*v 0008
*n code=0000 name="Slate"
*n code=0001 name="Supervisor"
*n code=0002 name="Module Loader"
*n code=0003 name="ComponentRegistry"
*n code=0004 name="controlThread"
*n code=0005 name="SyncHandler"
*n code=0006 name="controlThread ThreadHandler"
*n code=0007 name="CycleStarter"
*n code=0008 name="CommandLine"
*n code=0009 name="CommandLine ThreadHandler"
*n code=000A name="logger"
*n code=000B name="logger ThreadHandler"
*n code=000C name="LogSplitter"
*n code=000D name="Config/vehicle"
*n code=000E name="Config/Sample"
*n code=000F name="Config/Control"
*n code=0010 name="Config/Estimation"
*n code=0011 name="Config/BIT"
*n code=0012 name="Config/Simulator"
*n code=0013 name="Config/Navigation"
*n code=0014 name="Config/Derivation"
*n code=0015 name="Config/logger"
*n code=0016 name="Config/secure"
*n code=0017 name="Config/Dock"
*n code=0018 name="Config/Servo"
*n code=0019 name="Config/Guidance"
*n code=001A name="Config/workSite"
*n code=001B name="Config/Sensor"
*n code=001C name="Config/Science"
*n code=001D name="Config/Battery"
*n code=001E name="AHRS_M2"
*n code=001F name="BackseatComponent"
*n code=0020 name="BackseatComponent ThreadHandler"
*n code=0021 name="LcmUniversalReporter"
*n code=0022 name="BPC1"
*n code=0023 name="DataOverHttps"
*n code=0024 name="DataOverHttps ThreadHandler"
*n code=0025 name="DDM"
*n code=0026 name="Depth_Keller"
*n code=0027 name="DropWeight"
*n code=0028 name="DUSBL_Hydroid"
*n code=0029 name="Micromodem"
*n code=002A name="NAL9602"
*n code=002B name="Onboard"
*n code=002C name="Onboard ThreadHandler"
*n code=002D name="PowerOnly"
*n code=002E name="Power24vConverter"
*n code=002F name="Radio_Surface"
*n code=0030 name="Radio_Surface ThreadHandler"
*n code=0031 name="RDI_Pathfinder"
*n code=0032 name="RDI_PathfinderUp"
*n code=0033 name="DeadReckonUsingMultipleVelocitySources"
*n code=0034 name="NavChart"
*n code=0035 name="UniversalFixResidualReporter"
*n code=0036 name="WorkSite"
*n code=0037 name="BuoyancyServo"
*n code=0038 name="ElevatorServo"
*n code=0039 name="MassServo"
*n code=003A name="RudderServo"
*n code=003B name="ThrusterServo"
*n code=003C name="CTD_Seabird"
*n code=003D name="CTD_Seabird ThreadHandler"
*n code=003E name="WetLabsSeaOWL_UV_A"
*n code=003F name="WetLabsSeaOWL_UV_A ThreadHandler"
*n code=0040 name="DepthRateCalculator"
*n code=0041 name="PitchRateCalculator"
*n code=0042 name="SpeedCalculator"
*n code=0043 name="TempGradientCalculator"
*n code=0044 name="YawRateCalculator"
*n code=0045 name="ElevatorOffsetCalculator"
*n code=0046 name="SBIT"
*n code=0047 name="IBIT"
*n code=0048 name="CBIT"
*n code=0049 name="VerticalControl"
*n code=004A name="HorizontalControl"
*n code=004B name="SpeedControl"
*n code=004C name="LoopControl"
*n code=004D name="MissionManager"
*n code=004E name="Reporter"
*n code=004F name="NavChartDb"
*n code=0050 name="NavChartDb ThreadHandler"
*n code=0051 name="Startup"
*n code=0052 name="Startup:A.GoToSurface"
*n code=0053 name="Startup:StartupSatComms"
*n code=0054 name="Startup:StartupSatComms:A"
*n code=0055 name="Startup:StartupSatComms:B"
*n code=0056 name="DefaultWithUndock"
*n code=0057 name="DefaultWithUndock:A.Wait"
*n code=0058 name="DefaultWithUndock:LeaveDock"
*n code=0059 name="DefaultWithUndock:LeaveDock:A_Timeout"
*n code=005A name="DefaultWithUndock:LeaveDock:A_Timeout:A"
*n code=005B name="DefaultWithUndock:LeaveDock:A."
*n code=005C name="DefaultWithUndock:LeaveDock:B.Undock"
*n code=005D name="DefaultWithUndock:SurfaceDefault"
*n code=005E name="DefaultWithUndock:SurfaceDefault:HoldLatchOpen"
*n code=005F name="DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A"
*n code=0060 name="DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B"
*n code=0061 name="DefaultWithUndock:SurfaceDefault:B.GoToSurface"
*n code=0062 name="DefaultWithUndock:SurfaceDefault:CheckIn"
*n code=0063 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS"
*n code=0064 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium"
*n code=0065 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout"
*n code=0066 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute"
*n code=0067 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:B"
*n code=0068 name="DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait"
*n code=0069 name="DefaultWithUndock:SurfaceDefault:CheckIn:D"
*n code=006A name="DefaultWithUndock:SurfaceDefault:CheckIn:E"
*n code=006B name="DefaultWithUndock:D"
*n code=006C name="DefaultWithUndock:E.Execute"
*n code=006D name="lineCaptureDepth"
*n code=006E name="lineCaptureDepth:Science"
*n code=006F name="lineCaptureDepth:Science:A"
*n code=0070 name="lineCaptureDepth:Science:B"
*n code=0071 name="lineCaptureDepth:Science:C"
*n code=0072 name="lineCaptureDepth:Science:D"
*n code=0073 name="lineCaptureDepth:Science:E"
*n code=0074 name="lineCaptureDepth:Science:F"
*n code=0075 name="lineCaptureDepth:Science:Read_Oil"
*n code=0076 name="lineCaptureDepth:Science:OceanCurrent"
*n code=0077 name="lineCaptureDepth:Science:OceanCurrent:A."
*n code=0078 name="lineCaptureDepth:Science:PeakDetectChl"
*n code=0079 name="lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth"
*n code=007A name="lineCaptureDepth:Science:PeakDetectChl:B"
*n code=007B name="lineCaptureDepth:Science:HighestChlPeakReport"
*n code=007C name="lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal"
*n code=007D name="lineCaptureDepth:Science:PeakDetectNO3"
*n code=007E name="lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth"
*n code=007F name="lineCaptureDepth:Science:PeakDetectNO3:B"
*n code=0080 name="lineCaptureDepth:Science:PeakDetectOil"
*n code=0081 name="lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth"
*n code=0082 name="lineCaptureDepth:Science:PeakDetectOil:B"
*n code=0083 name="lineCaptureDepth:Science:HighestOilPeakReport"
*n code=0084 name="lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal"
*n code=0085 name="lineCaptureDepth:Science:PeakDetectFDOM"
*n code=0086 name="lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth"
*n code=0087 name="lineCaptureDepth:Science:PeakDetectFDOM:B"
*n code=0088 name="lineCaptureDepth:Science:PeakDetectSalinity"
*n code=0089 name="lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth"
*n code=008A name="lineCaptureDepth:Science:PeakDetectSalinity:B"
*n code=008B name="lineCaptureDepth:Science:HighestSaltPeakReport"
*n code=008C name="lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal"
*n code=008D name="lineCaptureDepth:StandardEnvelopes"
*n code=008E name="lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope"
*n code=008F name="lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope"
*n code=0090 name="lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope"
*n code=0091 name="lineCaptureDepth:C"
*n code=0092 name="lineCaptureDepth:D"
*n code=0093 name="lineCaptureDepth:E"
*n code=0094 name="lineCaptureDepth:NeedComms"
*n code=0095 name="lineCaptureDepth:NeedComms:A"
*n code=0096 name="lineCaptureDepth:NeedComms:B.GoToSurface"
*n code=0097 name="lineCaptureDepth:NeedComms:C"
*n code=0098 name="lineCaptureDepth:NeedComms:C:A_Timeout"
*n code=0099 name="lineCaptureDepth:NeedComms:C:A_Timeout:A"
*n code=009A name="lineCaptureDepth:NeedComms:D"
*n code=009B name="lineCaptureDepth:NeedComms:E"
*n code=009C name="lineCaptureDepth:NeedComms:E:A_Timeout"
*n code=009D name="lineCaptureDepth:NeedComms:E:A_Timeout:A"
*n code=009E name="lineCaptureDepth:G"
*n code=009F name="lineCaptureDepth:H"
*n code=00A0 name="lineCaptureDepth:MicromodemComms"
*n code=00A1 name="lineCaptureDepth:MicromodemComms:CheckIn"
*n code=00A2 name="lineCaptureDepth:MicromodemComms:CheckIn:A"
*n code=00A3 name="lineCaptureDepth:MicromodemComms.Redefine.CommsInterval"
*n code=00A4 name="lineCaptureDepth:J"
*n code=00A5 name="lineCaptureDepth:TrackAC."
*n code=00A6 name="lineCaptureDepth:LineCapture"
*n code=00A7 name="lineCaptureDepth:LineCapture:A"
*n code=00A8 name="lineCaptureDepth:LineCapture:B"
*n code=00A9 name="lineCaptureDepth:LineCapture:StandardEnvelopes"
*n code=00AA name="lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope"
*n code=00AB name="lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope"
*n code=00AC name="lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope"
*n code=00AD name="lineCaptureDepth:LineCapture:D"
*n code=00AE name="lineCaptureDepth:LineCapture:E"
*n code=00AF name="lineCaptureDepth:LineCapture:F"
*n code=00B0 name="lineCaptureDepth:LineCapture:G"
*n code=00B1 name="lineCaptureDepth:LineCapture:H"
*n code=00B2 name="lineCaptureDepth:LineCapture:HoldMassAndBuoyancy"
*n code=00B3 name="lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A"
*n code=00B4 name="lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass"
*n code=00B5 name="lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy"
*n code=00B6 name="lineCaptureDepth:LineCapture:HomingSequence"
*n code=00B7 name="lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock"
*n code=00B8 name="lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide"
*n code=00B9 name="lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock"
*n code=00BA name="lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout"
*n code=00BB name="lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout:A"
*n code=00BC name="lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B"
*n code=00BD name="lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C"
*n code=00BE name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance"
*n code=00BF name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide"
*n code=00C0 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A"
*n code=00C1 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange"
*n code=00C2 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A"
*n code=00C3 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B"
*n code=00C4 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed"
*n code=00C5 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch"
*n code=00C6 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint"
*n code=00C7 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout"
*n code=00C8 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:A"
*n code=00C9 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:B"
*n code=00CA name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:F"
*n code=00CB name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern"
*n code=00CC name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout"
*n code=00CD name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A"
*n code=00CE name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle"
*n code=00CF name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait"
*n code=00D0 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:H"
*n code=00D1 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:I"
*n code=00D2 name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance"
*n code=00D3 name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide"
*n code=00D4 name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A"
*n code=00D5 name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout"
*n code=00D6 name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout:A"
*n code=00D7 name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout:B"
*n code=00D8 name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch"
*n code=00D9 name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D"
*n code=00DA name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E"
*n code=00DB name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture"
*n code=00DC name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G"
*n code=00DD name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H"
*n code=00DE name="lineCaptureDepth:LineCapture:K.Wait"
*n code=00DF name="lineCaptureDepth:LineCapture:L"
*n code=00E0 name="lineCaptureDepth:M"
*n code=00E1 name="lineCaptureDepth:N"
*n code=00E2 name="lineCaptureDepth:O"
*n code=00E3 name="lineCaptureDepth:SetNavAcoustic"
*n code=00E4 name="lineCaptureDepth:SetNavAcoustic:UpdateNav"
*n code=00E5 name="lineCaptureDepth:SetNavAcoustic:UpdateNav:A"
*n code=00E6 name="lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav"
*n code=00E7 name="lineCaptureDepth:UpdateNumPings_NotTerminal"
*n code=00E8 name="lineCaptureDepth:UpdateNumPings_NotTerminal:A"
*n code=00E9 name="lineCaptureDepth:UpdateNumPings_NotTerminal:B"
*n code=00EA name="lineCaptureDepth:UpdateNumPings_Terminal"
*n code=00EB name="lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL"
*n code=00EC name="lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A"
*n code=00ED name="lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B"
*n code=00EE name="lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR"
*n code=00EF name="lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A"
*n code=00F0 name="lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B"
*n code=00F1 name="lineCaptureDepth:Lap"
*n code=00F2 name="lineCaptureDepth:Lap:A"
*n code=00F3 name="lineCaptureDepth:Lap:B"
*n code=00F4 name="lineCaptureDepth:Lap:C"
*n code=00F5 name="lineCaptureDepth:Lap:D"
*n code=00F6 name="lineCaptureDepth:Lap:Docked"
*n code=00F7 name="lineCaptureDepth:Lap:Docked:A"
*n code=00F8 name="lineCaptureDepth:Lap:Docked:Docked.Docked"
*n code=00F9 name="lineCaptureDepth:Lap:Docked:Detach"
*n code=00FA name="lineCaptureDepth:Lap:Docked:Detach:A"
*n code=00FB name="lineCaptureDepth:Lap:Docked:Detach:Undock.Undock"
*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
*e code=0068 elementURI="controlThread.enableBroadcast" type=02
*e code=0069 elementURI="CycleStarter.enableBroadcast" type=02
*e code=006A elementURI="CycleStarter.time" type=00
*e code=006B elementURI="CommandLine.enableBroadcast" type=02
*e code=006C elementURI="NAL9602.strobeMode" type=02
*e code=006D elementURI="Dock.docking_state_cmd" type=02
*e code=006E elementURI="Dock.docking_state" type=02
*e code=006F elementURI="WetLabsUBAT.enableUBAT" type=02
*e code=0070 elementURI="IBIT.IBITRunning" type=02
*e code=0071 elementURI="CBIT.GFActive" type=02
*e code=0072 elementURI="CommandLine.platform_conversation" type=00
*e code=0073 elementURI="logger.enableBroadcast" type=02
*e code=0074 elementURI="LogSplitter.enableBroadcast" type=02
*e code=0075 elementURI="LogSplitter.platform_communications" type=00
*e code=0076 elementURI="Vehicle.name" type=01
*e code=0077 elementURI="Vehicle.id" type=01
*e code=0078 elementURI="Vehicle.kmlColor" type=01
*e code=0079 elementURI="Vehicle.argoPlatform" type=01
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*a code=0B1B owner=00E9 element=0713 universal=3FFF unitName="count" type=1F size=0008 fl=05
*a code=0B1C owner=00ED element=0713 universal=3FFF unitName="count" type=1F size=0008 fl=05
*a code=0B1D owner=00F0 element=0713 universal=3FFF unitName="count" type=1F size=0008 fl=05
*a code=0B1E owner=00F2 element=0712 universal=3FFF unitName="count" type=1F size=0008 fl=05
*a code=0B1F owner=00F4 element=0712 universal=3FFF unitName="count" type=1F size=0008 fl=05
*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
*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
*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
*a code=0B32 owner=00FA element=06FC universal=3FFF unitName="meter" type=0B size=0003 fl=04
*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
*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
*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
*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 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
*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
*a code=0B4F owner=00A2 element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0B50 owner=0075 element=001F universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0B51 owner=0071 element=0676 universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=0B52 owner=0071 element=0679 universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=04
*a code=0B53 owner=0070 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0B54 owner=0070 element=005C universal=FFFF unitName="none" type=FF size=0000 fl=04
*B��A�
i,��A��A��A�Р="C�)�$�*C��ρ�RC�����C��C��ֽy��I�Y)�]AA��u�����uy����uy����u���	�u��9Y�u�P1y�u'�:��u�5�בI��G�a>���@^r,��y�E�A�|i|�@Y}6�� >�}6n$�@y}6��2��}6�ؼ�}6H����@+��?����9��?����?�������lM�����@7��?�����?���@�R�?����X
������Y��?)~6�� >	~6n�\;I~6��Cɫ9�9)�9	�9I�9Y�]��@y�]�LG�ep=ɮa���k=M�b=Y��ۻQU��>�������a��E�����E���y����}��>I������:���{35�?����:�����߾�	���@����?9���wB�����:	��$�:)����:�W!�W!X!
X!�W!:W)2W)*W)�V)bU1BUQ*UQUQU]����Z@�ReB*** querying acoustic contact ***�Pa�PaB�W�˽B�
B��A�I�*B��A��.��A��A��A�FP="C�=�$�*C�U���RC�h�C��C����S�����I��G�E>�i9�iI�mdHGi�m�@��m�=��i��i��mk�;	�m��E��G^r,��y�E�AY}J��>�}J���@y}J26��}J���}JH��������?����'��?���`�������T�������`��?����7�?����WĦ?���������h��?)~J��>	~Jl�\;I~J��Cɫy�y)�y	�yI�yY����@y���LG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)����Ȏ�ME=Y�
B	�QU
�>��1��1�a5�E��5��E��9y�=�G�}E�>I�I��MON5�?��Ml�߾�	�M�@��u�?9�M�xB��M8�;	�Mr�:)�I�W��W�X�
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B�A7I�*B�Aԃ1��A�A�A%:	="CM1�$�*CMH���RCM5fI�CQ�CQ	�e�=��e�=��]�����I�������|����|�������	���9Y��R1y�i�:���5)��5;�9��I��G�g>�?M^r,6�7y�E�AY}6�>�}6#��@y}67��}6����}6H���� X��?�����#�?����]3������oŸ���� c��?�����%�?�����ަ?����2����������?)~6�>	~6o�\;I~6��Cɫ9�9)�9	�=���I�AY�]Z�@y�]�LGexDUSBL response received:!U1,P
EF9,000,005AB,186,80,80,9C,FF
eCommand AckeBRequesting micromodem ping code 2i�a��a�u�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
��e�sh��|?�?1�Zd�?�MbX9�?��e��>��e"�=	�eʡ=)�aI�ay�e��Zd;��?�MbX9�?�&1��?��e�>?��eʡ=��e�P=	�e�A)�e�AI�e�Ai�e�A��a��e�A��E�L���E�<?��EQ�=i�E�@��A	�E��@)�E�@I�E�@i�E�@��U�-�MU =Y�UGιQU]�>��Y��Y�a}�E����E��y�᩺}��>Iȑ����:�ŕyn5�?����:�ŕ0�߾�	ƕ^@����?9ƕ�zB�Ǖ߾;	ȕ��;)ȕ��:�W	�WX
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B��A�K�*B��A���6��A��A��A��{="C�9�$�*C��^��RC��C�C��C����=�H���5����5z����5z����5���	�5z�9Y�5Q1y�5��:��5��5)�5�7;�שI��G�c>��dZ^r,�ky�E�AY}>X0)>�}>g�@y}>�@��}>T�м�}>H�������?����l��?���`������� �9������D��?���`e��?���`�?����������D��?)~>X0)>	~>i�\;I~>��Cɫq�y)��	������I��Y��ɦ@y��3MG�xDUSBL response received:!U1,R,EA9,000,005E3,186,80,80,44,FF
�Fpublishing direction and range info����@�>���ɰ���=鰱	��)����BI��y���SB����G@_V���?ۻ5~8��?��������ٱ����i���=��E�=��E��>��E 0�i�EG�@��A	�E�@)�E^�@I�E^�@i�E^�@��u�=MuN=Y�}f��QU}�>��y���a��E����E��y�d�<}��>Iȱ����:�ŵ��5�?����:�ŵ��߾�	Ƶ5!@����?9Ƶ�|B�ǵ��:	ȵ�:)ȵ��:�W)�W1X1
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B��A�"G�*B��A�k�9��A��A��A��.="C�-�$�*C%t=��RC%�Q9C!�C!��i��i��U��軹�I�G5r>�`Ka^r,�m�y�E�AY}=q72>�}=N��@y}=~J��}=�0���}=H����@m��?�����7�?���@<��������������`���?�������?����M�?����B���������?)~=q72>	~=��\;I~=��Cɫ�)�	����I�Y�)y�1��DNmea in: $SNTTA,,,,,020942.01*52
Y����QU%�>��)��)�a-�E��-��E��1y�5M�<}5�>I�9��=C�5�?��=��߾�	�=�#@��m�?9�=�}B��=@�;	�=Ǻ;)�9�m�mAdded new target pos. range: 52.919994 m, bearing: 12.395301 deg, deltaT: 4.451786 s, approachRate: 0.754752 m/s, LOS rate: 0.946659 deg/s, posRepo size: 4�W��W�X�
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X��W�:W�2W�*W��V�bU�BU�*U�U�U������o@�R�B*** querying acoustic contact ***�P��P�B=˽BA
BA�AE�9�*Ba�Am��J��Aq�Aq�A}C�="C�9�$�*C��7��RC����;C��C�I�=@A)�=@A���������z�����z��������	�/�9Y�Q1y���:��ρ5�֥�0�;�שI��G��>��^r,�`:z�E�A�|i|�@Y}6i�0>�}6ޡ�@y}6�l��}6�=]��}6H��������?���@���?������������b�����@+��?�����E�?����Ē�?���`�����������?)~6i�0>	~6];I~6��Cɫ9�9)�9	�9I�9Y�]d�@y�]-OGeZ****** received transponder code query ******eF****** received ping request ******e<Arming DUSBL. detectThresh: 75e8****** ping requested ******��=�>
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      cmd heading: 352.033414 deg,
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      bearing: 20.011037 deg,
      approachRate: -1.730115 m/s,
      LOS rate: 1.624032 deg/s,
      cmd update: 4.872096 deg/s,
      cmd heading: 2.860533 deg,
      new cmd heading: 3.434703 deg.
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�Fpublishing direction and range info����5�>���ɰ��V>��7�>	��)���	CI��y����B����x��NA�?jѝw��?��������ٱ����i���=i��������ͽMX=Y�8d�QU%�>��!��!�a-�E��-��E��)y�5J-=}=�>I�A��M�:��E�15�?��M�:��E.�߾�	�E��@��U�?9�E�C��Ek;	�E�';)�E7�:�Wmf��>�WqXq
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TNmea in: $SNTTA,0.088049,,,,021116.56*4B
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=}��>Iȁ�Ņ�@15�?�Ņ��߾�	ƅ�@����?9ƅC�Dž��:	ȅ�:)ȁ�m�qAdded new target pos. range: 119.940002 m, bearing: 34.415513 deg, deltaT: 4.058034 s, approachRate: 6.875251 m/s, LOS rate: 3.549619 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 119.940002 m,
      bearing: 34.415513 deg,
      approachRate: 6.875251 m/s,
      LOS rate: 3.549619 deg/s,
      cmd update: 10.648858 deg/s,
      cmd heading: 22.673342 deg,
      new cmd heading: 25.049736 deg.
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   ProNav: 
      pos range: 123.119995 m,
      bearing: 29.585340 deg,
      approachRate: 0.705152 m/s,
      LOS rate: -1.071074 deg/s,
      cmd update: -3.213222 deg/s,
      cmd heading: 70.672453 deg,
      new cmd heading: 74.462424 deg.
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Ba�Ae^��*Ba�Ae�M<�Aa�Ai�Am�@�<"Cm�߀?RCqCu�߀?�Cq�։��iI�qG��>�i��dr,��F��E�AY}BpOi?�}B��)?y}B4���}B��>�}BH������4�?����B�������ֱ?�������?��� ���?����Z¿����g��?���@G��?�������?)~BpOi?	~B�1`;I~BƖCɫi�i)�i	�m���I�iY����@y���kG�xDUSBL response received:!U1,R,E7D,000,00A9A,186,80,80,4C,FF
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C����:	���:)���m%qAdded new target pos. range: 125.340004 m, bearing: 57.165367 deg, deltaT: 4.411062 s, approachRate: 0.503282 m/s, LOS rate: 6.252469 deg/s, posRepo size: 4�m=�
   ProNav: 
      pos range: 125.340004 m,
      bearing: 57.165367 deg,
      approachRate: 0.503282 m/s,
      LOS rate: 6.252469 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 56.488719 deg,
      new cmd heading: 55.305081 deg.
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B��A�*B��A��A��A��A��I�<"C�&X�?RCCb��?�C��-?΅�i�e�nGI�yi������Z�ٺ�����HB��	I�G5O>�POer,_E��E�AY}6sI�?�}6p�c?y}66[뼙}6;�>�}6H������6�?���@������+H�?����;��?���@F��?����0������]j�?����͟�?���@g��?)~6sI�?	~6��_;I~4ɫ9�9)�9	�=����I�9Y����@y��+lG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����=i��i��������\<MK=Y�F�QU�>��!��!�a%�E��%�E��)y�-w�=}5�>I�9��=��35�?��=I�޾�	�=��@��M�?9�=�C��=�:	�=F�:)�9�Wmܜ�?�WqXq
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B��A�*B��A��A��A��A��J�<"C�X��?RC�C�ܜ�?�C�����סI��G�A>��M�����Mx����Mx����MB��	�M�):Y�M7P1y�M��:��M�5�9U@����>9��I��fGi���@����=����������;	��՗E��yer,�!0��E�AY}2�.�?�}2��j?y}2�����}2H>�}2H�����Fs�?���`�6������1�?���@�d�?���`q$�?����R���������?��� ]��?����Ԥ�?)~2�.�?	~2��_;I~2ǖCɫ9�9)�9	�=���I�9Y�}a�@y�}ukG�xDUSBL response received:!U1,P
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�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
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C����>;	���-;)��F�:�m�qAdded new target pos. range: 127.560005 m, bearing: 70.214515 deg, deltaT: 4.401700 s, approachRate: 0.504351 m/s, LOS rate: 2.964570 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 127.560005 m,
      bearing: 70.214515 deg,
      approachRate: 0.504351 m/s,
      LOS rate: 2.964570 deg/s,
      cmd update: 8.893711 deg/s,
      cmd heading: 109.450120 deg,
      new cmd heading: 114.953764 deg.
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      bearing: 49.901188 deg,
      approachRate: 0.242297 m/s,
      LOS rate: -4.557242 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 149.104551 deg,
      new cmd heading: 152.658149 deg.
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���i���=i������ý��=�ýG��ý��;iý�@�ù	Ľ��@)Ľ��@IĽ���iĽ�@���'�<M�-=Y��_8�QU��>�������a��E�����E���y��<�=}��>I�����R�35�?�����۾�	����@����?9���C���n�:	���:)���m-yAdded new target pos. range: 127.500000 m, bearing: 178.788753 deg, deltaT: 4.434275 s, approachRate: -0.270619 m/s, LOS rate: 0.833481 deg/s, posRepo size: 4�m=�
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      pos range: 127.500000 m,
      bearing: 178.788753 deg,
      approachRate: -0.270619 m/s,
      LOS rate: 0.833481 deg/s,
      cmd update: 2.500443 deg/s,
      cmd heading: 175.092869 deg,
      new cmd heading: 175.092869 deg.
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   ProNav: 
      pos range: 125.940002 m,
      bearing: 184.634425 deg,
      approachRate: -0.346648 m/s,
      LOS rate: 1.298970 deg/s,
      cmd update: 3.896910 deg/s,
      cmd heading: 186.345417 deg,
      new cmd heading: 187.328389 deg.
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   ProNav: 
      pos range: 123.540001 m,
      bearing: 185.542362 deg,
      approachRate: -0.545936 m/s,
      LOS rate: 0.206531 deg/s,
      cmd update: 0.619594 deg/s,
      cmd heading: 203.464614 deg,
      new cmd heading: 205.455955 deg.
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B��A���*B��A�ʑ:�A��A��A�2��<"C��O,�*C���r�RC�C��e@�C��ֽ?΅��יI��G�b>��gr,����E�AY}>� a@�}><Q@y}>\�f��}>���=�}>H����@L�����`�6�?����o������@M������2������G��?������,?�������?�������?)~>� a@	~>�'`;I~<ɫ�髙)��	�����I��Y��b�@y��(_G�xDUSBL response received:!U1,R,051,000,00A56,184,80,80,BD,FF
�Fpublishing direction and range info����Ð����ɰ��X>����>	��)���=CI��y����B����M�����?-�r.�����������ٱ�i�����-!1=M5Y=Y�5'�QU=�>��9��9�a=�E��=�E��Ay�E�=}E�>I�I��M�15�?��M��ھ�	�M��@��]�?9�M�"C��M]�:	�M�:)�I�W}�f@�WyX�
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B��A����*B��A���v9�A��A��A����<"C��,�*C�$t�RC�C��f@�C	���I޹)޹���|�����w�����w��������	��w�:Y���O1y��P�:���;�5���I��G�j>��5
gr,�*��E�A�|@i|B�@Y}��jc@�}��S@y}��U:�}�q�=�}�H�����Β��������?���@c�������I�Ŀ����db����@���?��� ��@����@���?�������?)~��jc@	~�h)`;I~�ɖCɫ�髩)��	��I��Y��	�@y���^G�UDNmea in: $SNTTA,,,,,021200.61*58
i�a��a����NbX9��?7�A`��¿����Mb������E?�����	����)��I��y���/�$���?�l����¿����Mbp�����?����������	��OA)��$AI���Ai���A������zA��U���U���U���U@��U@��U@��Q��Q��Qi�U3�@��Q	�Q)�U���I�U���i�U;�@��C��M�)=Y�E�:QU��>�����a��E���E��y�=�=}=�>I�A��M�:��Ev�15�?��M�:��E{�ھ�	�E��@��M�?9�E#C��Er�:	�E��:)�Eg�:�m�}Added new target pos. range: 121.260002 m, bearing: 183.288973 deg, deltaT: 4.068832 s, approachRate: -0.560357 m/s, LOS rate: -0.553817 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 121.260002 m,
      bearing: 183.288973 deg,
      approachRate: -0.560357 m/s,
      LOS rate: -0.553817 deg/s,
      cmd update: -1.661451 deg/s,
      cmd heading: 205.972641 deg,
      new cmd heading: 206.286026 deg.
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By�A}e��*By�A����A��A��A���<"C��S1�RC��c��C��`@�C��ֽ��O��יI��G�e>��7gr,z�ߜ�E�Aɫq�y)�y	�}���I�yY��ʳ@y��3]G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)���Ai�	��)�%�=	�!��-�k�M5L=Y�5���QU=�>��9��9�aE�E��E��E��Ay�M���}M�>I�Q��e�:��U(15�?��e�:��Ux�ھ�	�U��@��e�?9�U�$C��U�;	�U;)�Uj�:�W�L`@�W�X�
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051,000,00A56,184,80,80,BD,FF
�Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
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��=�}VH���� [������m��?����K��������ۿ���������� }��?���`��h������f�?����H��?)~VG�t@	~V��_;I~VȖCɫy�y)�y	�}���I�yY����@y��]G�%�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B
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�@y�T\GxDUSBL response received:!U1,R,212,000,00A2A,187,80,80,8A,FF
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���5�u=i�5��@��5���	�5��@)�5��@I�5�@i�5��@��E+0�ME5=Y�M�κQUM�>��I��I�aM�E��U	�E��Qy�UZU=}]�>I�a��m�:��e��05�?��m�:��e��ھ�	�e_�@��m�?9�ej%C��e�:	�e{�:)�ek�:�W��]@�W�X�
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B��A��ɾ*B��A��|B��A��A��A�r��<"C��l4�RC�m]=C�]@�C܍��>9܉I܍sVGi܍N�@�܍�=�܉�܉�܍��;	ݍ��E���@o=���tn��I��)���׉I��G��>��Qgr,�7G��E�AY}v�w@�}vk�g@y}v0U;�}v��=�}vH������e����@�W�?��� q������@��ݿ����#B������n�?�����*b��������?������?)~v�w@	~v��_;I~vǖCɫ���)��	������I��Y���@y��\G�UDNmea in: $SNTTA,,,,,021205.05*5F
i�a��i��D��M�h=Y�<��QU��>�����a��E���E��y��&f=}��>Iȁ�Ņ��05�?�Ņ��ھ�	ƅ,�@����?9ƅ�%C�Dž3�:	ȅv�:)ȁ�m�}Added new target pos. range: 118.620003 m, bearing: 179.936457 deg, deltaT: 4.488992 s, approachRate: -0.588105 m/s, LOS rate: -0.746831 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 118.620003 m,
      bearing: 179.936457 deg,
      approachRate: -0.588105 m/s,
      LOS rate: -0.746831 deg/s,
      cmd update: -2.240492 deg/s,
      cmd heading: 198.475178 deg,
      new cmd heading: 197.851769 deg.
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      bearing: 177.406896 deg,
      approachRate: -0.574081 m/s,
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      cmd update: -1.728774 deg/s,
      cmd heading: 188.642238 deg,
      new cmd heading: 187.711999 deg.
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i����������������~�?���������>i�Q�@�����	��@)�x�@I��@i���@��-�<M-6=Y�5���QU5�>��1��1�a=�E��=S�E��9y�E���}E�>I�I��M�/5�?��MM8۾�	�M��@��U�?9�M+C��MM�:	�M��:)�I�m�yAdded new target pos. range: 113.700005 m, bearing: 180.341993 deg, deltaT: 4.489491 s, approachRate: -0.534580 m/s, LOS rate: 0.653770 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 113.700005 m,
      bearing: 180.341993 deg,
      approachRate: -0.534580 m/s,
      LOS rate: 0.653770 deg/s,
      cmd update: 1.961311 deg/s,
      cmd heading: 180.897797 deg,
      new cmd heading: 180.221646 deg.
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i�������V<M6=Y���;QU�>�����a�E��v�E��!y�%��<}%�>I�)��5�:��-�&.5�?��=�:��-O?۾�	�-@�A��=�?9�-�-C��-��:	�-��:)�-z�:�mmyAdded new target pos. range: 110.640007 m, bearing: 180.686029 deg, deltaT: 4.391327 s, approachRate: -0.696828 m/s, LOS rate: 0.078345 deg/s, posRepo size: 4�m}�
   ProNav: 
      pos range: 110.640007 m,
      bearing: 180.686029 deg,
      approachRate: -0.696828 m/s,
      LOS rate: 0.078345 deg/s,
      cmd update: 0.235034 deg/s,
      cmd heading: 189.493056 deg,
      new cmd heading: 190.374853 deg.
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X��W�:W�2W�*W��V�bU�BU�*U�U�U�����Z�@�R�B*** querying acoustic contact ***�P��P�B=�8H�BA
BA�AE�*BA�Am�œ��Ai�Ai�Am��<"CuY�=�*Cu�s�RCu2)�Cu]lT@�Cy�ρ�ρ)С	С�ޙiޝ�=��E
-�B���!I�9Ge�>��6Thr,C�Q��E�A�|"�;�|"p;ɫ�髙)��	��I��Y��ɯ@y��EXG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�!��!��E��MM_=Y�M���QUM�>��Y��Y�a]�E��]��E��ay�e���}m�>I�q��u�-5�?��uAC۾�	�uA����?9�u�/C��u[�:	�u��:)�q�W�%�T@�W�X�
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J>�������~����~�������	�M:Y�T1y�@�:����5�>`Zhr,�k��E�AY}z�g@�}zt�W@y}z7�s<�}z�U�<�}zH����@y'���� x �?����%������#,Ϳ���`�&������֒?��� ]{����� ��?����
��?)~z�g@	~z;�`;I~zɖCɫ�)�	�����I�Y�U�@y�UsXG]xDUSBL response received:!U1,P
0A7,000,009A5,186,80,80,69,FF
]Command AckeBRequesting micromodem ping code 2i�a��a��ai�e�=�m�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
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�Fpublishing direction and range info����|o����ɰ�TF>鰝+�>	��)���"CI��y����B����q���� �?]	�A�Ϳ��������ٱ�i��������p;M�]=Y��*�QU��>�������a��E�����E���y����<}��>I�����fH-5�?����F۾�	���A����?9���0C�����:	��a�:)���W\�T@�WX
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Bq�Au`��*Bq�A}�S���Ay�Ay�A}:��<"C�YJ=�*C�I"s�RC�t�L�C�\�T@�C��֍FΞ��ׁI��G�G>�͜mhr,P���E�AY}F�h@�}FP�X@y}F��N<�}F�,�<�}FH�����(������8�?�����Ē�����pDϿ��������� ���?���`�ۉ����`g��?�������?)~F�h@	~Fr`;I~FɖCɫY�Y)�a	�e����I�aY����@y��XG�-�>9�-��CI�-(RGi�-Ъ@��-�=��)��-�D��-��;	�-��E)ݵ���CIݵ���Ciݵ���C�ݵ��=�ݵ��=�ݵ��6�mDNmea in: $SNTTA,,,,,021222.86*51
I�q)�u�Ai��������V-���?��"��~�?�~j�t�x����\?���S>	��Ļ)�I�y��#��~j��?!�rh�����������?���%?��l�����<	�QA)�rAI�Ai��A����fA��u���u���u���ub>��u/ݽ��u��i�u=�@��u���	�u�@)�u;�@I�u�@i�u�@��y�M�2=Y��g�QU��>�����a��E����E��y��Q<}��>Iș����:�ŝ�.-5�?����:�ŝH۾�	Ɲ�A����?9Ɲ�0C�ǝ�;	ȝ�
;)ȝ�:�m}}Added new target pos. range: 107.760002 m, bearing: 180.405022 deg, deltaT: 4.427757 s, approachRate: -0.650443 m/s, LOS rate: -0.063465 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 107.760002 m,
      bearing: 180.405022 deg,
      approachRate: -0.650443 m/s,
      LOS rate: -0.063465 deg/s,
      cmd update: -0.190395 deg/s,
      cmd heading: 190.538393 deg,
      new cmd heading: 190.651309 deg.
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B��A�"�*B��A��2���A��A��A�2�="C�B�=�*C��Iq�RC�M��<C�s:T@�C�	��=���=�����u<�סI��G� >���m�����y�����y��������	���9Y��P1y�'�:����5�^��hr,�$n��E�AY}f�j@�}f�0Z@y}f�2�:�}f#?��}fH����@T���������?�����HG?������п�����������;ڃ�����U�^�����·���������?)~f�j@	~f�_;I~fɖCɫ�髱)��	������I��Y���@y���TG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 758****** ping requested ******i�������u���u���u���u�T>��uj<���u9��i�uד@��u���	�u�@)�uZ�@I�uZ�@i�uZ�@����M�8=Y�߱�QU��>�����a��E����E��y�{O�}��>I������:�����,5�?����:���MQ۾�	��A����?9���2C�����:	��f�:)����:�W-�!T@�W1X1
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10C,000,00975,185,80,80,A2,FF
Command AckBRequesting micromodem ping code 2i���!�-�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
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��5�=i�5�=i�Q��Q��8�M�;=Y�QU��>�������a��E�����E��y�!}M�>I�a����:��e%o,5�?����:��e.T۾�	�eA����?9�e3C��e�<	�e�	<)�e��:�WU��S@�WQXY
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B��A�t�*B��A��Ƽ�A��A��A�.�="C�	,>�*C�"=p�RC�4��<C���S@�C����gA������'�<���	I��	G�	�>�9�hr,移��E�A�m8�>9�m��CI�mlOGi�m��@��m�=��i��m"�D��mQ�;	�m��Eɫ�髹)��	�����I��Y��E�@y���SG�xDUSBL response received:!U1,R,133,000,00947,186,80,80,9F,FF
Fpublishing direction and range info���>+�����ɰ��B>����>	��)���CI��y����B����������?^T���п��������ٱ�i�������=��������?:��v���?{�G�z����=�@?��=�T<	�=�#�)�9I�9y�=����(\��?�A`��"���l����?��=z4?��=ٽ��=�=	�9)�=pAI�9i�=�A��9��=\A�Õ��=�Õ�H=�Õ�νiÕQ�@�Ñ	ĕ�@)ĕ�@Iĕ�@iĕ�@����M4=Y�!QU%�>��)��)�a-�E��-��E��1y�1}5�>I�9��=cU,5�?��==V۾�	�=SA��E�?9�=n3C��=�:	�=��:)�9�Wm~�S@�WiXi
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B��A�F�*B��A���ɼ�A��A��A��x="C�6B>�*C�F�o�RC�h\�<C�~�S@�C�IޝAA)ޝAA��S����x����x�������	�e�9Y�7P1y���:���5)��B;���}�<���I��G��>�� �hr,��բ�E�A�|i|�@Y}b׹j@�}b9�Z@y}b�J���}b�K���}bH�����������φ�?����B}�?���@�ѿ����������0������ PIt?��� 9�������A��?)~b׹j@	~b|�_;I~bȖCɫ�髹)��	��I��Y�%
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��:�mM}Added new target pos. range: 105.000000 m, bearing: 179.985429 deg, deltaT: 4.552447 s, approachRate: -0.606268 m/s, LOS rate: -0.092168 deg/s, posRepo size: 4�m]�
   ProNav: 
      pos range: 105.000000 m,
      bearing: 179.985429 deg,
      approachRate: -0.606268 m/s,
      LOS rate: -0.092168 deg/s,
      cmd update: -0.276505 deg/s,
      cmd heading: 189.671591 deg,
      new cmd heading: 189.608229 deg.
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      bearing: 180.415540 deg,
      approachRate: -0.691207 m/s,
      LOS rate: 0.099099 deg/s,
      cmd update: 0.297296 deg/s,
      cmd heading: 188.471533 deg,
      new cmd heading: 188.342105 deg.
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B1�A53*�*B1�A=���A9�A9�A=��="CE�?>�*CEF~h�RCE2�<CE��S@�CI��E�e�<��I�1GUS>���=i�=�:�<ir,N{���E�A�|4<�|4<Y}6�}j@�}64�Z@y}6��缙}6�EY��}6H�����;������}3�?���@�D�?�����Oѿ��� ������`N8������y��?�����"����� 4��?)~6�}j@	~6�H_;I~6ʖCɫy�y)�y	�}���I�yY���@y��9QG�xDUSBL response received:!U1,R,134,000,008E6,186,80,80,8F,FF
�Fpublishing direction and range info����������ɰ��:>����>	��)���CI��y��\�B����%m����?<���п��������ٱ�i��������}��������N�i���@��	�|�@)�I�|�@i�|�@��5�мM5@=Y�5GZ�QU=�>��9��9�a=�E��=�E��Ay�EH�<}M�>I�q��u�:��u}�*5�?��}�:��u�z۾�	�u	A��}�?9�u9C��u+�:	�u�:)�u��:�W�KT@�W�X�
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Bq�A}�,�*By�A}^��Ay�Ay�A}ʲ="C�j>�*C�?h�RC���<C�KT@�C����>9��I��i������=���������"�;	����E����U�<��5�����5z����5z����5���	�5��9Y�5Q1y�5��:��5�5)�5�3;���I��G��>��jCir,iU��E�AY}b̉j@�}b.�Z@y}b�9}b@�<��}bH�����d�������B�?��� �ͤ?���@[ѿ����c������ ���������?����n����������?)~b̉j@	~b�a_;I~bɖCɫ�)�	�����I�Y�5��@y�=�QG��TNmea in: $SNTTA,0.087307,,,,021236.17*49
����=i��i��������6=M�E=Y���QU��>�����a��E���E��y���:}��>Iȡ�ť�j*5�?�ť�{۾�	ƥ�	A����?9ƥJ9C�ǥ�:	ȥ��:)ȡ�m�yAdded new target pos. range: 99.180000 m, bearing: 180.308224 deg, deltaT: 4.496877 s, approachRate: -0.627104 m/s, LOS rate: -0.023865 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 99.180000 m,
      bearing: 180.308224 deg,
      approachRate: -0.627104 m/s,
      LOS rate: -0.023865 deg/s,
      cmd update: -0.071594 deg/s,
      cmd heading: 189.807277 deg,
      new cmd heading: 189.928252 deg.
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������F�������v�?������������L��?)~:G�i@	~:�G_;I~8ɫa�a)�i	�m����I�iY����@y��RG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�������F=Mx=Y�%��QU-?��)��1�a5�E��5�E��9y�= S<}=?I�I��M��)5�?��M��۾�	�M�
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134,000,008E6,186,80,80,8F,FF
�Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
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ף�?��M�3?��M���	�M�=)�II�Iy�M�o��ʡ�?�MbX9�����S㥛?��M-?��Mʡ���M/�<	�MGA)�MEAI�M�Ai�MjA��I��M(A��5�>��5ʡ=��5-�=i�5•@��1	�5��@)�5;�@I�5$�@i�5�@��E\)<ME�<Y�M<��QUM�>��I��I�aU�E��U(�E��Qy�]᣻}]�>I�a��e�w)5�?��e��۾�	�e�A��m�?9�e3<C��ef�:	�e
�:)�a�m�yAdded new target pos. range: 96.479996 m, bearing: 180.007136 deg, deltaT: 4.419196 s, approachRate: -0.610972 m/s, LOS rate: -0.068132 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 96.479996 m,
      bearing: 180.007136 deg,
      approachRate: -0.610972 m/s,
      LOS rate: -0.068132 deg/s,
      cmd update: -0.204396 deg/s,
      cmd heading: 189.492382 deg,
      new cmd heading: 189.455850 deg.
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B!�A%��*B!�A%C�:��A!�A!�AEG"="CM$?�*CUʉb�RCU���<CU�S@�CQ��a��ehA��]�u�<��1I�I���������}�����}��������	��:Y�kS1y�Ԋ:��)�5)��Q;�9��Guy>�c��ir,��ߦ�E�Aɫ�髙)��	������I��Y���@y���TG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���=i��=i�1��9��]��=M]B=Y�e���QUe�>��i��i�am�E��m>�E��qy�}���}}�>Iȁ�Ņ��(5�?�Ņ��۾�	ƅ}A����?9ƅ�=C�Džl;	ȅ�;)ȁ�W���R@�W�X�
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B�A.�*B�Aե<��A�A�A�"="C%�4?�*CMM8b�RCM���<CM��R@�CQ��}�U�<��yI��G��>����ir,N����E�AY}2l~i@�}2ϙY@y}2O����}2+�{��}2H�����X�����@��?�������?���`�Rп��� �����@�0��������?����O`�����@e��?)~2l~i@	~2��_;I~2ȖCɫ9�9)�9	�=���I�9Y��Ҭ@y���TG
xDUSBL response received:!U1,P
12D,000,008B9,185,80,80,A2,FF

Command Ack
BRequesting micromodem ping code 2i�	��	�%�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
i�A��A܅'�>9܁I܅�PGi܅ܩ@�܅�=�܁�܁�܅+�;	݅��E���������������@���@���@���������i����@���	���@)��I���@i���@��E���ME$=Y�M+��QUM�>��I��Q�aU�E��UB�E��Qy�]Re<}]�>Iȡ����:�ť��(5�?����:�ť��۾����tI	ƥ�A����?9ƥ3>C�ǥ��:	ȥ��:)ȥ��:�W��R@�W�X�
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�@y���TG�xDUSBL response received:!U1,R,125,000,0088E,185,80,80,B7,FF
�Fpublishing direction and range info����邾���ɰ�g3>��	��)���7CI��y��̻B����O�$���?I��/п��������ٱ�I��A)�i�)��1����rh��|�?�A`��"��k�t��?���?��Y�	� 0=)�I�y���K7�A`�?sh��|?��{�G�z�?��+?�������ף<	��
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B1�A5�*B1�A=E�B��AA�AA�AE��#="CM~?�*CM�a�RCMM=CM��R@�CQ��m��<��b����t����t�������	���9Y��M1y��:��a�5�9�@��)I�9GU�>�e
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i�I��I��K�=M�q=Y�Q�QU�?�����a��E��K�E��y�g�9}�?I�)��-[�(5�?��-��۾�	�-+A��=�?9�-�>C��-/�:	�-׾:)�)�m�uAdded new target pos. range: 93.900002 m, bearing: 180.151908 deg, deltaT: 4.502241 s, approachRate: -0.573047 m/s, LOS rate: 0.032156 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 93.900002 m,
      bearing: 180.151908 deg,
      approachRate: -0.573047 m/s,
      LOS rate: 0.032156 deg/s,
      cmd update: 0.096467 deg/s,
      cmd heading: 188.567119 deg,
      new cmd heading: 188.493842 deg.
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B*** querying acoustic contact ***�P�PB5�]��B1
B1�A=2��*B9�A=�vN��A9�A9�A=�E%="CE�2?�*CEy�^�RCMs#�<CM�R@�CI��eG�<��AI�qG�>>��u�=i�u�=�xX�ir,s+���E�A�|�|Y}N�i@�}Ns�Y@y}N
_���}N�P"��}NH�����������Z.�?��� I.�?����)Vп����>������w�����@pF�?���`n8����� ���?)~N�i@	~NԀ`;I~NʖCɫ�髑)��	�����I��Y��]�@y���XG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�!��!���@���@���@�ý©ý��ý�iý
�@�ý����	Ľd�@)ĹIĽ;�@iĽ�@����L=M�8=Y���4�QU��>�������a��EܵS�>9ܵ��CIܵ�TGiܵ	�@�ܵ�=�ܵGD�ܵ$�D�ܵ=�;	ݵ��E)�u���CI�u���Ci�u���C��u��=��u��=��u���6���b�E���y��=J�}��>I�������'5�?����۾�	��(A��m�?9���@C���lf<	���f<)���W���R@�W�X�
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125,000,0088E,185,80,80,B7,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
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B��A����*B��A�R��A��A��A��V%="C��?�*C���]�RC����<C��S@�C�������<�ױI��GU	�>��ijr,@�/��E�Aɫ�髹)��	�����I��Y����@y��IYG��������Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B
i�����������x�&�?����Mb�?B`��"۹?��7)?��<	���=)�I�y����v���?��~j�t���I+��?���?�������9�<	��
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=	ȕ=)ȕ��:�m�yAdded new target pos. range: 90.600006 m, bearing: 179.393771 deg, deltaT: 4.384978 s, approachRate: -0.752568 m/s, LOS rate: -0.172894 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 90.600006 m,
      bearing: 179.393771 deg,
      approachRate: -0.752568 m/s,
      LOS rate: -0.172894 deg/s,
      cmd update: -0.518683 deg/s,
      cmd heading: 188.990154 deg,
      new cmd heading: 189.036802 deg.
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i������������������Ý�u��Ý���Ý�=iÝ\�@�Ý���	ĝ=�@)ĝ�@IĝĘ@iĝĘ@����<M�1=Y���;QU��>�����a��E����E��y�����}��>I������:�����&5�?����:���u�۾�	���A����?9���DC�����:	����:)����:�muAdded new target pos. range: 87.540001 m, bearing: 179.703397 deg, deltaT: 4.416413 s, approachRate: -0.692871 m/s, LOS rate: 0.070108 deg/s, posRepo size: 4�m�
   ProNav: 
      pos range: 87.540001 m,
      bearing: 179.703397 deg,
      approachRate: -0.692871 m/s,
      LOS rate: 0.070108 deg/s,
      cmd update: 0.210324 deg/s,
      cmd heading: 186.699438 deg,
      new cmd heading: 186.460045 deg.
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BQ�AU��*BQ�A]�f��AY�AY�A]'@#="Cem�@�*Ce��V�RCe���<CeI5Q@�Ci����;=�׉I��G�>�T��jr,��4��E�AY}2��g@�}2��W@y}2�O���}2- V��}2H�����;����@��?����&�?���`-Ϳ���@V%����������� ��?��������������?)~2��g@	~2��_;I~2˖Cɫ9�9)�9	�9I�AY��b�@y���fG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I���A)��i���	�������K7�A`�?�z�Gế{�G�z�?���K?���
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11E,000,00824,185,80,80,D8,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
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B��A�<½*B��A��Wg��A��A��A�E�"="C�ҝ@�*C���U�RC����<C��Q@�C!��5��<���������z�����z��������	���9Y�Q1y���:���5��I�G=�>�"��jr,ގ���E�AY}2�Wg@�}2sW@y}2܅���}2�jr��}2H��������������?��� ��?����tv̿���@+����@!}����� ��?����}5������M��?)~2�Wg@	~2͠_;I~2˖CɫI�I)�I	�M����I�IY�}9�@y�}�hG�xDUSBL response received:!U1,R,0FD,000,007F7,186,80,80,A4,FF
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�:	�-��:)�-��:�meuAdded new target pos. range: 84.840004 m, bearing: 180.210020 deg, deltaT: 4.451448 s, approachRate: -0.606544 m/s, LOS rate: 0.113811 deg/s, posRepo size: 4�mu�
   ProNav: 
      pos range: 84.840004 m,
      bearing: 180.210020 deg,
      approachRate: -0.606544 m/s,
      LOS rate: 0.113811 deg/s,
      cmd update: 0.341432 deg/s,
      cmd heading: 187.635680 deg,
      new cmd heading: 187.726859 deg.
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XY�WY:WY2WY*WY�VabUaBUa*UaUiUm������@�R�B*** querying acoustic contact ***�P��P�BB
B�A*B!�AI�AI�AI�AU��!="C]�q?�*C]��S�RC]س<C]2�R@�Ca�֝��.<��yIޑ)ޕ@A��@����{����{�������	�]�9Y�#R1y���:��N�5�9�@܍��>9܉I܍lhGi܍�@�܍�=�܉�܍+�D�܍��;	ݍ��EI��G��>�X&�jr,�gQ��E�A�|i|Y}6��g@�}6��W@y}6Z����}6/�(��}6H����`�����@�'�?����+��?���@FwͿ�����!�����µ������'��?���`C
������_��?)~6��g@	~6�_;I~6ɖCɫ9�9)�9	�E���I�AY�};�@y�}�lG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i��������L=M�]=Y����QU�>�����a�E��̘E��	y�c�<}�>I���%�:���%5�?��-�:����۾�	�C%A��-�?9��IC��;	�j;)���:�W�S�R@�W�X
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B��A�*B��A��A��A��A��!="C�aK?�*C��dS�RC��Y<C�S�R@�C��ֽ�8<�יI��G�b>�ET�jr,�Rk��E�AY}:��g@�}:X@y}:�0���}:����}:H�����
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,�@y��mGxDUSBL response received:!U1,P
0FD,000,007F7,186,80,80,A4,FF
Command AckBRequesting micromodem ping code 2i���I�!)�%�A�-�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
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l>�ޕ=iޕa=��b�jr,v����E�A�|�;�|�;Y}6)�g@�}6��W@y}6����}6��Ѽ�}6H����`���������?�����²?���@	!Ϳ�����(�����N������ n��?��� z#���������?)~6)�g@	~6(_;I~6ʖCɫY�Y)�Y	�YI�YY����@y��rnG�xDUSBL response received:!U1,R,11B,000,007C9,186,80,80,9A,FF
�Fpublishing direction and range info���'�|����ɰ�D#>鰡	��)���CI��y��(�B������elr�?�8O�JϿ��������ٱ�i��������R=M�Z=Y����9QU��>�������a��E���֘E���y��H��}��>I�������$5�?�����۾�	��m&A����?9��?JC�����:	����:)���W
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HS@�C)��M�0�;��9I�QG�Z>��C����������	���9Y�y�����5����jr,�ո��E�Aɫy�y)�y	�}���I�yY��u�@y��?oG���=i��=i�!��!������(\���?�~j�t��?/�$��?���.?����D<	���=)��I��y����K7�A`�?k�t����������?���+?��� �������<	­
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AI©i­=A�������	A���@���@���@�Å©Å��Å�iÅ��@�Å����	ą=�@)ą���Ią`�@ią1�@��T4=M�1=Y����QU��>�����a��E��ژE��y����}��>Iȱ�ŵ��$5�?�ŵY�۾�	Ƶ�&A����?9Ƶ�JC�ǵ�:	ȵӻ:)ȱ�m�yAdded new target pos. range: 82.080002 m, bearing: 179.001991 deg, deltaT: 4.432251 s, approachRate: -0.622709 m/s, LOS rate: -0.272554 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 82.080002 m,
      bearing: 179.001991 deg,
      approachRate: -0.622709 m/s,
      LOS rate: -0.272554 deg/s,
      cmd update: -0.817662 deg/s,
      cmd heading: 189.148984 deg,
      new cmd heading: 189.306627 deg.
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      pos range: 72.419998 m,
      bearing: 180.866455 deg,
      approachRate: -0.627330 m/s,
      LOS rate: 0.121080 deg/s,
      cmd update: 0.363240 deg/s,
      cmd heading: 176.564804 deg,
      new cmd heading: 176.209981 deg.
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      pos range: 69.600006 m,
      bearing: 180.416018 deg,
      approachRate: -0.638802 m/s,
      LOS rate: -0.102036 deg/s,
      cmd update: -0.306107 deg/s,
      cmd heading: 178.171028 deg,
      new cmd heading: 178.339705 deg.
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�������J�?����D6���������?)~F'\@	~F$z_;I~FʖCɫQ�Y)�Y	�]���I�YY����@y��qG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�!��!��E���MMB=Y�M�9QUU�>��Q��Q�a]�E��]��E��Yy�e=H�}e�>I�i��m� 5�?��m4�۾�	�m�=A��}�?9�mYC��m�;	�m/�:)�i�W�0�E@�W�X�
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   ProNav: 
      pos range: 66.660004 m,
      bearing: 181.559310 deg,
      approachRate: -0.656089 m/s,
      LOS rate: 0.255136 deg/s,
      cmd update: 0.765409 deg/s,
      cmd heading: 176.799088 deg,
      new cmd heading: 176.681921 deg.
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�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
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i����������<M�=Y��ո;QU�?�������a��E�����E���y��e0<}�?I������:�����5�?����:�����۾�	���?A����?9���\C�����:	����:)����:�m�uAdded new target pos. range: 63.959999 m, bearing: 182.815218 deg, deltaT: 4.503271 s, approachRate: -0.599565 m/s, LOS rate: 0.278888 deg/s, posRepo size: 4�mE�
   ProNav: 
      pos range: 63.959999 m,
      bearing: 182.815218 deg,
      approachRate: -0.599565 m/s,
      LOS rate: 0.278888 deg/s,
      cmd update: 0.836664 deg/s,
      cmd heading: 180.245550 deg,
      new cmd heading: 180.523118 deg.
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      pos range: 61.259998 m,
      bearing: 183.738933 deg,
      approachRate: -0.606039 m/s,
      LOS rate: 0.207336 deg/s,
      cmd update: 0.622008 deg/s,
      cmd heading: 183.973429 deg,
      new cmd heading: 184.244991 deg.
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   ProNav: 
      pos range: 58.260006 m,
      bearing: 183.041625 deg,
      approachRate: -0.694349 m/s,
      LOS rate: -0.161392 deg/s,
      cmd update: -0.484176 deg/s,
      cmd heading: 186.660805 deg,
      new cmd heading: 186.927106 deg.
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   ProNav: 
      pos range: 55.439999 m,
      bearing: 181.955174 deg,
      approachRate: -0.630520 m/s,
      LOS rate: -0.242917 deg/s,
      cmd update: -0.728752 deg/s,
      cmd heading: 184.497378 deg,
      new cmd heading: 184.294259 deg.
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BY�A]dz>*BY�A]�{Լ�AY�AY�Ae�@="Ce�QF�*Cm>"2�RCm�nS=Cm��K@�Cq��e��.=��9I�IGe4>���L�����z�����z��������	��G�9Y��Q1y����:���N�5)���A;�9���5/�mr,)���E�AY}>3�b@�}>�S@y}>����}>@�8��}>H�����͛��������?����뢚?���@�ÿ���@/�������F����� N��?�����������&��?)~>3�b@	~>�9_;I~<ɫQ�Q)�Q	�QI�QY���@y��"vG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)���AI��)���Ai���!�����MbX9�?�������?!�rh��̿����?����@?	��lg�)��I��y����E�����?333333���~j�t��?��������������<	½�A)½AI½+Ai½�A�������A��m1(?��m\/���m��=i�m̬@��i	�mr�@)�mv�@I�m`�@i�mv�@��)��M�&=Y�����QU��>�������a��E���A�E���y��bG�}��>I�����:���f:5�?���:�����۾�	��+JA���?9���gC���*�:	����:)����:�WM�cK@�WIXI
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�Fpublishing direction and range info����%�����ɰ���=��	��)����BI��y��pSB����K����?�b�$�ݵ���������ٱ�����=i��i�������5�K>��5¾��5Ga�i�5(�@��1	�5�@)�5��@I�5��@i�1��E]�<MEL=Y�Eg�QUM�>��I��I�aM�E��MJ�E��Qy�]?�}]�>I�a��e�:��e�5�?��m�:��e��۾�	�e�JA��m�?9�efhC��e(�:	�e��:)�e��:�W�zJ@�W�X�
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i�I��I��Q��Q���<M�5=Y�~"�QU��>�����a��E��M�E��y����}��>Iȩ�ŭD�5�?�ŭB�۾�	ƭ>KA����?9ƭ�hC�ǭ�:	ȭ��:)ȩ�m�uAdded new target pos. range: 52.860004 m, bearing: 182.927001 deg, deltaT: 4.429185 s, approachRate: -0.582499 m/s, LOS rate: 0.219414 deg/s, posRepo size: 4�m�
   ProNav: 
      pos range: 52.860004 m,
      bearing: 182.927001 deg,
      approachRate: -0.582499 m/s,
      LOS rate: 0.219414 deg/s,
      cmd update: 0.658243 deg/s,
      cmd heading: 181.266610 deg,
      new cmd heading: 180.938014 deg.
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yAdded new target pos. range: 49.740002 m, bearing: 182.708872 deg, deltaT: 4.421284 s, approachRate: -0.705678 m/s, LOS rate: -0.049336 deg/s, posRepo size: 4�m�
   ProNav: 
      pos range: 49.740002 m,
      bearing: 182.708872 deg,
      approachRate: -0.705678 m/s,
      LOS rate: -0.049336 deg/s,
      cmd update: -0.148008 deg/s,
      cmd heading: 184.177061 deg,
      new cmd heading: 184.499867 deg.
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BM@�C���Q��UhA�5��>9�1I�5toGi�5��@��5�=��1��1��5��;	�5��E��]0:D<��9I�AGeU>���m�����p�����p��������	����9Y��K1y��`�:�����5)��cF;�XwInr,>�'��E�AY}2r:a@�}2�UQ@y}2�N���}2�`#��}2H����@�������>h�?����.g�?�����������ڵ���� �2����� �I�?����j������s��?)~2r:a@	~2��^;I~2͖Cɫ9�9)�9	�9I�9Y�uw�@y�}-tG}Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�!��!��)��)��e�<MeD=Y�u���QU}�>�����a��E����E���y��#}�}��>I�I��M�J5�?��M��۾�	�M�PA����?9�M�mC��M&C<	�M�<<)�I�W��.M@�W�X�
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�?9��nC��v�:	�a�:)��m=uAdded new target pos. range: 47.040001 m, bearing: 185.595337 deg, deltaT: 4.523799 s, approachRate: -0.596844 m/s, LOS rate: 0.638062 deg/s, posRepo size: 4�mM�
   ProNav: 
      pos range: 47.040001 m,
      bearing: 185.595337 deg,
      approachRate: -0.596844 m/s,
      LOS rate: 0.638062 deg/s,
      cmd update: 1.914187 deg/s,
      cmd heading: 183.508094 deg,
      new cmd heading: 183.448165 deg.
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029,000,00581,185,80,80,69,FF
]Command AckeBRequesting micromodem ping code 2i�a��a�m�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
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i�������E���(\���?J+���J+��?��E?��E�H�	�E�H=)�AI�Ay�E�`��"���?L7�A`����Zd;�?��E�?��E+���E�y=	�E�A)�EAI�EdAi�EA��A��E�A���������������@���@���@�á�á�áiå�@�á	ĥ~�@)ĥ~�@Iĥ~�@iĥ��@��ſ;M�0=Y�7D�QU��>�����a��E�����E���y��v�<}��>I������:����*5�?����:�����۾����tI	��6TA����?9���pC�����:	��`�:)����:�W+�U@�WX
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BA�AE�'>*BA�AM���AI�AI�AMָ="CU��<�RCU�厽CU+�U@�CY��}�����QI�aG}z>���������{�����{��������	��:Y��#R1y����:�����5��6�nr,�����E�AY}:�;d@�}:OWT@y}:Q����}:��I��}:H�����;�����h�?�������?��� �oƿ���`������N������y�?��� r9������y��?)~:�;d@	~:!3_;I~:˖Cɫ9�9)�9	�=����I�AY�}��@y�}\rG�xDUSBL response received:!U1,R,06C,000,0054D,186,80,80,AE,FF
�Fpublishing direction and range info���������ɰ�T�=鰅��>	��)���.CI��y���/B����E��ä��?|�ӄ{����������ٱ�i��������S�M�o=Y��M;QU�?�������a��E�����E���y��/=}�?I�����5�?���p�۾�	���TA����?9��,qC�����<	��޶<)���W��aV@�W�X�
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BY�A]|>*BY�Ae}���Aa�Aa�Ae2�="Cm�;�RC�Ƹ��C��aV@�C�	՝�=�ԝ>�֝�@���ׁI��G�_>�k�nr,p����E�AY}}�e@�}}6U@y}}�§��}}8UY;�}}H���� 'k����@?)�?����|�?�����%ȿ����l����@o*}?�������?���`.)k?����<��?)~}�e@	~}DL_;I~}̖Cɫy�y)�y	��I��Y����@y���qG�%DNmea in: $SNTTA,,,,,021402.61*5C
i�1��1)�=�=	�=�=�������������Åף��Å�u��Å�A>iÅף@�Å���	ąף@)ąף@Iąף@iąף@��#��M�0=Y�;QU��>�����a��E����E��y���<}��>Iȱ����:�ŵe5�?����:�ŵ��۾�	Ƶ*UA����?9ƵtqC�ǵw�:	ȵ��:)ȵ��:�m�yAdded new target pos. range: 43.920002 m, bearing: 184.696621 deg, deltaT: 4.397195 s, approachRate: -0.709543 m/s, LOS rate: -0.204384 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 43.920002 m,
      bearing: 184.696621 deg,
      approachRate: -0.709543 m/s,
      LOS rate: -0.204384 deg/s,
      cmd update: -0.613152 deg/s,
      cmd heading: 191.924875 deg,
      new cmd heading: 192.813107 deg.
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="C]լ=�*C][v*�RCe��'<Ce�rT@�Ca�օ�����YI�iG�^>���=i��C=���������s�����s��������	���:Y��M1y����:���)�5�9�@ܹ9ܹIܹiܹ�ܹ�ܹ�ܹ�ܽ��;	ݽ��E�H��nr,��`��E�AY}:N�h@�}:��X@y}:�����}:�/�<�}:H����`�����`V}�?���@A`�?��� �lϿ�����������8��?��� �r�?���@~�?������?)~:N�h@	~:2N_;I~8ɫ9�9)�9	�9I�9Y�}|�@y�}�qG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�����������M�?=Y��Y"9QU��>�������a��E���ΚE���y����<}��>I������:���pe5�?���:�����۾�	���VA���?9��OsC�����:	����:)����:�W-�(T@�W)X)
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="C���=�*C��4*�RC�$��<C��(T@�C������;���I��GmV>�b��nr,�]z��E�AY}2a;i@�}2�VY@y}2z���}2�.�<�}2H��������������?����G>�?����Vп����������EC�?���`���?����gĔ?������?)~2a;i@	~2�C_;I~2˖CɫY�a)�a	�aI�aY����@y��rG�xDUSBL response received:!U1,P
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�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
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�x/<��AI�YG��>����nr,�>���E�AY}Fisi@�}FԎY@y}F����}F��M<�}FH�������������S�?����A!�?�����Oп��� ?���������?����o�?����絉?�������?)~Fisi@	~F�(_;I~F̖CɫY�Y)�Y	�YI�YY��Z�@y���qG鮙ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B
i�9��9�Y9�YI�]�lGi�]g�@��Y��Y��]/�D��]��;	�]ėE��u�?�Mu�=Y�u3�:QU}?��y��y�a}�E��}՚E��y��E<}�?Iȉ����:�ō�95�?����:�ō�۾�	ƍ�WA����?9ƍ�sC�Ǎ��:	ȍ��:)ȍ��:�W=��S@�W9X9
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��@y��qGxDUSBL response received:!U1,R,0F1,000,00522,186,80,80,73,FF
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5�?��u�:��ma�۾�	�m~WA��u�?9�m\tC��mj�:	�m��:)�m��:�m�yAdded new target pos. range: 41.340000 m, bearing: 182.841692 deg, deltaT: 4.480144 s, approachRate: -0.575875 m/s, LOS rate: -0.414033 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 41.340000 m,
      bearing: 182.841692 deg,
      approachRate: -0.575875 m/s,
      LOS rate: -0.414033 deg/s,
      cmd update: -1.242100 deg/s,
      cmd heading: 189.177791 deg,
      new cmd heading: 188.955399 deg.
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AI���Ai���A������G	A)�}�=	�}�=��5`�=��5`e���5E6�i�5=�@��1	�5ף@)�5��@I�5��@i�5��@��E��ME'=Y�mi�:QUm�>��q��q�au�E��u�E��qy�}G:�}}�>Iȁ����:�Ņ�s5�?����:�Ņ�۾�	ƅ�YA����?9ƅ4vC�Dž?�;	ȅr�:)ȅ��:�W���N@�W�X�
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�Fpublishing direction and range info����I����ɰ���=鰡	��)���CI��y��QB������dϗb�?<��G��ȿ��������ٱ���dNmea in: $SNTTA,0.147122,0.038890,,,021411.51*54
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B��A���=*B��A�t����A��A��A���	="C���D�RC�2��=C�+9M@�C������=�סI��G�B>ܝ��>9ܝŔCIܝ(kGiܝ"�@�ܙ�ܙ�ܙ�ܝ��;	ݝ��EI��)��BA�Ϫ8or,\Z��E�AY}2a�f@�}2��V@y}2��|��}2�w���}2H����@�=����@[b�?�����@�?��� Ǧ˿�����"����@_ȴ����@���?����/'������J��?)~2a�f@	~2}`;I~2͖Cɫ9�9)�9	�=���I�9Y��y�@y��DoGi�9��A��狻M�A=Y���QU��>�����a��E����E���y��Ѽ}��>I������ 5�?�����۾�	��vZA����?9��3wC���Ƴ<	���<)���myAdded new target pos. range: 38.579998 m, bearing: 181.886011 deg, deltaT: 4.385861 s, approachRate: -0.629295 m/s, LOS rate: -0.217900 deg/s, posRepo size: 4�mErPowering the camera and arming the DDM at range: 38.58 m.XA�mU�
   ProNav: 
      pos range: 38.579998 m,
      bearing: 181.886011 deg,
      approachRate: -0.629295 m/s,
      LOS rate: -0.217900 deg/s,
      cmd update: -0.653701 deg/s,
      cmd heading: 183.725470 deg,
      new cmd heading: 183.107553 deg.
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      bearing: 183.925438 deg,
      approachRate: -0.666088 m/s,
      LOS rate: 0.503126 deg/s,
      cmd update: 1.509377 deg/s,
      cmd heading: 181.088907 deg,
      new cmd heading: 180.742253 deg.
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      bearing: 183.410400 deg,
      approachRate: -0.538291 m/s,
      LOS rate: -0.112699 deg/s,
      cmd update: -0.338097 deg/s,
      cmd heading: 188.004386 deg,
      new cmd heading: 188.468279 deg.
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B��A�A�=*B��A�xe���A��A��A�y�="C�#A�*CF�#�RC�@��C�P@�C	��%��'����I�G=P>�jm�or,�Q���E�AY}6��c@�}6W�S@y}6����}6�6���}6H�����������`���?��� ���?����ٺſ���@�������M?���`Pՠ?����!�s����`z��?)~6��c@	~6�\;I~6ΖCɫY�Y)�Y	�YI�YY����@y���oG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����=i���=i�����������eA��=|?>��= 0=��=���i�=̤@��9	�=��@)�=��@I�9i�=��@���m;M�$=Y����QU��>�������a��E���Z�E���y��1!<}
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050,000,0049E,184,80,80,81,FF
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B��A�{�=*B��A�=U���A��A��A�Vp="C�&�A�*C��#�RC�p��<C��_P@�C��֥�8<��aI�qG�9>܅��>9܅ÔCI܅�kGi܅s�@�܁�܁�܁�܅1�;	݅�E)��I��i���������=����5�.�pr,Q���E�AY}P�d@�}�U@y}�A��}�v���}H������l��������?����Yޢ?��� ��ǿ�����p����`s������ ag�?��� ������ ���?)~P�d@	~�^;I~ɫ1�1)�1	�1I�1Y�u��@y�u�oG��DNmea in: $SNTTA,,,,,021424.45*5E
i�������N�<M:=Y�m��QU�>�����a�E��f�E��!y�%T�:}%�>I�)��5�:��-f�5�?��=�:��-��۾�	�-)dA��=�?9�-C��-��:	�-��:)�-�:�mmyAdded new target pos. range: 30.659998 m, bearing: 182.579153 deg, deltaT: 4.306790 s, approachRate: -0.640849 m/s, LOS rate: -0.193009 deg/s, posRepo size: 4�murPowering the camera and arming the DDM at range: 30.66 m.Xq�m��
   ProNav: 
      pos range: 30.659998 m,
      bearing: 182.579153 deg,
      approachRate: -0.640849 m/s,
      LOS rate: -0.193009 deg/s,
      cmd update: -0.579026 deg/s,
      cmd heading: 186.545453 deg,
      new cmd heading: 186.396561 deg.
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B��A�*B��A�����A��A��A��?="CU�C�*C5!�RC5�; =C5a�N@�C1��%��=���I�G5O>���=i��=��%[����%z����%z����%���	�%��9Y�%Q1y�%��:��%��5���4pr,v����E�A�|�|4<Y}>E�d@�}>��T@y}>+Q	��}>�$k��}>H����`�q����� �?��� E5�?�����Zǿ���`�k�����^�������R)�?���@7\���������?)~>E�d@	~>�1�;I~<ɫ�髍����)��	��I��Y��A�@y��:pG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�����M��MM�<Y�M�H�QUU�>��Y��Y�a]�E��]}�E��Yy�e	@;}e�>I�i��}�:��m
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0A2,000,00470,186,80,80,88,FF
�Command Ack�BRequesting micromodem ping code 2i��������i�����Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
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i�����i��NmGI�	��}�=M�=i�!Y�5�QUE?��U�d�ٺQ��U+QB��Y��Y�a]�E��]��E��ay�e�^�}e?I�i��u�:��m��5�?��u�:��m��۾�	�m;gA��}�?9�m��C��m��:	�m�:)�m�:�W�ϵM@�W�X�
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�=*BQ�AU	����AY�AY�A��1�="C��iD�*C�e��RC��aR=C�ϵM@�C������4=���I��I�)�@AGn>�ٽ	gA�ٹ	��	��>9��	I��	mGi��	��@���	���	���	���	P�;	��	���Hpr,�Y$��E�A�|i|Y}6��d@�}6g�T@y}6z��}6`���}6H���� (r�������?����}g�?����Lǿ�����i�����q�������¡?�����f�����@;��?)~6��d@	~6T��;I~4ɫ9�=���)�9	�9I�9Y�}@�@y�}tqG�xDUSBL response received:!U1,R,072,000,00444,186,80,80,93,FF
�Fpublishing direction and range info���%�˽���ɰ��=鰁	��)���CI��y��(�A����0m�~��?hܸ�m����������ٱ�i���������;M�e=Y�닺QU��>�����a��E����E���y��ֱ�}��>I�����̾5�?�����۾�	���gA����?9����C�����:	���:)���W
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B��A���=*B��A��H���A��A��A���<"C��D�*C�V��RCU�@W=CU�{M@�CY��E�3J=��I�)GEQ>��%�����!��!��%���	�%>�9Y�!y�!��%Γ5)�%�5;�9-����Npr,�H>��E�AY}R��d@�}R%�T@y}R��}R}����}RH������r��������?�����֧?�����=ǿ�����g����@2�������7��?����y����������?)~R��d@	~RCv�;I~RϖCɫ�髩)��	��I��Y����@y���pG�uTNmea in: $SNTTA,0.035965,,,,021428.88*41
I�q)�u�Ai��������@���@���@���©�������i���@�������	���@)��I��`�@i��A�@��
�M�.=Y�na8QU��>�����a��E����E��y��w�}��>Iȹ����:�Žb�5�?����:�Ž\ܾ�	ƽ�gA����?9ƽ�C�ǽw�:	ȽV�:)Ƚ�:�m�uAdded new target pos. range: 28.020000 m, bearing: 184.800071 deg, deltaT: 4.471512 s, approachRate: -0.590404 m/s, LOS rate: 0.496682 deg/s, posRepo size: 4�mrPowering the camera and arming the DDM at range: 28.02 m.�mlFinal approach. Armed for intercept at range: 28.02 m.�m\Transitioning guidance mode to: FINAL_APPROACH"X�m�
   ProNav: 
      pos range: 28.020000 m,
      bearing: 184.800071 deg,
      approachRate: -0.590404 m/s,
      LOS rate: 0.496682 deg/s,
      cmd update: 1.490045 deg/s,
      cmd heading: 183.957878 deg,
      new cmd heading: 183.687266 deg.
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   ProNav: 
      pos range: 25.440001 m,
      bearing: 182.637209 deg,
      approachRate: -0.578764 m/s,
      LOS rate: -0.485189 deg/s,
      cmd update: -1.455566 deg/s,
      cmd heading: 190.603927 deg,
      new cmd heading: 191.277830 deg.
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i���������y�&1��?����Mb�?����Mb�?���`%?����=	��<)��I��y����$��C�?1�Zd��X9��v��?���?���"۽�����<	µ�A)µAI±iµ�
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   ProNav: 
      pos range: 22.860001 m,
      bearing: 182.677057 deg,
      approachRate: -0.581803 m/s,
      LOS rate: 0.008986 deg/s,
      cmd update: 0.026957 deg/s,
      cmd heading: 184.148838 deg,
      new cmd heading: 183.360649 deg.
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   ProNav: 
      pos range: 20.400002 m,
      bearing: 184.804305 deg,
      approachRate: -0.543836 m/s,
      LOS rate: 0.470274 deg/s,
      cmd update: 1.410823 deg/s,
      cmd heading: 184.270670 deg,
      new cmd heading: 184.281145 deg.
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i�������}�N?��}+�=��}/�=i�}��@��y	�}`�@)�}���I�}`�@i�}I�@��:	�M��<Y��;QU��>�����a��E���E��y��<}��>Iȩ�ŭ5�?�ŭ^�۾�	ƭdvA����?9ƭK�C�ǭ�:	ȭ8�:)ȩ�m�uAdded new target pos. range: 17.459999 m, bearing: 185.664158 deg, deltaT: 4.437175 s, approachRate: -0.662584 m/s, LOS rate: 0.193784 deg/s, posRepo size: 4�m��
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      pos range: 17.459999 m,
      bearing: 185.664158 deg,
      approachRate: -0.662584 m/s,
      LOS rate: 0.193784 deg/s,
      cmd update: 0.581351 deg/s,
      cmd heading: 190.535747 deg,
      new cmd heading: 191.106130 deg.
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   ProNav: 
      pos range: 14.579999 m,
      bearing: 183.699468 deg,
      approachRate: -0.648555 m/s,
      LOS rate: -0.442434 deg/s,
      cmd update: -1.327302 deg/s,
      cmd heading: 193.108465 deg,
      new cmd heading: 193.345239 deg.
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   ProNav: 
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      bearing: 184.136518 deg,
      approachRate: -0.378849 m/s,
      LOS rate: 0.098557 deg/s,
      cmd update: 0.295671 deg/s,
      cmd heading: 187.207070 deg,
      new cmd heading: 186.455698 deg.
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B��A�7�=*B��A��ִ��A��A��A�9k�<"C�@�*C���RC?�k<C�R@�C	��%�8=��	I�Ii�m�mGI��G�[>i�����������w�����w��������	��X�9Y���O1y��P�:���*�5��E!C�ٺA��E�2B�|b'rr,D����E�AY}2ed@�}2y�T@y}2/�;�}2"+��}2H���� t}�����o��?����%�?�����ƿ���`�9����`D������dWc������y������ջ�?)~2ed@	~2ǽZ;I~2͖CɫY�Y)�Y	�]����I�YY����@y���oG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i��������<MC=Y�9F;QU%�>��!��!�a%�E��%v�E��)y�5�_�}5�>I�9��M�:��=�5�?��M�:��=�ܾ�	�=&yA��M�?9�=�C��=�;	�=�;)�='�:�WM�-R@�WIXq
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�Fpublishing direction and range info����Ð����ɰ��=鰭��>	��)���CI��y���A����M�����?-�r.�����������ٱ�i�������}�)\���(�?ˡE������~j�t��?��}GA?��}什	�}��<)�yI�yy�}�X9��v��?�S㥛���J+��?��}�?��}$���}�H=	�}A)�}�AI�}�
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BQ�Au�=*By�A}�����Ay�Ay�A}a�<"C�X�?�*C��/�RC�Q�z�C�\�R@�C�I��AA)��AA���������{�����{��������	��r�9Y��#R1y����:����5)��5;�9���֭��9��iI�qG��>�6�Arr,?q��E�A�|,i|.�@ɫ�)�	����I�Y�5��@y�5�nG��TNmea in: $SNTTA,0.032372,,,,021500.04*45
i�������mT,�MmS=Y�u���QUu�>��q��q�au�E��}��E��yy�}���}��>Iȉ����:�ō�H5�?����:�ō�ܾ�	ƍ_zA����?9ƍ��C�Ǎ��:	ȍ��:)ȍ)�:�m�qAdded new target pos. range: 9.359999 m, bearing: 186.236391 deg, deltaT: 4.490165 s, approachRate: -0.788390 m/s, LOS rate: 0.467661 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 9.359999 m,
      bearing: 186.236391 deg,
      approachRate: -0.788390 m/s,
      LOS rate: 0.467661 deg/s,
      cmd update: 1.402982 deg/s,
      cmd heading: 188.534590 deg,
      new cmd heading: 188.644212 deg.
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B��A��<*B��A�2���A��A��A��%�<"C��=;�RC�Ē��C��V@�C���>9�I��gGi�F�@���=��������;	�ݗE��I��I)�i	�i��
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�>�)nrr,|d���E�AY}2Td@�}2�oT@y}2��<�}2����}2H������}�����s��?�����y�������ƿ���@K{�������������������� j4���������?)~2Td@	~2zAZ;I~2ϖCɫ9�9)�9	�9I�9Y�}��@y�}AmG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I���A)���Ai�������]���]���]���]O�?��]Il���]�C�i�]��@��]���	�]ף@)�YI�]�@i�]��@��m��<Mu>=Y�u��:QUu�>��y��y�a}�E��}��E��y���;}��>Iȉ��U�:�ōg�5�?��U�:�ō3ܾ�	ƍ�{A��U�?9ƍ{�C�Ǎ6�<	ȍT�<)ȍ,�:�W�ۙW@�W�X�
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�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
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Bq�Au���*By�Ay�Ay�Ay�A}5��<"C��99�RC�f9ͽC���X@�C��֥��ǽ��YI�iG�[>�������x����x�������	�M�9Y�7P1y���:���5)��9
���"�rr,w���E�AY}6�5f@�}6QV@y}6u6�<�}6�<���}6H������O����`T�?���  1�������Pʿ�����P�����j>~������f����� �Fp��������?)~6�5f@	~6�iZ;I~6ЖCɫY�Y)�Y	�YI�YY����@y��9lG�xDUSBL response received:!U1,R,05A,000,002E7,184,80,80,B5,FF
�Fpublishing direction and range info���|٠����ɰ�ws=鰱	��)���5CI��y����@����X�.���?5�;�����������ٱ�����=i���=i����������M�g=Y��5E:QU��>�������a��E�����E���y��=}��>I����o5�?���ܾ�	�9|A���?9�݋C����:	�n�:)��W5�mY@�W1X1
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Bq�Aq*Bq�Aq�Aq�Aq�A}~c�<"C}�8�RC�b½C��mY@�C��֥h{̽�ׁI��G�_>�QO�rr,��"��E�AY}n��f@�}n7W@y}n�ő<�}n�HX<�}nH����`�<����@��?����(��������˿�����=�����7��?����q8��������?���@���?)~n��f@	~n eZ;I~nΖCɫ�)�	�I�Y�U��@y�U/lGܽ��>9ܹIܽfGiܽ�@�ܽ�=�ܹ�ܹ�ܽ��;	ݽؗE)�M�ǔCI�M�ǔCi�I���M��=��M��=��M�]�5�TNmea in: $SNTTA,0.007053,,,,021504.49*4E
i�!��!��(��M�1=Y���:QU��>�����a��E����E��y���<}��>I������V5�?����ܾ�	��a|A����?9���C���ʽ:	��׾:)���muqAdded new target pos. range: 7.080001 m, bearing: 187.365544 deg, deltaT: 4.356227 s, approachRate: -0.523388 m/s, LOS rate: 0.259204 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 7.080001 m,
      bearing: 187.365544 deg,
      approachRate: -0.523388 m/s,
      LOS rate: 0.259204 deg/s,
      cmd update: 0.777613 deg/s,
      cmd heading: 194.652121 deg,
      new cmd heading: 195.321113 deg.
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   ProNav: 
      pos range: 4.259999 m,
      bearing: 191.795960 deg,
      approachRate: -0.150013 m/s,
      LOS rate: 1.793918 deg/s,
      cmd update: 5.381753 deg/s,
      cmd heading: 187.851985 deg,
      new cmd heading: 186.842938 deg.
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�Fpublishing direction and range info���_�>���ɰ��h=鰁	��)���CI��y���@������l��?to�R�#�?��������ٱ�i��������2<M�[=Y���;QU��>�����a��E���E���y���D�}��>I������	5�?�����ݾ�	��vZ>����?9��U�@���{�:	����:)���W�z~l@�W�X�
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i�������]���ʡE��?Zd;�O�������Mb�?��]�=?��]j��	�]�<)�YI�Yy�]��Zd;�?�I+����~j�t��?��]�?��]9����]��<	�]dA)�YI�];Ai�]�A��Y��]\A���������������@���@���@�ù�ù�ùiý��@�ù	Ľl�@)ĹIĽ��@iĽ��@���[�M�-=Y����;QU��>�������a��E����E���y���<<}��>I�������5�?����ݾ�	��=h>����?9����@�����:	����:)���m-mAdded new target pos. range: 5.160000 m, bearing: 199.515495 deg, deltaT: 4.435045 s, approachRate: 0.202930 m/s, LOS rate: 1.740576 deg/s, posRepo size: 4�m=�
   ProNav: 
      pos range: 5.160000 m,
      bearing: 199.515495 deg,
      approachRate: 0.202930 m/s,
      LOS rate: 1.740576 deg/s,
      cmd update: 5.221729 deg/s,
      cmd heading: 211.720483 deg,
      new cmd heading: 214.268690 deg.
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      bearing: 210.520377 deg,
      approachRate: 0.438833 m/s,
      LOS rate: 2.439045 deg/s,
      cmd update: 7.317136 deg/s,
      cmd heading: 235.197393 deg,
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      bearing: 220.644494 deg,
      approachRate: 0.547908 m/s,
      LOS rate: 2.311285 deg/s,
      cmd update: 6.933854 deg/s,
      cmd heading: 267.365486 deg,
      new cmd heading: 270.661366 deg.
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��=��Q����?X9��v���y�&1��?��=\?��=�}�	�=`�<)�9I�9y�=����Mb�?R���Q�?����Mb�?��=� ?��=��=��=�<	�=(A)�=\AI�9i�=AA��9��=3A�ÝC���Ýҝ?�Ý ��iÝQ�@�Ù	ĝ��@)ĝ���IĝM�@iĝ��@�����M�-=Y�����QU��>�������a��E���Q�E���y�����}��>I������5�?���$/��	��:�?���?9��N�A����;	���:)���m-uAdded new target pos. range: 17.639997 m, bearing: 308.052296 deg, deltaT: 4.368251 s, approachRate: 0.041206 m/s, LOS rate: -2.847106 deg/s, posRepo size: 4�W1�W1X1
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����8=M�b=Y����<QU��>�������a��E���#�E���y����<}��>I�������5�?����c��	���q@����?9��@�B�����:	��<N?)���m%uAdded new target pos. range: 49.439995 m, bearing: 312.402580 deg, deltaT: 4.546978 s, approachRate: 0.554214 m/s, LOS rate: -2.603830 deg/s, posRepo size: 4�W!�W)X)
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DNmea in: $SNTTA,,,,,021704.90*57
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   ProNav: 
      pos range: 795.179993 m,
      bearing: 327.711274 deg,
      approachRate: 128.123535 m/s,
      LOS rate: 3.464037 deg/s,
      cmd update: 10.392111 deg/s,
      cmd heading: 308.154011 deg,
      new cmd heading: 308.154011 deg.
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�Fpublishing direction and range info����l?���ɰ�Y>��7�>	��)����BI��y����B����K��k��?x�f�7�?��������ٱ�������iA��-1>��-��=��-�Ľi�)��)	�-=�@)�-=�@I�-K�@i�-=�@��=���MEN=Y�E���QUE�>��I��I�aM�E��M��E��Iy�U�M=}U�>I�Y��]=55�?��]�B��	�]��@��e�?9�]�B��]'�:	�]4�:)�Y�W%��@�W!X)
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   ProNav: 
      pos range: 78.480003 m,
      bearing: 350.266526 deg,
      approachRate: -160.041199 m/s,
      LOS rate: 5.036653 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 354.691742 deg,
      new cmd heading: 359.088239 deg.
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      pos range: 81.000008 m,
      bearing: 349.893898 deg,
      approachRate: 0.571482 m/s,
      LOS rate: -0.084504 deg/s,
      cmd update: -0.253512 deg/s,
      cmd heading: 47.606908 deg,
      new cmd heading: 53.567440 deg.
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�Fpublishing direction and range info�����G?���ɰ��$>鰅��>	��)����BI��y��3�B�����OX�޾�?����5��?��������ٱ���dNmea in: $SNTTA,0.083826,0.223514,,,021750.13*59
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   ProNav: 
      pos range: 83.099998 m,
      bearing: 41.375705 deg,
      approachRate: 0.464012 m/s,
      LOS rate: 11.375376 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 46.460593 deg,
      new cmd heading: 46.371785 deg.
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   ProNav: 
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      bearing: 52.833477 deg,
      approachRate: 0.302851 m/s,
      LOS rate: 2.628776 deg/s,
      cmd update: 7.886328 deg/s,
      cmd heading: 98.809071 deg,
      new cmd heading: 104.531643 deg.
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B��A��1?*B��A���D��A��A��A�u��<"C��t@RC�C��q@�C������I��GI>ܝ	��>9ܙ	Iܝ	��Giܝ	��@�ܝ	�=�ܝ	BD�ܙ	�ܝ	��;	ݝ	ݘE�3�V}r,�.]��E�AY}:��T?�}:�?y}:�?*��}:;�>�}:H��������?����<t�������?�������?����D��?�����������@�Ge?����Q��?����{��?)~:��T?	~:�1a;I~8ɫ9�9)�9	�9I�9Y�}�@y�}��G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����M�C=Y��~Y;QU��>�������a��E����E���y����=}��>I�������5�?����P��	����@����?9����B���0�:	���:)���W�$@�W	X	
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�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
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B�A-?*B�A%)˩��A!�A!�A%���<"CM{�@RCICM�A@�CQi�nGI�1i�I��}ʿٺy��}��A��]FӅ���1I�9G]v>��H����t����t�������	��:Y��M1y��:��)�5)��d;�B1j}r,����E�AY}J>j?�}J�*?y}J���;�}Jv>�}JH������%�?����M�����`�4�?�������?�������?���`s������@�w�����/6�?���@��?)~J>j?	~J�a;I~JԖCɫa�a)�a	�m����I�iY��)�@y����G�xDUSBL response received:!U1,R,CF8,000,007FC,189,80,80,A1,FF
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����M�R=Y���;QU��>�������a��E����E���y����=}��>I�����U5�?����0��	����@����?9����B����:	��k�:)���mmAdded new target pos. range: 85.139999 m, bearing: 76.756348 deg, deltaT: 4.508935 s, approachRate: 0.159682 m/s, LOS rate: 5.305659 deg/s, posRepo size: 4�m%�
   ProNav: 
      pos range: 85.139999 m,
      bearing: 76.756348 deg,
      approachRate: 0.159682 m/s,
      LOS rate: 5.305659 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 134.337883 deg,
      new cmd heading: 137.314570 deg.
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B��A��!?*B��A��9;�A��A��A��<"C�:5@RC�C�q?;@�C��֩I��gA)��gA�שI��GK>IޕAA)ޑ�������y����y�������	��:Y��P1y�'�:��N�5)�WS;�9������}r,=�y��E�A�|i|�@Y}6.�?�}6Wlo?y}6#��;�}6q�	>�}6H����`���?����ƀ����@���?����T��?�������?���@�������@73{������#�?��� 	��?)~6.�?	~65�a;I~4ɫ9�9)�9	�=���I�9Y�}�@y�}o�G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)���A��%���� �r�?{�G�zt?{�G�z�?��%��>��%ף;	�%�#<)�!I�!y�%����S��?y�&1���+�����?��%/=?��%`e���%�=	�%A)�%9�@I�%�Ai�%�A��!��%�A����������Ľ���"۽i���@���	��\�@)���@I����@i�������M,=Y�QB�QU�>�����a�E��2�E��!y�%��=}%�>I�)��-}p5�?��-����	�-*�@��=�?9�-��B��-Q�:	�-�:)�)�W]]�A@�WYXY
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�Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
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�Ý��Ý�p��Ý��<iÝQ�@�Ù	ĝ�@)ĝr�@Iĝ�@iĝ�@�����M�4=Y��ݻQU��>�����a��E��8�E��y��=}��>I�������5�?���e���	���@����?9����B�����:	����:)���W�`FL@�W�X�
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B1�A=,?*B9�A=��;�A9�A9�AEG��<"CExF@RCICM`FL@�CI��5FӅ���=�?i�=�?���I��Gn>�x��}r,�*���E�AY}:j��?�}:f̃?y}:�E���}:��=�}:H����@�{�?�����9����@d��?���@�m�?��� �Z�?�����e������HT?���`�N�?������?)~:j��?	~:�`a;I~8ɫ9�9)�9	�=���I�9Y�}�@y�}݁G�xDUSBL response received:!U1,R,DDF,000,007FB,188,80,80,79,FF
�Fpublishing direction and range info���"��>���ɰ�\'>鰅��>	��)����BI��y��(�B�����zb�r�?�ʴY�M�?��������ٱ�����=i���� f�M�r=Y���QU�?�����a��E��;�E���y����=}�?I������:���G�5�?��u�:�������	��v�@��}�?9��f�B�����<	����<)��'�:�W��"Q@�W�X�
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�B���#�:	��Q�:)���mqAdded new target pos. range: 85.080002 m, bearing: 86.072528 deg, deltaT: 4.407557 s, approachRate: -0.013612 m/s, LOS rate: 2.113683 deg/s, posRepo size: 4�m%�
   ProNav: 
      pos range: 85.080002 m,
      bearing: 86.072528 deg,
      approachRate: -0.013612 m/s,
      LOS rate: 2.113683 deg/s,
      cmd update: 6.341050 deg/s,
      cmd heading: 187.228593 deg,
      new cmd heading: 192.202125 deg.
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���i�������E�����?����x��?�v��/�������>���K7>	��xi�)��I��y���)\���(�?/�$����~j�t��?���G!?���,������<	•&
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B��A���>*B��A��1a<�A��A��A�:/�<"C��C@�RC�C��C���i��I	I�Q	Gu	�>���@~r,����E�AY}Bp��?�}Bh��?y}B� <�}B b�=�}BH�������¿����Px����`�2�?���`˦�?����ی¿���@�@�?������������ݻ?�������?)~Bp��?	~B�a;I~BԖCɫY�Y)�Y	�]����I�YY����@y��vG�xDUSBL response received:!U1,R,CCF,000,007D1,18A,80,80,96,FF
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��A��A������M�1=Y��B�;QU��>�������a��E�����E���y��Ȇ=}��>I������:���5�?����:����^��	���@����?9��J�B���w�:	��b�:)��1�:�m%yAdded new target pos. range: 82.560005 m, bearing: 139.100928 deg, deltaT: 4.449409 s, approachRate: -0.364092 m/s, LOS rate: -1.041274 deg/s, posRepo size: 4�m5�
   ProNav: 
      pos range: 82.560005 m,
      bearing: 139.100928 deg,
      approachRate: -0.364092 m/s,
      LOS rate: -1.041274 deg/s,
      cmd update: -3.123822 deg/s,
      cmd heading: 143.733982 deg,
      new cmd heading: 143.733982 deg.
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   ProNav: 
      pos range: 80.220001 m,
      bearing: 92.473214 deg,
      approachRate: -0.526530 m/s,
      LOS rate: -10.491810 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 129.851036 deg,
      new cmd heading: 128.414271 deg.
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   ProNav: 
      pos range: 75.300003 m,
      bearing: 151.364696 deg,
      approachRate: -0.587091 m/s,
      LOS rate: 1.540997 deg/s,
      cmd update: 4.622991 deg/s,
      cmd heading: 144.592701 deg,
      new cmd heading: 144.592701 deg.
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   ProNav: 
      pos range: 72.540009 m,
      bearing: 153.765535 deg,
      approachRate: -0.607616 m/s,
      LOS rate: 0.528548 deg/s,
      cmd update: 1.585643 deg/s,
      cmd heading: 165.547711 deg,
      new cmd heading: 167.052355 deg.
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By�A}�=�*By�A�%��<�A��A��A�=�~<"C�\~@RC�C��C��֝�#���qI��G�]>���r,�eF��E�Aɫ�髙)��	��I��Y��Ӹ@y��ecG��]|��Me\=Y�m���QUm�>��q��y�a}�E��}k�E��y����}��>Iș�ŝ�E5�?�ŝwc��	Ɲ��@����?9Ɲu	C�ǝ7;	ȝu;)ș�Wy�WyX�
X��W�:W�2W�*W��V�bU�BU�*U�U�U������&@BE�x<Ba
Ba�AeQ[�*Ba�AmJS�<�Ai�Ai�Am$�<"Cu@ @RCu�:u>Cq�Cy��Ed=��I�1GUT>��!����w����w�������	�l�9Y��O1y�P�:���5����r,hA`��E�AY}205@�}2�/%@y}2��<�}2y�=�}2H���������`����� ��?������?�����������˵?��� ����������?���@���?)~205@	~2=];I~2ٖCɫ9�9)�9	�=���I�9ܡ9ܡIܥP\Giܥ�@�ܥ�=�ܡ�ܡ�ܥ��;	ݥ��EY��~�@y���bG��a=ɮ�a=��^ټMQ=Y����QU�>��	��	�a
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n�E��y�7�<}�>I���=�:��w45�?��=�:���Y��	�[�@��=�?9��	C����;	��;)�Q�:�Wa�WaXa
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B��A��e�*B��A����<�A��A��A�e4�<"C��@RC0�N>C�C��
���=���I��G=.>����r,iz��E�Aɫ�髙)��	�����I��Y��%�@y���bG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I�}p=)�}%=��e���"��~�?�G�z�ǿy�&1��?��e�?��ep=�	�e`�<)�aI�ay�e�k�t��?��ʡE�ÿ/�$��?��a��e����e,=	�e9A)�e�	AI�eAi�eAA��a��eQA���������������/>���^����ף;i����@������	��7�@)��ߣ@I��7�@i��7�@������M�=Y�����QU��>�������a��E���r�E���y�����}��>I�����05�?����J��	����@����?9��
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&bGxDUSBL response received:!U1,P
F2B,000,006CE,186,80,80,B8,FF
Command AckBRequesting micromodem ping code 2i����-�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
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B��A��{�*B��A��w�<�A��A��A��8�<"C�|�@RC�kV]=C��C����|�1>ܵ��>9ܱ���I��Iܵ$[Giܵ�@�ܱ�ܱ�ܱ�ܵ��;	ݵ��EG�>���*�r,2���E�AY}Z35@�}Z�#%@y}Z��<�}Z���<�}ZH�����c����`�����M�e�����\�?���`�����"�?����鯖����`��?����?��?)~Z35@	~Z[;I~ZږCɫ�髱)��	������I��Y��ж@y���`G��������Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B
�Õ�>�Õ�#��Õ-��iÕ��@�Ñ	ĕ̘@)ĕ̘@Iĕ�@iĕ̘@��s��M�9=Y�7-�QU��>�����a��E���x�E���y��(��}��>I������:�����5�?����:���6��	���@����?9���
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B�Aԍ�*B�Aʸ�<�A�A�A-N��<"C=��@RCE�_��CA�CA��M��4>������������������	��:Y�y�����5)��V;�9����)I�1GU�>���1�r,����E�A�|i|Y}F�'4@�}FC$@y}F��<�}F��b;�}FH����@2�����`�g�����𑏿���@(f�?���@L������1�?���������� �]l?����5��?)~F�'4@	~Fz�Z;I~FؖCɫY�Y)�Y	�]���I�YY��l�@y��p`G�xDUSBL response received:!U1,R,FE4,000,0069E,183,80,80,B6,FF
�Fpublishing direction and range info���+�<���ɰ��
>��$�>	��)���6CI��y��G�B�����������?{�J���?��������ٱ�����M�_=Y�ɉ�QU��>�����a��E��{�E��y���}��>Iȱ�ŵ��5�?�ŵ�+��	ƵY�@����?9Ƶ�
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By�A}��*By�A}��<�Ay�Ay�A��'�<"C��w#@RC�<L��C��C��֍��(>�׍�?i׍�?��AI�QG}7>��1
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��A���7�r,ʈ���E�AY}z3@�}z�#@y}zW��<�}z#D��}zH����@ň����@o������|����� D��?���@N������>������ົ��������������$��?)~z3@	~z�[;I~zٖC�U��>9�QI�U\ZGi�U{�@��U�=��Q��Q��U��;	�U��Eɫ���)��	��I��Y�U*�@y�U`G��TNmea in: $SNTTA,0.042481,,,,021843.48*4B
��Uw��MU?=Y�U�M�QU]�>��a��a�ae�E��e~�E��y��}��>I�����:���@�5�?��%�:�����	����@��U�?9��7C���a�<	���<)��S�:�muyAdded new target pos. range: 64.139999 m, bearing: 148.455131 deg, deltaT: 4.389678 s, approachRate: -0.656084 m/s, LOS rate: -0.585597 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 64.139999 m,
      bearing: 148.455131 deg,
      approachRate: -0.656084 m/s,
      LOS rate: -0.585597 deg/s,
      cmd update: -1.756791 deg/s,
      cmd heading: 151.025714 deg,
      new cmd heading: 151.025714 deg.
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B9�AEg��*BI�AU\�<�AQ�AQ�A]Cԅ<"Cu�`$@*C}5Y��RC}���C���#@�C��ֽ	���יI��G��>��x^�r,%�|�E�AY}2�.@�}2�@y}2��<�}2��Ƚ�}2H�����6W����`S\������0���������?����7I�����ڍ����������� �������=��?)~2�.@	~2��Z;I~2ؖCɫ9�9)�9	�=���I�9Y�uP�@y�}�\G�}p=ɮ}p=��u��Q����?/�$��?����MbP?��u\?��u�<	�u�:)�qI�qy�u�o��ʡ�?㥛� ������Q��?��u-?��u�����u�u=	�u�A)�ulAI�uZAi�u�A��q��u�A���S㽩��馾����=i����@���	��7�@)����@I����@i����@���%��M�@=Y����;QU��>�������a��E�����E���y���Y;}��>I���{5�?������	���@���?9��C��Pa;	�tl;)��W�#@�WX
X�W:W2W!*WI�VIbUQBUQ*UQUQU]������@�R�B*** querying acoustic contact ***�P��P�B,�ԻB
B�A%�ž*B!�A%���<�A!�A!�A%(Æ<"C-�#@RC-sz��C5�#@�C1��}U�<������v����v�������	���9Y��N1y��:����5��V󺽹��I��G	�>��`e�r,���E�AY}:�O/@�}:ok@y}:}�=�}:�f���}:H����@�r������D�����q����� n_�?��� p����@KY������Ut�����`���������?)~:�O/@	~:M�Z;I~:ٖCɫ1�9)�9	�=����I�9Y�ur�@y�u�\G}Z****** received transponder code query ******}F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���3<M�\=Y����;QU��>�����a��E����E��y��l<}��>Iȡ����:�ť�j5�?����:�ť����	ƥT�@����?9ƥ
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B��A��þ*B��A�0��<�A��A��A����<"C�U"@RC�ݽC�U"@�C�����U�<�֝�����qI��G�]>����>9��I���WGi��B�@����=�����������;	����E�ޑiޕ�=��k�r,�a��E�A�|4<�|�;Y}6^�/@�}6� @y}6�X=�}6��E��}6H�����զ�����������HЬ�����u�?��� ��������������<�������񳨿��� ���?)~6^�/@	~6A�Z;I~6ږCɫY�Y)�Y	�]���I�YY��
�@y��F\G�xDUSBL response received:!U1,P
FE4,000,0069E,183,80,80,B6,FF
�Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
)���=	��>��5 �=��5�&���5���i�5��@��1	�5l�@)�5x�@I�5x�@i�5x�@��'ѼM�%=Y���;QU��>�������a��E�����E���y��7�<}��>I�)��-V5�?��-���	�-��@��5�?9�-r
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�>�1�r�r,e��E�AY}6=�0@�}6�� @y}6\=�}6�ʟ��}6H������������������ɻ������y��?����V������X�u?����i_��������������*��?)~6=�0@	~6'�Z;I~4ɫ1�1)�1	�5����I�1Y�u��@y�u�[G��q��uAA���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B
��-��M5j=Y�5��;QU5�>��9��9�a=�E��=��E��9y�E+=}E?I�I��U�:��M�G5�?��U�:��M_���	�M[�@��U�?9�M�
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B��A��Ͼ*B��A�}3�<�A��A��A���<"C%R� @RC%Ļ��C%R� @�C)��"�����I�GL>����>9��I��VGi����@����=������+�D�����;	����E��y�r,����E�AY}6��1@�}6*�!@y}6�=�}6��;�}6H�����'����`�k�����V����� �f�?����u*�������?����[�������\{?������?)~6��1@	~6[;I~6ՖCɫ9�9)�9	�=���I�9Y����@y���[G�xDUSBL response received:!U1,R,F95,000,0066B,186,80,80,AF,FF
�Fpublishing direction and range info���t;�=���ɰ��>����>	��)���/CI��y��QtB����Xx�2P��?��o�޷?��������ٱ���U!;M]<=Y��X;QU��>�����a��E��M��E��Qy�U��<}]�>I�a��e<35�?��en���	�e��@����?9�e�C��eI�;	�e��;)�a�W���@�W�X�
X��W�:W�2W�*W��V�bU�BU�*U�UU�����&@�P*QQtBZQ����.hN@�S��@��������JQ�Xx�2P��?��o�޷?��������2Qt;�=:QbQ���ӵm}J��3SAP>@	�2���RQ�y��S���i��.>��?���Ld���BQ�'@
Q��AQ�S��P6�9?�P8�9?�P����Q����Q�V@"QM�@B��d�B�
B��A�Ͼ*B��A�S,�<�A��A��A�Ca�<"C���@RC��:�C���@�C�I޽AA)޽@A��������y�����y��������	��N
:Y���P1y��'�:����5)���^;�9�����a�ɽ�בI��G��>�=5�r,m���E�A�|<i|>�@Y}b��2@�}b+�"@y}b6=�}b[��<�}bH������c�����6�������������.�?����]a����@��?���`ࣿ�������?�������?)~b��2@	~b�Z;I~bٖCɫ�髑)��	��I��Y���@y��[G�}TNmea in: $SNTTA,0.046210,,,,021847.91*41
����|?5^��?�~j�t�h�{�G�zt����M?���D�	�ף�)�I�y��ˡE����?�� �rh���~j�t�h����'?��C����D�	��
A)�AI��Ai�A�����A����L>���C�����d;�i��̔@���	�����)��I��Z�@i��Z�@��
��M<=Y�Ob;QU�>�����a�E����E��y�%�=}%�>I�)��5�:��-�#5�?��5�:��-����	�-v�@��=�?9�-DC��-b�:	�-��:)�-X�:�meuAdded new target pos. range: 61.080002 m, bearing: 150.223126 deg, deltaT: 4.539811 s, approachRate: -0.674036 m/s, LOS rate: 0.389442 deg/s, posRepo size: 4�mu�
   ProNav: 
      pos range: 61.080002 m,
      bearing: 150.223126 deg,
      approachRate: -0.674036 m/s,
      LOS rate: 0.389442 deg/s,
      cmd update: 1.168327 deg/s,
      cmd heading: 143.057519 deg,
      new cmd heading: 142.373299 deg.
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BI�AM��*BI�AM�	�<�AI�AI�AỦ�<"CU4^#@RC]g�ҼC]4^#@�CY��5��<��%��ʼ��-�?i�-�?�]��>9�YI�]�PGi�]ܩ@��]�=��Y��Y��]��;	�]��E)�����CI�����Ci��������=�����=����Ú6��I�)GMR>�����r,#���E�Aɫ�髁)��	�����I��Y��G�@y���WG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�Í�P=�Í����Í��=iÉ�É	č�@)č��@Ič�@ič�@���ͻM�==Y����QU��>�����a��E����E��y����}��>Iȹ����:�Ž�5�?����:�Ž�\��	ƽ��@����?9ƽ?C�ǽU�:	Ƚ��:)Ƚ[�:�W���#@�WX
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�Fpublishing direction and range info���¸2����ɰ��>鰥��>	��)����BI��y���hB�������3��?����GU����������ٱ������M��=Y���s�QU�&?�������a��E���£E���y���Q<}�&?I�����l5�?����>��	���@����?9�� C���'�:	����:)���W�y%@�WX
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   ProNav: 
      pos range: 58.139999 m,
      bearing: 147.915833 deg,
      approachRate: -0.676333 m/s,
      LOS rate: -0.530781 deg/s,
      cmd update: -1.592343 deg/s,
      cmd heading: 148.140834 deg,
      new cmd heading: 148.665561 deg.
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   ProNav: 
      pos range: 54.840000 m,
      bearing: 148.403482 deg,
      approachRate: -0.732996 m/s,
      LOS rate: 0.108316 deg/s,
      cmd update: 0.324949 deg/s,
      cmd heading: 140.981207 deg,
      new cmd heading: 140.307654 deg.
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�@����?9���C���Ǻ:	����:)���m-uAdded new target pos. range: 51.840004 m, bearing: 150.156696 deg, deltaT: 4.451534 s, approachRate: -0.673924 m/s, LOS rate: 0.393845 deg/s, posRepo size: 4�m=�
   ProNav: 
      pos range: 51.840004 m,
      bearing: 150.156696 deg,
      approachRate: -0.673924 m/s,
      LOS rate: 0.393845 deg/s,
      cmd update: 1.181535 deg/s,
      cmd heading: 142.429655 deg,
      new cmd heading: 142.560226 deg.
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B��AM���*BI�AM�J���AI�AQ�AU�.�<"CU8�"@RC]A�C]8�"@�Ca��MO����I�)��M�����Mx����Mx����M���	�Mg�9Y�M7P1y�M��:��M�5)�M�5;�9U�GeU>�����r,f��E�AY}2"6@�}2�3&@y}24���}24�B��}2H����@~^�����������@�������๔�?���`=V����@�D��������]?����MN����� ���?)~2"6@	~2e�Z;I~0ɫ9�A)�A	�E���I�AY�}5�@y�}�CG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����ܼM�^=Y��,�QU��>�������a��E���#�E��y�
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B��A�$��*B��A�����A��A��A� P�<"C4�#@RC%�)�C%4�#@�C1��Ud���)	I�1	GU	�>�C��r,�:?�E�A�|i|�@ɫy�y)�y	�}���I�yY��؞@y��nCG���������Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B
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B��A�T��*B��A�Dػ�A��A��A�A�<"C��n$@RC�3�E�C��n$@�C����7�����I��G�j>�2���r,LY�E�AY}2�7@�}2e8'@y}2rԻ�}2}����}2H���� ������$����`b#t������$�?����������"ƕ�����C�z?�����V�����`��?)~2�7@	~2+�[;I~2ږCɫ9�9)�9	�=���I�9Y����@y��aBG�xDUSBL response received:!U1,R,FDD,000,0059C,184,80,80,97,FF
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B��A����*B��A�_w��A��A��A�@��<"C��$@RC��C1�C��$@�C��֍�C;���iI��G�>��M�����I��I��M���	�M��9Y�Iy�I��Ma�5�9U@ܥ��>9ܥƔCIܥ<>Giܥ��@�ܥ�=�ܥBD�ܡ�ܥ��;	ݥ��E)ݭ�ŔCIݭ�ŔCiݩ��ݭ��=�ݭ��=�ݭ���5��%��r,|�r�E�AY}27c7@�}2�~'@y}2*k��}2˝���}2H����@������ �����@��r?���`�?����W�������O������Q̓?���`G�~���� b��?)~27c7@	~2��[;I~0ɫ9�9)�9	�9I�9Y�]	�@y�]oBG��5�q���5b�>��5�>i�5(�@��1	�5�@)�5��@I�5��@i�5��@��E�V;MME=Y�M"��QUM�>��Q��Q�aU�E��U0�E��Yy�]�)<}]�>I�a��e��5�?��e����	�e��@��m�?9�e�C��e��:	�e�:)�a�m�uAdded new target pos. range: 48.660000 m, bearing: 151.453038 deg, deltaT: 4.411721 s, approachRate: -0.720808 m/s, LOS rate: 0.293841 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 48.660000 m,
      bearing: 151.453038 deg,
      approachRate: -0.720808 m/s,
      LOS rate: 0.293841 deg/s,
      cmd update: 0.881522 deg/s,
      cmd heading: 147.642288 deg,
      new cmd heading: 148.131696 deg.
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BI�AM���*BI�AM+�N��AI�AQ�AU���<"CU�\'@*C]�a��RC]W�C]�\'@�CY��}JM���x����x����x�������	�&�:Y�7P1y���:��=�5)��G;�9����QI�aG}z>�<[Ár,��E�AY}:�09@�}:ZL)@y}:��˼�}:�Կ<�}:H����@a!����`;o޿������?���@Yw�?��� �#�������?���`ey�?������?��� 8��?)~:�09@	~:ՠZ;I~:ٖCɫ9�9)�9	�=���I�9Y�}�@y�}0AG鮁ɮ������M�t=Y�rѻQU�?�����a��E��C�E��y�<}�?Iȹ�Žkq5�?�Ž����	ƽ��@����?9ƽ�C�ǽ4�:	ȽJ?)ȹ�W���'@�W�X�
X��W�:W�2W�*W��V�bU�BU�*U�U�U�����W�@�RB*** querying acoustic contact ***�P�PBez߻�Ba
Bi�Am���*Bi�A��0\��A��A��A�jm�<"C���'@*C��W��RC��eW�C���'@�C�����`R�I��)��gA��9i�9�׹I��G�f>i��mGI�Ai�Y���ʿٺ������A�\�Ɂr,�'�E�A�|�|4<Y}6s9@�}6��)@y}6e޼�}6��<�}6H������0���� Z5޿�����d�?����<�?�����3�������x?����m��?����ە?������?)~6s9@	~6:�Z;I~6ږCɫ9�9)�9	�9I�9Y�}��@y�}�AG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����=i���=����>9��I��i������=�����������;	����E�å^�=�å�>�å��>iå��@�á	ĥ���)ĥ��@Iĥj�@iĥj�@����=M�+=Y��0��QU��>�������a��E���G�E���y�-�<}-�>I�1��=�:��5Y5�?��=�:��5����	�5��@��=�?9�5C��5��:	�5�?)�5n�:�W�2,(@�W�X�
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FDD,000,0059C,184,80,80,97,FF
�Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
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����;M�C=Y��QU��>�����a��E��M�E��y�`�<}��>Iȱ�ŵ�25�?�ŵƍ��	Ƶ2�@����?9Ƶ�C�ǵ�:	ȵ#@)ȱ�W���(@�W�X�
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B!�A-U��*B)�A-�O���A)�A)�A5�Q�<"C5��(@*C=@��RC=W�m�C=��(@�C9��-�w����I�G%,>I�A)�E@A���	�����x�����x��������	����9Y��7P1y����:�����5�9%@����>9��I���<Gi��Z�@����=�����������;	����E���܁r,܄u�E�A�|i|Y}6pw:@�}6�*@y}6o���}6���<�}6H�����l������Mݿ����$��?���@&U�?�����p������Xl?���@���?���@��?���`���?)~6pw:@	~6f�Z;I~6ٖCɫ9�9)�9	�=���I�9Y�}ٜ@y�}�@G�xDUSBL response received:!U1,R,004,000,00568,183,80,80,A7,FF
�Fpublishing direction and range info��}��d���yɰ}��=�}$�>	�y)�}�'CI�yy�}(6B��}� �29���?QC�1m�l���������ٱyI��)���AaiU�aiU amU�amU aqU�aqU aeU�aeU ��U���Q���?���Mb��+��������U(<?��U���	�U��)�QI�Qy�U��Zd;��?`��"�����������?��U�>?��U�����U�L=	�U�A)�UCAI�U�Ai�U!A��Q��UQA��M�=��M��=��M���i�M�@��I	�I)�M�@I�M݄@i�M݄@��]���Me>=Y�e
Y�QUe�>�����a��E��Q�E��y�p�<}��>Iș����:�ŝ�5�?����:�ŝʂ��	Ɲ1�@����?9Ɲ�C�ǝ��;	ȝT�;)ȝo�:�W
Z)@�W	X
X�W:W2W*W�VbUBU*UU!U%��� ��@�PQ*QU(6BZQU�AԞ��F@����XĿ��������JQU� �29���?QC�1m�l���������2QU��d�:QQbQU��;��0D����]5@�M�g��?RQU��I���^�|�'��?���U?��?BQU�Y*@
QU�AQU�!��PQ�PU7�9?�PQQU����QU��@"QU�@B�>���B�
B��A�Q��*B��A��]���A��A��A����<"C�Z)@*C�W7��RC�
i�C�Z)@�C�����ױI��G��>�T��r,p[��E�AY}6v%;@�}6�@+@y}6���}6���<�}6H�����m�����@.�ܿ����_K�?������?����G�������Qv?����U�?�����3�?����p��?)~6v%;@	~6Z�Z;I~6ؖCɫ9�9)�9	�=����I�9Y��W�@y���AG��}G(=M}Z=Y�}׺QU��>�����a��E��T�E��y�a�<}��>Iȡ�ťy	5�?�ť�y��	ƥ�@����?9ƥ0C�ǥ�;	ȥo;)ȡ�m�uAdded new target pos. range: 45.540001 m, bearing: 152.505570 deg, deltaT: 4.506934 s, approachRate: -0.692266 m/s, LOS rate: 0.233536 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 45.540001 m,
      bearing: 152.505570 deg,
      approachRate: -0.692266 m/s,
      LOS rate: 0.233536 deg/s,
      cmd update: 0.700609 deg/s,
      cmd heading: 151.611692 deg,
      new cmd heading: 151.933155 deg.
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   ProNav: 
      pos range: 42.360001 m,
      bearing: 151.440307 deg,
      approachRate: -0.726043 m/s,
      LOS rate: -0.243216 deg/s,
      cmd update: -0.729648 deg/s,
      cmd heading: 154.683089 deg,
      new cmd heading: 155.036542 deg.
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   ProNav: 
      pos range: 39.419998 m,
      bearing: 150.524392 deg,
      approachRate: -0.660961 m/s,
      LOS rate: -0.205913 deg/s,
      cmd update: -0.617738 deg/s,
      cmd heading: 151.437529 deg,
      new cmd heading: 151.113074 deg.
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   ProNav: 
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      bearing: 152.965092 deg,
      approachRate: -0.608545 m/s,
      LOS rate: 0.550102 deg/s,
      cmd update: 1.650306 deg/s,
      cmd heading: 148.697008 deg,
      new cmd heading: 148.361457 deg.
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	��eA��i�������9i�==��E����E|����E|����E���	�E��9Y�E�R1y�Ei�:��E��5)�E�7;����\���(\�?��(\���?�Q��롿�����>���.>	��\�)��I��y�����ʡE�?`��"����/�$������-?�����������	…tA)…nAI…�Ai…= A�������A��}@��}@��}@��}©�}���}�i�}f�@��}����	�}���)�}Ў@I�}���i�}��@��%��<M%=Y�%���QU-�>��Q��Q�aU�E��]�E��Yy�]���}e�>I�i��m�:��ms�5�?��u�:��mT��	�mjA��u�?9�m�)C��mH�:	�m�:)�m��:�m�yAdded new target pos. range: 33.719997 m, bearing: 150.639877 deg, deltaT: 4.044596 s, approachRate: -0.741730 m/s, LOS rate: -0.574894 deg/s, posRepo size: 4�m�rPowering the camera and arming the DDM at range: 33.72 m.X��m��
   ProNav: 
      pos range: 33.719997 m,
      bearing: 150.639877 deg,
      approachRate: -0.741730 m/s,
      LOS rate: -0.574894 deg/s,
      cmd update: -1.724683 deg/s,
      cmd heading: 155.371783 deg,
      new cmd heading: 156.382497 deg.
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087,000,004A3,186,80,80,6C,FF
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�Fpublishing direction and range info���1+����ɰ��=鰩	��)����BI��y����A����{i[x��?����K�ÿ��������ٱ�i�����	��������=M�\=Y��QU��>�����a
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B��A�u3�*B��A��(l��A��A��A���="C�d�%@RC����=C�d�%@�C���a�=���I��G�G>��9�r,����E�AY}�5�@@�}���0@y}��Fu��}��	��}�H����@;���������׿�����ѥ?������?��� ������@U�����,��?��� ء�����T��?)~�5�@@	~�Xb^;I~�ܖCɫ���)��	��I��Y�%�@y�%�OG��DNmea in: $SNTTA,,,,,021931.60*50
i���������>9��I���LGi��^�@����=�����������;	����M�V-��?��~j�t��T㥛� �?��M�-?��M��	�M�=)�II�Iy�M�7�A`���?�"��~j�����Q��?��M�?��MS���M��<	�M�A)�M�AI�M�Ai�M�A��I��M=A��e@��e@��e@��e©�e���e�i�e�@��e����	�a)�e���I�e��@i�eЎ@��u%9�M�=Y��k;QU��>�����a��E����E��y�~;}��>Iȱ�ŵ� 5�?�ŵ����	Ƶ&A����?9Ƶ^,C�ǵ�<	ȵ`<)ȱ�m%yAdded new target pos. range: 31.320002 m, bearing: 149.268320 deg, deltaT: 4.074412 s, approachRate: -0.589041 m/s, LOS rate: -0.336627 deg/s, posRepo size: 4�m-rPowering the camera and arming the DDM at range: 31.32 m.X)��E����A��A��E���	�E��9Y�Ay�A��E��5)�Ef:;�m]�
   ProNav: 
      pos range: 31.320002 m,
      bearing: 149.268320 deg,
      approachRate: -0.589041 m/s,
      LOS rate: -0.336627 deg/s,
      cmd update: -1.009881 deg/s,
      cmd heading: 148.395476 deg,
      new cmd heading: 147.488748 deg.
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A��%�?9��.C����:	���:)��mUuAdded new target pos. range: 28.379997 m, bearing: 151.010537 deg, deltaT: 4.497006 s, approachRate: -0.653769 m/s, LOS rate: 0.387417 deg/s, posRepo size: 4�m]rPowering the camera and arming the DDM at range: 28.38 m.�m]lFinal approach. Armed for intercept at range: 28.38 m.�m]\Transitioning guidance mode to: FINAL_APPROACH"X]�mu�
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      bearing: 151.010537 deg,
      approachRate: -0.653769 m/s,
      LOS rate: 0.387417 deg/s,
      cmd update: 1.162251 deg/s,
      cmd heading: 143.834266 deg,
      new cmd heading: 143.469693 deg.
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   ProNav: 
      pos range: 26.039999 m,
      bearing: 151.650198 deg,
      approachRate: -0.537390 m/s,
      LOS rate: 0.146901 deg/s,
      cmd update: 0.440702 deg/s,
      cmd heading: 148.906271 deg,
      new cmd heading: 149.411268 deg.
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   ProNav: 
      pos range: 22.919998 m,
      bearing: 154.046297 deg,
      approachRate: -0.701733 m/s,
      LOS rate: 0.538917 deg/s,
      cmd update: 1.616752 deg/s,
      cmd heading: 150.863691 deg,
      new cmd heading: 151.067514 deg.
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      pos range: 20.160000 m,
      bearing: 155.673958 deg,
      approachRate: -0.621068 m/s,
      LOS rate: 0.366264 deg/s,
      cmd update: 1.098793 deg/s,
      cmd heading: 158.056498 deg,
      new cmd heading: 158.798032 deg.
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i�������]���Q���?<�O��n�?�I+�����](?��]t<	�]94�)�YI�Yy�]��t�V�?P��n���/�$��?��]�2?��]���]�<	�]�A)�]�AI�]��Ai�]�A��Y��]QA�ý�v>�ý/���ýGa=iý�@�ù	Ľ���)Ľh�@IĽI�@iĽ��@���J�<M�9=Y���G�QU��>�������a��E�����E���y��;�<}��>I����m�:����O5�?��m�:�����߾�	���(A��u�?9���:C�����:	��+�:)����:�m�yAdded new target pos. range: 18.840000 m, bearing: 151.418628 deg, deltaT: 4.497265 s, approachRate: -0.293512 m/s, LOS rate: -0.946204 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 18.840000 m,
      bearing: 151.418628 deg,
      approachRate: -0.293512 m/s,
      LOS rate: -0.946204 deg/s,
      cmd update: -2.838613 deg/s,
      cmd heading: 162.967038 deg,
      new cmd heading: 163.471359 deg.
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      pos range: 15.719999 m,
      bearing: 154.839692 deg,
      approachRate: -0.699767 m/s,
      LOS rate: 0.767291 deg/s,
      cmd update: 2.301873 deg/s,
      cmd heading: 150.231047 deg,
      new cmd heading: 149.115265 deg.
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   ProNav: 
      pos range: 12.059997 m,
      bearing: 157.825208 deg,
      approachRate: -0.831806 m/s,
      LOS rate: 0.678516 deg/s,
      cmd update: 2.035548 deg/s,
      cmd heading: 160.359784 deg,
      new cmd heading: 161.308556 deg.
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�Fpublishing direction and range info����5P����ɰ��=鰅��>	��)���1CI��y���A������j=W�?��&��ɿ��������ٱ�i�������]@��]@��]@��e��<MeO=Y�m[�;QUm�>��i��q�a��E���E��y�n�=}��>Iȡ����:�ť��	5�?����:�ť"߾�	ƥ�9A����?9ƥ�CC�ǥ��;	ȥe�;)ȥ��:�Wo>=@�WX
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I��)���Ai�������-,<M->=Y�5�o;QU5�>��9��9�a=�E��=�E��Iy�M�v=}U�>I�Y��]��	5�?��]v߾�	�]i:A��m�?9�]�CC��]�;	�]�/;)�Y�mMuAdded new target pos. range: 9.419999 m, bearing: 153.372813 deg, deltaT: 4.454945 s, approachRate: -0.592599 m/s, LOS rate: -0.999428 deg/s, posRepo size: 4�m]�
   ProNav: 
      pos range: 9.419999 m,
      bearing: 153.372813 deg,
      approachRate: -0.592599 m/s,
      LOS rate: -0.999428 deg/s,
      cmd update: -2.998283 deg/s,
      cmd heading: 169.419935 deg,
      new cmd heading: 170.280233 deg.
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   ProNav: 
      pos range: 7.199999 m,
      bearing: 153.823633 deg,
      approachRate: -0.498780 m/s,
      LOS rate: 0.101288 deg/s,
      cmd update: 0.303865 deg/s,
      cmd heading: 156.093440 deg,
      new cmd heading: 154.691590 deg.
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19D,000,002E9,185,80,80,BF,FF
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   ProNav: 
      pos range: 5.639998 m,
      bearing: 164.294764 deg,
      approachRate: -0.385681 m/s,
      LOS rate: 2.588790 deg/s,
      cmd update: 7.766371 deg/s,
      cmd heading: 157.314975 deg,
      new cmd heading: 157.466032 deg.
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   ProNav: 
      pos range: 5.339999 m,
      bearing: 151.242709 deg,
      approachRate: -0.067038 m/s,
      LOS rate: -2.916615 deg/s,
      cmd update: -8.749845 deg/s,
      cmd heading: 192.275363 deg,
      new cmd heading: 195.582524 deg.
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      pos range: 6.419999 m,
      bearing: 171.559093 deg,
      approachRate: 0.246440 m/s,
      LOS rate: 4.635893 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 154.032457 deg,
      new cmd heading: 149.661682 deg.
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      pos range: 8.579998 m,
      bearing: 185.678092 deg,
      approachRate: 0.483031 m/s,
      LOS rate: 3.157370 deg/s,
      cmd update: 9.472111 deg/s,
      cmd heading: 207.566295 deg,
      new cmd heading: 213.228315 deg.
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   ProNav: 
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      bearing: 174.453714 deg,
      approachRate: 0.762899 m/s,
      LOS rate: -2.548529 deg/s,
      cmd update: -7.645587 deg/s,
      cmd heading: 249.576233 deg,
      new cmd heading: 254.032634 deg.
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Bi�Am��*Bi�Au�|���Aq�Aq�Au�r="Cy*C}�;k�RC}�H�C��C��օ��q:��AI�QGm5>ܝ��>9ܙIܝOGiܝF�@�ܝ�=�ܙ�ܙ�ܝ��;	ݝȗE��z��r,Z-*�E�AY}ZEX@�}Z`H@y}Z��$��}Ze轼�}ZH����������@d������W�?��� �?��� O������_ؗ�����!��?����2������`b��?)~ZEX@	~Z�.];I~Xɫ�髑)��	������I��Y�ҫ@y�eSGZ****** received transponder code query ******F****** received ping request ******%<Arming DUSBL. detectThresh: 75-8****** ping requested ******��E�=i�A��…iA���e�M�?=Y�ah�QU��>�����a��E����E��y�#�}��>Iȱ����:�ŵ?�4�?����:�ŵ�aݾ�	Ƶ�UA����?9Ƶ�wC�ǵ�;	ȵ3;)ȵ�:�W��W�X�
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   ProNav: 
      pos range: 67.740005 m,
      bearing: 198.004411 deg,
      approachRate: 0.606058 m/s,
      LOS rate: 1.467201 deg/s,
      cmd update: 4.401604 deg/s,
      cmd heading: 191.467988 deg,
      new cmd heading: 191.467988 deg.
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���������������������`e=����>i��̜@���	���@)����@I�� �@i���@���xC=M�<=Y���ĻQU��>������a�E���E��y��Y=}�>I�!��%E��4�?��%��ܾ�	�%1zA��-�?9�%��C��%ض;	�%/�@)�!�m�qAdded new target pos. range: 70.919998 m, bearing: 204.288868 deg, deltaT: 4.458015 s, approachRate: 0.713320 m/s, LOS rate: 1.409699 deg/s, posRepo size: 3�m��
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      pos range: 70.919998 m,
      bearing: 204.288868 deg,
      approachRate: 0.713320 m/s,
      LOS rate: 1.409699 deg/s,
      cmd update: 4.229096 deg/s,
      cmd heading: 211.002653 deg,
      new cmd heading: 212.969324 deg.
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   ProNav: 
      pos range: 73.080002 m,
      bearing: 233.221099 deg,
      approachRate: 0.483320 m/s,
      LOS rate: 6.473842 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 229.970371 deg,
      new cmd heading: 231.714970 deg.
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   ProNav: 
      pos range: 74.879997 m,
      bearing: 247.678915 deg,
      approachRate: 0.408846 m/s,
      LOS rate: 3.283907 deg/s,
      cmd update: 9.851720 deg/s,
      cmd heading: 282.847184 deg,
      new cmd heading: 288.696548 deg.
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      bearing: 236.898937 deg,
      approachRate: -0.013291 m/s,
      LOS rate: -2.388085 deg/s,
      cmd update: -7.164254 deg/s,
      cmd heading: 327.122073 deg,
      new cmd heading: 330.617404 deg.
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B!�A%q?*B!�AE��A��AI�AI�AM��="CU�;<�RCQCQ�CY��]�2/�I޹)޽@A��1I�AG}z>�ūp�r,t��9�E�A�|i|�@Y}6�m�@�}6x{�@y}6#�"��}6��=�}6H����@à�?����T��?��� !4������3�����`o��?�����������%V�?����W��?����H��?)~6�m�@	~6y�a;I~6ޖCɫ9�9)�9	�9I�9Y��y����m���m���m���m@��m@��m@��i��i��ii�mz�@��i	�m���)�mƷ@I�ii�iY�l:QU��>�����a��E����E��y��}=}��>Iș����:�ŝ���4�?����:�ŝJ�޾�	Ɲr�A����?9Ɲ�C�ǝI�:	ȝw�:)ȝ?�:�m�qAdded new target pos. range: 73.920006 m, bearing: 6.219932 deg, deltaT: 4.495288 s, approachRate: -0.186862 m/s, LOS rate: 10.820013 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 73.920006 m,
      bearing: 6.219932 deg,
      approachRate: -0.186862 m/s,
      LOS rate: 10.820013 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 317.580847 deg,
      new cmd heading: 317.580847 deg.
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      pos range: 72.120010 m,
      bearing: 6.592139 deg,
      approachRate: -0.407550 m/s,
      LOS rate: 0.084274 deg/s,
      cmd update: 0.252822 deg/s,
      cmd heading: 10.679001 deg,
      new cmd heading: 17.150037 deg.
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      bearing: 10.110502 deg,
      approachRate: -0.498959 m/s,
      LOS rate: 0.860541 deg/s,
      cmd update: 2.581623 deg/s,
      cmd heading: 11.711651 deg,
      new cmd heading: 11.844240 deg.
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��M�=MM3=Y�U(G;QUU�>��Q��Q�aU�E��],�E��Yy�]�=}e�>I�i��m�:��m[��4�?��u�:��m}X߾�	�m��A��u�?9�m��C��m��:	�m=�:)�mQ�:�m�qAdded new target pos. range: 63.899998 m, bearing: 15.217243 deg, deltaT: 9.704865 s, approachRate: -0.636794 m/s, LOS rate: 0.526204 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 63.899998 m,
      bearing: 15.217243 deg,
      approachRate: -0.636794 m/s,
      LOS rate: 0.526204 deg/s,
      cmd update: 1.578613 deg/s,
      cmd heading: 36.765067 deg,
      new cmd heading: 37.871837 deg.
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      bearing: 6.908011 deg,
      approachRate: -0.652305 m/s,
      LOS rate: -1.881997 deg/s,
      cmd update: -5.645991 deg/s,
      cmd heading: 43.741813 deg,
      new cmd heading: 44.499254 deg.
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B��A� ?*B��A��P1��A��A��A�.M�<"C�41�>RC�C�41�>�C���u/�=���	�����{�����{��������	��76:Y��#R1y����:����5)����;�9���יI��G�a>�̀"�r,��@�E�AY}j&�?�}j=@P?y}j.�K<�}j@�c=�}jH�����@��?�����3�������?�����@�?������?�����ߝ�����u������uv�?�������?)~j&�?	~j6_;I~jߖCɫ���)��	������I��Y�5��@y�5�G��DNmea in: $SNTTA,,,,,022258.12*52
���i��I��=)��4=��8"=MY=Y�+�;QU�>�����a�E��s�E��!y�%DB�}%�>I�1��5݌�4�?��5h�޾�	�5ɔA��=�?9�5��C��5��:	�5w�:)�1�mmqAdded new target pos. range: 58.620003 m, bearing: 2.323223 deg, deltaT: 4.512886 s, approachRate: -0.531809 m/s, LOS rate: -1.015932 deg/s, posRepo size: 4�m}�
   ProNav: 
      pos range: 58.620003 m,
      bearing: 2.323223 deg,
      approachRate: -0.531809 m/s,
      LOS rate: -1.015932 deg/s,
      cmd update: -3.047797 deg/s,
      cmd heading: 18.262158 deg,
      new cmd heading: 16.136109 deg.
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CI��y��G]B������	�uD�?���1�ݿ��������ٱ����=M�w=Y�y$<QU�?�����a��E����E���y���1�}�?I������:����H�4�?����:���i,޾�	��[�A����?9��#�C�����:	���:)��]�:�W�i�=�W�X�
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�Me&=Y�mJz;QUm�>��i��q�au�E��u��E��qy�}�g�}}�>Iȁ�Ņz`�4�?�Ņ�!޾�	ƅL�A����?9ƅO�C�Dž��:	ȅ/�:)ȁ�m�mAdded new target pos. range: 55.320004 m, bearing: 6.647404 deg, deltaT: 4.408522 s, approachRate: -0.748550 m/s, LOS rate: 0.980869 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 55.320004 m,
      bearing: 6.647404 deg,
      approachRate: -0.748550 m/s,
      LOS rate: 0.980869 deg/s,
      cmd update: 2.942606 deg/s,
      cmd heading: 4.864888 deg,
      new cmd heading: 3.438269 deg.
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      approachRate: -0.615853 m/s,
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      cmd heading: 18.065739 deg,
      new cmd heading: 19.190833 deg.
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   ProNav: 
      pos range: 49.019997 m,
      bearing: 7.169303 deg,
      approachRate: -0.808405 m/s,
      LOS rate: -1.776373 deg/s,
      cmd update: -5.329120 deg/s,
      cmd heading: 42.443379 deg,
      new cmd heading: 45.106543 deg.
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   ProNav: 
      pos range: 45.840000 m,
      bearing: 1.666061 deg,
      approachRate: -0.651406 m/s,
      LOS rate: -1.127310 deg/s,
      cmd update: -3.381931 deg/s,
      cmd heading: 16.427594 deg,
      new cmd heading: 14.461655 deg.
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      pos range: 43.019997 m,
      bearing: 1.157174 deg,
      approachRate: -0.625965 m/s,
      LOS rate: -0.112959 deg/s,
      cmd update: -0.338877 deg/s,
      cmd heading: 1.192156 deg,
      new cmd heading: 359.647409 deg.
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   ProNav: 
      pos range: 40.139999 m,
      bearing: 6.008021 deg,
      approachRate: -0.698747 m/s,
      LOS rate: 1.176917 deg/s,
      cmd update: 3.530750 deg/s,
      cmd heading: 359.798648 deg,
      new cmd heading: 359.644029 deg.
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      bearing: 5.914245 deg,
      approachRate: -0.643015 m/s,
      LOS rate: -0.020937 deg/s,
      cmd update: -0.062812 deg/s,
      cmd heading: 15.646023 deg,
      new cmd heading: 17.207593 deg.
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      bearing: 0.075814 deg,
      approachRate: -0.742889 m/s,
      LOS rate: -1.390161 deg/s,
      cmd update: -4.170483 deg/s,
      cmd heading: 15.382506 deg,
      new cmd heading: 15.349773 deg.
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      approachRate: -0.719109 m/s,
      LOS rate: -1.858395 deg/s,
      cmd update: -5.575185 deg/s,
      cmd heading: 358.314975 deg,
      new cmd heading: 356.326472 deg.
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      cmd heading: 332.539289 deg,
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      cmd heading: 351.961465 deg,
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   ProNav: 
      pos range: 16.860001 m,
      bearing: 353.510811 deg,
      approachRate: -0.451217 m/s,
      LOS rate: -0.692780 deg/s,
      cmd update: -2.078340 deg/s,
      cmd heading: 353.651616 deg,
      new cmd heading: 353.789183 deg.
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   ProNav: 
      pos range: 16.860001 m,
      bearing: 358.420980 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.154257 deg/s,
      cmd update: 3.462770 deg/s,
      cmd heading: 344.844016 deg,
      new cmd heading: 344.156852 deg.
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i����������M��=Y���żQU�?�������a��E����E���y��[9>}�?I�����Kj5�?���M�۾�	��h�A����?9����C�����:	��k�:)���muAdded new target pos. range: 7.080001 m, bearing: 346.991942 deg, deltaT: 9.814333 s, approachRate: -0.996502 m/s, LOS rate: -1.164525 deg/s, posRepo size: 4�m%�
   ProNav: 
      pos range: 7.080001 m,
      bearing: 346.991942 deg,
      approachRate: -0.996502 m/s,
      LOS rate: -1.164525 deg/s,
      cmd update: -3.493576 deg/s,
      cmd heading: 18.870376 deg,
      new cmd heading: 19.928616 deg.
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5�?����:�ť��۾�	ƥQ�A����?9ƥ{�C�ǥE�:	ȥs�:)ȥ��:�m�yAdded new target pos. range: 12.840000 m, bearing: 259.188904 deg, deltaT: 4.495925 s, approachRate: 0.400363 m/s, LOS rate: -16.116410 deg/s, posRepo size: 4�m�!ProNav REINIT: LOS rate is -16.116410 deg/s. Setting heading cmd to target bearing of 259.188904deg and heading rate command to 0 deg/s.�W�&@�W�X�
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   ProNav: 
      pos range: 14.159999 m,
      bearing: 285.743942 deg,
      approachRate: 0.300096 m/s,
      LOS rate: 6.037166 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 259.188904 deg,
      new cmd heading: 259.188904 deg.
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�Fpublishing direction and range info�����>���ɰ�c�=鰁	��)����BI��y��3GB����o�U�"�?�vw���?��������ٱ���-��I+��?y�&1�|?�l����?��-9?��-`�;	�-�=)�)I�)y�-��l�����?:��v���?����Mb�?��-�7?��-��=��-�<	�-\A)�-tAI�-�
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��iA��iA��];��]��?��]�>i�]��@��Y	�]�@)�]��@I�]��@i�]��@��%2�M�E=Y����QU��>�����a��E��ذE��y����}��>Iȩ�ŭ��5�?�ŭ���	ƭp�A����?9ƭD�C�ǭ�:	ȭ4�:)ȩ�m�uAdded new target pos. range: 52.620003 m, bearing: 331.980826 deg, deltaT: 4.439457 s, approachRate: 0.635213 m/s, LOS rate: -1.199971 deg/s, posRepo size: 4�W��W�X�
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   ProNav: 
      pos range: 73.080002 m,
      bearing: 342.984096 deg,
      approachRate: 0.656209 m/s,
      LOS rate: 0.546283 deg/s,
      cmd update: 1.638849 deg/s,
      cmd heading: 340.536594 deg,
      new cmd heading: 340.536594 deg.
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   ProNav: 
      pos range: 75.959999 m,
      bearing: 344.855541 deg,
      approachRate: 0.635156 m/s,
      LOS rate: 0.412729 deg/s,
      cmd update: 1.238188 deg/s,
      cmd heading: 347.960703 deg,
      new cmd heading: 348.535585 deg.
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B9�AE�>*BA�AE�32��AA�AA�AM	c="CMnP�RCU ���CUWE�@�CQ��'����y����y�������	�a�9Y��P1y�'�:����5��=ԅ�<	�E�=��E�=��M�|5�I�UhA)�UhA��!	I�1	GM	�>�=�R�r,�Lu�E�AY}:n��=�}:�%�@y}:�}:�m>�}:H����@TT�?�������?�����Ἷ���`�nǿ����^6�?����{v�������ն?������?����1��?)~:n��=	~:P
f;I~8ɫ9�9)�9	�9I�9Y�],�@y�]�GeZ****** received transponder code query ******eF****** received ping request ******m<Arming DUSBL. detectThresh: 75u8****** ping requested ******������hA���k6=M�Z=Y��=��QU��>�������a��E����E���y���=}��>I����:���5�?��%�:������	� �A��%�?9���C���;	�W1;)�:�:�W����@�W�X�
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uAdded new target pos. range: 78.720009 m, bearing: 344.364669 deg, deltaT: 4.381733 s, approachRate: 0.629890 m/s, LOS rate: -0.112027 deg/s, posRepo size: 4�m�
   ProNav: 
      pos range: 78.720009 m,
      bearing: 344.364669 deg,
      approachRate: 0.629890 m/s,
      LOS rate: -0.112027 deg/s,
      cmd update: -0.336081 deg/s,
      cmd heading: 353.367014 deg,
      new cmd heading: 353.882604 deg.
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0C7,000,00791,186,80,80,4A,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
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Y�֋;QU��>�������a��E���5�E��9��I���Gi��"�@������������m�;	����E��Iy�U��;}U�>I�Y����:��]�*5�?����:��]���	�]��A����?9�]��C��]O�;	�]<)�]?�:�W5ߖ�@�W1X1
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�>��ଝr,��v�E�A�|i|�@Y}6�;�>�}6�w�<y}6����}6=�g=�}6H��������?���@�J�����`�������`p�?��� ���?�����̭���� 7[�?����!ެ?��� ���?)~6�;�>	~6N_;I~6��Cɫ9�9)�9	�E���I�AY�]��@y�]��GexDUSBL response received:!U1,R,F33,000,003CC,187,80,80,5E,FF
mFpublishing direction and range info��e�07>��aɰe@�=�e1�>	�a)�e��BI�ay�e��A��e����B}�?$2����?��������ٱa���/=����lg?���p=>i��=�@���	��)��η@I���@i����@����<M��<Y����;QU��>�������a��E���8�E���y��|;}��>I������?5�?���`���	��)�A��
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@��������JQU����B}�?$2����?��������2QU�07>:QQbQU�B�g�S4@�uv[�@�:�����?RQU��[���=�?�1ֲ�?���r���?BQU0�O>
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~?���I��GI>�rʳ�r,X��v�E�AY}v>��>�}v�-�<y}v$����}v�6"=�}vH���� ���?����Hי���� �����������?���@���?����W���������?��� �8�?����z��?)~v>��>	~v��^;I~tɫ���)��	������I��Y�5g�@y�5��G��DNmea in: $SNTTA,,,,,022635.20*5C
���(n=M�/=Y���j;QU��>�������a��E���<�E���y�� �}��>I�����:����Z5�?���:���'���	����A���?9����C����W;	���2;)��@�:�m]uAdded new target pos. range: 20.820002 m, bearing: 11.620324 deg, deltaT: 4.405676 s, approachRate: -13.142139 m/s, LOS rate: 6.186484 deg/s, posRepo size: 4�m]rPowering the camera and arming the DDM at range: 20.82 m.XY��������������	���9Y�y���b�5�9�@�me�
   ProNav: 
      pos range: 20.820002 m,
      bearing: 11.620324 deg,
      approachRate: -13.142139 m/s,
      LOS rate: 6.186484 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 351.878398 deg,
      new cmd heading: 351.719084 deg.
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�@�Å���Å�+��Å��>iÅ�@�Á	ą��@)āIąη@ią�@���<M�0=Y��y;QU��>�����a�E��?�E��y�%�}%�>I�)��-�w5�?��-���	�-��A��5�?9�-�C��-U�:	�-�:)�)�:u���uu�Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;u��v}ZEntering USBL mode with 5.000000 count pings.1;}���q;}���W�m�k=�W�X�
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   ProNav: 
      pos range: 90.240005 m,
      bearing: 104.816780 deg,
      approachRate: 0.071453 m/s,
      LOS rate: 3.058870 deg/s,
      cmd update: 9.176609 deg/s,
      cmd heading: 317.330548 deg,
      new cmd heading: 321.015371 deg.
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   ProNav: 
      pos range: 90.900009 m,
      bearing: 104.284599 deg,
      approachRate: 0.148620 m/s,
      LOS rate: -0.119837 deg/s,
      cmd update: -0.359511 deg/s,
      cmd heading: 358.081447 deg,
      new cmd heading: 2.096103 deg.
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�}U�>I�Y��]$5�?��]`���	�]��A��e�?9�]-�C��]�:	�]'�:)�Y�m�qAdded new target pos. range: 92.520004 m, bearing: 59.537618 deg, deltaT: 4.486747 s, approachRate: 0.361062 m/s, LOS rate: -9.973145 deg/s, posRepo size: 4�m��
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      pos range: 92.520004 m,
      bearing: 59.537618 deg,
      approachRate: 0.361062 m/s,
      LOS rate: -9.973145 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 356.471734 deg,
      new cmd heading: 356.324621 deg.
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      pos range: 97.380005 m,
      bearing: 351.089919 deg,
      approachRate: 0.593188 m/s,
      LOS rate: 1.789893 deg/s,
      cmd update: 5.369680 deg/s,
      cmd heading: 342.942897 deg,
      new cmd heading: 342.942897 deg.
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�Fpublishing direction and range info���#��>���ɰ�A>鰝��>	��)����BI��y����B����[(�f��?�+�0�?��������ٱ�i��������R��M�U=Y��3�QU��>�������a��E���
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i�������Nonly read 0 of 1 data item for altitudeai�@a��� am�@a��� aq�@a��� ae�@a��� ��@��@��@��©�����i��@������	�)����I���@i������%�v�M-*=Y�-���QU-�>��1��1�a5�E��5�E��1y�=���}=�>I�A���������}�����}��������	��f�9Y��kS1y��Ԋ:���)�5)��X,;�9����%�:��E�(5�?��%�:��Ei(��	�E��A��-�?9�E��C��E��<	�E�?)�E��:�m}qAdded new target pos. range: 103.919998 m, bearing: 10.256009 deg, deltaT: 9.616741 s, approachRate: 0.680063 m/s, LOS rate: 1.992993 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 103.919998 m,
      bearing: 10.256009 deg,
      approachRate: 0.680063 m/s,
      LOS rate: 1.992993 deg/s,
      cmd update: 5.978980 deg/s,
      cmd heading: 34.473843 deg,
      new cmd heading: 37.223656 deg.
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B��A����*B��A�+=�A��A��A�z��<"C#a?RCC/f?�C	���������y�����y��������	����9Y���P1y��'�:���ϊ5��!���I�G%M>����r,b0��E�AY}2$��>�}2�q�=y}29C=�}24t>�}2H����`h��?�����y�������F�?��� ���?�����v�?����xp¿�����a�����@86�?����͙�?)~2$��>	~2H�g;I~2�Cɫy�y)�y	�yI�y��9��ŔCI��`QGi��-�@������������S�;	��~�EY��J�@y���XG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�!��)	�A�A��U&1>��U&1���U��=i�U(�@��Q	�Uz�@)�U��@I�UC�@i�U$�@��e�Me4=Y�m�W�QUm�>�����a��E��(�E��y�>s=}��>I������:���r?)5�?����:���T��	��ھA����?9����C���C<	���V<)����:�Wm�^r?�WiXi
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�Fpublishing direction and range info�����9>���ɰ��D>鰹	��)���TBI��y��z�B��������jy�?M�We@�?��������ٱ�	����gAi�����I���=)��aIm@a��m ��m�}?5^�I�?:��v���?{�G�z�?��mM"?��m��=	�m�#<)�iI�iy�m�����Mb�?�Q���?:��v���?��mC?��i��m�T=	�m�#A)�m�
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By�A}�*By�A}���<�A��A��A��<"C�`��?RC�C�kf�?�C��ֵ?΅��׉I��G��>�����r,�ٗ��E�AY}r��>�}r��o>y}r�o�<�}r�p">�}rH���� B�?������̿������?���`���?��� q��?�����¿����������@6�?���@���?)~r��>	~r��g;I~r�Cɫ���)��	��I��Y�5D�@y�5,UG��DNmea in: $SNTTA,,,,,022738.33*52
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   ProNav: 
      pos range: 106.740005 m,
      bearing: 19.962085 deg,
      approachRate: 0.624722 m/s,
      LOS rate: 2.150206 deg/s,
      cmd update: 6.450618 deg/s,
      cmd heading: 61.503467 deg,
      new cmd heading: 63.758726 deg.
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=Command AckEBRequesting micromodem ping code 2i�A��II�a)�a���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
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i�����Ut<��U?����U�i�Q��Q	�Q)�U�@I�Qi�UЎ@��x��M�3=Y�-F�QU��>�����a��E��X�E���-�����x�����x��������	��V�9Y��7P1y����:����5)���=;��y��>}��>Iȡ����:�ťZ�*5�?����:�ť��߾�	ƥ��A����?9ƥ��C�ǥq�:	ȥg�?)ȥ��:�m�qAdded new target pos. range: 109.020004 m, bearing: 41.375520 deg, deltaT: 4.390345 s, approachRate: 0.519321 m/s, LOS rate: 4.877392 deg/s, posRepo size: 4�m
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   ProNav: 
      pos range: 109.020004 m,
      bearing: 41.375520 deg,
      approachRate: 0.519321 m/s,
      LOS rate: 4.877392 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 89.935009 deg,
      new cmd heading: 93.107552 deg.
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BA�AE�B�*BA�AEݩ<�AA�AA�AEg��<"CM���?RCQCU[E@�CQ���i���ց��YI�aG�Y>��@�r,g�Q��E�A�|i|�@Y}B�߈?�}B2-R?y}Bu���}B¶>�}BH����`r��?�����I������?���@�i�?����Ԑ�?��� �9������}"�?�����J�?��� s��?)~B�߈?	~BLd;I~B�Cɫi�i)�q	�qI�qY��O�@y���MG������?A����=i���=i���������k�M�Y=Y��r�QU��>�������a��E���k�E���y����=}��>I�����H�*5�?���Ei߾�	��t�A����?9����C����:	���@)���W�S
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@�Cq�ԁ�ԅfA���������z�����z��������	���9Y��Q1y����:�����5�֕FӅ�Iי)י��II�YGu7>��h�r,֧k��E�Aɫa�a)�a	�e����I�aY��a�@y���MG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�������MC=��M�}>��M�u=i�M��@��I	�I)�M��@I�M��@i�I��]�;M](=Y�]���QUe�>��a��a�ae�E��eo�E��iy�m���}m�>I�q��u2�*5�?��u^Z߾�	�u��A����?9�u��C��u��:	�u��@)�q�W���@�W�X�
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F3D,000,0098A,186,80,80,7C,FF
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NGxDUSBL response received:!U1,R,F3F,000,009AE,187,80,80,99,FF
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B9�A=;A�*BA�AE�Ȑ<�AA�AA�AE�<�<"CMSS@RCICU�M @�CQ�����������������	���9Y��y�����s�5)���;;��}?΅���9I�IGeV>�ׄ4�r,#�҈�E�AY}G�?�},�z?y}Wټ�}?�	>�}H�������?�����a����`(Ƹ?�������?��� ��?���`V¸�����*�?����'.�?�������?)~G�?	~��c;I~ɫ�)�	����I�Y�mK�@y�m�MG��DNmea in: $SNTTA,,,,,022747.25*5D
i�������-���M5A=Y�5�QU5�>��9��9�a=�E��=|�E��Ay�Eʒ=}E�>I�I��Mm"+5�?��Mc&߾�	�M��A��U�?9�M\�C��M��:	�M"�@)�I�m�qAdded new target pos. range: 111.180000 m, bearing: 63.934047 deg, deltaT: 4.464743 s, approachRate: 0.483790 m/s, LOS rate: 5.052592 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 111.180000 m,
      bearing: 63.934047 deg,
      approachRate: 0.483790 m/s,
      LOS rate: 5.052592 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 143.511446 deg,
      new cmd heading: 148.592955 deg.
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F3F,000,009AE,187,80,80,99,FF
5Command Ack=BRequesting micromodem ping code 2i�9��9�E�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
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b;I~2��CɫY�Y)�Y	�]���I�YY��]�@y���MG鮡ɮ�a=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B
i�������z�����z����+>i��p�@���	����@)���@I����@i����@�����<M�Y=Y��5y�QU��>�������a��E�����E���y��o�=}��>I����g+5�?����޾�	���A��
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�Fpublishing direction and range info���"����ɰ��L>����>	��)���CI��y����B����+� (���?��v ߿��������ٱ�I��)��I��)��i�����S�MY=Y����QU�>�����a%�E��%��E��!y�-���}-�>I�1��5�l+5�?��5��޾�	�5�A��=�?9�5��C��5��:	�5"A)�1�W]��[@�WaXa
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��:�m�uAdded new target pos. range: 112.440002 m, bearing: 43.020834 deg, deltaT: 4.426875 s, approachRate: 0.284626 m/s, LOS rate: -4.724148 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 112.440002 m,
      bearing: 43.020834 deg,
      approachRate: 0.284626 m/s,
      LOS rate: -4.724148 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 196.635940 deg,
      new cmd heading: 202.016824 deg.
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      bearing: 188.869921 deg,
      approachRate: -0.253905 m/s,
      LOS rate: 3.185654 deg/s,
      cmd update: 9.556962 deg/s,
      cmd heading: 174.566876 deg,
      new cmd heading: 174.566876 deg.
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	��鼩i�������=���ʡE�?�A`��"˿�&1��?��=-?��=Y�	�=�P=)�9I�9y�=�bX9���?���(\�¿�~j�t��?��=E6?��=z���=��<	�=!A)�9I�=zAi�9��9��==A��]�=M]4=Y�e��QUe�>��a��a�ae�E��m-�E��iy�u�=}u�>I�y��}P8*5�?��}"�۾�	�}�A����?9�}D��}��:	�}��:)�y�m�}Added new target pos. range: 110.040009 m, bearing: 178.505956 deg, deltaT: 4.404833 s, approachRate: -0.272427 m/s, LOS rate: -2.352862 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 110.040009 m,
      bearing: 178.505956 deg,
      approachRate: -0.272427 m/s,
      LOS rate: -2.352862 deg/s,
      cmd update: -7.058587 deg/s,
      cmd heading: 216.669576 deg,
      new cmd heading: 220.752778 deg.
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X��W�:W�2W�*W��V�bU�BU�*U�U�U�����>�@�R�B*** querying acoustic contact ***�P��P�B��fy�B�
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�*B��A������A��A��A��L�<"C��b+�RC�C��[@�C����������u�����u��������	���9Y�KN1y�y�:��`�5)��6;���o셾�ױI��G�e>��?ţr,���E�Aɫy�y)�y	�}���I�yY�� �@y���SG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i���	��-��<M-\=Y�5���QU5�>��9��9�a=�E��ED�E��Ay�M���}M�>I�Q��U��)5�?��U-�۾�	�U�A��e�?9�U�D��U��:	�UV�:)�Q�W�դX@�W�X�
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D3C,000,0099B,18A,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
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I���?)���?i�����5!�M=�=Y�=�H;QU=?��A��A�aE�E��EJ�E��Iy�MԲ=}M?I�Q��U��)5�?��U�۾�	�UT�A��]�?9�U�D��U{�:	�U��:)�Q�W�QHR@�W�X�
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Fpublishing direction and range info��Z;�>��ɰTF>�1�>	�)���BI�y���B����vR���?=w*��'�?��������ٱi�9��9����)\���(�?+�������~j�t������G!?������	���D�)��I��y���j�t��?ˡE���Ŀ���Q������� ?����'�����u�	��lA)��I���
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,�?���@k��?����DT�?����۾�?)~U1�E@	~UG_;I~U�Cɫ�髉)��	������I��Y��.�@y��UG�=DNmea in: $SNTTA,,,,,022813.92*5F
i�A��A��UfA��UfA�������������Ý$�>�Ýl��Ý�D=iÝf�@�Ý���	ĝx�@)ĝ̘@Iĝx�@iĝx�@����
<M�>=Y���;QU��>�������a��E���Q�E���y��r�=}��>I������:����p)5�?����:���4�۾�	��S�A����?9���D�����:	��f�:)����:�m�yAdded new target pos. range: 107.760002 m, bearing: 187.292885 deg, deltaT: 4.523248 s, approachRate: -0.504064 m/s, LOS rate: 1.942615 deg/s, posRepo size: 4�m�
   ProNav: 
      pos range: 107.760002 m,
      bearing: 187.292885 deg,
      approachRate: -0.504064 m/s,
      LOS rate: 1.942615 deg/s,
      cmd update: 5.827844 deg/s,
      cmd heading: 184.804192 deg,
      new cmd heading: 182.013890 deg.
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      pos range: 105.360001 m,
      bearing: 180.559275 deg,
      approachRate: -0.550789 m/s,
      LOS rate: -1.545331 deg/s,
      cmd update: -4.635992 deg/s,
      cmd heading: 210.132902 deg,
      new cmd heading: 212.689967 deg.
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i�9��9�Í��>�Í�@��Í���iÍ��@�É	čC�@)čZ�@IčC�@ičC�@��%�"<M%�<Y�%��:QU-�>��)��)�a5�E��5��E��1y�=T=}=�>I�A��M�:��E��'5�?��M�:��E�Q۾�	�E��A��M�?9�ED��E@�:	�E��:)�E��:�m}}Added new target pos. range: 102.600006 m, bearing: 175.780751 deg, deltaT: 4.484305 s, approachRate: -0.615479 m/s, LOS rate: -1.065611 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 102.600006 m,
      bearing: 175.780751 deg,
      approachRate: -0.615479 m/s,
      LOS rate: -1.065611 deg/s,
      cmd update: -3.196832 deg/s,
      cmd heading: 189.296597 deg,
      new cmd heading: 187.455737 deg.
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<�C@�C	����>9��ƔCI���RGi��!�@����=���������U�;	����E�֍m^N>��AI�QGm5>��x��r,@�Ғ�E�AY}%4�o@�}%��_@y}%�SѼ�}%A�0��}%H����`�����`D�?���@�?�����+ֿ����e�����`^1�������)�?����N����� ���?)~%4�o@	~%E8\;I~%�Cɫ�)�	�I�Y�U�@y�U+WG��DNmea in: $SNTTA,,,,,022827.24*55
i�1��1���^!�M�2=Y�%�2�QU-�>��9��Y�ae�E��e��E��ay�m(�}m�>I�q��u��&5�?��u[e۾�	�u��A��}�?���5�����y�����y�������	����9Y���P1y��'�:����59�u�D��u��<	�uޏ<)�q�mM}Added new target pos. range: 100.800011 m, bearing: 166.879389 deg, deltaT: 4.399686 s, approachRate: -0.409119 m/s, LOS rate: -2.023181 deg/s, posRepo size: 4�m}�
   ProNav: 
      pos range: 100.800011 m,
      bearing: 166.879389 deg,
      approachRate: -0.409119 m/s,
      LOS rate: -2.023181 deg/s,
      cmd update: -6.069543 deg/s,
      cmd heading: 175.199875 deg,
      new cmd heading: 173.629317 deg.
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      bearing: 177.036304 deg,
      approachRate: -0.659397 m/s,
      LOS rate: 2.232474 deg/s,
      cmd update: 6.697422 deg/s,
      cmd heading: 147.610153 deg,
      new cmd heading: 145.594518 deg.
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      pos range: 92.040001 m,
      bearing: 184.530456 deg,
      approachRate: -0.598256 m/s,
      LOS rate: 0.778371 deg/s,
      cmd update: 2.335114 deg/s,
      cmd heading: 212.113917 deg,
      new cmd heading: 214.837042 deg.
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   ProNav: 
      pos range: 89.220009 m,
      bearing: 180.771789 deg,
      approachRate: -0.634451 m/s,
      LOS rate: -0.845637 deg/s,
      cmd update: -2.536910 deg/s,
      cmd heading: 222.466957 deg,
      new cmd heading: 223.409783 deg.
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04B,000,00840,184,80,80,BD,FF
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�Fpublishing direction and range info���-������ɰ�~)>鰥��>	��)���CI��y��G�B��������A�?ET`���޿��������ٱ�i�����������gA��������l?����=i�Q�@��	����)���@I�7�@i�V�@��%�M%_=Y�%
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.��M<=Y�˻QU�>�����a�E��t�E��!y�%7�=}%�>I�)��5�:��-�W"5�?��5�:��-c�ھ�	�-u�A��=�?9�-[D��-#�:	�-�:)�-��:�mmyAdded new target pos. range: 86.639999 m, bearing: 172.070224 deg, deltaT: 4.428043 s, approachRate: -0.582652 m/s, LOS rate: -1.965104 deg/s, posRepo size: 4�m}�
   ProNav: 
      pos range: 86.639999 m,
      bearing: 172.070224 deg,
      approachRate: -0.582652 m/s,
      LOS rate: -1.965104 deg/s,
      cmd update: -5.895312 deg/s,
      cmd heading: 211.223513 deg,
      new cmd heading: 210.170053 deg.
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      pos range: 84.480003 m,
      bearing: 166.248840 deg,
      approachRate: -0.489885 m/s,
      LOS rate: -1.320283 deg/s,
      cmd update: -3.960849 deg/s,
      cmd heading: 185.180753 deg,
      new cmd heading: 182.507436 deg.
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i�i��i���<M�2=Y�۞:QU��>�����a��E����E��y�;j�}��>I������� 5�?���R۾�	��v�A����?9���D���߼:	��/�:)���muAdded new target pos. range: 82.800003 m, bearing: 169.010845 deg, deltaT: 4.479050 s, approachRate: -0.375080 m/s, LOS rate: 0.616650 deg/s, posRepo size: 4�m�
   ProNav: 
      pos range: 82.800003 m,
      bearing: 169.010845 deg,
      approachRate: -0.375080 m/s,
      LOS rate: 0.616650 deg/s,
      cmd update: 1.849949 deg/s,
      cmd heading: 167.474036 deg,
      new cmd heading: 165.753031 deg.
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   ProNav: 
      pos range: 80.040001 m,
      bearing: 176.522701 deg,
      approachRate: -0.621013 m/s,
      LOS rate: 1.690201 deg/s,
      cmd update: 5.070602 deg/s,
      cmd heading: 175.692860 deg,
      new cmd heading: 176.581511 deg.
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��<���I��G�%>���'�r,���E�A�|�|Y}6�]@�}62M@y}6��n��}6��%��}6H����������`.ѫ?����+[�?�����~����� ������Ŀ�����֭?����^�Ŀ����<��?)~6�]@	~6��];I~6�Cɫ9�9)�9	�=���I�9Y�}��@y�}rG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I���?)���?i��������(�=M�E=Y���$<QU��>�������a�E����E��	y�
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B��A��>*B��A�M�`��A��A��A���="C��U;�RC�F�Y�C��V@�C���]����Y��Y��]���	�]��9Y�Yy�Y��]�5�֭͢!��ׁI��G�E>��	.�r,�ຜ�E�AY}6�]@�}6#M@y}6�Z��}6=p��}6H����@������@K�?����?����#D�����`������`�¿�����[�?���@�v¿�������?)~6�]@	~6��];I~6�Cɫ9�9)�9	�=����I�9Y�}D�@y�}�rG�xDUSBL response received:!U1,P
11B,000,007A7,186,80,80,95,FF
�Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
i�����I��4=)��%=��������eQ�?��e`���ex�=i�e=�@��a	�e��@)�eh�@I�eh�@i�a����<M�&=Y��!<QU��>�������a��E�����E���y��)�}��>I����E�:����K5�?��E�:����m۾�	����A��M�?9���	D����"<	���"<)����:�W�A�Y@�W�X�
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BA�AEG>*BA�AMH=`��AI�AQ�AU�="C�t�8�RC�<Y|�C�A�Y@�C����2�Ľ�ױI��G��>����>9��I���oGi����@������������x�;	����E���4�r,�Ԝ�E�AY}:VM]@�}:�hM@y}:��F��}: :��}:H����@w����� �R�?���@��?�����Z�������������������� qݨ?���@#7�����@A��?)~:VM]@	~:�m];I~8ɫY�a)�a	�iI�iY�=K�@y�=�sG�qɮua=�=�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B
i�������U#����U}����U}����U���	�U��9Y�UkS1y�UԊ:��U��5)�U1<;�9]���u�/�$���?X9��v���E���Ը?��u�\?��u��	�u��=)�qI�qy�u��E�����?ˡE������l����?��u�&?��u什��u�=	�uS�@)�u�AI�u�Ai�u�A��q��u�A����=M�K=Y��F<QU��>�����a��E����E��y�1<}��>Iȩ�ŭ65�?�ŭ�l۾�	ƭ��A����?9ƭ�	D�ǭQ�:	ȭ��:)ȩ�W��[@�W�X�
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B��A�$?>*B��A�m�_��A��A��A���="C��q6�RC��
��C��[@�C��ֽw�ܽ��yI��G�>��;�r,���E�A�|�@i|Y}6M�]@�}6��M@y}6/��}6}vϽ�}6H����@9�����`G��?��� ׭�?����DZ�������������X�������lޥ?����jݹ��������?)~6M�]@	~6��];I~6�Cɫ9�9)�9	�9I�9Y�]��@y�]QtGexDUSBL response received:!U1,R,084,000,00774,186,80,80,83,FF
mFpublishing direction and range info��e��뽩�aɰeM>�a	�a)�e�CI�ay�e��B��e�|9ˮ���?�N�Z�l����������ٱai��������@���@���@���©�������i��z�@�������	��h�@)�����I�����i����@�����<M��=Y����<QU�
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Q5^9@Q5����P5/�9?�P50�9?�P5����Q5����Q5�%A"Q5��AB�8�!�B�
B��A�fH>*B��A�O_��A��A��A���="C���4�RC�C��]@�C��ֽ��ܽ�יI��G�b>�B�r,}��E�AY}Y�^@�}��N@y}¶��}ጽ�}H�������������E�?����s��?���������������� ������ ǵ�?������������*��?)~Y�^@	~�r^;I~��Cɫ���)��	��I��Y�5]�@y�5HuGܙ9ܙIܝ�pGiܝ��@�ܙ�ܙ�ܙ�ܝ��;	ݝ��E��DNmea in: $SNTTA,,,,,022908.08*57
i�����)���=	���=��M�]=MM5=Y�U]`<QUU�>��Q��Q�a]�E��]�E��Yy�e��<}e�>I�i��m�5�?��m�k۾�	�mg�A��u�?9�m�	D��m��:	�m]�:)�i�muAdded new target pos. range: 76.980003 m, bearing: 177.840572 deg, deltaT: 4.471779 s, approachRate: -0.684291 m/s, LOS rate: 0.294709 deg/s, posRepo size: 4�m�
   ProNav: 
      pos range: 76.980003 m,
      bearing: 177.840572 deg,
      approachRate: -0.684291 m/s,
      LOS rate: 0.294709 deg/s,
      cmd update: 0.884126 deg/s,
      cmd heading: 198.395275 deg,
      new cmd heading: 200.600434 deg.
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D���I�:	��V�:)����:�W��^`@�W�X�
X��W�:W�2W�*W��V�bU�BU*UUU���@`P@�RB*** querying acoustic contact ***�P�PB5��B1
B9�A=�>*B9�A=̌Y��A9�A9�A=}�="CE��1�*CARCMr�V�CM�^`@�CI	�]>��]�=���,�����x�����x��������	�-�9Y�7P1y���:���5�ֽB�v�I��)���סI��G�A>�ܥn�r,
p���E�AY}:\h@�}:�!X@y}:��M��}:��>�}:H���� Q��������?����Kϑ������Ϳ�����������N�?���@(��?��� (.�?���ࢽ�?)~:\h@	~:��\;I~8ɫy�y)�y	�yI�yY����@y��=wG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�Y��Y���@���@���@�Í©Í��Í�iÍ��@�Í����	č���)č��@Ič&�@ič��@���N<M�#=Y��m;QU��>�����a��E���E��y��c=}��>Iȹ�Ž�b5�?�Ž�o۾�	ƽ��A����?9ƽv
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084,000,00774,186,80,80,83,FF
Command AckBRequesting micromodem ping code 2i����%�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
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i�Q��Y�������������í�'��í�O��í���ií=�@�í���	ĩ)ĭ��@Iĭh�@iĭh�@���� =M��=Y��6�;QU�?�������a��E����E���y���=}?I������95�?����r۾�	����A����?9���
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BA�AE��>*BA�AM��V��AI�AI�AM��="CUx0�RCU�P!�CU��a@�CY��]ܢS���I�!GMS>��킧r,oI��E�AY}:uQm@�}:�l]@y}:���}:�!>�}:H����`d���� ���?�����������`GԿ��� )����@Of�?�����?����,�?�������?)~:uQm@	~:�Q];I~:�Cɫ9�9)�9	�9I�A�I9�MǔCI�Ii�I��M�=��I��I��M��;	�M��EY�}:�@y�}�wG�xDUSBL response received:!U1,R,1F7,000,00747,186,80,80,98,FF
�Fpublishing direction and range info����ྩ��ɰ��>鰁	��)���CI��y����B����N*^b��?6
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BI�AM��>*BI�AMöU��AQ�AQ�AUX="C]v0�*CYRC]M�C]?b@�Ca��]r�=��5��6���I�GM�>���r,h$&��E�AY}6��n@�}6�_@y}6����}6�?&>�}6H������ �����&]�?���@1������`��տ�����������@y��?����ΰ�?��� c��?������?)~6��n@	~6 b];I~4ɫ9�A)�A	�AI�IY�}��@y��FwG�TNmea in: $SNTTA,0.068093,,,,022912.58*43
	��gAi�����U���M]3=Y�e4�7QUm�>��y���a��E��&�E��	y��X=}�>I���%�:��Z5�?��%�:���w۾�	���A��-�?9��
D��7�:	�C�:)���:�m]yAdded new target pos. range: 74.279999 m, bearing: 173.366484 deg, deltaT: 4.468586 s, approachRate: -0.604219 m/s, LOS rate: -1.001231 deg/s, posRepo size: 4�mm�
   ProNav: 
      pos range: 74.279999 m,
      bearing: 173.366484 deg,
      approachRate: -0.604219 m/s,
      LOS rate: -1.001231 deg/s,
      cmd update: -3.003694 deg/s,
      cmd heading: 202.340566 deg,
      new cmd heading: 202.739358 deg.
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      pos range: 71.760002 m,
      bearing: 167.657184 deg,
      approachRate: -0.564886 m/s,
      LOS rate: -1.279806 deg/s,
      cmd update: -3.839417 deg/s,
      cmd heading: 188.920563 deg,
      new cmd heading: 187.644480 deg.
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      bearing: 179.807776 deg,
      approachRate: -0.565600 m/s,
      LOS rate: 1.205679 deg/s,
      cmd update: 3.617038 deg/s,
      cmd heading: 150.289493 deg,
      new cmd heading: 148.601032 deg.
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D����<	���<)����:�m�uAdded new target pos. range: 63.299999 m, bearing: 181.158364 deg, deltaT: 4.409829 s, approachRate: -0.625876 m/s, LOS rate: 0.306268 deg/s, posRepo size: 4�m5�
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      pos range: 63.299999 m,
      bearing: 181.158364 deg,
      approachRate: -0.625876 m/s,
      LOS rate: 0.306268 deg/s,
      cmd update: 0.918803 deg/s,
      cmd heading: 166.313413 deg,
      new cmd heading: 168.124305 deg.
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   ProNav: 
      pos range: 60.960007 m,
      bearing: 184.977738 deg,
      approachRate: -0.573008 m/s,
      LOS rate: 0.935273 deg/s,
      cmd update: 2.805820 deg/s,
      cmd heading: 170.057734 deg,
      new cmd heading: 170.498445 deg.
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   ProNav: 
      pos range: 58.260006 m,
      bearing: 181.076033 deg,
      approachRate: -0.591511 m/s,
      LOS rate: -0.854778 deg/s,
      cmd update: -2.564333 deg/s,
      cmd heading: 182.877499 deg,
      new cmd heading: 183.767267 deg.
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      pos range: 55.320004 m,
      bearing: 179.053177 deg,
      approachRate: -0.673694 m/s,
      LOS rate: -0.463532 deg/s,
      cmd update: -1.390597 deg/s,
      cmd heading: 171.717533 deg,
      new cmd heading: 170.664180 deg.
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��yi�}�=i�������� 0=���3����`�<i�����	��3�@)�����I��I�@i��I�@���R��M�1=Y�����QU��>�������a��E���I�E���y���}�>I����:����5�?���:���۾�	���A���?9�UD����:	���:)��:�m�uAdded new target pos. range: 52.499996 m, bearing: 180.199583 deg, deltaT: 4.456534 s, approachRate: -0.632780 m/s, LOS rate: 0.257242 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 52.499996 m,
      bearing: 180.199583 deg,
      approachRate: -0.632780 m/s,
      LOS rate: 0.257242 deg/s,
      cmd update: 0.771725 deg/s,
      cmd heading: 165.560243 deg,
      new cmd heading: 164.913586 deg.
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�?9��D����;	���;)���m=uAdded new target pos. range: 49.619995 m, bearing: 182.120260 deg, deltaT: 4.382702 s, approachRate: -0.657129 m/s, LOS rate: 0.438240 deg/s, posRepo size: 4�mM�
   ProNav: 
      pos range: 49.619995 m,
      bearing: 182.120260 deg,
      approachRate: -0.657129 m/s,
      LOS rate: 0.438240 deg/s,
      cmd update: 1.314721 deg/s,
      cmd heading: 168.977044 deg,
      new cmd heading: 169.341871 deg.
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xDUSBL response received:!U1,R,F90,000,0057C,187,80,80,7A,FF

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�:	�U��:)�Q�m�uAdded new target pos. range: 46.739998 m, bearing: 182.728106 deg, deltaT: 4.511721 s, approachRate: -0.638337 m/s, LOS rate: 0.134726 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 46.739998 m,
      bearing: 182.728106 deg,
      approachRate: -0.638337 m/s,
      LOS rate: 0.134726 deg/s,
      cmd update: 0.404178 deg/s,
      cmd heading: 174.903398 deg,
      new cmd heading: 175.422252 deg.
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   ProNav: 
      pos range: 43.799999 m,
      bearing: 183.862518 deg,
      approachRate: -0.671319 m/s,
      LOS rate: 0.259032 deg/s,
      cmd update: 0.777095 deg/s,
      cmd heading: 176.675109 deg,
      new cmd heading: 176.857266 deg.
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   ProNav: 
      pos range: 40.920002 m,
      bearing: 183.268442 deg,
      approachRate: -0.641322 m/s,
      LOS rate: -0.132290 deg/s,
      cmd update: -0.396869 deg/s,
      cmd heading: 180.161675 deg,
      new cmd heading: 180.472402 deg.
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      bearing: 184.223452 deg,
      approachRate: -0.638797 m/s,
      LOS rate: 0.098715 deg/s,
      cmd update: 0.296145 deg/s,
      cmd heading: 176.322322 deg,
      new cmd heading: 176.150406 deg.
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�:)���myAdded new target pos. range: 32.340000 m, bearing: 180.167181 deg, deltaT: 4.449710 s, approachRate: -0.539361 m/s, LOS rate: -0.911581 deg/s, posRepo size: 4�mrPowering the camera and arming the DDM at range: 32.34 m.X�m-�
   ProNav: 
      pos range: 32.340000 m,
      bearing: 180.167181 deg,
      approachRate: -0.539361 m/s,
      LOS rate: -0.911581 deg/s,
      cmd update: -2.734743 deg/s,
      cmd heading: 177.640042 deg,
      new cmd heading: 177.759941 deg.
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���������?�����޲��������?)~2e^@	~2�];I~2�Cɫ9�9)�9	�9I�9Y�}ɽ@y�}iG�xDUSBL response received:!U1,P
068,000,0048C,186,80,80,4D,FF
�Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
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i����������;M�>=Y����QU��>�������a��E���e�E���y��"2�}��>I������J5�?�����ھ�	����A����?9��(D����:	��'�:)���Wq:@�WX
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BY�A]�j�*BY�Ae(����Aa�Aa�Ae\]="Cmq:@RC�~T1>C�q:@�C����eA���fA�֍�a	>I׵dA)ױ�ׁI��G�=>�\g�r,�i<��E�Aɫy�y)�y	�yI�yY���@y���iG�xDUSBL response received:!U1,R,FFD,000,0045F,183,80,80,71,FF
�Fpublishing direction and range info�����+;���ɰ�V�=��$�>	��)����BI��y���A�����h,����?8��$Sre?��������ٱ�i�������-@��-@��-@��-©�-���-�i�-Q�@��-����	�-��@)�-���I�-���i�-ߣ@��E�;MET=Y�E���QUE�>��I��I�aM�E��Mh�E��Qy�U���}U�>I�Y��e�:��]B85�?��e�:��]��ھ�	�]��A��m�?9�]6D��]�:	�]��:)�](�:�WM��8@�WIXI
XI�WIXI:WQ2WQ*WQ�VQbUYBUY*UYUYU]����Q�@�R�(Combining 5 samples.�P�*Q��AZQ���W�WУ=@�&�iݳ?��������JQ���h,����?8��$Sre?��������2Q���+;:Q�bQ���ཇH�=��|/��.�;�n��?RQ���RN���3�[*�7���!'�+_�?BQ�D`N@
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	�y�}fAi�y��y��-���ʡE�?{�G�z�?�~j�t�x���--?��-�#<	�-�Ļ)�)I�)y�-��$��C�?�~j�t���y�&1��?��-?��-�Ľ��-`e<	�-�A)�-�AI�)i�-$A��)��-�A��U&�<MU-=Y�U�8�QUU�>��Y��Y�a�E��l�E��!y�%��}%�>I�)��-�5�?��-=�ھ�	�-	�A��=�?9�-JD��-_;	�-c;)�)�m�uAdded new target pos. range: 29.639999 m, bearing: 184.757437 deg, deltaT: 4.453027 s, approachRate: -0.606329 m/s, LOS rate: 1.030817 deg/s, posRepo size: 4�m�rPowering the camera and arming the DDM at range: 29.64 m.X��m��
   ProNav: 
      pos range: 29.639999 m,
      bearing: 184.757437 deg,
      approachRate: -0.606329 m/s,
      LOS rate: 1.030817 deg/s,
      cmd update: 3.092451 deg/s,
      cmd heading: 165.462659 deg,
      new cmd heading: 164.155602 deg.
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      pos range: 23.400002 m,
      bearing: 183.363381 deg,
      approachRate: -0.620111 m/s,
      LOS rate: -0.138537 deg/s,
      cmd update: -0.415610 deg/s,
      cmd heading: 196.594672 deg,
      new cmd heading: 197.973283 deg.
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�Fpublishing direction and range info���#������ɰ��=鰅��>	��)���CI��y����A����[(�f��?�+�0ӿ��������ٱ�i���������^�I+�?D�l�����<�O��n�?���X?���O��	��t=)��I��y���#��~j��?+��η�y�&1��?����?���v�����`e<	��A)��3AI���Ai��`A�������A��#�MA=Y�QU�>�����a�E��ݹE��!y�%T=}%�>I�)��5�:��-�^5�?��=�:��-Dھ���=tI	�-'�A��=�?9�-fD��-��:	�-)�:)�-8�:�W]ȄY@�WYXa
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By�A}ͼ=*By�A��~���A��A��A���="C��8�*C�@RC����<C�ȄY@�C��������שI��Gk>�����r,����E�AY}2��o@�}2�_@y}2�XT��}2���=�}2H���� u������@}{�?���`C��?��� RDֿ������������g�?���@��?����s)�?����2��?)~2��o@	~2�u];I~2�CɫY�Y)�Y	�YI�aY����@y���pG�%DNmea in: $SNTTA,,,,,023039.88*55
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   ProNav: 
      pos range: 20.700001 m,
      bearing: 182.655241 deg,
      approachRate: -0.601102 m/s,
      LOS rate: -0.157654 deg/s,
      cmd update: -0.472961 deg/s,
      cmd heading: 194.732848 deg,
      new cmd heading: 194.561389 deg.
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   ProNav: 
      pos range: 18.420000 m,
      bearing: 182.322665 deg,
      approachRate: -0.517431 m/s,
      LOS rate: -0.075476 deg/s,
      cmd update: -0.226427 deg/s,
      cmd heading: 192.643106 deg,
      new cmd heading: 192.440028 deg.
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   ProNav: 
      pos range: 16.800003 m,
      bearing: 184.803008 deg,
      approachRate: -0.361574 m/s,
      LOS rate: 0.553598 deg/s,
      cmd update: 1.660794 deg/s,
      cmd heading: 191.628622 deg,
      new cmd heading: 191.533329 deg.
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   ProNav: 
      pos range: 14.220002 m,
      bearing: 185.175089 deg,
      approachRate: -0.575068 m/s,
      LOS rate: 0.082935 deg/s,
      cmd update: 0.248805 deg/s,
      cmd heading: 199.020162 deg,
      new cmd heading: 199.836021 deg.
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      pos range: 10.980000 m,
      bearing: 177.204586 deg,
      approachRate: -0.723337 m/s,
      LOS rate: -1.779431 deg/s,
      cmd update: -5.338292 deg/s,
      cmd heading: 200.142495 deg,
      new cmd heading: 200.253138 deg.
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   ProNav: 
      pos range: 8.939999 m,
      bearing: 180.028951 deg,
      approachRate: -0.456205 m/s,
      LOS rate: 0.631612 deg/s,
      cmd update: 1.894835 deg/s,
      cmd heading: 176.250589 deg,
      new cmd heading: 174.435041 deg.
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   ProNav: 
      pos range: 7.080001 m,
      bearing: 177.273161 deg,
      approachRate: -0.422796 m/s,
      LOS rate: -0.626418 deg/s,
      cmd update: -1.879255 deg/s,
      cmd heading: 184.579086 deg,
      new cmd heading: 185.450142 deg.
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BI�AM`>*BI�AU׈y��AQ�AQ�AUU}�<"C]�E@RC]_��=C]�E@�Ca����=���I��G
)>��$�r,�����E�AY}>�_@�}>Y:O@y}>�y��}>�.���}>H���� ����� �4�?�����ח?����{������`������ �E�������4�?���`|�������q��?)~>�_@	~>�[;I~>�Cɫ���)��	��I��Y�-�@y�5�tG=xDUSBL response received:!U1,R,0F1,000,002C9,186,80,80,6F,FF
=Fpublishing direction and range info��5\W���1ɰ5�i=�1	�1)�5��BI�1y�5��@��5��%l�~K�?Z��vѸʿ��������ٱ1��v�>9��I��hqGi��6�@����=�����������;	����E��5
����5�����5�����5<��	�5xJ:Y�5�V1y�5�:��5��5)�5)�;i�I��I�������������åC�=�å���å��>iåQ�@�å���	ĥ��@)ġIĥI�@iĥI�@�����M�;=Y�:�;QU��>�����a��E��׺E���y���>:}��>I������:���<r5�?����:����[۾�	��X�A����?9��D����:	���:)��Y�:�Wm��D@�WiXi
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�r,g_Ļ�E�AY}rE;_@�}r�VO@y}r=YS��}r�i���}rH������������S��?����HV�?���@������ �����@ʚ�������j�?���@������`���?)~rE;_@	~r�H[;I~r�Cɫ���)��	��I��Y�%�@y�uG�}TNmea in: $SNTTA,0.031442,,,,023111.02*42
��yi�yi�������<MU=Y���;QU�>��!��!�a%�E��%ںE��!y�5��;}5�>I�9��=\5�?��=@\۾�	�=h�A��E�?9�=D��=n�:	�=��:)�9�muuAdded new target pos. range: 5.279998 m, bearing: 173.507801 deg, deltaT: 4.479608 s, approachRate: -0.401821 m/s, LOS rate: -0.840556 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 5.279998 m,
      bearing: 173.507801 deg,
      approachRate: -0.401821 m/s,
      LOS rate: -0.840556 deg/s,
      cmd update: -2.521667 deg/s,
      cmd heading: 176.160483 deg,
      new cmd heading: 175.464566 deg.
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B!�A% 9>*B!�A%ŏc��A!�A!�A-��<"C5�<@RC5�jh>C5�<@�C9��%�Q>��I�)GmW>�}w�>9�}��CI�}<pGi�}B�@��}�=��y��y��}��;	�}��E���r,�Wy��E�A�|i|�@Y}6��[@�}6j�L@y}6_O��}6-T)��}6H��������������?���@�}�?��� 䁧������������k�Ŀ������?���`nſ�������?)~6��[@	~6��Z;I~4ɫY�Y)�Y	�YI�YY����@y��.sG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i���������Ҿ�������t�i����@���	��)��3�@I��~�@i�������
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0F1,000,002C9,186,80,80,6F,FF
�Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
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ܕs�>9ܑIܕ�oGiܕ��@�ܕ�=�ܑ�ܑ�ܕ��;	ݕ��E)ݭ���CIݭ���Ciݭ���C�ݭ��=�ݭ��=�ݭ��U6I��)��i�������
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�Fpublishing direction and range info���U�����ɰ��g=鰥1�>	��)����BI��y��\�@����zZ�����?>�kn�����������ٱ�i��������c�M�_=Y���QU��>�����a�E����E��	y�
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sU6Initialize SetNavComponent.�m�uAdded new target pos. range: 4.979999 m, bearing: 171.398447 deg, deltaT: 4.368680 s, approachRate: -0.068671 m/s, LOS rate: -0.482835 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 4.979999 m,
      bearing: 171.398447 deg,
      approachRate: -0.068671 m/s,
      LOS rate: -0.482835 deg/s,
      cmd update: -1.448506 deg/s,
      cmd heading: 165.134053 deg,
      new cmd heading: 163.941421 deg.
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      pos range: 6.059999 m,
      bearing: 164.027252 deg,
      approachRate: 0.239597 m/s,
      LOS rate: -1.635296 deg/s,
      cmd update: -4.905888 deg/s,
      cmd heading: 158.631986 deg,
      new cmd heading: 158.042683 deg.
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      bearing: 157.291989 deg,
      approachRate: 0.459060 m/s,
      LOS rate: -1.515631 deg/s,
      cmd update: -4.546894 deg/s,
      cmd heading: 136.837005 deg,
      new cmd heading: 134.917258 deg.
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      approachRate: 0.490944 m/s,
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      cmd update: -12.000000 deg/s,
      cmd heading: 116.740967 deg,
      new cmd heading: 114.762241 deg.
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I�)��Ai�	��	��5@��5@��5@��5©�5���5�i�5�@��5����	�5��@)�5���I�1i�5��@��Mp=MU7=Y�U���QUU�>��Y��Y�a]�E��e(�E��ay�uts�}u�>I�y��}�5�?��}D�Ͼ�	�}t@����?9�}�B��}@:;	�}M;;)�y�mEuAdded new target pos. range: 60.360008 m, bearing: 47.002650 deg, deltaT: 15.868354 s, approachRate: 0.654132 m/s, LOS rate: -1.760022 deg/s, posRepo size: 3�mU�
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      pos range: 60.360008 m,
      bearing: 47.002650 deg,
      approachRate: 0.654132 m/s,
      LOS rate: -1.760022 deg/s,
      cmd update: -5.280065 deg/s,
      cmd heading: 3.641624 deg,
      new cmd heading: 0.493307 deg.
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   ProNav: 
      pos range: 67.980003 m,
      bearing: 4.677449 deg,
      approachRate: 0.486026 m/s,
      LOS rate: 1.225352 deg/s,
      cmd update: 3.676055 deg/s,
      cmd heading: 359.231723 deg,
      new cmd heading: 359.231723 deg.
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   ProNav: 
      pos range: 69.540001 m,
      bearing: 349.765381 deg,
      approachRate: 0.351128 m/s,
      LOS rate: -3.356449 deg/s,
      cmd update: -10.069347 deg/s,
      cmd heading: 15.564026 deg,
      new cmd heading: 17.304697 deg.
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      bearing: 2.508965 deg,
      approachRate: 0.230051 m/s,
      LOS rate: 2.874201 deg/s,
      cmd update: 8.622603 deg/s,
      cmd heading: 330.919087 deg,
      new cmd heading: 326.481888 deg.
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      bearing: 349.744809 deg,
      approachRate: 0.336461 m/s,
      LOS rate: -2.863081 deg/s,
      cmd update: -8.589242 deg/s,
      cmd heading: 9.360852 deg,
      new cmd heading: 13.983558 deg.
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      pos range: 73.440002 m,
      bearing: 278.375097 deg,
      approachRate: 0.136548 m/s,
      LOS rate: -7.061914 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 282.798522 deg,
      new cmd heading: 278.539959 deg.
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   ProNav: 
      pos range: 73.500000 m,
      bearing: 259.381789 deg,
      approachRate: 0.013301 m/s,
      LOS rate: -4.210572 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 228.377153 deg,
      new cmd heading: 224.444885 deg.
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   ProNav: 
      pos range: 72.720009 m,
      bearing: 241.350581 deg,
      approachRate: -0.177594 m/s,
      LOS rate: -4.105473 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 175.673367 deg,
      new cmd heading: 171.068811 deg.
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BQ�AU��;*BY�Ae����Aa�Ai�A�JC�="C�T>+@RC�C�"$@�C���!I�)GM1>�����r,��>��E�AY}6w%�@�}6#3�@y}6Q�U��}60�{��}6H��������?��� ��?���`<��?���`�1��������?���@q��?����ϳ�?����A Ͽ�������?)~6w%�@	~6�a;I~6ߖCɫ9�9)�9	�9I�9Y�u��@y�}!mG�}a=ɮ}=i�������=@��=@��=@��=©�=���=�i�=G�@��=����	�=h�@)�=h�@I�=���i�=h�@��Mю<MUE=Y�U銻QUU�>��Y��Y�a]�E��]��E��ay�e�j�}e�>I�i��u�:��m�45�?��u�:��m��ξ�	�m��@��}�?9�m~�B��m�:	�m�:)�m�:�W�q�@�W�X�
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>I�5AA)�5@A��EU����E{����E{����E��	�E/&:Y�E#R1y�E��:��E��5�9M@��╸r,�X��E�A�X9�XI�Z�kGi�ZĿ@��X��X��X��ZQ�;	�Z��E)����CI����Ci������=����=���()5Y}�^�@�}��k�@y}��\X��}��x��}�H��������?����E��?��� ���?����*���������?�������?����f�?����Z�ο���`��?)~�^�@	~�V�a;I~��Cɫ�髁)��	��I��Y��o�@y���lG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)��i���I�-�=)�-%=��������x��?:��v���?)\���(�����K?�����<	��Ga�)��I��y�����v���?)\���(�?<�O��n������?���G�=���t�	…5�@)…+AI…�Ai�������A��O��M�)=Y�˯�QU��>�����a��E����E��y��N�}��>I������A5�?�����ξ�	���@����?9���B���
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502,000,0072D,18A,80,80,55,FF
�Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
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i�Q��Q��u�e=Mul=Y�}��QU}?��y��y�a��E����E��y�r��}�?Iȑ�ŕ�T5�?�ŕL�ξ�	ƕؓ@����?9ƕ��B�Ǖ�:	ȕn�:)ȑ�W��G@�W�X�
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B��A��=*B��A�i����A��A��A����<"C���@RC�C��G@�C�����z=I�)�eAܥ��>9ܡIܥTlGiܥ�@�ܥ�=�ܡ�ܡ�ܥJ�;	ݥܗE���I��G�i>��5�=i�5�=���r,d$���E�Aɫ�髙)��	������I��Y����@y��nG�xDUSBL response received:!U1,R,3BE,000,00719,188,80,80,97,FF
�Fpublishing direction and range info����V����ɰ��>����>	��)���CI��y��
�B�����U��"t�?yR�!D����������ٱ����i���=i����	�Q�Q��%�'>��%n�>��%��<i�%̬@��!	�%�@)�%��@I�%~�@i�%��@��5�<M51=Y�=���QU=�>��9��A�aE�E��E��E��Ay�M���}M�>I�Q��]�:��UD`5�?��]�:��U�ξ�	�Uɓ@��]�?9�U��B��U��:	�U��:)�U�:�W��@�W�X�
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B��A��=*B��A�\���A��A��A�ȶ�<"C�դ@RC�C��@�C�����U�<�יI��G�a>��E�����E|����E|����E��	�E*:Y�E�R1y�Ei�:��E��5�-��r, 	���E�AY}�L�@�}���@y}��<c��}�{��}�H�����U	�?���`��?�������?����Ҧ��������?�������?�����c�?����FϿ�������?)~�L�@	~��a;I~�ɫI�I)�I	�II�IY�U�@y�U�nG��TNmea in: $SNTTA,0.053643,,,,023346.96*48
	����fAi���������:=M�N=Y���ϻQU��>�������a�E����E��y�^��}��>Iș�ŝ�i5�?�ŝ��ξ�	Ɲ��@����?9Ɲ	�B�ǝr�:	ȝ�:)ș�m�uAdded new target pos. range: 71.519997 m, bearing: 241.878199 deg, deltaT: 4.481223 s, approachRate: -0.267787 m/s, LOS rate: 0.117740 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 71.519997 m,
      bearing: 241.878199 deg,
      approachRate: -0.267787 m/s,
      LOS rate: 0.117740 deg/s,
      cmd update: 0.353219 deg/s,
      cmd heading: 121.853307 deg,
      new cmd heading: 116.886015 deg.
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B��A�y�=*B��A��:���A��A��A�ND�<"CE�9	@*CARCACE�9	@�CI��QI�aG�^>�M�ܸr,��t��E�AY}:��@�}:,��@y}:��X��}:�|��}:H������z�?�������?�����|�?����������@b��?����Ꮂ?����}�?����e$Ͽ������?)~:��@	~:r�`;I~8ɫ9�9)�9	�9I�9Y�}j�@y�}lpG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i��������`e������>����<i�����	����@)��I��i��h�@���g=M�^=Y��Ů:QU��>�������a��E���ϿE��y����}�>I�	��
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3BE,000,00719,188,80,80,97,FF
�Command Ack�BRequesting micromodem ping code 2i�����I��)���A���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
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I���?)���?i�������M�����Mj<���Mp=>i�M��@��I	�M3�@)�M�@I�M3�@i�M�����]���M]7=Y�]u�;QUe�>��a��a�ae�E��eֿE��iy�u"��}u�>I�y��}�5�?��}'kϾ�	�}•@����?9�}t�B��}��:	�}ʽ:)�y�W�ı	@�W�X�
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�Fpublishing direction and range info��������ɰ��>鰅7�>	��)����BI��y����B����� ��!�?W9p$�w���������ٱ�i���������<M�j=Y�H�;QU��>�����a��E��ٿE���y����}��>I������:���0�5�?����:���wϾ�	��/�@����?9����B���Z�:	����:)���:�W���	@�W�X�
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Ba�Ae��>*Ba�Am�G���Ai�Ai�Am<�<"Cu��	@*CqRCqCu��	@�Cy��iI�qG�>��5=i�5�=����>9��I��<pGi��B�@������������\�;	���E�����r,6t���E�AY}%,8�@�}%�E�@y}%*sA��}%Ѵ���}%H�����i����������?����5�?��� �������k������/E�?��� ,�?�����$п�������?)~%,8�@	~%�`;I~%ߖCɫ1�1)�1	�1I�1Y�iy�i��TNmea in: $SNTTA,0.059725,,,,023351.40*4E
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?��u��<	�u�#�)�qI�qy�u�+����?�Q���?�~j�t�x���uv?��u\�=��u�Ļ	�u��@)�u�)AI�u�Ai�u�A��q��u�AY���:QU��>�����a��E��ݿE��y�
_�}��>Iȩ�ŭd�5�?�ŭf�Ͼ�	ƭE�@����?9ƭv�B�ǭ��:	ȭ��:)ȩ�m�yAdded new target pos. range: 69.840004 m, bearing: 235.865283 deg, deltaT: 4.389421 s, approachRate: -0.382737 m/s, LOS rate: -1.369865 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 69.840004 m,
      bearing: 235.865283 deg,
      approachRate: -0.382737 m/s,
      LOS rate: -1.369865 deg/s,
      cmd update: -4.109596 deg/s,
      cmd heading: 123.402403 deg,
      new cmd heading: 123.558515 deg.
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   ProNav: 
      pos range: 67.680000 m,
      bearing: 232.478930 deg,
      approachRate: -0.478622 m/s,
      LOS rate: -0.750362 deg/s,
      cmd update: -2.251086 deg/s,
      cmd heading: 104.918260 deg,
      new cmd heading: 103.414913 deg.
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      bearing: 234.997877 deg,
      approachRate: -0.554769 m/s,
      LOS rate: 0.568063 deg/s,
      cmd update: 1.704188 deg/s,
      cmd heading: 94.912036 deg,
      new cmd heading: 94.043637 deg.
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      bearing: 233.021548 deg,
      approachRate: -0.587247 m/s,
      LOS rate: -0.449844 deg/s,
      cmd update: -1.349531 deg/s,
      cmd heading: 102.413400 deg,
      new cmd heading: 103.118108 deg.
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�,;)�	�meyAdded new target pos. range: 56.939999 m, bearing: 233.086025 deg, deltaT: 4.437928 s, approachRate: -0.297438 m/s, LOS rate: -1.153905 deg/s, posRepo size: 4�mu�
   ProNav: 
      pos range: 56.939999 m,
      bearing: 233.086025 deg,
      approachRate: -0.297438 m/s,
      LOS rate: -1.153905 deg/s,
      cmd update: -3.461716 deg/s,
      cmd heading: 238.206973 deg,
      new cmd heading: 238.206973 deg.
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   ProNav: 
      pos range: 56.099998 m,
      bearing: 236.607752 deg,
      approachRate: -0.190601 m/s,
      LOS rate: 0.799101 deg/s,
      cmd update: 2.397304 deg/s,
      cmd heading: 223.046310 deg,
      new cmd heading: 221.546414 deg.
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   ProNav: 
      pos range: 54.900002 m,
      bearing: 238.454936 deg,
      approachRate: -0.271265 m/s,
      LOS rate: 0.417564 deg/s,
      cmd update: 1.252693 deg/s,
      cmd heading: 233.717024 deg,
      new cmd heading: 234.869290 deg.
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      bearing: 238.631537 deg,
      approachRate: -0.419662 m/s,
      LOS rate: 0.039846 deg/s,
      cmd update: 0.119537 deg/s,
      cmd heading: 239.274432 deg,
      new cmd heading: 239.865338 deg.
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�:	�U{�:)�UH�:�m�uAdded new target pos. range: 50.639996 m, bearing: 246.566851 deg, deltaT: 4.491521 s, approachRate: -0.534341 m/s, LOS rate: 1.766732 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 50.639996 m,
      bearing: 246.566851 deg,
      approachRate: -0.534341 m/s,
      LOS rate: 1.766732 deg/s,
      cmd update: 5.300196 deg/s,
      cmd heading: 239.811332 deg,
      new cmd heading: 239.859852 deg.
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   ProNav: 
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      bearing: 244.009519 deg,
      approachRate: -0.619920 m/s,
      LOS rate: -0.574400 deg/s,
      cmd update: -1.723201 deg/s,
      cmd heading: 263.387845 deg,
      new cmd heading: 265.429973 deg.
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B��A��V=*B��A�>7b<�A��A��A�{�<"C�A��RC�/��C�`h�@�C��ֽa�I�I��eA)���יI��G�b>��b2�r,����E�AY}2�ə@�}2�ב@y}2:l<�}2>y>�}2H������ÿ�����U�?���@������� �������G�ÿ����f��?����{m������a��?����&��?)~2�ə@	~2�b;I~2��CɫQ�Y)�Y	�]����I�YY���@y���nG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�!��!��M3�:MMM=Y�U��;QUU�>��Y��Y�a]�E��]z�E��ay�m(>}m�>I�q��u�5�?��u��Ҿ�	�u��@����?9�uC��uk�:	�u��:)�q�W�X�@�W�X�
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����=i���=i�����	������5��>��5V?��5�D�i�53�@��1	�5���)�5ߣ@I�5��@i�5��@��M��;MM4=Y�M��:QUM�>��Q��Q�aU�E��U��E��Yy�]�C=}]�>I�a��eO�5�?��e5�Ҿ�	�e�@��u�?9�e�C��eI�:	�eU�:)�a�m�yAdded new target pos. range: 45.540001 m, bearing: 242.117393 deg, deltaT: 4.424940 s, approachRate: -0.528821 m/s, LOS rate: -0.427605 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 45.540001 m,
      bearing: 242.117393 deg,
      approachRate: -0.528821 m/s,
      LOS rate: -0.427605 deg/s,
      cmd update: -1.282815 deg/s,
      cmd heading: 255.763187 deg,
      new cmd heading: 254.976637 deg.
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f���E�AY}2�n�@�}2m|�@y}2�F3<�}2>$�<�}2H�����V�?���@���?����r��������������ޕ?�����*�����@�h������đ?����F��?)~2�n�@	~2;�`;I~2ߖCɫ9�9)�9	�9I�9Y�}p�@y�}LjG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******	��gA��gAi����9����CI���dGi����@����=���������K�;	��їE�����E���S㥛�?��K7�Aп����Mb�?��E�D?��E��	�E�<)�AI�Ay�E��MbX9�?���Q��?�Zd;�?��E�!?��E�u=��E�y=	�EZA)�E�AI�E�Ai�EEA��A��A����н���\O?�����i��ף@���	���@)����@I��l�@i��l�@��ؤ�M=Y�SR:QU�>�����a�E����E��!y�-��}-�>I�1��5*�5�?��5*BӾ�	�5��@��=�?9�5�C��5��:	�5��:)�1�W]5y�@�WYXY
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;	�2;)��m=yAdded new target pos. range: 43.319996 m, bearing: 236.107236 deg, deltaT: 4.450973 s, approachRate: -0.498768 m/s, LOS rate: -1.350302 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 43.319996 m,
      bearing: 236.107236 deg,
      approachRate: -0.498768 m/s,
      LOS rate: -1.350302 deg/s,
      cmd update: -4.050905 deg/s,
      cmd heading: 250.054370 deg,
      new cmd heading: 249.428742 deg.
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����I�	Y�E7�@y�E�cG��TNmea in: $SNTTA,0.411252,,,,023453.62*46
I���?)���?i�������M���S㥛�?:��v���?���Q��?��M�$?��M��<	�M��<)�II�Iy�M�V-����?�������?����Mbp?��M|?��M�L=��M�;	�M�A)�M$,AI�Ii�M�A��I��MGA��-���-���-���-ף<��-���-�'�i�-�@��-���	�-V�@)�-7�@I�-l�@i�-7�@��E�.;ME =Y�EK�QUE�>��I��I�aM�E��M��E��Qy�Uؽ}U�>I�Y��e�:��]�5�?��m�:��]�Ծ�	�]ޞ@��m�?9�]�C��]�:	�Y)�][�:�m�uAdded new target pos. range: 40.859997 m, bearing: 245.831895 deg, deltaT: 4.483739 s, approachRate: -0.548649 m/s, LOS rate: 2.168873 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 40.859997 m,
      bearing: 245.831895 deg,
      approachRate: -0.548649 m/s,
      LOS rate: 2.168873 deg/s,
      cmd update: 6.506618 deg/s,
      cmd heading: 232.011068 deg,
      new cmd heading: 230.094905 deg.
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   ProNav: 
      pos range: 38.159996 m,
      bearing: 242.242249 deg,
      approachRate: -0.608061 m/s,
      LOS rate: -0.808416 deg/s,
      cmd update: -2.425247 deg/s,
      cmd heading: 261.127047 deg,
      new cmd heading: 263.523701 deg.
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yAdded new target pos. range: 35.340000 m, bearing: 239.169893 deg, deltaT: 4.580236 s, approachRate: -0.615688 m/s, LOS rate: -0.670785 deg/s, posRepo size: 4�m
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   ProNav: 
      pos range: 35.340000 m,
      bearing: 239.169893 deg,
      approachRate: -0.615688 m/s,
      LOS rate: -0.670785 deg/s,
      cmd update: -2.012356 deg/s,
      cmd heading: 250.019905 deg,
      new cmd heading: 248.979416 deg.
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5�?��=�:���[־�	��@��=�?9�iC����;	���;)�o�:�m�uAdded new target pos. range: 30.779999 m, bearing: 238.498376 deg, deltaT: 4.448467 s, approachRate: -0.458585 m/s, LOS rate: 0.563745 deg/s, posRepo size: 4�m�rPowering the camera and arming the DDM at range: 30.78 m.�m�lFinal approach. Armed for intercept at range: 30.78 m.�m�\Transitioning guidance mode to: FINAL_APPROACH"X��m��
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      pos range: 30.779999 m,
      bearing: 238.498376 deg,
      approachRate: -0.458585 m/s,
      LOS rate: 0.563745 deg/s,
      cmd update: 1.691234 deg/s,
      cmd heading: 231.554775 deg,
      new cmd heading: 230.504459 deg.
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      pos range: 28.500000 m,
      bearing: 240.677507 deg,
      approachRate: -0.499070 m/s,
      LOS rate: 0.476991 deg/s,
      cmd update: 1.430974 deg/s,
      cmd heading: 239.293764 deg,
      new cmd heading: 239.778417 deg.
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      pos range: 26.039999 m,
      bearing: 239.318900 deg,
      approachRate: -0.575742 m/s,
      LOS rate: -0.317970 deg/s,
      cmd update: -0.953910 deg/s,
      cmd heading: 245.413674 deg,
      new cmd heading: 246.099518 deg.
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   ProNav: 
      pos range: 23.639997 m,
      bearing: 238.403628 deg,
      approachRate: -0.538619 m/s,
      LOS rate: -0.205410 deg/s,
      cmd update: -0.616229 deg/s,
      cmd heading: 241.182318 deg,
      new cmd heading: 240.711980 deg.
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   ProNav: 
      pos range: 21.299999 m,
      bearing: 240.451564 deg,
      approachRate: -0.527402 m/s,
      LOS rate: 0.461576 deg/s,
      cmd update: 1.384728 deg/s,
      cmd heading: 238.437936 deg,
      new cmd heading: 238.148790 deg.
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   ProNav: 
      pos range: 19.379997 m,
      bearing: 237.359510 deg,
      approachRate: -0.428066 m/s,
      LOS rate: -0.689376 deg/s,
      cmd update: -2.068128 deg/s,
      cmd heading: 244.641995 deg,
      new cmd heading: 245.205966 deg.
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�Fpublishing direction and range info���r�����ɰ�O�=��+�>	��)���+CI��y����A����&{�G-�?��⩝Ͽ��������ٱ�����=i���=i����	����U@��U@��U@��U©�U���U�i�U�@��U����	�U��@)�U7�@I�UZ�@i�UZ�@��eV<MeW=Y�m~�:QUm�>��i��q���N�����z�����z��������	���9Y�Q1y���:��s�5)�B;�a��E��0�E��)y�5�0<}5�>I�9��=1m5�?��=Yپ�	�=�@��E�?9�=�,C��=�:	�=/�:)�9�Wm3��@�WiXi
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i�������U�MU<=Y�]$X�QU]�>��Y��Y�a]�E��e3�E��ay�e�<}m�>I�q��}�:��u}d5�?��}�:��u*fپ�	�uǺ@��}�?9�u�,C��u�:	�ub�:)�u��:�m�yAdded new target pos. range: 16.079996 m, bearing: 234.117247 deg, deltaT: 4.443822 s, approachRate: -0.742604 m/s, LOS rate: -0.729611 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 16.079996 m,
      bearing: 234.117247 deg,
      approachRate: -0.742604 m/s,
      LOS rate: -0.729611 deg/s,
      cmd update: -2.188834 deg/s,
      cmd heading: 235.451243 deg,
      new cmd heading: 234.600626 deg.
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��i��=i�!��!	�)�)��}@��}@��}@��}©�}���}�i�}��@��}����	�}̘@)�}x�@I�}��@i�}x�@����{�M�9=Y��QU��>�������a��E���W�E���y��}��>I������:���?5�?����:���m�پ�	��A�@����?9��}/C���{�:	��r�:)����:�-�>9�-��CI�-�QGi�-�@��)��)��)��->�;	�-��E�muAdded new target pos. range: 13.800002 m, bearing: 238.304371 deg, deltaT: 4.425288 s, approachRate: -0.515219 m/s, LOS rate: 0.946181 deg/s, posRepo size: 4�mM�
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      pos range: 13.800002 m,
      bearing: 238.304371 deg,
      approachRate: -0.515219 m/s,
      LOS rate: 0.946181 deg/s,
      cmd update: 2.838544 deg/s,
      cmd heading: 225.747107 deg,
      new cmd heading: 224.711714 deg.
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   ProNav: 
      pos range: 11.520001 m,
      bearing: 233.770546 deg,
      approachRate: -0.509056 m/s,
      LOS rate: -1.012267 deg/s,
      cmd update: -3.036801 deg/s,
      cmd heading: 238.436879 deg,
      new cmd heading: 239.571978 deg.
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      pos range: 9.059999 m,
      bearing: 232.762192 deg,
      approachRate: -0.557765 m/s,
      LOS rate: -0.228628 deg/s,
      cmd update: -0.685884 deg/s,
      cmd heading: 225.030093 deg,
      new cmd heading: 223.599107 deg.
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      bearing: 236.890085 deg,
      approachRate: -0.449376 m/s,
      LOS rate: 0.909301 deg/s,
      cmd update: 2.727905 deg/s,
      cmd heading: 221.919182 deg,
      new cmd heading: 221.707654 deg.
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      pos range: 4.559999 m,
      bearing: 222.904699 deg,
      approachRate: -0.148497 m/s,
      LOS rate: 9.690675 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 179.834154 deg,
      new cmd heading: 179.834154 deg.
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   ProNav: 
      pos range: 5.339999 m,
      bearing: 241.900056 deg,
      approachRate: 0.174291 m/s,
      LOS rate: 4.244516 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 233.489528 deg,
      new cmd heading: 239.028213 deg.
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   ProNav: 
      pos range: 7.259999 m,
      bearing: 219.235262 deg,
      approachRate: 0.427186 m/s,
      LOS rate: -5.042746 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 287.374738 deg,
      new cmd heading: 291.659314 deg.
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   ProNav: 
      pos range: 12.059997 m,
      bearing: 224.167970 deg,
      approachRate: 1.092982 m/s,
      LOS rate: 1.123201 deg/s,
      cmd update: 3.369603 deg/s,
      cmd heading: 234.870176 deg,
      new cmd heading: 229.372580 deg.
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063,000,0033A,186,80,80,94,FF
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�Fpublishing direction and range info���'g����ɰ���=��1�>	��)����BI��y��fNA����]���4��?�	M� _����������ٱ�	��鼽fAi��������~�M�F=Y�����QU��>�������a��E�����E��y����}�>I���-�:��e�5�?��5�:��<�ݾ�	��A��5�?9�bGC���?;	��@;)���:�Wm���@�WqXq
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I���A)���Ai�����I��p=)���=��=���=���=���=�>��=�'>��=�M>i�=��@��=���	�=��@)�=Ʒ@I�=��@i�=Ʒ@��M�==MMC=Y�M|��QUU�>��Q��Q�aU�E��U��E��Yy�]c�=}]�>I�a��e�5�?��e��ݾ�	�e�A��u�?9�e�GC��e��:	�e��:)�a�m�qAdded new target pos. range: 12.899998 m, bearing: 237.748804 deg, deltaT: 4.475918 s, approachRate: 0.187671 m/s, LOS rate: 3.034201 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 12.899998 m,
      bearing: 237.748804 deg,
      approachRate: 0.187671 m/s,
      LOS rate: 3.034201 deg/s,
      cmd update: 9.102602 deg/s,
      cmd heading: 249.952322 deg,
      new cmd heading: 251.334846 deg.
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      cmd heading: 290.161430 deg,
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   ProNav: 
      pos range: 16.919998 m,
      bearing: 285.943711 deg,
      approachRate: 0.416632 m/s,
      LOS rate: 5.743075 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 343.676932 deg,
      new cmd heading: 349.413616 deg.
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�Fpublishing direction and range info���5��<���ɰ�,�=��$�>	��)����BI��y����A����������?W7)ߑ?��������ٱ����Zd;�O�?X9��v��?{�G�z����~�>���}=	�ף�)�I�y��+�����?X9��v��?�I+��?���?���}=��94=	�G	A)�I�X�@i��A������@��],����Y��Y��]���	�])`:Y�Yy�Y��]4�5�Õ��?�Õ`�=�Õ���iÕ��@�Ñ	ĕn�@)ĕ��@Iĕn�@iĕ��@��@<M�A=Y�m/<QU��>�����a��E����E��y�U�=}��>Iȹ�Ž��5�?�Ž��߾�	ƽ7A����?9ƽ�OC�ǽv�:	Ƚ'�:)ȹ�W���&?�W�X�
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����=i���=��;�<M�I=Y��<<QU��>�����a��E���E��y���=}��>I������:�����5�?����:�����߾�	���A����?9���OC����:	����:)����:�mqAdded new target pos. range: 18.960001 m, bearing: 295.603511 deg, deltaT: 4.467228 s, approachRate: 0.456660 m/s, LOS rate: 2.162370 deg/s, posRepo size: 4�m�
   ProNav: 
      pos range: 18.960001 m,
      bearing: 295.603511 deg,
      approachRate: 0.456660 m/s,
      LOS rate: 2.162370 deg/s,
      cmd update: 6.487110 deg/s,
      cmd heading: 37.337825 deg,
      new cmd heading: 42.206273 deg.
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      bearing: 330.467638 deg,
      approachRate: 0.150212 m/s,
      LOS rate: 7.934904 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 65.842257 deg,
      new cmd heading: 68.682742 deg.
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�ý�B��ýף;�ýl�iý�@�ù	ĽO�@)ĽO�@IĽO�@iĽ9�@���]�;M�,=Y���:QU��>�������a��E���H�E���y����=}��>I�����_i5�?���`N��	���A����?9��\UC�����:	���:)���m%iAdded new target pos. range: 21.480000 m, bearing: 0.700646 deg, deltaT: 4.436129 s, approachRate: 0.419285 m/s, LOS rate: 6.815177 deg/s, posRepo size: 4�m5�
   ProNav: 
      pos range: 21.480000 m,
      bearing: 0.700646 deg,
      approachRate: 0.419285 m/s,
      LOS rate: 6.815177 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 119.011811 deg,
      new cmd heading: 124.689839 deg.
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   ProNav: 
      pos range: 21.600000 m,
      bearing: 15.692361 deg,
      approachRate: 0.026905 m/s,
      LOS rate: 3.361217 deg/s,
      cmd update: 10.083651 deg/s,
      cmd heading: 172.598185 deg,
      new cmd heading: 178.369237 deg.
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      cmd heading: 217.589256 deg,
      new cmd heading: 221.714276 deg.
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      cmd heading: 337.195948 deg,
      new cmd heading: 337.195948 deg.
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   ProNav: 
      pos range: 793.080017 m,
      bearing: 337.369271 deg,
      approachRate: 135.966309 m/s,
      LOS rate: -5.034123 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 45.173634 deg,
      new cmd heading: 50.080290 deg.
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   ProNav: 
      pos range: 29.280003 m,
      bearing: 357.665970 deg,
      approachRate: -171.426254 m/s,
      LOS rate: 4.555364 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 351.751181 deg,
      new cmd heading: 346.605629 deg.
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�Fpublishing direction and range info���]w�>���ɰ��=鰁	��)���tBI��y��G�A�����]7(��?*�p����?��������ٱ���=94>��=xi���=�Խi�=̜@��9	�=�@)�=7�@I�=7�@i�=7�@��M��MMQ=Y�U�d�QU]�>��Y��Y�ae�E��eG�E��iy�mb�=}m�>Iȁ�ŅC�5�?�Ņx���	ƅ�A����?9ƅ�kC�Dž��:	ȅ��:)ȁ�W���J?�W�X�
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   ProNav: 
      pos range: 30.659998 m,
      bearing: 21.170113 deg,
      approachRate: 0.308773 m/s,
      LOS rate: 5.259029 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 45.426666 deg,
      new cmd heading: 51.078246 deg.
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��?)~2�Y�>	~2�a;I~2זCɫ9�9)�9	�9I�9Y�}5�@y�}�hG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����o�M�X=Y���QU��>�������a��E��a�E��y�F>}
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   ProNav: 
      pos range: 32.760002 m,
      bearing: 22.878706 deg,
      approachRate: 0.466962 m/s,
      LOS rate: 0.379927 deg/s,
      cmd update: 1.139780 deg/s,
      cmd heading: 99.293647 deg,
      new cmd heading: 103.899296 deg.
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   ProNav: 
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      bearing: 59.516493 deg,
      approachRate: 0.254962 m/s,
      LOS rate: 8.194085 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 104.394723 deg,
      new cmd heading: 104.828868 deg.
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�Fpublishing direction and range info����a�>���ɰ��x=����>	��)���5CI��y����A������5VI��?&�̅��?��������ٱ���%�Z;M%I=Y�-`�:QU-�>��1��1�a5�E��5�E��9y�=[5<}=�>I�A��M�:��E6�5�?��U�:��E��پ�	�E�?A��U�?9�E�C��E�:	�E*�:)�E=�:�Wq�WqXy
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B��A�L�*B��A��a��A��A��A��$="C�*C����RC�!�=C��C���������]�����]y����]y����]���	�]\:Y�]�P1y�]'�:��]ϊ5�9]@�����=����?i���?�יI������>9��I���QGi���@����=�����������;	��2�EGI>�>/]�r,�Lw-�E�Aɫy髁)��	������I��Y���@y���TG�uTNmea in: $SNTTA,0.027937,,,,023845.88*40
I�y)�}�A	��鿱��-@��-@��-@��-©�-���-�i�-̔@��-����	�-��@)�-���I�-���i�)��=NJ;ME:=Y�E���QUE�>��I��I�aM�E��M�E��Qy�]���}]�>I�a��e&x5�?��eE�پ�	�e@A��m�?9�e2�C��e	�:	�e��:)�a�mMqAdded new target pos. range: 8.040000 m, bearing: 179.954912 deg, deltaT: 4.423678 s, approachRate: 0.284831 m/s, LOS rate: -3.218519 deg/s, posRepo size: 4�WI�WQXQ
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�������K7�?Zd;�O��?bX9�ȶ?����)?���j�<	��E�=)��I��y����|?5^��?V-����~j�t�x?����-?�����������;	‰)AI‰i�A������A�¡�¡����M�2=Y�s�QU��>�����a��E��3�E��y��:�;}��>I������:����5�?����:���Vپ�	��EA����?9����C�����:	����:)��B�:������������������������	��T:Y��WU1y���:����5�m�qAdded new target pos. range: 10.380001 m, bearing: 181.644441 deg, deltaT: 4.466124 s, approachRate: 0.523944 m/s, LOS rate: 0.378299 deg/s, posRepo size: 4�W��W�X�
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      bearing: 141.530604 deg,
      approachRate: 2.024173 m/s,
      LOS rate: -0.024900 deg/s,
      cmd update: -0.074700 deg/s,
      cmd heading: 142.345445 deg,
      new cmd heading: 142.345445 deg.
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      cmd heading: 142.012624 deg,
      new cmd heading: 141.979582 deg.
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�Fpublishing direction and range info����������ɰ�N?鰭$�>	��)����BI��y���C����R��Q���?_�ɴ����������ٱ���DNmea in: $SNTTA,,,,,023959.82*50
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   ProNav: 
      pos range: 388.200012 m,
      bearing: 146.543785 deg,
      approachRate: 48.963707 m/s,
      LOS rate: 0.587274 deg/s,
      cmd update: 1.761823 deg/s,
      cmd heading: 149.050199 deg,
      new cmd heading: 149.618900 deg.
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   ProNav: 
      pos range: 55.259998 m,
      bearing: 166.445153 deg,
      approachRate: -74.285828 m/s,
      LOS rate: 4.440408 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 156.949373 deg,
      new cmd heading: 157.611207 deg.
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      bearing: 152.634634 deg,
      approachRate: 0.685412 m/s,
      LOS rate: -3.155290 deg/s,
      cmd update: -9.465869 deg/s,
      cmd heading: 209.465478 deg,
      new cmd heading: 214.617078 deg.
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   ProNav: 
      pos range: 60.540005 m,
      bearing: 201.129318 deg,
      approachRate: 0.514245 m/s,
      LOS rate: 10.937793 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 167.461301 deg,
      new cmd heading: 162.989028 deg.
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   ProNav: 
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      bearing: 224.597384 deg,
      approachRate: 0.523471 m/s,
      LOS rate: 5.249949 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 221.028439 deg,
      new cmd heading: 227.120275 deg.
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      pos range: 65.159996 m,
      bearing: 204.031397 deg,
      approachRate: 0.512031 m/s,
      LOS rate: -4.618608 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 274.021232 deg,
      new cmd heading: 279.455900 deg.
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   ProNav: 
      pos range: 52.860004 m,
      bearing: 222.080199 deg,
      approachRate: -2.772424 m/s,
      LOS rate: 4.068209 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 220.206259 deg,
      new cmd heading: 215.871187 deg.
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   ProNav: 
      pos range: 68.040001 m,
      bearing: 244.414003 deg,
      approachRate: 3.423524 m/s,
      LOS rate: 5.036913 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 273.411849 deg,
      new cmd heading: 278.193609 deg.
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���Y>i���=i��������@���@���@�Å©Å��Å�iÅ��@�Å����	ā)ą��@Ią��@iąV�@�����M�1=Y�QU��>�����a��E���E��y��y=}��>Iȱ�ŵ	��4�?�ŵ�wԾ�	Ƶ0�A����?9Ƶ�C�ǵ�:	ȵ8�:)ȱ�m�qAdded new target pos. range: 68.340004 m, bearing: 270.827464 deg, deltaT: 4.407047 s, approachRate: 0.068073 m/s, LOS rate: 5.993460 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 68.340004 m,
      bearing: 270.827464 deg,
      approachRate: 0.068073 m/s,
      LOS rate: 5.993460 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 326.299282 deg,
      new cmd heading: 331.827731 deg.
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�Fpublishing direction and range info����V?���ɰ�W>鰽7�>	��)����BI��y��p�B�����U��"t�?yR�!D��?��������ٱ�i�������5�?��5Q����5��i�5G�@��1	�5���)�5̘@I�5=�@i�5̘@��Em>�MER=Y�E��:QUE�>��I��I�aM�E��M��E��Qy�U.�=}]�>I�Y��e�:��]Ե�4�?��m�:��]��Ծ�	�]φA��m�?9�],�C��]�:	�](�:)�]��:�WM�U�>�WIXI
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\n�<"C��RCC�U�>�CI��@A)��BA�����I��nGround Fault scan is active; will mark data as invalid.	ܡ9ܡIܥ�[Giܥ��@�ܡ�ܡ�ܡ�ܡ	ݥ[�EG�	�>�&ۃ�r,g,J�E�A�|(�|(Y}r3:�@�}r�G�@y}rZ3��}r�r�=�}rH�����H������כ�?��� H_�����`�������\л����@���?���`�bf?����?���`���?)~r3:�@	~r�_;I~rЖCɫ���)��	��I��Y�K�@y��aG�}TNmea in: $SNTTA,0.093245,,,,024040.22*4B
i���������gfffff�?X9��v���/�$������3�>������	��,�)��I��y�����n���?{�G�z�?<�O��n�?���?����#<���t�<	µ�A)µ�	AIµvAiµ;A�������A������M�3=Y����:QU��>�������a��E�����E���y��1�=}��>I��������4�?���}վ�	���A����?9��N�C���+�:	���:)���m-uAdded new target pos. range: 68.219994 m, bearing: 309.783011 deg, deltaT: 4.485008 s, approachRate: -0.026758 m/s, LOS rate: 8.685725 deg/s, posRepo size: 4�m=�
   ProNav: 
      pos range: 68.219994 m,
      bearing: 309.783011 deg,
      approachRate: -0.026758 m/s,
      LOS rate: 8.685725 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 20.068656 deg,
      new cmd heading: 25.249068 deg.
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�q?�C����a	��������������������	���;:Y���W1y��č:�����5����בI��GM	�>�n8��r,m�J�E�AY}2tա@�}2,�@y}2��;�}2J��=�}2H�����L��?�������?��� k��������������[�?��� �7�����`9Vx�����?	�?�������?)~2tա@	~2�_;I~2ҖCɫ9�9)�9	�9I�9Y����@y���`G�Z****** received transponder code query ******�F****** received ping request ******�nGround Fault scan is active; will mark data as invalid.	��9��I���ZGi��̱@������������	��<Arming DUSBL. detectThresh: 75
8****** ping requested ******i�I��I��m�\�MuY=Y�u�R;QU}�>��y���a��E����E��y��$>}��>Iș�ŝ���4�?�ŝ�^վ�	ƝM�A����?9Ɲ�C�ǝ��:	ȝg�:)ș�W���?�W�X�
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C42,000,006E2,189,80,80,77,FF
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i�Y��Y�í�=�íb�>�í�#�ií��@�é	ĩ)ĭl�@Iĭ̘@iĭ��@��.|�M�V=Y���=;QU��>�������a��E�����E���y�M٧=}M�>I�Q��U���4�?��U�yվ�	�Uk�A��e�?9�U\�C��U��:	�U�:)�Q�W�Ms�?�W�X�
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BI�AM7��*BI�AM�\<�AI�AI�AUĞ�<"CUҰ;?RCYC]Ms�?�CY��}FӅ���YI�q%nGround Fault scan is active; will mark data as invalid.	�9�I�\ZGi�{�@��������	�Y�EG5
�>��v��r,��K�E�AY}Rݛ�@�}R���@y}RB�<�}R_�=�}RH������T�?���`�:�?���`������`kv�������?�������������o������ݎ�?����.��?)~Rݛ�@	~R�E_;I~Pɫy髁)��	�����I��Y��K�@y��G`G�xDUSBL response received:!U1,R,AFD,000,006CC,18A,80,80,A7,FF
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����{����{�������	��I:Y�#R1y���:���5��Q��1I�9G]v>������i�5]nGI�Ii�a���]K�ٺ�����9B�����r,�,K�E�AY}nA|�@�}n���@y}n�J$<�}n�>�}nH���� ��?����|�?���@�,������lJ�����ve�?����������`F�������6�?���@���?)~nA|�@	~n�_;I~nϖCɫ���)��	��I��Y�M��@y�U�`G��TNmea in: $SNTTA,0.069944,,,,024044.69*4F
i���������=��G�?����>i��@��	�)���@I��@i��@��-Ը<M-B=Y�-�;QU-�>��1��1�a5�E��5��E��9y�=Z�=}=�>I�A��M�:��E_��4�?��U�:��E��վ�	�E��A��U�?9�E��C��E��:	�E��:)�E��:�m�uAdded new target pos. range: 66.900002 m, bearing: 344.429638 deg, deltaT: 4.429317 s, approachRate: -0.298013 m/s, LOS rate: 7.822114 deg/s, posRepo size: 4�m�
   ProNav: 
      pos range: 66.900002 m,
      bearing: 344.429638 deg,
      approachRate: -0.298013 m/s,
      LOS rate: 7.822114 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 73.271282 deg,
      new cmd heading: 78.322910 deg.
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mA:
CHAN A0 (Batt): -0.006171
CHAN A1 (24V): -0.023703
CHAN A2 (12V): -0.005661
CHAN A3 (5V): -0.001404
CHAN B0 (3.3V): 0.000558
CHAN B1 (3.15aV): 0.000134
CHAN B2 (3.15bV): 0.000393
CHAN B3 (GND): 0.001789
OPEN: 0.006628
Full Scale Calc: 4.765 mA, -1.589 mA����G�i>�����r,}��K�E�AY}R�@�}R���@y}R#Խ;�}R�E>�}RH���� ���?������?����o۽������R�������[�?�����K������{�w��������?�������?)~R�@	~R�~_;I~RӖC!�=�!�= !�=�!�= !�=�!�E �19�1I�5�XGi�56�@��5=��5MD��5�D!�E�!�E ��5^�;	�5B�Eɫy�y)�y	�yI�yY��=�@y���^G������@Ai����������M�X=Y����QU��>�������a��E�����E���y�u
	>}u�>I�y����:��}���4�?����:��}��վ�	�}ՇA����?9�}Q�C��}R�:	�}��:)�}��:�W��Y�?�W�X�
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@A����׹I��G�g>�����r,Έ�K�E�A�|�|�;Y}FJ٬@�}F�@y}Fl	S;�}F[)>�}FH���� �N�?���@���?����Bs�������������P�?����h�������*aj�����jy�?����һ�?)~FJ٬@	~FR6_;I~FΖCɫY�Y)�Y	�]����I�YY��ƴ@y��i^G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�������
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DNmea in: $SNTTA,,,,,024049.10*54
i�����M$��MM7=Y�Mݛ�QUU�>��Q��Q�aU�E��U��E��Yy�]�m=}e�>I�i��u�:��mT%�4�?��u�:��m־�	�m/�A��u�?9�m��C��m��:	�mY�:)�m��:�m�yAdded new target pos. range: 64.919998 m, bearing: 338.128570 deg, deltaT: 4.422078 s, approachRate: -0.447754 m/s, LOS rate: -1.424911 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 64.919998 m,
      bearing: 338.128570 deg,
      approachRate: -0.447754 m/s,
      LOS rate: -1.424911 deg/s,
      cmd update: -4.274733 deg/s,
      cmd heading: 126.335547 deg,
      new cmd heading: 131.702847 deg.
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   ProNav: 
      pos range: 62.700001 m,
      bearing: 349.799969 deg,
      approachRate: -0.497407 m/s,
      LOS rate: 2.615066 deg/s,
      cmd update: 7.845200 deg/s,
      cmd heading: 107.263590 deg,
      new cmd heading: 105.260881 deg.
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   ProNav: 
      pos range: 59.880005 m,
      bearing: 343.505376 deg,
      approachRate: -0.631168 m/s,
      LOS rate: -1.408847 deg/s,
      cmd update: -4.226541 deg/s,
      cmd heading: 142.296580 deg,
      new cmd heading: 146.142132 deg.
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�Fpublishing direction and range info����f����ɰ���>��+�>	��)���6CI��y���cB����1٠c>1�?N�u�̿��������ٱ�i��������S'�MUY=Y�]^��QUe�>�����a��E��Q�E��y�I�=}��>I����E�:����q�4�?��E�:����׾�	��v�A��m�?9��(�C����Y<	��v<)����:ܕZ�>9ܑIܑiܑ�ܕ=�ܑ�ܑ�ܕ�;	ݕ�E�W�}�	@�W�X�
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@RC�C�}�	@�C����I��)��eA�בI��G��>��D��r,�|�O�E�AY}fBd>�}f���@y}f��A��}f�>�}fH����`���?����a��?�����+��������������b��?������������<�?���@e.�?���੣�?)~fBd>	~f��^;I~dɫ���)��	�����I��Y��I�@y��Y[G�]DNmea in: $SNTTA,,,,,024102.45*5A
i�i��i����V-����?X9��v����~j�t������|�>����}�	���D�)��I��y�������Mb�?�~j�t��?���Q��?���#?�����<����u<	���"A)���	AI��i��nA�������A��g�<MG=Y�^һQU%�>��!��!�a%�E��%T�E���y��K�=}��>I�������4�?����׾�	����A����?9��H�C����:	����:)���mMyAdded new target pos. range: 56.939999 m, bearing: 339.849258 deg, deltaT: 4.492109 s, approachRate: -0.654482 m/s, LOS rate: -0.813898 deg/s, posRepo size: 4�m]�
   ProNav: 
      pos range: 56.939999 m,
      bearing: 339.849258 deg,
      approachRate: -0.654482 m/s,
      LOS rate: -0.813898 deg/s,
      cmd update: -2.441694 deg/s,
      cmd heading: 123.332407 deg,
      new cmd heading: 121.699496 deg.
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      pos range: 54.840000 m,
      bearing: 331.901295 deg,
      approachRate: -0.475141 m/s,
      LOS rate: -1.798287 deg/s,
      cmd update: -5.394862 deg/s,
      cmd heading: 112.542162 deg,
      new cmd heading: 111.528937 deg.
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   ProNav: 
      pos range: 52.200001 m,
      bearing: 326.417363 deg,
      approachRate: -0.596969 m/s,
      LOS rate: -1.240052 deg/s,
      cmd update: -3.720156 deg/s,
      cmd heading: 88.726984 deg,
      new cmd heading: 86.516040 deg.
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uAdded new target pos. range: 50.939999 m, bearing: 47.682179 deg, deltaT: 10.066377 s, approachRate: 0.059604 m/s, LOS rate: -3.278770 deg/s, posRepo size: 4�m�
   ProNav: 
      pos range: 50.939999 m,
      bearing: 47.682179 deg,
      approachRate: 0.059604 m/s,
      LOS rate: -3.278770 deg/s,
      cmd update: -9.836311 deg/s,
      cmd heading: 80.687518 deg,
      new cmd heading: 80.687518 deg.
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      pos range: 52.980000 m,
      bearing: 59.749914 deg,
      approachRate: 0.200628 m/s,
      LOS rate: 1.186827 deg/s,
      cmd update: 3.560482 deg/s,
      cmd heading: 340.709071 deg,
      new cmd heading: 336.924944 deg.
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      bearing: 94.162436 deg,
      approachRate: 0.150978 m/s,
      LOS rate: 7.872018 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 356.288143 deg,
      new cmd heading: 357.950824 deg.
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      pos range: 52.020000 m,
      bearing: 329.455650 deg,
      approachRate: 0.093723 m/s,
      LOS rate: -1.056052 deg/s,
      cmd update: -3.168156 deg/s,
      cmd heading: 334.188097 deg,
      new cmd heading: 334.188097 deg.
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   ProNav: 
      pos range: 52.200001 m,
      bearing: 331.844522 deg,
      approachRate: 0.040439 m/s,
      LOS rate: 0.536688 deg/s,
      cmd update: 1.610065 deg/s,
      cmd heading: 320.084970 deg,
      new cmd heading: 318.772372 deg.
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   ProNav: 
      pos range: 52.139999 m,
      bearing: 313.291297 deg,
      approachRate: -0.013448 m/s,
      LOS rate: -4.158217 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 327.268780 deg,
      new cmd heading: 327.979649 deg.
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(>�Y9�]��CI�]�_Gi�]��@��]�=��Y��Y��]N�;	�]u�E�K�9�r,���`�E�AY}n�X>�}n��@y}n����}n��z��}nH�������?�����>�?����GA����� �������B�?��� �O�?���`S��?����R�ο����Y��?)~n�X>	~n��^;I~lɫ�)�	�I�!Y�U��@y�U\bG��DNmea in: $SNTTA,,,,,024211.59*56
i�����)��>	��>��5�����5�=��5��>i�5(�@��1	�5M�@)�5��@I�1i�5��@��E��=ME6=Y�M�ȻQUM�>��Q��Q�aU�E��U}�E��Qy�]o��}]�>I�a��m�:��ev�5�?��m�:��e��о�	�er�A��m�?9�e��C��e��:	�e�:)�e�:�m�yAdded new target pos. range: 51.719997 m, bearing: 295.283722 deg, deltaT: 4.463717 s, approachRate: -0.094092 m/s, LOS rate: -4.034211 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 51.719997 m,
      bearing: 295.283722 deg,
      approachRate: -0.094092 m/s,
      LOS rate: -4.034211 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 273.752282 deg,
      new cmd heading: 268.649786 deg.
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B	�AN<�*B�A%��~��A)�A)�AuR-="C����RC�C�e"�@�C�I�eeA)�efA��qI�yG�;>�Ug�r,�v�a�E�AY}2&֐<�}2c��@y}2榽�}2�,{��}2H�������?���@g��?�����ߕ�����,*Ϳ���`T�?���@I�?�����ִ?��� ��ο���@k��?)~2&֐<	~2K�^;I~2̖Cɫ9�9)�9	�=����I�9Y�uT�@y�u?eG}Z****** received transponder code query ******}F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����>9��I�� dGi��k�@����=���������~�;	����Ei�Y��Y����F����x�?��ʡE��������������+?���-��	�����)��I��y���d;�O���?�� �rh�?�~j�t��?����4?���C�=����D<	©)©I­MAi©�������A����=M�.=Y�����QU��>�������a��E�����E���y���`�}��>I������:���a�5�?����:�����о�	��r�A����?9����C����f;	���e;)��!�:�W%���@�W!X!I�))�-@A��5�	����5����5����5���	�5m>:Y�5�T1y�5��:��5�5)�5��;
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mCommand AckuBRequesting micromodem ping code 2i�q��q�}�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
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(>ܝ��>9ܙIܝ�eGiܝ��@�ܙ�ܙ�ܙ�ܝ��;	ݝ��E��Ez�r,��a�E�AY}5R��@�}5��@y}5�h���}5(}��}5H������N�?��� ���?������u������ӿ����YI�?������?���`���?���@�3Ͽ��� !��?)~5R��@	~5�_;I~5ΖCɫ	�	)�		����I�Y�m[�@y�m�fGuxDUSBL response received:!U1,R,460,000,005B8,18A,80,80,A0,FF
}Fpublishing direction and range info��u�5z���qɰu��=�u��>	�q)�u� CI�qy�u\IB��u���΀���?�F��y����������ٱqi��������Q8=����M>���`�i��(�@���	����@)��ף@I��ף@i��ף@���BC�M�D=Y��v��QU��>�����a�E����E��	y�
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_;I~xɫ���)��	������I��Y���@y��fG��DNmea in: $SNTTA,,,,,024216.04*59
i�a��i����<M�@=Y��n�QU��>��5�	����5�����5�����5���	�5�C:Y�5xZ1y�5q�:��5��5��9��9�a=�E��=��E��Ay�Ml��}M�>I�I��U�:��Mu5�?��]�:��MĨо�	�M.�A��]�?9�MG�C��M[�:	�ME�:)�M#�:�myAdded new target pos. range: 50.340000 m, bearing: 285.801370 deg, deltaT: 4.451826 s, approachRate: -0.309985 m/s, LOS rate: -2.129992 deg/s, posRepo size: 4�m-�
   ProNav: 
      pos range: 50.340000 m,
      bearing: 285.801370 deg,
      approachRate: -0.309985 m/s,
      LOS rate: -2.129992 deg/s,
      cmd update: -6.389975 deg/s,
      cmd heading: 220.288152 deg,
      new cmd heading: 214.786908 deg.
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   ProNav: 
      pos range: 48.360004 m,
      bearing: 287.763164 deg,
      approachRate: -0.436626 m/s,
      LOS rate: 0.432612 deg/s,
      cmd update: 1.297836 deg/s,
      cmd heading: 191.333670 deg,
      new cmd heading: 189.098220 deg.
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B9�A=�>*B9�A=[>|��AA�AA�AE� ="Cmȍ6�RCiCm�[@�Cq��aI�iG�}>���>9�I�DwGi���@���=��������;	���E����r,R�#d�E�A�|�|�;Y}R��@�}Rǧ�@y}R1rܽ�}R��w��}RH�������?��� )��?����B��?����%����� ���?����/��?���਀�?�����vο��� ���?)~R��@	~R F_;I~R͖Cɫy�y)�y	�}���I�yY��v�@y���wG�xDUSBL response received:!U1,R,1C2,000,00573,186,80,80,85,FF
�Fpublishing direction and range info����ɾ���ɰ���=����>	��)���CI��y���8B��������k��?AՅ��}ؿ��������ٱ�����z�Ci�e}nGI�yi�����:?�ٺ�����.Bi�������=M%h=Y�%JպQU%�>��)��)�a-�E��-��E��qy�}���}�?Iș�ŝ{�5�?�ŝ�CѾ�	Ɲ;�A���?9Ɲ*�C�ǝ�<	ȝ�<)ș�W�r\@�W�X�
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����4�@�P*Q�8BZQ��sL tWE@cM���1���������JQ�����k��?AՅ��}ؿ��������2Q�ɾ:QbQ�]wCI^*@�ҧwϲE��z��+�!@RQ�A*���C�?�t����;Y��\�?BQ<�@
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B��A�A�>*B��A�<Z{��A��A��A�pH="C�C6�RC�C�r\@�C��׹I��G�f>����r,R�=d�E�Aɫ���)��	������I��Y�>�@y��xGi�y��yI��p=)���=�����t<���Z$����X9�i����@���	���@)��I����@i����@���F|=M�N=Y�����QU��>�������a��E�����E���y�����}��>I�����c�5�?���MNѾ�	��m�A���?9��K�C���Z�:	��0�:)���m=yAdded new target pos. range: 46.199997 m, bearing: 286.898982 deg, deltaT: 4.407400 s, approachRate: -0.490087 m/s, LOS rate: -0.196075 deg/s, posRepo size: 4�mM�
   ProNav: 
      pos range: 46.199997 m,
      bearing: 286.898982 deg,
      approachRate: -0.490087 m/s,
      LOS rate: -0.196075 deg/s,
      cmd update: -0.588226 deg/s,
      cmd heading: 197.053715 deg,
      new cmd heading: 197.507768 deg.
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X��W�:W�2W�*W��V�bU�BU�*U�U�U�����c�@�R�B*** querying acoustic contact ***�P��P�B����B�
B��A���>*B��A�t�r��A��A��A���="C�4�7�*C�RC�C��MZ@�C���5�
����5}����5}����5n��	�5�[:Y�5kS1y�5Ԋ:��54�5�9=@��9�=�m��>9�m��CI�m�}Gi�m_�@��m�=��i��i��m�;	�mΗE���I��GI>��<�r,į�d�E�AY}6dg�@�}6u�@y}6j̽�}6��t��}6H����`���?���@���?���@���?����b����@���?���`�/�?���`g��?�����)ο����Z��?)~6dg�@	~6�<_;I~6ΖCɫY�Y)�Y	�YI�YY����@y��MG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�������>��C�=��,>i�̴@��	���@)�\�@I�i���@��%e�=M%<=Y�%�;QU-�>��)��)�a5�E��5��E��1y�=�c�}=�>I�A��ES5�?��E��Ѿ�	�E��A��M�?9�E;�C��E��:	�EP�:)�A�Wu�Z@�WqXq
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B��A���>*B��A�h�p��A��A��A��="C�)8�*C�RC�C��Z@�C���-�=i�-�=���oE�<�סI��G�A>���C�r,��e�E�A�|Hi|HY}�ˬ@�}V٤@y}��Ž�}F�s��}H�����[�?��� �t�?�����:�?���������@��?�������?����]��?����Gο���`���?)~�ˬ@	~f�_;I~̖Cɫ�)�	�I�Y�M��@y�U�G]xDUSBL response received:!U1,P
1C2,000,00573,186,80,80,85,FF
]Command Ack]BRequesting micromodem ping code 2i�Y��Y�u�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
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i�a���	�����A���B>��Q8=�����i�׻@��	���@)�r�@I�r�@i���@��5#>M5s=Y�=�;QU=?��9��A�aE�E��E�E��Iy�MC��}M?I�Q��U�65�?��U��Ѿ�	�U�A��]�?9�U�C��UI�:	�U��:)�Q�W��uY@�W�X�
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�Fpublishing direction and range info�����ɽ���ɰ��=鰝1�>	��)���CI��y���-B�����S�3��?F�ο4����������ٱ�i���������O=M�e=Y��n�;QU��>�������a��E����E���y��٘�}��>I������:���@5�?����:�����Ѿ�	���A����?9����C���A�:	��
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y�G�uTNmea in: $SNTTA,0.045056,,,,024229.40*49
i�y������E=M�;=Y����;QU��>�������a��E����E���y���|�}��>I������J5�?���+�Ѿ�	���A����?9����C���Y�:	��ʽ:)����9����CI���Gi����@����=���JD������C�;	���E�m%yAdded new target pos. range: 43.439999 m, bearing: 286.628151 deg, deltaT: 4.386646 s, approachRate: -0.629182 m/s, LOS rate: -0.061740 deg/s, posRepo size: 4�m5�
   ProNav: 
      pos range: 43.439999 m,
      bearing: 286.628151 deg,
      approachRate: -0.629182 m/s,
      LOS rate: -0.061740 deg/s,
      cmd update: -0.185219 deg/s,
      cmd heading: 194.470990 deg,
      new cmd heading: 194.213696 deg.
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5,187,80,80,9A,FF
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i�a��a���@���@���@���©�������i����@�������	��9�@)��I�����i�������j�;Mz=Y�M9QU?�����a�E��V�E��!y�%G��}%?I�)��-۝5�?��-Ӿ�	�-��A��=�?9�-��C��-��:	�-Y�:)�)I�Q)�Q��]j����Y��Y��]~��	�]e:Y�Yy�Y��]<6)�]+�;�9e��W}�6W@�WyXy
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�Fpublishing direction and range info����K!?���ɰ�x�=鰥7�>	��)���dBI��y���B������â
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B1�A5:p?*B9�A=�+��A9�A9�A=:s�<"CE��:�*CARCACE�"W@�CI��II�YG}>��N��r,���g�E�AY}j��@�}j�Œ@y}j��#��}jc�m��}jH���� j�ӿ������?���`P��?����8j�������ӿ�����l�������p�?���`ZnͿ���`��?)~j��@	~jQ_;I~j̖Cɫ���)��	��I��Y�7�@y���G�Et�>9�E��CI�E��Gi�EW�@��E�=��A��E�D��E^�;	�E�E��TNmea in: $SNTTA,0.053785,,,,024239.51*46
i�����I��4=)��%=���i�=]nG��]�����]{����]{����]���	�]Y�:Y�]#R1y�]��:��]�6)�]�;I�qi�����S=�ٺ����-BM==Y�
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   ProNav: 
      pos range: 37.380001 m,
      bearing: 288.855230 deg,
      approachRate: -0.599999 m/s,
      LOS rate: 0.220502 deg/s,
      cmd update: 0.661507 deg/s,
      cmd heading: 192.600272 deg,
      new cmd heading: 192.504531 deg.
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D2E,000,004E0,189,80,80,39,FF
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�Fpublishing direction and range info���clc?���ɰ�d�=鰡	��)����BI��y��B����Xh.�?�<�I_��?��������ٱ�I��)��i�����	�������(j�M�k=Y���e�QU�?�������a��E���y�E���y���ν}�?I������_5�?���/�Ӿ�	��k�A����?9����C�����:	����:)���W%:Z@�W!X!
X!�W!X!:W!2W)*W)�V)bU)BU1*U1U1U5���@|'@�RE(Combining 5 samples.�PI*QMBZQM��N��f6@���鮐;@��������JQM�Xh.�?�<�I_��?��������2QMclc?:QIbQM�I*1#@�����@��}�����RQM���\��,�?��5y(e�-�_�(�ĿBQMv��@
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�?9���C�����:	����:)��A�:�m=yAdded new target pos. range: 35.520000 m, bearing: 285.775716 deg, deltaT: 4.040776 s, approachRate: -0.460308 m/s, LOS rate: -0.762109 deg/s, posRepo size: 4�m=rPowering the camera and arming the DDM at range: 35.52 m.X9�mM�
   ProNav: 
      pos range: 35.520000 m,
      bearing: 285.775716 deg,
      approachRate: -0.460308 m/s,
      LOS rate: -0.762109 deg/s,
      cmd update: -2.286328 deg/s,
      cmd heading: 195.272948 deg,
      new cmd heading: 195.606762 deg.
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   ProNav: 
      pos range: 34.200001 m,
      bearing: 282.772427 deg,
      approachRate: -0.290142 m/s,
      LOS rate: -0.660136 deg/s,
      cmd update: -1.980407 deg/s,
      cmd heading: 184.906824 deg,
      new cmd heading: 184.094275 deg.
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      pos range: 1764.119995 m,
      bearing: 222.145141 deg,
      approachRate: 253.582947 m/s,
      LOS rate: -8.887142 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 171.412663 deg,
      new cmd heading: 170.657276 deg.
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�Fpublishing direction and range info����2?���ɰ��=��7�>	��)����BI��y��G	B����oN�n��?�ހ�<��?��������ٱ�i�������-@��-@��-@��-©�-���-�i�-G�@��-����	�-��@)�-IAI�)i�-��@��E�ȼMES=Y�Ek9QUE�>��I��I�aM�E��M��E��Qy�UK�}]�>I�Y��]15�?��]CoԾ�	�](�A��m�?9�] �C��]H�:	�]T�:)�Y�W�!2@�W�X�
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i�9��9)�M�=	�M>��w��M�+=Y���QU��>�����a��E����E��y��f�}��>Iȡ����:�ť��5�?����:�ť�nԾ�	ƥ0�A����?9ƥB�C�ǥ�:	ȥA�:)ȥR�:�m��Added new target pos. range: 34.320000 m, bearing: 218.024843 deg, deltaT: 4.418682 s, approachRate: -391.474213 m/s, LOS rate: -0.932472 deg/s, posRepo size: 4�m�rPowering the camera and arming the DDM at range: 34.32 m.�m�lFinal approach. Armed for intercept at range: 34.32 m.�m�\Transitioning guidance mode to: FINAL_APPROACH"X��m��
   ProNav: 
      pos range: 34.320000 m,
      bearing: 218.024843 deg,
      approachRate: -391.474213 m/s,
      LOS rate: -0.932472 deg/s,
      cmd update: -2.797416 deg/s,
      cmd heading: 118.347846 deg,
      new cmd heading: 112.307130 deg.
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      cmd update: -12.000000 deg/s,
      cmd heading: 105.956287 deg,
      new cmd heading: 104.665844 deg.
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      LOS rate: -5.201509 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 344.750836 deg,
      new cmd heading: 339.271816 deg.
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��-��M-@=Y�5��;QU5�>��1��1�a=�E��=��E��9y�E�X<}E�>I�I��M?[5�?��M���	�M�A��U�?9�M-D��M��:	�MH�:)�I�m%qAdded new target pos. range: 179.220016 m, bearing: 36.941338 deg, deltaT: 4.446045 s, approachRate: 0.000000 m/s, LOS rate: 0.649747 deg/s, posRepo size: 4�WA�WIXI
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SG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����(�M�b=Y�����QU��>�����a��E���E��y��^�}��>Iȡ�ť_�5�?�ťx����	ƥq�A����?9ƥ�D�ǥ��:	ȥ��:)ȡ�W	�W1X1
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299,000,00E1C,189,80,80,56,FF
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1��;C	�C����r�;���?i�}?�ױI��G��>�O��r,&���E�AY}2��?�}2P�?y}2���:�}2�(Ѽ�}2H������?����W4������F�������6�?������?����[��?���@�S����@X$������S��?)~2��?	~2i�];I~2ȖCɫ1�9)�9	�9I�9Y�}M�@y�}�QG	����%v��M%e=Y�-2I;QU-�>��)��1�a5�E��5 �E��1y�= �:}=�>I�A��M�:��E��5�?��M�:��EML���	�E��A��U�?9�ED��E`J;	�E�`;)�EL�:�muAdded new target pos. range: 186.119995 m, bearing: 33.905397 deg, deltaT: 4.862915 s, approachRate: 1.418898 m/s, LOS rate: -0.624305 deg/s, posRepo size: 4�W�W	X
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      bearing: 38.986235 deg,
      approachRate: 0.658086 m/s,
      LOS rate: -0.207507 deg/s,
      cmd update: -0.622521 deg/s,
      cmd heading: 39.988951 deg,
      new cmd heading: 39.988951 deg.
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      pos range: 271.859985 m,
      bearing: 43.493869 deg,
      approachRate: 0.713066 m/s,
      LOS rate: -8.046814 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 82.087734 deg,
      new cmd heading: 82.087734 deg.
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      pos range: 275.519989 m,
      bearing: 75.870581 deg,
      approachRate: 0.763259 m/s,
      LOS rate: 6.751858 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 24.497513 deg,
      new cmd heading: 19.255085 deg.
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      bearing: 108.244257 deg,
      approachRate: 0.703581 m/s,
      LOS rate: 1.178959 deg/s,
      cmd update: 3.536879 deg/s,
      cmd heading: 353.986105 deg,
      new cmd heading: 359.220805 deg.
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=Fpublishing direction and range info��5h�쾩�1ɰ5��>�5��>	�1)�5��BI�1y�53�C��5�̢0bM��?���H��ܿ��������ٱ1�DNmea in: $SNTTA,,,,,024921.99*52
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   ProNav: 
      pos range: 296.399994 m,
      bearing: 87.842045 deg,
      approachRate: 0.315689 m/s,
      LOS rate: -4.128689 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 11.457599 deg,
      new cmd heading: 12.650075 deg.
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   ProNav: 
      pos range: 299.579987 m,
      bearing: 102.318481 deg,
      approachRate: 0.667304 m/s,
      LOS rate: 3.037802 deg/s,
      cmd update: 9.113406 deg/s,
      cmd heading: 314.227293 deg,
      new cmd heading: 309.437217 deg.
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      bearing: 24.796320 deg,
      approachRate: 0.720099 m/s,
      LOS rate: -4.795838 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 101.535953 deg,
      new cmd heading: 105.062194 deg.
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Fpublishing direction and range info����V����ɰ�r�>����>	��)����BI��y���C����-_�����?B#H�����������ٱ��%dNmea in: $SNTTA,0.220986,0.348355,,,025010.48*5F
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   ProNav: 
      pos range: 327.899994 m,
      bearing: 336.646500 deg,
      approachRate: 0.604284 m/s,
      LOS rate: -1.744374 deg/s,
      cmd update: -5.233123 deg/s,
      cmd heading: 130.364276 deg,
      new cmd heading: 127.156916 deg.
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   ProNav: 
      pos range: 329.459991 m,
      bearing: 331.413483 deg,
      approachRate: 0.330055 m/s,
      LOS rate: -1.107171 deg/s,
      cmd update: -3.321512 deg/s,
      cmd heading: 105.641157 deg,
      new cmd heading: 103.609010 deg.
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      bearing: 350.970281 deg,
      approachRate: 0.517498 m/s,
      LOS rate: 4.016131 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 89.441728 deg,
      new cmd heading: 88.165387 deg.
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      bearing: 109.316993 deg,
      approachRate: 0.593589 m/s,
      LOS rate: 5.265798 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 83.768391 deg,
      new cmd heading: 83.768391 deg.
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�:	ȅ&�:)ȅD�:�m�uAdded new target pos. range: 340.740021 m, bearing: 86.988292 deg, deltaT: 4.867448 s, approachRate: 0.690310 m/s, LOS rate: -4.587353 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 340.740021 m,
      bearing: 86.988292 deg,
      approachRate: 0.690310 m/s,
      LOS rate: -4.587353 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 142.323244 deg,
      new cmd heading: 146.775544 deg.
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      pos range: 346.920013 m,
      bearing: 114.739460 deg,
      approachRate: 0.590565 m/s,
      LOS rate: 2.651922 deg/s,
      cmd update: 7.955767 deg/s,
      cmd heading: 16.700616 deg,
      new cmd heading: 11.343528 deg.
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   ProNav: 
      pos range: 349.619995 m,
      bearing: 119.662551 deg,
      approachRate: 0.546075 m/s,
      LOS rate: 0.995703 deg/s,
      cmd update: 2.987108 deg/s,
      cmd heading: 55.948085 deg,
      new cmd heading: 58.500136 deg.
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