCM4=CM)yN@CQ5Sk= I G5 >( r,D'EAY}6fj@}6Z@y}6˪;}6 }6H@?@? ^пU{{ÿ`Ju|Ŀ?)~6fj@ ~6 ;I~6Cɫ99)9 9I9Y}ٻ@y}gG yy 84:YP1y':5iM,=YQU%>!!a%{E%PE)y-m}->I155?5ܾ 5B E'@957D5/: 5׾:)1WϥN@WX XWX:W2W*WVbU!BU!*U!U)U-`#@R]B*** querying acoustic contact ***PYP]BԬB BA&*BAҔqAAA="CyC*Ck٣RCW|=CϥN@C֭ 7B=ׁ I G >LW r,X^'EAgA 9 I"bGi"&@ "U; "͗EY}BSi@}B3oY@y}B;}B"}BHE ??@1п !ÿT]w`;Ŀܘ?)~BSi@ ~Bg|;I~BCɫQQ)Q QIQYջ@y gGZ****** received transponder code query ******F****** received ping request ******} r,x'EA|i|@Y}6Jh@}6X@y}6 };}6p }6HL?$[?KϿ @ ÿ@/rÿ`?)~6Jh@ ~6o;I~6Cɫ99)9 9I9Y}_@y}fG鮅p=ɮxDUSBL response received:!U1,P 277,000,0036B,189,80,80,7E,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i%%%% %w2:Y%V1y%:%$55v>5&15p=i5@1 5@)5&@I5@i5E@uqM}/=Y0QU>a{EPEy}>IȹŽ5?Žܾ ƽB '@9ƽFDǽ߼; Ƚ<;)ȹW-N@W)X1 X1W1X1:W12W1*W9V9bU9BU9*U9UUԛ @Bl7üB BA *BAtAAA="C8C*CaRC2=CN@C=ױIG>d r,+n'EAY}: 9h@}:vTX@y}:Mc;}:r/}:HI?R?@;?ο¿wlÿu?)~: 9h@ ~:Lwg;I~:Cɫ99)9 AIAY}@yfGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iI=)==M=a=YE.QUE>a|EPEy}>I5?\ܾ B '@9ND/; *;)Wuc O@WqXy XWX:W2W*WVbUBU*UUU T@B .ͼB  B Al*BAvAAA=Ee>9AIEaGiE@AAAEP; E˗E"C}RC*C}@#RC/=Cc O@Cuk=QIYGu>! r,Z'EAY}RKg@}RW@y}R;}R}RH@9)?@?Ϳq7`@&¿3?)~RKg@ ~Rd;I~Pɫ髱) I 0:YU1y:5) ;9Y@yeGxDUSBL response received:!U1,R,16C,000,00707,185,80,80,55,FF Fpublishing direction and range infoɰ_>+> )BIyB4 +f?IKӿٱ)i~jt?I +/$?9 )Iy-?{Gzt?y&1?5?ף;`< µ^A)µAIµp Aiµ5Ap A @ @ @©i@ @)Ii@%XM%<=Y-aQU->))a5|E5PE1y=r}=>IA M:E75? M:Eܾ EB U'@9EVDE: E:)E:Wu).O@WqXq XyWyXy:Wy2W*WVbUBU*UUU@R(Combining 5 samples.P*QBZQhJP@/496JQ4 +f?IKӿ2Q:QbQ5ʇQ,@V@RQv./{翵?k ?BQC@ Q@Q>P&9?P9?PQQ$ A"Qs@BټB BA*BAqxAAAFK="CB*CRCS<C).O@C3=בIG>y r,0'EA|*4<|(Y}S2g@}MW@y}t]:}ƭ }H6@ ?? ?̿F`+C+H@?)~S2g@ ~)f;I~Cɫ) IY-}@y5qeGDNmea in: $SNTTA,,,,,014710.01*5C i=i) ) ) ) e 4Me =Ym QUm >i q au |Eu PEq y} E}} >Iȁ  :Ņ 5?  :Ņ ܾ ƅ B  '@9ƅ bDDž o: ȅ Y:)ȅ :m uAdded new target pos. range: 70.440002 m, bearing: 175.121911 deg, deltaT: 4.480728 s, approachRate: 12.372990 m/s, LOS rate: 1.335515 deg/s, posRepo size: 4m  ProNav: pos range: 70.440002 m, bearing: 175.121911 deg, approachRate: 12.372990 m/s, LOS rate: 1.335515 deg/s, cmd update: 4.006545 deg/s, cmd heading: 185.477459 deg, new cmd heading: 185.660061 deg. W Q@W X  X W X :W 2W *W V bU BU *U U )Q@U `?B= pʼBA  BA AE &*BA AE z{AA AA AM ="CM ]@RCU UjCU Q@CQ ֵ <A 9A IE daGiE 2@A A A E C; E ėE)݉I݉i݉݉݉ݍ.3q I G >v r,ˠ'EAY}Bf@}B W@y}B=}Bn'}BHZ=`? +?˿ F`G3Q?9?)~Bf@ ~Buvc;I~BCɫii)i iIq$  6:Yy5);YT@y?eGi-aM5=Y5QU5|?99a=|E=PEAyE}E|?IIM5?Mܾ MB ]'@9MeDM+: MY:)I;u wuAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;uw}dResuming normal ranging with 1.000000 count pings.;}1<}WNR@WX XWX:W2W*WVbUBU*UUU?B%@B) B)A--+*B)A-)|A)A)A5:="C5?RC=/C=NR@CaQIIaG^>] >] ЕCi mGI jAi AA ٺ jA B r,>\'EAY}>f@}>lV@y}>=<}>r}>HB&?ě?`^˿-`Ig?%?)~>f@ ~>`;I~<ɫYY)Y YIYYj@yZeGi)) } } }}\>}tӾ} 0=i}@} }&@)yI}E@i}E@;ME=YQU>a|EPEyW}>Iȩŭ#5?ŭHܾ ƭB '@9ƭmDǭ: ȭ:)ȩX?1<wCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR; wAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRWhT@WX XWX:W2W*WVbUBU*UUU?BڼB BAf(*BA~AAAK="C4=RC]YChT@C!e< r,8(EA|@i|@Y}Zf@}ZV@y}ZE}Z4ͽ}ZH`E?@0?!˿`gUѸ –u?y ?)~Zf@ ~Z_;I~ZC  6:YV1y:59@ɫ) IYy@y%leGI)ܩ9ܭzCIܭ`Giܭ@ܩܩܩܭG; ݭƗEI%@)&@iIR=)%=U)\(?/$?Mb`UG!?U> U)QIQyU> ףp=?y&1|?U?U`;U U"A)U(AIQiU AQU Au^;Mu=Yu QU}>a|EPEyl}>Iȑ :ŕ7q5? :ŕܾ ƕB '@9ƕwDǕ#< ȕ<)ȕ:W]V@WaXa XaWaXa:Wa2Wi*WiVibUiBUi*UqUU@k?BSѼB BA&*BAYՀAAA="C@;RC XCV@C ᾼ I G > r,!.(EAY})f@}V@y}vﻙ}.}H G?? ʿb,@`}??)~)f@ ~D^;I~Cɫ) IY-g@y5UeGi @ @ @©i@ @)IiM=YQU?a|E%PE!y-}-?I15qc5?55ܾ 1 ='@95|D5: 5{:)1WX@WX XWX:W2W*WVbUBU*UUU`{?BmaBq BqAu(*ByA}!AyAyA="Cǜ:RCCX@Cֵ׉IG> r,G(EAY}6f@}6V@y}63}6C}6H@E?3J? !˿ g3 `u?䱿?)~6f@ ~6`];I~6CɫII)I IIIY}@y}dG ,:YWU1y:#5iM\=YgQU>!!a%|E%PE!y-/R;}->I15R5?5ܾ 5B ='@95D5߼: 5/:)1We}Y@WaXa XaWaXa:Wi2Wi*WiVibUqBUq*UqUqU}@@BjEB BA3*BA^AAA="CUȿ8RCUPCU}Y@CYMGIUdA)UdAIG-->ܥ f>9ܡ Iܥ 7`Giܥ >@ܡ ܡ ܡ ܥ _; ݥ ӗE r,Rb(EA||Y}Bf@}BV@y}B(}B>(g}BH?`-i?? ˿@4 rk?ି@?)~Bf@ ~B];I~BCɫYY)Y YIYY@y_dGAA=i=i MH=Y9QU>!!a%|E%PE!y-;}->I1 =:5>5? =:5ܾ 5B E'@95D5: 5:)5:We1[@WaXa XaWaXa:Wi2Wi*WiVibUqBUq*UqUqU}&@RB*** querying acoustic contact ***PPB|HB BAA*BAჼAAAvW="C6RCC1[@C6שIG#>|9 r,~{(EAY}2.g@}27JW@y}2Y>}20-}2H5"?,?@`8̿ %0 ˣg݇? `?)~2.g@ ~2\;I~2Cɫ99)A IIa< .:YV1y:~5Y@yrdGZ****** received transponder code query ******F****** received ping request ******a|EPEyI<}>I)5?@ܾ B '@9DL: :)W5>]@W9X9 X9W9X9:W92WA*WAVAbUaBUi*UiUiUm @BB BA@*BAQAAA6="Cv{4RC+%C>]@C2IG>!% r,^(EAɫ) IY@yvdGxDUSBL response received:!U1,P 16C,000,00707,185,80,80,55,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 iYam:MO=YQU>a|EPEy5}=>Iy :}5? :}fܾ }B (@9}D}~ < }<)}:Q9QIU_GiU@QQUDU\; UҗEW_@WX XWX:W2W*WVbUBU*UUU ,u @BEBA BIAM?*BIAM]AIAIAM="CUy2RCUo@C]_@CY=¯ཹI!G=>M+ r,Hj(EA|(i|*@Y}F3-h@}FHX@y}F2 }F#}FHb@h#?@?@I'οW)ntYA?c ?)~F3-h@ ~F\;I~FCɫQQ)Q QIQ * :?:YDW1yY:5)p;9Y@ydGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I))-Ai99m)\(?J +?I +mG?mH> m9)iIiym+?{Gz?mv?mףm< mA)mAIm7 Aim Aim A    @ @ @i@ )Iҙ@iҙ@<MC=Y.'QU}>ya|EPEy=}>Iȑŕ"5?ŕNܾ ƕB (@9ƕDǕ: ȕ:)ȑW(Wa@WX XWX:W2W*WVbUBU*UUU }8@B\B  B A 6*B A dƇA A AB="C0RC-;GC(Wa@C2IGi>p22 r, 7(EAY}2h@}2X@y}2_y}29<}2H`5?@Bk?/Ͽ5??!?E?)~2h@ ~2\;I~2CɫQQ)Q QIQY@ydG)iU{M]g=Y]lQU]>aaae|EePEaym<}m?Iq }:u!5? }:uܾ uB (@9uDu: u:)u:W%b@WX XWX:W2W*WVbUIBUQ*UQUQUU@BB BA#8*BAԈAAA*="CJ/RCعSC%b@C=Z%I!G=r>I 9I IM o_GiM @I I I M S; M ΗE,\8 r,(EAY}VPji@}VY@y}V䧗}VM<}VH/M?]?Fп`????)~VPji@ ~V\;I~T  ?:YV1y:5)M;ɫ) IYM/@yMeG]DNmea in: $SNTTA,,,,,014714.48*55 i % % % % @ % @ % @! ! ! i% @! ! )! I% @i% @5 S<M= =Y= -QU= >A A aE |EE QEA yM <}M >IQ U #5?U ܾ U ƚB ] (@9U DU n: U 8:)Q W 3e@W X  X W X! :W! 2W) *W) V) bU) BU1 *U1 U1 U5 &@B} <ټB  B A /*B A A A A U="C g,RC #]pC 3e@C eA fA֝ ZHq I G >|> r,3(EA|;|;Y}6GQj@}6lZ@y}6嫼}6J=}6H 0??%ѿ?`O|?`cޣ?`?)~6GQj@ ~6\;I~6CɫAA)A AIAY@y?dG=i=i0M=YtaQU x?  a |E  QEy=}y?I! -:% 5? -:%ܾ %ʚB -(@9%D%: %:)%:WUtf@WQXQ XQWQXY:WY2WY*WYVYbUaBUa*UaUaUm@BknB BAE*BAxAAAl="C+RC&gCtf@C֕PQIYG}>E r,aO)EAY}2k@}2m[@y}2}2AS=}2H`?i?Rҿ ??`Wc??)~2k@ ~2];I~2Cɫ99)9 9I9eeee1 e0:YeWU1ye:e#59m@Yu@yudGiJ<MO=Y?˻QU>a |E QEy6=}>I15 5?5ݾ 5ҚB }(@95®D5< 5<)1W {h@WX XWX:W2W*WVbUBU*UUU5@R-B*** querying acoustic contact ***P)P)BmBq BqAu9*BqAuqAqAqA}T="C})RCQWwC {h@ܩ9ܩIܭ _GiܭJ@ܭ=ܩܩܭB; ݭŗE)EzCIEzCiAAAE^4CS׹IG>^K r,B$1)EAY}2l@}2]@y}2м}2=}2H r L?/l?Mӿ_@8{? ?P?`?)~2l@ ~2q\;I~2Cɫ99)9 9IAYeĹ@yedGI=@)=@i99 Q?Q? ? ̼ <) I y Cl? rh{Gz? ? C #= 5A)  AI  Ai A  z A m m mmy=m`Emim@m m@)mn@Im@ii}M}3=YQU>a|EQEy,M=}>inmGIIii : ٺ  6B5? -:ݾ ޚB 5(@9ʮD*= Y#=):Wӊj@WX XWX:W2W*WVbUBU*UUUwt@B] Ba BaAe;=*BaAeۍAaAaAmA="Cm'RCuCuӊj@Cq Յ>ԅ>]"f1IAGe>ܟR r,K)EA|i|@Y}6 )BIyDayx?Okw߿ٱI)) iqqμMY=YQU>a|EQEyc=}>IȹŽ5?Ž ݾ ƽB (@9ƽЮDǽD: Ƚ׾:)ȹWwk@WX XWX:W2W*WVbUBU*UUU@P*QDZQ|@pJQayx?Okw߿2Qx:QbQB]sq@Y$M a;RQ*zia?4̇{`BQg=@ Q,&RC"Cwk@C BvIGI>ܩ 9ܩ Iܩ iܩ ܩ ܩ ܩ ܭ M; ݭ ˗EX r,d)EAY}:kPo@}:k_@y}:]޼}:=}:HG #?}S-տ@}-?֛?@ T?`?)~:kPo@ ~:T];I~:Cɫ99)9 9I9Yeӹ@yedG fA鼕eAi @ @ @©i@ @)Ii@e<M=YPQU>  a |E &QE y _<} >I  : q5?  : ݾ  B % (@9 ۮD w:  :) :mU Added new target pos. range: 1525.620117 m, bearing: 169.710079 deg, deltaT: 6.444382 s, approachRate: 225.806015 m/s, LOS rate: -0.839775 deg/s, posRepo size: 4me  ProNav: pos range: 1525.620117 m, bearing: 169.710079 deg, approachRate: 225.806015 m/s, LOS rate: -0.839775 deg/s, cmd update: -2.519326 deg/s, cmd heading: 211.234344 deg, new cmd heading: 213.685083 deg. We :j@Wa Xa  Xa Wi Xi :Wi 2Wi *Wq Vq bUq BUq *Uq U} {֗@U} @?B B  B A a;*B A A A A ="C 0&*C fRC kC :j@C 9 I G > ` r,t\)EAY}Bjdp@}B`@y}Bӥ}B=}BH@?<φGֿ`#?ӝ?`H??)~Bjdp@ ~B];I~@R* RRR8 R,7:YRW1yRč:R5ɫii)i iIqY@yhdGiQQ}̼M}=Y}QUM?a|E*QEy=}M?Ișŝg5?ŝ(ݾ ƝB (@9Ɲ߮Dǝj: ȝ*:)șWRi@WX XWX:W2W*WVbUBU*UUU?B B  BA@*BADUAAA="C 'RC%ASC%Ri@C!IG'>9f r,)EA|4<|Y}Mq@}Ma@y}M}MZ=}MH @,?5ؿj b??@X?`F?)~Mq@ ~M];I~Iɫyy)y yIyY@ydG=i=i!!ܡ9ܡIܡiܡܥ=ܡܡܥG; ݥȗECl?t> 94<)Iy333333? rhQ??< A)XAI7 AiAp At<M+=YQU>a|E1QEyN+=}>I"Q5?ݾ  B (@9DA; vA;)W=Bh@W9X9 X9W9XA:WI2WI*WIVQbUQBUQ*UQUQU]&?B4B BA#8*BA̒AAA%="C%)RC%C%Bh@C)M#*l) I1 GU >cl r,M)EAY}2Ns@}2fjc@y}2ö}2=}2H \N`ݰ?˖<ٿ`@8? u?`e?"?)~2Ns@ ~2+^;I~2CVVVV: V1:YVDW1yVY:V5)V;9Zɫ99)9 9IAY>@ycGiI=)=        Ͽ :i 3@  ) n@I \@i \@%xM%i=Y%&QU->))a5|E57QE1y==}=?I9 E:=@5? M:=ݾ =B M(@9=D=: =v:)=:WuIg@WqXq XqWqXq:Wy2Wy*WyVybUyBU*UUU`7?Bl B BAM*BA5㓼AAA1="C*RCCIg@C֥)caIqG9>Ks r,)EAY}2?u@}2:e@y}2)}2e=}2HW?󴌿 ?ۿ@X? g?]*??)~2?u@ ~2`^;I~2Cɫ99)9 9I9Y@yDdGi!!U<M]X=Y]ϻQU]>aaae|Ee=QEaym=}m>IquC/5?u!ݾ uB }(@9uDu: ur:)qW9f@WX XWX:W2W*WVbUBU*UUU!@B1B BAD*BA}AAA҈="C+RCC9f@Cm:AIQGu6>ܑ 9ܑ Iܑ iܑ ܑ ܑ ܑ ܕ 5; ݕ Euy r,)EA|i|@Y}>v@}>cf@y}>*#}>c.=}>H`!?Uۮܿ NT ſ?s?m?Y?)~>v@ ~>^;I~a|EDQEy`=}>I  : Y5? : 'ݾ )B (@9 D +: :) :W=d@W9X9 X9W9:WA2WA*WAVAbUIBUI*UIUIUU@B}TBy ByAE*BAAAAf="C.-RC~QCd@CԡԥeA֥HoIץeA)ץeAaIiGZ>] r,*EAY}2x@}2yh@y}2*}2=}2H`H@?D@ݿJ`J?@?>?ࣻ?)~2x@ ~2]a;I~0ɫ99)9 9I9Y}@y}hdGi 鿙 @ @ @©i@ )@Iiҙ@Z<Mq=YQU?a|EJQE y p=} ?I!% 5?%,ݾ %2B -(@9%D%: %:)!Wc@WX  XW:W2W*WVbUBU*UUU%`@R-B*** querying acoustic contact ***P)P)BB BA@*BA,AAAI="C2.RC0췼Cc@C=RI!G=r>? r,~r*EAvvvv, v2:YvW1yvč:v59-@Y}y@}-i@y}5}n=}H``E?@T޿(?@?i?@ڽ?)~y@ ~da;I~Cɫ髱) IYv@y-dGZ****** received transponder code query ******F****** received ping request ******9YIYiYYYY]9; ]Eiyy?MbX9?:v,?ʡ= T)Iy|?5^?IIaM|EMRQEQyU=}>Iȱ :ŵ5? :ŵ3ݾ Ƶ>B (@9ƵDǵ|$= ȵ>=)ȵ:Wm^b@WiXq XqWq:Wq2Wq*WyVybUyBUy*UyUU` @BbB6= BAF*BAdAAA ="C/RC<C^b@C֥c׉ I G >걌 r,!?5*EA|;|Y}69z@}6nTj@y}6PC}6Y=}6H?@߿l?]??$?)~69z@ ~6rb;I~6Cɫ99)9 =I9YJ@ycGxDUSBL response received:!U1,P 24D,000,065C4,189,80,80,53,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i    @ @ @ùùùiý̤@ù Ľ&@)Ľ\@IĹiĽ-@5UMD=Y,QU>a|EXQEy.=}>I5?9ݾ IB =(@9D< <)WJa@WX XW:W2W!*W!V)bU)BU1*U9UAUE?@B%B BAL*BAAAA ="C0RC =CJa@C ܪ ?i }? I G > r,O*EAf ddfH fG:Ydydf5ɫ髩) IY;@y%cGENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )i19IEC=)E4=7Ml=YQU?a|E^QEy}?I5?>ݾ QB (@9D: s;)W5e`@W1X1 X1W9:W92W9*W9V9bUABUA*UAUAUMY@Bu*Bq BqA}[N*ByA}ʱAyAyA}="C*1RC?=Ce`@Cօ4|EAIIGeV>= f>99 I= o_Gi= @= =9 9 = A; = ŗE)Iiň=ň5ę r,h*EAY}2}@}2m@y}2`DX}2 =}2H@$? ?U?C?@?)~2}@ ~2;I~2Cɫ99)9 9I9Y},@y}cGxDUSBL response received:!U1,R,349,000,006A3,189,80,80,A4,FF Fpublishing direction and range info};yɰ}. >y y)}$CIyy}B}Dq?U2s"nٱyimGIjAi)]ӂٺ]jA]oBi = = = = >= +== j<=i= z@=  = @)= &@I9 i= @} &?M} =Y % QU > a |E hQE y u=} >Iș  :ŝ %5?  :ŝ ^Hݾ Ɲ aB  (@9Ɲ 'Dǝ ": ȝ :)ȝ :W ߦ^@W X  X W :W 2W *W V bU BU *U U U @@P *Q BZQ  _G@4EJQ Dq?U2s"n2Q ;:Q bQ 0OP@m\%@{PRQ  #₩Y}7?QЎBQ f>@ Q *AQ ~P '9?P d9?P Q Q @"Q B% .B!  B! A- 5P*B) A- DŝA) A) A- E h>9A IE _GiE @E =A A E =; E —ECʨ r,Hޤ*EAY}2~@}2jn@y}2eg}2#l=}2H@?h`]`)fB ? ?Rܶ?`&?)~2~@ ~2;I~2C6Could not parse latch stateɫ) IY @y DdGi #~j?+ÿ}ף;}ף=i}Q@y }\@)}@Iyi}\@M=YU}QU>a|EuQEy<}>Iȩ :ŭH5? :ŭVݾ ƭ|B (@9ƭ6Dǭ : ȭ:)ȭ:WU_@WYXY XYWY:WY2WY*WaVabUaBUa*UiUiUm2D?B2B BAD*BAPAAA="C 3*CvRC=C_@C= = = = < = w2:Y= T1y= := ~5)= k;9E % 9= ȿ=׹ I G > r,*EAɫy})y yIyY@ydGi5u=M5=Y5QU5?99a=|E=yQEAyE}E?IIM5?M,\ݾ MB ](@9M۵ r,*EA|4<|499a=|E=QEAyE%>=}E>II U:M-{5? ]:Mcݾ MB ](@9MDDM : M8:)M:W}#s_@WyX XW:W2W*WVbUBU*UUUW ?B)B BA@*BAVAAA="C2*CߡRCz>C#s_@C2=i>9I`Gi@>; ×EׁIG=>I) )) = 9 9 = 1 = 3:Y9 y9 = #5)= a;9 r,dw*EAY}2@}2~Lp@y}2C|}2 )s=}2Hby??``y?e?@Q??)~2@ ~2v;I~2C5:Could not parse whisker stateɫ19)9 9I9Yu@yu?dGieeeX9>ie@a e&@)en@Iaie&@uM}=Y} QU}>a|EQEy" <}>Iȑŕc5?ŕ{nݾ ƕB (@9ƕODǕ: ȕ:)ȑW_@WX XW:W2W*WVbUBU*UUU@a@BB BAE*BAuAAA="Cb2*CERC|\>C_@CfAfA =I fA) ׹ I G > r,H +EAY}Zx@}Zo@y}Z϶y}Z79<}ZH1T$?@e? 5kZe?1??g?)~Zx@ ~Zz;I~ZCɫ髡) IY@ydGɮiiq́=M=Y';QU7?a|EQEyb=}7?Iȹ :ŽDX5? :Ž&sݾ ƽB (@9ƽTDǽs:; Ƚ;;)Ƚ :W_@WX XW:W2W*W V bU BU*UUUT[@BE /BA BAAE\5*BAAE4ǤAIAIAMS="CUA2*CUl RCUn=CU_@CY-e=IG-,>=  = = = 0 = v4:Y= X1y= /:= 59= @ 9 I daGi 2@ A; ŗE_ r,%&+EAY}F~@}FQn@y}FYx}F"}FHN`R?@A? ?`?2ˁ?)~F~@ ~Fi,;I~FCɫ}y)y yIyY\@yHeGI)i]S?A`"? rh?]:?]Y= ]C<)YIYy] ףp= ?/$Mb?]Q?]]< ]A)]AI]Ai]/AY] A3<MD=YQ:QU> a%|E%QE)y-}->I15jF5?5zݾ 5B E(@95\D5: 5&:)1We<`@WaXa XaWa:Wi2Wi*WiVqbUqBUq*UqUyU}1@RB*** querying acoustic contact ***PPB!B BA@**BAAAA="C z2*C CRC =C <`@C>IG>- =i- =+B r,?+EAY}FM}@}Fm@y}FOw}F2 }FHSV?`6?`^wr??`F@R?)~FM}@ ~FȚ;I~Dɫ髉) IY_@yLeGZ****** received transponder code query ******F****** received ping request ******O>iQ@ @)I\@i9@:M9=Yh9QU>!!a%|E%QE)y- }->I1 =:535? =:5 ݾ 5ʛB E(@95eD5V: 5b:)5 :WeR`@WaXa XW:W2W*WVbUBU*UUUP @B=wBa BaAe)*BaAm'AiAiAm}="Cu51*Cu?RCu׵=CuR`@Cy]u^=e?ie?1IAG]v>= = = = ; = A:Y= 0Y1y= := G54 r,Z+EAY}:W|@}:l@y}:z^w}:'t}:HL@?i+?F@咿?r?)~:W|@ ~:.:z;I~:CɫAA)A AIIY:@yeGxDUSBL response received:!U1,P 349,000,006A3,189,80,80,A4,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i U8TM]j=Ym9QUu>a|EQEy(}>I$5?ݾ қB  (@9kD; w;)܍j>9܉I܍aGi܍@܍=܉܉܍;; ݍ—EW`@WX X W :W12W1*W9V9bU9BU9*UAUAUE @BB BAk.*BA^QAAA="C*1*CI럽RC=C`@Cܢ=׹IG>U r,Zs+EAY}2{@}2k@y}2+y}2ү}2H`Pd??ٍ@[ w@:?+ƴ?)~2{@ ~2Fp;I~2Cɫ99)9 AIAY}@y}dGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i=%>i>i))U?U+>U-=iU(@Q U@)QIUz@iUz@e)Me;=YmQUm>qqau|EuQEyy}}}>IȁŅ5?Ņ ݾ ƅܛB (@9ƅsDDž: ȅ:)ȁW3`@WX XW:W2W*WVbUBU*UUUE@Bu* Bq BqAu 3*BqA}]AyAyA}="Cb1*C%RCt=C3`@C֝D=yIG]>=  9 9 = I = $4:Y9 y9 = G5; r,6+EAY}6z@}6j@y}6xw}6}6H@Ҏ`?Q_?s&`*S F?q෿@G?)~6z@ ~6i;I~6Cɫ99)9 9IAY}:@y}eGxDUSBL response received:!U1,R,365,000,00683,189,80,80,8F,FF Fpublishing direction and range info"Bɰ>鰁 )CIyzB\Q\/;?i-ٱI@)@ifT<Mj=Y:QU?a|EQEyg-}?I :25? :ݾ B (@9zD: :) :W`@WX X W :W 2W *W V bUBU*UUU8!@P)*Q-zBZQ-gb1F@EJQ-\Q\/;?i-2Q-"B:Q)bQ-"BN/L,@Ԩ@RQ-H0v?p?BQ-9]:@ Q-abAQ-rP-)9?P-'9?P-Q-Q- IA"Q-@B]w Ba BaAek.*BaAeLAiAiAm{="Cu431*CuqRCu%9=Cu`@Cyֵ=׉IG>܉ 9܉ I܍ bGi܍ &@܍ =܉ ܉ ܍ 3; ݍ E)!I!i!!%=%j4f r,m+EAY}j)y@}jj@y}jSu}j\uӽ}jHr ? D?߿/@ᮿ@?V?)~j)y@ ~j1d;I~hɫ) IYymDNmea in: $SNTTA,,,,,014725.54*5A iyym\(\?V-Q?m?m m\=)iIiymʡE?:v?V-?m?mT99a=}E=QEAyE%}E>IIMA5?M͝ݾ MB U(@9MDMH: M:)ImyAdded new target pos. range: 62.520000 m, bearing: 166.841864 deg, deltaT: 4.284356 s, approachRate: -0.448142 m/s, LOS rate: -0.843417 deg/s, posRepo size: 4m ProNav: pos range: 62.520000 m, bearing: 166.841864 deg, approachRate: -0.448142 m/s, LOS rate: -0.843417 deg/s, cmd update: -2.530250 deg/s, cmd heading: 201.362276 deg, new cmd heading: 201.607964 deg. Wv_@WX XW:W2W*WVbUBU*UU`BO@UĠ?BB BA*BA.AAA="C2RCb=Cv_@C~=IG>i nmGI5 jAU U U U * U N2:YU T1yU :U 5)U G;9] iY ٺ jA mBmN r,H+EA|@i|Y}> y@}>s}>a۽}>HL?r?`޿ Eİn]?b|?)~> y@ ~>a;I~>CɫYY)Y YIYYI@ykfGIA)EAiIQ!=M0x r,"+EAY}2x@}2h@y}2p}2r3߽}2H@#`&?~\?@ @޿@Fq?˻P?)~2x@ ~2_;I~2CɫYY)Y YIYY@yfG 5fA1i99 AA<MF=Y:QU>a}EQEyP}>Io5?vݾ  B (@9D; ;)WMa]@WQXQ XQWQ:WQ2WY*WYVYbUaBUa*UiUiUu`c?BBB BA*BATAAA$Q="C4RCs=Ca]@C191I5cGi5@1115<; 5×E֥(a=yIG^>e e }e }e C e 1:Ye kS1ye Ԋ:e 5)e ;I r,+EAY}20x@}2Lh@y}2o}2}2H57/x?`9?? Tݿ0 㴱 `?滿?)~20x@ ~2^;I~2CɫQQ)Q QIQY}j@y}fG)i19   Í?Í$ƿÍ>iÍz@Í č@)čƣ@Ičƣ@ič@MN=YVP:QU>a}EQEy]W}=>IA M:E5? M:Euݾ EB M(@9EDEP: E:)E :Wu`9\@WqXq XqWq:Wy2Wy*WyVybUyBU*UUU ?B)B BAv*BA7AAA ="CV5RC֘=C`9\@C֍ur=aIiG8>7 r,,EA|;|p;Y}6}x@}6h@y}6sk}6P}6HBRI?e?Pݿl9~ds?μS?)~6}x@ ~6+^;I~4ɫ99)9 9I9Y@yOgG==i===>i=>= = = = n = <0:Y= X1y= /:= 459E @I ) i 5 i>91 I5 dGi5 @5 =1 1 5 H; 5 ɗEM MbX?sh|??~jt?M ?M )> M D<)I II yM K7A`?Qy&1?M  ?M uM `e< M A)M dAII iM AI M Ae 3<Mm q q au }Eu QEq y} ֑}} >Iȁ Ņ 5?Ņ 'ݾ ƅ *B  (@9ƅ DDž : ȅ :)ȁ W hZ@W X  X W :W 2W *W V bU BU *U U U n@B LB  B A *B A lA A A $ r,H,EAY}F-]w@}Fxg@y}F'h}FĔ}FH@h`ǿ?l?@;ݿ@`Q?@@?)~F-]w@ ~F6\];I~FCɫqq)y yIyYƻ@ygGZ****** received transponder code query ******F****** received ping request ******99a=}E=QEAyE}M>I5?ݾ 9B (@9D׾: :)W=ÈX@W9X9 X9WA:WA2WA*WAVAbUiBUi*UiUiUu @B6B BA*BAAAA3 ="C9RC8=CÈX@C =׹IGF>----5 -.:Y-V1y-:-5M r, b,EAY}2gv@}2f@y}29g}2 ֽ}2Hs??ݸ?Eܿ@&@\g?੬8?)~2gv@ ~2A];I~0`9`IbdGib @```bB; bƗEɫYY)Y YIYY}H@y}gGxDUSBL response received:!U1,P 365,000,00683,189,80,80,8F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 鼩iU=M]9=YehF9QUe>iqau}EuQEyy물}>I)-Fp5?-ݾ -DB E(@9-D-0< -<))Wv8W@WX XW:W)2W)*W)V)bU1BU1*U1U1U=u @BB BA`ٽ*BASAAA`I ="C>:RC;=Cv8W@CE =! I) GE >v r,|,EAY}V,v@}VoGf@y}Vt`m}Vrս}VH J?? Y*ܿϦ`_u Χ?䥺@?)~V,v@ ~V@];I~Tɫ髙) IY@ygG@AMNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )i e e eee$eie@e e@)eƣ@Ie@ie@u<MuH=Y}ZQU}>ya}EQEyH}%>I) 5:-_5? 5:-ݾ -NB =(@9-D-: -:)-:W]%V@WYXY XYWY:Wa2Wa*WaVibUiBUi*UiUqUu|@BB BA}˽*BAjAAA ="C;RC)>C%V@C֥=5555@ 5*,:Y5DW1y5Y:5Y5aIiGZ>&d% r,Ü,EAY}6ʳu@}66e@y}69p}6ֽ}6H H?? #ۿ1?@@?)~6ʳu@ ~6t];I~6CɫQQ)Q QIQY@y*hGxDUSBL response received:!U1,R,316,000,00664,189,80,80,79,FF Fpublishing direction and range info|0ɰ>鰑 )BIyrBy%?^IZٱܽh>9ܹIܽeGiܽ@ܽ=ܹܹܽ<; ݽ—Ei! !  rh?EԸ?+? ? = =) I y Pn?Mbp?~jt? $? ; < ± )± I± iµ A \ A (<M =Y QU > a }E QE y C} >I  : B5?  : Yݾ _B  (@9 ̯D L: 3:) :W% wT@W! X!  X! W! :W! 2W) *W) V) bU) BU) *U1 U1 U5 `@PQ *QU rBZQU >sCgG@JCJQU y%?^IZ2QU |0:QQ bQU L.EMpF,,@x@RQU gL>_W?"e?BQU 9@ QU fAQU )jPU (9?PU )9?PU QU QU JA"QU IAB wݼB  B A *B) A5 A1 A9 A= L ="CM =RCm '>Cu wT@Cy V)=IeA)eAױIG?FS- r,,EA|4<|4CQT@Cֵ0>qIG]>64 r,,EAY}:t@}:+d@y}:d+x}:&}:H g?|?fڿo?`?)~:t@ ~:9];I~:Cɫ99)9 9IAY} @y}hGUOutgoing frame #1, 60 bytes: CC1017611F0000005D00000400260000000000000000151D80030C5669C08C799875A2AB340BA1F088417FB40F2F2877D8DB089EFAEC9A688C145800DNmea out: $CCCYC,0,1,10,1,0,1*69 IIiYY 6M=YQU>a}EREy!F}>I :w5? :ݾ xB (@9ޯD; ];):WM T@WX XW:W2W*WVbU BU *U U U K-?= i>99 I= fGi= @= =9 9 = B; = ƗE)шIшiшՈ=Ո=Ո"4B ֟ۼB  B A =*B A ~9A A A ] ="CE >*CE RCE >CE T@CI U >1 I9 G] >0: r,,EAY} @t@} [d@y} } f} H`??lڿ촿?!?)~ @t@ ~ x];I~ CK /:YU1y:5)%;ɫii)i iIiY@@yjGi ] ] ] ]@ ]@ ]@YYYi]\@Y ]@)YI]ƣ@i]@mz=Mms=YuQUu?qqau}E}REyѼ}?I5?ݾ B (@9D: ׾:)W%*C}8RC}p>C}Iiiy6ٺۃB)I9GUu>A r,k-EA|i|ɫ髙) IYp@yLjG=BNmea in: $CACYC,0,1,10,1,0,1*6B IA)EAiII]y<Met=YeQUe?iqa}}E} REy}?Iȡť5?ťݾ ƥB (@9ƥDǥ: ȥ:)ȡWwS@WX XW:W2W*WVbUBU*UUU P?BuHͼB! B!A%*B!A%A!A)A-F ="C5?f>*C5cߝRC5a`>C5wS@C9e>9IIGmW>#G r,4G!-EAY}2s@}2,!c@y}2k}2 }2H`Q$?#?@LٿB+k]?|L?)~2s@ ~2\;I~2CɫYY)Y YIYY}5@y}jG9IgGiF@D; NNmea in: $CADRQ,014731,1,10,0,64,1*76 UNmea out: $CCTXD,1,10,1,CC1017611F0000005D00000400260000000000000000151D80030C5669C08C799875A2AB340BA1F088417FB40F2F2877D8DB089EFAEC9A688C145800*4C . 0:YDW1yY:~5)Ս;IE@)E@iQQI=)=K?Zd;O?^?j<> )Iyl?Mbp?Mb??< µxA)µAIµ=AiµAE _MM=YUQUU>a}EREyd}>I %:5? %:$ݾ B %(@9D; ;):Wm-tS@WiXi XiWi:Wi2Wq*WVbUBU*UUU@@BzP˼Bv< BA<*BAAAA="C>*C,NRC =C%-tS@C!% <>I) )) I G% >JN r,u";-EAY}2/Ur@}2pb@y}2r}2:}2H t?K?.ؿ^ mUϰ?1?)~2/Ur@ ~2s];I~2Cɫ99)9 9IAY@yjG鮥p=ɮp=*C_RCt*=CgUS@C֭4>ׁIG=>+U r,1 U-EAY}Jq@}Jga@y}J|}J% }JH `:?@?@K׿`?@P`?)~Jq@ ~Jz];I~JCɫqq)q qIqY@ykG.Nmea in: $CATXP,60*74 i=i5 551 5"C:Y5W1y5č:19=@E>G<MEH=YMUQUM>IQaU}EUREQy]n}]>Ia m:e5? m:eݾ eB u(@9eDe: e:)e:W"S@WX XW:W2W*WVbUBU*UUU`S@RB*** querying acoustic contact ***PPBzSB BA*BAJAAAv="C>*CRC=C"S@C=IGI>9IlhGi@5; E/[ r,n-EAY}^p@}^J`@y}^_E}^_}^H@ٹൔ??P׿bm`?ќ?)~^p@ ~^Q];I~^Cɫ髑) IY̾@yjGZ****** received transponder code query ******mF****** received ping request ******uiiam}Em&REqyuH¼}u>Iy}5?}$޾ }B )@9} D}M< }o<)yWR@WX XW:W2W*WVbUBU*UUU@ @B%üB! B)A-/*B)A-A)A)A-gR="C57?*C5RERC]g=C]R@CYMV =- ;= I G5 >b r,-EAY}2Kp@}2"g`@y}2$}2@}2H@Q?0?hֿ߰ėEA? ¿@?)~2Kp@ ~2];I~0ɫYY)Y YIYY@ykGxDUSBL response received:!U1,P 316,000,00664,189,80,80,79,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )i5Y 551 5::Y5WU1y5:1=\=M=M=YEfQUE>AAaM}EM,REiyu緼}u>Iy}5?} ޾ }ŜB )@9}D}: }:)yW}1R@WyX XW:W2W*WVbUBU*UUU @BB BA%*B!A%A!A)A-="C5i?*C5뛽RC5 =C51R@C90:<=I Ge >"Eh r,毢-EA|*@i|(Y}rڿo@}rH_@y}rr񇽙}rR}rH ?v?@Dֿ`N?0¿`?)~rڿo@ ~rN];I~rC}g>9yI}iGi}.@}=yy}2; }Eɫ髡) IYJ@ylG.Nmea in: $CATXF,60*62 \Response from modem unexpected: $CATXF,60*62 I)iQ Y a i @a a m @a a q @a a e @a a I @a Mb@Mb@Mb@   ) I i Mb@Mb@Mb@ ©   ) I i U U U U >U ~jU iU z@U  U @)U ƣ@IU ƣ@iU ƣ@e <Me q q au }Eu 7REq y} P}} >Iȁ  :Ņ {5?  :Ņ ޾ ƅ לB  )@9ƅ DDž N: ȅ +?)ȅ :W eR@W X  X W :W 2W *W V bU BU *U U U 0@B B  B A *B A A A A ="C ?*C )`RC =C eR@C ) =  =z w r,-EAY}:m@}:]@y}:Rz}:F}:H B ?_??uԿ2#` _E?@?)~:m@ ~:_Ta;I~:Cɫ99)9 9I9Y] @y]mGiqqMQ=Y;QU>a}EAREy}>I]5?"޾ B )@9+Dݱ: ?)WbR@WX XW:W2W*WVbUBU*UUU@i>9I(kGi"@=,; EB%=B! B)A-<*B)A-=AIAIAU="CUS @*C]ۚRC]=C]bR@CYmd=AIQGu6>I AA) % M 6:Y y "5) #;9 &} r,-EA|;|;Y}6l@}61]@y}6Vo}6}6He@??`ӿCG\0?"`~?)~6l@ ~6d;I~6Cɫ) IY5@y=nGim>m`mף;im̤@i m)m@Im@im@5}=M/=Y;QU>a}EHREy}>I :G5? :޾ B )@93D: ?):WucQ@WqXy XyWy:Wy2Wy*WVbUBU*UUUxv@RB*** querying acoustic contact ***PPB&lB BAR=*BAٴAA!A%H="C-RF@*C-΅RC-=C-cQ@C1 e=e=5Z{==?i=?IG5> r,ȵ.EAY}:7=l@}:X\@y}:3e}:}:H m?@u?ҿ 9dܹ ?t`?)~:7=l@ ~:a;I~:Cɫaa)a eIiY}j@y}1oGAAAA)i"=Mh=Y;QU%>!!a%}E%NRE)y-}->I15 75?5 ޾ 5B E)@95:D5: 5q@)1WecQ@WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU}@BB BA/=*BAAAA/="C5Sp@*C5JRC5Dh=C5cQ@C9Ui=IIYG}7>j>9ITlGi@-; )iIiiiiim#4    :2:Y X1y /: ) 6;6 r,-.EAY}-#k@}-[@y}-3[}-{5}-H Fb?N)? kwҿVvIs?@oƵ?)~-#k@ ~-^`;I~-Cɫ) IYMr@yM:oGi%mGI=kAiQ}ٺ}kABi  a ia i a ma m a qa q a ea e a Ia I q= ףp?~jtQ> u)IyZd;?X9v??< @)AIMAiA(A 5 @ 5 @ 5 @5 ©5 5 i5 @5 1 )5 I5 @i5 ­@M :MM Q Q aU }EU XREY y] UQ}e >Ia m :e .5? u :e '޾ e B u )@9e FDe D: e :)e :W N_Q@W X  X W :W 2W *W V bU BU *U U U Z@ =i B IB  B A =*B A ̳A A A ="C h@*C OߙRC *Jb=C N_Q@C ԅ gAԅ hAm p=Iu fA)u fAI IQ Gm >V r,I.EA|@i|@Y}2gk@}2 [@y}2ߊM}2.}2H@ ү??`A,ҿ4@?@?)~2gk@ ~25z;I~0ɫ11)1 5I1Yj@ylpGi >M =YS 0 E:YW1yč:59@{ r,c.EAY}:k@}:&:[@y}:NZ=}:}:H կ:w?@V?4ѿi@!?`˾?)~:k@ ~:2|;I~:Cɫ99)9 =I9a9aIemGie @aaae$; eEY}L@y}GpGi-M-I=Y-[11a=}E=bRE9yE|3}E>IAE5?E,޾ E$B U)@9ERDE: EH:)AWu#Q@WyXy XyWy:Wy2Wy*WVbUBU*UUU`@B{B BA=*BA?ܲAAAu="C A*CyRCi,T=C#Q@C֥Ba=ׁIGF>ڥ r,p}.EAY}2j@}2Z@y}2+:,}2V}2H`D?9?ѿN`㷸?@ü`?)~2j@ ~26;I~2Cɫ99)9 9I9Y}@y}pG UhAUhAiYY    @ @ @éééií׫@é ĭ@)ĭO@Iĭ9@iĭ9@(<MA=Y"a}EiREy}>I :45? :0޾ 0B )@9ZDc;  x;):W5P@W1X9 X9W9:W92WA*WAVAbUIBUI*UIUQUU@Ȃ@B5sB BA+=*BAg#AAA="C5BA*C5]/RC5A7R=C=P@C9]XR=1IAGew>Iީ)ޭAA9 2:Yy5k r,N.EA||4YYae}EeoREys}%>I9=5?=4޾ =緫 r,&.EAY}6Mj@}6=iZ@y}6GE}6ٽ}6HR?`? ѿkɷǡ?m!?)~6Mj@ ~68O;I~6CɫYY)Y YIYY@yarG@A@Aie1Zd?V- rhe">e eC )aIaye"~j?Mb~jt?eS#?ee< eh@)eAIe"Aie AaezA   =Gaif@ n@)@I@i@v=M==Y%QQaU}EUvREYyeB}e>Iȑ :ŕ5? :ŕ8޾ ƕEB )@9ƕkDǕ\C; ȕ;)ȕ:WtP@WX XW:W!2W!*WIVIbUQBUQ*UYUYU]`yp @RB*** querying acoustic contact ***PPB B=B  B A >*B AJAAAph="CA*CRCnK=CtP@CA5O=IG5>W 2:YU1y:G5 r, .EAY}6Ri@}6Y@y}6u}6̽}6H@m?#?п@In?4`?)~6Ri@ ~65;I~6Cɫ19)9 9I9Y}@y}rGivӼM^=Y;QU>a}E|RE y C} >I5?;޾ LB %)@9rDY: :)WEIP@WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQU]`!@Bvr1B BA: >*BAAAA.="CA*CrRCd<=CIP@CԭhAԩ֥G=ׁIG>>ʸ r,n.EAY}:^ui@}:̐Y@y}:H}:-ǽ}:H``#?7?tPп`Ti7?@ظ ?)~:^ui@ ~:;I~8 k>9 I nGi @    (; ɫ99)9 9I9Y}1@y}rGI)i=MP=Y;QU>a}EREy}>I5?b?޾ TB )@9zD߼: :)WuP@WqXq XqWq:Wy2Wy*WyVybUyBU*UUUh!@BD1B BA>*BAƆAAA;="CB*C2RCW3=CP@C el;=9IIGeU>" I 6:YV1y:G5);9 r,|.EAY}},i@}}@HY@y}}߼}}Ž}}HZt?@I֩? п &?@N?)~},i@ ~}#;I~yɫ) IYe@ymrGSetting waiting for range response to false due to timeout. Elapsed:6.322810a=ɮR= iM7=MVM=iM@I M­@)MO@IMn@iMO@]9M]=Ye;QUe>iiam}EmREiyu+ }u>Iy :}.z5? :}C޾ }^B )@9}D}U: }:)}:W}O@WyXy XW:W2W*WVbUBU*UUU#@B;FB BA0>*BA[6AAA="C KB*C ޗRCT04=CO@C1- [1= I G- > r,ȕ/EAY}Bi@}BJ Y@y}Bͼ}Bv}BH 5[?@f?6Ͽѵ? b(?)~Bi@ ~BXy;I~BCɫ) IY^@yrG)Yi#~j?y&1Mb?` @)Iy ףp= ?y&1?Q?`e< Q@)AI=Aip A\A<Md=Y;QU>  a }E REy޻}>I)-h5?-F޾ -eB 5)@9-D-: -:))WuO@WqXq XqWq:Wy2Wy*WyVybUBU*UUU#@B!B BA!>*BAeWAaAaAel{="CmvB*CmRCuET5=CuO@Cq9IoGiO@ ; E֕3=׉I D ?:YWU1y:55);G>b r,o2/EA||;Y}6h@}6Y@y}6Ȃ}6 cý}6H@1V?G?@Ͽ@M`j1 /?La?)~6h@ ~6v;I~6Cɫ99)9 =I9Y}@y}isG=iiI)5(5t5i5@1 5@)5@I5@i5@E<ME=YE;QUM>IIaM}EMREQy]j4}]>Ia m:eO5? m:eJ޾ epB m)@9eDe: e:)e:WKjO@WX XW:W2W*WVbUBU*UUU $@BK%B BA0>*BA몼AAAkF="CjB*C[RCB=CKjO@CE 6= I) GE > r,IL/EAɫyy)y yIyY@ysGAAAAi!<M=YQUC?a}EREy}C?I  D5? ^L޾ tB )@9 D  ;  ;) W=MO@W9X9 X9WA:WA2WA*WAVAbUIBUI*UIUIUM'%@BMB BA3>*BA%pCA!A!A%#="C-B*C-3RC-iH=CMMO@CQ-h=A=IG=.>V ||G ::YR1yi:59@ r,$f/EAY}2 h@}2X@y}2h}2*}2H d?`?ZοlT,?H?)~2 h@ ~2 g;I~2CT9TIVtoGiV@TTTV; VE)9I9i9=====.4ɫYY)Y YIYY@ysGi#<MK=Y3Ga}EREy}>I :05?  :\O޾ |B  )@9D: :):WUO@WQXq XqWq:Wq2Wy*WyVybUyBU*UUU%@RB*** querying acoustic contact ***PPBr8 B BA6>*BAA AAA="CC*C RC BC9=C O@C9eB=9IIGeU>u >y i nGI i = _ٺ9 = NB r,/EA|@i|@Y}6h@}68X@y}6(}6H}6H@B$? ?οI  ? ơ?)~6h@ ~6Ed;I~6Cɫ99)9 9I9Y}a@y}tGZ****** received transponder code query ******F****** received ping request ******i-@) -@)-@I-9@i-9@]v<M]5=Y];QUe>aaae}EeREyt}>Ișŝ5?ŝR޾ ƝB )@9ƝDǝ: ȝ:)șW%N@W!X1 X9W9:W92W9*WAVAbUABU*UUU@i&@BRB BAA>*BAAAA<"C->C*C5~RC5/=C5N@C9ֵ8=׉I/ R.:YU1y:5G>N* r,ۙ/EAY}Ng@}NQW@y}Nk}Npx}NH '?2?(Ϳ` (}?ڈ`?)~Ng@ ~N/7b;I~Lɫ) I Y]@y]{tGep=ɮep=mxDUSBL response received:!U1,P 316,000,00664,189,80,80,79,FF mCommand AckmBRequesting micromodem ping code 2iii)i-~jt?L7A`?y&1|?-$?-+= -`;))I)y-Gz?QQaU~EUREYy]N}]>Ia m:eM5? u:eV޾ eB u)@9eDe: e:)e:WN@WX XW:W2W*WVbUBU*UUU`d'@BϻB BAL>*BAxDAAAa<"CsC*CqRC%#=CN@Cܽj>9ܹIܹiܹܽ=ܹܹܽ; ݽE5.==?i=?IG>)T r,嵳/EAɫyy)y }IyY@ysGi \o? p= \>i @  n@) I @i t@=M=YQU>!!a%~E%RE)y-}5>I15y5?5[޾ 5B E)@95D5Ǻ: 5Y:)1WejN@WaXa XaWi:Wi2Wi*WqVqbUqBUq*UqUyU}`(@BB B I X:YV1y:G5A3>*BAAAASi<"CC*CRC>4=CjN@C "= I G >F r,/EAY}2qf@}2W@y}2:)}2F}2H =z??I˿`Z&`RU@N>?b?)~2qf@ ~2`;I~2CɫAA)A MIIY@y{tGi=i=M=Yޠ*BAAAAZG<"CC*CERCn=CPN@C}+,=QIaG}>:f r,rl/EA&k>9$I$i$$$$&); &EY}Rf@}RXV@y}R}R}RHG?%?ʿ/z?6\?)~Rf@ ~RCN`;I~RCɫyy)y yIyYC@ysGiMM=Y;QU>a~EREy]eY}e>Iq }:uo5? }:ua޾ uB })@9uͰDu8: u:)u:W5N@WX XW:W2W*WVbUBU*UUU*@B%~B) B1A57>>*B9AE͢AAAIAMhB<"CeD*CmsǕRCu=Cu5N@C·3=IGn>}}0 0:YkS1yԊ:5) ;9N r,=G0EAY}2Af@}2]V@y}2D}2꥽}2HO@D?u?@Fiʿ.6v`v? |@?)~2Af@ ~2 `;I~0ɫYY)Y ]IYYR@ysG 鼙i @ @ @©iG@ )IiO@;M9=Yb;QU>  a ~E REy0}>IG5?d޾ B %)@9ְD8: :)WM M@WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYU]`*@BB BA@>*BAAAAK<"C7D*CURCJ=C M@C֍TZ =AIQGm5>ޭ=iޭ=<{ r,U/0EA|8i|8Y}f@}J;V@y}J{}߭}HS`?j?@V'ʿ6 Oio?; o?)~f@ ~X`;I~ɫ髉) IYC@ysGI)i(\?㥛 rh?? C<)IyCl?/$S㥛?;?,/< µ@)±IµAi±A9M==Y#;QU>a~EREy}>I :В5? :f޾ B )@9߰DD: +:):W%M@W!X! X!W!:W)2W)*W)V)bU1BU1*U1U1U= <+@RMB*** querying acoustic contact ***PIPIB5B=W.= BAAE7>>*BAAMAIAIAMg<"CemD*CmMRCm =CmM@CqI9IIMoGiM@IIIM%; ME֍9=iIq? X3:YW1yč:#5)-;G>3 r,50EAY}2&f@}2AV@y}2*}2\}2HR y?P?3ʿ%5@n b?``?)~2&f@ ~2}_;I~0ɫ19)9 =I9Yu&@yusGi 5 5 55u>594=5ȶi5@5 5n@)1I5O@i5n@E'MMg=YMJ;QUM>QQaU~EUREYy]:}]>Iaey5?eh޾ eB u)@9eDeH: e:)aWM@WX XW:W2W*WVbUBU*UUUr,@BbB BA:>*BA#AAAw<"C̙D*CRC4=CM@CNw =׹IGD>% r,N0EAɫ髙) IY@ysGNmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Iu@)u@iy7'M4=YQU>a~EREyM}U>Ia :eh5? :ek޾ eB )@9eDe< e|<)e:W]HM@WYX XW:W2W*WVbUBU*UUUSu-@BMBQ BQAU'>*BQA]ĝAyAAȲ<"CD*CҔRCQ#=CHM@CI޵@A)ޱ? : 8:YDW1yY:59@ =I gA) gA I G >A 9A IE toGiE @A A A E ; E E r,h0EA|4<|4a~EREy݀}>I%T5?l޾ B )@9D; b;)W5fM@W1X1 X1W1:W12W9*W9V9bU9BU9*UAUAUEL+.@BGB BA@>*BAOAAA<"CNE*C%ڟRC%$=C%fM@C)c< $= I G >@ r,\0EAY}>D1e@}>LU@y}>s;}>꼘}>HjGL?מ?SȿS q  (?)~>D1e@ ~>_;I~<ɫ99)9 =I9Y}@y}sG@A?AxDUSBL response received:!U1,R,255,000,005D0,189,80,80,8A,FF Fpublishing direction and range info^ɰ=鰁 ) CIyOB3`I-?9D߿ٱi @ @ @ý©ýýiý3@ý Ľ)ĹIĽ@iĽ@|MT=Y#;QU>a~EREy}>I\@5?n޾ B 5)@9D˹; @;)WuL@WqXq XqWq:Wy2Wy*WyVybUBU*UUU.@P*QOBZQG޹tF@^9JQ3`I-?9D߿2Q^:QbQ}HZ&a0@P{y?RQˠEǯp̢?D!?BQ 4@ QAQCP)9?P(9?PQQg@"QJAB-TλB) B)A54>*B1A5A1A9AEC="Cm4E*CujRCu=CuL@Cqe9=iiU=1I9GU>9 2:Yy5z& r,{0EAY}ed@}eT@y}ezû;}ef)}eHw@x=?'|??ǿ`c[ٱfxw^᱿?)~ed@ ~e>_;I~eCɫ11)1 5I9Ym@ymesGDNmea in: $SNTTA,,,,,014745.36*58 im#~j?Mb)\(?m?m mG=)iIiymM?#~j?l񢿙mn2?m=m mh@)mImh@im"Aim(A8M>=Yl;QU>a~EREyV}>IA M:E)'5? M:Es޾ EB M)@9EDE : E:)E :m}Added new target pos. range: 51.779999 m, bearing: 161.178722 deg, deltaT: 15.470490 s, approachRate: -0.573996 m/s, LOS rate: -0.324552 deg/s, posRepo size: 4m ProNav: pos range: 51.779999 m, bearing: 161.178722 deg, approachRate: -0.573996 m/s, LOS rate: -0.324552 deg/s, cmd update: -0.973656 deg/s, cmd heading: 183.451923 deg, new cmd heading: 183.260671 deg. WqL@WX XW:W2W*WVbUBU*UUI@U *B1A]SPAYAYA]?="CeE*Ce/RCem^=CmqL@Ciqq)q q9IoGiO@; E)݉I݉i݉ݍ=ݍ=ݍ$4 u< I G >a, r, E0EAY}2QPd@}2kT@y}24 ;}2 }2H$Q?`*Sv?0ƿl#`:z~?)~2QPd@ ~2 _;I~2Cɫyy)y }IyY@yisGI1)1)QiU=nGIiiiV_ٺMB 5 5 55?5hq5`ei5@5 5@)5@I5@i5@ET:MMO=YM!:QUM>QQaU~EUREYy]mU}]>Iae5?ew޾ eB u)@9eDe: e:)aWL@WX XW:W2W*WVbUBU*UUUl?Bd»B BA0>*BAMAAA:e="CFRC=CL@C֝V/ 11:YU1y:5E3 r,S 0EAY}2@d@}2Z\T@y}2?;}2 _}2Hv|?u?zƿ`k@377}  r?)~2@d@ ~2M_;I~2CɫYY)Y ]IYY@ysGiyymM=Y:QU>a~ESEyC}>I :5? :}޾ B )@9Dw:  :)!:WpK@WX XW:W2W*WVbUBU*UUU?B56B1 B1A5'>*B1A=՗A9A9A=="CEF*CEߓRCE<"$=CEpK@CI ]=]=e }=9 II Ge > j>9 I HnGi @ ; EW: r,W>0EAY}B*>d@}BYT@y}B<}BJ}BH@x?aUv?@`uƿgͳ@ڀwT?)~B*>d@ ~Bb_;I~BCɫYY)Y ]IYY@ysGi 5@ 5@ 5@5©55i5z@5 5@)5@I5i5@E_;ME=YM;QUM(?QQaU~EUSEQy]N&}](?Iae5?e޾ eB m)@9e#De]: e:)aW%K@WX XW:W2W*WVbUBU*UUU?B B BAv(>*BAgAAA="C 3F*C ﶓRCs#3=C%K@C =IG J> : 84:YX1y/:5);9a@ r,*1EAY}2Yc@}2T@y}2<<}2!}2H`@ ?Ym?ſ'oSP2 ?)~2Yc@ ~2`;I~2Cɫ99)9 =I9Y}@y}sG>ip=iMOMM\=YMS;QUU>QQaU~E] SEYy] 9}e>Ia m:e5? u:e޾ eB u)@9e+DeH: e:)e":W6J@WX XW:W2W*WVbUBU*UUU.?B@ϻB BA'>*BAAAA>="C`G*C~RCI8=C6J@C%$=I G%M>)G r,J1EAY}RSsc@}RŽS@y}R(<}Rӓ}RH@@?CZ?`xĿ@ |@פKv@ }m)yIyy}x&?Mb{Gz?}7)?}}#< }@)} AI}XAi}Ay}fABM6=Y:QU>a~ESEyg}>IȹŽ 5?Ž޾ ƽB )@9ƽ5Dǽ]: Ƚf:)ȹWPBJ@WX XW:W2W*WVbUBU*UUU}@B B BA>*BAAAA]E="CeG*C f7RC @5=C PBJ@C9IIq9qIumGiu[@qqqu; uEп8=-?i-? I1Gu>& 3:YU1y:5);$NM r,d71EAY}6b@}6(S@y}66<}6v }6H Ĝ?do3@ÿ`ڱ?Æ4 ?)~6b@ ~64_;I~4ɫYY)Y ]IYY1@yrG)i m m mm7 >m倿mn>im@m mb@)m9@Im9@im@} <M}_=Y;QU>a~ESEy]}>Iș :ŝġ5? :ŝ~޾ ƙ )@9Ɲ=Dǝ+: ȝY:)ȝ#:WI@WX XW:W2W1*W9VAbUiBUi*UqUqUuH@R}B*** querying acoustic contact ***PyPyBJB BA>*BA AAAr}="C$CH*CRC,=CI@C04=IGj>y7T r,Q1EAY}6b@}6}R@y}6@<}6 i}6H @#? Qÿ`Q7H@1@?)~6b@ ~6`;I~6Cɫ99)9 =I9Y}@y}qGZ****** received transponder code query ******F****** received ping request ******  a ~E !SE y }% >I! % i5?% ڊ޾ % B 5 )@9% JD% +: % :)! WU 60I@WQ XQ  XY WY :WY 2WY *WY Va bUa BUa *Ua Ui Um b @B (B  B A >*B A ’A A A v="C HRC ?=C 60I@C m i>9i Im mGim @i i i m ; i U S,=1 IY G >[ r,Cn1EAY} 4b@} R@y} |TE<} #:} H@? DAÿ@`h?)~ 4b@ ~  `;I~ Cɫ) IY.@y%]qG%a=ɮ%a=-xDUSBL response received:!U1,P 255,000,005D0,189,80,80,8A,FF -Command Ack-BRequesting micromodem ping code 2i))=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iiq @ @ @Õ©ÕÕiÕ@Õ ĕƣ@)ĕ@IĕiĕM!M=Y-x:QU-?99aE~EE&SEAy3} ?Iȱ :ŵl5? :ŵ޾ ƵB )@9ƵQDǵ: ȵ+:)ȵ$:W-H@W!X! X!WA:WA2WI*WIVIbUIBUI*UQUQUU%@B^B  B A  =*B A AAA)="CU-H@*C]TĒRCmES=Cm-H@C֕ #@=i Iq G >Ga r,51EAY}:Xb@}:R@y}:H<}:ң}:H@sp?0?U`ÿ@z4 dt 2?)~:Xb@ ~:r`;I~:Cɫ99)9 9I9Y}@y}qGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iyyu=Mx=Y:QU?a~E+SEy<} ?I[5?Q޾  )@9WDӻ: D:)W~H@WX XW:W2W*W V bU BU *UUU`@@B=+ܻBA BAAE>*BAAEoAIAIAMW="CU~H@RCUo=CU~H@CY-SE= IGU1>I]AA)]@Ae eee1 eB5:YeV1ye:e#5eh r,Oʡ1EA|;|;Y}6b@}6RR@y}6F<}6h'}6H`j?,??oÿ΅@ .Ј~?)~6b@ ~6a;I~6CɫYa)a iIiY.@y]qGxDUSBL response received:!U1,R,1D5,000,005A2,186,80,80,53,FF Fpublishing direction and range infoѾɰA=鰭> )BIyDB(geg[?k҃wٿٱi7A`?X9v??6?}= <)IyZd;O?Q롿{Gz?~*?\ …xA)…5AI…Ai…A\A+M<=YvjQU>a~E2SEẙ:}>IC5?9ITlGi@; ޾ B M)@9`D< <)W`G@WX XW:W2W*WVbUBU*UUU-@P*QDBZQFKT|F@73JQ(geg[?k҃wٿ2QѾ:QbQ.|Gi$(@lZE?RQ2FB,u,?60>>?BQ8@ Q6FAQ=P%9?P)9?PQQ@"Qg@Bsy B BA =*BAAAA5="CE`G@*CE2rRCE]=CE`G@CIYYU`T=I!G=>8n r,v1EAY}2cb@}2#R@y}2њM<}2Ν}2H``?̓Q ¿`- o ?)~2cb@ ~2`;I~2Cɫ髹) IY6@y,pG]DNmea in: $SNTTA,,,,,014749.87*5E iii   ý>ý=ýТ>iý=@ý Ľ@)Ľ@IĽ@iĽ@MY=Y5:QU5>11a=~E=9SE9yEqS}E>II u:M-5? u:M_޾ MB u)@9MiDM; M;)M%:muAdded new target pos. range: 49.019997 m, bearing: 165.358224 deg, deltaT: 4.524118 s, approachRate: -0.610064 m/s, LOS rate: 0.923827 deg/s, posRepo size: 4m ProNav: pos range: 49.019997 m, bearing: 165.358224 deg, approachRate: -0.610064 m/s, LOS rate: 0.923827 deg/s, cmd update: 2.771481 deg/s, cmd heading: 179.047127 deg, new cmd heading: 178.680250 deg. W*I@WX XW:W2W*WVbUBU*UU-@H@U- 0?B~\6B BA=*BAAAA="CeH@RCe7=Cm*I@C֝i=e eee6 e;J:YeW1yeč:e55qIyG~>!u r,n1EAY}Rka@}RQ@y}R#O<}R򃙽}RH`'?da@oQ䉿+W?)~Rka@ ~Rǖ`;I~RCɫqy)y yIyY@ypGi))==MET=YEh9QUE>IIaM~EM?SEIyUv}U>IY]5?]޾ ]B e)@9]qD]M: ]߼:)YWKJ@WX XW:W2W*WVbUBU*UUU?BB BA=*BAZAAA:="CGRCц<CKJ@CN=יIGA>U=iQ 9 I (kGi "@ ; E)aIaiaaaeX4N{ r,m1EA|&@i|$Y}Bca@}B6Q@y}BM<}BH}BHO ?/c u䳿 ๣@5?)~Bca@ ~B4`;I~BCɫqq)q qIqY @yoGi!! @ @ @Ý©ÝÝiÝ(@Ý ĝ@)ĝIĝ@iĝ8MA=Y2QU>a~EESEy}>I :A5? :޾ B )@9zDb: M:)&:WK@WX XW:W2W*WVbU!BU!*U!U!U-5?BU>BQ BQAU=*BYA]ĎAYAYA]ԏ="CeFRCe7CeK@Ci }=}=E4|E=IA)AI)IMʕCinGIi m]ٺiuSLBG}Y>%X_@9%)MB] YY]1 ]4:YYyY]#5)]j;9e2 r,~8 2EAɫ髁) IY@yzoGi!!UMUS=Y]QU]>Yaae~EeLSEaym}m>Iqu5?u޾ uB })@9uDu : u8:)qW4L@WX XW:W2W*WVbUBU*UUUW?BGB BA=*BANAAA="CQERCWzC4L@C<שIG!>] r,##2EAY}:~`@}:hP@y}:w\<}:}:HuF?l`@۩J@XJQ?)~:~`@ ~:+`;I~8ɫ99)9 9I9Y}_@y}$oGiQQGz?AAaE~EESSEAyM'}M>IQ ]:U5? ]:U޾ UB e)@9UDU: U4:)U':y9yI}iGi}.@yyy}); }EW%\5N@W!X! X!W!:W)2W)*W)V)bU)BU1*U1U1U5a@BAVB BAh=*BAҍAAA}F="CZCRCr:C\5N@CR5 r,<2EA||45Hi5̤@5 5@)1I5O@i5ƣ@E-MM[=YM9QUM>QQaU~EUXSEYy]9}]>IaeF5?e޾ eB m)@9eDe: e:)aWYO@WX XW:W2W*WVbUBU*U!U!U%@B\RaB BAF=*BA+AAAؚ="CBRCuCYO@C8<?i?ױIGC>o r,V2EAY}N<._@}NIO@y}Ng<}NS}NHt?i{ܸI+`=@NE?)~N<._@ ~N`;I~NCɫyy)y }IyY@y{nGAA)i11u|MuG=Y}C:QU}>yya}~E_SEys }>Iȑŕ5?ŕO޾ ƕB )@9ƕDǕn: ȕ#:)ȑWP@WX XW:W2W*WVbUBU*UIUIUUa;@R]B*** querying acoustic contact ***PYPYBӶdB BANB=*BA6AAA="CʍARCvCP@CסIGB>eeee/ e1:YeW1yeč:e59m@q 9q Iu 3iGiu @q q q u +; u E r,p2EAY}Fn7_@}FRO@y}FQ-s<}Fᴏ}FH5?`_&` ;aeT?)~Fn7_@ ~Fl_;I~FCɫQY)Y YIYYg@ymGZ****** received transponder code query ******F****** received ping request ******==ڿ=>i=­@9 =^@)9I=@i=@MMM =YM;:QUU>QQaU~EUiSEYy]w:}e>Ia m:e}5? u:e޾ utI eB u*@9eDe; e+;)e(:WkR@WX XW:W2W*WVbUBU*UUUr @BVpyB BA =*BA䌼AAA="C5?RC$CkR@C > >= d6IA )E fA I! G= >u r,R2EA|@i|@Y}^y_@}^O@y}^O<}^Z}^Hƺ? .삿  hH4`寿?)~^y_@ ~^_;I~^Cɫ髑) IY@y3mGxDUSBL response received:!U1,P 1D5,000,005A2,186,80,80,53,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iME=YMX;QUM=?IIaM~EUlSEQy]<}RC Cp;S@C!U8R~~ 0:YT1y@:Z51IYG>Y r,2EAY}F-`@}F/IP@y}F<}FyN}FH@?{uԼ@`]#1g˩`M?)~F-`@ ~F`;I~FCɫyy)y yIyY@ylGɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i99/$?p= ף?x&? 7=)Iyףp= ?X9vQ??< xA)jAIAizAMN=999I=lhGi=@999=2; =EY;QU>a~EsSEy<}>I :0`5? :޾ B *@9D]: :)):WMjwT@WaXa XiWi:Wi2Wi*WiVqbUqBUq*UqUyU}[@BiBM*= BIAU;*BQA]CȌAAA"I="CK=RCG)CjwT@C+ױIG>ɮ r,2EAY}F`@}F/P@y}FL<}F9}FH`? [g@𦡿@MI痠@>?)~F`@ ~FV`;I~FCɫQQ)Q UIQYyxDUSBL response received:!U1,R,1F1,000,00575,187,80,80,9B,FF Fpublishing direction and range info޾ɰ=鰝1> )CIyG9B ?tG•GڿٱiiqP=i̬@ -@)t@I@i\@Y 5;QU>a~E ySE y <}>I0L5?޾ B %*@9Dw: :)WEU@WIXI XIWI:WI2WI*WQVQbUQBUQ*UQUYU]@P*QG9BZQ[qE@O8w3JQ ?tG•Gڿ2Q޾:QbQSa" F.hQ`Q,@dĿRQi~_wŝf4?.nlBQ'.5@ QbAQi0P&9?P%9?PQQ`@"Q@B%B! B!A!*B)A-RA)A)A-H="C5<RC5"C5U@C9ԁԁ]彉iim?1IIGuX>} }}}  }5:Y}0Y1y}:}65ܮ r,2EAY} jna@} ډQ@y} N<} +} H@?.Jwᓿo?)~ jna@ ~ `;I~ Cɫ) IYm@ym!mGDNmea in: $SNTTA,,,,,014754.30*5E =i=)iII<Ma~ESEy<}>Iȩ :ŭ-65? :ŭß޾ ƭB *@9ƭDZDǭ: ȭb:)ȭ*:m}yAdded new target pos. range: 46.320000 m, bearing: 162.201024 deg, deltaT: 4.403816 s, approachRate: -0.613104 m/s, LOS rate: -0.716924 deg/s, posRepo size: 4m ProNav: pos range: 46.320000 m, bearing: 162.201024 deg, approachRate: -0.613104 m/s, LOS rate: -0.716924 deg/s, cmd update: -2.150771 deg/s, cmd heading: 191.240046 deg, new cmd heading: 192.464711 deg. W;T@WX XW:W2W*WVbUBU*UU(G@U c?BU苅BQ BQAU\V<*BYA]ѥAAA?="C<*CRCn C;T@CIG>5 h>91 I5 gGi5 F@1 1 1 5 &; 5 EJ׻ r,&2EAY}2b@}2w R@y}2<}2><}2H> ?씿 ¿*?pӇ? ?)~2b@ ~2b`;I~2Cɫ99)9 =I9Yd@ylG{{  .:Y#R1y:5);9iU\>UUhiUG@Q U @)UIUz@iUz@eMe=YmHQUm>qqau~EuSEqy}Ѕ<}}>IȁŅ5?Ņ޾ ƅB *@9ƅұDDž: ȅa:)ȁWw?S@WX XW:W2W*WVbUBU*UUU 9?B KB  B A s;*B A 蠌A A A b="C >>RC " C w?S@C r=  > = I!I ) gAש I G > r,K3EAY}2b@}2R@y}26E<}2;<}2H8?YLÿ @b?aȒğ?`?)~2b@ ~2̗`;I~2Cɫiq)q uIqY@y&lGiAAV[M=Y QU*?a~ESEy=}*?Iȩ :ŭ8 5? :ŭw޾ ƭĝB *@9ƭرDǭ: ȭ;)ȭ+:WR@WX XW:W2W*WVbU BU *U UU.?B]蠌BY BYAe*BaAiAiAiAm-="Cu^?RC}鋽C}R@C]o=%i齹IAGZ> r,r(3EAeg>9aIefGie@e=aae1; eE)Ii4ɫy髁) IYG@yUkGI)AI)Ai!)x&1?!Ki@ )I@i=-M=&=YeQUm>iiam~EmSEyy}>I5?޾ B =*@9Da\< Y<)} }}}) }5:Y}X1y}/:}l5)};WX]Q@WX XW:W2W*WVbUBU*UUU`D)?B aB BAM*BAAUAYAYA]="Ce\@RCe&UCeX]Q@Cai9 I] SkAu (*=iq bٺ SkA FPBe H9 II Ge > r,LOB3EAY}6 r,(\3EAY}:e@}:0U@y}: -<}:[m=}:H 3l?@1@Yȿ=^ Gۮ?@je ?@?)~:e@ ~:a;I~:Cɫ99)9 =I9Y}@y}jGi  =SM=Y=Y=&QU=>AAaE~EESEIyM=}M>IQU5?U޾ UB e*@9UDU8: UD:)QWO@WX XW:W2W*WVbUBU*UUU {@BGB BAB*BA+AAA3 ="CaBRC:9CO@Cܝ׉IG>}}~}~} }1:Y}T1y}@:}59@eh>9aIedGie@e=aae-; eE r,v3EAY}6e@}6V@y}6g|<}6z=}6HVY?Xɿ EWð?:`? ?)~6e@ ~6`;I~6Cɫ99)9 =I9Y}R@y}(jGp=i=i @ @ @©i@ )Ii\@MO=YQU>a~ESEy =} >I5?ë޾ B *@9Dv: i:)WN@WX XW:W2W*WVbUBU*UUU@W@RB*** querying acoustic contact ***PPBe&夼Ba BaAe-*BaAmHAiAiAu ="CaCRCn*<CN@CօC"iIqG:> r,ޏ3EAY}6f@}6V@y}6S<}6=}6HB`n?@'؜ J˿/ ?z밲? s?)~6f@ ~6`;I~6Cɫ99)9 =I9Y}-@y}iGZ****** received transponder code query ******F****** received ping request ******a E SE y<}>I -:5? -:޾ B -*@9D; );)-:We M@WiXi XiWi:Wi2Wq*WyVybUyBUy*UUU @B-B BA5@*BARAAAӉ ="CPDRC4=C M@Cbި L 4:YW1yč:5I!GMt> r,3EAY}2Qg@}2mW@y}2+<}2E=}2H2`OU?陿~|̿^!C]?`^p e??)~2Qg@ ~2`;I~2C 9 I XcGi ȸ@    #; Eɫ99)9 9I9Yؽ@yiGxDUSBL response received:!U1,P 1F1,000,00575,187,80,80,9B,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i!5(\?333333I +?5'?5 59<)1I1y5!rh?I ++?5l'?595= 5OA)5AI5 Ai57 A15 A   |>3i@ )@I@iz@-)M-=Y- QU->11a5E5SE9y]<}e>Iqu5?u`޾ uǝB *@9u DuA< u;)qWmqL@WiXq XW:W2W*WVbUBU*UUU@B]BY BYA]j*BYAeAaAaAe ="CmERCmRV=CqL@Cm m<ׁ I G >3 r,c3EAY}2g@}2bW@y}2W <}2w=}2H&#Zb?@DͿ#?@]]]?`?)~2g@ ~23O`;I~0ɫ99)9 9I9Y}&@y}hG鮁ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)i!!ΙM=YQU?aESEy<}?I :v5? :g޾ ˝B *@9D: :).:WK@WX XW:W2W*WVbUBU*UUU @[C@B5ȼB1 B9A=ա*B9A=nA9A9A=] ="CELFRCMl=CMK@CIMy=IGU2>+  /:YU1y:5 r,p3EAY}2y3h@}2NX@y}2X;}2pQ==}2H#?@W[4ο@MH?Bw`맧??)~2y3h@ ~2-`;I~2Cɫ99)9 9IAY}@y}hGxDUSBL response received:!U1,R,2B2,000,00548,189,80,80,5D,FF Fpublishing direction and range info%ɰ=鰅7> )BIyz.Bڮt=_??5ٱinM[=YQU>aESEyx<}>Ib5?)޾ ҝB *@9D: :)WJ@WX XW:W 2W *W V bU BU*UUU@d@P!*Q%z.BZQ%LydA@&8JQ%ڮt=_??52Q%%:Q!bQ%?`D/@b[ǠRQ%巉d}u?{Z֨BQ%1@ Q%xAQ%#P%(9?P%&9?P%Q%Q%@"Q%`@B]Ba BaAe*BaAeAaAaAm ="Cm'2GRCuGV=CuJ@CyM31= IG-->g>9IbGi&@=0; E=/ r,L3EAY}b^h@}byX@y}b-I;}b`<}bH@ށ?@@Jο`?0i5?`?)~b^h@ ~boA`;I~bCɫ) IY5@y5gGDNmea in: $SNTTA,,,,,014758.79*5F )iIQå?ååQ8iå@á ĥ@)ĥIĥE@iĥE@M.=YQU>aESEy;}>I :1I5? :޾ ۝B *@9#D: :)/:m yAdded new target pos. range: 43.619995 m, bearing: 159.172368 deg, deltaT: 4.440765 s, approachRate: -0.608004 m/s, LOS rate: -0.682012 deg/s, posRepo size: 4m ProNav: pos range: 43.619995 m, bearing: 159.172368 deg, approachRate: -0.608004 m/s, LOS rate: -0.682012 deg/s, cmd update: -2.046037 deg/s, cmd heading: 181.670527 deg, new cmd heading: 180.661602 deg. WI@WX X!W!:W!2W!*W)V)bU)BU)*U1U5\E@U5)?B] ļBa BaAeʽ*BaAm˶AiAiAm,% ="CuDHRCu=CuI@Cym=׹IGh>==== =/3:Y=WU1y=:=H5)= ;9E  r,'4EAY}2Yh@}2uX@y}2N>:}2<}2H` +~?e~ο`L? G??)~2Yh@ ~2u`;I~2CɫII)I MIIY}@y}fGC=i M ף)I II yM Zd;O? rhQ?M ~*?M C M u< I )M AIM AiM AI M \ A #M   a E SE y} ڹ} >I "5? ޾ B  *@9 2D : r:)  f>9 I aGi @ 4; EWM UC]UC:G@C=׹IGD>86 r,aQ4EAY}6Kg@}66gW@y}6:K}6)}6H@3h?`_?Uq̿`I/@8@bs?`?)~6Kg@ ~6#a;I~6Cɫ99)9 =IAY}/@y}eGiM%[=Y%^QU->))a5E5SE9yE}E>IIM5?M ޾ MB m*@9M@DMb; M;)IWF@WX XW:W2W*WVbU!BU!*U!U!U%`?B@B BA/*BA9꒼AAA3N ="CF@RCc >CF@C֥4>׭?i׭?ׁIG=>b r,k4EADDH9HIJaGiJ@HHHJ-; JE)Ii4MMMM: M2:YMWU1yM:M5)Mԏ;Y}^f@}^zV@y}Eh}}w}D=i}@} })}t@I}@i}ҙ@<M)=Y9QU>aESEy}>I  :5?  :޾ B  *@9JD : :)1:WUE@WQXQ XQWQ:WY2Wy*WyVybUBU*UUU`Ʀ@BB BA *BA'AAAl ="CE@RC>CE@C qyinGV\>I5kAiQ4`ٺkANBIG >6H! r,`4EAY}:>e@}:YU@y}:b,}:,}:Hh>?@H? UmȿPࡵ ? `?)~:>e@ ~:b;I~8ɫ99)9 =I9Y]I@y]1eGae@A)qi))eMmv=YuQUu?yya}E}SEy|W}?Iȉō5?ō޾ ƍB *@9ƍQDǍ: ȍ:)ȉWgD@WX XW:W2W*WVbUBU*UUU`*@RB*** querying acoustic contact ***PPBLQB BA,*BAKA A A E ="CgD@RCK>CgD@C >שIG >I9 )9 Au' r,G4EAY}^@+d@}^FT@y}^X}^ҽ}^H܁`?@c? OƿZ`7@? 3B?)~^@+d@ ~^b;I~\  76:Y0Y1y:H59@ɫ髙) IY@y_dGZ****** received transponder code query ******F****** received ping request ****** a E SE y ̼} >I  : 5?  : ޾ B  *@9 ^D : :) 2:W UC@W X  X W :W 2W *W V bU BU *U U U U @B= B9  B9 A= A*BA AE AA AA AE /="CM UC@RCM !>CM UC@CQ M  >IQ )U fA IG5>;. r,4EAY}Nfb@}N׬R@y}N}N}NH p?@?&ÿSI@~?`I¿?)~Nfb@ ~NTb;I~NCɫii)i iIqYĹ@ydGxDUSBL response received:!U1,P 2B2,000,00548,189,80,80,5D,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i=<ME=YYQUX?aESE!y%w}-O?I)-Ң5?-޾ -B =*@9-cD-); -$;))WHB@WX! X!W!:W)2W)*W1V1bUaBUa*UiUiUuÌ @B] BY BaAe;=*BaAeZꗼAaAaAe\T="CmHB@RCm=CuHB@C֍ >aIiG>5 5 |5 |5 - 5 >:Y5 R1y5 i:5 H5n5 r,4EAY}Fa@}FQ@y}Fȧ}Fy }FHc#?Ϥ?@kQeÿ@?`^ÿ?)~Fa@ ~F7c;I~FCɫYY)Y ]IYYӹ@ydGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iyy;MD=Y jQU>aESEy,}>I5?޾  B *@9jDY: f:)W,A@WX XW:W2W*W V bU BUi*UiUqUu@ @B@B BAa;*BAAAA`z="C,A@RC#>C,A@C>יIGA>ܩ 9ܩ Iܩ iܩ ܩ ܩ ܭ Dܭ %; ݭ E; r,4EAY}>ma@}>#Q@y}>}>[(}>H`?@? (TsĿ`Q]?Ŀď?)~>ma@ ~>b;I~>CɫQQ)Q UIQY}@y6dGxDUSBL response received:!U1,R,236,000,0051E,189,80,80,5C,FF Fpublishing direction and range info'ɰ=鰑 )BIyf$BZ,?AvW޿ٱ 鼩i%>w=iכ@ E@)@I@i@ F̼MD=YPXQU>aETEy%}%>I) 5:-y5? 5:-[޾ -B =*@9-sD-: -:)-3:W]@@WYXY XYWa:W2W*WVbUBU*UUU`g@P*Qf$BZQo2B@*|3JQZ,?AvW޿2Q':QbQp=tCnxF -@%5`J@RQk}z?e?BQ1@ Q^hAQP'9?P(9?PQQA"Q@B B BAF*BAKA9A9A=="CE@@RCM>CM@@CIU=1I9G]v>= = = = + = 2/:Y= U1y= := 5)= ;9E jB r, 5EA|0i|2@Y}[`@}5P@y}E}3,}H0??dž ] Ŀ/?`kſw?)~[`@ ~/Jb;I~ɫii)q qIqY@y;dGTNmea in: $SNTTA,0.042746,,,,014803.09*44 I)i!!m:MmE=YmQDQUu>qqauEu TEyy}c}}>IȁŅc5?Ņ޾ ƅB *@9ƅ{DDžf: ȅr:)ȁmuAdded new target pos. range: 41.099998 m, bearing: 159.206573 deg, deltaT: 4.353448 s, approachRate: -0.578851 m/s, LOS rate: 0.007857 deg/s, posRepo size: 4mm ProNav: pos range: 41.099998 m, bearing: 159.206573 deg, approachRate: -0.578851 m/s, LOS rate: 0.007857 deg/s, cmd update: 0.023571 deg/s, cmd heading: 172.779454 deg, new cmd heading: 171.930643 deg. WuA@WqXq XqWq:Wq2Wy*WyVybUyBU*UǓD@Uv?BWLB B A E*B A 6AAAW="C]A@*Ce]#RCem=CeA@Cim>QIqG>H r,Y$5EAY}6X>_@}6YO@y}6K}6E/}6HHC?=?c@ wſ@ȗ?@ſ`?)~6X>_@ ~65a;I~6Cɫyy)y }IyYF@ycGiIIHzG?+333333?=J? =)IyV-?{Gz?# xA)"AIp AiAAcMR=YaETE y u }>I :O5? %:޾ B %*@9D: :)4:WEA@WAXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU]Li?B B BAL*BAԜAAA="CA@*C?БRCć=CA@CQ9QIQiQQQUDU4; UEM=I)GEQ>]  ] |] |]  ] K6:Y] R1y] i:] 5)] ;/N r,X>5EAY}6^^@}6ϬN@y}6Ǽ}6{F/}6H@b ?٣?j:l Jsſ\?`ſ`?)~6^^@ ~6a;I~6CɫII)I MIIYm@ymcGI@)i5>55i5ף@1 5@)5E@I5E@i5­@=[˼MEV=YEL7QUE>IIaMEMTEQyU }U>IY];5?]޾ ]!B m*@9]DY ]#:)YWA@WX XW:W2W*WVbUBU*UUU??B- B) B)A-V*B1A5/A1A1A5="C]A@*C]"xRC]=CeA@Ca֍=iIqG[>U r,#X5EA||;Y}6]@}6N@y}6gWռ}64/}6H`r??Brwſ`'?]ſ ?)~6]@ ~6`;I~4ɫ99)9 =I9Y׸@yicG==i==iAAr!MF=YsQU>aETEy!}>Iȱ :ŵ&5? :ŵ޾ Ƶ%B *@9ƵDǵb: ȵ :)ȵ5:W A@WX XW:W2W*WVbUBU*UUU`:m?B B BAZ*BA>AAAU"="C A@*CRCV=C A@CA!=סIGA>u e>9q Iu 7`Giu >@q q u Du /; u E [ r,1q5EAY}B]]@}B.yM@y}BἙ}B+}BH`r`7?`?@l}Ŀ3?Eſ`?)~B]]@ ~BK`;I~BCɫYY)Y ]IYY@yi}\@y }@)}@I}i}K@7MK=YtQU>aE&TEy`Ƽ}>Iȡť5?ť޾ ƥ)B *@9ƥDǥj: ȥ:)ȡW A@WX XW:W2W*WVbUBU*UUU?B-B BA{_*BAAA!A%%;="C% A@*C-9АRC-=C- A@C1EA=I)GEQ>u v u u u : u Q:Yu T1yu :u 5)u [;b r,Ƌ5EAY}6\@}6L@y}6]u}6ː$}6H@l>?\C?`@=Ŀ@?ByĿ ?)~6\@ ~6`;I~6Cɫ99)9 =I9Y}Y@y}bG i6MR=YrQU>!!a%E%,TE)y->}->Iȑŕ#5?ŕ%޾ ƕ-B *@9ƕDǕ8: ȕf:)ȑWMA@WX XW:W2W*WVbUBU*UUU`%@BBB BAj*B A 鈢A A A @R="CMA@*CRC=CMA@C ٦=IG*>Xh r,5EA|i|@Y}F[@}FK@y}Fk=}F}FH`^͟?`?@.Mߗÿjf?Kÿ?)~F[@ ~FK_;I~FCɫ髙) IY@ycGAAIA)A)iQY%S㥛?)\(?~jtx?%$&?%G= %;)!I!y%Pn?Mb`{Gzt?%$?%%ף; %A)%=AI% Ai%/A!%\AE]=ME9=YEbyQUM>IQaUE]3TEayu}}>Iȁ :Ņ5? :Ņ޾ ƅ2B *@9ƅDDž2: ȅ~:)ȅ6:W<A@WX XW:W2W*WVbUBU*UUU4@RB*** querying acoustic contact ***PP9I`Gi@=0; E)ݙIݙiݙݝ=ݝ=ݝ4BMyBI BIAMR*BIAU AQAQAUk\="C]<A@*C]:/RC]1À=C]<A@Cuʞ=QIYGu>u u u u = u l3:Yu W1yu č:u 5)u >;i nGI i M g^ٺI M MB"o r,||5EAɫyy)y yIyY̸@y\cGZ****** received transponder code query ******F****** received ping request ******-C˾->i-@) -z@)-I-@i-&@=M==Y=QUE>AAaEEEIY e:]^5? e:]޾ ]9B e*@9]D]: ](:)]7:WA@WX XW:W2W*WVbUBU*UUUj @BB BA>\*BAAAAh="CA@*CӏRC6=CA@C W^=ׁ I G >w v r,^5EAɫ髱) IY@ycGxDUSBL response received:!U1,P 236,000,0051E,189,80,80,5C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i99<M=YQUE?aE@TEy}??I9=5?=޾ = d>9 I i = %   H 6:Y U1y : 5) #; ;; E4| r,25EA||piM̬@I M@)M@IM@iM@e <MeP=YeQUe>iiamEmFTEqyu}}>Iy}5?};޾ }BB *@9}òD}: }:)yWMOA@WIXI XIWI:WQ2WQ*WQVQbUQBUY*UYUYU]`@BB BA[N*BAj!AAA="COA@*CGkRCs(=COA@C7J=IGj>U r,A 6EAY}J Z@}J()J@y}Jv }JH}JH@-ۈ?@b?@N¿ N? _¿n?)~J Z@ ~J`;I~JCɫ髉) IY@ycGxDUSBL response received:!U1,R,19C,000,0080E,185,80,80,70,FF Fpublishing direction and range infoXɰ(>鰽+> )BIypB|3?\]㒄ֿٱiQQ YYYYmMu:=Yud4QUu>yyaEMTEy_}>Iș :ŝZ5? :ŝx޾ ƝHB *@9Ɲ̲Dǝ; ȝ[;)ȝ8:W%:A@WAXI XIWI:WI2WQ*WQVQbUYBUY*UYUaU@P*QpBZQ^@-T@;g;U>JQ|3?\]㒄ֿ2QX:QbQuWAT4=p<@uL_T@RQ#bڻSJA?O X?BQQ3@ QAQP9?P'9?PQQMA"QABbW B BAR*BAEAAAAET="CM:A@*CMp(RCM0=CM:A@CQԁԁ=$?=I1Guy>e =ie =u T u u u  u ::Yu WU1yu :u 59} @F r,G&6EAY}fY@}f0J@y}f> }f}fHBD:?|?`E |@ ??)~fY@ ~f_;I~fCɫ髹) IY5}@y56dGTNmea in: $SNTTA,0.027210,,,,014807.54*4D )i9yCIaGi@ Cl?`"?~jt?;??= <)IyCl? rh ףp= ?;?C Q8= A)AI7 AiA3AÅ(>Å^ÅGa=iÅ@Á ąz@)ąҙ@Iąҙ@iąҙ@<M,=YQU>aEUTEyƤ}>Iȱŵu5?ŵ޾ ƵYB *@9ƵղDǵ?: ȵ:)ȱmuAdded new target pos. range: 86.220001 m, bearing: 160.534690 deg, deltaT: 4.472014 s, approachRate: 10.089415 m/s, LOS rate: 0.296984 deg/s, posRepo size: 4m ProNav: pos range: 86.220001 m, bearing: 160.534690 deg, approachRate: 10.089415 m/s, LOS rate: 0.296984 deg/s, cmd update: 0.890952 deg/s, cmd heading: 172.884786 deg, new cmd heading: 172.895643 deg. WA@WX XW:W2W*W V bU BU *UUU@U?BEG BA BAAEF*BAAM AIAIAM="CUA@*CU뎽RCUIJ =CUA@CY5#'= I G5 >1 r,p@6EA| i|"@Y}^ИY@}^BI@y}^!}^}^H@ݴv?`R?୉-`8ѡ?6?)~^ИY@ ~^0_;I~^Cɫ髑) IYǹ@ydGiQQ<M.=YbQU>aE\TEy%}>Iȩ :ŭ]5? :ŭh޾ ƭjB *@9ƭ߲DǭA: ȭ :)ȭ9:WF B@WX XW:W2W*WVbUBU*UUUY?B3B B!A%<*B!A%tA!A!A%z="C-F B@*C5mRC5Qs<C5F B@C1 C =     84:Y W1y č: H5 I G% >X r,oZ6EAY}6!4Y@}6OI@y}6}6{}6H10?@Bo@@?@ ?)~6!4Y@ ~6~_;I~4ɫYY)Y ]IYY@ydGi  UM]=Y]ҿQU]@?aaaeEe`TEaym ټ}m@?IkP5? ޾ rB *@9Dg: :)W;HB@WX XW:W2W*WVbUBU *U U U ?B=B9 B9A=(>*BAAEN2AAAAAE^="CM;HB@*CMqRCU -<CU;HB@CQ e=e=֍G gA fA 9 I i 4; EC r,t{t6EAY}J0X@}JI@y}J}Jij}JH@n_o?:8.Le? a?)~J0X@ ~J{_;I~Hɫyy)y yIyYĹ@ydGi!!u>u bu۹>iu(@q q)uIu@iun@;MG=Y1QU>aEfTEy+}>Iȡť;5?ťi޾ ƥB *@9ƥDǥM: ȥ{:)ȡWB@WiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUyU`B?B B BA;=*BAyAAA*{="CB@*ChRC<CB@C8<IGj> >   / 8:Y U1y : 5vl r,%\6EA||4<ɫ髩) IYQ@ydG iM9=YQU>aEnTEy}>I :_$5? :޾ B *@9Drx; th;)::WC@WX XW!:W!2W!*W)V)bU)BU)*U)U1U5  @B]ZBY BaAeK*BaAeگAiAiAmy="CuC@*Cu?RCu9;CuC@Cy}l;Ǖ r,36EAY}J*.Y@}JII@y}J3b}JQҽ}JH{$@a?l`6 GK?: ?)~J*.Y@ ~J_;I~JCɫyy)y }IyY@y;dGiܙ9ܙIܙiܙܝ=ܝRDܙܝ1; ݝE%C?K7A`?lZ?+> )Iy"~j?ˡEI +?S#?'94= A)AIAiA A}>}Mb}=i}@y }E@)}@Iyi}z@^<M==YiQU>aEtTEy;}>IȩŭK 5?ŭ޾ ƭB *@9ƭDǭ: ȭ:)ȩWC@WX XW:W2W*WVbUBU*UUU`{x@BB BAE*B!A%4A!A!A%%v="C-C@*C-RC5:C5C@C1AEgAU&$<)I9GU>    ! 2:Y Y1y : 5) ԏ;9 | r, 6EAY}6ZY@}67vI@y}67}6Ƚ}6H`f?y,?y@u? `?)~6ZY@ ~6f_;I~6CɫII)I MIIY}ǹ@y}dGAAi<M=Y;QU?aEyTEy=<}?I :5? :O޾ B *@9DV: :);:W}C@WX XW:W2W*WVbUBU*UU U @RB*** querying acoustic contact ***PPB=L%B9 B9AE<*BAAE@$AAAAAEy="CM}C@*CM-RCM(79CU}C@CQ50;IG>< r,6EA|i|ɫ髱) IY@y[dGZ****** received transponder code query ******F****** received ping request ******=YuQU}>yyaETEy}>Iȑŕ5?ŕ޾ ƕB *@9ƕ DǕ=: ȕ:)ȑWqID@WX XW:W2W*WVbUBU*UUU f @B#B BARB*BA{AAA\x="CqID@*CԍRC/ʭCqID@C] ;ױIGf>ܩ 9ܩ Iܭ daGiܭ 2@ܭ =ܭ QDܩ ܭ 9; ݭ E)͉yCI͉yCiɉɉɉ͉4    < N2:Y DW1y Y: ~5) G;1Ѽ r,P6EAY}>^=Y@}>XI@y}>"}>}>H]??:r`"4ס? U;?)~>^=Y@ ~>_;I~>CɫYY)Y YIYYg@yUeGxDUSBL response received:!U1,P 19C,000,0080E,185,80,80,70,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iYaЕCiYIiUٺDBȖ>i@ @)I@i@I=M"=Y+9QU>aETEyi}>I :65? :޾ ͞B *@9D: :)<:WmD@WqXq XqW:W2W*WVbUBU*UUU @BjB BA(*BAAAAj="CD@*CRCZCD@C == #2Iށ )ޅ @A I G > r,7EAY}^#Y@}^?I@y}^>j}^/}^H@  y y # 1:Y P1y ': #59 @; r,x)7EA||p;Y}6=#Y@}6>I@y}6V}6~o}6H`G?`/?Pfg歿z?@ﭿ?)~6=#Y@ ~6A`;I~4ɫ99)9 =I9Y} @ydGxDUSBL response received:!U1,R,1F2,000,004C9,187,80,80,69,FF Fpublishing direction and range info/޾ɰ=鰕1> )BIyB-?˽&@ڿٱi999I9i9999=6; =E?S㥫{Gz?L?/] #=)Iy^I +?y&1|~jtxX?`Ļ ¥XA)¥AI¥Ai¥OA Aõ=õ\õiõG@ñ ĵO@)ĵ @Iĵz@iĵ\@M0=YQU>aETEy?}>I %:5? -:޾ ܞB -*@9&D¿; +;)=:Wm&E@WqXq XqWq:Wq2Wq*WyVybUyBUy*UUUZ@P*QBZQO]S@@7P.JQ-?˽&@ڿ2Q/޾:QbQ"@R@i5A.@\c@RQi\?v?BQn-@ QpAQP'9?P9?PQQ@"QMAB I B  B A 1*B A AAA.]="C&E@*C=}RC=<ļC=&E@CAMON1 II Ge > r,x`C7EAY}9GY@}bI@y}t}W}H`qi?@ɢ?t@Nܪ@s? 謹1?)~9GY@ ~^`;I~Cɫ) IYMc@yUQeGTNmea in: $SNTTA,0.061052,,,,014811.97*43 )i))M<MUe=YU88QUU>YYa]E]TEYye;}e>Iim5?m޾ mߞB u+@9m-Dm: mM:)im}Added new target pos. range: 35.999996 m, bearing: 155.264994 deg, deltaT: 4.478833 s, approachRate: -11.212744 m/s, LOS rate: -1.176578 deg/s, posRepo size: 4mrPowering the camera and arming the DDM at range: 36.00 m.Xm ProNav: pos range: 35.999996 m, bearing: 155.264994 deg, approachRate: -11.212744 m/s, LOS rate: -1.176578 deg/s, cmd update: -3.529734 deg/s, cmd heading: 176.881649 deg, new cmd heading: 177.188739 deg. W@8D@WX XWX:W2W*WVbUBU*UUA@U`?BB BAS)*BAAAAY="C5D@RCu-C@8D@C!%hAoE?i?ױIGe>   D 4:Y 0Y1y : 55 r,]5]7EAY}6hY@}6DI@y}6:_}6=1I}6HFu??@S}Cʢ?:@?)~6hY@ ~6>`;I~6Cɫ11)1 1I1Yuú@yueGI@) @i!)1<M=Y˹QU>aETEyif;}>! 9! I% aGi% @! ! ! % 4; % EI = : wr5? E : ޾  B E +@9 8D ':  :) >::e ue Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;e vm ZEntering USBL mode with 5.000000 count pings.1;m q;m Wu ;A@Wq Xq  Xq Wy Xy :Wy 2Wy *Wy V bU BU *U U U i?BU bBQ  BQ A] J*BY A] AY A A =="C ;A@RC \<C ;A@C *ש I G > r,[^z7EA|i|ɫ髑) IY@yeGiAAýG=ýLý#>iý@ù Ľ­@)Ľz@IĽ\@iĽE@ԇ<M=YQU?aETEy}?Ic5?޾ B +@9=D: n:)X@q;uCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:uAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLW%@@W!X! X!W!X!:W)2W)*W)V)bU1BU1*U1U1U5Qr?BegBa BaAm3*BiAmX"AiAiAm';="CuX#A@RCuq+=C}@@CyօbިAIIGeV> : n:YT1y:5 r,:7EAY}F)Y@}FI@y}F!P}FP)}FH@L?@G?`gs~뤿?@$ X?)~F)Y@ ~FPĄ;I~FCɫ15)1 1I9Yqyyi Y}0QU>aETEy+[<}>IO5?޾ B }+@9ED>< <)W5A?@W1X1 X1W1X9:W92W9*W9V9bUaBUa*UaUaUm?B6B BA*BA9AAAO*="CA?@RC{=CA?@C ==u<ױIG> r,}#7EAY}~JZ@}~J@y}~}~ }~H`\???ʐntS?@?)~~JZ@ ~~̏;I~|191I5bGi5&@1115>; 5Eɫ%))) )I)Ye@ymeG 鼡i 鿩5Gz?Dl ףp= ?5?5O 5Q=)1I1y5RQ?Mb)\(?5"?55Ga= 5A)5AI5rAi5A153 A @ @ @Õ©ÕÕiÕ@Õ ĕ)ĕIĕE@iĕ\@u:MaETEy@ <}>I :65? :i޾ B +@9OD: :)?:W`V=@WX XWX:W2W*WVbUBU*U U U `@BPB  BA*BA-IAAAz="C`V=@RC%Ҁ=C%`V=@C! 2:YU1y:Z5)|;9 % < I G5 >C r,$7EA||;ɫQU)Q QIYYW@y}fG@A@A=i>)i=Mt=YQU?aETEy}?Iȩŭ$5?ŭX޾ ƭ B +@9ƭUDǭ: ȭ:)ȩW^<@WX XWX:W2W*WVbUBU*UUUX@B B BA% *B!A%A!A!A% ="C-^<@RC5#=C5^<@C1ey=!I1GUS> r,%7EAY}VHZ@}VBdJ@y}V`}VJ(}VHC??B ?ኣ?T?)~VHZ@ ~VM;I~VCɫyy)y yIyY.@ygG!9!I%bGi%w@!!!%6; %E -:YDW1yY:5)H;i) ) I5 =)5 4=    Å Ȧ?Å >Å iÅ @Å  ą \@)ą \@Ią h@iā 2=M =Y }8QU > a E TE y ;} >Iȱ  :ŵ 5?  :ŵ R޾ Ƶ #B  +@9Ƶ bDǵ I: ȵ :)ȵ @:W +9@W X  X W X :W 2W *W V bU BU *U U U (@R B*** querying acoustic contact ***P P B ^B L= B A ߽*B A A A A ="C +9@RC ->C +9@C - gA- gA =ױ I G >} r,7EAɫ髉) IY@yFgGZ****** received transponder code query ******F****** received ping request ******="Co;9@RC>CJ8@C-(= IG5p>^r,8EA|&@i|&@Y}Fq3Z@}FNJ@y}F#}F"Z}FH 踑?4?"쓿` Wz?@T?)~Fq3Z@ ~Fh;I~FCɫaa)i iIiYջ@ygGp=ɮp=xDUSBL response received:!U1,P 1F2,000,004C9,187,80,80,69,FF Command AckBRequesting micromodem ping code 2iIA)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i  ]4MeH=Yu+QU}>aETEQyeK}m>I  :15? :L޾ =B +@9nD< R<)A:Wo 7@WX XWX:W2W*WVbUBU*UUU s @BMBQ BQAU*BQAU\AQAQA](="C]o 7@RC3>Co 7@Cօ=YIyG>}}~}~} }1:Y}T1y}@:}59@ r,0b08EA$9$I&XcGi&ȸ@$$$&=; &E)Ii 94Y}fZ@}f/J@y}f*}f煽}fHL?@?_\?@6``?)~fZ@ ~f;I~fCɫQQ)Q QIYY@yFgGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iFx?MbX9?S㥛?+?!> /<)Iy^I +?:vZd;O?X?Լj< ‘)•OAI•Ai•A A @ @ @©i@ )I&@i<M&=YgQU >  a E TEy;}>I5?޾ IB -+@9wD: Q:)iISkAi =E]ٺ=SkA=gKBWeA5@WiXi XiWiXi:Wi2Wq*WqVqbUqBUq*UUU@BEB BA*BA+:AAA(="CA5@RCH>CA5@C!- .= = 0>= > >I fA) I G% >sr,HJ8EAɫ髱) IY@yAgGxDUSBL response received:!U1,R,1D2,000,00497,186,80,80,64,FF Fpublishing direction and range info5оɰ=> )BIyBȨc?/Pٿٱi-M5=Y5QU5?99a=E=TE9yE}E?IIM5?M޾ MQB U+@9M}DMA: M:)IWU4@WQXQ XYWYXY:WY2WY*WaVabUaBUa*UiUiUm@R}(Combining 5 samples.P*QBZQz;.O>@@"*JQȨc?/Pٿ2Q5о:QbQx>s(@>ԥ@RQ5$!B_:?k?BQW)0@ QGAQP&9?P'9?PQQ@"Q@BqB BA*BAAAAx="C%4@RC-W>C-4@C)K=5!8> IG5>}}}}}} }d0:Y}kS1y}Ԋ:}5r,$d8EAY}vX@}vH@y}vS/<}vP8}vH@WfjyQ? G^?|`# ̃?[@?)~vX@ ~v;I~vCɫ) IY.@ygGuDNmea in: $SNTTA,,,,,014816.49*59 }>iyi=s}<M=:=Y=NQU=>AAaEEETEIyU5}U>IY e:]5? e:]޾ ]\B e+@9]D]<: ]v:)]B:muAdded new target pos. range: 32.999996 m, bearing: 157.707961 deg, deltaT: 4.440687 s, approachRate: -0.675571 m/s, LOS rate: 0.550133 deg/s, posRepo size: 4mrPowering the camera and arming the DDM at range: 33.00 m.Xm ProNav: pos range: 32.999996 m, bearing: 157.707961 deg, approachRate: -0.675571 m/s, LOS rate: 0.550133 deg/s, cmd update: 1.650398 deg/s, cmd heading: 161.195792 deg, new cmd heading: 159.745960 deg. W4@WX XWX:W2W*WVbUBU*UU@@U f?B"B BA߽*BAAAAG="C;3@*CRCE>C4@C @o=9=gAA9AIEcGiE@AAAE?; E—E]&>בIG>r,Q}8EAɫ) IY-@y-tgGI @)@i   =$ƾ?i@ @)z@Iz@iz@pM1=YQU>  a E TEy}>I5?q޾ iB %+@9D: r:)W5@WX XWX:W2W*WVbUBU*UUUy?BM>BQ BQAU*BQAUAi¼AQAyA} ="C 5@RC+.>C5@Cϑϑ)б бu=iu=  gF:YV1y:5= &V> I! G= >%r,n8EAY}2V@}2F@y}28O}2)}2H aV`T?=??`@ ?@zQ?)~2V@ ~2)Pn;I~2Cɫ11)1 1I1Y[@ygGiIQW<Mz=YlQU?a E TEyMս}U?Ii u:mS~5? u:m޾ msB }+@9mDm: mD:)mC:W5O6@WX XWX:W2W*WVbUBU*UUU?B]BY BaAeԽ*BaAen¼AaAaAe ="Cm5O6@RCm>Cu5O6@Cq֕W>iIqG}> +r,e8EA9IdGi@<; E|:@i|8Y}ftU@}fE@y}f@[}f)}fH @o@'??`xM¿ d?bU?)~ftU@ ~fM1g;I~dɫ) IYUL@yUgGI)iuV?q= ףp??r(?= <)Iyx&1?aETEy E#} >Ih5?޾ ~B +@9Dʽ: n:)WE=7@WAXA XAWAXA:WI2WI*WIVIbUQBUQ*UQUQUU`7?BoB BAsؽ*BA üA A A | ="C=7@RCEJ=CE=7@CI%HF>IGj>}} +:YkS1yԊ:5)ĉ;9a2r,C8EAY}>cT@}>D@y}>e}> $}>HLnL|t? 8?`M}5Ŀs?@bĿ ^?)~>cT@ ~>sb;I~>Cɫ) IY @y hGiyy 鿍A<M==YĻQU>aETEaym}u>Iy :}zP5? :}R޾ }B +@9}D}n; }¿;)}D:W7@WX XWX:W2W*WVbUBU*UUU@BmtBi BiAmN*BqAuiļAqAqAu" ="C7@RC=C7@C֕>iIyG>8r, $8EAY}R:S@}RUC@y}R+m}R0}RHw J?׶?^`@ƿ@??ſx?)~R:S@ ~R `;I~RCɫqy)y yIyY@yhG)ai =Mk=Y޶QU?aEUE!y%a}%?I)-B?5?-/޾ -B =+@9-D-: -:))W]8@WYXY XYWYXa:Wa2Wa*WaVabUiBUi*UiUqUuW@BB BAc*BA9ļAAA ="C-8@RCEE=CM8@CQ)9)I-LeGi-_@)))-9; -E=>IGUv> [/:YDW1yY:5);P?r,78EA|4<|ɫ髙) IY @yhGAA=i=imH>m=mףaE UEy}>I :H"5? :F޾ B +@9D8: :)E:W9@WX XWX:W2W*WVbUBU*UUU `f@RB*** querying acoustic contact ***PPB=iB9 B9A=P*B9AEߓżAAAAAE\S ="CM9@RCMc U=CM9@CQ֥ >y I G >OEr,9EAY}RP@}RA@y}R&y}R5}RH/3?)ӿ? 75@:hǿp4?`ƿo?)~RP@ ~R];I~RCɫ) I YUɽ@y]iGZ****** received transponder code query ******F****** received ping request ****** 11:YV1y:59@% e>9! I% xfGi% S@! % RD! % ;; % ELr,29EAY}NO@}N@@y}NQ{}Nq4}NHb¿*?`?@%Lǿ;k?eƿ@q?)~NO@ ~N];I~Lɫyy)y yIyY@yiGxDUSBL response received:!U1,P 1D2,000,00497,186,80,80,64,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iyy ?Oi@ @)I@iƣ@%k;M%A=Y-QU->)1a5E5UE1y=}=>Iȉ :ō 5? :ō޾ ƍşB +@9ƍƳDǍ$< ȍ$<)ȍF:W:@WX XWX:W2W*WVbUBU*UU!U% @BB BASr,JL9EA|i|@Y}J2O@}JTN?@y}Jz}JX1}JH`ґ`zĿP#? ff?`$@ƿ7W?ſ@v?)~J2O@ ~JH];I~Hɫ髱) IY@yiGa=ɮR=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iiiy;Mf=YW9QU>aEUEy }>I 5?F޾ ԟB +@9ͳD2; 4;)Wn;@WX XW!X):W)2W)*W1V1bU1BU9*UUU`FS@B-B1 B1A5_*B1A5ƼA1A1A= ="CEn;@RCEt̼CEn;@CA5V=I9)9IG=q>~~  R.:YT1y@:m5'Yr,0ff9EAɫ髁) IY8@yjGxDUSBL response received:!U1,R,0FC,000,0046B,186,80,80,58,FF Fpublishing direction and range infoz0aɰM= )BIyAɵ:?'$˿ٱ)i19u}<Mua=Y}QU}>yaE#UEy}>IȑŕA 5?ŕ޾ ƕB +@9ƕԳDǕ: ȕ:)ȑW4<@WX XWX:W2W*WVbUBU*UUU@R (Combining 5 samples.P *Q AZQ J=@dy'}JQ ɵ:?'$˿2Q z0a:Q bQ JW3+<Z%@c3Tɛ@RQ V*E s ?r=C?BQ `1@ Q .AQ ]P %9?P &9?P Q Q SA"Q @B.>B BA:*B A ƼA A A U ="C4<@RCkC4<@Cd>9IgGiF@QDDD; ėE)AIAiAAAEW\4lT=IG>IލAA)ލBAQ Q i mGI jAi % ٺ% jA- B`r,QJ9EAY}5M@}5/>@y}5q}5}5H_yVƿ`g ??` Ŀ /?`|yÿ6?)~5M@ ~5v];I~5C:Could not parse whisker stateɫ) IY]@yejGDNmea in: $SNTTA,,,,,014820.92*5A  -:YU1y:H5i "[? f >i @ @) I @i @ x<M% ) ) a- E- .UE) y5 ۼ}5 w>I9 E := 5? E := L޾ = B M +@9= D= 4: = A:)= G:m uAdded new target pos. range: 30.359999 m, bearing: 158.796967 deg, deltaT: 4.424308 s, approachRate: -0.596703 m/s, LOS rate: 0.246141 deg/s, posRepo size: 4m rPowering the camera and arming the DDM at range: 30.36 m.X m  ProNav: pos range: 30.359999 m, bearing: 158.796967 deg, approachRate: -0.596703 m/s, LOS rate: 0.246141 deg/s, cmd update: 0.738424 deg/s, cmd heading: 168.490836 deg, new cmd heading: 169.681329 deg. W <@W X  X W X :W 2W *W V bU BU *U U (\>@U @?BUԼB BA*BACǼAAA ="C<@*C䌽RCaC<@C֥qZ;׭?i׭?yIG ?bhr,,9EA|;|ɫ) IY-@y-kGi-K7A`?J +Mb?-+?-Ƚ -<))I)y-X9v?Q롿q9qIuhGiu:@qqqu=; uEnr,59EAY}2L@}2$<@y}2j[}2}2H [FɿK?`?3% i?@ɻ?)~2L@ ~2#\;I~2CɫYY)Y YIYY}0@y}tlGi=,==Xɿ=1?i=@9 =@)9I=ƣ@i=ƣ@M$9=MM]=YMoaE9UEyk}>I : 5? : ޾ B +@9D: ]:)H:WS=@WX XWX:W2W*WVbUBU *U U U  ?B=DǼB9 B9A=*B9AAAAAAAEP ="CMS=@*CM䌽RCMPCUS=@CQIiM=] ]]]K ]5:Y]W1y]č:]5)],;9eEI G%N>our,9EAY}2L@}2,<@y}26Q}2Wvݽ}2Ha@rȿ G?)?4֗4?෗y?)~2L@ ~2|\;I~0ɫII)I IIIY]@y]lG ugAugAiqq<MA=Y;QU>aE?UEy<}>I" 5?޾ B  +@9D: :)W5=@W1X1 X1W1X1:W92W9*W9V9bU9BUA*UAUAUE8?BuV^¼Bq BqAuL <*ByA}5ǼAyAyA}#="C=@*C錽RC+C=@C֥X;Iױ)ױ׉IG>>{r,9EA|i|@Y}6=M@}6Y=@y}6 D}6ix}6H mǿ?@VE?N:R?_\?)~6=M@ ~6?\;I~6C-e>9)I-iGi-ݽ@)))-8; -Eɫ99)A AIAY@ymGiAAÕף;Õj<Õ+iÕz@Ñ ĕƣ@)ĕ@Iĕ@iđp(=MO=Yd aEFUEy<}>I :'l 5? :W޾ $B +@9D: @:)I:WD=@WX XWX:W2W*WVbUBU*UUU G@BB BAv<*BA ǼAAAǚ="CD=@*CeRCܜCD=@C , z.:Y0Y1y:5);׹IGE>r, :EAY}:M@}:9=@y}:Z`6}:;}:H { ƿP?0?Pn tʦ?9_?)~:M@ ~:|\;I~8ɫ99)9 9IAY]@y]|mGe@AeAAiqq M_=YaEKUEyB<}>IȡťY 5?ťo޾ ƥ+B +@9ƥDǥ+: ȥ:)ȡWK>@WX XWXQ:WQ2WY*WYVYbUYBUY*UaUaUe`8W@RmB*** querying acoustic contact ***PiPiB}B BA><*BAtƼAAAV="CK>@*CRCCK>@CIީ)ޭ@AIGH>r,Y$:EAY}6=CN@}6^>@y}6 )}6u'}6H zſRU?ED? $%?`褿`/?)~6=CN@ ~6 ];I~6Cɫ99)9 9I9Y}@y}WnGZ****** received transponder code query ******F****** received ping request ****** 5`;)1I1y5M?Zd;O~jtx?5n?5j5; 5A)5AI5Ai5OA15 AU@=MU1=YU~;QUU>YYa]E]SUEaye<<}e>Ii u:mC 5? u:m`޾ m3B }+@9mDm: m:)mJ:Wp>@WX XWX:W2W*WVbUBU*UUU@B]NBY BYAe3=*BaAm.ƼAqAqAu1 =.   }7:YT1y:m59@"Cp>@*CRCCp>@C)!9!I%`jGi%@!!!%,; %E֕̓ם?iם?iIyG>i֎r,;>:EA|4<|Y}6N@}6>@y}6o}64g}6H@ 2nĿ`?`O?`˜̣?` Ȗ?)~6N@ ~6[];I~6Cɫ99)9 9I9Yu@y}nGxDUSBL response received:!U1,P 0FC,000,0046B,186,80,80,58,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 im ?m`m>im@i m@)iIm@im@<MD=Y;QU>!)a-E-ZUE9yE<}m>Iy}/ 5?}޾ }9B +@9}D} ; }";)yW ?@WX XWX:W2W*W!V!bU!BU!*U)U)U- 3 @BB BADO=*BA{5ƼAAAm="C ?@*CRCdC ?@CmI IY G} >r,X:EAY}:YEO@}:`?@y}:2}::}:H`@rQÿ#?G?` @ ? uj?)~:YEO@ ~:^;I~8ɫ99)9 9I9Y]$@y]nGep=ɮep=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i}k<Ma=Y\;QU>aE_UEyԿ<}?Ișŝ 5?ŝz޾ Ɲ>B +@9ƝDǝD: ȝr:)șWbR?@WX XWX:W2W*WVbUBU*UUUq*@B mZB BA0i=*BAPżAAA]="C%bR?@*C%:RC%vC%bR?@C)޵=i޵=' 2:YxZ1yq:5]H!I)Gew>r,q:EAY}2O@}2:?@y}21 }2$;}2H` ¿? ?F \?? N{? ?)~2O@ ~2^;I~09zCI(kGi"@0; EɫYY)Y YIYY}M@y} oGxDUSBL response received:!U1,R,12E,000,00446,186,80,80,4C,FF Fpublishing direction and range infoUɰ==鰁 )BIyAg &?v?eпٱ)i M@ M@ M@M©MMiMף@M M)MIMƣ@iMƣ@5><M5?=Y5ז;QU=>99a=E=fUEAyE<}E>Iȉ :ō: 5? :ō޾ ƍDB +@9ƍ%DǍ: ȍ':)ȍK:W?@WX XWX:W2W*WVbU BU *UUU@R%(Combining 5 samples.P!*Q%AZQ%9nV+;@m,RJQ%g &?v?eп2Q%U:Q!bQ%e9u~ 3&@ڲ|?RQ%QFRct1>?M2?BQ%2/@ Q%1AQ%P%$9?P%%9?P%Q%Q%@"Q%SAB.(B BA}=*BA?sżAAAb="C?@*C RCC?@CIeA)bAױIG>zѢr,ҋ:EAɫ) IY @y voGuDNmea in: $SNTTA,,,,,014825.10*55   5:YX1y/:5i  x&1?(\µ?~jt? A? = =) I y Cl?V-~jth d? D ­ A)­ AI© i­ A 3A 6x<M a E qUE y } >I  : 5?  : ޾ JB  +@9 2D : H:) L:m% yAdded new target pos. range: 28.140001 m, bearing: 156.756257 deg, deltaT: 4.216044 s, approachRate: -0.526559 m/s, LOS rate: -0.484034 deg/s, posRepo size: 4m- rPowering the camera and arming the DDM at range: 28.14 m.m- lFinal approach. Armed for intercept at range: 28.14 m.m- \Transitioning guidance mode to: FINAL_APPROACH"X- m  ProNav: pos range: 28.140001 m, bearing: 156.756257 deg, approachRate: -0.526559 m/s, LOS rate: -0.484034 deg/s, cmd update: -1.452103 deg/s, cmd heading: 171.604274 deg, new cmd heading: 172.102371 deg. W >@W X D; X ?W :W 2W *W V bU BU *U U #<@U -?B= B9  BA AE =*BA AE ļAA AA AM ="Cm >@RCu *Cu >@Cq ]I)GE?r,$:EAIx)zAAY}u]P@}uA@y}u2}u<}uHB`ݳ=?? k?e?`r̚?W?)~u]P@ ~u. `;I~uCɫii)i mIiY@ypGf>9IiRDE; ėE)aIezCiaaae-4i u u uu ?uZu5iu@u ut@)u@Iu@iu@u >M=Yt@WX XW:W2W*WVbUBUy*UyUyU}`?B*mB BA!=*BA-ļAAA="Co*>@RC=~#C=o*>@CAUr1I9iumGG}z>ISkAiٺSkA6BԱr,`:EAY}2nQ@}2`A@y}2]}2<}2H@*ɽR?`?`@??9??)~2nQ@ ~2Lk;I~0    = 5:Y WU1y : 5)  ;9ɫYY)Y ]IYY@y pGi))I-4=)-=}9lM}^=Y}/;QU}>aE{UEy]<}>IȑŕS 5?ŕ޾ ƕNB +@9ƕ>DǕӻ: ȕ:)ȑW=3=@W9X9 X9W9:WA2WA*WAVAbUABUI*UIUIUU?B}B׎By ByA}=*BAüAAA="C3=@RCr <C3=@Cy 1סIGA>r,:EAY}2Q@}2UA@y}25㼙}2=}2H S?iP?՞?p??@F?)~2Q@ ~2_;I~0ɫ99)9 9I9Y@ypGi-$=M-@=Y-7;QU5>11a5E5UE9y=T<}E>IA U:E² 5? U:E޾ EQB ]+@9EFDEx; E;)EM:W} <@WyXy XyWy:W2W*WVbUBU*UUU@?BB BA=*BA¼AAAj="C <@RC<C <@C4/IGm>9IkGis@=B; ×E(r,d:EA~=i~R=    ; m>:Y W1y č: G5) ;ɫ) IY=@y=pGI))i11 @ @ @Å©ÅÅiÅ@Å ąn@)ąIą9@ią9@YPM@=YQU>aEUEy}>I2 5?Z޾ TB +@9OD+: :)W%Q/<@W!X! X)W):W)2W)*W)V1bU1BU1*U1U1U=@X4@BeBi BiAm=*BiAm/>¼AiAqAu{="C}Q/<@RC}HM'=C}Q/<@Cyeqڼ!IAG]T>r,%@;EAɫ髹) IY@ypG  @A hA hAi A ʡE?V-?y&1? ? |?> `e<) I y  r?X9vy&1? #? } `e<  A) AI "Ai Q A A)í > í > W<<M =Y QU > a E UE y } >I  : { 5?  : ޾ ^B  +@9 [D : 8:) N:W );@W X  X W :W! 2W! *W1 V1 bU1 BU1 *U9 U9 U= `F@RM B*** querying acoustic contact ***PI PI Bm 䎼Bi  Bq Au =*Bq Au Aq Aq Au D="C} );@RC Bu=C );@C ֝ r,1;EA|i|@Y}F|S@}FC@y}FTм}Fm<}FHL:?@0?@ ? ???)~F|S@ ~F;I~FCeg>9aIaiaaaae9; eEɫ髍) IY@ypGZ****** received transponder code query ******F****** received ping request ******}l?Iq 5?i޾ `B  +@9_D: :)WM:@WQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UUU@-@B_RB BAZ=*BAAAA-0="C:@RCf=C:@C<ױIGd>I ) @A-r,UK;EAY}:S@}:jC@y}: Ѽ}:<}:Hp"] ?I?h? ? %A??)~:S@ ~:Ȃ;I~:CɫAA)A AIAYe#@yePqGmxDUSBL response received:!U1,P 12E,000,00446,186,80,80,4C,FF mCommand AckmBRequesting micromodem ping code 2iiiqiu=}Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i =M]=YvQU>a%E%UE9yM(;}M>Ii :m] 5? :m޾ mfB +@9mgDm< m<)mO:WE%:@WAXi XqWq:Wy2W*WVbUBU*UUU j[ @B_B BAY=*BA"ݿAAAM ="C%:@RC=CE%:@CIu+,=1I9G]>- ) ) -  - 1:Y) y) - 5Sr,`e;EAY}FS@}FRC@y}FѼ}F(5<}FH@?\?`Y?@`? Y2? Ő?`8?)~FS@ ~F͚;I~FCɫy})y yIyY@ypGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iI=)|M/=Y|QU>aEUEy/}>I[E 5?޾ mB +@9qD/: :)W}z9@WX XW:W2W*WVbUBU*UUUӛ@B,B BA=*BA!AAA="Cz9@RC=Cz9@C֝l=a9aIekGieĿ@e=aaa eEׁIG>ar,i;;EAɫ髹) IY@yqGxDUSBL response received:!U1,R,1B1,000,0041D,185,80,80,64,FF Fpublishing direction and range info]wɰ=+> )BIypA]7(?*p׿ٱi #< o ji \@  9@) @I @i @V<MW=Y%QU%>!!a-E-UE)y5}5>I9=1 5?=޾ =sB E+@9=xD=: =M:)9We8@WiXi XiWi:Wi2Wq*WqVqbUqBUq*UyUyU}@R(Combining 5 samples.P*QpAZQ7UO7@k"JQ]7(?*p׿2Q]w:QbQ uń65ׯ&@:AdD&?RQ 4쿩]}?wc)?BQ@+@ Q6AQP%9?P$9?PQQ@"Q@Bu8rBy ByA}*=*ByAdtAAA="C8@RC >C8@CA!=ױIG>% =i% a=E E E E [ E &2:YE DW1yE Y:E "5r,z;EAY}%8S@}%/C@y}%+ϼ}%5ֻ}%H@`􂷿`+?_v?3 E ?bz4?)~%8S@ ~%R;I~!ɫii)i iIiY@ypGUDNmea in: $SNTTA,,,,,014829.30*5B IY)YiaaOn?Zd;Mb?8?y <)IyT㥛 ?Q롿y&1?!?\ A)XAIXAi A3A ƽM.=Y%:QU>aEUE!y%Ґ}%>I) 5:- 5? 5:-޾ -zB =+@9-D-<: -:)-P:mmyAdded new target pos. range: 25.679996 m, bearing: 153.563635 deg, deltaT: 4.188977 s, approachRate: -0.587257 m/s, LOS rate: -0.762148 deg/s, posRepo size: 4m} ProNav: pos range: 25.679996 m, bearing: 153.563635 deg, approachRate: -0.587257 m/s, LOS rate: -0.762148 deg/s, cmd update: -2.286445 deg/s, cmd heading: 165.515521 deg, new cmd heading: 164.834740 deg. W}l7@WyXy XW:W2W*WVbUBU*UU@9@U?B}"By ByA}=*ByAAAA="Cl7@RC>Cl7@C֕b>QIYGu>z%r,;EAY}:|R@}:B@y}:ɼ}:s}:H`Nߖ?K+?m1?5L?)~:|R@ ~:;I~:C9Ii.; Eɫyy)y yIyY@ypGi)) )) @ @ @©i@ ^@)I@iƣ@޻Mv=Y;QU?aEUEy}?I 5?E޾ B +@9D ; C ;)W56@W1X9 X9W9:W92W9*WAVAbUABUA*UAUIUM?Bu4'vBy ByA}Q=*ByA}#AyAA=="C6@RC$>C6@C֍ >aIyG;>E E E E % E 0:YE 0Y1yE :E 5)E ;9M r,;EAY}:|R@}:B@y}:[Ǽ}:J.}:H M?`?]`c*?ץ?)~:|R@ ~:s5;I~:Cɫ}y)y yIyY|@ypGi  UMUT=Y]N:QU]>YaaeEeUEaym^׼}m>Iq }:u 5? }:u ޾ uB }+@9uDu: u:)uQ:W5@W!X! X!W!:W!2W!*W)V)bU)BU1*U1U1U=H6?BjB BA=*BAyAAA@p="C5@RCDD&>C5@C = >I!G=r>7r,v;EAY}:2@Q@}:[A@y}:ż}:Dž}:H@[h@Nn?@?ӱ@NT B?ழ&?)~:2@Q@ ~:A;I~8ɫ99)9 9I9Y@ypG=i=i5^;M=L=Y=9QU=>AAaEEEUEAyMR}M>IQU 5?U~޾ UB ]+@9UDUQ: U:)QW4@WX XW:W2W*WVbUBU*UUU X?B^uB BAw=*BAۻAAAU="C4@RC¯*>C4@C@L>סIGC>9IiQD*; E)ݕzCIݑiݑݑݑݕؓ4u ̞>u ڕCi nmGI i 5 iٺ1 5 VBE  E E E ! E k5:YE DW1yE Y:E 5)E ;r,fý1ý`eiý@ý Ľ9@)Ľ@IĽ9@iĽ9@XMA=YQU>aEUEy}>I : 5? :{޾ B +@9D: :)R:W3@WX XW:W2W*WV!bU!BU!*U!U)U-@BUO#BY BYA]=*BYA]EAYAaAe<="Ce3@RCm,@>Cm3@C M&>IGj>zIr,^yya}E}UEyy >}>Iȉō 5?ōx޾ ƍB ,@9ƍDǍH: ȍʽ:)ȉW2@WX XW:W2W*WVbUBU*UUU@B-CB1 B1A5=*B1A=bA9A9A=/!="CM2@RCMX:>CU2@CQ8>ױIG>9 i= p=E b E E E 9 E ;:YE W1yE č:E 59M @s r,:4:QU>aEUEy$}>Iȩ :ŭ 5? :ŭt޾ ƭB ,@9ƭDǭ: ȭU:)ȭS:WI1@WX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPB0DB B!A%=*B!A%KȹA!A!A%Q="C-I1@RC5F>C5I1@C1օ @>9 II Ge >r[r,N@y}:$&}:}:HgUſ6?t; -¿`6??)~:AWN@ ~: :j;I~:Cɫ99)9 9I9Y@yoGZ****** received transponder code query ******F****** received ping request ******+M=Y% VQU%E?))a-E-UE1y=f}=D?IAE 5?Er޾ EB U,@9EDE; En ;)AW}f0@WyXy XW:W2W*WVbUBU*UUUi @BWwB BA=*BAzAAA="Cf0@RC@>Cf0@CC>סIG >E E E E  E /:YE 0Y1yE :E 5r,,ga%E%UEYym}>IȱŵCv 5?ŵn޾ ƵʠB ,@9ƵDǵWM< ȵ L<)ȱWs|/@WX XW:W2W*WVbUBU*UUU`t @BeZBa BiAm=*BiAmmAiAiAm0="Cus|/@RC}F>C}s|/@Cyܵh>9ܱIܵTlGiܵ@ܱܱܱܵI; ݵȗEmF>?i?IG>I1 )5 AAm r,ˁaEUEy}>I1 =:5ta 5? =:5k޾ 5ؠB E,@95ɴD5: 5:)5T:Wmz.@WiXi XiWi:Wq2Wq*WqVqbUqBUy*UyUyU}`H@BրB BA7=*BAmIAAAo="Cz.@RC}E[>Cz.@C+E>ױIG>&r,h )CIyAo.EC?AzUmD˿ٱ)YiE/$?n?Zd;O?E,?EV> Ej<)AIAyE(\?~jt?E.?EDE< E@)EAIEAiE AAE A…fA…gA<M=YQU>aEUEy}>Iȩ :ŭTD 5? :ŭGg޾ ƭB ,@9ƭԴDǭ: ȭ+:)ȭU:W&-@WX XW:W2W *WVbU!BU!*U)U)U-`b@R=(Combining 5 samples.PA*QEAZQEC@7@n#$JQEo.EC?AzUmD˿2QE[:QAbQE5p;"@ .?RQEPMc 8-uA?`F3{?BQEa/@ QEAQE`PE!9?PE%9?PEQEQE}@"QE@BuԋBy ByA}=*ByA}AyAA^="C&-@RC%t>C&-@C AY>I fA) fAס I G >,r,9(I*lGi*g@(*RD(*O; *ʗE|b;|bp;Y}I@})9@y}6輙}2}HT5οЃ ?\ƿ?!ƿ@B?)~I@ ~^;I~Cɫii)i iIiY@yoG5DNmea in: $SNTTA,,,,,014833.76*52 i  e $>e A e ;ie @a e @)e Ie t@ie O@u .Mu /=Y} QU} >y a E UE y } >Iȑ ŕ x* 5?ŕ b޾ ƕ B  ,@9ƕ ޴DǕ L: ȕ :)ȑ m uAdded new target pos. range: 23.639997 m, bearing: 157.442322 deg, deltaT: 4.598452 s, approachRate: -0.443627 m/s, LOS rate: 0.843477 deg/s, posRepo size: 4m  ProNav: pos range: 23.639997 m, bearing: 157.442322 deg, approachRate: -0.443627 m/s, LOS rate: 0.843477 deg/s, cmd update: 2.530430 deg/s, cmd heading: 155.010871 deg, new cmd heading: 153.952023 deg. W 0u.@W X  X W :W 2W *W V bU BU *U U ֣7@U @t?B% rB!  B! A- \=*B) A- 綼A) A) A- ={="C5 -@RC5 7X>C5 0u.@C9 E  E U Z>E E  E 84:YE V1yE :E 5)E ;9} I G5 >w4r,\>ױIGD>@:r,aEVEy=}>I :l 5? :X\޾ B  ,@9Db: M:)V:W>0@WX XW:W2W*WVbUBU*UUUg?B vB BA=*BAAAAH-="C%>0@RC%Ps=C%>0@CI%3>q9qIqiqquQDquA; u×EI G-N>m  i i m  m J:Yi yi m m5)m \;(Ar,=EA|@i|@Y}6F@}696@y}6. }6E?}6H`7ҿɖ?r`ǿ7?ǿl?)~6F@ ~6\;I~4ɫ  )  I Y-[@y-ZpGiaa2=M$=YUQU>aE VEy3}>Iȱŵ 5?ŵV޾ Ƶ B ,@9ƵDǵ?: ȵX:)ȱW1@WX XW:W2W*WVbUBU*UUUY?B%B! B!A%[=*B!A-Y_A)A)A- ="C51@RC5ta<C51@C9U+>) I1 GU >UGr,;=EAY}6E@}6@*5@y}6K}6B}6H?r`ӿ͘`?kȿ_h?`.ȿ@g?)~6E@ ~6\;I~6Cɫ9A)A AIAYu@yuoG=i=>i>6Buffer fill timout failure.iIp=)=^I +?~jt?R޾ %B 5,@9%D%H: %:)%W:WUс2@WQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUm69?B*B BA=*BAtAAA!="Cс2@RC¼Cс2@Cz>יIGA>e e e e ' e ?,:Ye W1ye č:e 59m @y 9y Iy iy y y y } X; } ϗE)IiU4c}Mr,8=EAY}6^C@}64@y}6D}6@}6HF@Կ@蘿@?0Bȿ=ǣ?`ǿ i?)~6^C@ ~6!\;I~6CieunGIqilٺqBɫ) IY @y oGUOutgoing frame #1, 60 bytes: CC1017611F0000005D00000400260000000000000000151D80030C5669C08C799875A2AB340BA1F088417FB40F2F2877D8DB089EFAEC9A688C145800 DNmea out: $CCCYC,0,1,10,1,0,1*69 i) 1    å ?å å ?iå p@á ĥ ƣ@)ĥ @Iĥ @iĥ ƣ@ <M a E VE y ,μ} >I  5? H޾ 3B  ,@9 D `: :) W= a4@WA XA  XA WA :WA 2WA *WI VI bUI BUI *UI UQ UU `&j@R B*** querying acoustic contact ***P P B XێB  B A $=*B A hA A A 9="C a4@RC L垽C a4@C   fA =I ) ש I G >-Ur,0U=EA|,|.;Y}ZA@}Z 2@y}Z.}ZJ8}ZH`gֿWW?aUǿ@fѥ? Aƿ]t?)~ZA@ ~Z܉\;I~ZCɫyy) IY@ypGZ****** received transponder code query ******F****** received ping request ******Me=YmʱQUms?qqauEuVEyy;}}?Iȉ :ō 5? :ōE޾ ƍ:B ,@9ƍ DǍ ; ȍ*;)ȍX:W4@WX XW:W2W*WVbUBU*UUU@B%Bg< BA =*B A ZA A A  ="C4@RC|C4@CVoQ=IG%,>     /:Y DW1y Y: H55N[r,/ko=EAY}^7A@}^R1@y}^h2}^p2}^H@K׿`,?HcƿGK? t2ƿ@{?)~^7A@ ~^\;I~\ɫ髑) IY@yoGxDUSBL response received:!U1,P 0F6,000,003FB,186,80,80,8E,FF Command AckBRequesting micromodem ping code 2iNNmea in: $CADRQ,014837,1,10,0,64,1*7F UNmea out: $CCTXD,1,10,1,CC1017611F0000005D00000400260000000000000000151D80030C5669C08C799875A2AB340BA1F088417FB40F2F2877D8DB089EFAEC9A688C145800*4C I)I)iAI aaܹ9ܹIܽmGiܽ @ܹܹܹܽ[; ݽїEí=íí$?ií@é ĭ@)ĭ9@Iĭ@iĭ@qhM+=YQU>a E &VE y}>I7 5?S>޾ OB U,@9Dc; =<)WP6@WX XW:W2W*WVbUBU*U U U  @BuKBy ByA}p=*ByA}@ AAA="CP6@RCh)CP6@CֵjZXm2br,6=EAY}:`@@}:0@y}:2}:5)}:H`_׿'`? D@iſT?`ſ?)~:`@@ ~:Չ\;I~:Cɫ99)9 9I9Y}@y}pG      S,:Y W1y č: 5\hr,=EA|i|@Y}6@@}6S0@y}6E+/}6}6H`&@}׿ؐ?UĿ@? '_ÿ@?)~6@@ ~6\;I~6Cɫ99)9 9I9Yy鮭p=ɮp=.Nmea in: $CATXP,60*74 \Response from modem unexpected: $CATXP,60*74 )iMb@Mb@Mb@ )IyPn?L7A`堿S㥛?$?+/< ¥@)¥AI¥Ai¥Af AY ;QU>aE2VEym\}>I : 5? :3޾ jB ,@9%D: :)Y:Wd8@WX XW:W2W*WVbUBU*UUU@@B]dhBa BA*BA+±AAA="Cd8@RCWCd8@Cѝ =u3IIYGu>ܑ 9ܑ Iܕ HnGiܕ @ܑ ܕ RDܑ ܕ ^; ݕ җEnr,9=EAY}:@@}:c0@y}:8}:lL}:Hո Ĵ׿k`?aQ¿ ? ?)~:@@ ~:*];I~8ɫ99)9 9I9Y}=@y}oqG=i4>>i>iI=) E @ E @ E @E ©E E iE p@E E @)E IE iE @U "{<MU Y Y a] Ee Iq } :u a 5? } :u )޾ u }B } ,@9u 2Du A: u o:)u Z:W t:@W X  X W     ,:Y U1y : 5:Wa 2Wa *Wa Va bUi BUi *Ui Ui Uu `]@B >WpB  B A =*B A ނA A A 1F="C t:@RC qFxC t:@C 5 < 7ƙIG >nvr,=EAY}2@@}2L0@y}2f4}2s}2H@1׿*h ?@[|<*?`6tǽ?)~2@@ ~2Lb;I~2Cɫ11)1 1I1Y@yqGi[=M=Ys;QU6?aE@VEy!;}6?IU 5?X&޾ B ,@97D : :)WY:@W X  X W :W 2W*WVbUBU*UUU>@BM BI BIAM >*BQAU AQAQAU="C]Y:@RC]C]Y:@Caii)i i׽IG>l|r,NE=EA||Y}6@@}6^0@y}6+}6y}6H Y׿"t?{?;ʹ K_?n9?)~6@@ ~6`;I~6CFf>9DIFnGiF@F=FQDDFZ; FЗEɫ99)9 9I9Y@yrGAA.Nmea in: $CATXF,60*62 \Response from modem unexpected: $CATXF,60*62 i    @ @ @éééií=@é ĭ@)ĩIĩiĭƣ@<;M9=Y;QU>aEGVEy ~:}%>IIM> 5?M޾ MB ],@9M@DMi ; M ;)IW <@WX XW:W2W *W V bUBU*UUUr@R%B*** querying acoustic contact ***P!P!BtKB BA>*BAFAAA="C <@RC C <@C֥V9YIiGZ>EAAE E-:YAyAE5)EZ;9M<؃r,. >EAY}:;A@}:6W1@y}:"'}:{}:HQI׿@3?`)?`ֽ@q?Bl?)~:;A@ ~:a;I~:Cɫ99)9 9I9Y}R@y}rGNmea in: $CAXST,7,20210814,014837.899178,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5B Response from modem unexpected: $CAXST,7,20210814,014837.899178,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5B I)i4=MM=Y;QU>aEMVEQyUU<}U>IY e:]* 5? e:]޾ ]B m,@9]HD]V: ];)][:W6=@WX XW:W2W*WVbUBU*UUU@@BM'BI BQAU! >*BQAUZAQAQAU+="C6=@RCC6=@C ՝>ԝN>օ=aIGh>cr,n)>EAY}2 B@}26%2@y}2l!}2k}2H r@~ֿ ?i? 2?\H?)~2 B@ ~2|a;I~2CɫYY)Y YIYY@ysG)iIQa i@a  a m@a  a q@a  a e@a  a I@a  x&1?Mbp/$?A ? <)IiMb@Mb@Mb@© )Ii   å>åå>iå@å ĥn@)ĥԸ@Iĥ@iĥ-@M<M.=YRN;QU>aEUVEy<}>I 5?C޾ B ,@9QD : >)Wzv>@WX XW:W2W*W V bU BU *U UU`y@B='B9 B9AE%&>*BAAEǬAAAAAM<"CMzv>@RCQCUzv>@CQ܅e>9܁I܅oGi܅O@܅=܁܁܅R; ݅˗EM MMM M-5:YMV1UByM:M5)M‘;I!G=>7r,^C>EA|i|@Y}6CC@}6^3@y}6-}6"x}6H_(Iտ`?C?x-W pd?n@?)~6CC@ ~6A`;I~6CɫYY)Y YIYYd@ytG鮡ɮa=ik=M+=YrW;QU>aE]VE y #=} >I 5? ޾ B %,@9[DԳ: n?)I=@A)9WU?@WQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUee@BuiBq ByA}bB>*ByA}6AAAΌ<"C?@RCC?@CeAgA Zס I G >r,7]>EAY}2/D@}24@y}2 }2.<}2Hfb ӿ*?/?8g>? p? ,? m?)~2/D@ ~2Wc_;I~0ɫ11)1 1I1Yu@yutG}?i}=i%>Z=M%=Y-{;QUM5?QQaUEUaVEYy]=}e1?Iq }:u 5? :uc ޾ uB ,@9u`Du: uc?)u\:W@@WX XWI:WI2WI*WIVIbUQBUQ*UYUYUe"}@BMB BAO>*BAYAAA<"C @@RC C @@C YxIdA)IGH>=99= =,:Y9y9=59E@>r,Όw>EA9ItoGi@=@; —E)!I!i!!!%}5Y}FF@}F6@y}FnI}F/m=}FHɖҿg?`ʨ?@R^,?@9?`??)~FF@ ~Fd3`;I~FCɫYY)Y YIYY@ytGi=Sc?rh>i@ )@I@i@;ML=YTX;QU>aEgVE!y%Y=}->I)- 5?imGI!iI-޾ -ơB ],@9-hD-'= -'?))}6ٺy}*BW7A@WX XW:W2W*WVbUBU*UUU`Z)@B5ԻB! B!A%R>*B!AEAIAIAM4<"CU7A@RCQCU7A@CYEƂI)GEQ>[&r,g>EAY}2}G@}2p7@y}2? }2=}2H@} ѿ`&e?  a EnVEy7Z=}>I!% 5?%vݾ %СB =,@9%qD%(; %@)!WmB@WiXi XqWq:Wy2Wy*WVbUBU*UUU 2@BһB BAK>*BAAAA<"CB@RCCB@C%?΅IGn>9i=a=mmmm m1:YmDW1ymY:m5Pr,_C>EAY}2H@}2<9@y}2}2:=}2H|ο?@?.? p?@u?Q?)~2H@ ~2ab;I~2Cɫ!)! -I-YU@y]uGImA)mAiyya iMa iM a mMa mM a qMa qM a eMa eM a IMa IU M#~j?I +?V-?M?M94< M<)IIIyM~jt? rh~jt?M?MC MD< MGA)MMAIMMAiMAMMGAí>ííj=Y;QU>aEuVEya=}>Iа 5? ݾ ֡B ,@9zD: :)W D@W X  X W :W2W*WVbUBU*UUU$7 @R-B*** querying acoustic contact ***P)P)BMBQ BQAUo>*BQAUAQAYA]<"C]D@RCaCeD@Ci)9)I-oGi-@-=-RD)-9; -E}6Ʌׅ?iׅ?AIQGuy>^8r,*>EAY}:hJ@}::@y}:e}:d=}:H`3 l˿ ?` ?  2?K? ?`?)~:hJ@ ~: b;I~8ɫ99)9 9I9Y}@y}uGiMt=Y_/;QU?aEzVEyL=}?I :M 5? :ݾ ۡB ,@9D: o:)]:WE@WX XW:W2W*WVbUBU*UUU @B%^B) B)A-i>*BQA]AYAYA]2 <"CeE@RCmCmE@CօƂYIiGY>mmmm m11:YmW1ymč:m5obr,>EAY}6ءL@}6K<@y}6+s}6>}6Hd ZǿN?`6{?{!@Z? ?S?Ƭ?)~6ءL@ ~6Mb;I~4ɫYY)Y YIYY@y'vGSetting waiting for range response to false due to timeout. Elapsed:6.144888i I R=) ==M;=Y(;QU>aEVEy=}>I 5?&ݾ B ,@9D#: :)WDF@WX XW:W2W*WVbUBU*U U U !@B=0DKB9 BAAEx>*BAAEAAAAAEK<"CMDF@RCU|CUDF@CQe׃9IIGeU>! 9% yCI% EAY}6N@}6>@y}6}6C>}6H08Ŀl?A?`@?`9?@? ?)~6N@ ~6?;I~6CɫYY)Y YIYY}@y}uGfAifAi%%=%x=i%@! %@)%O@I%i%O@]NMuP=Y}M:QU}>yaEVEyR=}>Iȡ :ťv 5? :ť%ݾ ƥB ,@9ƥDǥ; ȥ9;)ȥ^:WMeqG@WQXQ XQWQ:WY2WY*WaVabUaBUi*UUU"@BpemB BAr>*BAlAAA<"CMeqG@RCMdnCMeqG@CQEs9}IMfA)MgA)I9GUS>eeee7 eN2:YeDW1yeY:el5)eG;9m}tr,?EAY}>I]P@}>x@@y}>D}>|W>}>Hg]f? ?@i`xi?? a? ?)~>I]P@ ~>;I~>Cɫ99)9 AIAY}@yuGi%M:M%N=Y% 9QU%>))a-E-VE1y5=}5>I9=b 5?=ݾ =B M,@9=D=: =M:)9WmH@WiXi XiWi:Wq2Wq*WqVybUyBUy*UyUyUkW#@BB BArs>*BAAAAA<"CH@RCB_CH@C֭b|׉IGB>Σr,w,?EAY}6 R@}6+}6H@IĹƳ?.>?`x?㋟? =??)~6 R@ ~6&;I~6Cɫ髙) IY@yuGi 鿩/$? rh rh&?C C )Iyp= ף?K~jth%?^D /A)@IAi7 A=A e@ e@ e@e©eeie(@e e)e@Ie­@ie@ֻM)=YQU>aEVEyg=}>I :H 5? :>ݾ  ,@9D; ݔ;)_:ܹ9ܽzCIܽpGiܽ@ܽ=ܽQDܹܽ5; ݽEWI@WX XW:W2W*WVbUBU*U U U [b$@BȆB BA5p>*BA:AAA <"C%HRCjZCI@C]]]]  ]0:Y]0Y1y]:]65)];d?i?ׁIG>r,AfF?EAɫyy)y }IyY@yvG)i19C<Mo=YQU?aEVEy}?I6 5?Bݾ B ,@9D%: :)WJ@WX XW:W2W*WVbUBU*UUU$@B5)9B1 B1A5`t>*B1A=lҜA9A9A=ea<"CE JGRCEXmCEJ@CI֥_yIG^>r,-A`?EAY}2AXU@}2sE@y}2l@ }2>}2H<̩`ޥ?ج?e8{? (?@0??)~2AXU@ ~2;I~0ɫ99)9 =IAY@yvG}}}} }C3:Y}U1y}:}H59@iI=)= % % % % @ % @ % @! ! ! i% ̬@! ! )% K@I% i% @e 9=Me =Ym uQUm >i q au Eu VEq y} =}} >Iȁ  :Ņ L 5?  :Ņ ݾ ƅ B  ,@9ƅ DDž : ȅ /:)ȅ `:W L@W X  X W :W 2W *W V bU BU *U U U >&@R B*** querying acoustic contact ***P P B ꌻB  B A Մ>*B A Q)A A A k$<"C ERC MC L@C  9 yCI i = RD <; E= )n I G >2?r,r{?EAY}2V@}2F@y}2 }20 >}2H@ '??j?Wn?@ϼ?? ?)~2V@ ~2.;I~2Cɫ)))1 5I1Ym@ymvGuZ****** received transponder code query ******uF****** received ping request ******u*BA0:AAAD<"CDRC:C M@C֝`kqIG=>IލAA)މ r,?EAY}J X@}Ja}JHO|b?j?`?@X?u?֗?)~J X@ ~JS;I~JCɫii)i mIiY@yvGxDUSBL response received:!U1,P 0F6,000,003FB,186,80,80,8E,FF Command AckBRequesting micromodem ping code 2i=i=igAiKML=Y͉QU>aEVEy |Z=} >I!%M5?%qݾ %B =,@9%õD%C; %D;)!WIN@WX XW:W2W*WVbUBU*UUQU]@_|'@BPB BAq>*BAraAAAw<"CCRC:CIN@CPיI 0:YWU1y:I5Ge>Mr,h?EAY}jdY@}jקI@y}jT$}j>}jH@R?V?` 1? >?`Hz??)~jdY@ ~jk;I~jCɫ髱) IY@y*wGi 鿱="~j?~jt?Mb?=S?=< =@=)9I9y=V-?=?=̼= =A)=@I=Ai=Q A9=fA   åV>å å@iå@å ġ)ĥb@Iĥ­@iĥ@<M*=YQU%>!!a-E-VE)y5??=}5>I9 =:=5? E:=ݾ =B E,@9=̵D=]: =:)=a:WmO@WiXi XiWi:Wi2Wq*WqVqbUqBUq*UyUyU}`|^(@ܩ9ܩIܭqGiܭ@ܩܩܩܭ4; ݭE)=yCI=yCi999=~5B@9B BA;>*BAAAAZc<"CBRC 8CO@C:Mi=unGI]kAiuA;JٺkAh:BIG>e2r,6?EAY}2}[@}2K@y}2-}2=(>}2He}??(lೞ k*BAG蓼AAA1K<"C%yARC% /C-P@C1%QA IGEQ>޽=i޽p=   ?:YW1yč:65]r,&?EAY}2\@}2L@y}26}2>}2H`5I?b5? @?? k?@?)~2\@ ~2w;I~0ɫ99)9 =I9Yu @y}swGIA)AiIp=)4=MX>M־MiM̬@I I)Mٮ@IM@iM@];;Me=YeXQUe>iiamEmVEqyu/=}u>Iy :}5? :}3ݾ }B ,@9}ߵD}: }:)}b:WFIR@WX XW:W2W*WVbUBU*UUUC*@BZ˺B BA>*BALZAAA<"Co?RC 0C FIR@C ܩ 9ܭ zCIܭ hqGiܭ 6@ܩ ܩ ܩ ܭ /; ݭ E} 8Q IY G} >!r, C?EAY}Bd^@}BNN@y}B;}BI >}BH@?9?`B@ 9?v? ev? ?)~Bd^@ ~Bnn;I~BCɫQQ)Q UIQY@yxGi9=M=YQUi?aEVEyU>}UW?Iae$5?eݾ eB u,@9eDes; e,;)aWR@WX XW:W2W*WVbUBU*UUU,*@B"<B BA>*BASA!A!A%3<"C-^ &:YV1y:5)m;9~r, @EAY}2 `@}2l)P@y}2A}2 >}2Hc? O5?DO`}?t2?*1??)~2 `@ ~2i;I~2CɫYY)Y YIYYj@ywG鮱ɮi%CM-D=Y5`QU=>IIaEVEy`{=}>II e:M 5? }:Mݾ MB ,@9MDM; Mrv<)Mc:W &T@W X  X W :W2W*WVbUBU*UUU@+@RMB*** querying acoustic contact ***PIPIB:B BA>*BA6AAAv<"C=RCE(C&T@CIޙ)ޝ@Ay 1ױIG>D r,0@EAY}2a@}2pQ@y}2H}2X >}2Hu>? I?2b$???༬?)~2a@ ~2f;I~2CɫII)I IIIY}@y}xGiQQu(\?S㥫?aEVEy$k=}>I)t5?ݾ B ,@9D: :)W-eU@W)X1 X1W1:W12W1*W1V9bU9BU9*U9UAUejy,@B;B BA>*BAAAA<"Cҹ<RCk CeU@C == .:YX1y/:H5)Q;Ho?i?יIG>'r,J@EAY}2c@}2S@y}2O}2 >}2HE?3$?`ſ@=p ?`Y? 0?`"?)~2c@ ~2Agc;I~2Cɫ99)9 =I9Y@yxGNmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i;MR=YQU>aEVEy%=}=>IQ }:U`5? :Uݾ UB ,@9UDUd; U;)Ud:WʓV@WX XW:W2W*WVbUBU*UUU `MS-@B?;B BA>*BAAAA}<"C;RCVCʓV@Cbbש I G >r,d@EAɫ髙) IY @yxGAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iyy=M\=YQU>aEVEy}>I*O5?ݾ B ,@9D,; ;)W5W@W1X1 X1W1:W92W9*W9V9bUABUA*UAUIUMP-@Bmԗ;Bq BqA}>*ByAOhAAA:<"C:RCCW@C]F 3:YV1y:59@I!G=r>5 f>91 I5 sGi5 @1 1 1 5 7; 5 Er,w~@EAɫ髙) IY@yDyGxDUSBL response received:!U1,R,39A,000,00366,189,80,80,91,FF Fpublishing direction and range infoMɰ=7> )CIy3kAWB Y0?Ϸ03ٱiIC=)C= U   @ @ @i(@ )K@I@in@,*=MF=YQU>  a-E-VE1y1}=>I9=:5?=ݾ =#B M,@9= D= : =߼:)9WX@WX XW:W2W*WVbUBU*UUU.@R(Combining 5 samples.P*Q3kAZQ{b$@hk'/%JQWB Y0?Ϸ032QM:QbQ['5VU!@*ByA}&?AAA9<"Cp9RC)CX@Cֽ..qIG>]%r,Q@EAY}2g@}2tW@y}2`}2K >}2HG ??`9VͿ ?`B?@(?}?)~2g@ ~2`;I~2CɫAA)A MIIYu@y%yGTNmea in: $SNTTA,0.022705,,,,014849.35*44 iS㥛?y&1~jt?`e ļ)IyOn?y&199a=E=VE9yE;>}E>II U:M<#5? U:Mݾ M(B ],@9MDM: Mb:)Me:m}Added new target pos. range: 14.700000 m, bearing: 143.793937 deg, deltaT: 15.403352 s, approachRate: -0.580393 m/s, LOS rate: -0.886066 deg/s, posRepo size: 4m ProNav: pos range: 14.700000 m, bearing: 143.793937 deg, approachRate: -0.580393 m/s, LOS rate: -0.886066 deg/s, cmd update: -2.658198 deg/s, cmd heading: 193.985615 deg, new cmd heading: 195.158075 deg. WNW@WX XW:W2W*WVbUBU*UU`ff-@U`zm?BLڝ;BS|R< BA:>*BA郼AAA)<"C(9*CRCݶCNW@C 0:YU1y:H5ֽױIG>q+r,,@EA|@i|@Y}2ch@}2X@y}2e}2& >}2Hl( ?ɔ? fϿ@B`?b?@o?@?)~2ch@ ~2ς`;I~2CɫYY)Y ]IYY@yMyGi     Å/?ÅmÅniÅ@Å ą@)ą@Ią&@ią­@F<M=Y|QU ?aEVEyU=} ?Iȱŵ5?ŵݾ Ƶ+B ,@9ƵDǵY: ȵf:)ȱW\V@WX XW:W2W*WVbUBU*UUU@?B%-<B! B!A%>*B)A-3@A)A)A-<"C5:RC5C=\V@C99I$tGio@5; Emܪ&AIQGm5>Iޝ@A)ޝ?A?2r,@EAY}2i@}2tZ@y}2k}2V>}2H`?@Ք?`п@[O?y???)~2i@ ~2l`;I~2CɫII)I MIIYyyyiY=PQU=>99aEEEVEAyM-,=}M>IQ ]:UY5? ]:Uݾ U0B ],@9U DU4: U{:)Uf:W2U@WX XW:W2W*WVbUBU*UUU?BE\;BI BA*BA%AAA<"C<RCʹ<C2U@C ==֝e *ץ?iץ?yIB  9:YDW1yY:5Ga>l9r,@EAɫ髁) IY@yyG)!i!u<MaEWEy}>I5?ݾ 4B ,@9(D: D:)WaS@WX XW:W2W*WVbUBU*UUU@u?Bf;B BA@>*BAT{A A A<"C%9q=RC-fN=C-aS@C)5<oIG > e>9 I PuGi c@ 2; E)ezCIezCiaaae4I M ߕCi nGI SkAi  Fٺ SkA 6B2?r,'@EAEs@9_B|4<|4<ɫ髙) IY @y{Gޝ=iޙ -:YU1y:5)7;9iQQõ>õپõiõ@ñ ĵ­@)ĵ @Iĵ@iĵ@X=M=YQU>aE WEy}>I :15? :8ݾ ;B ,@94D: :)g:W g)R@W X  X W :W 2W *W V bU BU *U U! U% @BM ;BQ  BQ AU t>*BQ AU tAQ AY A] ҡ<"C] N?RCe =Ce g)R@Ci u gAu hA} NJN<ԅ hAԅ hA] ܝQ I G >Fr,ΪAEAY}-Ym@}-]@y}-5{}-p=}-H@E`?@k?J^Կ i?a???)~-Ym@ ~-!`;I~-Cɫ) IY5b@y5t{Giu"~? rh?Qu?uC< u)qIqyuPn?~jt rh?u$?uuC< u A)u@Iqiup AquA{=M=YtXQU?aEWEY@yDY>}?Iȱŵ5?ŵ%ݾ ƵCB -@9Ƶ9Dǵ: ȵD:)ȱWRQ@WX XW:W2W*WVbUBU*UUU5@B%r<B! B!A>*BA`qAAA/<"C9@RCq2>CRQ@C) ֍ gEa Ii G >Lr,E6AEAY}2n@}2_@y}2e{}22=}2HW?@?Xտ/o? ^k?⵽?@?)~2n@ ~2f`;I~2Cɫ99)9 9I9Y@y{Ga=ɮ)9-yCI-vGi-@)))-A; -EiAAý9ý 0>ýM>iý@ù Ľn@)Ľ-@IĽ@iĹl<MY=Y NQU>aEWEyR=}>I?5?Oݾ MB -@9AD < 1<)W!P@WX XW:W2W*WVbUBU*UUU@@R5B*** querying acoustic contact ***P1P1BudB<By ByA}>*ByA}0kAyAyA6<"CARC]>C!P@C]]]] ]0:Y]d\1y]:]H5)];u_YIaGZ>>Sr,6 PAEA|i|@Y}>o@}>@ `@y}>Xx}>@=}>Hb??/sֿ@ט?;? ?չ?)~>o@ ~>xD`;I~>Cɫaa)i uIqYi@y~{GZ****** received transponder code query ******F****** received ping request ******aEWEy=}>Iȩ :ŭ5? :ŭ9ݾ ƭYB -@9ƭJDǭo: ȭ:)ȭh:WN@WX XW:W2W*WVbUBU*UUU3 @B%M<B! B!A-x>*B)A-lgA)A)A-S<"C5/CRC5}>C=N@C9IA)EAAM]Zr,UiAEAY}2 p@}2~`@y}2]r}2=}2HRJY?²?`׿` t?G?ڻ??)~2 p@ ~2p@`;I~0ɫAI)I UIQY@y|GxDUSBL response received:!U1,P 39A,000,00366,189,80,80,91,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )iU1>U=UiUG@Q U@)QIU@iU@<M:=YW;QU>aE%WEy<}>I5?޾ eB  -@9SD: :)UUUU U.:YUX1yU/:U59]@WM@WX XW:W2W*WVbUBU*UUUc @B==<BA BAAE.>*BAAMaAIAIAU2)<"CDRC >CM@C9IDwGi@  q< I G >M`r,փAEAY}2Lp@}2a@y}2dmk}2=}2H _?@˒?@on׿ d?i?H?w?)~2Lp@ ~28U`;I~2CɫAA)A EIAYw@y|GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I}?)}?iyyF!=M"=Y];QU>aE-WEyJ<}->I9 E:=e5? M:= ޾ =rB U-@9=^D=E; =?;)=i:WL@WX XW:W2W*WVbUBU*UUU @BK L<B B A ]>*B A yiZA A A Q<"C FRC C L@C $=ס I G >gr,AEAY}b5/q@}bJa@y}b6`}bڢ=}bHr??׿` 2?? N? ?)~b5/q@ ~b`;I~bCɫ髑) IY @y *}GxDUSBL response received:!U1,R,502,000,00349,189,80,80,96,FF Fpublishing direction and range infof3ɰʉ= )CIy\OAw?amf-ٱi11On?Mb?&1?= P)IyK7A?Qy&1? "?`e<  A)@IQ@i AAM=MM=YU$԰jzCu?IDBQr@ Q AQP!9?P#9?PQQ@"Q@==i==M MMM M*^:YMU1yM:M5BeY<Ba BiAm:>*BiAm|VAiAiAur<"CujFRCCKBK@C֕=IםgA)יQIYG~>mAmr,AEAY}% p@}%`@y}%gMM}%b[$=}%H[?j?9׿ r?즩?h?@ ?)~% p@ ~%}!b;I~%Cd>9zCI xGi@=>; Eɫ) IY]@y|GTNmea in: $SNTTA,0.081043,,,,014853.79*4B i! u@ u@ u@u©uuiu@u u)uIun@iun@MD=Y:aE8WEy쌼}>I :yD5? :G޾ B -@9kD: M:)j:myAdded new target pos. range: 12.960001 m, bearing: 137.831059 deg, deltaT: 4.520031 s, approachRate: -0.384953 m/s, LOS rate: -1.319212 deg/s, posRepo size: 4m ProNav: pos range: 12.960001 m, bearing: 137.831059 deg, approachRate: -0.384953 m/s, LOS rate: -1.319212 deg/s, cmd update: -3.957635 deg/s, cmd heading: 181.966881 deg, new cmd heading: 180.890901 deg. W4xI@WX XW:W2W*WVbUABUA*UAUM@)@UMx?B]r<B B1AU>*BQA]#PAYAYA]}<"CeHRCaCe4xI@CiU4>)I1GU>'tr,"nAEAɫ髙) IY@y}Giii yy…hAY=MH=YQU>aE>WEy}>I/5?޾ B -@9sDn: Y:)W=G@W9X9 X9W9:WI2WI*WIVIbUQBUQ*UQUQU]u8?Bv<B BA>*BAKAAA<"CG@RCCG@CM MMM M3:YMDW1yMY:M5ֵ3>בIG>xPzr,BAEAY}: p@}:'`@y}:BaB}:y<}:H&?У?౑ֿN /F?I? Bq?@?)~: p@ ~:#a;I~8ɫ99)9 =IAYyyi - - --G?-[-E=i-\@- -t@))I-K@i-K@Y=+;QU=>AAaEEEDWEIyM}U>IQ ]:UW5? e:U޾ UB e-@9U{DU: U :)Uk:WF@WX XW:W2W*WVbUBU*UUU?B%q<BI BIAI*BIAU.DFAQAQAUR<"C]F@RCYC]F@CaIEAA)AeS^>9IIGeU>ܹ9ܹIܽ8yGiܽ@ܹܹܹܽ/; ݽE]8r,&BEAY}Nm@}NB^@y}ND<,}NUhU}NH@OE`o?|?2ԿiGS腥? 룪?)~Nm@ ~N&uc;I~Lɫyy)y yIyY@ys}GifAi!!MaEJWEy}>Iȩŭ5?ŭ޾ ƭB -@9ƭDǭ^; ȭ|j;)ȩW}[D@WX XW :W 2W*WVbUBU*U!U!U%?Bmj<Bq BqAu>*BqAu@AyAyA}<"C}[D@RCC}[D@C֥>]YY]( ] -:YYyY]55)];9eiIqG9>br,YBEAY}F|l@}F\@y}F!}Fb}FH~ ?? :ӿ kZ˳d!?_巿?)~F|l@ ~F!e;I~FCɫii)i mIiYY@y}GiI a=) 4=v/?K7?l?x ?I> =)Iy~jt?y&1 rh?$?`C = •xA)•AI•@i•AGA<MG=Y;QU>aEQWEy|^}>IIM5?M!޾ MB ]-@9MDM: M:)IWm|B@WX XW:W2W*WVbUBU*UUUg?B Ȗ<B  B A {>*BA:AAA5<"Cm|B@RCCm|B@C!=?΅>!IIG|>r,8BEAY}Fj@}FZ@y}F}F}FHg?K?zѿ`ߊ@4KO? Y?)~Fj@ ~Ff;I~FCɫYY)Y ]IYmc>9myCImzGim2@iiim(; mE)yCIyCi=5Y@y`~GiiUmGIyiHٺ8B 0=\̼i@ ٮ@)I@iٮ@5<M54=Y=l;QU=>AAaMEMXWEQyU/z}U>IY m:]5? u:]%޾ ]B u-@9]D]gP; ]L;)]l:W @@WX XW:W2W*WE=iE=Mk MMM M[<:YMU1yM:M5)M;VbUaBUa*UaUaUe@Bk<B BA>*BA4AAAl<"C @@RCC @@C >I)IG >xr,RBEAY}Fˡh@}F?X@y}F }FeM+}FH?r?ϿЧGÿ?Lſ@?)~Fˡh@ ~F[f;I~FCɫQQ)Q QIYY@y~G鮙ɮp=iMy=YQ;QU?aE^WEiym`ý}m?Iquy5?uS(޾ u¢B -@9uDu߼: u :)qW ?@WX XW:W2W*WVbUBU*UUUl @RB*** querying acoustic contact ***PPBj<B BAB>*BA/AAA{V<"C ?@RCC ?@CIG J>r,}lBEAY}RUf@}RqV@y}RU}RF}RHI`FK??!ʿ`9Iǿi? \ȿ`kb?)~RUf@ ~Rwg;I~Pɫ) IY5@y5M~G=Z****** received transponder code query ******=F****** received ping request ******=IIaMEMeWEQyU}]>IY :]5? :]H+޾ ]ТB -@9]D]B; ]TA;)]m:W <@WX X!W!:W!2W!*W!V)bU)BU)*U)U)U5 @MMMM M&2:YMV1yM:M#59U@BM<B BA >*BAE(AAA׸<"C<@RCC<@C}b>9yI}zGi}@}=yy}; }EIG>r,'fBEAY}: d@}:*T@y}:}:lZ}:H?6? E۰?Uƿɿ!!a-E-kWEQy]Ľ}e>Iȱŵ75?ŵ<-޾ ƵۢB -@9ƵDǵ)H< ȵI<)ȱW.;@WX XW:W2W*WVbUBU*UUU@ @B5a<B9 B9A=>*B9A=Ow"IE@A)AA9AaAeB_<"Cm.;@RCiCm.;@Cq}>QIaG}>r,1ABEAY}2a@}2b R@y}2#꼙}2h}2HF`8?E>?$ H̿oC?̿)?)~2a@ ~2"g;I~2Cɫ99)9 =I9Y@y~G@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B igAUUUU! U3:YUWU1yU:U5i  i|?5?{Gz?Zd;O? ? ף<  j<) I y K7?{Gzt?I +? I,? ף; 9<  @) I h@i A  f@ } } } } ?} #} Gai} (@}  } -@)} b@I} b@i} @ 5;M a E uWE y WT} >Iȩ  :ŭ x5?  :ŭ 0޾ ƭ B  -@9ƭ Dǭ f: ȭ :)ȭ n:W 8@W X  X W :WY 2WY *Wa Va bUa BUa *Ua Ui Um k@B <[<B  B A >*B A FA A A <"C 8@RC! C% 8@C! ] `>9Y I] {Gi] x@Y Y Y ] ; ] E=>IG->r,YBEAY}2' `@}2$P@y}2>׼}2hs}2H'? W?A@@Ϳ?@)ο _?)~2' `@ ~2ff;I~2Cɫiq)q uIqY;@y~GxDUSBL response received:!U1,R,432,000,00336,189,80,80,91,FF Fpublishing direction and range infooɰ=鰱 )CIy=A*BAܮAAAO<"C7@RCCs7@CױIGg>)r,BEA|;|;Y}6^@}683N@y}6ȼ}6T{}6H(e??; ο?Ͽ?)~6^@ ~6 e;I~4ɫyy)y }IyYk@y1G-DNmea in: $SNTTA,,,,,014858.23*5F i99yi}=* o/:YDW1yY:55X<M=7=Y=;QU=>AAaEEEWEIyM}M>IQ ]:US5? ]:U3޾ UB e-@9UɶDU: U:)Uo:myAdded new target pos. range: 11.820001 m, bearing: 133.180916 deg, deltaT: 4.484659 s, approachRate: -0.254200 m/s, LOS rate: -1.036900 deg/s, posRepo size: 4m ProNav: pos range: 11.820001 m, bearing: 133.180916 deg, approachRate: -0.254200 m/s, LOS rate: -1.036900 deg/s, cmd update: -3.110700 deg/s, cmd heading: 164.234360 deg, new cmd heading: 162.568258 deg. W5@WX XW:W2W*WVbUBU*UU ף'@U@?B<B BA>*BA'ZAAAV<"C5@RCC5@CI)׹IGf>%Tr,ԵBEAY}6%\@}6CAL@y}6x}6|}6H@`?s?ӆ`3Ͽ?JϿ 6?)~6%\@ ~6c;I~6Cɫ99)9 =I9YyiU-2>UUHiU­@Q U­@)U­@IU­@iU­@Yuq;QUu>yya}E}WEyyh}>Iȉōp<5?ō4޾ ƍB -@9ƍѶDǍ: ȍ:)ȉW4@WX XW:W2W*WVbUBU*UUUO?B<B BA*BA  A A A =<"C4@RCC4@C5^>91I5X|Gi5@1115; 5E >IGj>;r,Ő CEAY}:6 Z@}:;J@y}:-}:n,{}:H?`kə?଻ > nϿI? aϿ`?)~:6 Z@ ~:*c;I~:Cɫ99)9 9I9Y}@y}G)9i <MaEWEyo}>  -:Yym5)%;9I :&5? : 5޾ B  -@9ڶD4: :)p:WE53@WAXA XIWI:W2W*WVbUBU*UUU$?Bms<Bi BiAmR>*BqAuAqAqAuο<"C}53@RCyC}53@C I IQ Gu >fr,k'CEA|i|Y}6"X@}67>H@y}6}6%y{}6H`h ?`2? &ϿU”?Ͽ@?)~6"X@ ~6ab;I~6Cɫ99)9 9I9Y}@y}VGIޅAA)ށix&1?{Gzt?A ? ף;)Iy㥛 ?I +~jt??94D< @)=AIxAiA\A5 ?5 ̽5 i5 ̴@1 5 K@)5 K@I5 @i5 @E }ME =YE :QUM >I I aU EU WEQ y] O}] >Ia e p5?e 4޾ e B m -@9e De : e :)a W 1@W X  X W :W 2W *W V bU BU *U U U _!?B 䮤<B  B A v>*B A ȿA A A B<"C 1@RC C 1@C ?i ?  ]>9 I |Gi k@ D ; I GM >Nr,JACEAY}28V@}2TF@y}29}2[{}2H!?`ܥ?@9ϿF?4&Ͽ;?)~28V@ ~2!"b;I~2Cɫ99)A EIAY]@y]Gi5L=M==Y=*BA0AAAu<"C0@RCC h0@CIG$>Fxr,"[CEAY}2UT@}2?qD@y}28}2|}2H }yBSu?`<]Ͽf?`JϿ :?)~2UT@ ~2?a;I~0ɫ99)9 =I9Y@yGi5n7M=J=Y=;QU=>AAaEEEWEAyM}M>IQ ]:U#5? ]:U3޾ UB e-@9UDUA: U:)Uq:W/@WX XW:W2W*WVbUBU*UUU/@BR<B BA>*BAdbAAAH[<"C/@RCC/@CIIQGm>Kr,tCEAY}:WR@}:̩B@y}:z}:{}:H"@@'r ?\K)Ͽ`n[?@Ͽ' ?)~:WR@ ~:TJa;I~:Cɫ99)A AIAY}@y}G鮍p=ɮa= Y]iAiYYyi}p= @ @ @©i@ @)@I-@i@i<M >=Y~;QU>!!a%E%WE)y-}->I155?5v1޾ 5B E-@95D5Ǻ: 5ӻ:)1U" UUU" U6:YU[1yUH:U59]@Wk-@WX XW:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PPQYܙ9ܙIܝ }Giܝ@ܝ=ܙܙܝ; ݝE)݁I݁i݁݅=݅=݅Y5B.<BiunG BA>IkA*BA~ѻA AA/!&r,؎CEAY}2P@}2 @@y}2J[}2z}2HZ׫m?`Aο%i?Ͽ  ?)~2P@ ~2>`;I~2CɫYY)Y ]IYY@yGZ****** received transponder code query ******F****** received ping request ******aEWE!y%ў}->I1 =:55? =:5/޾ 5B E-@95D5;$; 5F;)5r:WmI,@WiXi XiWi:Wq2WI*WQVQbUQBUY*UYUYUe @B<B BA,>*BA-ŻA)A)A- <"C5I,@RC1C5I,@C9!I1GM1>Dr,ijCEAY}2N@}2>@y}2ͅ;}2dw}2H>ÿ@E?Tkο p?ο?)~2N@ ~2`;I~2CɫYa)a eIaY@yGxDUSBL response received:!U1,P 432,000,00336,189,80,80,91,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i]u]~]~] ](:Y]T1y]@:]5n?rh|?:v??{> T<)Iy%C?l񢿸Q?Z$?< •b@)•AI•"Ai•A    @ @ @ÉÉÉiÍ@É čK@)č­@IčičyS;M=Y`;QU>!!a-E-WE1y=O}E>IIM5?M+޾ M)B -@9M DM; M[;)IW4B*@WX XW:W2W*WVbUBU*UUUS@BmQ<Bi BiAm>*BAAAAǸ<"C4B*@RCC4B*@Cס I G >܉ 9܉ I܉ i܉ ܍ =܉ ܉ ܍ ; ݍ E2r,!CEAY}2L@}2=@y}2&}2{w}2H@pxǿ?ߡ l?͂@~UοՄ?2ο?)~2L@ ~2\`;I~2Cɫ99)9 =I9Y}`@y}/GAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i-=M=Yߞ;QU*?aEWEy}-?I :(5? :t)޾ /B -@9D: :)s:Wj)@WX XW:W2W*WVbUBU *U U Ui@BE%=BI BIAMq?*BIAUAQAQAUY<"C]j)@RCYC]j)@Ca)I1GU>Lr,+jCEAY}20K@}27;@y}2,}2z}2H@ʿLx?P uο`?`dο ?)~20K@ ~2`;I~2Cɫ99)9 =I9Y}@y}VGxDUSBL response received:!U1,R,385,000,00331,189,80,80,94,FF Fpublishing direction and range info IIɰۅ=鰉 )CIyQ8Av?rB4ٱiMX=Ym;QU>aEWEy}>I  S5? %޾ 7B -@9 D Y; ;) WM(@WQXQ XQWY:WY2WY*WYVYbUaBUa*UiUiUm^@R(Combining 5 samples.| 0 =:YWU1y:5P*QQ8AZQDq G @9RN JQv?rB42Q II:QbQXŢ@g[Q"@ZrQW@RQK PxN?aޱ?BQ; @ QAQ{P9?P9?PQQrA"Q{AB*<B! B!A%v>*B!A%JAIAIAM<"CU(@RCQCU(@CQAIQGm5>kr,JECEAY}^SI@}^so9@y}^ͯ}^ hz}^H@ k>οmU? Jο~? +ο ?)~^SI@ ~^`;I~^Cɫ髡) IY@yG=DNmea in: $SNTTA,,,,,014902.77*50 iII   Ý-RÝÝ;_iÝ@Ý ę)ĝ@Iĝb@ię%=M>=Y];QU>aEWEy}>I : o5? :!޾ AB -@9!DV: Y:)t:myAdded new target pos. range: 11.520001 m, bearing: 123.355989 deg, deltaT: 4.416436 s, approachRate: -0.067928 m/s, LOS rate: -2.224628 deg/s, posRepo size: 4m ProNav: pos range: 11.520001 m, bearing: 123.355989 deg, approachRate: -0.067928 m/s, LOS rate: -2.224628 deg/s, cmd update: -6.673884 deg/s, cmd heading: 150.480341 deg, new cmd heading: 149.092060 deg. W$@WX XW:W2W*WVbUBU*UU= '@U.?5\>91I1i11115; 5EB]#<BY BYAeT>*BaAeZ AaAAn<"C&i%@RCC$@CסIGA>r,&DEAY}2G@}27@y}2MȻ}2X|}2H }п5?@Gο@y?p9Ͽ\?)~2G@ ~2ä`;I~0ɫ99)9 =I9Yu@y}G 15hAi19u_M}N=Y}lG;QU>aEWEy}>޵=i޵=Iȩŭ}Z5?ŭ޾ ƭIB -@9ƭ)Dǭ5; ȭ;)ȩWu[!@WqXq XyWy:Wy2W*WVbUBU*UUU?f  _P:YW1yč:"6)@;9B F<B BA>*BAAAA <"C[!@RC!C%[!@CAiIGB>r r,)DEAY}:E@}:5@y}:3}:{}:H@/{ҿ 1?`ߢgͿr&u? Ͽ ?)~:E@ ~:N`;I~:Cɫ99)9 =I9Y}@y}G)i11 r?/$?y&1#?1> `)Iyi|?5?Mb`?~jtx?;Ļ )v AIAiAA 5@ 5@ 5@5©55i5@5 5@)5I5i1E1;ME1=YE ;QUM>IIaMEMWEQyUf}]>IY]nE5?]޾ ]HB m-@9]1D]: ]:)YW@WX XW:W2W*WVbUBU*UUU {?B <B BAA>*BAmAAA<"CAV@RCC@CIGI>- [>9) I- |Gi- k@- =) ) - ; - EBr,CDEAY}2DC@}23@y}2}2w}2HC!?Կe㲿?_.(Ϳq?ο@?)~2DC@ ~2|`;I~2CɫYY)Y YIYY@yGd, b':YU1y:5)ׅ;I?)?iuڻMu=Y}:QU}>aEWEyXa}>Iș :ŝ,5?  :ŝ޾ ƝGB  -@9Ɲ;Dǝ< ȝ<)ȝu:W= uY@W9 X9  XA WA :WA 2WA *WA VI bUI BUI *UI UQ UU /g?B} n<By  B A g>*B A bIA A A <"C uY@RC C uY@C ס I G >Wr,]DEAY}2?A@}21@y}2 V}2it}2H տ@?u̿j?!Cο?)~2?A@ ~2`;I~0ɫII)I IIIY}@y}Gi@M=Y;QUh?aEWE y *BA4,>AAA\<"C= @RCC @CIޱ)޵@A IG5 >>r,wDEAY}6>?@}60@y}6@Z}6ws}6H>׿Æ\?˿FK^?%ο?)~6>?@ ~6 `;I~4ɫ99)9 9I9Y@yGi))   Ý ?Ý'ÝףiÝ=@Ý ĝ@)ĝ@Ięiĝٮ@ M>=YW;QU>aEWEy }>I :5? : ޾ FB -@9FD: :)v:9xCIi=; E  .:YT1y:5).;WL@WX XW:W2W*W!V!bU!BU!*UIUIUM@E@B <B BAe>*BAL AAATj<"CL@RCCL@CסIGA>V&$r,gDEAY}2>@}2%7.@y}2<}2Cu}2H`9Sٿ?@ d ˿>'?`]ο#?)~2>@ ~2`;I~0ɫ99)9 9I9Y}@y}G鮅a=ɮiYY aa^J<MK=Y;QU>aEWEy}>I5?c޾ EB -@9ND: r:)W@WX XW:W 2W *W V bUBU*UUU@R%B*** querying acoustic contact ***P!P!BM =BI BIA]>*BYA]1 AaAaAe<"Cm@RCiCm@CqiIG$>P*r,cDDEAY}2l<@}2{,@y}2h:}25v}2HE ڿPʘ?`L u˿`#X`ο?)~2l<@ ~2`;I~2CɫYa)a iIiY@yGZ****** received transponder code query ******F****** received ping request ******m吾mE=im@i m@)m-@Iiimb@}3;M}%=Y}2[;QU>aEWEy2Z}>Iȑ :ŕe5? :ŕݾ ƕKB -@9ƕXDǕ1; ȕ;)ȕw:W S@W X  X W :W 2W*WVbUBU*U9UAUMN @B@<B BA>*BApкAAAʱ<"C@RCCS@CIG>iu nGI i m<ٺ -B \>9 I X|Gi @ ; E)aIaiae=e=eԣ4o81r,qDEAY}2>:@}2*@y}2 -D;}2bu}2H a;ܿ"B@?² ʿhWοu?)~2>:@ ~2@`;I~2Cɫ99)9 =I9Y@yGxDUSBL response received:!U1,P 385,000,00331,189,80,80,94,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i I C=) = ~;M =Y g+;QU > a E WE y 8} >IA E 5?E ݾ E SB M -@9E dDE : E :)A Wm s @Wi Xi  Xq Wq :Wq 2Wq *Wq Vy bUy BUy *U U U o@B <B  B A >*B A \A A A Į<"C s @RC C s @C  I Ge >7r,40DEAɫ髡) IY@yQGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i-ĸM-=Y-QU5p?99a=E=XEAyE}Eo?II U:M[5? U:Mݾ]]]] ]*:Y]Y1y]:]5 MVB e-@9MhDMOe; Me;)Mx:Wi @WX XW:W2W*WVbUBU*UUU p@BbG=B BA;>*BA >r,DEAɫyy)y yIyI޽@A)޽?AYF@yGxDUSBL response received:!U1,R,33F,000,0030B,189,80,80,A5,FF Fpublishing direction and range info9ɰC= )%CIyAn? 9ٱi=>=&=lgi=\@9 =@)=­@I=E@i=­@E稼MM[=YIQUM>QaaeEeXEayi}m>y9yI}{Gi}@}=yy}; }EIȑŕ 5?ŕݾ ƕ[B -@9ƕoDǕ: ȕ:)ȑW@WX XW:W2W*WVbUBU*UqUqUu~@R(Combining 5 samples.P*QAZQ?@}JQn? 92Q9:QbQSYM %} @g'f#?RQTGv׿vdB?u0 ?BQ)? Q/AQ"]PP9?PQQ@"QrABIq=B BAK>*BA`AAAu<"C @RC C @CI G-,>lDr,EEAY}N5@}N%@y}N;}NLJu}NH+; +JG?ry|ɿ p~veο`?)~N5@ ~N5-a;I~NCɫqq)q qIyYk@y1G}DNmea in: $SNTTA,,,,,014907.21*56 iiq d0:Y]1y:5);9%<M-/=Y5ܮ;QU=>IIaUEUXEy.}>I5?ݾ aB  -@9yD  :)m]uAdded new target pos. range: 9.240001 m, bearing: 112.241817 deg, deltaT: 4.507588 s, approachRate: -0.505814 m/s, LOS rate: -2.465659 deg/s, posRepo size: 4mm ProNav: pos range: 9.240001 m, bearing: 112.241817 deg, approachRate: -0.505814 m/s, LOS rate: -2.465659 deg/s, cmd update: -7.396975 deg/s, cmd heading: 120.511873 deg, new cmd heading: 117.273291 deg. Wm@WiXi XqWq:W2W*WVbUBU*UU`z"@U`c?Bv<B BA>*BA@AAAI<"CYn@RCC@CI)))IG5q>Kr,.EEAY}~03@}~#@y}~;}~s}~Hn@%0 Ώ?0ȿx` +ο`?)~~03@ ~~`;I~~Cɫ) IY@ylGi%`"?Q?~jt?%>%(\> %<)!I!y%~jt?Q?y&1|%?%u<%` %@)%\AI%Ai%A!%zAÍ>Í`eÍh>iÍ@É čK@)čٮ@Ičič@y<MT=YB:QU>aEXEy}>Iȹ :Ž5? E:Žݾ ƽ^B E-@9ƽDǽ)< Ƚ<)Ƚy:Wm?WiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUU@M?B=B9 BAAE>*BAAEg9AAAAAE<"CM^@RCICU?CQQIaG}Y>uZ>9qIu{Giux@u=qqu; uERr,?rHEEAɫyy)y }Iy޽=i޽=Y@y~Giqq%MW=YQU>aEXEy}>Isy5?"ݾ [B %-@9D; ;)We?WaXa XaWi:Wi2Wq*WyVybUyBUy*UUUjd?Bے=B BA>*BAX,:AAAM<"C9?RCC?C 1:YX1y/:m5);IG (>-Xr,YMbEEAY}6A0@}6$] @y}6;}6Fx}6Hgÿ`(?@ E+ȿ@?~ο*?)~6A0@ ~6|`;I~6Cɫ99)9 9I9Y`@y$GiAAe<MeS=Ymw;QUm>iiauEu"XEqy}}}>Iȁ :ŅRi5? :Ņݾ ƅXB -@9ƅDDž: ȅ:)ȅz:WW?WX XW:W2W*WVbUBU*UUUv?BA=B BA>*BA=:AAA3<"C?RCCW?C ׵?i׵?ׁIG>W^r,t(|EEAY}:.@}:@y}:;}:Ȋv}:H7 &ÿ?`v zǿ ~ !ο }?)~:.@ ~:[`;I~:Cɫ99)9 =I9Y}F@y}G!9!I%,{Gi%&@!!!%; %Eieeet>ie3@a e@)e|@Ieb@ieK@JM9=YQU>aE)XEy{}>IȹŽW5?Žmݾ ƽUB -@9ƽDǽq+; Ƚ;)ȹW 3?WX XW:W2W*WVbUBU*UUUJ@BU=BQ BYA]K>*BYA]d<:AYAYA]<"Ce?RCiCm 3?CiaIiG=>?er,EEAY}B|,@}B@y}B;}Bu}BH Ψ`Ŀd?Abƿ"[} }eο r?)~B|,@ ~BI`;I~@ɫYY)Y ]IYY@y;~GI޽AA)޽@A -:YV1y:5)H;i}GKM}L=YIQU>aE/XEy{}->I1 =:5:F5? =:5ݾ 5RB E-@95D5: 5:)5{:W7?WX XW:W2W*WVbUBU*UUU@B%9=B! B!A%>*B)A-:A)A)A-S2<"C57?RC1C57?C99IIGeU>lkr,%EEAɫ) IY@y~Gɮp=)iQ?ʡEZd;O\? j)Iy-?~jth?~jt???D;< ­b@9IzGi@; E)­AI­Ai­AA Т> z> >i @ @) n@I @i M y y a} E} :XE y } >Iȑ ŕ -5?ŕ 3ݾ ƕ VB  -@9ƕ DǕ < ȕ R<)ȑ W Np?W X  X W :W 2W *W V bU BU *U U U% % @R B*** querying acoustic contact ***P P  2:YW1yč:H5);B<B BA~>*BA';AAA:W<"C?RCCNp?CI)IG?$tr,aEEAY}J?'@}J$[@y}J;}Jez}JHlƿm?/ !tſʖ@Ͽ ?)~J?'@ ~Jb`;I~JCɫYa)a eIaY@yn}GZ****** received transponder code query ******F****** received ping request ******aE@XEy V} >I :5? :ݾ YB %-@9D: b:)|:WE?WAXA XAWI:WI2WI*WIVIbUQBUQ*UQUYU]Y @B` =B BA>*BAt2;AAA<"CP?RCC?C׉ I G >e =ie =@zr,*EEAY}f|%@}f@y}f<}fy}fH@2Qǿ`< ? ؖĿ@I ο+ ?)~f|%@ ~f{`;I~fCɫ髡) IY]N@y]}GuxDUSBL response received:!U1,P 33F,000,0030B,189,80,80,A5,FF }Command Ack}BRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i9t?+ɾi3@ K@)K@IK@iK@}<M}=YP?;QU?aEFXEy?}?I5?Gݾ %tI [B %.@9D7!< r!<)Wm>?WiXi XiWi:Wi2Wi*WqVqbUqBUq*UyUyU`@B#=B! B!A%>*B)A-F;A)A1A5h<"Ce'?RCiCm>?CבIG>] >] Ci =nGI i @ٺ 1B     +:Y V1y : 59 @ܥ Y>9ܡ Iܥ dzGiܥ @ܥ =ܡ ܡ ܥ ; ݥ E)xCIxCie4.r,VFEAY}6#@}6@y}6-<}6x}6Hf {ǿ ?fÿE /ο ?)~6#@ ~60`;I~4ɫ)1)1 5I1Ym@ymE}GqqNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i-@M-=Y5f:QU5?11a=E=JXE9yEԵ}E?IIM 5?M\ݾ M]B U.@9MDM: M:)IW5G?W1X1 X1W1:W92W9*W9V9bUABUI*UIUIUM @Bā=B BA>*BAWW;AAA<"CG?RCCG?C?iy?IG(>9Tr,sFEA|i|@ɫ髱) IY?@y}GxDUSBL response received:!U1,R,27E,000,002F6,189,80,80,66,FF Fpublishing direction and range infoӇɰax= )BIy\@b*?w]zٱiQQX9v?Zd;O?~jt?j< )Iyoʡ?kt?-? 0L= @)=AIAi AA%5<M%/=Y%QU->))a-E-RXE1y5}5>I9 E:=5? M:=ݾ =jB M.@9=ɷD=": =@:)=}:W?WX XW:W2W*WVbUBU*UUU%s@R5(Combining 5 samples.P1*Q5\@ZQ5*mc@ZP$JQ5b*?w]z2Q5Ӈ:Q1bQ5n4%( /@ ,֌?RQ5#o'ɿXg&?ݢpJp?BQ5j? Q5@Q5ǿP1P1P5Q1Q5@"Q5@B=B BA>*BAq;AAAե<"C?RCC?C׹IGf>Iޅ @A)ށ  } }  *,:Y kS1y Ԋ: 5}r,G8FEAY}: @}:@y}:@;}:}q}:H\1ǿ?N¿@~Ϳ?)~: @ ~:`;I~:Cɫ9A)A EIAY}@y}}GEDNmea in: $SNTTA,,,,,014911.83*59 )Iih=`e`!!a%E%XXE)y- }->I1545?5s~ݾ 5tB E.@95ѷD5: 5f:)1muAdded new target pos. range: 7.979999 m, bearing: 101.349407 deg, deltaT: 4.615384 s, approachRate: -0.273000 m/s, LOS rate: -2.360022 deg/s, posRepo size: 4m ProNav: pos range: 7.979999 m, bearing: 101.349407 deg, approachRate: -0.273000 m/s, LOS rate: -2.360022 deg/s, cmd update: -7.080067 deg/s, cmd heading: 86.252679 deg, new cmd heading: 83.639202 deg. W?WX XW:W2W*WVbUBU*UU@U`91I5zGi52@5=115 ; 5EB " =B  BA`>*BA;AAA0<"Cg?RC!Ce?CaYIaGY>(er,?oRFEAɫ) IY@@y|Giyy yyM=YQU>aE`XEy}>I :'5? :mݾ B .@9ݷD:  :)~:WSQ?WX XW:W2W *W V bU BU*UUU`~?BEii<BA BAAE>*BAAM;AIAIAMq<"CU1j?RCQC]SQ?CYIi)iI Iq G >     i*:Y V1y : 5?r,*BAҗ;AAAأ<"C6ֱ?RCCJ?CIG-->) 9) I- yGi- @) ) ) - ; - E:wr,%FEAY}j^@}jpz @y}j1};}jCu}jH@*K+}@0ɿKA?o]ο?)~j^@ ~jr`;I~jCɫ髹) IY@y{GiyMR=YDQU>aEkXEyސ}>I :,5? :Xݾ B .@9D^: :):W!?WX XW:W2W*W V bU BU *UUU ҽ?B==BA BAAE,>*BAAE;AIAIAMP<"CU L?RCQCU!?CYIG*>     E1:Y 0Y1y : 56r,\FEAY}2s@}2 @y}2*7;}2Vw}2Hʔɿ˼?`]fο)?)~2s@ ~2\`;I~2Cɫ99)9 EIAY}@y}{GI?)?i%/$?Q333333%&>%u %)!I!y%m?IIaUEUrXEQy]L}]>Iae5?eMݾ eB m.@9eDe: e:)aWr?WX XW:W2W*WVbUBU*UUU?Bm=Bq BqAuT>*BqAuVa;AqAqA}R<"C}l?RCCr?Cו?iוk?ׁIG=>̭r,޹FEAY}Jc@}J @y}J5;}J"w}JH`f3&ʿ2?ib`]ÿFbǗο?)~Jc@ ~J`;I~JCɫ髙) IY@y{Gi!!u1uQujiu@q uٮ@)u@Iuiuٮ@MW=YuºQU>aExXEy}>I  :X5?  :Cݾ B .@9D; S;):W5q=?W1X1 X9W9:W92W9*W9VAbUABUA*UAUAUM@Bu"=Bq ByA}>*ByA}E;AyAyA<"C?RCCq=?C9IxGi?@; EaIqG>     ,:Y DW1y Y: $5) ;9 =r,FEAY}:k9@}:T@y}:Ҋ;}:zt}:H @)`Eʿ@ѣ? \߿Yq` !!a%E%~XE)y-}->I15Ǩ5?58ݾ 5B =.@95D5: 5:)1WeG?WaXa XaWa:Wi2Wi*WiVibUiBU*UUU6@RB*** querying acoustic contact ***PPB" =B BAz>*BA;A AA<"C?RCCG?CIG>r,i5@1 1)5@I1i1E ME8=YMEyQUM>IIaUEUXEQy]"p}]>Iae25?ec,ݾ eB .@9eDeJ< e_<)aW?WX XW:W2W*WVbUABUA*UIUIUM` @B0<B BA׼>*BA;AAAp<"Cu?RCC?CIGI> W>9 I pxGi @ = ; E     -:Y U1y : 5) H;r,7nGEAY}2@}2y@y}2:}2q}2H`Vݿ3ʿ@xp?dܿ@ 4P[Ϳ`?)~2@ ~2N`;I~2Cɫ99)9 =I9Y]@y]|GexDUSBL response received:!U1,P 27E,000,002F6,189,80,80,66,FF eCommand AckeBRequesting micromodem ping code 2iaiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i|=Md=YvȺQU >a%E%XEy}>I :I5? :!ݾ B .@9D|; *(;):Wv?WX XW:W2WI*WIVQbUQBUY*UYUaU@$ @B=B BA.>*BA$;AAAS<"C%?RC!C%v?C)IG-N>ލ =iމ /r,O!GEAY}FC@}F _@y}F7}Fq}FH ۿaʿ@7?`ۿ`y&Ϳ?)~FC@ ~Fd`;I~FCɫ髑) IYx@y{G?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iYYUx&1?MbS㥛U>U@ U/ݼ)QIQyUS㥛?X9vy&1?U$?UU`< U@)U!AIUrAiQQUG Au|˼Mu4=Yu^QU}>yya}E}XEyq}>Iȑŕ5?ŕIݾ ƕB .@9ƕDǕ: ȕ:)ȑWe?WX XW:W2W*WVbUBU*UUUD@By =B BAe>*BA C;A A A c*<"CH'?RCCe?CׁIG?> ]   &:Y X1y /: 9 @mr,#;GEAY}2@}2`?y}2z鹙}2;n}2H Yڿ'``sʿo)?ٿn O9=?@/Ϳ"?)~2@ ~2B`;I~2Cɫ99)9 =I9Y}@y}{GxDUSBL response received:!U1,R,19A,000,002E7,186,80,80,AD,FF Fpublishing direction and range info0ɰws=鰅> )-CIy@ƌ{7?Z8iֿٱi%nGI9iIiQ<ٺ$.B5>5->5=i5=@1 5@)5I5&@i5­@uV>9qIu xGiu@qqqu#; uE) I i 4V;ME=YZQU>aEXEy}>I  :W5? :;ݾ B .@9!DE: Q:):WUbju?WQXY XYWY:WY2WY*WaVabUaBUa*UUU@[@R(Combining 5 samples.P*Q@ZQ/̆@9JQƌ{7?Z8iֿ2Q0:QbQ%H̢e%@ni?RQ9Z: P?~pʹ?BQ? Q+@Q"P9?PPQQ@"Q@Bْ=B BA>*BAl;AAA7<"CEv?RCACEbju?CI]?i]?9IIGeV>r,eUGEAY}~ @}~??y}~5^'}~n}~H^ؿ`ҳ@P:˿?] ؿ D?Ϳ@g"?)~~ @ ~~8`;I~~Cɫ髁) IY=@yG{GMDNmea in: $SNTTA,,,,,014916.24*53 )QipMF=Y QU >  aEXEyŃ}>I!%|}5?%Vܾ %B -.@9%)D%: %:)!m]qAdded new target pos. range: 7.080001 m, bearing: 94.321812 deg, deltaT: 4.424534 s, approachRate: -0.203411 m/s, LOS rate: -1.588324 deg/s, posRepo size: 4mm ProNav: pos range: 7.080001 m, bearing: 94.321812 deg, approachRate: -0.203411 m/s, LOS rate: -1.588324 deg/s, cmd update: -4.764973 deg/s, cmd heading: 54.926857 deg, new cmd heading: 52.060577 deg. Wml?WqXq XqWq:Wq2Wy*WyVybUyBU*UUQ@Ue?B$ =B BA>*BA;AAA_T<"Co?RCCl?CIGh>Iu AA)q     -:Y U1y : 5.r,2nGEAY}v2 @}v?y}vT-}v,m}vHg;׿Cb˿@6?љֿ߃`E?NlͿ$?)~v2 @ ~vd_;I~tɫyy)y }IyY@y{Gi))}Q8}"۽}+i}p@y }@)}@I}@i}!M=Y:QU>aEXEyD} >I  : ns5?  : ܾ ˣB  .@9 5D : +:) :W5 `?W9 X9  X9 W9 :W9 2W9 *WA VA bUA BUI *UI UI UM `?m U>9i Im wGim K@m =i i m ; m EB &<B  B A >*B A <A A A 57<"C `?RC C `?C I ) י I G >r,GEAY}J @}J`Z?y}J }Jl}JHʹտ`9M˿r?@տ wp2?@[Ϳ`%?)~J @ ~J{Ea;I~JCɫ髹) IY&@y,{Giaa M<M=Y:QUN?aEXEyb}M?I p5?ܾ ϣB .@99DD: r:)W%n\?W!X) X)W):W)2W)*W1V1bU1BU1*U9U9U=@?Bee6=Bi BiAmN>*BiAu$<AqAqAuK<"C}z{\?RCyC}n\?CIG$>    " +:Y WU1y : 5p=r,GEAY}24@}2P?y}2 }2{j}2HO)Կ,˿^?`,ӿ`MU@A[? Ϳ)*?)~24@ ~2l$b;I~0ɫ99)9 =I9Y@y{Gi!!Mb?X9v{Gzt?} ף)Iyףp= ?y&1{Gz??`#< µ@)µAIµAi±%MK=Y9QU>aEXEy$}>I :;j5? :qܾ ңB .@9AD: :):WS?WX XW:W2W*WVbUBU*UUU`Ao?B=B BA8>*B!A%<A!A!A%<"C-S?RC)C5S?C1!I)GU2>ށ iޅ =gr,jGEAY}ZE@}Z ?y}Z4H9}Zڷi}ZH +ҿ@ҹ˿`b?@ҿ`i3 7̿`+?)~ZE@ ~Za;I~Xɫ髙) IY% @y% {G9Ii; EIU?)U?iQQ>u<vi\@ -@)ٮ@Iٮ@i­@;M9=Y#t:QU>a E XE yp}>Iid5?xܾ ֣B %.@9JD: H:)WMpJ?WIXI XIWI:WQ2WQ*WQVQbUQBUY*UYUYU]@@B =B BA>*BA! <AAA*Ș<"CpJ?RCCpJ?C׵?i׵?ׁIG>>    5 N2:Y W1y č: 5) G;9 Or,FGEAY}:@}:\?y}:6}:8fi}:H пO`˿@?п (@پF̿@ ,?)~:@ ~:[a;I~8ɫYY)Y ]IYY@yzG)iYY%Md=Y[TQU>aEXEy}>Iȱŵ0`5?ŵJܾ Ƶ٣B .@9ƵQDǵ+: ȵ8:)ȱWB?WX XW:W2W*WVbUBU*UUU@B%c=B! B!A%6>*B!A-!Z<A)A)A- <"C5B?RC1C5B?C9)I1GU>}r,1GEAY}J@}J?y}Jṙ}J0+j}JH zο`nE T+̿`_?OͿwث3Ý̼Ý$ƾiÝp@Ù ĝ­@)ĝ@Iĝięz<M=YHQU>aEXEyWE}>I :?Z5? :ܾ ݣB .@9\D: :):W6?WX XW:W2W*WVbUBU *U U U `̈@RB*** querying acoustic contact ***PPB=f<B9 BAAEº>*BAAE|1<AAAIAMȖ<"CU6?RCQCU6?CQ T>9 I DwGi @    #;  Ea Ii G >    B5:Y X1y /: ) ԑ;ar, HEAY}6@}6$l?y}6]}6@o}6H@'˿al@A̿@E?cʿ掩 K? Ϳi!?)~6@ ~6 a;I~4ɫ99)9 9I9Y}@y}{GZ****** received transponder code query ******F****** received ping request ******F<M5=Y=dQU=G?9AaEEEXEAyM}MG?IQU8X5?Uܾ UߣB ].@9UaDU: U:)QW1?WX XW:W2W*WVbUBU*UUU8d @BeQ-=Ba BaAe%>*BaAm <AiAA<"Co3?RCC1?CׁIG>r,#HEAY}B_@}Bj?y}BK}Bk}BHǿЬ̿q?jǿ`*`| P?4Ϳ`'?)~B_@ ~BW~`;I~@ɫyy)y yIyY@yzGxDUSBL response received:!U1,P 19A,000,002E7,186,80,80,AD,FF Command AckBRequesting micromodem ping code 2iUNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i%+?I +ƿˡE?%v>%94 %=)!I!y%/$?Mb`%?%̼% %@)%AI%rAi%rA!%QAÅ>ÅÅaEXEyH}>I :T5? :#ܾ B .@9lD<; J4;):WEo%?WAXI XIWI:WQ2WY*WYVYbUaBUa*UiUqU` @BR<B BAq>*BA!<AAAH<"Co%?RCCo%?C׉ I G > 6   ' !8:Y DW1y Y: 59 @r,s=HEAɫ髑) IY@yzzGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ܹ9ܹIܽwGiܽK@ܽ=ܹܹܽ"; ݽEiiiIq)uR=׼M=YQU?aEXEy}?IQ5?{ܾ  .@9rD: D:)W ?W X  XW:W2W*WVbUBU*UUU%@@BM`$=BQ BQAUG>*BQAUP$<AQAQA],<"C]"?RCaCe?CaYIiG8>r,WHEAY}>?}>?y}>a:}>Q l}>HH@tͿ?@_-#L>ͿM'?)~>? ~>O_;I~>CɫYY)a aIaY@yzGxDUSBL response received:!U1,R,EBA,000,002F5,186,80,80,37,FF Fpublishing direction and range info>ɰ x=鰡 )\BIyp@󔹶? -q?ٱil<MZ=Yl;QU>aEXEy1}>I %:O5? %:nܾ B -.@9yD{: f:):WV?WX XW:W2W*WVbUBU*UUUA@R(Combining 5 samples.P*Qp@ZQRPh@%9Su@JQ󔹶? -q?2Q>:QbQ#n<9 e @vRQt 7vzٿ܉H?5.BQ? Q@QIP9?P9?PQQL@"Q@BnV=B BA>*BA)<AA!A%fF<"CMV?RCICMV?CIAIIGm5> - & i7:Y y 5r,jqHEAY}6?}6?y}6yE7;}6~l}6HFV`(/ͿW?P@6 fVPͿ?&?)~6? ~6m_;I~6Cɫ99)A EIAY}@y}zG TNmea in: $SNTTA,0.117231,,,,014920.71*4F i))>vi@ b@)­@Ii@MI=Y;QU>aEXEyЅ}>I  N5? `ܾ  .@9 D : +:) mEmAdded new target pos. range: 7.919999 m, bearing: 113.512048 deg, deltaT: 4.418849 s, approachRate: 0.190094 m/s, LOS rate: 4.342813 deg/s, posRepo size: 4m] ProNav: pos range: 7.919999 m, bearing: 113.512048 deg, approachRate: 0.190094 m/s, LOS rate: 4.342813 deg/s, cmd update: 12.000000 deg/s, cmd heading: 33.870760 deg, new cmd heading: 31.998660 deg. W]f,?WYXY XYWY:Wa2Wa*WaVabUaBUi*UiUu @UuF?B=B BA!>*BA!.<AAAn<"C?RCCf,?CI)hAIG-->inGIi)Ud<ٺQU-B9IDwGi@'; E)IIIiIIIM4"r,,EHEAY}2m?}2ʤ?y}2z;}2pl}2H@# @>Ϳ`?5ʹ_o`zNͿ`T&?)~2m? ~2a;I~2CɫYa)a aIaY}@y}zGi !!]<M]U=Ye/;QUe>iiamEmXEqy}~}}>Iȁ :ŅM5? :ŅSܾ ƅB .@9ƅDDž%; ȅT&;)ȅ:WEB?WAXA XAWA:WA2WA*WIVIbUIBUQ*UQUQUUoR?BQ=B BA>*BA2<AAAJ<"C_?*CRCCB?CׁIG>Iޅ @A)ށ    H 0:Y X1y /: 5(r,HEAY}6gt?}6N?y}6ղ;}6p}6H`'ijOͿ x?"DWp` Ϳ?)~6gt? ~6_'b;I~6Cɫ99)9 =I9Y@y{Gi))`"?#~j>㥽 )IyE?X9v?&?< ½@)½v AI¹i½Q A A<MB=Y :QU>aEXEyc}>IL5?4Dܾ B .@9D: :)W_X?WX XW:W2W*WVbUBU*UU)U5`?BE=BA BAAE>*BIAMO8<AIAIAM<"CUb?RCQCU_X?CY9IAGmW>/r,"HEAY}:m?}:Τ?y}:'[;}:Grq}:H@R`Ϳ?E7ct`k`ͿI?)~:m? ~:Na;I~:CɫYY)Y YIaY@yzGa9aIaiaaaae1; eEi =@ =@ =@=©==i=@= =@)=n@I9i=UBMUC=YUݺQU]>YYa]E]XEayef}e>IimL5?m4ܾ mB }.@9mDm: m:)iWzn?WX XW:W2W*WVbUBU*UUU`?B=#=B9 B9A=^>*BAAEW<<AAAAAeΏ<"Cm)"?RCqCuzn?Cqץ?iץ?aIiG9>    C:Y Y1y : 5) ;9 5r,|HEA||p;Y}6NG?}65~?y}6¢ ;}6o}6H 冿`. {Ϳv?o8J+VdͿ ?)~6NG? ~6?Ca;I~6Cɫ) IY5@y5zGiI)=Wg;MU=YQU>aEXEy;}>I :M5? :&ܾ B .@9DI: 4:):W X?W X  X W :W 2W*WVbUBU*UUUy?BM2=BI BIAM>*BQAU9A<AQAQAU_<"C]LB1?RCYC] X?CaIIQGu>ލ =iލ p=<r,JHEAY}2}?}2d:?y}2 :}280m}2H@&W?q$@`Ϳ`&?@ً?`vs?@XTbͿ6%?)~2}? ~2`;I~2Ciz3CzlA)~D ~KFI| C)lAɖDXKF fCɗ lAi ףI PF IilA .PF)阙 lAsOFɘٔCI)i)IlA־əSF ɚAiɫ髹) IY@yzG)Qi   7 d;ti@ ٮ@)­@Iٮ@i@ 9M6=Y QU>aEYE!y%i}%>I)-N5?-Mܾ -B =.@9-D-w: -:))Wh?WX XW:W2W*WVbUBU*UUUR@B==B9 B9A=>*B9AeEF<AaAaAe<"Cm4J?RCiCmh?CqyIG^>]S>9]wCIYiY] =Y]D]-; ]E    7 c2:Y X1y /: l5) Y;Br,Ƌ IEAY}2S?}2:?y}2|Vs:}27fo}2H@ Ť?Ϳ@?=? "?@jN-Ϳ#!?)~2S? ~2`;I~0 >C)>lAɂ>?5>fTF<@ɃBlAiBףI@@IDiFlA FF;F)DH JlAJDHɄHHNlAIN+)NNFiL)RٔCIRlARɅRA A aM EM YEI yU d1}U >IQ ] :U FP5? e :U aܾ U B e .@9U DU : U :)U :W ?W X  X W :W 2W *W V bU BU *U U U 3h@R B*** querying acoustic contact ***P P B UK =B  B A չ>*B A M<A A A <"C i?RC C ?C Iי )ם gAY Ia G >a>Ir,P&IEAY}F(??}Fv?y}FA`:}F3Go}FHH0?~`uͿ??Ő?L@hͿ@]!?)~F(?? ~F2`;I~DɫII)I IIIYS@y(zGZ****** received transponder code query ******F****** received ping request *******BA%DP<A!A!A%2<"C-u?RC)C-IQ )Q e e e e  e 1:Ye U1ye :e $59m @CPr,@IEAY}6?}6?y}6:}6Fl}6H ?(4Ϳ ?Z?!?bR?Ϳ?'?)~6? ~6X_;I~4ɫ髹) I9Ii*; EY@yzGxDUSBL response received:!U1,P EBA,000,002F5,186,80,80,37,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 i9A%>%<%qi%@! %@)%@I%i%@mT*=Mm7=Yu,:QU}>aEYEyq}>I  : -T5? : [۾ B .@9 ŸD : :) :W?WX XW:W2W*WVbUBU*UUUU @B>=B BA>*B A YU<A A A <"Cq?RCC?C9I1Gew>IVr,p_ZIEAY}2[R?}2A?y}2_;}2l}2H ?``Ϳ? ? y?a1XͿ%?)~2[R? ~2*_;I~0ɫ99)9 9I9Ye@ymzGquAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ihMV=Y 1;QU>aE YEyC}>IW5?H۾ B .@9̸Dw: +:)Wz?W X  X W :W 2W *WVbUBU*UUU`5@BM%#=BI BIAMӶ>*BIAUvY<AQAQAU<"C] ?RCYC]z?CYu?iul?AIG@>u u u u % u .:Yu 0Y1yu :u 5s\r,d:tIEAY}2?}2h ?y}2@;}2)j}2H?I̿v?`B? ?gpWͿ@)?)~2? ~2_;I~2Cɫ99)9 =I9Y}@y}zGxDUSBL response received:!U1,R,D4F,000,002E6,189,80,80,AE,FF Fpublishing direction and range info?ɰ#s=鰅7> ).CIy@Ic?~t>?ٱ)iMmMtaaaeEe&YEiym)}m>I1 =:5Z5? =:5۾ 5B =.@95ԸD5w: 5:)5:We7?WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqU}`(@R(Combining 5 samples.P*Q@ZQD'@_ x@JQIc?~t>?2Q?:QbQ}/Oޱ:+@p-RQt ^ۿe {y?hBQ@ QX@Q<>P9?P9?PQQ;@"QL@B`=B BA6>*BAD^<A)A)A-2<"C5s?RC5!>C57?C1IG-->9IvGi@=; Ee =ie =S[cr,DIEAY}V?}VҲ?y}VW;}VTd}VH: ?@ ˿@~?c??`{@M̿5?)~V? ~Vז_;I~VCɫ) IY@y{GDNmea in: $SNTTA,,,,,014925.15*51 i u xu u u  u (:Yu V1yu :u 5 ʡE?~jt?+? -> = =) I y Fx?~jthZd;O? +? D j<= • @)• |AI• Ai• A QA 4<M a E 1YEa ym b}m >Iq u `5?u z۾ u B } .@9u Du 3: u :)q m qAdded new target pos. range: 7.020000 m, bearing: 115.286681 deg, deltaT: 4.437909 s, approachRate: -0.202798 m/s, LOS rate: 0.399881 deg/s, posRepo size: 4m  ProNav: pos range: 7.020000 m, bearing: 115.286681 deg, approachRate: -0.202798 m/s, LOS rate: 0.399881 deg/s, cmd update: 1.199642 deg/s, cmd heading: 87.173262 deg, new cmd heading: 95.264202 deg. W ΍?W X  X W :W 2W *W V bU BU *U U {@U @?B =B  B A 8>*B A lf<A A A <"C 4?RC PC ΍?C! IA G] >. jr,IEAY}f}?}f䴯?y}f%<}fb}fH`J0? $R˿k_?eN?`?`~̿@7?)~f}? ~f_;I~fCɫ髩) IYm@y{GiM־MMO iM=@I Mb@)M@IMK@iM@]=Me=Yev*BiAurh<AqAqAu]{<"Ca?RCfC?CבIG?>i =nGI i m>ٺ /B[pr,IEA|i|Y}6?}6?y}6 J<}6f}6H??`ps˿7?` ?? WWA̿0?)~6? ~6B_;I~6CD9DIDiDDDDF; D)-wCI-wCi)-=-=-;4ɫyy)y IY@yzGi99]"qM]^=Ye;QUe>aiamEm:YEyK{}>I :5g5? :۾  B .@9D; P;):W5?W1X1 X1W1:W92W9*W9V9bUABUA*UAUAUE-?B$=B BA>*BAl<AAA6̆<"Cj?RC'[C?Cx>יIGb>Im AA)i } } } y } 0:Y} U1y} :y )} ;9 kwr,ձIEAY}6?}6Ω?y}67k<}66h}6H?G˿ 1 ?@>?j?f̿,?)~6? ~6M_;I~6Cɫ99)9 =I9Y@yzGI?)?i<M?=Y;QU>aEAYE!y%4`}%>I)-l5?-۾ -B =.@9-D-: -+:))W]T)?WYXY XaWa:Wa2Wa*WaVabUiBUi*UiUqUuQ?BK$=B BAº>*BAq<AAA<"Cc?RC CT)?C֍S%}>IGI>>}r,֌IEAY}:?}:?y}:v<}:>h}:HK?`X˿_?9?@ײ?@َ̿`,?)~:? ~:^_;I~:CɫAA)A AIAY}W@y,zGiaEGYEyg}>I  : ar5? : ۾ B .@9 D : b:) :W=W;?W9X9 X9W9:W92WA*WAVAbUABUA*UIUIU@s@B$~=B BAX>*BA[v<AAASx<"C?RC)C-W;?C)%XM>I G%M>ܙ9ܙIܝ|vGiܝW@ܙܙܙܝ; ݝEu u u u  u /:Yu W1yu č:u 5)u %;e&r,hJEAY}2?}2?y}2m}<}2 m}2HN?@ǣ˿ ?ڙ? e?ZkͿ#?)~2? ~2_;I~2Cɫ99)9 EIAY]@y]zGi]1=M]T=Y]:QUe>aiamEmMYEyv}>Iȑŕnx5?ŕt۾ ƕ#B .@9ƕ DǕ: ȕ:)ȑWE?WX XW:W2W*WVbUBU*UUUv@B)=B BA>*BA z<A A A Մ<"C%?RCCE?C 8 >IG=.>}Pr,C+JEAɫ髡) IYq@yLzGɮa= AAiIIUv/?MbX9?y&1|Ux>Uʡ= U`)QIQyUzG?{Gzt{GztU 7?UףUף U@)UAIUAiUAQUzA @ @ @õ©õõiõf@õ ĵٮ@)ĵIĵiĵ­@qM5=YQU>aEUYEy}>I :\5? :c۾ B .@9D: 8:):Wx?WX XW:W2W*WVbU!BU!*U!U!U+@RB*** querying acoustic contact ***PPB5e=Bq ByA}>*BAg<AAAw"<"C=?RCCx?Cֽ#=I)יIG>} } } }  } ):Y} DW1y} Y:} 59} @f8r,KEJEAR>9Ii; EY}B ;?}Bq?y}B- <}Ba}BH?Yɿ=? :2? # ?˿8?)~B ;? ~B)t_;I~@ɫyy) IYm@yHzGZ****** received transponder code query ******F****** received ping request ******aEZYEy}>Iȡť5?ťU۾ ƥB .@9ƥDǥH; ȥ{;)ȡWUI}?WQXQ XQWY:WY2WY*WYVYbUaBUa*UaUaUm @B*=B BA>*BA<AAA <"Cn?*CRCC I}?C 5tr=׹IGE>br,v^JEAY}:?}:%?y}:Ր<}:pU}:H?pȿ ? M?@$^?@s`{ʿ@oM?)~:? ~:q"_;I~:Cɫ9A)A AIAY}@y}lzGxDUSBL response received:!U1,P D4F,000,002E6,189,80,80,AE,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iy<M7=YR;QU>aEbYEy3#} >I -:A5? 5:D۾ B =.@9&D;; ?;):W ?WX XW:W2W*WVbUBU*UUU @Bun =Bq BqAu>*ByA}Ä<AyAyA}z<"C?RCC ?Ci;I GM>u , q q u  u T7:Yq yq u 5r,xJEAY}2'?}2^?y}2ț<}2:G}2H? _ <ƿ`z?U,?I? #3߽ȿ`c?)~2'? ~2^;I~0ɫ99)9 =I9Y}[@y}1zGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I?)i   ýý>ýiý@ý ĽO@)Ľ@IĽK@iĽO@M\=Y ;QU>aEgYEy}>IF5?7۾ B .@9.Df: :)Wʢ?WX X!W!:W!2W!*W!V!bU)BU)*U)U1U5 2>@B]H/=BY BaAe>*BaAe<AaAaAec<"Cmʢ?RCqCuʢ?CqMI1GM1>%Q>9!I%vGi%@!!!! %E~tr,JEAY}6?}6?y}6<}6%6}6Hi?[Ŀ?`?& ?mƿ|?)~6? ~63^;I~6Cɫ99)A EIAYyyyxDUSBL response received:!U1,R,09A,000,0030D,187,80,80,40,FF Fpublishing direction and range info ɰ=鰍1> )BIyAif"?L`u&ٱ)iqyYaEnYEy3Ǽ}>Ie5?'۾ B 5.@97D; @<)Wj?WX XW:W2W*WVbUBU*UUU@RM(Combining 5 samples.PQ*QUAZQU"@$6JQUif"?L`u&2QU :QQbQUG-@#] @Cv?RQUI?r?hvC?BQU-? QUAQUh@PU)9?PU9?PUQUQU@"QU;@B,=B BA*BA[<AAA<"C\8?*CRCCj?C בIG>u Q u u u ' u H::Yu WU1yu :u 5r,cJEA|4|64<ɫ髉) IYm@yHzG5DNmea in: $SNTTA,,,,,014929.61*5E 鼉i \(\?ʡE?Q? > -2>  u<) I y ʡE?i @ @) X@I n@i n@ -;M a E xYE y } >I  : ~5? % : ۾  % /@9 ED s:  :) :mU qAdded new target pos. range: 9.359999 m, bearing: 60.956720 deg, deltaT: 4.501963 s, approachRate: 0.519773 m/s, LOS rate: -12.068061 deg/s, posRepo size: 4m] ProNav REINIT: LOS rate is -12.068061 deg/s. Setting heading cmd to target bearing of 60.956720deg and heading rate command to 0 deg/s.W] -?WY XY  XY WY :Wa 2Wa *Wa Va bUi BUi *Ui Um Q"@Uu [?B =B  B A >*B A <A A A a_<"C G?RC C -?C hA hAֵ Շ! 9! I% PuGi% c@! ! ! % ; % Eב I G >zr,;JEAY}Fn?}FQ̘?y}F|=}F }FH`? Z?s?1? vt?)~Fn? ~F^;I~FCɫqq)q qIqY@yyGi11mMm=YuQi=QU}?aE{YEyg}?Ișŝ 5?ŝD ۾ ƝB /@9ƝIDǝ?; ȝd.;)șWWX XW:W2W*WVbUBU*UUUm?BmQ=B BA->*BA <AAA$<"C@]?RCCC s7IGH>U U U U  U 3:YU DW1yU Y:U 5)U ;9] ߷r,JEAY}>x?}>Zݙ?y}>h!=}>"ƽ}>H` ?^oi?@M?_O? S>yQ?)~>x? ~>^;I~>CɫYY)Y YIYYq@yLzGi11u$<M}J=Y}UaEYEyƩ<}>Iȑ :ŕ45? :ŕzھ ƕB /@9ƕRDǕ: ȕw:)ȕ:WWX XW:W2W*WVbUBU*UUU@?Bt.=B B A >*B A -Ώ<A A AI<"CX?RCCCVשIG > r,;JEAY}2?}2?y}2^9=}2\}2H@D)?ܡC?]?`bB?)?)~2? ~2v_;I~2Cɫ99)9 9I9Y}@y}yGE>IinGIiFٺ%6Bi99IER=)A+K7G>i@ Ը@)Ib@i­@&M3=Y%0L!)a-E-YE)y5=}5>I9=)5?=ھ = B E/@9=\D=: =:)9WiWiXi XiWi:Wq2Wq*WqVqbUqBUy*UyUyU}z!?B#=B BA>*BAU<AAAA:<"C%?RCCCܩ9ܩIܭtGiܭ@ܩܩܩܭ ; ݭE)IiX4ֽZqIG>IM @A)M AA] ] ] ]  ] ).:Y] Y1y] :] 5)] ;r,QKEAY}J?}J9?y}J6/M=}JTg<}JH?@:sv?/??%?'8.?)~J? ~J`;I~JCɫ髑) IY@yczG)QiU=M]X=YePyyaEYEy2M=}>Iȹ :Ž\5? :Žھ ƽB /@9ƽeDǽ< Ƚa<)Ƚ:WWX XW:W2W!*W!V!bU!BU!*U)U)U-z@Bu+=By ByA}>*BA͔<AAArv<"C:Y?RC6CCֵ1kבIG>]r,.KEAɫ)1)1 1I1YU@yUzGR=i=iIIJ +?+η?J +?v= H)IyFx?l{Gz?+?#= h@)p AIAiAAe e e e  e ,:Ye X1ye /:e 59 @= xi= = "[i= @9 = O@)= O@I= @i= n@ ;M =Y QU > a E YE y } >I j5? ھ B  /@9 rD ;: ӻ:) W1 W9 XY  XY WY :WY 2Wa *Wa Va bUa BUa *Ui Ui Um @Ru B*** querying acoustic contact ***Pq Pq B =B  B A 4>*B A x&<A A A ߁<"C ?RC C C ܡ 9ܡ Iܥ \sGiܥ @ܥ =ܡ ܡ ܥ ; ݥ E ·ב I G >7r,MIKEAY}F ?}FB?y}F^=}F݄=}FH`? ڳ??S?:?=׫`v??)~F ? ~FFb;I~Dɫ髉) IY@yvyGZ****** received transponder code query ******F****** received ping request ******}m?Iqu5?uھ q /@9uvDu: u:)qWWX XW:W2W*WVbUBU*UUUj@B`=B BA>*BA<AAA߁<"C?RCi=CC}IGi>i=\r,8cKEAY}:`?}:{?y}:_a=}:L=}:H@?h?`??@`?P(R??)~:`? ~:d;I~:CɫYY)Y ]IaY@y$yGxDUSBL response received:!U1,P 09A,000,0030D,187,80,80,40,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 iM4=YS:QU>aEYE1y=Wf=}E>IQ :U5? :Uھ Q /@9UDUf< UJi<)U:WyWyX XW:W2W*WVbUBU*UUUjr @Bu=Bq BA>*BAM<AAA"n<"C?RCm&>CC֝tqIyG>   A:YxZ1yq:5r,5|KEAY}:?}:?y}:8e=}:P=}:H?`?%?q?`G?@A ,?|?)~:? ~:Hd;I~:Cɫ99)9 9I9Y}+@y}xGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I?)?i e=eH=e\ie@a e@)e­@Ie9@ie@uIڼMuQ=Y}F;QU}>yaEYEy=}>I5?ҡھ B /@9DǺ: :)W9WAXA XAWA:WA2Wa*WiVibUiBUi*UqUqUu O @Bb-=B BA>R>9IqGi@; E*B!A%Dw<A!A!A-<"C-?RC5xre>C1C1=uKE?iE?1IAG]v>or,y̖KEA|i|Y}6d6?}6Em?y}6g=}6 >}6H`f?;?@zB?*?`.ؚ?` 8? ?)~6d6? ~6[c;I~4ɫYY)Y ]IYY@y )BIy+A=L>\?sRD`ٱi)1PMH=Y:QU>aEYEy =} >I :5? :ھ B /@9D: :):WYWYXY XaWa:W2W*WVbUBU*UUU`I@R(Combining 5 samples.P*Q+AZQ!* @?ZJQ=L>\?sRD`2Q 0:QbQ;a @ֈ@GIRQ$ڵ@?LhW?x5BQV,? Ql@Q/AP59?P)9?PQQ@"Q@B"=B BA>*BAE)z<AAAAAE2<"CM~r?RCM >CICQ<IGn>I)@A   76:YX1y/:m5Θr,KEAɫ髡) IYX@ywG]DNmea in: $SNTTA,,,,,014933.70*55 iii}B`"?bX9?y&1|?}?}E6> }`;)yIyy}Cl?X9vMbp?};??}}; }A)}h@Iyi}Ay}A㥾`;u>i@ )I@in@pME=YQU>aEYEy}>I5?ھ B /@9D ; ";)mqAdded new target pos. range: 10.739998 m, bearing: 38.571325 deg, deltaT: 4.078564 s, approachRate: 0.338354 m/s, LOS rate: -5.488548 deg/s, posRepo size: 4mE ProNav: pos range: 10.739998 m, bearing: 38.571325 deg, approachRate: 0.338354 m/s, LOS rate: -5.488548 deg/s, cmd update: -12.000000 deg/s, cmd heading: 60.956720 deg, new cmd heading: 60.956720 deg. WEy?WAXA XAWI:WI2WI*WIVIbUQBUQ*UQUUz%@U] ?B~=B BAg>*BAl<AAAN<"CU\?RCCy?C6[ѽױIG> 9 I oGi @ ; Er,~KEAY}:d?}:՛?y}:eKt=}:i>}:HT?f6 ? B?`>??`ʄ͓??)~:d? ~:va;I~:Cɫ99)9 9I9Y]$@y]xwGi 9=hAYMb=Yq aEYEy>}>I :5? :sھ B /@9Db; M;):WEf?WAXA XAWA:WA2Wi*WqVqbUyBUy*UyUyU}`*BA<AAA(<"C-?RC)C5f?C1%yI G%M>2 /:YV1y:Z5);9 r,YKEAY}2A ?}2"C?y}2s=}2>}2H ?`KT4!?@?Ԣ?۵?p:?۝?)~2A ? ~2m`;I~2CɫYY)Y ]IYY@yuGi  ҽMI=Y͹QU>aEYEyR=}>I'5?bھ B /@9DU: :)WQ?WX XW:W2W*WVbUBU*UU U {?B5-=B=< B9A=o>*B9A=t<A9AAAE®<"CMzo?RCICMQ?CQM])IQG9>ip=r,a5KEAY}2F?}2|?y}2n=}2K >}2H?q?`?d?@?ӭpC? ?)~2F? ~2z `;I~2CɫYY)Y ]IYY~@yquGií^:>í|íVií̬@é ĩ)ĭ@Iĭb@iĭ@ǼMH=Y=?QU=>AAaEEEYEIyUa(=}U>Ia m:e5? u:eMQھ eB u/@9eDe; e ;)e:W8:?WX XW:W2W*WVbUBU*UUU X?B=B  B A e>*B A  <AAA/T<"C9ܑIܕmGiܕ[@ܑܑܑܑ ݕEG=IGE>  5:YWU1y:5),;\r,TLEAY}2d?}2E?y}2Ӊh=}2=}2Hi߻?`#??@t?#?@; ־?` ?)~2d? ~2_;I~2Cɫ9A)A EIAY}@y}tGiai?ME=YMnQUU>QQaUEUYEYy]<}e>IimW5?mq@ھ mۣB u/@9mDmb: m:)iWa%?WX XW:W2W*WVbUBU*UUU ?B6u=B BAQ>*BA`<AAAs<"C"B?RCCa%?C >!>[= ?i ?IGH> r,11LEAɫ  )  IY@ysG)ioʡ?)\(?y&1?-?Ga= `e<)Iy333333?&1~jth9?PD ­IA)©I­ Ai­AA Ga= f? '=i f@  ) O@I @i ƣ@nNM#=Y%QU%>!!a%E-YE)y-}5>I1 E:5 5? E:5,ھ 5ΣB E/@95̹D5": 5:)5:Wmw ?WiXi XiWi:Wi2Wi*WqVqbUqBUq*UyUyU}f@inGISkAiAAB=FٺSkA6BB BA7>*BA}ר<AAA<"C%%?RC!C%w ?C!I)?AS & q::Yy59 @% a<ܑ 9ܑ Iܕ TlGiܕ @ܑ ܑ ܑ ܕ ; ݕ E))I)i)- =- =-4U <=1 I9 G] >Pr,MLEAY}2?}2f?y}28"h=}24=}2H@A:? ࡮??`a?_?@MG?u?)~2? ~2H_;I~2Ci<>lA)< aEYEy_U<}>I  5? ھ £B /@9 عD n: {:) W=Y\>W9X9 X9W9:W92WA*WAVQbUQBUQ*UYUYU]`d@RmB*** querying acoustic contact ***PiPiBb<B BA>*BA<AAA<"C ?RCCY\>Cѝ "<} ?=1 IA Ge >ur,gLEAY}B)?}Bk`?y}BUm=}BPh=}BHE??3?{??Ai?¹? ?)~B)? ~Bz_;I~@ɫAA)A AIAY@ysrGZ****** received transponder code query ******F****** received ping request ******qqauEuYEQy]1}]>Ia m:e5? m:e= ھ eB m/@9eDe : e:)e:W'>WX XW:W2W*WVbUBU*UUU@\ @ X3:YU1y:5Be0y=Ba BiAm>*BiAm<AAA@<"CF>RCC'>Cϡϡ)С С ":> I G>j=!r,U3LEAY}J8 ?}JC?y}J =}JKH;}JHu?p@ ??`r?Y?`h??)~J8 ? ~J _;I~JC P)RlAɂRARXTFPTɃTiTITTIXiX ZףX)X\ ^lA\\Ʉ\`blAIb33)bNFi`)dIddɅd dɆj CjlAjp=ihhilnA)l lIly9yI}jGi}Ѿ@yyy}&; }Eɫii)i iIiY5@yfqGxDUSBL response received:!U1,P 317,000,00324,189,80,80,57,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i5^M=f=YM0YaEYEyC}?I*5?+پ B /@9D:  :)W>WX XW:W2W*WVbUBU*UUU= @B*<B BA=*BAlҫ<AAA <"C>RCC>C1i11>)IYG>Hd'r,LEAY}N?}N￷?y}N =}Nɼ}NH`K9?x%k? ?$?qs1`?)~N? ~N_;I~NCɫ) IYf@ygpGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IM?)M?iQQ-Zd;O?Dl?MbP-j>-O= -))I)y-/$?~jtJ +?-QQaUEUYEYy]'}]>Iae5?e+پ a u/@9eDe: e#:)aWÙJ>WX XW:W2W*WVbUBU*UUU@@BU*<BQ BQAU"=*BQA]n<AYAYA]<"CedϞ>RCaCeÙJ>CiMMMM M2/:YMDW1yMY:MH5U ^^>I9G}z>-r,kԸLEAY}2D?}2#˵?y}2j=}2do}2H'?/D?`ۮ?@?Ξ ح@?)~2D? ~2{`;I~2Cɫ髙) IY>@ynG?AxDUSBL response received:!U1,R,0CE,000,0033C,187,80,80,8F,FF Fpublishing direction and range infoX8ɰ=1> )CIyBAx{?ƿٱ)iqy         Si ¥@  @) I @i @5ȽM=^=Y=:QU=>AAaEEEYEIyM)}m>Iq }:u$5? }:uپ uB /@9uDu: u:)u:WKm=WX XW:W2W*WVbUBU*UUU@R-(Combining 5 samples.P)*Q-BAZQ-/ȩ'@ 'lJQ-x{?ƿ2Q-X8:Q)bQ-@2g'@URQ-}r?L*::?~sl^BQ- ʞ? Q-8AQ-l|@P-,9?P-59?P-Q-Q-h@"Q-@B}O<B BA&v=*BAͬ<AAA<"C2-l>RCCKm=C ս%>Խ>֥Ё>׭?i׭?YIiGZ>܅R>9܁I܅3iGi܅@܅=܁܁܅3; ݅Eov4r,LEAY}N6?}Nqya}E}ZEyy\}>Iȉō,5?ōپ ƍB /@9ƍ DǍ/: ȍ]:)ȉm5 mAdded new target pos. range: 12.179997 m, bearing: 71.077899 deg, deltaT: 4.512197 s, approachRate: 0.319135 m/s, LOS rate: 7.204157 deg/s, posRepo size: 4mE  ProNav: pos range: 12.179997 m, bearing: 71.077899 deg, approachRate: 0.319135 m/s, LOS rate: 7.204157 deg/s, cmd update: 12.000000 deg/s, cmd heading: 6.810223 deg, new cmd heading: 359.835246 deg. WM _v>WI XI  XI WI :WI 2WQ *WQ VQ bUQ BUQ *UY U] (\(@U] b?B <B  B A I=*B A ~C<A A A '<"C M>RC C _v>C ֝ >Y Ii G >:r,OLEAY}n?}n3?y}n6=}n}nH?.=@U?nr?@y_?d ?)~n? ~n;b;I~nCɫ99)9 =I9Y@ysmGi!)}`=}`e=}ףi}̤@y }@)}E@I}-@i}E@M=Ye%QU1?aEZEy}1?Iȩ :ŭ/5? :ŭپ ƭB /@9ƭDǭ: ȭ:)ȭ:W◔>WX XW:W2W*WVbUBU*UUU`}?Bj<B BA֭<*BAZ<AAAi.<"CmB>RCC◔>CIG>Ar,MEAY}Nz?}NX?y}N%=}Nh'}NH?`ܙ¿(?og?`?@aĿ?)~Nz? ~Na/c;I~LQ>9IgGiF@,; Eɫ髱) IY @ylG}=i}R=yi}fAi"MY=YUQU>aE ZEyǒ}>IAE65?Eپ EB M/@9EDE: E':)AWu'1>WqXq XqWq:Wy2Wy*WyVybUyBU*UUU3!?B(<B BA;*BAc<AAA=4<"C=RCC'1>C- --- -A:Y-U1y-:-5)-;IG%o>Gr,4 MEAY}: ?}:*?y}:Qς=}:D}:H;?@djſ ?#{?@?WPȿY?)~: ? ~:b;I~8ɫYY)Y YIYY}@y}kGI?)?iK?I +?L7A`?^>94= +=)Iy/$?~jtD A)dAIOAiA3 A@M<=YǹQU>aEZE@@y}>I :>5? :>پ B /@9"D/: :):W K>W X  X W :W2W*WVbUBU*UUU@?BM<BI BIAM*BQAU~a<AQAQAUc<"C]=*CYRCYC]K>Ca%=i%a=}6Ʌ>YIqG}>yMr,^:MEAY}NC?}Nrz?y}N^=}NrV}NH@(?6`mǿ?M]??@IʿvaEZEy}>IE5?Ȋپ B /@9+Dw: :)W ?WX XW:W2W*WV bU BU *U UU?B=a<BA BAAECǼ*BAAE;<AAAAAMdv<"CUUD>RCQCU ?CQ֥>5 5|5|5 5B:Y5R1y5i:559=@יIGc>P>9IeGi@=0; EhTr,=TMEAY}F?}Fء?y}F9}=}F,d}FHC?Iȿs? ? ÿ? Y9̿S&?)~F? ~Fb;I~FCɫyy)y }IyYԽ@yiGI)i!!UMUP=Y]8QU]>YYaeEeZEaym}m>IquN5?u{پ uB }/@9u4DuM: u{:)qW?WX XW:W2W*WVbUBU*UUU @B]0 <BY BaAel*BaAeج<AaAaAe<"Cmh->RCqCu?Cq}>YIaGY>[r,/4nMEA|Di|DY}%?}%/?y}%Io=}%O4n}%H ?zɿ +??? Qޭ uͿ?)~%? ~%k b;I~%CɫAA)A IIIY#@yhG 鼙i/<Ƚi@ @)@I@i@OM?=Y:QU>  a E %ZEy㈽}>I :X5? :4kپ B /@9>Do: V:):W 6?WX XW:W2W*WVbUBU*UU!U%@`@R-B*** querying acoustic contact ***P)P)Buހ<Bq BqAu¢*BAE<AAA)<"Clv>RCC 6?CI)U UuUuU Ul@:YUKN1yUy:U5>IG >i=nGI kAi AE FٺE kAE 6BRar,cMEAY}2 K?}2聚?y}2Y=}24s}2H`=?5@vɿP?`??`/`ο ,?)~2 K? ~2a;I~2CfO>9dIf dGifk@f=ddf@; fE)9I9i9=====~<5ɫ99)9 9IAYuռ@yuShG}Z****** received transponder code query ******}F****** received ping request ******aE+ZEy9} >Ijb5?J]پ B %/@9GD; :)W[+J?WX XW:W2W*WVbUBU*UUU @BEyl<BA BIAM3*BIAm,<AiAiAu6Г<"Cud>RCyC}[+J?Cyօ>YIiG[>ghr,XʡMEAY}:?}:і?y}:>>F=}:t}:Hs?@X ~ɿ?H?)?MŨKοf ?)~:? ~:a;I~:CɫYY)Y aIaY@yfGxDUSBL response received:!U1,P 0CE,000,0033C,187,80,80,8F,FF Command AckBRequesting micromodem ping code 2iR=i<Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iMZd;?Mb?~jt?M>?M< M<)IIIyMMb?/$y&1|?M ?MM`; Mh@)M(AIMAiM AIMAM=YQU>aE3ZE U UzUzU U?:YUQ1yU:U5y[}>Iȹ :Žan5? :ŽKپ ƽB /@9ƽRDǽb< Ƚ<)Ƚ:Wh?WX XW:W2W*WVbUBU*UUU~@B5\<B9 B9A=U*B9A=i<A9A9AE<"CE>RCICMh?Cie >9 II Ge >8nr,MEA|4<|;Y}6E?}6"?y}65#6=}6v}6H@*?~ɿ+??J?{¦@οi ?)~6E? ~6'R`;I~6CɫYY)Y YIYY6@yTfGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 6Buffer fill timout failure.I%?)%?i!!>=uRCCÔv?C֡=i=yIG^>N>9IbGi&@w; ՗E!ur,MEAY}J?}JcM?y}JE1=}JYqs}JH%?'!@+ȿ@?`L?\??5 ο?)~J? ~Ja_;I~JCɫyy)y }IyY@yeGxDUSBL response received:!U1,R,364,000,00367,189,80,80,7D,FF Fpublishing direction and range infoAɰ=鰽7> )BIy(lAp@?ٱ- --- -C:Y-W1y-č:-5)-);95mUOutgoing frame #1, 60 bytes: CC1017611F0000005D00000400260000000000000000151D80030C5669C08C799875A2AB340BA1F088417FB40F2F2877D8DB089EFAEC9A688C145800mDNmea out: $CCCYC,0,1,10,1,0,1*69 )!M =YQU>aEBZEyL}>II m :M 5? m :M J/پ M B u /@9M dDM ; M ;)M :W ␋?W X  X W :W 2W *W V bU BU *U U U O@R (Combining 5 samples.P *Q (lAZQ nIr%@fH$JQ p@?2Q A:Q bQ ,Y,+@-@@ g!?RQ {u?/$? ?BQ > Q @Q dYAP H9?P ,9?P Q Q "@"Q h@BM @<BQ  BQ AU *BQ AU g<AY AY A] u<"C U?RC C ␋?C ֙ q I G >.|r,UMEAY}BX?}B?y}B5=}B%q}BH?@iȿ9Y?+? ? ҹͿ?)~BX? ~BOT_;I~@ɫaa)i mIiY޹@ydGBNmea in: $CACYC,0,1,10,1,0,1*6B I)E2Powering down loadControl EEIM)MiMM>m==i@ @)@I@isMD=Y;QU>aEHZEy5}>Ia5?"پ B /@9lD: :)muAdded new target pos. range: 14.759997 m, bearing: 21.808439 deg, deltaT: 4.634368 s, approachRate: 0.556710 m/s, LOS rate: -10.631323 deg/s, posRepo size: 4mZTarget missed at range: 14.76 m. Rolling out.mNTransitioning guidance mode to: ROLLOUT"XWWX; XL?W:W2W*WVbUBU*UU`-@U(?B- ~u<B1  B1 A5 9*BY A] ,<AY AY A] <"Ce 4?RCe S>Ci Ci ] M>9Y I] `Gi] @Y Y Y ] ; ] E֡ ׁ I G >r,{ NEA|4i|4Y}fӧ?}fb ?y}fg<=}f8q}fH?`ZQǿ?@?"?ۊͿS?)~fӧ? ~f8_;I~fCɫ髙) IY@yDdG}NNmea in: $CADRQ,014943,1,10,0,64,1*7D }UNmea out: $CCTXD,1,10,1,CC1017611F0000005D00000400260000000000000000151D80030C5669C08C799875A2AB340BA1F088417FB40F2F2877D8DB089EFAEC9A688C145800*4C "M%=Y-;QU5(?AIaUEUMZEay7ý}?Iޱ)ޱ .:YV1y:75)c;I9 E:=O5? M:=پ =B M/@9=sD=M: =:)=:WWX XW:W2W*WVbUBU*UUU}?BM;BI BQAUD*BQAP(<AAA.٘<"CJrF?RC>CCU:>) I1 GM >Fr,&NEAɫyy)y }IyY@ycGDNmea in: $SNTTA,,,,,014942.66*54 %zTXD response from modem unexpected: $SNTTA,,,,,014942.66*54 -333333?㥛 ?S㥫?-Y?-= -/]=))I)y-|?5^?S㥛~jt?-2?-/ݼ-D= -@)-/AI)i-OA)-A)}= }=-&-94->i-@) -z@)-I-K@i-z@=ME,=YEQUE>IIaMEMTZEQyU}U>IY]v5?] پ ]B m/@9]|D]: ]#:)YWWX XW:W2W*WVbUBU*UUU T"?B`;B BAsS*BAcؤ<AAA<"C7Z?RCލ=CCֽ ^>yIG>/r,]@NEAY}VE?}V ?y}VbX:=}Vx}VHz?s?&ǿ!?!??H Vο?)~VE? ~VNp_;I~VCɫ髙) IYo@ybGUoMUp=YUQUU?YYa]E]ZZEayep}e?Iimw5?mؾ mB }/@9mDmn: m:)iWWX XW:W2W*WVbUBU *U U U ?B=p^I;B9 B9A=g*BAAE<AAAAAEۚ<"CMbm?RCMTCQCQܕL>9ܑIܕo_Giܕ@ܑܑܑܕu; ݕӗE z.:YU1y:85);%`R>I)GEQ>Xr,ZNEAY}2Ǚ?}2E}?y}2L5=}2v}2H[?.sƿM?s?`O??`}mο ?)~2Ǚ? ~2_;I~2CɫYY)Y ]IYY@yObG) IC=)R=#MU=Y :QU>aE`ZEyMr}>I :J5? :+ؾ B /@9D: :):WWX XW:W2W *W V bU BU*UUU@ʺ?BEA;BA BIAMw*BIAM_<AIAQAU<"CU |?RC]J-ĽCYCYީiޭ=eR>!I)GER>r,[}tNEAɫ) IY׷@y/bG}9܉ I܍ ]Gi܍ V@܍ =܉ ܉ ܍ |; ݍ חE  @  @  @õ ©õ õ iõ @õ ĵ @)ı Iĵ iĵ h@ $M a E kZE y } >IY e :] %5? e :] ؾ ] B m /@9] D] 4: ] :)] :W W X  X W :W 2W *W V bU BU *U U U g@R B*** querying acoustic contact ***P P B- RI;B1  B1 AU z*BQ A] E<AY AY A] <"Ce ␋?RCe oy2Ca Ci } =} =U U#>e ?ie ?)IqG>r,:NEAY}2~-?}2r?y}2\g=}2ro}2H? q҉ſ`??s? @Ϳ@?)~2~-? ~2ha;I~2Cɫ11)9 9I9Y@y`GZ****** received transponder code query ******F****** received ping request ******IG>r,ͬNEAY}RB?}R1l?y}Ri=}R c}RH ;?@pĿߍ? ??L"̿d3?)~RB? ~RP/`;I~Pɫ) IY5@y5`G=xDUSBL response received:!U1,P 364,000,00367,189,80,80,7D,FF ECommand AckEBRequesting micromodem ping code 2iAAM.Nmea in: $CATXF,60*62 UNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Iy)yN ||N  ::YR1yi:5 AAa i]@a ] a m]@a ] a q]@a ] a ee@a e a Ie@a e ]NbX9?HzGQ]?]= ])YIYi]Mb@Mb@Mb@]©]] ])]I]i]]]   n>h7=i@ ҙ@)@In@i@ǺM% =Y-~QU->QQaUEUwZEYy]}e>Iae5?eؾ eB /@9eDe; e??)aWWX XW:W2W*WVbUBU*UUU ʩ @i nmGI lAB P ;i  Eٺ lA 6BB!  B! A% *B! A- <A) A) A- S<"C1 *C1 RC5 JbC1 C9 = {=IA )E hA I! G= >΋r, |NEAY}6/0?}6f?y}6+=}60U}6H?`ٮZ¿?qA?&?`39ʿI?)~6/0? ~6z _;I~4ɫii)i qIqY@y_GNmea in: $CAXST,7,20210814,014944.383698,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*57 Response from modem unexpected: $CAXST,7,20210814,014944.383698,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*57 9I]Gi@=v; ԗE)ݩIݩiݩݭ=ݭ=ݭJV4M=YQU/?aE{ZEy#Ž}3?I -:U5? -:ؾ B -/@9D^;; $\?):WQWQXQ XQWY:WY2Wy*WyVbUBU*UUU1 @B(+B BA*BAz[<AAAD<"C*CRC xxC C A=IG%o>Qr,HNEAY}6O?}6S~a?y}6 =}6D}6HD[?[@#`?Q??b`nȿd?)~6O? ~6@^;I~6Cɫ99)9 =I9Yu@y}_GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M?iM=u"<M}a=Y}i;QU}>aEZEyqi}> O 4:Yy5Iȩŭ&5?ŭ ؾ ƭB /@9ƭDǭg: ȭ?)ȩWWX XW:W2W*WVbUBU*UUU @B-B BAݙ*BAL<AAA۠<"C*C RC C C 3IG J>ڽr,2NEAY}:(?}:]?y}:4=}:0}:H ?` &b G\?`C?@y?7@ſi?)~:(? ~:^;I~:Cɫ9A)A AIIY}@y_GDNmea in: $SNTTA,,,,,014946.85*5D IR=)=hAjAZ>`i@ z@)I@iҙ@fMC=Y aEZE y }>I5?ɥؾ B %/@9ĺDO: ?)WAWAXA XAWI:WI2WI*WQVQbUQBUQ*UQUYU]Po@B.B BAߜ*BA-<A)A)A-<"C1*C1RC5 C9C9%8RIG L>9I[Gi@=B; Er,sOEAY}BZ?}Bix[?y}B`)=}BaEZEy(ü}>II%5?ؾ B  /@9̺D:  @)W)W1X1 X1W1:W12W9*W9V9bU9BU9*UAUAUE@zz) N2:YQ1y:5)G;9B(B= BA*BAp<AAA'<"C1*C9RCACACq2יIGb>r,-OEAɫIQ)Q UIQY@y_GAAI)Aa ia i a ma m a qa q a ea e a Ia I NbX9?\(\?Zd;O?E?z> j<)IyT㥛 ?L7A`?y&1?A?+=`e< µMA)µ"AIµ?AiµAGAJGiכ@ @)~@In@i~@%6=M%+=Y%QU->))a-E-ZE1y5}=>I9 E:=85? M:=ؾ =B M/@9=غD=: =:)=:WWX XW:W2W*WVbUBU*UUU% @R-B*** querying acoustic contact ***P)P)Bu0ֺBq BqAuʚ*BqAu<AAA-}<"C*CRCCC֭Oý׉IG>-r,GOEAY}6,?}6 [?y}6?H=}6Ƚ}6H? 7@Z4??ʹ?d ?)~6,? ~6^;I~6Cɫ99)9 =I9Yu@@y}^G 鿑O>9I\ZGi{@=+; E)5> 5>=ΌM=o=YEr,aOEAɫ髙) IY5@y^G%]M%L=Y-QU->))a5E5ZE1y=}=>IAEDU5?ERrؾ EB M/@9EDEU: E+:)AWqWqXq XqWq:Wy2Wy*WyVybUyBU*UUUW@BHB BA*BA8B<AAA<"C*CRCCC[<7IGl>(r,c{OEAY}6?}6Ī`?y}6nk=}68j}6Hj?@g@č??f?M?L^_"?)~6? ~6r_;I~6Cɫyy)y }IyY@y<^G=i=)ww= o/:YO1yP:ަ59@C&i(@ @)I@i@=(M=:=Y=~AAaEEEZEIyU+=}U>IY e:](f5? e:]qcؾ ]B m/@9]D]; ]F;)]:WWX XW:W2W*WVbUBU*UUUO@BlB BAư*BA?<AAA8<"C*CRCCCх=]jM1IIGmx>ܽS>9ܹIܽXGiܽ6@ܽ"=ܹܹܽK; ݽEDr, AOEAY}N7ߑ?}N",d?y}Nw}=}N&;}NH ?ԥ?C? ?`J?ͩ s? 9?)~N7ߑ? ~N`;I~NCޝ=iޝa=ɫ!!)! %I!Ye@ye%^GmxDUSBL response received:!U1,N,80,80,63,E4 7,189,80,80,7D,FF mZNo reply:!U1,N,80,80,63,E4 7,189,80,80,7D,FF -m a E ZE y ŗ<} q>Iȑ  :ŕ H5?  :ŕ Jؾ ƕ B  /@9ƕ DǕ Y: ȕ b:)ȕ :W W X  X W :W 2W *W V bU BU *U U U @@B0LB BAﱾ*BA5s<AAA_<"C*CRC{{CC~~ !+:YT1y@:5)  ս>Խ>֥6ɅyIG5?!r,ӣOEAY}JD?}Jn?y}J=}J=}JH`r?#????:`? +?)~JD? ~JGc;I~JCi) I )lAɖ閡ɗmAiIIimA 闱)阹 ɘI)i)ImAəSF ɚiɫ) IY@y%&]GI)))eQ>9aIeVGie@e=aaet; e՗E}yME=Y:;QU>aEZEy=}>IȹŽ5?Ž8<ؾ ƽB 0@9ƽDǽ: Ƚr:)ȹW W X  X W :W 2W*WVbUBU9*U9U9U=P7@BB BA徾*BAb<AAA<"C*CRC=TCCIG>Hr,jOEAY}6?}6u?y}6݀=}6=}6HO?kԿ?*?vj?s,?`M?)~6? ~6%c;I~4 <)>lAɂ>1>ITF\`Ƀ`i`I``IfLCid dd)dfLC jlAhhɄhhjlAIjʡ)lil)lInlApɅp pɆprlArEivRFtivCvA)x xIxɫYY)Y ]IYYc@y\GMi=YoQU>aEZEy]=}>I  5: 5? 5: /ؾ B =0@9 D ; X;) :WyWyXy XyWy:W2W*WVbUBU*UUUd@RB*** querying acoustic contact ***PPBPB BAľ*BA<AAA-zί<"C1*C1RC5@C1C1Iީ)ީ4  #:YT1y:_5=NB{1IAG]v>r,HOEAɫQQ)Y ]IYY_@yu[GZ****** received transponder code query ******F****** received ping request ******íqií@é ĭh@)ĭҙ@Iĭh@iĭI@NjM0=YQU>aEZEy}>Iz5?ؾ B 0@C9%D1l; *;)iUmGIyiW ٺ  BWX X!W1}?@9}0B:Wy2W*WVbUBU*UUU @B,B BAԾ*BA~<AAA3<"C *C RC dCCCjcIhA)IG >m P>9m xCIm TGim @m =i i m ; m E)Ii==5jr, PEAY}6c=?}6}6H@?` ?`??#ѡ` d??)~6c=? ~6e;I~6Cɫ髹) IY@y[Ga=ɮ xDUSBL response received:!U1,P 80,80,63,E4 7,189,80,80,7D,FF  Command AckBRequesting micromodem ping code 2ii=-Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )QüMX=YyQU>  aEZEy%>}->I9=T5?=ؾ =B ]0@9=/D=0; = T<)9z  z:YWU1y:5);9-WqWqX XW:W2W*WVbUBU9*U9UAUE`!@B%0TB) B)A-پ*B)AMnsx<AQAQAU/.<"CY*CYRC]g:CYCa- oA I G > r,7)PEAY}2<?}2E?y}2.YO=}2%>}2H@j\?` ? t?d?@`P詿Ʌ?`c?)~2<? ~26f;I~2CɫYY)Y YIYYd@y?ZG=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ޡiޥ=  ףp= ?:vQ? Q? T  <) I y ^I +?~jth?y&1| X9? D; `  =A) AI Ai A  AÕ 7 Õ Õ =iÑ Ñ ĕ @)đ Iĕ &@iĕ @ M =Y ޻QU > a E ZE y =} >I  : c5?  : '׾ vB  0@9 Nr,c{EPEAY}: ?}:Ɔ?y}:QB=}:a%>}:H9?Q@??`?t>?`׋?)~: ? ~:Ld;I~:Cɫii)i qIqYz@y YGxDUSBL response received:!U1,R,DB2,000,003CB,189,80,80,31,FF Fpublishing direction and range info?ɰ=鰱 )DBIyAk/?Cރ?ٱ[#M=YgQUz?  aEZEy=}x?I)-5?-׾ -rB =0@9-AD-;: -:))WWX XW:W2W*W V bU BU *U UU@ #@MQ>9IIMRGiM!@IMQDIM; MER(Combining 5 samples.P*QAZQy2@fZr$@JQk/?Cރ?2Q?:QbQ;Bp?H /r4@.3 zH?RQ +_`?ƨ?[k|?BQ? QAQS>P/9?PH9?PQQ@"Q"@B7B`S'= BA3*BAn<AAAM<"C*CRCCC Q% %:Yy5);H;IGG>tr,F_PEAɫ) IYM0@yUXGDNmea in: $SNTTA,,,,,014952.40*51 I)-oM-9=Y5QU5>11a=E=ZE9y=}E>II U:M5? U:M#׾ MiB U0@9MKDM4: MA:)M:mmAdded new target pos. range: 20.759998 m, bearing: 89.429490 deg, deltaT: 9.541724 s, approachRate: 0.628817 m/s, LOS rate: 7.086880 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU@4@U z?B,B BA*BAhg<AAA7<"C*CRCCCM׹IGD>ԝr,yPEAY}21?}2h?y}2"1)=}2i>}2Hy?t@I>?U?? t $? ?)~21? ~2Va;I~2Cɫ99)9 =I9Y}@y}XG MH=MM94iM̔@I M3@)IIM3@iM3@]+M]G=YeWrQUe>aaamEmZEiyu=}u>Iy}^5?}L׾ }aB 0@9}TD}I: }:)yWWX XW:W2W*WVbUBU*UUU ?BCB BAO*BAb a<AAAM<"C*CRC%YC!C) :YU1y:59@}QQIYG}z>M iAM hAU T>9Q IU PGiU @U =U RDQ Q Q $$r,5PEAY}:?}:iˍ?y}:k=}:L>}:H`?]C]i? Y?`!?bP `q6??)~:? ~:`;I~:Cɫ99)9 AIAY}ɮ@y} WGiuMu[=Y}\3QU}>yaEZEy?L=}>Iȑ :ŕp5? :ŕ׾ ƕ[B 0@9ƕ]DǕ: ȕ:)ȕ:WWX XW:W2W*WVbUBU*UUU@O?B˼B B!A%#*B)A-Z<A)A)A-@<"C1*C=ױRC=C9C9-V<=뽹I G%o>[*r,̬PEAɫQY)Y ]IYY@yUGi={Gz?V-?x&?< 7)IyuV?y&1 rh?r(?`eC = ­ "A)­7 AI­Ai­AA-Mb- ׽- =i-@) -)-3@I-@i-ߏ@=0lME1=YEQUE>IIaMEMZEQyU}U>IY] 5?]׾ ]\B 0@9]gD]< ]<)Y~~ :YT1y@:)5W)W)X) X)W):W)2W1*W1V1bU1BU1*U9U9U=G?BxB BA *BA9Q<AAA'<"C*CRC6"CC"(=֭ ׉ I G >1r,ͭPEAɫyy)y }IyYq@ycUGI%=)%4=UU8MUo=YYQU]?YYa]EeZEaya}m?Iq u:u5? }:uV׾ u^B }0@9unDu: u:)u:WWX XW:W2W*WVbUBU*UUU@%?B+B BA*BAK<AAAꙿ<V>9IOGiF@; E"C*C+RCCC!!)! !֭׉ I G C7r,PEAY}:ac?}:8?y}:<}:ɏ>}:H`~?``? W?r?`࠿& N?@m?)~:ac? ~:({_;I~:Cɫ99)9 =I9Y]@y]TGMF=YQU>aE[Ey>}>IB5?h׾ aB 0@9wD": :)WWX XW:W2W*WVbUBU*UU U @@B5N B9 B9A=*B9A=CC<A9A9AE<"CA*CMƄRCMƼCICQ-`I{{ :Y#R1y:)5GU2>e=r,]PEAY}2ON?}2&?y}2o<}28>}2H ?]D? ?|?`퐿n??)~2ON? ~2@V_;I~0ɫYY)Y YIYY@ySG@AI)ADi@ @)@Iߏ@iMS=YOVQU>!a%E%[E!y-(=}->I15%5?5d׾ 5fB =0@95D5: 5:)1WWX XW:W2W*WVbUBU*UUU`6z@R B*** querying acoustic contact ***P P B}ZBy BA*BAq;<AAAN<<"C*CV_RC|CC׹IGf>W>9IMGiR@=; EDr,y<QEAY}F?}FK?y}F,J<}F=}FH?x Ž?@? j?@S ξ? ?)~F? ~F2_;I~FCɫ髡) IY@ySGZ****** received transponder code query ******F****** received ping request ******V MC=Y"QU>aE[Ey4=}>Iȹ :ŽQ.5? :Ž׾ ƽkB 0@9ƽDǽ=; ȽQ>;)Ƚ:WWX XW):W12W9*WAVabUqBUq*UyUU - @}} :YkS1yԊ:r5)w;9BB BA**BA1<AAA<"C*C.RC"CC֝|^YIaG}z>Jr,!.QEAɫ)1)1 5I1Ym@ymJSGuxDUSBL response received:!U1,P DB2,000,003CB,189,80,80,31,FF uCommand Ack}BRequesting micromodem ping code 2iyyNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )a i@a  a m@a  a q@a  a e@a  ƽV>t>iG@ )I@i*M=YQU>!!a%E%[E)y-}->IQU95?U>u׾ UqB e0@9UDUZ: U'?)QWWX XW:W2W*WVbUBU*UUU` @BUBY BYAe*BaAm(<AiAA<"C*CRCpCC ie nmG׉ I G >I i Կٺ AQr,9GQEAY}2kT?}2A?y}2o;}2C=}2H`7H? w?a?1?@r?`/?)~2kT? ~2w^;I~0ɫ9A)A AIAY]@y]sRGmp=ɮmR=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ܭX>9ܩIܭMGiܭ@ܭ=ܭQDܩܭ; ݩ)-xCI-xCi)-=-=-5xx ;:Y7P1y:5)q;jA= +M= !=YE zQUE >I I aM EM [EQ yU L=}] >Ia m :e >D5? m :e c׾ e yB u 0@9e De #; e ?)e :W W X  X W :W 2W *W V bU BU *U U U `/@B bB  B A $*B A (<A A A <"C *C =RC Q1<C C 5  I G= >Xr,!cQEAY}2?}2Ŝ?y}2b9}2J|=}2H?`.@W?w?K? 9 >Ÿ?`?)~2? ~2^;I~2Cɫiq)q uIqYk@yQGxDUSBL response received:!U1,R,2D1,000,00404,18A,80,80,2F,FF Fpublishing direction and range info!ɰm=鰝> )^r,^}QEAɫ)1)1 5I1Ym@ymQGTNmea in: $SNTTA,0.045728,,,,014956.88*43 5H5+5A`i5Q@1 5ߏ@)5@I5@i1e%<Mm6=YmQUm>qqauEu)[Eyy}}}>IȁŅ?Q5?ŅM׾ ƅB 0@9ƅDDžl: ȅ?)ȁmuAdded new target pos. range: 24.180000 m, bearing: 34.251954 deg, deltaT: 4.466439 s, approachRate: 0.765711 m/s, LOS rate: -12.353809 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU.8@UU?BnB BA(*BA zI<A A A <"C*CcRC`<CC55w5w5 5U:Y5O1y5P:5595@c<בIGa>ܵ[>9ܱIܵLLGiܵ @ܵ=ܱܵDܵ; ݵE er,{LQEAY}2 ?}2?y}2G}2\=}2H`)?@@e?`2?@ ?qʢ? b? ?)~2 ? ~2^;I~2Cɫ99)9 9I9Y],@y]^QGEMUM=Y]mQUe>qqa}E}/[Eyӵ<}>Iȑŕ2Y5?ŕ?׾ ƕB 0@9ƕDǕ: ȕ@)ȑWWX XW:W2W*WVbUBU*UUUO?B#B< BA ,*BAi<A A A r<"C*CV'RCG<CCoMkr,&QEAɫ髹) IY`@ycPG)a ia i a ma m a qa q a ea e '1Z?L7A`?p= ף?B?+= =)Iyq= ףp?~jtxI ++?Ļ94 •^A)•E AI•Ai•AA =ƽi3@ t@)t@IV@it@mM?=Y QU > aE6[Ey}>I!I-@A))==|=|= =/:Y=R1y=i:=)5 E:%Aa5? E:%0׾ %B M0@9%D%%; %l;)%:WyWyXy XyWy:W2W*WVbUBU*UUU ?B!B BAk2*BAE;AAA6<"C*C氽RC$1<CC"<יIGb>ߟrr,QEA|i|Y}6+?}6;?y}6jǼ}6U2N=}6H {?@?"?@c?_??2?)~6+? ~6__;I~6Cɫ99)9 =I9܅a>9܁I܅KGi܅j@܅"=܅RD܁܅q; ݅ڗEY$@yTQGT9=M=YQU>aE?[Ey'}>Ik5?׾ B 0@9ȻD: M:)W!W!X! X!W!:W!2W)*W)V)bU1BU1*U1U1U5a?Be! Ba BaAeI,*BaAm .;AiAiAmЌ<"Cq*Cu3RCub<CyCyԍiAԍjA < ?i }? I G >xr, QEAY}2P?}2m?y}2cؼ}2L=}2H?8??`i?Ģ ?ǡ?`3?)~2P? ~2B_;I~0ɫaa)a mIiYh@ylPG4˽M=YQU@?aEB[Ey:}@?IȹŽp5?Ž׾ ƽB 0@9ƽͻDǽ: Ƚ:)ȹWWX XW:W2W*WVbUBU*UUU{ @B%%pjB) B)A-/2*B)A58;A1A1A5)<"C9*C=zRC=<C9CA55{5{e =5 5:Y5#R1y5:5_5%<IGn>r~r,QEAY}2Յ?}2?y}2ͼ}2<}2HT/?Z~?@Y?)? $?{?@=?)~2Յ? ~2Y#_;I~0ɫ99)A EIAY@yOGuĽujaEI[Ey|}>Iȡ :ť"x5? :ť׾ ƥB 0@9ƥջDǥ: ȥ:)ȥ:WWX XW:W2W*WVbUBU*UUU B@B>.B BAm5*BA[2;AAA<"C*CCRC.i<CC<ֽ<eg>9eyCIaiaaaaej; aבIG>&܅r,REA|;|Y}J?}J?y}J?S}JO/;}JH`Py?2Ku=?y?@ԕI?e??)~J? ~J_;I~JCɫ髁) IY=!@yEPGqq#~j?y&1I +E?`e 9)Iy7A`?y&1|V-?6?`h= A)AIAidA A=<M=2=Y=s;QU=>AAaEEEP[EIyM*}U>IQU5?U\־ UB e0@9UDU: U;:)QWWX XW:W2W*WVbUBU F:YT1y:5)o;9*UUU@RB*** querying acoustic contact ***PPBr#B BAb4*BAN;AAA<"C*CRC^0<CC) } kr,z2REAɫ髩) IY@y PGZ****** received transponder code query ******F****** received ping request ******aEV[Ey}>I  :5?  :־ B  0@9DG: :):W1W1X1 X1W1:W12W9*W9V9bU9BU9*UAUAUE @Bu) CBq BqAu0*BqA}+;AyAyA}ҡ<"C!*C%kܯRC%9:<C!C)9<IGL>r,ʊLREAY}2Ϻ?}2?y}24a}29}2Hk?\VT??-@ ?E@?)~2Ϻ? ~2^;I~2Czy>9zzCIxixz)=xzDz[; z֗Eɫy髁) IY`@ycPGxDUSBL response received:!U1,P 2D1,000,00404,18A,80,80,2F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 UMU=Y>,aE\[Ey}>I!%Ē5?%x־ %ģB ]0@9%D%; %,;)!WAWA :YyΖ5)|;XA XW:W2W*WVbUBU*UUU` @BmD(Bi BqAuk2*BqAu0;AqAqAuW<"Cy*C2RCi0<CC֕x/'r,ffREA|i|Y}V/h?}V?y}V}VR}VH =?`|#B@;?fF?Ş@?@?)~V/h? ~V:^;I~VCɫyy)y yIyY,@y#PGɮp=-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B uMB=Y%CQU>aEc[EyA=<}>I  : D5? : y־ ֣B 0@9 D : :) :W9W9X9 X9WA:WA2WA*WAVAbUIBUI*UIUQUU*@B;;B  B A  4*B A Ls;AAA<"C*CmRCz<CC!5S,<=?i=?I!Ge>r,AREA:l>>CizunGIi1ͿٺQAY}?}W?y}ۼ}no}H2?@Ip?@p>?g{??)~? ~^;I~Cɫ髱) IY@yOGxDUSBL response received:!U1,R,20A,000,0042F,186,80,80,72,FF Fpublishing direction and range infoZ;龩ɰx=> )BIyAvR?=w*'ܿٱmtm 0mRim@i m@)m@Im@im@}M}@=Y}&QU>aEj[Ey :}>Ișŝ15?ŝ־ ƝB 0@9ƝDǝ: ȝ:)șWWX :YWU1y:ߚ59@ XaW:W2W*WVbUBU*UUUI@R(Combining 5 samples.P*QAZQA8@ZԨ'JQvR?=w*'ܿ2QZ;:QbQ@"]3@+X5Up2@Hh?RQ (?- ?KXK?BQ3B? QAQAPh9?Pg9?PQQ@"Q#|@B=9h;B9 BaAe6*BaAeBM;AiAiAmu<"Cq*Cu6RCu }<CqCy >9 {CI i  ,=   #; E)uyCIuyCiuCu"=u%=u6֕v4<r,&REAɫ) IY-@y-PGDNmea in: $SNTTA,,,,,015001.33*5B -ʡE?S㥛?Zd;O?--2?-/< -j<=))I)y-}?5^I?X9v?)\(-M"?-<-Ga -A)-AI-Ai-(A)-AU/=MU==Y]QU]>YYaeEq[Ey} >I  : 5? : ;־ B 0@9  D ] ; ;) :mmmAdded new target pos. range: 26.760000 m, bearing: 43.594485 deg, deltaT: 4.492774 s, approachRate: 0.574255 m/s, LOS rate: 2.079457 deg/s, posRepo size: 4WqWqXq XqWq:Wq2Wy*WVbUBU*UU`:@U3?B5B BA`1*BAi&;AAA<"C*ChRC%n}<C!C! oM<IG >Kir,REAY}Bpͺ?}BD?y}BW7缙}Bgq}BH4?x`]T? B?@J`?]J?)~Bpͺ? ~Be^;I~BCɫQQ)Q YIYYu)@yuPGo>,>iz@ @)@I@i@Me=YG}QU>aEv[Ey샼}?I!5?־ ڣB  0@9D:  :)W1W1X1 X1W1:W12W9*W9V9bU9BU9*UAUAUE V?BRB BA'4*BAV);AAAw<"C*CӮRCtV*<CC }} `:YkS1yԊ:;55y< IG5q>NNr,REAY}2`?}2}?y}2˼}2S}ܼ}2H?P/g??@A Pz? `?)~2`? ~2^;I~0B>9B}CIBKGiB@B&=BQDBDB8; BїEɫ髱) IYN@yLPG)a 55<M H=Ya%E%}[E!y-}5>I9=5?=‘־ =ңB M0@9=D=<; =1;)9WWX XW:W2W*WVbUBU*UUU`J?B}_=By ByA}2*ByA.':AAAu<"C*CRC(<CCֵh%<׉IG>vr,REAY}2!?}2X?y}2Dժ}2 }2Hd? t? >?볃 CZ?A@?)~2!? ~2 ^;I~2CɫAA)A AIIY@yPG 6:YT1y:<5Q8E6>94i@ 3@)3@II@i3@ď<M =Y;QU>aE[Ey6T}>II U :M 5? U :M M}־ M ţB U 0@9M )DM : M M:)M :Wy Wy Xy  Xy Wy :Wy 2W *W V bU BU *U U U D_?B !B  B A V0*B A o2:A A A <"C *C dZRC /;C C  8< I G >r,'SEAY}2-?}2c?y}2Z}2!Oټ}2H? W,??@x~ ?'?)~2-? ~2];I~2CɫAA)A EIIYeϩ@yePGE<ME=YE9CILLGi @%=D5; חE-r;IG5>r,SEAY}XH?}+?y}J}ڼ}H`?@`? ?w~?CA@?)~XH? ~];I~i) I )ɖ閙ɗmAiIIimA 闩)阱 ɘI)i)I"mAəSF ɚAi :YV1y:)5)y;9ɫ) IY@yPGeA`"?/$?Zd;Oe?e= ej)aIayeZd;O?{Gz? rh?ejaE[Ey!:}>Iȡ :ť5? :ťa־ ƥʣB 0@9ƥ9DǥD: ȥ :)ȥ:WWX XW:W2W*WVbUBU*UUU&@RB*** querying acoustic contact ***PPBO6B BA0*BAA!A!A%I<"C)*C-\RC-#\ <C)C1 P;ׁ I G >r,`6SEAY}2 f?)~2 lAɂ>Q<<@Ƀ@iBI@@IF@CiD FD)DH HHHɄHLNlAIN)LiL)PIPPɅP PɆVCVlAViTTiTZA)X XIXɫ19)9 =I9YU$@yUTQG]Z****** received transponder code query ******]F****** received ping request ******e >9 CI i = PD ; ͗EFr,PSEA|4<|4aE[Ey6}>I :G5? :IC־ ݣB 0@9LD: :):WWX XW:W2W!*W!V!bU!BU!*U)U)U-Pk @Bu%<B BA/*BA2ܹAAA3<"C*CRC;CC8<׉ I G >!r,~jSEAɫ) I YU@y]"QGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B > 0->i(@ )It@i`<M=YQU>aE[Ey} >I #5? w/־ B  0@9 XD ~ ; :) WA WA XI  XI WI :WQ 2WQ *WQ VQ bUQ BUY *UY UY Ue }@B ?a5B  B A -*B A W A A A <"C *C bRC R;C C 5 r; I1 G] >hr,؂SEAY}J?}Jfř?y}J~}JZ{}JH? u`VJ?`? ΁?@@?)~J? ~J];I~JCɫ髉) IYĩ@yPGxDUSBL response received:!U1,R,0F0,000,00469,187,80,80,55,FF Fpublishing direction and range infoPwVɰ=1> )BIyAu1L?hٜʿٱ8M =Y '־ %B 50@9%]D%I: %:)%:WQWQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUm@Ru(Combining 5 samples.Py*Q}AZQ}:E=@m$&JQ}u1L?hٜʿ2Q}PwV:QybQ}ʉ0@d:)N9@jݎ?RQ}1%?Tf?. ?BQ}c}? Q}wAQ}UAP}c9?P}h9?P}Q}Q}ػ@"Q}@B鋽BR$= BAK/*BA@AAAyQ9mCIiiim =imDm ; mΗE֑QIYG}X>Pr,ILSEA|(i|(ɫ11)1 5I1Ym@yuGQGdNmea in: $SNTTA,0.037876,0.487543,,,015005.43*5C |?5^?Mb`?M? ;)Iy r?y&1?kt?C?`< 0= ?A)dAIAi9AG<M/=YQU> a E [E y}>I5??־ B %0@9hDX: 3:)mUmAdded new target pos. range: 30.239998 m, bearing: 56.831009 deg, deltaT: 4.022940 s, approachRate: 0.865038 m/s, LOS rate: 3.290261 deg/s, posRepo size: 4WQWQXY XYWY:WY2WY*WaVabUaBUa*UiUmp=>@Um&?B?B BA,*BA=* FA9A9AED<"CA*CMRCM;CICI֍2;iIqG>r, SEAY}Zڹ?}Zc?y}Z(}Z菼}ZH@? `??G@~?@@?)~Zڹ? ~Z];I~ZCɫ髙) IYש@yPG{{ :Y#R1y:5inGIi5ʿٺ15AÕ1>ÕÕiÕ@Ñ ĕ\@)ĕI@Iĕ@iĕI@M<=YʘaE[E!y%);}%>I) 5:-5? 5:-a־ -B =0@9-sD-k: -:)-:WYWYXY XaWa:Wa2Wa*WaVibUiBUi*UiUiUu ?BJB BA.*BA(mAAA0w<"C*CWଽRCޣ;CC ==;I)iAIG>m >9m CIi ii m =i m Dm ; m ڗE)CICiC ="=R6r,SEAY}Fa|?}F2?y}F{һ}F}FHM?@`U???tB?dOz?@k?)~Fa|? ~F];I~Dɫ髹) IY@yPGMx=Y X;QU?aE[Eyw<}?I[ 5? վ B 0@9{D: :)WWX XW:W2W *W V i=bUBU*UUU@F?BUfkBY BYA]%1*BYA]_|AYAaAe<"Ca*CmRCm`4<CiCqey=U[R;1I9GU>jr,SEA|F;|DY}U[iiauEu[Eqy}`<}}>Iy}5?}վ }B 0@9}D}: }:)yWWX XW:W2W*WVbUBU*UUU`K?BMB BA+*BA4AAA<"C*C 'RC eހ<C C $=9<I G% >r,ޭTEAY}22ֻ?}2 ?y}2=}2W}2H ? =`. ?E ?iy ? ?)~22ֻ? ~2J];I~0ɫ99)9 =IAY>@ytQGI%=)%R=U7q;M]^=Y].QU]>aaaeEe[EaymP<}m>Iq }:uQ5? }:uվ u#B 0@9uDu: u:)u:WWX XW:W2W*WVbUBU*UUU6@B\%]B BAy+*BAtaAAA<"C*CdNRC<CC  )  >9CIi=D; ߗEM }U<) IQ G >Kr,!TEAY}Z.?}ZXe?y}ZMq}ZQ}ZHQ?}@p?a?`j6?@;o?)~Z.? ~Z];I~ZCɫ髙) IY7@ykQG=q= ףp?l?y&1?=+?=> =`e<)9I9y=|?5^?I +?aaamEm[EI޵@A)ޱ|| ( :YR1yi:s5)vW;9 y ;} >I$5?վ "B %0@9DY: :)WAWiXi XiWi:Wi2Wq*WqVqbUqBUy*UyUyU}@@B7IB BA+*BAؼAAAt<"C*C RC<CC)UR5<)IAGe>(r,c;TEA|i|Y}6?}6N?y}6]+}6m}6H?5 X??ބD>1>iz@ )@IiZ:<Md=Y}QU>aE[Ey } ?I :,5? :վ !B 0@9D: :):WWX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBuDdBq BqAu**BqA}ab̻AyAyA}<"C*CܫRC<CCօq >9 CI i  = OD D ;  E8r, EUTEAY}V?}VV?y}V Jv}Vֹ}VH@?;?@i ?yȎ?9`?)~V? ~V];I~VCɫ髹) IYN@yLPGZ****** received transponder code query ******F****** received ping request ******aE[Ey }>Ișŝ55?ŝվ Ɲ B 0@9ƝDǝN: ȝ: ' :Yy5)Z;)șWWX9 X9W9:W92WA*WaVabUaBUi*UiUiUmH[ @BYB BA2*BA/AAA<"C*CRC <CCֵ&<בIG>>r,5*oTEAY}RF?}R}?y}R= O}Ra}RH5N?wF?Q?I[?@ꝿ`?)~RF? ~Rs];I~RCɫqq)q qIqYh@ylPGxDUSBL response received:!U1,P 0F0,000,00469,187,80,80,55,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )ީiޭ=EE =EiE=@A E@)E@IEh@iE@U;MU$=Y}(;QU}>aE[EyyԻ}>Iȑ :ŕ A5? :ŕվ ƕB 0@9ƕDǕ߾; ȕ+;)ȕ:WWX XW:W2W *W V bU BU*UU1U5`@BWB BA/2*BA>AAAO<"C*CbRC LK~<C C9ֽ ̓<י I G >""r,^TEAY}Rs?}RC?y}R$}R}RHq|?q`H?@~?IP??W?)~Rs? ~R];I~Pɫyy) IY@yPGa=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B A -:Yy59@>9CIi= D; E <M =Y 6;QU > a E [E y} /}} >Iȁ Ņ N5?Ņ sվ ƅ B  0@9ƅ ɼDDž Ǻ: ȅ :)ȁ W W X  X W :W 2W *W V bU BU *U U U =@B `JB  B A /*B A lA A A }<"C *C RC Z<C C ] L)r,TEAɫ髉) IY@yPGxDUSBL response received:!U1,R,14D,000,00496,185,80,80,64,FF Fpublishing direction and range info,ɔɰY=鰽+> )BIyBm?kVҿٱE??I +?F?< 9<)Iy/$?~jt? /0r,PTEAY}B?}BĚ?y}B3}ByV}BHڤ?U蠿@? ?&I?@r?蟿`?)~B? ~B|];I~BCɫYY)Y YIYYv@y~PGI޽AA)޽@Azz :YQ1y:)5TNmea in: $SNTTA,0.071282,,,,015009.88*43 U>MU~=Y]6QU] ?YaaeEe[Eaym}m ?Iquz\5?u[վ u)B }0@9uؼDu: u:)qmMqAdded new target pos. range: 32.939999 m, bearing: 52.783985 deg, deltaT: 4.599049 s, approachRate: 0.587078 m/s, LOS rate: -0.879970 deg/s, posRepo size: 4WIWiXi XiWq:Wq2Wq*WqVqbUyBUy*UyU}Qx@@U?B }}B  B A1*BAkAAA$<"C*CͪRC%7<C!C!hW<IGn>>9CIKGi@=ND; ǗEX6r,TEAY}6H?}6n?y}6T}6jn}6H`!?o(@A? ?Q Ã? ԫd?)~6H? ~6];I~6Cɫ99)9 9IAY]@y]PG 鿙<MC=YQU>aE\Ey}>If5?Kվ 3B 1@9D: :)WWX XW:W2W*WVbUBU*UUUA?BYlB BA0*BAAAA<"C*C?RC7<CC9<׹IGf>H<r,{TEAY}?}&?y}[6l}˂}H?@*??ak`? ?)~? ~Ю];I~Cɫ) IY]@y]PG)} >}=}ʡ=i}@y }t@)}V@I}V@i}V@:M<=Yx]QU>aE\EyN̻}>I :q5? : ;վ >B 1@9D{: :):WWX XW:W2W*WVbU!BU!*U!U!U-?BUjBQ BQAU0*BYA]Z(AYAYA]<"Ca*CejRCm;CiCiIMCֽh%jCr,UUEAY}2p?}2?Ǚ?y}2.V}2a}2H? `??Q`Պ?`?i?)~2p? ~2];I~2CɫII)I MII܅>9܅CI܁i܁܅=܁܅ D܅; ݅E)CICi==!7Yo@yuPG (\? +?? z4? v> L=) I y `"?~jtx?/$? 7? ; ,= A) (AI Ai A A ۻM =Y ;QU > a E \E y } >I  : }5?  : $վ  NB  1@9 D :  :) :WA WA XA  XA WA :WI 2WI *WI VI bUQ BUQ *UQ UQ UU }?B HtOB  B A 1*B A ~i6A A A <"C *C $$RC Y;C C m P;%%~%~% %u:Y%T1y%@:%;5QIiG>3Jr,B,UEA|4<|;ɫqq)q uIyYv@y~PGÍÍَÍZd>iÍ@É č3@)č3@IčI@ič3@\;M=YQU&?aE\Ey}&?IȹŽ5?Žվ ƽUB 1@9ƽDǽ: Ƚs:)ȹWWX XW:W2W*WVbUBU*UUU-d@BpB BA1*BA3<AAAt<"C*CRC`;CC;IG>YQr,XFUEAY}2a?}2ԗ?y}2}2W}2H 1?@?0? 4?`w?/ԣ?)~2a? ~2~];I~2Cɫ99)9 9I9Y~@yPG5%;M=d=Y=UAAaEEE\EIyM}M>IQUC5?Uh վ U^B ]1@9UDUH: U:)QWWX XW:W2W*WVbUBU*UUUA@B B BA~1*BA&DAAA<"Cq*Cuq٩RCuZ;CqCyU>9UCIQiQU=QQU; UEցYIaG[>  } }  .:Y kS1y Ԋ: )5) ;9 Wr,`UEAY}BŹ?}Bo?y}Br}B }BH? X!?}?@Y?@n? ?)~BŹ? ~Bi];I~BCɫYY)Y YIYY@yOG@AM@=Y;QU>aE!\EyZ;}>I :L5? ::Ծ gB 1@9D: ]:):WWX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBytB BAO5*BANAAA-<"C*C]RCW;CCM;Ia)ehA9IIGmx>l]r,]zUEAY}:&e?}:?y}:}:}:H ;?Y[? ?f?q?r@?)~:&e? ~:}];I~:CɫYY)Y ]IYYC@y>PGZ****** received transponder code query ******F****** received ping request ******]+i]z@Y ]@)]@I]@i]@et<MmB=YmֺQUu>qqauEu(\Eyy} ><}}>IȁŅ5?ŅNԾ ƅqB 1@9ƅDDž< ȅ<)ȁWWX XW:W2W*WVbUBU*UUU- @Bu>WzBq BqAuX3*ByA}XAyAyA}G<"C*CsRCPB<CCֽΒ;בIG>M >9M CIM KGiM @M =I I M ; M E  ~ ~  z:Y T1y @: <5) yn;dr,%;UEAY}J?}J0?y}J/}JP}JHr?`T?Is?@kt?s?ݡ?)~J? ~J^];I~Hɫyy)y }IyYJ@yHPGxDUSBL response received:!U1,P 14D,000,00496,185,80,80,64,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 5f";M=`=YMaQU>a EU.\Eayu8<}}>Iȱ U:ŵ5? ]:ŵԾ Ƶ{B 1@9Ƶ%Dǵn= ȵd=)ȵ:WWXy XW:W2W*WVbUBU*UUU` @BuB BA3*BAbAA A <"C*C9RCe<CC/C<ױIG> =i =Okr,t$UEAY}N@?}w?y}:}T}HYQ? ">6?`T?{>@qC?H?)~N@? ~p];I~Cɫ) IY-@y-OG5p=ɮ1Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B "~?#~j?V-?S?= <)IyMbX9?I +y&1A?9`e ½jA)½AI½Ai½9AQAÕ㥽Õ94Õp>iÕ@Ñ đ)ĕ7@IĕV@iĕV@=M)=YQU>aE6\Ey;}>I5?`Ծ zB 1@90Df: M:)WWX XW:W2W*WVbUBU*UUUi@B5HB1 B1A5O5*B1A=`kA9A9A=<"CA*CE,RCE&<CICI-<=?i=|? IG=>  x x  !:Y 7P1y : 59 @_qr,UEA|;|4 )BIyB]7(?*p׿ٱȼM=YQU ?aE;\Ey)}  ?I  5? Ծ  e1@9 7D :< :<) WWX XW:W2W*WVbUBU*UUU @R(Combining 5 samples.P*QBZQIA@:+JQ]7(?*p׿2Q]w:QbQ)x8@4 /t>;@d?RQAFp?֕:`?}xh>?BQV? QAQAP9?Po9?PvQ}Qq@"Q@BMBI BIAUG7*BQAUusAQAQAU9<"Cq*CuۨRCuN<CqCy>9CIi= D; Eօ Jxr,:UEAY}rϺ?}r?y}rXVv}r*}rH?[@??Vxʎ?%?)~rϺ? ~raEB\Eyֻ}>I :5? :Ծ yB 1@9BDY; Z;):m5qAdded new target pos. range: 36.719997 m, bearing: 47.917489 deg, deltaT: 4.438793 s, approachRate: 0.851583 m/s, LOS rate: -1.096356 deg/s, posRepo size: 4W1W1X1 X1W9:W92W9*W9VAbUABUA*UAUM(\B@UM`?BuiBy ByA}q;*ByA}o~AyAA)<"C*CRCaSd<CC]<׉IG>I @A) k } }  :Y kS1y Ԋ: 58~r,UEAY}N0G?}N}?y}N]}Nm}NH?Ζ`?|?Rr궋?,&?)~N0G? ~NF];I~Lɫyy)y }IyYN@yOG)IMv=`;i=@ @)@I@i@5;M5S=Y5};QU5>99a=E=H\EAyEN0}E>IIMI5?MwԾ MxB ]1@9MLDM: MY:)IWyWyXy XyW:W2W*WVbUBU *U U U ?B]hމBY BYA]:*BYAe%AaAaAe<"C*C{rRC ,<CC֝jZX >9 CI JGi Ȥ@ = D ~; E"r,UVEA|i|Y}J?}J|'?y}Jg%;}J}JH`O?@l`b ??@fd?泖s?)~J? ~JL];I~Hɫqq)y }IyYͧ@yrNG= -?PnI += 5?=  = 9)9 I9 y= Mb?~jty&1?= C?= D= `e= = ?A)= 9AI= ?Ai= A9 = A] ռM] =Ye d;QUe >i i au Eu R\Ey y } >Iș  :ŝ 5?  :ŝ )Ծ Ɲ B  1@9Ɲ [Dǝ y; ȝ :;)ȝ :W W X  X W :W 2W *W V bU BU *U U U g?B ZtB  B A ?*B A MA A A <"C *C (RC <C C       d :Y y  5M h%<I1GM>Ir,H3VEAY}:8?}:o?y}:8-}:jXμ}:H?J@f?/?DQMl?@ə?)~:8? ~:1:];I~:CɫQQ)Q QIQY@yNGMҽMԽMiM3@I M@)M&@IIiMߏ@]@<M]=Y]]k;QU]:?aaaeEeV\Eiyma<}u i +r,MMVEAY}6v?}6CӚ?y}6H}6м}6H?@Ϝ?T?J3d?`@?)~6v? ~68\;I~6Cܝ/>9ܝCIܝXJGiܝv@ܝ=ܙܝDܝ; ݝɗE)ECIECiAE=E=E*w6ɫYY)Y ]IYYm~@ymMOGIR=)4=@ =M2=YqQU>!a%E%]\E)y5J;}5>I9 M:=<5? M:=miԾ =B U1@9=lD=_3; =T&;)=:WWX XW:W2W*WVbUBU*UUU^@BE,6BA BIAMz9*BIAMēAIAIAMԼ<"CQ*CUӧRC]^Va<CYCYU9  | |  :Y R1y i: 5) O;9 Vr,*gVEA||;Y}B*?}B ?y}BEq}BzOѼ}BH`qy? ɝ@W?}?@)sX(?z(@p?)~B*? ~Bt\;I~@iHH)H LIL L)PɖPPPPɗPiTITTITiT TX)XX XXXɘ\\\I\)`i`)`Ib&mAb}əbSF dɚdddiddɫ髙) IYUۧ@yUNGY]?A}SMT=YѻQU>aEc\Ey;}>Ij5?YԾ B 1@9uD ; ;)WQWQXY XYWY:WY2WY*WaVabUaBUa*UiUiUmI@RuB*** querying acoustic contact ***PqPqBu7B BA>*BAnAAA+<"C*CRCX<CC֝n>r,)VEAY}6?}6"?y}6 q}6}6H[x?6 ȡ!?~?w` ?@b5?)~6? ~6>\;I~4ɫ髙) IYߧ@yNGZ****** received transponder code query ******F****** received ping request ******%ҽ%i%@! %ߏ@)%@I%&@i%@u:M}J=Y}QU}>aEj\Ey= 9}>Iȑ :ŕ5? :ŕJԾ ƕB 1@9ƕDǕ=: ȕk:)ȕ:WWX XW):W)2W)*W)V)bU1BU1*U1U1U=w@BؑB BAt>*BAMRAAAN<"C*CnRCT~<CCֽ<בIG>٩٩ܽI>9ܽCIܹiܹܽ=ܹܽDܽ; ݽEI ) " } }  :Y kS1y Ԋ: 5) P_;kr,VEAY}u?}uLך?y}uK}u;x}uH }?/Aw K?ڢ?}{=i\@ I@)Iߏ@io#M  a E w\Ey8}[>I %:5? -:<*Ծ ʤB -1@9D: :):WIWIXQ XQWQ:WQ2WQ*WYVYbUYBUY*UaUaUe @B"lB BA@*BAE,AAA<"C*C RCc{a<CC֍9]CI]IGi]%@]=]MD]D]; ]E IG=>er,VEAY}2z?}2F.?y}2}2p }2Hn? 8`룿@;?`0?Lmw?L?)~2z? ~2];I~0ɫ髹) IYŧ@yiNGa=Mh=Y8-QU%?!!a%E%\E)y-dr}5?IAE5?EHԾ EѤB U1@ޱi޵p=9EDEҊ< E<)AWWX XW:W2W*WVbUBU*UUU^@B5tXB1 B1A=C?*B9A=ꩮA9A9A=e<"CA*CE¦RCE_<CICIEjb<I)GEQ>>r,VEAY}6ҹ?}6 ?y}6*}6=}6H?z.`?? qŒ?`nO?)~6ҹ? ~6-];I~4ɫ髹) IYO@yMG@ADNmea in: $SNTTA,,,,,015018.67*52 I)A%\%y%y% %T:Y%P1y%':%<5í<ítӾí+iíQ@é ĭz@)ĭ@Iĭz@iĭߏ@M3=Y/;QU>aE\Ey}>I  :%5?  :`Ծ ֤B  1@9D: :):W1W1X1 X1W1:W12W9*W9V9bU9BU9*UAUAUE%@B08B BAB*BAB^AAA&<"C*CًRC/<CC iAz<?i?IG>3'r,akWEAY}B*?}B?y}Bi}B}BH`m? y J? ?q)? W_?)~B*? ~BD\;I~BCa>9CIi=LDD; EɫYY)Y ]IaY@y%NGxDUSBL response received:!U1,R,1AF,000,03776,186,80,80,96,FF  Fpublishing direction and range infoɰc? )CIyKD[?׿ٱP<M`=YK9QU>aE\Ey:}>I.5?Ӿ ۤB 1@9D: Q:)WaWaXa XaWa:Wa2Wi*WVbUBU*UUU@R(Combining 5 samples.P*QKDZQ2pD@>2WrJQ[?׿2Q:QbQ>~5@J@Ӌ8@RQiv?y?uEݞ?BQ{S? QDQ DP9?P9?PQvQBA"Qq@BϚB BA@*B A|EAAA="C1*C=ZRC=}J<CCX<שIG>Pr,pC+WEAY}:?}:?#= )AIAi^AA]㥽]]'=i]z@Y ]@)]@I]@i]t@m~Mm0=YuT QUu>qya}E}\Eyy%;}>Iȉ :ō}85? :ōEӾ ƍB 1@9ƍDǍ: ȍ:)ȍ:m}Added new target pos. range: 814.380066 m, bearing: 47.428379 deg, deltaT: 5.183448 s, approachRate: 150.027573 m/s, LOS rate: -0.094360 deg/s, posRepo size: 4mCompleted rollout at range: 814.38 m. Resuming terminal guidance.mbTransitioning guidance mode to: TERMINAL_GUIDANCE"XWWX XW:W2W*WVbUBU*UU` s@U?B7B BAA*BAtAAA(]=Cq1I9G]>a8r,6EWEAY}6B>?}6 u?y}6Z}6}6H`]?@g@?`"?) z?r?)~6B>? ~6 ];I~6Cɫ99)9 9I9Y}@y}eNG<Mz=Y>QU?!!a%E%\E)y-̫;}-?IAE @5?E|Ӿ EB M1@9EƽDE: Eb:)A;m wmAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;mwdResuming normal ranging with 1.000000 count pings.;1<WWX! X!W!:W!2W!*W!V)bU)BU)*UUU@S?B7B BAa?*BA+¼AAA=C) 9==$9 CI IGi ԣ@ = KD D o; EI!G|>~br,M^WEA|i|Y}6L`?}6?y}6tЫ}6~ }6H H?):nP?`X?pp`y?j!?)~6L`? ~6%];I~6CɫYY)Y aIaYͧ@yrNGuU;M}D=Y)oQU>aE\Ey";}>IȩŭI5?ŭCӾ ƭB 1@9ƭнDǭ0; ȭ;)ȩ~~ !:YT1y@:5)f;9%Xe?1r,xWEAY}66Z?}6?y}6$7}6$Ѽ}6H?@NB? ?u`m?8T?)~66Z? ~6])];I~6Cɫ99)9 9I9Yu@y}ENGMʡMjMף=iM@I M@)IIIiM@]8M]L=Ye'QUe>aaamEm\EiyuT}u>Iy :}R5? :}ǴӾ }B 1@9}ڽD}V: }:)}:WWX XW:W2W*WVbUBU*UUU0I?)i)B.=B BA0@*BA`̼AAA=CuL>}CimGIimw˿ٺim AױIGf>tr,毒WEAY}6+?}6b?y}6񲼙}6]м}6H?;U#~? ?79@]? g?)~6+? ~6(];I~6Cɫ9A)A EIAYe@yeNG)>9CIi=D]; E)mCImCimCm=m=mu97MB=Yz9QU>aE\E!MwMMM M{:YMU1yM:M5)Mk;y]V}]>Iae\5?eӾ eB m1@9eDeU: e:)aWWX XW:W2W*W)V1bU9BU9*UAUYU]B?@BOB BA;A*BA|ҼAAAtU=CjA?i?IG>r,WEA||Y}B6?}B4?y}B}B_ͼ}BH`?@:@??@犅 b?٩?)~B6? ~B];I~BCɫ) IY1@yMG%x?Dl?Mb%K7?%O= %)!I!y%HzG?{Gz?aE\Ey!}>Iȩ :ŭi5? :ŭًӾ ƭB 1@9ƭDǭ: ȭb:)ȭ:WWX XW:W2W*WVbUBU*UUUS@RB*** querying acoustic contact ***PPB hʔB  B A C*B A >ټA A A ?=C ֙ q I G >Ԫr,?WEAY}6?}6?y}6}69ϼ}6H4?sQW`??@?G噿?)~6? ~62];I~6Cɫ11)1 1I1Y@yNGZ****** received transponder code query ******F****** received ping request ******9uCIqiqu=quDu%; u͗EG}>r,WEAY}:?}:7?y}: }: ռ}:H@)?@zҲ3?}? |В?@򻚿?)~:? ~:7];I~:Cɫ99)9 9I9Y}@y}|MGxDUSBL response received:!U1,P 1AF,000,03776,186,80,80,96,FF Command AckBRequesting micromodem ping code 2ia=iR=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i%M%?=YM/;QUU>YaaeEe\Ey/:}>I :y5? :xpӾ 'B 1@9D9< ><):WWX XW:W2W*WVbUBU*UUUZ' @B=#B9 B9A=HE*B9Ae$AaAaAe=Cir,WEA|i|Y}6+-?}6c?y}6oo}6ۼ}6Hx?A.(??͒?@v?)~6+-? ~6];I~6CɫYY)Y YIYY1@yMGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B zz :YQ1y:)5 @ @ @©i@ ߏ@)@I@iߏ@E<M6=Y7QU>aE\EyK;}>Ișŝ5?ŝ~^Ӿ Ɲ/B 1@9ƝDǝ{: ȝ:)șWWX XW:W2W*WVbUBU*UUU M` @B B BAC*BAAAA=C!IG>Lr, |XEAY}VI?}Vq?y}V9}Veۼ}VH"?C4??@? j?)~VI? ~V];I~VC~>9~CI~,IGi~@~=||~; ~ǗEɫ髹) IY@y%jMG)-?A5xDUSBL response received:!U1,R,197,000,00549,185,80,80,5C,FF 5Fpublishing direction and range info5oٵ1ɰ5=5+> 1)5BI1y5.B5?Aֿٱ1)q=i=M[=Y3QU>aE\Ey ;}>I :Y5? :OMӾ 5B  1@9D"; m;):WIWIXI XIWI:WQ2WQ*WQVQbUQBUY*UYUYU} ]@P*Q.BZQ4pzD@9a.JQ?Aֿ2Qoٵ:QbQߞ<@>3Fm@@ P0?RQO ?a?.T i?BQ,Z? QnBQ AP9?P9?PaQQ`@"QBABIB B A E*B A A A A fj=C$= ;< I G >X r,Ҫ.XEAY}U|k?}UD?y}UkӠ}U}UH7?@H??΅?l?)~U|k? ~U];I~UCɫ髱) IY-@yMG\~~ T:YT1y@:MDNmea in: $SNTTA,,,,,015023.64*59 5 7A`?Zd;O 6? ̼  j<) I y S㥛?Mbp? $F?  ;  A) I ?Ai A  A- iA- hA    9< ( Ti z@  @) I i @ 4<M =Y &غQU > a E \E y :} >I 5? 5Ӿ ;B  1@9 'D U: :) m- IAdded new target pos. range: 43.680000 m, bearing: 48.808573 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1m5 ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 48.808573deg and heading rate command to 0 deg/s.W5 ,Z?W1 X9  X9 W9 :W9 2W9 *WA VA bUA BUA *UI UM @ E@UM ?B} JBy  By A} D*By A #A A A (n ="C g?RC bcH=C ,Z?C э V=ԕ ԕ Օ ԕ 9i=?IG5?yr,RXEAY}J?}J]U?y}Jۮ}Jas}JH@?`g?6?@Wە?`l`?)~J? ~JF];I~JCɫqq)q uIqY@yMG >9 CI i  =  D  ; ͗EhFMz=YQU?aE\Eyz}?Iȱ :ŵF5? :ŵ(Ӿ Ƶ>B 1@9Ƶ/Dǵ: ȵ:)ȵ:WWX XW:W2W*WVbUBU*UUU r?B-3B) B)A-H*B)A5KKA1A1A5+ ="C=?RC==C9CAII)I IשIG>IY )] AA K | |  :Y R1y i: 5) d;9 r,lXEAY}N8ӹ?}N ?y}N{}N W}NH ?A`Q??DÕ?') ;?)~N8ӹ? ~N\;I~NCɫ) IY@yoMG$>C i\@ )@IV@it@<MF=Ye9QU>aE\Ey} >I5?Ӿ CB 1@99D: :)W9W9XA XAWA:WA2WA*WAVIbUIBUI*UQUQUU?B}c﫽B BAE*BAZAAA< ="CMq?RC >CCסIG >|!r,eXEAY}2r?}2:ڙ?y}2 }2꘼}2H`q?אl??A@Zw??)~2r? ~2R\;I~2Cɫ99)9 =IAY}p@y}LG 鿹P)MJ=Y;:QU>aE\Eyl} >Iz5?DӾ GB 1@9CDH: :)WAWAXA XAWA:WA2WI*WIVIbUIBUQ*UQUQUU~P?B5鰽B BAI*BAVAAA ="CKBe?RC->CC׉IG>ܽ>9ܽCIܽHGiܽ1@ܽ=ܽJDܽDܽ/; ݽE  } }    :Y kS1y Ԋ: 5) \;7'r,|CXEAY}2?}2_?y}2A}2ƃ}2H@ ?Y n`?`?@\g?w?)~2? ~2.\;I~2Cɫ99)9 =I9Y}5@y}MGuQ?S㥛?+?u(aE\Eyp:}>Iȩ :ŭ5? :ŭ~Ҿ ƭPB 1@9ƭLDǭ: ȭ:)ȭ:WWX XW:W2W*WVbUBU*UIUQUU@@BNJB BAC*BAtnAAA` ="C|^?RCc@>CC*:<׹IG%o>e =ie =-r,XEAY}:?}:S&?y}:ü}:}:H@?@K`?`y?@ 9`?r`?)~:? ~:|];I~8ɫYY)Y ]IYY}@y}LG-j<-`-i-@) -ߏ@)-ߏ@I-ߏ@i-ߏ@=EM=P=Y=QUE>AAaEEE\EIyM;}U>IY]5?]Ҿ ]YB e1@9]UD]i: ]:)YWWX XW:W2W*WVbUBU*UUU@BB BAH*BAgAAA ="C,Z?RCb=P>CC֭Ueƿٺ[A  ~ ~  :Y T1y @: 59 @4r,XEA]>9]CIYiY]=]ID]D]E; ]E)UCIUCiUCU=U=UE6ɫ) IY¦@y*MGI!)%AIC=)B<MC=YQU>aE\Ey}>I :U5? :Ҿ cB 1@9_D': v:):WWX XW:W2W*WVbU BU *U UUH@RB*** querying acoustic contact ***PPBEDKBA BAAE]G*BAAM\AIAIAMf="CQ*CURCUM>CQCYmy=!I1GM1>:r,XEAY}%{?}%B?y}%s}%D}%H??e9;? ?8=ٟ?RB?)~%{? ~%\;I~!ɫ) IY-@y-&MG5Z****** received transponder code query ******5F****** received ping request ******=ļhi@ t@)V@IV@iV@M7=Y QU>aE]Ey}#<} >I  5? Ҿ nB 1@9 iD ׾: H:) WyWX XW:W2W*WVbUBU*UUU @B㘮B BAzG*BAk AAA4="C*C`RCNSR>CCm=IGm>Ia )e ?A5 Y5 5 5  5 :Y5 V1y5 :5 5Ar,SYEAɫyy)y }IyYi@yLGxDUSBL response received:!U1,P 197,000,00549,185,80,80,5C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =cMEl=YUQU]>iqa}E} ]Ey}>I :5? :FҾ xB 1@9rD< :<):WWX XW:W2W*WVbUBU*UUUB@BU9GBQ BQAU$J*BYA]&AYAYA]'="C*CovRC|R>CC֝a->]>9]CIYiY]=Y]D]:; ]EיIG>!Gr,H!YEAY}2?}2ܙ?y}2h}2;#}2H- ??L$?n? 8b`n?)~2? ~2b\;I~2Cɫyy)y }IyY¦@y*MGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )q eK7?Mb?:v?eIL?e> e<)aIaye/$?L7A`?{Gzt?eL?e+=eף; a)e9AIaie^Aaa}<M7=YQU>aE]Ey{}>Ișŝ5?ŝҾ ƝB 1@9Ɲ}Dǝs< ȝh<)șWIWIXI XIWI:WQ2WQ*WQVQbUQBUY*UYUYU]@BdyB BA]G*BALAAA¨="C*CꣽRCL>CC@>I G%> X x x   :Y 7P1y : 5(Nr,=d;YEAY}2rO?}28?y}2.}2@}2H?ߡ] .??Bi? R ?)~2rO? ~2\;I~2CɫYY)Y ]IYYK@yLGxDUSBL response received:!U1,R,1EC,000,00577,187,80,80,68,FF Fpublishing direction and range info۾ɰ6=鰥1> )BIy9B4ԿQv?7XڿٱÍ&ÍܾÍ>iÍ@É č@)č@Ič@ič@ۼM=YQU>aE]Ey杼}>I :-5? :Ҿ B 1@9D: :):WWX XW:W2W*WVbU!BU!*U!U!U%@P9*Q=9BZQ=cgKE@Bj,U3JQ=4ԿQv?7Xڿ2Q=۾:Q9bQ=2AX@@&?@(?FQ@RQ=䶞?,4 ?pf?BQ= C? Q=AQ=BP=9?P=9?P=\Q=aQ=A"Q=`@Bmp Bq BqAuK*BqAuAyAyA}b="C*C/RC6C>CCe =ie =֥ L>a Ii G >,Ur,QMUYEAV>9VCIVIGiVԣ@V=TVDV; VEY}e?}ʛ?y}'=}}H`]?^ )`??4~[?,h?)~e? ~2n];I~Cɫii)i uIqY@yMGTNmea in: $SNTTA,0.365402,,,,015028.26*4C 5=M5=Y=mQU=+?9AaEEE]EAyMn}M-?IQU5?U Ҿ UB ]1@9UDUI: UU:)QmqAdded new target pos. range: 46.439999 m, bearing: 43.671833 deg, deltaT: 4.695210 s, approachRate: 0.587833 m/s, LOS rate: -1.094038 deg/s, posRepo size: 2m ProNav: pos range: 46.439999 m, bearing: 43.671833 deg, approachRate: 0.587833 m/s, LOS rate: -1.094038 deg/s, cmd update: -3.282115 deg/s, cmd heading: 48.808573 deg, new cmd heading: 48.808573 deg. WVV?WX XW:W2W*WVbUBU*UUQ8G@Upw?BdԽB BAD*BAAAA="CW?RCi6>>CVV?CH>׹IGE>} } } }  } 0:Y} V1y} :} 5)} )s;9 ?[r,I.oYEAY}b!?}bD?y}b xM}b;}bH@? n[G?s?ȖY???``Ӽ?)~b!? ~b7];I~bCɫ) IY%x@y%LGI=)=t<<ףi@ @)I@i@[HMN=Y QU>  a E %]Eyf<}>I 5?vҾ B -1@9D: :)WM8P?WIXI XIWQ:WQ2WQ*WQVQbUYBUY*UYUYU]@?BB BAI*BA*AAAj="C8P?RC5I>C%8P?C!5HC> IG5q>"br,YEAɫiq)q qIqY@yLG-;M-,=Y-QU->11a5E5-]E9y=}=>IA M:EE 5? M:EbҾ EB U1@9EDE: EA:)E:WI?WX XW:W2W*WVbUBU*UU!U%`L?ىٍgAܕ>9ܕCIܕXJGiܕv@ܕ=ܑܑܕ; ݕ֗EB^hB BAH*BA`AAAh="CI?RCz(a>CI?CI> I G] >Iށ )ޅ @A] ] ] ]  ] :Y] T1y] :] 5)] y;Lhr,ТYEAY}62?}6?y}6h}6v!(}6H ?!<ſ@?`@?@?`?hĿ̄?)~62? ~6`_;I~6Ci<@)@ @I@ @)@ɖDDDFsCɗDiHIHHIHiH HL)LL NlALPɘPPPIP)TiT)VCIVmAVəVSF XɚXXXiXXɫyy)y }IyY|@yLG)AE~jt?X9v?y&1?E$?E}= E`e<)AIAyEx&?Mb?X9v?E7I?EC2}D?C Q>שIGL> wnr,YEAY}:?}:t?y}:˾p}: 7}:HH?ǿ5d?+v? ٞ?j?jƿo?)~:? ~:ø^;I~:Cɫ髙) IY@ysMG ))}=}\=}`=i}f@y }@)}@I}@i}ߏ@t<M=YoQU>aE;]Ey"}>I :a, 5? :&?Ҿ ¥B 2@9D: :):Ws}Cs}׹  ~ ~  :Y T1y @: 59 @I G >cur,ǛYEA>9CIKGij@=HD; ėEY}B4?}Bk?y}BTs}Bk?}BHx?v@ȿ^?@?(? w?ǿb?)~B4? ~B=5^;I~BCɫ) IY-&@y-MGԩ<M=YQQU:?aE?]Ey}:?I3 5?5Ҿ ̥B 2@9þDǺ: +:)WX8?WX XW:W2W*WVbUBU*U U U ` @B5߽B9 B9A==D*B9A=6f"A9AAAEiW="CMX8?RCML>CMX8?CIE_>I G%+>} =i} =.{r,bYEAY}6j?}6?y}6u}6KJ}6H`?! ɿ~? ?@Ǹ?`)?ɿ`:R?)~6j? ~6,^;I~6CɫII)I IIIY}*@y}MGG/>>i@ I@)@I3@i@O:MX=YQU>aEE]EyLk}>I  : Y? 5? : &Ҿ ڥB 2@9 ;D : :) :W=h3?WAXA XAWA:WA2WA*WIVIbUIBUI*UIUQUU}@R]B*** querying acoustic contact ***PYPYBýB BAD*BAr$AAA="Ch3?RCM>Ch3?C֥CT>ׁIG=>i% nGI9 ia ̿ٺ A g { {  5:Y #R1y : 5pr,; ZEAY}:Zۣ?}:?y}:ky}:gP}:Hd?`,ʿ i?@2l??`(?ɿ/G?)~:Zۣ? ~:_;I~:Cɫ11)1 1I1YmԦ@yuAMGuZ****** received transponder code query ******}F****** received ping request ******}aEM]Ey}>IP 5?Ҿ B 2@9ھD: :)->9)I-LGi-^@-=)-D-; -ƗE)MCIMCiMCM=M=M:|6WDn+?WX XW:W2W*WVbUBU*UUU z @BвB BAF*BA%6M(A)A)A-{B="CEDn+?RCMX>CMDn+?CI- XR= } =} =] NM>e ?ie ?9 IA G] >4r,-$ZEAY}2!?}2X?y}2e}}2tU}2H?@Mʿ4?`?`??JpʿS??)~2!? ~2_;I~2C `)b mAɂb9b;TF`dɃflAidIddIdih hh)hl lllɄllrmAIrף)pip)pIttɅt tɆttz㥽ixxizC|)~94 |I|ɫ) IYm1@ymNGuxDUSBL response received:!U1,P 1EC,000,00577,187,80,80,68,FF uCommand AckuBRequesting micromodem ping code 2iqqNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )\(?A`"?{GzG?Y> #)IyK7A?:vZd;? B?Լy= A)Ii- AAe;eнe;߽ieQ@a e@)e@Ieien@е=M+=YQU>))a5E5U]E9ym2}u>Iy :}ka 5? :}.Ҿ } B 2@9}D} ; };)}:WqT$?WX XW:W2W*WVbUBU*UU! U% `V @Bm NbBq  Bq A} ;*By A e4+A A A ="C qT$?RC v]>C qT$?C Iy )y u .=   S:Y y *5օ W>aIiG>Wr,BZEAY}6C?C) ] {\> >9 CI MGi R@ ; ӗE1 IA G] >Ȗr,qq\ZEAY}2n?}2 Kw?y}2va}2[Z}2H(?|{@ʿ.E?`:#? ?`]I?˿;6?)~2n? ~2^;I~2Cɫ髱) IYۨ@yOGxDUSBL response received:!U1,R,E97,000,005B2,185,80,80,77,FF Fpublishing direction and range infoK>ɰ=+> )BIyGB2l??ٱR=ip= !!5Q=M5S=Y=199a=EE`]EAyEIg}M>IQUz 5?UѾ U1B ]2@9UDU: U:)QW}?WyX XW:W2W*WVbUBU*UUUS@P*QGBZQ4s:QbQYD-@nmG@0b凬ϿRQ?j?*7GtBQ ? Q(?BQ"jAPr9?P9?P;Q\Q@"QAB(FB BA6*BA /AAA$p="C?RCDW>C?C[>IG$> 7 } }  a:Y kS1y Ԋ: ΐ5) 7b;9 5r,PvZEAY}:v?}:tq?y}:F}:*W}:Hɷ?@Mʿ >?Ѯ??&?"ʿ;?)~:v? ~:^;I~:CɫQQ)Q ]IYY0@y(PG=DNmea in: $SNTTA,,,,,015032.73*5F ÝĻÝ=Ý^:>iÝ@Ù ĝ@)ĝ@Iĝ@iĝQ@<MC=YI:QU>aEg]EyQ}>I : 5? :zѾ JB 2@9D: 2:):mmAdded new target pos. range: 49.980003 m, bearing: 72.974895 deg, deltaT: 4.333569 s, approachRate: 0.816880 m/s, LOS rate: 6.761877 deg/s, posRepo size: 3m ProNav: pos range: 49.980003 m, bearing: 72.974895 deg, approachRate: 0.816880 m/s, LOS rate: 6.761877 deg/s, cmd update: 12.000000 deg/s, cmd heading: 34.585595 deg, new cmd heading: 33.206680 deg. WK1?WX XW:W2W!*W!V!bU!BU)*U)U-pH@U- ?B]bBY BYA]3*BYAe1AaAaAe="CmW?*CmRCuwD>CuK1?CqV>יIGb>M=iM=>أr,6 ZEAɫ髙) IY@yQGy=ML=YQU>aEm]Ey%}%>I)-ә 5?-bѾ -bB 52@9- D- : -:))W]hWG?WYXY XYWY:Wa2Wa*WaVabUaBUi*UiUiUu?ܝ>9ܙIܝOGiܝF@ܝ=ܙܝDܝ; ݝ՗EBYB BA-*BA93AAA3="C ?RC1>ChWG?C H> I1GuX>  z z  :Y Q1y : 5) No;tr,ZEAY}2N?}2$g?y}27}2\}2H?(S@_ʿy? ?܂?`D?`XU˿2?)~2N? ~2n^;I~2Cɫ99)9 AIAYU@yQGmx&1?gfffff? ףp= ǿm?m33> mQ8)iIiymoʡ?Zd;O?Mb`?mM?mj<=m; mA)md/AImjAimAimA >y`eiG@ @)@I@i@<M5=Y:QU>  a E t]Ey}>I %: 5? -:FѾ kB -2@9D: :):WU^?WQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUm`O?B&B BA**BAo86AAAC="C%+?RC%=C%^?C) ====5C>IG5>;r,oZEAY}:"?}:Xb?y}:o}:^[}:H"6?@\@ ʿ+????@?@n(˿`4?)~:"? ~:[+^;I~:Cɫ99)9 9I9Y}@y}RG)!=M`=YQU>aEz]Ey]}>I# 5?Ѿ sB 2@9D: :)W=I)GEQ>IY)]BAܝ >9ܝ CIܝ PGiܝ @ܝ =ܙ ܙ ܝ ; ݝ E S { {  :Y #R1y : 5) f;r,ZEAY}2?}2}]?y}2}}2&Y}2H@|?ɿ@O??@ ?l?ʿ`7?)~2? ~2 ^;I~0ɫ99)9 =I9Y}@y}]RG}T<M=Y QU>aE]Ey}>I :> 5? :Ѿ B %2@9.D < $<):W ;2?W X  X W :W 2W *W V bU! BU! *U! U! UM @b@B nB  B A %*B A d;A A A N="C L2[?RC 9C ;2?C =י I G >>r, ZEAY}2ʫ?}2W?y}2а}2VR}2H??$@ȿ?@+(?`?!?@!ʿA?)~2ʫ? ~2$];I~0ɫ99)9 9I9Y}ǫ@y}WSGi<=n=Ը=u=i99 =@)9I9i=@E=MM=YMt%QUM@?QQaUEU]EYy]ɽ}]D?Iae 5?eѾ eB u2@9e3De: e<:)aW=f?WAXI XiWi:Wq2Wq*WqVqbUqBUy*UyUyU}@BqؽB BA5*BA{<AAA3="Cf?RCaSCf?C^=סIGC>% % }% }%  % 8:Y% kS1y% Ԋ:% 59- @q&r,4h[EAY}2?}2\R?y}2u}2ksK}2H?`<ȿb?@3???'6ɿ N?)~2? ~2_;I~2Cɫ99)9 =I9Y#@ySG v<MN=Y9QU>!!a%E%]E)y5^Y}5>I9 M:= 5? M:=ԅѾ =B U2@9=>D=+; =\(;)=:W?WX XW:W2W*WVbUBU*UUUǝ@RB*** querying acoustic contact ***PPB&B BAP*BA3X>AAA="Cz?RC6_C?C=>9=CI=QGi=@==9=D=; =E֥==yIG^>QiUp=Pr,NC+[EAY}J@?}JlM?y}JqÁ}J9?}JH1?~X̨ƿ@?@?`?5?ǿ`?)~J@? ~J_;I~JCɫy髁) IY@yrTGZ****** received transponder code query ******F****** received ping request ******> E6)IyQ? rh?/$\/?C = A)*AI AiA=AM7 M "?M>iM@I M3@)M@IMiM3@]=M]*=Y]J4;QUe>aaamEm]Eiyud%}u>Iy} 5?} xѾ }B 2@9}HD}8: }:)yWh̥?WX XW:W2W*WVbUBU*UUUf @B㣮B BA*BA@AAA?="Cu?RC Ch̥?C ==ȿ=?i?יIGa>- - ~- ~-  - p:Y- T1y- @:- ΐ5i mGI i % Ϳٺ! % "A8r,S E[EAY}2#R?}2I?y}2 z}2^1}2H? ſ@?t?`a???`ƿ`u?)~2#R? ~25*_;I~2Cɫ99)9 9I9Y}2@y}UGxDUSBL response received:!U1,P E97,000,005B2,185,80,80,77,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )eD=Mmq=YuN;QU}?1a5E5]EAyM#>}U>Iae 5?emѾ eB 2@9ePDez_< ec<)aW0?WX XW:W2W*WVbUBU*UUU@ @BGB BA*BA(BAAAG="C%?RC!C-0?C)z=IGEs>5 >95 CI5 RGi5 s@5 =1 1 5 ; 5 ʗE)݈CI݈Ciو݈=݈=݈ɰ5br,^[EAY}27y?}2_E?y}2Eq}2#}2H@A?` MÿB?` ?ڲ?D$?eVĿ`?)~27y? ~2{^;I~2Cɫ99)9 9I9Y}@y}zUG鮁ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IUAA)UAA < "۽ Ci @ &@) h@I ~@i h@% 5<M5 =Y5 b;QU= >9 9 a= E= ]EA y] ?ļ}] >Ia u :e T# 5? } :e \Ѿ e B } 2@9e ]De 9O; e b;)e :W ?W X  X W :W 2W *W V bU BU *U U U Q@E sA A E  E (:YA yA E 5)E ;9M B B  B A R*B A MEA A A ="C ä?RC C ?C I ) hAױ I G >*r,y[EAY}F2ـ?}FB?y}Fef}F~U}FH`2?,`?*? ?c׬?r¿`T?)~F2ـ? ~FMQ^;I~Dɫiq)q uIqY@yVGxDUSBL response received:!U1,R,3F4,000,005E1,189,80,80,59,FF Fpublishing direction and range info>bɰ=鰵7> )BIy3SB5=QO?];ٱ->M=Ydb:QbQ.~7BjI@~^D@RQkJg?Ȕ\S?BQ @ QQCOBPڨ9?Pr9?PQ;QSA"Q@BuvϽB  B A V *B A `0FA A AR="C)?RCCD?C9@pIGH>r,[EAɫ) IY5@y5VG]>9]CI]TGi]f@]=]GD] D]; ]EDNmea in: $SNTTA,,,,,015037.21*5D 5aG;M=7=YEQUM>QYaeEe]Eqy}>Iș :ŝ< 5? :ŝKѾ ƝB 2@9ƝkDǝ; ȝ;)ȝ:mUyAdded new target pos. range: 52.799999 m, bearing: 352.818558 deg, deltaT: 4.491265 s, approachRate: 0.627885 m/s, LOS rate: -17.847161 deg/s, posRepo size: 4mU!ProNav REINIT: LOS rate is -17.847161 deg/s. Setting heading cmd to target bearing of 352.818558deg and heading rate command to 0 deg/s.WU @WYXy XyWy:Wy2W*WVbUBU*UU`ffJ@U?B B BA*BA  w w   :Y O1y P: 5) s;r,8[EAY}-d}?}-W>?y}-AL}-R}-H ?PaKU/??CX???)~-d}? ~-$];I~)ɫ)))1 5I1YM@yU%XGI)=n?Mb?Zd;OV.?@> j<)Iyn?ˡE~jt?V.?'D= rA)#AIE AiAA))M>Dip@ @)3@I3@iQ@!=M2=Y3haE]Ey}>IP 5? @Ѿ B  2@9uD: :)W1W1X1 X1W1:W12W9*W9V9bUABUA*UAUAUEt?Bu]Bq BqA}*ByA}IAyAyA}/="CV޷?RCCCuf$1I9GUv> =i a= r,ap[EAY}2}?}2E>?y}2 :}2#=}2H@R?x `?@? ?[?ٶ?)~2}? ~2k^;I~2Cɫ99)9 =I9Y}?@y}XGi=M=Yo`?B<B BA*BA KAAA9="C` ?RCCCmZHAIQGm>e>9aIeHUGieZ@e=aae; eڗE% % |% |%  % '0:Y% R1y% i:% 5)% l;<r,G[EAY}:nm?}:??y}:m(}:v}:Hh?@/? p?` ? : ?@ʮ@iiamEm]Eqy}s<}}>IȁŅp 5?Ņ^.Ѿ ƅϦB 2@9ƅDDžض: ȅ:)ȁWWX XW:W2W*WVbUBU*UUU`0j?B!B BA*BALAAA/="C]E?*C̣RCCC _׉IG>Dr,["[EAY}2_?}2-C?y}2>}2f%}2H`R ? y *?l'?W`Ʀ?@&@g?)~2_? ~2Q&_;I~2Cɫaa)i uIqY@yYG}C}ȶ>}aE]Ey=}>Iȡ :ťx 5? :ť>$Ѿ ƥަB 2@9ƥDǥM; ȥ;)ȥ:WWX XW:W2W*WVbUBU*UUUq?B)槽B BA*BA;NA!A!A%="C-Q?RC)C)C1օ_YIiGZ>I@A)BAE E E E  E ,:YE T1yE :E 59M @r,T\EAY}J?}JG?y}JN }J@w<}JH`?2u?͸?@U1??q?)~J? ~J0`;I~JCɫ髹) I>9IVGi@=D; EY5@y5ZGZ'=M9=Y^;QU>aE-]E9ye"=}m>I 5?KѾ B 2@9Dw: Ǻ:)WWX XW:W2W*WVbUBU*UUU  @B5ɡB1 B1A=*B9A=OA9A9AEO="CEŰ?RCICICIerIGj>U/ r,.\EAY}^?}^L?y}^Z}^G=}^HM?4?`f?`@?V@鱠?? ?)~^? ~^\Pa;I~^Cɫ髡) IY@yZGAA4=i<}ʡE?V-?y&1}?}m= }`e)yIyy}v/?Q?~jtx}xI?}\=}Ļ } A)}AI} Ai}9Ay}Ay= Qi(@ 3@)I@II@iI@<MW=Y(;QU>aE]EyP=}>IȁŅ 5?Ņ9 Ѿ ƅB 2@9ƅDDž: ȅU:)ȁWWX XW:W2W*WVbUBU*UUU y@RB*** querying acoustic contact ***PPBUBY BYA]\۾*BYAAQAAAR="Cب?RCCC]ƂI!G=Q>)r,ٳH\EAY}: ?}:Q?y}:A}:=}:H@?[@&?@[?@?V?]?aE]E y G=} >I : 5? %: о B %2@9D: :):WAWAXA XIWI:WI2WI*WQVQbUQBUQ*UYUYU]z @B!B BAE־*BA:RAAA="C_?RCCCxIGn>>9IsVGiN@=; ЗEi=%%}%}% %R!:Y%kS1y%Ԋ:%M5)%;9-@=r,֎b\EAY}2u1?}2mV?y}2\ }2=}2H]?-x? ?w,?`?@?@d?)~2u1? ~2,a;I~0ɫYY)Y ]IYYe@ye[GmxDUSBL response received:!U1,P 3F4,000,005E1,189,80,80,59,FF uCommand AckuBRequesting micromodem ping code 2iqq}Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )<MN=YMQU>aE]EyO=}>I 5?aо B =2@9D< <)WWX XW!:W!2WI*WQVYbUYBUa*UUU`ba @BƠB BA@о*BAAMKTAQAYA}_\="C'v?RCCC- · I G= >~gr,wj|\EAY}:?}:[?y}: }:=}:H@{?@(#? 7??Me ?~??)~:? ~:Tib;I~8ɫ99)9 9I9Y}@y}[GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I9)9=,>9i/mGIif̿ٺAzz :YQ1y:59%@ýE6>ý<ýY>iýp@ù Ľh@)Ľh@IĽh@iĽh@?:M=Y.ĺQU>aE]Ey=}>I  :6 5?  :vо B  2@9ĿD; %;):W9 W9 X9  X9 WA :WA 2WA *WI VI bUI BUQ *UQ UQ U] y@B DB  B A Ͼ*B A UA A A  ="C V?RC QC C  FӅ I G- >ݼ%r,\EAY}:&?}:Of?y}:bg }:>}:H`?B@(N? ?`|? J9L?d?p?)~:&? ~:b;I~:C`biAf>9fCIdidf=dfDf; fE)]CI]Ci]C]=]=]6ɫ) IY= @y=F\G]xDUSBL response received:!U1,R,E0E,000,00611,187,80,80,41,FF eFpublishing direction and range infoU/>QɰUq=U1> Q)UBIQyU^BU-?˽&@?ٱQx&1?l?{Gz?!?= ף<)Iyx&?:QbQݻQ*@ltJ@3@RQXM\@?:Bb?ۀEY÷?BQb? QkWBQRAPz9?Pڨ9?P(QQ7,A"QSAI9)=@ABQBrR= BA<ʾ*BAWAAA ="Ces?RCؽCCpI) I G >l+r,\EAɫ髹) IYc@y\G]dNmea in: $SNTTA,0.044497,0.367415,,,015041.67*56 ý$>ý ?ýuiý@ù Ľ3@)Ľ&@IĽE@iĽ@p=M=YQU?aE]Ey}?I : 5? :о B 2@9ԿD: :):m%qAdded new target pos. range: 55.680000 m, bearing: 76.268658 deg, deltaT: 4.587143 s, approachRate: 0.627842 m/s, LOS rate: 18.192171 deg/s, posRepo size: 4m-ProNav REINIT: LOS rate is 18.192171 deg/s. Setting heading cmd to target bearing of 76.268658deg and heading rate command to 0 deg/s.W-b?W)X) X1W1:W12W1*W1V9bU9BU9*U9U=@ K@UE.?B B  B A ľ*BAWAAA&!!="CXg?RCCb?C!E c9IAGeU>EEEE E8:YET1yE:E52r,\EAY}2?}2q?y}2N }2">}2H?棻?:?@g?׾¶?:??)~2? ~2t`;I~2Cɫ99)9 =I9Y}X@y}\GI4=)%=½jA½jA0[MJ=YQU>aE]Eyr=}>I 5?о  B 2@9޿D: :)W!W!X! X!W!:W!2W)*W)V)bU1BU1*U1U1U5?BeBa BaAe_ž*BaAmQ2YAiAiAm1!="Cu$Y[?RCu`:CqCyM׿Q!I1GU1>>9CIVGi@=; E8r,\EAY}2?}2v?y}2}2">}2H_@? Lݻ?A?-?@վ@5?9?S?)~2? ~2ߩ_;I~2Cɫ11)1 5I1Ym@ym]\G) %@ %@ %@©ip@ )I~@iI@5vM5*=Y5QU=>99a=E=^EAyMQ)=}M>II U:M 5? ]:Mо M B ]2@9MDM: M]:)M:WWX XW:W2W*WVbUBU*UUU`?BEBY BYA]ɾ*BaAeMZAaAaAe`"="Cm T?RCm~=CiCq9i=p=E+EEE E":YE0Y1yE:E5m;6=a m ?im ?9 II Ge >"?r,|\EAY}2?}2{?y}22(}2n>}2H?`i@?M?H_? ???)~2? ~2=*_;I~0i<>lA)< aE ^Ey}!=}>I-0 5?Ȕо B 2@9Dʃ; ];)W9W9X9 X9WA:WA2WA*WIVQbUYBUY*UYUYU]?B4sB BAbȾ*BA(X\AAA3"="CT?*CgRC/=CC XR=ֽ ;י I  9 CI Fr,A]EAY}0?})?y}6}f@>}H`ULr,4]EAY}2M?}2҃?y}2YA}2R>}2H?@M`n? /;?@}d?c(?!??)~2M? ~2z^;I~2Cɫ髙) IY@yY\G   ÕE6Õ?Õ>iÕ=@Õ đ)ĕE@Iĕ@iĕ@Mp=YQU?aE^Ey\=}?IHF 5?~о  B 2@9DB: 9:)WWX XW:W2W*WVbUBU*UUU@@B xB BAOɾ*BA^AAA#="C%"a?RC%jv<C!CI-潹I G-N>IY)]AA'Sr,N]EAɫ髉) IYr@y\G@A<M,=YQU>aE^Ey}>IU 5?Joо .B 2@9D: :)܍>9܉I܍WGi܍B@܍=܉܉܍; ݍEWWX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBUBQ BQAUþ*BYmmmm, m:YmU1ym:m:5)m({;A}`AyAyA}S$="Cy6u?RCd CCu0f1IAG]>7Yr,h]EAY}29?}2sp?y}2zU}2~U >}2HY?`6??ɱ?ɼB?8??)~29? ~2/^;I~2C <)>mAɂ>Q<<@Ƀ@i@I@@IDiD DD)DJ@C JlAJDJ;KFɉHJCNlAIL)LiL)CIlAɊ%GF !ɋ%̔C%InA!i-OF)i-̔C-A)- )I1ɫ) IY]@y]\GuZ****** received transponder code query ******}F****** received ping request ******yya}E}$^Eyy=}>Iȩ :ŭa 5? :ŭaо ƭ:B 2@9ƭDǭ: ȭ:)ȭ:WWX XW:W2W!*W)V)bU)BU)*U1U1U5x @B駽B BAp*BA4aAAA $="CG܄?RCٍCC0ױIG>`r,]EAY}2Y?}2F?y}2aLb}2C >}2H&?@ [??? E???)~2Y? ~2^;I~2Cɫ髹) IY@y&]GxDUSBL response received:!U1,P E0E,000,00611,187,80,80,41,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }o<Mq=YQU?a5E5*^EAyu =}u>Iy}l 5?}{Uо }EB 2@9}!D}; }";)yWWX XW:W2W*W!V!bU!BU)*U)U)U- @BǦB BA徾*BAkbAAA %="C?RCECCaie= :YWU1y:59@<IG >ٍ hAٍ gAܭ >9ܭ CIܭ hXGiܭ @ܭ =ܩ ܩ ܭ ; ݭ Efr,$}]EAY}U[C?}Uz?y}U)u}Ui>}UH@?w#@Y?.3?@ e?'?`?`?)~U[C? ~U;2_;I~UCɫ髩) IY@y\Gɮ= Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B e(\?L7A`?~jt?eG?e+= e<)aIayeK7?X9v?eIL?e̼e< e"A)erAIeQ Aie(AaeAxM-=Y QU>aE1^Ey<}>Iș :ŝ{ 5? :ŝWDо ƝVB 2@9Ɲ-DǝY: ȝ4:)ȝ:WWX XW:W2W*WVbUBU*UUUZ@B WB  BA¾*BAcAAAU%="CO?RC%=C!C!UG=)IYG>\lr, E]EAY}2?}2J?y}27}2=}2H@?`N;^?`[=?J?/ ???ͼ?)~2? ~2^;I~0ɫ99)9 =I9Y}@y}s]GxDUSBL response received:!U1,R,296,000,00645,18A,80,80,69,FF Fpublishing direction and range infohɰ{>鰅> )BIy3kB:n?nĪyٱ @ @ @©i@ )@I@i@C=M~=Y oQU  ?  a E6^Ey#<} ?I!%k 5?%7о %cB -2@9%5D%U: % :)!WIWIXQ XQWQ:WQ2WY*WYVYbUYBUY*UaUaUe`D@Pq*Qu3kBZQu^UH@iz.@JQu:n?nĪy2Quh:QqbQun% I@,<@3"c׿RQuū?r֩AQ?d7tyBQu? Qu.AQuMBPu9?Puz9?PuOQu(QuM@"Qu7,ABelBa BiAm*BiAm­dAiAqAuI%="CuP/?RC}ShCyCymUmwmmm m(:YmW1ymč:mM5imGIiԿٺkA>sr,6 ]EAY}V v?}VȬ?y}V@h}V=}VH ?`r@*T?`4??@[o?; ?*?)~V v? ~V^;I~VCɫ髡) IY @y]GeTNmea in: $SNTTA,0.038664,,,,015046.18*40 ;M?=Y,QU>aE=^Ey~}>I u: 5? u:='о vB u2@9@D(< N<):muAdded new target pos. range: 58.799999 m, bearing: 29.297468 deg, deltaT: 4.319103 s, approachRate: 0.722372 m/s, LOS rate: -10.875218 deg/s, posRepo size: 4m ProNav: pos range: 58.799999 m, bearing: 29.297468 deg, approachRate: 0.722372 m/s, LOS rate: -10.875218 deg/s, cmd update: -12.000000 deg/s, cmd heading: 76.268658 deg, new cmd heading: 76.268658 deg. W%k?WX XW:W2W*WVbUBU*UU`ffM@Uk?BB BA*BAReAAA>%="C ?RC C%k?C&=>99I=0YGi=@===ID9=; =E)ńCIńCińCń=ń=ń7IGH>IY)]@Ajzr,]EAY}:YYa]E]D^Eaye}e>Iim 5?mо mB u2@9mKDm: mb:)iWA?WX XW:W2W*WVbUBU)*U)U)U-?B}SB}J+= ByA}*ByA .gAAA+%="C?RCCA?CօYuu}u}u uG/:YukS1yuԊ:u:5IG]>Pr,^EAY}2[?}2d?y}2玝}2oF=}2H^?@*9+y?@o? 6?@B2䬳?Ũ?@%?)~2[? ~2=b_;I~2CɫYY)Y ]IYY2@y]GC=i=) >;MU=YMQU>aEJ^EyO}>Iޯ 5?о B 2@9TDӻ: #:)W~I?WX XW:W2W*W V bU BU *UUU]?B=BA BAAE*BAAE?hAIAIAM%="CU2?*CUࣽRCQCU~I?CYM㽹!I1GM0>M >9M CIM ZGiM ̱@M =I M DM ; M Er,"^EAY}^ި?}^?y}^.}^ñ=}^Hϓ?obs?{?`P`?7e?@?)~^ި? ~^5^;I~^Cɫ髱) IY@y^GU=iU=eeeeb el3:YeT1ye:eˮ5)e?;9mE S?MbˡE?E /?E @ E '=)A IA yE MbX?{Gzy&1E *?E ףE `e E IA)E 7 AIE rAiE AA E Aå ףå å xiiå @á ĥ )ĥ ҙ@Iġ iġ u<M =Y ӍQU > a E T^E y Ż} >I  : 5?  : Ͼ B  2@9 bD E: M:) :W p?W X  X W :W 2W *W V bU BU *U U U ?BE ȜBA  BI AM ܲ*BI AM jAI AI AM (%="CU 2?RC] WyC] p?CY = U7 I G5 >53r,l]7^EAY}F޺?}F?y}F}F =}FHܡ?x`?!?@WY?L??)~F޺? ~Fo^;I~FCɫqq)q qIqYƴ@yi^G6Buffer fill timout failure.Mc_=MM>YUl]QUU?QYa]E]W^EYyeL}e?IimR 5?mvϾ mB u2@9meDm: m:)iWh?WX XW:W2W*WVbUBU*UUU`2@B :ýB BAv*BACjAAA%="C?RCGmCh?CQ==IG >r,J&Q^EAY}2?}2z(?y}2߫}2.=}2H~? e?i?\ `u???)~2? ~2^;I~2CɫYY)Y ]IYY@yh_G>9CI[Gi@=HDD; sH (:Yy:5);UOutgoing frame #1, 60 bytes: CC1017611F0000005D00000400260000000000000000151D80030C5669C08C799875A2AB340BA1F088417FB40F2F2877D8DB089EFAEC9A688C145800DNmea out: $CCCYC,0,1,10,1,0,1*69  w/=M  =YjQU>!!a-E-`^E1y=~8;}E>IQ e:U4 5? m:U"Ͼ UB u2@9UrDU; UĔ;)U:Wu pF?Wy Xy  Xy Wy :Wy 2Wy *W V bU BU *U U U @@R B*** querying acoustic contact ***P P B ꙽B  B A *B A% w&lA! A! A% %="C-  ?RC5 C5 pF?C1 5 )= b IG]>Kr,`o^EAY}Z?}Zr?y}ZJo}ZPc_=}ZHWE?@1r}?=?@? ?_Ϋ?|?)~Z? ~Z(];I~ZCɫ髙) IY@y`GZ****** received transponder code query ******F****** received ping request ******i2r,6^EAY}6r?}6?y}6uC}6H~=}6H ? ;LK?)?|?k? ??)~6r? ~6];I~6Cɫ99)9 =IAY}@y}aGxDUSBL response received:!U1,P 296,000,00645,18A,80,80,69,FF Command AckBRequesting micromodem ping code 2iNNmea in: $CADRQ,015049,1,10,0,64,1*7F UNmea out: $CCTXD,1,10,1,CC1017611F0000005D00000400260000000000000000151D80030C5669C08C799875A2AB340BA1F088417FB40F2F2877D8DB089EFAEC9A688C145800*4C )]τ=MeY=YuQU}>aEl^EMY@IyM<}U>IQ ]:U 5? e:UϾ UǧB e3@uIuuu u:%:YuU1yu:u59}@9UDU7; U;)U:W{?WX XW:W2W*WVbUBU*UUU@ @B+vB  B A p*B AmAAA%="Cev}?RCuV;Cu{?C֕&lm>9CI]Gi@=; Eש I G5 >u\r,^EAY}:ԫ?}: ?y}:u}:=}:H??sΛ?Q??J ??*?)~:ԫ? ~:];I~:Cɫ99)9 9I9Y}@y}`G9 A aE EE v^EA yM <}M >IQ U # 5?U Ͼ U B e 3@9U DU & ; U ;)Q W m>W X  X W :W 2W *W V bU BU *U U U @B tB  B A *B A DoA A A 5%="C +^?RC գ=CU m>CY 5 K I G>%r,s^EAY}2?}2W?y}2 }2P=}2H`e?`z??=?`pv?\j??)~2? ~2qC^;I~2Cɫ)1)1 5I1Y=ŷ@y=bGAɮER=M.Nmea in: $CATXP,60*74 M\Response from modem unexpected: $CATXP,60*74 m>Mm>Yu!QUu?qqa}E}x^Eyy=}?Iȁ :Ņ 5? :ŅϾ ƅB 3@9ƅDDžt: ȅ:)ȅ:W!V>WX XW:W2W*WVbUBU*UUU@B4yB BA}*BA-oAAA1%="C V?RC #>C !V>Cޭ=iޭ=}} !:YkS1yԊ:5Ey;I G% >WIr,^^EAY}2T ?}2B?y}2ƽ}2=}2HY?@lo?`? 4?,gV??̳?)~2T ? ~2Cg;I~2Cf >9fCIf^Gif@f=df Df; fߗEɫ99)9 =I9Y@ysbG<MA=Y`=QU>!!a%E%^E!y--=}->I15a 5?5Ͼ 5B M3@95D5n: 5{:)1Wm歿>WqXq XyWy:Wy2Wy*WyVbUBU*UUU DD@B.BB BAs*BAbpAAA$="Cs@?RCo>C歿>Cֵ l qIG >msr,9^EAY}:ɣ?}:ڒ?y}:;ƽ}:A=}:H-?@ D?@R ?Z|?@5`??_?)~:ɣ? ~:&m;I~:Cɫ99)9 9I9Y}@y}ObG yy)Á ÁV  D&:YWU1y:)5   \1jaE^Ey ?=} >I : 5? :Ͼ 3B %3@9D: A:):WEq>WAXA XAWA:WI2WI*WIVQbUQBUQ*UQUQU]@3@B%JB! BIAUw*BQAUFqAQAQA]$="C]'?RCe >Ceq>Ceh9IIGeU>e >eCinGIjAiAAt.ٺjAB?9AV[r,Q_EAY}27%?}2[?y}2%Dн}2=}2H0?\@}?E? =?m ?>?.?)~27%? ~2- q;I~2Cɫ99)9 9I9Y}!@y}cG.Nmea in: $CATXF,60*62 \Response from modem unexpected: $CATXF,60*62 =Mb=Y#^QU>aE^Ey]=}>IS( 5?)Ͼ KB 3@9D: ¿:)WTU>WX XW:W2W*WVbUBU*U U U `Ko@RB*** querying acoustic contact ***PPIޱ)ޱBiB= BAQ*BARqAAAB$="Cx?RCCTU>C-ȿIG=/> >9CI`Gi@=GD!D; E)ݝCIݝCiݝCݝ=ݝ=ݝ6r,c'_EAY}2LL?}2?y}2u׽}2>}2H ? 'b?@x?)?¿iֺ?DW?t?)~2LL? ~21u;I~0ɫ99)9 9I9Y}%@y}cGNmea in: $CAXST,7,20210814,015050.293398,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5F Response from modem unexpected: $CAXST,7,20210814,015050.293398,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5F a iM@a M a mM@a U a qU@a U a eU@a U a IU@a U MS㥛?Mb?:v?M$?M@= M<)IIIiMMb@Mb@Mb@M©MM M)MIMiMMMuʉ:M}>=Y}QU}>aE^Ey =}>J ~~u 9:YT1y@:ݲ5);9IȹŽ05 5?ŽnϾ ƽlB M3@9ƽDǽO< Ƚ>)ȹW=WX XW:W2W*W)V)bU)BU)*U1U1U5v@BAB BA"Q*BA0rAAA#="CD>RCC=CֽcU;yIG>Smr,A_EAY}2?}28?y}2޽}2>}2H:?@5δ??KV?@¿1?v?x?)~2? ~2jt;I~0ɫ99)9 9I9Y7@yeG?i4>I=)=gA-ʡ-t=-AAaEEE^EIyM$ =}M>IQ ]:U> 5? ]:U*bϾ UB e3@9UDU: US?)U:W14=WX XW:W2W*WVbUBU*UUU@BT!B BA.*BAF%sAAAU#="C>RCC14=C;IGM>tr,[_EA496CI6,bGi6Է@6=446; 6֗EY}J'?}J$?y}J 㽙}J=}JH@?@;??@7?f¿}i?ؽ?-?)~J'? ~JM6n;I~JCɫyy)y }IyYM@y5eGEA;MEJ=YMvQUM>IIaMEU^EQy]<}]>IaesI 5?eSϾ eB m3@9eDex: eԝ?)aWx@WX XW:W2W*WVbUBU*UUU\@޵=i޵a= }}r J:YkS1yԊ:95)У;BB BA,*BA:sAA A "="Cʢ>RCCx@C.=<IGg>r,u_EAY}2E9?}2p?y}2Xk罙}2=}2H@??O??E? @ݼ?f??)~2E9? ~2?j;I~2CɫYY)Y YIYY} @y}fGu= >Y=if@ )\@IE@iE@Cp=MP=YQU>aE^Ey;}>I  S 5? EϾ B 3@9 D s: +?) W=e@W9X9 X9W9:WA2WA*WAVAbUABUI*UIUIUM@BEBA BAAM*BIAMS3tAiAiAm5"="C}us>RCCe@Cэ=ebv=9IIGmW>jr,[_EAY}2?}2Q?y}2轙}2(W=}2H &?7@?q?&@?`# 0 ?C??)~2? ~2f;I~2CɫII)I IIIY]@y]fGIi)iIi)i yyL=MN=Y{QU>aE^Ey}>I^ 5?7Ͼ ܨB 3@9D5: @)W-@WX X W :W 2W *W V bUBU*UUU@@BE猽BI BIAM!*BIAMӔtAQAQAU!="Ce3$>RCaCe-@Ciρρ)Ё ЁE EEE EuA:YEV1yE:E59U@܁9܁I܅ dGi܅k@܅=܁܁܅y; ݅E=IG5>r,&7_EAY}6?}6ϙ?y}61轙}6\m=}6H?u??`K?@1*L?`Ċ??)~6? ~6b;I~6Cɫ99)9 9IAY]@y]fG)I=@A)9a ia i a ma m a qa q a ea e a Ia I E?/${Gzt&?1 ף)Iyn?Mb{Gz?V.?ף< ½A)½AI½@i½A Aף;Т>i @ @)@Ii@-;M-)=Y5U%:QU5>19a=E=^E9yEi}E>II U:MWh 5? U:M&Ͼ MB ]3@9MDM: M:)M:W}A@WyXy XyW:W2W*WVbUBU*UUUv@RB*** querying acoustic contact ***PPBl$B BA*BAQuAAA ="C"(Y=RCCA@C->ױIG>\r,_EAY}:잸?}:՘?y}:余}:=}:Hsf?h zӑ?H?` Y?Z?4?)~:잸? ~:`;I~:Cɫ99)9 9I9Y}i@y} iGM IIM MFI:YIyIMݸ5u =M} =Y}uJ;QU}>aE^EyIt}>Iȑŕcs 5?ŕϾ ƕ B 3@9ƕDǕǺ: ȕ:)ȑW@WX XW:W2W*WVbUBU*UUU @B能B BA+*B A `uA A A $ ="CgBRCC@Crf> I G >a 9a Ie fGie @e =a a e t; e Er,._EAY}2''?}2]?y}2߽}2<}2H z?`۠`]-`1q? t,?c?@!??)~2''? ~2_;I~2CɫYY)Y YIYYD@yhG=i=R=i=wM=Y(DIG--> r,_EAY}6 ?}6B?y}68A۽}6}6H@?]`])??]?`NZ?@@?)~6 ? ~6(k_;I~6Cɫ99)9 9I9Yp@yLjGSetting waiting for range response to false due to timeout. Elapsed:6.121873u u >uiuף@q uƣ@)uƣ@Iuƣ@iuƣ@=M@=Y*;QU>aE^Ey_}>Iȡť 5?ťPξ ƥ,B 3@9ƥDǥ: ȥ:)ȡW @W 5=i5R=E EEE Eg:YEDW1yEY:EJ5X  XW:W2W*WVbUBU*UUU"@B-!B) B)A-*B)A5uA1A1A5U+="C=BRC9C=@CA]>1IAG]v>r,n`EAY}:s?}:?y}:ؽ}:6}:H2=?@4h?}?A.?ɱ`V?)~:s? ~:\`;I~:Cɫ99)9 =I9Y}@y}jG<ME=YdP;QU>aE^EyH}>I 5?ξ ?B 3@9Dr: ':)W=p`@W9X9 X9W9:W92WA*WAVAbUABUI*UIUIUM@D"@B3F~B BA*BAuAAAA="C-RC1C5p`@C9->9)I-lhGi-@-=))-; -̗EyQIaG}z>! r,~*`EAY}2s?}2D?y}2+ֽ}2:}2H`? ~4¿??? ' Ϻ? ?)~2s? ~2Rc;I~2Cɫ99)9 =I9Y}4@y>kGI))= === =C:Y=V1y=:=5)=;9E}+?J +I +?}v?}Ƚ }94=)yIyy}jt?X9v?}@?}}L= }rA)} AI}@i}Ay}f AMQ=M̌M`=iM3@I M@)M@IMiI]=M]4=Yea:QUe>iiamEm^EqyuS}u>Iy :}* 5? :}6ξ }^B 3@9}D}: }j:)}:WY@WX XW:W2W*WVbUBU*UUUV#@ByB BAr*BA~uAAA="C RCCY@C1IG5> r,^D`EAi"nGI.lAi:A|D|F4 a E ^E y 3} >I % :  5? % : vξ  B - 3@9 "D :  :) :WM /@WI XI  XI WQ :WQ 2WQ *WQ VQ bUY BUY *UY Ua Ue %@Rm B*** querying acoustic contact ***Pi Pi B ~uB  B A *B A A A A ="C mRC C /@C  >9 I (kGi "@ =   ;  ՗E)ݕCIݕCiݕCݕ=ݕ=ݕp6 ?΅>׉IG> ur,1yc`EAY}N?}NS?y}N$ͽ}N\P}NHU(?̿@mo?v?s?`?ɿ8/?)~N? ~Npdd;I~NC^ ^^^ ^G:Y^U1y^:^5)^;idflA)fף hIj h)jlAɛjᄅjXTFlnCɜnlAinDIn;KFlIrCirlA rp)pv&C tttɝxzCzlAIx)xi|)~ٔCI~lA|ɞ| |ɟAiɫ) IY@ylGZ****** received transponder code query ******F****** received ping request ******ׁIG>Ur,.}`EAY}6ra?}6+?y}6ǽ}6 `}6H`H?`O!@-ο ?Q?P?5?˿ ?)~6ra? ~6Zd;I~6Cɫ髹) IYv@ynGxDUSBL response received:!U1,P 296,000,00645,18A,80,80,69,FF Command AckBRequesting micromodem ping code 2i 4=i =Å 0>Å%>Å-2>iÅQ@Á ą­@)ąO@IąX@ią@=MU=Y;QU>aE^Ey7}>Iȱŵ 5?ŵξ ƵB 3@9Ƶ1Dǵ: ȵ/:)ȱW  ܨ@W X XW:W2W*WV!bU!BU!*UIUIUU V&@BkB BA*=*BAuAA A 1="C "RCC ܨ@C5>IG=>%r,`EAY}6>?}6|?y}6hý}6i}6HK?AOο`V???hk?̿`?)~6>? ~6t]c;I~6C^=i\f fff f*F:YfWU1yf:f59j@U>9UCIUmGiU[@U=UFDU DU; UܗEɫ) IY@y{nG!ɮ%a=RQ?J +L7A`尿"? +)IyMb?Mb{Gz?@?ף< @)AIxAiA A<M=Yp;QU>aE^Ey/}>I : 5? :ξ ̩B 3@9>D: :):WA@WX XW:W2W*WVbUBU *U U Ud'@B=iB9 B9AENB=*BAAEyuAAAAAE8="CM$>RCQCUA@CQe >9 Ia G >D+r,`EAY}69?}6v?y}6}6Qq}6H'?*q>Ͽ-?@P?ic?:5?`Ϳ`G?)~69? ~6Kob;I~6C >YC)FlAɇDF;KFDJCɈJlAiJ-IJOFHIN CiN9nA N94NOF)PR C RlARRJFɉTV3CTIT)TiT)ZCIZlAXɊX Xɋ\^EnA`i``ifٔCfA)d dIdɫ髹) IY@yoGmvmM>mнim@i m@)m@Imim@e=M=Y[d;QU;?aE^Ey|ʽ};?It 5?ξ שB 3@9DD: :)Wը@WX XW:W2W*WVbUBU*UUU\'@BM8YBY BYA]y=*BYAemSuAaAaAeX6="Cm-KRCiCuը@Cqex>!I)GMR>72r,]`EAY}6 ?}6xp?y}6½}6 ]s}6H`"? MϿ?` ?|?rS?Ϳ?)~6 ? ~6'a;I~6Cf6 fff fL:YfU1yf:f5ɫ髙) IYA@y:pGI)4)=MU=YQU>  a E ^Ey0}>I %: 5? %:ljξ B -3@9MDI: 4:):WM8@WIXI XIWQ:WQ2WQ*WYVYbUYBUY*UYUaUe (@BZB BA=*BA uAAAF="Ct_RCC8@C֍V݅>aIqG;>= >9= CI= oGi= @= =9 = D9 = חE8r,`EA||;Y}6qh?}6R>i?y}6+Ľ}6s}6H ?9! 6&Ͽ+??29?x?Cο M?)~6qh? ~6[`;I~6CI\)^@Aɫ) IY@ypG=*=M=F=YE'QUE>AAaMEM_EIyUތ}U>IY] 5?]!|ξ ]B e3@9]WD]{: ]:)YWIT@WX XW:W2W*WVbUBU*UUUu)@BUB BA=*BAtAAA="CuRCCIT@C>IG%M>m>r,yv`EAY}>?}>؄a?y}>Ľ}>Pt}>HE? ο@?"Y?!? ͒?$ο?)~>? ~>la;I~>Cf fff f@:YfX1yf/:f5ɫYY)Y YIYY2@ybqGmVmm=im@i mO@)m@ImK@ii}<M}F=Y}QU>aE_Ey}>IșŝM 5?ŝnξ ƝB 3@9ƝaDǝ: ȝ¿:)șW@WX XW:W2W*WVbUBU*UUU`tH*@RB*** querying acoustic contact ***PPB 5RB BA =*BA:CtAAA~="CӅRC!C%@C!%>I G!ZEr,QaEAY}N5o?}NKY?y}Nxý}N8x}NHW ? Iο4??߶? X? ߕο t?)~N5o? ~N`;I~NCɫy髁) IYR@yrG%=i4=E=MMN=Y;QU>>9CIqGi@=GDD; ʗEaE_E1y5˚}5>I9 E:=  5? E:=yaξ =%B M3@9=kD=$: =s:)=:W@W X  X W :W2W*WVbUBU!*U!U!UM@K/+@BIB BA! >*BAsAAA="C >RCC@Cu>IIYGu>kKr,,2aEAY}6aJ?}62Q?y}6}6y}6H?$Wο7??@q? ?ްο`?)~6aJ? ~6}w`;I~6Cn=in=vM vvv v9:YvWU1yv:v5)v;9zɫ髙) IY1@ysGa=ɮp=)"~?A`"?~jt>Y= )IyV-?{Gz?~jt?h1?ף<<  @)$AIAiAG A u@ u@ u@u©uuiu@u un@)uO@Iuiuzy=M7=Yغ;QU>aE_Eyힽ}>Iȡť. 5?ťLUξ ƥ5B 3@9ƥtDǥ: ȥ:)ȡW@WX XW:W2W*WVbUBU*UUUs+@BT=B BA;>*BAsAAAd8="C%,bRC!C-@C)6Ʌ>IGj>uRr,LaEAY}6wf?}6^:I?y}6b}6[u}6H?`NͿg?`q?`BH?Ķ?Aοm?)~6wf? ~6_;I~4ɫQQ)Y YIYY@ytGh&=M=Y;QU>aE_Eyrd}>I %:C 5? -:Eξ JB -3@9D: :):WM~:@WQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUe-@B?B BAR>*BA+rAAA.u="C[+RCC~:@C>9CIsGi@=D —E ױ I G >tYr,"eaEAY}J8ހ?}J)B?y}J 宽}JOu}JH $?`)̿?D?c?յ?Tο?)~J8ހ? ~Js_;I~JCvo vvv v<:YvX1yv/:v5)v=;ɫYY)Y YIYY@yuGNmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I)>M=Ywξ eTB 3@9eDe< e/<)aWL@WX XW:W2W*W VbUBUA*UAUAUMf-@B$B BAr>*BAqAAA="C_RCCL@CֱqIyG>2_r,4aEAY}6`{?}6";?y}6o}6Ww}6H?S#9̿@ Z?}?]ÿ?G?Hοx?)~6`{? ~6jL_;I~6CIn@A)lɫYY)Y ]IYY;@yYvGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B %>%Ci=nGIiE!ƿٺAEA   Ý\Ý>Ý=iÝG@Ý ĝ-@)ĝ-@Iĝ@iĝ@<M;=Yͥ;QU>aE)_Eyhn}>I :_ 5? :h3ξ cB 3@9DI: ^:):W5`@W1X1 X1W1:W92WA*WAVAbUIBUI*UIUQUU k.@B(B BA+}>*B!AE`pAAAIAMkx="CUO齿RCQCU`@CY֕FӅ>iIyG>fr,aEA  E:YV1y:59-@Y}u u?}uz5?y}uv}uix}uH+?R˿@?p?@O?``ݴ?7ο?)~u u? ~uD`;I~uC}>9}CI}uGi}@}=}HDy}; }E)eCIeCieCe=e=e6ɫ) IY@yFwGxDUSBL response received:!U1,R,49D,000,00702,189,80,80,75,FF Fpublishing direction and range infoA냿ɰ>7> )BIyGB5Wu?=qٱQ?~jt~jtx?ļ Ļ)IyMb?~jtx?kt?C?; 0= • @)• "AI•Ai•IA A[=M:=Ys;QU>aE0_EyEW}>I+t 5? 'ξ zB 3@9D: 6<)Wh@WX XW:W2W*WVbUBU*UUU'O/@P*QGBZQ=@ B@"NJQ5Wu?=q2QA냿:QbQ(P@`\5yyW1@RQj[g?Oq(ӿWd?BQc@ QQBP9?P9?PQOQA"QM@B%B9 B9A=>*BAAEoAAAAAE="CMɿRCICMh@CQ Յ=ԅ>m?΅>I IQ Gu >Glr,$aEAY}=o?}=0?y}=W}=x}=H ?=U˿)@?d? b? Ŵ?}οK?)~=o? ~=U`;I~=Cɫ) IYm@ymxGDNmea in: $SNTTA,,,,,015101.72*5F =i=)ÝÝhÝiÝ@Ù ĝ­@)ĝ@Iĝ@iĝԸ@9U=MM=Ys:QU>aE7_Ey6i}>I : 5? :ξ B 3@9DA; 6;):myAdded new target pos. range: 70.139999 m, bearing: 341.497301 deg, deltaT: 15.660806 s, approachRate: 0.724101 m/s, LOS rate: -3.052216 deg/s, posRepo size: 4m= ProNav: pos range: 70.139999 m, bearing: 341.497301 deg, approachRate: 0.724101 m/s, LOS rate: -3.052216 deg/s, cmd update: -9.156649 deg/s, cmd heading: 248.384809 deg, new cmd heading: 243.710317 deg. W=l@WAXA XAWA:WA2WI*WIVQbUQBUY*UUQ@U?B*HB BAD>*BAnA!A!A%O="C-SԿRC)C-l@C1m6Ʌ>A IQ Gm >`,sr,YOaEAY}6wi?}6*)?y}6tЦ}6ey}6H?Wʿ??|?(Դ?οs?)~6wi? ~67`;I~6Cn=inp=vttv v3:Ytytv5ɫ髑) IY>@yxG=M =YQU>aE?_EyI 5?3ξ B 3@9D: ÷:)Ww'@W!X! X!W!:W!2W!*W)V)bU)BU)*U1U1U5`g?B]Ba BaAe>*BaAeCmAiAiAm=}>9}CI}wGi}K@yy}D}; }E"CARCCw'@C֥ ?΅>y I G >^yr,LaEAY}6c?}6B#?y}6絧}6Rx}6H@?@<sʿ`t?'P?ѥ??@ο`?)~6c? ~6_;I~6CɫII)I IIIY@yyGe=Me=YmQUmC?iqauEuC_Eqy}߽}C?IșŝT 5?ŝ(ξ ƝB 3@9ƝDǝ.: ȝ:)șWk@WX XW:W2W*WVbUBU*UUUg?B) B0< B A ݩ>*BA=mAAAAAE[6="CUfRCyC}k@CyԽiAԽjA֩Iױ)ױׁIG>c>r,bEAY}:T\?}:?y}:;}:K-v}:H=? ZɿT? >ý~>iý\@ù Ľ@)Ľ@IĽٮ@iĽٮ@܎<ME=Y`:QU>aEI_Ey7}>I :v 5? :; ˪B 3@9D: :):Wk݂@WX XW:W2W*W!V!bU!BU!*U)U)U-`T}?BU BY BYA]>*BYA]kAaAaAe'="Cm{bRCiCmk݂@Cqa9IIGeU>lr,bEAY}U?}?y}q}u}H? ѭR@ɿ?` 9CIyGi@=; Eɫ髡) IYA@yzGI%p=)%%=i|?5?Mb?Mb`>= )Iy +?Mb?Q6?= @)I@iOA AjAiA- ;M-)=Y-Q:QU5>11a=EEQ_EIyM']}U>IQU< 5?Ut; UЪB u3@9UDU; U<)QW5fE@W9X9 X9W9:W92W9*WAVAbUABUA*UAUIUMiM@B%B BA>*BAQpjAAAR="C|RCCfE@C  ?i ? I G5 >r,Ի4bEAvvvv v/:YvV1yv:v\5)v;9zɫyy)y yIyYH@yU{G}<}Ļ}#=i}@y }Ը@)}ٮ@Iyi}b@=M=YQU ?aEV_Ey} ?Iȡ :ť 5? :ť; ƥԪB -3@9ƥDǥߑ< ȥ <)ȥ:WuX}@WqXq XqWq:Wy2Wy*WyVybUyBU*UUU"@B`B BAc>*BA|{iAAA)D="CIRCCX}@C @o=IG>zr,-NbEAY}6EOH?}6?y}6}6"v}6Ht?m޿yȿ`E=?`L?@/?[?]οn?)~6EOH? ~6v^;I~6CɫYY)Y ]IYY51@y5t|GAɮA%=i=i=M5=Yp;QUM>QYa]Ee]_Ey7޽}>IQ5?; ٪B 53@9D&; :)W_x@WX XW:W2W!*W!V!bU!BU)*U)U)U- @R5B*** querying acoustic contact ***P9P9BB BA>*BAgAAA|="C RCC_x@C <>9CI{Gix@=ID; E I G >r,qhbEAY}6-A?}6?y}6I࠽}6N&x}6H ?b,ݿjvǿB ?o?? ? ο?)~6-A? ~6^;I~4vR vvv v\::YvU1yv:v5)v>;ɫyy)y yIyY@y|GZ****** received transponder code query ******F****** received ping request *******BiAmfAiAiAm{="CuPRCyC}hu@Cyϙϙ)С С9 IA )A  I! G= > r,!bEAY}R/:?}R3>y}R}R%&v}RH@vD?ۿ ƿ ?t??`̳?aο`?)~R/:? ~R*^;I~RCɫiq)q uIqY@y}GxDUSBL response received:!U1,P 49D,000,00702,189,80,80,75,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 w>94>i̴@ @)b@IK@iuk=Mu+=Y;QU>aEj_Ey\}>I*5?~; B 3@9D;  ;)WeRp@WaXi XiWi:Wi2Wq*WVbUBU*UUU @BB BAQ>*BA*eAAAl"="CNRCC Rp@C1Y 9 IA Ge >ةr,bEA---- -c2:Y-DW1y-Y:-59E@Y}uB,4?}uY3>y}ux}u܉w}uHT?9Hڿ@ƿ?(?V?@J?Zο`?)~uB,4? ~u^;I~uC>9I }Gi@=D; EɫIQ)Q QIQY@y~G Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B |?5^?:v?Mb?>T= =)Iy +?S㥫?{Gz?/]=#< @)"AI3@i A A%W=M%P=Y%;QU->))a-E-q_E1y5P}=>I9 E:=>5? M:=; =B M3@9=D=: =:)=:Wm[l@WqXq XqWq:Wq2Wq*WyVybUyBUy*UUU`8@B©B BAI>*BA)cAAA؁="CX<RCC[l@CIG5>Ҭr,ȵbEAY}6=-?}6U>y}6/}6t}6H ,?@{ؿĿ?u?!ο?)~6=-? ~6^;I~6CI|)~AAɫii)i mIqY@yGxDUSBL response received:!U1,R,3A4,000,0072C,188,80,80,98,FF Fpublishing direction and range info5Pɰg>鰽> )CIyQB?ҹ@ٱI4=)C=iAjA=#<==uH@:[~eJJQ?ҹ@2Q5P:QbQ8{yfpP@CB8^:c`:d"0@RQ*BANbAAA="CuJRCCi@C6Ʌ>ױIGe>i]nGIqi˿ٺ)Ar,bEA%%%% %-:Y%W1y%č:%5Y}mv&?}m>y}mD}mm}mH_?Tc׿ÿ?@?@?d?SgͿ`,?)~mv&? ~m_;I~mCɫYY)Y ]IaYM@y#GTNmea in: $SNTTA,0.059051,,,,015106.17*4D ))-#=M-0=Y-;QU->11a5E5~_E9y=#i}=>IAEi5?E^; EB U3@9E DE!: E:)Am}uAdded new target pos. range: 72.660004 m, bearing: 338.149388 deg, deltaT: 4.340688 s, approachRate: 0.580554 m/s, LOS rate: -0.771286 deg/s, posRepo size: 4m ProNav: pos range: 72.660004 m, bearing: 338.149388 deg, approachRate: 0.580554 m/s, LOS rate: -0.771286 deg/s, cmd update: -2.313858 deg/s, cmd heading: 208.601999 deg, new cmd heading: 204.343846 deg. W g@WX XW:W2W*WVbUBU*UU=*R@U?BГB BA>*BA`AAA<="C %RCC g@CבIG>>9CIGiS@; E)mCImCimCm=m=m6Cr,xbEAY}6s ?}6 >y}6 }6)So}6H N?gտ ¿f?!?yb?@?Ϳ ?)~6s ? ~6}^;I~6CɫYY)Y YIYY@yG% /% -2>% ;=i% @! % @)% @I% @i% @5 Z=M= =Y= ;QU= >A A aE EE _EI yM 2}M >IQ ] :U }5? ] :U S; U B e 3@9U DU : U 7:)U :W 6Vf@W X  X W :W 2W *W V bU BU *U U U ?B B  B A ?*B A a^A A A E ="C f*RC C 6Vf@C ֽ ?΅>ב I G > r,"6cEAY}>"=?}>U>y}>/}>hup}>Hz?Կ (¿@q%?\??@?0Ϳr ?)~>"=? ~>^;I~>CJ=iHR RRR RV5:YRDW1yRY:RI5ɫii)i iIiY@y>Gm1>Mm=YmX])I9G]T>F'r,cEAY}V7}?}V@թ>y}V|}Vr}VH=1?@ZWӿ ca?z?`??TͿj ?)~V7}? ~V^;I~TY9YI]RGi]@]=YYY ]Eɫ髱) IY@y'G-/$?㥛 ?+?-1(?-= -=))I)y-V-??-h1?-<- --@)-^AI-@i-p A)-GAM|+MM==YU;QUU>QQa]E]_EYyeU}e>Ii u:m5? u:m; mB u3@9m%Dm: m:)m:Wjd@WX XW:W2W*WVbUBU*UUU@W?B}B BA ?*BA?[AAA& ="Cm,RCCjd@C?΅>בIGf>jNr,7cEAY}>8}?}>B՝>y}>5ւ}>Hm?ѿ˽ `?Y? g?W? -ο?)~>8}? ~>^;I~aaaeEe_Eiyml}u>Iqu5?u; u"B 3@9u.Du=: u :)qWc@WX XW:W2W*WVbUBU*UUUу@BgB BAA?*BAcYAAA} ="C"t.RCCc@C ==?i?׹IG16r,CQcEAY}B?}B>y}BD}Bu}BH@?`iп@?I??E?`BVο?)~B? ~B^;I~BCɫYY)Y ]IaY@y4G)Y=MQ=Y/::QU>aE_Ey$} >I  : 5? : ; )B 3@9 7D g: :) :W=b@W9XA XAWA:WA2WA*WIVIbUIBUI*UQUQUU=@B.B BA?*BAj`WAAA> ="C-v/RC1C5b@C1]6Ʌ>1E>9AIEGiE@E=AAE; EEIaG}z>d`r,kcEAY}>W?}>~s>y}>Iv}>3v}>H?vͿ+?1??,??wο?)~>W? ~>}^;I~>CV VzVzV V>:YVQ1yV:V5)Vi;ɫaa)i mIiY@y$G鮝p=ɮa=   >+>i̴@ K@)@I@ij@jM=Y6:QU>aE_EyJ}>I35?; 4B 3@9CD: ܹ:)W-3a@W)X) X)W):W12W1*W1V1bU9BU9*U9U9U=)@RMB*** querying acoustic contact ***PIPIBuzBBq BqAu?*BqAufTAyAyA} ="C0RCC3a@C֥ ?΅>y I G >4Hr,`cEAY}: >}:g>y}:}:t}:H?xʿ@Z?h?U?0?`)ο?)~: > ~:^;I~:CɫYY)Y YIYY5@yGZ****** received transponder code query ******F****** received ping request ******jrr,}:K>y}:qOx}:@r}:H`O?`ƿ@V ~:y^;I~:CV VVV VY>:YVT1yV:V$59Z@r>9pIrGir"@r=ppr; rEɫ)))) -I)Ye@ymGuxDUSBL response received:!U1,P 3A4,000,0072C,188,80,80,98,FF uCommand AckuBRequesting micromodem ping code 2iqqNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 S?y&1|/?` )IyGz??{Gz?0?#< µ@)µ(AIµ@iµ AA] 1>] ?] +i] f@Y ] @)] @I] @i] @ d<M a E _E y |,} >I  : 2'5?  : ; HB  4@9 VD ތ; ;) :W ^@W X  X W :W 2W *W V bU BU *U U U qJ@B5 TB1  B1 A5 l!?*B9 A] PAY AY A] !w="Ce :3RCa Cm ^@Ci i u ?iu }?IIQGu>r,scEAill)nD lIn p)r&mAɛrxpptɜtitIttIxix xx)x| |||ɝ||~lAI)i)Iɞ  ɟ ̔C  iɫ) IY@yG?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B e>=Me=YmQUm?qqauEu_Ey}?Iȉ :ō(85? :ōÊ; ƍOB 4@9ƍ]DǍe; ȍg;)ȍ:W*,^@WX XW:W2W*WVbUBU*UUU`@B ;B BAf&?*BANAAA%="C=3RCACE*,^@CIסIG> ^    Q;:Y U1y : 5{r,QNcEAY}6Q>}6B*>y}6mZi}6Uq}6Hc?:^춿 ??`?C'?Ϳ?)~6Q> ~6^;I~6Cɫ髙) IY@y^GxDUSBL response received:!U1,R,116,000,0074A,186,80,80,AD,FF Fpublishing direction and range infoVlxɰ>> )-CIyBnf?ʿοٱ l*=M {=Y79IxGi@=D E֙yIG]>r,p&cEAY}6>}6+>y}6"e}62s}6H?``l?@?@?? ο` ?)~6> ~6^;I~6Cɫ髩) IY@yGMDNmea in: $SNTTA,,,,,015110.71*5C YY)e= e=í =íí7ií @é ĭ@)ĭ@Iĭ@iĭ@ڠ<M=Y:QU>aE_Eye5}>Ih5? ; aB  4@9pD: :)mqAdded new target pos. range: 74.459999 m, bearing: 354.975641 deg, deltaT: 4.515951 s, approachRate: 0.398586 m/s, LOS rate: 3.725960 deg/s, posRepo size: 4m ProNav: pos range: 74.459999 m, bearing: 354.975641 deg, approachRate: 0.398586 m/s, LOS rate: 3.725960 deg/s, cmd update: 11.177879 deg/s, cmd heading: 198.153054 deg, new cmd heading: 196.882436 deg. W 2d@WX XW:W2W*WVbUBU*UUpR@U`?Be(r Bi BiAm,?*BiAmIAiAqAu4f="C3RCC 2d@CY e C 6Ʌ>i NmGI i! e˿ٺ A I <    8:Y Y1y : 5G >ʟr, dEAY}2Nܳ>}2x=y}2Dd}2t}2H?4I/E? !? Sm?@Ȅ? @ο ?)~2Nܳ> ~2^;I~2C >fC)<ɇ<<<@ɈBlAiBIBOF@IDiF5nA F#D)DH JmAJJJFɉHHJlAIL)LiL)N CIPPɊP PɋRٔCPTiTTiTT)T XIXɫ髹) IYU@yكG:C=M=Y:QU?aE_EyW}?Iȡ :ťy5? :ťm; ƥhB 4@9ƥvDǥ'"< ȥe"<)ȥ:WDg@WX XW:W2W*WVbU!BU!*U!U!U%T?B<B BA0?*BAY3HAAA="Cn2RCCDg@Cֽ?΅>יIGf> >9 CI Gi @ = ; E)}CI}Ci}Cy}=}6r,$dEAY}JA>}JHT=y}Ja}JGv}JH@? MZݳ?y?@? |?sqο3?)~JA> ~J^;I~JCɫ髹) IY~@yG\(\?I +Mbp?9 )Iyףp= ?I +?/$>?94= @)AI@iQ A(A69<M:=Y:QU>aE_Eyg}>I  5? ; jB 4@9 D @; t2;) W=m@W9Xa XiWi:Wq2Wy*WyVybUyBU*UUU ?B`<B BAd1?*BAnqEAAA="C%vP.RC!C%m@C)1 I G5 > 1    7:Y X1y /: 5*r,|>dEAɫ) IY5X@y5yGIR=)4=­jA©m=>i@ @)@I@i@!=MU=Y QU > aE_Ey}>I! -:%Q5? -:%~; %lB -4@9%D%: %s:)%:WUq@WQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUe`S?B`<B BA88?*BACAAAbU="C%|*RC!C%q@CI9I!G=r>pr,|XdEAY}21>}2H ~2.^;I~2CɫQY)Y YIYY@yG5<M5X=Y=0;QU=>99aEEE_EAyM }M>Ișŝ5?ŝ}; ƝnB 4@9ƝDǝ^: ȝ:)șWv@WX XW:W2W*WVbUBU*UUU C@B pZ;B BA:?*BAj4AAAAј="C-%RC1C5v@C9܍>9܍CI܍Gi܍@܍=܉܍D܍; ݍE֙yIG]>     B5:Y DW1y Y: 5) Ց;9- %r,nrdEAY}6 ~>}6:y}6JU}6s}6H? )?R`TC?!? z,?@+?`"ο@H?)~6 ~> ~62_;I~6CɫII)I MIIY}@y}GI))åC =å=å'=iå=@á ĥ @)ĥԸ@Iġiĥ @M>=Y =;QU >aE_Eyl}>I! -:%5? -:%|; %oB 54@9%D%8: %:)%:WU|@WQXQ XQWY:WY2WY*WYVYbUaBUa*UaUaUmE@B?;B BA9?*BA>AAA="CRCC|@C֥6Ʌ>yIG^>"r,IdEAY}66f>}6M@y}61CP}6bq}6H`?? sw= ?@`? ?>Ϳ >?)~66f> ~6@S_;I~6Cɫ99)9 =I9Y@y?Gɮ= (\?y&1|? rh? ? `; C =) I y ~jt?ˡE?{Gzt ;? '= ף ½ @)½ ^AI½ @i½ rA A ']=M =Y ;QU > a E _E y } >I 5? |; wB  4@9 D {: M:) W- @W) X)  X) W1 :W1 2W1 *W1 V1 bU9 BU9 *U9 U9 U= ϧ@RM B*** querying acoustic contact ***PI PI m >9m CIm :Gim @m =m JDm Dm ; m EB P_B  B A IB?*B A :A A A @="C \RC C @C     =:Y WU1y : I5) W; ?΅>ש I G >)r,LdEAY}B8L>}B}@y}BwK}BM7p}BH@ ?aR?@eܢ`g? ?El?5Ϳ`?)~B8L> ~B_;I~BCɫQQ)Q QIQY @yGZ****** received transponder code query ******F****** received ping request ******׉IG>`0r,dEAɫ髙) IY@yGxDUSBL response received:!U1,P 116,000,0074A,186,80,80,AD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ==<=.>i=@9 =Ը@)9I=i=Ը@M1=YQU>aE_E y }>I15?{; B e4@9DP%< %<)WX@WX XW:W2W*WVbUBU*UUUQ@B%;B) B)A-E?*B)A-nI6A)A1A57k="C5 RCYC]X@Ci֭FӅ>}  } } }  } "6:Y} 0Y1y} :} 59 @׉ I G >{6r,dEAɫyy)y yIyY@yGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ܝz>9ܝCIܝGiܝ@ܝ=ܙܙܝ; ݝEI54=)19=hAv=M^=YQU>aE`Ey}>IȡťG5?ť{; ƥB 4@9ƥDǥg: ȥ:)ȡWW}@WX XW:W2W*WVbUBU*UUUĈ@B<B BAK?*BA4AAA}]<"C%Y RC!C%W}@C)?΅>IGn>F=r,dEAY}2*=}2@y}2B>}2to}2H?xh?ڎ x?-?rا?Ϳ#?)~2*= ~2*_;I~2Cɫ99)9 =I9Y}@y}ӅGxDUSBL response received:!U1,R,183,000,00762,185,80,80,6D,FF Fpublishing direction and range info}鬾yɰ}>}+> y)}BIyy}̗B}-n@1?Yɣ4տٱy)Iee$>eA`>ie@a e?@)e?@Iaie?@}ВMJ=Y=;QU>aE`EyG}>I :Va5? :;}; B 4@9D; [;):W5@W1XI XIWQ:WQ2WQ*WYVYbUYBUY*UYUaUe@p7@Pq*Qu̗BZQum4Q@SY&9JQu-n@1?Yɣ4տ2Qu鬾:QqbQub w3P@::@Q"@RQui)gw?ii[2ܿOf?BQuX@ QuQu BPu59?Pu<9?PuQuxQuSA"QuXoAB(<B BAI?*BAU1AAA<"CRCC@CA5}<% 6Ʌ>u u u u  u w2:Yu U1yu :u I5! I) GE >wCr,+eEAY}=}!@y};}m}Hp?xs?O ÿ@θ??y?fͿ?)~= ~_;I~ɫ)  IY@ywGDNmea in: $SNTTA,,,,,015115.19*57 I)ܝ`>9ܝCIܝ4Giܝ@ܝ=ܙܝDܝ; ݝE ?I +?{Gz? f? 94= #=) I y Q?+?Mb`? \/? = ; ¡ )¥ ~AI¥ @i¥ A A O=M a E `E y } >I  : 5?  : J~; B  4@9 D R: R:) :m uAdded new target pos. range: 75.900002 m, bearing: 333.653266 deg, deltaT: 4.556308 s, approachRate: 0.316046 m/s, LOS rate: -4.679749 deg/s, posRepo size: 4m-  ProNav: pos range: 75.900002 m, bearing: 333.653266 deg, approachRate: 0.316046 m/s, LOS rate: -4.679749 deg/s, cmd update: -12.000000 deg/s, cmd heading: 249.050578 deg, new cmd heading: 256.065167 deg. W- @W) X)  X) W1 :W1 2W1 *W1 V1 bU9 BU9 *U9 UE R@UE ?Bm q;Bq  Bq Au $R?*Bq Au !-Aq Aq A} <"C RC C @C mY<=FӅ>I!GE?חLr,4eEAɫ髩) IY@yG`廩`=ٽi׻@ t@) @I @i@<M =Y QU ?aE`Ey}?I!%35?%~; %B -4@9%D%˵: %:)!WUq̄@WQXQ XQWQ:WQ2WY*WYVYbUYBUa*UaUaUe?BW<B BAtT?*BA +AAAU<"CRCCq̄@CϹϹ)й й 3:YDW1yY:5i-unGIAiYοٺqA= ?΅> I! GE >zSr,BNeEAY}2<}2@y}2s8}2Nu}2H?$?j?B? "̿3?`m? ? 4fο ?)~2< ~2l_;I~2Cɫ99)9 =IAY&@yІG5<M=Y=Y=;QU=>AAaEEE`EAyMH}M>IQU5?U; UB ]4@9UDU: U:)QW,G@WX XW:W2W*WVbUBU*UUU~?BM <BQ BQAUV?*BQA]Dq(AYAYA]<"CmRCC,G@Cֽ6Ʌ>יIGb>ܵ \>9ܵ CIܵ Giܵ +@ܵ =ܱ ܵ Dܵ ; ݵ E)eCIeCieCe=e=eB6Yr,zheEAY}2@}2@y}26}2Jv}2H`?` B?@aI? п??-զ?uο F ?)~2@ ~2{_;I~0ɫ99)9 9I9Y]@y]MGI=)=½iA½jAm=M?=Y€:QU >a%E%#`Eyql}>I :5? :; B 4@9D: :):Wy~@WX X!W!:WA2WA*WIVIbUIBUI*UIUQUU@Y? c2:YW1yč:85)Z;9B@=y<B BA]?*BA%AAA]<"CDbRC!C%y~@C!1 IG5>`r,MeEAɫ髙) IYx@yGÕ=Õ/<ÕA>iÕ̼@Ñ ĕ?@)ĕ(@Iĕiĕ?@^MP=YQU>aE)`Ey}>I'5?; B 4@9D?: G:)Wy@WX XW:W2W*WVbUBU*UUU @B5F<B1 B1A53Y?*B1A=I"A9A9A=R<"CExRCACEy@CIe?΅>9IIGeU>Hfr,7eEAY}=;@}=0I@y}=0}=U[r}=Hl}?OT?P?B;ӿ?`=99a=EE0`EUT>9UCIU.GiU@U=QUDU; UEAymn}m>Iq }:u5? }:u; uB }4@9uDuk: u:)u:Ws@WX XW:W2W*WVbUBU*UUU<{@RB*** querying acoustic contact ***PPBe<Bi BiAm]?*BiAmAiAqAu.<"C}RCyC}s@  4:Yy%5)H;C֑iIyG~>lr,eEAY}2l@}2qz@y}2S+}2Rt}2H ==??@Ğ?Կ :N?M?@h?`9ο`?)~2l@ ~2_;I~2CɫII)I IIIY}O@y}GZ****** received transponder code query ******F****** received ping request ******aaaeEe6`Eiymj}m>Iqu 5?uь; uB 4@9uDu: u:)qWn@WX XW:W2W*WVbUBU*UUU`@B(<B BA_?*BA FA A A %<"C[VRCCn@CIGn>sr,OeEAY}2@}2ʨ@y}2o&}2nt}2H?@D?WJ?NֿC? C ?̤?`=ο%?)~2@ ~2_;I~2Cɫ19)9 9I9Yu@yuG}xDUSBL response received:!U1,P 183,000,00762,185,80,80,6D,FF }Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ^<MA=Yc8;QU>a E =`EQy]p}e>Iȑ :ŕ.'5? :ŕ̑; ƕB 4@9ƕDǕ< /:YDW1yY:59@ ȕ<)ȕ:WBkh@WX XW:W2W*WVbUBU*UUU`F @Bm<Bi BiAmb?*BiAuuuAqAqAu><"C_ RCCBkh@C IG >U H>9U CIU GiU @Q U KDQ U ; U Eyr,eEAY}6l@}6Ӽ@y}6}6t}6Hw?`x?`aED`EyI}>IV?5?ٖ; B 4@9$D; ̘;)WUCc@WQXQ XQWY:WY2WY*WYVYbUaBUa*UaUiUm[@BP{<B BAdf?*BA AAAz[<"CRCCCc@C IG>ڀr,>fEAY}6h@}6@y}6C}6ss}6H@[?S,?@ ?@Yٿ p?I?1?ο?)~6h@ ~6\ `;I~4ɫ99)9 =I9Y}@y}\GxDUSBL response received:!U1,R,502,000,0076E,189,80,80,90,FF Fpublishing direction and range infof3ɰ>鰅7> )CIy=Bw?amf-ٱC=i=)I=)%=iA5{E=M=e=Y=;QU=>AAaEEEJ`EIyM}M>IQU(T5?U; UB ]4@9U-DU: U:)QW^@WX XW:W2W*WVbUBUI*UQUQUU@Pa*Qe=BZQeH[߻@@3$;QJQew?amf-2Qef3:QabQe0T+ @=RZQy1@RQeKG??-ᅴMa1?BQeV@ QeQef@Pe9?Pe59?PeQeQe8A"QeSABІ<B BAj?*BAAAA<"CwfRCC^@C:  r8:YU1y:56Ʌ>׹IGf>@ r,fEAY} ,@} ~:@y} } s} Hn ???ڿ@?G??`!ο`-?)~ ,@ ~ m`;I~ ɫ) IY@yGuDNmea in: $SNTTA,,,,,015119.38*58 M5>9MCIMGiMd@M=IMDM; MEm $C?T㥛 ?I +?m ?m > m 9<)i Ii ym Q?~jt?Qm (?m a E T`E y } >I  : u5?  : #; B  4@9 ;D ,: :) :m5 yAdded new target pos. range: 76.620003 m, bearing: 272.762020 deg, deltaT: 4.164750 s, approachRate: 0.172880 m/s, LOS rate: -14.620624 deg/s, posRepo size: 4mE !ProNav REINIT: LOS rate is -14.620624 deg/s. Setting heading cmd to target bearing of 272.762020deg and heading rate command to 0 deg/s.WE V@WI XI  XI WI :WQ 2WQ *WY Va bUa BUi *Uq Uu 'S@U} b?B P1r<B  B A e?*B A 4A A A *<"C ЋRCy C} V@C օ FӅ>aIiG>Nr,M=YQU=?aEX`Ey}=?Ișŝ́5?ŝ; ƝB 4@9Ɲ@Dǝ: ȝ:)șWIWIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYUe27?BE=B BAo?*BAI AAAk/<"CRCCC IGl>13r,lUfEAɫ髱) IY@yGI9)9 II)M= M>uMuK=YyQU}>yaE^`Ey}>Iȑ :ŕ^5? :ŕk; Ƒ 4@9ƕHDǕ: ȕ:)ȕ:WWX XW:W2W*WVbUBU*UUU E?B_x=B BAsm?*BA _l A A A w<"C!RCCCօ?΅>YIqG[> >9CIZGi@=D; E:^r,`ofEAY}VĤ@}Vp@y}Vݯ}Vqn}VH`??ߵ?N߿'??@9?@Ϳ?)~VĤ@ ~Vs9`;I~VCɫ髑) IY@yG}}}} }Y1:Y}DW1y}Y:}5)}u;9]]]i]@Y Y)YI]?@iYm]=Mm<=YmqqauEue`Eyy}:}}>Ir5?; B 4@9QD: r:)W1W1X1 X1W1:W12W9*W9V9bUYBUa*UaUaUe ?B$<B BAws?*BAAAAl<"Cȕ*Cp,RCCC6Ʌ>IG>M ̝>I i nGI i ̿ٺ  A!Br,xfEAɫ髙) IY@yG)!MU=YQU>aEk`Ey}>I :̾5? :;  4@9YD:: :):W!W!X! X!W!:W!2W)*W)V)bU)BU1*U1U1U5@Be=Ba BaAer?*BiAmN AiAiAm<"Cu#RCqCyCyօ?΅>AIQGmV>lr,aSfEAY}2e@}2@y}2?,9}2Lp}2H@??Bٹ?$@'?H#?q?:Ϳ ?)~2e@ ~2O`;I~2CV>9VCIVGiV@V=TVDV5; VE) CI Ci C = = j6ɫYY)Y ]IYYk@ypGɮ=qiu=!  t6:YW1yč:5)ݒ;L7A`?A`"?kt?+'?Y>  0=)Iyy&1?ˡE?y&1?`%?'=`e< @)AI @iAp@  jAõ 94=õ >õ 9>iõ @ñ ı )ĵ @Iĵ @iĵ @ =M =Y ;QU > a E u`E y } >I 5? ; B  4@9 fD : :) W W X  X W :W 2W *W V bU BU *U U! U% ;@R- B*** querying acoustic contact ***P) P) BU v{<BQ  BQ A] x?*BY A] DAY AY A] <"Ce :RCi Ci Ci y } >] 6Ʌ>Y i] ? I! G= > r,afEAɫ髩) IY@yGZ****** received transponder code query ******F****** received ping request ******שIGd>r,fEAY}6@@}6M@y}6fּ}64~r}6H'?k+?v?&@??^?̚?ο@?)~6@@ ~6۩`;I~4ɫII)I MIIYmX@ymdGuxDUSBL response received:!U1,P 502,000,0076E,189,80,80,90,FF uCommand AckuBRequesting micromodem ping code 2iqqNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76   Y>:YT1y:59@UM]Y=YmaE`Eyo}>I5?M; B 4@9tD!< M <)WWX XW:W2W*WVbUBU*UUU@ @BEr =BA BAAM6x?*BIAMyAIAIAM<"CU RCQCYCY>9CI"GiK@=LDDC; EIG>+r,fEAY}:t@}:@y}: ˼}: p}:Hཝ??O?`p)?@?z?Ϳx?)~:t@ ~:`;I~:CIޑ)ޕ?Aɫii)i iIiY@yGAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B åC =åd;>åiå@á ĥ@)ĥt@Iĥt@iĥt@<M=Y$;QU>aE`EyV}>I :l5? :; B 4@9}D: :) :WWX XW:W2W*W V bU BU *UUU@BE=BA BAAE{?*BIAMPAIAIAMr<"CURCQCYCYiiIIY)]iA) I1 G] >r, gEA||40@RQe-ɿ.]VHh?BQeq@ QeIQexPeh9?Pe9?PaQeQeA"Qe8AB]C=Ba BaAe?*BAʺAAAwV<"C.:RCCCe< I G > >9 CI Gi @ = D K; E)r,o&gEAY}m˺@}mhٲ@y}m5}myCs}mH?? ??`~wv?? T?`ο%?)~m˺@ ~m`;I~mCɫ髱) IYI@yGUTNmea in: $SNTTA,0.067021,,,,015123.52*41 5(\?Mb?:v?5?5< 5T<)1I1y5Dl?㥛 ?:v5O-?5=5T 5@)5/AI5@i5@11Õ=Õ;=Õ+=iÕ @Ñ ĕ@)ĕ^@Iĕ^@iĕ^@M"=YV;QU>aE`Ey?T}>I65?; B -4@9D: :)muAdded new target pos. range: 76.620003 m, bearing: 257.994960 deg, deltaT: 4.140215 s, approachRate: 0.000000 m/s, LOS rate: -3.566738 deg/s, posRepo size: 4m ProNav: pos range: 76.620003 m, bearing: 257.994960 deg, approachRate: 0.000000 m/s, LOS rate: -3.566738 deg/s, cmd update: -10.700213 deg/s, cmd heading: 272.762020 deg, new cmd heading: 272.762020 deg. WF@WX XW:W2W*WVbUBU*UUU?B-4=B) BQAU?*BQAU޼AQAYA][}<"C]]*RCaCeF@CaUvт;E FӅ> I! GE >r,A@gEAY}6@}6t@y}6e2}6w}6H:??`od?@{%6?@u??ο?)~6@ ~6`;I~6Cޙiޝ= +:YV1y:5ɫ) IY-@y--Gm<MW=Y>;QU>aE`EyҖ}>I  :G5?  :); B 4@9DI: 4:) :W5@W1X1 X1W1:W92W9*W9V9bUABUA*UAUAUM?BuCJ=Bq BqA}2?*ByA}PؼAyAyA<"CRCC@Cϑϑ)Б Б   = ?΅> ?i |? I G >9r,ZgEA| i|"@ p)pɇppptɈtiv什IttIzCix xx)xx |~ɉI) i ) I  Ɋ  ɋInAii) Iɫ) IYU@yUjG=Ms=YQU?aE`Ey}?IZW5?; B 4@9Dz:  :)W%O@W)X1 X9W9:WA2W*WVbUBU*UUU`?B2P=B BA‚?*BA$ӼAAAuJ<"CRCCO@C܍>9܍CI܍Gi܍@܍=܍MD܉܍`; ݍE6Ʌ>IGj>cr,sgEAY}2@}2!@y}2Ь}2u}2H@=?`??z?@A? W?rοv?)~2@ ~2`;I~2Cɫ髙) I -:YU1y:5)~;9Y@y_G)}= }=>='>i@ @)It@iMK=Y;QU>aE`Ey}>I :Xi5? :bξ B 4@9D: :) :WEҧ@WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQU]?BΞ?=B BAx?*BA4f̼AAAW<"CBRCCҧ@CIG l>Kr,gҍgEAY}2.@}2/<@y}2}2p}2H@ ?@?!?n?>?Ӑ?Ϳ`e?)~2.@ ~2)a;I~2CIޙ)ޝAAɫ) IY @yoGI)e;MH=Y ;QU>aE`E!y%0}->I15[{5?5ξ 5B E4@95D5; 5~ ;)1W}2@WyXy XW:W2W*WVbUBU*UUU 7@B==B BA?*BAGrżAAAz<"C߿RCC2@CԱԱ֡Iױ)ױ׹IG>e >9e CIe Gie @e =a e De d; e Eur,gEAY}6 D@}6Q@y}6WOh}6+o}6H{u?)??e?5? ?Ϳ ?)~6 D@ ~6OGa;I~6CɫYY)Y ]IYA $:YT1y:5)n;Y@yG)AMʡE?Mb:v?M-?M MT=)IIIyMCl?ˡE?~jtM/?M'=MD M@)MAIIiMh@IM@;>X>iG@ @)@I@i@=M.=Y;QU>  a E `Eyz}>I %:5? %:fξ B -4@9D#: ,:) :WMm@WIXI XIWQ:WQ2WQ*WQVQbUYBUY*UYUYUe -@Bɣ:=B BA?*BAAAA<"Ca*CuRCCm@C֕?΅>QIYG}>8_r,`gEAY}6a@}60o@y}6A}65q}6H@}??@c?Q '??`:?`Ϳ`7?)~6a@ ~6d:a;I~6Cɫ99)9 =I9YT@yG鮍a=ɮa=iE%nGIYiqпٺA(M"=YB;QU>aE%`E!y%H`}->I15ʢ5?5,ξ 5B M4@95D5T; 5U;)1Wa@WX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBK*=B BA?*B A |ѴA A A HM<"C RC C a@C! 9 9 Y a ie m?1 IA G] >Ԍr, ygEAY}6т@}6}@y}6l}6q}6Hm ? E;? ?O??@}M?Ϳ `?)~6т@ ~6ߝa;I~6Cɫ髑) Iip=h ':Yy59@Y@yъGZ****** received transponder code query ******F****** received ping request ******9CIi=l; E)ݝCIݝCiݝCݝ=ݝ=ݝ6֩׉IG>r,AgEAY}2.@}2۱@y}2.=}2>t}2H@q?@?@O?`j? &? ~?Sο ?)~2.@ ~2Ma;I~2Cɫ99)9 9I9Y]@y]GexDUSBL response received:!U1,P 502,000,0076E,189,80,80,A2,FF eCommand AckeBRequesting micromodem ping code 2iaiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 @ @ @Ý©ÝÝiÝ@Ý ĝ@)ĝ@Ięiĝ@I/<M A=YM;QU>!iauEu`Eyz}>Iȱ :ŵ/5? :ŵ@ξ ƵB 4@9ƵDǵA: ȵ:)ȵ:W}c&@WyXy XyWy:W2W*WVbUBU*UUUm @B=C=BA BAAE?*BIAUFAQAQAU"R<"CRCCc&@CFӅ>ש I G >r,hEAY}2^ɲ@}2 ת@y}2D}2s}2H?7?u?`2?g6?Hu? ,ο?)~2^ɲ@ ~2a;I~0ɫ99)9 9I9Y]@y]GaaNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ' ":YWU1y:5֊<M[=Y;QU>a E `Ey7}>I!%5?%uKξ %B U4@9%D%0; %;)!WN@WX XW:W2W*WVbUBU*UUU5@B-.v=B) B)A5?*B1A5_ŢA1A1A5<"C=RC9CEN@CAQQe?΅>Iq)uhAYIaG}{> >9 I NGi 3@ = D v; E r,(hEAY}2@}2@y}2{`}2yr}2H`r?@?`?j?L?l?ο]?)~2@ ~2 a;I~2CɫYY)Y ]IYY*@y!GxDUSBL response received:!U1,R,502,000,00761,189,80,80,9D,FF Fpublishing direction and range infoɰ>鰑 )CIyBw?amf-ٱdNmea in: $SNTTA,0.217959,0.218915,,,015127.96*56 )=?y&1MbP=>=`e =)9I9y=#~j?Zd;O?y&1=%?=j==`e =@)=AI=@i=@9=(@   xiEi@ @)I^@it@%>+<M-,=Y-s;QU->11a5E5`E1y=kf}=>Ia m:e5? m:eXξ eB u4@9eDe: eI:)e:Wbz@WX XW:W2W*WVbUBU*UUU"@P*QBZQC$C@@<QJQw?amf-2Q:QbQ62h B~E.P$ӽe 0@RQ쯅r޿6PH|P3$3?BQ+@ QvQSP89?Ph9?PQQ{A"QABuF=Bq BqAuc?*BqAhAAA9<"CFRCCbz@C֩׉ I G >Ϋr,BhEAY}2 @}2O@y}2¾ú}2fu}2H@S?`d#? Gy? B??wX?nkο J?)~2 @ ~2a;I~2Cɫ99)9 =IAY2@y%Gw (:YDW1yY:5u:M}*=Y}B;QU}>aE`Eyj}>I5?fξ B 4@9D;  ;)myAdded new target pos. range: 75.840004 m, bearing: 240.864463 deg, deltaT: 4.528398 s, approachRate: -0.172246 m/s, LOS rate: -3.782905 deg/s, posRepo size: 4m ProNav: pos range: 75.840004 m, bearing: 240.864463 deg, approachRate: -0.172246 m/s, LOS rate: -3.782905 deg/s, cmd update: -11.348714 deg/s, cmd heading: 224.309562 deg, new cmd heading: 219.191137 deg. W ~t@WX XW:W2W*W!V!bU!BU!*U!U-R@U-`w?BeO=Ba BaAm?*BiAuOAqAqAu<"C}% RCC ~t@Cց A II Ge >>r,p\hEAY}2%@}2B3@y}2m:}2'w}2H? ?`I?@b,??@%ο #?)~2%@ ~2a;I~2Cɫ19)9 =I9Y*@y!G5]M5=Y5 9ܵCIܵGiܵ@ܵ=ܱܱܵz; ݵE6Ʌ>ix?יIGA> r,ӆvhEAY}638@}6E@y}6,;}6Cz}6H??`,? ~??{e@Ͽ ?)~638@ ~6Hb;I~4ɫ99)9 =I9Y@yGs h,:YV1y:p5)/;9åz?åHåiå@á ĥ@)ĥ@Iĥ@iĥ@cMA=Y;QU>aE`Ey}>I5?xξ B 5@9D@: n:)WCl@WX! X!W!:W!2W!*W!V)bU)BU)*U1U1U5@?B]a=Ba BaAe?*BaAeS/AaAaAm<"CufRCqCuCl@Cqe?΅>9IIGeV>#r,ahEAY}6M@}6[@y}6_;}6)ix}6H ? q?x?4J 5?Ѧ?`KtOο ?)~6M@ ~6b;I~6Cɫyy)y }IYL@y5G U<MUC=YU.;QUU>YYa]E]`Eayej}e>Ii u:m5? u:mξ m|B }5@9mDm: mA:)m:Wf@WX XW:W2W*WVbUBU*UUU?Bi=B BA?*BAAAA֎<"ChRRCCf@CIGj>٭ iA٭ iAܵ >9ܵ CIܵ NGiܵ 3@ܵ =ܵ NDܵ Dܵ {; ݵ E*r,K=hEAY}2Jb@}2o@y}2k};}2"3r}2H$E? ?&Q?9o?`ָ?o~ Ϳ?)~2Jb@ ~2b;I~0ɫYa)i mIqYi@yGG     *:Y DW1y Y: 5) ;Zd;O?V-?I +~ ?h> 9)Iy+?㥛 ?~jt?= µ@)µ/AIµ@iµ3@@ ='=j<=i=@ @)@I@i% <M%>=Y-E;QU->))a5E5`E1y=}=>I9=B5?=rξ =tB M5@9=D=: =:)9WmTya@WqXq XqWq:Wq2Wq*WyVybUyBUy*UyUU@E?BMd=BI BQAU_?*BQAU&pAQAQA]u#<"C]I^RCCTya@CԑԕiA֑Iי)םiAiIyG>0r,/hEAY}:F@}:@y}:<}:odn}:H`?`E?V?Z?w?" }Ϳ"?)~:F@ ~:kb;I~:CɫAI)I QIQYL@y5G=v-M=o=Y=;QUE?AAaEEE`EIyMͤ}U?IY]|%5?]Мξ ]lB e5@9]D]ܹ: ]:)YW%]@WX XW:W2W*WVbUBU*UUU@B"=B BA?*BAdAAA<"CǬ"RCC%]@C׹IGE>$7r,RhEAY}2ױ@}2@y}2K:<}2l}2H@B3?`? o?iN?`j?@HY <Ϳ&?)~2ױ@ ~2b;I~2CɫAA)A AIAY@ycG鮍p=ɮI4=)4=<MS=Y@;QU>aEaEy}>I  3:Yyn59@ :{/5? :ξ dB 5@9Dx; կ;):WW@WX XW:W2W*WVbUBU*UUU@@RB*** querying acoustic contact ***PPB?Uy=B BA?*BAhVAAA<"C .(RC1C5W@C1U>9UCIQiQU=QU DU; UEAI)GEQ>!N=r,WhEAY}2Ӫ@}25@y}2X<}2m}2H"?`R?@? 9@$? લ?D vtͿ`k#?)~2Ӫ@ ~2b;I~2CɫII)I QIQYD@y1GZ****** received transponder code query ******F****** received ping request ******UĽiU@Q U@)QIQiQe־Me?=YmA;QUm>iiauEuaEyy}}}>IȁŅ95?Ņξ ƅZB 5@9ƅ'DDž< ȅ<)ȁWkR@WX XW:W2W*WVbUBU*UUU9G @B-Pp=B1 B1A5ˇ?*B1A5/$GA9A9A=E=<"CEr.RCACEkR@CI U=Q9E?iE?>CiNmGI)iAIAǿٺAG>6Dr,iEAY}2@}2]@y}2y<}2p}2H`#? 2?`Z? @?߰?=:Ϳ?)~2@ ~20b;I~2Cɫ99)9 AIAY@yeGxDUSBL response received:!U1,P 502,000,00761,189,80,80,9D,FF Command AckBRequesting micromodem ping code 2i h,:Y0Y1y:5Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 R<M9=Yߊ;QU>11a=E=aEyf_}>I -:F5? -:uξ OB -5@91Da: :):WiL@WX XW:W2W*WVbUBU*UUUwY @BT`=Bi[< BA?*BA4AAA<"C,/5RCCiL@C% 6Ʌ>U >9U CIU GiU @U =Q Q U ; U E)퉋CI퉋Ci鉉==Z6 I) GE >0`Jr,܄+iEAY}2a @}2@y}2<}2Pq}2H>?by??Z ? ?Ñ=Ϳ ?)~2a @ ~2Wb;I~2CɫAA)A IIIY=5@y='GmNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }/$?K?~jt}1?}^= }ļ)yIyy}T㥛 ?1Zd?{Gzt}!?}"=}ף }@)}jAI}V@i}@y}@#|>ʡi @ @)^@Ii^@pMD=Y7;QU>aEaEyC}?I  N5? Aξ GB 5@9 8D : 8:) W5eG@W9X9 X9W9:W92W9*WAVAbUABUA*UIUIUM@Bug=By ByA}?*ByA}l*AAA?<"C%X9RC)C-eG@C)5?΅>IG5>HQr,_EiEAY}:@}:2)@y}:_<}:5r}:Hu?Ͼ?f?`O`8??`p HͿw?)~:@ ~:eb;I~:CɫYY)Y ]IYY^@yAGxDUSBL response received:!U1,R,3B9,000,0074A,189,80,80,97,FF Fpublishing direction and range infoTɰ>鰉 )CIyBб?"q1>ٱ) ):YT1y:5_<M`=Y;QU>aEaEy}>I :4W5? :ξ @B 5@9?D(: :):W=$=C@WAXA XAWA:WA2WA*WIVIbUiBUi*UqUqUuRr@P*QBZQ}I@\KJQб?"q1>2QT:QbQZWBcڷO1|s'@RQMs߿f>늸^ uц?BQ@ Q~QP:9?P89?PQQA"Q{ABR=B BA2?*BAAAA莺<"C-[F>RC)C-$=C@C19IA)EeAI)GMt>+rWr, ;_iEAY}%<@}%I@y}%<}%>x}%H?-?{?B{?@6?`v.ο?)~%<@ ~%b;I~!IAA)ɫ) IYu*@yu!GTNmea in: $SNTTA,0.061793,,,,015132.42*48 >9CIi= D EI] >)] = T A`> M>i @ t@) t@I @i t@ !M a E $aE y )} >Iȑ ŕ d5?ŕ ξ ƕ 1B  5@9ƕ MDǕ ; ȕ ;)ȑ mU yAdded new target pos. range: 74.459999 m, bearing: 240.057572 deg, deltaT: 4.363560 s, approachRate: -0.316257 m/s, LOS rate: -0.184916 deg/s, posRepo size: 4m  ProNav: pos range: 74.459999 m, bearing: 240.057572 deg, approachRate: -0.316257 m/s, LOS rate: -0.184916 deg/s, cmd update: -0.554747 deg/s, cmd heading: 174.786886 deg, new cmd heading: 167.216499 deg. W RB@W X  X W :W 2W *W V bU BU *U U pR@U -?B VF=B  B A c?*B A #A A A 7^<"C GRC C RB@C mXmmm mm&:Ym0Y1ym:m5)m;9u;IG ?T6ar,iEAɫy髁) IY@yG}M}l=Y}QU?aE*aEy}?Iȑ :ŕk5? :ŕξ ƕ)B 5@9ƕTDǕ: ȕ:)ȕ:WB@WX XW:W2W*WVbUBU*UUU+?Bz=B  B A ą?*B A .AAA>N<"CfG@RCCB@Cэ*: Sgr,ظiEAɫ髙) IY5@y'GuV?{Gz?y&1?r>ף< `e=)Iy㥛 ?ˡE?Mb?'= )AI@i@@ =MD=YQU>aE1aEy}>I  q5?  Ͼ #B 5@9 [D i: :) W=_B@W9X9 XAWA:WA2WA*WAVIbUIBUI*UQUQUU =?B}==B BA?*BANڻAAA }<"C GD@RCC_B@C!]>9]CI]Gi]@]=Y] D]; ]E_<?i_?ޑiޕ= *:YT1y:5);IG >}mr,>iEAɫyy)y yIyY@yG%Y=%>%G>i%@! %@)!I!i%@mXMuC=YqQUu>yya}E}7aEy}>Iȉ :ōw5? :ōϾ ƍB 5@9ƍcDǍ : ȍ::)ȍ:WB@WX XW:W2W*WVbUBU*UUU ?B4=B BA?*BAýAAA<"C%B@RCCB@Cϙϙ)Й Й% FӅ> I G% >dtr,;niEAY}2y@}2&@y}2`U<}2$v}2H Y??;?`"f?0e?`҉ vο ?)~2y@ ~2ia;I~2Cɫ99)A AIAY[@yG)A?MT=Y-RaE>aEy}>I3{5?r$Ͼ B 5@9jD: ]:)WMEA@WIXI XQWQ:WQ2WQ*WQVYbUYBUY*UYUYUeԘ@B=B BA&?*BAfAAA~ܴ<"CJB@*CõRCCEA@C?΅>יIGb> /:YW1yč:59@M >9M CIM GiM @M =M ODI M ; M Ezr,GiEAY}J@}JR@y}Ji<}J=t}JH`x??x?`L~?uG Dο`?)~J@ ~Ja;I~Hɫ) IY+@yG!ɮ%=Iޑ)ޑ=`e11a=E=KaE9yE }EU>IQ e:U5? e:U?Ͼ UB m5@9UzDUKf; Ux;)U:WYA@WX XW:W2W*WVbUBU*UUU sW@RB*** querying acoustic contact ***PPB==B BAe?*BA=TA!A!A%ٳ<"C-YA@*C5URC1C5YA@C9iIq)uiAIIQGm+?r, jEABBBB B0:YBWU1yB:B5Y}Z@}Z@y}Z<}Zu}ZH୊?#?`u?? 5\+Uο?)~Z@ ~Z4a;I~ZCɫ髑) IY@y8GmZ****** received transponder code query ******uF****** received ping request ******uD /]=)IyMb?/$?y&1|#?,=` 9@)AI3@i@f@ NM=Y;QU?aEPaEyg=}?I  ;5? tJϾ B 5@9 D n: ^;) W})A@WyXy XyWy:Wy2W*WVbUBU*UUU @B<=B BA|?*BA,AAA߲<"C )A@*C [RC C )A@C=>9=CI="Gi=K@==9=D=; 9I G% >Sr,*0jEAY}:@}: @y}:<}:DMx}:H@+X??1? )?RDcο ?)~:@ ~:ya;I~:Cɫyy)y yIyY@y"GxDUSBL response received:!U1,P 3B9,000,0074A,189,80,80,97,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 1>̽i @ @)t@I?@i?@=@MET=YM%:QUU>YYaeEeVaEy?}>Iȩ :ŭ5? :ŭtXϾ ƭB 5@9ƭDǭ; ȭ;)ȭ:WM@@WIXI XIWQ:WQ2WQ*WQVQbUYBUY*UYUYU{ @B=B BA?*BAAAA߱<"C@@*CRCC@@C6Ʌ>בIG>i /mGI i UϿٺ Ahr,+JjEAB=iB=JWJJJ JX&:YJ0Y1yJ:J5ɫ髩) IY@yGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B :M3=YQU>aE]aEy}>IV5?thϾ B  5@9D: :)W-@@W)X) X)W):W12W1*W1V1bU9BU*UUUV@BG=B BA~|?*BA{AAAy<"C@@*CRCC@@C  ?i ? I G5 >Xr,djEA|i|@Y}F@}F@y}F=}Fmz}FH@kΪ? ?W[ ο.?)~F@ ~Fb;I~FCiRLCP)P PIP T)V&mAɛVsV;TFTXɜZlAiXIXXI\i\ ^D\)\b3C ```ɝ`dflAId)did)hIhhɞh hɟlllillɫ髙) I>9CIGi@=; E)uCIuCiqu=u=ut46Y@yGSM=Y^;QU?aEbaE!y%"E}%?II U:M}5? ]:MsϾ MB ]5@9MDM: M:)M:WHs@@WX XW:W2W*WVbUBU*UUU @B!=B BAz?*BAnoAAA<"CHs@@*C0RCACMHs@@CYֵ?΅>בIG>r,ǃ~jEANNNN N*:YNV1yN:N%5)N߈;9ZY}@},@y}=}x}H]?"E?H@W`w/ο ?)~@ ~b;I~ɫ) IY-@y-G=DNmea in: $SNTTA,,,,,015136.90*57 Õ>Õ^?ÕʡiÕ(@Ñ ĕ?@)ĕ AIĕiĕ(@MA=YQ:QU>aEiaEy}>I5?ڂϾ B 5@9D: :)W]1@@WX XW:W2W*WVbUBU*UUU @B ^ň=B  B A .z?*B A:AAA=<"C=]1@@*C=t{RC9CE]1@@CA1 IG5>]̥r,QjEAIB@A)@Y}N ;@}NH@y}N3+=}N$r}NH`Q ?_?@C^ܬDͿ?)~N ;@ ~N7a;I~NCɫ )  IY=@y=GUa=ɮUp=)\(?(\µ{Gz?G> ף=)Iy^I +?Q?I +X?u=94 ¡)¥AI¥Q@i¥@@<MI=Y xQU>aEoaEy*}>I5?Ͼ ۪B 5@9D: :)W ?@W X  X W :W2W*WVbUBU*UUUC@BMD=BQ BQAU{?*BQAU0:AYAYA]<"Ce?@*CeRCaCe?@C6Ʌ>>9CIZGi@=D; EIG>r,@3jEA|4<|;FFFF F*:YFDW1yFY:F5)FΈ;Y}:@a@}:n@y}:2=}:Qu}:Hc?`Ž?3迿,@"`f[ο`?)~:@a@ ~:ea;I~:Cɫ髉) IY@yG5=*?5G>5ؾi5@1 5@)5?@I53@i5?@E؛MEB=YM.$QUM>IQaUEUvaEQy]-}]>Ia m:e5? m:eӞϾ eҪB u5@9eDe: e:)e:W?@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBu=Bq ByA}r?*ByA;AAA<"C?@*CRCC?@Cֱ׉IG>X޲r,jEAY}B@}BX@y}B=}B>x}BHĿ>?J? :ÿVбO ο@ ?)~B@ ~Bǃa;I~@ L)NlAɇLLLPɈPiRIPPITiT TT)TX ZlAZXɉX^@C^lAI\)\i\)`I``Ɋ` `ɋdfEnAdiddidh)h hIhɫ髙) IY@yGu܋<Mum=Y}:QU}?yaE|aEy3}?Iȑŕ5?ŕpϾ ƕʪB 5@9ƕDǕ: ȕ:)ȑWv?@WX XW:W2W*WVbUBU *UUU\@B]=Ba BaAedt?*BaAey2;AiAiAm <"Cv?@*CYRCCv?@C֙yIG^>nr,jEAY}:@}:@y}:Zd=}:yx}:Hਂȿ O?@Bt?@cƿ`ͳˠο@ ?)~:@@iB=JJJJ J-:YJV1yJ:J59J@ ~:a;I~:C܍>9܉I܍ĆGi܍@܉܉܉܍; ݍEɫ) IY@yG@A))USMB=Y;QU>aEaEy } >I :e5? :Ͼ B %5@9D: :):We 4?@WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqU}@B6)=B BAs?*BAe;AAA<"C 4?@*C|RCC 4?@C =?΅>ױIG>2r,jEA|i|Y}:@}:Ǣ@y}:Z =}:z}:H`Dc̿ U???3/@ʿ굿J=ο@Y?)~:@ ~:`a;I~:Cɫ髹) IYs@y׈GÍ>ÍÍ+iÍ@É č@)č@Ičič@EbM=Y:QU>aEaEyd}>IȹŽ}5?Ž;Ͼ ƽB 5@9ƽDǽ/: Ƚ:)ȹWr>@WX XW:W2W*WVbUBU*UUU@0<@B-\fx=B) B)A- q?*B1A5 ;A1A1A5<"C=r>@*C=uRC9CEr>@CA֡ y I G >r,kEA^ ^^^ ^I:Y^DW1y^Y:^5Y}M @}M@y}M =}M+{u}MH"п%? -X?`zr^οn``_ο %?)~M @ ~Mva;I~MCɫ) IY@yGxDUSBL response received:!U1,N,80,80,63,E4 A,189,80,80,97,FF ZNo reply:!U1,N,80,80,63,E4 A,189,80,80,97,FF -a E aE y_}>I %:{5? -:Ͼ B -5@9D8: w:):܅>9܅CI܅`Gi܅p@܅=܅PD܁܅; ݅EW>@WX XW:W2W*WVbUBU*UUU~@B}=B BAl?*BA{a;AAA%<"C>@*CpRCC>@C֡ y I G Dr,t3kEAIL)N?Aɫ髙) IY@yOGɮuJ?u>u ׽iu@q u@)u@Iu@iu@ M=YQU?aEaEy}?Iȡťx5?ťϾ ƥB 5@9ƥDǥ: ȥ:)ȡWv>@WX XW:W2W*WVbUBU*UUU@B>=B BAj?*BA;AAAJ<"C%v>@*C%5nRC!C%v>@C)AI G%N>o,r,OMkEA|;|4aEaEyh}>I :t5? :zϾ B 5@9D: :):W 5>@W!X! X!W!:W!2W!*W)V)bU)BU1*U1U1U5@g: @Bu'=Bq ByA}j?*ByA}V;AyAAUM<"C 5>@*CQiRCC 5>@CցYIaGY>Vr,*gkEAY}:t @}:"@y}:=}:2u}:H5Կ s?S?6>ӿ`T%@PWο?)~:t @ ~:=a;I~:C->9-CI-Gi-@- =)-D-; -Eɫ髑) IY@y\G);MN=Ys9QU>aEaEy|}>Iȱŵo5?ŵ0Ͼ ƵB 5@9ƵDǵӻ: ȵ:)ȱWT=@WX XW:W2W*WV!bUIBUI*UIUIUU!@R]B*** querying acoustic contact ***PYPYBfۋ=B BAj?*BAQ;AAAG<"CT=@*CdRCCT=@CIG>?r,V kEA>=i>p=FFFF F+:YFT1yF:FJ5)F;9Jɫ) IY@yGZ****** received transponder code query ******F****** received ping request ******imGIi!ʿٺA  @  @  @å ©å å iå p@å ĥ @)ĥ K@Iĥ iĥ M =Y QU > a E aE y } >I  : h5?  : о B  5@9 D iD; G;) :W5 =@W9 X9  X9 W9 :W9 2WA *WI VI bUI BUI *UQ UQ UU @O"@B au=B  B A e?*B A ; <A A A F<<"C =@*C J]RC C =@C թ ԭ >ֱ ױ I G>Hr,;kEA|i|Y}FT@}Fb@y}F =}Fw}FH0ؿ ??`׿@- 5@ˬο; ?)~FT@ ~F'a;I~Dɫii)q uIqY-@yrGxDUSBL response received:!U1,P 80,80,63,E4 A,189,80,80,97,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ?:v?S㥛 ?T= /ݼ)IyZd;?9eCIeGie+@e =aae; eE)CICi= =-6y(} ?Ib5?\о B 5@9D: #:)W]=@WX XW:W2W*WVbU!BU)*U)UQUU"@BU×=BQ BYA]^?*BYAe :<AaAAT<"C]=@*C5YRCC]=@C9  % % % %  % ?,:Y% 0Y1y% :% 5)% ;I9 GU >nmr,QkEAY}2h@}24v@y}2=}2ȼw}2H ٿ_?`K? w>ةؿZ¡åο ?)~2h@ ~2Ka;I~2CɫYY)Y YIYY@yGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m m mm>mTm,>im@m m^@)m @Im^@im @}aM=Yգ9QU?aEaEy Ž}?Ișŝ\5?ŝ #о ƝB 5@9ƝDǝI: ȝw:)șW-=@WX XW:WI2WQ*WQVQbUQBUY*UYUYU]#@BS=B BAyZ?*BA2<AAAKz<"C-=@*C1VRCC-=@C6Ʌ>IGj>I= AA)= AA[r,FkEAY}2@}2?@y}2 =}2u}2H3ۿ1,?ਖ਼?Fڿpaο`?)~2@ ~2Ca;I~2Cɫ)1)1 1I1Yu@yuFG}p=ɮyxDUSBL response received:!U1,R,0EB,000,006F7,186,80,80,AA,FF Fpublishing direction and range info}~Qyɰ}>}> y)}*CIyy}B}+WT?-ʿٱy-<M-?=Y-J%QU->11a5E5aE9y=}=>IA M:ES5? U:E0о EzB U5@9EDE: EA:)E:Wu<@WqXq XyWy:Wy2Wy*WVbUBU*UUU`g$@P*QBZQrQ@ugML,JQ+WT?-ʿ2Q~Q:QbQA$ӌD2{KJ E?RQυ}5oGȖ鿐?BQ0@ Q=^Q&P-9?P:9?PQQq@"QAB[;=B BA\?*BAU&<AAA<"C<@*CQRCC<@C?΅>I)hAױIGe>E C E E E  E *9:YE W1yE č:E 859M @] >9] CI] Gi] 7@] =Y ] D] ; ] Er,kEA|4|4Y}5@}5©@y}5 =}5zt}5H m"ݿ`[?? xIۿb>4Hο`?)~5@ ~5Ia;I~5Cɫ  )  I YMp@yMGTNmea in: $SNTTA,0.051571,,,,015142.61*43 UH>U 0UiU@Q U@)U@IUiU@hM7=YٺQU>aEaEyƀ}>IȡťI5?ť>о ƥtB 5@9ƥDǥ: ȥD:)ȡm}Added new target pos. range: 69.479996 m, bearing: 233.105477 deg, deltaT: 10.204441 s, approachRate: -0.488023 m/s, LOS rate: -0.681281 deg/s, posRepo size: 4m ProNav: pos range: 69.479996 m, bearing: 233.105477 deg, approachRate: -0.488023 m/s, LOS rate: -0.681281 deg/s, cmd update: -2.043844 deg/s, cmd heading: 169.123757 deg, new cmd heading: 168.875530 deg. W9;@WX XW:W2W*WVbUBU*UU@^Q@U?B5^3=B1 B1A5X?*B1A=\3<A9A9A-<"C9;@RCC9;@C6Ʌ>IG>hr,lEAY}2x@}2&dž@y}2FE =}2Ux}2H@в޿@`??^ݿ c¿@'UοS ?)~2x@ ~25a;I~2Cɫ99)9 9I9Yu@y}G eM ~=Y  QU  ?aEaEy}% ?I! -:%A5? 5:%Hо %oB 55@9%D%: %:)% :WU';@WYXY XYWY:WY2WY*WaVabUaBUa*UaUiUm`ٓ?BȜ=B BAVT?*BAK<<AAAD<"C';@RCC';@C֥?΅>yIG<>E =iA } < y y }  } 8:Yy yy } 5{r,blEAY}Nƍ@}Nԅ@y}N=}N my}NH`f,?ഈ?`\޿1ÿο ?)~Nƍ@ ~Nba;I~NCɫyy)y }IyYy1Zd?MbpMb?"? =)Iy"~?X9v?y&1|?}=` @)AIAih@AYtQU>aEaEy 틽} >I95?Uо fB 5@9DQ: :)W=V*:@WAXA XAWA:WA2WA*WIVIbUIBUQ*UQUQUU9?B-=B BA*BAG<AAA <"CV*:@RCCV*:@C>9IlGiC@=; E)E?iE?9IYG>{ r,9lEA|i|Y}6ό@}6݄@y}6, =}6A#{}6HT@n?@}? f#GĿ@4Ͽk?)~6ό@ ~6Wa;I~6CɫYY)Y ]IYY@yG}V?}=}/i}@y }Ը@)}Ը@I}@i}@;MaEaEy}>Iȩ :ŭ05? :ŭ#aо ƭ^B 5@9ƭ$Dǭ4: ȭ:)ȭ!:WE9@WX XW:W2W*WVbUBU*UUU rz?B=B BAT?*B!A%qR<A!A!A% <"C-E9@RC)C5E9@C1ց9IIGeV>M  M M M  M 5:YM V1yM :M %5ir,\tSlEAY}:؋@}:4@y}:_$=}:3w}:H?#;?xĿàο` ?)~:؋@ ~:a;I~:Cɫ髁) IY@yGU-M]N=Y]NQU]>aaaeEeaEaymݛ}m>Iquj'5?ulо uVB }5@9u,Du׾: u&:)qW]8@WX XW:W2W*WVbUBU*UUU?B]܌=Ba BaAeeM?*BaAeL]<AaAiAmg<"Cu]8@RCqCu]8@Cyօ6Ʌ>YIiGZ> >9 I փGi O@ = ; EI= @A)= @Aer,QmlEAY}=;ފ@}=@y}=.=}=yv}=Hǜi??`VĿ.rο`?)~=;ފ@ ~=kAb;I~9ɫ) IYU@yUG)ene/]=eDie@a e @)e@Ie @ie@}zM}6=Y}!TQU}>aEaEy}>Iȑŕ~5?ŕSyо ƕLB 5@9ƕ4DǕܹ: ȕǺ:)ȑW-W7@WX XW:W2W*WVbUBU*UUU@B Q =B  B A J?*B Ash<AAAd<"C-W7@RCC-W7@C!9IEiA)EiAI!G=r> {    uf:Y DW1y Y: 5!r,"llEAY}J*@}J @y}JG<}J v}JHuP?@d?~k@gſ tο?)~J*@ ~Ja;I~JCɫyy)y yIyYc@yGM=YaEaEy=O}>I :5? :Vо BB 5@9>D: :)":Wi6@WX XW:W2W *W V bU BU*UUU @R%B*** querying acoustic contact ***P!P!BPq|=B BAH?*BAv<AAA<"C i6@RC1 C5 i6@CA ֹ ב I G >8#(r,!lEAY}B2@}B?@y}BP<}Bz}BHY@j??`.3ƿ爞@οK ?)~B2@ ~B+a;I~@ɫQQ)Q UIQYr@y&GZ****** received transponder code query ******F****** received ping request ******9-~CI-rGi-@)))-; )AA?*B9AES}<AAAAAE<"CMYx5@RCICMYx5@CQ}?΅>IIYGuy>޽ =i޽ = |    R:Y W1y č: 5) Ū;9 H.r,ulEAY}6/c@}6p@y}6<}6L|}6H d?>?` ~ ƿ5~@4Ͽ?)~6/c@ ~6+a;I~4ɫ99)9 9I9Y}:@y}G@AxDUSBL response received:!U1,P 0EB,000,006F7,186,80,80,AA,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =ҍxii @ @)@I@i@M<=YuøQU>aEaEyg}>I =:5?iunmG u:IiɿٺA+о ;B 5@9LD =  =)#:W$U4@WX XW:W2W*WVbUBU *U UU=`G'@B~=B BAG??*BA<AAA<"C$U4@RCC$U4@C 6Ʌ> i ? I G >05r,lEA|,i|,Y}R@}R+@y}R<}RMg|}RH68@_?@?`j`xǿ`vW7Ͽ`?)~R@ ~R^a;I~RCɫyy)y yIyY7@yG-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ܝMZ=YϹQU>aEaEyH}>I5?ҥо 8B 5@9SD: 8:)W[3@WX XW:W2W*WVbUBU*U U U F@B5!=B9 B9A=)??*B9A=<AAAAAEx<"CM[3@RCICM[3@CQ֝?΅>qIyG~>5 z>91 I5 ܂Gi5 @5 =1 5 D5 ; 5 E)ʼnCIʼnCiʼnCʼn=ʼn=ʼn#5 5    8:Y xZ1y q: n5) =;];r,PlEAɫ) IY@yGxDUSBL response received:!U1,R,F90,000,006CE,186,80,80,AC,FF Fpublishing direction and range info+=ɰ> ),CIy BQ!?A_1?ٱ)}Z>}}ti}p@y }@)}@I}@i}@` MJ=YQU>aEbEy}>I %:5? -:ְо 4B -5@9\D: :)$:Wul2@WqXq XyWy:Wy2Wy*WVbUBU*UUU@P*Q BZQ w ϬP@[7(@JQQ!?A_1?2Q+=:QbQtvCyjtK._B RQZ^yKDHBQE@ QIG>I޹ )޹ DBr, mEAY}r@}r}{@y}r8<}rX|}rH'?@? @ȿ@@^6ϿM?)~r@ ~ra;I~pɫ) IYM,@yU]GTNmea in: $SNTTA,0.053769,,,,015147.07*4F M =Y QU > a E bE y u} >I  r5? о  /B - 5@9 gD :  B:) mm uAdded new target pos. range: 67.019997 m, bearing: 233.878053 deg, deltaT: 4.492046 s, approachRate: -0.547634 m/s, LOS rate: 0.171988 deg/s, posRepo size: 4mu  ProNav: pos range: 67.019997 m, bearing: 233.878053 deg, approachRate: -0.547634 m/s, LOS rate: 0.171988 deg/s, cmd update: 0.515963 deg/s, cmd heading: 159.942872 deg, new cmd heading: 158.722609 deg. W} 3@     1:Y V1y : 59 @Wy X  X W :W 2W *W V bU BU *U U GP@U /?B} 7o=By  By A} 6?*By A ><A A A c<"C 3@*C KRC C 3@C ?΅>I hA) hAIG >Ir, )mEA||;Y}6@}6ǀy@y}6-<}61|}6H@dx??hkɿ䜿1Ͽ@?)~6@ ~6a;I~6Cx>9}CIxGi@=QD; Eɫ髉) IY@yBGCl?Q?~jt?d?(> D<)Iy(\?{Gz?I +.?ף<94 )^AIAi@AU>UtUiU @Q U@)U@IU@iU@e0Me=Ym6+QUm?iiamEubEqyuͽ}}?Iȁ :Ņ5? :ŅDо tI ƅ*B 6@9ƅnDDž: ȅS:)ȅ%:W-3@WX XW:W2W*WVbUBU*UUUa?BϞ=B BAq5?*BA4<AAA}y<"C-3@*C{IRC C -3@C )IG>UPr,BmEAY}6Y@}6w@y}6JP<}6z}6H^e??: Uɿɜ Ͽ{?)~6Y@ ~6a;I~4ɫyy)y }IyY@y GMn=YQU?aEbEy}?Iȱŵ|5?ŵ<о Ƶ$B 6@9ƵvDǵr: ȵ:)ȱW`3@WX XW:W2W*WVbUBU*UUU?B%=B) B)A-2?*B)A- <A1A1A5~<"C=`3@*C=?}FRC9C=`3@CAAI)GUS>=ip=%%%% %l3:Y%DW1y%Y:%\5Vr,\mEAɫyy)y yIyY@yG5 M5A=Y5QU5>99a=E= bEAyE}E>IQ U:U5? ]:UIо UB ]6@9UDUk: Uw:)U&:W}3@WyX XW:W2W*WVbUBU*UUUস?B3=B BAQ2?*BA0<AAAWi<"C3@*CqBRCC3@C ==FӅ> ?i ?IGj>!9!I%Gi%t@%=!!%; %E]r,vmEAY}6Pȁ@}6s@y}6<}6&y}6H@'Z?`EL? iJJiʿќIο ?)~6Pȁ@ ~6qb;I~6Cɫ99)9 9I9Yuh@y}GR=i=E>EXEH=iEG@A EԸ@)E;@IE@iAU܉MUY=Y]8QU]>YYaeEe&bEaye<#}m>Iqu&5?urо uB }6@9uDu: u6:)qW3@WX XW:W2W*WVbUBU*UUU` ]@B"r=B BA0?*BA6<AAA|a<"C3@*C?RCC3@C?΅>IGK> 1:YT1y:I5cr,amEAY}:@}:q@y}:<}:~/u}:H`@?5?a*vʿ@ќ`Xο#?)~:@ ~:aE-bEyÅ}>IFx5?Lо B 6@9DFL; \C;)Wv4@W!X! X!W!:W!2W!*W)V)bU)BU)*U1U1U5 Z@Be=Ba BaAe9-?*BaAmaߩ<AiAiAmO<"Cuv4@*Cuh<RCyC}v4@Cy%6Ʌ>IGn>IAA)AAjr,9r|CIr~Gir@pprDr ; rEɫ) IY @yG ɮ a= zG?{GzaE5bEy}>I :c5? :cо B 6@9D; :)':Wf4@WX XW:W2W*WVbUBU*UUU@.@RB*** querying acoustic contact ***%R %%% %\::Y%U1y%:%5)%=;9-PPBu{=Bq BqAu-?*ByA}*<AyAyA}<"Cf4@*C7RCCf4@CԹԹ֡ Iש )ש y I G >pr, mEAY}6V~@}6n@y}6Xi<}6py}6H b?`f?`@`4˿ 2̜`ο ?)~6V~@ ~6]o`;I~6CiDH)H LIT T)V+mAɛZnZ,TFXXɜXiXI\\IbCiblA b`)`` dddɝddjlAIh)hih)hIhlɞl lɟlppippɫ) IYa@yCGZ****** received transponder code query ******F****** received ping request ******׹IGf>*$wr,mEAY}J6{@}JqQk@y}J<}J`z}JH^@?'}?P w̿,V@:ο ?)~J6{@ ~J `;I~JCɫ髹) IYe@yEGxDUSBL response received:!U1,P F90,000,006CE,186,80,80,AC,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:M}J=Y:QU>aE@bEy}>I :F5? :Ѿ B 6@9D_< <)(:W4@WX XW:W2W*WVbU!BU!*U!U)U-" @BuJ=By ByA}(?*ByA}r߷<AAA<"C4@*C2RCC4@C9ILGi/@=; E=ia=U6Ʌ>}X }}} }::Y}V1y}:}\5)}; I! G= >:N}r,mEAY}Fey@}Fri@y}Ff<}FFv}FH@?=?@P߿@@p̿``Bο@?)~Fey@ ~F-a;I~FCɫ) IYV@yaEGbEy}>Iȱŵ45?ŵ@Ѿ ƵB 6@9ƵDǵӻ: ȵ߼:)ȱW5@WX XW:W2W*WVbUBU*UUU`l@B)=B! B!A%"(?*B!A-<A)A)A-<"C55@*C5n0RC1C55@C9]?΅>e?ie?)-CAIqiunGG>Ii 5ʿٺ1=A?9A7r,2nEA|(i|(Y}Fhw@}Fmg@y}Fj<}Fu>u}FH`!o? ?Mݿ@̿l Yο?)~Fhw@ ~Fa;I~FCɫ) IY@y ܂GxDUSBL response received:!U1,R,DDF,000,006A1,188,80,80,8D,FF 5Fpublishing direction and range info">ɰ >> ) CIyBzbr?ʴYM?ٱ}C=i}p=B  9:YW1yč:$59%@ܽ t>9ܹ Iܽ Giܽ ;@ܹ ܹ ܹ ܽ ; ݽ E)M|CIM}CiIM=M=M*6 V-?ʡE~jt? |> <) I y +?Mb`?~jt v? ; D ) |AI Ai UͼM]yaESbEy&}j>I %:5? %:Ѿ B -6@9D: :)):WMsy5@WIXI XQWQ:WQ2WQ*WQVYbUYBUY*UYUaUe3@Pq*QuBZQu9W>L@+Ps=@JQuzbr?ʴYM?2Qu">:QqbQu.B@TI[a`7!RQu 8⿈m"s!BQuئ@ QuNQuPu.9?Pu/9?PuQuQu"QuJ@Bٴd=B BAF#?*BA<AAAձ<"Csy5@*Ck+RCCsy5@CѕlX<FӅ>Ie@A)e@AסIG.?or,RD=nEAY}FUu@}Fqe@y}F<}Ft}FH`??@rۿE ;̿UQοs?)~FUu@ ~F`;I~FC P)PɇPPTTɈTiTIVOFTIXiX XX)\\ ^lA^ף\ɉ\``I`)`i`)dIddɊd dɋhjInAhihhill)l lIlɫ髩) IYM@@yMGdNmea in: $SNTTA,0.058714,0.353574,,,015151.61*54 -#-`e-=i-@) -@)-@I-@i-ٮ@=Z@ME=Ye57QUe ?iiamEmXbEqyuCҽ}u ?Iy}5?}Ѿ }B 6@9}D}#; }<)ym5uAdded new target pos. range: 64.320000 m, bearing: 233.931028 deg, deltaT: 4.887095 s, approachRate: -0.552475 m/s, LOS rate: 0.010840 deg/s, posRepo size: 4me ProNav: pos range: 64.320000 m, bearing: 233.931028 deg, approachRate: -0.552475 m/s, LOS rate: 0.010840 deg/s, cmd update: 0.032519 deg/s, cmd heading: 162.464344 deg, new cmd heading: 162.626986 deg. Web|5@WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUuzP@Uum?Bm=B BAt?*BA9<AAA<"Cv5@*Cag)RCCb|5@C ;?΅>סIG> Y      ::Y X1y /: 5`~r, WnEAY}>W9s@}>Tc@y}>V<}>Br}>HT5? 2?ٿo̿ɜo ο?)~>W9s@ ~>S`;I~>Cɫ) IY@y]G}M}Y=Y}WQU}>aE^bEy}>Iȑ :ŕ5? :ŕD$Ѿ ƕB 6@9ƕDǕ+: ȕ{:)ȕ*:W5@WX XW:W2W*WVbUBU*UUUv?B=B B A ?*B A P<A AA ɉ<"C5@*CTg'RCC5@C;I)iAIG>e u>9a Ie RGie @e =a a e $; e EWr,;pnEA||4aEfbEy} >I5?*Ѿ B 6@9D: :)W=5@W9X9 XAWA:WA2WA*WIVIbUIBUI*UQUQUU?B}=B BA?*BA<AAA<"C5@*C$RCC5@Cϡϡ)С СE 6Ʌ>! I9 Ge >     3:Y V1y : 5됢r,PÊnEAY}29uo@}2_@y}2f#<}2Nw}2H?k?ֿJͿ#@οr?)~29uo@ ~2`;I~2Cɫyy)y }IyY=@yG)!0;MX=Y(QU>aElbEy.}>I :J5? :k.Ѿ B 6@9D: :)+:WL5@WX XW:W2W *W V bUBU*UUU?BE܂=BA BAAMZ?*BQA]6<AaAaAm<"C}L5@*C} "RCyCL5@C֝?΅>yIG]>hr,ǛnEAY}6qm@}6]@y}6<}6Nz}6H;OWA??`gsԿZiο /ο ?)~6qm@ ~6#`;I~6Cɫ99)9 =I9Y2@yG6Buffer fill timout failure.t>9IGi@; EE S㥛?MbPMbE $>E  E @)A IA yE ףp= ?MbPX9v?E ?E E < E -@)A IE XAiE AA E A    ý h>ý O=ý iý @ý  Ľ @)Ľ @IĽ @iĽ ­@ M =Y N8QU > a E vbE y (} >I 5? 5Ѿ B  6@9 D : ʽ:) W 55@W X  X W :W 2W *W! V! bU! BU! *U) U) U- y@B} 6r=By  B A ?*B A x<A A A qd<"C 55@*C RC C 55@C    4:Y W1y č: \5) j;9 ?i ?ױ I G >1dr,aE|bEy}>I :5? :9Ѿ B 6@9DV: A:),:WҐ5@WX XW:W!2W!*W!V!bU)BU)*U)U)U5 @R=B*** querying acoustic contact ***P9P9B=B  B A ?*B A -<A A A U<"C Ґ5@*C RC C Ґ5@C! M 6Ʌ>) I1 GU >r,ynEAY}2QUj@}2pZ@y}2<}2?y}2H e?W? (ѿ`οMο`" ?)~2QUj@ ~2[`;I~2CɫQQ)Q UIQY@yɁGZ****** received transponder code query ******F****** received ping request ******)I9GUu>ms>9iIiiim=iim; mE     5:Y T1y : 5) >;r,F?nEAY}2jh@}2X@y}2<}2y u}2H@`H? 3:?ο!`Xο঒`9Sο?)~2jh@ ~2"=`;I~2Cɫ99)9 =IAYe@yeG}xDUSBL response received:!U1,P DDF,000,006A1,188,80,80,8D,FF }Command Ack}BRequesting micromodem ping code 2iyyNNmea in: $CADRQ,015155,1,10,0,64,1*73 UNmea out: $CCTXD,1,10,1,CC1017611F0000005D00000400260000000000000000151D80030C5669C08C799875A2AB340BA1F088417FB40F2F2877D8DB089EFAEC9A688C145800*4C õGa>õ!õtiõµ@ñ ĵ @)ĵ@IĵԸ@iĵ-@M&=Y:QU>aEEEbEIyM@s}M>IQ ]:Uq5? ]:Uc@Ѿ UB 6@9UDU; U;)U-:W5@WX XW:W2W*WVbUBU*UUU @B =B BA?*BAcm<AAAq<"C]5@*CeTRCaCe5@CaqqiI IQ Gu >Kr, oEAY}2(f@}2V@y}2/j<}2 u}2HE ?J? Nʿ`W௅ο@ ,@ddο@?)~2(f@ ~26n`;I~0ɫAA)I IIIYu @y}BGבIG>     .:Y DW1y Y: 59 @r,(oEAY}2d@}2wT@y}2=}2>w}2Hpf?|?@ǿ@/οޟο ?)~2d@ ~2ft`;I~2Cɫ99)9 9I9Y}@yG%q>9!I%L~Gi%@%=!!%; %E.Nmea in: $CATXP,60*74 \Response from modem unexpected: $CATXP,60*74 UMb@Mb@Mb@UU U)UIQyU㥛 ?Mb~jthU?UUD Ub@)U"AIUAiU"AQU=AmQMm3=YuM;QUu>qqa}E}bEyyu}>IȉōOJ5?ōwEѾ ƍB 6@9ƍDǍ: ȍ:)ȉW͞5@WX XW:W2W*WVbUBU*UUU@BJʆ=B BA\ ?*BAi<AAA<"C ͞5@*C 0RC C͞5@C?΅>IG>r,NBoEAY}2_$c@}2?S@y}2~`=}2[Ct}2H'@?uy?@GĿl@οN@f:ο?)~2_$c@ ~2[b;I~2Cɫ99)9 =IAY@yGM5y=Y=cZ;QUM?i]%nGiIujAiaEbEiAAͿٺjAͼAy}?I -:q95? -:GѾ B 56@9D~]< ]<).:WU#5@WQXQ XYWY:WY2WY*WYVabUaBUa*UaUaUm}@B=B BA ?*BA <AAAU<"C#5@*C<RCC#5@C չԽ> ?i ?IGj>] } ] |] |]  ] =:Y] R1y] i:] 5rr,\oEAY}:ma@}:+Q@y}: =}:l6u}:HD4]?fP?@`aο *XοJ?)~:ma@ ~:c;I~8ɫYY)Y ]IYY@yGR>iT?pML=YI.QU>aEbEy}>I&5?HѾ B 6@9Dn: {:)W-5@W)X) X1W1:W12W1*W9V9bU9BU9*U9UAUE@%@Bmb=Bi BqAuG ?*BqAu<AyAyA}~<"C5@*CRCC5@C֭6Ʌ>ׁIG=>n>9{CI}Gi@= ; E)ݡIݥ|Ciݡݥ=ݥ=ݥa5Ia )a 'r,ޓvoEAY}]@}M@y}zG=}k}Hkt?gƒ@/ղ @yͿ懢 K4Ϳ@j"?)~]@ ~˧f;I~Cɫ) IYU@yUGe.Nmea in: $CATXF,60*62 e\Response from modem unexpected: $CATXF,60*62 @ @ @ M@=Y/5aEbEy }>Iȱ :ŵ5? :ŵhIѾ ƵB 6@9Ƶ$Dǵ: ȵ:)ȵ/:W5@WX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPB-,=B) B)A- ?*B1A5ݥ<A1A1A5}<"C=5@*C=@3RC=]b>C=5@CA9IG%M>= = = =  = 0:Y= 0Y1y= := 5r,aoEAɫ髙) IY@yGNmea in: $CAXST,7,20210814,015155.980949,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*54 Response from modem unexpected: $CAXST,7,20210814,015155.980949,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*54 -GM-R=Y5QU=>9AaEEEbEIyM}U>I15\5?58JѾ 5B =6@95+D5: 5 :)1Wel5@WaXa XaWa:Wi2Wi*WVbUBU*UUU]@BF=B BA/?*BA 3I<A A A -N|<"Cl5@*CRC >Cl5@CmhAmfA]9>IugA)ueAQIaG}z>r,=94iQ@ @)@I@i]:M&=YX:QU>aEbEyO}>I :5?  :*JѾ B  6@94D: >)0:W-5@W1X1 X1W1:W12W1*W9V9bU9BU9*U9UAUE3@Bm=Bq BqAuk?*BqAuU+<AqAqA}z<"C5@*CRC&U>C5@Cu>1I9G]>ޅ =iޅ =] ] ] ]  ] /:Y] xZ1y] q:] 5)] ;9e r,oEAY}RGW@}RG@y}R=}ROv}RH极᤿?`mο:~ο@'?)~RGW@ ~Roc;I~RCɫ髙) IY(@y GBaM+=Y;QU%>!!a%E%bE)y-w}->I15-5?5IѾ 5ީB E6@95=D5: 5p?)1We(5@WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU}@Bs=B BAj>*BA=AAApy<"C(5@*CiS=RC >C(5@C- Lu> I G >$r,@oEAY}JY V@}J$F@y}J.=}J[~v}JHa@R?`Cοģ~ο@ ?)~JY V@ ~Jpb;I~JCɫyy)y yIyYc@y1G%P<M%=Y%;QU-8?))a-E-bE1y=!}=8?IAEP5?E-IѾ E۩B M6@9EADEа: EU?)AWmg5@WiXi XqWq:Wq2Wq*WyVybUyBUy*UyUU@B%=B BA?*BAs=AAAw<"Cg5@*C=RCr>Cg5@C ===_>?i?סIG >9I{Gi@=; E i ~ ~  2<:Y T1y @: J5) җ;Tr,oEAY}RYT@}RKuD@y}Ṟ =}Rh5nҾ5ʡi5׳@1 5@)5-@I5K@i5b@EN9MEG=YǺ:QU>aEbEyz}>I95?GѾ ֩B  6@9IDݱ: q?)WUr5@WQXQ XQWQ:WQ2WQ*WYVYbUYBUy*UUUG@BJ=B BA>*BAl=AAA `v<"Cr5@*Cc=RC_>Cr5@C {U>IGi>7r,pEAY}6R@}6B@y}6#=}6[v}6H`J`Wߵ`!@?0 Ϳn ο`Q ?)~6R@ ~6a;I~6CɫYa)a eIaY@yGQNmea in: $CACST,6,0,20210814015158.884547,06,32767,45,0105,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,24.2,8.11,16,-5.11,-01,-0.36,41,14500,4000*48 Response from modem unexpected: $CACST,6,0,20210814015158.884547,06,32767,45,0105,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,24.2,8.11,16,-5.11,-01,-0.36,41,14500,4000*48 UOutgoing frame #1, 60 bytes: CC101761220000005D00000400260000000000000000151D80030C5669C08C79986ABF3458C6A5A7B4D0CC39AF2343D8F0DCD9D5DE3483498C26E000I =) %=a i a i a m a m a q a q a e a e a I a I /$?l?/$ &? = ) I y x&?  a E bE! y- ~}- >I1 E :5 )5? E :5 DѾ 5 ͩB M 6@95 XD5 3A; 5 7@;)5 1:W 5@W X  X W :W 2W *W V bU BU *U U U d@R B*** querying acoustic contact ***P P    F:Y U1y : I59 @B ^q=B  B A ?>*B A k=A A A t<"C 5@*C C=RC K>C 5@C - iA- iA l>9 I zGi @ ; EMA_`>IehA)ehAAIQGm? r,1pEAY}FQ@}F A@y}FKB&=}FKp}FHqub`Idg?O̿`ƤpͿ?)~FQ@ ~F`;I~FCɫqq)q uIqY@y~GI))}.}l}ʡ=i}@y }@)}@I}ٮ@i}@cM=YkB;QUD?aEbEy}F?Iȩŭ|5?ŭCѾ ƭ˩B 6@9ƭ\Dǭ#: ȭ:)ȩW5@WX XW:W2W*WVbUBU*UUU0 @B=B BA%>*B!A%>=A!A)A-s<"C55@*C5=RC5{2>C55@C9^>IG'>r,KpEAY}6O@}6ߚ?@y}6)=}6un}6Hß 貿8?@ t̿8nͿ?)~6O@ ~6`;I~6CɫYY)Y ]IYY@y~GYQM=Yr:QU>aEbEy+}>Iȱ :ŵ]5? :ŵ?Ѿ ƵéB 6@9ƵhDǵa; ȵR;)ȵ2:W 5@W X XW:W2W*WV!bU!BU!*U!U!U- `V!@Bu v=By ByA}!>*ByAj=AAAFr<"C5@*C=RC֫">C5@C  GG:YV1y:n5] aK>9 IA G] >r,epEAY}2M@}2r=@y}2G,=}2(i}2H~@BĿ&F@?@~˿]B̿@%?)~2M@ ~2`;I~2Cɫ11)1 5I1Yh@y}G Setting waiting for range response to false due to timeout. Elapsed:6.173235MfMM=YUt(;QUU??QQa]E]bEYyem޽}e@?IimP5?m/>Ѿ mB u6@9mmDmn: mY:)iW.5@WX XW:W2W*WVbUBU*UUU!@Bu濕=Bq BqAuh>*ByA}3J =AyAyA}]Jq<"C.5@*C`=RC >C.5@CօI>mk>9iImzGim2@iiim ; mEבIG@>#r,}pEA|i|Y}6dL@}6<@y}6R0=}6i}6H@@[^ǿյ?|b˿̿#?)~6dL@ ~6S`;I~6Cɫ99)9 =I9Y}@y}D~G=i=Qi@ -@)-@IK@i-@<MQ=Yb%;QU>aEbEyxt}>I  : ;5? : :Ѿ B 6@9 vD : :) 3:W5@WX XW:W2W*WVbUBU*UUU"@B==B9 B9A=>*BAAE# =AAAAAE8!p<"Cm5@*Cmi=RCu=Cu5@Cq,>Ci5nGIMlAieAvƿٺlAjAE0+>ׁIG=>  J@}>m;@y}>3=}>+e}>H5ɿ@_?ࢆ{ʿ|_a̿+?)~>J@ ~>m`;I~>Cɫ) IY@yn}GI5C=)54=V-?/$?V-?|>,= m=)Iy-?I +?Mbp5?9< ½@)½I½7 Ai½AGA)= >,:M/=Y:QU>aEbEyE}>I#5?7Ѿ B 6@9D: X:)W-*5@W)X) X)W):W12W1*W1V1bU1BU9*U9U9U=i#@BR=B BA>*BAK =AAA o<"C*5@*C=RC=C*5@C@">IG>e i>9a Ie xGie ?@a a e De ; e E)E{CIE{CiAE=E=E46,r,;pEAY}2CI@}29@y}2f:=}2a}2H @ٕ̿h?`eɿ J˿@1?)~2CI@ ~2h`;I~2Cɫ19)9 9I9Yu@yu\}G--I >-T=i- @) -@)-9@I-@i-n@=M=i=Y==;QU=>AAaEEEbEIyM}U>IY]5?]t5Ѿ ]B e6@9]D]D: ]׾:)YWl5@WX XW:W2W*WVbUBU*UUU4$@B=B BA>*BA =AAAn<"Cl5@*CI=RC:_=Cl5@CV9>סIG">  &J:Yy5);93r,EpEA||;Y}BH@}B4:8@y}BKA=}BBZ}BHkKϿ@Xza?zH Lȿ-' ˿=?)~BH@ ~BS`;I~BCɫYY)Y YIYY@y}GMS=Y;QU>aEbEyg}>I :X5? :b2Ѿ B 6@9D : :)4:W.5@WX XW:W2W*WVbUBU*UUU`%@RB*** querying acoustic contact ***PPB-꜂=B1 B1A5>*B1A5>=A1A9A=0m<"C=.5@*CE=RCE܅=CE.5@CA-h=IG=.>F9r,pEAY}2uF@}26@y}2'I=}2Q}2H`wпxP?X-u3ǿc"ɿ@-L?)~2uF@ ~2u`;I~2CɫQY)Y aIaY@yA|GZ****** received transponder code query ******F****** received ping request ******9qIuwGiuK@u=qqu<; u×E]jAYýS>ý+ýʡ=iýQ@ù Ľj@)Ľ@IĽ@iĽ@%M=Ycj;QU>aEcEy}>IN5?-Ѿ B 6@9D3: :)W5@WX XW:W2W!*W!V!bU!BU)*U)U)U-`0&@B]Lu=BY BYA]l>*BaAe=AaAaAevl<"Cm5@*Cms=RCmM=Cm5@Cq Յ=ԅ=֭=׽?i׽?M  M M M  M I:YM [1yM ݏ:M 5)M ;׉ I G >.@r,/qEAY}2E@}2H5@y}2xR=}2K}2H}]ѿ`=O? Fƿ`ODɿS?)~2E@ ~2V`;I~0i<<)< *BQA]1=AYAYA]k<"Ce5@*Ce=RCe.f=Ce5@C֍Ö=AIQGm5>Y]Fr,qEAY}=E@}=:,5@y}=\=}=F}=H @lҿYNJ?Zſ Cȿ[?)~=E@ ~=m`;I~=Cɫ  )  I YE@yE{GUa=iQ +?:v:v??Լ T<)IyV-?/$ rh?|?,C = @)|AIQ Ai"AA<M -=Y I;QU >aEcEyɼ}>I!%5?%M%Ѿ %B -6@9%D%: %/:)!WU5@WQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUaUm@Î'@B|=B BA>*BAy=AAAAck<"C%5@*C% =RC%Y<C-5@C)Qf=IGi>m C m m m  m M:Ym T1ym :m 859 @M e>9M zCIM |vGiM W@M =I I M V; M ϗEZLr,{4qEAY}2KD@}24@y}2j=}2A<}2H ]Uӿ:\ _ ?0vÿ R Wǿh?)~2KD@ ~2O`;I~2Cɫ髹) IYZ@yk{Gi E@ E@ E@E©EEiE@E EO@)E@IE@iE9@U)MUk=Y]w*ByA!=AAAk<"C<5@*C=RCU<C<5@C֝\J=Iס)ץiAyIG^>Iށ)ޅ?AulSr,!\NqEAY}2D@}2?/4@y}2z=}2(-}2HqAuӿ{{x? ¿T{ſ){?)~2D@ ~2`;I~2Cɫ99)9 9I9Yu@y}zG) M O=Y \#aEcEy}>I!%ę5?%Ѿ ! 56@9%D%: %:)!WU5@WQXQ XYWY:WY2WY*WYVYbUaBUa*UaUaUm )@BqM=B BA>*BA>=AAAGk<"C5@*Cm=RC<C5@C֭=ׁIG>e e e e  e LA:Ye W1ye č:e 5Yr,0hqEAY}:C@}:3@y}:=}:K}:H .`; Կ+k ?L]ҰQkÿB?)~:C@ ~:#a;I~:Cɫ99)9 9I9Y}.@y}5{G@AI)I)9IPuGic@T; ΗE   >i­@ @)n@In@in@ YR<M =Y Z;QU >  a E &cE y% }% >I) 5 :- z5? 5 :- "Ѿ ) 5 6@9- D- : - :)- 7:W] 5@WY XY  XY WY :WY 2Wa *Wa Va bUi BUi *Ui Ui Um @O*@R} B*** querying acoustic contact ***Py Py B rk=B  B A Ľ>*B A +=A A A k<"C 5@*C t=RC lc3<C 5@C ֝ <ץ ?iץ ?q I G >5`r,'qEAY}2$pC@}23@y}2u=}2RA}2H!OԿ ?w@Ȼ ?)~2$pC@ ~2]a;I~2Cɫaa)a aIaY6@yzGAM=Y*BqAu=AqAyA}k<"C5@*C0=RC;C5@C#2;jZX<סIG>e e e e  e B:Ye WU1ye :e o5gfr,c{qEAY}?C@}S[3@y}J5=}}H`5ЊԿ&輿:?`h %a%ئ?)~?C@ ~`;I~C ))5lAɇ1119Ɉ9i=什I99IAiA AA)AI IIMJFɉIIQIQ)QiQ)YIYYɊY YɋYeEnAaiaaiamA)i iIiɫ)))) 1I1Y@y yGl?MbMbp? )Iy ףp= ?y&1:v?Q?`eT< @)dAI AiAAEVMED=YEDIIaMEM1cEQyU}U>IY][5?] Ѿ ]B m6@9]D]: ]a:)YW5@WX XW:W2W*WVbUBU*UUU+@Bڀv=B BAS>*BA=AAA¦l<"C5@*Cy=RC;C5@ChW< *:<ܵ d>9ܱ Iܵ sGiܵ @ܱ ܱ ܱ ܵ @; ݵ ×E I G >Xlr,DqEA|i|Y}6!\C@}6w3@y}6=}6x}6HxԿ>`w?<`㗴@?)~6!\C@ ~6a;I~6Cɫ髹) IY@y[yGa=ɮa=M=M M\iM3@I M@)MIM@iI]AƼM][=YePaaamEm7cEiyuÖ;}u>Iy :}J5? :}Ѿ }B 6@9}D}: }D:)}8:Wg5@WX XW:W2W*WVbUBU*UUU@`,@Bny=B BA>*BA=AAAm<"Cg5@*Cb=RC>;Cg5@C ) inGIiU ͿٺQ U A ;I ) hAס I G >Isr,d qEAY}:C@}:3@y}:="=}:K۽}:H`nXԿj?%ʲ`O{?)~:C@ ~:a;I~:Cɫ髙) IY>@yxG Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )1 MQ=Y,!!aMEM>cEYyeT;}>Ișŝ65?ŝо ƝB 6@9ƝDǝ^< ȝb<)șWU6@WQXQ XQWQ:WY2WY*WYVYbUBU*UUU@M-@Bm=B BA>*BA(=AAA\Bo<"C6@*CB>=RC<C6@C }( yy} }mK:Yyyy}5UP;) I1 GU >gzr,qEAY}2өC@}213@y}2m=}2~}2H@LԿ^Z? 2ήԶ ?)~2өC@ ~2Ga;I~2CɫAA)I MIIY}@y}rxGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B DNmea out: $CCCYC,0,1,10,1,0,1*69 ]e>9YI]hqGi]6@]=YY]V; ]ΗE)zCIzCi==5- >- - "۽i- G@) - @)- @I- @i- @E qME Q Q aU EU GcEY y] _O;}] >I  : 5?  : Aо yB  6@9 D *; +;) 9:W .6@W X  X W :W 2W *W! V! bU! BU! *U! U) U- @oz.@BU c=BU < BY A] >*BY A] K=Aa Aa Ae q<"Cm .6@*Cm E=RCm @(<Cm .6@Cq U Xyr,rEA||4@y]vGxDUSBL response received:!U1,R,AFD,000,0064F,189,80,80,6A,FF Fpublishing direction and range infoO?ɰM>鰵7> )BIymBKc?wnL?ٱBNmea in: $CACYC,0,1,10,1,0,1*6B ЉM=Yӥ9@kr7iJ@JQ]Kc?wnL?2Q]O?:QYbQ]"UD duEpiRQ] ZP# 3$I!뼿BQ]{@ Q]+(Q]%P] 9?P].9?P]Q]Q]"Q]BU=BY BYA]}>*BYA]=AaAAحr<"C6@*C=RCi<C6@CMY MMM MUO:YMDW1yMY:M&5ֵK'rr,!rEAY}2{C@}2D3@y}2=}2r}2HqԿm h?6︿ ?)~2{C@ ~2@2b;I~2Cɫ99)9 =IAY@yuG%NNmea in: $CADRQ,015207,1,10,0,64,1*77 %UNmea out: $CCTXD,1,10,1,CC101761220000005D00000400260000000000000000151D80030C5669C08C79986ABF3458C6A5A7B4D0CC39AF2343D8F0DCD9D5DE3483498C26E000*36 eZd;O?+η?~jtej?ev= e)aIayex?{Gzt?QeK?eף;eu e@)eOAIeAiaaeAM=Y2aEScEy }>I :g5?  :о aB 7@9Dq<  <)::mg>9iImoGimO@iiimn; mܗEm}Added new target pos. range: 59.400002 m, bearing: 225.426282 deg, deltaT: 15.420398 s, approachRate: -0.319058 m/s, LOS rate: -0.551526 deg/s, posRepo size: 4m ProNav: pos range: 59.400002 m, bearing: 225.426282 deg, approachRate: -0.319058 m/s, LOS rate: -0.551526 deg/s, cmd update: -1.654577 deg/s, cmd heading: 162.965812 deg, new cmd heading: 162.984659 deg. W4@WX XW:W2W*WVbUBU*UU@3M@U?BeEU=Ba BaAenm>*BiAmK=AiAA&v<"C4@RC'<C4@C} HMr,v;rEAY}BqC@}B3@y}B=}B }BH Կ7(?6a A T?)~BqC@ ~B9a;I~@ɫQQ)Q UIQYJ@y1uGDNmea in: $SNTTA,,,,,015207.40*5B zTXD response from modem unexpected: $SNTTA,,,,,015207.40*5B Ia=)=/]==1ȿ= >i=̬@9 =@)=n@I=9@i=X@!Mf=Y F  aEXcEy}?IAE5?EMо ETB U7@9EDE#: E/:)AWdd4@WX XW:W2W*WVbUBU*UUUs?Bf=B- ))- -IE:Y)y)-5)-;95 B1A=_>*B9A==A9A9A=_w<"CEdd4@RCMkD<CMdd4@CII%5%< I G- >y1r,6UrEA|i|Y}F/C@}F3@y}FVS=}FE~}FH\@Կ@ī@?(<@ٻ@ܦ?)~F/C@ ~Fa;I~Dɫ髙) IY<@ysGͻMc=Y-aE^cEy;}>I :5? :о FB 7@9D: :);:W73@WX XW:W2W*WV bU BU *U UU?B=cX=BA BAAEJ=>*BAAE'=AAAAAM9z<"CU73@RCU=CU73@CQMoE<= <I)GUt>o]r, orEAY}6C@}63@y}6=}6l}6H  UԿ@LK'?SI.;k ?)~6C@ ~6a;I~6Cvh>9tIvTlGiv@tttvp; vݗEɫQQ)Q UIYYK@yrG iA eA U@ U@ U@U©UUiU@U U)U@IUiU\@exMeO=Ym-qqauEuecEqy}9<}}>IȁŅ 5?Ņeо ƅ6B 7@9ƅ DDžQ: ȅ':)ȁW-2@W1X1 X1W1:W12W1*W9V9bU9BU9*U9UAUEm`?BUK=B BA4>*BA=AAAt}<"C2@RCjU=C2@CU] U}U}Uh U=;:YUkS1yUԊ:U5)U;e<=IG>#Br,xrEAY}2nD@}24@y}2^'=}2#x}2H`W#ԿRt? 1P86ݮ?)~2nD@ ~2l`;I~2Cɫ99)9 =I9Y]@y]OrG!!a%E%kcE)y-e;}->I155?5Oо 5&B E7@95D5Y: 5Q:)1WelI2@WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqU}5@BJ=B BA>*BA =AAA <<"ClI2@RCi=ClI2@C) Uȿ=1 IY G >%lr,SrEA|8|:;Y}C@}4@y}iD=}i.}H8Կ_ S?@`K(7Q ?)~C@ ~(a;I~Cɫ)  I Y5x@y5~pG.Nmea in: $CATXP,60*74 a iM@a M a mU@a U a qU@a ] a e]@a ] a I]@a ] EMb@Mb@Mb@EE E)EIAiEMb@Mb@Mb@E©EE E)EIEiEEE5ǽM5-=Y=.QU=>99aEEErcEAyUHa}U>IY e:]h5? e:]\о ]B e7@9]D]=: ]>)]<:W[g1@WX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBS:=B B] ]~]~]E ]"6:Y]T1y]@:]59@A=*BA =AAAV><"C [g1@RC%|=C%[g1@C1i>9I3iGi@i; ڗE}Xf=1IAG]>@r,.rEAY}2QC@}23@y}2=}2}2H@ oԿY( ?@>`5l@2°ૻ?)~2QC@ ~2a;I~2Cɫ99)9 =I9Y][@y]oGeZ****** received transponder code query ******eF****** received ping request ******m % % --N--t=i-@- -Σ@)-@I-@i-@UMUZ=YU;QUU>YYa]E]xcEaye.}e>Iȉō5?ō]о ƍB 7@9ƍ$DǍ˵: ȍZ?)ȉW[0@WX XW:W2W*WVbU BU *U UU@B]O3=BeR= BaAe{=*BaAz =AAA/<"C[0@RCz=C[0@C}(z=YIaG|>~r, rEAY}6JC@}6f3@y}6p=}6o}6HL|Կ Ӕ ?1pusbP?)~6JC@ ~6Ka;I~6Cɫ99)9 =I9Y}@y} nGxDUSBL response received:!U1,P AFD,000,0064F,189,80,80,6A,FF Command AckBRequesting micromodem ping code 2iNmea in: $CAXST,7,20210814,015208.696506,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*50 Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 FMb=YOc;QU%>19aEEE~cEQyeq}m>I  y5? 5о B E7@9 +D A; ?) W%/@W!XQ XYWY:WY2W*WVbUBU*UUU@~ @55z5z5+ 5):Y5Q1y5:55BEz+=BA BAAEG=*BAAM =AIAIAM<"CU/@RCUY=CU/@CY֝D=qIG>r,rEA|i|Y}6B@}63@y}6>=}6ʞ}6H nԿ pn?! Ҽ@t?)~6B@ ~6A`;I~4Ff>9DIFfGiF@F=DDFz; FEɫYY)Y ]IYY@y mG鮥p=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ?i=)j<ʡ=li@ @)Iz@i\@%M-9=Y-C;:QU->11a5E5cE9y=*G}=>IA M:Ef5? M:Eо EB U7@9E3DE: E?)E=:Wu9 iM mGIa iq Vٿٺ A4r,Q sEAY}6B@}6v2@y}6p=}6N`}6H@sTտ e?h ]¼@I?)~6B@ ~6;=`;I~6Cɫ99)9 9I9Y}@y}kG=g=~=~=E =':Y=T1y=@:=5 鿩hAiAliM =Y5QU>))a5E=cEE=yU5}]>IimK5?mZо mʨB 7@9m>Dm; m@)iWu .@Wy Xy  Xy Wy :Wy 2Wy *W V bU BU *U U U @B =B  B A *B A =A A A u<"C- .@RC- R=C- .@C) = &t<-=IG->&r,6*sEAY}JǜA@}J%1@y}J&=}J:Ľ}JHiֿ ?$@j`x`u?)~JǜA@ ~J_;I~JCɫyy) IY@yDiGimAADNmea in: $SNTTA,,,,,015211.49*55 ܵe>9ܱIܵbGiܵw@ܵ=ܱܱܵy; ݵE)IIIiIM=M=M5a i5a i5 a m5a m5 a q5a q5 a e5a e5 a I5a I= 5(\?sh|?Q?5z?5 5u<)5I1y5B`"?Q롿 rh?5.?5\5C< 5A)5AI5Ai5"A55 A>194iG@ ۙ@)@I@iۙ@0%MO=YQU>aEcEyV}>I75?aо B %7@9FD+ ; ;)Wm-@WX XW:W2W*WVbUBU*UUUԢ@BMz =Bi BqAu"*BqAu =AqAqA}z<"C}m-@RCw=Cm-@CmG=E=! I) GE > r,YDsEA||43r,4^sEAY}229@@}2T0@y}2k^=}2j޽}2HtxC׿ X¿ ?u`z|:)?)~229@@ ~2,_;I~0ɫ99)9 =IAY@y&gGI}=)}=)Å= Å=<-M:=YD&9QU>aEcEyѼ}>I %:5? %:}о B -7@9VD: :)>:WM,@WIXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUe@ڄ@RmB*** querying acoustic contact ***PqPqB<B BAL*BA =AAAH<"C,@RCo=C,@C֭l=סIGB>ܵ b>9ܱ Iܵ 7`Giܵ >@ܱ ܱ ܱ ܵ ; ݵ EN_r,axsEAY}2?@}2^/@y}2=}2;}2HV׿¿@ ?`3z@1ǰ@Uƽ?)~2?@ ~2_;I~2Cɫ99)9 =I9Y}@y}eG鮁ɮp=4=iC=)ee|e|e e:YeR1yei:e5)es;ýd?ý ýiýz@ù ĽΣ@)Ľ;@IĽ9@iĽE@MF=Y9QU>aEcEyü}>I   5? ٭о B 7@9 _D 8: f:) WP+@WX XW:W2W*WVbUBU*UUU1@B=&,<B9 BAAE *BaA}w=AyAyA}<"CP+@RC?8=CP+@Cu`=QIYG}z>Er, sEA|i|@ɫ髙) IY;@ycG} ʡE?~jth? a E cE y } >Iȹ  :Ž . 5?  :Ž о ƽ B  7@9ƽ mDǽ : Ƚ a:)Ƚ ?:We +**@Wi Xi  Xi Wi :Wi 2Wi *Wq Vq bUq BUq *Uq Uy U} l@B <B  B A [N*B A r=A A A <"C +**@RC 8=C +**@C = = = I1Ge>vr,sEA**** *:Y*T1y*:*59.@Mc>9IIM\GiMc@M=IIM; MEɫ!!)! )I)Y]@y]aGexDUSBL response received:!U1,N,80,80,63,E4 F,189,80,80,6A,FF eZNo reply:!U1,N,80,80,63,E4 F,189,80,80,6A,FF -eN=Cu)@CyU=)I1GU1>Qr,sEAY}:$>@}:.@y}:=}:9}:H5Kؿ@Gÿ]C?"E5ֺK?)~:$>@ ~:+_;I~:Cɫyy)y }IyY@y`G?AI)M Z=Y sQU>aEcE!y-}->I9 E:=b 5? E:=(о =B M7@9=zD=/; =0;)=@:W (@W X  X W1:W12W1*W9V9bU9BU9*UAUAUM:@B䐛<B BA鏾*BA=AAA<"C(@RC;(=C(@C%^1=IGn>{r,_sEA|4<|;6s6}6}6 6*:Y6kS1y6Ԋ:6Ζ5Y}Fh>@}Fp.@y}F=}Fq}FH ]"`ؿ}ÿ ?-b@+`?)~Fh>@ ~F(V_;I~FCɫ髑) IY@yQ_GM<=YQU>aEcEy  |} >I 5?о B 7@9D: :)WEF=(@WAXA XAWA:WA2WI*WIVIbUIBUQ*UQUQUU@b@B<B BA*BA8=AAA<"CF=(@RC|=CF=(@C%s=I!)!IGa9aIeYGie*@e=aae; eEr,%wsEAY}R=@}R-@y}Rc=}R0}RH@Sٿ`,¿G?@ @TM)¿w?)~R=@ ~RW_;I~Pɫ髙) IY@y7^Gõ >õõ7 iõ(@ñ ĵ@)ĵ3@IĵQ@iĵ3@!MM=Y QU>aEcEy׼}>I :s 5? :|о ~B  7@9DX%; ;)A:W@v'@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBMbj<Ba BaAe*BiAme=AiAiAmO<"Cu@v'@RCu =Cu@v'@Cy]=M=! I1 GM >r,NtEA6&446 6p":Y4y46`5Y}^<@}^,@y}^[=}^}^H@&ڿ+¿`c?$9{ ¿`?)~^<@ ~^J3_;I~^Cɫ髡) IY@yO]GZ****** received transponder code query ******F****** received ping request ******11a5E5cE1y=|}=>IAE'z 5?Eо EqB U7@9EDE: E{:)AWuٜ&@WqXq XqWq:Wy2Wy*WVbUBU*UUU@i @B1\<B BAϼ*BAd=AAABӠ<"C%ٜ&@RC%=C%ٜ&@C!-.=e =A Iq G > r,&1tEAY}>;@}>A,@y}>e=}>}>HšڿE¿`?@ @Ϗ¿τ?)~>;@ ~>E_;I~>Cb>9IsVGiN@=D; EɫYY)Y eIaYT@yg[GxDUSBL response received:!U1,P 80,80,63,E4 F,189,80,80,6A,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Z>ҽi@ &@)Ii5M5\=YEʻQUE>aEcEy}>I :^f 5? :xо fB 7@9D: :)B:We%@WaXa XaWa:Wa2Wi*WiVibUiBUq*UqUqUu|!@B<B BAվ*BA =A A A  <"CE%@RCM=CM%@CIρρ)Љ ЉiU unGIi i ˿ٺ hA= =E ?iE ?I ) @A  { {  :Y #R1y : 5) z;9 1 I9 G] >!r,#MtEAY}N;@}N,+@y}N߀=}NW}NHsۿÿ@?Gs`ÿy?)~N;@ ~N0_;I~NCɫaa)a mIiYr@yQZGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)uM2=YҏQU>aEcEyD}>IpP 5?oо [B 7@9D: :)W-n%@W)X) X)W):W)2W)*W1V1bU1BU9*U9U9U=Y"@BmH;Bi BiAm*BiAu%|=AqAqAuu<"C}n%@RC}A=C}n%@Cuٞ=)I9Gew>Fr,ftEAY}2b:@}2Z~*@y}2C=}2f$}2HiN@<ܿF\ÿ@M?lC@VĿ`w?)~2b:@ ~2L_;I~2Ci<<)< @I@ @)BmAɛBxFTFDDɜFlAiDIHHIHiJlA HH)LL NvnALPɝPPPIP)PiT)TITTɞT TɟXXXiXXɫ) IY@yXG xDUSBL response received:!U1,R,E0B,000,00640,186,80,80,A3,FF  Fpublishing direction and range infoU>ɰ>> )#CIyjB7s?P"?ٱm+Mm}=YusQUu ?yaEcEyQ}?I? 5?iо SB  7@9D; ;)W Dh$@WX XW:W!2WI*WQVQbUQBUQ*UYUYU]e#@P*QjBZQ F\J@Zd8@JQ7s?P"?2QU>:QbQKsLṭ@ J!RQz} Xs?p- ¿BQekF@ Q@Q;gPҧ9?P 9?PQQ4I"QB%:B! B!A-*B)A-=A)A)A-f<"C5Dh$@RC5=C5Dh$@C9 n>9 I TSGi ī@  =  D ; E)ݙIݙiݙݝ=ݝ=ݝ6<65=IG> D ~ ~   $:Y T1y @: 5) ;1 r,cЀtEAY}Z9@}Z3)@y}Z]=}Z{ .}ZH`- eܿÿ ^?`:ĵſl?)~Z9@ ~Z@_;I~ZCɫ) IY5h@y5WGTNmea in: $SNTTA,0.065752,,,,015216.90*4B )]C]t<]Qi]@Y ]@)]@I]@i]@ :M 2=Y QU>aEcEy%Ƨ}%>I) 5:-) 5? 5:-aо -IB 57@9-D-M: -:)-C:mmyAdded new target pos. range: 58.500008 m, bearing: 177.634383 deg, deltaT: 9.554208 s, approachRate: -0.094199 m/s, LOS rate: -5.002183 deg/s, posRepo size: 4m} ProNav: pos range: 58.500008 m, bearing: 177.634383 deg, approachRate: -0.094199 m/s, LOS rate: -5.002183 deg/s, cmd update: -12.000000 deg/s, cmd heading: 147.185054 deg, new cmd heading: 146.491227 deg. W}S@WyXy XyWy:W2W*WVbUBU*UU@@M@Ug?B59B BA)*BA9G=AAAs<"C9t"@RC?} >CS@C=I)ױIG>\&r,qtEAY}} :9@}}iU)@y}}]=}}0}}H 8ݿxMÿX?` jzſ`l?)~} :9@ ~}R_;I~}Cɫ) IY-a@y-VG=i=M +?Zd;O?MbpM v?M j<= M )I II yM kt?V-+?M 0?M mM = M A)M )AIM =AiM OAI M A (? ־ i @ @) Ȏ@I Ȏ@i Ȏ@ kOM =Y  QU >  a E cE! y% Zd}% >I) 5 :- 5? = :- Sо - GB = 7@9- D- : - <:)- D:W] I@WY Xa  Xa Wa :Wa 2Wa *Wi Vi bUi BUi *Ui Uq Uu ?B ;B  B A a *B A Y{=A A A <"C x@RC Y>C I@C X :Y y 9 @ u>9 I PGi @ "= ; EeW >9IQGu?.r,gtEAY}28@}2Y(@y}2bʗ=}2-1}2HKݿ@¿@W? f ^ ſo?)~28@ ~2%_;I~2CɫAA)A EIIYE@ySG}M=YϼQUF?aEcEy!}F?Ișŝ 5?ŝ Oо ƙ 7@9ƝDǝQ: ȝ:)șWF@WX XW:W2W*WVbUBU*UUUO(?B&mB BAF*BAgK=AAAs<"C@RC3y>CF@C >שIGB>4r,tEA|(i|*@Y}V8@}V,(@y}Vߌ=}V-}VH3[޿`.¿`Ab?E<$`eſ $w?)~V8@ ~V#4_;I~VCɫ髉) IY@ySGM/=Y:QU>aEcEyΡ}>Iȡť 5?ťDо ơ 7@9ƥDǥ: ȥ:)ȡWY @WX XW:W2W*WVbUBU*UUU ?B0B BA=*BA =AAA<"C@RC >CY @C =>ֵU7>׽?i׽?בIG>ww x :YO1yP:Γ5;r,rtEAY}jQz7@}j'@y}j=}jI:/}jH `޿``?}`@,ujſ`w?)~jQz7@ ~j{ _;I~jC p)pɇppttɈvlAivIvOFtIxiz9nA xx)|| |~|ɉlAI)i) I lA Ɋ  ɋiiA) Iɫ) IY@y}RGܕ{>9ܕ{CIܕMGiܕR@ܕ =ܑܑܕ; ݕEIA)AIA)AN>PT=i @ Ȏ@)I@i@E闽MEN=YM58QUM>IIaUEUdEQy]羼}]>Ia m:e 5? m:eJ<о eHB m7@9eDeY: e#:)eE:W@WX XW:W2W*WVbUBU*UUU @BNIB BA$*BAy =AAAs<"Cn @RCC@CV>IGj> Br,xuEAY}B6@}BW&@y}BhIw=}Bt1}BH`|ొ߿`-E?K@<(^䮿5ſw?)~B6@ ~BG_;I~BCɫ) IY(@yYQGa=ɮa=) bMh=Y]8QU>aE dEye}>I)-g 5?-74о -IB 57@9-D-: -:))W].@WYXY XYWY:WY2Wa*WaVabUaBUa*UqUyU>@BB BA+,*BA =AAAx<"C@RCC.@CY>׹IGf>] i:YT1y:56/Hr,S"uEA|;|4<ɫ) IY@yOGܕ>9ܕ|CIܕKGiܕj@ܑܑܕDܕ; ݕE Zd;O?%C?~jt? ~J? Zd> D=) I y M?V-? n2? h < A) *AI Ai A A) >  =Å z>Å A`Å ηiÅ @Á ą @)ą @Ią ߏ@ią @ bUM a- E- dE1 y5 }= o>I9 E := M 5? E := .#о = GB M 7@9= D= 7; = ;)= F:W ?W X  X W :W 2W *W V bU BU *U U U @R B*** querying acoustic contact ***P P B5@kB1 B1A55*B9A==A9A9A=<"CEp?RCaCm?Ciyyeg>Ii)iYIaG ?-Qr,DuEAY}:3@}:d/#@y}:#t=}:K}:H`iL_¿?,@4¿:`73ɿWY?)~:3@ ~:>_;I~8ɫ髑) IY@yNNGZ****** received transponder code query ******F****** received ping request ******IGH>SWr,Z^uEAY}6r1@}6!@y}6<}6X}6H@ ¿?f`ÿTʿ F?)~6r1@ ~6_;I~4ɫ99)9 =I9Y5@yMGxDUSBL response received:!U1,P E0B,000,00640,186,80,80,A3,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 M%N=Y5ΪQU=>IIaUE] dEiy}}>Iș :ŝp 5? :ŝо ƝLB 7@9ƝDǝQ< ȝ<)ȝG:W+d?WX XW:W2W*WVbUBU*UUU@BMHBQ BQAUC*BQAU=AQAYA]'<"C|?RCC+d?Cֽ>׉IG>m >9m }CIm IGim ԣ@m =i i m ; m E}]r, xuEA|i|@Y}6/@}6@y}6ǩ<}60"f}6H @N*ÿ6? ĿO̿/?)~6/@ ~6ד_;I~6Cɫyy)y }IyY9@yLGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }y}=}x=i}@y }t@)}@I}i}̄@LM5=YkQU>aE'dEyy}>Ir 5?о QB 7@9D: M:)W=?W9X9 X9W9:W92WA*WAVAbUQBUQ*UYUYU]@BؼB BAK*BA<AAA!i<"C ?RCC?Cm}} 9YkS1yԊ:5)`F;9 >!>ֽ>?i?l>יIinGG>Ii1]UͿٺaeýAddr,muEAY}6E-@}6@y}6ٸ<}6qp}6H` @D@(rĿ?pſ@FͿ?)~6E-@ ~66_;I~4ɫyy)y yIY@yKGxDUSBL response received:!U1,R,EFB,000,0064F,186,80,80,8D,FF Fpublishing direction and range infoZ;i>ɰM> ) CIymBR3Mm,?RW?ٱI) KM g=Y#VQU>aE-dEy%졽}%>I) 5:-d 5? 5:-Ͼ -VB =7@9-D-s: -':)-H:W]?WYXY XYWY:Wa2Wa*WaVabUaBUi*UiUiUmp@PQ*QUmBZQU9L@-h?*@JQUR3Mm,?RW?2QUZ;i>:QQbQU魐J89@RQU(pthZ#~ ?ځNBQU=,@ QUNAQU]UPUק9?PUҧ9?PUSQUQUm?"QU4IB=B BA(P*BA<AAA<"C?RCC?CY1IAGm>djr,[uEAY}=<,@}=NX@y}=)<}=!z}=H`(4uſ@?yƿ %xϿ ?)~=<,@ ~=-`;I~=Cɫii)i mIiYE@yUKG-DNmea in: $SNTTA,,,,,015221.61*5C  ףp= ?7A`¿l?Q8? =)IyFx?i|?5 ףp= ?+?qQ8= A)4AIAiAAhAgA >9 ~CI HGi @ =  D ; E)ݝ|CIݝ|CiݝCݝ =ݝ=ݝ5]ȶ]]i]@Y ]Ȏ@)]@I]ߏ@i]Ȏ@mμMm)=YuQUu>qya}E}5dEzz :YQ1y:s5)pL;Yy]~S}]>Iae7O 5?eOϾ ebB u7@9e#DeY: e@:)amuAdded new target pos. range: 59.400002 m, bearing: 154.198105 deg, deltaT: 4.639998 s, approachRate: 0.193964 m/s, LOS rate: -5.050924 deg/s, posRepo size: 4m ProNav: pos range: 59.400002 m, bearing: 154.198105 deg, approachRate: 0.193964 m/s, LOS rate: -5.050924 deg/s, cmd update: -12.000000 deg/s, cmd heading: 91.635997 deg, new cmd heading: 85.508233 deg. W?WX XW:W2W*WVbUBU*UU@3M@UP?BUBU<= BYA]HS*BYA]u<AYAYA]"ս<"Ce??RCaCm?Ci֍?΅>A IQ Gm >vqr,-$uEA|4<|Y}6-*@}6@y}6!9<}6N}6H`Hxs@Cƿ,?Mƿ $Ͽ ?)~6-*@ ~6HB`;I~6Cɫ99)9 =I9Y}'@y}IGbڽMz=Y:`QU?!!a%E%:dE)y-}-?IȁŅB 5?ŅϾ ƅjB 7@9ƅ*DDž': ȅ:)ȁW{?WX XW:W2W*WVbUBU*UUU mG?B>(B BA1\*BAG<AAAپ<"C?RC C {?C !!%>I)))I G%M>wr,uEAY}6&)@}6 B@y}6&H;}6L}6Hz `XLƿ?5ǿwп@?)~6&)@ ~6Dx`;I~6Cɫ99)9 =I9Y}@y}IG=ip=55M5H=Y=cQU=>9AaEEE@dEAyMn}M>IQ ]:Ur3 5? ]:UϾ UuB ]7@9U2DU: U :)UI:W?WX XW:W2W*WVbUBU*UUU C?BeiBa BaAeY]*BaAm[<AiAA=ۿ<"Cxg?RCC?C~{{ :Y#R1y:59@֝>yIGf> >9 CI FGi @ = PD `; EC}r,/uEAY}2ߘ'@}2=@y}25m}2!ς}2H@+@]ƿ@M?`0^ǿ्`?@~,п@?)~2ߘ'@ ~2M`;I~2Cɫ99)9 9I9Y@y.IGUҽU=UTiU@Q U @)U @IU @iU @eMeG=YmטQUm>iiauEuGdEqy}r}}>IȁŅ# 5?ŅyϾ ƅB 7@9ƅ;DDž: ȅ׾:)ȁW?WX XW:W2W*WVbUBU*UUU`?BmZBq BqAuIa*BqAuo<AqAqA}<"C}î?RCC?Cх4/=qQIaG>r,vEA| i|"@Y}N%@}N@y}NPW}N}NHUh9'\ƿ?ptǿ@֪?0п ?)~N%@ ~NM`;I~NCɫyy)y yIyYd@yGG)YMC=YnQU>aENdEy0}>I : 5? :iϾ B 7@9DD: :)J:WM(?WX XW:W 2W*WV!bUqBUy<~~ 9YT1y@:ϊ5*UU!U%@BuVBq BqAuOj*BqA}ut<AyAyA}e<"C ?RCCM(?Cѝ= ե=ԥ=։ו?iו?i Iq G >Xr,b-vEAY}-$@}-0@y}-|j}-ނ}-Hf@ 5xƿˆ?@_ǿ`#-?-п?)~-$@ ~-?`;I~-Cɫ ) IY5@y5!HGI)ܵ>9ܱIܵEGiܵ@ܵ"=ܵQDܵDܵP; ݵEB`"?ʡE?~jt?.?-= <)Iykt?J ++? 0?Ƚ= A)9AIAiA3Am /]m m >im @i m ?@)i Im ?@ii } b<M} =Y} #QU} > a E XdE y 7} >Iȑ ŕ s 5?ŕ Ͼ ƕ B  7@9ƕ RDǕ : ȕ :)ȑ W T2?W X  X W :W 2W *W V bU BU *U U U @R B*** querying acoustic contact ***P P B5 B1  B1 A5 h*B1 A= <A9 A9 A u<"C _?RC C T2?C ) Uo> ?    59Y T1y : 51I9G]?Jr,RvEA|;|;Y}6&X"@}6s@y}6惠}68}6H B `pƿ?8?@ƿ(?п?)~6&X"@ ~6P`;I~6Cɫqq)q qIqYU@yGGZ****** received transponder code query ******F****** received ping request ******בIG`>or,kvEAɫ) IY@yTGGxDUSBL response received:!U1,P EFB,000,0064F,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 ImR=)m4=>9CIDEGiV@)=DA; Eå94=å#åԼiå@á ĥt@)ĥV@Iĥt@iĥ@UMU =YUQU]>YYa]E]edEy}>Iȩŭ 5?ŭyϾ ƭȨB 7@9ƭdDǭw: ȭ:)ȩWi\?W9X9 X9W9:WA2WA*WAVAbUIBUI*UIUIUM@q @B B BARm*BAH<AAA<"Cex?RCCi\?C I G >  y y   :Y P1y ': 5) N;9 Wr,衅vEAY}>;@}>{V@y}>z˼}>҂}>H4#jxǿ ?y yƿ`t?+п`?)~>;@ ~>\`;I~>Cɫyy)y yIyY@yGG@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B UR=iU< Ml=YxQU?aEkdEy}?Iȱ :ŵ 5? :ŵ2Ͼ Ƶ֨B 7@9ƵlDǵ: ȵ:)ȵL:WJ?WX XW:W2W*WVbUBU*UUU@B%ܸHB! B)A-go*B)A-TD<A)A)A5e<"C5+g?RC9C=J?C9Y9IIGmx>΁r,|vEA|i|Y}6ز@}66 @y}6ޚ鼙}6N}6H@u:@ǿ?j`Zeƿ`X2?Fп=?)~6ز@ ~6:N`;I~6Cɫyy)y }IyY@yfGGxDUSBL response received:!U1,R,C7F,000,00669,189,80,80,84,FF Fpublishing direction and range infoHdH?ɰn>鰥7> )CIysB! &ï?Io?ٱ)?~jtˡE,?Ľ ')IytV?Q뱿i|?5?2?\q= µA)µ;=AIµiµ!Af"A/<MF=YQU>aEqdEy4l}>I   5? v~Ͼ B 7@9 uD 2; S*;) WU4?WQXY XYWY:WY2WY*WaVabUiBUq*UyUU`@P*QsBZQ9XOOE@[lE@JQ! &ï?Io?2QHdH?:QbQa+MF#@/Hjf#RQn,X?^ĿBQ>@ QwAQmP§9?Pק9?PkQSQZ"Qm?BE$B BAl*BA"ʸ<AAA<"CAP?RCC4?C>׹IG>ܭ >9ܭ CIܭ DGiܭ @ܩ ܭ PDܭ Dܭ (; ݭ E ~ } }   :Y kS1y Ԋ: 5) H;fr,YvEAY}J1@}J8 @y}J] }J3}JH3Zǿ?`Q 'ƿ@*?$пO?)~J1@ ~JDf`;I~JCɫ髹) IY@y/GG=DNmea in: $SNTTA,,,,,015225.83*54 i 鿹¹½hAIiEȿٺAEA]r]@]ηi]G@Y ]V@)] @I] @i]V@m Mm=YuQUu>qqa}E}zdEyy7}>Iȉ :ō 5? :ōkϾ ƍB 7@9ƍDǍ; ȍ+;)ȍM:mqAdded new target pos. range: 60.960007 m, bearing: 170.648479 deg, deltaT: 4.246525 s, approachRate: 0.367360 m/s, LOS rate: 3.873844 deg/s, posRepo size: 4m ProNav: pos range: 60.960007 m, bearing: 170.648479 deg, approachRate: 0.367360 m/s, LOS rate: 3.873844 deg/s, cmd update: 11.621531 deg/s, cmd heading: 40.410744 deg, new cmd heading: 33.832428 deg. WQ?WX XW:W2W*WVbUBU*UUzN@Uq?B {v B < B A ?n*B A A<A A A <"C י I G >ʴr,;vEAY}Zk@}Zw @y}Z}ZW}ZH1`ǿJ?wſ@9?Ͽ`?)~Zk@ ~ZU`;I~ZCɫ髉) IY@yFGI1)11M=YQUC?aE~dEy}B?I 5?dϾ B 7@9DE; @Y;)W%8]?W!X! X)W):W)2W1*W1V1bU9BU9*UAUAUEq?B m.B  B A p*BA7<AAA=$<"C=Y6?RCACE8]?CAMv>!I1GMt>    / :Y WU1y : ߣ59 @r,vEA|>4<|MGa=iM@I M @)M @IIiM @]<M]@=Y]j.QUe>aaamEmdEiyuy}u>Iy :}M 5? :}kUϾ }(B 7@9}D}: }j:)}N:WHs?WX XW:W2W*WVbUBU->9-CI-DEGi-V@))-D-; -՗E)}CI}Ci}C})=}$=}6*UUU ?B(B BAn*BA' <AAAO<"CL1?RCC%Hs?C!-> IG->r,wEAY}2@}25@y}2=}2f~}2Hg|`Y ȿb?@&]߿0ſE?Ͽ ?)~2@ ~2=%`;I~2CɫII)I IIIY}ޡ@y}&GG5M5M=Y5QU=>AAaMEMdEQyU}U>IaeĞ 5?edGϾ e>B u7@9eDe1; eF;)aW?WX XW:W2W*WVbUBU*UUU?B=PbBB9 B9A=zn*B9AED<AAAAA H<"Ct1?*CRCC?C =!! I1 )1 I1 Gu >     K:Y X1y /: *5ur,w!wEAɫ髙) IY?@yGG=a=i==x&1?Q?~jt!?\= D)IyK7?i|?5I +?I,?q94= GA)Ii"AG<MN=YQU>aEdEy} >Iȉō 5?ō.:Ͼ ƍPB 7@9ƍDǍ}: ȍ:)ȉW>?WX XW:W2W*WVbUBU *U U U@B]t7BY BYA]xk*BaAe <AaAaAe<"C#6?RCC>?Cхm<֕?΅>iIyG>- >9- CI- EGi- @- '=) - D- ; - ǗE(r,=d;wEAY}:@}:@y}:cI}:\y}:H?3޿@tOȿN+?ྫྷܿÿ 8?@dο?)~:@ ~:a;I~:Cɫ99)9 9I9Y}@y}fGGÅ>ÅK7Å94=iÅ(@Á ą@)ąt@Iąt@ią@`MO=YQU>aEdEy`}>I :n 5? :y,Ͼ bB 8@9Dz@; M7;)O:W5?W1X1 X9W9:WA2WQ*WYVabUiBUi*UqUqUu-@B]=Ba BAl*BA+<AAA<"CB?RCC?C) e >9 IQ Gu >Iޙ )ޝ AA  x x  5:Y 7P1y : <5r,t@UwEAY}Fu@}Fw@y}FN}FGv}FHܿ`1eȿ ?kۿ@gÿة?~ο\ ?)~Fu@ ~FQb;I~FCɫyy)y yIyY@y8HG鮽p=ɮSa=MX=YnTQU>aEdEyx}>I, 5?hϾ tB  8@9Dw:  :)W-,?W)X) X)W):W12W9*W9V9bU9BU9*UAUAUE@@RMB*** querying acoustic contact ***PIPIBJB BAg*B!AM<AIAQAU<"CUP?RCYC],?CY Ս=ԍ=օ >׍?i׍?YIaGY>=r,&owEAY}N@}N4@y}N6WV}N<{}NH@ۿW'@5ɿB?)ڿRÿǪ?H Ͽ?)~N@ ~NBa;I~NCɫ髱) IYo@yGGZ****** received transponder code query ******F****** received ping request ******9CI FGi@OD D; ԗE f Q i (@  t@) I @i t@%Me+=YmuQUm>qqauEudEyy 2}>Iȩ :ŭx 5? :ŭ#Ͼ ƭB 8@9ƭDǭM: ȭ:)ȭP:W)?WX XW:W2W!*W!V!bU!BU)*U)U)U- @B)B BAi*BA]<AAAɟ<"CXj?RCC)?C Y Ii G > t | |  9Y R1y i: N5) WG;9 2r,7wEAY}B@}B^?y}Bec}B˔|}BH ڿGj`ɿ v?@ؿ8ÿt^?4Ͽ`?)~B@ ~B/Ka;I~BCɫII)Q UIQYڢ@y\HGxDUSBL response received:!U1,P C7F,000,00669,189,80,80,84,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =MJ=YQU%>IQaUE]dEiy}L}>Iȡťp 5?ťξ ƥB }8@9ƥDǥD=; ȥ/;)ȡW51?WaXa XiWi:Wi2Wq*WqVbUBU*UUU@q @BMr.BI BQAUf*BQAux<AqAqA};<"C}?RCC1?CסIGU >y i} =\r,ZwEAipp)t tIt t)v"mAɛvxizTFxxɜxixIx|I|i~lA |) ɝ   I ) i )Iɞ ɟiɫ) IYuc@y}IGyyNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m?I +?V-?94< h)Iy~jt?J +A`"?$?HY= ‘)•A8AI•@i•&AA =M@=YQU>aEdEy}>I :h 5? :ξ B 8@9D"; ސ;)Q:W ?W X XW:W2W!*W!V!bU)BU)*U)U)U5~m@BtGB BASb*BAv<AAA4<"C΋?RCC?CI)iAױIG>ܵ ,>9ܵ CIܵ FGiܵ @ܵ (=ܱ ܵ Dܵ ; ݵ ΗE 2 w w  :Y O1y P: 5) a;nr,wEAɫ) IY5@y5wIG=xDUSBL response received:!U1,R,DB4,000,0068E,189,80,80,6B,FF =Fpublishing direction and range info=G\?9ɰ=v >9 9)=BI9y=|B=ÝE6>iÝ@Ù ĝV@)ĝ@Iĝt@ię<MX=YQU>aEdEy}>I  Sa 5? Vξ ƩB 8@9 D 3: :) W5?W1X1 X9W9:W92W9*W9VAbUBU*UUU U@P*Q|BZQᮔK@3M?@JQnr,XwEAɫ) IY5@y=IGTNmea in: $SNTTA,0.053794,,,,015230.34*4E - Y<M- =Y1 QU5 >1 1 a= E= dE9 yA }E >II U :M U 5? U :M ξ M B U 8@9M DM : M :)M R:m uAdded new target pos. range: 63.180004 m, bearing: 143.015118 deg, deltaT: 4.459281 s, approachRate: 0.497838 m/s, LOS rate: -6.196820 deg/s, posRepo size: 4m  ProNav: pos range: 63.180004 m, bearing: 143.015118 deg, approachRate: 0.497838 m/s, LOS rate: -6.196820 deg/s, cmd update: -12.000000 deg/s, cmd heading: 92.201528 deg, new cmd heading: 99.044343 deg. W 2?W X  X W :W 2W *W V bU BU *U U ` O@U ?B] |BY  Ba Ae \*Ba Ae x[<Ai Ai Am r=<"Cu Ƥ?RCq Cu 2?Cq ׍ ?i׍ ?a Iށ )ޅ @A y { {  :Y #R1y : M59 @IA G >_r,EwEAY}bd @}b?y}b#}bZp}bH2տ Jtɿ &?@ӿ0@P? Ϳ ?)~bd @ ~b/B`;I~bCɫ) IY@y mJG"[>b/=i@ ߏ@)Ȏ@Iߏ@iߏ@X=M=YQUX?aEdEy}W?I 6>9 CI HGi @ = ND D }; ER 5?ξ B %8@9D; ;)WE?WAXI XIWI:WI2WI*WQVQbUQBUQ*UQUYU]7?Bn╽B BA /Y*B A 3V<A A A ^<"CD?RCC?CI!G=.>A A i =nGI i  fͿٺ ӽAr,G xEAY}2X@}2c?y}2y}2Gq}2Hӿʿg?"2ҿ]@ 5? Ϳ:?)~2X@ ~2m@`;I~0ɫYY)Y ]IYYn@yMJGI)MQ=Y;QU>aEdEyy}>IșŝM 5?ŝLξ ƝB 8@9ƝDǝ); ȝ);)șW(`?WX XW:W2W*W V bUBU*UUU ?B]NBBa BaAeY*BaAm%K<AiAiAm<"C}% ?RCyC}(`?CIIaG>M M zM zM  M N:YM Q1yM :M 5r,Q$xEAY}2@}2?y}2dr}2p}2H8ҿ`ʿ$?п`. G?Ϳ?)~2@ ~2 `;I~2CɫII)I IIIY}@y}JGa iM@a M a mM@a M a qM@a M a eM@a M E~jt?{Gz?{Gz?E>E#> E#=)AIAiEMb@Mb@Mb@E©EE A)E@IE@iEV$AEE@}}!=M}<=Yۇ;QU>aEdEy:g}>Iȡ :ť/H 5? :ťξ ƥB 8@9ƥDǥ: ȥ>)ȥS:WǢ?WX XW:W2W*WVbUBU*UUU ?B0BA BAAEU*BAAM0><AIAIAMH<"CUR?RCQCUǢ?CYYIiGZ> I>9 CI ,IGi @ =  D ;  ΗE)ݥCIݥCiݥCݥ'=ݥ#=ݥT6= =i= =r,>xEAY}21@}2?y}2n}2p}2H׌п+ʿ?@{ο@s֭?uͿ`?)~21@ ~2X_;I~2Cɫaa)a iIiY5@y}LG) >#==iz@ @)@Ii@ ޫ=M2=Y:QU>aEdE!y%\}%>I)-%C 5?-ξ -1B =8@9-D-: -e?))W]3?WYXY XYWY:Wa2Wa*WaVabUiBUi*UiUiUms@B"/B BAK*BA`3<AAA<"C;?*CRCC3?CשIGd>E YE {E {E  E :YE #R1yE :E `5r,XxEAY}B"@}BJ?y}Bn}BAo}BHbͿ@].˿ ?s˿bЭ?@KͿ?)~B"@ ~Bv`;I~BC H)LɇLLLLɈRlAiREIPPIPiR5nA TT)TT TVףZJFɉXXZlAIX)XiX)\I~lA|Ɋ| |ɋInAii  )  I ɫ) IY@yLGU%=iUa=<M(=YA8QU>aEdEyPZ}>Iȱŵr> 5?ŵξ ƵJB 8@9Ƶ Dǵ: ȵ?)ȱWZ?WX XW:W2W*WVbUBU*UUUU@RB*** querying acoustic contact ***PPB% "B! B!A-7I*B)A-6'<A)A)A5(<"C5W?RC9C=Z?C9 I G5 >jr,orxEAY}2|@}2?y}2n}2=o}2H ʿ|˿;@?K&ȿrl?^Ϳ@?)~2|@ ~2tb;I~2Cɫ髹) IY@yMGZ****** received transponder code query ******F****** received ping request ******9ܽCIܽJGiܽȤ@ܽ=ܽMDܽDܽ,; ݽE^:>ff̼if@ @)@I@i@~=M%=Y%v9QUM?IQaUEUdEYy]]}]?Iȉ :ō; 5? :ō ξ ƍYB 8@9ƍDǍ: ȍ(?)ȍT:W=?W X  X W :W 2W *WVbUBU*UUU@BdPB BAD*BA<AAAV^<"Cg?RCC=?CyIG^>M M |M |M  M :YM R1yM i:M *5)M T;9U "r,GxEAY}2z?}23?y}2Fj}2k}2HƿZ x˿n?^ĿwD?*Ϳ`?)~2z? ~2a;I~2Cɫ髙) IY@yNGxDUSBL response received:!U1,P DB4,000,0068E,189,80,80,6B,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 UX=M]m=Ym/;QUu?aEdEym}>I9 5?uξ kB 8@9D; }@)Wm?WX XW:W2W*WVbUBU*UUU  @B183B BAXA*BA6<AAA<"Cu?RCCm?CשIG5q> )r,$xEAY}:?}:U6?y}:ks^}:o}:H ÿ@L^̿@?`8ʫ?Ϳ?)~:? ~:Qa;I~8ɫ99)9 =I9Y}@y}NGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)a ia i a ma m a qa q a ea e K7A??"~j? "?= S=)IyGz?Mb?MbPp=?< A)II@i"AQAý\ýýl>iý@ù ĽȎ@)ĽȎ@IĽ@iĽ@=M=YM;QU>aEdEyr}>I4 5?`ξ uB 8@9#D: :)WHU?WX XW:W!2W!*W!V!bU)BU)*U)U)U-d @B]Ñ'BY BYAe.=*BaAe <AaAaAed<"Cm?RCiCuHU?CqqIG~>ܵn>9ܵCIܵLLGiܵ @ܵ=ܱܵDܵ; ݵEM FI I M  M R9YI yI M 5)M A;C0r,xEA||ɫyy)y }IyYd@y-OGxDUSBL response received:!U1,R,F42,000,006B2,187,80,80,9D,FF Fpublishing direction and range info)>ɰi >1> )CIyBkҦ?G ?ٱ&=M=YQU ?aEdEy}  ?I  : 1 5? : wUξ zB 8@9 )D :  :) U:W=cF?WAXA XAWA:WA2WA*WIVIbUIBUI*UIUQUE@P*QBZQ+vhP@#%@JQkҦ?G ?2Q)>:QbQe3H7eO@^y?RQӿmv?WmӥO?BQl? QxBQߟP%9?P֧9?PQ4Q\@"Q?Bu8NBy ByA}I:*ByA}M<AyAA<"CUF?RCCcF?CIiA)סIG > *6r,xEAY}2?}29?y}2{:}2{}2H@z߷@/iο?`]bM?@ Ͽ?)~2? ~2{a;I~2CɫII)I IIIY}@y} PG]=MH=Y !!a%E%dE)y- }->I15B/ 5?5Dξ 5B =8@953D5b: 5n:)1muAdded new target pos. range: 65.339996 m, bearing: 107.811503 deg, deltaT: 3.995385 s, approachRate: 0.540622 m/s, LOS rate: -8.811070 deg/s, posRepo size: 4m ProNav: pos range: 65.339996 m, bearing: 107.811503 deg, approachRate: 0.540622 m/s, LOS rate: -8.811070 deg/s, cmd update: -12.000000 deg/s, cmd heading: 44.401830 deg, new cmd heading: 39.461274 deg. WP0?WX XW:W2W*WVbUBU*UUUP@U@.?B4(B BA4*BA+;AA)A-!o<"C=5و?RC9C=P0?CAIG5.>M M yM yM  M :YM P1yM ':M 59U @,T<r,xEAY}2?}2?y}2)}2*}}2H@ud*ο`?`Y3?3LϿ?)~2? ~2a;I~2Cɫ99)9 =I9Y}@y}PG4=i=5ٽ5p5/>i5@1 5Q@)5Q@I5h@i5@E=MEG=YM2$IIaUEe~>9eCIexMGie@e=eLDeDe; eEUeEqy}{}}>IȁŅ>- 5?Ņ[3ξ ƅB 8@9ƅ=DDž: ȅ<)ȁW-k?W1X1 X1W1:W12W1*W9V9bU9BU9*UAUAUE?BA)B BA0*BASK;AAAun<"CG|?RCCk?CסIG >;Cr,ڐ yEA|i|Y}N?}Ne?y}N}NEt}NH K@h{;ο ?`/?"Pο T?)~N? ~Nca;I~NCɫ髑) IYө@yPG AAut<MuG=Y}AyaE eEy}>Iȑ :ŕu, 5? :ŕt"ξ ƕB 8@9ƕFDǕ(: ȕ:)ȕV:WH?WX XW:W2W*WVbUBU*UUU P?B(B BA.*BA85;AAA$<"Cf?RCCH?C=?i=r?IG+>M M zM zM  M :YM Q1yM :M 5EfIr,l'yEAY}Jm?}J?y}JL}Jn}JHj? @"`ʓͿ`?t?@?Ϳ@?)~Jm? ~Jeka;I~JCɫ髙) IY@yQGE?rh|?y&1|F>= `)Iy{Gz?{Gz?MbC?ף< ­XA)­8AI­Ai­AAE9EaaaeEeeEiymnS}m>Iqu+ 5?ufξ uB }8@9uRDuǺ: u:)qW->WX XW:W2W*WVbUBU*UUU?B)$B BA(*BAV;AAA<"CgO?RCC->CYIiGZ>]>9]CI]OGi]F@]=]KD]D]; ]EMPr,GAyEAY}F?}FNT?y}Fk}FTg}FH 2ם?*5̿?vO?`; ̠?@ӧ̿+?)~F? ~F =a;I~FCɫ髙) IYҪ@y+RG<Ml=Yn;QU?aEeEy}?Iȱ :ŵ, 5? :ŵz; ƵB 8@9ƵZDǵw: ȵ:)ȵW:W/>WX XW:W2W*WVbUBU*UUU'&@B% 3B! B!A%&*B!A-;A)A)A-{<"C5C9)IinGI!i1GU2>eٺaeAM M |M |M  M 9YM R1yM i:M ϊ5|Vr,5[yEAY}>?}>?y}>}>bUg}>H,:? `̿?@2?@5 |q? ̿P,?)~>? ~>Ea;I~>Cɫqq)q uIqY@yESG)I=)=)ý= ý>=MD=Y;QU>aE eEy}>I, 5?; B 8@9eDb: M:)W5C\>W1X1 X1W9:W92W9*W9V9bUABUA*UAUIUMy@Bu<Bq ByA}*ByA}T;AyAyA}<"C&?RCCC\>CׁIG>5 =i5 =H\r,uyEAY}2o?}2R?y}2Ҽ}2g}2H`m˴?y̿@5?@?{ X?̿,?)~2o? ~2y-a;I~2Cɫ99)9 =I9Yy@yRG>9IOGi@='; ʗE)ݕCIݕCiݕCݕ=ݕ =ݕ6"=>i(@ h@)3@I3@iQ@e]M=Y;QU>aE)eEy n<} >I :. 5? :; B 8@9rDk: :)X:WE>WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQU]@ReB*** querying acoustic contact ***PaPaB*B BA!*BAN;AAAa<"Cr?RCC>Cס I G >M M {M {M  M 9YM #R1yM :M 5)M 8;9U Qcr,^َyEAY}>?}>N?y}>"}>f}>Hls?@n"̿@??Jh?#?`̿.?)~>? ~>u1a;I~>CɫYY)Y YIYYn@y$TGZ****** received transponder code query ******F****** received ping request ******M==YERC!CMg[=CIAIIG}7>cir,FyEAɫyy)y yIyY@ySGa=ɮxDUSBL response received:!U1,P F42,000,006B2,187,80,80,9D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %K7?S㥫?)\(?% ?%/]= %G=)!I!y%x&1?/$~jt?%A@?%%< %A)%/AI%Ai%!%(AE9ME=YMQUM>IIaUEU5eEYy]}]>Ii u:m4 5? :m; mB 8@9mDmt; m;)mY: >9 CI PGi @  =  D (; җEW@WX XW:W2W*WVbUBU*U U U @B B  B A *B A HF;A A A @<"C ѵ>RC C @C ס I G >I9 )= AAM /M tM tM  M 9YM M1yM :M 5)M =;Ԝpr,ɑyEAY}2 y?}2ï?y}2}2$Ol}2HbI? ;ͿT?@_:?5??@EͿ%?)~2 y? ~2a;I~2Cɫ99)9 9I9Y=@ySGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Uq<M]=Y]RCCmz@CIG-->jvr,nyEAY}:?}:]F?y}:z}:`m}:Hʥ?F@Ϳr?u?w? ^?DgͿ#?)~:? ~:`;I~:CɫYY)Y YIYY@yTGxDUSBL response received:!U1,R,F42,000,006E1,186,80,80,98,FF Fpublishing direction and range infoɰB>鰝> )CIyQBkҦ?G ?ٱ)=MS=YbE;QU>aE@eEy7}>I< 5?; B 8@9D@: M:)W@WX XW!:W!2W!*W!V!bU)BU)*U)U1U5L@PA*QEQBZQEH+jP@ x&@JQEkҦ?G ?2QA:QAbQEȭ?Q@p$RQEPZ ?y@k?(?~ZBQEF? QE>BQEX?PE^9?PE%9?PEQEQEu@"QE\@Bu"By ByA}*ByA}<;AAAjm<"C i>RCC@CIG5.>M lM |M |M  M b9YM R1yM i:M t59U @|r,FyEAY}2?}2Э?y}2_q}2(q}2H ?}c+Ϳ@=F?9ܵCIܵPGiܵܩ@ܵ =ܱܵDܵ; ݱY@yTGmDNmea in: $SNTTA,,,,,015238.82*59 I=)C=-5Ponly read 0 of 1 data item for BIT error 5@ 5@ 5@u`:Mu =Yu}:QUu>yya}E}IeEy5<}>Iȉ :ōeE 5? :ōU; ƍB 8@9ƍDǍw: ȍ:)ȍZ:mqAdded new target pos. range: 68.160004 m, bearing: 88.598414 deg, deltaT: 4.452468 s, approachRate: 0.633358 m/s, LOS rate: -4.315155 deg/s, posRepo size: 4mu  ProNav: pos range: 68.160004 m, bearing: 88.598414 deg, approachRate: 0.633358 m/s, LOS rate: -4.315155 deg/s, cmd update: -12.000000 deg/s, cmd heading: 350.731301 deg, new cmd heading: 343.673368 deg. W} @Wy Xy  Xy Wy :Wy 2W *W V bU BU *U U = Q@U `?B %B  B A% t*Ba Am :Ai Ai Am <"Cu 2=RCq Cu @Cy I ) hAA iE =י I G >=ڃr,(zEAY}2?}29?y}2h}2nr}2H @?.`Ϳ?@?@dɥ?3?ο?)~2? ~2®`;I~2Cɫ19)9 9I9Yu٬@yuTG%<M%=Y-5;QU-a?11a5E5LeE9yE}E_?IQUH 5?U(x; UB e8@9UDU" ; U ;)QW放@WX XW:W2W*WVbUBU*UUU`N?B.}B BA*BA ֱ:AAA<"C|z=RC!C%放@C!ѽL<IGi>e %e xe xe  e 9Ye 7P1ye :e 5~r,)zEAY}Nx?}N0?y}Nf}Nq}NH_?@ 2UͿ`2?@_?`?4׌?Ϳ`?)~Nx? ~N1`;I~NCɫyy)y yIyYì@yTG}V-?~jtx?ˡE?}>}; }=)yIyy}V-?нi 3@)Ih@iCM/=Y9QU>a%E%TeE!y-p}->I1 =:5O 5? =:5c; 5̪B =8@95D5': 5:)5[:We#|@WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUqU}?BXB BAW*BAU:AAAg\<"Co RCC#|@Cѝ =qIܝ>9ܝCIܝ`QGiܝ-@ܝ=ܝJDܝDܝ; ݝЗEG>Or,CzEAY}6?}6{aEZeE!y%}%>I)-`V 5?-S; -֪B =8@9-D-: -:))W]C@WYXY XaWa:Wa2Wa*WaVibUiBUi*UqUqUu ?B&+B BAT*BA9AAA<"C3RCCC@C) I)GM>I9 )= ?AM 0M yM yM  M 9YM P1yM ':M ͙5r,O]zEAY}2R?}2 П?y}26k}2x}2HuD?@>m`Ϳ}Y?`U??f? Xο?)~2R? ~2Ɵ`;I~2CɫII)I IIIY}@y}TGIM\=YRXQU>!!a%E%`eE)y-A}->I1 =:5~] 5? =:5aC; 5B E8@95D5: 5 :)5\:We@WaXa XaWi:Wi2Wi*WiVibUqBUq*UyUyU} )?B],B BA*BA8^EA)A1A5J<"C5ERC9C=@C9 IG5 >>r,?wzEAY}2&?}29]?y}2 x}2t}2H@?,`5 Ϳ?}? g1?`3?DNο?)~2&? ~2`;I~2Cɫ99)9 9IAM>9MCIMQGiM@M=MIDMDM; M×EY@yTGYiYõQõףõaEgeEym}>Idf 5?1; B 8@9Dq: :)Wuđ@WqXq XqWq:Wq2Wy*WyVybUyBUy*UUUQu@Bޮ B BA*BA^IAAAh<"C uRC Cđ@C)I9G]3>}>yinGIi 5 ٺ1 5 AM yM {M {M  M ::YM #R1yM :M 5)M H;9U r&r,8hzEA||Y}V?}VO?y}V!}VV8o}VH)?:`F̿B?`+? '?6S?Ϳ@v ?)~V? ~V`;I~Tɫyy)y }IY@yUGAAmJ=MuP=Y}QU}>yaEmeEy&}>IȑŕVo 5?ŕJ ; ƕB 8@9ƕDǕ: ȕ߼:)ȑW@WX XW:W2W*WVbUBU*UUU@@RB*** querying acoustic contact ***PPBr)B  B A *B A*6AAA <"C.RCC@C! IGU>= =i= p=Pr,DzEAY}6?}6g(?y}6r}6Go}6H <>?g!̿ f?2?9?@$.?`iͿ ?)~6? ~6G`;I~6Cɫaa)a mIiY­@yUGZ****** received transponder code query ******F****** received ping request ******ÍhÍ7 iÍ@É čh@)ĉIčQ@ič3@ y;M,=YQU>aEueEyCp}>I : { 5? :* ; B 8@9DF; (>)]:Wʭ@WX XW!:W)2W)*W)V1bU1BU1*U1U9U= ^ @B}(B BA[*BARȺAAA(<"C2RCC%ʭ@C!I!E>9ECIE(RGiEЪ@E=AEDE; EE)CICiC==6Gew>M M }M }M  M :YM kS1yM Ԋ:M 5)M ;q;:r,%zEAY}2g?}2m?y}2㨏}2acq}2H ?@/ ̿ P ?[?;"??Ϳ7?)~2g? ~2L `;I~2CɫAI)I IIIYu@y}9VGxDUSBL response received:!U1,P F42,000,006E1,186,80,80,98,FF Command AckBRequesting micromodem ping code 2iC=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =M=Y QU ?))a5E=zeEIy]}e ?Iy} 5?}̾ } B m8@9}D}< }V?)yWWR@WXI XIWI:WQ2WQ*WYVYbUaBU*UUU@eu @B'B BAv *BAAA!A%H<"C-? RC)C-WR@C)IGMR>br,zEA|i|@Y}6Q?}6+?y}6Ǫ}6sr}6H j? ]˿Ӫ???@Ւ?lο?)~6Q? ~6`;I~4ɫyy)y yIyYy鮹ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B YQU>aEeEyH}>Iȱŵ 5?ŵ̾ ƵB 8@9ƵDǵ: ȵۛ?)ȱWxܨ@WX XW:W2W*WVbUBU*UUU@B%v83B! B!A!*B!A-A)A)A-<"C5ERC1C=xܨ@C9IIaG>M |M M M  M :YM WU1yM :M 59U @r,zEAY}6a?}6?y}6L}6'y}6H?@,dn̿@J?A??EI?`ο` ?)~6a? ~6_;I~6Cv>9vCIvRGiv!@v=tvDv; vEɫ髩) IYܭ@yUGxDUSBL response received:!U1,R,2E6,000,00719,189,80,80,56,FF Fpublishing direction and range info%ɰ>7> )BIy B"L˽΅?&)zMٱ)@ʽ'>i=@ Q@)I@i@%=M%)1a5E5eE1y=X}=>IA M:Eo 5? M:E̾ E&B M8@9EDE: EQ?)E^:WuH@WqXq XqWq:Wq2Wy*WyVybUyBU*UUU@@P*Q BZQcyL@smxEJQ"L˽΅?&)zM2Q%:QbQμO@n<>@&K{&@RQA9/p?{{?_?BQu> QAQ<~BP9?P^9?P1QQiA"Qu@BMBI BIAM*BIAUD=AQAQAUy<"C}8RCyC}H@CqIG~>vr,A{EAY}jT?}j?y}j`/}j8v}jHTW?˿ ?@? ۹??`zο`?)~jT? ~jQ_;I~jCi )  I  )&mAɛ%Y%SF!)ɜ-lAi)I)1I1i5lA 99)9A AAAɝAM CMlAII)IiQ)Iɞ ɟiɫ髩) IY­@y%UGDNmea in: $SNTTA,,,,,015243.21*5C I)M M M M  M :YM U1yM :M 5a iu a i} a m} a m} a q} a q} a e} a e} } Dl?"~? ףp= } O ?} > } Q8)y Iy y} )\(?V-?Mb?} GA?} m=} < } "A)} G3AI} Ai} b@} } A ZM =Y !:QU > a E eE y -} >Iȱ ŵ 5?ŵ ̾ Ƶ )B  8@9Ƶ Dǵ : ȵ :)ȱ m uAdded new target pos. range: 71.519997 m, bearing: 25.789795 deg, deltaT: 4.520133 s, approachRate: 0.743339 m/s, LOS rate: -13.895303 deg/s, posRepo size: 4m ProNav REINIT: LOS rate is -13.895303 deg/s. Setting heading cmd to target bearing of 25.789795deg and heading rate command to 0 deg/s.W u>W X  X W :W 2W *W V bU BU *U U GQ@U X?B] JBa  Ba Ae [*Ba Ae >jAa Ai Am -&<"C ?MRC C u>C1 I׭ hA)׭ iAׁIG>r,D1{EA||4<ɫ )  I Y- @y-#VGji 3@)Ii%q5=M%=Y-QU-Z?))a-E-eE1y5}=Z?IAEy 5?E ̾ A M8@9EDE: Eb:)AWiWiXi XqWq:Wq2Wq*WqVybUyBUy*UyUUU+?BpB BA *BAlHxAAA><"Ci_RRCCC܍>9܍CI܍RGi܍s@܍=܉܍D܍; ݍEסIG >=i=ar,CK{EAY}2X?}2C?y}2x}2"o}2H]+?4`ʿ?`Q?iI? ? םͿ@ ?)~2X? ~2=_;I~2Cɫ髹) IY&@yBVG<MS=Y;QU>aEeE1y= }=>IA U:E 5? U:E̾ E+B ]8@9E&DEX; EG;)E_:WWX XW:W2W*WVbUBU*UUU?BH,B BA; *BAۊAAA;Z<"C SWRC C C!I1Ge4>zz :YQ1y:<5Dr,%e{EAY}2՜?}2z?y}29}2|k}2HQ?MJɿ?҇?@_^? G?b,ͿT'?)~2՜? ~2 ^;I~2Cɫ19)9 =I9Y}e@y}VGޘ<MF=Yt:QU>aEeEya}>I   5? +̾ ,B 8@9 /D b: +:) WWX XW:W2W*WVbUBU*UUU$?BM[+BQ BQA]C *BYAe|AiAiAua<"CFW*CRCCC?i?IG%M>܍ >9܍ CI܍ TSGi܍ ī@܍ =܍ HD܉ ܍ g; ݍ Er,n~{EA|i|@Y}B8`?}B-s?y}Bt}BUl}BH(? 'F ȿ ^?6?@; ? ?FͿ`%?)~B8`? ~Bֵ^;I~BCɫiq)q qIqY@yVG)9$>Gji(@ Q@)3@IQ@iQ@ _[<M -=Y ;QU>aEeEy8j}%>Iȉ :ō 5? :ōt̾ ƍ.B 8@9ƍ;DǍV: ȍ:)ȍ`:WWX XW:W2W*WVbUBU*UUU@B#B BA*BAAAA B<"C ORCCC!I1GMt>I)@A( (:YU1y:_5)m;9 {r,cԘ{EAY}B??}Bl?y}Bbq}Bn}BHy>?{ȿ?@%?6O?`D:?@Ϳ!?)~B?? ~BD`;I~BC H)JlAɇHLLLɈRlAiR什ITTI\ir9nA tt)x9 ElAEAɉIQyI)i)IlAɊ ɋii!)! )I)ɫIQ)Q QIQY]@y]VG K7?Dl{Gz I> O  #) I y oʡ?E TY Y a] E] eEa ye $}m >Ii u :m - 5? } :m as̾ m 7B } 8@9m JDm : m :)m a:W W X  X W :W 2W *W V bU BU *U U U _@R B*** querying acoustic contact ***P P Be YdBa  Ba Ae |*Ba Am Ai Ai Am 8<"Cu B9RC C C ב I G >r,9{EAɫ  )  IYM@yMVGUZ****** received transponder code query ******]F****** received ping request ******]9CISGi@=D ; uEm$Mm=YmQUuj?qqauEueEyy}j?Iȉō 5?ōl̾ ƍ:B 8@9ƍODǍ': ȍ:)ȉWWX XW:W2W*W!V!bU!BU!*U!U)U-9@BuwB BAt *BA¡ŻAAAH:<"C0RCCCױIGC>}~~ :YT1y@:`5)k;i I i = T¿ٺA E Air,[{EAY}:0A?}:`?y}:}:ɹv}:H Dk? 7ȿ? J??@7?ο<?)~:0A? ~:_;I~8ɫ髙) IYe@yVGxDUSBL response received:!U1,P 2E6,000,00719,189,80,80,56,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 r MZ=YQU>aEeEyr}>I 5?k]̾ @B U8@9YD; G;)WWX XW:W2W*WVbUBU*UUU  @B7.B BAC *BAE9ջAAA[<"CH6RCCCIG%o>ޝ=iޝ=r,7{EAɫ髉) IY@yVG=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ;=;߽i(@ 3@)3@Ih@ih@ ֳ<M4=YQU>aEeE!y%}%>I) 5:-R 5? 5:-L̾ -GB =8@9-eD-: -:)-b:WYWYXY XYWY:Wa2Wa*WaVabUiBUi*UiUiUu* @BE^6BA BIAM*BIAMBAIAIAM<"CUfRCYCYCYm?im?9IIGeU>{{ A:Y#R1y:59@>9Ii=; ~E)mCImCiim=m=m 7}r,b|EAY}:?}:TT?y}:J}:v}:H? 0@ȿ ?G?@??@Ȕ?Vο<?)~:? ~:W_;I~:Cɫ99)9 =I9Y}ܮ@y}"WGxDUSBL response received:!U1,R,CEB,000,0074D,189,80,80,2B,FF Fpublishing direction and range infoC0?ɰ>鰁 ),BIyGB^|?r,j|EAY}5?}5KM?y}5}5s}5H`O0?I ǿ  ?6?`?v?`&οp?)~5? ~5^;I~5Cɫ) IYUt@yUVGTNmea in: $SNTTA,0.071910,,,,015247.39*41 "~j?~jt?MbPS#?< )Iy}?5^I?y&1?+MB?`e= "A)/AIAiAAܼM-=YdQU>aEeEyY}>I :?8 5? :1̾ DB 8@9yD*: v:)c:mqAdded new target pos. range: 74.639999 m, bearing: 86.043199 deg, deltaT: 4.075117 s, approachRate: 0.765623 m/s, LOS rate: 14.785686 deg/s, posRepo size: 4mProNav REINIT: LOS rate is 14.785686 deg/s. Setting heading cmd to target bearing of 86.043199deg and heading rate command to 0 deg/s.W8?WX XW:W2W*WVbUBU*UUR@U@k~?BE.BA BAAE *BAAMJAIAIAM<"CU"RCQCU8?CYYIaG}Y>IޕAA)ޑU|| :YR1yi:5 r,6|EAY}2i?}2@G?y}2}2p}2H?iƿ@v?pG?`=?P?Ϳ?)~2i? ~2i^;I~2CɫYY)Y ]IYY1@yWGU=UC U33>iU@Q Q)UQ@IUԸ@iUQ@e3=Mmc=Ym}QUm>}>9}CI}TGi}f@}=y} D}; }EEaEeEy}>IȡťG 5?ť+&̾ ƥ>B 8@9ƥDǥ : ȥ:)ȡWQWiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUyUb?Bl=B BA*BA+|AAAv<"Ck틾RCCCI)hAIG (>r,HP|EAY}6(?}6m@?y}6}6iiauEueEyy}h}>IȉōY 5?ō̾ ƍ7B 8@9ƍDǍA6; ȍ ;)ȉWWX XW:W2W*WVbUBU*UUUqf?Bg=B BA *BA$ AAAl<"CBRCCCIG$>#}}  :YkS1yԊ:5!r,Z~j|EAY}:y?}:J:?y}:@}:/l}:H u?ſyG?^??g? FVͿ#?)~:y? ~:L_;I~8ɫai)i mIqY@yKWGip@ h@)h@Iih@=M?=Y8QU>!a%E%eE!y-f}->I1 =:5l 5? =:5 ̾ 50B =9@95D5: 5:)5d:WaWaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqU}@?BZ7B BA*BA-=A)A)A-<"C5нRC1C1C9aIiG9>ޕ=iޕ=})>9}CIyiy}=y}!D}; }IEw !r,qY|EAɫ髙) IYŮ@yWG)IъML=YQU>  a E eEy}>I!% 5?%̾ %)B =9@9%D%E; %C;)!WiWiXq XqWq:Wy2Wy*WyVybUBU*UUUN@Bw?B BAA*BA5AAA`I<"CdѤRCCC?i?IG%>2|| :YR1yi:5)a;99'r,3N|EAY}6 m?}6q0.?y}6Ƽ}6p}6H?oBſ`H ?PM?`tL?u˜? Ϳ?)~6 m? ~6)_;I~4ɫIQ)Q UIQY@yVGi=u On?L7A`尿Mbu ?u + u @)q Iq yu '1Z?Q?S㥛u B?u u=u /ݼ u A)u I.AIu Aiu ^Aq q  n>i ד@ I@) 3@I i I@ M =Y Q QU > a E eE y d} >I  : 5?  : !˾  "B  9@9 D :  V:) e:W) W1 X1  X1 W1 :W1 2W9 *W9 V9 bU9 BU9 *UA UA UE @]O@RM B*** querying acoustic contact ***PI PI Bu #Bq  By A} *By A} u%Ay Ay A &<"C Ca=RC C C ) I9 GU >d-r,*|EAY}Bkg?}B'?y}BӼ}Bs}BH8[?k@ĿЀ??{?o?@$ο@?)~Bkg? ~BMi_;I~BCɫqq)q qIqYe@yWGZ****** received transponder code query ******F****** received ping request ******9-CI-TGi-@-=)-"D-; -hEe >Mm>Ym(QUm?qqa}E}eEy}?Iȑŕ| 5?ŕ˾ ƕ B 9@9ƕDǕ=; ȕy);)ȑWWX XW:W2W*WVbUBU*UUUH@B}}TvBy BAG*BA(AAAd<"C$c>RCCCבIG?>Iލ@A)މ{{ ( :Y#R1y:*5)wW;E4r,>|EAY}:%`?}:Q!?y}:f6㼙}:s}:H?'Ŀi?f??@S]? e?o/ο ?)~:%`? ~:?^;I~:Cɫ99)9 =IAY}-@y}WGxDUSBL response received:!U1,P CEB,000,0074D,189,80,80,2B,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =M=>=YEԑQUM>YYaeEeeEy"o}>Iȩ :ŭ 5?  :ŭs˾ ƭB 9@9ƭDǭ5< ȭ<)ȭf:WWX XW:W2W*WVbUBU*UUUO @B-;B) B)A5*B1A5y 0A1A1A5d<"C=:y>RC=+U>CaCaIq)qaIyG^> p:r,|EAY}B Z?}Bcx?y}Bf}Bv}BH@{V?`s=IĿ&?? ? ?qοK?)~B Z? ~B^;I~BCɫaa)a iIiY&@y}WGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)i==i•@ h@)~@Iih@  M >=Y uQU >aEfEy}>I!%: 5?%8˾ %B 59@9%D%]: %Ǻ:)!WWX XW:W2W*WVbUBU*UUU @BUg?BQ BQAU?*BYA]A 7AYAYA] ^<"Ce>RCm;=CiCi1IAGeU> 1:YU1y:r59@B>9CITGi @=GD#D; yEWAr,}EAY}6BR?}6S?y}6_}6Gv}6H`??$ÿ@jh?`3??J?yο@~?)~6BR? ~6^;I~6Cɫ99)9 9I9Yl@yWGxDUSBL response received:!U1,R,373,000,00770,189,80,80,82,FF Fpublishing direction and range infoCEɰ> )CIyzB|^?6 Jٱ)iaIyim<Mc=Y]QU>ٺOAaE fEyf}>I 5?˾ B 9@9D: :) M?9 AWWX XW:W2W*WVbUBU*U!U!U%kO@P1*Q5zBZQ5e5K@mdJJQ5|^?6 J2Q5CE:Q1bQ5LZR@ _+EY,@RQ5?v5ǿ$ǘ?BQ5p*@ Q5\Q52BP5*9?P5o9?P5wQ5Q5 A"Q5"B EB BA *BAV=AAA}<"C>RC=CCIGE>ޙiޝ=܄Gr,r}EAɫ) IYu@yuXGTNmea in: $SNTTA,0.060248,,,,015251.41*4F }} :YkS1yԊ:s5U Q?Zd;V-?U (?U y U h=)Q IQ yU (\?Q?Mb`U .?U a E fE y } >I  :  5?  : ˾ B  9@9 D f: :) g:m yAdded new target pos. range: 76.739998 m, bearing: 349.442969 deg, deltaT: 4.079716 s, approachRate: 0.514741 m/s, LOS rate: -23.678176 deg/s, posRepo size: 4m% !ProNav REINIT: LOS rate is -23.678176 deg/s. Setting heading cmd to target bearing of 349.442969deg and heading rate command to 0 deg/s.W% p*@W! X!  X! W! :W) 2W) *W) V) bU) BU1 *U1 U5 \/S@U= `1N?Be $Ba  Ba Am *Bi Am FGAi Ai Am 3<"Cu w>RC} IɼC} p*@Cy ֭ ;>ױ i׵ }?E>9CIUGi@=$D; E)ݥCIݥCiݡݥ=ݥ=ݥ36aIqG>Nr,^>}EAY}bC?}b<7?y}b}bCt}bH ?? )N޿?¿`?%?`?;?Oο#?)~bC? ~by^;I~bCɫ髩) IY߯@yaXGiim%=+=M=Y:QUO?aEfEy5}O?I 5?˾ B 9@9DR: :)WWX XW:W2W*WVbUBU!*U!U!U%?BU!uBQ BQAU*BQA]&KAYAYA][<"C?RC%rѽC!C!X>IGK>_Ur,W}EAY}Z#Ey}Zox}Zuu}ZHD?ijܿyg?-?!?M?@M`ο I?)~Z#EaEfEyᔽ}>I : 5? :˾ B 9@9D: :)h:WWX XW:W2W*W!V!bU!BU!*U)U)U-`?B]$\BBY BYA]*BYAe$QAaAaAen<"Cm?RCmCiCqe d>I)GE0>I]AA)Ymmzmzm m:YmQ1ym:mN5;[r,q}EAY}6n<5?}6S>y}6~켙}6kUw}6H@Ū?+ۿ@a?`??b?@ο?)~6n<5? ~6^;I~4ɫ99)9 9IAY}@y}MYGZƋ>X9>iQ@ @)@Ii@=MF=Y:QU>a%E%%fE!y-}}->I15E4 5?5I˾ 5B =9@95D5: 5:)1WYWaXa XaWa:Wa2Wa*WiVibUqBUq*UqUqUu`8?B':B BA*BAXAAA/<"C?*CRC>CC֍o2>Iב)בׁIܭJ>9ܭCIܭVGiܭ@ܭ=ܭFDܩܭ); ݭEGA>|br,}EAY}Nd.?}N>y}N鼙}Nr}NH?Cٿƿ`Q?L?@|?l4?`iοW?)~Nd.? ~NQ^;I~NCɫ) IY@yXGIQ)Q 'MS=Y(z:QU>aE+fEy4}>Iȩ :ŭH 5? :ŭw˾ ƭ!B 9@9ƭDǭ: ȭ:)ȭi:WWX XW:W2W*WVbUBU*UUUi@BdBB BA*BA^AAA~ <"C?RCCC4>uuuu% uA:YuWU1yu:u5)u1z;9יIG@>!hr,_}EAY}:$)?}:#>y}:V㼙}:j}:HZN?ؿǭ?@[?G?s?ͿI&?)~:$)? ~:^;I~:Cɫ99)9 =I9Y}@y}iYG/$?/$? ףp= &1?&1> Q8)Iy/$?`"?{Gz,?=ף ¹)½1AI½Ai¹A!8=MF=Y:QU>aE2fEy~^}>I[ 5?˖˾ B 9@9D: U:)W!W!X! X!W!:W)2W)*W1V1bUABUA*UQUYU]@Bz"?B BA*BA%MdAIAIAUs<"CeT4>RCkCCe=ie=y=יIGd>ٝ iAٝ jAܭ N>9ܭ CIܭ sVGiܭ N@ܭ =ܩ ܭ %Dܭ ; ݭ Ebor,m;}EAY}-^?}-ޖ>y}-]^μ}-yP}-H?`mֿ/̸b?:?I?˙?ɿ`DT?)~-^? ~- ^;I~-Cɫ) IY@yYG鮑ɮ>9iד@ h@)3@Ii3@<M G=Y };QU >aE9fEy}>I! -:%p 5? -:%˾ %B 59@9%D%{: %s:)%j:WQWQXY XYWY:WY2WY*WaVabUaBUa*UaUiUm @RuB*** querying acoustic contact ***PqPqB'8=B BA*BALjAAA<"C0>RCŽCC֍ER=ו?iוo?uuuu u:YuT1yu:ur5)u3r;ׁIG=>ur,m }EAY}F?}F>y}F["¼}FD}FH?տ@1Ҷී?q?`?C?qoȿg?)~F? ~F^;I~FCɫii)i mIiY@yYGZ****** received transponder code query ******F****** received ping request ******a%E%?fE)y-}->I15 5?5b˾ 5B E9@95D5: 5:)1WiWqXq XqWq:Wq2Wq*WyVybUyBUy*UUU  @BCB BA?*BAC`pAAA<"CX>RC3S"CC֍yIG}z>(|r,}EAY}bs?}bw>y}b;%}bd6}bH@?տ``??xY? 8?nƿ`|?)~bs? ~br^;I~bCɫ) IY@yZG%xDUSBL response received:!U1,P 373,000,00770,189,80,80,82,FF %Command Ack%BRequesting micromodem ping code 2i!)5Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 $>>'iG@ ҙ@)@I@iҙ@5a=M=!=I9IIMVGiM@M=I]@A)]AAmymzmzm m:YmQ1ym:m5)mOk;IIM; MEY|;QU>aEGfEy}>Iȱ :ŵ 5? :ŵp}˾ Ƶ B %9@9Ƶ#Dǵb< ȵ:)ȵk:WaWaXa XaWa:Wi2Wi*WiVibUqBUq*UUUM@B (B BA߾*BA\xAAAe<"CPE>RCvM=CC ¼I ) iA I G >r, ~EAY}J?}Jf>y}J)/}Jg}"}JH@_?8fտA@? ?? )4?%?8Ŀ`?)~J? ~J1y^;I~Hɫqq)q uIyY@yZGAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )M);MMo=YU RCy=CCԅI!Gmx>:r,-&~EAY}Fl?}F>y}Fm}F[P }FH|?pտ9W?@t?.??`<N?)~Fl? ~FRZ^;I~Dɫqy)y yIyY$@y,[GxDUSBL response received:!U1,R,321,000,00798,189,80,80,7F,FF Fpublishing direction and range info2ɰ@> )BIyGBύ~?]s0ٱI)m8iim m#:Yiyim59u@ Pn?bX9ȶ?Mb? ? E= =) I y rh|?v/?~jt ;? xi= D • A)• &AI• Ai• A (A `e C = %i @ E@) Q@I Q@i Q@ ,<M =Y 1};QU > a E VfE y } >I! - :% ? 5? - :% l˾ % B - 9@9% 9D% : % :)% l:WQ WQ XQ  XQ WQ :WQ 2WY *W V bU BU *U U U F@P *Q GBZQ ?HJN@߯+(vIJQ ύ~?]s02Q 2:Q bQ r`Ŵ;R@7Wk:u7ad_@RQ NE6?֝Ľտɝ^?BQ @ Q Q BP 19?P *9?P Q wQ VA"Q AE K>9E CIE C C ֕ +,=Q Ii G >ΐr,cC~EAY}zeK?}zq>y}zd}z}zH.?;տ۶?`?&? ??)~zeK? ~za^;I~zCimGIi=i=ɿٺPAɫ!!)! !I!YE@yE[GTNmea in: $SNTTA,,0.187231,,,015255.95*44 лM=YCm&@CiM?BI=! I) GM >ar,3]~EAi  )  I  )mAɛlSFɜiII!i%lA !!)!) -znA))ɝ)11I1)1i1)9I=lA9ɞ9 9ɟAAAiAAɫ) IY@y[G aauL=Muh=YuQUu>yya}E}`fEy}>Iȉō@ 5?ōa˾ ƍB 9@9ƍHDǍ: ȍ:)ȉW @WX XW:W2W*WVbUBU*UUU?b{{ :Y#R1y:s5BUaBBQ BQAU{о*BQA]AYAYA]n<"C6RC >C @Ceu \=I)GER>Er, w~EAY}6_S?}6{>y}6}6퓥}6H@4#?gտ fಂ? ?ز?` }?`@?)~6_S? ~6\_;I~6Cɫ髹) IYҲ@y\GYi]R=ÅT=ÅS>Å=iÅ\@Á ą@ܝI>9ܙIܙiܙܝ=ܙܝ&Dܝ; ݝE)-CI-Ci-C-=-=-X6)ąIą@ią@KV<ME=YaEgfEyg}>I : 5? :Z˾ B 9@9RDA: :)m:W@WX XW:W!2W!*W!V!bU)BU)*U)U)U5`?B(*5B BA;*BAAAAs<"C:IRCC@CC=yIG^>r,p~EA| i| Y}N*?}N50>y}N f}N2}NH %?Ehտ =7=y?`0?`n?l?±6?)~N*? ~N,^;I~NCɫ) IY@y\G)]×;M]Q=Y]aaaeEemfEiymGк}m>Iqu!5?u7T˾ uB 9@9u[Du/: u¿:)qW_@WX XW:W2W*WVbUBU*UUU?I ) yy  :YP1y':`5B59`;B1 B1A5̾*B1A5?A9A9A=<"CEЦRCICM_@CIEѦ>!IIG}Y>B1r,~EAY}2?}2Ǯ>y}2]!y8}2@}2HM'?0`տfl?2?`?+$@?)~2? ~2^;I~2CɫAA)I IIQYy@y[GI4=)%=%>=K7i=@ @)ۙ@I@i@M =Yw;QU>aEwfEy } >I  : @5?  : J˾ B  9@9 hD : ^:) n:W= k@W9 X9  X9 W9 :WA 2WA *WA VA bUI BUI *UI UQ UU g@B} *B  B A BӾ*B ܕ E>9ܕ CIܑ iܑ ܕ =ܑ ܕ %Dܕ ; ݕ EA }'A A A <"C ײRC C k@C &\>ׁ I G > r,~EAY}J11?}J=>y}J&:}JQ/}JH/?0տ Y @t>? ? ݏ?_,?)~J11? ~JL^;I~JCɫ髙) IY@y\GI1)1u=Mu=Y}Y#R1y:5)`;9yIG=>>Cr,:v~EAY}29G?}2+i>y}2,%;}2׃}2H C? +ԿT?(!?2Ѷ?d@緿`.?)~29G? ~25'^;I~2Cɫ11)1 1I1YU@yU[GQɮUp=}ӼM};=Y}:QU}>aEfEy}>Iȑ :ŕa5? :ŕA˾ ƕB 9@9ƕvDǕ9: ȕ:)ȕo:WR@WX XW:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PP i p=B<B! B!A%Ҿ*B!A-H`A)A)A-h<<"C5<2ؾRC1C5R@C9]Y>9IaG>mr,~R~EAY}V?}V>y}V:}Vu}VH_i?@ӿ@cI`?0?J|? =_@ݾ@8?)~V? ~V0^;I~T d)dɇddhlɈlir IppIpiv5nA tt)tx zlAzףxɉx||I)i) I lA Ɋ  ɋii!%A)! !I!ɫQQ)Q YIYYu@yu[G}Z****** received transponder code query ******}F****** received ping request ******}9AIEVGiE@E=AAE; EE||  :YR1yi:5)X;een2?e7ie@a e@)e@Ie3@ie@O;M8=Y>QU>aEfEy}>I&y5?P:˾  B 9@9D6: :)Wָ@WAXA XAWA:WA2WI*WIVIbUIBUI*UQUQUU@B@:B BAҾ*BA?lAAA<"C25RCCָ@CiAiA>I)בIG>AUr,,EAY}2g\ ?}2>y}2y5:}2c.}2H?}ҿ@?G?g?_¿@4?)~2g\ ? ~2,^;I~2Cɫ髙) IY@y[GxDUSBL response received:!U1,P 321,000,00798,189,80,80,7F,FF Command AckBRequesting micromodem ping code 2i%=i<Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ME=Y%8QUU>aEfEy;}>I   : ϐ5? : 3˾  B 9@9 D : :) p:WH@WXY XYWY:Wa2Wa*WiVibUBU*UUU @B%H8B! B!A-Ҿ*B)A-DA)A)AM#<"CU5^ RCQC]H@CYх Nw =y Y I G >uar,/EAY}>#?}>">y}>g';}>U&}>H[?п-?`j?L?DcVĿ#?)~>#? ~>^;I~>Cɫ髩) IY}@y[GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IA)AU#UwUwU U :YUO1yUP:U*59]@5^I ? rh?I +??C = 94=)IyMbX?#~j?y&1*?=`e •7 A)•^AI•Ai•AA;=?ti@ )ۙ@I@iۙ@ M>=Yw:QU>!!a%E%fE)y-w}->I15ܥ5?5/.˾ 5B =9@95D5: 5:)1We @WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU ^~@B\KB BAӾ*BA2AAA\Z<"CMRCC @C)=}%>9yIyiy}=y}$D}_; }ɗEaA IQ Gu >Br,xIEAY}:r>}:|>y}:ƺ:}:`9}:H? }οۥ A?&?o?XWǿy?)~:r> ~:^;I~:Cɫ99)9 =I9Y}@y}[GxDUSBL response received:!U1,R,140,000,007B7,185,80,80,8F,FF Fpublishing direction and range info5ɰ!>鰅+> )CIyBmn? ѿٱ%M|=Y]<0QU]?aaaeEefEiymؔ}m?IȑŕU5?ŕ)˾ ƕB 9@9ƕDǕ: ȕw:)ȑWkݴ@WX XW:W2W*WVbU BU*UUU$@P!*Q%BZQ%M\.wS@ǩhS6JQ%mn? ѿ2Q%5:Q!bQ%7T@x%t?U@RQ%*?zv ֜:Z,¨?BQ%(@ Q%Q%BP%K9?P%19?P%]Q%Q%A"Q%VABIPB BAپ*BAћAAAU<"CRCCkݴ@Cѽ.= ==ֵ6Ʌ>׽?i׽?׉IG>nr,[cEAY}2o>}2L\a>y}2O:9}2@vK}2H i:?g˿ॿv???I8Dɿ ^?)~2o> ~2! _;I~2Cɫqq)y }IyY(@y0[G TNmea in: $SNTTA,0.341531,,,,015300.43*41 ]]}]}] ] :Y]kS1y]Ԋ:]5;M7=Y  QU > aEfEyf}>I! =:%5? =:%E$˾ %B E9@9%D%; %;)%q:m}qAdded new target pos. range: 81.000008 m, bearing: 358.384424 deg, deltaT: 4.287643 s, approachRate: 0.433805 m/s, LOS rate: 4.278782 deg/s, posRepo size: 4m  ProNav: pos range: 81.000008 m, bearing: 358.384424 deg, approachRate: 0.433805 m/s, LOS rate: 4.278782 deg/s, cmd update: 12.000000 deg/s, cmd heading: 323.837395 deg, new cmd heading: 321.318564 deg. W @W X  X W :W2W*WVbUBU*UU @T@U c?B2EB BAZؾ*B!A-٢A1A1A=O<"CgO#RCC@C ) ֕ >q Iy G >r,}EAY}BUL>}BND>y}BeT}BɡX}BHi? ǿ ᤿Zc? ?@]?ඌJ?ʿ\I?)~BUL> ~B-_;I~@n/>9nCIliln=nFDln; nחEɫQQ)Q UIQYu@yu[G =i =íA`>íоíԼií@é ĭ3@)ĭIĭ3@iĭ@hܻMK=Y'AQU>aEfEy%}>I5?˾ B 9@9Dض: :)W^@WX X W :W 2W *W V bUBU*UUU?BEnQBA BIAMپ*BIAM4AIAIAU1<"CU&I"*CYRCYC]^@CY  iu/mGIiIտٺAG-p>r,㍗EAɫ髡) IUUzUzU U:YUQ1yU:U`5Y@yZG)y r?aEfEy}>Iȹ :Žu5? :Ž˾ ƽB 9@9ƽDǽ#: ȽV:)Ƚr:W~@WX XW:W2W*WVbUBU*UUU?B-`?IB1 B1A5a*B1A5ǐA9A9A=<"CERCACE~@CIQQqIy)}hAIIYGu>r,0hEAY}2d>}2>y}2tB}2!d}2H ?@`T}D?`?B ?NH?G̿ 5?)~2d> ~2^;I~2Cɫ99)9 9IAYȱ@yZG'>9CIsVGiN@=#Dc; —E)qIuCiqu=u=u6];]+]v>i]z@Y ]h@)]@I]@i]@mfB<Mm%=Ym9QUu>qya}E}fEyy}>IȉōY5?ō˾ ƍB 9@9ƍDǍ < ȍ'<)ȉWU3@WQXQ XYWY:WY2WY*WYVabUaBUa*UaUaUm =?B rCB BA^޾*BAWBAAAD<"CRCC3@C  FӅ> I G% >r,EEAY}>>}>*=y}>\9:}>c}>H?d! ??`?+G`&̿@h7?)~>> ~>f_;I~>CɫYY)Y YIYY}r@y}QZGI)@A%%~%~% % :Y%T1y%@:%5)%U;9-.M=Y;QU6?aEfEy}6?Iȩ :ŭ*5? :ŭy˾ ƭB 9@9ƭDǭ: ȭw:)ȭs:Ws@WX XW:W2W*WVbUBU*UUU@+@BHB BA*B!A%!ޭA!A!A%1<"C-HRC)C5s@C1%v>I G%M>|r,!EAY}2{>}2:Z=y}2} ;}2Pb}2H[?Ա@ ]'?M#??`a@!̿7?)~2{> ~2+_;I~2Cɫ99)9 =I9Y]B@yeZGyMS=Y s;QU > aEfEaye}e>IimA5?m˾ mB }9@9mDm: m:)iW@WX XW:W2W*WVbUBU*UUU U@BMZB BA*BAɰAAA<"CϾRCC@C ==e>m?im?9IIGeV>r,HEAY}68|>}6J=y}6;}63h}6H`??% FT?#?@p?7c ̿w-?)~68|> ~6w+_;I~6CF>9DIDiDF=DDFF; FEɫyy)y }IyY4@yZGI)eeee e :YeT1ye:e5)e)X;ף=>Ji=@ E@)@I@i%UM-9=Y-9QU->11a5E5fE9y=K}=>IAEO[5?E˾ EB U9@9EDE: E\:)AWue@WqXq XqWy:Wy2Wy*WyVybUBU*UUU@RB*** querying acoustic contact ***PPB-VB BA*BAgAAAs.<"C{RCHD>Ce@C׹IGf> r,EAY}B >}B| ~B/_;I~BCɫ髁) IY-!@y5YGMZ****** received transponder code query ******MF****** received ping request ******]=i]=maEfEy@8}>I :zu5? :˾ B 9@9D: :)t:W5=W1X1 X1W1:W92W9*W9V9bUaBUa*UaUaUm* @B(TB BA*BA\|AAA<"CR]RC\=C=C?:v>IG> r,2EAY}>,>}>pZ}>_m}>H? UG}Ap?$?[r?\+b? sͿ5$?)~>,> ~>{f_;I~>CɫYY)Y YIYY}@y}YGxDUSBL response received:!U1,P 140,000,007B7,185,80,80,8F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ||  :YR1yi:59@ܕ)>9ܑIܕVGiܕ@ܕ=ܑܑܕ\; ݕE iAU -U Y=U +iU ד@Q U Q@)U 3@IU Q@iU 3@e  Mm =Ym QUm >q q au Eu fEq y} % }} >Iȁ  :Ņ $5?  :Ņ ˾ ƅ ڪB  9@9ƅ DDž : ȅ :)ȅ u:W 71E>W X  X W :W 2W *W V bU BU *U U U j@B 3GB  B A z*B A 0 A A A <"C RC 6C 71E>C ֕ D>Iי )ם iAiIqG>  r,}6g@y}6}6o}6H@? ?\-q ?H?w?%Ϳ!?)~6& ~6_;I~6CɫQQ)Q QIQYް@yYGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B  M=Y'QU`?aEfEy}`?I5? ˾ ֪B 9@9D: :)W55o>W1X1 X1W1:W92W9*W9V9bU9BUA*UAUAUM`@Bu2Bq BqA}*ByA}򊽼AyAyA}}<"C(DRC,sC5o>C}C>QIYGuX>A r,GkEAI)AAyy :YP1y':5Y}BƫP>}B@y}Bq}BEh}BH`? C?R?=ͦ}%?`?@ݢ?̿-?)~BƫP> ~Bu_;I~BCɫ) IY]@yXG=xDUSBL response received:!U1,R,1B9,000,007D4,186,80,80,69,FF MFpublishing direction and range info5k ž1ɰ5*$>5> 1)5BI1y5zB5Ԛ<(Ϩ?"ؿٱ1}6Buffer fill timout failure.UU5U%>iU•@Q Q)UQ@IUh@iU@M>=Y QU>aEfEy}>I5?d ˾ ϪB 9@9D^: ;)WmZ>WiXi XiWi:Wq2Wq*WqVqbUqBUy*UyUyU} E@P*QzBZQ O ,S@Hѣ?JQԚ<(Ϩ?"ؿ2Qk ž:QbQ<1R@s LU@nJg@RQ[m6? 9\ڿ$c~ŷ?BQ@ QQeBPD9?PK9?PQ]QSA"QABkaB! B!A% *B)A-A)A)A-<"C5DC=RC5q3C5Z>C9=f/>IG%n>] 8>9] CIY iY ] =] GDY ] W; ] E(! r,]݄EAY}65>}6@y}6A3}6q\}6H`?Y?@r? k,u,?No?`?`g˿A?)~65> ~6~_;I~6Cɫ99)9 =I9Y@yMYGDNmea in: $SNTTA,,,,,015304.92*56 UOutgoing frame #1, 60 bytes: CC101761220000005D00000400260000000000000000151D80030C5669C08C79986ABF3458C6A5A7B4D0CC39AF2343D8F0DCD9D5DE3483498C26E000DNmea out: $CCCYC,0,1,10,1,0,1*69 uPn<Mu=Y}MVQU}>yaEfEyC}>I  :5?  :$ ˾ ƪB  9@9 D+?; *;)v:m uAdded new target pos. range: 82.739998 m, bearing: 335.892885 deg, deltaT: 4.574209 s, approachRate: 0.380392 m/s, LOS rate: -4.917034 deg/s, posRepo size: 4m  ProNav: pos range: 82.739998 m, bearing: 335.892885 deg, approachRate: 0.380392 m/s, LOS rate: -4.917034 deg/s, cmd update: -12.000000 deg/s, cmd heading: 18.727988 deg, new cmd heading: 25.525280 deg. W ::U>W X  X W :W 2W *W V bU BU *U U \T@U 6?B PB  B A *B A eżA A 6 ~ ~  #:Y T1y @: ΐ5A p<"C >RC ڂC ::U>C յ =Ե > g= ?i ?IG>7( r,-EAY}2>}2Z@y}2K;}2HU}2H8?u?? "b(?{?@Si?awʿlN?)~2> ~2_;I~0ɫ髑) IY"@yXG+??~jtxv>> Ļ)Iy#~j?ˡE?Q?%?'=u< "A)*AIidApA&LM=YֺQU?aEfEy}?I  5? s ˾ ȪB 9@9 D : :) W=p>W9X9 X9W9:WA2WA*WAVIbUIBUI*UIUIUUG(?B}틽By ByA*BAsǼAAAT<"CJ>RC Cp>C=IGK>7. r,EAY}J>}J\@y}J =}JBJ}JH??y? (?`F/?@?!/ɿQ_?)~J> ~Jr_;I~JCaegAm;>9mCImsVGimN@m=iimh; mŗEɫ髙) IY@yRYG}Kw?}8?}ף;i}@y }E@)}h@I}Q@i}@X&=MR=YQU>aEfEyI  :5? :, ˾ ˪B 9@9DT; r;)w:WMNT=WIXi XiWi:Wq2Wq*WqVqbUyBUy*UyUyU}?BujB BA*BAʼAAA<"CW*>RCCNT=C%T<IiimGIiſٺ  AGn>  x x  2 :Y 7P1y : 5) BY;9 5 r,׀EAɫyy)y }IyY@yYGBNmea in: $CACYC,0,1,10,1,0,1*6B ]<M]M=YeQUe>aaaeEmfEiym}u>Iy}5?} ˾ }ΪB 9@9}!D}Գ: }:)yWP@WX XW:W2W*WVbUBU*UUU-?BYoB BA*BA0ͼAAA <"C(>*CRCCP@C֥7ƙIש)׭hAׁIG=>+; r,EAY}R7=}R$@y}R**}R}RH`6?؅?mގ?ÿC??@:%? ÿ@?)~R7= ~R_;I~RCɫyy)y }IyY@yYGNNmea in: $CADRQ,015306,1,10,0,64,1*77  UNmea out: $CCTXD,1,10,1,CC101761220000005D00000400260000000000000000151D80030C5669C08C79986ABF3458C6A5A7B4D0CC39AF2343D8F0DCD9D5DE3483498C26E000*36 õ/]õV.õ=iõ•@ñ ĵ@)ĵIıiĵQ@/<M)=Y;QU>aEgEy(}>I9 E:=45? E:=s˾ =ѪB M9@9=,D=: =:)=x:W*@WX XW:W2W*WVbUBU*UUU @Bh]B BA?*BAgѼAAA-;<"C>RCC*@Cֽ@m:>9mCImVGim@m=mFDm$Dms; mϗE)CICiC==37בIG>I AA) @A  { {  :Y #R1y : 5) J;'B r,< EAY}JԳ=}J@y}JG}J}JH?*a?? duĿU??@u?r+A?)~JԳ= ~J`;I~JCɫyy)y yIyY@yYGeH r,_%EAY}F=}F>@y}FĹ}Fwƽ}FH ܗ?@?k?CXĿ q? Z{?՚8?ȸ?)~F= ~F]*`;I~FCɫyy)y yIyY@yYGp=ɮ=.Nmea in: $CATXP,60*74 )EMb@Mb@Mb@EE E)EIAyE?+η?E,?Ev=E EA)E#AIE?AiAAEAe:Me?=Ym=qqauEugEyy} ;}}>Iȁ :Ņ^5? :Ņ˾ ƅѪB 9@9ƅԕ0>]SĽm?ii9IIG}>  w w  !:Y O1y P: 59 @O r,HO?EAY}6=}6@y}6C;}6 $}6Hl??qK? 6ÿ??uh`a,?)~6= ~6ia;I~4 9 CI UGi @ =   t; җEɫqq)q qIqY7@yZGZ****** received transponder code query ******F****** received ping request ******99a=E=gEAyE;}M>IIM'5?M\˾ ]tI MϪB ]:@9MHDM`: M:)IW}d@WyXy XW:W2W*WVbUBU*UUU@( @B^_B BAe*BA./ۼAAAg="CxRC.Cd@C =i p= _! I G- >pU r,PYEAY}:_=}:f@y}:C;}:ט}:H?(?@+t?Z¿@?Tܛ?yB|1y?)~:_= ~:%c;I~8ɫYY)Y ]IYYM@y$ZGxDUSBL response received:!U1,P 1B9,000,007D4,186,80,80,69,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 B<M=Y-  y y    :Y P1y ': 5b%\ r,rEAY}f=}ff@y}fM <}f;}fH@??H ?? } 8Ⴟ8y? ?)~f= ~f+f;I~fCɫ髹) IYJ@yZG@A.Nmea in: $CATXF,60*62 \Response from modem unexpected: $CATXF,60*62       ף= 94 Li (@  Q@) Q@I Q@i Q@ΏMF=Y%;QU%>!!a%E-&gE)y5<=}5>I9 E:=5? E:=`˾ =ͪB E:@9=VD=: =w:)=z:Wmf@WiXi XiWi:Wq2Wq*WqVqbUqBUy*UyUyU}@/W@B`sB BA=*BA#߼AAA="CiRC:Cf@CUhAUfA%.oI-gA)-fAI G!9IHUGiZ@=|; ֗EB c r,̌EAɫyy)y yIyY @yYGNmea in: $CAXST,7,20210814,015307.944515,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5C Response from modem unexpected: $CAXST,7,20210814,015307.944515,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5C >i&?EMK=YQU>aE,gE!y%}->Iim5?mO˾ m̪B }:@9m_Dm: mV:)iW?@WX XW:W2W*W!V!bU!BUI*UIUQUU@B8nB BA,*BA0-AAA="CDRC{=C?@C ?΅IG]u>  z z  : :Y Q1y : 5o7i r,/EAY}2?>}2@y}2d9<}2[?{=}2H? L?0a?7 j?`@ ǀb?Q?)~2?> ~2c;I~0ɫ19)9 =IAYu~@yu_ZG)a i @a  a m @a  a q @a  a e @a  a I @a  e;O? rh?v/? > C= xi=) I i Mb@Mb@Mb@ ©   ) I i   mC =mmp=>imד@i m3@)mh@Im3@im3@}<M})=YR QU>aE4gEyv=}>Iȑ :ŕ5? :ŕ˾ Ƒ :@9ƕiDǕ: ȕ>)ȕ{:W*@WX XW:W2W*WVbUBU*UUU@B WkB  B A *B A ,nA AA~="C}ӾRC7>C*@C!56Ʌ I G5 >Ap r,EAY}:F,>}:}@y}:;}::=}:H@\?⠴?!M?~@?`?)~:F,> ~:yb;I~8iDFmA)Fx F,TFID J̔C)JmAɠJmJFFHJ@CɡNlAiNDINQIFLV>>9TIVTGiV@V=TTVi; V͗EIbCibmA bĻbOF)`f@C fbnAddɢdfCjlAIj)jIFih)jCIjlAnɣnIBF lɤnCrApippɫ髹) IY5@y5YG9ɮ=p=MfAiI{M =Y;ߺQU>aEI5?˾ ͪB :@9tDF: K|?)Ww@WX XW :W 2W *W V bU BU *U U U @R% B*** querying acoustic contact ***P! P! BE iBA  BI AM *BI AM GAI AQ AU \="C] 1QRC] >Ce w@Ca } >} > \ | |  T:Y R1y i: 5) Pg;9 M 8sU ?iU ?! I) GM >JIv r,]ځEAY}2qA>}2)@y}2t;}29)=}2Hb?Ԑ?Pg`7?ny??)~2qA> ~2a;I~2Cɫ髙) IYyYʻQUw?aE?gEy4=}w?IG5? ˾ ΪB  :@9xDk: E?)W-~@W)X) X)W):W12W*WVbUBU*UUU@BEBwFX= BA*BApAAAP="CRCC~@C p\IG (>u| r,CEAY}r`Z>}r@y}rJi;}r>}rH`?(? $? 8{?`x¿"u@I?@?)~r`Z> ~ra;I~rCɫ髑) IY@yZG:Nmea in: $CAACK,10,1,1,1*7B Sent 52 bytes from file Logs/20210814T003940/Courier0034.lzma.parts.Packets left to send: 0 U@ U@ U@U©UUiU•@U U)U@IUQ@iUQ@m =Mm=YmGQUu>qqauEuFgEyy}$[=}}>IȁŅD5?Ņ? ˾ ƅЪB :@9ƅDDž: ȅ?)ȁW~@WX XW:W2W*WVbUBU*UUU Kv@BpoB BAt*BAAAA)w="C0N'RC C ~@C ֽU#yIܥ7>9ܡIܥSGiܥ@ܥ=ܡܡܥo; ݥЗEGb>   % :Y y 5) \^; > i- nGIY ii &ٺ $B{[ r,EAɫyy)y yIyY@yYGQNmea in: $CACST,6,0,20210814015310.875095,06,30764,44,0097,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,25.6,10.29,20,-7.29,-01,0.12,39,14500,4000*57 Response from modem unexpected: $CACST,6,0,20210814015310.875095,06,30764,44,0097,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,25.6,10.29,20,-7.29,-01,0.12,39,14500,4000*57  a iu a i} a m} a m} a q} a q} a e} a e} a I} a I} } -? rh?} ?>} C< } )y Iy y} n?i|?5?V-?} 6?} q=} < } A)} AI} nAi} A} } A M =Y QU > a E PgE y } >Iȹ  :Ž >5?  :Ž 2 ˾ ƽ ۪B  :@9ƽ Dǽ : Ƚ _:)Ƚ |:Wm @Wi Xi  Xi Wi :Wi 2Wq *Wq Vq bUq BUq *U U U @@1(  P pAggregate::uninitialize lineCaptureDepth:MicromodemCommsq( P Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn( B `B  B A *B A =A A A ="C A*KRC! C% @C! 1 5 iA ϰI hA) hA I G >TW r,_+EAY}R饄>}R0}RH@?PM+h? 7?? ]Ŀ ]T??)~R饄> ~R}+a;I~RCɫqq)q yIyY-@y-dYG=>i=!>   @=>=i@ ?@)h@I@i@M=YQU[?aETgEyf>}[?IJ5?~ ˾ ߪB :@9D: o:)W-Vؤ@W)X) X)W):W)2W)*W1V1bU1BU1*U9U9U=Y@BB BA*BA]AAAB ="C8%URCCVؤ@C-|,=֭cRlׁIG>UQQU U[ :YQyQU*59U@ 1>9 I RGi !@ = ED h; ̗E)ݝCIݝCiݙݝ=ݝ=ݝvD6f8 r,KEEAɫyy)y }IyY@yRYGM]=YQU>aEYgEy}>I :`5? :8 ˾ B  :@9D[: :)}:Wb r,^EAY}2Y'>}2, =y}2;}2`>}2H?@'npU?@?@s?`]'q??@¯?)~2Y'> ~2_;I~2Cɫ11)1 1I1Ym)@ymXGqɮua=M2=YbAQU>aEagEy1|=}>Iȱŵu|5?ŵ˾ ƵB :@9ƵDǵ: ȵϸ:)ȱW{H@WX XW:W2W*WVbUBU*UUU o'@BrB BAJ*BAAAAN ="CQ&RCC{H@ClX= = >=!>.=?i?] ]z]z] ] :Y]Q1y]:]5 I1 GU > r,VxEAY}2>}2 t?=y}2ۻ}2=}2H@?@)L #?`?@z{?@? ?)~2> ~2"_;I~2C >ٔC)>lAɌ<<iÝ@Ù ĝ)ĝΣ@Ięię`MS=Y`ջQU>aEggE!y%$<}->IQ ]:Uȓ5? ]:U&˾ UB ]:@9UDU: U":)U~:W¡@WX XW:W2W*WVbUBU*UUU@^ @RB*** querying acoustic contact ***PPB فB  B A *BAAAA ="CBRCC¡@C!)))) )ܵ'>9ܵCIܵQGiܵ@ܵ=ܱܱܵv; ݵїE֍:=i Iq G >t r,EAY}:+F>}:Q=y}:7}:-=}:H?!v l?@?ꌻ`|? w?@_?)~:+F> ~:%^;I~:Cɫ髙) IYV@yWGUBM]W=Y]ǻQU]>aaaeEemgEaym8<}m>Iqu+5?u6˾ uB }:@9uDu: uO:)qW*$@WX XW:W2W*WVbUBU*UUU !@BB BA*BA!AAA9n ="CRCC*$@CS%= I1Gm5>]]}]}] ]:Y]kS1y]Ԋ:])5 r,.EAY}f]>}fLW=y}fA}f=}fH ?^}@]?@?΍"? l?@?)~f]> ~f^;I~dɫ99)9 9I9Yu<@yuWGyytV?rh|?Mbp?= )Iy?+?~jt?,?== A)7 AIAiA(Auu>uiu@q u@)u@Iu@iu@(M9=Y̻QU>aEtgEys;}>Iȡ M:ť*5? M:ťw˾ ƥ B :@9ƥDǥD= ȥ7=)ȥ:W@WX XW:W2W*WVbUBU*UUU`m"@Be:Bi BiAm*BiAm` AiAqAuD ="C}RCyC}@C1uiAqu]92>Iy)yIIYG}>ܭ %>9ܩ Iܭ `QGiܭ -@ܭ =ܭ FDܭ #Dܭ q; ݭ ˗E r,HlƂEAY}2Oi>}2J=y}2y}252S=}2H?@@? ?!9? b?)?)~2Oi> ~2f^;I~0ɫAQ)Q UIQY®@yWGUSetting waiting for range response to false due to timeout. Elapsed:6.125888]=i]=)a MR=YQU>aEzgE!y% }%>Ișŝ5?ŝʾ ƝB :@9ƝDǝ: ȝ4:)șWy@WX XW:W2W*WVbUBU*UUU@"@B瑽B  B A ^*B A .AAAZ ="C#RCCy@C={K7>I)GUu>{{  :Y#R1y:O5)]Z;9 r,AEAY}2Γ>}2K%=y}2 \}2€<}2H ?@%Ϥ9 ? 8?3ᐿ@3˓? a? u?)~2Γ> ~2\_;I~0ɫYY)Y YIYYѭ@yUG T t   a E gE y RJ} u>I  : B5?  : ʾ  )B % :@9 D :  R:) :W ɓ@W X  X W :W 2W *W V bU BU *U U U cD$@B Z~B  BA*BA AAA="Cx_RCC%ɓ@C! Zh> ?i ?IG?Od r,EAY}6R΋>}6 ~6`;I~6C^&>9^CI\i\^=\\\ ^ɗEɫii)i iIqY@yUG鮱ɮp==`M>Y@ӼQU?aEgEy˽}?I$ 5?ʾ -B :@9DE: 0:)W@WX XW:W2W*WVbUBU*UUU`ɗ$@BuBq BqA}*ByA!AAA}\="C*6ĿRCC@CֵAz|>zz :YQ1y:5)O;בIG?> r,|EAɫ髉) IY@yTGm +?B`"۹?1Zd?m?m= m"=)iIiymS?~jt?m/?mD=m m?A)mAImAimAimAM2=YQU>aEgEy}>Iȡť%5?ťCʾ ƥ1B :@9ƥDǥ+: ȥ:)ȡWg@WX XW:W2W*WVbUBU*UUU`|%@RB*** querying acoustic contact ***PPBRB1 B1A=*B9A= A9A9A=="CEiпRCACMg@CIm>AIIGm> r,`?5EAY}2f>}2N@y}2Q6꼙}2-v}2H\?@Z?\5I?0?E?5@?)~2f> ~2;b;I~2CɫII)I IIIY}S@y}?UGZ****** received transponder code query ******F****** received ping request ******=xi=i=p@9 =h@)=h@I=h@i=h@M<MMb=YMQQa]E]gEYye}e>Ii u:ms:5? }:mʾ m3B :@9mDmV; md;)m:W}@WyX XW:W2W*WVbUBU*UUU@B&@BE$JBA BA*BA AAAs="CڿRCC@C{{ 3:Y#R1y:r59 @(>9IPGiܩ@=; ٗEI)IG>i =nGI i % Կٺ! % A r,OEAY}6 J>}6m@y}6qI}6}6H`}?j?@z@`f??`g?ɂ¿@?)~6 J> ~6c;I~6Cɫ99)9 =I9Yq@y)TGAAxDUSBL response received:!U1,P 1B9,000,007D4,186,80,80,69,FF Command AckBRequesting micromodem ping code 2iIMQ=YQU>aEgEy6}>IQ5?Xʾ 6B  :@9D: :)W5@W1X1 X1W9:W92W9*W9V9bUABUA*UAUAUM@&@B}B BA*BA~AAA:="CRCC@C։AIQGm5> r,hEAY}:Q.>}:@y}:}:1}:H?@!?| ,h?_?l?oƿ`?)~:Q.> ~:Oc;I~:Cɫ99)9 9I9Y}٬@y}TG=MM=YȻQU>aEgEy:}>I :h5? :|ʾ 9B :@9D[: g:):W5i@W1X9 X9WA:WA2Wi*WqVqbUqBUy*UyUyU}'@B%B) BIAM*BIAU>AQAQAUS="CeRCaCei@CP  3::Yy<5}E2>QIaG}z>ϫ r,ЂEA6+>94I6`QGi6-@6=446; 6ڗE) CI Ci = = 6Y}F>}FF@y}FJ}F|K}FH?/?挿@Ӻ`u,?k?^H?@@ɿ Y?)~F> ~F!ac;I~DɫYY)Y ]IYYe@ye[TG?5>=/aEgEyr}>I5?ʾ  ?i ?I G%M> r,8EAY}vv=}va@y}vk}vK]}vH`A??a`?`?ﰣ?~{˿:?)~vv= ~vb;I~vCɫ) IY Ҭ@y TGI)A "~j?J +?Mb`? S#? = ;) I y ?IQaUEUgEYye}e>Ii u:m5? }:muʾ m@B :@9mDm`; mr;)m:WF|@WX XW:W2W*WVbUBU*UUUJ)@   :YU1y:5BBB BA*BAAAA="C 6RC!C%F|@C!-> I9G}> r,EAY}2=}2e@y}2`)}2j}2HI?W?\TiĿx?@]u?*?d̿$?)~2= ~24wb;I~2Cɫ99)9 =I9Y]@y]@TG = I "=i   h@) @I @i 3@ԼM`=Y%qQU%>!!a-E-gE)y5}5>I9=5?=+ʾ =BB E:@9=D=Z: =:)9We\Bw@WiXi XiWi:Wi2Wi*WqVqbUqBUy*UyUyU}q7*@B1ƦB BAN*BA%_AAA&]="ClRCC\Bw@C֡=i=aIqG9>e1>9aIeQGie@e=aaa eۗE r, bЃEAY}:,g=}:"@y}:c2}:BFo}:HGb?~?\ne?^ȿ?J ?A? Ϳ?)~:,g= ~:Ҥa;I~:Cɫ99)9 9I9Y}@y}vTG=e<MS=YQU>aEgEy횽}>IȹŽ5?ŽXʾ ƽFB :@9ƽ%Dǽ; Ƚ;)ȹWq@WX XW:W2W*WVbUBU*UU U-+@R=B*** querying acoustic contact ***P9P9BB BA*BA-ɋA1A1A5%="C RCCq@Cs|| *:YR1yi:5)|j;9 ֽ>I)iAבIG> r, Ƌi •@  ) h@I h@i @d=M4=Y%QU%>!!a-E-gE)y5}5>I9 E:=5? E:=ʾ =JB E:@9=.D=: =:)=:Wm,k@WqXq XyWy:W2W*WVbUBU*UUU a+@BM ϞBI BIAUp*BQAUufAQAQAUJ="C]:RCYCe,k@Ca}>QIaG}z>e 7>9a Ie RGie !@e =a a e ; a  !r,WEAY}6+;}6PC@y}6yB}6t}6H ?g?T`?mο?]?L?MFο ?)~6+; ~6]`;I~6Cɫyy)y yIyY@yVTGM_=Y2QU>aEgEy(}>I5?ʾ MB :@96Dd: :)W%wg@W)X) X)W):W)2W)*W1V1bU1BU9*U9U9U=`,@BeBi BiAm*BiAm@+AiAiAu="CRCCwg@C I@A),}} :YkS1yԊ:*5)`;IG J>'!r,EAY}Bt@}B)@y}BK}B}u}BH@M? ^&?{?@п?@?@z?@ [ο ?)~Bt@ ~Bo%`;I~@ɫy髁) IY@yTGNmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ^I +?~jt?QX>D< u)IyʡE?V-? rh-2?=C A)G3AIAi7AA<M!=YQU>aEgE!y%>}->I) 5:- 5? 5:-ʾ -KB =:@9-AD-: -:)-:W]>H`@WaXa XaWa:Wa2Wa*WiVibUiBUi*UqUqUu-@BBTF.= BAL*BAAAA ="CRCC>H`@C ==>?i?IG>M !r,7EAY}6 @}6@y}6r W}6u}6H՛??@?\ҿ?@?eު?_ο@d ?)~6 @ ~6S_;I~6Cɫyy)y yIyY@yTGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B >ʽ=i@ 3@)@I@i@3<Mx=YCQU?aEgEyҕ}?I 5?˾ IB :@9ID: :)W"[@WX XW:W2W*WVbUBU)*U)U1U5S^.@  :YT1y:59@B%B! B)A-_*B)A-k A)A)A-{="C5c#RC9C="[@C9 :>9 CI RGi s@ =  $D ; Eg>שIG>6!r,QEAY}2B@}2@y}2c}2o}2H[?@!0?@?`vӿr?Y?i^?sͿ ?)~2B@ ~2r_;I~2Cɫyy)y yIY@yUGxDUSBL response received:!U1,R,502,000,00816,189,80,80,AE,FF Fpublishing direction and range infof3ɰ)>7> ).CIyfBw?amf-ٱ 4=MX=YEQU>!!a%E%gE)y5}5>IA M:E{65? M:E˾ EHB U:@9EQDE[0; E2;)E:W5iV@W1X9 X9W9:W92W9*WAVAbUABUA*UAUIUM/@PY*Q]fBZQ]ɌsB@"@kwSJQ]w?amf-2Q]f3:QYbQ]6b&@9bdTd'4@RQ]n3(?wak98a?BQ]@ Q]Q];5AP]9?P]D9?P]Q]Q]A"Q]SAB7B BA*BA"AAA="C(RCCiV@C=ip=>IGj>c!r,}kEA|4|4Y}W@}@y}n} m}H@??R?տ l+? ?@٭?PͿ@?)~W@ ~_;I~ɫ髩) IY@yUGDNmea in: $SNTTA,,,,,015320.61*5C %C %t=%#=i%z@! %@)%3@I%Q@i%Q@Et<ME+=YMǻQUM>IQaUEUgEYyHd}>I]%]z]z] ] :Y]Q1y]:]5S5?˾  e:@9\D0< 0<)myAdded new target pos. range: 86.700005 m, bearing: 277.719535 deg, deltaT: 15.560618 s, approachRate: 0.254489 m/s, LOS rate: -3.738498 deg/s, posRepo size: 4m ProNav: pos range: 86.700005 m, bearing: 277.719535 deg, approachRate: 0.254489 m/s, LOS rate: -3.738498 deg/s, cmd update: -11.215495 deg/s, cmd heading: 191.952747 deg, new cmd heading: 186.178119 deg. WxbP@WX XW:W2W*WVbUBU*UU̬U@U}t?BE7BI BIAMn*BIAMW$AQAQAux="C}!/RCyC}xbP@Cхu \=ԕjAԕjA} >Iׁ )ׅ hAQ Ia G} > =>9 I SGi @ = ; EW!!r,sEAY}F@}F3@y}Fy}Fʻl}FH`#?]?S8?`N׿??@3?LFͿR?)~F@ ~FM>`;I~FCɫYY)Y YIYYm@yVG=N=M=p=Y=QU=?AAaEEEgEIyM)}M ?IQ ]:Ue5? e:U} ˾ Q e:@9UdDU: UX:)U:WvL@WX XW:W2W*WVbUi%nGIYiqſٺͶABU*UUU V?B̧B BA *BA%AAABJ="C-%3RC)C-vL@C1C;=>ױIG>ށ'!r,|EAɫ髙) IY&@yBVG|?5^?{Gz?ˡE? ?#= '=)Iyq= ףp?MbX9?{Gz+?ʡ=# "A)1AIAi A(A 7M>=YQU>aEgEy%}->I9=}5?= ˾ =KB ]:@9=mD=ʇ; ={;)9WF@WX XW:W2W*W!V!bU!BUI*UIUQUU7?I)BAB ݟB BA; *BAq'AAA=EaE{E{E E:YE#R1yE:E*5"CU}9RCaCeF@Cau0-=օ >a Ii G >-!r,WEA|i|ɫ髙) IYܮ@y"WG @ @ @©i׫@ h@)@IiE@%c=MM=YQU>aEgEy}>I5?˾ MB :@9vD/: j:)W5#B@W9X9 X9W9:W92W9*WAVAbUABUA*UAUIUM?BujBy ByA}*ByA}|J)AyAyAj="CW>RCC#B@Cϑϑ)Й Й܍D>9܉I܍TGi܍ @܍=܉܉܍; ݍۗE)CICi=={F5- >5 ?i5 ? I G- >4!r,2ӄEAɫ髙) IY@yWGu@Q=M}R=YyQU}>aEgEy}>Iȑ :ŕ5? :ŕ˾ ƕPB :@9ƕ~DǕ: ȕD:)ȕ:WEt =@WAXI XIWi:Wq2Wy*WyVybUBU*UUU`K=@B%d B! B)A-x*B)A- +A1A1A5="CECRCACEt =@CMM~M~M M :YMT1yM@:M5)MR;9U>ױIG>:!r,EAY} o@} @y} } $f} H2O?ɱ?f?Ljݿp?`R??v̿] ?)~ o@ ~ h`;I~ Cɫ11)1 =I9Yu@yu!XG M M MMS㽩M;_>M >iM@M M@)M@IM@iM@]L<Me<=YeSTQUe>iiamEmhEqyu,}}u>Iy}5?}y˾ }TB :@9}D};: }:)yW7@WX XW:W2W*WVbUBU*UUU @B B BA*BAӮ,AAA="CAH@RCC7@C=iIGn>܅ K>9܅ CI܅ VGi܅ @܅ =܁ ܅ %D܅ ; ݅ EA!r,EA|;|;ɫ髩) IY@ymYGAA%T=M->=Y-QU->19a=E= hEAyM}M>IY e:]5? :]g!˾ ]WB :@9]D]E; ];)]:W O2@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPzz P :YQ1y:*5)0[;BB BAD*BAar.AAA6="CMB@RCC O2@CV݅>I)IG>G!r," EAY}6e @}6@y}6͍}69jc}6Hॉ?5?=?&?@??@O ̿#?)~6e @ ~6S`;I~6Ci@BmA)Bl BTFI@ @)FmAɠF;_FsFFDFLCɡHiHIHHIJ CiH LL)LNLC PPPɢPPPIT)TiT)TIVlATɣX XɤXXXiX\ɫ) IYް@yYGZ****** received transponder code query ******F****** received ping request ******= <)Iy333333?A`"?~jth??=D; A)M.AI AiA A=<MQ=YQU>aEhEy}>Iw5?&˾ \B :@9D#<  <)WMn-@WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYU]@f' @BB BA*BA/AAAM="CG=@RCCn-@C=FӅ>IG=>M!r,M:EAY}2A;@}2H@y}22[}2h}2H??*Ϯ?9?@q?@?-̿?)~2A;@ ~2|`;I~2Cɫ髹) IY!@yYGxDUSBL response received:!U1,P 502,000,00816,189,80,80,AE,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 í>íLí5L>95CI5Iȁ :Ņ>5? :Ņ+˾ ƅaB :@9ƅDDžs: ȅ=:)ȅ:ss d :YM1y:5)T[;Wƹ'@WyX XW:W2W*WVbUBU*UUU@%@BEB BA*BA1AAAS="Ch6@RCCƹ'@C > I G >qT!r,TEA|i|Y}Z|e@}Z&s@y}Z@D}Zo}ZH?@"?ű?׷??D? ͿM ?)~Z|e@ ~Z|`;I~Xɫ) IYU@yUqZGYɮY}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =Mr=Y"5QU?aEhEy%ߢ}%?I)-5?-q0˾ -dB =:@9-D-: -:))W]̯#@WYXY XYWY:Wa2Wa*WaVabUiBUi*UiUiUua0@B5PB9 B9A=*B9A=2AAAAAEg="C}3@RCyC}̯#@Cu>}?i}i?QIYG}z>r[!r,cnEAY}v?@}v饵@y}v}vVft}vH 8?-??`q2;??${? .ο?)~v?@ ~v`;I~vCɫ) IYg@yDZGxDUSBL response received:!U1,R,502,000,00814,189,80,80,A2,FF Fpublishing direction and range infoɰi)> )"CIy(Bw?amf-ٱ%?%>%Т>i%(@! %E@)%ۙ@I%@i%&@54M5H=Y=QU=>99aEEE$hEIyMyz}M>IQ ]:U!5? ]:U]6˾ UiB e:@9UDU: UV:)U:Wu@WX XW:W2W*WVbUBU*UUU @P*Q(BZQWuB@ƂةxSJQw?amf-2Q:QbQ԰> *ē'DϺTfB5@RQ ÿ^>/?BQԹ@ Q֥QSP~9?P9?PQQA"QAB㘽B BAc*BAL4AAA#p="C}-@RCCu@C3|| :YR1yi:59@>IG>! 9! I% XGi% 6@% =! ! % ; % Ea!r,0EAY}Vͼ@}VJ۴@y}VM}VYfv}VH@??d?` ?@?@g?/lο?)~Vͼ@ ~VB`;I~VCɫ) IY=Q@y=c[GTNmea in: $SNTTA,0.060248,,,,015325.06*4E Uj=MUI=YU_кQUU>YYa]E]+hEayeXy}e>Iquo45?u<˾ umB }:@9uDuh: u:)qmyAdded new target pos. range: 86.579994 m, bearing: 260.921204 deg, deltaT: 4.463328 s, approachRate: -0.026888 m/s, LOS rate: -3.763634 deg/s, posRepo size: 4m ProNav: pos range: 86.579994 m, bearing: 260.921204 deg, approachRate: -0.026888 m/s, LOS rate: -3.763634 deg/s, cmd update: -11.290900 deg/s, cmd heading: 141.947139 deg, new cmd heading: 137.385270 deg. W3m@WX XW:W2W*WVbUBU*UUU@U/?BۗB BAվ*BA5AAA *t="C r(@RCC3m@C%iA%iAi=N؅>IGn>h!r,9 EAɫ髁) IY@y=\G ))1Zd?:vkt"?Լ  0)Iyn?p= ף? ףp= ?>Q8 µA)µt-AIµ AiµApAe=MS=YQU>aE1hEy}>I8F5? B˾ gB :@9D: :)WU@WX XW:W2W*WVbUBU*UUU?B B BAʾ*BA6AAAYp="C"@RCC U@C m>Iq)uiAI IQ Gu >(Hn!r,绅EAY}61@}6?@y}6}6u}6H?~? ?`p@?3u??Vο`,?)~61@ ~6`;I~6CP>9CI\ZGi{@&Da; їEɫ) !I!Y=@y=O\G];M=YJQU>aE:hEy}>I :3^5? :J˾ ^B :@9D^: I:):imGIi=!ǿٺ9EAW]G @WYXY XYWY:Wa2Wa*WaVabUaBUi*UiUiU@?BnB BAɾ*BAH8AAAU="C3}@RC C G @C  =  > I G5 >Z2u!r,ՅEAY}B F@}BS@y}B P}B t}BHb0??JU?`B2??UE?7ο?)~B F@ ~B`;I~@ JC)JlAɌHLLLɍNnAiN#IPPIRCiP PP)TZ&C \\b?FɎdlnlAIn)lil)pIppɏp pɐtttittitzA)x xIxɫ) IY@y&]G=M=YDQU)?aE>hEy߽}(?Ij5?)O˾ ZB :@9DG: :)W[ @WX XW:W2W*WVbU!BU!*U!U!U%n?BUt:BQ BQAU徾*BQA]l9AYAYA]^="Ce}@RCaCe[ @CiօFӅ>I)aIqG:>P}} %:YkS1yԊ:`5)w;9Z{!r,EAɫ) IY5@y5]G-Ponly read 0 of 1 data item for BIT error @ @ @VME=YQU>aEEhEy} >Iȉ :ō|5? :ōGV˾ ƍTB :@9ƍDǍV: ȍ:)ȍ:W@WX XW:W2W*WVbUBU*UUU)@B=$B9 B9AE*BAAE:AAAqA}M="C}D@RCC@CօFa>ׅ?iׅ?YIaGY> 9 I [Gi o@ = ED җE)]CI]CiY]=]=]<6B!r,x EAY}Reu@}R@y}R}R1n}RHB? ҵ?@#?@HO??=?iͿ@k ?)~Reu@ ~R`;I~RCɫ) IY5@y52^G=ML=YQU>aEKhEy`}>I5?]˾ NB :@9D: ܹ:)W%`&@W!X! X!W!:W)2W)*W)V)bU1BU1*U1U1U= <@Be Ba BaAe=*BaAm;AiAA3="Cl @RCC`&@C99E=%2>%,%%% %:Y%T1y%:%5)%`;IAG]U>6l!r,S#EAY}F@}F®@y}FŢ}F/h}FH?`B:??@\]`Z??`=S?6̿@?)~F@ ~Fj`;I~FCɫ髙) IYm@y6_G@AK7A`?y&1?{Gzt? ?`= ף;)Iyx?MbX?~jt?K?=D< ¥@)¥+AI¥Ai¥ A(Av=ML=YHVQU>aEQhEyo}>I :5? :e˾ VB :@9Dg; ;):W&?WX XW:W2W*W!V!bU!BU!*U!U)U-s@R5B*** querying acoustic contact ***P1P1B]c9BY BYA] *BYAe<AaAaAeo="Cm=@RCiCm&?Cq->=i= I1Gu6>@!r,.=EA| | Y}F @}Fv@y}F8}F7Q`}FHaEXhEyR}>Iȩŭ5?ŭEn˾ ƭ]B ;@9ƭDǭw: ȭ:)ȩW;s?WX XW:W2W*WVbUBU*UUU@N @BB BAC*BA%2=A!A!A50="CUn@RCQCU;s?CYܙ9ܙIܝ|]Giܝ@ܝ=ܙܙܝY; ݝΗE=I)hAebe}e}e e:YekS1yeԊ:e5)e$h;יIGa>Մ!r,%WEAY}Fz@}F@y}F}F:@V}FHm?;?˻?l/?@?,? ʿ5?)~Fz@ ~F`;I~DɫII)I QIQY8@y1`GxDUSBL response received:!U1,P 502,000,00814,189,80,80,A2,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ?=MS=Y;QU>aE^hEy g/} >I :ȼ5? :Iw˾ eB ;@9D(: V:):W?WX XW:W2W *W V bUBU9*UAUIUM : @B^B BAQ*BA?AAAy="C%C?RC!C%?C) ]=]>5< I)G]v>!r,pEAY}6r@}6@y}6}6I}6Hsn?`yg?@?a?`A?h?ɿJ?)~6r@ ~6`;I~6Cɫ11)1 5I1Y@y`G鮽a=ɮR=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ÅY=Å7Å=iÅ3@Á ą@)ą@Ią@ią@@ =MA=Yc;QU>aEehEyC$}>Iȱŵ5?ŵ˾ ƵlB ;@9ƵDǵ: ȵk:)ȱWU?WX XW:W2W*WVbUBU*UUU @B /B BA鏾*BA6?AAAB="CЃ?RCCU?CI@A)XRIG J>U$UxUxU U :YU7P1yU:U<59]@m S>9i Im _Gim J@m =i i m T; m ̗Ex!r,nEA|i|Y}>x@}>"@y}>}>F;}>H'?ϩ?ី?@8 ??[|?7ǿYb?)~>x@ ~>]a;I~>CɫYY)Y ]IYY@ybGxDUSBL response received:!U1,R,502,000,0080E,189,80,80,7E,FF Fpublishing direction and range infoɰ(>鰡 )BIypBw?amf-ٱë=MY=YX;QU>aEkhEy~}>Iȡť5?ťȈ˾ ƥtB ;@9ƥDǥ'; ȥ);)ȡW(?WX  XW:W2W*WVbUBU*UUU%d@PQ*QUpBZQUIKB@cSJQUw?amf-2QQ:QQbQU5B>Sf0@RQU`Yvڿw}Nd쿴dv?BQU@ QUQU9PUH9?PU~9?PUQUQU;A"QUABB BAl*BAu@AAA-="C?RCC(?C q?i|?IGE>ȼ!r,EAY}=]p@}=~@y}=}="}=H??@r?]? ?ܱ? .ĿU?)~=]p@ ~=Fa;I~=Cɫ11)1 1I1Y@ycGTNmea in: $SNTTA,0.060171,,,,015329.50*48  +? rh?Q>C = u)Iy+?Mb?~jt?= ¥A)¥&AI¥ Ai¥A=A-T=M5=YU6;QU]>yaEshEy2}>Iȱ :ŵ5? :ŵ˾ ƵvB ;@9ƵDǵ; ȵ:)ȵ:m]yAdded new target pos. range: 86.220001 m, bearing: 244.763845 deg, deltaT: 4.427377 s, approachRate: -0.081311 m/s, LOS rate: -3.649420 deg/s, posRepo size: 4mm ProNav: pos range: 86.220001 m, bearing: 244.763845 deg, approachRate: -0.081311 m/s, LOS rate: -3.649420 deg/s, cmd update: -10.948260 deg/s, cmd heading: 91.997347 deg, new cmd heading: 86.230983 deg. Wme?WqXq Xq}}|}|} }\:Y}R1y}i:};5Wq:W2W*WVbUBU*UUU@Uq?BzB1 B9A=d*B9A=AA9A9A=]j="CE?RCICMe?CIYY5+ I G- >!r,vEAY}2}@}2q@y}2Dψ}2D7}2H??`??`ն?@A? ?_?)~2}@ ~2hDa;I~2CɫII)I MIIY}@y}cG=#>=-?=t>i=@9 =9@)=z@I=z@i=z@E?=MM=YM"9I7`Gi>@=a; ӗE֍1i=aIiG9>̵!r,~R؆EAɫyy)y yIyYF@ycGU3<MUI=Y]QU]>aaaeEe~hEaym}m>Iq }:u 5? }:u˾ uzB };@9uDuE: u:)u:W?WX XW:W2W*WVbUBU*UUUH?B&|B BAL*BABAAAT="C?RCC?CJשIG%>{ :YT1y:5v!r,,EAY}:}@}:'@y}:Ns}: w}:H@s?@?$?0O\?@X?Ie?ή?)~:}@ ~:b;I~:Cɫ99)9 9I9Y}7@y}eG}>}"=}Hi}@y }\@)}&@I}&@i}&@=MG=Y“aEhEy=}>Iȡť?5?ť˾ ƥ}B ;@9ƥ%Dǥ: ȥ#:)ȡW?WX XW:W2W*WVbUBU*UUUB?BxsB BA.*BANCAAAU="C%?RC!C%?C) =>= >-\zIG)> T>9 CI aGi @ =   _;  A A !r,Q EAY}6b@}6ip@y}6c}6䭼}6H@?CV?s G @?Ӭ?q?``?)~6b@ ~6>c;I~6Ci^unGIdiEÿٺAEĴAɫ) IY@y fGo=MG=YaEhEy=}>I :*5? :0˾ B ;@9-D: :):W/?WX XW:W2W*WVbUBU *U U U @B=dmB9 B9A=Y*B9AECAAAAAE,]="CM?RCICM/?CQI)AA]FӅ9IYGY>wyy {:YP1y':5) k;9p!r,%EAY}2 @}2@y}2`fY}2M<}2H +?? nM@x9??)??{?)~2 @ ~2e;I~0ɫYY)Y YIYYA@ybfGIC=)=uV?Qsh|?r>u )Iy"~j?Zd;O?Mb?S#?j<< \A)hAIAiA A<MK=Y;QU>aEhEy(=}>I95?˾ B 5;@96D``< .`<)Wm(ؑ?WiX XW:W2W*WVbUBU*UUU 8@B hTiB  B A *BARDAAA$l="C?RCC(ؑ?CA5?΅IG=>2!r,@?EAY}:ړ@}:@y}:/U}:l=}:H@\?@/g?`F~?k*x ?Ĥ??)~:ړ@ ~:e;I~:Cɫ99)9 =I9Y}@y}/gG-33?-%-=i-(@) -­@)-\@I-i-\@EU=MEQ=YE;QUE>IIaMEMhEQyUaX=}U>IY]XH5?]˾ ]B m;@9]>D]&: ]:)YWZ?WX XW:W2W*WVbUBU*UUU@q@RB*** querying acoustic contact ***PPBiB BAr*BA٤DAAAy="CЙ?RCCZ?CܽR>9ܹIܽbGiܽ&@ܽ=ܹܹܽf; ݽחE)}CI}Ciy}=}=}5 斅IG%M>vv :YN1y:Γ5)m;{!r,YEAY}2M@}2[@y}2_"S}23=}2H0? z?p廿C9?,^Na??`y?)~2M@ ~2f;I~2Cɫ99)9 =I9Y}x@y}gGZ****** received transponder code query ******F****** received ping request ******aEhEysl=} >I  : W5? %: o˾ B %;@9 FD o7; '8;) :W|?W X  X W :W 2W)*W1V1bU1BU1*U9U9U=` @B5`B BAXͽ*BADAAA܅="C@?RCC|?C=ip=ֽ·יIGb>D!r,KtsEA||Y}6@}6@y}6$R}6S>}6H?C)?`t#@2w`0?UDA?@qY? ?)~6@ ~6f;I~6Cɫ99)9 =I9Y]ؼ@y]WhGexDUSBL response received:!U1,P 502,000,0080E,189,80,80,7E,FF eCommand AckmBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 u94u ?u/=iu@q u)u@Iu\@iuE@<M0=Y:QU>aEhE yyM=}>IȁŅj5?Ņ5˾ ƅB ;@9ƅODDž׼; ȅf;)ȁW5pe?W1X1 X9W:W2W*WVbUBU*UUU ø @B[B  B A F*BA=]EA9A9AE="CUdE?RCqCupe?Cy ե >ԥ>֍ 6ɅI׉ )׉ ܹ 9ܹ Iܽ XcGiܽ ȸ@ܽ =ܹ ܹ ܹ ݹ a Ii G >w,!r,OEAY}: и@}:ݰ@y}:rT}:zX>}:H??0?K4?`-}?4??)~: и@ ~:?f;I~8ɫ99)9 =I9Y]@y] hG}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ūM_=Y5QU>aEhEy}=}>Iȱ :ŵx5? :ŵb˾ ƵB ;@9ƵVDǵ: ȵ:)ȵ:W}U?WX XW:W2W*WVbUBU*UUU2@BffB! B!A%Ž*B!A%ܖEA)A)A-'="C5 r?RC1C5}U?C9zz  :YQ1y:5);aAIiGf>V!r,*EAY}2c@}2 @y}2|X}2>}2H?`?@`c@? ?c>?P?)~2c@ ~2B$f;I~2Cɫ99)9 =IAY}t@y}iGxDUSBL response received:!U1,R,D2F,000,00804,188,80,80,86,FF Fpublishing direction and range info!?ɰ(>鰅> )CIy=B+F8C?y.?ٱMV-?L7A`尿V-?M|>M+ Mh=)IIIyMM?Mb?Mb?Mn?M@=M< MMA)MAAIIiMAIM Auj=M}/=Y}QU}>aEhEyG=}>IșŝT5?ŝ˾ ƝB ;@9Ɲ_Dǝ; ȝ;)șI)Wr>?WX XW:W2W*WVbUBU*UUU@P*Q=BZQ'WNQ@MڂG|1I@JQ+F8C?y.?2Q!?:QbQ횾U@GV!ƁD]9w&@RQAլo?Α线VP?BQԩ@ QQͨBP9?PH9?PoQQ:A"Q;ABXB BAd*BAEAAA="CW?RC!C%r>?C)M) I1 GU >A!r,EA|,i|,Y}nJ@}nX@y}n]`}n>}nH@;?g?@ ¿`@(?@=Q?`e?` ?)~nJ@ ~n'd;I~lɫ ) IYM@yMiGTNmea in: $SNTTA,0.062159,,,,015333.93*44 h=M d=YӴQU>aEhEy=}%>I) 5:-75? 5:-Y˾ -ëB 5;@9-fD-V: -b:)-:UM>9QIUcGiU@U=QQUP; UʗEmyAdded new target pos. range: 85.620003 m, bearing: 353.914940 deg, deltaT: 4.501579 s, approachRate: -0.133286 m/s, LOS rate: 24.247291 deg/s, posRepo size: 4mProNav REINIT: LOS rate is 24.247291 deg/s. Setting heading cmd to target bearing of 353.914940deg and heading rate command to 0 deg/s.Wԩ@WX XW:W2W*WVbUBU*UU gU@U!?B(UB BAwI*BAFAAA[="CE?RCCԩ@C 9:YT1y:5)t;FӅ?i?ױIGe>h!r,ڇEAY}6@}6.@y}6s3k}6S >}6H`n??A¿<`ǣ?Kb? #? u?)~6@ ~6b;I~4ɫ99)9 9I9Ye@y?jGU<M]W=Y]޻QU]>aaaeEehEaym=}m>Iqu:5?uW̾ uΫB };@9ulDu: u:)qWWX XW:W2W*WVbUBU*UUU@i}?ByQB BAo$*BA FAAA}="C _1?RCCC֡yIG_>=={={= =:Y=#R1y=:=͜59=@!r,fEAY}:Aڻ@}:@y}:!Bs}:/$>}:H6?6'?¿? 5c???)~:Aڻ@ ~:[a;I~:Cɫ99)9 9IAY]a@y]:jG @ @ @MC=YQU>aEhEye=}>Iȡ  :ť5?  :ť5 ̾ ƥ۫B ;@9ƥuDǥqa< ȥa<)ȥ:WWX XW:W2W*WVbUBU*UUU\S?E=iE=BePBa BaAeI&*BaAm"KFAiAiAmZ="Cuغ?RCqCqC U C>9Q IU dGiU @U =Q Q U |; U E I G= >z"r,$EA|4<|4}6H ?G?`[¿`?`oǸ!?` ?@7?)~6@ ~6`;I~6Cɫ99)9 9I9Y}@y}kG/Z=MV=YxQU>!!a%E%hE)y-č=}->IȁŅ5?Ņy̾ ƅB ;@9ƅ{DDž: ȅ:)ȁWWX XW:W2W*WVbUBU*UUU@ն?B%LB%"e = B)A-*B)A5tXFA1A1A5%>="CEV?RCACACIaAIqG`>MM|M|M Mm:YMR1yMi:M;5)Ms;9u "r,?r(EAY}2e@}2Vs@y}2}2U+>}2H??¿^`e?2?`P>?}?)~2e@ ~2 `;I~2Cɫ99)9 =I9Y}C@y}PkG4=i<ʡE? ףp= y&1?>Q `e<)IyRQ?y&1?Q?"?`e<u< …CA)…@I…rAi…A( A    @ @ @©i@ )Ii~<M0=Y|QU>aEhEy nO=} >I5?̾ B ;@9D: :)WWX XW:W2W*WVbUBU*UU U  &@B]$IBY BYA]`U*BYAyeFAAA="Ch>RCCC֑iIyG>"r,MBEAY}6@}65&@y}6}6+>}6H?$H? ¿`@e?{,?LY?`z?)~6@ ~6_;I~6Cɫ99)9 =I9Y@ykG5<M=l=Y=4QU=?AAaEEEhEIyM=}M?IQ ]:U5? ]:UB ̾ UB e;@9UDU0: U=:)U:WWX XW:W2W*WVbUBU*UUUS@BtdGB BAI*BAgFAAA="C4>RCCC=?>9=CI=eGi=@999=; =EinGI9IA)E?AiiIGG>ɿٺ @Auqqu u:Yqyqu͙5)us;"r,(\EA|i|Y}>־@}>d@y}>r}>rQ.>}>H?>?@BÿC*?޺@VJ?@?t?)~>־@ ~>M^_;I~>CɫII)Q QIQY@ykG;M5=Y8QU>aEhEyIR=}>I'5?(̾  B ;@9D: ܹ:)WWX XW:W2W*W V bU BU*UUU@H]@RB*** querying acoustic contact ***PPBEFBA BAAM*BIAMiFAIAIAMl}="CU>RCQCQCY}r5=I1 IY G >0"r,6vEAi`bmA)fv dId d)fmAɠfljdFFhhɡhihIllIlip pp)pp r^nAttɢtttIv&@)xix)zCIxxɣx |ɤ||iɫ髹) IYп@ykGZ****** received transponder code query ******F****** received ping request ******M-@M|>iMG@M M9@)M@IMX@iM9@}<M}N=YQU>aEhEy}>Iȹ :Žb5? :Ž#0̾ ƽB ;@9ƽDǽ: Ƚ^:)Ƚ:WaWX XW:W2W*WVbUBU*UUUż @B iFB  B A *B AAAA$+="C./>RCCC!%G=5?΅ I 5 B>95 CI5 fGi5 @5 =1 5 %D5 ; 5 E)ݕCIݕCiݑݕ=ݕ=ݕS6Gu >#"r,ޏEAY}6܀@}6@y}6^ڦ}6ry6>}6H ?@[C?Ŀv߿?\ dմ?? c?)~6܀@ ~6d_;I~6Cɫ髹) IYz@ylGxDUSBL response received:!U1,P D2F,000,00804,188,80,80,86,FF Command AckBRequesting micromodem ping code 2i Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }e=M\=YڼQU>aEhEyq>}>I]%5? 7̾ 'B ;@9D< <)M=iM=qzz* :YQ1y:̢5)5j;WqWX XW:W2W*WVbUBU*UAUIUMb @B !EB1 B1A5;*B1A5WdFA9A9A=L="CEƄ=RCACACAqq)q q FӅIGU?$s+"r,EA|;|Y}6H@}6:V@y}6R}66>}6H.??:Ŀ ޿@f?@`v?`? `?)~6H@ ~6y_;I~6Cɫ) IY%d@y%lG)ɮ-a=MNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B jt?333333ÿ rh? ?  C=) I y (\?Zd;O?Mb? '? j<= =  A) @I AAi /A   AÝ 0ÝK?Ý\iÝ@Ù ĝ @)ĝ@Iĝ@iĝ@M=YQU>aEhEy48=}>I :@5? :7?̾ AB ;@9D: :):WWX XW:W2W*WVbUBU*U U U  @B5EEB9 B9A=s;*B9A=lbFAAAAAE"="CMdRCICICQa9IIGm>- G>9) I- hGi- @- =- FD) - ; - ER2"r,ɈEAY}6 @}6F@y}6}6|3>}6Hr?? ĿgܿX?q?`;?b?)~6 @ ~6w_;I~6Cɫ99)9 9I9Y@yRnGxDUSBL response received:!U1,R,502,000,00807,189,80,80,9E,FF Fpublishing direction and range infof3ɰX(>7> )CIyBw?amf-ٱege{e{e e5:Ye#R1ye:es5)eh;.=M]=YQU>aEhEy΂=}>IR5?D̾ TB ;@9DI: 4:)WWX XW:W2W*W!V!bU!BU!*UIUIUM@PY*Q]BZQ]ō!B@KSJQ]w?amf-2Q]f3:QYbQ]'?;Y-MU '(d($RQ]vvW[U?qF¼H|BQ]֖@ Q]iQ] =P]9?P]9?P]Q]oQ]р"Q]:AB9B6< BA1=*BA?FAAA ="C-RCC C IG>{8"r,FEAY}:|@}:&ͺ@y}:v6}:,>}:H@? O?Wÿxۿ;?@Ҽw^? Ab?.j?)~:|@ ~:c8_;I~:Cɫ99)9 =I9Y@yNnG%DNmea in: $SNTTA,,,,,015338.40*56 IQ)UAA]XM]b=Ye.QUe>aaamEmiEiyu|=}u>Iy :}d5? :}I̾ }fB ;@9}D}g: }:)}:myAdded new target pos. range: 85.800003 m, bearing: 270.075215 deg, deltaT: 4.516573 s, approachRate: 0.039853 m/s, LOS rate: -18.562685 deg/s, posRepo size: 4m!ProNav REINIT: LOS rate is -18.562685 deg/s. Setting heading cmd to target bearing of 270.075215deg and heading rate command to 0 deg/s.W֖@WX XW:W2W*WVbUBU*UU@3sU@U?B=8B9 B9A=/=*B9AEFAAAAAE.="C]mRCYC]֖@Ca]N؅I!GEs>>"r,rEA|i|ɫyy)y }IyY@ywnGeaae e:Yayaer59m@mmZ>imQ@i m9@)mX@Im9@im"@}>#<M}H=YQU>aEiEy%}%>I15z5?5_O̾ 5|B =;@95D5: 5:)1WYWYXY XaWa:Wa2Wa*WaVibUiBUq*UqUqUu,?B8B BAt@=*BAHEAAAd="CvRC,vCCFӅM>9I3iGi@=; EIGj>E"r,LEAY}2Y8@}2F@y}2m#Ž}23(>}2H@W?`ţ?`Rÿ@EؿF?d?|?Ql?)~2Y8@ ~2^;I~2Cɫaa)a aIaY@ynG /$?+ÿ~jt?  ?  =) I y ~jt? a E iE y =} >Ia m :e 5? u :e vW̾ e B u ;@9e De : e :)e :W W X  X W :W 2W *W V bU BU *U U U _?B] %|9Ba  Ba Ae c=*Ba Ae JEAi Ai Am ?="Cu {žRCu |C C mS= }=}=ޭ=iޭ=yy :YP1y':5}RvYIaG}?MN"r,;EAY}NC@}N޽@y}NBͽ}NUL>}NH[?? ¿|տl?d໿[? ]? w?)~NC@ ~N^;I~NC T)VlAɌTXX^Cɍ^nAi\I\\I\i` ``)`` `dfGFɎdddIfE)jKFih)j@CInlAlɏl lɐnCnlApippirCrA)p tItɫ) IY:@y1pGCl>ףi @ Σ@)@IΣ@iΣ@=M\=Yr7QU>aEiEy% >}->I)-Ũ5?-,[̾ -B =;@9-D-I: -:))WyWyXy XyW:W2W*WVbUBU*UUU 7?Boy'B BA=*B!A%lEA!A!A%="C-RC-?<C)C1]<12qܽR>9ܹIܽ(kGiܽ"@ܹܹܽ&Dܽ; ݽEIGi>g0U"r,UEAY}V@}V9@y}V_ѽ}V>}VH *?pC?xk¿ TԿ !?@L@? .P? w?)~V@ ~V+^;I~VCɫ) IY5.@y5#pGp=iR= 鿡^MM=Y QU>aEiEy3=}>I :Ȼ5? :5_̾ ɬB ;@9D: :):WW!X! X!W!:W!2W!*W)V)bU)BU)*U1U1U53@B]*BY BaAe?=*BaAe$EAaAaAm5="CIRCH=CC F<ZHױIG>  x x  6:Y 7P1y : 5^["r,uoEAY}Fe@}Fr@y}FNӽ}Fl>}FHCg? ? E¿ҿ[?l?~?@$t?)~Fe@ ~F^;I~FCɫ) IYM@yMKqGQUAAõõ~>õ{>iõ@ñ ĵn@)ĵ@Iĵn@iĵ@{=MK=YaTQU>aE$iEyz=}>IQ5?c̾ B ;@9D: :)W W X  XW:W2W*WVbUBU*UUU%k@R-B*** querying acoustic contact ***P)P)BM"BQ BQAUl=*BQAUpDAYAYA] ="CeqRCeS4>CaCiqq)q q]?iv?IG>Iށ )ޅ ?AFb"r,EA|i|2T>92CI2mGi2@2=002; 2EY}FJ#@}F0@y}F ս}F>}FH? R\?kѿ P?`֕?@?w?)~FJ#@ ~FB^;I~FCe>aiɫ) IIiY@yrG5пٺ15A=Z****** received transponder code query ******=F****** received ping request ******=11a5E5+iE9y=c=}=>Iae5?ef̾ eB u;@9eDe : e:)aWWX XW:W2W*WVbUBU!*U!U!U%`l@BmBq BqAu>*BqAu5?DAqAyA}="Cq4RC >CC֕lؽqIyG]>     ):Y DW1y Y: r5) ;9 flh"r,TEAY}6@}6@y}6-ս}6ڈ>}6H?U8?RпO?ln?@R??)~6@ ~6\^;I~6Cɫ99)9 9I9Yw@yrGxDUSBL response received:!U1,P 502,000,00807,189,80,80,9E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)kt?DlaE4iEy=}>I :5? :Tk̾ B ;@9DM: k:):WAWAXA XAWI:WI2WI*WiVqbUqBUq*UqUyU}G @B B BA$>*BACAAAp ="C RRC C C) = x! I1 G] >n"r,~:EAY}6/C<}6j@y}66ӽ}6 >}6H@?`M? Ϳ ? ^d?E?`?)~6/C< ~6^;I~6CɫQQ)Q ]IYY@yRsGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B %=M=Yd;QU>?aE8iEy.=}>?I 5?&m̾  B ;@9D: :)WWX XW:W2W*WVbUBU*UUU@B5*iB1 B1A5z.>*B1A=8CA9A9A=i ="CEҠ]RCACACIEħI G%,>Y]jAeS>9eCIenGie@e=eEDae~; a)CIi==6ށ iށ  w w  {!:Y O1y P: 5) ;-u"r,׉EA||Y}6<}6@y}6pӽ}6 [=}6H`?`[/?' ˿`?`@m?\?Y?)~6< ~6x_;I~6Cɫ99)9 =I9Y]4@y]sGexDUSBL response received:!U1,R,477,000,00818,18A,80,80,9C,FF eFpublishing direction and range infoeAYaɰe)>e> a)eCIayeBeo7s_[?:c? ٱaE=M_=Y"չQU>aE>iEy4=}>I :A 5? :o̾ 3B ;@9 D; m;):W9W9X9 X9W9:WA2WA*WAVAbUABUI*UIUIUM`I@Py*Q}BZQ})!G@;;RJQ}o7s_[?:c? 2Q}AY:QybQ}@>@*BA2BAAA ="CrRCCC  \JIG%>ݫ{"r,EAɫ ) IYMw@yM-tGDNmea in: $SNTTA,,,,,015342.69*50 mjmGa=mC =im@i mn@)m@Imn@im@}h<M}/=Y}QU>aEEiEy}>Ișŝ85?ŝ%s̾ ƝKB ;@9ƝDǝ: ȝf:)șmqAdded new target pos. range: 86.820000 m, bearing: 290.795167 deg, deltaT: 4.147144 s, approachRate: 0.245952 m/s, LOS rate: 4.996198 deg/s, posRepo size: 4m ProNav: pos range: 86.820000 m, bearing: 290.795167 deg, approachRate: 0.245952 m/s, LOS rate: 4.996198 deg/s, cmd update: 12.000000 deg/s, cmd heading: 270.075215 deg, new cmd heading: 270.075215 deg. W@WX XW:W2W*WVbUBU*UUzU@U?B% B! B)A-D>*B)A-AA)A)A-1 ="C5%PRC1C=@C9IMjA<;%?i%{?IGI>     ):Y T1y : 59 @] T>9Y I] AAaMEMKiEIyU-=}U>IY e:]K5? e:]ru̾ ]]B e;@9]D]L: ]X:)]:WX@WX XW:W2W*WVbUBU*UUU ?BMBfw< BAr>*BAB8AAAA ="CRCCX@C֭jA=IG+>Im AA)m AA"r,E$EA|i|@Y}>s=}>@y}>-Tӽ}>P=}>HC?`;?ǿS?T^?0:??)~>s= ~>^;I~<ɫ髙) IY@yuGx&1?I +Mbp?>9 ;)Iy|?5^? rh?Mb?-?C<< OA)p@IQ@iAA \M @=Y Td:QU>aERiEy]b<}%>I!%c5?%x̾ %oB 5;@9%$D%{: %A:)!WU(4@WQXY XYWY:WY2WY*WYVabUaBUa*UaUiUm?BB BAj>*BAck@AAA ="CzRCC(4@C֭7=ׁIG=>  | |  +:Y R1y i: 5"r,v>EAY}2+t=}2r@y}2)ѽ}2=}2H`D?/?`vǿ`]?6?k]?ӵ?)~2+t= ~2^;I~2Cɫ99)9 =I9Y@yvGm#>m>m,>im(@i m@)m@Iiim@}=M}T=Y3;QU>aEXiEyn:}>Iș :ŝcy5? :ŝz̾ Ɲ~B ;@9Ɲ,Dǝ: ȝ:)ȝ:WRʡ@WX XW:W2W*WVbUBU*UUU ?BB  B A >*B A??AAA="CRCCRʡ@C խ>ԭ>֍>I׉)׉aIiG9>V>9IrGi*@=p; ۗE̕"r,TXEAY}J[=}J!@y}Jͽ}J=}JHYaaeEe^iEaym,|}m>Iqu5?u}̾ uB };@9u5Du: u:)qWv@WX XW:W2W*WVbUBU*UUUp7@BkB BAي>*BAX>AAA="CŧRCCv@C.<ֽG>סIGc>ޕ =iޑ  } } / .:Y kS1y Ԋ: ߣ5"r,*rEA||;ɫyy) IY@yxGÍ=Íxi=Ím=iÍ@É č­@)ĉIč­@iĉ N=MF=YQU>aEeiEy}>IȹŽ5?Ž̾ ƽB ;@9ƽ>Dǽ: Ƚض:)ȹW;@WX XW:W2W*WVbUBU*UUU @B-rּB) B)A5>*B1A5H=A1A1A5="C=vRCACE;@CA-<t>IGF> W>9 I $tGi o@ = m; ٗELߢ"r, EAɫ) IY5A@y5xGE8Not Powering down - fast GPSA E)EIAiIiMMMɶMM M)MIMiUUUɷUeD?=MeN=YiQUm>qqauEukiEyyy}}>Iȁ :Ņ,5? :ŅK̾ ƅB ;@9ƅFDDžr< ȅ<)ȅ:WU@WQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUaUe@RB*** querying acoustic contact ***PPB=̼B BA>*BAO<AAA="Cl*CRCC@C) ԱԵiA  | | 4 .:Y R1y i: 5) ;9 ֭ >ױ i׵ ?ס I G >"r,㥊EAY}645;}6,4@y}6K򺽙}6V_}6H'?)?5ο?2?U?`zɫ@?)~645; ~6Ma;I~6Cɫ99)9 =I9Y@yyGZ****** received transponder code query ******F****** received ping request ****** +=)IyK?aEriEy}>I5?̾ ŭB ;@9PD3: ׾:)Wv@WX XW:W2W*WVbUBU*UUU rz @BmżBi BiAmy>*BiAu!n;AqAqAue="C} RCyC}v@C֑iIyG>Iލ @A)މ 2"r,bEA| i|"@Y}Z]@}Z-k@y}Zkc}Zν}ZHa?`#?@;wѿ@›??`? ] ?)~Z]@ ~Zb;I~ZCɫyy)y }IyYq@yLzGxDUSBL response received:!U1,P 477,000,00818,18A,80,80,9C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 `e> 0=iG@ -@)@I-@i-@%)=Mm6=Yu;QUu>aEyiEyW}>I  : B5? : ̾ ޭB ;@9 [D 0: :) :W]3@WYXY XYWYܭX>9ܩIܭvGiܭ@ܭ=ܩܭ'Dܭl; ݭڗE:W2W*WVbUBU*UUU @iIi=οٺ9=ABB BA>*BAk:AAAѲ="CpRCC3@C  } } > d0:Y kS1y Ԋ: 5) ; I G >"r,يEAY}2:}@}2䊿@y}2}2f}2H|?N? ҿ`*?:?`̫?`M8¿ ?)~2:}@ ~2Od;I~2CɫII)I MIIY}@y}zzGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =Y<M=p=Y=V$*BaAeSL9AaAaAm="CmRCqCu@Cq Յ>ԅ=ցYIiGZ>F"r,J~EAY}J@}J`@y}J}J~3}JH`Y8??ǔcԿ?:o?#ݴ?q?ƿg?)~J@ ~J e;I~Hɫqq)y }IyYi@y~{GxDUSBL response received:!U1,R,2F7,000,0082C,189,80,80,83,FF Fpublishing direction and range info)ɰ`+>7> )CIy Bp;?=\ ݭٱ E@ E@ E@E©EEiE@E A)EIEiE­@]=M]H=Y];QUe>aaaeEeiEiym}u>Iq }:u5? :u̾ uB ;@9ulDuI: u:)u:W@WX XW:W2W*WVbUBU*UUU@^@P*Q BZQ)~!&ZQ@KJQp;?=\ ݭ2Q):QbQhG@RRhIT!.@RQ j^?^1OFik?BQx@ QQ?BP?9?P 9?PQQA"Qh@B쁕B BAx>*BA8AAA4D="C\RCC@C}?΅>9IIGeV>ޅ =iޅ =   5 *F:Y T1y : (59 @ܡ 9ܡ Iܥ xGiܥ @ܡ ܡ ܡ ܥ ~; ݥ E)5CI5Ci15=5=5O+53-"r,R EA|8|:p;Y}<@}ƽ@y}w}I}HD??r ֿG?? ?ȿ H?)~<@ ~8e;I~Cɫqq)q qIyY@y|GTNmea in: $SNTTA,0.058198,,,,015347.14*4C <M3=Y;QU > aEiEys}%>I)-75?-x̾ -B =<@9-vD-] ; -7 ;))m}qAdded new target pos. range: 88.019997 m, bearing: 303.433066 deg, deltaT: 4.454711 s, approachRate: 0.269377 m/s, LOS rate: 2.836974 deg/s, posRepo size: 4m ProNav: pos range: 88.019997 m, bearing: 303.433066 deg, approachRate: 0.269377 m/s, LOS rate: 2.836974 deg/s, cmd update: 8.510922 deg/s, cmd heading: 323.576520 deg, new cmd heading: 329.118840 deg. W%@WX XW:W2W*WVbUBU*UUGV@U?BfB BAj>*BA6AAAf^="C&RCC%@CFӅ>I)GE> \"r,A'EAY}J@}JU@y}J򙽙}J Y}JH@?"?8?V׿?ੑ?9?`ʿ0?)~J@ ~Je;I~JCɫ髉) IY@ys}G1i5=!rh?~jt?< t)Iyn?333333?y&1?V.?=`e< ?@)AI@iAAjAu=M}S=YaEiEy}%>I1 m:5lN5? u:5̾ 5!B u<@95D5s; 5/;)5:W&@WX XW:W2W*WVbUBU*UUU?B5uBY BYA]>*BYA]K"5AYAYAe<"CenRCiCm&@Ci֍>aIqG> z z \ W@:Y Q1y : 5}>"r,AEAY}:@}:[ @y}:Ÿ}:c}:H P? ٞ??`9@ٿw?@pt?S?.&̿!?)~:@ ~:d;I~:Cɫ99)9 =I9Y}@y}}G U U ]]9]xi=]=i](@] ]j@)]-@IYi]@eGMm^=YmqqauEuiEyy})}}>IȁŅa5?Ņ̾ ƅ*B <@9ƅDDžo: ȅ:)ȁW`|@WX XW:W2W*WVbUBU*UUU^?B\@B BA_>*BA4AAA<"Cr]RCC`|@C %>UY>9QIUdzGiU@QQQU; UEI G%M>Iމ )ލ ?AUj"r,qZEA|i|Y}Zl@}Z,@y}Z}Z]k}ZHO?g?Sf?ڿ`???=R?Ϳ?)~Zl@ ~Zc;I~ZCɫ髑) IYz@y ~G€=MG=YaEiEy爽}>Iȩŭw5?ŭ̾ ƭ2B <@9ƭDǭ: ȭ:)ȩWn@WX XW:W2W*WVbUBU*UUU?BTB BA>*B!A%Ȇ2A!A!A%S<"C-+~GRC5F4>C5n@C1E>I!GEQ>    @:Y U1y : 5"r,4tEAɫyy)y }IyY @y~GmS=mzmh=im@i m@)m@Iiim@0=MH=YQU>aEiEy}>I :J5? :z̾ ;B <@9D: :):W_@WX XW:W 2W *W V bUBU*UUU@;@BE$9BA BAAE>*BIAM0AIAIAME<"CUd1RCU=C]_@CY m=m=֍%}>I׉)׉AIQGm5>M X>9I IM X|GiM @M =I I M ; M E}"r,EAY}JV@}J*d@y}JSu}Jp}JH;0?C?­? ޿ @???@cͿ?)~JV@ ~J b;I~JCɫqq)y yIyY~@yHG5=M5S=Y5(99a=E=iEAyE}M>IIM5?M̾ MCB ]<@9MDM: M&:)IW}@7@WyXy XW:W2W*WVbUBU*UUU "U@BU,BQ BQAU>*BYA]Ey/AYAYAe<"CRC(*C@7@CօϚN>YIiG=>ޅ =iޅ a= x x w E:Y 7P1y : K5) ;9 >"r,xEA||Y}6v@}6ȃ@y}6]qe}6jp}6H?H~?`% %/<)!I!y%^I +?ʡE?~jth%X9?%=%D %@)%AAI%Q@i% A!%A둾?Ⱦi̴@ @)-@I@i-@l=M1=Y aEiE y r} >I :5? :̾ GB %<@9D<: #:):WE,i@WAXA XAWI:WI2WI*WIVIbUQBUQ*UQUQU]^@ReB*** querying acoustic contact ***PaPaB0B BA6?*BA͕-AAAR <"CrRC:νC,i@C֝r5>YIiGZ>nj"r,wN‹EAY}JR@}J@y}JS}J7$h}JH]?@k?`?,@S?B?o?<̿#?)~JR@ ~Ja;I~JCɫ髩) IY@ycGZ****** received transponder code query ******F****** received ping request ******iiamEmiEqyuX{}}>IȁŅ'5?Ņ̾ ƅKB <@9ƅDDž<; ȅ;)ȁWf@WX XW:W2W*WVbUBU*UUU@r` @V>9I}Gi_@; EBwB BA?*BA%+A!A!A%@<"C-.ھRC-fDC-f@C1vh5>IG>    sC:Y WU1y : 85) ;"r,(܋EAY}2Oվ@}2@y}2@}2tc}2H/??x?1"?>??*̿`-?)~2Oվ@ ~2`;I~2Ci<>mA)>y >TFI@ @)@ɠ@BVFFDDɡFlAiDIDDIHiH HH)HL NfnALLɢLPPIR)PiP)TIVlATɣT TɤXXXiXXɫ髙) IY[@yʀGxDUSBL response received:!U1,P 2F7,000,0082C,189,80,80,83,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 edu=Mmq=YBbIY :]B5? :]̾ ]NB <@9]D]< ] <)]:W]C@WYXa XaW:W2W*WVbUBU*UUU@ڟ @BMBI BIAMO?*BQAU *AQAQAU<"C]^RC] C]C@C]v$>9IYG|>Iމ )ލ @A"r,EA|i|Y}ZV @}Z@y}Z*}Z]}ZH?i?N?w?x?gZ?|˿9?)~ZV @ ~Z9`;I~ZCɫ) IYM@yU2GYɮ]p=uNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -6only read 2 of 4 data items @ @ @MD=MU<=YUEYYa]E]iEYyev}e>Iim:5?m̾ mPB u<@9mDmܹ: mǺ:)iWo@WX XW:W2W*WVbUBUa*UiUiUm^@B`B BA ?*BAF(AAA<"CXnRCCo@Cֽ=יIGa>    J:Y V1y : 59 @ > ia Iy i Cɿٺ AE T>9A IE GiE S@E =A A E ; E E- d?9- 6A#r, EAY}ND@}NnR@y}N }NV}NH?TN?Q?@*c?Dk?@b?`$ʿF?)~ND@ ~N0O`;I~NCɫ髹) IY@yGxDUSBL response received:!U1,R,490,000,00832,189,80,80,A0,FF Fpublishing direction and range infowɰ+> ) CIy°B+~?([XAٱMe=MM]=YUUYYa]EeiEaymĄ}m>I1 =:5o5? E:5̾ 5QB E<@95D5: 5:)5:W[<WX XW:W2W*WVbUBU*UUU &@P*Q°BZQƚ!'G@ 4RJQ+~?([XA2Qw:QbQ@OoyU`1@RQ><ȮP1*?BQDՔ@ QQP9?P?9?PQQA"QAB=9BA BAAE?*BAAmr&AqAqA}<"C/6RCC[<C յ=Ե>֥v=I׹)׹סIGi>( #r,!)EAY}zȝ@}zr@y}zF}z$N}zH`մ??&?@.?@~?H?#ɿ\U?)~zȝ@ ~z@`;I~zCɫ) I!Y]5@yeGDNmea in: $SNTTA,,,,,015351.58*50 (\?i|?5?{Gzz?q= #)IyDl?/$?MbpO-?,= j@)AIi; AGA U U UU9qqauEuiEyy}0}}>IȁŅ(5?Ņ̾ ƅTB <@9ƅDDžn: ȅϸ:)ȁm}uAdded new target pos. range: 88.380005 m, bearing: 266.484584 deg, deltaT: 4.480029 s, approachRate: 0.080358 m/s, LOS rate: -8.247376 deg/s, posRepo size: 4m ProNav: pos range: 88.380005 m, bearing: 266.484584 deg, approachRate: 0.080358 m/s, LOS rate: -8.247376 deg/s, cmd update: -12.000000 deg/s, cmd heading: 1.635840 deg, new cmd heading: 5.579886 deg. W@WX XW:W2W*WVbUBU*UURV@U@?B @B BA?*BA5o4$A9A9A=<"CEj߽RCACE@CA̓<IG>ޅ =iށ    uA:Y T1y : o5#r,CEAY}2{&@}2%4@y}2ּ}2B}2H@Cn?`0?"%? gs?;??1ȿ xi?)~2{&@ ~2L`;I~2Cɫ99)9 9I9Y@y=GU8A=M]t=Y]9ܑIܕ GiܕG@ܑܑܑܕ; ݕE))I)i)-=-=-5ױIG$>#r,{]EAY}RK@}R@y}R'Ϡ}R0B0}RHBF?Sj?-?@ӝ ?C?@?aſc?)~RK@ ~RQ`;I~Pɫ) IY@yAG:M,=Y_aEiEy"}>Iȡ :ť    @D:Y U1y : 5.#r,'KwEAY}2Ȼ@}2{ֳ@y}2J}2}2H6? ?@wi?L@\?wlAɌ<<<@ɍBnAi@I@@I@iD DD)DD DHHɎHHHIJ )LiL)LINlAPɏP PɐPRlAPiTTiTT)T TIXɫyy)y }IyYV@yGm@m>mbim@i m @)m@Im@ii:`=Mq=YIމ )މ ܍ E>9܉ I܍ Gi܍ ;@܍ =܉ ܍ &D܍ l; ݍ ֗Ed$#r,E-EAY}Jӻ@}J:@y}JGה}J}JH=?҅? {)?( %?w?r?S@?)~Jӻ@ ~J`;I~JCɫ) IYx@yG-$<MI=Y"aEiEyS;}>Iȱ :ŵOr5? :ŵZ̾ ƵSB <@9ƵDǵ=: ȵk:)ȵ:Wew@WaXa XaWa:Wa2Wa*WiVibUiBUi*UqUqUu @Bhʋ;B  B A 1!?*B A &dA AA,<"CRCCw@C kd&I)GUS>    1I:Y V1y : 5) ;9 B*#r,[EAY}2@}2 @y}2c;}2Rǽ}2HY? $n?@į? >}=i @ t@)K@Ij@is=M7=Y~aEiEyG<}>I.5?; RB <@9D: b:)W%薹@W!X) X)W):W)2W)*W1V1bU1BU1*U1U9U=`?y@Be|<Ba BiAm*?*BiAmIAiAiAm<"Cu"oRCyC}薹@Cy] < e >e%>5DI9)9 IG5>+1#r,dČEAY}VD\@}Vi@y}Vl^3<}VIq}VH?`1?J?`c>ˈ?@ɷ? kC$M?)~VD\@ ~Va;I~Tɫ髑) IY@yaGMMMg=YU.QQa]E]iEYyer=}e>Ia u:e?5? u:e ; eQB u<@9e De: e:)e:W8@WX XW:W2W*WVbUBU*UUUsM@RB*** querying acoustic contact ***PPB@H<B BA)?*BAM,AAA<"C;3RCC8@C8<-=>9-CI-Gi-@-=))-a; -͗ECD׹IGf>ޅ =iޅ R=    A:Y U1y : 5) ;R7#r,ތEA||;Y}6)@}6@y}6 <}6 }6H ???C ?}cv?@B`` ?)~6)@ ~6Lb;I~4ɫYY)Y YIYY@ypGZ****** received transponder code query ******F****** received ping request ******aEjE!y-(=}->I15W5?5f; 5OB E<@95D5: 5:)1WHl@W X  X W :W2W*WVbU!BU!*U!U!U% @B}ܴ<By BA*?*BAAAA$<"CAARCCHl@Cх;<]JWAIiG>|=#r,ޒEAɫ) IY@yGxDUSBL response received:!U1,P 490,000,00832,189,80,80,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 =̼?+=i@ );@IK@i-@<M=YQU>aEjEy}>I :5? :; LB <@9D: :):W-@W)X1 X1W1:W12W1*W9V9bUYBUY*UaUaUe @Bh;B BA,?*BAAAA `<"C%RC!C-@C1ii)Б Б    t[:Y T1y : %59 @- 7>9- CI- Gi- ;@- =) - %D- n; - ЗEa a = 9 i= ? I! GE >D#r,hEAY}Fv@}F %@y}F<}Fw=}FH׎?X?ڂ ?}?` 7?z?)~Fv@ ~FZd;I~Dɫaa)a aIiY@yG鮩ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }@<Mv=YF =QU?aE jEy=}?IșŝP5?ŝ; ƝJB <@9Ɲ#DǝI: ȝ4:)șWzp@WX XW:W2W*WVbUBU*UUU`h@BMV<BU[= BQAU-?*BQAUKAQAQA]{<"C]uRCe9Cezp@Ca֝?΅qIIޙ)ޝAAG>(K#r,(.EA|Xi|Z@Y}~Ⱦ@}(ֶ@y}B =} W=}H? D??`?@`s8@Ԟ?f?)~~Ⱦ@ ~Of;I~Cɫ) IY-@y-zG5xDUSBL response received:!U1,R,502,000,0083C,189,80,80,A3,FF =Fpublishing direction and range info5f31ɰ5,>1 1)5#CI1y5B5w?amf-ٱ1RQ?QQaUEUjEYy]N=}]>Iae5?e(; a m<@9e-De: e:)aWī@WX XW:W2W*WVbUBU*UUU`@P*QBZQլsnC@`ٺTJQw?amf-2Qf3:QbQ|c $Ϊ-U-b!RQgzG" #HBQ@ QݯQ'P9?P9?PQQ"QAB%0B<B) B)A-B+?*B)A-A1A1A5']<"C] RC]ʨνC]ī@Ca]H~)I9GUv>  &J:YV1y:5"Q#r,GEAY}z@}z@y}z/=}z=}zH bR?S?@{HҝI? ? Ͽ?)~z@ ~zdg;I~zCɫ) IY@yGiDNmea in: $SNTTA,,,,,015356.03*59 I9CIRGi@=FDm; ̗EI )i)]w̿ٺY]A)m> m>u`k<M}H=Y} aEjEyqg=}>Iȑ :ŕ45? :ŕ/; Ƒ <@9ƕ6DǕ: ȕ=:)ȕ:m5uAdded new target pos. range: 88.980003 m, bearing: 263.206722 deg, deltaT: 4.498712 s, approachRate: 0.133371 m/s, LOS rate: -0.728622 deg/s, posRepo size: 4m= ProNav: pos range: 88.980003 m, bearing: 263.206722 deg, approachRate: 0.133371 m/s, LOS rate: -0.728622 deg/s, cmd update: -2.185867 deg/s, cmd heading: 307.548803 deg, new cmd heading: 303.022403 deg. WEN@WAXa XaWa:Wi2Wi*WiVibUiBUq*UqUu`>V@UuL?B]<B BA,?*BAԊ AA A e<"CpRC[|CN@C ->-=VRIGk>X#r,aEAY}J$O@}J\@y}Jۨ"=}J>}JH??5@߿@Pa?¿ S/?E?)~J$O@ ~Jf;I~JCɫ髙) IY@yzGu쁼Mu]=Y};QU}>yya}E!jEyՇ=}>Iȑŕ5?ŕ6; Ƒ <@9ƕ>DǕ: ȕb:)ȑW5֪@W9X9 X9W9:W92W9*WAVAbUABUA*UAUIUM fZ?BuL|<By ByA}B+?*ByA}e AyAyAЊ<"Cdd1RC=C֪@Cѽ<q$9ױIG>ޭ=iޭ4=  hD:YU1y:58^#r,ʥ{EA||4<ɫ髉) IY{@ySG m m m m@ m@ m@iiiimf@i i)m @Imj@imK@KMJ=YQU>aE'jEy}>Iș :ŝ5? :ŝ-=; ƝIB <@9ƝGDǝg: ȝ:)ȝ:W/\@WX XW:W2W*WVbUBU*UUUj?B 8^<B BAJ)?*BAjrAAA5<"C,GRC>C/\@Cэ[=}:QIaG}z>9IxGi@=; ԗE)ݍCIݍCiݍCݍ=ݍ=ݍƏ6]!e#r,EAY}^T@}^@y}^B2=}^>}^HRs?9?}_)ݿ ?@\ĿWV ?K?)~^T@ ~^!c;I~^Cɫ髙) IYw@yQGME=YaE.jEy%Q=}%>I9=\45?=C; 9 m<@9=PD=Ƽ; =;)9WeΩ@WaXa XiWi:Wi2Wi*WiVqbUqBUq*UqUqU}?BdP*<B BA-)?*BAAAA6<"C\=_RCe/~>CΩ@C)    D:YWU1y:5);9֥ #׵ ?i׵ ?ׁ I G >ZMk#r,gEAY}RQ@}R@y}RCS4=}R\!>}RH?\?ɝۿ`]?Ŀ@D? ?)~RQ@ ~Ra;I~RCɫ髱) IY@yG S㥛?Mb?l? $? = =) I y rh|?S㥛?aE5jEyh=}>Iȑ :ŕG5? :ŕI; ƕFB <@9ƕXDǕ: ȕB:)ȕ:WpU@WX XW:W2W*WVbUBU*UUUM?BL S<B BA#?*BA:AAA<"C6oRC >CpU@C֭3בIGa>Iީ)ޭ?A2r#r,7ɍEA| i|"@Y}N \@}Ni@y}NZ2=}NDK#>}NH`?j?4`sڿ`?`ĿI[N?d?)~N \@ ~Ni`;I~NCɫ髹) IY@yGّٕgAܝ;>9ܝCIܝ}Giܝ_@ܝ=ܙܙܝ; ݝܗEMR=Y DQU > aE;jEyyu=}>I!%rZ5?%N; %CB -<@9%`D%o: %D:)!WUܨ@WQXQ XQWQ:WQ2WY*WYVYbUYBUY*UaUaUe @BHg<B BA!?*BAAAAc<"CyRCCܨ@C֥0aIqG>>  B:YW1yč:]5);\x#r,4EAY}2=@}2 @y}2$/=}2z>}2H e?A?N8+%ٿ?EĿ`勵 ??)~2=@ ~2J`;I~2Cɫ99)9 9I9Y*@yG2M]=YQU>aEAjE y w=} >I3l5?S; @B %<@9gD': 4:)WEh@WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQU]@@ReB*** querying acoustic contact ***PaPaBb<B BA?*BA|AAAq<"CMRCCh@C խ=ԭ>moIq)qIIQG>׈~#r,UEAY}fԯ@}f~@y}fa~)=}fn>}fH? _$?gl@ؿG?`@ÿ?.(a??)~fԯ@ ~f_;I~fCɫ髹) IY-@y-G5Z****** received transponder code query ******5F****** received ping request ******5H>JiG@ @)@I@i@TBM:=Y\QU>  a E HjEy2=}>I %:g5? %:X; >B -<@9pD: ':):WMwߧ@WQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UaUaUeQ @B-,#<B) B)A-p?*B1A5A1A1A5]<"C=RC9C=wߧ@CaMP<I!GEQ>ܕ6>9ܑIܕ|Giܕk@ܕ=ܑܕ$Dܕ; ݕٗEީiޭ=` ~~ O:YT1y@:5)ب;n#r,EA||Y}6,@}66:@y}69!=}6>}6H7?@ >?*׿?`;%??)~6,@ ~6kX_;I~6CɫYY)Y YIYY.@yGxDUSBL response received:!U1,P 502,000,0083C,189,80,80,A3,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ռMW=YQU>!)aUEUNjEayu=}}>Iȱŵ5?ŵ\; Ƶ;B  <@9ƵxDǵ]@< ȵ=<)ȱWS@WX XW:W2W*WVbU)BU1*U9UaUeA @B<B BA?*BAMAAAT<"CWaRCCS@C.=׹IG>#r,0EAY}Z}@}ZM@y}Zb=}Z^r=}ZH?০?x`ֿ`?#5K@??)~Z}@ ~Z$>_;I~ZCɫ髑) IYS@ybGp=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -{Gz?/$?~jtx?-?-,= -;))I)y-?Q?L7A`?-f&?-u=-+= -5A))I-"Ai-A)-AÅ'>ÅvÅ=iÅ3@Á ą)ąj@IąK@ią-@tM7=YQU>aEUjE!y-~<}->I1 =:5B5? =:5`; 5>B =<@95D5: 5:)5:W֦@WX XW:W2W*WVbUBU*UUU$@BL\,<B BA=?*B9A=AAAAAE<"CM刿RCICM֦@CIyyU=]?i]u?IIYGuz>  @:YT1y:ʺ59@#r,~JEAY}6s@}6@y}6B=}6$=}6H8?`_?2??ֿ1?uĸ? ?)~6s@ ~6_;I~6CɫYY)Y YIYY2@yNGxDUSBL response received:!U1,R,4CC,000,00849,188,80,80,B3,FF Fpublishing direction and range info>+ɰ->鰥> )3CIyB9?E+oٱ9AMm=YvQU?aE[jEy f<}?I5?2d; AB <@9D : :)W5q@WX XW:W!2W!*W!V!bU!BU)*U)U)U- p@E/>9AIE{GiEx@E=AAE; EߗEPY*Q]BZQ]+7{E@ H:SJQ]9?E+o2Q]>+:QYbQ]PW)k)@,HVr:}_"RQ]`N<BQ BQAU?*BQAUoAQAQA]<"C]zRCaCe5q@Caօ>YIiGZ>Iީ)ޭAA#r,YdEAɫ11)1 =I9Yuy@yu܀GDNmea in: $SNTTA,,,,,015400.50*5B U LMU4=YUQUU>YYa]E]bjEaye}e>Ii u:m5? u:mh; mDB }<@9mDm: mY:)m:mqAdded new target pos. range: 89.760002 m, bearing: 278.183250 deg, deltaT: 4.366150 s, approachRate: 0.178647 m/s, LOS rate: 3.430145 deg/s, posRepo size: 4m ProNav: pos range: 89.760002 m, bearing: 278.183250 deg, approachRate: 0.178647 m/s, LOS rate: 3.430145 deg/s, cmd update: 10.290436 deg/s, cmd heading: 298.013632 deg, new cmd heading: 297.022488 deg. WW @WX XW:W2W*WVbUBU*UUpV@U@?B(;B! B!A%< ?*B!A%A)A)A-c<"C5=_RC1C5W @C9x>YIiG  H:YU1y:&5h֞#r,;~EAɫqq)y }IyY@yGu>ut>u>iuf@q u@)u@Iu@iu­@CMX=YQU>aEhjEy}>Iȡť5?ťRl; ƥGB <@9ƥDǥ: ȥ/:)ȡW8@WX XW:W2W*WVbUBU*UUU@j?B <B BA?*BAAAA <"C"RC!C%8@C! յ)>Ե>֍K@>Iש)׭iAyIG<>AAi=nGIi%fͿٺ!%ӽA=)>99I=dzGi=@==99=; =ۗE#r,=EAY}b@}b@y}bʰ =}bO.m;}bH` ?.[?`? U׿? D5|m?Q?)~b@ ~b`;I~bCɫ髡) IY}@y}G?(\µMbP?f? :)Iy/$?I +?{Gz?&1?94=ף< ­\A)­p@I­Ai©=AdM7=Y̻QU>aEojEy&}>I :5? :q;  <@9D: :):Wȭ@WX XW:W2W!*W!V!bU!BU)*U)U)U-@MX?B] t;BY BYA]>*BYAe!AaAiAm<"C0}RCCȭ@Cօ8s>AIIGeV>ޭ=iޭ=  A:Yy5#r,B뱎EAY}2@}2@y}2=}2w }2H;?^?V?'ؿ~?`쓓? N`w}@?)~2@ ~2a;I~2Cɫ99)9 9I9Y}U@y}G-S=->-D;i-@) -@)-­@I-@i)=MEh=YEQUE>IIaMEMujEIy }>I5?-v; FB <@9D: :)Wq@WX XW:W2W*WVbUBU*UU U 5?B58;B9 B9A=8>*B9A=`PA9A9AE<"CE>bmRCICMq@CIUM7>!I1GM1>β#r,~ˎEAY}B @}B@y}B=}B}BHId???a8ٿJ[?@?`v۠`?)~B @ ~Bc;I~BCɫaa)a eIaY@y`~G#>9CIyGi@=; )uCIuCiuCu=u=ub6u+4MuG=Y}y.QU}>yaE{jEy3}>Iȑŕ,5?ŕY{; ƕEB <@9ƕDǕ^: ȕk:)ȑW=D@W9X9 XAWA:WA2WA*WAVIbUIBUi*UqUqUuq@BH^;B BA>*BA2AAAp`<"CXVRC|>CD@CjA>?i?IGj>  b?:YV1y:5);9N#r,ʧEAY}6N@}6m\@y}61=}6P}6H`?N/?`я?ڿ ?`>?e &A?)~6N@ ~6@d;I~6Cɫ99)9 =I9Y@ye}GM6MMM=YUQUU>QYa]E]jEYyej}e>Ii u:mB5? u:m݀; mCB u<@9mDm: m :)m:W$y@WX XW:W2W*WVbUBU*UUU{@Bht;B BA<>*BA+ݼAAA<"CBRC)>C$y@CY>IG)>Iީ)ޭ?A"#r,|EA|i|@ɫ) IY@y}G!%AAÝ94>ÝA`>Ý+iÝQ@Ù ĝ@)ęIęię:ME=YQU>aEjEy}>IrY5?; BB <@9D: /:)W۶@WX XW:W2W*WVbUBU*U U U 2@RB*** querying acoustic contact ***PPB=h6;B9 B9A=>*B9AEpڼAAAAAE6<"CM_,RCUٵ=CU۶@CQeAz|>9IIGeV>>9IpxGi@=#D; EV  ::YWU1y:5); #r,XEAY}rj@}r@y}r<}rO@}rHI[?D?a?ݿ?7v?)ǿ1k?)~rj@ ~re;I~rCɫ) IY%@y%O|G-Z****** received transponder code query ******-F****** received ping request ******-= ף<)IyS?MbX9?!)a-E-jE)y5Ľ}5>I9 E:=x5? E:=; =2B E<@9=D=o: =w:)=:Wm@WiXi XiWq:Wq2Wq*WqVybUyBUy*UyUyU4 @B( B BA>*BAh$׼AAA="CbRC$C@C߁_> I G5 >4#r,23EAY}6_@}6 ȸ@y}6<}6CZ}6H%??`?(߿@i??`(˿`zB?)~6_@ ~60e;I~6Ci<<)Bo BTFI@ D)DɠFZdF?FDHɡHiHIHHILiL PP)PT Z^nAXXɢX``I`)`id)hIjlAhɣh hɤlnAlippɫ) IY@y{G xDUSBL response received:!U1,P 4CC,000,00849,188,80,80,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 ]j<]>]5^i]̬@Y ]@)]@I]@i]@M~=YQU?aEjE y^}?IIM*5?M; M(B U<@9MDMT: M:)IW@WX XW:W2W*WVbUBU*UUU`L@B5?;B9 B9A]}>*BYA]DԼAaAaAe="CmaRCmٽCm@Cq]r5>iIyG>ޱiޱ }} Y>:YkS1yԊ:o59@`#r,oMEAY}2(տ@}2@y}2y<}2j}2H|?@? ?[@? ?N9Ϳ%?)~2(տ@ ~2d;I~0܅>9܅CI܅wGi܅K@܅=܁܁܅; ݅ۗEɫ髙) IY@yzGɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B  Mt=YtQU?aEjEy}?I :X5? ::; B <@9D ;  ;):Wٽ@WX XW:W2W*W!V!bU!BU!*U!U)U-@C@BUtN;BY BYA]>*BaAe3ӼAaAaAed"="CB߾RC8Cٽ@C_>ׁIG=>F#r,fEAY}@}<@y}8<}(m}Hb ? w??@  o?`>?朿@kͿW!?)~@ ~c;I~Cɫ19)9 9IAYqyyxDUSBL response received:!U1,R,01B,000,00860,183,80,80,97,FF Fpublishing direction and range infoɰ/>鰕$> )CIyGBϺ?е ٱ%% 0%i%@! %­@)%n@I%i%j@Y5R7QU5>99a=E=jEAyEfe}E>IIM5?M!; MB ]<@9MDM: M:)IW}h@WyXy XyW:W2W*WVbUBU*UUU`1@P*QGBZQSEWV@}U-JQϺ?е 2Q:QbQgKh(R@W9IZ4RQ/%?UUVD’ғXBQWI@ QIQBP9?P9?PQQt@"Q'BU?0BQ BYAY*ByA}мAyAyA="C婾RC Ch@CԹԹ֕&=ם?iם?iIyG>n  <:YX1y/:5.#r,rĀEAɫ髹) IYu@yQzG=DNmea in: $SNTTA,,,,,015404.95*56 uM*BA/$μAAA="CB팾RCCf@Cֽ!=܅>9܅CI܅|vGi܅W@܅=܁܅"D܅; ݅ٗEבIG>Iީ)ޭAA\#r,!EAY}@}ǡ@y}1<}_}HD?3?@n?`@-? ?|r@v˿ H:?)~@ ~a;I~Cɫ髉) IY@yzGK7A? rh?l? ?C= =)IyT㥛 ?S㥫?Mb?A?/]=< @)AI; AiAG A<M%3=Y%-:QU%>))a-E-jE)y5ý}5>I9=t5?=; =B <@9=D=M< =+<)9W @WX XW:W2W*WVbUBU*UUU a?B%nB) B)A-I>*B)A- ˼A)A)A5[="C5N_?RC9C= @C95IN=IGn>  X:Yyܾ5#r,zEAY}2m@}2$@y}2 <}2+P}2H-??&? `??* ɿ@S?)~2m@ ~2u`;I~0ɫ)1)1 1I1YmD@ymzG%x?%>%>i%׫@! %@)%@I%n@i%n@5M5I=Y5Bu;QU=>99a=E=jEAyM}M>IQUy5?U; UB ]<@9U DU: Un:)QW}t@WyX XW:W2W*WVbUBU*UUUz?BE`mCBA BAAE/>*BIAMNɼAIAIAM="CU@нRCQCUt@CY m=m===IA)EhAIG!k#r,XΏEAinGI i4JȿٺHJAY}n׬@}n@y}nN=}n5E}nH ?{? ?`d?'V?3Y|ȿrd?)~n׬@ ~n_;I~l t)tɌtttxɍznAixIx|IinA  )  5>95CI5uGi5@5=5ED5!D5; 5ΗEQɎQY]lAIe9)aia)aIelAiɏi iɐqyyiyyiA) Iɫ髑) IY @yyGMU=Y;QU>aEjEy}>I :p5?  :; B  <@9D; ~;):WMb=WIXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUe ?B[B BA>*BAP-ǼAAAR.="CRCCb=Cֽz컹yIG^>ޭ=iޭp=? ~~ 8:YT1y@:˷5);9#r,1EA||;Y}6\@}6vj@y}6 =}6R8}6H`x??7?b; E?q?8~$ƿv?)~6\@ ~6_;I~6Cɫ髹) IY@yryGȼMR=Y-;QU5>9AaEEEjEQyeͼ}e>Iy}f#5?}; }B =@9}D}; }#;)yW>WX XW:W2W*WVbUiBUi*UiUiUm~?B0B BAڦ>*BAżAAA="Cc=RCC>C/ZyIG|$r, EAɫ) IY=_@y=xGUuiiamEmjEqyu}}>Iy :}95? :}; }B =@9}'D}: }:)}:Wm>WX XW:W2W*WVbUBU*UUU@BPB BA֠>*BAüAAAi="Ci>RCCm>CiAaɽ i ?IGE>%>9%CI%tGi%@%=!%D%; %E)͆CI͆Ci͆C͆=͆=͆f.7  uA:YT1y:&5)`;2$r,F EAY}%#@}%31@y}%Bz=}%e}%Hi??ӽ?h`H?@ζ?@`¿i?)~%#@ ~%_;I~%Cɫ!!)) )I)Ym:@ymxGqq$C?V- rh?m C )Iy +?Dl?y&16?O=`e @)AI Ai\AQAu@5MuH=Y}>aEjEy$}>IȑŕM5?ŕ; ƕB =@9ƕ0DǕo: ȕ:)ȑWU>WX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPB/ B BA >*B A A A A C="Cj>RCCU>CIGH>Iޡ)ޥ?A: $r,v5EA|i|Y}29C@}2P@y}2q%=}27l}2H|?`?hf?No?>?\`lxs?)~29C@ ~2_;I~2Cɫ9A)A EIAY}n@y}wGZ****** received transponder code query ******F****** received ping request ******aEjEy<}>Iȡ :ťb5? :ťi; ƥ׭B =@9ƥ9Dǥ; ȥ;)ȥ:W>WX XW:W2W*W!V!bU!BU!*UIUIUM Ph @BPR~B BAˑ>*BAAAA@="CJ$>RCC>CֽnHיIGb>?  8:Yy59@$r,OEAY}6z@}6@y}6 ,=}6}6H?`7?p?!˟??`<{Y?)~6z@ ~6a;I~6Cf>9fCIf\sGif@f=fFDfDf; fEɫYY)Y ]IYYeQ@yewGmxDUSBL response received:!U1,P 01B,000,00860,183,80,80,97,FF uCommand AckuBRequesting micromodem ping code 2iqqIy)yNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Ip=)%=<'Mg=Y ;QU>!)a5E=jEIy]<}e>I#v5?Y; ͭB %=@9BD* <  <)W>WX XW:W)2W)*W1V1bU9BUA*UAUiUuڭ @BE{BMH6= BIAM>*BIAM.AIAQAUV="C]>RCYC]>CY]Z z9IYG}{>$r,~iEAY}2LѼ@}2޴@y}24=}2}2H=?G?r? ?q?@P`;9?)~2LѼ@ ~2,a;I~0ɫ99)9 =I9Ym:@ymwGyɮyNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ý,=ýý>iý̤@ù Ľ@)ĽIĽ@iĽ@2M/=YG;QU>aEjEy <}>I :5? :]; ­B =@9LD: :):W?WX XW:W2W!*W!V!bU!BU)*U)U)U-?@BU @BY BYA]>*BYA][AaAaAeHy="Cmi>RCiCm?Cq}?΅1IAG]v>ީiޭ%=  Ij:YV1y:5 $r,SEA|4<|ɫyy)y }IyY/@ywGxDUSBL response received:!U1,R,05E,000,00868,186,80,80,7E,FF Fpublishing direction and range infoɰJ0>> )BIy=Bt?ٱMl=YQU?aEjE!y%}-?I)-5?-}ξ -B ==@9-TD-; - ;))WeG%?WaXa XaWa:Wa2Wi*WiVibUiBUi*UqU1U5 kh@PA*QE=BZQEV@a,aJQEt?2QE:QAbQEz2OQ@ΒM* RQE -k6/?)俦 gBQE>@ QEoQE|BPE9?PE9?PEQEQEn"@"QEt@Bp2B BA܍>*BA AAA(="C3 ?RCCG%?CƂ׹>9CI0rGi@=GDD; EIGj>&$r,AEAY}ֽ@}@y} G=}Fa=}He?"?@LZ?`V? 娲ި`u3? ?)~ֽ@ ~d;I~Cɫ  ) IYUg@yUvGTNmea in: $SNTTA,0.070358,,,,015409.37*44 %"~j?X9vJ +?%S>% %H=)!I!y%i|?5?~jtxy&1?%1?%Ļ%`< %"A)%AI% Ai%A!%AEQME+=YEQIIaMEMjEQyU+=}U>IY]õ5?], ξ ]B m=@9]^D]: ]:)YmuAdded new target pos. range: 91.620003 m, bearing: 319.147583 deg, deltaT: 4.353925 s, approachRate: 0.110246 m/s, LOS rate: -1.661744 deg/s, posRepo size: 4mE ProNav: pos range: 91.620003 m, bearing: 319.147583 deg, approachRate: 0.110246 m/s, LOS rate: -1.661744 deg/s, cmd update: -4.985233 deg/s, cmd heading: 36.991083 deg, new cmd heading: 42.899248 deg. WMO?WIXI XIWI:WI2WQ*WQVQbUQBUy*UyU} V@U}@Q?B%һB) B)A-\>*B)A-DA)A1AU="C]p?RCYCeO?Caэ= ~~y A:YT1y@:5hA } ?i z? I G >--$r,h EAY}2Ս@}2@y}2eM=}23.=}2H@n?~?/m*BA?XAAA 6q="CN&?RCC?CM)==FӅI!G=r>Iީ)ޭAA*4$r,АEA02jA6>96CI6oGi6@6=6ID6D6; 6EY}Ba@}Bn@y}B?R=}B= >}BH@:??<`q?¿E#?V?)~Ba@ ~Bh;I~BCɫ髙) IY%@y>vG MC=Y9;QU>aEjEy%|=}>I  ;5? nξ B =@9 oD : :) W]M ?WYXa XaWa:Wa2Wi*WiVqbUqBUq*UqUyU}?B쮳B BAdz>*BANAAA< ="CV+?RCCM ?C6=ֵ?΅׉I z ?:Yy5)ʚ;9G><1:$r,EAY}6(@}6R6@y}6R=}6X >}6H?@Q?U`@r2?<Ŀ@S#?א?)~6(@ ~6h;I~6Cɫ99)A MIIYd@yQuG   D==i@ @)@I@i@bjMG=Y9QU>aEkE!y%s=}%>I) 5:-5? 5:-#ξ -B ==@9-xD-: -^:)-:W]<?WYXY XaWa:Wa2Wa*WaVabUiBUi*UiUqUuT?BhһB BARb>*BAg.AAAr ="C~+?*CRCC<?CϹϹ)  = >=>- FӅI1 )1  I G- >/A$r,_EAɫ髙) IY@ysGMP=YQU>aE kEy}>I5?+ξ B =@9D`+; E9;)W5g>W1X1 X1W1:W12W9*W9V9bU9BUA*UAUIUeM@B܉B BAY6>*BAAAA%1 ="CEi%?RCICMg>CIl>CinGI iMwϿٺIMA=?΅u>9uCIumGiu[@u=uJDqu; uE1IAG]v>޵=i޵4=G xxT |9:Y7P1y:̫5){;CG$r,uwEAY}2ҝ@}2}@y}2>=}252>}2HV?ɞ?C ݿ ?eƿ`nا,?{?)~2ҝ@ ~2-{e;I~0ɫ99)9 9IAY}@y}?tGn?i|?5 rh?>q C=)Iyi|?5?V-?{Gz?<#= -A)@I AiA= A!=MK=YbEQU>aEkEy=}>I :5? :o2ξ B =@9Do: 4:):W>WX XW:W2W*WVbU BU *U UUX@B=kB9 B9AEF>*BAAE°AAAAAE! ="CM8?RCQCU>CQeFӅ9IIGeU>cmM$r,rQ8EAɫ髙) IYt@yrG@AiAÅ=Å>Å>iÅ@Á ąX@)ąX@Ią9@ią9@8MK=YQU>IaUEUkEQy]}]>Iim/5?m9ξ mB =@9mDm ; mp;)iW$Y>WX  X W :W 2W*WVbUBU*UUU@R%B*** querying acoustic contact ***P)P)BU=/BQ BYA]K$>*BYA]AYAYA]T ="CB?RCC$Y>CԙԝiA֝?΅qIG>z zzR =:YQ1y:^59@e >9a Ie kGie Ŀ@e =e KDa e ; e їE)CICiC==\7tT$r,REAY}rw#@}r"1@y}r- =}r0*;>}rH`m?_?@^ ` ٿ?ǿ g@?r?)~rw#@ ~r`;I~pɫ髹) IY*@yrGZ****** received transponder code query ******F****** received ping request ******YYa]E]kEayeS>}m>IquC5?u?ξ uB }=@9uDuP; u :)qWd̹>WX XW:W2W*WVbUBU*UUUY @Be'B BA >*BA鲮AAAD ="C0`>RCCd̹>CFӅIGj>IuAA)qZ$r,ZlEA|i|@ɫ)1)1 1I1Ymm@ymqG}xDUSBL response received:!U1,P 05E,000,00868,186,80,80,7E,FF }Command Ack}BRequesting micromodem ping code 2iyyNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ÅE?ÅʽÅViÅף@Á ąΣ@)ąΣ@IąiąΣ@AM(=YQU%>))a5E5%kE9yM}M>I :_5? :[Fξ B =@9D(: :):WE2>WAXI XIWI:WI2WI*WQVQbUQBUY*UYUYU] @B[B BAn>*BAؖAAA ="CF>RC CU2>CY ՝=ԝ= d @:YT1y:95a Ia )a  I) GE >va$r,$EAY}F @}FU@y}FLA<}F(;>}FH!?a?<տ@t?Qƿ畿V?t?)~F @ ~F_;I~FCɫii)i iIiY@yqGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U,:M]=Y]O+QU] ?aaaeEe*kEaymD>}m?Iqup5?uIξ uĭB }=@9uDuk: u:)qW>WX XW:W2W*WVbUBU*UUU@BCB BA==*BAAAA{="Co>RCC>C֝?΅>9CI`jGi@ =D1; EיIGd>¢g$r,EAY}N@}N@y}N`<}N$9>}NHf?b?0ӿ? gƿ?y?)~N@ ~NOq_;I~NCɫqq)y yIyYA@y:pGxDUSBL response received:!U1,R,320,000,0087D,188,80,80,C3,FF Fpublishing direction and range info¸2ɰ2>> )CCIy¹Bqѩo?Iٱ(\?"~j{Gzt?'?S ף;)Iyd;O??~jt4?L=D bA);@I AiV A ATM ?=YQU>a%E%1kE%ğ@!yd=}>I :P5? :?Nξ B =@9D: I:):WE>WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqUu@P*Q¹BZQEQ@cMJQqѩo?I2Q¸2:QbQ\}H@A^4}S+>Ij'RQ$aw?y|*m"BQʨ@ QQ{DBPn9?P9?PQQc"Qn"@BnuB BA%=*B!A%[A!A!A%xr="C-$؍>RC)C->C1yIIYGu>ލ=iލ=& tt` 6:YM1y:^5:m$r, ۹EA|*;|(Y}R@}RT@y}R{;}R;>}RH ?n?@ϧtҿ ?}ƿ@m/| ??w?)~R@ ~Rn_;I~RCɫy髁) IY@ynGeTNmea in: $SNTTA,0.090679,,,,015413.86*4D ף j=i=@ E@)n@IiE@-dνM-H=Y5QU5>11a=E=7kE9yEe=}E>IIM5?MQξ MB U=@9MDM: M:)ImuAdded new target pos. range: 92.880005 m, bearing: 302.216364 deg, deltaT: 4.494264 s, approachRate: 0.280358 m/s, LOS rate: -3.767295 deg/s, posRepo size: 4m ProNav: pos range: 92.880005 m, bearing: 302.216364 deg, approachRate: 0.280358 m/s, LOS rate: -3.767295 deg/s, cmd update: -11.301887 deg/s, cmd heading: 14.507548 deg, new cmd heading: 12.623753 deg. Wg6>WX XW:W2W*WVbUBU *U U R8W@U h?BUd`BY BYA]DO=*BYA] AaAaAea="Cm[Z>RCiCmg6>Cqy}jA֙סiץ?qIG~> 9 CI hGi :@ = JD D <; Et$r,ӑEAY}F(@}F5@y}Fu:}F<>}FH@?2?zѿC?`ƿ pN`?3v?)~F(@ ~FB_;I~FCɫqq)q uIqY_@y$oGu=MuV=Y}bQU}>yaE=kEyN=}>Iș :ŝ5? :ŝTξ ƝB =@9ƝDǝ[O; ȝ9;)ȝ:Wx=WX XW:W2W*WVbUBU*UUUd?BEPBA BIAMh=*BIAMAIAIAM="CU>RCYC]x=CyqIIYGuz>  =:YU1y:85)W;9|z$r,ȚEAY}@},@y}|}s>>}HO?p? 멿`>Aп5l?ƿo?@D?r?)~@ ~%F_;I~Cɫ髑) IY@y%nG-MPonly read 0 of 1 data item for BIT error U@ U@ U@[M-=Y&QU>aEEkEy,=}>Iȡťo5?ť#Xξ ơ =@9ƥDǥ: ȥ:)ȡW4,<WX XW:W2W*WVbUBU*UUU '?BThB BA =*BATAAA1="Cz=RCC4,<CIލ@A)މשIG>Ł$r,lEA|i|@Y}68\<}6@y}6S }6{C>}6H? . ?%骿@Ϳ?#gǿ?6S? ej?)~68\< ~64_;I~6Cɫ99)9 9I9Y}n@y}mGMM|=YvQU ?!!a%E%JkE)y-=}- ?I :5? :VZξ B =@9DT`;  a;):W 7@WX XW:W2W*W!V!bU!BU!*U)U)U5 ?Bu'0By ByA}v=*BAz$AAAK="CXQRCM݄C7@Cܕ>9ܕCIܕgGiܕF@ܕ=ܕIDܕDܕ.; ݕE֥FӅIש)שyIG_>{{A .:Y#R1y:5)c;=$r,K!EAY}2y!=}2x`@y}2^}2D>}2H%M?ͼ?Z㪿@:ʿ?$xǿ8؋?Y?i?)~2y!= ~23_;I~2Cɫ99)9 =I9Y}g@y}lGmFx?Dl? rh?m ?mO= mC =)iIiymS?QU>a E QkEyt=}>IW5?o^ξ ӭB %=@9D: :)WM@WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYU]?B2B BA0;*BAAAA=d="CcwRCHC@C}<-aIGe>a$r,";EAY}2* =}2A@y}2|}2s>>}2H`!x?`A?+jǿ@? gƿKO?S?Iq?)~2* = ~2!_;I~2Cɫ99)9 =I9Yk@ylG U U UUľUuU=iU@Q U@)U@IU;@iU@m:MuL=Y}VQU>aEWkEy=}>Iȡť5?ťaξ ƥB =@9ƥDǥf=; ȥ/>;)ȡWu@WqXy XyWy:Wy2Wy*WVbUBU*UUU"@B-XB5= B1A5M;*B9A=ZAAAAAEj="CmRC[ҽC@CօGxYIiGZ>ލ=iލ= [ V5:YT1y:L59@i I i ̿ٺ A܍ >9܍ CI܍ fGi܍ @܍ =܍ HD܉ ܉ ݍ ET$r,yUEA|,|.4}nH 3?? 4 ƫÿ@"?_ ƿ?`Z?z?)~n= ~nE_;I~nCɫ髱) IY@yBlGAAUqMUL=Y]fQU]>YaaeEe]kEaymz=}m>Iq }:u.5? }:udξ uB }=@9uDua: um:)u:W@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBZB BA*BAAAA_="CVaRC€C@CܢS?i?שIG!>/$r,nEAY}fv=}fK@y}f}f3>}fH@?᪾? L"=fF?ſ`Ɵ?`U?~?)~fv= ~fK_;I~fCɫ) IY%@y%kG-Z****** received transponder code query ******-F****** received ping request ******5aEekEy`=}%>I!%gL5?%hξ %B 5=@9%D%: %4:)!WU@WQXQ XqWq:Wq2Wq*WyVybUyBUy*UUUY @BB BA*BAAAA97="Ch3RCx=C@Cf /:Yy5 МI I G >$r,EAY}6O>}6@y}6}6[N*>}6H??u 8ﹿ`"j?ยĿ ӡ?j-??)~6O> ~6В_;I~6Ci<>lA)>s BSFI@ @)B mAɠBxiFHFFDDɡDiDIDHIHiJmA HH)HL LLLɢPPPIP)PiT)TITTɣT TɤXZAXiXXɫ) IY@ykGxDUSBL response received:!U1,P 320,000,0087D,188,80,80,C3,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 M|=YnsQU?aE%kkEQyeX=}m?I  : b5? %:  jξ 'B U=@9  D < <) :W @WX XW5>91I5fGi5@5=115&; 5E)ńCIńCińCń=ń=ńw7:W!2WQ*WQVQbUYBUY*UYUYUE @B<B BAcg*BAAAA ="C%ȾRC% >C- @C1U.=Iޙ)ޝ@AU U7) IQ Gu >Z=$r,CEA|i|Y}6;/>}6^@y}6#}6j,#>}6H??mҺ !?@*ÿx{?QK?@?)~6;/> ~6k8_;I~4ɫ髙) IY@yjGɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 1Zd?MbL7A`?"? +=)IyDl??Mbp?O-?L=; A)@IAiAz A>M7=YKAQU>aErkE yi=}>Iy5?jξ /B 5=@9D\; C;)Wm@WiXi XqWq:Wq2Wq*WyVbUBU*UUU  "5@B8B  BADǼ*BIAUHAyAyA}="CRC m~>C@C7 1:YU1y:5ѭ#=֕ Iי )י a Ii G >g$r,jkEAY}:G>}:]@y}:6}:H>}:HW?Q?D!m?mÿHЦ??˕?)~:G> ~:?!_;I~:Cɫ髙) IY@ykGxDUSBL response received:!U1,R,241,000,0089C,189,80,80,AB,FF Fpublishing direction and range info-ɰ4>7> )+CIyzBA?ET`޿ٱÅZÅb?Å?iÅ@Á ąp@)ą@Iąiąz@<Mc=YSOQU>aEwkEy=}>Iȱ :ŵG5? :ŵiξ Ƶ7B =@9ƵDǵ: ȵ:)ȵ:We@WX XW:W2W*WVbUBU*UUU ֍@P *Q zBZQ O}ϾT@d]FJQ A?ET`޿2Q -:Q bQ |NI,T@_H/~a RQ TB?jKЖ࿃:+pBQ ks@ Q FQ fBP ɩ9?P n9?P Q Q '@"Q cB=B9 BAAE *BAAEaAAAAAEӕ="CM#RCU >CUe@CQYY)a a˺שIG>- >9- CI) i) - =) - D- *; - EO$r,G֒EAY}v^>}v @y}vGH}v>}vH?`Y?8E@?¿4?w!? ?)~v^> ~v^;I~vCɫ) IY@yjGTNmea in: $SNTTA,0.098558,,,,015418.28*4A ZmMI=Y5QU>aE~kEytY=}>I5?:iξ @B =@9%D]u; h;)m5qAdded new target pos. range: 94.740005 m, bearing: 328.467485 deg, deltaT: 4.390404 s, approachRate: 0.423651 m/s, LOS rate: 5.979204 deg/s, posRepo size: 4mU ProNav: pos range: 94.740005 m, bearing: 328.467485 deg, approachRate: 0.423651 m/s, LOS rate: 5.979204 deg/s, cmd update: 12.000000 deg/s, cmd heading: 324.792142 deg, new cmd heading: 320.135426 deg. WU(@WQXQ XYWY:WY2WY*WaVabUaBUi*UqUu@\W@UuP?BY1B BADǼ*BAAAA9="Ce\RCiCm(@Cqe]!I)GEQ>ޑiޕ=* +:YT1y:̢5)ʼn;9"|$r,+EAɫqq)q qIyY@yjGÍS>Íb>ÍG>iÍ3@É č@)čA@Ič@ič@Q7MJ=YQU>aEkEy}>Iȹ :Žt5? :Žhξ ƽIB =@9ƽ.Dǽt: Ƚ:)Ƚ:WeӺ@WX XW:W2W*WVbUBU*UUU #?B-^B) B1A5K*B1A5~A1A1A5> ="C= RC9CEeӺ@CA֥XyIG<>ea$r, EAY}64z>}6?@y}6f}69w>}6H ?o0Ҭl ?gZլ??@?)~64z> ~6^;I~6Cɫ11)9 =I9Yu@yujG  jAMA<MM2=YUIQUU>QQa]E]kEaym`y=}m>Iqu5?uegξ uUB =@9u8Dup3; uJ4;)qW0@WX XW:W2W*WVbUBU*UUUi?B5MB=t< B9A=ܿ>9CIi=Dl; E*BA髼A!A!A%^ ="C-ij*C-e~RC)C-0@C1<|^=I!Ge>}}. 0:YkS1yԊ:5)[;e$r,#EAY}23>}2:y}2q}2h=}2H?@Dр@筿aOS?`Y? V1?`?D?)~23> ~2B^;I~2C 8)<Ɍ<<<@ɍBnAi@I@@IF&CiFnA DD)DH HHHɎHHLIL)NKFiL)LIRlAPɏP PɐPPTiTTiTVA)X XIXɫ髙) IYԾ@yjG rh?DlZd;?C ?O y=)Iy㥛 ?I +?5?94< µGA)µbAIµAiµnA AMf=YQU>aEkEy;X<}>I5?gξ aB =@9@D : k:)WF@WX X!W!:W!2W!*W!V)bU)BU)*U)U1U5&?B]BY BaAeټ*BaAeAaAaAe ="CmWRCqCuF@Cqmh=)IQG=>Iޑ)ޑ$r,=EAY}6~>}64:y}6$y}6=}6H?[}`箿wF?@3?`S?`mC?.?)~6~> ~6^;I~6Cɫ髙) IY@yjGÍ;ÍQ8=ÍiÍz@É ĉ)č­@Iĉiĉ*MMN=YSQU>aEkEy⢺}>Iȹ :ŽV5? :Žgξ ƽnB =@9ƽIDǽN: Ƚ:)Ƚ:W@WX XW:Wq2Wq*WqVybUyBUy*UUUԅ>}=QIaG}z>d 2:YU1y:959@ z>9 CI xfGi S@ = ID D q; El$r,WEAY}>x>}>@y}>Q }}>=}>HB?0@Xu ?C???)~>x> ~>_;I~>Cɫ) IY]@ypkG\Z=MI=YEQU>aEkEym}>I5?Uhξ |B =@9RD: :)W@WX XW:W2W*W V bU BU *UUUcg@B=u&B9 BAAE!*BAAEWAAAAAE ="CRCC@C[=֝N=qIG~>$r,gqEAY}2Sp>}2%@y}2'~}2}=}2Hz?3?nߋ?'G?䦯? ?)~2Sp> ~2=_;I~2Cɫ99)9 9I9Y]@y]jGae?A?E>iQ@ )K@I@i@"MZ=Y7QU>aEkEy}>I :15? :hξ B =@9[D: :):WJ@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBU!BQ BQA]ʼ*BYA]AYAYA]m ="Ce?ӾRCeb>CmJ@Cхq9IIGeU>ޕ=iޕ=K }}W 9:YkS1yԊ:p5h$r,1CEA|4<|;Y}6?ze>}6WI@y}6b<}6@f=}6H@?&Ŗ?@i Ø?Z `C?C? ?)~6?ze> ~6_;I~6Cɫ99)9 =I9>CY}@yjGZ****** received transponder code query ******F****** received ping request ******aEkEyݻ}>IȱŵYM5?ŵiξ ƵB =@9ƵeDǵ9: ȵ:)ȱWӍ=WX XW:W2W*WVbUBU*UUU  @B%)ʼB! B!Au*BqA}1AyAyA} ="CRC >CӍ=C܅n>9܅CI܅gGi܅F@܅=܁܅D܅b; ݅EѽX<iA֝=Q>?i?I) GE >$r,~EAY}2GX>}2@y}2J~}2ͺϹ}2H@?`u?@ǯ`Y?@\!f?ί?9-?)~2GX> ~2`;I~0ɫ99)9 =I9YG@yUkGxDUSBL response received:!U1,P 241,000,0089C,189,80,80,AB,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }B`"?v/Mb?}.?}xi }<)yIyy}bX9?I +?v/?}E6?}94=}xi= }OA)}AAI}Ai}Ay} A->>"۽i@ @)@I@i@T=M==Y=V9QUE>IQauE}kEyƼ}>I :jm5? :iξ B =@9qD; X;):W= <>W9X9 X9W9:W92WA*WAVAbUABUI*UIUIUmw@  KC:Y0Y1y:5B#B BAM*BA0ԬAAA# ="CFUSRC=C <>C) u ;>IIQG>Y$r,nÓEAY}6F>}6|T@y}69z}6r,}6H?{?9 ?"5? ~6b;I~6CɫAA)A AIAY@ylGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B q=Mx=YY;QU ?aEkEy\} ?IȹŽ5?Žhξ ƽŮB =@9ƽxDǽ: Ƚ:)ȹWY|>WX XW:W2W*WVbUBU*UUU[p@B0ԬB BA*BAAAAu ="C2RCХCY|>C>Ia)aיIGb>99 `>9 CI hGi :@ = JD D c;  E)ՇCIՇCiՇCՇ=Շ=Շ60$r,.ݓEA|i|Y}>/>}>@y}>Cx}>=}>H?? bј?(h??1??)~>/> ~>2d;I~<ɫYa)a aIaY@ykGxDUSBL response received:!U1,R,2AA,000,008C6,189,80,80,BC,FF Fpublishing direction and range info:\ɰ7>鰩 )aEkEyf}>I :5? :iξ ٮB =@9D3< J3<):We>WaXa XaWa:Wa2Wi*WiVbUBU*UUU@@P*QBZQR'`"T@YHCKJQV=ex?1,2Q:\:QbQ뷀R@-&N.A;#@RQSh' ?yQChHH%P?BQM@ Q7qQfBPĩ9?Pɩ9?PQQyA"Q'@BTB BA+,*BAجA!A!A%1 ="CM_RCMCM>CQ%O{>I))-iAIG J>5 e  8:YX1y/:p5)>;9b$r,F EAY}2C>}2@y}2t}2`}2H -?'?`ZA@A?C?~?Y>?)~2C> ~2+d;I~2CɫYY)Y YIYY@y&lGTNmea in: $SNTTA,0.223389,,,,015422.72*44 õS=õʡõo>iõף@ñ ĵX@)ĵ@Iĵ@iĵ@<M==Y;QU>aEkEy}>IT5?iξ B =@9D4: +:)m%uAdded new target pos. range: 97.260002 m, bearing: 321.458564 deg, deltaT: 4.531953 s, approachRate: 0.556051 m/s, LOS rate: -1.546557 deg/s, posRepo size: 4m5 ProNav: pos range: 97.260002 m, bearing: 321.458564 deg, approachRate: 0.556051 m/s, LOS rate: -1.546557 deg/s, cmd update: -4.639670 deg/s, cmd heading: 19.127040 deg, new cmd heading: 23.857764 deg. W5w>W1X1 X1W1:W92W9*W9V9bUABUA*UAUEPX@UE/?BuجBq BqAu*BqAyAyAyA}="C<RCOOCw>CmQ>AIIGe4>%r,`EAY}2=}2@y}2Krl}2N'}2H ? ?k`ҙ`jD?8??@.Ŀo?)~2= ~2d;I~2Cɫ99)9 =I9YB@ylG<MK=Yj;QU>H>9CIiGi.@=IDDv; EaEkEy)}>I  5? mjξ B u=@9 D : :) W >WX XW:W2W*WVbU BU *U U U@M?BB BA*BAAAA0="C"=RC C >CIyi}= a ?:YWU1y:5)ʚ;֥׉>qIG~>F1 %r,*EA|;|4 =/<)9I9y=/$?Zd;?~jt?=&1?=y==D< =|A)=AI="Ai=OA9= A=J?94>i@ @)9@I"@i9@<M8=Y;QU>aEkEyl}>I  : B5? : kξ B =@9 D I: :) :W=n>W9XA XAWA:WA2WA*WIVIbUIBUI*UQUQUU@?B}8:By BA;*BAͬAAAۺ="C.:>RCCn>Cօ+=׍?i׍z?9IIGmV> %r, DEAY}2 k=}21c@y}23S}2nH}2Ht?.i?s@ƿ?.? tc?@kȿX?)~2 k= ~2Ad;I~0ɫYY)Y ]IYY`@ylGNMd=Y aEkEy%w}>IP5?lξ B =@9D; ;)WSP>WX  X W:W2W*WVbU!BU!*U!U!U-z?Bm\Bq BqAu:*ByA}-ˬAyAyA}a\="C@Xd>RCCSP>Cmɯy=)I1GM1>O i ::YV1y:K59@:>9CI(kGi"@=JDD{; EC%r,w^EAY}2j*W=}2@y}2B}25J}2H^Z?Y?һ~ ȿ`? ?@{\?6$ɿV?)~2j*W= ~2;c;I~2CɫII)I MIIY}@y}JmG#=MT=Y(aEkE y E} >I : 5? %:^nξ B %=@9D$: :):WEW1>WAXA XIWI:WI2WI*WIVQbUQBUQ*UQUYU]j?BB BA<*BA+AAA="C{>RCCW1>CU<)I1G]>Iy)}AAwm%r,QxEA|i|@ɫ髉) IY@ynGõh=õvõNiõ=@ñ ĵ@)ĵz@Iĵ@iĵ@E=M==YQU>a EkEy}>IȹŽ(( 5?ŽCpξ ƽB =@9ƽDǽE: Ƚ:)ȹW_ >WX XW:W2W*WVbUBU*UUU`{@B-uB) B)A-l=*B)A5VgA1A1A5="C=z|>*C=RRC9C=_ >CAE8ƼII)II G%N>  #A:Yy5UU$%r,,EAY}:<}:@y}:}:#65}:H-?@?H+j?t̿? ?O0?~ƿez?)~:< ~:(>9CIkGis@D; ߗEqqauE}kEyyR}>Iȁ :ŅJ= 5? :Ņ,rξ ƅ"B =@9ƅDDžL; ȅ;)ȅ:W=WX XW:W2W*WVbUBU*U U U `w@RMB*** querying acoustic contact ***PiPiB]FB BA{e=*BA AAAtS="Ch>RCC=C)֝:WqIG~>d*%r,EAY}B"Hr<}B@y}BO0}Bϑ}BH?? v?@Ϳ?@ !?`Z%?uÿ`?)~B"Hr< ~B_;I~BCɫ髁) IY_@y$oGZ****** received transponder code query ******F****** received ping request ******ie\@a eX@)e@Ie"@ie"@u<M}&=Y}8FaEkEy}>IȑŕW 5?ŕuξ tI ƕ#B >@9ƕDǕ: ȕ:)ȑW8-=WX XW:W2W*WVbUBU*UUU`+ @BB B A g=*B A }A A AM="C,L7>RCC8-=C9yi}%=  F:YU1y:]5׹IGf>g1%r,ŔEA||ɫ髙) IY$@ynGxDUSBL response received:!U1,P 2AA,000,008C6,189,80,80,BC,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 EtMMv=Y]QUe?qya}EkEy}?IA u:Ej 5? }:ERxξ A >@9EDE/< E]<)E:iunGIi-ɿٺ)-@AW =WX XW:W2W*WVbUBU*UUU`< @BӥB BA0i=*BA&AAA="CyV=RC!C% =C)>9CITlGi@=KDD; EUʽU?iU? I G5 >^7%r,ߔEAY}6q<}6l@y}6}6F ɽ}6Hi?fW?Tt?Aο?@?`O ? ?)~6q< ~6_;I~4ɫ99)9 9I9Y]2@y]'pG}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B k=MM=Y%=QU%>))a-E-lE)y5V}=>IAE# 5?E{ξ A U>@9EDE"; E";)AW<WX XWQ:WQ2WQ*WYVYbUYBUY*UaUaUeq @B`B BA,=*BAAAA="Cu=RCC<C l IGL>I  9:YWU1y:5);9=%r,EAɫyy)y yIyY@ypGxDUSBL response received:!U1,R,2C1,000,008E7,189,80,80,B4,FF Fpublishing direction and range infoɰ:>鰹 )4CIyzB !?W9p$wٱ-\-`?-ti-@) -Ը@)-"@I)i)=]<M=H=YEQUE>AAaMEMlEIyU}U>IY]f 5?]-~ξ ]"B e>@9]D]: ]:)YWL@WX XW:W2W*WVbUBU*UUU^@P*QzBZQBT@E4PLJQ !?W9p$w2Q:QbQmIP@6FR2@RQPp?PV0c?BQɭ@ QQOBP9?Pĩ9?PQQSA"QyABq^B BA=*BAAAA="Cx.RC"UCL@Cօ7AIIGe4>Iy)}@A`D%r,6tEA|(i|*@Y}<}`@y}'׻}Hr}H H3?o?\?@l̿-?Y? 8z?@͢ L?)~< ~_;I~ܽ>9ܽCIܽkGiܽĿ@ܽ=ܽLDܽDܽ; ݽE)ݭCIݭCiݩݭ=ݭ=ݭ(6ɫ髡) IY@ypGuDNmea in: $SNTTA,,,,,015427.23*5A EÕ<M-.=Y5F19a=E=lE9yeG<}e>Ii u:m 5? u:mξ m B u>@9mDm: mE:)m:m-uAdded new target pos. range: 99.239998 m, bearing: 311.166425 deg, deltaT: 4.412408 s, approachRate: 0.448734 m/s, LOS rate: -2.332545 deg/s, posRepo size: 4m= ProNav: pos range: 99.239998 m, bearing: 311.166425 deg, approachRate: 0.448734 m/s, LOS rate: -2.332545 deg/s, cmd update: -6.997634 deg/s, cmd heading: 358.636175 deg, new cmd heading: 356.223524 deg. WED@WAXA XAWA:WA2WI*WIVIbUIBUQ*UQUU \X@UU@L?  ?:YX1y/:ʽ5);BeB~= BA4=*BAo(AAA="C㌽RCvPCD@C >ֽ8sI)hAבIG>J%r,h\-EAY}M'J=}MZ@y}M!}My }MHL?@?iSäʿmL?!Lw?cc?`u?)~M'J= ~Mo`;I~MCɫ)1)1 1I1YU'@yUTqGMx?~jt+?MK?Mļ M=)IIIyM?V-?:v?M,?Mh=MT< MbA)MAIM\AiMV AIMAíT=íxíO>iíף@é ĭΣ@)ĭΣ@IĭΣ@iĭΣ@8<MS=Y@aElEy%=}>I+ 5?ξ "B >@9D: Y:)W@WX XW:W2W*WVbUBU*UUU. ?B >B  B A F=*B AMwAAA="CRC=tC=@CA֕&qIG>rQ%r,*GEAY}2Fi=}2 @y}2h#R:}2I=}2Hj? R?u Uȿ@cf?FOlDJ}??)~2Fi= ~2Da;I~2Cɫ99)9 9I9Y]b@y]qG<Mj=Y!)a-E-lE9yEIV=}M>IY e:]U 5? e:]Bξ ]%B m>@9]D]Y; ];)]:W@WX XW:W2W*WVbUBU*UUU@p?B &1B  B A  >*BA§AAAX$="C*RC{ɽC@Cyi}= ~~ B:YT1y@:\59@׹IGh>E!>9ECIEkGiEs@E=EMDAE; EEW%r, aEAY}:=}:t@y}:?,;}:=}:H?w?`ſ&w?@fe?s?)~:= ~:b;I~:Cɫ99)9 =IAY}D@y}yqG=MEH=YE%;QUE>IIaMEM lEIyU.c=}U>IY]g 5?]Fξ ](B e>@9]D]6: ]):)YW@WX XW:W2W*WVbUBU*UUUH?Ba?B BA=*BA>AAA;T="CbRC"C@C%q<I_yIG=q> ^%r,zEAɫ髙) IY@y9qG#E>%i@ @)@I@i@oM==Y%QU%>))a-E5'lE9y=}E>II ]:M8 !5? ]:M\ξ M,B e>@9MDMC; MjW;)M:WD@WX XW:W2W*WVbUBU*UUU-p@Bu*NBq BqAu=*BqA}!AyAyA}="C>RCCD@Cх+==1I  k5:YV1y:o51IAG]v>d%r,#EAY}N;>}Na7@y}NԶ;}N>}NH@?@? 2̄`~?xvऴ?`͹?)~N;> ~Noc;I~NCv2>9vCIv(kGiv"@v=ttv; vߗEɫyy)y yIyY^@yqG=<M=Z=Y=AAaEEE-lEIyMz>}M>IQU!5?Uξ U/B ]>@9UDUg: Uض:)QW}Ծ@WX XW:W2W*WVbUBU*U!U)UU@Be8B BA>*BA@AAA="CERCk=C}Ծ@CϹϹ)й йIy)y- t I G- >=$k%r,(EAY}b>}b@y}b>;}b>}bHb?b?`g@?`I¿g{(K? ?)~b> ~b8 c;I~bCɫ髱) IY@y=qGAA333333?{Gzt~jt?>ף <)IyMb?~jt?i3@ )@IΣ@i@%%M%.=Y%e;QU%>))a5E55lEYy]3=}]>Ia m:e@9e#De; e\;)e:W@WX XW:W2W*WVbUBU*UUU`G@R-B*** querying acoustic contact ***P)P)Bm`IB BA=*BA3eAAA ="CֈRCdY=C@C  >> H-:YU1y:ݻ5֝t۽aIqG}>r%r,*rȕEAY}:V*>}:s@y}:);}:g>}:H`?!?s@ڴ?¿}.?f?)~:V*> ~:%b;I~:CɫIQ)Q QIQY@ypGZ****** received transponder code query ******F****** received ping request ******!!a-E-;lE)y5<8=}5>I9=@9=,D=; =D;)9W}k@WyXy XyWy:Wy2Wy*WVbUBU*UUUX @B:OB BA>=*BA*ãAAAM="C,;RC>V6>Ck@CA>9CIiGi.@=ND; җEe9˽IG>-x%r,MEAY}2U;>}2.@y}2qm;}2]D>}2H`>?0װ? P[ 6?`^¿,X?.?)~2U;> ~2 a;I~0i<>lA)>xi >SFI< @)@ɠBMbB9FF@DɡDiDIDDIHiH HH)HL LLLɢLPPIP)TiT)TITTɣT XɤXXXiX\ɫ髹) IY@y'qGxDUSBL response received:!U1,P 2C1,000,008E7,189,80,80,B4,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 5"=M=p=YM:QUU?aEAlEy:8=}>I!%m!5?%Tξ %3B e>@9%5D% < %<)!W\Ź@W X  X W :W 2W *WVbUBU*UUUQ @ށiޅ=5 }}  8:YkS1yԊ:5)=;9BZ[IBY BYAe=*BaAm$颼AiAiAu="CRC"v>C\Ź@C֭Oi Iy G >W~%r,(EAY}2R}J>}2oq@y}2E<}2{ >}2H A?5?R? 㩿 ?@ S UK?@?)~2R}J> ~24_;I~0ɫ髩) IY6@y,pGɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B åå-?å>iåG@á ġ)ĥ@Iĥ@iĥ@qMB=Y#:QU>aEGlEy=}>I :"!5? :ξ 4B >@9?D: :):Wr@WX  X W :W 2W *WVbUBU*UUUK@ByRB BA=*BA lA A A 4="CRC >Cr@C<1סIGB>CiU nGIi i οٺ A8A%r,B EABJ>9BCIBiGiBݽ@B=BMDBDB; BӗEY}R|Z>}Rl@y}R-;}Ree>}RH ?;?2g? 塿o??G8~KA?@s?)~R|Z> ~R_;I~RCɫ) !I!YH@yCpGxDUSBL response received:!U1,R,290,000,00910,188,80,80,9E,FF Fpublishing direction and range infoCɰ >>鰵> )CIyfBex?foUٱ=K7?ˡE?=>='> =L)9I9y=gfffff?:v?Zd;O?=33?=T<=j< =MA)=@I=Ai= A9=G AmjAi}Ǖ;M}%=YbQU>aEOlEyL=}>Iȱŵ!5?ŵZξ Ƶ8B >@9ƵJDǵO< ȵO<)ȱW]p@WYXY XYWa:Wa2Wa*WaVabUiBUi*UiUiUm@E@ 2:YDW1yY:5)Տ;P*QfBZQ-ol_U@KJQex?foU2QC:QbQ魤T@E+ L^uRQ-0~C?dX+yx2BQ@ QefQBP9?P9?PQQÿ"QSABLdB BA=*BAzAA!A%-="C%KRC)C-p@C) u<IG>Gk%r,/EAY}zj>}zKn@y}z ;}z~r=}zH ~z^;I~xɫ) IY5@y5oGDNmea in: $SNTTA,,,,,015431.68*52 -> i@ )Σ@I@iΣ@  <M|=Y?QU ?aEUlE!y%B=}% ?I) 5:-y!5? 5:-kξ -@9-QD-g: -R:)-:meuAdded new target pos. range: 101.699997 m, bearing: 325.391988 deg, deltaT: 4.573683 s, approachRate: 0.537860 m/s, LOS rate: 3.110308 deg/s, posRepo size: 4m} ProNav: pos range: 101.699997 m, bearing: 325.391988 deg, approachRate: 0.537860 m/s, LOS rate: 3.110308 deg/s, cmd update: 9.330925 deg/s, cmd heading: 326.659669 deg, new cmd heading: 324.520962 deg. W}@WyXy XyWy:W2W*WVbUBU*UUlY@U s?Bxc[B BA-=*BA GAAA;_="CÑRCC@C%@=IG5O>Iy)}?A9S%r,IEAY}268v>}2F@y}2x;}2@?=}2H`?A?rr? %`? Hvx??)~268v> ~2^;I~0ɫ99)9 =I9Yu@y}oGp<M]=Y8QU>  a E ZlEy=}>I!%I!5?%Qξ %@B ->@9%YD%p: %:)!WM{@WIXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUeh?B]B BAI=*BAǠAAA8="CƉ!RCC{@Cm,=IIYGu>!  t6:YV1y:9@ܝH>9ܝCIܝhGiܝ:@ܝ=ܝLDܝDܝv; ݝϗE)%CI%Ci%C%=% =% 6'|%r,cEAY}2A|>}2@y}2;}2M=}2H?@\^?;q?47XF?4᷿`q?5?)~2A|> ~2^;I~0ɫ)1)1 5I1YmX@ymoG)= =MD*MM+=YM QUU>QQaUEUblEYy][<}]>Ia m:e!5? u:eξ eEB u>@9edDe: e:)e:Wbt@WX XW:W2W*WVbUBU*UUU@}?BMB BA=*BA%>A!A!A%="C-m*C-RC)C-bt@C15b>IG5>إ%r,o}EAY}2?s{>}2@y}2/d;}2=}2H ?h?aj?@f ? l??)~2?s{> ~2{^;I~2C 8)<Ɍ<<<@ɍBnAi@I@@IDiD DD)DH HHHɎHNLCNlAIN)LiL)PIRlAPɏP PɐTTTiTTiXX)X XIXɫ髙) IYP@yoGuµ>u?u@9ƥlDǥ: ȥ:)ȡWA@WX XW:W2W*WVbUBU*UUU@?B= oBA BAAEg=*BAAM퟼AIAIAMX ="C]PRCYC]A@Camb4>AIIGm5>}=i}=`  z;:YU1y:5֍%r,KEA8>9CIlhGi@=s; ЗEY}Bt>}B.@y}B5%;}B'=}BH@?@݂?ha? ? d??)~Bt> ~B_;I~BCɫ) IY+@ynG/M%A=YU QUU>YYaeEeolEaymcq}m>Iș :ŝ"5? :ŝξ ƝMB >@9ƝvDǝN; ȝ ;)ȝ:W.@WX XW:W2W*W!V!bU!BU!*UIUIUM@$?Bf5B BAl=*BAAAAc ="CRCC.@Cz6>ױIG>%r,&EAY}:kh>}:`@y}::}:z;}:H?lߕ?.T?ޕ?gcU@/c??)~:kh> ~:_;I~:Cɫ髙) IY;@ymGS㥛?Q?u ̼)Iy{Gz?QQa]E]ulEaye}m>Ic2"5?Fξ OB >@9D;  ;)W} @WyXy XyWy:W2W*WVbUBU*UUU^@B-^B1 B1A5<*B1A5MA1A1A= ="C=WRCaCe @Ca]E>  w?:YT1y:\51IAG]v>%r,X˖EAY}6X>}6e@y}6X๙}6"}6H`}?Ģ?@P? FƢ@? S? ~64a;I~4ɫ99)9 9I9Y}@y}SmG@A"Mi=YQU>aE{lEy3}?IG"5?ξ QB >@9D: :)Wk@WX XW:W2W*WVbUBU*UUU i@R B*** querying acoustic contact ***PPB5uB BA<*BAv6AAA ="CԾRCP>Ck@C i>IG&>-6>9)I-hGi-@)))-m; -̗EIy)}AA1ʸ%r,EA|i|@Y}6F>}6R@y}64q}6夽}6H?Y٫? ׽a?٫`K??%.b? ꖴq?)~6F> ~6=b;I~6Cɫ99)9 9I9Y}~@y}lGZ****** received transponder code query ******F****** received ping request ******aElEy ,/} >I :b"5? %:<ξ SB %>@9D; ;):Wej@WiXi XiWi:Wi2Wi*WqVqbUqBUq*UyUyU}@B?B BA;*BAO,AAA ="CɥRC=Cj@C1օ<->I׉)׉AIIGeV>L }} 9:YkS1yԊ:&5%r,úEAY}2l0>}2@y}2吊}2N}2Ha?@b?`j1t?Fe@̬?Q˾?@Rq?`;j?)~2l0> ~2[b;I~2Cɫ99)9 9I9YQ@ylGxDUSBL response received:!U1,P 290,000,00910,188,80,80,9E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 @ @ @ @©i )Ii59M5+=Y=qQUE>IIaMEUlEYyW6}>IȹŽN"5?ŽҊξ ƽUB >@9ƽDǽQ; Ƚ:)ȹW-x@;W1X1 X1W1:W12W1*W9V9bU9BU9*UAUAUE @BO,B BA*BAAA A JP ="C dRCq<Cx@;Cm>I IQ Gm >% .>9% CI! i! ! ! % D% ; % ֗E%r,EAY}B>}B@y}B»}BFp}BH`??`n?飹@u?E?_x?ÿ@9?)~B> ~BGc;I~BCɫ髁) IY@y"lGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B UʡE?{Gz?{Gz?U>Uף< Uף<)QIQyUi|?5?v/?Q?U1?Uxi=U< UA)U/AIU AiUp AQUf AME=YQU>aElEys}>Iȩ :ŭ"5? :ŭξ ƭZB >@9ƭDǭV: ȭ:)ȭ:W1=WX XW:W2W*WVbU BU *U UU @BIBI BIAI*BQAQAQAQAU{ ="C]5MRC]:C]1=Ca%l>}=i}=.  }7:YDW1yY:&5)“;9IGn>%r,p2EA||;Y}:==}:A@y}:z}:7}:He? ?@? B#;??@K~?ƿ|?)~:== ~:Qd;I~:Cɫ99)9 =I9Y޿@ylGxDUSBL response received:!U1,R,3CF,000,0093B,189,80,80,88,FF Fpublishing direction and range info-YɰA>7> )CIyBa\?9^ٱ = = = ==>=~>=>i=@= =9@)=Σ@I=@i=Σ@MMMw=YUÞQUU?QYa]E]lEYye¡}e?Iim="5?mξ m^B u>@9mDm: mk:)iWC=WX XW:W2W*WVbUBU*UUUA@P*QBZQ4k0Q@=KSJQa\?9^2Q-Y:QbQdJ/M@Bc#KUQeo ,@RQ;;լ?T$sx`?BQ_@ Q_QiBP9?P9?P QQA"QÿBqBy ByAy*ByAyAyAA ="CRCF7CC=Cm$[>m?im?!I1GM1>%r,CTLEAY}~{=}~,@y}~v}~֒N}~H`K?Q?-?:xÿ? 11a=E=lE9y=x}E>II U:M"5? U:Mξ MdB U>@9MDM: M;)M:myAdded new target pos. range: 104.280006 m, bearing: 304.421395 deg, deltaT: 4.316611 s, approachRate: 0.597693 m/s, LOS rate: -4.858115 deg/s, posRepo size: 4m ProNav: pos range: 104.280006 m, bearing: 304.421395 deg, approachRate: 0.597693 m/s, LOS rate: -4.858115 deg/s, cmd update: -12.000000 deg/s, cmd heading: 6.973547 deg, new cmd heading: 11.291665 deg. W*<WX XW:W2W*WVbUBU *U U Z@U?B6B BAV*BA-AAA =%>9CIi=; ڗE"CLRC˱^C*<C}} 2:YkS1yԊ:J5)};>ױIG>%r,$fEAY}2EP=}2b@y}2F}2Z^^}2H~?@Qb?@+?wƿO?i?@ш?{˿??)~2EP= ~2sc;I~2CɫYY)Y YIYYо@yjG5UM=\=Y=;ۻQU=>AAaEEElEAyM҇}M>IQU\"5?Uξ UiB ]>@9UDU^: U:)QWˆ@WX XW:W2W*WVbUBU*UUU_?B B BA{ݼ*BA%TAIAIAU ="C(/ =RC Cˆ@C֥=Iy)}@AיIGb>A%r,EA|Ai|E@Y}_[H=};@y};f}d}H@\? F?#?`Zɿ8?!?،?W̿3?)~_[H= ~b;I~Cɫy髁) IYa@yukGEO ?E`aElEy#G}>I :"5? :Տξ oB >@9De&; :;):W%F~@W)X) X1W1:W12W9*W9V9bUABUA*UAUAUM<2?B㖤B BA"*BAeAAA ="C,I[=RCCF~@CK5=I)yIG_>  84:YU1y:59@ >9 CI i = D ; ۗE)]CI]CiY]=]=]4%*%r,8ۙEAY}<}@y}Ǝ}t^}H =?v?8? ˿|? vP??˿??)~< ~na;I~Cɫ) IY-@y5kGE|?5^?y&1?&1E>E`e< EP)AIAyEZd;?&1?Mb`E>?EP=E E@)E&AIE AiEAAEAeMe?=YmihQUm>iqauEulEqy} 3}}>IȁŅV#5?Ņξ ƅnB >@9ƅDDžh: ȅ :)ȁW]@WX XW:W2W*WVbUBU*UUU`!?B!B BAԚ*BAAAA ="C*M=*CtRCC ]@C Z<יIGb>4T%r,EAɫyy)y yIyY@ykG @ @ @õ©õõiõz@õ ĵ9@)ĵIĵiĵz@!=Mi=YQU>aElEy}>I<'#5?ɔξ  >@9D(: :)WO@WX XW:W2W*W!V!bU!BU!*U!U)U-`D@BUӢBQ BYA]*BYA]ՎAYAYAe[ ="Ce^4<RCiCmO@Ci5%;%r,͐͗EA||4aaaeEelEaym%}m>Iq }:u_?#5? }:uξ q >@9uDus: u:)u:Wֳ@WX XW:W2W*WVbUBU*UUU@b@BՎB BA*BAAAA' ="CulLRCqC}ֳ@Cy֍;׍?i׍?au>9uCIqiqu=qqu; uڗEIG=>Jf%r,lEAY}:p@}:@y}:4}:46}:H??`mo? пYx?\Z??@ƿ K}?)~:p@ ~: _;I~:Cɫ99)9 9I9Y}п@y}kG:MW=Y;QU>aElEy}>IȹŽV#5?Žξ ƽmB >@9ƽDǽC: Ƚ:)ȹWB@WX XW:W2W*WVbUBU*UUU߭@RB*** querying acoustic contact ***PPBB BA*BA1A9A9A=E ="CMLRCUL\CUB@CYEl"I)GMR> @*:YW1yč:J5 N&r,RGEAY}6I@}6@y}6l }6R }6H|?`{6? PQ?`Tп[?_?Q?, Ŀบ?)~6I@ ~6/_;I~6CɫYY)Y ]IYYȿ@ykGZ****** received transponder code query ******F****** received ping request ******i׫@ "@)@I@i@M5=Y6;QU>!!a%E%lE!y-(}->I1 =:5r#5? =:5Hξ 5lB E>@95D5C: 5q:)5:We @WaXa XaWi:Wi2Wq*WqVqbUqBUy*UyUyU}@ @BB BA*BAAAAk ="C+'RCwC @CKׁIG>>Iޙ)ޝ?Au >9q Iu gGiu F@q q q u ; u ӗEW|&r,3EA|Li|LY}@}@y}Wd}<ҽ}H@*??2? 5?@sBп@?`I? 'l?@7?)~@ ~$R_;I~Cɫ髉) IYĿ@ykGxDUSBL response received:!U1,P 3CF,000,0093B,189,80,80,88,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }  =:YU1y:n5)4;9x&?V-?I +?7 ?m= 94=)Iyi|?5?A`"?aElEy ;}>IИ#5?2ξ nB %>@9 DIU< <)WM :@WQ XQ  XQ WY :W 2W *W V bU BU *U U U @B B  B A *B A9 A9 A9 A=  ="CE cRCE x>CM :@CI } >y U Vw$IY )Y  I G= >? &r,4EAɫ髙) IY@ykGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I=) @ @ @©i\@ )Ii\@ {M =Y QU 2?aElEy}4?I! -:%x#5? -:%Zξ %oB 5>@9%D%: %o:)%:WUl@WQXQ XQWY:WY2WY*WYVabUaBUa*UaUiUm<@BġB BA+,*BA搟AAA ="C=RC*Cl@C}B99IAG]3>{&r,4NEAY}>@}>@y}>I}>5j}>H??@?@pϿ?B ?>I?@@?)~>@ ~>g_;I~>Cɫaa)i mIqY@y"lGxDUSBL response received:!U1,R,2F7,000,00962,188,80,80,93,FF Fpublishing direction and range info)ɰD>鰽> )CIy=Bp;?=\ ݭٱ<MC=Y;QU>aElEyϐ<}>IȹŽ(#5?Žξ ƽpB >@9ƽDǽ; Ƚ;)ȹW/@WX XW:W2W*WVbUaBUa*UiUiUuo@P*Q=BZQ(+U@adPJQp;?=\ ݭ2Q):QbQTP@j UROUx:@RQ8M?; @鿃b?BQ@ QHQBPʩ9?P9?P Q Q(A"QA5>95CI5@gGi5@5=15D5; 5՗EBU搟BY ByA*BAAAA6 ="C ܾRC)J=C/@C}?p޹i޽=U  ::YT1y:85)r;QIYGuz>;&r,xhEAY}2#<}2Ho@y}2;}2[}2Hb?`;3?`Tf? 8ο?`Μ?`a@]*@m?)~2#< ~2a;I~0ɫAA)I MIQY,@yolGDNmea in: $SNTTA,,,,,015440.60*5C %<M%R=Yu;QU}>aElEyw<}>I#5?+ξ rB >@9%D÷: :)mUuAdded new target pos. range: 106.619995 m, bearing: 307.823621 deg, deltaT: 4.503167 s, approachRate: 0.519632 m/s, LOS rate: 0.755519 deg/s, posRepo size: 4me ProNav: pos range: 106.619995 m, bearing: 307.823621 deg, approachRate: 0.519632 m/s, LOS rate: 0.755519 deg/s, cmd update: 2.266556 deg/s, cmd heading: 313.113765 deg, new cmd heading: 308.182713 deg. WYe@WX XW:W2W*WVbUBU*UUZ@UN?BB  B A *B A A AAf ="CjRC>CYe@Cy}1IAG]v> &r,MEAY}:+<}:@y}:t;}:r<}:H5?A?6N?@̿4?  }qQ??)~:+< ~:Eb;I~:CɫAA)A AIAY}@y}BlG } } }Å%ÅO>ÅyiÅQ@Å ā)ą@Iąt@ią@=MR=Y1;QU>aElEy.=}>I :0#5? :ݮξ sB >@9/D: :):Wگ@WX XW:W2W*W V bU BU*UUU/?B9BA BAAA*BAAAAAAAAMl ="CUURCUi[>CUگ@CQE?΅I)IMCG]>inG  m>:YWU1y:859@IiE2ɿٺAEA- >9) I- xfGi- S@- =) ) - ; - ЗEݺ&&r,6:EAɫIQ)Q UIQYJ@ylG}q= ףp?A`"?}+?}Y= }̼)yIyy}rh|?~jt?Mb?};?}<}< }A)}p AIyi}Ay}AZ<M<=YQU>aElEy}>IȹŽ$5?ŽCξ ƽvB >@9ƽ9Dǽ: Ƚo:)ȹWm@WX XW:W2W*WVbUBU*UUU`a]?BB BA*BA A A A  ="C'.RC >Cm@C97xI)AAIG5q>,&r,%EAɫ髙) IY@yKlGÍÍ?Íx>iÍ@É čp@)čz@Ičz@ičz@퟼M]=YQU>aElEy}>I! -:%,$5? 5:%Dξ %xB 5>@9%BD%: %q:)%:WU@WYXY XYWY:WY2WY*WaVabUaBUa*UaUiUm`1?BB BA*BAAAAO ="C=RCC@C ս>Խ=֭ OׁIG>>9  ^8:YV1y:03&r,ϘEAY}2)=}2 @y}2;}2>}2Hf?@?@0ÿY?`x/??)~2)= ~2e;I~2Cɫ99)9 =I9Y0@y9kGu>M}M=Y}y;QU}>aElEy->}>IȡťD$5?ťLξ ƥ{B >@9ƥKDǥ*; ȥ;)ȡWb@WX XW:W2W*WVbUBU*UU U?BWB BAfz*BAAAA& ="C}HRC C b@C >9CILeGi_@=MD; җE)mCImCiim=m=m6BIGK>9&r,^EAY}:ę=}:@y}:;}:>}:H?2?I"B`t]?¿z?W?)~:ę= ~:/f;I~8ɫYY)Y ]IYYo@ykGw<MF=Y:QU>aEmEyR=} >I :t^$5? : ξ ~B >@9UD: :):W]>@WaXa XaWa:Wa2Wa*WiVibUBU*UUU@B1B BA*BAAAAW="C HNRCC>@ClؽIG5O>=i=  m>:YT1y:o5@&r,!EA|4<|;Y}NS>}N@y}NFw;}N >}NH??B`w?gÿy?0?)~NS> ~Nc;I~NCɫyy)y yIyYs@ykG?A½@>i@ )­@IΣ@i@-:M-T=Y5W'QU5>99a=E= mEAyE]=}E>IIMu$5?M$ξ MB >@9M^DM< M <)IW0j@WX XW:W2W*W!V!bU!BU!*U!U)U-b:@RUB*** querying acoustic contact ***PQPQB}裼By ByA}1*ByAßAAA\="CN*CSRCC0j@C֍v׍?i׍?aIiG<> >9 I dGi @ = ; G&r,6xEAɫ) IY@ykGZ****** received transponder code query ******F****** received ping request ****** Y=)IyV-?{GztQ?|??ף\= A)AI Aip A Azq<M2=YQU>aEmEy}>I :$5?  :9ξ B  >@9iD; :):W-@W1X1 X1W1:W12W1*W9V9bU9BU9*U9UAU` @B%B) B)A-*B1A5ğA1A1A=>="CEG,HRCACM@CQ}`Ի: ~~ r8:YT1y@:5);9QIYG>.M&r,K7EAY}B&>>}B@y}B ;;}B͞>}BH(?ȯ?ѩi@|u?`ʼn^'t?@K?)~B&>> ~B[`;I~BCɫii)q uIqY@yjGxDUSBL response received:!U1,P 2F7,000,00962,188,80,80,93,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 U7UjUiUG@Q Q)U@IU\@iU\@I)6M$=Y%3QU>aEmE y =} >Il$5?Ͻξ B ]>@9uDܹ: :)WI@WX XW:W2W*WVbUBU*UUUh @BB BAt*B!A%A)A)A-+="C]{q8RCaCeI@C֭ %|=a Iq G >T&r,8QEAY}B F>}BM@y}Bĕ;}B=}BH`?@,? ^@k`E? @q? ?)~B F> ~Bu_;I~BCiHH)Jrh JSFIL L)NmAɠN;_N+FFPPɡPiPIPPITiVmA TT)TX 111ɢ199I9)9i9)9IAAɣA AɤAEAIiIIɫ ) IYu@yujGyɮyNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B MʼMM=YMq-QUM?QQaUEUmEYy]<}]?IaeP$5?eξ eB m>@9e|De: e÷:)aWm@WX XW:W2W*WVbUBU*UUU@BڴB BA*BAdAAAg=m">9iImcGim@m =iim; mΗE"C .RCCm@C֝[=qIG_> N2:Yy5)H;CZ&r, kEAY}6}G>}6sY@y}6w;}6@=}6H6?s?SI@c?n@o?o?)~6}G> ~6`_;I~6Cɫ) IYž@yjG=xDUSBL response received:!U1,R,217,000,0098A,187,80,80,A6,FF EFpublishing direction and range info5Q ᄅ1ɰ5 H>51> 1)5&CI1y5 B5 ΑH?siܿٱ1MS>M@M$>iM@I I)M­@IME@iME@]Z;M]I=Ye yQUe>iiamEm#mEiyuAd;}u>Iy :}$5? :}ξ }B >@9}D}: }:)}:WO|@WX XW:W2W*WVbUBU*UUU@N@P*Q BZQb$xVX@VsHJQ ΑH?siܿ2QQ :QbQ<&q6W@LKr'RQ1b?Cf(̷߿ͦ+xEBQt@ QXQ)BP 9?Pʩ9?PQ QU?"Q(ABZB  B A *B A >FA A A="Ck#RCCO|@CY>׹IGD>*a&r,2䄙EAY}2p#E>}2F@y}2Z;}2h=}2H2? ̜? U#?ӏ?#sBk??)~2p#E> ~2a__;I~2Cɫ髱) IY@yjGDNmea in: $SNTTA,,,,,015445.07*58 gMU=YQU>aE*mEy}>Im$5?ξ B ?@9D< !<)muAdded new target pos. range: 109.020004 m, bearing: 330.262869 deg, deltaT: 4.416665 s, approachRate: 0.543398 m/s, LOS rate: 5.080586 deg/s, posRepo size: 4m  ProNav: pos range: 109.020004 m, bearing: 330.262869 deg, approachRate: 0.543398 m/s, LOS rate: 5.080586 deg/s, cmd update: 12.000000 deg/s, cmd heading: 323.158182 deg, new cmd heading: 324.082404 deg. W 7@W X  X W :W2W*WVbUBU*UUGA[@U@w?BB BA *BASAAAK="CRCC7@C!};>=i=  84:YDW1yY:o59@QIaG|>܍ !>9܍ CI܉ i܉ ܍ =܉ ܉ ܍ ; ݍ ɗETg&r,EAY}2VW?>}2?@y}2%;}2<}2H?gz?,P?t@?ndO?j?)~2VW?> ~2)_;I~2Cɫ19)9 9I9Y]@y][iGQ? ףp= {Gz?(?Q8 #=)IyQ?Mb?~jth?(aE0mEyj}>I :%5? :lξ B ?@9D: :):WR@WX XW:W2W*WVbUBU*UUU?BșƼB BA*BAᠼAAAh="C!RCCR@C˖X>יIGA>}m&r,2EAY}:r4>}:@y}:Qes:}:t}:H?vp?@,f`?@q`? m]?lNה@?)~:r4> ~:ҿ`;I~:Cɫ99)9 =IAY}@y}MiG ÅtÅHÅiÅ@Á ā)ą&@Ią&@ią&@u]ML=YQU>aE6mEyFټ}>Iȩŭ'%5?ŭBξ Ʃ ?@9ƭDǭ\: ȭ:)ȩWm@WX XW:W2W*WVbUBU*UUU@?BżB! B!A%H*B!A%MA!A!A-="C5jRC5e>C5m@C1%$[>I)GMR>  ?:YU1y:5ie mGIy i пٺ Adt&r,3nҙEAY}2 d#>}28@y}2Sf}2}}2H?`v?r?` ?? cL? Ҫ P?)~2 d#> ~2`b;I~0ɫ髉) IY@yhG=>99I=XcGi=ȸ@==999 9)M.=Y|QU>aE>mEy}>Iȡ :ťD%5? :ťξ ƥB ?@9ƥDǥ: ȥ:)ȥ:W"@WX XW:W2W*WVbUBU*UUU+l?B66μB BA*BA$AAA="C%R+RC-q>C-"@C)I)?A=Ae>IG=>ّz&r,&UEA|i|Y}B >}B"s@y}BI6}B]۽}BH?@ ??` ּ?F?@8f? B^?)~B > ~BGc;I~BC \)`Ɍ`ddlɍpirtIptIxi| )  !!Ɏ!@CIj)i)IlA鏹ɏ ɐlAii) Iɫ髩) IY@y|hGÅ=Ån>ÅY=iÅ@Á ą@)ą;@Ią@ią@&nM[=Y(QU>aEDmEyL}>Iȩŭ[%5?ŭξ Ʃ ?@9ƭDǭ: ȭ:)ȩW@WX XW:W2W*WVbUBU*UUU a1@BKԼB B!A%ޭ*B!A%uA!A)A-d="C-RC5RC=C5@C1Y>IG-O>  } }  W@:Y kS1y Ԋ: 5w&r,%EAY}:=}:@y}:l}:.}:HO??w0? X?]?`m?¿ ?)~:= ~:c;I~:Cɫ髙) IYO@ygGIM=)M=UeM]a=Y]QQU]>aaaeEeJmEaym}m>Iquq%5?uξ uB }?@9uDu: u:)qW@WX XW:W2W*WVbUBU*UUU@BsB BA׽*BAAAA="CJsRC$C@C|1>שIG >M >9I II iI M =M LDI M ; M җE)IiC==6ܢ&r,F EAY}2E֫=}2@y}2u}2c2}2H`p? ? ?Ŀ9?`?+p?`/ƿ?)~2E֫= ~2^d;I~2Cɫ19)9 =I9YuH@y}gGy}@A^I +?{Gz~jt?X># D<)Iy!rh?Zd;O?Zd;O?l'?j<j< A)AIi A A=M=L=Y=֪QU=>AAaEEEPmEIyMo~}M>I :%5? :ξ B ?@9D: :):W%Q@W!X! X!W!:W!2W!*W)V)bU)BU1*U1U1U53v@R=B*** querying acoustic contact ***PAPABeK#߼Ba BaAeaٽ*BiAmѣAiAiAmO="Cu`RCuC}Q@Cyօa >׍?i׍}?AIaG;>i=}e }}} };:Y}DW1y}Y:}5)};9$ˍ&r,9EA|;|4?`y?er?ǿeq?)~6= ~67c;I~6Cɫ髹) IY@yTgGZ****** received transponder code query ******F****** received ping request ******qqauEuWmEyy}5}}>IȁŅ%5?Ņξ ƅB ?@9ƅDDž : ȅ:)ȁWqG =WX XW:W2W*WVbUBU*UUU @BhB BA *BAӛAAAQ="C${RCIC qG =C c>I G%o>&r,SEAY}FbG=}FH@y}F}FXF}FH']?` ?!?`bɿu?@G?u?Nȿf?)~FbG= ~Fͼb;I~FCɫyy)y }IyYI@ykfGxDUSBL response received:!U1,P 217,000,0098A,187,80,80,A6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 !!UM]^=YmBQUu>aE]mEy(}>I :ϴ%5? :ξ>9Ii=;  B M?@9D@= *@=):W >W X  XW:W2W*WVbUBU*UUUe@~ @BB BA *BAA9A9AE="CM =RCU CU>Ca} }}} }6:Y}WU1y}:}&5)};֝=qIyG>&r,WmEAY}5 =}5/@y}5ڻ}5G}5H@uC? T?`?OJ˿w?m?[{?ȿVd?)~5 = ~5a;I~5Cɫ) I Y}W@y}fGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U U UU}=UU\iU3@U U@)U@IU@iU@eU;Me9=Ym|NQUm>iqauEudmEqy}L}}>IȁŅ%5?Ņξ ƅB ?@9ƅDDž': ȅ:)ȁWxP>WX XW:W2W*WVbUBU*UUU)@BB BA *BAwAAA ="Cp.=RCCxP>Cֵi=׉IG`>I)AAgơ&r,qEA|i|@Y}BNw<}B@y}BHػ}BAD}BH W&?`?C'? :LͿN?@? {?0sȿh?)~BNw< ~Bf`;I~@ɫYY)Y YIYY@yfGxDUSBL response received:!U1,R,3A6,000,009B2,189,80,80,82,FF Fpublishing direction and range infoYPɰSK>鰝7> )CIyBEL9?wIٱމ<Mj=YXV9QU>aEjmEyw<}>I :%5? :6ξ B ?@9D: #:):W>WX XW:W2W*W!V!bU!BU!*U!U)U-@P9*Q=BZQ=4|S@ ETJQ=EL9?wI2Q=YP:Q9bQ=@ITL@$W/@RQ=-3?oPD뿢FT_?BQ=eݧ@ Q=Q=B`BP=é9?P= 9?P=Q=Q=ծA"Q=U?BmBq BqAu*BqAu+AyAyA}N9="C)(>RCC>Cm]<)I1GM>u uuu u4:YuV1yu:u759}@ >9 CI bGi w@ = D ; ƗE`&r,PEAY}rM;}rD0@y}rH}rk?}rH. ??@4?`%-Ͽ |?@I@?Iu?ǿ@p?)~rM; ~r_;I~pɫ) IY@y0fGDNmea in: $SNTTA,,,,,015449.45*52 I4=)%=B`"?X9vQ?.? u=)IyʡE?Zd;O?=? ­@)­#AI­p Ai­AA  @  @  @ ©  i @ z@) I i \@ jM ! ) a- E- tmE) y5 }5 >I9 = J&5?= ξ 9 E ?@9= D= : = {:)9 mu yAdded new target pos. range: 111.419998 m, bearing: 300.560808 deg, deltaT: 4.391527 s, approachRate: 0.546506 m/s, LOS rate: -6.763493 deg/s, posRepo size: 4m  ProNav: pos range: 111.419998 m, bearing: 300.560808 deg, approachRate: 0.546506 m/s, LOS rate: -6.763493 deg/s, cmd update: -12.000000 deg/s, cmd heading: 15.858524 deg, new cmd heading: 23.588072 deg. W OH>W X  X W :W 2W *W V bU BU *U U @[@U ?B JYB  B A *B A pA A A V="C ^Ex>RC C OH>C G8י I G >u&r,)#EAɫ髙) IYû@ygGU=M]=Y]QU]v?aaaeEewmEaym}mv?Iq }:u]&5? }:uξ q }?@9uDu: u:)u:W=WX XW:W2W*WVbUBU*UUU[?B9 B BA*BA AAAu="C% >RCC=CLשIG >=i=" ~~ 6:YT1y@:85b&r,ԚEAY}J@}J@y}J4ߊ9}J}JH o?T+??`Wп? ?[1p¿?)~J@ ~Js8_;I~JCɫyy)y yIyYT@yyfG}M}H=Y}[aE}mEy}>Iȑŕ:*&5?ŕnξ ƕB ?@9ƕDǕI: ȕ4:)ȑWc<WX XW:W2W*WVbUBU*UUU ?Bx B BA= *B A eA A A I="C#]>RCCc<C}>9}CI}bGi}&@}=y} D}; }ȗE役!I1GE0>.&r,EAY}n@}nk@y}nO;}nh}nH5?@?5"?п? ?i@?)~n@ ~nM/_;I~nCɫ髱) IY:@yYfG   å$>å ?åXiå=@å ĥn@)ġIĥE@iĥE@MC=Y;QU>aEmEyK<}>I  C&5? Jξ B ?@9 D .: ::) W=@W9X9 X9W9:W92WA*WAVAbUABUI*UIUIUM m?B}B}8= ByA}z*ByA誼AAA׿="C!>*C:RCC@C ե>ԥ>֥&Iס)סyIG<> c2:YV1y:o5&r,pEAY}2;}2O@y}2Tl;}2}2H?h?@. ?`ο?]w?vP^`e?)~2; ~2_;I~2Cɫ99)9 9I9Y] @y]"fGfpM]=YC;QU>aEmEy<}>I  :aZ&5?  :ξ B ?@9DN: ):):W5[[@W1X1 X9W9:W92W9*W9V9bUABUA*UAUAUM+@BuBq BqAu*ByA}ȫAyAyA}2="CM>RCC[[@C}>y}FiunGIi 5ƿٺ15zA?9{AIG$>I)?A܍ >9܍ CI܍ aGi܍ @܍ =܍ MD܍ D܍ ; ݍ ͗E=&r,C"EAY}2HЧ<}2T@y}2[;}2ا }2H@,??@?}̿'?p? ||?)~2HЧ< ~2`;I~2Cɫ99)9 9I9Y}@y}eG> ףp=?!rh?Mb?l= )IyCl?x&?{Gzt?;??7=ף; A)AI‰i AA)å> å>i,M>=Y:`;QU>aEmEy=}>IEu&5?ξ  ?@9"D(: R:)Wz@WX XW:W2W*WVbUBU *U U U@B=6UB9 B9A=*B9AEլAAAAAE="CMO>RCICMz@CQeI9IQGuX> 1:Yy\5)ގ;9Vg&r,iaEmEyF.=}>I :&5? :ξ  ?@9+D: z:):W @W X XW:W2W*WVbUBU*U!U!U%@Ř@R-B*** querying acoustic contact ***P)P)BU BQ BQAU*BQA]覭AYAYA]6="Ceĭ>RCaCe@CiM=QQ%Z)i-m?IG5O>P&r,MKVEAY}6vZ=}6@y}6t$<}6O=}6H`d?`?G?5ȿY? ay`Q?@?)~6vZ= ~6 [c;I~6Cɫ99)9 9I9Y@yeGZ****** received transponder code query ******F****** received ping request ******!)a-E-mE)y5&=}=>I9=&5?=ξ 9 M?@9=5D=<; =;)9W}+@WyXy XyWy:W2W*WVbUBU*UUU` @B B BA3*BALAAAy="Ce\=RCC+@C>9CI`Gi@= D; ϗE)ՂCIՂCiՂCՂ=Ղ=Ղ6п8=֥uaIiG9>ip=--{-{- -c2:Y-#R1y-:-J5)-Z;}&r,/pEA||;Y}F|=}F*p@y}FeZ;<}F{װ=}FH@J? k?no`ƿZb?`b? +k ??)~F|= ~Fed;I~FCɫQQ)Q QIQYջ@ygGxDUSBL response received:!U1,P 3A6,000,009B2,189,80,80,82,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 U U ]]] ?],=i]@] ]z@)]Σ@I]z@i]\@i=M$=Y{7;QU> a E mE y =}>I %:C&5? %:ξ  %?@9AD4: :):Wɸ@WX XW:W2W*WVbUBU*UUU@BU3BY BYAe*BaAmAiAqAw="CjRC),Cɸ@C)! ! > =֭ Iױ )ױ ׉ I G >A&r,ጛEAY}2L=}2.@y}2.9<}2Q=}2Hm?y?@N|pÿ3f?km@%VW??)~2L= ~2Rd;I~2Cɫ髑) IY@yfGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M^=YQU>aEmEyP=}>Iȩŭ&5?ŭξ ƭB ?@9ƭJDǭ: ȭ:)ȩW `@WX XW:W2W*WVbUBU*UUU n@B2YB BA*BAkA!A!A%(="C-lpRC-rC- `@C1%Ƃ!I1G]2>yy N2:YP1y':J59@>9CIo_Gi@=ND D; ̗E7&r,EAɫyy)y }IyYֺ@yeGxDUSBL response received:!U1,R,23A,000,009DA,188,80,80,C4,FF Fpublishing direction and range infoɰN>鰽> )DCIyB5 E?ĉ޿ٱFx?Mb?S㥛+?= /ݼ)Iy/$?Q?Mb?L?u<= ½A)½ AI½ Ai½ A Am=m?m^=im\@i mp@)mE@Im@imۙ@#M#=YQU>aEmEy}>IޥAA)ޥAAIȡ :ť&5? :ťξ ƥB ?@9ƥWDǥ: ȥ:)ȥ:W&@WX XW:W2W*WVbUBU*UUU@o@P*QBZQ8Y@;?B'KJQ5 E?ĉ޿2Q:QbQA=2V@I49Q. rERQΰx? a@R4BQeY@ QQ1BP'9?Pé9?PQQGݿ"QծABmBi BiAu*BqAucʱAqAqAu="CqRCC&@Cu[1I9GU>&r,EA|i|@Y}>yT>}>(@y}><<}>M/ >}>H??Iq?ÿ??)~>yT> ~>d;I~>CɫYY)Y YIYYn@y^eGEDNmea in: $SNTTA,,,,,015453.89*59 B(M=Y6QU?aEmEy\)>}?Iȱŵ]'5?ŵξ ƵïB ?@9Ƶ_Dǵ$: ȵR:)ȱmuAdded new target pos. range: 113.820000 m, bearing: 322.913995 deg, deltaT: 4.610378 s, approachRate: 0.520565 m/s, LOS rate: 4.848450 deg/s, posRepo size: 4m ProNav: pos range: 113.820000 m, bearing: 322.913995 deg, approachRate: 0.520565 m/s, LOS rate: 4.848450 deg/s, cmd update: 12.000000 deg/s, cmd heading: 320.534286 deg, new cmd heading: 316.850442 deg. W@WX XW:W2W*W V bU BU *UUzt\@UJ?B=BA BAAE'*BAAEAAAAAM="CUnARCU=CU@CQ-:I G=/> n1:YDW1yY:5I&r,_ڛEAY}2= ->}2@y}2f;}2_z'>}2H!?u9?@lIx?`Ŀ@Wt^? ?)~2= -> ~2c;I~2Cɫ99)9 =I9e>9eCIeD^Gie@e =eODaa eȗEYT@y?eGUM]N=Y]QU]>aaaeEemEaymye=}m>Iqu-'5?u-ξ uɯB }?@9uiDu: uI:)qW@WX XW:W2W*WVbUBU*UUUp?BI? B BA-+*BAAAAh="C=N¾RC*>C@Cl,IGI>ns&r, 9EAY}:)}?>}:m@y}:Y;}:4&>}:H?e$?Za?@Ŀ`Jaz?l?)~:)}?> ~:?b;I~:Cɫ99)9 =I9Y}ֹ@y}dG }@ }@ }@}©}}i}@} })}"@I}@i}(MG=YQU>aEmEyI3=}>Iȩ :ŭI'5? :ŭξ ƭЯB ?@9ƭsDǭ: ȭV:)ȭ:W}@WX XW:W2W*WVbUBU*UUU`?BX B B!A%:*B!A%洼A!A!A%T="C-RC5#j>C5}@C1 D-IG$>ޥ=iޥ= 2:YV1y:85Z['r,bEA||4}6@@y}6\}6">}6HR?ϥ??n 'c? 7ĿK?=?`?)~6}Q> ~6qa;I~6Cɫ99)9 9IAY]c@y]dGMT=Y>QU>aEmE y @=} >IWc'5?ξ ׯB %?@9}D$: :)W+@WX XW:W2W*WVbUBU*UUU`<5?BLB BADI*BA&2A!A!A%ҍ="C-!RRC5 >C5+@C9 BόIGU1>܍>9܍CI܍|]Gi܍@܍=܍PD܉܍; ݍЗEr 'r,c'EAY}2e>}2L@y}2;}23 >}2H?u?@/iƙ?ÿ`p? ? ?)~2e> ~2_;I~0ɫ99)9 =I9Y](@y]cG uI +?+? ףp= ?u9?u> uQ8=)qIqyu^I +?Mb?y&1?uX9?uQQa]E]mEy/=}>I  :|'5?  :ξ ޯB ?@9D\; ;):WUk:@WQXQ XYWY:WY2WY*WYVYbUaBUa*UUU ?B<B BAP*BAAAAS="C)RCC k:@C QfI!=+ === =@7:Y=WU1y=:=5)=;9EGMt>@m'r,:AEAY}2X{>}2O@y}2L}2>}2H@?`qOT?ud?ÿ?? c?)~2X{> ~2߇_;I~0ɫ99)9 9I9Y@y cG m m uu#uf>ubiu@u uE@)u@Iu@iuE@EMK=Y(QU>aEmEyk=}>Ișŝ'5?ŝξ ƝB ?@9ƝDǝԳ: ȝ|:)șWK@WX XW:W2W*WVbUBU*UUU@B*B BAd*BAAAADf="CY*C{RCCK@CJMסIީ)ީIGB>iUnGIiiɿٺAz'r,ʥ[EA|i|>9CI\Gic@=; ͗Eɫ髙) IY@ysbGAA%M%P=Y-QU->))a-E5mE1y=}=>IA M:E'5? M:Eξ EB M?@9EDEI: E:)E:Wuf:@WqXq XqWq:Wy2Wy*WyVybUyBU*UUU@RB*** querying acoustic contact ***PPB8#B BAs*BAۇAAA ="C?RCCf:@C֍8uqqu uX3:Yqyqu5)u-;'r,uEAY}2v>}2H`}2H`?Jy"@ɞ? V?‘??`?)~2v> ~2c_;I~2Cɫ99)9 9I9Y}]@y}bGZ****** received transponder code query ******F****** received ping request ******!!a%E%mE)y-m=}->I15'5?5Dξ 5B E?@95D5: 5ض:)1We$@WaXa XaWa:Wi2Wi*WiVqbUqBUq*UqUyU}@@3 @BiB BA!j*BA(AAA="CRݾRCC$@C벫=סIGA>a#'r,[EAY}2">}2t=y}2}2[=}2H?`/@^ޑ??`H `?_־?`?)~2"> ~2^;I~2Cɫqq)q qIqYԷ@y*bGxDUSBL response received:!U1,P 23A,000,009DA,188,80,80,C4,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 M.=YUDQU]>iqa}E}mEip=y}(<}>%>9%CI!i!%=%OD% D! %җE)円CI円Ci冔C==>F7  X:YT1y:&5)k;I :'5? :bξ B ?@9D< <):WO=WX X9W9:WA2WA*WIVqbUqBUy*UyUU@ @Bm RBq  Bq Au A{*By A} A A A Id="C ZRC A>C O=C 4>y I G >)'r,L7EA||;i`blA)bs bSFId d)fmAɠfmfFFhhɡjlAihIhhIlinmA n`l)lp rbnAppɢpv CtIt)tit)xIxxɣx xɤx~A|i||ɫ) IY=@yE bGUa=ɮQNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B K?~jtxA`"?^?Ļ Y=)Iy?:vMb`?,?T; |A)"AI Ai/AA E E EE=EiEp@E E/@)Ed@IE@iE/@UhM]F=Y]QU]>aaaeEemEiym}m>IquZ'5?u,ξ uB ?@9uDu\: u:)qWB>WX XW:W2W*WVbUBU*UUU @B>2B BA~*BAAAAI="CƅRC<>CB>Cd)>יIG>f0'r,ÜEAɫ) IY@yaG%xDUSBL response received:!U1,R,F2D,000,00A0A,187,80,80,C4,FF -Fpublishing direction and range info%)<>!ɰ%R>%1> !)!I!y%fB%du?do?ٱ! IIeƥMe=YaQUm?iqauEumEqyy}}?Iȉō (5?ōξ ƍB ?@9ƍDǍ; ȍ;)ȉWb>WX XW:W2W*WVbUBU*UUU`?]@P*QfBZQd"\@/v]5@JQdu?do?2Q)<>:QbQY&u\@89@R@RQo6?b?•2iJ?BQH_> QAQBPl9?P'9?PKQQ,A"QGݿBN^9B BA*BA%PA!A!A%w="C-ZHRC-=C-b>C1%[+>I G=P> .:YV1y:o59@6'r,ܜEAY}2L>}2@ ~20`;I~2CV>9TIVP\GiV@V=VNDTV; VؗEɫ髙) IY<@ypaGշ<MA=YQU>aEnE!y-t}5>IA U:E3&(5? ]:E%ξ E B e?@9EDE; E9;)E:muAdded new target pos. range: 116.699997 m, bearing: 12.493429 deg, deltaT: 4.343080 s, approachRate: 0.663123 m/s, LOS rate: 11.415731 deg/s, posRepo size: 4m ProNav: pos range: 116.699997 m, bearing: 12.493429 deg, approachRate: 0.663123 m/s, LOS rate: 11.415731 deg/s, cmd update: 12.000000 deg/s, cmd heading: 12.649903 deg, new cmd heading: 17.823787 deg. W_F>WX XW:W2W*WVbUBU*UU,]@UI?B,O*B BA*BAe¼AAAd="CʽRCTC _F>C I)d>׹IGg>='r,&EA|i|@Y}6y>}6@y}6f`}6(}6H`.?Dt?`Ӟr? @ǒ??T?)~6y> ~6qFa;I~4ɫiq)q uIqY@y`GDNmea in: $SNTTA,,,,,015458.45*52 ]]?] i]Q@Y ]K@)]ۙ@I]ۙ@i]ۙ@mEMmT=YmQUu>qqa}E}nEyy}>Iȉō;(5?ō}ξ ƍB ?@9ƍDǍ+: ȍ#:)ȉW>WX XW:W2W*WVbUBU*UUUm`|?Bؽ2B BA*BAļAAA 3="C޸RC'C>C֭*=aIqG9>W  ::YDW1yY:5C'r,CEAY}2tWj>}2?p@y}2}2n}2H3?ԕ?`{ P?t?|?ߺ?)~2tWj> ~2b;I~2Cɫ99)9 9I9Yu@y}`GI-C=)-=ErMEM=YM}QUM>QQaUE] nEYye}e>Ii }:mR(5? }:mξ mB ?@9mDm; m;)m:W>WX XW:W2W*WVbUBU*UUUC^?BZ56B BA*BA \ƼA A A WZ="Cjj=RC#C>C-箵=I9G}7>ܥ>9ܡIܥ\Giܥc@ܥ=ܡܥ Dܥ; ݥחE!J'r,~*EAY}:%Y>}:@y}:} }:b}:H@? ƣ?@vsHW??ro?ɶ`?)~:%Y> ~:hb;I~:CɫII)I IIIYͶ@y`GNbX9?y&1?~jt%?=i=`e< )Iy7A`?S㥫?aEnEy}>IȱŵHs(5?ŵ/ξ ƵB =?@9ƵDǵ< ȵi:)ȱ|| /:YR1yi:5)%;9W7:?WX XW:W2W*WVbUBU*UUU?Be&Bi BiAm*BiA2ɼAAAz="C$8>RC C7:?C g^=I ) י I G >v Q'r,mYDEA||Y}6?I>}6g@y}6D}6}6H?]e?.C~@? =W? 9?u伿 o?)~6?I> ~6ߟb;I~6C <)<Ɍ<<@@ɍBnAiB#I@DIDiFnA DD)DH HHHɎHLLINE)NKFiP)PIPPɏP TɐTTTiTTiXZA)X XIXɫ) IY5t@y5z`GM=Y0QU ?aEnEyFn}!?I :(5? :ξ  B ?@9D: :):W7%?WX XW:W2W*WVbUBU *U U U G3@B=QB9 B9A=*BAAENʼAAAAAE="CM:vi>RCICU7%?CQMd= IG5.>3W'r,4^EA&>9&CI&]Gi&@&=$$&; &ڗEY}B<:>}Bh@y}Bҕ}B}BH`?@b?<?Q?@?@ ?)~B<:> ~Bub;I~BCɫ髹) IY-@y#`GUC=iU4= aadML=Y:ۺQU>aE nEy}>IȜ(5?ξ &B ?@9D4: :)WEqa;?WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQU]u@B9B BA*BAP̼AAA="C->RCCqa;?C4|E=סIGB>]]'r,AxEAY}6پ,>}6z@y}6`}6}6H`?`i?OZ 1?Z?{?Gñ?)~6پ,> ~6ga;I~6Cɫ髩) IYܵ@y_G?A=z=>=,=i=f@9 =z@)=@I=\@i=&@MXμMMO=YU9QUU>YYa]E]&nEYye}e>Ii u:mӳ(5? u:mξ m+B }?@9mDm: mt:)m:WO?WX XW:W2W*WVbUBU*UUUp@RB*** querying acoustic contact ***PPBAB BA*BA=μAAA="Cf>RCCO?Cֵr;׉IG>I@A)6  !8:YV1y:59@ Ci I i1 ] Ϳٺa e ALd'r, EA|i|@ɫ髉) IYR@yQ`GZ****** received transponder code query ******F****** received ping request ******aE-nEy}>IȹŽ(5?Žξ ƽ1B ?@9ƽDǽ; ȽM;)ȹWCg?WX XW:W2W*WVbUBU*UUU @B26B BA*BA-iмAQAYA]="C^>RCCCg?C=>9=CI9i9==99=; =חEt[סIG>oj'r,"ƫEAɫ) IY@y`G%xDUSBL response received:!U1,P F2D,000,00A0A,187,80,80,C4,FF %Command Ack%BRequesting micromodem ping code 2i!!I)))5Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Ie=)a{{ 3:Y#R1y:85)b;9#~j?Q?{Gz??u= ף<)IyzG?Zd;?S㥫? 7?y=/]= AA)AI AiAAÍ\=Í}=ÍiÍ@É č@)č@Ičič@<M=YQU>aE5nEy}>I :x(5? :ξ EB  ?@9D; c;):Wuځ?WyXy XyWy:W2W*WVbUBU*UUUV@Bu.By ByA}*ByA}&ҼAyAyA="Cg3?RCCځ?C֍ Q潹A IQ Gm >Wq'r,EŝEAY}:>}:@y}:q }:v}:H`?E?5L?~ξ?`7?`?)~:> ~:_;I~:Cɫ99)9 =I9Y}@y}`GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -ğM-=Y-{=ia=9 = iAM >9M C)w'r,QߝEAIu|]Giu@u=uODuDu; uԗE) CI Ci = = 6|$|$Y} >} @@y} } 2ǽ} H? I?՗?x?`=w?ٸ ?)~ > ~ ^;I~ Cɫ) IYMp@yMu`G]xDUSBL response received:!U1,R,385,000,00A3B,189,80,80,AA,FF ]Fpublishing direction and range infoU IIQɰUV>U7> Q)U*CIQyUGBUv?rB4ٱQP2ME=Yg;QU>aE@nEy;}>Ișŝ)5?ŝξ Ɲ]B ?@9Ɲ"Dǝg: ȝ:)șWUq?WX XW:W2W*WVbUBU*UUU f@P*QGBZQ7#2!U@&+UJQv?rB42Q II:QbQ=4e}R@.zV? %@RQ^%A?T(ΙD:f?BQ֬@ QQsBP9?Pl9?PQKQA"Q,AB%x=B! B!A-ؓ*B)A-ռA)A)A5im="C5H4IG )>+  @7:YX1y/:85);B}'r,%YEAY}6$>}6D@y}6gp}63}6H`?z˶?@M+N? K?` ? ݰ*?)~6$> ~6!^;I~4ɫaa)a eIiY}@y`GDNmea in: $SNTTA,,,,,015502.84*51 em=e>e=ief@a e@)e/@Ie/@ieE@mR<MK=Y:QU>aEGnEyֱ<}>I :.)5? :ξ lB ?@9,DV: :):mM}Added new target pos. range: 119.639999 m, bearing: 309.465517 deg, deltaT: 4.445908 s, approachRate: 0.661283 m/s, LOS rate: -14.176612 deg/s, posRepo size: 4mu!ProNav REINIT: LOS rate is -14.176612 deg/s. Setting heading cmd to target bearing of 309.465517deg and heading rate command to 0 deg/s.Wu֬@WqXq XqWq:Wq2Wy*WyVybUyBU*UU]@U( ?BJ:B BA`*BA׼AAAן="CM?RCC-֬@C)Aѓ'r,2EAY}:4>}:@y}: }:Ԯ}:H`?\?`M`[?4? u? ו4?)~:4> ~:,^;I~8ɫYY)Y YIaY@y`GuMuJ=Y}.}:QU}>yaEMnEy!=}>IȑŕUF)5?ŕWξ ƕ{B ?@9ƕ5DǕ: ȕR:)ȑWWX XW:W2W*WVbUBU*UUUp?B]>B B!A%*B!AUټAQAQA]="C}W?RCCCI)@Af ~~ ;:YT1y@:&59@>9I]Gi@=NDD; ȗE-?΅IGn>T'r,-EA|Hi|Hɫqq)q qIqY%@yTaGv/?~jty&1?x ?D `e=)Iyףp= ?{Gz?/$?>?ף<,=  A)AI AiAA-\-?)i-@) -(@)-@I-?@i-@=E=M=1=Y=QUE>IQaUE]TnEiyu}}>Iy :}c)5? :}2ξ }B ?@9}@D}]: } :)}:WWX XW:W2W*WVbUBU*UUUV?B'6B BA*BA#ۼAAA_="C-\?RCCC֕FӅiIyG>*'r,FEAY}6de>}6H@y}6/H}6l=}6H ?@9?`c` ☿4?dR7??`?)~6de> ~6=sa;I~4ɫ99)9 9I9Y}Y@y}aGIp=)%=?<Mu=YQU?!!a%E%ZnE)y->}-?Iȉōx)5?ō8ξ ƍB ?@9ƍHDǍI: ȍV:)ȉWWX XW:W2W*WVbUBU*UUUi?B?B BAD*BAݼAAA,="C U\?*C RC C Ca9  ^8:YU1y:o59IIGuX>% >9% CI% \Gi% c@% =% OD! % ; % ̗EЗ'r,`EAY}2q~>}29y}2w0}2=}2H`?r H[=?r?@%?`?`Y?)~2q~> ~2c;I~2Cɫ99)9 9I9Y]{@y]aG(<MO=YFQU>aE`nEyK=}>I)5?ξ B @@9QD: z:)WWX! X!W!:W!2W!*W!V)bU)BU)*U)U1U5@w?B]0P:BY BYAe.*BaAeݰ޼AaAaAeM="CmV?RCiCqCqe?΅AIIGe4>=ip=#'r,˟zEA|4<|4}6 }6HM?_iŋ?i? X ?@? ~6_c;I~6Cɫ99)9 =I9Y?@ytaGm>m>m >im̜@i mۙ@)m@Imۙ@imۙ@}M}@=YQU>aEgnEyO=}>Iș :ŝ)5? :ŝ'ξ ƝB @@9Ɲ[Dǝ: ȝ:)ȝ:WWX XW:W2W*WVbUBU*UUU^@B&8B BA↾*BA]AAA\i="CћJ?RCCCֹ '0:YWU1y:5׹IGf>@'r,EAY}V}V()=y}V}V>}VH ?`@h%/?ग़?`s\ÿ0ӣ? )?|?)~V ~V+c;I~Tɫqy)y yIyYN@yaG M;MMN=YMeQUM>QQaUEUmnEYy]G=}e>Iaeg)5?e*ξ eðB u@@9edDe: e/:)aWWX XW:W2W*WVbUBU*UUU @R B*** querying acoustic contact ***P P B<B) B)A5*B1A=QAAAaAm="C*28?RCCC>9CIP\Gi@ =D; җEֹבIG>H'r,AcEAY}rx>}rt=y}rq"}r!$>}rH`? +{V@)?ф?Ŀ@.\?@sy??)~rx> ~rob;I~rCɫ髱) IYŷ@ybGZ****** received transponder code query ******F****** received ping request ******U ?UiU̬@Q U@)U@IUiU@eF<Me-=YmQUm>iiamEuunEqyu=}}>Iȁ :Ņ-)5? :Ņξ ƅϰB @@9ƅoDDž: ȅ[:)ȅ:WWX XW:W2W*WVbUBU*UUUH[ @Bi4B BA}*B A z*A A A ="Cq!?RCCCI)?A>  8:YU1y:o5UՌ IG5>'r,0ȞEA|i|Y}6ͧ>}6=y}6a(}6.>}6HI?%ʵ@`gJ?k?ƿ ?>? ?)~6ͧ> ~6a;I~6CɫQQ)Q UIQY@y bGxDUSBL response received:!U1,P 385,000,00A3B,189,80,80,AA,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 M {=Y6QU%?19aEEEznEQyep=}m?IȉōS)5?ōξ ƍذB @@9ƍvDǍ2= ȍ =)ȉiIi 5eɿٺ15!AWAWAXA XIWI:WI2WI*WIVQbUQBUQ*UQUQU] ' @B*8B BA~*BA_AAA="C * ?RC C Cu?΅I IQ Gu > >9 CI i = PD (; ֗E2'r, EAY}2>}2=y}2w/}2|2>}2H? ^T ͹?T?5ƿ6? z-?@v|?)~2> ~20`;I~2CɫQQ)Q QIQYh@yaGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I%4=)%4=UļM]E=Y]OQU]>aaaeEenEaymZ=}m>Iq }:u *5? }:uξ uB @@9uDu: u:)u:WAWAXA XAWA:WA2WA*WIVIbUQBUY*UaUU=@BCB BAW*BAVAAAԭ="C>RCCC! .:YWU1y:5)?;9eIGn>aH'r,EAY}BDk>}B>y}B9}B"6>}BH3?c(`q?7? .ǿ@9/??|v?)~BDk> ~Bd;`;I~BCɫYY)Y ]IYYl@yaGxDUSBL response received:!U1,R,DAF,000,00A6A,189,80,80,8B,FF Fpublishing direction and range info ) CIyBNW^?v1,?ٱ--??-;>i-f@) -@)-\@I)i-&@=:MEL=YEǻQUE>IIaMEMnEIyUy=}U>IY]*5?]ξ ]B m@@9]D]: ]:)YWWX XW:W2W*WVbUBU*UUUǻ@P*QBZQ ;Z@C^JN@JQNW^?v1,?2QRCCC֥FӅ=iיIGb>Z3'r,EA|B;|B;Y} w>} >y} [I} 18>} H u?MĿW@I??ǿ-?^?r?)~ w> ~  _;I~ Cɫ!)! %I)Yu@yuaGTNmea in: $SNTTA,0.086863,,,,015507.27*40 E<ME-=YMQUM>IQaUEUnEQy]Fa=}]>Ia m:e:*5? m:eξ eB u@@9eDe: eQ:)e:muAdded new target pos. range: 122.460007 m, bearing: 36.589419 deg, deltaT: 4.435503 s, approachRate: 0.635781 m/s, LOS rate: 19.642391 deg/s, posRepo size: 4mProNav REINIT: LOS rate is 19.642391 deg/s. Setting heading cmd to target bearing of 36.589419deg and heading rate command to 0 deg/s.W{#?WX XW:W2W*WVbUBU*UUp^@U@;R?Bw7B Be>9aIe\Giec@e=aae; eїE)턂CI턂Ci鄉 = =K)7A,*BAxAAAܡ="CsN>RCVC{#?CJ {{ 9:Y#R1y:5);?΅IG>]'r,m/EAɫ髑) IY@yaG aan?T㥛 ?{Gz??= #=)IyV-?Mb+?-?= A)AIp AihAA)-> )uuk>uL=iu(@q u)u&@Iu@iu@MW=YQU>aEnEy}>IȡťO*5?ťξ ƥB @@9ƥDǥb: ȥϸ:)ȡWIWIXQ XQWQ:WQ2WQ*WYVYbUYBUY*UUU`}?B>B BAˁ*BAOAAA)="C>RCN<CC .%IG-o>B'r,lxIEAY}2>}2BQ>y}28n}2:>}2H.G?@fʿ?@J?m6ȿӭ?*?`j?)~2> ~2z_;I~2Cɫ99)9 =I9Y]@y]xbG7=Mh=YaӼQU>aEnE y >} >ITc*5?ξ B %@@9DR: =:)WAWAXA XIWI:WI2WI*WIVIbUQBUQ*UQUYU]@}6?BVBB= BAcs*BAAAAv{="C5Dž>RC5BC1C9-_IG*>I)@A}} .:YkS1yԊ:859@e >9a Ie ]Gie @e =a a e &; e חEZl'r,eTcEAY}2->}2l>y}2=K}2_]8>}2Hc?.ο@y0?`7?[!ȿ &?(?k?)~2-> ~2^;I~2Cɫ99)9 =I9Y}@y}aGMH=Y{BQU>!!a%E%nE)y->=}->I1 =:5z*5? =:5ξ 5&B E@@95D5: 5:)5:WaWaXa XaWa:Wi2Wi*WiVibUqBUq*UqUyU}?B>B BAg*BAzAAAB="Cy>*C"RC3zܽCCeVYIaGZ>l'r,M/}EAY}:~?}:3>y}:;슽}:]2>}:H`O?ŕп]2?g?ǿZ? 3?`p?)~:~? ~:4^;I~:Cɫ99)9 =I9Y}@y}bG jA jA]b>]!>]94i]\@Y ]&@)]Σ@I]i]&@m=MmE=Ym9QUu>qqa}E}nEyyi=}>IȩŭT*5?ŭCξ ƭ7B @@9ƭDǭG: ȭ:)ȩWWX XW:W2W*WVbUBU*UUU3:@B:B B!A%q*B!A%A!A!A%="C-#>RC5߽C1C1-_VIIG)>  a4:YWU1y:5~'r, EAY}6]?}6>y}6 }6!,>}6H/?ѿbm?>?vǿ`S}?RZ?w?)~6]? ~6s^;I~6Cɫy髁) IY]@ybG )<M@=Y +QU%>19a=E=nEIy]S=}]>Iq :u*5? :uTξ uJB @@9uDu: u:)u:WWX XW:W2W*WVbUBU*UUU3@B%8BI BIAM!j*BIAMAIAQAU="CUF>RC]_CYCY>9CI]GiV@=*; ڗE=i=]8=UtIi)i1IAGm>h'r,尟EAɫyy)y }IyYk@ybGAA rh?Zd;OI +,?j< 9)Iy/$? Ga=i ̜@  ) &@I &@i @ ;MI=YQU%>!!a%E%nE)y5}5>I9=*5?=ξ =XB E@@9=D=: =:)9WaWaXi XiWi:Wi2Wi*WqVqbUqBUq*UyUyU}@RB*** querying acoustic contact ***PPB"<B BAGh*BA0AAAN:="CY>RCг@CCэ=e㽉|| /:YR1yi:ݻ5!I)GEQ>E'r,ʟEAY}2,W?}2ۈ>y}2}2">}2HG?HԿD}?^?yƿwٴ?3?}?)~2,W? ~2B^;I~2CɫYY)Y ]IYYd@ybGZ****** received transponder code query ******F****** received ping request ******AAaEEEnEIyU=}U>IY m:]*5? m:]yξ ]fB m@@9]D]f; ];)]:WWX XW:W2W*WVbUBU*UUU` @BM ">BQ BQAU4i*BQAUNAQAYA]="C]zh>RCep]CaCae=Uwܽ1IIGm> >9 CI _Gi J@ ; ӗE'r,EAY}>!F?}>f>y}>}>>}>H?տ@ꞿ`'/?`?ſ ?l;?8?)~>!F? ~>^;I~>Cɫiq)q }IyY@y7cGxDUSBL response received:!U1,P DAF,000,00A6A,189,80,80,8B,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %<M5,=YE!QUM>YaamEmnEyy#=}>I)?A 2:YDW1yY:o5);9Iae~*5?eeξ e|B @@9eDe < ei <)aWYWYXY XYWY:WY2Wa*WaVabUaBUa*UiUiUm[@B%j0B BA_*BAAAA="C-) ?RCyCC) u rlQ IY G} >ZD(r,EA|i|@Y}6f[?}6L>y}6ݱ}6I>}6H ?@ֿ`"? ˋ?`ſ9?^?`]?)~6f[? ~6^;I~6Ci>C<)>~j BSFI@ @)BmAɠBGaFFFDPɡRlAiTITXI\i\ ^Ļ\)\bYC bfnA``ɢ`dflAId)did)IIUlAQɣQ QɤQ]AYiYYɫ)))) )I)Y@yIcG鮍p=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U!>U\=U>iU@Q U&@)Uz@IU\@iUE@m;MmC=Ym?QUm>qqauEunEyy} =}>Iȁ :Ņ +5? :Ņξ ƅB @@9ƅDDž: ȅ:)ȅ:WWX XW:W2W*WVbUBU*UUUmx@BAB BA^*BAAAA="C?RC CC֕>'-QIqG]>i =nGI)i9eϿٺaeܿAk(r,BEAɫ  )  I YM@yMrdGq9qIu7`Giu>@u=qqu(; uחEoʡ?I +M? ?94 n>)IyZd;O?=Y=QUE>AAaMEMnEIyM}U>IQU#+5?~~ c2:YT1y@:5)Y;Uξ UB @@9UDU< U<)QW!W!X! X!W!:W)2W)*W)V)bU1BU1*U1U1U5D@Ba/B BA@*BA'AAA5="C|*?RCCC֕rWQIYG}z>0 (r,r4EAY}Fx%?}F#>y}F(ɽ}F" >}FHZ?[ٿ4֯?? xĿ 1? g?e?)~Fx%? ~F-^;I~Dɫ) IY5@y5IdGuTNmea in: $SNTTA,0.089603,,,,015511.78*4A @ @ %@©iz@ )X@Ii\@UH2MU[=YUηQUU>YYa]E]nEaye=}e>Ii u:m 9+5? }:m ξ mB }@@9mDmR: m^:)m:WWX XW:W2W*WVbUBU*UUUB@Bu 47Bum< BqAu,D*BqA}FLAyAyA}2=ޥ=iޥ="C1?RCCCֽ ]בIG>z(r,NEA||Y}R-*?}R6>y}Rx\Ͻ}R>}RH ?HqڿዣR??Ŀ:???)~R-*? ~R^;I~Pɫyy)y yIyY@ydG@A<+=Me=YQU>aEnEymjJ=}u>IquN+5?u5ξ uɱB @@9uDu߼: u:)qWWX XW:W2W*WVbUBU*UUU/@BW3B BA4*BA%EYA!A!A%="C504?RC1C1C9Mdh &2:YV1y:59@ IG-->u >9q Iu aGiu @u =q q u ; u ϗE)CICiC==H5(r,shEAY}Fc/?}F;>y}F\Խ}F@ >}FH ?ۿX`?8?ſ? ?҅?)~Fc/? ~Fm^;I~FCɫ)))) )I)YMҺ@yMeG   õLõ=õ\>iõ@õ ĵ@)ĵ@Iĵ@iĵΣ@lL=M$=YKQU>aEnEy,=}>I6i+5?+ξ B @@9 D(: 4:)W W X XW:W2W*WVbUBU*UU!U%@R-B*** querying acoustic contact ***P)P)BU &BQ BQAUp*BQA]AYAYA]B="CeZ0?RCaCaCi]}I)GMt> (r,\sEAY}6(5?}6>y}6F4ڽ}6j>}6H~?,ݿQ Q? ?@ƿT9?U?`x?)~6(5? ~6?h^;I~6C <)>lAɌ<<@@ɍ@i@I@@IDiFnA DD)DH HHHɎHLLIN)LiL)PIRlAPɏP PɐTVlATiTTiXZA)X XIXɫ) IY%b@y%fGV=Ms=Y;QU?aEnEyu=}?Iȹ :Ž{+5? :ŽCξ ƽB @@9ƽDǽ^: Ƚ:)Ƚ:W W X XW:W2W*WVbU9BU9*U9UAUE@{@Ba(B BAc *BAMAAA="C(?RCtCCIޕAA)ޕAA~~ /:YT1y@:5=יIG>m&(r,a8EA|\i|^@ɫ) I>9IXcGiȸ@; ˗EY%q@y-fG)ɮ)- +?rh|ϿX9v?-6?-{ -<))I)y-Mb?{Gz ףp= ?-@?-ף-Q8= -A)-AI-Ai-GA)- AM;MM3=YUQUU>QQa]E]nEYye}e>Iim+5?m[ξ mB u@@9mDmf: m:)iWWX XW:W2W*WVbUBU*UUUH@BQ#B BA*BADAAA!="C&?RCsCC*<֕}qIG>,(r,EAɫ) IY@yfgGÝÝ>ÝiÝ@Ù ĝz@)ĝ@Iĝ@iĝ@h=Mj=YQU>aEnEy}>I :+5? :Nξ *B @@9%DR: (:):WWX XW:W2W*WVbUBU *U U U'@B=u"B9 B9A=W*B9AEAAAAAE ="CM{#?RCMgihCICQYY)Y Y N2:YWU1y:ݻ5Hs I G >3(r,ϠEAY}2I?}2F ?y}2f뽙}2O0>}2HG?@R?ѹ?PʿC\??P?)~2I? ~2^;I~0ɫII)I IIIY}&@y}hGxDUSBL response received:!U1,N,80,80,63,E4 A,189,80,80,8B,FF ZNo reply:!U1,N,80,80,63,E4 A,189,80,80,8B,FF -aEnEyX>}>ID+5?۔ξ BB @@9.D: :)WWX XW:W2W*WVbUBU *U U UD*@BUBQ BYA]ա*BYA]2AaAaAe="Ci*Cu@ձRCuCqCyUEo9IAGe>ީiީ  >9 CI dGi @ =  D *;  ӗEn9(r,EAY}2.O?}2?y}2 }21>}2H`?Ot`?dY?wʿ竽?`?N?)~2.O? ~2'_;I~0ɫ99)9 9I9Y}e@y}iG?A %@ %@ %@%©%%i%̤@% %)%"@I%i%@U<MU2=Y]e.QU]>YYaeEeoEaymA=}m>Iq }:u.+5? }:u<ξ u`B }@@9u9Du: u0:)u:WWX XW:W2W*WVbUBU*UUU@@BB BA*BAwAAA="C*CCRC*CC 1:YDW1yY:J5);9%=8xhIGn>@(r,EAY}:T?}: ?y}:J}:.>}:H ?@ay?? <ʿ'? B?`R?)~:T? ~:u_;I~:Cɫ99)9 =I9Y}N@y}#jG)Õ= Õ==Mk=YvQU?aE oEyz=}?IȹŽ+5?Žξ ƽwB @@9ƽADǽ: Ƚϸ:)ȹWWX XW:W2W*WVbUBU*UUU`< @BX B BA/*BAvAAA="C*CxRCCC! XN]IG (>G(r,ZEAɫ髱) IY@yjGܱ9ܱIܵ@gGiܵ@ܵ=ܱܱܵ'; ݵЗEK7A?~jt?Q? "?< \=)Iy(\?x&J +?z4?7H= A)Q@IbAiA A<M6=YQU>aEoEy } >IM,5?{ξ B @@9KD: :)W9W9XA XAWA:WA2WI*WIVIbUIBUI*UQUQUUp!@R]B*** querying acoustic contact ***PYPYB: B BA*BAƳAAAӻ="C*C])RCeJCCIޡ)ޥ@Azz 1:YQ1y:5);ֽt(/yIG<>.M(r,K7EAY}2e'`?}2 ?y}2M}2 %>}2H?K[?`է? 59?7ɿ? mg?o_?)~2e'`? ~2t^;I~2CɫII)I IIIY}@y}kGZ****** received transponder code query ******F****** received ping request ******YYa]E]oEaye=}e>Ii u:m,5? u:mtξ mB }@@9mTDm: mw:)m:WWX XW:W2W*WVbUBU*UUiUm!@BBm< BAcg*BAжAAA1="C*C>.RCCC@LסIGA>T(r,@QEAi2nmGI} H LQ?@ D`?7??ȿp?@o?g?)~ e? ~ ^^;I~ CɫII)I MIIY@yKlGxDUSBL response received:!U1,P 80,80,63,E4 A,189,80,80,8B,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iAiA_ =M7=Yo8QU>aEoEy7E=}e> *,:YT1y:J59@Iqu,,5?u|jξ uƲB -@@9u^Du< u:K;)qWWX XW:W2W*WV1bU1BU1*U1U9U=` "@BжB BA*BAAAA8="C*C(RC ěCCܵ>9ܱIܵ3iGiܵ@ܵ=ܱܱܵ; ݵʗE?׹ I G >@Z(r,kEAY}2Tk?}2!+?y}2*%}2H>}2H?`p?? nm?Eȿ{?4? Mk?)~2Tk? ~2t^;I~2Cɫ髁) IY@ymGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B e e eeeQe-ie̤@e e@)e@Ie@ie@uO=M}L=Y}/,QU}>aE#oEyd=}>Iȑ :ŕD?,5? :ŕbξ ƕݲB @@9ƕfDǕR: ȕ^:)ȕ:WWX XW:W2W*WVbUBU*UUU@1#@BAB Bޭ=iޭ=AG<*BAAAAC="C*CRC+nCC2 ׹IGf>(a(r,܄EAY}:up?}:0?y}:y}:NV>}:H@}?(X{?@??;ȿt? k?k?)~:up? ~:;d^;I~:CɫYa)a eIaY`@ymG@AxDUSBL response received:!U1,R,F0D,000,00AE0,186,80,80,8B,FF Fpublishing direction and range info%Y>ɰd>鰭> )IyC H?]3?ٱq=Mh=Y\QU>aE)oEyTh=}>I  P,5? Zξ B @@9 nD : %:) W9W9X9 X9W9:WA2WA*WAVAbUABUI*UIUIUM!A$@Pa*QeCZQe/H٨_@TC;@JQe H?]3?2Qe%Y>:QabQe\S@*%ͣ'Y@[\+T2@RQeLN?? ?BQe"g? Qe=BQeBPe49?PeR9?PeQeQe:A"QeABB BA=*BAҖAAAJ="C*C RC,CC~~ 0:YT1y@:5T<2ĽיIGb>Rg(r,$EAɫ髁) IY@ynGdNmea in: $SNTTA,0.439493,0.439499,,,015517.44*53 Y9YI](kGi]"@]=YY]!; ]͗E)CICi==6Fx?~jt~jt?>D <)IyʡE?Mbl?=?= A)p@I@i A:=M;=YQU>aE0oEy}>I :e,5? :Oξ B  @@9yDb: R:):muAdded new target pos. range: 129.539993 m, bearing: 51.730842 deg, deltaT: 10.129564 s, approachRate: 0.698943 m/s, LOS rate: 1.494775 deg/s, posRepo size: 4m ProNav: pos range: 129.539993 m, bearing: 51.730842 deg, approachRate: 0.698943 m/s, LOS rate: 1.494775 deg/s, cmd update: 4.484326 deg/s, cmd heading: 36.589419 deg, new cmd heading: 36.589419 deg. W,?WX1 X1W9:W92W9*W9V9bUABUA*UAUmG1`@Um` ?B/B BAX=*BADbAAA ="C+?RCΒC,?Czl<ֽ𝽉?i?ױIG>|m(r,ⒸEAY}2ky?}29?y}2}2Q >}2HK? ;l0q?@?`{`?@˹ƿ ? >?@}?)~2ky? ~2"K^;I~2Cɫ99)9 =I9Y}@y}oG]>]<]>i]@Y ]"@)]-@I]"@i]"@mT=MmR=Yun<;QUu>qya}E}6oEyy/=}>Iȉō8x,5?ōEξ ƍ&B @@9ƍDǍ: ȍ:)ȉW4?WX XW:W2W*WVbUBU*UUU N?BUϼB BA=*BAm(AAAD ="C 4?RC ƍC 4?C) Iޭ@A)ީ ]-:YxZ1yq:֭׉ I G >dt(r,nҡEAY}6|a}?}6=?y}6꽙}6J>}6H@q?@`W?`-x??`԰ſ C?O?`?)~6|a}? ~6\^;I~6CɫAA)A EIIY}@y}pG5̒=M=N=Y=h;QU=>AAaEEE=oEIyM=}M>IQ ]:UŠ,5? ]:U:ξ U>B e@@9UDU0: U:)U:W;?WX XW:W2W*WVbUBU*UUU?B]¼Ba BaAe4=*BaAeՓAaAiAm ="Cu8?RCu쓽Cu;?CyօĎYIaGY>e>9aIemGie @e=aeDe*; eҗE`z(r,xEAY}>?}>b}A?y}>y罙}> =}>H\#? xg?H?Ŀ p߼?(1?@?)~>? ~> @^;I~>Cɫ髉) IY.@y]qGõ@=õ 0=õiõ3@ñ ĵn@)ĵ@Iĵ@iĵ@#<M@=Ym;QU>aECoEy =}5>I9=ߞ,5?=.ξ =XB E@@9=D=: =+:)9Wm7D?WiXi XiWi:Wi2Wq*WqVqbUyBUy*UyUyU}G}?BhB BA =*BA#AAAg ="CYC?RCǽC7D?C > zz 4:YQ1y:&5)G;9IGg>v(r,_$EAY}:AQ?}:E?y}:余}:q =}:H?jNYp!?o?ÿՏ???)~:AQ? ~:XU^;I~:Cɫ99)9 9I9Y}@y}xrGM=MK=YF;QU>aEJoEy =}>I,5?#ξ pB @@9D#: r:)WL?WX! X!W!:W!2W!*W!V)bU)BU)*U1U1U5=`@B馩B BAB>*BAAAA\-="C ԿH?RC ʽC L?Cޭ=iޭ=%7BIG J>(r,vEA||Y}6ʃ?}6NH?y}6⽙}6z=}6HȔ?6#y@le?X?/ÿ2I??I?)~6ʃ? ~6*^;I~4ɫ99)9 =I9Y}@y}NsG>9IoGi@=D%; ϗE~jt?S㥛?I +?$?$> 9<)Iy(\?QX9v?z4?u< A);@I@i/A\A U=MH=Y.;QU>aEPoEy <} >I :+,5? :ξ B %@@9D: =:):WET?WAXA XAWA:WI2WI*WIVQbUQBUQ*UQUQU]@@BޙB BA.>*BAVAAA@="CBR?RCCT?C w2:YWU1y:ݻ5)k;=ZsǽIAG{>ˍ(r,9EAY}6 ?}6NJ?y}6.߽}6=}6H[?GV#y_?#?Y¿׻???)~6 ? ~6T=^;I~6Cɫyy)y }IyYC@ysG#7>">i=@ )9@I@i"@-C+=M5X=Y5;QU5>99a=E=VoEEAAyEx<}E>IIM7,5?Mξ MB ]@@9MDM: M<:)IWt\?WX XW:W2W!*W!V!bU!BU)*U)U)UM@R]B*** querying acoustic contact ***PYPYBԑB BA7>>*BA7nAAA="Ct\?RC:Ct\?CόשIGB>(r,SEAY}F2?}FbL?y}F ڽ}Fq=}FH@*?~? ?6?@D??)~F2? ~F^;I~Dɫqq)q uIqY@ytGZ****** received transponder code query ******F****** received ping request ******99a=E=]oEAyM1<}M>IQ ]:U<,5? e:Uξ UB e@@9UDU; U ;)U :Wtd?WX XW:W2W*WVbUBU*UUU @Bf~B BA\U>*BA $AAA="CyUa?RCCtd?CIީ)ީ  ?:Yy59@3׹IGf>>9IqGi@=.; ӗE/(r,mEA|aEeoEy<}>I,5?; ̳B @@9Dw: @:)W=So?WAXA XAWA:WA2WA*WIVibUiBUi*UqUqUu S,@BXB BA&w>*BAvAAA ="CSo?RCv-BCSo?C)-I G- >š(r,lEAY}6?}6R?y}6g2˽}6hU=}6HL?ʍYV?7y? U [?ƶ?@?)~6? ~6j9^;I~6CɫYY)Y ]IYY@yvGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =M=YT*BAAM[AIAIAME="CUs?RCUrDC]t?CY~~ 0:YT1y@:ܾ5̞>ߕCi]mGIqօ]I׉)׉iȿٺAAIQGuW>G(r,KEAY}:?}:fV?y}:%?ý}:Us=}:H]L? {??@ ?n^?`% ?r?)~:? ~:^;I~:CɫYY)Y ]IYܥ>9ܡIܥ$tGiܥo@ܥ=ܡܡܥ$; ݥ˗EY5@y5wG=xDUSBL response received:!U1,R,12E,000,00B15,185,80,80,84,FF =Fpublishing direction and range info=U9ɰ=hh>=+> 9)=CI9y=C=g &?v?eпٱ9ʡE?MbV-?-? <)IyK7A?I ++? B?9=  A)@I@iAAI=ME=Y ?aEqoEy=}>I!%-5?%; %B 5@@9%D%Q: %:)!W}?WX XW:W2W*WVbUBU*UUU`@P*QCZQOf`@"}IAJQg &?v?eп2QU:QbQ.oԙ[@dEuR@L !@RQ3?P&l`?Q=D?BQbT? Q#BQ,BP9?P49?PQQtA"Q:ABz{.B BA>*BA0AAA% ="C}?ޥ=iޡRCWC}?Cֽ-סIGk>v(r,-#EA||Y}69Z?}6![?y}6н}6=}6H?=ܟ?+? ?a???)~69Z? ~6$^;I~6Cɫ9A)A EIIY@yexGTNmea in: $SNTTA,0.262162,,,,015521.88*41 @ @ @©i̬@ @)@I­@i@<MJ=Y K;QU >aEwoEy1=}>I! -:%)-5? -:%T; %B 5@@9%D%: %:)% :m]uAdded new target pos. range: 132.720001 m, bearing: 32.974084 deg, deltaT: 4.500277 s, approachRate: 0.706625 m/s, LOS rate: -4.167912 deg/s, posRepo size: 4mu ProNav: pos range: 132.720001 m, bearing: 32.974084 deg, approachRate: 0.706625 m/s, LOS rate: -4.167912 deg/s, cmd update: -12.000000 deg/s, cmd heading: 56.752644 deg, new cmd heading: 58.490801 deg. Wuh?WqXq XqWq:Wy2Wy*WyVybUyBU*UU@ `@U?B2B BA3>*BASAAAl<"C~?RCQCeh?Ci c2:YX1y/:˷5E+EI G-N>(r,բEAY}Rܬ?}R_?y}R}R3=}RH r?৚7? q?@O/?@ O?/ɺ?ϰ?)~Rܬ? ~R^^;I~Pɫqy)y yIyY@y[yGK=MR=Y|;QU>aE}oEy>=}>Iȱŵ9-5?ŵ ; ƵB @@9ƵDǵk: ȵU:)ȱW$S?WX XW:W2W*WVbUBU*UUU*B!A%>A!A)A-<"C5?*C5<RC5;C5$S?C9Ye?iem?9IAGeU>ܝ>9ܝCIܝuGiܝ@ܙܙܙܝ#; ݙ)9I9i9=====/5u/(r,6EAY}Z?}ZQd?y}Z$I}Z=}ZH`N?F@??`)?=*¿!?@{E? ?)~Z? ~Z,?^;I~Xɫ髑) IY @yyG   \>==i@ )@I@i@+<ME=YS:QU>aEoEy78=}>IJ-5?ù; 3B  @@9D: U:)W- =?W1X1 X1W1:W12W1*W9V9bU9BU9*U9UAUE?Bm4UƻBi BqAu>*BqAu'AqAqAu<"C}C-x?RCC =?CM;Iޡ)ޡ X3:YWU1y:5)-;9I)GE0>(r,pEA|i|Y}6m?}6Hi?y}6y}6=}6H?!P?E0? /?¿r˶? ?n?)~6m? ~6rR^;I~6CɫQQ)Q YIYY@yhzG5> =M=V=Y=ta;QU=>AAaEEEoEAyMF=}M>IQ ]:U.Z-5? ]:U]; UGB e@@9UDU: U:)U :W4<)?WX XW:W2W*WVbUBU*UUUp?B=BA BAAEZ>*BAAEz:AAAIAMU<"Cuk?RCuCu4<)?Cq};YIiG[>o=(r,"EAM>9IIMDwGiM@M=IIM ; MǗEɫyy)y }IyY^@yp{G(\?{Gzt?Zd;O?z?ף; j<=)Iy9v?I +Q?4?u<  A)@I;@i AA =YmQUm>iqauEuoEqy}}}>IȁŅj-5?Ņ; ƅYB A@9ƅDDžX: ȅH:)ȁW?WX XW:W2W*WVbUBU*UUU5@BCB BA>*BAAAA<"CX?RČӼC?C l,yy 1:YP1y':ʺ5);I!)%iAI GMR>g(r,j}2H`?`y?s?;?L¿Ŏ?@m?@?)~2y? ~2ˌ^;I~2CɫII)Q UIQY@y{G]O ] >]K7>i]z@Y ]-@)]@I]j@i]j@m#V<Mm6=Yu0qqa}E}oEyy =}>Iȉ :ōz-5? :ō"; ƍiB A@9ƍDǍ: ȍw:)ȍ :W>WX XW:W2W*WVbUBU*UUUe@BXq*B BA>*BA漉=i=AA A <"CPA?RCt=C>CIGk>P(r,HVEA||Y}:?}:@w?y}:\}:R>}:H?` U5?G?@g? $¿? ??)~:? ~:^;I~:Ci@BlA)Bn DID D)DɠFZFFFHHɡHiHIHHILiL N`L)PP PPPɢTTVlAIT)TiT)XIXXɣX Xɤ\\\i\\ɫ髙) IYR@y|GAA=My=YXWiXi XiWi:Wi2Wi*WVbUBU*UUU`~<@RB*** querying acoustic contact ***PPBLK;B BA >*B AޜAAA<"C_.?RC/>C>C!5 }} 76:YkS1yԊ:59@I)GE0>E>9AIExGiE?@E=AAE'; EʗEy(r,!pEAY}26?}2|?y}2y}2zq>}2Hb?2X??.?E%=???)~26? ~2$^;I~0ɫ髙) IYz@y ~GZ****** received transponder code query ******F****** received ping request ******Ý\=iÝ@Ù ĝ)ĝ@Iĝ@iĝ@Q=MA=Y;QU>aEoEy:=}>I :ݔ-5? :z; B A@9 Dw: :):W>WX XW:W2W*WVbUBU*UUU  @BU`k:Bi BiAm>*BiAuJaAqAqAuW<"C}?RC}z>C}>C}ׅ?iׅ?QIaG}z>Sa(r,EAY}:x?}:N?y}:}:;>}:HM???@U?`ឳ??@ݢ?)~:x? ~:^;I~:Cɫ髙) IY@yd~GxDUSBL response received:!U1,P 12E,000,00B15,185,80,80,84,FF Command AckBRequesting micromodem ping code 2i-Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 <MM=Y7;QU>aEoEyJ1=}>I-5?l; B 5A@9*D; ;)I ) AA5555 5:2:Y5V1y5:55WU_>WQXY XYWY:WY2W*WVbUBU*UUUz @B%x;B) B)A-2>*B)A-6ݼA1A1A5<"C=>RC] >C]_>Ca] 1IaG>Z(r,ޣEA|i|r>9pIrzGir2@pppr>; r՗Eɫqq)y }IyY`@y$GɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Cl?lMb;? )IyRQ?~jt+?B?= A)^@I@iA7=M@=Y%QU%>!)aEoEy}>Iȹ :Ž-5? :Ž]; ƽB A@9ƽ4Dǽ; Ƚҿ;)Ƚ:W=>WAXA XaWa:Wa2Wi*WiVibUiBUi*UqUqUu@5@B}H;B BA>*BAۼAAAP<"C>>RCC>C שIG>(r,EAY}JA?}J8x?y}J}J=}JH.L?pw?q?`? :?@;?z?)~JA? ~Jσ^;I~JCɫyy)y yIY@yZGxDUSBL response received:!U1,R,F35,000,00B46,187,80,80,50,FF Fpublishing direction and range info g5>ɰkl>1> )BIyC'?*?ٱT==`aEoEy%P=}%>I)-8-5?-P; -B 5A@9-=D-: -:))W]3=WYXY XYWY:WY2WY*WaVabUaBUa*UiUiUm`H@Py*Q}CZQ};:.`@2c#7@JQ}'?*?2Q} g5>:QybQ}#v'þG@v _@;2gz(@RQ}'g?FpL?;eZ ?BQ}e? Q}BQ}=BP}9?P}9?P}Q}Q}̕A"Q}tAB b<B BA>*BA'7ؼAAA<"CT>RC!C%3=C! 3:YT1y:5%5%i nmGI i! M wпٺI M Aϝ(r,ףEAɫ  )  I YU@yUGTNmea in: $SNTTA,0.097538,,,,015526.31*47 =i= <M .=YQU>aEoEy}%>I)--5?-?; -̴B 5A@9-ID-: -Ǻ:))meqAdded new target pos. range: 135.660004 m, bearing: 69.420765 deg, deltaT: 4.424113 s, approachRate: 0.664541 m/s, LOS rate: 8.238190 deg/s, posRepo size: 4mu ProNav: pos range: 135.660004 m, bearing: 69.420765 deg, approachRate: 0.664541 m/s, LOS rate: 8.238190 deg/s, cmd update: 12.000000 deg/s, cmd heading: 3.614603 deg, new cmd heading: 357.981875 deg. WuE%>WqXy XyWy:Wy2Wy*WVbUBU*UU`@U .?BX;B BAz>*BA]ԼAYAYA]<"Cer>RCaCeE%>Ci>9~CI{Gix@=D:; їEu=1I9G]>(r,jEAY}2iF?}2}?y}2}2Ģ=}2H@-?k t?@ִ?ta?ڂ?u??)~2iF? ~2'^;I~0 8)>lAɌ<<<\ɍ`i`I``I`i` dd)dd flAhhɎhhhIh)lil)|I||ɏ ɐlAi  i  )  Iɫ) IYT@y(GõKõX9õ=iõ@ñ ĵ@)ĵ^@Iĵ@iĵ@)#=Mx=Y5YWX XW:W2W*WVbUBU*U!U!U%?BMְX<BQ BQAU?*BQAU_ѼAYAYA]<"Ce=>RCaCe3k>Cae4=~~ /3:YT1y@:5) ;9%)I1GU2>e)r,$C EAY}2eO?}2?y}2c}25=}2Hw? O?`?Ay?@7? Z?@?)~2eO? ~2^;I~2Cɫ髙) IY@yEGuCt<MuO=Y}|;QU}>yaEoEy|6:}>IS-5?A%; B A@9ZD: :)WaK>WX XW:W2W*WVbUBU*U!U!U%@<6?BMd$<BQ BQAU?*BQAUμAYAYA] <"Ce >RCaCeaK>Cam[ >׍?i׍?iIqG9>)r,~%EAD9DIF|GiFk@F=FQDDF6; F͗E)%CI%Ci!!%=%ָ5ɫ) IY5@y5GUV-?~jt?L7A`?U ?U< U+=)QIQyUrh|?MbU;?U@U̼ UA)U@IU@iU; AQUA"=M:=YQU>aEoEy}>Iȩ :ŭ-5? :ŭ`; ƭB A@9ƭeDǭr: ȭ:)ȭ:Wb>WX XW:W2W*WVbUBU*UUU?I ) @A5 555 5a4:Y5T1y5:55)5;Bu<Bq BqA}M?*ByA}uʼAyAyA}<"CQ=RCCb>C֝Y>YIaG{>)r,>EAɫ髙) IY@yG @ @ @Í©ÍÍiÍ@Í č)č@Ič@ič@4=MZ=YQU>aEoEy}>IȹŽ.5?Žs ; ƽB A@9ƽmDǽ': Ƚ:)ȹW1e>WX XW:W2W*WVbUBU*UUU@B-<B) B)A-? ?*B1A5-ǼA1A1A5<"C==*C=RC9CE1e>CA > >1v>IGE>)r,XEAY}2,?}2ҁ?y}2u}k}2m{ }2H ^?p/ ??ak??)~2,? ~2_;I~0ɫ99)9 =I9Y]@y]GIp=)tMV=YAaEoE y Ľ} >Ii u:m.5? }:m0̾ mB }A@9mwDm: m:)m:WR?WX XW:W2W*WVbUBU*UUU r/@B49m<B BAo ?*BAzüAAA{<"C`=RCCR?C 1:YV1y:59%@eLz>!I)GER>܅>9܅}CI܅L~Gi܅@܅=܁܁܅5; ݅˗E)r,rEAY}2ל?}2ߦ}?y}28_}2k歽}2H?ɹ iµ@ @)@I@i@I=MI=Y;QU>aEoE!y%|k}->I)-".5?-̾ -B =A@9-D-Y: -:))W]&?WYXY XaWa:Wa2Wa*WaVibUiBUi*UiUiU@Y@RB*** querying acoustic contact ***PPB]̤<BY BYA]?*BaAer AaAaAe<"Co(>RCC&?Cu>=i=AIIGm5>")r,ƊEA||Y}25?}2v?y}2P}2}2H7?q}HA?B?y? ?Ԇ?)~25? ~2b;I~2Cɫ99)9 =IAY@y)GZ****** received transponder code query ******F****** received ping request ******aEoE!y%ц}->I15R2.5?5̾ 5B =A@95D5 ; 5;)1Wm ;?WiXi XiWi:Wq2Wq*WqVybUyBUy*UyUyU` @BB<<B BA, ?*BA:AAA g<"C a>RCC ;?C5555 51:Y5U1y5:5n5֝>ׁIGi>2'))r,dEA9IxGi@D; җEY}^º?}^o?y}^?B}^k)}^H?:I Ŀ?P?|? E?ſ@ ?)~^º? ~^md;I~^Cɫ髙) IY@yGxDUSBL response received:!U1,P F35,000,00B46,187,80,80,50,FF Command AckBRequesting micromodem ping code 2i!-Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 y&1?X9v?{Gz`?< #)Iy@5^I ?S㥛Zd;?bP?/ݼy= @)AI|@i\A@)= >ETE~jEνiE@A A)Ej@IEv@iE@UO=MU=Y];QU]>aaaeEeoEiymL}m>Iȉ :ōI.5? :ō@̾ ƍB A@9ƍDǍx; ȍˁ;)ȍ:WɝZ?WX XW:W2W*WVbUBU*UUUiJ@B}J2<By ByA;?*BAMAAARCCɝZ?C ?i ?י I G >0)r,AEAY}6&f?}6|9i?y}6#5}6RCiCuYh?CqIAA)AA5 555 576:Y5T1y5:55֥>ׁIG_>96)r,ڤEA|i|Y}B+?}Bbb?y}B*}Bm[}BH@a:? _ȿ??b`?`P?1˿=?)~B+? ~B:d;I~BCɫ) IY5@y5ɁG=xDUSBL response received:!U1,R,F35,000,00B78,186,80,80,93,FF EFpublishing direction and range info99ɰ=p>=> 9)=CI9y= C='?*?ٱ9e!<MmQ=Ym;QUm>qqauEuoEyy}Q}}>Iȁ :Ņ~f.5? :Ņv̾ ƅ?B A@9ƅDDža: ȅX:)ȅ:W{O}?WX XW:W2W*WVbUBU*UUU/@P*Q CZQ-a@Sczo8@JQ'?*?2Q:QbQ*8P@Yv8^@@Xg?RQ&UZ?Di*?s8l?BQ}? QBQهBP&9?P9?PQQ@"Q̕ABH<B BAE?*BAԼAAAT<"Cx>RCd>C{O}?CFӅ>U>9U~CIURGiU@QQQU>; UЗEIGj>c<)r,EAY}b?}b~\?y}b$}bbh}bH`O?`w` ɿ`=B?@?`?@?̿ '?)~b? ~bpd;I~bCiv@CznA)x zNHFIx )mAɥ  aEF &CɦlAiI% JF!I-Ci-lmA 11)1A ElAAAɧIUCUlAIU)]9FiY)e̔CIelAm5^ɨmSF iɫQQ)Q ]IYYu@yu&GDNmea in: $SNTTA,,,,,015530.75*5E ]+]/ݼ]i]@Y ]@)]@I]@i]@m-=Mm;=YX;QU>aEpEySa}>Iz.5?A̾ UB A@9D÷; ;)m=uAdded new target pos. range: 138.660004 m, bearing: 60.667796 deg, deltaT: 4.423439 s, approachRate: 0.678205 m/s, LOS rate: -1.978770 deg/s, posRepo size: 4m} ProNav: pos range: 138.660004 m, bearing: 60.667796 deg, approachRate: 0.678205 m/s, LOS rate: -1.978770 deg/s, cmd update: -5.936311 deg/s, cmd heading: 56.693833 deg, new cmd heading: 62.127589 deg. W}Lq?WX XW:W2W*WVbUBU*UUUa@U?B=G<B 2/:YDW1yY:5);9 BA%?*B!A%]A)A)A-<"C5;?RC5Vh>C5Lq?C15"y>IA)EiAI)GEs>KC)r,c EAY}2=?}2SV?y}2"}2An}2H@h?Kɿ@??%?7S?Ϳ?)~2=? ~2c;I~0ɫ髙) IY5@yGi/mGIivȿٺDAwM Q=Y:QU>aE pE!y%M}->I1 =:5.5? E:5\̾ 5iB EA@95D5; 5;)5:W}5g?WyX XW:W2W*WVbUBU*UUUУ?B}<By ByA}?*ByAAAA<"Cn'?RC7=C5g?C=i=օ c>AIiG_>% >9% }CI% Gi% @! ! ! % 6; % ˗EuI)r,q'EA||Y}64?}6O?y}6!}6~s}6H@?W[`3ɿ@1?`?+?%!? dο"?)~64? ~6b;I~4ɫ髹) IYL@yGp= ף?ʡE?kt?-=  0)Iym?:vMbN?T 5@)-AI@i; AAí>ííO ií@é ĭ@)ĭ@Iĭiĭ@X;M2=YFZ:QU>aEpEySe}>If.5?̾ oB A@9Dj: ]:) .:YV1y:%5) ;W%l[?W!X! X!W!:W)2W)*W)V)bU)BU1*U1U1U5?Bek<Ba BaAe?*BaAm#iAiAiAmb<"Cu??RCuACul[?Cy֕d>iIyG>]P)r,AEAY}2D?}2EH?y}2}2u}2H`?`ȿ`?@a1?*??Njο/?)~2D? ~2 _a;I~2Cɫ99)9 =IAY@yXGU i=M]{=Y]sN;QU] ?aaaeEepEaym}m ?Iq }:uW.5? }:uG̾ usB A@9uDu: u:)u:WsR?WX XW:W2W*WVbUBU*UUU@t?B]T<Ba BaAe?*BaAefAaAiAm<"CnM?RC-CsR?CօZ>׍?i׍?aIiG9>hV)r,j[EAY}2Ѐ?}2h B?y}2-v}2bBt}2H!9?@u-ȿ)??M?`?M9ο`?)~2Ѐ? ~2 $b;I~2Cɫ99)9 =I9Y]@y]QG5 ^M5L=Y=3;QU=>9AaEEEpEAyM*}M>IQUm.5?Uu̾ UxB ]A@9UDUM: U{:)QW}G?WX XW:W2W*WVbUBU*UUUH@Bn<B BA7?*BA.AAA`i<"CpX?RC,*CG?C֕o2>qIyG>I@A) }} 3:YkS1yԊ:59@>9~CILGi/@=8; ̗E)]}CI]~CiY]=]=]5/\)r,B@uEA|i|Y}6z?}6$N;?y}61}6q}6H@?ǿ`,^?P?6?Ҡ?`Ϳ?)~6z? ~6b;I~6Cɫ99)9 =I9Y}@y}؂GU94U=UG=iU\@Q U@)U@IU@iU@ea=MeH=YeXiiamEm%pEqy}}}>IȁŅz.5?Ņh̾ ƅ}B A@9ƅDDžϸ: ȅܹ:)ȁW~ =?WX XW:W2W*WVbUBU*UUU ]@BE <B BA #?*BA蘼AAA <"C_?RCAQC~ =?C >>IG)>ʙc)r,CEAY}27t?}2cS5?y}2{9}2l}2H@J?`ſ??6?J?SPͿ"?)~27t? ~2Bb;I~2CɫYY)Y ]IYY@yтG?AgMU=Y aE+pEyy}>I :.5? :]̾ B A@9D: =:):W 2?W X XW:W2W*WVbUBU*U!U!U% |o@R-B*** querying acoustic contact ***P)P)BU<BY BYA]"?*BYAe锼AaAaAeXm<"Cm`?*C9?RC2eC2?Cq=I)ױIG$> -:YDW1yY:5 ~>9 I ~Gi @ = >; ϗEi)r,EAɫyy)y }IyY@yGZ****** received transponder code query ******F****** received ping request ******!)a5E54pEIyM}U>IQU/5?UP̾ UB eA@9UDU: UL:)QW#%?WX XW:W2W*WVbUBU*UUU`, @Br<B BAf&?*BAgAAAy<"CoX?RCFC#%?C<יIG>ȫp)r,¥EA||4<ɫ髙) IY{@ySGxDUSBL response received:!U1,P F35,000,00B78,186,80,80,93,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 MU=MU=YYQUe?qyaE9pEy} ?I :/5? :H̾ B  A@9Dq<  <):-))- -/:Y)y)-%5WO?W9X9 X9W9:W92W9*WVbUBU*UUU @BT<B BAJ)?*BAAAA<"C.M?RCTCO?CżיIG>v)r,ܥEAY}6i?}6)?y}6M~}6=}6H`2?@O? p?^?5ُ?`ҕǿr?)~6i? ~6&`;I~6Cɫ99)9 =I9Y}h@y}GGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B uM}G=Y}[ =QU}>aE?pEyV}>Iȱŵ&/5?ŵ?̾ ƵB A@9Ƶ Dǵb: ȵ+:)ȱWj?WX XW:W2W*W V bU BU)*U1U1U54@B} =B BA(?*BAwAAA* <"Ch@?RC8Cj?Cօ d6i}}>9}}CI}Gi}@}=yy}7; }ʗEIG>>X})r,EAY}BNh?}B(?y}Bb&}B''}BHK?Kਘ?@?@cQ?8̄?Ŀ?)~BNh? ~BY_;I~BCɫyy)y }IyY-@yGxDUSBL response received:!U1,R,EE8,000,00BA8,186,80,80,92,FF Fpublishing direction and range info5z>ɰst>鰹 )CIy C.< ?79K?ٱ5m5#5J>i5̼@1 5j@)5K@I5@i5K@Ev=MMM=YM7^QQaUEUFpEYy]'I}]>Ia m:e7/5? m:eP6̾ eB uA@9eDe': ea:)e:W?WX XW:W2W*WVbUBU*UUU\@P*Q CZQg5Ž*a@~A@JQ.< ?79K?2Q5z>:QbQtU@)[@4eZԭRQkc?K,[?Vּ*BQ wf? QBQկBPa9?P&9?PQQ|!@"Q@B=<BA BAAE.?*BqA}fAyAyA}<"Cy)?RC ZC?CI)?A 0:YU1y:5)Í;9ֽX;בIG>)r,aEA| i| Y}bg?}b@_(?y}b@h}b}bHS?\`p??C? m?@?)~bg? ~b_;I~bCɫ) IY=@y=GDNmea in: $SNTTA,,,,,015535.19*51 ]?<M]:=Y]vaaaeEeMpEiymR}u>IquK/5?u,̾ uB A@9uDu: u:)qmuAdded new target pos. range: 141.540009 m, bearing: 51.580748 deg, deltaT: 4.479174 s, approachRate: 0.642977 m/s, LOS rate: -2.028733 deg/s, posRepo size: 4m ProNav: pos range: 141.540009 m, bearing: 51.580748 deg, approachRate: 0.642977 m/s, LOS rate: -2.028733 deg/s, cmd update: -6.086199 deg/s, cmd heading: 30.152563 deg, new cmd heading: 27.733333 deg. WH>WX XW:W2W*WVbUBU*UUGa@U?B =B! B!A-1?*B)A5CQ|A1A1A5<"C=I?RC= >JC=H>CA U >U>-hp!IIG\>q 9q Iu Giu "@u =q q u :; q b)r,>*EAY}6Th?}6(?y}6;}6VZ}6H@G? `K? ?Q?oKE?)~6Th? ~6_;I~4ɫ99)9 =I9YE@yE)G=T㥛 ?~jtx?~jt?=!?=; ==)9I9y=p= ף?Mb?y&1?=E?=<=`e< =K@)=nAI=@i=A9=AQUhA @ @ @Ý©ÝÝiÝ@Ý ĝ^@)ĝIĝԸ@iĝԸ@<ME=Y"aESpEy;}>I :`/5? : ̾ B A@9)D: ^:):W>WX XW:W2W*WVbUBU*UUU౑? .:YWU1y:I5)?;B6b=BA BAAE+4?*BAAElUrAIAIAMx$<"CU?RCU%=CU>CYUl)I9GU>)r,$DEAY}2i?}2' *?y}2=D<}2s}2H70?`??Wղ?c?)~2i? ~26"`;I~2Cɫ11)9 9I9Y@yTG5<M5f=Y599a=E=YpEAyES<}E>IIMr/5?M8̾ MB ]A@9M2DM4: Mb:)IW}V>WX XW:W2W*WVbUBU*UUU?B$=B BA^6?*BA݈jAAA<"CM>RCM=CUV>CQEiYIiG8>iunGI1iIuǿٺquA%)r,v]EAY}2k?}2,?y}2<}2e}2H@ ? U+`?n??`⓿ `?)~2k? ~2`;I~2Cɫ99)9 9I9Yu@y}G^1MN=YaE_pE y <}>I܆/5?[ ̾  %A@9WAXA XIWI:WI2WI*WQVQbUQBUQ*UQUYU]`" ?B=B BA1?*BAaAAA<"C>RC>Cɷ>C֍eQIaG}>     &2:Y W1y č: J59@%~>9!I%~Gi%@!!!%8; %ɗEN)r,wEAY}2-n?}2.?y}2bI<}2}2HF?`.>t*?)?u?w虿Gߟ@h?)~2-n? ~2+=`;I~2Cɫ99)9 9I9Y}7@y}dG U U UUtUT=U~jiU׳@U Uj@)Uj@IUK@iUK@eG=MeD=YmfiiauEufpEqy}<}}>Iȁ :Ņ/5? :Ņ̾ ƅB A@9ƅFDDž: ȅ:)ȅ:W >WX XW:W2W*WVbUBU*UUU৸?Bd=B BA-7?*BAWAAA<"Cc>RC <>C  >C u<-?i-? IG-->&6)r,EAY}2aaaeEelpEiymy<}u>I&/5?;˾ B A@9PDT; ;)Wf>WX XW:W2W*WVbUBU *U U U@)@B=J=B9 B9A=I4?*B9AE0NAAAAAEŪ<"CM>RCMx>CMf>CQm$=I AA) @AM MMM MB:YMV1yM:M5ׁIGG> }>9 I Gi @ 0; ŗE)ݙIݝ}Ciݙݙݙݝ)5o)r,ƫEAɫ) I Y5@y5G9=@Ajt?|?5^y&1?>ҽ `e<)Iy/$?Mbp?y&1?aEtpEy}>I :u/5? :N˾ B  A@9[D: :):W5zd>W1X1 X1W1:W92W9*W9V9bUABUA*UAUAUM@RUB*** querying acoustic contact ***PQPQBu`=By ByA}9?*ByA}CAyAyA~<"C>RC >Czd>C ՝>ԝ>֝$=qIG~>SH)r,aŦEAY}:ٳr?}:!3?y}:~&=}:V}:Hv?">?ܗ?z?Ş?_?)~:ٳr? ~:=_;I~:Cɫ99)9 =I9Y}@y} GZ****** received transponder code query ******F****** received ping request ******IȩŭQ/5?ŭ˾ ƭB A@9ƭcDǭܹ; ȭb;)ȩW5Uw<>W9X9 X9W9:W92W9*WAVAbUABUA*UAUIUM@K @B}u!=B}z< ByA}2?*ByA;;AAAu<"CwN>RCCUw<>Cdh= -:Yy5ׁIG=>$r)r,:ߦEAY}2gr?}22?y}2/=}2}2Hn{?dA??`(?H?勵 6?)~2gr? ~2/_;I~2Cɫyy)y }IyY@yGxDUSBL response received:!U1,P EE8,000,00BA8,186,80,80,92,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -(sM5G=Y=s;YaamEmpEy 6}M>Iȹ :Ž/5? :Ž˾ ƽB A@9ƽmDǽ < Ƚ <)Ƚ:~>9IGi@=); —E=i=W% >W)X) X)W):W)2W)*W1V1bU1BU1*U9U9U=m @B8=B BAL,?*BAG0AAA}<"C +>RCC >CEA!=1I9GU>)r,EAY}6q?}6)e2?y}6zF=}6}6H Ƃ?bs?? s??̨`o?)~6q? ~6x^;I~4ɫ)))) -I)YM@yUGep=ɮaNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Ý̼Ý>Ý">iÝ׻@Ù ĝ^@)ĝ@Iĝ@iĝ@rM'=Y=aEpEysq}>I/5? ˾ B A@9xDs: :) !+:YWU1y:5W%?=W)X) X)W):W)2W)*W1V1bU1BU1*U9U9U=` U@BmH=Bi BiAm+?*BiAm'AqAqAu<"C}m=RCC?=C>בIG>7)r,EAY}BGq?}BD1?y}B`b[=}Bjy}BHI?}?@7q??-?h`P ^?)~BGq? ~Bf^;I~BC P)RlAɑR̽V|RFTV&CɒZlAiZQIZPFXI^Ci^nA bDbOF)`fC flAff@FɓhjCjlAIn)nl;Fil)rCIrlAv^ɔvOF tɕxzlAzƽizRFx- Battery stick #22 (s/n: 013F) reported OVER_TEMP_ALARM. Status code: 0x1717.Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.~0IɁ~#mAi~H~ALReceived data from all battery sticks.ɫ髑) IYp@yLGxDUSBL response received:!U1,R,E1D,000,00BE0,186,80,80,8B,FF Fpublishing direction and range infou>ɰ y> ) CIyC3?̱"/?ٱeMeP=Ym0DiqauEupEqy}ϻ}}>Iȡ :ťa05? :ť˾ ƥB A@9ƥDǥ: ȥ:)ȥ:WǦ;=WX XW:W2W*WVbU!BU!*U!U!U%`@P1*Q5CZQ5 `@<(M@JQ53?̱"/?2Q5u>:Q1bQ58J3O@0>`@|x !RQ5fN ?s|l?ӁTtBQ5? Q5CQ5}BP5(9?P5a9?P5yQ5Q5"Q5|!@B =B BA(?*BAHLAAA<"CȦ;=RCCǦ;=CPz< $OV> ?i ?ס  >9 I Gi @ = B; ϗEI G% >)r,,EAY}<5p?}c0?y}g=}1C}H ?}i@p?V?ݘ??H@j?)~<5p? ~>^;I~Cɫii)q qIqY@yG=DNmea in: $SNTTA,,,,,015539.63*50 Mb?K7?Mb? ?I > <)IyV-?ji̴@ |@)@I@i@MB=YTaEpEy0}>I @A) AA 1:YV1y:5);9%I(05?˾ B 5A@9D: :)meqAdded new target pos. range: 144.900009 m, bearing: 63.958670 deg, deltaT: 4.518593 s, approachRate: 0.743594 m/s, LOS rate: 2.739331 deg/s, posRepo size: 4mu ProNav: pos range: 144.900009 m, bearing: 63.958670 deg, approachRate: 0.743594 m/s, LOS rate: 2.739331 deg/s, cmd update: 8.217992 deg/s, cmd heading: 2.624911 deg, new cmd heading: 0.284190 deg. Wu=WqXq XqWq:Wy2Wy*WyVybUBU*UUb@U |?B-U=B1 B1A5!?*B1A==A9A9A=.<"C] ;RCYC]=CaU*< u}>IG >")r,rFEAY}:m?}:d.?y}:-m=}:}:H?`3/? Ƶ?L?`T`'?)~:m? ~:y|^;I~:Cɫ99)9 9I9Y}<@y}G=jME=YE;QUE ?IIaMEMpEIyUb}U ?IY]Z905?]ɨ˾ ]~B eA@9]D]^: ]:)YW/>WX XW:W2W*WVbUBU*UUU?B,=B BAW?*BACJAAAo{<"CGvRCC/>C) ֍>i Iq G ><)r,`EAY}Bj?}B}*?y}BSn=}Brҽ}BH?@@q ?(?=ֽ?@ƭC?)~Bj? ~B^;I~BCɫYY)Y ]IYY@y}G5M5K=Y=u9QU=>9AaEEEpEAyM}M>Iȡ :ťyO05? :ť]˾ ƥyB A@9ƥDǥ: ȥ:)ȥ:WcR>WX XW:W2W*WVbUBU*U U U @??B5r =B9 B9A=j?*B9A=AAAAAE$<"CMgRCICMcR>CQQ9QIUL~GiU@QQQU9; UʗE%%~%~% %d0:Y%T1y%@:%5)%;֥>I׹)׽hAׁIGg>c)r,]zEAY}2GMd?}2p$?y}2$]k=}2 }2H?;8â *?[5?]d?g`n?)~2GMd? ~2y_;I~0ɫII)I MIIY}i@y} G]ʡ=]x]Ti]z@Y ]@)]I]^@i]@m\MmG=YuQUu>qya}E}pEyyG`}>IȉōGe05?ō˾ ƍuB A@9ƍDǍ{: ȍQ:)ȉW=>W9XA XAWA:WA2WA*WAVIbUIBUi*UiUqUuvh?B^=B BA?*BA)AAA<"C`RCC>C=i=IGn> i nGI )r,7EAi6˿ٺ8:YA|H|J;Y}v ?]?}vH?y}vZh=}v,}vH?)yt?t?@?6?`&uſ~?)~v ?]? ~v6 `;I~vCɫ髹) IY@yG+]MG=YQU>aEpEy^}>I :|05? %:˾ qB A@9Dq< <) :W >WX XW:W2W*WVbUBU*UUU ޞ?%!!% %3:Y!y!%59-@Bu<Bq BqAu?*BqA}AyAyA}h<"CͶ<RCC >Cֵ>׉IG>M >9I IM |GiM k@M =I I M ; M Ev)r,%EAY} U?} <?y} -i=} G} H ?/S?`z?`Ѣ?`! {ȿgW?)~ U? ~ ``;I~ ɫ) IYM>@yMGEHzG?Mb?:v?E= ?E= ET=)AIAyECl?y&1|? rh?E/?E`;EC< E?@)E AIEAAiE@AE=AÝyÝl>Ý#iÝ@Ù ĝ@)ĝ@Iĝ@iĝd@νM4=Y8QU>aEpE!y-}->I1505?5~˾ 5kB =A@95D5: 5;)1We(>WaXa XiWi:Wi2Wi*WiVqbUqBUq*UqUqU}@B<B BAb?*BAUAAAB<"C㖭=RCC(>C>IG>)r,#ǧEAY}JtFN?}J?y}JQkj=}J PZ}JH ? > ? V??RI ˿l9?)~JtFN? ~J`;I~JCɫyy)y yIyY@yLGgMw=Yo:QU?aEpEyH}?I :ԡ05? :w˾ gB A@9D: I:)!:W- >W)X) X)W):W)2W1*W1V1bU1BU9*UAUIU]@RB*** querying acoustic contact ***PPB-ʘ=B1 B1A5?*B1A5ջA9A9A=O<"CER>RCEPd>CE >CAI)@A%%}%}% %&2:Y%kS1y%Ԋ:%5]>9IIGmW>`)r,:EA|i|Y}6'G?}6?y}6Hi=}6YQh}6H;?Wְ#??n? %̿@"!?)~6'G? ~6`;I~4ɫ99)9 9IAY/@yGZ****** received transponder code query ******F****** received ping request ******QQaUEUpEYy]J}e>Iim05?mn˾ mbB }A@9mDmP; m* ;)iW#>WX XW:W2W*WVbUBU*UUU e@Bnk<B BA>*BAȻAAA2<"CMv>RC >C#>C}>9I,{Gi&@=; E)ݩIݩiݩݭ=ݭ=ݭ5֍|>aIiG9>=)r,EAɫ髱) IY7@y~GxDUSBL response received:!U1,P E1D,000,00BE0,186,80,80,8B,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@ @)@IK@i@zM%=5555 5/:Y5U1y5:55YEQUE>AAaMEMpEIyU}U>Iș :ŝ05? :ŝd˾ tI Ɲ\B B@9ƝDǝ: ȝu:)ȝ":W?WX XW:W2W*WVbUBU*UUU @Be»<Bi BiAm^>*BiAmF6AAA<"Cǰ>RCDN=C?C c>I)iA׹ I G >!*r,EAY}B#:?}B>y}B\=}BO[z}BH\?@'Wݿ, n?]? ?U@Oο?)~B#:? ~B(a;I~@ɫYY)Y ]IYY@ym~GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B %M-Y=Y-QU->11a5E5pE1y=}=>IAE 05?E]˾ EWB uB@9EDEǺ: E@:)AW?%=i!W)X) X1W1:W92WY*WaVabUiBUi*UqUqU @B]f<BY BaAe>*BaAevrAaAaAeDw<"CmK>RCuvCu?CquTW>IIYGu> {>9 I yGi @ ; EP *r,u/EA| |"p;Y}N#3?}NT>y}NQ=}N}NHO? ۿ T?ڰ?c;?9 ΛϿ2?)~N#3? ~N`;I~NCɫiq)q uIqY@y<}GxDUSBL response received:!U1,R,0CB,000,00C55,186,80,80,8B,FF Fpublishing direction and range info  g5 ɰ O>  ) I y C '?*ƿٱ 5dNmea in: $SNTTA,0.157294,0.157456,,,015544.08*5F Q?J +?{Gz?>= ף<)IyB`"?)1a5E5pE1y]M{}e>Iae05?eV˾ eQB uB@9eDe: e+:)aWR-?WX XW:W2W*WVbUBU*UUU@P *Q CZQ yIv[b@U*n:JQ '?*ƿ2Q  g5:Q bQ ↍=b@奅hc&E@(הGRQ EV׻?--?3zE|%%%% %2/:Y%WU1y%:%\5)%;9-BQ x> Q 3)BQ CP 9?P (9?P Q yQ E@"Q B}<B BA&>*BAhAAA~<"C?RCzCR-?C֍/->IIYGuz>a2*r,6IEAY}:-?}:f>y}:f2H=}:&|}:H`?ڿ/W? 9?`?*Ͽ`g?)~:-? ~:K`;I~:Cɫ99)9 =I9Y}@y}A}Gu:Mul=Y}߻QU}?yaEpEyp}?Iȑ :ŕ15? :ŕQ˾ ƕLB B@9ƕDǕ0: ȕ^:)ȕ#:myAdded new target pos. range: 151.919998 m, bearing: 16.167244 deg, deltaT: 4.407265 s, approachRate: 1.592822 m/s, LOS rate: -10.843783 deg/s, posRepo size: 4m ProNav: pos range: 151.919998 m, bearing: 16.167244 deg, approachRate: 1.592822 m/s, LOS rate: -10.843783 deg/s, cmd update: -12.000000 deg/s, cmd heading: 38.791778 deg, new cmd heading: 41.606925 deg. W?WX XW:W2W*WVbUBU*UUpb@Ui?B%<B! B!A%b>*B!A-ᘻA)A)A-$<"C5?RC5PC5?C9 .>?i?IG--> ]*r,/cEAY}J'?}J>y}JC=}Jt}JH\?@R;ٿ@A?`j? 2?@5uHο ?)~J'? ~JU_;I~JCɫ髁) IY@y+|GuNjMuJ=Y}0QU}>yyaEpEym}>Iȑŕ 15?ŕJ˾ ƕGB B@9ƕDǕ': ȕ:)ȑWKN?WX XW:W2W*WVbUBU*UIUQUU?ܕy>9ܑIܕ xGiܕ@ܑܑܕDܕ!; ݕEB<B BAD>*BAύAAA&D<"C ?RC |ԃC KN?C=I))-AAm( iim m7:Yiyimn5)mX;!IIGuX>$*r,g|EAY}6"?}6R>y}6^A=}6%k}6Hm?,ؿS륿w?`?%7?/`uͿ ?)~6"? ~65a_;I~6Cɫ99)9 9I9Yu @y}F|G = = ==94= ==νi= @= =@)=­@I=@i=@M;MMM=YU㭺QUU>QYa]E]pEYye[}e>Ii u:m.315? u:mD˾ mAB uB@9mDm: m:)m$:W>WX XW:W2W*WVbUBU*UUU*#?B<B BA>*BA4"AAA<"CI!?RC C>C`T=סIG >p%*r,іEAY}R?}R>y}RrD=}Rt[}RH?׿ V砿? ? ?ڋ>˿:?)~R? ~Rs_;I~Pɫqq)q yIyYK@yY{G`M>=Y%:QUM>QYaeEepEy}>IșŝJ15?ŝf>˾ Ɲ;B B@9Ɲ Dǝ ; ȝv;)șW IV>W X  XW:W2W*WVbUBU*UUU%Q\?B3Ԫ<B BA>*BAqAAA֞<"C7"?*C*RCCIV>C-))- -2:Y)y)-J595@ֵM=I׹)׹׉IG>܍ x>9܍ |CI܍ |vGi܍ W@܍ =܉ ܉ ܍ ); ݍ E+*r,EAY}2?}2lO>y}2n&G=}2N}2H?pֿrH?E?4?K⨿ ɿO?)~2? ~2z^;I~2Cɫyy)y yIyY@yzGK7?"~? t)IyZd;O?-i-@) -@)-X@I-X@i-@=!M=H=YEZ:QUE>AIaMEMpEQyU}U>IY e:]Za15? e:]7˾ ]3B mB@9]D]Q: ]:)]%:Wޅ>WX XW:W2W*WVbUBU*UUUh?B<B BA>*BA_AAAoE<"C?RCCޅ>C=%=i%=סIGA>2*r,sʨEAY}J9?}JSL>y}JxI=}J=T;}JH g?տw?@E??@w,Aǿm?)~J9? ~J?^;I~JCɫ髡) IY@yzGu޹MuX=Y}/:QU}>yyaEpEyԼ}>Iȑŕw15?ŕ1˾ ƕ,B B@9ƕDǕ^: ȕI:)ȑW:>WX XW:W2W*WVbUBU*UUU`E@B<B BA>*BAMAAA[<"CM?RCC:>Cԡԡim%nGIiqĿٺA=99= =,:Y9y9=85סIGB>8*r,YEAY}2?}2j >y}20M=}2&}2H&? ~nտ~|1?c??Ŀ?)~2? ~2^;I~2CɫYY)Y ]IYY@yyGI}MW=Yt6;QU>aEqEy6}>I֌15?+˾ $B B@9(D÷: U:)W!.=W X  X W :W 2W *WVbUBU*UUU@R%B*** querying acoustic contact ***P!P!BM#<BI BIAM>*BIAUG=AQAA<"C_?RC-gC!.=C999I=tGi=@999=+; 9tEױIGM1>4>*r,:EAY}J.f?}J>y}JS=}JU}JH8? տtd`???d?y`,;¿ h?)~J.f? ~JP^;I~JCɫ) IY@yRyGZ****** received transponder code query ******F****** received ping request ******iÅ @Á ą@)ą@Ią@ią@M/=YQ;QU>aEqEyh}>Iȱ :ŵ15? :ŵ$˾ ƵB B@9Ƶ3Dǵ: ȵ:)ȵ&:WVq;WX XW:W2W*WVbUBU*UUUΑ @B-rb<B- = B)A5<>*B1A5&)A1A1A5<"C=e>RC=\C=Vq;CAI!)!55z5z5 50:Y5Q1y5:55=LͽI G%M>ME*r,EA|i|Y}Z9?}Z*N>y}Z)q=}Zɿ}ZH6?տFə? P???2~巿`?)~Z9? ~Zn_;I~ZCɫyy) IYU$@y]xGxDUSBL response received:!U1,P 0CB,000,00C55,186,80,80,8B,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }x?V-&1?}K?}m }P=)yIyy}ʡE?Zd;O?aEqEy5}>Iȱŵ15?ŵ|˾ ƵB B@9Ƶ=Dǵ6: ȵ:)ȱW @WX XW :W 2W *W V bUBU1*U9U9UE @Bi<B  B1A5">*B1A==KA9AAAE=(<"C>RCC @C  = )>= v>99 I= rGi= {@9 9 9 = 1; = ėE)ň|CIň|Ciň=ň=ňo5 u)ס I G >K*r,h1EAY}Zv?}Z4>y}Z}=}ZSy}ZH?٥տ]a? Ok? ?@? D3 ?)~Zv? ~Zx_;I~ZCɫ髙) IYr@ywGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B !Ti\@ @)@I@i@#M=Y(*BA AAA<"Cu>RC$C@C֍wF==AIQGm5>== =1:Y=WU1y=:=5)=;9u R*r,KEAY}F*?}F">y}Fǁ=}F*}FH`?`KֿU?z??@r?(6-@?)~F*? ~Fԓ`;I~FCɫii)i uIqY@y xGxDUSBL response received:!U1,R,0CB,000,00C55,186,80,80,8B,FF Fpublishing direction and range infoɰ鰡 )Iy'?*ƿٱz_<M`=Yx;QU>aEqEy.F=}>I_15?˾ B B@9ID; T;)WEu@WAXI XIWI:WI2WQ*WQVQbUYBUY*UYUaUek@Py*QyZQ}yIv[b@U*n:JQ}'?*ƿ2Qy:QybQ}Ǥb@PE{;@?t!RQ},j?ŽO (?IzZ魿BQ}~:> Q}AQ}&CP}9?P}9?P}(Q}Q}$"Q}E@BDŽ<B BA>*BAAAA<"C+k;>RCf=Cu@C)i-p=хFY*r,eEAY}^{ ?}^>>y}^n=}^<}^H@h?Ϫ׿@)?`̱??;x?,?`S?)~^{ ? ~^Oa;I~\ɫ) IYM@yM4wGDNmea in: $SNTTA,,,,,015548.55*53 Mu>9IIMqGiM@IIIM$; MEo8M-=Y^QU>  aE"qE!y5.=}=>IQ :U;15? :U˾ U B B@9USDU < U <)U(:%%%% %11:Y%U1y%:%5)%P;m=uAdded new target pos. range: 151.919998 m, bearing: 10.440789 deg, deltaT: 4.358332 s, approachRate: 0.000000 m/s, LOS rate: -1.313910 deg/s, posRepo size: 4mM ProNav: pos range: 151.919998 m, bearing: 10.440789 deg, approachRate: 0.000000 m/s, LOS rate: -1.313910 deg/s, cmd update: -3.941729 deg/s, cmd heading: 346.390033 deg, new cmd heading: 340.427748 deg. WM]@WIXI XIWI:WQ2WQ*WYVYbUYBUY*UYUaUe & ?Bfw<B BA>*BA|ԺAAA<"C=RC,>C]@C%Nw = Ƃ i ? I G >(_*r,EAY}6{&?}6.>y}6u~=}6w=}6Hcd?ؿ9?? 5q?gϯ?@9?)~6{&? ~6c;I~6CɫQQ)Q QIQY@yvG @ @ @Õ©ÕÕiÑÕ ĕ)ĕIĕ?@iĕ@Ma=YQU>aE(qEy}=}>I25? ˾ B B@9ZD: :)W@WX XW:W2W*WVbUBU*UUU x?B-r<B1 B1A5^>*B1A5[A1A9A=`h<"C=,<RCE̮u>CE@CIQQ)Q QzסIG>< f*r,]EAY}md,?}m >y}m1-|=}m'V=}mH?`ٿ2?@E?@e?@t@5??)~md,? ~m#e;I~mCɫqq)q uIqY%@y>vGS㥛?sh|??kt?=  0)IyX9v?{GzMb`?=?ף; A)vAI Ai|A=AcM8=YѲQU>aE/qEyI=}>I :T 25? :˾ B B@9dD< `<)):W՛@WX XW:W2W*WVbUBU*U UU`d?I!)%@A5& 555 56:Y5Y1y5:5o59=@B]Vm<B BAdz>*BAAAA@<"CNܷRC >C՛@C֝QZqIyG~>5 w>91 I5 nGi5 @5 =1 1 5 4; 5 ŗE4l*r,2EAY}6:1?}6>y}6:|=}6>}6H`X?@ڿ2(?ׂ??Q{L?ଭ?)~6:1? ~6^2f;I~6CɫYY)Y YIYY@yuuGjA U U UU;_US>UK>iU\@U U@)U@IU@iU@eeMef=YeQUm>iiamEm5qEqy}v=}}>IȁŅ425?Ņʾ ƅB B@9ƅmDDž: ȅ:)ȁW߽@WX XW:W2W*WVbUBU*UUU?Bm݂<Bq BqAuf>*BqAu挺AqAqA}B<"C}#RCC߽@Cm1Ii)mhAAIQGm5>f"s*r,%ͩEAY}RJ7?}Ro>y}RN{=}R>}RH ?2 ܿ@?@?3d?nd}?~?)~RJ7? ~Rsc;I~RCɫii)q qIqY?@ysG8ĽMG=Y۹QU>aE;qEğ@y_=}>IȩŭK25?ŭtʾ ƭB B@9ƭwDǭk: ȭw:)ȩW_@WX XW:W2W*WVbUBU*UUUI@BF<B BA=>*BAvsAAA(<"C|RCC_@C֝- --- -AB:Y-T1y-:-5בIG@>Fy*r,EAY}6=?}6>y}65u=}6d>}6H@;/?EݿJg? ? 6 ? -@Z"??)~6=? ~6&a;I~4ɫ99)9 =I9Y}@y}isG=(M=P=Y=xQUE>AAaEEEBqEIyM%i=}M>IY ]:]a25? e:]&ʾ ]B eB@9]D]^: ]k:)]*:W@WX XW:W2W*WVbUBU*UUU`v@|>9IkGiĿ@='; EB 8<B BA0>*B!A-8OA)A1A5o<"CM)ΝRCQC]@Caօo)i-=AIQGm5>2*r,EA| |"4}RH@v?~޿2? A?`.???)~RlB? ~Ra;I~RCɫ髑) IY@@yrGEEP=EiE3@A E@)E@IEt@iEΣ@U9MUH=YUQU]>YYa]E]HqEayeiT=}e>Iy25?ʾ ״B B@9Dn: :)W7,@WX XW:W!2W!*W!V)bU)BU)*U)U)U5@R=B*** querying acoustic contact ***P9P9B]v"<Ba BaAe>*BaAm.-AiAiAm<"CuɾRCqC}7,@CyEyM?iM?I)MMMM M2:YMV1yM:M5G]3>>ЕCi mGI1 iI Ͽٺ ;A ?9 =A^*r,EAɫ髉) IY@yqGZ****** received transponder code query ******F****** received ping request ******  a E PqEy}>I %:25? %:ʾ дB -B@9D#: :)+:WM[2@WIXI XIWQ:WQ2WQ*WQVQbUYBUY*U9U9UEe @BVx<B BA>*BAa] AAA;<"CRCC[2@C֕~>9IiGi.@#; E*r,o4EAY}JI?}Js ?y}JH=}J=}JH v?`T?` Y? ve?⳿ 儾??)~JI? ~J_;I~JCɫqq)y yIyY@ypG xDUSBL response received:!U1,P 0CB,000,00C55,186,80,80,8B,FF  Command Ack BRequesting micromodem ping code 2i  Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ]Q8]xi=]`aEWqEyg=}>Iȱŵ25?ŵʾ ƵʴB B@9ƵDǵM; ȵ;)ȱW%-@W!X! X)W):W)2W)*W)V1bU1BU1*U1UYU]@@BK;B BA+=*BAiAAA,w<"C-RC)CU-@CY֍̓=a Iq G >j*r,UNEA|i|@Y}6/I?}6PE ?y}6;=}6J=}6Hwj?>$O?9p?ba?@G/`t ׹??)~6/I? ~6M_;I~6Cɫ99)9 9I9Y}@y}oG鮅a=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Mr=Yz+QU?aE\qEy+<}?Iȹ :Ž`25? :Žʾ ƽƴB B@9ƽDǽF; ȽH;)Ƚ,:W  @W X  XW:W2W*WVbU!BU!*U!U)U-@@BmB;Bq BqAu@=*ByA}OѹAyAyA}=<"CRCC @C֍=I׉)׉AIQG}7>*r,0hEAY}F]MI?}F| ?y}F2=}F~=}FHt?@?a?`Os?:@S %??)~F]MI? ~F_;I~FCɫYa)a eIaY@ynGxDUSBL response received:!U1,R,FE5,000,00C7D,186,80,80,8B,FF Fpublishing direction and range info<ɰ>鰡 )IyQCϺ?е ?ٱ M T=YQU>aEbqE)y-)}->I9=25?= ʾ =B EB@9=D=:: =h:)9ܝ>9ܙIܝhGiܝ@ܙܙܙܝ; ݝE)1I1i15=5=56W@WX XW:W2W*WVbUBU*UUUS@P*QQCZQ\dHc@} @JQϺ?е ?2Q<:QbQ7VP`@x)NT@&RQf?Г(?GH^BQ/? Q2BQCP9?P9?PQ(Q¾"Q$Bm|E;Bi BiAmjM=*BqAudźAqAqAuEd<"C} RCyC}@Cuuuu uC3:YuWU1yu:u5)u;օ\\!>AIIGeU>J}*r, EAY}JG?}J?y}Ja-=}J8=}JH?$P?@2??഻@r?e?)~JG? ~J_;I~JCɫ髡) IYk@ymG]TNmea in: $SNTTA,0.104816,,,,015552.97*42 ýjý/=ýiý@ù Ĺ)Ľ­@IĽ"@iĹXM<=YBQU>aEiqEy}>Iȡ :ť?25? :ťEʾ ƥB B@9ƥDǥ: ȥ:)ȥ-:mqAdded new target pos. range: 154.320007 m, bearing: 32.172209 deg, deltaT: 4.492876 s, approachRate: 0.534181 m/s, LOS rate: 4.836862 deg/s, posRepo size: 4m ProNav: pos range: 154.320007 m, bearing: 32.172209 deg, approachRate: 0.534181 m/s, LOS rate: 4.836862 deg/s, cmd update: 12.000000 deg/s, cmd heading: 328.689109 deg, new cmd heading: 327.080813 deg. W'O@WX XW:W2W*WVbUBU*UU=Jc@U@?B-;B1 B1A5 =*B1A5"ZA9A9A=r<"CE0! *CE RCACE'O@CIe=iep==oE->IGn>*r,/EA|P|R;Y}]*D?}]J?y}](=}]K;}]H`?`߿`? ? ?[y? `,|?`?)~]*D? ~])`;I~]CɫAA)I MIIY@ymGl?:v?7?L T<)IyS㥛?Mb`MbP$F? …A)…AI… Ai…A A >TM ?=Y KCQU >aEpqEy:ռ}%>I!%'35?%/ʾ %B 5B@9%D%ӻ: %:)!WU"@WQXQ XQWY:WY2WY*WaVabUaBUa*UaUiUm \?B0!:B BAG<*BAAAAώ<"CΒRCC"@Cu' uuu u6:YuT1yu:u59}@{<>?i?בIGa>ܭ>9ܭ}CIܭfGiܭ@ܭ=ܩܩܭ; ݭE3Ѭ*r,YµEAY}2"A?}2?y}2c =}2t}2H?߿'?R??@Ԫ?:?)~2"A? ~2]`;I~2CɫYY)Y YIYY0@y9kGM(M;MxiM¥@I I)M@IM-@iIeUMeb=Ye̦QUe?iiamEmuqEqy}>I35?ʾ B B@9D: :)W@WX XW:W2W*WV!bU!BU!*U!U)U- ?BUܡBQ BQA]hz*BYA]vЬAYAYA]<"Ce=RCaCm@Cim0Se>)I1GM1>l*r,ϪEAY}2y}2 =}2V}2H9?%޿h?,?\? 5ൿ?)~2aE|qEyT,}>I :,35? =:qʾ B =B@9D|< |<).:WeU@WaXa XaWa:Wa2Wi*WiVibUqBUq*UqUqUu?B\#B BA*BA SAAA<"CRCCU@C֥;>Ia)e@Auuuu u2:YuWU1yu:uo5ׁIG=>*r,~EA|i|@ɫqy)y yIy5>91I5dGi5@5=15D5; 5EY}@y}zjGÅ>ÅÅ@iÅ\@Á ā)ąE@IąiąE@hM;=YQU>aEqEy}>IȱŵE35?ŵʾ ƵB B@9ƵDǵϸ: ȵ:)ȱW&@WX XW:W2W*WVbUBU*UUU (@B2B B!A%^ *B!A%>kɹA!A)A-<"C-nRC1C5&@C1]>Ia)a1I9G]v>*r,SEAY}61?}6>y}6<}6S }6H`? ^ۿ b m?`}?`?`ÿ`ʗ?)~61? ~6PQc;I~6Cɫ99)9 AIAY}@y})iGYM\=Y╼QU>aEqEy}>Iȹ :Ž[35? :Žʾ ƽB B@9ƽDǽ: Ƚ:)Ƚ/:W@WX XW:W2W*WVbUBU*UUU`2#@B%AB) B)A-*B)A5jA1A1A5<<"C=X&RC9C=@CAA}}~}~} }/:Y}T1y}@:}85I G%N>O*r,;EAY}ZM)?}Z>y}Z-E<}ZҔ=}ZHD??ٿd? _? 7?@̇ Ӎǿ`q?)~ZM)? ~ZQc;I~ZCɫ髑) IY@yhGn?Mb?~jt?V>= <)Iy'1Z?y&1~jt?B?`e< ¥A)¥AI¥OAi¥ Az A㋽MG=YQU>aEqEyX}>It35?ʾ B B@9D: :)Wt*=WX XW:W2W*WVbUBU*U!U!U%i@R-B*** querying acoustic contact ***P1P1BULBQ BQAUĽ*BQA]AYAYA]Bp<"Ce`FRCaCet*=Ciaie=}>1IAGeU>5}>91I5XcGi5ȸ@5=15D5; 5E?*r, 7EA||4y}6+<}68S}6H?`׿f0??k?&ӘN5ʿO?)~6"? ~6 c;I~6CɫYY)Y eIaY @y]gGZ****** received transponder code query ******F****** received ping request ******Í&1>iÍ@É čE@)č/@IčE@iĉr'M==YȻQU>aEqEy}>Iȹ :Ž35? :ŽɄʾ ƽB B@9ƽDǽ{: ȽQ:)Ƚ0:W(>WX XW:W2W*WVbUBU*UUU @B-?B) B1A51*B1A5" A1A1A5Z[<"C= ӽRC9CE(>CAuu}u}u u1:YukS1yuԊ:un5)u;9}]FӅ>e?ie?1IAG]v>7*r,;PEAY}:?}:\>y}:M<}:_b}:Hp?QֿP7`8?'? VK??閿̿ 5?)~:? ~:^hb;I~:CɫII)I MIIY@yfGinmGIi)mɿٺim@A}xDUSBL response received:!U1,P FE5,000,00C7D,186,80,80,8B,FF }Command Ack}BRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -{ӼM=T=YE]QUm>ya-E-qE9yE}m>Iy}<35?}lʾ }B B@9} D}'< }<)yWbj>WX XW:W2W*WVbUBU*UUU @Beo Bi BiAm*BiAm>AiAqAuS<"CugRC~5D>Cbj>Co>ש I G >E1*r,jEAY}2t?}2p«>y}2`ۢ<}2m}2H5?|Կ@P?\?`2? [ \Ϳ#?)~2t? ~2a;I~2CɫAA)I IIQw>9IbGi&@=; EY} @y}fGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B íxi=ív>>í=ií@é ĭ@)ĭE@Iĩiĭz@-PM?=Y»QU>aEqEy}>I :35? :{ʾ B B@9D: :)1:W O>W X  XW:W2W*WVbUBU*UUU%o.@BMVJCBI BQAU*BQAUrXAQAQAU=<"C]3=RC]c=CeO>CaIa)eAAuqqu u,:Yqyquʺ5)u;օp>AIIGeV>+*r,NEA|i|Y}>N?}>yw>y}>e׌<}>3Is}>H t?@NӿȬ?ਐ? T?ο?)~>N? ~>`;I~>CɫYY)Y ]IYY˹@ydGMq=YQU?aEqEy{}?I>35?lwʾ B B@9Di< o<)W>WX XW:W2W*WVbUBU*UUU%@BRCZ=C>CZ>I)סIGA>C*r,WwEAY}2C ?}2>y}2em<}2x}2H8?`ѿ諿?? ?@ο ?)~2C ? ~2Z`;I~2CɫYY)a aIaYڹ@ydGxDUSBL response received:!U1,R,26A,000,00CB5,189,80,80,6D,FF Fpublishing direction and range info ɰ>>鰥7> )BIyCŵDu?t^nٱe ףp= ?ʡE? rh?eQ?e-2> eC<)aIaye~jt?㥛 ?S㥛?e;?e=e/< ep@)e)AIeAieAaefAp;M1=YsQU>aEqEyZ}>Iȡť35?ťpʾ ơ B@9ƥ(Dǥ: ȥ:)ȡW[~>WX XW:W2W*WVbUBU*UUUb@P1*Q5CZQ5ݖ`@khi>TJQ5ŵDu?t^n2Q5 :Q1bQ5׬c@Y;fB*)ھ~1@RQ5Qo? οM,g?BQ51n@ Q5Q5ECP519?P59?P5Q5Q5nA"Q5¾BpXB BAt:*BA􈓺AAA<"Ct>RCYvC[~>C} }}} }5:Y}V1y}:}o59@֥C>YIiG^>u>9|CIdaGi2@=; E)ݵ}CIݵ}Ciݱݵ=ݵ=ݵc6im*r,QEAY}2?}2懆>y}2KB<}2=y}2H`G?@WOп@+^R??+?@@ο ?)~2? ~2l_;I~2CɫYY)Y YIYY@ycGmĽm=mTaEqEy}>Iș :ŝ$45? :ŝjʾ ƙ B@9Ɲ1Dǝ: ȝ.:)ȝ2:myAdded new target pos. range: 157.679993 m, bearing: 346.335861 deg, deltaT: 4.855977 s, approachRate: 0.691928 m/s, LOS rate: -9.439162 deg/s, posRepo size: 4m- ProNav: pos range: 157.679993 m, bearing: 346.335861 deg, approachRate: 0.691928 m/s, LOS rate: -9.439162 deg/s, cmd update: -12.000000 deg/s, cmd heading: 26.912631 deg, new cmd heading: 31.359663 deg. WM(>WIXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUeµc@Ue[ ?B„B BAR*BAtAAAJ<"Cgߘ>RCpC(>Ciim=C>IGj>?U*r,,ҫEA||Y}6->}6bv>y}6<}6r}6H`Y?jͿ8v?@3?a[? @Ϳ?)~6-> ~6P_;I~6Cɫy髁) IY@yNcG(ּME=Yl QU>aEqEy\}>I45?dʾ  B@9;Dg; ;)W=8>W9X9 X9W9:WA2WA*WAVAbUIBUI*UIUIUU?B}I[By ByA}]*ByA#AAA\<"CƮ>RC3C8>Cm6>u?iu?AIIuu~u~u u-:YuT1yu@:uܾ5G8>Z*r,'EAY}BW>}B`>y}B5~;}Bm}BH`:?M˿ ? c??@ou]Ϳj%?)~BW> ~B^;I~BCus>9qIu7`Giu>@u=qqu; qɫ) IY@yEcG Q j<> ji   z@) @I i @3MF=YQU%>!!a%E-qE)y5L}5>I9 =:=645? E:=H_ʾ =B EB@9=ED=: =5;)=3:Wm_>WiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUyU} ?BWB BA^*BAlպAAA<"CV>RCSC_>C֥>yIG<>Xg+r,2EAY}2e>}2xL>y}21;}2mCh}2H)]?ȿ԰ d??`OE?7Fc̿'.?)~2e> ~2^;I~2Cɫ99)9 AIAY @yobG^MQ=YQU>aEqEy7Q}>IM45?gZʾ B B@9ND,; y-;)W1>WX XW:W2W*WVbUBU*UUU?BhB BAPt*BA AAA<"Cv>*CCRC!aC1>C=Ia)e@Auu|u|u u-:YuR1yui:u˷5IGI>u+r,IEA|i|Y}>U>}>g9>y}>P]:}>\c_}>H@z?@ƿ f ?? hF?kRٳ˿=?)~>U> ~>^;I~>CɫYY)Y YIYY}%@y}bG?Dl~jtxf?O Ļ)IyuV?Zd;O?{Gzt?rH?j<=ף; µ@)µ*AIµAiµAA;MI=YEQU>aEqEy'<}>I :h45? :&Vʾ B B@9XD?: :)4:WR=WX! X!W!:W!2W!*W)V)bU)BU)*U1U1U5?B]=BY BaAeq*BaAeZAaAaAe<"C xϰ>RC 5^C R=C;=I ) IG%M>}r>9yI}_Gi}@yyy}; }E~ +r, 9EAY}2^>}2q(>y}2d:}2xvU}2Hh?@kĿ??`(? ,Up}ʿN?)~2^> ~2E^;I~2Cɫ99)9 9I9Y]s@y]bGÕY=ÕZd>ÕT=iÕ@Ñ ĕ\@)ĕ@Iĕ@iĕ@<MM=Yq9QU>aEqEy#)}>I45?9Rʾ B B@9bDr; :;)W%]@W!X) X)W):W12W1*W1V1bU9BU9*U9UAUED%@Bu]By ByA}Zg*ByA}AAA`<"C`>RCeFC]@Cm`Ի)I1GM1>uu{u{u u:2:Yu#R1yu:u5)u6;9}W+r,tSEAY}:+>}: >y}:G#;}:BE}:H` ?'!ÿ\ %n? ?U?hdȿ@g?)~:+> ~:ג^;I~:Cɫyy)y yIyY8@ybGMW=YN;QU>aEqE y } >Ib45?Nʾ B %B@9lD: U:)WE-{@WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQU]"@ReB*** querying acoustic contact ***PaPaBǝB BAn*BAAAA<"C}y>RC&C-{@C 8RIG*>aiep=7+r,^mEA|B4<|@q>9I _GiJ@=?; ˗EY}MF>}M1B>y}Mˡ;}M.}MH`0?"N¿.w?W3?e?^9tſ?)~MF> ~MM_;I~MCɫ髑) IYŷ@ybGZ****** received transponder code query ******F****** received ping request ******-s>-v=i-f@) -z@)-@I-E@i-=M]*=Yeť;QUe>iiamEmqEqyuр}u>Iy :}45? :}fJʾ }B B@9}xD}?; }:)}5:W.@WX XW:W2W*WVbUBU*UUU%@ @miim m/:Yiyim˷5)m6;BՓB BA}*BAM+AAAc<"CZ6>RCC.@C޽i?שIG>a!+r,*EAY}:l>}:@>y}:w;}:D}:H|?z¿@qU@ˆ?W?` ?`¿u?)~:l> ~:^;I~8ɫ99)9 =I9Y}@y}|bGxDUSBL response received:!U1,P 26A,000,00CB5,189,80,80,6D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 <Mh=YaEqEy:}>I!%45?%/Gʾ %B -B@9%D%: %`<)!WF@WX XW:W2W*WVbUBU*UUU @BmBi BqAur*BqAuK6AqAqAu <"C}m=RC}c6CF@Cօ4̞>ڕCAIQGuX>iunGIi5ɿٺ15ҹA'+r,EAY}2R>}2s>y}2nI&<}2ٽ}2H?ÿlyJ?@Op? ~2QN_;I~2Cɫ99)9 9I9Y}@y}XbG鮁ɮa=ex&1?T㥛 ?y&1?eA ?e= e`<)aIayeCl?J +?y&1?eO?eH=e`e< eQA)e"AIe AienAaeAoM5M=Y5;QU=>AAaEEEqEiyu<}u>Iy :}45? :}Cʾ y B@9}D}I; }c;)}6:W@WX XW:W2W*WVbUBU*UUU-'@BuBy ByA}v*ByA}چCAyAA<"CѤRC )=C@CIi)i}}}}}} }/:Y}kS1y}Ԋ:}59@ֽp>9{CID^Gi@=D;; ȗEבIG> .+r,ຬEA|i|@Y}69>}6',>y}6T><}6Ї}6H?wſ7?j? y?9?@Gׇ`p?)~69> ~6`;I~6Cɫ99)9 =I9Y@y\bG E > +i @  9@) &@I @i @:M%R=Y%;QU%>))a-E-qE)y5"=}5>I9=55?=T?ʾ 9 EB@9=D=w: =@:)9Wm-@WiXi XiWi:Wi2Wq*WqVqbUyBUy*UyUyU}6@B3CB BA*v*BAdNAAA$<"C8RC >C-@C֍Iב)בIIYGu>4+r,ԬEAY}R?>}R)4<>y}RıJ<}R4o}RH@iu?tmǿ|?`6d?@ar?@Qb? Vd@0?)~R?> ~Roaa;I~RCɫqy)y yIyY@ysbGe/;MeF=YmV:QUu>yya}E}qEy=}>Iȑ :ŕ 55? :ŕ:ʾ Ƒ C@9ƕDǕ; ȕ;)ȕ7:WQη@WX XW:W2W*WVbUBU*UUU<@B=)BA BAAEs*BIAU͜[AQAQAU{<"C]V9RC]_>C]Qη@Ca֍Nm mxmxm m_C:Ym7P1ym:mݻ5yIG=>4!;+r,mEAL9LIN]GiN@N=LLNC; N̗E)m|CIm|Ciim=im5Y}>}7K>y}UP<}J8;}H@^?5ɿI?5?_?ئ0`g?M?)~> ~:1b;I~Cɫ) IY-۷@y-3bGõ;õ= >õ`eiõf@ñ ĵ3@)ĵ@Iĵ@iĵ@xMD=Yjf:QU>aErEy=}>I<55?5ʾ B C@9D: M:)W N @W X XW:W2W*WVbUBU*UU!U%Y@BMBI BQAUTz*BQAUhAQAQAU^<"C]"URC] >CeN @Ca=ѼI!G=/>]p=iYzB+r,rEA|;|;Y}69>}6ѸU>y}6j(a<}6@<}6HvM? Vwʿ`p??`K?䗿@$@f?K?)~69> ~6b;I~6CɫAA)A EIAY@ybG0^M_=Y3;QU>aE rEyf<}>IWT55?i1ʾ B C@9D: :)W^@WX XW!:W!2W!*W!V!bU)BU)*U)U)U5 [@RMB*** querying acoustic contact ***PIPIB}MB BAl*BATtAAAl><"CҰRCC^@Cϩ<i?IG$>u uuu u5:YuU1yu:u]5-H+r,N"EAY}2 >}2[>y}2s~<}2)=}2H`C?(˿N?@B?G>?`@׏@3??)~2 > ~2c;I~2Cɫ99)9 =I9Y@ybG]V-?y&1?/$?]h1?]`< ]<)YIYy]\(\?y&1|MbP]:?]`] ] A)] AI]Ai] AY] A};M}>=Y}d;QU}>aErEyya<}>Iȑ :ŕHn55? :ŕ-ʾ ƕB C@9ƕDǕ: ȕE:)ȕ8:W.@WX XW:W2W*WVbUBU*UUU 3@BA}B B A }*B APAAA/@<"C ߾RCC.@C֍k=ׁIGF>ܡ9ܡIܥ[Giܥ@ܥ=ܡܡܥM; ݥїEWN+r,[(}:Z^>y}:)<}:.=}:H=?`N˿L?? ? 9?`YDԥ?>?)~:> ~:~wb;I~:Cɫ99)9 9I9Y}@y}aGxDUSBL response received:!U1,N,80,8000,00CB5,189,80,80,6D,FF ZNo reply:!U1,N,80,8000,00CB5,189,80,80,6D,FF -aErE1y=;}E>Iȉō55?ō.*ʾ ƍB C@9ƍDǍ0; ȍ6:)ȉWŶ@WX X)W):W)2W)*W1V1bU1BU1*U1U9U=@@BeaB BA*BAkAAAbc<"C6RCCŶ@CIa)a}}}} },:Y}WU1y}:}o5)};9ֽW^=בIG>@U+r, VEA|i|@Y}:a>}:bv^>y}:3<}:?=}:H =?}˿c?}?3 ~:a;I~:Cɫ99)9 =I9YE@yE'aGeZMme=Ym;QUm>qqauEurEyy}W}}?Iȁ :ŅϜ55? :Ņ?'ʾ ƅB C@9ƅDDž?: ȅ:)ȅ9:W@WX XW:W2W*WVbUBU*UUU'@BICмB BAҊ*BA8~AAA[<"CjdRCC @C ̓=I)IG>i[+r,oEA&r>9$I&ZGi&̱@&=$$&Y; &חEY}B8g>}BȂ^>y}B Q<}Bj<}BH{=?`=˿Ȁ?ʖ?>?ht ) ??)~B8g> ~B_;I~BCɫyy)y }IyY@y aG M M MM=Mb>M94iM@M I)M@IMۙ@iIeMe.=YmF;QUu>qqauEu$rEyy 8}>Iȑŕ.55?ŕ@#ʾ ƕB C@9ƕDǕ4: ȕ:)ȑWY@WX XW:W2W*WVbUBU*UUU@B5&B1 B1A=5*B9A=A9A9A=<"CE1RCICMY@CIEe1=}}}} }P0:Y}DW1y}Y:}ܾ5)};I G%M>!Sb+r,'EAY}6s>}6=]>y}6<}6:d_}6Hy>?@˿@ ?`?/@? Jb?p>k?)~6s> ~6 ^;I~6Cɫ99)9 =I9Yui@y}l`Gy}AA5Me=Yh9QU>aE*rEy9Һ} >I  : 55? : B ʾ B C@9 D : :) ::W=@WAXA XAWA:WA2WA*WIVIbUIBUI*UQUQUUu@B}^^ټB}.= BAO*BAZAAA<"CDRCC@C֍%>IIQGm>e=iea={h+r,!EA|4<|4>}>9hY>y}><}>}>H``F?`K˿|3?m?D?ߟ?<@J2?)~>> ~>p^;I~>CɫYY)Y YIYYx@yD_GX9v?aE1rEyN&}>I55?Vʾ B C@9DZ; ;)WMv@WIXI XQWQ:WQ2WY*WaVabUaBUa*UiUiUu @B]ӼBY BYA]Z*BYAescAaAaAe=<"C*]RCCv@C}} ^+:YkS1yԊ:59@Mt>9IIMYGiM*@IIIMZ; MٗEc>?i?ױIG>n+r,&pEAY}6>}6HO>y}6w <}6l}6H9W? ɿW~?`?I??ᓿz@?)~6> ~6*^;I~6Cɫ99)9 9IAY^@y$_G=kL>i@ )Q@Ih@ih@ MZ=Y>QU>aE7rE y ؼ}>I %:55? %:ʾ B %C@9D: :);:WE5@WIXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU]` @ReB*** querying acoustic contact ***PaPaBB BA*BA1AAAuY<"C pRCC5@CՁ>IG%>i =nGI9 iY fӿٺ _Au+r,0L׭EAY}2m>}2>>y}2zӓ<}2X}2H ?q?ǿB?? M?`?-z`?)~2m> ~2PU_;I~2Cɫ99)9 9I9Y]@y]^GeZ****** received transponder code query ******eF****** received ping request ******eaE>rEy<}>I65?ʾ B C@9D)< *<)W@WX XW:W2W*WVbUBU*UUU !@Be5B BAe*BAFAAA<"C RCC@CIa)a}}}} }o/:Y}V1y}:}]5ѝ =֍>i Iq G >9 = jAE v>9A IE 0YGiE @E =A A E V; E חE{+r,%EA|i|@ɫ髙) IY|@y^GxDUSBL response received:0,63,E4 !U1,P 00CB5,189,80,80,6D,FF Command AckBRequesting micromodem ping code 2i½>Yi@ &@)@I@i@iUMD=YQU>aEErE y}>I :-65? %:Jʾ B %C@9 D|: :)<:WMt@WIXI XIWI:WQ2WQ*WQVQbUQBUY*UYUYU]@_"@B-oB BA*BAAAA<"CڎRCCt@Cm.=]>1IAG]v>]+r, EAY}6>}6>y}6<}6&#}6Hڬ?=+¿m|@?>D? b?4@#NĿ:?)~6> ~6a;I~6Cɫ99)9 9I9Y}.@y}]G[ؼMc=Y>ʻQU>aEJrEy}>IȹŽB65?Žʾ ƽB C@9ƽDǽ: Ƚ:)ȹW\@WX XW:W2W*WVbUBU*UUU :?#@B%B) B)A-*B)A-$XʻA)A1A5="C=.RC9C=\@CAII)I Iuu}u}u ud0:YukS1yuԊ:u&5ֱבIG- >Ɉ+r,'$EAY}64#>}6n=y}6"j<}65?}6H?`W V?*8??Q%ǿq?)~64#> ~6}a;I~6Cɫ99)9 9I9Y[@y\G=-?zG?I +=??= = =94)9I9y=MbX9?ˡE?~jt?=A?='=== =vA)=AAI=OAi=A9=A]~vM]?=Y]]gQUe>aaaeEeQrEiymj}u>Iy}x]65?} ʾ }B C@9}D}Y: }:)yW@WX XW:W2W*WVbUBU*UUU`r$@BXB BA$ž*BA[&ջAAqA7="C6RCC@Ce=ie=֥>u>9IXGi6@=DF; ϗE)}{CI}{Ciy}=}=}x5YIiGZ>+r,$>EA|;|;Y}Bڭ>}B>Ӻ=y}B G<}BW}BHV?s#}@Q?'?%?ሿ`ʿ#J?)~Bڭ> ~BU`;I~BCɫYY)Y ]IYY@yK\GE>E&>ENiE@A E@)E@IE@iAUMUK=Y]QU]>YYaeEeXrEaymЃ}m>Ii }:mv65? }:m ʾ mB }C@9m%Dm: m:)m=:Wk@WX XW:W2W*WVbUBU*UUU+$@B B BAʾ*BA%߻A!A!A%="C-૮RC1C5k@C9e>{{ w2:Y#R1y:o5)k;99IIGeU>ܕ+r,XEAY}2֟>}2‚=y}26o<}2/h}2H?`u*tKU???m&̿-?)~2֟> ~2ͺ`;I~2Cɫ99)9 =I9Y}(@y}0[G 鿑MV=YQU>aE^rEy9}>IȹŽ65?Žʾ ƽB C@9ƽ.Dǽ0: Ƚ:)ȹWg@WX XW:W2W*WVbUBU*UUU`ԫ%@B-kB) B)A-Zؾ*B)A5|A1A1A5Gj="C=yRC9C=g@CA>IGE> t>9 |CI XGi @ = 8; ȗE!+r,nrEAY}26>}2$=y}2;}2s}2H?B[e`:?l?4?vx@-2ο@?)~26> ~27`;I~2CɫYY)Y YIYY@y[G鮹ɮR=QC=s>if@ @)Q@IQ@ih@-V/M5A=Y5 QU5>99a=E=drEAyEk}E>II U:M65? U:M-ʾ MB ]C@9M8DM: M:)M>:W}@@WyXy XW:W2W*WVbUBU*UUU]&@RB*** querying acoustic contact ***PPBEBI BIAUھ*BQA]qnAYAYA] ="CuĿRCyC}@@CIeAA)e?A ֥> >:YV1y:5);YIiGZ>+r,IEA|i|@Y}6Ո>}6;y}6^;}6Pz}6H?l|TiC?{?P ?` ?b Ͽ~ ?)~6Ո> ~6G`;I~6Cɫ99)9 9I9Y@yZGMO=Y^QU>aEkrEy}>I!65?ʾ ĴB  C@9BD: :)W5@W1X1 X1W9:W92W9*W9V9bUABUA*UAUAUE8N'@BuBq BqA}۾*ByA}AyAyA}="CοRCC@C֍_>iIG;>5+r,5%EAY}:g>}:[@y}:}:q|}:H`?>?@`t? e?J???=LϿ@V?)~:g> ~:i_;I~8ɫ99)9 9I9Y]Y@y]1ZGexDUSBL response received:!U1,R,1E4,000,07D02,186,80,80,86,FF eFpublishing direction and range infoe@ؾaɰe#@e> a)eCIayeSDe%:y0?9-<ڿٱaIy)yI)R=gfffff?(M]5=YmƻQU>aErrEyTy}->I9 :=65? :=ʾ 9 C@9=MD=c< =<)=?:W͛@WX XW:W2W)*W1V9u uuu u:?:YuWU1yu:u59u@bUyBUy܍s>9܉I܍i Iq G >+r,?EAY}2N>}2@y}2c}2ޑ}2H`?@|?Ā?@ʧ,?@?pl?`6Ͽ?)~2N> ~2`;I~2CɫYY)Y YIYY}F@y}ZG-7=-@=-k>i-@) -@)-@I-@i-@EɻME^=YERQUE>IIaMEMxrEQyӉ}>I[65?}ʾ ŴB C@9UD^: ':)m Added new target pos. range: 1882.619995 m, bearing: 335.192080 deg, deltaT: 12.169877 s, approachRate: 141.738480 m/s, LOS rate: -0.915686 deg/s, posRepo size: 4m ProNav: pos range: 1882.619995 m, bearing: 335.192080 deg, approachRate: 141.738480 m/s, LOS rate: -0.915686 deg/s, cmd update: -2.747057 deg/s, cmd heading: 241.015752 deg, new cmd heading: 236.952204 deg. W@WX XW!:W!2W!*W!V!bU)BU)*U)U5zj@U5ഋ?B]>6BY BYAex*BaAeF AaAaAeՌ="Cm RCqCu@Cqe=ie=օ>YIaGY>*+r,ٮEA||Y}66>}6.@y}6⻙}6퓂}6H??~R?`ѱ? "?.C|? >%п`?)~66> ~6NZ`;I~6Cɫ99)9 9IAY,@yYG=M=K=Y=a QU=>AAaEEE~rEIyM`t}M>IQU 75?Uqʾ UƴB eC@9U^DU6: U:)QW-~@WX XW:W2W*WVbUBU*UUU ӓ?B63)B BA*BApAAA="C]nRCYCe-~@Cae?΅>uuuu uE1:YuV1yu:u\59IIGeV>܅ q>9܁ I܅ sVGi܅ N@܅ =܁ ܁ ܅ K; ݅ җEc+r,EAY}>s>}>@y}>K-}>:}>Hx? ?=݋?`B?t?^?+wп?)~>s> ~>3_;I~>CɫYY)Y ]IYY@ydYGmm=m!>im(@i mQ@)mQ@ImimQ@}MD=YvQU>aErEy`}>Iș :ŝ&75? :ŝɾ ƝȴB C@9ƝhDǝ: ȝ:)ȝ@:WDڄ@WX XW:W2W*WVbUBU*UUU?B u)B BA*BAMAAAg="C,RCCDڄ@C յ=Ե=օ>I׉)׉YIiGZ><+r,% EAɫ髙) IY@yeXGUVM]O=Y]QU]>aaaeEerEaym}m>Iqu=75?uɾ uʴB }C@9uqDu: u:)qWf?@WX XW:W2W*WVbUBU*UUU E?BW6B BA*BAUAAA="CRCCf?@C5 >5ЕCiEnGIiɿٺoAIm@A)i  C:YW1yč:o5I)G[>sf+r,am'EA|i|Y}6f=}6@y}6񥼙}6F}6H?=?@?92¿>??@޽?eп?)~6f= ~6R_;I~4ɫ99)9 9I9Y}@y}XGv/?~jtxx)?̽ Ļ)IyQYaeEerEqy}}>Iș :ŝW75? :ŝʾ ƝɴB C@9Ɲ{Dǝ; ȝ;)ȝA:W9@WX XW:W2W*WVbUBU*U!U!U%`~|?B+B BAM*BA,&AAA--="C]RC=s>9={CI=VGi=@==99=C; =͗EC9@CQUg>1I9GU>N+r,gGAEAY}2=}2|@y}2}̼}2}2H?h?t? ̰ſo???`}п`?)~2= ~2K_;I~2Cɫ99)9 =I9Y@yXGI)urhuG=uD=iu@q u@)u3@Iuh@iqJB<MV=YJQU>aErEy.}>Ișŝm75?ŝ,ʾ ƙ C@9ƝDǝE: ȝ:)șW@WX XW:W2W*WVbUBU*UUU@@B=B BA*BA,AAA!n="Cy[ RCC@C:  r8:YT1y:ݻ5IGj>:x+r,"[EAY}:D=}:@y}:켙}:|}:HX?n?3Q?JzɿL?%+?`ɞ? п?)~:D= ~:;,_;I~8ɫ99)9 9I9Y}@y}XG?ANmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 MH=YmQU>aErEyߒ}>I %:z75? %:ʾ ʴB -C@9Dk: :)B:WU@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBE9Bi BiAmm*BiAmr3AiAiAu="Cut RCyC}U@Cye=ie=ֽ>בIG>) 9) I) i) - =) ) - >; - ʗE)Ŋ|CIiŊ=Ŋ=Ŋw5F+r,tEA||Y}6״<}62@y}6}6}6H$?F E~jEE-2>iEp@A Eh@)Eh@IAiEh@U<MUP=Y];QU]>YYa]EerEayez}m>Iim75?m#ʾ m˴B UC@9mDm< m<)iW@WX XW:W2W*WVbUBU*UUU Gh @B 8B BA*BA1I9GU>+r,o؎EAY}2@}2@y}2 }2%L}2H9?J?@r?Aп@:??i?@MϿ?)~2@ ~2W_;I~0ɫ99)9 9IAY@yXGxDUSBL response received:!U1,P 1E4,000,07D02,186,80,80,86,FF Command AckBRequesting micromodem ping code 2ip=i=  <MP=YQU>aErE y ͍} >I :75? :7 ʾ ʹB %C@9D|: :)C:WE*@WAXA XIWI:WI2WI*WIVIbUQBUY*UYUYU]4 @B6GB BA*BA6?AAA="C)RCC*@C֥>ׁIGf>+r,EAY}2@}2;@y}22}21a|}2Hs? ? נ?ѿb? @J?;%? 5Ͽ?)~2@ ~2W_;I~0ɫ99)9 =I9Y]{@y]WGep=ɮaeK7A`?ʡE? et<)aIayeOn?~jt?L7A`?e8?e=e+= eQA)er2AIenAiaaeA þ > i  @  @) @I i @%M-,=Y5 QU5>99a=E=rE9yE Q}E>IQUE75?U{ ʾ U״B eC@9UDU; U';)QWIm@WX XW:W2W*WVbUBU*UIa)eAAu u}u}q u4:YukS1yuԊ:q9}@܉9܉I܉i܉܉܉܉܍C; ݍ͗EUU@-@B%)1B) B)A-*B)A-bHA)A1A5`="C]Z*C]RCYC]Im@Cam>A IQ Gm >!+r,ڎ¯EA|i|Y}>BR@}>_@y}>b'}>;}>H? ?y?@nӿ~? ?m?`Ͽ`?)~>BR@ ~>t_;I~>CɫYY)Y ]IYY@yeXGµjAµjAd=M{=Yq0QU ?aErEym} ?I75?ʾ ޴B C@9D: :)W@WX XW:W2W*WVbUBU*UUU@b@BwVB BA *B A ?MA A A-R4="C5RC1C=@C9AI)GEQ>A+r,iܯEAY}2@}2J@y}27}2#}}2H&N?`h?`]_? YԿE?]?? Ͽf?)~2@ ~2b_;I~2CɫYY)Y ]IYY@y*XGI)I=)='nMJ=Y!QU>aErEyV}>I :75? :iʾ B C@9D-: 9:)D:W Ϣ~@W X  XW:W2W*WVbUBU*UU!U%@BMѲGBM1 = BIAU*BQAySAAA@="C|RCCϢ~@C=>8  I8:Yyݵ5I)GA܅ t>9܁ I܅ sVGi܅ N@܁ ܁ ܁ ܅ V; ݅ חE~+r,EEAY}6@}6@y}6?RF}6.8}6Hv ???.l?-տ0?@? Ǩ?AϿ?)~6@ ~6<_;I~6CɫII)I IIIY}@y}XGAAL> ׽DaErEyj}>I  85? Jʾ B C@9 D k: w:) W=`}@W9X9 X9WA:WA2WA*WAVAbUIBUI*UIUIUMG@B}҈DBy ByA}O*ByAz4ZAAA,?="CRCC`}@Cօ_>am=imp=IqG:>I,r,d EA||4 a E rEyՉ}>I) =:-,85? =:-ʾ -B =C@9-D-?; -@;)-E:Wu|@WyXy XyWy:W2W*WVbUBU*UUU6@RB*** querying acoustic contact ***PPB@B BA*BA2`AAA/="C(RCC|@C]>( ~~ 7:YT1y@:5סIGe>] ,r,U)EAY}21@}2)@y}2f'^}2|}2Hdd?v?IS?9ٿ e`?`j?p?`<Ͽ@?)~21@ ~2_;I~2Cɫ99)9 =I9Y}ԯ@ySXGxDUSBL response received:!U1,R,2CF,000,06AD5,189,80,80,8D,FF Fpublishing direction and range infoK ɰ @鰕7> ) CIynD?KYٱ  x?X9v?Mbp?K?= ;)Iyp= ף?V-?I +%?m=9 |A)/AIAibAAM5>MuM>iM@I M@)M@IM@iM@]M])=YeQUe>iiamEmrEqyup}u>Iy}D85?},!ʾ y C@9}D}H: }:)yWRz@WX XW:W2W*WVbUBU*UUU\@P*QnDZQ%r H@ujJQ?KY2QK :QbQc.ҵ@|cr@RQ6%aTk?"*=];?BQb@ QQMDP99?P49?PQQʘC"QCCBYy<B BA *B A hA A A ="CcxRCCRz@C999I=VGi=@999=`; =ܗEё ՙԙ֥ >ׁ I G >A,r,CEAY}2gE@}2 S@y}2h}2/|}2H` ??N?ڿ?O??`'Ͽ?)~2gE@ ~2_;I~2Cɫyy)y yIyY!@yXGUk<M]r=Y]\QU]?aaaeEerEaym=}m?I :V85? :%ʾ  C@9D&: b;)F:m%Added new target pos. range: 1603.440063 m, bearing: 301.488703 deg, deltaT: 6.029852 s, approachRate: -46.299633 m/s, LOS rate: -5.589420 deg/s, posRepo size: 4m= ProNav: pos range: 1603.440063 m, bearing: 301.488703 deg, approachRate: -46.299633 m/s, LOS rate: -5.589420 deg/s, cmd update: -12.000000 deg/s, cmd heading: 224.396768 deg, new cmd heading: 223.437263 deg. W=u@W9X9 XAWA:WA2WA*WAVAbUIBUI*UIUU @UU b?B}=OBy ByA*BA+nAAA="CRCCu@Cѥ =Ii)i<  8:YxZ1yq:5ֽ>yIG>iu=nGIi2ȿٺAh,r,ȱ]EA|i|@Y}Bw@}B@y}Bt}BK|}BH@?@.?5?0 ܿ?)V?`?J2Ͽ?)~Bw@ ~Bz_;I~BCɫYY)Y ]IYY@yIYGu=MuH=Y}-QU}>yaErEy{}>Iȑŕj85?ŕ*ʾ Ƒ C@9ƕDǕϸ: ȕ:)ȑW7p@WX XW:W2W*WVbUBU*UUUC?B%PEB! B!A-*B)A-C;tA)A)A5}="C5IRC9C=7p@C9e =Q1IG>) 9) I- WGi- B@) ) ) - X; - ؗE>,r, wEAY}6 @}6@y}6cd}6^~}6HY?Ao?@Y?@gݿ@N?? ?`hϿ ?)~6 @ ~6D_;I~6CɫYY)Y YIYY@y)YGMuMԽMO iMf@I M@)Mh@IM@iM@MI=YXQU>aErEyq}>I :85? :0ʾ B C@9DIS; b6;)G:W"k@WX XW:W 2W *W VbUBU*UUU_~?BEBEBA BAAE*BAAMEzAIAIAMŤ="CU~"RCQC]"k@CYaa)a a==== ='0:Y=WU1y=:=75)=k;9EjAN؅>?ix?ש I G >T&$,r,gEAY}6@}6@y}6j;}6~}6H?~?@E?@B޿?o? Zİ?ϿH?)~6@ ~6_;I~6CɫQQ)Q ]IYY@yWYG}8<M}L=Y}QU>aErEy8x}>I!85?6ʾ B C@9D]: U:)W5e@W1X1 X9W9:W92W9*W9V9bUABUA*UAUAUM ?Bu*EBq ByA}l*ByApAAAh="C (RCCe@Ciim=>יIGb>yP*,r,BEA||p;Y}RB@}R@y}R}R}RH`Q?*? It?@ ~??`T?ێϿ?)~RB@ ~R_;I~RCɫ髁) IY@ycZGQ??Q??> <)Iy> ףp=?S㥻?~jtx?1?/=; A)M.AIE AiAA)5= 5>}j<}>}>i}@y }@)}@Iyi}@x=M:=Y^QU>aErEy;r}>I/85?D=ʾ B C@9D: 4:)W _@WX XW:W2W*WVbU9|CIhXGi@=DT; חE)e{CIaiae=e=e4BU*U9U9U=`E@B5B BA*BAAA%%%% %d0:Y%T1y%:%5)%;A=M ="CEO,RCACE _@CIM >) I1 GU >j81,r,\ŰEAY}6h;@}6 I@y}6U}6С|}6H`m??? ]?Q?@???/Ͽ?)~6h;@ ~6f_;I~6Cɫ99)9 9I9Y}g@y}DZGWMe=YᔻQU?!!a%E%rE)y-@}-?Iȩ :ŭĿ85? :ŭBʾ ƭ B C@9ƭ Dǭ4: ȭb:)ȭH:WZ@WX XW:W2W*WVbUBU*UUU@@B VSB BAc*BA%I<A!A!A%="C-p/0RC)C-Z@C1== EEI׹)׹בIG>xb7,r,3ްEAY}2r@}24@y}2M}2zz}2H4? Lx?s?~@ʪ???ο@?)~2r@ ~2_;I~2Cɫ99)9 9I9Y}@y}ZG鮅a=ɮa=h<MR=Y)QU>aErEy6}>IȹŽ85?ŽHʾ ƽB C@9ƽDǽ: Ƚ:)ȹWzU@WX XW:W2W*WVbUBU*UUU L@R B*** querying acoustic contact ***P P BUUFBQ BQA]%*BYA]AYAYA]C="CeB5RCaCmzU@CiiIyG=} }}} }5:Y}DW1y}Y:}59@ hA 9 I YGi ذ@ [; ڗE#=,r,EA|i|@Y}6m@}6@y}6#}6YW{}6H D?? ɸ?T! 4;??M?Ͽ!?)~6m@ ~6z_;I~4ɫ99)9 =I9Y!@y'[GZ****** received transponder code query ******F****** received ping request ******iU@Q U@)U@IU@iUۙ@m=Mu0=Yu.QUu>yya}E}sEyT}>Iȩ :ŭ85? :ŭQʾ ƭB C@9ƭDǭe: ȭ :)ȭI:WLO@WX XW:W2W*WVbU!BU)*U)U)U-4 @Bu2p5By ByA}ؾ*ByA}AAAAj)="C;RCCLO@CaIqG:>tD,r,EAY}:O@}:@y}:rÔ}:z}:H??ǵ?i*?@TU?>? }ο?)~:O@ ~:_;I~:Cɫ99)9 EIAY}_@y}u[GxDUSBL response received:!U1,P 2CF,000,06AD5,189,80,80,8D,FF Command AckBRequesting micromodem ping code 2i<Mk=Y KQU?aE sEy}?I95?Wʾ B C@9%D=; *(;)WU4J@WQXY XYWY:WY2WY*WaVabUaBUa*UaUiUm ٸ @B k>B BAԾ*BA A AA=="CKARCC4J@C?i? 2:YW1yč:5IGj>ܞJ,r,,EAY}fX%@}f2@y}f}f{}fHP^?@ I?@YU? &]`S?bB? ?X Ͽ`?)~fX%@ ~fc_;I~fCɫ) IY5P@y5\G9=@AGz?~jt{Gztp? ף)Iym?l?y&1|?.?=`; ),AIiAAe"[>eB>ej<=ie@a e&@)eۙ@Ie@ie@u=Mu1=Y}EQU}>yyaEsEyS}>Iȑ :ŕ95? :ŕu`ʾ ƕ%B C@9ƕ.DǕV: ȕs:)ȕJ:WD@WX XW:W2W*WVbUBU*UUU`v@B8B BAž*BA {wA A A  u="C?FRCCD@Cq9u{CIuZGiu̱@qqqu]; uۗE)I9GU2>Q,r,'fFEA|4<|;Y}6NV@}6c@y}6떽}6.{}6H@?t?s͸??@X?ٲ?Ͽ@?)~6NV@ ~6n`;I~6Cɫ99)9 =I9Yn@y\G&<Mf=YQU>aEsE y }>I9=;'95?=gʾ =,B EC@9=6D=4: =:)9W@@WX XW:W2W*WVbUBU*UUU @BH;B BAþ*BA ˓A A A T="C5F@RC1C5@@C9)I1GU>} }~}~} }5:Y}T1y}@:}5W,r,:A`EAY}:R@}:@y}:}:Xz}:H`[??@\?@՝T?? ? ο`?)~:R@ ~: `;I~:Cɫ99)9 =I9Y}@y\G;MN=YdQU>aE sEy}>IIM:95?Mpʾ M4B UC@9M?DM: M:)IW}:@WyXy XyWy:Wy2Wy*WVbUBU*UUUQ@B9B BA¾*BA@AAA="CA@RCC:@CI)iAשIG >m u>9m |CIm [Gim @i i i m K; m җE],r,mzEAY}2w@}2@y}2󔘽}2w}2Hp?@?4?=??`?uο ?)~2w@ ~2'`;I~0ɫ99)9 =I9Y}ݳ@y}J]G/<94Ti@ @)I@i@9<MG=YMQU>aE&sEy`} >I  : DM95? : yʾ Iށ)ށ-  i7:YT1y:o5);9d,r,wEA|i|@,.ʕCibnmGIpi|uCĿٺy}bAY};@}@y}$}x}H@?@BY?[? ˊ ?@aE.sEIyUt}]>Iqub95?uDʾ uFB D@9uRDu < uX'<)qW-.@W1X1 X1W1:W12W1*W9V9bU9BU9*UaUaUm@RuB*** querying acoustic contact ***PqPqB))B BAz*BA8AAA="Ci5@RCC.@CI!G=r>mj,r,᭱EAɫ)))1 1I1Ym@ym^GI=)=E?~jt?ʡE?=&?=D< ==)9I9y=q= ףp?Zd;O?{Gz=+?=j<=# =@)="/AI=p Ai=bA9=AÝƋÝ9>Ý\iÝכ@Ù ĝz@)ĝ@Iĝۙ@iĝۙ@=MJ=YQU>aE4sEy}>I :r95? :'ʾ MB D@9ZDY: (:)L:W)@WX XW:W2W 9 I ]Gi @ =   \; ڗE*WV!bU!BU!*U)U)U-(@BUt4BQ BYA]*BYA]ĖAYAYAe n="CeP0@RCiCm)@Ci?i?IG K>~~ /:YT1y@:\5);q,r,DZEAY}> @}>@y}>}>x}>H@?2?@¿?$E??>?dοm?)~> @ ~>4`;I~>CɫYY)Y ]IYY2@y^GxDUSBL response received:!U1,N,80,80,63,E4 5,189,80,80,8D,FF ZNo reply:!U1,N,80,80,63,E4 5,189,80,80,8D,FF -$w,r,UEA||Y}6.@}6;@y}6]}6{}6HV?`Ux?? P??G?XϿ@?)~6.@ ~6PZ`;I~6CɫYY)Y ]IYY͵@y_G@=MK=Y;QU>aE@sEy}>I : 95? :1ʾ ZB D@9jDE: R:)M:W@W X  X W :W 2W *WVbUBU*UUUX@BE<,BI BIAM*BIAMqAIAIAU="C]0&@RCYC]@CYMq<)I1GM>}  =:YV1y:59@ 9 I D^Gi @ = K; җE)ݥ|CIݥ|Ciݡݥ=ݥ=ݥ 45)~,r,8eEAY}6U@}6c@y}6ez}6|}6H۳?? ? H;?g?J?2-ϿE?)~6U@ ~6B`;I~6CɫYY)Y ]IYYG@yC`G 鿱Ġ>>i@ E@)E@I\@i\@- =M-C=Y-]QU5>19a=E=GsE9yE}E>IIM95?Mʾ MbB UD@9MsDM : M:)IW}$@WyXy XyWy:Wy2Wy*WVbUBU*UUU@Bf$B BAd*BAtAAA(="C !@RCC$@CE8,r,0KEAY}^Z@}^ȫ@y}^䘽}^u}^H!v??w?J?? ?[ο?)~^Z@ ~^H`;I~^Cɫ髑) IY@y`GE%<MMH=YU:QU]>aiauEuMsEyk}>Iȱ :ŵ׮95? :ŵʾ ƵiB D@9Ƶ|Dǵ; ȵ;)ȵN:W@W!X! X)W):W12W9*WaVabUaBUi*UiUiUm@BSAB BA$*BAWAAA="CM@RCC@C11)9 9Ia)e@A 3:YyJ5ס I G >>,r,)/EA|@i|B@Y}bl@}b@y}b\}b-v}bH@s?k?4?x?` Z?β?`aο`?)~bl@ ~bv`;I~bCɫ髑) IY]@yaGNmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 mLFailed to receive CAREV within timeoutq uuHardware Faulta } ܵv>9ܱIܵ_Giܵ@ܵ=ܱܱܵC; ݵΗEuGz?L7A`?~jt?up?u+> u=)qIqyuPn?x&?{Gz?u$?u7=uף< q)uM.AIu AiqquAEVEN>E=iE@A A)E@IEiE&@U0=MU"=Y;QU>aEUsEyH}>Ișŝ95?ŝmʾ ƝvB D@9ƝDǝ: ȝ:)șW @WX XW:W2W*WVbUBU*UUU +? @1(% P%lAggregate::initialize lineCaptureDepth:MicromodemCommsq(%P-|Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn(-Bm"<Bi BqA*BAAAAq ="C@RCC @CשI-$NHardware Fault in component: MicromodemG >ג,r,}KEAY}6.@}61<@y}6\\}6s}6H`7??l?`5@M?? zg?+ο ?)~6.@ ~6`;I~4ɫ)))) -I)Ym@ymObGuPowering downIu)u}i}Iy)yyiyIm=)m%=a,=M>=Ys;QU>aE\sEy-d}>I :K95? :ʾ B D@9D: a:)O:WE @WAXA XAWA:WI2WI*WQVQbUYBUY*UYUaUe !@R}B*** querying acoustic contact ***PyPyBCyy z.:YP1y':5B) B)A-w*B)A5CA1A1A5#<"C=y@RC9C= @CA!I1GMt>,r,eEAY}Ri@}R*w@y}R:}Rs}RHd???@S?@ȣh?@?[#?@,ο.?)~Ri@ ~R`;I~RCɫ髩) IY@y*cGZ****** received transponder code query ******F****** received ping request ******]u>9YI]aGi]@]=YY]U; ]חE#,r,}EA|;|Y}6@}6@y}6+}6Zt}6H?஧?? ?%b?`ܱ?@r.οw?)~6@ ~6'`;I~6Cɫ99)9 9I9Y}~@y}bGxDUSBL response received:!U1,P 80,80,63,E4 5,189,80,80,8D,FF Command AckBRequesting micromodem ping code 2i%$F?%>% 0=i%@! %Σ@)%@I%@i%@5`(M=:=Y= ;QU=>AAaEEEhsEAyMKl}M>IQU95?UYʾ UB eD@9UDU: U:)QW ?WX XW:W2W*WVbUBU*UUU@"@B<B BA-e*B)A5A1A1A5<"CE@RCE CE ?CIAIQ$m\Clearing failed state for component Micromodemq mG8> 2:YWU1y:\5)Ï;9 ,r,WEAY}2ڴ@}2|§@y}2a}2w}2H`R$? ? Y'? ?Q?ஈ?@ο?)~2ڴ@ ~2s`;I~2CɫYY)Y YIYY>@ycG) AAUN=M]Z=Y]`;QU]>aaaeEensEaym}m>Iq }:u95? }:u@ʾ uB D@9uDu4: ub:)uP:W;?WX XW:W2W*WVbUBU*UUUW#@BeBa BaAeM*BaAeDAiAiAm<"C&f?RCC;?CI)iA׉IG>b6,r,9EAY}2Ů@}2Ӧ@y}2z}2x}2H@?}?j?O?}? ,?]ο0?)~2Ů@ ~2n`;I~0ɫ19)9 9I9Y}@y}ddGhAix>9IbGi&@= I AA) BAP  3::YDW1yY:5);}=}}r>i}p@y }E@)}&@I}&@i}&@P<M=Y;QU>aExsEyA}>I : :5? :˾ B D@9D(: :)Q:W w?W X  X W :W 2W *W! V! bU! BU) *U) U) U- 0$@B] BY  BY A] eA*BY Ae - Aa Aa Ae J<"Cm {j?RCi Cm w?Cq I G5 >,r, ͲEA|i|@Y}Bcح@}B@y}BP͇}Bx}BH ???{pZU?@8S?z?@ο*?)~Bcح@ ~Bha;I~BCɫYY)Y YIYYr@yceG>M=Y;QU?aE{sEyn,}?I>:5? ˾ B D@9DǺ: M:)Wh?WX XW:W2W*WVbUBU*UUU$@BpB  B A y'*B A5A1A1A5<"C=ϵ?RC9C=h?CAiMmGIiivٺޱAօ܄>YIaGY>F,r,EAY}2/@}2@y}2j}2Lv}2H`x? E? ?X t?@p}?*ʰ?tο?)~2/@ ~2Za;I~2CɫYY)Y YIYY @y"fGI=)4<n@=MJ=Y:QU>aEsEy}>I:5?3˾ B D@9Dw: :)W?W X  X W :W 2W *WVbUBU*UUU@)%@BE(BI BIAM*BIAM*AQAQAo<"C#?RCC ?C1z>סIGC>w>9I dGik@=c; ߗE.,r,+EAY}~ 4@}~A@y}~}~^r}~H)?&??E&??`?Ϳ ?)~~ 4@ ~~a;I~~Cɫ) IYI@ykfGAA]Q]>]i]@Y ]9@)]Σ@I]@i]Σ@m&<Mm2=Ym;QU}>aEsEyEU}>Iș :ŝb&:5? :ŝ&˾ ƝĵB D@9ƝDǝ: ȝv:)ȝR:Wl?WX XW:W2W*WVbUBU*UUU&@RB*** querying acoustic contact ***PPip=- --- -AB:Y-U1y-:-5)-;BEBA BAAE *BAAAA <"C?RCCl?CH>יIGb>X,r,EA||Y}6u@}6@y}6yS}6pq}6H ?D?߇?vr`87?@? '?`mͿ x ?)~6u@ ~6a;I~6Cɫ99)9 9I9Y@yfG=Mg=Yď;QU>aEsEy5}>I/:5?1˾ ̵B  D@9D: n:)W57?W1X1 X1W1:W92W9*W9V9bU9BUA*UAUAUEZ'@BuBq BqAu|*ByA}MAyAyA}O<"C?RCC7?Cm>IIaG>,r,Fz4EAY}:@}:¢@y}:(v}:vk}:H`T?@*?s?F`H?@K?Ԯ?'Ϳ f?)~:@ ~:fa;I~:Cɫ99)9 9I9Y}=@y}gGPowering up0Initializing Micromodem.ܡ9ܡIܥLeGiܥ_@ܡܡܡܥh; ݥE)1I1i11154 @鿅n@  E `;i @  @) E@I d@i d@,=M8=Y%;QU%>!)a-E-sE1y5kY}5>I9 E:=::5? E:=@˾ =յB ED@9=D=(: =:)=S:WmvP?WiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUyU =(@---- -3:Y-V1y-:-5)-s;B5B9 B9A=(ܽ*B9A=A9A9AEYb<"Cmw?RCiCmvP?Cie=Ii)iI)GER>j,r,uUNEAY}2Q@}2@y}2ek}2?_}2H? Ov?@?@1`1?L?h? &˿`#0?)~2Q@ ~2`;I~0ɫYY)Y YIYY}@yehG™hAe=Ma=Y;QU>aEsEyw}>IC:5?K˾ ݵB D@9DA: o:)W%h?W)X) X)W):W)2W)*W1V1bU1BU1*U9U9U=(@BB BA*BA7AAA%u<"C-W?RCICMh?CQMn=!I1G]2>,r,{0hEA|i|Y}6v@}6@y}6O\}6KfQ}6H??S?- ?ڽ?[? ɿ`I?)~6v@ ~6e`;I~6CɫQQ)Q YIYY9@yhG<ML=YaEsEy-}>IL:5?X˾ B  D@9DH: #:)W-h?W)X) X1W1:W12W1*W9V9bU9BU9*U9UAUE)@BB BA4*B1A=%AAAAAEY<"C}?RCCh?C5555 5.:Y5U1y5:5ݵ59E@֥ d6ܙ9ܙIܝxfGiܝS@ܙܙܙܝ]; ݝܗE|,r, EAY}2>@}2@y}2sL}2A}2H@GD?!?@?OT\?`(??m ȿc?)~2>@ ~2D`;I~2Cɫ99)9 9I9Y@y2iGQ>#i¥@ @)Σ@IΣ@iΣ@-<M5C=Y599a=E=sEAyE}E>II U:MRV:5? U:Mf˾ MB ]D@9MDM: Ms:)MT:W}?WyXy XW:W2W*WVbUBU*UUU`*@B[ڼB BAֈ*BAhAAA]<"C7D?RCC?C֭׵?i׵?׉IG>',r,盳EAY}:Ҩ@}:ߠ@y}:I58}:0}:H`? ???e@7?LX??@?ſ`?)~:Ҩ@ ~:a;I~8ɫ99)9 9I9Y}t@y}QjG)Õ= Õ= =MT=YQaEsEy}>IȹŽ^:5?Žks˾ ƽB D@9ƽDǽ@: Ƚ:)ȹWL?WX XW:W2Wq*WqVqbUyBUy*UyUyU}@h+@BʼB BA*BAӴAAA(<"C8^?RCCL?C%%%% %3:Y%T1y%:%5סIG >,r,EA||4<Q9QIU@gGiU@QQQUa; UݗEɫ髙) IY@yljG)X> i̤@ )@I@i@B;M6=YQU> a E sE y}>I %:h:5? %:=˾ B %D@9D=: 4:)U:WM?t?WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYU]`E,@RmB*** querying acoustic contact ***PiPiBȼB BA*BAAAA@<"C?RCC?t?Cm)I9G]3>L,r,kϳEAY}6:@}6ݶ@y}6X}6{&}6HY?`#E?5]?|u`?ӱ?Rʠ?@_7?)~6:@ ~6+b;I~4ɫ99)9 9I9Y}G@y}UkG%!!% %-:Y!y!%\5AEjA],=M]=Y]UaaaeEesEiymz}m>Iȩŭu:5?ŭ˾ ƭB D@9ƭDǭ: ȭf:)ȩWV?WX XW:W2W*WVbUBU*UUU a-@BQB! B!A%M*B!A%0A!A)A-<"C5t?RC1C5V?C9֍ ZHIב )ב a Ii G >.,r,xEAY}6Ө@}6@y}6׼}6ëý}6H`?jO?N#?i??? i?)~6Ө@ ~617b;I~6CɫAI)I IIQY@yXlG]Setting waiting for range response to false due to timeout. Elapsed:6.078447=M=YsA9AIEhGiE@AAAEd; EߗE-r,aSEA|i|@Y}>.@}>g<@y}>}>]d}>H`? F?ࡰ?@KN h? 0? ?8@?)~>.@ ~>a;I~>CɫYY)Y YIYY!@yblGE ?E>E=iAA A)E@IEΣ@iE@U&;MUR=Y]]xYYaeEesEaymK<}m>Iquh:5?u˾ uB }D@9uDu]: uT:)qWѺ4?WX XW:W2W*WVbUBU*UUU m.@BB BA*BAAAA<"CQ?RCCѺ4?C@==}=}= =?,:Y=kS1y=Ԋ:=5)= ;9EשIG!>4>inGI i) ] ¿ٺY ] &A*-r,.EAɫyy)y }IyY@yemGxDUSBL response received:!U1,N,80,80,63,E4 5,189,80,80,8D,FF ZNo reply:!U1,N,80,80,63,E4 5,189,80,80,8D,FF -=Y5QU5>11a=E=sE9yE}E>IIM8:5?Mз˾ MB uD@9M$DM; M3;)IWT#?WX XW:W2W*WVbUBU*UUU/@Bm(\Bq BqAu<*BqAu AqAqA}u<"C}h9?RCCT#?C}6Ʌ׍?i׍?QIaG}z>C -r, 7EAY}6p@}6}@y}6}6AG=}6H??`e_@?Ťs?@a? k?)~6p@ ~6,e;I~4x9xIzlhGiz@z=xxze; zEɫYY)Y ]IYY@y2nG)eev?eff>ie@a e)e@Ie@ie@uY=M}U=Y}aEsEy=}>Iȑ :ŕ:5? :ŕ$˾ ƕB D@9ƕ+DǕ{: ȕ:)ȕW:W%U?W!X! X!W!:W!2W)*W)V)bU9BU9*U9UAUE`+'0@BB#z = BA$=*BA˴AAA{<"C0 %?RCCU?C%%%% %0:Y%V1y%:%5)%Í;=?΅I!GEs>-r,-PEA||Y}6P@}6M^@y}6<}6=}6Ho?et?`o$ʏp?@$ts?@M??)~6P@ ~6f;I~6Cɫ99)9 9I9Yu@y}%nG$M =YF aEsE!y%>=}%>I) 5:-:5? =:-˾ -%B =D@9-8D-: -+:)-X:W>WX XW:W2W*WVbUBU*UUU0@RB*** querying acoustic contact ***PPBd̡B BA =*BAmAAAk<"C'?RCC>CiAiA 6ɅI ) hA I G >11-r,jEAY}B3A@}BN@y}B ǹ}BT=}BH(:??6a0 ?c8???)~B3A@ ~Bxg;I~BCɫaa)a mIiYc@ymGZ****** received transponder code query ******F****** received ping request ******m=im̤@i mΣ@)m9@ImΣ@imΣ@3M=Y WqXq XqWq:Wq2Wq*WyVybUyBUy*UUU1@B뜼B BA=*BA)HAAA7<"CR>RCC˵>C֝}9Ii=n; E)qIqiqqqui4qIG~>!-r,˝EAY}2i0@}2 >@y}2ʆM;}2>}2H? ?` N ?@lְi? ?)~2i0@ ~2`h;I~0ɫYY)Y ]IYY@ynGxDUSBL response received:!U1,P 80,80,63,E4 5,189,80,80,8D,FF Command AckBRequesting micromodem ping code 2io=Mp=Ya)WX XW:W2W*WVbUBU*U!U!U%&T1@BM(BQ BQAU_Z=*BQA]%AYAYA]"r<"CeN>RCaCeђ>CiI @A) AAo=<ƂױIG>XC'-r,vEA|i|Y}6@}6[@y}6^;}6>}6Hx? ??@g?$f@BcxB?$?)~6@ ~6f;I~6Cɫ99)9 =IAY@ynGWM<=Y`;QU>aEsEy=}>I  : :5? : ˾ 4B D@9 MD M: :) Y:W=F>W9XA XAWA:WA2WA*WIVIbUIBUI*UQUQUU}1@B}^̗B BAQ=*BAXAAA'<"C֝>RCCF>CEE~E~E E.:YET1yE@:E]5 =?΅?iIGU>n--r,XEAY}6ޮ@}6@y}6<}6K">}6HW??`9  p? }U 9@IBgGiBF@@@@Be; BEɫ99)9 =I9Yu@y}nGJNo DVL communication! Re-initializingq (Communications Faulta  a  a  a  a  ]j<] =]7 i]@Y ]z@)]"@I]E@i]@}M1=Y;QU>aEsEyY=}%>I)-:5?-G̾ -:B uD@9-WD-< ->))W[e=WX XW:W2W*WV!bU!BU!*U!U)U- D2@B|B BACO=*BAD4AAAK <"C;M>RCC[e=C!11)Q Q I -$ bCommunications Fault in component: RDI_PathfinderG>05-r,/մEAY}B @}B@y}B`<}BU>}BH-? bW?`ަ?`` ?@.?)~B @ ~B_c;I~@ɫ髙) IY@y2nGa i@a m@a q@a e@a I@e=iauuuu uP0:YuV1yu:u5-Powering down --I5)5MŻMM4=YUqV;QUU>QQaUE]sEYy]/Z=}e>Iim:5?m̾ m?B uD@9m`DmW: mh?)iWx{;WX XW:W2W*WVbUBU*UUU2@B1ٛB BA$=*BA AAA<"C}=RCCx{;CN؅בIG>];-r,ګEA||Y}6_@}6m@y}64<}6>}6H?`D? ǿ`MC?j`惿`g??)~6_@ ~6a;I~4ɫ11)1 5I9Yc@ymGNmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 l?B?qi(@ @)X@Ii]M%M=Y-D9QU5>99aEEEtEQy]+p=}]>Ii9IfGi@c; ߗE :m-:5? :m̾ mDB D@9mhDm< mM?)mZ:We)L@WaXi XiWi:Wi2Wi*WqVqbUqBUq*UUU3@BE^BI BIAM=*BQAuıAyAyA}<"CD6<RCC)L@C?΅I) I G >BB-r,x EAY}:3)@}:6@y}:w<}: Y>}:Hj?]? 4H.? L@ЎW? ?)~:3)@ ~:`;I~8ɫ99)9 9I9Y}@y} nG6|<M}=YQU ?aE tEy%6=}%?I!%P:5?%'̾ %HB 5D@9%oD%: %l?)!uuuu| u1:YuY1yu:u]5)u;9}W-4@WX XW:W2W*WVbUBU*UUU4l3@RB*** querying acoustic contact ***PPBB BAF=*BAAAA2<"CRCC-4@CFӅI$dClearing failed state for component RDI_Pathfinderq G J>.lH-r,S#EAY}2@}2C @y}2<}2E>}2H?`7?Ob`I? qv?`K?)~2@ ~2R`;I~2Cɫ99)9 9I9Y}@y}mG)í= í>MI=Y%QU>aEtEyA=}>I;5?2̾ MB D@9wDx: h@)W@WX  X W :W 2W *W VbUBU*UUU3@IQ)U@AB-B BAu<*BAXAAA<"CzRCC@C!I G%M> 9 I xfGi S@ = P; ֗E'N-r,:=EA|,i|,ɫ) Immmm m?,:YmT1ym:mݵ5)m ;Y}@y} nGxDUSBL response received:!U1,N,80,80,63,E4 5,189,80,80,8D,FF ZNo reply:!U1,N,80,80,63,E4 5,189,80,80,8D,FF -åp>iå̴@á ĥ@)ĥ9@Iĥ\@iĥ(@0<M#=YQU>aEtEy}>I;5??̾ SB D@9DI; "@)WE/4@WAXA XAWA:WA2WI*WIVIbUIBUI*UQUQUUTQ4@BWB BAF=*BAAAA<"CciRCC/4@C)5?i5? I G- >i =nGI i1 1~U-r, WEA:ֿٺ8:AY}>@}>@y}> ;}>(>}>H@E~? ?`5R`6?]p^?4?)~>@ ~>_;I~>CɫYY)Y ]IYY@ylGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ]6Nmea out: $CCCFG,ALL,0*33 ±µiAuhM=YQU>aE!tEy =} >I +;5? MN̾ [B  D@9 D : 6E@) W= +@W9 X9  X9 W9 :W9 2WA *WA VA bUA BUA *U U U 4@B <2B  B A ;*B A% A1 A1 A5 <"CM 7RCI CM +@CQ y Q IY G} >;\-r,NsEAY}2@}2H@y}25:}2Ƞ&>}2H 0? ?p} F?g`S?Ɠ?)~2@ ~2_;I~2Cɫ99)9 =IAu qqu u4:Yqyqu59}@Y}@y}lG4Nmea in: $CACFG,ALL,0*31 6Nmea out: $CCCFG,SRC,1*31 J>l>$>i\@ @)@I@i"@ Ѳ;M =Y ;QU 3?aE%tEy=}3?I!%;5;5?%T̾ %_B 5D@9%D%į: %U@)!My>9IIMfGiM@M=IIMS; MחEWu@WqXq XqWq:Wq2Wy*WyVybUBU*UUU@5@B$B BA<*BAAAA<"C%7ľRC)C-@C)) IG5p>c-r, EA||;Y}6 @}6@y}6 ,ú}6%>}6H?X?`my6@?,eX?/?#?)~6 @ ~6_;I~4ɫAA)A EIAYe\@yelGu4Nmea in: $CACFG,SRC,1*33 uVNmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64 Mb=Y=QU>aE+tEy=}>IC;5?]̾ eB -D@9DO; l@)Wp@WX XW:W2W*WVbUBU*UUU5@B]^,Ba BaAeg:*BaAl뱼AAA<"CRCCp@CI)ױIG>Fi-r,>馵EAY}6@}6@y}6tn}6X,">}6H?qA?`}@Ð@d?|-r?`/?`f?)~6@ ~6_;I~4UQQU Ud0:YQyQU5ɫaa)a aIiY4@yxlGTNmea in: $CACFG,nav.dt.txtrig_gpio4,1*66 LNmea out: $CCCFG,pwramp.txlevel,0*2F 6M7=Y-ػQUU>aaamEM2tEIyUˁ=}U>IY]W;5?]qi̾ ]mB eD@9]D]: ]@)YW=@WX XW:W2W*WVbUBU*UUU5@RB*** querying acoustic contact ***PPBMl뱼BI BIAM*BIAQAQAQAU<"C]RCYC]=@CaQ1I9G]>U x>9Q IU eGiU @U =Q Q U b; U ߗE)Iiሉሩ5.p-r,3EAY}6|@}6)@y}6S}6>}6H`Y?"?e ?vi1~?? ?)~6|@ ~6_;I~6CɫAA)A EIAY@y+lGZ****** received transponder code query ******F****** received ping request ******rh>=if@ @)z@I\@iz@uMu6=Y}ֻQU}>aE9tEy=}>Ibh;5?4s̾ tB D@9D;  @)W5q@W1X1 X1W1:W12W1*W9V9bU9BU9*UaUUa6@BB BA*BAAAA<"C,&RCDCq@CIG>Xv-r,4ڵEA|i|Y}6*m@}6z@y}6)}6P>}6H? >?@֠`;@N?@۹`5? F>?`s?)~6*m@ ~6_;I~6Cɫaa)a aIaUU~U~U U[/:YUT1yU@:U]5Y@y]lGxDUSBL response received:!U1,P 80,80,63,E4 5,189,80,80,8D,FF Command AckBRequesting micromodem ping code 2i6Nmea in: $CACFG,DTO,30*1C >Nmea out: $CCCFG,FC0,14500*47 <M=YAQU>aEBtEym`=}>I :*;5? :B̾ ~B D@9D`a; :@)[:W Z@W! X!  X! W! :W) 2W) *W) V) bU1 BU1 *U1 U1 U5 6@B B  B A *B A A A A <"C fDRC pC Z@C ֽ &lm ?i ?ב I G >/|-r,;UEAY}6(Q@}6^@y}6T^}66>}6H?S?^Ǻu,n?5Hʋ?,?%?)~6(Q@ ~60_;I~6Cɫ11)1 1I1Y@ykGie@a e)e@Iez@iau Mu=Yu>wQU}Q?yya}E}EtEܑ9ܑIܑiܑܑܑܑܕY; ݕۗEyf>}M?Iȩŭ;5?ŭ̾ ƭB D@9ƭDǭ: ȭ@)ȩW--*@W)X) X1W1:W12W1*W9V9bUABUI*UQUQU]~)7@B6B BA*BAAAA<"C #+ORC ʂC -*@CSױIGe>-r,/4EA~=i~= c2:YU1y:˷5)Y;95Y}=3@}=lA@y}=}= >}=H45? ? r? ]?l? ?)~=3@ ~=_;I~9ɫqy)y yIyY@ykGM:Nmea in: $CACFG,BW0,4000*61 M6Nmea out: $CCCFG,BND,0*3A 7M8=YQU>aELtEỳ=}>Iim ;5?m̾ mB uD@9mDm: mֹ@)iWM@WX XW:W2W*WVbUBU*UUU ӕ7@BUvBY BYA]!*BYA] AYAaAe<<"Cm|eRCm3=CmM@Ciօ+EaIiG>É-r,E(EA|4<|4@}>'@y}>}>>}>H ?3?@LP;џ?, 2?c?``?)~>@ ~>G_;I~>CɫYY)Y ]IYYy4Nmea in: $CADQF,196,1*5E jCFG response from modem unexpected: $CADQF,196,1*5E  =什GaiG@ z@)@IiYQU>aEStEyˋ=}M>IY]";5?]̾ ]B D@9]D]$< ]@)YWΔ@WX XW:W2W*WV!bU!BU!*U)U)U-7@BuUBy ByAy*ByA}Q-AAAS<"CE{RC=(>CΔ@C֝6Iס)סqIG~>ܙ9ܙIܝLeGiܝ_@ܙܙܙܝ`; ݝޗEʫ-r,BEA     0:Y DW1y Y: 5)  ;ɫ髉) IY@ykGC{@CuYIIQGu>Ֆ-r,\EAI|)|ɫ髹) IY@yjG5iNmea in: $CACST,6,1,20210814015639.328211,05,99,13,0117,0150,246,00,00,01,01,0,-01,-01,-1,2,1,1,-999,-99.9,-9.99,-999,-9.99,196,-0.05,-999,25120,4000*5C =CFG response from modem unexpected: $CACST,6,1,20210814015639.328211,05,99,13,0117,0150,246,00,00,01,01,0,-01,-01,-1,2,1,1,-999,-99.9,-9.99,-999,-9.99,196,-0.05,-999,25120,4000*5C MbMUD=YQQUU>YYa]E]_tEaya}m>Iȉō;5?ō̾ ƍB D@9ƍDǍ; ȍ@)ȉWզ@WX XW:W2W*WVbUBU*UUU48@RB*** querying acoustic contact ***PPBļB B A *B A~AAA<"C-5RC- >C5զ@C95Kk½IG-,>V-r,vEA|i|@Y}6{@}67@y}6i漙}6>}6H7?@m?XQT@? S̷ :̜? ?`?)~6{@ ~6_;I~6C     2:Y 0Y1y : 859@ɫ99)9 9I9Y]@y]jGGA? >xii@ p@)@IiE@={>99I=dGi= @==99=j; =E/<M}N=Y}EQU}>aEftEyC:>}>IȱŵR;5?ŵի̾ ƵB D@9ƵDǵ: ȵ@)ȱWq@WX XW:W2W *W V bUiBUi*UqUqUu&9@BB BAݿ*BA+AA)A-a<"C5RC1C5q@C9)%?i%?IGj>-r,bEAY}6 @}6@y}6=}6>}6H`o?@Ξ?k e*g? ٻ?3?c?)~6 @ ~6A_;I~6Cɫ99)9 =I9Y@yjG\M K=Y QU>)1a=EEltEIyU8=}U>Iae;5?e̾ eB uD@9eDeKG; eW@C)ainGIQiaʿٺAW5@WX XW:W2W*WVbU)BU)*U1U1U5 9@BڕB BAʼ*BAղAAA3<"CNRCC5@C&t;׹IGf>-r,aErtEyt =}>IC <5?̾ ¶B D@9D: A)W%Gr@W!X! X!W!:W!2W)*W)V)bUIBUQ*UQUQUU9@BJ-B BAԚ*BAAAA<"CIRCCGr@C#2?=סIGA>=z>99I9i9==99=n; =E-r,+ĶEA|;|;Y}6@}6u@y}6<}63H=}6H8?I?  ?X8nr? 2?`?)~6@ ~6D_;I~6CɫYY)Y ]IYYž@yjG%>%a?%Ti%@! %;@)%­@I%"@i%@5M5F=Y5'*QU=>99a=E=ytEAyE=}E>IIM<5?M̾ M̶B D@9MDM< MI A)IW3ƕ@WX XW:W2W*WVbUBU*U U U `Y:@B5WüB9 B9A=*B9A=!A9AAAE<"CERCICU3ƕ@CYyym=Iq)qAIIGm5>$-r,MݶEAY}6`@}6m@y}6hX}6y=}6H??? w@Ѿ@X*?Gʠ?lf??)~6`@ ~6(K_;I~4  ~ ~  R.:Y T1y @: o5ɫYa)a eIaY@ykG)U;<M]H=Y]׺QU]>aaaeEetEaym<}m>Iqu1<5?u3̾ uֶB }D@9uDuį: uA)qW)$@WX XW:W2W*WVbUBU*U)U1U5Z:@B}By ByA!*BAAAAAˈ<"CǿRCC)$@Cֽ<=יIGb>0N-r,EAI~AA)~AAɫ髉) IiAy>9IeGi@=u; E)qIqiqu=u=u@F5Yɾ@yjGɮR=e>eS#@eie(@a a)eIez@ie&@M=YQU>aEtEy}>IȩŭO<5?ŭ̾ ƭB D@9ƭDǭͭ: ȭMA)ȩW@WX XW:W2W*WVbUBU*UUUY;@RB*** querying acoustic contact ***PPB B!  B! A% *B! A% A! A) A- :-<"C5 ŀ׿RC1 C5 @C9 E = I G% >5-r,EA|i|@Y}F@}FR@y}F }F}z=}FHY?@u?@(|}Y?3ġb?`F??)~F@ ~Fh_;I~FC5   8:YDW1yY:&5)=;9-ɫYY)a eIaY@yjG]ݼM]=YeLQUe^?aaaeEmtEiymT<}u^?Iy}qY<5?}̾ }B D@9}D}: }A)yWɸ@WX XW:W2W*WVbUBU*UUUJ;@B%D+μB! B)A-*B)A-A)AIAU<"CU0ݿRCYC]ɸ@CYM;>!I1GM1>`-r,+EAY}F`@}FZn@y}F_}F\ =}FH~???-D?@~ޡ?}?`?)~F`@ ~F`;I~Dɫ) IYM@yMqjGíj<í>í>ií@é ĭ)ĭ@Iĭ@iĭΣ@MD=YmQU>aEtEyo}>Im<5?o̾ B D@9Dٮ: .#A)W @W X  X W:W2W*WVbUBU*UUU% ;@BMǼBQ BQAU*BQAU೼AQAYA]Z<"C]f RCaCe@CaM|5>!I1G]2>x>9Ii=t; EG-r,_EEAY}2> @}2@y}2J}2;}2H??e` ?ש?[h?6{??)~2> @ ~2t`;I~0=i====9 =/:Y=0Y1y=:ɫaa)i iIiY}h@y}CjG9)=;Setting waiting for range response to false due to timeout. Elapsed:6.077143AAh4MG=Y(QU>aEtEyͼ} >Iȁ<5?̾ B D@9(D): )A)W=-@W9XA XAWA:WA2WA*WAVIbUIBUI*UQUQUU@a<@B}+ʼB BA"*BA]$AAAy<"CW RCC-@Cԡԡ֍g>AIQGm5>(r-r,;_EAY}2\@}2¶@y}2R}2+汼}2H?V?> N ]?`{?.ɢ?}8?)~2\@ ~2k`;I~2Cɫ99)9 9IAY @yiG)UM]U=Y]QQU]>aaaeEetEaym?}m>Iqu`<5?uB̾ uB }D@9u/Du: u/A)qWn@WX XW:W2W*WVbUBU*UUUt<@BCҼB BAP*BAvAAA1<"CRCCn@C֭@>ׁIG>>-r,yEAY}:C@}:yQ@y}:z}:}n}:Hథ?Ƿ?S? @ ?@?@4?"ƭs?)~:C@ ~:ba;I~:C- -~-~- -4:Y-T1y-@:-595@ɫ99)9 9I9Y]t@y]QjG܁9܁I܅fGi܅@܅=܁܁܅m; ݅EE@>E>EjiEp@A A)E@IEE@iEE@u@<Mu=Y}~qQU}>yaEtEyvƼ}>Iȑŕ<5?ŕ̾ ƕB D@9ƕ;DǕа: ȕ 9A)ȑWŁ@WX XW:W2W*WVbUBU*UUUU=@B<;ǼB BA*BA~ҴA A A 1<"CrURCCŁ@C֝ >y I G >#-r,0EAY}6"@}6Ű@y}65}6Ƚ}6H`K?7??`|2? ?? " ` ?)~6"@ ~64a;I~6CI%@A)%?Aɫ) IY=]@y=6jGEp=ɮE=]U;Me=YeF9QUe-r,%ϬEAU U|U|U UoI:YUR1yUi:U&5Y}@}4@y}R}.}HBK?s?G?F? b?@ɢ?ٸſ ?)~@ ~cd;I~CɫQQ)Q QIYY@@yjG5595η>i5@1 5@)5I5z@i5@EME==YEd:QUM>IIaUEUtEQy]}]>Iae<<5?e'̾ eB mD@9eIDe: eCA)aWz@WX XW:W2W*WVbUBU*UUUp>@RB*** querying acoustic contact ***PPBͼB BA6*BALAAA4<"CTRCCz@C>IGj>y9yI}fGi}@yyy}\; }ܗE;-r,ۧƷEAɫyy)y }IyY&@yiGZ****** received transponder code query ******F****** received ping request ******aEtEy}>IșŝE<5?ŝ; Ɲ"B D@9ƝRDǝ\: ȝ[JA)șW u@WX XW:W2W*WVbUBU*UUUj>@B5UмB1 B1A5C*B1A=̟A9A9A=<"CMRCICU u@CQhAֽFӅ>סi=nGIG>IiMϿٺIMAS-r,܂EAY}RB@}RhP@y}Rʆ}ReY}RH;?W?:?e?` |? ?`ʿB?)~RB@ ~Rkd;I~RC=ip=-) --- -7:Y-U1y-:-85ɫ髙) IY=<@y= jGAE?AExDUSBL response received:!U1,P 80,80,63,E4 5,189,80,80,8D,FF ECommand AckMBRequesting micromodem ping code 2iIIeZ;Mm^=Ym0QQUm>qqauEutEyy}}}>IȁŅ<5?Ņ ; ƅ(B D@9ƅYDDž; ȅBPA)ȁWQp@WX XW:W2W*WVbUBU*UUU`0>@BiмB BA8*BA䵼AAAR<"C RC C Qp@CE>!IIGZ>o-r,]EA|4<|4ÅiÅ3@Á ąA@)ą@Ią@ią@;MG=YQU>aEtEyw}>Iȱŵ=5?ŵC; Ƶ.B D@9ƵbDǵl: ȵVA)ȱWj@WX XW:W2W*WVbUBU*UUU 2?@B%"μB! B!A%f1*B)A-S/A)A)A-L<"C5FRC1C=j@C9!I G-N>.r,2:EAY}Vȝ@}Vk@y}V}Vxm}VH@ ?@ ??LT?Ř?غ?fͿ?)~Vȝ@ ~Vb;I~VC-))- -3:Y)y)-5)-;95ɫ髙) IYR@y(jG;MS=Y!!a%E%tE!y-f}->I15w=5?5; 53B =D@95jD5: 5]A)1Wenhe@WaXa XaWa:Wa2Wi*WiVibUiBUi*UqUqUuE?@BμB B!A%-*B!A%wA!A!A%t<"C-$RC1C5nhe@C1 E=E=E>M?iM?9IAGeU> .r,..EAI)AAɫ)))) -I)Ym]@ym6jGQ>BJ>i=@ @)Ii@8N;M>=YQU5>99a=E=tEAyE}M>IIM(=5?M&; M:B9MsDM: MdA)IW}\}_@WyXy XyWy:W2W*WVbUBU*UUU'@@BXͼB BA$(*BAVAAAi<"Cc*RCC\}_@C>IGi>9IhGi@-; ×E)ݡIݡiݡݡݥ=ݥb@4.r,ZGEA|i|---- -.:Y-WU1y-:-]5)-;ɫ髙) IY@yujG=·<M=V=Y9QUE>AAaEEEtEIyI}U>IY]~8=5?].; ]?B eD@9]zD]: ]jA)YWZ@WX XW:W2W*WVbUBU*UUU2@@B˼B BA8*BAeAAA+=<"C\/RCCZ@C׹IGG>.r,'aEAY}:x@}:@y}:&}:Ly}:H `A?h??@`Pi?H?Ϥ?ο?)~:x@ ~:+a;I~:Cɫ11)1 1I1YU@y]jGx<MS=Y߲QU>aEtEyV}>IH=5?&8; EB D@9D_: 6pA)WTRU@WX XW:W2W*WVbU BU *U UU@@d@@RB*** querying acoustic contact ***PPB%9ļB BA)*BALAAA<"CE4RCCTRU@CjA>I ) I!GeV>8.r,{EAY}20@}2=@y}2 })}2n9dIflhGif@f=ddf$; fE---- -.:Y-0Y1y-:-5)-Q;ɫYa)a aIaY4@y>kG)ÅٽÅM>ÅjaEtEylq}>IJY=5?C; LB9Dj: 6wA)W juO@W X  X W :W2W*WVbUBU*UUU=@@BMBI BIAMs*BQAU|7AQAQAUL<"C]k:RCYC]juO@Caօ>YIiGZ>!%.r,bEA|;|;Y}BK@}BY@y}B+}B |}BHM? u? 2.?a~??}? y:Ͽ?)~BK@ ~B`;I~BCɫ髙) IYJ@yYkG5 U;M= =Y} QU > a% E- tE9 y #} >I  St=5?}  } } }  } 5:Y} [1y} ݏ:} o59 @ EU;  WB D@9 D =  A) WnD@WX XW:W2W*WVbUBU*UUU A@B 9B BAF*BAPaAAAmF<"C%sERC!C%nD@C) ====m>u?iup?9I3iGi@; EIIQGu#?..r,MEAɫ髉) IY@ykG-56only read 3 of 4 data items 5@ 5@ 5@=<MEH=YEQUE>IIaMEMtEQyU}U?IY]=5?]u]; ]\B9]D]: ]΃A)YW%rA@W!X) X)W):W)2W)*W1V1bU1BU1*U1U9U=!A@B B BA*BA`cAAA<"C,HRCCrA@CשIGf>5.r,0ظEAY}2b@}2+p@y}22}2|}2Hi??a? V" 8?(?`g>?@P.п ?)~2b@ ~2`;I~2Cɫ99)9 =I9Y@ylG  aEtEy-A}->I9=ώ=5?=Mh; =bB9=D=۞: =A)9Wmq`<@WiXi XiWi:Wi2Wq*WqVqbUyBUy*UyUyU@vRA@B`cB< BA*BAAAA`x<"CD@RCCq`<@CAI1GMS>m mmm m5:YmV1ym:m5;.r,_EA|i|Y}:@}:X@y}:U5}:Ȁ}:H ?`>?}?@E?@4?٨?`Ͽr?)~:@ ~:`;I~8ɫ99)9 =I9Y}Ŀ@y}kG4Nmea in: $CACFG,BND,0*38 RNmea out: $CCCLK,2021,08,14,01,56,52*4D )Ý= Ý=   >p>zi@ v@)v@I@iv@'M9=YQU>!!a%E%uE)yMs}}U>IQU=5?Ut; UiB9UDU: UA)QWz6@WX XW:W2W*WVbUBU*UUU׋A@BQBQ BQAQ*BQAYAYAYA]<"Ce{>@RCCz6@CiAܭx>9ܩIܭiGiܭ.@ܭ=ܩܩܭ; ݭEֽ>I)qIG>B.r,? EAY}6 ð@}6Ш@y}6<7}6z}6H@?p?V4? HMH?@|7??ο?)~6 ð@ ~6`;I~6Cɫyy)y }IyY@ylGLNmea in: $CACLK,2021,8,14,1,56,52*4F VNmea in: $CATMS,0,2021-08-14T01:56:53Z*7E ienGIyivſٺ~A5?95>A]=i]4=mm~m~m m3:YmT1ym@:m5m uOutgoing frame #1, 64 bytes: CC101761250000005D00000400320000000000000000151D80030C5669C08C799858D60B8636A538B7595FED4C1319FDACBB8E683B2471140E63D353DF511252u LOutgoing frame #2, 5 bytes: A9A199D600u DNmea out: $CCCYC,0,1,10,1,0,2*6A ) =M   a E uE! y% z}% t>I) - =5?- ); - uB ] D@9- D- ; - ^A)) W ,@W X  X W :W 2W *W V bU BU *U U U/A@RB*** querying acoustic contact ***PP1( PpAggregate::uninitialize lineCaptureDepth:MicromodemCommsq(PAggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn(B. B BA;*BAJAAA<"C4@RCC,@C >ױIG?=L.r,W3EA|(|(ɫ) IYs@ylGzNmea in: $CATMG,2021-08-14T01:56:53.028260Z,USER_CMD,RTC*17 Response from modem unexpected: $CATMG,2021-08-14T01:56:53.028260Z,USER_CMD,RTC*17 %BNmea in: $CACYC,0,1,10,1,0,2*68 %y>9!I%`jGi%@!!!%; %Ea im a im a mm a mm a qm a qm a em a em a Im a Im m )\(?X9v? rhm G>m = m C)i Ii ym ˡE?MbX9?/$m '?m ʡ=m  m @)m 'AIm Aim Ai m Ae =e e ie G@a e z@)e @Ie @ie @u ٻM} =Y} QU} > a E uE y } >Iȑ ŕ =5?ŕ ; ƕ rB  D@9ƕ DǕ W: ȕ :)ȑ W 6%@W X  X W :W 2W *W V bU BU *U U U ,B@B "B  B A u;*B A BA A A J<"C y-@RC C 6%@C 5 5 5 5  5 >:Y5 WU1y5 :5 %5)5 z;9=   = ׵?i׵?ׁIG?U.r,XEAY}2.@}2I<@y}2X;3}2Ā}2Hb? ??@Q`$?F?e?Ͽ@?)~2.@ ~2`;I~0ɫ11)9 =I9Y@yXmG5Setting waiting for range response to false due to timeout. Elapsed:6.293861=NNmea in: $CADRQ,015653,1,10,0,64,1*72 EuNmea out: $CCTXD,1,10,1,CC101761250000005D00000400320000000000000000151D80030C5669C08C799858D60B8636A538B7595FED4C1319FDACBB8E683B2471140E63D353DF511252*33 E=iE=[2=Mv=Y?;QU? aEuEyQ}>I :f=5? :; pB %D@9D < B<)\:W @WX XW:W2W*WVbUBU*UUUaB@B%mЬB) B)A-<*B)A-!A)A)A5^V<"C]+(@RCYC] @CY5F< IG5>g\.r,srEAY}B{3@}BA@y}B4}B}BH6? u??h??ӓ?1п@?)~B{3@ ~BB`;I~@ɫQY)Y YIYYI@ymG=r>i=f@9 =@)=@I=@i="@<M==YVQU>aE%uE y x} >I=5?ְ; mB %D@9DǺ: :)WeH-@WX XW:W2W*WVbUBU*UUUB@BB BA <*B A A A A v<"CB#@RCCH-@C!!)! !ܭz>9ܩIܭ(kGiܭ"@ܭ=ܩܩܭ9; ݭɗE)9I9i99===,5  K6:YT1y:5);ס I G >b.r,8IEA|i|Y}6D@}6R@y}68}6@}6H9?h?@?n'k?7?` ?4ϿE?)~6D@ ~6A`;I~6CɫYY)Y YIYY@ymG:Nmea in: $CATXD,1,10,1,5*7E .Nmea in: $CATXP,69*7D tMp=YEQU?aE+uEy㳽}?I=5?z; lB D@9Dϸ: @:)W (@WX XW:W2W*WVbUBU!*U!U!U%lB@BM(BQ BQA "<*BAu涼AAA0F<"CW@RCC%(@C!I1)1 IG= >Ii.r,%EAY}>i@}>hw@y}>F<}>.C}>H%?i?O?1~i@ ~>Pl`;I~>Cɫaa)i mIiY7@ymGIA)A -A-A+=M==YQU>a E2uE!y-t}U>Ia :e=5? :eC; eiB D@9eDe'v< e/<)e]:WU:@WX XW:W2W*WVbUBU*UUUB@B%L6B) B)A-`<*B)A-A)A1A5r<"C5/_@RC9C=U:@C99IIGeU>~~ X3:YT1y@:59@ܥ {>9ܡ Iܥ kGiܥ Ŀ@ܡ ܡ ܡ ܥ >; ݥ ͗Emp.r,@EAɫ髙) IY@y)nGuMb@Mb@Mb@uu u)uIqyuV-?Q?u-?uu=u u^@)un*AIu Aiu/AquA94uiQ@ X@)"@Ii9@<MD=YQU>aE8uEy}>I>5?; mB  D@9D: <)W1# @WX XW:W2W*WVbUBU*UUU)C@B%kJBI BIAM =*BIAMnAQAQAU<"C]:I@RCYC]1# @CYaIiG9>,v.r, ٹEA||Y}N)ǩ@}Nԡ@y}N]>:}NΔ{}NHǜ?@T?`Ld?@Q?@?E?Ͽ@?)~N)ǩ@ ~N d;I~NCɫqq)q uIyY@ynG=M_=Y:QU>aE>uEy}>I :Z >5? :k; pB D@9D: :)^:WI@WX XW:W2W*WVbUBU*UUU|WC@RB*** querying acoustic contact ***PPBiB! B!A%Q=*B!A%sA!AQAU"<"CesU@RCCI@Cם?iם?ׁIG> *:Yy5T|.r,EAY}6@}6@y}61:}6 }}6H??@J?`f` ?`P?SX?@^Ͽ]?)~6@ ~6 e;I~6CɫII)I MIIY}@y}nGZ****** received transponder code query ******F****** received ping request ******5`5 i5¥@1 5"@)5@I1i5@ETMMD=YMQUM>QQaUEUEuEYy]}]>Iae>5?e'; esB mD@9eDe: e{:)aW@WX XW:W2W*WVbUBU*UUUgC@BÙB BAK=*BA9ɵAAAuh<"C@RCC@CשIG >I9IIMlGiMg@IIIMA; MΗE<.r, EAY}F@}F@y}F +}Fley}FH` ? o?l!? ?r? _?οN?)~F@ ~F k;I~FCɫYY)Y YIYY@ynGxDUSBL response received:!U1,P 80,80,63,E4 5,189,80,80,8D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %4;M-L=Y=QYaeEeKuEqy}>Iȡ :ť]>5? :ťξ ƥvB D@9ƥDǥ; ȥ;)ȥ_:WJ?WX XW:W2W*WVbUQBUQ*UQUQU]@:C@BB BACO=*BAHjAAA<"C@RCCJ?CI G%M>zz 2/:YQ1y:5i.r,z'EA|$i|$Y}VP@}V"@y}V!(}Vsw}VHcz? ?cH??^?`? ο`E ?)~VP@ ~Vnq;I~Tɫ髹) IYm@yuvoGa i5@a 5 a m5@a 5 a q5@a 5 a e5@a 5 a I5@a 5 5Mb@Mb@Mb@11 1)1I1i5Mb@Mb@Mb@5©55 5)5I5i555 @ @ @Õ©ÕÕiÕ@Õ ĕX@)ĕ9@Iđiĕ@6=M(=Y:QU>aESuEyf}>I$>5?ξ yB D@9D: >)W ?WX XW:W2W*WVbUBU*UUUC@B$B BA=*BA^洼AAAJ<"C?RCC ?CIgA)fAױIGf>I 9M }CIM mGiM @M =I I M 6; M ɗEN.r,IAEAY}FH;@}FH@y}F}+}Fms}FH?@LS??$?Q?Wb?ο?)~FH;@ ~F]z;I~FCɫyy)y }IyY@y pG.Nmea in: $CATXF,69*6B \Response from modem unexpected: $CATXF,69*6B I)ANmea in: $CAXST,7,20210814,015654.903594,3,0,200,4000,14500,1,1,10,1,2,2,3,69,14500*5C Response from modem unexpected: $CAXST,7,20210814,015654.903594,3,0,200,4000,14500,1,1,10,1,2,2,3,69,14500*5C A=M=YQU ?aEXuE y }  ?IH*>5?pξ |B %D@9!D: 'J?)WEM?WAXA XAWA:WI2WI*WIVIbUQBU*UUU]'D@B}t{B BA=*BA mAAA{<"C?RCCM?CסIG > q-:YU1y:n5);9iu =nGI kAi Aٺ kA 2B~x.r,#[EAY}2X@}2Df@y}2 7}2q}2H2?@?0?+J.?`0??]ͿN?)~2X@ ~2Jx;I~0ɫ髙) IY@yoGMMME=YMPQUU>QQa]E]_uEYye}e>Ii m:m 1>5? u:m-ξ mB uD@9m*Dm: m,?)m`:WaS?WX XW:W2W*WVbUBU*U)U1U5@[D@B]p惼BY BYA]6=*BYAe᳼AaAaAe<"C?RCCaS?CׁIG>.r,uEA| | ɫ髱) IY[@yZpG U U UU">UAU%iUf@U Un@)U@IU@iU@}<MG=YQU>aEeuEy}>Iȩŭ7>5?ŭ<ξ ƭB D@9ƭ3DǭW: ȭ?)ȩW;g?WX XW:W2W*WVbUBU*UUU D@ByB BA[=*BACAAA|<"C%?RC% C%;g?C?i?I|>9IHnGi@=P; חEG%,>{{ [/:Y#R1y:5);8.r,؎EAY}6@}6Oț@y}6|:}6/`y}6H??М? [[?´? S? ,ο?)~6@ ~6Cll;I~6Cɫ99)9 =I9Y} @y}0qG?i=IR=)=Dg=MY=Y9QU>aEkuEy }>IȹŽ=>5?ŽJξ ƽB D@9ƽ;DǽW: Ƚ?)ȹWd?WX XW:W2W*WVbUBU*UUUD@R B*** querying acoustic contact ***P P B-p[[B) B)A-=*B1AAAA|,<"Cq?RCCd?C IG- >|.r,EAY}ߢ@}@y} 9}Sx}Hr??#??5?I?`/?ο #?)~ߢ@ ~6g;I~ɫ) !I!YU@yUKqGa ia i a ma m a qa q a ea e a Ia I V-?HzG?Q?|?= > <)Iyp= ף?MbX9?{Gz%?ʡ=#  @)#AIAi?AQ Aý7 @ý=ý>iý@ù ĽX@)Ľ9@IĽ@iĽ9@F;M=Y:QU>aEsuEy V}>I  C>5? \ξ  D@9 FD : ߼:) W]w?WYXy XyWy:W2W*WVbUBU*UUUE@BVlB BAl=*BA܇AAA<"C d?RC C w?CIa)ehA 0:YV1y:ʺ59@QIYG}z> 9 I nGi @ )}}CIyiyyy}C5.r,ސºEA|@i|Y}6S@}6@y}6X59}6Vy}6Hƹ?@?3? A?g?$?ο2?)~6S@ ~6xd;I~6CɫYY)Y YIYY} @y}0qGdM=Y9QU?aExuEy}?I :]G>5? :gξ  E@9LDD; dd;)a:WEl?WAXA XAWI:WI2WI*WIVIbUQBUQ*UQUYU]`&E@BFB BA=*BAqAAA y<"Ce?RCCl?Cօx>aIiG9>wʶ.r,{ܺEAY}N@}N0@y}N;Q:}N&|}NHB?8?h?^?㙯? H?)@Ͽ \?)~N@ ~Nsb;I~Lɫqq)q uIqY@y qGI) ME=Y%+QU%>!)a-E-uE1y5}5>I9=K>5?=vξ 9 EE@9=UD=: =:)9WmDp?WiXi XiWi:Wq2Wq*WqVqbUqBUy*UyUyU}G[E@B`B BAv=*BA7AAA<"C?RCCDp?C֍?{>aIiG> y0:YU1y:5.r,tFEAY}2"@}2;0@y}2<}2S}}2H=?@??櫟?8?@?@OϿ`8?)~2"@ ~2b;I~2Cɫ99)9 =I9Y}@y}qG:Nmea in: $CAACK,10,1,1,1*7B :Nmea in: $CAACK,10,1,2,1*78 å??åC =å@iå\@á ĥn@)ġIĥ"@iĥ@bh=MB=YVQU>aEuEy}>I :9O>5? :օξ  E@9]Db: M:)b:W?WX XW:W2W *W V bU BU*UUU[E@B=R9FBA BAAE >*BAAE5EAIAIAM<"CUߜ?RCQCU?CY-kK>ٍhAىܑ9ܑIܕtoGiܕ@ܑܑܑܕX; ݕۗEIG-,>K.r,(EA||Y}N;@}N&I@y}Ne<}N~}NHG?@?e? aBl???@sϿ`?)~N;@ ~Na;I~NCɫqq)y yIyY@y9AaEEEuEIyM}U>IY]Q>5?]ξ Y mE@9]eD]] = ]m =)YWɉ?WX XW:W2W*WVbUBU*UUU fE@B Z=B  B A >>*BAEAAA<"C?RCCɉ?C!UiAUiAPV>IG%M> .:YWU1y:&5.r,F *EAY}ec@}eLq@y}eI79}eS y}eH`H ? ? `#`? $?ο?)~ec@ ~e`;I~eCɫqq)y yIyY*@yrG%=i%!>I5=)5=E? rhI +?&?C 94=)IyQ?㥛 ?Mb??=< ½?@)½!AI½vAi½A=/>V>i@ X@)n@In@iX@-Ǖ<M-.=Y-:QU5>11a5E5uE9y=f}E>IA M:ET>5? U:E_ξ EB UE@9EnDE8: E:)Ec:Wco{?WX XW:W2W*WV!bU!BU!*U!U!U-F@R5B*** querying acoustic contact ***P1P1Bu 7B BA >*BA$AAA<"COߍ?RCCco{?Cֵ&=בIG>܅ }>9܁ I܅ pGi܅ @܅ =܁ ܅ D܅ ]; ݅ ޗE.r,CEAY}N@}ND@y}N4}Np}NH 2? ? .x?? Ϳ -?)~N@ ~N`;I~NCɫqq)q uIqY<@ysG-=M-q=Y5Jr;QU5?19a=E=uE9yE>}E?IIMV>5?Mξ MB UE@9MuDMU: Mܹ:)IW}j?WyXy XyWy:Wy2W*WVbUBU*UUUe*F@BIһB BAJ=>*BA=1AAA;<"C?RCCj?Cօh5n=ׁIG>zz YQ1y:\5);9Z.r,]EA|@i|@Y}By@}B@y}Bg'.}Bb`}BH@R,?y? k ??å?˿ 4?)~By@ ~B`;I~BCɫYY)Y YIYYN@ysG;MS=YVt;QU>aEuEyF}>ItW>5?lξ B E@9|D: :)W*BAAAA#<"C08<׉IG> A.r,xwEAY}N]@}N@y}Nr"}NuOP}NH谿1A?@!? ឲf ?pQ? ɿ`P?)~N]@ ~NVa;I~NCɫqq)q }IyY]@y tGSetting waiting for range response to false due to timeout. Elapsed:6.077857I) !! @ @ @©i\@ @)I@i;M9=Y;QU>aEuEy}>I :X>5? :ξ B E@9DI: :)d:W%/=?W)X) X)W):W12W1*W1V1bU1BU9*U9U9U=औF@BmJBi BiAmuA>*BiAuAqAqAu <"C}^?RCyC}/=?C5~>91I5qGi5@1115X; 5ۗEe!I)GE0> h,:YV1y:o5).;U'.r,kEAY}2Y@}2#g@y}2 }2]>}2HZW? ?>|h?@? pǿ@#m?)~2Y@ ~2a;I~2CɫYY)Y eIaY}@y}tG{;=M`=YJ4aEuEy}>IY>5?Gξ B E@9DZ; /;)W- )?W1X1 X1W9:W92W9*WAVAbUABUI*UIUIUM@^F@T>B$i%nGI=lAiQBQ BYAeR>*Bq} ٺlAAA`AAAd<"CH?RCC )?C֥KaIiG9>,U.r,VEA|D|Fp;Y}`@}*@y}Ѽ}}H'`?3? `µa?>?i¿ ?)~`@ ~mb;I~Cɫ) IYE@yEtGK7A?Mb`y&1? ? `e<)IyMb?S㥫?~jth ?/]=D |@)|AIAi AG A = = = =@ =@ =@999i=@9 =@)9I=i=n@MMM&=YUQYa]E]uEaye}z}e>Ii u:mY>5? u:mξ mB uE@9mDm+: m:)me:WѺ?WX XW:W2W!*W!V!bU!BU!*U)U)U-@;G@B$gB BAkN>*BAAAA <"CQp/?RCCѺ?Cֵ.U  ::YT1y:%59@׉IG>% }>9! I% qGi% @% =! ! % C; % їEy8.r,ŻEAɫ髙) IY@y'vG=i=I a=) %==Mw=YQU%?!!a%E%uE)y-}-?I15Y>5?5Aξ 5B EE@95D5: 5:)1We>WaXa XiWi:Wi2Wi*WiVibUqBUq*UqUyU}|,G@ByB BAx>*BA,|AAA{M<"C}?RCC>C|5שIG > d.r,޻EAY}j)@}j͗@y}jay}j~}jH࡜`9? ? @ޱ?7?zQ?)~j)@ ~j6b;I~jCɫ髱) IYw@yguGK@MJ=Ys!!a%E%uE)y-=}->Iȩ :ŭZ>5? :ŭϾ ƭB E@9ƭDǭ ; ȭ ;)ȭf:W >WX XW:W2W*WVbUBU*UUU4bG@RB*** querying acoustic contact ***PPB$B! B!A%d>*B!A%A!A)A-<"C5|?RC1C5 >C1 'gIG (>  3:Yyo5.r,EA|i|@Y}Fb@}F@y}F(}F}FH`-Z ?0ܣ?ЈĀ??T?)~Fb@ ~Fc;I~FCɫYY)Y ]IYY@yvGZ****** received transponder code query ******F****** received ping request ******yya}E}uEy0=}>IȉōZ>5?ōCϾ Ɖ E@9ƍDǍ4: ȍ:)ȉW+>WX XW:W2W*WVbUBU*U>9I0rGi@=B; )qIu}Ciqqqum4UU@ G@B=8/B9 B9A=6>*B9AE AAAAAE<"Cm_>RCiCm+>Cq Յ>ԅ=eᄾI)GER>v/r,ԹEAY}^@}^$@y}^"}^̏4<}^H ? x( x?Aw?Ñ?^?)~^@ ~^Ye;I~^Cɫ) IY@yvGxDUSBL response received:!U1,P 80,80,63,E4 5,189,80,80,8D,FF Command AckBRequesting micromodem ping code 2iI)I) 5 M<M5N=Y=<9AaEEEuEAyME=}M>IQ ]:U[>5? ]:URϾ Q ]E@9UDU: U:)Ug:W(s>WX XW:W2W*WVbUBU*UUU2G@B)rB BA…>*BAbAAA <"C>RCC(s>CFӅׁIG=> 1:YU1y:85 /r,R -EAɫ) IY5 @y=swGx&?5?5r>i5@5 5@)5@I5X@i5A@E=ME7=YMQUM>aEuEy}>I[>5?1.Ͼ B  E@9DI; w;)WM@_>WIXI XQWQ:WQ2WQ*WQVYbUYBUY*UYUYUe`QH@BֺB BA>*BAWpAAA<"CU>RCC@_>CƂ ?i ?IG5>ܕ ~>9ܑ Iܑ iܑ ܕ =ܑ ܑ ܕ D; ݕ җE9/r,6FEA|4<|4'?@? `> ?^pSh@?f?)~J*@ ~Jsi;I~JCɫ髙) IYE@ywGO<Me=YaEuEy >} ?I\>5?9Ͼ B E@9D: b:)WT=WX XW:W2W*WVbUBU*UUU 1H@B:B BA?>*BA%֜A!A!A%đ<"C-@F>RC)C-T=C1AA6ɅIG%M>  v4:Y0Y1y:5)$;9T/r,`EAY}2+@}2@y}2;}2'=}2H&?@X?n`@?@j(?w??)~2+@ ~2:j;I~2Cɫ99)9 9I9Y}n@y}wG=i=I4=)4=oO<MP=Y;QU>aEuEy=}>Iȹ :Ž]>5? :ŽbGϾ ƽB E@9ƽDǽ: Ƚ:)Ƚh:Wޤ@WX XW:W2W*WVbUBU*UUUSaH@B- /:B1 B1A5ˑ>*B1A=mA9A9A=<"CE=RCACEޤ@CIe·AIIGm5>/r,{gzEAY}N@}N @y}N(<}NIH >}NH@:??@ ;{?% v;?*?)~N@ ~Nk;I~NCɫ髙) IYI@ywG=^>=^Z?=K>i=@9 =)=5@I=@i=@M-MU?=YUe;QUU>YYa]E]uEaye;=}e>Iim `>5?mUϾ mB uE@9mDm4: m:)iW@WX XW:W2W*WVbUBU*UUU`H@B@j9B BAz>*BA"AAA <U>9QIUhqGiU6@QQQU5; UʗE"C$µ<RCC@C֙qIG]>'  6:YV1y:5)F;$/r,>EA| i| Y}Zf@}Z @y}Z$<}Zt>}ZH+f?0~?¿@*ʼ?W; ?`?)~Zf@ ~Zh;I~Xɫ髑) IYn@ywGU7<MUJ=Y];QU]>YYaeEeuEaye=}m>Iq }:ub>5? }:ucϾ uB }E@9uDu.: u:)ui:Wu@WX XW:W2W*WVbUBU*UUUH@RB*** querying acoustic contact ***PPBL:B BAˑ>*BA>AAA0<"CoRCCu@C > =%?΅IG%M>*/r,6!EAY}/ʢ@}ך@y}l;<}>}H`q$?^?`nÿ`s?m qm?*?)~/ʢ@ ~ve;I~Cɫ) IYe@ym%xGIq)q 鿁 V-?x&1ȿL7A`尿 |> A +) I y }?5^I?m=im @i mA@)m@Im"@im9@}<M}9=YM;QU>aEuEyz=}>Ișŝf>5?ŝZsϾ ƝB E@9ƝDǝa: ȝ:)șW@WX XW:W2W*WVbUBU*UUUfI@BfA:B BA>*B A AA A A yp<"Cl!RCC@C9)  7:YW1yč:59@1 IG5>I 9I IM qGiM @I I I M *; M ŗEE1/r,,ǼEAY}2@}2@y}2 I<}2>}2H\4? D?4Yÿ@ǻ? 8@ ? ?)~2@ ~2 c;I~2Cɫ99)9 9I9Y}v@y}wGDMo=Y';QU?aEuEy̐=}?Iȹ :Žgj>5? :ŽWϾ ƽB E@9ƽDǽ: Ƚ:)Ƚj:Wн@WX XW:W2W*WVbUBU*UUU0I@B-;B) B)A-A>*B)A5*A1A1A5K<"C=0cRC9C=н@CA IG (>i=nGIiȿٺAp8/r,}EA|;|;Y}JU@}J/c@y}J7CG<}JPv>}JH@??'?¿@@?@O>舿z??)~JU@ ~Jyc;I~Hɫyy)y IY@y wG Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 eyFMm>=Y}غQU>aEvEya=}>Io>5?ŽϾ B uE@9D< <)Wvz@WX XW:W2W*WVbUBU*UUAUEqI@BmBi BqAu>*BqAulNAqAqAu <"C}FRCCvz@C15hA .:Y0Y1y:\5U.ą) I1 GU >8>/r,EAY}:*@}:7@y}:1<}:>}:H??X¿&[?`]W0p(?%>i @)@I9@in@>9IaEvEy%)=}%>I) 5:-u>5? 5:-Ͼ -·B =E@9-D-: -:)-k:W]@WYXY XYWY:Wa2Wa*WaVabUaBUi*UiUqUu I@Bg:B BAa>*BA%A!A!A%B<"C-gϾRC)C-@C1=?΅9IAGew>!E/r,'EAY}R @}R@y}R+<}R5S>}RH??BL¿* t?Bvz?@?)~R @ ~Rb;I~RCɫ) IYr@yvG%xDUSBL response received:!U1,R,D45,0063,E4 5,189,80,80,8D,FF -%zunknown deviceResponse_: !U1,R,D45,0063,E4 5,189,80,80,8D,FF E:ͼMEE=YE\QUE>IQaUEUvEYy]=}]>Iae%{>5?e9Ͼ eȷB uE@9eDe; e;)aWfQ@WX XW:W2W*WVbUBU*UUUgI@B`:B BA>*BALAAA%<"C- RC)C5fQ@C1I%hA)! ~~ B:YT1y@:5IGEr>dMK/r,g/EA|8i|:@ɫ)1)1 1I1Ym@ymuGDNmea in: $SNTTA,,,,,015708.68*5B m%C?ʡEy&1|mZ?m m`)iIiym{Gz? rh?{Gztm#?mC =mף m/A)m@Im"AimvAimA~>?v>i@ @)@I@iX@M@=YQU>aEvEy}>I>5?Ͼ ǷB  E@9D#: w:)W-{@W)X1 X1W1:W12W1*W9V9bU9BU9*U9UAU@ J@B@lB BArs>*BA\bAAA<"C}RCC{@C! 5>5>5ݑ IG5>9ItoGi@="; —E)݁I݁i݁݅=݅=݅@`4j2R/r,6IEAY}2@}2@y}2<}2RC!>}2H3?S?"¿ <?@NT?B?)~2@ ~2 a;I~2Cɫ99)9 =I9Y3@yPvGI)  %1<M%l=Y-5QU-?)1a5E=vE9yE+>}E?II ]:Mʇ>5? e:MϾ MƷB mE@9MDM%c; MU\;)Ml:W#@WX XW:W2W*WVbUBU*UUUN5J@RB*** querying acoustic contact ***PPB:B BA>|>*BAJ AAAW<"Ch&RCC#@C?΅IGG> }} 1V:YkS1yԊ:o5)H;9\X/r,'cEAY}:Ө@}:8@y}:k<}:%>}:Hz?`l ?=Eÿhl=?@i!@??)~:Ө@ ~:?`;I~:Cɫ99)9 9I9Y}@y}uGvMS=YTxQU>aE vEy=}>IȹŽI>5?ŽϾ ƽŷB E@9ƽDǽb: ȽM:)ȹWev@WaXa XiWi:Wi2Wi*WiVibUBU*UUU@hJ@B쟹B BAr>*BAtAAAm?<"C5<RCCv@C6ɅI)GMR>^/r,|EA||p}6HU??9¿ #W2? 隭@2W{?@?)~6@ ~6N`;I~6CɫYY)Y YIYY@yuGSetting waiting for range response to false due to timeout. Elapsed:6.074038ܝ>9ܙIܝoGiܝO@ܙܙܙܝ; ݝE=>i=@ "@)@I9@i9@%zM%4=Y%UHQU->))a5E5'vE1y=y=}=>IA M:E>5? M:EϾ EķB ME@9E&DE: E:)Em:WuƆ@WqXq XqWq:Wq2Wy*WyVybUyBU*UUUxJ@B`e2B BA"q>*BAˇAAAt<"CHSRCCƆ@CQUjA=?΅ .:YT1y:5) ;1IAG]v>\oe/r,˖EAY}6@}6:@y}6a;}6\/>}6H,??&`?`߯.lw@R??)~6@ ~6g`;I~6Cɫ99)9 9I9Y}C@y}(uGi=I=)%="VMg=Y0QU>aE-vEy&=}>IȹŽ>5?Ž|Ͼ ƹ E@9ƽ.Dǽ: Ƚ :)ȹW\'@WX XW:W2W*WVbUBU*UUU`J@B-EB) B)A-(^>*B)A5ZA1A1A53<"C=EfRC9C=\'@CA!I G-,>k/r,EAɫyy)y yIyY@ytGx&?{GztMbp?7 ?ף ;)Iyףp= ?aE5vEy}>Iș :ŝ>5? :ŝϾ ƝʷB E@9Ɲ7Dǝf: ȝ@:)ȝn:Wi@WX XW:W2W*WVbUBU*UUUd K@B RB  B A~M>*BAAAA<"C9RCv.uCi@C!   C:YWU1y:n59@IG-p>ܙ9ܙIܝHnGiܝ@ܙܙܙܝ,; ݝǗEr/r,~ʽEA|i|@Y}>cc@}>q@y}>]N;}>>}>H`sx?4?( m"7&?wim??)~>cc@ ~>_;I~>CɫYY)Y ]IYY@yqtG0Ml=YQU?aE:vEyy%>}?Iñ>5?cо ϷB E@9>D8: D:)W@WX XW:W2W*WVbUBU*UUU7K@BثպB  B A K>*B A-H̃A1A1A5<"C=lRC=C=@C9 m=m=Mj)IAGe4>x/r,!ZEAY}6`@}6n@y}6ǔ:}6U>}6H`B?Hd?`5 ?2`2V ?@ ?)~6`@ ~6j_;I~6Cɫyy)y }IyY@ytGI)A !<MF=YQU>aEAvE y4=}>I!%>5?%8о %ַB -E@9%FD%; %%-;)!Wҟ@WX XW:W2W*WVbUBU*UUUlK@B=B9 BAAEO>*BAAExnAAAAAE6<"CmRCuxCuҟ@Cq֝~~ :2:YT1y@:5n~/r,7EAY}2[@}2Ti@y}2u}2>}2HX??ཀྵC? k໶N?@D? #?)~2[@ ~26_;I~2CɫII)I IIIY}@y}_tG   ?XY?`>i׳@ d@)@I9@i"@oMK=YQU>aEGvEyD=}>I  : >5? : n о ܷB E@9 ND : :) o:=>99I=mGi=[@999==; =ЗEW]:@WYXY XYWY:Wa2Wa*WaVabUaBUi*UiUiUm@yK@R}B*** querying acoustic contact ***PyPyBP5ܺB BAI>*BA1AAA<"C ٞRCM^[=CM:@CQM"fIG--> iU nG/r,EA|4<|I0i8R2̿ٺPRAY}^ Q@}^^@y}^TT}^>}^H??|? s^\?'`j??G?)~^ Q@ ~^"_;I~\ɫ) IY=@y=sGEZ****** received transponder code query ******EF****** received ping request ******EaENvEy=}>I>5?X-о B E@9WD; ;)W$+@WX XW:W2W*WVbUBU*UUU-mK@BujBq BqAu4>*BqA})AyAyA}<"CIRC]>C$+@CԹԽiA֥5yIG^>  76:YT1y:o5/r,p1EAɫ髙) IY@y sGxDUSBL response received:!U1,P D45,0063,E4 5,189,80,80,8D,FF Command AckBRequesting micromodem ping code 2ii=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I4=)4==i|?5?V-~jt?=>=m =D<)9I9y=ףp= ?)\(?Zd;O?9=Ga==j< 9)=@I=Ai=A9=At=E>D;i@ @)@I@i@UM]=YQU>aEVvEy}>I  }: >5? : <о B E@9 aD  < <) p:W@WX XW :W 2W =>99I=mGi=@999=:; =ϗE*W VQbUYBUY*UYUYUeL@B:B BAc)>*BA|AAA2<"C RC#y>C@C 潹 I G >ג/r,KEAY}2@}2@y}2M}2ƞ>}2H O?ཨ?䃽{-0?@)? ?`?)~2@ ~2 _;I~2Cɫ)))1 1I1Ym@ymIsGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B b<M=YQU?aE[vEyqC>}?I  O>5? Dо B E@9 gD : :) WƔ@WX XW:W2W*WVbUBU*UUU "@L@B-HB) B)A5->*B1A=V{A9A9A=)<"CE"RCM >CMƔ@CQUʞ IG5P>  3:YDW1yY:&5);9/r,eEA|i|@Y}Bhű@}B ө@y}B\9}B8=}BH?I?MP @?`@?KM?@$?)~Bhű@ ~B_;I~BCɫYY)Y YIYYa@yrGMa=YȤQU>aEavEy=}>I :9>5? :Nо B E@9nD4: :)q:W\@WX XW:W2W*WVbUBU*UUU>nL@BXgB BA!>*BAzyAAA<"CGuʿRCC\@C  QU%>-8IG=.>"/r,|EAY}zd@}z}r@y}z7}z?=}zHp?`?!߸&@[?`E@?j??)~zd@ ~zZ_;I~zCɫ) I9IlGig@=9; ΗE)qIqiqqqu4Y=@y=srGDNmea in: $SNTTA,,,,,015713.93*55 I)A v>>,?#i(@ /@)­@IX@i9@M,=Y%PQU>aEhvE y&=}>IP?5?P[о B 5E@9xD N; N;)WUA@WQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUU@֩L@B8B BA>*BA7wAAA<"C$ֿRCCA@C'  6:Y[1yH:&5)F;%|IG> /r,mWEAY}6۲@}6p@y}68GW}6<=}6H?`?@.H@Z?@???)~6۲@ ~6w_;I~6CɫII)I IIIY}@y}rGMw=YQU?aEnvEy5=}?I :?5? :cо B E@9~D: q:)r:W@WX XW:W2W*WVbUBU*UUU`L@B-B1 B1A5>*B1A=7uA9A9A=<"CETu߿RCACE@CI5߼IG>5/r,<3EA|;|;Y}6j=@}6K@y}6gp}6B=}6H #? M??@楿 ?tV??)~6j=@ ~6:e_;I~6Cɫ99)9 =I9Ym@yqGL7A`?J +J +?+?Ƚ H=)IyI +?~jt?L7A`?94?<+= nA)p@IAAiAAõQ8õt>õ=iõz@ñ ĵ@)ĵ@IĵΣ@iĵΣ@M,=YSQU>aEuvEy<}>I"?5?rо B E@9D: :)WE@WX XW:W2W*WVbU!BU!*U!U!U-M@R5B*** querying acoustic contact ***P1P1BU.:ٻBY BYA]n>*BYA]CsAYAYAeP<"Cm,RCiCmE@CiyyE<I)GEQ>|| ]-:YR1yi:59@9IkGiĿ@2; ˗E/r,,;EAY}2ͅ@}2r@y}2=u}28j=}2H X?]?`t{P?Or.?ŵ?`)?)~2ͅ@ ~2{_;I~2Cɫ99)9 9I9Y}@y}qGi=I=)=G<Mu=Y ϻQU?aE{vEy)<}?IȹŽ'/?5?Ž}о ƽB E@9ƽDǽܹ: Ƚ+:)ȹWX@WX XW:W2W*WVbUBU*UUU`:M@B=B BA>*BA>rAAA <"CRCCX@CH=סIG >F/r,EAY}2@}2eë@y}2㗼}2G=}2H~?E?[ x^@Ez?JG?;??)~2@ ~2N_;I~2Cɫyy) IY@y3rGɻ<ME=Y#QU>aE vE yJf<}>I! -:%>?5? 5:%о %$B 5E@9%D%*; %';)%s:W ׄ@WX XW:W!2W!*W1V9bUABUA*UqUyU} RtM@BmxﯻBi BiAuQ>*BqAupAqAqAu<"C}oRCyC ׄ@Cօ/=YIiGZ>9 {{ ^8:Y#R1y:J5./r,aEA|i|ɫyy)y }Iy܉9܉I܉i܉܉܉܉܍I; ݍחEYi@yqG>>Q=i@ )­@In@in@-u M-G=Y-QU5>11a=E=vE9yE}E>IIMM?5?Mо M.B UE@9MDM : M":)IW}I @WyXy XyWy:Wy2Wy*WVbUBU*UUU M@BPB BA>*BA?nAAAU<"CRCCI @CQ e!>e>MP">IG-->}Z/r,EAY}2@}2«@y}2VV}21=}2H }?U?@Qϧ^?x sJ?`;??)~2@ ~2i_;I~0ɫ99)9 =I9Yu@y}qGxDUSBL response received:!U1,N,80,80,63,E4 5,189,80,80,8D,FF ZNo reply:!U1,N,80,80,63,E4 5,189,80,80,8D,FF -YaaeEevEy1z}>I -:]?5? 5:о 8B 5E@9Dm{< {<)t:WxM~@WX XW:W2W*WVbUBU*UUUM@B-s B) B)A-=*B)A5mA1A1A5<"C=E RC9C=xM~@CA%V>IGI>%!!% %2:Y!y!%5x/r,4EAɫqy)y }IyY@yqGUMb?Q롿~jt?U?U\ U<)QIQyUS?)\(?{Gz?U:?UGa=U#= Up A)UAIUAiUV AQUA @ @ @©i@ )Ii@-f:M-==Y-QU5>11a5E5vE9y=}E>IAEn?5?Ekо EEB UE@9EDE/: E:)AWux@WqXq XyWy:Wy2Wy*WyVybUBU*UUUN@BJӻB BA=*BAukAAA<"CRCCx@C>ׁIG?>y9yIyiyyyy}A; }ӗEj/r,UNEA|4<|Y}6g@}6 @y}6nH}6}6H`??̛?`y`]?@H?? @?)~6g@ ~6W`;I~4ɫYY)Y YIYY@yFqGΎ<Ma=YںQU>aEvEy }} >I %:g}?5? -:ѻо OB -E@9Du*;  +;)u:Wmt@WiXi XiWq:Wq2Wq*WyVybUyBUy*UyUU%?N@BUSBY BYA]~=*BYAejAaAaAeA<"Cub&RCqC}t@CԙԙinGIiEϿٺIMܿAֽ>יI YWU1y:85)|;9Ge>/r,0hEAY}:Y@}:Wg@y}:}:}:Hf?#?6?`#,}O??b?첿?)~:Y@ ~:a;I~:Cɫ99)9 9I9Y] @y]pGiim=Iu=)uR=MQ=YqQU>aEvEyP}>Iȡť?5?ťо ƥYB E@9ƥDǥ4: ȥ:)ȡWn@WX XW:W2W*WVbUBU*UUU`*pN@RB*** querying acoustic contact ***PPB^B BA=*BAhAAA<"C -aRC1C5n@CAօ>YIiGZ>|/r, EA5>91I1i11115>; 5їEɫyy)y }IyY@ypGZ****** received transponder code query ******F****** received ping request ******O i@ @)9@I9@i@-==M-2=YUQUU>YYa]EevEaym}u>Iy :}?5? :}о tI }eB F@9}D}; }+;)}v:Wh@WX XW:W2W*WV bU BU *UUUN@B]"BY BaAe=*BaAePQgAAAr<"Cz!RCCh@C֙ .:Yy5) ;בIG>/r,O盿EA|i|@Y}6J@}6ʨ@y}6h}68#}6H ??@[?`?s??`OĿ?)~6J@ ~6e;I~6Cɫ99)9 =IAY@yoGxDUSBL response received:!U1,P 80,80,63,E4 5,189,80,80,8D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =՞ME[=YM%QU]>aiauE}vEy}>IȹŽ?5?ŽMо ƽnB F@9ƽDǽC; Ƚ;)ȹW5Pb@W9X9 X9WA:Wi2Wi*WqVqbUyBUy*UUU@KN@Be Ba BaAmΣ=*BiAm.1fAiAiAm<"CJ'RCCPb@C յ>Ե= >IG5 >/r,EAɫyy)y yIyY@yoGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I1)1 Mb@Mb@Mb@ )IyCl?+?~jtx?d;?=; ½@)½AI½Ai½p AAU=Uv>UĽiU@Q U"@)UIU@iUΣ@eJMe,=YmQUm>iqauEuvEqy}}}>IȁŅr?5?Ņо ƅrB F@9ƅDDž: ȅ{:)ȁW^]@WX XW:W2W*WVbUBU*UUUaO@BB BAŗ=*BA_:eAAA#<"CM,RCC^]@C   U*:YT1y:59@!9!I%TlGi%@%=!!%B; %ԗE)ݱIݱiݱݵ=ݵ=ݵR4׉ I G >/r,(ϿEAY}6Ѯ@}6pߦ@y}6}66!Z}6HN?{?Qf?` @?ھ? nc? ˿@D?)~6Ѯ@ ~6i;I~6Cɫ99)9 9I9Y}}@y}HoGAM=Y:QU?aEvEymC}?I :?5? :о tB F@9D#; 0;)w:WY@W X  X W :W 2W*WVbU!BU!*U!U!U-%@O@Bm Bi BiAmϊ=*BqAudAyAyA}m<"C0RCCY@C)I1GU>(/r,pxEA|";| Y}b@}be@y}b亼}b0i}bH('?4?zm?Zz B?e? \?@̿l*?)~b@ ~b}Ug;I~bCɫ!)! -I)Y}@y}oGxDUSBL response received:!U1,R,502,000,00E0E,189,80,80,71,FF Fpublishing direction and range infof3ɰ_>鰑 )BIya2Cw?amf-ٱDNmea in: $SNTTA,,,,,015719.58*58 Å`廩Å>Å`e=iÅ@Á ą@)ą"@IąX@ią9@<M#=YOQU>aEvEy*o}>IH?5?Ѿ xB F@9D: :)WnR@WX XW:W2W*WVbUBU*UUU O@P*Qa2CZQMyHzS@dJQw?amf-2Qf3:QbQɝFZؕza:@OB@RQL Ʃ"@.C?BQS@ Q QP9?P99?PQQR0B"QʘCBMBI BIAMf=*BIAUwDcAQAQAU<"C]j|7RCYC]nR@CaYIi ~~ 4:YT1y@:85Ge>]0r,TEAY}2 @}2@y}2$Kż}2ܽp}2H@A?`F&?;??@8%?@Ȩ?ͿV?)~2 @ ~2jd;I~2Cd9f~CIflGifg@f=ddf=; fїEɫ99)9 =I9Y}@y}oG"0r,.EAY}2;@}2I@y}2xμ}2ޚs}2H }.?t?-=?M0?i?ә?'ο?)~2;@ ~2c;I~2CɫYY)Y ]IYY'@ypG=5<MEN=YE QQa]E]vEaymN|}m>I?5?+Ѿ ~B F@9 D: :)W=O@W9X9 X9W9:W92W9*WAVAbUIBUQ*UQUQU]@ ?B)B BAe=*BA6aAAA%<"C@RCCO@CIG (>+  @7:YT1y:85I 0r, 7EA|i|@ɫyy)y yIyY@yoGT㥛 ?V-I +!? 94)Iy`"?Dl?I +?O=9 ­|@)­t%AI­ Ai­5Ap AutaEvEy}>Iș :ŝ?5? :ŝx7Ѿ ƝyB F@9ƝDǝ; ȝ<;)ȝy:W+N@WX XW:W2W*WVbUBU*UUU?B LB BA=*BA-`AAA<"CDRC!C%+N@C!!I)GM1>9ImGi@E; ֗E 0r,PEAY}2e@}2 @y}2b˼}2e{}2H 5??@P? 7)?P?k?Ͽ?)~2e@ ~2$c;I~2Cɫ19)9 =I9Y]@y]oGIA) UrM]_=Ye:QUe>aEvEy }>Iȩŭ6@5?ŭBѾ ƭtB F@9ƭDǭo; ȭ ;)ȩWMHL@WIXI XQWQ:WQ2WQ*WYVYbUYBUY*UaUaU:?BlyB BAΣ=*BA% _A!A!A-;<"C5oGRC1C=HL@CAu?iu?9IIGe4>0 tt 7:YM1y:ݸ5);9C10r, jEAY}:@}:ȡ@y}:jͼ}:d}}:H ω?F?`?`k@Ã?5?{?%gϿ?)~:@ ~:c;I~:CɫAA)A MIIYx@y~pGff>=+i@ ­@)"@I"@i9@2=M@=Y{7QU> a E vE)y5}5>I9 E:=a @5? E:=lOѾ =oB EF@9="D=: =:)=z:WBK@WX XW:W2W*WVbUBU*UUU`{?BۻB BA=*BA]AAA%<"CEHRCICMBK@CI!I1GM1>!0r,EA||6>94I6mGi6 @4446K; 6ٗEY}Ft֨@}F@y}FgѼ}Fo}FHs?0?A8?5i??p>?@YϿ?)~Ft֨@ ~FCb;I~Dɫ髙) IY@ypGEjAEjA}M}S=Y}QU>aEvEy}>I  @5? [Ѿ jB F@9 *D ;  ;) W]uI@WYXY XYWY:WY2Wa*WaVibUiBUq*UqUqU}`@BtB BAİ=*BA\AAA#F<"CH*CRCCuI@CIG (> ).:Y]1y:5);  i} nGI i ٺ AC'0r,wEAY}2@}2@y}2Bؼ}2`}2Hu#?i??!`(?w? t? п?)~2@ ~2ha;I~2Cɫ99)9 =I9Y|@ypG鮽a=ɮa=Ia=)==MU=Y QU>aEvEy}>I@5?AgѾ fB %F@91Di: :)WM~H@WIXI XIWI:WQ2Wq*WqVqbUyBUy*UyUyU}v@RB*** querying acoustic contact ***PPBj̻B BA=*BAg[AAA;<"C~H@RCC~H@CIG>I)?Am-0r,PEAY}:9 @}:@y}:wټ}:z}:Hl?]??`"?]Ѷ?7?пh?)~:9 @ ~:Ka;I~:Cɫ99)9 =I9Y}E@y}>pGZ****** received transponder code query ******F****** received ping request ******õ">õ~j>iõQ@ñ ĵ9@)ĵ9@Iĵ9@iı^M$=Y@QU>aEvEyd}>I :-#@5? :zxѾ hB F@9i9iImmGim[@iiimH; mחE=  8:YU1y:J5)ʔ;>U40r,,EA|i|@ɫ髙) IY@yoGxDUSBL response received:!U1,P 502,000,00E0E,189,80,80,71,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )ý= ý>m㲼MuP=Y}QU}>aEvEy}>I+@5?Ѿ iB -F@9DD;  ;)W-E@WX XW:W2W*WVbUBU*UUU D @BB BA%6=*B!A%TXA!A!A-@<"C--E@RC1C5-E@C1I1G{>5:0r,EAY}>M?@}>L@y}>ؼ}>]n}>H(? Kc??@T0?`W??dп?)~>M?@ ~>Pa;I~>Cɫ髙) IY@ypGAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IA)A8Not Powering down - fast GPS鷑 )Iiiɶ鶝 )Iiɷ 鿱õ7=õt<õ\>iõ @ñ ĵn@)ĵ@Iĵ@iĵ@]H=MS=Yk9QU>aEwE!y%}%>I) ]:-2@5? e:-+Ѿ -kB eF@9-LD-; -;)-|:WC@WX XW:W2W*WVbUBU*UUU#@B-B1 B1A5=*B1A5BWAYAYA]<"CeC@RCaCeC@Ci}?i}?QIaGZ>P || N:YR1yi:59@ggA0r,qEAY}2b@}2Fp@y}23ڼ}2s~}2Hq?`? i?~ ?@&?q\? xϿ?)~2b@ ~2wa;I~2C@9@IBHnGiB@@@@B?; BӗE)K~CIK~CiCCCK4ɫ99)9 9I9Y@ypG.<Mq=Yu^QU?aE wE y ꤽ}?I15~8@5?5VѾ 5lB EF@95TD5: 5:)1WkB@WX XW:W2W*WVbUBU*UUUw@BB BA=*BA 7KVA A A <"C5kB@RC1C=kB@C9)I1GU>G0r,EA|0|249 9)=BI9y=LC=uW?4,ٱ9]DNmea in: $SNTTA,,,,,015724.43*5C iiuޕ<M}C=Y}9QU}>aEwEy_}>Iȑ :ŕ>@5? :ŕdѾ ƕnB F@9ƕ]DǕA: ȕ:)ȕ}:WA@WX XW:W2W*WVbUBU*UUU @P*QLCZQJ&fb@P3qJQuW?4,2Q։:QbQlbFn@gA[粐Q@RQHHf近zU&2?BQr@ Q8Q6rP9?P9?PQQB"QR0BBUQBY BYA]~=*BYA]LTAaAaAe <"CUA@RCaCA@CAIIG_>- }} K:YkS1yԊ:5ϻM0r,_9EAY}2۱@}2@y}2޼}2j{}2H]?@z?u?u??;כ?Ͽb?)~2۱@ ~2Ua;I~2CɫII)I IIIY}*@y}YqG=i=I=)}V-?T㥛 {Gzt?}|>} }ף;)yIyy}7A`?B`"۹?V-}?}=} y)}&AI}Ai}Ay}p AM'M9M#iM@I MX@)M9@IMiM9@]Ɉ;M]==Y]ιQUe>aaaeEewEiyuox}u>Iy}D@5?}bѾ }eB F@9}eD}#: }:)ym}Added new target pos. range: 312.600006 m, bearing: 217.306034 deg, deltaT: 4.780909 s, approachRate: 28.074160 m/s, LOS rate: -3.355885 deg/s, posRepo size: 4m ProNav: pos range: 312.600006 m, bearing: 217.306034 deg, approachRate: 28.074160 m/s, LOS rate: -3.355885 deg/s, cmd update: -10.067656 deg/s, cmd heading: 172.887696 deg, new cmd heading: 171.482194 deg. W><@WX XW:W2W*WVbUBU*UUs@U3?B \xB  B A2=*BASAAAci<"C;r>@RCC><@C!!I)GM1>a9aIaiaaaaeA; eԗET0r,uuSEAY}>`ϡ@}>ݙ@y}> ݼ}>(}>H`*}? ??o ?ph?`f?Ͽ@?)~>`ϡ@ ~>:!b;I~>Cɫyy)y }IY@y=qGMX=Y:QU>aEwEy}>IȱŵI@5?ŵѾ Ƶ^B F@9ƵlDǵ: ȵӻ:)ȱW7@WX XW:W2W*WVbUBU*UUU K?BEr퍻BA BAAE=*BIAUQAQAQAU<"C]:@RCaCe7@Ci)IAGe>  3:YV1y:5Z0r,]mEA|8i|:@Y}M@}Mb@y}M=ؼ}MI}MH@$?s??@?U?@?@Ͽ?)~M@ ~MIa;I~Iɫ)))) -I)YM@yM qG]>]7]=i]@Y ]n@)]@I]@i]@$)M*=Y:QU>a]E]$wEayeUp}e>Ii u:mN@5? :mѾ mUB 5F@9mvDmA< mc<)m~:W2@WX XW:W2W*WVbUBU*U)U1U5֖?B}hǻBy ByA}v=*ByA lOAAA<"C72@RCC2@CA ?i ? I G >a0r,(EA$9$I&nGi&@$$$&K; &ٗEY}K@}@y}ռ}O!}H@-?@9?D?u?? ?`=Ͽ`?)~K@ ~`;I~Cɫ) IY@ypGI) ?MZ=Y6:QU>a%E%*wE!y5 }=>IAEgR@5?EѾ ENB UF@9E|DE2; E3;)AWJ.@WX XW:W2W*WVbUBU*UUU`?BecxBa BaAm=*BiAmDnNAiAiAm6<"Cuг/@RCqC}J.@CyaIqG^>  kZ:Yy5);9g0r,EAY}6_@}6@y}6>lּ}6h$}6H }?`3?;?;?fÛ? ̚?Ͽ@N?)~6_@ ~6G`;I~6CɫYY)Y YIYY@y'qG=f<M=n=Y=mQUE?AAaEEE0wEIyM}U?IY e:]"U@5? e:]9Ѿ ]GB eF@9]D]r: ]<:)]:W}*@WX XW:W2W*WVbUBU*UUU @BPsB BA=*BA*MAAA+<"C2-@RCC}*@CױIAG!> n0r,EA|4<|;Y}6A @}6@y}6$޼}6|}6H` $? 8^?` b?@Û?2JϿ@\?)~6A @ ~6`;I~6Cɫ99)9 =I9Y}L@y}qGmX9v?"~ʿ|?5^?m>mS m=)iIiymJ +?v/?{Gzt?m(?mxi=mף; m^@)m#AImAiiii-K7>-@=-x=i-@) -9@)-9@I-9@i-"@E<MM:=YU QUU>YaaeEe7wEiyua}u>Iy}V@5?}Ҿ }IB F@9}D}2*; }:;)yWt}%@WX XW:W2W*WVbUBU*UUU@B%bB! B!A=*BAVKAAAi<"CZW'@RCCt}%@CI1)1I )9)I-oGi-O@-=))-Z; -EGEQ> ,:YU1y:5);t0r,EAY}F/@}Fi=@y}F輙}FN|}FH@⨿%?o? :Տ?s?IϿ?)~F/@ ~F`;I~FCɫ髩) Ii=nGIi=ٺ9=bAYu@yu*rGyɮyyi}=IR=)R=/=MR=YKLQU>aE=wEy } >I :W@5? :0Ҿ KB %F@9D: :):WE!@WAXA XIWi:Wi2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB0.B BAd>*BA@IAAA1<"C#@RCC!@CI G-,>{0r,+EAY}f`@}f)n@y}f^L9}f]g}}fH]粿`i??! )@Ƅ?u?VϿ ?)~f`@ ~fa;I~fCɫ髑) IY ^@y qGZ****** received transponder code query ******F****** received ping request ******aEDwEyz}>IW@5?Ҿ MB F@9Dw: :)W%@W!X! X!W!:W)2W)*W)V)bU1BU1*U1U1U5 @B8UB BA>*BA4GAAA()<"Cr@RCC@CI!G=Q> ,:YyZ59@  hA 9 I i     q;  E0r,*sEA|i|Y}6e@}6 @y}6}6~}6H ?`? H(?^o?a?CϿ?)~6e@ ~6`;I~4ɫ99)9 =I9Y}=@y}oqGxDUSBL response received:!U1,P 4D2,000,016CB,189,80,80,62,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 3M\=Y :QU>a%E%JwEyy}>I :xW@5? :.Ҿ OB  F@9D '; q;):W@WX XW:W92WA*WIVQbUaBU*UUU@~ @B%NÃB! B!A-=*B)A-FFA)A)A-k<"C5ˡ@RC1C=@C9M?iM?I1GmV>.0r,N"EAY}2@}2dʒ@y}2yd}2x}}2H (?P?{beff?\Ͽ?)~2@ ~2 a;I~2CɫII)I IIIY}@y}qGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)A 5R<M=E=Y=8QU=>AAaEEEPwEAyM!}M>IQUV@5?U_<Ҿ UQB ]F@9UDUϸ: UU:)QW@WX XW:W2W*WVbUiBUq*UyUUT9@B%hI*B) B)A5>*B1A=cVDAaAiAm<"Ce@RCC@Cx f.:YT1y:51IAG]v>W0r,(! !)!I!y%p2C%w?amf-ٱ!9IoGi@a; E)9I9i9=====C4u}?5^I?x&i|?5?uM?u7 uq=)qIqyu^I +?ʡE?{GzuX?u=u# u?@)u&AIqiuOAqu Am=m;߽m/aEYwEy}>Iȩ :ŭvV@5? :ŭPҾ ƭNB F@9ƭDǭ: ȭ]:)ȭ:WlB @WX XW:W2W*WVbUBU*UUU@k@P*Qp2CZQYĨX|S@dJQw?amf-2Qf3:QbQ>d kR^LvMTD@RQDhYԿ{N%?BQpa^@ QbQ#PS9?P9?PQQ>B"QBB qB BA>*BA6BAAAk<"C@RCClB @C I G >cB0r,(VEA|.;|.p;Y} @} e@y} 2} } H,6ǿgs? ? ct@pǿ Lq`?`hϿ?)~ @ ~ ga;I~ Cɫ) IYm*@ymrGDNmea in: $SNTTA,,,,,015729.27*53 -Z=M-=Y5.QU5+?11a5E=^wE9y=/a}E+?IIMU@5?MXҾ MLB UF@9MDM: M::)ImAdded new target pos. range: 178.440002 m, bearing: 199.085480 deg, deltaT: 4.607211 s, approachRate: -29.119570 m/s, LOS rate: -3.954791 deg/s, posRepo size: 4m ProNav: pos range: 178.440002 m, bearing: 199.085480 deg, approachRate: -29.119570 m/s, LOS rate: -3.954791 deg/s, cmd update: -11.864372 deg/s, cmd heading: 126.462039 deg, new cmd heading: 123.841881 deg. Wv @WX XW:W2W*WVbUBU*UUNf@U?B`l:B BA  >*B A @A AAG<"C @RCC=v @CAIy)yYIaG}Y> P0:YY1y:5j0r,oEAY}2@}2Q @y}2!}2{}2HʿK? eI?-F@\ʿ ߕ?@U&Ͽ?)~2@ ~2aa;I~0ɫ99)9 =I9Y}@y}OrGi=C=ip=I=)==I ?=H>=ui=@9 =@)=X@I=X@i=n@MEMMZ=YUAQUU>QYa]E]dwEYyeĜ}e>IimS@5?meҾ mJB uF@9mDm: m:)iW@WX XW:W2W*WVbU!BU!*U!U!U-?B9xB BA>*BA>AAA<"CP @RCC@CסIG > >9 I i c; EQ0r,|EAY}2@}2!@y}2X}2w}2H~Zοc?w?@tο`0X?@οo ?)~2@ ~21a;I~2Cɫ99)9 9I9Y@y2sGh=MN=YQQU>!!a%E%jwE)y-x}->I1 =:5|Q@5? E:5sҾ 5IB EF@95D5: 5:)5:We&?WaXa XiWi:Wi2Wi*WiVqbUqBUq*UqUyU}}?B[:B BA=+>*BA <AAA<"C%z@RCC&?CבIG> ww "6:YO1yP:5);9{0r,SEA|i|Y}>$@}>~2@y}>l# }>&]|}>H`пu?@7?п`C?5Ͽ?)~>$@ ~>&a;I~>CɫYY)Y ]IYY-@yrG]MeF=YmU9QUu>aEqwEy}>INN@5?4Ҿ GB F@9DC; ;)Wm?W X XW:W!2WI*WQVQbUaBU*UUU 2?BsB BA>*BAy_:AAA7<"CH?RCC?C)i-?IGn>䥮0r,.pEAɫyy)y }IyY^@yrGI)AA`"?Q rh?>u C<)IyS?Q?~jth/?\=D )IAiAA5ھ5`<5ti5@1 5X@)5"@I5"@i5]\<Me;=YmQUu>qqauEuxwEyy}}}>Iȁ :ŅJ@5? :ŅҾ Ɓ F@9ƅDDž: ȅ:)ȅ:W?WX XW:W2W*WVbUBU*UUUM^?B@9B BA!>*BAo8AAAG<"C?RCC?C q9qIu zz @:YQ1y:ݵ5);̍0r,sKEAY}2E@}22S@y}2Q}2){}2HԿdN?@?@dH`zԿ>2?Ͽ?)~2E@ ~2`;I~2Cɫ99)9 =I9Y*@yrG iA 56M=_=Y=QU=>AAaEEE}wEAyME$}M>IQUF@5?UYҾ Q ]F@9UDU: U:)QW?WX XW:W2W*WVbUBU*UUU\@B@a9BŔ< BA >*BAX6AAA<"CU>?RCQCU?CQIIQG}>u0r,-EA|4<|4==i=@9 =@)=X@I=@i=X@M =MMI=YM QUU>QQaUE]wEYy]}e>Ia u:eyA@5? u:eҾ eHB uF@9eDe: eQ:)e:W"?WX XW:W2W*WVbUBU*UUU9@RB*** querying acoustic contact ***PPB@/9B BAc)>*BA4AAAA<"C?RCC"?CIש)שׁIG>~~ *,:YT1y@:859@a 9a Ie qGie @a a a e s; e E0r,  EAY}B@}B_@y}B}By}BH׿@z?`k?׿@=?ο ?)~B@ ~Bc`;I~BCɫYY)Y ]IYY}@y}@sGZ****** received transponder code query ******F****** received ping request ******YYa]E]wEayeI}e>Iim;@5?mҾ mIB F@9mDmH; m;)iWm?WX XW:W2W*WVbU!BU!*U!U!U%`Ŕ@B:B BA,>*BA12AAA\<"C%v?RCCm?CשIG">M4>M CimGIi 1ٺ  Au0r,$EAY}2p@}2ʼn@y}2 U}2w}2H #Rٿi?@ ?] ~$ٿ@d?nο ?)~2p@ ~2`;I~2Cɫ9A)I MIIY@yaEwEyx}%>Iae(5@5?eҾ a F@9eDe1= e"2=)aW?WX XW:W2W*WVbUBU*UUU@n @ 3:YWU1y:ݻ5BB! B!A%*,>*B)A-b/A)A1A=J<"C]\?RCaCe?Ciѥ &<ׁ I G >0r,f>EA|i|ɫqy)y }IyYR@ysG?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -x&1?X9vQ?-!?- -u=))I)y-Cl?&1?:v?-?-P=-< - @)-;#AI-Ai-A)- AÍt3?ÍÍiÍ@É č@)čn@Ič@ič@ /=M4=YQU>aEwEy}>Iȱ :ŵ,/@5? :ŵҾ ƵQB F@9ƵDǵ: ȵV:)ȵ:W?WX XW:W2W*WVbUBU*UUU C@B;B BA@>*BAh-AAA<"Cؿ?RCC?C 9 I i  =   o; Eѽu<בIGb> 0r,XEAY}6@}6&@y}6`!}6EH|}6HTܿ`?#'? 3 ܿW䲿*?h1Ͽx?)~6@ ~6`;I~6Cɫ99)9 =I9YK@ysGI) 鿱*Mk=Yw:QU?aEwEy}?I])@5?Ҿ WB  F@9 D: :)W-Ů?W)X) X)W):W12W1*W1V9bU9BU9*U9U9UEb@Bm-j;Bq ByA}$?>*BA I+AAA<"CHڶ?RCCŮ?Cѥp<ׁIG?>  5:YT1y:ʺ50r,hyrEAɫ11)1 5I1Yu@yu;tG}xDUSBL response received:!U1,R,48D,000,0143D,18A,80,80,83,FF }Fpublishing direction and range info}!yɰ}6>}> y)}CIyy}C}IJ?N6ٱyTNmea in: $SNTTA,0.189948,,,,015733.72*43 %>t=n>i@ X@)9@Ii9@W{<M9=Y QU > aEwEy}>I! -:%!@5? -:%Ҿ %_B -F@9%D%Z: %/:)%:WU?WQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUE`@PQ*QUCZQUںa@xmJQUIJ?N62QU!:QQbQUg%pH'8:(O@RQUtn45J"rF<-?BQUO@ QUQUePUH9?PUS9?PUQUQUB"QU>BB-;B BAF>*BAQ<(AAA<"C?RCC?C) ׁ I G > 9 I qGi @    n;  )ݑIݑiݑݑݕ=ݕ40r,fIEA|;|;Y}620@}6=@y}6w=!}6g}}6H`߿?p?`v t9߿ 䅶Y&? 7TϿI?)~620@ ~6 `;I~6Cɫ99)9 9IAY}l@y}tG>M[=Y8QU>!!a%E%wEy}>Ișŝ@5?ŝUҾ ƝfB F@9ƝDǝ: ȝ+:)șm}Added new target pos. range: 273.359985 m, bearing: 185.819845 deg, deltaT: 4.727618 s, approachRate: 20.077761 m/s, LOS rate: -2.805987 deg/s, posRepo size: 4m ProNav: pos range: 273.359985 m, bearing: 185.819845 deg, approachRate: 20.077761 m/s, LOS rate: -2.805987 deg/s, cmd update: -8.417961 deg/s, cmd heading: 70.705424 deg, new cmd heading: 66.123428 deg. Wӱ?WX XW:W2W*WVbUBU*UUq@UM ?B-;B) B)A5OC>*B1A5 &A1A1A5<"C=ǹ?RC9CEӱ?CA IGU>  4:YWU1y:5);9|0r,_&EAY}2?@}2zM@y}2EW!}2x}2HYG`??Pg@u)?MοX ?)~2?@ ~2`;I~2Cɫ9A)A AIIYC@y(uGe=ie=Lz=M>=Y6oQU> a-E5wE1y=p}=>IA u:E@5? }:E}Ӿ EmB F@9E"DEd< E}<)E:W ?WX XW:W2W*WVbUBU*UUU@?B%\f;B! B!A%(^>*B!A-"A)A)A-p?<"C5+?RC1C5 ?C99IIGmW>(B0r,EAY}:yU@}:c@y}:9"}:u}:H`e?:? )߸E?lο?)~:yU@ ~:Ъ`;I~:Cɫ99)9 9I9Y}@y}tGx&1? rh&1?A>C P=)Iy(\?v/?~jtx?xi=Ļ )$AIAiA A 5@ =@ =@5©55i5@5 5­@)5@I1i5@E:MMD=YM2QUU>QQaUEUwEYy]e}]>Iae@5?e Ӿ enB uF@9e)De: ej:)aWT?WX XW:W2W*WVbU!BU!*U!U!UEJ?BNǗ;Bܹ9ܹIܽ0rGiܽ@ܹܹܹܽO; ݽۗE BAN>*BA 0 AAAt!<"C-?RCCT?C!IG5P> /:Yyo5); *0r,EA|i|ɫ髙) IY@ytGQ;MT=YQU>aEwEy}>I :@5? :Ӿ oB F@90D: 4:):W/?WX XW:W2W*W V bU BU*UUUR2?B=;BA BAAE2Q>*BAAEAAAIAMA<"CU?RCQCU/?CQIIQGu>T0r,EAY}2ё@}2x@y}2,}2oz}2H@}@?]? jR׼?@ο@?)~2ё@ ~2]`;I~0ɫII)I IIIY]!@y]tGI)I) % % % %@ %@ %@!!!i%@! %X@)%9@I%n@i%n@5<M5S=Y=S8;QU=>9AaEEEwEAyM}M>IQUS?5?U"Ӿ Q ]F@9U7DUk: U+:)QW}\p?WX XW:W2W*WVbUBU*UUUe?B=.);B9 BAAEY>*BAAEAAAAAE<"Cm.z?RCqCu\p?CqiIqG> 1:YDW1yY:59@ܭ >9ܩ Iܭ rGiܭ {@ܩ ܩ ܩ ܭ A; ݭ ԗE;1r,q EAY}2Š@}2l@y}2{}2p{}2H;Y? e?@C5A便 ^?Ͽ`?)~2Š@ ~24`;I~2Cɫ99)9 9IAY@yuGU=M]H=Y]u;QU]>aaaeEewEaym}m>Iqu?5?u,Ӿ q }F@9u>Dub: q)qW"a?WX XW:W2W*WVbUBU*UUUU@BȮ;B BAh>*BAAA A ÿ<"Cyd?RC C"a?CשIG >i 1r,|'EA||Y}f @}fi@y}f^}f*fx}fH 5b`N?t{?e` )9 ?'ο7 ?)~f @ ~f`;I~fCɫ) IY@yuGɮp=E)\(?~jtaEwEy냽}>I :M?5? :Z9Ӿ  F@9GD`; S;):W/N?WX XW:W2W*WVbUBU*UUU@@RB*** querying acoustic contact ***PPBuhݬ;By ByA}nm>*BAAAAie<"C S?  v4:YU1y:5RCC/N?CIG>M1r,GAEAY}2%@}2Y@y}26 }2Av}2H`0&0$? ?sX Hu?wο?)~2%@ ~2 `;I~2CɫAI)I UIQY@yuGZ****** received transponder code query ******F****** received ping request *******BAAAAe~<"CNK?RCC1yB?CQ9QIU\sGiU@QQQU8; UЗEIG (>I޹)޽@Aie nGIy i ٺ A-x1r,"[EAY}6L@}6c}@y}6M}6p}6H@`U??@Uv'h?Ϳ?)~6L@ ~6`;I~6Cɫ9A)A EIAY}F@y}gvGxDUSBL response received:!U1,P 48D,000,0143D,18A,80,80,83,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ->=MUI=Ye;QUm>aEwEy}>I  :f?5?  :KӾ  G@9UD|S; b;):Wf2?WX XW:W2W)*W1V1bU9BUA*UAUU% @B;B BA~>*BA AAAC<"CI8?RCCf2?C vv 5:YN1y:5.ą>I G] >@1r,mtEA|i|Y}>@}>~u{@y}>}>.q}>H@Ñ l??@@P¿Q?Ϳ?)~>@ ~>a;I~>CɫYY)Y ]IYY}@y}vGAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B @ @ @©i̬@ 9@)Iij@X<M?=Y3>;QU>aEwEy:}>I˸?5? UӾ mB G@9\D: :)W-/$?W)X) X)W1:W12W1*W1V1bU9BU9*U9U9UEb@Bm͆5<Bi BiAu6>*BqAu AqAqAuqQ<"C}.?RCyC}/$?CX߀>׹IGE>M >9I IM sGiM @M =I I M 3; M ͗Eۊ#1r,ێEAY}6w΄@}6aEwEy}>I : ?5? :v]Ӿ lB G@9cD4: :):W YZ?W X  XW:W2W*WVbUBU*UU!U%@|@BM-<BI BIAM>*BA}AAAbR<"C-?RCCYZ?C%iA%iAZ>סIG >55}5}5 5+:Y5kS1y5Ԋ:55)5;9=g)1r,ŨEAɫ)1)1 9I9Y$@yxwGDNmea in: $SNTTA,,,,,015738.56*55 5~jt?I +?l5?59< 5)1I1y5 ףp= ?Q?I +?5Q?5<594< 5 @)1I5\Ai5p A15 AjAiA   =vVip@ ­@)­@I­@i@-v=M-=Y5QU5>19a=E=wEAyE}E>IIM9?5?MjӾ MrB UG@9MmDM: M:)IW};?WyXy XyWy:W2W*WVbUBU*UUU"@B <B BA*>*BANAAA<"CY?RCC;?C-b>IG>501r,.EA||ɫ髉) IY7@ywG鮽a=ɮ;M=YQU?aEwEy}?I?5?DqӾ uB  G@9sD : {:)W5>W1X1 X1W9:W92W9*W9V9bUABUA*UAUAUEּ@BuECr<Bq BqAuR>*ByA}eAyAyA}<"C>RCC>C֍ɯ=9ItGi@=4; ΗE)ݑIݑiݑݑݕ=ݕ{4ׁIG>==== =-:Y=DW1y=Y:=ʺ5)=%;T61r,MjEAY}N;@}Nćs@y}N4}N^}NH 4L ?@+?@V@ Ŀ f?@P˿aEwEyu}>IQ ]:U\?5? ]:UdzӾ UyB eG@9U{DU: UA:)U:W~f>WX XW:W2W*WVbUBU*UUUKe@RB*** querying acoustic contact ***PPBj}I<B BAW>*BAXAAA*<"Ck>RCC~f>C = >=IG$>n<1r,VEEAY}F *@}Fhor@y}F}FP}FH ?^c?@E ;ÿ?ɿ3V?)~F *@ ~F.a;I~DɫYY)Y ]IYY@ywG)õ= õ>ʡ?j<>d;i@ X@)9@IQ@i9@ XM G=YbaExEy%*}%>I)-q?5?-Ӿ -|B =G@9-D-}; -5;))Wl,>WX XW:W2W*WVbUBU*UUUy@B]GJ<BY BYA]>*BYAepAaAaAeR<"Cml,>RCCl,>Cm ?  v:YWU1y:J59@ iA iA 9 I tGi @ /; ̗EAC1r,C EA|$i|&@Y}FD€@}F֟q@y}Fl}F;@}FHX`?E?a5¿?|ǿ`n?)~FD€@ ~F a;I~FCɫYY)Y ]IYY@yxG@AxDUSBL response received:!U1,R,220,000,0675E,188,80,80,62,FF Fpublishing direction and range info󾩰ɰ|@鰥> )BIyDPv?RAݿٱ=`;MN=Y aE xEyx}>I  :a?5? :zӾ B G@9D;; 8;):WM.>WIXI XIWQ:WY2WY*WaVabUaBUi*UiUiUu@g@P*QDZQ=*@m$JQPv?RAݿ2Q:QbQ SZ_ƗN{o 9p c@RQL*hm4ſ”iF*?BQS@ Qc~Q2PT9?PH9?P\QQC"QBB*Q<B BAW>*BAAAAE<"Cb>RCC.>CżׁIG=>MJ1r,<*EAY}U܉@}U/q@y}U&}U.}UHu?`x? ]?ſۈ?)~U܉@ ~U6a;I~UCɫQQ)Y YIaYA@yxGI)))L7A`?S㥛?Mb?+?$> @=)IyE?~jt?{Gz?D<# (@)|AI|Ai; AA @ @ @©i@ @)X@I@i@-k0=M-)=Y511a=E=xE9yEaj}E>IIMP?5?M Ӿ M}B UG@9MDM: M8:)ImAdded new target pos. range: 1550.220093 m, bearing: 189.491304 deg, deltaT: 6.405441 s, approachRate: 199.339920 m/s, LOS rate: 0.573178 deg/s, posRepo size: 4m ProNav: pos range: 1550.220093 m, bearing: 189.491304 deg, approachRate: 199.339920 m/s, LOS rate: 0.573178 deg/s, cmd update: 1.719534 deg/s, cmd heading: 16.582424 deg, new cmd heading: 12.568227 deg. Wf>WX1 X1W9:W92W9*W9V9bUABUA*UAUE`8@UM ū?BlU<B BA>*BA߻AAA7޴<"C r>RC C f>C1IIm=禽 |,:YDW1yY:&5)I1GM>%P1r,ECEAY}2၀@}2q@y}2l}2Ri}2H` ?K?<`ŧN -r?ÿ(?)~2၀@ ~2Qma;I~2Cɫ99)9 9I9Y}6@y}xGiAhAEMEp=YE(WX XW:W2W*WVbUBU*UUU ?BJ<B BAJ>*BAٻAAAj<"C覎>*CRCC>Cܝ>9ܙIܙiܙܙܙܙܝ; ݝEeq!I1G]3>sW1r,]EA||Y}6_@}6 rq@y}6u:}64}6H` ?VT?@ԣ`Q`5r?)~6_@ ~6b;I~6Cɫyy)y }IyYq@yyGUʑ<M]I=Y]^aaaeEexEaymOL<}m>I5?5?Ӿ yB G@9DP: ~:)W%>WX XW:W2W*WVbUBU*UU U B?B52{<B1 B1A=>*B9A=лA9A9A=<"CE!)>RCACM%>CI֍Q3(AIQGm5> H-:YW1yč:5>]1r,wEAY}2 @}2b!r@y}2;}2$}2HQ ?u?>'@$䳿3r{?)~2 @ ~20b;I~2CɫYY)Y ]IYY@yyG=i= m m u u@ u@ u@qqqiqq u@)u@Iqiu@yT=MH=Y`aE&xEy<}>Iș :ŝ'?5? :ŝݨӾ ƝvB G@9ƝDǝ: ȝ):)ȝ:W-v>W1X1 X1W1:W12W1*W9V9bU9BU9*U9UAUE`9?BE<B BA߬>*BAIǻAAA<"Cv>RCCv>C >,>֭ZaIqG9>ܑ 9ܑ Iܕ PuGiܕ c@ܑ ܑ ܕ Dܕ ; ݕ ×E(d1r,oEAY}2&@}2s@y}2H<}2eU}2HU"??j.J n =?)~2&@ ~2Pc;I~0ɫ99)9 =I9Y}@y}yG)-> )=M=O=Y=fAIaMEM,xEQyU6=}]>IY]:?5?]:Ӿ ]rB mG@9]D]: ]:)YWh^>WX XW:W2W*WVbUBU*UUU`/@B)<B BAf>*BA{AAAf<"CK>RCCh^>C}T>y0ƀinGIiUʿٺQU\AIG$> /3:YV1y:85) ;9Tj1r,*REA|@i|B@Y}mE2@}mt@y}mfz<}mݚ}mH`~?7? O} z?)~mE2@ ~mtde;I~mCɫii)i qIqY@yyG +?oʡſ- t)IyM?aE4xEy9=}>Iȑ :ŕ?5? :ŕӾ ƕsB G@9ƕDǕH: ȕs:)ȕ:Wu>WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB <B  B A >*B AAAA<"Cu>RCCu>C!FӅIG>\8q1r,!EAY}2 @}20v@y}2"`<}2o=}2H@\w?@^@^ݩ?u뗿?+?)~2 @ ~2g;I~2Cɫ99)9 =I9Y}b@y}:zGZ****** received transponder code query ******F****** received ping request ******5?Ӿ  -G@9D: 1:)WU̦>WQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUaUe@999I=tGi=@999=#; =ƗEB<Bi BqAu >*BqAuϭAqAqA}<"C}̦>RCC̦>CԱԱ֙yIG_> '0:YU1y:ݻ5)k;bw1r,fEAɫyy)y yIyY=@y zGxDUSBL response received:!U1,P 220,000,0675E,188,80,80,62,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %k4M-G=Y=QUE>QYaeEe?xEqy}>Iȩŭ>5?ŭӾ ƭrB G@9ƭDǭz; ȭz;)ȩW>WX XW:W!2W!*WIVQbUQBUY*UaUUb @B% <B) B)A->*B)A-A1A1A5<"C=>RC9C=>C9]?΅QIYGu>}1r,EA|4<|4aEFxEyT>}>Iȹ :Ž>5? :ŽӾ ƽqB G@9ƽDǽ: Ƚ:)Ƚ:W^>WX XW:W2W*WVbUBU*UUU24 @B-<B-< B)A->*B1A5wA1A1A5+<"C=^>RC9C=^>CA%FӅIGEQ> .:YWU1y:59@5 >91 I5 $tGi5 o@1 1 1 5 =; 5 ԗE)ɈIɈiɈɈɈ͈ 4t1r,EAY}26@}2 |@y}2=}2h>}2H[V?@@J`l? ^??)~26@ ~2m;I~2CɫYY)a eIaY@yyGxDUSBL response received:!U1,R,35E,000,0675E,188,80,80,62,FF Fpublishing direction and range info@ɰ鰩 )Iy>'I}]??`ٱ=iMV=Y aELxEy-=} >I>5?Ӿ pB %G@9D; k:)WME>WQXQ XQWQ:WY2WY*WYVYbUaBUa*UiUiUml$@P*QZQՎ!@ʹ挐JQ>'I}]??`2Q@:QbQRz& 7 ޽Qj|1eRQSYx.EpqwBQL@ QQTP#9?PT9?PQ\Q("QCBn<B BA>*BA]AAAW<"CE>RCCE>C >=?΅IGj>1r,,EAɫ髡) IY@y)yGMDNmea in: $SNTTA,,,,,015744.63*58 v/?V-?< t<)Iyl?MbP?F@i׫@ )@I@i@<M =YQU>aETxEy} >I  : P>5? :  Ӿ hB G@9 D Q: :) :mM}Added new target pos. range: 1550.220093 m, bearing: 182.640775 deg, deltaT: 4.057876 s, approachRate: 0.000000 m/s, LOS rate: -1.688206 deg/s, posRepo size: 4m] ProNav: pos range: 1550.220093 m, bearing: 182.640775 deg, approachRate: 0.000000 m/s, LOS rate: -1.688206 deg/s, cmd update: -5.064617 deg/s, cmd heading: 23.530652 deg, new cmd heading: 24.400924 deg. W]]>WYXa XaWa:Wa2Wa*WiVibUiBUi*UqUqUu-?BT<B BA&>*BAAAA ;<"CB>RCC]>CFӅu }} '=:YkS1yԊ:5יIG>91r,ҧFEA|i|@Y}22@}2@y}2!=}2b`>}2HrT?@U*@@~?L!?@?)~22@ ~2+l;I~0ɫ99)9 =I9Y@y;yGu;Mu=Y}ZT} ?Iȑŕ>5?ŕ9Ӿ ƕcB G@9ƕDǕ: ȕb:)ȑܹ9ܹIܽrGiܽ{@ܽ=ܽPDܹܽH; ݽڗEW>WX XW:W2W*WVbUBU*UUU?BM<B BA>*BA~AAA%<"C:.>RCC>Ce<6ɅשIG>C1r,`EAY}: @}:@y}:L$=}:>}:H`|, k?I'¿ q?@3@A? ?)~: @ ~:i;I~:Cɫ99)9 9I9Y}c@y}yGI)UpM]L=Y];QU]>aaaeEe`xEaym=}m>Iq }:ub>5? }:uӾ u\B G@9uDu: u:)u:W>WX XW:W2W*WVbUBU*UUU`>D?B t<B BA>*BAIsAAA,<"Cb>RCC>CT<?΅IG]v>& {{ 6:Y#R1y:o5v1r, ^zEAY}2D@}2@y}2%=}20>}2Hd?q¿8l`W`֊?G? ś?)~2D@ ~2Uyya}E}fxEy=}>Iȉō%>5?ōeԾ ƍUB G@9ƍDǍ: ȍY:)ȉWR>WX XW:W2W*WVbUBU*UUU?B\<B BA9>*BAShbAAA-¶<"C W>RC CR>C) ֍FӅ>9IhqGi6@5; ЗEi Iq G >Ҥ1r,;EA|;|;Y}JҊ@}J,@y}J#=}Jq>}JH ߤϔ?¿``Q"?}_v?@+?)~JҊ@ ~Jήf;I~Hɫ髙) IYM@ywGuMuJ=Y}ʺQU}>yyaEmxEy<=}>I(>5?Ծ OB G@9Dv: :)Wbk>WX XW:W2W*WVbUBU*U!U!U%_4@BMA<BQ BQAU>*BQAUj#SAYAYA]qg<"Ce~o>RCaCebk>CayYIiG[>5 555 5-B:Y5P^1y5:55)5;9=D1r,F$EAY}@}3@y}ٳ=}G>}H`< ?)ÿ`s@^?< E?@͖?)~@ ~)vc;I~Cɫ) IY-@y-*wGY>i=M~jt?Mb?+ηM>M= Mv)IIIyM~jt?Q?Mb?M?Muí=íií@é ĭd@)ĭ"@Iĭ9@iĩ!M7=Y>QU>aEtxEyl=}>I :>5? :2Ծ LB G@9D{:  :):W C>W X  X W :W2W*WVbUBU*UUU @BME*BIAUCAQAQAU<"C]N>RCYC]C>Ca u=qQ)I9GUv>B1r, EAY}:|@}:Z@y}:#=}:$>}:H/E{?`ÿ@57@U̬?gF|??)~:|@ ~:ga;I~:Cɫ99)9 9I9Y}@y}OwG?A)Õ= ÑV1<Mu=Y ͻQU?aEyxEy =}?IȹŽ}>5?Ž&Ծ ƽJB G@9ƽDǽ: Ƚ:)ȹ]>9YI]oGi]@YYY]; ]ėEW#>WX XW:W2W*WVbUBU*UUUˏ@RB*** querying acoustic contact ***PPB ͌<B  B A>*BA6AAA<"C5#>RC1C5#>C9AI1G]T>EEEE E1:YEDW1yEY:E5)E;i=nGIiȿٺAe1r,OEA|i|@Y}6d@}6r@y}6j =}6Rf'>}6H@o@!? Ŀ$eq)?y ??)~6d@ ~6ۢa;I~6Cɫ99)9 9I9Y}@y}vGZ****** received transponder code query ******F****** received ping request ******MF=Y֨QU>aExEy@=}>I  : r>5? : C3Ծ GB G@9 D ); (;) :W=WX XW:W2W*WVbUBU*UUU @B}@|<By ByA}>*ByAx(AAA <"CnF >RCC=Cׁ֡IGd>y81r,@EAY}6pX@}6f@y}6`=}6-% >}6H`]߿y?QÿJD߿:I?n F?` ?)~6pX@ ~6vKa;I~6Cɫ99)9 =I9Y}@y}'vGxDUSBL response received:!U1,P 35E,000,0675E,188,80,80,62,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 å^>årå&>iå@á ĥ)ĥn@IĥX@iĥX@5M-.=Y=+ɻQU=>AiamEuxEyyz=}>If>5?1BԾ EB G@9Dӻ: D:)WJ=WX XW:W2W!*W!V!bU)BU)*U)U)U5` @B}Z<By ByA}x>*BAAAA<"CJ=RCCJ=C]>9YI]nGuu{u{u u0:Yu#R1yu:uݸ59@i]@]=]QD]D]; ]EIG>$1r,EAY}BZ@}Bh@y}B<}B>}BHࠗݿ?K¿\` ݿ"5?o??)~BZ@ ~B}3a;I~BCɫQQ)Q UIQY@yuGp=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ]jA]jAMc=YxQU>aExEy-=}?Iȩ :ŭ_>5? :ŭzLԾ ƭDB G@9ƭDǭ: ȭw:)ȭ:W'>S=WX XW:W2W*WVbUBU*UUU|(@B<B BAo>*BA%`A!A!A% ݹ<"Chn=RCC'>S=CֱבIGa>4N1r,+k/EA|$|$ɫ髱) IY d@y QuGxDUSBL response received:!U1,R,502,000,00D8B,189,80,80,62,FF %Fpublishing direction and range infof3ɰ>7> )Iy*Cw?amf-ٱ/$?~jt?/$1?D< )Iy rh?S㥛~jt? ?/ݼ< A)@IV Ai\A(A=$>===Qi=@9 =@)="@I="@i="@MMM?=YUQUU>QQa]E]xEYy]}e>IimT>5?mWԾ i uG@9m&Dm¿: mӻ:)iW5C<W1X1 X1W1:W92W9*W9V9bUaBUa*UaUaUm@Pq*Qu*CZQuKǚR@N. ,cJQuw?amf-2Quf3:QqbQucd'{eW@18RQuԨ/`"k?r[Tu¿BQuADG@ Qur@Qu(Pu69?Pu#9?PuQuQuߒ"Qu(BwJ<B BARb>*BAAAAKV<"CC<RCC%C<C!-?΅ IGM>  `6:YWU1y:5>51r,BIEAY}~R@}~`@y}~<}~>}~H? ڿ?`8ٿ٫?</??)~~R@ ~~`;I~~Cɫ) I>9ImGi[@; E)݉I݉i݉ݍ=݉ݍ4Y5a@y5tGTNmea in: $SNTTA,0.113361,,,,015749.07*4E =i= ģM O=Y1QU>aExEy%0>}%>Ii u:mbL>5? u:mcԾ i uG@9m-Dm : m:)m:mAdded new target pos. range: 170.519989 m, bearing: 178.392752 deg, deltaT: 4.493610 s, approachRate: -307.036011 m/s, LOS rate: -0.945347 deg/s, posRepo size: 4m ProNav: pos range: 170.519989 m, bearing: 178.392752 deg, approachRate: -307.036011 m/s, LOS rate: -0.945347 deg/s, cmd update: -2.836042 deg/s, cmd heading: 0.685093 deg, new cmd heading: 358.719682 deg. Ws@WX XW:W2W*WV!bU!BU!*U)U-Pe@U-;?Bu6><Bq ByA}A>*ByA}jAyAyA<"C"ERCCs@C չԽ=qIIQGu>\1r,EcEAY}27@}2D@y}2ٲ<}2T>}2H >Ui;M]W=Y]QU]>aaaeEexEaym.=}m>IquD>5?ujmԾ uEB }G@9u4Du: u:)qWn?@WX XW:W2W*WVbUBU*UUU4?B{qM<B BAOC>*BAPߺAAAۺ<"Cu3lмRCqCun?@Cq֡יIGg>  $4:YU1y:51r,|EA|i|Y}:|@}:$)@y}:<}: >}:Hֿ?@Cֿ`p?NՓ@&??)~:|@ ~:{`;I~:Cɫ99)9 9I9Y}@y}RsG ]@ ]@ ]@]©]]i]3@] ])]@I]@i]Σ@mLMmI=YmpƻQUu>qya}E}xEyyQ=}>IȉōU=>5?ōxԾ ƍFB G@9ƍ;DǍ8: ȍ:)ȉWT@WX XW:W2W*WVbUBU*UUUC?B%(<B BAz.>*BA%ͺAAA<"C j:RC C T@C%6ɅI G%N>9IlGig@PD ; Ep1r, іEAY}6g@}6@y}6W<}69>}6H#տ?@me8`ԿϜ?` ??)~6g@ ~6`;I~6Cɫqq)q yIyY@ysGI1)1u<MuJ=YuQU}>yya}E}xEy6=}>Iȑ :ŕ96>5? :ŕԾ ƕGB G@9ƕBDǕ: ȕ~:)ȕ:W@WX XW:W2W*WVbUBU*UUU ?Bez2<B BAl5>*BA=NAA A ><"C^yRCC@C!!?΅IG%M> 11:Yy5)P;9 1r,EAY}6 @}6@y}6غ_<}6c>}6H ӿ NB?@р.@gӿ͚?"@?˸?)~6 @ ~6`;I~6CɫYY)Y YIYY@ysG'1Z?p= ף? )IyS㥛?l? rh?$&?=C = µA)µQ@IµAiµvA\AiAhA    @ @ @i@ )@Ii@%M%@=Y%˻QU->))a-E5xE1y=u=}=>I9=]0>5?=Ծ =NB MG@9=KD=: =:)9Wm5I@WqXq XqWq:Wq2Wq*WyVybUyBUy*UyUU?B_!<B BA'>*BAXAAAY<"CRCC5I@CFӅ׹IGf>1r,~EA|4<|4}6H2ѿG?@C` $ѿ??hD?@̸?)~6N @ ~6l`;I~6CɫYY)Y ]IYܡ9ܡIܥkGiܥĿ@ܥ=ܡܡܥ; ݥEY@yerG]:M]X=Y]ƻQU]>aaaeEexEiym=}m>Iq }:u+>5? }:u&Ծ uTB G@9uSDu: u:)u:W@WX XW:W2W*WVbUBU*UUU@BEy<BA BAAEh>*BAAMAIAIAMg<"Cu.׽RCqCu@CyցYIiGZ>81r,F`EAY}6@}68@y}6<}6 >}6H ο ?6@yο W ?Sn?L?)~6@ ~6ϑ`;I~6Cɫ99)9 9I9Yu@y}qGyy=i=oMP=YqQU>  a E xE y=}>I'>5?EԾ ZB %G@9[D: :)WM@WIXI XIWQ:WQ2WQ*WQVYbUYBUY*UYUYUe@RmB*** querying acoustic contact ***PiPiB <B BA >*BAAAA5m<"CRCC@C յ=Ե>֥?΅ׁIGA>  B5:YWU1y:59@j1r,7EAY}64@}6@y}6=;}6I >}6H@ʿ?`H&`Hʿ̴?~`V?`H?)~64@ ~6m`;I~6Cɫ99)9 9I9Y}@y}KqGZ****** received transponder code query ******F****** received ping request ******;=i\@ "@)9@I"@i"@M;=YQU>a E xE y=}>I %:#>5? %:Ծ bB %G@9dD: :):WM_@WIXI XIWI:WQ2WQ*WQVQbUQBUY*UYUYU]` @Bk;B BAl=*BA{AAAp<"C?RCC_@CFӅIG%n>ܡ9ܡIܥ(kGiܥ"@ܡܡܡܥ&; ݥɗE2r,EA|i|@Y}6@}6q@y}6eܴ;}6 >}6H ,ǿ-?{xǿ? v@E?`?)~6@ ~6x`;I~6CDFCinGI)iAɫaa)a eIimĿٺimAY@ypG?9gAxDUSBL response received:!U1,P 502,000,00D8B,189,80,80,62,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 aMQ=YlQU>aExEIy]=}e>Iae >5?e Ծ eiB G@9emDe'; ee;)aWUN@WQXQ XYWY:Wa2Wa*WVbUBU*UUU, @BMD;BI BQAU=*BQAU'bAQAQAUNm<"C]1,RCCN@C 0:Yyݵ5);9?΅I G= > 2r,51EAɫyy)y }IyY@ypGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Ii)mAM?@5^I ¿p= ףn?b )Iyrh|?~jtx?ˡE??;'= MA);@IiA(A]/>]9>]i]@Y ]E@)]@I]@i]@m <Mm>=YuQUu>qqa}E}xEyy}>Iȁ :Ņ >5? :ŅԾ ƅqB G@9ƅuDDž]: ȅ:)ȅ:W5 @W1X1 X9W9:W92W9*W9VAbUABUA*UAUiUm`&@B9;B BA=*BA)LAAAb<"CG@RCC @CIG%>2r,XKEAY}2Xܚ@}2@y}2@O;}2<>}2H ~?ɈWӾ|É? %i??)~2Xܚ@ ~2Z`;I~2CM>9IIM`jGiM@M=IIM%; MȗEɫyy)y }IY@ypGxDUSBL response received:!U1,R,D36,000,00D8B,189,80,80,62,FF Fpublishing direction and range infoV?ɰ )Iy`W?}^?ٱMe=Y7׻QU>  a E xEy->}>I!%>5?%Ծ %xB 5G@9%|D%]; %;)!Wec@WaXa XaWa:Wi2Wi*WiVibUqBU1*U1U1U5`@PA*QAZQEK?Oa@DWYX@JQE`W?}^?2QEV?:QAbQE=L0KT@bP:6(@RQEx}w?!#D P?BQEC@ QEpQEYBPEǪ9?PE69?PEQEQEA"QEߒBN;B BA=*BA48AAA N<"CQRCCc@CFӅיI 1:YU1y:5);Ge>2r,EeEA|;|;Y}fӛ@}fl@y}f~ ;}f4>}fHzK`ؗ?`1*`?#aP??)~fӛ@ ~fx`;I~fCɫ) IY5L@y5GpGTNmea in: $SNTTA,0.114625,,,,015753.52*47 MgMU7=YUdQUU>YYa]E]xEaye=}e>Iim>5?m?Ծ mB uG@9mDm÷: mϸ:)imyAdded new target pos. range: 170.519989 m, bearing: 298.510604 deg, deltaT: 4.403876 s, approachRate: 0.000000 m/s, LOS rate: 27.275484 deg/s, posRepo size: 4mProNav REINIT: LOS rate is 27.275484 deg/s. Setting heading cmd to target bearing of 298.510604deg and heading rate command to 0 deg/s.WC@WX XW:W2W*WVbUBU*U UU`?Bw;B BA=*BA%"AAA 4<"CERcRCACEC@CI5?΅1IAGm>"2r,_|EAY}:e͜@}:۔@y}:X:}:>}:H`?S Ӯe|?@K ? ?)~:e͜@ ~:_`;I~:Cɫ99)9 9I9Y}'@y}pG=i=]Y]Y=]>i]@Y ]@)]"@I]@i]@mEMmZ=YuD]QUu>qya}E}xEyyd=}>Iȉ :ō>5? :ōվ ƍB G@9ƍDǍ: ȍ:)ȍ:WWX XW:W2W*WVbUBU*UUU^?B;B BAe=*BA$\AAA<"C yRC C C ==%FӅI G%M>|| *,:YR1yi:]59@A9AIEiGiE.@AAAE; EE)цIцiцՆ=цՆC4 &2r,WEAY}2hϝ@}2ݕ@y}2}2>}2HMٝ?@n 򈝿dq? ?@? q?#?)~2hϝ@ ~2Y`;I~2Cɫ99)9 9I9Y}@y}oG=M=N=Y=[QUE>AAaEEExEIyMR=}M>IQU >5?Uվ UB eG@9UDU{: U:)QWWX XW:W2W*WVbUBU*UUU+ ?B;B BA=*BA*PAAA|<"CľRCCC?΅׹IGE>4,2r,2EA|i|@ɫyy)y yIyY6@ynG'1Z?ktL7A`?? +=)Iy9v?Mbp?I +??;9< )@I\Ai AA-o>-=-Ji- @) -@)-9@I-@i-9@=SM=;=YEQUE>AAaMEMxEIyU}U>IY e:]x>5? e:] վ ]B eG@9]D]: ]:)]:WWX XW:W2W*WVbUBU*UUU ?Bf;B BAqr=*BA|AAAѺ<"CMRCCC> yy 8:YP1y':5IGj>32r, EAY}2@}2@y}2#}2ci>}2H?? S}?@c qd?B?d?)~2@ ~2Ja;I~0x9zCIz3iGiz@xxxz ; zEɫYY)Y ]IYY+@ynGI)UTmM]Z=Y]QU]>aaaeEexEaym3>}m>Iqu->5?uJ,վ uB }G@9uDuܹ: u:)qWWX XW:W2W*WVbUBU*UUU@Be@r;Ba BiAml=*BiAuѹAqAqAua<"C}RCCC֝FӅyIG^>kH92r,kEAY}2@}2@y}22}2>}2H@D?@?a C?@x Rf??/?)~2@ ~2#a;I~2Cɫ99)9 =I9Yu$@y}nGMP=YQU>a E yE y !=}>I %:>5? %:%9վ B -G@9D: R:):WIWIXI XIWQ:WQ2WQ*WQVYbUYBUY*UYUYUe)@B t;B BA/i=*BAAAA<"C<"RCCCׁIG=>  5:YT1y:ݵ5.@2r,EA||Y}>͡@}>ڙ@y}>0S,}><>}>HZm??:Q?G`de??о?)~>͡@ ~>}aa;I~>CɫYY)Y YIYY@ynG@AM̼MQ>Mm=iM3@I M)IIMz@iMz@]xM]D=Yep9QUe>aiamEmyEiyu=}u>Iy}|>5?}Fվ }B G@9}D}: }:)yWWX XW:W2W*WVbUBU*UUU |@RB*** querying acoustic contact ***PPBWN;B BAiM=*BA_AAA8X<"C38RCCCIGE>9IlhGi@=; EXF2r,kEAY}2w@}2@y}2w)J}2ٝ>}2H]?`؁?@쿿=~7?6@,Ei??m?)~2w@ ~22v`;I~2CɫYY)Y ]IYY@y{nGZ****** received transponder code query ******F****** received ping request ******aEyE!y-=}->I15>5?5Sվ 5B EG@95D5 ; 5:)1WAWAXA XAWA:WA2WI*WIVQbUYBUY*UYUYU] @Bk?;B BAMB=*BA⏹AAA,<"CVRPRCCC 11!Ia  +:YDW1yY:G>5);9L2r,[z4EAɫyy)y }IyY_@y$oGxDUSBL response received:!U1,P D36,000,00D8B,189,80,80,62,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ʡE?S㥛y&1??/ݼ `<)Iy-?~jt?I +???<94< A)@IAi A)e= e=??Ƌ>i=@ @)I9@iX@%<M%=Y%QU->)1a5E5yEaye}m>Ii :m.!>5? :m eվ mB H@9mDmy< mnw<)m:WWX XW:W2W*WVbUBU*U!U!U% S^@BVj;B BAg=*BAYSAAA<"C%nRC C C = ?΅ I! G= >`S2r,J(NEA|i|Y}:@R>9PIRhGiR@PPPR; RE}:@y}:誻}:\=}:H ]?@i`;I~:Cɫ髑) IY@y)nG鮱ɮa=ENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -M=YQU?aEyEy U>} ?IX$>5?znվ B -H@9D.; )0;)WYWaXa X!W!:W!2W!*W!V)bU)BU)*U)U1U5(E@B]S;BY BaAe =*BaAe9q>AaAaAeȹ<"CmwzRCiCqCqinGIkAi=!̿ٺEkAE(Aֱf  ;:YW1yč:5);׉IG>[Y2r,gEAY}2`@}2 @y}2JO}2H=}2H`SN?@? JC@0?@ )w?(??)~2`@ ~2`;I~2Cɫ99)9 9I9Y}}@y}nGxDUSBL response received:!U1,R,D36,000,00D8B,189,80,80,62,FF Fpublishing direction and range infoɰ鰁 )Iy`W?}^?ٱI)M`=YQU>aE!yEy=}>I :(>5? : zվ B H@9D1; ;):WyWX XW:W2W*WVbUBU*UUU @P*QZQK?Oa@DWYX@JQ`W?}^?2Q:QbQ ap-_@,\ s)@RQgN?kuX[?BQ_@ QLQ BP=9?PǪ9?PuQQA"QABuX;By ByA}=*ByA}xBAyAA瑹<"CtRCCCԙԙ֙qIG>Am`2r,>ʁEAY}bx@}b!@y}bpû}bQ>}bH`??`㿿 ?ћxx?>?`?)~bx@ ~b`;I~`ɫ) IY/@ymG]DNmea in: $SNTTA,,,,,015757.96*50 qujAd?f&Q>i@ z@)z@I\@i @UΪMU3=YU7QUU>YYa]E])yEayeZ=}e>Iim/>5?m\վ mB }H@9mDm: mܹ:)imuAdded new target pos. range: 170.519989 m, bearing: 317.829111 deg, deltaT: 4.463924 s, approachRate: 0.000000 m/s, LOS rate: 4.327696 deg/s, posRepo size: 4m ProNav: pos range: 170.519989 m, bearing: 317.829111 deg, approachRate: 0.000000 m/s, LOS rate: 4.327696 deg/s, cmd update: 12.000000 deg/s, cmd heading: 298.510604 deg, new cmd heading: 298.510604 deg. W4t@WX XW:W2W*WVbUBU*UUUz?B>:B BA<*BA5 AAAQ_<"C  RC C4t@CFӅܩ9ܩIܭgGiܭF@ܩܩܩܭ; ݭEI     [/:Y V1y : 5) ;Gn>Ff2r,TEA|4<|4}6HT?`?b! aE.yEyR=}%>I! -:%4>5? 5:%վ %B 5H@9%D%: %:)%:WU@WYXY XYWY:WY2WY*WaVabUaBUa*UaUiUm6?Bv{5;B BA =*BA׸AAA(<"C1RCC@CցYIiG8>{l2r,kEAY}:tu@}:@y}:׻}:>}:H`C"? _A?``$ a?t7 mz??శ?)~:tu@ ~:=`;I~:Cɫ99)9 =I9Y}@y}NmGi=ʡE?/$ˡE?>1 '=)IyV-?11a=E=5yE9yE=}E>IIM;>5?MUվ MĸB UH@9MDM: M:)IW}֮@WyXy XyWy:Wy2W*WVbUBU*UU U j?BmE:Bi BqAu4<*BqAum0AqAqAu<"C}RCمC֮@C ՝=ԝ=֙  } }  /:Y kS1y Ԋ: ʺ59@YIaG}z>js2r,[EA$9$I&@gGi&@$$$& ; &E)CICi==4Y}F,l@}Fy@y}Fۻ}FR>}FH ?*?@;?`ej|{?8?{?)~F,l@ ~Fu`;I~FCɫyy)y yIyY@y mG]-M]Y=YenQUe>aiamEm;yEy=}>I :!C>5? ::վ ˸B H@9Dv&; -;):W5}@W9X9 X9W9:WA2WA*WAVIbUIBUI*UQUQUU?B7:B BAP1<*BA뤸AAA<"CERC C}@C֥?΅yIG^>y2r,6EA|i|@Y}6oX@}6f@y}6廙}6A>}6H ?^?`J"9@k?`ϣ|? O??)~6oX@ ~6_;I~6Cɫ99)9 =IAY@ylGMD=Y>QU%>))a-E-ByE1y5==}=>I9=MK>5?=վ =ӸB MH@9=D=: =0:)9Wu?@WqXq XqWq:Wy2Wy*WyVybUyBU*UUUA @B'9B BAY;*BAPAAA<"CuRCC?@CFӅ׹IGf>|| ,:YR1yi:5ؼ2r,EAY}6F@}6kT@y}6}6G=}6Hn?@QV?q`K?`]~?`??)~6F@ ~6_;I~6Cɫ99)9 9I9Yu@y}8mGI)A=7==?=>i=@9 =)=K@I=z@i=z@M:<MMQ=YUnQUU>QYa]E]HyEYye=}e>IimES>5?mվ mڸB uH@9mDm: m:)iWŶ@WX XW:W2W*WVbUBU*UUU @B4:B BAb{<*BAAAAU<"C_cRCCŶ@CIGI>A9E~CIEfGiE@E=AAE; EE|2r,EAY}: 7@}:D@y}:X!}:>}:Hn'? ?6n49?`6o ?k?Ѿ?)~: 7@ ~:_;I~:Cɫ99)9 =I9Y}Y@y}lGAASMV=YQU>aENyEy=}>Iȹ :Ž[>5? :Žվ ƽB H@9ƽDǽ: Ƚ:)Ƚ:W=T@WX XW:W2W*WqVqbUyBUy*UyUyU}:@RB*** querying acoustic contact ***PPBn4B BA/f:*BA2AAA<"CMRCC=T@C%?΅I GMR>---- -1:Y-U1y-:-52r,l6EA|;|;ɫyy)y }IyY;@ylGZ****** received transponder code query ******F****** received ping request ******=\i@ )@I@i@OM(=YQU>!a%E%VyE)y-}->I15g>5?5վ 5B =H@95D5r: 5:)1Weӓ@WaXa XW:W2W*WVbUBU*UUU@ @B2B BA*BAA A A iܷ<"Cj4RCCӓ@C5FӅ IG5>A 9A IE xfGiE S@A A A E ; E E2r,jPEAY}>a@}> )@y}>p#}>>}>H*?@!?qa|d?wm?`H??)~>a@ ~>_;I~>Cɫyy)y yIyY Y@ylG%xDUSBL response received:!U1,P D36,000,00D8B,189,80,80,62,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 2'<Mg=Y1QU>aE\yEyM>}M>IY :]q>5? :][վ ]B H@9]D]< ]e<)]:W@WX XW:W2W*WVbUBU*UUUJ @B%B) B)A-/f:*B)A-{A1A1A5̑<"C=RCACE@CY m=m>q k(:YT1y:J5);95Q I G5 >!2r,x~jEAY}6 @}6@y}6M3}6 >}6H`_1?k? zZ@?=@Lp?P-?h?)~6 @ ~66_;I~6CɫAA)A IIIY@ylGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ÅF>Ål?Åf>iÅ@Á ā)ą@Iāiąz@ <M;=YQU>aEcyEy=}>Iȱŵ{>5?ŵ"վ ƵB H@9Ƶ!Dǵr: ȵ]:)ȱW@WX XW:W2W*WVbUBU*UUU'@B%.:B! B)A-<*B)A-kaA)A)A5O<"C5ؚ RC9C=@C9Y1IAG]v>y 2r,yYEA|i|Y}:@}: @y}:5O}: >}:HAn?*?tR?Ѯt?@?@̰?)~:@ ~:_;I~:Cɫ99)9 9I9Y}%@y}flGV3Mp=YQU?aE5hyE9y==}E>II }:M>5? }:M־ MB }H@9M(DM; M8;)M:WiY@WX XW:W2W*WVbUBU*UUUa@BukaBy ByA}*ByAyAAA$<"CGRCCiY@Cֹ9IfGi@=; EשIGd> ww >:YO1yP:%5);1 1 i =nGI lAi ȿٺ lA ¹A32r,4EAY}:@}: @y}:d}:b>}:H G?@e?`xƿ*?b.d?@5?`$?)~:@ ~:`;I~:Cɫy髁) IY@yOlGxDUSBL response received:!U1,R,460,000,00D7D,189,80,80,95,FF Fpublishing direction and range info5zɰo> )CIy)C΀?FyٱTNmea in: $SNTTA,0.136076,,,,015802.42*4D I)AǦM8=YCQU>aEoyE1y5 =}5>I9=>5?=־ =B MH@9=1D=ʽ: =:)9W8@WX XW:W2W*WVbUBU*UUU[@P*Q)CZQvW@6yaJQ΀?Fy2Q5z:QbQJ1wPSr['jcs1R+2RQP tؿxJݡSiBQg@ QQQPG9?P=9?PQuQB"QABABA BAAA*BIAQAQAQAU<"C}nƽRCC8@CԱԱ֡יIG5>]2r,EAY}2@}2C @y}2@y}2V >}2H ?@6?﴾ `?Xf'?K??)~2@ ~2_;I~2Cɫyy)y yIyYz@ykGx&?V-J +7 ?m H)IyQ?Mb?y&1??@=`e< )@I Ai A= A5X9>5㥽5$ƾi5G@1 1)5@I1i1E6MED=YMBQUM>QQaUEUvyEYy]=}]>Ia m:eŸ>5? m:e^־ eB uH@9e8De: e:)e:mAdded new target pos. range: 169.679993 m, bearing: 247.020922 deg, deltaT: 4.845995 s, approachRate: -0.173338 m/s, LOS rate: -14.611692 deg/s, posRepo size: 4m!ProNav REINIT: LOS rate is -14.611692 deg/s. Setting heading cmd to target bearing of 247.020922deg and heading rate command to 0 deg/s.Wg@WX XW:W2W*WVbUBU*UU5e@U`s?BB BA̻*BAJuAAA9<"C3RCCg@C1  7:YWU1y:59@IG> >9 I i ; —EE2r,_EA|4<|4}6H@'??@@ ?xPj?`?q?)~6=@ ~6_;I~6CɫYY)Y aIaY@ykGu<MuX=Y}QU}>yaE|yEy=}>Iȑŕ߫>5?ŕ(־ ƕB H@9ƕ?DǕ: ȕ+:)ȑWWX XW:W2W*WVbUBU*UIUQUU6?BJuB BA*BAAAA]е<"CRCCCֹיIGb> r2r,EAY}B ȳ@}Bի@y}B}B0Z>}BHi? &?)#Ss?T@M5???)~B ȳ@ ~B_;I~BCɫYY)a eIiY @ykGu=iu==z>/aEyEy؁=}>I>5?3־ "B H@9GD^: ϸ:)W!W!X! X)W:W2W*WVbUBU*UUU:I?BŦB B A *B A [A A Ad<"C-zRCACACI im=q     [/:Y DW1y Y: o5qIyG~>W2r,EAY}:i@}:@y}:Ï}:x=}:H0?`? v ?,@C?`S{?`s?)~:i@ ~:_;I~:Cɫ99)9 =I9Y}w@y}kG)= >Er=MEU=YMQUM>IIaUEUyEQy]u=}]>Ia m:e>5? m:eC<־ e(B mH@9eNDe|: eg:)e:WWX XW:W2W*WVbUBU*UUU c.?BB BAeۻ*BA▨AAA<"C&8y*CRCCCܑ9ܑIܑiܑܑܑܑܕ; ݕėE)~CI~Ci4IGI>с2r,|EA|i|@Y}6r@}6B@y}6K}6=}6H ?? Fv?"M`=?=`?`?)~6r@ ~6_;I~6CɫYY)Y ]IYY@ykG5<M=K=Y==QU=>AAaEEEyEAyM=}M>Iȡť/>5?ťE־ ƥ.B H@9ƥVDǥ: ȥ:)ȡWWX XW:W2W*WVbUBU*UUUv?B▨B BA*BAAAA6<"C%J RC!C!C)ցaIiGZ>=99= =o/:Y9y9=85B2r,%Y9EAY}2d@}2vr@y}2B}2r>}2H]? j?[@p?`S@? ?@?)~2d@ ~2_;I~2CɫII)I MIIY}@y}kGI)Cl?++;> )Iyy&1?:v?ˡE?`%?T<'= A)bAIvAi A AM>ME?MC=iM@I M)M@IMA@iM@]A:M]9=Y]^:QUe>aaaeEeyEiyu!=}u>Iy }:}0>5? :}TQ־ }:B H@9}_D}: }:)}:WWX XW:W2W*WVbUBU*UUU`W@BB BA*BAAAA\<"ClRCC!C!15jA9I!G=r>܁ 9܁ I܁ i܁ ܁ ܁ ܁ ܅ ; ݅ ×Em2r,Q1SEAY}Fi@}Fw@y}FX}Fe~>}FHK?F?  Z(? ^>@犑?`?@@?)~Fi@ ~F_;I~FCɫYY)Y eIaY@ykG@AMa=Y:QU>!!a%E%yE)y-=}->I15>5?5Z־ 5DB EH@95gD5: 5:)1WaWaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqU}B=@RB*** querying acoustic contact ***PPBB BA^*BA%AAA<"CRCCC֩aIqG9> {{ 4:Y#R1y:ʽ5);9 02r,mEA|V;|TY}Mm@}M{@y}M눼}M=>}MH ??M:?C?Ѻ??)~Mm@ ~M _;I~MCɫ ) IYMĿ@yMkGUZ****** received transponder code query ******UF****** received ping request ******] v>i @  ) E@I E@i /@[;M%:=Y%z:QU%>))a-E-yE1y5"=}5>I9 E:=o?5? M:=e־ =PB MH@9=pD=b: =:)=:WiWiXi XiWi:Wi2Wq*WqVqbUqBUq*UyUyU} @B%B BA*BAAAAQ<"C?RCCCIG>ʥ2r,EAY}2d@}2Vr@y}2 o}2 >}2H ֫?H?@ ׂ࿆?`g-?R??)~2d@ ~2_;I~2Cɫ99)9 =I9Y}п@y}kGxDUSBL response received:!U1,P 460,000,00D7D,189,80,80,95,FF Command AckBRequesting micromodem ping code 2i=iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 t;Ma=Y3QU >a%E%yEy=}>I?5?k2r,ʠEAY}2J@}2X@y}2S}2 >}2H8D?@?޹`H?f@?`\M?@?)~2J@ ~2Э_;I~2Cɫ99)9 =I9Yu@y}jG}a=ɮyNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )]= ]=uMuA=Y}QU}>yyaEyEy=}>Iȑŕ$?5?ŕDx־ ƕfB H@9ƕDǕ+: ȕ8:)ȑWWX XW:W2W*WVbUBU*UUU 4@B|:B BAݿ*BAʸAAAK<"C RC={CCbסIGD>U2r,EA|i|@Y}6l1@}6?@y}6_}6q>}6H?`M?K)ì?>>???)~6l1@ ~6_;I~6Cɫ99)9 EIAY}@y}jGxDUSBL response received:!U1,R,245,000,00D7D,189,80,80,95,FF Fpublishing direction and range infoɰ鰁 )Iypj?Yu߿ٱ kt? ףp= ?+  ? Q8= ) I y "~j?l?MbP S#? =  MA) AI Ai  A   AÕR>Õ\Õ'=iÕ@Ñ ĕ@)ĕΣ@Iĕ@iĕ@;M9=Y QU>aEyEyP=}>Iȹ :Ž8?5? :Ž־ ƽiB -H@9ƽDǽb< Ƚb<)Ƚ:WaWaX XW:W2W*WVbUBU*UUU@P*QZQb@ صTJQpj?Yu߿2Q:QbQCs.O@_wc}N RQxr?x <( BQz(@ QQiBP9?PG9?PQQH"QBBB BAY*BAE AQAQA]|ɱ<"Ce8RCe%R*CaC]Qc /:Yy59%@1IAG]v>) 9- ~CI- eGi- @- =) ) - 8; - ӗEI2r,wEAY}vN@}v%@y}v}v >}vH`f?`G8?u t 8?%?0??)~vN@ ~v_;I~vCɫ) IY5@y5jGDNmea in: $SNTTA,,,,,015807.24*53 IiUnG)Iiiy˿ٺxAMH=YM9QU>aEyEy0=}>IGJ?5?Љ־ lB H@9D: :)myAdded new target pos. range: 169.679993 m, bearing: 292.133475 deg, deltaT: 4.471685 s, approachRate: 0.000000 m/s, LOS rate: 10.088491 deg/s, posRepo size: 4m ProNav: pos range: 169.679993 m, bearing: 292.133475 deg, approachRate: 0.000000 m/s, LOS rate: 10.088491 deg/s, cmd update: 12.000000 deg/s, cmd heading: 247.020922 deg, new cmd heading: 247.020922 deg. Wܙ@WX XW:W2W*WVbUBU*UUUJ??B}By BAEǼ*BAAAA^<"CVNRClL=Cܙ@C)-iA bIG >^2r,cEAɫ) IY@yzjG…hA @ @ @©i(@ )9@Ii@ ټMZ=YQU>aEyEy}>I! -:%5[?5? -:%|־ %oB 5H@9%D%,: %8:)%:WUR&@WQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUmfq?B .B BA^ *BAYC)AAA<"C%haRC-N=C-R&@C)X׹IGE>  $4:Yy53r,0EA||Y}6@}6T@y}6}6>}6H ~?@V? gg$ ,R?`'@t?O? ?)~6@ ~6_;I~6CɫYY)Y ]IYY@yjG5<<M=V=Y=QU=>AAaEEEyEAyMO>}M>Iȡťm?5?ť־ ƥrB H@9ƥDǥA: ȥL:)ȡW@WX XW:W2W*WVbUBU *U U U A|?B=5B9 B9A=*B9AE4hAAAAAAE <"CMvRCMNEe>CM@CQMy 19ILeGi_@=; ՗E IG-->3r,, "EAY}2޾@}2;@y}2A՞}2=}2Hs?@?PE.?>Vړ?޿??)~2޾@ ~2_;I~2CɫII)I IIIY}@y}kGN>i=<ML=Y2QU>!!a%E%yE)y-N=}->I1 =:5p?5? =:5s־ 5vB EH@95D5: 5:)5:WeZ@WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU}`?BֺBw͊< BA*BASAAA"<"CRC% >C%Z@CQ ս=Խ=֍YIiGY> /3:Yyo5uK3r,;EAY}2`@}2 @y}20}2}=}2H@k?L?G{`D?󫷿??` ?)~2`@ ~2f_;I~2Cɫ11)1 5I9Yu@yujGux&?Q?{Gz?u7 ?u\= u#=)qIqyuuV?y&1?{Gz?ur(?u`aEyEy%p=}%>Iȡťf?5?ť־ ƥ~B H@9ƥDǥD: ȥǺ:)ȡWh@WX XW:W2W*WVbUBU!*U!U!U-@BulBq BqAu*BqA}oAyAyA}<"CaꑿRCCh@Cֽ/בIGa> 9 I dGi @ ֗E)QIQiQQQUd4=13r,;UEA|i|@Y}Jc@}Jpq@y}J}Jb=}JHa? eq?Z@߿`p? ?N? ?)~Jc@ ~J_;I~JCɫYY)Y ]IYY@yjG}f;MT=Y:QU>aEyEy g=}>Iȱ :ŵ?5? :ŵ־ ƵB H@9ƵDǵ: ȵ:)ȵ:W @WX XW:W2W*WVbUBU*UUU@B%2 B! B!A%*B!A%0A)A)A-/<"C5wRC1C5 @C9 3IG$> =.:YV1y:5)ċ;9 T^3r,ͮoEAY}J@}J4@y}J0}J?=}JH? ??p޿ ?`%??$?)~J@ ~Ji_;I~JCɫqq)q uIqY@yjGAAIA)   E|?l=i(@ @)n@Iz@i@ P<M Q=Y ;QU>aEyEyx8=}>I!%?5?%H־ %B 5H@9%D% : %Y:)!Wg@WX XW:W2W*WVbUBU*UUU%@RB*** querying acoustic contact ***PPB=bEBA BIAMʼ*BIAMQʍAIAIAM<"CUpRCYC]g@CY=}A"3r,WvEAY}6j@}6w@y}6Ý}6=}6H E? z?;ʭݿ 40?6Ա mS?e?2?)~6j@ ~6Bi_;I~6CɫII)I MIIY}@y}kGZ****** received transponder code query ******F****** received ping request ******aEyE y $=} >I?5?־ B %H@9DP: ;)Wu1@WqXq XqWq:Wy2Wy*WyVybUyBU*UUU`qC @B*B BA*BAt'AAAG<"CRCC1@C}>9yIyiy}=yy}G; }ۗEѕ][ yy ~O:YP1y':&5);>l(3r,SEA||Y}6@}6~@y}6̍}6F=}6Hu??L<ݿc?Jr? Y? ?)~6@ ~6H_;I~4ɫ99)9 =I9Y@y#kGxDUSBL response received:!U1,P 245,000,00D7D,189,80,80,95,FF Command AckBRequesting micromodem ping code 2i5Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 MbX?I +?{Gz? ?94< )Iy?Q?~jt?,?<D= •A)•"AI‘i• AY$?=i@ @)z@Iiz@;M=Y ":QU > aE%yE!y-q<}->I1 =:5 ?5? =:5f־ 5B =H@95D5: 5C:)5:We-5@WaXa XaWa:Wa2Wi*WiVibUiBUq*UqUqUu @BիB BA*BAz,AAA8<"CRCC-5@C  )  = >= =%\J=I G%?f=13r,D3EAY}:VT@}:a@y}:}:4=}:H`ܯ?0?/Uܿ`? ȬВ?]?`?)~:VT@ ~:_;I~:Cɫ11)1 5I1Yue@yu?jGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=-M-r=Y59QU5?19a=E=yE9yE@=}E?IIM}?5?M־ MB UH@9MDM: Mܹ:)I5555 5-:Y5DW1y5Y:5959=@WS@W9X9 X9WA:WA2WI*WIVIbUIBUQ*UQUQUUx@B}WB BAp$*BA^AAA?<"CRCCS@CֽmY=יIGA>ܙ9ܙIܙiܙܙܙܙܝI; ݝܗE{b73r,@EAY}26e@}2r@y}2#}2e[m=}2H _?1?Ps7ܿ@? 9d? ?@?)~26e@ ~2 _;I~2CɫYY)Y ]IYY@yiG)ý= ý>MN=Yӈ:QU>aEyE y w;} >I :@5? :־ B %H@9D: :):WE@WAXA XIWI:WI2WI*WIVIbUQBUQ*UQUYU].@B"B BAGX*BAĹAAAp<"C]*CGRCC@C֍벫=IIQG}>1=3r,EA|i|Y}:O@}:p]@y}:V*}:6=}:H?pQ?G ]ܿ????)~:O@ ~:]_;I~8ɫII)I QIQY@yiGDNmea in: $SNTTA,,,,,015811.78*5D EiE=@A EΣ@)E@IAiE@Ua;MUD=Y]V:QU]>YYaeEezEaym@ͻ}m>Iqu)@5?u־ u˹B }H@9uDuU: u@:)qW)@WX XW:W2W*WVbUBU*UUU@b@B|B BAO*BA]۹AAAבIG@>tD3r,EA$9&CI$i$&=$$&?; &חEY}j@}jT&@y}j~}jL8<}jH v?@z?1yܿඖ?d`?@? V?)~j@ ~jx_;I~jCɫ髹) IY߽@yiGIA)ulMuI=Y}f:QU}>yaE zEy}>Iȑ :ŕ>@5? :ŕo־ ƕ׹B H@9ƕDǕ: ȕ:)ȕ:Ww@WX XW:W2W*WVbUBU*UUU ?@RB*** querying acoustic contact ***PPBRB B A g*B A w A A A6<"C9RCCw@CiEnGUU7>IYi2ȿٺAaIiG9>uJ3r,,EAɫii)q qIqY@yiGMʡE?l?MbM>M= M)IIIyMZd;O?V-?Q?M~*?Mm=Mu< M A)MAIM AiM AIM AaejA}}}}u }0:Y}xZ1y}q:}ݲ5'>S#?̽i̬@ @)@I&@i&@n;M5=YQU>aEzEy}>IȱŵW@5?ŵ ־ Ƶ޹B H@9ƵDǵ: ȵ/:)ȱWװ@WX XW:W 2W *W V bUBU*UUU@)@BB BA]*BAx5AAAϫ<"CBRCCװ@C}QFq>Iׁ)ׁQIYGuz>{Q3r,eFEA||;Y}6mG@}6U@y}6™d}6S}6H@c5?;5?@碈?\4޿@)?`r?? ._S?)~6mG@ ~6_;I~6CɫQQ)Q QIQYѽ@yiGGMu=Y"i5>IG>A9E~CIAiAAAAE;; E՗EW3r,WA`EAY}6Ļ@}6mɸ@y}6UT}6Ϭ}6H`?`y?y?@)߿O?ct??@쒵+?)~6Ļ@ ~6`;I~4ɫ99)9 9I9Yؽ@yiG=i=';MH=YM;QU>aEzEy*}>I|@5?־ B %H@9D4: :)Weí@WaXi XiWi:Wi2Wi*WqVqbUyBU*UUUM@BB BAj*BA4AAA%g<"CP(RCCí@C}}}} }&2:Y}T1y}:}5)}$;9E>I1Ga>]3r,zEAY}:@}:b@y}:IZJ}:c}:H??`? +zd?`$?K?`?)~:@ ~:`a;I~:Cɫ99)9 9I9Y}p@y}iG)Ý= Ý=]<]`>] i]¥@Y ]­@)]@I]Σ@i]@mMmB=Ym::QUu>qqa}E}&zEyyL}>Iȁ :Ņ6@5? :Ņ־ ƅB H@9ƅDDžj: ȅ@:)ȅ:Wu@WX XW:W2W*WVbUBU*UUU`7@B B BAQ*BA,AAA8<"Cn^RC C u@C>סIGA>4d3r,EA| i|"@Y}JE@}JnS@y}J;}JfL}JH)5?T?@aJ?9 ?`?Y`?ÿȝ?)~JE@ ~Jb;I~JCY9YIYiY]=YY]<; ]֗E)#I#i#+=+=+4ɫyy)y yIyY@yehGxDUSBL response received:!U1,N,80,80,63,E4 D,189,80,80,95,FF ZNo reply:!U1,N,80,80,63,E4 D,189,80,80,95,FF -aE,zEyL}>IU@5?־ B H@9$D: :)W@WX XW:W2W*WVbUBU*UU U 9@B5"B1 B9A=*B9A=g=A9A9A=<"CEcnRCE!N>CM@CIԙԙ  4:YV1y:&5)ː;֥>aIiG9>_j3r,EAY}pe@}s@y}2)}0k;}H? NV?m? _)B?.?@8&?Kǿ v?)~pe@ ~!b;I~Cɫ) IY K@yhGI)x&1?V-?/$?A>h> =)Iy9v?Mb?:v?4?=T< ­A)­AI­Ai­ A A}(}r>}=i}@y }Σ@)}@I}@i}@O<M/=Y;QU>aE4zEyp}>Iȩŭ@5?ŭ׾ ƭB H@9ƭ/DǭM: ȭ4:)ȩW @WX XW:W2W*WVbUBU*UUU @BB BA%*B!A%OA!A!A-<"C-TWURC5f=C5 @C1=Ex>I G%M>q3r,cEAY}2z@}2d@y}2a}2/R}2H8???Vܢ? ?݂?$ʿR?)~2z@ ~2b;I~2Cɫ19)9 =I9Yut@yuiG‘‘>h<Mi=Y^P;QU>aE9zEy%}>I  : 1@5? :  ׾ B H@9 7D =: I:) :W=gz@W9XA XAWA:WA2WA*WAVIbUIBUI*UIUQUU@? @R]B*** querying acoustic contact ***PYPYBŻB BAd*BApq\AAA<"CBRC <Cgz@C֍V>t [/:YT1y:59@IIQGu>>9CIi:; ՗E/w3r,EA||4? _?R ? p?c? w˿V>?)~20@ ~2bvb;I~2Cɫ99)9 =I9Y}@y}.hGZ****** received transponder code query ******F****** received ping request ******aE@zE y i}>Iȱŵ@5?ŵ׾ ƵB H@9Ƶ@Dǵ@: ȵ:)ȱWWS@WX XW:W2W*W VbUBU*UUU$!@Be gBa BaAe*BiAmoqAqAqAuG<"C&+RCCWS@C ե=ԡօM>aIGc>(~3r,(dEAɫyy)y yIyY@yhGxDUSBL response received:!U1,P 80,80,63,E4 D,189,80,80,95,FF Command AckBRequesting micromodem ping code 2iiNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ~ N2:Yy˴5M=M;?MiMz@I I)MΣ@IM@iM@<M(=YQU>aEHzE y } >I :@5? :׾ B I@9KD ; ;):W @WX XW:W2W*WVbUBU*UUU"@BMNGɻBI BQAUv*BQAUs'AQAQAUԪ<"CeRCm Cm @Cqֵh5>qIyG>3r,DEAY}N/@}NA=@y}Nأ}NTb}NH`?$?cS?}+ Q7?@/?wtq? $̿`x7?)~N/@ ~N`;I~NC^>9\I\i\\\\^?; ^חEɫqy)y yIyY<@yhGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )}= }=o<Mp=Y]&יIGA>>3r,+/EA|,i|.@Y}Jc@}J @y}Jr}Jma}JH@p? **?C?`"?N?`Q._?@̿~9?)~Jc@ ~J~`;I~JCɫqq)q qIqY@y%hGxDUSBL response received:!U1,R,28,80,63,E4 D,189,80,80,95,FF -zunknown deviceResponse_: !U1,R,28,80,63,E4 D,189,80,80,95,FF ^I +?~jth?QX>D; )Iy?`"?,?= …;@)…'AI… Ai…nAA 0:YWU1y:J5e?5>ee-ie@a e\@)e\@Iez@iez@u]M}/=Y}(;QU>aETzEy-}>Iȑ :ŕ&A5? :ŕ-׾ ƕB I@9ƕ]DǕ: ȕ=:)ȕ:W=WX XW:W2W*WVbUBU*UUU#@B ~B BAu*BA%ŔA!A!A% <"C-ΡξRC- C-=C)995X=IG%o>%3r,dIEAY}n@}n[@y}n :}n^}nH ? ?`Y?|?`n?$Y˿V??)~n@ ~nx`;I~nCɫ) IYѼ@yNhG%DNmea in: $SNTTA,,,,,015817.07*53 I!)%AI!)%AEI<MEw=YE)WX XW:W2W*WVbUBU*UUUO$@B[B BA *BAKAAAC<"CHʨRCC >C֥==YIqG<>Q9QIUdGiU@QQQU_; UEi=nGI) iA m ÿٺi u ԴAL3r,bEAɫ髁) IY^@ygGMQ=YQU>aE`zEy}>I :IA5?  :l<׾ B  I@9mDs: (:):W-Ut>W)X) X1W1:W12W1*W9V9bU9BU9*U9UAUE`@%@BmBi BiAuӽ*BqAu)AqAqA} <"C}itRCCUt>Cmϩ;l 2:Y[1yH:5);9IIQG>w3r,|EA||;ɫ髙) IYf@ygG]\=]m>]iYY ]Σ@)]E@I]E@i]\@m ;MmB=YiQUu>qya}E}gzEyy}>Iȉōu^A5?ōD׾ ƍ۹B I@9ƍvDǍ: ȍQ:)ȉW>WX XW:W2W*WVbUBU*UUU %@RB*** querying acoustic contact ***PPBB BAѽ*BAZAAAʫ<"C  j(RC C >C %=%>v/שIG >] >9Y I] dGi] k@Y Y ] D] U; ] Ek3r,EAY}6@}6@y}6фQ<}6Ӫ4}6Hy0???@ v?W?`k0`vƿ+?)~6@ ~6_;I~6CɫAA)A AIAYx@ygGi=;MV=YxaEmzEyԽ}>IpA5?M׾ չB I@9~DD: ]:)Wp>WX XW:W2W*WVbUBU*UUU@&@B-V B5?A< B1A5Xͽ*B1A5_A1A9A=R<"CxRCCp>Cֵ"{ /:YT1y:&5)6;qIyG>3r,aEAY}6d@}6 @y}6<}6#}6H??K?`! ?L?<(¿@?)~6d@ ~6_;I~6CɫII)I IIIY} @y}XgG+?MbX9?:v?>ʡ= T<)Iysh|??)\(?~jtx)?Ga=Ļ Q@);#AIV Ai A A)-= -=}=}l>}Vξi}@y }@)}I}@iyM>=Y;?aEtzEyh }>Iȡ :ťA5? -:ť4W׾ ƥϹB 5I@9ƥDǥ< ȥ<)ȥ:Wuc?WqXq XyWy:Wy2Wy*WyVbUBU*UUU`('@B@B BA*BA$ɺAAA<"CI;<RCCc?C)]Xڙe?ie?1IAG]v>p3r,=EA|i|Y}6~@}6'@y}6<}68}6HX%?&?H??'а? /뼿J?)~6~@ ~6{t`;I~6Cɫ99)9 9I9Yռ@yShG=MU=YAqaEzzEyʝ;}>I9IbGiw@=K; ߗE)ͅCIͅCiɅɅɅͅ4`3r,EAY}2Xĸ@}2Ұ@y}2<}2ޥ}2H"=???@p9?yݣ?@ޝ@˳?)~2Xĸ@ ~2a;I~2Cɫ99)9 9I9Y}@y}7hGI)MO=YmaEzEy5<}>Iȹ :ŽA5? :Ž~i׾ ƽĹB I@9ƽDǽ(: Ƚ4:)Ƚ:WC(?WX XW:W2W*WVbUBU*UUU@)@B>B BA*BAh.ܺAAAOޮ<"Cn,0>RCCC(?Cѭu<} l YIaGZ>7ž3r,EAY}2@}2x @y}2Z =}2=}2Hb?V??@h?C?rR?)~2@ ~2ob;I~2Cɫyy)y }IyYѼ@yNhG>=*?i@ -@)h@IK@iۙ@-J;M-A=Y5N99a=E=zEAyE<}E>IIMA5?MNs׾ MB ]I@9MDM: M:)IWm@?WX XW:W2W*WVbUBU*U U U )@Bu Bq ByA} *ByA}A,AyAyA} <"C|>RCCm@?Cc n1:YV1y:5ѽ<֝>qIG>% hA% jAܝ >9ܙ Iܝ aGiܝ @ܙ ܙ ܙ ܝ S; ݝ E3r,qEA||4<ɫyy)y }IyY@y hG<MP=YQU>aEzEy}>I :lA5? :p|׾ B I@9D$: s:):W%T?W)X) X)W):W)2W)*W1V1bU1BU1*U9U9U=*@Be$Bi BiAmŽ*BiAmAiAiAuO<"C}p>RCyC}T?Cyρρ)Љ Љ > !>o׹IG>3r,-1EAY}6Sҹ@}6߱@y}6.=}6Y<}6HT?y:?0?0?>@K٥@ p? 1i @  @) @I @i @:M%7=Y%7))aEzEyg=}>IȹŽA5?Ž߇׾ ƽB I@9ƽD) i 7:Y0Y1y:K5ǽ7; Ƚa;)ȹWm?WX X W :W 2W *W VbUBU*UUU +@R%B*** querying acoustic contact ***P!P!BE%BI BIAMĽ*BIAMHAQAQAU<"C]>RCYC]m?CY%3I G%M>3r,KEAY}: @}:@y}:;=}:a=}:H jb?`?b|@L?@r,{n`?S?)~: @ ~:e;I~:Cɫ99)9 =I9Y}@y}gG)Õ> Õ>лMf=YaEzEý=}?IȹŽA5?Ž ׾ ƽB I@9ƽDǽ: Ƚϸ:)ȹW?WX XW:W2W*WqVqbUqBUy*UyUyU}`,@BVB BAȽ*BA22AAA<"C?RCC?C6ɅE>9AIE7`GiE>@AAAEE; EܗEIGI>+3r,_eEA|i|Y}2X@}2Hf@y}2 B=}20=}2HZ?E?@)a?1_O?0?)~2X@ ~2J`f;I~2CɫYY)Y ]IYY}ٻ@y}gGSetting waiting for range response to false due to timeout. Elapsed:6.069895SMC=Y};QU>!!a%E%zE)y-=}->I1 =:5B5? =:5̙׾ 5B EI@95D5: 5M:)5:W=?WX XW:W2W*WVbU BU*UUU9-@Bmro'B= BA'*BAbAAA`<"C?RCC=?C}}z *:YkS1yԊ:5)Έ;9%AA}?΅QIaG}z>3r,_AEAY}266@}2C@y}2}2H`r?`<[?|i:W!?/ Ũ ??)~266@ ~2Mf;I~2Cɫ99)9 =I9Y]@y]+fGIa)aIa)a qq%>%%pi%3@! %@)%@I%@i%@5}pM5H=Y=;QU=>99aEEEzEAyMć=}M>IQUB5?U׾ Q ]I@9UDUb: U:)QW}8?WX XW:W2W*WVbUBU*UUU%.@BLB BA*BAAAA<"C.?RCC8?CׁIG=>9 99 I= D^Gi= @9 9 9 9 9 3r,aEAY}J@}J@y}J!F=}J3>}JH`E? L?@(;?@ÿ Ҩ n?`?)~J@ ~Jae;I~JCɫaa)a eIainGY}/@yKfGIiϿٺA]X;MeH=Yen9QUe>iiamEmzEiyu|=}u>Iy :}/B5? :}ū׾ y I@9}D}: }=:)}:WU?WX XW:W2W*WVbUBU*UUU.@B^%EB BA*BAAAA<"CtD?RCCU?C {{~ `6:Y#R1y:˴5)˒;FӅI ) ׹IGE>G%3r,AEA||Y}6hý@}6ѵ@y}6P~?=}6">}6H8[?? '] 4?G Ŀ;??)~6hý@ ~6LGd;I~6CɫYY)Y ]IYYǹ@ydG5(\?/${Gz5?5, 5#)1I1y5Fx?ʡE?5+?5=5̼ 5A)5AAI5Ai5V A15 A?x ?۾i@ ۙ@)@I@i@ ҽM @=YQU>aEzEy%_=}%>I!%2EB5?%E׾ %B 5I@9%D%: %:)!WUie?WYXY XYWY:WY2WY*WaVabUaBUa*UaUiUm/@BsuB BA<*BA!AAAk<"CZ?RCCie?Cх7< Ս>ԍ=qIIYG>& 3r,`EAɫyy)y yIyY@ydG=i<M`=YQU>aEzEy}>I :WB5? :׾ B I@9D|: :):W%/?W)X) X)W):W)2W)*W1V1bU1BU1*U9U9U=@\30@Bei|Bi BiAm 3*BiAmA*AiAiAu<"C}|n?RCyC}/?CyU'=Q Y1:YU1y:'59@y9yI}[Gi}@yyy}N; }Eֽ?΅יIGb>83r,EAY}6$=@}6J@y}6u+=}6 Q4>}6H`*??`t\@ ĥ?ſmTg? Az?)~6$=@ ~6{b;I~6Cɫ99)9 =I9Y] @y]cG)u= u=}٩MP=Y4LQU>aEzEy=}>IlB5?C׾ B %I@9DG: :)WE"?WIXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU]0@ReB*** querying acoustic contact ***PaPaBKB BA`T*BA_5AAAH}<"CP?RCC"?C) MFӅ]?i]?! I1 GU >*4r,EA|i|Y}>@}>@y}>"=}> 7>}>H`M? !?ˬ@- ?x)ƿxW?`w?)~>@ ~>ra;I~>CɫYY)Y ]IYY}޸@y}rcGZ****** received transponder code query ******F****** received ping request ******!a%E%zE!y-^=}->IQ ]:UŃB5? ]:U׾ UB ]I@9UDU: U:)U:W^ ?WX XW:W2W*WVbUBU*UUU1@~~m c2:YT1y@:'5BB BAY*BA-AA)A)A- +<"C5?k?RC1C5^ ?C9}?΅QIaG}z>m >9i Im \ZGim {@i i m Dm m; m E)qIqiqu=u=u~4TI4r,^EAY}2@}2d@y}22@=}26>}2H?_? ȫ޿et?`ƿ@Ƣ?x?)~2@ ~2`;I~2CɫYY)Y YIYY}@y}aGxDUSBL response received:!U1,P 28,80,63,E4 D,189,80,80,95,FF Command AckBRequesting micromodem ping code 2iI)AI)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 M_=Y QU >!a-E-zE9yM=}>IdB5?׾ B I@9D : :)Wm3?WX XW:W2W*WVbUBU*UUUx1@B6B  B A *B A /PA AA<"C ?RCC3?CFӅI9G>as 4r,84EAY}:@}:@y}:?K=}:c7>}:H^?g?@˫ݿj?ƿh@#? x?)~:@ ~:q`;I~8ɫ99)9 9I9Y}@y}'aGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B @5^I ?:vV-?b0?T h=)Iy5^I ?~jt?~jt?8?<= v A)AIAi AAeQ>ee?eDyyaEzEy6j=}>x 0:Yy5I  : MB5? : ׾ B I@9 D 8: V:) :W=/[4r,NEA||;Y}6r@}6Q@y}62<}68>}6Hͻ?h?Xܿ6? ƿ@k@?#y?)~6r@ ~6Ai`;I~6CɫYY)Y ]IYY{@y`G?Mk=Y*pQU?aEzEğ@y=}?IB5?O׾ B I@9D: :)W vӼBI BIAM'*BIAMjAQAQAxT<"C?RCCI4r,LgEAY}nS@}nla@y}ns<}nB'8>}nH?`SS?oڿ? ſN?@$z?)~nS@ ~n C`;I~nCɫ) IYa@yc`GTNmea in: $SNTTA,,0.000958,,,015825.55*4F =i=%=iR=I))-4==|M=B=Y=qoQUE>AAaEEEzEIyU=}U>IQUB5?U׾ UB eI@9U DU; US;)QX X3:YDW1yY:5)-;9Wb?WX XW:W2W*WVbUBU*UUU2@BMXBI BIAMŔ*BIAU|AQAQAUv<"C]?RCYC]b?Cau?΅QIYG|>dm 4r,ʁEAY}6<@}6I@y}6u<}6B8>}6H`{?ਡ?K`6ؿ`? rſл`? z?)~6<@ ~6_;I~4ɫ99)9 9I9Y5@y^G%=%?5>%j<>i%z@! %@)%@I%@i%@5M=K=Y=kQU=>AAaEEEzEAyM8=}M>IQ ]:UB5? ]:U7׾ UB eI@9U*DU: U:)U:W?(@WX XW:W2W*WVbUBU*UUU`Z 3@BB BA*BAAAA<"C^?RCC?(@Ci{?׹IGE> >9 I WGi B@    w;  E!&4r,EA|i|@Y}>H)@}>6@y}>e<}>25>}>H ?@?4@'׿Y?khſ@ ?`?)~>H)@ ~>_;I~>CɫYY)Y ]IYYʴ@yn^Gh MS=YpQU>aEzEyݘ=}>IIM}C5?M׾ MB UI@9M3DM: Mj:)IW}1@WyXy XyWy:Wy2Wy*WVbUBU*UUUbq3@RB*** querying acoustic contact ***PPB)B BA;*BAAAAS<"C,?RCC1@CP 1:Y]1y:5)-;׹IG,4r,ˀEAɫyy)y yIyY+@y]GI)AI)A  rh?|?5^?~jt? ?= <)Iy rh?ˡE?Q?C+?'=< ™)"AIAiAA=\/?aEzEy}%>I! -:%C5? 5:%׾ %B 5I@9%h34r,[EAɫyy)y yIyY @y]Gm6M`=YQU>aEzEy}>IG2C5?D׾ B I@9DD: :)W-?@W)X) X)W1:W12W9*W9V9bUABUA*UAUIUM >4@BB BAD*BAAAA <"C-7&?RC)CM?@CQܱ9ܱIܵsVGiܵN@ܵ=ܱܱܵo; ݵEud uxuxue u;:Yu7P1yu:up5)uz;AII)IAiUnGIiIiG_>ɿٺA94r,6EA||4}6H??調@ҿdJ?`^ÿ= {?j? ?)~6j@ ~6u_;I~6Cɫ99)9 =I9Y@y]GMI=YQU >a%E%{E)y=)O>}E>IY }:]'IC5? :]׾ ]B I@9]MD]C; ]<)]:W}=@WyXy XyWy:W2W*WVbUBU*UUU ,4@BLB BA *BAAAA3l<"C-?RC1C5=@C1}FӅQIaG}z>i@4r,EAY}:M@}:@y}:?}:%>}:H`??@ժ hп??ÿ?? ?)~:M@ ~:_;I~:Cɫ99)9 9I9Y}$@y}f\GxDUSBL response received:!U1,N,80,80,63,E4 D,189,80,80,95,FF ZNo reply:!U1,N,80,80,63,E4 D,189,80,80,95,FF -aE {E y q=} >I15aC5?5;׾ 5ùB =I@95VD5: 5U:)1We@WaXa XaWa:Wi2Wi*WVbUBU*UUU5@B4B BAȾ*BA1WAAAg<"C e?RCC@Cu uyuyuZ u@:YuP1yu':u59}@IGn>ܱ 9ܱ Iܵ UGiܵ @ܵ =ܱ ܱ ܵ W; ݵ EF4r,BEAY}2H<}2@y}2s膼}23$>}2H2$??rݪ[`Ϳ? iÿ`ܐ?/o?ϕ?)~2H< ~2_;I~2Cɫ99)9 9I9Y}Ҳ@y}\GMc=YYQU>aE{Ey=}>IȹŽtC5?Ž׾ ƽ̹B I@9ƽ^Dǽ^: Ƚ:)ȹWa!@WX XW:W2W*WVbUBU*UUU@q5@B%:B) B)A-;*B)A-~A1A1A5m<"CY/@RCCa!@C?i?I GER>M4r,\6EA|i|Y}65=}6@y}6J}67 >}6H6T?*:?@d ɿ@E?ÿ ?`?6?)~65= ~6'_;I~4ɫ99)9 9I9Y}@y}\G`"?i|?5? ףp= ??= Q8=)Iyn? rh?))a5E5{E1y=w=}=>IA M:EMC5? M:Eؾ EعB MI@9EhDE: E':)E:Wuz'@WqXq XyWy:Wy2Wy*WyVbUBU*UUU05@B[B%< BA̾*BA̻AAA<"C@RCCz'@Cd 1:Y0Y1y:95?΅IGn>S4r,]PEAY}2t0=}2Fb@y}2Vɼ}2">}2H |??@ @ƿv?aÿ@D/? D>?e?)~2t0= ~2_;I~2Cɫ99)9 9I9Y,@y5[GI)I) KqMU=Y)QU>aE{Ey =} >IC5?ؾ B -I@9pD;  ;)Webn,@WiXi XiWi:Wq2Wq*WyVybUyBU*UUU 0E6@RB*** querying acoustic contact ***PPBB BAؾ*BAֻAAA<"Cn @RCCbn,@C]>9YI]HUGi]Z@YYY]Y; ]E)Ii4ցYIiGZ>!Z4r,~jEAY}:?=}::@y}:Lh缙}:G%>}:H@?n?„@ÿ >?hÿ` ?@֛?ϑ?)~:?= ~:"_;I~:CɫII)Q QIQY@yZG=Z****** received transponder code query ******=F****** received ping request ******EaE#{Eye=}>II U:MC5? U:Mؾ MB ]I@9MzDM: M:)M:u u}u}ue uC@:YukS1yuԊ:up5W2@WX XW:W2W*WVbUBU*UUUݿ6@B* B BAE۾*BAAE|?AAAIAMG<"CU@RCQCU2@CQQIY)Y1IQGm>y a4r,yYEA||p;Y}6=}6@y}61y}6h*>}6H ??넪@x޿MU?lĿ`qN?1?`?)~6= ~6_;I~6Cɫ99)9 9I9Y}@y}mZGxDUSBL response received:!U1,P 80,80,63,E4 D,189,80,80,95,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Mm=Yf*QU?!a%E-({Eyj=}>IC5? ؾ B I@9D': U:)W-68@W)X1 X1W1:W92W9*WAVqbUyBUy*UUUr&7@BeEBa BaAmN*BiAmAiAiAm=r<"Cu@RCqCu68@Cyѕi=a 9a Ia ia a a e De O; e E։ a Iy G >3g4r,5EAY}2U>}2@y}2}2D,>}2H?k?@SBi?ĿM?Ek? a?)~2U> ~2~`;I~0ɫ99)9 =I9Y@yqZGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U=iU=U4=iUR=Ie=)e%= :M@=YSQU>aE/{Eyh=}>Iȱ :ŵC5? :ŵM ؾ ƵB I@9ƵDǵE: ȵ:)ȵ:W2<@WX XW:W2W*WVbUBU*UUU7@B%B BA*BA9AAAS<"C@RC C 2<@C   &W:YT1y:5);9<9IAG]>]m4r,EAY}:>4>}:@y}:I}:)>}:H ?P?z6`f%~?@oĿq?`"??)~:>4> ~: `;I~:Cɫ99)9 9I9Y}Y@y}1ZGK7?V-?+=i )@I@i@5^tM5A=Y=QU=>AAaEEE6{EIyM~=}U>IY]hD5?] ؾ ]B eI@9]D]: ]:)YWB@WX  X W :W 2W *WVbUBU*UUU7@BeB BAP*BAiAAAx<"Cr#@RCCB@Cѝ<։בiו?i I G >VIt4r,EA|,i|,Y}5lQ>}5@y}5(}5 8%>}5H2?G?dEh7?`PĿ@?`??)~5lQ> ~52_;I~5Cɫ ) IY5@y5mZG=xDUSBL response received:!U1,R,2C1,000,00E8A,18A,80,80,59,FF =Fpublishing direction and range info=9ɰ=t>=> 9)=BI9y=9C= !?W9p$wٱ9TNmea in: $SNTTA,0.138557,,,,015831.20*41 >9ITGi @[; E~a<M?=YQU>aE={EyQ=}>I  :D5?  :7 ؾ (B  I@9D: :):W5MH@W1X1 X1W1:W12W9*W9V9bU9BUA*UAUAUE`)Y8@PQ*QU9CZQUWnlb@L ZJQU !?W9p$w2QU:QQmm~m~mN m!+:YmT1ym@:m5)m;bQUxIk|qb@%%\H^%RQUxLh?<\˦N6BQU:@ QUQUCPU9?PU9?PUQUQUW"QUHBeB BAN*BA&h AAA<"C+(@RCCMH@C) 9  I! G= >oz4r,7EAY}B n>}B @y}BW1}Bv9$>}BHV?O?'@kʖ?`ZĿ`0?k?@G?)~B n> ~B-_;I~BCɫ髁) IY @yYGIY)Y/]=>t=i@ h@)@Ii*M^=YΏQU>aEC{EyR=}>I4D5? ؾ 7B I@9D+: :)m-yAdded new target pos. range: 185.820007 m, bearing: 322.694446 deg, deltaT: 24.350389 s, approachRate: 0.662824 m/s, LOS rate: 1.255051 deg/s, posRepo size: 4mE ProNav: pos range: 185.820007 m, bearing: 322.694446 deg, approachRate: 0.662824 m/s, LOS rate: 1.255051 deg/s, cmd update: 3.765152 deg/s, cmd heading: 179.321623 deg, new cmd heading: 183.736928 deg. WEI@WAXA XAWA:WI2WI*WIVQbUYBUa*UqU}=:g@U}?BR ,B BA,*BAAAA{<"C;-@RCCI@CyIG^>W4r,EAY}:7Ņ>}:pS}:H? mw??:EĿ H?`F-? ?)~:7Ņ> ~:@q_;I~8ɫ99)9 =I9Y}@y}vZGhAE,=MET=YMQUM>IIaUEUI{EQy])=}]>IaeHLD5?e[ؾ eFB mI@9eDe: e:)aW9yK@WX XW:W2W*WVbUBU*UUU` ?B'B BA*BAcAAA^<"C[2@RCC9yK@Ct 2:YV1y:59@IGE>iAhA>9Iif; E i nGI i E ͿٺA M Aԁ4r,|EA||;Y}6_|>}6"=y}6cB}6o >}6HN?ߧ`ФO?ݒ?1Ŀ5N? 4??)~6_|> ~6<`_;I~4ɫYY)Y ]IYY@yYG5EM=K=Y=âQU=>AAaEEEO{EAyMp=}M>IQ ]:UeD5? ]:Uؾ UVB eI@9UDU: U(:)U:W;M@WX XW:W2W*W1V1bU9BU9*U9UAUE?B P&B BA*BAAAA$-<"C68@RCC;M@C%FӅI!G>߫4r,W9EAY}2Š>}2X=y}2ZI}2%7 >}2Hp?@׍`Hǰ?@^?OĿ00??#?)~2Š> ~2='_;I~2Cɫ99)9 =IAY@yYG=i=oʡ?V-?I +>m= 94)Iy(\?{GzMb?z4?ף< •!A)•AI• Ai•AAm m=mmim\@i m@)m@Im@im@}6<M}7=Y}QU>aEV{Ey:n=}>IșŝuD5?ŝؾ ƝaB I@9ƝDǝ: ȝ:)șW O@WX XW:W2W*WVbUBU*UUU ?B 'B  B A ?*BA!AAA<"CLN>@RCC O@C!s *:YWU1y:p5?΅IGn>?4r,8SEAY}>S>}>=y}>àM}>s>}>H?ݸ@`!?u? XĿT?@x?@?)~>S> ~>_;I~<ɫYY)Y ]IYY@yYG)e= e=ܝ>9ܙIܝHUGiܝZ@ܙܙܙܙ ݙMX=Y*QU>aE]{Ey>=}>I :D5? :1ؾ kB I@9D : :):W%P@W!X! X!W!:W)2W*WVbUBU*UUU?B",B BA*B!A-r-'A)A)A-<"C5C@RC1C5P@C9u6Ʌ}?i}}?QIYG}z>4r,\mEA|Pi|R@Y}M$>}M=y}MtO}M $>}MH=?A]e?Y?8ſ?c?@?)~M$> ~M^;I~MCɫ!)! %I!YM@yMZG>>i@ @)ۙ@Ii@-W=M5B=Y5ъQU5>99a=E=c{E9yE1q=}E>IIMD5?Mؾ MuB UI@9MDM: M:)IW}fR@WyXy XyWy:W2W*WVbUBU*U U U P@BU%BY BYA]K߾*BYu }}j '=:YkS1yԊ:5Af-AAAu<"C3HRCCfR@C?΅שIG>4r,EAY}6c>}6>y}6}YN}6C'>}6Hd?@¿j?W:?ſdȩ???)~6c> ~6^;I~6CɫYY)Y ]IYY@y[GI)I)a<Mf=YbF:QU>aEi{EyH=}>I :D5? :Jؾ ~B I@9DN: [:):W 4S@W X  XW:W2W*WVbUBU*UU!U% @R-B*** querying acoustic contact ***P)P)BM1BQ BAoھ*BA1AAA{N<"CERCC4S@CIGE>ܝ>9ܙIܝUGiܝ@ܙܙܙܙ ݙ)AIAiAAAE|4ϧ4r,?ĠEAY}2D>}2F>*>y}2dM}2<@)>}2H ?Uſ 5 '? ? +ſ٩?@?3?)~2D> ~2C^;I~2CɫII)I MIIY}@y}ZGZ****** received transponder code query ******F****** received ping request ******aEp{Eye=}>I  D5? ؾ B I@9 D ; {;) WMtU@WIXI XIWI:WI2WQ*WQVQbUYBUY*UaUiUu`Z @B~(B BAK߾*BA7AAA<"C--?RC1C=tU@CA{{f o/:Y#R1y:5)͌;9FӅI!)!IG>{4r,nEA|4<|p;Y}6S>}67\F>y}6L}6(>}6H\?Uɿ+K??ſ`w?`+?`?)~6S> ~6^;I~6Cɫ99)9 9I9Yu@y}ZGxDUSBL response received:!U1,P 2C1,000,00E8A,18A,80,80,59,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %^I +?333333?I +?%X9?%= %9<)!I!y%Gz?y&1 rh?%0?%`e%C = %\A)%\AI!i%A!! ļ q> `=i Q@  @) &@I i @U!M}=Y9QU>aEx{EyH=}>I :D5? :׾ B I@9D< 8<):W@X@WX XW:W2W*WVbUBU*UUU @BB! B!A%߾*B!A%,@A!A!A-<"CM[:RCU >CU@X@CQa 9 IQ G >74r,EAY}F# >}Fga>y}FusN}FU%>}FH@/?@J̿^@m? 4?xſ˩? ?0?)~F# > ~FE^;I~Dɫ髑) IY:@yG[GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=R=i=ܩ9ܩIܭVGiܭ@ܭ=ܩܩܭz; ݭEI)= l=M=YĺQU?aE}{E!y%=}%?IIMF E5?Me׾ UtI MB ]J@9MDMo: M:)IWk6Y@WX XW:W2W*WVbUBU*UUU @B8CB BA2׾*BACAAAu<"CE8RCICMk6Y@CIhK ':YT1y:ީ5);%AIGI>4r,dEAY}b>}bGa}>y}b9bS}b W#>}bH`?Ͽ7tN?`8?NſFi?`M?;?)~b> ~b4^;I~bCɫ髑) IY(@y0[GxDUSBL response received:!U1,R,EC1,000,00E8A,18A,80,80,59,FF Fpublishing direction and range infoӇ>ɰ )Iy"C?TK?ٱMuM=M`;iM@I M)M@IM@iM@UMC=Y;QU>aE{Eys=}>Iȡť#E5?ť׾ ƥB J@9ƥDǥk: ȥ4:)ȡW-Z@WX XW:W2W*WVbU!BU!*U!U!U-@P1*Q1ZQ5 wu4RUf@ObI@JQ5"C?TK?2Q5Ӈ>:Q1bQ50Td@W@l:\P1@RQ5N?ʺ?1۷?BQ5S? Q5BQ5= CP5ϫ9?P59?P5Q5Q5A"Q5WB(B BAZؾ*BAWIAAA;<"CN7RCC-Z@Cֽ?^?ix?qIG]>Z4r,;EA|(i|*@Y}r?}r%>y}rY}rD>}rH?ݘѿcF?wa?Ŀ 4?@.n?[?)~r? ~rs^;I~rCɫ) IY5@y5#[GDNmea in: $SNTTA,,,,,015836.05*52 E`MMO=YMWQUM>QQaUEU{EYy]=}]>Ia m:e:E5? m:e)׾ eB uJ@9e De: e:)e:muAdded new target pos. range: 185.820007 m, bearing: 29.990169 deg, deltaT: 4.440039 s, approachRate: 0.000000 m/s, LOS rate: 15.156559 deg/s, posRepo size: 4mProNav REINIT: LOS rate is 15.156559 deg/s. Setting heading cmd to target bearing of 29.990169deg and heading rate command to 0 deg/s.WS?WX XW:W2W*WVbUBU*UUU?B"-0B BA پ*BANAAA<"C[7*ClRCCS?C vv_ B5:YN1y:'59@1IGI>ܕ>9ܕCIܕsVGiܕN@ܕ=ܑܑܕs; ݕE4r, "EAY}:4 ?}:>y}:^}:5>}:H?H#ӿ~P?@)?<ĿЫ??`?)~:4 ? ~:s^;I~:Cɫ99)9 =I9Y}@y}[GI)AI)A =MV=YLQU>aE{Ey#=}>IiOE5?.׾ κB J@9D: :)WWX! X!W!:W12W1*W9VAbUIBUQ*UYUaUe7?B=$&BA BIAUҾ*BQA]bTAaAiAm<"C!9RC CC5OIG5>%H4r,;EAY}6L?}6s>y}6_}6y=>}6HiL?זԿs K??8ÿo?Q?@?)~6L? ~6^;I~6CɫII)I MIIY}@y}O\GmL7A`?y&1?y&1|?m+?m`< m`;)iIiymB`"?y&1|??m.?m`;m< mA)mAIiimAimA555>5/>i5@1 1)5z@I5(@i5h@E}%=ME@=YE QUE>IIaUEU{EQy]Si=}]>Ia e:eifE5? m:e׾ eܺB mJ@9eDe': e:)e:WWX XW:W2W*WVbUBU*UUU`?B7,B BAɾ*BAƟYAAA'H<"C;RCCC֥oU B(:YWU1y:5ׁIG=>r14r,UEA|;|4E?}>>y}>g]}> >}>H? jտo`?@^?l¿@^???)~>E? ~> ^;I~>CɫQY)Y YIYYn@y[Gy9yI}aE{Eyyl=}>IȩŭzE5?ŭ׾ ƭB J@9ƭ%DǭǺ: ȭ:)ȩWWX XW:W2W*WVbUBU*UUUM ]?i=nGIi2̿ٺABw,B BAӾ*B!A%=_A!AAAE<"CM?RCICQCQ]I)GUS>8\4r,oEAY}>?}>ƺ>y}>LY}>=}>H*?@c ׿x ?8? M&?`޾??)~>? ~>^;I~>CɫYa)a mIiY@y=\G=i=%4=i%}|>i}@y y)}@I}@i}@7=MK=Y;QU>aE{EySG=}>Iȡ :ťE5? :ťW׾ ƥB J@9ƥ.Dǥ: ȥ(:)ȥ:WWX XW:W2W*WVbUBU*UUUG?BH.B BAʾ*BA dAAA<"C%DRC)C)C)?BI<Ij ':YU1y:ʺ5G)> B4r,xEAY}6} ?}6>y}6U}6~.=}6Hb?`׿@Q?@]x?Ǿ ?ͻ?R?)~6} ? ~6+ _;I~6CɫYY)Y YIYY @yb\G5<M=P=Y=;QU=>AAaEEE{EAyM!=}M>IȡťE5?ť׾ ƥB J@9ƥ7Dǥb: ȥ:)ȡWWX XW:W2W*WVbUBU*UUU% @B[*B BAȾ*BAT:iAAAm<"C%G@RC!C!C)mзe=!I1GU2>}>9yI}WGi}B@yyy}{; }Em4r,XYEA|i|@Y}6#?}6>y}6 S}6m=}6H B?ؿp Y?`%`? a?癹??)~6#? ~6>^;I~6CɫYY)Y YIYY}$@y}f\Gyy":MU=Y+:QU>aE{Ey8<}>I>4r,.EAY}:$?}:>y}:PR}:=}:H@{?ؿ=?`U?Y G?Ϸ?@?)~:$? ~:^;I~:Cɫ99)9 9I9Y}ٳ@y}E]GZ****** received transponder code query ******F****** received ping request ****** `ei \@  @) @I @i @:=M(=Y%9QU%>!!a-E-{EIyM.0<}M>IQ ]:UE5? ]:U׾ UB eJ@9UJDU: Ug:)U:WWX XW:W2W*WVbUBU*UUU @BM#BI BIAUF*BQAU-tAQAQAU<"C]<@RCYCC]o'>1IAG]v>M4r,EAY}:$?}:v>y}:RR}:k=}:H}?ؿ@?@`?u S?I??)~:$? ~:7^;I~:CɫYY)Y YIYY@y]GxDUSBL response received:!U1,P EC1,000,00E8A,18A,80,80,59,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 rM t=E>9AIEhXGiE@E=AAEy; EE)݅CI݅Ci݁݁݁݅#5Y QU>aE{Ey}%>IY]E5?]׾ ]%B J@9]SD]; ]<)YWqWqXy XyWy:W2W*WVbUBU*UUU+8 @e 11:YWU1y:p5)Q;B5(B1 B9A=ҿ*B9A=(yA9AYAe@<"Ce6@RCiCiCi}AY>YIqG>Q4r,!EA||;Y}>G#?}>h>y}>P}>=}>H@?qؿ@ D??d1@T ?`x?d?)~>G#? ~>)^;I~>CɫYY)Y YIYY@y]G鮡ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B õO õM>õB>iõQ@ñ ĵ)ĵ@Iıiĵ@KM?=Y>:QU>aE{Ey}w}>I :yE5? :׾ 0B J@9\D: :):WWX XW:W2W*WVbUBU!*U!U!U%` @BU*4BQ BQAU*BQA]^}AYAYA][<"Ce&2@RCaCaCi֭e}>aIqG9>D5r, EAY}^?}^ >y}^=}^2}^H ?Cֿ@:`1?g?ȹ?_w?)~^? ~^5`;I~\ɫ髙) IYX@y\G=i=C=i=I4=)%= ¼M W=Y CaE{E!y%}%>Iȩŭ F5?ŭ׾ ƭ:B J@9ƭdDǭ: ȭ:)ȩWW X  XW:W2W*WVbUBU*U!U!U% @BF-B BA`ž*BAMAAAu?<"C,@RCCC] 0:Yy59%@?΅>IG l>>9I0YGi@=u; E5r,q$EAY}?}>y}2}^}H j$?@E'տ|DN? &? "ʢ?`O?ƫ@%?)~? ~a;I~ɫ) I!Ym@yu\GxDUSBL response received:!U1,R,29B,000,00EE9,189,80,80,88,FF Fpublishing direction and range info]ɰX>鰅7> )CIy?C^??}ٱDNmea in: $SNTTA,,,,,015840.50*53 EA`"?y&1?~jth?E?E`= ED;)AIAyEʡE? rh?L7A`?E-2?EC=i=@ @)Iۙ@i@D<M=Y?;QU>aE{E y } >I :3F5? :׾ LB %J@9qD: :):WAWAXA XAWI:WI2WI*WIVQbUQBUQ*UQUYU]@Pi*Qm?CZQm$сlc@;QvRZJQm^??}2Qm]:QibQmN=/g@SvwF|tx])@RQms C?"UpTҴο>5`?BQmJ@ Qm7Qm~9CPm9?Pmϫ9?PmQmQmYA"QmAB B BA*BAAAA<"C"f%@RCCCp>ׁ I G >5r,p|>EA|,i|.@Y}V?}Và>y}V_j'}V|ӽ}VHh?gӿ@ ?P?ֵ??@yQ@?)~V? ~V-c;I~VCɫqy)y }IyY@ya]G}<<=M}=Y}-WX XW:W2W*WVbUBU*UUg@U`@?B%FB! B!A-⻾*B)A-+A)A)A57<"C5b!@RC9C=ȓ>C9%VR>    t z.:Y W1y č: 5IG5.>i5r,RXEAY}F?}FE>y}FM<}F0 }FH`,?ѿ= ?u? ?@M?`v?)~F? ~Fd;I~FCɫii)i iIiY}@y}S]G>9IYGiذ@|; EIA)A cMQ=Y;QU>!!a%E%{E)y-(}->I1 =:5WF5? =:5׾ 5_B EJ@95D5^: 5I:)5:We.>WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU}?BМ/B BA*BAAAAT<"C@RCC.>C֭&Y$>iIqG>35r,@rEAY}R՗?}R5 >y}R}R9'}RH?@ |Ͽn`O??@?{?Ŀ།?)~R՗? ~RIkd;I~RCɫqq)q uIqYdz@y/]GAAÍx齩Í=Í;iÍQ@É č@)č@Ičič@V MB=Y;QU>aE{Ey}>IȹŽyoF5?Ž׾ ƽkB J@9ƽDǽ: Ƚ:)ȹWO>WX XW:W2W*WVbUBU*UUU?B-U-B) B)A-n*B)A5|A1A1A5<"C=| @RC9C=O>CA=<=I -w -t-t-V -P=:Y-M1y-:-95G=/>"5r,R EA||Y}6>}68am>y}6}63}6H ?>̿5HHd?!?A?`?\Vƿ}?)~6> ~6 d;I~4ɫYY)Y ]IYY@y&]G5M5R=Y=9AaEEE{EAyM#}M>IQUF5?U׾ UuB ]J@9UDUU: U:)QWU[>WX XW:W2W*WV bU BU *U UU?B=0B9 B9AE徾*BAAEAAAAAEV<"CM@RCQCUU[>CQMQ|=!I)GM1>i%nGI9>iQ9I\ZGi{@=}ɿٺA; E)5r,6EAY}J&>}JaW>y}J,뼙}J4}JH G?ɿpw?`?%? d?bƿ`O~?)~J&> ~Jb;I~JCɫ髁) IY=@y]Ge=ie=Ia=)==M?=YIIaUEU{EYymE}>Iș :ŝF5? :ŝ׾ ƝB  J@9ƝDǝf< ȝg<)ȝ:WS=WX XW:W2W*WVbUBU*UUU`?IA)EAAU UUUr U8A:YUWU1yU:U95)U*;9]B 5&B BA*BA*WAAA&<"CC @RCCS=Cֽ;בIG>2/5r,}:H>y}:}:D+}:H a?ȿ>k?E?`(S?_0?Mſ n?)~:,> ~:` )Iy(\?kt? rh?z4? 0=C< µ"A)µv AIµ AiµhAA ׽9))a5E5{E1y=}=>I9=iF5?=׾ =B MJ@9=D=: =':)9W.=WX XW:W2W*WVbUBU*UUU}@Bm1Bi BiAm*BiAuVpAqAqAu<"C}X@RCyC}.=CeKI)GER>65r,EA| i|"@Y}JE>}J5?>y}J.}J}JH`Up?(ǿ`@A??.?%? Aÿv?)~JE> ~J9_;I~JCe>9aIeZGie̱@e=aaeu; eEɫ髑) IY@y&]GM_=YaE{E y p} >I :F5? :׾ B %J@9DE: :):W@WX XW:W2W*WVbU BU*UUU {@RB*** querying acoustic contact ***P!P!Be8Ba BaAe徾*BaAXAAAL<"CR@RCC@CօТAIImiimW m-:Yiyimp5)m7;G8>D<5r,dtEAɫyy)y }IyYƴ@yi^GZ****** received transponder code query ******F****** received ping request ******ÅE=iÅ@Á ą\@)ą@Iāią@=MA=YQU>aE|Ey}>IȱŵF5?ŵ׾ ƵB J@9ƵDǵض: ȵ':)ȱW @WX XW:W2W*WVbUBU*UUU@B*B BAv*B!A%A!A!A%v<"CM1?RCICM @CQe !I1GMS>t.C5r,X EAY}R9>}RO(@>y}R$}R<н}RHp? ܯǿ@˜@?@9G?X?u? @Y?)~R9> ~Ru^;I~RCɫqq)q }IyY@y^GxDUSBL response received:!U1,P 29B,000,00EE9,189,80,80,88,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ;<MD=Y-11a5E5 |E9yE;}U>Iy :}F5? :}׾ }B J@9}D}< }Y<)}:W@WX XW:W2W*WVbUBU*U9UAUEԄ @mmmmU m<0:YmV1ym:m59u@B&B BA*BAAAA<"C2?RCC@C&:}>9}CIyiy}=y}D}i; }E)Ii醉==`6׹IG>VI5r,*'EA|$|$Y}BA>}B9H>y}Bᐺ}B4Z}BH c?@ȿ._? R?H?4R? B?)~BA> ~B`M_;I~BCɫai)i qIqY@y^G鮽p=ɮp=eNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B \(\?MbP?I +??: 9<)IyzG?Mb?Q? 7?<u< •A)•AI•Ai•AA94+C iG@ ۙ@)Iۙ@i ۻM -=YaE|Ey%<}%>I)-G5?-׾ -B 5J@9-D-Ǻ: -:))WU*@WYXY XYWY:WY2WY*WiVibUiBUi*UiUqUu@B4-B BA%*BA0ЛAAA<"CPP?RCC*@CSHlIG>p@P5r,EAEAY}Fq>}F˘T>y}F o;}Fv}FHP?ScʿS>?`Ib?O?5?@m܎?)~Fq> ~Fq`;I~FCɫ髁) IYt@y?_G=ia=imm}m}mY m11:YmkS1ymԊ:mެ5kV5r,ZEA>9IYGi*@=d; ɫ) !I!YUi@yU2_GeDNmea in: $SNTTA,,,,,015845.35*55 }=QM@=YQU>aE|Ey}>IșŝFAG5?ŝ׾ ƝB J@9ƝDǝ: ȝ:)șWN@WX XW:W2W*WVbUBU*UUU{@B)B  B A G*B AAAASQ<"C?RCCN@C!=?΅I G%M>\5r,tEA| i|"@Y}N;>}NQ}>y}Nu7(<}N.ԥ=}NH@1?@#Ͽp?VW?@?"o`@r??)~N;> ~N.?c;I~NCɫ) IY@yq_GÍ=Í"۽Íj<=iÍQ@É č@)ĉIč@ič@~<MI=Y-aE%|Ey=}>IȹŽXG5?Ž׾ ƽB J@9ƽDǽI: Ƚܹ:)ȹW@WX XW:W2W*WVbUBU*UUU l@B-f3*B) B)A- *B)A5A1A1A5<"C=?RC9C=@CAeFӅ Y1:Yy59IIGeU>zc5r,EAY}2?U?}2>y}2:D<}2?`=}2H (?@ѿ7?B9?8?h` 'Y?`?)~2?U? ~2Wd;I~2CɫII)I IIIY}@y}d_GI)I) 鿑 oM\=Y;QU>aE+|Eyb=}>Iȹ :ŽhnG5? :ŽU{׾ ƽB J@9ƽDǽ: Ƚ:)Ƚ:W(@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB5/B1 B9A=*B9A=@A9A9A= <"CE>?RCACM(@CIM<=?΅9CI0YGi@=h; EI!G=r>i5r,EAY} ?}>y} N<}84>}H@?ԋҿ ?n?.H? 6U? ܪ?)~ ? ~7d;I~Cɫ ) IY}K@y} _Gw/?&1?~jt?&?P> D<)IyA`"?/$?:v?9?<T< A); AI5AiAA}Q}"[>}si}̜@y }@)}I}"@iyYM#=Y:QU>aE3|Ey>X=}>Iȩŭ]G5?ŭt׾ ƭB J@9ƭDǭk: ȭ:)ȩWE@WX XW:W2W*WVmA mmmx m9:YmWU1ym:m5)m;9ubUBU*UUUN@BO$B BA!*BApAAA9<"CCũ?RCCE@C-;= FӅ I G >p5r,rMEA||Y}>?}>'l>y}>rD<}>Y$>}>H`{R?=Կm߯?@o?G?¿ 6 Ft? "?)~>? ~>Jc;I~>CɫYY)Y ]IYY@yq_G鮡ɮxDUSBL response received:!U1,R,DE5,000,06EB0,188,80,80,88,FF Fpublishing direction and range info>ɰ@鰭> )IyD?^?/p?ٱl=M=YQU ?aE8|Ey/=} ?I  :mG5?  :dp׾ B J@9D: =:):W^y@WX XW:W2W*WVbUBU*UUUB@P*QDZQAUve(@e-lO@JQ?^?/p?2Q>:QbQ+@@.pԎj@5h6Y@RQ{?8T5??BQ"3J? QTDQDPA9?P9?PQQB"QYABeD8Bi BiA *BA?AAA<"C)?RCC^y@Cϩϩ)Щ ЩI ) I9 Gm >v5r,)EAV>9TIVXGiV@V=TTV; V EifnGIti EοٺAE.AY}5?}Ʋ>y}*!<}->}H`H?{տ@-? ?ࠨ?`;ÿ:??)~5? ~5b;I~ɫ) IY @y `^Gu=iu=oM0=YwQU>aE?|EyU=}>IG5?i׾ B J@9 DI: w:)m}Added new target pos. range: 1662.660034 m, bearing: 45.254655 deg, deltaT: 6.321114 s, approachRate: 232.734299 m/s, LOS rate: 9.360066 deg/s, posRepo size: 4m ProNav: pos range: 1662.660034 m, bearing: 45.254655 deg, approachRate: 232.734299 m/s, LOS rate: 9.360066 deg/s, cmd update: 12.000000 deg/s, cmd heading: 314.185146 deg, new cmd heading: 308.882778 deg. W|o@WX XW:W2W!*W!V!bU!BU)*U)U-@U- ,*?Bȇ1B BA쮾*BAAAA<"C C?RC C |o@Cuu~u~un u*:YuT1yu@:u]5)u/;uN؅QIyG>|5r,EAY}:?}:1>y}:B;}:.>}:H@?ֿ1y?` ;?e?@ÿ } X?x?)~:? ~:a;I~:Cɫ99)9 9I9Y]@y]^G)= =epej<>etie@a a)e&@Ie@ie@u=<Mua=YuQU}>yya}E}E|Ey:{=}>Iȉ :ōG5? :ōc׾ ƍB J@9ƍDǍ: ȍ:)ȍ:Wߴ@WX XW:W2W*WVbUBU*UUU ?B:<B BAթ*BA|AA A ,<"C?RCCߴ@Cg煾IGI>lɃ5r, EA|i|Y}J#?}J>y}J.;}Jc2>}JH?[ ؿ?pv?!?OĿ%p /??)~J#? ~JSa;I~JCɫyy)y IYx@y ^G_:MI=YnQU>aEL|EyO=}>IȹŽG5?Ž]׾ ƽB J@9ƽDǽ ; Ƚ ;)ȹW}@WX XW:W2W *W V bUBU*UUURf?BEG<:BA BIAMR*BIAM|ۮAIAQAU+<"C]?RCYC]}@CYe" /:YWU1y:59@I)GEQ>ܥ>9ܡIܥVGiܥ@ܥ=ܥODܡܥ}; ݥE5r, )EAY}mJ})?}m>y}m~:}m6>}mHL?@PٿQk??? mĿoB ?}?)~mJ})? ~mI`;I~iɫQQ)Y ]IaYb@y]GIi)mAIi)mA qqPn?Mb???@= <)Iy5^I ?~jtxy&1?8?Ļ`e< v A)AIOAiApA=$DaES|Ey 7=}>I  : G5? : eU׾ B J@9 'D : :) :W=׺@W9X9 XAWA:WA2WA*WAVAbUIBUI*UIUIUU@O ?]=i]=Bb5B BA*BAAAAQ<"C'h?RCC׺@C֭_ⅾׁIG>ڐ5r,)CEAY}J=/?}JT>y}J>}J̪8>}JH ?8ڿ\? ? K?`Ŀч`?[?@"{?)~J=/? ~J_;I~JCɫy髁) IYy@y\GMz=YQU?aEY|Ey=}?IȱŵH5?ŵO׾ ƵB J@9Ƶ/Dǵf: ȵ:)ȱW/@WX XW:W2W*WVbUBU*UUU n @B[PB BAJþ*BAWAAA<"CU?RCC/@CuqquG u*:Yqyqu5N؅IGj>5r,.p]EA||&>9&CI&VGi&@&=&PD$&u; &E)CICi==6Y}bܖ5?}b:>y}b}b9;>}bH?) ܿ k?@Ax?+?@$ſ`O5r?S?v?)~bܖ5? ~b_;I~`ɫ髙) IYu@y\GM!MMO=YUɻQUU>QYa]E]_|EYye=}e>IimA%H5?mI׾ mB uJ@9m8Dm: m:)iWȫ@WX XW:W2W*WVbUBU*UUUH@BKB BAþ*BAAAAA<"CA?RCCȫ@CFӅIGI>k15r,UwEAY}Jy}Jb껙}JL ?>}JHJ?uݿp??`?biſML}?ڽ? q?)~JAAaEEEe|EAyME=}M>I :;H5? :JA׾ B J@9AD: :):Wx@WX XW:W2W)*W)V)bU)BU1*U1U1U5 @REB*** querying acoustic contact ***PAPABHB BAuǾ*BAdظAAA<"Cdy*?RC[Cx@Cmmymym) m3:YmP1ym':m5IGi>5r,[&EAY}2B?}2?y}2/+}2?>}2H!!a%E-l|E)y5c=}=>IAE?PH5?E9׾ EB UJ@9EJDE!; E!;)AW}y@WX XW:W2W*WVbUBU*UUUV @BFfMB BAɾ*BA_vAAA<"C/?RC7Cy@C֭(~aIqG:>E>9AIEHUGiEZ@E=AAE; EE"E5r,bEA|Li|LY}EkH?}EZ ?y}ESr}EM=>}EH?r'>Ѵ?[??X$ſ2J?8}?s?)~EkH? ~EcO_;I~ECɫ) IY%@y%"\G))-xDUSBL response received:!U1,P DE5,000,06EB0,188,80,80,88,FF -Command Ack-BRequesting micromodem ping code 2i11=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 } }}}}}4 }%?:Y}kS1y}Ԋ:}5)}_;9m"~?X9v?L7A`?m?m= m+=)iIiym{Gz?~jtx?J +?mC?m;mH= mZ$A)m"AImAimAimAmףm=mȽim\@i m@)m@Iiim@}E%M} =YXQU>aEu|Ey/=}>I :qH5? -:,׾ ˻B 5J@9YD< Y<):W;WX  X W :W 2W *W) V1 bU9 BU9 *U9 Ua Ue @B Լ<B  B A ̾*B A gA A A _A<"C &>RC l4ջC ;C qZ I G >{5r,9EAY}26mO?}2v?y}2Ρ}2q7>}2H`? 5(?` ?@g? Ŀ`9??`z?)~26mO? ~2v_;I~2Cɫ11)1 5I1YX@yl[GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)))I))) 99maMm=YuQUu-?qqa}E}y|Eyy}?=}1?Iȉō~H5?ōG'׾ ƍӻB J@9ƍ_DǍ÷: ȍ:)ȉWCM=WX XW:W2W*WVbUBU*UUU45@BuŹBq BqAuXվ*ByA}AyAyA}<"Cl>RCF[=CCM=C}Y9IAGe4>ܝ >9ܙ Iܙ iܙ ܙ ܙ ܙ ܝ ; ݝ EU5r,EAY}jU?}j$?y}jȼ}j&2>}jH ?@Fq?}?`*,?` 6Ŀ@?@4?E?)~jU? ~j_;I~jCɫ髹) IY@y[G5M=N=Y=DQU=>AAaEEE|EAyM*~=}M>IQ ]:UГH5? ]:U׾ UB eJ@9UhDU: U:)U:Wf>WX XW:W2W*WVbUBU*UUU @B^B BAGپ*BA]üAAA<"C>RCFP >Cf>C֭a9I~~A ,*:YT1y@:5)A;G (>"˽5r,EA||p;Y}6[?}6J?y}6}6o*>}6H -5?@8.$?[V?@?{ÿ`P?o'??)~6[? ~6l}_;I~6Cɫaa)a mIiY}@yZG鮉ɮxDUSBL response received:!U1,R,EE4,000,00F6A,186,80,80,82,FF Fpublishing direction and range info}>ɰ>鰕> )CIyBGC#A?/;f?ٱTNmea in: $SNTTA,0.135169,,,,015851.86*4F @ @ @©i Q@)@Ii@+M >=Y  BQU->11a5E5|E9y=)b=}=>IAEƪH5?E<׾ EB uJ@9EsDE%; E;)AWef>WX XW:W2W*WVbUBU*UUU@P*QBGCZQb4\~%h@G@%pH@JQ#A?/;f?2Q}>:QbQ K`@"b@]յ+@RQ;? '?oeɹ?BQg[? QCQ_CP9?PA9?PQQݚA"QBBVVB BA۾*BAƼAAArM<"Ck>RCTR>Cef>C֥R{yIG^>r5r,EAY}Na?}N!?y}NV}N@>}NH@}?e? ? #d?¿ء???)~Na? ~NJ_;I~NCɫyy)y }IyY!@y'[G=i=C=i%=I-=)-=uf<MuT=Yul_QU}>yya}E}|Eym=}>Iȉ :ōH5? :ō ׾ ƍB J@9ƍ|DǍ: ȍ:)ȍ:me}Added new target pos. range: 199.259995 m, bearing: 49.015101 deg, deltaT: 4.893566 s, approachRate: -299.045746 m/s, LOS rate: 0.768447 deg/s, posRepo size: 4m} ProNav: pos range: 199.259995 m, bearing: 49.015101 deg, approachRate: -299.045746 m/s, LOS rate: 0.768447 deg/s, cmd update: 2.305341 deg/s, cmd heading: 12.906848 deg, new cmd heading: 17.617821 deg. W}+v>WyXy XyWy:Wy2W*WVbUBU*UUQh@U@ B?B`B BAؾ*BAkɼAAA<"COd>RC>C+v>Cqq: 3:YT1y::59@i=nGIi!M>9IIMTGiM @IIIM; MEm˿ٺiuYA֥L?9׻AיIGf>5r,Ӡ-EAY}/Rf?}n&?y}-; }#x>}H m?RV ? b?!?? ??)~/Rf? ~H_;I~Cɫ) IY-@y-ZGe7A`?'1Z?ʡE?e?e"> e-=)aIaye+?J +?Mb`?ev>?eH=e; e!A)eAIe AiehAaeA   ^:ף;ip@ )h@Ih@ih@M6=YQU>aE|Ey*=}>IH5?1־ B J@9D: 8:)WEȄ>WX XW:W2W*WVbUBU*UUU?B=ZBA BAAEܾ*BAAE̼AAAIAM :<"CMİQ>RCU >CUEȄ>CQuQIaG}{>E5r,&mGEA| i| Y}Nߵi?}N#*?y}N.}N@>}NH *?@?ķ??H`ѥ?B??)~Nߵi? ~N-_;I~NCɫ髩) IY\@y6ZGU <M]g=Y]E"QU]>aaaeEe|EiymS=}m>IquoH5?uN־ uB }J@9uDu: u@:)qW>WX XW:W2W*WVbUBU*UUU?B6tB BA*BAjϼAAA٘<"CmSS>*CuȫRCqCu>CyuΒi *:YV1y:K5AIIGm5>I 9I IM HUGiM Z@M =I I M g; M ER5r,GaEAY}Bk?}B+?y}BYg8}Bq=}BH?@ ?-??翿 ??ո?)~Bk? ~Bj_;I~BCɫYY)Y ]IYY@yZGI)I)  =<M=L=Y=ûQU=>AAaEEE|EIyMw<}M>IQ ]:UH5? ]:U ־ UB eJ@9UDU: Uo:)U:Wm>WX XW:W2W*WVbUBU*UUU@1?BeB BA߾*BAѼAAAL<"Ch>RCCm>Cr绹IG5P>R5r,7{EAY}Jk?}JW,?y}Jc<}J@X=}JH?@Q?V??`,@^??I?)~Jk? ~JS_;I~Hɫiq)q uIqYr@yQZG:i@ @)I@i@M@=YQU>aE|Eya;}>I I5?־ !B J@9D: :)W%>W!X! X!W):W)2W)*W)V)bU1BU1*U1U1U5@Be !fBa BaAe*BiAmLԼAiAiAm,<"Cu>RCu*,k>Cu>Cy}<k -:Yy5YIaG}7>5r,EA||4yya}E}|Ey0}>I :ZI5? :־ *B J@9D: :):W >WX XW:W2W*WVbUBU*U!U!U%=4@BMkBQ BQAUc*BQAU׼AQAQA]y<"C]>RCevB>Ce>Caօ-B=>9IUGi@=W; E)}CI}Ciy}=}=}%5yIG<>/5r,EAY}bk}k?}b+?y}b(8}b =}bH? E@I?`?`W? !?Ru??)~bk}k? ~bW^;I~`ɫ) IY-\@y-6ZG==i===C=i=4=IE=)ER=On?(\?+?8?.> =)IyS?I +Q?/?94u= -A) AI AiAAí"[íD=ít>ií @é ĭ@)ĭ@Iĭiĭ@FM7=Y;QU>aE|EyƳ}>IZ1I5?־ >B K@9DK; >;)W >WX XW:W2W*WVbUBU!*U!U!U%@R-B*** querying acoustic contact ***P1P1BUhBQ BQAU*BYA]:ۼAYAiAm <"Cu>RCu*/>Cu>CyI)` .:YDW1yY:^5)Q;9֝=QIaG}Y>55r, EAY}:@k?}:{p+?y}:/@2}:=}:H?`o}?G?@?`E19F? ?`E?)~:@k? ~:^;I~:Cɫ99)9 =I9Y}ޱ@y}ZGZ****** received transponder code query ******F****** received ping request ******Iȡ :ťAI5? :ť<־ ƥNB K@9ƥDǥ\; ȥ;)ȥ:W5>W1X9 X9W9:W92W9*WAVAbUABUA*UAUIUM @B,&nB BAܾ*BAݼAAA,<"Cܴ>*CeJRCl,>C>C>סIGC> >9 I VGi @ V; M=5r, EA| i| Y}Roi?}RW*?y}RA-}R/3=}RH`&?@ y?`?`?`^??)~Roi? ~R._;I~RCɫ髹) IY@yZG xDUSBL response received:!U1,P EE4,000,00F6A,186,80,80,82,FF  Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 M;=Y%4;QUM>YaamE|Ey-#}5>IAEVI5?E־ EcB K@9ED~~Q q-:YT1y@:'5);EL; EW<)AWE >WAXA XIWI:WI2WI*WIVQbUQBUQ*UQUQU}0 @Bd]B BAa*BA[AAA<"C >RC4>C >C!Z> I G >eg5r,jEAY}:g?}:K(?y}: ,}:E<}:HN?ǐxq?`Q? c~?յ?.?)~:g? ~:vX_;I~8ɫYY)Y ]IYY}ӱ@y}ZGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)AI)A 99ívííxií@é ĭ@)ĭ@Iĭ@iĭ@<MN=YM:QU>aE|Ey~}>I_gI5?־ sB K@9D: I:)W,>WX X W :W 2W *WVbUBU*UUUw@BE BA BAAMݾ*BIAM]AAA\<"C,>RC[>C,>CWx>׹IGE>O6r,$FEAɫ髹) IY@yZGUh=<MUQ=Y]QU]>YYaeEe|Eaym}m>Iq }:uZyI5? }:u־ uB }K@9uDu#: u:)u:W.;>WX XW:W2W*WVbUBU*UUU@@B)oB BA\۾*BA{DAAANi<"C.;>RCŗ=C.;>C  >ٍhAٍjAܝ>9ܙIܝsVGiܝN@ܝ=ܙܙܝl; ݝE }}\ 84:YkS1yԊ:5);!I)GE0>ny 6r,y 0EA||;Y}V/ _?}Vh?y}V (/}VU}VH ?m/@??1?@L?몱?)~V/ _? ~V`;I~VCɫ髡) IYz@yZZG鮽a=ɮxDUSBL response received:!U1,R,2F2,000,00FA3,189,80,80,36,FF Fpublishing direction and range infoq(ɰ>7> )XBIyJCaQ?.ٱDNmea in: $SNTTA,,,,,015856.69*5E 9v?Gz?y&1?4?p=> `e<)IyMb?y&1?/$?@?`<< A)OAIiMAAÅv>Å=ÅaE|Ey%}%>I)-UI5?-־ -B 5K@9-D-n: -4:))W'>WX XW:W2W*WVbUBU*UUU@P*QJCZQ6 p d@Vp>i@P~7`d,.@RQh$??H ^@Qv?BQ@ Q#QICP`9?P9?PQQA"QݚABe hBa BaAm;*BiAmAiAiAm<"Cu'>RCuG=C}'>CyqIIYGu>=a6r,UIEAY}>%X?}>^?y}>z0}>v}>H@9n?@=@?@ a?0? ?f9 i?)~>%X? ~>i#b;I~>Cɫy髁) IY@yhZGM=iM=M4=iM=I]4=)]%=y;Mf=YVmQU>aE|Ey}>Iȱ :ŵoI5? :ŵ־ ƵB K@9ƵDǵ=: ȵ:)ȵ:mm}Added new target pos. range: 202.679977 m, bearing: 357.987208 deg, deltaT: 4.883303 s, approachRate: 0.700342 m/s, LOS rate: -10.449464 deg/s, posRepo size: 4m ProNav: pos range: 202.679977 m, bearing: 357.987208 deg, approachRate: 0.700342 m/s, LOS rate: -10.449464 deg/s, cmd update: -12.000000 deg/s, cmd heading: 24.163417 deg, new cmd heading: 24.997056 deg. WM&>WX XW:W2W*WVbUBU*UU`Ui@U0?BU yBQ BQA]*BYA]xAYAYA]J<"CeE/>*Cu=RCuh>C}M&>CR /3:YT1y:^59 @E}>׹IGh>i nGI i ˿ٺ hA܍ >9܍ CI܍ AAaEEE|EAyMה}M>IQUƶI5?U־ UB ]K@9UDUܹ: U:)QWk+>WX XW:W2W*WVbU BU *U UUC?B=,DxB9 B9A=ܾ*BAAEAAAAAE/<"CM^>RCMZe>CUk+>CQMAY>)IQG;>6r,}EA|i|Y}6I?}6 ?y}6*}61}6Hno?@5߿yj?*?G?V?ƿ}?)~6I? ~6bc;I~6Cɫ99)9 9I9Y@yZGå<åJ>å=iå@á ĥ@)ĥ@Iĥ@iĥ@MeMC=Y%;QU>aE|Eyb}>I :I5? :az־ B K@9D: :):W]b5>WYXY XaWa:Wa2Wa*WaVibUiBU*UUU 3?B(qB BA߾*BA"AAAI6<"C->RC-X_x>C5b5>C1k 1:Yy5 7%>IG]T>Ý%6r,iEAY}:MB?}:?y}:u"}:PB}:H C?@kM޿@#@A?r?`? TA?ȿf?)~:MB? ~:վc;I~:Cɫ99)9 =I9Y}y@y}[GI)AI)A UKz=MUP=Y];QU]>YaaeEe|EaymE}m>Iqu!I5?uq־ uB }K@9u Du: u:)qW=WX XW:W2W*WVbUBU*UUU ?BuB BACӾ*BAAAA7<"C>RC >C=CO=5>91I5XGi5@5=115y; 5EסIG >+6r,YjEAY}2g;?}2>>y}2||}2G}2HG?ܿ&? #? ?cN?`wȿ^?)~2g;? ~2&c;I~2Cɫ99)9 9I9Y}@y}[GCl?y&1|?Q?d;?`; u<)Iy?Q?Mb?fF?<= A)Z$AI AiAA-ν-;?-þi-@) -ۙ@)-I-@i-@=L;M=<=YE2;QUE>AAaMEM|EIyU|l}U>IY e:]I5? e:]h־ ]üB eK@9]D]: ]:)]:W;WX XW:W2W*WVbUBU*UUU?BerjB BAҾ*BAҭAAA I<"C^E>RCC;C j A:YX1y/:5֥=Iס)סYIiGZ>^26r,CEA||4>y}6E}6VC}6Ha?qۿ=ƽ`?-??`8?AȿMf?)~6ӱ6? ~6a;I~6Cɫyy)y }IyY(@y0[GU6M]Z=Y]p;QU]>aaaeEe|Eaym;^}m>IfJ5?_־ μB K@9DI: w:)Wu@WX XW:W2W*WVbUBU*UUU`&@B-|B1 B1A5Zؾ*B1A523A9A9A=<"CE{=RCACEu@CAֵ=yIG^>- >9) I- XGi- 6@- =) ) - ; - E)ʼnCIʼnCiʼn=ʼn=ʼn $586r,dEAY}662?}6H>y}6}69}6H@A? Eۿ@@F?`>m? ?`?ǿu?)~662? ~68`;I~6Cɫ99)9 EIAY}@y[G=i=R=ia=I%=)%=]<M]J=Ye;QUe>iiamEm}Eyyr}>Iȉō4'J5?ōW־ ƍؼB K@9ƍ'DǍ.; ȍ.;)ȉW#@WX XW:W2W*WVbUBU*UUUr@RB*** querying acoustic contact ***PPB ˱tB  BQAUӾ*BYAeAaAaAe<"Cm =RCC#@C֝= 2   Q 7:Y U1y : '5) ;9סIGA>?6r,rEAY}:~z/?}:f>y}:}:h"1}:HY?cڿ??@xZ?ў?ƿ?)~:~z/? ~:¦_;I~8ɫ99)9 9I9Y}+@y}o\GZ****** received transponder code query ******F****** received ping request ******=ViQ@ @)@I@i@M+H=MM<=YU ;QUU>QQaUE]}EYy]}e>Ia u:e0@J5? u:eN־ eB uK@9e2De; e;)e:Wk@WX XW:W2W*WVbUBU*U U U > @BUziBQ BYA]'Ⱦ*BYA]AYAYA]He<"C7sRCCk@CօM >YIiGZ>E6r,EA|i|@Y}6}u,?}6d>y}6yaܼ}6an'}6Hf#?ٿ2bf?`?ܓ?`U?ĿЏ?)~6}u,? ~6._;I~6CɫYY)Y eIaYf@y\G?AxDUSBL response received:!U1,P 2F2,000,00FA3,189,80,80,36,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 b<M%`=Y-IIaE}E y5}5>IAEvWJ5?EG־ EB K@9E9I0YGi@=; E E<)A$  6:YV1y:5);W-6@W)X) X)W1:W92Wa*WaVabUaBUi*UiUiUm[7 @BȟhB BAsľ*BAMAAAH<"C RCC6@C9=#@>I9Gu>~L6r,o2EAY}6)?}6>y}6)>}6 }6HI?V8ٿ@p̽?`0?,?`=?Ŀ?)~6)? ~6П^;I~6Cɫ19)9 9I9Yu@yu\GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B II)IIQ)Q YYx?x&?y&1|?K?7 > `;)IyʡE?~jt? rh?=?<C< )&AI AihAAA=i@ @)@I@i@><M/=Y aE }E y ռ}>I :oJ5? %:L?־ B %K@9FD: :):WM|@WIXI XIWI:WI2WQ*WQVQbUQBUQ*UYUYU]@B@tB BA*BAmAAA(<"CxkRCC|@Ci֝\i>YIaGZ>R6r,LLEAY}:^&?}:$>y}:}:}:Hp? 7ؿ8糿@ ?"?p?`?`ÿY?)~:^&? ~:qp^;I~:Cɫ99)9 =I9Y}@y}X]G=My=Y1RCCm.@C;>EE}E}EP E+:YEkS1yEԊ:E59M@IGI> >9 I YGi ذ@ = D ; Eh*Y6r,qfEA|,|.p;ɫ)1)1 5I1Ye@ym]Gup=ɮquxDUSBL response received:!U1,R,EE9,000,00FCD,187,80,80,82,FF uFpublishing direction and range infouQy>qɰu>u1> q)uCIqyu3MCuC-c?Z$?ٱqTNmea in: $SNTTA,0.138848,,,,015901.53*44 jM9=YQU>aE!}Ey}>I :yJ5? :1־ B K@9XD: ^:):Wf@W!X! X)W1:W12W9*WAVIbUQBUQ*UYUaUm 2@P*Q3MCZQsh@pH@JQC-c?Z$?2QQy>:QbQ 31d@ƈ^@'Mʺ RQp/?vTy~-?@LBQ$? QBQ9$CP9?P`9?PQQ?"QAB}eiB BA*BAAAA<<"CϾRCCf@C֭>׉IG>`6r,AEAY}2$?}2$>y}2놼}2C&,}2H?$ֿ!~@V? ph?+/?Dݐ? jſi?)~2$? ~2,^;I~2CɫYY)Y ]IYY'@y]G%=i%=%4=i%IIaUEU(}EQy]T}]>IaezJ5?e +־ eB mK@9ebDe: ed:)amqAdded new target pos. range: 205.199982 m, bearing: 36.827120 deg, deltaT: 4.807294 s, approachRate: 0.524204 m/s, LOS rate: 8.079372 deg/s, posRepo size: 4m ProNav: pos range: 205.199982 m, bearing: 36.827120 deg, approachRate: 0.524204 m/s, LOS rate: 8.079372 deg/s, cmd update: 12.000000 deg/s, cmd heading: 326.587236 deg, new cmd heading: 321.569916 deg. W3@WX XW:W2W*WVbUBU*UU@fi@U?B7BrB BAj*BA#AAACA<"CgORCC3@C~~ 1:YT1y@:5=>IG%n>9f6r,EAY}2?}2=>y}2Ɯ}2:}2H?տ>p$?a?@?@[?9ǿ`v?)~2? ~2vT^;I~0ɫ99)9 =I9i=nGIi)]ϿٺY]AYu@yu]G MO=YDQU>aE.}Ey O} >IA M:EJ5? U:E$־ E B UK@9ElDE: EV:)E:}>9}CIyiy}=}ODy}; }EW+@WX XW:W2W*WVbUBU*UUU`?BUrB BA[*BA>AAA2X<"C:RCC+@CI!Gmx>cl6r,EA|i|@Y}> ?}>>y}>{e}>$K}>HD? Կ`ܻ?r?@ ?`[ ?4ɿ]?)~> ? ~>d^;I~>CɫYY)a aIaYyaE5}Ey)\}>IJ5?־  B  K@9vD: #:)W-@W)X) X1W1:W12W1*W1V9bU9BU9*U9U9UE b?BoB BA*BAwAAAq<"C RCC@C}& }}}f }6:Y}DW1y}Y:}56Ʌ>ױIG>Ks6r,EAY}2lA ?}2A]>y}2}2X}2H`ԇ?iҿX@?`N?? X?@(ʿF?)~2lA ? ~2^;I~2Cɫ99)9 =I9Y]>@y]\GI)I) MIGj>u >9q Iu YGiu *@u =q q u ; u Euy6r,EAY}2kF?}2>g>y}2I¼}2Hc}2H X?`п `Xr??@zM?H?`+̿@4?)~2kF? ~2>^;I~2CɫYa)a eIaY/@yt\G{M@=YQU>aEB}Ey)}>IQ :UK5? :U־ UB K@9UDU < Uʥ<)U:WB@WX XW:W2W*WVbUBU*UUU@Qk@BDtB BAǾ*BA) AAAv<"CRCCB@C}}}} }0:Y}T1y}:}5)};9>I)IG>/_6r,;EA||4}67~>y}6ϼ}6k}6H?.Ϳ䅴?=???5Ϳ%%?)~63> ~6 _;I~6Cɫ99)9 =I9YuL@y}\G E E EEE?EjiEz@E E@)E@IE&@iE&@U<MUO=Y]QU]>YYa]EeH}Eaye}m>Iquy(K5?uH־ uB }K@9uDu : u:)qW`@WX XW:W2W*WVbUBU*UUU "@BSB BAƾ*BA= AAAP<"CRCC`@C׹IGE>ه6r,=dEAY}: >}:c>y}:8༙}:p}:H#3?xʿг:?@~e?Z? 2?lͿ I?)~: > ~:^;I~:Cɫ99)9 =I9Yyyy=i=R=ia=IC=)R=YQQU>aEN}Ey}>Iȑ :ŕ AK5? :ŕ ־ ƕB K@9ƕDǕ: ȕ:)ȕ:%>9!I%\ZGi%{@!%PD!%; %E)݂CIقiق݂=݂=݂o5Wu9<WqXq XqWq:Wy2Wy*WyVybUBU*UUU @RB*** querying acoustic contact ***PPBwB BA*BA- A)A)A-B<"C5SѾRC1C59<C9uuuug u +:YuWU1yu:uޯ5)u;֝>׹IG->߱6r,>5EAY}2}?>}23H>y}2}2r}2H``? 9Rǿh ?;?״??fͿ?)~2}?> ~2^;I~0ɫYY)Y ]IYY@y\GZ****** received transponder code query ******F****** received ping request ******aEU}Eyk}>I[K5?־ B K@9D< }<)W =WX XW:W2W*WVbUBU*UUUj( @BuB  B A 5*B A A A AI)<"C㢾RCC =C5g>IG5>6r,OEA|i|Y}6`>}6O+>y}6}6t}6H`ʉ?ÿI`M? )? )?{?a5ο@?)~6`> ~6<^;I~4ɫQQ)Q QIQY}@y\GxDUSBL response received:!U1,P EE9,000,00FCD,187,80,80,82,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =%MEe=YMդQU]>iiauE}[}EyI}>IY :]HsK5? :]'־ ]B K@9]D]< ]<)]:WC>WX XW:W!2W!*W)V)bU)BU)*U1U1U5@ { @uu~u~uU uy0:YuT1yu@:u59}@B yB BAþ*BATAAA<"CAhRC C C>C 5?΅>  >9 I i   OD  ;  'EIQ Gm >ř6r,LhEAY}6m>}6>y}6}6>s}6H?@MOK?@?E?@|?ο?)~6m> ~6^;I~6Cɫ19)9 =I9Y}@y}]G5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)I) =<<M==Y%PQU>aEb}Ey}>IK5?־ &B K@9DI: :)WØ>WX XW:W2W*WVbUBU*U U U  5@B5c<B1 B9A=*B9A=iA9A9A=Ȼ<"CERCICMØ>CI=>IG=r>6r,SЂEAY}:>}:M=y}:C}:=Cu}:H`?빿歿`0??߶?`۠?]Yο?)~:> ~:^;I~8ɫ99)9 9I9Y}ݳ@y}J]Gm`e=mK?m33imf@i m@)m@Im&@im@D<MT=YQU>aEh}Ey3}>Iȹ :ŽQK5? :Žiվ ƽ,B K@9ƽDǽX; ȽY;)Ƚ:Wd>W X  X W :W2W*WVbU!BU!*U!U)U-Ŵ@B h~B BA *BAJAAAw<"C% RCM@ a>CMd>CQuu|u|u] u*,:YuR1yui:u5YQIaG}z>զ6r,EA|(|(Y}  >} =y} ; } Wu} H? @[i?`:?_?`Iv? kο]?)~  > ~ G+_;I~ Cɫ) IY5S@y5]G9ɮ9ExDUSBL response received:!U1,R,128,000,0100F,185,80,80,4F,FF EFpublishing direction and range info= A9ɰ=b>=+> 9)=BI9y=(QC=T7?l39Yпٱ9ܹ9ܹIܽZGi̱ܽ@ܹܹܹܽ; ݽ(EDNmea in: $SNTTA,,,,,015906.38*5E ]* =M]==Ye3QUe>aaamEmo}EyZi}>IșŝݽK5?ŝվ Ɲ3B K@9ƝDǝ@: ȝn:)șW>W X  X W :W 2W*WVbUBU*UUU *r@PI*QM(QCZQMlGi@o JJQMT7?l39Yп2QM A:QIbQM͈oi@A,;^3@RQM:Rn?LyĿ?BQM@ QM QMpMCPM{9?PM9?PMQMQMA"QM?BHtB BA*BAAAA4<"Cp<RCnm>C>C?{>IG%n>6r,EAY}2%>}2&ރ=y}2j}2N w}2H?௧{@2v??`>?e,?ο@ ?)~2%> ~2_;I~2Cɫ99)9 9I9Y@yW^G%=i%=%4=i%=I=a=)==u%C?&1?Mb?uZ?uP= u<)qIqyu +?/$?~jtx?u6?u=u; uA)qIuE AiuAqu3A>Ga>Yi@ \@)@Iۙ@i@t<M@=YVQU>  a E v}Eyc}>IK5?վ 6B -K@9D]: :)m]yAdded new target pos. range: 209.160004 m, bearing: 350.594348 deg, deltaT: 4.867678 s, approachRate: 0.813534 m/s, LOS rate: -9.497912 deg/s, posRepo size: 4m} ProNav: pos range: 209.160004 m, bearing: 350.594348 deg, approachRate: 0.813534 m/s, LOS rate: -9.497912 deg/s, cmd update: -12.000000 deg/s, cmd heading: 25.065134 deg, new cmd heading: 30.068450 deg. W}-F>WyXy XW:W2W*WVbUBU*UU%j@Un?B] tBY BYA]cuuuuv u+:YuW1yuč:u5*BYAr AAA<"C=RC=C-F>C}na>9IAGew>6r,aEAY}2姓>}2L$=y}2p}2My}2H?0KK}? ?@? ?ο`?)~2姓> ~2'_;I~2CɫII)I MIIY}@y}]G=pM=l=YEQUE?IIaMEM{}EQy]w}]?Ia u:eK5? u:eվ e8B }K@9eDez%; e%;)e:W\>W)X) X1W1:W12W1*W1V9bU9BU9*U9UAUE ?BB BA͹*BAAAA}<"C8>RC>C\>C`>imGIIiG-o>EٺAEMAܽ>9ܹIܽ[Giܽo@ܽ=ܹܹܽ; ݽ&E6r,2=EA|i|@Y}6g\>}6pf ~6j_;I~6CɫAA)A MIIY@y`^G M@ M@ M@M©MMiM@M Mh@)M@IMiMmdD=Mm8=Yu:QUu>qya}E}}Eyo}>IșŝdL5?ŝcվ Ɲ;B K@9ƝDǝa; ȝ;)șWh<>WX XW:W2W*WVbUBU*UUUp:?B%gvB) B)A-쮾*B)A5AA1A1A5<"C={>RC=fݽC=h<>CAEy$R> X @:YT1y:5);9I)GEQ>6r,EAY}:qXq>}:E@y}:F}:νt}:H@g?ϕ? h@l@?\??Gο@\?)~:qXq> ~:x_;I~:Cɫ99)9 9I9Y}Ѵ@y}w^GI)I) U;MU^=Y]]QU]>YaaeEe}EaymW}m>Iq }:uoL5? }:uվ u=B }K@9uDu: u:)u:Wp=WX XW:W2W*WVbUBU*UUU?B}B  B A ĭ*B A GAAAޮ<"C>RC#Cp=C! B(>IG (>$6r,IEAɫ髙) IY@y__Ge>9aIeP\Gie@e=aae; eEU6X=M];=Y]QU]>aaaeEe}Eiyu}u>IȁŅ6L5?Ņ վ ƅ@B K@9ƅDDžo; ȅY;)ȁW4y<WX XW:W2W*WVbUBU*UUUF@B%roB! B!A%*BAkAAA F<"CWd>RCz-C4y<C [ >:YV1Q=I)y:L5)h;IGm> N6r,S7EA||p;Y}>?>}>@y}>g}>>b}>H`?b5?1&%?O?K?N̿53?)~>?> ~>>_;I~>CɫYY)Y ]IYYi@y2_GK7A`?MbX?Mb?>= )Iym?Mb?:v?.?@=T< @)3-AI Ai-A(A }   @ @ @ÁÁÁiÅ@Á ąz@)ą@Iąz@ią\@ -M?=Y;QU>!!a%E%}E)y-}5>I1 =:5yOL5? =:5վ 5FB EK@95D5: 5-:)5:We @WyXy XyWy:Wy2W*WVbUBU*UUUu@BsB BAG*BAAAA4<"C>*C=RC}NVC @C\|=יIGd>66r,QEAɫ髙) IY@yV_G=i=4=i=I=)=.<Mq=YQU%?!!a-E-}E9yM}?IgdL5?վ KB  K@9 D; \;)WX1@WX XW:W2W*WVbUBU*UUUVy@RB*** querying acoustic contact ***PPB=wBA BAAEm*BAA}BAyAyA}<"C@>RC;CX1@Cu u{u{u} uT:Yu#R1yu:u59}@֥]>9YI]]Gi]@YYY]; ]E)ICi==35`6r,kEAY}B">}BN.@y}Bl}BCD}BH ? /'?@a4dJE?`?l? UWȿ8f?)~B"> ~BW=_;I~@ɫaa)i iIqY"@y`GZ****** received transponder code query ******F****** received ping request ******AAaEEE}EIym}m>Iq }:u|L5? :uվ uPB K@9uDu-: u:)u:Wf@WX X W :W 2W *WVbUBU*UUU @Be"qB BA*BAAAABH<"Cp>RCt.Cf@CօXҼ9IIGeV>H6r,_EA|i|ɫ髙) IY@y`G@AxDUSBL response received:!U1,P 128,000,0100F,185,80,80,4F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 mR=M}X=YQU>aE}Ey}>IL5?Mվ VB -K@9D ; ;)W lp@WX XW:W2W*WAVAbUABUI*UIUIUMY @uu~u~uH u<0:YuT1yu@:u:5B&~iB BA*BAAAA<"C#>RCսClp@C;IG>Ar6r,i;EAY}2x%>}2@y}2ݵ伙}2 "}2Hz?`B?@]v y f?q?@ȕ?@s,Ŀ@b?)~2x%> ~2=_;I~2CɫYY)Y YIYY<@ypaGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B >9I|]Gi@{;  EI)I) !!<M(=Y aE}E)y5}=>IQUL5?Uվ U\B K@9U'DU<< U=)QW-D@W1XQ XYWY:Wa2Wi*WqVbUBU*UUU` @B5n cB1 B1A5*B1A=ěA9A9A=K<"CEbpl=RCECED@CI- h5n I G >6r,EAY}2 >}2~v@y}2}2_r }2H?zG?`M ? [? ~2)_;I~0ɫ99)9 =I9Y@y"aGe(\?{Gzt?I +?e'?eף; e9<)aIayesh|??:v?{Gzte)?eT=eף eA)e!AIeE AieAaezA}`廩}ҍ>}>i}(@y }@)}I}@i}@IMb=YAaE}Eyb}>Iȹ :Ž_L5? :Žtվ ƹ K@9ƽ.DǽX); Ƚ*;)Ƚ:W<@WX XW:W2W*W!V!bU)BU)*U)U1U5@BV{B BA *B A w=A A A 4<"C`5RC*2<C<@CuqquQ u5+:Yqyqu'52IGj>6r,EA|&4<|&4}ro@y}r𳘼}rrܽ}rH?fN?@Ly 9? ?5?@`?)~r20 > ~r_;I~rCɫ) IYs@yaGɮ%xDUSBL response received:!U1,R,E91,000,01044,186,80,80,55,FF %Fpublishing direction and range info(>ɰ>> )BIyWTC3E$r_?1i&?ٱ=DNmea in: $SNTTA,,,,,015911.24*55 U#=M]a=Y]baaaeEe}EaymB%}m>IquL5?uվ u]B }K@9u6Du: u:)qWٶ@WX XW:W2W*WVbUBU*UUU7/@P*QWTCZQM@/^1i@KVP@JQ3E$r_?1i&?2Q(>:QbQΠi@<KE@oD RQWzjS?{D ?7.BQnQ> Q,BQOCP9?P{9?PdQQ@"QAB9lnB BA*BAAAA@="C =RC n=C ٶ@CzҽIGE>>9CI]GiV@u;  EY6r,EAY}Uu>}U1@y}Uh}U}UH?Z?@x ~'@;?@࿳?? xo?)~Uu> ~U8u_;I~UCɫYY)Y YIYY@ybG=i=%=i%=I=a=)=%=åL=åC?åiå@á ĥ@)ĥ@Iĥ@iĥ@ԋ<M5=Y IIaMEM}EQy]x<}]>Iȉ :ō$L5? :ōvվ Ɖ K@9ƍ@DǍ: ȍ:)ȍ:m qAdded new target pos. range: 212.339981 m, bearing: 11.745615 deg, deltaT: 4.798013 s, approachRate: 0.662770 m/s, LOS rate: 4.408336 deg/s, posRepo size: 4m ProNav: pos range: 212.339981 m, bearing: 11.745615 deg, approachRate: 0.662770 m/s, LOS rate: 4.408336 deg/s, cmd update: 12.000000 deg/s, cmd heading: 327.388248 deg, new cmd heading: 321.661872 deg. W @WX XW!:WA2WA*WAVIbUIBUI*UIUU j@UU1?uuuuB u.:YuDW1yuY:u5)u;9}B}SaB BAl*BA AAA ="Cx8RC!>C @CܪIG>'7r,EAY}2>}2 @y}2(5}26}2H? [B??`Ӧ@Z?)~2> ~2/_;I~2Cɫaa)a iIiY}@y}=bG<Mj=Y)!!a%E%}E)y-=}-?I15M5?5վ 1 =K@95GD5: 5:)1Weo5@WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}`?B*qB BAhy*BA !AAAc="C5`xRC5>_>C5o5@C1 G8IG (>- t>- Ci mGI i vǿٺ WA7r,( EA|i|@Y}:*>}:t@y}:L}:~}:H?`Y۴?~Ҵ ?֟?ص?ԏ ?)~:*> ~:hO`;I~8ɫAA)A AIAܡ9ܡIܥ|]Giܥ@ܡܡܡܥp; ݥEY;@ybG<MC=Y;QU>aE}Ey<}>Iȱ :ŵM5? :ŵվ Ʊ K@9ƵPDǵ{; ȵu;)ȵ:W %@W X XW:W2W*WVbUBU*UUU ??BA_BA BIAMLn*BQAUЀ"AY ~~f 4:YT1y@:5)G;AYA="C𕡾RC >CE%@Ci յ>Ե!>ֵp<׉IG>c 7r,]:EAY}6P4>}6@y}6}6Z;}6H`? ux? >`az?@~k"?;+p??)~6P4> ~6`;I~4ɫYY)Y ]IYYk@ybGIA)A`"?㥛 ˡE?? '=)Iyw/?Q?&?u= ½ A)½/AI½Ai½5Az A~>I>i\@ )@I@i@%c<M%A=Y- C;QU->11a5E5}E9y=<}=>IAEf2M5?Ejվ E^B MK@9EYDE: E:)AWu@WqXq XqWy:Wy2Wy*WyVybUBU*UUU(@?BgB BAGh*BA/#AAA®="CKRCC@C}2D=AIIGm5>7r,9TEAY}FR9>}F@y}FQǻ}F{<}FH F?23?࿮}::?`y&x? (??)~FR9> ~F`;I~FCɫYY)Y YIYY @yobGjA5M=[=Y=;QU=>AAaEEE}EAyMV<}M>IQUFM5?Uվ U_B ]K@9UaDUg: U:)QW[@WX XW:W2W*WVbUBU*UUU@BE>iBi BqAuPt*BqA}#AyAyA}U="C໾RCC[@CuuW 2:YKN1yy:p59@P=׹IGf>ܝ>9ܙIܝ]Giܝ@ܙܙܙܝj; ݝE7r,#nEA|>;|>;Y}ĩ;>}@y}9}փ<}H?S?9AZ@? /V?`N0??)~ĩ;> ~_;I~Cɫ) IY @yxbGff ?>i@ @)E@Iz@iE@ ;M@=Y^}aE}EyL;}>I :o^M5? :վ  K@9jDN: [:):WoW@WX XW:W2W*WVbUBU*UUUګ@B5 fB=QA= B9A=cs*B9Amc$AiAiAms$="CuK*Cu=RCyC}oW@Cyԉԉ]d=9IIGeV>!7r,EAɫyy)y yIyY@yaG=iEM Y=Y QU >aE}Ey}>I!%:sM5?%Jվ ! -L@9%rD%,: %:)!WUߍ<WQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUe@RuB*** querying acoustic contact ***PqPqBprB BAހ*BAƄ%AAA="C RCCߍ<C<=IG&>mmmm m1:YmW1ymč:mJ5T(7r,:ΡEAY}J+8>}J@y}Jp;}JR}JH??w?G`?@&ݏ? r J?)~J+8> ~J^;I~HE>9AIE\GiEc@AAAEb; EE)ՀCIՀCiрՀ=Հ=Հ4ɫyy)y yIyYp@yaGZ****** received transponder code query ******F****** received ping request ******99a=E=}EAyEi}M>I :M5? :վ ^B L@9zD: R:):W=WX XW:W2W*WV bU BU *UQUYUe @BhB BA*BA&AAAy="CԏRCcV>C==CI]9;>1I9GU>w8.7r,7EA|i|@Y}Rߑ/>}R@y}R6_;}R[ "}RH`?@~?,K?@Q??`rC@?)~Rߑ/> ~R}^;I~RCɫyy)y yIY5@y5aGAAxDUSBL response received:!U1,P E91,000,01044,186,80,80,55,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  6 ?:YT1y:_5\(\? rh?~jt??l> =)Iy&1?ˡE?y&1?0?'=`e<  A) AI AiA A < = yi  @  ) @I @i @];M]=Ye8QUm>qqa}E}}Eya}>IȡťlM5?ťPվ ƥaB L@9ƥDǥ; ȥ?;)ȡWq>WX XW:W 2W *W V bU BU *U U U Q@B ifB  B A }*B A ;'A A A ="C 9RC >l$>C q>C ѽ 2=֝ k}>q Iy G >57r,&EAY}Bh>}BT@y}BA;}B}BH?@`r?&\?`@?a?`6p`?)~Bh> ~B ^;I~BCɫIQ)Q QIQY@y`GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IeA)eAIa)aϽM=Y'QU-?aE}Eyw}/?I :0M5? :վ bB L@9DR: :):Wa>WX XW:W2W*WVbUBU*U U U @[\@BE^BA BAAE鏾*BIAMz>(AIAIAMt="CURCUI=CUa>CY=K'=;>I9I[Gi@=Di; EGL>;7r,WEAY}2L >}2j@y}2b;}2%ݽ}2H ?ټ?o??a? Wl?`?)~2L > ~2v_;I~0ɫYY)Y ]IYYl@yp`G>~J?ʽi@ @)IX@i&@-}M5S=Y5QU=>9AaEEE~EAyMe}M>IM5?vվ dB L@9D; ;)We>WaXi XiWi:W2W*WVbUBU*UUU  @====9 =/:Y=V1y=:=5)=;9UB%yBQ BQA]*BYA]9D)AYAaAeB]="CRCgcb<C>C@=>ס I G >rB7r,( EA|.4<|.p鰕> )BIyWCGM,}?@XٱmTNmea in: $SNTTA,0.145643,,,,015916.11*4B <M2=YQU>aE ~E yOb}>I M:M5? M:վ eB UL@9D ; V;):Whb>WX XW:W2W*WVbUBU*UUU@P*QWCZQXJ~e@?/ѪP`JQGM,}?@X2Q6&:QbQ | c@ \bP>2@RQ `?Fvɮ s?BQN@ QQ_CP9?P9?PQdQA"Q@BVSyB BA*BAX*AAAoO ="C4]=RC֥Chb>C) = \u> I! G= > >9 I i s; EzH7r,%EAY}B=}B]@y}B|4;}B2}BH@??? !ſY?e? f&ƿ`\?)~B= ~B`;I~BCɫaa)a iIiYb@y%(_G=i=]]}]}]B ]3:Y]kS1y]Ԋ:]5)];E-?"~j?V-E5?ES= E)AIAyEn?I +? rh?EV.?E9Ý>Ý7iÝכ@Ù ĝE@)ĝ@Iĝ@iĝ@sM0=Y,vQU>aE~Eygj}>IN5?վ kB L@9D: :)m }Added new target pos. range: 215.879990 m, bearing: 315.100942 deg, deltaT: 4.964570 s, approachRate: 0.713054 m/s, LOS rate: -11.409782 deg/s, posRepo size: 4m ProNav: pos range: 215.879990 m, bearing: 315.100942 deg, approachRate: 0.713054 m/s, LOS rate: -11.409782 deg/s, cmd update: -12.000000 deg/s, cmd heading: 26.900414 deg, new cmd heading: 32.205638 deg. W>WX XW:W!2W!*W!V!bU)BU)*U)U-(j@U- ?B]>B BA*BAz+AAA> ="C 2">RC P5C >CN>IG>"O7r,|?EAY}2\'r=}2@y}2':}2J}2H@m?o?„?@;ȿ`@??dS`'ɿ=`?)~2\'r= ~2eGa;I~2Cɫ99)9 9I9Y}@y}`G)> > =M=YQU?!!a%E%~E)y-R}-?I15 N5?5վ 5pB =L@95D5^: 5I:)1WefD>WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}P?BB! B!A%*B!A%6,A!A!A- ="CMmR>RCUyCUfD>CQM},>!I)GM1> V7r,WYEA|i|@Y}6p=}6$K@y}6=#}6(Z}6HnI?`J?`inmGI!i9ӿٺAaE~EyJ}>Iȩ :ŭ1N5? :ŭվ ƭvB L@9ƭDǭ; ȭ*;)ȭ:Wgb>WX XW:W2W *W V bUBU*UUU?====i =^+:Y=V1y=:=K59E@Be@Bi BiAmo*BiAmed-AqAqAuj ="C}ԋ>RC} C}gb>Cyܵ>9ܱIܵ[Giܵo@ܵ=ܱܱܵn; ݵ E=S>I!GEr>4\7r,2sEAY}:O<}:f@y}:^a}:_}:HD$?@>?vȧ?qͿxf??+l? _˿ Q>?)~:O< ~:)a;I~:Cɫ99)9 9I9Y}@y}^GIA)AIA)AU=UUtiUQ@Q U@)U@IU@iU@e`MeL=YmʻQUm>qqauEu$~Eyy}e}}>IȁŅ^FN5?Ņ6վ ƅ|B L@9ƅDDž: ȅ:)ȁW>WX XW:W2W*WVbUBU*UUU&?BgB BA*BA;`.AAA ="Cޞ>RCC>C ;=שIG!>c7r, EAɫyy)y }IyY@y^G}Б;M}I=YQU>aE+~Ey}>Iȩ :ŭh]N5? :ŭ+־ ƭB L@9ƭDǭ?]; ȭ|S;)ȭ:WEq=WX XW:W2W*WV bU BU*UUUwD?B}9By ByA}*BA/AAAm ="C`}>RCCEq=C{ 2:YT1y:&5֥S-ܩ 9ܩ Iܭ $[Giܭ @ܭ =ܩ ܩ ܭ |; ݭ EFi7r,6EA|;|;Y}Fj@}F6x@y}F覻}FM}FH`Z???`п 9??t? ֐ɿZ?)~Fj@ ~F8_;I~FCɫ髡) IY.@y^GZd;O?Pn?Q롿j?> \)Iykt?Zd;O?{Gz 0?j<=# bA)9(AI5AiAAn(\>S>iG@ )@I@i@t<M(=Y_QU>aE3~E y B} >IxN5?־ B L@9D: :)WE˽@WAXA XAWA:WI2WI*WIVIbUIBUQ*UQUQUUns@BB BA*BA60AAAX="C>*C=RCC˽@Cֵjb<׉IG>.p7r,EAY}2@}2o@y}2-}29}2H?߄?@? Cѿ`H;?R?`%p?!ǿy?)~2@ ~2L?_;I~2Cɫ99)9 =IAYѴ@yw^G=i=4=iRCC1@CuX;IIaG}>R /:YWU1y:^57Yv7r,EAY}2@}25ݿ@y}2K}2:}2H??|?`$ҿhO?.?`b?ÿ1?)~2@ ~2_;I~0ɫ99)9 =I9Y]@y]@^GeZ****** received transponder code query ******eF****** received ping request ******eaE>~Ey7z}>IN5? ־ yB L@9Dn ;  :)W@WX XW :W 2W *W9V9bU9BUA*UAUAUE`_ @BB BA*BA%2AAA="C/Մ>RCC@Cu>9qIuZGiu̱@qqqut; u E)لIلiل݄=݄=݄4׹IGE>|7r,_zEA|i|@Y}6@}6Xƿ@y}6 }6rD }6Hh?&?吣?`Pҿ a?੅? }A5?`;o?)~6@ ~6^;I~6CɫYY)Y YIYY}@y})^GxDUSBL response received:!U1,P 2E8,000,0107F,188,80,80,47,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 />/ݼi@ \@)ۙ@Iۙ@imRMm'=Y}ȁ;QU}>aEF~Ec .:Yy5)c;9ye}>I :N5? :U־ uB L@9Da; lM<):Wo@WX XW:W2W*WVbUBU*UUU`D @Be(Bi BiAu*BqAF4AAA>="C2/0>RCCo@CV1ƽIG>j7r,iUEAY}:g@}: Կ@y}::}:r}:HP??'? E6ҿP{??`V@)`q?)~:g@ ~:@^_;I~8ɫ99)9 9I9Y}|@y}^GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)I) aanMn=Y`;QU?aEK~Ey;}?IȹŽN5?Ž?־ ƽrB L@9ƽDǽ; Ƚ /;)ȹWGg@W X  X W :W2W*WVbUBU*U!U!U%@BB BA*BA.5AAA#="C 6=RC @_C Gg@CERIGE>m >9i Im YGim *@i i i m _; m E7r,1(EAY}(@}@y} d;}3}H Ƹ??? ѿ৞??@ lE ?)~(@ ~_;I~Cɫ) IYeq@ym^GxDUSBL response received:!U1,R,4F4,000,0107F,188,80,80,47,FF Fpublishing direction and range infoɰ鰁 )Iy^?|) _ٱ ` }:Yy^5);y&1?S˿l`?/] )IytV?ˡE?{Gz?2?'=ף< AA)AIOAiOAzA-=j<=t=iQ@ )@Ih@ih@ +M =Y ;QU>aES~Ey%<}%>I) -:-N5? 5:-־ -vB 5L@9-D-: -R:)-:WUF@WYXY XYWY:WY2Wa*WaVabUaBUa*UiUiUm@Py*QyZQ}}a*X@yt hJQ}^?|) _2Q}:QybQ}|C@Vz5wj8+@//@RQ}h$?>cjq}?BQ} @ Q}SQ}BP}ު9?P}9?P}%Q}Q}٩A"Q}AB䇽B BAɳ*BAE6AAA="C/;RCCF@C֕”DQIYG}>U7r,BEA|(|(Y}r8@}rWF@y}r;}r"(;}rH?Q?h?Zѿ@p?%?wbO?)~r8@ ~r-`;I~rCɫ) IYU@yU^GTNmea in: $SNTTA,0.296529,,,,015920.96*43 5;M =Y;QU?aEX~Ey%<}%?I15N5?5Q־ 5xB EL@95 D5s: 5÷:)1muyAdded new target pos. range: 215.879990 m, bearing: 280.443852 deg, deltaT: 4.489424 s, approachRate: 0.000000 m/s, LOS rate: -7.719719 deg/s, posRepo size: 4m ProNav: pos range: 215.879990 m, bearing: 280.443852 deg, approachRate: 0.000000 m/s, LOS rate: -7.719719 deg/s, cmd update: -12.000000 deg/s, cmd heading: 332.970684 deg, new cmd heading: 329.275356 deg. W@WX XW:W2W*WVbUBU*UUU`J?BϔB%e= BAܲ*BA"7AAA="C|}RCJ~C@C6gסIGA>7r,c[EAY}2@}2İ@y}2;}2 |}2H??Tq?WпE?^?} 9o?)~2@ ~2_a;I~2Cɫ99)9 =I9Yu@y}^G=i=I4=)R=4=M ]=Y ˁ;QU >aE^~Ey=}>I!%O5?%>־ %{B 5L@9%D%o: %f:)!WUm@WQXQ XYWY:WY2WY*WYVabUaBUa*UaUaUm`?BAB BA*BA8AAA="C2 RCh9Cm@Cu@AIQG}> >9 CI 0YGi @    ]; E%%%%c %'0:Y%DW1y%Y:%5)%k;uќ7r,nuEAɫyy)y yIyY@y)^Guu/?uuaEe~Ey}>Iș :ŝ-O5? :ŝ־ Ɲ~B L@9ƝDǝ: ȝ:)ȝ:W@WX XW:W2W*WVbUBU*UUU?BoB BA*BAv9AAA="C%gRC%}=C%@C)EƂI)GEQ>7r, EA|i|Y}6G<}6@y}6,;}6i=}6H>??S *˿-?Sy?@?)~6G< ~66d;I~6CɫYY)Y ]IYY2@y]G=M=O=YEtBQUE>IIaMEMk~Ey=}>IDO5?,"־ B L@9%D ;  ;)W=ѯ@W9X9 XAWA:WA2WA*WAVIbUQBUY*UYUYUe C9?B6B BA*BA:AAA="CPRCv8>Cѯ@C--z-z-L -J+:Y-Q1y-:-59-@ѥ@=]v119Iii/mGG>Ii !ǿٺ  A 9 I XGi @ = c; E7r, EAY}f=}I@y} ;}`=}H`vi?`M?ɴ@kȿ-?`ޗ[!p ??)~f= ~f;I~Cɫqq)y yIY @y x]GIi)i qq p= ף?Q?Mb %? u< ) I y X9v?I +?aEs~EyZ=}>I :bO5? :#־ B L@90DI: :):W-ﭬ@W)X) X)W):W)2W1*W1V1bU1BU9*U9U9U=G?Be<ÎBi BiAm*BiAmX<AqAqAu="C}ҾRC} >C}ﭬ@CmXf=-@ I G5 > ˰7r,SEAY}2=}2)@y}20;:}2[>}2H??=?apſ@16?_¿`egY@? ?)~2= ~2fd;I~2Cɫ99)9 =I9Y @y]GU9;M]=Y]eQU] ?aaaeEex~Eaymi=}m ?IquvO5?uv$־ uB }L@9u8Du: uR:)qW׈@WX XW:W2W*WVbUBU*UUU@f@BB BAD*BAM=AAA="C RCC׈@C) % %%%Y %5:Y%V1y%:%ެ5u%|Iy)yQIaG>7r,]1EA|4<|Y}>Ÿ=}>D@y}>}> >}>H%??@ ÿ`@?`ÿ`5S??@W?)~>Ÿ= ~>5c;I~<ɫYY)Y ]IYYҳ@y<]G鮝a=ɮR=MU=Y4QU>aE~~EyCD=}>IQ ]:UO5? ]:U%־ UB ]L@9UBDU: U:)U:Wڧ@WX XW:W2W*WVbUBU*UUUۙ@RB*** querying acoustic contact ***PPBYYB BA*BAP>AAA,="C RCCڧ@C֭(⽹ׁIܱ9ܱIܵsVGiܵN@ܱܱܱܵp; ݵ EG!>W7r, EAY}2K=}2@y}22}2" !>}2H@Ƿ??A@ OT?`ÿ@Yfp?A ?Ԛ?)~2K= ~2 Q=i @  ^@) @I h@i h@"-M6=Y%λQU%>!)a-E-~E)y5{=}5>IAEXO5?Es%־ EB ]L@9ELDEa; Es;)AW@WX XW:W2W*WVbUBU*UUU @BQ'B BAuǾ*BA?AAA="C%:)RCC@Czze o/:YQ1y:p5)͌;9_IG l>.7r,EAY}2->}2rK@y}2Χ컙}2)H>}2H?p?*Bi?7ÿ}?u?@?)~2-> ~2^b;I~2Cɫ99)9 =I9Y}@y}4\GxDUSBL response received:!U1,P 4F4,000,0107F,188,80,80,47,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 M_=YQU>))a=E=~EIy]H$=}e>IȁŅ3O5?Ņ%־ ƅB L@9ƅUDDž= ȅ{=)ȁW@WX XW:W2W*WVbUBU*UUUl @BU[BQ BQA])˾*BYA]`cAAYAYA]R="C@RCC@CEXһI9Gew>ܹ 9ܹ Iܽ UGiܽ @ܽ =ܹ ܹ ܽ y; ݽ E)ECIECiAE=E=E<5T87r,*EA|Pi|R@Y}U>}U@y}U=}U1>}UH??|fӹ`~?1¿?]? R?)~U> ~Una;I~Qɫ髡) IY@y[G@A Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B uu~u~uS u*,:YuT1yu@:u5)u;"~?X9vI +?> 94<)IyDl?I +?+?O-?94<= µ\A)µ\AIµAiµAA ƽ > pi \@  ) @I @i @uPM%=Y%QU%>))a-E-~E1y5U=}5>I9 E:=(O5? E:=f'־ =B ML@9=`D=: =:)=:Wm۞@WiXq XqWq:Wq2Wq*WqVybUyBUy*UyUU+@BJٚB BAGپ*BABAAA="CnWRCC۞@C*:+=ׁIG>7r,DEAY}2%>}25F@y}2զ}2) >}2H?$~? ל -E`Ӗ?`%?@d??)~2%> ~2 `;I~2CɫYY)Y ]IYY\@yp[GdNmea in: $SNTTA,0.149613,0.074057,,,015925.40*59 I)AI)A !!-!<M-=Y5QU5#?99a=E=~E9yE6Q=}E#?IIMO5?M8(־ MB UL@9MfDM^: M:)IW}@WyXy XyWy:W2W*WVbUBU*UUU\B@B5B BAվ*BACAAA="CfRCC@C 0p=IG (>D7r,|^EAY}2 &->}2@y}2\}2ا=}2H;? %|?@@B N?y ??%?)~2 &-> ~28T_;I~2Cɫ99)9 9I9Yu@y}ZGxDUSBL response received:!U1,R,E36,000,010E4,186,80,80,5E,FF Fpublishing direction and range info}>yɰ}>}> y)}BIyy}]C}SPYz?i+h?ٱyMMMH=Yu0jQUu>qya}E}~Eyyb<}>Iȉ :ōP5? :ōO)־ ƍýB L@9ƍoDǍr; ȍ׾;)ȍ:W6@WX XW:W2W*WVbUBU *U UU@P!*Q%]CZQ%qUi@"+-U@JQ%SPYz?i+h?2Q%>:Q!bQ%ЛJj@}SpdWQ@C=x,@RQ%fIfS?+; F??BQ%R> Q%BQ%TRCP%9?P%ު9?P%7Q%%Q%~A"Q%٩ABȳB BAܾ*BAnEAAA="C*j~RC)C-6@Y9YI]HUGi]Z@YYY]; ]EC1' +:Yy(5);ֵ=בIG5>dm7r,vQxEA|;|ɫ髙) IYı@yZGÍ'>ÍԽÍ>iÍ@É č@)č@Ič@ič@#ME=YQU>aE~Ey}>IȹŽgP5?Že*־ ƽνB L@9ƽxDǽE: Ƚ:)ȹm5uAdded new target pos. range: 221.939987 m, bearing: 18.254340 deg, deltaT: 4.738191 s, approachRate: 1.278969 m/s, LOS rate: 20.643002 deg/s, posRepo size: 4m=ProNav REINIT: LOS rate is 20.643002 deg/s. Setting heading cmd to target bearing of 18.254340deg and heading rate command to 0 deg/s.W=R>W9X9 X9W9:W2W*WVbUBU*UU`k@U?BB BA޾*BAqGAAAL="CRCCR>CUK=I!G9LU7r,,EAY}2x|">}2d1@y}2m }2ҿ]=}2H ~2 _;I~2Cɫyy)y yIY@yZG=i=R=i=I-=)-%=%MK=YQU>aE~EyӼ}>Iȩ :ŭ:6P5? :ŭ+־ ƭ۽B L@9ƭDǭ: ȭR:)ȭ:WWX XW:W2W*WVbUBU*UUU?B+ B! B!A%*B!A%#>HA!A!A-8="C5NaRC1C1C1M=!I9Ge4>Y R.:YT1y:ެ59@Q 9Q IQ iQ Q Q Q U ; U &Et7r,)!EAY}m>}ma@y}mi}miT<}mH}?`*? 3H`q?@%?4$??)~m> ~m_;I~mCɫii)i mIiY@yYGzG?{GztMb? >ף <)IyʡE?kt? rh?=? 0=C = A) AI AiAAåʡ=åL>åQ8>iå@á ĥ@)ĥۙ@Iĥ@iĥ@>M,=YQU>aE~Eyyм}>ISP5?t,־ B L@9D; ;)WWX XW:W2W*W V bU BU *UUU um?B=BA BAAE*BAAE` JAAAIAMq="CMRCQCQCQ5|5> IG5q>Vg7r,*EA|i|@Y}2 >}2e@y}2{.}22A#:}2H?@=?`18 b?nq?|إ?@dcD??)~2 > ~20`;I~2Cɫ99)9 =I9Y۰@yYG]dM]{=Y]RAQU] ?aaaeEe~Eiym }m ?IquhP5?u8-־ uB }L@9uDu0: u:)qWWX XW:W2W*WVbUBU*UUU?BKB BA.*BABEKAAA}M ="C9*C=RCCC[>IG'> 5 4:YWU1y:(5iE unG7r,TEAIi<^οٺ\^AY}>=}>W@y}>+=}>}>Hj? ?:r ,N ?tߢ?z?= ~>u`;I~>Cɫ髑) IYU@yXGI)AI)A 鿡MC=Y QU>aE~Eyu}>I :9P5? :i.־ B L@9D: :):WWX X!W!:W!2W!*W!V!bU)BU)*U)U1U5,@B]틩BY BYA]*BaAeLAaAaAe =>9Ii=; E"CHRCCC%>I G%M>7r,$EAY}2E=}2v@y}2%2N}22}2H H?*?`b@N¿9?@cK?@{é? @/?)~2E= ~2(a;I~2Cɫ99)9 =I9Y}@y};YG-<-C>-Pi-3@) -"@)-@I-@i-@uk<MuQ=Yu)QU}>yya}E}~Ey%}>IȉōP5?ō/־ ƍB L@9ƍDǍ^: ȍI:)ȉWWX XW:W2W*WVbUBU*UUU`HN@BKBhA= BA*BAnNAAA;!="C  2RC CCE>5 ~~<  8:YT1y@:5I)GEQ>_8r,2tEA||4aE~EyK}>I :/P5? :V1־ B L@9D: :):W W X  X W:W2W*WVbUBU*UU!U%[@R-B*** querying acoustic contact ***P)P)BMBQ BQAUM*BQA]_OAYAYA]{!="CeYRCaCaCie>!I1GM1> 9 I VGi @ ; $E 8r,h]-EAY}%k{=}%@y}%p}%i}%Hbc?*?&-ǿ??'?&ÿ?)~%k{= ~%|c;I~!ɫ ) IYM@yMXGUZ****** received transponder code query ******UF****** received ping request ******]]94 ]#=)YIYy]/$?B`"۹?~jtx],?]=]Ļ ]V A)]AI] Ai]AY]AÅ>Å#=Å/>iÅ(@Á ąh@)ą3@IąQ@ią3@=;M=YQU>aE~Ey6:}>IP5?,2־ $B L@9D@;  /;)W W X  X W :W 2W *WV- 8 i7:YU1y:̥5);9%bU!BU!*U!U)U- X @BsB BA*BAs1RAAA"="CaRCCC > I G >R8r,A*GEAY}:$ =}:5@y}:!}:6bA}:H5?1?@ $˿@?*? t!?Uǿ\^?)~:$ = ~:6d;I~:Cɫ99)9 9I9Y}@y}XGxDUSBL response received:!U1,P E36,000,010E4,186,80,80,5E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 mĔ;M=Y,eQU?aE~Ey޲}?I :~P5? :2־ 'B  L@9D ; ;):WWX XW:W2W*WIVIbUQBUQ*UYUaU t @BӵB B A 7*B A $SA A AwM"="CEORCCCSf= 6Ʌ> I G >8r,aEA|i|Y}6;}6~U@y}6#}6q\}6H`??ĈXο>??`H ?@NH˿!1?)~6; ~6)d;I~6Cɫ99)9 9I9Y}@y}WGAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5?M=N=Y=-QU=>AAaEEE~EAyM}M>IQUGP5?Uk4־ U*B ]L@9UDU: U:)QWWX XW:W2W*WVbUBU*U1U1U5 *@B]rBY BaAeZ*BaAeBUAaAaAe"=ܝ>9ܙIܝVGiܝ@ܝ =ܙܙܝ; ݝE)AIAiAE =AEk4"CH<RCCCѭB=MM~M~MC Mo/:YMT1yM@:M'5)M͌;֝_>בIG> 8r,zEAY}2~f@}2$t@y}2S}2ojo}2HO?@? m`пz??Ʊ?^Ϳ` ?)~2~f@ ~2c;I~2Cɫ99)9 =I9Y@ysXGI)I) -j->-+i-G@) -ۙ@)-@I-@i-ۙ@==M=J=Y=QUE>AAaEEE~EIyMQ}M>IY ]:]@Q5? e:]]6־ ].B eL@9]D]: ]:)]:WWX XW:W2W*WVbUBU*UUU@B=B BA*BA&VAAA"="Cl'RCCC) M>) I1 GU >a$8r,ǔEAɫ)1)1 5I1Ymw@ymYGuxDUSBL response received:!U1,R,502,000,0111D,189,80,80,4C,FF }Fpublishing direction and range infouf3qɰur>u7> q)uBIqyu\aCuw?amf-ٱqDNmea in: $SNTTA,,,,,015930.25*57 D#=MC=YQU>aE~Ey}>I'Q5?a8־ 2B L@9D: I:)WWX XW:W2W*WVbUBU*U U U b@P*Q\aCZQ^ZX@8Ʋ-WiJQw?amf-2Qf3:QbQ+6C@cF%jn:J@RQ.Aڒ6?OFIg0Ó~?BQ@ QYWQqBP9?P9?P-Q7QlB"Q~ABUlBQ BQAUn*BQA][2XAYAYA]F#="Ce?RCaCaC>MMMM0 M1:YM0Y1yM:M59]@IGm>ܩ 9ܩ Iܭ XGiܭ @ܩ ܩ ܩ ܭ r; ݭ E +8r,EA|8|:;Y}Z/@}Zշ@y}Z4}Z96~}ZHJB?-??`EԿ :?_??@]Ͽ`?)~Z/@ ~ZHa;I~Xɫ髑) IY@yYG On?L7A`?X9v? 8? += }=) I y V-? rh?Q? |?? C = u< |A) /AI  Ai  A  fAmmnm=im@i mh@)mh@Imh@imQ@}=M}>=Y}7QU}>aE~Ey}>Iȑŕ$AQ5?ŕG=־ ƕ?B L@9ƕDǕ: ȕ/:)ȑm}Added new target pos. range: 225.359985 m, bearing: 280.293724 deg, deltaT: 4.847620 s, approachRate: 0.705500 m/s, LOS rate: -20.207980 deg/s, posRepo size: 4m!ProNav REINIT: LOS rate is -20.207980 deg/s. Setting heading cmd to target bearing of 280.293724deg and heading rate command to 0 deg/s.W@WX XW:Wa2Wa*WaVabUiBUi*UiUm+l@Uu@ɫ?BB BAT*BAYAAA&#="C4RCR[>C@C IG >28r,PrEAY}6@}6Ͻ@y}6렝}6Z}6H?`?wΎ?@տe?x?"?~Ͽ?)~6@ ~6Oa;I~4ɫ99)9 =IAYް@yYG=i=U M]`=Y]kQU]>aaaeEe~Eaym}m>Iq }:uWQ5? }:uA־ uKB L@9uDu: u:)u:WWX XW:W2W*WVbUBU*UUU Yk?B}ZBy BA*BAD[AAA=F#="CʱRC>*>CC ե=ԥ=֍Y>aIyG=>ee|e|e5 eR.:YeR1yei:e(5 /88r,HSEAY}2 @}2@y}2򢽙}2f|}2H`?'?J?׿`ї? T?X?!ϿE?)~2 @ ~2I`;I~0ɫ99)9 9I9YEg@yEDZG)=  -=M O=Y ׻QU>aEEy%}%>I)-nQ5?-;G־ -XB 5L@9-D-: -v:))WQWYXY XYWY:WY2WY*WaVabUaBUa*UaUiUm^?BhB BAc*BA\AAAZ#="CWRC>CCm`>܅>9܁I܅0YGi܅@܅=܁܁܅z; ݅EׁIG >W>8r,(EA|i|Y}6@}6@y}6䦽}6صx}6HL?`??`3ٿLI?<#?ִ?@ο`+?)~6@ ~6/(`;I~6Cɫ99)9 =IAY}@y}ZGUU>UhiU̜@Q U@)U@IU&@iUz@e=MeE=YeFQUe>iiamEmEqyu؂}}>Iy :}Q5? :}RM־ }gB L@9}D}s: }:)}:WWX XW:W2W*WVbUBU*UUU`¨?BB BAܾ*BA^AAAc#="C1j*CRCJ=CCE Z>I)GUS>P |,:YxZ1yq:5?E8r,EAY}:<@}:3J@y}:,ɩ}:J|}:H c??9v?(ڿ?T?2?`oϿU?)~:<@ ~:~`;I~8ɫYY)Y YIYYT@yg[GI)I)5U =M=M=Y=0hQU=>AAaEEE EAyMy}M>IQU:Q5?US־ UuB ]L@9U DU÷: Uϸ:)QWWX XW:W2W*W V bU BU *UUU%@B}jB BAվ*BAs_AAALc#="CRC=CCYY֥J>inGIi]Cǿٺam(AׁIGD>ܕ >9ܑ Iܕ \ZGiܕ {@ܑ ܑ ܑ ܕ }; ݕ EiK8r,/EAɫyy)y }IyY@y[G?K7A`?Mb?f>+> <)IyʡE?S㥻?Mbp?-2?/=; ­@)­t-AI­ Ai­AAumu>uiu@q u\@)u@Iuۙ@iuۙ@}M7=YQU>aEEy}>Iș :ŝQ5? :ŝlX־ Ɲ}B L@9ƝDǝ: ȝ:)ȝ :WWX XW:W2W*WVbUBU*UUUj@BB BAھ*B!A%aA!A!A%Qg#="C-MRC-">C1C1k&>IGK>||W /:YR1yi:p5)%;9QR8r,VIEA|4<|Y}6@}6)ɹ@y}68}61v|}6HP?@?4?2KݿK@? Z???Ͽ9?)~6@ ~6_;I~6Cɫ99)9 =I9Y}X@y}\G鮁ɮ==Mo=Y EQU?aEEy }?IȹŽQ5?Ž\־ ƽB M@9ƽDǽY: Ƚ:)ȹWWX XW:W2W*WVbUBU*UUUS@RB*** querying acoustic contact ***P P BtB= BA`ž*BA['bAAAb]#="C^RCN&>CC#=סIG!>{X8r,-cEAY}2@}2 @y}2^}2 u}2H?^??@%޿? @?C?`8ο`c?)~2@ ~2_;I~2Cɫyy)y }IyY6@y}\GZ****** received transponder code query ******F****** received ping request ******99a=E= EAyM]}M>IQ ]:UsQ5? e:Ub־ UB eM@9U(DU; UD;)U :>9I[Gi@; EWaWaXa XiWi:Wi2W*WVbUBU*UUU ] @BǦB BAuǾ*BA-McA)A)A-B#="C5t)RC5QZg>C1C9==M?iM? ~~n $4:YT1y@:]5)ݐ;I!G=r>^8r,;p}EAɫyy)y }IyYA@y]GxDUSBL response received:!U1,P 502,000,0111D,189,80,80,4C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 U?U=UY>iUQ@Q Uۙ@)Uۙ@IU@iUE@j=M&=Y QU >  aE(Ey}>I!% Q5?%8i־ %B MM@9%3D%; %n:)!WWX XW:W2W*WVbUBU*UUUQ @Be6Bi BiAu˶*BqAdAAA3#="CCRC >CCO >IG>e8r,4LEAY}>Կ@}>@y}>}>=Z}>H -c?@F??`M0?C?@?J˿%?)~>Կ@ ~>q_;I~>Cɫ99)9 =I9Y}@y}W^G?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }5=M}{=Y/WQU ?aE-Ey} ?IșŝR5?ŝm־ ƝB M@9Ɲ:Dǝϸ: ȝ:)șWWX XW:W2W*WVbUBU*UUU@BB B A c*B A eA AA #="CSSRCCCeG==4>q ]-:YDW1yY:59%@I)GMt>5 >91 I5 ]Gi5 @5 =1 1 5 ; 5 E)ɈIɈiɈ͈=Ɉ͈4Sk8r,F(EAY}2i@}2,w@y}2}2!1J}2H1,??,?`ΧMu?K??Aɿn@?)~2i@ ~2e_;I~2Cɫ99)9 9I9Y}@y}@^Gjt?Mb`?l??; =)Iy|?5^?MbX?~jtx?2?=; @)~(AIKAi AA =  ? ̼i z@  Σ@) @I z@i z@%0M%@=Y- QU->11a5E54E9y=}E>IA U:E&R5? ]:Et־ EB ]M@9EDDE ; E;)E :WWX XW:W2W*WVbUBU*UUU@BMBI BIAM*BIAUgAQAQAU"="C]3kRCYCYCaeX=%I^>I)))IG-p>r8r,EAY}v@}vD@y}vy⹽}vR@}vHg?@.?ט? !T?b^?@%4? ǿ M?)~v@ ~v_;I~vCɫ) IY-@y-v_G5xDUSBL response received:!U1,R,359,000,00F6A,18A,80,80,90,FF =Fpublishing direction and range info5t?1ɰ5>5> 1)5CI1y5BGC5(Pxu?(Q9ٱ1UDNmea in: $SNTTA,,,,,015935.10*54 ejAeiAm=MuV=YuQUu>yya}E}:Ey}>IIM52g*CC@RQ'w3?ºNUU?BQ%@ Q<QIBP9?P9?PQ-Q0B"QlBB<#B BAΠ*BA&#hAAA"="CS݀RCCC)! !ֽ f>ב I G >Ix8r,aEAY}6@}6P@y}6B}6=}6H@?`?d? 5K ?"??dǿR?)~6@ ~6O_;I~6Cɫ99)9 9I9Y@y`G5=M=O=Y=@QU=>AAaEEEAEAyM}M>IQ ]:UPR5? ]:U{־ UB eM@9UUDU: Uk:)U :myAdded new target pos. range: 199.259995 m, bearing: 284.951968 deg, deltaT: 4.872665 s, approachRate: -5.356410 m/s, LOS rate: 0.955995 deg/s, posRepo size: 4m ProNav: pos range: 199.259995 m, bearing: 284.951968 deg, approachRate: -5.356410 m/s, LOS rate: 0.955995 deg/s, cmd update: 2.867985 deg/s, cmd heading: 280.293724 deg, new cmd heading: 280.293724 deg. W$@WX XW:W2W*WVܽ>9ܹIܽ^Giܽ@ܹܹܹܽf; ݽ EbUBU*UUQh@U@?B}B BA*BA3 iAAA"="CRCC$@C= [ 8:YT1y:L5)˔;9 Wm>יIGb>~8r,ԷEAY}:@}:|,@y}:X}:aEGEy"}>I)gR5?־ ȾB M@9_D': U:)WGϝ@WX XW:W2W*WVbUBU*UUU ?B-2B) B1A5*B1A5iA1A1A=\"="C=RCACEGϝ@CAM> IGE0>ۅ8r,SEAY}6\g@}6u@y}6}6 M}6H s?х?a? Q%P??`% ?@ Yɿ8?)~6\g@ ~6^;I~6CɫYY)Y YIYYK@yaG5^=M=Q=Y==QU=>AAaEEEMEAyM,k}M>IQ ]:U{R5? e:U־ UҾB eM@9UgDU: U:)U :Wv@WX XW:W 2W *W V)bU1BU1*U1U1U5, ?BSOB BA1*BAjAAA"="C0gRCCv@CT d0:YWU1y:̫59@>יIGb>9CI7`Gi>@=^; E!8r,n2EA|i|Y}6}@}6"@y}6yý}6]#U}6H?*?N?. ?\?fn?_Tʿ*?)~6}@ ~6_;I~6Cɫ99)9 9I9YY@yaG-?(\µZd;O?5? j<)Iy@5^I ?Zd;O?{Gzt?b0?j<=ף; bA)#AI\AibAA } } }}}C}l>i}@} }@)}z@I}z@i}z@,;M6=Y:\QU>aEUEy_l}>IȩŭR5?ŭ־ ƭB M@9ƭqDǭ: ȭ:)ȩW-+@W)X) X)W):W)2W1*W1V1bU1BU1*U9U9U= ?Bm򻙽Bi BiAmD*BiAu}kAqAqAu!="C}ТRCyC}+@C֝>qIG~>8r,HLEAY}:@}:?ų@y}:ǽ}: +]}:H??3y?Fw-?@R??`0M˿?)~:@ ~:RD_;I~8ɫ99)9 9I9Y}k@y}bGI) ))UH=M]a=Y]+QU]>aaaeEeZEaym}m>Iq }:u R5? }:u־ uB M@9uyDu: uM:)u:W@WX XW:W2W*WVbUBU*UUU@?BvB BAGh*BA,mlAAA!="C,RCC@C=i=>I ) 55}5}5] 50:Y5kS1y5Ԋ:55IGE>iu =nGI i vǿٺ WA8r,'fEAY}2@}2X@y}2L̽}262e}2H? n??K@k?@u?~?E̿` ?)~2@ ~2"F_;I~2CɫYY)Y YIYY@ycG5<M5L=Y=ѿQU=>9AaEEEaEAyMу}M>Y9YI],bGi]Է@] =Y] D]]; YI̶R5?־ B M@9Dܹ: :)W=2j@W9X9 XAWA:WA2Wi*WqVybUBU*UUU`9[@BB BA e*BAOEmAAA#!="C*CRCC2j@C?΅>IG>?B8r,EA||ɫyy)y }IyY,@ycGɮd;i@ )I\@i@-N=M-K=Y5QU5>19a=E=gE9yE}E>IIMR5?M7־ MB ]M@9MDM; M;)IW}@WyXy XyW:W2W*WVbUBU*UUU`F@RB*** querying acoustic contact ***PPB nB BA5P*BAHmAAA5 ="CDYRCC@C> zzX "6:YQ1y:5׹IGE>*8r,ۙEAY}: A@}:N@y}: iϽ}:s}:H@u??%?wg???RͿ`?)~: A@ ~:C_;I~:Cɫ99)9 9I9Y}@y}?dGZ****** received transponder code query ******F****** received ping request ******aEnEy9}>I  :"R5?  :־ B 5M@9D; ۿ;):W}@WX XW:W2W*WVbUBU*UUU@ @BpB BAE*BÅnAAASg ="C-[RC1C5@C1]>AIiG>܍>9܉I܍ dGi܍k@܉܉܉܍i; ݍ E7T8r, EAY}2!n@}2{@y}2ν}2;w}2H "?#?? |?@Q?@ǹ?`}οV?)~2!n@ ~2{_;I~0ɫYY)Y ]IYY_@yLeGxDUSBL response received:!U1,P 359,000,00F6A,18A,80,80,90,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ʡE?"~j?:v?>S=r :2:YWU1y:95)6;9 <)IyʡE?jt?~jtx/? >Ļ ;@)'AIAiAAUTU>U+>iU@Q U"@)U@IUΣ@iU@DL=M=YUE:QU>aEwEyC}>I)-jR5?-־ -B mM@9-D-< -L<))W@WX XW:W2W*WVbUBU*UUU$@B]BY BYA])*BYAeNGoAaAaAe="CmB*CiRCC@C֥ >y I G >-<8r,EA|i|ɫyy)y }IyY@y'fG@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B u=Mu=Y}QU}*?yaE{Ey}/?Iȑ :ŕ1S5? :ŕ ־ ƕB M@9ƕDǕ: ȕP:)ȕ:Wp@WX XW:W2W*WVbUBU*UUU)@B+’B BA*BA1oAAA!="C-JRC->C-p@C1E>I)GUt>+f8r,3lEAɫ髙) IY@yfGI)I)  !9!I%fGi%@!!!%h; % E)ݕCIݕCiݑݕ =ݑݕ;Q5]=MeL=YaQUe>iiamEmEiyq}}>Iy}qS5?}_־ }#B M@9}D}k: }:)yWm@WX XW:W2W*WVbUBU*UUU@B-񬉽B) B)A5*B1A5pA1A1A=="C=RCE(k>CEm@Ciyy 5+:YP1y':95)&;] >1IAG]v>FQ8r,TEAɫ ) IYE@yMgGUxDUSBL response received:!U1,R,2CB,000,01173,188,80,80,8B,FF UFpublishing direction and range infoUQɰU>U> Q)U CIQyUfCUPj? >S,ٱQmDNmea in: $SNTTA,,,,,015939.95*55 l?`&i@ @)Σ@I­@iΣ@=M@=YQU>  a E Ey}>I %:-S5? %:1־ )B -M@9Dk: :):WM6M@WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYU]@S@Pq*QufCZQuZbg@0`JQuPj? >S,2Qu:QqbQuH91XD@-kwpuI@RQu29?a`؊~F?BQuɞ@ Qu]Qu"BPu9?Pu9?Pu<QuQu>cB"Qu0BBYB BAȽ*BATpAAAͪ="CkRC`>C6M@C֝|>YIiG[>'x8r,h"EA|;|Y}63@}6&A@y}6ʽ}6F{}6H?3?妿? dQ.t? q?K? tο?)~63@ ~6 z`;I~6CɫYY)Y YIYY@y|hG==M=X=Y=Τ;QU=>AAaEEEEIyMȈ}M>IQU?S5?UH־ U.B eM@9UDU%: U:)Qm yAdded new target pos. range: 230.519989 m, bearing: 280.427487 deg, deltaT: 4.834465 s, approachRate: 6.466071 m/s, LOS rate: -0.935880 deg/s, posRepo size: 4m= ProNav: pos range: 230.519989 m, bearing: 280.427487 deg, approachRate: 6.466071 m/s, LOS rate: -0.935880 deg/s, cmd update: -2.807641 deg/s, cmd heading: 294.180889 deg, new cmd heading: 295.309943 deg. WE.@WAXA XAWA:WA2WA*WIVIbUiBUq*UqUul@Uu`Z?B DB BAޭ*BApAAIAM<3="CUu*CU7RCUr3>CU.@CY~~u /:YT1y@:ݲ59%@Mj>I)GEQ>999I=gGi=F@= =99=^; =EP8r,4EAY}:P@}:]@y}:[ɽ}:|}:H@H?@?`?k? ? ~+?Ͽ?)~:P@ ~:~`;I~:Cɫ99)9 9I9Y}@y})iG=i=a=i=I=)=MbX9?zG?ˡE? W> ')Iyv/?ˡE?S㥛x)?=/ݼ @)(AI\AibAAUm=UjiiamEuEqyu}}>Iy :};QS5? :} ־ }2B -M@9}D}< }p<)}:Wm:@WiXq XqWq:Wq2Wq*WyVybUyBUy*UyUU`m?BɁB BA*BApAAA=I)@A"C%ERC%.>C%:@C)9IG=>8r,wNEAɫ髙) IY@yiG=MW=YQU>aEEy}>Io`S5??־ 6B M@9D; ;)W%!i@W!X! X)W):W)2W)*W1V1bU9BU9*U9UAUE@G?B#B}< BA[*BASqAAA]H="CSRC>C!i@C֥_>H 5+:Y0Y1y::5ׁIG=><8r,hEA|i|Y}6r|@}6@y}6kȽ}6ʁ}6Hl?~?*?H?` w??Ͽ ?)~6r|@ ~6b`;I~6CɫQQ)Q QIQY]@y6jG9IiGiݽ@ =J; E=MK=Y:QU5>AAaMEMEiyu }u>Iy}FpS5?}+ ׾ }:B M@9}D}: }:)yW@WX XW:W2W*WVbUBU*UUU ?BU`|BQ BQAU$(*BYA]s)qAYAYA]="Ce?RC>C@Cօ/>YIqG\>68r,2EAɫyy)y }IyYa@yukGI))) AAÍIÍ۹>Íp>iÍ@É č@)čIčn@ičn@=MJ=YQU>aEEy}>Iȹ :Žu~S5? :Ž׾ ƽ=B M@9ƽDǽ: Ƚ|:)Ƚ:W'@WX XW:W2W*WVbUBU*UUU @B}sB BA$*BA0qAAA^I="CjBRCl>C'@Cd>I)=i=~~y ,:YT1y@:5סIGA>?8r,iEAY}:}@}:#@y}:sͽ}:"x}:H'??ylGinGI•iA•hAi=MI=ſٺܶAYQU>aEEAyt}>I  S5?  ׾ BB M@9 D : `:) W=a@W9X9 X9W9:WA2WA*WAVAbUABUI*UIUIUMCY@B}0qBy ByA}*ByAAAA="C6㡿RC=Ca@CEC"=>9IkGis@=D; Eu">i Iq G >`8r,EEA|4<|Y}6j\@}6j@y}6ͽ}65p}6H *?"? ?S"@lK?93?G? Ϳ@?)~6j\@ ~6$`;I~6CɫYY)Y YIYY@ynmG鮥p=ɮ=Q??v/>L= xi)IyNbX9??Mb?%?=< ^@)‰IAiA\A$>َEi@ "@)I@i"@d=MF=Y)iQU>aEE y U:}>I :}S5? %:R,׾ LB %M@9D: :):WEޟ@WAXI XIWI:WI2WQ*WQVQbUQBUQ*UYUYU]@@ReB*** querying acoustic contact ***PaPaB6kB BA<*BAMqAAA,="C!ŤRC%>Cޟ@CѥE< h 6:Yy5);9%օ >AIIGeV>A8r,C EAY}2ӯ@}2@y}2.˽}2`}2H3? aEEy%7}%>I)-S5?-6׾ -VB EM@9-D-S.; -};))W}F@WyX XW:W2W*WVbUBU*UUU3 @BaB BAX=*BApAAA="C$RC$>CF@C) օ +=a Ii G >v8r,EAY}2K@}2qY@y}2ƽ}2IV}2H?a?? î?@?ʸ?Cwʿ'?)~2K@ ~2O9`;I~2Cɫ99)9 9I9e>9aIemGie[@aaae@; eEY[@yoG xDUSBL response received:!U1,P 2CB,000,01173,188,80,80,8B,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 )å= å=uʡuSc>uB>iu@q u@)u"@Iu"@iuX@<M%=Yv;----S -0:Y-W1y-č:-5)-;QUe>aaamEmEiyu}u>Iy :}S5? :}E׾ }cB M@9}D}; };)}:Ww@WX XW:W2W*WVbUBU*UUU@ @BZp`B BAz=*BAYpAAA="C[aRC< >Cw@Cֽ>בIG>9r,EA|i|Y}6K@}6ʦ@y}6x}6%H}6H9?? #?H?yO?%? ȿ`/@?)~6K@ ~6_;I~4ɫ99)9 =I9Y]@yeoGy}AANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B H=Mu=Y;QU?aEEyAc}?IȱŵS5?ŵN׾ ƵkB M@9ƵDǵU: ȵ:)ȱW@WX XW:W2W*WVbUBU*UUUe@B%BUB! B!A-Σ=*B)A-1~pA)A)A5}="C5nKRC=H>C=@C9E!>I)GEQ>Z9r,EAY}2Z0@}2>@y}2\}2ܿ=}2HՔ??? 9=?#?)i?{ǿR?)~2Z0@ ~2$_;I~2CɫAI)I QIQY}@y} qGI)A:=M\=Y;QU>aEEy}=}>IȹŽS5?ŽY׾ ƽtB M@9ƽDǽ: Ƚ:)ȹWg@WX XW:W2W*WVbUBU*UUU@B-$NB) B)A-v=*B)A5s&pA1A1A5d="C=aRC=ZA >C=g@CAQQm l >5 555`IIqG?> 584:Y5T1y5:5^59 @ܕ>9ܑIܕoGiܕ@ܑܑܑܕ8; ݕE)1I1i15=5 =5F=5> 9r,;7EAY}2#@}2@y}2pW}2j9}2Hp?;U?D?tq?@Mo?? DƿY?)~2#@ ~2/z_;I~0ɫAA)I MIIY.@y]qGxDUSBL response received:!U1,R,312,000,0118E,189,80,80,AC,FF Fpublishing direction and range info/ɰ>7> ),CIy#hCFcL?W^;Dٱ DNmea in: $SNTTA,,,,,015944.82*59 mv/?:vQmx>mԼ mu)iIiymX9v?? rh?m3?imC< m@)m=AIm@imAimf A©­jA5 0=5>5\i53@1 5@)5X@I5n@i1v<M$=Yņ;QU>aEEy}>I :S5? :Dj׾ B M@9"D:  :):W@WX XW:W2WA*WAVAbUABUI*UIUIUM@ߡ@PY*Q]#hCZQ]kqttf@HiabJQ]FcL?W^;D2Q]/:QYbQ](jHZk N7E@RQ]%U˿+mTWpЌe?BQ]_ʏ@ Q]^Q]FFP]9?P]9?P]CQ]<Q]@BB"Q]>cBBeQB BA=*BAoAAAT="CбRC>C@C 5a > I G5 >X&9r,gQEA||Y}BD@}BKR@y}B\}B)7}BHg? ?@?&@Ϸ?h? *p?`ƿF^?)~BD@ ~Bm_;I~BCɫYY)Y aIaYO@yrG}"=Mr=Y;QU?aEEy#}?Ișŝ S5?ŝ8u׾ ƝB M@9Ɲ)Dǝ: ȝ:)șmyAdded new target pos. range: 232.139984 m, bearing: 257.455921 deg, deltaT: 4.910006 s, approachRate: 0.329937 m/s, LOS rate: -4.678521 deg/s, posRepo size: 4m ProNav: pos range: 232.139984 m, bearing: 257.455921 deg, approachRate: 0.329937 m/s, LOS rate: -4.678521 deg/s, cmd update: -12.000000 deg/s, cmd heading: 280.405554 deg, new cmd heading: 279.483982 deg. W|h@WX XW:W2W*WVbUBU*UUzm@U?B-=B) B)A->*B1A5E:oA1A1A5="C=YRC= >C=|h@CAM>V ,:YU1y:95!I1GM1>VP9r,_BkEAY}BJ@}B@y}BK/}B4}BH8G?ĭ? ?`~?K?1?hƿic?)~BJ@ ~BC_;I~BC%>9!I%hqGi%6@% =!!%C; %Eɫ!)! !I!Y5@y5sG=i=^>>b>i@ K@)­@I@i@V=MA=Y&;QU>aEE!y%w}%>I) 5:-S5? 5:-9׾ -B =M@9-3D-: -:)-:W]@WYXa XaWa:Wa2Wa*WiVibUiBUi*UqUqUu@?Bj<B BAY6>*BA՝nAAA]="CRCI>C@C =֥0>aIiGZ>_8!9r,.EAɫ髙) IY@yMtG)E= E=u"7=MuU=Y}QU}>yaEEy}>IȑŕT5?ŕ׾ ƕB M@9ƕ;DǕ: ȕ:)ȑWQ@WX XW:W2W*WVbUBU*UUU?B4B BAG>*BAnAA A h="CmƿRCW@>CQ@C8e>I g H:YV1y:ޯ5G%,>b'9r,QEA|i|Y}6( @}6@y}6 =}6W4}6H`?@?w? !/2?;?b?Zƿg?)~6( @ ~6G_;I~6Cɫ99)9 9I9Y])@y]uGC=MS=YaaEE y 狽} >Ia m:e8T5? m:ef׾ eB uM@9eDDe: e:)e:WT@WX XW:W2W*WVbUBU*UUUo?B/B BAZ>*BANmAAA^="C/ѿRC >CT@C%N C>)IYG=>!9!I%rGi%{@% =!!%H; %E-9r,ָEAY}N+@}N@y}Nl򚽙}Nݱ>}NH`{?`VY?,s?`O?Z?Y?ડǿU[?)~N+@ ~Nf_;I~NCɫ髙) IY@yuGI5A)1I=A)=A/$? rh?:v&?C = Լ)Iyx&?J +?Mb`7)?H= |@)AIp@iAzAÍJ>Í~ÍaEEyu}>IȹŽ/T5?Ži׾ ƽB M@9ƽNDǽ: Ƚ<:)ȹWS@WX XW:W2W*WVbUBU*UUUa?B=.B9 B9A=0j>*B9AEIG%n>st49r,dEAY}RY@}R}g@y}R䗽}RPF}RH?0??` n?qq?#?0ȿP?)~RY@ ~R_;I~RCɫyy)y }IY(@yBvG11=9=M=d=YES;QUE>AAaEEMEIyMaZ}U>IY e:]'T5? e:]׾ ]B eM@9]VD]: ]:)]:WM@WX XW:W2W*WVbUBU*UUU@BT!B BAz>*BA)kAAAy="C RCCM@CCT>סIG >i=nGIi!ƿٺA:9r,EA|*;|*4<d9dIftGif@f =ddfT; fEY}@}Zϡ@y}}H}Hࡉ?@γ?@|Q?/ ]U?&??ȿN?)~@ ~ `;I~Cɫ髑) IY@yvGɮ5=5/=5>i5@1 5K@)5@I5-@i5K@E$=ME:=YM U;QUM>QQaUEUEYy]-}]>Iaez1T5?er׾ eʿB uM@9e_De: e:)aWw@WX XW:W2W*WVbUBU*UUU`m,@RB*** querying acoustic contact ***PPB"B BAt>*BAjAAA="CnRCCw@Cj> yy^ 5:YP1y':5) ;סIGB>A9r,SEAY}>%@}>3@y}>=}>K}>H@fd???>.?ӝ? c?@6ɿ`I?)~>%@ ~>9`;I~>CɫAA)A MIIYM@ywGZ****** received transponder code query ******F****** received ping request ******IIaMEMEQy]P}]>Iae9T5?eM׾ eпB uM@9egDeg: e=:)aW,z@WX XW:W2W*WVbUBU*UUU, @BB BA>*BAiAAA[="CzRCC,z@C-> IG-O>³G9r,'N EAY}:m@}:z@y}:Gy}:[Q}:H? ? (?`x]?@G))a5E5E9ymU}u>Iȁ :ŅBT5? :Ņ׾ ƅؿB M@9ƅpDDž= ȅ]<)ȅ:5 555V 53:Y5d\1y5:5959]@ܙ9ܙIܝvGiܝ@ܙܙܙܝP; ݝEW-@WX XW!:W)2WQ*WYVabUaBUi*UUU` @B)$B BA>*BAhAAA="CRCC-@C I G >M9r, :EA|i|@Y}6;@}6᫟@y}6}6 l]}6H {?0?@r?ҳ@2?ɿ?dԱ?Xe˿ -?)~6;@ ~6T`;I~6Cɫ99)9 =I9YA@yxG@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B  rh?Mb&1?> P=)IyV-?~jt? rh?-?D=C< ­@)­ AI­Q@i­ A3A E@ E@ E@E©EEiE׫@E E­@)EIE@iEn@uy=Mu>=Y}N;QU}>yaE Ey{}>IȱŵJT5?ŵ.׾ ƵB M@9ƵyDǵ : ȵM:)ȱẂ@WX XW:W2W*WVbUBU*UU!U%+@BB BA>*BAKgAAA4="CRCĆ@C֙qIG>T9r,TEAY}R@}R@y}R$}Rf}RH}d?Z?h?vJ?ؾ??`/̿O?)~R@ ~R> a;I~Pɫqq)q uIqYq@yyGI)I) 53<M=`=Y=.W:QU=>AAaEEEEAyMӢ}M>IQ ]:UQT5? ]:U7׾ UB eM@9UDU: U:)U:W~@WX XW:W2W*WVbUBU*UUUj@B B BA>*BAfAAAg5="C RCC~@C >%%%%Z %2:Y%X1y%/:%5ױIGD>Z9r,_mEA,9,I.DwGi.@,,,.A; .E)9I9i9= =9=14Y}å@}ѝ@y}}&p}H?O}?(?@s(I? /??PͿ ?)~å@ ~ aa;I~Cɫ髉) IY@yyGxDUSBL response received:!U1,R,502,000,0119F,189,80,80,6B,FF Fpublishing direction and range infof3ɰŸ> )BIy(iCw?amf-ٱTNmea in: $SNTTA,0.160933,,,,015949.64*4C M M MM>M>M;_>iM@M MK@)M-@IM-@iM-@]=M]9=Y]$:QUe>aaaeEmEiym(}u>IquiXT5?uYؾ uB M@9uDu: u]:)qWx@WX XW:W2W*WVbUBU*UUU.@P*Q(iCZQrvY@2M7jJQw?amf-2Qf3:QbQF(7f=5!"a`~HK@RQCde@E*?BQs@ QI Q1PϨ9?P9?PQCQxB"Q@BBBo B BA>*BAeAAAp="C 3RCCx@CEE MM׹ I G >a9r,EA||;Y}6@}6@y}6cv}6Eu}6Ha?? &?@9T?A? 3?[Kο &?)~6@ ~6`;I~6Cɫ99)9 9IAY@yczG5E=M=`=Y=HC9QU=>AAaEEEEAyM}M>IQ ]:U]T5? ]:Uؾ UB eM@9UDUo: U:)U:myAdded new target pos. range: 233.159988 m, bearing: 218.285633 deg, deltaT: 4.797843 s, approachRate: 0.212596 m/s, LOS rate: -8.164146 deg/s, posRepo size: 4m ProNav: pos range: 233.159988 m, bearing: 218.285633 deg, approachRate: 0.212596 m/s, LOS rate: -8.164146 deg/s, cmd update: -12.000000 deg/s, cmd heading: 222.782393 deg, new cmd heading: 218.399333 deg. WSs@WX XW:W2W*WVbUBU*UU%m@U?B=B BA>*BAqdAAA5="C]I/RCYC]Ss@Ca }}r 5:YkS1yԊ:95aIiG9>gh9r,EAY}2f@}2 )@y}2>}2 rx}2HM?J?`?y໢?.?,? ο ?)~2f@ ~2J`;I~2Cɫ99)9 9I9Yu@y}zG=i=%=i  a E EyJ}>IdcT5?+ؾ  B -M@9D: :)WMn@WIXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUe X?Bp2B BA>*BAcAAA="C7RCCn@CױIG>]>9YI]xGi]?@YYY]Q; ]E7)n9r,AeEAY}2cE@}2 S@y}2S}2K~}2H@n???`^¾?ے?g?`xcϿR?)~2cE@ ~2#ma;I~2Cɫ99)9 9I9Y}@y}zG|?5^?{Gz?S㥛ҍ>ף< /ݼ)Iyw/?333333?{Gzt?&?=ף; ‘)•AI•@i‘A=+=Si­@ ­@)­@I­@i­@g<M;=Y#;QU> a E E yu}>I %:tiT5? %:;ؾ B -M@9D`: h:):WMh@WIXI XQWQ:WQ2WQ*WQVQbUYBUY*UYUYUe@&?B&?B BAչ>*BAGbAAAF4="C"RCCh@CYIiG>2  7:YU1y:K5) ;9u9r,BEA|i|@ɫ髙) IY@y{Gu=MuS=Y}QU}>yyaEEy}>IȑŕnT5?ŕHؾ ƕB M@9ƕDǕk: ȕb:)ȑW=Eec@W9X9 X9W9:W92WA*WAVAbUABUA*UIUIUMg?BuBy ByA}>*ByA}aAyAAެ="C(RCCEec@CׁIG>={9r,%EA$9$I&dzGi&@& =$$&N; &EY}Vm@}V{@y}V\}VqY|}VH k??m?@Tᴰ?O? Y?=(Ͽ(?)~Vm@ ~Va;I~VCɫqq)q }IyY@y8|GIq)q yyJ>=i @ @)@Ii@<MD=Y ;QU>aE!Ey }>IXsT5?Xؾ !B M@9D: :)W]@WX XW:W2W*WVbUBU*UUU"@B B BA >*B A 5_A A A M%="C-RCC]@CII)I w    P=:Y WU1y : 5) ɘ;I)GM1>"9r,EAY}:{@}:@y}:}:1y}:H*ȫ? ? C[?`s?@h?Գ? ο?)~:{@ ~:_a;I~:Cɫ99)9 =I9Y}p@y}|GU=M]S=Y]*;QU]>aaaeEe%Eaym}m>Iq }:uvT5? }:ufؾ u&B M@9uDu: u:)u:WX@WX XW:W2W*WVbUBU*UUU@B|ȼB BA>*BAf^AAA}="C2RCCX@CIG>  i} nGI i ٺ *A- ?9- AM9r,"EA||4aE(Ey}>IȹŽyT5?Žtؾ tI ƽ,B N@9ƽDǽ: Ƚ:)ȹWS@WX XW:W2W*WVbUBU*UUU %@R B*** querying acoustic contact ***P P BmؽB1 B1A=h>*B9AEQ\AAAIAu="CN8RCCS@CU U~U~Up UB:YUT1yU@:U˱59m@׉I9I{Gi@ =<; EG]U> w9r,aE+Ey }>Iȑ :ŕl|T5? :ŕ܃ؾ ƕ2B N@9ƕDǕ: ȕV:)ȕ:WM@WX XW:W2W *WVbUBU*UUU_ @Be!vBi BiAm>*BAf[AAA="Cg=RCCM@CבIG>`9r,GVEAY}6Ý@}6-ѕ@y}6|}6]z}6HXF?r4?ئ 6٪?V?ο6?)~6Ý@ ~6.a;I~6CɫQQ)Y ]IYY@yr~GxDUSBL response received:!U1,P 502,000,0119F,189,80,80,6B,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= V<M%F=Y5{;QU=>IaE.E y{}>IV~T5?Yؾ 8B ]N@9Dg< 8<)WmG@WqXq XqWy:Wy2W*WVbUBU*UUUR @    b /:Y W1y č: ˮ5B%k|B! B!A%>*B)A-zYA)A)A- ="C5(CRC1C5G@C99IQGZ> >9 I }Gi @ ;; 9r,_`pEA|i|@Y}B@}B@y}Bu}Bw}BHlb ?@ ? n@h?@/?ग़ο`M?)~B@ ~B`;I~BCɫYY)Y YIYY@yGAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m@ m@ m@=MA=Y;QU>aE2EyՋ}>I :T5? :ؾ =B N@9D: :) :WC@WX XW:W2W *W V bU BU*UUU /$@B*B BA>*BA=XAAAv ="C HRC CC@CIG-->p9r,=EAY}:@}:@y}:A:r}:w}:H``$??,j?B?ο@?)~:@ ~:``;I~:Cɫ99)9 9I9YyyyI)I) 鿑Yt:QU>aE5Ey~}>IȹŽT5?Žؾ ƽBB N@9ƽDǽ: Ƚ:)ȹW=@WX XW:W2W*WVbUBU*UUU`r@B$B BA*BAVAAA ="CaD@RCC=@C IG5 >==y=y=l =/:Y=P1y=':=5P9r,!EAY}v1/@}v<@y}vso}v1y}vH\@?Du?y`S( W? ?Aο`?)~v1/@ ~v`;I~vCɫ) IYg@y3G xDUSBL response received:!U1,R,502,000,011A9,188,80,80,81,FF Fpublishing direction and range info))ɰ-.>-> ))-CI)y-iC-w?amf-ٱ)TNmea in: $SNTTA,0.155457,,,,015954.49*46 ܥ>9ܡIܥL~Giܥ@ܥ =ܡܡܥ8; ݥE)YIYiYY] =]185a i@a  a m@a  a q@a  a e@a  m m mm">m̌>maE9Eyh1}>I :/T5? :ؾ JB N@9De; ?)!:W5N5@W1X1 X9W9:WA2WA*WAVIbUIBUQ*UQUQUU@Pq*QuiCZQuiՆY@!HjJQuw?amf-2Qq:QqbQu^۹jnx*gRqFL@RQu #D;fԿ?BQu^@ QukQuUPuq9?PuϨ9?PuKQuQu@|B"QuxBB=B BA?*BARTAAAC ="Cb<@RCCN5@Cy I G >qǮ9r,EA||p;Y}6_@}6+m@y}6!l}61"z}6H`e 9?5?, *¿'??`ο?)~6_@ ~62`;I~6Cɫ19)9 =I9Yuz@yu?G$+<M =Y L;QU N?aE;Ey}N?I!%T5?%ؾ %MB 5N@9%D%: %R?)!m]yAdded new target pos. range: 233.759995 m, bearing: 199.499061 deg, deltaT: 4.999499 s, approachRate: 0.120013 m/s, LOS rate: -3.757691 deg/s, posRepo size: 4mu ProNav: pos range: 233.759995 m, bearing: 199.499061 deg, approachRate: 0.120013 m/s, LOS rate: -3.757691 deg/s, cmd update: -11.273073 deg/s, cmd heading: 162.827524 deg, new cmd heading: 160.290028 deg. Wu73@WqXq XqWq:Wy2Wy*WyVybUyBU*UUQ8m@U`?BB塧< BA@?*BASxSAAA ="Cp9@RCC73@CשIG=--x-x-u --:Y-7P1y-:-ݲ5)-͊;959r,oEAY}2.@}2Ֆ@y}2~Vg}2S{}2HDĿ?? ſ!'?`?+Ͽ@u?)~2.@ ~2`;I~0ɫ99)9 =I9Yu@y}G=i=4=iIp=)=UY*=MUF=YUR;QUU>YYa]E]>Eaye}e>Iim~T5?mؾ mRB uN@9mDm: m>?)iW.@WX XW:W2W*WVbUBU*UUU!?BPvB BA?*BAmQAAAU ="CJ4@RCC.@C!I1GM>܍ >9܉ I܍ xGi܍ @܍ =܉ ܉ ܍ $; ݍ E׻9r,EAY}2 @}2@y}2Ua}2+~}2H9ȿ`?@? T_?7ɿw?'? fϿ?)~2 @ ~2`;I~2CɫYY)Y ]IYYn@yՀGM=M`;MMb>iM@I M­@)M­@IM­@iM@]<M]I=Yem;QUe>aiamEmBEiyj}>I|T5?ؾ VB N@9 D~: ?)W(@WX XW:W!2W!*W!V!bU)BU)*U)U)U5`?B]iBY BYA]?*BaAedOAaAaAe ="Cm.@RCiCu(@CqaIqG>55~5~5| 50:Y5T1y5@:5]5)5;9r, EA|i|Y}6@}6.̏@y}6]}61y}6Hj˿9?|?1`̿ R`?`ο?)~6@ ~6 `;I~6CɫYY)Y ]IYY}@y}GM=MR=Y;QU>aEEEyט}>I  zT5? Sؾ [B N@9 D :  @) W=#@W9X9 X9WA:WA2WA*WAVAbUIBUI*UIUIUU`?B}`0By ByA} ?*ByAv3NAAA= ="C)@RCC#@Cѥ9=ׁIG=>9r,Ef%EAY}6(@}6@y}6K`}6Vx}6H`Ͽ`l?[x?:CϿ|?hοY?)~6(@ ~6`;I~4ɫ99)9 =I9Y}@y}GI!)! QUA;M@=YQU>aEHE!yu t}u>Iy}zwT5?} پ }`B N@9}D}P; }@)yWu@WyXy XW:W2W*WVbUBU*UU U T?%=i%=5555 5.:Y5U1y5:5595@M>9MCIMRGiM@M =IIM!; MEBu}Bq BqAuz ?*BqA}KAyAyAP ="C%#@RCC@Cѵ&<׉IG>X9r,C;?EAY}2J@}2#@y}2BUb}2(w}2H]ѿ`c?4Q?kѿF?}ο`e?)~2J@ ~2'`;I~2Cɫ99)9 =I9Y}m@y}rGa ia i a ma m a qa q a ea e Fx?v/Zd;O?>xi j<)IyS㥛?~jt?I +?$?D=94< •@)•&AI•p@i• AA(@=94i(@ (@)(@I@i^@(=MD=Y QU > aEKEy}>I! -:%_sT5? -:%پ %gB 5N@9%#D%4; %(;)%":WU)_@WQXY XYWY:WY2WY*WYVabUaBUa*UaUiUm@B׻B BA?*BA[JAAA ="C@RCC)_@Ciqq)q qIG% >39r,QYEA|4<|4?hο?)~6"J@ ~6f`;I~6Cɫyy)y }IyY.@yG鮽p=ɮ}=M_=Y;9QU>aENEy}>I oT5?%پ mB N@9+D: 8:)W%@W)X) X)W):W)2W)*W1V1bU1BU1*U9U9U=@ @REB*** querying acoustic contact ***PAPABmH#Bi BiAm?*BiAubHAA Au="CS@RCC@Ci=nGIi!I9eٺaeAGm>5555m 5,:Y5V1y5:5'5- >9) I- Gi- ;@) ) ) - 4; - E_%9r,rEAY}Bx@}B=@y}Br]]}B7t}BH)Կ`?1? 3R@eԿJ;?s.ο ?)~Bx@ ~B`;I~BCɫYY)Y YIYYH@yGZ****** received transponder code query ******F****** received ping request ******11a5E5RE1y=j}=>IA M:E-iT5? u:E5پ EuB N@9E4DE#< Ef<)E#:W@ @WX XW:W2W*WVbUBU*UUU@@B-B) B1A5?*B1A5^FA1A1A=="C=g@RCACE@ @CAI!)%BAIIQGm5># 9r,ŠEAY}2@}2@y}2IY}2{w}2HGտ ? ?ֿH?ο?)~2@ ~2M`;I~2Cɫ99)9 =IAY}f@y} GxDUSBL response received:!U1,P 502,000,011A9,188,80,80,81,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 /#<Ma=YY;;QU>a%E%UEy㘽}>IbcT5?NCپ |B N@979r,ΨEAY}B@}B@y}B%V}B'{}BH U׿@G?C?!N׿'#`? Ͽ?)~B@ ~Bވ`;I~BCɫy髁) IY@yG?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B >9IGi@I; ECl??L= t=)Iyi|?5?iiamEmYEqyuꀽ}u>Iy :}\T5? :}rRپ }tB N@9}ED}Y: }b:)}$:W @WX XW:W2W*WVbUBU*UUUM@B@bB BAp?*BASBAAAr="CX @RCC @CQIaG}z>29r,؂EAY}:@}:@y}:šX}:Z|}:H [ٿdD? ,3? VFٿ`?7$Ͽ ?)~:@ ~:`;I~:Cɫ99)9 =I9Y}@y}XGI)A$2=M=Y! QU?aE[Ey}?IȹŽXT5?Ž[پ ƽoB N@9ƽJDǽ: Ƚ+:)ȹWޅ@WX XW:W2W*WVqbUqBUq*UyUyU}+@B;B BA?*BA@AAA3="C @RCCޅ@CI ) IG >UUUU U0:YUX1yU/:Uo5|K9r,gEAY}vW@}v@y}vY}v\{}vH`dۿ ??@[ۿw:?Ͽ/?)~vW@ ~v`;I~vCɫ) IY@y=GxDUSBL response received:!U1,R,502,000,011A0,189,80,80,AB,FF Fpublishing direction and range infoɰϸ>7> )+CIy8iCw?amf-ٱ5TNmea in: $SNTTA,0.103529,,,,015959.34*4A IIDM5=YH=QU>aE_E!y%}->Ii u:mMQT5? }:m!iپ mhB }N@9mSDm: m:)m%:WX?WX XW:W2W*WVbUBU*UUU @P!*Q%8iCZQ%:wY@o9jJQ%w?amf-2Q!:Q!bQ%_Il9ݑ+U *L@RQ%GvD l-ܑ]%|J?BQ%1I@ Q%Q%MbP%O9?P%q9?P%Q%KQ%{B"Q%@|BB}pBy ByA},?*ByA}Q>AAApC="C@RCCX?CיIGA> >9 I ~Gi @ = S; E)eCIeCiaae =e,5s9r,:EAY}2@}2&@y}2#X}2Əy}2HݿPx?|?,uܿ n@+?%ο?)~2@ ~2N`;I~2CɫII)I MIIY}@y}ÂG 5 5 555Q8=51i5@5 5K@)5K@I5K@i5j@E=MEY=YM:QUM>IQaUEUbEYy]̞}]>IaeJT5?eDtپ ebB mN@9eYDe: e:)am}Added new target pos. range: 233.220001 m, bearing: 180.564206 deg, deltaT: 4.707334 s, approachRate: -0.114713 m/s, LOS rate: -4.022416 deg/s, posRepo size: 4m ProNav: pos range: 233.220001 m, bearing: 180.564206 deg, approachRate: -0.114713 m/s, LOS rate: -4.022416 deg/s, cmd update: -12.000000 deg/s, cmd heading: 109.822517 deg, new cmd heading: 105.705444 deg. W-?W)X1 X1W1:W12W1*W9V9bU9BU9*U9UE@ 'm@UEU?B0tB BA"?*BAs`<AAA;="Cf?RCC?CשIG$>55}5}5 5,:Y5kS1y5Ԋ:5K5)5u;9==[:r,EAY}2%@}2̽@y}2&S}2"w}2H޿@ ? ?`޿7!p?`ο??)~2%@ ~2`;I~2Cɫ99)9 9I9Y}@y}G=i=q<MM=Yk6;QU>!!a%E%eE)y-}->I15\CT5?5 پ 5[B EN@95aD5b: 5:)1Wef?WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqU}?B%qB1 B1A5#?*B1A=W:A9A9A=B="CEYO?RCICMf?CQו?iו?iIqG>m :r,N'EAY}vǍ@}vhՅ@y}vTN}vu}vH (?Le?Ȓ @ǩ?@6]οx ?)~vǍ@ ~v`;I~tɫ99)A EIAYu@yuG5#~j?Mb+?5?5 5=)1I1y5x&1?I +??5A ?594=5< 5@)5GAI5Q@i5vA15A)M= M=q9qIuGiut@qqquY; uE5555~ 5.:Y5V1y5:5˴5)5c; m@ m@ m@m©mmimQ@m m@)m@Im@imԸ@<M=Y ;QU>aEiEy]}>I :-7T5?  :پ gB  N@9kD: <:)&:WM?WIXI XQWQ:WQ2WQ*WQVQbUyBUy*UyUU?B˦B BAH&?*BA7AAA//="C58?RCC?CI)GE>9m:r,AEA|i|Y}:@}:9@y}:hL}:t}:Hf/??φ[?@IBοP ?)~:@ ~:`;I~:Cɫ99)9 9I9Y};@y}ɃGUB=M]=Y]a:QU]?aaaeEelEaym}m?Iqu)0T5?uپ unB }N@9uqDu: un:)qW(?WX XW:W2W*WVbUBU*UUU L?BhZ<B BAO/?*BA&6AAA="Ce-?RCC(?CIG>a:r,a[EAY}2@}2+@y}2kK}2fv}2H??f:j?@^wο + ?)~2@ ~2j`;I~2Cɫ99)9 9I9Y]@y]GI)AI)#MP=Y/!:QU>aEoE y } >Iq }:u%T5? }:u_پ uwB N@9uyDu: u:)u':W,?WX XW:W2W*WVbUBU*UUU?B5;B BA+?*BA3AAA#="CT?RCC,?C)I1GU>%=i%a=5 555 53:Y5U1y5:5859=@m >9i Im Gim h@i i m Dm W; m E:r,uEAY}2\@}2vj@y}25tI}2t}2H1X? nh?FV)x`+? Hο`: ?)~2\@ ~2`;I~0ɫYY)Y ]IYY@y GhA U U UU?UUiU@U UԸ@)UԸ@IUԸ@iQeA=MeD=Yeɖ:QUm>iiamEmrEy^}>IT5?6پ B  N@9DM: Y:)W-Y?W)X) X)W1:W12W1*W1V1bU9BU9*U9U9UE&@Bm;Bi BiAm2?*BqAu.a1AqAqAu'.="C} ?RCyC}Y?CIIYG>i#:r,[EA||p;Y}2ǎ@}2n@y}2(D}2+v}2H@ ?@0? e`pୂ?`ο ?)~2ǎ@ ~2`;I~2CɫYY)Y ]IYYk@yG鮭a=ɮ)MU=Yp\;QU>aEuEyً}>I :oT5? :Dپ B N@9DV: :)(:W?WX XW!:W!2W!*W)V)bU)BU)*U1U1U=@RMB*** querying acoustic contact ***PIPIB}x;B BA0?*BAVE/AAA="C?RCC?CשIG=5 555 5.@:Y5T1y5:559=CinGIi촿ٺ5A):r,]EAY}5@}5ƻ@y}5z<}5y}5H΍Y?@? IF.ȼ5?ο?)~5@ ~5 `;I~1ɫII)I UIQY@yGZ****** received transponder code query ******F****** received ping request ******9IGi @=Q; ENbX9?Q? t<)Iysh|??V-?V- ?h= @)AI@iAfAIAA)@A-=-V-=i-f@) -@)-@I-@i-@=;ME=YEgl;QUE>IIaMEMyEQy]W}]>IaeT5?eپ eB mN@9eDe: e:)aWK?WX XW:W2W*WVbUBU*UUUB @B@e<:B BA1?*BAV,AAAn<"C]7?RCCK?C?i?IGh>0:r,<EAY}2@}2@y}2\?6}2v}2HBUw??@+@@6:r,EA|i|Y}6I@}6[@y}6/}6t}6H|#?`D?``|?.Hο?)~6I@ ~6ư`;I~6Cɫ99)9 9I9YX@yyGAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ;M@=Yn;QU>aEEy᪽}>Iȱ :ŵS5? :ŵ#پ Ƶ|B N@9ƵDǵ: ȵw:)ȵ):WЉ?WX XW:W2W*WVbUBU*UUU@B 9 I rGi @ =   \;  E=:r,;EAY}:@}:L}@y}:o,}:Bt}:H c@n??@K]돥?`NFο?)~:@ ~:(`;I~8ɫ99)9 =I9Y}X@y}GI) 鿕A5?5O5Ƌi5G@1 5@)5Ը@I5i5/@E"=MMO=YM;QUM>QQaUEUEYy]}]>IaeS5?eپ ewB mN@9eDe: e:)aW~?WX XW:W2W*WVbUBU*UUU@Bd<B BA4@?*BA%AAAlh<"C"i?RCC~?CIG= >5555 5 /:Y50Y1y5:55)5t;9=dC:r,?EAY}v2@}vM{@y}v)}vtp}vHѝ`0?@й?~;t 0? Ϳ?)~v2@ ~v`;I~vCɫ) IY@yG%xDUSBL response received:!U1,R,3BB,000,0118B,189,80,80,AF,FF %Fpublishing direction and range info[YUɰ> )/CIygCi?eݯٱTNmea in: $SNTTA,0.156739,,,,020004.19*41 żM%==Y%:QU%>IaaeEeEy}>Iȑ :ŕGS5? :ŕtپ ƕrB N@9ƕDǕR: ȕ:)ȕ*:WFf?WX X W :W 2W *W VbUBU*UUUb@PI*QMgCZQMD~c@6hnveJQMi?eݯ2QM[YU:QIbQM>ءblp3oFF"@F6G@RQM!S+?Xл?BQM|F@ QM2AQMcPMI9?PMO9?PMQMQMTB"QM{BB <B BA=?*BA"AAA<"C?RCCFf?CIG%M>&%J:r,;*EA|:;|:;Y}5@}5ny@y}5T%}5|kp}5H`D ?? :¿?@Ϳ?)~5@ ~5OOa;I~5Cɫ) I!YU@yUHGmx&?}?5^I?~jtm7 ?mM> m)iIiymV-?~jt?~jt?m|?mD=mD< mX@)mAIm@imAimAܵ>9ܵCIܵփGiܵO@ܵ=ܱܱܵW; ݵE)AIAiAE=E=E4.>C=Խi=@ )@Ii @a@=M==Yc&;QU>  a E Ey퍽}>IbS5?sپ xB N@9D}< X<)- -|-|- -4:Y-R1y-i:-5)-|;me}Added new target pos. range: 231.959976 m, bearing: 177.695800 deg, deltaT: 4.852340 s, approachRate: -0.259674 m/s, LOS rate: -0.591139 deg/s, posRepo size: 4mu ProNav: pos range: 231.959976 m, bearing: 177.695800 deg, approachRate: -0.259674 m/s, LOS rate: -0.591139 deg/s, cmd update: -1.773416 deg/s, cmd heading: 51.588820 deg, new cmd heading: 46.317112 deg. Wu&c?WqXq XqWq:W2W*WVbUBU*UU l@U@c&?BE.<BA BAAEB?*BAAMH AIAIAM{]<"CUUp?RCqCu&c?Cy IG5>y Q:r,yYDEAY}2у@}2w@y}2}2։q}2H?@N?tO c ÿnӣ? Ϳ/?)~2у@ ~2`;I~2Cɫ99)9 9I9Y\@yGi=) > >5M=m=Y=;QU=?AAaEEEEIyM}M?IQ ]:UݾS5? ]:U7ھ U|B eN@9UDU4: U:)U+:Wv`?WX XW:W2W*WVbUBU*UUU?Bx<B BAQ@?*BA@AAAA1<"C h?RCCv`?C?i)I1GU>K3W:r,U3^EAY}: @}:iv@y}:}:,Hu}:H`c1?V#?:1Ŀݢ? Xο@?)~: @ ~:`;I~:Cɫ99)9 =IAY}@y}G1o=MO=Y;QUE>IIaMEMEIyU^}U>IY]S5?]Aھ ]B eN@9]D]: ]:)YWA]?WX XW:W2W*WVbUBU*UUU?B <B BA8F?*BAgAAA3<"CEa?RCCA]?CIG5 >5555 5N2:Y5U1y5:5959=@ܱ 9ܱ Iܵ :Giܵ @ܱ ܱ ܱ ܵ Y; ݱ ^]:r,AxEA|i|ɫyy)y }IyY+@yGÍ~jÍ%Íף=iÍ̼@É č?@)č(@Ič?@ič(@;M@=YQU>aEEy}>Iȹ :Ž7S5? :Žھ ƽB N@9ƽDǽA: Ƚ:)Ƚ,:WY?WX XW:W2W*WVbUBU*UUU2-?B-@<B) B)A5F?*B1A5A1A1A5kZ<"C=Y?RC9C=Y?CAIIQGu>Ed:r,EAY}6d@}6ir@y}6. }6 x}6Hc֮?@I?Ur@2ſ@ ?޾οq ?)~6d@ ~6`;I~6CɫYY)a aIaY@y΅GI)I)jA=&<M=Q=YEBAAaMEMEIyM}U>IY]S5?]#ھ ]B eN@9]D]: ]:)YWV?WX XW:W2W*WVbUBU*UUUn?BEϒ<BA BAAEI?*BAAMhAIAIAU<"Cu*W?RCqCuV?CyIIYGu>5115d 5+:Y1y1595sj:r,ӫEAY}VD@}V7q@y}V!}V.z}VHR`\?a?`GƿQ?eο?)~VD@ ~V `;I~Tɫ) IY-@y5G5RQ?&1?~jth?5"?5= 5D;)1I1y5I +??{Gzt59?5<5ף 5n@)5AI1i5AA15AU>9QIUGiU@QUPDQUN; UEõK>õxi=õiõ=@ñ ĵ @)ĵ@Iĵ@iĵ@<M4=Yc;QU>aEEyk}>IyS5?,ھ B N@9D: :)W ?S?W X XW:W2W*WVbUBU*UUU%@ [@BM;<BI BQAUJ?*BQAU}AQAQAU<"C]?S?RCaCe?S?Ca9IIGm5>tWq:r,EA||Y}B=E@}B`o@y}B}Bxyv}BH@l`Q?Y?h@ ǿw?ο?)~B=E@ ~B`;I~@ɫYY)Y ]IYY@yG鮥p=ɮϤ<Ms=Y]^;QU?aEEy}?I :BrS5? :3ھ B N@9D : {:)-:W(tP?WX XW:W2W*WVbUBU*UUU@6@RB*** querying acoustic contact ***PPB <B  B A ZL?*B A5'3A1A1A=L<"C=(tP?RCACE(tP?CA)I1GU>U UUU U3:YUT1yU:U5iw:r,,EAY}6>R}@}6mm@y}6~}6v}6HV?ޗ? d6yPǿ?@ο`Y?)~6>R}@ ~6a;I~6Ci5=nGIQɫYY)Y ]IYY}@yGi1ٺٮAZ****** received transponder code query ******F****** received ping request ******11a5E5E9yE}E>IIMwaS5?MT;ھ MB N@9MDMa< M?a<)IW!M?WX XW:W2W*WVbUBU *U U)U5ܐ @BT<B BAeM?*BAkAAA<"C!M?RCC!M?CIG$>U >9Q IU ЄGiU @Q Q Q U U; U E}:r,OXEAY}2N{@}2jk@y}2}2#bu}2H|@g??$[ 0:ȿ]?? ]οq?)~2N{@ ~2`;I~2CɫII)I MIIY}A@y}CGxDUSBL response received:!U1,P 3BB,000,0118B,189,80,80,AF,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 U.?U= UiU@Q U?@)QIQiU@<M5=Y:QU>aEEym}m>Iy :}MS5? :}Cھ }B 5N@9}D}̽< }{<)}.:U{UUU_ U7):YUU1yU:U'5)Um;9]W}HI?WyXy XW:W2W*WVbUBU*UUUu @B= <BY BaAezO?*BaAm, AiAiAuj<"CHI?RCCHI?CIG>j:r,9EA|i|Y}>Sy@}>,oi@y}>k}>+w}>H@? ?޿nIɿ`_? -ο ?)~>Sy@ ~>a;I~>CɫYY)Y ]IYYS@yNG@A Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B H;MZ=YQU>aEEyy}>Ih?S5?Iھ B N@9Df: r:)WF?WX XW:W2W*WV bU BU *U UU >@B<B BAP?*BAbAAA%<"CF?RCCF?CIG$>:r,g-EAY}=w@}=Dg@y}=9}=v}=Hh )?@A?]eݿ`Z oɿ y?zο@U?)~=w@ ~=Da;I~9ɫ11)1 9I9Yux@yueGI) 鿉9IGi7@S; E=Mb?~jt?X9v=?== =)9I9y=M?~jt?I +?=n?=<=94< =X@)=AI=@i="A9=QAIMjA%+%Т%Vi%@! % @)% @I%(@i%@]!<M]2=Ye\:QUe>aEEyz}>Iȡ :ť+S5? :ť Qھ ƥB N@9ƥDǥN; ȥ;)ȥ/:WC?WX XW1:W12W9uqqu u.:Yqyqu5)u@;*WVbUBU*UUUl@B.<B BA7Q?*BAAAA<"C C?RC C C?C I!GEs>:r,0FEAY}vu@}ve@y}v}v^w}vH?`V? ۿ` ɿ@?ο`?)~vu@ ~v`;I~vCɫ) IY@yiGxDUSBL response received:!U1,R,2AA,000,01168,189,80,80,AA,FF Fpublishing direction and range info:\ɰ> )*CIyeCV=ex?1,ٱTNmea in: $SNTTA,,0.296659,,,020009.03*4F U;MU]=YUT%:QU]>YYa]E]Eaye啽}e>IimiS5?mVھ mB }N@9m Dm: m:)iW(@?WX XW:W2W*WVbUBU*UUU@P@P*QeCZQ,-ybg@J(`JQV=ex?1,2Q:\:QbQqlx%>@FXS+B@RQ"5GQnpd?"=?BQ$@@ Q.AQ`PH9?PI9?PQQ,B"QTBB5<B1 B1A=rQ?*B9A=A9A9A=J<"Ce(@?RCiCm(@?CiIIQGu6>ϗ:r,e`EA||4AAaEEEEIyMz}M>IQ ]:U S5? ]:U[ھ UB eN@9UDUY: U:)U0:m}Added new target pos. range: 229.859985 m, bearing: 172.366927 deg, deltaT: 4.830672 s, approachRate: -0.434720 m/s, LOS rate: -1.103133 deg/s, posRepo size: 4m ProNav: pos range: 229.859985 m, bearing: 172.366927 deg, approachRate: -0.434720 m/s, LOS rate: -1.103133 deg/s, cmd update: -3.309398 deg/s, cmd heading: 43.007510 deg, new cmd heading: 42.355529 deg. W(:?WX XW:W2W*WVbU1BU1*U1U5l@U= ?B&<B BAT?*BAAAA<"C(:?RCC(:?CIG%>UUUU U2:YUW1yUč:U59]@>9IfGi@a; E)ݍCIݍCi݉ݍ=ݍ=ݍ4:r,zEAY}2(Vr@}2xqb@y}2B{弙}2t}2H`9L?ؽ? %ؿ-Nʿ`r? Nο?)~2(Vr@ ~2`;I~2Cɫ19)9 =I9Y]@y]G=i=)= =U>UUz>iU@Q U?@)UԸ@IUiU@e|MeG=YeX:QUe>iiamEmEqyuꋽ}}>Iy}R5?}^aھ }B N@9}D}: }8:)yW<4?WX XW:W2W*WVbUBU*UUU`1?B<B BALS?*BAAAAv<"C<4?RCC<4?C?i?IG- >:r,EAY}Nqp@}N`@y}N%{༙}N9u}NH a?65?j׿ H˿~?`Yο :?)~Nqp@ ~NN`;I~NCɫyy)y yIyY@yGu<MuI=Y}:QU}>yya}EEy}>IȑŕR5?ŕfھ ƕB N@9ƕDǕ8: ȕ#:)ȑW.?WX XW:W2W*WVbUBU*UUU?B*<B BAU?*BAAAA<"C .?RCC.?C IG- >UU}U}U U?,:YUkS1yUԊ:U]5:r,dEA|@Y}~]n@}~^@y}~ۼ}~pt}~H)S? f?@Mտ`Mc /d˿_?g6ο?)~~]n@ ~~Y`;I~|ɫ) IY@y~Gܑ9ܑIܑiܑܑܑܑܕ^; ݕEm|?5^?S㥛{Gz?m?m/ݼ mף=)iIiymV-?y&1|Mbm?m`m i)mAIm@imAimA>I i@  @)?@I@it@M6=Y:QU>AaEEEEAyM}}M>IQ ]:UR5? ]:Ukھ UB N@9U(DU4; U;)U1:W'?WX XW:W2W*WVbUBU*UUU@{?B}۬<B BA|R?*BA)AAAl<"C'?RCC'?CבIGa>:r,5EAY}2l@}2T ]@y}2 rӼ}2et}2H q@ ? G?#ӿs˿m?`@ο"?)~2l@ ~22`;I~2CɫAI)I IIIY}5@y}نGI)I)iAhAxX=Mo=Y41;QU?aEE y } ?IR5?nھ  %N@9/Dʽ: ׾:)WE"?WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQU]ܓ?BOh=B BAW?*BALAAA <"C"?RCC"?CIG>M< M~M~M M8:YMT1yM@:MK5:r, EAY}2 k@}2[9[@y}2}ͼ}2 q}2H@ݵ?¶?`ѿ@i˿`?~Ϳf?)~2 k@ ~2a`;I~2Cɫ99)9 =I9Yp@yG-L<M5G=Y5:QU5>99a=E=EAyEu}E>II U:M1R5? U:Mrھ I ]N@9M7DMo: M:)M2:W}?WyXy XW:W2W*WVbUBU*UUU7@B]T<B BAX?*BAsAAAu<"C?RCC?CשIG>ܙ9ܙIܝʅGiܝ|@ܝ=ܙܙܝ`; ݝEvH:r,OEA|4<|;Y}B@i@}B`[Y@y}BǼ}BYr}BH??`пN&jN̿/?`ο?)~B@i@ ~B``;I~BCɫYY)Y ]IYY@yFG鮥a=ɮMQ8>MqM̼iM3@I M?@)M(@IMԸ@iM @]l=M]G=Ye;QUe>aiamEmÀEiyu}u>Iy}R5?}uھ }B N@9}?D}+: }:)yW?WX XW:W2W*WVbUBU*UUUZ@RB*** querying acoustic contact ***PPBX=B BA\?*BAMAAA<"C?RCC?CIGE>UUUU U1:YUWU1yU:U5)U;9] 1:r,iEAY}:Og@}:jW@y}: Ǽ}:r}:Hi01? G?`v̿q] v̿@?Aο ,?)~:Og@ ~:(`;I~:CɫYY)Y YIYY@y&GZ****** received transponder code query ******F****** received ping request ****** ڃM P=Y 7QU>aEƀE!y%}%>I) =:-R5? =:-xھ ) =N@9-GD-p; -e&;)-3:W%?W!X! X!W!:W)2W)*WIVIbUQBUQ*UQUQUU @B<B BA [?*BAڼAAA<"C?RCC?CIG (>qqinGIiEܺٺAMA|]:r,C/EAY}BdRe@}BmU@y}B0Ǽ}BIp}BH 'eJ0?Qj?ȿ ̿?Ϳ@?)~BdRe@ ~B`;I~BCɫQQ)Q QIYYu@yu4G}xDUSBL response received:!U1,P 2AA,000,01168,189,80,80,AA,FF }Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 a9eCIaiae=aaeW; eEMMMM M+:YMY1yM:M&5)M;-?A`"???Y <)IyCl?:v?:vd?T=T …9@)…MAI…^@i…@@ÅG>Å>Åxi>iÅ(@Á ā)ą @Ią?@iā;M=Y QU>  a E5ˀE9yE^}E>IquhR5?u~ھ uB O@9uRDu: u:)qW4`?WX XW:W2W*WVbUBU*UUU2@BEG<BA BaAm[?*BiAmҼAiAiAm<"Cu4`?RCqC}4`?Cyׁ I G >B:r,WxIEA|i|@Y}>zc@}>S@y}>ļ}>hu}>H,`a?{?Ŀ[hͿु?lο?)~>zc@ ~>|`;I~<ɫYY)Y YIYY@yTGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U<Mu=Yu:QU}.?yya}E}̀Ey}3?Iȉō[R5?ōھ ƍB O@9ƍWDǍ; ȍ:)ȉW2?WX XW:W2W*WV bU BU *U)U1U5@B}T=B}VZ< ByA}]]?*BAϼAAA‡<"C2?RCC2?CIGM0>)l:r,ScEAY}Ba@}B0Q@y}B]}BHt}BH`)j?@?`NͿ]?5οC?)~Ba@ ~B`;I~BCɫYY)Y YIYY@y_GI)A 鿱¹½jA;MT=Y:QU>aEЀEyɍ}>I :HR5? :ނھ B O@9^Dw: :)4:W j>WX XW:W2W*WVbUBU*U!U!U%@B`=B B A]?*BAsʼAAAk<"Cj>RC!C%j>C)QIiG>.  }7:YDW1yY:59@=>99I=Gi=@999=R; =E:r,X:}EAY}n`@}n:P@y}n}nVs}nHq?`S?5ͿW?`ο?)~n`@ ~ny`;I~nCɫ) IY<@y{GxDUSBL response received:!U1,R,0D8,000,0113A,186,80,80,A6,FF Fpublishing direction and range infoAɰ>> )&CIycC4n?0iǿٱ5DNmea in: $SNTTA,,,,,020013.88*5E ÕE?Õ$>Õ6iÕ@Ñ ĕ(@)ĕ?@Iđiĕ?@(M<M==Y:QU>IIaMEMӀEQyUk}U>IY]2R5?]ͅھ ]B mO@9]gD]|O; ]n;)YW>WX XW:W2W*WVbUBU*UUUk@P)*Q-cCZQ-!dzk@'>>FEJQ-4n?0iǿ2Q-A:Q)bQ-ms@lj20@8C-3.@RQ-F*F￷#YB?.?BQ-{D@ Q-AQ-bP->9?P-H9?P-Q-Q-ۯA"Q-,BB}=By ByAU_?*BAüAAAUS<"C>RCC>C׹IGE>:r,EA|;|Y}Jf^@}J/N@y}Jȴ}J^p}JH]ٳ??`<sxͿ?`1Ϳ@?)~Jf^@ ~JU{`;I~JCɫQQ)Q UIQY@yfG%MK=Y:QU>aEրEyr}>Iȩ :ŭR5? :ŭھ ƭB O@9ƭnDǭ: ȭ:)ȭ5:myAdded new target pos. range: 227.100006 m, bearing: 175.900826 deg, deltaT: 4.861561 s, approachRate: -0.567715 m/s, LOS rate: 0.726906 deg/s, posRepo size: 4m ProNav: pos range: 227.100006 m, bearing: 175.900826 deg, approachRate: -0.567715 m/s, LOS rate: 0.726906 deg/s, cmd update: 2.180718 deg/s, cmd heading: 26.946838 deg, new cmd heading: 25.707730 deg. W{>WX XW:W2W*W V bU BU *UU@3cl@U ٕ?BT =B BAJ^?*BAAAAN<"C>*CRCC{>C MM}M}M M.:YMkS1yMԊ:Mo5?<IGm>P:r,EAY}2\@}2UL@y}2Zȱ}2Pto}2H?*Z? mNwͿ8?Ϳ*?)~2\@ ~2\S`;I~2Cɫ99)9 9IAY@yG>9I.Gi@=Q; )uCIuCiqu=u=u5i=x&1? rh?{Gz?A ?C = ף<)Iy-?Mb`?~jt???;D< ©)­AI­|@i­|Af@)> = @ @ @©i@ t@)@IԸ@ih=M7=Y#W:QU>  a E ڀEy?}>IR5?ވھ B MO@9wDU; ;)W?WX XW:W2W*WVbUBU*UUU PR?B c=B  B A b?*BAAAA<"C=>RCC?CI<-?i-?IG%n>:r,EAY}JZ@}JcJ@y}J$}Jn}JH@ ?Ŧ?@Qf Ϳ d?@wͿ ?)~JZ@ ~Jh`;I~JCɫqq)y yIyY@yчGL<Mb=Y|QU>aE݀Ey}>Iȩ :ŭQ5? :ŭAھ ƭB O@9ƭ}DǭQ: ȭ:)ȭ6:W?WX XW:W2W*WVbUBU*UUUh?Bhg0=B BAc?*BAPAAA<"C ?RC C ?C u uuu u`6:YuT1yu:u55Β;I!G=r>>:r,EA|i|Y}BX@}B3H@y}BT}Bpip}BH :bÔ?/(z?`Ϳ?`Ϳ`D?)~BX@ ~B4A`;I~BCɫYY)Y ]IYY-@yGu<MuL=Y}QU}>yaEEy}>IȑŕjQ5?ŕFھ ƕB O@9ƕDǕ@: ȕM:)ȑW?WX XW:W2W*WVbUBU*UUU%?B% 2=B) B)A-f?*B)A-A1A1A5<"C='?RC9C=?C9AA)I IבIG>>9I`Gip@W; E:r,{EAY}JV@}JQF@y}Jn}Jr}JH@d{t?(Z?Z@!ο@W}? ο@?)~JV@ ~JK`;I~JCɫ髑) IY@yGI1)1AEhA   q??;??ip@ @)@I@iE@QdMB=Y:QU> a E E y}>I %:Q5? %:ھ B %O@9D: :)7:WM ?WIXI XIWQ:WQ2WQ*WQVQbUYBUY*UYUYU]C?BJ(=B BAYe?*BAAAA,<"C ?RCC ?CiIqG >M@ IIM M8:YIyIM5)M;9Ua;r,QEAY}2@T@}2D@y}2}2t}2HY3/x?TY?`pο~3?Rο@?)~2@T@ ~2A`;I~0ɫ99)9 9I9Y4@yGUM<M]V=Y]7A:QU]>aaaeEeEaymk}m>IquQ5?u2ھ uB }O@9uDu: uT:)qW??WX XW:W2W*WVbUBU*UUU @B6=B  B A g?*B AנAAA:~<"C??RCC??CIG$> ;r,32EA|(|*49܉I܉i܉܉܉܉܍Z; ݍEY@ySG鮽p=ɮ=x&1?S㥛~jt?A?/ݼ =)Iy(\?y&1aEEyx}>I  : إQ5? : ?ھ B O@9 D : :) 8:W=?W9X9 XAWA:Wa2Wa*WiVibUiBUi*UiUqUu@R}B*** querying acoustic contact ***PyPyBz'=B BASj?*BA왼AAA<"C?RCC?CMMMM M2:YMDW1yMY:M95)M;YIaGY>/;r,dLEAY}6uQ@}6A@y}6}6cUu}6H/`Jz?Yvο?*^ο`[?)~6uQ@ ~6`;I~6Cɫ99)9 9I9Y]@yeGeZ****** received transponder code query ******mF****** received ping request ******mi =nGI i ٺ A ;r,eEAY}BO@}Bn?@y}B]}BDžt}BH[Ы¿@ `?m )1a=E=EQye}m>IȁŅXQ5?Ņھ ƅB O@9ƅDDžy= ȅr=)ȁW 3?WX XW:W2W*WVbUBU)*U)U)U5R[ @MMMM M/:YMW1yMč:M59U@BX *=B BAi?*BAcAAA<"C 3?RCC 3?C׹IGj>܉9܉I܍ĆGi܍@܉܉܉܍N; ݍE2;r,ϿEA|i|Y}6M@}6>=@y}6&閼}6Hnu}6H@`Nƿ B~`d?˔@fQοܒ?|aοy?)~6M@ ~6`;I~6Cɫ99)9 =I9Y}@y}GAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B >CTi\@ @)^@Ii(@@M==YY;QU>aEEy}>I :ZmQ5?  :ھ B  O@9D: 3:)9:W56?W1X1 X1W1:W12W9*W9V9bU9BU9*UAUAUE5 @BmR=Bq BqAud?*BqAujAqAyA}<"C}6?RCC6?CׁIG>T&;r,EEAY}FuK@}F;@y}F}i}FTt}FHP7 ʿ]`J?@gg οL?@{?ο?)~FuK@ ~Fs`;I~FCɫqq)y yIyYC@yGxDUSBL response received:!U1,R,F57,000,004C6,187,80,80,A4,FF Fpublishing direction and range info>ɰ6=鰽1> )$CIyGBvP?"?ٱI) jAjA=M Y=YA;QU>aEE!y%O}->I)-u[Q5?-|ھ -B =O@9-D-ʽ: -:))W]@#?WYXa XaWa:Wa2Wa*WaVibUiBUi*U)U)U-@P9*Q=GBZQ=7c0A@jA @JQ=vP?"?2Q=>:Q9bQ=E7A,Y57@ϥRQ=6N5*E?&rBQ=D@ Q=@Q=P=-9?P=>9?P=Q=Q=@"Q=ۯAB=?=B BAg?*BAԞAAA<"C@#?RCC@#?CIG (>MM~M~M M3:YMT1yM@:M85D,;r,~tEAY}2DI@}29@y}2z}2u}2H Ϳ} k?`1XͿY?Tο?)~2DI@ ~2T`;I~0%>9!I!i!!!!%I; %EɫYY)Y YIYY}@y}CGdNmea in: $SNTTA,0.149661,0.406774,,,020018.73*5A $C?MbX9?~jt??ʡ= <)Iy-?Mb`Mbp?5?; @)hAI|@i@@E >EYYa]E]EayeP}e>Iq u:uDQ5? }:uhxھ uB }O@9uDu: u:)u::myAdded new target pos. range: 35.820000 m, bearing: 176.354965 deg, deltaT: 4.413549 s, approachRate: -43.339272 m/s, LOS rate: 0.102897 deg/s, posRepo size: 4mrPowering the camera and arming the DDM at range: 35.82 m.Xm ProNav: pos range: 35.820000 m, bearing: 176.354965 deg, approachRate: -43.339272 m/s, LOS rate: 0.102897 deg/s, cmd update: 0.308690 deg/s, cmd heading: 36.537745 deg, new cmd heading: 37.507327 deg. W#?WX XWX:W2W*WVbUBU*UUA@U!?BA=B BA i?*B A xA A AY*<"C"?*CRCC#?C1I9G]3>.3;r,*VEA||ɫ髑) IYs@y:GE.Powering up loadControliMՇMM;=YMQUU>QQaUEUEYy]}e>Iim.Q5?mtھ mB uO@9mDm: mQ:)i:uAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;vZEntering USBL mode with 5.000000 count pings.1;q;WEx$?WX XWX:W2W*WVbUBU*UUU k?B?=B BA i?*BAMkAAAf<"CEx$?*CRCCEx$?CMMMM M0:YMW1yMč:M85IG%M>V9;r,*EAY}2F@}2e26@y}2\I}2[q}2H@ҿg﬿ w? H@Ϳ6?Ϳ ?)~2F@ ~2|`;I~2Cɫ) IY5@y5\GC>i=)= =e<M`=Y-79AaMEMEYye }m>Iȁ :ŅBQ5? :Ņqھ ƅB O@9ƅDDž_; ȅ.;)ȅ;:X@q;uCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:uAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLW%?WX XWX:W2W*WVbUBU*UUU>*?B mL=B  B A j?*BAي_AAA<"C%?*CRCC%?Cau?iu?YIaGY>!9!I!i!!!!%K; !)ݱIݱiݱݱݱݵIQ4?@;r, EAY}FUD@}Fp4@y}F,}Fq}FH Zӿu@C?@|H̿@㗅?Ϳ?)~FUD@ ~FBa;I~FCɫqq)q qIqY@ycGiu>u9aEEy}>IȡťQ5?ťlھ ƥB O@9ƥDǥQ: ȥ:)ȡW%?WX XWX:W2W*WVbUBU*UUU4?B[=B BA"k?*BAXRTAAA+<"C%%?*C!RC)C-%?C)I G5.>MS MMM| Mq::YMV1yM:M]5)MN;9UhF;r, EA|i|@Y}>B@}>2@y}>Y }>$Jp}>HWտ VT ^?@<U̿4?Ϳ`5?)~>B@ ~>a;I~>Cɫ11)1 9I9Yu@yu|Gi~Q<MR=Y;QU>aEE!y%Ç}%>I)-P5?-gھ -B =O@9-D-: -:))W]*&?WYXY XaWaXa:Wa2Wa*WiVibUiBUi*UqUqUu6@BCU=B BAhl?*BA%^HA!A!A%<"C-*&?*C)RC)C5*&?C1!I1G]3> L;r, 4EAY}F A@}F&1@y}F]}Fn}FH -ֿ<c[?˿w?pͿ"?)~F A@ ~F9b;I~Dr>9pIrGird@r=prDrO; rEɫ11)1 1I1Ym@ymG hAhAie|?5^?MbX9?I +e-?a e94)aIayeB`"? ףp= ~jt?e?eQ8e< e"@)eAIe@ie@aa @ @ @©i@ ^@)(@IiQ<M>=Y^;QU>aE EyNi}>Iȑ :ŕP5? :ŕaھ ƕB O@9ƕDǕ; ȕY;)ȕ<:W&?WX XWX:W 2W *W V bU BU*UUU@g@] ]}]}] ]`6:Y]kS1y]Ԋ:]o5)]˒;BoK=B BA%n?*BA2:AAAM<"C&?*CRCC&?CI)gAױIGe>{S;r,tNEAY}2l?@}2T/@y}2bq}2lm}2H|>ؿGu?G˿0n? iͿ$?)~2l?@ ~2vt;I~0ɫ) IY@yqG%a=ɮ%p=i19MѼMMh=YM;QUM>QQaUEU EYy] }e?IaeP5?e ]ھ eB }O@9eDe; e;)aWr*'?WX) X)W1X1:W12W9*W9V9bU9BUA*UAUAUmh@R}B*** querying acoustic contact ***PyP}Bq=B BAk?*BA/AAAс<"Cr*'?*CRCCr*'?CIG (>Y;r,9|hEA| |";ɫ) IY]@yeG}Z****** received transponder code query ******F****** received ping request ******YYa]E]Eaym}m>Iq }:u#P5? }:uTVھ uB }O@9uDu*: u:)u=:W'?W!X! X!W!X!:W!2W)*W)V)bU)BU)*U1U1U5I_ @]]]] ]0:Y]W1y]č:]59e@B=N=B BAm?*BAH!AAAx۷<"C'?*CRCC'?C>9IĆGi@ EIGn>`;r,YMEAY}:<@}:.,@y}:%}}:p}:H B'ۿ ʹ@?`d ʿ@O? Ϳ?)~:<@ ~:;I~:Cɫ) !I!YU4@yUG]xDUSBL response received:!U1,P F57,000,004C6,187,80,80,A4,FF ]Command AckeBRequesting micromodem ping code 2iaamNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iI=)=!z<Mf=Y;QU> aEE1y=}E>IaeP5?ePھ eB mO@9eDe = e =)aWu!d(?WqXq XqWqXy:Wy2Wy*WyVbUBU*UUU @Bca=B BAo?*BA A!A!A%U<"C-!d(?*C)RC)C-!d(?C19IQG{>·f;r,0-EAY}bˑ8@}b(@y}b*S:}bNq}bHY@$޿4Ri?@Q87ʿdJXͿ&?)~bˑ8@ ~bK;I~bCɫqu)q qIqYY@yLjG@Ai-nGIEjAiUAA` ٺjAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i  <M0=YU;QU>aEEy}>I :IP5? :Hھ  B O@9DY: :)>:W(?WX XWX:W2W*WVbUBU *U U U `ye@B5Mq=B9 B9A=:p?}}}} }E1:Y}U1y}:}65*BAS] AAA<"C(?*CRCC(?CיIG k>l;r, EA|i|N>9LILiLLLLNK; NEɫqq)y yIyY@yGi$C?)\(?Ga ̼)Iy rh?X9vaEE!y-}->I15TP5?5(Cھ 5B EO@95 D5w: 5$:)1W Fu)?WX XWX:W2W*WVbU!BUA*UIUIUM[@BͿp=B BABn?*BAEAAA>u<"CFu)?*CRCCFu)?CIG%M>s;r,EAɫ11)1 1I9Yu?@yuG}xDUSBL response received:!U1,R,DE5,000,00FF7,188,80,80,2E,FF Fpublishing direction and range info}>yɰ}g>}> y)}8BIyy}OC}?^?/p?ٱyDNmea in: $SNTTA,,,,,020023.20*5F I)igAfA:<MN=YQU>aEEy}>I  :P5?  :<ھ B  O@9D: :)?:W5 )?W1X9 X9W9X9:W92W9*WAVAbUABUA*UIUIUMf@R](Combining 5 samples.PY*Q]OCZQ]x /%g@ W@JQ]?^?/p?2Q]>:QYbQ]nvi^W#@>*nF6RQ]bէ?bsBQ]kF@ Q]AQ]KNP]e9?P]-9?P]Q]Q]Gu"Q]@B!*z=B BAjo?*BAAAA"<"C )?*CRCC )?CIםfA)םfAuuuu u*:YuWU1yu:u5ׁIG=>y;r,EAY}F-4@}FI$@y}F;}Fy}FH0* Wd?'ɿ`uοB ?)~F-4@ ~F;I~FCɫYa)a iIiY7@yGi11^MH=Y 11a=E=!EAyE)}M>IQUqP5?Uf5ھ U!B ]O@9UDU: U:)QmyAdded new target pos. range: 207.719986 m, bearing: 177.316232 deg, deltaT: 4.852454 s, approachRate: 35.425373 m/s, LOS rate: 0.198099 deg/s, posRepo size: 4m ProNav: pos range: 207.719986 m, bearing: 177.316232 deg, approachRate: 35.425373 m/s, LOS rate: 0.198099 deg/s, cmd update: 0.594298 deg/s, cmd heading: 38.042842 deg, new cmd heading: 38.170327 deg. W+?WX XWX:W2W*WVbUBU*UU i@U@Ή?B?$n=B BA/o?*BAhG˻AAA<"C+?*CRCC+?C!I1Gu6>܅>9܁I܁i܁܅=܁܁܅I; ݅ET߀;r,EA|,|,Y}V3@}VH #@y}V㑡;}Vz}VHo O`V?`Pdɿ72tϿ ?)~V3@ ~V;I~VCɫ髱) IYN@yGiQQ   å">ålGå>iå@å ĥt@)ġIĥ@iĥ@,;MN=YQU>aE$EAyE 7}M>IIMbP5?M.ھ M)B ]O@9M"DM: Mr:)I;u w}Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;}w}dResuming normal ranging with 1.000000 count pings.;}1<}W',?WX XWX:W2W*WVbUBU*UUU` ?Bu=B BAo?*BAҙAAA~ <"C',?*CRCC',?CסIG'>eeee e/:YeU1ye:e5)e%;9m ;r,EAY}2U1@}2!@y}2.;}2Tu}2H3F``L^?x@ȿ٥p{gοx?)~2U1@ ~2I;I~2Cɫ)))) )I1Yu@yulG=i=i)= =4MW=YEQU>aE'E y Q} >I :ZUP5? :,'ھ 1B %O@9)D: :)@:X=?1<=wECompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;E wEAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRWMu-?WIXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UYUYUev?B7=B BAk?*BAAAA<"Cu-?*CRCCu-?CaIqG=x/;r,M7EA9CIi=M; E)ݣIݣiݣݫ=ݫ=ݫ64Y}~r0@}~ð @y}~)F;}~kl}~HrZ?K+ Xnǿh _JͿ &?)~~r0@ ~~A;I~~Cɫ) IY@yzGiYY|?5^?ʡE?:v?-2> T)IyK7A`?X9vy&1?+?}`< 9@)AI@i@AMuMĠM>iM@I M @)MAIMiM@]K;M]6=Ye#QUe>aiamEm+EqyuU1}u>Iy}.BP5?}!ھ }:B O@9}2D}: }:)yW%aY.?W)X) X)W)X):W)2W1*W1V1bU1BU1*U9U9U=1M?Bd=B BAKl?*BA\AAA<"CaY.?*CRCCaY.?Cu uuu u4:YuV1yu:un5)u̐;I G%M>;r,('QEA|i|@Y}2:/@}2PU@y}2 :}2h}2Ho Ĥ`j?ƿ[Y̿-?)~2:/@ ~2݊;I~2CɫYY)a aIaY@y~GiU ;M]]=Y]QUe>aaaeEe.Eiymj}m>I : 2P5? :zھ AB O@9;D: :)A:WkR/?WX XWX:W 2W *W VbUBU*UUU`@BES=BA BAAEl?*BAAMTAIAIAM<"CUkR/?*CQRCYC]kR/?CYiIqG>@;r,kEAY}62-@}6@y}6Ա:}6f}6H ~*?XLƿ`:B@̿ {0?)~62-@ ~6{<;I~6Cɫ髁) IYN@y#GI)AI)i­fA© =/]=i\@ t@)I@i^@-+M-==Y5*QU5>19a=E=1E9yEh]}E>IIM P5?Mھ MJB UO@9MDDI M:)IW}Ko0?WyXy XyWyXy:Wy2W*WVbUBU*UUUo@Bs=B BAg?*BAV#AAA<"CKo0?*CRCCKo0?CשIG$>uu}u}u u&2:YukS1yuԊ:u59u@)9)I)i)-=))-W; -EQ*;r,;EAY}22,@}2/N@y}2[3}2"e}2H+}@G¿,?Dſ`k? Ig̿3?)~22,@ ~2't;I~2Cɫ99)9 9I9Yu@y}EG}p=ɮyi<M_=YغQU>  a E 4EyS}>I %:8P5? %:پ RB -O@9KD(: 4:)B:WMh1?WIXI XQWQXQ:WQ2WQ*WYVYbUYBUY*UaUaUe]@RmB*** querying acoustic contact ***PiPmB=B BAi?*BAAAAn<"Ch1?*CRCCh1?CשIG=R;r,EA|4<|4m̿m3?)~B*@ ~Bck;I~BCɫYY)a aIaY@yHGZ****** received transponder code query ******F****** received ping request ******aE8Eyc}>I>P5?eپ \B O@9UD: :)W%-2?W)X) X1W1X1:W12W1*W9V9bU9BU9*U9UAUE@9 @Bmn=Bq BqAui?*BqAu~AqAqA}H<"C}-2?*CRCC-2?CI GER>% >9! I% `Gi% p@% =! ! ! ! };r,%EAY}2(@}2@y}2V}2^}2H@cR¿@? <ĿJ35?`\˿>?)~2(@ ~2:e;I~2Cɫ99)9 9I9YE@yEGMxDUSBL response received:!U1,P DE5,000,00FF7,188,80,80,2E,FF UCommand AckUBRequesting micromodem ping code 2iQQ]Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iy}oʡ?S?~jt}-?}/> }ļ)yIyy}"~j?qqauEu;Eyyg}>Iȩ :ŭ2O5? :ŭپ ƭ^B O@9ƭ_Dǭf: ȭ:)ȭC:WM!3?WIXQ XQWQXy:Wy2W*WVbUBU*UUU@ @B}m=By BAl?*BAAAAA<"C!3?*CRCC!3?CשIG>d;r,lEAY}2a:'@}2U@y}2}2h_}2H`"`-kÿ@o?Eÿ7?@˿`G=?)~2a:'@ ~2a;I~0ɫ9A)A AIAY@ycG%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i[M=YQU ?aE>Ey}?IkO5?پ _B O@9eD@: +:)W/4?WX XWX:W2W *W V bU BU*UUU 3@B廛=B BA"k?*BA9AAAJ<"C-/4?*C)RC1C5/4?C1!I1G]3>uuuu u/:YuU1yu:um5inGIjAiٺjAB;r,XEA|@i|@Y}bM%@}b@y}b/}bO]}bH 7`~ÿ`?@@ÿ%? #y˿A?)~bM%@ ~b_;I~bCɫ髱) IY @y lGi!!uף;uh=u=iuQ@q ut@)uAIqiu @;MM=Y:QU>aEAEyI}>IȡťO5?ťپ ƥaB O@9ƥmDǥ: ȥ:)ȡW5?WX XWX:W2W*WVbUBU*UUUƸ@B-5=B) B)A-k?*B1A5o:A1A1A=ꛠ<"C=5?*CARCACE5?CIסIG >9IiP; Ex;r,(,EAY}r#@}r @y}rz9}ri_}rH3rĿg?p @ֱ¿@;਴˿=?)~r#@ ~r^;I~rCɫ) IY@y~GxDUSBL response received:!U1,R,BE1,000,010C2,189,80,80,2C,FF %Fpublishing direction and range infosk?ɰ>7> )0BIy[Cʋ^?d'x?ٱDNmea in: $SNTTA,,,,,020028.02*54 I)I)i)) 1199E <ME?=YE:QUm>iiauEuDEqy} l}}>Iȁ :Ņ2O5? :Ņپ ƅcB O@9ƅvDDž!< ȅ/"<)ȅD:W 6?WX XWX:W2W*WVbUBU*U!U!UER@PQ*QU[CZQU{1U`@%~Ne@JQUʋ^?d'x?2QUsk?:QQbQUj/jX31FJA[BRQUXCj|wx_O`$4ƿBQU=N@ QUQUWPUF9?PUe9?PUQUQU"QUGuB=B BAl?*BA;AAA<"C6?*CRCC6?CmH iim mM:Yiyimn5)m0;9}IG%M>;r,vEAY}2h"@}2T@y}2:}2c}2H >}Xſ ?஌¿ ~P?̿ 6?)~2h"@ ~2c5^;I~2Cɫ99)9 9I9Y}V@y}(Gi5z>M=]=Y=b:QU=>AAaEEEGEAyM&}M>IQUqO5?Uپ UdB ]O@9U~DUb: U+:)QmuAdded new target pos. range: 219.899994 m, bearing: 184.634179 deg, deltaT: 4.879235 s, approachRate: 2.496294 m/s, LOS rate: 1.499814 deg/s, posRepo size: 4mE ProNav: pos range: 219.899994 m, bearing: 184.634179 deg, approachRate: 2.496294 m/s, LOS rate: 1.499814 deg/s, cmd update: 4.499443 deg/s, cmd heading: 40.940481 deg, new cmd heading: 41.150035 deg. WM5>?WIXI XIWYXY:Wa2Wi*WqVybUyBU*UU|k@Uͫ?B !=B BA h?*BAE9;AAA]<"CE5>?RCACE5>?CAYIG> 9 I i = _; E9;r,9EA|";|"p;Y}> @}>@y}>E:}>e}>H x`ƿY?`¿Xtx̿2?)~> @ ~>^;I~>Cɫyy)y yIyY 0@yGi5Q?~jtQ?5\?5ļ 5u=)1I1y5K7?㥛 y&1?5I ?55`e= 5n@)1I5@i5;@15@u=ʿ>i@ @)Ii@4 M1=Y :QU>  a E KEy[W}>I %:O5? -:پ uB -O@9Da; ;)E:WMQG?WIXQ XQWQXQ:WQ2WQ*WYVYbUYBUY*UYUaUe`:?B(~=B BAf?*BAd;AAAxU<"CQG?RCCQG?Cuuuu u-:YuT1yu:u5)ul;׹IGE>i;r,SEAY}Na@}N}@y}N'+:}N:i}NH@g`иƿ?d dR̿m,?)~Na@ ~N];I~NCɫqy)y yIyYy]=i]=iaa)m> m>YԁQU>aENEy}>IO5?پ B O@9D: #:)WN?WX XWX:W2W*W V bU BU *UUU@ϻ?B=و=B9 BAAA*BAAEg;AAAAAE<"CM L?RCQCUN?CQe?ie?)I1GM> ;r,mEAY}@}G @y}P =9}(c}H Kzƿ/?j'@)̿ C7?)~@ ~c];I~Cɫ) IY@yGi =@ =@ =@=©==i=@= =@)=@I=i=MλMUYYa]E]QEayeAf}e>Ii u:m_O5? u:m@پ mB }O@9mDmk: m:)mF:W''W?WX XWX:W2W*WVbUBU*UUU5?B=B BAe?*BA;w;AAAۗ<"C''W?RCC''W?Ceaae e+:Yayae59m@q9qIqiqu=qqul; uE)턂CI턂Ci鄉==g5בIG@>;r,DlEA|@i|Y}2cG@}2b @y}2:}2\}2H fvƿ@H?&;`8CG?J˿C?)~2cG@ ~2$K];I~2Cɫ99)9 9I9YJ@y!Gi99u!<MuZ=Y}QU}>yaETEy>}>IȑŕяO5?ŕ%پ ƕB O@9ƕDǕ: ȕ:)ȑW^?WX XWX:W2W*WVbUBU*UUU@?Bf=B BAg?*BAv;A A A ?<"CQ[?RCC^?CׁIG>/;r,gGEAɫ髙) IY@yOGI9)=AIA)EAiIIYY<MH=YQU>aEXEy}>IrO5?پ B O@9D; X;)W%4 g?W)X) X)W1X1:W12W1*W9V9bU9BU9*U9UAUE@@Bm0=Bq BqA}j?*ByA;AAA#<"C4 g?RCC4 g?C 0:YWU1y:5I)GmV>a 9a Ia ia e =a a e d; e E^;r,"EAY}2)@}2y @y}2`!:}2T}2HC@q\ rHƿ {? l@r_8D_jʿO?)~2)@ ~2f];I~2Cɫai)i iIiY}C@y}G鮁ɮ=i%q= ףp?B`"?ˡE?%>%N> %'=)!I!y%`"?L7A`堿Mbp?%?%+%; %"@)%AI%@i%@!%3@   ÅÅÅA>iÅ@Å ą@)ąIą @ią @ɼMJ=YbW;QU>aE[Ey}>Iȩ :ŭ|O5? :ŭf|پ ƭB O@9ƭDǭ: ȭw:)ȭG:W]No?WYXY XYWaXa:Wa2Wa*WaVibUiBUy*UyUyU}f@RB*** querying acoustic contact ***PPB a=B) B)A-g?*B)A-.;A1A1A5SO<"C=Qk?RC9C=No?C9!I1GU2> ;r, EA||;ɫ髱) IY@yGZ****** received transponder code query ******F****** received ping request ******yya}E}^Ey}>IȑŕrO5?ŕpپ ƕB O@9ƕDǕN; ȕ@;)ȑWNw?WX XWX:W2W*WVbUBU*UUUl @B '=B BAe?*BAW<AAA5s<"CETv?RCACENw?CAIIQmmmm m.:YmT1ym:m5G9>/;r,EAY}^@}^@y}^I;}^UAS}^H`E߿$, ǿ9?;(߿㸿@/u88ʿ,R?)~^@ ~^3^;I~^Cɫ髑) IYa@y/GxDUSBL response received:!U1,P BE1,000,010C2,189,80,80,2C,FF Command AckBRequesting micromodem ping code 2ii>i>Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iIa=)4=)= =Ý{ÝÝC >iÝ@Ù ĝt@)ęIĝ@iĝ@ 9 I .Gi @    f; E<M'=Y%y!!a-E-bE)y-`ҽ}5>I1 e:5gO5? e:5bپ 5B mO@95D5: 5:)5H:W?WX XWX:W2W*WVbUBU*UUU@x @BP=B1 B1A5yh?*B9A=R<A9A9A=ʉ<"CE?RCACE?CQqIG>+% >% C,@aEhEyf}>I 5:!XO5? =:Kپ B MP@9Dw; ;)I:WI?WX XWX:W2W*WVbUBU*UUU@BMu=BQ BYA/a?*BA$<AAA=<"CI?RC!C-I?CQqIyG~> 9 I Gi @ =   k;  E hq= ,)Iyףp= ?Q뱿I +??\94= X@)nAI;@i;@@  UMbU=U =iU@Q U@)Uj@IU@iUecv=Me2=YmNV:QUm>iqauEukEqy}[}}>IȁŅOO5?Ņ<پ ƅB P@9ƅDDžr: ȅL:)ȁW-ӎ?W)X) X1W1X1:W12W1*W9V9bU9BU9*UAUAUE@z@uuuu  u1:YuWU1yu:u5)u;9}B,=B BA>h?*BAO1<AAA1y<"Cӎ?RCCӎ?CIeA)eA׹IGf>Ov@}>"?y}>E<}>OY}>H@"=ڿ" ɿ`/?ٿ@?ʿ@G?)~>v@ ~>a;I~>Cɫ) IYM@yU[GYɮ]a=iii}eMo=YD:QU?aEnEy͝}?Iș :ŝ,JO5? :ŝ|1پ ƝB P@9ƝDǝ=: ȝ:)ȝJ:WSՏ?WX XW:W2W*WVbUBU*UUU@B ١=B  BA]?*BAm:<AAAJ<"C|?RC!C%SՏ?C!%x/<I)GEQ>yi@ ^@)(@I^@i(@-Oy=M-P=Y5:QU=>9AaEEEqEIyM}U>IY]CO5?]6$پ ]B mP@9]D]: ]:)YWeV?WaXa XaWa:Wi2W*WVbUBU*UUULJ@RB*** querying acoustic contact ***PPB =B BAc?*B!A%^9G<A!A!A%*5<"CMV?RCICUV?CQܱ9ܱIܵʅGiܵ|@ܵ=ܱܱܵf; ݵEE /:YU1y:5);I)GER>Ea"aEuE y  } >IP>O5?پ B %P@9D:  :)WEǗ?WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQU]c@B =B BALa?*BA^\Q<AAA<"Cu?RCCǗ?Cϡϡ)С СI!G=r>( )xBIyD㶭 w?t5ӿٱi'M%9=Y;QU>))a5E5xE1y=R}=>Ii :m8O5? :mپ mB P@9mDm#< mk<)mK: l3:YWU1y:m59@W$?WX XW:W2W*WVbUBU*UUU @P*QDZQy R$@T~ |&{JQ㶭 w?t5ӿ2Q:QbQ=aNt) &@GS@RQxI.qM?#l?BQ? Q0DQ?vPة9?PF9?P 흿QQB"QBe1=By ByA}\?*ByA}c`<AAA緂<"C$?RCC$?CqIyG~>ܩ 9ܩ Iܭ Giܭ +@ܭ =ܩ ܩ ܭ h; ݭ E)9I9i9=====4.?)~6P @ ~6UX;I~6Cɫaa)i mIqY@y9Gi99uV?q= ףp?~jtr?= D)IyMbX9?~jtS㥛?!?ļ/< n@)MAI@if@ E@ E@ E@E©EEiAE E(@)EIEiE^@UDػMUG=YU;QU]>YYa]E]{Eaye_}m>Iqu,2O5?uؾ uB }P@9uDu: u:)qmAdded new target pos. range: 1421.040039 m, bearing: 92.486779 deg, deltaT: 6.517162 s, approachRate: 184.304153 m/s, LOS rate: -14.139192 deg/s, posRepo size: 4mProNav REINIT: LOS rate is -14.139192 deg/s. Setting heading cmd to target bearing of 92.486779deg and heading rate command to 0 deg/s.W?WX XW:W2W*WVbUBU*UU)4@UVG?B>=B BA[?*BA}i<AAA@<"C?RCC ?C IG )>5  a E ~EyR}>I %:,O5? -:ؾ B -P@9D4: A:)L:WqWqXq XqWy:Wy2Wy*WyVybUBU*UUU(N?Bk=B BAnY?*BAgs<AAAm<"C[?RCCCIG= >mmmm m,:YmU1ym:m5];YYa]E]Eaye6}m>Iim''O5?mNؾ mB }P@9mDm: m:)iWWX XW:W2W*WVbUBU*UUU u?BT˘=B BA*BA~<AAA2|<"CL0?RCp>CCIGe>Q9QIUfGiU@U=QQUd; UE\BAAaEEEEIyM3=}M>IQ ]:U"O5? ]:Uqؾ UB eP@9UDUf: UH:)UM:W9W9X9 X9W9:W92WA*WAVAbUIBUY*UYUYUe`~?B=B BAR?*BA-o<A)A)A-x<"C=*?RC=#>CACiuK u~u~u u9:YuT1yu@:u5ׁIG?>H]k=Me9=Yu:QU}>aEEy$}>IȹŽO5?Žؾ ƽB P@9ƽDǽ; Ƚ;)ȹWWX XW:W2W *WVbU!BUA*UAUAUMq?B!T=B BAV?*BA<AAAtu<"C|?RCR=CC׹IGf>I 9I IM GiM 7@I I I M i; M EOEAY}:rc@}:?y}:]}<}:^}:H Ϳ _@uP˿" ?@_Ϳ@`ػ`˿>?)~:rc@ ~:;I~:CɫYY)Y YIYY@y†Gi!!#~j?l}?5^I?> M>)Iy(\?MbV-?.?@< X@)/AI@i@\@]D=]q]оi](@Y ](@)](@I](@i](@^ѻMA=YZL:QU>))a-E-E1y=7}=>Ii u:maO5? }:mؾ m B }P@9m#Dm),; m>+;)mN:WWX XW:W2WA*WAVAbUABUI*UIUIUM7@Bu\+=By ByA}U?*By  5:YDW1yY:5) ;9A1<AAAWr<"C?RChL=CC܄>IG>UIinGI-SkAiAGU1>miٺmSkAmWB\?)~2u? ~23;I~2Cɫ99)9 9I9Y}i@y}\GZ****** received transponder code query ******F****** received ping request ******aaaeEeEiymG}m>IquO5?ujؾ uB P@9u3Du: u:)qWaWaXa XiW:W2W*WVbUBU*U9IGi@=d; EUUS] @B|=B BAP?*BA<AAA=l<"CK?*CRCsCC Y1:YU1y:[5)t;S-P>יIGa>baEEyn}>I1 E:5O5? M:5ؾ 5B uP@95=D5 < 5& <)5O:W!WAXI XIWI:WQ2WY*WYVabUBU*UUU @B%&:=B) B)A-mK?*B)A-<A)A)A5Hi<"C55?RC=һC9C9T7>IGMt>'i]]=i]@] ]?@)]I] @i]@m=Mu&=YuL;QUu>yya}E}E~~ .:YT1y@:59@yd}%>I!%O5?%sؾ %B 5P@9%FD%b: %I:)!WqWqXq XqWq:W2W*WVbUBU*UUU@ @@B=B BAO?*BAX<AAAm0f<"C%Y?*C%_RC%gC)C)Ur=) I1 GU > >9 I :Gi @ k; EIp9<AAAc<"C?*C*PRCLCCgAfA =I G-N>CvIIaMEMEQyUG}U>IY] O5?][ؾ ]"B mP@9]TD]: ]:)YWWX XW:W2W*WVbUBU*UUU@%@BP=B BAK?*BA <AAAva<"C*CnCRCCCJM=IG'>}}|}|} }1:Y}R1y}i:}5c|i@ (@)I @i@MmQ=Ymw qqa}E}Eyy^}>Iȉ :ō O5? :ōMؾ ƍ$B P@9ƍ\DǍ: ȍ]:)ȍQ:WWX XW:W2W*WVbUBU*UUUӗ@Bf=B BAH?*BAQ<AAAQ#_<"C *C =;RC 3&C C>9IGi@=m; E)1I1i15=5=5i5סIGA>KaEEyμ}>I\ O5?;@ؾ %B P@9dD: b:)W W X  X W :W2W*WVbUBU*UUU% @R-B*** querying acoustic contact ***P)P)BM6=BQ BQAAD?*BA<AAA ]<"C*C=7RC$CC = >=I)IG&> /:YU1y:75u%= %<)!I!y%MbX?+ηÅb>iÅQ@Á ą @)ą@Ią@ią@<M$=Y0;QU>aEEy%:}%>I) 5:-O5? 5:-,ؾ -'B =P@9-oD-: -k:)-R:WYWYXY XW:W2W*WVbUBU*UUU1@B =B BA~G?*BAE<AAYA]Z<"Ca*Ceq6RCekCaCi=bިIG=> fA fA 9 I @Gi [@ = h; E]?}> ?y}>W'=}>Bv}>H@飿`z@T2?,?7?)~>? ~>5a];I~>CɫYY)Y YIYY@yMGihM=Y -:YDW1yY:I5)I;9ʇaEEy}>IȹŽO5?Žؾ ƹ P@9ƽ~Dǽ: Ƚܹ:)ȹWWX XW:W2W*WVbUBU*UUU`f@B%1=B) B)A-%G?*B)A-p<A)A1A5S=W<"Cy*C};RC}2CyCԝfAԙօ%|׍?i׍{?aIG=>౜uEAY}2_?}2T?y}2gI=}2IϽ}2HT `K`?@ċ@E1?^*`չ@9?)~2_? ~2w\;I~2Cɫ99)9 9I9Y} @y}GxDUSBL response received:!U1,N,80,80,63,E4 5,187,80,80,3E,FF ZNo reply:!U1,N,80,80,63,E4 5,187,80,80,3E,FF -O;i@ @)I@i@kME=Yk2aEE y 8} >I :O5? :ؾ &B %P@9D: :)S:WAWAXA XAWI:WI2WI*WIVIbUQBUQ*UQUYU]6@Bڛ=B BA=?*BA}<AAAU<܍>9܉I܍xGi܍@܉܉܉܍f; ݍE"C*C>RCSsCCG뵽סIGC> 2/:Y0Y1y:m5);)aEE y <} >INO5?׾ $B P@9D: n:)WIWQXQ XQWQ:WY2WY*WaVabUaBUa*UiUiUm =@B0=B BA>?*BA{<AAAXT<"C*C@RCZCCAIGI>Q Y i =nGI jAi  qٺ jA /zBǩaEEyh<}>Iȱ :ŵtO5? :ŵ׾ Ƶ#B P@9ƵDǵ\; ȵI<)ȵT:WQWQXQ XYWY:WY2WY*WYVabUaBUa*UaUaUm@0 @RB*** querying acoustic contact ***PPB=Bk,< BA%9?*BA<AAAøS<"C*C>RCCC) = >= >% GI) )- fAm >9i Im Gim @m =i i m m; m E I) GE >aEEy<}>I0O5??׾ "B P@9D; ;)WWX XW:W2W*WVbUBU*UUUf!@Btm=B B!A%u;?*B!A%.<A)A)A-1R<"C1*C=8RC=C9CAօ 벫A II Gm >ն =.:Yy5RaEE!y%l=}->I)-O5?-5׾ -B =P@9-D-k: -w:))WYWYXY XaWa:Wa2Wa*WaVibUiBUi*UiUiUb"@9CIGi;@y; EB]=BY BYA]2?*BaAe{<AaAaAeQ<"C*C("RC4bCCх"5;ԱԱֵ>׉IG>aEŁEy <} >IzO5?5׾ B -P@9D\ ;  ;)WaWaXi XiWi:Wi2Wq*WyVybUBU*UUU,#@B=B BA-1/?*B)A-9o<A)A)A55Q<"C9*CE RCEar<CACi h,:YyH5ѝx/e= y=)Iy?{GzV-,?ף µ@)µp@Iµ"Aiµ@@\Ti׻@ @)@IiK@%ZM%+=Y%!YQU%>))a-E-ɁE1y5J<}=>I9 E:=O5? M:=׾ = B MP@9=D=: =(:)=V:WiWiXq XqWq:Wq2Wq*WyVybUyBUy*UUU $@B=B BA$+?*B1A=#2<AAAAAMP<"CY*C],RC]CYCaii)i i 9 I xGi @    c;  E)ݙIݙiݙݝ=ݙݝ 5- Xf I G- >399aEEÉEIyUg<}U>IaeO5?e׾ eB mP@9eDe+: e:)aWWX XW:W2W*WVbUBU*UUU@$@By=B BA %?*B Aʄ<AAAbP<"C*C%&ԱRC%5C!C155~5~5 5'0:Y5T1y5@:5[5)5k;9=BJשIG>e!?>什i@ @)@I-@i@  M G=Y sQU>aEҁEy%=}%>I)-O5?-e׾ -B 5P@9-D-: -:))WYWYXY XYWY:WY2Wa*WaVabUaBUa*UiUiUmNb&@B=B BAr?*BA<AAAO<"C*CRCxCC܅>9܅CI܅}Gi܅@܁܁܁܅m; ݅E֍ ו?iו?aIqG:> -:YWU1y:5)7;(AAaEEEՁEAyMi<}M>IY e:]O5? e:]-V׾ ]B eP@9]D]: ]w:)]X:WWX XW:W2W*WVbUBU*UUU5'@B=B BAP?*BA<AAA3O<"C*CtRC_CCסIG'>DTqqauEuفEqy}<}>I*O5?}B׾ B P@9D: N:)WiWiXi XiWq:Wq2Wq*WVbUBU*UUU7(@Be,=Bi C3:Yy659@ BqAi?*BAiU=AAA$O<"C*CARC6ICCq歼q 9q Iu {Giu x@q q q u o; u Eס I G >k8baE߁Ey/<}>IiEnGIYO5?%׾iq B P@9DR< W<\ٺoB)WWX XW:W2W*WiVibUqBUq*UqUqU}@2)@BP=B BA ?*BA݀=AAAlN<"C*C3RCCC >>TP׹I~~ /3:G-o>YT1y@:5EBEmiE@E E@)E@IAiE@UMUA=YUQUU>YYa]E]Eaye*<}e>IimSO5?m,׾ mB }P@9mDm8: m:)iWWX XW:W2W*WVbUBU*UUUUq*@Bא=B BAX?*BA"=AAAN<"C*CͰRCCCi9mCImzGim2@iimDmy; mE֭[RӻׁIG>t=r,ѯEA|;|;Y}B*l?}BĢ?y}B8=}B <}BH tÿ/^?@G?@NÿQ?Y? ?)~B*l? ~B\;I~BCɫYY)Y YIaY,@yGiWMT=Y;QU>aEEy'<}>I :O5? :t׾ B P@9D: :)Z:WWX XW:W2W*WVbUBU*UUU A+@RB*** querying acoustic contact ***PPB]=BY BYA]>*BYAel=AaAaAeM<"Ci*CmvRC:CC`ԻI<  8:YU1y:5Gk> =r,,EAɫ11)1 1I1Ye@ymGuZ****** received transponder code query ******uF****** received ping request ******u mH)iIiymy&1?&1I +?m`%?mPm9< i)m|AImAimQ@imA)Å= Å= @ @ @©i@ (@)I­@i­@M,=YQU>aEEy}>IO5? ־ B P@9"D: D:)WIWIXI XIWI:WI2WI*WQVQbUQBUQ*UYUyU}=,@B=ԃ=B BA>*BA =AAAN<"C*CPfRCB:CC] ;IG> 9 CI pxGi @    h;  E}=r,eFEAY}2u?}2@?y}2DŽ=}2j†<}2HyĿ _@v??@yaĿ%?\ ΐ?@?)~2u? ~2I^;I~2Cɫ99)9 9I9Y}!@y}~GxDUSBL response received:!U1,P 80,80,63,E4 5,187,80,80,3E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iYIMp=Y ;QU?))a5E=EIy]q<}e ?Iy :}`O5? :}T־ }B %P@9})D}|< }e<)}[:WiWiXi XqWq:Wy2Wy*WVbUBU*UUU`,@B=B BA>*BA* =A!A)A-M<"C9*C=6RC<CC]O ]]] ]::Y]V1y]:]$5)];9u֕0::QIYGu>=r,BA`EA|@i|Y}>?}>2?y}>Ո=}>"~<}>H $Ŀ@q?~?Ŀ@΂?x?@?)~>? ~>j a;I~>Cɫ)! %I%YUC@yU}G}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i|M9=Yո9QU>aEE%ğ@!y%<}->I15a O5?5־ 5B =P@951D5w: 5Ǻ:)1WYWYXY XaWa:Wa2Wa*WaVibUiBUi*UiUqUu -@Bu@=By ByA}>*ByA} =AyAAU N<"C*C^RC C<CC֥<ׁIG%o>=r,zEAY}2T?}2F?y}2=}2~=[<}2HUſca?5{?`DſZD?)ﰿX?@S?)~2T? ~2a;I~2CɫYY)Y ]IYY@y|}GI)i¹½hA    @ @ @i@ )I@i@iM\=YXٺQU>!a%E%E!y-;}->I1 =:5 O5? =:5Q־ 5B =P@959D5=: 5:)5\:ܹ9ܹIܽvGiܽ@ܹܹܹܽk; ݽE)YIYiYY]=]=4W!W!X! X!W!:W)2W)*WIVQbUQBUQ*UQUYU]m.@B =B BAd>*BA=AAAN<"C!*C%үRC%Bf<CICI }>}=]X<1=99= =+:Y9y9=5)=l;IQGmx>P$=r,]EAY}r?}r7?y}rd=}r-<}rH sſ@URK`x?@{ſ I_?5) ᬅ??)~r? ~r}c`;I~rCɫ) IY@y4|GxDUSBL response received:!U1,R,DC3,000,010A5,188,80,80,8B,FF Fpublishing direction and range infoj?ɰ>> ) CIy(ZC? p?ٱDNmea in: $SNTTA,,,,,020050.24*5F i!!=M=H=Y=I;QU=>AAaEEEEIyMLt;}M>IQU O5?Ut־ UB eP@9UBDU: U:)QWWX XW:W2W*WVbUBU*UUU@H/@P*Q(ZCZQbg@D/N&Z@JQ? p?2Qj?:QbQ-`2dWe@h+t'RQ8nl4 ?BQk@ Q*CQMP9?Pة9?PQ 흿QD"QBB:a=B BA>*BA8=AAA PN<"C)*C-LRC5cx<C1C1=a<IG=r>b*=r,EA|<|>4<ɫII)I UIQY@y{GiJ +?L7A`?Q?(?+= \=)Iy ףp= ?v/:vQ8?xiT )AI\AiA 5 5 55C55i5z@5 5(@)5K@I5Ը@i5X@EpkMM-=YMQUM>QQaUEUEQy]}]>Ia m:eO5? m:ei־ etB uP@9eLDe: er:)e]:mAdded new target pos. range: 218.159988 m, bearing: 128.396778 deg, deltaT: 15.644220 s, approachRate: -76.889740 m/s, LOS rate: 2.295416 deg/s, posRepo size: 4m- ProNav: pos range: 218.159988 m, bearing: 128.396778 deg, approachRate: -76.889740 m/s, LOS rate: 2.295416 deg/s, cmd update: 6.886249 deg/s, cmd heading: 92.486779 deg, new cmd heading: 92.486779 deg. W5?W1X1 X1W1:W12W9*WYVabUaBUi*UiUuEk@Uu@?B5(x=BQ BYA]A>*BYA]Z=AYAYA]iN<"Cmbq?RChEC?C~~ /:YT1y@:759@ܱ9ܱIܵtGiܵ@ܵ=ܱܱܱ ݱu<ס I G >1=r,qEAY}:?}:?y}:=}:69}:H Oſ.҇v?`oſ` ұ? X@N3?@?)~:? ~:~;I~:Cɫ99)9 =I9Y}@y}zG=i=i)= >U}MUq=Y]h+*BAz=AAATN<"C6(?RChAC?CgAgA ><שIG >7=r,ƈEAY}2>?}2?y}2*o=}2'6}2HYſ`^@H䎿2t?ſ E?@f+?)~2>? ~2n;I~2CɫYY)Y YIYY@yqzGi5M=L=Y=˾;QU=>AAaEEEEAyM _:}M>IȩŭO5?ŭ!־ ƭ[B Q@9ƭ^Dǭ: ȭ:)ȩWDm?WX XW:W2W*WVbUBU*UUU?B=Kv=BA BAAEг>*BAAE!=AAAIAMO<"CUj?RCU7ﹽCUDm?CYMJM IG--> 0:YU1y:5(>=r,cEA|@i|Y}2ſ FͲ?\Qyb?)~2IIaMEMEa9aIerGie{@e=aae]; eEQyu;}}>Iy :}O5? :}y־ }MB Q@9}gD}g: }R:)}^:W?WX X)W1:W12W1*W1V1bU9BU9*U9U9UE '?Bq=B BA>*BA=AAAʅP<"CA?RC|C?C8FIGj>E=r,CEAɫ髙) IYv@ywGI1)5Ai9AMgAMgAuڽMuG=Y}QU}>yya}EEy}>Iȑŕ\N5?ŕh־ ƕ?B Q@9ƕpDǕ: ȕ:)ȑW?WX XW:W2W*WVbUBU*UUU]=@Bg=B BAA>*BA=AAAPQ<"C?RC0C?C ==ѼׁIG?>CiIESkAiY{}ٺSkAiB ,:Yy$5=;@9=,B>K=r,c*/EAY}b?}b!?y}b=}b }bHƿy`l 4a?ǿIܳ?`ߖ)?)~b? ~bo{};I~`ɫ髑) IY @y ]wGiqq-K?V-?A`"?-^>-m= -Y=))I)y-x&1?~jty&1?-A@?--`< -A)-vAI- Ai-|A)-GA   V>tGip@ @)I"@i"@M4=Y.aE Ey<} >I  : N5? : U־ 8B Q@9 {D b: k:) _:W=?WAXA XAWA:WA2WI*WIVIbUIBUI*UQUQUU>@B}b=B^< BAƋ>*BA=AAAcR<"Ck!?RCHC?C}mQIaG}Y>MgAIQ9QIUpGiU@QQQU_; UE6#R=r,+HEA||;Y}6b@}6?y}6ԯ=}6רּ}6H@|ǿ`p@kV?ǿw@?`д @q?)~6b@ ~6 r;I~6Cɫ99)9 =I9Y}@y}uGiVMz=Y/;QU?aE EyO<}?IȹŽN5?ŽG־ ƽ2B Q@9ƽDǽ: Ƚ :)ȹW?WX XW:W2W*WVbUBU*UUU`q@RB*** querying acoustic contact ***PPB-Sb=B) B)A-q>*B)A5x|=AqAqAuT<"C!5?RC9lC?Cֵh޽ׁIG>LX=r,bEAY}6j@}6l?y}6=}62/;}6H@9ȿ f@J?wȿ?`@e?d?)~6j@ ~6+j;I~4ɫ99)9 9I9Y}@y}+vGZ****** received transponder code query ******F****** received ping request ****** >ȅ<ME=Y:QU>aEE yS<}>I -: N5? -:z6־ +B -Q@9D; D;)`:Wm $@WqXy XyW:W2W*WVbUBU*UUiUu@ @BY=B BAx>*BAb=AAAU<"CJ?RC(C $@CfAۻ- -~-~- -A:Y-T1y-@:-5IG%n>v^=r,q|EAY}6j@}6 ?y}6=}6-SO<}6H@ɿXcq=9)I-HnGi-@-=))-]; -EuaEEy|<}>IBN5?!־ "B MQ@9D%<  :)W @WX XW:W2W*WVbUBU*UUU$ @B?N=BA BAAEWO>*BIAMH-=AQAQAUEW<"C@RC C @C &< G I G >`e=r,EA|i|@Y}>C@}>G?y}>.=}><}>H`ʿ Hli~?+?@ʿD?r_`#??)~>C@ ~>4Tc;I~<ɫQY)Y ]IYY4@ysGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iqq%aMr=Y\ ;QU?aEEy%<}?IN5?־ B Q@9D+: 8:)W@WX XW:W2W*WVbUBU *U U U@y6@B=T=B9 B9A=]<>*B9AEȧ=AAAAAE.,Y<"C@RCC@C<֝9 S,:YU1y:\5בIGa>k=r,bEAY}2@}2?y}2c=}2#=}2Hra̿`b2?(? ̿=O?@ &a?@K?)~2@ ~2a;I~0ɫ99)9 9I9Y}@y}%sGim r?K7A`?Mbm#?m+> m@)iIiymq= ףp?I +MbP?mK?m9m: mA)mAIm Aiiim3AS>doi3@ )K@I@i@*5MH=Y ;QU>aEEy<}>I :N5? :־ B  Q@9D1.; .;)a:W=i @W9X9 X9WA:WA2WA*WIVIbUIBUQ*UQUQUU@@BjH=B BA)>*BA7=AAAY[<"CX7 @RCCMi @CI]ԅ< m>m=U+Oo9IkGiĿ@=W; E)ݑIݑiݑݑݑݕ41I9GU>btr=r,KEAY}@}?y}g=}fj=}H >?ο`?p?Ϳ֕?"Ƶ`!??)~@ ~Ŗ_;I~Cɫ) IY-@y5qG1ɮ1=xDUSBL response received:!U1,R,DBE,000,010A6,189,80,80,A7,FF =Fpublishing direction and range info=^ ?9ɰ=>=7> 9)='CI9y=8ZC=m'4?%)?ٱ9UDNmea in: $SNTTA,,,,,020055.09*55 iaa5M5D=Y5:QU5>99a=E=EAye(=}m>Iim$N5?mվ mB }Q@9mDmw: mǺ:)iW3 @WX XW:W2W*WVbUBU*UUU`@P*Q8ZCZQJgg@K]Z@JQm'4?%)?2Q^ ?:QbQ2Kqb>/Pd@l'zF$RQg`H5?q BQQ@ Qr CQP9?P9?PQQD"QDBUg@=BQ BYA] >*BYA] =AYAAh?]<"C8 @RCC3 @C) }} *:YkS1yԊ:5)Έ;9] 8ˀ1 IA G] >x=r,HEA||Y}6@}6=?y}6=}6`ߠ=}6HNXп)? f? 1Ͽ@5?۵?@?)~6@ ~6_;I~6Cɫ99)9 9IAY@yFqGiAAuTCMuX=Y}]:QU}>yaE EyU=}>Iȑ :ŕiN5? :ŕ1վ ƕB Q@9ƕDǕ: ȕ:)ȕb:muAdded new target pos. range: 218.219986 m, bearing: 132.602508 deg, deltaT: 4.888280 s, approachRate: 0.012274 m/s, LOS rate: 0.860370 deg/s, posRepo size: 4m] ProNav: pos range: 218.219986 m, bearing: 132.602508 deg, approachRate: 0.012274 m/s, LOS rate: 0.860370 deg/s, cmd update: 2.581110 deg/s, cmd heading: 126.122055 deg, new cmd heading: 128.705094 deg. W] @WYXa XaWa:Wa2Wa*WiVibUBU*UU Gk@UU+?B_==B BA~=*BAb=AA)A-C_<"C5 @RC1C5 @C1KIGl>4~=r,EAY}2@}2=?y}2lҮ=}2G9=}2Hѿ3@fA?M?7ѿ3?ӵB?̶?)~2@ ~2^;I~2Cɫ99)9 =I9ܱ9ܱIܵ3iGiܵ@ܱܱܱܵg; ݵEYA@y:pGiYYíí+íZiíf@é ĭ@)ĭ­@Iĭ@iĭΣ@"MF=YQU>aE#Eyg=}>IN5?վ B Q@9D: ߼:)W '@W X  X WI:WQ2WQ*WQVQbUQBUY*UYUYU]`'J?B5=B BA=*BA_=AAAK_a<"C'@RCC'@CgA .:YV1y:%5Ƃ) ;IGj>=r,EAY}:b2@}:[?y}:r|=}:=}:Hcӿ`rY`j?|`?`5ҿ@ ?`@@ȿ?[?)~:b2@ ~:F^;I~:Cɫ99)9 =I9Y@yinGi!!UM]Q=Y]X?QU]>aaaeEe&Eaym=}m>Iq }:uzN5? }:uźվ uB Q@9uDu: u:)uc:W{G@WX XW:W2W*WVbUBU*UUU?B>(=B BA:=*BA1=AAAYc<"C{G@RCC{G@CIGL>8׋=r,ک1EA|i|@Y}6 @}6%?y}6x=}6>}6Hտ?#? 3Կӿ?L`?%?)~6 @ ~6 {^;I~6Cɫ9A)A IIIY`@ymGi+?)\(~jtx??G ;)Iyv?l~jtx?8?; ½A)½|AI½Ai½AAf At`e<i@ @)X@I@i@%M%>=Y-EQU->11a5E5*E1y==}=>IAEeN5?Eվ EB MQ@9EDE': E:)AWu8@WqXq XqWq:Wq2Wy*WyVybUyBU*UUU2?B3$=B BA =*BA=AAAje<"C8@RCC8@C ^+:YU1y:59@=!I1GMt>ܝ>9ܙIܝxfGiܝS@ܝ=ܙܙܝs; ݝEy=r,ƊKEAY}2 @}2ܽ?y}2H&=}2w.!>}2H`"ֿ`ߪ[?`I?nտH?]?r?a?)~2 @ ~2^;I~2CɫAA)A AIAY}@y}lGIA)iM]=YQU>!a%E%-E!y-=}->I1 =:5N5? =:50վ 5B =Q@95D5V: 5A:)5d:We@WaXa XaWa:Wa2Wi*WiVibUqBUq*UqUqUu?Bu=B B!A%%;*B!A%ǧ=A!A!A%g<"CM@RCQCU@CQ e >e>]?΅9IIGeU>i I jAi - Vaٺ- jA- NB>=r,9`eEAY}6l @}6nk?y}6qG=}6&>}6H`vؿbP@! ?x?}׿? CD8?`|?)~6l @ ~6}^;I~6Cɫ99)9 =I9Y@ykGi!!UPM]F=Y]QU]>aaaeEe0Eaymَ=}m>Iqu[N5?uվ uB }Q@9uDu: u:)qW@WX XW:W2W*WVbUBU*UUU 5@B=B BA3,*BA=AAAi<"Cm@RCqCu@Cq ):YT1y:5׹IGf>==r,:EA||Y}>n@}>?y}><ڒ=}>fw'>}>HC%ڿ? (?.ٿ :?@W\?@}?)~>n@ ~>~^;I~>CE>9ECIEcGiE@AAAEq; EEɫYY)Y ]IYY@yjGiuu!uViu@q u)u@IuE@iu&@.MG=YQU>aE3Ey=}>IȡťN5?ť@{վ ƥB Q@9ƥDǥ: ȥ:)ȡW@WX XW:W2W*WVbUBU*UUU@{\@RB*** querying acoustic contact ***PPBؽ=B BA*BA͊=AAA%ek<"C%@RC)C-@C)%FӅI G-N>*=r,+EAY}:JH@}:c@y}:ދ=}:'>}:H`4ۿi`? ?ڿ"?Ex??)~:JH@ ~: ^;I~:Cɫyy)y }IyY@yiGZ****** received transponder code query ******F****** received ping request ******  a E7Ey=}>I! %:%³N5? -:%,kվ %B -Q@9%D%: %:)%e:WU+@WQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUe` @B =B BA=e*BAY=AAAm<"C+@RCC+@C 0:YDW1yY:5?΅IGn>G%=r,AEAY}6o@}6#@y}6=}6*>}6Hdݿ`- W ?@Y?`Tqܿ?ꍰI? o~?)~6o@ ~6_;I~6Cɫyy)y yIyY@yhG@AxDUSBL response received:!U1,P DBE,000,010A6,189,80,80,A7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iV-?T㥛 ? rhh1?= C)IyX9v?+ rh??C< A)AIAi Ap A什xyi@ \@)@Iz@iz@LM$=YQU>  a E ;E yW_=}>IPN5?-[վ B %Q@9 D: :)WU@WX XW:W2W*WVQ9QIUaGiU@QQQUp; QbUBU*UUU =@BED=BA BIAM*BIAu=AqAqA}o<"CU@RCCU@C֡ y I G >5=r,-EA|i|@Y}R@}RO@y}R6d=}R(>}RH>T`?`?@B߿`̹?`B??)~R@ ~R^;I~RCɫii)i iIiY@yfGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iiiM=YQU?aE=Ey>>}?I :`N5? :Qվ B Q@9Db: M:)f:Ww@WX XW:W2W*WVbUBU*UUU`e @B<B BA*BA6=AAAp<"C w@RCCw@C -:YT1y:5)7;9mFӅAIQGmx>;7=r,TEAY}N']@}Nrx@y}NQ=}NM>}NH U@H? ?Ơȿ?`r??)~N']@ ~N^;I~Lɫyy)y yIyY6@yTfGIA)Ai0MY=YKQU>aE@Ey=}>IȉōN5?ōEվ ƍB Q@9ƍDǍn; ȍ:)ȉW@WX XW:W2W*WVbUBU*UUU e@Bu<By ByA*BARF=AAAm(r<"C@RCC%@CI ]>]=]?΅1IIGuy>."=r,\EAx9xIz^Giz@z=xxzv; zE)݅CI݅Ci݁݅=݅=݅C4Y}m$@}mi? @y}mA=}mr->}mH`po??iN¾?<? ?)~m$@ ~mɩ^;I~iɫIQ)Q QIQY3@yeGa=ɮa=xDUSBL response received:!U1,R,AFD,000,0109D,189,80,80,9C,FF Fpublishing direction and range infoO?ɰ3> )CIyYCKc?wnL?ٱDNmea in: $SNTTA,,,,,020059.94*5D i!!uV>uO uxiuכ@q u)u@Iu@iu@%M2=YQU>aEDEyw=}>Iȡ :ť$N5? :ť8վ ƥ~B Q@9ƥ$DǥA: ȥ:)ȥg:W@WX XW:W2W*WVbUBU*UUU@P*QYCZQ_W@;|h@JQKc?wnL?2QO?:QbQBjM`t;T8@RQEᅯb~TDYEX?BQLQ@ Q+QVP?9?P9?PQQ]A"QDBEL,<BI BIAMX/*BIAMU=AIAIAUos<"CU@RCyC}@Cy -:YDW1yY:%5)l;iIIQGu>DN=r,rEA|$|$Y}B;@}B @y}BM:=}B~>}BH ??.K?N?`?)~B;@ ~BV^;I~BCɫQQ)Q QIQYU@ydGi-2M-c=Y5jQU5>19a=E=GE9yE=}E>IIMNN5?M-վ M{B UQ@9M+DM: M:)Im}Added new target pos. range: 217.679993 m, bearing: 187.375284 deg, deltaT: 4.878873 s, approachRate: -0.110680 m/s, LOS rate: 11.226522 deg/s, posRepo size: 4mE ProNav: pos range: 217.679993 m, bearing: 187.375284 deg, approachRate: -0.110680 m/s, LOS rate: 11.226522 deg/s, cmd update: 12.000000 deg/s, cmd heading: 138.653088 deg, new cmd heading: 139.582621 deg. WEG@WIXI XIWI:WI2WI*WQVQbUQBUQ*UQU]5k@U]@?B洸<B BAK*BA@ =AAA~t<"CK@RCCG@C֑QIaG}Y>w=r,J4EAY}2E@}2 @y}29=}2KQ>}2HWBAjg?`?@ ?`Q!@??)~2E@ ~2h^;I~2Cɫ11)1 1I1YU`@yUdG=iimq= ףp?Mb rhm+?m i)iIiymRQ?I +~jt?m"?m9m< mA)mAImAimV AimA5^7ki@ )z@I"@iE@gP;M@=YUQU>aEJEyG=}>I :'xN5? :l վ wB Q@94DF< -<)h:W%@WX XW:W2W*WVbUBU*UUU`?BMf<BI BIAMI*BIAU]=AQAQAU&u<"C] @RCYC}%@Cԑԑ}}  /:YkS1yԊ:59@։>9I\Gic@=t; iIyG~>[=r,#NEAY}:]@}:@y}:88=}: >}:Hr @I?`?@(?+i?@?)~:]@ ~:^;I~:Cɫ99)9 =I9Y}F@y}bGiEMEU=YM1-QUM>IIaMEUMEQy] =}]>IaemN5?eվ etB mQ@9es=r,ggEA|i|@Y}6!@}6@y}632=}6 >}6H@y' _?`/AAaEEEPEAyM5=}M>I#aN5?վ qB ]Q@9DD < <)W0@WX XW:W2W*WVbUBU*UU U o?BUK<BQ BYA]ހ*BYA]:=AYAYA]x@x<"CQ+@RCC0@C|~~ L):YT1y@:o5?΅ױIG>Pm=r,}ʁEAY}2 $@}2W@y}2&=}27>}2H`sJ?`?`)P@?`Ԥ`>?J?)~2 $@ ~2 ^;I~0F>9DIF$[GiF@F=DDFz; FEɫYY)Y ]IYY@yaGI)i!!)-hAu5^>u3uCiu @q q)u@Iuz@iu@K:ME=YQU>aETEy=}>Iȡ :ť8UN5? :ťԾ ƥnB Q@9ƥLDǥ~b< ȥb<)ȥi:WU5@WQXQ XQWQ:WQ2WY*WYVYbUYBUY*UaUaUe ?B<B BA*BA=AAA[y<"C{@/@RCC5@C =>IGj>z=r,ʥEAY}2n &@}2&@y}2=}2¨>}2H`a@@SƲ?`?`ҡ? -??)~2n &@ ~2]^;I~2Cɫ99)9 9I9Y@y`Gi!!UWM]M=Y]M QU]>aaaeEeWEiym=}m>IquyHN5?u^Ծ ukB Q@9uTDu: u:)qW:@WX XW:W2W*WVbUBU*UUUq@B4<B BA*BA=AAAikz<"Cu84@RCC:@CCi=nGIUSkAiiEaٺSkAOB%FӅ ,:YU1y:5I GMR>=r,ǀEA||4}6H@`e0?@c'? /v?x? ?)~6'@ ~6b^;I~6Cɫ99)9 9I9Y}@y}_GiMV-?jt?Q?MhQ?M > M<)IIIyM$C?A`"Mb`M:?MٽM M|A)M\AIM/AiM AIMQAííK>íYiíz@é ĭQ@)ĭQ@Iĭh@iĭQ@zLMD=Y#QU>aEZEy=}>I :8N5? :Ծ bB Q@9^D: (:)j:Wk@@WX  X W :W 2W *WVbUBU*UUU*@R%B*** querying acoustic contact ***P!P!BMx<BI BIAM*BQAU=AQAQAUv{<"C]9@RCYC]k@@Caօ?΅9IIGeV>܁9܁I܅YGi܅ذ@܅=܁܁܅; ݅E\=r,[EAY}2[)@}2@y}2;=}25 >}2H.e m?`{?`a ?蚠ũ?G?)~2[)@ ~2R^;I~2CɫYY)Y ]IYY@y^GZ****** received transponder code query ******F****** received ping request ******))a5E5]E9y==}E>IIMo)N5?MԾ M[B ]Q@9MgDM~(; MI;)IWF@WX XW:W2W*WVbUBU*UUU@ @B [<B  B A#*BA=AAA%|<"C?@RCC%F@C!QQ~~ .:YT1y@:5);99I!G]v>=r,6EAY}2y+@}2ú@y}2=}2%C>}2HIJ``!??@?^@q? ?)~2y+@ ~2O^;I~0ɫYY)Y YIYY@y^GAAxDUSBL response received:!U1,P AFD,000,0109D,189,80,80,9C,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 i)AMC=YaEaE9ymǃ=}u>Iq }:ujN5? :uԾ uQB -Q@9urDu< u3<)uk:W(L@WX XW:W2W*WAVAbUABUI*UIUIUM4 @BY`<B BA8*BA=AAA}<"CYE@RCC(L@CFӅIG >u>r,@EA9IWGiB@; E|@Y}^F-@}^@y}^; =}^ >}^H@` Z?` ?1?`@??)~^F-@ ~^kB^;I~\ɫyy)y }IyYS@y]G-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B if>Ȧoi@ @)@Iۙ@i@#GMC=YvQU>aEdE y =} >IN5?Ծ JB %Q@9{D: :)WEP@WAXA XAWA:WI2WI*WIVQbUQBUQ*UQUQU]'@B<B! B!A%*B!A%8=AIAIAM~<"CUzGRCQCUP@CQ 0:Yy5);Y1IAG]v>>r,9EAY}2/@}2Կ@y}22<}2^>}2Hm0eǫ?>?C x?q??)~2/@ ~2^;I~0ɫ99)9 9I9Y} @y}]GI)i™™ͼMc=Y.QU>aEgEyʺ=}>I >r,?6EAY}V91@}V!@y}V?<}Vv>}VH 1Q(?]\?@Y?@,??)~V91@ ~V9|^;I~VCɫ) IY@y\GɮxDUSBL response received:!U1,R,C9C,000,01083,188,80,80,AF,FF Fpublishing direction and range infoA?ɰ#>> )/CIyXCp@??ٱTNmea in: $SNTTA,0.146162,,,,020104.80*49 i))}V-?L7A`?y&1|}?}+> }`)yIyy}~jt?p= ףy&1|?}?}}`; }A)}vAI}Ai}OAy}A > i@ @)Σ@I@i@MDMM&=YM2JQUM>QQaUEUkEYy]C=}]>Ia :eM5? :e̥Ծ efb,@RQQ D* ɣ?BQR@ QQUP=9?P?9?PQQDA"Q]ABm 7<Bi BqAu"¾*BqAu =AqAqAuy<"C}K<RCCJ\@C -:YU1y:\59@->9)I-VGi-@)))-; -E)ݹIݹiݹݹݹݽw4FӅשIG>>r,PEA||;Y}63@}6>#@y}6<}6=}6H`@{w?U?@ ? %? ?)~63@ ~6hw^;I~6Cɫ99)9 9I9Yò@y[Giii鍽Mh=Y7QU>aEmEy=}>IM5?Ծ 7B Q@9D߼: ʽ:)myAdded new target pos. range: 216.119995 m, bearing: 188.053645 deg, deltaT: 4.856175 s, approachRate: -0.321240 m/s, LOS rate: 0.139690 deg/s, posRepo size: 4m ProNav: pos range: 216.119995 m, bearing: 188.053645 deg, approachRate: -0.321240 m/s, LOS rate: 0.139690 deg/s, cmd update: 0.419071 deg/s, cmd heading: 197.216318 deg, new cmd heading: 201.352694 deg. W@t\@WX XW:W2W*WVbUBU*UUk@Uf?BT;B BAξ*BA: =AAA<"C*8RCC@t\@CIGj>!>r,x~jEAY}:5@}:E%@y}:W<}:=}:H@* Ԥ?Ϳ?@?`䴚!? 2?)~:5@ ~:Cb^;I~:CɫAA)A MIIY3@y>[Ge=ie=iiq)}= }= 0=`exiiz@  @)@I3@i@z-M=D=YEOQUE>AAaMEMqEIyU$=}U>IY e:]M5? e:]ݒԾ ]2B eQ@9]D]^: ]k:)]m:W\@WX XW:W2W*WVbUBU*UUU@o?B;B) B)A-׾*B)A5_j =A1A1A5n<"C=5RC9C=\@CAqq -:YW1yč:\5YQIaG}z>! 9! I% TGi% @! ! ! % ; % E !>r,-ZEAY}2kr7@}2'@y}2<}2ߣ=}2HX߿ ?? y^N?\ؙ ?t?)~2kr7@ ~2"t^;I~2CɫYY)Y ]IYY@yZGi5M=Z=Y=QU=>AAaEEEtEAyM =}M>IȩŭM5?ŭԾ ƭ-B Q@9ƭDǭ: ȭY:)ȩWj\@WX XW:W2W*WVbUBU*UUUB?B0;B B!A%޾*B!A% =A!A!A%#<"C-H4RC1C5j\@C1ցI׍fA)׉YIiGZ>3'>r,4EA|i|@Y}6P9@}6 l)@y}6;<}6=}6H (#V޿^H?t[?;`?@؜`G? H?)~6P9@ ~6d^;I~6CɫQQ)Q UIQYv@yVZGi5NM=J=Y=[QU=>AAaEEEwEAyM=}M>IQ ]:ULM5? ]:UԾ U)B eQ@9UDU: UM:)Un:W|]@WX XW:W2W*WVbUBU*UUU‹?BEh?+;BA BAAEv*BIAM=AIAiAmҽ<"Cu4*CuDRCyC}|]@Cy֡=b === =;:Y=DW1y=Y:=\5aIG>]->r,EAY}: j;@}:S+@y}:u<}:?u=}:Hl@ܿw? ~?uཐ?Z?k?)~: j;@ ~:#^;I~:Cɫ99)9 =I9Y}@y}YGI)i(\?lMb?.? <)IyT㥛 ?1Zd:v?!?"۽< )AI/AiApAhA%=%3 %Ӿi%@! %@)%z@I%@i%@=ӼM=;=Y=QU=>AAaEEE{EIyU=}U>IY]SM5?]wԾ ](B eQ@9]D]: ]D:)YW7]@WX X W :W 2W *WVbUBU*UUU ?Be|(;B BA?*BA=AAAic<"C4RCC7]@C >9ITSGiī@=; E?΅ױIG>E4>r,EAY}2Ԗ=@}2-@y}2<}2=}2H@ `eڿ@-??` ι?@{v?@?)~2Ԗ=@ ~2eu^;I~2CɫYY)Y eIaY8@yXGi=M=\=YEBQUE>AAaEEM~EIyMF=}U>Iȩ :ŭWM5? :ŭoԾ Ʃ Q@9ƭDǭ: ȭ]:)ȭo:We]@WX XW:W2W*WVbUBU*UUU@B@B! B!A%]*B!A%=A!A)A- <"C54*C52RC1C5e]@C9azz 3:YQ1y:]5)s;9YIaG}Y>inGI jAi! U ]ٺU jAU ;KBt:>r,EA||4;?@}>/@y}><}>%=}>H` @ؿ,֐? ?Y;7? ι??)~>;?@ ~>\^;I~>Cɫ髹) IYG@yXGimaEEy$=}>IȑŕtM5?ŕ1hԾ Ƒ Q@9ƕDǕY: ȕ:)ȑWϖ]@WX X W :W 2W *W V bUBU*UUU u@R%B*** querying acoustic contact ***P!P!BpB BAp*BA=AAA`<"C4*CRCCϖ]@CֵFӅבIGa>ܽ >9ܹ Iܽ (RGiܽ Ъ@ܽ =ܹ ܹ ܽ Z; ݽ E^WA>r,0EAY}>vA@}>(1@y}><}>۪=}>Hֿ@ʎ? ?@@E7?6՘ƺ??)~>vA@ ~>x^;I~<ɫ99)9 =I9Y@ysXGZ****** received transponder code query ******F****** received ping request ******-EM-P=Y5QU5>99a=E=EAyE=}M>IQUaM5?U`Ծ Q eQ@9UDUt: U ;)QW:]@WX XW:W2W*WVbUBU*UUU4 @B@W^B BA*BAaV=AAAm<"C|Z4*CRCC:]@C?΅ׁIG=> /:YU1y:5)ތ;ɁG>r,|EAY}: 2C@}:TM3@y}:[<}:=}:H( `տ>?/V? kl? l?c?)~: 2C@ ~:w^;I~8ɫ99)9 9I9Y}C@y}WGxDUSBL response received:!U1,P C9C,000,01083,188,80,80,AF,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iJMB=Y.9QU>aEEy=}>I %:MM5? -:_YԾ  =Q@9Dū; [;)p:W ]@W X  X W:W2W*W!V!bUIBUQ*UaUU @Be$BA BAAMR*BQA}6=AyAAB<"C$4*CRCC]@C֩ ׁ I G >mM>r, ^9EA|i|@Y}6XD@}65@y}6<}6X=}6H`^qyӿ'??f@@j?@z[? ~?)~6XD@ ~6x?^;I~6Cɫ99)9 =I9YuR@y}WGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iYYJ +?MbX9'1Z?H?ʡ ">)Iy/$?T㥛 Mbp? A) AIAiA=LԼi̔@ @)@I@iQ@>;M9=Yb:QU>aEEy =} >I9M5?KSԾ "B Q@9D/: :)W]M-^@WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqUu@Bw̻B BA*BA3Q<A A A <"Ch3*CRCCM-^@Ci9iImPGimܩ@m=iim:; mE}}t '0:YkS1yԊ:5)k;FӅIG>“T>r,2SEAY}NF@}N7@y}Nh<}NM=}NHӼѿus?/?@k`w?4? ?)~NF@ ~N.P^;I~NCɫyy)y yIyY@yaWGIA)Ai-¾M-j=Y5 :QU5>99a=E=E9yE7=}E?II U:Mu(M5? U:MNԾ MB ]Q@9MDMZ: M:)Mq:W}@V^@WyXy XyWy:W2W*WVbUBU*UUUiq@BB BA*BAy<AAAȇ<"Cu3*CRCC@V^@C =?΅סIGB>^Z>r,5mEAY}=I@}= #9@y}=&<}=<=}=HϿ ,@?-޺?;Ӛ5??)~=I@ ~=!^;I~=Cɫ) IYe@yeVGmp=ɮmp=mxDUSBL response received:!U1,R,225,000,01061,189,80,80,A6,FF mFpublishing direction and range infomKiɰm>m7> i)m&CIiymVCmL|e?zݿٱiDNmea in: $SNTTA,,,,,020109.63*51 iD;hѾ1iד@ ߏ@)&@I@i@<ּM==Y:QU>aEE y =} >InM5?IԾ B %Q@9D/: :)WE^@WAXA XAWA:WI2WI*WIVIbUIBUQ*UQUQUU+@Pa*QeVCZQe 0vGg@W1xݫXJQeL|e?zݿ2QeK:QabQe_44c"\a@JHdp.RQeBv=<4?*V*BQeА@ Qe CQePeĨ9?Pe=9?PeQeQe"QeDAB6B BA*BAq<AAA1<"C3*CRCC^@C 0:YX1y/:59@MFӅ IG-p>Q 9Q IU OGiU @Q Q U DU N; U E)Ii኉==ET4¥a>r,EA||;Y}6J@}6;@y}6<}6=}6H`9˿p@?`@?ݔ'??)~6J@ ~68_;I~6Cɫ99)9 9I9Y}@y}VGiM[=Y;QU>!!a%E%E)y-=}->I1 =:5M5? =:5EԾ 5B EQ@95D5: 5:)5r:muAdded new target pos. range: 214.080002 m, bearing: 138.374387 deg, deltaT: 4.794891 s, approachRate: -0.425451 m/s, LOS rate: -10.360874 deg/s, posRepo size: 4m ProNav: pos range: 214.080002 m, bearing: 138.374387 deg, approachRate: -0.425451 m/s, LOS rate: -10.360874 deg/s, cmd update: -12.000000 deg/s, cmd heading: 199.227386 deg, new cmd heading: 199.383748 deg. WY@WX XW:W2W*WVbUBU*UU`j@U@ ?B B BA*BA:<AAA떉<"C>4RCCY@C?΅IG k>g>r,ĠEAY}:,L@}:v<@y}:m<}:=}:Hhȿ@ yF?=R?s6 ?Q?)~:,L@ ~: _;I~:Cɫ99)9 9I9Y}@y}UG=i=i  UrM]F=Y]5;QU]>aaaeEeEaym0=}m>IquL5?uAԾ u B }Q@9uDu : u׾:)qWxT@WX XW:W2W*WVbUBU*UUU@?B+B BAP*BA<AAA<"C*7RCCxT@C  )5AIi555 51:Y5T1y5:55Gc>m>r,0EAY}2p[N@}2v>@y}2~<}2W=}2H h\ſZ 5?c }?` ?@?)~2p[N@ ~2þ^;I~2Cɫ99)9 =I9Y}@y}UGiu"~j?V-~jt?uSC?u u=)qIqyuM?sh|?Mb`un?uu u&A)u AIqiuAquA=>=k>=>i= @9 =)=Ȏ@I=ߏ@i=Ȏ@M;MM<=YU8;QUU>YYa]E]EYyem=}e>Ii u:mwL5? u:m:=Ծ utI mB }R@9mDmj; m:)ms:WE,N@WX XW:W2W*WVbUBU*UUU@?B B BA*BA|<AAA<"CMN;RCCE,N@C 9 I OGi F@    ; EFӅ׹IGf>5t>r,EA|i|@Y}JP@}J#9@@y}J}<}Jպ=}JHD ?@P1b?jɊ?{?)~JP@ ~J^;I~JCɫ髉) IY@yUGi99uMuY=Y}e;QU}>yya}EEy=}>IȑŕL5?ŕ9Ծ ƕB R@9ƕ DǕ: ȕ:)ȑW]"I@WX XW:W2W*WVbUBU*UUU?B}>By ByA}*ByA5$<AAA<"Cg@RCC]"I@Cֹ }} 5:YkS1yԊ:5ױIG{>r,jEAY}fR@}f0B@y}fs<}fr@=}fH;j? ?Z;? 5?)~fR@ ~f^;I~fCɫ髑) IY *@y  UGImA)iiqq}gAy>t3ti̔@ @)@I@i3@MD=Y ;QU>aEEy=}>I,L5?v6Ծ B R@9D8: ʽ:)W%цC@W!X) X)W):W)2W)*W1V1bU1BU1*U1U9U=@BMB BA*BArT<AAAڍ<"C FRCICцC@C )->?΅IGm> 9 I @NGi @    ;;  E>r,D1EAY}2>T@}2dYD@y}2O=}2]=}2H~ FҲ?@V˹?ʞ`=??)~2>T@ ~2^;I~2Cɫ99)9 =I9Y}լ@y}TGi7MX=YlZ;QU>!!a%E%E)y-=}->Iȉ :ōL5? :ō3Ծ ƍB R@9ƍDǍ: ȍ:)ȍt:WO>@WX XW:W2W*WVbUBU*UUU8@B"kB$L< BA*BA֑<AAA - <"CG@RC4ڽCO>@CMgHIG--> 0:YDW1yY:K5);9>r,( "EA||4;QU=>AAaEEEEIyM~=}M>Iy}xL5?}[1Ծ }B R@9}"D}s; }%;)yW5#8@W1X9 X9WA:WI2Wq*WyVybUBU*UUU@RB*** querying acoustic contact ***P)P)B- ZB1 B9A= *BaAm<AiAqAuew<"C@@RCH:C#8@CԡԥhAu;OIIYGu>3H>r,6;EAY}:VX@}:GrH@y}: =}:P=}:Hؼ頿m?`3?P@?|?)~:VX@ ~:e^;I~:Cɫ99)9 9IAYe@yeSGuZ****** received transponder code query ******uF****** received ping request ******u!!a%E%E)y-=}->I1 =:5wL5? =:5.Ծ 5B ER@95+D5: 5 :)5u:We2@WaXi XiWi:Wi2Wi*WqVqbUqBUq*UqUyU}* @ܱ9ܱIܵMGiܵ@ܵ=ܱܵDܵ; ݵėEBB BA*BAR<AAA(͑<"C~;@RC=C2@C .:YU1y:5).;МIױIG>1>r,PUEAY}:%*Z@}:pEJ@y}:W =}:=}:H` Ҏ?@憢VS?+?`g?)~:%*Z@ ~: w^;I~8ɫ99)9 9I9Yu@y}SGyyxDUSBL response received:!U1,P 225,000,01061,189,80,80,A6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i Mu=Y 7r:QU?!!a-EEy=}>IyfL5?F-Ծ B R@91D; ;)W̚-@WX XW:WI2WI*WIVQbUYBUY*UUU@Q` @BbWB BA *BA <A A A 4<"CC5@RC<9>C̚-@C5`=< r5I! GU >sZ>r,oEA|i|@Y}6\@}6hL@y}6=}6ʼ=}6H?]7v@&?1ߡ? ??)~6\@ ~6)v^;I~6Cɫ99)9 =I9Y]@y]sRGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i99   Í>ÍsÍjiÍ=@Í čߏ@)č@Ič@ič@M@=Yr{:QU>aEEy=}>Iȹ :ŽSL5? :Ž+Ծ ƽB R@9ƽ9Dǽw: Ƚb:)Ƚv:WM(@WX XW:W2W*WVbUBU*UUU@B1䱼B BA$*BAK<AAA<"CU1@RC  >C M(@C ]< ==~~ .:YT1y@:59@IGj>ܩ 9ܩ Iܭ KGiܭ @ܭ =ܩ ܭ Dܭ ; ݭ ϗE B>r,}xEAY}:H]@}:M@y}:#=}:=}:H? g ٲfڴ?á`z??)~:H]@ ~:|^;I~:Cɫ99)9 =I9Y}@y} RGI)Ai™gAM\=YQU>aEEy=}>IAL5?*Ծ B R@9?DS: :)Wm^#@WiXq XW:W2W*WVbUBU*UUUK@B%B! B!A%'*B!A-<A)AIAM<"C]+@RCYC]^#@Caωω)Љ Љ벫IG% >n>r,J_EAɫ) IYMȩ@yMPG]a=ɮ]a=exDUSBL response received:!U1,R,F86,000,01039,187,80,80,A9,FF uFpublishing direction and range infoe^ =aɰe>e1> a)e)CIayeSCe7hΝ?O4?ٱaDNmea in: $SNTTA,,,,,020114.48*54 i5,M53=YEQUM>QYaeEeEqy}>Iș :ŝ+L5? :ŝ)Ծ ƝB MR@9ƝHDǝ< ȝ <)ȝw:Wz@WX XW:W2W*W!V)bU1BU1*UaUaUm@h@  4:YT1y:5P*QSCZQBgOj@]@u~6@JQ7hΝ?O4?2Q^ =:QbQ2?jAb0FC RQNlMt(ɋFOǿ 8և&BQ9T@ Q1QPP=9?PĨ9?PQQ̽"QBekBa BaAe-/*BiAmu<AiAiAm×<"C#%@RCCz@CUHo)I9GU>A>r,.EA||;Y}2a`@}2P@y}2_ =}2@/=}2HZf?&@,WjT?L~`7}??)~2a`@ ~2:^;I~2CɫQQ)Q UIQY\@yQGid;O?~jt?x&?< 7)Iy@5^I ?#~jI +b?㥽94 • A)• AI•=Ai•AQA]C >]Ƚ]C i] @Y ])]@I]@i]V@m3=MuG=YuQUu>yya}E}Eyy=}>IȉōqL5?ōj)Ծ ƍB R@9ƍODǍ/: ȍ8:)ȉm}Added new target pos. range: 211.679977 m, bearing: 190.495957 deg, deltaT: 4.929059 s, approachRate: -0.486913 m/s, LOS rate: 10.574345 deg/s, posRepo size: 4m ProNav: pos range: 211.679977 m, bearing: 190.495957 deg, approachRate: -0.486913 m/s, LOS rate: 10.574345 deg/s, cmd update: 12.000000 deg/s, cmd heading: 140.492425 deg, new cmd heading: 136.049797 deg. W!@WX XW:W2W*WVbUBU*UU`uj@Uߡ?BPJB BA**BA%M<A!A!A%+<"C-/!@RC)C-!@C1AEgAU>9QIUJGiUȤ@QQQU; UЗE)Ii჉ჩI4M[R:9IIGeV>~>r, EAY}2\a@}2:Q@y}2 =}2U=}2H׸޿?`kG $?`cò?`^?)~2\a@ ~2S,^;I~0ɫ99)9 9I9Y}U@y}UPG=i=i)= >Mc=YQU>!!a%E%E!y-<}->IșŝL5?ŝA)Ծ ƝڿB R@9ƝVDǝ: ȝ:)șW&@WX XW:W2W*WVbUBU*UUU?B B  B A 2*BA<AAA哚<"C@RCC&@C! D4=IG%> }} H:YkS1yԊ:5N>r,EAY}27Ga@}2bQ@y}2&=}2YX=}2H ö@Q?@*.$'?S2@??)~27Ga@ ~2];I~2Cɫ99)9 =I9Y}F@y}CPGi5 =55>i5̌@1 5@)5Ȏ@I1i5t@uoMuD=Y}QU}>yaEEy;}>I :wK5? :)Ծ ӿB R@9]D: :)x:WE5,@WAXA XAWA:WA2WI*WIVIbUIBUQ*UQUQUU8?B}\ϼB BA:3*BAE<AAA#<"C @RCC5,@Cm=)I1GM1>U >9Q IU IGiU ԣ@U =Q Q U ; U җEI>r, EA|i|@Y}6f.a@}6IQ@y}6Y<}6N@=}6H@@P7? [¡Rf(?@??)~6f.a@ ~6];I~6Cɫ99)9 9I9Y@yvOGi99u8NMuJ=Y}ڻQU}>yaEłEyu}>IȑŕK5?ŕ(Ծ ƕͿB R@9ƕeDǕǺ: ȕY:)ȑWT1@WX XW:W2W*WVbUBU*UUU@8?BsB BAo8*BA<AA A ȝ<"C@*CkRCCT1@C ե >ԥ>֥õ=~ c2:YU1y:˴5)Y;9yIG^>̻>r,$EAY}:a@}:,4Q@y}:3<}:2 =}:H?1c; +ώ?E`#? ?)~:a@ ~:[];I~:Cɫ9A)A IIIY@yOGIA)EAiR;M@=Y%QUM>YaaEȂEyA}>I =:;K5? m:(Ծ ƿB uR@9mD'< )<)y:WE8=8@WAXA XIWI:WI2WI*WIVQbUQBUQ*UQUQU]@H@BjļB BA7*BA<AAA?<"C z@RCC8=8@C=IG>{>r,v>EAY}6a@}6]Q@y}6<}6j{<}6H@O?Ě }܉?Z.? ?)~6a@ ~6];I~6CɫYY)Y YIYY@yNGi?Q+@? )IyʡE?sh|? rh??C = ½A)½?AI¹i¹A > Bi@ @)I@i@-,vM-I=Y-ZQU5>11a5E5˂E9y=U}E>IAERK5?E(Ծ EʿB UR@9EtDE<: E:)AWu<@WqXy XyWy:Wy2Wy*WyVbUBU*UUUK@B{B BA>*BA\Ȫ<AAAǔ<"C{ @RCC<@C֭->ܱ9ܱIܵdHGiܵ@ܱܱܱܵ%; ݵ֗EסI  K6:Y0Y1y:95);GF>Y>r,QXEA|4<|Y}6`@}6P@y}6<}6B}6H@` ?@7J؃SA@b|?)~6`@ ~6];I~6CɫQQ)Q QIQY@yaE΂EyRP}>I :K5? :s(Ծ ͿB R@9{D: H:)z:W uA@W X  X W :W2W*WVbUBU*UUU% @R-B*** querying acoustic contact ***P)P)BMBBI BQAUk@*BQAU_<AQAYA]^<"Ce#@RCaCeuA@CaqqUB>)I1GM>i]mGISkAiaٺSkAkOBK>r,4rEAY}6:`@}6CVP@y}6 <}6-U}6HP`6?>ģ ?)~6:`@ ~6];I~4ɫ19)9 =I9Yu8@y}MG}Z****** received transponder code query ******F****** received ping request ****** A\>hNi\@ @)t@It@it@߼M0=Y`QU>aE҂EyS}>IȩŭIK5?ŭ((Ծ ƭӿB R@9ƭDǭ+: ȭ:)ȩW&G@WX XW:W2W*WVbUBU*UUUS @BkB BAC*BA<AAAh<"C%)@RC)C-&G@C)%C|w>IGL> d0:YT1y:59@ܭ >9ܩ Iܭ HGiܭ @ܩ ܩ ܩ ܭ E; ݭ EM>r,EAY}2&_@}2qO@y}2t<}2蘊}2Hp?G_)W/ޓN?)~2&_@ ~2c(^;I~2Cɫ99)9 =I9Y]@y]4LGae@AexDUSBL response received:!U1,P F86,000,01039,187,80,80,A9,FF mCommand AckmBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iMk=YQU> aEՂEyy}>I  :RwK5? 5:'Ծ ٿB =R@9D < P <){:W}^M@WyX XW:W2W*WVbUBU*UUU` @Be Ba BiAmM*BiAms<AiAiAm<"Cu/@RCqC}^M@Cy֕>QIYG}>h>r,EA|i|@Y}6^@}6N@y}6<}6Wҽ}6H`&wҶ?~ 7 `I@?)~6^@ ~6 ^;I~6Cɫii)i uIqY@y'LGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i '1Z?~jt?{Gz?B?< #=)IyMb?V-y&1|?#?`; nA)AIhAiAA E@ E@ E@E©EEiE3@E E @)EIEߏ@iE?@U+MU=YU QU]>YYa]E]قEaym}m>Iqu\K5?u4&Ծ uۿB }R@9uDu;: uf:)qWCvS@WX XW:W2W*WVbUBU*UUU` @ ~~b V5:YT1y@:ˮ5BB BAM*BAϔ<AAA<"C5@RCX>CCvS@C >> I G >2>r,ƾEAY}2O]@}2=kM@y}2͋d<}2F }2H:@*?)$ri`K ܮ< ^?)~2O]@ ~2];I~2Cɫ99)9 =IAY@yJGI)i ؽM=Y=QU?aEۂEy0}?I.MK5? %Ծ ݿB  R@9Dw:  :)W-]W@W)X) X1W1:W12W1*W9V9bU9BU9*U9UAUEJ@Bu ]By ByA}U*BA/<AAAħ<"C f9@RC>R>C]W@C֭S>]>9YI]8GGi]@YY]D]; ]ЗE׉IG> >r,@EAY}~ʖ[@}~K@y}~7D<}~V&}~Hyǥ?X:u@Ŀ Ŀ?)~~ʖ[@ ~~8^;I~|ɫ) IYMʤ@yMJGUp=ɮQUxDUSBL response received:!U1,R,FA4,000,0100B,186,80,80,9C,FF ]Fpublishing direction and range infoUl=QɰU9>U> Q)UCIQyUPCU:X|ќ?zꇴ?ٱQmDNmea in: $SNTTA,,,,,020119.32*54 iyy>M?=YKQU>aE߂Ey@}>Iȩ :ŭ6K5? :ŭ"Ծ ƭB R@9ƭDǭ : ȭ:)ȭ|:W&]@WX XW:W2W*WVbUBU*UUU@P*QPCZQ0j@d R0@JQ:X|ќ?zꇴ?2Ql=:QbQv,i#&9pmRQM= *`0=Y߉BQP@ QQWOP89?P=9?PQQPt"Q̽B=H"B9 B9A=W*B9AE{D<AAAAAE9<"CM%?@RCMYg=CM&]@CQ%)c>I G%,>m  <:YU1y:5D>r,uEA|;|4UƋU=iU@U U@)U?@IUV@iQeռMmM=YmiʻQUm>qaEEy}>IK5?{ Ծ B R@9Dӻ: ߼:)m-}Added new target pos. range: 208.919983 m, bearing: 186.898537 deg, deltaT: 4.752624 s, approachRate: -0.580731 m/s, LOS rate: -0.756933 deg/s, posRepo size: 4m= ProNav: pos range: 208.919983 m, bearing: 186.898537 deg, approachRate: -0.580731 m/s, LOS rate: -0.756933 deg/s, cmd update: -2.270800 deg/s, cmd heading: 197.930439 deg, new cmd heading: 202.874307 deg. W= \@W9XA XAWA:WA2WA*WIVIbUIBUI*UQUUpj@UUv?B}܅-By BAY*BA <AAA<"CeD@RCqqC \@CԡԥhA X>יIGb>Q 9Q IU pFGiU J@U =Q Q U "; U חE)1I1i15=5=5d4,?r,P EAY}2tW@}2hG@y}2A;}2 EK}2H`F/@!`u?,]7ɿ@${=ɿ^?)~2tW@ ~2Q^;I~2Cɫ99)9 9I9Y/@yIG=ii!!I%R=)%4=U M]K=Y]6QU]>aaaeEeEaymR}m>Iq }:u5 K5? }:uԾ uB R@9uDu: uo:)u}:W[@WX XW:W2W*WVbUBU*UUUv?B^;B BA[*BA<AAA,<"CMHRCֵC[@CMJ>IG--> g 3:Yyޯ5);9XZ ?r,:'EAY}NU@}NE@y}NBi;}N5X}NH袩l ț??=ʿ=(mgʿ`J?)~NU@ ~N ^;I~NCɫ髙) IY@yRIGi=Cl?Mb?)\(=;?== =Ga)9I9y=sh|??~jty&1?=)?==`e= =A)=M.AI==Ai=A9=AÕV>Õ?Õ PiÕ@Ñ ĕ@)ĕIĕ\@iĕ @iM*=YۻQU>aEEy's}>IeJ5?Ծ B R@9D: f:)WY@WX XW:W2W*WVbUBU*UUUr?B` %B BA\`*BAq<AAA}`<"C#ARCpCY@CS>שIG>k>?r,AEA|i|@Y}6v%T@}6@D@y}6:}6O-a}6H P^7? Z$]˿@U˿:?)~6v%T@ ~6"^;I~6CɫYY)Y YIYY}}@y}%IGigM=YQU ?!!a%E%E)y-o}- ?I1 =:5J5? =:5Ծ 5B ER@95D5: 5V:)5~:WX@WX XW:W2W*WVbUBU*UUU?B]]Ba BaAea*BaAeh<AaAaAm6<"Cu#>RCu CuX@Cq>9IEGi@=; їEօ=aIqt /:Yy5)6;GD>h?r,ZEAY}2R@}2B@y}2 9}2"-a}2HD@= a `Iݸ?``˿$r<˿`:?)~2R@ ~2y^;I~0ɫII)I MIIY}@y}HGI)i MMJ=YQU>!!a%E%E)y-m`}->I155J5?5Ծ 5B ER@95D5: 5:)1WeX@WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqU}@BROB BAd*BAKb]<AA)A5(֯<"C5b6;RC9C=X@C9 r=IG%>?r,MtEAY}26|Q@}2A@y}2W:}2Z}2HB1` н?*cʿuJ(˿wE?)~26|Q@ ~2o];I~2Cɫ99)9 =I9YĢ@yAHGi9AÍ@>ÍnÍI>iÍ@É čߏ@)č?@Ič @ič?@UMB=YAp:QU>aEEy<}>IȹŽJ5?ŽGԾ ƽB R@9ƽDǽ: ȽD:)ȹWOV@WX XW:W2W*WVbUBU*UUU@a@BCB BAMg*BAqP<AAA:<"C9RCCOV@Ch%<סI Z 6:YV1y:59@GD> >9 I DEGi V@ = ,; ޗEz#?r,EA|4<|;Y}BP@}BJ@@y}Bͼ:}BVS}BH,8Hڜ?&@@ɿX:ʿ%R?)~BP@ ~B];I~BCɫYY)Y ]IYY,@yHGi! =MZ=Y:QU>aEEy}M>IQ ]:UZJ5? ]:UԾ U*B eR@9UDU8: U:)U:WU@WX XW:W2W*WVbUBU*UUUy@RB*** querying acoustic contact ***PPB|TB BAd*BATE<AA A <"C]Y9*CRCCU@C!-?弹I G-,> i- mGIA ia MSٺ =BB')?r,EAY}}U/P@}}J@@y}}S6;}}/I}}H +1@$ f|?@ȿ`Hf` ɿ`a?)~}U/P@ ~}];I~}Cɫ髑) IY >@yHGZ****** received transponder code query ******F****** received ping request ******aEE!y%?}%>I) U:-J5? ]:-Ծ -8B ]R@9-D-*; -;)-:WqT@WX XW:W2W*WVbUBU*UUUd @B.B BA|c*B!A%5<A!A!A%v(<"C-o;RCICUqT@CQօ {0Y Ii G >0?r,bMEAY}6,RP@}6wm@@y}6-;}65}6H|8W7?`7G>ƿ q%ƿ#?)~6,RP@ ~6];I~6CɫII)I MIIY}@y}HGAAxDUSBL response received:!U1,P FA4,000,0100B,186,80,80,9C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iM =Y9;QU%!?19a=EEEQye;}m?IȁŅpJ5?ŅԾ ƅ@B uR@9ƅDDž< ȅ><)ȁܩ9ܭCIܩiܩܭ=ܩܩܭ ; ݭٗEWS@WX XW:W2W*WVbUBU*UUU @B'fB BAe*BAPA+<AAAҐ<"C=RCCS@CEIG>6?r,U.EA|i|@Y}6P@}6@@y}6 ;}6J}6H濿@? PcO¿&y@#ÿ?)~6P@ ~6];I~4ɫqy)y yIyYM@yHGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iYY <M@=Y;QU>aEEy<}>Iȱŵ[[J5?ŵ Ծ ƵJB R@9ƵDǵ: ȵ:)ȱW=R@WX XW:W2W*WVbUBU*UUUC'@B%@pB%#= B!A-c*B)A-!<A)A)A5<"C5b5?RC9C==R@C9EVwYIiG8>~~j 2/:YT1y@:5v=i3@ Ȏ@)?@IV@iV@MT=Yۣ;QU>a%E%E!y-L<}->I1 =:5"GJ5? =:5m Ծ 5SB ER@95D5q ; 5;)5:WmQ@WiXq X W:W2W*WVbUBU*U!U!U%J@B WB BAVe*BA]<AAAl<"CD@RCCQ@CgA#ׁIG=>ܕ >9ܑ Iܕ DGiܕ @ܑ ܕ ODܑ ܕ ; ݕ ЗEC?r,5EAY}v@R@}v[B@y}v-/<}vI}vHge”º?/ E6JB?)~v@R@ ~vg_;I~vCɫ) IY5@y5HG=a=ɮ=p=ExDUSBL response received:!U1,R,EA1,000,00FDA,186,80,80,99,FF EFpublishing direction and range info= Ԝ>9ɰ=7>9 9)=CI9y=MC=K%R?FeL?ٱ9mTNmea in: $SNTTA,0.139352,,,,020124.17*4C i-;MA=Y];QU>aEEyB<}>I0J5?9Ծ ]B R@9 Di< <)WP@WX XW:W2W*WVbUBU*UUUJ@P*QMCZQ^>h@bS.O@JQK%R?FeL?2Q Ԝ>:QbQ0i6ie}D [v[RQG''VᅩwɿvNxl|BQU@ Q#QIP>9?P89?PQQ/"QPtB%PB BAd*BAՙ<AAAg<"ChARCCP@C ^ 4:YWU1y:5)5;9B9בIGa>xI?r,q)EA|R;|PY}4S@}PC@y}ľ^<}f}H`6E ?`"@׋̬E?)~4S@ ~Ό_;I~Cɫ髩) IY7@yHGi19x&1?uuף;iu@q u@)uIu @iu@V;M/=Y;QU>aE Ey=}>Iȡ :ťJ5? :ťԾ ƥ[B R@9ƥDǥ: ȥ:)ȥ:myAdded new target pos. range: 205.979996 m, bearing: 191.485036 deg, deltaT: 4.882504 s, approachRate: -0.602147 m/s, LOS rate: 0.939374 deg/s, posRepo size: 4m ProNav: pos range: 205.979996 m, bearing: 191.485036 deg, approachRate: -0.602147 m/s, LOS rate: 0.939374 deg/s, cmd update: 2.818123 deg/s, cmd heading: 186.851118 deg, new cmd heading: 185.858477 deg. W;R@WX XW:W2W*WVbUBU*UU \i@U?B-YB1 B1A5c*B1A5R;A9AA><"C@*CZdRCEㄾC;R@Cm< > >єvס I G >P?r,CEAY}>IT@}>`dD@y}>,F<}>y}>HE: ?T8@Ȑ~B?)~>IT@ ~>_;I~>CɫQQ)Q UIYY3@yHG5=i5=i99IE=)Au*Mus=YuS9qIuDGiub@u=uPDqu; uE)ՂCIՂCiттՂ=Ղ!53=EיI@ ~~j 8:YT1y@:5);GD>W?r,ip]EAY}:U@}:ӬE@y}:Ҿ<}:S<}:H` B*?`YG?`7`8I??)~:U@ ~:_;I~8ɫ99)9 9I9Y}g@y} IGiEa<MEN=YM;QUM>IIaUEUEQy]jN=}]>IaeI5?eAԾ eVB mR@9e#De: e:)aWfT@WX XW:W2W*WVbUBU*UUU@>?BdB BA6b*BA L;AAA<"C=RC CfT@C%ȿ=5}IAG>V0]?r,aQwEA| i| Y}F7W@}F1SG@y}F <}FO=}FHXޜț?/F? ??)~F7W@ ~F1_;I~FCɫQY)Y ]IYY֢@yXHGi M@ M@ M@M©MMiM(@M M)M@IM@iMt@-ME=Y;QU>aEEy ~=}>Iȹ :ŽTI5? :ŽԾ ƽSB R@9ƽ,DǽI: Ƚ:)Ƚ:WCU@WX XW:W2W*WVbUBU*UUU@H?B%fB) B)A5f*B1A5@;A1A1A5k<"C=N=RC=샾CECU@CAII)Q Qx &2:Yy59@Ƃy 9} CI} BGi} n@} =} OD} D} ; } ǗEס I G >d?r,J&EAY}2DY@}2 `I@y}2<}2}=}2HMj?Kt`F?`@%M??)~2DY@ ~2_;I~2CɫQY)Y ]IYY@yjHGIA)i   ];M]O=Y];QU]>aaaeEeEiym9=}m>IquI5?uԾ uOB R@9u5Du: u:)qWV@WX XW:W2W1*W1V1bU1BU1*U9U9U=`?BG@gB BACf*BAҜ;AAA6<"C+;RC)CV@C1惾סIGB>Dj?r,EAY}][@}]ϺK@y}];<}]Yw=}]H`J`x ?UT aEEy==}=>IA M:EޣI5? M:EӾ ENB MR@9E?DE: E+:)E:W)X@WX XG d |9:YT1y:95W:W2W*WVbUBU *U U U  @B}VUBy ByA}c*ByA}T;AAA$<"C9RCS{C)X@C֥Qׁ I G >(q?r,EA||Y}>_]@}>N@y}><}>%=}>H@v??$@ `T?eX4? ?)~>_]@ ~>BZ_;I~>CɫYY)Y ]IYYk@yGGiM=Y;QU?aEEy>}?IQUgI5?U+Ӿ UMB eR@9UFDUn: UY:)QW*{Y@WX XW:W2W*WVbUBU*UUU;@RB*** querying acoustic contact ***PPBB?J= BAj*BAa^;AAAA<"C8RCgC*{Y@C  >=>9CIAGiz@=; ŗEסIG >3Sw?r,(EAY}J`@}J+P@y}J2<}Jd>}JH-)?^Z@1?+坿?@!?)~J`@ ~J%_;I~JCɫyy)y }IyY@yHGZ****** received transponder code query ******F****** received ping request ******!!a%E%E)y-О=}5>inGIi[ٺiIBI :xI5? :wӾ KB R@9PD: <:):WIZ@W!X! X!W!:W!2W)*W)V)bU)BU)*U1U1U5 @B}nCeBy BAe*BAQ=(;AAA#<"Cl47RCPaCIZ@C l "6:Yy5ֽ]L{יIG>}}?r,GEAɫyy)y yIyYϢ@yOHGxDUSBL response received:!U1,P EA1,000,00FDA,186,80,80,99,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i = = ==P>=~==i=@= =@)= @I= @i= @V(M)=YQU>aE#E y }>I5_I5?Ӿ IB eR@9ZD< <)WY\@WX XW:W2W*WVbUBU*UUU @B%kB) B1A5f*B1AM2:AIAIAU]<"Ce5RCe\wCeY\@Ci]j1I9G]> >9 I @Gi ؜@ =   ;  Eg?r,wEA| i|"@Y}R]c@}RxS@y}R;=}R>}RH୏`?`ѫĿhH:?t? ;?)~R]c@ ~RO[^;I~RCɫqq)y }IyY@yXGGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i19 Mg=YJ aE&E y>}?I :KI5? %:Ӿ GB %R@9aD=: :):WE|`]@WAXI XIWI:WI2WQ*WQVQbUQBUQ*UYUYU]@B+oB BA4m*BA:AAA<"C:4RCRC|`]@Cѽ"= {{> 4:Y#R1y:5)Y;9naשIG>f?r,uW,EAY}me@}m8U@y}m1l=}m= >}mHhtg?@_'ȿY)@~>?L%O??)~me@ ~mt^;I~mCɫ)))1 5I1Ymg@ymGGI}A)}Ai 鿑5^I ?~jtaE)Eyio=}>I0I5?Ӿ AB  R@9kD?: :)W-^@W1X1 X1W1:W12W1*W9V9bU9BU9*UAUAUE@BmqBq BqAu2j*BqAub9AqAyA}<"CF3RCSC^@Cu\J=5ܢS IG5>}?r,F@FEAY} g@}k:W@y}X<}P>}H@P4 `?`̿ J7?@ѩ`\?ڸ?)~ g@ ~6^;I~ɫ) IY-@y-FG5xDUSBL response received:!U1,R,02C,000,00FA7,185,80,80,B3,FF 5Fpublishing direction and range info-nF)ɰ- >-+> ))-3CI)y-JC-:9?.ٱ)MDNmea in: $SNTTA,,,,,020129.03*55 iYYmMup=Y8QU ?aE,Eܵ>9ܱIܵ?Giܵ@ܵ=ܱܱܵ; ݵEy?=}?II5?Ӿ =B R@9rD: 8:)W_@WX XW:W2W*WVbU BU *U U U`}C@P*QJCZQ [Xi@=.(JQ:9?.2QnF:QbQ\ܧRhƢαyB; RQKq￳Oǿ*UBQT@ QQeGP<9?P>9?PQQ "Q/BMnBI BQAUp*BQAUϹAQAQAU<"C}:2RCLEC_@Cωω)Б БK Y1:YU1y:ީ5)t; tR I G- >?r,7_EA||Y}BKi@}BfY@y}B<}BK>}BH?? ߻'пT?ڝ|IQaUEU/EYym=}u>Iȉ :ō I5? :ōLӾ ƍ8B R@9ƍ{DǍ: ȍ:)ȍ:m}Added new target pos. range: 202.919998 m, bearing: 190.498976 deg, deltaT: 4.817794 s, approachRate: -0.635145 m/s, LOS rate: -0.204671 deg/s, posRepo size: 4m ProNav: pos range: 202.919998 m, bearing: 190.498976 deg, approachRate: -0.635145 m/s, LOS rate: -0.204671 deg/s, cmd update: -0.614012 deg/s, cmd heading: 200.439799 deg, new cmd heading: 201.550086 deg. W_@WX XW:W2W*WVbUBU*UUp]i@U`V?BCB BAt*BAcَA!A!A%v<"C-7L2*C-RC-~&C-_@C1 E=E= ;OIG%>Ν?r,yEAY}JUk@}Jp[@y}J}#<}J>}JHl ?}ҿ ;s?wÜ ?ֳ?)~JUk@ ~J];I~JCɫ髑) IY@yFGE=iE=iYa   G>y>i{@ Gq@)@IiZ|@/M?=Y"QU>aE3E y N=} >IH5?Ծ 3B %R@9D: :)WEbU_@WAXA XAWI:WI2WI*WIVIbUQBUQ*UQUQU] ?B>B BAku*BAAAA<"CT2RCQCbU_@C֝+E~~ U:YT1y@::59@בIGa>ܵ>9ܱIܵ?GiܵA@ܵ=ܱܱܱ ݵE)UCIUCiQU=U=U55˳?r,EAY}Fl@}F\@y}F <}F|> >}FHs.?㕱ӿ5WQ?ܜ೗??)~Fl@ ~F;];I~FCɫyy)y yIYh@yZEGiAIWBMQ=Y{9QU>aE6Ey}=}>Iȱ :ŵH5? :ŵԾ Ƶ.B S@9ƵDǵ+: ȵ:)ȵ:W_@WX XW:W2W*WVbUBUi*UiUqUu@?BsďB BA*z*BA?0AAA<"C3*C5RCiC_@C֭lA7yIG=>?r,}HFA?@]Կ0 _?6;?F?)~n@ ~];I~ɫ!!)! !I!YMɟ@yMDGi=Mb?{Gzt~jt?=C?=ף =D=)9I9y=J +?I +I +=(?=9=9 9)=AI=Ai=A9=A G!? 33 t>i =@   @) @I ?@i t@.M%3=Y%QU%>))a-E-9E54=y5k=}5>I9=H5?=vԾ ="B MS@9=D=: =:)9Wm^@WiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUU`-?B.B BA$*BAiAAA<"C^3*CÜRC"C^@C} :}}J $:YkS1yԊ:5QIYGuY>ı?r,kEAY}2>n@}2_@y}2<<}2>}2H @&?Ѱտ)? 1Y?۸?)~2>n@ ~2 ];I~2Cɫ99)9 9I9Y}@y}{DGI)i]>9YI]<>Gi]@]=YY]; ]ǗEMf=Y-QU>aEI :FH5? :L Ծ B S@9D: :):WH^@WX XW:W2W*WV bU BU *U UU;"@B=B9 B9AE*BAAEAAAAAE@<"CMm3*CUݙRCU CUH^@CQeG9IQGuX>?r,wJEAY}J)p@}JD`@y}J6<}J&=}JHl?ֿ&)?@Ft?@a?)~J)p@ ~J];I~JCɫ髙) IY@yCGi99u nMuN=Y}#uQU}>yyaE?EyK=}>IH5? Ծ B S@9Dr: <:)W:^@WX XW:W2W!*W!V!bU!BU!*U)U)U-,e@BUBY BYA]ނ*BYA]`AaAaAek<"Cm3*Cm<RCmFpCm:^@Cq֥OaIiG>>#zz) 3":YQ1y:5?r,g(EA||4]>]i]̄@Y ]@)]@IYi]@u3%MuK=YugQUu>yya}E}CEy=}>Iȉ :ō߀H5? :ōԾ ƍB S@9ƍDǍ: ȍ:)ȍ:W]@WX XW:W2W*WVbUBU*UUU+@RB*** querying acoustic contact ***PPB.QB BA*BA p%»A A A <"C)4*CrRCw C]@C -=->e!I)GM1>U>9UCIU=GiU@U=QUDU; UŗEh?r,EAY}Zvs@}Z²c@y}Z<}Z8=}ZHtD ?O@ٿ8?@ #??)~Zvs@ ~Z];I~ZCɫ髑) IYx@yBGZ****** received transponder code query ******F****** received ping request ******aEFEy=}>I)-jH5?-Ծ -B 5S@9-D-׾: -:))W}]@WyXy XyWy:W2W*WVbUBU*UUU @ByB BAք*BA<߻AAA%r/<"C-$u4*C-GRC-C-]@C1g- ':YWU1y:q5) ;9C5͢i]nGIiQٺ@B) IQ G >;/?r,B.EAY}Bt@}BJd@y}B{;}BL=}BH@;?w ڿz`M?lr`?`'?)~Bt@ ~B];I~BCɫqq)q uIqYÝ@yBGxDUSBL response received:!U1,P 02C,000,00FA7,185,80,80,B3,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i rh?/$?:vC+?< T)Iym?y&1~jth??`D; +%A)AI=Ai7A=AS=C<r>i@ )@I@i@4M#=YֻQU>  a EJEYye=}m>Iș :ŝRH5? :ŝԾ ƝB S@9ƝDǝ< ȝ <)ȝ:WK]@WX XW:W2W*WVbUBU*UUU`E@B`B BA*BAyAAA<"C%4*CM)RCMŹ3<CMK]@CIE r I) GE >?r,|HEA| i|"@Y}Z:u@}Ze@y}Z&I1:}Z3Z=}ZH?Fۿ[?$)F ??)~Z:u@ ~Z~];I~Xɫ髑) IY2@ygAG9IH5*Cm#ݱRCm<Cmv]@Ci]߼~~[ H-:YT1y@:L5);9IQGmW>V=?r,2bEAY}6Wv@}6hrf@y}69}6E=}6H`@7?\ܿ@$1?8't?@J? ?)~6Wv@ ~6 ]];I~6Cɫ99)9 =I9Y}@y}0AGI)i 鿑xMe=YmQU>aEOEy=}>I4H5?DԾ B S@9D/: :)W\@WX XW:W2W*WVbUBU*UUU@BڻB BA*BA%eAAA<"C@5*CcRCڮ=C\@CֵzׁIG>Rk?r,z|EAY}Ew@}Eg@y}E򄼙}E =}EHtZ? ݿ;8??(? ϵ?"?)~Ew@ ~E]];I~Aɫ  ) IYM@yM@GUxDUSBL response received:!U1,R,19A,000,00F74,186,80,80,93,FF ]Fpublishing direction and range infoU0QɰU >U> Q)UCIQyUGCUƌ{7?Z8iֿٱQmDNmea in: $SNTTA,,,,,020133.87*52 iyyí`弩í<írií@é ĩ)ĩIĭ@iĭ@ҼM,=YQU>aESEy!B=}>I %: H5? %:#Ծ B -S@9D߾; 3;):WmQ\@WiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUUV@P*QGCZQ xfg@ܤ@BQJQƌ{7?Z8iֿ2Q0:QbQSw[hb/8reRQ9|޾ -Ô)RBQVQ@ QQEFP79?P<9?PQQ)?"Q B%)B! B)A-/*B)A-19*A)A)A-<"C5d5*C]IKRC]3o=C]Q\@CY{{: .:Y#R1y::59@i>9I;Gif@; EIIQGm>QO?r,cEEA||;ɫ髙) IY+@y#@GiAAu-$Mub=Y}QU}>yaEVEy}>Iȑŕ H5?ŕ&Ծ Ƒ S@9ƕDǕ: ȕD:)ȑm}Added new target pos. range: 199.860001 m, bearing: 187.181143 deg, deltaT: 4.894935 s, approachRate: -0.625135 m/s, LOS rate: -0.677809 deg/s, posRepo size: 4m ProNav: pos range: 199.860001 m, bearing: 187.181143 deg, approachRate: -0.625135 m/s, LOS rate: -0.677809 deg/s, cmd update: -2.033428 deg/s, cmd heading: 197.434451 deg, new cmd heading: 197.220643 deg. W׾[@WX XW:W2W*WVbUBU*UU h@U #g?BWB BA *BAE27AAAz<"C `6RC c=C ׾[@C*:;IGE>y?r,\!EAY}nx@}nh@y}nEƼ}n[=}nH*_?pU޿af? Ș?X^??)~nx@ ~nIA];I~nCɫ髹) IYM@yL@G]=i]=iaiIm=)m4=-?~jt?y&15>?D= `e)Iy)\(?kt:v?G!? T< #A)AIAiA3A U@ U@ U@U©UUiU3@U U@)Ū@IU @iŪ@eC<Mm<=Ym QUm>qqauEuZEyy}<}}>Iȁ :ŅG5? :Ņ/,Ծ ƅB S@9ƅDDž: ȅ:)ȅ:W5OZ@WIXI XIWI:WI2WI*WQVQbUQBUQ*UQUYU]m?BB BA*BAFAAA?<"Cfg7RC)=COZ@C5=~~; ,:YT1y@:q5יIGb>9a?r,DEAɫyy)y yIyܥ>9ܡIܥ;Giܥ@ܥ=ܡܡܥ; ݥE)5CI5Ci15=5=5d5Y@y?Gi!!UM]]=Y]QU]>aaaeEe]Eiym}m>IG5?1Ծ B S@9D: :)W%Y@W!X! X!W!:W)2W)*W)V1bU1BU1*U9U9U=o?B,ǿB BA؎*BA TAAA<"C >8RC=CY@Cֽdh=יIG^?r,;EA|*@i|(Y}rdx@}rh@y}r1}r<}rH`+`U?_s?H޿@#+c١?g?`8??)~rdx@ ~r)];I~rCɫ) IY%Q@y%?GiCM@=YSQU>aE`Ey+}>I  : G5? : 6Ծ  B S@9 D : :) :W=X@W9X9 X9W9:WA2WA*WAVAbUIBUI*UIUIUMW6?B})By ByAs*BAcAAA<"C+9RCs=CX@Cֽ{=שIH .:Yy:5GF>v?r,EAY}F&x@}FAh@y}Fa}F:}FH@e?`?FݿE 7?`?`0Z? ]?)~F&x@ ~F>];I~FCɫQY)Y ]IYY@y>GI1)5A 9=gAi9A AA   Õ+=ÕÕaEcEy0q}>I:G5?:Ծ B S@9D: R:)W X@WX XW:W2W*WVbUBU*UUUx?BNĽB BA咿*BAVrAAA <"C:RCma=C X@C֥=aIiG9>ܝ>9ܝCIܝ:Giܝ×@ܝ=ܙܙܝ; ݝEJ@r,4EAY}f2w@}f~g@y}f'}f¼}fHfT?2!?^ݿ^ncޤ?`Y?)~f2w@ ~f];I~fCɫ髱) IY-@y-.>GiVMI=YQU>aEfEysμ}>IǧG5??Ծ B S@9Da: :)W_#W@WX XW:W2W*WVbU BU *U U U@B=HŽB9 B9A=f*B9AE߀AAAAAE<"CMV:RCMj=CM_#W@CQ=+=: 1:YV1y::5);9I!GMS>O @r,|1EA|4<|Y}67v@}6f@y}6Y8}65Z}6H)Փ?cf? ܿ  $ ?[< ?)~67v@ ~6 w^;I~6CɫQQ)Q QIQY@yE>Gi5B`"?sh|?ſ~jt?5?5) 5=)1I1y5Mb?Q:v?5#?5u5< 5bA)5AI5=Ai51 A15fA @ @ @©i\@ )&@Ii@;MD=Yc&QU>aEjE!y%~ܼ}->I) 5:-G5? =:-JEԾ -(B =S@9-D-: -:)-:W]0V@WYXa XaWa:Wa2Wi*WiVibUiBUi*UqUqUuT@R}B*** querying acoustic contact ***PyPyBĽB BA*BA%ʈAAA<"C;RC=C0V@Cֽ=yIG<>@r,=DKEAY}J/v@}JKf@y}JK}J}JH5P?N?@0ܿz#r?6`F?)~J/v@ ~J;-^;I~JCU>9QIQiQU=QU DU; UEɫ髙) IY@y>GZ****** received transponder code query ******F****** received ping request ****** aEmEy:}>I  ~G5? gJԾ 5B 5S@9 D ; ;) WM@U@WX XW:W2W*WVbUBU*UUU ã @B=L]ƽBA BAAE*BAAmѐAiAiAuB9<"C}h<RC}>C}M@U@CX 3:Yy5)P;ֽ=בIG>@r,eEAiV=nGI`il Oٺ  >BY}Mu@}Me@y}M\}MϽ}MH``ua?5?Fۿ M`? 㹿?)~Mu@ ~Ms^;I~MCɫ11)1 9I9Ym@yu@>Gy}@A}xDUSBL response received:!U1,P 19A,000,00F74,186,80,80,93,FF }Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i$ <MD=Y{)QU>!)a5E5pEIy]ل}e>Iy :}iG5? -:}OԾ }CB =S@9}D}< }<)}:Wu4T@WyXy XyW:W2W*WVbUBU*UUU@C_ @BB%&= B!A%+*B!A-A)A)A-q<"C5=RC5` >C54T@C9u>I IQ Gu >@r,~EA|@i|Y}Fu@}Fٞe@y}FIl}F}FH @??ۿt`Jߵ?3 1?)~Fu@ ~F`;I~FCɫYa)a eIaY}!@y}>GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i } } } }@ }@ }@yyyi}p@y }̄@)}Iyi}@ =MQ=Y5QU5>19a=E=sE9yEq}E>IIMUG5?MTԾ MQB US@9M'DM*: M:)IW{lS@WX XW:W2W*WVbUBU*UUU @B6ڽB BA3*BA5ޟAAAB="C :>RC2>C{lS@C>f U ;:YDW1yY:59@IGM>E>9ECIE;GiE@E=AE DE; EE%@r,ԘEAY}66u@}65Re@y}6%s}6}/ }6H50?`??`,Mۿw`p?;?)~66u@ ~6a;I~6Cɫ99)9 =I9YϚ@yw>GI)AI)i 鿹ӼMT=YQU>aEvE y UR} >I :CG5? :3YԾ ^B %S@9.D: :):WEǚR@WAXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU]J{@BrؽB BAy*BAڢAAAD="C?RC>CǚR@C >סIGB>,@r,⯲EAY}Fpt@}Fd@y}F$}}F\}FHq!?@ٽ?@ڿ *`t?{¿?)~Fpt@ ~Fp"`;I~Dɫ髁) IY@y>G9ɮ=R=]xDUSBL response received:!U1,R,18A,000,00F44,185,80,80,8B,FF ]Fpublishing direction and range info]x Yɰ]>]+> Y)] CIYy]DC]irԆ ?MտٱYuDNmea in: $SNTTA,,,,,020138.75*54 iS㥛?X9vI +?$&?} 9<)IyCl?Q ףp= ?;?Q8= ¥A)¥&AI¥hAi¥"AQA   Í㾩Í33ÍнiÍ@Í č@)čb@Ič@ičߏ@vM#=YݖQU>aEzE y g} >I*G5?3_Ծ vB %S@98D]: :)WEvQ@WIXI XIWI:WI2WI*WQVQbUQBUQ*UQUYU]z}@Pi*QmDCZQmym.g@$p`PJQmirԆ ?Mտ2Qmx :QibQmF?l`hO2Z2:sv&5@RQm:5pfyXIg?BQm+N@ QmQmCPm89?Pm79?PmQmQmRA"Qm)?BhB BA*BAAAAAU="C@RC >CvQ@C}}= 11:YkS1yԊ:ަ5 L= "> I G >2@r,"EA|;|4C%t@}>@d@y}>鄽}>C}>H@U|?'?@Rڿ @@?`ÿ ?)~>C%t@ ~>|B_;I~>Cr>9rCIrHGiiqk=Mx=YQU?aE}Ey}?IG5? cԾ B S@9?D: D:)m }Added new target pos. range: 196.979996 m, bearing: 185.292145 deg, deltaT: 4.874682 s, approachRate: -0.590809 m/s, LOS rate: -0.387512 deg/s, posRepo size: 4m ProNav: pos range: 196.979996 m, bearing: 185.292145 deg, approachRate: -0.590809 m/s, LOS rate: -0.387512 deg/s, cmd update: -1.162536 deg/s, cmd heading: 187.521447 deg, new cmd heading: 186.851949 deg. W2 Q@WX! X!W!:W!2W!*W)V)bU)BU)*U1U5 \h@U5 e6?B]UBa BaAe3*BaAmnAiAiAu="C}ARC}8>C}2 Q@Ce)=UWy>I!GEr> (9@r,gEAY}2ks@}2c@y}2`}2}2H ; ??Aٿ@S=@?`ÿ ?)~2ks@ ~2lw^;I~2Cɫ99)9 AIAY$@y>G==i==iIIIU=)U=m:MmO=Y}QU}>aEEy}>Iȩ :ŭG5? :ŭgԾ ƭB S@9ƭGDǭL: ȭH:)ȭ:W9P@WX XW:W2W*WVbUBU*UUUF?BxнB BA$*B)A5A9A9A=:F="CM|ARCM4>CM9P@CQYY)Y Y1 ~~ 7:YT1y@: K >ס I G >@@r,NAEAY}:ېr@}:(b@y}:u}:Z}:H@cek??Kؿ@ɈZ?Mÿ?)~:ېr@ ~:^;I~:Cɫ99)9 9I9Y}@y}?Gi))}"?}}i}@y }@)}̄@I} @i}Ȏ@g=MH=YiQU>aEEy}>Iȡť F5?ťkԾ ƥB S@9ƥODǥv: ȥ*:)ȡWOO@WX XW:W2W*WVbUBU*UUU ?BJԽB BA1*BA99żAAAݭ="C%e!BRC%>C-OO@C)->IG+>>9CI=Gi@=ND D; E)uCIuCiuCu=u=uJ69F@r,7EA|i|Y}6q@}6a@y}6}6!!}6H J??`׿lb=?`1Ŀ8?)~6q@ ~6h];I~6Cɫ9A)A EIAY}@y}?Gi}}JM}K=YPQU>aEEy~}>Iȡ :ťF5? :ťpԾ ƥB S@9ƥWDǥ: ȥ:)ȥ:WwO@WX XW:W2W*WVbUBU*UUUE?BcӽB BAԏ*BAܪ̼A!A!A%6="C-ЧBRC-Y)>C-wO@C1M7>}}; 0:YkS1yԊ:q5);9I)GmW>cL@r,3EAY}2p@}2-`@y}2'X}2y*}2H@.?K?`<׿ђyƲ?/ſx?)~2p@ ~2];I~2Cɫ99)9 =I9Y3@y,@GIA)Ai  I +?I +]&>]>i]׃@Y ]̄@)]@I]@i]̄@mp =Mu<=Yuj]QUu>yya}E}Ey}>IȉōF5?ōYtԾ ƍB S@9ƍ`DǍ: ȍD:)ȉWN@WX XW:W2W*WVbUBU*UUU@Iz?B#ͽB BA덿*BA ԼAAAv="C 7CRC  >C N@C M>IGF>KS@r,MEAY}:'o@}:t_@y}:}:<6}:H&?Ѯ?;ֿ@6@>` ?ƿ@h?)~:'o@ ~:^;I~:CF>9FCIF=GiFN@F =DDFm; FEɫYY)a aIaY#@yUAGi=MW=Y;QU>aEEy }>I :{F5? :wԾ B S@9gD; +;):WeN@WX XW:W2W*WVbUBU*UUU@BϽB! B!A%(*B!AMۼAIAIAM="CUCRCUg>CUeN@CYB +:Y[1yݏ:5);]>QIaG}z>uY@r,gEA||;Y}6ro@}61_@y}6D}6B=}6H`|?g?տhu¿c? tǿY]?)~6ro@ ~6];I~6CɫYY)Y ]IYY}@y}@Gi%MZ=YdQU>aEE y [ؼ}>I0F5?q{Ծ B %S@9oD#: :)WE?M@WAXI XIWI:WI2WI*WIVQbUBU*UUU@R]B*** querying acoustic contact ***PYPYBֽB BA*BAAAA2="C w4DRC>C?M@C<>סIGA>]`@r,EAY}6tn@}6·^@y}6R}63A}6H ? ?.տR@tÿ`Ǐ? ǿW?)~6tn@ ~6%];I~4ɫaa)a aIaYT@yAGZ****** received transponder code query ******F****** received ping request ******aEEyo}>Iȱ :ŵ֊F5? :ŵԾ ƵB S@9ƵxDǵ4: ȵ:)ȵ:WQM@WX X)W):W)2W)*W)V1bU1BU1*U1U1U=׊ @BϽB BAh*BAQAAA="CDRCU>CQM@CI 0:YWU1y:p59@܅>9܁I܅h?Gi܅@܅=܁܁܅\; ݅E>ױIG>ԇf@r,(dEAY}2un@}26^@y}2ś}2A}2H?.`?`?~Կ.ÿs?@BǿW?)~2un@ ~2t];I~0ɫ99)9 =IAYٝ@y4BG?AxDUSBL response received:!U1,P 18A,000,00F44,185,80,80,8B,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i=7=MEa=YMY:QUU>aiauEuEy@}>IȹŽwF5?ŽԾ ƽ0B S@9ƽDǽ~; Ƚ;)ȹWL@WX XW:W2W*WVbUBU*UUU @>CiunGIiLٺJC=L@C9օ <>A II Ge >бl@r,>EA|i|@ɫ髙) IY.@yBG5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ia i@a  a m@a  a q@a  a e@a  =^Z?=p>=i=@9 9)=Ը@I=@i=@U<MU:=YUQUU>YYa]E]Eaye}e>I  aF5? lԾ GB S@9 D : >) W5;CL@W1X9 X9W9:W92W9*WAVAbUABUA*UiUiUm@B޽B BA*BAj]AAA8B="CzERCO>C;CL@C zz< 6:YQ1y:55>IG5>s@r,EA>9I@Gi@=OD Di; EY}Bm@}B61]@y}BQ}B]p4}BH`Xz?]ſ? ӿ@`m¿?0`ƿj?)~Bm@ ~Bޅ];I~BCɫyy)y yIyY<@yCGIA)i ?=Me=YWy;QU>aEEy7}>I  :OF5?  :OԾ ZB S@9D;  I?):WE)K@WAXA XIWI:WI2WI*WVbUBU*UUU q@B}׽B BAŁ*BAwiAAA="CMFRCj>C)K@C֍j>aIiG;>wy@r,EAY}n޿l@}n+\@y}n|}n4}nH@e'c?j?Fmӿ"z¿)?@7fƿ j?)~n޿l@ ~n>l];I~nCɫ) IY{@y7DG1ɮ5a=ExDUSBL response received:!U1,R,0B5,000,00F0F,186,80,80,9F,FF UFpublishing direction and range info=?!9ɰ=>=> 9)=CI9y=AC=?0I"Ŀٱ9DNmea in: $SNTTA,,,,,020143.57*58 iU<M](=Y]0:QU]>aaaeEeEiymL1}m>Iqu6F5?u"Ծ utB }S@9uDu: u?)qW1K@WX XW:W2W*WVbUBU*UUUdM@P*QACZQmfg@7w{>JQ?0I"Ŀ2Q?!:QbQfj-gyx( $c=ؾlz3@RQ듳Lw¥_8hÿՀϺ?BQR@ QQ>P<9?P89?PQQA"QRABDȽB BAɀ*BAAAA="C FRC pF >C 1K@C5t>IG>ë@r,lEA||49-CI-#BGi-̝@-%=)- D-p; -EU >1IAG]v>Ն@r,EAY}:k@}:[@y}:(}:/}:H u?4?qoҿLM¿`?,ſr?)~:k@ ~:];I~8ɫ99)9 =IAY}@y}DGE=iAiQQIeC=)e%=9;MH=Y+);QU>aEEyѼ}>IF5?’Ծ B S@9D,; o@)WM@W X  X W :W2W*WVbUBU*U!U!U-`1#?B]սBY BYA]T~*BYAe AaAaAe="Cm&ERCƊ=CM@C=IgA)IG5O> O ?:YT1y:5Y@r,6EAY}2:j@}2Z@y}23}22*}2H {?ݼ?ѿq "?,ſ Az?)~2:j@ ~2v];I~2Cɫ99)9 =I9Y}۠@y}EGia ia i a ma m a qa q a ea e jt?Zd;?#~j?@?y= =)IyL7A`?y&1Q?+'?`eu< ¥p A)¥,AI¥Ai¥Z$AA @ @ @=M%B=Y%[;QU%>))a-E-E1y5A }5>I9 E:=E5? E:=ȕԾ =B MS@9=D=: =:)=:Wm1N@WiXq XqWq:Wq2Wq*WqVybUyBUy*UyUyU?BͽB BAv*BAP[ AAA/="CDRC:=C1N@C=ױIG>  gA% .>9% CI% PCGi% @% =% ND% D% S; % E)ݵCIݵCiݱݵ=ݱݵ67)@r,bPEA|i|@Y}6i@}6OY@y}63}6/)}6H `?C%?@п [¿?Ŀk|?)~6i@ ~6];I~6Cɫ髙) IY@y FGiII}<MU=Yv:QU>aEEy}>IE5?mԾ B  S@9D; ;)W}N@WyXy XyWy:W2W*WVbUBU*UUU6?BνB BAu*BAǜAAAw="C  CRC @=CN@C*=IG J>MM|M|Mp MX3:YMR1yMi:M˱5)M-;9U@r,K=jEAY}2;i@}2%WY@y}2D}2>)}2H` W??kп8)¿@?ſ|?)~2;i@ ~2h];I~2CɫAA)I IIQY@yFGIa)aiii qq    @ @ @©i@ @)I@iۙ@U'=Me>=Ye!:QUm>iqauEuEqy}"}}>Iȁ :ŅE5? :ŅԾ ƅB S@9ƅDDž': ȅ:)ȅ:WO@WX XW:W2W*WVbUBU*UUU(?BϽB BA#q*BAuAAA%="C!"BRCGf<CO@C ̓=סIGB>@r,"EAY}:h@}:Y@y}:T5}:)}:H`0?k?։ϿQS¿ñ? Gſ{?)~:h@ ~:ټ];I~:Cɫ99)9 =I9Y}@y}oGGi}?=M}Y=Y=:QU>aEEyP}>IȩŭE5?ŭiԾ ƭB S@9ƭDǭ; ȭ;)ȩWP@WX XW:W2W*WVbUBU*U UU@#@BUJҽBQ BYA]l*BYA]1AaAaAeo="Cu7ARCu0PR<CuP@Cy3>9CI|DGi@ =MDD7; E~4=IG l> $@r,^EA||;Y}6h@}6CX@y}6}6C'}6H@S??^MϿ¿|?>Ŀ?)~6h@ ~6ٙ];I~6CɫYY)Y ]IYY@yGGi=MW=Y9;QU>aEEy}>I E5?Ծ B S@9D+: :)W Q@W X  X W :W 2W *WVbUBU*UUU@R%B*** querying acoustic contact ***P)P)BMӽBI BIAMbi*BQAcAAA="C'Q@RC89CQ@CHu=׉IG>+N@r,ηEAY}6h@}6X@y}6Ds}6 }6H`#N??@οPZF`+?ÿ?)~6h@ ~6];I~6CɫII)I MIIY}@y}xHGZ****** received transponder code query ******F****** received ping request ******\=ף=i@ t@)V@It@iV@M<MM'=YU^';QUU>QYa]E]EYyeֻ}e>Ii u:mE5? u:m1Ծ mB }S@9mDm: m:)m:WR@WX XW:W2W*WVbUBU*UUU @BB BAe*BAE: AAAAAEGO ="CM#?RCM0CMR@CQMMMM MS,:YMWU1yM:M59U@m<9IAGmx> 5>9 CI EGi @ = LD 6; E6@r,EAY}6mh@}6`X@y}6y}6#C}6H ?,?`-ο@) LѰ?@c¿`G?)~6mh@ ~6/];I~6Cɫ99)9 =IAY}3@y}HG@AxDUSBL response received:!U1,P 0B5,000,00F0F,186,80,80,9F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iP<Ma=You;QU%>)QaUE]Eaym}u>IȁŅuE5?Ņ Ծ ƅB S@9ƅDDž< ȅg;)ȁWu9S@WqXq XyWy:W2W*WVbUBU*UUU@ @B]$4ͽBY BYA]c*BA AAAe ="C}->RCC9S@C֕NJNi= nGIQ ia \Cٺ 3B(`@r,EA|$i|&@Y}Fdh@}FPX@y}F^܂}FS}FH-?1? ο``X?@q?)~Fdh@ ~F];I~FCɫ) IY]@y]IGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iubPu?uTiu@q uȎ@)u@Iu@iu@ee=MC=Yʐ;QU>aEEy}>Iȹ :Ž_E5? :ŽԾ ƽ"B S@9ƽDǽ: Ƚ<)Ƚ:WT@WX XW:W2W*WVbUBU*UUU)@BYνB BA]*BA^!A A A ? ="C-=RC 4CT@Cq9M+ MMMi M@7:YMDW1yMY:MK5IG5p>H@r,_EAY}6هh@}6'X@y}6A3y}6}6H`@'?ɶ?οų}!?@( /?)~6هh@ ~6^;I~6Cɫ99)9 9I9Y}6@y}JGI)i 鿑.<Mo=Ym7>9mCIm8GGim@m=imDmA; mE?v@r,'LEAY}nh@}nX@y}nm}n}nH@0@*?X;?Ͽ@9R?%d?)~nh@ ~nR^;I~lɫ) IY5@y5JG9ɮ=p=ExDUSBL response received:!U1,R,04E,000,00EDD,184,80,80,9D,FF EFpublishing direction and range infoE'gAɰEڛ>E> A)ECIAyE>CE ۦ?,::siٱAeDNmea in: $SNTTA,,,,,020148.42*57 iyy<M;=Y;QU>aEǃEy;}>I :6E5? :Ծ FB S@9D{8; OF;):WV@WX X W :W 2W *W VbUBU*UUUM@P*Q>CZQU@ug@b)JQ ۦ?,::si2Q'g:QbQzK%$lg0/@eda(@RQ6#m￀zJƿd˴?BQvT@ QQa;PP<9?PQQA"QA~~m 1:YT1y@:'5BEBq BqA}X*ByA}}'AyAAV ="C I;RCCV@Cֽ י I G >f@r,9EA||p;Y}6h@}6%X@y}6Mfb}6'r}6H`? ?tϿ `I?@2@&?)~6h@ ~6f^;I~4ɫ99)9 =I9Y}f@y}~KGi}#~j?Zd;OMb?}E?}j }<)yIyy}Dl?y&1aaaeEe˃Eaym;}m>Iqu)E5?uԾ uSB S@9uDu-: ul:)qmyAdded new target pos. range: 190.799988 m, bearing: 190.205332 deg, deltaT: 4.856457 s, approachRate: -0.617734 m/s, LOS rate: 0.296264 deg/s, posRepo size: 4m ProNav: pos range: 190.799988 m, bearing: 190.205332 deg, approachRate: -0.617734 m/s, LOS rate: 0.296264 deg/s, cmd update: 0.888792 deg/s, cmd heading: 192.333167 deg, new cmd heading: 193.176050 deg. W9W@WX XW:W2W*WVbUBU*UUg@U`;Q?B8۽B BA>R*B A )A A A w ="C:RCZC9W@Ce!I)GMS>e 2>9a Ie HGie @e =a a e O; e E@r,kREAY}:zi@}:,Y@y}:nZ}:t}:HvS?@Ʊ?_ϿJ?_k`?)~:zi@ ~: ^;I~8ɫyy) IYW@ylKG!i%=i19IE=)A}M}Z=Y;QU>aE΃Ey<}>Iȡ :ťE5? :ť"Ծ ƥ^B S@9ƥ Dǥ'; ȥ<;)ȥ:WW@WX XW:W2W*WVbUBU *U U U v?B jV̽B  B AR*BA,AAALx ="C0:*CRC%aC%W@C!%PzI G%M>uuuur u+:YuT1yu:u95)u~;9}@r,lEAY}%si@}%Y@y}%nV}%)W}%H@`?`f_?Jп!@A`ʪ?}k?)~%si@ ~%dc^;I~%Cɫ11)1 5I1Yu@yu+LGi - - --|?--mi-@- -@)-@I-3@i-@=:5=M=>=Y=B;QUE>AAaEEEуEIyUe<}U>IQUD5?UԾ UjB eS@9UDUӻ: U:)QWFX@WX XW:W 2W *W V bUBU*UUU@?Be)ȽB BAM*BAq/AAAZ ="Co:*CRCىCFX@Cֽ yבIG>@r,eEA|i|@Y}6!j@}6\aEԃEy<}>IHD5?Ծ uB S@9D2; 2;)W]iX@WX XW!:W!2W)*W)V)bU1BU1*U1U9U=%?B}TνB BAJ*BA1AAA) ="CX9*CRCC]iX@C֥L=>9IHGi1@=q; ͗E)ݭCIݭCiݩݭ=ݭ=ݭ6aIqG9>] ]~]~] ]\:Y]T1y]@:]5)];@r,4EAɫyy)y yIyY@yMGI!)%Ai99 99]~<MeH=YeQUe>iiamE׃Ey}>Iș  :ŝD5? :ŝƷԾ ƝB T@9Ɲ(Dǝ< ȝ@=)ȝ:W[X@WX XW:W2W*WVbU!BU)*U1UU@BM껽BI BIAMG*BQA}DA5AyAAk="CY99*C-RCɏC[X@C 8ס I G >v@r,nEAY}2 l@}29'\@y}2@}2؇K}2H ?ݨ?ҿ _? y? i`Q?)~2 l@ ~2$L^;I~0ɫ11)1 5I1YUئ@yUFMGijt?rh|? ?= L)Iy> ףp=?~jt:v??< ¥nA)¥AI¥Ai¥AQAíD=í㥽íií@é ĭ3@)ĭIĭ@iĭ@$<M5=YaEۃEy=}>IPD5?Ծ B T@90D3; ';)WE@Y@WAXA XAWA:WA2WI*WIVIbUIBUI*UQUQUU5@B}.\ٽB GM= BAF*BA>7AAAj="C$8RCAC@Y@CEEEE E0:YEWU1yE:E59M@ĎשIG> >>9 I IGi ԣ@    ;  ֗E@r,77EA|"4<| Y}^ul@}^]@y}^?:}^W`;}^HGj`??{ӿqC?E?l? |?)~^ul@ ~^tW^;I~^Cɫ髙) IY@y!MGiM&MMf=YM*;QUU>QQa]E]ރEYye(=}e>Ii u:mD5? u:mԾ mB uT@9m6Dm: m:)m:W4Y@WX XW:W2W*WVbUBU*UUU@@RB*** querying acoustic contact ***PPB`ԽB BAG*BAy9AAA="C8*C;wRC%)C4Y@CPzשIG!>@r,c&EAY}nm@}n]@y}nX6}n<}nH`YaaeEeEaym<}m>Iqu-D5?uԾ uB T@9u?DuH; u;)qW/Z@WX XW:W2W*WVbUBU*UUU @B]$Ba BaAeV>*BaAek<AiAiAmw="Cu 8*CuYRCujCu/Z@CU7 UUU U58:YUU1yU:U85֭m CׁIG>XAr,|EAY}6=n@}6kX^@y}6s5}6<}6H@7T?H? oԿ`7W?Ʊ?`T? ?)~6=n@ ~6Fq^;I~4ɫ99)9 =I9Y@y7NGxDUSBL response received:!U1,P 04E,000,00EDD,184,80,80,9D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i=ѼMEt=YU :QU]?iqa}E}Ey)<}?I :wD5? : Ծ B T@9ED^< j<):W]wZ@=>9CIXJGiv@=; ؗEWXa XaWa:Wa2Wi*WiVibUiBUi*UqUqUu 1 @B(ȽB BA@*BA ?AA!A%:5="C5W7*C==RC] C]]wZ@Caѭ.=֥ l"y I G >TAr,!EA|i|ɫyy)y }IyY@yNGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B AAimGiI!iYCIٺ9BEjV@9DB<Me)=YuQU}>aEEy }>} }}} }5:Y}WU1y}:}5Iȉō^D5?ō|Ծ ƍB T@9ƍODǍh< ȍ5i<)ȉW=Z@W9X9 XAWA:WA2WA*WAVIbUIBUI*UIUIUUt@BĽB BA=*BAUAAAA)="C+7*C$RCy5CZ@C JM= 3ױ I G >"|Ar, <EAɫ髑) IY%@yNGxDUSBL response received:!U1,R,105,000,00EDD,184,80,80,9D,FF Fpublishing direction and range infoZ;iɰ )IyR3Mm,?RW̿ٱI)i  a iM@a M a mM@a M a qM@a M a eM@a M ÝVn?ÝG!ÝiÝz@Ù ĝ)ĝߏ@Iĝ@iĝȎ@d<MR=YQU>aEEy}?IND5?Ծ B T@9UD: >)WUF[@WQXQ XQWY:WY2Wy*WyVbUBU*UUU @P*QZQQe0;g@N\̛EJQR3Mm,?RW̿2QZ;i:QbQ?*&gp3(+@RQeXJv[PdR?BQO@ Q}Q=P/9?PPQQBA"QAB )ԽB  B A A<*BACAAA="C6*CRC%FC%F[@C!)))) )֝ d6= <>99 I9 i9 = =9 = D= }; = חEy I G >fAr,&VEAY}nSo@}n_@y}n;}n'=}nH`1J?A?K,ֿ`@$ǫ?_?b??)~nSo@ ~nHk];I~lɫ) IY@y OGmDNmea in: $SNTTA,,,,,020153.27*5E i)1f9=MM=YxYQU>aEEy\=}>Iȱ :ŵ Ar,apEA|;|4u uLiqq u9@)uȎ@Iu@iq:<M]=Y&QU>aEEyi<}>Iȡť*D5?ťԾ ƥB T@9ƥcDǥ : ȥ?)ȡWvX@WX XW:W2W*WVbUBU*UUUx?BKнB BA6*BAJHAAA ="C@?9RC&Y0<CvX@C סIGA>p"Ar,<EAY}:^p@}:`@y}:PF}:=}:H@; LB?(?`$׿t\©?ר?8?@L?)~:^p@ ~:];I~:Cɫ99)9 =I9Y}̨@y}OGi  ]C'M]M=Ye MQUm>qqa}E}Ey<}>IȑŕD5?ŕ!Ծ ƕB T@9ƕjDǕj; ȕ?)ȑWW@WX XW:W2W*WVbUBU*UUU`?B=̽BA BAAM 7:>9IJGiȤ@=D; ڗE*BIAxJAAA="C-:RC5=C5W@C9II=cUU}U}U UY1:YUkS1yUԊ:U5)Ut;I]fA)Y1IAG]v>(Ar,EAY}2q@}2:a@y}2L}2-<}2HXv?`?ࡑ׿@?e~?v:??)~2q@ ~2\;I~2Cɫ99)9 =I9Y}l@y6OGiM%?=Y-OBQU5>AAaMEMEYye݇<}m>IȁŅD5?ŅԾ ƅB MT@9ƅrDDž< ȅL?)ȁWUV@WYXY XW:W2W*WVbUBU*UUU q?BĽB BA:*BAMAAA`="C<RC%i=C%V@C!፨;IG>.Ar,,EA|i|@Y}6lq@}6a@y}63S}6g<}6H] v?? ׿k?`???)~6lq@ ~6\;I~4ɫ99)9 9I9Y}4@y},PGia iua iu a mua mu a qua q} a e}a e} }Zd;?I +I +}>}94 }94)yIyy}Dl?7 ʡi @ )ߏ@IȎ@id=M;=Y%QU%>IIaMEMEYy]vb<}]>Ii u:m'C5? u:mԾ mB }T@9m|Dm: m:)m:WT@WX XW:W2W*WVbUBU*UUU\=@B=( ϽB9 B9A=3*B9AeڸOAaAaAe="CuI=RC}=CT@CU0 UUU UL:YUWU1yU:U59]@}9=9IAGew> =>9 I KGi j@ = ; ޗE)eCIeCieCe=e=e.6J5Ar,EAY}2xq@}2a@y}2[)\}2s.<}2H KL?`Ca?;ؿ`@?ǁ?х??)~2xq@ ~2$\;I~2Cɫ99)9 =I9Y]@y]OGI)i 1Mr=YSֻQU?!!a%E%E)y-<}-?I15[C5?5Ծ 5 B ET@95D5: 5:)1WeS@WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU}@@BTڽB BA5*BAQAAA="CR>RC7=CS@C >֥y=iIG;>3;Ar,ũEAY}:r@}:K8b@y}:!b}:T3T}:H`?@Z?@Jzؿ?s@?|jy?)~:r@ ~:S];I~:Cɫ99)9 =I9Y];@y]5PGep=ɮe=iqq @ @ @©i@ @)Iߏ@i@U١<MUF=Y]gQU]>YaaeEeEaymW&<}m>Iȑ :ŕC5? :ŕ8Ծ ƕB T@9ƕDǕ/< ȕD<)ȕ:W%qR@W!X) X)WI:WQ2WQ*WQVYbUYBUY*UYUYUeK@RB*** querying acoustic contact ***PPB YɽB  B A3*BAh#TAAA.="CE3?RCMV=CMqR@CIe yz=MMMM M*:YMX1yM/:Mʽ5QIaG}Y>oBAr,8 EA||;Y}6vbr@}6}b@y}6g}6(}6HuW?`q?ؿڃtp?߬? p?)~6vbr@ ~6^;I~4ɫ99)9 =IAY}@yQGZ****** received transponder code query ******F****** received ping request ******aEE y &1<}>ISC5?6Ծ /B -T@9D: :)W-m)Q@W)X) X)W):W12W1*W1V1bU9BU9*U9U9U= |} @}E>9yI}KGi}@}=y}D}; }ڗEB̽B BA@.*BA]VAAA#="CH@RC>Cm)Q@C)- S=IG5O>HAr,_%EAY}6cr@}6~b@y}6j}6 }6H@0u=?@ڰ?ؿr@TY?`.?)~6cr@ ~6];I~4ɫ99)9 9I9Y}@yQGxDUSBL response received:!U1,P 105,000,00EDD,184,80,80,9D,FF Command AckBRequesting micromodem ping code 2ii=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i!I==)==u ;M}B=YQUU>a)a5E=Eqy} 9}>I :NC5? :}Ծ FB  T@9D<  <):W=bO@W9X9 XaWa:Wa2Wa*WiVibUiBUi*UqUqUu@M @BƽB BA.*BAzXAAA[="CSuBRC>CbO@C]]y]y] ]:2:Y]P1y]':]5=IG>BOAr,:?EAY}2!r@}2F=b@y}2 p}2I}2H`& U?i?}ؿ $`ꆗ? *?)~2!r@ ~2i];I~2Cɫ99)9 9I9Y}@y}PGAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iZd;O?/$?jqqauE} Eyy}q0}>IȁŅrC5?ŅԾ ƅNB T@9ƅDDž: ȅ:)ȁWGN@WX XW:W2W*WVbUBU*UUUM@BuսBq BqAu0*BqA}[AyAyA}="CnCRC&>CGN@C֥==YIiGZ>u F>9q Iu MGiu @q q q u ; u ݗE4UAr,UYEA|i|Y}6\q@}6a@y}6bw}6Ȅ}6H}?`? ؿq^?e?)~6\q@ ~6L];I~6Cɫ99)9 9I9Y}@y}PGi;Mm=YQU?aEEyO}?IȹŽpC5?ŽaԾ ƽVB T@9ƽDǽ: Ƚ#:)ȹWrM@WX XW:W2W*WVbUBU*UUU eo@B=YڽBA BAAE80*BAAMr\AIAIAMf="CUDRC][->C]rM@Ca5: > I!GE>Mf M|M|M M;:YMR1yMi:M5)M;9UinGIi=nHٺ9=>8B%\Ar,rEAY}J] q@}J%a@y}J}J:}JH׳?ڶ?@y׿@&?@}յ?)~J] q@ ~J];I~Hɫ髹) IYI@yQG xDUSBL response received:!U1,R,13E,000,00E79,185,80,80,A5,FF  Fpublishing direction and range info r ɰ > +> ) %CI y 8C C ?eOMѿٱ %DNmea in: $SNTTA,,,,,020157.74*5C I!)%Ai19    @ @ @ÉÉÉi͍@É č)čIčič@:=M;=YQU>aEEy}>Iȹ :Ž2ZC5? :ŽԾ ƽaB T@9ƽDǽY: Ƚ:)Ƚ:W>L@WX XW:W2W*WVbUBU*UUUF-@P *Q 8CZQ }Z7f@Z ncWPIJQ C ?eOMѿ2Q r:Q bQ 9q~3fc-2.@RQ  w.[?BQ cO@ Q mQ A7P 89?P /9?P Q Q A"Q BAB= -ȽB9 B9A= +*BAAEu_AAAAAe="CmxFRCm6>Cm>L@Cq >=ֽ>J>?i?בIG># cAr,ŠEAY}:v4p@}:O`@y}:}:wϽ}:H wyaEEy}>IȑŕEC5?ŕԾ ƕkB T@9ƕDǕ߼: ȕ/:)ȑm}Added new target pos. range: 184.800003 m, bearing: 185.665019 deg, deltaT: 4.796120 s, approachRate: -1.251008 m/s, LOS rate: -0.070169 deg/s, posRepo size: 4m ProNav: pos range: 184.800003 m, bearing: 185.665019 deg, approachRate: -1.251008 m/s, LOS rate: -0.070169 deg/s, cmd update: -0.210506 deg/s, cmd heading: 182.690599 deg, new cmd heading: 181.559195 deg. W9-CI-@NGi-@-=))-t; -՗EBѽB! B!A%'*B!A-~aA)A)A-:j="C5wE*C5RC5P(>C5I!G=r>D7iAr,zEA||Y}Fgo@}F_@y}F@6}Fɩ}FHW??տ@n?`:?)~Fgo@ ~FmW_;I~FCɫ髑) IY@yRGil?l/$?W? )Iy~jt?Mb`p= ף?$?= •p A)•&AI•p Ai•bAA 5 5 5 5@ 5@ 5@111i5G@1 5ۙ@)1I1i5@E <ME%=YMQUM>IIaUEUEQy]Sμ}]>Ia m:e,C5? m:eWվ eB mT@9eDe#: e:)e:W^K@WX XW:W2W*WVbUBU*UUU ?B`ƽB BA$*BAdAAA="CXDF*CRC_#>C^K@ClA7>IG>0pAr,ςEAY}: n@}:Y^@y}:c}:}:H _?@l?Waտ@`*ܨ?}¿˚?)~: n@ ~:_;I~:Cɫ99)9 =I9Y}@y}xRG=i=i!)]'M]=Y]PQU]?aaaeEeEiym}m?IquC5?u*վ uB T@9uDu: u׾:)qWK@WX XW:W2W*WVbUBU*UUU@X8?BܽB BA$*BAeAAA4G="CVF*C2RCK6>CK@C hA .>I)IG&> 0:Yy59@ C>9 I OGi F@ =   ;  EIvAr,[_EAY}6 Zn@}6Zu^@y}6Ds}6z"}6H& ? hU?JԿY$@jJ? X,Ŀ@k?)~6 Zn@ ~6_;I~6Cɫ99)9 =I9Y}n@y}RGi<MO=Y̻QU>!!a%E%E!y-ۓ}->Iȉ :ōC5? :ō" վ ƍB T@9ƍDǍM: ȍ:)ȍ:WIK@WX XW:W2W*WVbUBU*UUU?BͽB BA!*BAgAAA 1="CloF*CRCt>CIK@CeR5#>9IIGeU>as|Ar,8EA|i|@Y}6m@}63 ^@y}6sC}6~.}6H7?`P@?Կ:I?Fſ3t?)~6m@ ~6ӿ^;I~6Cɫ99)9 =IAY}@y}RGihA 5 5 5 5@ 5@ 5@111i5@1 5@)1I5@i5ߏ@EƼMEG=YM QUM>IQaUEU"EQy]⃼}]>IaehB5?eվ eB mT@9eDe: eY:)aWUK@W X XW:W2W*WVbUBU*UU!U%@p.@BMhνB BA$*BA ziAAA\="CaF*CRC>CUK@CIE2>I)GEQ>(  7:YT1y:5>[Ar,EAɫyy)y yIyY@y3SGI)A !%hAi!!U1-=M]I=Y]QU]>aaaeEe%Eaym}m>IquB5?uվ uB }T@9uDu: u:)qWK@WX XW:W2W*WVbUBU*UUU`X@;>9IQGi@=KD; E)UCIUCiQU=QU6B-mϽB) B)A-" *B1A5zlA1A1A5p="C=ҟF*C=RC=>CEK@CA=4>}=i}=I!G=r>Ar,'EAY}Uk@}U[@y}Uv˙}Ux4}UHy?@,? +ҿB¿4?aƿ_j?)~Uk@ ~U];I~UCɫ髹) IYr@yRG1ɮ5=iaMbX?{Gzt?y&1? ?ף; `<)IyE?:v{Gzt&?Tף µA)µ&AI±iµ\AA   Õ>ÕÕТ>iÕ̔@Õ ĕ&@)ĕ@Iĕ@iĕ3@XM=YQU>aE)Ey3~}>I :gB5? :վ B T@9D:  :):W`K@WX X W :W 2W *WVbUBU*UUU`m@R-B*** querying acoustic contact ***P)P)BMȽBI BIAM!*BQAU@nAQAQAU#="C]F*CepRCe=Ce`K@Ca   B:YV1y:5u>I IQ Gm >TmAr,AEA|4<|Y}6{j@}6ˢZ@y}6JO}67}6H`@8? 'M?Mѿ``n@-;ÿ?@Mƿd?)~6{j@ ~6l];I~6Cɫ99)9 =I9Y}@y}iTGZ****** received transponder code query ******F****** received ping request ******M=Y8QU?aE+Eyc} ?I  6B5? վ B %T@9 D ; ;) W%BNK@W!X! X!W!:W!2W)*W)V)bUIBUQ*UQUQUUB @B׽B BAD*BA)pAAAM="CtF*CLRC=CBNK@Cժ >סIGA> :>9 I RGi s@ = LD ; EzAr,ʥ[EAY}2`ti@}2Y@y}2ߥ}2o<}2H@OO>? F?@CпӉ@Ŀ?@gǿZ?)~2`ti@ ~2>];I~2Cɫ99)9 9I9Y}*@y} UGxDUSBL response received:!U1,P 13E,000,00E79,185,80,80,A5,FF Command AckBRequesting micromodem ping code 2iC=i<Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iIC=)R=#=M I=YٻQU%>19a=EE/EQye%}m>Iȁ %:ŅB5? -:Ņվ ƅB T@9ƅDDž@= ȅq>=)ȅ:Wi2K@WX XW:W2W*WVbUBU*UUU%_ @BfŽB BA*BAP`rAAAU="CMF*CޫRCs=Ci2K@C 0:YDW1yY:5)č;9U^=Q Ii G >Ar,uEAY}2h@}2X@y}2]}2A}2H` ?@? bϿ @Ŀ@%?ǿDR?)~2h@ ~2ج];I~2Cɫ99)9 =I9YH@y1UGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i99 @ @ @Í©ÍÍiÍ(@Í č@)čd@Ičičۙ@ <MA=YQU>aE2Ey۵}>IȹŽ`B5?Ž!վ ƽ B T@9ƽ Dǽ : Ƚ:)ȹW K@WX XW:W2W*WVbUBU*UUU='@BҽB BA,*BAsAAA"="CG*C~RC5=C K@C =סIGB>lAr,[EA|i|@Y}>xh@}>X@y}>/}>y!C}>H@`Z8?? ο c@ſ?? )ȿ`O?)~>xh@ ~>Ĕ];I~>CɫYY)Y YIYYt@yhUGil<MZ=YQU>aE5Eyl}>Ia :e"sB5? :ee#վ eB T@9eDe; e;)e:W K@W)X1 X1W1:W12W1*W1V9bU9BU9*U9UAUE@q9uCIuTGiu@u=qqu; uEB܍˽B B)A-*B)A5uA1A1A=:="CE1G*CE4RCEc=CEK@Ci}}= ,:YV1y:5);qIG~>U t>Y i nGI i ֩Ar,DEA*Aٺ,.2BY}g@}9X@y}q}O?=}H A@j3?;?<ͿvĿG?@pǿ@X?)~g@ ~d];I~Cɫ)))) -I)Ye@ym VG}DNmea in: $SNTTA,,,,,020202.57*5E Iy)}Ai56only read 3 of 4 data itemsa i5@a 5 a m5@a 5 a q5@a 5 a e5@a 5   Å/}?ÅP?ÅiÅף@Å ą&@)ąIą @ią3@=M$=YqQU>aE9E@UAyf}>Iȱŵ!YB5?ŵ&վ Ƶ%B T@9ƵDǵ: ȵv>)ȱW}J@WX XW:W2W*WVbUBU*UUU@BfaǽB! B!A% *B!A%wA!A)A-="C-86G*C5WתRC5gǢ=C5}J@C1 ===?i?סIG>]Ar,EAɫyy)y }IyY߮@y&WGi=M=YQU ?aE] }} =;:YkS1yԊ:59@ 4>9 I UGi @ = D ; EAr,EA|;|Y}62f@}6MV@y}6}6Q,}6HZ4$?Ľ?@k3ʿ@¿^?k\ſ&o?)~62f@ ~6];I~6CɫYY)Y ]IYYx@yVGxDUSBL response received:!U1,R,02F,000,0371C,185,80,80,99,FF Fpublishing direction and range info'ɰw?鰩 )CIy>JD7G?+qٱiMK=YhQU>aE?Ey}>I :*2B5? :)վ ;B T@9+D: |?):W%IJ@W!X! X)W):W)2W)*W)V1bU1BU1*U9U9U=@W@PI*QM>JDZQM/eB@jJ,@JQM7G?+q2QM':QIbQM4ӈjtE`^.R@RQM,l&K'zſ$u?BQMS@ QMZQMFPM9?PM89?PMQMQM(B"QMAB˽B BA *BA{AAA/^="ClaG*CBERCn=CIJ@CIG-N>'Ar,EAY}2ޮe@}2.U@y}2 }2ͥ(}2H d@L*?`?`{1ɿi¿ )?1Ŀr?)~2ޮe@ ~2~];I~2Cɫ99)9 =I9Yup@y}WG=i=i E@ E@ E@E©EEiE@E E\@)AIE@iE@U=MUC=Y]mQU]>YYa]EeBEayu!}}>Iȑŕ B5?ŕ+վ ƕHB T@9ƕ3DǕ,: ȕ?)ȑm}Added new target pos. range: 808.980103 m, bearing: 189.528392 deg, deltaT: 5.631330 s, approachRate: 110.840622 m/s, LOS rate: 0.686050 deg/s, posRepo size: 4m ProNav: pos range: 808.980103 m, bearing: 189.528392 deg, approachRate: 110.840622 m/s, LOS rate: 0.686050 deg/s, cmd update: 2.058150 deg/s, cmd heading: 181.505243 deg, new cmd heading: 181.415811 deg. WRK@WX XW:W2W*WVbUBU*UU@G@U]P?B%ĽB%lf'= B!A-*BA|AAA="CcgFRCI$=CRK@CgAQ|=IgA)gAIGG> ,:YU1y:o5Ar,EAY}2Wve@}2U@y}2S}2%}2HHE@??`ȿ@/\¿`#c?@Ŀu?)~2Wve@ ~2];I~0ɫ99)9 =I9Yů@yAXGiy.>9IWGiB@=; Ec<MA=Y QU>aEEEy}>IIB5?N-վ TB }T@9$Ar,*EA|`i|`Y}]#fe@}]sU@y}]IJ}]u"}]H GP?>q?@ȿY z@SQ? _)Ŀ'z?)~]#fe@ ~]/t];I~]Cɫ髩) IYް@yYGiQQa i5a i5 a m5a m5 a q5a q5 a e5a e5 5ʡE?y&1ˡE?5=?5`e 5'=)1I1y5#~j?v/L7A`?5%?5xi5+= 5A)5!AI5KAi5A15A    0>x>i@ @)I@i@Օ=M.=Y#:QU>a}E}IEy}>IȹŽA5?Ž\/վ ƽmB T@9ƽFDǽ: Ƚ|:)ȹW=/M@WAXA XAWA:WA2WA*WIVIbUIBUI*UQUQ|| 1:YR1yi:5Uw?B{B BA*BA<AAA="CHDRC \r1<C /M@C  ==== d=IG > Ar,YDEAY}2)/e@}2yJU@y}2󰽙}2Ğ}2H L@q??@7ȿ`&vt?¿#?)~2)/e@ ~2];I~2Cɫ99)9 =I9Y}@y}YGI)i%=<M-=Y5l9;QU5?yya}E}LEy4}?Iȉ :ōA5? :ō0վ ƍ|B T@9ƍLDǍ: ȍw:)ȍ:W߀N@WX XW:W2W*WVbUBU*UUU@!?BϽB BA*BA)€AAA="C ֞CRC}CC߀N@CeP==8<I!G=r>m&>9mCIm0YGim@m=iim; mE)ݝCIݝCiݙݝ=ݝ=ݝ 64Ar,6^EAY}29d@}2T@y}2q}2R }2H U?B?Wǿ:5 F?W$?)~29d@ ~2];I~0ɫ99)9 =I9Y}@y}ZGi5l=M=I=Y=:QU=>AAaEEEOEAyMb}M>IQU%A5?U2վ UB ]T@9UUDU{: U:)QW"jO@WX XW:W2W*WVbUBU *UUUl]@B]BY BYAe߾*BaAeZAaAaAe="CBRCC"jO@Cх_'= .:YU1y:5).;9֥T<יIG>]Ar,xEA||Y}6%d@}6uT@y}6䅮}6o}6H`L\$?~?@0ǿ KMɵ?`\?)~6%d@ ~6];I~4ɫ99)9 9I9Y@y9\GiYYíY>ííȶ>ií@é ĭz@)ĩIĭ@iĭ&@:=MB=Y:QU>aEREy!}>I :cA5? :3վ B T@9]D: {:):W bP@W X  X W:W2W*WVbUBU*UUUq@BB B A ʾ*B A /A AA="CARC,CbP@C!!)I Irg:ש I G >EAr,EAY}:fzd@}:T@y}:)}:}:H ^?_?@ƿ@T?@,*?)~:fzd@ ~:];I~8ɫ99)9 AIAY}@y}\G=i=i=>9=CI=ZGi=̱@99=D=; =EIu=)u=!6=MN=Y:QU>aEVEy)c}>IA5?5վ B T@9fD : :)W PQ@W)X) X1W1:W12W1*W1V9bU9BU9*U9UAUE@RMB*** querying acoustic contact ***PiPiBB BA*BA}˂AAA="C@RC[L5CPQ@CzIGK>( ~~ 7:YT1y@:5)Y;~Ar,EAY}-$d@}-tT@y}-+c}-Lս}-H\?褹? ǿRYiF?-?)~-$d@ ~-];I~-Cɫ99)A AIAYuݳ@yuJ]G}Z****** received transponder code query ******}F****** received ping request ****** }`<)yIyy}?&1~jt?},?}P}< }vA)}|AI}vAi}Ay}AԽi@ E@)ۙ@Iۙ@iۙ@<<M(=Y6;QU>aEYEy;}>I %:|A5? -:7վ B -T@9pD ; ¿;):WmnR@WiXq XqWq:Wq2Wq*WqVybUyBUy*UyUU @BB BA *BAAA A %="C ?RC˃eCnR@CoMIG >WAr,QEA|i|@ɫy髁) IY@yW^GxDUSBL response received:!U1,P 02F,000,0371C,185,80,80,99,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i5&=M==YEQUM?YaamEm\Ey} ?I)-tiA5?-k8վ -B eT@9-wD-< -i;))W5AS@W1X9 X9W9:WA2Wi*WqVqbUyBUy*UUU @BuضBq BqAuc*BqA}eAAA8="C>RCCAS@C e=e= N2:YWU1y:59@==">9IP\Gi@=; E!I1GU>ÁAr,t|EAY}:d@}:T@y}:>}:}:H@Z?Ƿ?@3ǿc?@r?=I?)~:d@ ~: ^;I~8ɫAA)I IIQYO@y_GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IY)]Aiaa ii*3=MA=Yu;QU>aE_Ey;}>I1SA5?:վ B T@9Dv: :)WT@WX XW:W2W*WV!bU!BU!*U!U!U-E@BUDBQ BQA]楾*BYA]AYAYA]S="Ce>RCeCmT@Cii=nGI95TiQ}Eٺ5BaIiG9>Ar,WEAY}2Ld@}2T@y}2wh}2υ}2HY? ڶ?@ǿ@vi`k'?`%?)~2Ld@ ~2G^;I~2Cɫ99)9 =IAY}@y}_GiLZT>i\@ "@)I@i@ d=MW=YC;QU>!a%E%bE!y-[:}->I1 E:5=A5? E:5;վ 5B MT@95D5!; 5 ;)5:W5 U@W1X1 X1W1:W92W9*W9V9bU9BUA*UAUAUEX@BίB BA*BAAAAk="C=RCnC U@CPa 1:YU1y:75IGj>ߖBr,?EA|,|.4<U%>9UCIU]GiUV@U=UMDQU; UEY}8e@}U@y}K1}GG }H E 0? U?Hɿ]\< !?O@R?)~8e@ ~^;I~Cɫ髉) IYK@yG`GxDUSBL response received:!U1,R,01B,000,00E0C,184,80,80,BA,FF Fpublishing direction and range infoɰJ>> ):CIyB2CϺ?е ٱ DNmea in: $SNTTA,,,,,020208.23*57 i-{<M-9=Y-i;QU5>11a5E5fE9y=5<}=>IAE$A5?E=վ EB UT@9EDE: E;:)AWu8U@WqXq XqWy:Wy2Wy*WyVybUBU*UUU Ď@P*QB2CZQũFf@|hJQϺ?е 2Q:QbQmɋ;eAU[)?'&+@RQ(UiL1`RƿcJ5?BQPT@ QQ.P<9?P9?PQQA"Q(BBE뮽B BA)*BAAAA="C~"<RCC8U@CyIG=>k Br, -EAɫII)I IIIYN@yaGi=iI4=)C=rh|?v/?S㥫??xi= /]=)Iy}?5^I?A`"S㥛?M"?Y/< A)/AIAiA=A%E=%"%i%@! %9@)%\@I%E@i%z@5=M5:=Y5QU=>99aEEEiEAyM}M>IQ ]:U A5? ]:U?վ UB ]T@9UDU: U:)U:mAdded new target pos. range: 178.260010 m, bearing: 190.074152 deg, deltaT: 4.891337 s, approachRate: -128.946365 m/s, LOS rate: 0.111577 deg/s, posRepo size: 4m% ProNav: pos range: 178.260010 m, bearing: 190.074152 deg, approachRate: -128.946365 m/s, LOS rate: 0.111577 deg/s, cmd update: 0.334730 deg/s, cmd heading: 191.573031 deg, new cmd heading: 192.476631 deg. W%>'V@W!X! X)W):W)2W1*W1VYbUaBUa*UaUeRHf@Um@?BߦB BA*BAdAAA8="CL<*C=?ERC=gC=>'V@CA -:YW1yč:5֥Ka Ii G >Br,FEAɫ髙) IY@yAbGi!!e ]=Men=YaQUm?iiamEmlEqyy}}?IȁŅ@5?Ņ Aվ ƅ'B T@9ƅDDžU: ȅn:)ȁW HV@WX XW:W2W*WVbUBU*UUU`#?BB BAx*BACTAAA2="C;RCJVC HV@C%pIGEQ>99E>9AIEo_GiE@E=ELDAE; EڗEBr,&`EA|i|@Y}6g@}6 W@y}6i}67}6H?Q?_̿',:w?@Ͳ?`҆@\?)~6g@ ~6];I~6Cɫ99)9 =IAY}@y}bGipMO=Y!!a%E%oE)y-ϖ=}->I1 =:5@5? =:5Cվ 56B ET@95D5: 5:)5:WemV@WaXa XiWi:Wi2Wi*WiVibUqBUq*UqUyU}?B% B! B!A%l*B!A-A)A)A-="CU;*CU<RCU$CUmV@CYMõ!IAGu6>~~ YT1y@:5)[;9% Br,kzEAY}Jh@}JY@y}J⎽}J_<}JH p?6?Ͽ@C?ر?`L?@8?)~Jh@ ~J];I~JCɫYY)Y YIYYo@ybGIA)Ai!!u{>u=u-iuכ@q u)u@Iu@iu@b=MD=Y%aEsEyX=}>Iȡť@5?ťEվ ƥEB T@9ƥDǥb: ȥ:)ȡWȕV@WX XW:W2W*WVbUBU*UUU`x?B bB BAg*BAAAAt="C;*C+RC0 JCȕV@C(׵?i?יIGb>>$Br,{EAY}bri@}bY@y}b}b #=}bH`L x?9?@uEпoŬ?1ϱ?@3S??)~bri@ ~b{^;I~`v>9tIv7`Giv>@v=ttv; v˗E) CI Ci = = 56ɫ髙) IYU@yUcGiK=MC=Y9QU>aEvEyً<}>I  : պ@5? : Hվ SB T@9 D M: :) :W=׽V@W9XA XAWA:WA2WA*WIVIbUIBUI*UQUQUUw@BxģB BAR*BA|AAA$ ="C a;*ClRCAC׽V@CIG=P>)  7:YU1y:5)j;+Br,(dEA|@|B;Y}ji@}j Z@y}jz}jC=}jH`g?ګ?_пA|?˱?2k??)~ji@ ~j8^;I~jCɫ髱) IY@yrdGi-? rh?Mb?-fF?-C< -@=))I)y-NbX9?Zd;OMb`-%?-j<- - A)-p AI-AAi-A)- AÅ>Å ?Å>iÅ@Á ā)ą\@Ią\@iąz@.=M@=Y39QU>aEyEy<}>Iȱŵ@5?ŵKվ Ƶ\B T@9ƵDǵ: ȵӻ:)ȱWV@WXa XaWa:Wa2Wa*WiVibUiBUi*UiUqUut@BEB BA@*BA$чAAAA ="C&9;*CRC,CV@COױIGf>D1Br,=GEAY}:ħj@}:Z@y}:{}:N=}:H@ڪ? ?oѿ>9IdaGi2@=Du; E T    ::Y W1y č: 5) `;8Br,bEAY}2k@}2B[@y}2u<}2G=}2Hl|? f(?7CҿB? d??``?)~2k@ ~2,];I~2Cɫ19)9 =I9Y_@yLeGZ****** received transponder code query ******F****** received ping request ******99a=E=EAyE#=}M>IQ ]:Ui{@5? ]:UPվ UlB eU@9UDU; U@;)U:W/W@WX XW:W2W*WVbUBU*UUU@ @B\B BA)*BAyPAAA~ ="C:*CϩRC^ռC/W@CyשIG$>8H>Br,KEA|i|Y}6`Ol@}6j\@y}6}66=}6HzD9?G? ӿ6} ??`OǦ?@?)~6`Ol@ ~6J];I~4ɫyy)y }IyY+@yGfGxDUSBL response received:!U1,P 01B,000,00E0C,184,80,80,BA,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iÍ+>Í&1>ÍiÍ@É č\@)čE@IĉičE@^N=M&=Yq-;QU>aEEyi<}>I  @a@5? Uվ vB U@9 D  : :) W%`W@WX XW:W2W*WVbUBU*UUU`` @B=VBA BIAMU*BI]]]] ],:Y]WU1y]:]59m@AUϠAqAyA}B ="C:*CRC6C%`W@C => ס I G >1EBr, EAY}:wl@}:\@y}:G}:6(=}:H@e??ӿh@m?F߰?}?@9FCIFbGiF&@F=FMDDFl; FE ~:E];I~8ɫYY)Y ]IYY@yfGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I5A)5Ai99 AAuMu}=Yu ;QU} ?yya}E}EyH<} ?Iȑ :ŕP@5? :ŕWվ ƕ|B U@9ƕDǕM: ȕ8:)ȕ:W=0W@W9X9 X9WA:WA2WA*WAVAbUIBUI*UIUQUU3@BlB BAF*BA͈AAA ="C:*C2RC UC0W@C<׹IGG>}T>} CiqGIi) Dٺ 4B\KBr, / EAY}26m@}2Q]@y}2}2g%=}2H@}X?_@? ӿ [s?7?A?`?)~26m@ ~2];I~0ɫ99)9 9I9Y}@y}fGxDUSBL response received:!U1,R,01B,000,00E0C,184,80,80,BA,FF Fpublishing direction and range infoɰ鰁 )IyϺ?е ٱi))Ponly read 0 of 1 data item for BIT errora i@a  a m@a  a q@a  a e@a  }xi}=}>i}\@y y)}\@Iyi}\@#/=M8=Y&:QU>aEEy;<}>Il8@5?[վ B U@9D[: >)W~W@WX XW:W2W*WVbUBU!*U!U!U-@P1*Q1ZQ5ũFf@|hJQ5Ϻ?е 2Q1:Q1bQ5 Jexi4I&@RQ5zגӇ+Wqҿ*|o?BQ5M[@ Q5yMQ5P*P5A9?P5<9?P5Q5Q5tA"Q5ABmҚBi BiAm*BiAuAqAqAub ="C}7w:*C}`RC}3?C}~W@C֝FΞU UUU UA:YU[1yUݏ:U5qIyG~>DRBr,I EA|(|*4?mN?PԿ`T?Y?[,? 5?)~ jgm@ ~ ];I~ Cɫ) IYU@yUjgGDNmea in: $SNTTA,,,,,020213.08*54 i g2=M U=YzQU>aEEy%<}%>I)-L$@5?-E_վ -B 5U@9-D-: -WT?))meuAdded new target pos. range: 178.260010 m, bearing: 196.783938 deg, deltaT: 4.463860 s, approachRate: 0.000000 m/s, LOS rate: 1.503136 deg/s, posRepo size: 4mu ProNav: pos range: 178.260010 m, bearing: 196.783938 deg, approachRate: 0.000000 m/s, LOS rate: 1.503136 deg/s, cmd update: 4.509407 deg/s, cmd heading: 193.067231 deg, new cmd heading: 193.194538 deg. W}Y@WyXy XyWy:Wy2W*WVbU!BU!*U!U)U-`C?BvB BAj*BA] 9AYAaAe !="Cm8RCme CuY@Cqԉԉ܅>9܁I܅XcGi܅ȸ@܅=܁܁܅u; ݅E֭=I׵fA)׵fA׉IG>'lXBr,Sc EAY}6m@}6 ]@y}6ۅ}6 =}6HdK@gZ? 52?/ԿQ`?s?f??)~6m@ ~6\;I~6Cɫ99)9 =I9YS@ygGi=i  I =) =U<M]W=Y]QU]>aaaeEeEaym;}m>Iq }:u8@5? }:ubվ uB }U@9uDu5: uҚ?)u:W }[@WX XW:W2W*WVbUBU*UUUF?B B BAֽ*BA^^AAA'!="C6RCwC }[@C֍bިׁIGD> ):YDW1yY:5);9C^Br,.} EAY}>m@}>R]@y}>S7}>"<}>HaD _?? ZԿ`Lei?飰?{?]?)~>m@ ~>\;I~>Cɫ99)9 =I9Y}Ѽ@y}NhGi!!u(>uq>uE=iqq u)qIqiqs=MG=YH:QU>aEEy;}>Iȡť?5?ťufվ ƥB U@9ƥDǥ\: ȥ]?)ȡW^]@WX XW:W2W*WVbUBU*UUU@_?B-B BA *BAքAAAC!="C%[e5RC%􅑽C%^]@C) IGE>eBr, EA>9CIdGi@ E|$i|$Y}Fdm@}F ^@y}F9}F3<}FH@^;??@ԿUEw?3?Uǘ?E?)~Fdm@ ~Fn,];I~FCɫ髑) IY.@yhGiYY$<MI=Y#9QU>aEEy <}>Iȩŭ#?5?ŭ6jվ ƭB U@9ƭDǭ: ȭ@)ȩW_@WX XW:W2W*WVbUBU*UUU`0?BĔB BA%*B!A%A!A!A%h]!="C-2RC5ӽC5_@C1 tE-?i-?IG (> 2:YU1y:5);kBr, EAY}29n@}2T^@y}2`}2<}2H`H/@? o? Կ.:@S?? ?`?)~29n@ ~2z3];I~0ɫ99)9 =I9Y]@y]DiGI)ia iUa iU a mUa mU a qUa qU a eUa eU U|?5^?~jt rh?UM?U UC =)QIQyUS㥛?/$+?U$?U,U= Up A)UAIU"AiUAQU AMC >MjMC =iMG@I Mz@)M@IMz@iM@]<M]>=Y]¹QUe>aaaeEeEiyu,<}u>Iy}?5?}Inվ }B U@9}D}Q: }ӻ:)yWa@WX XW:W2W*WVbUBU*UUU @BB BA"*BAYÉAAAt!="C1RCjCa@CIGn>.rBr,8 EAY}2ʙn@}2^@y}2}2X<}2HduQ?ë?0տ*4?`㻰?@ ޖ?n?)~2ʙn@ ~2];I~2Cɫ99)9 9I9Y@y;iGi!!UM]]=Y]DQU]>aaaeEeEaymׁ<}m>Iq }:un?5? }:uqվ uB U@9uDu: u:)u:Wc@WX XW:W2W*WVbUBU*UUU8@B=B BA*BA܉AAAv!="CuM>9IIMfGiM@IIIMa; ME)ՅCIՅCiхՅ=Յ=Յ65 .:YWU1y:5)@;QxBr,g EA||Y}V'o@}VAC_@y}V }Vռ<}VH?x?-տ@z?*?;? J?)~V'o@ ~V \;I~Tɫyy)y yIyY8@yjG@Ai1V=MR=YɻQU>aEEym<}u>Iy}h?5?}uվ }B U@9}&D}ӻ: }߼:)yW[e@WX XW:W2W*WVbUBU*UUU;@RB*** querying acoustic contact ***PPBnB BA:*BARAAA!="CYu,RC$C+C[e@CIgA) I1GM1>p~Br,v EAY}2o@}2_@y}2`}2<}2H}?@?fֿ/M??ペ?@[?)~2o@ ~2\;I~0ɫ99)9 9I9Y}@y}jGZ****** received transponder code query ******F****** received ping request ******aaaeEeEaym<}m>Iq }:u?5? }:uzվ uB U@9u/Du: u8:)u:W}g@WyX XW:W2W*WVbUBU*UUU @BWߌB BAY*BAAAA!="C *RC2Cg@C%役I G-p> o/:YV1y:%59@E >9A IE @gGiE @E =A E D̅Br,R EAue; uEY}6p@}61`@y}6LS}6Tn=}6H U`xc??@_8׿ P?1???)~6p@ ~6\;I~6Cɫ99)9 9I9Y۾@yjGxDUSBL response received:!U1,P 01B,000,00E0C,184,80,80,BA,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i]7MeJ=Y}FQU>aEEy=}>I{?5?~վ B U@97D< 4<)WGj@WX XW:W2W*WVAbUABUA*UIUIUM:^ @BxB BA`Ҽ*BAZAAA3!="Co(RCaMCGj@C*IG>lBr,,2 EA|i|@Y}6q@}6a@y}6b刽}66=}6H mH? ?ؿ`z?@i?<æ?`?)~6q@ ~6 \;I~6Cɫ99)9 =I9Y}4@y}>kG鮁ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i^I +?X9v333333?X9?} =)Iykt?/${Gz? ?#= V A) AIAip AU|>U`eiiamEuEqyu =}}>Iy :}h?5? :}վ }B U@9}?D}: }:)}:W-l@W)X) X1W1:W12W1*W1V9bU9BU9*U9U9UE)@B-BB BAs*BA AAAK!="C&RCT.NCl@Cv**?i?יIGd>UJ UUU' U9:YUWU1yU:U5=ޒBr,L EAY}2r@}2>b@y}2'󉽙}2_=}2H`=?@S?cٿ@ZV?;??@5?)~2r@ ~2 \;I~2CɫYY)Y ]IYYs@ykGxDUSBL response received:!U1,R,11B,000,00E0C,184,80,80,BA,FF Fpublishing direction and range info'|ɰ鰡 )Iyelr?8OJϿٱI)AiF<Mf=YQU>aEEy:5=}>I  X?5? Eվ B U@9 ED ; ;) WM@m@WIXQ XQWQ:WQ2WY*WYVYbUaBUa*UaUaUm@@P9*Q9ZQ=a>e@"% EJQ=elr?8OJϿ2Q='|:Q9bQ=`IeH;Wy_;ԝ>"@RQ=xDOjZ ÿS,J?BQ=S@ Q=zQ=/P=,9?P=A9?P=Q=Q=sA"Q=tABm B BA5*BAAAA!="C͙$RC}`C@m@C~M2>9CIgGiF@y; EIGn>kBr,e EAimGIi2EٺE5Bɫ11)9 =I9Y]]@y]pkGDNmea in: $SNTTA,,,,,020217.53*5E iۺM,=YMQUM>YaaEEy}>I :B?5? :;վ )B U@9NDD: Q:):m%yAdded new target pos. range: 178.260010 m, bearing: 188.906053 deg, deltaT: 4.410923 s, approachRate: 0.000000 m/s, LOS rate: -1.785995 deg/s, posRepo size: 4mU ProNav: pos range: 178.260010 m, bearing: 188.906053 deg, approachRate: 0.000000 m/s, LOS rate: -1.785995 deg/s, cmd update: -5.357985 deg/s, cmd heading: 212.842251 deg, new cmd heading: 215.075656 deg. WUkj@WQXQ XYWY:WY2WY*WYVbUBU*UUU`1??BTB BA!*BA!AAA!="C#RClCkj@CIuuuu u0:YuV1yu:um5IG >2Br,M EA||p;Y}6t@}6d@y}6,}6#=}6H`V q)?v?+ڿ*??U?@?)~6t@ ~6]\;I~6Cɫ99)9 9I9Y@y/lGiAAÝuÝÝiÝ@Ù ĝ@)ĝ@Iĝ@ięlY=Me=YQU>aEEy~=}?I3?5?վ 6B U@9TDj: :)Wh@WX XW:W2W*WVbUBU*UU U `?B!B BA*BAAAA˲!="C#*CRCICh@C ^^IfA)סIGA> >9 I lhGi @ = q; E~Br, EAY}Nu@}Ne@y}N"}Nɨ=}NH`M,?@? ۿ`5;? ????)~Nu@ ~N-];I~NCɫyy)y yIyY,@yolGi=i))=<M=R=Y=ɠQUE>AAaEEEEM&=yMJ4=}U>IY]"?5?]aվ ]EB eU@9][D]: ]:)YWrf@WX XW:W2W*WVbUBU*UUU`D?BB BA*BAAAA!="C*%RCd[)Crf@CA`׹IGE>uqqu u1:Yqyqum5)u;9DBr,ut EAY}2w@}2-g@y}2?}2-=}2Hq@M?@?@Kܿ< ? ?t?`?)~2w@ ~2hz^;I~2Cɫ99)9 9I9Y}@y}%mGi!rh?+?ˡE?l?v>> '=)Iy? rhZd;O?f&?C j<  A)"AIAiOAQA?Q8>5^>i@ "@)@IX@i"@ +=M >=YmQU>aEEy%7=}%>I) 5:- ?5? 5:-վ -TB 5U@9-dD-: -:)-:W].c@WYXY XYWY:Wa2Wa*WaVabUaBUi*UiUiUuj?BK/B BA]<*BAAAA!="CQ(RC}ܽC.c@C֥}PaIqG9>h,Br,{O EA|i|@Y}6Dx@}6h@y}6}6=}6H@l+?}?/E޿`cY?㞳?AӼ? ?)~6Dx@ ~6 ^;I~6Cɫ99)9 =I9Y}@y}NmGi2<M[=Y QU>!!a%E%E)y-=}->I15>5?5yվ 5aB EU@95lD5: 5:)1Wea@WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqU}`?B%`wB) B)A-4<*BQAUAQAQA]wi!="Ce,RCehCea@C֍,׉i׍?aIi܍>9܍CI܍3iGi܍@܍=܉܉܍y; ݍEG=>VBr,* EAɫyy)y yIyY@yXmGI)Ai!! ))];MeF=YeQUm>iiamEmEqy}}}>Iȁ :Ņ.>5? :Ņߥվ ƅoB U@9ƅtDDž: ȅQ:)ȅ:W)_@WX XW:W2W*WVbUBU*UUUDL@B=vB9 BAAE<*BAAELAAAaAmgB!="Cmx>Br, EAY}:h{@}:k@y}:}:=>}:H M?s?z1???E?)~:h{@ ~:Ni];I~:Cɫ99)9 =I9Y}@y}dnGi=q==,=QQaUEUÄEYy]X=}e>Iae>5?eվ e~B uU@9e}De': ea:)aW\@WX XW:W2W*WVbUBU*UUUaz@RB*** querying acoustic contact ***PPB B BA 9=*BAU퉽AAA* !="C3RCPz=C\@C'[׉IG>܅ >9܅ CI܅ `jGi܅ @܅ =܁ ܅ D܅ ; ݅ E)MCIMCiMCM=IMf5iBr,. EA||;Y}2)}@}2IEm@y}2}2W>}2HDN?@c`? Z@?Oܵ?@? ;?)~2)}@ ~25];I~2Cɫ99)9 =I9YEA@yEnGMZ****** received transponder code query ******MF****** received ping request ******UaEƄEy"q=}>I :q>5? :վ B U@9D; r;):WpZ@WX XW:W2W!*W!V!bU!BU!*U)U)U-e @BUkOBQ BQAUw=*BYA]҉AYAYA]0 ="Ce5RCe >CepZ@Cm(Ii)mgAAIIG8>  5:YT1y:5);9Br,4 EAY}2j~@}2 n@y}2Җ}2U >}2Hi#?pG&U9 x?=?`C ??)~2j~@ ~2/1];I~2Cɫ99)9 =I9Y}@y}DnGxDUSBL response received:!U1,P 11B,000,00E0C,184,80,80,BA,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iI)E%C?Mb?S㥛EZ?E@= E/ݼ)AIAyEV-?MbMb`?E?EE; EA)E@IE@iEMAAEp A -@ 5@ 5@-©--i-׫@- -)-@I-"@i-@]M]=YeQUm>qqaE˄Ey=}>Iȱŵ|>5?ŵgվ ƵB U@9ƵDǵBh; ȵCW@C֭ 4/ׁ I G >zBr,N EAY}6À@}6o@y}6Q1}61>}6HEBI?`2 Wl~?]?d?Q?)~6À@ ~6 ];I~6Cɫ99)9 9I9Y]@y]oGaɮaNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i99}>M}=Y}G"QU!?aË́EyS=}$?Iȡť>5?ťHվ ƥB U@9ƥDǥ%-; ȥ.;)ȡWqU@WX XW:W2W*WVbUBU*U U U<@Bc%vB< BAo=*BAA!A!A%) ="CM<RCM5>CMqU@CQ->9)I-kGi-s@-=))-; -EEoMI) 0:YW1yč:5)Ս;G]>Br,"rh EA|i|Y}>+@}>rp@y}>n}>~=}>H k?y?$dr?`?`? 2?)~>+@ ~>/];I~>CɫYY)Y ]IYY6@y,pGi=<MEO=YMWQUU>aaamEmЄEyyj=}>Iȩ :ŭ>5? :ŭվ ƭB U@9ƭDǭ; ȭm;)ȭ:W]R@WYXa XaWa:Wa2Wa*WiVibUBU*UUU @B=0TyB9 B9A==*BAAEE|AAAAAE’="Cmu>RCm >CmR@Cq}yb]ׅ?iׅ?QIiG}>Br,F\ EAY} *v@} q@y} Ž} Q=} H =??@n@IJ??N?t?)~ *v@ ~ ];I~ ɫ) IYeL@ymGpG}DNmea in: $SNTTA,,,,,020221.96*52 Iy)yi   > ¾iG@ )­@I@i9@g;M?=YQU>aEԄEyS<}>I  w>5? }վ B U@9 D ӻ: :) W=XP@W9X9 X9W9:W92WA*WAVAbUIBUI*UIUIUMHh@BuRKwBy ByA}=*ByA}.WAAA="CARCCXP@Cԙԙe0  5:YT1y:59@% >9% CI% mGi% @% =% ND! % ; % EBr,) EAY}2A@}2Uq@y}2ɽ}2]=}2HW?Z?=Ó4? $?+D??)~2A@ ~2Q'];I~2Cɫ99)9 =I9Y}.@y}]qGAAiO=Mb=YjQU>aEׄEy:X<}>I :Ih>5? :Dվ B U@9Db: M:):WpaN@WX XW:W2W*WVbUBU*UU U z@B5mB1 B1A= =*B9A=o)A9A9A=G="CEfBRCACMpaN@CI-.=Q9=CiunGIi eFٺim6BIG>Br, EA||ɫ髙) IYx@yqGia ie@a e a me@a e a qe@a e a em@a m õ>õyõA`>iõQ@ñ ĵ9@)ĵX@Iĵ"@iı2<M:=YQU>aEڄEy}>IIU>5?վ B U@9D5: >)W KK@WX XW:W2W*WVbUBU*U!U!U%@R-B*** querying acoustic contact ***P)P)BUinBQ BQAU>*BQA]툽AYAYA]="CeqERCaCeKK@Ci%<3=I)" /:YU1y:5IGj>Br, EAY}2@}2F3q@y}2_ͽ}2b"h=}2H p??@8@@uɺ??ڬ?@?)~2@ ~2MH];I~2Cɫ99)9 9I9Y}@y}SrGi+=M_=Y+лQU>aE݄Ey}>IȹŽtE>5?Ž`վ ƽB U@9ƽDǽ|: ȽN?)ȹWI@WX XW :W 2W *WVbUBU*UU!U%` @B3gB BA>*BAeAAA="C ZXGRC1C5I@C9AA)A A>9ItoGi@ =; ǗE  >֕$>iIyG>Br, EAY}2W@}2Pp@y}2ν}20<}2H g?? @(?>Ź??@?)~2W@ ~252];I~0ɫ99)9 AIAY}@y}[sG鮕a=ɮR=i=M D=Yq_QU>))a5E=EAyUt}]>Iq :u2>5? :uJվ uB U@9uDu< u?)u:W5QF@W9X9 X9W9:W92W9*WAVAbUABUA*UAUIUM@BLaB BAg/>*BAeAAA="CGtG@RCCQF@COLI>סIGC> 2:Yy5Cr,) EA|i|Y}6G@}6p@y}6!ͽ}6͈{}6H@/@yP?h?;=䴫?F?Ho?)~6G@ ~6^;I~6Cɫ99)9 =I9Y@ysGifA  @  @  @ ©  i @  @) @I @i ­@~<MI=Y%:QU%>!)a-E-E)y5/}5>I9=!>5?=վ =B EU@9=D=s: =?)9WmϞD@WiXi XiWi:Wi2Wq*WqVqbUyBUy*UyUyU@a@B[B BA5>*BAAAAL="CrE@RCCϞD@C-av>5?i5?IG-,> >9 I hqGi 6@ = ; җECr,;p EAY}:~@}: o@y}:(˽}:=}:HSe@?V?`k@<|?qZ?ԃ ?)~:~@ ~:B^;I~:Cɫ99)9 9I9Y}R@y}sGxDUSBL response received:!U1,N,80,80,63,E4 C,184,80,80,BA,FF ZNo reply:!U1,N,80,80,63,E4 C,184,80,80,BA,FF -aEEy}>Ișŝ7>5?ŝվ ƝB U@9ƝDǝc: ȝ$@)șW"B@WX X W:W2W*WVbUBU*UUU%@k@Bm[Bi BiAu@>*BqAuˇAqAqAu="C-B@RCC"B@Cԡԡ>י .:YV1y:65IGe>)Q;9. Cr,MK7 EAY}2G}@}2m@y}2ǽ}2m}2H .&??@a=@ޟ`:?鶿 ?)~2G}@ ~2u`;I~2Cɫ99)9 =I9Y}@y}vtGi6only read 1 of 4 data items <M D=Yx;QU>yaEEy[}>Iȑŕ?=5?ŕ־ ƕB U@9ƕDǕ : ȕ@)ȑW?@WX XW:W2W*WVbUBU*UUU`m@BUB BAL>*BAzAA A _="CN=@@RCC?@C!IG5O>Cr,F&Q EA|4<|p;Y}6{@}6Hl@y}6bŽ}6v}6H7@F!??? @OAf3?@ґ?)~6{@ ~6j`;I~6CɫYY)Y aIaY@ytGi=MN=Yh;QU>aEEy}>I=5? ־ !B U@9D; 5@)WM d=@WIXI XIWI:WQ2WQ*WYVYbUYBUY*UYUaUe @B 3QB  B A Y>*B)A5A1A1A5jz="C= d=@RC9C= d=@CA}hA}hAܩ9ܩIܭ\sGiܭ@ܭ =ܩܩܭ; ݭ՗E)CICiC == 6!I))) IG1p  <:YDW1yY:5)N;@Cr,k EAɫ) IY @yvG%=i%=iAI,=M==YQU>aEEy}>IW=5?־ 0B 5U@9Dqa< Q@)W]e:@WYXY XYWY:Wa2Wa*WaVabUaBUi*UiUiUu @R}B*** querying acoustic contact ***PyPyB!JB BA&w>*BAAAA="CH;@RCCe:@C >=v>IGn>@*!Cr, EAY}6!x@}6I=h@y}6C}6ћD}6H&d?`c?`sݿ &?'Qȿ`E?)~6!x@ ~6b`;I~4ɫ99)9 =I9Yug@y}vG}Z****** received transponder code query ******F****** received ping request ******aaaeEeEaymV}m>Iqu=5?u־ u=B }U@9uDu: u?j@)qWu8@WX XW:W2W*WVbUBU*UUU!@B}*DB BA\>*BAJAAA|8="C.9@RCCu8@C> 0:YWU1y:59@IGi>i 9m CIm uGim @m =i i m ; m ؗER'Cr,鷞 EA|i|@Y}6'/v@}6yJf@y}6>}6OY}6H u?[W? ܿ@@Y@/'ÿ?ʿ$?)~6'/v@ ~6`;I~6Cɫ99)9 =I9Y}@y}vGxDUSBL response received:!U1,P 80,80,63,E4 C,184,80,80,BA,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i<MQ=Y ^;QU>aEEyi}>IIM=5?M־ MKB U@9MDMD< M@)IWM5@WQXQ XYWY:W2W*WVbUBU*UU!U-"@B=ғKBA BAAM>*BIAu߲AqAqA}&p="C5@RCC5@CԡԥhA ?΅> ?i ?י I G >|-Cr, EAɫ髙) IYI@ywGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)AiENonly read 0 of 1 data item for altitude-u6only read 3 of 4 data items}'=M}4=Y}QU>aEEy}>Ișŝ=5?ŝ=#־ ƝYB U@9ƝDǝ: ȝ(@)șWm3@WX XW:W2W*WVbUBU*UUU@n#@B+B BAz>*BAT^AAAL="Ce4@RCCm3@C~~ 0:YT1y@:5ֽ>ױIG>e4Cr,p EAɫ髙) IY[@yxGxDUSBL response received:!U1,R,15E,000,00D4D,186,80,80,BA,FF Fpublishing direction and range infoaɰx>> )Iy&C^iل?->ӿٱi%=M-c=Y)QU->11a=E=E9yA}E>II U:M=5? ]:M&(־ MeB ]U@9M DM#; Mś@)M:W@1@WX XW:W2W*WVbUBU*UUU&)$@P*Q&CZQlnGc@+Cn0IJQ^iل?->ӿ2Qa:QbQȽ\d |j9N9@RQs^@6gRÿe;O0k?BQR@ QSQ"P?9?P,9?PQQ A"QsAB}b,By ByA>*BAS䄽AAA6W="C>1@RCC@1@C>9IwGiK@=MD; ޗEֽ>yIG^>i =nGI i % Dٺ! % 4B:Cr,M EA|b;|b;Y}p@}`@y}Y}Tt}HU4?@Q?H׿ <=ȿJ?`.ο=?)~p@ ~r^;I~Cɫ髑) IYE@yxG]TNmea in: $SNTTA,0.117062,,,,020227.62*42 iii   ý?ýýEiý\@ý Ľj@)Ľ@IĽ@iĽ @M2=Y;QU>aEEyB}>Iv=5?-־ tB U@9DN: ^@)m%Added new target pos. range: 166.800003 m, bearing: 188.867995 deg, deltaT: 10.082287 s, approachRate: -1.136648 m/s, LOS rate: -0.003775 deg/s, posRepo size: 4m5 ProNav: pos range: 166.800003 m, bearing: 188.867995 deg, approachRate: -1.136648 m/s, LOS rate: -0.003775 deg/s, cmd update: -0.011324 deg/s, cmd heading: 158.684380 deg, new cmd heading: 156.244172 deg. W5?1@W9X9 X9W9:W92WA*WAVAbUABUI*UIUMd@UMH?Bu0I3By ByA}7>*ByA}VAyAAϯ="C0@RCC?1@C֙Iױ)ױ}} z.:YkS1yԊ:65בIG>{wACr,& EAY}2vn@}2 _@y}2}2x}2H ? ?zտ`yJNɿ@?_ο@?)~2vn@ ~25_;I~2Cɫ99)9 9I9Y}@y}zG=i=iM'>MMg=YM;QUM>QQaUEUEYy]}]>Iae>e=5?e0־ eB mU@9eDe: e@)aW=1@WX XW:W2W*WVbUBU*UUU`?BB BA>*BAӃAAAg="C/@*CRCC=1@CE>)I9GUT> >9 I yGi @ =  D ;  ,GCr,2 EAY}2Fm@}2b]@y}2au}2!|}2H`SH?{"? Vӿ@Gʿ3?!Ͽ ;?)~2Fm@ ~2^;I~0ɫYY)Y YIYY@yzGi5<M=K=Y=:QU=>AAaEEEEAyM3}M>IQUPQ=5?UB4־ UB ]U@9U#DUp: U@)QW<1@WX XW:W2W*W V bU BU)*U1U1U5?B1!B BAº>*BAM0AAAk="C1@RCC<1@C >I Gmx> 2:YWU1y:5)Տ;9MCr, 9 EA|i|@Y}6dk@}6[@y}6oR}6B~}6H4z?`Wo?Jҿ˿b?@ eϿ@e?)~6dk@ ~6|u^;I~6CɫYY)Y ]IYY*@y0{Gia ia i a ma m a qa q a ea e 5^I ?`"?Q?= u)Iy9v?S㥫?Mbp??/]=; µ@)µAIµQ@iµnAAÍ5>ÍlÍ{iÍ@É čK@)č@Ičič@E<M6=Yơ:QU>aE EyCq}>Iȱŵ<=5?ŵ9־ ƵB U@9Ƶ+Dǵ: ȵf:)ȱW,;1@WX XW:W2W*WVbUBU*UUU7?B% B) B)A->*B)A-A)A)A5I="C50@*C9RC9C=,;1@C9MM MMIG >WTCr,S EAY}Fi@}FZ@y}F}FZ@}FH`@?:?@Sп`˿ ?.Ͽ?)~Fi@ ~F'^;I~FCɫqq)q uIyY*@yj|GI1)1i99mP=Mu_=YuE;QUu>yya}E}Ey[}>Iȉō+=5?ō=־ ƍB U@9ƍ2DǍʽ: ȍ:)ȉW91@WX XW:W2W*WVbUBU*UUU 4@B B BA>*BAgAAA[="C 91@RC C91@Cܭ>9ܭCIܭ,{Giܭ&@ܭ=ܭNDܩܭ; ݭݗEׁIG> 0:YW1yč:[5);VZCr,m EAY}(4h@}{OX@y}Ԁ}c*~}H ^@?½?@8οFM ̿;?TϿ ?)~(4h@ ~ 1^;I~Cɫ) IYE@yE3}Gi-=oNi@ )-@IK@i-@~?=M@=Y:QU>aEE!y%}->I) 5:-+=5? =:-~B־ -B =U@9-:D-: -:)-:W]81@WaXa XaWa:Wa2Wa*WiVibUiBUi*UqUqUun@BN B BA>*B!A%r5A!A!A%e="C-81@*C)RC)C581@C11IAG]4>aCr,Hl EA||4aEEy2}>IY=5?E־ B U@9AD: f:)Ws71@WX X W :W 2W *W VbUBU*UUU>y@R%B*** querying acoustic contact ***P!P!BEBI BIAM>*BIAMAQAQAU="C]s71@*CYRCYC]s71@Ca1I9GU= ~~ [:YT1y@:59@ܵ >9ܵ CIܵ }Giܵ @ܵ =ܵ ODܵ Dܵ ; ݵ ٗE)ECIAiECE=E=E47rgCr,H EAY}2d@}2պT@y}2U}2s,x}2H [??hǿ`^K̿õ?ο ?)~2d@ ~2 M^;I~0ɫ99)9 =I9Y@y2~GZ****** received transponder code query ******F****** received ping request ******99aEEEEAyM }M>IY e:]u<5? e:]I־ ]B mU@9]ID]+; ];)]:W61@WX XW:W2W*WVbUBU*UUU @B)6B BA>*BAAAA="C61@*CRCC61@C  I9G@>JnCr,u" EAɫyy)y }IyY@yVGp=ɮp=xDUSBL response received:!U1,P 15E,000,00D4D,186,80,80,BA,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iUd;O?ˡE?V-U?U= U)QIQyUK?MbMbp?U^?UQ Uj@)UAIU@iUOAQU\A- W-!-?i-µ@) -Ը@)-j@I-j@i-U[=MU=YeQUe>iiamEmEiyu}}>Iȉōj<5?ōL־ ƍB U@9ƍSDǍn; ȍ>i;)ȉ  4:YU1y:5W}A41@WyX XW:W2W*WVbUBU*UUU`l@B5, B1 B1A5v>*B1A= \}A9A9A=="CEA41@*CARCACEA41@CII IQ Gu >uCr, EA|i|Y}B1a@}BMQ@y}Bz }Bx}BHź?? ` 6Ϳ@z?ο*?)~B1a@ ~B!^;I~BCɫiq)q qIqYF@yGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i99u=Mu=Y}̈́;QU}!?yyaEEy G}"?Iȑ :ŕ<5? :ŕM־ ƕB U@9ƕXDǕ : ȕ:)ȕ:Wr31@WX XW:W2W*WV]>9YI]Gi]S@]=YY]; ]ؗEbUBU*UUUG@BB < BAC>*BAE|AAAu}="Cr31@*CRCCr31@CIG (>y3{Cr, EAY}NN_@}NO@y}Nd}NTy}NH+#v?@?C ͿQ?@ο_?)~NN_@ ~N`^;I~NCɫii)i mIiYv@y )/CIy=RB/q? ùp?ٱI)AI)i Md?M/ݼM;iM @I MK@)MK@IMiM^@]o<M]K=Ye:QUe>aiamEm!Eiyu}u>Iy}N<5?}N־ }B U@9}`D}: }:)yW$21@WX XW:W2W*WVbUBU*UUU@P*Q=RBZQt8CAJ@'@JQ/q? ùp?2Q+=:QbQ pŠRIЕCؕW@RQʸMION¿?Gv?BQmER@ QQOP]9?P?9?PQQ%A"Q ABB˼B BA#?*BAzA A A  ="C$21@*CRCC$21@CױIG">  1:YV1y:m5sCr,EAY}]@}N@y}!}|}Hl?@.?gU_ο&?(Ͽ!?)~]@ ~^;I~Cɫ) IYM}@yUހGDNmea in: $SNTTA,,,,,020232.07*58 i =M @=YC;QU>aE$Eyo}%>I) 5:-Ѡ<5? 5:-mO־ -B 5U@9-hD-4: -:)-:me}Added new target pos. range: 52.559998 m, bearing: 188.244562 deg, deltaT: 4.450036 s, approachRate: -25.671703 m/s, LOS rate: -0.140096 deg/s, posRepo size: 4mu ProNav: pos range: 52.559998 m, bearing: 188.244562 deg, approachRate: -25.671703 m/s, LOS rate: -0.140096 deg/s, cmd update: -0.420288 deg/s, cmd heading: 158.633987 deg, new cmd heading: 158.629171 deg. Wu 0@WyXy XyWy:Wy2Wy*WVbUBU*UUGJ@UZ?BuĂϼBq BqAuZ ?*ByA}[xAyAyA}="C 0@*CRCC 0@CIG K>] >9] CI] RGi] @] =] ND] D] ; ] ݗE\=Cr,K"EA||;Y}6a\@}6p|L@y}6&}6YC~}6H@@n?UM?Jο?`ZϿ?)~6a\@ ~6^;I~6Cɫ99)9 =I9Y@y%GiQQ=MS=Y;QU>aE(Ey}>4>inmGII i)<5?O־ B EU@u)<ٺy,B9pDڄ= =)WM0@WIXQ XQWY:W2W*WVbUBU*UUU@?BɼB  /:YWU1y:65)7;9 BA ?*BAvAAA`="C0@*CcRCC0@C = I G >qgCr,@j<EAɫ髙) IY@yGQiU=]4=i]19a=E=+E9yE}E>IIMw<5?M;P־ MB UU@9MxDM: M>)IW0@WX XW:W2W*WVbUBU*UUU-?Bu(灼Bq BqAu?*BqA} uAyAyA}\ ="C0@*CXRCC0@Cх8OCr,GVEAY}6Y@}6E3I@y}6}67y}6H`d~?`a`ο?xοg?)~6Y@ ~6];I~6Cɫ99)9 =I9Y]@y]FGik=M`=Y;QU>aE.E y 9} >I :Qe<5? :O־  B %U@9D: EI?):Wo0@WX XW:W2W*WVbU>9ILGi/@=; חEBU)*U1U1U5 ?B}J~By ByA}?*BA<,sAAA( ="Co0@*C0(RCCo0@CѽD-<יI 0:Yy5)Z;Ge>lyCr,q pEA|@i|Y}6zW@}6ەG@y}6e}6v}6H@ڤ\??(>οr?mο1?)~6zW@ ~6];I~6CɫQQ)Y YIYY}@y}TGi 5@ 5@ 5@5©55i5@5 5Ը@)5Ը@I1i5Ը@E;MEF=YE%;QUM>IIaMEM1EQy]y}]>IaehP<5?eKO־ eB mU@9eDec: e?)aW @0@WX XW:W2W*WVbUBU*UUU@BM2 BI BIAmT?*BiAuM/qAqAqAu ="C} @0@*C}޼RCyC} @0@Cϩϩ)Щ Щ1I9GU>YaCr,EAY}2U@}2$ F@y}2m}2v}2H@Nz? ?οQ?oο@?)~2U@ ~2y];I~2Cɫ99)9 9I9YS@yGI9)9iAAuJ=MuG=Y}b;QU}>yaE4Eyo}>Iȑŕ;<5?ŕNN־ ƕ B U@9ƕDǑ ȕ?)ȑW0@WX XW:W2W*WVbUBU*UUUyb@BhjB BA ?*BA'*oAAA c ="C0@*C,RCC0@CׁIG >  4:YDW1yY:[59@>9IGit@= D; ۗEhCr,֣EAY}:QT@}:plD@y}:Ӗ}:eu}:HYuw H?`|? `ο ֲ? LοR?)~:QT@ ~:p];I~:Cɫ99)9 9I9Y}@y}G@Ai)ý= ý=%=MV=YW;QU>aE8EQy}N}>IȹŽ'<5?ŽL־ ƽ+B U@9ƽDǽ< Ƚ@)ȹW/@WX X!W!:W!2W!*W!VYbUBU*UUU @R-B*** querying acoustic contact ***P1P1BpB BA#?*BA lAAAu ="C/@*C ;RCC/@CI!GEs>Cr,EA||p;Y}6*R@}6~B@y}6>}62v}6H@j`||?M?;Ͽ@C?@pο@x?)~6*R@ ~6)_^;I~4ɫ99)9 9I9Y]K@y]5GeZ****** received transponder code query ******eF****** received ping request ******euףu=iuµ@u u@)uj@Iqiu@=M1=Y;QU>aE;Ey d}>Iș :ŝ<5? :ŝ K־ Ɲ;B U@9ƝDǝ@: ȝ:)ȝ:WM{/@WIXI XQWQ:WQ2WQ*WQVYbUYBUY*UYUYUe@ @BB BA'?*BAjAAAX ="C{/@*C<RCC{/@CIGE> YW1yč:5Cr,EAY}2~1Q@}2LA@y}2e,}2u}2HU\F??@g?Ͽ?\ο/?)~2~1Q@ ~21 _;I~2Cɫ99)9 =I9Y}@y}GxDUSBL response received:!U1,P FD0,000,005DD,184,80,80,AF,FF Command AckBRequesting micromodem ping code 2i=i=R=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i=Mg=Y :;QU>!)a5E5>EAyU }]>Iy>9CI܂Gi@=; ٗE)-CI-Ci-C-=-=-7};5?}I־ }HB =U@9}D}< }<)yWx/@WX XW:W2W*WVibUqBUq*UyUyU @B B BAD.?*BAdNhAAA="CMx/@*CM~+=RCICMx/@CYיIGh>ǻCr,+hEAY}:O@}:?@y}:}:55u}:H`jD;Ŀ2??H?Ͽ?`|Jο@q?)~:O@ ~:^;I~:Cɫ99)9 =IAY}0@y}ƒG鮁ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iYa @ @ @©i(@ (@)@Ii^@;M;=Y;QU>aEBEyw} >I :;5? :F־ WB U@9D+: Y:):W=J/@WAXA XAWA:WA2WA*WIVIbUIBUI*UQUQUU8@B}缻B BA.?*BAKfAAA|="C J/@*C !u=RCCJ/@CIG )>~~ 1:YT1y@:mCr,FC EA|@i|ɫyy)y }IY @yIGxDUSBL response received:!U1,R,E50,000,00CF9,186,80,80,AF,FF Fpublishing direction and range info>ɰ>> )Iy!C% ?{.MZ?ٱi=M\=YQU> a E EEy}>I!%;5?%2D־ %dB -U@9%D%: %:)!WU/@WQXQ XYWY:WY2WY*WYVabUaBUa*UaUaUmq@P*Q!CZQ/b@T,M@JQ% ?{.MZ?2Q>:QbQ>25ccd~#A%RQOPH:�e(˿y^BQW@ Q_ QP?9?P]9?PQQ+@"Q%ABemûBa BaAe5?*BaAmcAiAiAm="C/@*Cd`=RCC/@CסIG">>9CIrGi@= D; ϗECr,+%EAY}fYL@}fYt<@y}fƎ}fny}fH@Qi6ʿ`??[Ͽ@%?@ο`~?)~fYL@ ~fh];I~fCɫ) IY5?@y=iG5TNmea in: $SNTTA,0.181057,,,,020236.51*4B I1)1I9)9i 鿱{Gz?y&1?ʡE?#?`< =)Iy}?5^I?~jthQ?M"?Du< …@)I…@i…vAA   cK?i@ @) AIij@B<M=Y;QU>aEIEyz}>I  %: ;5? %: @־ sB -U@9 D d; d;) :{  =:Yy$5);9myAdded new target pos. range: 161.759995 m, bearing: 192.533675 deg, deltaT: 4.451280 s, approachRate: 24.532269 m/s, LOS rate: 0.963568 deg/s, posRepo size: 4m ProNav: pos range: 161.759995 m, bearing: 192.533675 deg, approachRate: 24.532269 m/s, LOS rate: 0.963568 deg/s, cmd update: 2.890705 deg/s, cmd heading: 156.771561 deg, new cmd heading: 156.546633 deg. W0@WX XW:W2W*WVbU!BU!*U!U%Q8d@U%^8?B>B BAh7?*BA`AAA!="C0@RC\E>C0@CשIG>Cr,>EAY}:J@}:٫:@y}:ءx}:;"u}:H#@4Ϳvr?|?`3DϿ`X?CKο?)~:J@ ~:q];I~:Cɫ99)9 =I9Y]@y]ȄGiEf=ME=YM;QUM?IIaUEUKEQy]ɽ}]?IaeO;5?eE>־ mtI e{B mV@9eDel: eW:)aW1@WX XW:W2W*WVbUBU*UUU Ie?B*<B BAEC1@CIG>iCr,{XEA||;Y}6H@}6Y8@y}6p}6sco}6H`gп\h? ο`?Ϳj?)~6H@ ~6B];I~4ɫQY)Y ]IYY@yԄGi5 ;M5K=Y=;QU=>99a=EENEAyE\}M>}>9}CI}:Gi}@}=}ODy}; }͗EI;5?:־ B V@9D: :)W53@W9XA XAWI:WY2Wa*WaVibUiBUi*UqUqUuR?BB BA 0:YX1y/:5) ;iunGI i!Uu=ٺQU).BCr,rEAY}6>F@}66@y}6*h}6dl}6HO9ҿL؆? @3 οk?~FͿ`Z?)~6>F@ ~6];I~6CɫII)I IIIY}@y}VG=i=iiA55533?i5 @1 5^@)5^@I5@i5t@E=MEI=YM;QUM>IQaUEUREYy]}]>Ia m:eˀ;5? m:e6־ eB uV@9eDeR: e:)e:W \4@WX XW:W2W*WVbUBU*UUU?B9B BAqC?*BAX/ZAAA="C \4@RC\=C \4@C֝;>yIG^>eCr,LEAY}:E@}:5@y}:R_}:n}:Hi ӿ@Ŕ?@s3ο`? Ϳ?)~:E@ ~:1];I~:Cɫ99)9 =I9Y>@yGi!!5=M5L=Y=;QU=>99a=EEUEAyE}M>IIMol;5?MN2־ MB ]V@9MDM: Mf:)IW}5@WyX XW:W2W*WVbUBU*UUU@B];B BA`G?*BAWAAA*O="C5@RC+=C5@CAz|>שIG!>  a4:YDW1yY:59@}>9}CI}ЄGi}@}=y} D}; }ЗE'Cr,eEA|i|Y}N_C@}NTz3@y}N(MW}N3q}NH`'?Uտ_`%?`;pZοx?@Ϳ?)~N_C@ ~N ];I~NCɫy髁) IY@yGiyCl?B`"۹?~jt?d?= <)Iyjt?Mb? ?̼= @)AI^@iAGA @ @ @©iA )AIi <M $=Y *;QU >aEYEyS}>I! -:%S;5? 5:%,־ %B 5V@9%D%: %D:)%:WO7@WX XW:W2W*WVbUBU*UUU )@RB*** querying acoustic contact ***PPB] TB BA2K?*BA_TAAAv="CO7@RCl:CO7@Cu@>1IAG]>Cr,IEAY}BA@}B1@y}BmN}Bt}BH @ֿo6@?`h{οʩ?`L-ο@a?)~BA@ ~B ];I~BCɫqq)q }IyY@yGZ****** received transponder code query ******F****** received ping request ****** %>-=<M5=Y5;QU=?9AaEEE[EAyM4}M?IY]D;5?]'־ ]B eV@9]D]: ]A:)YWef\8@WaX XW:W2W*WVbUBU*UUU`~@BPN5<B B A eM?*B A >RA A A="Cf\8@RCzCf\8@C%)]>IG-N> ]-:YU1y:[59Cr,EAY}2}@@}20@y}2D}2Z`p}2H  f׿{AX?6Ϳ` ?ѼͿ'?)~2}@@ ~23];I~0ɫYY)Y ]IYY@yGxDUSBL response received:!U1,P E50,000,00CF9,186,80,80,AF,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iE>9ECIEfGiE@E=AAE; EʗE=ML=Y>;QU>aE_E!y% L}%>II e:M/;5? m:M!־ MB V@9MDM"< M<)M:WC9@WX XW:W2W*WVbUBU*UUU`\ @B-p;B1 B1A5S?*B1A58OA1A9A=_ ="C=C9@RCCC9@CE!=9IYG> dCr,EA|,|,Y}RmF?@}Ra/@y}R7}R1i}RHmZؿ?5̿`?̿ u#?)~RmF?@ ~Rx];I~RCɫyy)y }IyY@y|G%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i   t?VScif@ t@)(@Iit@]M<=Y+;QU>  a E bEyA}>I;5?־ B %V@9D{: f:)WM:@WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYU]@) @B%p <BI BIAM_R?*BIAMLAIAQAUpb="CU:@RC]C]:@CYmhAmgAEh=I G5O> 1 !]:YV1y:#5KDr,V EAY}6m=>@}6X.@y}6H*}6g_}6H`%: ٿ|?pw˿x@?`z˿`Z6?)~6m=>@ ~6I];I~4ɫ99)9 =I9Y}1@y}׆GxDUSBL response received:!U1,R,1AC,000,00CD5,186,80,80,AF,FF Fpublishing direction and range infot;ɰ>鰁 )IyC!75?>8^.$Z׿ٱ=i=i¹½hAK=Ma=YaEeEy5}>I2 ;5?q־ B V@9D; ;)W-t$<@W)X) X)W):W12W*WVbUBU*UUU&@P9*Q=CZQ=ƅb@FKMJQ=!75?>8^.$Z׿2Q=t;:Q9bQ=~i \Ւ[@?2@RQ=~濕eXr?]$_?BQ=@ Q=BQ=cP=9?P=?9?P=Q=Q=A"Q=+@B@%<B BAW?*BA. JAAAq<"Ct$<@RCNYCt$<@C9I!G=r>>9CIʅGi|@ =D; )ݵCIݵCiݵCݱݵ=ݵ6w Dr,|'EAY}]=@}x-@y}}(R}H7 ڿgX?[8ɿU? 8ʿ[N?)~]=@ ~^;I~ɫ) IYu@yuGDNmea in: $SNTTA,,,,,020240.55*5A igfffff?v?EԸ3>x> ƽ)IyS?&1Mbp??P; n@)AI@iAA5>59=5C i5(@1 1)5@I1i5^@E<MM=YM;QUM>QQaUEUiEQy]ؼ}]>Ia m:e+:5? m:e ־ eB uV@9eDe#: eA:)e:mAdded new target pos. range: 159.600006 m, bearing: 135.063262 deg, deltaT: 4.045056 s, approachRate: -0.533982 m/s, LOS rate: -14.207570 deg/s, posRepo size: 4m!ProNav REINIT: LOS rate is -14.207570 deg/s. Setting heading cmd to target bearing of 135.063262deg and heading rate command to 0 deg/s.W@WX XW:W2W*WVbUBU*U9U=@3c@UE ?B;B BA Z?*BAF 3:YU1y:$5);9AAAZ <"Cm;@RCC@C`k=׉IG>]Dr,߈AEA|i|ɫyy)y }IyY@yMGi99u=Mu=Y}QU}?yaEkEy}?IȑŕW:5?ŕ־ ƕB V@9ƕDǕD: ȕ׾:)ȑWWX XW:W2W*WVbUBU*UUU@o?B}j<By BA]?*BAnDAAA<"Cl~:@RC8Y׽CC ե=ԥ=օ*0Dr,i[EAY}V<@}Vi ,@y}V}VE4}VHۿ`{?]D ſy?Whƿ }?)~V<@ ~V*^;I~VCɫ髑) Iܽ>9ܹIܽGiܽ@ܽ=ܽPDܹܽ; ݹYUG@yUGI)i)= =<MC=Y&aEoEy M}>I  : :5? : N־ B V@9 D o: Y:) :W9W9X9 X9WA:WA2WA*WAVAbUIBUI*UQUQUUQq?BK<B BA_?*BAlAAAA^<"C }7@RC  [C C2ļיIGA> ,:YW1yč:5);Dr,?uEAY}6;@}6+@y}6+oμ}6A:"}6HBܿ@iHa?Cӂÿ`2͙?/Ŀז?)~6;@ ~6^;I~6Cɫ99)9 =I9Y]J@y]!GieyyaErEy֝}>Iȑŕ:5?ŕ}վ ƕB V@9ƕ'DǕ#: ȕ :)ȑWWX XW:W2W*WVbUBU*UUU?Bri<B BAg?*BAY>AAA <"C3@RCCCMЉI G5O>z#Dr,-EA|4<|ɫ) IY %@y  Giyy .M A=YQU>aEuE!y-}->I9 E:=K:5? E:=վ =B MV@9=/D=h; =B;)=:WiWiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUyU}<@B\'y<B BAf?*BA\;AAA<"C-@RC=CCgA֥潹yIG<> 0:YV1y:[59@ܵ>9ܵCIܵ.Giܵ@ܱܱܱܵ; ݵŗE)Dr,fEA(.ʕCir=nGIi9@ٺQ1Bɫ) IY%@y-zG1i1i99AAJ>^Zʡ=i@ @)@I(@i?@C=M0=YQU>aEyEy}>I#:5?վ B  V@98D: :)W)W)X) X)W):W12W1*W1V1bU9BU9*U9U9UE/@BmP{<Bi BiAmKl?*BiAu8AqAqAuF<"C}'@RC}<=CyCu)I9G]>0Dr,EAɫ髹) IY@yGi5;<M==Y9QU= ?AAaEEE{EAyI}M ?IQUL:5?UQվ U B ]V@9U>DU: Uʽ:)QWWX XW:W2W*WVbUBU*UUU@6t@RB*** querying acoustic contact ***PPB<B BA8m?*BA5AAA>)<"C#@RC*>CC-U齹IG)>zz 2:YQ1y:56Dr,ūEA|i|Y}2j<@}2,@y}2|F}28w}2HLۿoV?@  h?+⮿ ?)~2j<@ ~2b^;I~2CɫYa)a eIau>9qIqiqu=qqu; uƗEY7@yGZ****** received transponder code query ******F****** received ping request ******aEE!y-:=}->I1 E:5|:5? E:5yվ 5B EV@95FD5; 5U;)5:WWX XW:W2W*WVbUBU*UUU` @BE`<BI BIAM/o?*BiAuh2AqAqAu<<"C}@RC} x>CyCm!I1GM1>^=Dr,aEAY}J=@}J-@y}J";}J}JH fڿ`Xօ?@`Yd`ҝ?)~J=@ ~JzQ^;I~Hɫ髱) IY@yGxDUSBL response received:!U1,P 1AC,000,00CD5,186,80,80,AF,FF Command AckBRequesting micromodem ping code 2iI )  Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i)151>5?5ti5̼@1 5(@)5I5^@i5(@}<M)=Y7aEE9yEi<}E>IIMf:5?Mվ MB UV@9MPDMʽ: M׾:)IWWX XW:W2W*WVbUBU*UUUV @BeDR<Ba BaAm1r?*BiAuބ.AqAA<G  |9:YY1y:5"C`,@RC >CC -$IG >CDr,aEAY}2>@}2r.@y}2[<}2)=}2HP ٿ`O?`OPD?`eog?)~2>@ ~2Ï^;I~2Cɫ99)9 =I9Y}B@y}GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iMi=Ye>9aIeGie@e=aae ; e͗EJDr,O*EA|B;|B4<ɫ) IY%@y-G)ɮ)5xDUSBL response received:!U1,R,18C,000,00CB3,186,80,80,9E,FF 5Fpublishing direction and range info5;ﰾ1ɰ5)>1 1)5CI1y5C5?<տٱ1iII6only read 2 of 4 data itemsa i@a  a m@a  a q@a  a e@a  = e }i 3@  @) t@I t@i ^@=1<M=)=YEQUE>AIaMEMEIyU}U>Iy}A:5?}վ y V@9}`D}: }>)yWWX XW:W2W*WVbUBU*UUU$@P *Q CZQ }D؇b@JJQ ?<տ2Q ;ﰾ:Q bQ l\Aja![@ RQ ڰJ;%5?͆C;Y{BQ o@ Q BQ P 9?P 9?P Q Q ۼ@"Q ABА<B BAq?*BA7(An  <:YT1y:5)+;9AAo@<"Cx@RCCC 6= ?i ?I G >PDr,DEAɫ) IYU@yňG}DNmea in: $SNTTA,,,,,020245.01*5E }=iyiM|=YQU ?aEEy} ?Ii u:mm2:5? }:mOվ mB }V@9mfDm: mR?)m:myAdded new target pos. range: 157.560013 m, bearing: 136.554592 deg, deltaT: 4.537490 s, approachRate: -0.449586 m/s, LOS rate: 0.328669 deg/s, posRepo size: 4m ProNav: pos range: 157.560013 m, bearing: 136.554592 deg, approachRate: -0.449586 m/s, LOS rate: 0.328669 deg/s, cmd update: 0.986006 deg/s, cmd heading: 135.063262 deg, new cmd heading: 135.063262 deg. W;@WX XW:W2W*WVbU BU *U Uc@U`?B}<By ByA}p?*ByAz%AAAf<"C 4@*C Sqa=RC C ;@C=3=IG5p>K$WDr,k]EAY}fN@@}fi0@y}fGT<}fm;}fH@ L ؿum@S ?`Q?쩘6y?u?)~fN@@ ~fY^;I~d>9CIʅGi|@=; ˗E)ݕCIݕCiݕCݕ=ݕ=ݕ6ɫ) IY\@yʈGi;MH=Y=QU>  a E Ey=}>I :5?=վ  B %V@9nD : ?)WMl@WIXI XQWQ:WY2WY*WYVYbUYBUa*UaUaUez?B$<Btz< BAWp?*BAX"AAA<"Cl@RCaCel@Ca w2:YWU1y:5)k;]U=1IaG>O]Dr,wEA|i|Y}F @@}FI)0@y}F]^<}F}FH7@?ؿ@nD?` t k| 6?)~F @@ ~F];I~FCɫQY)Y ]IYY@yqGiYYí~ @ííI >ií@é ĭ@)ĭ@Iĭ/@iĭ@6MO=Y;QU>aEEyZ#}>I:5?վ  B V@9uDZ: Y?)W@WX X W :W 2W*WVbUBU*UUU?B^<B BAk?*BAAAA<"C}@*CUb=RCC@C m>m4>EÞ>IA)AI!GEQ>8dDr,EAY}fu?@}f'/@y}f<}fE+}fH{ ؿL?{̜{q@?)~fu?@ ~f׸];I~fCɫ髱) IY=@y=hGI)i9MG=YK;QU>aEEyF}>I  95? վ B V@9 }D g: v@) W=ԍ@W9X9 X9W9:W92WA*WAVAbUABUI*UIUIUM h?Bue<By ByA}^k?*ByA}AyAA<"Cԍ@RC C ԍ@C *>IGI> N2:YV1y:59@>9I4Gi@=; gjDr,ӤEAY}^u>@}^C.@y}^W<}^MF}^HI`ٿ@L?@@G霿}?)~^u>@ ~^4];I~^Cɫ髱) IY@yGia i%a i% a m%a m% a q%a q% a e%a e% %jt?Dly&1?%?%O %`<)!I!y%-?A`"S㥛?%??%Y%/< %^@)%@I%(@i%^@!%@Åf?ÅÅףiÅ׻@Á ā)ąIąj@iąj@aM@=Y2;QU>aEEy}>Iȱ :ŵv95? :ŵҩվ Ƶ B V@9ƵDǵ3: ȵ]:)ȵ:We @WaXa XaWa:Wa2Wi*WiVibUiBUi*UqUqUu}?B-<B BAYe?*BA*hAAAM<"C @*Cc=RCC @C ~M<g>?i?׹IG>IMqDr,uEA|,|,Y}Z=@}ZP/-@y}ZN<}Z8ǽ}ZH)ڿ8?@]~9`?)~Z=@ ~Za4^;I~Xɫ) IY @y GiqqrMX=Y;QU>aEEyi}>I@95?վ B V@9DY: :)Wp@WX! X!W!:W!2W)*W)V)bU)BU)*U1U1U5>@B]vZ<BY BaAea?*BaAeAiAiAm!<"Cup@RCqCup@Cq=<}>QIaG}Y>  ?:YT1y:5urwDr,C<EAT9VCIVЄGiV@V=TV DV; Tɫ髙) IYR@yG=i=igA M Y=Y QU >aEEy%}%>I!%95?%iվ %B 5V@9%D%]: %:)!WU;@WYXY XYWY:WY2WY*WaVabUaBUa*UaUiUm5@RuB*** querying acoustic contact ***PqPqB^<B BA`?*BAAAAm<"C;@*Cd=RCC;@CϹϹ)й йimnGIiHٺ7BM>) I1 GU >U}Dr,YEAY}V9@}Vo)@y}V<}V~&}VH@4ݿNF6,?z}۞@FĿ?)~V9@ ~V^;I~Tɫyy) IY@y=GZ****** received transponder code query ******F****** received ping request ******M̌MA>iM@I Mt@)IIM@iM@]M]7=Ye ';QUe>aaaeEmEy}>Iȹ :Ž;95? :ŽEվ ƽB V@9ƽDǽr: Ƚ]:)Ƚ:W-\@W)X) X)W):W)2W1*W1V1bU1BU1*U9U9U=^ @Bզ<B BA5\?*BAkAAA=<"C\@*CJ=RCC\@C 0:YDW1yY:75ױIG>*Dr,NEA|i|Y}:~7@}:'@y}:C<}:]{C}:H@ ޿d1?R\5ÿ Fȿg?)~:~7@ ~:^;I~:CɫYY)Y YIaY}m@y}GAAxDUSBL response received:!U1,P 18C,000,00CB3,186,80,80,9E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iMO=Y%eQU%>)1a5E5EAyM}U>Iae:95?eվ eB }V@9eDee\; exk;)aW6@WX X!W!:WI2WI*WQVQbUYBUa*UUU @B%l=<B) B)A-X?*B)A- A)A1A5j<"C56@*C==RC= {>C=6@C9>9I:Gi@ =OD; ėEֱqIyG>Dr,,EAɫii)q qIqY@yGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)))i11 99={Gz?I +~jt?=#?=94 ==)9I9y=Zd;O?QMb?=j?==@= =@)=p AI=@i=@9=@)M= M= @ @ @Ý©ÝÝiÝ@Ý ĝ @)ęIĝiĝ(@ZM3=YQU>aEEy}>I :h95? :Džվ  B V@9D: :):WI@WX XW:W2W*W V bU BU *U UU[@B<B BAR?*BA! AAA<"CI@RCx>CI@C  }D:YU1y:65);9E}>שIG>/Dr,FEAY}6u4@}6"$@y}69<}6e}6H3`ws¿r? A !ſ4v̿/?)~6u4@ ~6^;I~4ɫYY)Y ]IYY@yGxDUSBL response received:!U1,R,C14,000,00C8F,189,80,80,9E,FF Fpublishing direction and range infoK`?ɰ>鰥7> )IyfCtda{?ԜJǕ?ٱi拽M=Y ݻQU?aEEy;}?I.95?վ &B V@9D ; H;)W=֡@W9X9 X9W9:WA2WA*WAVAbUABUI*UIUIUM`G@PY*Q]fCZQ]kFX@w ]@JQ]tda{?ԜJǕ?2Q]K`?:QYbQ]fÅFbJEw&S=RQ]TGUҿn~'ȿBQ]r[@ Q].Q]6P]K9?P]9?P]Q]Q]"Q]ۼ@BD<B BA*M?*BA AAA<"C֡@RC;>C֡@CELz>I)GUS>×Dr,`EA"gA .>9,I.Gi.@. =,.D.; .̗E|V4<|V;Y}E<2@}EmW"@y}Ed<}EAs}EHO @ÿ1?@fǿk2ο`?)~E<2@ ~E3^;I~ECɫQQ)Q UIQYyTNmea in: $SNTTA,0.105619,,,,020249.44*47 iY QU>aEEyx}>I :q95? :1vվ /B V@9D: :):m}Added new target pos. range: 155.400009 m, bearing: 196.648058 deg, deltaT: 4.322078 s, approachRate: -0.499760 m/s, LOS rate: 13.903836 deg/s, posRepo size: 4mProNav REINIT: LOS rate is 13.903836 deg/s. Setting heading cmd to target bearing of 196.648058deg and heading rate command to 0 deg/s.Wr[@W X  X W :W 2W *WVbUBU*UUlc@U@C?BE <BI BIAI*BIAMAIAQAU <"C]@RC]Ɣ >C]r[@Cae h>IIq~~ 2:YT1y@:5);Gew>fDr,]zEAY}:(q0@}:| @y}:Y<}:y}:H@~9`ȠĿ`?$5ǿꗿ<ο L ?)~:(q0@ ~:U^;I~:Cɫ99)9 =IAY}I@y}G!i%=i))9=hA   ÅZ?Å`e=ÅX9>iÅ@Å ą(@)ą@Ią @ią@XмMaEEy}>Ib95?Mnվ 6B V@9DY: :)WWX XW:W2W*W V bU BU *UUUx?B=F<B9 BAAEG?*BAAEAAAAAEƽ<"CM @RCUJ=CQCQMD> IG-->ҤDr,u;EAY}F=.@}F@y}FfQ<}F{}FH2F j4ſt?`ǿɕ`,Ͽ`g?)~F=.@ ~FJ^;I~FCɫ髹) IY @yGiNMH=YQU>aEEyc}>IR95?\eվ ?B V@9D: :)WWX X!W!:W!2W!*W!V)bU)BU)*U)U1U5 ?B]k<BY BYAeE?*BaAeAaAaAe<"Cmf%@RCu-&CqCq֝;>M>9MCIMrGiM@M=IIM; MΗE)݅CI݅Ciم݅ =݅ =݅6yIG_> .:YW1yč:I5)@;Dr,6#EA|@ɫ  )  I YE@yMsGim> ףp=?X9v:vm1?m mT)iIiymS㥛?~jth~jtxm$&?mDmĻ m@)m-AIm@im@imAv>>)>zi½@ @)@I/@iԸ@ܻM-=YQU>aEEy}>I :W>95? :Zվ :B V@9D: :):W!W!X) X)W):W)2W)*W1V1bU1BU1*U1U9U=_?Be<Ba BiAmD?*BiAmb<AiAiAm0<"Cuv+@RC}вCyCyu'>1I9GUv>YDr,EAY}2+@}2@y}23<}2^q}2H !L" Q=ſ ?8 y4ſ\4Ϳ?)~2+@ ~2^;I~2Cɫ9A)A AIAYe@yeGI)Ai)= ==VM==Y=_QUE ?AAaEEEEQy}}} ?Iȉō095?ōRվ ƍ7B V@9ƍDǍ; ȍ;)ȉWWX XW:W 2W *W VbUBU*UUU`Z@Bh<B BAZ>?*BAiAAAd<"C0@RC&DCC֭O=ׁIG>> -:YDW1yY:[59@E >9A IE GiE @E =A A E ; E ̗EDr,EAY}N3F*@}Na@y}Nen<}Nog}NHLJĿ`lR?Vÿ` @̿`k.?)~N3F*@ ~N];I~NCɫYY)Y YIYY}@y}GiEMEJ=YM5QUM>IIaMEUEQy]MW}]>Ia m:e 95? m:e/Iվ e4B mV@9eDe: e:)e:WWX XW:W2W*WVbUBU*UUUw@Bi:<B BA:;?*BAłAAAȁ<"C,5@RC CCq=סIG >~8Dr,UEA|;|4˿@E?)~6*)@ ~6^;I~6CɫYY)Y aIaY@yĄG鮭a=ɮR=i=3?=IL=Gai=@9 =^@)=Ը@I="@i=@};MI=Y:QU>aEÅEyS'}>I95?>վ 0B 5V@9D; 1;)WqWqXy XyWy:Wy2Wy*WVbUBU*UUU@RB*** querying acoustic contact ***PPB<B BA  1:YW1yč:5 Dr,|EAY}:c(@}:s~@y}:<}:ZI}:H7C¿@?@)o ɿ2`?)~:c(@ ~:Y];I~8ɫYY)Y ]IYY@yGZ****** received transponder code query ******F****** received ping request ******))a-E-ƅE)y5Q}=>IA M:E95? M:E4վ E-B UV@9EDEp; E;)E:WyWyXy XyWy:Wy2W*WVbUBU*UUU+ @B8<B BA;?*BA AAAP<"CN@@RCCC֥-»aIqG9>>9CIGih@ =D; ΗE im =nGI i vBٺ 2B H@9 7BaNDr,k/EAɫ髱) IYU@yvGxDUSBL response received:!U1,P C14,000,00C8F,189,80,80,9E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i!a i@a  a m@a  a q@a  a e@a  år辩åþåC iåf@á ĥ?@)ĥ@Iĥ@iġгM=YQU>!!a%E%ʅE)y-}->Iy}85?};'վ }(B V@9}D}e ; } ?)y"   6:Y[1yݏ:5WWX XW:W2W*WVbUBU*UU U  P@BUha<BY BYA]8?*BYA]"AYAaAe<"C`H@RCCC֝ Xq I G >m2Dr,6IEA|i|@Y}6'@}6@y}6P<}6 }6H,? ɹ`P >9 CI Gi t@ = PD ; їElDr,UcEAY}>'@}>*@y}>;<}>}>H` %@E`4?>N= ?)~>'@ ~>1^;I~>CɫYY)a eIaYd@yGxDUSBL response received:!U1,R,B58,000,00C71,189,80,80,9E,FF Fpublishing direction and range info%?ɰu> )IyC9m1?F 5==u<MEL=YM;QUM>QQaUE]ЅEYy]H;}e>Iq }:u85? :uվ u B V@9uDu: u?)u:WWX XW:W2W*WVbUBU*UUU$@P*QCZQ%nS@:5Gm`@JQ9m1?F 2:Y0Y1y:H5);9Dr,9|EAY}j(@}j1@y}ji<}jcܽ}jH@q /r?` aӭ@:̜| d?)~j(@ ~j}];I~jCɫ髹) IY@yDGeTNmea in: $SNTTA,0.278611,,,,020253.89*4C iqy @ @ @©i@ @)IiK@>MC=Yg;QU>aEӅEy<}>I85?M վ B V@9Dl: ?)m5}Added new target pos. range: 153.599991 m, bearing: 195.569503 deg, deltaT: 4.466833 s, approachRate: -0.402974 m/s, LOS rate: -0.241459 deg/s, posRepo size: 4mE ProNav: pos range: 153.599991 m, bearing: 195.569503 deg, approachRate: -0.402974 m/s, LOS rate: -0.241459 deg/s, cmd update: -0.724376 deg/s, cmd heading: 196.648058 deg, new cmd heading: 196.648058 deg. WER[@WAXI XIWI:WI2WI*WQVQbUQBUQ*UYU] 33c@U]cz?B#<B BA5?*BAּAAA|<"C<RCCR[@C ʽIGE>JoDr,}˖EA|4<|;Y}6(@}6@y}6=}6w}6H[I`H)?GuoV7W?)~6(@ ~6^;I~6Cɫ99)9 =I9Y}@y})Gi]EeM]S=Ye2iqauEuօEyy}<}}>Iȉō85?ōzվ ƍB V@9ƍDǍ: ȍ@)ȉW[@WX XW:W2W*WVbUBU*UUU:?B53<B9 B9A=+4?*B9AEL ҼAAAAAE<"CUbF:RCQCU[@CYe2D!I1G]3>܍>9܍CI܍~Gi܍@܍=܉܉܍#; ݍҗE /:YX1y/:5);ǘDr,EAY}2o)@}2@y}2v=}2S\O}2H@ͮN? 䩿j?)~2o)@ ~2>^;I~0ɫYY)Y YIYY@yRG=i=ia ia i a ma m a qa q a ea e &1?Q?l0?(> )Iyx&1?#~j~jt?!?㥽< @) AI@i@f@gAgA - - -- =-ؿ-F>i-z@- -@))I-Ը@i-@=<M===YEAIaMEMمEQyU<}U>IY]485?]Ծ Y eV@9]'D]߼: ]:)YWZ@WX XW:W2W*WVbUBU*UUUϰ?B8U<B BA@6?*BAͼAAAe<"Cw7RCCZ@C5EסIGB>ހDr,EAY}2_*@}2@y}20b=}2}2H``.*/?" ?k`W` ?)~2_*@ ~2Z^;I~2CɫYY)Y YIYY@yGiUdM]Z=Y]!;QU]>aaaeEm܅Eqy}G=}}>Iȁ :Ņ85? :ŅԾ ƅB V@9ƅ/DDž9O; ȅP;)ȅ:WUaVZ@WQXQ XQWY:WY2WY*WYVabUaBUi*UUU ?B<B BA 2?*B A nȼA A A a<"C%6RCCaVZ@C%RvIG-O> l3:YV1y:H59@܅ >9܁ I܅ Gi܅ @܅ =܁ ܅ D܅ -; ݅ חE)CICiC=6*Dr,ÚEA|i|Y}F&,@}FkA@y}F"=}F<}FH`tȡ@Ԓ`? t@i?Z ??)~F&,@ ~F^;I~DɫYY)Y ]IYYw@yGi5QM=J=Y=;QU=>AAaEEEEIyMt=}M>IQUS85?UԾ UB ]V@9U7DUǺ: U8:)QWbZ@WX XW:W2W*WVbUBU*UUU@Bi<B BA)1?*BA8ļAAAP<"C6*C8=RCCbZ@CֵՌ׉IG&>Dr,5EAY}2-@}2@y}2$=}2Vl=}2H@Jr?z???`?)~2-@ ~2^;I~2CɫYY)Y ]IYY?@ỹGIA)Ai !!)%= %=&>?i @ )-@IK@i@TM>=Y%:QU->11a=E=E9yEw|=}E>II ]:M?v85? ]:MԾ MB eV@9M@DMR; M9;)M:W#Y@WX XW:W2W*WVbUBU*UUU7@B<B BAl/?*BA*LAAAJ8<"C7RCC#Y@C}斅~~ 3:YT1y@:[5aIiG|>!Er,EAɫyy)y yIyY@y~G鮽p=ɮ=i5-Ma=YQU>aEEy}>Ih85?Ծ B V@9GD: :)W--cY@W)X) X)W):W12W1*W1V1bU9BU9*U9U9UEi@RMB*** querying acoustic contact ***PIPIBm<Bq BqAu}+?*BqAuvhAyAyA}z<"C8RCC-cY@C֥Ƃ5>91I5 Gi5G@5=15D5&; 5ԗEׁIG=>K Er,x1EA|;|Y}6O-1@}6H!@y}64x#=}6i=}6H@"?D?½j?m`??)~6O-1@ ~6 _;I~4ɫ99)9 =I9YuY@y}>G}Z****** received transponder code query ******F****** received ping request ******aEEyB=}>I :S85? :ĿԾ B V@9RD: :):WX@WX XW:W2W*WVbUBU*UUU@ @B<B BA@(?*BA`׵A A A )C<"CR8*CV=RCCX@C 2:YX1y/:5) I G- >Er,.KEAY}62@}6"@y}6=}6M>}6H@u2C?J??ռ`H??)~62@ ~6 _;I~6CɫYY)Y YIYYN@y8GxDUSBL response received:!U1,P B58,000,00C71,189,80,80,9E,FF Command AckBRequesting micromodem ping code 2iiNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iI4=)C=  5$M==YMQUU ?aaamEuEy=}?ID85?GԾ B ]V@9YDE< <)W=ϭX@WAXA XAWi:Wq2Wq*WyVybUBU*UUUN @B<BA BAAE'?*BAAMıAIAIAMm<"CU%99RCQCUϭX@CY֑iIyG>- >9) I- L~Gi- @) ) ) - ; - ЗEEr, eEAY}2}4@}2($@y}2S=}2L>}2H 66j???@G?@R Y??)~2}4@ ~2^;I~2Cɫ99)9 =I9Yx@yG?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iu#MH=inGYVQU>IiAYaaeEeE Bٺs2By=}>I! E:%*185? :%ҬԾ %B V@9%cD%< %T<)%:W-SX@W)X) X)W1:W12W1*W1V1bU9BU9*U9U9Ue@~v@B<B BA1!?*BAuAAA<"C9RCCSX@C ,:YU1y:I5);9}IG>"Er,|EA|i|@Y}JC6@}J3_&@y}Jp=}Jœ%>}JHJePs@?_??`M`&??)~JC6@ ~J^;I~JCɫYY)Y YIaY@ytGxDUSBL response received:!U1,R,CB9,000,00C57,189,80,80,9E,FF Fpublishing direction and range info5o;?ɰd>鰡 )Iy Cߣ?p 4d?ٱi=+i@ )^@I@i@ 9MA=YRbQU>aEE!y% =}%>I)-E 85?-;Ծ -B UW@9-kD-Ǹ; -:))W X@WX XW:W2W*WVbUBU*UUU@P*Q CZQxXD\@8O~hY@JQߣ?p 4d?2Q5o;?:QbQ~dxábe SU;0.(@RQtw ,_,-qǿciɻ?BQJT@ QQP89?PD9?PQQA"QMB5H<B1 B1A=?*B9A=XѩA9A9A=yC<"CE :*Ce4=RCiCm X@Ci}ƂQIaG}z>| &Er,cEAY}z8@}zh6(@y}z=}zq(>}zHjN߿Zx?h?j`T???)~z8@ ~zȃ^;I~zCɫ) IY@y=GTNmea in: $SNTTA,0.399281,,,,020258.33*45 I)Ai A)= =MYռMMD=YUQUU>YYaeEeEiymK=}m>Iy} 85?}Ծ }B W@9}tD}]; };)ym}Added new target pos. range: 152.040009 m, bearing: 190.391277 deg, deltaT: 4.470549 s, approachRate: -0.348946 m/s, LOS rate: -1.158298 deg/s, posRepo size: 4m ProNav: pos range: 152.040009 m, bearing: 190.391277 deg, approachRate: -0.348946 m/s, LOS rate: -1.158298 deg/s, cmd update: -3.474892 deg/s, cmd heading: 193.410505 deg, new cmd heading: 193.113066 deg. WrV@WX XW:W2W*WVbUBU*UUGc@>9CI|Gik@= җEU=?Be<Bi BiAm,?*BiAm}}AqAqAu<<"C};RCCrV@C -:YT1y:5)};I G5 >4,Er,2EAɫyy)y }IyYm@yGi!!E>E=iE@A A)E@IE@iE@U$MUJ=Y]QU]>YYa]EeEaye}m>Iq }:uJ75? }:uԾ uB }W@9u}Du': u:)u:WcT@WX XW:W2W*WVbUBU*UUUW?B#<B BA?*BAnAAA<"CS8=RCCcT@C֙בIG>3Er, EA|4<|Y}6;@}66,@y}60<}6(>}6H[ۿO?`;?S`L?@g噿?-?)~6;@ ~6,^;I~6Cɫ99)9 9I9Y}@y}Gi~yMa=YQU>!!a%E%E)y-)>}->I1575?5Ծ 5B EW@95D5M: 5:)1WeB~S@WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}@RCCB~S@C׹ YDW1yY:659@IGi> >9 I ,{Gi &@ ; ϗEG9Er,EAɫyy)y }IyY@yG=i=i!!I%p=)%=-hA)]SMeF=YmQUu>yaEEy}>Iȑ :ŕH75? :ŕԾ ƕB W@9ƕDǕ: ȕ:)ȕ:WQ@WX XW:W2W*WVbUBU*UUU`Q?B5*<B1 B1A5 ?*B1A=@A9A9A=)<"CE>@RCACeQ@Ci]ݑ1IAG]v>.@Er, EAY}:?@}:/@y}:<}:̲'>}:H`5Sؿ{?~?"@ ?c?[?)~:?@ ~:\^;I~:Cɫ99)9 =I9Y]I@y]Gi]>]M]i]̴@Y Y)]Ը@I]K@i]-@mMuI=YuQUu>yya}E}Ey>}>Iȉō75?ōxԾ ƍB W@9ƍDǍD: ȍ]:)ȉWMP@WX XW:W2W*WVbUBU*UUU@?B5<B9 B9A=?*B9A=?A9AAAE<"CUARCQC]MP@CY?΅I)fA o/:YWU1y:5IGj>XFEr,8EA|i|Y}6A@}6ٱ1@y}6T<<}6+>}6H ֿE ??Lss?@V?ь?)~6A@ ~6^;I~6Cɫ99)9 AIAY}@y}uGiMP=Y:QU>!!a%E%E)y-~=}->Iȉ :ō-75? :ō'qԾ Ɖ W@9ƍDǍ: ȍ:)ȍ:WvN@WX XW:W2W*WVbUBU*UUU o@Bm<B BA?*BA⓼AAA<"C ?aCRC CvN@Cu>9qIuzGiu2@u=qqu; uїE)IiC==\K6e}!I)GER>LEr,Wz4EAY}2LC@}2g3@y}2;}2(>}2H:/ տ$?>? Z?A`e?eveie@a a)e@Ie;@ie@uMcM}E=Y} QU}>aE Ey=}>I75?jԾ B %W@9Da: :)WM@WX XW:W2W*WVbUBU*UUU o@R B*** querying acoustic contact ***P P Bet<Ba BAA>*BAAAAA<"CERC=kCM@C  1:YDW1yY:m5FӅIG>jSEr,UNEAY}2D@}2$ 5@y}20`;}2E&>}2H r vӿ`pϧ??` ?`bl]?1?)~2D@ ~2^;I~2Cɫ99)9 9I9Y/@yGZ****** received transponder code query ******F****** received ping request ******!a%E% E!y-e=}->I9=ˍ75?=eԾ =B EW@9=D=: =V:)9WmmK@WqXq XqWq:Wq2Wy*WyVybUBU*UUUp @Bڡ<B BA>*BAfAAA=O<"CIzFRC|CCmK@Cq֥.%aIqG9>a e gAm >9i Im xGim ?@m =i i m ; m ЗEYEr,0hEA|;|Y}:}F@}:Q6@y}:~[}:ӥ >}:Hx`ѿ *??5?TMc$?pK? ?d?)~:}F@ ~:^;I~8ɫ99)9 9I9Y}g@y}-GxDUSBL response received:!U1,P CB9,000,00C57,189,80,80,9E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i15mMB=Yy#QU>aE%EQye\_=}>Iȡ :ťy75? :ť^Ծ ƥB  W@9ƥDǥ ^< ȥ\<)ȥ:WMI@WX XW:W2W*WVbUBU*U UU~f @B]U<BY BYA`>*BA9AAAS<"ChXHRC CMI@C z.:YWU1y:#5);9GjIG>|`Er, EAY}2G@}2[8@y}2}2>}2H п?? :Ɏ?9pu?@h? *?)~2G@ ~2^;I~0ɫII)I MIIY}`@y}$GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =iiI=) gA U#=UϾULiU(@Q U@)UK@IU@iU@e2MeN=Ymv8QUm>iiauEuEqy}1=}}>IȁŅi75?ŅYԾ ƅB W@9ƅDDžb: ȅn:)ȁWzH@WIXI XIWQ:WQ2WQ*WQVQbUYBUY*UYUYUe`!@Bћ<B BA>*BAAAA-Q<"CzH@RCCzH@Ca׹IGG>LfEr,%EAY}>.oI@}>9@y}>}>›>}>HABοE?`?`)R?dՁ?`??)~>.oI@ ~> _;I~<ɫYY)Y ]IYY@y.~GxDUSBL response received:!U1,R,1F9,000,00C3A,187,80,80,A7,FF Fpublishing direction and range infoܢᾩɰ4>1> )'CIyLCs!K?Lۿٱi~M P=Y )QU >aEEy\k=}>I! -:%X75? -:%TԾ %B 5W@9%D%A: %:)%:WUkF@WQXQ XYWY:WY2WY*WYVYbUaBUa*UaUaUmd@Py*Q}LCZQ}\J`@S @PJQ}s!K?Lۿ2Q}ܢ:QybQ}̭:3]q{W@k', RQ}'q!n9?iBQ}6@ Q}~BQ}P}9?P}89?P}Q}Q}п"Q}AB6˃<B BAk>*BA9AAA<"CkF@RClCkF@C]<>9I xGi@; ӗEשIG">! inGIi $4:YW1EeDٺQU4Byč:5)ݐ;OlEr,dϵEA|.@i|,Y}ngJ@}n:@y}n54}nl >}nHW9˿`.a? }?`[?@? W?G?)~ngJ@ ~nB_;I~nCɫ) IY5J@y5}GTNmea in: $SNTTA,0.110101,,,,020302.77*43 ia i=@a = a m=@a = a q=@a = a e=@a = Å>ÅHÅuaEEyF=}>IȱŵwC75?ŵdOԾ Ʊ W@9ƵDǵȲ: ȵ>)ȱmAdded new target pos. range: 150.300003 m, bearing: 141.099988 deg, deltaT: 4.398016 s, approachRate: -0.395634 m/s, LOS rate: -11.207620 deg/s, posRepo size: 4m ProNav: pos range: 150.300003 m, bearing: 141.099988 deg, approachRate: -0.395634 m/s, LOS rate: -11.207620 deg/s, cmd update: -12.000000 deg/s, cmd heading: 178.113567 deg, new cmd heading: 176.531789 deg. Wj@@WX X W :W 2W *W VbUBU*UUb@U O?BJ<B BA>*BA׀AAAp<"C>C@RCCj@@C4IGm>sEr,EAY}2IL@}2e<@y}2qI}2=}2H`t_ȿڅ?@*? ^%K?-?@? ?)~2IL@ ~24^;I~2CɫYY)Y ]IYY0@y}GI)i !!)-= -=8 MZ=Y2bQU>aEEh@@@y#t=}>I:275?KԾ B W@9D; U?)W%^;@W!X! X!W!:W)2W)*W)V1bU1BU1*U1U9U= ?Bu<Bq BqAu>*ByA}0|AAATM<"C?@RCa=C^;@Cי  1:YV1y:659@IG l> >9 I i     ;  ՗E5yEr,xEAY}6eM@}6=@y}6GRW}6`=}6HCſͮ?`~L?P? ?z??)~6eM@ ~6^;I~6CɫII)I MIIY}a@y}Gi!}/s<MN=Y QU>aE Ey .d=} >I :a75? :FԾ  W@9D: >?):WEM6@WAXA XAWA:WA2WI*WIVIbUQBUQ*UQUQUU?B}Q|<B BA>*BAvAAA'<"C9@RC >CM6@CO ׁIG=>ˀEr,SEA||4aE$Eyc=}>IȹŽ" 75?ŽBԾ ƽB W@9ƽDǽ: Ƚ?)ȹW 1@WX XW:W2W*WVbUBU*UUU`!?Bsj<B BAb>*BA qpA A A<"C'5@RCʩ`>C 1@C!%iI G%M>i  2<:Yy52Er,.EAY}:|P@}:@@y}: }: =}:Ha?{*?@8?7!???)~:|P@ ~:^;I~:Cɫ99)9 9I9Y}@y}!}G=i=i!)I-R=)-%=5hA1u M}M=Y}ZQU}>aE'Ey&v=}>Iȑŕ~65?ŕ6?Ծ ƕB W@9ƕDǕ: ȕG@)ȑW+@WX XW:W2W*WVbUBU*UUU [A@B ?<Bsɱ< BA>*BAkAA A 3<"C0@RC >C+@Cܽ>9ܹIܹiܹܽ=ܹܹܽ'; ݽٗE څ<IG&>Er, 7EAɫyy)y }IyY@y}Gi!a ia i a ma m a qa q a ea e  rh?~jtx?J +>; H)IyL7A`?y&1YYa]E]*EYye}e>Iim65?m:Ծ mB }W@9mDm: m;:)iW%@WX XW:W2W*WVbUBU*UUU@B}>j<By ByAQ>*BAneAAA$<"Cj*@RCC%@CH  ?:YT1y:[5Er,SPEA|@i|Y}6yR@}6C@y}6*}6=}6H U`g@?`?SӼ?@e?a??)~6yR@ ~6 ^;I~6Cɫ99)9 =I9Yu@y}8}G鮁ɮp=iLȼMi=YͻQU>aE-Ey=}>I :65? :7Ծ B W@9DPB; C;):W-!@W1X1 X1W1:W92W9*WAVAbUABUI*UIUQUUE@ReB*** querying acoustic contact ***PaPaBW<B BA>*B)A-.`A)A1A5F<"C5F&@RC9C=!@C9EM7=I)GE0>ܵ >9ܱ Iܵ wGiܵ K@ܱ ܱ ܱ ܵ *; ݵ ۗE)AIAiAE=AE5Q1Er,DjEAY}6SS@}6oC@y}6x}6æ=}6H`Ե@m?z?@_?n?셻??)~6SS@ ~6q];I~4ɫ99)9 =I9Yp@y|GZ****** received transponder code query ******F****** received ping request ******aE1Eyd`<}>Ișŝ65?ŝ]3Ծ ƝB W@9ƝDǝ : ȝ;:)șW-@W)X) X1W1:W12W1*W9V9bUABUi*UiUiUu^ @B'T<B BA>*BALZAAAG<"C  @RCC@C ~~ >:YT1y@:5);9G<= I G >!Er,$EAY}>XS@}>dsC@y}>*}>5=}>H`@yܵy?Wi?Q?@?`,??)~>XS@ ~>ϳ];I~>Cɫ99)9 =I9Y}w@y}|GxDUSBL response received:!U1,P 1F9,000,00C3A,187,80,80,A7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i;MX=Y6QU>aE4Ey1:}>I ]:ӳ65? ]:/Ծ B eW@9D< _<):W=@WX XW:W2W*WVbUBU*UUU @B5{x<B1 B1A5]>*B9A=|TA9A9A=hP<"CE+@RCACM=@CI<=׹IG>JCEr,lvEA||;Y}6S@}6K7C@y}6Q}6i=}6H@ @嶿9?X? ;?`b?˲?@?)~6S@ ~6L];I~6CɫYY)Y YIYY@y|GAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iUAM]P=Y]#QU]>aaaeEe7Eaym*}m>I  f65? 1,Ծ B W@9  D : ¿:) W=g@W9X9 X9WA:WA2WA*WAVAbUIBUI]>9YI]vGi]@]=YY]7; ]E*UiUqUu`I@BRć<B BA>*BA'PAAAyr<"Cbt@RCCg@CϹϹ)й й1  7:Y0Y1y:5);Y=IG% >6nEr,TEAɫ髙) IY&@yf|GxDUSBL response received:!U1,R,E0E,000,00C14,186,80,80,AB,FF Fpublishing direction and range info/>ɰK}>> )+CIyC-?˽&@?ٱ=iii|?5?ɿy&1|?L `)Iy/$?:vI +??Լ94< ; A)@Ip@ivAAE6>A`=i@ )@Ii@m<M@=YQU>aE :E y}>I :l65? :2*Ծ B W@9Df: :):Wr @WX X!W):W)2W)*W)V)bU1BU1*U1U1U=i@Pi*QmCZQmRW`@*.)O@JQm-?˽&@?2Qm/>:QibQm~ga ]HƜN@RQm!@\wk xտU?BQm^@ QmFQm> PmF9?Pm9?PmQmQm\A"QmпBƟk<B BAF>*BAb\JAAAl<"C}@RCCr @C %,>%0>%>יIGd>XEr,"8EAY}|Q@}A@y}Iȯ}n<}HY< K?c?@U???`?)~|Q@ ~*^;I~Cɫ) IYU@yU|GDNmea in: $SNTTA,,,,,020307.21*5B i 䣼M I=Y$QU>aE>Ey%T}%>I)-x65?-,(Ծ -B 5W@9-D-: -;:))me}Added new target pos. range: 148.020004 m, bearing: 199.627797 deg, deltaT: 4.507500 s, approachRate: -0.505823 m/s, LOS rate: 12.984539 deg/s, posRepo size: 4mmProNav REINIT: LOS rate is 12.984539 deg/s. Setting heading cmd to target bearing of 199.627797deg and heading rate command to 0 deg/s.Wm^@WiXq XqWq:Wq2Wq*WyVybUyBUy*UyUࣀb@U}?B]<B BA>*BASEAAAxx<"C @RCC^@CT>ױI 2:YWU1y:59@Gi>M >9I II iI M =I I M 1; M ݗEi- =nGII Er,S EA|i|iLrFٺtv6BY}P@}Y@@y}u}}HB?`>? `{@K?`p?)~P@ ~];I~ɫqq)q qIqY@y{Gi-M6only read 3 of 4 data items M@ M@ M@U@MUF=Y]4:QU]>YaaeEeAEaym) }m>Iq }:uc65? }:u%Ծ uB W@9u%Du: u:)u:WWX XW:W2W*WVbUBU*UUU$?Bz<B BAR>*BAu@AAA<"Cg @RCCCE}>סIGA>hEr,EAY}6lO@}6ڇ?@y}6䬼}6>*}6HIÿ?@?26@-?@y\ ?)~6lO@ ~6l^;I~4ɫ99)9 9I9Yu@y}{GI)i9;Mc=YH9QU >  a E DEyfu}>I!%Q65?%i#Ծ %B -W@9%,D%: %:)!WIWQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UaUaUe@V?BҢ<B BA?>*BA&;AAA<"Cx@RCCCԱԱօ>YIqG;>w  Q:YY1y:dEr,EAY}:M@}:Z=@y}:1}:}:H C`Tƿzu?.? c%? ,t?)~:M@ ~:z^;I~:Cɫ99)9 9I9Y}@y}zGiJMMK=YMu:QUM>QQaUEUGEYy]7{}]>Iae<65?ea Ծ eB uW@9e4De: e:)aWWX XW:W2W*WVbUBU*UUU?Ba[<B BA\>*BA7AAAo<"CK@*CRCCC>9IDwGi@); ؗE >I)GEQ>|Er,9EA||ɫyy)y yIyY#@y'{Gi!{Gz?Zd;OMb`?j< )Iy9v?ˡEv/??'xi= @)AIbAi\A=A = = ==>=~=A>i=@9 =-@)=I=@i=@M<MM6=YUQUU>QYa]E]KEYye}e>Ii u:m(65? u:mԾ mB }W@9m*BA1AAA<"Cr @RCCCIG k> 1:YDW1yY:[5[Er,!tSEAY}FZJ@}Fju:@y}FТ}F:$}FH,*̿e쑿`?@vĿԓ? oĿ@Z?)~FZJ@ ~Fh_;I~FCɫii)i iIiY} @y}{Gi=iI=)=)M`=Yg;QU>!!a%E%NE)y-}->I1565?5Ծ 5,B EW@95CD5f: 5r:)1WaWaXa XaWa:Wi2Wi*WiVibUqBUq*UyUyU}`@BJ<B BAt>*BAs-AAA<"C @RCCC%>IG5O>>9Ii=D#; ӗEEr,}mEAY}H@}8@y}}[>}Hп` ?oi Jǿa?@Tǿ kq?)~H@ ~`;I~Cɫ!)! %I!Y-@y-zG1ɮ1iAAÕa?Õ=ʾÕGiÕQ@Ñ ĕ@)ĕ@Iĕiĕ@ʜM@=Y:QU>aEQEyCx}>I :65? :Ծ *BA9(AAA<"C@RCC C v> .:Yy$5)Q;9 IG5q>XEr,Z*EA|i|Y}6G@}6K07@y}6yJ}6jP}6H@8ѿ w?Lɿ`I?ɿ`MU?)~6G@ ~6_;I~6Cɫ99)9 =I9Y}x@y}UzGZ****** received transponder code query ******F****** received ping request ******aETEyK} >I  w55? Ծ KB %W@9 RD ;  ;) W!W!X! X!W!:W)2W)*W)VIbUQBUQ*UQUQUU@) @B#n<B BAm>*BAӷ#AAA<"C@RCCC>IG1Er,}EAY}6giE@}65@y}6}6#]}6H ӿ("?)~6giE@ ~6CB_;I~6CɫII)I MIIY}D@y}zGxDUSBL response received:!U1,P E0E,000,00C14,186,80,80,AB,FF Command AckBRequesting micromodem ping code 2iI)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 鼱i )> =%|M-G=Y5+8QU=>IQa]E]WEiy}~}>>9CIwGiK@=; ϗE)1I1i15=5=54Iș :ŝ55? :ŝb Ծ Ɲ\B W@9ƝZDǝ%< ȝ<)ȝ:WWX XW:W2W*WVbUBU*UUU} @EEEE El3:YEU1yE:E5)E>;B3<B BA/>*BA/AAA<"C@RCQ>CC % > I G% >Er,EAɫ髉) IY@yyG@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iII(\?@5^I ?Q?b> u)Iy@5^I ?sh|?Q?b0?u< ?@)bAIAAi; A(A(?^z >i@ )^@I@i@D_M0=YQU>aE[Ey}>I55?Ծ fB 5W@9cD; n;)WYWYXY XYWY:WY2Wa*WaVabUaBUi*UiUiUm+@Bʐ<B BA>*BAWAAAkL<"C !@RC">CC 3>IGn>TEr,]EA| |"4 )CIyC"R!'?zM}׿ٱi<M`=Y1QU>aE^Ey%}>IB55?:Ӿ oB W@9kD: :)WWX XW:W2W*WVbU!BU!*U!U!U%@P9*Q=CZQ=b`@ KJQ="R!'?zM}׿2Q=¾:Q9bQ=qiZHPX@8z.@RQ=n翵e=_?Ke?BQ=9@ Q=BQ=P=9?P=F9?P=Q=Q=A"Q=\ABmDD<Bq BqAu>*BqAueDAqAyA}jr<"C}=%@RC,=CC#`>סIGD>% %%% %5:Y%WU1y%:%59-@ܕ>9ܑIܑiܑܑܑܑܕ; ݕ͗EEr,HEAY}-ߩ?@}-3/@y}-௣}-kl}-H 6Aؿ`/?@˿u?HͿ@ %?)~-ߩ?@ ~-"^;I~)ɫ) IY-[@y-1zGDNmea in: $SNTTA,,,,,020311.65*5C =i=iO > if@ @)@I@i d;M E=YDQU>aEaEyA}%>I) 5:-55? 5:-`Ӿ -yB =W@9-uD-A: -:)-:mmAdded new target pos. range: 145.619995 m, bearing: 137.816292 deg, deltaT: 4.405302 s, approachRate: -0.544800 m/s, LOS rate: -14.031162 deg/s, posRepo size: 4mu!ProNav REINIT: LOS rate is -14.031162 deg/s. Setting heading cmd to target bearing of 137.816292deg and heading rate command to 0 deg/s.Wu9@WqXq XqWq:Wy2Wy*WyVybUBU*UU3b@Uh?BBYs<B BA>*BAAAA<"C\*@RCܼC9@C Ս=ԍ=uP>I}fA)}gAIIYGuz>Fr,?rEAY}2*=@}2~-@y}2}2kl}2H! zڿGqt?L%˿Z?HYͿ$?)~2*=@ ~2^;I~2CɫII)I MIIY}P@y}#zGi5lM=Z=Y=)QU=>AAaEEEdEAyM;}M>IQUP55?UӾ UB ]W@9U}DU: U3:)QWWX XW:W2W*WVbUBU*UUU/?B=\<BA BAAE>*BAAE(9 AAAIAM!<"Cu,@RCu;qCqCqmcF>AIaG9>MM MMM M`N:YMV1yM:M5V.Fr,HP"EA|i|Y}6.;@}6+@y}6]R}6An}6H ۿp"?@ ˿穀?Ϳ!?)~6.;@ ~6];I~6Cɫ99)9 =I9Y@yzGU>9QIQiQQQQU; UŗEiyy#=MC=Y8QU>aEhEy }>I :kv55? :Ӿ B W@9D< <):M >UЕCinmGI!iIKBٺ2BW9W9X9 X9W9:WA2WA*WAVAbUIBUI*UIUIUM?BU[e<B BAq>*BA?(AAAso<"C-@RCCChAhAֵ2 >qIyG>WFr,)<EAɫyy)y yIyY|@yZzGI)Ai!!-U6only read 3 of 4 data items U@ U@ U@tML=YQU>aEkEy}>Iȱŵb55?ŵӾ ƵB W@9ƵDǵ: ȵ:)ȱWWX XW:W2W*WVbUBU*UUUǶ?B㒢<B BA>*BAAAAG<"C-@*CRC CC֍}=aIqG<> 3:YW1yč:5?Fr,VEAY}>8@}>:(@y}>Ɣ}>߶c}>H@T޿#B?Gɿ?9̿ 4?)~>8@ ~>f];I~>Cɫ99)9 =I9Y}@y}zGiE#<MEP=YM;QUM>IIaUEUnEQy]}]>Ia m:e1P55? m:eӾ eB mW@9eDe: e:)e:WWX XW:W2W*WVbUBU*UUU@Bޓ<B BAI>*BAsAAAN<"C,@RC CC8k=IG$>15fA=>9=CI9i9==99=; =ɗEmFr,oEA||;Y}:Ȱ7@}:'@y}:gˀ}:DVY}:H F A߿^v?!:aȿ`A?ʿ0G?)~:Ȱ7@ ~:B ^;I~:CɫQQ)Q UIQY@@yK{Gi M M MM?MlMyiMf@I M­@)M­@IMiM@=ME=Ys;QU>aEqEy"}>Iȱŵ<55?ŵ@Ӿ ƵB W@9ƵDǵ: ȵ:)ȱWWX XW:W2W*WVbUBU*UUU`PT@BMܰ<BI BIAM>*BIAUJAQAQAU<"C]2)@RC]ڽCYCa m=m!>e8T  ::YWU1y:5)`;9Q"Fr,EAY}2k7@}2#'@y}2ڧM}2`K}2Hh X߿Ѷ B-?ƿϴ?@ɿ`S^?)~2k7@ ~2b];I~2Cɫ99)9 =IAY]@y]{Gea=ɮam=iiiqq*=MX=Y aEtEyK޼}>I :*55? %:JӾ B %W@9D#: :):WaWaXa XiWi:Wi2Wi*WiVibUBU*UUU@u@RB*** querying acoustic contact ***PPB<B BA>*BAB8AAA%<"C-Ǖ%@RCMzCQCQM*IG=/>I=@A)=AA{(Fr,SEAY}26@}2&@y}2 }2 6}2H`} P?N@Ŀ?ƿ~?)~26@ ~23^;I~2Cɫ99)9 9I9>9Ii=/; ӗEYD@yP{GEZ****** received transponder code query ******MF****** received ping request ******MaExEy{!}>I15355?5ZӾ 5B W@95D5l< 5ˏ<)1WWX X9W9:WA2WA*WAVIbUIBUI*UQUQUU @B C<B B!A%(>*B!A%0ݻA!A!A-G<"CMZ@RCU$<CQCY}  =:YDW1yY:5)3;m a5ռA IQ Gm >8.Fr,yEA|i|Y}J6@}J &@y}J}J5!}JH[@n$7HR?+<@`v?bĿ?)~J6@ ~JF^;I~JCɫqq)y yIyY@y{GxDUSBL response received:!U1,P 1B4,000,00BEC,186,80,80,9F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i  a i@a  a m@a  a q@a  a e@a  -ff>-z-=i)) ))-I-@i-@=<ME,=YEQQaeEe|Eiy} ˹}}>IȁŅ`45?ŅŬӾ ƅB W@9ƅDDž< ȅ>)ȁWWX XW:W2W*WVbUBU*UUUU@BE0<BA BAAE>*BAAmtѻAiAiAmY^<"Cu @RCu=CqCye &9 II Gi i5Fr,NEAY}66@}6 '@y}6#}6 < }6H@.@@ :?R@_? :@t?)~66@ ~6f^;I~6Cɫ99)9 9I9Y}@y}{GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)I)i ̋<M=YE*BaAe˻AaAaAe<"CmO:@RCmr=CqCqMzl>9Ii=D6; ֗E)mCImCiim=m=m 5 1:YU1y:[5)̎;;Fr,&EAY}:E7@}:Ma'@y}:nX';}:<ݽ}:H t߿`Tڬ@?Q#@ dљ8?)~:E7@ ~:Q8^;I~:CɫQQ)Y ]IYY@yK|GxDUSBL response received:!U1,R,C20,000,00BCB,189,80,80,9F,FF Fpublishing direction and range infol]?ɰQw>鰥7> )IyCVe?^?ٱi%=%%xi=i% @! %(@)!I%"@i%X@=<M=U=Y= @AAaEEEEIyMp<}M>IQU45?UӾ UB eW@9UDU : U=?)QWWX XW:W2Wi*WqVqbUqBUq*UqUyU}@P*QCZQ#FW@֙OX[@JQVe?^?2Ql]?:QbQv,`d|]ņGŃ(RQ0'qށտJYqBQ^@ Q$=QPC9?P9?PQQ"QABy<B BA>*BA%AA A j]<"Cw@RC+>CC<IG l>ڟBFr, EA|4<|p;Y}bђ7@}b$'@y}b;}b&}bH߿@F?Y߱@%|?)~bђ7@ ~bc^;I~bCɫ) IY@y{G}TNmea in: $SNTTA,0.386293,,,,020316.11*43 iMA=Y9&aEEyO5<}>I,45?%Ӿ B W@9D|: z?)m}Added new target pos. range: 143.639999 m, bearing: 199.290290 deg, deltaT: 4.454585 s, approachRate: -0.444485 m/s, LOS rate: 13.800162 deg/s, posRepo size: 4mProNav REINIT: LOS rate is 13.800162 deg/s. Setting heading cmd to target bearing of 199.290290deg and heading rate command to 0 deg/s.W^@WX XW:W2W*WVbUBU*UUza@U ڎ?B}`<By BAg>*BAAAA5<"CB<@*C>RCu,>C^@CLz=IGuW uuu u::YuX1yu/:u59}@HFr,$EAY}27@}2 '@y}27<}2x}2Hf߿? 4 tK?)~27@ ~2q]^;I~0ɫYY)Y ]IY܅>9܁I܅DwGi܅@܅=܁܁܅,; ݅ЗEY@y8|Gi=iI=))-hA} <M@=Ya%aEEy;}>I45? Ӿ B W@9D< ?)WWX XW:W2W*WAVAbUIBUI*UIUIUM`H?B"<B BA>*BAAAA<"C@RCFp=CCֽ+W=בIG>NFr,>EAY}2.7@}2'@y}2p<}2^"f}2H߿Ĥ ? A@`0?)~2.7@ ~2_;I~2Cɫ99)9 =I9Y@y"|Gi196only read 2 of 4 data items`>CHi\@ K@)j@I;@i@-M-O=Y5Y99a=E=E9yEҙ:}E>IIM45?MӾ MB UW@9MDM: M4@)IWyWyXy XyWy:Wy2W*WVbUBU*UUUd?B<B BA>*BA贡AAAv<"C@RCE=CC=סIGA>UUUU  U0:YUDW1yUY:Um51UFr,XEA|i|@Y}6&7@}6y'@y}62<}6W}6HǼ߿@m㤿}? 7@R{?)~6&7@ ~6^;I~6Cɫ19)9 9I9Yu@yuK|Gi-R3<M5\=Y5o;QU5>99a=E=E9yEu!}E>II U:M145? U:MlwӾ MB ]W@9MDM: M/@)M:WyWyXy XyWy:W2W*WVbUBU*UUU\X?B<B BA>*BAAAAH<"C@RC6 =CC>׹IGD>}>9yI}|vGi}W@yyy}0; }җEie mGIy i Bٺ l2B\Fr,"nrEAY}:7@}:+'@y}:s><}:Yu}:H֜@V)?@璿?)~:7@ ~:^;I~:Cɫ99)9 =I9Y}K@y}Y{GI)iAA II)Q U>ÝOÝtÝ(\>iÝ@Ù ĝ)ĝ@Iĝ@iĝ"@iMC=Y;QU>aEEyі}>I45?mӾ B W@9DE: I@)WWX XW:W2W*WVbUBU*UU U `O@B5=<B1 B1A=>*B9A=?A9A9A=W4<"CE:"@RCEYJCICIMh= IG-->  /:YU1y:5)t;9bFr,4IEAY}2M6@}2-i&@y}2<<}22}2Hjhʶ`|?K``<@Pa6?)~2M6@ ~2^;I~2CɫYY)Y ]IYYO@y^{Gi!!U:M]P=Y];QU]>aaaeEeEaym}m>Il45?cӾ B W@9Ds: c@)WWX XW:W2W*WVbUBU*U U U `/B@B5˴<B9 B9A=ٿ>*B9A=ʃA9A9AE&<"CE1'@RCMOcCICI֍ l=aIiG9>iFr,>$EA|;|4R5@}>%@y}>d<}>b}>Hg6@ `S?$ ړ얿@?)~>R5@ ~>O];I~>CE>9ECIEPuGiEc@Aɫ) IAAE$; E˗EY5@y]zGiɮma=ia ia i a ma m a qa q a ea e  ףp= ?/$ƿ==>i=3@9 =@)=I=-@i=@MMU#=YU;QUU>YYa]E]EayeǼ}e>IimW45?mZӾ mB uW@9mDm: m:)iWWX XW:W2W*WVbUBU*UUU.@RB*** querying acoustic contact ***PPBn<B BA>*BABpAAAB<"Ct:.@RC&/SCC =שI /:Yy5)%;G>BpFr,EAY}24@}2%@y}2<}2Mj׽}2H@1h@ج`@?`f@,^@(c x޺8?)~24@ ~2];I~2Cɫ99)9 9I9Y@yczGZ****** received transponder code query ******F****** received ping request *******BA7KaAAA#J<"C2@RC CC)<׹IGE>*vFr,EAY}2E4@}2$@y}2C,<}2Y}2H" ` ᴿ@i7? ߳@ě :?)~2E4@ ~2+];I~2Cɫyy)y }IyY@y-yGxDUSBL response received:!U1,P C20,000,00BCB,189,80,80,9F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i5\M=G=YMԸ;QUM>aaamEmEy-Xc}5>I15^645?5KӾ 5B EW@95D57: 5m ;)1W9W9XA XAW:W2W*WVbUBU*UU U z @Bu0s<Bq BqAub>*BqA}MAyAyA}<"C8@RCCC֝2M>9IIMtGiM@M=IIM,; MϗEבIG >0  7:Yy5);tT|Fr, EA|i|@Y}6ea4@}6|$@y}6jW<}6}6H u@C M?@ i@?)~6ea4@ ~6J];I~6Cɫ99)9 EIAY}@y}myGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ií?ítsí>ií @é ĭ"@)ĭ@Iĭ@iĭr<M?=Yx;QU>aEEy*}>I$45?BӾ B  W@9%D: :)W)W1X1 X1W1:W12W1*W9V9bU9BU9*U9UAUE`*@Bm!<Bq BqAu>*BqAuN?AqAqA}<"C}2g=@RCCCmh!I1G]3>C )-CIy CR?Cz ?ٱI)i ) = =MY=YK;QU>!a%E%E!y-32}->I1 =:5&45? =:5;Ӿ 5B =X@95-D5o: 5:)5:WaWaXa XaWa:Wa2Wi*WiVibUiBUq*U)U1U5@!@PQ*QU CZQUj"eT@'\@JQUR?Cz ?2QUHs?:QQbQU?i`JHԜ,RQU063oy׿@7̹BQU9a@ QUFPQUIPUG9?PUC9?PUQUQUL"QUB<B BA>*BA /.A A A <"CC@RCCC%QڽIG J>    @:Y W1y č: Z59 @hFr,2v'EAz>9xIzsGiz@xxxz'; z̗E)}CI}Ciy}=}=}Ea5ɫ) IY@y6yGmTNmea in: $SNTTA,0.094352,,,,020320.55*4A iyyUQ?Cl?L7A`?U?U;_> U+=)QIQyUMbX9?~jtU!?U̼UD Q)UAIU\AiUAQUpA @ @ @í©ííií@í ĭ@)ĭIĭX@iĭ9@a;M=YQU>aEEy}>I!%35?%%0Ӿ %B -X@9%7D%m: %]:)!myAdded new target pos. range: 141.960007 m, bearing: 201.633222 deg, deltaT: 4.436403 s, approachRate: -0.378684 m/s, LOS rate: 0.528115 deg/s, posRepo size: 4m ProNav: pos range: 141.960007 m, bearing: 201.633222 deg, approachRate: -0.378684 m/s, LOS rate: 0.528115 deg/s, cmd update: 1.584346 deg/s, cmd heading: 199.290290 deg, new cmd heading: 199.290290 deg. W[_@WX XW:W2W*WVbUBU*UU`a@U?B-<B) B)AUأ>*BQAUДAQAQA]iq<"C]=.HRCaCe[_@Camv+) I1 GU >MFr,tEAEA||p;ɫ髙) IY@ywGiAAu7ؽM}=YyQU}?aEEy}?Iȑ :ŕm35? :ŕB*Ӿ ƕB X@9ƕ=DǕ: ȕ:)ȕ:W`@WX XW:W2W*WVbUBU*UUU Z?Bt<B BA>*BA yA A A =<"CqDRCC`@CօZHaIiG9>u u u u  u /:Yu V1yu :u 5.xFr,"[EAY}>:y5@}>%@y}>tK =}>}>H1ܨ?5@a@HR}?)~>:y5@ ~>B ^;I~>Cɫyy)y }IyY@ywG=i=i!!I-4=)-%=))}XM}J=Y@aEEy,7=}>Ișŝ35?ŝ1"Ӿ ƝB X@9ƝEDǝ߼: ȝ/:)șW`@WX XW:W2W*WVbUBU*UUU &?BE<B = B A >*B A AAA<"C#>9IrGi*@=%; ʗETFr,tEAY}N7@}Nn'@y}N1=}N>=}NH ߿򢏿?`[`ib? ?`?)~N7@ ~N(^;I~NCɫyy)y }IyYy@ywGi!!    @ @ @ùùùiý @ù Ľ)ĹIĽiĽ"@ME=Y,aEEy=}>I :35? :\Ӿ B X@9ND : :):Wa@WX XW!:W!2W!*W!V!bU)BU)*U)U)U5`?B](<BY BYA]}>*BaAe)eߺAaAaAea<"Cm9RCiCma@Cq-$aIG-,>)Fr,؎EA|i|@Y}Fr8@}F(@y}Fg=}F=}FH` @z޿*D?@?״?ˣ-W??)~Fr8@ ~FN^;I~Dɫyy)y yIyY@yxGi]I<M]R=Ye:QUe>iiamEmEqy}X=}}>Iȉō35?ō7Ӿ ƍB X@9ƍVDǍ< ȍ<)ȉW@b@WX XW:W2W*WVbUBU*UUU=@B _<B BAW>*BAAAA,<"C5RCC@b@CסIGC>EEEE E=.:YEd\1yE:EI5iFr,EA@9@IBqGiB@B=@@B,; B͗EinGI9iQAٺT2Bɫ髡) IY@yvGɮIA)Ai '1Z?S㥫Q뱿?/] \)IyˡE?DlL7A`?'?O+= …A)…AAIi…AAA)Õ= Õ=pM=YQU>aEEy}>I :35? :MӾ B X@9aD: :):Wc@WX  X W :W 2W *WVbUBU*UUUA@RB*** querying acoustic contact ***PPBot<B BAՄ>*BAw*AAA<"C/RCCc@C% < ?΅ I G >ĠFr,MEAY}J<@}Jh+,@y}Jfl=}J@>}JHyۿU?? ?)??)~J<@ ~JQ^;I~JCɫqq)q uIqY@y'vGZ****** received transponder code query ******F****** received ping request ******}?IE35?FӾ  X@9gD: :)W*BA AAA:<"C+RCCbǶFr,nEA||4}6H`+@ڿ.?8?{f? B`7?ç?)~6=@ ~6^;I~4ɫYY)Y ]IYY@yuGxDUSBL response received:!U1,P BBF,000,00BAF,189,80,80,AD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i $MU=Y%BQU->9AaMEMEy=}>I)-U35?-jҾ ) MX@9-pD-E< -H<))Wmrd@WiXq XqWq:Wy2Wy*WVbUBU*UUU-; @B-8m<B) B)A5l>*B1A5 ^A1A1A5[<"C=)RCaCerd@Caq9u~CIutoGiu@u=uQDqu3; uЗE}oFr,ZEEAY}:?@}:n0@y}:Y=}:~>}:H@ekؿp?g?`(?|??@v?)~:?@ ~:^;I~8ɫ99)9 =I9Y}@y}vGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =ii!I%p=)%=)-gA   ý;_>ý/ݾýiý̬@ý Ľn@)Ľ@IĽ­@iĽ@o<M?=YiQU>aE†Eyn=}>I :m35? :WҾ  X@9xDZ: :):We@WX XW:W2W!*W!V!bU!BU!*U)U)U-Z @B@0<B BA_t>*BAp2AAAS&<"C'RCCe@C) EEEE E-:YEWU1yE:E5m }A IQ Gi Fr,\!EAɫ髹) IY@ytGxDUSBL response received:!U1,R,D08,000,00B91,189,80,80,98,FF  Fpublishing direction and range info)?ɰr> )CIy( CxkTb7?j$?ٱiℽMG=YQU>  a EņEy}>I!%Y35?%Ҿ ! 5X@9%D%: %:)!WUUe@WQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUaUe+@Pq*Qu( CZQu]Q[@I U@JQuxkTb7?j$?2Qu)?:QqbQu~;`ϋABVA-#@RQu1Q>e*B AkAAAR<"Cи'*CRCCUe@C!ƂIG-p>܅ >9܁ I܅ mGi܅ @܅ =܁ ܁ ܅ .; ݅ ͗EHDFr,+EA|i|@Y}C@}W3@y}|<}'.>}H`qAԿ?`?@`҅?Ι`]?>?)~C@ ~7^;I~ɫ) IY-R@y-sGDNmea in: $SNTTA,,,,,020324.59*55 ia i@a  a m@a  a q@a  a e@a  K7A?333333?{Gz ?= #)IiMb@Mb@Mb@© ­)­@I­i­A @  @  @  @ ©  i @  ) I @i 8LM'=Y%mQU%>!!a%E-ɆE)y-=}5>I1 :5i@35? :5.Ҿ 5B X@95D5W< 5?)5:m}Added new target pos. range: 140.160004 m, bearing: 195.139420 deg, deltaT: 4.044741 s, approachRate: -0.445023 m/s, LOS rate: -1.605493 deg/s, posRepo size: 4mE ProNav: pos range: 140.160004 m, bearing: 195.139420 deg, approachRate: -0.445023 m/s, LOS rate: -1.605493 deg/s, cmd update: -4.816478 deg/s, cmd heading: 205.740014 deg, new cmd heading: 206.546679 deg. WMc@WIXI XIWI:WI2WQ*WVbUBU*UUa@U ױ? 2:YX1y/:5)|;9BUv4<BQ BQAU@>*BYA]PAYAYA]$<"Ce*RCaCec@Ci֥ }Iש )׭ fAy I G >5Fr,xDEAY}2+|E@}2~5@y}2<}2d0>}2H)@YӿTf?*? @G?"?@?)~2+|E@ ~2%^;I~2Cɫ99)9 9I9Y})@y}sGIA)Ai5M==Y=uQU=?AAaEEĔEAyM=}M?IQU035?UҾ UB ]X@9UDUc: UK?)QWa@WX XW:W2W*WVbUBU*U)U1U51?B}Z'x<By ByA}:>*BAdhTAAA{><"C<+RCCa@CFӅיIGc>VCFr,v^EAɫyy)y yIyY&@ysGi!!UM]H=Y]QU]>aaaeEeφEaym}m>Iqu#35?uyҾ uB }X@9uDq u?)qWZ_@WX XW:W2W*WVbUBU*UUU 0?B=T<B BA:>*BA2AAAp<"Cu/RCqCuZ_@Cyօ?΅ܵ>9ܱIܵkGiܵĿ@ܱܱܱܵ@; ݵחE)=~CI9i9=====5aIG`> 0:YW1yč:\5);mFr,RxEA||Y}6rH@}6ŷ8@y}66<}6;*>}6Hп!?*? ``?@ԆR;? ?)~6rH@ ~6];I~6Cɫ99)9 =I9Y}@y}sGi ] ] ] ]@ ]@ ]@YYYi]@Y Y)]9@I]i]@m4HMmI=YuQUu>yya}E}҆Eyy=}>Iȉō35?ō Ҿ ƍB X@9ƍDǍp: ȍ?)ȉW(]@WX XW:W2W*WVbUBU*UUU?B_9<B BA%&>*BA8AAAn<"C Zx2RC C (]@C%FӅI G%M>MUFr,,EAY}6/J@}6oJ:@y}6;}6z&>}6H&Ϳ@?@G?``H]?@{`?˓?)~6/J@ ~6q];I~6Cɫyy)y }IY@y3rG=ii!!UOM]L=Y]2QU]>aaaeEeՆEaym'{=}m>I :U25? :Ҿ B X@9D : @):WZ@WX XW:W 2W *W V bUBU*UUU(@BE'##<BA BAAEQ>*BAAMCC9AIAIAMX<"CU76RCQCUZ@CYe.ą9IIGeV> S,:YT1y:59@ >9 I jGi Ѿ@ = D =; ֗EFr,aEAY}nCK@}n;@y}ny!;}n >}nH`T =ɿ??` ?1/d@A?@0?)~nCK@ ~n -^;I~nCɫ) IYt@yqGiQQa ia i a ma m a qa q a ea e Dl?{GzQ롿O-?# \)Iyx?I +I +?K?994< A)@IAi A A u u uuu>u!u"۽iqu q)qIu@iu@M8=YQU>aEنEyq=}>Iȡťw25?ťjҾ ƥB X@9ƥDǥ: ȥ:)ȡWX@WX XW:W2W*WVbUBU*UUU+@B <B BA[>*BAp9AAAc)<"C%Ճ9RC!C%X@C)&IGj>hFr,yEA|i|@Y}6ǰM@}6=@y}6ں}6>}6H`l]$ƿ@ۛ?i?I+@^?x][?.?!?)~6ǰM@ ~6d^;I~6Cɫ99)9 =I9Yu@y}pG}p=ɮyi PM g=Y ?QU >aE܆Eyj=}%>I!%225?%Ҿ %B 5X@9%D%: %?:)!WUV@WQXY XYWY:WY2WY*WaVabUaBUa*UaUiUm@]r@RuB*** querying acoustic contact ***PqPqBà <B BA=*BA)9AAA<"C:RCCV@C >>FӅׁIG=> 2:YW1yč:n5sFr,@EAY}:O@}:=?@y}:G}:>}:H  L¿`\?J?[`~?Hw??`?)~:O@ ~:#I^;I~:Cɫ99)9 9I9Y}@y}oGZ****** received transponder code query ******F****** received ping request ******aE߆Ey=}>I :225? :CҾ B X@9D;  ;):W][T@WYXY XYWY:Wa2Wa*WaVabUaBUi*UiUU @B?;B BAI=*BA9AAA<"C =RC C [T@CM>9IIM`jGiM@M=MPDIMB; MؗE=?΅i==nGIaiiyEٺ5BIG >Fr, EAY}2Q@}25A@y}2|}2 >}2H=%?I?@'?`>?f?`?)~2Q@ ~2O^;I~2Cɫ99)9 9I9Y}E@y}>pGxDUSBL response received:!U1,P D08,000,00B91,189,80,80,98,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i-%6only read 0 of 4 data items %@ %@ %@=<M=7=YE|QUM>aEEy=}>I25?Ҿ B 5X@9D; n;)WQ@WX XW:W2W*WVbUBU*UUUY @B];B BAͼ=*BA? :AAA<"C?RCCQ@Cl  o<:YDW1yY:65בIG>oGr,utEA| |";Y}Z S@}Z_C@y}ZL}Z% >}ZH飴?:C? @q?傉?H?@R?)~Z S@ ~Z^;I~ZCɫ髙) IYr@y:oG?A=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iMQ=Y QU>aEEy-=}>I :K25? :Ҿ B X@9D: :):W P@W!X! X!W!:W!2W!*W)V)bU)BU)*U1U1U5,@B]m;Be/< BaAe=*BaAe:AaAaAmi<"C-*ARC-yC- P@C1=FӅI!G=r>a 9a Ie iGie .@e =e QDa e ;; e ӗE Gr,a-EAY}MU@}ME@y}Mn}M7 >}MH 1\K??^ X?>Ӎ?wx?u?)~MU@ ~M͘^;I~MCɫ  )  IY-@y5oG9i==iAA6only read 3 of 4 data itemsa i@a  a m@a  a q@a  a e@a  - - --?-3-xi-p@) -Σ@)-@I-Σ@i-@==M=C=Y= QUE>AAaMEMEIyU=}U>IY]y25?]7Ҿ ]B eX@9]D]: ]>)YWM@WX XW:W2W*WVbUBU*UUU@B;B BA=*BAb):AAAm$<"C5SDRCqA8CM@CjיIGA>   uA:YW1yč:65)^;9(Gr,1GEAY}vmEW@}v`G@y}v)}vv>}vH@@_6? ?@ರ?@??`Ư?)~vmEW@ ~v^;I~tɫ) IYU@yU_oGeDNmea in: $SNTTA,,,,,020329.04*50 iqqMW=YQU>aEEy=}>Iȡťf25?ťbҾ ƥB X@9ƥDǥ^: ȥL?)ȡWK@WX XW:W2W*WVbUBU*UUU,^@B;B BAp=*BA7:AAA#<"C=0FRC ? CK@CI_y׹IGi>Gr,aEA|i|@Y}>X@}>AH@y}>B}>ɧ>}>H@@S?@?ИT?0?@ ?2? C?)~>X@ ~>!^;I~>CɫYY)Y YIYYT@yoG鮡ɮR=izMX=YjQU>aEEIyUK=}U>IY e:]S25? e:]ٿҾ ]B eX@9]D]: ]?)]:WI@WX XW:W2W*WVbUBU*UUUY@B;B BA=*BAOD:AAA<<"C}HRCG CI@C2g=9I3iGi@3; ϗE%"f'  6:YX1y/:65)F;1IAG]v> Gr,zEAY}2mZ@}2J@y}2s}2Tr>}2H`V?@K? ޶??(??)~2mZ@ ~2s^;I~2CɫYY)Y YIYYn@y6oGI)Ai @ @ @©iG@ )X@Ii;ME=YtkQU>a%E%E!y%\y=}->I)-*?25?-Ҿ -B =X@9-D-: -?))WaG@WX XW:W2W*WVbUBU *U U U`@RB*** querying acoustic contact ***PPBex;Ba BaAe=*BaAmS:AiAiAmT<"C$H@RCRejCaG@CхU$Gr,EAY}J \@}J_.L@y}J}J=}JHz@ ?`v?7a:#?o??C?)~J \@ ~JI^;I~JCɫYY)Y ]IYY@ynGibؼMP=Y(QU>aEEy=}>I+25?¿Ҿ B X@9D:  9 I hGi :@ :; ӗE)ݹIݽ~Ciݹݹݽ=ݽB5+Gr,nEA|<|>p;Y}J]@}M@y}֘} B=}H s]?1Ҍ? tղ?? ඼?@6?)~J]@ ~^;I~Cɫ) IY5T@y5mG=AA=AAiAAa ia i a ma m a qa q a ea e S㥛?Zd;O?X9v$?j< )IyS㥛?lMb?$?< MA)@IAAi AG A   ף=/]i@ )@I@iΣ@NM,=Y\QU>aEEy(W=}>I25?Ҿ B  X@9EH: Q:)W-B@W)X) X)W1:W12W1*W1V1bU9BU9*U9U9UE@G@Bm->;Bi BiAu=*BqAu<&f:AqAqAu<"C}B@RC}>n=CB@Cu QIYG}z>2Gr,.rEAY}:>_@}:ZO@y}:濼}:^=}:H:ԗ?AC?#_@ ~:^;I~:Cɫ99)9 9I9Y}@y}wnGi=i>=Mx=Y 1QU?aEEy=}?I :15? :̾Ҿ B X@9EV: :):Wm>@@WiXi XqWq:W2W*WVbUBU*UUUi@B;B! B!A%t@=*B)A-$n:A)A)AUC<"CU,A@RC]:=C]>@@Cae*AIQGu6> !+:YWU1y:5-8Gr,rMEAY}2`@}2P@y}2Ƽ}2i=}2H@`G? ?ھ?PИ?`u$??)~2`@ ~2ɝ^;I~2Cɫ99)9 =I9Y]@y]nGexDUSBL response received:!U1,N,80,80,63,E4 1,189,80,80,98,FF eZNo reply:!U1,N,80,80,63,E4 1,189,80,80,98,FF -maEEyc=}>Is15?޾Ҿ B X@9E: #:)W>@WX X W :W 2W *W V bUBU*UUU @BO;B BAQ=*BAy:A A A z<"C5>@RC5h>C=>@C9-ܕ>9ܑIܑiܑܕ=ܑܑܕF; ݕٗE I1GqX>Gr,)EA|@i|@Y}6a@}6pR@y}6̼}6w=}6H` ?GԊ??S?@F??)~6a@ ~6^;I~6Cɫ99)9 9IAY}@y}NnG鮅a=ɮa=i @ @ @©iz@ )IΣ@i@?MG=YbQU>aEEy:<=}>I  : 15? : 9Ҿ B X@9  E : b:) :W=<@W9X9 XAWA:WA2WA*WAVIbUIBUI*UIUIUU@B5u;B9 B9A=/=*B9A=u:AAAAAE<"CM<@RCMK>>CM<@CqMS!I)GM1> 3:YW1yč:$5?EGr,EAY}6rb@}6 S@y}6Լ}6=}6H =?pȊ?aÿ}_?@W??@?)~6rb@ ~6l^;I~6CɫII)I IIIY}}@y}nGI)iMO=Y;!QU>aEEy)=}>IȹŽ15?Ž̿Ҿ ƽ B X@9ƽEǽ: Ƚf:)ȹWq:@WX XW:W2W*WVbUBU*UUU @B-H p;B) B)A-=*B1A5 :A1A1A5<"C=q:@RCEBg>CEq:@CA5Β;IG>ܵ >9ܱ Iܱ iܱ ܵ = > ܵ PDiE nGI i ܱ Dٺ 5Bܵ D; ݵ חEjKGr,./EAY}2c@}2S@y}2ۼ}2~=}2H@$?F?@־ſ lO?`,o?zp??)~2c@ ~2W)^;I~2Cɫ99)9 9I9Y}M@y}mGiEq= ףp?{Gzt?~jtE ?Eף; ED)AIAyEGz?V-?Ep>EhE< EA)E"AIEAiAAE A-uPonly read 0 of 1 data item for BIT error}^M}==Y*QU>aE EyJ =}>Iș :ŝS15? :ŝҾ ƝB X@9ƝEǝ: ȝV:)ȝ:W28@WX XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPB *K;B BA<*BAP:AAA^'<"C28@RC% >C%28@C!-x=IG )> G/:YY1y:5);9QRGr,=IEA||4aE E!y-<}->I1515?5}Ҿ 5B EX@95E5: 5:)1Wma6@WiXi XiWi:Wq2WI*WQVQbUQBUQ*UYUYU]`!@BB;B BAa<*BAf:AAAO<"Ca6@RCCa6@C`k=יIGc>{XGr,cEAY}6d@}6U@y}6輙}6ϐ=}6Hun@M?`7? ^ǿZ ?z?9? :?)~6d@ ~6ƥ];I~6Cɫ99)9 =IAY@y2nGxDUSBL response received:!U1,P 80,80,63,E4 1,189,80,80,98,FF Command AckBRequesting micromodem ping code 2iiNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i%<M-I=Y=oQUE>QYa]EeEqy45<}>IȡťJ15?ťҾ ƥB X@9ƥEǥ= ȥ=)ȡE>9AIAiAE=AAE/; E̗EW=k3@WaXi XiWq:Wq2Wy*WVbUBU*UUU"@BE p;Bi BiAu$=*BqA}':AyAyAJ<"Ck3@RCCk3@C [/:YT1y:5);\=IG>^Gr,mp}EAY}29d@}2T@y}2D }2id=}2H@r ?#?`bǿ g@ή?+ ?K??)~29d@ ~2];I~2Cɫ99)9 9I9Y@ysmGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iYa    @ @ @ñññiõ@ñ ı)ıIĵۙ@iĵ@!7M@=YQU>aEEy߻}>I :w15? :kҾ %B X@9E,: /:):W1@WX XW:W2W*WVbUBU*UUU`[m#@B 3;B  BAխ<*BA:AAA<"C1@RC!C%1@C!E=I)GUT>reGr,+NEA|@i|@Y}>1d@}>0T@y}>}>x=}>HpD?ɐ?!"ƿ h}@I? ͘???)~>1d@ ~>];I~>CɫYY)Y ]IYY7@ymG鮙ɮi<M]=YТQU>aEEy ܼ}>IY]g15?]Ҿ ],B eX@9]!E]n: ]߼:)YW/@WX XW:W2W*WVbUBU*UUU-+$@B?P;B BAa<*BAH:AAA/<"C0@RCC/@C֭Vw$>ׁIG> 1:YWU1y:9@- >9) I) i) ) - QD) - :; - їEkGr,Y6EAY}c@}Q,S@y}}-G<}H./?? Ŀ:? [?@??)~c@ ~];I~Cɫ) IYeT@ymmG}DNmea in: $SNTTA,,,,,020334.70*5F Iy)}AiE?:vZd;O?&?T j=)Iy+? rh{Gz?v?C ף<  A)AIAi AA u u uu9T?uQu >iu@u u@)u"@Iuiu@;M0=YҺQU>aEEyW }>Iȡ :ť~P15? :ťUҾ ƥ5B X@9ƥ%Eǥ<: ȥ:)ȥ:Wu-@WqXq XqWq:Wq2Wy*WyVybUBU*UUU@%@BpQ;B BA%=*B!A%<:A!A!A%}<"C-H-@RC)C5-@C1ES^>)I9GUv>rGr,EAY}2a@}2cQ@y}2e}2L}2H`m??49A?政)?)~2a@ ~2];I~2Cɫ99)9 =I9Y}@y}lGiMo=YWQU?aEEyc}?I>15?WҾ  IG]> /:YU1y:56xGr,EA||;Y}6]`@}6P@y}6 }6?ā}6H@te? v?@8*??36?)~6]`@ ~6N_;I~6Cɫ99)9 =I9Y@ysmGAAAAi|<MF=Y QU>aE Ey/}>I  :O)15?  :SҾ EB X@9-E: :):W54)@W1X1 X9W9:W92W9*W9VAbUABUA*UAUAUM&@RUB*** querying acoustic contact ***PQPQBu-;By ByA}խ<*ByA}zE:AAAN<"C4)@RCC4)@C>9I3iGi@P; ۗE)qIqiqu=u=ur5>IGI>~Gr, EAY}6_@}6O@y}6_ }6Kݽ}6HH??'\v?`|?)~6_@ ~6D`;I~6CɫYY)Y ]IYY@ylGi=i9v>i@ @)@I"@iMG=YoQU>!a%E%#E!y-5}->I1515?5Ҿ 5OB =X@951E5: 5:)1We5&@WaXa XaWa:Wa2Wi*WiVibUiBUi*UqUU l'@B]:BY BYA]Y;*BaAe :AaAaAe\<"Cm'@RCC5&@C֥>yIG`> l3:YV1y:5c܅Gr,EAY}6*^@}6!FN@y}6@}6!}6HH?4? ϴ.¿V?Շ¿`c?)~6*^@ ~6`;I~6CɫYY)Y ]IYY@y mGi.)<MO=YQU>aE&EyEb}>I :r05? :Ҿ XB X@94E: :):Wb$@WX XW:W2W*WVbU!BU!*U!U!U- -(@BU;BQ BQAUR1<*BYA]:AYAYA]z)<"Ce3%@RCaCeb$@Cia!I1GM1> >9 }CI iGi ݽ@ = T; ܗEGr,%v2EA|i|Y}6}\@}6L@y}60}6^J5}6Hq?`?u@`v@3?ƿD?ƿ=z?)~6}\@ ~6`;I~6Cɫ19)9 =I9Yu@yu3mGyɮyi}7A`?MbQ롿}?} }\)yIyy}Mb?i@ "@)@I@ij@<M8=Y$QU>  a E*Eyq}>I!%:05?%aҾ %aB X@9%8E%R< %5<)!W<"@WX XW:W2W*WVbUBU*U!U!UE  )@B;B BAs<*BA:AAA-<"C<"@RCC<"@C> '0:YU1y:5)k;9ױIG>Gr,(ILEAY}:Z@}:FJ@y}:*}:K}:H`"@??㐚L]p*ɿ@ã?GɿeX?)~:Z@ ~:{`;I~:Cɫ99)9 9I9Y}7@y}}lGxDUSBL response received:!U1,N,80,80,63,E4 1,189,80,80,98,FF ZNo reply:!U1,N,80,80,63,E4 1,189,80,80,98,FF -aE,Ey }>I05?Ҿ hB X@9;E: n:)Wrp @WX XW:W2W*WVbUBU*UUU`)@B-:BQ BQAU*BQAQAQAYA]<"C]!@RCaCerp @Cae>9IIGmV>Gr,p$fEAY}64X@}6H@y}6 }6[}6H@,?`lq?cCM˿@? B˿=?)~64X@ ~6 _;I~6CɫYY)Y YIYY@ySmGiU=MI=Y8պQU>aE0EyQ}>I :B05? :1Ҿ qB X@9>E: :):W%;@W!X! X)W):W)2W)*W)V1bU1BU1*U1U9U=Z*@Bx*$;B BA<*BAϡ:AAAm<"C@RC!C%;@C!ܕ>9ܑIܕjGiܕѾ@ܕ=ܑܑܕ=; ݕЗEi=nGIqiFٺ6BֽFӅ> T    ::Y X1y /: 75) `;בIG>Gr,GEA|4<|4V@}>SF@y}>>W#}>Ԛh}>H@Y` ??&̿ i?̿6'?)~>V@ ~>&^;I~>CɫYY)Y YIYY@yAmG@A@Ai-Ponly read 0 of 1 data item for BIT error @ @ @e/Mm@=Ym2QUm>qqauEu3Eyy}F}}>IȁŅ05?ŅҾ ƅzB X@9ƅBEDž: ȅv:)ȁW@WX XW:W2W*WVbUBU*UUUs+@B;B BA<*BAԈ:AAA<"C@RCC@C %>I G%M>,*Gr,UۙEAY}6U@}6e4E@y}6'}6HXq}6HT m!?TЮ?\ `$οFߤ? _Ϳ?)~6U@ ~6ņ^;I~6Cɫ99)9 =I9Y}@y}nmG=i=iC<MX=YQU>aE6Eyh}>Iȹ :Žɨ05? :ŽҾ ƽB X@9ƽEEǽV: Ƚ:)Ƚ:W@WX XW:W2W*WVbUBU*UUU`q5,@R B*** querying acoustic contact ***P P B54;B BA <*BAT:AAA<"CZ@RCC@C>׹IGE>M8 MMM MI8:YMT1yM:M59m@܍ >9܉ I܍ (kGi܍ "@܍ =܉ ܉ ܍ I; ݍ ֗ETGr,EAY}2LS@}2gC@y}2)}23w}2H `Cv@_?@U?Bdο/?@ο ?)~2LS@ ~2K^;I~2Cɫ99)9 =I9YE@yEmGMZ****** received transponder code query ******MF****** received ping request ******UM/=YQU>aE:Eyv}>Iȱŵ05?ŵmҾ ƵB X@9ƵJEǵr: ȵY:)ȱWcb@WX XW:W2W*W!V)bU)BU)*U)U1U5@(-@B};By ByA}8<*BA:AAAT<"Cv@RCCcb@C֥_>qIG~>YYaeEe=Eyy}>Iȩ u:ŭ8|05? u:ŭ Ҿ ƭB }X@9ƭMEǭ< ȭ<)ȭ:W=4+@W9XA XAWi:Wi2Wq*WyVybUBU*UUU .@B=?S;B=IV< B9A=<*B9A5:AAA<"Cp@RCC4+@C-  i7:YW1yč:$5>בIG>&fGr,lEAY}2|^O@}2y?@y}2C)}2կw}2HVÿWp?? Z Ͽ0?@1ο ?)~2|^O@ ~2=^;I~2Cɫ99)9 =IAY}T@y}oGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)iJ=MB=Y,=9QU>aE@Eyݟ}>If05?Ҿ B X@9RE]; ;)5>91I5kGi5Ŀ@5=115V; 5ܗEW@WX XW:W2W!*W!V!bU!BUI*UIUIUM o.@BnP;B BA=*BAτ:AAA<"CT@RCC@C>ױIG>;NGr,HEAY}B;M@}BV=@y}Bˑ*}Blw}BH@oǿjno@K?~ϿP?`ο ?)~B;M@ ~By]^;I~BCɫyy)y }IyY@yVoGxDUSBL response received:!U1,R,D8D,000,00B00,189,80,80,A3,FF Fpublishing direction and range info ?ɰf>鰹 )#CIyuC T?<?ٱi - - --ʡ=- -l>i-@- -n@)-9@I-"@i-@=<MEQ=YE#QUE>IIaMEMCEIyU}U>IY e:]R05? e:]Ҿ ]B mX@9]VE]+: ]:)]:WE*@WIXI XIWi:Wi2Wq*WqVqbUqBUq*UyUyU}/@P*QuCZQ \@u7Q@JQ T?<?2Q ?:QbQ#^e#8^F"'sZ'RQ~7}w]g9տN"9BQNa_@ Q2QP?9?P79?PQQ%"QWAB;B BA=*BA-}:A)A)A-I<"C5*@RC1C5*@C9=>  U:YV1y:5I!G]v>:{Gr,M/EA|0|0Y}zCK@}z7_;@y}z)}zsQx}zHi> <˿؇`%?I`+!Ͽ :?õοy ?)~zCK@ ~z,^;I~zCɫ) IY@yMoG}TNmea in: $SNTTA,0.090211,,,,020340.36*4B i-KM-<=Y-9QU5>11a5E5GE9y=搽}=>IAEd;05?EҾ EB UX@9EZEEQ: E:)Am}Added new target pos. range: 131.460007 m, bearing: 199.980262 deg, deltaT: 15.774980 s, approachRate: -0.551506 m/s, LOS rate: 0.306868 deg/s, posRepo size: 4m ProNav: pos range: 131.460007 m, bearing: 199.980262 deg, approachRate: -0.551506 m/s, LOS rate: 0.306868 deg/s, cmd update: 0.920605 deg/s, cmd heading: 129.800827 deg, new cmd heading: 127.823663 deg. W:i@WX XW:W2W*WVbUBU*UU`n`@U ?BY;B BA=*BA蠾:AAAn<"C@RCC:i@CT<> I1 ܅ >9܁ I܅ lGi܅ g@܅ =܁ ܁ ܅ O; ݅ ڗE)}CI}Ci==5G >Gr,4EAY}28I@}29@y}2b&}2AA|}2H @iοOmv?@`,Ͽʤ?`+0Ͽ"?)~28I@ ~26^;I~2CɫYY)Y ]IYY@yoG=i=i  S㥛?? ףp= ?= Q8)Iy +?V-+??= @)'AIAinAA -@ -@ -@-©--i- @- -X@)-I-i-@==M=J=Y= ;QUE>AAaEEEJEIyU=}U>IY](05?]Ҿ ]B eX@9]^EY ]:)YW@WX XW:W2W*WVbUBU*UUU8?BO;B BA#=*BAy:AAAr+<"C@*CRCC@Cѥk<}> ~~ J:YT1y@:5)n;9YIaG{>9Gr,NEAY}6H@}6=8@y}6E }6}{}6H п׻?`NϿe?Ͽ?)~6H@ ~6-^;I~6CɫYY)Y ]IYY:@y1pGi5ӕ<M=\=Y=؃;QU=>AAaMEMMEIy]3}]>Ii u:mf05? }:mgҾ mB }Y@9maEm*; mA;)m:Wc7@WX XW:W2W*WVbUBUQ*UQUQU]7?B[M<B BA=*BA:AAA<"C@RCCc7@CmY<ֵ>׉IG>Gr,BhEA|i|@Y}:kF@}:J6@y}:}:_;z}:H`n^IҿDC?Ͽ`?pο`?)~:kF@ ~: ^;I~:CɫIQ)Q UIQY[@yZpGi<M?=Y ;a9aIemGie @aaae7; e͗EQU>aEQEyb}>Iȱŵ\05?ŵҾ ƵB Y@9ƵfEǵ; ȵw;)ȱW%i@W!X! X)W):W)2W)*W)V)bU1BU1*U1U1U=)?B<B BA[=*BA:AAAF<"Ci@RCCi@C)  }} H:YkS1yԊ:5)Ǣ; Ս=ԍ=q Q IY G} >Gr,zEAY}bgD@}b4@y}bQ}b^y}bH@iӿ SL?Lrο4I? 1ο`6 ?)~bgD@ ~b%"^;I~bCɫ髙) IY@ypGIEA)AiII   ÝM?ݵÝI>iÝ@Ý ĝn@)ĝ@Ięiĝ9@=MO=Y9;QU>aETEy}>I : /5? :Ҿ B Y@9iEE: :):WI@WX XW:W2W*WVbUBU *U U U `j?B=!<B9 B9A==*B9AE&:AAAAAEߑ<"CMJ@*CMRCICUI@CQm>aIqG[>Gr,PpEAY}B!C@}Bj<3@y}B }Bu}BH#CHտϞd?@-6"ο@do?HQο`?)~B!C@ ~B^;I~BCɫQY)Y ]IYY5@yfqGi5j<M5R=Y=;QU=>99aEEEWEAyMG}M>Iȩŭ/5?ŭҾ ƭB Y@9ƭmEǭ: ȭ:)ȩWw@WX XW:W2W*WVbUBU*UUU`2@B)<B BA=*BA:AA!A%g<"C%w@RC)C-w@C1ցaI M    `N:Y U1y : 59%@Guz>̞> ڕCiI! 9! I% nGi% @% =! ! % [; % Eia Dٺ 5BGr,FEA|;|p;Y}6nA@}621@y}6/K}6't}6H ֿ鬿 ? ڱͿ(?!Kο?)~6nA@ ~6-^;I~6CɫYY)Y ]IYYW@yqGien?Fx?QeV?eƋ> e)aIayeMb?v/aEZEyj}>I U:/5? U:SҾ B UY@9qE< ג<):W`@WX XW:W2W*WVbUBU*UUŲ@RB*** querying acoustic contact ***PPB)<B B!A%>*B!A%;A!AAAM3<"CM`@*CQRCQCU`@CQԅgAԅgAY1IAG]v>Gr, .EAY}Jt?@}J/@y}Jٸ鼙}Jp}JHM@Iؿ)Q`Ύ?@,̿`6? yͿ`?)~Jt?@ ~J^;I~Hɫqq)q uIqY@y*rGZ****** received transponder code query ****** F****** received ping request ****** aE]Ey>}>Iȱŵ/5?ŵҾ ƵB Y@9ƵuEǵ: ȵ8:)ȱWL@WX XW:W2W*WVbUBU*UUU$ @B;I<B BAd>*BA;AAA4<"CL@*C(RCCL@C> - I:YyH5IGl>dGr,rEAY}:=@}: .@y}:z˼}:dAl}:H0`ٿgJ-?Y K˿|?@BͿv$?)~:=@ ~::#^;I~:Cɫ99)9 9I9Y}@yOrGxDUSBL response received:!U1,P D8D,000,00B00,189,80,80,A3,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iqy>9ItoGi@=d; E e  íQ>íMíP=ií\@é ĭ9@)ĭ"@Iĩiĭ"@K;M*=Y;QU>aE%aE)y-g}5>I1 =:5ɟ/5? :5=Ҿ 5B Y@95zE5v#< 5#<)5 :W@WX XW:W2W*WVbUBU*UUUࣰ @B-z4<BQ BYA]>*BYAeM;AaAaAe<"C@*C.NRCC@C >ס I G >7Hr, EA|@i|Y}JI<@}Je,@y}J.}J"m}JH`.BۿM?˿n? ^Ϳ#?)~JI<@ ~J ^;I~JCɫ髑) IY@yrGa=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iQQMm=Y3*BA;AAAJK<"C$@RCp>C$@C֝N؅>qIG_>  >:YDW1yY:H5Hr,9 EAY}B{:@}B)*@y}B,}BϞj}BH@oܿ@ƶ&T?`8ʿT?2Ϳ(?)~B{:@ ~B"^;I~BCɫyy)y yIyY@y%sGxDUSBL response received:!U1,R,BC4,000,00ADF,189,80,80,8F,FF Fpublishing direction and range info*r?ɰc> )CIyzC*?΄y!!a%E%gE!y-P}->I15*/5?5Ҿ 5 B =Y@95E5ʽ: 5׾:)1WeU@WaXa XaWa:Wa2Wi*WiVibUiBUq*UqUqUu` @P*QzCZQX ^aR@4ZIAZ@JQ*?΄y*BA;AAA<"CU@*CƹMRCb|U>CU@CH~>בIG!>ܵ>9ܱIܵoGiܵ@ܵ=ܱܱܵR; ݵۗEA Hr,J7 EAY} 8@} (@y} n} 6hl} H$C޿w@T? :ʿQӍ?`5IͿ%?)~ 8@ ~ q^;I~ ɫ) IYM@yM[sGDNmea in: $SNTTA,,,,,020344.80*57 iU\(\?DlMb?U>UO U<)QIQyU?qqa}EkEyaj}>Iș :ŝi/5? :ŝwҾ ƝB Y@9ƝEǝ; ȝ;)ȝ :myAdded new target pos. range: 129.479996 m, bearing: 206.051385 deg, deltaT: 4.406273 s, approachRate: -0.449362 m/s, LOS rate: 1.377836 deg/s, posRepo size: 4m ProNav: pos range: 129.479996 m, bearing: 206.051385 deg, approachRate: -0.449362 m/s, LOS rate: 1.377836 deg/s, cmd update: 4.133509 deg/s, cmd heading: 133.865005 deg, new cmd heading: 134.310439 deg. W>@WX XW:W2W*WVbUBU*UU \/`@U?B-\<B) B)A-g/>*B1A5i);A1A1A5u<"C>@RCfI >C>@CW  ::YU1y:$5);90p>׉IG>h&Hr,hQ EA||;ɫyy) IYY@y tGiaa}M=M}o=Y}QU?aEmEy}?IșŝmZ/5?ŝqҾ ƝB Y@9ƝEǝ#: ȝr:)șW3Q@WX XW:W2W*WVbUBU*UUU2?B8͌<B BA@>*B A 12;A A AK<"C3Q@RCp>C3Q@C֭%,g>ׁIG=>QHr,Hk EAɫ) I Y9YIYiY]=YY]K; ]ؗE)AIAiAAAE4Yu@yu7sGi=ihA - - --d>--1i- @- -9@)-"@I)i-@=RFME>=YAQUE>IIaMEMqEQyQ}U>IY e:]3G/5? e:]iҾ ]B mY@9]E]< ]Ʋ<)] :Wmn@WiXi XiWi:Wq2Wq*WqVqbUyBUy*UyUyU}m?Ba<B BA+>*BA&Z<;AAAg<"Cn@RCP=Cn@Ca9>׹I  C:YX1y/:[5));Gj>a8!Hr,6 EAY}6x3@}6̦#@y}6}6So}6H9`M? Yɿ׀? 4Ϳ?)~6x3@ ~6˴^;I~6CɫYY)Y ]IYY}@y}sGi=M_=Y!!a%E%tE)y-+b}->I157/5?5bҾ 5B =Y@95E5{: 5f:)1WI@WX XW:W2W*WVbUBU*UUU?B=\<B9 BAAE38>*BAAED;AAAAAM|~<"CmI@RCuʎ<CuI@Cqe=H!>AIIGm5>Sc'Hr, EA|@i|@Y}Ns1@}N"@y}NN}Nj}NH= `JP?7ȿcu?`Ϳ)?)~Ns1@ ~Nn^;I~Lɫ髹) IY@ysGiYYUMC=Y;QU>aEwEyq}>I :%/5? :XҾ #B Y@9E: :) :W=}@W9X9 X9W9:W92WA*WAVAbUABUA*UIUIUM`a]@Bu}f|<By ByA}5>*ByA}BN;AyAA<"C}@RCUC}@CI > * D:Y0Y1y:59-@IIG}>Y9YIYiYYYY]5; ]͗E-Hr,Ը EAY}:,t0@}: @y}:ں}:`}:H{SS?9- ƿC[?˿@5;?)~:,t0@ ~:c^;I~8ɫ99)9 =I9Y}@y}[tGI)Ai ?MbX?~jtx?f?J> ;)Iy%C?y&1|?Z$?`; ^@)Z$AI; Aip Az A)= =5>5 5`eIIaUEUzEQy]a}]>Iae/5?eOҾ e%B mY@9eEeL: e?:)aW  @W X  XW:W2W*WVbUBU*UUU%@BM<B BASI>*BAxY;AAAk<"C @RC=|C @C֥>aIiGZ>fv4Hr, EAY}N/@}N6@y}N^:}N/W}NHfd8w?@ſ‹Xhʿ@K?)~N/@ ~N;^;I~NCɫ) IY@ysGAAi  gMW=Y;aE}Ey&c}>IȡťB/5?ťGҾ ƥ&B Y@9ƥEǥ*: ȥ:)ȡWn"@WX XW:W2W*WVbUBU*UUUm@RB*** querying acoustic contact ***PPB<B BA(>*BACa;AAA<"C%n"@RC%.;̽C-n"@C)E$O=!I)GE0>H  M:YWU1y:l5:Hr,& EA|4<|49~CIaEEy+}>I :G.5?  :=Ҿ 'B  Y@9E: :) :W5Y$@W1X1 X1W1:W12W9*W9V9bU9BU9*UAUAUE@O @Bmds<Bi BiAm4>*BiAu;l;AqAqAu(<"C}Y$@RC}C}Y$@C}·3=QIaG}>AHr,rj!EAY}J,@}J*@y}J;}JG}JH-]N?J¿`|`7ȿe?)~J,@ ~Jp<^;I~Hɫyy)y yIyY@ytGxDUSBL response received:!U1,P BC4,000,00ADF,189,80,80,8F,FF Command AckBRequesting micromodem ping code 2iiNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i !I==)==QQ}=Mc=Y;QU>aEEy%}>I.5?4Ҿ  Y@9E< =)Wr&@WX XW:W2W *W V bU BU*UUU ` @B}6<B BAS>*BA3Gw;AAAt<"Cr&@RC4Cr&@C?Bɺ 2 R:YX1y/:Z5IG>GHr,@ !EAY}2>,@}2CZ@y}2+{5<}2=}2Hીf-?@:?@A K-Gǿ s?)~2>,@ ~2=^;I~0ɫ99)9 =I9Y@ytGɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i9Au7MuK=Y}(yaEEy}>Iȑ :ŕ.5? :ŕ+Ҿ Ƒ Y@9ƕEǕ: ȕD:)ȕ:W<(@WX XW:W2W*WVbUBU*UUUt3@Bj<B BAXO>*BA l;A A A -F<"C<(@RCPC<(@C]IGL>>9IoGi@=G; ֗EMHr,:!EA|"@i|"@ɫ) IY-@y-tG=xDUSBL response received:!U1,R,B53,000,00AC6,188,80,80,B5,FF =Fpublishing direction and range info5ȴ?1ɰ5a>5> 1)55CI1y5B5:B?3w?ٱ1iQQ-?i|?5?{Gz?5?= #=)Iy?+?f&?< |@)|AIAi; Ap A e e ee=ebPeR>ieQ@a en@)eIe@ie9@u<Mu;=Y}QU}>yyaEEy}>Iȑŕ.5?ŕ!Ҿ ƕ-B Y@9ƕEǕ: ȕ:)ȑW]X*@WYXY XYWa:Wa2W*WVbUBU*UUU= @P*QBZQFP@XS*[@JQ:B?3w?2Qȴ?:QbQu]щp E5RQُj#y>H տ4)ſBQ^@ Qc(QP=9?PN9?PQQQn"QɂBl1<B BAX>*BA%ą;A!A!A%r<"CEX*@RCEAjCMX*@CI  H:Yy[5);9 u IIYG>|THr,S!EAY}+@}@y}x<}o}Hl[@Mn/L?^%z&@N`wiÿs?)~+@ ~XQ^;I~ɫ) IY5@y5tGDNmea in: $SNTTA,,,,,020349.25*55 I)Ai )= >-M5O=Y599a=E=EAyE-}E>II U:M@.5? U:M Ҿ M0B ]Y@9MEMw: Mb:)M:m}Added new target pos. range: 127.980003 m, bearing: 199.481754 deg, deltaT: 4.513086 s, approachRate: -0.332365 m/s, LOS rate: -1.455685 deg/s, posRepo size: 4m ProNav: pos range: 127.980003 m, bearing: 199.481754 deg, approachRate: -0.332365 m/s, LOS rate: -1.455685 deg/s, cmd update: -4.367055 deg/s, cmd heading: 152.502478 deg, new cmd heading: 154.053622 deg. W0(@WX XW:W2W*WVbUBU*UU`_@U@?B|<B< BAU>*BA4;AAA<"C*@RCuC0(@Ce:W9IIGeV>[ZHr,Jn!EAY}zv+@}z@y}z(<}z}zHbLs`젺?@B@|촿>D ?)~zv+@ ~z^;I~zC>9}CIi=N; ٗEɫ) %I!Y]@y]htGiee&e=ie̴@a e@)aIe^@iauռMuD=Y}HeyaEEyx;}>Iȑŕ.5?ŕ Ҿ ƕ3B Y@9ƕEǕ: ȕ:)ȑW|&@WX XW:W2W*WVbUBU*UUU `?B<B BAJ>*BA֐;A A A S<"C**@RCfC|&@CbbIGF>  D:YDW1yY:5)C;aHr,!EA|;|;Y}>KF,@}>a@y}>Ą=}>x}>H#[b`?$p@A ۏ $?)~>KF,@ ~>'^;I~>CɫYY)Y ]IYY@ytGi9Ae^<Me`=Ym2iiamEuEqy}6<}}>Iȁ :Ņ.5? :Ņ`Ҿ ƅ4B Y@9ƅEDž: ȅ(:)ȅ:W$@WX XW:W2W*WVbUBU*UUUn}?BF<B BAO>*BA%Iŕ;A!A!A%<"C-)T(@RC-zGC-$@C1GIG$>gHr,ƈ!EAY}N,@}N@y}N]~=}NL}NH8(N?ܦ=@]?)~N,@ ~N "^;I~Lɫyy)y yIY@ytGi=i))5gA1Î:ME=YL@aEEyQ<}>I<.5? Ѿ 5B Y@9E: U:)WC"@WX XW:W2W *WVbU!BUI*UQUYUe@ַ?BUbʑ<BQ BYA]EP>*BYA]`";AYAYA@<"C%#@RCNCC"@C     E:Y V1y : 59@>9IoGiO@=?; їE)1I1i15=5=55Mjb(nHr,c!EAY}2-@}2C@y}2eT*=}2*}2H`l>@?`jQHد ?)~2-@ ~2V^;I~2CɫII)I MIIY}@y}vtGiGz?e>e茶ie\@a e"@)aIe9@ie"@uMu?=Y}&yyaEEy =}>Iȑ :ŕ-p.5? :ŕѾ Ƒ Y@9ƕEǕ: ȕA:)ȕ:W @WX XW:W2W*WVbUBU*UUUq?By<B BAL>*BA 'ؠ;A A A Ŵ<"C!@RC@"C @CoE<ZיIGd>uHr,@!EA|i|@Y}^V.@}^ @y}^8=}^ x}^H@Q|~Y'`?M\t?no]?)~^V.@ ~^p^;I~^Cɫ) IY@ytGiyy/<MW=YaEEyn7=}>Ib.5?Ѿ 3B Y@9E׾: ]:)Wҽ@WX XW:W2W*W V bU BU*UUU`$@Bn<B BAO>*BA 4;AAAt<"C-ҽ@RC-eC-ҽ@C1/<     rE:Y U1y : 5,iIG >.<{Hr,!EAY}:N(0@}:C @y}:G=}: ;}:HWf @0?@R?.x?"?)~:N(0@ ~:m(_;I~:Cɫ99)9 =I9܁9܁I܅mGi܅[@܁܁܁܅=; ݅ЗEY@ysG 鼩i @ @ @ @Ý©ÝÝiÝÝ ĝ)ęIĝiĝp\MK=Y#aEEy@=}>IS.5?Ѿ 0B Y@9Ek; 1l;)W-T@W)XI XIWI:WQ2WQ*WQVQbUQBUY*UYUYU]?K@RmB*** querying acoustic contact ***PPB|f<B BA9>*BA;AAA?<"C @RCF;CT@C  )  ԹԽhA֍Xa Iq G >m"Hr,"EAY}2)~1@}2|!@y}2V=}2J;=}2H@@1ܵz?# H?pժV?7?)~2)~1@ ~2^;I~2Cɫ99)A EIAY}~@y}6tGZ****** received transponder code query ******F****** received ping request ******))a-E-EyFR=}>I :D.5?  :dѾ +B  Y@9E: :):WM@WiXi XqWq:Wq2Wq*WqVybUyBUy*UyUyU`Վ @Bե<B BAE>*BA ;AAA2&<"C@RCh-=C@C6IGK>  #A:YWU1y:5MHr,""EA||Y}62@}6#@y}6f=}6=}6H`w`6Fa`?X޸?جD?@;?)~62@ ~62_;I~6Cɫ99)9 9I9Y}@y}EsGxDUSBL response received:!U1,P B53,000,00AC6,188,80,80,B5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i*uML=Y ))a=E=EIy]k=}e>IȁŅ5.5?ŅѾ ƅ&B ]Y@9ƅEDž< ȅp<)ȁW%@WX XW:W2W*WVbUBU*UUU + @=>=ЕCiunGI!iIEٺ5BMwC@9M3B܉9܉I܍TlGi܍@܉܉܉܍9; ݍΗEBf;<B= BA->*BAյ;AAAB<"C%@RC=C%@C >=qש I G >xxHr,<"EAY}2Ch4@}2$@y}2Uv=}2=}2H`;_2k?@C?ƪ?Ů7a?@?)~2Ch4@ ~2r-_;I~2Cɫ99)A EIAYu@y}WsG鮁ɮ=-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i=i]K7A??] "?]L= ])YIYy]E?~jtQ?]&?]D]< ]; A)]AAI] Ai]AY]A-Ponly read 0 of 1 data item for BIT error};M3=YaEEyV=}>Iȱ :ŵY".5? :ŵ Ѿ Ƶ#B Y@9ƵEǵ: ȵ :)ȵ:W@WX XW:W2W*WVbUBU*UUU '@B%B<B! B)A-.>*B)A-(;A)A)A5S<"C5@RC=>C=@C9eI)GEQ>   C:YU1y:n5);9 bHr,OV"EAY}J5@}Jf &@y}J=}JT:=}JHE#q?@ɝ? @Df?T5`L? h?)~J5@ ~J_;I~JCɫqq)q qIqY@@yrGxDUSBL response received:!U1,R,BF0,000,00AB2,18A,80,80,81,FF Fpublishing direction and range infoVh?ɰL`>鰽> )CIyBr޷?&+Ob7?ٱiYY'MH=YaEEyn=}>I.5??Ѿ B Y@9E: f:)W8@WX X W :W 2W *W VbUBU*UUUu@P)*Q-BZQ-CmS@FAX@JQ-r޷?&+Ob7?2Q-Vh?:Q)bQ-ķ̼]c_5E?@RQ-$C'ֿO#?BQ-._@ Q-/Q-P-89?P-=9?P)Q-Q-EA"Q-QnB]o<Ba BaAe>*BaAeQ;AaAaAm嗺<"Cm @RCuH%>Cu8@CqֽFJ5yIG_>犛Hr,ip"EA|.@i|.@=>99I=`jGi=@999=>; =їEY}mi8@}(@y}b=}8=}H`]߿q ?@?k"?`?)~mi8@ ~gs^;I~Cɫqq)q uIyY @y JrGuDNmea in: $SNTTA,,,,,020353.68*57 i    t>lg>i@ @)@I@i@ǼMH=YM;QU>aEEy=}>I :U-5? :Ѿ B Y@9E< <):myAdded new target pos. range: 126.780006 m, bearing: 200.277074 deg, deltaT: 4.429357 s, approachRate: -0.270919 m/s, LOS rate: 0.179557 deg/s, posRepo size: 4m  ProNav: pos range: 126.780006 m, bearing: 200.277074 deg, approachRate: -0.270919 m/s, LOS rate: 0.179557 deg/s, cmd update: 0.538670 deg/s, cmd heading: 133.140708 deg, new cmd heading: 131.266460 deg. W S@W X  X W:W2W*WVbUBU*U9UE_@UE?Bv}<B BA>*BAU;AAAC<"CS@RCjL>CS@CJ  9:YWU1y:5);ѕO<ԙԝgAօ }Y Ii G >pHr,.="EAɫ髁) IY5@yfqGIA)i!)uMue=Y}QU}>yaEEy}>Iȑŕ-5?ŕѾ ƕB Y@9ƕEǕ: ȕ:)ȑW .@WX XW:W2W*WVbUBU*UUUKo?B~<B BA=*BA ;AA A q <"C .@*CLRC(C>C .@Cѥr=օaIqG[>Hr,"EAY}:E9@}:S`)@y}:پ=}:m=}:H޿sT@VX?[V?U`?@'?)~:E9@ ~:c@^;I~:CɫAI)I MIIY}@ypGi=M=>=YMQUu>aEEy<}>I&-5?Ѿ B Y@9E< D<)W]ry@WYX XW:W2W*WVbUBU*UUU?BNvP<B BA=*BA;AAAf<"C ry@*C8KRCL>Cry@C    y 4:Y X1y /: 59@%>9!I%lhGi%@%=!!%T; %ݗE5=- U< I G= >)ŮHr,V"EA|,|.4޿ d??%`?@:@??)~V9@ ~Vr];I~VCɫ髹) IY@y pGiYYq= ףp?Q?I +>< 94)Iysh|??MbX~jtx)?ʽĻ A)AI5Ai\Af AuL>uupiu@q u)u@Iuz@iq7MF=YjQU>aEEyq<}>Iȡ :ťP-5? :ťѾ ƥ B Y@9ƥEǥ: ȥU:)ȥ:W@WX XW:W2W*WVbUBU*UUU?BqP<B BA=*BAx;AAAܿ<"C%@*C%uJRC%Q>C%@C  ) ֍ \|=a Iq G >íHr,"EAY}2G:@}2b*@y}2=}2Gy=}2HVݿP@t?I.?z??)~2G:@ ~2 ^;I~2Cɫ99)9 9IAY3@ynG==i==iAAM[=Y)QU>aEEy<}>I(-5?Ѿ B Y@9E*; @;)WmA@WiXi XqWq:Wq2Wq*WqVybUyBUy*UyUyUN?Bę)<B BAp=*BA3;AAA|3<"CA@*CIRCS>CA@CX=יIGA>a .:YxZ1yq:5A׻Hr,"EAp9r~CIr@gGir@ppprX; rE)YIYiY]=]=]4ɫ) IY-@y-InGiM>T  a E Ey}>I %:/-5? %:sѾ B -Y@9E:  :):WM)@WX XW:W2W*WVbUBU*UUU}N@B%<BI BIAM-=*BIAM<%;AQAQAU<"C])@*C]BHRC]=P>C])@Cae>9IIGeV> Hr,˄ #EA|i|@Y}6;\:@}6w*@y}6it=}6{h<}6H@\@|ݿd?@eV|? o{?`?)~6;\:@ ~63^;I~4ɫAA)A EIAY}@y}lGi9ʽMb=YQU>aEćEydc;}>I-5?hxѾ B Y@9E; h;)Wd@WX XW:W2W*WVbUBU*UU U TT@RB*** querying acoustic contact ***PPB]?;BY BaAeY;*BaAeP;AaAaAm<"Cd@*C=GRCmN>Cd@C֍B>iIyG:>h +:YT1y:5$Hr,_%#EAY}29@}2)@y}2^;I~0ɫy髁) IYU@ylGZ****** received transponder code query ******F****** received ping request ******aaaeEmȇEyH} >I! ]:%{-5? e:%mѾ %B Y@9%E%o< %u)<)%:WF@WX XW:W 2W *W V bUBU*UUU @B9;B BA9*BA~S;AAAۏ<"CF@*C/FRCB>CF@C9IeGi@=M; ۗEL>IG >EHr,:?#EAY}JBt7@}J'@y}JO=}Jy}JH @\߿` n?0f:?)~JBt7@ ~J^;I~JCɫaa)a eIaYo@ykGxDUSBL response received:!U1,P BF0,000,00AB2,18A,80,80,81,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i!)sh|??+㥛 ? ? =)IyX9v?X9vy&13?}`e … A)…AIi…A A @ @ @©i@ )I@i@gM%=YYQU>aĖEyޚ}>I  5e-5? cѾ B Y@9 E : :) W=W@W9X9 XAWA:WA2WA*WAVIbUIBUI*UQUQUm@] @o B(:YU1y:o5B;B BA*BA;AAA@<"CW@*C% |ERC%<>C%W@C!E B>! I) G] >Hr,Y#EA|"4<|";Y}V5@}Vr%@y}VFC=}V^}VH`+Gm@mV #?9 &2n볼`?)~V5@ ~V__;I~VCɫyy)y yIyY@yjGp=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iȭM=Y!QU?aE·Ey}?I :W-5? : \Ѿ B Y@9Eo: :):WF!@WX XW:W 2W *W V bUBU*UUU@'@BE+Z;BA BAAE*BAAMb;AIAIAM@<"CUF!@*CUERCU>CUF!@CY->>IG (>iu nGI i LGٺ  47B*Hr,s#EA2>90I2 dGi2k@2=002J; 2ڗEY}bA4@}b]$@y}bO8=}bS9}bHxW?]B 3R¿E?)~bA4@ ~bd_;I~bCɫ) IY @y iGxDUSBL response received:!U1,R,B89,000,00A92,189,80,80,66,FF %Fpublishing direction and range infoAY?ɰ]>7> )BIyBo7s_[?:c? ?ٱ==i==iIIIU=)U=aegA-6only read 3 of 4 data itemsM<=YλQU>aE҇Eyh}>IVB-5?>QѾ B Y@9 E; ;)W=e@W9XY XYWY:Wa2Wa*WaVabUiBUi*UiUiUm'@P*QBZQNP@y!89Z@JQo7s_[?:c? ?2QAY?:QbQDKb%\#oI>z2RQ|L\ڿ:P¿BQy8d@ QyKQ-PB9?P89?PQQA"QEAB?;B BAQK*BA;AAAL<"C e@*C ?DRC  =C e@C9 >שIGe>1 !:YT1y:L5)T;9Hr, ߌ#EAY}f2@}fC"@y}f.=}fuM-}fH@9u ]w?;D֥@9ſ?)~f2@ ~f _;I~dɫ  )  IYMH@yMhGDNmea in: $SNTTA,,,,,020358.14*57 iMMMO=YMQUU>QYa]E]ՇEaymfo}m>Iqu0-5?uGѾ uB Y@9uEu/; u1;)qmyAdded new target pos. range: 124.860001 m, bearing: 204.313703 deg, deltaT: 4.459400 s, approachRate: -0.430552 m/s, LOS rate: 0.905195 deg/s, posRepo size: 4m ProNav: pos range: 124.860001 m, bearing: 204.313703 deg, approachRate: -0.430552 m/s, LOS rate: 0.905195 deg/s, cmd update: 2.715586 deg/s, cmd heading: 135.538407 deg, new cmd heading: 135.747391 deg. W@WX XW:W2W*WVbUBU *U U @ 7_@U`?BU C:BQ BQAU*BQA]';AYAYA]o <"C=@RCE=CE@CA֍D->aIqG>9Hr,ޮ#EA|$i|&@Y}BŠ1@}B!@y}B5b%=}BK<}BH8 %x?@:֪+uǿwn?)~BŠ1@ ~Be_;I~@ɫYY)a aIiY @yhGiuʡE?&1?Mbpu=?u= u)qIqyuI +?sh|?{Gz?u9?uu#= uA)uGAIuOAiu Aqup A   ;۹=i@ E@)I@i@%M%0=Y%ȡQU%>))a-E-هE1y5Z/}5>IY e:]-5? m:]=Ѿ ]B mY@9]E]: ]:)]:W@WX XW:W2W*WVbUBU*UUU9(?B-.:B) B1A5=*B1A5;A1e>9aIebGiew@e=aaeE; eחEA1A}/?<"C@RC0=C@C||S )!:YR1yi:5)w;u >IIYGu>5Hr,#EAY}2[0@}2v @y}2I_=}2+D}2H "nL¿?o`Jlȿc?)~2[0@ ~2 o_;I~2CɫYY)Y ]IYY|@ygGI)i  ) > >=FdM==Y=QU=?AAaEEEۇEIyMu}M?IQU-5?U36Ѿ UB eY@9UEU: U:)QW@WX XW:W2W *W V bU)BU1*U1U1U5ޡ?B}vB BAk̽*BAR;AAA<"C@RCgp<C@CօS-=aIiG9>OIHr,]#EAY}2Da/@}2|@y}2 =}21E}2H uwO¿$X?@#Tࡿr{ȿc?)~2Da/@ ~2^;I~2Cɫ99)9 =IAY@y8gGi))u*M}F=YۻQU>aEއEyF}>Iȩ :ŭ&-5? :ŭ,Ѿ ƭB Y@9ƭEǭ,; ȭ';)ȭ:W:@WX XW:W2W*WVbUBU*UUUR?B " B BA*BAf];AAA<"C:@RC%@+;C%:@C!%=IG5O>$- G":YU1y:q59 @a 9a Ie ,bGie Է@e =e PDa e 2; e ΗE Hr,z#EA|;|ɫ髙) IY@yfGi99Íx>ÍXÍ7 i͝@É č@)č@Ičič@MF=YQU>aEEy}>IȹŽ,5?Ž(#Ѿ ƽB Y@9ƽ Eǽ: ȽY:)ȹW%g@WX XW:W2W*WVbUBU*UUUo?B-eB) B)A*BA;AAA <"C%g@RC ƼC%g@Cֽ<=יIGb>ZIr,'$EAY}6ޤ-@}61@y}6<}6e[4}6H`F@? `jƿ T}?)~6ޤ-@ ~6GV^;I~6Cɫ99)9 =IAY}E@y}gfG=i=iIR=)%=hAgMN=Y4QU>aEEy}>Iȱ :ŵ,5? :ŵѾ ƵB Y@9Ƶ$Eǵb; ȵ4T;)ȵ:Wա@WX XW:W2W*W!V!bU!BU)*U)U1U5@@B}~B BA *BAj;AAA<"Cա@RCCա@C%es=I G%M>}}% :YkS1yԊ:5+ Ir,9'$EAY}E,@}E @y}E%1<}Eo)}EHL `fkI? e@oğſ8?)~E,@ ~E9^;I~EC 9 I daGi 2@ =   3; )ݝ~CIݝ~Ciݙݝ=ݝ=ݝ55ɫ髹) IY'@yBfG@AiE?5^I ?{Gz?E ?EX> E#<)AIAyE㥛 ?)\(åå@iå @á ġ)ĥE@Iġiĥ&@ûM=Y۴QU>aEEyӋ}>II M ,5?M Ѿ U tI M B ] Z@9M +EM : M W:)I W @W X  X W :W 2W *W V bU BU *U U U W@R B*** querying acoustic contact ***P P B Բ B  B! A% *B! AE ;AA AA AM ~Z<"CM @RCU $CU @CQ % Xһ I G >ZmIr,A$EA|i|@Y}6,@}6A@y}6`{<}6!}6H@` @ſdg?ot "Ŀ ?)~6,@ ~6^;I~6Cɫ99)9 =I9Yκ@yeGZ****** received transponder code query ******F****** received ping request ******~~ :YT1y@:M5rIr,[$EAY}:,@}:@y}:=}:}:H TRdc?T{@ٷ¿-?)~:,@ ~:&];I~:Cɫ99)9 =I9Y}+@y} eGxDUSBL response received:!U1,P B89,000,00A92,189,80,80,66,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i1}DM}E=YfC;QU>aEEy&:}>I 5:,5? 5:о B =Z@91E< <):Wb"@WX XW:W2W *WVbUBU*U!UIUU`; @B\̻B BA%E0*B!A%¬;A)A)A-<"C5b"@RC5BRC5b"@C1֝ļבIG> >9 I 7`Gi >@ = QD  *;  ʗEIr,,u$EAY}2c,@}2@y}2> =}2}2H Wd 饻P?m:'_Q?)~2c,@ ~2];I~2Cɫyy)y yIyY}@yqeG鮽a=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iAA]M]9]>i](@Y ]E@)]p@IYiYe<M8=Y;QU>aEEy ;}>IP,5?о   Z@96E; M;)WMۧ#@WIXI XIWQ:WQ2WQ*WQVQbUYBUY*UYUYUe`f@BJO˻B BA&*BA;AAA<"Cۧ#@RC ZCۧ#@Cֽ+יIGc>L||# x%:YR1yi:M5)0;9 #Ir,\$EA||Y}B-@}B3@y}B =}B?}BH K`=?@qgE `a?)~B-@ ~B];I~BCɫqq)y }IyY@ydGxDUSBL response received:!U1,R,AFD,000,00A80,189,80,80,AC,FF Fpublishing direction and range infoO?ɰ3\>鰹 ),CIyBKc?wnL?ٱi`Ml=Y* QU?aEEyh<}?I :N,5? %:rо  %Z@9:Eo; W-;):W]v$@WYXa XaWa:Wa2Wi*WiVibUqBUq*UyUyU}~@P*QBZQ"-J@=[@JQKc?wnL?2QO?:QbQ[eI1s+RQJ Oqȟڿ$}e弿BQd@ QcOQ P?9?PB9?PQQ"QAB/B BA9*BAi;AAA <"Cv$@RCdCv$@C蘽ׁIG=>)Ir,^$EAY}u"^-@}uty@y}u=}u}uHd@"? @; gf?)~u"^-@ ~u3];I~uCe̞>mڕCɫ) IiM=nGIaYe@yudGiyKAٺ1BDNmea in: $SNTTA,,,,,020402.57*58 %=i%=i)1I=C=)==5+?/$?I +5v>?5= 594)1I1y5x?V-y&1?5K7?55`e< 5"A)5AI5Ai5 A15\AIIܝ>9ܙIܝo_Giܝ@ܝ=ܙܙܝ%; ݝȗE @Í|>Í=Í= >iÍÉ čX@)čIčE@ič@L'<M=Y=QU>aEEy*<}>I},5?Uо  Z@9@Eӻ: :)myAdded new target pos. range: 123.779999 m, bearing: 204.932928 deg, deltaT: 4.376428 s, approachRate: -0.246777 m/s, LOS rate: 0.141491 deg/s, posRepo size: 4m% ProNav: pos range: 123.779999 m, bearing: 204.932928 deg, approachRate: -0.246777 m/s, LOS rate: 0.141491 deg/s, cmd update: 0.424473 deg/s, cmd heading: 147.437527 deg, new cmd heading: 148.866306 deg. W%S$@W!X) X)W):W)2W)*W1V1bU1BU1*U1U=^@U= H?BŻ\}} T:YkS1yԊ:5)Ng;B  B A 3*B A 3;A A Ab]<"Cp$@*C:DRCM CS$@Ce׹IG>0Ir,f$EAY}2)-@}2|@y}25T =}2;}2H`밿R?ܝ)8b?)~2)-@ ~2];I~2Cɫ99)9 9I9Y}@y}vdGiE ME=YE:QUM?IIaMEMEQy]6<}]?Ia e:eq,5? m:eо a mZ@9eDEe: e:)e:WK%@WX XW:W2W*WVbUBU*UUU?B>8B BA?*BA;AAA&<"C$@RCj CK%@CEۻI)GEQ>6Ir,)$EA|i|Y}6.@}6=@y}6ر=}6:}6H6 @D+&?<@D`^?)~6.@ ~6h];I~6Cɫyy)y yIyY@ydGi!!S;MC=YI;QU>aEEy<}>II`,5?о B Z@9IE/>;  ?;)W5F%@W1X9 X9W9:WA2WA*WAVIbUIBUI*UQUQUU`/?BB BA(>*BA;AAA\^<"CF%@*CERC3UCF%@CdׁIG?>--~-~- -9:Y-T1y-@:-;59-@ܡ 9ܡ Iܥ D^Giܥ @ܥ =ܥ PDܡ ܥ !; ݥ ǗE=Ir,$EAY}2/@}2p@y}2=}2,}2H I@ꩢ@H?*@f?TR?)~2/@ ~2N^;I~2CɫYY)Y ]IYY@ycGI)i!! u@ u@ u@ uu©uuiu@u u)u­@Iu&@iu&@HMN=Y8;QU>aEEy=}>Iȡ :ťO,5? :ť^о ƥB Z@9ƥMEǥ: ȥ:)ȥ:WMSx%@WIXQ XQWQ:WQ2WQ*WQVYbUYBUY*UYUaUe`>D?B B BAR*BAc8;AAA<"CSx%@*CbERCCSx%@C >> I)׹IGf>CIr,%EAY}2`0@}2 @y}2&=}2C<}2H @ ?\H?¤А?(?)~2`0@ ~2^;I~2Cɫ99)9 =I9Y};@y}cGi5G<M=O=Y=;QUE>IIaUEUEYyey5=}e>Iy}r>,5?}ǥо }B Z@9}RE}G: }:)yW&%@WX XW:W2W*WVbUBU*UUU!=@B%%B! B!A%[N*B)A ;AAA<"C&%@*ClERCA]ܽC&%@CGיIGA>   :YT1y:5%JIr,*%EA|V4<|V4))a-E- E1y5=}5>I9 E:==+,5? M:=dо =B MZ@9=WE=: =:)= :Wm%@WqXq XqWq:Wq2Wq*WyVybUyBUy*UUU1@BDB BA:V*BAJބ;AAAt<"C%@*CERC7ŽC%@CI9MCIM]GiM@M=IIM; MEֵqIyG~> QIr,YD%EAY}22@}2#@y}27=}2 |=}2H|`lQeG?@i`?ۈ?`,?)~22@ ~2^;I~2CɫYY)Y YIYYڸ@yncGi=iI=)={LM{=Y;QU ?aE EyZ=}?Iy,5?Ао B Z@9[EI: U:)W&@WX XW:W2W*WVbU!BU!*U!U!U-@R5B*** querying acoustic contact ***P1P1BNB BAdZ*BAO;AAA<"C&@*CERCC&@C-ཹIG-->I? :YyL53WIr,4^%EAɫyy)y }IyY׸@yicGZ****** received transponder code query ******F****** received ping request ******AAaEEEEIyM}U>IY] ,5?]Ʌо ]B mZ@9]_E]1: ]:)YW9&@WX XW:W2W*WVbUBU*UUU @Be*B BAZ*BAt;AAAZ<"C9&@*C5*FRC~C9&@CSĽIG=r>A E gAI 9I IM [GiM o@M =I I M ; M E)يIيiي݊=݊=݊5a]]Ir,Nx%EA|i|@Y}VR5@}V-%@y}V=7=}VF=}VH'rp?`?Q"?樂P?j?)~VR5@ ~VG^;I~VCɫ髙) IY۷@y3bGxDUSBL response received:!U1,P AFD,000,00A80,189,80,80,AC,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i%%L=%P>i%@! !)%d@I%i%@ĀM'=YRQU>!!a%E-E)y5)=}5>I1 =:5(+5? :5*yо 5B Z@95eE5"< 53#<)5!:W[w&@WX XW:W2W*WVbUBU*UUU@ @B=EBA BAAMTz*BIAUd;AQAQA](<"C[w&@*C>FRC{C[w&@C}} G:YkS1yԊ:r5)hl;95- õI1 )1  I G- >EdIr, %EAY}:x6@}:*&@y}:5=}:A=}:HVU m?R?6W? k??)~:x6@ ~:];I~8ɫ99)9 AIAY}@y}aG鮅p=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)iXMq=YڵQU?aEEy1@=}?I+5?pо B Z@9hED: :)Wҝ&@WX! X!W!:W!2W!*W)V)bU)BU)*U1U1U5C=@B]]⇼B]@.= BaAe*BaAe0Z;AaAaAei<"Cmҝ&@*Cu\CFRCu>UCuҝ&@Cq-pIG=.>StjIr,Q٫%EAɫii)i mIiY@y'aGxDUSBL response received:!U1,R,B1C,000,00A70,18A,80,80,B0,FF Fpublishing direction and range infoً?ɰZ>鰽> )0CIyB"s?Eh?ٱiK7?I +?~jtI,?94> D)Iy|?5^?q= ףp rh2?C A); AIAi AQA>9IYGi*@=; ėEe>ede`ie(@a e@)e@Ie&@ia:M&=YQU>aEEy}>Iȱ :ŵ5+5? :ŵ+dо ƵB Z@9ƵnEǵ?; ȵ{:)ȵ":W%&@W!X! X!W!:W)2W)*W)V)bU)BU1*UQUQUU bE@Pa*QeBZQe"\HBL@@ݦ֧B[@JQe"s?Eh?2Qeً?:QabQeٱ|>Z}؀O_5q@RQeQZ뿻7e lEЩ?BQek@ Qe}QePeJ9?Pe?9?PeQeQe>A"QeB$^B B ||  :YR1yi:5)\;AҊ*B)A-G;A1A1A5 d<"C=&@*C=MOFRC=jC=&@CA] X9 IQ Gm >WqIr,^%EA|&;|$Y}r7@}r'@y}r#3=}r=}rH ߿` b?`h@Η?@b`*y??)~r7@ ~rF];I~pɫ) IY5@y5`GTNmea in: $SNTTA,0.083968,,,,020407.03*4E i UMUv=YUQUU?YYa]E]Eaye=}e?Iim+5?m[о mB }Z@9mrEm: mf:)imyAdded new target pos. range: 122.820007 m, bearing: 211.148728 deg, deltaT: 4.569668 s, approachRate: -0.210079 m/s, LOS rate: 1.360230 deg/s, posRepo size: 4m ProNav: pos range: 122.820007 m, bearing: 211.148728 deg, approachRate: -0.210079 m/s, LOS rate: 1.360230 deg/s, cmd update: 4.080691 deg/s, cmd heading: 149.376752 deg, new cmd heading: 149.512668 deg. WP(@WX XW:W2W*WVbUBU*UU{^@U`R`?BZjB BA鏾*BAX[<;AAA?<"C ;'@RC Jm8CP(@CrIGE>ʁwIr,|%EAY}:n8@}:(@y}:-m2=}:`=}:HE<߿p?!@Q?`K?@.?)~:n8@ ~:];I~:Cɫ99)9 =I9Y} @y}_GiiI=)C=}pXM}Y=Y}rQU}>aEEy(<}>Iȑ :ŕo+5? :ŕRо ƕB Z@9ƕvEǕ: ȕ:)ȕ#:WO *@WX XW:W2W*WVbUBU*UUU cC?BE hBA BAAM*BQAU^-;AQAQAU8<"C]O *@RCeCCeO *@Ciх=inGIi:}Dٺ4B} :YkS1yԊ:N59 @ I G > >9 I XGi 6@ ; ȗE}Ir,W%EAY}69@}6 )@y}6G0=}6[=}6HF޿Sz$?@ ? G@fİ? ?)~69@ ~6];I~6CɫYY)Y ]IYY@y_Gi5I׼M=O=Y=wQU=>AAaEEE"EAyM;<}M>IY]ϝ+5?]Hо ]B Z@9]zE]< ]<)YW+@WX XW:W2W*WVbUBU*UUUuY?BB BAk*BAH;AAA* <"C +@RCZC+@Cѽ.=֕@iIyG>Ir,2&EA|i|Y}J 9@}Jr)@y}J]+=}JYρ=}JH55޿|1? F#VW?Qo3?a?)~J 9@ ~J];I~Hɫyy)y }IyYյ@y_Gi5<M=J=Y=JQQU=>AAaEEE%EIyM<}M>IQU+5?UB?о UB ]Z@9UEU: UD:)QW-@WX XW:W2W*WVbUBU*UUU ?BB BA*BAn7 ;AAArq<"C,@RCC-@C)  ~~  :YT1y@:͜5֥ \׉ I G >Ir,*-&EAY} ;*:@} E*@y} $=} H{=} H!!a%E%)E)y-<}->I1 =:5bt+5? =:54о 5B EZ@95E5C: 5*:)5$:Wey/@WaXi XiWi:Wi2Wi*WqVqbUqBUq*UqUyU}N?܍>9܉I܍WGi܍B@܍=܉܍D܍; ݍEBB BA*BA=U:AAA,J<"Cy/@RCwCy/@CCױIGf>Ir,F&EAY}2X:@}2*@y}2=}2_|=}2H`ݿy`?@m 킲??f?)~2X:@ ~2];I~2Cɫ99)9 9I9Y}@y} ]GiE%MMn=YM;QUM?QQaUEU,EYy]<}]?Iaec+5?e,о eB uZ@9eEeD: e:)aWS^1@WX XW:W2W*WVbUBU*UUU`f@BܼB BAH*BA:AAA<"C70@RCCS^1@CEIG5O>     :Y T1y : 5ϗIr,/`&EA||Y}6;@}6>+@y}6^=}6s=}6Hի`kܿ@vT?ԛ@ڧ?*!h?_?)~6;@ ~6-Z];I~6Cɫyy)y }IyY@y&]GAAi;MQ=YQU>aE/Ey<}>I :P+5? :;$о B  Z@9E: :)%:W-%3@W)X) X)W):W12W1*W1V1bU9BU9*U9U9UE @RMB*** querying acoustic contact ***PIPIBmݝͼBi BqA徾*BA:AAAK<"C%3@RCC%3@C ~ԽIG%>܍ >9܉ I܍ sVGi܍ N@܍ =܉ ܉ ܍ ; ݍ EIr,{z&EAY}6Z<@}6v,@y}6}=}6)l=}6H ೸ۿ-s@?? IӠ |?`?)~6Z<@ ~6|p];I~6CɫYY)Y YIYYf@y\GZ****** received transponder code query ******F****** received ping request ******aE2Ey!<}>Iȑŕ<+5?ŕо ƕvB Z@9ƕEǕD: ȕ:)ȑW[5@WX XW:W2W*WVQbUQBUQ*UYUYU]` @BaǼB BAsľ*B)A-x:A1A1A5<"C=[5@RC=:!CE[5@CA]  y y  :Y P1y ': ;5) N;91IAG]v>Ir,&EAY}J=@}J0$-@y}J@:<}Jt=}JH_tۿ R%??@oB?@ƞ펰?`#?)~J=@ ~J{U];I~JCɫqy)y }IyY @yF\GxDUSBL response received:!U1,P B1C,000,00A70,18A,80,80,B0,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iiigMG=YܻQU >!a%E-6EQy]Q<}]>Iȑ :ŕt&+5? :ŕо ƕlB Z@9ƕEǕ\`< ȕ`<)ȕ&:W~67@WX XW:W2W*WVbUBU*UUU`m @B=+мBa BaAe<ʾ*BaAe4:AaAaAmS<"Cm~67@RCu5Cu~67@Cq}`בIG>Ir,|a&EA|9qIuTGiu @u=qqu ; uE)ŃCIŃCiŃ=Ń=Ń5Y%婻QU>aE :Ey<}>IAE+5?Eо EjB MZ@9EEE: E:)AWm*9@WqXq XqWq:Wq2Wq*WVbUBU*UUU-@B&B BA^޾*BA7i9AAA7<"C%*9@RC%6EC%*9@C!     :Y U1y : 5) xO;-N! I G- >#Ir,1&EAY}B!>@}Bs.@y}B <}B_ =}BH`'Lqٿ@?U?1?a??)~B!>@ ~B ?];I~BCɫYY)Y ]IYY@ycZGxDUSBL response received:!U1,R,C11,000,00A5A,189,80,80,BE,FF Fpublishing direction and range infoI`?ɰY>7> )>CIyBuʞHk?TO5|?ٱI)Ai)= =ҼMu=YQU?aEABB BA*BA(q"AAAd<"C:@RCKC:@C֍Q3(iIqG> Ir,&EAY}zc?@}z/@y}z<}zy=}zHؿ@s?`?b;?wq`? S?)~zc?@ ~zMW];I~zCɫ) IY-@y-YGDNmea in: $SNTTA,,,,,020411.47*5B ic!M;=Y|QU>aE?Eyc=}>I  *5? Ͼ iB Z@9 E : :) mE}Added new target pos. range: 121.500000 m, bearing: 206.533337 deg, deltaT: 4.312446 s, approachRate: -0.306093 m/s, LOS rate: -1.070249 deg/s, posRepo size: 4mm ProNav: pos range: 121.500000 m, bearing: 206.533337 deg, approachRate: -0.306093 m/s, LOS rate: -1.070249 deg/s, cmd update: -3.210747 deg/s, cmd heading: 166.989955 deg, new cmd heading: 168.768116 deg. Wm8@WiXi XqWq:Wq2Wy*WVbUIBUI*UIUU`^@UU ?BZB BA*BA.AAA.<"CY:@*C=FRCEs?CM8@CQwFXzz 19YQ1y:59@ױIG>a 9e CIe SGie @e =a a e ; e EHIr,&EA||ɫ髙) IY@yYGiAA   Õ$>ÕÕ^:iÕ@Õ đ)ĕ"@Iĕ@iĕ9@N<MO=YQU>aECEy}>IT*5?Ͼ hB Z@9EQ: :)WW7@WX XW:W2W*WVbUBU*UUU}?B5 B1 B1A5*B1A=yPA9A9A=C<"CEX:@RCEX5CEW7@CAe+E9IIGeU>o0Ir,'EAY}:A@}:O1@y}:A\<}::r=}:Hy @ֿT?u?@MҺ?ꇋN#?`?)~:A@ ~:P^];I~:CɫYY)Y YIYYR@yXGii  gA5M=R=Y=QU=>AAaEEEFEAyMƾ=}M>Iȹ :Ž*5? :Ž Ͼ ƽiB Z@9ƽEǽ: ȽY:)Ƚ(:W[6@WX XW:W2W*WVbUBU*UUU?B- B) B)A-*B1A5 A1A1A52<"C=7@RC=C=[6@CAMz:!I1GU2>xx :Y7P1y:5 ߕCz[Ir,ע/'EAY}6)B@}6z3@y}6&<}6 =}6H `Hտc? ?`"?=߄qԺ?@u?)~6)B@ ~62R];I~6CiF=nGIPi\rBٺpv 3BɫYY)Y YIYYU@yXGiA`"?i|?5?I +?9?q= 9<)Iy!rh?ʡE{Gz?l'?- GA)‰IAiA=A 5@5t<5-533>i51 1)5@I5Q@i53@E,:ME:=YMQUM>QQaUEUIEYy]*!=}]>Iae*5?eϾ ejB uZ@9eEeL: e:)aWB4@WX XW:W2W*WVbUBU*UUU؂?B B BA*BAкAAA<"CB4@RCsCB4@C>9IRGis@=; Eֽǚ5yIG_>yCIr,|~I'EA|i|Y}6u3D@}6N4@y}6;}6=}6HT|RԿ?Wd?)@ƹ?TzҤ? W?)~6u3D@ ~6p];I~6Cɫ99)9 =I9Y}ɯ@y}EXGiAMa=Y )QU > aELEyZ=}>I! -:%Η*5? -:%Ͼ %kB -Z@9%E%': %:)%):WUF3@WQXQ XQWY:WY2WY*WYVYbUaBUa*UaUaUm(@B@wB BAO*BAAAA<"C2@RCbk̼CF3@Cm4*IIQGu>{{2 :Y#R1y:5mIr,Wc'EAY}2E@}2C5@y}2/;}2m=}2HD oҿ ??f?%`"?`0?)~2E@ ~2w_];I~2Cɫ99)9 9I9Y}@y}XGI)Ai)= >U%3MUF=YU0QU]>YYa]E]OEaye&i=}e>Iim*5?mMϾ mmB }Z@9mEmf: mr:)iW1@WX XW:W2W*WVbUBU*UUUYw@BB BAO*BA+AAA<"Ct2@*C FRC:C1@C-..IGU2> 9 I QGi @ = ; EIr,w0}'EAY}2^G@}2/z7@y}26}2N=}2H@YCѿ }?@;]?@^x?Eb? Ж?@?)~2^G@ ~2^];I~2CɫII)I IIIY}@y}WGi H? Hi\@ )&@I3@i­@)*MQ=Y2QU>aESEy=} >I  : n*5? : Ͼ oB Z@9 E : :) *:W=c0@WAXA XAWA:WA2WA*WIVIbUIBUI*UQUQUU@3@R]B*** querying acoustic contact ***PaPaBB BAZ*BA5AAA<"C0@RC.=Cc0@C֍ܝIIYGu>" :YV1y:5)hI;9 ~Ir, 'EA||;Y}6I@}6Q9@y}6Bһ}6A=}6H`UϿ`?`? v|?8Hz? ??)~6I@ ~68^;I~6Cɫ99)9 =I9Y}@y}aWGZ****** received transponder code query ******F****** received ping request ******aEVEy=}>I  )Z*5? Ͼ sB Z@9 E ִ< <) W.@WX XW:W2W*WVbU BU *U U)U5 @B}By ByA}*ByAܵRAAAع<"C.@RC{=C.@Cֽ=uסIGk>VIr,6'EAY}2fJ@}2):@y}2++}2_=}2H,@:̿Π??`N?He?]Ź??)~2fJ@ ~2b^;I~0ɫYY)Y YIYY@yXWGxDUSBL response received:!U1,P C11,000,00A5A,189,80,80,BE,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iI=)%=>9CI`QGi-@=; Ujt?K7A?I +?U@?U > U94<)QIQyUv/?㥛 ¿Ux)?UU UA)U AIUAiUhAQU(AgA~~ }:YT1y@:5) Q;Mr>M;_MniM(@I MQ@)M@IIiM3@ɺM =YQU>aE[Ey=}>I :;*5? :3Ͼ pB Z@9E; ";)+:W=>,@W9X9 X9W9:W92WA*WAVAbUABUA*UIUIUM@Bf B BA,*BADyAAAH<"C>,@RC>C>,@C ׁ I G >Ir,\'EAY}27K@}2;@y}2l}2-=}2HKVʿqء?@?&C>??'? /?)~27K@ ~2];I~0ɫ99)9 9I9Yu5@y}UVGyɮyNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iYYٽM=YCQU8?aE\Eyr=}C+@C9׹IGE>Ir,N'EA| i| Y}ZBL@}Z:^<@y}Z!]}Z =}ZH%^ ȿȢ?@7?:q?f ?R??)~ZBL@ ~Zv];I~Xɫyy)y yIyY@yUGxDUSBL response received:!U1,R,D4D,000,00A3D,189,80,80,AD,FF Fpublishing direction and range info^?ɰV>鰹 )-CIyBv0[?a%?ٱi"MV=Y-QU>aE`Ey<}>I*5?7Ͼ oB Z@9E7: :)W*@WX XW:W2W*WVbU!BU!*U!U!U-k@P*QBZQרX@P@JQv0[?a%?2Q^?:QbQ'Ox[lG @RQT?\sk ٿϼ?BQb@ Qg;QP/9?P:9?PQQF^A"Q^-AB9o*B BA *BA_ՔAAA%<"C-*@RC5"7>C5*@C9EdO=  { {   :I!G=r>Y #R1y : 59E@ܵ >9ܵ CIܵ PGiܵ ܩ@ܵ =ܱ ܱ ܵ ; ݵ E)ECIECiAE=E=E 5Ir,'EAY}z(L@}zz<@y}zt}z/=}zH?dXȿ@ ?m?@F ":?@(?@r??)~z(L@ ~zB];I~xɫ) IY-1@y5PVGTNmea in: $SNTTA,0.081977,,,,020415.91*4A I)Ai @ @ @©ip@ )@Ih@i<M9=YzQU>aEcE!y%4#<}->I) 5:-*5? =:-دϾ ) =Z@9-E-o: -{:)-,:mm}Added new target pos. range: 119.760010 m, bearing: 203.090607 deg, deltaT: 4.481777 s, approachRate: -0.388237 m/s, LOS rate: -0.768162 deg/s, posRepo size: 4m} ProNav: pos range: 119.760010 m, bearing: 203.090607 deg, approachRate: -0.388237 m/s, LOS rate: -0.768162 deg/s, cmd update: -2.304485 deg/s, cmd heading: 152.636150 deg, new cmd heading: 151.306011 deg. W}n)@WyXy XW:W2W*WVbUBU*UU]@U?B2B BA *BAϢAAA=="Cn)@RCUF>Cn)@Cԁԁ].=9IAG]U>eJr,R(EAY}2fL@}2ځ<@y}2|Ƽ}2.=}2H` ȿ`a??`-L?Θ?~?`K?)~2fL@ ~2];I~0ɫ99)9 =I9Y}@y},VGiEEMEY=YMQUM>IIaMEUfEQy]}]>Iaec)5?eϾ epB mZ@9eEe: eH:)aWu(@WX XW:W2W*WVbUBU*UUU@?Bv9B BA *BA<AAA}="Cu(@RC]P>Cu(@CE٦=I)GER>--~-~- -:Y-T1y-@:-)5= Jr,+2(EA||49YI]PGi]@]=YY]; ]EuȼMu9=YuлQUu>yya}E}jEyc}>Iȉ :ō)5? :ōݤϾ ƍtB Z@9ƍEǍf: ȍ:)ȍ-:W,R'@WX XW:W2W*WVbUBU*UUU?B0B BA*BAvAAA|="C ,R'@RCY>C,R'@C5=IG J>LJr,L(EAY}:mK@}:҈;@y}:y9}:=}:HBF`ŵʿ`?`?F@G?7?@>֡??)~:mK@ ~:|];I~8ɫ99)9 =I9Y}ح@y}UG=i=iM!<MM_=YU ƻQUU>YYa]E]mEayeʼ}e>Iim)5?mjϾ myB uZ@9mEm: m<:)iWl`&@WX XW:W2W*WVbUBU*UUU@[c?B@B BA*BA/ͻAAA&="Cl`&@RC]>Cl`&@C >=#>IG&>%!!% %8:Y!y!%5kJr,e(EAY}2J@}2:@y}2h}2;}2H@0T̿-,?S?4wrk?`/c??)~2J@ ~2];I~2Cɫ99)9 9I9Y}@y}UGi;MP=YnQU>aEpE y }>I :)5? %:wϾ ~B %Z@9E: {:).:WEJ]%@WAXI XIWI:WI2WI*WQVQbUBU*UUU@B]w7Ba BaAe *BAoݻAAAi#="CJ]%@RC`>CJ]%@CinGID>iUvBٺQU2BI G%M>I M fAU >9U CIQ iQ U =Q U DU ; U E2Jr,/(EA|i|Y}6I@}6A9@y}6#B}6ȁ }6H@*οq??ZqĤG?@m?)~6I@ ~6];I~4ɫ99)9 9I9Y@y VGi!-eNonly read 0 of 1 data item for altitudeQ;MA=Y+QU>aEsEy}>Iȱŵy)5?ŵϾ ƵB Z@9ƵEǵ: ȵQ:)ȱWF$@WX XW:W2W*WVbUBUi*UiUqUu%\@B8B BA *BAm$AAA R="CF$@RCLc>CF$@CֽVoQ>יIGd>%%%% %:Y%V1y%:%Γ5)%S;9-y&Jr,|(EAY}:H@}:8@y}:-,}:X}:H^@T+п@Dn??`! ?A?)~:H@ ~:9:^;I~:Cɫ99)9 9I9Y}@y}VG?AI)AI)Ai 鿙n;M[=Y\}QU>aEvEIyM.}M>IQUV})5?UϾ UB eZ@9UEU: U :)QWC#@WX XW:W2W*WVbUBU*UUU^@RB*** querying acoustic contact ***PPBFBB BAE *BAAAA~="CC#@RCf9b>CC#@Cp\>׉IG>D,Jr,Ct(EAY}2oG@}27@y}2 }2!7}2Hoѿq?LJ?Ö6{l?l?)~2oG@ ~2^;I~2Cɫ99)9 =I9Y}m@y}_UGZ****** received transponder code query ******F****** received ping request ******9I`QGi-@=; EE@5^I ?:v99a=E=zEAyE/}U>Iq :uHe)5? :uϾ uB Z@9uEuG; u;)u/:W5!@W9X9 XaWa:Wa2Wi*WiVibUiBUq*UqUyUe @B%2B-+ = B)A-*B)A57eA1A1A5="C]!@RC]a>C]!@Ca-e-~-~- -D9Y-T1y-@:-Ζ5)-FE;MQc>) I1 GU >b,3Jr,aO(EA||;Y}6E@}66@y}6}6}6H;ҿx|?`w8\ÿ:?$}¿??)~6E@ ~6_;I~6Cɫ99)9 9IAY}q@y}cUGxDUSBL response received:!U1,P D4D,000,00A3D,189,80,80,AD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i:Mw=Y ػQU?!)a5E5}EAy]돽}]?Iy}+T)5?}?Ͼ }B %Z@9}E}d< }&<)yW% !@WX XW:W2W*WVbUBU*UUUo @B=KBA BaAe*BaAe| AiAiAmJ="Cu !@RCu Y>Cu !@Cq֝b>iIyG>tV9Jr,I*(EAY}:uD@}:4@y}:V$}:/}:HaEEyN}>Iȱ :ŵ>)5? :ŵ{Ͼ ƵB Z@9ƵEǵf: ȵr:)ȵ0:W @WX X)W):W)2W)*W)V1bU1BU1*U1U9U=>@BNB BAg*BA3AAA#="C @RCHT>C @C ==Y>IGl>%|%%% %w:Y%T1y%:%͜59-@>9I(RGiЪ@=; E>@Jr,)EAY}>KC@}>*3@y}>,}>OB}>Hb տۘ s? ߄`ȿٕ?#ȿ@e?)~>KC@ ~>_;I~>Cɫ髙) IY@yUGxDUSBL response received:!U1,R,BEA,000,00A1B,189,80,80,B7,FF Fpublishing direction and range infoi?ɰS> )7CIypB$?] Q?ٱi M M M M@ M@ M@IIIiMQ@I M@)IIMiM@e+=Me\=Ye@QUe>iiamEmEqyuIu}}>Iy}-,)5?}tϾ }B [@9}E}߼: }:)yWe~@WiXi XW:W2W*WVbUBU*UUU @P*QpBZQ KQ@;5{%$IW@JQ$?] Q?2Qi?:QbQOW XՀ]NjL -RQz wsfjV:BQl@ Q*wQHPD9?P/9?PQQo"QF^ABIB! B!A%*B!A%9A)A)A-s="CM~@RCMO>CM~@CQ]4/=MKY>) I9 Ge >kFJr,)EA|0i|0Y}~NA@}~1@y}~jn4}~!6Q}~H{`ֿJ8? 1@ =ʿ@?ɿM?)~~NA@ ~~W_;I~~Cɫ) IY-@y5TGTNmea in: $SNTTA,0.086498,,,,020420.35*49 i>MC=YQU>aEEyI}>II U:M9)5? U:MlϾ MB U[@9MEMo: M:)M1:myAdded new target pos. range: 117.719994 m, bearing: 211.934104 deg, deltaT: 4.451480 s, approachRate: -0.458278 m/s, LOS rate: 1.986642 deg/s, posRepo size: 4m ProNav: pos range: 117.719994 m, bearing: 211.934104 deg, approachRate: -0.458278 m/s, LOS rate: 1.986642 deg/s, cmd update: 5.959926 deg/s, cmd heading: 142.370404 deg, new cmd heading: 141.432262 deg. WJ!@WX XW:W2W*WVbUBU*UU`n]@U?B=MB9 B9A=*BaAe#AaAaAm="Cmc@*CuERCu7>CuJ!@Cq}G=}O>MMyMyM M:YMP1yM':M*5IG}>LJr,4)EAY}2-a@@}2|0@y}29}2Y}2Hؿ t?Z*˿@w1?`9ʿT??)~2-a@@ ~2 _;I~2Cɫ99)9 9I9Y}*@y} UGI)iܝ>9ܝCIܝRGiܝs@ܝ"=ܙܝDܝ; ݝE)5CI5Ci15=5=56V-?+ӿ1Zd?h1? "=)IytV?i|?5?2?< A)/-AIjAi|AA)= > 5 5 5 5@ 5@ 5@111i5=@1 5@)1I1i5E;MEC=YE-FQUM>IIaUEUEQy] P}]>Iae)5?edϾ eB m[@9e Ee: em:)aWLq$@WX XW:W2W*WVbUBU*UUU?B3MB BA*BAȎ+AAAv&="C7!@RCu >CLq$@C  ) ԱԱ֥ O>y I G >|SJr,wN)EAY}6>@}6h.@y}6=}6WZ}6HX9_ٿ `X?௖n)˿Ű?˿=?)~6>@ ~6^;I~6CɫQQ)Y ]IYY@yVGi5=M5]=Y5R,QU=>99a=E=EAyE}M>IQ ]:U(5? ]:U\Ͼ UB e[@9U EU; UV;)U2:W58'@W1X9 X9W9:W92WA*WAVAbUiBUi*UqUqUu8?B,PB BAE *BAR2AAA4="C-r$@RC-==C-8'@C1!I>IG J>%>%}%}% % 9Y%kS1y%Ԋ:%5YJr,2rh)EA||Y}6 .=@}6^I-@y}6؇@}6V}6HZTڿ ;T?%Emʿ@?ʿD?)~6 .=@ ~6^^;I~6CɫYY)Y ]IYY@yUGi99MD=YQU>aEE9yEx}E>IIM(5?M/SϾ M#B u[@9MEM#; Mo;)IW)@WX XW:W2W*WVbUBU*UUU`B?Bi;LB BA*BA˸9AAAt>="Ci(@RC:C)@C+<&>סIGA>ܝ>9ܝCIܝSGiܝ@ܝ =ܙܙܝ; ݝE`Jr,S)EAY}2y;@}2+@y}2:B}2P}2H iܿa@j?``ɿE?`ɿ`M?)~2y;@ ~2^;I~2Cɫ99)9 9I9Yu@y} VGI?)?i E E E E@ E@ E@AAAiEz@A EΣ@)AIAiEh@Uϕ;MUO=Y]QU]>YYaeEeEaymڐ}m>Iqun(5?uJϾ u2B }[@9uEu: uʽ:)qWO,@WX XW:W2W*WVbUBU*UUU?BxTB BA *BApx@AAAhL="CM+@RC@^CO,@C >I)סIG!>%%{%{% %:Y%#R1y%:%;5)%S;9-fJr,()EAY}2 :@}2&*@y}2ʭB}2ʦT}2HN ݿM? ە"ʿ`S?j\ʿ@F?)~2 :@ ~2];I~0ɫ99)9 =I9Y}1@y}PVGi<MQ=YQU>aEEy i} >I }:ֵ(5? }:EAϾ CB }[@9EOg< tg<)3:W8.@WX XW:W2W*WVbUBU*UUUf@BMB BA *BAGAAAU="C8.@RCsC8.@C >I GMR>! ! i} nGI i 2Dٺ Z4BlJr,)EA|i|Y}2E8@}2)@y}2^B}2ZV}2H@ b޿?`IR 23ʿ [?ʿD?)~2E8@ ~2];I~2CɫYY)Y ]IYY @y]WG@AiE>9ECIETGiE@E =EODEDE; EE]Mb?~jt?y&1|] ?]< ]`)YIYy]M? ףp= rh?]n2?]Q8]C = ]A)]S)AI]Ai]7AY]A U U ] ]@ ]@ ]@YYYi]@Y ]Q@)YIYi]X@mq=Mm5=YmIQUu>qqauEuEyy}S}>IȁŅP(5?Ņ7Ͼ ƅTB [@9ƅ EDžM; ȅ;)ȁW1@WX XW:W2W*WVbUBU*UUU\@RB*** querying acoustic contact ***PPB%U%~%~% %9Y%T1y%@:%s5)%C;sJr,)EAY}2r8@}2"(@y}2OJ@}2˗P}2H@^߿`{Bu?!oɿ`?`ɿM?)~2r8@ ~2];I~2Cɫ99)9 9I9Y@@yWGZ****** received transponder code query ******F****** received ping request ****** }>'<MZ=Y:QU>aEEy }>I :?(5? :/Ͼ cB [@9$E#: :)4:Wm4@WiXi XW:W2W*WVbUBU*UUU 8 @BrJB BAo*BA%6VA!A!A%WZ="CM4@RCMPXCM4@CQE=I G%N>yJr,)EAY}:7@}:a '@y}:<}:K}:He2`*?'ȿ`ڗ?Aɿ V?)~:7@ ~:X];I~8ɫ99)9 9I9Y}@y}|XGxDUSBL response received:!U1,P BEA,000,00A1B,189,80,80,B7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iYY m u u u@ u@ u@qqqiu @q u@)qIuX@iu@[==M*=Yv:QU>aEEyk}>IYu(5?%Ͼ uB [@9*E{: :)Wd7@WX XW:W2W*WVbUBU*UUUc @B9B BA*BA]AAAV="Cxo6@RC9AIEHUGiEZ@E=AAE; EE]hW<) I1 GM >ڀJr,*EA||p<ɫyy)y yIyY%@yXGa=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i99uk<Muz=Y}QU}?yaEEy}?I) 5:-rd(5? 5:-GϾ -B =[@9--E-; -;)-5:W9@WX XW:W2W*WVbUBU*UUU@6"@BE&SB BA*BADbAAAe="Cm8@RC C9@C֭7ƙaIqG9>PJr,v*EAY}>u5@}> %@y}>ژ)}>N3}>H@. *SX?ǽſ@1?Rƿ@Q{?)~>u5@ ~>a];I~>CɫYY)Y YIYYӰ@yYGxDUSBL response received:!U1,R,AFD,000,00A02,189,80,80,C0,FF Fpublishing direction and range infoO?ɰQ>鰹 )@CIypBKc?wnL?ٱ=i=iIC=)C=gAg`=MS=Y,FaEEy } >IR(5?Ͼ B [@91E;: :)W=+]<@WAXA XAWA:WA2WA*WIVIbUIBUI*UQUQUUƕ@Pa*QepBZQe@VI@%Z@JQeKc?wnL?2QeO?:QabQepgzXMm[>N$0RQecNhgbC(DBQezl@ QeqQePeA9?PeD9?PeQeQe)"QeoBN9EB BA*BAWehAAAKz="C{;@RCC+]<@CS%}׉IG>--}-}- -:Y-kS1y-Ԋ:-5d2Jr,Y7*EAY}~]5@}~y%@y}~}~"}~H`( ɪ ?? ÿ`?`>Ŀ *?)~~]5@ ~~f<^;I~~Cɫ) I>9IVGi@ =; EYm@ymYGDNmea in: $SNTTA,,,,,020424.80*56 iCl?T㥛 V-?;_? <)Iy^I +?V-)\(?X9?hGa= A)(*AIAiAA ] ] ]]?]<]Ci]ף@] ]@)]ۙ@I]i]@m<Mm(=Ym qqauEuEyyE}>Iȁ :Ņ;(5? :Ņ0 Ͼ ƅB [@9ƅ7EDž: ȅ:)ȅ6:m}Added new target pos. range: 116.220001 m, bearing: 211.705210 deg, deltaT: 4.398228 s, approachRate: -0.341045 m/s, LOS rate: -0.052042 deg/s, posRepo size: 4m ProNav: pos range: 116.220001 m, bearing: 211.705210 deg, approachRate: -0.341045 m/s, LOS rate: -0.052042 deg/s, cmd update: -0.156126 deg/s, cmd heading: 168.632173 deg, new cmd heading: 171.525121 deg. WG<@WX XW:W2W*WVbUBU*UU]@U3?B?2B BA*BA/oA!A!A%="C-z>@RC)C-G<@C)֥役qIyG~>Jr,&Q*EA|i|Y}>5@}>+%@y}>}>|}>HIqᦿ?M\ܠ??)~>5@ ~>Q^;I~>CɫYY)Y aIaY@ycZGiaaz=Mn=YL[ 9Yyr5@Jr,k*EAY}Bn6@}B&@y}B}B߽}BH1@LikM?Pû@? ໿`?)~Bn6@ ~B |^;I~BCɫy髁) IY@yZGIy)}Ai)Í= Í=<=Ti=@ )@I@i3@ w<M C=YaEEy%K=}%>I)-h(5?-ξ -B 5[@9-@E-{: -:))W]u%<@WYXY XYWY:Wa2Wa*WaVabUaBUi*UiUiUuM?B9B BA߾*BAzAAA="C ?@*Cc#GRCCu%<@ChA֍AIQGm5>>9IVGi@=; E)mCImCimCm =m=m~7$)Jr,Lބ*EAY}27@}2$'@y}2Ѽ}2R}2H ߿Q?j@J$@>?%?)~27@ ~2^;I~2CɫII)I IIIY}@y}ZGiBM[=Y!!a%E%E)y-0=}->I1 =:5(5? =:5'ξ 5B E[@95DE5: 1)57:We<@WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUyU}`?B-dBB1 B1A5*B1A5kA1A1A===="C=vw=@RCACE<@CAMx 6!I)GM1>E{{ )9Y#R1y:s5)@;9RJr,0*EA|4<|4aEEy=}>IȹŽy'5?Žqξ ƽB [@9ƽIEǽ+: ȽY:)ȹW <@WX XW:W2W*WVbUBU*UUU@P@B3B BAվ*BAZAAA="C <@RCC <@C6gI GZ> }Jr,*EAY}:9@}:p)@y}:~}:l7<}:HKݿ? $?MJ?? b? ?)~:9@ ~:&_;I~8ɫ99)9 9I9܅>9܁I܁i܁܅=܁܁܁ ݅EYI@yY[GE=iAEC=iER=iIIK7?p= ף~jt?I,? D=)Iyv?/$y&1|?8?`;  A)AIp AiA(AhAej<>eMeC >ie@a a)e\@Ie@ie@DM5=Y/;QU>aEEy&=}>I) 5:-'5? 5:-ξ -B =[@9-NE-": -:)-8:W];@WYXY XYWY:Wa2Wa*WaVbUBU*UUUK@B4B BAE־*BAdAAA="C 1<@*C ;*HRC C;@CᄾIG l> k:Yy)M;dJr,?n*EAY}2b;@}2}+@y}2}2cI=}2H@rܿ'?~?`$@Ƣ?א?(?@?)~2b;@ ~2$`;I~2Cɫ99)9 EIAYyyyAAiYJr,U*EA|@Y}]9=@}]T-@y}]%_}] =}]HK @{ڿ@֧?A?`w?k?۴??)~]9=@ ~]hb`;I~]CimGIi!ɫQQ)Q UIQYuϲ@y}[GAٺL2BZ****** received transponder code query ******F****** received ping request ******aEEy0z=}>I :]'5? :ξ B [@9XE: :)9:WD;@WX X W :W 2W *W VbUBU*UUU`hN @B=.BA BAAE;*BAAE|xAAAIAMٷ="CUD;@*CUkIRCU>hCUD;@CY]K1IA}>9yI}sVGi}N@}'=}PD} D}; }E :YWU1y:;5)J;G>vJr,d$+EAɫyy)y }IyY@y[GxDUSBL response received:!U1,P AFD,000,00A02,189,80,80,C0,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iEмMMf=YeQUe>yyaEĈEy}>I'5?ξ B u[@9\E< F<)WL;@WX XW:W2W*WVbUBU*UUU`' @BEq<BA BIAMҾ*BIAM01AIAIAMu%="CUL;@*C]րJRC]&jC]L;@CYyQIYG}>ƠJr,+EAY}:A@}:k71@y}:1B}:$>}:H`g`ֿzJ?K?ty?`R?O?M?)~:A@ ~: `;I~:Cɫ99)9 9I9Y}+@y}o\G鮁ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iYYmaK=MuG=YuK;QUu>yya}E}LjEyl>}>Iȉō'5?ō ξ Ɖ [@9ƍaEǍ׺; ȍM;)ȉW;@WX XW:W2W*WVbU BU *U U U5DC@B?B BA'Ⱦ*BA>pAAA^="C;@*CJRCs0C;@C\ uIG J>|| :YR1yi:59@Jr,9+EA|;|;Y}>B@}>V2@y}>O}> >}>HSIտ@P?|?`ʮ?@h?]??)~>B@ ~>{_;I~>C%>9%CI%VGi%@%&=!% D%; %EɫYY)Y ]IYY@y\GxDUSBL response received:!U1,R,C54,000,009EC,189,80,80,BE,FF Fpublishing direction and range info~Q?ɰP>鰙 )>CIyB2c8??g?ٱi=oʡ?Dl?=M?=O= =̼)9I9y=m?)\(aEˈEy|=}>I) 5:-Om'5? 5:-ξ -B 5[@9-fE-': -D:)-::Wu;@WyXy XyWy:Wy2Wy*WVbUBU*UUU$@P*QBZQhn.$S@9)U@JQ2c8??g?2Q~Q?:QbQqVkYg=Ii+@RQ0'"Q]{ܿ?BQ,g@ QNQ^P09?PA9?PQQaA"Q)B5}4B1 B1A5Q̾*B1A=qA9A9A=U="Ce;@*CeGzKRCeHCm;@Ciu,iIIYGu>KJr,S+EAY}v^D@}vFz4@y}vw>s}v/s)>}vH[`oӿ`?@:?8i?g?? 4?)~v^D@ ~v9^;I~vCɫ ) IYM@yMO\GDNmea in: $SNTTA,,,,,020429.25*54 =i=p=i=iI=)=gA-R<M-S=Y-QU5>11a5E5ΈE9y=/x=}E>IIMY'5?Mξ MB U[@9MjEM: M:)Im}Added new target pos. range: 114.900002 m, bearing: 206.955934 deg, deltaT: 4.520798 s, approachRate: -0.291984 m/s, LOS rate: -1.050539 deg/s, posRepo size: 4m ProNav: pos range: 114.900002 m, bearing: 206.955934 deg, approachRate: -0.291984 m/s, LOS rate: -1.050539 deg/s, cmd update: -3.151618 deg/s, cmd heading: 167.927002 deg, new cmd heading: 167.868998 deg. WD:@WX XW:W2W*WVbUBU*UU\@U?B]BB BAɾ*BAÕAAA~g="Ct:@RCTCD:@C`יIGA>6yy 9YP1y':s5'Jr,\m+EAY}~{E@}~5@y}~񎼙}~J*>}~H @eҿ ??@z/?`ݑ?A??)~~{E@ ~~g^;I~~Cɫ) IYó@y*]Gi    @ @ @i@ )@Ii@ ]=M L=Y ԻQU >aEшEygj=}>I! -:%D'5? -:% ξ %B 5[@9%nE%: %:)%;:WU8@WQXQ XYWY:WY2WY*WaVabUaBUa*UaUiUm`?BM7B BA*BA/AAA[="C8@RCC8@C}6QIaG}7> >9CIUGi@=OD D; EJr,l+EA|i|@Y}2G@}27@y}2}27$>}2H`п?:?r\??`x??)~2G@ ~2'4^;I~2Cɫaa)i mIqY@y\Gi99uέMuU=Y}ˬQU}>yaEԈEyA=}>Iȑŕ0'5?ŕٝξ ƕB [@9ƕrEǕ&: ȕ:)ȑW&7@WX XW:W2W*WVbUBUI*UIUQUU@a?B}:By ByA¾*BAAAA="C&7@RCt[-C&7@C֥BׁIG=>UU~U~U U:YUT1yU@:U`5)UL;9]Jr,M+EAY}2RI@}2m9@y}2jW}29>}2H 3ο ??`m\+? ?`b??)~2RI@ ~2 ^;I~2Cɫ9A)I IIIYuT@y}\GI)AidMR=YQU >  a E ׈Ey=}>I! -:%'5? -:%ξ %B -[@9%wE%: %]:)%<:WUr"6@WQXQ XQWQ:WY2WY*WYVYbUYBUa*UaUaUe?B~@B BAž*BA5 AAAyk="Cr"6@RCHCr"6@CgARIG-N>NJr,"+EAY}2ZK@}24;@y}2k}2:>}2H>ʿ@3?`X}?`6B??kI??)~2ZK@ ~2 ^;I~2Cf#>9fCIfVGif@f=dfDfk; fE)]CI]Ci]C]=] =]6ɫyy)y yIY>@y\Gi`"?{Gz?~jt?7?ף= =)Iy?M¿~jt?f&?nD< A)vAI5AiAA   L=̌i@ )\@I@i@ "˻M ;=Y%QU>aEۈEy%=}%>I)-x'5?- ξ -B 5[@9-{E-': -:))W]o4@WYXY XYWY:WY2Wa*WaVabUaBUa*UiUiUm?B@:B BAƾ*BAҟAAA>="Co4@RCs;=Co4@C֍dd AIQGm5>UQQU U:YQyQUΓ5)UJ;MJr,\+EA||Y}BL@}BL<@y}B|Ǽ}Bf >}BH@i@ǿ]?5?% `? ?x}?@?)~BL@ ~B ^;I~@ɫii)q qIqY@y[GiU3MUW=Y]ཻQU]>YYaeEeވEaymʌ=}m>Iq }:u&5? }:ufξ uB }[@9uEu: uw:)u=:WYA3@WX XW:W2W*WVbUBU*UUU:@B]EBY BYAeϾ*BaAeuAaAaAe ="CYA3@RC =CYA3@Cօ YIiG8>e-Jr,+EAY}J<-N@}JH>@y}J&ۼ}Jb>}JH2 Ŀ Ψ?r?uI/?@s?? ?)~J<-N@ ~Jn^;I~JCɫqq)q yIyY}@y[G@AI?)?iU>U5޾U`iU•@Q Q)U@IUh@iUQ@eMeI=YmIƻQUm>qqauEuEyy}\=}}>IȁŅ&5?Ņξ ƅB [@9ƅEDžH: ȅ:)ȁW1@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBJB BAӾ*BAqAAAZ="C1@RC R=C 1@C m CIG$>G>9CIi'=D]; E]]]] ]9Y]T1y]:]s5)].8; Kr,,EAY}2JEO@}2`?@y}2Z}2s>}2H ɞ١¿?dI?a ?+? ?@b?)~2JEO@ ~2~];I~0ɫ99)9 =IAYEҲ@yM\GMZ****** received transponder code query ******UF****** received ping request ******UaEEyG7=}>I&5?ξ B [@9Ej; :)Wx0@WX XW!:W!2W!*W!V!bU)BU)*U)U)U5_/ @BPEB BA%;*B!A%ɧA!A!A%A="C-x0@RCM>CUx0@CQM!I1G]3>B=Kr,ގ",EA|i|@Y}6P@}6a:@@y}6c}6G>}6Hϭ"?:? w9? -?*?`?)~6P@ ~6^;I~4ɫYY)Y ]IYY@y[GxDUSBL response received:!U1,P C54,000,009EC,189,80,80,BE,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iME=Y-λQU5>AIaMEUEayud=}}>IQ :U&5? :Uzξ UB [@9UEU#= U#=)U>:Wl.@WX XW:W 2W *WVQ]CiEmGIYiibUq\Cٺ3BBU*UUU@w @B%p8B) B)A-Ҿ*B)U-U|U|U UV9YUR1yUi:UΓ59]@AAAA@="Cl.@RC2>Cl.@Cօ Y Ii G >RgKr,i<,EAB>9BCIBsVGiBN@B;=@BDBY; BEY}j34Q@}jOA@y}j7 }j1Q=}jHm使oF? ?M?`)&?`:?D?)~j34Q@ ~j];I~jCɫ) IY5@y5\G=p=ɮ9]Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)AiM9v?333333ÿQ?M4?M M<)IIIyM7A`?q= ףpMbp?M6?MM; MA)MAIM AiMhAIMAE>EjEq>iE\@A A)AIE@iE@u<Mu)=Yu QUu>yya}E}Eyv=}>Iȩŭ–&5?ŭuξ ƭB [@9ƭEǭQ: ȭ:)ȩW>O-@WX XW:W2W*W V bU BU *U UU@3@B]Z_XBY BYA̾*BAAAA ="C>O-@RC-iR>C>O-@C֭;qIG~>OKr,FV,EAY}NvQ@}N4A@y}NX }N}=}NH] @"? ?@Ѭ Ŵ? w1??@N?)~NvQ@ ~N2];I~NCɫyy)y }IyY@y=\GxDUSBL response received:!U1,R,D4B,000,009D0,189,80,80,A3,FF Fpublishing direction and range infoT?ɰM>鰹 )#CIypB= 2S?Т1?ٱiG-<MT=Y/kQU>aEEy"/<}>I :|&5? :Xqξ B [@9Ew: :)?:W%+@W)X) X)W):W)2W)*W1V1bU1BU1*U9U9U={@PI*QMpBZQMVgEHW@SAP@JQM= 2S?Т1?2QMT?:QIbQMo]Xx?KlJ,H"F!@RQM%1\ݿpJi?BQM=h@ QMdSQMPM-9?PM09?PIQMQMcA"QMaAB"MB BAʾ*BAJAAA= ="C+@RCe>C+@Ce$=׹IGg>zz YQ1y:5}Kr,1p,EA|4|64i5@1 5@)5@I5i5Q@EMET=YMSQUM>IIaUEUEQy]*}]>Iaei&5?e mξ eB m[@9eEeM: e:)amyAdded new target pos. range: 113.220001 m, bearing: 207.913718 deg, deltaT: 4.429561 s, approachRate: -0.379270 m/s, LOS rate: 0.216225 deg/s, posRepo size: 4m ProNav: pos range: 113.220001 m, bearing: 207.913718 deg, approachRate: -0.379270 m/s, LOS rate: 0.216225 deg/s, cmd update: 0.648676 deg/s, cmd heading: 153.954752 deg, new cmd heading: 152.739082 deg. W?,@WX XW:W2W*WVbUBU*UUN\@U@?BGPB BAо*BAAAAns ="C0+@*CgJRCc>C?,@C <=יIGA>]>9]CIYiY]9=]ND]D]3; YAg"Kr,,EAY}6Q@}6-A@y}6}6nF=}6H ܤ?@n?$&[? ? ?`?)~6Q@ ~6];I~6Cɫ)1)1 5I1Ym@ym\G=ii]ŧ<M]Z=YeK6QUe>iiamEmEqyuy}u>Iy :}T&5? :}hξ }B [@9}E}]: }:)}@:WE,@WX XW:W2W*WVbUBU*UUUE?BQB BA̾*BAOAAAh ="CE,@RCS>CE,@C%>I G-->r W9YDW1yY:)5(Kr,ף,EAY}2/cP@}2~@@y}2m-}2Wz<}2Hd`7??@ݖ?ऄ? ? ?)~2/cP@ ~2*];I~2Cɫ99)9 9I9YEy@yE[GiMQ=Y {0QU>!!a-E-E9yEݼ}M>Iae<&5?edξ eB [@9eEeδ< eƲ<)aW,@WX XW:W 2W *WVbUBU*UUUI?B@IBA BIAMBӾ*BQA]EAYAA ="C,@*Cz.IRCc_G>C,@C}y 1>YIiG|>e >9e CIe VGie @e =e LDe De ; e E.Kr,,EA|i|@Y}6MrO@}6?@y}6S}6g}6Hh`6¿z6?``?`@ #?pb?)~6MrO@ ~6];I~4ɫ99)A EIAY,@y5[Gi9APn?~jt:v?D?ļ T<)IyS?v/~jth?/?xD; A) AI AiAA E@ E@ E@E©EEiE @E E)E@IE@iE@UM]5=Y]QU]>aaaeEeEaym1}m>Iq }:u*$&5? }:u^ξ u B [@9uEu: u:)uA:Wv!-@WX XW:W2W*WVbUBU*UUU?BaZB BAؾ*BAݺAAA ="Cv!-@*CfWHRC/a7>Cv!-@Co2>׹IG l>}}  :YkS1yԊ:5)U;9^5Kr,,EAY}:\N@}:w>@y}:G}:A}:H z=ſt??@ ݥ`ܡ?d,C?)~:\N@ ~:L^;I~:Cɫ99)9 9IAY]@y][GI)Ai  U<M]_=Y]~;QU]>aaaeEeEaym<}m>Iqu&5?uZξ uB }[@9uEu8: uf:)qWe-@WX XW:W2W*WVbUBU*UUU M|?B YB BAҾ*BAWAAAmF ="Ce-@*CCGRCϱ%>Ce-@CU7>סIGA>;Kr,8h,EAY}62M@}6`M=@y}6:}6Ś}6H`q`ǿ S?_?@X[`@x?CQ ?)~62M@ ~6:K^;I~6Cɫyy)y }IyYM@y^[GiAA   Õ>Õ"ÕQ8>iÕ3@Õ ĕ\@)ĕIĕۙ@iĕ@ZzME=Y6w;QU>aEEy 4}>I*%5?Tξ B [@9E]: v:)Wk-@WX XW:W2W*WVbUBU*UUU@B5UB1 B1A5 ־*B1A=.A9A9A= ="CEk-@*CELFRCE=>CEk-@CI-Tu)>IG-,> >9 CI WGi B@ = KD D ; E)ݭCIݭCiݭCݭ'=ݭ(=ݭ~7yy -:YP1y':r5)!M;BKr,D -EA||;Y}6f L@}6(<@y}6 }6U}6HUɿD?E?!-ƽ U?o?)~6f L@ ~6]^;I~4ɫYY)Y ]IYY@y[Giۻ<MZ=Yx;QU>aEEyC}>I :%5? :`Oξ B [@9E: :)B:W -@W X  X W :W2W*WVbUBU*UUU%` @R-B*** querying acoustic contact ***P)P)BMBZBQ BQAUѾ*BQAUD¼AYAYA] ="Ce-@*CeFRCe>Ce-@CiX%>׹IGE>HKr,`%-EAY}2 K@}2K%;@y}2G_}2I}2H ; ˿4>?@`¿8+?Q¿`?)~2 K@ ~2ˆ^;I~2Cɫ99)9 9IAY@y[GZ****** received transponder code query ******F****** received ping request ******%qqa}E}EyyL }>Iȉō%5?ōHξ ƍ(B  [@9ƍEǍ-< ȍ<)ȉWT.@WX XW:W2W*WV!bU!BU!*U)U)U-q @BxIB BAϾ*BAƼAAA} ="CT.@*Cs/ERC=CT.@C >בIG> 8:YU1y:r59@ >9 CI XGi @ = JD D ;  EOKr,>-EAY}2 J@}2%:@y}2}2x#}2H@f ͿFxό? Ŀa?aĿ =?)~2 J@ ~2^;I~2CɫYY)Y ]IYY$@yf\GxDUSBL response received:!U1,P D4B,000,009D0,189,80,80,A3,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i#~j?/$l?E? =)Iy&1?:v?0?ԽL=  A)AI AiAAÍ9Í(\Í iÍ@É čۙ@)č@Ič@iĉ%<M%"=Y-8ZQU->11a5E5 EYy}-}>Iȑ :ŕf%5? -:ŕAξ ƕ?B 5[@9ƕEǕ̄< ȕo<)ȕC:W߯.@WX XW:W2W*WVbUBU*UUUv@B%JJB) B)A-Ⱦ*B)AU>:ɼAQAQAU^ ="C]߯.@*C]xDRC]=C]߯.@Ca֥ =y I G >UKr,X-EA|i|Y}6bH@}69@y}6j}6C0}6Hx`Ͽr@ ? @.Fƿ?ſ@?)~6bH@ ~6^;I~4ɫ99)9 =IAY@y[G鮱ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i99uMu=Y}uQU}?yaEEy,y}"?Iȑŕ%5?ŕ=ξ ƕKB [@9ƕEǕn: ȕ:)ȑW.@WX XW:W2W*WVbUBUi*UiUqUu@# @B2xB BAUҾ*BAʼAAA ="C.@*C1$DRCg =C.@Chs=סIGA>M M ~M ~M  M :YM T1yM @:M `5i nGI i Bٺ 2B&\Kr, r-EAɫ髑) IYI@yY[GxDUSBL response received:!U1,R,BB5,000,009B0,189,80,80,8D,FF Fpublishing direction and range infoڄu?ɰ)K> ) CIyB~w`?3c2?ٱI)iM,>MFMG=iM@I MQ@)MIMh@iMh@]`M]J=YeQUe>aaamEmEiyu}u>Iy :}%5? :}7ξ }^B [@9}E}k: }:)}D:W(/@WX XW:W2W*WVbUBU*UUU @P*QBZQڥO@jV@JQ~w`?3c2?2Qڄu?:QbQq%Ue;6Q|gh*RQ6"TRD]?n俺D`BQu@ Q!Q.PN9?P-9?PQQ<"QcAB*\B BAE־*BAͼAAA ="C(/@*C  CRC =C (/@CcZ=܍>9܍CI܍XGi܍6@܍=܍ID܍D܍; ݍEIGE>cKr,0׌-EAɫ) IYM+@yUo\GDNmea in: $SNTTA,,,,,020438.13*51 i P=M ?=YQU>aEEy!}%>I)-st%5?-\1ξ -qB =[@9-E-6; -!;))mMyAdded new target pos. range: 111.300003 m, bearing: 220.034285 deg, deltaT: 4.402309 s, approachRate: -0.436134 m/s, LOS rate: 2.753229 deg/s, posRepo size: 4m] ProNav: pos range: 111.300003 m, bearing: 220.034285 deg, approachRate: -0.436134 m/s, LOS rate: 2.753229 deg/s, cmd update: 8.259688 deg/s, cmd heading: 156.810684 deg, new cmd heading: 157.088046 deg. W]3@WYXa XW:W2W*WVbUBU*UU@3[@U`Eb?BSmSB! B!A%'Ⱦ*B!A-мA)A)A-& ="C5*&1@RC5\ D=C53@C9U}=)I9Ge>A7iKr,n-EA|(|(Y}JsE@}J5@y}J"}J$}JH`.ӿ pڐ?,Ŀ]Ԡ?@{Ŀ?)~JsE@ ~J.^;I~Hɫy髁) IYֲ@y\GieOn?Zd;O?~jt?e?ej<= e<)aIayev?+aEEy}>I :Z%5? :)ξ ~B [@9Ef: :)E:Wx7@WX XW:W2W*WVbUBU*UUU ?B=VB9 BAAEy;*BAAEKӼAAAAAEo ="CM4@RCU$;CUx7@CQa{{ 9Y#R1y:5=X=IGE>܅ >9܅ CI܁ i܁ ܅ =܅ HD܅ D܅ ; ݅ EpKr,ρ-EAY}uD@}4@y}g}_}Hhӿ>?`ÿ 0,?ÿ@?)~uD@ ~];I~ɫ) IYu@yuO\G=i=i<Ml=Ykr;QU?aEE!y%h.}-?I)-5G%5?-?$ξ -B =[@9-E-M: -8:))W]?:@WYXY XaWa:Wa2Wa*WaVabUiBUi*UiUqUu?B%hB BAɾ*BAռAAA ="C^)8@RC˽C?:@C֥Q=aIqG:>LIvKr,]-EAY}6D@}6 14@y}6E}6Y}6HLԿ`v:~? _Kÿ g?`ÿ?)~6D@ ~6];I~6Cɫ99)9 =IAY]@y]\GiqM^=Yը;QU>aEE y } >I2%5?ξ B %\@9Ef: :)WEy=@WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQU]o?B(ocB BA̾*BAOؼAAA ="C;@RCCy=@C%=H=I G%M>N}} 9YkS1yԊ:r5gs|Kr,8-EA|i|ɫyy)y }IyY@y\Gi!maE"Ey}>Iș :ŝ`%5? :ŝξ ƝB \@9ƝEǝ: ȝ:)ȝF:WA@WX XW:W2W*WVbUBU*UUU&@BTB BA*BAڼAAAU ="C?@RCNCA@C2g=->9)I-0YGi-@-=))-; -EסIGA>=[Kr,.EAY}:GC@}:b3@y}:oۼ}: }:H@+HտFA?`@s?̮?)~:GC@ ~:];I~8ɫ99)9 9I9Y}@y}n]GI)Ai  )= U=M]M=Y];QU]>aaaeEe%Eaymb}m>Iqu_%5?uξ uB }\@9uEu: u:)qWZ}E@WX XW:W2W*WVbUBU*UUU\@BH~YB BA1*BA% ݼA!A!A% ="C5B@RC5YC5Z}E@C9֭ONׁIG=>A{{ 9Y#R1y:5;Kr,C'.EAY}e8C@}e>T3@y}eWeμ}eM}eH)`eVտYO?qr˙?2O?)~e8C@ ~e*];I~aɫ髑) IY@y|]Gi!%M?333333?~jtx?%n2?%= %;)!I!y%A`"?(\µMb?%9?%%@= %A)%1 AI%E Ai%A!%AÅ94Å=Å(>iÅ\@Á ą@)ą@Iāią@9;M+=Y];QU>aE)Ey}>Iȱ :ŵ$5? :ŵnξ ƵB \@9ƵEǵn: ȵa:)ȵG:WhI@WX XW:W2W*WVbUBU*UUUb+@RB*** querying acoustic contact ***PPB%OB! B)A-*B)A-+߼A)A)A-,="C5yH@RC= ChI@C֕G󈽹QIYG|>% >9! I% YGi% ذ@% =% GD% D% ; % ×E)ݵCIݵCiݵCݵ=ݵ=ݵ7mKr,A.EA||p;Y}6FC@}6Eb3@y}6I}6}6H@,Hտ ۣ`B?`|:`h?`Ѽ@?)~6FC@ ~6*];I~6CɫYY)Y YIYY@yn]GZ****** received transponder code query ******F****** received ping request ******֭Ի۽ׁIG?>d}} 9YkS1yԊ:5)%E;9 yKr,ƥ[.EAY}6C@}63@y}6*}6fy}6H{BKԿZ?a@,ⷿ1?`~?)~6C@ ~6];I~4ɫYY)Y YIYYj@y]GxDUSBL response received:!U1,P BB5,000,009B0,189,80,80,8D,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i gA 5=M=H=YM8;QUU>aaamEu.Ey<}>Iȹ :Ž$5? :Žc; ƽB \@9ƽEǽ< Ƚ<)ȽH:WBQ@WX XW:W2W*WVbUBU*UUAUET @BZOB BA?*BAAAA+="C@RCCBQ@C+IG5>Kr,Ѐu.EAY}:D@}:m4@y}:}:Rx}:Hg`ӿhmG?`=W`?m?)~:D@ ~:x];I~:Cɫ99)9 =I9Y}@y}^G鮅a=ɮR=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iy ?Ľi3@ &@)ۙ@Ii@;M?=Y aE2Ey=}>I$5?V; B  \@9E: j:)W5T@W1X1 X1W1:W12W9*W9V9bU9BU9*UAUAUE 4@Bm`Bq BqAu*BqAubAyAyA}U="CI=RCCT@C>9CIYGi*@=HDD;   { {  :Y #R1y : 5) M;I!G=r>Kr,\.EA|i|Y}>E@}>5@y}>U}>ͼ}>H@@ҿt? ?h 爜? /?)~>E@ ~>];I~>CɫYY)Y YIYY@y`^GxDUSBL response received:!U1,R,B9A,000,00996,189,80,80,C5,FF Fpublishing direction and range info{?ɰI>鰡 )ECIyzB nI?0=^?ٱiܠ<M^=YaE5EyG=}>IT$5?D; B \@9En: :)W-W@W1X1 X1W1:W92W9*WAVAbUABUI*UIUIUUs@P9*Q=zBZQ= σqN@SV@JQ= nI?0=^?2Q={?:Q9bQ=cAEUI RQ_0VRQ=Y迌cl3D얶BQ=t@ Q=Q=.P=E9?P=N9?P=Q=Q=@"Q=<B~UB BA쮾*BA:AAA>="CQ;RCCW@CѝS=ԩԩ}U#qIG~>שKr,G.EAY},G@}1H7@y}Z.}%<}H u jѿ@r??`{??:?@?)~,G@ ~^;I~Cɫ) IYu@y^GQUCTNmea in: $SNTTA,0.079439,,,,020442.58*4D IimG)Ii ?ٺ^0Bi5oʡ?~jt{Gz?5M?5Ľ 5#=)1I1y5 r?S㥻 rh?5#?5/ݽ5C< 5p A)5AI5Ai5A15A)M= I @ @ @Õ©ÕÕiÕ@Õ ĕ)ĕj@Iđiĕ@jM=Y;QU>aE9Ey"=}>I :'|$5? :; B \@9ED: :)I:m}Added new target pos. range: 109.739998 m, bearing: 219.152726 deg, deltaT: 4.454627 s, approachRate: -0.350199 m/s, LOS rate: -0.197897 deg/s, posRepo size: 4m ProNav: pos range: 109.739998 m, bearing: 219.152726 deg, approachRate: -0.350199 m/s, LOS rate: -0.197897 deg/s, cmd update: -0.593692 deg/s, cmd heading: 193.355575 deg, new cmd heading: 197.854883 deg. WwW@WX XW:W2W*WVbUBU*UU \o[@UI?zz :YQ1y:59 @BMMBQ BQAU*BQAUxAQAQA]="C]Y:RCaCewW@Cae 31= ` >9 CI i = ; E I G >@˰Kr,~T.EAY}B̿H@}B8@y}B}B1=}BH isϿ@t?\? 16?@j^?@>!?`?)~B̿H@ ~Bh^;I~BCɫYY)Y ]IYY@y)^Gi!!uC<M}=Y}{;QU}?aE;Ey=}?Iȑŕm$5?ŕe; ƕB \@9ƕEǕ{: ȕf:)ȑWmW@WX XW:W2W*WVbUBU*UUUj?BưoB BA*B A zmA A A ="Cޱ:*C,DRCCmW@C) 5<  I! GM >0Kr,..EA||;Y}>bcJ@}>~:@y}>i}>'=}>Hc,̿ ??j?@??`?)~>bcJ@ ~>"^;I~>CɫYY)Y ]IYY@y^GiAA]=+=M]L=Y]˂:QU]>aaaeEe?Eiym=}m>Iq }:uX$5? }:u; uB \@9uEu: u:)uJ:W)W@WX XW:W2W*WVbUBU*UUU`0?BVB BA#*BA^AAAP="C:*C@!FRCC)W@C  > )>FӅIGI>z}} N:YkS1yԊ:_5OKr, .EAɫ髙) IY @y^G9i==iAAMhAMhA   t|?GiQ@ @)ۙ@Ii@MB=YQU>aEBEy}>IC$5?; B  \@9 E{: /:)W5FV@W1X1 X1W1:W12W9*W9V9bU9BU9*UAUAUE@R?Bm^UBq BqAu*BqAuAqAyA}"="C}n=;*C5GRCCFV@CU>9UCIUYGiUذ@U=QUDU; UEօݑ9IIGuW>Kr,/EAY}2xM@}2=@y}2x6}2>}2H{`{ƿm?`?>@sG?`Ά?@t&??)~2xM@ ~2^;I~2CɫQQ)Q QIYY@y[^Gi)1uмMuQ=Y}QU}>yaEEEy=}>Iȑ :ŕ/$5? :ŕ; ƕB \@9ƕEǕA: ȕ+:)ȕK:WUV@WQXQ XYWY:WY2WY*WYVabUaBUa*UaUaUm <@B [B BA(*BAM-AAA="Cт;*CqHRCCV@CֽƂיIGb>yzz ::YQ1y:54Kr,d*/EA|@i|@Y}%fN@}%?@y}%W}%>}%HE@eÿ?@E?jK@??`2c?Q?)~%fN@ ~%4^;I~%CɫII)Q QIQYD@y_GiQ?)\(Q?(!!a-E-IE)y57T=}5>I9=c$5?=; =B E\@9=E=: =:)9Wm+RV@WiXi XiWi:Wi2Wq*WqVqbUqBUq*UyUyU}@B%y1TB) B)A-*B)A- A)A)A5B="C5;*C=SJRCYC]+RV@CaimhA֍qIG>E >9E CIE XGiE 6@E =A E DE ; E E4Kr,tD/EAY}:,~P@}:}@@y}:}:!>}:H|Y!? ?`U?'?@$)?`?)~:,~P@ ~:q^;I~:Cɫ99)9 =I9Y}@y}^GAAI)Ai)Ý= Ý=)üM}=YQU ?aEKEy=} ?I :#5? :t; B \@9E#: :)L:W V@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB5%bB1 B1A5*B1A5pA9A9A= ="CE<*CEtBKRCACE V@CIօƂYIqG[>ss :YM1y:5)N;98CKr,!v^/EAY}2R@}2@+B@y}2,}2{'>}2H`<@vi F??efz?UE? ?b?)~2R@ ~2V^;I~2CɫYY)Y YIYY @y^GZ****** received transponder code query ******F****** received ping request ******!!a%E%OE)y-o=}->I9=#5?=; =B M\@9=E=: =:)9WMhU@WIXI XIWq:Wq2Wq*WyVybUyBUy*UyUU @BYB  B A K*B AAAA5="C-LP<*C-YLRC1C5hU@C1IAG{>]mKr,YQx/EA|4<|4}6H@୞JŠ?ܶ?{r?cv?-?X?)~6S@ ~6^;I~6Cɫ99)A AIAY|@yH_GxDUSBL response received:!U1,P B9A,000,00996,189,80,80,C5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i @ @ @Ý©ÝÝ>9CIXGi@=IDD; E)ݍCIݍCiݍCݍ=ݍ=ݍZ6iÝ̜@Ý ĝ)ĝ&@Iĝ\@iĝۙ@}<M)=YؐQU>aESEy_=}>I : #5? :; B \@9%E]$< $<)M:WeU@WaXi XiWi:Wi2Wi*WiVqbUqBUq*UqUqU} ˴ @BSB BA*BA7AAA="C<*CdMRCC%U@C) }>} > #    9Y T1y : 5) /<;֍·I IY Gu >VKr,r3/EAY}2"U@}2tE@y}2X}2$>}2H@-`?>?`@@P? ? {?[?)~2"U@ ~2 ^;I~2Cɫ99)9 9I9Y}@y}^GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iiiiyyI=)=…fA;Mm=Y*QU?aEUEy(=}?I7#5?; B \@9)E: D:)WGU@WX XW:W2W*WVbU BU *U UU '@BVKr,H/EAY}e:W@}eG@y}e}eH@H`}?`R? Ց?}c?`?@Q?)~e:W@ ~e];I~eCɫ)))1 1I1Ym@ym^GuxDUSBL response received:!U1,R,D5C,000,0097B,189,80,80,A5,FF }Fpublishing direction and range infou?qɰuF>q q)u%CIqyu=BuYl?6z,?ٱqiQ?̿ff ̼)IyK7?q= ףp?)?< \A)AInAiAA } } } }@ }@ }@yyyi}@y };@)}@I}i}-M-4=Y5QU5>11a=E=YE9yeb=}e>Iimȓ#5?m%; m B u\@9m.Em׾: m:)iW~T@WX XW:W2W*WVbUBU*UUU@P*Q=BZQҏ%vV@N@JQYl?6z,?2Q?:QbQ_nhVΊLM'@RQk$ZSr0&L;?BQ.m@ QeQP.9?PE9?PQQA"Q@Bu z^Bq BqAu*BqAAAAn="C7&=*CeNRC@QYC~T@C֕}z}} C:YkS1yԊ:59@QIYGuz> >9 CI i = KD D ; —E9jKr,F/EA|,i|,Y}ǣY@}I@y}f⼙}'>}H g ώ?#?兿I`g?K??`?)~ǣY@ ~R"^;I~Cɫ) IY5b@y5(_GDNmea in: $SNTTA,,,,,020447.02*59 iܛ=Me=YQU>aE\Ey8=}>I :#5? :; B \@92E: :)N:m}Added new target pos. range: 108.120003 m, bearing: 212.337221 deg, deltaT: 4.510715 s, approachRate: -0.359144 m/s, LOS rate: -1.510959 deg/s, posRepo size: 4m% ProNav: pos range: 108.120003 m, bearing: 212.337221 deg, approachRate: -0.359144 m/s, LOS rate: -1.510959 deg/s, cmd update: -4.532876 deg/s, cmd heading: 190.664758 deg, new cmd heading: 190.457879 deg. W-5S@W)X) X)W):W)2W1*W1V1bU1BU1*U9U= [@U=?BeDfBi BiAm*BiAm AqAqAu2="C}[L>RC}a-C}5S@CyԉԍgA}sKr,@/EAY}2[@}2?K@y}2џ}22$>}2H`G g? {? %7ލ`?̲?x?В?)~2[@ ~2TS^;I~0ɫ99)9 9I9Ym@y6_GI)i)) )))5= 5=uRa;MuO=Y}»QU}>yaE_Ey=}>Iȑŕi#5?ŕ; ƕB \@9ƕ6EǕ: ȕ:)ȑW6Q@WX XW:W2W*WVbUBU*UUU n?B_B BA *BAAA A %="C@RCzC6Q@CօlfaIiG9>*{{ 9Y#R1y:s5i]nGIqiKEٺ]5BKr,J/EAY}:]@}:޾M@y}:Q}:T!>}:Hdz?@^Ԕ?F فS?w??@Q?)~:]@ ~:c^;I~8ɫ99)9 9I9Y}@y}W^Gi!) } } }}}x};_i}3@} }@)}@I}@i}@_MI=YQU>aEbEy=}>Iȩ :ŭR#5? :ŭa; ƭB \@9ƭ:Eǭ: ȭ:)ȭO:W'O@WX XW:W2W*WVbUBU*UUU9?BEeB BAc*BAA!A!A%v="C-q?BRC-HC-'O@C1ܕ>9ܕCIܕhXGiܕ@ܕ=ܑܕDܕ; ݕɗE<IG%>ԣLr,v0EA||Y}JZ_@}JO@y}J1}J>}JHw'm?~Ē?`-[n ?`9ס?? ?)~JZ_@ ~JU^;I~JCɫ髹) IY@y^GiqqW<MH=Y˻QU>aEfEyM=}>I;#5?C; !B \@9?E: :)W>M@WX XW:W2W*W V bU BU *UUU6?B=bB9 BAAE訾*BAAExAAAAAE޼="CMDRCUn"CU>M@CQeO-9IIGmW> 9Yy5 Lr,X-0EAY}9a@} UQ@y}i}mz>}Hٵ % ??{ nT;/?` l?r?`C?)~9a@ ~^;I~Cɫ) IY5@y5^Gi=iu|?5^?Mb~jth?u2?u uD;)qIqyuMbX9?`"{Gzu!?uu# uA)uAIu AiuAquAgAgA?H>!>i@ @)ۙ@I@i@jM8=YQU>aEiEy}p=}>I :##5?  :~; B  \@9CE: :)P:WtJ@WX XW:W2W*WVbUBU*UUU @B=_BA BAAE%*BAAE KAAAIAM="CMWKFRCU<CUtJ@CQ=E?iE?I!G=r>ܕ >9ܕ CIܕ XGiܕ 6@ܕ =ܑ ܕ Dܕ ; ݕ —EmLr,*G0EAY}6b@}6ڽR@y}6>(}6%>}6Hছ`?x?DÿV?g?@M?,??)~6b@ ~6];I~6Cɫ99)9 9I9Y@y^Gi!!UM]h=Y]rQU]>aaaeEelEaym=}m>Iqu#5?u(; uB }\@9uGEuM: uD:)qWt I@WX XW:W2W*WVbUBU*UUU@B^uB BA*BA~<AAA2="Cm HRCu̖=Cut I@Cm 㽹AIIGm5>}} 9YkS1yԊ:5)7;9 Lr,a0EA|i|Y}:2c@}:S@y}:,v5}:h>}:H@`*?i?[ſ.o?@߬?a??)~:2c@ ~:,];I~:Cɫ99)9 =I9Y]@y]W^Gaaiqq<MN=YQU>!!a%E%oE!y-<=}->I155"5?5 ; 5B =\@95KE5f: 5 :)1We^ G@WaXa XaWa:Wa2Wi*WiVibUiBUq*UqUqUu`@RB*** querying acoustic contact ***PPBkB BAc*BA?YAAA]="C_ G@RC=C^ G@C֭'߈iIyG> Lr,z0EAY}2+d@}2}T@y}2&@}2>}2Hl@ ?q?`bǿ$@???C?)~2+d@ ~2L];I~2Cɫ99)9 9IAY}@y}^GZ****** received transponder code query ******F****** received ping request ******=>9=CI=0YGi=@===JD=D=; =EIIaUEUsEQy]=}]>Ia m:e,"5? m:e; eB m\@9ePEe: e:)eQ:W$D@WX XW:W2W*WVbUBU*UUU`Jv @BM^cBQ BQAU*BQAU AQAYA]~="CegZE@RCe>Ce$D@Ce(9IIGmW>{{ :Y#R1y:5)H;$Lr,0EAY}Fee@}FU@y}FH}F=}FH\`.I?E?̲ȿ"@K?`?@Ѽ? ?)~Fee@ ~F6];I~FCɫyy)y yIyY@yW^GxDUSBL response received:!U1,P D5C,000,0097B,189,80,80,A5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i=ME[=YM@QUU>aiaEvEy!<}>I)-"5?-T; -B =\@9-TE- : -:))WEB@WX XW:W!2W!*WIVQbUQBUY*UaUU@ @B%aiB! B!A-c*B)A- A)A)A- ="C5EB@RC5FC>C=EB@C9ֽ0׉IG>v$+Lr,0EA|;|p;Y}>e@}> U@y}>7R}>˵=}>H`4O1?`K?@ɿ#Y?D? ;@?@?)~>e@ ~>];I~<ɫII)I MIIY@y^Gp=ɮ=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iaiGz?x&?~jtp=?7= )Iy+?A`"  a E yEyʉ<}>I %:X"5? -:÷; B -\@9XE: :)R:WM@@WIXQ XQWQ:WQ2WY*WYVYbUYBUY*UaUaUe@BkB BA^*BA AAA="CLJA@RC{;U>C@@C 5>5> "5;IGi> N ~ ~  9Y T1y @: 59 @% >9% CI% YGi% ذ@% =% HD! % ; % E)ݹIݹiݽCݽ=ݽ=ݽP772Lr,)u0EAY}:@f@}:%\V@y}:L]}:ζ=}:H D`"??`]ʿ@'+? $?ɶ?z?)~:@f@ ~:O];I~8ɫYY)Y ]IYY@y^GxDUSBL response received:!U1,R,239,000,00956,189,80,80,95,FF Fpublishing direction and range infoM;ɰC>鰙 )CIyB #"?a~3}޿ٱ=i=ihAMw=YQU?aE|EyB<}?Iɤ"5?*; B \@9[EA: M:)W>@WX XW:W2W*WVbUBU*UUU|@P*QBZQeAGW@ꠕ9IJQ #"?a~3}޿2QM;:QbQNG%eYQ8=@`Q2?RQ2$?0Ght?BQ6@ QAQ(P 9?P.9?P9QQ8@"QABuQqBq BqAu*BqA}z AyAyA}k="CpT?@RCx>C>@Cօ%=AIaG8>d08Lr,X0EAY}2f@}V@y}j}=}H`:<`U?k?@xʿ`R,~?`j?? WҲ?`j?)~2f@ ~P^;I~ɫ) IY5^@y5$_GDNmea in: $SNTTA,,,,,020451.47*5F i <M 8=YQU>aEEy%V <}%>I) 5:-,"5? 5:-ȸ; -)B 5\@9-`E-: -:)-S:meAdded new target pos. range: 105.900002 m, bearing: 163.578127 deg, deltaT: 4.373654 s, approachRate: -0.507585 m/s, LOS rate: -11.148366 deg/s, posRepo size: 4mu ProNav: pos range: 105.900002 m, bearing: 163.578127 deg, approachRate: -0.507585 m/s, LOS rate: -11.148366 deg/s, cmd update: -12.000000 deg/s, cmd heading: 170.819199 deg, new cmd heading: 168.894459 deg. W}9@WyXy XyWy:Wy2W*WVbUBU*UUyZ@U+?B^hB BA*BA AAA="Ch;@RC >C9@C֭?=בIGER> *,:YT1y:N5X>Lr,)0EA|i|Y}6f@}6V@y}6/v}6k=}6H?5ਫ?ħ?`;˿m0?`AϮ?l?`?)~6f@ ~6];I~4ɫYY)Y ]IYY@yq_Gi U ] ]]w>]1>]qqauEuEyy}5 <}}>IȁŅx"5?Ņ\; ƅ6B \@9ƅdEDž: ȅ':)ȁW3@WX XW:W2W*WVbUBU*UUU?>9CIYGi*@=GDD; EBuDjBq BqAu *BqA}AyAyA}="C ]6@RCC3@C֍W >AIQGm5>dAELr, 1EAY}6f@}6 V@y}6}6.)=}6H`4`֎?`?5˿8o?ۯ?`?@'?)~6f@ ~6Y];I~6Cɫ19)9 =I9Yu@y}_GIA)i-;MQ=Y̫QU>  a E Ey}>I! %:%d"5? -:%; %DB -\@9%hE%: %:)%T:WUd.@WQXQ XQWQ:WQ2WY*WYVYbUYBUY*UaUaUe?BBkB BA*BA.AAA="C22@RCCd.@Cm4>Iq)ugAAIQGm>d 9YV1y:)5jKLr,*/1EA6>4ifmGIpY}^_?f@i|-Cٺ)-4B}^ZV@y}^>؂}^#<}^H?@?%N?Wʿ9Me?.X?`;?@A?)~^_?f@ ~^];I@99BI~^CɫQQ)Q UIYY @y_GiʡE?~jtZd;O/? j)IyX9v?S㥻~jt??/ݽ< A) AI AiA\AUPU^=UĽiU@Q Uۙ@)UIU@iU@eo<Me*=Ym]QUm>qqauEuEqy}Kk}}>IȁŅJ"5?Ņ; ƅRB \@9ƅmEDž: ȅ#:)ȁWJI(@WX XW:W2W*WVbUBU*UUU?B,_BhR = BA*BAFAAA="CI,@RCCJI(@C C>ױIG> >9 I [Gi o@ = HD  ;  EQRLr,ԹI1EA||4׉IGB>{{ z :Y#R1y:5)X;9 {XLr,-c1EAY}6dd@}6XT@y}66׈}6f}6Hk=? sZ?ƿGv@G?@?)~6dd@ ~6WD^;I~6Cɫ99)9 9I9Yyyy=iiY{QU>!a%E%E!y-,}->I1 =:5X$"5? =:5; 5jB =\@95tE5{: 5D:)5U:Welx@WaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}@@B|lB BA*BA>AAAM="Cj#@RCClx@C֍PDv>IIaG>^^Lr,.r}1EAɫyy)y yIyY@y_GiUz>U U5^iU@Q U@)U@IU@iU@e5;MeiiauEuEqy}}}>IȁŅ"5?Ņ; ƅxB \@9ƅxEDž: ȅb:)ȁܽ>9ܽCIܽP\Giܽ@ܽ=ܽIDܹܽ; ݽEW@WX XW:W2W*WVbUBU*UUUJ@RB*** querying acoustic contact ***PPB{7hB BAݙ*BAAAA)="C%d@RC!C%@C))  x x  :Y 7P1y : s5) iI;5>IG5>eLr,8K1EA|i|Y}:Na@}:jQ@y}:,}:r}:Hξ?k̵??Ž?5#`v?)~:Na@ ~:X_;I~8ɫYY)Y YIYY@y_GZ****** received transponder code query ******F****** received ping request ******!a%E%E)y-}5>I9 E:=!5? E:=p; =B M\@9=|E=+; =;)=V:WM>@WIXI XIWi:Wq2Wq*WqVqbUqBUy*UyUyU} @BiB BA*BAAAA="C @RCC>@CV =>ױIG>kLr,&1EAY}6q_@}6rO@y}6B}6!}6H /` e>`e<(r>if@ E@)\@IE@iE@0;M=Y-7QU->1aEEyW}>|| Q :YR1yi:595@I!5?p; B U\@9EH< +<)W< @WX XW:W2W*WVbUBU*UUUZe@BE)8`BI BIAMʚ*BIAUoeAQAQAU="CuR;@RCqCu< @Cyρρ)Ё Ёܽ>9ܽCIܽ|]Giܽ@ܽ=ܽHDܽDܽq; ݽE IG >{sLr,51EAY}2]@}2M@y}2d}2P}:}2HH`wG?S?C k`wƿE?ǿc?)~2]@ ~2f_;I~0ɫQQ)Q UIQY@y`G鮝a=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i19 m=M N=Y QU >aEEy}>I! -:%C!5? 5:% ; %B 5\@9%E%4: %:)%W:WU@2@WQXQ XYWY:WY2WY*WYVabUaBUa*UaUiUmG@BnB BA*BA,AAAP="C @RCC@2@C>IG l>!zLr,R~1EA|4<|;Y}60[@}6K@y}6^D}6DP}6H Ig?ϴ?#ĥUoɿ?^ɿ@?)~60[@ ~6^;I~6Cɫaa)i mIiYR@yaGxDUSBL response received:!U1,R,168,000,0092E,186,80,80,77,FF Fpublishing direction and range info|٠ɰ@>鰵> )BIyB o?;[@ӿٱiaa;&1Zi@ )&@I&@i@%6=M%I=Y%bQU%>))a-EMEQyU}]>IY]~!5?]1; ]B m\@9]E] : ]a;)YW@WX XW:W2W*WVbUBU*UUU=@P *Q BZQ h`̛X@y?JQ  o?;[@ӿ2Q |٠:Q bQ !vX!;@IK+@RQ b6X#?*]?BQ [7@ Q  AQ P  9?P  9?P >Q 9Q ܛA"Q 8@UU{U{U U:YU#R1yU:U*5B_B BA*BAAAA{<="C@RCC@C ==>IG> >9 CI _Gi J@ = ID D f;  E)ݕCIݕCiݕCݕ=ݕ=ݕs>7. Lr,?X2EAY}>~Y@}> J@y}>L}>7e}>H`,פ] ?`٦4:C̿@?@T̿ ^?)~>~Y@ ~>^;I~>Cɫyy)y yIyY@ybGDNmea in: $SNTTA,,,,,020455.92*53 %=i%=i)19=iAu=M}V=Y}ШQU}>aEEy }>Iȑ :ŕ!5? :ŕ ; ƕB \@9ƕEǕ: ȕ#:)ȕX:myAdded new target pos. range: 103.500000 m, bearing: 164.663662 deg, deltaT: 4.566300 s, approachRate: -0.525590 m/s, LOS rate: 0.237728 deg/s, posRepo size: 4m ProNav: pos range: 103.500000 m, bearing: 164.663662 deg, approachRate: -0.525590 m/s, LOS rate: 0.237728 deg/s, cmd update: 0.713183 deg/s, cmd heading: 116.074034 deg, new cmd heading: 111.579362 deg. WO@WX XW:W2W*WVbUBU*UUY@Um9?Bq`B BA~*BAAAA="C0@RCCO@C>IG >3Lr,42EAY}6OX@}6jH@y}6}6q}6H{˶?q? `ͿWݳ?`QͿ`?)~6OX@ ~6t^;I~4ɫYY)Y ]IYY@ybGi!)+MJ=Y=[QU>aEEy!}>Ișŝ!!5?ŝo; ƝB \@9ƝEǝܹ: ȝӻ:)șWF@WX XW:W2W*WVbUBU*UUU ?B *eB  B Al*BAAAA)="CGD@RCCF@C!UZU~U~U U9YUT1yU@:U5օ?΅>aIGc>f^Lr,82EA|i|Y}6V@}6F@y}6(}6w}6H@]5R?@_0?- ο߳? ο ?)~6V@ ~6^;I~6Cɫ99)9 9I9Y@yxbGi99K7?7A`?:vI,?> T)IyOn?bX9ȶy&1??E`< A)*AIAiAA }@ }@ }@}©}}i}@} y)}Iyi}|<M:=YǽQU>aEEyn}>Iȹ :ŽWn!5? :Ž; ƽB \@9ƽEǽ: Ƚ8:)ȽY:WҠ@WX XW:W2W*WVbUBU*UUU@\?B-p[B) B1A5cs*B1A5IA1A1A5Y="C=?RC9CEҠ@CAY]hAܭ9>9ܭCIܭ`Giܭ@ܭ =ܩܭ!Dܭu; ݭE}>9IAGmx>ELr,tQ2EAY}:T@}: E@y}:}:Vx}:H@b@??@$IϿ@?@Pο'?)~:T@ ~:^;I~:Cɫ99)9 AIAY}~@ybGIA)AiII)U= U=R=M\=YQU>aEEyە}>Iȱŵ\!5?ŵ; ƵB \@9ƵEǵ: ȵ:)ȱWD@WX XW:W2W*WVbUBU*UUU`I?B%K^B! B!A%e*B!A%0A)A)A-k="C5C?*C=RC9C=D@C9UU|U|U U:YUR1yUi:U)5)UTS;9]ց9IIGeV>oLr,ek2EAY}B_;S@}BVC@y}B埽}Bdz}BH i>Y?`ʶ?Ͽ}?ο@?)~B_;S@ ~Bo^;I~BCɫ髁) IY3@ycGi9Ai/mGIi =Bٺ9=?3B   Õd{?ÕÕZiÕ=@Õ ĕΣ@)ĕ@Iĕ@iĕ@ O=M:=YйQU>aEEy1w}>IF!5?<; %B \@9E: Q:)W=G@W9X9 XAWA:WA2WA*WiVibUiBUi*UiUqUu@C@BERB BAHO*BAyAAA="C@@RCCG@C>IG>ٙ ٝ hAܭ 5>9ܭ CIܭ ,bGiܭ Է@ܭ =ܭ GDܭ "Dܭ s; ݭ EWLr,j2EA|;|4<ɫ髙) IY@ydGi99u=Mu_=Y}QU}>yaEEy}>Iȑ :ŕ4!5? :ŕ; ƕ7B \@9ƕEǕ: ȕ{:)ȕZ:W=@W9XA XAWA:WA2WA*WIVIbUIBUQ*UQUQU]@4@BQQB BAI6*BA}AAAU="C@RCC@C =}2}z}z} }"9Y}Q1y}:}ߚ5)}@>;>׹IGg>ՁLr,|2EAY}2=1P@}2L@@y}2ҏ}254|}2Hgu]ÿ|?j?`@п@ ?Ͽb?)~2=1P@ ~2Q^;I~2Cɫ99)9 =I9YϹ@ydG=i=igAhAjfMT=Y\QU>aEEy}>I"!5?; JB  ]@9E: #:)W5@W1X1 X1W9:W92W9*W9V9bUABUA*UAUAUM@)@RUB*** querying acoustic contact ***PQPQBuwTBy ByA};*ByA}fAyAAe="C @RCC@C֭v>׉IG%M>Lr,W2EAY}:N@}:R>@y}:Π}:p{}:H}ABƿu?`Zf? `u$п?IϿ`?)~:N@ ~:X^;I~:Cɫ99)9 =I9Y}@y}eGZ****** received transponder code query ******F****** received ping request ******))a5E5E1y=J}=>IA M:E!5? M:Ey; EeB M]@9EEEH: EQ:)E[:uu~u~u u:YuT1yu@:u59}@W@@WX XW:W2W*WVbUBU*UUU @BU&GB BAb"*BA!AAA="C6a@*CRCC@@CM+>9MCIMcGiM@M=MFDM#DMb; MEFӅ>בIG>5Lr,42EA|i|@Y}FM@}FU,=@y}FC}F@|}FH ZXɿ@Ş?`I?`b=п`*?Ͽ?)~FM@ ~F];I~FCɫ髙) IY@y5fGxDUSBL response received:!U1,P 168,000,0092E,186,80,80,77,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i U <=Mm=YTuQU>1IaMEUEQy]}]>Iim 5?m; mzB ]@9mEmB< m{<)iWb@WX XW:W2W*WVbU BU *U U UZ @B]EBY BYA.*BA&AAA ="Cb@*CLaRCCb@ChAgA>שIG>rֺLr,t2EAɫ!!)! !I!Ye@yefGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)AI)Ai)= >\?E>i@ "@)@IΣ@i-@c<M2=YQU>aEEy}>I : 5? :; B ]@9E; n ;)\:W%c@W!X! X)W):W)2W)*W)V1bU1EAAE E:YAyAEΓ5BU1*UIUQUU8@B}GDB BA8*BAԎAAA="Cc@*C RCCc@C֥>ׁIG>% ">9! I% dGi% @% =! ! % K; % ELr,3EAY}bG@}b#7@y}b}bx}bH@ ѿ%??@п?@οO?)~bG@ ~bW];I~bCɫ髙) IY2@ygGxDUSBL response received:!U1,R,B01,000,00910,18A,80,80,A9,FF Fpublishing direction and range infoݎ?ɰ >>> ))CIyfBi?o~ȿ?ٱi =M q=Y\:QU?aEĉEyc}>I* 5?#; B ]@9Em: :)W5E/@W1X9 X9W9:W92W9*WAVAbUABUA*UAUIUM`+@Py*Q}fBZQ}QgTF@h1V@JQ}i?o~ȿ?2Q}ݎ?:QybQ}4Q}G"Q}ܛABR>B BA޽*BAAAAsW="C-E/@*C5!ȬRC1C5E/@C1=>I!GEs>fLr, 3EA|:4<|8Y}-QF@}-l6@y}- w}-z}-H Qҿ@j?jQ?ސ>п ?~ο?)~-QF@ ~-];I~-Cɫ髱) Iw|| :YR1yi:͜5YeL@yegG TNmea in: $SNTTA,0.067479,,,,020500.45*4D i =iAA1Zd?ktI +?";? 0 94<)Iyn?MbX?6?ʽL= @)(*AIvAi™=A­hA©%?=吾i @)@I@i@ ج;M =Y  :QU >aEɉEy%+.}%>I) 5:- 5? 5:-; -B 5]@9-E-: -:)-]:me}Added new target pos. range: 101.699997 m, bearing: 227.178034 deg, deltaT: 4.425259 s, approachRate: -0.406757 m/s, LOS rate: 14.126715 deg/s, posRepo size: 4mmProNav REINIT: LOS rate is 14.126715 deg/s. Setting heading cmd to target bearing of 227.178034deg and heading rate command to 0 deg/s.Wm}@WqXq XqWq:Wq2Wq*WyVybUyBUy*UyUlY@U@95?B. 9B BAtؽ*BAaAAA!="C9@RCC}@C Ց ԕ =y Y Ia G >!Lr,F;3EAY}6D@}64@y}6k}66}6H QvԿ6rC?E`yп#(?@Ͽ@?)~6D@ ~6];I~6Cɫ)))) )I)Ym1@ymhGi%>M%=Y-4 QU-I?)1a5E5ʉE5h@1y=}=J?IAE 5?EE; EB M]@9EEEӻ: Ef:)AWqWqXq XqWq:Wq2Wy*WyVybUyBU*UUU?BMg<BI BIAU*BQAUCAQAQAUz="C}= @RCCCܝ)>9ܙIܝxfGiܝS@ܝ=ܙܙܝ^; ݝE)5CI5Ci5C5=5=57֍ >iIqG[>_Lr,vT3EAY}FB@}F3@y}F}F}FH Aֿu߁?@ п\?݆Ͽ?)~FB@ ~FD];I~Dɫyy)y yIyY@yiGiAAui=MuF=Y}QU}>yaEΉEy}>Iȑŕ 5?ŕ; ƕB ]@9ƕEǕ: ȕ:)ȑWWX XW:W2W*WVbUBU*UUU.?B/B BA]*BAƶAAA="Cp@RCCC ={={={= =c:Y=#R1y=:=5)=PH;9=IIYGu>.Lr,n3EA| i| Y}F"A@}F=1@y}FS}FO}FH` պ׿@3?[/п΄? Ͽ?)~F"A@ ~F];I~FCɫQQ)Q UIQYuK@yujGI)i!! u@ u@ u@u©uuiu=@u u@)u@Iuiu<MI=YlƺQU>aEщEy}>Iȡ :ťIt 5? :ťRz; ƥB ]@9ƥEǥ: ȥ@:)ȥ^:WWX XW:W2W*WVbUBU*UUU˰?B Gq,B-E< BAe1*BAAAAn="C%ߧ@RC!C!C)I9)=fAIG- >ܥ 2>9ܥ CIܥ hGiܥ @ܥ =ܥ GDܡ ܥ X; ݥ E6Lr,3EAY}6L?@}6ng/@y}6#}6_}6H^k^ٿ ԙ>?Jп`9?Ͽ;?)~6L?@ ~6u];I~6Cɫ99)9 =I9Y]w@y]VjGif<MT=Y9QU>aEԉE y } >IT` 5?r; +B %]@9E: :)WWX XW:W2W*WVbUBU*UUU @B=*BA BAAE-*BAAEAAAIAM="CU%@RCUr7>CQCY)i-p===x=x= =:Y=7P1y=:=5)=+L;AIG>R=Lr,!3EAY}2=@}2?-@y}2R}2}2H` ڿYe?пೄ? п@ ?)~2=@ ~2];I~2Cɫ99)9 9IAY}o@y}kGi%=M-H=Y59QU5>99a=E=׉EAyE }E>II U:M\K 5? U:M8j; MGB ]]@9MEM#: Ms:)M_:WyWyXy XW:W2W*WVbUBU*UUU@X@B}"B BA*BAr AAAi="C.@RC~=CCI)G]U>CiemGIyi?ٺ/B}6Hෲ`1ܿYФ]?PпY? пG?)~6B <@ ~6-];I~6Cɫ19)9 9I9Yu@yuOlGy}@A=i=i?K7A`?Mb?@?+> <)IyFx?kt?+?̼ 0= @),AI‰iGAA    @ @ @iQ@ 9@)9@I9@i9@d<=M==Y:QU>aEۉE y o} >I5 5?b; ]B %]@9Ec: ):)WWX XW:W2W*WVbUBU55~5~5 5r:Y5T1y5@:559=@*U9UAUJ>9UCIUiGiUݽ@U=QU$DUW; UEUE@J@RmB*** querying acoustic contact ***PiPiBr B BA*BAAAAC="C.$@RCiCCi=ױIG>WOLr,|E3EAY}:Ώ:@}:!*@y}:>}:}:H^<M}S=Y}p:QU}>aEމEyt}>Iȱ :ŵ" 5? :ŵ[; ƵqB ]@9ƵEǵ: ȵ:)ȵ`:WAWAXA XAWA:WI2WI*WiVibUqBUq*UqUqU}@ @BB BA9*BA AAAY="C)@RClCI)))C)%q<<->IG%>gyLr,\ 3EAY}29@}2 7)@y}2zW}2l~}2Hݴ޿~s?@(пE?QWϿ?)~29@ ~2(_;I~2CɫYY)Y YIYY@ySmGxDUSBL response received:!U1,P B01,000,00910,18A,80,80,A9,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iUUUU U:YUT1yU:U5   Õe?Õ ÕiÕf@Õ ĕΣ@)ĕΣ@Iĕ@iĕԸ@=M)=YθQU>aEEy%?}%>I)- 5?-R; -B 5]@9-E-: -:))WWX XW:W2W*WVbUBU*UUUĻ @BU>By ByA<*BAAAAb ="C]B0@RC=CC }< ;o>U S>9U CIU kGiU s@Q Q Q U H; U E I G >;aMr,L 4EA|i|@ɫ髙) IY@ynGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Iq)uAiyy)Å= Å=tp=Mw=YQU?aEEy}?I 5?L; B ]@9E: D:)WWX XW:W2W*W V bU BU *UUU#@B=B9 BAAE=*BAAEAAAAAE)B ="CM64@RCUmCQCQYY)a aֵFH>בIG>Mr,#4EAY}2 6@}2&&@y}2o}2t}2HEࡢ@񞭿K?`OGο?ο`k?)~2 6@ ~2X^;I~2Cɫ99)9 =I9Y@yMoGxDUSBL response received:!U1,R,AFD,000,008FE,189,80,80,A7,FF Fpublishing direction and range infoO?ɰ<>鰝7> )'CIy=BKc?wnL?ٱiM=M[=Yx;QU>aEEy}>I :Z5? :ZE; B ]@9E$; ?;)a:WYWYXa XaWa:W2W*W1i5=E`AAE Ex9YAyAE5VbUIBUI*UQUQUUl@P*Q=BZQO-{E@TPV@JQKc?wnL?2QO?:QbQo .UMInϑ1RQeu꿗4n࿣'FƿBQ2l@ QNQP!9?PS9?PQQ="QGB B BA=*BAɐAAAސ ="C:@RC  C C  ====I>IG>Mr,'=4EAY}]R4@}]$@y}]0}]i}]HN]5㎮`%?`(qͿlA?̿N?)~]R4@ ~]V^;I~]Cɫ19)9 =I9Ym@yuoGTNmea in: $SNTTA,0.100736,,,,020504.90*49 iu/$?I +Zd;O?u&Q?u9 uj<=)qIqyush|??!rhL7A`?u)?ulu+= u@)u&AIu\AiuMAquAX>9CImGi @=FD%D8; E/ݽOi@ 9@)"@IX@i­@jM<M"=YK;QU>aEE y /} >I5?8; B E]@9Ef; ;)m}Added new target pos. range: 100.619995 m, bearing: 211.454802 deg, deltaT: 4.496874 s, approachRate: -0.240167 m/s, LOS rate: -3.496481 deg/s, posRepo size: 4m ProNav: pos range: 100.619995 m, bearing: 211.454802 deg, approachRate: -0.240167 m/s, LOS rate: -3.496481 deg/s, cmd update: -10.489442 deg/s, cmd heading: 227.178034 deg, new cmd heading: 227.178034 deg. W?/x@WX XW:W2W*WVbUBU*UU'Y@U@H?BEN BA BAAE=*BIAMPAIAIAM ="CUia@@RCC?/x@CUA=)I9G]>Mr,XW4EAY}2lx3@}2#@y}2X}2J\}2H@:@?@˿A\?T˿z-?)~2lx3@ ~2"^;I~2Cɫ99)9 9I9Y'@ypGii!)15gAu0=Mu{=Y}0Mr,gq4EAY}:2@}:R"@y}:ͬ}:TO}:H[@ @C?ʿ5R?ɿOE?)~:2@ ~:w^;I~8ɫ99)9 9I9Y}@y}pGi  ]D=]C]i]@Y ]­@)YI]9@i]@mla=MmK=Ym%qqa}E}Eyy}i}>IȁŅ/5?Ņ>&; ƅB ]@9ƅEDž: ȅU:)ȁWo@WX XW:W2W*WVbUBU*UUUGP?BB BA=*BAAAA ="C _HRC C o@C ፨ ^>9 CI nGi @ = &D .; E)݅CI݅Ci݅C݅=݅=݅6f"Mr,(C4EAY}21@}2E "@y}2)}2JC}2H.`MyH? Pȿ4?Hȿ zZ?)~21@ ~2Q^;I~2Cɫ99)9 =I9Y}@y}ArGi=MR=Y7aEE y м} >I :g5? %:; B %]@9E : 8:)c:Wr k@WX XW:W2W*WVbUBU*UUU?B=BA BAAE>*BAAEU?AAAIAM ="CU BRCQCUr k@CYEEzEzE Ew :YEQ1yE:E)5)E^;9MU7༹!I)GM1>}(Mr,&4EA|i|@Y}6ʒ1@}6!@y}6o}6^-5}6Hs@p?O ƿ ? }ƿRr?)~6ʒ1@ ~6x^;I~6Cɫ99)9 9I9Y}@ysGi!!}J=MB=YD<!IaUE]EayusQ}u>Iy}M5?}D; }B ]@9}E}: }@:)yW]ue@WYXa XW:W2W*WVbUBU*UUU`O4@BMBI BQAU'>*BQAU(AQAQAU. ="C]<RCCue@C]ÜIa)egA1IAG]v>/Mr,.4EAY}2Þ1@}2!@y}2W}2 !}2Hp Ҡ@Hm?୪ DĿc?`tĿ?)~2Þ1@ ~2^;I~0ɫ99)9 =I9Y}@y}2sGi\(\?~jt{Gz? ף)IyV-?Mb~jt?h1?@= …@)…\AI…Ai…A A$&?ףi@ @)9@Ii9@;MC=YXdaEEy:}>I  : 5? : ; (B ]@9 E : 8:) d:ܕe>9ܕCIܕ*BAAAA ="Cbj7RCCa@C >>6ױIG>5Mr, 4EAY}:h2@}:"@y}:<}: }:H :J&{F?@B`r?-?)~:h2@ ~:];I~8ɫ99)9 9I9Y}C@y}sG?Ai?R=Mb=YaEEy<}>IȹŽ r5?Ž̾ ƽ6B ]@9ƽEǽr: Ƚ:)ȹW,]@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBwǼB BA7>>*BAAAA ="C 3RC C ,]@C0:ĽIG (>i% NmGI9 iI /0Bɫ髹) IY@ytGZ****** received transponder code query ******F****** received ping request ******iÍ­@É čj@)čIčn@ičn@$I=M.=YQU>aEEy}>IȹŽ\5?Ž̾ ƽIB ]@9ƽ Eǽ: Ƚ:)ȹ=%=|=|=A = :Y=R1y=i:=59=@WMCW@WIXI XIWI:WI2WQ*WQVQbUQBUY*UYUYU] @BǼB BAU>*BAAAAF ="C0RCCCW@CIGj>ܕ ]>9ܑ Iܕ hqGiܕ 6@ܕ =ܕ EDܑ ܕ 8; ݕ EvBMr, 5EAY}6r3@}6#@y}6l}6&}6HP5@?@|@C̟?б .?)~6r3@ ~6s^;I~4ɫII)I IIIY}@y}uGxDUSBL response received:!U1,P AFD,000,008FE,189,80,80,A7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 il=Mj=Y /=QU>!)a-E5EAyUn=}]>Iq :uK5? :uE̾ uTB ]@9uEu= u=)ue:I1)5@AWqR@WX XW:W2W*WVbUBU*UUU@  @B-1B) B)A5s>*B1A5A1A1A5% ="C=g/RC9C=qR@CaEF)IIG}z>'IMr,e&5EAY}J5@}J(9%@y}J ü}Jh|}JH``u@S?`?%``?@9Mq?)~J5@ ~J_;I~Hɫaa)a iIiY@yuGUp=ɮQNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i]uYY]! ]S:YYyY]ߠ5?:v?T< t<)Iy/$?q= ףpS㥛?&1?/< p@)AIAi AAM1>M M{iM@I Mn@)Mn@IIiI]M=Y `aE Ey#=}>I45?̾ aB ]@9Er: Y:)WEKM@WIXI XIWI:WI2WI*WQVQbUQBUQ*UQUyU}@`@BB BAo>*BAkAAAq ="C/*CRCCKM@CZzIG>PMr,A@5EA|i|@Y}66@}6`&@y}6䎼}6}6Hi@9WO?rV?@eDXܑ? BR?)~66@ ~6f_;I~6Cɫ99)9 =I9Y}@y}vGxDUSBL response received:!U1,R,AFD,000,008F8,189,80,80,8F,FF Fpublishing direction and range infoɰ<>鰁 )CIyBKc?wnL?ٱI)Ai,=M=Y*BYAeqAaAaAe' ="Cm~0RCiCmg4J@Cq=J>9=CI=0rGi=@==99=); =EUJIY)]fA)I9GU>=VMr,,Z5EAY}vu8@}vq(@y}v`N}v}(=}vHV߿ϸ??f.?‰?@ ? l?)~vu8@ ~v+`;I~vCɫ) IY-/@y-wGDNmea in: $SNTTA,,,,,020509.34*57 iM<MM3=YU*.QQaUE]EYy]!|=}e>Iim5?m̾ mmB u]@9mEm{: mʽ:)imyAdded new target pos. range: 100.260002 m, bearing: 213.446635 deg, deltaT: 4.355409 s, approachRate: -0.082654 m/s, LOS rate: 0.457324 deg/s, posRepo size: 4m ProNav: pos range: 100.260002 m, bearing: 213.446635 deg, approachRate: -0.082654 m/s, LOS rate: 0.457324 deg/s, cmd update: 1.371972 deg/s, cmd heading: 181.023054 deg, new cmd heading: 176.228739 deg. WJ@WX XW:W2W*WVbUBU*UUY@U`d?B{Br = BA܍>*BAGzAAA 72 ="C3RCCJ@C%=i%a=5115 5 :Y1y15`55ƂIGn>c\Mr,4s5EAɫ髙) IY+@ywGiAA @ @ @Õ©ÕÕiÕG@Õ ĕ)đIĕiĕ9@QMV=YQU>aEEy}>I :5? :;̾ tB ]@9!E: @:)g:W}K@WX XW:W2W*WVbUBU*UUU Y?B5&B9 B9A=>*B9A=ĞAAAAAE@ ="CM>V7RCICM}K@CQAI)GEQ>M D>9I II iI M =I M &DM +; M EKcMr,Rҍ5EA||4AAaEEEEIyM;>}M>IȹŽw5?Ž̾ ƽwB ]@9ƽ&Eǽ; Ƚ5;)ȹWL@WX  X W :W 2W*WVbUBU*U!U!U%?Bu Bq ByA}>*ByA}AAAm ="CH<RCCL@CMM}M}M M:YMkS1yMԊ:M5)M L;9UֹיIGb>WuiMr,֫5EAY} >@}).@y}ܼ:} >}H6ٿp?@?߿?`P=f?@?)~ >@ ~z`;I))-?AI~Cɫ髁) IY@y|xGi}^I +?+?Mb?}X?}= }=)yIyy}Dl?I +Mb}O-?}9} } A)}bAI}|Ai}\Ay}A)Ý > Ý >     = 1 C i @   ) @I @i n@- a<M- 9 9 a= E= EA yE 5=}M >IY e :] \5? m :] ̾ ] pB m ]@9] -E] B; ] :K;)] h:W M@W X!  X! W! :W! 2W! *W) V) bU) BU) *U) U1 U5 ?B AB  B A [>*B A LA A A  ="C # BRC C M@C ѭ q<Խ gAԽ gA5B>95CI5qGi5@5=1158; 5E)ŎCIŎCiŎCŎ=Ŏ=Ŏg7֡a!  :Yy5)0_;IyG ?brMr,5EAɫ) IY@yxGiai,<M=YQU?aEEy}?IȹŽ5?Ž̾ ƽmB ]@9ƽ0Eǽ: Ƚ:)ȹWM@WX XW:W2W*WVbUBU*UUU`Q@B%+B) B)A->*B)A-JOA)A1A5W ="C=xCRC9C=M@CA5y=%·I G-o>ުxMr,Z5EAɫ髙) IYL@yxGAA i W<MV=Y QU >  a E Ey}>I! -:%5? -:%d̾ %iB -]@9%4E%: %:)%i:WMH&N@WQXQ XW:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBM`lhBQ BQAU>*BQAU;HAQAYA]1 ="CeaDRCaCeH&N@Caed=U}1I9GU>9 i= =M nM ~M ~M  M :YM T1yM @:M N59M @;~Mr,65EAɫyy)y }IyY@y3xGZ****** received transponder code query ******F****** received ping request ******ÅÅƽiÅp@Á ā)ąj@Iąn@iąX@*MA=YQU>aE#Ey}>Iqu 5?uu̾ udB }]@9u9Eu׾: u&:)qW3N@WX XW:W2W*WVbUBU*UUU7@BUN߃BQ BYA]>*BYA]7AYAYA]q =ܕP>9ܕCIܕhqGiܕ6@ܕ=ܕFDܑܕ6; ݕE"CQCRCC3N@C)  u >u >a 9 II Ge >ąMr,26EA||Y}6E@}65@y}6LV<}6!>}6Hҿ@Ͳ??+3`%? ׊ ^?l?)~6E@ ~6è^;I~6CɫII)I IIIY@yexGxDUSBL response received:!U1,P AFD,000,008F8,189,80,80,8F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i!eSL<MmM=YuaE&Ey>}>I5?O̾ ^B ]@9=E<; <)WO@WX XW:W2W*W!V!bU!BU)*U)U)U { @BdぼB BA3>*B!A% A!A!A%_ ="CUBRCYC]O@Ca I GM >5 1 1 5  5 x :Y1 y1 5 5M >M CMr,226EAi&unGI2jAi}EH @п-?@T? nw)`?`) ??`E?)~EܼG@ ~E7^;I~ECɫ) IYm @ymxGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i==ipíʁíԸiíf@é ĭA@)ĭ@Iĭ@iĭn@B(<M)=YUݸQU>aE*Ey݂=}>I :=j5? :[̾ [B ]@9CEf: :)j:W &P@W X XW:W2W*WVbUBU*UU!U%@@BM=]BI BIAU>*BQAU"AQAQAUM6 ="CARCC&P@CƂשIG>i 9i Im qGim @i i i m L; m —EI AA) OВMr,1K6EAY}:ԲI@}:&9@y}:G<}:^>}:H Mο#-?9? W u?@h㈿?@E?)~:ԲI@ ~:f^;I~:CɫII)I QIQY\@ywGxDUSBL response received:!U1,R,AFD,000,008ED,189,80,80,CE,FF Fpublishing direction and range infoɰ/;>鰙 )NCIy3BKc?wnL?ٱijM=YLCQU?aE,Ey=}?I9Z5?̾ ZB ]@9FEj: ?:)WP@WX XW:W!2W!*W!V!bU!BU)*U)U)U-`@P9*Q=3BZQ=r8cE@hV@JQ=Kc?wnL?2Q9:Q9bQ=n)O&hxRM mw*@RQ=8(T_NJ@Xy|?BQ=^@ Q=Q=}P=L9?P=9?P=Q=Q=4A"Q=@Bu{KBq BqAu>*BqA}lAyAyA}su ="CARCCP@CցaIqG;>E A A E  E :YA yA E `5{Mr,#e6EA| i| Y}-K@}-;@y}-x0<}-;>}-H"Rʿ@&ŕ?1? ???)~-K@ ~-^;I~-Cɫ髑) IY@yxG]TNmea in: $SNTTA,,0.065919,,,020513.53*41 iii<M/=Y>QU>aE0Ey=} >I! E:%@5? M:%z̾ %WB U]@9%KE%; %ۿ;)%k:muuAdded new target pos. range: 99.599998 m, bearing: 230.136886 deg, deltaT: 4.183698 s, approachRate: -0.157756 m/s, LOS rate: 3.989353 deg/s, posRepo size: 4m ProNav: pos range: 99.599998 m, bearing: 230.136886 deg, approachRate: -0.157756 m/s, LOS rate: 3.989353 deg/s, cmd update: 11.968061 deg/s, cmd heading: 186.762954 deg, new cmd heading: 187.464604 deg. WsW@WX XW:W2W*WVbUBU*UU`fX@U?B}jB BAD>*BA 0AAA' ="Cz>RCCsW@C}IG>$Mr,6EAɫ髑) IY7@ywGI9)=AI9)=AiAA IIÝj\?ÝܿÝviÝ@Ù ĝ)ĝ@Iĝ?@iĝ@ M]=YQU>aE3Ey}>Iz-5?Iu̾ VB ]@9OE<: :)W-[@WX XW:W2W*WVbUBU*UUU ?B5.NB1 B1A5R>*B9A=Px A9A9A= + ="CEG;RCACE-[@CI-H>9-CI-pGi-@-=-ED)- ; -EY9IIGmW>5 =i5 =E E xE xE  E q:YE 7P1yE :E 5)E ;V;9M 3 Mr,mY6EAY}6O@}6 @@y}69;}6>}6H Ԯ ? N?R ?@%'{`E&??)~6O@ ~6^;I~6Cɫyy)y }IyY@yvGi!}UMM=YV+QU>aE6Ey(>}>Iș :ŝ5? :ŝap̾ ƝTB ]@9ƝSEǝA: ȝM:)ȝl:W}a@WX XW:W2W*WVbUBU*UUUླྀ?B ъB  BA>*BAF AAAw ="C_7RC!C%}a@C!a9IIGeV>&5Mr,36EA|4<|Y}:R@}:j2B@y}: ;}:>}:HTE9C?;h?} ?p-?`?)~:R@ ~:-^;I~8ɫQQ)Q QIQY@yvGiQ?> ףp=ʿ:v?(?Q T=)IyDl?x&MbO-?7  A)‰IAi‰A}ʡ=}n}Ii}(@y y)}K@I}X@i}9@ )M:=Ym˻QU>aE:Eyv=}>IȡťM5?ťek̾ ƥLB ]@9ƥXEǥ: ȥD:)ȡWf@WX XW:W2W*WVbUBU*UUU?BB BAt>*BA AAA% ="C-61RC)C-f@C1=ƂAiEz?I!G=r>- I>9) I- }:Hx=?@ c?'@J?qODU? ?)~:T@ ~:w^;I~:Cɫ99)9 =I9Y%@y>vGU=iU=iYan<M[=YQU>aE=Ey=}>Iȱ :ŵl5? :ŵg̾ ƵEB ]@9Ƶ\Eǵo: ȵY:)ȵm:Wk@WX XW:W2W*WVbUBU*UUU X@Br9B BAdz>*BA AAAy ="C+RCCk@CIGn>.GMr,:6EAY}>V@}>!F@y}>ۗ}>]>}>Hgo4? m?l{?@^??Ҹ?)~>V@ ~> _;I~<ɫYY)Y YIYY@y vGi!!)-= -=uKMuL=Y}|QU}>yaE@Ey=}>Iȑŕ5?ŕc̾ ƕ?B ]@9ƕaEǕ8: ȕD:)ȑWLq@WX XW:W2W*WVbUBU*UUU @B5}uB1 B1A5Lu>*B1A=, A9A9A=8 ="CE[V&RCACELq@Ci]V݅1IAG]v>E E |E |E  E 1:YE R1yE i:E :59M @*/Mr,7EA|i|ɫ髙) IY@yuGim>mfm^im@i i)m@Imn@im"@MJ=YQU>aECEy}>Ișŝ5?ŝC`̾ Ɲ8B ]@9ƝeEǝw: ȝǺ:)șWv@WX XW:W2W*WVbUBU*UUU^@RB*** querying acoustic contact ***PPB5B1 B9A=m>*B9A=t A9A9A=Fg ="CEZ!RCACMv@CIUK>9QIUoGiU@U=UFDQU:; UE)mCImCiim=m=m6eFӅIi)i!I)GER>*YMr,o7EAY}6ߟY@}61I@y}6ӻ}6>}6Ha`?9pt?j@r?az? ?˶?)~6ߟY@ ~6 _;I~6Cɫ99)9 =I9Y]@ye+vGeZ****** received transponder code query ******mF****** received ping request ******maEFEy>}>I :5? :]̾ 2B  ]@9jEI; ;)n:W5{@W1X1 X1W9:W92W9*W9V9bUABUA*UAUAUM` @BuptBq BqAux>*ByA}AyAyA}q ="CERCC{@Ca9IIG[>E 8E {E {E  E u:YE #R1yE :E q5wMr,N|47EAY}6[@}6K@y}6f }6̄=}6HH?%l? ~椿@˿?͌?@Z??)~6[@ ~6m^;I~6Cɫ99)9 =I9Y@yuGxDUSBL response received:!U1,P AFD,000,008ED,189,80,80,CE,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i=p= ף?y&1?l=>=`e= =)9I9y='1Z?ʡE{Gz?="?=-=#< =A)=Q@I=vAi=A9=AegAaE=ݤi@ )IiX@2M=Y*QU%>!!a%E-KE)y5d=}5>IIM5?M[̾ M4B ]@9MoEMP; MQ;)IWE@WAXA XIWI:WI2Wq*WyVybUBU*UUU@BGB BACi>*BAAAA H ="C-lRC1C5@C1A U L>9Q IU toGiU @Q Q Q U B; U E9 II Ge >kMr,qVN7EA|;|;Y}6L]@}6M@y}6Um,}6=}6H@?1X?`¿??G? ?)~6L]@ ~6m^;I~6CɫYY)Y YIYY@yuG鮥a=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ieg;Mm=Y-GлQU5?19a=E=MEAyE@=}M?IQ e:Uy5? e:UZ̾ Q m]@9UrEUD; U:;)Uo:WN@WX XW:W2W*WVbUBU*UUU@Y@B.[B BAk>*BAAAA ="C\kRCCN@CyYIiG|>M uM M I M S:YM WU1yM :I Mr,+3h7EAY}6 _@}6\O@y}6H}6s>}6H`?<NU5_6?w?`$#?@?)~6 _@ ~6z_;I~4ɫYY)Y YIYYF@y,uGxDUSBL response received:!U1,R,D7B,000,008D1,189,80,80,85,FF Fpublishing direction and range info)?ɰ8> )CIyB:B3?c^?ٱ=i=i%M-N=Y-FQUU>aaamEmPEy =}>I!%c5?%Z̾ %6B ]@9%vE% < %<)!W$d@WX XW:W2W*WVbUBU*UU U @P*QBZQ8q$T@*BYA][AYAYA] ="C RCC$d@Ci%nGIMSkAiaCٺSkAO3BֹqIG>}Mr,7EAɫ99)9 =I9YuC@yu(uGDNmea in: $SNTTA,,,,,020517.97*51 i)> >=S>===i=@9 =9@)=X@I="@i9mلMm7=YuQUu>qya}E}TEyy}>Iȉ :ōM5? :ōY̾ tI ƍ7B ^@9ƍ{EǍh: ȍ:)ȍp:myAdded new target pos. range: 97.919998 m, bearing: 217.974955 deg, deltaT: 4.504649 s, approachRate: -0.372948 m/s, LOS rate: -2.699862 deg/s, posRepo size: 4O>9Ii=/; Em ProNav: pos range: 97.919998 m, bearing: 217.974955 deg, approachRate: -0.372948 m/s, LOS rate: -2.699862 deg/s, cmd update: -8.099586 deg/s, cmd heading: 240.626467 deg, new cmd heading: 245.419675 deg. WW@WX XW:W2W*WVbUBU*UU@zX@U`O?BUBQ BQAU(^>*BYA]ՔAYAYA]R ="CRCCW@C?΅בIG>E iE uE uE  E ^:YE KN1yE y:E ;5)E i;9M Mr,l7EA|i|Y}6mRc@}6mS@y}6'}6 >}6H `?vĿxG@m??[P??)~6mRc@ ~6 _;I~6Cɫ99)9 9I9Y@ytGi!!UMU^=Y]CQU]>YYaeEeVEaym#>}m>Iqu95?uUZ̾ u9B }^@9u~Eu: u:)qW ق@WX XW:W2W*WVbUBU*UU!U%@#?BMBϊBI BQAUP>*BQAU~AQAQA]B ="C]\8RCaCeق@Ca}FӅaIGb>pMr,Yõ7EAY}6W/e@}6JU@y}62}6j >}6H@fi9j?h8|lNȿa`,i?6?B?`?)~6W/e@ ~6^;I~6Cɫ99)9 9I9Y@yuGI)Aix&?I +?Mb7)?9= @)Iy~jt?~jth?$?̽D; •A)‘I•Ai• AA>\;i̬@ @)-@In@in@UO=M];=Y]ŻQU]>aaaeEeZEaymz=}m>Iq }:u+!5? }:uZ̾ q ^@9uEu: u:)uq:WH@WX XW:W2W*WVbUBU*UUU 1?BwB BAig>*BA;AAA ="CPRCCH@C?΅IGm> S>9 I oGi O@ = @; EE ,E |E |E  E :YE R1yE i:E M5)E `;rMr, 7EAY}Ng@}N5W@y}N2}N>}NH6(1?z̿@:Ō? l?jS??)~Ng@ ~N=^;I~Lɫyy)y }IyY@ytGi!)QUhApCMX=YQU>aE]Ey@=}>IQ 5?[̾ :B ^@9E<; 4;)Wg~@WX XW :W 2W *WVbUBU*UUUT?BEmBA BAAMT>*BIAAAA ="C*C RCCg~@CֹיIGb>fMr,ty7EA||Y}6i@}6+Y@y}6Y̼}6l =}6Ha`?y`Ͽ` H? ?4 ? ?)~6i@ ~6x^;I~4ɫyy)y yIY@ytGi%C=%ף;%C =i%@! %"@)%n@I%X@i%X@=T M=@=Y=ջQU=>AAaEEE`EIyM#=}U>IQU:5?Ud]̾ U*BAAMAIAIAM ="CUARCQCU\z@CYYYIiG|>E E ~E ~E  E x :YE T1yE @:E 59M @oNr,CU8EAY}6k@}6[@y}6V㼙}6Gm=}6HC?B!!a%E%cE)y-Z=}->I1 =:5D5? =:5_̾ 5=B E^@95E5: 5:)5r:WeGw@WaXa XaWi:Wi2Wi*WiVibU BU*UUU`@B=p5BA BAAE@>*BAAEEAAAIAM ="CURCQCUGw@CYܕY>9ܑIܑiܑܕ=ܑܑܕ5; ݕEAI)GEQ>I= @A)= @ApNr,/8EAY}6Kl@}6]@y}6}6"=}6Hgq۶?&ӿ3 7? ?b;?@?)~6Kl@ ~6t^;I~6CɫAI)I QIQY@ytGiX=ML=Y>QU >  a E gEy=}>I!%5?%ma̾ %@B -^@9%E%: %:)!WM̦s@WIXQ XQWQ:WQ2WY*WYVYbUYBUY*UaUaUe,@RmB*** querying acoustic contact ***PiPiBOgB BAIV>*BAAAASq ="CBt RCC̦s@CסIGUT>E E |E |E  E :YE R1yE i:E ;50 Nr,S78EA|i|@Y}Bun@}B^@y}B.}B=}BH %Sw?@5^տP@'? ?`E??)~Bun@ ~BK^;I~BCɫQQ)Y ]IYY@ytGZ****** received transponder code query ******F****** received ping request ******aEjEy{=}>I -:85? -:c̾  -^@9E; ;)s:Wm5So@WqXq XW:W2W*WVbUBU*UUU @BnB BAoT>*BAAAA4 ="CRCC5So@CIG>q 9u CIq iq u =u EDq u >; u —E) I i = = 5hNr,P8EAY}6p@}6h`@y}6}6>=}6HV`2?׿`P(?83? "??)~6p@ ~6d^;I~4ɫyy)y }IyY{@y2tGxDUSBL response received:!U1,P D7B,000,008D1,189,80,80,85,FF Command AckBRequesting micromodem ping code 2iI)I)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i  鿙M MmU=YuĻQUu>aEmEy-d=}->IAE5?EYf̾ A }^@9EEEY< E!F<)AW9k@WX! X!W!:W!2W)*W)V)bU)BU)*U1U1U5E` @B}l B BA)E>*BA!AAA ="CRCC9k@CIG>= =i= p=M M ~M ~M  M :YM T1yM @:M 5BNr, k8EAY}Ntor@}NƊb@y}N}N(>}NHy?~ؿt4@?@3??V?)~Ntor@ ~N:^;I~NCɫ) IY@yqtGENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i-Ponly read 0 of 1 data item for BIT error @ @ @ x<MC=YIQU>aEqEy=}>Iȱ :ŵ5? :ŵi̾ ƵAB ^@9ƵEǵ: ȵ:)ȵt:W-h@WX XW:W2W*WVbUBU*UUU (@B%v{B! B!A%K>*B!A-A)A)A- ="C5DqRC1C5-h@C9IGn>!Nr,霄8EA||4<ɫ髙) IY)@ysGxDUSBL response received:!U1,R,DAA,000,008B0,189,80,80,9F,FF Fpublishing direction and range info0?ɰ06> )CIyB @?9?ٱi4M^=YQU>aEtEy}>I@~5?k̾ BB ^@9Er: :)Wd@WX XW:W2W*WVbUBU*UUUj@P*QBZQ3T@!ЖG@JQ @?9?2Q0?:QbQ~*M`(R Z@"@RQ4Y㿀Z;N鿪jaY?BQ\@ QQ hPK9?P 9?PQQuA"Q8]A=[>99I=toGi=@==9='D=T; =ϗEBmpBi BiAm:>*BiAuAqAqAux ="C}{!RC}ۀC}d@CIG l>E E }E }E  E :YE kS1yE Ԋ:E `5)E ];9M C'Nr,1x8EAY}`w@}h@y}:(}=}HTN?@ݿ cd?a?փ? ?)~`w@ ~9];I~ɫyy)y yIyY@ytGDNmea in: $SNTTA,,,,,020522.42*5F =i=i  IC=)%=Mws=MU@=YU QUU>YYa]E]wEayeM>}e>Iimj5?mo̾ mCB u^@9mEm: mr:)imuAdded new target pos. range: 95.940002 m, bearing: 232.598759 deg, deltaT: 4.410769 s, approachRate: -0.448900 m/s, LOS rate: 3.315477 deg/s, posRepo size: 4m ProNav: pos range: 95.940002 m, bearing: 232.598759 deg, approachRate: -0.448900 m/s, LOS rate: 3.315477 deg/s, cmd update: 9.946431 deg/s, cmd heading: 204.868423 deg, new cmd heading: 201.422220 deg. WBi@WX XW:W2W*WVbUBU*UU)W@U^?BHB B A T>*BApAAAE ="CUO%RCsCBi@C8ˀIG >u l>u Ci %nGI i E AٺA E 1BI9 )9 m-Nr,R8EAɫyy)y }IyY@ytGi!) +?QѿV-??\ m=)IyCl?Ky&1^` A)@IAi A\A)= = M M MM>MS?MiMG@I I)MX@IM;@iM@]*<M]J=Y]QUe>aaaeEezEiyu}u>Iy }:}KX5? :}s̾ }@B ^@9}E}: }:)}u:Wn@WX XW:W2W*WVbUBU*UUU?BY}B BAX>*BAAAA ="Cc=(RCmսCn@CeBvI)GMS>5 ^>91 I1 i1 1 1 1 5 `; 5 ֗EE A A E  E :YA yA E 5)E V;U4Nr,U.8EA|i|@Y}R6p{@}Rk@y}R+}R=}RH`Fq@p?rə`g`)1 ^v?^? QI?G?)~R6p{@ ~R];I~RCɫyy)y yIY@ytGi9AMKMU]=YUAԺQU]>YYa]E]}Eaye>}e>IimG5?mux̾ m=B }^@9mEmY: mD:)iW=/r@WX XW:W2W*WVbUBU*UUU /?Buw}B! B!A%U>*B!A%A!A)A-y ="C5)RC5(!C5=/r@C9 PIG%>):Nr,(8EAY}-}@}-1m@y}-)}-=}-H  B#?@ m{8c? aEEym=}>Iȡ :ťH45? :ť&~̾ ƥ9B ^@9ƥEǥo: ȥ:)ȥv:Ww@WX XW:W2W*WVbUBU*UUU`iK?B#B BA`>*BABAAA ="C%\)*C-lׯRC-BC-w@C)%BIGM>1 i5 a=E #E |E |E  E :YE R1yE i:E 59M @kmANr,9EAY}N~@}Njn@y}NC(}Nx=}NH@?!/]@sȻ??Bj?@S?)~N~@ ~NQ_;I~NCɫ髉) IY@yuGi11U<MU_=Y]:QU]>YaaeEeEaym=}m>IquZ$5?u̾ u7B }^@9uEu: uD:)qW.{@WX XW:W2W*WVbUBU*UUU@r@b>9CIoGi@M; ΗEB[B BAk>*BA A A A  ="C(RC!ɼC.{@Cu׹IG#>kGNr,9EA||;Y}:%6@}:p@y}:&}:`=}:H@ ņ?@-瓿`}6? ?@*(? ?)~:%6@ ~:^;I~:CɫQQ)Q UIYY@yuGi5<M5M=Y5:QU5>99a=E=EAyE=}E>II U:M75? ]:MΈ̾ M4B ]^@9MEM: M+:)Mw:W7@WX XW:W2W*WVbUBU9*U9UAUE p@BaB BAr>*BA:AAABf ="C*%RC1C7@CֽmשIGn>E /E zE zE  E :YE Q1yE :E 5ٻMNr,99EAY}6b@}6 r@y}6U;$}6(=}6H`,?k䐿"V}@? ?@?}?)~6b@ ~6u^;I~6Cɫ99)9 9I9Y@yuG@Ai=a=ip=iI=)=uE?E? ut<)qIqyuw/?ʡEl?u?u-u= unA)u@IuAiu Aqu(A M M MMS?MD;M=iM @M M@)M@IM@iMԸ@]M]9=Ye5:QUe>aiamEmEqyuf=}u>Iy}5?}׎̾ }?B ^@9}E}]: }:)yWC@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB\B BAr>*BAҝAAAx ="C RCÄCC@C C۽סIGA>g>9I; ǗEI= AA)= AATNr,S9EAY}J@}JSs@y}J}!}J=}JH_1 ?ߒ@Ӱ d?5?? 5?)~J@ ~Jk;^;I~JCɫii)i iIiY@yuGZ****** received transponder code query ******F****** received ping request ******YyaEEy*m=}>Iȑ :ŕ5? :ŕ3̾ ƕIB ^@9ƕEǕ7#< ȕv#<)ȕx:W%#l@W!X! X!W!:W)2W)*W)V)bU)BU1*U1U1U5@t @B\B BAh>*BA'AAA ="CRC,C#l@CR{שIGB>] ZNr,cm9EAm{m{m m:Ym#R1ym:mΖ5|li|lY}%;@}%ђt@y}%}%粷=}%H?`YQ`??@??)~%;@ ~%m];I~%Cɫ!!)! !I)Ye@yezuGmxDUSBL response received:!U1,P DAA,000,008B0,189,80,80,9F,FF mCommand AckmBRequesting micromodem ping code 2iiq}Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i e@ e@ e@e©eeie@e e)e@Ieie@pM'=Y:QU>  auEuEyyQ=}>Iȱŵ5?ŵ̾ ƵVB ^@9ƵEǵ: ȵ׾:)ȱW/@WX XW:W2W*WIVIbUIBUQ*UQUQUU@ @B{B BA}f>*BAFAAAN ="CRC yRC/@C= d6 I! G= >aNr,Qj9EAY}6ޠ@}6]u@y}6Ph"}6=}6H k?џ ^hso@-ٹ?`K?0/??)~6ޠ@ ~6Ţ];I~6Cɫ99)9 9IAY}@y}'vGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)I)i  ]j>9]CI]qGi]@]=Y](D]C; ]̗E)CICi==!85K=Mm=YQU?aEE!y%'=}% ?I)-<5?-u̾ -^B =^@9-E-: -D:))W]l@WYXY XYWa:Wa2Wa*WaVabUiBUi*UiUqUu8@BlB< BAx>*BAAAA ="CӮRCH{Cl@C֥g@aIqG:> =i p=- ) ) -  - = :Y) y) - )5)- W;9= gNr,kI9EAY}B@}Bv@y}B'}B!=}BH d@?@60@4W4E?=?`??)~B@ ~B7o];I~BCɫ髙) IY@yzuGxDUSBL response received:!U1,R,F7D,000,0088C,187,80,80,CA,FF Fpublishing direction and range info =ɰ=3>1> )JCIyBaEEy%<}%>I) 5:-5? 5:-̾ -hB 5^@9-E-: -:)-y:W]t@WYXY XYWY:Wa2Wa*WaVabUaBUi*UiUiUmॴ@Py*Q}BZQ} swJW@Ċe%@JQ}Ԧ@RQ}o3E忽DtzL,^?BQ}Y}@ Q}Q}2P}59?P}K9?P}Q}Q}1A"Q}uABm]Bq ByA}}f>*BA{AAAn="C RC Ct@C E2ĽI!G=r>hnNr,"9EA|4<|4vG}TNmea in: $SNTTA,0.068283,,,,020526.89*45 i]i|?5?B`"۹ rh?]>]ν ]C<)YIYy]Gz?{GzQ?]p?]ף]u< ] A)]bAI]"Ai]V AY]A   ýl=ýA`ý'iý @ý Ľ@)Ľ@IĽ­@iĽ@a,=M1=Yg~QU>aEEyj<}>Iɯ5?̾ pB ^@9E;: #:)m-yAdded new target pos. range: 93.780006 m, bearing: 226.808903 deg, deltaT: 4.428570 s, approachRate: -0.487741 m/s, LOS rate: -1.307387 deg/s, posRepo size: 4m= ProNav: pos range: 93.780006 m, bearing: 226.808903 deg, approachRate: -0.487741 m/s, LOS rate: -1.307387 deg/s, cmd update: -3.922162 deg/s, cmd heading: 248.916672 deg, new cmd heading: 253.505866 deg. W=@W9X9 X9W9:WA2WA*WAVIbUIBUQ*UQUUqW@UU`9?B}6FB BAdz>*BAAAA6="C,tRCC@C+ׁIG^>em>9aIehqGie6@aaae;; eɗE5 1 1 5 > 5 :Y1 y1 5 5)5 \;[uNr,9EAY}F@}Fuw@y}FT|6}F>=}FHOYf?#]]@y ?ͦ?!?=?)~F@ ~FI\;I~FCɫQQ)Y ]IYY@y vG=i==iYYa]E]Eaye2=}e>Ii u:m{5? }:m̾ mvB }^@9mEm: mo:)mz:W?;@WX XW:W2W*WVbUBU*UUU?B/B BALu>*BA6yAAAB="CPRCC?;@C=>ױIGe>.{Nr,9EAɫ) IY@yvGiEmGI]jAiqDٺjAM4Bi  C t=i ­@  @) @I @i @N;M>=YQU>!!a%E%E)y-}->I155?5~̾ 5~B =^@95E5@: 5:)1WesJ@WaXa XW:W2W *W V bU BU *UUU;?B]MB BAv>*BAAAAY="C-~RCCsJ@Cѝ}% % }% }%  % :Y% kS1y% Ԋ:% ͜59% @QNr,:EA|i|Y}6@}6=y@y}6 A}6xd=}6H@!?@ t@@E?-?=?` ?)~6@ ~6\;I~4ɫYY)Y YIYY@yvGp>9Ii=%; EiGJ=MU=YۻQU>aEEy=}>Iȡ :ť}5? :ťj̾ ƥB ^@9ƥEǥ: ȥ:)ȥ{:Wr@WX XW:W2W*WVbUBU*UUU?BhB BA>*BA%AAAc="C%RC!C%r@C)11)1 1֭hR׉ I G >\=Nr,K":EAY}6g@}6yz@y}6yI}6 =}6H@t|?7V Kt@ ?,?2J??)~6g@ ~6ڴ\;I~4ɫ99)9 =I9Y}@y}vGI)Ai%<M%Q=Y-櫻QU5>11a=E=E9yE"=}E>IIMxm5?M̾ MB U^@9MEM<: M:)IWu@WyXy XyWy:Wy2Wy*WVbUBU*UUU+@BMν'BQ BYA]>*BaAlHAAAAY="C *CpRCC@C֍p\YIiGY>% % % %  % :Y% WU1y% :% 5gNr,wh<:EAɫ髙) IYQ@ytvGiAA> ףp=?:vʿQ?>T <)IyV-?J +??H< A)AIbAi A\AhAåv>>ååxiåf@á ĥv@)ĥ@Iĥ@iĥ@|M3=YQU>aEEy}>I :m[5? :̾ B ^@9E: :)|:W@WX XW :W 2W *W VbUBU*UUUh@BE(-BA BAAM>*BIAMAAIAIAM="CURCQC]@CYej!I)GUS>s>9CIqGi@; EXONr,EV:EA|;|Y}F@}F4}@y}FԶ]}Fy5=}FHE?)ϥc?@4?c???)~F@ ~F#];I~FCɫYY)Y ]IYY@yvGAAiQ=Mq=YhnQU?aEEy=}?IY]M5?]̾ ]B e^@9]E]Ǻ: ]ӻ:)YWsЄ@WX XW:W2W*WVbUBU*UUUn@RB*** querying acoustic contact ***PPB B  B A …>*B)A5A1A1A5gG="C=HRC9C=sЄ@CAEI)GEQ>% 3% }% }%  % :Y% kS1y% Ԋ:% r5yNr,:!p:EAY}68U@}6~@y}6xf}6^=}6HW?p ?`[?ˬ?? g?)~68U@ ~6u];I~4ɫYY)Y YIYY0@yKvGZ****** received transponder code query ******F****** received ping request ******1?9411a5E5E1y=^=}=>IAEk=5?E/̾ EB M^@9EEEa: E:)AWu܃@WqXq XqWq:Wy2Wy*WyVybUyBU*UUU` @B2./B BA{>*BAOAAAĤ="CRCz~C܃@C=V݅I!G=r>I ) bNr,:EAY}6/)@}66@y}6n}6>>}6HM? P`b`?nխ??`۪?)~6/)@ ~6ߐ];I~6Cɫ99)9 9I9Y}}@y}vGxDUSBL response received:!U1,P F7D,000,0088C,187,80,80,CA,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 v>9I0rGi@7; ̗Ei11u<M}V=YQU>!a%E%EQy]=}e>Iȱ :ŵ .5? :ŵZ̾ ƵB ^@9ƵEǵ< ȵz<)ȵ}:W@WX XW:W2W*WVbUBU*UUUe m @B.B BA>*BAW޼AAA="C RC%8VC%@C)][1IAGe>% % ~% ~% " % {S:Y% T1y% @:% 5)% ;9- Nr,ף:EA|@i|@ɫ髹) IYM$@yUxwGmp=ɮm4=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iAI7=M4=YQU>IIaUEUEay}>I5? ; B ^@9EM< $<)W@WX XW:W2W*WVbUBU*UUUw@B=lBA BAAE*>*BAAEuܼAAAAAM8="CM/RCUH˽CU@CQu~I IQ Gu >Nr,):EAY}6@}6z@y}6~{}6>}6H`S?)c?l?`4?`?)~6@ ~6we];I~6Cɫ99)9 9I9Y}@y}wGxDUSBL response received:!U1,R,08E,000,00863,186,80,80,89,FF Fpublishing direction and range infoɰ/>鰅> ) CIyBO.?A7XٱI)Ai-S?T㥛 ?{Gzt-?-= -ף))I)y-|?5^?QS㥛?-?--/< ))-Q@I-@i- A)-AEף=EKEaaaeEeEiy >}>Iȑ :ŕq5? :ŕ; ƕB ^@9ƕEǕC: ȕm:)ȕ~:W+-@WX XW:W2W*WVbUBU*UUU@@P *Q BZQ 5gV@hA&JQ O.?A7X2Q :Q bQ OߡMPe~@RQ \A=濂 ah?BQ  |@ Q mQ <P 19?P 59?P Q Q "A"Q 1AB]4Ba BaAe>*BaAQڼAAA="CwRCC+-@Ce:Wt!I)GEQ>ܥy>9ܥCIܥrGiܥ*@ܥ=ܡܥ)Dܥ=; ݥїE)=CI=Ci9=====L 5- =i- =M I Nr,:EAy}% }?:Yyyy}5)}N;ɫQQ)Q UIQYg@ywGTNmea in: $SNTTA,0.074236,,,,020531.30*42 i))mHMmI=YuQUu>qqa}E}Eyy}>Iȉō5?ō; ƍB ^@9ƍEǍf: ȍ׾:)ȉmyAdded new target pos. range: 91.320000 m, bearing: 225.623278 deg, deltaT: 4.494873 s, approachRate: -0.547292 m/s, LOS rate: -0.263773 deg/s, posRepo size: 4m ProNav: pos range: 91.320000 m, bearing: 225.623278 deg, approachRate: -0.547292 m/s, LOS rate: -0.263773 deg/s, cmd update: -0.791318 deg/s, cmd heading: 231.289512 deg, new cmd heading: 229.726157 deg. W@WX XW:W2W*WVbUBU*UUzV@U|?BԻB BAT>*BA8ؼAAA="C%RC-_IC-@C)%uKIG J>ǻNr,i:EA||ɫyy)y yIyY@ywGiAI @ @ @Ý©ÝÝiÝ@Ý ę)ĝ@Iĝ@iĝj@0<MX=YQU>aEEy}>I :5? :; B ^@9E; ;):W%Հ@WX XW:W2W*WVbUBU*U U U `H?B5߲B9 B9A=j>*B9A=:6׼AAAAAE.="CM)*CMrRCMACM%Հ@CQ-D-IG (>% o% y% y%  % :Y% P1y% ':% M59- @Nr,C ;EAY}6;@}6妄@y}6i}64>}6H&`?>"}=?@(ʰ?@ ?`/?)~6;@ ~6r];I~6CE|>9AIE\sGiE@AAAER; EݗEɫQY)Y YIaY}@y}.xG=i=i|<MW=YT5QU>aEĊEy Jd>} >I5?%; B ^@9E: `:)WE@WAXA XAWA:WA2WI*WIVIbUIBUQ*UQUQUU~?B<ʩB }< BAl>*BA-WռAAApi="C}!RC3T=C@C潹שIG">I @A) ?ANr,%;EAY}6}J@}6'X@y}6(c}6>}6H`b@hM<=Y5 7QU5>AIamEȊEy8@=}>I  %: ;5? M: g2; B ]^@9 E Q< M <) :Wr@WX XW:W2W*WVbUBU *U U U `,a?BU\ BY BYA]>*BYA]ӼAYAyA`<"C:RCI=Cr@CiNmGI i)UCAٺQU/1BGg̽I)gAIG >% % % % # % D:Y% T1y% :% M5Nr, >;EA|@i|@Y}Vjҍ@}V@y}V}Va>}VH ?$гލ߿??W? ?)~Vjҍ@ ~V|)];I~VCɫyy)y }IyY@yxGi!!K7?rh|?:v?I,?= T=)Iy@5^I ?~jtx?b?̼; µMA)µ@I±iµA(A    @ @ @iG@ )X@IiX@%f<M%F=Y-FQU->11a5E5ˊE1y=0=}=>IAE}5?Ew<; E B M^@9EEE*: E:)AWxH@WX XW:W2W*WVbUBU*UUU &@BmfBi BqAuҚ>*BqAue+ѼAqAqAuo<"C}*C}2RC'?C=CxH@Ce#!I1GMR>A9AIEsGiE@E=AAEc; EE(Nr,X;EAY}:S@}:`@y}:u}:"=}:HX߿@n?޿@?,? M??)~:S@ ~:y];I~:Cɫ99)9 =IAY}L@y}xGI)AI)Aia<M]=Y,QU>!!a%E%ΊE)y-;.=}->Ișŝ5?ŝF; ƝB ^@9Ɲ EǝH: ȝT:)șW@WX XW:W2W*WVbUBU*UUU@B ТB  BA>*BAPϼAAA;<"C7RC%t”=C%@C!e<=+,I!G=r> i =- - {- {- : - ]-:Y- #R1y- :- :5Nr,yr;EAY}63Ɏ@}6ֆ@y}6i狽}6j=}6H]޿? Ĭ` q޿?ry?ɹ?@"?)~63Ɏ@ ~6^;I~6Cɫ99)9 =IAY@yyGi    @ @ @iQ@ )@I­@ij@A=MK=Y ?QU >  aEъEy=}>I! -:%T5? -:%KQ; %B -^@9%E%: %(:)%:WU@WQXQ XQWY:WY2WY*WYVYbUaBUa*UaUaUm21@RuB*** querying acoustic contact ***PqPqB0h̺B BAf>*BA4ͼAAA1<"C9RCv%=C@C   <"9סIGA>Nr,r;EA||Y}:'@}:h5@y}:o}:kϼ=}:Hݿ @?J@6yݿ@qz?`捱?+??)~:'@ ~:ċ];I~:CtvfAzz>9xIztGiz@z=zDDxzW; zEɫ99)9 =I9Y@y[yGZ****** received transponder code query ******F****** received ping request ******yya}E}ՊEy+<}>IȑŕC5?ŕ\; ƕ"B ^@9ƕEǕ: ȕ:)ȑW@WX XW:W2W*WVbUBU*UUU @B -Bi BqAu>*BqAuʼAyAyA}a<"C*CʯRCB=C@Cѽ<֝#=qIG~>% ?% % % % % :Y% T1y% :% 5)% Rc;9- 'Nr,f;EAY}bR\@}bi@y}bt}b=}bH`ݿ w[?4 N@*ݿ`$P?B_? ??)~bR\@ ~b];I~`ɫ!)! )I)YE@yMyGexDUSBL response received:!U1,P 08E,000,00863,186,80,80,89,FF eCommand AckmBRequesting micromodem ping code 2iiqiNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ia I@a  Q?Q뱿Mb?\?\ @=)Iysh|??Mb~jt? ?@=  A)@I@i A)M> M>   P >i@ E@)(@In@in@=9<ME=YEQ:QUE>IIaMEUيEyy<9<}>Iȹ :Ž&5? :ŽLk; ƽ7B ^@9ƽEǽ < Ƚ<)Ƚ:W~@WX XW:W2W*WVbUBU*UU U e@B5 aB9  B9 A= ߬>*B9 A= ǼA9 A9 AE <"Ce *Cm 1RCm .=Cm ~@Cq y y )y y I ) AAV =IG?ZNr,};EAY}2r@}2v@y}2ӈ}2ɍ=}2HG_ݿi?Y`ݿH?;?{?$?)~2r@ ~2\;I~2Cɫ11)1 5I1Ymx@yuUzGqɮuR=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i!<Mg=Y L;QU >aE܊Ey]<}?I!%ˤ5?%t; %CB -^@9%E%: %:)!WUc~@WQXQ XQWQ:WQ2WY*WYVYbUYBUY*UaUaUelm@5w>95CI5uGi5@5=115[; 5EBe9;Bi BiAmm>*BiAmżAiAqAue<"CuSg*C}oخRC}!=C}c~@Cyօy=YIiG9>ufu}u}u u :YukS1yuԊ:uߝ5)uh;fNr,S;EAY}2@}2J@y}2 }2L=}2HHݿ @s?`@_ݿX?`?r??)~2@ ~2];I~0ɫYY)Y YIYY@y{GxDUSBL response received:!U1,R,1DA,000,00838,186,80,80,A7,FF Fpublishing direction and range infoӾɰ\,>鰱 )'CIyzBM?2t*ٿٱi0=MM=Yxw:QU>aEߊEy;}>I :5? :(~; RB  ^@9E4: :):W-a^~@W)X) X)W):W12W1*W1V1bU9BU9*U9U9UE @PQ*QUzBZQU f`PT@'ΜAJQUM?2t*ٿ2QUӾ:QQbQU9QЬHK  @RQU<7Y]Y $}4?BQUct@ QUE_QUȉPU9?PU19?PUQUQUA"QU"AB;B BA8>*BAHzüAAA><"CT*CqRC=Ca^~@Cm!=)I9GU>h:Nr,\;EAɫqq)y yIyY@y{G=DNmea in: $SNTTA,,,,,020535.78*50 I9)=AI9)=AiIIUgAUgA @ @ @Ý©ÝÝiÝf@Ý ĝ)ĝԸ@Iĝ@iĝ@;M<=YQU>aEEy}>I5?F; bB ^@9"E: M:)m%yAdded new target pos. range: 88.740005 m, bearing: 219.015029 deg, deltaT: 4.507048 s, approachRate: -0.572435 m/s, LOS rate: -1.466203 deg/s, posRepo size: 4m= ProNav: pos range: 88.740005 m, bearing: 219.015029 deg, approachRate: -0.572435 m/s, LOS rate: -1.466203 deg/s, cmd update: -4.398610 deg/s, cmd heading: 227.722676 deg, new cmd heading: 227.378340 deg. W=;|@W9X9 X9W9:WA2WA*WAVAbUABU*U!U-@\/V@UE?BA9B BAa>*BAAAA<"C RC>C;|@C]N=1I9G]v>}w }{}{}> }P=:Y}#R1y}:}59@1 95 CI5 |vGi5 W@5 =1 1 5 \; 5 E)͈CI͈CiɈ͈=͈=͈)6!Or,iiamEmEqyu}u>Iy :}5? :}:; }pB ^@9}%E}(: }4:)}:WQz@WX XW:W2W*WVbUBU*UUU@R?BM;B BA>*BAqAAA$<"CRC6>CQz@C==I!GEQ>J Or,\/m9 m+=)iIiymx&1?YYa]EeEaye}m>Iqu{5?u; uzB }^@9u)EuQ: uӻ:)qW-x@WX XW:W2W*WVbUBU*UUU ?Bx4;B BA>*BA@ĻAAA;<"CRCPK>C-x@C>סIGC>}j}}}}}  }r:Y}kS1y}Ԋ:}5s2Or,7Ii=C=i=i!!)-= -=U;<M]\=Y]];QU]>aaaeEeEaymo}m>Iqu r5?u; uB }_@9u-Eu: u:)qWZv@WX XW:W2W*WVbUBU*UUU ?9IwGiK@V; EB\ª;B BA,>*BAfAA A <"CRC^X>CZv@CօN1->AIQG}7>\Or,caaaeEeEaym }m>Iq }:u'g5? }:u; uB _@9u1Eu: uw:)u:W9^t@WX XW:W2W*WVbUBU*UUU@(D@B4;B BA>*BAOAAA$<"C}RC;f>C9^t@C-{K7>!I1GUT>imGISkAi)}}|}|}: }Q:Y}R1y}i:}:5eEٺSkAt5BOr,|iiamEmEyq}>I[5?; B _@95E:  :)W>r@WX XW:W2W*WVbUBU*UUU@B5<;B9 B9A=>*B9A=W㳼A9AAAE7<"CMRCMGt>CM>r@CQ%I)GEQ>v>9IxGi?@=EDS; ޗE[o%Or,˖aEEy [!} >I :P5? :; B %_@99E(: 4:):WE up@WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQU]`N@ReB*** querying acoustic contact ***PaPaBn} <B BA>*BAnAAA <"C!RC;>C up@Cm)c>)I1GU>ށiޅ=yy  :YP1y':5)\;9+Or, H=)IyGz??I +?p?<94= @) AIp@iA(A    @ @ @i\@ @)@Ii@ -M -=Y;QU>aEEy%}%>I)- E5?-; -B 5_@9->E- : -8:))WU#n@WYXY XYWY:WY2WY*WaVabUaBUi*UiUiUui @B;B BAp>*BAFDAAAC<"C4#RC >C#n@C֝f>qIG>w2Or,N~9ܡIܥyGiܥ@ܥ=ܥDDܡܥZ; ݥEaE%E)y5>}=>II :M;5? :MP; MB _@9MAEM< Mӭ<)M:Wl@WX XW:W2W*WVbU!BU!*U)U)U54 @B%|;B! B)A->*B)A5A1A1AE<"Cm&RCiCul@C֕Z z>QIY}}{}{} } :Y}#R1y}:}5)}Y;G>8Or,YaaaeEeEaymS}m>Iqu15?u|; uB }_@9uEEu@: uM:)qWqj@WX XW:W2W*WVbUBU*UUU`_6@BmR<B BA>*BAըAAA'<"C'RCCqj@C hA hAƂ>IGE>f>Or,;y y)}CIyy}B}7lh?3sBȿٱyiQY   ý|?ý ?ýjiý@ý Ľ@)ĽIĽ@iĹYW;QU>aEEya}>I :%5? :ξ B _@9IE(: V:):WNh@WX XW:W2W*WVbUBU*UUU`@P*QBZQuP/U@WJd0JQ7lh?3sBȿ2Q|E:QbQ;NsKM.!ߣ~@RQ>{{ܠR7T ܵ?BQz@ QnQwP.9?P9?PQQ]A"QAB%<B) B)A)*B)A-l٥A)A1A53<"C=-)RC9C=Nh@C9=FӅ>I!G=r>}[}y}y} }@:Y}P1y}':}M59@܍o>9܉I܍zGi܍@܉܉܉܍?; ݍїE~EOr,=EAY}A@}!a%E%E!y-z}->I15)5?5 ξ 5B =_@95ME5U: 5:)1muuAdded new target pos. range: 86.340004 m, bearing: 223.901060 deg, deltaT: 4.490010 s, approachRate: -0.534520 m/s, LOS rate: 1.088200 deg/s, posRepo size: 4m ProNav: pos range: 86.340004 m, bearing: 223.901060 deg, approachRate: -0.534520 m/s, LOS rate: 1.088200 deg/s, cmd update: 3.264601 deg/s, cmd heading: 207.971826 deg, new cmd heading: 206.219327 deg. Wxi@WX XW:W2W*WVbUBU*UU•U@U ?B]4)<B BA->*BAۢAAA<"C{*RCCxi@Cm?΅>IIG= >KOr,1=EAɫyy)y yIyY@y2~GI)i!)7A`?y&1X9v?>` <)IyZd;?iõ@ñ ĵj@)ĵ@Iĵ@iĵ@}<M@=YQU>aE Ey}>I 5?_ξ B _@9QE: H:)W Ok@WX XW:W2W*WVbUBU*UU!U% J?BMn?<BQ BQAU>*BQAU럼AQAQA]=<"C]<)RCaCeOk@C ==>ױIG>}}u}u}  } :Y}KN1y}y:}5ROr,K=EAY}2M@}2@y}2@;}2zi}2H[?@j?B)f?̿1#?)~2M@ ~2];I~2Cɫ19)9 9I9YE@yE~GiMm=Y ;QU ?q>9I{Gix@=EDM; ؗE)ݩIݩiݩݭ=ݭ=ݭ511a=E= E9yE}E>II U:M5? U:M!ξ MB U_@9MUEM: M:)M:W}l@WyXy XyWy:Wy2W*WVbUBU*UUUX?B8_<B BAB>*BARAAA <"C'(RCI>Cl@C>יIGA>XOr,¡e=EAY}:̇@}:@y}:<";}:7s}:H@]@6?P?@@2b?+ο@m?)~:̇@ ~:];I~:Cɫ99)9 9I9Y}@y}i~GiE<MEE=YMȔ8QUM>IIaUEUEQy]}]>Iae5?eK,ξ eB m_@9eYEe: eU:)aWn@WX XW:W2W*WVbUBU*UUU`Cp?BtJ<B BAm>*BA%+GA!A!A%<"C-$RC-{ >C-n@C1Az|>IG-,>}}|}|} }:Y}R1y}i:}5"_Or,|=EAY}2&@}2}@y}2\,:}2rz}2Hঙ?@?@V`IF`~C?@οg?)~2&@ ~2R];I~0ɫ99)9 =I9Y}@y}M~GiiI=)= 5@ 5@ 5@5©55i5@5 5@)5@I5i5EۻMEJ=YM:QUM>IQaEEy3}>I  :5?  :7ξ B  _@9]E; ;):Wuo@WX XW:W2W*WVbUBU*UUUc"@B0D<B BA >*BA #AAAj<"C"RCH=Co@C׿Q>׹IGE>u>9CIX|Gi@=U; ۗE fOr,W=EAY}2 @}2v1|@y}26}2}}2H L?V?@meئ?IUϿ Z?)~2 @ ~2؈];I~2CɫII)I IIIY}@y}i~Gi;MP=Y1;QU>aEEy } >I5?Q@ξ B _@9`Eb: M:)WMOp@WQXY XaWa:Wi2Wi*WiVibUqBUq*UqUyU} 5@Bt<B BAm>*BAlAAA<"C5f!!RC5OB=C5Op@C9eI>YIG^> 3:Yy5k4lOr,0=EAL>CiJnmGITi`vd>ٺtv/BY}A@}"z@y}^2}Fn}H@m?g?Zf'¿`I?@Ͽ?)~A@ ~^;I~Cɫ9A)A MIIYuY@yuGy}@AiMV-?{Gz?y&1|Mh1?Mף= M`)IIIyMy&1?~jth?:v?M`%?MD;MT< M@)MAIM AiM AIMzA   í\íC<í=iíz@í ĭj@)ĭj@Iĭj@iĭj@5=M1=YP;QU>aEEyY}>I :5? :+Lξ "B _@9eE: k:):W*BQAU搼AQAQAU^a<"C]ysRC]X4 <C]!I)GER>sOr, =EAY}2a@}2.y@y}2G&,}2z|}2HdZ?-?Kÿ)?CϿs?)~2a@ ~2k^;I~2Cɫ99)9 =I9Y}@y}GZ****** received transponder code query ******F****** received ping request ******9I }Gi@T;   i 鿹½hA¹8<M[=YH;QU>aEEyut}>I   5? Uξ *B _@9 iE E; +;) Wt@WX XW:W2W*WVbUBU*UUU @BMr<BQ BQAU>*BQAUXAYAYA]<"CeRCe߼Cet@C֍W >YIiG\>}}~}~} }:Y}T1y}@:}r5)}R;9FyOr,O=EAɫyy)y }IyY @yGxDUSBL response received:!U1,P 0DD,000,00810,186,80,80,95,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i=<MET=Y]QUe>qyaE Ey-}U>Ii :m5? :m`ξ m2B _@9mmEm5< m94<)m:Wu@WX XAWA:WA2WA*WIVIbUIBUI*UQUQUU@V @B|<B BA>*BA*AAAM#<"ChRC37Cu@CT=IG>.Or,Y>EAY}2<@}2v@y}2S}2[p}2H 9?m?`ÿ:?Ϳ?)~2<@ ~2^;I~2Cɫ99)9 =I9Y}@y}G鮁ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iå=åå\=iå\@á ĥ@)ĥ@Iĥ@iĥMC=Y/aE#Eyӽ}>I5?Iiξ 9B _@9qEY: #:)Wv@WX XW:W 2W *W V bUBU*UUU`@BE؆<BA BAAEz>*BAAMnAIAIAM<"CU'RCU^ɽCUv@CY-`T=IG (>ܽr>9ܽCIܽ}Giܽ@ܽ=ܹܹܽQ; ݽڗE{{ :Y#R1y:5)T;WYOr,+>EAY}2@}2}u@y}2^d}2c}2HTL?Uj?@u$`¿ˡ?{>̿@1?)~2@ ~2[^;I~0ɫYY)Y ]IYY@yGxDUSBL response received:!U1,R,F85,000,007E4,187,80,80,B7,FF Fpublishing direction and range info=ɰz%>鰽1> )7CIyfB?jtl?ٱI?)?i:MX=Y;QU>aE&Eya8}>I  B5? *rξ @B _@9 uE : /:) W= Zx@W9X9 X9W9:WA2WA*WAVAbUIBUI*UIUIUMh@PY*Q]fBZQ]ItT@H#!@JQ]?jtl?2Q]=:QYbQ]Dj0MLMnM.=?RQ]51¬Qy~Ǣ[?BQ]0|@ Q]oQ]iP]39?P].9?P]Q]Q]*@"Q]]AB=(H<B9 B9A=>*BAAEIAAAAAE<"CmRCm2Cm Zx@CqeK@=Ii)i9IAGZ>Iމ)ލ@AWOr,4>EA|,i|,Y}~DR@}~߿t@y}~8|}~bX}~HS ??`B-hc¿;?ʿE?)~~DR@ ~~g^;I~~Cɫ) IY@ySGDNmea in: $SNTTA,,,,,020544.76*58 i㥛 ?{Gzt?{Gz??ף; ף<)Iy+?+?y&1?v?=`e< ™) AIbAi; AA @ @ @©iµ@ Ը@)K@Ii@7=M -=Y EaE*Eyuȼ}>I! -:%*x5? -:%h}ξ %FB 5_@9%zE%: %:)%:meuAdded new target pos. range: 83.699997 m, bearing: 225.772299 deg, deltaT: 4.400036 s, approachRate: -0.599997 m/s, LOS rate: 0.425278 deg/s, posRepo size: 4m ProNav: pos range: 83.699997 m, bearing: 225.772299 deg, approachRate: -0.599997 m/s, LOS rate: 0.425278 deg/s, cmd update: 1.275835 deg/s, cmd heading: 222.336058 deg, new cmd heading: 223.880116 deg. Wy@WX XW:W2W*WVbUBU!*U!U%T@U%?BmS<Bq BqAuK?*BqAuPAqAyA}<"C*CRCsCy@C֝a5~~   :YT1y@:59@jOr,UN>EAY}: @}:qAt@y}:)t޼}: H}:H``d{? 0?O@bF ͛?>ȿ a?)~: @ ~:?}^;I~:Cɫ99)9 =I9}o>9yI}}Gi}_@}=}DDy}8; }͗EY @yGiaa:=Me=Y-aE-Eyx}>I.j5?ξ JB _@9}E,; ;)Wmy@WX XW:W2W*WVbUBU*UUUD?B:w<B BAu?*BApzAAA%A<"CM7RCM3CMy@CI% cI G%M>Or,.h>EAY}V@}V t@y}V˼}V^P4}VH !?:?~}٘?jƿ.?)~V@ ~V~^;I~VCɫ) IY5@y=GIi)mAIi)mAiqq yy % % %%A?% %f>i%3@% %@)%I%@i%p@5t<M='=Y= AAaEEE1EIyMxڻ}M>IQ ]:UxW5? ]:UPξ UOB e_@9UEU: U:)U:W Az@W X  XW:W2W*WVbU9BUA*UAUAUM@p?BB<B BAG ?*BAgqAAA3s<"C RCB)CAz@C㲒l|| :YR1yi::5 I G5 >|Or, >EAY}2@}2t@y}2ͺ}2n#}2HU g? ? _@# ⼿ ?VĿz?)~2@ ~24^;I~2CɫQY)Y ]IYYe@yeGin;M=Ynreq>9aIeL~Gie@e=eEDae2; eɗE)Ii==j6Or,h>EAY}2n(@}23lt@y}2e}2 }2H @??b`U? ?)~2n(@ ~2g^;I~2Cɫ99)9 =I9Y@y Gi99u<MuB=Y}3yaE6Ey<<}>Iȑ :ŕ;5? :ŕ;ξ ƕVB _@9ƕEǕk: ȕV:)ȕ:WDA{@WX XW:W2W*WVbUBU*UUU)H@BR<B BA ?*BA ݇eA A A :<"CqRC/CDA{@CmIIaG}7>  D:Yy_5+ѬOr,7µ>EAY}:az@}:u@y}:;}:f}:H@0(?س?N &`r{vԂ?@5l ?)~:az@ ~:f_;I~:Cɫ99)9 =IAY]W@y]eG=i=a=i=i1Zd? +?";?> L)IyQ?/$~jt??< µ@)µAIµ@iµzAQA)=  @ @ @ ©  i \@  Ը@) I @i @%)=M%@=Y%:))a-E-:E1y5O<}=>I9=&+5?=ɪξ =\B M_@9=E=: =j:)9Wm{@WiXq XqWq:Wq2Wq*WyVybUyBUy*UyUU)@BM<BI BIAM.?*BQAUU_]AQAQAU<"C]CRC]H.C]{@Ca]1IAG]v>Or,>EAY}2=@}2v@y}2D}2휽}2H ?l`? ?@@[}vr?Ř ?)~2=@ ~2u_;I~2C s>9 I ~Gi @ =   +; ŗEɫYY)Y eIaY}@y}.GiMf=Y#]aE=Ey,=}>Ih5? ξ `B _@9E: :)W;_|@WX  X W :W 2W*WVbUBU*U!U!U%E@R=B*** querying acoustic contact ***P9P9Bt<B BAg ?*BAVAAA%<"CyRC%'C%;_|@C!-p, IG )>x~~ :YT1y@:5),k;9,Or,x>EAY}2;@}2'w@y}2 9}2}2H @8?;5?`+ xZa:GX&?)~2;@ ~29E`;I~2Cɫii)q uIY@yGZ****** received transponder code query ******F****** received ping request ******=Y6aE@Ey&=}>I : 5? :+ξ dB _@9E< <):W }@WX XW:W2W*WVbUBU*UUUH @Bm<Bq BqAua?*BqAuaNAqAyA}^<"C}&RCOr,S?EAY}J̈́@}J y@y}J<}J<}JH h0 ?`X@ @40`*?Hr`?+?)~J̈́@ ~JT`;I~JCɫYY)Y ]IYY@yGxDUSBL response received:!U1,P F85,000,007E4,187,80,80,B7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i M M M M@ M@ M@IIIiM@I M@)IIMiMK@<M)=YaEDE y =} >I5?ξ hB E_@9EǺ; ;)Wׯ}@WX XW:W2W*WVbUBU*UUUf @B+<B BA?*BA EA A A <"CoRC Cׯ}@Cr>9IL~Gi@=>; ЗEuq-޵=i޵=xx  :Y7P1y:5)Wr;I IQ Gm >Or,8-?EAY}F*l@}Fz@y}F@N`<}F2qa=}FH kq?`ƨ}`9? )??)~F*l@ ~F`;I~FCɫYY)Y YIaY@yG鮥a=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i-aM5=YOAOr, 7?EAY}F@}FD-|@y}Fs<}Fc=}FHlR }?V(lIͥ?`Y2x?@?)~F@ ~F+_;I~FCɫii)i mIiY}@y}GxDUSBL response received:!U1,R,FEF,000,007BB,183,80,80,B0,FF Fpublishing direction and range infos<ɰ">鰅$> )0CIyzB,:?Ea?ٱi5HzG?S㥻?~jt5= ?5/= 5ļ)1I1y5X9v?~jt?5?5̼5D< 5A)5 AI5|Ai5A15GA   ÕZ>ÕھÕȽiÕz@Õ ĕ)ĕԸ@IĕK@iĕ@0<MC=Ym;QU>aEJEyA=}>IȹŽ5?Žξ ƹ _@9ƽEǽ: ȽǺ:)ȹWd~@WX XW:W2W*WVbUBU*UUU`@P *Q zBZQ  NT@J fH?JQ ,:?Ea?2Q s<:Q bQ `KMxb'yQRQ M{QH&@9{7BQ }@ Q lQ 7_P 49?P 39?P Q Q .@"Q *@B]d$<Ba BaAe?*BaAb7AAA_<"CQ_RCGCd~@Ce l !I)GEQ>. :YV1y:9@Or,Q?EARo>9PIR}GiR@R=PPR8; R̗EY}-+@}-c}@y}-<}-bu=}-H@3?˴'W`@?7? k?)~-+@ ~-j_;I~-Cɫ9A)A EIAY}@y}GDNmea in: $SNTTA,,,,,020549.20*56 =i==i=iI))= >lM:=YZ;QU>aEMEy1=}>Iȱ :ŵq5? :ŵξ Ʊ _@9ƵEǵ: ȵo:)ȵ:muAdded new target pos. range: 81.239998 m, bearing: 226.607932 deg, deltaT: 4.498829 s, approachRate: -0.546809 m/s, LOS rate: 0.185744 deg/s, posRepo size: 4mE ProNav: pos range: 81.239998 m, bearing: 226.607932 deg, approachRate: -0.546809 m/s, LOS rate: 0.185744 deg/s, cmd update: 0.557233 deg/s, cmd heading: 228.065419 deg, new cmd heading: 228.594207 deg. WEn@WQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUe \OT@Ue?B<B BAa?*BA/AAA<"CF*C󱮽RC ԽCn@C}YIaG>1Or,j?EAY}F7@}F\~@y}F2<}F=}FHu@3?oj qgB?ꢔp?W?)~F7@ ~F^;I~FCɫYa)a mIiYyiII @ @ @©iG@ )(@I@i^@Yp;QU>aEPEyA=}>I{5?ξ   _@9E: ]:)W5>@W1X1 X1W1:W92W9*W9V9bU9BUA*UAUAUE ?B=B BA*BA.(AAAV<"C*CQRCC>@Cɯ׹IGE>||- U:YR1yi:q52Or,k?EAY}6@}6Z@y}6A<}6x=}6Hf?8N`h2Щ?z╿Fӹ? T?)~6@ ~6-^;I~6Cɫ99)9 =I9Y}@y}Gi:M!!a%E%SE)y-5=}->Iȑ :ŕa5? :ŕξ ƕhB _@9ƕEǕ: ȕ8:)ȕ:W|@WX XW:W2W*WVbUBU*UUU`?B<B BA~?*BA!A A A j<"C*CRCA'C|@C-IսIG-->ܥh>9ܡIܥ|Giܥk@ܥ=ܥDDܡܥW; ݥܗEJCOr,lv?EAY}25@}2mC@y}2'<}2 w=}2H8?J`aH`? }$b??)~25@ ~2];I~2Cɫ99)9 9I9Y}@y}@GI)AI)Ai gAhA5_#M=H=Y=^E;QU=>AAaEEEWEIyMM=}M>IQU=5?U5ξ UgB ]_@9UEU: U/:)QW@WX XW:W2W*WVbUBU*UUU`[?Be~k<Ba BaAeT?*BiAmAiAA<"Cc*CRC㺗C@C׹IGk>ޭ=iޭ=~~  :YT1y@:)5lmOr,Q?EAY}2@}2l@y}2~{<}2#=}2Hdq?`揶\@ߥ?QY? ?)~2@ ~2G];I~0ɫ99)9 9I9Y@y>Gi!!S㥛?ʡEL7A`?$? +=)Iy-?Mbm>im3@m m@)m@ImԸ@im@}܄M7=Y:QU>aEZEy<}>Iș :ŝt5? :ŝϾ ƙ _@9ƝEǝ: ȝj:)ȝ:W@WX XW:W2W*WVbUBU*UUU @B <B BA6?*BA+AAA<"C*C%צRC%ZC%@C)iIGE>TUOr,,?EA&c>9&CI&,{Gi&&@$$&(D&p; &E)ICi==-6Y}j@}j@y}j_<}j=}jH ?gzy? IkӖ??)~j@ ~j\;I~jCɫ髹) IY@y GiYambMu]=Yuj:QUu>yya}E}]EyO =}>Iȉō5?ō2Ͼ Ɖ _@9ƍEǍA: ȍ+:)ȉW@WX XW:W2W*WVbUBU*UUU`@B@=B BA ?*BA AA A s<"C*CHRCdsvC@C%*I G%M>zz  :YQ1y:5)Y;9Or,?EAY}>u@}>ʂ@y}><}>B=}>H6 ?`+ q`?@~@?[?)~>u@ ~>\;I~>Cɫy髁) IYT@yŀG=i=i)= = =@ =@ =@=©==i=\@= =)=^@I=j@i=K@M39MML=YU9QUU>QYa]E]`EYye =}e>Iim5?mϾ i _@9mEm< m<)iW?@WX XW:W2W*WVbUBU*UU U-Oe@R5B*** querying acoustic contact ***P1P1Buj<By ByA}?*ByA}3AAAnz<"CB*C뉮RCFVC?@C֥aIiG9>?gPr,@EAY}2@}2Z@y}2Wf<}2Zݟ=}2HiR? @rm 9h?)옿@??)~2@ ~2\;I~0ɫ99)9 9IAY@yzGZ****** received transponder code query ******F****** received ping request ******a E dE y=}>I -:r5? -:"%Ͼ hB -_@9E; ;):W]I^@WYXY XYWY:Wa2Wa*WaVabUaBUi*UiUiUm Bn @B!<B BAB?*BAAAAX<"C#c*CvRCu8CI^@CX׹IGE>E`>9ECIEdzGiE@E=EEDAEi; EE|| :YR1yi:N5)Q;Pr,@EAY}2G@}2U@y}2L<}2L=}2H@E?@WŲ`L(٦?@òvo?`?)~2G@ ~2>\;I~2Cɫ99)9 =I9Yu@y}|GxDUSBL response received:!U1,P FEF,000,007BB,183,80,80,B0,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i))6:MA=Y`;QU>aEgEy<}>IIMc5?M1Ͼ MgB _@9MEM.< M4<)IW2@WX XW:W)2W)*W1V9bUaBUi*UqUqU @Bm%<B"< BA`?*BAAAAn<"CP*CTRCCC2@C  >,> C l;iE mGIY iy ס I G > )>ٺ .Bm @@9m %1B Pr,9@EAY}2L@}2@y}2<}2$X=}2H?ċ@j{?x@o??)~2L@ ~2\;I~2Cɫ)))1 5I1Ym@ymGup=ɮup=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IA)EAiQQMb?:v?Mb`??T< ;)Iy\(\?l~jt??< V A)@IAi"AA    @ @ @i׳@ (@)Ii@h^M6=Y ;QU>aEkEy<}>I  :U5?  :H<Ͼ iB  _@9E{: :):W5@W1X1 X1W1:W92W9*W9V9bUABUA*UAUAUMU2@Bu=Bq BqAuA>*BqA}޻AyAyA}2Y<"C*C@RC3 C@C]$1I9GUT> k     99Y T1y : )59% @1 91 I5 zGi5 2@5 =1 1 5 k;Pr,zS@EA mEY}jwߊ@}j#@y}j<}jw=}jH`G?䰿 m? 矝2??)~jwߊ@ ~j\;I~jCɫ髱) IY@yGxDUSBL response received:!U1,R,0E0,000,0078C,186,80,80,8E,FF Fpublishing direction and range info+HɰD>> )CIyלBC c?mVѫȿٱiM`=YJ;QU>aEmEy<}>II5?EϾ  _@9E: :)W@WX XW:W2W*WVbUBU*U!U!U%@@P1*Q5לBZQ5`K;S@cm3v.JQ5C c?mVѫȿ2Q5+H:Q1bQ5(G5L'*J·M+ RQ5,+@KK忊IBQ5Zy@ Q5VQ5YdP5,9?P549?P5Q5Q5[V@"Q5.@Be2<Bi BiAm>*BqAuһAqAqAuY<"C}:*C}&RC}DBC}@C}l"YIaGY>Pr,kam@EAY}M*@}M!@y}M6<<}Md=}MH $q1?y"@v!?@p板͑??)~M*@ ~M\;I~MCɫ)))) -I1Y@yhGDNmea in: $SNTTA,,,,,020553.64*5D i m m u u@ u@ u@qqqiu3@q u)uK@IuK@iuK@YM>=YP$:QU>aEqEyu<}>Iș :ŝ,<5? :ŝ_QϾ ƝjB _@9ƝEǝA: ȝ:)ȝ:myAdded new target pos. range: 78.420006 m, bearing: 223.234296 deg, deltaT: 4.416777 s, approachRate: -0.638473 m/s, LOS rate: -0.763823 deg/s, posRepo size: 4m ProNav: pos range: 78.420006 m, bearing: 223.234296 deg, approachRate: -0.638473 m/s, LOS rate: -0.763823 deg/s, cmd update: -2.291469 deg/s, cmd heading: 230.531172 deg, new cmd heading: 230.770327 deg. W!4@WX XW:W2W*WVbUBU*UU`S@U 1%?B Q<B  B A c>*B AQĻAAAw<"C=sRC=xC=!4@CA5m<=gA=gA% WgE E zE zE  E :YE Q1yE :E N5 I! GE >c!Pr,*@EAY}6D@}6Q@y}6<}6[=}6H@I/?@=O`z?`k?`?)~6D@ ~6t];I~6Cɫ99)9 9I9Y}@y}~G=i=iMoMMa=YM:QUU>QQaUE]tEYy]<}e>Iae05?e[Ͼ ekB u_@9eEeh: e:)aWz@WX XW:W2W*WVbUBU*UUU`E?B<B BA>*BAlɺAAAw<"CRCW;Cz@C 8<mƼ׹IG I>9IwGiK@='Do; E'Pr,@EAY}6 r@}6@y}6<}6&C=}6H#@zL?W*"^?=p`lx??)~6 r@ ~6];I~6Cɫyy)y yIyYd@y}Gi!!UQ$M]I=Y]aR;QU]>aaaeEewEaymc<}m>IU#5?afϾ lB _@9E: :)Wf~@WX XW:W!2W!*W!V!bU)BU)*U)U1U5 b?B <B BA->*BA6oAAA̤<"CRC<Cf~@C) - m- ~- ~-  - 9Y- T1y- @:- 5 י I G > .Pr,@EAY}6@}6@y}6I=}6(=}6H` k^?𰪿fk ?`?)~6@ ~6;];I~6Cɫ99)9 =I9Y@y}GiK?V-Ͽ/$?^:?| =)Iy333333?+Mb??< ; A)@I‰iAA   L=C>^=iG@ )X@IX@iX@uMu:=Yu"e;QUu>yya}E}{Ey ;}>Iȉ :ō 5? :ōqϾ ƍkB _@9ƍEǍ: ȍ:)ȍ:W|P}@WX XW:W2W*WVbUBU*UUU@+?B<B BAQ>*BA/AAA<"C 8RC sV(=C|P}@CϩIGE>'4Pr,@EA\9^CI^|vGi^W@\\\^c; ^ڗEɫ髱) IY-@y5}GI)Ai¥hA¡|MU=YQU>aE~Ey}>I 5?{Ͼ jB _@9E&: v:)WT|@WX XW!:W!2W!*W!V!bU)BU)*U)U1U5(@B]͠<BY BYA]$>*BaAe0AaAaAe<"CmRCmX=CuT|@CqeU5 E5 |5 |5  5 )9Y5 R1y5 i:5 5)5 @;9= ;Pr,]@EAY}J@}J.@y}J7=}JO<}JH_ j?@ڢ@ak 5] 3栿 ?`?)~J@ ~JF];I~JCɫqq)q qIqY@y4|Gi m@ @ @m©mmim=@m i)m(@Im@im­@PMM=Y:QU>aEEyD*;}>I :5? :Ͼ iB _@9E: b:):WO{@WX XW:W2W*WVbUBU*UU U  gZ@B5溿<B1 B1A=>*B9A=ҍA9A9A=EI<"CERCM=CMO{@CI֝TBPr,~rAEAY}2@}2P@y}2=}2],<}2H Me?yc@^ Y`p8?R?)~2@ ~2s];I~2CɫYY)Y YIYY@y{GiEMW=Y4QU>aEE y } >I5?Ͼ hB %_@9E: :)WEUz@WAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQU]3e@ReB*** querying acoustic contact ***PaPaB*<B BA>*BAK"AAA6~<"CRC{=CUz@CmvM=)I9GU>ܝ_>9ܙIܝPuGiܝc@ܙܙܙܝO; ݝЗE)CICi==6m zm xm xm  m :Ym 7P1ym :m 5)m sk;/HPr,&U"AEAY}2z@}2@y}2;=}2}2Ht`?6`\` If<?)~2z@ ~2];I~2Cɫ19)9 =I9YuH@yuU{G}Z****** received transponder code query ******}F****** received ping request ******)= >UMUG=YU3QUU>YYa]E]Eayet}e>Ii :m5? :měϾ mgB `@9mEm: m/:)m:W.y@WX XW:W2W*WVbUBUa*UiUqU}0 @BH<B BAc>*BA>pAAA|<"CRCX=C.y@C-`= I G- >WNPr,c( u=)IyCl?MbV-??< \A)AIzAiAA   ýv=ýʡýiý@ý ĽX@)Ľv@IĽX@iĽX@:M=Y!:QU>aEE!y-}5>Iae5?eϾ ejB `@9eEe; e+;)aW]Tw@WYXY XaWa:Wa2Wi*WiVqbUBU*UUUf@@BMZD<BI BqAu>*BqA} YAyAyA}t\<"CaHRCa=CTw@C 8 } }  9Y kS1y Ԋ: 59 @ "=ס I G >] `>9] CI] sGi] @Y Y Y ] 4; ] —EJUPr,#/VAEAY}BH@}BU@y}B =}B}BH ED?wYu?7??@b ?)~BH@ ~B7];I~BCɫaa)a iIiY @yyG鮭a=ɮ4=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iCM=Ydd;QU?aEEyK}?I :5? : Ͼ lB `@9E: A:):W F)w@W X  X W :W2W*WVbUBU*UUU%`(@BM<BI BIAM>*BIAU[NAQAQAUx<"CnRCt=CF)w@Ct=IGg>i[Pr,oAEAY}2@}2|+@y}2@ =}2I}2H@h*?)? &WZ*Ƭ3W?)~2@ ~2K];I~0ɫ99)9 =I9Y}@y}{yGxDUSBL response received:!U1,R,10D,000,0075E,185,80,80,9E,FF Fpublishing direction and range infovapɰ>鰅+> )CIyQBNQ?8ͿٱI)i 鿡©©>LC i(@ @)I@i@NMX=Y D:QU > aEEiunGIi)y5]}=>U?ٺY]n0BIaeP5?eɻϾ enB `@9eEe; e ;)aWv@WX XW:W2W*WVbUBU*UUU @P*QQBZQTneR@B(1JQNQ?8Ϳ2Qvap:QbQ%8=\LqoIZpb4RQ"\翭,*忊=jBQTw@ Q-HQbP)9?P,9?PQQƕ@"Q[V@Be<B BAQ>*BAX;AAA<"C RC=Cv@C=יIGb> Y v v  Z9Y N1y : 5mTbPr,ʼnAEAY}n@}nU@y}nQ0 =}n儽}nHΓ? ̠?@1`}5ϰ %=?)~n@ ~n,];I~lɫ) IYM@yUxGDNmea in: $SNTTA,,,,,020558.09*5D iRM==Y :QU>aEEyw}>I_5?Ͼ pB `@9E4: b:)m5yAdded new target pos. range: 75.659996 m, bearing: 221.421947 deg, deltaT: 4.471933 s, approachRate: -0.617185 m/s, LOS rate: -0.405272 deg/s, posRepo size: 4mE ProNav: pos range: 75.659996 m, bearing: 221.421947 deg, approachRate: -0.617185 m/s, LOS rate: -0.405272 deg/s, cmd update: -1.215816 deg/s, cmd heading: 220.293076 deg, new cmd heading: 219.415443 deg. WEu@WAXA XIWI:WI2WI*WQVQbUQBUQ*UQU]`=R@U]`c?B,<B BA>*BA,AAAH<"CRC=Cu@C_>9CIrGi*@!; E =IGi>{hPr,AEAY}:a@}:@y}: =}:X}:Hu`S?@N8?` Dzc1?)~:a@ ~:%,^;I~:Cɫ99)9 9I9Y}$@y}xwGi] MeS=YuQU>aEEyB}>I) e:-ͫ5? :-8Ͼ -rB `@9-E-&< -#<)-:WUt@WQXQ XQWQ:WQ2WY*WYVYbUYBUa*UUU`!e?B"+|<B BA*>*BAAAA!<"C,RC=Ct@C=I GE > l z z  :Y Q1y : ;5nPr,CpAEAY}67Z@}6g@y}6A =}6}6H``-?."?0شp 7K >?)~67Z@ ~6E^;I~6CɫII)I IIIY}@y}*wGi=iI>)=u rh?MbX9?Zd;O?u ?uʡ= uj<=)qIqyuS? ףp= &1?u?uQ8uP= uA)u AIu; AiuAquA)Í= Í>]n>]],i]̬@Y ]@)]v@I]X@i]X@mMm:=Yu|9QUu>qqa}E}Eyyz}>Iȉō 5?ōϾ ƍyB `@9ƍEǍ: ȍ?:)ȉWmt@WX XW:W2W*WVbUBU*UUU??Bm<B BA;>*BA@AAA5:<"C2RC {=C mt@C\=IGj>ܝ ]>9ܙ Iܝ hqGiܝ 6@ܝ =ܙ ܙ ܝ ; ݝ EjuPr,IAEAY}>8@}>@y}> =}>Wrܽ}>HHs? ޱ?y  ^`| ?)~>8@ ~>z];I~>Cɫ99)9 =IAY@yvGi!!=EM=`=Y=9QUE>AAaEEEEIyM}M>IQ ]:Uّ5? e:UϾ UB e`@9UEU: U:)U:Ws@WX XW:W2W*WVbUBU*UUU?B<B BA…>*BAAAAq<"C0RC=Cs@C=סIGA> $ | |   9Y R1y i: ΐ5) S<;9 {Pr,&AEAY}:L@}:@y}: =}:}:H@fa7?? NQ͹0ܾ_?)~:L@ ~:X];I~:Cɫ99)9 =I9Y}@y}uGi))}>},>}i}@y }­@)yI}@i}v@dME=Y:QU>aEEy-Լ}>Iȡť܃5?ť Ͼ ƥB `@9ƥEǥ: ȥ:)ȡW^s@WX XW:W2W*WVbUBU*UUU x?Bo<B BAs>*BAAAA;,<"C%RC%=C%^s@C)E=I)GER>HPr, BEAY}6)K@}6X@y}6N =}6 }6H9?@踵?P[8O`گ?)~6)K@ ~6n];I~4ɫ99)9 9IAY}C@y}(uG iaMT=YQU>aE E y !}>I %:v5? %:Ͼ B %`@9 Ek: w:):Wr@WX XW:W2W*WVbUBU*UUU2@BE:[<BA BAAE(^>*BAAM?]ԺAIAIAM<"CULRCU =CUr@CYE\>9AIEoGiE@E=AAE ; EEօ=YIiGY>ޱi޵p=% % % %  % \9Y% T1y% :% N5)% 6;ʈPr,$BEAY}2@}2M@y}2;=}2Y}2H@.`e?@T?`̀xơ¿?)~2@ ~2 ^;I~2Cɫ99)9 =I9YE@yE_tGIMAAiYYuRM}S=YM:QU>aEEy7}>Ih5?о B  `@9Ei; ;)WCr@WX  X)W1:W92WA*WAVibUqBUy*UyUUJz@RB*** querying acoustic contact ***PPB?<B BAI>*BAAAAf<"CRCl=CCr@C=IG>Pr,5>BEAY}:*@}:׌@y}:N=}:}:H |`f? ?o"x8<ÿ۝?)~:*@ ~:QW^;I~:Cɫ99)9 =IAY}@y}@sGZ****** received transponder code query ******F****** received ping request ******aEEy#Լ}>I :ZW5? :о B `@9E: w:):Wq@WX X!W!:W!2W!*W!V)bU)BU)*U)U1U5W @B]^*<BY BYAe,>*BaAeīAaAaAm <"Cmt RCu=Cuq@Cq}as=9IAGew>- (- }- }-  - 9Y- kS1y- Ԋ:- 595 @9 99 I= HnGi= @= =9 9 = ; = E)-CI-Ci)-=-=-55ەPr,XBEAY}2$@}222@y}2_=}2}2H?+?h?T`dU *ÿɚ?)~2$@ ~2'];I~2Cɫ99)9 9I9Y}@y}esGxDUSBL response received:!U1,P 10D,000,0075E,185,80,80,9E,FF Command AckBRequesting micromodem ping code 2ii=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iIR=)4=)= =*<Ml=Y-.:QU5>aEE9yE}E>Iy}H5?}о }B `@9}E}< }<)yW]q@WYXa XaW:W2W*WVbUBU*UUUL @B-0+<B1 B1A5T0>*B1A5NA9A9A=<"Ce4!RCeB=Ceq@Ci]H=1I9G]> Pr,nrBEAY}6Zׇ@}6@y}6x=}6}6H@o?`?`'"H\34/ÿ?)~6Zׇ@ ~6];I~4ɫ99)9 =I9Y@yerGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i99   Í>ÍÍ 0>iÍ@Í č@)ĉIč"@ičA@uMB=Y4):QU>aEEyǼ}>IȹŽ2:5?Ž#о ƽB `@9ƽEǽQ: Ƚ;:)ȹWtp@WX XW:W2W*WVbUBU*UUU@B}!<B BAh>*BAAAAZ<"CA!RC=Ctp@CA!=IGj>- l) ) -  - b9Y) y) - 5Pr,=IBEAY}:+@}:3@y}:=}:)}:H@4?i?@Ui`O١ÿ`ę?)~:+@ ~:i];I~:Cɫ99)9 9I9Y}@y}鰅1> )CIy B%?a~A¼ٱi2M[=Y:QU>aEEybɼ}>I :+5? :x-о B `@9 E< <):Wp@WX XW:W2W*WVbUBU*UUU&@P*Q BZQ%ә#R@/F"g JQ%?a~A¼2Q:QbQ0bKwcpxH@#cRQcp˽翄 ˛rr(BQx@ QCQXP+9?P)9?PQQ@"Qƕ@Bl<B BA>>*BAwAAA <"C "RC =Cp@C[>9ImGi@=; Eq=IGn>Pr,f0BEAY}MB@}M~@y}M==}Mš}MHjU??x ^}\ÿ@Q?)~MB@ ~MK];I~MCɫ髹) IYi@yqGTNmea in: $SNTTA,0.061168,,,,020602.53*48 I)i   !!tV?n?T㥛 ??V> =)Iy~jt?S㥫S㥫?$?/]/]= Z@)GAIiA AgA e@ e@ e@e©eeie @e eX@)aIe@ieu8Mu=Y}.:QU}>aEEy:}>Iȑŕ5?ŕ:о ƕB `@9ƕ&EǕP: ȕ:)ȑmuAdded new target pos. range: 73.019997 m, bearing: 222.094283 deg, deltaT: 4.412550 s, approachRate: -0.598293 m/s, LOS rate: 0.152369 deg/s, posRepo size: 4m ProNav: pos range: 73.019997 m, bearing: 222.094283 deg, approachRate: -0.598293 m/s, LOS rate: 0.152369 deg/s, cmd update: 0.457107 deg/s, cmd heading: 214.928251 deg, new cmd heading: 214.320024 deg. W%Up@WX XW:W2W*WVbUBU*UUGAR@Uuu?B_;B BA>*BAUAAA{<"C!*C,>CRC嬽=C%Up@CiEnGIYii9ٺ*B a5=E WA A E  E :YA yA E 5׹ I G >-BPr,BEAY}2@}2 ~@y}2=}2LX}2H `0m?@YP?@iJ i¿q?)~2@ ~2*];I~2Cɫ99)9 =IAY]@y]FqGiEWME=YE}:QUM?IIaMEMEQyU}]?IY e:]M 5? m:]FBо ]B m`@9])E]: ]k:)]:W|p@WX XW:W2W*WVbUBU*UUU B\?Bo<B BA=*BAL?DAAA:<"C!*CtRCb=C|p@C-!=IG )>q 9q Iu kGiu s@q q q u ; u E*Pr,BEAY}2@}2v}@y}2@=}2}2H@@?_?~Z൅ Cf`?)~2@ ~2V];I~2CɫYY)Y ]IYY}@y}pGi޼MM=Y:QU>!!a%E%E)y-ط}->I15b5?5#Lо 5B =`@95-E5n: 5#:)1We2p@WaXa XaWa:Wi2Wi*WiVibUiBUq*UUU@O?B=;BA BAAEG=*BAAE,AAAAAMY<"Cmo!*CuNRCupז=Cu2p@Cyօ}=YIiGY>     :Y U1y : Γ5) +P;9 DTPr,VBEAY}2q@}2^|@y}2#n=}2D% }2H ? ?91`L`~s`?)~2q@ ~2^r];I~2CɫYY)Y YIYY@yoG=i=i!!I-a=)-=)-= -> u u u }@ }@ }@qqqiu̬@q u@)qIuX@iqjMC=Y:QU>aEEy}>Iȡ :ť5? :ťiVо ƥB `@9ƥ1Eǥ: ȥ8:)ȥ:WUp@WQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUaUe?BW*;B = BA6=*BA5NAAA><"C6!*CɬRC[=Cp@C e=׹IGE>=Pr,F CEAY}2N@}2|@y}2=}2, }2H@?r?@`|]`@,?)~2N@ ~2}];I~2Cɫ99)9 =I9Yu}@yuHoGie'MS=Yx:QU>  a E ŋE@@y?4}>I!%5?%_о %B -`@9%5E%: %:)!WMq@WIXQ XQWQ:WQ2WQ*WYVYbUYBUY*UaUaUe?B;B BAЊ=*BAB AAA <"C3!*CwRC v=Cq@C\>9IiGi.@; EP=סIGA> W | |  9Y R1y i: )5) ZC;9fPr,nl'CEAY} 8@} g|@y} B=} } H H-@?˱?n w @4 ?)~ 8@ ~ %w];I~ Cɫ9A)I MIQY$@ynGi19mZd;O?7A`¿Qm~>m m)iIiymL7A`?V-V-?m+'?mhm< mbA)iImOAim Aim A   L?>i(@ @)@IΣ@iΣ@M$=Y%9QU>aEȋEy}>I :5? :kо B  `@9:E: :):W\q@WX XW:W2W*WVbUBU*UUU<@RB*** querying acoustic contact ***PPB-$4E;B) B)A-0i=*B)A5[A1A1A5A<"C] *C]$RC]a=Ce\q@Caur=IG>NPr,=GACEAY}2@}2P|@y}2W=}2N}2H3Bq?zE? MLj飿`?)~2@ ~2\];I~0ɫYY)Y ]IYY}@y}XmGZ****** received transponder code query ******F****** received ping request ******E%; %;)!W=q@W9X9 XAWA:WA2WA*WAVIbUIBUI*UIUQUUƭ@B}F:By ByA}<*BA8AAA <"C *C쫽RCqL=Cq@Cѝ}<֕Bv=iIyG> 9 I hGi @    ;  E d    9Y U1y : 5) %E;)xPr,p"[CEAɫ髙) IY@ylGxDUSBL response received:!U1,P 081,000,00732,187,80,80,9A,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i e̼MmD=YuQU}>aE΋Ey=}E>IQU5?U}о UB e`@9UBEU: U:)QWq@W!X! X!W:W2W*WVbUBU*UUURO @Bmf8Bi BiAm<*BiAuQAqAqAu5<"C}` *C}RC}JD=Cq@CѵK5 =֕G= I G >ͣPr,uCEAY}6@}6 {@y}6$=}6}}6H@g??щ`Dp@R`)½?)~6@ ~6=];I~6Cɫ99)9 9I9Yu%@y}flGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iQYåZ$?å5^å"=iå@á ĥ"@)ĥE@Iĥd@iĥ^@ME=YHH;QU>aEҋEyB}>I :75? :о B `@9FE : 8:):Wq@WX XW :W 2W *W VbUBU*UUUn @BQB BA*BAAAA)<"C/ *CfRC<Cq@C)! ! == JM=י I G >"Pr,؎CEAY}:,@}:wsz@y}:k #=}:}:H F?@mé?;LGH `YڼE?)~:,@ ~:3];I~8ɫ99)9 =I9Y}@y}kGxDUSBL response received:!U1,R,011,000,00708,183,80,80,A8,FF Fpublishing direction and range infosɰt>鰅$> )(CIyB,:?Eaٱ=i=i)í> éM]=Y{~QU>aEՋEy}>I 5?Aо B `@9JEd: :)Wv#r@WX XW:W2W*WVbU1BU1*U9U9U=-@Pq*QuBZQu3> 借Q@nioͻJQu,:?Ea2Qus:QqbQuEIZ~ ^0HA,RQujfб>x׮p忦oSBQuǁy@ QuAQuLPu-9?Pu+9?PuQuQunS@"Qu@ܽ[>9ܹIܽxfGiܽS@ܽ=ܹܹܽ; ݽE)ݹIݹiݹݽ=ݽ=ݽ7j4B B BA*BAAAAu><"C>*C%/RC%<C%v#r@CI%[1=IG I>zz 9YQ1y:5)8;Pr,zƨCEAY}@}y@y} =}}H,@a?`;Ԩ?s9;`=ϣ%>?)~@ ~8];I~Cɫ髱) IY-@y-jGDNmea in: $SNTTA,,,,,020606.58*51 iuZd;O?:vI +?uj?uT u94=)qIqyuJ +?X9v{Gz?u(?uuף< uA)uAIqiuV Aqu A1(?\޾i̤@ @)@I@iz@@M =YiQU>aEًEy/}>I :o5? :о   `@9PEj: f:):m=uAdded new target pos. range: 70.500000 m, bearing: 223.370231 deg, deltaT: 4.050915 s, approachRate: -0.622081 m/s, LOS rate: 0.314978 deg/s, posRepo size: 4mM ProNav: pos range: 70.500000 m, bearing: 223.370231 deg, approachRate: -0.622081 m/s, LOS rate: 0.314978 deg/s, cmd update: 0.944933 deg/s, cmd heading: 216.773680 deg, new cmd heading: 216.994920 deg. WM>r@WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYU]Q@Ue?B_cB  B A (*B A A AAɁ<"CMwy*CuRCu&;Cu>r@Cyօ('Pr,CEAY}:@}:y@y}:Q=}:ս}:H`>#??  Wt`?)~:@ ~:M];I~:Cɫ99)9 9I9Y}]@y}6jGi  UgM]=Y]-QU] ?aaaeEeۋEaymΔ}m ?Iquab5?uо uB }`@9uSEuf: u׾:)qWr@WX XW:W2W*WVbUBU*UUU`?BzB BA#(*BA"AAA\T<"C"RCLWrCr@C   <IG&>|| ?:YR1yi:59@ 9 I dGi @ !; EGPr,jCEAY}2@}2Jy@y}2b`=}2Iν}2HQ?`4;?@vj"`VJ[?)~2@ ~2F];I~2Cɫ99)9 9I9Y}N@y}#jGI)AiUْMUK=Y]MQU]>YYaeEeދEaym% }m>Ii }:m\Q5? }:mFо i }`@9mWEm: m:)m:Wis@WX XW:W2W*WVbUBU*UUU?B"gB BA/*BAu AAAk<"C*CϪRCP-7Cis@C-ϩ;IG )>i nmGI i1 ] K?ٺa e /BPr,$cCEAY}6郄@}6-#y@y}6=}6h½}6H+_*?@,?d4rN@bJ`8?)~6郄@ ~6:z];I~6Cɫ)))) 1I1Ym@ym)iGi%`?%\O?%ľi%(@! %@)%I%@i%E@5N}M5K=Y=KQU=>99aEEEEIyMĻ}M>IQU[@5?Uо Q ]`@9U\EUD: U:)QWs@WX! X!W!:W!2W!*W)V)bU)BU)*U)U1U5@u?B8B BA*BAhAAAF<"CC*CRCT+Cs@Cֵ;׉IG`>~~ :YT1y@:<5?Qr,: DEAY}6t@}6y@y}6~=}61r}6H|iy?@?`3D`n `b@?)~6t@ ~66v];I~6CɫYY)Y YIYYܽ@yiGi!!u[<M}G=Y}ý:QU>aEEy}>Iȡť.5?ťо ƥB `@9ƥ`Eǥ; ȥZ;)ȡWUEJt@WQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUaUe &@y9yI}XcGi}ȸ@}=yy}; }EB5B BAh*BA1)AAA<"Co*CHRCμCEJt@C ==zׁIG=> Qr,*DEAY}Kk@}x@y}=}Ş}Ho?T?`Q@, `ϳj?)~Kk@ ~+v];I~Cɫii)q qIqY*@yhG=i=iI)4=X9v?y&1?V-??`e< m=)IyOn?A`"y&1??Y`e= ½AA)½AI½Ai½Z A A)= =="V>i@ E@)I/@i-]@M-1=Y59QU5>99a=E=E9yE4!}E>II U:M5? U:Mо MB ]`@9MdEM: M:)M:W}?t@WyXy XyW:W2W*WVbUBU*UUU@_@B5;ûB9 B9A=蠽*B9A= R;A9AAAE <"CMv]*CMlRCMKCM?t@CQE !I)GE>;{{ 9Y#R1y:57Qr,^CDEAY}:(x@}: y@y}:6=}:RC}:Hg`!?`~?h nO C@|Aj?)~:(x@ ~:;];I~:Cɫ99)9 9I9Y}i@y}gGi)M=Y>QU ?aEEy;} ?IȹŽ5?Ž2о ƽB `@9ƽgEǽY: Ƚ#:)ȹW)u@WX XW:W2W*WqVqbUqBUy*UyUyU}`_@RB*** querying acoustic contact ***PPBE B BA ѽ*BArMAAA<"C*CVRC C)u@C cռIG (>܅ ^>9܁ I܅ aGi܅ @܅ =܁ ܁ ܅ ; ݅ EQr,]DEAY}2|@}2S\y@y}2n=}2Hm}2HKa?n?9Y`j ?)~2|@ ~2ʣ];I~2CɫYY)Y YIYYλ@ygGZ****** received transponder code query ******F****** received ping request ******aEEy%@<}%>I) =:-m5? =:-о -B E`@9-kE->+; -l,;)-:WeEu@WaXa XaWa:Wa2Wi*WVbUBU*UUU@ @BlB BA*BAUiAA A g<"Cp*C;RCfCEu@CEhAEhA=Wg!IIG|>yy -:YP1y':5)#M;9>Qr,vwDEAY}2>@}2y@y}2=}2L}2H `?Lt?`U@<sa q?)~2>@ ~2 g];I~2CɫII)I MIIY}=@y}^fGxDUSBL response received:!U1,P 011,000,00708,183,80,80,A8,FF Command AckBRequesting micromodem ping code 2iI)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i gA%@>%u<%Li%@! %@)%z@I%d@i%z@M'=Y,QU>aEEyE<}>I5?о B `@9pED: :)Wuv@WqXq XqWq:Wq2Wy*WyVybUyBU*UUU W @B>#B! B!A%*B!A%G΅A!A)A-o<"C5 *C]RCeCev@CiֵKס I G >($Qr,7oDEAY}2,@}2tz@y}2 =}2Pa"}2H T?_g?`M@[ުG?)~2,@ ~2 ];I~2Cɫ99)9 =I9Yu@y}ueGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iMm=Y6QU?aEEy<}?I :5? :о B `@9sEQ: <:):b>9I7`Gi>@=; EWpv@WX XW:W2W*WVbUBU *U U U =@BUDXBY BYA]%*BYA]AYAaAe<"Cޮ*CRCYCpv@CֱבIG>}} :YkS1yԊ:5)N;V*Qr,qZDEAY}eX]@}e z@y}eK =}e!}eH=w?\6qp !c`@ ߜ@?)~eX]@ ~e!];I~eCɫii)i mIiY@yeGxDUSBL response received:!U1,R,003,000,006D8,182,80,80,B7,FF Fpublishing direction and range info+ɰ>鰭> )7CIy=Bh,?8$Sreٱi]Gz?{Gz?I +?]p}?]#< ]9=)YIYy]\(\?~jtMbp?]?]]; ]V A)]AI]nAi]p AY]=A u@ u@ u@ u@u©uuiuu u)uIuiu ?<M0=YQU>aEEyQ<}>I5?"о B `@9xEl; 9;)W=v@W9XA XAWA:WA2WA*WIVIbUIBUI*UIUQUU @P*Q=BZQ 4P@ިƿJQh,?8$Sre2Q+:QbQs#Hg/#G׳/RQˆe濭>oa濑b6BQ%z@ Q,=QAP/9?P-9?PQQc@"QnS@B=B BA *BA*<AAAuD<"C5*C?ꩽRC Cv@C > >;IG >;;1Qr,,*DEAY}z4h@}zz@y}z( =}z>猼}zH8~? |x N M$' 2?)~z4h@ ~z\;I~zCɫ) IY5@y5vdGDNmea in: $SNTTA,,,,,020611.01*5B >i=iI4=)=)ý= ý=,Mo=Y"QU?aEEy~;}?I :5? :о B `@9{E: :):muAdded new target pos. range: 67.619995 m, bearing: 224.410141 deg, deltaT: 4.513164 s, approachRate: -0.638134 m/s, LOS rate: 0.230417 deg/s, posRepo size: 4m5 ProNav: pos range: 67.619995 m, bearing: 224.410141 deg, approachRate: -0.638134 m/s, LOS rate: 0.230417 deg/s, cmd update: 0.691251 deg/s, cmd heading: 221.051119 deg, new cmd heading: 221.365050 deg. W5I,w@W1X1 X1W1:W92W9*W9V9bU9BUA*UAUEP@UE%?BuBq BqAu?*BqA}xKAyAyA}S<"Cl*C֩RC|CI,w@C}C YIaG}Y>Iީ)ީI{{ 9Y#R1y:59@ f>9 I ^Gi @ =   ;  E)ݡIݡiݡݥ=ݥ=ݥ 6b7Qr,DEAY}2e\@}2%z@y}2O=}2jb%}2H `t?_Jpg)쓠oI?)~2e\@ ~2>\;I~2Cɫ99)9 =I9Y}@y}cGiECMES=YE:QUM>IIaMEMEQy]Ot}]>Iae5?eqѾ eB m`@9eEe: e:)aWxw@WX XW:W2W*WVbUBU*UUUt?BB BAX*BA̺AAAʎ<"C *CRCN*Cxw@CEIIGmV>=Qr,DEAY}2\@}2z@y}2[<}2}2H t?;p @8|?)~2\@ ~2\;I~2CɫYY)Y YIYYs@ybGi M M M U@ U@ U@ UQQQiU@Q UE@)QIU@iU/@e5MeH=YeӗQUm>iiamEmEyŴ8}>I  Q5? Ѿ B `@9 E *: /:) W=w@W9X9 X9W9:WA2WA*WAVAbUIBUI*UIUIUU7?B}틼By ByA}Zg*ByA6AAA<"CR*C𫩽RCɠ:Cw@CԥgAԥgAֽ$יIGb>Lyy G9YP1y':5tDQr,EEAY}6t@}6{@y}6i<}6P>}6H`-e?c -`qɘ&QLew ?)~6t@ ~6g\;I~6Cɫ99)A AIAY޸@yrcGI)Ai!! ))-hA-gAu=M}I=Y}QU}>aEEyP;}>Iȑ :ŕ^5? :ŕѾ ƕB `@9ƕEǕ: ȕ:)ȕ:ܽh>9ܽCIܽ\Giܽc@ܽ=ܹܹܽ; ݽEW]x@WaXa XaWa:Wa2Wa*WiVibUBU*UUUu?BgB BAY*BA7AAAG<"C*CRC9{?Cx@C d6׹IGf>VJQr,,EEAY}El@}E4H{@y}E<}Ep޻}EH u?@Tǘ`{?)~El@ ~E9\;I~Aɫ11)1 1I1YU%@yUbGiubX9?Mb~jtuE6?u u)qIqyu5^I ?S㥫l?u?u/]u= u A)uSAIuAiu AquA    ?"۾iQ@ @)@Id@i@OMM5=Y,QU>aE Ey<}>IC5?f"Ѿ B ]`@9EP^QQr,,fFEEAɫ髙) IY4@ybGi9AMQ;MUh=YUQUU>YYa]E] Eaye}e>Ii u:mQr5? u:m)Ѿ mB }`@9mEmb: m:)m:Wtx@WX XW:W2W*WVbUBU*UUU@BxB BA8o*BASAAAow<"CAg*CuRCCORCtx@C >IGI>ܽk>9ܹIܽ[Giܽo@ܹܹܽ(Dܽ"; ݽEWQr,)A`EEAY}2#Ѕ@}2{@y}2#<}2=Ȼ}2Hy?}<z@\ణy?)~2#Ѕ@ ~2\;I~2CɫYY)Y YIYY@y bG鮡ɮp==i=iI=))ý= ý>MS=YrQU>aEEyX<}>Ivc5?\2Ѿ B `@9En: Y:)Wy@WX XW:W2W*WVbU!BU!*U!U!U-@R5B*** querying acoustic contact ***P1P1BNCB BA~*BA"AAAU<"C*CcRCpFCy@CJM׹IGF>|| 9YR1yi:5)y4;9]Qr,zEEAɫ髙) IYŶ@y`GZ****** received transponder code query ******F****** received ping request ******qqa}E}Eyy}>Iȉ :ōQ5? :ōL<Ѿ ƍB `@9ƍEǍH; ȍ;)ȍ:W:ay@WX XW):W)2W)*W)V1bU1BU1*U1U9U= @BtB BA*BAWF4AAAF<"C{*CQRC\C:ay@CֽtEבIG>dQr,EEAY}J@}J|@y}JR<}J{[}JH vYe?ШCZ:ܓ@6ٙH__?)~J@ ~J\;I~JCɫyy)y yIyY-@y#`GxDUSBL response received:!U1,P 003,000,006D8,182,80,80,B7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i ܅q>9܅CI܅\ZGi܅{@܅=܁܁܅.; ݅ǗEAMP=YQU>aEEy[<}>IIMA5?McEѾ MB `@9MEM< M<)IW-y@WX XW:WY2Wa*WaVabUaBUi*UiUiUm @BRB BA*BA݋EAAA|<"Cg*C@RCNXC-y@C Y"zz 9YQ1y:s5) <;I G- >/jQr,ܭEEAY}v#@}vb|@y}vX<}v2;}vH@z>4?͒`k@ ݎ~*@f? ?)~v#@ ~v\;I~tɫ髱) IY@@y:`GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Ii)ii US?Mbp rhU/=?U UC)QIQyU|?5^?ktX9v?U ?U 0U< Q)UnAIUAiU9AQUAimhA5>5t5+=i5@1 5@)5@I5@i5@E;ME.=YMyoQUM>IIaUEUEQy]4<}]>Ia m:e235? m:eNѾ eB m`@9eEe: e:)e:Wz@WX XW:W2W*WVbUBU*UUUL @BɼB BAږ*BAKTAAAy<"C *CZ2RCȁYCz@CmYשIG>qQr,EEAY}2y^@}2N|@y}24<}29;}2H`c'?'1w' s??)~2y^@ ~2\;I~0ɫ99)9 9I9Y}ѵ@y}_GxDUSBL response received:!U1,R,02C,000,006AE,185,80,80,AE,FF Fpublishing direction and range infonFɰ >鰅+> ).CIy3B:9?.ٱi.M=YQU ?aEEy0<} ?I(5?TѾ B `@9E: :)WCz@WX XW:W2W*W V bU BU *U UUQ@P!*Q%3BZQ%+STCP@̙F3 JQ%:9?.2Q%nF:Q!bQ%NXGFT2RQ%aY EI=%ҕBQ%cz@ Q%]5Q%:P%.9?P%/9?P%Q%Q%k@"Q%c@BU*BY BYA]̝*BYA]JaAYAYAe<"Ce*Cm$RCmtLCmCz@CiI IG-->]z>9YI]0YGi]@]=YY]; ]E $9Yy<5)M1;wQr, EEAY}^d@}^$j}@y}^<}^lI <}^H`IY?@6⓿KY`p*`ۓKH?*?)~^d@ ~^\;I~\ɫ髩) IY@yq_G=DNmea in: $SNTTA,,,,,020615.47*5D iIIcoM==YQQU>aEEyt<}>Iȱŵ5?ŵ]Ѿ ƵB a@9ƵEǵ: ȵ+:)ȱmyAdded new target pos. range: 65.100006 m, bearing: 224.158093 deg, deltaT: 4.331856 s, approachRate: -0.581734 m/s, LOS rate: -0.058185 deg/s, posRepo size: 4m} ProNav: pos range: 65.100006 m, bearing: 224.158093 deg, approachRate: -0.581734 m/s, LOS rate: -0.058185 deg/s, cmd update: -0.174554 deg/s, cmd heading: 224.048441 deg, new cmd heading: 224.347623 deg. W}.z@WX XW:W2W*WVbUBU*UUfFP@U`?B-ȼB BA *BA¦sAAA4<"C*C RCo'C.z@C QU=e0MQIaG}z>(~Qr,cEEAY}6`ކ@}6}@y}6>֔<}6Z<}6H`}}?~^q ~A? ?)~6`ކ@ ~6\;I~6Cɫyy)y }IyY@yW^G=i=i))I-p=)-R=)5> 5=s>ip@ @)Q@I@iQ@WMF=YBQU>aE"Ey{<}>I : 5? :fѾ B a@9E^: (:):WEKz@WAXA XIWI:WI2WI*WQVQbUQBUQ*UYUYU]$#?BWPB BAc*BAIAAA1<"Cj*CRC=%CKz@C֍S,AIQGm5> :Yy59@Qr,BFEAɫ髱) I>9IXGi@=)D ; E)ݕCIݕCiݑݕ=ݕ=ݕ76Y@y^GiyyML=YQU>aE&Ey}>IIM5?MoѾ MB ]a@9MEMӻ: M:)IWz@WX XW:W2W*WVbUBU*UUU79?BmB! B!A%*B!AEcAIAIAMuy<"CU#*CU٨RCU0 CUz@CY=%)I!G=r>>Qr,R)/FEAY}:@}:~@y}:NZ<}:ʢ<}:H`Ԩ?@Z,Ȍd}Y?NX? P?)~:@ ~:\;I~:CɫQQ)Q QIYY@y\Gi rh?`" rh?,? C =)IyCl?MbMbp?d?; ­nA)­OAI­Ai­AA->-T<-&>i-\@) -)-@I)i-@=$M=B=Y=6QUE>AAaMEM)EIyUQ;}U>IY e:]5? e:]yѾ ]B a@9]E]5< ] <)]:W%{y@W!X) X)W):W)2W)*W)V1bU1BU1*U1U9U=s?BXB BA]¾*BAȖAAA)<"C:0*CィRCqC{y@ChAֵK׉IG>qtt .9YM1y:5"Qr,IHFEAY}6H@}6}@y}6Lg<}6 ~<}6H^?8%?`S錿ۏ?@1?)~6H@ ~6\;I~6Cɫ99)9 =IAY}ó@y}*]GI)Ai <M_=YQU>!!a%E%,E)y-}->Iȡť5?ťӂѾ ƥB a@9ƥEǥW; ȥ;)ȡWKy@WX XW:W2W*WVbUBU*U U U f@B5xB9 B9A=*B9A=<A9A9AE<"CEkB*CM RCM&;CMKy@CQ%yIG-N>>9CIVGi@=; EMQr,bFEAɫ髙) IY@y\Gi99uCMuD=Y}QU}>yya}E/Ey}>I  :5? : Ѿ B a@9E: :):W5y@W1X9 X9W9:W92W9*W9VAbUABUA*UAUAUM)@Bu Bq BqA}5*ByA}éAyAyA}D<"CV*CRCxCy@C֡yIG]>}} >9YkS1yԊ:iE nGI] SkAiq =ٺ SkA @.BwQr,|FEAY}23@}2~@y}2(6<}2-<}2H y`^?@P@੸Fzv+hĆe%?@=?)~23@ ~2\;I~2Cɫ99)9 =I9Y@y\Gɮ=i %@ %@ %@%©%%i%f@% %@)%I!i%5M5O=Y5QU=>99a=E=2EAyE<}M>IIMF5?MrѾ MB ]a@9MEM(: M4:)IWy@WX XW:W2W*WVbUBU*UUU 8@RB*** querying acoustic contact ***PPBWB BAp*BAPAAA,<"C5j*CkRCͫCy@C Ս=ԍ=eI_AIQGmV>ZcQr,kFEAY}>[j@}>~@y}>/<}>%<}>H}P?/ 0QT`??)~>[j@ ~>\;I~>CɫQQ)Q UIQܝ>9ܝCIܝVGiܝ@ܝ=ܝDDܝ*Dܝ; ݝEYֲ@y\GZ****** received transponder code query ******F****** received ping request ******aE6Ey<}>I5?Ѿ  a@9E; I;)W5ay@W1X1 X1W1:W12W9*W9V9bU9BU9*UAUAUJ @BױB BAy;*BAܾAAArl<"C%T*C%ERC%rC%ay@C)?IGH>Iީ)ޭ?A ,9YT1y:)3;9 Qr, bFEAY}2;@}2M@y}2&<}2Ng<}2Hx-?@.?\? F؄`(??)~2;@ ~2\;I~2Cɫ99)9 9I9Y}r@y}[GxDUSBL response received:!U1,P 02C,000,006AE,185,80,80,AE,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i?RQȿJ +f&?B H)Iym?333333L7A`??+= )AIAinAA   íL?í>íTiíG@í ĭ@)ĭ@Iĭ@iĭ@[M%=Y%QU%>)1a5E5:Eaym2<}u>Iȩ :ŭ5? :ŭѾ ƭB a@9ƭEǭ< ȭU<)ȭ:W!y@WX XW:W2W*WVbUBU*UUUЈ@B5B1 B1A5Ӿ*B1A54rͻA9A9A=G<"CE*CERCECE!y@CIY]gAE  I1 GU >rQr,AFEAY}BXLJ@}B @y}B-<}BG<}BH@ @?򙒿C_ @Օh?@1փ??)~BXLJ@ ~B\;I~BCɫYY)Y YIYYn@y[G@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i99ukкMu=Y};QU}?yya}Eܝ>9ܙIܝHUGiܝZ@ܝ=ܙܙܝ; ݝE 9Yy5)7; Qr,;FEAY}:b@}: @y}:@<}:!<}:H`鰅> ) CIyyBz9/H?% l3ٱI)i 鿡­gA­gAMW=YdQU>aE?Ey<}>I :k5? :{Ѿ B a@9E< :):Wtdy@WX XW:W2W*WVbUBU*UUU a@P!*Q%yBZQ%%oO@ŤJQ%z9/H?% l32Q%޹:Q!bQ% A-rFqK4E \RQ%wݕe(?nad3BQ%FCz@ Q%-Q%3P!P%.9?P!Q%Q%V@"Q%k@B`iB BAoھ*BA0߻AAA^<"CA*C˧RCQ&;Ctdy@C]1IAGew>VȾQr,FEAY}--@}-:@y}-6C<}-ҋ<}-H :\? ]@@aECEy%)]<}%>I)-{5?-Ѿ -B 5a@9-E-M: -{:))meyAdded new target pos. range: 62.459999 m, bearing: 224.046898 deg, deltaT: 4.476884 s, approachRate: -0.589697 m/s, LOS rate: -0.024838 deg/s, posRepo size: 4mu ProNav: pos range: 62.459999 m, bearing: 224.046898 deg, approachRate: -0.589697 m/s, LOS rate: -0.024838 deg/s, cmd update: -0.074513 deg/s, cmd heading: 223.267688 deg, new cmd heading: 223.194307 deg. W}[y@WyXy XyWy:Wy2W*WVbUBU*UU@:O@U?B4rB BAپ*BA$AAA/<"C6*CRC#;C[y@C] ;1IAG]U>ss 9YM1y:59@cQr,GEAY}:+P@}:]@y}:j<}:ہ<}:H/s?a֑st@mep?`ـ$;??)~:+P@ ~:\;I~:Cɫ9A)A AIAU>9UCIUTGiU@U=QQU; UEY}U@y}-ZGiUsMUW=Y]_QU]>YaaeEeFEaym>9<}m>Iq }:uQr,1GEAY}JS@}JSa@y}J ];}Jv*]<}JHtu?@lv@ˠ@^zf?ऋ?@?)~JS@ ~J#\;I~JCɫYY)Y YIYY(@yYGi=iI=)=|?5^?p= ףI +?2? 9<)Iyv?Zd;O~jth??j<D; A)AInAiA)= > - - --<-94=-;_>i-G@- -@)-@I-i-@=LM=<=YE.QUE>AIaMEMIEIyU(:}U>IY]^5?]tѾ Y ea@9]E]: ]i:)YW(Jy@WX XW:W2W*WVbUBU*UUUk?BB BAR*BAAAA="C*C9RCB<C(Jy@CE1=9<IGj>zz 9YQ1y:5Qr,KGEAY}6B@}6P@y}6=;}6TW<}6HSj?g@k` f? ~7??)~6B@ ~6\;I~6CɫII)Q QIYY}@y};YGiFOM_=YrQU>!!a%E%LE)y-}->I1 =:5Q5? =:5<Ѿ 5B Ea@95E5: 5M:)5:We\By@WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU}?BT/B BA*BA4AAA$r="C5Y*C5 RC5X\)<C5\By@C9AA)A AE>9AIESGiE@E=AAE; EE)ՆCIՆCiՆCՆ=Ն=Ն6l;< I G >vQr,$aeGEAY}J3@}JA@y}J_;}J`8<}JHస a?Ub XV?"_x如??)~J3@ ~J\;I~JCɫyy)y yIyY%@yYGi99u2=MuD=Y}lQU}>yaEPEy}>IȑŕC5?ŕ1Ѿ Ƒ a@9ƕEǕM: ȕ:)ȑW9y@WX XW:W2W*WVbUBU*UUU@B`B1 B1A5*B9AE AAAyA}\="C6*CH֦RCb<C9y@Cֽh%<בIG>yy ,9YP1y':*5Qr,=GEAY}:9@}:1G@y}:4r;}:l;}:H`@e?@pe HV@nxmb??)~:9@ ~:ea\;I~:Cɫ99)9 9I9Y}@y}IYGI)i!! ))11 }@ }@ }@}©}}i}@} }@)}d@I}p@i}/@X(MI=YQU>aESEyY:}>Iȩŭ45?ŭѾ Ʃ a@9ƭEǭ: ȭ:)ȩW0y@WX XW:W2W*WVbUBU*UUU`KV@B@/B BA*BA%A!A!A%="C-*C-RC-1<C-0y@C1%X<I G%M>Qr,GEAY}NN@}ND\@y}N1:}NԻ}NH@ys?̱n? sKw<^@1z?)~NN@ ~N\;I~NC>9ITSGiī@=; Eɫyy)y }IyYG@yXG鮽p=ɮ=i޼MV=Y횻QU>aEVEyt;}>I  :'5?  : Ѿ B  a@9E: :):W-(y@W1X1 XW:W2W*WVbUBU*UUUs@RB*** querying acoustic contact ***PPB8\0B BAp*BAyAAA  D="C-*C5ayRC51k_<C5(y@C1Ex/<I)GEQ>e{{ D9Y#R1y:r5)HE;9% K%Qr,RGEAY}27Y@}2f@y}2<:}28}2H@Z8y? ?@~z ?`_GF:?)~27Y@ ~2l\;I~2CɫAIIi髹I) Ii?ٺN0BY5@y=XG=Z****** received transponder code query ******EF****** received ping request ******Eií@í ĭ@)ĭIĭ@iĭ@#M$=YQU>aEZEy$+;}>I5?Ҿ B a@9E7: :)W y@W X  X W :W 2W *WVbUBU*UUU]_ @BE+BI BIAMO*BIAM!AIAQAUe="CU*C]=RC]$w<C]y@Ca5jb<IG>qQr,GEAY}JZN@}J \@y}J]8}J{м}JHyq? ,?~sِ s X?)~JZN@ ~J\;I~JCɫ髡) IY@y U>u3<M}x=YQU?aE]Ey}?I : 5? :. Ҿ B a@9E= =):Wy@WX XW:W2W*W V bU BU *UUUۙ @Bs7B BA*BA}(AAA="C" *C RC#i<Cy@C>9IRGi!@=CD; Eu<שIG>yy 9YP1y':5){,;S7Qr,GEAY}2/@}2L=@y}2}2*#}2H@ ]?J]?_`8`:vO?r?)~2/@ ~2\;I~2Cɫ99)9 9I9Y}@@y}WGAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iMD=Y!QU>aE `Ey%}5>IAE45?EҾ E B ua@9EEE׾; E(;)AWEf y@WAXI XIWI:WI2WI*WQVQbUQBUQ*UQUYU]@Q@BGCB BAo*BAM.AAA"="CO*C[ܥRCF;<Cf y@Cֽ@p<בIG>E!Rr,HEAY}bY!@}b/@y}b0a}b}bH WQ?[?@TV B&`"l?@q=?)~bY!@ ~bw\;I~bCɫ髑) IY@yTWGxDUSBL response received:!U1,R,065,000,00658,186,80,80,AC,FF Fpublishing direction and range infoIɰ > ),CIyoBshg3? `Hψٱi E@ E@ E@E©EEiE@E E)E@IEiE3@]M]R=Ye4лQUe>aaaeEecEiyu}u>Iy :}5? :}Ҿ }"B a@9}E}: }:)}:Wedy@WaXi XiWi:Wi2Wi*WqVqbUqBUq*UqUyU}`@P*QoBZQP|M@#JQshg3? `Hψ2QI:QbQofcEp.D{>?RQ`TF濡>2j'my{?BQz@ Q'Q+P/9?PPQQ@"QV@BEB BAI*BA%cj5A!A!A-B="C-P*C5DRC5?g0<C5dy@C1U*:<1I9Gmx> zz 9YQ1y:a59@XIRr,^HEAN>9LIN(RGiNЪ@N=NDDLN; NEY}-F@}-S@y}-y}-$}-Hh?"6? nkr?@ J?)~-F@ ~-f\;I~-Cɫ髑) IYC@yWG=DNmea in: $SNTTA,,,,,020624.35*5A I9)9iII QQQUfA](<Me;=YeJ"QUe>iiamEmfEqyu'<}u>Iy}5?}s'Ҿ }%B a@9}E}ϸ: }b:)ymuAdded new target pos. range: 59.940006 m, bearing: 224.465479 deg, deltaT: 4.461903 s, approachRate: -0.564780 m/s, LOS rate: 0.093812 deg/s, posRepo size: 4m ProNav: pos range: 59.940006 m, bearing: 224.465479 deg, approachRate: -0.564780 m/s, LOS rate: 0.093812 deg/s, cmd update: 0.281437 deg/s, cmd heading: 222.935241 deg, new cmd heading: 222.904516 deg. W&y@WX XW:W2W*WVbUBU*UU RM@U>?B :="C!*C{RCY<C&y@C! &<I GEs>v Rr,G4HEAY}b4}@}b㊀@y}bt}b5 }bH`?@) ?@~ (Tu? ?)~b4}@ ~b&\;I~bCɫ髑) IY@yKWGi9Ash|??{Gzt?Q>ף; )Iyv/?aEjEy<}>I :5? :2Ҿ *B a@9E: :):WGy@WX XW:W2W*WV bU BU *U U UH?B=FDB9 B9A=*BAAE@CAAAAAE="CM*CMcGRCUE<CUGy@CQujZX T9Yy<5`Rr,J(NHEAY}:ؘ@}:@y}:Xc}:۬$}:Htk`!?}?5h@I@et?F?)~:ؘ@ ~:r\;I~:CɫQQ)Q UIQY@yVGi]θM]c=Y]9QUe>aaaeEemEiyu<}u>Iy}5?}<Ҿ }/B a@9}E}&; }:,;)yWRey@WX XW:W2W*WVbUBU*UUU@?B-PB) B)A5*B1A5IA1A1A=]_="CEc*CE{RCM`<CMRey@CQ}9yI}QGi}@}=yy}; }EG]>Rr,#gHEAY}J/@}Jޘ@y}J1}J}JHuw?jП?~ sF1s?`c@p?)~J/@ ~Jӄ\;I~Hɫqy)y }IyYi@yVG5=i5=iYYIm4=)i)= =&M9=Yn:QU>aEpEy8w}>IȩŭK5?ŭHҾ ƭ4B a@9ƭEǭM: ȭ{:)ȩWy@WX XW:W2W*WV bU BU *U UU?B]]GBY BYA]% *BYAeE{QAAA ="C *CߤRCr<Cy@C֕'O{{ 9Y#R1y:5Nm Rr,uʁHEAY}23h@}2u@y}2r}2}2H͐@2?? f@0@9nv?ߟ@?)~23h@ ~2^z\;I~2CɫYY)Y ]IYY@yVGi U U UUĻUt=Uy>iU@U U@)U@IU@iU@e <Me_=YmQUm>iiauEusEqy}*?}}>Iȁ :Ņ^5? :ŅRҾ ƅ9B a@9ƅEDž: ȅ:)ȅ:Wy@WX XW:W2W*WVbUBU*UUUW?BY_TB BAV *BAXAAA="Cy*CRCO<Cy@Ck<׹IGf>&Rr,|HEAgA>9Ii=+D; E)CICiC==6Y}f[@}fBi@y}f"}fռ}fHex?p?{@J?@?)~f[@ ~f\;I~fCɫ) IY=5@y=UVGi1MB=YQU>aEvEybo}>I  ;5? I^Ҿ >B a@9  E : 8:) W0y@WX XW:W2W*WVbUBU*UUUmi@BE^QB BA *BAϏ_AAA- ="CV*CRC&l;C0y@C=X  ~ ~   9Y T1y @: 5) +;9- ,Rr,ˀHEAY}2Xq@}2@y}2J}28}2H 9??J5? E?)~2Xq@ ~2&\;I~0ɫYY)Y ]IYY@y0VG鮡ɮp=I)i 鿱oʡ?{Gzt a E zE y;}>I %:5? %:ngҾ BB %a@9E: :):WMy@WQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUe@RmB*** querying acoustic contact ***PiPiBXB BA *BAϟfAAA ="C6*CURCX <Cy@C);IGn>Ȫ3Rr,aHEAY}J@}J;@y}Jb%}J}JH n@??@9`n@9?dM?)~J@ ~J%e];I~JCɫyy)y }IyY9@yUGZ****** received transponder code query ******F****** received ping request ******AAaEEE}EIyUQ9<}U>Iae}5?e pҾ eFB ma@9eEeZ = el =)aWG z@WX XW:W2W*WVbUBU*UUU @B-\B1 B1A5*B1A5nA9A9A==W ="CEn*CEG#RCe[,<CeG z@Ci%>9%CI%PGi%ܩ@%=!!%; %E}D}} 9YkS1yԊ:5)@;9Rr,6HEAY}2@}2M@y}2}2h=¼}2H@c`?)!?@M c`ԁT?F j?)~2@ ~2];I~0ɫYY)Y ]IYY@yVGxDUSBL response received:!U1,P 065,000,00658,186,80,80,AC,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i!)ud=M}F=Y;QU>aEEyeL;}e>Iq :uHo5? :uzҾ uJB a@9uEu. < u <)u:Wm,z@WqXq XqWy:Wy2W*WVbUBU*UU U q @BUTBY BYA] *BYA]DvAYAA ="C*C6RC #<C,z@Ciu=nGIi:ٺ  +Bܪ&<שIG>@Rr,IEAY}F@}FK@y}F 滙}FO¼}FH`ky ? EC?@{`yw@!|?9I~?)~F@ ~FJ];I~FCɫ髙) IY­@yUGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M=iM=iYYI]a=)]=)a e>   õC =õ<õiõf@õ ĵȎ@)ĵIĵȎ@iĵ@ zME=YL;QU>aEEy}>Ib5?Ҿ MB a@9E: d<)W;Kz@WX XW:W2W*WVbUBU*UUUc+@B%F6hB) B)A-[*B)A-uJ}A1A1A5Z ="C=z*C=ƣRC=`X;C=;Kz@CA=<IG=r>yy 9YP1y':s59@ >9 CI PGi @ =  ,D ;  EFRr,IEAY}>(c@}>p@y}>}>5}>H @G}?? `j?r@?)~>(c@ ~>];I~>Cɫyy)y yIyYm@y_UGxDUSBL response received:!U1,R,06F,000,0062E,186,80,80,9D,FF Fpublishing direction and range infoaƽɰ> )CIyeB4?DE¸ٱi ޼MV=YwQU%>!!a%E%E)y-9}->I9=(V5?=ZҾ =QB Ea@9=E=+: =:)9We]hz@WaXa XiWi:Wi2Wi*WiVqbUqBUq*UqUyU}J@P*QeBZQ}nNL@`6JQ4?DE¸2Qaƽ:QbQ 2DK[JD Y?RQ"?6DPeHA?BQ+z@ Q Q$PP/9?PQQ@"Q@BmB BA*BADAAA( ="CW*CRC_9C]hz@C;׉IG>XMRr,d6IEAY}zv`@}z%n@y}z7)}z+ }zH y? ? ~&?Yd?)~zv`@ ~z];I~xɫ) IYM@yMTGTNmea in: $SNTTA,0.059732,,,,020628.80*4C iU> ףp=?A`"?{GzU1?U= Uף)QIQyU^I +?J + rh?UX?UHUC< UCA)UhAIUAiUhAQUAM׃?M8MMiMכ@I M/@)M"@IMp@iMp@]M]+=Y]QUe>aiamEmEiyu?4}u>Iy :}#E5? :}ۖҾ }WB a@9}#E}U: }]:)}:myAdded new target pos. range: 57.420006 m, bearing: 224.424211 deg, deltaT: 4.406477 s, approachRate: -0.571886 m/s, LOS rate: -0.009365 deg/s, posRepo size: 4m ProNav: pos range: 57.420006 m, bearing: 224.424211 deg, approachRate: -0.571886 m/s, LOS rate: -0.009365 deg/s, cmd update: -0.028096 deg/s, cmd heading: 224.176598 deg, new cmd heading: 224.311331 deg. Wdz@WX XW:W2W*WVbUBU*UUµL@U?B \B  B A *B AkAAA# ="C0*CPmRCK:Cdz@C!IG>K|| 9YR1yi:;5SRr,ʤPIEAY}2z@}2@y}2gR}2}2H$?>? 2 ;@L? ݡU?)~2z@ ~2KB];I~2Cɫ99)9 9I9Y@yTGIa)eAiiq yy}gAy4~Mj=YQU>aEEy/<}>I85?LҾ [B a@9&E{: :)Waz@WX XW:W 2W *WVbUBU*UUU=?BDtB BAL*BA%.A!A!A%Hh ="C-*C-rDRC-ɍ;C-az@C1>9”CI4PGi:@=CDv; E]9I!GEr>#ZRr,LjIEAY}^J@}^@y}^ d}^l}^Hjٝ?f?EkÍ`?e ?)~^J@ ~^];I~^Cɫ髡) IY]|@y]6TGi-V>--mi-̌@) -Ȏ@)-^@I-i-@M<=Y(QU>aEEy <}>I :[)5? :թҾ aB a@9*EI: :):W6^z@WX XW:W2W*WVbUBU*U U U 1?B5pB9 B9A=*B9A=:AAAAAE="CM~*CMRCMʠ;CM6^z@CQ֕];qIyG~> w9Yys5z aRr,}YIEAY}2@}2@y}2k}2}2H Y+?@#à?ð Z3t?`NR?)~2@ ~2;];I~2Cɫ99)9 =I9Y}@y}rTGi<Mh=YFQU>!!a%E%E)y-;}->Iȉō5?ōҾ ƍfB a@9ƍ.EǍo: ȍ{:)ȉWJ[z@WX XW:W2W*WVbUBU*UUUv?B̷{B BA*BAFAAA="C k*C 뢽RC <CJ[z@CEΒ;I)GEQ> >9 ÔCI lOGi @ = -D y; EL6gRr,?IEAY}R@}R^@y}R }R_ռ}RHV,? [x?Xrd'!?c?)~R@ ~R2];I~RCɫ髱) IYW@y TGQiU=iYY)e> aTǼM?=YQQU>aEEy:}>I : 5? :üҾ lB a@92E: :):WWz@WX XW:W2W*W!V!bU!BU!*U)U)U-@9U@BUުtBY BYA]*BYA]ᕼAaAaAe+="Cm*CmݺRCm%<CmWz@Cq֝h%Uxx 9Y7P1y:5)C;9]mRr,IEAY}2@}2>Ȁ@y}2̸}2fy}2HPm??`R@k=?6?m?)~2@ ~2\;I~2Cɫ99)9 =I9YE@ySGi!!w/?Ky&1|?F?^ `;)Iy'1Z?S㥛Mb`?"?/ݼ; ­A)­AI­Ai­AzA  @ m@ m@ ©  i f@  @) p@I 3@i Q@}M}@=YQU>aEEy;}>Ișŝ5?ŝ&Ҿ ƝoB a@9Ɲ6Eǝ: ȝܹ:)șWTz@WX XW:W2W*WVbUBU*UUU @B uB  B AF*BAAAA="C1*CTRC 7<C%Tz@C!55 55׉IG>EtRr,IEAY}VVΈ@}V܀@y}Vˡ}VI}VH 6A &? ? Cei? (9?>?)~VVΈ@ ~V߲\;I~VCɫyy)y }IYyɮ=iAAYU QUU>YYa]E]Eaye;}e>Ii u:m5? u:mҾ mrB }a@9m:Em: m#:)m:WQz@WX XW:W2W*WVbUBU*UUU +@RB*** querying acoustic contact ***PPB`B BA*BA/AAAII="C*C\RC ^<CQz@CIG>m>9mĔCImOGimF@iiim; mE)”CI”CiC==t6zz 9YQ1y:5)_3;ozRr,PIEAY}܈@}:@y}}m}H@ 68?3?@@8@ t?ԕ??)~܈@ ~2\;I~Cɫ) IYm:@yuSG}Z****** received transponder code query ******}F****** received ping request ******}QQaUEUEYy]U;}]>Iae5?eҾ evB ua@9e>Ee: e8:)aWNz@WX XW:W2W*WVbUBU*UUU `& @BUrxBQ BQAU*BYA]AYAYA]="Ce*CV$RC_w<CNz@CׁIG=>WRr,ZJEAY}F܈@}F@y}F}F՗}FH5`?@?`8B{?@A?q?)~F܈@ ~F\;I~FCɫ髙) IY @ySGxDUSBL response received:!U1,P 06F,000,0062E,186,80,80,9D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i!!eMmZ=Y}HQU> aEEQy]%9}e>Iae5?elҾ eyB a@9eCEe; e;)aWJz@WX XW:W2W!*W!V!bU)BU)*U)U)U5P @B0wB BA *BAAAAj="C*C졽RCzy<CJz@CIGl>~~ M9YT1y@:r59@e >9a Ia ia e =a a e ; e E2Rr,F~JEAY}20׈@}2@y}2Ëļ}2}2H9`_?m?@T=z?ݐ? (?)~20׈@ ~2^\;I~2Cɫ99)9 =I9Y}'@y}SG@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i <MH=YtQU>aEEyu}>Iȡ :ť/5? :ťҾ ƥ}B a@9ƥFEǥ[: ȥ#:)ȥ:WGz@WX XW:W2W*WVbUBU*UUU5@BB BA3*BAAAA ="C%*C%šRC%xOr<C%Gz@C) X<IG-O> > Ci- nGIE jAiY =ٺ jA -B=Rr,Y9JEAY}:҈@}:Z@y}:ռ}:}:H=?`*`?`%A@??r?)~:҈@ ~:u\;I~:Cɫyy)y yIY@ySGxDUSBL response received:!U1,R,096,000,00600,186,80,80,78,FF Fpublishing direction and range info ɰ= )BIyZB? /ٱi=iUgfffff?ˡEaEEy}>IB5?Ҿ B a@9JE: :)WDz@WX XW:W2W*WVbUBU*UUU@ @P*QZBZQeƟK@ʉJQ? /2Q :QbQC<}QBI?RQaRLxRl,?BQ_y@ QQ/P-9?PPQQ@"Q@BE(yBI BIAM*BIAMwAIAQAURm="CU*C]PRC]Np<C]Dz@CaUv<)I9GU>{{ 9Y#R1y:;5Rr,2SJEAY}fOڈ@}f@y}f⼙}fņ}fH6?j?mq;`ʁ?dZ?t0?)~fOڈ@ ~fS\;I~fCɫ) IYU@yUSGDNmea in: $SNTTA,,,,,020633.25*5D iuMuP=YuQU}>yya}E}Eyp;}>Iȉ :ō5? :ō=Ӿ ƍB a@9ƍNEǍb: ȍ:)ȍ:myAdded new target pos. range: 54.660000 m, bearing: 223.250703 deg, deltaT: 4.518641 s, approachRate: -0.610804 m/s, LOS rate: -0.259704 deg/s, posRepo size: 4m ProNav: pos range: 54.660000 m, bearing: 223.250703 deg, approachRate: -0.610804 m/s, LOS rate: -0.259704 deg/s, cmd update: -0.779112 deg/s, cmd heading: 224.049758 deg, new cmd heading: 224.039149 deg. Wy@WX XW:W2W*WVbUBU*UUzTK@Uk ?BQB B!A%**B!A%KtA!A!A-="C-/*C5\RC5׮<C5y@C1>9Ii=.D; E=Hu<IG%n>ǚRr,;6mJEAY}@}s@y}9}̼}H '_?*a?j,xw|??? ?)~@ ~r\;I~ɫ)1)1 1I1Y=@y=SGi @ @ @©if@ )IiE@ r;MP=YwQU>aEEyi;}>Iȡť45?ťӾ ƥB a@9ƥREǥ@: ȥn:)ȡWy@WX XW:W2W*WVbUBU*UUU?B *wB  BA*BA<AAA``="C*C%$RC%<C%y@C! 5=5= ϩ<IG l>nzz 9YQ1y:5Rr,JEAY}:l @}:@y}:2o}:K}:H@?ģ?`Qew? ?@Ee3?)~:l @ ~:O\;I~:Cɫ99)9 =I9Y}@y}YaaeEeEaym(<}m>Iq }:u5? }:ujӾ uB }a@9uUEu(: u(:)u:WDy@WX XW:W2W*WVbUBU*UUUJ?BÏB BA*BA?@AAA="C*CmRC =CDy@C<שIG > >9 ŔCI i t; EЧRr,&ǠJEAY}2H)@}26@y}2}}2I }2H0?@5?ub?Ξ?Xf?)~2H)@ ~2\;I~2CɫYY)Y YIYY@ySGi  3MF=Y~QU>aEEy <}>Iȱŵ35?ŵ0"Ӿ ƵB a@9ƵXEǵw: ȵ:)ȱWDx@WX XW:W 2W *W VbUBU*UUUu?BEBA BAAE!*BIAM^AIAIAM~U="CUp8*CURRC]*=C]Dx@CaցAIiG^>|~~ w:YT1y@:*5)tH;9Rr,JEAY}2-@}2m;@y}2}2}2Hm?? k%>?`|??)~2-@ ~2s\;I~2CɫII)I IIIY}@y}@SGimzG? rh?/$?m 7?mC = m<)iIiymtV? ףp= :v?m?mQ8mT< i)mhAImnAimAimA = = ==>=u<=Xi=Q@= =@)=@I=@i=@M><MM?=YUd?:QUU>QQa]E]EYye:}e>Ia u:ey5? u:eE,Ӿ utI eB ub@9e\Ee; e;)e:Wx@WX XW:W2W*WVbUBU*UUU?BMB BA*BA¼AAA="C*CiRC>=Cx@CgAhAȿ=ׁIG>>TRr,sJEAɫ髹) IY @yRG}=i}=i)Ý= Ý=`>MR=YQU>aEEy}>I@l5?u5Ӿ B b@9`E#: :)W.x@WX XW:W2W*WVbUBU*UUUi!@B|B BAj$*BA6ǼAA!A%I]="C-*C- $RC-QP=C-.x@C1ܩ9ܭƔCIܩiܩܭ=ܩܩܭv; ݭE])=I!G=r> zz C9YQ1y:;5);;Rr,aJEAY}Zۈ@}Z@y}Z }Z:f!}ZHg5?8? ;fW_Z`?`+) ?)~Zۈ@ ~Z]\;I~Xɫ髑) IY@ySGa=ɮa=i!)}r>}Y}>i}=@y }@)}@I}Ȏ@i}@^=MO=Y9QU>aEEy ϼ}>Iȡť_5?ť>Ӿ ƥB b@9ƥdEǥ: ȥ_:)ȡWbw@WX XW:W2W*WVbUBU*UUU!@RB*** querying acoustic contact ***PPBW/B BA *BA%" ˼A!A!A%O="C-SE*C-Y矽RC-n<=C-bw@C1SE=IG$>Rr,0KEAY}2I@}2@y}2h*}20}2Hyi ?? too?`i {?)~2I@ ~2D\;I~2Cɫ99)9 EIAY}@y}ESGZ****** received transponder code query ******F****** received ping request ******a E ČEy}>I! 5:% R5? :%GӾ %B b@9%gE%< % <)%:W<w@WX XW:W 2W *W)V1bU1BU1*U1U1U= =p @BiB BA*BALϼAAA^="Cx*CRC4=C<w@C ==Q=יIGb>({{ 9Y#R1y:M59@ܭ >9ܩ Iܩ iܩ ܭ =ܭ BDܩ ܭ n; ݭ E)=ŔCI=ŔCi=C=====#L6%Rr,_ "KEAY}2f@}2t@y}2^}2P}2H`@fr?@Ů?@tjˠ?`@?)~2f@ ~26];I~2Cɫ99)9 9I9Y}@y}19aEEEnjEQymtn}m>I  C5? PQӾ B ]b@9 kE *< s<) Ww@WX XW:W)2W)*W1V9bUBU*UUU`_ @BB9 B9A=*BAAE|ԼAIAIAM="Ce*CeyORCm7=Cmw@Ci= ·3=ס I G >IRr,c;KEAɫ髑) IY٫@ynSGUNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i]^I +?w/Ŀ]& ]t<)YIYy]MbX9? rhQ?]!?]C ]\= ]nA)]AI] AiYY]3A=7>=M=ʡi=(@9 =)=Q@I=Q@i=Q@M)<MU*=YUQUU>YYa]E]ˌEYye}e>Ii u:m35? u:ml]Ӿ mB }b@9mpEm: m:)m:Wv@WX XW:W2W*WVbUBU*UUU %@BB BA*BA׼AAA[="C0`*ChRCM=Cv@Cп8=ױIG>*yy 9YP1y':50Rr,PUKEAY}6Q@}6_@y}6 }6>r}6HʞZ? ?rI`X`o?@?)~6Q@ ~6>\;I~6CɫYY)Y ]IYY@yJSGxDUSBL response received:!U1,R,077,000,005D4,186,80,80,A1,FF Fpublishing direction and range infoɭԽɰs=鰙 )!CIyPB ?iQٱi]8M~=YQU ?aE͌Ey} ?Ig'5?eӾ B b@9sE: :)Wwv@WX XW:W2W*W!V!bU!BU!*U)U)U- m@P9*Q=PBZQ=n]II@):֑JQ= ?iQ2Q=ɭԽ:Q9bQ=TܸBB o5@RQ=MHNo),濼,;P,?BQ=Zz@ Q=0Q=P=/9?P=-9?P=Q=Q=@"Q=@B b$B) B)A5*B1A5ۼA1A1A5="C=ͧ*C=ޞRCEtQ=CEwv@CAqugAU>9QIUlOGiU@U=QQQ QօXR=YIiGZ>-[Rr,oKEAY}rsF@}r#T@y}r, }rCѕ}rHP?`س?j `D?`(@q?)~rsF@ ~r\;I~rCɫ) IY:@ySGTNmea in: $SNTTA,0.043373,,,,020637.67*41 ii)5= 5=i=nGISkAi=ٺSkA9.Beie@a ep@)e@Ieie@u5=Mu&=Yu:QU}>yya}E}ьEy:}>Iȉ :ō5? :ōrӾ ƍB b@9ƍxEǍ: ȍI:)ȍ:muAdded new target pos. range: 52.020000 m, bearing: 223.910786 deg, deltaT: 4.359656 s, approachRate: -0.605552 m/s, LOS rate: 0.151407 deg/s, posRepo size: 4m ProNav: pos range: 52.020000 m, bearing: 223.910786 deg, approachRate: -0.605552 m/s, LOS rate: 0.151407 deg/s, cmd update: 0.454222 deg/s, cmd heading: 220.649983 deg, new cmd heading: 220.267490 deg. Wv@WX XW:W2W*WVbUBU*UU`J@U@?BLB! B!A%*B!A%u6A!A)A-N="C-h*C5RC5w|==C5v@C1QIG5>|| 9YR1yi:5BRr,xKEAY}:0@}:>@y}:m}:}:H ] E?S˲?%] nΛ?읱@B?)~:0@ ~:2\;I~:Cɫ99)9 =I9Y}@y}SGi]0M]t=Y]4|;QU]?aaaeEeԌEiym}m?Iqu\ 5?u0{Ӿ u B b@9u{Eu߼: ur:)qWv@WX XW:W2W*WVbUBU*UUU v?B3ęB BA *BA5AAA="C !<*C^RC+=Cv@C K@=IG&>A A U >9Q IU OGiU @U =Q Q U ; U ElRr,2UKEAY}2p @}2 .@y}2<}2/}2H@:=? ?R`lcb↠?໹ 8?)~2p @ ~2\;I~2Cɫ9A)A AIAY}@y}SGi=*MEL=YML9QU>aE׌E y}%>IY :]5? :]fӾ ]B b@9]E]m< ]o<)]:Ww@WX XW:W2W*WVbUBU*U UU k?BB BA *BA AAAZ="C*C RC N=C w@C  ====M==zz 9YQ1y:*5)2;9 ) I1 GU >@Rr,.KEAY}2(@}2N6@y}2L}2K}2H`@A?F? W%CҠ? C?)~2(@ ~2/\;I~2CɫYY)Y ]IYY@yJSGI)ioʡ?p= ף?~jt? ?= <)Iym?&1I +??P94= •A)• AI•Ai•AA¡¥hA]7=]]i]•@Y ]@)]3@I]@i]p@mH<Mm9=YuQUu>qqa}E}یEyy;}>Iȉō5?ōkӾ ƍ#B b@9ƍEǍ#: ȍ:)ȉWPw@WX XW:W2W*WVbUBU*UUU?B򛛽B BA*BA}6AAA="C*C ߝRC KQ=C Pw@C=סIGA>vRr,KEAY}26@}2sD@y}2cN }2}2H J?=}? `ܸ (?@Z?)~26@ ~2\;I~2Cɫ19)9 9I9Y}@y}wSGi!=dJ<ME_=YEsQUM>QQaUEUތEQye;}e>Iqu5?uӾ u0B }b@9uEu: uX ;)qWw@WX XW:W2W*WVbUBU*UUU@hR@BB BAf*BAA!A!A%U="C*CRC}=Cw@C>9Ii=CD; E֝y=qIG]>|| q9YR1yi:5)+;WRr,;KEAY}:.@}:<@y}: }:/}:Hu@F?`?[@?@ ?)~:.@ ~:\;I~:Cɫ99)9 9I9Y}@y}ESGi @ @ @Å©ÅÅiÅ3@Å ą@)ąIąiąȎ@DME=Y QU>aEEy/}>Iȩ :ŭ5? :ŭӾ ƭ>B b@9ƭEǭ8: ȭY:)ȭ:Ww@WX XW:W2W*WVbUBU*UUU`[@BٕB! B!A%*B!A%`(A!A!A-="C5i*C5mRC5=C5w@C9AA%]=IG J>Sr,˿ LEAY}6 @}6@y}6P$}6}6H`/??@COɌ@#?@?)~6 @ ~6 \;I~6CɫYY)Y ]IYY@yJSG鮩ɮ=i=i)= =%:MV=Y/QU>aEEy <} >I5?Ӿ KB %b@9E+;  2;)W|w@WX XW:W2W*WVbUBU*UUU@R%B*** querying acoustic contact ***P!P!BٕB BA*BAdAAA]="C:5*C5RC"<C|w@Cr=יIGb> E9Yy59@ >9 I i /D ; ENSr,Z$LEAY}6}@}6[@y}6}6s}6H?E?`k(<u?@nl@?)~6}@ ~69\;I~4ɫ99)9 =IAY}Ϋ@y}`SGZ****** received transponder code query ******F****** received ping request ******aEEy%4<}->IA :E5? :EӾ EZB b@9EEE4q< Ek<)E:W #x@WX XW:W!2WI*WQVYbUaBU*UUUz @B]B BA*BA$%AAA="C*CRC<C#x@C׿<שIG>uSr,v>LEAY}2ć@}2Ǥ@y}2!}2:c}2H?DM? >sM|``!?@^?)~2ć@ ~2Z\;I~0ɫYY)Y ]IYY@ySGxDUSBL response received:!U1,P 077,000,005D4,186,80,80,A1,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i K?~jty&1? ^? D `e=) I y ^I +?Zd;OMb` X? j<   A) fAI  Ai A  A    þi̔@ E@)@I@i3@~<M=YQU>aE%E)y5Q}5>IIMѣ5?MӾ M`B eb@9MEM-; M$;)IWcx@WX XW:W2W*WVbUBU*UUUU@BeBi BiAm*BAAAA^="C *CRCr[<C%cx@C! 15=yy c9YP1y':N5% Ԙ< I G- >Sr,RXLEAY}2=@}2ۋ@y}2f'}2!X}2He?( ?t =T~p ??)~2=@ ~2\;I~2Cɫ99)9 =I9Y@y*SGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IQ)QiYYehAa?M=YOQU?aEEy}?Iȱ :ŵw5? :ŵgӾ ƵdB b@9ƵEǵ: ȵ:)ȵ:Wx@WX XW:W2W*WVbUBU*UUU#A@ܕ>9ܕǔCIܕ4PGiܕ:@ܕ=ܕBDܑܕ|; ݕE)-ƔCI-ƔCi)-=-=-6B=MB9 B9A=] *B9AEyAAAAAE="Cm*CmrRCm?,<Cmx@Cq֥jZXSr,-rLEAY}2ݹ@}2@y}2'}2W}2H}?@ ?@ o??)~2ݹ@ ~2B\;I~2Cɫ99)9 9I9Y}6@y}SGxDUSBL response received:!U1,R,056,000,005AB,184,80,80,8B,FF Fpublishing direction and range info_ɰ=鰅> ) CIy=FBO4?(=1ٱi-@>-\=-ľi-Q@) -@)-@I-@i-@h1=MD=YPQU>11a5E=E9yEJ9}E>Iqu5?uӾ uiB }b@9uEud: u:)qWJx@WX XW:W2W*WVbUBU*UUU`+@P)*Q-=FBZQ-9h#ҵH@qܴA JQ-O4?(=12Q-_:Q)bQ-r:NݨAiYA٪e@RQ-{-0g$vs?BQ-z@ Q- Q-F P)P-/9?P-Q-Q-H@"Q-@B} B BA*BAAAA:="Cl_*CqRCB<CJx@CֹבIG>zz 9YQ1y:5"Sr,LEAY}n<@}n@y}n%}nR}nHK??` Dl?I|?)~n<@ ~nw\;I~nCɫ) IYM @yUSGDNmea in: $SNTTA,,,,,020642.13*5E i eHM I=Y:QU>aEEy%}%>I) 5:-{5? 5:-Ӿ -nB 5b@9-E-(: -:)-:meuAdded new target pos. range: 49.560001 m, bearing: 224.489972 deg, deltaT: 4.507270 s, approachRate: -0.545785 m/s, LOS rate: 0.128500 deg/s, posRepo size: 4mu ProNav: pos range: 49.560001 m, bearing: 224.489972 deg, approachRate: -0.545785 m/s, LOS rate: 0.128500 deg/s, cmd update: 0.385501 deg/s, cmd heading: 222.693590 deg, new cmd heading: 222.870953 deg. W}Ux@WyXy XyWy:W2W*WVbUBU*UU H@Up?B`B BA*BAZtAAA3="Ca4*CgHRC,;CUx@C<יIGA>܍ >9܉ I܍ PGi܍ @܍ =܉ ܉ ܍ z; ݍ Ec)Sr,LEAY}6@}6c@y}6#}6IK}6H@G!@?@qG?j@+\gq?bac?)~6@ ~6m\;I~6Cɫaa)i mIiY@yDTGi=i(\?X9vMb?G? =)IyMb?X9v~jt? ?< •A)•AI• Ai•AA)í= é @ @ @©iד@ Q@)IQ@i3@=M/=Y :QU > aEEyq}>I!%j5?%Ӿ %zB -b@9%E%: %{:)!W y@WX XW:W2W*WVbUBU*UUU?BvDB BA1*BAAAAu/="C*C/RC`:C y@CinGIAA)AA~~ 9YT1y@:5)2;9Iz2/Sr,LEAY}2@}2vP@y}2W!}2n:}2H(`?eˮ?<'2@D)?,G*?)~2@ ~2];I~2Cɫ99)9 =I9Y]@y]rTGis<M=Y:QU?aEE y Z{} ?IK_5?lӾ B %b@9E: :)WEu@y@WAXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU]`p?BXB BA*BAD1 AAA="C?*CrRCfmCu@y@Ce;IG$>y6Sr,|LEAY}6@}6[@y}6L}6)}6H $?y?`- X?h?I4?)~6@ ~63];I~6Cɫ99)9 =IAY@yTGi E<MEF=YM:QUM>QQa]E]Eaye:}m>Iq :u P5? :uӾ uB b@9uEu$1; u +;)u:Wny@WX XW:W2W*WVbUBU*UUU-?=>99I=PGi=ܩ@==99=; =EBjB BA*BAQM AAAS="C *C %ϛRC Cny@C %=%=%NJ:IGn>ww 9YO1yP:΍5)7;DÝÝaEEy3;}>I@5?uԾ B b@9Ej: :)Wy@WX XW:W2W*WVbUBU*UUU %?B5vB1 B1A=*B9A=;%A9A9A=="CE*CERCM CMy@CIe29IIGeU>X,CSr,7O MEAY}2ч@}2.@y}2}2}2H`?跩?@`-o? `b? ?)~2ч@ ~2}];I~2CɫYY)Y YIYY@yTGiuMJ=Yc;QU>aEEy}<}>I :25? : Ծ B b@9E2`; J;):W-Fy@W)X1 X1W1:W12W9*W9VAbUABUI*UIUQUU",@BB BAA*BAS"AAAD ="CnV*CRCuCFy@CeIGj> 9Yy59@5 >95 ƔCI5 `QGi5 -@5 =1 5 .D5 ; 5 EVISr,+'MEAY}N-@}N@y}N}N]6 }NH @A'??R-q?? BCW?)~N-@ ~N];I~NCɫ) I YU@y]dTGep=ɮep=iqq%/$?i@ Σ@)Iv@i@ҼM,=YJ;QU>aEEy»;}>I"5?Ծ B b@9Ev: v:)W%y@W!X! X)W):W)2W)*W)V)bU1BU1*U1U1U=@REB*** querying acoustic contact ***PAPABeqBi BiAma*BiAmQeAqAqAu ="C}"*C}TRC}RaC}y@Cԩԩ֕Β{iIyG>n>PSr,AMEAY}2c@}2@y}29 }2Ja}2H /?`C?4@MV<MM=YU:QU] ?YaaeEe EiymX;}m ?Iy :}5? :}Ծ }B b@9}E}; }R;)}:W z@WX XW:W2W*WVbUBU*UUU w @B-ZB) B)A-*B)A5A1A1A5K=!="C=*C=1RC=C= z@CA]vт1IAG]v> 9YV1y:N5hVSr,CZMEAY}:@}:M@y}:t }:}:H 8? |?`+>@Tt?M? E?)~:@ ~:Hj];I~:Cɫ99)9 =I9Y}#@y}UGxDUSBL response received:!U1,P 056,000,005AB,184,80,80,8B,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iuW<M}P=Y:QU>aE9ŔCIPGiܩ@=y; E5E1yE;}E>Iy} 5?}2#Ծ }B b@9}E}; };)yWSz@WX XW:W2W*WVbUBU*UUUM @BulBy ByA}T*ByA;AAA!="C*CRCbaCSz@CNJκI) Gu >\Sr,tMEAY}2@}2@y}2}2k}2H`.;?\?~@ZUr?@$?r6b?)~2@ ~2O];I~2Cɫ19)9 9I9Y2@yUGAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i @ @ @Å©ÅÅiÅ@Å ą)āIą@iāȊ;M?=Y:QU>aEEyr:}>IK5?*Ծ B b@9E: B:)W59z@W1X1 X1W1:W92W9*W9V9bUABUa*UaUaUmi1@B }B BA*BA` AAAIj"="C|*CQ䚽RC?uC9z@C vтIG>}} 9YkS1yԊ:N5zcSr,$MEAY}:@}:@y}:٭}:Z+}:Hq;?B?@C[#r??@ߟ?)~:@ ~:*];I~:Cɫ99)9 =I9Y}@y}TGxDUSBL response received:!U1,R,068,000,0057E,186,80,80,A6,FF Fpublishing direction and range info޹ɰ[=鰅> )&CIyp;Bz9/H?% l3ٱI)i­gA­gA#M[=Y]:QU]>aaaeEeEiyu`}>Iș :ŝb5? :ŝ 2Ծ ƝB b@9ƝEǝj; ȝG;)ȝ:WMz@WIXQ XQWQ:WQ2WY*WYVYbUaBUa*UaUiUu@@P*Qp;BZQkdUG@ެJQz9/H?% l32Q޹:QbQ@BT|L@СΨz?RQofAB#?BQVz@ QcQ~PPPQQ@"QH@BB BA*BAAAA#="Cw*C-!šRC-|C-z@C1=&tI!G=r>>9Ii=CD; E)iIiimCm=m=mo6iSr,sMEAY}@}@y}ު}}H 0?@:8?@5 ώm??*\?)~@ ~>];I~Cɫ髱) IY #@yUGDNmea in: $SNTTA,,,,,020646.56*5B i$C?~jtZd;O?>D j<)IyS㥛?~jt rh??C< ¥A)¥=AI¥Ai¥hAA % % --E>--C i-@- -Q@)-3@I-3@i-3@X<M=Y9QU>aEEyk}>I}5?<Ծ B b@9Ev: ӻ:)muyAdded new target pos. range: 46.860001 m, bearing: 224.112631 deg, deltaT: 4.421966 s, approachRate: -0.610588 m/s, LOS rate: -0.085333 deg/s, posRepo size: 4m ProNav: pos range: 46.860001 m, bearing: 224.112631 deg, approachRate: -0.610588 m/s, LOS rate: -0.085333 deg/s, cmd update: -0.256000 deg/s, cmd heading: 224.399113 deg, new cmd heading: 224.594384 deg. Wz@WX XW:W2W*WVbUBU*UUnG@U@X?B^B BA T*B A KA)A)A5#="C5̜*C=4RC=ڻC=z@C9xx 9Y7P1y:N5e Β9 IA Ge >pSr,IMMEAY}6@}6i@y}63}68J }6H`@$? d?@G+`(e?? 녡@?)~6@ ~6LE];I~4ɫyy)y }IyY@yUGi!!UL=M]=Y])DQU]?aaaeEeEaym ׻}m?I :75? :BԾ B b@9E: j:):WPmz@WX XW:W2W*WVbUBU *U U U@e?B=B=^Y= B9A=e*B9AEAAAAAE-$="CMe*CU{RCU CUPmz@CQֽ`ԻיIGb>vSr,g(MEAY}6@}6m@y}6(d}6 }6H A"?`sX?`)`h? ˡ?o?)~6@ ~6X];I~6CɫYY)Y YIYY@yTG=i=i!!)-> -=URM]J=Y]uQU]>aaaeEeEaymm}m>܅>9܁I܅`QGi܅-@܅=܁܁܅v; ݅EIȱŵ5?ŵ)KԾ ƵB b@9ƵEǵp: ȵ9:)ȱW9Nz@WX XW:W2W*WVbUBU*UUU}?B]BY BaAe*BaAVAAA$="C|*CSRC~C9Nz@C黹ױIG>  y y   >9Y P1y ': <5) 5;9% S|Sr,- MEAifmGY}V~@}V_@y}V}V+yIrjA}VH?*?X.?1 i n?`ꔢ?9?i|)~V~@ ~VB4];I~VC%<ٺ%jA%,Bɫ11)1 5I1Yu@yuUGi-v>>-J-`=i-@) -@)-p@I-@i-Q@e5F=Me:=YmKeQUm>qqauEu"Eyy}s~;}}>Iȁ :Ņu5? :ŅTԾ ƅB b@9ƅEDž; ȅ[;)ȅ:W^0z@WX XW:W2W*WVbUBU*UUU?BZB BAH*BA݀!AAAZ%="C W*C T.RC 7#C ^0z@C]I!G=r>CɃSr,aNEAY}:@}:@y}:d}:o }:H`u:?Y?T@n'y??`*?)~:@ ~:v'];I~:Cɫ99)9 =I9Y} @y}VGiz=MY=YQU>aE%Ey;}>I5?\Ծ B b@9Ew: B;)W-)z@W)X1 X1W1:W92W9*WAVAbUABUA*UQUQUU@B-fB1 B1A5( *B1A=iD#A9A9A=m%="CM *C]ARC]:Ce)z@C}6=m2}>9yI}QGi}@}=yy}c; }E{{ }9Y#R1y:s5)24;i Iq G >\Sr,)NEAY}$@}1@y}}p}H 'N?`?St?@Z1?@mj?)~$@ ~\;I~ɫ髉) IY@yUGI))-AI))-Ai99Pn?)\(?I +$?Ga= 94)Iyn?+V-??< nA)AI9AiA3AhA @ @ @©i(@ )IQ@iмM*=YQU>aE)Ey;}>I  :M5? :AgԾ B b@9E : :):W5y@W1X9 X9W9:W92WA*WAVAbUABUA*UIUIUM =@Bu~By ByAH*BAGl%AAA~&="C%.*C%'ԙRC-;C-y@C)[=?B: I G >ڐSr,BCNEAY}2E@}2oS@y}2E}2}k}2Hb&c?.?eiP{??`5ɡ ?)~2E@ ~2J];I~2CɫYY)Y ]IYY @yVG鮥a=ɮR=iN&=M=Y1QU?aE+Ey`<}?I5?dnԾ B b@9E: :)Wy@WX XW:W2W*WVbU!BU!*U!U!U%XE@R5B*** querying acoustic contact ***P1P1BUŌBY BYA]( *BYA]&AYAYAe&="CeD*Cm鴙RCm20<Cmy@Ciyy)y yX;Iww 9YO1yP:59 @G >XSr,v]NEAY}2d@}29ƔCI(RGiЪ@=BDe; EiYYm<Mm@=Yu{LQUu>qya}E}/Eyy<}>Iȉō~5?ōxԾ ƍB b@9ƍEǍ; ȍ*;)ȉWػy@WX XW:W2W*WVbUBU *U)U)U- @BB BA *BA(AAA'="Cc*CrRCx<Cػy@Cֽ9<בIGe>.Sr,KwNEAY}2yu@}2+@y}2}2)}2H ?ť?1 :c?@wP? 1$?)~2yu@ ~2g];I~2Cɫ99)9 =I9Y}5@y}UVGxDUSBL response received:!U1,P 068,000,0057E,186,80,80,A6,FF Command AckBRequesting micromodem ping code 2ii=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iI4=)R=)= =    @ @ @ÁÁÁiÅ@Á ā)ąȎ@Ią@iąwM*=Y:QU>aE2Ey֌;}>I  :w5? :Ծ B b@9E: :):WuWy@WqXq XyWy:Wy2Wy*WVbUBU*UUU@) @B-B) B1A= *BAAEH*AAAIAM"(="C]^*CeDRCeK<CmWy@Cqֵ<xx 9Y7P1y:5׉ I G >Sr,J&NEAɫ髙) IYͭ@yUG Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iyyTMu=YQU?aE5Ey}?IAE2l5?EbԾ EB Ub@9EEE: E:)AWuy@WqXq XqWq:Wy2Wy*WyVybUBU*UUU)@BOMB BA*BAk,AAA(="C*CRC'<Cy@Cu<׹IGf>%>9!I%QGi%@%=%CD!%o; %EDSr,NEAY}bB@}bP@y}b}by!}bH`v`_?@?\gp? ڣ?4s?)~bB@ ~b-G];I~bCɫ髹) IY-=@y5#UG=xDUSBL response received:!U1,R,082,000,00553,187,80,80,AD,FF =Fpublishing direction and range info5V轩1ɰ5P=51> 1)5-CI1y51B5g4W?5ٱ1iqq-S?~jtl?-?-D -=))I)y-x&1?V-~jtx?-A ?-m-; -9A)-AI-Ai-A)-\A   õ1>õ/]õ(\iõf@õ ĵۙ@)ĵQ@Iĵp@iĵp@dM+=Y QU>AAaEEE9EIyMgN}M>IQ }:U\Z5? }:UԾ U&B b@9UEU; U;)U:Wf\y@WX XW:W2W*WVbUBU*UUU`g@P *Q 1BZQ pgE@:u JQ g4W?52Q V:Q bQ $6@;*O,O>sv?RQ )ڬI翳Zs?BQ ^y@ Q yQ P .9?P P Q Q *@"Q @B}By ByA*BAl.AAAK)="CP*CT☽RC#\<Cf\y@C֥R5<Lzz G9YQ1y:5ׁ I G >+Sr,6NEAY}z7&@}z3@y}z7`+}z.}zH`J??T qp?@mj?%ѥ b?)~z7&@ ~z%+];I~zCɫ) IYM@yMUGTNmea in: $SNTTA,0.061129,,,,020651.01*4C I)Ai hA ]0=M l=YQU?aERSr,NEAY}2i$@}22@y}29}2K &}2H`'@wI?@Wٮ?Q@À?n:?|?)~2i$@ ~2``];I~0ɫYY)Y ]IYY@y0VG>9I(RGiЪ@=BD/D; E)iIiimCm=m=m6i  ?=M[=Y%QU%>!!a%E-?E)y- }5>I9 E:=?5? E:=|Ծ =3B Eb@9=E=(: =:)=:Wmx@WiXi XiWi:Wi2Wq*WqVqbUyBUy*UyUyU}?BCB BA *BA1AAA;*="C5*C RC)<Cx@CEoM|| 9YR1yi:N5)*1;9 ~Sr,NEAY}2<@}2LJ@y}29F}2TO+}2H`W?*? `4{?Ĩ?aA?)~2<@ ~2zB];I~0ɫ99)9 =I9Yu@y}UGi=n>==C >i=@9 =p@)9I9i9MJXMUG=YUQUU>YYa]E]BEaye^;}e>Iim05?mԾ m;B }b@9mEm: m8:)iWXx@WX XW:W2W*WVbUBU*UUUม?BEaB BA*BA53AAA;*="C]y*CZRC:<CXx@CD-<׹IGE>dSr,nOEAY}:P^@}:l@y}:0M}:7}:H͑`k? ? u @g?? o?)~:P^@ ~:V];I~:CɫYY)Y eIaYO@yuVGE=iE=iIIIUp=)U=)]= ]>F<MF=Y%QU>aEEEyz#<}>Iȱ :ŵ 5? :ŵԾ ƵCB b@9ƵEǵ#: ȵ/:)ȵ:Wbx@WX XW:W2W*WVbUBU*UU U@J?Be>Bi BiAu *BqAuU5AqAqA}9+="C}**C: RCF=Cbx@C)=<I!G=r>ܽ>9ܽǔCIܽRGiܽs@ܽ=ܽCDܹܽo; ݽE ww ;9YO1yP:<5)(9;MSr,wJ,OEAY}5/@}5ጀ@y}5`R}5D;/}5HSx?Ѱ?A?I? Nޥ?)~5/@ ~5a6];I~5Cɫ11)1 =I9Y@yVGi  Zd;O? ףp= I +?j?Q8 94=)Iy-?lX9v?5?< •A)•AI• Ai•GAAM`iiamEmIEqyu<}u>Iy},5?}Ծ }RB b@9}E}: }:)yWx@WX XW:W2W*WVbUBU*UUU?BꢽB BA|*BAh7AAAӉ+="C- *CKݗRC!=Cx@C 99iunGISkAiE=ٺMSkAM-B<@9v-By=IG>vSr,S$FOEAY}2ޗ@}2@y}2\U}2dY}2H`,e@ ??tՑ?@?#?)~2ޗ@ ~2F];I~2CɫII)I MIIY}@y}VGi݆Mx=YQU?!!a%E%LE)y-<}-?I155?5Ծ 5]B Eb@95E5: 5:)1Weqw@WaXa XaWa:Wi2Wi*WiVibUqBUq*UqUqU} s@BB BA*BA9AAAU+="CeD?*Ce?RCmd6=Cmqw@C֍"=aIiG9>0 9Yy59 @Sr,_OEAe>9aIeTSGieī@e=aaeI; eEɫ髙) IYH@ykVGIA)i gA 뷼M K=YQU>aEOE!y%}%>I) 5:-;5? 5:-3Ծ -kB =b@9- E-: -Q:)-:W]7w@WYXY XYWa:Wa2Wa*WaVabUiBUi*UiUiUm@@R}B*** querying acoustic contact ***PyPyBB BA0 *BA!:AAAzS,="C}*CiRC|B=C7w@CסIGA>4Sr,yOEAY}:@}:9@y}:|Ia}:7ļ}:H $p!? u? Y~@0? %???)~:@ ~:[];I~:Cɫ99)9 =I9Y}Ѯ@y}WGZ****** received transponder code query ******F****** received ping request ******E=E33>iE̔@A EQ@)Ep@IEQ@iAU=M]7=Y]ջQU]>aaaeEeREaym}u>IȁŅT5?ŅԾ ƅzB b@9ƅEDž3< ȅ>/<)ȁWMRQw@WQXQ XQWQ:WY2WY*WYVYbUaBU*UUUw @B ̣B BA*BA<AAAAE,="CMb*CURCUK=CURQw@CY֕K@=iIyG>yy :YP1y':΍5Sr,VOEAɫ髱) IY@yTWGxDUSBL response received:!U1,P 082,000,00553,187,80,80,AD,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)) ̈́<MQ=Y%QUM>YaaEVEy}>I m:n5? m:)Ծ B uc@9E#< <):W%[ w@W)X) X)W):W)2W)*W1V1bU1BU1*U1U9U=`| @BӧB BAI*BA>AAA-="C[*CG֖RCC[=C[ w@Cm>9mȔCImSGim@m=mBDm0DmD; mEBJ=IG>aSr,仭OEAY}nWK@}n Y@y}nojm}nJ}nH Cf? L? g@%fm? ?`S/?)~nWK@ ~nnH];I~nCɫ髡) IY@y4WGENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =iiI=)=57A`?EԸ?I +?5?5= 59<)1I1y5w/?Mb M> @ @ @©i @ @)I@i ٻM-,=Y5̻QUM>QQa]E]YEaye؃}m>Iquo5?uZԾ uB }c@9uEu: u{:)qWv@WX XW:W2W*WVbUBU*UUU.$@BB! B!A%*B!AMЂ@AIAIAMn-="CUZ*CURCU/M=CUv@CY])2X=]}} 9YkS1yԊ:;51 IA Ge >Sr,kOEAY}6:@}6H@y}6q}6}6H`3W??\t`u?4? ?)~6:@ ~6W@];I~6Cɫ99)9 =IAY}@y}8WGxDUSBL response received:!U1,R,06F,000,00524,186,80,80,93,FF Fpublishing direction and range infoaƽɰ=鰅> )CIy%B4?DE¸ٱi:M=YsQU?aE\EyB}?I :5? :վ B c@9E#: Q:):WJv@WX X!W!:W)2W)*W)V1bU1BU*UUU^@P*Q%BZQ]D@Sjk JQ4?DE¸2Qaƽ:QbQ2pƲ=~z/Sr,gGOEAY}Z6@}ZAD@y}Z'~v}Zw9}ZH59܁I܅TGi܅@܅=܁܁܅Q; ݅Eɫ) IY58@y5WGDNmea in: $SNTTA,,,,,020655.47*59 i<M:=Y+QU>aE_Ey}>It5?վ B c@9E : :)muAdded new target pos. range: 41.459999 m, bearing: 224.134474 deg, deltaT: 4.344506 s, approachRate: -0.649096 m/s, LOS rate: 0.204640 deg/s, posRepo size: 4m ProNav: pos range: 41.459999 m, bearing: 224.134474 deg, approachRate: -0.649096 m/s, LOS rate: 0.204640 deg/s, cmd update: 0.613919 deg/s, cmd heading: 220.756220 deg, new cmd heading: 220.493194 deg. Wv@WX XW:W2WY*WaVibUqBU*UU@D@U?B %B  B A *B A DAAAZ.="C]9*C] RCe>=Cev@Ca  y y   9Y P1y ': <5) 3;9 m JM=) I1 GU >Sr,c(OEAY}6-@}6;@y}6u}6=U}6HʳE?`?@RS`^?`?U`*?)~6-@ ~6m&];I~6Cɫ99)9 9I9YuR@y}WGIA)Ai !!)-gA u u u u@ u@ u@qqqiu@q u@)u@Iuiu@<MN=Y 9QU>aEbEy!-}>Iȡ :ť5? :ť;վ ƥB c@9ƥ"Eǥ: ȥ:)ȥ:W(w@WX XW:W2W*WVbUBU*UUUD?B!B BA*BA3EAAAjX.="C%*C%7╽RC%0#-=C%(w@CօSE=AIIGm5>oTr,PEAY}J@}J@y}Jr}JUl}JH`rl%?@ ?7 }?-??Sy?)~J@ ~J$];I~JCɫYY)Y YIYY@yXGiAAH<MI=Ya;QU>aEfEyX}>IȩŭN5?ŭ'վ ƭB c@9ƭ'Eǭ: ȭf:)ȩWow@WX XW:W2W*WVbUBU*UUU[?BB BA%*B!A%DFA!A!A%v.="C-*C5RC5C =C5ow@C1==IGI>]>9]ɔCI]TGi] @YYY]p; ]E)ݕȔCIݕȔCiݑݕ=ݕ=ݕcJ6  x x   9Y 7P1y : ΐ5) 8;K0 Tr,.PEAɫ髩) IY@y|XGiQQ Gz?bX9ȶZd;O? p? E j<) I y V-? rhy&1? |? C `e<  A) I i fA   m m mmhQ?m|m=im@m m@)m5@Im@imۙ@}z<M}<=Y}QU>aEiEy}>Ișŝ|5?ŝx1վ ƝB c@9Ɲ+Eǝ: ȝ:)șWw@WX XW:W2W*WVbUBU*UUU@P?B&٧B BA*BAmHAAA.="Cc*CiRCP=Cw@Cֵ#=I׽gA)׽fAבIGa>#Tr,HPEAY}6ٔ@}6E@y}6w}6}6H '?J?`@=@? ?`g?)~6ٔ@ ~6];I~4ɫ99)9 =IAYů@yAXG9i==iAA)M= M=u[Mu]=Y}wQU}>yaElEy}>Iȑ :ŕAn5? :ŕ8:վ ƕB c@9ƕ/EǕM: ȕ{:)ȕ:Ww@WX XW:W2W*WVbUBUI*UQUQUU`=@BvZB BA*BAA5JAAAM/="C"*C=RCZ<Cw@C =יIGb> Y :Yy59 @>Tr,bPEAY}6@}6(@y}6\}6Bg}6H1`?@Ƿ?I$I??``?)~6@ ~6Z7];I~6C >9 I UGi @    ; EɫAA)I MIQY%@yXGiyy<MF=YQU>aEoEy}>I8^5?Cվ B c@93Eӻ: f:)W5Ex@WX XW:W2W*WVbU BU *U UUFh@B_B BA*BArKAAA/="C *C vRC H4N<C 5Ex@C`=<IG5O>iU mGIa iy =ٺ -BogTr,8j|PEAY}:@}:-@y}:kG}:}:H.@?{?> G(eF .&?6ft?)~:@ ~:];I~8ɫ99)9 =I9Y}@y}XG鮁ɮp=i=ףi@ 3@)@I@i@kMX=YQUu>qya}E}rEyyn?:}>Iȉ :ōN5? :ōMMվ ƍB c@9ƍ7EǍ@; ȍ;)ȍ:Wx@WX XW:W2W*WVbUBU *U U U  @R=B*** querying acoustic contact ***P9P9B}kBy ByA}`*BAEjMAAA/="C*C䔽RC~<Cx@Cֽ<יIGd>L|| G9YR1yi:5HO%Tr,=EPEAY}6jw@}68 @y}6A}6u}6H ^<?I? |TL?@A ?)~6jw@ ~6/];I~6CɫYY)Y ]IYY̰@yYGZ****** received transponder code query ******F****** received ping request ******!!a%E%vE)y5߳}5>I9=?5?=Vվ =B Mc@9=;E=: =g:)9W5/x@W1X1 X1W1:W12W9*W9V9bU9BUA*UAUAUE` @BRB BA*BANAAA!0="CK*CRClj;C/x@Cz<׹IGf>>9IsVGiN@=; Eey+Tr,S PEAY}6jF@}69~@y}6}6j}6H`@ў?3 ?й`y&?3?`_౿@?)~6jF@ ~6#];I~6CɫIQ)Q UIQYyyyxDUSBL response received:!U1,P 06F,000,00524,186,80,80,93,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i5^I ?v/{Gz?>xi ף<)Iy'1Z?:vX9v?"?T< t A)GAI AiA e@ e@ e@=©==i=@= =@)=I=d@i=@YQU>aEzEy-}>I) e:-*5? m:-Yeվ -B uc@9-@E- O< -4<)-:W5y@WX XW:W2W*WVbUBU*UUU`Y^@BUBQ BQAQ*BYA]QAYAYA]i0="Ce*Ce{RCehCe5y@Ci4tt s9YM1y:N5֥ r;y I G >*a2Tr,PEAY}Ba&@}B'h~@y}B[}B{}BH@Ww?÷?`ZDgr?*ݰ?ZȰ?)~Ba&@ ~B;];I~BCɫYa)a eIaYӰ@yYG@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i:Mg8Tr,PEAY}65@}6?~@y}6g܏}6𖅽}6H ;j?+g? π?? M k?)~65@ ~6XK];I~6CZ>9XIZ )BIyB?>Aٱi=i)= %=MW=Y]:QU>aEE y ;} >I5?uվ *B %c@9GE : Y:)WEy@WAXA XAWA:WI2WI*WIVIbUQBU *UUU@P!*Q%BZQ%w0cQC@nwUJQ%?>A2Q%Vh:Q!bQ%Qy;#;@RQ%Z濳 i'2?BQ%Vz@ Q%Q%P!P%09?P!Q%Q%TA"Q%AB1B BA*BA{SAAA0="C|*CiTRCP6=Cy@C&t׹IGf> 9YT1y:5):;9 >Tr,DPEAY}%q@}%GX@y}%5 }%E}%H?@h?8O?<]?Z?)~%q@ ~%Ć];I~!ɫ  )  IYM@yMZGTNmea in: $SNTTA,0.045525,,,,020659.89*4A i = = = =@ =@ =@999i=@9 9)9I=3@i=MМ<MM6=YUbQUU>QYa]E]EYye<}e>Ii u:mi5? u:mȁվ mETr,qQEAY}F@}Fk@y}F‘}F}FH@?`E?a@.r?h4?D?)~F@ ~F];I~Dɫ11)1 1I1Y@yvZGiMO=Y:QU>aEE!y%B;}%>I)-25?--վ -LB =c@9-OE-: -#:)):UuUAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;]v]ZEntering USBL mode with 5.000000 count pings.1;]q;eWey@WiXi XiWiXi:Wq2Wq*WqVqbUqBUy*UyUyU}ܥ>9ܥȔCIܥXGiܥ@ܥ=ܡܡܥ; ݥE5 "5 w5 w5  5 9Y5 O1y5 P:5 r5)5 <;KTr,i1QEAY}F@}F,@y}F}F}FH+?ͮ?#`D?`r?᜿Q?)~F@ ~FBq;I~FCɫ11)1 1I9Yu!@yu'[GIA)iS㥛?RQȿ:v??B =)IyS㥛? aEEyX}>I! -:%5? -:%ۖվ %YB 5c@9%TE%: %A:)%:XM@q;MuMCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:UuUAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLW]z@WYXY XYWYXY:WY2Wa*WaVbUBU*U U U d?B5?B1 B9A=ؾ*B9A=XA9A9AM71="Ce*Ce`哽RCmCmz@Ciu?BɺIIYGu>ҳRTr,UKQEAY}:W@}:S~@y}:Z}:w}:HN? İ?_@f̥?O?d@?)~:W@ ~:<;I~:Cɫ  ) IYM\@yMp[GiJ<M`=YBQU>aEEyy}>I5?Ÿվ eB c@9XE: M:)W;z@WX XWX:W2W!*W!V!bU!BU)*U)U)U- 2?BU@BY BYA]վ*BYA]3YAYAaAeP1="C$*CʓRCC;z@C3IGK>d{{ 9Y#R1y:59@XTr,eQEA$9&ɔCI&XGi&6@&=$$&; &×E)ɔCIɔCi==6Y}F=@}F~@y}FmG}FF1}FHra@L?а?y`?#?ב@]?)~F=@ ~FrB;I~FCɫUU)Q QIYY@y[GiM<MUC=YUQUU>YYa]E]Eaye}e>Ii u:mh5? u:mվ msB }c@9m\Em: m:)m:WUdz@WQXY XYWaXa:W2W*WVbUBU*UUU@B$B$1= B1A5-Ѿ*B1A=ZA9A9A=U1="CE5*CERCM;CMdz@CIU1I9G]>_Tr,~QEAY}25@}2~@y}2}2Q}2Hex?`Y?˦ x?n? ?)~25@ ~2S;I~0ɫ) IY=6@y=}\G=i=iI=)=)> >5?W?Si@ ۙ@)Iۙ@iۙ@-B=M-M=Y-ZQU5>11a5E5E9y=}E>IAE 5?Eվ EB Uc@9E`EE: E :)AWu?z@WqXq XyWyXy:Wy2Wy*WVbUBU*UUU@8@B B BAuǾ*BA.[AAAZ1="Cv*CRCYC?z@C סIGD>V~~ 9YT1y@:*5eTr,ݘQEAY}2&@}2h~@y}2\ި}2y}2H Jp-?!?@2@ P??_!7?)~2&@ ~2΍;I~2Cɫ19)9 9I9Yuy@yu\Gyɮ}=i<M]=YoQU>a%E%E!y-۠}->I1 =:55? =:5վ 5B =c@95dE5: 5:)5:Weez@WaXa XaWiXi:Wi2Wi*WqVqbUqBUy*UyUyU}@/u@RB*** querying acoustic contact ***PPBUB BAJþ*BA ]AAAW1="COv*C}RC7tҼCez@C}׹IGE>E>9AIEYGiEذ@E=AAE; EElTr,QEAɫ髙) IY@y\GZ****** received transponder code query ******F****** received ping request ******ai/mGIjAii=fVٺ=jA=DB/$?333333?/$?1?= ,=)IyCl?QI +?d?u94= …9A)…AI… Ai…GAA=m=iQ@ @)@I@i@ek<Me"=YQU>aEEy}>I5?վ B c@9iEB; H@;)WUz@WYXy XWX:W2W*WVbUBU*UUU @BB BA 5*B A ^A A A >1="C5E*CU2^RCU2C]z@CY7vv 9YN1y:5- <|^== F˼ I! G= >rTr,1_QEAY}2w@}2S(~@y}2U}2)5}2H&@yTr,"QEA>9IZGi̱@=; EY}ZV @}Z.~@y}Zz|}Z>}ZH`??@G(g?s(?{?)~ZV @ ~Z[n;I~ZCɫyy)y yIyY6@y]GAA-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iлM@=Y>QU>aEEy~d:}>I) M:-u5? U:-վ -B ]c@9-pE-; - ;)-:We {@WX XWX:W2W*WVbUBU*UUUU@B^B  BA}*BA`AA!A%!1="CM*CM,8RCU- CU {@CYѕ0=% % z% z%  % 9Y% Q1y% :% *5)% 8;9= ֭ rׁ I G >"BTr,QEAY}2@}2B~@y}2'F}2E(}2Hu{`?k1? MF?2??)~2@ ~2'j;I~0ɫYY)Y YIYY@y^GxDUSBL response received:!U1,R,06C,000,004CB,187,80,80,A6,FF Fpublishing direction and range infoɰ=鰥1> )&CIyzBEä?|ӄ{ٱi  @  @  @ ©  i @  /@) I i /@d=M%W=Y%CQU%>))a-E-E1y5];}=>I9=f5?=>վ =B Mc@9=tE=: =b:)9W E@{@W X  X WX:W2W*WVbUBU*U!U!U%@RU(Combining 5 samples.PQ*QUzBZQUZA@ p1 JQUEä?|ӄ{2QU:QQbQUNKE:ơ8+82vD @RQUvgR7ziXZٔƶ?BQU4x@ QUYQU2PU-9?PQPUQQQU A"QUTABB BA*BAaAAA1="Co*C&RCޤ CE@{@C  )  ֥ Gׁ I G ,Tr,REAY}nu;@}nO~@y}nJE}n&@}nH9]p??ѥ`y[K? ?`뇿?)~nu;@ ~n+f;I~nCɫ) IY@yR^GuDNmea in: $SNTTA,,,,,020704.34*58 }=i}=i)Õ= Õ= 8]M <=Y쒻QU>aEEy%f6<}%>Ii u:m0V5? u:m]վ mB uc@9mxEm: m:)m:myAdded new target pos. range: 36.119999 m, bearing: 222.205356 deg, deltaT: 4.446647 s, approachRate: -0.580212 m/s, LOS rate: -0.541595 deg/s, posRepo size: 4mrPowering the camera and arming the DDM at range: 36.12 m.Xm ProNav: pos range: 36.119999 m, bearing: 222.205356 deg, approachRate: -0.580212 m/s, LOS rate: -0.541595 deg/s, cmd update: -1.624786 deg/s, cmd heading: 224.931646 deg, new cmd heading: 225.068408 deg. W{z@WX XWX:W2W*W V bU BU *U U \B@U@n?B]BY BYA*BAocAA A s0="C RCmQC{z@CE>9AIE[GiE@AAAE; EE֕ בIG>  x x  = :Y 7P1y : s5) W;UTr,3REAY}63P@}6˻~@y}6 8}6}6H@L q??giٯ?d? ?)~63P@ ~6lb;I~6Cɫ99)9 9I9Yu͵@y}_Giw/?Q{GztF?\ ף)IyK?Q롿^?\ … A)…nAI…zAi…fAA    @ @ @iG@ )I@iۙ@f=ML=YQU>aEE y ;}>IH5?վ B %c@9|E: :)Wɻy@WX XWX:W 2W *W V bUBU*UUUm?Be3B BA*BA#dAAAܨ0="CcRCÎCɻy@C֝ǼyIG]>YYa]E]Eaye}e>Ii u:mH:5? }:mվ m B }c@9mEm4: m,:)m:Wy@WX XWX:W2W*WVbUBU*UUU?B B BA*BAdAAAr0="C2 RC <9C y@C%}IGL> 4     s9Y T1y : N59% @% >9! I% |]Gi% @% =! ! % ; % ×E_fTr, mgREAY}2~@}2@y}2Ƚ}27}2H@q'1?ǰ?(A ?`g?F ?)~2~@ ~2^;I~2CɫYY)Y YIYYZ@yZ`GI)Ai  |<MF=Y`QU>aEEy^<}>I;+5?־ B c@9E; o;)W8Hx@WX XWX:W2W*WVbUBU*UUU@\$?BB BA<*BAqfAAA'0="C}RC{<C8Hx@Cֽyb]יIGb>MTr,GREAɫ  )  I Ye4@yefaGi % % % %@ %@ %@!!!i%f@! %/@)!I%/@i%z@5^=M5&=Y=QU=>9AaEEEEIyM}M>IQ m:U5? m:Uv־ U$B uc@9UEUӁ; U+;)U:WMmw@WX XWX:W2W*WVbUBU*UUU@B{nB BA*BAgAAA$/="ChRCR<CMmw@C- - z- z-  - >9Y- Q1y- :- 5= 9 I G5 >3xTr,"REAY}2w@}2Tn@y}25Tҽ}2;}2H ? ?/?uyRƴ?`>?sy??)~2w@ ~2];I~2Cɫ99)9 9I9Y@y`Gi9Au6Mu=Y}rQU}?yaEEy:<}?Iȑŕ5?ŕ־ ƕ.B c@9ƕEǕǺ: ȕ:)ȑWPv@WX XWX:W2W*WVbUBU*UUU B@B|YB BA*BAgA A A /="CeARCJ=CPv@C֍[R;aIiG;>>9I _GiJ@1D; )9I9i999=15Tr,REAY}2@}2r@y}2ս}2!;}2H@ ?J?``)?u?@{?`M?)~2@ ~23v];I~2Cɫ99)9 9I9Y]@y]AbGep=ɮaiim=iqqI}4=)}4=-?)\(Mb?5?G )Iy7A`?+X9v??< )SAI\AiAA)Õ= Õ=   DF> >i@ E@)@IE@iE@v=MC=YxQU>aEEy :}>I  .5? $־ BB c@9 E : :) W=iv@W9X9 X9W9X9:WA2WA*WAVAbUABUI*UIUIUU@R]B*** querying acoustic contact ***PYPYB}bOBy BAx*BAhAAA"/="CLRC>=Civ@CօT p { {   9Y #R1y : 5Tr,0REAY}2@}2d@y}2eؽ}2n]}2H?V?f F'ǵ??k`0?)~2@ ~2Y];I~2CɫYY)Y YIYYeh@yebGmZ****** received transponder code query ******mF****** received ping request ******maEEy}>I  :G 5?  :D-־ SB c@9E; ;):WEnu@WIXI XIWIXI:WQ2WQ*WYVYbUYBUa*UaUaUm՜ @BEeBN = BAh*BAViAAA.="CRC\=Cnu@C׹IGf> >9 I `Gi @ = ; ʗEfTr,SREAY}2!@}2_@y}2ܽ}29}2HJ?}?4@? r? g?)~2!@ ~2-];I~2Cɫ99)9 9IAYڸ@yncGxDUSBL response received:!U1,P 06C,000,004CB,187,80,80,A6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i]=MeB=YuQU}>aEEyA}>I. 5?N7־ iB c@9Em; Jj;)W 2t@W X  XWX:W2W*WVbUBU*UU!U%Y @BMBBI BQAUdZ*BQAUC)jAQAQAUk%.="C]RC2v=C2t@C֥$=יiIjAiI% ٺ%jA%tqBGE>  v v   9Y N1y : ΍5) M5;9% Tr,SEAY}2@}2nM@y}2ཙ}2q~}2H [ @??`# &CX? ?e/?)~2@ ~2h];I~2Cɫ99)9 9I9Y}F@y}cGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)i   gA$>YD;i¥@ 5@)Id@id@,<M @=Y QU >aEÍEy/}>I! -:% 5? 5:%@־ %}B 5c@9%E%: %:)%:WUs@WQXY XYWYXY:WY2WY*WaVabUaBUa*UaUiUmx+@B&B BAL*BA%jAAA-="C9RC\=Cs@Cֽ#Y=יIGb>ATr,iSEAY}2U@}2,@y}2b⽙}2f:}2H`:`S?m?@S@Ī?=? P&?)~2U@ ~2];I~2Cɫ99)9 9I9Y}@y}rdGxDUSBL response received:!U1,R,07F,000,0049C,186,80,80,7D,FF Fpublishing direction and range info⽩ɰT=鰅> )BIy3Bg?!cPٱiII<MB=YQU>aEǍEy|}>Iȩŭ3 5?ŭJ־ ƭB c@9ƭEǭ: ȭ :)ȩW#s@WX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q3BZQ=?@@ ov JQg?!cP2Q:QbQE~Rӏ8MȊ(6*@RQ7῰ZJaQKX?BQ x@ QFQ~P.9?P-9?PQQA"Q ABOB BA@*BAhkAAA"-="CRC:=C#s@Cm>9mʔCIm,bGimԷ@m=iim; mϗE%·3=.c= I G- >E E yE yE  E 9YE P1yE ':E 5)E 9;Tr,W6SEAY}vhf@}v6~@y}v⽙}vH+N}vHH2I?@o?n`?K?7@~?)~vhf@ ~v];I~tɫ  ) IY-@y-eGDNmea in: $SNTTA,,,,,020708.78*5C iNonly read 0 of 1 data item for altitudea i@a  a m@a  a q@a  a e@a  J>?n>i@ @)z@Iiz@=MD=YQU>aEʍEy|"}>I  :  5? : T־ B c@9 E : >) :mMyAdded new target pos. range: 33.300003 m, bearing: 222.056294 deg, deltaT: 4.465809 s, approachRate: -0.631464 m/s, LOS rate: -0.033379 deg/s, posRepo size: 4mMrPowering the camera and arming the DDM at range: 33.30 m.XIm] ProNav: pos range: 33.300003 m, bearing: 222.056294 deg, approachRate: -0.631464 m/s, LOS rate: -0.033379 deg/s, cmd update: -0.100136 deg/s, cmd heading: 217.667537 deg, new cmd heading: 216.989151 deg. Wes@WaXa XaWaXa:Wa2Wi*WiVibUiBUq*UqUuf@@Uu@?B=jÌB9 B9AEO#*BAAEkAAAAAEߔ,="CM*CMfՒRCU=CUs@CQUV =E=! I1 GU >:Tr,% PSEAY}2;@}2$~@y}2⽙}22cp}2H@Qߐ?@(?Xϥ?6O? ح@?)~2;@ ~2Ǹ];I~2Cɫ99)9 9IAY@yeG%=i%=i11IE=)E=)M= M>}<M}f=YQU>aE͍Eyn}>Iȡť 5?ťG\־ ƥB c@9ƥEǥM; ȥF?)ȡWUi s@WYXY XYWYXY:WY2Wa*WaVabUaBUa*UiUiU $`?BTB BA*BAclAAA,="CL*CRC=Ci s@C ) E A A E  E C9YA yA E 59M @֭ =ׁ I G >m >9m ɔCIm dGim @i i i m ; m ƗETr,+@}>U~@y}>]⽙}>b}>Hehmx?`Ҿ?`H &50?D? gί?)~>+@ ~>^;I~>CɫYa)a iIiY@yfgGiο-?i(@ @)I@i@8=M@=YC9QU>  a EMЍEUh@QyU}]>IY]ۜ 5?]f־ ]B mc@9]E]t: ]?)YWhs@WX XWX:W2W*WVbUBU*UUUS?B-#B) B)A5V*B1A5lA1A1A5q+="C=M*C=,DRCE-(=CEhs@CA]h=1IAG]v>CTr,փSEAY}: @}:3~@y}:Ὑ}:L}:HYu h?@? yރ?*?밿=?)~: @ ~:c ^;I~:Cɫ99)9 9I9Y}@y}jgGiEz:MEY=YM:QUM>IIaUEUӍEQy]K}]>Iaeߏ 5?ewn־ eB mc@9eEe: e?)aWr@WX XWX:W2W*WVbUBU*UUU@F$?B~B BAj*BAmAAA*="C)*CRCPK=Cr@C=IGF>M M {M {M  M ;9YM #R1yM :M ΍5cTr,SEAY}2|@}2^~@y}2 ߽}2}2H W? }l?qRs?ӻ?@?)~2|@ ~2,w^;I~2CɫYY)Y YIYY@yhGI)Ai    eA5\=M=K=Y=6Y;QU=>AAaEEE֍EIyM }M>I 5?w־ B c@9EN: ?)W r@WX XWX:W2W*WVbUBU*U U U @?B5B9 B9A=*B9A=dmA9AAAEN*="CE5*CMORCM3H=CM r@CQ=>m@=99I=xfGi=S@==99=; =ėEaIGd>|>Tr,SEAY}2Z@}2}@y}2mؽ}2,}2HO F? ?`e ?@%?@ ?)~2Z@ ~2`^;I~2Cɫ99)9 9I9Yͽ@yiGia ia i a ma m a qa q a ea e Fx?aEڍEyX}>Iș :ŝhs 5? :ŝA־ Ɲ B c@9ƝEǝ3: ȝ:)ȝ:Wr@WX XWX:W2W*WVbUBU*UUU\@B x}B BAXp*BAmAAAE)="C%B*C% hRC%.l=C%r@C)55 ==׉IG>= = v= v=  = :9Y= N1y= := 5^&Tr,gSEAY}:@}:}@y}:ѽ}:1B}:H )?y?@K+*?$?०`U?)~:@ ~:X^;I~:Cɫ99)9 AIAY}@y}iG鮅a=ɮp=iЫ<Mm=Y5|99a=E=ݍEAyEAg}E>IIMg 5?M+־ MB ]c@9MEM: M:)IW}\r@WX XWX:W2W*WVbUBU*UUUP@@RB*** querying acoustic contact ***PPBD}B BAR*BAmAAA5)="CYL*C.(RC=C\r@CIG> >9 I lhGi @ = 0D ; ˗E)ݙIݙiݙݝ=ݝ=ݝC5PTr,DSEAY}J@}J'7}@y}Jʽ}Jҡ}JH?@$?+K@d?5??)~J@ ~J^;I~JCɫYa)a aIiY8@yjGZ****** received transponder code query ******F****** received ping request ****** Ý>       %> = >i @  ­@) @I @i @=S<M=4=Y=AAaEEEEIyu`}u>Iy :}Y 5? :}־ }-B c@9}E}: }:)}:W wr@W X  X W X :W2W*WVbUBU*UUU @B>#zB BA:*BAmAAA>(="C>Y*C/ِRC`r=Cwr@CIGE>= = y= y=  = 9Y= P1y= ':= 5)= 2;9E g8Ur,OTEAY}2_@}2|@y}2Ľ}2^}2HE?ƿ?`0t??x?捴@?)~2_@ ~2A_;I~2CɫYY)Y YIYY]@ypkGxDUSBL response received:!U1,P 07F,000,0049C,186,80,80,7D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i=M_=Y-AIaMEUEayn}>I15L 5?5־ 5>B uc@95E57 < 5? <)1Wr@WX X!W!X9:WA2W*WVbUBU*UUU G @BepBi BiAm!*BiAmmAiAiAu!(="Cud*C}qRC}b=C}r@CיIG k>bUr,TEAY}25@@}2ћ|@y}2]輽}2O}2H_`?ʿ?`M&EP? z?lQ?)~25@@ ~2 `;I~2Cɫ99)9 9I9Y-@y5kG@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iUSiM]F=Y] aaaeEeEaym"}m>Iq }:u@ 5? }:uC־ uNB c@9uEuk: u:)u:Wr@WX XWX:W2W*WVbUBU*UUU@BrB BA瀼*BAnAAAc'="C0o*C!YRCY=Cr@C>9IiGiݽ@=; җEĎ=I)Gmx>E E wE wE  E g9YE O1yE P:E ;5)E 5; 3 Ur,D8TEAiIjAi(RFٺRjAR6vBY}rm@}rAT|@y}rⶽ}r%}rH .%?`(?`!`=]mup?@Զ?@S絿2?)~rm@ ~r_;I~rCɫ髱) IY=F@y=lGExDUSBL response received:!U1,R,04E,000,00474,184,80,80,8B,FF EFpublishing direction and range infoE'gAɰEǺ=E> A)E CIAyE3AE ۦ?,::siٱAIQ)UAiYa aaK7?t= /])IyS?X9vl??}= AA)AIihA\ A  fAU9Ǔ>U}iU@Q UK@)UΣ@IUiUΣ@eM=Me:=Ymv;QUm>iiauEuEqy}"}}>Iy}0 5?}־ }bB  c@9}E}< }ِ<)yW-~r@W)X) X1W1X1:W12W1*W9V9bU9BU9*U9UAUe@Ru(Combining 5 samples.Pq*Qu3AZQu$>@(q9JQu ۦ?,::si2Qu'g:QqbQuU7Pb6 m48n@RQu1o 瞍(P心ngD?BQu w@ QuQuPu-9?Pu.9?PqQuQuA"QuABnB BA*BAAAANK'="C7|*CWRCRVN=C~r@C!|^=׹IGe>jwUr,ԻRTEAY}g@}5{@y} }F}HQ Ý?V?|$p??>ڴ5?)~g@ ~^c;I~Cɫ) IY @y EmGuDNmea in: $SNTTA,,,,,020713.22*59 i1=MD=Y;QU>aEEya}>Iq }:u ! 5? }:u־ uvB c@9uEu ; u ;)u:myAdded new target pos. range: 30.900002 m, bearing: 221.993606 deg, deltaT: 4.459299 s, approachRate: -0.538202 m/s, LOS rate: -0.014058 deg/s, posRepo size: 4mrPowering the camera and arming the DDM at range: 30.90 m.mlFinal approach. Armed for intercept at range: 30.90 m.m\Transitioning guidance mode to: FINAL_APPROACH"Xm ProNav: pos range: 30.900002 m, bearing: 221.993606 deg, approachRate: -0.538202 m/s, LOS rate: -0.014058 deg/s, cmd update: -0.042173 deg/s, cmd heading: 217.221406 deg, new cmd heading: 217.179408 deg. Wor@WXD; X?W:W2W*WVbUBU*UUf>@U?B ;iB  B A ψ<*BAmAAA&="CF*C%RC%=C%or@C!mY=IG%>= B= y= y=  = 9Y= P1y= ':= N59E @ܥ >9ܡ Iܥ (kGiܥ "@ܥ =ܡ ܡ ܥ ; ݥ ЗEUr,lTEAY}5ݸ@}5!{@y}5}5&壽}5H nx{?@o?Ѡc'c?;?d?)~5ݸ@ ~5Ga;I~5Cɫ11)1 5I1Ym@yumGi]Mb>]=]̌>i]@Y ]A@)]A@I]A@i]"@m<MmP=Yu qqa}E}Eyy}}>Iȉōn 5?ō#־ ƍB c@9ƍEǍY: ȍ:)ȉWr@WX XW:W2W*WVbUBU*UUU#*?BĕfB BA<*BA;mAAA&="CDž*C cRC C=C r@C  ===7y=I G%N>!Ur,cTEAY}6@}6kC{@y}6a3}6}6H@*e?B}?@t୸hK?`?賿?)~6@ ~6]j;I~6Cɫ99)9 9IAY}@y}nG=i=i)= =U+=MU^=Y]gYaaeEeEaymH}m>Iqu 5?u_־ uB }c@9uEuY: u;:)qWr@WX XW:W2W*WVbUBU*UUU@v?BO^B BAR=*BAmAAAD&="C6*CRC=Cr@C-7=IG )>= = {= {=  = 9Y= #R1y= := 5'Ur,ATEAY}6b@}6mz@y}6O}6<}6Hl@B?}?`]fE_@?=?)~6b@ ~6};I~4ɫYY)Y YIYY@ynGi5]M=L=Y=`;QU=>AAaEEEEAyMy}M>IQ ]:UJ 5? ]:U2־ UB ed@9UEU: UM:)U:Wzr@WX XW:W2W *W V bU9BU9*U9U9U=06?B_B BAjM=*BAmAAA\%="C;*CRC-Ѯ=C5zr@C9u>9qIuTlGiu@u=qqu; u̗Eew=IG >-Ur,qTEAY}2/@}2zz@y}2}2娽}2Hz? "?@CqN˲? ?)~2/@ ~2ԁ;I~2CɫAI)I QIQYX@yoGi99Fx?V-?y&1 ?= `)Iy`"?v/Zd;O??xij<= A)nAIiAp A @ @ @Å©ÅÅiÅ­@Å ą@)ąIąią@<M6=YB;QU>aEEy_}>Iȱŵ 5?ŵ־ ƵB d@9ƵEǵ: ȵ/:)ȱW@r@WX XW:W2W*WVbUBU*UUU`@B%[B! B!A-=*B)A-|RmA)A)A-%="C5t*C5JkRC= =C=@r@C9MfAMgAE=I G%N>= 6= x= x=  = 9Y= 7P1y= := 5j4Ur,TEAY}F{@}F]y@y}FpQ}F\ල}FH`?ީ?,Zp?Ŷ@d?)~F{@ ~Fi;I~FCɫ髑) IYL@yGpGIQ)QiaamgAmgA=MZ=YaEEyHƼ}>I :b 5? :a־ B d@9E: :):Wr@WX XW:W2W*W V bU BU *UUU@B=,wQB9 BAAE=*BAAEK mAAAAAMs%="CU*CUV'RCU=CUr@CY]=I)GEQ>I 9I IM mGiM @I I I M ; M ˗E:Ur,TEAY}n?~@}ny@y}n⇽}n 7ǽ}nH Z?O?@n@8-?θ`U?)~n?~@ ~ns;I~nCɫ) IY-6@y-,pG1ɮ1iAA    @ @ @i@ )Ii@ػMG=YaEEyh}>IE 5?־ B  d@9E: X:)W-ȁr@W)X) X)W):W12W1*W1V1bU9BU9*U9U9U= QO@RMB*** querying acoustic contact ***PIPIBm'SBq BqAu=*BqAu{lAqAqA}@%="C}*C䍽RCW=Cȁr@Cօ=9IIGe4>5 5 v5 v5  5 9Y5 N1y5 :5 N5)5 +1;9= AUr,UEAɫyy)y yIyY@ypGZ****** received transponder code query ******F****** received ping request ******99a=E=EAyE}M>II ]:MQ 5? ]:M־ MB ed@9MEM*; M;)M:W+}r@WX XW:W2W*WVbUBU*UUU6_ @BVtLB BA=*BA dlAAA %="C*CҦRCc`=C+}r@C >=֥=yIG_>GUr,!UEAY}:Ü@}:Tw@y}:N|}:pѽ}:H@?w?`!@9@?`@?)~:Ü@ ~:ri;I~:Cɫ9=)9 9I9Y}@y}pGxDUSBL response received:!U1,P 04E,000,00474,184,80,80,8B,FF Command AckBRequesting micromodem ping code 2i=iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i1)}= }>*0MB=Y319a=E=Ey{}>9IHnGi@; ȗE)كIكiك݃=݃=݃"5IAE> 5?En־ E B Md@9EEEi: E:)AW5vr@W1X9 XaWa:Wi2Wq*WVbUBU*UU Uq @BZRB BA=*BA kA A A u$="C5ڨ*CUbRCU8<CUvr@CYM BM {M {I M 9YM #R1yM :I )M v@;օ ^=Y Ii G >1NUr,';UEAY}2:@}2v@y}2r}2sԽ}2H R4`?@Hü?>`p`Q?@v?)~2:@ ~2a;I~2CɫII)I IIIYL@yqGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iIIgfffff?QMbp?3?u ;)Iyx&1?ˡE{Gz?!?'ף< bA)AIinAG A    @ @ @i׳@ K@);@IX@i@%7=M8=Y;QU>aE Ey}>I : 5? ::־ B d@9E: :):W%rr@W)X) X)W):W)2W)*W1V1bU1BU1*U9U9U=$#@Be$BBi BiAm=*BiAmkAiAiAu0$="C}*C}DRC}t;C}rr@CU L=IG5P>UUr,$DUUEAY}B@}Bu@y}B: h}Bbѽ}BHhfBh??ȟ=ne.?h'?)~B@ ~B;I~BCɫqy)y yIyY@y rGxDUSBL response received:!U1,R,FF7,000,0044C,183,80,80,7F,FF Fpublishing direction and range info<ɰ9=鰽$> )BIyARQ?_ ɴ?ٱi#=Mq=YF;QU?aEEyм}>Ij 5?׾ "B d@9E; ;)W5Jnr@W1X1 X1W1:W92W9*W9V9bUABUA*UAUAUE`ɞ@Ru(Combining 5 samples.Py*Q}AZQ}1ôd<@A?JQ}RQ?_ ɴ?2Q}<:QybQ}ʪ=~5к2׊˩s?RQ} 0`J/=սbȓ?BQ}6yv@ Q}OQ}P}+9?P}-9?PyQyQ}@"Q}ABӿBB BA' >*BAz,kAAA$="Cl*CQ#RClbuCJnr@C5gA1U<IGI>= 9 9 = > = 9Y9 y9 = 59E @ >9 I oGi O@ ; ͗E?[Ur,k+oUEAY}@}u@y}( ^}KĽ}H@Li`!m?B[?@,q@꽫?vk?)~@ ~"~;I~Cɫ) IY-@y5jrGTNmea in: $SNTTA,0.044858,,,,020717.67*47 I)i±µfA   ;>i@ 5@)@I@i@<M9=Y;QU>aEE!y-r}->I15s 5?5 ׾ 5.B =d@95E5@: 5n:)1mmyAdded new target pos. range: 28.500000 m, bearing: 220.654534 deg, deltaT: 4.411508 s, approachRate: -0.544032 m/s, LOS rate: -0.303541 deg/s, posRepo size: 4m} ProNav: pos range: 28.500000 m, bearing: 220.654534 deg, approachRate: -0.544032 m/s, LOS rate: -0.303541 deg/s, cmd update: -0.910622 deg/s, cmd heading: 217.035349 deg, new cmd heading: 217.018053 deg. W}r@WyXy XyW:W2W*WVbUBU*UU<@U ?B–@B BA>*BAjAAA$="C5 *CRC;Cr@CimGIi-"Tٺ)5|BB֝5%<׉IG>"bUr,aaaeEeEaym5;}m>Iq }:uuc 5? }:u׾ u9B d@9uEuM: u:)u:Wʠq@WX XW:W2W*WVbUBU*UUU X?B]Bm>Ba BaAe>*BaAe?4jAaAaAmu$="Cu~ *CuҌRCu2e<Cuʠq@Cye E E yE yE  E 9YE P1yE ':E *5iNhUr,֢UEAY}2b@}2,"v@y}2fR}2 n}2HZ`D?`?@@Zdxp\?d '?)~2b@ ~29|;I~2Cɫ99)9 9I9Yu@y}/rGi  -¼M5M=Y5d!;QU5>99a=E=EAyE;}E>IIMxR 5?MJ׾ MEB ]d@9MEM; M$;)IW5q@WX XW:W2W*WVbU BU*UU!ܵ>9ܱIܵoGiܵ@ܱܱܱܵ; ݵΗEU-9?B'>CB BA>*BA+iAA!A%f$="C=' *CeԚRCm<Cm5q@Cy ==S;שIG>wnUr,UEAY}>$@}> ev@y}>L}>e }>HE v?? N7 d?`u?)~>$@ ~>;n;I~<ɫYY)Y YIYYp@yrG9i==iAI'1Z?Cl绿{Gz?;߽ ף)IyCl?Q > 5@ 5@ 5@5©55i5Q@5 5A@)5I5A@i5@E,=ME:=YM_;QUM>QQaUEUEYy]m<}]>Ia m:eB 5? m:e"׾ eSB ud@9eEeH: e:)e:W)p@WX XW:W2W*WVbUBU!*U!U!U%4?B(;B BA#>*BA*iAAA?X$="C]!RC9V=C)p@C֥= *= |= |=  = 9Y= R1y= i:= 5`uUr,.UEAY}2A@}2v@y}2A}2꘽}2H3 m?௜?9H<` N!4?T ?)~2A@ ~2f;I~0ɫQQ)Y YIYY@ysGi5rH=M5]=Y=S;QU=>99aEEEEAyE<}M>Iȡť3 5?ť,*׾ ƥ`B d@9ƥ Eǥ]: ȥ':)ȡWPcp@WX XW:W2W*WVbUBU*UUUj@BH2B BAY6>*BA܍ >9܉ I܍ yaE!EyI ;}>Iȑ :ŕ% 5? :ŕ1׾ ƕmB d@9ƕ EǕ : ȕY:)ȕ:W=o@WAXA XAWA:WA2WA*WIVIbUIBUQ*UYUYU]?\@BB4B BA>>*BAgAAAL$="C("*CWRCn=Co@C fA fA$=IfA)eA׹IG%M> ? y y  59Y P1y ': Ζ5) @;9 pUr,C= VEAY}20@}2|v@y}2U,}2>{}2H@%@@n?`? G 혓?[[?)~20@ ~2_;I~2Cɫ99)9 9I9Y-@ysGI)AifAVMT=Y;QU>aE$Ey}>I 5?p9׾ yB d@9 E : H:)W=Do@W9X9 X9W9:WA2WA*WAVAbUABUI*UIUIUM`P@R]B*** querying acoustic contact ***PYPYB}\D0By BAp;>*BArgAAAO$="Cq"*CRC|=CDo@Cm3J=AIQGu6>Ur,$VEAY}:@}:r9v@y}:;7+}:w}:H&V`a?@(?1]@dOe? 访?)~:@ ~:4 _;I~8ɫ髙) IY1@ysGZ****** received transponder code query ******F****** received ping request ******aE(Ey}>I- 5?iB׾ B d@9 E: ߼:)Wmo@WqXq XqWq:Wq2Wq*WyVybUyBUy*UUUy @BEJ8BI BIAM;>*BIAMKfAIAIAU+^$="CU#*C]̓RC}=C}o@C֕=I IY G} >  | |  :Y R1y i: s5) N;PŎUr,=VEAY}6u@}6S v@y}6*}6@f~}6Hle?@d?G}l@T?|?)~6u@ ~6:^;I~4ɫii)i qIqYp@y$tGxDUSBL response received:!U1,P FF7,000,0044C,183,80,80,7F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i&1?i|?5y&1?? `e<)Iy9v?X9vQ??}\= |A) AI|Ai A3A   x?V>i @ ­@)v@Iv@i@z<M#=YW9QU>  aE,E9yErû}E>II }:M 5? :MXK׾ MB d@9M EM< M"<)M:WEn@WAXA XIWI:WI2Wy*WVbUBU*UUUc2@B`3B BAC>*BAeAA A %f$="C5#*C5/RC5=C5n@C9E [= I1 Ge >Ur,$WVEAY}2@}2u@y}2)b(}2}R}2Hk ?6?q똿 ?`h?)~2@ ~2];I~2Cɫ99)9 9I9Y}@y}sGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i=i) = =@ M=Y:QU?aE.Ey}?Iȩŭ 5?ŭP׾ ƭB d@9ƭ Eǭ: ȭ:)ȩWJUn@WX XW:W2W*WVbUBU*UUU@BA"B BA9>*BA%neA!A!A%qc$="C-l#*C-RC-UZ=C5JUn@C1Ď=IG$>Q 9Q IQ iQ U =Q Q U ; U їE)Iiሉሩ=R4  w w  9Y O1y P: 5) ];;sכUr,ҪqVEAY}2p@}2Iu@y}22&}2V}2Hs }?M ? w ֞@Ĥ?`ʲ$?)~2p@ ~2Ǹ];I~2CɫYY)Y YIYY@ytGxDUSBL response received:!U1,R,FDA,000,00427,184,80,80,6A,FF Fpublishing direction and range info=ɰ)=鰥> )BIy=AS?B3?ٱi >  s>i @  v@) "@I "@i @%MU=M%Q=Y%:QU%>))a-E-1E1y5|}=>I9 E:=> 5? M:=W׾ =B Md@9= E=: =:)=:Wmm@WiXq X W:W2W*WVbUBU*UUU%@RM(Combining 5 samples.PQ*QU=AZQUK]C:@%A?JQUS?B3?2QU=:QQbQU\43M3s+61sN#?RQUZ^翥^}f?BQUw@ QUQUPQPU+9?PUQQQU@"QU@Bڗ,B BAkN>*BAdAAAh$="C/$*CܮRC=Cm@Cv=IGn>¢Ur,6VEAY}n`т@}n)u@y}n$}n}nHQ~o?o?`>@ Ә?Bs?)~n`т@ ~n];I~lɫ) IYl@ytGuDNmea in: $SNTTA,,,,,020722.12*58 i5ɼM5:=Y=VH:QU=>9AaEEE4EAyM}M>IQU[ 5?U_׾ UB ]d@9U EU{: U:)QmuAdded new target pos. range: 26.280003 m, bearing: 222.008988 deg, deltaT: 4.438765 s, approachRate: -0.500139 m/s, LOS rate: 0.305142 deg/s, posRepo size: 4m ProNav: pos range: 26.280003 m, bearing: 222.008988 deg, approachRate: -0.500139 m/s, LOS rate: 0.305142 deg/s, cmd update: 0.915426 deg/s, cmd heading: 213.011764 deg, new cmd heading: 212.611269 deg. Wbn@WX XW:W2W*WVbUBU*UU@G:@U`?B".B BAOC>*BA+:dA A A 6q$="Cܼ#*CBdRC=Cbn@C!=׹IGF> - y y  V9Y P1y ': ;59 @)Ur,_VEAY}:@}:u@y}:&}:k}:H@X?@λ?xǒ]Eܤ?@䳿 i?)~:@ ~:b];I~:CɫAA)A IIIY@yVtGIY)]Ai 9Ii; ӗEAAUwZ<MUI=YU QUU>YYa]E]8Eaye}e>Iȑ :ŕ 5? :ŕg׾ ƕB  d@9ƕ EǕс< ȕˀ<)ȕ:Wn@WX XW:W2W*WVbUBU*UUU ?Bd.B BAH>*BAcAAA5x$="C H#*CRC$h=Cn@C=שIG>- =i- =9 = 'Ci nGI i rٺ ^BHUr,;VEAY}2閂@}2;Iu@y}2(}2A}2H`t@?Ǵ?g` u>;?޳M?)~2閂@ ~2];I~2Cɫyy)y yIyY@ysGi!!m?V-{Gz?> ף<)IyK?y&1y&1?^?`e`< A)SAIAAi A(A=D=u=i=@9 =A@)=/@I=A@i=A@MMMK=YUQUU>YYa]E];EYye }e>Iim 5?m+o׾ mB ud@9m$ Em: m5:)iW7o@WX XW:W2W*WVbUBU*UUU?Bð+B BA9>*BApbAAA@z$="C"*C剽RCr&9=C7o@C=IGE> L w w  G9Y O1y P: s5(Ur,#VEAY}2_@}2t@y}21*}2Т}2H`Z@??5 /]?O?)~2_@ ~23];I~2CɫYY)Y YIYY}1@y}sGi;M`=Y뷺QU>!!a%E%>E)y-}->I1 =:5 5? =:5v׾ 5B Ed@95' E5o: 5Y:)5:Wego@WaXa XaWi:Wi2Wi*WiVibUqBUq*UqUyU}i?B&J+B BA;>*BALnbAAAz$="CO"*CRCp<Cgo@CQf=סIGA>9IqGi@; ٗE&Ur,fVEAY}2@}2Pt@y}25-}27}2H&?4O?` ⃢@? 1?)~2@ ~2d];I~2Cɫ99)9 9I9Yu@y}MtG=iiIR=)=)= =EƽE=EZ>iEµ@A E@)EZ@IEiAU<MUF=Y]QU]>YaaeEeAEaymz}m>Iqu 5?u}׾ uB }d@9u+ Eu: ur:)qWEp@WX XW:W2W*WVbUBU*UUU @B*B BAG>*BAaAAAw$="Cp"*CRC0@<CEp@CS,=׉IG >  { {   :Y #R1y : 5( Ur,h WEAY}63߁@}6s@y}6N&2}6-}6H@9??@+O`EţB?V@?)~63߁@ ~6];I~6Cɫ99)9 9I9Y}w@y}-tGiE?MEL=YE 'QUM>IIaMEMDEQyU}]>IY]q 5?]V׾ ]B md@9]/ EY ]:)YWCkp@WX XW:W2W*WVbUBU*UUU` 6@B#*B BAD>*BA#aAAAq$="Cq!*C,iRCݑCCkp@C<IGE>:Ur,N&WEAY}>aÁ@}>+s@y}> 7}>}}>H'ඔ?Ќ?B)a@i?굿 ?)~>aÁ@ ~>];I~<ɫ髙) IY@ytGp=ɮ=iEY<MUJ=Y]dQUe>ܙ9ܙIܙiܙܙܙܙܝ; ݝҗEaEHEyu}%>I9 u:=^ 5? }:=Y׾ =B d@9=3 E=Qr< =Mp<)=:W}p@WyXy XyWy:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB +B  B A EP>*B AW`AAAed$="C=9!*C]IRC]!C]p@Ca5<IG5q> 1 x x   :Y 7P1y : s5) da;9 @Ur,@WEAY}2@Ɓ@}2s@y}2=}2}2H$`u?? 'N?)i?)~2@Ɓ@ ~2];I~2Cɫ99)9 9I9Y@ymtGZ****** received transponder code query ******F****** received ping request ******aEKEyT:}->IAEjM 5?E׾ EB ud@9E7 EE: E:)AWDQq@WX XW:W2W*WVbUBU*UUU@E @B5^'B1 B1A5-K>*B1A=_A9A9A=Q$="Ceq *Ce1RCe>üCeDQq@Ciu#IIYGu>IUr,`ZWEAY}:΁@}:s@y}:x@}:/}:H } ?g?Pl$/`j?@`?)~:΁@ ~:.];I~:Cɫ99)9 9I9Y}!@y}tGxDUSBL response received:!U1,P FDA,000,00427,184,80,80,6A,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i$=Md=YQU>aENEy%!1;}->IY :]> 5? :]׾ ]'B d@9]: E]A< ]|<)]:Wq@WX XW:W2W*WVbUBU*UUU  @BU"BQ BQAUY>*BQA]^AYAYA]8$="Ced *CeRCeCmq@CiE]I9Gew>y9yI}qGi}@}=yy}; }ЗE% % {% {%  % Q9Y% #R1y% :% 5)% 7;htUr,%=tWEAɫ髁) IY)@yuGAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i99   ÍS?ÍXÍmiÍ@Í č@)čX@Ičv@ičX@;;MJ=YQU>aEQEy}>IȹŽ/ 5?Ž׾ ƽ7B d@9ƽ> Eǽ: Ƚ3:)ȹWVr@WX XW:W2W*WVbUBU*UUU`@BB BAZ>*BAY^AAA$="C_ *C%9RC-C-Vr@C)=¼I!GEs>c[Ur,WEAɫ髙) IY`@yLuGxDUSBL response received:!U1,R,F7D,000,003FD,187,80,80,99,FF Fpublishing direction and range info =ɰG=1> )CIyA %>-<M-R=Y1QU5>99a=E=UEAyA}E>II U:Ma 5? U:MF׾ MHB ]d@9MA EM: M:)M:W}z{r@WyXy XW:W2W*WVbUBU*UUU@@R(Combining 5 samples.P*QAZQwۚ7@%EL=@JQ*B A@]AAA$="C%<*C%RC%]K6C%z{r@C) GIG (>e e ye ye  e 9Ye P1ye ':e 59m @ Ur,WEAY}@}s@y}ZF}}H`7 K??N`Ԩ?7vb?)~@ ~ ];I~C>9I0rGi@=1D; )Ii==g4ɫ) IY-@y-uGDNmea in: $SNTTA,,,,,020726.56*5C iZd;?kt?J +?> 0= =)Iyd;O?x&Q??7u< bA) AIbAi AAEףE>E=iE@A A)E@IE@iEv@U=<M] =Y],CQU]>aaaeEeYEiym;}m>Iqu# 5?u׾ uTB }d@9uF Eu: u#:)qm-uAdded new target pos. range: 23.760000 m, bearing: 224.722677 deg, deltaT: 4.424239 s, approachRate: -0.569590 m/s, LOS rate: 0.613368 deg/s, posRepo size: 4m] ProNav: pos range: 23.760000 m, bearing: 224.722677 deg, approachRate: -0.569590 m/s, LOS rate: 0.613368 deg/s, cmd update: 1.840105 deg/s, cmd heading: 217.081474 deg, new cmd heading: 217.561797 deg. W]s@WYXa XaWa:Wa2Wa*WiVibUiBUi*UU`7@U ?B$B BAg>*BA\AAA#="C %RCCs@C% + I G% >VmUr,WEAY}63@}6t@y}6J}6;Y}6H@P?@`? 0Z?@s-@c?)~63@ ~6%M];I~6Cɫ99)9 9I9Y}d@y}QuGiEqME=YES]QUE?IIaMEM[EQyUW<}]?IY] 5?]W׾ ][B md@9]I E]8: ]f:)YW%t@WX XW:W2W*WVbUBU*UUU`?BcB BARb>*BA0\AAA#="CRC!C%t@C-)IG*>e e xe xe  e 9Ye 7P1ye :e 5tUr,WEAY}2-9@}2čt@y}2_O}2*}2H@T ?`Iʰ?`zD@3?Q@\?)~2-9@ ~2%/];I~0ɫYY)Y YIYY@yuGI)Ai    U<M]I=Y]!;QU]>aaaeEe^EaymB<}m>I : 5? :׾ eB d@9M EX: e:):Wu@WX XW:W2W*W!V!bU!BU!*U!U)U-?BU9BQ BYA]n>*BaAmb[AqAyA}#="CRCBCu@C֍wAIQGm5>9Ii0D; ݗEUr,WEAY}2~@}2u@y}2S}2}2Hӯ@D?Ѯ?`K`@Ā?{?`O?)~2~@ ~2q];I~2CɫYY)Y YIYY@yuGi%nGIi1]|ٺae gBiiq>=if@ j@)@I@i@%ONM->=Y- QU5>11a=E=bEIy]<}e>Iim 5?mC׾ mpB }d@9mQ Em: m:)iW4u@WX XW:W2W*WVbUBU*UUU]?BB BADi>*BAlZAAAp]#="C>RCqC4u@CIGn> ?  59Y y 5޸Vr,XEAY}:ǂ@}:u@y}:V}:3}:H@ށ?@d˫?.`?`Ϊ?A?)~:ǂ@ ~:\;I~:Cɫ99)9 9I9Y@yuGi))u<M}T=Y}׺QU>aEeEy"<}>Iȡ :ť 5? :ť*׾ ƥyB d@9ƥT Eǥ=; ȥ>;)ȥ:Wv@WX XW:W2W*W VbUBU*UUU Pk@B*B BAl>*BA,YAAA <)#="CsRCECv@CIGI> Vr,H)XEAY}e4@}e'v@y}e$W}ep }eHX'?S?IJrcN??G\?)~e4@ ~e];I~eC9IrGi*@=1D; ΗEɫ) IY@y+vGm=iiiqqI}a=)}4=%x&1? rh:v?%A ?%C %<)!I!y%kt?sh|?y&1?% ?%%`e< %&A)%AI!i% A!%=A)5= 5= @ @ @Å©ÅÅiÅ@Å ą;@)ąIąią@<M.=Y7QU>aEiEy.<}>Iȩŭ 5?ŭ׾ ƭB d@9ƭX Eǭz: ȭ :)ȩWw@WX XW:W2W*WVbUBU*UUU @BnB BAx>*BAKXAAA"="CRCY9ýCw@CIG >I- @A)) N  9Y y 5) B;9 ZVr,CXEAY}2F8@}2v@y}27zX}2"y;}2H8 |? y? @v>?` ?~?T?)~2F8@ ~2^;I~0ɫYY)Y YIYY@ywG鮡ɮ=i=M=YW/QU?aEkEy<}?I :u 5? :e׾ B d@9[ E: :):WBDx@WX XW:W2W*WVbU!BU!*U!U!U%`y@R5B*** querying acoustic contact ***P1P1BtbB BAa>*BAxEXAAA"="CsRCvM̽CBDx@COשIG!>Vr, \XEAY}2vi@}2Vv@y}2mZ}2 <}2H ?g? V?`[? ??)~2vi@ ~2b;I~0ɫ) IYU@yUwG]Z****** received transponder code query ******]F****** received ping request ******]aaaeEmoEyU<}>Ișŝ 5?ŝT׾ ƝB d@9Ɲ_ Eǝ: ȝf:)șWo6y@WX  X W :W 2W *WVbUBU*UUU@8 @Be&1Bi BiAuׇ>*BqAu?WAqAqAuLp"="CFRCCo6y@C}/ýQIaG|>>9I\sGi@=; ƗE ; c 9Y y 5) ?;LVr,vXEAY}>p@}>Jw@y}>B]}>$m<}>H@H??@u9@K?ߤ? ?`B?)~>p@ ~>xa;I~>Cɫ99)9 =IAYE@ywGxDUSBL response received:!U1,P F7D,000,003FD,187,80,80,99,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i )-hA % % % %@ M@ M@!!!i% @! %@)!I%@i%@=M7=YȣQU>aErEy<}>I : 5? :&׾ B d@9d E: D:):W!z@WX XW:W!2WA*WAVAbUIBUI*UIUIUUu @B B BA?>*BA:VAAA$"="CRCC!z@C޽׹IG>#Vr,{XEAY}2@}2Px@y}2mp_}2=}2He?@?w@[?? ң?@?)~2@ ~2~`;I~2CɫYY)Y ]IaY@y.xGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iAA!$=Mj=Y ǺQU ? aEuEy =}?I!%Fz 5?%M׾ %B -d@9%g E%L: %":)!WUz@WQXQ XQWQ:WQ2WY*WYVYbUYBUa*UaUaUe?@BY7B BAl>*BAkUAAAt!="CHRChCz@CֽཹיIGb>% 1% |% |%  % 9Y% R1y% i:% ΐ59E @%*Vr,TXEAY}v@} y@y}́_}@=}H_c?o? 4UWQ? ?k??)~v@ ~9i;I~CefAefA܅>9܁I܅sGi܅@܅=܁܁܅; ݅Eɫ髉) IY@yxGxDUSBL response received:!U1,R,FF8,000,003DF,183,80,80,9C,FF Fpublishing direction and range info;ɰ]=鰝$> )CIyAZ?a|?ٱi}?5^I?~jtJ +?M"? H=)Iyp= ף?Mb~jth?%?D; A) AIAi ApA   Õȶ>Õ<ÕGa>iÕ@Õ ĕX@)ĕ@IĕX@iĕX@<M2=YQU>aEyEy/<}>I :8f 5? :׾ B d@9k E: :) :W-{@W)X1 X1W1:W12W1*WYVYbUYBUY*UaUaUeI!@Ru(Combining 5 samples.Pq*QuAZQuԭM5@?JQuZ?a|?2Qu;:QqbQuf{0/I.)G?RQu^'g2*BA8TAAA!="CRRCC{@C  꽹IG > 1Vr,1`XEAɫ) IYQyQDNmea in: $SNTTA,,,,,020731.01*58 iiI4=))= YQU>aE|Ey}>IȡťvV 5?ťؾ ƥB d@9ƥo Eǥ: ȥ:)ȡmyAdded new target pos. range: 21.959997 m, bearing: 223.348361 deg, deltaT: 4.534698 s, approachRate: -0.396940 m/s, LOS rate: -0.303067 deg/s, posRepo size: 4m ProNav: pos range: 21.959997 m, bearing: 223.348361 deg, approachRate: -0.396940 m/s, LOS rate: -0.303067 deg/s, cmd update: -0.909200 deg/s, cmd heading: 225.423563 deg, new cmd heading: 226.083986 deg. Wo{@WX XW:W2W*WVbUBU*UU`5@U ?B5tB1 B1A1*B1A=[SA9A9A=:!="CEˣ*CERCECMo{@CI%w=IGJ> | s s   w:Y M1y : 5%47Vr,6XEAY}6@}6y@y}6cz\}6ͅ=}6H'?y`ٓ?@䋫? b??)~6@ ~6);I~6Cɫ99)9 9I9Y}@y}xGiU";MUYYa]EeEaye=}m>IimF 5?mؾ mB }d@9ms Em{: m:)iW{@WX XW:W2W*WVbUBU*UUUP?B%B BA5>*BACuRAAA ="CRCC{@CEeI)GEQ>y9yI}tGi}@yyy}; }ŗE) I i = K5^=Vr,^XEAY}6@}6Lz@y}6]}6͓=}6H@)K? I:9@?๸?`n??)~6@ ~6;I~6CɫYY)Y ]IYY@yyGi   ]@ ]@ ]@]©]]i](@] ])]|@I]@i]@n=MC=YUQU>aEEyl<}>I :4 5? :3ؾ B d@9w E; &;) :WUz@WQXQ XQWQ:WQ2WY*WYVYbUYBUa*UaUaUe`K?BB BA>*BA^NQAAAʓ ="C}*C RCUCz@C֥a5սׁIG?> C t t   9Y M1y : <5EDVr,FYEAY}2Z@}2Kz@y}2:_}2G=}2H@y?; i@o@??aEEyk<}>Iȑŕ,$ 5?ŕ0ؾ ƕB d@9ƕ{ EǕ: ȕʽ:)ȑW=z@WX XW:W2W*WV bUBU*UUU$?BEBA BAAE>*BAAMzJVr,(+YEAY}R⥅@}R/g{@y}R`}RG=}RH@?`Np ȷ?%?w?@?)~R⥅@ ~RG,;I~RC 9 I PuGi c@ =   ; ȗEɫ9A)A EIAY}.@y}yGi{Gz?Q???< L=)IyX9v?x&~jt??7< ¥ A)¥@I¥bAi¡A   \>Ki @ )K@Ii@ c<M 2=Y3QU>aEEy%c<}%>I) 5:- 5? 5:-,%ؾ -B =d@9- E-T; -j;)- :W]Fy@WYXY XaWa:Wa2Wa*WaVibUiBUi*UiUqUu@?B|B BA̭>*BAdNAAA="CoY*C-RC- C-Fy@C1%,ŠY],CinGIG l>Ii1eSٺae&BBWQVr,UEYEAɫ髁) IY@yyGiAAu鉼Muj=Y}QU}?yaEEy}?IȑŕQ 5?ŕ,ؾ ƕB d@9ƕ EǕ: ȕ:)ȑWky@WX XW:W2W*WVbUBU*UUU7@B ϼB BAʪ>*BANAA A ~="C*CRCCky@C%cI G%M>= = |= |=  = :Y= R1y= i:= )5ɁWVr,|_YEAY}2@}29|@y}2^}2M=}2H`XF?k?`ګ? {?@?)~2@ ~2;I~2Cɫai)i qIqYD@yzGiiI=)=)> ><MT=YǙ:QU>aEEya=}>I  : 5?  :O5ؾ B  d@9 EA: :) :W5ky@W1X1 X1W9:W92W9*W9V9bUABUA*UAUAUMu@RUB*** querying acoustic contact ***PQPQBAҼB BA/>*BALAAAX!="CI*CӈRCC ky@C  )IG%>%>9!I%vGi%@%=!!%; !]Vr,WyYEAY}2 0@}2{|@y}2E^}2K=}2H`.1?͓| ?cث?FaEEys<}>Iȱŵ 5?ŵ>ؾ ƵB e@9Ƶ Eǵ+: ȵ8:)ȱWx@WX XW:W2W*WVbUBU*UUU@2 @B'ѼB BA>*BA2KAAA.="C6*ClRC_X;Cx@CI_IGj>= = y= y=  = 9Y= P1y= ':= 5ēdVr,2YEAY}RlJ@}RC|@y}R_}R;=}RH@!?]0`o?`?OJ?o?)~RlJ@ ~Rox;I~Pɫyy)y yIyYm@yHzGxDUSBL response received:!U1,P FF8,000,003DF,183,80,80,9C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iQAMF=Y$ QU>aEEy%;}%>IQU 5?UHHؾ UB e@9U EU< Uj<)QW#x@WX XW:W2W*WVbUBU *U U U B @Bu7#ڼBy ByA}>*ByA}NLJAyAAH="C*CwRCj<C#x@C֥+ׁIG>jVr,YEA^>9\I^|vGi^W@\\\^; ^˗EY}}x@}} }@y}}Zya}}dy=}}HAB?2z@g1H@k?+?? o?)~}x@ ~}d;I~}CɫII)I QIQY@yzGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IA)AiQQ QQHzG?X9v?~jt?= ?< D<)Iyoʡ?S㥛 ?/ݼ Z A)p@Ii; AAgA    @ @ @i@ )Iv@iv@=M,=YSQU>  a E EybE<}>I %: 5? -:8Rؾ B -e@9 E8: :) :WMw@WIXQ XQWQ:WQ2WQ*WYVYbUYBUY*UaUaUe&@BüB BAK>*BAIAAA@="C$n*CARC=Cw@C{<IG>5 25 v5 v5  5 "9Y5 N1y5 :5 5)5 B>;9= ƥqVr, YEAɫ髙) IY@y{GxDUSBL response received:!U1,R,06D,000,003DF,183,80,80,9C,FF Fpublishing direction and range info½ɰ )IyCҽ?rhjPٱi  %W<M%=Y-QU-?))a5E5E9y=}=?IIM 5?MXؾ M B Ue@9M EMn; Mj;)IW`w@WX XW:W2W*WVbUBU*UUUf@R(Combining 5 samples.P*QZQZ$fX5@{JQCҽ?rhjP2Q½:QbQ.r0`,ї(r|7?RQ4.tH݆.?BQ\v@ QfQ<P"9?P)9?PQQ@"Q@BB BAa>*BAHAAA="C*CRC&=C`w@C֍ujwVr,YEAY}-@}-!}@y}-}b}-N|%=}-HuGI?_?y8-l`? L???)~-@ ~-4];I~-Cɫ9A)A IIQY1@y9{GDNmea in: $SNTTA,,,,,020735.45*5C iM1;MM9=YUQUU>QQaUE]EYy]<;}e>Ii u:m 5? u:mYbؾ mB ue@9m Em: mA:)m :muAdded new target pos. range: 21.959997 m, bearing: 221.095682 deg, deltaT: 4.353206 s, approachRate: 0.000000 m/s, LOS rate: -0.517476 deg/s, posRepo size: 4mU ProNav: pos range: 21.959997 m, bearing: 221.095682 deg, approachRate: 0.000000 m/s, LOS rate: -0.517476 deg/s, cmd update: -1.552427 deg/s, cmd heading: 221.463684 deg, new cmd heading: 221.063502 deg. WU3v@WQXQ XQWQ:WY2WY*WYVYbUaBU*UUU`?B)ɼB BA>*BAFAAA="CERCE1Pj=CE3v@CIܹ9ܹIܽDwGiܽ@ܽ=ܹܹܽ; ݹ-d= I 5 5 {5 {5  5 9Y5 #R1y5 :5 )5)5 ;;Gm >}Vr,#YEAɫyy)y yIyY@@yK{G%=i%=i))I5>)54=)=> ==   ÅjÅ>ÅS>iŵ@Å ā)ą|@Ią@ią@ ;MW=YQU>aEEy}>Iȩŭ1 5?ŭjؾ ƭB e@9ƭ Eǭ: ȭ:)ȩWu@WX XW:W2W*WVbUBU*UUU@?BI{B BA%>*B!A%EA!A!A%="C-*RC5P=C5u@C1 )=IG$>5Vr,ZEAY}Za@}Z-0}@y}Zf}Zk)<}ZHI?@?)=H??$??)~Za@ ~Z&\;I~ZCɫ髙) IY@y{Gi99<MJ=YQU>aEEy;}>Iȩ :ŭ 5? :ŭ-sؾ ƭB e@9ƭ Eǭ: ȭ#:)ȭ :WKAu@WX XW:W2W*WVbUBU*UUU@Q?BB BA?>*B!A%`DA!A!A%+="C-jRC-*=C5KAu@C1օ@p=YIaGY>M M yM yM  M 9YM P1yM ':M 59e @Vr,kd.ZEA494I6 xGi6@6=446; 6חE)Ii=4Y}rІ@}r )}@y}r0md}r}rH @A?H?:@I5? ܉?} ?)~rІ@ ~r [;I~pɫ) IY@y+|GiQY/$?&1Q?L?P \=)Iygfffff? rhy&1?3?C `< A)|AIp@iA\AmymH=mZim׫@i m@)mImv@im@}M<M}<=Yy:QU>aEEy}>IșŝZ 5?ŝ|ؾ Ɲ*B e@9Ɲ Eǝ: ȝ<:)șWt@WX XW:W2W*WVbUBU*UUUy?B B  B A D>*BAJBAAA="CRC4#=Ct@C!|=IGI>Vr,0HZEAY}Jd@}J|@y}JHa}J,}JH`$? _?@#? 3?@ܕ`?)~Jd@ ~J#<[;I~JCɫYY)Y ]IYY@yT|GI)i    0<MY=Yt:QU>aEEy4}>I :r 5? :!ؾ 6B e@9 EI: :) :Ws@WX XW:W2W *W V bU BU*UUU@A@B=ԗBA BAAEY>*BAAErAAIAIAMJ9="CUGRCU =CUs@CYօ=YIiGZ>= 9 9 =  = g9Y9 y9 = 5"Vr,bZEAY}: (@}:}k|@y}:`}:V}:H@b4@? .?`E? ?`Y?)~: (@ ~:Q~[;I~:Cɫqq)q uIqY@y|GiMDMMP=YU:QUU>QYa]E]EYyeꚼ}e>Ic 5?ؾ CB e@9 E: Q:)W%s@WX XW:W2W*WVbUBU*UUU @#|@B5B1 B1A5>*B1A=p@A9A9A=|="CE%RCE=CE%s@CIE7=!IAG9>=>99I=pxGi=@==99=; =җEi mGI i d>ٺ .BGVr,{ZEAY}2Dۅ@}2{@y}2b}2X}2H k?/?`|;b?`L?=?)~2Dۅ@ ~2[;I~2Cɫ99)9 9IAYu@yu|Gyɮ}a=i @ @ @©i @ )I@i@6Z=MQ=YƺQU>aEEy~ļ}>I  "V 5? .ؾ OB e@9  E : :) W=L}r@W9X9 X9W9:WA2WA*WAVAbUABUI*UIUIUM`߃@R]B*** querying acoustic contact ***PYPYB}rBy BA>*BA'?AAAmH="CjRC2=CL}r@Cm! =)I1GM1>= V9 9 =  = 9Y9 y9 = 5=0Vr, ÕZEAY}>/@}>A{@y}>3e}>g)}>Hv?c?/ʷ ?ZM?)~>/@ ~>ץ[;I~>Cɫ99)9 9I9Y}t@y}|GZ****** received transponder code query ******F****** received ping request ******aEEy7}>I  :gF 5? :ؾ \B e@9 Eo: :) :WUq@WQXQ XQWQ:WQ2WY*WYVYbUYBUa*UaUaUe @B8B BA">*BA=AAA="C e RC =C q@CZ=IGj>]Vr,ZEA>9IyGi@=; ՗Eɫ髑) IY<@y|GxDUSBL response received:!U1,P 06D,000,003DF,183,80,80,9C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i  $C?A`"?y&1?>Y= `e<)Iyx&?S㥛 rh?7)?/ݼC = @)AI@i; AA   n>Y`i­@ @)I@i@r]M#=YQU>aEEy}>I152 5?5+ؾ 5oB =e@95 E5: 5 ;)1W p@WX XW:W2WQ*WQVQbUYBUa*UaUiUe@BUձBQ BQAU>*BYA]j;AYAYA] =5 E5 w5 w5  5 )9Y5 O1y5 P:5 5)5 @;9= "CeK!RCM ~>CM p@CQ U =1 I9 GU >GVr,aZEAY}B<@}Bz@y}Bab}BF}BH`? ں? 'lgH?``+?)~B<@ ~Bo[;I~BCɫQQ)Q UIQY@y}GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iyyA=M=YE;QU?aEEyy}?Iȩ :ŭ% 5? :ŭؾ ƭzB e@9ƭ Eǭ(: ȭ4:)ȭ :WYp@WX XW:W2W*WVbUBU*UUUi1@BB< BA>*BA;AA!A%="C- !RC5d=C5Yp@C1=IG)>lVr,iVZEAY}2@}2ty@y}2Jb}2(ҽ}2Hd>@?9?:`Gۢ`E?/y?)~2@ ~2p[;I~0ɫYY)Y YIYYp@y|GxDUSBL response received:!U1,R,01A,000,00383,183,80,80,AB,FF Fpublishing direction and range info޹ɰJ=鰙 )+CIyARl6?+;Y;ٱI)i hAhAMW=Yo8QU>aEEy{ټ}>I 5?ȼؾ B e@9 Er: Q:)W%:o@W!X! X!W!:W!2W)*W)V)bU)BU)*U1U1U5@@RE(Combining 5 samples.PI*QMAZQMr*oo0@o׿JQMRl6?+;Y;2QM޹:QIbQM%Bb(c-"%%)SC?RQM!h#1cLs?BQMbx@ QM/QMCPM)9?PM"9?PMQMQM@"QM@B= JB9 B9A=>*B9AE9AAAAAE>="CMzn"RCm%=Cm:o@Cqօ<>>9IdzGi@=; ʗEyIG]>= = |= |=  = ;9Y= R1y= i:= 5)= (9;bVr,#/ZEAY}jV@}j]-]n>i]׳@Y ]@)]@I]5@i]@mc=Mm3=Yu-QUu>qya}E}ÎEyy$}>Iȉ :ō 5? :ōؾ ƍB e@9ƍ EǍ,: ȍD:)ȍ :muAdded new target pos. range: 16.439999 m, bearing: 222.029478 deg, deltaT: 4.429942 s, approachRate: -1.246066 m/s, LOS rate: 0.210792 deg/s, posRepo size: 4m ProNav: pos range: 16.439999 m, bearing: 222.029478 deg, approachRate: -1.246066 m/s, LOS rate: 0.210792 deg/s, cmd update: 0.632376 deg/s, cmd heading: 214.583696 deg, new cmd heading: 213.875623 deg. Wp@WX XW:W2W*WVbUBU*UUp0@UN?B=wB BA>*BA8A!A!A%6="C-"*C-xRC-=C-p@C1%=IG J>Vr,g [EAY}2h@}2<(x@y}2b}2vI}2H+??Br@i@E(X?j`Q?)~2h@ ~2\;I~0ɫ99)9 9I9Y}Y@y}}GiaMb=Y9QU>!!a%E%ƎE!y-k߼}->Iȉō5?ōؾ ƍB e@9ƍ EǍ]: ȍH:)ȉWFp@WX XW:W2W*WVbUBU*UUUf?BNB BA{>*BA{6AAAE(="C !*C CnRC9==CFp@Ce=UI=1IYG >] ] z] z]  ] 9Y] Q1y] :] N59 @ >9 I ,{Gi &@ = ; ȗEfVr,y0[EAY}2@}2w@y}2d`}2}2H?`o? 9@ @ ? ?)~2@ ~2hh\;I~0ɫ99)9 9IAY@y7~G=i=iI =) =Q?Q?ʡE?(?u= =)Iy|?5^?+Q??< ½@)½ AI½Z@i½A)= > @ @ @©i@ K@)I@i@-<M5:=Y5:QU5>99a=E=ɎE9yE}E>II U:M5? U:M8ؾ MB ]e@9M EM/: M#:)M :W}gp@WyXy XyW:W2W*WVbUBU*UUU?BeB BA>*BA\15AAAW="CO!*C$RC`=Cgp@CѭI) )) Vr,J[EAɫqq)q yIyY@y~GiU<MUY=YUQUU>YYa]E]̎Eaye}e>Iim5?mؾ mB }e@9m Emv: mL:)iWfp@WX XW:W2W*WVbUBU*UUU?BPE2B BA>*BAn3AAA ="CmPG!*Cm䆽RCms=Cmfp@Cqyy)y y=IG>5 5 5 5  5 9Y5 WU1y5 :5 `5[Vr,d[EAY}:%@}:fgv@y}:T}:}:H`JD`Do?@?`5l沿Α?¿ ?)~:%@ ~:q[;I~:Cɫ99)9 9I9Y}@y}~Gi!!U[M]J=Y];QU]>aaaeEeώEaym>7}m>Iqu5?uؾ uB e@9u Eu׾: u&:)qWz!q@WX XW:W2W*WVbUBU*UUU F@B<@AB BAG>*BAFG2AAAɂ="C; *CRC$<Cz!q@CТ=ܕ>9ܕʔCIܕ{Giܕ@ܑܑܑܕ; ݕɗE)Ii==65IGE>Vr,){~[EAY}63@}6u@y}6 M}6r }6H [qmA?F!?B@b8`^?z?)~63@ ~6)[;I~4ɫYY)Y YIYY@yQGI)i   gA    @ @ @áááiå@á ĥ@)ġIĥiĥ@S?=MD=Y;QU>aEӎEyO}>I :ڴ5? :ؾ B e@9 E:  :) :Wlq@WX XW:W2W*W V bU BU*UUUH@B=,t,BA BAAE;>*BAAE0AAAAAM="CU *CULRCUg<CUlq@CYMxr=!I)GE0>5 5 y5 y5  5 (9Y5 P1y5 ':5 )5Vr, S[EAY}2@}2Riu@y}2E}2D}2H9(??`k@È#.亨?N@Ʈ?)~2@ ~2[;I~0ɫII)I MIQY}@y}G鮁ɮp=iu<M]=YV;QU>aE֎Ey}>I|5?ؾ B e@9 E: :)Wkq@WX XW:W2W*WVbUBU*UUU@R B*** querying acoustic contact ***P P B5؇B1 B1A==>*B9A==4/A9A9A=z="CEIp *CEubRCM73;CMkq@CI5 =IG>م gAم gAܕ >9ܑ Iܕ |Giܕ k@ܑ ܑ ܑ ܕ ; ݕ ЗE!Vr,/[EAY}>@}>"u@y}><}>}>H@b{??kP.? ??`3G?)~>@ ~>[;I~>CɫYY)Y YIYY(@y GZ****** received transponder code query ******F****** received ping request ****** )IyZd;?/$:v??,T< •^@)•nAI•;@i• AA    @ @ @i@ j@)K@IK@iK@<M6=Y;QU>  aEَEiunGIi)y5}5>]>ٺY].BIȁ :Ņ!5? :Ņ^پ ƅB e@9ƅ EDž: ȅr:)ȅ :W r@WX XW:W2W*WVbUBU*UUUj @BM;BI BQAUj>*BQAU&-AQAQAU="C} *C;RCy C r@CuG5 25 v5 v5  5 "9Y5 N1y5 :5 5)5 B>;9= MVr,[EAY}:i@}:t@y}:_0}:X}:H૿W?˻?@= Ө?v`?)~:i@ ~:[;I~:Cɫ99)9 =I9Y};@y}GxDUSBL response received:!U1,P 01A,000,00383,183,80,80,AB,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iI=))> =Y;MR=Y;QU>aE܎Eyz}>I  y5? Vپ B Ee@9  E s< A<) WMr@WXI XQWQ:WQ2WY*WaVbUBU*UUU @BݻB BA>*BA+A!A!A%o="C-*C-D"RC-C5Mr@C1}U<IGMt>F Vr,[EAY}B-Q@}Bƽt@y}B#}B,ս}BH?@?*``s 2s?ٓ(?)~B-Q@ ~BU[;I~@ɫyy)y }IyYy@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i99Y;QU>a E E y-}>I %:r5? %:Gپ B %e@9 E: :) :WmQr@WqXq XqWy:Wy2W*WVbUBU*UUUQY@BiڻB BA*BAd)AAA\="Cd*C  RC RҼC Qr@C )9)I-}Gi-@)))-; -͗EIGk>5 n5 w5 w5  5 9Y5 O1y5 P:5 )5)5 F;2Vr,[EAY}2=@}2t@y}2}2}2H@B`??` ?@Q+?)~2=@ ~2Ԓ[;I~0ɫYY)Y ]IYY @yGxDUSBL response received:!U1,R,FB6,000,0035E,184,80,80,9F,FF Fpublishing direction and range info A=ɰ:=鰥> )CIycA4Y?P0?ٱi   >T< 0>i@ K@)@Ii@%v=M%))a5E5E9y=ջ}E>IAE c5?Eپ E B Ue@9E EE: E:)AWur@WqXy XyWy:Wy2Wy*WVbUBU*UUU@R(Combining 5 samples.P*QcAZQ~)wa,@Fb]?JQ4Y?P0?2Q A=:QbQ* V$ 0PB#ڠ;ː?RQ W)R翈 wVH?BQx@ QQB'P(9?P)9?PQQi@"Q@BMBQ BQAUu?*BQAUx(AQAYA]ؙ="C]H*CeRCeo Cer@CaeΒ!I)GER>k Wr,l\EAY}ro>@}rJt@y}rG }r̜}rHL?w1?R @攡?`?)~ro>@ ~rH[;I~pɫ) IY @y JGuDNmea in: $SNTTA,,,,,020744.33*5B Iq)qi 鿉‰hA-M@=Y;QU>aEEy9}>I`Q5?پ B e@9 E: :)muAdded new target pos. range: 14.220002 m, bearing: 222.649755 deg, deltaT: 4.454741 s, approachRate: -0.498345 m/s, LOS rate: 0.139240 deg/s, posRepo size: 4m ProNav: pos range: 14.220002 m, bearing: 222.649755 deg, approachRate: -0.498345 m/s, LOS rate: 0.139240 deg/s, cmd update: 0.417719 deg/s, cmd heading: 217.400719 deg, new cmd heading: 217.669857 deg. W s@WX XW:W2W*WVbUBU*UU p,@U6?BMBI BQAU?*BQAUw&AQAQAU2="C]*Ce=텽RCeJCe s@Ca=2ļIGL>M "M xM xM  M 9YM 7P1yM :M 59u @% >9! I! i! % =! ! % ; % ƗED Wr,u3\EAɫ髙) IY_@ỳGiAA/$?Mb?J +?&?< H=)Iyx&?5Ti5@1 5@)5j@I5j@i5@EP|=MEC=YEQUM>IIaUEUEQy]}]>Ia e:eB5? m:e'پ eB me@9e Ee7: e:)e :W =s@W X XW:W2W*WVbUBU*UU!U%` s?BSB BAm?*BA4$AAA="C+*C߅RCM%C=s@CֽyIG>,Wr,QM\EAY}Jro@}JPt@y}Jd9}JW}JH@/`e5?먬?'D ϖU?@?)~Jro@ ~J6f[;I~JCɫyy)y yIyY@yGi!U,ƼMU[=Y]_YaaeEeEaym;<}m>I45?.پ &B e@9 E/: :)W is@W X  XW:W2W*WVbUBU!*U!U!U-@?Bm#Bq BqAu?*BqA}8#AyAyA}ts="C*CkхRCCis@C֥ȿaIqG9>} y y }  } 1:Yy yy } <5VWr,*g\EAY}28@}25u@y}2׼}2l }2H ˬR?-?@[ @?`?)~28@ ~2-[;I~2CɫYY)Y YIYYM@yG=i=iI 4=) R=) = =]F<M]J=Ye;QUe>aaamEmEiym(<}u>Iy :}'5? :}O6پ }.B e@9} E}: }b:)} :Ws@WX XW:W2W*WVbUBU*UUUU`8?BPaB BA?*B!A%\!A!A!A%d!="CM%*CU_RCUR CUs@CQ9I}Gi_@; ̗EyQIaG}z>I@ Wr, \EAY}V@}Vpu@y}V\}Vin}VHqo?`q?r[3i +?+`o?)~V@ ~V[;I~VCɫqq)y yIyY@yGi))}v>>}\}|?>i}Q@y }@)}@I}@i}@c"=MG=Y2;QU>aEEy{<}>Iȡť5?ť>پ ƥ5B e@9ƥ Eǥ: ȥ:)ȡWs@WX XW:W2W*WVbUBU*UUUz>@B@kK:B BA ?*BAvAAA%="C%V*C-zRC-VO C-s@C1IGI>  y y  9Y P1y ': 5h&Wr,\EAY}2ɂ@}2׮u@y}2u}2#8}2H@Ԇ@?` }?5u?@-N? ?)~2ɂ@ ~2?T[;I~2Cɫ99)9 9I9Y}@y}0Giw<MR=Ye;QU>!!a%E%E)y-<}->Iȉ :ō 5? :ōEپ ƍr@B 9B BA ?*BAOAAA="C M&*CRCCgs@CE I9G}Y> >9 I i ; ˗E)uʔCIuʔCiqu=u=u5B,Wr,ƴ\EAY}FD@}Fu@y}F }F }FH:n@?q?So ݈??RW?)~FD@ ~F[;I~FCɫ髑) IYE@yYGɮa=I)i }v/?~jt rh}x>}Ľ }C )yIyy}S㥛?J +Q?}$?}H}u< }Z@)}AI}$@iyy}GA gA  U@ U@ U@U©UUiU̼@U U|@)UZ@IU@iU@m<Mm6=Ymv;QUm>qqauEuEyy}>,<}}>IȁŅm5?ŅNپ ƅCB e@9ƅ EDž: ȅr:)ȁW-t@WX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBxB BA?*BA6AAAD="C 4*C CRC i ii } } ~} ~}  } F9Y} T1y} @:} 5)} U8;9 {z3Wr,\EAY}2@}2Sv@y}2}26;}2H`?R?|?R??t??)~2@ ~2Z;I~2Cɫ99)9 =I9Y@y!!a%E%E)y-q<}5>I9 M:=5? M:=Vپ =GB Me@9= E=); =.;)= :WYt@WX XW:W2W*WVbUBU*UUUq @B;;B BAu?*BqAu4AyAyA};="C*CzRCCYt@Cօ9IIGeV>9Wr,v\EAY}VY8@}Vv@y}Vq}V<}VH@??@y? ?o?`""?:9܁I܅}Gi܅@܁܁܁܅; ݅ӗE    @ @ @if@ )@Ii­@]+gM]=Yej;QUe>aaamEmEiyu;}u>Ișŝ5?ŝ}bپ ƝNB e@9Ɲ Eǝʽ: ȝr:)șW~t@WX XW:W2W*WVbUBU*UUUtD@B8vB BA! ?*BAAAA="C6*C `RC%AC%~t@Cii nGI) i9 } } p} p}  } 9Y} K1y} `:} 5)} 6; <ٺ ,B֝ 7༹q I G >Ұ@Wr,]EAY}2H@}2v@y}2-i}2FI<}2H 5?_Sf?5? ~%?80??)~2H@ ~2Z;I~2Cɫ11)1 1I1Y@y"GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -=i-=i11I=a=)==)E= E>mu<Mm=Yuٯ;QUu?qqa}E}Eyy};}?IȉōV5?ōhپ ƍRB e@9ƍ EǍf: ȉ)ȉWpt@WX XW:W2W*WVbUBU*UUU8@BD<B BA ?*BAfAAA—="CEd*CRRCCpt@C鼹IGi>FWr, ]EAY}VW@}VOv@y}Vq0X}V2m<}VH`+@?hj??`*@ ??@q?m?)~VW@ ~VZ;I~Tɫ髑) IY @y GxDUSBL response received:!U1,R,003,000,00335,183,80,80,AD,FF Fpublishing direction and range info+ɰ=$> )-CIy(QQaUEUEYy]G;}]>Ia m:e5? m:e)qپ eVB ue@9e Ee: e:)e :Wt@WX XW:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q(= O= z= z=  = 9Y= Q1y= := 59E @) 9) I) i) ) ) ) - ; - ϗE]MWr,+6]EAɫ髙) IY2@yNGuTNmea in: $SNTTA,0.007589,,,,020748.82*40 i`"?`"οI +?>w 9<)IyʡE?Zd;O:v?-?j<T< &A)AI@iAAA u u uu ?uGau\iu=@u u;@)u@Iu@iu@?=M8=YQU>aE Ey}>Ișŝ5?ŝyپ Ɲ[B e@9Ɲ Eǝ; ȝ7;)șm}yAdded new target pos. range: 11.759997 m, bearing: 220.791643 deg, deltaT: 4.456241 s, approachRate: -0.552036 m/s, LOS rate: -0.416968 deg/s, posRepo size: 4m ProNav: pos range: 11.759997 m, bearing: 220.791643 deg, approachRate: -0.552036 m/s, LOS rate: -0.416968 deg/s, cmd update: -1.250905 deg/s, cmd heading: 219.262228 deg, new cmd heading: 219.456159 deg. WEt@WX XW:W2W*WVbUBU*UU`'@U?B-@9B) B)A-?*B1A5OA1A1A51="C=RC=C=Et@CaU1IAG]>$SWr,bP]EAY}J@}J_iw@y}J8}J/<}JH4?*bU?=3????)~J@ ~JZ;I~JCɫyy)y }IY@yaE Ey<}>Iȱ :ŵ>5? :ŵހپ Ƶ_B e@9Ƶ Eǵ: ȵ:)ȵ :W}|s@WyX XW:W2W*WVbUBU*UUU?B;B BA?*BAIAAA="C-8`RC-P;C5|s@C1፨IGK>= = v= v=  = :Y= N1y= := 5FZWr,tFj]EAY}6ă@}6;w@y}6}6q<}6H`EJ?4\? It@?`??T?)~6ă@ ~6Z;I~6CɫYY)a aIiY@yGiYY @ @ @©i @ )I@i@uME=Ynq;QU>aEEy:<}>IE5?پ bB  e@9 E: :)W.s@WX XW:W2W*WVbUBU*UUUm?>9I }Gi@=; ΗEBM$;BI BIAM ?*BQAUAQAQAU="C]RC]_<C].s@Ca]]1I9G]v>`Wr,]EAY}VӃ@}Vw@y}V0k}V$;}VH`U?3f?Tς?Y? Nt??)~VӃ@ ~VؼZ;I~VCɫ髙) IY@yGiAAU;@<MUT=Y];QU]>YaaeEeEaym՘;}m>Iq }:uus5? }:urپ ufB }e@9u$ Eu: uD:)u :Wr@WX XW:W2W*WVbUBU*UUU ?B;B BA ?*BAw AAA="C0wRC=Cr@CQϻשIG >= = q= q=  = =9Y= K1y= ̅:= 5#gWr, ]EAY}6Ӄ@}6w@y}6+}6;}6H !U?f?T`Q?`eE~?bp?@?)~6Ӄ@ ~6Z;I~6CɫYY)Y ]IYY@yG=iiI =) =)> >MF=Y:QU>aEEy6}>IȹŽc5?Ž}پ ƽiB e@9ƽ( Eǽ: Ƚ#:)ȹWr@WX XW:W2W*WVbUBU*UUU8@B%`h;B! B)A- ?*B)A-< A)A1A5="C= RC=.=C=r@C95R5<)IIG:> >9 I |Gi k@ ; ̗ENmWr,ѷ]EAɫ髹) IY @y7GiYa@5^I ?Zd;O?Qb>j< )Iyjt?Qy&1? ?`< A)AIC@iEApA } } } }@ }@ }@yyyi}@y y)yI}j@i}@!<M<=YQU>aEEy}>Iȩ :ŭQ5? :ŭ1پ ƭqB e@9ƭ, Eǭ: ȭ:)ȭ :W;yq@WX XW:W2W*WVbUBU*UUUs@Bi;B BA ?*BA% A!A!A%\="C-z RC-\=C-;yq@C1C<IGj>= = |= |=  = 9Y= R1y= i:= 5)= 1;9E 7tWr,]EAY}6kփ@}6Cw@y}6л}6}6HPlV?S? V Sofz?3 y?)~6kփ@ ~6Z;I~6Cɫ99)9 9IAY}@y}G鮁ɮp=i  GMe=Y%9;;QU%>!!a%E-E)y-y:}5>I9=C5?=)پ =wB Ee@9=0 E=: =D:)9Wmop@WiXi XiWq:Wq2Wq*WqVqbUyBUy*UyUyU+@RB*** querying acoustic contact ***PPBd;B BA ?*BAAAA4="CG&!RC=Cop@C֍`zWr,w]EAY} ك@} w@y}  } ,ԃ} H9,X?{.?TY@5@+v?@Gz@?)~ ك@ ~ Z;I~ Cɫ) I!YUu@yUڀG]Z****** received transponder code query ******]F****** received ping request ******]99a=EE EAyEOh:}M>IQU05?Uپ U~B ]e@9U4 EU: U;:)Q}>9yIyiyyyy}; }˗E)1I1i15=5=5 5W}Pp@WyXy XyWy:Wy2W*WVbUBU*UUU@W @BO:B  B A  ?*B A A AA="C%!RCE=CEPp@CA=5[=IG5>= = w= w=  = g9Y= O1y= P:= <5)= 5;GWr,_^EAY}6ȃ@}6w@y}65$}6}6HJ? K?L@i4@dq? ??)~6ȃ@ ~6&Z;I~6Cɫ99)9 =I9Y}@y}GxDUSBL response received:!U1,P 003,000,00335,183,80,80,AD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iMa=Y J;QU>!)a-E5#EAy`}>I : 5? :پ B e@98 E: @;) :WUo@WYXY XYWa:W2W*WVbUBU*UUU@ @BMP;BI BIAM?*BQAU(;AQAQAU; ="C]]"RC]_=C]o@Cehp=AIYG{>tWr,E^EAɫ髱) IY@yaG?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iqq8M?=YQU>aE'Ey}>Ik5?پ B e@9< E: ߼:)WBAo@WX XW:W2W*WVbUBU *U U U '4@BM0;BQ BQA]?*BYAAAA ="Cr"RC"4=CBAo@C!U=)I9GU>5 1 1 5  5 9Y1 y1 5 r59= @i 9i Im X|Gim @m =i i m ; m ʗE=Wr,9^EADF2CitIiM>ٺIM.BZ@9GBɫ) IY]k@y]6GexDUSBL response received:!U1,R,FBE,000,0030C,184,80,80,B8,FF eFpublishing direction and range info]k=Yɰ]=]> Y)]8CIYy]A]Wj?`8.y?ٱYu=iu=iIR=)%=K7A`?MbX9L7A`堿>ʡ +)Iyp= ף?~jtZd;O?%?j< @)&AI@i AA)%= %= u u uu۹>uuT=iu @u u@)qIu@iu5@gM>=YQU>aE*Ey}>Iȡ :ť 5? M:ť]پ MtI ƥB Mf@9ƥA Eǥô< ȥ<)ȥ :Wan@WX XW:W2W*WVbUBU*UUU@-@R(Combining 5 samples.P*QAZQ>K"@qr!?JQWj?`8.y?2Qk=:QbQ!ejJ!]Q!d v?RQŚ濶d4(agg?BQE\{@ QQSP'9?P&9?PQQF@"Q{@BP;B BA?*BAAAA# ="CES#RCE=CEan@CI=ܶ=I Gn>I) )) Wr,S^EAY}-Z@}-+v@y}-MVV}-)}-H@*?`2 ?Q@ (j?a ?)~-Z@ ~-_D[;I~-Cɫ  )  IYM@yMGDNmea in: $SNTTA,,,,,020753.23*5C i#$MU=Y&;QU>aE-Ey5}>I5?پ B f@9E EZ: :)m5qAdded new target pos. range: 9.299998 m, bearing: 225.029557 deg, deltaT: 4.512479 s, approachRate: -0.545155 m/s, LOS rate: 0.939154 deg/s, posRepo size: 4mE ProNav: pos range: 9.299998 m, bearing: 225.029557 deg, approachRate: -0.545155 m/s, LOS rate: 0.939154 deg/s, cmd update: 2.817463 deg/s, cmd heading: 213.622543 deg, new cmd heading: 213.173064 deg. WMo@WIXI XIWI:WI2WQ*WQVQbUQBUQ*UYU]`"@U]f?B ;B BA>*BA,AAA ="C"RC›=Co@Cֽ_=יIGd>5 5 x5 x5  5 9Y5 7P1y5 :5 5Wr,Hl^EAY}}(@}}Fmv@y}}tM}}Ҝ}}HJ?^?@8R*i? 荴 ?)~}(@ ~}x[;I~yɫII)I MIQY>@yG9I{Gix@; ЗEiQY<M?=Y9QU>aE1Eyi}>Iȹ :Ž5? :Ž_پ ƽB f@9ƽI EǽQ: Ƚ]:)Ƚ :W<q@WX XW:W2W*WVbUBU*UUU I?B-gL;B) B)A->*B)A5iA1A1A5ӗ ="C=y!RC=~<C=<q@CA=IG K>Wr,-^EAɫ髱) IY@yGIQ)QiYY aamgAmgAM[=YQU>aE4Ey}>I5?پ B f@9M E: :)WEr@WX XW:W2W*WVbU BU *U UU:y?B;B BA>*BATAAA} ="C~ RCK<CEr@CD=IG k>= = w= w=  = 9Y= O1y= P:= 5UWr,䂠^EAY}:@}:u@y}:-}:#Խ}:H``g?`{?@ Om@Tݳ[e?"t?)~:@ ~:w[;I~:Cɫ99)9 =I9Y}s@y}:GiEMER=YM%:QUM>IIaUEU7EQy]~}]>Ia m:e5? m:eپ eB mf@9eQ Ee4: e:)e :Ws@WX XW:W2W*WVbUBU*UUU?Bhы;B BA>*BAnAAAj ="CRCܼCs@CD= I1Gu6>  >9 I ,{Gi &@    ;  ԗEWr,l^EAɫ髹) IY@y$~GiYY9v?Zd;?/$?= )Iyn? ףp= I +??Q894< @)t AI AiA\A-u6only read 1 of 4 data items u@ u@ u@}}M}8=YQU>aE:Ey}>Ișŝ5?ŝپ ƝB f@9ƝU Eǝh: ȝ:)șW t@WX XW:W2W*WVbUBU*UUU@?B(3B  B A >*B A 0AAA` ="C9RC7^C t@C<IG%M>5 5 u5 u5  5 9Y5 KN1y5 y:5 <5 ӴWr,<^EAY}R@}R.5u@y}R}R}RH`1 8?9?@]م v^?@?)~R@ ~R38[;I~RCɫyy)y }IyY@y~G=i=i))I-C=)-=)5= 1=<=MEa=YE ;QUE>IIaMEM=EIyUd}U>IY]Q5?]ھ ]B ef@9]X E]: ]:)YW. v@WX XW:W2W*WVbUBU*UUU@B\Ś;B BA>*BAqAAAL ="CRCC. v@CH<׹IGI>/Wr, (^EAY}u}@}Xu@y}+諺}߽}H\1? ?`4Q@@yT}U?⻿A?)~u}@ ~?[;I~Cɫ) IY@yv~Ga=ɮa=iܵ>9ܱIܵzGiܵ@ܵ=ܱܱܵ; ݵӗE   "?N>D;i@ |@)@I@i@AM@=Y:QU>aEAEyא}>I :5?  : ھ B  f@9\ E: Q:) :W-eaw@W1X1 X1W1:W12W1*W9V9bU9BU9*U9UAUE8@RMB*** querying acoustic contact ***PIPIBu S:Bq BqAu>*BqA}FAyAyA}_A ="CQRCCeaw@C]8<I)GE0>5 5 {5 {5  5 9Y5 #R1y5 :5 5)5 1;9= Wr,[_EAY}6o@}6bt@y}6섺}6A!}6H1?ů?F`'趱P??)~6o@ ~6:[;I~6CɫII)I MIIY}@y}~GZ****** received transponder code query ******F****** received ping request ******aEDE y } >Ix5?ھ B %f@9` E: I:)WMʎx@WQXQ XQWQ:WY2WY*WYVYbUaBUa*UaUaUe 7 @B8;B BA>*BAwWr,!_EAY}Jh@}Jyt@y}J}J5}JHE`3?y3?AޞP??)~Jh@ ~J [;I~JCɫy髁) IYo@y}G xDUSBL response received:!U1,P FBE,000,0030C,184,80,80,B8,FF  Command Ack BRequesting micromodem ping code 2i  I)AI)%Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iII ii…hA…hA$M?=Y9QU>aEGEy}>Iȱ :ŵif5? :ŵwھ ƵB  f@9Ƶd Eǵ:3= ȵ2=)ȵ :WM=z@WQXQ XW:W2W*WVbUBU*UUU і @BCBX"= BA>*BAjAAA3 ="C5RC5)+C5=z@C9ܽ>9ܹIܽzGiܽ2@ܹܹܹܽ; ݽʗE)IIIiIM=M=M14|= = r= r=  = 9Y= _L1y= 7:= s5)= +1; I G >8Wr,;_EAɫyy)y yIyY]@y}GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i9A-i|?5?V-?-h> -t))I)y-RQ?y&1?-"?-`e-< -@)- AI-&Ai-A)-QA @ @ @Å©ÅÅiÅ׳@Å ąS@)ąIą@ią@4M<=YQU>aEKEy}>Iȱŵ~T5?ŵ!ھ ƵB f@9Ƶh Eǵ: ȵ:)ȱWC{@WX XW:W2W*WVbUBU*UUU: @B`;B BA>*BA&AAA ="CRC ?CC{@C=벫I!GE> Wr,U_EAY}V9@}Veu@y}V}VJ}VHSl?`)?o`4 ܁R?c(`?)~V9@ ~VvI[;I~VCɫ) IY0@y}G xDUSBL response received:!U1,R,F6E,000,002E7,186,80,80,B5,FF  Fpublishing direction and range infow>ɰws=> )5CIy@i?IIaMEUMEYy]K<}]>Ia m:eD5? m:e)ھ eB uf@9el Ee: e:)e :Wf|@WX XW:W2W*WVbUBU*UUU}@R(Combining 5 samples.P*Q@ZQiF'@6Ϊ?JQi?:QbQQaPbRQ)f?>e\@R\kBQ }@ QQP%9?P'9?PQQl@"QF@Be;B BA>*BA AAA  ="CRCNJCf|@C֥aIqG9>= = x= x9 = 9Y= 7P1y= :9 9E @`MWr,go_EAY}b@}bou@y}bi}bїb}bH@y b?`?` ry}5M?@R6?)~b@ ~b@%[;I~bCɫ髹) IY-@y}GY9YI]8yGi]@]=YY]; ]ǗEDNmea in: $SNTTA,,,,,020757.69*56 >i=iI=)=)= >   Í ?Í=Í-=iÍ @Í č@)č@Ič@ič@FM6=YH :QU>aEQEy3<}>Iȱŵ05?ŵG2ھ ƵB f@9Ƶq Eǵ< ȵ<)ȱmUqAdded new target pos. range: 7.080001 m, bearing: 226.987089 deg, deltaT: 4.375259 s, approachRate: -0.507398 m/s, LOS rate: 0.447409 deg/s, posRepo size: 4m] ProNav: pos range: 7.080001 m, bearing: 226.987089 deg, approachRate: -0.507398 m/s, LOS rate: 0.447409 deg/s, cmd update: 1.342228 deg/s, cmd heading: 225.960873 deg, new cmd heading: 227.256393 deg. W}@WX XW:W2W*WVbUBU*UUQ@U?Bp:B  B A>*BAmZݼAyAA =inGIi\?ٺq/B"CRC MC}@Cѭq<օ iY Ii G >1Wr,4_EAɫ) IY=8@yE}GiVf;MT=YQU>aETE!y%}->I1 =:55? =:5>:ھ 5B =f@95u E5+: 5{:)5 :W]}@WaXa XaWa:Wa2Wa*WiVibUiBUq*UqUqUu?B;B BAf>*BAڼAAA_ ="Cm%yRCmYCm}@CqEƢ=89IG%n>= = u= u=  = 9Y= KN1y= y:= 5\Wr,_EAY}2@}2.w@y}2}2<}2HR ?@( n?P?UB?@M?)~2@ ~2~2CɫYY)Y ]IYY@y~Gi5<M=Y=YEȹQUM>YYaeEeWEyT=}>I!%5?%Bھ %B mf@9%y E%i< %(l<)!W]M~@WYXY XYWY:WY2Wa*WaVabUBU*UUU`X?B5I;B9 BAAe~>*BiAu׼AqAyA} ="CRCqICM~@C=e>9aIepxGie@aaae; eɗE > I G >džWr,_EAɫ髙) IY@yj}Giaid;O?J +Mbp??Ƚ ;)Iy}?5^I?ˡEl?M"?'= |A)&AI AiAA-r?C i@ G@)K@I@i@M3=YQU>aE[Ey}>I05?&Lھ B f@9} E: D:)W%=~@W!X! X!W!:W)2W)*W)V)bU)BU1*U1U1U5 ;?B]h;Ba BaAew>*BaAm@ԼAiAiAm ="Cuy9RCucXCu=~@Cyρρ)Ё Ё I= =i= =M &M zM zM  M 89YM Q1yM :M ΐ5 I G- >_oWr,_EA||Y}>E@}>iy@y}>n}>^=}>H,K@T?) S> *{?` b?I?@c?)~>E@ ~>JZ;I~>CɫYY)Y ]IYY@ya}Gi!)u%Mud=Y}SUQU}>yyaE^Ey =}>Iȑ :ŕU5? :ŕKTھ ƕB f@9ƕ EǕ: ȕo:)ȕ :Wp@WX XW:W2W*WVbUBU*UUU 0@BH;B BA>*B A JQҼA A A  ="CRC 2Cp@C]МI9IAGeU>Wr,f_EAY}6D@}6z@y}6N}6e'=}6H,`M? P@Xb [?i?v}?I?)~6D@ ~6Z;I~6CɫYY)Y aIaYy >9 I wGi K@ =   ; ǗEi>5^>K>i̬@ )­@I@i@YQU>aEaE y:=}>I&5?^ھ B %f@9 E{: Q:)WM@WIXI XIWI:WQ2WQ*WQVQbUYBUY*UYUYU]@Bu;B BA*BAaϼAAA  ="C RCZ)C@C֥:Iש)׭fAaIqG9>= = v= v=  = :Y= N1y= := 5)= L;9E Xr,~ `EAY}2_@}2-{@y}2}P}2Ҫ=}2HpjJ?  ,^E tb?@ r??`?)~2_@ ~2 :[;I~2Cɫ99)9 =IAY}@y}}G=i=iIp=)%=)Ù Ý=!MaEdEy`c=}>I :5? :fھ B f@9 E: s:) :WN@WX XW:W2W*WVbUBU*UUU `dp@RB*** querying acoustic contact ***PPB5x;B9 B9A=>*B9A=B̼A9AAAE6 ="CERCMoCMN@CIm~M2AIQGm5>Xr,Y$`EAY}2@}2J}@y}2ǻ}2=}2H@'?`O Kg?x?@?V?)~2@ ~2D[;I~2CɫAA)A EIAY@y|GZ****** received transponder code query ******F****** received ping request ******YaaEhEyy9=}>I5?rھ B f@9 E@: :)W5@W1X1 X9W9:W92W9*W9V9bUaBUa*UaUiUm @B`F:B BA>*BAhɼAAAic ="CRCC@CVבIG> >9 I vGi @ =   ; ×E= = {= {=  = 9Y= #R1y= := )5)= 0;=Xr,:>`EAY}:dP@}:8~@y}:}:>}:H@c? 0`i?e?jh?*?)~:dP@ ~:S[;I~:Cɫ99)9 =I9Yu@y}J}GxDUSBL response received:!U1,P F6E,000,002E7,186,80,80,B5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iZd;?ktS㥛?> 0 /<)IybX9?l{Gz?E?ף< ½t A)½C@I½+Ai½zAAÝ9T?Ý=ÝXiÝ@Ù ĝ­@)ĝ@Iĝiĝ­@}<M$=YheQU>aEkEy A=} >IA U:E5? e:E7}ھ EB mf@9E EE%; E;)E! :WE @WAXA XIWI:Wq2Wq*WyVybUBU*UUU`Z@B0:G;B BA>*BAƼAAA38 ="C  RC SC- @C1E K I) GM >HXr,X`EAY}B@}Bl@y}B}BP>}BH @?@<@Jb@ ?P?? )?)~B@ ~B [;I~BCɫYY)a eIaY@y=|GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IQ)Qiai y}AyyM=YCQU?aEnEy=} ?I5?Kھ B f@9 EM: 8:)W=>@W9XA XAWA:WA2WA*WIVIbUIBUI*UQUQUU<@B!<B BA1>*BA>]ļAAA ="C/RC ֽC >@C  IGE>= = x= x=  = 9Y= 7P1y= := 59E @Xr,q`EAY}2@}2Iƀ@y}2!6}2 >}2HRB?@ ? Ć?@#??)~2@ ~2.G^;I~2Cɫ99)9 9I9Y}<@y}|GxDUSBL response received:!U1,R,FF3,000,002D0,184,80,80,9B,FF Fpublishing direction and range info9<ɰk=鰅> )CIyf@S~ y?6;?ٱ9IvGi@; —E)1I1i1115l.4iå>ååDiå@á ĥ)ĥ@Iĥ@iĥ@R<M=YzQQU>aErEy$ =}>I :5? :ھ B f@9 E: ,:)" :W @WX XW:W2W*WVbUBU*UUU@sm@R(Combining 5 samples.P*Qf@ZQ6Xl@b?JQS~ y?6;?2Q9<:QbQ V`>$:Zo?RQ^& uB #Y2?BQd"@ Q+QdP#9?P%9?PQQ@"Ql@B=@l):B9 B9A=>*B9AE;AAAAAE ="CMRCMWǽCe @Cyօ Y Ii G >3"Xr,Ћ`EAɫ) IY5K@y5Y{GDNmea in: $SNTTA,,,,,020802.12*55 i-aнM-=Y5QU5?11a=E=tE9yE}E?IIM݃5?Mھ M B Uf@9M EMU: M :)ImqAdded new target pos. range: 5.699999 m, bearing: 231.214143 deg, deltaT: 4.609116 s, approachRate: -0.299407 m/s, LOS rate: 0.917107 deg/s, posRepo size: 4m ProNav: pos range: 5.699999 m, bearing: 231.214143 deg, approachRate: -0.299407 m/s, LOS rate: 0.917107 deg/s, cmd update: 2.751322 deg/s, cmd heading: 232.141975 deg, new cmd heading: 232.507391 deg. W%@WX XW:W2W*WVbUBU*UU@U?B<B BA>*BAAAA ="Ck RCiC%@CYיIGb>5 5 u5 u5  5 9Y5 KN1y5 y:5 N5(Xr,8`EAY}2@}2@y}2Pw}2R >}2Hh>?yH@p- G?@?\?^?)~2@ ~2Ua;I~2CɫAA)I IIIY#@y'{G}=i}=i5^I ?B`"۹Mbp??ν ;)IyK?Q~jth^?D •nA)•@I•Ai•AA @ @ @©i­@ )@Ii@/M0=Y  QU > aExEy=}>I!%t5?%ھ ! -f@9% E%D: %n:)!W΂@WX XW:W2W*WVbUBU*UUU:?BUD:BQ BQAU>*BQA]Z1AYAyA}j ="Cā RCŽC΂@CԽgAԽgAu]Ƚ%>9!I%uGi%@!!!%; %˗EQIYG>  i} nmGI i =ٺ -B"/Xr,|`EAɫyy) IY@yzGiIIXxMy=YQU?aE{Ey}?I :i5? :ھ  B f@9 Ee; V;)# :W?K@WX X!W!:W!2W!*W!V)bU)BU)*U)U1U5 ?B0;B BA>*BA{TAAA>3 ="C7 RCyJC?K@C֥V1ƽyIG^>= = y= y= # = 79Y= P1y= ':= M5 6Xr,yW`EAɫyy)y }IyY^@yp{Gi!!U <M]P=YYQU]>aaaeEe~Eayi}m>Iqu ]5?uھ q }f@9u Eu: u:)qW@WX XW:W2W*WVbUBU*UUU@_3?B]P;Ba BaAe>*BaAeݷAiAiAm} ="CW RCC@Cօ役aIiG9>[6iiamEmEqyu=}u>Iy :}`O5? :}ھ } B f@9} E}; };)}$ :W@WX XW:W2W*WVbUBU*UUU ,8?BX#;B BA#>*BA ]AAAt ="CRCC@C ===yI!G=r>= = z= z=  = 9Y= Q1y= := `5)= 9;9E CXr, aEAY}:@}:t@y}:Pռ}:{3=}:H^?* +xI,g??U??)~:@ ~:f\;I~:Cɫ99)9 9I9Y} @y}{GiE~I<ME^=YMx QUM>IIaUEUEQy]#=}]>Iae#D5?e|ھ eB mf@9e Ee: e:)aW @WX XW:W2W*WVbUBU*UUU @B;B< BAt>*BAU)AAA#: ="CRC LyC  @C%役I G%M>@GIXr,&aEAY}B@}B+@y}Bm缙}BA=}BH`͕?!`>ah5?@???)~B@ ~Be[;I~BCɫ) IY@y%zG=p=ɮ==iquT㥛 ?S㥫Mb?u?u/] u=)qIqyurh|?V-~jt?u?uu= u A)u$@IuAiu? AquGA   >d;>G=i=@ )v@Iv@iX@QۼM'=YQU>aEEy<}>I :755?  :ھ B  f@9 Eo: V:)% :W-@W1X1 X1W1:W12W1*W9V9bU9BU9*UAUAUE`@RMB*** querying acoustic contact ***PIPIBu`M:Bq BqAu>*ByA}RAyAyA}l ="C]\RCUC@C9ItGi@ 7שIG>= = r= r=  = 9Y= _L1y= 7:= 5)= _3;.PXr,?@aEAY}6ׅ@}6@y}6}6=}6HX>@D?@4t `}˴?@)??`?)~6ׅ@ ~6[;I~6Cɫ99)9 =I9Ym@yHzGZ****** received transponder code query ******F****** received ping request *******BAAAAa ="CudRCuCu]@CyԁԁM IG5.>YVXr,ZaEAY}:9@}:@y}:_ }:k=}:H?z@k#'`F?K?฾??)~:9@ ~:I\;I~8ɫ99)9 =I9Y}@y}yGxDUSBL response received:!U1,P FF3,000,002D0,184,80,80,9B,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i|MA=YQU> a5E5E9yM<}m>IȁŅ5?Ņ6ھ ƅ1B f@9ƅ EDž< ȅ<)ȁW@WX XW:W2W*WVbUBU*UUUZ @Be8Ba BiAmf>*BiAm㫼AiAiAm="CuRCuC}@Cyѵ=} >} x} x}  } 9Y} 7P1y} :} 59 @֭ ס I G >\Xr,c}taEAY}2O@}2b]@y}2t}2sl=}2H@r .I? Y"f?@=?`? ?)~2O@ ~2]\;I~0e>9aIePuGiec@e=aae; e˗Eɫyy)y yIyY@yzG@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i99=l==1?=?i=@9 9)=5@I=5@i=@M=MUA=YUǻQUU>YYa]E]EayeP=}e>Ii u:m5? u:mھ m*BAAéAAAa="CbRCC)@Ct<֥ yIG^>jcXr,UaEAY}2͍@}2ۅ@y}2K}2=}2H`% /?嘱`֙`߿:v?`? ? ?)~2͍@ ~2F?\;I~2Cɫ99)9 9IAY@yzzGxDUSBL response received:!U1,R,0B0,000,002C1,186,80,80,7D,FF Fpublishing direction and range infonFɰg=> )BIy@?8C ÿٱI)i Ma=YQU>!!a%E%E9yM+=}U>Iae5?e ۾ eGB uf@9e Ee9O; e,R;)aW=@WX XW:W2W*WVbUQBUQ*UYUYUe2@R(Combining 5 samples.P*Q@ZQ¥W@߸JQ?8C ÿ2QnF:QbQ/a:4}> 4ܺ?RQ3^+o#DS@b?BQ@ QenQAP 9?P#9?PQQ@"Q@B ;B  B AG>*BAkAAAD="CRC8C%=@C!=T<-/ I = O= p= p=  = 9Y= K1y= `:= 5G >iXr,CaEAY}"_@}l@y}'}=}HN߿!?ر`+޿@&?h?@E?@?)~"_@ ~\;I~Cɫ) IY-@y-zGDNmea in: $SNTTA,,,,,020806.56*51 iMMbX9? ףp= ?~jtM>MQ8= MD)IIIyME?I +kt?M?M94M 0= I)Mx@IMAiM$AIMA @ @ @å©ååiå @å ġ)ĥ@IġiĥR<M&=YKûQU>aEEy=}>I :z5? :۾ VB f@9 E@: :)' :8qjAggregate::initialize lineCaptureDepth:SetNavAcoustic19 r~Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNavq9rdReseting nav to dock location at range 4.800000 m q99 s6Initialize SetNavComponent.muAdded new target pos. range: 4.800000 m, bearing: 230.915691 deg, deltaT: 4.307171 s, approachRate: -0.208954 m/s, LOS rate: -0.069292 deg/s, posRepo size: 4m ProNav: pos range: 4.800000 m, bearing: 230.915691 deg, approachRate: -0.208954 m/s, LOS rate: -0.069292 deg/s, cmd update: -0.207876 deg/s, cmd heading: 243.937893 deg, new cmd heading: 245.320284 deg. W.@WX XW:W2W*WVbUBU*U!U%@33@U% A?Bm8-;B BA>*BAAAA!="C`*CkRC!C.@C) Y9YIYiYYYY]; ]ɗE)Ii4M b) I1 GM >pXr,<-aEAɫ髑) IY@yzGiaa~<M^=YQU>aEEy}>I25?۾ aB f@9 E: :)XiXiXisulSetNav fix at 20210814T020807: (41.552319, -70.708603)9u su:Uninitialize SetNavComponent.r}fCompleted lineCaptureDepth:SetNavAcoustic:UpdateNav19} r}Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNavq}RCompleted lineCaptureDepth:SetNavAcoustic8}q}nAggregate::uninitialize lineCaptureDepth:SetNavAcousticW#@WX XW:W2W*WVbUBU*UUU ?B%;B! B)A->*B)A-]mA)A)A-="C5S*C=ډRC=&gC=#@CA:IG%N>EEvEvE E9YEN1yE:E5$wXr,aEAY}:{@}:@y}:r3}:=}:HXݿ3R?q9g`ܿ,?l?N??)~:{@ ~:i^;I~:Cɫ99)9 =I9Y}@y}zGi=i  )> >U#M]P=Y]QU]>aaaeEeEaym=}m>Iq }f@yu E }f@Yq f@uA f@u%@ =u< :u- 5? :uxݾ tI u ?9uuN; u(O;)uo:IFix residual: 0.9 %DT, over the last 2220.9 m. Residual distance 20.2 m at bearing 148.4 degrees. Fix at (41.5533, -70.7054) with 0.0 m made good.W@WX XW:W2W*WVbUBU*UUU@y?B;B BA>*BAAAAA="Cl*CՓRC C @C  IG$>e >9a Ie uGie @e =a e 2De ; e ̗Eg]}Xr,gaEAY}2@}2@y}2k7}2E=}2H@uܿB?Vô;ܿ ?{?Ѽ?`?)~2@ ~2=_;I~2Cɫ9A)A EIAYm@y}lzGi/mGIi!]?ٺae/Bi   \=X9>>i=@ )(@I­@i@5ƺM5;=Y=QU=>99a=EEEAyE|=}M>Iqu 5?uݾ u< }?9u'm>u+: u8:)qW @WX XW:W2W*WVbUBU*UUU@G?BE~;BA BAAE>*BAAUAQAQAU>="Cm*CRCsC @C}1QIqG|>%%z%z% %9Y%Q1y%:%5)%1;9- 6Xr,bEAY}2m@}2z@y}2>}2=}2HnۿX?ٴ 6ۿ@??¼?C?)~2m@ ~2R_;I~2Cɫ99)9 =IAYq@yLzGi9A]3 M][=YeُQUe>aaaeEmEiymT=}u>Iy} 5?}ݾ }DL= ?9}>}: } :)yW@WX XW:W2W*WVbUBU*UUU` 0@BP4;B BA>*BAˣAAAM^="CUV*CURCUh9C]@CYM#!I)GM1>cXr,+bEAY}E:W@}Ed@y}E^N}Er=}EHٿL?t z2ٿ i? ɩ?&?@?)~E:W@ ~E_;I~ECɫiq)q uIqY@yczGI ) i/$?RQȿQ?&>B \=)Iy'1Z?l񢿜 rh?"?C< )@I@i AAhA5h>5η>5>i53@1 5~@)5@I5@i5@MK;MM/=YM QUM>QQaUEUEYy];z=}]>Ia m:eu 5? m:eݾ e= u?9e9?e: e:)ep:W@WX XW:W2W*WVbUBU*UUU@(@B;B BA>*BAAAA="C-:*CkRCC@C ==9˔CIi; ՗E֕QIYG|>MlMuMuM Mb9YMKN1yMy:M5)M?F;HXr,_EbEAY}F/͑@}Fډ@y}F!S}FV=}FH@1&ٿ@IO?}䴿`a԰ؿ*B?]|?.R??)~F/͑@ ~FU^;I~FCɫ髙) IY@yzGɮ=iB4=My=YQU ?  a E EyT3=}?In 5?tݾ = -?9n?: +:)W@WX XW:W2W*WVbUBU*UUU4@RB*** querying acoustic contact ***PPB-<BM?F< BIAU>*BQAUߖAQAQAUq="C]N*C][IRCe(<Ce@Ca֥yIG^>&rXr,:_bEAY}F=@}FJK@y}FDW}F=}FHVؿ~?w 8׿?`g?̺??)~F=@ ~FXu];I~FCɫ髙) IY&@y,{GZ****** received transponder code query ******F****** received ping request ******aiamEmEqy}=}}>Iȁ m:ŅSd 5? u:Ņܳݾ ƅI= u?9ƅ#?Dž< ȅ<)ȅq:Wۇ@WX XW:W2W*WVbUBU*UUU ( @B5;B1 B1A5N>*B1A=t?A9A9A=@="CEsh*CEtRCeb <Cmۇ@Cie-B9IYG\>E EwEwE E9YEO1yEP:E59M@ >9 I vGi @ =   ;  ٗE6Xr,*ybEAY}:Ԝ@}:@y}:\}:m =}:H@׿?屿uC׿`tܵ? W?@,??)~:Ԝ@ ~:\;I~:Cɫyy)y IYt@y{GxDUSBL response received:!U1,P 0B0,000,002C1,186,80,80,7D,FF Command AckBRequesting micromodem ping code 2ii=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i)= = @ @ @©i@ )@Ii@ea<Mm-=Yu#QU}>aEEy<}>IJY 5?ݾ .> ?9?D: :)W5 ·@W1Xq XyWy:Wy2Wy*WyVbUBU*UUU l @BhN;B BA*>*BA_AAA=U="Ct*C_ԄRC )r3=C  ·@C 9IG >pXr,sbEAY}N@}N@y}N]}N:=}NH ׿@O? Ξ`Zֿ`X:?`A??q?)~N@ ~NN^\;I~NCɫyy)y }IY@yzGAAuNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i5O-M5a=Y5QU5>99a=E=EAyE<}E>II U:M{Q 5? U:Mݾ Mh> ]?9M?M: M:)Mr:W}Ç@WyXy XyW:W2W*WVbUBU)*U)U)U5{]@B}J><By ByA}K>*ByA1<AAA="C *CyRCm=CÇ@C<]6]x]x] ]9Y]7P1y]:]5h%< I G >|Xr,BͬbEAɫ) IY5p@y5{GExDUSBL response received:!U1,R,FB6,000,002CD,184,80,80,C4,FF EFpublishing direction and range info= A=9ɰ=j==> 9)=DCI9y=@=4Y?P0?ٱ9iaaMbX9?U=*?UtiU@U U@)U@IU@iU5@e =Me8=YmQUm>iqauEuEqy}}}>IȁŅI 5?Ņݾ ƅ.> ?9ƅ ?Džz: ȅ':)ȁW@WX XW:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q@ZQqä@ H?JQ4Y?P0?2Q A=:QbQ5dk^hMe'?RQ~N=q%ӿly-N g?BQq@ Q7Q_ӿPN9?P 9?PQQ@"Q@B >m <B  B A >*BAڜAAAhn<"Cj*CWRCp=C%@C!e<>9IvGi@; ֗EU<יIG>Xr,ѭbEAY}vD>@}vK@y}v\}v8=}vH@yֿ`? WM@ֿ9?`?$?@?)~vD>@ ~v`w\;I~tɫ) IY5S@y5b{GTNmea in: $SNTTA,0.054805,,,,020811.05*43 I)AiaegAMW=YA;:QU>aEEyK<}>I :)C 5? :lݾ  E> ?9V @w: A:)s:mmAdded new target pos. range: 5.520000 m, bearing: 252.560533 deg, deltaT: 4.516692 s, approachRate: 0.159409 m/s, LOS rate: 4.792189 deg/s, posRepo size: 4m ProNav: pos range: 5.520000 m, bearing: 252.560533 deg, approachRate: 0.159409 m/s, LOS rate: 4.792189 deg/s, cmd update: 12.000000 deg/s, cmd heading: 242.994047 deg, new cmd heading: 242.914930 deg. WC@WX XW:W2W*WV!bU!BU!*U)U-z@U-z?BU%$<BY BYA]>*BYA]DAYAYAec<"C%kRC%z6=C-C@C)11)1 1EEAAE E)9YAyAE5 > ;F=י I G >dķXr,bEAY}66@}6D@y}6X}6L?=}6Hpֿ?`ù`fIcֿ ? !?? ?)~66@ ~6h\;I~6Cɫ11)1 5I1YuH@yuU{Gi}Mi=Y7;QU >  aEEyG&}>I(= 5?pݾ Y> -?9@/: ':)WMΜ@WIXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUe=O?B<<B BAc>*BA|&AAAR_<"CRC\;CΜ@C}Qf=YIqG:> >9 I DwGi @ = ; ΗE)5˔CI5˔Ci1115}5~Xr,-^bEAY}R@}RP,@y}RRS}R<}RHiֿ?~@Q ֿ?Tg? lI?@?)~R@ ~R \;I~RCɫyy) IY@y|Gi9A @ @ @í©ííií@í ĭ)ĭݸ@Iĭ@iĭʭ@M(=M>=YM;QU>aEEy}>I5 5?ݾ r>  ?9&@A; ];)WE@WAXI XIWI:WQ2WQ*WQVQbUQBUY*UYUYU]?B#<B B A j>*B A [AAA<"CaRCCC@Cȿ=IGI>EE}E}E E 9YEkS1yEԊ:E5)Eg6;9MXr,9cEAY}JW@}J@y}JK}JF;}JH`ֿd? 5օ?` @Uֿ+?`t?'O??)~JW@ ~J@.\;I~JCɫyy)y yIyY@y{Gii!!)-= ->sMN=Y8;QU>aEŏEy}>Iȩ :ŭ. 5? :ŭ޾ ƭʄ> ?9ƭ{4@ǭ: ȭ:)ȭt:W$@WX XW:W2W*WVbUBU*UUU@?B9<B BAg>*B!A%䂼A!A!A% <"C-GRC-c7C5$@C1AAm8pXr, .cEAɫ) IY5@y5|GiʡE?S㥛-?/ݼ )Iyx?y&1{Gz?K?`eף< zA) AIZ@i A(A   ν>%i@ @)@I@i ‚<M 4=Y QU >aEɏEy}>I!%Y& 5?%޾ %7> 5?9%E@%: %ӻ:)!WH@WX XW:W2W*WVbUBU*UUUS6@BM<BQ BQAU>*BQAUAQAQA]@3<܅>9܁I܅ xGi܅@܅=܁܁܅; ݅җE"C߿RC CH@CM̝>M]Xr,GcEAY}2’@}2NЊ@y}26}2 }2Hb׿`? ?yu׿Q? 4? ,?)~2’@ ~2i \;I~0ɫ99)9 =I9Y]@y|Gi!!U/=M]k=Y]y ?9uR@u: uw:)uu:W@WX XW:W2W*WVbUBU*UUU@B<B BA>*BAQ{AAAO<"C\׿RCC@CMy!I)GM1>oXr,yacEAɫ髙) IY@y|G a=ɮ a=I)i!)99Eo<MMK=YMQUU>YYa]E]ϏEYye}e>Iqu 5?u,޾ u!> ?9ua@u#; u2 ;)qWc=@WX XW:W2W*WVbUBU*UUUg@RB*** querying acoustic contact ***PPB%L6^<B) B)A->*B)A5¿uA1A1A5EX<"CEJ̿RCACEc=@CI e >e= 4/IG )>EEEE El:YEWU1yE:E59M@܍ >9܉ I܍ xGi܍ ?@܍ =܉ ܉ ܍ ; ݍ ЗE8Xr,{cEAY}2@}2b@y}2}2ƃ}2HI׿?É?Q׿ b/?d?l?)~2@ ~2[;I~2Cɫ99)9 =IAYE5@yMx|GMZ****** received transponder code query ******MF****** received ping request ******U!!a-E-ҏE)y5v}5>I9 E:=( 5? E:=9޾ =ު> E?9=p@=^: =:)=v:W- @W)X) X)W):W)2W1*W1V1bU1BU9*U9U9U=o @BQ<B BA3>*BAx/pAAA<"CRCC @C$ӿ׹IGE>!Xr,cEAY}6@}6\@y}6.}6p}6H׿D??@f׿?`$??)~6@ ~6[;I~6Cɫ99)9 EIAY@y}GxDUSBL response received:!U1,P FB6,000,002CD,184,80,80,C4,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i#=ML=Y;QU>)1a=E=ՏEQye;}m>IȁŅ 5?ŅE޾ ƅ> ?9ƅF@Dž "= ȅ=)ȁW@WX XW:W2W*WVbUBU*UUU` @B-Qe<B) B)A-Q>*B1A5iA1A1A5u<"C=q޴RCYCe@Cae@L9IaG>UyUyUyU  U::YUP1yU':U5JXr,\cEAɫ髁) IY@y8}GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5=i5=i99:v?:v?v/?>< xi=)Iyx&1?MbpL7A`?A ?+= fA)zAI@iA\A)> >M1=YQU>aEُEy}>I :N 5? :ST޾ U> ?9=@#: :)w:WK@WX XW:W2W*WV!bU!BU!*U!U)U-@b@BUP<BQ BQA]>*BYA]dAYAYA]<.<"CeɪRCiCmK@Ciyy5>91I58yGi5@5=115; 5͗EMRCI)GER>3Xr,9cEAY}:YT@}:b@y}:m鼙}:N5}:H`3Vֿ`p?@t?SXֿR?,? ?)~:YT@ ~:8\;I~:Cɫ99)9 =I9Y]h@y]}GexDUSBL response received:!U1,R,FFC,000,002EA,183,80,80,79,FF mFpublishing direction and range infoed;aɰest=e$> a)eBIayeQ@e 29?QC1ml?ٱaia=Ms=YF ?9@< <)W%g)@W)X) X)WI:WI2WQ*WQVQbUYBUa*UaUaUe@R(Combining 5 samples.P*QQ@ZQ~1 @eXRI?JQ 29?QC1ml?2Qd;:QbQR8ř2<8Iy?RQo ֿ`g}CQ2,?BQ~@ QQ PI9?PN9?PQQ@"Q@B"<B BAh>*BA%^A!A!A%A<"CmRCiCmg)@Cqe3q9IIGeV>EEvEvE E*:YEN1yE:E)5`Xr,"cEAY}M@}M@y}MXԼ}M4 =}MH Eտ+? xr+5տ_?=?,?a?)~M@ ~M\;I~MCɫ)))) 1I1Y]@y}GDNmea in: $SNTTA,,,,,020815.48*5C Response from modem failed NMEA checksum: $CAREV,020816,30*76 expected 4DiMBMM3=YM;QUM>QQaUEUߏEYy]=}]>Iae 5?e{n޾ e> u?9e@eM: e8:)amqAdded new target pos. range: 7.259999 m, bearing: 249.764554 deg, deltaT: 4.405041 s, approachRate: 0.395002 m/s, LOS rate: -0.634723 deg/s, posRepo size: 4m ProNav: pos range: 7.259999 m, bearing: 249.764554 deg, approachRate: 0.395002 m/s, LOS rate: -0.634723 deg/s, cmd update: -1.904168 deg/s, cmd heading: 295.720944 deg, new cmd heading: 300.743604 deg. Ws@WX XW:W2W*WVbUBU*UU@= @U/?BUu<BQ BQAU>*BYA]XAYAYA]C<"CȗRCCs@CֽݑבIGa>% >9! I! i! % =! ! % ; % ϗEsXr,NcEAY}2詔@}2@y}2r}2.=}2H@4ӿO]?``j`]ӿǦ?@?VO?@?)~2詔@ ~2Ԡ\;I~2Cɫ99)9 =I9Y@ym~GI)i-hA-hA   Ý =Ýn?Ý">iÝf@Ý ĝ @)ĝj@Iĝݸ@iĝ5@=MU=Y;QU>aEEy8~=}>I :Y 5? :X{޾ > ?9Π@{8; /;)x:W E@W X  X W :W2W*WVbUBU*UUU X?B )<B BA>*BARAAA<"C#qRCCE@C >ֽՌבIG>ETExExE E9YE7P1yE:E5)EB;9M_oYr,dEAY}:y@}:3@y}:@}:w=}:H`!ҿ@ ? ո@e@ѿ?? ? ?)~:y@ ~:\;I~:Cɫ99)9 =I9Y}~@y}~Gi!!uXļMuN=Y}4;QU}>yyaEEy=}>Iȑŕ: 5?ŕ޾ ƕ"> ?9ƕ@Ǖ : ȕ:)ȑW@WX XW:W2W*WVbUBU*UUU@?B<B BA>*BAݹMAAA<"C V᏿RCC@CE?΅I!GEQ> Yr,{0dEAɫ髙) IY0@y~GiIIe!rh?MbXѿ)\(?el?e eGa=)aIayeV-?:v rh?e ?eTeC = e A)e@Ie@iezAae3A @ =@ =@©i@ )ʭ@I@iMT?=MM0=YUQUU>QYa]E]EYye}e>Ii u:mz 5? u:mU޾ m> }?9m@m: m:)my:Wd@WX XW:W2W*WVbUBU*UUUe?9IyGi@=; ֗E)aIaiae=e=e5B<B BA>*BA FA A A .<"Cs,*CtRCCd@CFӅIG>EEwEwE E:YEO1yEP:EΓ5)EH;'Yr,0JdEAY}2^R@}2`@y}2}2">}2HjͿ(?;ÿv#5̿ L?@?H?2?)~2^R@ ~2B^;I~2CɫII)I IIIY}@y}~Gi=i)= =U4My=YG>}?Ix 5?3޾ > %?9@U: :)WM5 @WIXI XIWI:WI2WQ*WQVQbUYBUY*UYUYUeߦ?B'<B BA>*BAAAAA"<"CG!RCC5 @CII!I G%M>Yr,!ZddEAY}2d$@}22@y}2%}28->}2HV6ʿ?@TĿ;Q!}ɿ`?|??s?)~2d$@ ~2{^;I~0ɫ99)9 9I9Y@yD~Gi!!ueM}C=Y};QU}>aEEyy=}>Iȩ :ŭ 5? :ŭ޾ ƭ? ?9ƭ,@ǭ(; ȭn;;)ȭz:WN@WX XW:W2W*WVbU BU *UUU`@B<B BA>*BA%Z;A!A!A%<"C-ZRC)C-N@C9yQIaG|>EMAAE Ep9YAyAE59M@ >9 I 8yGi @ = ; ۗEi unGI i ~@ٺ {0BYr,5~dEAɫ髙) IYQ@yGp=ɮi  ] ] ]]Q=]?]"[?i]@] Y)]5@I]@i]@mN=MmK=YuQUu>qya}E}Eyy}>Iȉōa 5?ō ޾ ƍ? ?9ƍ@@ǍK: ȍ:)ȉW`+@WX XW:W2W*WVbUBU*UUU@Wf@RB*** querying acoustic contact ***PPBj<B BA>*BAPZ5AAA9<"C RCC`+@CIGF>ּ%Yr,dEAY}6ę@}6aґ@y}6%Ԕ}61>}6Hÿ'?|ſߛÿH?A???)~6ę@ ~6_;I~6Cɫ99)9 9I9Y}@y}m~GZ****** received transponder code query ******F****** received ping request ******a E E y>}>I 5?޾ ? -?9&@ ; 1:)WE@WAXA XAWA:WI2Wi*WqVqbUqBUy*UyUyU}" @B%ω<B1 B1A=>*B9A=P.A9AAAEZ<"CM\RCICM@CQ e>e>]?΅1IAG]v>{ c:Yy5'+Yr,dEAɫyy)y yIyYJ@yGxDUSBL response received:!U1,P FFC,000,002EA,183,80,80,79,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i܅>9܁I܅ xGi܅@܅=܁܁܅; ݅E/$?7A`? t)Iyx&1?S㥛~jt?A ?/ݼ< A)@IAiAAh?j?>i@ )S@Iʭ@i@]p<Me=YeQUe>qqauEEy}>I : 5? :N޾  ?  ?9_@˻; ;){:W!@WX XW:W2W*WVbUBU*UUU`15@BU<BY BYA]>*BYA]Y&AYAaAecH<"CeǸRCiCm!@Cօ FӅY Ii G >2Yr,.dEAY}B7@}B@y}B7}Bx3>}BH@~ci]?ſ `WbA?5?`V??)~B7@ ~BfAa;I~@ɫYY)Y ]IYY@y7~GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iM=YcQU?aEEy^J>}?I   5? ޾ ? %?9 @ j; Z;) WU۠@WQXQ XYWY:WY2Wa*WaVabUiBUi*UqUqUuJ"@B]Z<Ba BaAe>*BaAߒ"AAAi<"CϠRCC۠@CֹבIG>MMzMzM M:YMQ1yM:M58Yr,jdEAY}2{@}2@y}2=ڱ}2za5>}2H @m?@ NƿI˰@F? :?@?}?)~2{@ ~2>~b;I~2CɫYY)Y ]IYY]@y}GxDUSBL response received:!U1,R,E15,000,00310,186,80,80,46,FF Fpublishing direction and range infoa>ɰs=鰥> )BIyA\fpo?W?ٱii購M]=YN0QU>aEEy=}>I : 5? :޾ ? ?9S@(: :)|:W%x@W!X! X!W!:W!2W)*W)V)bU)BU)*U1U1U57@RE(Combining 5 samples.PA*QEAZQEZ!@CsQ@JQE\fpo?W?2QEa>:QAbQE<a@ @!q!T i_?RQEtOjD?3Qk51ʷ?BQEP@ QEQER@PEW9?PEI9?PEQEQE@"QE@B<B BA>*BA+AAAU<"C}\RCCx@C}?΅QIaG|>u >9q Iq iq q q q u ; u ۗE%?Yr,dEAY}j)l@}jy@y}jE}j^<>}jH@/p?_=ǿ`j.?Lߖ?^?@:t?)~j)l@ ~jb;I~hɫ) IY5@y5~GDNmea in: $SNTTA,,,,,020819.93*56 iQ=>=i@ @)@I@i@J=M +=YTQU>aEE!y-z=}->I15L 5?5޾ 5? M?95@5*; 5O+;)1mmAdded new target pos. range: 9.540000 m, bearing: 290.208946 deg, deltaT: 4.398934 s, approachRate: 0.518308 m/s, LOS rate: 9.194135 deg/s, posRepo size: 4m  ProNav: pos range: 9.540000 m, bearing: 290.208946 deg, approachRate: 0.518308 m/s, LOS rate: 9.194135 deg/s, cmd update: 12.000000 deg/s, cmd heading: 287.323325 deg, new cmd heading: 286.385201 deg. W ƣ@W X XW:W2W*WVbUBUY*UaUez#@Ue46?B-v<B) B)A->*B)A5+A1A1A5#<"C][RCYC]ƣ@Ca==== =:Y=W1y=č:=5)=N;9M։a Iy G > FYr,\XeEAY}:\@}:i@y}:*¼}:8>}:H@܁`z? -ƿ@~@v?D??x?)~:\@ ~:b;I~8ɫ99)9 9I9Y}@y}~Gi))u#gMuh=Y}n~QU}>yaEEy=}>Iȑ :ŕ1 5? :ŕ ߾ ƕ? ?9ƕ@Ǖ: ȕ:)ȕ}:W@WX XW:W2W*WVbUBU*UUU:s?B]<B BA4>*BA \#A A A b<"C4RCC@C!I G%M>4LYr,23eEAY}2X@}2f@y}2 ɼ}2.>}2HV??ſ`LT?y? } ? .??)~2X@ ~2O-c;I~2CɫYY)Y YIYY@yI~GIA)iʡE?~jtxMbp??Ļ ;)Iy)\(?~jt?L7A`?G!?<+= lA)f@IEAi? A A}M>}>}i}3@y }@)}@Iyi}S@M9=YQU>aE Ey=}>I 5?߾ ? ?9@;: :)>9Ii=; EW-@WX XW:W2W*WVbUBU*UUU?BMF<Ba BaAm>*BiAme) AiAiAm<"CulRCyC}-@Cy յ=Ե=ֱMMwMwM MV:YMO1yMP:MN5)MjM;IG>SYr, MeEAɫ髙) IY@y7~GiAAu\M}_=Y}QU}>aE Ey}>Iȑ :ŕ 5? :ŕ(߾ ƕ!? ?9ƕAǕ=: ȕ:)ȕ~:WE@WIXI XYWY:WY2Wa*WaVabUiBU*UUU@o?B5k<B1 B1A5>*B1A=A9A9A=[<"CE7RCACE@Ci]FӅ1IAG]v>FYYr,BfeEAY}2+6@}2C@y}2<Լ}2 &>}2HW?x?Ŀ@E?@???@ِ?)~2+6@ ~2d;I~2Cɫ99)9 9I9Y@y@~Gi!!e;MeL=YmXhQUm>iiauEuEqy}j>}}>IȁŅ 5?Ņ6߾ ƅ'? ?9ƅADž: ȅn:)ȁW!@WX XW:W2W*WVbUBU*UUUN@B%熿<BI BIAMX>*BIAUНAQAQAUj <"Ce?RCaCe!@Cׁ֙IG>eeyeye eB:YeP1ye':e59m@ 9 I i ; E)ݡIݡiݡݥ=ݥ=ݥ*4.`Yr,ĀeEAY}:%@}:a3@y}:Լ}:i#>}:Hj,? f?BĿM?@䋁?@? `? ?)~:%@ ~:Cf;I~:Cɫ99)9 9I9Y}Y@y}}G=ii)))5= 5>}=}94}=i}̬@y }@)}@I}i}ʭ@˽MG=Y7QU>aEEy`=}>Iȩŭ 5?ŭ'E߾ ƭq,? ?9ƭ Aǭ: ȭ:)ȩW@WX XW:W2W*WVbUBU*UUU@s@Bd<B BA{>*BAAAA%H<"C%pRC)C-@C)99AI)GEQ>XfYr,seEAY}2@}2V@y}2Qټ}2MA!>}2H@6?L?`WĿ?s? h)? ?ɗ?)~2@ ~26c;I~2Cɫ99)9 9I9Y}8@y}}G鮅a=ɮp=i2MZ=YȺQU>aEEyH=}>I : 5? :?R߾ s1? ?9A: :):Wb@WX XW:W2W*WVbUBU*UUU_@R B*** querying acoustic contact ***P P BJ"<B BAf>*BANAAAT<"C$[RCCb@C!I G%M>]]u]u] ]!:Y]KN1y]y:]5lYr,_zeEAY}2[@}2@y}2r߼}2A>}2H`\?-?)ÿ `G?Z?{? ~? _?)~2[@ ~2Ub;I~0ɫ99)9 =I9Y}@y}e}GZ****** received transponder code query ******F****** received ping request ******uP uĽ)qIqyu-?x&?y&1?u??u7=u`e< uA)u|@Iu&Aiu; Aqu=Ayy9IwGiK@; ڗEimGI i!MK@ٺIML0BÍ>Í?Í>iÍ=@É č)čj@Ič@ič@nM =Y nQU >aEEym=}>IAE 5?Eb߾ E6? M?9EdAE: E:)AWZ@WX XW:W2W*WVbUBU*UUU@ @B <B BA<>*BA~ٻAAA<"Cep?RCaCeZ@Ca qu=I) I1 GU >jsYr,UeEAY}6@}6 @y}6'伙}6S>}6H ??KKÿ`?H)]? ?c?)~6@ ~6ݸb;I~6Cɫ99)9 =I9Y@yd~GxDUSBL response received:!U1,P E15,000,00310,186,80,80,46,FF Command AckBRequesting micromodem ping code 2iIA)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i%hA!E\=MM=Y]QUe ?qyaEEy=} ?I : 5? :l߾ :?  ?9kAe= =):WJh@WX XW:W2W*WVbUBU*UUU5 @BeR<Bi BiAm2>*BiAmGLλAiAqAu<"C}w+RCyC}Jh@C֕?΅9i=R=U|U}U}U Uw:YUkS1yUԊ:U5YIqG>yYr,0eEAY}:@}:R@y}:缙}:>}:H`*??@\¿ *Z?mu?m? ?)~:@ ~:!c;I~:Cɫ99)9 =I9Y}%@y}}G?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i5<MA=YQU>!a-E- EYym=}>Iȱŵ 5?ŵ_z߾ Ƶ>? ?9ƵzAǵǺ: ȵ:)ȱW@WX XW:W2W*W V bU BU *UUU ne@B]6<Ba BaAe>>*BaA@ûAAATL<"C0fRCC@C֝FӅqIG>ܱ 9ܱ Iܵ xGiܵ @ܵ =ܱ ܱ ܵ ; ݵ ߗET|Yr,x fEAY}2i@}2$ @y}2{e漙}2Ǘ>}2HSL? ?৯¿`b?Ӄ˜?``?@٧?)~2i@ ~2c;I~2CɫYY)Y ]IYY@y}GxDUSBL response received:!U1,R,F50,000,00330,187,80,80,68,FF Fpublishing direction and range infonF>ɰ=鰥1> )BIy\7A?8C ?ٱi`e=/))a-E-#E1y5=}=>I9 E:= 5? M:=U߾ =%B? M?9=A=: =:)=:W]@WYXY XYWa:Wa2Wa*WaVabUiBUi*UUU`u@R(Combining 5 samples.P*Q\7AZQCr&@y- ?JQ?8C ?2QnF>:QbQƽXu=@0$]q ??RQ6Pw?NL}P$y?BQ@ Q'Q@P[9?PW9?PQQR@"Q@Beo<Ba BaAu>*BqAuVAqAqA}g<"C\RCC@CֹבIG>MIIM M/:YIyIM5)MI;9UYr,fEAɫ) IYU%@yU}GDNmea in: $SNTTA,,,,,020824.38*59 i=i)5= 5=eO;Me7=YeQUm>iiauEu&Eqy}}}>IȁŅ 5?Ņ ߾ ƅF? ?9ƅ!ADž: ȅ:)ȁmqAdded new target pos. range: 11.459998 m, bearing: 293.478257 deg, deltaT: 4.494798 s, approachRate: 0.427160 m/s, LOS rate: 0.727354 deg/s, posRepo size: 4m ProNav: pos range: 11.459998 m, bearing: 293.478257 deg, approachRate: 0.427160 m/s, LOS rate: 0.727354 deg/s, cmd update: 2.182063 deg/s, cmd heading: 341.131111 deg, new cmd heading: 346.110631 deg. W~@WX XW:W2W*WVbUBU*UU&@U?B Y<B  B A>>*BA~-AAA<"CyپRCC~@C!A9IG>+ҌYr,i5fEAɫyy)y yIyY"@y}Gi!!{Gz?mͿ:v?ף>n <)IyS?Q rh??uC< A)@I Ai AAEXE!>e>9aIewGieK@e=aae; eޗEEaE*Ey}>I : 5? :߾  J? ?9%AN;  M;):W"@WX XW:W2W*WVbUBU*UU U $?B]T<B BA>*BA⃠AAA<"CʶRCC"@Cֵ?΅MxMxMxM M&:YM7P1yM:M)5)MG;IG>Yr,,OfEAY}2ש@}2@y}2 輙}2_ >}2H`t? ? J6J?@UU ?`i?@?)~2ש@ ~2]d;I~2CɫII)I IIIY}@y}e}Gi=wM=d=Y=*QUE>AIaMEM-EQy]~>}]>IaeY 5?eI߾ eL? }?9eq)Ae?; ei@;)aWT@WX) X)W1:W12W1*W1V1bU9BU9*U9U9UE`?B<B BA<>*BA薻AAAh<"CwRCCT@C FӅ׹IGf>4Yr,xifEAY}2ת@}2S@y}2漙}2W >}2H`?>i? XY@?{ ќ?͚?`߮?)~2ת@ ~2 d;I~2Cɫ99)9 9I9Yh@y}GI)igA =@ =@ =@=©==i=@= =)=@I=ʭ@i=ʭ@M=MM:=YU9QUU>YYa]E]0Eayu=}u>IȁŅ 5?Ņ]߾ ƅP? ?9ƅ-ADž2; ȅ+;)ȁW@WX XW:W2W*WVbUBU*UUUu?B5t<B1 B9A=h>*B9A=A9AAAE'B<"CMΈRCQCU@CYY1IAG]v>EEyEyE E:YEP1yE':E`59M@Q 9Q IQ iQ U =Q Q U ; U EˠYr,vSfEAY}: ߫@}:@y}:U༙}:w>}:H@Q? ?@^U?v? ??)~: ߫@ ~:d;I~:Cɫ99)9 =I9Y}J@y}}GiE ME]=YM;QUM>IIaUEU3EQy]=}]>Ia m:e 5? m:e߾ e|S? m?9e>1Ae: eb:)e:W5@WX XW:W2W*WVbUBU*UUU?B<B BA>*BAg_AAA<"CZsRCC5@CIGI>#Yr,.fEAY}6@}6a@y}65ؼ}6=>}6H@Ud??¿`_V?@S?U??)~6@ ~6d;I~6CɫYY)Y YIYY@yw}Gi5ٮM=K=Y=';QU=>AAaEEE6EIyMݣ=}M>Iȩŭn 5?ŭ߾ ƭV? ?9ƭ<5Aǭ]: ȭH:)ȩW7u@WX XW:W2W*WVbUBU*UUU'@BN<B BA)>*BAӏiA!A!A%%<"C-nhRC)C-7u@C199ցׁIGj>uututu u3:YuM1yu:ur59Yr, fEAɫyy)y }IyY"@y}Gɮ=i=i]S㥛?J +Mbp]>]H ])YIYy]x?y&1? ףp= ?]K?]`<]Q8= Y)]@IYi]Z AY]A   ýxiýp?ý>iý@ý Ĺ)Ľ@IĽ@iĽ@ <MA=YQU>aE:Ey}>Iy9yIyiy}=yy}; }ٗE)ݙIݙiݙݙݙݝ4 : 5? :߾ ~]? ?9 9A< <):W@WX XW:W2W*WVbUBU*UU UO@RB*** querying acoustic contact ***PPB}q<By ByA>*BAPAAA<"C9'b*CRCC@CֹבIG>Yr,fEAY}:k@}:&@y}:fɼ}:g>}:HL? .?@+¿c~?@b"%4? ?A?)~:k@ ~:Gd;I~:Cɫ99)9 EIAY}@y}s}GZ****** received transponder code query ******F****** received ping request ******aE=Ey Q">} >I15y 5?5߾ 5,d? =?95=A58: 5:)1W}w@WX XW:W2W*WVbUBU*UUU @B=<B9 B9A=>*BAAE;:AiAiAmګ<"Cu-SRCyC}w@CױIG>UUwUwU Uv:YUO1yUP:U5B1Yr,fEAY}26 @}2@y}2ʤļ}2ts>}2H x??lvd??? ?)~26 @ ~2 d;I~0ɫaa)i mIiY@y}GxDUSBL response received:!U1,P F50,000,00330,187,80,80,68,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iÍm>Íh?Í>iÍ@É č+@)č@Ič@iĉȼM1=Yg:QU>aEAEy&=}%>I) 5:-,, 5? 5:-߾ -k? 5?9-sAA-: -o:)-:W]@WYXY XYWY:WY2W*WVbUBU*UUU`˒ @B <B BA$>*BA%] A)A1A550<"C}@RCC@C >i/mGIi- ?΅= <ٺA M .-Bu >9q Iq iq q q q u ; u ܗE I G- >Yr,QgEAY}6@}6w,@y}6jļ}6>}6H`? m?``%M?쬿@? R?4?)~6@ ~6\d;I~6Cɫ99)9 9I9Yu@y}}GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IQ)QiYY:Mt=Y8QU?aECEy=}?Iȩŭb5 5?ŭ ƭp? ?9ƭDAǭ: ȭǺ:)ȩWm@WX XW:W2W*WVbUBU*UUU @B8<B BA`>*B!A%A!A!A%0<"CuH4RCCm@C%FӅIG%o>EEzEzE E:YEQ1yE:E5)EJ;9MOCYr,vgEAY}:D5@}:B@y}:‚¼}: >}:HH?? @ 3?`!O?im?b?)~:D5@ ~:"d;I~:Cɫ99)9 9I9Y}O@y}|GxDUSBL response received:!U1,R,D92,000,0035A,189,80,80,76,FF Fpublishing direction and range info ?ɰ=鰅7> )BIy_AM=f?jp?ٱiMZ=Y":QU>aEFEy=}>I :@ 5? :~ v? ?9 HA : :):W9@WX XW:W2W*WVbUBU*UUU8@R(Combining 5 samples.P*Q_AZQ߿]'@,]"~q@JQM=f?jp?2Q ?:QbQ~qnd)@ԦUoln'G?RQ9==?`Yu'ڿoe<5?BQч@ QӶQ#KAPs9?P[9?P QQ@"QR@BM3<Bi BiAm>*BqAuyAqAqAu׺<"C})$RCyC}9@C֡יIGc>pmYr,Q8gEAɫ) IYm@ym|GTNmea in: $SNTTA,0.008887,,,,020828.82*45 i9Ii=; ݗEGz?&1p>н ̼)Iyv?MbX9?{Gzt??ʡ=ף; A)@IAiAAt=>i@ ʭ@)@Iʭ@iʭ@w<M!=Y QU>aEJEAyM}M>IQUHR 5?U Uz? ?9UMAU7; U];)QmqAdded new target pos. range: 13.980000 m, bearing: 335.772127 deg, deltaT: 4.415836 s, approachRate: 0.570674 m/s, LOS rate: 9.577772 deg/s, posRepo size: 4mZTarget missed at range: 13.98 m. Rolling out.mNTransitioning guidance mode to: ROLLOUT"X=W9W9X=; XEL?WA:WA2WA*WAVIbUIBUI*UIUU+@UUp?BH<B BA>*BA0yAAA<"C=$*C쫊RCCCE~ExExE E:YE7P1yE:EN5)EH; I G >VYr,2RgEAY}2I@}2W@y}2H}2 >}2H@? ?`v? (? D? ?)~2I@ ~2`c;I~2Cɫyy)y }IyY@y8|G!i%=i)))5= 5>uXMu|=Yuf;QU} ?yya}E}MEyT>}?Iȉō] 5?ō ƍ2}? ?9ƍPAǍU: ȍ:)ȉWWX XW:W2W*WVbUBU*UIUIUU@:?BA<B BA>*BAvAAAM<"C 1$*C RC C CIGj>Yr,F lgEAY}rE@}rS@y}r W}r< >}rH?`B?`{#bP? aEi?=e?`?)~rE@ ~rc;I~rCɫ) IY@y.}GiY=$>O >i@ )j@Ij@iv@n=MC=Yټ:QU>aEPEyi=}>I  :rm 5? :l( $? ?9TA: M:):W1W1X1 X9W9:W92W9*W9VAbUABUA*UAUAUM` ?Bu<Bq ByA}u>*ByA}saAyAyA}h<"C%$*C%RCCC֥?΅yIG^>EfEvEvE Em9YEN1yE:E`59M@ 9 I DwGi @    ;  EgYr,gEAY}6,;@}6H@y}6}6 >}6H@n?y?` `N?T. +q?d??)~6,;@ ~6- d;I~6Cɫ99)9 9I9Y}*@y}j|GSMY=Yׅ9QU>!!a%E%SE!y-=}->I15{ 5?50 5? =?95WA5: 5:)1WaWaXa XaWa:Wa2Wi*WiVibUiBUi*UqUqUu ?BT<B B!A%>*B!A%A!A!A%s<"CM9$*CUҍRCQCQCY e=e=eFӅ9IIGmV>mYr,'gEAɫyy)y }IyY@y|GI)A%2Powering down loadControl %%I%)%i--11u<M}D=Y}QU}>aEWEy}>Iȑ :ŕ 5? :ŕ9 ƕ? ?9ƕ[AǕ: ȕ:)ȕ:WWX XW:W2W*WVbUBU*UUU@: @B}<By BA>*BANSAAAU<"C-$*CRCCC֥?΅סIGm>E'E|E|E Ea9YER1yEi:E5 Yr,gEAɫ髙) IY@y|Gܽ>9ܹIܽvGiܽ@ܽ=ܹܹܽ; ݽE ˡE?~jtxMb` > Ļ ) I y zG?im@i m@)m5@Im;@im@;M5=YQU>aEZEy}>I  Y 5? D ? ?9 _A : :) W9W9X9 X9W9:W92WA*WAVAbUIBUI*UIUIUM@B}<By ByA}7>*ByA.<(9AAAV<"CA$*C.RCCC֙QIaG|>wYr,xgEAY}Jh@}Ju@y}JM}J %>}JH?=?c@Z?L ?@? 6?)~Jh@ ~Jaf;I~JCɫ髙) IY@y|Gɮa=J.Mq=Y:QU?aE]E y >} ?I : 5? %:DL ? %?9/cA: :):WWX XW:W2W*WVbUBU*UUU ۠@RB*** querying acoustic contact ***PPB%o<B) B)A->*B)A5m9A1A1A5k<"C=5$*C=9 RC9C9CAQQ}FӅYIaGY>EOEvEvE E9YEN1yE:E5.Yr,^gEAY}@}]@y}0ۮ}Q>}Hnn?a?Y`§ A?@ڕ???)~@ ~.f;I~Cɫ) IY- @y-F|G5Z****** received transponder code query ******5F****** received ping request ******= m=@(\>T=i̬@ )@I@i@ M.=YW9QU>aEaEy =} >I 5?V ? ?9gA: <)WyWX XW:W2W*WVbUBU*UUUH @B<B BA=>*B9A=Y:A9AAAE<"CE)$*CMRCICICIm?΅IIQGm>ܱ9ܱIܱiܱܱܱܱܵ; ݵE)AIAiAAAE4xZr,*hEAY}6@}6@y}6ߪ}6 >}6H"?@@??d%[?q?ñ?)~6@ ~6o4g;I~4ɫ99)9 9I9Y@y|GxDUSBL response received:!U1,P D92,000,0035A,189,80,80,76,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=Mp=Y%:QU-?9AaMEMdEYym=}}>Iȑ :ŕ 5? :ŕ2] ƕ ? ?9ƕjAǕ< ȕ7<)ȕ:W WX XW:W2W!*WIVIbUQBUY*UaUU @Bm`<Bq BqAu7>*BqA}R:AyAyA}՗<"C=$*CRCCCFӅM4MwMwM Ms9YMO1yMP:Mΐ5)M>;9UבIG>Zr,!hEAY}2ļ@}2Ҵ@y}2}2C'>}2H?`S?. D? `W?l??)~2ļ@ ~2{f;I~0ɫ99)9 =I9Y}h@y}|GAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }TM}D=Y}8QU>aEgEy<=}>Iȑŕ{ 5?ŕd ƕ? ?9ƕnAǕ; ȕ2;)ȑWWX XW:W2W*WVbUBU*UUU`h)@B%;=B! B)A-p>*B)A5"B:A1A9A=j<"CU1$*C]RCYCaCi ե=ԥ=%?΅IG%o> Zr,:hEAY}29ؽ@}2@y}2}2>}2Hl? X?R k@?ʸ W?@?`D?)~29ؽ@ ~2 $f;I~0TVACi)IMkAieAɫyy)y }IyY*@0ٺkA"Byj|GxDUSBL response received:!U1,R,E15,000,00368,187,80,80,84,FF Fpublishing direction and range infoa>ɰގ=1> )CIymA\fpo?W?ٱIA)a9aIaiaaaae; eԗEa iU@a U a mU@a U a qU@a U a eU@a U ]hA]hAK>>=i@ @)@I@i@M3=Y5~4QU>aEkE!yEɖ=}M>IQU 5?UKm U}? ?9UsAU; U>)QWWX XW:W2W*WVbUBU*UUUE`@R](Combining 5 samples.Pa*QemAZQeAxj*@|L@JQe\fpo?W?2Qea>:QabQe+q\3-@<<]ktn?RQeEo?ſ1VҲ?BQe@ Qe"QehAPe~9?Pes9?PeQe Qe@"Qe@B<B BA>*BA6:AAAH߶<"C%%$*C-;wRC)C1C1MMuMuM Mu9YMKN1yMy:M5)M1;Q) I1 GU >Zr,XThEAY}r@}r@y}r}rp>}rH ??^K?e`{~?`?`?)~r@ ~r Yf;I~rCɫ) IY-@y5K|GDNmea in: $SNTTA,,,,,020833.26*50 E/ MEX=YE̹QUM>IIaMEMnEQyUм=}U>IY e:]p 5? m:]s ]? m?9]vA]: ]V?)]:mqAdded new target pos. range: 14.820001 m, bearing: 350.081346 deg, deltaT: 4.523589 s, approachRate: 0.185693 m/s, LOS rate: 3.163245 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU ף-@U`6V?B+=B BA>*BA'C ;AAAﭵ<"C9$*CRCCCIGi>'Zr,ӥnhEAY}Z2@}Z@y}Z}ZIp>}ZH??@g'l? o{@@?z?`?)~Z2@ ~Zf;I~Xɫ髑) IYO@y|Guu=u=iu@q u@)uʭ@Iuʭ@iu@<MW=Y":QU>aEqEy=}>Iȡť 5?ťy ƥ? ?9ƥ2zAǥ: ȥ?)ȡWWX XW:W2W*WVbUBU*UUU;B?B =B BA>*BAQ];AAAa<"C%-$*C%RC!C!C)5hA5hA=FӅI)GMS>==x=x= = 9Y=7P1y=:=59E@U>9QIU|vGiUW@U=QQU; UؗE"Zr,zrhEAY}2(,@}29@y}2}}2>}2H'?)?`9nc޿ ?ե?``??)~2(,@ ~2e;I~2Cɫ99)9 =IAY}@y}|Gi=MR=Y:QU>!!a%E%tE)y-F=}->Iȉō 5?ō ƍf? ?9ƍ}AǍ: ȍ?)ȉWWX XW:W2W*WVbUBU*UUU` ?BB<B BA>*BA}2;AAA<"C A$*C !RC CCe?΅9IQGmV>-(Zr,QMhEAY}2l3@}2'A@y}2}2 >}2H ?` 3?`BⲿIܿ`lq?K T?@O?@Z?)~2l3@ ~2?e;I~2Cɫ99)9 9I9Y]x@y]{GMN=Y*:QU>aEwEy=}>I. 5?t ? ?9̀A>: @)WAWIXI XIWI:WI2WI*WQVQbUQBUQ*UYUYU]C?By<B BAe>*BASF;AAAxɱ<"C%5$*C-[RCQCQCaIGj>]]{]{] ]9Y]#R1y]:]5W.Zr,(hEAɫ髁) IY@y{G>9IvGi@; ͗Ea ia i a ma m a qa q a ea e Mb?{Gz~jth?ף D)IyZd;?A`"?I +??Y=9< XA)@I+Ai$AA]M>]^=]E=i]׳@Y ]@)]@I]@i]@m<Mm(=YmQUm>qqauEu{Eyy}}}>Iȁ :ŅF 5? :ŅӋ ƅ9? ?9ƅ9ADž#: ȅ:)ȅ:W1W1X1 X1W1:W12W9*W9V9bU9BUa*UaUaUe2)@Bj<B BA>*BAN"`;AAA5<"C)$*C?RCCC =FӅIG>?5Zr,hEAY}:N@}: #@y}:,}:=}:Hxk?h?@ԯ &ٿ>B?17E?J??)~:N@ ~:Bd;I~8ɫ99)9 =I9Y}@y}{GI%A)%AupMup=Y}/G;QU}?yaE}Ey1>}?IȑŕqW 5?ŕ ƕ? ?9ƕAǕ:: ȕ:)ȑWWX XW:W2W*WVbUBU*UUU@@B =B BAR>*BAo;AA A <"C=$*CyRCWCC?΅IGF>]x]|]|] ]&:Y]R1y]i:]s5i;Zr,hEAY}2@}2@y}2R}27=}2H@f??#E f׿a??3??)~2@ ~2Qd;I~2CɫYY)Y YIYY@@yK{G鮥p=ɮ @ @ @©i@ )@I@iʭ@MQ=YԀ;QU>!a%E%E!y-P=}->I1 =:5k 5? =:5 5? E?95ކA5; 5:)5:WaWaXa XaWi:Wi2Wi*WiVibUqBU*UUU@R%B*** querying acoustic contact ***P!P!BEa<BA BAAE>*BIAM@ ;AIAqAuڭ<"C1$*CX엽RC wCCֽ<-יIGb>9IuGi@=; ǗEQBZr, iEAɫyy)y }IyY@y |GZ****** received transponder code query ******F****** received ping request ******99a=E=EAyE}M>IIM 5?M M? e?9MAM; M:)IWWX XW:W2W*WVbUBU*UUU ! @BԈ=B BA>*BA;AAA<"C%$*COGRCS{CCԱԱ֍b|aIyG;>] ]r]r] ]9Y]_L1y]7:]O5O}HZr,#iEAY}2@}2w)@y}2]}2>}2H]z?8?`s{ӿ??][?`W?1?)~2@ ~2c;I~0ɫ99)9 9I9Y}@y{GxDUSBL response received:!U1,P E15,000,00368,187,80,80,84,FF Command AckBRequesting micromodem ping code 2ii= Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )M= M=9ME=YaEEyQ>}>I 5?( ? E?9 Av= =)WWX XW:W2W*WVbUBU*UUU 9 @BU4<BQ BQAU?>*BYA]>;AYAaAe~,<"C}9$*C}RC}&>CC֭Rvׁ I G >ڥNZr,p=iEAɫyy)y yIyܥ>9ܡIܡiܡܡܡܡܥ; ݥE)1I1i1115)4Yt@y{GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B oʡ?|?5^?i|?5? ?= q=)Iy}?5^I?V-?#~j?M"?m== µA)µ@IµAi±pA   '=i̬@ )@I@i@%M%3=Y%QUe>iiamEmEqyu}u>Iy :} 5? :} }? ?9}RA} Q; }kO;)}:WWX XW:W2W*WVbUBU*UUU ]@Bs=B BA*>*BAo;AAA <"C-$*CИRCFCCjױIG>eesese e9YeM1ye:e5)e3;9mލUZr,KWiEAY}2ˬ<}2ll@y}2V}2=}2HZ?-??MCο~?`ǽʃ?>?@^?)~2ˬ< ~2c;I~2Cɫ99)9 9I9Y{@y{GxDUSBL response received:!U1,R,E8C,000,0037B,185,80,80,62,FF Fpublishing direction and range info6>ɰ=鰥+> )BIy\AjT?ˬQi?ٱ1;Mu=Y/>}  ?I 5?ɠ e? %?9A: :)WAWAXA XAWA:WI2WI*WIVIbUIBUQ*UQUQU]]`@Re(Combining 5 samples.Pi*Qm\AZQmo@.@HN\@JQmjT?ˬQi?2Qm6>:QibQmHl/@TڙY?d0e?RQmȃ?8:gLg?'?BQm= Qm̪?Qm+~APm9?Pm~9?PmQmQm @"Qm@B=B BA>*BA&,;AAA^ <"CA$*C蘽RCvCC ==֍NMiIqG>[Zr,&qiEAY}F2=}F@y}FC9}F<=}FHT??I`ʿ?J G?U??)~F2= ~Fxd;I~FCɫyy) IY9@yB{GEDNmea in: $SNTTA,,,,,020837.72*55 IEA)EAY]iAåGå>å>iå@á ġ)ĥv@Iĥ@iĥv@M<=Y;QU>aEEya=}>I  : 5?  :ɢ ? ?9.A: :):m=iAdded new target pos. range: 15.960001 m, bearing: 4.801521 deg, deltaT: 4.346337 s, approachRate: 0.262290 m/s, LOS rate: 3.386799 deg/s, posRepo size: 4WAWAXA XAWA:WA2WI*WIVIbUIBUQ*UQUU@/@UU?B}>J<B BAv>*BAb;AAA<"C-5$*C5RC5ؽC1C1iIi1e=u˿ٺy A1IAG]v>ܝ>9ܙIܝPuGiܝc@ܝ=ܙܝ1Dܝ; ݙ}}u}u} }>9Y}KN1y}y:}5)}5;ŸbZr,iEAY}2i=}2x@y}2̻}2?=}2H ??ƿO?`tּ y?`? ?)~2i= ~2b;I~2CɫYY)Y ]IYY@yzG5=M=V=Y=;QU=>AAaEEEEIyM=}M>IC 5?+ '? ?92A: :)WWX XW:W2W*WVbU BU *U UU؉?B=<B9 B9A=o>*BAAE;AAAAAE<"CM)$*CMRCUCQCQU1IG5.>hZr,ܤiEAY}2H+=}2C@y}2O}2=}2H? C?╿¿ Xv?>s?? qauEuEyy} =}>Iȁ :Ņ# 5? :Ņ- ƅ? ?9ƅ_ADž: ȅ:)ȅ:W9W9XA XAW:W2W*WVbUBU*UUU?B-.<B1 B1A5>*B1A5 ;A1A9A=<"Cm=$*CmMRCu|dCqCyԱԱ֝ayIG>}D}v}v} }9Y}N1y}:}59@nZr,9iEAI9IIMtGiM@M=IIM; MǗEɫ髙) IYW@y,zGe>ie= `"?~jt?Q? ? < u=) I y d;O?X9v?Q? 4? }= < A) C@I Ai A  =A)=> =>ÅdÅ?Å$iÅQ@Á ā)ą@Iąʭ@iąʭ@0M:=YQU>aEEy}>Iȱŵ 5?ŵ' Ƶ:? ?9ƵAǵw: ȵg:)ȱWWX XW:W2W*WVbUBU*UUU`ު?B%=B! B!A%X>*B!A-b;A)A)A-}#<"C51$*C5RC5ysC1C9%׽IGI>uZr,iEA|i|@Y}>0>}>K@y}>}}>X=}>H?@_?IW@k?X@q?`?O?)~>0> ~>a;I~>CɫYY)Y ]IYY|@yZzGE<MZ=Y:QU>aEEy4>}>I :/ 5? : $? ?9ҙAs: :):WWX XW:W2W*WV bU BU *UUU xU@B==B9 B9AE>*BAAE;AAAAAE@<"CU%$*CUИRCUV;CQCYE׽I)GUS>}}x}x} }!9Y}7P1y}:}s5|Zr,miEAY}2qYO>}2a@y}22}2=}2HJ? ? lu?ͻt??`!?)~2qYO> ~2/Pa;I~2CɫYY)Y ]IYYD@yzGÕÕÕ/ݽiÕ=@Ñ đ)ĕv@Iĕv@iĕX@MK=YQU>aEEy=}>IG 5?x 5? ?9A: :)WWX XW:W2W*WVbUBU*UUU`ό@B5p<B1 B1A5/>*B1A=Z;A9A9A=N<"CE9$*CERCE<CACI ]=]>M份 IG-->E>9AIEtGiE@AAAE; E͗EZr,#I jEAY}2Zh>}2f`@y}2'|ͻ}2)=}2H?.?'$ @?*pyy?Jz?*?)~2Zh> ~2`;I~2Cɫ99)9 =IAY]@y]yGaɮe=ImA)mA™™M\=YWQU>aEEyM=}>IQ^ 5? (? ?9:A; r;)WYWaXa XaWa:Wa2Wa*WiVibUiBUi*UiUU@@RB*** querying acoustic contact ***PPB*<B BA@>*BA.;AAAY<"C-$*CrfRC9f%=CC EIG*>}}w}w} }Q9Y}O1y}P:}χ5Zr,$&jEAɫ) IY@yyG5Z****** received transponder code query ******=F****** received ping request ******EÍ&1>iÍ@É čv@)č@Iĉičv@M=YQU>aEEy}>I :A} 5? : ?  ?9+A4: :):WIWIXI XIWI:WQ2WQ*WQVQbUYBUy*UyUyU3 @Bə<B BA>*BA;AAA,<"CA$*CRC=CCiAiA9IG>%BZr,?jEAY}:A>}:c ~:_;I~:Cx9xIz$tGizo@xxxz; z˗Eɫ99)9 =I9Y}@y}yGxDUSBL response received:!U1,P E8C,000,0037B,185,80,80,62,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 &ػM=YԻQU?aEEy<=}?I!% 5?%Ԣ %? ]?9%ݢA%<< %Q<)!WWX XW:W2W)*W1V1bU9BU9*UAUAUm @Bt=B BA ȧ>*B A p;A A A aB<"C5$*CiٗRCBY=CC= ;IG=>}0}{}{} }9Y}#R1y}:}5)}=;9V*Zr,YjEAY}2[>}2s ~23_;I~2Cɫ99)9 9I9Y}j@y yGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=I%C=)%4=M==YaQU>aEEy<}>I :¥ 5? : ? ?9A: :):WWX XW:W2W*WVbUBU*U!U!U%:A@BM!=BQ BQAU>*BQAU,<AQAYA]W<"C])$*CeLRCeC=CaCa-*:<)I1GM1>TZr,sjEAY}2Eя>}2g=y}22}2ά=}2Hg?ns? _?i`{???)~2Eя> ~2^;I~0ɫII)I IIIY@yxGٽi=@ )v@IiX@ MX=Y.:QU>aEE y x<} >In 5?$ ? %?9A: :)WAWAXA XAWA:WI2WI*WIVIbUIBUQ*UQUQU]B@BV<B BAҚ>*BAӚ<AAAg<"C=$*CHRCoo=CCU<=)I1GU>>9I\sGi@; ̗E)qIqiqqqui4}3}w}w} }K9Y}O1y}P:}5)}e>;CZr,pjEAY}r|F>}r8=y}rSԻ}rD=}rH?V`k ?@? `dz?e?@I?)~r|F> ~r];I~pɫ) IY@y 6yGDNmea in: $SNTTA,,,,,020842.14*57 5.=M5F=Y=Z;QU=>9AaEEEEIyM=<}M>IQ ]:U$ 5? ]:U U{? ]?9U[AU9: U:)U:WWX XW:W2W*WVbUBU*UUU l@B,<B BAأ>*BAP <AAAe<"C1$*CRC=CC̓=IGL>#fZr,ljEAY}P>}c=y} k}rH=}H`?`CGgv+? ?C\ s?` ??)~P> ~ ];I~ɫ髹) IY[@yxGIQ)UAIY)]A Aa iM@a M a mM@a M a qM@a M a eM@a M ÙÝt>ÝiÝz@Ù ĝ@)ĝ@Iĝ@iĝ@VM)=Yw;QU>aEEyX~}>I 5?Ɯ ? ?9A: >)WWX XW:W2W*WVbU BU *U U U Z@RB*** querying acoustic contact ***PPB.<B BA>*BA<AAAP<"C%$*C=RCE4=CACIx=IG>}f}|}|} }m9Y}R1y}i:}=59@5 >1 i I i eʿٺ ANZr,=GjEAD9FʔCIFrGiF{@DDDF; F͗Eɫ髹) IY@y xGٙM=YQU?aEEy}?I 5? ?  ?9A1: "L?)W1W1X1 X1W1:W92W9*W9V9bU9BUA*UAUAUE @Bh =B BA>*BA<AAA<"C9$*C*MRCa=CC׹IGE>xZr,:"jEAY}6Ɏ>}6VftI? (?{ʛ n m?^??)~6Ɏ> ~6<^;I~6CɫII)I MIIY}@y}7xG;<MO=Y8;QU>aEEyTM}>IȹŽ] 5?Ž7 ƽ1? ?9ƽܯAǽ: Ƚ?)ȹWWX XW:W2W*WVbUBU*UUU.@B%R<B! B!A%>*B)A-<A)A)A-幚<"C5-$*C5RC=O=C9C9Mʞ=IG-->,zz -9YQ1y:O5VZr,jEAY}2&f>}2c? ~2}T^;I~0ɫ99)9 =I9Y@y&wGi=-Z-B?-Yi-׳@) -@)-I-A@i-1@=삽M=A=Y=8;QU=>AAaEEEEIyM}M>IQ ]:U/ 5? e:UӘ UJ? e?9U.AUh: U?)U:WWX XW:W2W*WVbUBU*UUUN@B(<B BA>*BAUl<AAA<"CA$*CiRCry=CC ;>=mf=סIGA>܅>9܁I܅rGi܅*@܁܁܁܅; ݅×EZr,/kEAY}:>}:Pچ ~:^;I~:CɫYY)Y YIYY@yvGQMS=Y;QU>aEĐEy֝}>IY]F 5?] ]G? e?9]dA]; ][@)YWWX XW:W2W*WVbUBU*UUUՌ@B]?<Ba BaAet>*BaAe<AiAiAm<"C5$*C]RCE(=CC֝~=yIGd>}yy} }X:Yyyy}5#Zr,(kEAɫ) IY-3@y-PvG=xDUSBL response received:!U1,N,80,80,63,E4 B,185,80,80,62,FF =ZNo reply:!U1,N,80,80,63,E4 B,185,80,80,62,FF -=a E ȐE y}>I/c 5? ? %?9 A; U:)WIWIXI XIWI:WI2WQ*WQVQbUQBU*UUU@BMl<B  B A >|>*B A . "<A AAhB<"C)$*CRC|=CC!-i= I G- >6Zr,2BkEA9I0rGi@; —EY}R-y>}R@y}Rg;}R3}RH?kq? ztb?`˝qw?4?@`ʢ?)~R-y> ~Ru_;I~Pɫ髹) IYk@yvGa=ɮR=<M=Y%:*B)A-$<A)A)AM4<"CU=$*CUϔRC]I=CYCYmhAieĎ=9IYG}X>$|| 9YR1yi:5)T<;9Zr,k\kEAY}F"q>}F@y}F(;}F@}FHY?`ۈ?7\l?N?h?=eԓ_?)~F"q> ~F^`;I~FCɫYY)Y YIYYB@ybvGOMP=Y:QU>aEΐEy}>I 5?H >? ?9Ag: :)WWX XW:W2W*WV!bU!BU!*U!U!U-$ @R5B*** querying acoustic contact ***P1P1BUT><BY BYA]~>*BYA]:'<AYAaAeX<"Cm1$*CmRCmu39=CiCqMQf=IG= >JZr,YvkEAY}BQg>}B[@y}B%7M;}Bߓ}BH?O?@Os?ԙ?3r?i w`?)~BQg> ~BW_;I~BCɫQQ)Q QIQY@yuGZ****** received transponder code query ******F****** received ping request ******i@ @)@I"@i@MMM4=YMG:QUU>QQaUEUҐEYy]=}e>Ii u:m 5? u:m m\? u?9mAm: mI:)m:WWX XW:W2W*WVbUBU*UUU !@B5<B1 B1A=m>*B9A=9+<AYAYA]=_<"Ce%$*Cm/QRCm =CiCi>9IhqGi6@; ΗEuBJ=iIyG~>| w:Yy=5)tH;Zr,#kEAɫyy)y yIyY@yuG@AxDUSBL response received:!U1,P 80,80,63,E4 B,185,80,80,62,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =۠;ME^=YUQU]>ia EMՐEQy]}]>Iqu 5?u uw? ?9uAu< u/<)qWAWaXi XiWi:Wq2Wq*WyVybUBU*UUU`J!@B-<B) B1A5o>*B1A5.<A1A1A5Ҷ<"C=9$*CeRCeS=CaCi u=u=]y=9IQG}{>Zr,kEAY}rU>}*@y}R;} j}H L?@.??i>? ?@<{?n?)~rU> ~K_;I~ɫ) IY@yuuGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B tV?S?A`"??/> Y=)IyCl?y&1?Zd;O?/?`e=j< ½A)½ AI½ Ai½? AAuDu>uS=iu=@q uʭ@)uX@Iqiuv@/M*=Y;QU>aEِEy#}>Iș :ŝ 5? :ŝW ƝS? ?9Ɲ4Aǝ=: ȝ:)ȝ:WWX XW:W2W*WVbUBU*UUU@"@B <B  B Af>*BA1<AAA11<"C-$*C%ߓRC%b<C!C!r =IG%>})}r}r} }9Y}_L1y}7:}59@ >9 I pGi @    ;  ̗E)ݭʔCIݭʔCiݩݩݩݭ>4Zr,kEAY}6N>}6@y}6ț<}6$J}6H ?;ݧ?@ ?i!? \?@fS {@`?)~6N> ~6C_;I~6Cɫ99)9 9IAY@yVtGxDUSBL response received:!U1,R,E03,000,003B2,187,80,80,9D,FF Fpublishing direction and range infocl>ɰ=鰝1> )CIyAe ?\?ٱM|=Yn:QbQ:D1@5VC@8)>RPRQW?.?*mBQ> Q@Q AP9?P9?PQQH@"Q @B]<BY BYA]H>*BYAe}3<AaAaAedҔ<"CA$*CHRC<CCօMZr,kEAY}j6H>}jL_@y}j %=<}jf:}jH ? ?ȁ?<S?C?@`O ?)~j6H> ~j&_;I~jCɫ) IYU@yUtGTNmea in: $SNTTA,0.037821,,,,020847.41*43 IA)Am=Mm6=Yu7;QUu>qqa}E}ߐEyyN}>Iȉōt5?ō^ ƍ? ?9ƍuAǍE: ȍ0:)ȉmmAdded new target pos. range: 19.260002 m, bearing: 22.727381 deg, deltaT: 9.712073 s, approachRate: 0.339783 m/s, LOS rate: 1.845729 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UUB3@U?B. <B B A Y>*B A ,6<A A A mn<"C5$*CRC a<CC))=U<I9G|>ww 9YO1yP:O5>Zr,GkEAY}:RE>}:*H@y}:SQ<}:N89}:H`? @$?@>?v@;?ؾ?@D*$@?)~:RE> ~:_;I~8ɫ99)9 9I9Y}l@y}tG}}(i}­@y }@)}v@I}X@i}A@!hMZ=YV;QU>aEEiIy }%>i)]ʿٺY]AIQ e:U{5? m:U tI U4? ?9UAU< U<)U:W)W)X1 X1W1:W12W1*W9V9bU9BU9*U9UAUE@TE?BvL<B BAOC>*BAyT9<AAA<"C)$*CWRCmB<CC֥jZX<>9IoGi@=; ȗEyIGd>'[r,nlEAɫqy)y yIyY@y[tG]q<M]M=Y]QUe>aaaeEeEiyu}u>Iy}d05?} }? ?9}A}U: }:)yWWX XW:W2W*WVbUBU*UUU R?B<B BASI>*BAӗ;<AAA"Γ<"C=$*C0RCI<CCejb<9IIGeU>xx 9Y7P1y:τ5AS [r,N+lEAY}R@>}R$@y}RR<}R3$}RH?`d? K-?.??S?)~R@> ~R_;I~Pɫ) IY@y;tGQiQx&1?p= ף?l?!?= =)Iyv/?1Zd?S㥛?x)?"=/< A) AIAizA Auٽu=uaEEy }>Iș :ŝ5I5? :ŝ݅ Ɲ? ?9ƝAǝ: ȝ:)ȝ:WWX XW:W2W*WVbUBU*UUU5`?B Z<B  B AF>*BArc><AAAw<"C1$*C'RC%A <C!C յ=Ե=ֵ/C<בIG>ܽ >9ܹ Iܽ nGiܽ @ܹ ܹ ܹ ܽ ; ݽ E8[r,ElEAɫyy)y yIyY@y{sG5>WM=b=Y=QU=>AAaEEEEAyM}M>IQU]5?Uz U8? ]?9UAU: U:)QWWX XW:W2W*WVbUBU*UUU =@B<<B BA2>*BA}s@<AAA0<"C%$*CܒRCz<CC8<׹IGE>zz E9YQ1y:ρ5).;9b[r,^lEAY}:Q:>}:p@y}:O<}:}:H`u? ư?׎? 簿?E?`@g@?)~:Q:> ~:^;I~:Cɫ99)9 9I9Y}@y} sG5PM=J=Y=}QU=>AAaEEEEIyMx}M>IQ ]:UDt5? ]:U U? e?9U4AU$: U0:)U:WWX XW:W2W*WVbUBU*UUUMO@BX<B BAc)>*BAB<AAA<"C9$*CճRC._;CC<׹IG[r,xlEAɫyy)y }IyY@y|rGp=ɮI) ]p]>]'>i]@Y ]j@)]"@I]"@i]"@m?"MmG=YuQUu>yya}E}Eyy}>Iȉōd5?ō ƍ? ?9ƍhAǍ: ȍ(:)ȉWWX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB<B BA>*BAݦD<AAA<"C -$*C RC 1;CC!! qZ;IG$>m>9iImmGim[@m=iim; mE*{{ 9Y#R1y:O5)'=;t$[r,lEAY}::"5>}:@y}:Z<}:OӼ}:H`?-?] ?@7E?.^?`bY h`?)~::"5> ~:U^;I~:CɫYY)Y eIaYm@ymrGuZ****** received transponder code query ******uF****** received ping request ******}aEEy3b}>I  75? ; ? ?9 }A ; L;) WAWAXA XIWI:WI2WI*WIVIbUQBUQ*UQUYU]( @B<B BA >*B!A%F<A!A!A%}l<"C-A$*C5dRC=)C9CAEyb];I)GEQ>0*[r,般lEAɫ髩) IYM@yMqGUxDUSBL response received:!U1,P E03,000,003B2,187,80,80,9D,FF UCommand AckUBRequesting micromodem ping code 2iQYeNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Nonly read 0 of 1 data item for altitudea i@a  a m@a  a q@a  a e@a  M {M vM vM  M c:YM N1yM :M a59] @ `e< /= Vi @ A@) @I i - tŻM- a a ae Ee Ei ym }u >Iq } :u 5? } :u } u ?  ?9u #Au s; u /?)u :W W X  X W :W 2W *W V bU BU! *U! U! U% ^?@m >9i Im mGim @m =i i m ; m EB <B  B A s >*B A I<A A A &<"C 5$*C `$RC .09C C = Β{שIG>12[r,_lEAY}2b2>}2@y}2f<}2[}2H??`o? ~2 ^;I~2Cɫ11)1 5I1Yu@yuJrGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i=-6=M-=Y5W;QU5H?11a=E=E9yEKJ}EM?IIM5?M8} MJ? U?9MNAM: Mf?)IWqWqXy XyWy:Wy2Wy*WyVbUBU*U!U!UEN@BmI<Bq BqAu>*BqAuJ<AqAqA}<"C})$*CRCH'CCֽ9I)בIG`>8[r,_lEAY}2.>}2@y}29o<}2'ż}2Hl?`ij?@Kא?ܳ$? |?@`ڷ?)~2.> ~2W ^;I~2Cɫ99)9 9I9Y@yqGxDUSBL response received:!U1,R,E61,000,003D6,186,80,80,7F,FF Fpublishing direction and range info}l>ɰ=鰥> )BIy\A:3嫠?*V?ٱMN=Y|:QU>aEE y &} >I5?{  ? %?9nA: ¥?)WAWAXA XAWA:WI2WI*WIVIbUIBUQ*UQUQU]`@Re(Combining 5 samples.Pi*Qm\AZQm;bE4@} [@JQm:3嫠?*V?2Qm}l>:QibQm8+$kڍ4@*R8 @Ydw޿RQmԙ)ش?gG ?J)–BQm> QmP@QmnAPm9?Pm9?PmQmQml@"QmH@BJ<B BA >*BA[3L<AAAʑ<"C=$*C$RC@CC 7סIGD>oo 9YsJ1y:5?[r,u}z k@y}zB+<}z}zH ??,ْ?? ?`<% @?)~z)> ~z^;I~zCɫ) IYM@yMpGܝ>9ܙIܝTlGiܝ@ܝ=ܙܙܝ; ݝʗE)9I9i99===k5DNmea in: $SNTTA,,,,,020851.93*5A Eף<=i3@ )@Iף@i@UoMU6=YU';QUU>YYa]E]Eaye4}e>Ii u:mT5? u:mz m? }?9mAm : m?)m:mqAdded new target pos. range: 21.420002 m, bearing: 16.298467 deg, deltaT: 4.507768 s, approachRate: 0.479173 m/s, LOS rate: -1.426186 deg/s, posRepo size: 4WaWaXi XiWi:Wi2Wi*WqVqbUqBUq*UqU}@k5@U} 1?B<B BA=*BAM<AAA<"C1$*CȑRC(CC99Uϩ)I9GU>!E[r,mEAY}2b%>}2H@y}2<}2S_}2H?M?֔?1?բ?`𩣿?)~2b%> ~2 ^;I~2Cɫ99)9 =I9Y]L@y]GpGIA),9Mc=YaEE y >} >I5?y Q? %?9A: @)WAWAXA XAWA:WI2WI*WIVIbUIBUQ*UQUQU]o?B ><B BA=*BAdN<AAA<"C %$*CRC%LCC I GE0>{{ 0 :Y#R1y:τ5F%L[r,=2mEAɫyy)y }IyY@ypGa ia i a ma m a qa q a ea e Fx?:v?x&? ?T= 7=)Iyp= ף?MbX9?Mbp?E?ʡ=; µA)µ AIµAiµAQAÍ>Í`=ÍiÍ@É č5@)č"@Ič"@ič"@<M2=YQU>aE Ey}>I55?Py ? ?9A?: :)WWX XW:W2W*WVbUBU*UUU@ ;?B-ޠ<B1 B1A5=*B1A5sP<A1A1A=<"C=9$*CERCEBCACIKCiumGIiÿٺAM @9MByQIaG~>ܙ9ܙIܝ(kGiܝ"@ܝ=ܙܙܝ; ݝE S[r,:LmEAY}:w >}:Q!@y}:<}:uj}:H@?5? p?`j?? /?)~:w > ~:_^;I~:Cɫ99)9 9IAY}@y}oG=GM=d=YE6AAaMEM EIyU[}U>IY e:]L5? e:]%y ]? e?9]A]: ]:)]:WWX XW:W2W*WVbUBU*UUU7?B <B BAI=*BAAyQ<AAAy<"C-$*CqRCZCC =>%0:DI)GMR>ss %9YM1y:):;9:7Y[r,PfmEAY}2#>}2@y}26<}2+}2Hk? \? n??`?ҡ?I`?)~2#> ~2];I~0ɫyy)y yIyY@ypG>i=]Z#=MeH=Ym,;QUm>aEEyAK}>Ih5?x ? ?9iAe; 1l;)WQWQXY XYWY:Wa2Wi*WqVqbUyBU*UUUex@B`<B BA=*BAR<AAA<"CA$*CPRC=XCCoMױIG>#`[r,mEAY}6>>}6@y}6.<}6}6H???@˷]?@F%?E`qd?)~6>> ~6];I~4ɫai)i iIiY@yhoG=>9=ɔCI=`jGi=@==99=; =Em>mQmim=@i m)m@Imף@im@}ΎMH=Y;QU>aEEy.}>Iș :ŝ 5? :ŝx Ɲ ? ?9ƝAǝW: ȝ:)ȝ:WWX XW:WI2WI*WQVQbUQBUQ*UYUYU]ͣ@Bn$<B BAK=*BA S<AAA<"C5$*C/6RC.CCI)EEEzEzE E)9YEQ1yE:E5)E@;GUu>Jf[r,0dmEAY}2S>}25@y}2M<}2]u}2H??S???蜿롿?)~2S> ~2v];I~0ɫ99)9 9I9Yur@y}:oGyɮ}p=?MT=Y;QU>aEEyɺ}>I  K5? x ? ?9 EA : (:) W9W9X9 X9W9:WA2WA*WAVAbUABUI*UIUIUM9@R]B*** querying acoustic contact ***PYPYB}<By ByA =*BACT<AAA%<"C)$*CRC^CCԡԥhA֡yIG=>gsl[r,8mEAY}:?>}:@y}:R<}:I}:H+?Ƿ?{??4?h_#?)~:?> ~:k];I~8ɫ99)9 =I9Y}3@y}nGZ****** received transponder code query ******F****** received ping request ******;ip@  @)@I @i@-M-+=Y-;QU->11a5E5E9y=A/}=>IAEC5?Ew E? u?9EAE#: E:)AWWX XW:W2W*WVbUBU*UUUc @Be&<Ba BaAmp=*BiAmU<AiAiAm<"Cu=$*CuRC}dCyC==v=v= =d9Y=N1y=:=59=@ֵ]A9AIEiGiEݽ@AAAE; EE׉IG>?[s[r,mEAY}2>}2 @y}2=}2}2H9?`Iַ?*,? P 3?iz?: o`p?)~2> ~2];I~0ɫYY)Y YIYY@ynGxDUSBL response received:!U1,P E61,000,003D6,186,80,80,7F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 RM u=Yd;QU%?19aEEEEQyeӺ}m?I  =: 5? E: v "? M?9 JA << <) :WWX XW:W2W*WVbUBU*UUU @Bm?<Bq BqAu=*BqAuiV<AqAqA}<"C1$*CYݐRCJCC֙iIyG>y[r, mEAɫ) IYc@ymG%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=+>=i@ 1@)d@Id@id@5VM==YEQUE>IIaMEM!EU@@Qy]}e>Ii=a=w=w= =9Y=O1y=P:=t5m5?mu m? M?9m^Am< m<)iWWX XW:W2W*WVbUBU*UUU@BM y<BI BqAu=*BqAu̥V<AyAyA}<"C%$*CPRCCC ս>Խ= י I G >m[r,>nEAY}6V>}6J@y}6-=}6l}6H?D?@\?@/E?@?)Ɵo?)~6V> ~6n];I~6Cɫ99)9 9I9Y}@y}mGxDUSBL response received:!U1,R,E25,000,00403,186,80,80,87,FF Fpublishing direction and range infog;>ɰC=鰁 )CIyA)#K;J?3x?ٱ >9 I hGi @ =  0D ; EmMmm=YmP:QbQ@6@VS@uPRQF. W??(WZBQ> Q@QAP9?P9?PQQ@"Ql@B  Sf<B BA&@<*BA2V<AAA<"C9$*C%󥐽RC%wUC!C) IG>1[r,nEAY} s>} @y} If=} Xռ} H8? 2??ҷ f?ݖ?룿`?)~ s> ~ On];I~ ɫ) IY5N@y5lGTNmea in: $SNTTA,0.034577,,,,020856.37*4F  Mc=Y;QU>aE&Ey%;}%>I)-5?-t -? 5?9-A-L: -:))memAdded new target pos. range: 24.120003 m, bearing: 18.340602 deg, deltaT: 4.524167 s, approachRate: 0.596795 m/s, LOS rate: 0.451384 deg/s, posRepo size: 4WiWiXi XiWi:Wq2Wq*WqVqbUqBUy*UyU}8@U}`?B2V<B BA*BAAAAѭ<"C-$*CRC清CC]QIvv %9YN1y:+5G>[r,5nEAɫyy)y }IyY@ylGI)Fx? rh?/$+?C = ,)Iy`"?1Zd?:v?7?"=T< µ? A)µ9AI±iµA= A}D};=}^:>i}@y }@)}@I}S@i}@v<MB=YQU>aE*Ey}>Iȩ :ŭT65? :ŭs ƭ? ?9ƭAǭ: ȭ|:)ȭ:WWX XW:W2W*WVbUBU*UUU ?Bg]<B BA;*B!A%V<A!A!A%`<"C-A$*C5nRC5/ۆC1C1AA%}UIGn>9IfGi@=; ΗE)mɔCImɔCiiim=mS5[r,$bOnEAY}6(>}6b@y}6B+=}6Y}6H0????_`?N?` p+ ?)~6(> ~6:L];I~6Cɫ99)9 9I9Yu@y}kGdMf=Y!!a%E%-E)y5M<}5>IAE%L5?Er E ? M?9EAER; E,;)AWWX XW:W2W*WVbUBU*UUU@xx 9Y7P1y:5)+;9ә[r,6inEAY}:40>}:;@y}:?.=}: }:H?h? !?{@ ?[u?@tܥO`:?)~:40> ~:4];I~:Cɫ99)A EIAY}@y}kGU;=U?UTiiamEm0Eqyuu<}}>Iy :}Bg5? :}dq }? ?9}TB}b< }\b<)}:W)W)X) X)W1:W12W1*W1V1bU9BU9*U9U9UE,?BLB<B BAӚ*BA#V<AAA<"C)$*Cx(RC|CC黹IG>i NmGI) i9 m ʿٺi m A^[r,nEAY}6^7>}6@y}6cc.=}6‰}6H`??@r?d?@`vT?ʥY4q ?)~6^7> ~6R];I~6CɫYY)Y ]IY܅>9܁I܅LeGi܅_@܁܁܁܅; ̗݅EY{@yZjG5sOM=_=Y=QU=>AAaEEE3EIyMœ<}M>Iw~5?*p 0? ?9oBb: :)WWX XW:W2W*WVbUBU*UU U c]?B5(<B9 B9A=S*B9A=V<A9A9AE翗<"CE=$*CM=RCM|;CICQ ]=]=M?Bɺ IG-->vv 9YN1y:5)/;3[r,nEAY}2$S;>}2.@y}2-=}2j}2H"?@?ץ?|@?Q#c? t?)~2$S;> ~2\];I~2CɫII)I MIIY}@y}iGML=YQU>!!a%E%6E!y-*<}->I155?5n 5M? =?95B5: 5#:)1WaWaXa XaWa:Wa2Wi*WiVibUiBUi*UqUqUu@B<B BAwI*BAU<AAA<"CM1$*CUߏRCU;CQCQED-[r,ȶnEAɫyy)y }IyY@yViGa=ɮ]~jt?Q?y&1|?]>]< ]`;)YIYy]M?MbX9?Mbp?]n2?]ʡ=]; ]Z A)] AI] Ai]? AY] AõV>õ õq=iõ@ñ ĵ/@)ĵIĵ @iĵ@M@=YQU>aE:Ey}>I :5? :n ? ?9Ba; ;):WWX XW:W2W*WVbUBU*UUUO@RB*** querying acoustic contact ***PPBZ<B BAn*BAT<AAA%m<"C%%$*CM~RCM&;CICQ]&<܍>9܉I܍cGi܍@܍=܉܉܍; ݍE xx 9Y7P1y:5)8;m[R;I IQ G >[r,nEAY}:6>}:J@y}:0=}:}:H?a?`?`̱?`Ax? mfO?)~:6> ~:A)];I~:Cɫ99)9 =IAY}^@y}hGZ****** received transponder code query ******F****** received ping request ******aE=EyL.}>I5?am ? ?9B<< {<)WQWQXY XYWY:WY2WY*WYVabUaBUa*UaUiUm y @Bƹ;B BA*BAsS<AAA{<"C9$*CRC;C C ) ԹԽiA֥ X;ׁ I G >![r,~nEAY}6t2>}6:@y}6H4=}6H3}6H ? в?@0?벿@Z?G]?`:lc?)~6t2> ~61\;I~6Cɫaa)i iIqYW@ygGxDUSBL response received:!U1,P E25,000,00403,186,80,80,87,FF Command AckBRequesting micromodem ping code 2i Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ÕÕ/>Õ=iÕ@Ñ ĕ@)ĕ@Iĕ@iĕd@EME$=YM:QUM>QQaUEUAEQy]i}]>I :r5?ip= :l ? ?9HB< -<):WWX XW:W2W*WVbU BU*UAUIUM @&{{ 89Y#R1y:59@B5G;B1 B1A=ս*B9A=IQ<A9A9A=ӛ<"CE-$*CEZRCM܄CICIe ;9 II Ge > [r,GZoEA||p;Y}6/>}6q@y}67=}6N?}6H@?{?V? S ?΀? ㇿ5?)~6/> ~6ԗ\;I~6C!9!I%,bGi%Է@%=!!%; %Eɫ99)9 EIAY]@y]agGaaNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B mMm=Ym-;QUm?qqauEuCEyy}c }?IȁŅ5?Ņ/l ƅ? ?9ƅBDž: ȅ:)ȁWWX XW:W2W*WVbUBU*UUU@B?!;B BAC*BAP<AAA{<"CA$*CaFRC IC C -qIG-->3[r,4oEAY}:0>}:Ĥ@y}:9=}:ME}:H 9?`/??N`\??4 ?)~:0> ~:R\;I~:Cɫ99)9 =I9Y]ջ@yegGmxDUSBL response received:!U1,R,2CF,000,0042C,18A,80,80,4C,FF mFpublishing direction and range infoeK aɰe=e> a)eBIayeAe?KYٱa}=i}=)Í= Í>>MV=Y$:QU>aEFEyC;}>Iȑ :ŕ 5? :ŕk ƕ/? ?9ƕ@BǕ: ȕ:)ȕ:WWX XW:W2W*WVbUBU*UUU`@R (Combining 5 samples.PI*QMAZQMA,m5@ "5/JQM?KY2QMK :QIbQMx C4@؈ș.1l$c/RQM~|KF|e?bͳmݢNRBQM@ QMuQMAPM9?PM9?PM"QMQM@"QM@Bv;B BA*BA5O<AAAß<"C5$*CRCǺCCΒ{I)G}z>EElElA E9YEH1yE:AI][r, 8oEAɫ) IYM@yMeGTNmea in: $SNTTA,,0.361379,,,020900.82*48 ]Dl?Zd;O ףp= ?]O-?]j< ]Q8=)YIYy]S?On?~jtx?]:?]>]; ] A)]9AI]Ai]Z AY]p A @ @ @õ©õõiõ=@õ ĵ@)ĵIĵ@iĵ@*M-=YmQUm>iqauEuJEqy}}}>IȁŅ*5?Ņi ƅu? ?9ƅ BDžVT< ȅT<)ȁm5yAdded new target pos. range: 26.580002 m, bearing: 319.704817 deg, deltaT: 4.393307 s, approachRate: 0.559942 m/s, LOS rate: -13.346613 deg/s, posRepo size: 4W1W9X9 X9W9:W92W9*WAVabUaBUi*UiUm{:@UmUI?I)AAB T ;B  B A  *B AL<AAA<"C)$*C%RC%ϺC!CA!9!I%`Gi%@!!!%; %EU0:ĺ) I1 GU >E[r,QoEA|i|@Y}6-4>}6@y}6~9=}6}6Hp??5? ?@Be@?`Nb?k  ]?)~6-4> ~6/\;I~6Cɫ9A)A EIAY/@yeG=,M=g=YEQUE?AAaMEMMEIyU/<}U?IY]?5?]Pg ]2? e?9] B]: ]8:)YWWX XW:W2W*W VbUBU*UUUa?BEBA BAAE/*BIAMsJ<AIAQAU}<"Cu=$*Cu׎RCu(:CqCyօ?BɺYIiGZ>p[r,2koEAY}B 5>}B@y}BO7=}B}BH??`?FA`.?e`? %[?)~B 5> ~B2\;I~BCɫ髹) IY@yueG   í=íj<íOií@í ĭ@)ĭ@Iĭ @iĩ<MB=Y:]QU>aEPEy:}>I :Y5? :e ? ?9 B|: g:):WWX XW:W2W*WVbUBU*UUUt?B:B BA%*BA*H<AAA$<"C1$*CRC%:CCiAhA] ;&yy 89YP1y':5IEhA)EhAI!G=r>W[r,QoEAY}:3>}:@y}:6=}:}:H ? o? s? ͦ?`? 픿1?)~:3> ~:0\;I~:Cd9dIf _GifJ@dddfw; fE)YIYiY]=]=][4ɫ99)9 9I9Y}r@y})dGmMmP=YmszQUm>qqauEuSEyy}}}>IȁŅ-r5?Ņb ƅ!? ?9ƅ BDžY: ȅ:)ȁWWX XW:W2W*WVbUBU*UUU?BB BAjG*BA?VF<AAAG<"C%$*CčRCL9CC E?B:=i=I)GeU>[r,F|oEA||;Y}6V1>}6@y}67=}6}6H@ ?Aݲ?V?`q6?9?@ᦿ髓@M?)~6V1> ~6-\;I~6Cɫ99)9 9I9Y}@y}cG&MQ=YU):QU> a E WE yF}>I %:n5? %:` ? %?96Bg: s:):WWX XW:W2W*WVbUBU*UUU`@BE 'BA BAAEW*BIAM0zC<AIAQAU"<"C]9$*C]ChRCe*eJCaCq֥9%%z%z% %I9Y%Q1y%:%5סIGEs>[r,WoEAɫyy)y yIyYN@ybG-d>)I}=)}=iunGIi!οٺA~jt?A`"?MbD?Y= )Iy1Zd?~jt??";?=< ™)AIrAit A=A)í= é:>`aEZEy}>I 5?_ ? ?9B: Z:)WWX XW:W2W *W V bU BU*UUU@7@B=؆PBA BAAEk*BAAMh?<AIAIAM<"CU-$*CU=RCUCQCY>9I]Gi@v; }鑺QIaG}>[r,C8oEAY}J0>}J4@y}JO6=}J*}JH?gT?@ f? d@X?`?Ǧ?)~J0> ~J(\;I~Hɫ髁) IY@ybG鮥p=ɮdM=Y (QU?aE]Eyι}?I :$5? :^ ? ?9B : 9:):W W X XW:W2W*WVbUBU*U!U!U%Q@R-B*** querying acoustic contact ***P)P)BUmBY BYA]}*BYA]m=<AYAaAe<"CeA$*Cm"RCm5 CiCqօ"AIIGm5>I ) @A5Z 5x5x5 5;:Y57P1y5:55)5˖;9E[r,?oEA|Pi|PY}/>}@y}5=}4}H`?e?Z?ה-?4? L?)~/> ~n \;I~Cɫ) IY-@y50aG5Z****** received transponder code query ******=F****** received ping request ******=PkiQ@ @)@Ii@OM7=Y QQU >  aE`Ey*}>I!%5?%] %+? -?9%B%: %:)!WIWIXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUe` @B-J̻B1 B1A5[*B1A5O9<A1A1A=<"C=5$*Ce~RCewCaCi֝iIyG>ť\r,pEA494I6[Gi6o@4446; 6EY}B.>}B˔@y}B~2=}Bb}BH??? γ@`?)~B.> ~B\;I~BCɫYY)Y YIYY"@yPaGxDUSBL response received:!U1,P 2CF,000,0042C,18A,80,80,4C,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  <M\=Y%(QU->aEcEy} >I :5? :] ? %?9B: >;):W9W9X9 XAWA:Wi2Wq*WqVybUyBU*UUUy @B4B BA*BA5<AAAt<"CE)$*CEӍRCM>Q1CICI]hA]iAM6MwMwM M9YMO1yMP:M5)M>;֕ Iי)יqIyG>P\r, pEAɫqy)y yIyY@y`GNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B u MuC=YuQU}>yya}E}gEy}>Iȑŕ5?ŕ6\ ƕI? ?9ƕ8BǕ: ȕw:)ȑWWX XW:W2W*WVbUBU*UUU@@B%~AB! B!A%*B!A-@12<A)AIAM2N<"C=$*CRC%CC%=i%a=u2IIaG> \r,':pEA||Y}6*>}6m@y}6O1=}6{}6H?`?-b?@8?.?/(柿X?)~6*> ~6Q\;I~6Cɫ99)9 9IAY}D@y}_GZd;?Q?~jt9?u< )IybX9?Cl?I +?E6?;=94< XA)AIAi9AA?>>"if@ @)@Ip@i@MC=YҹQU>aEjEy9} >I0"5?[  ? ?9mBh: :)W9W9XA XAWA:WA2WA*WIVQbUYBUa*UqUyU}@@BR>B = BA*BA-<AAAbѫ<"C1$*CRCtzCC5W5z5z5 59Y5Q1y5:5a5E"59U@q9qIuYGiu*@qqqu; uE9IAG]w>\r,@TpEAY}rj^(>}r`@y}rbz4=}r}rHB??@ý?n v??myj?)~rj^(> ~rF\;I~rCɫ)1)1 5I1Ym@ym7^GTNmea in: $SNTTA,0.029369,,,,020905.26*4D i=>KMG=YE:QUM>IQaUEUmEQy]~}]>Ia m:eQ;5? m:eY eȽ? u?9eBe: e:)e:WWX XW:W2W*WVbUBU*UUUp@BL^B BA*BAF)<AAA[^<"C%$*CrRCSCC =IG-p>\r, `npEAY}R0&>}RO@y}RG9=}RZ}RH`Z?? v?v?`ᢜ?&@Y p?)~R0&> ~R[\;I~RCɫ髁) IYj@y]G94x ?i@ d@)5@I@i-܊M5[=Y5O;QU5>99a=E=pE9yE}E>IIMQ5?MX M? U?9MBM: M=:)IWyWyXy XyWy:Wy2W*WVbUBU*UUUO@B]*B BA?*BA$<AAAծ<"C9$*C(URCCCPII)--v-v- -9Y-N1y-:-=5GMS>] >9Y I] XGi] @] =Y Y ] ; ] E+"\r,ppEA|i|Y}Bʜ%>}B{J@y}Bz;=}B}BH ?ŵ?`5?x?3?>mU?)~Bʜ%> ~B$\;I~BCɫYY)Y ]IYYٳ@yE]G7MP=Y9:QU>aEtEy}>I! -:%i5? 5:%W %U? 5?9%B%8: %:)%:WYWYXY XYWY:WY2WY*WaVabUaBUa*UiUiUmDž@RuB*** querying acoustic contact ***PyPyBB BAF*BAC<AAAx<"C-$*C5RCCCF<ױIG>(\r, pEAY}2-'>}2V@y}2(<=}2̼}2H`?s?|?T@?>}?| ?)~2-'> ~22\;I~0ɫYY)Y YIYY@y\GI)ML=Y\9QU>aEwEyy;}>I5?V ? ?9B: ϸ:)WW X  X W :W 2W *WVbUBU*UUU2@BeǒB BA̾*BA!t<AAAE8<"CA$*CRCU<CC!MM{M{M M39YM#R1yM:M5ѽ#=hA֭׉ I G >#H.\r,pEAɫyy)y }IyY$@y,[GUNonly read 0 of 1 data item for altitudea i]@a ] a m]@a ] a q]@a ] a e]@a ] >>-2iQ@ ף@)Q@IQ@iQ@lZM9=YQU>aEzEy}>Iȑ :ŕ5? :ŕ}U ƕ? ?9ƕKBǕ: ȕ>)ȕ:WWX X W :W 2W*WVbUBU*UUU@B䛼B BAؾ*BAI<AAA<"C5$*CRCJCC) =i=9IVGi@=; E)хIхiхххՅo5e z9 IQ Gu >205\r,pEA| | Y}B5->}BD@y}B5=}BR}BH H??@l?,:@n?D?2E`w?)~B5-> ~B0\;I~BCɫYY)Y YIYYF@yZGM\=YQU>aE}Eyv<}>IƲ5?sT ? ?9NBݱ: IP?)W)W)X) X)W):W)2W)*W1V1bU1BU9*U9U9U=T@BeмBi BiAmx*BiAmuK<AiAiAu><"C)$*C(ԌRC8)CCסIGA>--t-t- -o9Y-M1y-:-5(Z;\r,NpEAɫyy)y }IyY@yYGxDUSBL response received:!U1,N,80,80,63,E4 C,18A,80,80,4C,FF ZNo reply:!U1,N,80,80,63,E4 C,18A,80,80,4C,FF -Ga>i̔@ d@)@I@i@)YM8=YQU>aEE!y%}%>I)-5?-#S -]? =?9-B-а: -ܠ?))WYWYXY XYWY:Wa2Wa*WaVabUaBUi*UiUiUu@BB BAz*BA$<AAA9<"C =$*C ARC -[C C"5IYi%nGIG>iǿٺ)A 9 I TGi @    ;  EBB\r,x qEAɫyy)y }IyY@yYGsM`=YQU>aEEy}>I5?R N? ?9Bl: ?)W!W!X! X)W):W)2W)*W)V1bUABUI*UQUYUe@BA̼B  B A A*B A-}<A1A1A5SX<"C=1$*C=錌RC= WC9CAEvтI%AA)%AA55r5r5 59Y5_L1IIy57:55)5/;9eGmV>lH\r,CS#qEA|i|@Y}6 %>}6]F@y}6+7=}6}6H@? d??`?G?#Q?`㦿t@?)~6 %> ~6 \;I~4ɫYY)Y YIYY@yIYG%8M-F=YER;:QUE>QYaeEeEqy}㙼}>IșŝT5?ŝP Ɲ? ?9ƝBǝ; ȝ,@)șW W X XW:W2W!*W!V!bUIBUI*UIUIUM 9 @BUB BA*BAR;AAAo<"C%$*C6gRCL+CCֵyb]בIG>@N\r,.=qEAɫ髙) IY@ysXGIA)a ia i a ma m a qa q a ea e 1Zd?V-kt?";?m  0=)IyJ +?#~j?y&1?(?=`< rA)AIAirAAxi>i@ @)@I@i@ HM ==Y QU>aEEy}%>I! 5:%5? 5:%_P %? 5?9% B%; %;)%:WWX XW:W2W*WVbUBU*UUU!@RB*** querying acoustic contact ***PPBUpBQ BQA]*BYA];AYAYA]><"C9$*CuKRCCCԙԙօ &I׉)׉ܹ9ܹIܽRGiܽs@ܽ=ܹܹܽ; ݽE55|5|5AIQ 59Y5R1y5i:5a5)53;GuW>~U\r, WqEAY}2;*>}2so@y}21=}2jI}2H ?ڴ?`w?@' )?Ё?/'?)~2;*> ~29\;I~2Cɫ99)9 =I9Y}خ@y}WGZ****** received transponder code query ******F****** received ping request ******a E E yI^<}>I+5?O ֳ? ?9"BR: :)W!W!X! X!W):W)2WI*WIVQbUQBUQ*UQUQU]@Z!@B B BA*BA|;AAA<"C-$*C+RCǛCC0%=i%=IGn>>[\r,pqEA|4<|ɫyy)y }IyY@yVGxDUSBL response received:!U1,P 80,80,63,E4 C,18A,80,80,4C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =j=?=Di= @9 =X@)=I=@i=@qM&=YQU>a%E%E)y-}->I1 =:5E5? =:5 O 5? =?95N#B5!< 5"<)5:WWX XW:W2W*WVbUBU*UUU@ӿ"@--v-v- -9Y-N1y-:-595@B?B BA*BAe;AAA4c<"CA$*CRC`cCC  U=U=M ! I1 GM >ܡ 9ܡ Iܥ PGiܥ ܩ@ܡ ܡ ܡ ܥ ; ݥ E=b\r,vqEAɫyy)y }IyYƭ@yUGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5=i5=u4Muu=YyQU}?yaEEy} ?IȑŕW5?ŕN ƕ? ?9ƕ&$BǕ: ȕ:)ȑWWX XW:W2W*WVbUBU*UUU@\#@B*BR35= BA=*BA|;AAA<"C5$*CV鋽RCڭCC׹IGf>Ϻh\r,wqEAY}:2>}:@@y}:7f=}:}:HV?Բ?k?I岿? v?@k`~ـ k?)~:2> ~:g+\;I~:Cɫ99)9 =I9YA@y(UGxDUSBL response received:!U1,R,C65,000,0048F,188,80,80,62,FF Fpublishing direction and range info?3N?ɰ3=鰥> )BIyBc1+?'?ٱ dNmea in: $SNTTA,0.043845,0.313883,,,020910.92*53 cM5=Y鄼QU>11a=E=Ey4<}>I %:r5? %:M ? -?9o%B; ;):WWX XW:W2W*WVbUBU*UUU 0^$@R(Combining 5 samples.P*QBZQ9!j6@ʺs7@JQc1+?'?2Q?3N?:QbQN\W-8@s<g5@<ӏYRQhd?49zR`?%?I%@A)!--}-}- -g9Y-kS1y-Ԋ:-5BQd;? Q̭AQlAPۨ9?P9?PQ"Q$@"Q@BB BAg*BA{3;AAA?<"C)$*C{RC ;CCס I G >n\r,vqEA|i|@ɫyy)y yIyYì@yTGÝ9Ý=ÝD>iÝ@Ù ĝ@)ęIĝȎ@iĝȎ@-Mb=YQU>aEEy}?IG5?M  ? ?9P&Bg: :)mqAdded new target pos. range: 32.520000 m, bearing: 41.940736 deg, deltaT: 10.186229 s, approachRate: 0.583140 m/s, LOS rate: 8.073246 deg/s, posRepo size: 4WWX XW:W 2W *W V bUBU*UU`B@@U?BEA0BA BAAEW*BAAM;;AIAIAMg<"CU=$*CURC]yͱ:CYCYM9 IG-->U>9QIUlOGiU@QQQU; UɗEu\r,SqEAY}2 *>}2m@y}2= =}2Jv}2H??`??`E?@/P쐿2?)~2 *> ~2/\;I~2CɫAA)A MIIY]@y]SGIA)cMV=YչQU>aEE y } >I %:5? %:L C? %?9T'B: E:):WIWIXI XIWI:WI2WQ*WQVQbUQBUY*UYUYU]<?B!B BA*BA(f;A A A<"C51$*C5RC5ϻC1C9%+=--t-t- -39Y-M1y-:-5] ;IG>j{\r,,qEAY}2N)>}2k@y}2 =}2@ϗ}2H?@?*ۡ?`<%?`(?"@@?)~2N)> ~2|U\;I~2Cɫ99)9 9I9Y}@yRGUjiiamEmEqyu}}>Iy}5?}K }? ?9}p(B}˵: }:)yWWX XW:W2W*WVbUBU*UUU?B B BiAm!*BqAu*;AqAqAu<"C}%$*C}]RC}`CyCM;6=[RӻIGK>1i5p=M >9I IM MGiM R@M =I I M ; M E)يIيiي݊=݊=݊25Zނ\r, rEA|";| Y}>:C.>}>@y}>t=}>}>H?Yس?/M?v`;? 'v? 4ᐿ?)~>:C.> ~>#?\;I~>Cɫ髙) IYB@yRG:MG=Y" QU>aEEy'.<}>Iȱŵ5?ŵ.K ƵŴ? ?9Ƶ)BDZ ȵض:)ȱWWX XW:W2W*WVbUBU*UUU J?B}&B! B!A%`#*B!A%ia;A!A)A-J<"C59$*C5;RC5ƩC1C9AA)A A--x-x- -9Y-7P1y-:-5)-0;95Xһס I G >]\r,%rEAY}J3>}J@y}Jb<}Jf}JH??s??u`?@?% `ꐿ?)~J3> ~JS\;I~JCɫYa)i mIiY@yQG=i=a i@a  a m@a  a q@a  a e@a  )= =ÕI>ÕÕmiÕ=@Ñ ĕ)ĕ^@Iĕ^@iĕ^@3M"=YQU>aEEy2<}>I :35? :;J 4? ?9*B: ?):WWX XW:W2W *W V bUBU*UUU2@BMBI BIAU )*BQAU6;AQAQAU<"C]-$*Ce RCeQR;CaCau?BɺI IY G > i NmGI1 iA 6\r,?rEAͿٺAY}>8>}>d@y}>B<}>z {}>H ? L?`?`fO?@?ɽK^ ?)~>8> ~>bO\;I~>Cɫ髑) IY0@ybQGUMU=YU2QUU?YYa]E]Eaye~<}e?Iim5?mI m? }?9m+Bmq: m"M?)iWWX XW:W2W*WVbU!BU!*U!U!U-p@BUQBQ BQAU+*BQA];AYAYA]o<"CeA$*CeRCe;CiCi֥qZ;>9ILLGi @=; EYIiG8>I)@A%!!% %9Y!y!%τ5)%0;m\r,JYrEA|i|Y}N8z7>}Ne@y}N;<}Nb}NH y? {? `?@`?[J?r^`?)~N8z7> ~N7\;I~Lɫ髑) IY$@yTQG`MN=Y@YQU>!!a%E%E)y-5}->I15 5?5H 5&? E?95,B5: 5??)1WaWaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU}y@RB*** querying acoustic contact ***PPBL>B BAI,*BA{:AAA$<"C5$*CʊRC;CCׁ֡IG=>D\r,tsrEAY}N2>}N@y}NK<}Nc}NH ?!?/?`n۲]?NȒ?`,`\?)~N2> ~NU\;I~Lɫyy)y yIyY@yOGZ****** received transponder code query ******F****** received ping request ******õ=iõ@ñ ĵĘ@)ĵ@IĵȎ@iĵȎ@M@=Y|sQU>aEEyg0}>I :#5? : H ܶ? ?9-B: ?):WWX XW:W2W*WVbU!BU!*U!U!U-`' @B e@B BA6*BAB:AAA<"C)$*C%RC%[:C!CI5115 5y9Y1y1559=@E;I!G=r> >9 I JGi Ȥ@ = ; Er,\r,OrEAY}Nn/>}N @y}Nѐ<}N[}NH`E????2?Q)B?)~Nn/> ~N\;I~NCɫyy)y }IyYר@yOGxDUSBL response received:!U1,P C65,000,0048F,188,80,80,62,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 MJ=Y^QU>11a5E5E9yE3}E>IquL;5?uQG u? ?9u.Bu& < un@)qWWX XW:W2W!*W!V)bU)BU)*U)U1U5R @B7B BA6*BA:AAAO <"C =$*C sxRC n=tC C!i%=Urg:) IA G} >Z\r,G>li@ @)@It@i@ <M =Y%%v%v% %:Y%N1y%:%5QU->99a=E=E9yE}E>IIMW5?MF Mz? ]?9MO0BM; M;)IWyWyXy XyWy:W2W*WVbUBU*UUU@>@BfKB BA>*BAUAAA <"C 1$*CkQRCZCC% Β{ I G% >A\r,IrEAY}29/>}2Ś@y}2qj<}2ʼ}2H`?"?劐?7?/?M@BB ?)~29/> ~2\;I~2Cɫ11)1 5I9Yu5@yuMG}xDUSBL response received:!U1,R,D31,000,004B3,189,80,80,69,FF }Fpublishing direction and range info}K ?yɰ}=}7> y)}BIyy} B}?KY?ٱy=i)å= áwM=YQU+?aEEyHX:}.?If5?F ? ?90B: :)WWX XW:W2W*WVbUBU*UU U D@R(Combining 5 samples.P*Q BZQM <@{"\4@JQ?KY?2QK ?:QbQ6=@0]$2@zRQ 铙B?Fu#?*BQM ? Q AQXAP9?Pۨ9?PQQH@"Q$@B e_B BAC*BA AAAw<"C%$*C%/9RC%2\C!CA܍>9܉I܍IGi܍ԣ@܍=܉܉܍; ݍE]qI!GEQ>qk\r,rEAY}jgE2>}j@y}jӥ7<}jR}jH@?@? '??z ? ?)~jgE2> ~j\;I~jCɫ) IYMO@yUMGDNmea in: $SNTTA,,,,,020915.36*54 ;M 6=Y&QU>aEEy%;}%>I) 5:-5? 5:-ZE -? 5?9-52B-c: -N:)-:meqAdded new target pos. range: 34.680000 m, bearing: 31.551584 deg, deltaT: 4.319507 s, approachRate: 0.500057 m/s, LOS rate: -2.405171 deg/s, posRepo size: 4WaWaXi XiWi:Wi2Wi*WqVqbUqBUq*UqU}@ WA@U}@5?BYB BAB*BAP왺AAA?<"C9$*CRCO ;CC9I9)=AAMMuMuM M:YMKN1yMy:M5ױIGe>\r,rEA|i|@Y}6dE5>}6@y}6<}6P2}6H@?k1??<?2E?`/#`唿 ?)~6dE5> ~6=];I~6Cɫ99)9 =I9Y¦@y*MGuj<=u(\>uԼiu(@q u@)qIqiqa6MT=Yf QU>aEEy;}>Iȡť5?ťD ƥ_? ?9ƥ@3Bǥ: ȥϸ:)ȡWWX XW:W2W*WVbUBU*UUUh?BfB BA]G*BAHAAA<"C-$*C0퉽RCB;CCֽ ;יIGb>܉ 9܍ ʔCI܍ dHGi܍ @܍ =܉ ܉ ܍ ; ݉ z\r,sEAY}:7>}: @y}:;}:T.}:H?@?aw?ښ@!?Tj?^qmœd?)~:7> ~:&];I~:Cɫ99)9 9I9Y}@y}OMGI)A]<M]M=YeGQUe>iiamEmđEqy} ;}}>Iȁ :Ņ35? :ŅC ƅf? ?9ƅT4BDž1; ȅ$;)ȅ:WWX XW:W2W*WVbUBU*UUU@?B-jB1 B1A5pF*B1A=A9A9A=t<"CEA$*CMHljRC;CC;MIIM Md9YIyIMs5)ML9;9e׹IGf>)\r,a(sEAY}8>}@y}:}Z^}H?@i?e?k E? ? a[#ˋ ~\;I~Cɫ髑) IY@yMGd;O?Fx?+??K> =)IyS?(\µ?~jt/?=D A)AIAiA A]@=]?]C=i]\@Y ]@)]?@I]^@i]?@m,Mm-=YuQUu>qqa}E}ȑEyy1:}>Iȉō5?ōB ƍ? ?9ƍ5BǍ^: ȍ$:)ȉWWX XW:W2W*WVbUBU*UUU`E?BT\B BAG*BALMAAA3<"C 5$*C ;RC &;C C5=i5=-[R;IG->\r,MBsEA|;|p;Y}6;8>}6r@y}6J }6Fa}6H??@l:??#=?@iA?:8?)~6;8> ~6C\;I~4ɫYY)Y YIYY}ܥ@yLGjM{=YbܻQU?!!a%E%ˑE)y-+v}- ?I1 =:5x5? =:51B 5? E?956B5|: 5:)5:WaWaXa XaWa:Wi2Wi*WiVibUiBU*UUU_@B]?BY BYA]N*BaAerAaAaAe<"Cm)$*CuXxRCu, ;CqCy999I=GGi==@999=u; =E)IŃʔCiŃ=Ń!5օH;MMzMzM M9YMQ1yM:Mρ5)M{,;YIiGZ>\r,(\sEAɫyy)y }IyY^@yuKGi=) = >5JM=H=Y=QU=>AAaEEEΑEIyM}M>IQU"5?URA UU? ]?9U7BU$: U:)QWWX XW:W2W*WVbUBU*UUU@B$B BAyR*BAAAA;<"CM=$*CUSRCUT;CQCQeX;9IIGmV>S\r,- vsEAY}6a5>}6@y}6gr}6}6H0? 4:?ia 5:??Ln?@?)~6a5> ~6ͮ\;I~4ɫ99)9 =I9Yu.@y}:KG---Ti-(@) -@)-@I-t@i-t@=mM=J=YEQUE>AAaMEMёEIyUv}U>IY e:] 5? e:]@ ]? e?9]8B]|: ]$:)]:WWX XW:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BAS*BAAAA-<"C1$*C,RCw;CCiunGIi!ǿٺA[R;IGE>I9)=?AMMvMvM M9YMN1yM:M59U@- >9) I- FGi- @) ) ) - ; - E\r,sEA|i|@Y}6E5>}6@y}6}69}6H@?`C?Zn<? ?Ou?lV@?)~6E5> ~6\;I~6CɫYY)Y YIYY@yJGZ****** received transponder code query ******F****** received ping request ******!)a-E-ՑE1y="}=>IAE 5?E? E7? ]?9E9BE#; Ex5;)AWyWyXy XW:W2W*WVbUBU*UUUvC @B{B BA-V*BAjAAAl<"C %$*C dRC7;CCvт;I G%o>\r, ǩsEAY}%W5>}%@y}%{o}%߼}%H@?Y?v`N?v? ~?~?)~%W5> ~%\;I~%Cɫ) %I!YU@yUJGuxDUSBL response received:!U1,P D31,000,004B3,189,80,80,69,FF uCommand Ack}BRequesting micromodem ping code 2iyyI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 K7?~jtxMb?I ?Ļ =)IyZd;?bX9ȶ?:v?9?E=T< lA)IAiAA%hA%iAEEqEqE E9YEK1yE̅:E5$>˾+i@ ?@)(@I?@i?@$M=Y%?~QU->19a=E=ّEIyu2}u>Iȁ :ŅhD5? :Ņ}> ƅg? ?9ƅ;BDžS< ȅL<)ȅ:WaWX XW:W2W*WVbUBU*UUU@B *RgB  B A }X*B A ^ۻA A A <<"C 9$*C ΈRC ͽ;C C 5 ; I G= >\r,hsEAY}2A3>}2@y}2F}2 }2H`?~ϲ?J~G?`LӠ?`?`5Z?)~2A3> ~2"\;I~2Cɫiq)q uIqYT@y-JGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M=Y QU-?aEۑEy߻}3?IS5?= ? ?9J9I FGi@=1D; EqQ]=i]=IaGY>.\r,.sEA||;Y}661>}6I@y}6X9}6 }6HI?@NU??E?`??*?'?)~661> ~6\;I~6Cɫ99)9 =IAY֣@yIGxDUSBL response received:!U1,R,D6A,000,004E4,189,80,80,64,FF Fpublishing direction and range infoh?ɰ =鰹 )BIyzB:n?nĪy?ٱdNmea in: $SNTTA,0.040282,0.194958,,,020919.83*52 P'MY=YQU>aEޑEy } >Ij5?A= Կ? ?9c=BE: :)W9W9XA XAWA:WA2WA*WAVIbUIBUI*UIUQUUe@Re(Combining 5 samples.Pi*QmzBZQm,Ճ?@Z4@JQm:n?nĪy?2Qmh?:QibQmy|@@D2@ ӿRQms# ??uS逿BQmNJ? QmאAQmBPm9?Pm9?PiQmQm@"QmH@BB BA^*BA3AAA~<"CA$*CdRCw:CC֥] ;aIqG9>mmvmvm m9YmN1ym:m5!\r,sEAY}20>}2Z@y}2^[K}2ڼ}2H??1+@Ɔ?;4?Ak?@O@t?)~20> ~2!\;I~2Cɫ19)9 =I9Yuǣ@yuIG=iEx)?EM?EliE@A E^@)Eף@IEiAUMUD=YU,QU]>YYa]E]Eaye|+}m>Iq }:u5? }:uw< u? ?9u>Bu|: u:)u:mqAdded new target pos. range: 37.620003 m, bearing: 28.769218 deg, deltaT: 4.448595 s, approachRate: 0.660883 m/s, LOS rate: -0.625448 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU@\B@U`?BUB BA3_*BA9y AAAXX<"C5$*CsRCrZ:CC iAq:IG-N> >9 I EGi @ = AD 1]r,!tEAY}:1>}:{@y}:Jk}:ؼ}:H3?`=?rV% ?w$?|? `G?)~:1> ~:\;I~:Cɫ99)9 AIAY]@yeRIG3MF=YQU>aEEyek;}>IȹŽ5?Ž; ƽ? ?9ƽ?BǽU: Ƚb:)ȹWWX XW:W2W*WVbUBU*UUUv?B% ׎B! B)A-\`*B)A-AA)A1A5Q<"C=)$*C=NRC=-;C9CAa9III]AA)]AAmmymym m9YmP1ym':m5)m3;9uGZ>m4 ]r,O*tEA|@i|@Y}=Rw5>}=N@y}=:}=>7ۼ}=H ?aM? Ϗ/?@ݙ??d?)~=Rw5> ~=\;I~=Cɫ)1)1 1I1Y@y;IG}B`"?X9v?}= >}`< }A)}AI}Ai}fAy}QA4l?=i@ @)^@Ii^@UsMU1=Y] ۻQU]>YYaeEeEaymz<}m>Iq }:u*5? }:u9 u3? }?9u7ABuZ: u:)u:WWX XW:W2W*WVbUBU*UUU?BB BA`*BAՉ#AAAV<"C=$*C/#RCj;CC2;IG>%]r,5DtEAY}2!H9>}2@y}2o}2R}2H`r?`b?x;??m?'?)~2!H9> ~2d\;I~0ɫII)I MIIY}r@y}IGI)A3Mx=Yk[QU?!!a%E%E)y-)9<}-?I155?57 5? E?957BB5 : 5:)1WaWaXa XaWa:Wi2Wi*WiVibUiBUq*UqUqU} m?BB BAa*BA-AAA<"CM1$*CURCU$<CQCQ e=e=ܝ>9ܙIܝDGiܝ@ܝ=ܝBDܙܝ}; ݝEօϩ;Yuuvuvu uE9YuN1yu:u~5)u.;IG^>ZC]r,v^tEAY}2$9>}2@y}2wLڼ}2}2Hn?t?ED?Ղ?@H?깜?)~2$9> ~2];I~2Cɫ99)9 =I9Y@yIGUH&=M]F=Y]aaaeEeEaym}m>Iq }:u85? }:u5 u=? }?9uvCBu: uk:)u:WWX XW:W2W*WVbUBU*UUU`=@BYB BA]*BA8AAA<"C%$*CڇRCp<CCօXem]r,zQxtEA||Y}Bp5>}B@y}B̥}Bϼ}BH?@b?05???` ?)~Bp5> ~B(];I~BCɫYY)Y YIYY@ywIG u@ u@ u@u©uuiuf@u u @)uIqiu@MG=Y-QU>aEEyv}>Iȡť:5?ť4 ƥ? ?9ƥDBǥ˵: ȥc:)ȡWWX XW:W2W*WVbUBU*UUU@Bf)B BAo_*BA{DAAA#<"C%9$*C%RC%a;C)C)%8<I G5O>mmwmwm m9YmO1ymP:m59u@ܕ >9ܑ Iܑ iܑ ܑ ܑ ܑ ܕ w; ݕ E)%ʔCI!i!%=%=%95;U$]r,s,tEAY}20>}2k@y}2}2l}2H@e??`=@Cdm?Aϖ?t?jP?)~20> ~2x:];I~2Cɫ99)A AIAY}c@y}IG鮁ɮ=i=MY=YWQU>aEEy,M}>I&5?c2 ? ?9EB: :)WWX XW:W2W*W V bU BU *U UUY@R%B*** querying acoustic contact ***P!P!BҥB BASb*BA1OAAA9<"C-$*CRCh:CC  hA%ϩ;I G1=*]r,J tEAɫ) IY5y@y5 IG=Z****** received transponder code query ******=F****** received ping request ******= #)IyGz?|?5^?aEEy}>Iȹ :Žl95? :Ž0 ƽ? ?9ƽ=GBǽM: Ƚ:)Ƚ:WWX XW:W2W*WVbUBU*UUUj @B-B) B1A5a*B1A5]A1A1A59<"C=A$*CEeRCE:CACAI]@A)]?Ammymym m9YmP1ym':m=5U0::IG=> PCim %nGI i Cÿٺ Ag1]r,tEA|i|ɫyy)y yIyYĢ@yAHGxDUSBL response received:!U1,P D6A,000,004E4,189,80,80,64,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %M-~=Y9QUE ?QYa]EeEqy}?Iȡť M5?ť/ ƥ? ?9ƥ,HBǥ; ȥ;)ȡ=>99I9i9999=s; =EWWX XW:W2W*WVbUBU*UUU@( @BB BAMg*BAiAAAp<"C5$*C@RC:CCֵ] ;׉IG>7]r,tEAY}:.3>}: @y}:|}:J}:H`t??A@U? ?@t? ^s #?)~:.3> ~:];I~:Cɫ99)9 =I9Y}@y}2IGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)Dh=MA=Y;QU>aEEy;}>I :e5? :. ? ?9PIB: R:):WWX XW:W2W *W V bU BU*UUU?@B=ڿBA BAAE+a*BAAEnsAIAIAM.<"CU)$*CU"RCU=;CQCY m=m=A!tt 9YM1y:5IG]v>=]r,BtEAY}2l47>}27@y}2q}2}Լ}2H{?`??Z?맜?`-?Njr?)~2l47> ~22];I~2CɫYY)Y ]IYYv@yIGxDUSBL response received:!U1,R,F42,000,005AD,187,80,80,1E,FF Fpublishing direction and range info)>ɰ=鰥1> )AIyFBkҦ?G ?ٱ l ? =i @  ۙ@) ?@I i ?@yM%T=Y%Q8QU%>))a-E-E)y59'<}5>I9={5?=- =? E?9=bJB=R: =÷:)9WiWiXi XiWi:Wi2Wi*W)V1bU1BU1*U1U1U=@RM(Combining 5 samples.PI*QMFBZQMdCH@0P-f @JQMkҦ?G ?2QM)>:QIbQM3IlH@:yq@ tw?RQMFD?hav>?Ya]?BQMh= QM@QMEBPM69?PM9?PMQIQMe@"QM@B盽B BAa*BAAAA<"C=$*CDRC;CCr;]=i]=׹IGf>Y 9Y IY iY Y Y Y ] o; ] ED]r,buEA|0|0Y}~E6>}~@y}~|}~%1 }~H?TA?* h?R? [?@c?)~~E6> ~~!];I~|ɫ) IY-ң@y5IGTNmea in: $SNTTA,0.039790,,,,020924.25*4E -<M-:=Y-_QU5>11a5E5E9y=}E>II U:M75? U:M-, M? U?9MKBM: M*:)M:mmAdded new target pos. range: 49.679996 m, bearing: 5.522826 deg, deltaT: 4.473060 s, approachRate: 2.696140 m/s, LOS rate: -5.196977 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU H@U ?BNB BA^*BAoAAAu <"C1$*CӆRCA;CCΒ;eepepa e9YeK1ye`:a)e/;9}ױIGJ]r,u-uEAɫ) IYEǣ@yEIG=i=uNbX9?S㥛?I +?uE?u$> u9<)qIqyu333333??Mb?u9?u=u< q)ufAIqiu;AquA`==R>i@ t@)It@i @^OM?=YQU>aE Ey}>I5?*  ? ?9LB: :);% w%Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;%w-dResuming normal ranging with 1.000000 count pings.;-1<-W1W1X9 X9W9:W92W9*W9VAbUABUA*UAUIUM?BuBy ByA}3_*ByA}̋AAAVH<"C%$*CRCT/;CCԡԡ֭X;aIqG}>lQ]r,*GuEAY}:e,>}:6@y}:9}:ϣ}:H,?`+? Mq?V*?t?`H?)~:e,> ~:\;I~:Cɫ99)9 9I9Y}X@y}HG=M=k=YE6:QUE?AAaMEM EIyUּ}U?IY e:]5? e:])* ]V? e?9]MB]: ]g:)]:X?1<wCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR; wAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRWWX XW:W2W*WVbUBU*UUU ?Bl9IDEGiV@ADk; EB BAb*BA֐AAA|<"C9$*CRCCC %[R;IGK>IY)Yu!ututu ul9YuM1yu:u}5)u;;W]r, auEAY}21)>}2Ef@y}2I}2)}2H"?p?⚿D?£?? ?)~21)> ~2&];I~2CɫYY)Y YIYYT@y-JG5=M=K=Y=;QU=>AAaEEEEAyMm}M>Iȡťq5?ť<) ƥ? ?9ƥOBǥ: ȥ{:)ȡWWX XW:W2W*WVbUBU*UUU?BPB BAZ*BAʜAAA<"C%-$*C%kRC%C!C)mNJκ!I1GM1> ^]r,zuEAY}2f(>}2gd@y}2p켙}2}2H@?? uR?P??`Cϡ?)~2f(> ~2'];I~2CɫII)I MIIY}@y}EIG==?=Լi=Q@9 =ۙ@)=@I=@i=@M)hMMI=YUݫ:QUU>YYa]E]EYye}e>Iim5?m[( m? }?9m@PBmW: mp:)iWWX XW:W2W*WVbUBU*UUUP?BuwBq ByA}`*ByA}拜AyAyA}^'<"CA$*CJRCSpCC ս=Խ=ֽ?Bɺu.uyuyu u~9YuP1yu':u59@יIGb>>9IiBDj; Ed]r,uEAɫ髙) IY@y[IGU;MUJ=Y]QU]>YaaeEeEaym}m>Iq }:u5? }:ut' uN? }?9upQBuE: u:)u:WWX XW:W2W*WVbUBU*UUU>@BNB BA `*BA"AAA@="C5$*C*RCjCC}yYaie=IiGZ>k]r,uEAY}F_*>}Fn@y}Fx}F }FHN?E?@uG#?C? A?] o?)~F_*> ~FI];I~FCɫQQ)Q QIQYy鮝a=ɮa=\(\?A`"A`"?:?ٽ =)Iyx&?/$? rh?7)?1>C< …A)…;AI…Ai…AZ>|?>ī@ )Ԅ@IԄ@iԄ@YǻQU>aEEy>;}>I  '5? % ? ?9 RB }: :) W9W9X9 X9W9:W92WA*WAVAbUABUI*UIUIUM @R]B*** querying acoustic contact ***PYP]B/B BA*BA%sA!A!A%="C-)$*C-RC-C)C15vтmmtmtm m9YmM1ym:m5)I9GUu>r]r,2ruEAY}2̱$>}2"C@y}2xm}2܁}2HE?u?K_[?@*u?`̠? `~?)~2̱$> ~2z7];I~2Cɫ99)9 9I9Y}@y}IGZ****** received transponder code query ******F****** received ping request ****** =$M<MaEEy i} >I :<5? %:# ? %?9SB ; ;):}>9yI}EGi}@y}ADy}r; }E)Ii34WWX XW:W2W*WVbUBU*UUU ɾ @BB BA]*B!A%%ĭA!A!A%Ԑ="C-=$*C=酽RC=uCACԹԽiA֥eyIG^>-x]r,rMuEAY}2C>}2@y}2%}2}2H??*ӷb?`??I?)~2C> ~2-];I~2Cɫ99)9 =I9Y}:@y} JGxDUSBL response received:!U1,P F42,000,005AD,187,80,80,1E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  <MK=YúQU >!a-E-E9yMd}U>IimT5?mS" m? ?9mTBm@< m<)iWWX XW:W2Wi*WqVqbUyBUy*UUUzr @Ia)e@Azz 9YQ1y:τ5BB BA[*BAcAAA@="C1$*C  ąRC CCC9M ! I1 GM >W~]r,k(uEA|i|ɫ髉) IYң@yIGiNmGIAAiMCʿٺIMpAeNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B E@ E@ E@E©EEiE@E A)E@IE"@iE@UMU5=Y]QU]>YaaeEe"Eaym}m>Iq }:ul5? }:u u|? }?9uUBu: u:)u:WWX XW:W2W*WVbUBU*UUU6@BraB BA^*BAVAAA="C%$*CRC7CCE*:I G5O>}>9yIyiy}=yy}; }E?]r,vEAY}6W>}6^@y}6hz}6P}6H?#?@u߷?y? ~?<䟿 z?)~6W> ~61];I~6CɫYY)Y ]IYY@yIGxDUSBL response received:!U1,R,E26,000,00549,186,80,80,5A,FF Fpublishing direction and range info>ɰ=鰥> )BIy.BM?2t*?ٱI);Mg=Y>9QU>aE%Ey }>IЀ5?$ ? ?9VB: :)WW!X! X!W!:W!2W!*W)V)bU)BU)*U)U1U5`ݡ@PA*QE.BZQEh'͗C@^ݍ1@JQEM?2t*?2QE>:QAbQEz@D@ {+@l#?RQEU^?t!?K j?BQEޣ> QE[AQE%BPE)9?PE69?PEQEQE @"QEe@BuQJBy ByA}F^*ByA}AyAAZ="C9$*C>RC99CC ՝=ԝ=֥0:DaIqG9>mmwmwm m$9YmO1ymP:m5)mN1;9uPq]r,m/vEAY}n;$>}nl?@y}nĴ }nMC}nH?@? `/x`?@??"?)~n;$> ~n];I~nCɫ) IYݣ@y IGmDNmea in: $SNTTA,,,,,020928.68*51 m?e;OοV-? N? t h=) I y Zd;?`"?S㥫? >? = /]= lA) I Ai ;A  (A   #=t3?i@ @)(@I@i(@FM*=Y- QU>aE%)E!y%;<}->I) 5:-.5? =:- -? =?9-GXB-f: - :)-:mmqAdded new target pos. range: 43.680000 m, bearing: 18.337950 deg, deltaT: 4.410234 s, approachRate: -1.360471 m/s, LOS rate: 2.905770 deg/s, posRepo size: 4WiWiXq XqWq:Wq2Wq*WyVybUyBUy*UU@ E@U`?BG@B BA^*B1A5tżA1A1A=8="C=-$*CEioRCEl#ͻCACAIiM=E9!I)GM>Q]r,IvEAY}:)>}:Tj@y}:W}:}:H@?}h?Fw"@?@V??))?)~:)> ~:\;I~:Cɫ99)9 9I9Y}f@y}DJG!9!I% FGi%@%=!!%; %E}eC=Mi=Y]QU>aE,Eyt<}>Ișŝ`5?ŝj Ɲ5? ?9ƝVYBǝs: ȝ':)șWWX XW:W2W*WVbUBU*UUU@}?B̟B  B A :Z*B AUPʼAAAw="CA$*C9TRCCC!-`ԻIG*>mm{m{m mi9Ym#R1ym:m5)m(;{]r,cvEAY}2|->}2y@y}2\}2߼}2H? ao?`$?) ??lj?o훿?)~2|-> ~2\;I~0ɫYY)Y YIYY_@y;JG=i=5M=O=Y=шQU=>AAaEEE/EIyM<}M>Iȩŭ5?ŭ ƭO? ?9ƭZBǭ: ȭ:)ȩWWX XW:W2W*WVbUBU*UUU ?BkB BAuZ*BA%ϼA!A!A%p="C-5$*C-V1RC-҂:C1C1AAօ&t9IIGmV>&]r,Cq}vEAY}20>}2+@y}27}2s|ü}2H`o?ɓ? ۢ` U?\?Aأ? Cj?)~20> ~2\;I~2CɫII)I MIIY}@y}JG-\>-?-O >i-@) -;@)-ף@I-?@i-^@Ev<MEJ=YEQUE>IIaMEM2EQyU<}]>IY e:]5? m:] ]X? m?9][B]9: ]g:)]:WWX XW:W2W*WVbUBU*UUU ?BEBI BIAm`X*BiAuռAqAqAu="C})$*C}R RC}k;CyC֝9IY)Ymmvmvm m9YmN1ym:m59u@yIG^>>9Ii; E獥]r,KvEAY}205>}2@y}2}2:؄}2H#? j?N>?`+\?V??)~205> ~2O\;I~2Cɫ99)9 =I9YI@yJGUڼM]I=Y]:QU]>aaaeEe6Eaym+<}m>Iqu5?u u? }?9u\Bu: u':)qWWX XW:W2W*WVbUBU*UUUF@BB BA'[*BA(&ۼAAAޮ="C=$*C脽RC ;CCvт;IGI>]]r,79vEAY}6pN;>}6@y}6P}6i-}6H? @հ?@â?`?(?3?)~6pN;> ~65\;I~6Cɫ11)1 1I1Yu@yuqJGI)X9v?y&1?I +?>`e= 94<)Iygfffff?`"?{Gz?33?ף< •A)•AI•Ai•dAA¡¡ @ @ @©iz@ )@I@i@<M?=YT;QU >  a E 9Eye<}>I %:5? -:  @ -?9/^B: :):WIWIXQ XQWQ:WQ2WQ*WYVYbUYBUY*UYUaUe ±@B孽B BAY*BAAAAY="C1$*CRRC=%kH<C9CA QU=UX;eezeze e9YeQ1ye:eW5iIqG}>џ]r,vEAY}6>A>}6'@y}6J}6 }6H`?@?`ܝ{?@?A?3?)~6>A> ~6R\;I~6Cɫyy)y }Iy9IFGi@; EY@yJGɮkp;M]=Y<:QU> a E I15?y @ %?9<_B: :)WAWIXI XIWI:WI2WI*WQVQbUQBUY*UYUYU] @ReB*** querying acoustic contact ***PaPaB,B  B A X*B A-oA1A1A5="C=%$*C=퓄RC=<C9CA%TP<)I1GMS>Yi]≠]r,vEA||4}>y7@y}>;}>,$}>H`?@岭?$@|?`0?HF?ā`?)~> ~>\;I~>Cɫii)i mIiY @y KGZ****** received transponder code query ******F****** received ping request ******)1a5E5?E9y=W;}=>IA U:EgI5? U:E E=@ ]?9Ef`BE$; E&;)E:WWX XW:W2W*WVbUBU*UUU @B~B BA"U*BA,AAA="C 9$*CCfRC<CCImmxmxm m9Ym7P1ym:m5֝<שIG>z]r,vEAY}6&@>}6@y}6Ga}677}6H?.D?$H k1?赋?몣?/@p?)~6&@> ~6\;I~6Cɫ99)9 =I9YuE@y}UKGxDUSBL response received:!U1,P E26,000,00549,186,80,80,5A,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )m= m=   Í{>Í<Í1>iÍ@Í č(@)čIč @ič(@o<M%=Y˺QU>aECEy@Ȼ}>IAE*g5?Ed E@ M?9EaBE: E::)AWWX XW:W2W*WVbUBU*UUU&@BE3BI BIAMHS*BQAAAAZ ="C-$*C1RCVz<CCEiAEhA>9Ii=BD; E)QIQiQQQU-5e '-]r,ǠwEAY}F>:>}Fu@y}Fh&}F&9}FH ?J?@V`ܰl?M? ã?R @_?)~F>:> ~F\;I~FCɫQQ)Q QIYYf@y~KGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B K<Mz=YQU?aEFEyW}?Iȡť z5?ť  ƥ@ ?9ƥbBǥ: ȥ:)ȡWWX XW:W2W*WVbUBU*UUU@?@B kĽB BA=R*BAAAAy ="C%A$*C%RC-x-<C)C)v<IG$>Ia)a!ww l9YO1yP:5);;9f]r,o2wEA|i|ɫyy)y }IyY@yJGxDUSBL response received:!U1,R,EB3,000,00576,186,80,80,9C,FF Fpublishing direction and range info,ɔ>ɰ =鰹 )CIy9Bm?kV?ٱdNmea in: $SNTTA,0.209768,0.208762,,,020933.12*5D ʡE?ý>ýʡ=iý@ù ĽĘ@)Ľ@IĽף@iĽЎ@- M-3=Y-QU5>11a5E5IE9y=}E>II M:MN5? U:M& MN@ U?9MdBM: M:)M:WWX XW:W2W*WVbUBU*UUU@P*Q9BZQh7F@C*@JQm?kV?2Q,ɔ>:QbQ'hF@ $@V" ?RQ#7\-??0֤TG?BQP-f> QO%AQ4BP<9?P)9?PQQ@"Q @BM2BI BIAU-V*BQAUdZAQAQAU ="C]5$*C僽RCf<<CC15VCimGIivȿٺǸAw<IG >E]r,?SLwEAm>9m˔CIiiiimADimb; mEɫ髱) IYݤ@yJGIY)]AmiAmjArM_=Y QU >aELEy}>I!%#5?%n %@ -?9%eB%: %:)!meqAdded new target pos. range: 46.380001 m, bearing: 12.879073 deg, deltaT: 4.528798 s, approachRate: 0.596185 m/s, LOS rate: -1.205370 deg/s, posRepo size: 4WiWiXq XqWq:Wq2Wy*WyVybUBU*UU0G@U@.?B_B BAV*BA"$AAAI ="C)$*C5ƒRCn=<CC ==%l;]r,$fwEAY}61>}6t@y}6}6ǿ}6H?@V?`~@ps? ??@@R@s?)~61> ~6];I~6Cɫ99)9 =I9Yʤ@yJGU`»M]V=Y];QU]>aaaeEeOEaymi}m>Iȁ :Ņ5? :Ņ ƅ @ ?9ƅ#fBDžgP; ȅ\C;)ȅ:WWX XW:W2W*WVbUBU*UUU@?BϽB BAW*BAAAA0 ="C=$*CRCi;C)C9]*A]r,_wEA|&4<|$Y}R|0>}Ry@y}Ra}RZ}RH? ³?.頿 k ?V?`k??)~R|0> ~RC ];I~RCɫqq)q }IyY6@yCKG}t<};}Ni}Q@y }(@)}I}(@i}(@=MG=Yp:QU>aESEyU}>IȡťN5?ť$ ƥ` @ ?9ƥKgBǥ|: ȥ:)ȡWWX XW:W2W*WVbUBU*UUUKa?BFڸB BAS*BAOAAAY ="C%1$*C%{RC%Xmg;C!C)%_;IG*>eeyeye e9YeP1ye':eO59m@]>9YI]8GGi]@YYY]; ]E*]r,ݙwEAY}2,>}2W@y}2w}2-}2H ?Ŵ?)c ?Y? ~?@jO?)~2,> ~20];I~2Cɫ99)9 9I9Y]b@y]yKG=if<MT=Y˹QU>aEVEy !} >I :=5? :  @ %?9bhB: :):WWX XW:W2W*WVbUBU*UUU#?B=NB9 B9AE[R*BAAEu@ AAAAAEo ="Cm%$*Cu7YRCum9CqCqԅhAԁerg;9IAGeV>U]r,wEAY}Nl:&>}NfO@y}N}N!m0}NH|?<\?^??@AY? E%?)~Nl:&> ~N+];I~NCɫ髑) IYE@yUKG}?5^I?l񢿺I +M"? 94)Iyx&1?{Gz?I +!?ף=94 A);AIAi;A AMMC?MGa=iM@I M@)M"@IM@iM@]M]6=Y]p&:QUe>aaaeEeYEiyulb}u>Iy}T 5?} } @ ?9}iB}k: }:)yWWX XW:W2W*WVbUBU*UUU@Ѽ?BB BAHS*BAH! AAA1="C9$*C7RCCC9IY)Ymmpmpm m9YmK1ym`:m+5IGj><]r,*wEA|i|Y}6 >}6$@y}6Z }61}6H?i?K)??y?6 g?)~6 > ~6n%];I~6ChAhA 9 I i  =   ; Eɫ99)9 9IAYP@ycKGum;MuZ=Y}i;QU}>yaE\Ey/c}>Iȑ :ŕa5? :ŕ} ƕ @ ?9ƕ{jBǕ9: ȕ:)ȕ:WWX XW:W2W*WVbUBU*UUU@B B BAR*BAkAAAM="C-$*CERCCCԅIGsf]r,amwEAY}Vo>}V~@y}Vf}V|'}VH??@.?c?̠?2뤿 ?)~Vo> ~VF];I~VCɫyy)y }IyY@yKGI)AM0<MUM=YUQ;QUU>YYa]E]`EayuO}}>Iȑŕ35?ŕ ƕB @ ?9ƕkBǕA; ȕ5;)ȑW1W9X9 XAWA:WI2WQ*WYVYbUaBUi*U U U Zj@RB*** querying acoustic contact ***PPB=3:B9 B9A=3Q*BAAE-AAAAAE~="CmA$*Cm>RCuj CqCq Յ=ԅ=uuvuvu u9YuN1yu:ut5֝qIG~> N^r,VGxEAY}2I_">}20@y}2R}2-}2H`? =?؜ﶿ@$?`? A?@?)~2I_"> ~2!];I~2CɫYY)Y YIYY}@y}KGZ****** received transponder code query ******F****** received ping request ******19a=E=cE9yE;}E>IIMI5?Mx Ml @ U?9MlBM^: M:)IWqWyXy XyWy:Wy2Wy*WVbUBU*UUU) @BB BA P*BA5AAA="C5$*C߂RCFܻCC]=i]=I9IGGi=@=s; EG=r>`x^r,W#xEA|";| ɫ髹) IY@yLGxDUSBL response received:!U1,P EB3,000,00576,186,80,80,9C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 e<MmI=YQU>aEfE1yE}M>Iq }:u_5? }:u u @ ?9umBu(; ud;)u:W9W9X9 XAWA:W2W*WVbUBU*UUU= @B]"BY BYA]1N*BA:AAAj="C)$*CRC^CCww X9YO1yP:5)0;9u`Իq I G > ^r,4xEAY}2'>}2[@y}2l? }2d}2H?`?h M@ ?@?g? <{?)~2'> ~2\;I~0ɫ99)9 9I9YH@yZKGNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U=iU=Mb@Mb@Mb@ )IyS㥛?MbX?{Gz?$&?=ף< )IiAA)= S==C i@ (@)(@I(@i(@/M4=Y袻QU>aEjEyI<}>Iw5? @  ?9nBr: {:)W)W1X1 X1W1:W12W1*W9V9bU9BU9*U9UAUE`-@Bmu;ǽBq BqAu*S*BqAuAqAyA}$1="C=$*CRCdCCԑԕiA}r绹9IAG]w>^r,rNxEAX9XIZHGiZ@Z=XXZv; ZE)M˔CIM˔CiIIIM5Y}n#%>}nI@y}nq}n}nH? x? %Q? ʂ??`?)~n#%> ~n\;I~lɫ髱) IYm'@yu1KGxDUSBL response received:!U1,R,EF9,000,005AB,186,80,80,9C,FF Fpublishing direction and range info}k>yɰ}=y y)yIyy}=FB}Ml0)?y23?ٱyC5M^=YJͻQU>aEmEy}>I :5? : @ ?9oB9; [;):W9W9X9 X9W9:WA2WA*WAVAbUIBUI*UIUIUU@Pa*Qe=FBZQeߣU!H@Acbnj&@JQeMl0)?y23?2Qek>:QabQe+,0ńH@+32@ ̲ U?RQe\r*?z9&5?`?BQe=6> Qe@Qe&DBPeM9?Pe<9?PeQeQe@"Qe@By#ƽB BA5T*BAkAAAK="C%1$*C%-RC-NC)C)= Ia)e?Auuxuxu u9Yu7P1yu:u5)uO-;1IAG]v>H^r,ճhxEA|i|@Y}6c >}6#@y}69}6}6H+? *? ֍@gS ?.?`&?~?)~6c > ~6S\;I~6CɫAA)I IIIY^@yuKG 5@ 5@ 5@5©55i5f@5 5;@)5A@I5@i5@E`<MEC=YE-QUE>IIaMEUpEQyU5}]>IY]5?]  ]@ m?9]pB]p: ]:)YmmAdded new target pos. range: 49.560001 m, bearing: 8.180979 deg, deltaT: 4.396089 s, approachRate: 0.723370 m/s, LOS rate: -1.068698 deg/s, posRepo size: 4WWX XW:W2W*WVbUBU*UU H@U@V~?BUýBY BYA]yR*BYA]3AYAaAer="C%$*CcRCF CC3IG>iM mGIY iq vɿٺ A ^r,pxEAɫ) IY@y+LGIQ)QehAehAuC=MuX=Y}QU}>yyaEsEy}>I : 5? :* @ ?9qBp: $:):WWX! X!W!:W!2W!*W)V)bU)BU)*U1U1U56?B]BDȽBY BaAeM*BaAee!AaAaAm'~="Cm9$*CuGRCu9CqCq Յ=ԅ=ֽmIiim m9Yiyim59}@בI9Ii=; EGf>K&^r,'jxEAY}2>}2@y}26}2 }2H?u?:jD?@ ~2Ɵ\;I~0ɫ99)9 =I9Y@yKGU'M]L=Y]:QU]>aaaeEevEiymh}m>Iqul5?uY u@ }?9urBuϸ: u:)qWWX XW:W2W*WVbUBU*UUU ?BȽB BAP*BA\?$AAAF="C-$*C%-RC9CCօziim=׹IG-o>,^r,OxEA|4<|Y}^6!>}^J'@y}^̫}^}^H ?j?=>8?Wm?]?Z?)~^6!> ~^#\;I~^Cɫ髑) IY@yPLGQ?Mb?l?(?< =)Iyjt?Q? rh?@?=C = )AIGAi;AA M M MMMʁ?MiM@M Mף@)Mt@IMt@iM@]=M]:=YeTQUe>iiamEmzEqyu<}u>Iy :}u5? :} }d@ ?9}/tB}; }:)}:WWAXA XAWA:WI2WI*WIVIbUQBUQ*UQUQUU`u]?BvB BAL*BA4F'AAA="CA$*C RC2CCzz y9YQ1y:52DIG>D3^r,O xEA494I4i44446w; 6EY}B$>}BD@y}BX}Ba(}BH?? KE?@? ɣ?N`?)~B$> ~Bd\;I~BCɫ髙) IY@yKGYiYi2MU=YQU>aE}Ey{<}>I 5? @ ?9ZuB8: :)WWX XW:W2W!*W!V!bU!BU!*U)U)U-@BU:&нBY BYA]3Q*BYA])AaAaAe="Cm5$*CmqRCmbCiCqԁԅhAr绹יIGb>:^r,!xEAY}J^$>}J@@y}Jg(}J }JH?`Ϭ?An?]? F?G{@?)~J^$> ~J\;I~JCɫ髡) IY@yLG)>Լ&1>i=@ @)^@I?@i?@}<MF=YɻQU >  aEEyO}>I!%a5?% %@ -?9%vB%: %:)!WIWQXQ XQWQ:WQ2WQ*WYVYbUYBUY*UaUaUe`e@B)ȽB BAlN