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name="Config/Science" *n code=001D name="Config/Battery" *n code=001E name="AHRS_M2" *n code=001F name="BackseatComponent" *n code=0020 name="BackseatComponent ThreadHandler" *n code=0021 name="LcmUniversalReporter" *n code=0022 name="BPC1" *n code=0023 name="DataOverHttps" *n code=0024 name="DataOverHttps ThreadHandler" *n code=0025 name="DDM" *n code=0026 name="Depth_Keller" *n code=0027 name="DropWeight" *n code=0028 name="DUSBL_Hydroid" *n code=0029 name="Micromodem" *n code=002A name="NAL9602" *n code=002B name="Onboard" *n code=002C name="Onboard ThreadHandler" *n code=002D name="PowerOnly" *n code=002E name="Power24vConverter" *n code=002F name="Radio_Surface" *n code=0030 name="Radio_Surface ThreadHandler" *n code=0031 name="RDI_Pathfinder" *n code=0032 name="RDI_PathfinderUp" *n code=0033 name="DeadReckonUsingMultipleVelocitySources" *n code=0034 name="NavChart" *n code=0035 name="UniversalFixResidualReporter" *n code=0036 name="WorkSite" *n code=0037 name="BuoyancyServo" *n code=0038 name="ElevatorServo" *n code=0039 name="MassServo" *n code=003A name="RudderServo" *n code=003B name="ThrusterServo" *n code=003C name="CTD_Seabird" *n code=003D name="CTD_Seabird ThreadHandler" *n code=003E name="WetLabsSeaOWL_UV_A" *n code=003F name="WetLabsSeaOWL_UV_A ThreadHandler" *n code=0040 name="DepthRateCalculator" *n code=0041 name="PitchRateCalculator" *n code=0042 name="SpeedCalculator" *n code=0043 name="TempGradientCalculator" *n code=0044 name="YawRateCalculator" *n code=0045 name="ElevatorOffsetCalculator" *n code=0046 name="SBIT" *n code=0047 name="IBIT" *n code=0048 name="CBIT" *n code=0049 name="VerticalControl" *n code=004A name="HorizontalControl" *n code=004B name="SpeedControl" *n code=004C name="LoopControl" *n code=004D name="MissionManager" *n code=004E name="Reporter" *n code=004F name="NavChartDb" *n code=0050 name="NavChartDb ThreadHandler" *n code=0051 name="Startup" *n code=0052 name="Startup:A.GoToSurface" *n code=0053 name="Startup:StartupSatComms" *n code=0054 name="Startup:StartupSatComms:A" *n code=0055 name="Startup:StartupSatComms:B" *n code=0056 name="DefaultWithUndock" *n code=0057 name="DefaultWithUndock:A.Wait" *n code=0058 name="DefaultWithUndock:LeaveDock" *n code=0059 name="DefaultWithUndock:LeaveDock:A_Timeout" *n code=005A name="DefaultWithUndock:LeaveDock:A_Timeout:A" *n code=005B name="DefaultWithUndock:LeaveDock:A." *n code=005C name="DefaultWithUndock:LeaveDock:B.Undock" *n code=005D name="DefaultWithUndock:SurfaceDefault" *n code=005E name="DefaultWithUndock:SurfaceDefault:HoldLatchOpen" *n code=005F name="DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A" *n code=0060 name="DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B" *n code=0061 name="DefaultWithUndock:SurfaceDefault:B.GoToSurface" *n code=0062 name="DefaultWithUndock:SurfaceDefault:CheckIn" *n code=0063 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS" *n code=0064 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium" *n code=0065 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout" *n code=0066 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute" *n code=0067 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:B" *n code=0068 name="DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait" *n code=0069 name="DefaultWithUndock:SurfaceDefault:CheckIn:D" *n code=006A name="DefaultWithUndock:SurfaceDefault:CheckIn:E" *n code=006B name="DefaultWithUndock:D" *n code=006C name="DefaultWithUndock:E.Execute" *n code=006D name="lineCaptureDepth" *n code=006E name="lineCaptureDepth:Science" *n code=006F name="lineCaptureDepth:Science:A" *n code=0070 name="lineCaptureDepth:Science:B" *n code=0071 name="lineCaptureDepth:Science:C" *n code=0072 name="lineCaptureDepth:Science:D" *n code=0073 name="lineCaptureDepth:Science:E" *n code=0074 name="lineCaptureDepth:Science:F" *n code=0075 name="lineCaptureDepth:Science:Read_Oil" *n code=0076 name="lineCaptureDepth:Science:OceanCurrent" *n code=0077 name="lineCaptureDepth:Science:OceanCurrent:A." *n code=0078 name="lineCaptureDepth:Science:PeakDetectChl" *n code=0079 name="lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth" *n code=007A name="lineCaptureDepth:Science:PeakDetectChl:B" *n code=007B name="lineCaptureDepth:Science:HighestChlPeakReport" *n code=007C name="lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=007D name="lineCaptureDepth:Science:PeakDetectNO3" *n code=007E name="lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth" *n code=007F name="lineCaptureDepth:Science:PeakDetectNO3:B" *n code=0080 name="lineCaptureDepth:Science:PeakDetectOil" *n code=0081 name="lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth" *n code=0082 name="lineCaptureDepth:Science:PeakDetectOil:B" *n code=0083 name="lineCaptureDepth:Science:HighestOilPeakReport" *n code=0084 name="lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=0085 name="lineCaptureDepth:Science:PeakDetectFDOM" *n code=0086 name="lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth" *n code=0087 name="lineCaptureDepth:Science:PeakDetectFDOM:B" *n code=0088 name="lineCaptureDepth:Science:PeakDetectSalinity" *n code=0089 name="lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth" *n code=008A name="lineCaptureDepth:Science:PeakDetectSalinity:B" *n code=008B name="lineCaptureDepth:Science:HighestSaltPeakReport" *n code=008C name="lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=008D name="lineCaptureDepth:StandardEnvelopes" *n code=008E name="lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope" *n code=008F name="lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope" *n code=0090 name="lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope" *n code=0091 name="lineCaptureDepth:C" *n code=0092 name="lineCaptureDepth:D" *n code=0093 name="lineCaptureDepth:E" *n code=0094 name="lineCaptureDepth:NeedComms" *n code=0095 name="lineCaptureDepth:NeedComms:A" *n code=0096 name="lineCaptureDepth:NeedComms:B.GoToSurface" *n code=0097 name="lineCaptureDepth:NeedComms:C" *n code=0098 name="lineCaptureDepth:NeedComms:C:A_Timeout" *n code=0099 name="lineCaptureDepth:NeedComms:C:A_Timeout:A" *n code=009A name="lineCaptureDepth:NeedComms:D" *n code=009B name="lineCaptureDepth:NeedComms:E" *n code=009C name="lineCaptureDepth:NeedComms:E:A_Timeout" *n code=009D name="lineCaptureDepth:NeedComms:E:A_Timeout:A" *n code=009E name="lineCaptureDepth:G" *n code=009F name="lineCaptureDepth:H" *n code=00A0 name="lineCaptureDepth:MicromodemComms" *n code=00A1 name="lineCaptureDepth:MicromodemComms:CheckIn" *n code=00A2 name="lineCaptureDepth:MicromodemComms:CheckIn:A" *n code=00A3 name="lineCaptureDepth:MicromodemComms.Redefine.CommsInterval" *n code=00A4 name="lineCaptureDepth:J" *n code=00A5 name="lineCaptureDepth:TrackAC." *n code=00A6 name="lineCaptureDepth:LineCapture" *n code=00A7 name="lineCaptureDepth:LineCapture:A" *n code=00A8 name="lineCaptureDepth:LineCapture:B" *n code=00A9 name="lineCaptureDepth:LineCapture:StandardEnvelopes" *n code=00AA name="lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope" *n code=00AB name="lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope" *n code=00AC name="lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope" *n code=00AD name="lineCaptureDepth:LineCapture:D" *n code=00AE name="lineCaptureDepth:LineCapture:E" *n code=00AF name="lineCaptureDepth:LineCapture:F" *n code=00B0 name="lineCaptureDepth:LineCapture:G" *n code=00B1 name="lineCaptureDepth:LineCapture:H" *n code=00B2 name="lineCaptureDepth:LineCapture:HoldMassAndBuoyancy" *n code=00B3 name="lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A" *n code=00B4 name="lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass" *n code=00B5 name="lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy" *n code=00B6 name="lineCaptureDepth:LineCapture:HomingSequence" *n code=00B7 name="lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock" *n code=00B8 name="lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide" *n code=00B9 name="lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock" *n code=00BA name="lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout" *n code=00BB name="lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout:A" *n code=00BC name="lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B" *n code=00BD name="lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C" *n code=00BE name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance" *n code=00BF name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide" *n code=00C0 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A" *n code=00C1 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange" *n code=00C2 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A" *n code=00C3 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B" *n code=00C4 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed" *n code=00C5 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch" *n code=00C6 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint" *n code=00C7 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout" *n code=00C8 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:A" *n code=00C9 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:B" *n code=00CA name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:F" *n code=00CB name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern" *n code=00CC name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout" *n code=00CD name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A" *n code=00CE name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle" *n code=00CF name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait" *n code=00D0 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:H" *n code=00D1 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:I" *n code=00D2 name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance" *n code=00D3 name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide" *n code=00D4 name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A" *n code=00D5 name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout" *n code=00D6 name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout:A" *n code=00D7 name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout:B" *n code=00D8 name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch" *n code=00D9 name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D" *n code=00DA name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E" *n code=00DB name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture" *n code=00DC name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G" *n code=00DD 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unitName="radian" type=2F size=0004 fl=05 *a code=0C98 owner=0133 element=06A3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0C99 owner=0133 element=06C4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0C9A owner=0133 element=06A2 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C9B owner=0134 element=0142 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0C9C owner=0134 element=013C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0C9D owner=0134 element=0138 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0C9E owner=0134 element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0C9F owner=0134 element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0CA0 owner=0134 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CA1 owner=0134 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CA2 owner=0134 element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0CA3 owner=0134 element=06AB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0CA4 owner=0134 element=06A3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0CA5 owner=0134 element=06C4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0CA6 owner=0134 element=06A2 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0CA7 owner=0135 element=0142 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0CA8 owner=0135 element=013C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0CA9 owner=0135 element=0138 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0CAA owner=0135 element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0CAB owner=0135 element=06C4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0CAC owner=0135 element=06A2 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0CAD owner=0135 element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0CAE owner=0135 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CAF owner=0135 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CB0 owner=0135 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CB1 owner=0135 element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0CB2 owner=0135 element=06C4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0CB3 owner=0135 element=06A2 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0CB4 owner=0137 element=0104 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=05 *a code=0CB5 owner=0138 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CB6 owner=0138 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CB7 owner=0138 element=06D6 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0CB8 owner=0138 element=06AC universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0CB9 owner=0138 element=06D2 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0CBA owner=0138 element=06D3 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0CBB owner=0108 element=001D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CBC owner=0108 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CBD owner=010D element=0020 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CBE owner=010D element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CBF owner=0110 element=001F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CC0 owner=0110 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CC1 owner=0115 element=0005 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CC2 owner=0115 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CC3 owner=0118 element=005C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CC4 owner=0118 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CC5 owner=0104 element=001F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CC6 owner=0102 element=001D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CC7 owner=0100 element=0676 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0CC8 owner=0100 element=0679 universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=04 *a code=0CC9 owner=00FF element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CCA owner=00FF element=005C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CCB owner=0120 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CCC owner=0123 element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CCD owner=0124 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 9u@up: u$:)qWWX XWX:W2W*WVbUBU*UUU[@B!B) B)A-}*B)A1A1A1A1"CA*CIRCICICI]?i]?9IIGeV>  Cim mGI i ٺ GAt,vfFAY}fC8@}f(@y}fA}f֘}fHrӖ߿;?lO? NĿ?͒@U?)~fC8@ ~f\;I~fCYv?yvFzxDUSBL response received:!U1,R,25B,000,002BB,189,80,80,C5,FF Fpublishing direction and range infoz$xɰxz7> x)zECIxyxz틻?$ٱx.M=YQU ?a!HyX;} ?I+ 5?nݾ T> 5?9@_; ;)WWX XWX:W2W*WVbUBU*UUU@۳@R(Combining 5 samples.P*QZQ${@Q)JQ틻?$2Q$:QbQ\M@r?RQ  ߿2Nj?-?BQ@ Qp@Q PPL9?PQQ&@"Qq"@BIBI BiAm*BiAqAqAqAq"Cy*CyRCyCyCaIqG>  z z  +:Y Q1y : 5z,\fFAY}~88@}~œ(@y}~zS}~"}~H`5a߿X?j?ཟ@ſ`W??M 7?)~~88@ ~~[;I~~CYE?yEFDNmea in: $SNTTA,,,,,224126.88*5F I)I=)4=茺MB=Y)QU>a!H!y%}%>II U:M+ 5? U:Mnݾ M> ]?9M@M: M0:)M:mmAdded new target pos. range: 4.440000 m, bearing: 120.427245 deg, deltaT: 4.432062 s, approachRate: 0.000000 m/s, LOS rate: 0.380349 deg/s, posRepo size: 4XW@WX XWX:W2W*WVbUBU*UUU?BIBI BIAM*BQAQAQAQAQ"C]@RCYC]@CaAII$eNClearing failed state for component DDMq eGm>ففܝ>9ܝܔCIܙiܙܝ=ܙܙܝ; ݝE嵁,,fFAY}RMp8@}R׋(@y}R b}R[/}RHGO. ? a? X\@ʿ?@xe?)~RMp8@ ~R[;I~PYlypnZd;OͿbX9ȶ?V~j E=)Iy~jthMb`ya!Hy}>Iȱŵ+ 5?ŵnݾ Ƶ> ?9Ƶ @ǵ^: ȵ:)ȱWWX XWX:W2W *W V bU BU*UUUV?BaBa BaA*BAAAA"C@*CRCCC׹IGE> @ { {  a:Y #R1y : 25, !fFAY}Jh8@}JD(@y}Jnh}J}JH@;@ b ?K\?haǿ ?N*?)~Jh8@ ~JU [;I~JCY^?y^FF=f!M= ?9}@}s: }:)}:WWX XWX:W2W*WVbUBU*UUU`D?BABI BIAM*BIAIAQAqAq"C}@RCyCyCyiIyG=- ,:fFAY}^-8@}^I(@y}^Ug}^|L׻}^H/`q߿??@Ґ`? s:z/?)~^-8@ ~^*[;I~^CY ?y 9AIEFiE}?E=EBDAE; EE=ip< 99    @ @ @i )Ii-<M2=Y'*;QU> a!Hy}>I!%+ 5?%nݾ %˸> M?9%@%k; % ;)!WWX XWX:W2W*WVbUBU*UUU6?B B BA*BAAAA"C!*C!RC!C!CIAIIGm5>  ~ ~  84:Y T1y @: 5) ;9 ,TfFAY}:٢7@}:c'@y}:j}:R<}:Hb߿@ͤ?`?ctX? ?v'?)~:٢7@ ~:V\;I~:CYJQ?yJtF_AMl=Yt%QU?a!H!y% ˼}%?I1 5:5+ 5? =:5nݾ 5"> =?95@5: 50:)5:WyWyX XWX:W2W*WVbUBU*UUU@?BB BAى*BAAAA!"C)*C1RC1C1C1!I)GM=,ԚnfFAY}6[U7@}6p'@y}6t}68}6H@& =?`.?@s@4gvS?`U?@?)~6[U7@ ~6&\;I~6CYb:?ybF}=M}D=YQU>a!Hy9}>Iȩŭ, 5?ŭ}nݾ ƭ> ?9ƭ'@ǭ; ȭ`;)ȩW)W)X) X)W)X1:WQ2WY*WYVYbUaBUa*UaUaUmP?@BB BA_*BAAAA"C *CRCCCI1Gu>%=%<999I9i9999=; =E { {  #A:Y #R1y : 5) ;,vfFAY}FK7@}F^g'@y}FC}F(}FH`B"`? ?`M?r?)~FK7@ ~FX[;I~FCY^/?y^F`ɮba=S?:vʿ{Gzt?/>T ף;)IyˡE?y&1|S㥛'=`/ݼ -HA)+MAI0AiqAMA    @ @ @éééiéé ĩ)ĩIĩiĩoM6=YμQU>a!HyF}>I* 5?mݾ w> ?9Ӟ@{: +:)WAWAXA XIWIXi:Wi2Wi*WqVqbUqBUq*UyUyU} @RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCIG (>-,LfFAY}66@}6a&@y}61}6}6H4M ~?`q?7=@c?`kt?)~66@ ~6z[;I~6CYR?yRFVZ****** received transponder code query ******VF****** received ping request ******V<M%l=Y%RǼQU-?11a5!H5dH9yE}E?IQ ]:U) 5? ]:U)mݾ U> e?9UY@U ; U.;)U:WWX XWX:W2W*WVbUBU*UUU @BIBQ BQAuf*BqAyAyAyAy"C*CRCCCI^A)^AבIG=  y y  H:Y P1y ': 69 @X,+fFAl9lIliln=lln; nEY}ZO6@}Z/k&@y}ZV}Zü}ZHy ??Pÿ?!`5?)~ZO6@ ~Zt[;I~XY?yjFxDUSBL response received:!U1,P 25B,000,002BB,189,80,80,C5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @ùùùiùù Ĺ)ĹIĹiĹvmM-$=Y5.QU5>99aE!HAiyuق}u>Iȉō( 5?ōHlݾ ƍ> ?9ƍ@Ǎ6D; ȍ;)ȉWWX XW X :W 2W *W VbUBU*UUU` @BB BAu*BAAAA"C*CRCCCיIGf> =i ==@,%fFAY}:#6@}:|?&@y}:]ˆ}:IX}:Hi\?@?/Aǿ q?e n?)~:#6@ ~:[;I~8YN?yRFPPbNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }<M}=YQU ?a!Hy } ?I :' 5? :kݾ V> ?9@ ; ;):WIWIXI XqWqXy:Wy2Wy*WVbUBU*UUU@BB BA /*B A)A)A)A1"C1*C9RC9C9C9)I1GU>   2:Y y 5Rj,fFAY}6o6@}66&@y}6S}6ÿp}6H@<\` ??@Cȿ n>?`l?)~6o6@ ~6[;I~6CYN?yR1FVxDUSBL response received:!U1,R,275,000,002BA,189,80,80,DC,FF VFpublishing direction and range infoR PɰRd=P P)R\CIPyR(@RO>8L? Qg6ٱPdf^An=MrU=YrsQUr>ttav!Httyz}z>I|~% 5?~kݾ ~>  ?9~+@~: ~:)|WIWIXI XIWIXQ:WQ2WQ*WQVqbUyBUy*UyUyUೕ@R(Combining 5 samples.P*Q(@ZQA=y @BHJQO>8L? Qg62Q :QbQ"Ѭ j_@59-?RQ 8AۿSּ?g?BQ^@ Qr@QPPPQQ6@"Q&@BB  B A *B A A A A"C1*C9RC9C9C91I9G}=_A9IpFiM?; E)ݝܔCIݝܔCiݙݝ=ݝ=ݝ5S, fFAY}F5@}FH%@y}Fw}FXj}FHU(1`P?y?NKȿ@?*`8?)~F5@ ~F \;I~FCNPowering upN"Initializing DDM.Y?yFdNmea in: $SNTTA,0.027864,0.385430,,,224131.32*5E i}nGIi1]ӿٺae]AMb?J +&1@=H P)IyS㥛?Mb?Q/<< ½XGA)½zPAI½C/Ai½/yAPA u } } }@ }@ }@yyyiyy y)yIyiy<M=YQU>a!Hym}>I :$ 5? :jݾ > ?9ġ@: :):meuAdded new target pos. range: 4.380000 m, bearing: 116.166519 deg, deltaT: 4.398438 s, approachRate: -0.013641 m/s, LOS rate: -0.968691 deg/s, posRepo size: 4XaWe^@WiXi XiWiXi:Wi2Wq*WqVqbUqBUq*UyU@U.?BB B A r*B A A A A"C5n'@RC9C=^@C91I9G]v> n | |  Q:Y R1y i: 6q|ȁ,#fFAY}60s5@}6%@y}6k}6>bн}6H|?c)?` 2ο@,?#?)~60s5@ ~6![;I~4Y^?y^LFI!)!]<M]=YeoyQUe?aaae!Hiiym$}u?Iy}# 5?}rjݾ }b> ?9}@} : }:)yWWX XWX:W2W*WVbUBU*UUU`>K?BABQ BQAUI*BQAYAYAYAY"Ce:@RCaCaCiIIYGu=ҫ΁, =fFA898I:Fi:a?888:; :EY}5@}%@y}V}}HY)9? x"?\@{TϿ?`мi?)~5@ ~[;I~CYs?y:F e e e e@ e@ e@aaaiaa a)aIaiauM},=Y}Oa!Hyw;}>Iș :ŝr" 5? :ŝjݾ Ɲ> ?9Ɲ@ǝD; ȝ;)ȝ:W W X  X WX:W2W*WVbUBUY*UYUaUe?BB BAQ*BAAAA"C@RCCCױIGF> G   " M:Y T1y : a6) ;9 Ձ,OWfFAY}695@}6U%@y}6 ؍}6J}6HEr?`N? pʿ@*? ?)~695@ ~6m[;I~6CY^I?y^F==M=x=YE/r e?9]@]n: ]:)YWWX XWX:W2W*WVbUBU*UUUZ?B)B) B)A-*B)AQAQAQAQ"C]s@*CYRCYCaCaiIyG=@ہ,'qfFAY}64@}6$@y}6t}6{}6H `-?t?Ӱɿ`IJ?:`?)~64@ ~6Kz[;I~6CYN?yRF~C=i~=  !׻MF=YeQU>a!Hy#{}>Ij 5?iݾ > ?9t@.: ;)WWX XW!X!:W)2W9*WAVAbUABUI*UIUIUU`Z@BB BA*BAAAA"C^@RCQCYCaשIG!>im=܁9܁I܅Fi܅v?܅=܁܅a!HysL}>I : 5? :hݾ > ?9ԣ@: :):WWX XWX:W2W*WVbU!BU!*U!U!U-@BQBQ BQA],*BYAYAYAYAY"Ca*CaRCiCiCiyi}?IIQGm>聙,ܤfFAY}6{4@}6 $@y}64~}6}6H@C B??``Ϳ#??)~6{4@ ~6<[;I~6CYB!?yBBFDɮDV'MVt=YV j?9f@f: f:)dWQWQXQ XQWyXy:Wy2Wy*WVbUBU*UUUo@RB*** querying acoustic contact ***PPB B  BA5*B1A9A9A9A9"CA*CIRCICICYQIaG= L  9:Y y 59 @a 9a Ie Fie E?a a a e ; e E,fFAY}6>14@}6L$@y}6 }6`}6H b@\?`?Ӓg!ȿW??)~6>14@ ~6-[;I~4YBg?yB FFZ****** received transponder code query ******FF****** received ping request ******Fa!H!y%r0}->I1 :5  5? :5gݾ 5> ?95w@5P< 5<)5:WWX XWX:W2W*WVbUBU*UUUB @BIBI BiAu*BqAqAqAqAq"Cy*CRCCCiIyG>,fFAY}>3@}>#@y}>z}> +}>H #?`?`_2ƿ*?Lm?)~>3@ ~>[;I~>CY^?y^FbxDUSBL response received:!U1,P 275,000,002BA,189,80,80,DC,FF fCommand AckfBRequesting micromodem ping code 2iddjNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= =    @ @ @i )IiM<Mm-=Y}a!Hy^}>Ix 5?_gݾ 5> ?9@: @:)WW!X! X!W!X!:W!2W)*W)V)bU)BU1*U1U1U5 o @BB BA7*BAAAA"C*CRCCCI5]A)5]AIGMR>   .:Y y E5,lfFAY}6~3@}6#@y}6~}6Y]}6H & ?=?{a@ȿn?RЯ?)~6~3@ ~6k[;I~6CYf?yjFzNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B q=Me=YUa!Hy»}?I! ]:% 5? e:%fݾ %> m?9%)@%A< %7B<)%:WWX XWX:W2W*WVbUBU*UUUh@^A >9 ۔CI i  =   ; EBB BAȆ*BAAAA"C*CRCCCIG>5,.W fFAY}J3@}J#@y}JIwu}J:)ǽ}JHY0`@}? ?j< ʿ`c?*%@)?)~J3@ ~J^[;I~JCY^?y^FbxDUSBL response received:!U1,R,27A,000,002BC,189,80,80,CB,FF bFpublishing direction and range infob `ɰb`e=` `)bKCI`yb@ba+y49?kٱ`MbX?:v rh?=T C =)IyMb?~jt~jt?<D< BA)SAIiuANA 5 5 = =@ =@ =@999i99 9)9I9i9m;Mm3=Yuyya!Hyh;}>IȹŽ 5?Žeݾ ƽ> %?9ƽ֥@ǽV< ȽsV<)ȹWiWiXi XiWiXi:Wi2Wq*WqVqbUqBUq*UyUyU}*)@R(Combining 5 samples.P*Q@ZQ@BtJQa+y49?k2Q :QbQM=hA@j{?RQ:Hh@ٿHP̻G??BQ? Q~@QFPPPQQL:@"Q6@B!B) B)A-*B)A)A1A1A1"C9*CYRCYCYCaQIaG}Y>  z z  s+:Y Q1y : 5) ,n&fFAY}ZJ3@}Zԧ#@y}Zm}ZgX}ZH L`?@.?Ϳs? ?)~ZJ3@ ~Z9Z[;I~ZCYnG?ynmFETNmea in: $SNTTA,,0.028954,,,224135.74*42 Y]_A'R<Mh=YRa!HyvS}?IG 5?eݾ > %?9Z@: w:)mqAdded new target pos. range: 4.500001 m, bearing: 114.059603 deg, deltaT: 4.546712 s, approachRate: 0.026393 m/s, LOS rate: -0.463393 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UU@@U?B9BA BAAE*BAAAAAAyA"Ck@RCC?CaIqG> >9 I xFi ? ; E)ݡIݡiݡݥ=ݥ=ݥP5 ,.@fFAY}VI3@}Vze#@y}Vc}Vm}VH`u`d?~S? gп@?@[ÿ`P?)~VI3@ ~Vܱ[;I~VCY ?y $FMO=Y7a!Hy'}>Iȹ :Ž 5? :Ždݾ ƽ> ?9ƽ@ǽA: Ƚ:)Ƚ:WWX XWX:W2W*WQVYbUYBUa*UaUaUmGt?BB BA*BA!A!A!A)"CU?RCQCQCQIIYG}>AAinmGIi޿ٺA o { {  <:Y #R1y : 6) <;9 *,YfFAY}6PA3@}6\#@y}6vhS}6}6H @L't?f? `v˿ =? l?)~6PA3@ ~6p[;I~4Y^?y^?FI!)!=2c;M]Q=Y]&=QUe>aaae!Haiymz}m>Iȉōf 5?ō&cݾ ƍ-> ?9ƍ}@Ǎ; ȍ̯;)ȉW)W)X1 X1W9X9:WA2WI*WQVQbUYBUa*UiUU`(g?B9B9 B9A=*BAAAAAAAAA"Ci*CiRCqCqCqaIqG>-T,sfFAY}6r3@}6#@y}6oA}6}6H{/$?^b? fÿ@9 ?'[^?)~6r3@ ~6y-[;I~6CY^o?yb#F e e e m@ m@ m@aaaiaa a)aIaia2<M5=YZ =QU>IQa]!HYiy~;}>Iȡ :ť! 5? :ťaݾ ƥO> ?9ƥ5@ǥ; ȥ;)ȥ:W!W)X) X)W)X):W12W1*W9V9bU9BU9*UAUAUM'?BB BAR*BAAAA"C*CRCCC٥<٥<ܱ9ܱIܱiܱܵ=ܱܱܵ; ݵEIGI> } }  E:Y kS1y Ԋ: 6) ; <#, fFAY}>`Z3@}>u#@y}>5}>1<}>H7?@au?v@o?=v?)~>`Z3@ ~>|[;I~>CYJ?yJٍF~jtI +?~jt94= )Iy~jt?y&1|~jt?<`< •;9A)•E`AI•1Ai•CA2<M\=Ya!Hy/}?I 5?aݾ g> U?9p@`< M<)WWX XWX:W2W*WVbUBU*UUUM@?BB BA*BAA!A!A!"C)*C)RC)C)CI)I1GU>+f),3lfFAY}6s2@}6#@y}6s2}6/P}6H" '44? T?WE@\ÿ}&?r?)~6s2@ ~6#[[;I~6CYf#?yfjF=4=i== II    @ @ @ÙÙÙiÙÙ ę)ęIęięI=MJ=Ya!HfHy4f}>I :7 5? :Haݾ 7> ?9@w: :):WWX XWX:W2W*WVbU BU *U U U @=@BB BAe*BAAAA"C*CRCCC  IGE> . x x  }7:Y 7P1y : !69 @ܽ >9ܹ Iܽ Fiܽ v?ܹ ܹ ܹ ܽ ; ݽ E~N0,8IfFAY}62@}6Q#@y}60}6*}6H $+@?J?8=y Ŀ"?`y\p?)~62@ ~6Z;I~4Yn2?ynsF|~^A m m m m@ m@ m@iiiiii i)iIiii}:M}M=Yh>;QU>a!Hy,9}>Ișŝ 5?ŝ`ݾ Ɲ> ?9Ɲ@ǝ: ȝI:)șWWX XWX:W2W*WVbUBU*UUUn@RB*** querying acoustic contact ***PPB B  B Aa*BAAAA"C*C!RC!C!C!=?i=?)I9GU=y6,(fFAY}62@}6u"@y}6~.}6N6}6HG`4\l??G2@ߴ? os Z?)~62@ ~6Z;I~6CYN?yNΏFRZ****** received transponder code query ******RF****** received ping request ******R<M R=Y ;QU>a!H!y%AY}->I1 =:5Q 5? =:5`ݾ 5> E?95?@5; 5O;)5:WiWiXi XiWiXi:Wq2Wq*WqVybUyBUy*UyUyU @BaBi BiAm<*BiAAAA"C*CRCCC׉IG=     ):Y T1y : |5B<,vfFAY}J02@}J"@y}J$}Jx}JH`'*@,?`? F A?^?)~J02@ ~J} [;I~JCYZ?yZ*F^xDUSBL response received:!U1,P 27A,000,002BC,189,80,80,CB,FF ^Command Ack^BRequesting micromodem ping code 2i\\I`)`fNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I C=) E(MUG=Yeya!Hy ;}>I 5?*`ݾ > ?9@8< <)WIWqXq XyWyX:W2W*WVbUBU*UUU @IIe>9eڔCIeXFie?e =aae; eEBB BA*BAAAA"C *C RCCC9IAG]v>?C, fFAY}6J3@}63#@y}6)}6}6H@3Ew l~? ?IO¿ ? l:`?)~6J3@ ~6[;I~6CYR6?yR؎FPR@AbNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -Mb?ktƿy&1?-=- 0 -`e=))I)y-A`"~jtS㥛?-Y-D-/< -5>A)-RAI)i))-@A    @ @ @ ÁÁÁiÅ(?Á ą&?)ą?Ią&?ią?M7=YRa!Hy <}>Iȱŵ 5?ŵ`ݾ Ƶ> ?9ƵU@ǵw: ȵ^:)ȱWWX XWX:W2W*WVbUBU*UUU 4@B B BA*BAAAA!"CI*CIRCICICQAIIGm5> & z z  6:Y Q1y : i5I,x( fFAY}>3@}>.#@y}>g}>n}>HI`+س?@E?N@aV&?@?)~>3@ ~> [;I~ L)NOCILyN(@N p[?dʙٱLblAMfm=Yfk z?9r@r9: r:)r:WWX XWX:W2W*W!V!bU!BU!*U)U)U- O@R=(Combining 5 samples.P9*Q=(@ZQ=6 @z3-JQ= p[?dʙ2Q=X :Q9bQ=}_qp$}@`cζ!?RQ=}l1ڿL0d?];Z6?BQ=z? Q={@Q=sP9P9P9Q=Q= @"Q=L:@BqBq BqAu*ByAyAyAyAy"C*CRCCCyIG=A 9A IE ȖFiE ?E "=A A E ; E E P,B fFAY}V3@}VZ4#@y}Vh }V@}VH@6HJ6? ç?TFn ?@ @?)~V3@ ~V Z;I~VCYv?yvF]DNmea in: $SNTTA,,,,,224140.19*57 ]p=i]= qq    @ @ @ @ùùùiýù Ľ)ĽIĽiĽ<-=M:=Y/QU>a!HyQ:}>I1$ 5?aݾ > ?9ī@N: ض:)m-qAdded new target pos. range: 4.380000 m, bearing: 114.485732 deg, deltaT: 4.330580 s, approachRate: -0.027710 m/s, LOS rate: 0.098400 deg/s, posRepo size: 4X)W5z?W1X1 X1W1X1:W92W9*W9V9bU9BUA*UAUE@UE ?B!BI BIAM)*BIAQAQAQAQ"Cez?*CaRCCz?CׁIG>  | |  ,:Y R1y i: W5) Q;9 MV,/j\ fFAY}6yS3@}6o#@y}6,r}6@h}6HQ@&R?Ċ?Snz?ר`?)~6yS3@ ~6*Z;I~6CY^.?ybF\;MN=YFQU>a!Hy<}>Iȹ :Ž% 5? :ŽBbݾ ƽ> ?9ƽ@ǽ: Ƚ|:)Ƚ:WWX XWX:W2W*WVbUBU*UUU?B!B) B)A-"*B)A)A1A1A1"C9*C9RC9C9CA1I9GU=\,Ev fFAY}zl3@}zm#@y}z= }z/$Z<}zH@iS~ ?D}?O@S? S?]?)~zl3@ ~z[;I~zCYE?yM;Fp= ף?ʡE~jt> D)IyQ?~jt?Mb`u<<  ?A)OQAI=4Ai]AHA]=M1=YQU>a!HyR;}>I9=% 5?=vbݾ => u?9=@=w; =;)9WWX XWX:W2W*WVbUBU9Ii!=; E)ݍڔCIݍ۔Ci݉ݍ =ݍ=ݍ5*U!U!U-p?ByBy BA*BAAAA"C*CRCCCיIGb> 2 z z  e#:Y Q1y : 5) e;c," fFAi.]nGIDiPdٺddY}bg53@}bP#@y}bj-}bJB=}bHGfP??U@??Z?)~bg53@ ~bH[;I~bCYv?yvŏFIY)YIm=)m=    @ @ @ñññiññ ı)ıIıiıWMh=Y;QU?a!HQy]}]?Ia m:eX$ 5? m:ebݾ e/> m?9e$@e: e:)e:WWX XWX:W2W*WVbUBU*UUU?BB BA@*BAAAA!"C!*C)RC)C)CQIIQGm>cj,n fFAY}6$ 3@}6;#@y}6Ep}68)V<}6H`G?1?_=`c?'z??)~6$ 3@ ~6G[;I~6CYvP?yvF+MM=Y[a!HgHy^}>IȹŽ# 5?Žbݾ ƽG> ?9ƽp@ǽ@: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUUZ@B!B) B)A-Z*B)A)A)A1A1"C9*C9RC9C9CA׉IG=   :2:Y y 59 @ 9 I 8Fi ? = ; Ep, fFAY}63@}62#@y}6}68}6H`j@ ?r? %`?/Ц`p?)~63@ ~6=h[;I~6CYB#?yBjF    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ[MJ=YÌ;QU>a!Hy<}>Iȹ :Ž" 5? :Žbݾ ƽ%> ?9ƽ@ǽI: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU:@B1B9 B9A=e*B9AAAAAAAA"CI*CQRCQCQCYu?iu?iIyG=w,S fFAY}63@}6 $@y}6j}6^}6H`v|'?K? 6w@ÿO?ϵ?)~63@ ~65[;I~6CY^?y^Fba=ɮ`fR=if= llr=MvW=YvdQUv>xxaz!Hx|y~_<}~>I" 5?cݾ > ?9 @: :)W1W1X1 X1W1X9:W92W9*WAVAbUABUA*UAUIUM@RUB*** querying acoustic contact ***PQPQBB BA*BAAAA"C*C RC C C IG= S | |  q::Y R1y i: }6A},$ fFAY}e3@}e$@y}eՐ$}eݽ}eH q?F?@T<ƿw{?`;Zg?)~e3@ ~eJ[;I~eCY#?yjFZ****** received transponder code query ******F****** received ping request ******a!Hy.}>I : 5? :bݾ ǿ>  ?9ڮ@: :):W)W)X) X)W)X1:W12W1*W1V1bU9BU9*UAUAUE @BB BAe*BAAAA"C*C!RC!C!C!IY)Y9IYGuz>e&,h fFAY}63@}6$@y}6H)}6Na}6HSk`U`?hE? QN9ǿt?{n_?)~63@ ~6/[;I~6CY^*?ybFbxDUSBL response received:!U1,P 271,000,002BA,188,80,80,CF,FF fCommand AckfBRequesting micromodem ping code 2iddjNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 U=M=YftQU ?!a-!H)1y]w}] ?Iim 5?maݾ m]> ?9mU@md; mL;)iWWX XWX:W 2W *WVbUBU*UUU Z @BB) B)A-*B)A1A1A9A9"CI*CQRCQCQCYיIGg>  - P0:Y y 6P,D+ fFAY}63@}6#@y}6)}6:`}6H`fs?L? r@` ?嫫v?)~63@ ~6C[;I~6CYf?yf͑FzNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IY)YIep=)eC==MM=Y:QU>a!Hyy1}>IȹŽ 5?Ž`ݾ ƽӳ> ?9ƽ@ǽض: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUUA@B!B) B)A-m*B)A)A)A)A1"C*CRCCCשIG>܍ >9܉ I܍ ȖFi܍ ?܉ ܉ ܉ ܍ ; ݍ Eo8,qE fFAY}63@}6$@y}6O%}6~%}6Ht 7`ڼ???@$+@?`nv?)~63@ ~6 [;I~6CY^ ?ybFfxDUSBL response received:!U1,R,253,000,0057E,189,80,80,B7,FF fFpublishing direction and range infob`ɰb[=b7> `)b7CI`ybp;BbھH?߿ٱ`    @ @ @i )Ii-M5A=Y=9AaE!HAIyM;}U>IY m:]O 5? m:]`ݾ ]y> m?9]@]>; ]90;)]:WWX XWX:W2W*WVbUBU*UUU@R (Combining 5 samples.P1*Q5p;BZQ5.WD@^`C@7JQ5ھH?߿2Q5:Q1bQ5"<4Um餧D@?!8@RQ5>'\oܿ%,5? |^n?BQ5@h@ Q5=%BQ5P59?P1P5Q1Q5A"Q5 @BB BA*BAAAA"C*CRCCC?i?סIG#>  z z  3:Y Q1y : 5"b,^ fFAY}>WL4@}>g$@y}>-'}>mqJ}>H~ c??f?o2?)~>WL4@ ~>[;I~>CYJR?yJ_F=N<M=[=YE섻QUE>AIaM!HIIyU]<}U>IY]7 5?]s_ݾ ]> e?9]@]: ]:)YmqAdded new target pos. range: 46.860001 m, bearing: 116.746620 deg, deltaT: 4.507529 s, approachRate: 9.424232 m/s, LOS rate: 0.501580 deg/s, posRepo size: 4mTStopped intercept timer at range: 46.86 m.W@h@WX XWX:W!2W!*W!V!bU!BU)*U)U-nG@U-?BB BA*BAAAA"C@RCC@h@CIG>ݏ, x fFAY}94@}ÿ$@y},}}H$`|W?? 5ÿ Kf?`Բ1v?)~94@ ~:Z;I~CY?yFE4=iE%= qqA`"V-Ϳ{GzYm #)Iy?Mb?V-<< ™)JAI0AiE`A\GA    @ @ @i )IiPM %=Y QU >a!Hy1<))=>99I=XFi=?==99=; =E}e>Ii u:m 5? }:m#_ݾ m> ?9m@m`; me`;)m :; wAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;wdResuming normal ranging with 1.000000 count pings.;1<WWX XWX:W2W*WVbUBU*UUU?BB BÄ́*BAAAA"C@h@RCCCIG=r>   [/:Y y 6) ;9 t,% fFAY~v?y~Fϑ=M|=YQU ?a!Hy} ?IȹŽG 5?Ž^ݾ ƽ> ?9ƽ@ǽ: Ƚ:)ȹX?1<wCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR; wAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRWWX XWX:W2W*WVbUBU*UUU`t?B)B BA*BAAAA"C*CRCCCשIG=, fFAY}65@}6*%@y}66}6 }6H+~`b?5?{ɿP?[̿`C=?)~65@ ~6[;I~6CYB?yBFUMUO=Y]ۼQU]>aaae!HehHaym<}m>Iqu\ 5?u^ݾ u> }?9uB@u : uD:)qWWX XWX:W2W*WVbUBU*UUU [?BB BA*BAAAA"C*CRCCCIG5=) 9) I- Fi- ?) ) ) - ; - zE)ʼn۔CIiʼn=ʼn=ʼn|5  x x  -:Y 7P1y : 35) ;R,m fFAY}635@}6N%@y}69}6p}6HI8??¿?@k?)~635@ ~6+[;I~4Y^?y^FI)I54=)5%=    @ @ @i )Ii5@k=M5==Y5лQU=>99a=!H9AyEr;}M>Iq u:uM 5? }:ui^ݾ u> }?9u@u: u:)u :WWX XWX:W2W*WVbUBU*UUUC@B9BA BAAE*BAAAAAAAAi"Ci*CqRCqCqCq׭?i׭?aIqG">i 3oGIi1eۿٺaeA,FA fFAY}>5@}>H%@y}>8}>uq޻}>H*`?Y?rh_?`Z{@z?)~>5@ ~>WF\;I~>CYN?yNUF]s"M]Y=Ye/;QUe>aaam!Hiiyu}u>Iy}a 5?}7^ݾ }> ?9}@}{: }/:)yWWX XWX:W2W*WVbUBU*UUU@BaBi BiAm5*BiAiAiAqA"C*CRCCC׉IG= Z  ;:Y y 59 @ݽ,) fFA%`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ]A9IFiv?=}; oEɫ髩) IY;?yFv/V-Ϳy&1xi `)IyMb?V-y&1|?@=`; ?A)NAIi?eAHA ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYm;Mm=YuQUu>yya}!Hyy}>Iȉ :ōK 5? :ō\ݾ ƍ> ?9ƍ@ǍV; ȍ;)ȍ :WWX XWX:W2W*WVbUBU*UUUә@RuB*** querying acoustic contact ***PqPuBB BA *B A AAA"C*CRCCC!I1)5^AIG >޽ =i޹ Ă, fFAɫ髙) IYJ?yFZ****** received transponder code query ******F****** received ping request ****** }?9e}@e; e;)aWYWYXY XYWYXa:Wa2Wa*WaVabUiBUi*UUU @BB BA*BAAAA"C*CRCCCIG5.>  } }  h,:Y kS1y Ԋ: 5ʂ,- fFAY}6E5@}6`%@y}6t<}6}6HZaUi?e?kȿ@l? m C?)~6E5@ ~6^r[;I~6Cɫ99)9 9I9Y?yFxDUSBL response received:!U1,P 253,000,0057E,189,80,80,B7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 _A%=M-L=Y= QUE>QYa]!Haqy <}>Iȡ :ť 5? :ťZݾ ƥ > ?9ƥ.@ǥ; ȥ;)ȥ :WWX XWX:W2W*WVbUBU*UUU݄ @BBA BAAE*BAAIAIAIAI"CQ*CQRCQCQCYaIyG_> >9 I i т,G fFAY}>~45@}>P%@y}> <}>R }>H`y@Ҵ? ?`v˿_?`b@n+?)~>~45@ ~>[;I~>Cɫ) IYE?yEFeNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)I=)= U U U U@ U@ U@QQQiQQ Q)QIQiQuNM}=YM:QU>a!Hy}>Iȱŵ 5?ŵYݾ Ƶ> e?9Ƶ@ǵ< ȵ<)ȱWWX XWX:W2W*WVbUBU*UUU .@BiBi BqAu{*ByAyAyAA"C*CRCCC׽?i׽?׉IG> . y y P K:Y P1y ': N 6ׂ,߈a fFAY}64@}6J$@y}6[8}6_}6H jj@?H?b /¿@?o?)~64@ ~6_[;I~6CɫYY)Y YIYYT?y9FxDUSBL response received:!U1,R,2B4,000,002BB,188,80,80,C9,FF Fpublishing direction and range info#ɰ e=鰥> )ICIy@"W?+ٱnj=M=YM ]?9-@-; -;)- :WWX XWX:W2W*WVbUBU*UUU@P*Q@ZQk< @Tx+JQ"W?+2Q#:QbQ6"Ǖ Û[)@4rG?RQ?U׿o?aI!?BQ#? QN@QԿPL9?P9?PQQ9*@"QABQBY BYA]؃*BYAYAYAaAa"Ca*CiRCiCqCiIqG>z+ނ,n{ fFAɫ) IYM?yU FTNmea in: $SNTTA,0.405868,,,,224149.10*4E im<q9qIuxFiu?qqquz; umE(\ȿZd;OGj )IyI +?S㥛 =z<M.=YQU>a!Hy}>I 5?Wݾ 1> ?9@n: :)m=uAdded new target pos. range: 4.440000 m, bearing: 112.351933 deg, deltaT: 4.434191 s, approachRate: -9.566571 m/s, LOS rate: -0.991091 deg/s, posRepo size: 4WE#?WAXA XAWAXI:WI2WI*WIVIbUQBUQ*UQUU`@U] ?BB BA*BAAAA"C@RCC#?C9IIGuX>  | |  /:Y R1y i: 6) ;9 備,}@ fFAY}64@}6*$@y}6Z2}6Ֆf}6H k੢?-?@n: `5?@b@?)~64@ ~6^;I~6Cɫ99)9 9I9YE?yEF -<Mp=Y %?9O@: :):=u=Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;=vEZEntering USBL mode with 5.000000 count pings.1;Eq;EWIWIXI XIWQX:W2W*WVbUBU*UUU ?BB BAD*BAAAA"C5?RC9C9CAqIG%> =i =:낙,n fFAY}63@}6n#@y}6L1}6hg}6HYl0?L?@U ¿I ?`vz@x?)~63@ ~6_;I~6Cɫ99)A AIAY]?y]F   % %@ %@ %@!!!i!! !)!I!i!5M5G=Y5E;QU=>99a=!H=iHAyE1}M>II U:M 5? ]:MVݾ M~> ]?9M@Mt: MI:)M:Xu@q;}u}Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:}u}Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLWWX XWX:W2W*WVbUBU*UUU=?BB BA|*BAAAA"C&?RCCCשIG>u >9q Iu @Fiu ?q q q u w; u kE u y y  (:Y P1y ': 5) ;#, fFAY}V3@}V?#@y}V)}Vܽ}VH@Z`d߳?@^?@@d ǿ?a*a?)~V3@ ~V^;I~VCɫ髙) IY;?yFim^AgCMD=Ya!HyF}>Iȱŵ 5?ŵUݾ Ƶ> ?9Ƶ$@ǵϸ: ȵ@:)ȱWWX XWX:W2W*WVbUBU*UUU@v?BB! B!A%*B!A!A!A)A)"C5C?*C1RC1C1C9)I1GU>L, fFAY}Br3@}B#@y}BE}Bw}BH_`@`? n? ;`vƿ`2?eɻl?)~Br3@ ~B];I~@ɫ髉) IY?ygFI9)9IA)E4=    @ @ @éééiéé ĩ)ĩIĩiĩN<MH=Ya!HyY}>I :- 5? :'Uݾ > ?9@: =:):W W X  X W X:W2W*WVbUBU*UUU%8@BIBI BIAUƃ*BQAQAQAQAQ"C]#?*CYRCaCaCau?iu?iIqG >  { {  "6:Y #R1y : 59M @bw, fFAY}V)3@}VD#@y}V}V}VHG@t=? ?Oy¿@2)?ઍ?)~V)3@ ~VF\;I~Tɫy髁) IYn?yFI +B`"ѿV-?94َ =)IyI +?y&1|y&1?9<``e= ;A)"WAI2AiaAIA_A>9IxFi?=; pE)Ii=4 u u u u@ u@ u@qqqiqq q)qIqiq7q<M>=Y@Ia!Hyfw}>Iȡť 5?ťTݾ ƥ> M?9ƥ@ǥa< ȥ@<)ȡWWX XWX:W2W*WVbUBU*UUU@BABI BIAM*BIAIAQAQAQ"CY*CYRCYCYCa9IQGuW>i %nGI i  hٺ  A`,K fFAY}6v 3@}6)#@y}6o}6kU}6H @."@? ?@:ÿ?@e7?)~6v 3@ ~6[;I~4ɫQY)Y YIYY?y F鮝p=ɮ=)õ!> õ=;Ml=Y:QU?a!Hyw}?I : 5? :Tݾ t> ?9@: R:):W W X  XWX:W2W*WVbUBU*U!U!U%n@R-B*** querying acoustic contact ***P1P5BB BA*BAAAA"C*CRCCCIG >  C@:Y y t6 ,a0 fFAY}6^)3@}6D#@y}6Ry}6}6HoI :?@? Y@'?@֓?)~6^)3@ ~6a;I~4ɫII)I IIIY}?y}UFZ****** received transponder code query ******F****** received ping request ******a!Hy3;} >I9 5?Tݾ ׳> %?9@o; :)WIWIXI XIWIXI:WQ2WQ*WQVQbUYBUY*UYUYUe@ @BB BA̓*BAAAA"C*CRCCC IGE> >9 ڔCI i     w;  jEs,IJ fFAY}>2@}>#@y}>E.}>,_}>H~<@OI? ?@S5?@?)~>2@ ~>p{_;I~>CɫQQ)Q QIYY?yFxDUSBL response received:!U1,P 2B4,000,002BB,188,80,80,C9,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =   @ @ @ ÁÁÁiÅ?Á ą ?)ą?Ią ?ią?M$=YIa%!H!!y-}->I1 =:5 5? ]:5/Tݾ 5> ]?95N@53; 5;)5:WWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"C*CRCCC!iIqG> K    9:Y WU1y : 6 ,;d fFAY}6s2@}6$"@y}6[ }6}6H@($.J?%?R=?핿q?)~6s2@ ~65];I~4ɫ99)9 9I9Y}2?y}“FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =M=Y E?9=u@=: =U:)9WaWaXi XiWiXi:Wi2Wi*WqVqbUqBUq*UyUyU} @BABA BAAE*BIAIAIAIAQ"CQ*CYRCYCYCYiIqG>',~ fFAY}j2@}jp!"@y}j˧}j6=}jH @`=9??W)`?ϟ? ?)~j2@ ~jG\;I~jCɫ) IY5?y5KF=xDUSBL response received:!U1,R,265,000,002BB,189,80,80,C6,FF =Fpublishing direction and range info= 9ɰ9=7> 9)=FCI9y9=!Ж?+R 8Pٱ9II)MAI]C=)]C=ܵ>9ܱIܵFiܵ1?ܵ=ܱܱܱ ݵhE?Sſ:v=/ T)IyMb`?v/{Gzt;xiף  ?A)+MAIh3Ai?A ] ] ] ]@ ]@ ]@ ]@YYYi]Y ])]I]i]mf<Mm*=Yub;QUu>qqa}!HyyD`}>I : 5? :Rݾ ~> ?9X@: 0:):WaWaXi XiWiXi:Wi2Wq*WqVybUBU*UUU @R(Combining 5 samples.P*QZQ{Ɏ@qfbJQ!Ж?+R 8P2Q :QbQs}\% 5I8Ac@M5~=L ?RQ~N Pڿ;?x)R~?BQ? Qۀ@QPPL9?PQQ@"Q9*@BB BAi*BAAAA"C*CRCCCIG>I޹ )޽ AA ! { {  t6:Y #R1y : 5) ܒ;9 %,Nї fFAY}r?N1@}ri!@y}r }rym=}rH([Xd?h?'LV?4X??)~r?N1@ ~rۼ\;I~rCɫ) IY5?y5FTNmea in: $SNTTA,,0.115357,,,224153.55*47 Mf=Y޻QU>a!Hy}?I   5? Qݾ > ?9 @ I: :) mMmAdded new target pos. range: 4.440000 m, bearing: 114.386298 deg, deltaT: 4.544561 s, approachRate: 0.000000 m/s, LOS rate: 0.447648 deg/s, posRepo size: 4WM?WIXI XIWQXQ:WQ2WQ*WQVYbUYBUY*UYUYUeu?B)B) B)A-*B)A1A1A1A1"C=Ӽ?RC9C=?CAAIIGm5>&+, fFAY}60@}6 @y}6 }6_i}6Hp1??`Q@؆?Y匿@?)~60@ ~6=`;I~6C6Could not parse latch stateɫ) IY-?y-KF;M0=Y1SQU>a!HjHy}>I 5?rPݾ '> ?9Ի@: :)W1W1X1 X1W1X9:W92W9*W9V9bUABUA*UAUIUM@;'?BB BAi*BAAAA"C?RCCCIG%>ܹ9ܹIܽXFiܽ?ܽ=ܹܹܽr; ݽeE  y y  ]:Y P1y ': 5) Ӵ;2,ˆ fFAY}60@}67 @y}6}65گ}6HxI@t?`? ac¿`4?`3µ@?)~60@ ~6Ab;I~6CɫII)I IIIY}??y}F  5 5 5 5@ 5@ 5@111i11 1)1I1i1E潽ME~=YM: m?9ei@e: ew:)e:WWX XWX:W2W*WVbUBU*UUU ?ByB BA^*BAAAA"C*CRCCCI)סIG >;8,-` fFAY}6/@}6I@y}6}6g}6H` }w㪟?@ ?x ſm?B?)~6/@ ~6T7_;I~4ɫ99)9 9I9Y?yFU(<M]I=Y]Iaaae!Haiymsi}m>Iqu 5?uNݾ u> ?9u(@u': u:)qWWX XWX:W2W*WVbUBU*UUU6)?BB BA*BAAAA"C*CRCCCׁIG> P z z  N:Y Q1y : 59 @?,J fFAY}F/@}F&@y}F}F}}FHP@g)?`9"? !ƿ _?`ZĀ?)~F/@ ~F$];I~FCɫQQ)Q QIQY?yFU>9QIUFiUa?U=QQUo; UdE ףp= ?K7A`ſa!Hy}>I :` 5? %:Mݾ {> %?9@; X;):WiWiXi XiWqXq:Wq2Wy*WyVbUBU*UUU?B)B) B)A5*B1A1A1AQA"C*CRCCCױIGe>7E,a fFAY}6/@}6@y}62 }6Mн}6H@IXz{?`?.Ŀ`8?̹i?)~6/@ ~6\;I~6Cɫ99)9 9I9Y}?y}&FIa=)==Mb=YKhQU>!!a%!H!)y-=;}-?Iȉō 5?ō&Mݾ ƍ> ?9ƍ@Ǎ: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUU3@B!B! B!A%x*B!A)A)A)A)"C1*C1RC9C9C9 IQGm>  { {  6:Y #R1y : 5%L,2 fFAY}6i/@}6 @y}66}6}6HCb[??E` H9¿ ?`j?)~6i/@ ~6q[;I~4ɫ99)9 9I9Y}?y}UF鮁ɮ=$ۼMR=YQU>a!Hy <}>Iȹ :Ž  5? :Ž}Lݾ ƽ> ?9ƽc@ǽ: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU@@@R B*** querying acoustic contact ***P P B1B1 B1A5̓*B9A9A9A9A9"CA*CARCACICIIIYGu=]>9]۔CI]XFi]?]=YY]c; ]`E)ڔCIڔCi釉==#6 S,:L fFAY}6/@}6f @y}6?}6Ƀ}6H(`@;X^??hȁ@E?(K@O?)~6/@ ~6:a;I~6Cɫ99)9 9I9Y?yF Z****** received transponder code query ******F****** received ping request ******i%}nG- >    @ @ @i )Ii  <M )=YvoQU>a!HyLM}%>I)- 5?-Kݾ -> 5?9-@-: -U:))WYWYXY XYWYXY:Wa2Wa*WaVabUiBUi*UiUiUuQu @BB BA*BAAAA"C*CRCCCI G%M>  z z " 2:Y Q1y : a6^7Y,f fFAY}>/@}>@y}>U }>b}>H`jd8`:?>?@Uh¿ c??)~>/@ ~>__;I~>CɫYY)Y YIYY?yFxDUSBL response received:!U1,P 265,000,002BB,189,80,80,C6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  zMf=Yl!a%!H!!y-d}->I9= 5?=Jݾ ="> u?9=J@= ; =;)9WWX  X WX:W2W*W!V!bUIBUQ*UQUYU]` @B!BA BAAE*BAAIAIAIAI"CQ*CQRCQCQCYAIIG}X>}`, fFAY}6/@}6@y}6p }6Xּ}6H kM`2]·??ovSLk?~?)~6/@ ~6l];I~6Cɫ99)9 9I9Y?yTFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 9IiU; XEQYa]!HYaym8}m>Iq :u\ 5? :uZKݾ u^> ?9u@u.; u;)u:WWX XWX:W 2W *W V bUBU*UUU @BaBa BaAef*BiAiAiAiAi"Cq*CqRCqCyCyyIG^> ) ~ ~ ! 7:Y T1y @: F6) j;9 _If,1^ fFAY}:L.@}:@y}:}:;}:H ~4? $N?;`6 4?q??)~:L.@ ~:\;I~:Cɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,R,26A,000,002BA,188,80,80,C8,FF Fpublishing direction and range info ɰd=鰅> )HCIy(@ŵDu?t^nٱ_|<M}=YQU ?a!Hy} ?I 5?Kݾ > ?9¿@: :)WWX XWX:W2W*WVbUBU*UUU`d@R(Combining 5 samples.P*Q(@ZQ " @1E,JQŵDu?t^n2Q :QbQ[ߗK<`GF4@=?RQC ׿DL˜?NOb>?BQ? Q@QɿPM9?PPQQ@"Q@BiBy ByA}=*ByAyAyAA"C*CRCCCiIqG>ul,B fFAY}v .@}v@y}v. }v}vH@S?@Y?G N?;@?)~v .@ ~vB\;I~vCɫ) IY?yʔFDNmea in: $SNTTA,,,,,224157.99*59 I=);M7=Y̼QU>a!HkHyݻ}>I  :  5? : Kݾ b> ?9 @ g: s:) :mEuAdded new target pos. range: 4.380000 m, bearing: 111.272756 deg, deltaT: 4.350212 s, approachRate: -0.013793 m/s, LOS rate: -0.715722 deg/s, posRepo size: 4WM?WIXI XIWIXI:WQ2WQ*WQVQbUYBUY*UYU]@U] y?BB BA5*BAAAA"C?RCC?C?i?ױIG]4>>9I Fi?=; :E g z z  <:Y Q1y : 6) ;[s, fFAY}6(/@}6C@y}6U'}6'?}6H?@/?@h= =[? {?)~6(/@ ~6o`;I~6CɫII)I IIIY}?y}/F ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYmMmS=Yuyya}!Hyym<}>Iȉō 5?ōGLݾ ƍB> ?9ƍE@Ǎ8: ȍ:)ȉW9W9X9 X9W9X9:W92WA*WAVAbUABUI*UIUiUm P6?BB BAt*BAAAA"C?RCCC IG (>uy,p fFAY}6$/@}6?@y}6&}6],Ľ}6Hz?`1?gGƿQ?@)@n?)~6$/@ ~6Ha;I~4ɫ99)9 9I9Y?y֑FUJM]L=Y]]:QU]>aaae!Haiym"}m>Iq }:u 5? :uLݾ u> ?9u@u: u:)u:WWX XWX:W2W*WVbUBU*UUU3?BB BAi*BAAAA"C*CRCCCIIQGm> v y y  (:Y P1y ': 59% @Dm,KfFAY}F.@}FE@y}F%}Fqٽ}FH`?W?[Jǿ`0?JƺKg?)~F.@ ~F^;I~FCɫYY)Y YIYܥ>9ܡIܡiܡܥ=ܡܡܥ; ݥ/EYX?yF YYS㥫?J +?V-?/]=H= m=)Iya!Hy R}>I 5?Lݾ > M?9@; ;)WWX XWX:W2W*WVbUBU*UUUߨ?B B  B A*BAAAA"C*CRC!CACAIQ)U]A9IIGeU> =i =d,nfFAY}6-@}6n@y}6Q+}67}6H:&?Ʈ?"G?!@`%?)~6-@ ~6Ũ\;I~6Cɫ99)9 9I9Y}[?y}xFd=Mb=YqQU?!!a%!H!)y-I+}-?Iȁ :Ņ  5? :Ņ$Mݾ ƅ> ?9ƅ{@Dž: ȅ;)ȅ:WWX XWX:W2W*WVbUBU*UUU9@BB BAW*BAAAA"C *C RC C C)I1GU>  { {  S,:Y #R1y : 5,À5fFAY}6 -@}6@y}601}6F}6HX,]?@? : n`?@V1?)~6 -@ ~6 \;I~4ɫ99)9 9I9Y}e?yF  _A5<M=I=YE΃QUE>IIaM!HIQyU}]>IY]6 5?]jMݾ ]> m?9]@]: ]s:)YWWX XWX:W2W*WVbUBU*UUU%Sf@BiB BA*BAAAA"C*CRCCCסIG >ܝ>9ܙIܝFiܝ1?ܝ=ܙܙܝ; ݝ+Ef,[OfFAY}6^.@}6@y}62}6s1}6H`(@Y? q?q!ſ;? xm?)~6^.@ ~6p[;I~4ɫ99)9 9I9Y?ywFIR=)C=    @ @ @i )Ii-7<M5K=Y5%QU5>99a=!H9AyE`<}E>IIMc 5?MMݾ M> ]?9Ml@M(: M:)IWyWyXy XyWX:W2W*WVbUBU*UUU@|@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCC?i?)I9GU>   !:Y y E5~ә,6ifFAY}>y.@}>@y}>",}>F}>H|Į?o?%ȿ@Zj? HV?)~>y.@ ~>b;I~>CɫYY)Y YIaY=?yfFZ****** received transponder code query ******F****** received ping request ******a!Hy<}>Iȩ :ŭ 5? :ŭMݾ ƭ> ?9ƭ@ǭ; ȭv;)ȭ:WWX XWX:W!2W!*W!V!bU!BU)*U)UIUU @BB BA^*BAAAA"C*CRCCCשIG!>m,fFAY}6Đ.@}6N@y}6&}6}6H ¬?8k? e@OBȿ@?p[^?)~6Đ.@ ~6$%`;I~6CAE<I9IIM@FiM?M=IIM; M0E)݀۔CI݀۔Ciـ݀=݀=݀Z5ɫ髑) IY?y8F xDUSBL response received:!U1,P 26A,000,002BA,188,80,80,C8,FF  Command AckBRequesting micromodem ping code 2imNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ipGI)iAٺ8AuuV?Dl??urh>uO= u<)qIqyu:v?:v? rh?u E E E E @ M @ M @A A A iA A A )A IA iA -]M a !H y ;} > < y y t 8:Y P1y ': }5) ;9 I  :  5?  : Mݾ <>  ?9 @ : :) :W) W1 X1  X1 W1 X1 :W1 2W1 *W9 V9 bUI BUI *UI UI UM =@B B  B A q*B A A A A "C *C RC C C I G >_H,fFAY}J .@}J@y}J4&}J?ܨ}JHN^ Ƴ?FH?`ĿB?`xδx?)~J .@ ~J+\;I~Hɫ髉) IY9?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B QQr=M=Yx:QU?a!HlHy=}?Iȩŭ 5?ŭMݾ ƭ> ?9ƭ@ǭ: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUUQ@BB BA*BAAAA"C*CRCCC I!GE/>km,QfFAY}JP/@}J0l@y}J}Jf}JH(@JR?&? (``ÿ ?l?)~JP/@ ~J{\;I~JCɫyy)y yIyY?y8F%IѼM%R=Y%I))a-!H)1y=j<}=>IAE 5?EMݾ E> M?9E@E: E:)AWiWiXq XqWqXq:Wq2Wy*WyVybUyBUy*UUU @BB BAq*BAAAA"C*CRCCCIG>܁9܅ܔCI܅Fi܅E?܅=܅AD܁܅ ; ݅5E | v v   L):Y N1y : j5) ;Y,?fFAY}>/@}>4@y}>+}>d̽}>H*H ? ? %@>ſt?@?)~>/@ ~>Uu_;I~<ɫQQ)Q QIQYH?y FxDUSBL response received:!U1,R,27A,000,01CBF,189,80,80,C8,FF Fpublishing direction and range info ɰ?鰝7> )IyCa+y49?kٱ^A<MO=YTa!Hy7<}>I! :% 5? :%Mݾ %> ?9%W@%[< %<)%:WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*QCZQС0|u@!ljJQa+y49?k2Q :QbQwean:w@C Q@RQtR|ֿ@So?ᒓV?BQk? QӹCQ Pۦ9?PM9?P]QQϐB"Q@BIBI BIAM*BIAQAQAQAQ"CY*CYRCiCqCy׭?i׭?סIG J>, fFAY}6(0@}6C @y}6Ҙ}6t}6H|bN7ä?:?@eGkſ&??)~6(0@ ~6ܯ`;I~4ɫYY)Y YIYY?y7FTNmea in: $SNTTA,0.294180,,,,224202.52*45 I)AI>)? e e e e@ e@ e@aaaiaa a)aIaia ;M8=Ya!H!y%<}%>I)- 5?-Mݾ -> =?9-@-k: -w:))m}Added new target pos. range: 404.040009 m, bearing: 110.904643 deg, deltaT: 4.897349 s, approachRate: 81.607414 m/s, LOS rate: -0.075166 deg/s, posRepo size: 4Wk?WX XWX:W2W*WVbUBU*UU@y@UQ?BIBI BIAM *BQAQAQAQAQ"C]k?*CYRCYCek?CסIG5O>I ) @A  w w   3:Y O1y P: 59 @Sg,fFA]A>9Ii; 2EY}F$0@}F1 @y}Fϛ}F}FH {B੗? }?s@r& g?@E]?)~F$0@ ~F _;I~FCɫYY)a aIaY5?yFMb@Mb@Mb@ )Iy/$?Mb?~jtx?<=; )OQAIh3AiaAHA5~G<M5H=Y5zC99a=!H9AyE 0}E>IQ ]:U 5? ]:UMݾ UF> ]?9U;@U: U:)U:;} w}Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;}wdResuming normal ranging with 1.000000 count pings.;1<WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*CRCCCIG )>sǃ,@fFAY}:0@}: @y}:8}:q}:Hu`C?@?{῿@?@VЬ?)~:0@ ~:P<];I~:Cɫ99)9 9I9Y}p?y}F^;MN=Y  dQU%>99aE!HAiyu`0}u>Iy}f 5?}KNݾ }> ?9}@}: }w:)yX?1<wCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR; wAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRWWX XWX:W2W*WVbUBU*UUUv?BiBq BqAuт*BqAqAqAqAy"Cy*CRCCCI)׹IGE> R { {   %:Y #R1y : 5̓,9fFA|i|Y}63L0@}6g @y}6-}6OԽ}6H9\??_Z0Ŀ )?? ?)~63L0@ ~67\;I~6CɫYY)Y YIYYe?yF  5 5 5 =@ =@ =@111i11 1)1I1i1uM}C=Ya!Hy00<}>Iȡť* 5?ťNݾ ƥ> ?9ƥ<@ǥv: ȥ*:)ȡWWX XWX:W2W*WVbUBU*UUUMY?BB BA*BAAAA"C*CRCCC׹IG%>9!I%@Fi%?%=%BD!%; %!a%!H!!y-y<}->I1 =:5 5? =:5Nݾ 5> =?95@5k: 5w:)5:WaWaXa XaWaXa:Wi2Wi*WiVibUqBUq*UqUqU}@?BB BA*BAAAA)"C1*C1RC1C1C9!I1G]>       5:Y y  5ڃ,OmfFAY}6q0@}6@ @y}6ཙ}6}6H`,` ^?@?mI? 죡?)~6q0@ ~6a;I~4ɫ99)9 9I9Y.?y]F!%_AU{<M]F=Y]#aaae!Haaym9}m>Iqu 5?u9Oݾ uB> }?9u,@u: u+:)qWWX XWX:W2W*WVbUBU*UUUF@BB BAb*BAAAA"C*CRCCC ?i ?iIqG">% >9! I% Fi% 1?% =! ! % !; % @E@კ,'.fFAY}V0@}VA @y}Va۽}V%:}VH}XV??(ӯml?U??)~V0@ ~V?_;I~Tɫyy)y yIyY?yFI=)=:v?ʡE~jt?T< =)IyMbP?~jt?)\(?:<Ga= ¥;A)¥TAI¥5Ai¥rZA(HA/<MB=Y;QU>a!Hy;}>I : 5? :Oݾ ? ?9p@I: s:):W)W)X) X)W1X1:W12W1*W1V9bU9BU9*U9U9UE v@RUB*** querying acoustic contact ***PQPUBB BA=*BAAAA"C*CRC!C)C)!I)GM1>I )    y y   4:Y P1y ': 5) ː;9 烙,KfFAY}20@}2!@y}2tݽ}2vk}2H; K?? ,-?pB`!?)~20@ ~2];I~0ɫ99)9 9I9Y}$?y}FZ****** received transponder code query ******F****** received ping request ******a!HmHy<}>I  ] 5?  Pݾ ? ?9 @ ; r;) WWX X!W!X!:W!2W!*W)V)bU)BUI*UQUQUU @BB BA*BAAAA"C*CRCCCIG$> ,7fFAY}Fs_1@}Fz!@y}F⽙}F }FH~Q?mp? <opQ?6`w?)~Fs_1@ ~Fgf\;I~FCɫ髁) IYT?y9FxDUSBL response received:!U1,P 27A,000,01CBF,189,80,80,C8,FF Command Ack%BRequesting micromodem ping code 2i!!-Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )í= í= e e e @ @ @aaaiaa a)aIaia-JM- =Y5QU5>99a=!H9y6I<}>Iȉ :ō 5? :ōPݾ ƍ? ?9ƍ@Ǎ[: ȍ:>9IXFi?; ?E)]ܔCI]ܔCiY]=]=]5)ȍ :W!W!X! X!W!X!:W)2W)*W)V)bU1BU1*U1U1U5 ߳ @BB BA؃*BAAAA"C*C RC C C1Iס)ץ^AqIG> q      ?Q:Y y  5) ; i5 nGII ia ٺ *A ?9 A,fFAɫ髹) IY e?yΐF)5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i= 鿙½M}=YQU ?a!Hy}?I 5?Qݾ ? ?9N@: :)WWX XWX:W2W *W V bU BU*UUU@BABA BAAEԄ*BAAIAIAIAI"CQ*CQRCQCQCY)I1GU> =i p=,[fFAY}2aj1@}2!@y}2۽}2M}2Ht?m?Ub??)~2aj1@ ~2`_;I~2Cɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,R,2C9,000,002BB,188,80,80,C4,FF Fpublishing direction and range info&Iɰ e=鰅> )DCIy@?mٱ jM E=YQa!Hy%:}%>I) 5:-i 5? 5:-Qݾ -? =?9-@-: -Y:)-!:WyWyXy XyWyX:W2W*WVbUBU*UUU`@P*Q@ZQ) @JóJQ?m2Q&I:QbQ;lδ@k@}?RQBhԿhf?| ܵ?BQ? Q@Q7PM9?Pۦ9?PQ]Q@"QϐBBB BA*BIAQAQAYAY"Cq*CyRCCCIGI>  } }  '0:Y kS1y Ԋ: 469 @ٹ ٹ  9 I 8Fi ? ; >Eh,)zfFAY}V.0@}V @y}V㽙}VXp}VH@$?`f? 3AT? э@?)~V.0@ ~Va;I~Tɫ髹) IYt?yאF]TNmea in: $SNTTA,0.388984,,,,224207.32*46 U{GzbX9ȶy&1|?UףUE U`;)QIQyUS㥛?:v?U/ݼUa!Hy4}>I 5?nRݾ ? ?9@: V:)myAdded new target pos. range: 4.440000 m, bearing: 108.725403 deg, deltaT: 4.436167 s, approachRate: -90.077766 m/s, LOS rate: -0.491244 deg/s, posRepo size: 4W?WX! X!W!X!:W!2W)*W)V)bU)BU1*U1U5`@U57?BYB BAф*BAAAA"CN?RCC?C%?i%?IG%M>6/,S"fFAY}20@}2 @y}2J潙}2c}2H`?H?`F) Ϲ?`ࡿ=Y+QU>a!Hy0<}>I :7 5? :Tݾ ? ?9@[: g:)":X%@q;%u%Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:%u%Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLW1W1X1 X1W1X1:W12W9*W9V9bU9BUA*UAUAUEX4?BqBq BqAu*BqAyAyAyAy"C*CRCCCIG (>i9iImFim?iiim; m9E?,VfFAY}60@}6E!@y}6_}6[g}6HJ N? ޖ?W迿@hy?I ?)~60@ ~6[;I~6C6Could not parse latch stateɫ) IYU?yUlF)= +M,=Y ".QU > a!HyӺ}>I!% 5?%Uݾ %? -?9%@%÷: %4:)!WQWQXQ XQWQXQ:WY2WY*WYVYbUaBUa*UaUiUmB?BB BA4*BAAAA9"CA*CARCACACIIy)y1IAG]v> ( | | y ":Y R1y i: 5Fj,ofFAY}6\1@}6-x!@y}6}6^)}6HF\?f? `˔?` L?)~6\1@ ~6j[;I~6CɫII)I IIIY}?y}~F>i= B;M=Y~QU?a!H y ɪ<} ?I : 5? %:Uݾ ,? %?9@: :)#:WAWAXI XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU]J?BB BA-*BAAAA"C*CRCCC I1Gm> =i =] =] <e >9a Ie PFie 8?e =a a e (; e DER",QfFAY}b1@}b_!@y}bd }bz}bH@,KԳ?@;-?/IQaU!HQQy]<}]>Iae 5?eVݾ e? m?9e@e: e:)aW W X XWX:W2W*WVbUBU*U!U!U%@BB BA]*BAAAA"C*CRCCCיIGA> 4 x x 9 #:Y 7P1y : 5) ;9 {(,JfFAY}2;2@}2MW"@y}2P}2Q}2H@D @^? C? '@Y?`~۩Ϡ?)~2;2@ ~2\_;I~2CɫYY)Y YIYYA?y.F鮥a=ɮp=±±Mf=YQU>a!HnHyg<}>I : 5? :tWݾ l? ?9R@: :)$:WWX XWX:W2W!*W!V!bU!BU!*U)U)U-=@R=B*** querying acoustic contact ***P9P=BB BA*BAAAA"C*CRCCC%?i%? IG5 >.,fFAɫ)))1 1I1Ym?ymFuZ****** received transponder code query ******uF****** received ping request ******ua!Hy } >I? 5?~Xݾ ? ?9@: ':)WyWyX XWX:W2W*WVbUBU*UUU$ @>9۔CIFi?=&; BEBB B!A%*B!A!A)A)A)"C1*C1RC9CYCaqIG]>I AA)  y y  -:Y P1y ': 5) l;c5,IfFAY}62@}6%"@y}6+}6no}6H`I7@?Z?`>`/¿`M`?ׁ%?)~62@ ~6];I~6CɫYY)Y YIYY?y0FxDUSBL response received:!U1,P 2C9,000,002BB,188,80,80,C4,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 m Mm=Y-QU5?AAaM!HIaym0<}}>Ișŝ< 5?ŝBYݾ Ɲ? ?9Ɲ@ǝ; ȝ;)șWWX X!W!X!:WI2WQ*WQVYbUYBUa*UaUUc @B1B1 B1A5*B9A9A9A9A9"Ca*CaRCaCiCiaIyG_>;,-fFAY}:3@}:x/#@y}:f(A}:}:H ) va?@?`?r̿u?`S?)~:3@ ~:[;I~:Cɫ19)9 9I9Y]?y]^Faa}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )= >ǼM@=YHQU>a!HyFG<}>I =:f 5? E:+Zݾ ? M?9Y@; };)%:WIWIXQ XQWQXY:Wa2W*WVbUBU*UUUO@BABI BIAMB*BIAIAIAIAQ"CQ*CYRCYCYCI)]AIG%o>  { { ^  /:Y #R1y : 59- @ݟB, fFA>9Ii=$; @E)ݓIݛ۔Ciݓݛ=ݛ=ݛp5Y}>am3@}>#@y}>RN}>!}>H@Swӳ?`bY?+|οv?4ÿ?)~>am3@ ~>sD^;I~>CɫYY)Y YIYYe?yeFuxDUSBL response received:!U1,R,0A3,000,002C8,187,80,80,3A,FF uFpublishing direction and range infomiɰmNi=m1> i)mhBIiym @m2oC?3\%¿ٱi=i 鿑y&1~jtQ?`ļ <)Iy~jt?11a5!H19y=>I<}=>Iae5 5?eZݾ e? u?9e@e: e:)aWWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q @ZQ`(AK@[$2JQ2oC?3\%¿2Q:QbQBYa"Y/- @2TZ?RQ ^GA翪&?nu}!?BQQ@ QnY@QrPG9?PM9?PQQ6@"Q@BiBq BqAu*BqAqAyAyAy"C*CRCCCיIGb> =i =XH,$fFAY}f83@}f©#@y}f}U}f%}fH8?[E?;@k¿V~?D H?)~f83@ ~fJ`;I~fCɫ) IYf?yF}TNmea in: $SNTTA,,0.134855,,,224211.75*4A M ^=Y bQU >a!Hy;}>I! -:%7 5? 5:%[ݾ %? 5?9%R@%(: %:)%&:memAdded new target pos. range: 5.220001 m, bearing: 138.153034 deg, deltaT: 4.488370 s, approachRate: 0.173783 m/s, LOS rate: 6.556418 deg/s, posRepo size: 4WeQ@WaXa XiWiXi:Wi2Wi*WqVqbUqBUq*UqU}G@U}`?BB BAT*BAAAA"C?RCCQ@CסIG&>= = x= x=  = c2:Y= 7P1y= := 6N,>fFAY}RO2@}R #@y}Rc}Rf}RHs"?w?ua&ÿ>? ,2?)~RO2@ ~R`_;I~RCɫ髑) IYd?yF u u u u@ u@ u@qqqiqq q)qIqiqxMS=Y]QU>a!Hy˼}>Iȡť$ 5?ť[ݾ ƥ? ?9ƥ@ǥr: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUUۯ?BB BA*BAAAA"Cp?RCCC׽?i׽?ׁIG>ܹ9ܹIܽFiܽ}?ܽ=ܹܹܹ ݽAEU,2XfFAY}:2@}:"@y}:P`z}:OW}:H r ж??%{ȿr? ?)~:2@ ~:"^;I~:Cɫ99)9 9I9Y}?y}FI=)=EJ;MEO=YMcQUM>IQaU!HQQy]p}]>Ia m:e  5? m:e[ݾ e? m?9eI@e0: e :)e':WWX XWX:W2W*WVbUBU*UUU@.?BB BA*BAAAA"C2@RCCCIG> { { W D:Y #R1y :  6 \,HnrfFAY}62@}6"@y}6M}6ԕ}6H |?@j?|bʿ ?n@?)~62@ ~6+];I~6CɫYY)Y YIYYq?yFsM@=Y*QU >a!H!1y=%;}=>IY] 5?]i\ݾ ]4? ?9]@]; ];)YWiWiXi XiWqXq:Wq2Wq*WqVybUyBUy*UyUyU`?BB BAъ*BAAAA"Cp@RCCCIGE>٥ <٥ <ܽ >9ܹ Iܹ iܹ ܽ =ܹ ܹ ܽ .; ݽ FEb,IfFAY}2<2@}2ƺ"@y}2C}2t}2HW|m?le?@`cɿ`?u L?)~2<2@ ~2\;I~2CɫII)I IIIY}y?y}ۀFu/$?bX9ȶX9vuQQa]!HYYy]}e>Ii u:m 5? u:m\ݾ m[? u?9mL@m4: m:)m(:WWX XWX:W2W*WVbUBU*UUUe?BB BAO*BAAAA"C @RCCCI)IG%> ; | |  $:Y R1y i: j5) ;9 i,"fFAY}2@2@}2["@y}2g}2VM}2HZ@i? ? `ȿ5? Q?)~2@2@ ~2 c;I~2Cɫ99)9 9IAY?yJF LM`=Y;QU%>!!a%!H%oH)y-i}5>I9= 5?= ]ݾ =a? E?9=@=: =:)9WaWaXi XiWiXi:Wi2Wi*WqVqbUqBUq*UyUyU}@BB BA*BAAAA"C @RCn>CCIG>!Bo,~fFAY}>:1@}>"@y}>}>߆}>H@|+ @??o˿`o?(`٠?)~>:1@ ~>ma;I~>CɫYY)Y YIYY?y@F鮡ɮ=<MP=YuQU>a!HyPA}>IQU 5?U]ݾ Uy? e?9U4@Q Q)QWWX XWX:W2W*WVbUBU*UUUA@RB*** querying acoustic contact ***PPBB BA&*BAAAA"C@RC>CCIG->9)I-Fi-?-=))-6; -KE y y  B:Y P1y ': 46) ;_*v,+fFAY}21@}2x "@y}2o}2w,@}2H۪ ?z?ʿ@(?`]馿 ?)~21@ ~2Y^;I~2Cɫ99)9 9I9Y}?y}~FZ****** received transponder code query ******F****** received ping request ******a!Hy}>I  : = 5? : ]ݾ ? ?9 @ : :) ):W9W9X9 XAWAXA:WA2WA*WIVIbUIBUI*UQUQUUl @ByB BA*BAAAA"CB}@RC=CC׭?i׭?iIqG>'T|,ݵfFAY}6<1@}6!@y}6Y}6O}6Hvd`9? xs?/ =ǿ?h`g?)~6<1@ ~6o^;I~4ɫ99)9 9I9Y}?yFxDUSBL response received:!U1,P 0A3,000,002C8,187,80,80,3A,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I ) R=Ez<MMV=Ye QUm>ya!HAye}m>Iȡťn 5?ťN^ݾ ƥ? ?9ƥ6@ǥD< ȥD<)ȡW W X  X W X :W 2W*WVbUBU*UUUT @BB BA*BAAAA"CQ@RCO=CC}>IG>I I ! 9% ܔCI% Fi% ?% =% AD! % ; % :E K z z  :Y Q1y : F6) N;<,% fFAY}b1@}b&!@y}b7J}b,X}bH?`T?Mdʿ M?R U?)~b1@ ~b`];I~bCɫ髙) IY?y~F5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B %Mb@Mb@Mb@%% %)%I!y%~jtMb%%ļ% %EA)%"WAI!i%A!%RAE\ME;=YEXQUM>IQaU!HQQy]}]>Ia m:e 5?  :e]ݾ e?  ?9e@e< eٲ<)e*:WQWQXQ XQWQXY:WY2WY*WYVYbUaBUa*UaUU@@BB BA*BAAAA"C*CtRCQ=CCWg~>יIGi>"f, l'fFAY}6>.1@}6I!@y}6`}6b1P}6H` "*??Ϳ?@4?)~6>.1@ ~6 ];I~6CɫYY)Y YIYY"?y`|FxDUSBL response received:!U1,R,299,000,002BB,188,80,80,CB,FF Fpublishing direction and range infoɰ e=鰥> )KCIy@i1?mF:ٱ        @  @  @   i   ) I i !M_=Y%޼QU%>!)a-!H))y5}5>I9=7 5?=f]ݾ =7? E?9=@=g: =:)9WWX  X W X :W 2W*WVbUBU*UUU҇@R-(Combining 5 samples.PI*QM@ZQMTs @u{5yJQMi1?mF:2QM:QIbQMt>zVK@/OI)\AסIGA>= ] = {= {=  = =;:Y= #R1y= := !59E @kR,YAfFA|,i|,Y}r1@}r;$!@y}rt\}ra}rHan_Pj?@?h@п??)~r1@ ~rb;I~pɫII)I IIIYY?y}FTNmea in: $SNTTA,0.004869,,,,224216.20*40 *<M;=YQU>a!H!y-쫻}->I1 =:5 5? =:5\ݾ 5? =?95'@5: 5X:)5+:muAdded new target pos. range: 4.440000 m, bearing: 109.367783 deg, deltaT: 4.389104 s, approachRate: -0.177713 m/s, LOS rate: -6.558343 deg/s, posRepo size: 4WyT?WX XWX:W2W*WVbUBU*UU`@U?BB BA*BA A A A "C!@RC=CyT?C!ܙ9ܙIܝ8Fiܝ?ܙܙܙܝ; ݝ>E)ݍ۔CI݉i݉ݍ=ݍ=ݍ5 ====֝N!>qIyG\>CimGI)iAmٺquWAx,:$[fFAY}6)11@}6L!@y}6>}64}6H_?Br?  dӿ pk?`?)~6)11@ ~6_;I~4ɫ99)9 9I9Y?y{FUMUX=Y]QU]>Yaae!Haaym;}m>Iqu 5?un\ݾ u? }?9ut@u: u:)qWWX XWX:W2W*WVbUBU*UUU c,tfFAY}J1@}J!@y}J ܸ}J}JH@D{$y@n?:?yӿЛ?-=?)~J1@ ~J{v];I~JCɫaa)a iIiY?y|F}S㥛}?5^I̿Mb}/ݼ}Mb })}Iyy}I +~jt?Mb`}94}<} }"EA)}]AI}-Ai}SAy}XA    @ @ @i )Ii7;M4=YQU>a!Hy<}>I! -:% 5? 5:% ]ݾ %? 5?9%@%: %:)%,:WYWYXY XYWYXa:Wa2Wa*WaVibUiBUi*UiUqUu?BB BAt*BAAAA"C1@RCeo>CC}Pڀ=׍?i׍?YIaG}z> ,  w w   T7:Y O1y P: !5a 9a Ie XFie ?e =e BDa e ; a },ڎfFAY}2W 2@}2;"@y}2Sǻ}2S۽}2H`|A&? ?oҿ?ଗ 8?)~2W 2@ ~2B\;I~0>JFailed to close latch before timeout.q >>Hardware FaultYN?yR|F    @ @ @ÙÙÙiÙÙ ę)ęIęię<Mw=YQU?a!Hy<}?I 5?]ݾ g? ?9@Է; Q;)WYWYXY XYWaXa:Wa2Wa*WaVabUiBUi*UiUiUf?BB BAG*BAAAA"C @RC  >CC%^A%^A QO=I-$@Hardware Fault in component: DDMG )>,fFAY}6{2@}6#@y}6@}6}6H`r?o?h-ѿ@S? Z?)~6{2@ ~6g\;I~6C>Powering down<ɪ<)@ @Y}?y@FmH=Mm1=YuܽQUu>qqa}!H}pHyy<}>Iȉōo 5?ō$^ݾ ƍ? ?9ƍu@Ǎܹ: ȍӻ:)ȉWWX XWX:W2W*WVbUBU*UUU@K@BB BA*BAAAA"C %@RC C C=\J=I!G=r>= # = x= x=  = 6:Y= 7P1y= := 5,ՖfFAY}2<3@}2#@y}2Fþ}2%}2H?W?NͿ` ? U?)~2<3@ ~2Id;I~0YB/?yBF)v= v> 5 5 5 5@ 5@ 5@ 5111i5?1 5?)5?I5?i5?E3<MEu=YMZQUM?IQaU!HQYy]=}]?Ia m:eG 5? m:e^ݾ e? u?9e@eE: e:)e-:WWX XWX:W2W*WVbUBU!*U!U!U%@BB BAb*BAAAA"CZ@RCCC֭Ex=Iױ)׵]A>9۔CIFiv?=&; AEׁIG>Ƕ,qfFAY}B3@}BD#@y}Bľ}Bb }BHS``?P?H ,˿?@` ?)~B3@ ~BI]k;I~@YNf?yNmFTiVa= XXb<MbS=YfCQUf>ddaf!Hdhyj#;}n>Ipr 5?r)_ݾ rU? v?9r @r: r:)pW WX XWX:W2W*WVbUBU!*U!U!U%q@R-B*** querying acoustic contact ***P1P1BQBQ BYA]*BYAYAYAYAY"Ced-?RCaCiCiUn=)I9$MNClearing failed state for component DDMq MGU=  { {   R.:Y #R1y : 5𼄙,FfFAY}?3@}#@y}ҝž}QH}H^@i?>? iCϿ?`6@@?)~?3@ ~j;I~CYe?ymFZ****** received transponder code query ******F****** received ping request ******99a=!H9AyE;}M>I -: 5? U:_ݾ y? ]?9p@< <).:WiWiXi XiWiXq:Wq2Wq*WqVqbUyBUy*UyUyU@1+ @BB BA@*BAAAA"CI?RCCCD#>?i?׹IGf>ى ى  9 I Fi E? ; 9EÄ,5&fFAY}B94@}B$@y}B]Ǿ}Bu}BH"T ?(? . t&ҿK?ֵxz?)~B94@ ~Bf;I~BCYN?yNFRxDUSBL response received:!U1,P 299,000,002BB,188,80,80,CB,FF RCommand AckRBRequesting micromodem ping code 2iPTZNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 M¿ˡEkt?n'  0=)Iy+?Q?)\(=u<Ga OA)SAI+AiAfZAqq    @ @ @i )Ii ?d<M"=Y@߻QU%>))a-!H11y5;}=>IQU 5?U5_ݾ U ? m?9UU@USM; U`J;)QWWX XWX:W2W*WVbUBU*UUU @BIBQ BQAUΊ*BAAAA"C#?RCCC9[>שIG>  u u   *k:Y KN1y y: !5) g;9 zʄ,)fFAY}2_4@}2s{$@y}2Ǿ}2.}2Hwj(?`?@Έӿ`U?@.q a?)~2_4@ ~2c;I~0YV?yVFjNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IEp=)E=}J=M}=YQU?a!Hy<}?Iș :ŝy 5? :ŝ^ݾ Ɲ< ? ?9Ɲ@ǝ: ȝ :)ȝ/:WWX XWX:W2W*WVbUBU*UUUm@B B  B A 9*B AAAA"CyT?RCCC֭hsy>ׁIG>I @A) AAЄ,DCfFAY}J/4@}J%@y}J_$þ}J=}JH V=`?)?]ӿ`t?Yt?)~J/4@ ~J`a;I~JCYV?yVFZxDUSBL response received:!U1,R,272,000,002B9,189,80,80,D0,FF ZFpublishing direction and range infoZ XɰZdd=Z7> X)ZPCIXyZ=@Z W?GٱX    @ @ @ @i )Ii<MD=Yۮa!Hy<}>I 5?B^ݾ .?  ?9@: w:)W9W9X9 XAWAXA:WA2WI*WIVIbUQBUQ*UQUYU]`N@R(Combining 5 samples.P*Q=@ZQ @UU5_JQ W?G2Q :QbQF?%; @JB?RQzW׿Իf?&P?BQj? Qi@QϿPL9?PM9?PQQcT@"Q;@=>99I=(Fi=,@==99=; =Iס)סYIiGZ>  { { f  2:Y #R1y : }5) ;ׄ,ϻ]fFAY}J4@}JO%@y}J?}J}JHB??`tlп ?7]?)~J4@ ~J)_;I~JCYV?yZF%TNmea in: $SNTTA,0.030786,,,,224220.60*48 )å > á/x=MK=Y=QU>a!Hy;}>I 5?]ݾ <? ?9^@: @:)m-qAdded new target pos. range: 4.319999 m, bearing: 113.882927 deg, deltaT: 4.424943 s, approachRate: -0.027119 m/s, LOS rate: 1.020385 deg/s, posRepo size: 4W5j?W1X1 X1W1X1:W92W9*W9V9bU9BUA*UAUEG@UEj?BqBq BqAu:*ByAyAyAyAy"C?RCCj?C֥>yIG=>H݄,_wfFAY}M+5@}M2%@y}Mc}Mu}MH&Y;"? {?`w@ȉο?`G?)~M+5@ ~M];I~MCYo?yԈF 11~jth?{Gz?L7A`尿D;ף< +)Iyy&1?y&1`e=` DA)IiߎAYA = = = =@ =@ =@999i99 9)9I9i9ML=MM(=YMOQQaU!HYYy];}e>Ii u:m? 5? u:m^ݾ m/> u?9m:@m: m:)m0:WWX XWX:W2W*WVbUBU*UUU Y@?B9B9 B9A=*B9AAAAAAAA"CME?RCiCiCqyYIG>  ! 9! I% Fi% r@! ! ! % ; % 5E)!I!i!%=!%yA5 =i =  z z   1:Y Q1y : 5) ;n&䄙,'hfFAiJ}nGITi`vٺxzlAY}EJ5@}E.f%@y}E}EUý}EH` v@B.?ú?Cy@п]F? ⶿ ?)~EJ5@ ~E\;I~ECY]?yeF 6;M{=Y7 %?9@: k:)WAWAXA XAWIXI:WI2WI*WIVQbUBU*UUU[?BABA BAAE *BAAIAIAIAI"Cuk@RCqCqCy֡yIG^>Pꄙ,ADfFAY}JGV5@}Jq%@y}J=­}J۽}JH ??Ti`ѿ(N?`߹A?)~JGV5@ ~J[\;I~JCYZ?yZF}<M}S=Y*=QU>a!HqHy:}>Iș :ŝ 5? :ŝn`ݾ Ɲ> ?9Ɲv@ǝb: ȝ:)ȝ1:WWX XWX:W2W*WVbUBU*UUU@@i?B B  B A ȇ*BAAAA"CR@RCC!C!->I G-,> D { {   $:Y #R1y : 259 @y8,fFAY}6_5@}6O{%@y}6j}6}6Hf??Q&ѿv?^"1?)~6_5@ ~6n]\;I~6CYNu?yRFI|)|I =)  ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYmF<MmK=Yu|=QUu>qqa!Hy:}>I   5? Waݾ > }?9 -@ \< /]<) WWX XWX:W2W*W9IHFi@; VbUBU*UUUd9@BABA BAAE*BAAIAIAIAi"Cuķ?RCqCqCyԉԉցYIiGZ>I ) @A|e,fFAY}Nf5@}N%@y}Np{}N}NH࿗ ?^?Ͽo.? 5rz?)~Nf5@ ~N\;I~LYf?yfьF]2=M]K=Y] =QU]>aaae!HaiymI;}m>Iq }:u 5? }:u2bݾ u> ?9u@u: u^:)u2:WWX XWX:W2W*WVbUBU*UUU#@BaBa BaAes*BaAiAiAA"Cj?RCCC֥?΅>yIG<>  z z B 2:Y Q1y : 6,;fFAY}?5@}Z%@y}}}H0w?W?`ʿ?@D?)~?5@ ~p\;I~-Powering up-"Initializing DDM.YA?y|Fɮa=%C̿V-¿?Zdh =)Iy:v?~jt?<D< `=A)aAIi ASA)= = - - - -@ -@ 5@)))i)) )))I)i)E=ME#=YE//=QUM>IIaM!HIQyU}U>Iae 5?eaݾ e> m?9e/@e: e:)aWWX XWX:W2W*WVbUBU*UUU\"@RB*** querying acoustic contact ***PPBB BA]*BAAAA"C*CRCCC>ױIG>>9IFir@=(; BEy,vfFAY5?y==F=Z****** received transponder code query ******EF****** received ping request ******E ?9i@; h-;)3:WWX XWX:W2W*WVbUBU*U!U!U%` @BIBQ BQAUw*BQAQAYAYAY"Ca*CeRCaCaCiy9IAGe4> =i p=   R.:Y y 5 ,,fFAY}64@}6M$@y}6_}6}6H5a9%?@û?`H$Ϳ?`?)~64@ ~6];I~4Y^?ybFfxDUSBL response received:!U1,P 272,000,002B9,189,80,80,D0,FF fCommand AckfBRequesting micromodem ping code 2iddjNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -<M5S=YE =QUM>a!Hy-Ɛ}5>Iae~ 5?eqaݾ e> ?9e@e; e;)aWyWyX XWX:W2W*WVbUBU*UUU e @BB BAC*BAAAA"C*CRCCC?i?IAG>,7oFfFAY}V-4@}V$@y}V}A}V|o}VHs@䝷?@?f`ɿ@ ?Km@3?)~V-4@ ~VTK];I~VCYfC?yjVFprAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @y9yI}`Fi}@yyy}"; }?E @i )Ii:4=M1=Ya=QU>a!Hyt}>I)- 5?-+aݾ -/> 5?9- @-Ǻ: -ӻ:))WyWyXy XyWyXy:Wy2W*WVbUBU*UUUI@BB BA*BAAAA"C)*C)RC)C)C1IG%n>  w w  ^+:Y O1y P: 5) I;9 ,[A`fFAY}6}4@}6$@y}6<{$}6ý}6H{sQ??)`]<ſx?`p`q?)~6}4@ ~6\;I~6CYB?yBFFxDUSBL response received:!U1,R,29E,000,002B9,188,80,80,CC,FF FFpublishing direction and range infoFDɰDF> D)FLCIDyDF=J1?gwٱDIL)LIVR=)V4=^c=M^w=Y~=QU?a!H y ;}?I E:+ 5? E:`ݾ > E?9K@; P;)4:WWX XWX:W2W*WVbUBU*UUU`5@R(Combining 5 samples.P*QZQ:ů @`l3pS+|@0i?RQqv7?/ٿ$Y`?|t?BQ? Qx@QٿPPL9?PQQ*@"QcT@BABI BIAM*BIAIAQAQAQ"Cy*CyRCyCyCօFӅ>aIiG;>,D1zfFAY}z=4@}z$@y}zu }z"=5}zH M@&? L?bv=?^n@ϩ?)~z=4@ ~z|0\;I~zCY9?yFuDNmea in: $SNTTA,,,,,224225.05*5A a iM@a M a mM@a M a qM@a M a eM@a M MmͿ rh?Q롿MnMl> M\)IIIiMMb@Mb@Mb@M©MM M^@)M(@IM@iM(@MM(@    @ @ @éééiéé ĩ)ĩIĩiĩM=M"=Ym8=QU>a!Hy? }>IO 5?`ݾ > ?9@-: y>)mqAdded new target pos. range: 4.319999 m, bearing: 113.606284 deg, deltaT: 4.414558 s, approachRate: 0.000000 m/s, LOS rate: -0.062666 deg/s, posRepo size: 4mTStarting intercept timer at range: 4.32 m.W?WX XWX:W!2W!*W!V!bU!BU)*U)U)U-e?BB BA*BAAAA"C%?*C%창RC)C-?C)M#>!I1GM>i9iImxFim?m=iim; m:E T y y  N:Y P1y ': 5) ;$,fFAY}:4@}: $@y}:O}:%;}:H;R?` ?@r`E?V}?p?)~:4@ ~:[;I~:CYF?yFFE!=ME~=YEI=QUM ?IIaM!HIQyUB}] ?Ia m:e 5? m:e[`ݾ eU> m?9e@e: eQ?)e5:WWX XWX:W2W*WVbUBU*UUU˪?BB BAq*BAQAQAQAY"CY*CeRCaCaCam>AIIGm5>*,խfFA|i|Y}N4@}N2$@y}Nhٽ}N4}NH@`{`?T?` ݲ@ ?`%j`g?)~N4@ ~N[;I~NCYr0?yr7F3gMD=Y< =QU>a!HrHy{}>I 5? `ݾ {> ?9A@: p?)WWX XWX:W 2W *W V bU BU*UUU?BB BA*BAAAA"C*CRCCC ==!I G%M>= I = |= |=  = 9:Y= R1y= i:= 59 @1,fFAY}:,3@}:#@y}:܏}:ϙ}:H@Q?c?`ʋa컿 V?# ?)~:,3@ ~:]\;I~:CY^?y^ɕF    @ @ @i )IiWMF=YT=QU>a!HyII 5?_ݾ 9?  ?9@į: ?)>9ܔCIFia?=AD; /E)ݱIݱiݱݱݱݵg5WQWQXQ XQWYXY:WY2WY*WYVYbUaBUa*UaUaUmJ)?BB BA΂*BAAAA"C*CRCCC-?΅>=?i=?iunGIiٺ AI)GER>$8,fFAY}RQ3@}Rm#@y}R^}Rҽ}RH`<[d x?@]@M,@ذ?w< ?)~RQ3@ ~R^;I~RCYbF?ybFQU_A\=MK=Y?=QU>a!Hyw}>I 5?t_ݾ ?  ?9@ٮ: X@)WIWIXI XIWIXQ:WQ2WQ*WQVYbUYBUY*UYUYUeO@BB BA*BAAAA"C*ChNRCCC֥>aIiG9>-  - {- {-  - 5:Y- #R1y- :- X5(>, dfFAY}:Y2@}:#@y}:e}:y}:H`|@??h?eD?)~:Y2@ ~:<^;I~:CY^?ybHFa ia i a ma m a qa q a ea e x&~jtӿMbp?7 ;)IyV-Zd;O?y&1?j<=`e< ½Ea!Hy\}>I }:~ 5? }:`ݾ ? }?9@8: :)6:WWX XWX:W2W*WVbUBU*UUU@@BABA BAAE2*BAAIAIAIAI"Cq*CuRCqCqCye>9IIGuW>!%^AA9AIEFiE?E=AAE; E4EE,?fFAY}N^2@}N#@y}NW}N'}NHuy )? b?Cs`=;@?-`?)~N^2@ ~N}C];I~NCYb?yfFjp=ɮh    @ @ @i )Ii=MI=Y a!Hy } >Iq 5?aݾ ? -?9W@; H;)WIWIXI XQWQXQ:WQ2WQ*WYVYbUYBUY*UaUaUe@K@RmB*** querying acoustic contact ***PiPiB)B1 B1A5*B1A1A9A9A9"CA*CARCACACIEFӅ>II)II)GEQ> p  u u   <:Y KN1y y: 5:K,z/fFAY}63@}6*#@y}6}P}6=?}6H`J@n?@7?@${* ?%ا}?)~63@ ~6_\;I~6CYB?yBFFZ****** received transponder code query ******FF****** received ping request ******Fa!H y V;}>Ie 5? cݾ ? -?9@V: [:)WWX XWX1:W12W9*W9V9bU9BUA*UAUAUE @BB BA*BAAAA"C*C!_RCCC>׹IGE>%R,IfFAY}V'2@}V#@y}V2;}V}VH .`B ?@mh(`z?ச ?)~V'2@ ~Vw[;I~VCYj?yjȗFvxDUSBL response received:!U1,P 29E,000,002B9,188,80,80,CC,FF vCommand AckvBRequesting micromodem ping code 2ittNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 11mMuC=YC>9IFi?; 8Ea!Hy*F}>I M:S 5? U:dݾ ? e?9@< <)7:W)W1X1 X1W1X1:W12W9*W9V9bU9BU9*UUU` @BB BA*BAAAA"CA*CERCACACI y}=m>IIQG>E  E yE yE " E |^:YE P1yE ':E a6)E r;9e LX,bfFAY}242@}2"@y}2B 3}2Ȅ}2Hk P<?V)@_??)~242@ ~2I[;I~0YN ?yR4FPR?AbNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )IiL1=MD=Y;QU>a!Hy&E}>IC 5?eݾ ? ?9z@: ÷:)W!W!X! X!W!X):W)2W)*W)V)bU1BU1*U1U9U=F6@BaBi BiAmj*BiAiAiAqAq"Cy*CyRCyCyC>׹IGG> w^,|fFAY}2>1@}2 "@y}2S7}2씽}2H5[tM?S`+ʵ?+?)~2>1@ ~2ܸZ;I~2CYB ?yFFNxDUSBL response received:!U1,R,298,000,002BA,189,80,80,BA,FF RFpublishing direction and range infoJVHɰJd=J7> H)J:CIHyJ(@J-_?B#HٱHfdNmea in: $SNTTA,0.255035,0.255091,,,224229.51*59 X9v?Gz߿Zd;O<p j)IyMbS㥛?/< ¥Ai¥NAEAGM;=YzQU>a!HQyUҼ}U>IY e:] 5? m:]fݾ ]X? m?9]@]; ];)]8:WWX XWX:W2W*WVbUBU*UUU,@RU(Combining 5 samples.PQ*QU(@ZQU.XQ @{t/JQU-_?B#H2QUV:QQbQU{e.A6@HXw?RQUt׿t_?4,³?BQU? QU@QUпPQPQPQQUQU@"QU*@BB BA*BAAAA"C*CRCCCױ9IpFiM?=; IG>  ~ ~   F:Y T1y @: i5) Ǡ;`e,&fFAY~?y~bFIm=)m=Mb=YQU>a!Hy}>Iȱŵ 5?ŵgݾ Ƶ ? ?9Ƶ@ǵs: ȵI:)ȱmqAdded new target pos. range: 4.380000 m, bearing: 111.858350 deg, deltaT: 4.526268 s, approachRate: 0.013256 m/s, LOS rate: -0.386176 deg/s, posRepo size: 4W?WX XWX:W2W*WVbUBU*UU@U`| ?BB BA*BAAAA"C?RCC?C11>I G-N>I AA) k,afFAY}61@}6|!@y}6Rh}6}6H```*+? u?4s[?`p`?)~61@ ~63Z;I~6CYB*?yBFF    @ @ @ùùùiùù Ĺ)ĹIĹiĹ<MF=YQU>a!HsHyy}>I   : Y 5? : }hݾ ? ?9 @ ; ;) 9:WIWQXQ XQWQXY:WY2Wa*WaVabUiBUi*UiUiUu-?BABA BAAEc*BIAIAiAiAi"Cu?RCqCyCyօ>YIiGZ> 4  | |   7:Y R1y i: F59 @Trr,CfFAY}:wE1@}:a!@y}:U.}}:}:HV ??@xs ?ૡ?)~:wE1@ ~:e[;I~:CY^W?y^bFa9aIaiae=aae; eLQU>a !H  y%}>I 5?kiݾ x? %?9@0: ÷:)WIWIXI XIWIXI:WQ2WQ*WQVQbUYBUY*UYUYU]]?BB BAX*BAAAA"C*CRCCC>׹IGE>x,+fFAY ?y4F 鿉MK=YQU>  a !Hy}%>I) =:-  5? =:-Xjݾ -/? =?9-0@-; -Q:)-::WyWyXy XyWX:W2W*WVbUBU*UUU0?BB BAj*BAAAA"C*C RC C C =IG= = {= {= z = s+:Y= #R1y= := 5Z~,fFAY} 0@}  @y} \} +} H`l?@?ż@(``?`?)~ 0@ ~ ![;I~ CY%D?y%F-~jta!H yQo}>I 5?iݾ *? %?9@߼: +:)WIWIXI XIWIXI:WQ2WQ*WQVQbUQBUY*UYUYU]`?BB BA*BAAAA"C*CRCCCֽ>i?בIGa>QU]A]>9YI]ȖFi]?]=YY]&; ]DE)ܔCIܔCi==rt5i nGI) iA m ٺq u A,fFAY}6Ι0@}6X @y}6jd}6󛼽}6H@@$?@?`&&f?u?)~6Ι0@ ~60Z;I~6CYB?yBFeMei=YmQUm>qqau!Hqy>}>Iȑŕ 5?ŕIiݾ ƕ`? ?9ƕ$@ǕS; ȕ*;)ȑWWX XWX:W2W*WVbUBU*UUUM@BYBa BiAm*BqAqAyAyAy"C*CuRCCC>IGI>  ~ ~   ,:Y T1y @: 5)׋,1fFAY}6C?0@}6Z @y}6ɽ}66m}6Hʦ??@#|㺿.?ד@?)~6C?0@ ~6HS[;I~6CYBl?yBFFa=ɮDINa=)N%=Vi=MVW=YVQUZ>XXaZ!HX\ybeo}b>Id j:f( 5? j:fhݾ f? j?9f@f: f:)f;:WxW|X| X|W|X|:W2W*WVbUBU *U U U F@RB*** querying acoustic contact ***PPB9B9 BAAEҀ*BAAAAAAAAI"CI*CURCQCQCQ>סIG$>,bKfFA>9۔CI Fi?=BD2; HEY?ysF%Z****** received transponder code query ******%F****** received ping request ******%yya}!Hyy}>Iȩŭ 5?ŭhݾ ƭ? ?9ƭ5@ǭ: ȭf:)ȩWWX XWX:W2W*WVbU)BU)*U)U)U- @ByBy ByA}*ByAAAA"C*CRCCCI)ױIG>  | | h  -:Y R1y i: 5) Z;9 G阅,_`efFAY}6@/@}6[@y}6&}6'}6HE-J?F?(0@r? ?)~6@/@ ~6\;I~6CYB ?yB4FFxDUSBL response received:!U1,P 298,000,002BA,189,80,80,BA,FF FCommand AckFBRequesting micromodem ping code 2iDDNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= =7Mg=Y(RQU?a!H9AyM>/}>Iȡ :ť 5? :ťgݾ ƥ? ?9ƥ@ǥF< ȥ`I<)ȥ<:WWX XWX:W2W*WVbUBU*UAUIUM @BB BAj*BAAAA"C*CRCCC>׹IG>,AfFAY}J,/@}JG@y}JX!}Jvܽ}JH?2? N? ÿ`9?R ?)~J,/@ ~J [;I~JCYVf?yVkFjNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B AAT㥛 ?\(\Ͽ=z )Iy/${GzI +#94 5>A)KAIf8AiMVAFA m m m m@ m@ m@iiiiii i)iIiii}9;M}.=Y):QU>a!H y 8-}>I 5?gݾ g? %?9@: =;)WWX XWX:W2W*WVbUBU*UUU@9@BQBY BYAeT*BaAaAiAiAi"C*CKRCCC9I@Fi?=,; CE֕>yIG> =i =  { {   /:Y #R1y : 5) t;,ifFAY}6=/@}6/@y}6꽙}6н}6Hq9@@?X?R"4ÿjJ?⹿?)~6=/@ ~6@[;I~6CYBt?yBtFR:MR=YVk;QUV?TXaZ!HXXy^ҡ}~?I  :n 5?  :gݾ >  ?95@: :)=:WQWQXQ XQWQXy:Wy2Wy*WyVybUBU*UUU`h@BB BAP*BAAAA "C *CRC1C1C9EN؅>M?iM?!I)GM0>a%,fFAY}2.@}2@y}2`}2}2H ~&-ͥ?i? pX?``?)~2.@ ~2 C[;I~2CYBa?yBFLN^ARĒ<MRJ=YVPQUV>TXaZ!HZtHXy^"}^>I`b, 5?bgݾ b]> f?9b~@b|: b:)`WxWxXx XxWxXx:Wx2W|*W|V|bUBU*UUU4@B1B1 B1A5*B1AAAA"C*CnRCCC v>IGU2>  x x   R.:Y 7P1y : 59 @,=fFAY}6.@}6;@y}6}6<}6H@F\?? @%!ÿzn?ζ^?)~6.@ ~6G}[;I~6CYB?yBFID)DP9PIRНFiRE@R=PPR%; R?EI^4=)\    @ @ @i )Ii<MC=Y0QU>!!a%!H!)y-4}->I15 5?5gݾ 5> E?95@5k: 5:)1WWX XWX:W2W*WVbUBU*UUU@BaBa BiAm*BiAiAiAA"C*CRCCC֥>yIG<>I ) O7,fFAY}:h.@}: @y}:Q }:}:H!΄??@1Mǿ~b?D@q?)~:h.@ ~:Hh[;I~:CYF?yJjFZMZQ=Y^QU^>\`ab!H``yfF}f>Ih n:j 5? n:jgݾ j+> n?9j@j: j,:)j>:WWX XWX:W 2W *W V bUBU*UUU2@R%B*** querying acoustic contact ***P!P!BiBi BqAu*BqAqAqAyAy"C*CRCCC։Iב)ו^AiIqG>  v v   s:Y N1y : j5(,fFAY}22.@}2@y}2}2Q)}2Hi @_??wMʿ?ĿkI?)~22.@ ~2\;I~2CYN ?yRFn?L7A`?S㥫V>+= /])Iyy&1?Mbp?I +?`e<;94< ;9A)OQAI=4AiXAEA)õ> õ>    @ @ @i )Ii NM 6=Y;QU>a!Hy%`;}%>I)-. 5?-gݾ -> 5?9-E@-: -D:))WYWYXY XYWYXY:Wa2Wa*WaVabUiBUi*UiUiUm@BB BA*BAAAA"C*CRCICICQe >9IIGeU>ٙٝ_Aܡ9ܡIܥ`Fiܥ@ܥ=ܡܡܥ; ݥ5EMIƅ,]fFA|i|Y}6.@}6p@y}6d}6ϲ}6H5? y?}3ǿ8? t?)~6.@ ~6KB\;I~6CYB?yBXXaZ!HX\y^;}^>I` f:b 5? f:bgݾ b> j?9bn@b: b:)b?:WWX XWX!:W!2W!*W!V!bU)BU)*U)U)U5 hq@BYBY BYAe*BaAaAaAaAa"Ci*CiRCqCqCq   ==׹IGf> i p= f  | | x  _P:Y R1y i: X5fs̅,84fFAY?yΚFE<MEA=YEQUE>IIaM!HIQyU}U>IY]M 5?]gݾ ]> m?9]@]: ]:)YWWX XWX:W2W*WVbUBU*UUU@s@BaBa BaAeĀ*BiAiAiAiAi"C*CRCCC׭?i׭?ױIG>R[Ӆ,@NfFA$9$I$i$$$$& ; &a!Hy}>I : 5? :gݾ ? ?9@(: 4:)@:)1imGIi=ٺ9=AWqWqXq XqWqXy:Wy2Wy*WVbUBU*UUU-@BQBY BYA]*BYAYAYAYAa"C*CRCCCaIiG9>   } }   I:Y kS1y Ԋ: 5) ;9 nم,RgfFAY}2-@}2[@y}2콙}2?ƪ}2H@% U??*?@ .?)~2-@ ~2\;I~2CYvf?yvkFI|)|I =) =QMX=Y,QU>!!a%!H!!y-fĻ}->I15q 5?5gݾ 5? E?95@5Y: 5:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUqU} S@BB BAT*BAAAA"C*CRCCCױIG=I ) AADm,KʁfFAY}J-@}J@y}Jقн}Jս}JH?|?ٴ@t¿?`Tr?)~J-@ ~JpI\;I~JCYV?yZFy&1|?㥛 {Gz?`; ף=)Iykt?I +?kt? 0=94< 0= ­?A)­-HAI­5Ai­xUADA M M M U@ U@ U@IIIiII I)IIIiIm)Mu*=Yuyya!Hy~;}>Iș :ŝ 5? :ŝ2gݾ Ɲ? ?9Ɲ@ǝpN; ȝBM;)ȝA:WWX XWX:W2W*WVbUBU*U U UL$ @R%B*** querying acoustic contact ***P!P!BB BA}*BAAAA"C*CRCCC I)I G%M>AE<I9IIMFiME?M=IIM; M7E  v v   ,*:Y N1y : 5) @;o慙,fFAY}F-@}Fp@y}F}Fv,}FH 2@?T?/ZQ@4Ƿ?oʳ?)~F-@ ~F[;I~FCYn?ynFrZ****** received transponder code query ******rF****** received ping request ******v셙,ԀfFAY}J4-@}J@y}J* }J&}JH K΍?? lyٶ?jǤ ?)~J4-@ ~J'\;I~JCYZn?yZ5F^xDUSBL response received:!U1,P 80,80,63,E4 A,189,80,80,BA,FF ^Command Ack^BRequesting micromodem ping code 2i\\bR=i`fNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 |~A-F¼M5L=YE>Yaam!HmuHyy}>Iȱŵb 5?ŵfݾ ]tI ƵR? e?9Ƶ@ǵ< ȵU<)ȱWIWIXq XqWyX:W2W*WVbUBU*UU)U=!@BB BAҁ*BAAAA"C*CRC)C1C9׹IGf> =i a=  | | ,  2:Y R1y i: s69% @,rfFAm>9iImFim1?m=iii iY}B%l-@}B@y}B$:}B$}BH R`~3W?@ ?^? J,?)~B%l-@ ~B_l\;I~BCYRU?yRFnNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )Ii5+M5:=Y=QQU=>9AaE!HAAym}m>Iq }:u 5? }:uCfݾ uj? }?9u'@u: u:)uB:WWX XWX:W2W*WVbUBU*UUU#}"@B!BA BAAE*BIAIAIAIAI"CQ*CQRCQCQCY׍?i׍?YIiG>,.8fFAY}2e-@}2S@y}2Z}2mY}2H@lRD*?` ?9*1?@1#?)~2e-@ ~2>\;I~0B`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ) IY-?y-$F=xDUSBL response received:!U1,R,27C,000,002BB,189,80,80,B2,FF EFpublishing direction and range info=r9ɰ= e=9 9)=2CI9y=@=q!R2?rٱ9ii}SM}+=YݻQU>a!Hy9V}>IAEX 5?Eeݾ E4? U?9E@E: EY:)AWWX XWX:W2W*WVbUBU*UUU|#@R(Combining 5 samples.P*Q@ZQBJ-0@_,JQq!R2?r2Qr:QbQI+^@jk))T?RQԿ#?+?BQ? Q*@Q PPPQQ@"Q@BB BA*BAA A A"C!*C)RC)C1CY׉IG>      /:Y y  j5,#fFAɫ  )  IYM?yMFTNmea in: $SNTTA,0.005301,,,,224239.19*43 K7?L7A`?~jtI>+= )Iy/$?iiam!Hiqyu}u>Iy :} 5? :}Eeݾ }E? ?9}K@}: }:)}C:mqAdded new target pos. range: 4.440000 m, bearing: 109.061128 deg, deltaT: 9.751075 s, approachRate: 0.006153 m/s, LOS rate: -0.286863 deg/s, posRepo size: 4W?WX XWX:W2W*WVbUBU*UU`@U fh?BB BAA*BAAAA "C ?RCC?C]A9IȖFi?=; :EQIaG}Y>I @A) ,gfFAY}6N$-@}6?@y}6K}6cN}6H_S@+?%?ߩr?@欩?)~6N$-@ ~6[;I~6CɫYY)Y YIYY?yF5ȽM=v=Y=s;QU=?AAaE!HAAyM+E}M?Iȡť 5?ťdݾ ƥ!? ?9ƥ@ǡ ȥ:)ȡWWX XWX:W2W*WVbUBU*U U U K?BIBQ BQAUK*BQAYAYAYAa"Cm?RCiCqCqIו^A)בIIYG> 5 { { *  #:Y #R1y : 5 ,66fFAY}2,@}2h@y}2XĽ}2FAAaE!HAIyM}M>IQ ]:U 5? ]:Ucݾ U$? e?9U=@U: U:)UD:WWX XWX:W2W*WVbUBU*UUU?BABA BAAM*BIAIAiAA"C?RCCCiIqG> >9 I pFi M? = ; 1E,PfFAY}> ,@}>@y}> ̽}>_;}>HǑ@Xd4?@?ܲ v?Xk? S?)~> ,@ ~>b\;I~>CɫYY)Y YIYYV?yĐF m m m m@ u@ u@iiiiii i)iIiii"MF=Y"QU>a!Hy }>Ișŝ 5?ŝ;cݾ Ɲh'? ?9Ɲ@ǝ0: ȝ:)șWWX XWX:W2W*WVbUBU*UUU m8?BB BA؄*BAAAA"C ?RCCCIG--> =i =  x x S  T:Y 7P1y : k5) };9 !,~jfFAY}:-@}:+@y}:{׽}:/ꢼ}:HǠ5P;?M'?@ ?@?)~:-@ ~: c;I~:Cɫ99)9 9I9Y}?y}=F=fIM=O=YE\gQUE>AAaM!HIIyU=<}U>IY e:]E 5? e:]bݾ ]*? e?9]F@]E: ]s:)]E:WWX XWX:W2W*WVbUBU*UUU_?BB BAw*BAAAA"C?*CRCCC?i?IG> !,!ZfFAY}2Ab-@}2}@y}2t콙}2=}2Hc@b??rû܀?ӎ@?)~2Ab-@ ~2PWh;I~2CɫYY)Y YIYY?yFI 4=) %= On?zGếI +? >  ׽ 94<) I y  ףp= ?L7A`堿 rh? Q8= + C = EA) EAI f8Ai   GAA))=HKME;=YM}QUU>QYa]!HYYye_;<}e>Iqu 5?uMaݾ u#/? ?9u@u; u;)qWWX XWX:W2W*WVbUBU*UUU@BB BA)*BAAAA"C*CRCCC܍>9܉I܍PFi܍8?܍=܉܉܍; ݍ>E)Ii5ױIGD>iE}nGIYiq#ٺA  w w   6:Y O1y P: 45) {; <',`XfFAY}bx-@}b;@y}b@}b. }bH +(5 r?`4?껿`Ļ? Ѵ?)~bx-@ ~bg;I~bCɫ髩) IYs?yF M M M M@ M@ M@IIIiII I)IIIiI] M]Y=Y])QUe>aaam!HmvHiyu/o;}u>Iy}{ 5?}@`ݾ } 3? ?9}@}: }b:)yW!W!X! X!W)X):W)2W)*W)V1bU1BU1*U1U1U=y@ReB*** querying acoustic contact ***PaPaBB BA*BAAAA"C*CRCCCIG'>I AA) @AX_-,fFAY}6-@}6@y}6}6):}6H@ w?`?9`0?D?ج?)~6-@ ~61Zd;I~6Cɫ99)9 9I9Yu?y}F}Z****** received transponder code query ******F****** received ping request ******a!Hy|;}>I : 5? :_ݾ Q7? ?9L@: )F:WAWAXA XiWiXq:Wq2Wy*WyVybUBU*UUU@= @B)B1 B1A5*B1A9A9A9A9"Ci*CiRCqCqCqI׭]A)שyIG<>  y y   0:Y P1y ': 59 @܁ 9܁ I܅ Fi܅ ?܅ =܁ ܁ ܅ ; ݅ :EE4,BfFAY}N_-@}Nn{@y}N}N&{<}NH ?L?@ƴ@?`?@?)~N_-@ ~Nvb;I~NCɫyy)y yIyYq?yFxDUSBL response received:!U1,P 27C,000,002BB,189,80,80,B2,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 QQ)]= ]>bļM<=Y\QU>a!Hyz}>I 5?]ݾ ;? U?9@j; 7;)WWX XWX:W2W*WV bU BU *U UU@ @BiBq BqAuQ*BqAqAqAyAy"C*CRCCC׉IGc>(p:,fFAY}6,@}6P @y}6K}6?}6HlgR 銾? ?n?jS`u?)~6,@ ~69c;I~6CɫYY)Y YIYYM?y]FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m m m m@ m@ m@iiiiii i)iIiii 2MT=Y QU > a!Hyy}>I! -:%w 5? -:%\ݾ %?? 5?9%@%o: %:)%G:WQWQXQ XQWQXY:WY2WY*WYVYbUaBUa*UaUaUe@BB BAڇ*BAAAA"C*CRCCCIG+> =i =- 1 ) ) -  - 7:Y) y) - W5WA,ƢfFAY}2,@}2c@y}2 .}2GM$}2H W`ݺ? ? =`@?<w?)~2,@ ~2ub;I~0ɫYY)Y YIaY}?y}FxDUSBL response received:!U1,R,29D,000,002B9,188,80,80,B3,FF Fpublishing direction and range infotɰdd=鰅> )3CIy=@"?>ٱdNmea in: $SNTTA,0.212415,0.212528,,,224243.67*51 "~j(\ſ1Zd S . "۽) I y ~jt?X9v?~jth D< < D IA) -HAI 5Ai ^A  pIA    @ @ @i )IimsMm6=YmQUm>qqau!Hqyy}Q1}}>IȡťY 5?ť$]ݾ ƥp?? ?9ƥ @ǥ: ȥ8:)ȡWWX XWX:W2W*WV)9)I-0Fi-$?-=))-; -=EbU9BUa*UaUaUe@Ru(Combining 5 samples.Py*Q}=@ZQ}oF @FX JQ}"?>2Q}t:QybQ} uvW;W@Pzoy?RQ}[ҿ~t[B?I4g?BQ}'? Q}@Q}PyPyPyQyQ}@"Q}@BB BAg*BAAAA"C*C!RC!C!C!5?i5?I!G=r>ƁG,|fFAY}:TH-@}:c@y}:A}:}:H dw@y? ?`~Sƿ`?l)X?)~:TH-@ ~:__;I~:Cɫ99)9 9I9Y}?y}VF11uμMup=Y}FiQU}?ya!Hyz<}?Iȑ :ŕ 5? :ŕq]ݾ ƕ1?? ?9ƕ{@Ǖ: ȕI:)ȕH:muAdded new target pos. range: 4.319999 m, bearing: 106.583565 deg, deltaT: 4.426156 s, approachRate: -0.027112 m/s, LOS rate: -0.559755 deg/s, posRepo size: 4W'?WX XWX:W2W*WVbUBU*UUG@Uu?BB BA*BAAAA"C%?RC!C%'?C) IGE>  { { ?  2:Y #R1y : | 6M,W9fFAY}6-@}62@y}6T}6牼}6Hab(Q2?Τ?;;¿`c?ݐN?)~6-@ ~6];I~4ɫ99)9 9I9Y}?y}:FWMF=Y5QU>a!Hyr%<}>I| 5?]ݾ ?? %?9@ܹ: :)WIWIXI XIWIXI:WQ2WQ*WQVQbUYBUY*UYUYU]_?BB BA*BAAAA"C'?RCCCסIG >I @A) ) 9) I- Fi- ?- =) ) - 0; - HEѓT,2SfFAY}6xV-@}6r@y}6ׄc}6+=}6H=@$ ?ѩ?@J&`4? 2??)~6xV-@ ~60^;I~6Cɫ99)9 9I9Y}?y}F - 5 5 5@ 5@ 5@ 5111i5z?1 5&?)5v?I5&?i5&?E dMER=YEFQUM>IIaM!HIQy]2}]>Ia m:e 5? m:e/^ݾ eI?? m?9eV@e: eI:)eI:WW X XWX:W2W*WVbUBU*U!U!U%`*?BB BAÈ*BAAAA"C*CRCCCI)]AIG'>% m% ~% ~%  % (:Y% T1y% @:% 6)% v;9E Z,mfFAY}6,@}6I@y}6ks}6=}6H`c Z?@? r@Q`+,?;?`?)~6,@ ~6^;I~6Cɫ99)9 9I9Y?yF)% > %>U26=M]I=Y]QU]>aaae!Haaym{ɼ}m>Iqu 5?u^ݾ u?? }?9u@u: u:)qWWX XWX:W2W*WVbUBU*UUUi?BB BA/*BAAAA"C*CRCCCIIQGu>ʥa,fFAY}:F,@}:2b@y}:߂}:=;}:H`?n?o@Ŀ}.?yf?`?)~:F,@ ~:c;I~:Cɫ99)9 9IAY}?y}UFQ?333333?A`"(>= Y)Iy{Gz?l񢿙#<L µXGA)µJAIµC/Aiµ=jAJA       @ @ @ @   i   ) I i %λM%>=Y%/(QU%>))a-!H)1y5Q{}=>I9=4 5?=W]ݾ =;? M?9=@=D: =:)9WWX XWX:W2W*WVbUBU*U)U1U5 ߥ?BB BAF*BAAAA>9IPFi8?; =E"C *C RC C CI)GEQ> =i =   { {   K6:Y #R1y : 6) ;g,rĠfFAY}6+@}6@y}6}6Z}6H{@~ &?? ˿AK? O ?)~6+@ ~6!2a;I~6Cɫ99)9 9IAY]?y]FwM_=YrIQU>a!HwH y } >I : 5? %:F\ݾ 9? %?9'@A: :)J:WWX XWX:W2W*WVbUBU*UUUC@BB  B A E*B AAAA"C*CRCCC!5?i5? IG5 >m,fFAY}6g+@}6J@y}6}6/֔}6H`-bE?? #ʿ@?ˑ?)~6g+@ ~6s^;I~6CɫAA)I IIQY6?y;Fp=ɮp=))    @ @ @i )Ii*<M==YRQU>a!Hy}>Ir 5?[ݾ 5? ?9@R: :)W)W)X) X)W)X):W12W1*W1V1bU9BU9*U9U9U= @RMB*** querying acoustic contact ***PIPIBiBq BqAu *BqAqAyAyAy"C*CRCCC׉IG>      aA:Y WU1y : F59 @ 9 ܔCI Fi ? ; :E)YIYiY]=]=]EE5 Ci nGI! iI t,~fFAY}6+@}6P3@y}6?}6l}6HH?`? [gͿ@?,6`?)~6+@ ~6 ];I~6CRٺPRkAɫ99)9 9I9Y?y)FZ****** received transponder code query ******F****** received ping request ******AAaM!HIIy]O}]>Ia u:e 5? u:eYݾ e2? u?9e@e'; e$;)eK:WWX XWX:W2W*WVbUBU*UUU! @BB BA'*BAAAA"C*CRCCCׁIG>I ) AA {,UfFAY}6 *@}6@y}6u}6}6Hw?@F?п?@w(?)~6 *@ ~6u9\;I~6Cɫ99)9 9I9Y}I?y}FxDUSBL response received:!U1,P 29D,000,002B9,188,80,80,B3,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 xMO=Y /QU>a!Hy@ϻ}U>IȁŅ 5?ŅXݾ ƅP/? ?9ƅa@Dž|; ȅo;)ȁWW!XA XIWIXQ:WY2W*WVbUBU*UUU%B @BB BA[*BAAAA"C*CRCC C1IA)E^A) I1 Gu >  y y p  3:Y P1y ': 6󁆙,0fFAY}F*@}F@y}FU}Fn}FHD@M??zaѿ !? ?)~F*@ ~F<`;I~FCɫ髉) IYy?y*FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5=i1S㥛?MbX῰rh|?$> =)Iyy&1?Zd;O~jt`<jļ IA)OQAI,AiAQA)= =    @ @ @i )Ii[]M.=YQU>a!Hy&}>I  : 5? :iVݾ .? ?9@H: :)L:W1W9X9 X9W9X9:W92WA*WAVAbUABUI*UIUIUM@q9qIuFiuv?qqqu$; uBEBB BA*BAAAA"C*C RC C C I G%M>, "fFAY}:W*@}:Hs@y}:*}:e}:Hg@5`_.??R@Zѿ '? ^`?)~:W*@ ~:N?a;I~:Cɫ99)9 9I9Y}?y}4FxDUSBL response received:!U1,R,2AF,000,002BA,189,80,80,BB,FF Fpublishing direction and range info/zɰd=鰅7> );CIy(@z]k?9OٱuPM}R=Y}ȼQU}>a!Hy>}>IȹŽZ 5?ŽbTݾ ƽ-? ?9ƽ@ǽ: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q(@ZQ{̖ @F_mJQz]k?9O2Q/z:QbQ$2t+<@~2?RQӃȿpH?jƆ=?BQf? Q@QXPM9?PPQQE@"Q@BIBI BIAM*BQAQAQAQAQ"CY*CYRCYCaCaaIqG:> =i =  | |   l@:Y R1y i: F5M,];fFAY}en?*@}eZ@y}e9@}eW}eH A` `p?`?`ӿ6?s?)~en?*@ ~e^;I~eCɫqq)q qIqY?yaFTNmea in: $SNTTA,0.026264,,,,224248.11*4E m m m m@ m@ m@iiiiii i)iIiii=MG=Y QU>a!Hyo}>I : 5? :NRݾ x-? ?9?@E: R:)M:mqAdded new target pos. range: 4.380000 m, bearing: 101.788991 deg, deltaT: 4.398559 s, approachRate: 0.013641 m/s, LOS rate: -1.090033 deg/s, posRepo size: 4Wf?WX XWX:W2W*WVbUBU*UU@U`?BYBY BYA]y*BaAaAaAaAa"Cm&?RCiCmf?Cqץ?iץ?qIG^>e >9a Ie Fie @e =e ADa e 9; e ME,0,UfFAY}6U*@}6p@y}6}6f}6H5)>&?@z?@@YԿÁ?Rڑ?)~6U*@ ~6r];I~6CɫII)I IIIY}?y}FFIR=)_A"Mh=Y%üQU%>!!a%!H))y-u;}5>I9= 5?=Pݾ =G-? E?9=]@=: =b:)9WaWaXi XiWiXi:Wi2Wi*WqVqbUqBUy*UyUyU}@.?BB BA*BAA)A)A1"C5f?RC9C9C9)I1G]>  { { %  /:Y #R1y : 6) ;9 7Z,ofFAY}6 )@}6@y}66o}6@Q}6H`l??A Dҿ?vH\?)~6 )@ ~6V\;I~6Cɫiq)q qIyY ?yF<M-"=Y5]QU=>IIaU!HQYyeb}m>Ii u:m 5? }:mMݾ mJ,? }?9m@m: mk:)mN:WWX XWX:W2W*WVbUBU*UUUN=?BB BA*BA A A A "CR?RCCCIAG{>I ) ?ArC,_~fFAY}NZ(@}N@y}N8¾}N";}NH G ?;@?xs@Ͽ{?6p?}?)~NZ(@ ~Nx\;I~NCɫqy)y yIyY?y3Fa i@a  a m@a  a q@a  a e@a  T㥛 ? rп ףp= ?> Q=)IiMb@Mb@Mb@© "EA)I+AiQ8A - - 5 5@ 5@ 5@111i11 1)1I1i1E<MEn=YEQUE?IIaM!HIQyU}]?IY] 5?](Lݾ ];+? m?9]A]: ]>>)Y >9 I Fi @ =   3; KEWAWIXI XIWIXI:WI2WQ*WQVQbUQBUQ*UYUYU]?BB BA*BAAAA"Cf?RC C C I!)!I G-O>  | |   2:Y R1y i: 6) ;/l,SfFAY}2Zx(@}2@y}2ƾ}2'}2H j?`Z?@f>`̪п7? @@֞?)~2Zx(@ ~2Bc;I~2CɫYY)Y YIYY?yrF) = >5K/=M=]=Y=*QU=>AAaE!HExHIyM}M>IQU 5?UDJݾ U#*? ]?9UAU: U.5?)QW W X  X W X:W2W*WVbUBU*UUU%?BIBI BIAM *BQAQAQAQAQ"CY*CYRCYCaCaiIqG>,:<fFAY} b(@} ~@y} Ⱦ} vM} H*v @&?&Z?ۥ@ӿ`m?ౠ?)~ b(@ ~ a;I~ Cɫ) IY?yF    @ @ @i )Iin;M==YQU>a!H!y%E}%>I)-2 5?-Hݾ -u)? =?9-A->: -?))WYWYXY XYWaXa:Wa2Wa*WiVibUiBUi*UiUqUu@;@BB BA*BAAAA"C*CRCCCIG*> p=i %= y y { A:Y P1y ': 59 @! 9! I% Fi% r@! ! ! % 4; ! ,,fFAY}2a(@}2}@y}2߀ľ}2m}2HS@dK?`Tk?& Bֿ?@b-`fn?)~2a(@ ~2a^;I~2Cɫ11)1 9I9Yu?yuF}a=ɮ}a=2M^=Ysa!H y v}->I1 =:5 5? =:51Fݾ 5c)? E?95_A5%: 5?)5O:WWX XWX:W2W*WVbUBU*UUUF@RB*** querying acoustic contact ***PPBB) B)A-:*B)A1A1A1A1"C9*C9RC9C9CAU?iU?!I)GM>F,fFAY}:'@}:h @y}:}:`}:H{`%\?ש?$G:տ H?`պ`F?)~:'@ ~:L];I~:Cɫ99)9 9I9Y}?y}(FZ****** received transponder code query ******F****** received ping request ******qau!Hqyy}7}>IȁŅ 5?ŅDݾ ƅ")? ?9ƅADž4; ȅA?)ȁWWX! XIWIXQ:WY2Wa*WVbUBU*UUU @B!B! B)A-*B)A1A1A1A1"Ca*CiRCiCiCqסIGh>  | | t  `6:Y R1y i: }5i†,/ fFAY}2,`'@}2{@y}2۹}2+c׽}2H` K?`?` Կ@?_׿?)~2,`'@ ~2^\;I~2Cɫ99)9 9I9Y?ygFxDUSBL response received:!U1,P 2AF,000,002BA,189,80,80,BB,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ٱٵ^A9IHFi@==D;; PE)MܔCIMܔCiIM=M=M5imGIiٺAa ia i a ma m a qa q% a e%a e% % rh?A`"?Mb`%C >%= %)!I!y%{Gz?Mb?MbP%#<%<% %HA)%^AI%E*Ai!%%EA    @ @ @ÙÙÙiÙÙ ę)ęIęię<M =Ya!Hy t}>I  i 5? Dݾ i)? M?9 &A sn< Rn<) WWX XWX:W2W*WVbUBU*UUU ]@B9 BA  BA AE >*BA AA AA Ai Ai "Cq *Cq RCq Cq Cq I AA) AAa Ii G >FȆ,9$fFAY}63&@}6@y}6w@}6a }6HI`+P?\?ӿ`k?`U?)~63&@ ~6_;I~6CɫYY)Y YIYYb?yFAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =>M==Y=)  z z   -:Y Q1y : 5{Ά,v>fFAY}2&@}2R@y}29}2ܪ}2H-?K!? 0?@nӿ@9?:`?)~2&@ ~2a;I~2CɫYY)Y YIYY}?y}[FxDUSBL response received:!U1,R,27B,000,002B8,189,80,80,A8,FF Fpublishing direction and range infoA ɰd=鰁 )(CIyQ@J6?Egٱ)> -<MUK=Yea!Hy]}>I 5?Dݾ )? ?9GA; B;)WyWyXy XyWyXy:W2W*WVbUBU*UUU@1@R(Combining 5 samples.P*QQ@ZQ/ @uJQJ6?Eg2QA :QbQnl"@M3Ϯ?RQfǿX`\.??drgL?BQ;? Q%|@QHPN9?PM9?PQQL@"QE@B1B1 B9A= *B9A9A9A9A9"Ca*CiRCiCiCiaIqG;>ܱ 9ܱ Iܵ Fiܵ Y@ܱ ܱ ܱ ܵ A; ݵ SEՆ,`[XfFAY}f Z&@}fu@y}fue}fd}fH6zC ?`p?ϩҿda?`Ӳ?)~f Z&@ ~f^;I~fCɫ髹) IYE?yF=TNmea in: $SNTTA,0.063525,,,,224252.56*45    @ @ @ÙÙÙiÙÙ ę)ęIęięMB=Y =QU>a!Hyi}>IM 5?Cݾ )? ?9\A: H:)muAdded new target pos. range: 4.259999 m, bearing: 101.267124 deg, deltaT: 4.433130 s, approachRate: -0.027069 m/s, LOS rate: -0.117720 deg/s, posRepo size: 4W;?WX X WX:W2W*WVbUBU*UU = @Uđ?BB BA\*BAAAA"C;?RCC;?CIG$> =i R= |  | |   =:Y R1y i: 6dۆ,,rfFAY}2S<&@}2W@y}2ɣ}2嶰}2HSOL?? &ҿN ?`PvC?)~2S<&@ ~2.];I~2Cɫ99)9 9I9Y}?y}F6=M%T=Y-[=QU5>ya!Hy4}>I : 5? %:Cݾ *? 5?9qA2< 2<)Q:W)W)X) X1W1X1:W12W1*W9V9bU9BU9*U9UAUEa?BB BA~*BAAAA"C*CRCCCIGI>E↙,UfFAY}No8&@}NS@y}N6}NA}NHvP*? ? i~ѿ? q?)~No8&@ ~N}\;I~NCɫ髑) IY?yFsh|??NbX9ȿQ?)>E \=)IyI +AAaE!HQ9QIUHFiU@U=QUIqu 5?uDݾ u+? ?9uAu: u^:)qWWX XWX:W2W*WVbUBU*UUU`1c?BB BA*BAAAA"C*CRCCCI G-,> 7 { {  58:Y #R1y : 5) a;9 醙,\fFAY}2t&@}2l@y}2PÏ}2}2H@1c??п3??)~2t&@ ~2c\;I~0ɫ99)9 9I9Y?yQFuMuX=Y}G=QU}>ya!HyHy!<}>Iȑ :ŕ 5? :ŕEݾ ƕz-? ?9ƕAǕ|: ȕ:)ȕR:WWX XWX:W2W*WVbUBU*UUUa?BB BA?*B A A AA"C*CRCCCׁIG>I @A) @A2,fFAY}:4&@}:?P@y}:|}:U$g}:HO??`̿?L߫ E?)~:4&@ ~:/b;I~8ɫ99)9 9I9Y}?y}tFU=M]L=Y]%=QU]>aaae!Haaymn }m>Iqu 5?uEݾ uC/? }?9uuAu: ub:)qWWX XWX:W2W*WVbUBU*UUU?BB BAɅ*BAAAA"C*CRCCCIG>Q 9U ۔CIU FiU r@U =U BDQ U 7; U KE  | |   ).:Y R1y i: 5) ;,fFAɫyy)y yIyY?yXF )= = % % % %@ %@ %@!!!i!! !)!I!i!5<M5==Y=QU=>9AaE!HAAyM}M>IQ ]:UL 5? ]:UD,XtfFAY}60T&@}6o@y}6g}6Ez׽}6H``4(?-?@A Ϳ?/4H?)~60T&@ ~6<_;I~6CɫAA)A IIIY}?y}ŏF鮑ɮu<Ma=YS=QU >!a%!H!1yE+;}M>Iae 5?eFݾ e3? ?9e"AeC; e<)aWWX XWX:W2W*WVbUBU*UUU î@RB*** querying acoustic contact ***PPBiBi BqAu@*BqAqAqAqAq"Cy*CyRCCCaIiG =i =  { {   0:Y #R1y : 459% @n,,O fFAY}6>&@}6Z@y}6N}6P뭽}6H~p?_R?X`ɿ`?@E&@ ~6L^;I~6Cɫ99)9 9I9YR?y_FZ****** received transponder code query ******F****** received ping request ******a!HyL}>9I`Fi@=4; IEI : 5? :Fݾ }4? ?9A< <)T:WWX XWX:W2W*W!V!bU!BU!*UIUIUM @BB BA*BAAAA"C*CRCCCIGI>V ,*'fFAY}:7&@}:@y}:7}:Ƃ}:Ho@`n5?`I? ſ?%l?)~:7&@ ~:K\;I~:Cɫ99)9 9I9Y} ?y} FxDUSBL response received:!U1,P 27B,000,002B8,189,80,80,A8,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Ip=)qu_A    @ @ @i )Ii=@=ME5=Y}K=QU>a!Hy}>I 5?SFݾ 6? ?9AE: ض:)WYWYXY XYWYX:W2W*WVbUBU*UUUˏ @BB BA*BA A AA"C*C9RCACICYױIG> T  } }   ::Y kS1y Ԋ: j5>,AfFAY}2C%@}2ͻ@y}2-#}2rĽ}2H`;L?? Wǿdg?)3r?)~2C%@ ~2d^;I~2CɫYY)Y YIYY}?y}1F@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B e m m m@ m@ m@iiiiii i)iIiii}9M}l=Y?d=QU?a!HyN}?Ișŝ' 5?ŝ-Fݾ Ɲ87? ?9Ɲ.Aǝ: ȝ:)șWWX XWX:W2W *WVbUBU*UUU`L@BaBa BiAmD*BiAAAA"C*CRCCCסIG!>C>9I@Fi?I; TE)݅۔CI݁i݁݅=݅=݅j6iu }nGI i ٺ AI ) kj,ZfFAY}2%@}2@y}2A}2,}2H !I??ǿ` ?@_o?)~2%@ ~2 d;I~0ɫ19)9 9I9Yu?yuFxDUSBL response received:!U1,R,250,000,002B9,189,80,80,B0,FF Fpublishing direction and range info} Ayɰ}dd=y y)}0CIyy}=@}?ci߿ٱyE<MEN=YM@=QUM>QQaU!HQYy]d<}]>Ia m:e 5? :eFݾ e8? ?9eAe; e;)eU:WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q=@ZQC @mJQ?ci߿2Q A:QbQ,'0u@C)&|N?RQ;y1Ͽ`4z? (n?BQ+ ? Q@QPPN9?PQQ *@"QL@BB BA*BAAAA"C*CRCCCׁIG> /  x x   f`:Y 7P1y : 5,tfFAY}%@}@y}}(ս}H>)p??@AĿ6?cB?)~%@ ~L+c;I~Cɫ) !I!Y?y FUDNmea in: $SNTTA,,,,,224256.99*5B U=iU= aa5/$?MbXMb?5,>5ʽ 5=)1I1y5X9v?{Gzt?l?5<5ף;5= 5;A)5MVAI55Ai5E`A15IA)]= ]>    @ @ @ áááiå?á ĥK?)ĥK?IĥK?iĥK?<M=Y=QU>a!Hy}>I 5?Eݾ  C? ?9AzD;  ;)m5mAdded new target pos. range: 4.319999 m, bearing: 104.352470 deg, deltaT: 4.423214 s, approachRate: 0.013565 m/s, LOS rate: 0.697535 deg/s, posRepo size: 4W5+ ?W9X9 X9W9X9:W92WA*WAVAbUABUA*UIUMG@UM I?ByBy ByA}*ByAAAA"C5k?RCC+ ?C׉IG>z#,fFAɫyy)y yIyY?yFUMU=Y]QU]?Yaae!Haaym}m?ّٕ<ܙ9ܙIܝFiܝ1?ܙܙܙܝ=; ݝOEI :5 5? :Eݾ I? ?9Aw:  :)V:W9WAXA XAWAXA:WA2WI*WIVIbUIBUQ*UQUQUU?ByB BA*BAAAA"C+ ?RCCC׉IG> =i p= K ~ ~ W  c%:Y T1y @: G5) ;9 ),6rfFAY}2t &@}2$@y}2E}2}2HhL`4G??H8$շ?A?)~2t &@ ~2_^;I~2CɫYY)Y YIYY}?y}ʔFR(=MN=Yk=QU>!!a%!H%zH)y-<}->I15u 5?5vEݾ 5lP? E?95A5 : 5Y:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUyU} ?BB BA5*BAAAA"C*CRCCC IG- > 0,SfFAY}6)&@}6E@y}6:}6(}6HUZg?@H?VX\? ?)~6)&@ ~6b\;I~6Cɫ99)9 9I9Yu[?y}xF = = = =@ =@ =@ =@999i=9 =)=I=i=M"MUG=YU@YYa]!HYaye;}e>Ii u:m 5? }:m1Eݾ mrX? }?9m,Am: m:)mW:WWX XWX:W2W*WVbUBU*UUU?BB BAW*BAAAA"C*CRCCC  IG- >ܝ>9ܝܔCIܝȖFiܝ?ܝ=ܝADܙܝ<; ݙ  y y   i\:Y P1y ': 5) ;6,(fFAY}6f&@}6:@y}6`}6}6H@ipS;?L?Tr`d?Qα?)~6f&@ ~6&Za;I~6Cɫ99)9 9I9Y}x?y}F=;M=L=Y=;QUE>AAaE!HAIyM<}U>IY] 5?]Dݾ ]=`? e?9]WA]ܹ: ]M:)YWWX XWX:W2W*WVbUBU*UUU@BB BAO*BAAAA"C*CRCCCשI1GM>I AA) <,fFAY}fLo&@}f֊@y}fy}fe}fHuJ^co?K6zH?oҵ?)~fLo&@ ~fa;I~dɫ)! !I)Yn?yF  a !H y2:}>I -:e 5? 5: Eݾ b? =?9nAi; ;)X:WqWqXq XqWqXy:Wy2Wy*WyVbUBU*UUU@RB*** querying acoustic contact ***PPBqBq BqA*BAAAA"C*CRCCCױIG>   ~ ~   5:Y T1y @: E59 @C,fFAY}6Y&@}6@y}6x󘽙}6}6Hm`-? C?b@к?%Ѳ`?)~6Y&@ ~6Di^;I~6CɫQY)Y YIYYur?y}KF}Z****** received transponder code query ******F****** received ping request ******) > > ̼M=15]A999I=Fi=?==99=#; =CEYU%I,)fFAY}6&@}6e@y}6}6[d}6Hٮ@?x?M ?w X?)~6&@ ~6R\;I~6Cɫ99)9 9I9Y}E?y}0FxDUSBL response received:!U1,P 250,000,002B9,189,80,80,B0,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2_MM=Ya!Hy <}5>IAE 5?E)Eݾ Ef? }?9EAE; E*;)AW1W1X1 X9W9X9:WA2Wi*WqVqbUyBUy*UUU[B @B1B1 B1A5܃*B1A9A9A9A9"Ca*CaRCaCiCiaIG_> =i E E zE zE  E R:YE Q1yE :E !5P,CfFAY}6Q'@}6ۛ@y}6n}61O}6H@c`4?`I? ;& ?ԩ_?)~6Q'@ ~6C[;I~4ɫYY)Y YIYY?y֑FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @áááiáá ġ)ġIġiġ"M==YpQU>IQaU!HQYy]<}e>Ii :ma 5? :m8Eݾ mi? ?9mAm; mX;)mY:WWX XWX:W2W*WVbUBU *U U U U @BYBY BYA]i*BYAaAaAaAa"C*CRCCC׹IGE>999I=Fi=}?999=; =9ELW,v]fFAY}:(@}:s2@y}:}:_}:H  .1ڒ?@F?0ܷ? ޫ ?)~:(@ ~:l];I~:Cɫ99)9 9I9Yu?y}ޒFxDUSBL response received:!U1,R,239,000,002BA,188,80,80,B4,FF Fpublishing direction and range info}M;yɰ}d=}> y)}4CIyy}(@} #"?a~3}޿ٱyI]=)]=ae^Am=MmP=YQU>a!Hy1<}>Iȩŭ  5?ŭGEݾ ƭk? ?9ƭAǭA: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU#@R(Combining 5 samples.P*Q(@ZQg@TIXJQ #"?a~3}޿2QM;:QbQus9bpu@%u?RQ`cbӿ=q#X?$*?BQ? Q@Q˩PM9?PPQQ@"Q *@BqBq ByA}*ByAyAyAyA"C*CRCCCשIG$> }      =:Y y  52],[[wfFAY}e(@}ez@y}eI}e}eHDACm?`I?.-?L (?)~e(@ ~e^;I~eCɫ髱) IY ?y ;F? ףp= ?#~j>Q= 㥽)IyI +?Mb{Gz94=# ¥?A)¥KAI¥5>Ai¥$RAFA    @ @ @i )Ii2-M&=YռQU>!!a%!H!!y-h<}->I1 :5 5? :5EDݾ 5lj? ?95 A5< 5<)5Z:m mAdded new target pos. range: 4.380000 m, bearing: 107.711141 deg, deltaT: 4.036484 s, approachRate: 0.014865 m/s, LOS rate: 0.832078 deg/s, posRepo size: 4W ?W X XWX1:W12W9*W9V9bU9BU9*UAUE@UE@a^?BB BA*BAAAA"Cx?RCC?CשIG>I @A) ?Ad,&fFAY}6E )@}6$@y}6  } }   0>:Y kS1y Ԋ: 6) ;9 @j,fFAY}6n)@}6@y}6̽}6O2}6Hn?"|? oఋ?Kޯ%?)~6n)@ ~6^;I~6Cɫ99)9 9I9Y?yF !!)-= -=UM]S=Y]KQU]>aaae!He{HaymU<}m>Iq }:uQ 5? }:uBݾ ui? ?9uAu: u:)u[:WWX XWX:W2W*WVbUBU*UUU =?BB BA&*BAAAA"C*CRCCCiIqG>m)q,fFAY}:E)@}:@y}:^ɽ}: =g}:H- ?q?`*`1?˿=?)~:E)@ ~: ^;I~:Cɫ髉) IY6?y؎F    @ @ @ÑÑÑiÑÑ đ)đIđiđ}M)=YN:;QU>a!Hy~;}>I4 5?Aݾ h? ?9As: ÷:)WWX XWX:W2W*WVbUBU*UUU M?B B BA*BAAAA9"CA*CARCACACI1IAG]v>9IFi?=K; XE =i   { {   !+:Y #R1y : 5) ;Sw,fFAY}2W)@}2@y}2.ڽ}2=V}2HxQiT?f?`BSN???)~2W)@ ~2S];I~2Cɫ99)9 9I9Y}T?y}Fy;;M=YּQU ?!!a%!H!)y-X;}- ?IȁŅt 5?Ņ!Aݾ ƅth? ?9ƅ) ADž: ȅj:)ȁWWX XWX:W2W*WVbUBU*UUU`@BB BA*BAAAA"C*C RC C CIIQGu>},fFAY}%7V*@}%q@y}%}%}}%H@Mr@d ?!?۪"d(?q ?)~%7V*@ ~%a;I~%CɫYa)a aIaY?yFI)4==QQa]!HYYyeӌ<}e>Ii u:m 5? :m@ݾ mi? ?9m Ame; m;)m\:WWX XWX:W2W*WVbUBU*UUUl@RB*** querying acoustic contact ***PPBYBY BYA]*BaAaAaAaAa"C*CRCCCשIG> } | |  `):Y R1y i: 59 @d,mfFAY}6+@}6~@y}6}60ͧ}6H@a.@m? ?\@j>Ŀ??)~6+@ ~6u`;I~6Cٙٝ^Aܡ9ܡIܥPFiܥ8?ܡܡܡܥQ; ݥ[Eɫii)i qIqY?y6FZ****** received transponder code query ******F****** received ping request ******AIaM!HIQyUj=}U?IY] 5?]l@ݾ ]j? u?9]; A] ; ];)YWWX XWX:W2W*WVbUBU*UUU,I@BB BA*BAAAA"C *C RC CCIGn>I AA) @A,{I,fFAY}:R^,@}:y@y}:&}:Q}:H8@``A&?C?Kgƿۨ?p?)~:R^,@ ~:^;I~:Cɫ99)9 9I9Y]?y]FaɮamxDUSBL response received:!U1,P 239,000,002BA,188,80,80,B4,FF mCommand AckmBRequesting micromodem ping code 2iii}Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 XMd=Y>QU>a!Hy =}>I! U:% 5? ]:%*@ݾ %wk? e?9% A%< %<)%]:WWX XWX:W)2W1*W1V9bU9BUA*UAUU FA @BB BAM*BAAAA"C*C RC C C IG%M> d      ;:Y y  58w,%FfFAY}2,@}2;@y}2W,}2ۧ}2Ha@? ?]5ſ@p?@@#q?)~2,@ ~2C];I~2CɫYY)Y YIaY}A?y.FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m m m u@ @ @qqqiqq q)qIqiql<MI=Y"yQU>a!Hyi<}>I   5? ?ݾ l? ?9 , A : b:) W9W9X9 X9W9X9:WA2WA*WAVAbUABUI*UIUIUU`* @BB BA*BAAAA"C*CRCCCi?׉IG>ܝ>9ܙIܝFiܝ}?ܝ=ܙܙܝ(; ݝEE,_fFAY}2>-@}2$Z@y}2\4}2dc}2H@Apgʹ??`(ÿm?@쫿 t?)~2>-@ ~2\;I~2CɫYY)Y YIYY}?y}AFMb=Y~QU>a!HyO<}>I : 5? :?ݾ m? ?9 AR: :)^:W)W1X1 X1WQXQ:WY2WY*WYVYbUYBUa*UaUaUeD@BB BA~*BAAAA"C*CRCCCIG> i = w w  A:Y O1y P: j5֝, zfFAɫ!!)! !I!YE?yM\FIIuDNmea in: $SNTTA,,,,,224305.07*5B a i@a  a m@a  a q@a  a e@a  :v)\(̿ ףp= ?ԽGa Q8=)IiMb@Mb@Mb@© ©)­AI­1Ai­A}Aj6;M(=Y%QU->99aE!HAIy]}e>Iy} 5?}\?ݾ }[o? ?9}9 A}; }>)yWIWIXI XIWIXI:WQ2WQ*WQVQbUYBUY*UYUYU]`@BB BAr*BAAAA"C*CRCCCIGn>,fFAQ9QIUFiU?QQQU6; UMEɫ髙) IYd?y0FI)IM4=)I    @ @ @ÙÙÙiÙÙ ę)ęIęięAMg=YQU>a!Hy}?IX 5?$?ݾ xp? ?9 A: V?)WWX  XWX:W!2W!*W)V)bU)BU1*U1U1U5 j@BYBa BaAeT*BaAaAaAiAi"Cq*CqRCqCqCyIG$>  x x  0:Y 7P1y : 6) Z;9 -ݪ,fFAɫ髙) IY?y F>MV=YQU>a !H |H y}>I %: 5? %:>ݾ q? %?9 AY: O?)_:WIWIXI XIWIXI:WQ2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB9B9 BAAEˈ*BAAAAAAAAA"Ci*CqRCqCqCqiIqG>I @A) AAű,lfFAY}6.@}6@y}6=9w}6}6H?୴?@?I1ſ ?`%@6?)~6.@ ~6 _;I~6Cɫaa)i iIqY?y{Fa=ɮa=        @  @  @   i   ) I i WM9=Y%QU%>!)a-!H))y5 z=}5>I9= 5?=>ݾ =s? E?9= A=: =?)9WiWiXi XiWiXq:Wq2Wq*WqVqbUyBUy*UyUyU}@@BB BA*BAAAA"C*CRCCCi?סIG (> >iiIi$ٺA?9AA9AIEpFiEM?E=AAE-; EIE)ݹIݹiݹݽ=ݹݽ4 } { {  `):Y #R1y : 35) ;,fFAɫyy)y IY?yXF )= >-!M^=YQU>a!Hy}>I 5?>ݾ \u?  ?9Aͭ: @)W)W1X1 X1W1X1:W92W9*W9V9bU9BUA*UAUAUE(@ByB BA}*BAAAA"C*CRCCC׉IG=`,"fFAY}:/@}:@y}:;}:Nؼ}:H Φ"u?F?Bdƿ@Ѭ?@% J?)~:/@ ~:/&^;I~:Cɫ99)9 9I9Y}?y}Fa ima im a mma mm a qua q} a e}a e} }X9v?a!Hy<}>I 5?F>ݾ Cu? ?9)A: %:)WWX XWX:W!2W!*W!V)bU)BU)*U1U1U5@BaBa BaAeA*BaAiAiAiAi"Cq*CqRCqCqCyIG%> =i = z z  \G:Y Q1y : 59 @2Ň,fFAv>9tIv8Fiv?tttv'; vEEɫ髙) IYw?yPFAAxDUSBL response received:!U1,N,80,80,63,E4 A,188,80,80,B4,FF ZNo reply:!U1,N,80,80,63,E4 A,188,80,80,B4,FF -  a !H y}>I! -:% 5? -:%>ݾ %-u? -?9%:A%=: %:)%`:WqWqXq XyWyXy:Wy2Wy*WVbUBU*UUU`]@BqBy ByAP*BAAAA"C*CRCCC!I1)5]AI)GEQ>@+ˇ,.fFAY}20@}2 @y}2}23}2H f`t??}Aaο ^??)~20@ ~2a;I~2Cɫ99)9 9IAY?ylF        @  @  @   i   ) I i $M%H=Y%&QU->9AaE!HIQy]#=}]>Iae$ 5?e=ݾ e'u? m?9eLAes: e:)aWWX XWX:W2W*WVbUBU*UUU @BQBQ BQAU*BQAYAYAYAY"Ca*CaRCaCaCiiIqG>  { {   G/:Y #R1y : 6#҇,HfFAY}Z,1@}Z2H!@y}Z3}ZI}ZH'@F? H?@˿?s`~?)~Z,1@ ~ZК_;I~ZCɫ髙) IYY?y>F<MH=Y%TQU%>!)a-!H))y5Z<}5>I9 E:=@ 5? E:==ݾ =u? M?9=]A=9: =:)=a:WiWiXi XiWqXq:Wq2Wq*WyVybUyBUy*UyUU@BB BAW*BAAAA"C*CRCCCIG>9IȖFi?=BD; =EI ) @AQ=؇,bfFAɫ) IY-O?y-F=p=ɮ=p=    @ @ @ÑÑÑiÑÑ đ)đIđiđԟMD=YQU>a!Hy}>I\ 5?\=ݾ  u? ?9pAw: f:)WWX XWX:W2W*WVbUBU*U U U j) @RB*** querying acoustic contact ***PPB9B9 B9A=*B9AAAAAAAA"CI*CIRCQCQCQe?ie?)I1GU>  | |  -:Y R1y i: F5gއ,k|fFAY}>q0@}> @y}>.1}>(9<}>Hӄj@"?`B?@@ƿ??N?)~>q0@ ~> /_;I~>CNJFailed to close latch before timeout.q NNHardware FaultY=D?yEF}Z****** received transponder code query ******}F****** received ping request ******E= E=)AIAyEL7A`堿X9vEE+E} EJA)ETAIEn.AiEAAE\SA)],> ] ?    @ @ @i )Ii5}M54=Y=uQU=>99a=!HAAym~t}m>Iq }:ux 5? }:ua<ݾ un? }?9uAu{: u:)ub:WWX XWX:W2W*WVbUBU*UUUo!@BABA BAAE܊*BAAIAIAIAI"CQ*CQRCQCQCYYIi-$@Hardware Fault in component: DDMG\>aO凙,EfFA@@D9DIFFiFa?DDDF&; FCEbPowering down`ɪ`)` `Y?yFxDUSBL response received:!U1,P 80,80,63,E4 A,188,80,80,B4,FF Command Ack%BRequesting micromodem ping code 2i!!5Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ;MV=YQU>a!Hy}>I 5?;ݾ ,h? E?9A; ;)WWX XWX:W2W*WVbUBU*UUU !@BB BA*BAAAA"C*CRCCC׹IG> =i =} " } }} }}  } s:Y} kS1y} Ԋ:} 5)} ;9 zy뇙, fFAY}2 E1@}2`!@y}2}2)l}2Hӄ@R`!?Ɓ?V[rDѿ`P?`$`?)~2 E1@ ~2b;I~0Yj?ynZFpr@A~Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B <Mo=YOQU?a!H}Hy<}?I 5?:ݾ c? ?9.AI: :)WWX XWX:W2W*WVbUBU*UUU "@BB BA*BAAAA"C*CRCCCI)IG>b,fFAY}:֫1@}:`!@y}:}:CϽ}:H= ;G?@|X?:eѿ@?W ?)~:֫1@ ~:`;I~:CYF?yJ#FNxDUSBL response received:!U1,R,255,000,002B8,189,80,80,B7,FF NFpublishing direction and range infoJ^HɰJd=J7> H)J7CIHyJQ@J3`I-?9D߿ٱH\\    @ @ @ i? K?)?IK?i?=ػMG=YJ6QU>a!Hykz<}>I : 5? :9ݾ ]? %?9yA: :)c:WaWaXa XaWaXi:Wi2Wi*WiVbUBU*UUU}]#@R(Combining 5 samples.P*QQ@ZQ| @_wqJQ3`I-?9D߿2Q^:QbQ? { @lp7?RQ׿*2܁9܅۔CI܅Fi܅v?܅=܁܁܅; ݅8E} } y} y}  } 4-:Y} P1y} ':} 6)} ߊ;ԋ,kfFAY}21@}23"@y}2p}2=}2HF?/?`@п>?`B L?)~21@ ~2Q&_;I~2CYB?yB؄F*=MW=Y%nQU%>!)a-!H))y}T<}}>Iȉō 5?ō8ݾ ƍ3X? ?9ƍAǍ9; ȍ$;)ȉmqAdded new target pos. range: 4.259999 m, bearing: 113.050907 deg, deltaT: 9.684842 s, approachRate: -0.012391 m/s, LOS rate: 0.551353 deg/s, posRepo size: 4W?WX XWX:W2W*WVbUBU*UU = @U^?BqBy ByA}*ByAyAAA"Cf?RCC?CסIG >I ) AA,-fFAY}ni1@}n"@y}n }nl[}nH@oD?/?.ϿAG?񷩿?)~ni1@ ~nj];I~nCYz?yzFUTNmea in: $SNTTA,0.048265,,,,224310.79*45 ](\?lL7A`?]z>] ]+=)YIYy]a!HyR<}>I : 5? :8ݾ S? ?99A: k:)d:WWX XWX:W2W*WVbUBU*UUU?BB! B!A% *B!A!A!A!A)"C-]?RC1C1C1e?ie?1IAGm5>i9 IY ii _ | |  /:Y R1y i: }69 @ ٺ .A},C fFA9IFiE?=; 0E)݃I݃i݃݋=݋=݋5Y}V,1@}V!@y}V}Vo}VHv1X"?`kO? ~ @пs? B@E?)~V,1@ ~Ve];I~VCYB?ykF)õ= õ=Ӏ<M[=YQU>a!Hy~}>I  q 5? 9ݾ zP? M?9 A  <  <) WqWqXq XqWqXy:Wy2Wy*WyVybUBU*UUUQ?BB BA݉*BAAAA"C,7?RCCCIG- >~ ,g1 fFAY}2F1@}2b!@y}2󶾙}2`ѽ}2H?fl~? k?> "Aҿb? y@{?)~2F1@ ~2L.\;I~2CYB%?yBXFMMMU=YU<;QUU>QQa]!HYYyeV0}e>Ii u:mJ 5? u:m9ݾ mL? u?9m Am{: m:)me:WWX XWX:W2W*WVbUBU*UUUV?BB BA*BAAAA"C+?*CRCCCױIG= =i p= `      z;:Y y  6r,[CK fFAY}2;Z1@}2u!@y}2Y˴}2Kڽ}2H^u>jO?j?@g<`Oҿ!??)~2;Z1@ ~2 \;I~2CYBM?yBF 5 5 5 5@ 5@ 5@111i11 1)1I1i1<MC=Y$a!Hy;;}>I 5?+9ݾ H? ?9{A: :)W W X  X W X :W 2W*WVbUBU*UUU @BIBI BIAM*BIAQAQAQAQ"C]?*CYRCYCYCaIu^A)u^AQIYG}=!9!I%Fi%@%=!!% ; %2E,$e fFAY}61@}6!@y}6Z}6P}6H6 @?O?`]`"п?w@C?)~61@ ~6r[;I~6CY^b?y^WFI%C=)%C=)-_A].*=M]Q=Y]NGaaae!HaiymKj<}m>Iqu 5?uD9ݾ uD? ?9uAu': uU:)qW!W!X! X!W!X!:W)2W)*W)V)bUQBUQ*UQUQU]N@BB BA*BAAAA"C*CRCCCשIG=  } } 9  1:Y kS1y Ԋ: 6,! fFAY}v=2@}v9Y"@y}v}v[}vH`d?8?`"Ϳ@~?n@*=?)~v=2@ ~vt[;I~vCY?yF a=ɮ a=QQ ףp= u Q8)IyMbp?/$~jt; ¥DA)¥I¥,Ai¥SAVA } } } }@ }@ }@yyyiyy y)yIyiyD=M8=Ys1=QU>a!Hyؘ<}>Iȩ :ŭ 5? :ŭ8ݾ ƭB? ?9ƭAǭ: ȭ=:)ȭf:WWX XWX:W2W*WVbUBU*UUU?@RB*** querying acoustic contact ***PPBB! B!A%g*B!A)A)A)A)"C1*C1RC1C1C9!I)GM>I ) @A   9 I `Fi @    ;  &E%,՘ fFAY}F1@}F"@y}F͢}FC`}FH p?`b?q=ѿ\? -4?)~F1@ ~F[;I~DY~%?y~FZ****** received transponder code query ******F****** received ping request ******yya}!Hyy2}>Iȑŕ 5?ŕ.8ݾ ƕA? ?9ƕ7AǕ; ȕ;)ȑWWX XWX:W2W*WVbUBU*UU U  @BqBy ByA}$*ByAyAyAyA"C*CRCCCץ?iץ?qIyG=,, fFAY}Fp1@}F!@y}F}F$}FH6@tuP?-?`80Yӿ@I?ÿ`6?)~Fp1@ ~Fצ\;I~DYn\?ynfFrxDUSBL response received:!U1,P 255,000,002B8,189,80,80,B7,FF vCommand AckvBRequesting micromodem ping code 2ittzNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )5= 5>b<MD=Y AIaU!HU~Hyy8}>I  :\ 5?  :7ݾ @? 5?9fA; ;)g:WWX XWX:W 2W *WVbUBU*UUU`vv @BB BAև*BAAAA"C*CRCC!C1יIGf> (  { {   7:Y #R1y : F6H3,˞ fFAY}B1@}BJ!@y}B(}Bcʽ}BHL q?n?`jy[Ͽ`dN?8_?)~B1@ ~B\;I~BCYN~?yNވFPR?AbNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @ÁÁÁiÁÁ ā)āIāiāMN=Y(=QU>a!Hy}>Iȱŵ 5?ŵ7ݾ Ƶ>? ?9ƵAǵ: ȵض:)ȱWWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C*CRCCCI G- >ܹ9ܹIܹiܹܽ=ܹܹܽ; ݽE =i '9,f fFAY}61@}6;!@y}6釾}6}6H`\@?M?ſQ?禓 ?)~61@ ~6\;I~4>Powering up>"Initializing DDM.Y?yF%xDUSBL response received:!U1,R,288,000,002BB,189,80,80,BC,FF -Fpublishing direction and range info%!ɰ% e=! !)%!!a%!H!)y-@}->I1 =:5 5? =:56ݾ 5 #@?vujw?RQ| <ֿ!tW?FX?BQ? Q@QqſPPK9?PQQm3@"QF@BB! B!A%*B!A!A)A)A)"CQ*CQRCQCQCYI׍]A)׍]AIIQGu>      &2:Y T1y : "6~@,^I!fFAY}VK0@}VPg @y}V?x}Vo*<}VH`o?@ o?(`d?[??)~VK0@ ~V\;I~VCYb?yfьFEDNmea in: $SNTTA,,,,,224315.15*59 IQ)U=U1Zd?Q˿RQ?U"=U(\ U=)QIQyUX9vy&1:vUU`eUT U`=A)U$dAIQiUxAQUSAim^A    @ @ @ñññiññ ı)ıIıiı=M@=Y"]=QU>a!Hy}>I 5?5ݾ :? m?9A]< S<)mqAdded new target pos. range: 4.440000 m, bearing: 110.924888 deg, deltaT: 4.439983 s, approachRate: 0.040541 m/s, LOS rate: -0.478835 deg/s, posRepo size: 4W?WX XWX:W2W*WVbUBU*UU`@U`}?ByB BAs*BAAAA"CP*?RCC?C׹IGE>ٹ ٹ  9 I Fi @ = ; Ea!Hy]}>Iȱ :ŵm 5? :ŵD5ݾ Ƶ8? ?9Ƶ|Aǵ: ȵ:)ȵi:WQWQXQ XQWQXQ:WY2WY*WYVYbUYBUa*UaUaUe?BB BAa*BAAAA"C?*CRCCCIG>I )    | | g  4:Y R1y i: 6) ;9 cL,j3!fFAY}6v0@}62 @y}6q6T}6 :}6H&%`?`(?@ ˿MV?/+_?)~6v0@ ~6M\;I~6CYvt?yvאF2=MJ=YC=QU>a!Hy;}>IȹŽa 5?Ž4ݾ ƽ7? ?9ƽAǽ: Ƚض:)ȹWWX XWX:W2W*WVbUBU*UUU?B!B) B)A-ф*B)A)A)A1A1"C=?*C9RC9C9CAU?iU?׉IG=LS,#M!fFAY}>/@}>@y}>[:}>}>H`C4??@J̿@*?Y'?)~>/@ ~>}];I~>CYJ*?yJF) > >    @ @ @ÑÑÑiÑÑ đ)đIđiđMI=Y=QU>a!Hy}>I] 5?3ݾ 6? ?9QAE: :)WWX XWX:W2W*WVbUBU*UUU`ɕ?B1B1 B1A5*B1A9A9A9A9"CA*CARCACACI999iIIiV߿ٺtAG>m>9iImFimE?m=iim; mE)۔CI۔Ci==5    0  N?:Y y  6) ;vY,1g!fFAY}2Ѓ/@}2Z@y}2( }2߃}2H5̈́ ??@FL¿?;E?)~2Ѓ/@ ~2+\;I~2CYNX?yNF=k=M=Q=Y=3=QUE>AAaE!HAIyM~c}U>IY e:]A 5? e:]]3ݾ ]/5? e?9]A]9: ]:)]j:WWX XWX:W2W*WVbUBU*UUUT@BABA BIAM*BIAIAIAIAq"Cq*CyRCyCyCyiIyG= =i =^`,!fFAY}N¾.@}NL@y}NǪ }N;}NH K?l?(O翳g?@?@?)~N¾.@ ~NT\;I~NCYZ&?yZFMb@Mb@Mb@ )IyMbpI +Mb94 ­+;A)­I­31Ai­iA\GA } } } }@ }@ }@yyyiyy y)yIyiy=M7=YV<=QU>a!Hyܼ}>Iȩŭ 5?ŭ-3ݾ ƭL3? ?9ƭAǭ: ȭ^:)ȩWWX XWX:W2W*WVbUBU*UUU@B)B1 B1A5*B1A9A9A9A9"CA*CIRCICICQI)^AIG$>  { {   EV:Y #R1y : 69 @܁ 9܅ ܔCI܁ i܁ ܅ =܁ ܁ ܅ ; ݅ E)f,e!fFAY}2 .@}2a)@y}2}2}2H@@e@h??@Zȶ&?@ Q?)~2 .@ ~2.\\;I~0Y^?ybFbp=ɮbp=ll-=M-d=Y-Q=QU->11a5!H19y=}E>II M:M 5? U:M3ݾ M1? U?9MAM: M:)Mk:WyWyXy XyWyXy:Wy2W*WVbUBU*UUU\@RB*** querying acoustic contact ***PPBB BAu*BAAAA"C*CRCCCIG=0l,F@!fFAY}Fև-@}F`@y}F=Ľ}F}FH\9B[??q<ÿ@!~?`i]?)~Fև-@ ~F}];I~FCYV ?yZFZZ****** received transponder code query ******ZF****** received ping request ******^a!HHy}>Iȩŭ, 5?ŭ2ݾ ƭ90? ?9ƭAǭ; ȭ;)ȩWWX XW!X!:W!2W!*W!V)bU)BU)*U)U)U5 @BB BA*BAAAA"C*CRCCCשIG=I ) BA O      ::Y U1y : 6Ǚs,7!fFAY}2~-@}24@y}2KI}2G%}2H` IEa2?@16@ſ? gĿ.?)~2~-@ ~2w`;I~2CYN?yR}FVxDUSBL response received:!U1,P 288,000,002BB,189,80,80,BC,FF VCommand AckVBRequesting micromodem ping code 2iTTZNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @  @i )Ii<M-=Y7=QU>a!Hyj}>I : 5? :2ݾ y.? ?9A-: :)l:WaWaXa XWX:W2W*WVbUBU*UUUџ @9IFiv?; B9B9 B9AMM*BIAQAQAQAY"Ci*CqRCqCqC?i?IGj>y,!fFAY}RT,@}R/p@y}Ro}R+}RHX}P`%?`C:h"@!? \?)~RT,@ ~RYa;I~PYf?yfFvNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B aa)m= m=Ģ=Mp=YA=QU?a!Hy}?Iȱŵ 5?ŵt2ݾ Ƶ7-? ?9ƵAǵ: ȵϸ:)ȱWWX XWX:W2W*WVbUBU*UUU.@BB BAn*BA A A A "C1*C1RC1C1C9I)GER> =  { {   8:Y #R1y : 5f,I"fFAY}6=+@}6@y}6*G7}6B}6HNhz?l9ވ@?xӯ`?)~6=+@ ~6{^;I~6CYB?yB̜FFxDUSBL response received:!U1,R,32D,000,002B9,189,80,80,B7,FF FFpublishing direction and range infoF>5DɰFdd=D D)F7CIDyF=@FO-KG? ZٱD5i|?5?7A`ڿ ףp= ?5q=5־ 5Q8=)5I1y5:v?~jth{Gzt?5T<5D5ף; 55A)5YAI5:Ai5MVA15HAM=MUO=YU =QUU>YYa]!HYaye ˼}e>Ii u:m 5? }:m92ݾ m-? }?9m5Am: mI:)mm:W9W9X9 X9W9XA:WA2WA*WAVAbUIBUI*UIUIUuO@R}(Combining 5 samples.P*Q=@ZQ68 @*&~JQO-KG? Z2Q>5:QbQN".0忼|@J ?RQ>'Rÿ&$$?\< ?BQַ? Q;@Q(PN9?PPQQ@"Qm3@B9BA BAAE*BAAIAiAiAi"Cy*CyRCCCI G%,> i = ]A 9 ۔CI xFi ? = ; "E~ֆ,"fFAY}b]O+@}bj@y}b%}bz }bHw0 V??@`*U ?c,`{?)~b]O+@ ~br\;I~`Yv@yvܟFeTNmea in: $SNTTA,0.031723,,,,224319.59*47    @ @ @ùùùiùù Ĺ)ĹIĹiĹ=MB=Y!=QU>a!Hyp}>I\ 5?1ݾ c.? ?9KA< )<)mqAdded new target pos. range: 4.319999 m, bearing: 98.798563 deg, deltaT: 4.443019 s, approachRate: -0.027009 m/s, LOS rate: -2.729298 deg/s, posRepo size: 4Wַ?W X  X WaXa:Wa2Wi*WiVibUqBUq*UqUuG@Uu?BB BAl}*BAAAA"C ?RCCַ?CI)IG$>      2:Y y  E5) |;9 ,6"fFAY}2**@}2@y}2 }2?x}2H@24?w]??)~2**@ ~2*,\;I~2CYB@yBF=f;M=T=YE[=QUE>AIaM!HIM@IyU}U>IY] 5?]1ݾ ].? e?9]`A]w: ]M:)YWWX XWX:W2W*WVbUBU*UUU?BB BAV}*BAAAA"CX?RCCCIG=I꓈,kP"fFAY}Ji)@}J@y}JD}J'}JH G\ 4x?@TOȁ?)a!Hyּ}>Iȱ :ŵ 5? :ŵ1ݾ Ƶ/? ?9ƵvAǵ: ȵ:)ȵn:WWX XWX:W2W*WVbUBU*UUU?B!B! B)A-{*B)A)A)A1A1"C=Kp?RC9C9C9 IG5=ܩ9ܩIܭFiܭ1?ܩܩܩܭ; ݭ EI AA) AA E ~ ~   $:Y T1y @: 5) ;s,>j"fFAY}6\)@}6x@y}6 *}6JQ}6H Hͳ?db?Ce?@?)~6\)@ ~6 N\;I~6CYN@yR۠F U U U U@ U@ U@QQQiQQ Q)QIQiQe߼MeN=Ym'{iiau!Hqqy=}>Iȡť 5?ťB1ݾ ƥ 0? ?9ƥAǥ: ȥϸ:)ȡWWX XWX:W2W*WVbU!BU!*U!U!U%`?BB BA|*BAAAA"CT?RCCC?i?שIG>,7"fFAY={@y=F y&1?x&1̿Dl?`<A` O=)Iy~jt?y&1?X9v?D<`<< •f8A)•VLAI•?Ai•AAw=M6=YQU>a!Hy}>I :m 5? :1ݾ 23? ?9Ak; #;)o:W)W)X1 X1W1X1:W12W1*W9V9bU9BU9*U9UAUEZ@BiBq BqAuz*BqAqAqAyAy"C}u?RCCCIG (>iYIyiٿٺYA  x x   >:Y 7P1y : }69 @ܭ >9ܩ Iܭ Fiܭ v?ܭ =ܩ ܩ ܭ ; ݭ E)YIYiYY]=]5`$,"fFAY}6(@}6@y}6a<}6]}6H@H z@a?<߶4Jr?)~6(@ ~6 [;I~6CYN~@yR=F=6=M=g=YEC==QUE>AAaM!HIIyU }U>IY] 5?]1ݾ ]5? e?9]A]: ]:)YWWX XWX:W2W*WVbUBU*UUU :(@BB BAy*BAAAA"C9?RCCCIGu= i =0O,ҷ"fFAY}Jl(@}J@y}JⱯ<}Jד}JH`9Z X?4TGu?)~Jl(@ ~JZ;I~JCYZ@yZFba=ɮba=    @ @ @áááiáá ġ)ġIġiġe<MC=Yؕa!HHy#}>I :{ 5? :82ݾ 8? ?91A: w:)p:WWX XWX:W 2W *W V bUBU*UUU @R%B*** querying acoustic contact ***P!P!BABI BIAM}y*BIAIAIAQAQ"C]7?RCYCYCaIq)qQIyG>  y y   5E:Y P1y ': 57,"fFAY}2A(@}21@y}2<}2۽}2H`﷿ ?`& @F?Rh?)~2A(@ ~2#Z;I~2CY\y\bZ****** received transponder code query ******bF****** received ping request ******bYYa]!Haaye+J}m>Iȑŕ_ 5?ŕ2ݾ ƕ;? ?9ƕlAǕD: ȕQ:)ȑWWX XWX:W2W*WVbU BU *UUUg @BYBa BaAa*BaAaAaAaA"C&?*CRCCCQ9QIQiQU=QQU; UEׁIG>a,r"fFAY}V'@}V@y}V=}VyT}VH 0(?&ڠ^?)~V'@ ~V&[;I~VCYdydnxDUSBL response received:!U1,P 32D,000,002B9,189,80,80,B7,FF nCommand AckrBRequesting micromodem ping code 2ippzNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 YmWa!Hy}>I }:\ 5? }:2ݾ n>? ?9Aq< T<)q:WqWyXy XyWX:W2W*WVbUBU*UUU | @BQBQ BQAY*BYAYAYAYAY"C?RCCCIG-O>I @A) @A      FI:Y W1y č: 5H,_#fFAY}2dL'@}2g@y}2. =}2}2H`aO  e?@`jߗ?D?)~2dL'@ ~20[;I~2CYN @yRFPRAAbNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Mb@Mb@Mb@ )IyQ:v~jt?uTD< …:A)I…DAiDA % % % -@ -@ -@ -)))i-?) -?)-A?I-A?i-A?= ;M=AAaE!HAIyU}U>IY] 5?]2ݾ ]?? e?9]A]R: ]9:)YWWX XWX:W2W*WVbUBU*UUU M@BB BAPy*BAAAA"C!?RCCC?i?IG$>I 9I IM FiM 1?M =I I M ; M !ECwLj,jP#fFAY}F&@}F9@y}F2=}F襼}FH`vӢ?0?ۀ?E .?)~F&@ ~FFZ;I~FCYnq@ynާFrxDUSBL response received:!U1,R,372,000,002C5,18A,80,80,20,FF vFpublishing direction and range infork EpɰrSh=r> p)rBIpyrG@ryˢ?#Dٱp )%> %>-A=M5r=Y5QU5?99aE!HAIyU }U?IY] 5?]2ݾ ]A? m?9]A]_3; ]88;)YWWX X!W!X!:W!2W!*W)VIbUIBUI*UQUQUUh@Re(Combining 5 samples.Pa*QeG@ZQep @a' JQeyˢ?#D2Qek E:QabQe b\@ChH(@𣎰RQeNZynꋿ ?>&䁿BQe? QeB@QePeO9?PeN9?PeQeQe@"Qe@BB BAv*BAAAA"C oG?RC C CI G- >  } }  5:Y kS1y Ԋ: 5) s;9 {͈,\9#fFAY}^ &@}^2%@y}^>[=}^W}^Hobw>?[h8p@j ?)~^ &@ ~^kZ;I~^CYj@yj9FUDNmea in: $SNTTA,,,,,224324.04*5B 1<MD=Y2:QU>a!Hy}>I :N 5? :2ݾ wB? ?9Aж; d;)r:m%mAdded new target pos. range: 5.039999 m, bearing: 90.781035 deg, deltaT: 4.441124 s, approachRate: 0.162121 m/s, LOS rate: -1.805293 deg/s, posRepo size: 4WM?WIXI XIWIXI:WQ2WQ*WQVQbUYBUY*UYU](@U] U?BB BAv*BAAAA"C?*CRCC?CIG$> =i =3Ԉ,R#fFAY}N|%@}N@y}N=}N}NH@/2^ߴ?3@֡ h@?)~N|%@ ~NZ;I~NCYb@yf F    @ @ @ @i )Ii-!M-A=Y5;QU5>99a=!H9AyEU}E>IIM 5?M3ݾ MC? U?9M"AMR: M(:)IWyWyXy XyWyXy:W2W*WVbUBU*UUU@\?BB BAUx*BAAAA"C?RCCCI)I9Ii=; EG> 9    ]  L:Y V1y : 6) ';Lڈ,yl#fFAY}:"%@}:y>@y}:=}:Ө}:H`N` a`'?⩿``?)~:"%@ ~:D[;I~:CYF@yF)FI =) =^A=:ME[=YE6ܹQUE>IIaM!HIIyÛ}U>IY e:] 5? e:]3ݾ ]?E? m?9]>A]: ][:)]s:WWX XWX:W2W*WVbUBU*UUUf?BB BAMx*BAAAqAq"C}}L?RCyCyCiIyG=ሙ,]#fFAY}J;%@}JW@y}J#y<}J}JHE @[)w ?@>@&1@ȾX?)~J;%@ ~JPZ;I~HYZ@y^ץFMMb@Mb@Mb@II I)IIIyMl?Zd;OV-?M=MjM< Ma!HyS\;}>I 5?2ݾ H? ?9AQ: #:)WWX XWX:W2W*WVbU!BU!*U!U!U- 9 I i ; EI )       /:Y U1y : W5) %;爙,#fFAY}6%@}6 @y}6,<}6T}6H9@ *?~"l7ষ?)~6%@ ~6Z;I~6CYB?@yB*F]ļM]e=YeQUe>aaam!HmHiyuLo<}u>Iy :} 5? :}41ݾ }K? ?9}A}: }:)}t:WWX XWX:W2W*WVbUBU*UUU(?BB BAy*BAAAA"Czq?RCCC ?i?IG5=y툙,^#fFAY}:%@}:@y}:8<}:\}:H?4@H ⷿ?@Dx {?)~:%@ ~:"pZ;I~8YR@yROF AA)U= U=мM @=YQU%>)1a=!H9Iy]}e>Iy}G 5?}40ݾ }O? ?9}A}÷: }U:)yWWX XWX:W2W*WVbUBU*UUU1@B)BI BIAMy*BQAQAQAQAQ"C]?RCYCYCaiIqG>  { {   Y1:Y #R1y : 59 @E,8#fFA48idIpi|-ܿٺ)-AY}%K%@}%5@y}%:<}%~}%H` @K촿 #-?(_@巿~?)~%K%@ ~%_rZ;I~!YM@yMŤFQɮUp=    @ @ @ñññiññ ı)ıIıiı$s<MN=Yl;QU>a!H1y=}=>IA M:E 5? M:EH/ݾ ER? M?9E]AE: E:)Eu:WWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB1B9 B9A=ny*B9A9AAAAAA"CM?*CIRCICiCqܩ9ܩIܭFiܭv?ܩܩܩܭ; ݭE)9I9i99===5)I9GU> i a=i,#fFAY}6$@}6@y}65<}6#}6H J`\?BN՟"ʠU?)~6$@ ~6TzZ;I~6CYz@yzFZ****** received transponder code query ******F****** received ping request ******ya!Hy4}>Ișŝ 5?ŝa.ݾ ƝU? ?9ƝAǝ: ȝ ;)șW W X  XWX:W2W*WVbUBU*UUU @BIBI BiAmz*BiAqAqAqAq"C}?RCyCyCI)שIG (>  | | $  @:Y R1y i: 6B, $fFAY}B$@}B@y}Bv<}Bڋ}BHb0 Q?S&@Ҏ緿E?)~B$@ ~BqZ;I~BCY%@y%F-xDUSBL response received:!U1,P 372,000,002C5,18A,80,80,20,FF 5Command Ack5BRequesting micromodem ping code 2i11ENmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Iu=)u4=m+?T㥛 +?m=m m=)mIiymMb? rh?V-?m@=mCa!Hyqz;}>I :m 5? :-ݾ X? ?9A; <)v:WWX XWX:W2W*WVbUBU*UUU`C@ByB BA{*BAAAA"Cu?*CRCCCIG >ܑ 9ܑ Iܕ Fiܕ 1?ܑ ܑ ܑ ܕ ; ݕ Eh,\!$fFAY}6`%@}6@y}6wN<}6ٽ}6H @O6?@U bщ/?)~6`%@ ~6^Z;I~4YbA@yb@FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5YM==Y=QUE?AAaE!HAIy]%<}]?IaeG 5?ef-ݾ eZ? }?9eOAe,; e-;)aWWX XWX:W2W*WVbUBU*UUU4@BQBQ BQAU}*BYAYAYAYAY"Cep?RCaCaCiiIqG>I )     1  A:Y y  68,;$fFAY}J'%@}JC@y}Jݸ;}Ju;}JH+Ib`)? uOD?)~J'%@ ~JZ;I~JCYr#@yrF~xDUSBL response received:!U1,R,240,000,002C2,189,80,80,23,FF  Fpublishing direction and range infozxɰzWg=z7> x)z BIxyz@zLG ?(s u ޿ٱx-MV=Y|QU>a!Hy;}>Ișŝ 5?ŝ,ݾ Ɲ]? ?9ƝAǝ@: ȝ:)șWWX XWX:W2W*WVbUBU*UUUb@R (Combining 5 samples.P1*Q5@ZQ5y8 @9.JQ5LG ?(s u ޿2Q5:Q1bQ5Y;q\'@)s?RQ5ȘZvпz'?E?BQ5a? Q50@Q5P5L9?P5O9?P1Q5Q5 @"Q5@BB BA8}*BAAAA"C?RCCC?i?IG$>",U$fFAY}~{$@}~@y}~ER}~Td}~H@@"=7բD?:0`AJv?`'?)~~{$@ ~~Z;I~|Y%H@y-IFTNmea in: $SNTTA,0.045933,,,,224328.50*40 )=     @ @ @i )Ii;M6=YvQU>a!Hy0}>191I5XFi5?5=115; 5EII U:M 5? ]:Mg,ݾ M`? ]?9MAMM: M:)Mw:mqAdded new target pos. range: 4.860001 m, bearing: 104.914759 deg, deltaT: 4.469183 s, approachRate: -0.040276 m/s, LOS rate: 3.162485 deg/s, posRepo size: 4XWa?WX XWX:W2W*WVbUBU*UUp@UzS?BIBI BQAe}*BaAaAiAiAi"Cu2I?RCqCua?CqAIIGm5> y y  F{:Y P1y ': 6) Q;9 J,[o$fFAY}6X$@}65t@y}6XQ}6:A}6HO[mq 9p? NF|#?9 (?)~6X$@ ~6uZ;I~6CYBB@yB˝FUMUi=Y]QU]>aaae!HaaymJ}m>Iqu 5?u+ݾ u*c? }?9uDAu: u:)qWWX XWX:W2W*WVbUBU*UUU N?BB BA*BAAAA"Cd?RCCC1I9GU= i =3",m9$fFAY}F%#@}F @y}F}FD}FH@ב *`@?@b,ԑ? R?)~F%#@ ~FKZ;I~FCYV?yZ1FMQ?Q?L7A`尿Mu=M= M+)IIIyM?I +S㥛?Ma!H yp\}>Iȑ :ŕO 5? :ŕ*ݾ ƕf? ?9ƕAǕ4: ȕ^:)ȕx:WWX XWX:W2W*WVbUBU*UUU?BiBi BiAm3*BiAqAqAqAq"C}?RCyCyCI׵^A)׵]AׁIG=>5 >91 I5 Fi5 ?1 1 1 5 ; 5 E  { {   >:Y #R1y : Y6) ;\(,#$fFAY}:8#@}:@y}:浼}:v}:H@t?3`d?Ӯ@?)~:8#@ ~:Z;I~:CYFl?yFFI C=) ]AEdMEj=YE*aQUM?IIaM!HMHQyUY}U?IY] 5?])ݾ ]Ni? m?9]A] : ];:)YWWX XWX:W2W*WVbUBU*UUU[ ?BB BAҀ*BAQAQAQAQ"C]??RCaCaCaQIYG=R.,$fFAY}%R $@}%;@y}%k}%ͬ}%H i+?@Hð@Õ?p m?)~%R $@ ~%CQZ;I~%CYE9?yMOF } } } }@ }@ @yyyiyy y)yIyiyM6=Y틼QU>a!Hy;}>I :G 5? :(ݾ l? ?9?AxL; SM;)y:WWX XWX:W2W*WV!bU!BU)*U)U1U5S*@BaBa BaAm_*BiAiAiAiAi"Cu?RCqCyCyׁIG>I ) ?A  y y  R.:Y P1y ': W59 @io5,$fFAY}67$@}67S@y}6h*}6?k}6H ۷MF@v?$yȱK? R]`j?)~67$@ ~6Z;I~6CB`Dynamic Docking Module:!C REMUS Capture Rev 1.1 9IpFiM?=;  Eɫ) IY 7?y vFutOMu0=Y}ϼQU}>yya!HyI;}>Iȑŕ 5?ŕ}'ݾ ƕop? ?9ƕAǕ=: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUUj@BB BA *BA A A A "C?RCCC-?i-?I)GEQ>;,/$fFAY}6$@}6/@y}6ls}64*}6H @?]}? @Td1v?27p?)~6$@ ~6[;I~6Cɫ99)9 9I9Y?ySF )= >שMz=Y%r`QU-?)1a5!H19y=2ٻ}E?IQUL 5?U&ݾ Ur? u?9UAUT; U/;)QWWX XWX:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBYB BA*BAAAA"C_?RCCCIGI>  w w   +:Y O1y P: 5B, %fFAɫqy)y yIyY?yܔFZ****** received transponder code query ******F****** received ping request ******11a=!H99yE}E>II U:M 5? U:MS%ݾ Mjp? U?9M=AM: M:)Mz:WyWyXy XyWyXy:W2W*WVbUBU*UUUWG @BB BA.*BA!A1A1A9iIi"Ca?׿ٺARCCCIGj>^A9IFi?=; )iIiiiim=mn5 =i =H,![$%fFAY}6V#@}6@y}6ɽ}6GKm}6H8`@?hy?@Ptz ? `?)~6V#@ ~6[;I~6CɫAI)I IIIY]?y]UFae@AexDUSBL response received:!U1,P 240,000,002C2,189,80,80,23,FF mCommand AckmBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 AtM{=YQU?a !H !y5}=?IY] 5?]]$ݾ ]n? ?9]A][; ];)YWWX XWX:W2W*WVbUBU *UUUR @BB BA̓*BAAAA"C*C!RC!C!C)I=]A)9IGMR>  } }   ).:Y kS1y Ԋ: W6N,8>%fFAɫqy)y yIyY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B y}^A}M<=YQU>a!Hy}>I :` 5? :-#ݾ l? ?9A: :){:WWX XWX:W2W*W V bU BU*UUU@+%@B9BA BAAE*BAAAAIAIAI"CQ*CQRCQCQCY)I1GU>U,X%fFAY}6#@}6@y}6ˈ㽙}6}6HBg0?Å?'R !b?z@e?)~6#@ ~60][;I~6CɫYY)Y YIYY?yFxDUSBL response received:!U1,R,241,000,002B6,189,80,80,A7,FF Fpublishing direction and range info-ɰhc=鰡 )'CIyz@A?ET`޿ٱ 5 5 = =@ =@ =@999i99 9)9I9i9U MUQ=Y]aQU]>aaam!Hii9IFi?; Eyu}u>IȁŅ 5?Ņ!ݾ ƅj? ?9ƅ6ADž; ȅt;)ȁWWX XWX:W2W*W V bU BU *UUU @R%(Combining 5 samples.P!*Q%z@ZQ%Dd @2}8]FJQ%A?ET`޿2Q%-:Q!bQ%vH.]4:@ M?RQ%L,iͿ: ?cnh?BQ%? Q%@Q%pP%M9?P%L9?P%Q!Q%@"Q% @BB BA&*BAAAA"C*CRCCCIGE>I ) AA m     (:Y y  W5) v;9 [,q%fFAY}f8#@}f«@y}fr}fS}fHS@,8ħ??7PD^`R#?2*@׳?)~f8#@ ~fΌ];I~fCɫ髹) IYc?yFuTNmea in: $SNTTA,0.046218,,,,224332.95*43 M2=YQU]>aaae!Haiym$}u>Iq }:u 5? :u ݾ uh? ?9uAu: u/:)u|:muAdded new target pos. range: 4.140001 m, bearing: 103.253486 deg, deltaT: 4.474958 s, approachRate: -0.160895 m/s, LOS rate: -0.371238 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UU`\@U`EF?BB BA*BAAAA "C (?RCC?C%?i%?I9G}Y>8b,̋%fFAY}6#@}6@y}6O}6_}6HOY`1 H <)Iy rh?~jth?:v?C=D;T< 5>A)zPAI:AiWA(HA)> > 8M\=YoQU> a !H y+<}>I!%M 5?%ݾ %j? ?9%A%< %:)!WWXA XAWAXI:WI2WI*WIVIbUQBUQ*UQUQU]O?BB BA*BAAAA"Cl?*CRCCCIG%M>9Ii; E  | |   E1:Y R1y i: 6) b;h,b%fFAɫ髙) IY?yF    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉMP=YQU>a!HHy}>IȹŽ 5?Žݾ ƽl? ?9ƽ[Aǽ: Ƚ߼:)ȹWWX XWX:W2W*WVbUBU*UUU?B)B1 B1A5*B1A1A1A9A9"C=?*CARCACACA)I1GU> =i ="o,|%fFAY}6#@}6K@y}69}6<}6H@?;6л?@Qa!Hy8}>I :3 5? :ݾ o? ?9A; 8;)}:WW X  X W X:W2W*WVbUBU!*U!U)U- W?BiBq BqAu*BqAyAyAyAy"C*CRCCCIש)שסIG!>  { {   3:Y #R1y : {59 @ v,W%fFAY}2k#@}2D@y}2 G}27-;}2H `?7N?}t ¿`h?{>e?`e?)~2k#@ ~2];I~2CɫII)I IIIY}E?y}FI=)="UML=YQU>!!a%!H!)y-}->I15 5?5ݾ 5r? E?95,A5: 5:)1e>9aIaiae=aae; eEWWX XWX:W2W*WVbUBU*UUU ?BABA BAAE\*BAAIAIAIAI"Cq*CqRCqCqCyiIqG>4|,3%fFAY}6!#@}6=@y}6X}6%矻}6HZq?mQ?OoĿ?s|I?)~6!#@ ~6X];I~4ɫ99)9 9I9Y!?yBF    @ @ @ñññiññ ı)ıIıiıM2=YQU>a!Hy}>I : 5? :ݾ Ju?  ?9A06; ,7;)~:WAWAXA XAWIXI:WQ2WQ*WQVQbUQBUY*UYUYU]s@BB BA*BAAAA"C*CRCCCAIiG\>I ) @A  z z   .:Y Q1y : 5,  &fFAY}6!#@}6\=@y}6f}6+4}6H5 ?>?-ɿ`O?)?)~6!#@ ~6N\a;I~6Cɫ99)9 9I9Y}?y}F鮅p=ɮ)\(?p= ףпQGa= u)Iy+?a!Hy Ϸ} >I 5?wݾ v? ?9A: k:)WAWAXA XAWAXA:WI2WI*WIVIbUQBUQ*UQUQUUi@ReB*** querying acoustic contact ***PaPaBB BA*BAAAA"C*CRCCC׵?i׵?סIG >Y9YI]Fi]?YYY]; ]#EF,&&fFAY}63n#@}6@y}6@q}6°}6H4 8m? I?{`L̿?бb?)~63n#@ ~6b;I~6Cɫ99)9 9I9Y}?y}FZ****** received transponder code query ******F****** received ping request ******a!HyM<} >I : 5? :`ݾ w? %?9E A%; ;):WIWIXI XIWIXI:WQ2WQ*WQVYbUYBUY*UYUaUed @ByB BA*BAAAA"C*CRCCCIG5.>% % {% {%  % /X:Y% #R1y% :% 5/,@&fFAɫyy)y yIyY?yFxDUSBL response received:!U1,P 241,000,002B6,189,80,80,A7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @ ÁÁÁiÅG?Á ą?)ąK?Iąv?iąv? M !=Y QU >a!Hy}>I!%# 5?%ݾ %Cx? 5?9% A%|: %s:)!WWX XWX:W2W*WVbUBU*UUU @BB BA>*B9AAAAAIAI"CQ*CQRCyCyCIG> =i =iQ Iq i ٺ AX,Z&fFAY}67#@}6uS@y}6ҋ}63}6Hn ??(lͿB?@~ ?)~67#@ ~6E];I~6Cɫ99)9 9I9Y}?y}VF?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 9ܔCI8Fi?=; E)ݡIݡiݡݥ=ݥ=ݥF4tY=Mv=YQU?a!Hy"}?I :/ 5? :ݾ  y? ?9 A5; R6;):WWX XWX:W2W*WVbUBU*UUU@l"@BiBq BqAu*ByAyAyAyAy"C*CRCCCI)IGI>  y y   /3:Y P1y ': 5) ;9 ,k}t&fFAY}6#@}6I@y}6+}6o{}6HdG`[]? ?`"NͿ@;b?|?)~6#@ ~6\;I~6Cɫ髡) IY?yFxDUSBL response received:!U1,R,28D,000,002B8,188,80,80,C0,FF Fpublishing direction and range infoɰd=> )@CIyQ@/1?lCٱIC=)R=±µ_A MG=Y6QU>a!H!y%v}%>I)-? 5?-ݾ -.z? 5?9-O!A-^: -:))WWX XWX:W2W*WVbUBU*UUUa@R(Combining 5 samples.PI*QMQ@ZQM%ڱ @7bJQM/1?lC2QM:QIbQM~qS:z=T@'aA?RQMdP? p 4?BQM? QM@QMPIPMM9?PMQMQM2@"QM@BB BA/*BAAAA"C*CRCCC׹IGf>p,n&fFAɫ  )  I YM}?yMFTNmea in: $SNTTA,0.034886,,,,224337.40*46 -ףp= ?~jt?Mb?->-> -<))I)y-~jtxy&1|V--Ļ-`- -3CA)-zPAI--Ai-`sA)-MA    @ @ @ @i )Ii-'M-,=Y-QU->11a5!H99y=}E>II M:Mh 5? U:Mݾ Mv? U?9M_!AM]: M:)M:mmAdded new target pos. range: 4.259999 m, bearing: 97.824736 deg, deltaT: 4.449078 s, approachRate: 0.026971 m/s, LOS rate: -1.220197 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UU = @U@?BB BAΉ*BAAAA"C?RCC?CשIGi>9۔CIFia?=; EI ) ?A     k5:Y T1y : {5) ;b,<2&fFAY}2N"@}2ج@y}2}2O}2H ͪ?? 2Կ C?@@ "?)~2N"@ ~27vb;I~0ɫ99)9 9I9Y}?y}F=M==Y=ͽQUE?AAaE!HEHIyM躼}U?IY] 5?]]ݾ ]ct? e?9]m!A]: ]ܹ:)YWWX XWX:W2W*WVbUBU*UUU`?BB BAu*BAAAA"CxC?RCCC?i?שI1G>|, &fFAY}2e"@}2@y}2}2q}2H ? ǭ?δ?Z#@?IԿ?}d*?)~2e"@ ~2`;I~0ɫYY)Y YIYY?y6F)= > M M U U@ U@ U@QQQiQQ Q)QIQiQeMeH=Ye]WQUm>iiam!HiyF;}>I   5? $ݾ Hq? E?9 !A G); ;) WWX XWX:W2W*WVbUBU*UUU-?BB BAŠ*BAAAA"C?RCCCסIGA>  { {   +:Y #R1y : !59 @,&fFAY}6"@}6@y}6n}6fy}6H@ @Z@0|?1?@ج ҿ?p`U:?)~6"@ ~6l"^;I~6Cɫ99)9 9I9ܡ9ܡIܥ Fiܥ?ܥ=ܡܡܥ; ݥEYh?yGFS=MG=Y hQU>a!Hy}>Iȱ :ŵ 5? :ŵݾ Ƶ_n? ?9Ƶ!Aǵ: ȵ:)ȵ:WWX XWX:W2W*WVbUiBUq*UqUqUuvj?BB BAS*BAAAA"C*CRCCC!!I)GM0> =i a=Ѽ,v&fFAY}Z5"@}Z@y}Z-}ZM;}ZH?`_?`?5:Ͽ@ ?`Hu?@$8?)~Z5"@ ~Zy];I~Xɫ) IYu`?yu}F]y&1?X9vL7A`?]`=] ]+=)YIYy]Q?~jtQ]u=]]u Y)]^AI]n.Ai]OAY]VA e e e e@ e@ e@ eaaaiez?a a)aIaie?u<Mu$=Y}JQU}>ya!Hy,ֺ}>Iȑŕ 5?ŕݾ ƕi? ?9ƕ="AǕ': ȕ:)ȑWWX XWX:W2W*WVbUBU*UUUw@BB BAՉ*B A A A A "C*CRCCCI)))IG%n>  ~ ~   2:Y T1y @: 6É,g'fFAɫyy)y yIyYS?yFIM]AuӽMu=Y}QU}?ya!Hy}?Iȑ :ŕb 5? :ŕ;ݾ ƕf? ?9ƕ"AǕ: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU@BB BAي*BA A A A "C*CRCCC IG5 >ܙ9ܙIܝFiܝv?ܝ=ܙܙܝ; ݝEɉ,y)'fFAY}2u!@}2 @y}2q}2"}2Hx!]? w? ^>׿$?¿`2v?)~2u!@ ~2&"b;I~2CɫYY)Y YIYYe?ye~Fma=ɮiMZ=YQU>a!Hy}>Iȩŭ 5?ŭbݾ ƭ d? ?9ƭ0#Aǭ: ȭ*:)ȩWWX XWX:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBB! B!A%*B!A!A!A)A)"C)*C1RC1C1C9IG5=I ) @A= B = = =  = 9:Y= WU1y= := 5bЉ, UC'fFAY}6!@}6m@y}6ھ}6ss*}6Hkm0 Ż? ?{WؿN? nÿ`c?)~6!@ ~6!d;I~6CɫYY)Y aIaYN?y|FZ****** received transponder code query ******F****** received ping request ******AAaE!HIYy}}>Iȩ :ŭq 5? :ŭ ݾ ƭ`? ?9ƭ#Aǭ: ȭ:)ȭ:WWX XWX:W2W*WVbU BU *UUU @BqBq BqAuZ*ByAyAyAyAy"C*CRCCC׽?i׽?ׁIG=>.։,.]'fFAY}6e!@}6@y}6}6\ؽ}6H`p?`"? ~տ@?G`N?)~6e!@ ~6G`;I~4ɫ99)9 9IAI9IIMxFiM?M=IIM; M EY}?y}M~FxDUSBL response received:!U1,P 28D,000,002B8,188,80,80,C0,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ) > ><M `=Ya!Hyc}>I 5?4 ݾ ]? 5?9d$Aa; ;)WWX XWX:W2W*WVbUBU*UUU3 @BYBY BYA]*BAAAA"C*CRCCCIGEs>  z z   F:Y Q1y : 5) ٠;9 "݉,jw'fFAɫ髉) IYY?y}FmNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I +?Q?/$?94>\= <)IyJ +Mb`?H; AA)mAI,AiOA^A    %@ %@ %@i )Ii5M5 =Y5QU5>99a=!H9AyE}E>II U:M 5? U:Mg ݾ M^? ]?9M$AMj: M:)M:WyWX XWX:W2W*WVbUBU*UUUT@BB BA*BAAAA"C*CRCCCYQIaG}{> =i = 䉙,'fFAY}:(!@}:@y}:dN}:}:H@kYb?@?gѿ ?^@?)~:(!@ ~:6];I~:Cɫ99)9 9I9Y}?y}~FxDUSBL response received:!U1,R,2B8,000,002B7,189,80,80,C3,FF Fpublishing direction and range info|ɰc=鰅7> )CCIyf@~F?YG&ICٱ<M=YQU?a!Hye}?Ij 5? ݾ ^? ?iIi5%ٺ15A9$A>= >=)WyWyXy XyWyXy:W2W*WVbUBU*UUU@@R(Combining 5 samples.P*Qf@ZQ1 @L hR -JQ~F?YG&IC2Q|:QbQmV;3ѿWg@e?RQse)b4f}? ?BQ? Q3@QPN9?PPQQN6@"Q2@ByB BA*BAAAA"C*CRCCCI)^AI G%M>A9EڔCIEFiEv?E=AAE; A)цIцiцՆ=Ն=Ն16      F:Y y  F6) ];x5ꉙ,Ѫ'fFAɫ  )  IYE?yE}FTNmea in: $SNTTA,0.028256,,,,224341.84*45 I=)=^A ˬM 6=YQU>a!HHy}%>I)- 5?- ݾ -^? 5?9-W%A-$: -:))meqAdded new target pos. range: 4.199998 m, bearing: 93.838384 deg, deltaT: 4.432607 s, approachRate: -0.013536 m/s, LOS rate: -0.899324 deg/s, posRepo size: 4XaWe?WiXi XiWiXi:Wi2Wq*WqVqbUqBUq*UyU}`@U}?BB BA@*BAAAA"C6?RCC?C9IAGe4>E,'fFAY}2"@}2@y}2Ǿ}2}2H@Ԡ`h`?2? ('?ɛ Կ MT?`?)~2"@ ~2+b;I~0ɫII)I IIIY}?y}zF e e e e@ m@ m@aaaiaa a)aIaia4MT=YQU>a!Hy%B=}>Iȩ 5:ŭ 5? 5:ŭnݾ ƭg_? =?9ƭ%Aǭ< ȭ0:)ȭ:WyWyXy XyWyX:W2W*WVbUBU*UUU?B)B) B)A5*B1A9A9A9A9"Cm?RCiCiCqaIiG9>I AA) AA ;  { {   8:Y #R1y : 69 @XC,v'fFAY}2,#@}2@y}22Ǿ}2uн}2H k{?? u@ֿB?@:iu?)~2,#@ ~2_;I~2Cx9zٔCIz Fiz?z#=zCDz;Dz; zEɫ99)9 9I9Y$?ywwF_MI=YD<;QU>a!Hy\<}>Ia 5?ݾ `? ?9%A˵: =:)W W X  X W X :W2W*WVbUBU*UUU/?BB BAd*BAAAA"C]?RCCC?i?IG)>q, a'fFAY}=B#@}=@y}=ľ}=ڽ}=HMW??߇&ֿ??M`/?)~=B#@ ~=9^;I~=Cɫ9A)A AIY=?yxF qq333333?l¿L7A`?> +>)Iy:vMb?~jt?Լ=< JA)aAI+Ai(HA)E= E=    @ @ @áááiáá ġ)ġIġiġѓ<M,=YJGa!Hy!<}>I :9 5? :ݾ 3a? ?9Q&A&; 8;):WWX XWX:W2W*WV!bU!BU!*U!U!U-?BB BA*BAAAA"C?*CRCCCשIG> n } }  <:Y kS1y Ԋ: i5PU,,(fFAɫ髙) IY?y`}F˱=Mu=YQU?a!Hy}?IȹŽ 5?Ž ݾ ƽa? ?9ƽ&AǽZ: Ƚs:)ȹWWX XWX:W2W*WVbUBU*UUU ?B)B) B)A51*B1A1A1A1A1"C=?RC9CACAIIQGu>9ڔCIFi1?=BD!!a%!H!)y-N=}=>IY] 5?] ݾ ] c? e?9]&A]ϸ: ]:)YWWX XWX:W2W*WVbUBU*UUU @BIBi BiAm؋*BqAqAqAqAq"Cy*CyRCyCCIױ)ױ׉IG> E  w w   S9:Y O1y P: 6\g,CE(fFAY}2&@}2'@y}2m¾}2⦽}2Ha<B??@gԿ`@? hZ'?)~2&@ ~2 La;I~2Cɫ99)9 AIAY(?y~F u u u u@ u@ u@qqqiqq q)qIqiqTMC=YDQU>a!Hy6=}>Iȡ :ť 5? :ť ݾ ƥd? ?9ƥ*'Aǥ: ȥ:)ȥ:WWX XWX:W2W*WVbUBU*UUUZ@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCIG$>k,_(fFAD9F۔CIFFiFv?F=DDF; FEɫ髙) IY57?y=~F=Z****** received transponder code query ******EF****** received ping request ******Ea!Hy}>I!% 5?% ݾ %4e? -?9%z'A%.: %:)!WQWQXQ XQWQXQ:WY2WY*WYVYbUaBUa*UaUaUe @BB BA*BAAAA"C*CRCCC)IG5.>I @A) @A %  } }   6:Y kS1y Ԋ: 46) #;9% ,y(fFAY}j(@}jU!@y}j⻾}j/N}jHr ^LՅ?`?@пQ?lkO?)~j(@ ~jp.`;I~jCɫ髱) IY?ylFxDUSBL response received:!U1,P 2B8,000,002B7,189,80,80,C3,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ~jt?v/V-?D=x <)IyMby&1?Q뱿`e=\ IA)aAI,AiA\AM=MM&=YMQQaU!HQyy}G1=}>Iȁ :Ņ 5? :Ņ ݾ ƅ\? ?9ƅ'ADž"< ȅY"<)ȅ:WWX XWX:W2W!*W!V!bU!BU!*U)U)U- @BB BA*BAAAA"C *CRCCC!ם?iם?בIG>k$,dt(fFAY}6J(@}6pf@y}6w}6u}6H`@8FM? #?@`zп`ן?Ӛ ?)~6J(@ ~6a^;I~6Cɫ99)9 9I9Y}?yтFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )%= %>    @ @ @i )Ii{<M}=Y܉9܉I܍@Fi܍?܍=܉܉܍U; ݍE  | |   F:Y R1y i: Y6) ;*,P(fFAY}2(@}2 @y}2߷}2})}2H`Ug\?~?qАҿ9~? @.?)~2(@ ~2`];I~2Cɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,R,27C,000,002B9,189,80,80,C0,FF Fpublishing direction and range inforɰdd=鰉 )@CIy=@q!R2?rٱ<M]=Y;QU>a!HHy<}>I : 5? :ݾ  P? ?9(A: :):W!W)X) X)W)X):W)2W)*W1V1bU1BU9*U9U9U=7@RM(Combining 5 samples.PI*QM=@ZQMɸN_ @Ŀ*6JQMq!R2?r2QMr:QIbQMRt:qPR@xN:?RQM4Ul˿h?ZJ?BQM? QM~@QMiPML9?PMN9?PIQIQMF@"QMN6@BB BA.*BAAAA"C1*C1RC1C1C9IIQGm> =i =k1,*(fFAY}Jlb)@}J}@y}Joǵ}JZ׽}JH;e|? M?@Σӿ}??1?)~Jlb)@ ~J\;I~Hɫ髹) IYI?yF]DNmea in: $SNTTA,,,,,224346.30*58 s=M==Ya!Hy<}>IU 5?Vݾ G? ?9(AǺ: :)mmAdded new target pos. range: 4.319999 m, bearing: 102.956393 deg, deltaT: 4.390137 s, approachRate: 0.027334 m/s, LOS rate: 2.076930 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UUG@U?BIBI BIAU[*BQAQAQAQAQ"C]"?RCYCe?CaIב)ו]AaIqG:>%̞>%CinmGI`Aiٺ`AA  { {   4:Y #R1y : 59 @7,O(fFA9ܔCIFiE?=; ۇE)ݳIݳiݻCݻ=ݻ=ݻʡ6Y}f9*@}fT@y}f!}f6G}fH@dp` ,~??Y -Կ`?@?)~f9*@ ~fa;I~fCɫ髙) IY?yFIM=)M4=QU]A    @ @ @ÙÙÙiÙÙ ę)ęIęię)ʼMK=YTa!Hy=}>I : 5? :ݾ L@? ?98)A: :):WWX XWX:W2W*WVbU BU *U UUk?B9B9 B9AE*BAAAAAAAAA"CU?RCQCQCY)I1GU> >,.(fFAY}2`*@}2@y}2}2O}2H<??Vӿ`r?@P ?)~2`*@ ~2`;I~2CɫYY)Y YIYYe?yeĆFmL7A`尿Mb?Q?m+m= m\=)iIiymQMb?~jt?mum=m< mBA)maAIiim9AimzXA r=MJ=Y);=QU>a!Hy1<}>I 5?ݾ =A? ?9y)A: :)WWX XWX :W 2W *W VbUBU*UUU}?BABA BAAM*BIAIAIAIAQ"CU)2?RCYCYCYaIqG>I ) BA I  y y   9:Y P1y ': 5D,#)fFAY}2A+@}2n]@y}2 }2JϽ}2H@`h??@l6fѿN4?`㬸@^?)~2A+@ ~2`;I~2C6Could not parse latch stateɫ) IY-?y-_F<M-=Y9=QU>a!Hyxk<}>I :6 5? :ݾ B? ?9)A: :):W!W!X! X)W)X):W)2W)*W1V1bU1BU1*U1U9U=_b?BaBa BiAm*BiAiAiAiAq"Cu?RCyCyCy׍?i׍?)9)I-Fi-@-=))-; -EYIiGd>}K,؞.)fFAY}2+@}2@y}2͓}2R*l}2H@\F `5@? y? )KͿ 98?H?)~2+@ ~2^;I~2Cɫ19)9 9I9Yu:?yuF)> > = = = =@ =@ =@999i99 9)9I9i9U.=MU~=YUL=QUU ?YYa]!HYayei<}e ?Iim 5?mkݾ mC? }?9m)Am: m:)iWWX XWX:W2W*WVbUBU*UUUC@BB BA*BAAAA"CG]?RCCCIG>   } }   V5:Y kS1y Ԋ: 5R,wH)fFAY}N+@}NW@y}Nx}NYl}NH m`z 2??s`!:̿u?r` -?)~N+@ ~ND];I~NCɫ髑) IY?y/F    @ @ @ÑÑÑiÑÑ đ)đIđiđ;ME=Y6a!Hy9 <}>I 5?Lݾ D? ?97*A: f:)WWX XWX:W2W*WVbUBU*UUU .@B1B1 B1A5*B9A9A9A9A9"CEi?*CARCACACIAIQGm> =i =! 9! I% НFi% E@% =% AD! % ; % d|E-X,3Nb)fFAY}2,@}2+@y}2}2#}2HQ=`?[? ̿` 2?|y=?)~2,@ ~2`;I~2CɫYY)Y YIYY'?yF鮥p=ɮ=?2<M[=Y@`=QU>a!HyC<}>I : 5? :ݾ E? ?9r*A: I:):W W X  X W X :W2W*WVbUBU*UUU%@@R-B*** querying acoustic contact ***P)P)BIBQ BAd*BAAAA"C?RCCCI ) \AIG >M $ M |M |M  M 6:YM R1yM i:M 6)M ;9 [^,H6|)fFAY}b+@}b@y}b Q}b+2}bHx@?E? @ǿ/?.U@?)~b+@ ~b_;I~bCɫ) IY-Z?y5ۋF5Z****** received transponder code query ******=F****** received ping request ******=YYa]!HYyC}>In 5? ݾ E? ?9*A: I:)W9W9X9 X9WAXA:WA2WA*WAVIbUIBUI*UIUIUUg @BB BA׆*BAAAA"C?RCCC!IG5r>Ae, )fFAY}J,@}JD:@y}J?}J6}JHz @H? D?'ǿ?`3W?)~J,@ ~J];I~JCɫQY)Y YIYY?yFxDUSBL response received:!U1,P 27C,000,002B9,189,80,80,C0,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 E?=MMs=Y]X=QUe?qya!Hyt<}?I :Y 5? :ݾ F? ?9*A ; T;):WWX XWX:W2W9*WAVAbUABUA*UIUIUM` @9IxFi?=+; xsEBB BA*B!A!A)A)A)"CQ*CYRCaCaCiYIqG>I ) ?A      I:Y y  35) ;ik,ޯ)fFAɫ髙) IY?yF@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B a<M@=YQU>a!HHy} >I@ 5?rݾ F? ?9+As: :)W9WAXA XAWAXA:WA2WA*WIVIbUIBUQ*UQUQUUCK@ByB BA*BAAAA"C*CRCCC׭?i׭?QIaG>Vr,)fFAY}F{-@}Fr@y}F}F}FH h?@?L5ȿ ?uEa?)~F{-@ ~F 2];I~FCɫ髑) IY?y|FxDUSBL response received:!U1,R,29B,000,002BB,189,80,80,C4,FF Fpublishing direction and range info]ɰ e= )DCIy@^??}ٱ)= = E E E E@ E@ E@ E@AAAiEA E)EIEiEU1E=MUT=Y]%=QU]>Yaae!Haaymb=}m>Iq }:u, 5? }:u,ݾ uE? }?9uS+Au: u:)u:WWX XWAXA:WA2WI*WIVIbUIBUQ*UQUQUU@?@R(Combining 5 samples.P*Q@ZQ󷼫 @JQ^??}2Q]:QbQ7WZU@GU;?RQSkɲҿbq? e?BQ{? Q @Q PK9?PL9?PQQ,@"QF@BB BA*BAAAA "C *CRCCCI!GE0> n    .(:Y WU1y : !59 @ܹ 9ܹ Iܽ Fiܽ 1?ܽ =ܹ ܹ ܽ Ϊ; ݽ lE~x,U)fFAY}~.@}~N#@y}~}~}}~H[ !Yl? Q? xDƿr?ޭ`?)~~.@ ~~ Db;I~~Cɫ) IY5_?y5FTNmea in: $SNTTA,0.028500,,,,224350.74*4E MA=Y<=QU>a!Hys<}>Ișŝ 5?ŝݾ ƝF? ?9Ɲ+Aǝ: ȝ:)șmmAdded new target pos. range: 4.440000 m, bearing: 107.327264 deg, deltaT: 4.485594 s, approachRate: 0.026752 m/s, LOS rate: 0.974424 deg/s, posRepo size: 4XW{?WX XWX:W2W*WVbUBU*UU`@U`X?BB BAV*B!A!A!A!A)"C-?RC1C5{?C1I)GE1> i W~,~)fFAY} .@}l'@y}潙}Nq}Hfs(? ?sf?`B?)~ .@ ~_`;I~Cɫ) IYM?yM1FEDl?l񲿸QEO=E E)AIAyE~jth?Mb?~jtED;E=ED E8A)EVAIE5AiEaAAEIA        @  @  @   i   ) I i =M8=Y%=QU%>!)a-!H))y5:}5>I9=F 5?=ݾ =D? E?9=+A=: =+:)9WiWiXi XiWiXi:Wq2Wq*WqVqbUqBUy*UyUyU?BB BAD*BAAAA"CV?RCCCI)^AיIGC>  z z [ \:Y Q1y : | 6,P*fFAi>]nGIJ/aAiTY}nP-@}n@y}nʽ}ngϼ}nHz??BڴQ?@˙:?)~nP-@ ~nV^;I~nCzٺz/aA~Aɫ髱) IY?yF±µ^AJ=M`=Y=QU>a!Hy }>I  :  5? : ݾ cC? ?9 +A 0: (:) :W9W9X9 X9WAXA:WA2WA*WAVIbUIBUI*UQUQUU2D?ByB BA*BAAAA"Cp?RCCCaIqG>i9iImFima?m=iim; mhE)ܔCIܔCiC==5D,(1*fFAY}6-@}6@y}6>c}6|\}6HK`?2?m⻸`e?!q ?)~6-@ ~6\;I~6CɫII)I IIIY}T?y}9FXMY=Y!!a%!H!!y-}->I15 5?5pݾ 5B? =?95',A54: 5:)1WaWaXa XaWaXa:Wi2Wi*WiVibUqBUq*UqUqU}F?BB BA؃*BAAAA"C5?*C1RC1C1C9 IG5 >I ) AA  | | C  <0:Y R1y i: 6՟,K*fFAY}6x-@}6@y}6yc}6½}6H' |_??7j0? 65?)~6x-@ ~6y];I~6Cɫ99)9 9I9YX?yF m m m m@ m@ m@iiiiii i)iIiii}떼MD=Y2a!Hy`!<}>Iș :ŝ 5? :ŝݾ Ɲ@? ?9Ɲ\,Aǝ=: ȝ:)ȝ:WWX XWX:W2W*WVbUBU*UUU@b?B B BA*BAAAA"C{?RCCC׵?i׵?׉IG>e >9a Ie pFie M?e =a a e ; e eEɘ,d*fFAY}N.@}N>@y}N}N)ս}NH'ρ?| ?@Ƙ ?)~N.@ ~N9`;I~NCɫyy)y yIyY;?yF II)M= M=MI=Ya!Hy<}>IȱŵL 5?ŵoݾ Ƶ>? ?9Ƶ,AǵI: ȵU:)ȱWWX XWX:W2W*WVbUBU*UUU;@B!B! B!A%*B!A)A)A)A)"C9*C9RC9C9CA)I1GU>5 q5 }5 }5  5 k(:Y5 kS1y5 Ԋ:5 5)5 ;9U ,T~*fFAY}N.@}N@y}N<}N,}NHiM*_!?@>{?@Y9?:k?)~N.@ ~Nb;I~NCɫqq)q qIqY?yF鮹ɮp=}NbX9?EԸ~jtx}E>}ƽ }Ļ)yIyy}~jt?Zd;O?:v?}D<}j<}T= }`=A)}zPAI};Ai}$RAy}FA    @ @ @i )IiO?=MD=Yta!Hy͋<}>I  : ~ 5? : ݾ hD? ?9 ,A : :) :W9W9X9 X9W9X9:WA2WA*WAVIbUIBUI*UIUQUU$@R]B*** querying acoustic contact ***PYPYByB BA*BAAAA"C*CRCCCׁIG> =i p=Bܥ,*fFAY}6.@}6H@y}6y}6L<}6H 4[? ?&D@!3.??`'?)~6.@ ~6-`;I~6CɫII)I IIIY}a?y}FZ****** received transponder code query ******F****** received ping request ******a!Hyf}>I   5?  ݾ lI? ?9 ,A ; ;) WAWAXA XAWAXI:WI2WI*WIVIbUQBUQ*UQUYU] @BB BAՂ*BAAAA"C*CRCCCIש)׭]AIIQGu> 9 I Fi ? =   ß; aE  z z ]  +:Y Q1y : 6) ;u,o*fFAY}6-@}6@y}6?x}6[ɻ}6H7d`J?`?ɥ@?1y ?)~6-@ ~6_;I~6Cɫ99)9 9I9Y?yFxDUSBL response received:!U1,P 29B,000,002BB,189,80,80,C4,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 IC=)%=E<MME=YUQ:QU]>iqa}!H}Hy}>I : 5? :\ݾ ,O? ?9-A; Y;):WWX XWX:W2W*WVbUBU*UUU  @BB BA*BAAAA"C*C!RC!C!C)1I9GU>,I*fFAY}:-@}:@y}:|}:`Hn}:H" k? ?4y?A?)~:-@ ~:];I~:Cɫ99)9 9I9Y}?y}.FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )IiȼM@=Y%QU>a!Hy:P}>IE 5?ݾ T?  ?9=-A:  :)W)W)X1 X1W1X1:W12W1*W9V9bU9BU9*U9UAUE;@BiBq BqAu *BqAyAyAyAy"C*CRCCCIG=.>I AA) @A  } }   o/:Y kS1y Ԋ: 359 @ 9 I PFi 8? ; ^E ,$*fFAY}6-@}6+@y}6}}6O}6H A { dz?S@]Wయ?`W ?)~6-@ ~6\;I~6CɫYY)Y YIYYv?yFxDUSBL response received:!U1,R,27B,000,002BB,189,80,80,B8,FF Fpublishing direction and range infoA ɰ鰡 )8CIyJ6?Egٱ߯M^=Y8QU>a!Hy)<}>I 5?ݾ SY? ?9i-A: H:)WWX XWX:W!2W!*W!V!bU!BU)*U)U)U-@R=(Combining 5 samples.PA*QAZQEZ4@3JQEJ6?Eg2QEA :QAbQE+;%t@@np ?RQE9Uտ=?,;?BQE ? QE8@QEsPEJ9?PEK9?PEQAQE<@"QE,@BQBQ BQAU*BQAYAYAYAY"Ca*CaRCaCaCiם?iם?iIqG>9B,*fFAY}6--@}6@y}6 }6'@}6H` ?p`?@@ +ܯ?v9?)~6--@ ~6a;I~6CɫII)I IIIY}?y}FdNmea in: $SNTTA,0.037263,0.418448,,,224355.18*56 }HzG&1?Zd;O?}= }P= }j<=)yIyy}Mb~jt? rh?}}<}C = }AA)}IAI} } } } }@ }@ }@yyyiyy y)yIyiy=M1=Y`:QU>a!Hyĺ}>I :K 5? :ݾ ]? ?9-A(; ;):m}mAdded new target pos. range: 4.440000 m, bearing: 109.571616 deg, deltaT: 4.400535 s, approachRate: 0.000000 m/s, LOS rate: 0.510018 deg/s, posRepo size: 4XW ?WX XWX:W2W*WVbUBU*UUU7k?B9BA BAAE*BAAIAIAIAI"CUn?RCQCU ?CY9IIGeV>  z z  -:Y Q1y : *Ɗ, +fFAY}6z-@}6E@y}6;}6u}6H@9+̺??`&ж~Z?Ӛy?)~6z-@ ~6U`;I~6Cɫ99)9 9I9Y?y1FU}M]`=Y]Z}QU]>aaae!Haaym=}m>Iqu" 5?uݾ u`? }?9u-Au: u:)qWWX XWX:W2W*WVbUBU*UUU X?BB BAD*BAAAA"Cg4?RCCCiIqG>9IiY; [\E i =CT̊,R3+fFAY}: ?-@}:Z@y}:R*}:c}:H@@m@m@? "?@I@ܳZ?`<?)~: ?-@ ~:)v^;I~:Cɫ99)9 9I9Y}v?y}F=d<M=L=YEQUE>AAaM!HIIyU}U>IY e:] 5? e:]ݾ ]jc? e?9]-A]^: ]:)]:WWX XWX:W2W*WVbUBU*UUU@?BB BA*BAAAA"C ?*CRCCCI)\AIG> k } }   ':Y kS1y Ԋ: 5;ӊ,M+fFAY}6,@}62@y}6Y}6>}6H_@@J? :?gﶿ ?@+Ƨ?)~6,@ ~6];I~4ɫYY)Y YIYY??yF  _A M U U U@ U@ U@QQQiQQ Q)QIQiQRMD=YQU>a!HyX&}>I 5?#ݾ f? ?9.A: :)WWX XWX:W2W*WVbUBU*UUU C?B1B1 B1A5^*B9A9A9A9A9"CA*CARCACICI]>]CQi3oGIiIٺAG=.>ܩ 9ܩ Iܭ Fiܭ ?ܩ ܩ ܩ ܭ ; ݭ [E)9I9i99===w4fي,mg+fFAY}6-@}62@y}6}6o}6Hɬ`H^@?@,?'Vɾf׶?0 k?)~6-@ ~6q\;I~6CɫII)I IIIY}?y}`FSMT=Y{GQU>!!a%!H!!y-;}->I1 =:5 5? =:5ݾ EtI 5i? E?95,.A5: 5:)5:WaWaXa XiWiXi:Wi2Wi*WqVybUyBUy*UyUU9@BB BA-*B)A1A1A1A1"C9*C9RC9C9CAIIQGm>I @A) 5 G 5 5 5  5 |9:Y5 WU1y5 :5 5)5 {;9= O,3N+fFAY}z~P-@}zl@y}zƽ}z}zH@K_??ѿ ?o䴿`H?)~z~P-@ ~zI^;I~zCɫ11)1 1I1Yu?yu*F?ʡEտ~jtL= D)IyMb` rhy&1?C`< ?A)JAI:Ai$RAEA  % % %@ %@ %@!!!i!! !)!I!i!=M=,=YE}QUE>IIaM!HIQy]X;}]>Iim) 5?mnݾ mm? u?9mJ.Am: m:)iWWX XWX:W2W*WVbUBU*UUUZ@RB*** querying acoustic contact ***PPBYBy ByA*BAAAA"C*CRCCC?i?יIGa>Ax抙,"+fFAY}:W-@}:[s@y}:W⽙}:d!}:H?@\&??< 9 ==My=Y-QU?a!Hy:}?Iȡ :ť 5? :ťAݾ ƥp? ?9ƥb.Aǥib< ȥb<)ȥ:WQWYXY XYWYXY:WY2Wa*WaVabUaBUa*UiUiU @BB BA)*BAAAA"C*CRCCCQ9QIQiQU=QQUΚ; U[EIG (> N  x x   ::Y 7P1y : 5) ;Z슙,+fFAY}6>-@}6Y@y}6}6#}6H``4I䄳?` ?[ ?@?)~6>-@ ~6j_;I~6Cɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,P 27B,000,002BB,189,80,80,B8,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %MJ=YSQU>a%!H%H9yE}M>I 5? ݾ r? ?9.A0: :)WWX XWX:W2W*WVbUBU)*U1U9U=_ @BB BAK*BAA!A!A!"CA*CIRCICICIaIG_> =i =2,+fFAY}6-@}643@y}6 }6q&}6HE`_v]??]j?@@?)~6-@ ~6C];I~4ɫ99)9 9I9Y?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @áááiáá ġ)ġIġiġ+<M>=YlټQU>a!Hy}>I 5?ݾ u? ?9.A: :)WWX XW X :W 2W*WVbUBU*UUU`p @BB BA&*BA A A A "C*CRCCCII)M]A!I)GM1>  } }   ,:Y kS1y Ԋ: 59 @I 9I IM FiM }?M =I I M ; M [EY,+fFAY}:,@}:@y}:/\}:R}:H:i@?+?y|U`z? ?)~:,@ ~:\;I~8ɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,R,279,000,002BB,188,80,80,C9,FF Fpublishing direction and range infoi ɰ鰅> )ICIynJ4=?×pٱI=)=©­^AM]=YyQU>a!Hyjd}>I u: 5? u:ݾ x? }?9.A< ;<):WWX XWX:W2W*WVbUBU*UUU<@R(Combining 5 samples.P*QZQ.$ñ<@q4vlJQnJ4=?×p2Qi :QbQ62U5Viר@BBy>?RQԿf?>L`#?BQ =? QF@QPK9?PJ9?PQQ@"Q<@ByBy ByA}*BAAAA"C*CRCCCסIG >0,,fFAY}6,@}6j@y}6H}63}6H`@ef@ҳ?@A?oY¿@դ?1Y?)~6,@ ~6&+\;I~4ɫ99)9 9IAY]o?y]#FdNmea in: $SNTTA,0.442599,0.442649,,,224359.21*58 I +Zd;Ͽ{Gz9y ף)Iy{Gzt?:v{Gzף;T# ½^BA)½VLAI½6Ai½rZAHAlȼM8=YQU>a!Hy;}>I) 5?Qݾ w? %?9.Ae; ;)muqAdded new target pos. range: 4.440000 m, bearing: 108.431555 deg, deltaT: 4.061490 s, approachRate: 0.000000 m/s, LOS rate: -0.280700 deg/s, posRepo size: 4XqWu =?WyXy XyWyXy:W2W*WVbUBU*UUU@I?BIBQ BQAUR*BQAQAYAYAY"Ce =?RCaCe =?CaIiG9>I )  X      ::Y WU1y : 6a,j,fFAY}zi -@}z$@y}z%8,}zm}zHTh^{ථ?@O? Lÿ m?@L ~?)~zi -@ ~zsb;I~zCɫ11)1 9I9Yu?yuGF 5 5 5 5@ 5@ 5@111i11 1)1I1i1EN;MED=YM QUM>QQaU!HQYy]<}]>Ia m:eI 5? u:eݾ ev? u?9e.Ae: e:)e:WWX XWX:W2W*WVbUBU*UUU?BB BAC*BAAAA9IFi?=; \E"C*C RC C C%?i%?aIiGb ,M6,fFAY}6 -@}6E<@y}64?}6h}6H#ZL~?`?~]ſ1?D U`?)~6 -@ ~6s`;I~6Cɫ19)9 9I9Y}.?y}F )= O[Ma=YWQU >  a !H y;}>I!%e 5?%ݾ %u? -?9%.A%': %:)!WQWQXQ XQWQXQ:WQ2WY*WYVYbUYBUa*UaUaUe !?BB BA*BAAAA"C*CRCCC׉IG= { {  LA:Y #R1y : }5[, P,fFAY}:,@}:S@y}:QO}:}:H;{R?? hgǿ?# NE?)~:,@ ~:*^;I~:Cɫ99)9 9I9Y}A?y}.F=/M=G=YEQUE>AAaM!HIIyU}U>IY e:] 5? e:]Uݾ ]$u? e?9]/A]: ]:)]:WWX XWX:W2W*WVbUBU*UUU`?BB BA*BAAAA"C*CRCCCIG> =i =) 9) I- pFi- M?- =) ) - ; - [E,i,fFAY}6 -@}6C)@y}6v[}6}6H2@8N?@)?=Y`Sȿ99? V+?)~6 -@ ~6\;I~4>JFailed to close latch before timeout.q >>Hardware FaultYX?yF    @ @ @i )IiOMP=YOQU>a!Hy,;}>I   5? ݾ ^t? ?9 2/A A: :) W1W9X9 X9W9X9:W92WA*WAVAbUABUA*UIUIUM@?BB BA*BAAAA"C*CRCCC I)I-$ @Hardware Fault in component: DDMG= 9 9 =  = Y1:Y9 y9 = 5)= t;9 ,0؃,fFAY}6(-@}6]D@y}6c}6Y}6H@;/@@4,??`Aqɿ|>?< T?)~6(-@ ~6[;I~6C>Powering down<ɪ<)< Yaae!Hay Y;}>I : 5? :ݾ t? ?9/A: ;):WaWaXa XaWaXa:Wi2Wi*WiVibUiBUq*UqUqUu @RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCIGn>iu nGI i ٺ A',_,fFAY}6J-@}6 f@y}6q}6i&O}6H&q ?`+?%ǿ?W*?)~6J-@ ~6f[;I~6CYBo?yBԈFFZ****** received transponder code query ******FF****** received ping request ******F-,,fFAY}:)-@}:E@y}:O}:I}:H 3M`??ಖſ?a@?)~:)-@ ~:V"\;I~:CYF?yF9FJxDUSBL response received:!U1,P 279,000,002BB,188,80,80,C9,FF JCommand AckNBRequesting micromodem ping code 2iLLRNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ~H<MI=Y(:QU>)1a5!H=HIy]眻}e>IȁŅ 5?ŅXݾ ƅu? ?9ƅ/ADž&; ȅ;)ȁWqWyXy XWX:W2W*WVbUBU*UUU` @BYBY BYA]*BaAaAaAaA"C*CRCCC?i?סI$NClearing failed state for component DDMq GF>'4,n,fFAY~?y~Fɮa=%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )Å= Å> - - - -@ -@ -@ -)))i-3?) -?)-?I- ?i- ?E8ǻME7=YEQUE>IIaM!HIQyU}U>IY e:]d 5? e:]1ݾ ]9v? m?9]20A]: ]:)]:WWX XWX:W2W*WVbUBU*UUU  @BB BA*BAAAA"C*CRCCCIG >ܙ 9ܙ Iܝ Fiܝ a?ܙ ܙ ܙ ܝ ; ݝ XE 1 y y  7:Y P1y ': k6) ;P:,D,fFAY}:,@}:@y}:&z}:Lý}:H,f? C? Ͽp?F}T?)~:,@ ~:\;I~:CY^Z?y^FbxDUSBL response received:!U1,R,258,000,002BA,189,80,80,C1,FF fFpublishing direction and range infob `ɰbd=b7> `)bACI`yb(@b\oz?-Bٱ`zZRMzb=Yz4QU~>||a!Hy 6} >I 5?ݾ kv? ?9k0A : F:)WAWAXA XAWAXA:WA2WI*WIVIbUIBUQ*UQUQUU@?@Rm(Combining 5 samples.Pi*Qm(@ZQm {tX@MkJQm\oz?-B2Qm :QibQm2SU/@C./n?RQm1cԿڑ?/Gk?BQmFS? Qm~@QmPiPmK9?PiQiQm;@"Qm@BB BA*BAAAA"C*CRCCCבIG= =i >:A,&-fFAY}B-@}B#@y}B1}B$˽}BH\ O?`!? mbϿ@V?m ?)~B-@ ~B;[;I~BCYvb?yvWF]DNmea in: $SNTTA,,,,,224403.22*5D %v/?RQL7A`尿%xi=%½ %+)!I!y%y&1|Mb?y&1?%`廹%<%`e< %EA)%OAI%n.Ai%uA!%fNA 5 5 5 5@ 5@ 5@111i5?1 5)5I5i5n?EMM*=YMǹQUM>QQaU!HQYy];}]>Ia m:e 5? u:en ݾ ew? u?9e0AeD; e;)e:mqAdded new target pos. range: 4.380000 m, bearing: 109.365686 deg, deltaT: 3.991503 s, approachRate: -0.015032 m/s, LOS rate: 0.234030 deg/s, posRepo size: 4XWFS?WX XWX:W2W*WVbUBU*UU@U@I?BABa BaAe*BiAiAiAiAi"CuFS?RCqCuFS?CyI׉)׉YIiG8> 3 } }  7:Y kS1y Ԋ: 59 @bG,-fFAY}6-@}6P+@y}6t}6B}6H  ;?|?@-KBkͿ?챿 ?)~6-@ ~6o[;I~6CYN?yRF}V<M}m=YCQU?a!Hy:}?Ișŝ 5?ŝ ݾ Ɲx? ?9Ɲ0Aǝ^: ȝ:)șWWX XWX:W2W*WVbUBU*UUUxR?B B  B A *B AAAA"C*CRCC!C!999I= Fi=?==99=!; =VEIIqG=)M,8-fFAY}6O-@}6:k@y}6}67L}6H`T@?P?…(̿3l?Bx?)~6O-@ ~6|[;I~4Y^iqa}!Hyy@<}>I U: 5? ]:F!ݾ y? e?90A< <):WWX XWX:W2W *WVbUBU!*U)UUઇ?BB BA*BAAAA"C*CRCCCIG (>I ) @A  w w  k5:Y O1y P: D5tT,R-fFAY}:-@}:e@y}:}:~`x}:H`,aY?@:?|kͿ ?~?)~:-@ ~:[;I~:CY^6?yb;F u u u u@ u@ u@qqqiqq q)qIqiqdMH=YHɼQU>a!Hy*<}>Iȡť 5?ť!ݾ ƥz? ?9ƥ0Aǥ^: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU ?BB BA *BAAAA"C*CRCCCi?IG>1 91 I5 Fi5 1?5 =1 1 5 ; 5 ]EZ,"l-fFAY}6P.@}6k@y}6V}6Vؽ}6H w?@?cJ!ѿ@p=? [Y?)~6P.@ ~6[[;I~6CYN ?yRF) > >xMQ=Y% QU%>!)a-!H))y5<}5>I9=l 5?=&"ݾ ={? E?9=1A=ܹ: =+:)9WiWiXi XiWiXi:Wq2Wq*WqVqbUyBUy*UyUyU -@BB BAj*BAAAA"C*CRCCC׉IG>  ~ ~ : |^:Y T1y @: 6a,f-fFAY}6L.@}6@y}6}6Ӎ}6HI[@%?@ٸ?@q mѿY)?r˻@rU?)~6L.@ ~6!m[;I~6CYN?yREFT㥛 ?kt?V-?= 0= m=)Iy:v:v?y&1?TT< )MVAI,Ai-~AQA m m m u@ u@ u@ u@iiiimi i)iIiimM6=Yb;;QU>a!Hya<}>Iȡ :ť 5? :ť"ݾ ƥ|? ?9ƥ81Aǥ(: ȥ:)ȥ:WiWiXi XqWqXq:Wq2Wq*WyVybUyBUy*UyUU@@BB BA*BAAAA"C*CRCCCIG--> i a=:g,G-fFAY}6p.@}6@y}6Fv}60,}6H`s4`$?ߝ?)Ͽ"?dm?)~6p.@ ~6X[;I~6CYBD?yBDFDFAAR=MRn=YVw:QUV?XXaZ!HXXy^T<}^?I`b 5?b#ݾ bZ}? f?9bW1Ab: bU:)`WxWxXx XxWxXx:W|2W|*W|V|bUBU*UUU@RB*** querying acoustic contact ***PPB1B9 B9A=*B9A9AAAAAA"CI*CIRCICICIIa)e^AQIYG}=9IxFi?=Dߝ;  _E  z z   /3:Y Q1y : W5) ;9% m,-fFAY}2e/@}2@y}2ǜ}2f}2H Y`!@g?nc?` +̿ J?}vv?)~2e/@ ~2[;I~0Y^?y^FjZ****** received transponder code query ******jF****** received ping request ******na!HH!yut<}}>I : 5? :#ݾ l~? ?91A: o:):WaWaXa XaWaXa:Wi2Wi*WqVqbUqBUq*UqUyU}d @BB BA*B A A A A "C*CRCCCI G-,>t,-fFAY}6]0@}6;y @y}6}}6}6HS#n`2? (?X [Ϳ`?`7௿n?)~6]0@ ~6w[;I~6C>Powering up>"Initializing DDM.Y-?yqF%xDUSBL response received:!U1,P 258,000,002BA,189,80,80,C1,FF %Command Ack%BRequesting micromodem ping code 2i))5Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 CinGI9iIֿٺA?9A    @ @ @ i? )Ii?%ܕ<M%=Y-/QU->)1a5!H11y=<}=>Iae 5?e9$ݾ ey? m?9e1Ae: e:)aW)W)X) X1W1X1:W2W*WVbUBU*UU U `@ByBy BA*BAAAA"C*CRCCCשI9I@Fi?Ě; [E)yIyiy}=y}]5G>I ) = = y= y=  = +:Y= P1y= ':= 5)= ;hz,-fFAY}20@}2x!@y}2,霾}2z}2H=J u9??Sj`ο`N?`MDi?)~20@ ~22[;I~2CYB:?yBFDɮFR=rNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B UMU=YU{;QUU ?YYa]!HYaye=}m ?Ii u:m3 5? :m$ݾ m? ?9m1AmU; mۿ;)m:WWX XWX:W2W*WVbUBU*UUUZ:@BYBa BaAe_*BaAaAaAaAi"Ci*CqRCCC׉IG=ԁ,ͭ.fFAY}F1@}F9!@y}Fb}Fd}FH U 2\?[?`4G'̿1?`I`z?)~F1@ ~FW[;I~FCYZO?yZFbxDUSBL response received:!U1,R,260,000,002BC,188,80,80,D6,FF bFpublishing direction and range info^\ɰ^`e=^> \)^VCI\y^@^DA?qm1ٱ\ tt:vL7A`?A`"?Լ+= Y=)Iy{Gzt?kt?~jthף; 0=D =FA)TAI™iAQA)í= í=    @ @ @ @ñññiõñ ı)ıIıiĵ=M5=Y͊;QU>a!Hy;}>I 5?X%ݾ ? -?92A; ;)WqWqXq XqWqXq:Wy2Wy*WyVybUBU*UUU @R(Combining 5 samples.P*Q@ZQaw @"l嵛7JQDA?qm12Q:QbQ(semN~@^]?RQJH/}׿k"T?\qoG?BQ _? Q~@QkӿPJ9?PPQQ?@"Q;@BB BAڈ*BA)A)A)A)"C1*C1RC1C1C9!I1GM1> 5  8:Y y 59 @ ,G!.fFAY?y(FDNmea in: $SNTTA,,,,,224407.68*57 y9yIyiyyyy}; }zWED<MM=YQU>a!Hy}>Iȩ :ŭ 5? :ŭ&ݾ ƭE? ?9ƭY2Aǭ: ȭ:)ȭ:mmAdded new target pos. range: 4.500001 m, bearing: 112.519614 deg, deltaT: 4.521741 s, approachRate: 0.026539 m/s, LOS rate: 0.697503 deg/s, posRepo size: 4XW _?WX XWX:W2W*WVbUBU*UU@@U=?B1B1 B1A5*B1A9A9A9A9"CE/?RCACE _?CI IGm> =i =(,Ed;.fFAY}B1@}B!@y}B链}Bl}BHk@?`O?`Rʿ ;?Tp?)~B1@ ~BM[;I~@Yb?ybF - - 5 5@ 5@ 5@111i11 1)1I1i1E˃<MEP=YE##=QUM>IIaM!HIQy]9<}]>Iae 5?e&ݾ e~? m?9e2Ae6: e :)aWWX XWX:W2W*WVbUBU*UUU ?B)BI BQAU*BQAQAQAQAQ"C] _?RCaCaCaIIQGm> z z z F =:Y Q1y : < 6,K?U.fFAY}22@}2"@y}2`q}2}2H@0c ǁ:R?Z?@4@wʿ\?@(u?)~22@ ~2Q[;I~0YR?yRpFI a=) C=_A<MW=Y7a!Hyd=}>Iȡť 5?ťg'ݾ ƥx~? ?9ƥ2AǥE: ȥ=:)ȡWWX XWX:W2W*WVbUBU*UUU` e?BB BA:*BAAAA"C!*C!RC!C!C)1I9G]=y9yIyiy}=yy} ; }SE<, o.fFAY}6,3@}67H#@y}60!}6挽}6H@>E,?@A!?/ʿ?찿?)~6,3@ ~6"([;I~4Y^+?y^F]X>=M]M=Y];QU]>aaae!Haiym<}m>Iq }:u# 5? :u(ݾ u~? ?9u)3Au: uI:)u:W!W!X! X!W!X):W)2W)*W)V)bUQBUQ*UQUYU] ?BB BA*BAAAA"C*CRCCCIG]>I ) AA j { {  ':Y #R1y : E5$,.fFAY}fyr3@}f#@y}f?Ѝ}fI}fH(I?@?`M̿:?`Kg?)~fyr3@ ~f>[;I~fCYr?yvFq= ףp?/$?Mbp=,= )IyQ?Q?/$\=u= AA)SAIiIzA OA    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉLM7=Y:QU>a!Hy<}>IȹŽ 5?Ž(ݾ ƽ:|? ?9ƽ3Aǽ: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU O?B)B) B)A5*B1A1A1A1A1"C9*C9RC9CACAIIQGu>L,Т.fFAY}2t3@}2#@y}2}2m,}2H `&p{?` ?`{Ͽ@,?]+D?)~2t3@ ~2W[;I~0YNk?yRoF  )= >N'Mg=Y%?u!!a-!H-H)y5ђ9}5>I9 E:= 5? E:=@)ݾ =z? E?9=4A=: =M:)=:WiWiXi XiWiXi:Wq2Wq*WqVqbUyBUy*UyUyU@BB BAӇ*BAAAA"C*CRCCC!9!I!i!!!!%; %OEױIG= N w w  %:Y O1y P: !5) S;9 w,ҫ.fFAY}2д3@}2Z#@y}2W}2}2H}F? ?`ο[?J 1?)~2д3@ ~2\\;I~0YB?yBFDDR)<MVR=YV =QUV>XXaZ!HX\y^\&<}b>Idf 5?f)ݾ fx? j?9f4AfǺ: f:)dWxW|X| X W X :W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBB1 B1A5*B9A9A9A9A9"CA*CARCACACIױIG> =i =a,.fFAY}2"4@}2?>$@y}2x}2r}2H`[ V?? uȿ`?u ?)~2"4@ ~2T\;I~2CY^?y^9FbZ****** received transponder code query ******bF****** received ping request ******b))a-!H)qyuBn<}}>Iy :} 5? :}*ݾ }v? ?9}5A}@; };)}:WWX XWX:W2W*WVbUBU*UUU2 @BiBq BqAu*BqAqAqAqAy"Cy*CRCCCׁIG>9Ii=a!Hye<}m>I 5?-+ݾ Su? %?95AZ< <)WWX XWX:W2W*WVbUBU*UUU@=h @BB BA?*BA A A A"CA*CARCICICQqIG~>Zu‹,O /fFAY}-p^5@}-y%@y}- d}-b'}-H 2@IM? mx? dÿ lZ?e-?)~-p^5@ ~-[;I~-CYe?yeȌFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }T㥛 ?Dl?~jt}=}O= }D)yIyy}I +?~jty&1?}94<}D}`< }~>A)}G[AI}-Ai}/yAy}(PA ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYm9U=Mm.=Yuqqa}!Hyyy'<}>Iȩ :ŭ˹ 5? :ŭ*ݾ ƭx? ?9ƭ5AǭV: ȭ:)ȭ:WWX XWX:W2W*WVbU BU *U U U 2@BYBY BYAmw*BiAiAiAiAq"C*CRCCCyIG<>ioGIi%ٿٺ!%AI ) @Aȋ,:$/fFAY}65@}6&@y}6]}6mH}6H g 5?@?Jÿz?z6?)~65@ ~6=I[;I~6CY^?y^~FbxDUSBL response received:!U1,R,259,000,002BD,189,80,80,BA,FF fFpublishing direction and range infobC`ɰbe=b7> `)b:CI`yb@bj#?ɚ̏0ٱ`vZ<Mv~=Yz Ù̼M<=YÆa!Hy<}>I 5?l*ݾ ~? ?95A: :)mmAdded new target pos. range: 4.559999 m, bearing: 117.894338 deg, deltaT: 4.365278 s, approachRate: 0.013744 m/s, LOS rate: 1.231244 deg/s, posRepo size: 4XWr@WX XWX:W2W*WVbUBU*UU@p=@UC?BiBq BqAu*BqAqAqAqAy"C}ێ?RCCr@CׁIG>SՋ,W/fFAY}6u6@}69&@y}6ÒJ}6ٽ}6H@??8ȿ%(?`W@2?)~6u6@ ~6[;I~6CYB?yB F=ۣMEU=YEUIIaM!HIIyUC?<}U>IY e:] 5? e:]3*ݾ ]€? m?9]5A]: ](:)]:WWX XWX:W2W*WVbUBU*UUU?BB BAĆ*BAAAA"C@RCCCIG]=ܹ9ܹIܽ Fiܽ?ܽ=ܹܹܽ; ݽGE =i =  ~ ~   h,:Y T1y @: =6) .;ۋ,q/fFAY}2)o6@}2&@y}2s>}2猉}2H+?&?0ÿ P?sⰿ`?)~2)o6@ ~2[;I~2CYN?yRF    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉe}=MD=Ya!Hyz}>IȹŽ 5?Ž)ݾ ƽ_? ?9ƽ5Aǽ<; Ƚ;)ȹW W X  X W X:W2W*WVbUBU*UU!U%?BQBY BaAe*BiAqAqAyAy"C@RCCC1IYGu>r⋙,/fFAY}>q6@}>s&@y}>|[5}>떼}>H``i?r,?b~5$?3`}?)~>q6@ ~>/[;I~a!HyS9}>I : 5? :a+ݾ ͂? ?9D6A: :):WyWyXy XWX:W2W*WVbUBU*UUU`?BB BA̅*BAAAA"C-r@RC1C1C1)I1GM>  w w   C3:Y O1y P: 69 @苙,fk/fFAY}f6@}f&@y}f/}fx̼}fH@<@5k?Z(?@f5лr?B;?)~f6@ ~f3\;I~fCYrx?yra!HHyD;}>I^ 5?,ݾ I AA) ,J/fFAY?yEF E E E E@ E@ E@AAAiAA A)AIAiA]-:M]C=Y]QU]>aaae!Haiym}m>Iq }:u 5? }:uV.ݾ u? ?9u7Au: u|:)u:WWX XW!X):W)2W)*W)V)bU1BU1*U1U1U=H@BB BA *BAAAA"C*CRCCCIG%> /    7:Y WU1y : W59,j/fFAY}6r6@}6&@y}6 }6}6He, Y?`$?}ȿ`D? @aU?)~6r6@ ~6 \;I~6CYB=?yBF LL)R;> R=VԻMVk=YVy&=QUV?XXaZ!HX\yb$;}b?IdfԸ 5?f/ݾ fʃ? j?9fx7Af{: f :)dWxW|X| X|W|X|:W2W*WVbUBU *U U U @RB*** querying acoustic contact ***PPB9B9 BAAE*BAAAAAAAAI"CI*CQRCQCQCQQIaG}=a9aIeFiea?aaae; eCEf&,/fFA|i|Y}R6@}R&@y}R}RxE}RH 6`4 (?%?/%ÿg?``?)~R6@ ~R~RCY^e?ybΐFbZ****** received transponder code query ******bF****** received ping request ******fQQaU!HYYye͢:}e>Iim 5?m1ݾ m? }?9m7Ams; mo;)iWWX XWX:W2W*WVbUBU*UUU @B9BA BIAԄ*BAAAA"C*CRCCC)IIGA> i R=  { {   +:Y #R1y : 5; , 0fFAY}6a6@}6&@y}6}6t}6H sH@Q5??@)?@*@?)~6a6@ ~6[;I~6CY^?y^ÒFbxDUSBL response received:!U1,P 259,000,002BD,189,80,80,BA,FF fCommand AckfBRequesting micromodem ping code 2iddjNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 y&1|S㥻`/ݽ )IyJ +{Gzt+?Hף= :A)YAI5AibA KA15^A    @ @ @ i? ?)K?IK?i?A=M=YSa!HIyUԞ;}U>IY :] 5? :]1ݾ ]:? ?9]^8A]< ]<)]:W1W1X9 XYWYXa:Wa2Wi*WiVqbUqBU*UUU=x@BB B!A% *B!A!A!A!A!"C)*C)RC1C1C1IG=>: ,_&0fFAY}F_-7@}FH'@y}FŸ }F;}FH@e ??@i@&? {??)~F_-7@ ~F6v[;I~FCYf?yjFzNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 9IXFi?p; AEI}=)}C===M=Y     O  H:Y y  3 6) ;9% >, @0fFAY}6I7@}6d'@y}6}6 }6H u,@??x ?``|?)~6I7@ ~6X[;I~4Y^?y^FfxDUSBL response received:!U1,R,232,000,002BC,188,80,80,C1,FF fFpublishing direction and range infob`ɰb`e=b> `)bACI`yb@b#"b:?պ%޿ٱ` } } } }@ }@ }@ }@yyyi}y })}I}i}+<M>=Ya!Hyc|;}>I : 5? :2ݾ @? ?98A?: :):WWX XWX:W!2W!*W!V!bU!BU)*U)U)Uu @R(Combining 5 samples.P*Q@ZQQ׮@ OJQ#"b:?պ%޿2Q:QbQ2fSH q@ ?RQ'%? '?BQH@ Qs@QjPPH9?PQQA@"QI0@BiBi BiAu'*BqAqAqAyAy"C*CRCCCסIGA>I @A) 9 9 rM,HoZ0fFAiVmGIhiY}Eu6@}E'@y}Es}Eܛ޽}EHgt@lK??: Yÿ??UݿٺQUA)~Eu6@ ~Ei[;I~ECY=?yfFTNmea in: $SNTTA,0.043335,,,,224416.56*46 mMmL=Yuqya}!Hyyy4H}>Iȉō7 5?ōZ3ݾ ƍ? ?9ƍU9AǍ: ȍ:)ȉmqAdded new target pos. range: 4.500001 m, bearing: 121.530703 deg, deltaT: 4.520585 s, approachRate: -0.013272 m/s, LOS rate: 0.804402 deg/s, posRepo size: 4XWH@WX XWX:W2W*WVbUBU*UU@@U@P?B B  B A ^*B AAAA"C@RCCH@C!יIG>9IFia?=ƀ; 5@E)݉I݉i݉ݍ=ݍ=ݍ4  N?:Y y 5) ;=s,?8t0fFAY}2I6@}2de&@y}2뽙}2˽}2H<?jc?]s¿On? F e?)~2I6@ ~2K[;I~2CYZ?yZF aa+Q=MW=Yջ;QU>a!Hy(} >Iȡ :ť 5? :ť3ݾ ƥ? ?9ƥ9Aǥ%f< ȥFh<)ȥ:WiWiXi XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"CH@RCCC 9IIGeV>[#,0fFAY}J5@}J&@y}Jѭ꽙}Jќ}JH '` ?#?@ 濿ME?Xtm?)~J5@ ~J [;I~HYZ?y^FQ?zGڿS㥻?\> ׾ /=)IyZd;Op= ף?L7A`堿j=+ `=A)NAI5Aiz@A - - - -@ -@ -@)))i)) )))I)i)=<MEB=YE:QUE>IIaM!HIQyU#I}U>IY]> 5?]Z5ݾ ]? m?9]:A]4: ]:)YWWX XWX:W2W!*WIVIbUQBUQ*UQUQU]80?BB BAq*BAAAA"C*CRCCCIG$> i =  y y   z.:Y P1y ': 59 @u),p0fFAY}6} 6@}6&&@y}6_ֽ}6ɡ}6H4f Y?E?`Y(޵u? v ?)~6} 6@ ~6k[;I~4YB(?yBlFT9TIVXFiV?TTTV; V>E~<M~b=Ya!H H y \;}>I %: 5? %:6ݾ Lj? %?9w:A: (:):WIWIXI XIWIXI:WI2WQ*WQVQbUQBUQ*UUU?BB  B A #*B A A A A"C*CRCCC!IG==n0,90fFAY}NC6@}N|_&@y}N}Nx}NHa!Hy<}>I3 5?)8ݾ ? ?9:Ag: :)WiWX XWX:W2W*WVbUBU*UUU?BQBQ BYA]*BYAYAaAaAa"C*CRCCCׁIG> H      9:Y T1y : 56,"0fFAY}6.6@}6&@y}66穽}6}6H npr@??? H@w6?H@?)~6.6@ ~6[;I~6CYB5?yBFz)=M~V=Y~4a!H y <} >I 5?9ݾ ? %?9N;A; ;)WIWIXI XIWIXI:WI2WQ*WQVQbUQBUY*UYUYU]`@BB BA *BAAAA"C*CRCCCבIG=ܡ9ܡIܥ Fiܥ?ܡܡܡܥ|; ݥO=EI ) <,0fFAY}jy7@}j'@y}j0}j%ܽ}jHP@#y̑? O?Ok"?'_?)~jy7@ ~jb[;I~jCYp?yFAA?A%;M-8=Y5ԅ:QU=>AIaU!HQaymz<}u>I :3 5? :-;ݾ ? %?9;AP: :):WAWIXI XIWIXI:WI2WQ*WQVQbUQBUQ*UYUYU]`@RmB*** querying acoustic contact ***PiPiBB BA*BAAAA"C *CRCCCayIG<>  t t   d0:Y M1y : t6xC,\1fFAY}27@}2G'@y}2լ}2}2H@>l??@T ? ?)~27@ ~2y[;I~2CYN-?yR FRZ****** received transponder code query ******VF****** received ping request ******V11a=!H99y='<}E>IIMv 5?M:ݾ M? u?9MI,y@)1fFA$9$I&Fi&1?$$$&x; &;EY}a7@}'@y}}Q}H `W߿ ܟ??ǵ?1 ?)~a7@ ~#[;I~Y)y)=xDUSBL response received:!U1,P 232,000,002BC,188,80,80,C1,FF =Command Ack=BRequesting micromodem ping code 2i9AMNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Yt;QU>a!H9yu0};}}>Iȹ :޼ 5? :Ž9ݾ ƽہ? ?9ƽ; i =e e }e }e ' e +:Ye kS1ye Ԋ:e 6)e ;9 »P,C1fFAY}277@}2'@y}2  a !H  y%:}->IAE 5?EV9ݾ E? M?9EsV,g\1fFAY}F7@}F(@y}Fw}F }FH߿@M?s? @i 싰?`ѳ:?)~F7@ ~Fu[;I~DYZ?yZFbxDUSBL response received:!U1,R,2D3,000,002BE,189,80,80,B6,FF bFpublishing direction and range info^!\ɰ^f=^7> \)^6CI\y^ד@^b?Pxٱ\Iz=)z=Z;M\=Y a!Hy%7;}%>I1 =:5c 5? E:58ݾ 5? E?95I9IIIiIM=IM=DMv; M:E [  | |   ;:Y R1y i: 5) ܖ;],v1fFAYd?yߛFuTNmea in: $SNTTA,0.026557,,,,224421.02*42 5V-?&1`"?5h=5н 5=)1I1y5Mb?A`"?15Y=5 1)5+MAI1i5$RA15EA    @ @ @ÑÑÑiÑÑ đ)đIđiđ<M=YQU>a!Hy}>I :- 5? :xݾ tI  ?9: :)o:meqAdded new target pos. range: 4.619999 m, bearing: 114.270936 deg, deltaT: 4.409976 s, approachRate: 0.027211 m/s, LOS rate: -1.646215 deg/s, posRepo size: 4XaWeH?WaXa XiWiXi:Wi2Wi*WqVqbUqBU*UUz@U?BB BAU*BAAAA"Cб@RCCH?CIGm>I AA) 3c,q1fFAY}J8@}J2(@y}J& }JȪ}JH@%&߿J? A?`~?fG?)~J8@ ~JȎ[;I~HYZ?yZMF<M=Y):QU?a!Hy4=}?IÒ 5?-yݾ ?  ?9<<ϸ: :)W)W)X) X)W1X1:W92W9*W9V9bUABUA*UAUAUEm?BB BA(*BAAAA"CǢ@RCCC)IG- >imGIiE"ڿٺAEA   z z   k5:Y Q1y : 69 @9 99 I9 i9 9 9 9 = >s; = 8E)ыIы!j,1fFAi = = 4Y}6h9@}6))@y}6,}6p}6H@ ޿QT?`Dž? `h޷s?`e@b?)~6h9@ ~6E[;I~6CYF?yFF  } P<M}Q=YQU>a!HHy<}>IȹŽ 5?Žyݾ ƽU ?9ƽg3=ǽ߼: Ƚ :)ȹWWX XWX:W2W*WVbUBU!*U!U!U%@(?BB BA*BAAAA"CH?RCCCIG> q,Y1fFAY}J@8@}J(@y}Jғ}J6}JH@ ߿@Y|??wĽ8v?@η@?)~J@8@ ~JC[;I~H^`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ)))) -I)Ym?ymךF % % % %@ %@ %@!!!i!! !)!I!i!57M5=Y=QU=>9AaE!HAIyM'}M>IQ ]:U 5? ]:Uzݾ U/ e?9U=U: Uj:)Up:WWX XWX:W2W*WVbUBU*UUU`?BB BA*BAAAA"C*CRCCC׹IGf> i p=      .:Y y  53w,P51fFAY}:8@}: (@y}:0}:}:H@7߿?@?@K*??)~:8@ ~:b[;I~:Cɫaa)i iIiYl?yF]qM]=Ye/QUe?aaam!Hiiym }u?Iy}6 5?}M{ݾ }z ?9} =}: }ӻ:)yWWX XWX:W2W*WVbUBU*UUU@,@BB BAҀ*BAAAA"C*CRCCCIG>9Ii=a!Hyʺ}>I e: 5? e:|ݾ ; e?9=< }<)q:WWX XWX!:W)2W1*W9VYbUaBUi*UqUqU)@RB*** querying acoustic contact ***PPBB B!A%*B!A!A!A!A!"C)*C1RC1C1CQe?ie?IIYGuz>  { {  11:Y #R1y : !5E,2fFAɫ髙) IY?yFZ****** received transponder code query ******F****** received ping request ******QYa]!HYYye}e>Iim 5?m~ݾ mz< ?9m3>m8; m:)iWWX XWX:W2W*WVbUBU*U U U @BQBY BYA]*BYAYAaAaAa"C*CRCCCׁIG=>I @A)  9 I i Pn; 6Eqo,+2fFAY}F9@}F~$)@y}FvE}F }FH@޿`?@¿j? ]>?)~F9@ ~FZ;I~Dɫ髱) IY ?yϙFxDUSBL response received:!U1,P 2D3,000,002BE,189,80,80,B6,FF Command Ack BRequesting micromodem ping code 2i  Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 u<M}N=Y:a!Hyΐ<}>I  : S 5? : Zݾ < ?9 .>  < Ƣ<) r:W)W)X) X1W1X1:W12W1*W9V9bU9BU9*U9UAUe @BB BA+*BAAAA"C*CRCCCIGEs>  } }   +:Y kS1y Ԋ: 5) ;9 W,E2fFAɫ髡) IY?yFMNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B UpMU?=Y]QU]>aaae!Haiy}>Ișŝ 5?ŝݾ ƝI = ?9ƝI>ǝ: ȝܹ:)șWWX X W X :W 2W *WVbUBU*UUUt @BaBi BiAm}*BqAqAqAqAq"C*CRCCCI׹)׽]AׁIG=>ˁ,|_2fFAY}28@}2 (@y}2c}2;y}2H ߿? %?`9v@@??c [?)~28@ ~2.?`;I~0ɫYa)a aIaY?yڗF U U U U@ U@ U@QQQiQQ Q)QIQiQm!MmW=Yu'QUu>yya}!Hyyb^}>Ișŝ* 5?ŝݾ Ɲ7= ?9Ɲ_>ǝ: ȝn:)șWIWIXI XiWiXi:Wq2Wq*WqVqbUyBUy*UyUyU}C@BB BA*BAAAA"C*CRCCCIG (>܉9܉I܍ Fi܍?܍=܉܉܍!l; ݍ4E =i = {  u u   =:Y KN1y y: 6) ;֯,'hy2fFAɫii)i iIiYyDNmea in: $SNTTA,,,,,224425.08*51 y&1NbX9ȿ~jth?`E D;)Iy㥛 a!Hy}>I : 5? :Hݾ PB= ?9>7: :)s:WWX XWX:W!2W!*W!V!bU)BU)*U)U)U5@BYBa BaAa*BaAaAaAaAi"Ci*CqRCqCqCqyIG<>Γ,22fFAY}J7@}J(@y}J}Ji<}JH`P@s߿i? x? /@qб?? ?)~J7@ ~J ^;I~HɫYY)a aIaY?yFI).NMIȉōW 5?ōݾ ƍ/G= ?9ƍΏ>ǍD; ȍ%;)ȉWWX XWX:W 2W*WVbUBU*UUUOr@BaBi BiAH*BAAAA"C*CRCCCIG]3> *  y y   ,7:Y P1y ': }59 @ܡ 9ܡ Iܥ Fiܥ ?ܡ ܡ ܡ ܥ j; ݥ 44E񽪌,2fFAY}FO7@}Fk'@y}FuV}F9<}FH@`?C?Te`9&?Z%?@?)~FO7@ ~F^;I~FCɫYY)Y YIYY?yF    @ @ @i )IiFMG=YPQU>a%!H%H!y%uռ}->I1 =:5ۑ 5? =:5ݾ 5`L= =?95c>59: 5:)5t:WWX XWX:W2W*WVbUBU*UUU@@RB*** querying acoustic contact ***PPBaBi BiAm*ByAyAyAA"C*CRCCC׉IG>I ) AAѥ,:2fFAY}F;7@}F W'@y}Fq }F9}FHۍ )/@?@?k9Y?R b?)~F;7@ ~F\;I~FCɫqq)q qIqY?y8F'MM=YQU>a!Hy H} >Im 5?Cݾ xR= -?9T>Z: e:)WYWYXa XaWaXa:Wi2Wi*WiVqbUqBUy*UyUyU}Ř@B9B9 B9A=q*B9AAAAAAAA"CI*CIRCQCQCqIIQGm>Q Y i }nGI i  p  z z   <:Y Q1y : 6- 5ٺ) - A5Է,A2fFAɫ髙) IYT?y9F=i= IIuVM}A=YQU>a!Hy}>I :( 5? :ݾ X= ?9E>,: E:)u:WWX XWX:W2W*WVbUBU*UUU`VZ@BB BA؃*BAAAA"C*C RC C C I9)=^AI !9!I%Fi%?%=!!%k; %4E)ݱIݱiݱݵ=ݵ=ݵ}5GE1>,S2fFAY}>L7@}>֪'@y}>}> }>H@"i#?? @ힾ?A?)~>L7@ ~>_;I~>CɫYY)Y YIYY0?yF?+ÿQ?< \=)Iy/$? rh?:v?<C =T< DA)XGAI;9Ai$RAEA = = = E@ E@ E@999i99 9)9I9i9U^MU0=YU{QUU>YYa]!HYaye6<}e>Iimԕ 5?m*ݾ mq= }?9m>m: m :)iWWX XWX:W2W*WVbUBU*UUU "@BB BAa*BAAAA"C *C RC C CבIGc> =i %= K  { {   b:Y #R1y : k6Č,z3fFAY}2eF7@}2a'@y}2{}20}2Hm;`?[? % f?Xe4?)~2eF7@ ~2];I~2CɫYY)Y YIYYG?yFxDUSBL response received:!U1,N,80,80,63,E4 E,189,80,80,B6,FF ZNo reply:!U1,N,80,80,63,E4 E,189,80,80,B6,FF -: b:)v:W WX XWX:W2W*WVbUBU!*U!U!U%@Tf@BIBQ BQAU܄*BQAYAYAYAY"Ca*CaRCaCaCiIG>- >9) I) i) - =) ) - l; - +5E ˌ,W.3fFAY}6.6@}6'@y}6P}6<}6H1M$@3?V ?8`y???)~6.6@ ~6]];I~6Cɫ99)9 9I9Y}?y}F̼M%D=Y%QU%>))a5!H19yEhB}E>IIM 5?Mݾ M= e?9ML>M$; M;)IWWX XWX:W2W*WVbUBU*UUU@B1B1 B9A=1*B9AAAAAAAA"Cq*CqRCqCqCy׭?i׭?iIqG> c  z z   d:Y Q1y : 5) ;9 Vь,6H3fFAY}R6@}R#'@y}RM&}R*_}RH6Q@N?<?`Մ 6`V? I?)~R6@ ~R\;I~Pɫqy)y yIyY?y`F)å> å> E E E E@ E@ E@ EAAAiE\?A E ?)E?IE?iEK?UOj<MUG=Y]/QU]>YYa]!Haaye""}m>Iqu 5?urݾ u-= }?9ux>uǺ: uY:)qWWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C*CRCCCIG>I ) ،,( b3fFAY}66@}6&@y}6F3}6^V}6Hy??WK?@}f w?)~66@ ~6a;I~4ɫ99)9 9I9Y}?y}tF܁MT=YQU>a!Hy}>I : 5? :ݾ Ω= ?9D>}G; _3;)w:WWX XWX:W2W*WVbUBU*UUU`_+ @RB*** querying acoustic contact ***PPBYBY BYAeɅ*BaAaAaAiAi"C*CRCCC׉IG>9IpFiM?km; 5E= 9 9 =  = @:Y9 y9 = 35)= ;Hތ,}{3fFAY}R.6@}RHJ&@y}R35B}Rq1}RH z?@??0bu!?`aem?)~R.6@ ~R"a;I~RCɫ) IY5v?y5bF=Z****** received transponder code query ******=F****** received ping request ******=a!HyV} >I 5?ݾ ܨ= ?9>: @:)W9W9XA XAWAXA:WA2WI*WIVIbUIBUI*UQUQUU`#!@BB BAЅ*BAAAA"C*CRCCCyIG_>0匙,r•3fFAY}6W5@}6%@y}6fV}6U;}6Hz@+?i?E@w7֚?~?@L?)~6W5@ ~6_;I~4ɫ99)9 9I9Y?yFɮp=xDUSBL response received:!U1,P 80,80,63,E4 E,189,80,80,B6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ]8<Me=Yu4{QU} ?a!Hyfؼ}?I  : 5? M:{ݾ u= U?9Z>i== A;=)x:WW!X! X!W!X):W)2W)*W)V)bU1BU1*U1U1U=!@BB BA*BAAAA"C*CRCCC׹IGk> i 4=    0  o:Y y  69 @ 9 I Fi ? = 0m; k5EZ댙,Ԟ3fFAY}6]+5@}6F%@y}6~k}6}6H@h@ %G??`Dd¿B=?~y&$?)~6]+5@ ~6];I~6Cɫ99)9 9I9Y}!?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 0 MH=Y#TQU>a!HHyb}>Iȡť 5?ťHݾ ƥD= ?9ƥ>ǥ: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUUV"@BB BA%*BA!A!A!A!"C)*C)RC)C)C1)I1GU>_C,~3fFAY}Fb4@}F$@y}F8񀾙}FSz}FH `H?%?ݪǿ`Y?H?)~Fb4@ ~F\\;I~FCɫqy)y yIyY?y?FxDUSBL response received:!U1,R,262,000,002BC,188,80,80,BD,FF Fpublishing direction and range info{Fɰ`e=鰽> )=CIy@mJw?>#=ٱI)I)= e e e e@ m@ m@aaaiaa a)aIaia)MJ=YXQU>11a5!H11y=}=>Iq }:u 5? :uݾ u_= ?9uS>uY; u;)uy:WWX XWX:W2W*WVbUBU*U!U)U-}#@R=(Combining 5 samples.P9*Q=@ZQ=[@yEJQ=mJw?>#=2Q={F:Q9bQ=*/Ra@hў?RQ=M1,ۿ*?#wD;S?BQ=@ Q= {@Q=P=O9?P=I9?P=Q=Q=z8@"Q=@BB BA*BAAAA"C*CRCCCיIGA>       5:Y y  66l,S3fFAɫ) IY5K?y5ҋFTNmea in: $SNTTA,0.061918,,,,224430.74*47 TMC=YQU>a!Hy} >Ișŝ 5?ŝۄݾ Ɲy= ?9Ɲ>ǝn: ȝ8:)șmqAdded new target pos. range: 4.500001 m, bearing: 115.971968 deg, deltaT: 9.746630 s, approachRate: -0.012312 m/s, LOS rate: 0.174525 deg/s, posRepo size: 4XW@WX XWX:W2W*WVbUBU*UU@@U2?BB BAۆ*BAA!A!A!"C-@RC)C-@C1u>9qIuXFiu?qqqul; u:5E!I1Gm5>I ) @AL,\;3fFAY}%4@}%R$@y}%{}%|1׽}%H'@`?`9?,Ϳ p8?ܹ^?)~%4@ ~%a;I~%Cɫ) IY5b?y5F~jtx?%C̿;Zd )IyL7A`堿~jt~jt+D ¥DA)¥zPAI¥C/Ai¥qAMA    @ @ @ i? )Ii ?5, M57=Y5P=QU5>99a=!H9AyEq}E>II U:M' 5? ]:Mݾ Mˑ= ]?9M8?M: M:)Mz:WyWX XWX:W2W*WVbUBU*UUU;?BB BAU*BAAAA"C@RCCC׹IGG> 0 { {  7:Y #R1y : F6~, 4fFAY}6Z]3@}6x#@y}6됾}6Dv}6Hӓ@% q??J %-ʿ?`s@ѫ?)~6Z]3@ ~6qq`;I~6Cɫ99)9 9I9Y}+?y}Fi%nGIaiܼMh=ٺAY1QU>a!Hy}>I 5?ݾ |= ?9?: g:)W W X XWX:W2W*WVbUBU*UU!U%?BIBQ BQAU*BQAQAQAYAY"CY*CaRCaCaCaIIQGu>i 9i Im xFim ?m =m BDi m *l; m 4E)Ii==[4 ,04fFAY}62@}6b"@y}6䂙}6fl}6H OW_?e&? $I˿`?:}?)~62@ ~6^;I~6Cɫ99)9 9I9Y}^?y}@F]A6=MS=Y3QU>!!a%!H!!y-}->IAE 5?Eݾ EQ= ]?9E?ERQ; EY;)AWWX XWX!:W!2W!*W)V)bU)BUQ*UQUYU]Se?BB BA*BA A A A "C*CRCCC!!IIGm5> =i p= .  ~ ~   }7:Y T1y @: 5) “;9 o,HJ4fFAY}6;a2@}6|"@y}6P}6idS}6H7 Q?iiam!Hiqyu6}u>Iy :} 5? :}-ݾ }#= ?9}?}-: }:)}{:WWX XWX:W2W*WVbUBU*UUU@g?BBi BiAu*BqAqAqAqAq"Cy*CyRCCCiIqG>R,kd4fFAY}:;2@}:fW"@y}:H}:~cʽ}:H @7@R?`>?@ п`w?`X+?)~:;2@ ~:\;I~:Cɫ99)9 9I9Y}?y}FI)UM]K=Y]QUe>iiam!Hiyyf}>Iȑŕ 5?ŕ@ݾ ƕ< ?9ƕ ?Ǖ: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU @B1B9 B9AE*BAAIAIAIAI"CQ*CYRCYCYCa9IНFiE@=j; '4E!I1GM1>M | M zM zM  M =:YM Q1yM :M 5)M "; ,~4fFAY}b)2@}bE"@y}b}b7q}bH`)&?K?@XV 4ҿ@6?`T?)~b)2@ ~bCf`;I~bCɫ髑) IYq?y`F rh-ƿ~jthC ?5 D)Iyl:vMb?Լ< DA)MVAI+AiAQA)= =  % % %@ %@ %@!!!i!! !)!I!i!5,M5==Y5%99a=!H9AyM)}M>IQ ]:U 5? ]:UKݾ Uv< ]?9U?UN: U:)U|:WWX XWX:W2W*WVbUBU*UUUu@RB*** querying acoustic contact ***PPBABA BAAM*BIAIAIAIAI"CQ*CQRCYCYCYYIiG:>I AA) V%,Q4fFAY}61@}6m!@y}6o6}6ӽ}6H |x"?}?@tۼп?C?)~61@ ~6La;I~4ɫ99)9 9I9Y}?y}FZ****** received transponder code query ******F****** received ping request ******a!Hy}>I   5? Sݾ < ?9 $? ; ;) WAWAXA XAWIXI:WI2WI*WIVQbUQBUQ*UYUYU] y\ @BB BAMlj*BQAQAQAQAY"CY*CaRCaCaCIG$> a  | |   cd:Y R1y i: i59 @) 9- ۔CI- Fi- @) ) ) - li; - j3E+,E.4fFAY}61@}6d$!@y}6}6h~}6H˪(@!??]Ϳ ?r.T?)~61@ ~6j^;I~6Cɫ99)9 9I9Y}a!HHyҼ}>I) ]:- 5? e:-]ݾ -< m?9-Q?-< -<)-}:WW!X! X!W!Xi:Wi2Wy*WyVbUBU*UUU _4 @BB B!A-*B)A1A9A9Aa"Cq*CyRCCCבIG>b2,:4fFAY}6 1@}6'!@y}6"}67}6H gD?`F?qп ?XV@/?)~6 1@ ~6Eh];I~6CɫYY)Y YIYY ?y FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B !! m m m m@ m@ m@iiiiii i)iIiii=Q"ME<=YEټQUE>IQaU!HQYyew9}e>IimM 5?mhݾ m< }?9m'?m?; m;)iWWX XWX:W2W*WVbUBU*UUU@@BB BA+*BAAAA"C*CRCCCIIYG> =i = : w w   $:Y O1y P: 5 9,4fFAY}6 41@}6O!@y}6}6b}6H`CkQ?@?@aʿ|?`ߕ 3?)~6 41@ ~6\;I~6Cɫ11)1 1I9Yu?yuNFjMc=YMQU>a!Hy;}>I 5?mݾ <  ?9[#?: :)W1W1X1 X1W1X1:W12W9*W9V9bU9BUA*UAUAUEH@BqBq BqAu*BqAyAyAyAy"C*CRCCCׁIܵ>9ܱIܱiܱܵ=ܱܱܵh; ݵ3EG=4?,4fFAY}zc0@}z @y}zج}z+=}zH v??@Ŀ`? @?B?)~zc0@ ~z$Z];I~zCɫ) IY-?y-F=TNmea in: $SNTTA,,0.421814,,,224435.17*4A IA)A"~j rhy&1?SC `e=)IyCl绿:v~jt;߽T =FA)YAI+AiASA m m u u@ u@ u@qqqiqq q)qIqiq M'=Y5^a!HyD}>Iȹ :Ž> 5? :Žݾ ƽ ?9ƽ/?ǽ|; Ƚ;)Ƚ~:W1W9X9 X9W9XA:WA2WA*WIVIbUIBUI*UQUQUU:@BB BA *BAAAA"C*CRCCCIGm>  { { ).:Y #R1y : mF,J5fFAY}6=/@}6 @y}6 }6 =}6H/]@5? 2?uĿ??d?)~6=/@ ~6wc;I~6CɫYY)Y YIYY?yƄF =M=YO)=QU?a!Hy?}?Iz 5?ݾ  ?9|7?9: :)W WX XWX:W2W*WVbU!BU!*U!U!U% л@BQB BA*BAAAA"C*CRCCCIG>ܱ 9ܵ ܔCIܵ @Fiܵ ?ܵ =ܵ ADܱ ܵ g; ݵ 2EI @A) AADL,t35fFAY}6y-/@}6I@y}6}6}6H 0Pۿ?@~?Mɿګ?dɒ q?)~6y-/@ ~6J`;I~4ɫYY)Y YIYY?yڂFmsMG=Y(#a!H y ߼} >I :t 5? %:ݾ c" %?9A?|: :):WAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU]`@ReB*** querying acoustic contact ***PaPaBB BA*BAAAA"C*CRCCCױIG>   x x   5:Y 7P1y : !5.S,XM5fFAY}2v/@}2@y}2d}2ͽ}2H`8 ^?Y?" .ѿK?`b";?)~2v/@ ~23^;I~2Cɫ19)9 9I9Yu 鿉 = = = =@ =@ =@999i99 9)9I9i9M <MME=YUMQUU>QQa]!HYYye.<}e>Iim 5?mωݾ mx u?9mhL?m: m:)iWWX XWX:W2W*WVbUBU*UUU @BB BA_*BAAAA"C*CRCCCIG>iIi=ٺ9=AVY,*g5fFA|i|@Y}60@}6. @y}6"}6}6H@c@i?@?~ӿd?N¿@?)~60@ ~6];I~6Cɫ99)9 9I9Y}?y}ڂF‘•^A.MV=YQU>a!Hy<}>Iȹ :ŽU 5? :Ž̊ݾ ƽ ?9ƽ V?ǽ: Ƚ$:)Ƚ:WWX XWX:W2W*WVbUBU*UUU@f@BB BA*BAAAA"C*CRCCCm>9iImFim1?iiim1g; m>2E)Ii5IG% > i a=  } }   2:Y kS1y Ԋ: 5) Տ;9% o>`,5fFAY}2[0@}2}w @y}2}2O}2HL`x+?}?Aҿ?@5?)~2[0@ ~2b];I~2CɫYY)Y YIYY?yZF=y&1?V-Mb?=`e==h ==)9I9y=i|?5{Gz=q=#=̼ =9FA)=WAI=,Ai=A9=TAUrMU?=Y]>Yaae!Haaym*<}m>IϬ 5?ݾ Ž ?9]?: :)W1W1X1 X9W9X9:W92W9*WAVAbUABUA*UAUIUM`X@ByB BA*BAAAA"C*CRCCCשIG*>hf,5fFAY}2/@}2G @y}2RԖ}2l}2H@?OP?:̿`?寿x?)~2/@ ~2M`;I~2CɫYY)Y YIYYw?yPF    @ @ @i )Ii <MO=YG=QU>a!H!y%}%>I) 5:-ޮ 5? =:-ݾ - =?9-c?-: -:)-:WYWYXa XaWaXa:Wa2Wa*WiVibUiBUi*UiUqUu }@BB BAP*BAAAA"C*CRCCC?i?IG >Q 9Q IQ iQ U =Q Q U f; U 2E       =:Y T1y : 5) W;l,?Ĵ5fFAY}2 /@}2@y}2 }21`}2H@Q(p?`ec? ǿ5!?M®?)~2 /@ ~2ma;I~0ɫ99)9 9I9Y]>?y]F)}= }=D^=ML=Y>a!HHyb}>I   5? ݾ  ?9 j? $: :) W9W9X9 X9W9X9:W92WA*WAVAbUABUI*UIUIUMs@ByBy ByA}*ByAAAA"C*CRCCC׉IG=I ) ?Azs,c5fFAY}:0@}:7 @y}:H}:t(}:H{bŔ?bW? mYɿ?5 ?)~:0@ ~:^;I~:Cɫ99)9 9I9Y}?y}F<MP=Ya!Hy;}>IȹŽ, 5?Žzݾ ƽj ?9ƽq?ǽ: Ƚ:)ȹWWX XWX:W2W*WVqbUqBUy*UyUyU} @BB BA:*BAAAA"C*CRCCCIG% >  } }   -:Y kS1y Ԋ: 59 @y,`r5fFAY}20@}2 @y}2}2}2H Q^@]J?` ? rN]ο?@?)~20@ ~2e];I~2CɫYY)Y YIYYi>    @ @ @i )Ii 9=MC=YEa!H!y%<}%>I) 5:- 5? =:-`ݾ -! =?9-x?-1: -:)-:WWX XWX:W2W*WVbUBU*U>9Ii=oe; P1EUU@ @R%B*** querying acoustic contact ***P!P!BaBi BiA*BAAAA"C*CRCCCסIG >,{M6fFA|i|@Y}6V1@}6q!@y}6U}6L}6HR!L]?e?7GF̿4?Ŀ?)~6V1@ ~6\;I~6CɫQQ)Q QIQYy=Mb@Mb@Mb@== =)=I9y=Q?l?~jtx=<===Ļ =IA)=OQAI=,Ai=h{A9=PAQQY]aaae!Haiym<}m>Iqu 5?uݾ uf! ?9u/}?u#: u+:)qWWX XWX:W2W*WVQbUQBUQ*UYUYU]ݷ!@BB BA*BAAAA"C*CRCCC  IGE/> "  z z   6:Y Q1y : 5,(6fFAY}61@}6u.!@y}6Ъ}6}6H@/?@ ?`ſ?`G@4?)~61@ ~6>$\;I~6Cɫ99)9 9I9Y?yF5Setting waiting for range response to false due to timeout. Elapsed:6.081885uˋ<Muya!Hy$}>Iȑ :ŕG 5? :ŕݾ ƕ ?9ƕ?Ǖ: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU~"@BB BA,*B A A A A"C*CRCCC!I1GM1>>9I Fi?d; 0E,66fFAY}:0@}: @y}: }:nI}:H`? n3?`mDȿR?2V ?)~:0@ ~:_;I~8ɫ99)9 9I9Y}0?y}KF    @ @ @ÙÙÙiÙÙ ę)ęIęię<MG=Y;QU>a!Hyb}>I 5?0ݾ  ?9?: n:)WWX X!W!X!:W!2W!*W)V)bU)BU)*U1U1U5R#@BYBa BaAe*BaAiAAA"C)*C1RC1C9Ci?i?IG J>   { { w  a4:Y #R1y : "5ȓ,O6fFAY}2i1@}2#!@y}2y}2}2H@j+6 d?@?l:$̿?O`=?)~2i1@ ~2M_;I~2CɫYY)Y YIYYQ?yˆF)õ= ñ    @ @ @i )Ii`MT=Y!!a%!H!)y-Z<}->I1 =:5& 5? =:5mݾ 5|! E?95?5: 5A:)5:WWX XWX:W2W*WVbUBU*UUU$@BaBa BaAe*BaAiAiAiA"C*CRCCCׁIG>򙍙,Mi6fFAɫyy)y yIyYo?yԈFE;MN=YQU>a!Hy}>I 5?ݾ 2"  ?9l?w: 8:)W)W)X) X)W1X1:W12W9*W9V9bU9BU9*UAUAUE`$@BiBq BqAu*BqAyAyAyAy"C*CRCCCܙ9ܙIܝFiܝ1?ܝ=ܙܙܝ d; ݝ0E IGE>5 A 5 y5 y5  5 @v:Y5 P1y5 ':5 5)5 ;9U >ܠ,Û6fFAY}22@}2H0"@y}2e}2vͽ}2H \ R߿?b?`ϼ@[ʿv?` ?)~22@ ~2z];I~0ɫ99)9 9I9Yu?y}0F=iC= 鿑a i@a  a m@a  a q@a  a e@a     @ @ @i )Ii&<M8=Yh=QU>!!a-!H)y=}>Iȹ :Žɫ 5? :Žݾ ƽ# ?9ƽ@?ǽ: Ƚ>)Ƚ:WW X  X W X :W 2W*WVbUBU*UUU%@BB BA*BAAAA"C*CRCCC׹I=$6Beginning ground fault scanGE>i I i ٺ A,ep6fFAɫ髙) IY?yF%=M%[=Y%QU->))a-!H)1y=}=>IAEd 5?E7ݾ E$ M?9En?ES: EYQ?)AWiWiXi XqWqXq:Wq2Wy*WyVybUyBU*UUU΂&@RB*** querying acoustic contact ***PPBB BĂ*BAAAA"C*CRCCC IG]>ٕ<ّnGround Fault scan is active; will mark data as invalid.!@! !@! !@! ܙ9ܙIܙiܙܙܝܝ!@! ܝ ݝ 0E =i p=  ~ ~   A:Y T1y @: 59% @G/,L6fFAY}61@}6_;I~6Cɫ99)9 9I9Y]!?y]FeZ****** received transponder code query ******eF****** received ping request ******ea!HHy蔼}>Iۨ 5?}ݾ $ ?9ُ?: ?)WAWAXA XAWAXA:WI2WI*WIVIbUQBU*UUUKX'@BB  B A %*B AAAA"C*CRCCC!IG-->,&6fFAɫ髙) IY?yFxDUSBL response received:!U1,P 262,000,002BC,188,80,80,BD,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I%C=)%%= M M M M@ M@ M@IIIiII I)IIIiIM=YQU>a!Hy}>Iæ 5?݌ݾ $ %?9$?; 2?)WWX XWX:W2W*WVbUBU*U!U!U-Zn(@BB BĂ*BAAAA"C*CRCC!C!5?i5? I G5 >  z z   !:Y Q1y : i5@,6fFAY}6WS2@}6n"@y}63K}6}6H`5?q?Ϳ@;?@҂¿_?)~6WS2@ ~6Ԫ_;I~4ɫYY)Y YIYY?y-FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B EnGround Fault scan is active; will mark data as invalid. =>99I=XFi=?9999 =^/EU<MU=Y=QU?a!Hy=}?I   5? ݾ & 5?9 ? b; @) WyWyXy XyWyXy:W2W*WVbUBU*UUU)@BB BA*BAAAA"C*C)RC)C)C1 IG>I AA) @A(,7fFAɫyy)y yIyY|?yRFxDUSBL response received:!U1,R,292,000,002BB,189,80,80,BF,FF Fpublishing direction and range infoɰ e=7> )?CIy@vJy*?#@caٱdNmea in: $SNTTA,0.033715,0.175637,,,224443.67*5A a i]a ie a mea me a qea qe a eea ee eʡE?K7ɿI +?e-2>eI e94<)eIeyeV-Mb`L7A`?emee+= e^BA)aIeC/Aie=jAae\KA % % % %@ %@ %@!!!i!! !)!I!i!MjMM.=YUQUU>QYa]!HYYye}e>Iȱ :ŵ 5? :ŵ ݾ Ƶ ?9Ƶ?ǵ; ȵ;)ȵ:W9W9XI XIWIXI:WI2WQ*WQVQbUYBUY*UUU)@R(Combining 5 samples.P*Q@ZQ? @zb&KJQvJy*?#@ca2Q:QbQ~ߎ@*V?RQ^{׿uBP?0=?BQ,? Q@Qv̿PQ9?PO9?PQQ6@"Qz8@BiBi BqAu*BqAAAA"C*CRCCCבIG> q      ?:Y w1y : 6RǍ,07fFAY}2l2@}2r"@y}2+}2= }2HBI??A`]_?U(O?)~2l2@ ~2O\;I~2Cɫ99)9 9I9Y}?y}F=Mw=Yh=QU?!!a%!H!)y-6;}-?I15 5?5ݾ 5H E?95V?5Y: 5:)1mmyAdded new target pos. range: 4.440000 m, bearing: 111.776729 deg, deltaT: 12.981523 s, approachRate: -0.004622 m/s, LOS rate: -0.323170 deg/s, posRepo size: 4XqWu,?WqXq XyWyXy:Wy2Wy*WVbUBU*UU`@U ?BB BA*BAAAA"C!@RCC,?CI)]AIG>15\A=nGround Fault scan is active; will mark data as invalid. 999I=Fi=a?9999 =.E}͍,87fFAY}:y2@}:,"@y}: 2(}:qڼ}:H` r?:?.@$`?ڎ?)~:y2@ ~:\;I~:Cɫ99)9 9IAY}?y}F‘•]AN<M;=Y9a!H!y%S}->IQ U:U۪ 5? ]:Uݾ U ]?9Uݞ?U9: U:)U:WWX XWX:W2W*WVbUBU*UUU?BIBI BIAM*BIAQAQAQAQ"C];:?RCYCYCaAIQG> i  "  y y   6:Y P1y ': 6dԍ,nR7fFAY}61@}6g "@y}6%}6ٽ}6H9+?R?ƿƥ?{`_g?)~61@ ~6P`;I~6Cɫ99)9 9I9Y}?y}}F 5 5 5 e@ e@ e@111i11 1)1I1i1uŐMuU=Y};QU}>yya}!Hy}>Iȑŕw 5?ŕVݾ ƕ ?9ƕ?Ǖӻ: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU@?BB BAŅ*B A A A A "C?RCCC)I1G>ڍ,Il7fFAY}2s>2@}2Y"@y}2Z}2`Խ}2H 9`$1??* ƿ?. r?)~2s>2@ ~2I`;I~0ɫ99)9 9I9Y}?y}ьFnGround Fault scan is active; will mark data as invalid. 9IȖFi?  .E5[M=N=Y=AAaE!HAIyMEA<}M>IQ ]:U' 5? ]:U(ݾ Un e?9U?U: U:)U:WWX XWX:W2W*WVbUIBUQ*UQUQUU@.?BB BAs*BAAAA"C C?*CRCCC ?i ?IGe4>      I:Y y  46Fwፙ,&7fFAɫyy)y yIY?yGF#~j|?5^ѿ㥽ҍ ̼)I@yL7A`堿{GzQ?+#u= ­?A)©I­h3Ai­bAIA) >  > } }  @ @ @ÁÁÁiÁÁ ā)āIāiāV<M6=YQU>a!Hy}>Iȱŵ 5?ŵݾ Ƶ ?9Ƶ}?ǵ: ȵ0:)ȱWWX XWX:W2W*WVbUBU*UUU 4P?BB! B!A%C*B!A)A)A)A)"C5,?*C1RC1C1C9AIIG>I @A) 獙,7fFAY}:T2@}:*"@y}:8 }:v;}:HB AdW?? G@y? "r?AAaE"HEHAyM}M>IQU 5?Uݾ U ]?9Um?U0: Uض:)QWWX XWX:W2W*WVbUBU*UUUH@BB BA*BAAAA"C*CRCCCשIG><nGround Fault scan is active; will mark data as invalid. >9I8Fi? -E  v v   Y:Y N1y : =6Q퍙,j۹7fFAY}21@}2)!@y}2w+ }2)}2Hh@~`yo?K? `@pw?}`&?)~21@ ~2\;I~2Cɫ99)9 9I9Y}:?y}>F鮅p=ɮMU=Y.9QU>a"Hy}>Iȹ :Ž 5? :ŽSݾ ƽT ?9ƽ?ǽ[: ȽE:)Ƚ:WWX XWX:W2W*WVbUBU*UUU4@R B*** querying acoustic contact ***P P BB BA߅*BAAAA"C*CRCCCI)IG>,7fFAY}6W[1@}6v!@y}6}6}6Hv@F?`?@`j?Pl'?)~6W[1@ ~6>^;I~6Cɫyy)y yIyY\?yFZ****** received transponder code query ******F****** received ping request ******AIaM"HIQyUV}U>IY]i 5?]Ғݾ ]ټ m?9]?]: ]^:)YWWX XWX:W2W*WVbUBU*UUU``D @iUnGIiiGٺABB BA*BAAAA"C*CRCCCIG> i = \ z z   &:Y Q1y : 25,7fFAY}6H1@}6!@y}63q}6v}}6H`*n?)?`@eƿ`?&н@2u?)~6H1@ ~6Qb;I~4ɫ99)9 9I9nGround Fault scan is active; will mark data as invalid. ܁9܁I܅Fi܅?܁܁܁܁ ݅,EY?y +FxDUSBL response received:!U1,P 292,000,002BB,189,80,80,BF,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 }W~<MX=Y֜QU>a"HyU<}]>Iȱ :ŵ 5? :ŵQݾ Ƶxf ?9Ƶ ?ǵ< ȵ. <)ȵ:WWX XWX:W2W*WVbUBU*U!U)U5+ @BB BA*BAAAA"C*CRCCC]?i]?) I1 GU >,o8fFAY}B,^2@}By"@y}B}Bվ}BH`! [h[?!?Iÿ ? @E?)~B,^2@ ~Bښ_;I~@ɫYY)Y YIYY?y"FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Gz?^I +׿Q? p=> X <) I y MbV-?  <  @A) JAI 5Ai \A  \GA%銺M%@=Y-;QU->11a5"H19y=<}=>IAEҵ 5?Eݾ Ew U?9E?E: E:)AWqWqXq XyWyXy:Wy2Wy*WVbUBU*UUU-@BQBY BYA]*BYAYAYAYAa"C*CRCCCaIiG:>  y y   /:Y P1y ': 5,kJ!8fFAY}62@}6"@y}6}6Ŕ[}6H`!0f6b??@Ax@ ?`0 O?)~62@ ~6l];I~6CɫYY)Y YIYYI?yGFxDUSBL response received:!U1,R,28E,000,002B9,189,80,80,C5,FF Fpublishing direction and range infoɰdd=鰙 )ECIy=@?t ?`Iٱ)å= å= E E E M@ M@ M@IIIiII I)IIIiI};M}E=Y}fa"HyJ<}>Iȑ :ŕ 5? :ŕݾ ƕG ?9ƕE?Ǖ: ȕ^:)ȕ:WWX XWX:W2W*WVbUBU*UUU/@R-(Combining 5 samples.P)*Q-=@ZQ-z% @uSJQ-?t ?`I2Q-:Q)bQ-a4YK@"Yv?RQ-G8܏eؿ=vh=?"D?BQ-A? Q-|@Q-ҿP)P-Q9?P-Q)Q-@"Q-6@BB BAۅ*BAAAA"C*CRCCCסIGA>qu]AnGround Fault scan is active; will mark data as invalid. y9yI}Fi}?yyyy },EI ) q,#;8fFAY}JH2@}J0"@y}J* }J}JHH 1W䲸??`;6x@i%?@( ?)~JH2@ ~Jl\;I~JCɫ髹) IY?y؏F]TNmea in: $SNTTA,,0.033536,,,224448.11*4C P=MQ=Y7QU>a"H!y%v}%>I)-= 5?-Uݾ -{ =?9-?-: -ϸ:))meqAdded new target pos. range: 4.319999 m, bearing: 112.645891 deg, deltaT: 4.388533 s, approachRate: -0.027344 m/s, LOS rate: 0.198053 deg/s, posRepo size: 4XiWmA?WiXi XqWqXq:Wq2Wq*WyVybUyBUy*UyUG@Uo?BB BA8*BAAAA"CA?RCCA?CI)סIG{> 4  w w   7:Y O1y P: 5E, T8fFAY}2u1@}2 "@y}2r}2}2Hip5(? ?X"@^)x?`3 %?)~2u1@ ~2W[;I~2Cɫii)i iIqY&?yDFM&=MM8=YMQUU>QQaU"HQYy]N}e>Ii m:m 5? u:m՘ݾ m u?9m?m: m:)m:WWX XWX:W2W*W!V!bU!BU)*U)U)U-?ByBy ByA}*ByAAAA"C*CRCCCyIGa>Q+,n8fFAY}:6>2@}:Y"@y}:g$&}:K}:H`恴?4?`ſ@A?@1Dr?)~:6>2@ ~:n"a;I~:C-nGround Fault scan is active; will mark data as invalid. !9!I%pFi%M?!!!! %+Eɫ99)9 9I9Y}?y}؏FII    @ @ @i )IifOMe=Y*QU>a"Hya<}>I 5?ݾ ̼ ?9?ض: :)WIWIXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UYUYUe@?BqBy ByA8*BAAAA"C!*C)RC)C1C9ׁIG`> =i = 3  } }   7:Y kS1y Ԋ: 6",ع8fFAɫ!!)! )I)YeT?yeFu~jt?L7A`堿~jtu=u+ uD)qIqyu~jtx?Q?I +u;u!!a-"H))y5}5>I9 E:= 5? E:=ݾ =] E?9=?=: =:)=:WiWiXi XiWiXi:Wq2Wq*WqVqbUyBUy*UyUyU`m?BB BA*BAAAA"C*CRCCC?i?IG >M=(, 8fFAY}2 3@}2'#@y}29Q}2}2H@d>6=@ϩ?@?Oȿ W?@AZ?)~2 3@ ~2Ͼ^;I~2CɫII)I IIIY}?y}WFI)+=M=Y7=QU$?!!a%"H%H)y-<=}-$?I15 5?5ǚݾ 52 E?95?5: 5ӻ:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UyUyU}m?BB BA*BAAA)A)"C1*C9RC9C9C9)I1G>%nGround Fault scan is active; will mark data as invalid. !9!I%Fi%?!!!! %M+E  z z   *:Y Q1y : 35g.,Hk8fFAY}Ry2@}R"@y}R}R}RH nL,? ?"@Iÿ>_?8 ?)~Ry2@ ~R'<];I~RCɫ髹) IY?yF    @ @ @ éééií ?é ĭ?)ĭ?Iĭp?iĭ ?ߓ<M@=Y}QU>a"Hy}>I2 5?5ݾ Z ?9i?: :)WWX XWX:W2W*WVbUBU*UUU>@B B  B A ń*BAAAA"C*CRCCC!AIIGm5>I ) UO5,tE8fFAY}>2@}>"@y}>b'}>˛}>H @\@N??]`eÿ ? #26{?)~>2@ ~>+\;I~>CɫYY)Y YIYY?yF鮡ɮ<M\=Y2QU>a"HyQ}>IQ ]:Ui 5? e:Uݾ UC e?9U?UA: U+:)U:WWX XWX:W2W*WVbUBU*UUU &6@RB*** querying acoustic contact ***PPBB BA{*BAAAA"C*CRCCCI^A)IG5 > *  u u   ,7:Y KN1y y: 6y;, "8fFAY}22@}2x#@y}261}2n{}2H!$?۠?`I¿ ?` ^v?)~22@ ~2 $];I~2CfnGround Fault scan is active; will mark data as invalid. `9`IbXFib?```` b*Eɫ99)9 9I9Y]~?y]{FeZ****** received transponder code query ******eF****** received ping request ******e!!a%"H))y-<}5>IȁŅ 5?Ņݾ ƅo ?9ƅ{?Dž; ȅs;)ȁWWX XWX:W 2Wq*WyVybUBU*UUU@r @BB BA%*B)A)A)A)A)"C1*C1RC1C9C9AIiGU >cB, 9fFAɫ髑) IY?yđFxDUSBL response received:!U1,P 28E,000,002B9,189,80,80,C5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 :v?jtĿV-< )Iy~jth?{Gz~jth?D;ףD;  ?A)OQAI1AiaAHA    @ @ @ @i )Ii-;M-=Y-QU5>11a5"HYaym}u>Iȁ :Ņ 5? :Ņ{ݾ ƅM ?9ƅ?Dž5< ȅx4<)ȅ:WIWIXq XWX:W2W*WVbUBU*UUUU@BIi}nGIBi 5 ٺ1 5 OA Ba Ae p*Ba Ai Ai Ai Ai "Cq *Cq RCq Cq Cy ׍ ?i׍ ? i = 0  ~ ~   7:Y T1y @: 6A II Gm >sH,#9fFAY}63@}6y!#@y}6,}6b}6H*0? ?@{ Իx?H?)~63@ ~6@_;I~6Cɫ99)9 9I9Y}?y}qFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }<M}=Y}nGround Fault scan is active; will mark data as invalid. 9I Fi? )E*N,=9fFAY}Ul2@}U"@y}UJ61}Ul}UH@ 8 ־??G x ?*L?)~Ul2@ ~UX];I~UCɫ)))1 1I1Y?yUFxDUSBL response received:!U1,R,27C,000,002B9,189,80,80,C1,FF Fpublishing direction and range inforɰ鰩 )ACIyq!R2?rٱI)Ia=)=    @ @ @i )Ii-OM5?=Y5{,QU5>99a="H99yE}E>II U:M 5? U:Mƚݾ Ms ]?9M?M0: M:)M:WWX XWX:W2W*WVbUBU*UUU @R(Combining 5 samples.P*QZQɸN_ @Ŀ*6JQq!R2?r2Qr:QbQ"V ԁH@i?RQZmٿ.b?SYF?BQE? QDz@QHؿPPPQQ$@"Q@BB BA5*BAAAA"C*CRCCC׹IGU> 3 { {  7:Y #R1y : 5nU,W9fFAY}bQ2@}b"@y}bk;}b}bH@I vl?@?J@hʿ@eY?Կ5?)~bQ2@ ~b}\;I~bCvJFailed to close latch before timeout.q vvHardware FaultY~G?yFTNmea in: $SNTTA,0.030213,,,,224452.55*44 U]M]Z=Y]QU]>aaae"Haiym*;}m>Iȑŕַ 5?ŕhݾ ƕт ?9ƕ?Ǖ4: ȕ:)ȑm mAdded new target pos. range: 4.319999 m, bearing: 113.369344 deg, deltaT: 4.432311 s, approachRate: 0.000000 m/s, LOS rate: 0.163223 deg/s, posRepo size: 4XWE?WX XWX:W2W*WVbU!BU!*U!U!U-q?BB BA܄*BAAAA"CE?RCCE?CI-$%@Hardware Fault in component: DDM-0Ķ-Ƿ -¶)-hI-2i-93-k4- 6-6=$EmNo ground fault detected mA: CHAN A0 (Batt): -0.005847 CHAN A1 (24V): -0.023785 CHAN A2 (12V): -0.005784 CHAN A3 (5V): -0.001836 CHAN B0 (3.3V): 0.000020 CHAN B1 (3.15aV): 0.000099 CHAN B2 (3.15bV): 0.000219 CHAN B3 (GND): 0.002069 OPEN: 0.006692 Full Scale Calc: 4.765 mA, -1.589 mAEGM1>I ) ?A*[,nq9fFA!6!: !:!: !:!: 090I2Fi21?02AD2=D!>!> 2V; 2t)E)C:IC:iC:K:=K:=K:ɖ4Y}JX3@}Jqt#@y}J>:}JeB}JHz1 TR!?r?@o`Zп'? tǿ@ ?)~JX3@ ~J6Y\;I~HRPowering downPɪP)P PY?yF=BM3=Y ^;QU>a%"H!1y=<}M>IY]1 5?]ݾ ]x u?9]?]F; ]6-;)YWWX XWX:W2W*WVbUBU*UUU`?BB BA*BAAAA"C1*CYRCaCaCqבIG>  } } 4  q:Y kS1y Ԋ: O 6) ;9 xb,tC9fFAY}63@}6?#@y}6?\.}6}6H[@z?P?ʿ?`ph,9fFAY}2q3@}2#@y}2J$}2[}2H@P1@?@Xx?x6?`Q?)~2q3@ ~2N}g;I~2CYN,?yRF}ת<M}Q=YBa"HHy}L}>IșŝO 5?ŝΙݾ Ɲgb ?9Ɲ{?ǝ: ȝ:)șWWX XWX:W2W*WVbUBU*UUU?B B  B A "*B AAAA"C*CRCC!C!I!$5NClearing failed state for component DDMq 5GE=Y]4=a9aIexFie?e=aea"Hy}}>I :! 5? :ݾ ]Z ?9B?: :):W!W)X) X)W)X):W12W1*W1V1bU1BU9*U9U9U=@?BaBi BiAm܃*BiAqAqAqAq"Cy*CyRCyCyCiIqG=u,9fFAY}:(2@}:"@y}: *}:dؼ}:H)=?`?2\y6? ߋ?)~:(2@ ~:c;I~:CYR?yRFI|)|I =) =M=U=YEqQUE>AIaM"HIIyUe}U>IY]; 5?]ݾ ]"R e?9]?]˵: ]÷:)YWWX XWX:W2W*WVbUBU*UUU@BB BAK*BAAAA"C*CRCCCiIyG=      -:Y y  "69 @1|,ɭ9fFA9IFiv?=/T; -(EY}B2@}B#@y}B;^,}BŽ}BHk&@>?@?`6@h"ƿq?`? f?)~B2@ ~B|`;I~BCYNC?yRVFPɮP]ǼMeH=YmQUm>qqau"Hqyy}q*<}}>Iȁ :Ņ 5? :Ņݾ ƅE ?9ƅ?Dž: ȅ:)ȅ:WWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA*B!A)AQAQAY"Ci*CRCCCIGU2>, :fFAY}253@}2rQ#@y}2#}2R> }2HB25? N?1 ɿ`M?n`wK?)~253@ ~2^;I~2CYN?yRFRZ****** received transponder code query ******VF****** received ping request ******V))a-"H)1y5 <}=>I9= 5?=cݾ =9 M?9=h?=: =:)9WiWqXq XqWqXq:Wq2Wy*WyVybUyBUy*UUU@" @BB BA*BAAAA"C*CRCCCסIG"> G { {   %:Y #R1y : 5',bf&:fFAY}22@}2:#@y}2v}2}2H @@m;=?α?v ǿ ˝? @e?)~22@ ~2͵];I~2CYN?yRWFVxDUSBL response received:!U1,P 27C,000,002B9,189,80,80,C1,FF VCommand AckVBRequesting micromodem ping code 2iTTZ4=iZ4=^Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 tt-ٻM5q=YE=QUM?Yaam"Hiy k}>I 5?ݾ / %?9?: w;)WWX XWX:W2W*W V bUqBUq*UyUyU@q @BB BA*BAAAA"C!*C!RC!C!CI IGE0>!!5>91I5 Fi5?5=115\S; 5'E,B@:fFAY}22@}2"@y}2}2 䲽}2H@+5=<6?@]?`v&`Wÿy?@@)?)~22@ ~2\;I~2CYNR?yR_FPR?AbNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B } } } }@ @ @yyyiyy y)yIyiy=MD=Y.a"Hyq}>Iȩ :ŭi 5? :ŭΛݾ ƭ}# ?9ƭ?ǭ: ȭI:)ȭ:WWX XWX:W2W*WVbUBU*UUU@ByBy BA*BAAAA"C*CRCCC׭?i׭?׉IG= / y y   (#:Y P1y ': |5 :,Z:fFAY}23@}2M7#@y}2W}2}2HH ߵ?`\?Y`?Dů?)~23@ ~2[;I~0YB?yBFFxDUSBL response received:!U1,R,283,000,002BC,189,80,80,B3,FF FFpublishing direction and range infoBȥ@ɰB`e=@ @)B3CI@yB@B88?7Eٱ@ttv=;MzV=i}nmGYe1QU>Iia"HٺAy`P<}>If 5?ݾ  ?9A?; ;)WWX XWX:W2W*WVbUBU*UUU@R (Combining 5 samples.P *Q @ZQ _z@Tm{.(JQ 88?7E2Q ȥ:Q bQ qoZvy`SK@; y?RQ |KMٿED?C?BQ ? Q X@Q P R9?P P Q Q 8#@"Q $@ByB BA*BAAAA"C*CRCCCסIG >) 9) I) i) ) ) ) - R; - r'Ed,s:fFAY}v3@}v=#@y}vO}vV}vH`k`l? e?@OV??)~v3@ ~v][;I~vCY?yFTNmea in: $SNTTA,0.047632,,,,224456.96*48 I)I-a=)-4==M0=YTQU>a"H1y=У<}=>IA :E 5? :E^ݾ E ?9E ?Ec< Ec<)E:m=mAdded new target pos. range: 4.500001 m, bearing: 113.592869 deg, deltaT: 4.418360 s, approachRate: 0.040739 m/s, LOS rate: 0.050590 deg/s, posRepo size: 4XAWe?WX XWX:W2W*WVbUBU*U!U-@@U-X?BB BA*BAAAA"C?*CRCC?CIGj>      B:Y y  +6) ;9- K,Ӎ:fFAY}6p4@}6$@y}6}6-\}6H4ഇ@?? 35¿ڿ? ?)~6p4@ ~65[;I~4YB?yBNFl/$ÿZd;O? j<=)IyZd;O{GztX9v?jף< 5>A)RAI5AipIA = = = =@ =@ =@999i99 9)9I9i9M^MMR=YMDQQa]"HYYyeL=}e>IimY 5?mݾ mü ?9m\?mD< m:<)iW1W1X1 X1W9X9:W92W9*W9VAbUABUA*UAUAUM?BB BA*BAAAA"C*CRCCCI]A)^AIG$>u,::fFAY}6y4@}6$@y}6}6p}6Hέ}5?`? '`?^αJ?)~6y4@ ~6.[;I~6CYB*?yBFJ<M`=Y%s!)a-"H-H)y5[:}5>I :# 5? :ݾ W ?9?: :):WWX XWX:W2W*WVbU BU *U U U `?B9B9 B9A=*BAAAAAAAAA"CI*CIRCICICQI!Gu=<9IFia?Q; &E)9I9i9=====A75  | |   2:Y R1y i: X5) Ï;_,:fFAY}%Q4@}%pm$@y}%}%F}%H'G|G?(?`v?'@?)~%Q4@ ~%[;I~!]Powering up]"Initializing DDM.Y ?y F    @ @ @i )Ii@<M1=YQU>a"Hyӫ}>I 5?4ݾ  i ?9@?: s:)W!W)X XWX:W2W*WVbUBU*UUU `?BYBY BYAe*BAAAA"C*CRCCCיIG@>臶,|d:fFAY}:au4@}:$@y}:˂}:g}:H`hH??rĿ=?4?)~:au4@ ~:)[;I~:CYF?yJ2F  ^A=a};M=i=YEּQUE>AIaU"HQiy};}}>Iȁ :Ņ 5? :Ņwݾ ƅ< ?9ƅ?Dž9: ȅ:)ȅ:WWX XWX:W2W*WVbUBU*UUUڧ?BqBq BqAu*ByAyAyAyAy"C*CRCCCqIyG=  ~ ~   +:Y T1y @: D59 @ 9 I ȖFi ? Q; &E,A:fFAY}B߼4@}Bj$@y}Ba!}B`}BHJp%? ? ǿ ?޼e?)~B߼4@ ~BDZ;I~BCYb?ybFMB=Y]QU>a"Hy%'<}->IAE 5?E˞ݾ E!< ?9E?E< ES<)AWWX XWX:W2W*WVbUBU*UUU Wc@BqBq BqAu*BqAyAyAyAy"C*CRCCCiIqG>Î,;fFAY~g?y~YFa=ɮa=I)))?:v?I +L=< 94)Iy~jthy&1|?{Gz?D`;#< aiam"Hiiyu}u>Iy} 5?}ݾ }< ?9}?}+: }=:)yWWX XWX:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBBQ BQAUԅ*BYAYAYAYAY"Ci*CiRCCC׉IG> z z  _C:Y Q1y : 5Ɏ,(;fFAY}:%5@}:%@y}:"}:}:H ?`S?`Q¿C?`"ر?)~:%5@ ~:7[;I~8Y^?y^FbZ****** received transponder code query ******bF****** received ping request ******bAAaE"HAIyM=}M>IY e:] 5? e:]0ݾ ]< m?9]?]; ]& ;)]:WWX XWX:W2W*WVbUBU*UUU4 @BB BA*BAAAA"C*CRCCCiIyG=ae^Ai9iIiiiiiimOP; m &EI ) @AЎ,$B;fFAY}2Y5@}2Vu%@y}2.*}2ؼ}2H1F?`?N4aF?:?)~2Y5@ ~2֝[;I~2CYNP?yRFVxDUSBL response received:!U1,P 283,000,002BC,189,80,80,B3,FF VCommand AckVBRequesting micromodem ping code 2iTTZNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Mc<MUI=YÞQU>a"Hy }5>IAE 5?Efݾ E= }?9Eg?E; EV;)AWWX XWX:W2W*WVbUBU*UUU`T @BABA BAAEZ*BAAiAiAiAi"Cq*CqRCqCyCyaIG>>  { {  _:Y #R1y : 5֎,q\;fFAY}e36@}e&O&@y}e/B}e}eHn@ӣ?ſ`#,?-R?)~e36@ ~eW\;I~eCY}:?y}>FAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B %=i<     @ @ @ñññiññ ı)ıIıiı5 M5/=Y5MQU5>99a="H9AyE<}E>II U:M 5? ]:Mݾ ]tI M.= ]?9M?ML: M:)M:WWX XWX:W2W*WVbUBU*UUU a 9a Ia ia a a a e O; e %Eݎ,v;fFAYM6?yM؎FUxDUSBL response received:!U1,R,26C,000,002BB,189,80,80,B7,FF ]Fpublishing direction and range infoUc QɰU e=Q Q)U7CIQyU@U{I%m?U1{ٱQdNmea in: $SNTTA,0.030572,0.307350,,,224501.40*5B a im@a m a mm@a m a qm@a m a em@a u }<M}E=Y}QU>a"Hy}>Ișŝ 5?ŝ֟ݾ Ɲ= ?9Ɲe?ǝ: ȝ>)șWWX XWX:W2W*WVbUBU*UUU@ @R(Combining 5 samples.P*Q@ZQGےISr@u MKJQ{I%m?U1{2Qc :QbQXZS@@wH?RQܿ짴?)]|?BQ5@ QXw@QPQ9?PR9?PQQ-@"Q8#@BB BA*BAAAA"C*CRCCCIGI> h  ':Y y 6) ;9 ㎙,Vb;fFAY}F6@}F&@y}FD}FSW}FH ,? ?@TX8¿5u?jh@]?)~F6@ ~F[;I~FCYRe?yVFutMus=Y}ܻQU}?a"Hy<}?Iȑŕ 5?ŕݾ ƕ += ?9ƕ?Ǖ: ȕ@?)ȑmqAdded new target pos. range: 4.440000 m, bearing: 117.271029 deg, deltaT: 4.474205 s, approachRate: -0.013410 m/s, LOS rate: 0.822081 deg/s, posRepo size: 4XW5@WX XWX:W2W*WVbUBU*UU`@U D?BB BA*BAAAA"C%o?RC!C%5@C)1I9GU=i mGI!i9eٺaeAꎙ,C;fFAY}F6@}Fo&@y}FxlM}F_}FH `? ?`̧`?ं`]W?)~F6@ ~F[;I~FCYn?ynlFI9)9IM=)M=    @ @ @i )Ii<MB=YQU>a"HHy ߻} >I : 5? :6ݾ := ?9A?: 4?):WAWAXA XAWAXA:WI2WI*WIVIbUQBUQ*UQUQU]`+?BB BA4*BAAAA"CaK@RCCCiIyG=< 9 I i  = BD  a"HybX}>Iȡť 5?ťiݾ ƥH= ?9ƥ?ǥ: ȥ?)ȡWWX XWX:W2W*WVbUBU*UUUO?BB BA*BAAAA"Cf@RCCCI))-]A IG5 >(,;fFAY}6 7@}69<'@y}6sd}6(ؽ}6H_@ r{?y?@ ɿF?M@% ?)~6 7@ ~6#[;I~6CYB?yFF5;<M5O=Y= QU=>99aE"HAAyE<}M>IQU 5?Uݾ UV= ]?9U-?U: U?)QWyWyX XWX:W2W*WVbUBU*UUU@?BB BA*BAAAA"C2@@*CRCCCIG= x y y  (:Y P1y ': 59 @ 9 I XFi ? N; c%E)ݑIݑiݑݑݕ=ݕL5Q,;fFAYM?yMȌFR=i= IIa i%a i% a m%a m% a q%a q% a e%a e% %:v?Q뱿~jt%T<%\ %)!I!y%L7A`?Mb`~jth?%+=%%D; %FA)%zPAI%1Ai!!%BA    @ @ @ i? ?) ?I?i ? `M=Y QU > a"Hy}>I! -:% 5? -:%ݾ %l= 5?9%P?%: %4:)%:WQWQXQ XQWYXY:WY2Wa*WaVabUaBUa*UiUiUm@_@BB BAw*BAAAA"C5@*CRCCCױIGe>7,  a "H y=<}>I!% 5?%zݾ %%= -?9% ?%: %:)!WIWIXQ XQWQXQ:WQ2WQ*WyVybUyBUy*UUU\@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCC C IG5=٩٭]Aܱ9ܱIܵFiܵ1?ܵ=ܱܱܵQN; ݵ%E/H,`E}2HI I޿??@+'L¿y?J;/?)~2Y:@ ~2^]\;I~2CYN0?yRFRZ****** received transponder code query ******VF****** received ping request ******VYYa]"Haaymd<}m>Iȑ :ŕ 5? :ŕݾ ƕ= ?9ƕ?Ǖ : ȕ8:)ȕ:WWX XWX:W2W*WVbUBU*UUU@ @BABI BIAm!*BiAqAqAqAq"Cy*CyRCyCyC׉IG>} j} {} {}  } ':Y} #R1y} :} j5,R|_ :@}>*@y}>Ym}>*w}>H`ٱ k޿@?`B~?@?3OĿ cg?$R?)~> :@ ~>\;I~>CYJ?yJFNxDUSBL response received:!U1,P 26C,000,002BB,189,80,80,B7,FF NCommand AckNBRequesting micromodem ping code 2iLLVNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 m<M [=YQU>)1a="H9Iy]<}e>I 5?ݾ = ?96@; ;)WW X  X WqXq:Wq2Wy*WVbUBU*UUU @BB BIAM*BIAIAIAQAQ"CQ*CYRCYCYCYAIYG9>I ) AAܙ 9ܙ Iܝ xFiܝ ?ܝ =ܝ ADܙ ܝ M; ݝ $E,(yYYa]"HYaye<}e>Ii u:m 5? u:m7ݾ mw= }?9m@m: mg:)m:WWX XWX:W2W*WVbUBU*UUU@B@BB BAl*BAAAA"C*CRCCC׹IGF>u  u wu wu  u 3:Yu O1yu P:u 5)u ;9} E$,a"HHyb<}>I : 5? :uݾ '=  ?9w@: :):m=mAdded new target pos. range: 4.440000 m, bearing: 121.793980 deg, deltaT: 4.360983 s, approachRate: 0.000000 m/s, LOS rate: 1.037140 deg/s, posRepo size: 4XAWE @WAXA XAWAXA:WI2WI*WIVIbUQBUQ*UQUQU]?BB BA*BAAAA"C z@RCC @C׉IG=E :(?)~BѨ=@ ~B \;I~@Y^)?yb[F    @ @ @ñññiññ ı)ıIıiı=ML=Y8QU>a"Hy<}>I 5?ݾ < =?9@< <)WYWYXa XaWaXa:Wa2Wa*WiVibUiBUi*UiUU@?BB BA*BAAAA"C V@RCCCIG>q u Ci }nGI i = Eܿٺ9 = A ?9 Al7,E@}2@.@y}2-\}2'=>}2H7ڿ`J?n?`IM? j9:?)~2+%>@ ~2\;I~2CYR?yRF)= >;MV=Y%*QU%>!)a-"H))y5\<}5>I9= 5?=ݾ =@< E?9=D@=: =:)9WiWiXi XiWiXi:Wi2Wq*WqVqbUqBUy*UyUyU}l?BB BA*BAAAA"C@RCCCI)בIG=Y 9Y IY iY ] =] ADY ] L; ] F$E% n% y% y%  % .(:Y% P1y% ':% t6)% ;=,"o~>@}> .@y}>c}>+9}>H?9ڿӉ?@z?'A?M-?)~>~>@ ~>C\;I~>CY^?ybF ףp= `"~jth?Q D;)Iy{GztDl?MbףO= ½`=A)½WAI½2Ai½kALA    @ @ @i )Ii% =M--=Y-QU->11a5"H11y=X<}=>IA M:E 5? M:Eݾ ER< U?9ES @E: E:)E:WqWqXq XqWqXy:Wy2Wy*WyVybUBU*UUU*?BB BA*BAAAA"C`@*CRCCC׹IG$>I ) D,:=fFAY}2>@}2w/@y}2`}29]}2H[ڿ ?5?`@Kſ@??)~2>@ ~2][\;I~2CYN2?yR%F%u޽M%s=Y%5=YQU>a"Hy}>I  : 0 5? : Cݾ i ?9  @ =: w:) :W9W9X9 XAWAXA:WA2WA*WIVIbUIBUI*UIUQUU@r@ByBy BA*BAAAA"C*CRCCC׭?i׭?iI9IFi1?BDXL; $E)݁I݁i݁݅=݅=݅4GM>qQ,G=fFAY}F?@}F/@y}FacJ}F-%}FH@`ٿ?I?<3ÿV"?@@|D?)~F?@ ~F~\;I~FCYb?yF)ɮ-a=    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ'MO=Yf\=QU>a"HyO<}>IW 5?ݾ tY ?9U@: :)WWX XWX:W2W*WVbUBU*UUU @R B*** querying acoustic contact ***P P B1B BAU*BAAAA"C*CRCCCIG> =i =X,a=fFAY |?y RFZ****** received transponder code query ******F****** received ping request ******a"Hy}>Iș :ŝ| 5? :ŝ ݾ Ɲ ?9Ɲ@ǝ; ȝ;)ȝ:WWX XWX:W2W*WVbUBU*UUU@ @BB BA*BAAAA"C!*C!RC)C)C)IG==A 9A IE XFiE ?A E ADA E L; E #E     .:Y T1y : 5) ;9 .=^,{=fFAY}>t9@@}>T0@y}>HN}>mҊ}>H ؿ~a?ء? hؖ?`K 2H?)~>t9@@ ~>P[;I~>CYz?y~ZFxDUSBL response received:!U1,P 27E,000,002BB,189,80,80,C0,FF Command AckBRequesting micromodem ping code 2i!I1)1MNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 MbMb?㥛 > )IyMbp?Q? rh;<C 5>A)TAIihiAKA) > >    @ @ @áááiáá ġ)ġIġiġA=M=YڻQU>a"Hyɤ<}>I 5?Ȭݾ   ?9@ ?; a>;)WaWaXa XaWiXi:Wq2Wy*WyVybUBU*UUU@^s@ByB BA;*BAAAA"C*CRCCCׁIG> e,=fFAY}6QZ@@}6u0@y}6O}6S!}6H sؿ`?`&?ͩ,?\`Q?)~6QZ@@ ~6[;I~4YBe?yFFVNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M ,MM=YMQUM-?QQaU"HQYy]<}]/?IaeD 5?e!ݾ e^ u?9e@e^: eϸ:)aWWX XWX:W2W*WVbUBU*UUU`0@BB BA*BAAAA"C*CRCCCIG=I )   ~ ~   2:Y T1y @: Y69 @Jk,O\=fFAY}6 @@}6%0@y}6zHN}6A}6Hؿ_??/uc?aQ?)~6 @@ ~6 [;I~4Y^ `)bGCI`yb@b&]y?pf}_4ݿٱ`zMzP=Yz];QUz>||a~"H~HytL} >I  :  5? : ݾ 0 ?9 Y@ < Փ<) :WWX XWX:W2W*WVbUBU*UUU@@R%(Combining 5 samples.P!*Q%@ZQ%YD@gumJQ%&]y?pf}_4ݿ2Q%_:Q!bQ% J(^AK @bܭ?RQ%D=L%俘v ?>~?BQ%H/@ Q%FX@Q%R5P%O9?P%P9?P!Q%Q%*@"Q%8@BB BAކ*BAAAA"C*CRCCCّٕ<ܙ9ܙIܝFiܝa?ܝ=ܝBDܙܝK; ݝ#EIG>5r,E=fFAY}f@@}f)0@y}feN}f7}fHZ`ٿ?@?@hZP¿?#BD?)~f@@ ~f[[;I~dY A?y .FDNmea in: $SNTTA,,,,,224510.31*5C p=iC= A^A    @ @ @i )Ii-M-8=Y-*QU5>11a5"H19y=:}E>IAE 5?E@ݾ EP U?9E1@E: E:)AmmAdded new target pos. range: 4.500001 m, bearing: 129.976096 deg, deltaT: 4.467315 s, approachRate: 0.013431 m/s, LOS rate: 1.831551 deg/s, posRepo size: 4XWH/@WX XWX:W2W*WVbUBU*UU@@U?BB BA*BAAAA"Cu @RCCH/@CשIG=  } }  3:Y kS1y Ԋ: E5\x,=fFAY}:c@@}:H0@y}:zN}:%}:H`ؿ*?`z?`OhĿ ?ڱ5?)~:c@@ ~:[;I~:CYR?yR/F M^=Y%}QU%>!)a-"H))y5Oh<}5>I9 E:=o 5? E:=ݾ =l E?9=@=g: =:)=:WiWiXi XiWiXi:Wq2Wq*WqVqbUyBUy*UyUyU.?BB BA*BAAAA"C @RCCCבIG=ܱ 9ܵ ۔CIܱ iܱ ܵ =ܱ ܱ ܵ 0K; ݵ g#E =i =Z~,I=fFAY}>y4A@}>P1@y}> M}>nNѽ}>H9 Lؿ? ?Kn@Zſ bu?p2?)~>y4A@ ~>l[;I~>CYN?yNFMb@Mb@Mb@ )IyMby&1?Zd;O?`<j<= •@A)•SAI•C/Ai•GAA<MA=Y;QU>a"HyB<}>I 5?ݾ  & ?9@_: F:)WWX X!W!X!:W!2W!*W)V)bU)BU)*U)U1U5m?BaB BAJ*BAAAA"CҲ@RCCCסIG >  y y   j:Y P1y ': !5n,>fFAY}6A@}62@y}6gH}6 }6Hb׿b??3@ÿ@?բ??)~6A@ ~6K[;I~6CYB?yBFIp)pIv=)vC=)z= z=    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉX!=MK=Y8a"Hy<}>Iȹ :Ž 5? :Žiݾ ƽJǼ ?9ƽ@ǽ$: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU?B)B) B1A5Ȇ*B1A1A1A9A9"CE[@RCACACAQIiimnGIiٺAG>',N0>fFAY}FGB@}F&c2@y}FosI}F1$}FH o ׿ ?c? $`?J?)~FGB@ ~Fw[;I~DYR?yR[F-M-Q=Y59+QU5>99a="H99yEP<}E>IIM 5?M.ݾ M U?9M@Mk: M:)IWyWyXy XyWyXy:W2W*WVbUBU*UUU`@BB BA *BAA!A!A!"C-@RCICICQ)-`A191I5ȖFi5?1115J; 58#EAIQGm=I ) @A   [/:Y y 6) ;9 ,J>fFAY}8IB@}d2@y}U};}H@\ $׿(??`C ÿD? 3?)~8IB@ ~{[;I~Y5A?y5.F    @ @ @i )IiMꧻMU9=YU>QUU>YYa]"HYYye8j9}e>Ii u:m 5? u:mݾ m!< }?9m@mg: ms:)m:WWX XWX:W2W*WVbUBU*UUU o@BB BA*BAAAA"C+@*CRCCCIG >,[d>fFAY}J7B@}J2@y}Ja_}Jcqǽ}JH@_`ֿ?@B?ɷ/ſ?`aL ?)~J7B@ ~JEN[;I~JCYZe?yZFzC=iz< A  _A<=Ma=Y޼QU>!a%"H!!y- <}->I15, 5?5βݾ 5< =?95@5k: 5b:)1WaWaXa XaWaXa:Wi2Wi*WiVibUiBUq*UqUqUuq@RB*** querying acoustic contact ***PPBB BA*BAAAA"C]:@RCCCױIG=I 9I IM FiM a?M =I I M CJ; M "E)=۔CI=۔Ci9=====55 1 1 5  5 1:Y1 y1 5 5)5 ;Ԟ,4~>fFAY}6@C@}6\\3@y}6.a}6} }6Hvr &ֿ@c?@?@ ?Od&?)~6@C@ ~6[;I~4Y^E?ybFbZ****** received transponder code query ******bF****** received ping request ******fa"Hy_<}>I : 5?  :qݾ D<  ?9@: :):W)W)X1 X1W1X1:W12W1*W9V9bU9BU9*U9UAUE% @BB BA\*BAAAA"CH/@RCCCIG*> i ,>fFAY}JvC@}J3@y}J [}J}JH@%iտul??t$踿-,?}*@A?)~JvC@ ~J\;I~JCYbx?ybFnxDUSBL response received:!U1,P 21F,000,002BC,188,80,80,C7,FF nCommand AcknBRequesting micromodem ping code 2ipp~Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 M5C=MUc=YeQa"Hy--<}5>Iim 5?mݾ m< ?9m1@mq< msp<)iWWX XWX:Wa2Wi*WiVibUiBUq*UqUqUu@۱ @BB BAІ*BA A A A "C*CRCCCAIYG_>      ?,:Y y  59 @竏,>fFAY}2sjC@}23@y}2vX}2R}2HXտ`?@? )Lݵ (? H?)~2sjC@ ~2H\;I~2CB`Dynamic Docking Module:!C REMUS Capture Rev 1.1 <<9IiI; "Eɫ) IYM?yMFQUAAuNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5 5 5 5@ 5@ =@111i11 1)1I1i1M{;MM=YMH;QUM>QQaU"HUHYy]<}e>Iae 5?e~ݾ e~< u?9e!@e: eb:)aWWX XWX:W2W9*WYVabUaBUa*UiUiUm@@BB BA*BAAAA"C*CRCCCI9)9IG5> ϲ,>fFAY}FC@}F3@y}F _}F%}FHaտ}?@?  ?`=c6?)~FC@ ~F+\;I~FCɫyy)y yIyY?yFxDUSBL response received:!U1,R,1E9,000,002BD,186,80,80,B8,FF Fpublishing direction and range info|ھɰe=鰍> )8CIy@ >K]!?WCR}ڿٱ1λM=Y'ȼQU?a"Hy;}?I : 5? :!ݾ \< ?9v#@: ^:):WW X  X W X :W 2W*WVbUBU*UUU @R-(Combining 5 samples.P)*Q-@ZQ-3C@\W,2JQ- >K]!?WCR}ڿ2Q-|ھ:Q)bQ-`֋ Ui@k3?RQ-=ꍙc濐, ?lO^?BQ-@ Q-F@Q-0LP-N9?P-O9?P-Q)Q-*0@"Q-*@BaBa BaAm̆*BiAiAiAiAi"Cq*CyRCyCyCyiIyG=I ) AA   x x   dJ:Y 7P1y : 5,>fFAY}bC@}b3@y}bJo}bƔ}bH`fտ??y?`@գ? ?)~bC@ ~b&];I~bCɫ髱) IY?y܊FMTNmea in: $SNTTA,0.004924,,,,224514.74*4C    @ @ @áááiáá ġ)ġIġiġM:=YK QU>a"Hy9}>I 5?ݾ _< ?9a&@: +:)mmAdded new target pos. range: 4.559999 m, bearing: 135.743548 deg, deltaT: 4.445381 s, approachRate: 0.013497 m/s, LOS rate: 1.297404 deg/s, posRepo size: 4XW@WX XWX:W2W*WVbUBU*UU@p=@U`]?BB1 B1A5?*B9A9A9A9A9"CEb@RCACE@CIIIYGu7>9Ii=I; ^"E),S>fFAY}KC@}֭3@y}yx} ս}H`JXaֿ`?@X_?@%oƿd?@͹`?)~KC@ ~.g;I~Cɫ) IYEA?yE.F 鿹EMb@Mb@Mb@EE E)EIAyE rh?x&?I +ECa"H!!y-;}->I9 E:= 5? M:=ݾ = M?9=X(@=; =;)=:WWX XWX:W2W*WVbUBU*UUUw?BB BA*BAAAA"CR.@RCCC%?i%?IG5P> y y  ]E:Y P1y ': 5 Ə,GX?fFAY}2C@}23@y}2y}2}2H :_Cdֿ ?f*?ȿ?`1@?)~2C@ ~2h;I~2CɫYY)Y YIYYk?yoF5M=o=Y= JQU=?AAaE"HAAyM$<}M?IQU 5?Uݾ Uj' ]?9U)@U': UU:)QWWX XWX:W2W*W V bU BU *UUU ?B9B9 BAAEӇ*BAAAAAAAAA"CM@RCQCQCQIIG> =i =D5̏,P43?fFAY}FD@}Fm4@y}Feu}F|˽}FHoտ@1?`?35ſa?"@?)~FD@ ~F?e;I~FCɫyy)y yIyY~?yވFU7MUH=Y]%#Yaae"Haaym <}m>qu^Ay9yI}XFi}?yyy}H; }%"EIȑ :ŕ$ 5? :ŕ8ݾ ƕ ?9ƕ+@Ǖ: ȕ(:)ȕ:WWX XWX:W2W*WIVIbUQBUQ*UQUQUU &v?BB BA*BAAAA"C2@*CRCCCIG5.>  } } y  -:Y kS1y Ԋ: 5) l;9% qӏ,M?fFAY}6C@}64@y}6v}6}6Hk`ńտ`?[??7?@&`a?)~6C@ ~6Rb;I~6Cɫ19)9 9I9Yu>?y}TF)> > = E E E@ E@ E@ EAAAiE?A E?)E?IE?iE?UWn<MUJ=YU5:QU]>YYa]"HYaye}m>Iqu 5?usݾ uM }?9ui-@ub: u:)qWWX XWX:W2W*WVbUBU*UUU`M@BB BAއ*BAAAA"C@RCCCI ) IG>i)IAiQٺ]ACHُ,f?fFAY}RD@}R'54@y}R^}}R2Zy}RH d`Zտ/?@?`p g b?`2??)~RD@ ~R߭`;I~RCɫqy)y yIyYk?yoFU[;M]J=Y]QU]>aaae"HaiymW;}m>Iqu@ 5?uݾ u ?9u5/@uϸ: u:)qWWX XWX:W2W*WVbUBU*UUUG@BB BAӇ*BAAAA"C*CRCCCIG>9I Fi?WH; !EI ) ?A  y y   4_:Y P1y ': |5) ;H/,Pƀ?fFAY}2vD@}2>4@y}2) }2L'}2H5fԿd?~?>@P* ?C?)~2vD@ ~2=c;I~2Cɫ99)9 9I9Y}?y}F鮁ɮ!rhx&1̿V-lA` )Iy rh?{GzC =ף̼ ^BA)xUAIi`sANA    @ @ @i? )Iix?M@=YsQU>a"H  y[<}>I %:* 5? %:ݾ 1 %?9j0@: ^:):WIWIXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UYUYUe`@RmB*** querying acoustic contact ***PiPiBB BA*BAAAA"C*CRCCCIG$>Z揙,?fFAY}FD@}F'4@y}Fꁾ}F<}FHmyAԿ Z?LS?^Y?@%5?)~FD@ ~F_b;I~Dɫ髱) IY?yÇFZ****** received transponder code query ******F****** received ping request ******iqau"Hqyy};}>Iȉō* 5?ō=ݾ ƍ J ?9ƍ1@ǍA; ȍ ;)ȉWWX XWX:W2W*WVbUBU*UUUrI @BB BA*B!A!AAAAAA"CI*CIRCQCQCQ!I)GE0> p  { {   <:Y #R1y : F69 @2쏙,-{?fFAY}6 DD@}6_4@y}6}6Ѽ}6H@^Կ@o??qDo?@YX?)~6 DD@ ~6|_;I~4ɫ99)9 9I9Y?yVFxDUSBL response received:!U1,P 1E9,000,002BD,186,80,80,B8,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -2`M9qIqiqu=qquG; ut!E)IiŁ=Ł=MN=Yw˹QU>Ł4a"HHy]}>Ii :m 5?  :mgݾ mf ?9m2@mu< m<)m:WWX XWX:W2W*WVbUBU*UUU @B1B9 BYAe*BaAiAiAiAi"Cq*CRCCCIG> =i p=l,\?fFAY}FC@}F3@y}F$Ȅ}FH}FH={տ@?'?(`i?+7@?)~FC@ ~F@^;I~FCɫyy)y yIyY-?yqFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @ @i )Ii(L;M<=YWQU%>!!a%"H!)y5з}5>I9= 5?=ݾ =| E?9=3@=: =k:)9WaWaXa XiWiXi:Wi2Wq*WqVqbUqBUq*UyUyU}T@BB BA*BAAAA"C*CRCCCסIG >   | |   H:Y R1y i: !5.,b1?fFAY}2nC@}2>3@y}2s+}2}2HE%oֿz?F`?qſ`>?ĵ@9?)~2nC@ ~2!];I~2CɫII)I IIIY}?y} FxDUSBL response received:!U1,R,21D,000,002BE,187,80,80,C9,FF Fpublishing direction and range info񾩰ɰf=鰅1> )ICIyד@G2?@rݿٱ)å= å=dMe=Y—QU>a"HyI}>I :) 5? : ݾ  ?94@: k:):WWX XWX:W2W *W V bU BU *UUUn@R%(Combining 5 samples.P)*Q-ד@ZQ-&;^u@ GJQ-G2?@rݿ2Q-:Q)bQ-$?ƙC( @(Ep)?RQ-+俴i[v?t?BQ-)@ Q-@Q@Q-@P)P-N9?P)Q-Q-k>@"Q-*0@BYBa BaAeˈ*BaAaAaAaAi"Ci*CqRCqCqCyI׉)׉iIyG=Q9QIUXFiU?QQQUG; U>!Eq},$@fFAY}nyC@}n3@y}nڇ}nx}nH`S(@Z׿~?`V?k@˿o??ٓ?)~nyC@ ~n_;I~lɫ) IYU?yU{FTNmea in: $SNTTA,0.030858,,,,224519.22*4F A`"? r?/$Y=C> )Iy{Gzt?Mb?Q?ף;@=\= DA)1PAI-AiuAMA e e e e@ e@ m@aaaiaa a)aIaiauSoM}%=Y}A:QU}>a"Hy~:}>Iȑŕ 5?ŕmݾ ƕV ?9ƕ6@Ǖ4: ȕ<)ȑmmqAdded new target pos. range: 4.619999 m, bearing: 132.643039 deg, deltaT: 4.443140 s, approachRate: 0.013504 m/s, LOS rate: -0.697820 deg/s, posRepo size: 4XiWu)@WqXq XqWqXq:Wy2Wy*WyVybUBU*UUz@U ?BB BA*BAAA9A9"CEG@RCACE)@CI1IAG]v>I AA) AA  x x   +:Y 7P1y : 5/,@fFAY}:C@}:R3@y}:}:}:H #A ֿY?^?`a˿@o?`/v?)~:C@ ~:b;I~8ɫ99)9 9I9Y}:?y}FujMur=Y}G ,5@fFAY}FC@}Fl3@y}F}F}FH 9#Aֿ1?`??`3ſ o?`D?)~FC@ ~F_;I~FCɫ髙) IY?yiF`A>9Ii=F; !Eyyݹ<M:=Y8QU>a"Hys}M>IȁŅ 5?Ņݾ ƅ ?9ƅ9@Dž; ȅ;)ȁWWX XWX:W2W*WVbUBU*UUU?BaBa BaAe*BiAiAiAiAi"Cu)@*CqRCqCqCy׭?i׭?yIG^>      IE:Y T1y : 5) ;9 (,ԝO@fFAY}2B@}2?2@y}2ɇ}2? ʽ}2H -׿?J?1ǿ`? !U@(?)~2B@ ~29];I~2Cɫ99)9 9I9Y}D?y}DF 5 5 5 5@ 5@ 5@ 5111i5z?1 1)1I1i5?EMEa=YMyQUM>IIaU"HQQy]}]>Iae7 5?eݾ eb m?9e2:@e: e:)aWW X XWX:W2W*WVbUBU*U!U!U%\^?BB BA*BAAAA"C*CRCCCסIG > =i =K,yi@fFAY}:MB@}:5i2@y}:}:s}:Hq`Cؿ? {e?B 4Ϳ-?"¿@?)~:MB@ ~:];I~:CɫYY)Y YIYYQ?ytFcME=YxQU>a"Hy}>Iȱ :ŵ 5? :ŵݾ ƵԻ ?9Ƶ;@ǵ: ȵ=:)ȵ:WWX XWX:W2W*WVbUiBUq*UqUqUu@BB BAى*BAAAA"C*CRCCCI G-,>9I Fi?BF;  E5 5 ~5 ~5  5 @:Y5 T1y5 @:5 5)5 ; ,U@fFAY}2[B@}2mw2@y}2zY}2Y}2H @`׿n?_? p.Eʿ?r ?)~2[B@ ~2\;I~0ɫ99)9 9I9Y}?y}FFI)sh|??~jtȿi|?5?=D q=)Iy=Y]&aaam"Hiqyu7;}u>Iy} 5?}&ݾ }V< ?9}<@}: }r:)yW)W)X) X)W)X):W12W1*W1V1bU9BU9*U9U9U=@b@BB BA*BAAAA"C*CRCCCIG%M>R&,f/@fFAiFnGIPi`ٺAY}mA@}mm2@y}mL}m1_}mH`m׿??`+=ÿf?(@?)~mA@ ~ma;I~iɫQQ)Q QIYYe?yeFiɮm=MQ=Ya"Hyy}>I  : 7 5? : ݾ ; ?9 =@ R: R:) :W9W9X9 XAWAXA:WA2WA*WAVIbUIBUI*UQUQUU@R]B*** querying acoustic contact ***PYPYBB BA*BAAAA"C*CRCCC׉IG>I @A) @A      >:Y W1y č: E59 @g-,[ @fFAY}2A@}21@y}2K}2j}2HJ }׿J?~?¿f?@\@d?)~2A@ ~2MS`;I~2CɫYY)Y YIYyy܁9܁I܅Fi܅a?܁܁܁܅E; ݅q EY?ylFZ****** received transponder code query ******F****** received ping request ******aaae"HeHiymK}m>Iquj 5?uݾ uo#< ?9u>@u: u:)qW1W9X9 X9WAXA:Wq2Wy*WyVbUBU*UUU9F @B1B1 B1A5*B9A9A9A9A9"CA*CaRCiCiCiaIiG9>R4,@fFAɫ髹) IYENmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 qq‰]A    @ @ @i )IiM<M!=YQU>a"Hy}>I : 5? :pݾ <  ?9@@0: ^:):WIWIXQ XQWQXQ:WQ2WQ*WyVybUyBUy*UUU :@BB  B A_*BA9AAAAAA"CQ*CYRCaCaCy׉IG> 4  } }   7:Y kS1y Ԋ: 6p1:,@fFAY}2>@@}2 1@y}2}2 ڹ<}2H׿ඪ?D?`X?.\?`?)~2>@@ ~2^;I~2Cɫ99)9 9I9Y}?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M =Y/ZQU?a"Hy%C"}%?I)- 5?-ݾ -< 5?9-@@-: -Y:))WYWYXY XYWYXa:Wa2Wa*WaVabUiBUi*UiUiUu72@B1B9 B9A=*B9A9AAAAAA"CI*CIRCiCiCqaIqG>ܝ>9ܙIܝ8Fiܝ?ܝ=ܙܙܝ\E; ݝP E)yIyiyyy}5 i =A,0AfFAY}6t@@}60@y}6#}6kA}6H`N׿F?? 'F?;RG V?)~6t@@ ~6%^;I~6Cɫ99)A AIAY?yFxDUSBL response received:!U1,R,268,000,002C9,189,80,80,25,FF Fpublishing direction and range info ɰi=7> )BIy@Ou|?abٱ-dNmea in: $SNTTA,0.032210,0.169556,,,224523.67*55 KǿQL^: u)IyX9vZd;O?}j< FA)RAIn.AiZxAPA    %@ %@ %@!!!i!! !)!I!i!MMM+=YUٻQUU>QQa]"HYYye }e>Ii u:m 5? u:m6ݾ m= u?9mB@mA: m:)m:WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q@ZQiu'$@zmJQOu|?ab2Q :QbQJjZf#lQ@zEv?RQ.|⿄g?)-?BQD @ Q @Q2CPPPQQ8@"Qk>@BB BA*BAAAA"C*CRCCC׹IGf>  w w   D:Y O1y P: W5CG,xAfFAY}: @@}:10@y}:٬}:,<}:H`|`ؿ?'S?_nબ¿{??)~: @@ ~:-_;I~:Cɫ99)9 9I9Y}?y}FI)IR=)=)= >uEMun=Y}-;QU}?yya"Hy\ܼ}?Iȑŕ 5?ŕ,ݾ ƕ#= ?9ƕD@Ǖ: ȕ:)ȑmqAdded new target pos. range: 5.279998 m, bearing: 126.470242 deg, deltaT: 4.538040 s, approachRate: 0.145437 m/s, LOS rate: -1.360234 deg/s, posRepo size: 4XWD @WX XWX:W2W*WVbUBU*UU@Ue?BB BAq*BAAAA"C%I@RC!C%D @C)IG>mM,R8AfFAY}6$@@}6@0@y}6}6dý}6H`w4ٿ0 ???+ȿ?vϛ?)~6$@@ ~6b;I~4!%^A5>91I5Fi5?5=1157E; 5< EɫYY)Y YIYY>?yF%6;M%P=Y-D QU->)1a5"H9AyE;}E>IQU 5?Uݾ UP= ?9UE@UϪ< U;)QW!W!X! X!W!X!:W)2W)*WIVIbUQBUQ*UQUQU]?BB BA^*BAAAA"C@RCCCIG}7>I ) AA j } }   ':Y kS1y Ԋ: |5) A;9 kUT,<-RAfFAY}6X@@}6Ft0@y}6$|}6˼}6Hp tٿ G%?L?G9@!ȿ.?T?)~6X@@ ~6\_;I~6CɫYY)Y YIYY?y F M U U U@ U@ U@QQQiQQ Q)QIQiQe!<MeF=YmQUm>iiam"Hqqy}C;}}>Iȁ :Ņ 5? :Ņݾ ƅ~= ?9ƅ0G@Dž: ȅ:)ȅ:WWX XWX:W2W*WVbUBU*UUU6?BB BA=*BAAAA"CD @RCCCסIG$>Z,lAfFAY}6M@@}6i0@y}6SƗ}6뙽}6H`\@}Gٿ*? Y?NZƿ? b?)~6M@@ ~6x];I~4ɫ19)9 9I9Y}?y}JF =i = !!)-\A=¼M=M=YEQUE>IQaU"HQQy]޺}]>Iim 5?mݾ m= }?9mH@ms; m:)iWWX XWX:W2W*WVbUBU*UUU ?BB BA*BAAAA!"C*CRCCCשIG#>>9Ii=FE; E E L  z z   9:Y Q1y : W5) ӕ;ga,AfFA|i|Y}6=h@@}6ȃ0@y}6}6R*}6HTU@ٿZ??^&ƿ?[|?)~6=h@@ ~6Ƃ\;I~6Cɫy髁) IYO?yFL7A`尿Mbȿ/$+@ )Iyy&1IIaM"HIQyUc;}U>IY e:] 5? m:]ݾ ]~= m?9]I@]: ]:)]:WWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C*C RC C C IGI> =i =g,AfFAY}6@C@@}6^0@y}6Zǚ}6~yf}6HM ٿeE?@?8fĿ ?}@%?)~6@C@@ ~6[;I~4ɫYY)Y YIYY@?yFcMh=YQU>a"HHysѻ}>Ip 5?&ݾ \= ?9J@C*; `+;)WWX X!W!X!:W!2W)*W)V)bU1BU1*U1U9U=/@ByBy ByA*BAAAA"C*CRCCC׉IG>  { { H  *:Y #R1y : s 69 @m,噹AfFAY}6?@}6{/@y}6왾}6Vk}6H?;}ٿo? l?L`fJſ??)~6?@ ~6a;I~6Cb =N#=MT=Y;QU>!!a%"H!)y-I}->IY e:]" 5? m:]uݾ ] 8= m?9]K@]{: ]#:)]:WWX XWX:W2W*WVbUBU*UUUB@RB*** querying acoustic contact ***PPBB BA *BAAAA"C!*CIRCQCQCYIq)qAIIGm5>t,uAfFAY}:R?@}:n/@y}:}:ֽ}:H$Ĥڿ ??2 ˿? 6d?)~:R?@ ~:`;I~:Cɫ99)9 9I9Y}o?y}FZ****** received transponder code query ******F****** received ping request ******!!a%"H!)y5C}5>IAE 5?Eݾ E= ?9EL@E+< E,<)AWWX XWX:W2W*WVbUBU!*UIUIUM6 @B imGIB BiA҉*B6ٺtAAAAA!"C!*C)RC)C)C)1IAG]v>I ) @A      0:Y y  5'z,GVAfFAY}6,^?@}6y/@y}6}6Du۽}6H`j$ڿ &?`^?G@fX˿ ?`#`N`?)~6,^?@ ~62R^;I~4ɫ99)9 9I9Y]U?y]كFexDUSBL response received:!U1,P 268,000,002C9,189,80,80,25,FF eCommand AckeBRequesting micromodem ping code 2iaauNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }MU=Yh=QU>a"Hy:}>I -: 5? M:ݾ -< U?9M@; ;):WaWiXq XqWyXy:W2W*WVbUBU*UUU I @9IȖFi?pD; EBB BA*B A AAA"C*CRCCCשIG>,4BfFAY}2O>@}2 /@y}2Sy}2kj}2H @Gڿ?w'?# @Oſ#?X|?)~2O>@ ~2\;I~0ɫii)i iIiYD?yDFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B UQM¿UUn U)QIQyUQ?:v?X9vU\=Ua"Hy]e}>Iȑŕ 5?ŕݾ ƕ< ?9ƕMO@Ǖ: ȕ8:)ȑWWX XWX:W2W*WVbUBU*UUUaH@B!B! B!A%*B!A)A)A)A)"C1*C1RC1CC?i?qIG>  ~ ~  2:Y T1y @: 5߇,!BfFAY}:>@}:5.@y}:}:d}:HC@|ڿ` ?c?ſ?AL?)~:>@ ~:O\;I~:Cɫ99)9 9I9Y}?yDFxDUSBL response received:!U1,R,262,000,002BC,189,80,80,C8,FF Fpublishing direction and range info{Fɰ`e=鰑 )HCIy@mJw?>#=ٱ=Mn=Y-;QU>a"Hy>}>I; 5?3ݾ #< ?9hP@4: :)WWX XW!X!:W!2W!*WIVIbUIBUI*UIUQUU@Re(Combining 5 samples.Pa*Qe@ZQe[@yEJQemJw?>#=2Qe{F:QabQer(JZl @ip?RQeh^ =i = ,-:BfFA00898I: Fi:?888:DD; :E)Ii==5ɫ髱) IY %?y FTNmea in: $SNTTA,0.020072,,,,224528.09*45 } } } }@ }@ }@yyyiyy y)yIyiy#&=M<=YQU>a"Hy}>Iȩ :ŭt 5? :ŭRݾ ƭ5: ?9ƭQ@ǭ: ȭ=:)ȭ:muAdded new target pos. range: 4.500001 m, bearing: 124.565821 deg, deltaT: 4.423047 s, approachRate: -0.176348 m/s, LOS rate: -0.430568 deg/s, posRepo size: 4XW0$ @WX XWX:W2W*WVbUBU*UU@@U >?B1B1 B1A5$*B1A9A9A9A9"CE" @RCACE0$ @CIױIGg> ^ } }  &:Y kS1y Ԋ: 5) m;9 񔐙,TBfFAY}2g>@}2).@y}2N}2Q}2H XDۿ@?@?Rɿif?D4?)~2g>@ ~2c;I~2Cɫ99)9 9I9Y}?y}Fn<M=Y=QU ?a"H y U}  ?I% 5?cݾ I %?9R@: :)WAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU]ع?BB BA*BAAAA "CĞ @*CRCCCII)M^A IGE>,nBfFAY}6j>@}6.@y}6-}6|}6HU"@Fۿ ? :?rTϿ?J¿@h?)~6j>@ ~67`;I~6Cɫ99)9 9I9YEV?yE'F[MM=Ya"Hy9}>I : 5? :nݾ  w ?9S@t: :):W)W)X) X1W1X9:W92WA*WAVAbUIBUI*UQUYU]R?BB BAX*BAAAA"C0$ @RCCCIG9q9qIuxFiu?quADqu D; uEI ) AA  z z   r :Y Q1y : 6) ;t,)vBfFAY}F@}F`.@y}F1}F}FH 1%ۿ@;}?`?tο?@`ʃ?)~F@ ~F_;I~FCɫ髙) IY?y݉F&1+{GzP ף)IyI +~jthI +?94D94< DA)WAIih{AQA u u u u@ u@ }@ }qqqiu?q u?)u ?Iu?iu ?A=M2=Ya"Hyӟ}>Iȡť 5?ťݾ ƥ: ?9ƥdT@ǥk: ȥ:)ȡWQWQXQ XQWQXQ:WY2WY*WYVYbUYBUa*UaUiUm?BB BA*BAAAA"C*C RC C C I G%M>-,NBfFAY}6=@}6-@y}6d}6Ž}6H"Kۿ*F?y?Ү_ȿ`U?ҷ@ٽ?)~6=@ ~6];I~6Cɫ99)9 9IAY]i?y]F=i= A=Mh=Yˇa"HH y B} >I :m 5? :ݾ  %?9T@[: g:):WAWIXI XIWIXQ:WQ2WY*WYVabUaBUi*UiUqU}sR?BaBa BaAmӆ*BAAAA"C*CRCCCסIG > k     ':Y y  X59 @aW,&BfFA((494I6Fi6E?46BD46C; 6EY}U'=@}U.@y}UI}Uઽ}UHTA aۿS?j?`ƿ?`?)~U'=@ ~U*];I~Qɫqq)q qIyY}?yF    @ @ @ @ÙÙÙiÝÙ ĝ)ĝIĝiĝ<M2=Ysa"Hy";}>I 5?ݾ ʟ ?9U@: :)WWX XWX:W2W*WVbUBU *U U U M@B9B9 B9A=h*BAAAAAAAAA"CI*CQRCQCQCQ!I1GM1> i =?,2BfFAY}:D>@}:-.@y}: n}:y}:H`nۿ@/?e?~ſ+}?ଞ H?)~:D>@ ~:|a;I~:Cɫ99)9 9I9Y}?y}~F鮅a=ɮ=֯<Ms=Yx=QU?a"Hy;}?IȹŽM 5?Žǿݾ ƽ ?9ƽdU@ǽ: Ƚ:)ȹWWX XWX:W2Wq*WyVybUBU*UUU$@RB*** querying acoustic contact ***PPBIBi BiAu-*BqAyAyAyAy"C*CRCCCIG$>  | |   A:Y R1y i: 5i,BfFAY}6=@}6k-@y}6#X}6P/}6Hj~Tۿ+$??@Ŀ`?dI.?)~6=@ ~6\c`;I~6CɫYY)Y YIYYX?yPFZ****** received transponder code query ******F****** received ping request ******){>)= > <MC=YJ=QU>a%"H!!y-Z}->I9 E:= 5? E:=ܿݾ = : E?9=U@= : =~:)=:W1W1X9 X9W9XA:Wi2Wq*WyVybUBU*UUU` @BIBQ BQAUׅ*BQAQAQAYAY"C*CRCCCa9aIeНFieE@aaaeC; ezEׁIG%o> S,# CfFAY}>U=@}>-@y}>I}>ѽ}>HÊ@Þۿ6D? ?*`Bƿ@? 7?)~>U=@ ~>(^;I~>CɫYY)Y YIYYA?y|FxDUSBL response received:!U1,P 262,000,002BC,189,80,80,C8,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Gzǿ  a "H y}>I!% 5?%˿ݾ %W; -?9%U@%: %:)!WiWqXq XqWqXq:W2W*WVbUBU*UUU@{ @BB BA]*BAAAA"C*CRCCCIG >I AA) ?A  y y   :Y P1y ': !5i- }nGIA iQ 6ٺ A>|Ȑ, #CfFAY}2ݍ=@}2h-@y}2B=}2AJѽ}2H`@ۿ?D?.ſ?`ë`wJ?)~2ݍ=@ ~2e\;I~2Cɫ99)9 9I9Y}?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B X7=M=Y-=QU?a"Hy=:}?Iȹ :Ž 5? :Ž¿ݾ ƽҊ; ?9ƽU@ǽ[: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU@9@B)B1 B1A5*B1A1A1A1A9"C9*CARCACACA)I1GU>I M ]A2ΐ, ~=CfFA9I@Fi?C; rEY}]'"=@}]=-@y}]8,}]R}]H`ۿ[?? i%~?@p@w?)~]'"=@ ~]>\;I~]Cɫ19)9 AIAY??yFxDUSBL response received:!U1,R,288,000,002BB,188,80,80,BE,FF Fpublishing direction and range infoɰ e=鰵> )>CIy@-?ak8~%ٱdNmea in: $SNTTA,0.265469,0.265282,,,224532.55*5D A   u u u u@ u@ u@qqqiqq q)qIqiq)=M;=YA=QU>a"Hyv}>IȹŽ 5?Žݾ ƽ; ?9ƽU@ǽ; Ƚ;)ȹWWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q@ZQLE @jW\VJQ-?ak8~%2Q:QbQt՝1J @2d?RQ܁֊Y?I^?BQ|@ Ql@QPPP9?PQQh)@"Q?@BB BA^*BAAAA"C*CRCCCIGn> J  O%:Y y 5) ;9 ՍՐ,KWCfFAY}29<@}2U,@y}2,}2a|}2H`&`=ܿ4̺? y?a@g@\?@r0 ?)~29<@ ~2a];I~0ɫYY)Y YIYY}?y}UF-c<M-e=Y5|=QU5>99a="H9AyE#}E>II U:M 5? U:Mݾ M; ]?9M V@M1: M=:)M:muAdded new target pos. range: 4.440000 m, bearing: 122.187426 deg, deltaT: 4.462039 s, approachRate: -0.013447 m/s, LOS rate: -0.533029 deg/s, posRepo size: 4XW|@WX XWX:W2W*WVbUBU*UU`@U ?BB BA5*BAAAA"C7 @RCC|@CׁIG> =i =qې,,qCfFAY}6;@}6+@y}6pi}657}6Hz5ܿz? ?@ÇsC@*"?`8?)~6;@ ~61a;I~4ɫ99)9 9I9Y}?y}F5M=I=Y=L=QU=>AAaE"HAAyM{}M>IQU 5?Uݾ Uh< ]?9UV@U: Uk:)QWWX XWX:W2W*WVbUBU*UUUw?BiBq BqA}*ByAAAA"C|@RCCC>9IFiv?C; E)QIQiQQU=U-4סIGm>  | | 4  S:Y R1y i: O 6) ;ٟ␙,CfFAY}2!w;@}2+@y}2T轙}2<}2HLz5ܿ@?E?f`? ?77?)~2!w;@ ~27?_;I~0ɫ99)9 9I9Y]?y]/FI=)=})\(?S㥛Mb?}Ga=}$ }=)yIyy}~jtMb`?}D}}L= }5>A)}NAI}h3Ai}^Ay}GA)Í> Í> M M M M@ M@ M@IIIiII I)IIIiI]=Me9=YeTiiam"Hiqyu}u>Iy :} 5? :}ӿݾ }< ?9}V@}: }:)}:WWX XWX:W2W*WVbUBU*UUU?BB BAt*BAAAA"C*CRCCC I G-,>萙,ܤCfFAY}2;@}2s+@y}2]ս}2z}2H ܿ?,?``x_?`rP?)~2;@ ~2];I~2Cɫ99)9 9IAY?yFMb<MU]=YUYYa]"H]Haye4;}e>Iim 5?mݾ mA= }?9mW@m; m;)iWWX XWX:W2W*WVbUBU*UUU ѯ?BB BAD*BAAAA"C*CRCCCIG >I @A) BA 1      7:Y y  59 @ <  9 I XFi ? =   C;  E ,ľCfFAɫ) IY-?y5ܔF    @ @ @i )Ii[;M@=YQU>a"H y }>I 5?9ݾ ,= %?9|W@: :)WAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UQUYU]`?BB  B A .*B AAAA"C*CRCCCA!I1GU2>,>CfFAY}2:@}2+@y}2ˮ}2}2Hbs``Aݿ@-?p?96ҵ?-`?)~2:@ ~2,\;I~0ɫaa)i iIqY?yF !!)-]A&nMR=YlF=QU>a"Hy@μ}>Iȡ :ť 5? :ťuݾ ƥ= ?9ƥW@ǥ; ȥ;)ȥ:WWX XWX:W2W*WVbUBU*UUU@BB BA*B!A!A!A!A!"C)*C)RC1C1C1iIyG> S  v v   q::Y N1y : j5Z,oCfFAY}2b:@}2%~*@y}2YO}2cU'}2H@Uݿ.SU?``}ƿ@?ZĿU{?)~2b:@ ~2A1b;I~2Cɫy髁) IY?yF鮽p=ɮp==M%Q=Y-AAaM"HIYye}m>IȁŅb 5?Ņݾ ƅ= ?9ƅUX@Dž< ȅ<)ȁWW X  X W X :W2W*WVbUBU*UUU qh@RMB*** querying acoustic contact ***PIPIBB BA*BAAAA"C*CRCCC ܩ9ܩIܭFiܭ?ܭ=ܩܩܭD; ݭEYIaGZ> =i p=,^I DfFAY}:P:@}:k*@y}:6}:] }:HVV@Bݿhj?@`MÿeC?@vE@C?)~:P:@ ~:dc;I~:Cɫ99)9 9I9Y}r?y}KFZ****** received transponder code query ******F****** received ping request ******YYae"Haiyu{}u>Iy :} 5? :}ݾ } = ?9}NY@}>; }N3;)}:WWX XWX:W2W*WVbUBU*UUUH @BB BAу*BAAAA"C*CRCCCIGj> g } }   ':Y kS1y Ԋ: 5 ,y$&DfFAY}6g9@}6*@y}62}6;^}6HBݿ?`?9@᳿sC?~ǫ\?)~6g9@ ~6^_;I~6Cɫii)i iIqY_?yݓFxDUSBL response received:!U1,P 288,000,002BB,188,80,80,BE,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)%=)= = <M?=Y\19a"HyEK} >I 5?0ݾ x > U?9UZ@; -N;)WWX XWX :W 2W*W9V9bU9BUA*UAUIUM@ @BB BA*BAAAA"C*CRCCCI GU >ّ ٕ `Aܩ 9ܩ Iܭ pFiܭ M?ܩ ܩ ܩ ܭ C; ݭ E,JB@DfFAY}F|9@}F)@y}FŃ}FB!}FH-s%޿ ? ?9@Hu?`@?)~F|9@ ~F3^;I~FCɫYY)Y YIYYn?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ9:My=Y)QU?a"Hyǔ}?Iȹ :Ž 5? :Žݾ ƽ > ?9ƽ[@ǽR: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU`@B B BA*BAAAA"C!*CIRCQCQCQaIqG:>I ) @A V z z  D&:Y Q1y : X6) ;9 9,CZDfFAY}>9@}>F)@y}>}>ozټ}>H+*<޿ Ȱ? ?0 |&?@ ?)~>9@ ~>]];I~>Cɫyy)y yIyY?y(FBoMX=YEǹQU>a"Hy}>E >AinGIIȁiŅ 5?Ņݾ󿉻WٺA ƅ $> -?9ƅ[@Dž< ȅT<)ȁWQWQXQ XQWQXQ:WY2WY*WYVYbUYBUa*UaUaUe@BB BAG*BAAAA"C*CRCCCI!I1GM1>c,UsDfFAY}N8@}Nd)@y}N{z}Nw}NH޿@vן?c?oR*?@]?)~N8@ ~NB/a;I~NCɫ) IY??yF%=i%p= ]AXAUƻMU7=Y]QUe>iqau"Hyy}>I  :E 5? :,ݾ ~3> ?9\@< E<):WWX XWX:W2W*WVbUBU*UUU$d@>9IFi}?=C; fEByB BA^*BAAAA"C*CRCCCIGmx>  { {  1:Y #R1y : j5) ̎;K#,ҍDfFAY}J8@}JD )@y}J궬}J}JHw޿`A?`!?`ʻP? ڳ`!?)~J8@ ~Jm>_;I~JCɫYY)Y YIYY?yFDNmea in: $SNTTA,,,,,224537.08*53 EKzG?ˡE?E^E = E'=)EIAyEMby&1|? rh?EE`;EC< E^BA)EXGAIE`=AiEzPAAEEA    @ @ @áááiáá ġ)ġIġiġmsMuF=Yu"QUu>yya}"Hyy}}>Iȉō 5?ōݾ ƍ9> ?9ƍ]@Ǎk: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUUV@BIBI BIAM*BQAQAQAQAQ"CY*CYRCYCYCaaIiG9> i =v),ٰDfFAY}F8@}F?(@y}Fý}FT}FHl޿߭?1?@S W?n?)~F8@ ~Fep];I~FCɫYY)Y YIYY?yiFӮMc=YQU>!!a%"H%H!y-0H}->I15 5?5'ݾ 5=> =?95^@5: 5:)1WaWaXa XaWaXa:Wi2Wi*WiVibUiBUq*UqUqU}`Q@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCC׉IG= 5 x x  8:Y 7P1y : 59 @% <% <) 9) I- Fi- ?) ) ) - C; - _E)يIيiي݊=݊=݊&4c0,DfFAY}Bq8@}Bo(@y}Bbٽ}BW+}BH1`Y߿@)? ?F/?V?)~Bq8@ ~BK\;I~BCɫII)Q QIQY?yF)å= å>MP=Y#QU>a"Hy}>II U:M 5? U:Mݾ MC> U?9M_@M: M0:)M:WyWyXy XyWyXy:Wy2W*WVbUBU*UUU@BB BA5*BAAAA"C*CRCCCI)IG>t6,fDfFAY}67@}6'@y}6s}6ZD}6H@S߿kb? at?@8`{??\^?)~67@ ~6[;I~4ɫ99)9 9I9Y}v?y}bFy}@A    @ @ @i )Iix=MG=YqQU>a"Hyļ}>I   5? 5ݾ H> ?9 a`@ : :) WWX XWX:W2W*WVbUBU*UUU@B1B9 B9A=Ѕ*B9A9AAAAAA"CI*CIRCiCiCqiIyG>I ) AA  w w  o/:Y O1y P: 6<,NDfFAY}FH57@}FP'@y}F }FR~}FH@dg "M??Rw<*?࿄T?)~FH57@ ~Fd`;I~FCɫ髹) IY,?y4FMﱻMUD=Y]UQUe>qqa}"Hyy+}>I : 5? :ʿݾ M> ?9Xa@: I:):WWX XWX:W2W*WVbU!BU!*U!U)U-`9B@BQBQ BQA]*BYAYAYAYAY"Ca*CiRCiCiCiaIqG>ܩ9ܩIܩiܩܩܩܩܭC; ݭsEЙC,]EfFAY}66@}6&@y}6k}6S$C}6H ; w,??Je콿?? ?)~66@ ~6?`;I~6Cɫ99)9 9I9Y?y~FxDUSBL response received:!U1,N,80,80,63,E4 B,188,80,80,BE,FF ZNo reply:!U1,N,80,80,63,E4 B,188,80,80,BE,FF -E ET<)AIAyE{Gz?/$?:vE#iiam"Hiqyu}u>Iy} 5?} ݾ }I> ?9}a@}+: }w:)yWWX XWX:W2W*WVbUBU*UUU @BiBq BqAu-*BqAqAqAqAy"Cy*CRCCCשIG#>  | |  <0:Y R1y i: 6I,(EfFAY}>SX6@}>s&@y}>W+}> }>H`Y ߏ ?=?_@ic?`7 1?)~>SX6@ ~><^;I~>CɫYY)Y YIYYz?yǍF E E E E@ E@ E@AAAiAA A)AIAiAU4<MUK=Y]7QU]>YYae"Haaym(}m>Iq }:u# 5? }:uNݾ uLD> ?9ub@u: u :)u:WWX XWX:W2W*WVbUBU*UUU@m@BB BA*BAAAA"C*CRCCCIG> =i =١ ٥ ^Aܩ 9ܩ Iܭ PFiܭ 8?ܭ =ܭ ADܩ ܭ 9C; ݭ 0EP,BEfFAY}6!6@}6V=&@y}60<}6V}6Hu b?H?Oz@q?`Es?)~6!6@ ~6v];I~6CɫYY)Y YIYY?y-FXMU=Y-QU>a"Hy }>Is 5?ݾ ?> ?9%c@: :)WWX  X W X :W 2W *WVbUBU*UUU0@BABI BIAM*BIAIAIAQA"C*CRCCC IG- > + z z  @7:Y Q1y : 5) ;9 V,\EfFAɫ髙) IY?ynFI)I=)=)> >TMF=YQU>  a "H y}>I 5?ݾ ;> -?9c@k: :)WIWIXI XIWQXQ:WQ2WY*WYVYbUYBUY*UaUaUe @RmB*** querying acoustic contact ***PqPqBB BA*BAAAA"C*CRCCC1IQG>],WvEfFAY}m%6@}mA&@y}m _}m,}mH|?@P? *?+fſ`ը?= -?)~m%6@ ~m\;I~iɫii)i iIqYu?y}ӊF}Z****** received transponder code query ******F****** received ping request ******a"Hy9}>I :% 5? :6ݾ Z1>  ?9hd@:  :):W)W)XI XIWQXQ:WQ2WQ*WQVYbUYBUY*UYUYUe`!@BB BAB*BAAAA"C*CRCCCIG >I ) @A Z w w  ;:Y O1y P: j5) ʖ;c,(bEfFAY}6p5@}6%@y}6l}6[}6H@8" ?@?@sǿ N?ԃ ?)~6p5@ ~6a;I~4ɫYY)Y YIYY}?y}&FxDUSBL response received:!U1,P 80,80,63,E4 B,188,80,80,BE,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 s M=YESQUM/?YYae"Hiy}'?I 5?fݾ ,>  ?9d@; ;)WW X  XWX:W2W*W!V!bUIBUQ*UQUYU]"@BB BA*BAAAA"C*CRCCaCaaIyG_>i}nGI`AiXٺ`ARAj,)@EfFAY}6=E5@}6`%@y}6|}6C}6H@T:h@ ?%k?d)ɿ`F?:γ ]?)~6=E5@ ~6 _;I~6CɫYY)Y YIYY+?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =ip= !!!%]ABM?=YQU>a"HHyڮ}>I :r 5? :ݾ %> ?9%e@,: :):WWX XWX:W2W*WVbUBU!*U!U!U%cH#@BQBQ BQAU*BQAYAYAYAY"Ca*CaRCaCaCi)I9G>   { {   H:Y #R1y : 595 @m )LCIy(@DA?qm1ٱ    @ @ @ i\?  ?) ?I ?i? ᑼM W=YMQU>a%"H!)y-R}->I9= 5?=ݾ => M?9=e@=; =;)9WWX XWX:W2W*WVbUBU*UUU$@RU(Combining 5 samples.PY*Q](@ZQ]O48@ix>JQ]DA?qm12Q]:QYbQ]5{;GN$H@T }?RQ] l;ۿeB?J+fq*?BQ]@ Q]Gr@Q]P]Q9?PYPYQ]Q]:@"Q]h)@BB BAڇ*BAAAA"C*CRCCCIG )> =i =s&w,vEfFAY}nD"5@}n=%@y}n㐾}n}Ӳ}nH Օ>?@^P?@\̿?o 3?)~nD"5@ ~n\;I~lɫ) IYU+?yUFTNmea in: $SNTTA,0.034810,,,,224542.64*4B ew<Me6=YefQUm>iiam"Hqqyu;}}>Iy :} 5? :}4ݾ }r> ?9}f@}k: }:)}:myAdded new target pos. range: 4.380000 m, bearing: 116.213237 deg, deltaT: 10.052016 s, approachRate: -0.005969 m/s, LOS rate: -0.594327 deg/s, posRepo size: 4XW@WX XWX:W2W*WVbUBU*UU@U )?BB BA*B A A A A "C-@RCC@CAIQGu7> x x  /X:Y 7P1y : 5OQ},EfFAY}e,,5@}eG%@y}e}er}eHn? C?F˿ O?`M{R?)~e,,5@ ~e>\;I~eCɫ11)1 9I9Yu?yuCFI ) I==)== 9 I XFi ? =    B; E)݁I݁i݁݁݁݅04MPn?+η?MbPM>Mv= M)MIIyMQ?:v{Gz?Mua"Hy:}>I 5?ݾ #> ?9f@: #:)W W X  X W X :W2W*WVbUBU*UU!U%"?BB BAM*BAAAA"C@RCCCIGn>6,FfFAY}65@}6P!%@y}6&}6)}6H3_? N? Cb'˿@?Ұ?)~65@ ~64Aa;I~6CɫYY)Y YIYY}o?y}ԈF,<M=YRQU ?!!a%"H!)y-}- ?I1 =:5 5? =:5 ݾ 56+> E?95Rg@5: 5:)5:WiWiXi XiWiXi:Wi2W*WVbUBU*UUU@2?BABA BIAM*BIAiAiAqAq"C}#@RCyCyCy׉IG>I )  z z  *:Y Q1y : 5*`,„+FfFAY}6'5@}6C%@y}6}6G}6H`0 v@da? f;?``ʿ+?ӯ?)~6'5@ ~6 a;I~6Cɫii)i iIiY?yyF55M=H=Y=QU=>AAaE"HAAyMu;}M>IQU* 5?Uݾ U5> ]?9Ug@U: Uw:)QWWX XWX:W2W*WVbUBU*UUUu?BB BA7*BAAAA"CUԜ@RCQCQCYIIQG}>  9 I Fi v? =   A;  HEI,fEFfFAY}64@}6$@y}6x}6Vּ}6H jX +?:U? @"ǿ_?`S@|?)~64@ ~6 _;I~6CBJFailed to close latch before timeout.q BBHardware FaultYB?yF F  ^A ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYu <M}W=Y}˼QU}>a"Hyd}>Ișŝg 5?ŝݾ Ɲ?> ?9Ɲh@ǝʽ: ȝ]:)șWWX XWX :W 2W*WVbUBU*UUU@@BQBY BYA]*BYAYAYAaAa"Ce@*CRCCCץ?iץ?aIq-$@Hardware Fault in component: DDMG> G } }  %:Y kS1y Ԋ: j5) ؃;9 Dr,u;_FfFAY}6JM4@}6h$@y}6埣}6|ɼ}6HQ@_ ?vv?@>nȿP?藿@^?)~6JM4@ ~6^;I~6C>Powering down<ɪ<)@ @Y>?yTFm;Mm/=YmҼQUu>qqau"Hqyy}}}>Iȁ :Ņ 5? :ŅRݾ ƅJ> ?9ƅri@DžV: ȅ:)ȅ:WWX XWX:W2W*WVbUBU*UUiUmg@BB BAއ*BAAAA"C*CRCCCסIGA> =i =I,yFfFAY}U 4@}$$@y}j};}H@j`V?`҉?Љ0˿ p?>J?)~U 4@ ~\;I~CY-?y-FU~jt?p= ףMb?U>U U=)QIQyUMb?QQUa"Hy-#}>I$ 5?нݾ A> ?93k@: :)WQWQXQ XQWYXY:WY2WY*WYVabUBU*UUU@,@RB*** querying acoustic contact ***PPBB BA3*BAAAA"C *C RC C CI)GMR> ] | | ~ &:Y R1y i: 5) \;&,=FfFAY}6R3@}6$@y}6}6hx}6H`@g`' ?F?`BWQͿ V?;߰D?)~6R3@ ~6.\;I~6CY^o?ybԈFbZ****** received transponder code query ******bF****** received ping request ******f ?9Ml@Moo< Mo<)M:WAWAXA XAWAXA:WA2WI*WIVIbUIBUQ*UQUqUu`O @BB BA*BAAAA"C*CRCCCI$ NClearing failed state for component DDMq G>C,S̬FfFAY}>o4@}>6$@y}>-}>⯽}>HV} hM??,F@8ο ?YڴF?)~>o4@ ~>#[;I~>CYJ?yJFNxDUSBL response received:!U1,P 260,000,002BA,189,80,80,CC,FF NCommand AckRBRequesting micromodem ping code 2iPPVNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ML=Y%>19aE"HMHYym;}u>Iȑŕ 5?ŕ&ݾ ƕ3> =?9ƕMn@Ǖ< ȕ<)ȑWWX XWX:W2W*WVbUBU*UU1U5`l @BB BA*BAAAA"CI*CIRCQCQCQIIaG9>ٽ <ٽ 4= 9 I НFi E@ @; EI AA)  z z  5:Y Q1y : 5) s;y,ߨFfFAY}6X4@}6Kt$@y}6~@}6\˽}6H``C?z?> Ͽ@?@%K?)~6X4@ ~6[;I~4YN?yRFfNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @ip? )Iip?-<M:=Y%4V!)a-"H))y5<}U>IY e:] 5? e:]ݾ ]+> m?9]#p@]E: ]:)]:WWX XWX:W2W*WVbUBU*UUU@@B)B) B1A5/*B1A1A9A9A9"CQ*CQRCQCQCYIIQGm> i5 nGIE /aAiY ɷ,FfFA"$ٺ"/aA"AY}J4@}J$@y}J4}Jxi}JH`@F@;? I?J,sп As?6 SJ?)~J4@ ~JZ[;I~JCYV%?yVFZxDUSBL response received:!U1,R,27D,000,002BA,188,80,80,C0,FF ZFpublishing direction and range infoZNXɰXZ> X)Z@CIXyXZ~.?:TٱX hhllrr;Mr_=Yr;ttaz"Hxxy~<}~>I 5??ݾ %>  ?9q@: :)WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*QZQ8 @E}JQ~.?:T2QN:QbQ/=ӢV@0k?RQA5ؿʢѴ?5 F*?BQy? Qr@QٿPR9?PQ9?PQQeG@"Q:@BB BA$*BAAAA"C*CRCCC׹IG>  { {  *:Y #R1y : 59 @,FfFAY}J4@}J$@y}Jjԝ}J}JH @SS?I?˿`j?𦯿gm?)~J4@ ~J[;I~JCYr?yv FeDNmea in: $SNTTA,,,,,224547.05*59 a i%@a % a m%@a % a q%@a % a e%@a % &1?'1ZĿ:v?=" T=)IiMb@Mb@Mb@© @)vAI@ivA@A9AIE`FiE@E=AAE@; EE    @ @ @ @áááiåá ġ)ġIġiĥ($<M%=Y:QU>a"Hy]8}>I : 5? :qݾ > ?9s@: >):m qAdded new target pos. range: 4.380000 m, bearing: 114.176236 deg, deltaT: 4.404582 s, approachRate: 0.000000 m/s, LOS rate: -0.462473 deg/s, posRepo size: 4X W y?W X XWX:W2W*WVbUBU!*U!U!U%5?BIBQ BQAU*BQAYAYAYAY"CeR@RCaCey?CiiIqG:> i đ,m:GfFAY}6&'4@}6B$@y}6Uȟ}6 <}6H@`+U? ? vĿ`s?w?`t?)~6&'4@ ~6\;I~6CYr?yrˉF}d<M}y=Y>QU?a"HyC}?Ișŝ 5?ŝDݾ Ɲ_> ?9Ɲ$u@ǝ>: ȝS?)șWWX XWX:W2W*WVbUBU*UUUM?BB  B A *B A A AA"C[?*CRCCC׉IG=  | | b /:Y R1y i: 5cʑ,.GfFAY}6)3@}6$@y}6f}6@}6H ŀ& ? ?m)ǿ`ך?uS`-u?)~6)3@ ~6R\;I~6CYB?yBFI)I-a=)-=)-> ->]=M]L=Ye:QUe>aaam"Hiiyuy}u>Iy}[ 5?}Գݾ } > ?9}v@}: }?)yWWX XWX:W2W*WVbUBU*UUU`-?BB BA4*BAAAA"Cy?*CRCCCIG=I M ]AQ 9Q IQ iQ U =Q Q U @; U E)Iiሉ==划4ё,tGGfFAY}F%4@}FhA$@y}F9E}F}FHa &? ? gk̿ K?@zȱ7z?)~F%4@ ~F[;I~FCYn?yrF    @ @ @i )IiMB=Ya"Hy<}>I 5?Lݾ > ?9x@}: ?)W1W1X1 X1W9X9:W92W9*W9VAbUABUA*UAUAUM@!?BqBq BqA}*ByAyAyAyAy"C*CRCCCqIyG=I @A) AA  z z  a4:Y Q1y : j5ؑ,aGfFAY}624@}6XN$@y}6}6o}6H@Rd?`.? [̿`;?詴?)~624@ ~6=[;I~6CY^?y^F=M=V=YEz =QUE>AIaM"HIIyU\;}U>IY]\ 5?]ݾ ]= e?9]7z@]: ]@)YWWX XWX:W2W*WVbU1BU1*U1U9U=.@BB BAȇ*BAAAA"C*CRCCCשIG=8ޑ,v{GfFAY}r3@}r4#@y}r:}r[]}rH@̼ M??s ȿ ?n? cϾ?)~r3@ ~r[;I~rCY5?y5܊Fa=i= a ia i a ma m a qa q a ea e  rh?X9vp= ף?C = =)Iy:vI +?I +?T9<94< •vHA)•hWAI•-Ai•DA©­_A9IFi@A; E    @ @ @i )Ii%=M-/=Y- 11a5"H19y= l}=>IA U:E_ 5? U:Eݾ E= U?9E{@E#; E8;)E:WqWyXy XyWyXy:Wy2W*WVbUBU*UUU@B1B1 B9A=?*B9A9A9A9A9"Ca*CiRCiCiCiaIiG9> 7 } }  #:Y kS1y Ԋ: 6) ;9 c 呙,GfFAY}6N3@}6i#@y}6sϊ}6v}6H`U'`3?`? I aɿ#?❭?)~6N3@ ~6S[;I~6CYFG?yFmFVh|=MV}=YZo99a="H=HAyEK}E>II u:MX 5? }:MѲݾ M> }?9Mb|@M; M;)M:WWX XWX:W2W*WVbUBU*U1U1U5! @ByB BA*BAAAA"C*CRCCCסIG >< 9 I i     A;  jE b | |  9':Y R1y i: 46) ;3,9GfFAY}Rժ2@}R`"@y}R,E}R#}RH܉`,0?g?\6ѿ?Ѯÿ@?)~Rժ2@ ~R&];I~PY^?y^FbxDUSBL response received:!U1,P 27D,000,002BA,188,80,80,C0,FF bCommand AckfBRequesting micromodem ping code 2iddjNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )%= %=    @ @ @i )IiMcM8=YDa"H y } >IK 5?ݾ > %?93}@: :)WWX XWX:W2W*WVbUBU*UUU` @B!B) B)A-*B1A1A9A9A9"Ci*CiRCqCqCyI)]A׹IGf>}\,GfFAY}6~2@}6"@y}6}}60}6H uF M\?@k?fͿmd??)~6~2@ ~6\;I~6CY^'?ybF`bAArNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B  /Mj=Y-=QU?a"Hy}?Iȹ :ŽD 5? :Ž ݾ ƽ2> ?9ƽ}@ǽ: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU$@B)B) B)A5d*B1A1A1A1A9"C9*CARCACACA1I9GU=I AA) @A5 o 5 ~5 ~5  5 <:Y5 T1y5 @:5 {59M @,GfFAY}6k2@}6"@y}61l}68}6H`~`?@ ?`(@Qſ@_C? ?)~6k2@ ~6\;I~6CY^?ybFnxDUSBL response received:!U1,R,268,000,002B9,189,80,80,AE,FF rFpublishing direction and range infon lɰndd=n7> l)n.CIlyn=@nOu|?abٱl~dNmea in: $SNTTA,0.256358,0.256233,,,224551.50*52 5Cl? rh?Q5;=5C= 5u)1I1y5l~jth?Q?55D;5< 5;A)5I50Ai5zA15LAU=MU?=Y]#=QU]>YYae"Haaymy6}m>ܙ9ܙIܝНFiܝE@ܙܙܙܝ>B; ݝEIȩŭx 5?ŭݾ ƭ` > ?9ƭ~@ǭ3: ȭ:)ȩW9W9X9 XAWAXA:WA2WA*WAVIbUIBUi*UiUqUu5@R(Combining 5 samples.P*Q=@ZQH @W.:JQOu|?ab2Q :QbQ8٧Nfƙ@zA?RQ Hٿ4 ݌?-?BQdk? Qv@QuڿPPR9?PQQ .@"QeG@BB BA*BAAAA"C)*C)RC)C)C1IG-->do,HfFAYo?y#FC=i<‘•^A    @ @ @i )IiMB=MQ=YQU>aaae"Hiiym}u>Iy} 5?}Xݾ }> ?9}@}: }:)ymuAdded new target pos. range: 4.319999 m, bearing: 113.884088 deg, deltaT: 4.488807 s, approachRate: -0.013367 m/s, LOS rate: -0.065084 deg/s, posRepo size: 4XWdk?WX XWX:W2W*WVbUBU*UUG@U [?BB BAR*BAAAA"C dk?*C RC C dk?CIimGIiٿٺwAG'> * { {  ,7:Y #R1y : 5 ,0HfFAY}6M2@}64"@y}6p\}6(/2}6H$ { M?@?0/Ŀ~e?:?)~6M2@ ~6[;I~6CY^~?yb,F5:M=W=Y= =QU=>AAaE"HAIyM_}M>IQ ]:U 5? ]:Uݾ U> e?9U@U: U:)U:WWX XWX:W2W*WVbUBU*UUU?BB BAN*BAAAA"C*CRCCCIG=ّٕ^Aܙ9ܙIܝFiܝE?ܝ=ܙܙܝB; ݝE i =,cJHfFAY}62@}6i#"@y}6_}6r}6H a? ?`J`ƿ@? /?)~62@ ~6=[;I~6CYR?yR"Fu<MuF=Y}λQU}>ya"HyM)}>Iȑŕ 5?ŕݾ ƕ&> ?9ƕ@Ǖ: ȕV:)ȑWWX XWX:W2W*WVbUBU*UUU`?BB BA*BA A A A "C*CRCCCQIYGu= .  }7:Y y 5',_dHfFAY}61@}6"@y}60Y}6sy}6H d@_?`?@?Hÿ? 8bC?)~61@ ~6N,[;I~6CY^?y^F)-= -= u u u u@ u@ u@qqqiqq q)qIqiqƑMI=Y)za"Hy㘻}>I %: 5? -:;ݾ /> -?9@: g:):WiWX XWX:W2W*WVbUBU*UUUW?BB BA*BAA A A "C*CRCCCI))-^A!I1GM>v,3~HfFAY}>1@}>v!@y}>ьI}> ׼}>HĊ?@?>v( ? mx _?)~>1@ ~>'[;I~>CY^#?ybjFV-?333333ÿMbPm= )Iy~jtxMb:v?Ļ@T< µAA)µOQAI±iµkAKA%=MF=Yi=QU>a"Hy}>IA9AIEFiEv?AAAEdC; EEE)сIсiсссՁ4 5?}ݾ 5> ?9G@P< 7<)WWX XWX:W2W*WVbUBU*UUUZ @BYBY BYAee*BaAaAaAaAa"C*CRCCCiIqG>I @A) ?A  | |  +:Y R1y i: j5) ;9 %,8HfFAY}61@}6!@y}6N<}6}6HR`hx?g)?@ 8@g?3顿`p?)~61@ ~6Y [;I~6CYv?yvFLr<MN=YS=QU>a"Hy.}>Iȹ :Ž 5? :Žݾ ƽy:> ?9ƽ@ǽ: Ƚ$:)Ƚ:WWX XWX:W2W*WVbUBU*UUU @B!B) B)A-5*B)A)A1A1A1"C9*C9RC9C9CAIG>+,HfFAY}6r1@}6p!@y}6#8}6l }6H+?09?̿`?렿 \w?)~6r1@ ~6y[;I~6CYB2?yFsFDɮFR=J4=iJ=PR]A v v z z@ z@ z@xxxixx x)xIxix1gMU=Yh-  a "H Hy}>IșŝB 5?ŝݾ Ɲ?> ?9Ɲ|@ǝE: ȝs:)șWWX XWX:W2W*WVbUBU*UUU9@R B*** querying acoustic contact ***P P BIBI BIAUa*BQAqAqAqAy"Cy*CRCCC׉IG=999I=Fi=1?==99=6E; =; E 5 y y  8:Y P1y ': 5) =;2,HfFAY}:Q1@}::!@y}::}:b(}:HT2`i?X? u#?¤6r?)~:Q1@ ~:#[;I~:CYNC?yNVFRZ****** received transponder code query ******RF****** received ping request ******Rqqa"Hy@}>I  :u 5?  :<ݾ E> 5?9@; ;):WWX XWX:W2W*WVbUBU*UUU@b @BB BA*BA!A!A!A!"C)*CIRCICICQAIQGm> =i =p8,'HfFAY}>u0@}>!@y}>9}>}>HZ? i?ŏvƿ`?ҵ[?)~>u0@ ~>B[;I~>CY^G?y^FbxDUSBL response received:!U1,P 268,000,002B9,189,80,80,AE,FF bCommand AckfBRequesting micromodem ping code 2iddjNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -*M5O=YE3&:QUE>QYae"Hayy}׻}>Iȩŭ 5?ŭݾ ƭL> }?9ƭ@ǭ< ȭ <)ȩW9W9X9 XAWAXA:WI2W*WVbUBU*UUU) @BB! B!A%܄*B!AiAiAiAi"Cq*CqRCqCqCyׁIGB>  z z  h,:Y Q1y : 59 @%?,HfFAY}:L0@}:th @y}:J7}:P}:HgXI2?@֮?o ¿=?XAr?)~:L0@ ~:'[;I~:CY^?y^ՒF`b@AnNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 9I Fi?=XF;  E%Zd;?(\пI +?%y=% %94=)!I!y%:v?S㥛+%T<%/ݼ% %^BA)%VLAI%0Ai%cA!%HA)5= 5> }   @ @ @ ÁÁÁiÅ\?Á ą?)ą?Ią ?iąK?k=M0=Y;QU>a"Hy}>I)- 5?-ݾ -;> =?9-5@-: -=:))WyWyXy XWX:W2W*WVbUBU*UUU@/@BB BA*BA A A A "C)*C)RC1C1C1IQ)U]A!I1GM1> F,!XIfFAY}6/@}6x@y}62}6"}6H@8 Y=o??@u /c@8?@v9}?)~6/@ ~6'[;I~6CYB?yB̒FFxDUSBL response received:!U1,R,25B,000,002B8,188,80,80,B8,FF JFpublishing direction and range infoF$DɰFd=F> D)F8CIDyFQ@F틻?$ٱD^VM^w=Y^m r?9j@jR: jk:)j:WW X  X W X :W 2W *WVbUBU*UUU@u@R-(Combining 5 samples.P)*Q-Q@ZQ-"O,x @T7JQ-틻?$2Q-$:Q)bQ-kOY4rV@4`%?RQ-).ؿX19F ??BQ-n? Q-%x@Q- οP-S9?P)P)Q)Q-%@"Q- .@BB BA*BA A A A "C*C1RC1C1C91I9GU=I ) @A / x x  7:Y 7P1y : 53:L,I3IfFAY}V/@}V@y}V,}V:^}VH2u@?@?LXp¿v?9_?)~V/@ ~V~VCYb?yf^F=TNmea in: $SNTTA,0.025768,,,,224555.95*43 <M7=Y[  a "H yȻ}>I 5?"ݾ E > -?9@Y: /:)m]uAdded new target pos. range: 4.259999 m, bearing: 112.545938 deg, deltaT: 4.367456 s, approachRate: -0.013738 m/s, LOS rate: -0.306391 deg/s, posRepo size: 4XYW]n?WYXY XYWaXa:Wa2Wa*WiVibUiBUi*UqUu = @Uu?BB BAʃ*BAAAA"Cn?RCCn?CױIG>9IFiv?=DG; S!ES,MIfFAY}6/@}6@y}6%}6,s}6H;?&?@UĿ?w0|?)~6/@ ~6K[;I~6CYZr?yZKF } } } }@ }@ }@ }@yyyi}y })}I}i}MS=Ya"Hy:}>Iȩ :ŭ 5? :ŭ^ݾ ƭ> ?9ƭ@ǭ: ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUU??BB BAу*BAAAA"C*CRCCCiIG>ii I i xܿٺ A    TD:Y T1y : 5FY,)fIfFAY}6ͧ/@}6X@y}6 }6Y}6H&@-ȱ? A?.-Zſx?g"%y?)~6ͧ/@ ~6 [;I~4Y^?y^8F5<M5P=Y=LAAaE"HAIyM}M>IQU 5?Uݾ U > e?9U@U: U:)QWWX XWX:W2W*WVbUBU*UUU m?BB BAq*BAAAA"C*CRCCCIG= =i =.`,ĀIfFAY}6/@}6%@y}6j}6A}6H6G.2װ?@ ?0`ſ?ŷ z?)~6/@ ~6ʝ[;I~6CY^?ybӔF܁9܁I܅xFi܅?܁܁܁܅G; ݅!EV-Sſ:v?/ T<)IyX9v?Mb<̼ `=A)OAIh3AibA e e e e@ e@ e@aaaiaa a)aIaiau<Mu8=Y}?;QU}>ya"HyX:}>Iȑ :ŕ 5? :ŕݾ ƕ> ?9ƕ@Ǖ: ȕ:)ȕ:WWX XWX:W2W*WVbUIBUQ*UQUQUU|?BB BA2*BAAAA"C*CRCC CIG-->e [ e ze ze  e ;:Ye Q1ye :e {5)e ܖ;9m |Zf,IfFAY}6,~/@}6@y}6V}6#$}6HK6 q-?`?tca[௶?Rɢ`?)~6,~/@ ~6M7[;I~6CY^?y^ҕFI)I-=))] =M]^=Y][QU]>aaae"Haiym}m>IquN 5?uǭݾ u> ?9u@u: u':)qW!W!X! X!W!X!:W)2W)*W)V)bU)BUQ*UQUQU]}w@BB BAʂ*BAAAA"C*CRCCCIG>l,}zIfFAY}>)/@}>E@y}>}> }>H/2?` 7?J@57?њ?)~>)/@ ~>6[;I~>CYJ?yJF<MO=Yw;QU>!!a%"H%H)y- V}->I15 5?5ݾ 5> E?95@5b: 5:)1WaWaXa XaWiXi:Wi2Wi*WiVibUqBUq*UqUqU}x@BB BA|*BAAAA"C*CRCCCױIG=y}4=܁9܁I܁i܁܅=܁܁܅ H; ݅!E)1I1i1115i5I ) m xm qm qm  m (:Ym K1ym ̅:m 5)m 8;js,UIfFAY}6.@}6=@y}6 }6c}6HZ8u?P?`z?`<?)~6.@ ~6@Z;I~6CYv?yvFxɮzp= M U U U@ U@ U@QQQiQQ Q)QIQiQe MeE=Ye+iiam"Hiqyu}}>Iȁ :Ņ 5? :Ņݾ ƅ.> ?9ƅ@Dž: ȅ=:)ȅ:WWX XWX:W2W*WVbUBU*UUUN@RB*** querying acoustic contact ***PPBB BAÂ*BAAAA"C *C RC C C IG5=Uy,2IfFAY}6.@}6@y}6ۏ }6}6H@.!? \?@& i¿ +d?紿j?)~6.@ ~6Z;I~6CY^x?y^FbZ****** received transponder code query ******bF****** received ping request ******fa"Hy6ͺ}>IQ 5?ݾ y> ?9@ ; ;)WYWYXY XYWYXY:Wa2Wa*WaVabUiBUi*UiUiUm/ @BB BAO*BAAAA"C*CRCC C IG- >u  u xu xu  u 3:Yu 7P1yu :u 59 @},k JfFAY}6/@}6 @y}6}6E}6H`I, ?_X?=L¿ ? Fش`?)~6/@ ~6Z;I~6CY^"?y^-FbxDUSBL response received:!U1,P 25B,000,002B8,188,80,80,B8,FF fCommand AckfBRequesting micromodem ping code 2iddjNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I9IIIiIIIIMlH; M!EUٿzG?ULU̾ U =)QIQyU/$?ˡE?Ua"HyH;}%>I1 E:5 5? M:5تݾ 5> U?95@5]; 5;)5:WWX XWX:W2W*WVbUBU*UUU@BIBQ BQAU*BqAqAyAyAy"C*CRCCCqIyG> =i y,JfFAY}6k&/@}6A@y}6}6.}6H9 ?9@w: :)WWX  X W X :W 2W *WVbUBU*UUU4H@BABI BIAM=*BIAIAIAQAQ"CY*CYRCYCYCaIG>  } }  ):Y kS1y Ԋ: 5+ь,75JfFAY}6E.@}6 @y}6}6YF}6H`N(?c?|3м)? `?)~6E.@ ~6Z;I~6CYB?yFȗFJxDUSBL response received:!U1,R,248,000,002BA,188,80,80,B1,FF JFpublishing direction and range infoFwDɰFd=D D)F1CIDyF(@FA?M9߿ٱDIP)PIZ=)Z4=)Z= Z=b4<Mb\=YbQUf>ddaf"Hdhyj}j>Ip v:r 5? v:rݾ r5> v?9r5@r: r:)r:W WX XWX:W2W*WVbUBU!*U!U!U%f@R5(Combining 5 samples.P1*Q5(@ZQ5/ȼQ@w7JQ5A?M9߿2Q5w:Q1bQ5{@TS-?RQ5Ȟܼؿ1OQ78?&a=?BQ5XQ? Q5@Q5ؿP5R9?P5S9?P5Q1Q5@"Q5%@BYBa BiAm*BAAAA"C*CRCCCIG>]A!9%ܔCI!i!%=%AD!%4I; %["E;,OJfFAY}Z;.@}ZV@y}Z}Z@xB}ZH/@hAK??nT?@ ?)~Z;.@ ~ZZ;I~ZCYf?yf$F=DNmea in: $SNTTA,,,,,224600.39*56    @ @ @ÙÙÙiÙÙ ę)ęIęięuM}1=Y}߃QU}>a"Hy¼}>Iȑŕ_ 5?ŕ[ݾ ƕI> ?9ƕq@Ǖ: ȕY:)ȑmmAdded new target pos. range: 4.380000 m, bearing: 112.943298 deg, deltaT: 4.445001 s, approachRate: 0.026997 m/s, LOS rate: 0.089395 deg/s, posRepo size: 4XWXQ?WX XWX:W2W*WVbUBU*UU@Us?BB BAA*BAAAA!"C%XQ?*C)RC)C-XQ?C1!I1GM>I )  `  z z  z;:Y Q1y : '㙒,lxiJfFAY}6-@}6=@y}6^m}6@н}6H@C sE?+?`%ÿ{?B͹?)~6-@ ~6Z;I~4Yf;?yfۖF]=!Me^=YeWJiiam"Hiiyu4}u>Iy :} 5? :}8ݾ }Z> ?9}@}: }:)}:WWX XWX:W2W*WVbUBU*UUUDl?BB BA_*BAAAA"C*CRCCCIG=ˠ,vSJfFAY}6-@}6@y}647ཙ}6߽}6H``k#M??)@ ÿ? l?)~6-@ ~6)[;I~6C`9`I`i````bkJ; b"EYn?ynFʡE~jtx?- ;)IyMb~jtQ?u= ?A)IAIi"WAGEA^A U U U U@ U@ U@QQQiQQ Q)QIQiQm{ Mm:=Yu1yya"Hyu}>I 5?ԩݾ ]w> -?9$@; ;)WWX XWX:W2W*WVbUBU*UUU_?BB BA*BAAA!A!"CI*CIRCICICQ׍?i׍?aIiG9> x y y |  (:Y P1y ': 45) 9 V,w/JfFAY}65-@}6@y}6Ͻ}6}6H n`M{??_x}@ֹ?⤳`?)~65-@ ~6c[;I~6CYB?yF$F<Mc=Y\!!a%"H!)y-;}->I15 5?5ݾ 5z> E?95@5: 5(:)1i}nGIi1W9WAXQeؿٺaeA XQWaXa:Wi2Wi*WiVibUqBU*UUU?BB BA*BAAAA"C*CRCCC IG5 > i p==, JfFAY}>l.@}>|@y}>Qн}>l}>HyA@ȧ?ࠡ?id ?r?)~>l.@ ~>Q[;I~>CYJ?yJF=1G<M=H=YE3QUE>AIaM"HMHIyU<}U>IY e:]$ 5? e:]ݾ ];> e?9]@]: ]:)]:WWX XWX:W2W*WVbUBU*UUU@D@BABI BIAM*BIAIAQAQAq"Cy*CyRCyCyCבIG>9IFi1?jK; #E] ] z] z]  ] X:Y] Q1y] :] 5)] Y;7,;JfFAY}6Ӡ.@}6]@y}6s'ؽ}6} }6H`@?\? *t{? u?)~6Ӡ.@ ~6'[;I~6CY^?yb$FI))5= 5> } } } }@ }@ }@yyyiyy y)yIyiy<ME=YQU>a"Hy;}>IȩŭN 5?ŭݾ ƭ> ?9ƭ@ǭ: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU@BqB BAA*BAAAA"C*CRCCC׉IG=0,JfFAY}6ʃ.@}6T@y}6^۽}6x}6HU??@w i^?@ή?)~6ʃ.@ ~6'Z;I~6CYR?yRFPɮRa=EDMEO=YEqQUE>IIaM"HIQyUT}U>IY e:]d 5? e:]9ݾ ]H> m?9]@]5: ]:)]:WWX XWX:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PPBB BA9*BAAAA"C*CRCCCIG=I ) ?A D x x  >9:Y 7P1y : 359 @V,KfFA494I6 Fi6?6=446CL; 6#E)ՀܔCIՀܔCiрՀ=Հ=Հ5Y}FG.@}F@y}FPԽ}FB̽}FH`E!@;?1?@@1¿?q@(?)~FG.@ ~F>[;I~FCYn?ynFrZ****** received transponder code query ******rF****** received ping request ******vQQaU"HQYy]͜;}]>IȁŅ 5?Ņ`ݾ ƅ~> ?9ƅ@DžY: ȅ@:)ȁWWX XWX:W2W*W!V!bU!BU)*U)U)U-@U @BYBY BYA]*BYAAAA"C*CRCCCyIG^>CCǒ,OvKfFAY}>.@}>8@y}>.Ͻ}>~]ͽ}>H+4`\Ԓ?`Ys?`&¿ sڹ? #@-?)~>.@ ~>O[;I~>CY^(?ybFfxDUSBL response received:!U1,P 248,000,002BA,188,80,80,B1,FF fCommand AckfBRequesting micromodem ping code 2iddjC=ij4=nNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  !%]AMMM=Y] m?9ҍ@Pa; <):WYWaXa XaWaXi:W2W*WVbUBU*UUU @BQBQ BQAU*BQAYAYAYAY"Ca*CaRCCCסIGE>  w w k -:Y O1y P: 5|͒,8KfFAY}6&./@}6I@y}69|ս}67Ϙ}6HH` \?fT?@O3@2K)?ݼ?)~6&./@ ~6[;I~4Yj?yjޒFzNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B MA=YQU>a"Hy3<}>IG 5?)ݾ Y> ?9;@: :)W W X  X W X :W 2W*WVbUBU*UUU`ZK@BIBI BIAM*BIAQAQAQAQ"CY*CYRCYCYCa׉IG=I9IIMȖFiM?IIIML; MS$E i UԒ,+RKfFAY}>y@/@}>\@y}>Ӧཙ}> }>HkJU} ? DJ?@[hطq?&#?)~>y@/@ ~>[;I~>CYbC?ybVF % % % %@ %@ %@!!!i!! !)!I!i!5?PM5V=Y=iQU=>9AaE"HAAyM?;}M>IQ ]:U 5? ]:Uݾ U(> e?9U@U: U:)U:WWX XWX:W2W*WVbUBU*UUUv@BB BA*BAAAA"C*CRCCCI)ױIG=  ~ ~  .:Y T1y @: 5ցڒ,lKfFAY}Vs.@}V@y}V}V}VH 0ۙc?_?$E b ?`Ӳ[?)~Vs.@ ~VBj[;I~VCY?y FDNmea in: $SNTTA,,,,,224604.84*54 I))-=)5 > 5>=ZM=I=YEEQUE>AIaM"HIIyU"}U>IY] 5?]Ϥݾ ]*> e?9]@]I: ]:)YWWX XWX:W2W*WVbUBU*UUUr@BB BAɄ*BAAAA"C*CRCCCIGM=gᒙ,KfFA494I6Fi6?6=446M; 6$EY}F.@}F@y}F}FEa}FH`*`=j? j^?@/@mޝ?@} ?)~F.@ ~F[;I~FCYbm?ybF-~jtʡEx&?--- -7=))I)y-QYa]"HYYyeW}e>Iim 5?m,ݾ m> u?9me@m: m:)iWWX XWX:W2W*WVbUBU*UUU?3@BB BAR*BAAAA"C*CRCCC׉IG>I ) AA  F:Y y j5) L;9 璙,KfFAY}Rn.@}R@y}R}RUq}RH v @Ʃ? l? o@Be?@歿k?)~Rn.@ ~R[;I~RCb`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ)))) -I)Ym?ymFFuxDUSBL response received:!U1,R,258,000,04899,189,80,80,B8,FF uFpublishing direction and range infou qɰuO?u7> q)u8CIqyuDu\oz?-Bٱq u u u u@ u@ u@qqqiqq q)qIqiqM =YQU>a"HHyk}>Iȡ :ť 5? :ťoݾ ƥ> ?9ƥҏ@ǥR: ȥ:)ȥ:WWX XWX:W2W*WVbUBU*UUU@7=@R(Combining 5 samples.P*QDZQ老)@; !gfրJQ\oz?-B2Q :QbQx!y@o b@RQΕ׿v)$P`?xo?BQ3? QSwDQP;9?PR9?P QQC"Q@B)B1 B1A5s*B1A1A9A9A9"C*CRCCC?i?ױIG>풙,NKfFAY}>.@}>=@y}>ը }>Qb}>H8``bV?|?s `f'?'?)~>.@ ~>Z;I~>CɫYY)Y YIYY!?yFQU^AbM=YpQU?a"HyB}?Iȱŵ 5?ŵݾ Ƶz> ?9Ƶ@ǵͫ; ȵ;)ȱmAdded new target pos. range: 1077.599976 m, bearing: 111.995110 deg, deltaT: 5.812026 s, approachRate: 184.655060 m/s, LOS rate: -0.163142 deg/s, posRepo size: 4mXStopped intercept timer at range: 1077.60 m.W3?WX XWX:W!2W!*W!V!bU)BU)*U)U5`f֐@U5@?BYBY BaAe%*BaAaAaAaAa"Cm?RCqCu3?CqiIqG>a9e۔CIeFie?e=eBDae2N; e$Er,tKfFA|i|Y}:?.@}:@y}:+}:K}:H` s?`lp?j?7`Q?)~:?.@ ~:c [;I~:CɫYY)Y YIYY}?y}ЍF<MS=YQU>!!a%"H!)y-1?;}->I1 =:5e 5? =:5lݾ 5> E?95f@5: 5:)5:; wAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;wdResuming normal ranging with 1.000000 count pings.;1<WWX  XWX:W2W*WVbUBU*UU!U% ?BB BA *BAAAA"CÂ?*CRCCCסIG >m>mCinGIi%Vٺ!%UA?9A =i G } } } |9:Y kS1y Ԋ: k59 @,PKfFAY}6X.@}6@y}6S }6$\}6H{N"?R?w`A ?+?)~6X.@ ~64[;I~6CɫYY)Y YIYY}?y}F - - - -@ -@ -@)))i)) )))I)i)E MEH=YEWܼQUE>IIaM"HIQyU<}U>IY]F 5?]ӡݾ ]> m?9]@]ض: ]':)YX?1<wCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR; wAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRWWX XWX:W2W*WVbUBU*UUU ?BqBq ByA}*ByAyAyAyAy"C3?RCCCI׹)׹שIG)>] >9Y I] Fi] ?] =Y Y ] N; ] L%E,kLfFAY}>.@}>e@y}>+}>E)}>H @{U???@2@Q5vX?(䤿^?)~>.@ ~>[;I~>CɫYY)Y aIaY?ynFp= ף?)\(̿~jt?=Ga D<)Iy/$?:v?y&1?,=T<`e< AA)OAI5AiBA)= =    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉM5=YƼQU>a"HyWj;}>Iȹ :Ž 5? :Ž~ݾ ƽ<> ?9ƽW@ǽ: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU@4?B1B1 B1A5*B1A9A9A9A9"CA*CARCACICIAIIGm5>  x x *:Y 7P1y : ) ;9 ,!LfFAY}6.@}62@y}6l<}6}6Ht@9&? T? /``k?j t?)~6.@ ~6[;I~6Cɫyy)y yIyY?yFunLMub=Y}:QU}>a"Hydv}>Iȑŕ 5?ŕ8ݾ ƕ,> ?9ƕё@Ǖ&: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUUĭ?BB BA(*B A A A A "C*CRCCCI1GM>I AA) ,:LfFAY}6X.@}6@y}6P}6u#}6H` N?t5? `ÿ "? `2P?)~6X.@ ~6:[;I~6Cɫy髁) IY?yFUp=iU= aa-Ponly read 0 of 1 data item for BIT error}rMC=Y0@QU>a"Hyb;}>I  : : 5? : ݾ > ?9 ]@ V: b:) :W9W9X9 XAWAXA:WA2WA*WIVIbUIBUI*UQUQUU@(@ByB BA*BAAAA"C*CRCCCׁIG>9Ii=N; ^%E)=۔CI=۔Ci9=====r5 K y y  c%:Y P1y ': F6) ;,MTLfFAY}6*.@}6@y}6|$b}6}6Hh=?& ?/$Ŀ ?@mA3?)~6*.@ ~6a;I~6CɫYY)Y YIYY}?y}FsM`=Yy@QU>a"Hy:<}>I 5?ݾ > =?9ؒ@߼: 8:)WWX XWX:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBB BA *B A A AA"C1*C1RC1C1C9 IG5 >A,@nLfFAɫ髑) IY?yFZ****** received transponder code query ******F****** received ping request ******aaae"Haiyu}u>Iy} 5?}\ݾ }> ?9}b@}; }/;)yWWX XWX:W2W*WVbUBU*UUU< @BB BAr*BAAAA"C*C RC C C IIG5-> =i =   R!:Y y W59 @ >9 I Fi ? = N; [%E",1xLfFAY}V-@}V7@y}Vr}Vƽ}VHi>@\o@F?@ I?1qͿ ?`T?)~V-@ ~VL^;I~VCɫ) IY y xDUSBL response received:!U1,P 258,000,04899,189,80,80,B8,FF Command AckBRequesting micromodem ping code 2iI!)!-Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 IeR=)e%=UA`"~jtMb?UYU U=)QIQyU rh?~jt rhUCiiam"Hiiyu.}u>I :S 5? :ݾ >  ?9ϓ@< <):WWX XWX:W2W*WVbUBU*UUU> @BB BA*BAAAA"C*CRCCC I G >.(,RLfFAY}F}-@}F(@y}F}FaȽ}FH@`?\?`@@3Ͽ)? ;?)~F}-@ ~FB\;I~FCɫqy)y yIyY ?y F鮹ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M ?9@: U:)W!W!X) X)W)X):W)2W1*W1V1bU1BU9*U9U9U=ܚ@BaBi BiAm+*BiAqAqAqAq"Cy*CyRCyCyCׁIG> { {  ٱy } } } }@ }@ }@yyyiyy y)yIyiy>M?=YQU>a"Hy}>Iȱ :ŵ 5? :ŵݾ Ƶ> ?9Ƶ^@ǵ: ȵ(:)ȵ:WWX XWX:W2W*WVbUBU*UUU@@P*Q(@ZQy< @&eH7zPJQ"?>2Qt:QbQ3{cx/*@(} !R?RQAѿOU?Z e?BQu? QQ@Q-PS9?P;9?PQ Q9@"QCB9B9 B9A=Ή*B9AAAAAAAA"CI*CIRCQCQCQܩ9ܩIܭ8Fiܭ?ܩܩܩܭN; ݭV%EIGH>I @A) @AC5,LfFAɫ ) IYM:?yMFDNmea in: $SNTTA,,,,,224610.54*5C ]A M=M S=YQU>a"Hy}%>Iȱŵ 5?ŵ,ݾ Ƶ> ?9Ƶ@ǵ: ȵY:)ȱm}Added new target pos. range: 4.380000 m, bearing: 106.291431 deg, deltaT: 4.379791 s, approachRate: -245.039078 m/s, LOS rate: -1.302272 deg/s, posRepo size: 4Wu?WX XWX:W2W*WVbUBU*UU @U ?B1B1 B9A=_*B9A9A9A9AA"CE;v?RCICMu?CIYIiG8> | |  @:Y R1y i: 5i;,LfFAY}>+@}>7@y}>Ϡ}>:=}>H&B+??@@ÿ?w?_?)~>+@ ~>Kc;I~>CɫYY)Y YIYY?y3FdMR=Y߽QU>a"Hy}>I :T 5? :ݾ > ?9@=: :)::uAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;vZEntering USBL mode with 5.000000 count pings.1;q;W WX XWX:W2W!*W)V1bU9BU9*UAUQUU"?BB BA*BA A AA"CEn?RCACACIAIiG_>SB,P MfFAB>9@IB FiB?B=@@BM; B$EY}^5+@}^2Q@y}^Ϋ}^`<}^H ??RX:ɿ`8? ? M4?)~^5+@ ~^a;I~^Cɫ髑) IY?yOFi|?5{Gzq# )Iy~jt?X9v:vD<}T NA)KAI,Ai-~AQA E E M M@ M@ U@ UIIIiM?I I)IIIiMx?]\׼Me>=YeIMQUe>iiam"HiqyuX}u>Iy} 5?}&ݾ }^> ?9}@}: }:)yX@q;uCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:uAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLWWX XWX:W2W*WVbUBU*UUU`G?BB BA*BAAAA"C?RCCCסIGC> q ~ ~  <:Y T1y @: 5) _;9 i I i ٺ A{H,#MfFAY}6e +@}6%@y}6T}6ӧ8}6H`c`j;?@p?Wzп@?,@?)~6e +@ ~6=_;I~6Cɫ99)9 9I9Yo?yF)%> %>Uy;M]]=Y]EQU]>aaae"HaaymG}m>Iq }:u 5? }:uݾ ui> ?9u@u: uR:)u:WWX XWX:W2W*WVbUBU*UUU-?BB BA҉*BAAAA"C?*CRCCCiIqG>YYa]"HYy}>In 5? ݾ > ?9@: :)W!W)X) X)W)X):W)2W1*W1V1bU1BU1*U9U9U=@9@BaBi BiAm*BiAiAqAqAq"C}u?*CyRCyCyCYIiG:>Q9UڔCIU@FiU?U=QU;DUM; U$E v v  @:Y N1y : 5) !;sU,/NWMfFAɫyy)y yIyY?yF]B=M]\=YYQU]>aaae"Haiyi}m>Iqu 5?uݾ u> ?9u@u: uw:)qWWX XWX:W2W*WVbUBU*UUU?@BB BA*BAAAA"C*CRCCCIIGm>I AA) Z[,c(qMfFAY}f؍)@}fb@y}f4T}f}fH q"`q?)?`lҿ?ް?)~f؍)@ ~f`;I~fCɫ髙) IY?y_F_A<<MN=Y%%QU%>!)a-"H))y5p}5>I9 E:= 5? E:=5ݾ =ޘ> M?9=r@=: =:)=:WiWiXi XiWiXq:Wq2Wq*WyVybUBU*U1UQU]r@RB*** querying acoustic contact ***PPByB BA*BAAAA"C*CRCCC?i?IG-N>  } }  *:Y kS1y Ԋ: |59 @Q 9Q IU (FiU ,@Q Q Q U 1M; U r$E)يIيiي݊=݊=݊L6b,4MfFAY}N6 )@}N;@y}N}Nָֽ}NH d@ `K?`B? థԿG? ?)~N6 )@ ~N^;I~NCɫ) IYM?yUFUZ****** received transponder code query ******]F****** received ping request ******]QUm>iqau"Hqqy}ZH}}>IȁŅ< 5?Ņ ݾ ƅA> ?9ƅњ@Dž: ȅܹ:)ȁWWX XWX:W2W*WVbU9BU9*UAUAUE @BB BA*BAAAA"C*CRCCCױIG>?h,iMfFAY}Z(@}Ze@y}Z.}ZY }ZH @:}?zY?.տJ ?@P?)~Z(@ ~Z\;I~ZCɫ髑) IY?yCFxDUSBL response received:!U1,P 29D,000,002BA,189,80,80,BC,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 E MM=Y]k ?9U@UL < U <)U:WWX XWXI:WI2WQ*WQVYbUYBU*UUU; @B)B1 B1A5M*B1A1A9A9A9"Ca*CaRCaCaCiaIyG^> i p= 3 { { _ y#:Y #R1y : 5o,MfFAɫ髙) IYG?yFɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @éééiéé ĩ)ĩIĩiĩMA=YQU>a"Hy}>IM 5?Hݾ d> ?9@s: ':)WWX  X W X :W 2W*WVbUBU*UUUG+@BABA BiAm\*BiAqAqAqAq"Cy*CRCCCIס)ס܁9܁I܅HFi܅@܅=܁܅$u,ӤMfFAY}V8(@}VS@y}V@}V}VHǽ @c9?`ȹ?R ҿ`? ?)~V8(@ ~VM?_;I~VCɫ髑) IY?yxFxDUSBL response received:!U1,R,27E,000,002B8,188,80,80,BF,FF Fpublishing direction and range infoӇɰd=> )?CIyQ@b*?w]zٱ=M:=Yl=QU>a"Hyռ}>I1 =:5 5? =:5ݾ 5P> E?95@5]: 5:)5:WaWaXi XiWiXi:Wi2Wi*WqVqbUqBUq*UyUyU}`Y@R(Combining 5 samples.P*QQ@ZQ" @:&YJQb*?w]z2QӇ:QbQ^뿾uj@G1~?RQBwʿF,a?³?BQ? QS{@Q]PT9?PS9?PQQJ@"Q9@BB BAg*BAAAA"C*CRCCCI!G=Q>   i*:Y y X5|,"rMfFAY}f2(@}fhN@y}fF}f@}fH``H? ?ҿE?`} ?)~f2(@ ~fb;I~fCɫ) IY?yFTNmea in: $SNTTA,0.037962,,,,224614.97*40 a<MP=Y/!)a5"H1AyMFJ}U>IY] 5?]ݾ ]> ?9]@]C(< ](<)YmEuAdded new target pos. range: 4.259999 m, bearing: 102.437381 deg, deltaT: 4.462802 s, approachRate: -0.026889 m/s, LOS rate: -0.863594 deg/s, posRepo size: 4WM?WQXQ XQWYXY:Wa2Wi*WqVqbUBU*UU = @U?BB BA;*BAAAA"C?RCC?CqIyG>I @A) ܙ 9ܝ ۔CIܝ פFiܝ @ܝ =ܙ ܙ ܝ L; ݝ #E, NfFAY}b'@}bj@y}b鰾}b7$}bHsཉ?`|? Tп>?"f?)~b'@ ~bB_;I~bCɫ髙) IY?y~FS㥛?{GzĿ#~j?/<# =)IyQ?Q롿{Gzt?u=\ף; 3CA)aAI+AiApYA    @ @ @ÑÑÑiÑÑ đ)đIđiđ=MG=Y;QU>a"Hy$}>I :S 5? :ݾ ڇ> ?9z@G: X:):WWX XWX:W2W*WVbUBU *U U U  xn?B9B9 B9A=-*B9AAAAAAAA"CMy?RCICICQe?ie?YIiG9>  y y  ,:Y P1y ': 35) u;9 2,)%&NfFAY}:'@}:@y}:}:9}:H1? ?U(ҿ`,? ;%?)~:'@ ~:Y];I~:Cɫ99)9 9I9Y}I?y}GF=<M=g=YEAAaM"HIIyUۻ}U>IY] 5?]Qݾ ]> e?9]4@]ϸ: ]b:)YWWX XWX:W2W*WVbUBU*UUU \?BB BAۅ*BAAAA"Cj?RCCCIG>0,@NfFAY}ZѺ'@}Z[@y}Zע}Ze}ZH@`a? #?`Vӿ?AAaE"HAIyM;}U>IY]T 5?]ʉݾ ]> e?9]@]s: ]:)YWWX XWX:W2W*WVbUBU*UUUW?BB BA *BAAAA"C?*CRCCCA9AIAiAE=AAEL; E#EIGE> =i a=  z z  0:Y Q1y : W5) Í;*,YNfFAY}6U'@}6@y}6s}6}6HA @?@J?5ҿt?`xռ`j?)~6U'@ ~6=\;I~6CɫII)I IIIY}?y}F9M_=Y=QU>!!a%"H!)y-:}->I1 =:5 5? =:5~ݾ 5Ɨ> E?95ۡ@5: 5:)5:WaWaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UyUyU}6?BB BAl*BAAA)A1"C5?RC9C9C9Ii)i >Ci nGI)iAQIqG>ٺAqV,wsNfFAY}Z'@}Z}@y}ZqΌ}Z #ν}ZH@ \?`{? t4`iп9a?A?)~Z'@ ~Za;I~ZCɫ髹) IY}?y}ƎF rh&1?bX9ȶ?C= E=)IyMb` rhMbp?C ; ?A)^AI+AiAfRAR=M0=Y%=QU>a"Hyp} >I   5? ݾ W> ?9 [@ k: :) W9W9X9 X9WAXA:WA2WA*WIVIbUIBUI*UQUQUUS@ByB BA*BAAAA"C*CRCCCaIqGA> v y (:Y y 59 @ 9 I i = L; 5$E<,lNfFAY}6>'@}6@y}6p}6-}6Hg4`ֵ.?6?__@Ͽ`}?`7_?)~6>'@ ~6>`;I~6CɫYY)Y YIYY9?yF@A    @ @ @i )Ii Z=M o=Y,=QU?a"Hy%V;}%?I) =:- 5? =:-ݾ -q> =?9-@-Q; -;)-:WWX XWX:W2W*WVbUBU*UUU k4@RB*** querying acoustic contact ***PPBiB BA߄*BAAAA"C*CRCCCסIG >I ) f,kNfFAɫ髹) IY?y2FZ****** received transponder code query ******F****** received ping request ******yya}"H}Hy}>Iȑŕ 5?ŕݾ ƕț> ?9ƕ,@Ǖ\: ȕu:)ȑWWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"C*CRCCCIG )> | | r C:Y R1y i: 5O,MNfFAɫ髡) IY?yFxDUSBL response received:!U1,P 27E,000,002B8,188,80,80,BF,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 MS9<MUL=YaQUe>yya"Hy}>I :o 5? :ݾ > ?9@; ;):ܡ9ܡIܥHFiܥ@ܥ=ܡܡܥM; ݥ$E)yIyiyy}=}5WWX XWX:W2W*WVbU9BUA*UAUAUE ]E @BB BA*BAAAA"C*CRCCCIG%n>2x,"NfFAY}b(@}b @y}bWB}b}bH`t rZ ? Z?@L ̿0?`d`'?)~b(@ ~b&];I~bCɫAI)I IIIYa?yhF鮉ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @ñññiññ ı)ıIıiıdM=Y >QU>a"Hyt<}>I 5?ݾ %> ?9(@p: $:)WWX XWX:W!2W!*W!V!bU!BU)*U)U)U-N^@BYBY BYA]*BYAaAaAaAa"Ci*CiRCiCiCqQIaG}z> 2 z z  e#:Y Q1y : 35S,NfFAY}Fs(@}F@y}F2%}Fͽ}FH 7D?@?pDbǿY?`q^l?)~Fs(@ ~FO_;I~FCɫ髁) IY ?y F)%= %>E~=MM=YU=QU]?iia"Hy;}?I( 5?ݾ 8> ?9{@: v:)WWX XWX:W2W*W!V!bU!BU!*U!U)U-`Ɩ@BB BA*BAAAA"C*CRCCCI)׉IG>ܡ 9ܡ Iܥ `Fiܥ @ܡ ܡ ܡ ܥ N; ݥ S%E4Ó,OfFAY}f(@}f@y}f}f~n}fH#! dR?J?@W%Z`.?4`*?)~f(@ ~f~ c;I~dɫ) IY?y/FDNmea in: $SNTTA,,,,,224619.42*52 -{Gzx&J +?-#-7 -=))I)y-QQaU"HQYy]<}]>Ia m:e$ 5? u:eYݾ e> u?9e@e: e:)e:WWX XWX:W2W*WVbUBU*UUUF@BB BAt*BAAAA"C*CRCCCIG-->  { {  q-:Y #R1y : j5) ;9 "ɓ,g(OfFAY}64(@}6@y}6I }6}6H v??gC3`vu?/x?)~64(@ ~6`;I~6Cɫ99)9 9I9Y}H?y} Fy}AAR=i%= M M M M@ U@ U@IIIiII I)IIIiIe<MeZ=Ym>=QUm>qqau"Hqyy}>Iȉō 5?ōݾ tI ƍ > ?9ƍZ@Ǎ; ȍ ;)ȉWWX XWX:W2W*WVbUBU*UUU@BB BA%*B!A!A!A!A!"C*CRCCCIG$>8Г,;BOfFAY}>,(@}>@y}>余}> }>H?TV? yLƿˇ?3 .?)~>,(@ ~>_;I~>CɫYY)Y aIaY&?yFxDUSBL response received:!U1,R,24B,000,0364A,189,80,80,B0,FF Fpublishing direction and range info#ɰP?鰭7> )0CIyGD=<}?W^߿ٱ^A m u u u@ u@ u@qqqiqq q)qIqiq{<>9IxFi?=P; &EM9=Y=QU>a"Hy<}>I -: 5? -:ݾ > 5?9ݥ@]; ۽;):WqWqXq XqWqXy:Wy2Wy*WyVybUBU*UUUB@R(Combining 5 samples.P*QGDZQvD@rexJQ=<}?W^߿2Q#:QbQp>LmeH)k@ucC:`@RQxקҿ n?@?BQ#? QY;DQ*lP9?PT9?PQQC"QJ@BB BA*BAAAA"CA*CARCACACIYi]?9IIGeV>  x x  \:Y 7P1y : }6) ;U֓,Qj\OfFAY}6M])@}6x@y}6?}6/}6HVwϰ@/`?`)]ǿ@ ?`ſ@j?)~6M])@ ~6a;I~6Cɫ99)9 9I9Y}?y}F Me=Y6=QU?!!a%"H!)y-֬<}-?I15 5?5ݾ 5)> E?95C@5: 5:)1m}Added new target pos. range: 796.380066 m, bearing: 107.491796 deg, deltaT: 5.660746 s, approachRate: 139.932098 m/s, LOS rate: 0.892889 deg/s, posRepo size: 4W#?WX XWX:W2W*WVbUBU*UU` @U`;?B)B1 B1A5H*B1A1A1A1A9"C=m?RCACE#?CA׉IG>ܓ,HvOfFAY} *@},)@y}ws}}H0g^?sg `qz?@ƨ?)~ *@ ~5c`;I~Cɫ) IY-x?y-FI)E?^I +ǿS㥻?F>X9 /=)IyMb?Mbp?333333?<;= ;9A)I:AirZApIA ] ] ] ]@ ]@ ]@ eYYYi]?Y Y)]v?I]v?i]?mMu=YuJS=QUu>yya}"Hyy<}>Iȉ :ōX 5? :ōݾ ƍ> ?9ƍ@Ǎ: ȍ:)ȍ:; wAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;wdResuming normal ranging with 1.000000 count pings.;1<WWX XWX:W2W*WVbUBU*UUYU]@!?BB BAO*BAAAA"C:E?RCCCI)IG> 9 I Fi a?  6  ~ ~   !8:Y T1y @: 5) O; Q; &E㓙,!OfFAY}6X*@}6=t@y}6)}6/}6H #RGd?G?IoS6?Sܥ@}?)~6X*@ ~6 d;I~6Cɫ99)9 9IAYR?yFIE=)E=ufA=Mu=Y}Hr=QU}?yya"Hy=u<}?Iȑŕ 5?ŕݾ ƕm> ?9ƕ@Ǖ: ȕn:)ȑX?1<wCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR; wAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRWWX XWX:W2W*WVbUBU*UUU h?BB  B A ق*B AAAA"C?RCCCiIqG>iNmGIi ٺ  Aaꓙ,eOfFAY}>*@}>p@y}>Y}>;@A<}>H@F5@F?@5? B?$??)~>*@ ~>]`;I~<ɫ99)9 9IAY]?yeF}P =M}J=Y}Pa"HHy~<}>Iȡ :ť 5? :ťݾ ƥ> ?9ƥ@ǥ; ȥ;)ȥ:WWX XWX:W2W*WVbUBU*UUU  g?B1B1 B1A=j*B9A9A9A9A9"CE-?RCACICIIIQGm>   z z   5:Y Q1y : E59 @B,OfFAɫyy)y yIyY?yF    @ @ @ @i )IiШMD=YQU>a"Hy}>I   5? ۈݾ (> ?9 @ S; i%;) WAWAXA XAWIXI:WI2WI*WQVQbUQBUQ*UYUYU]@?y9yI}Fi}?yyy}UR; }/'EBB BA*BAAAA"Cg?RCCCM?iM?!I)GM1>,[OfFAY}6]*@}6@y}6_}6}6HS ڟK?E?Gj?)~6]*@ ~6]a];I~4ɫAA)A AIIY?y/F ]}M]S=Y]aaam"Hiqy}9)<}}>IȁŅD 5?Ņݾ ƅl? ?9ƅ@Dž< ȅ<)ȁWYWYXa XaWaXa:Wa2Wa*WiVibUiBU*UUUm@BB BAt*BAAAA"C v?*CRCCCIG-->  y 1:Y y 5A,OfFAY}= A+@}=\@y}=&}=Thƽ}=H@j.`?`q @g@ZÄ?¸+?)~= A+@ ~=]\;I~=CɫII)Q QIQY7?y'F鮡ɮa=]{Gz(\¿~jt?]#]z ]D<)YIYy]Mb`?~jth?Q?];]D;]\= ]5>A)]KAI]?Ai]KAY]GEA    @ @ @i )IigټM%=YӴa"H!y%d<}->I) 5:- 5? =:-&ݾ -+ ? =?9-@-<: -E:)-:WaWaXa XaWaXa:Wa2Wi*WiVibUiBUq*UqUqUu@RB*** querying acoustic contact ***PPBB BA*BAAAA"C#?*CRCCCבIGa>i 9i Im 0Fim $?m =i i m S; m 'E)݁I݁i݁݅=݅=݅5Y5&,YiPfFAY}:?+@}:f[@y}:}:}:HH.ѕo?) !`sr?U?)~:?+@ ~:0];I~:Cɫ99)9 9I9Ye?ymUF}Z****** received transponder code query ******}F****** received ping request ******}  } } c :Y kS1y Ԋ: 5P ,1C+PfFAY}6 Y+@}6t@y}6WW6}6pܻ}6H`:6H yp?`?6zSʆ?{N?)~6 Y+@ ~6(0`;I~6CɫYY)Y YIYY?yFxDUSBL response received:!U1,P 24B,000,0364A,189,80,80,B0,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)%=%M-G=Y=QUE>QYae"HayFq;} >Iȁ :Ņ 5? :ŅAݾ ƅ? ?9ƅ1@Dž< ȅ<)ȅ:WWX XWX:W2W*WVbUBU*U!U!U-@2 @BB BA*BAAAA"C*CRCCCסIGg>8,EPfFAY}6+@}6@y}6}6 }6H _@@_{?θ?*^@XҜӗ?P`?)~6+@ ~6c^;I~4ɫ99)9 9I9Y?yF@A5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B        @  @]>9]ܔCI]Fi]?]=]ADY]3U; ](E @   i   ) I i M2=YLټQU>a"Hy<}>I 5?Rݾ %"? ?9?@: ض:)WAWaXa XiWiXi:Wi2Wi*WqVqbUqBUq*UqUyU} ^ @BB BAń*B A A A A "C*CRCCCIGI>  | | | 2:Y R1y i: 45) ;9 b,^PfFAY}>(,@}>C@y}>}>,:}>H 3uoyv? W?@+n?¢?)~>(,@ ~>Z];I~>Cɫ99)9 9I9Y}:?y}>FxDUSBL response received:!U1,R,26A,000,002BA,188,80,80,CB,FF Fpublishing direction and range info ɰd=鰅> )KCIy(@ŵDu?t^nٱӽMv=Yk8QU?a"Hyd<}?I : 5? :iݾ (? ?9N@b: {:):WWX XWX:W2W*WVbUBU*UUU`@P*Q(@ZQ " @1E,JQŵDu?t^n2Q :QbQ)_Sϋ@+?RQīsԿq_8?hTbn?BQUr? Q^@QPS9?P9?PQQ@"QCB!B! B!A%߅*B!A)A)A)A)"CQ*CQRCQCQCY׍?i׍?IIQGu>,xPfFAY}M,@}M@y}MAR}M}}MH5A #Vp?`|-Q?`z?)~M,@ ~MT\;I~MCɫ19)9 AIAY%V?y-vFDNmea in: $SNTTA,,,,,224625.06*5D 鿩a i@a  a m@a  a q@a  a e@a  ~jt&1Zd;O?н j<)IiMb@Mb@Mb@© …A)…I…Ai…A    @ @ @i )Ii4M=YҼQU>a"Hy A<} >I^ 5?ݾ <1? ?9n@W: ?)mMyAdded new target pos. range: 4.380000 m, bearing: 108.972369 deg, deltaT: 4.383376 s, approachRate: -180.682663 m/s, LOS rate: 0.337770 deg/s, posRepo size: 4WMUr?WIXQ XQWQXQ:WQ2WY*WYVYbUYBUa*UaUe@Ue@0?B B  B A*BA1A1A1A1"C=Ur?RCACEUr?CAIG5r>I 9I IM FiM @?M =I I M V; M ,)E s z z  <:Y Q1y : 5) ;t$, PfFAY}6S-@}6*@y}6a}6ģ}6HU??8?y`h??)~6S-@ ~6F[;I~4ɫ99)9 9I9YZ?yۋF]ƼM]=Y][VQU] ?aaae"HaiymI<}m ?Iy}K 5?}ݾ }6? ?9}@}l: }T?)y:uAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;vZEntering USBL mode with 5.000000 count pings.1;q;WWX XWX:W2W*WVbUBU*UUUټ?BB BA׆*BAAAA"C*CRCCC סIG >*,PfFAY}>z-@}>@y}>}>b觽}>H`K8AZ?`D?bھ9?ി`?)~>z-@ ~>`;I~<ɫYY)Y YIYY?yF}M}H=YdQU>a"HHy6<}>Iȡ :ť8 5? :ťݾ ƥ/>? ?9ƥ@ǥ?; ȥ?)ȥ:X@q;uCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:uAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLWWX XWX:W2W*WV bU BU *UUUI?BQBY BYA]*BYAYAaAaAa"C*CRCCCI)\AIG )>  y y  ):Y P1y ': j59 @1,fPfFAY}6:-@}6@y}6;F㽙}6J}6HaL!e??ri@Y?`O?)~6:-@ ~6D_;I~6CɫYY)Y aIaY?yÇFI4=)R= U U  @ @ @ÁÁÁiÁÁ ā)āIāiāyMH=YCJQU>a"Hye<}>Iȱŵ- 5?ŵ5ݾ ƵaE? ?9Ƶȧ@ǵͭ: ȵ?)ȱWWX XWX:W2W9IFi?V; v)E*WV bUBU*UUU?BABA BAAE*BAAIAIAIAQ"CQ*CYRCYCYCYIIQGu>7,APfFAY}6-@}6 @y}6}6t}6H,`̭??`=OJu?@?)~6-@ ~6p/`;I~4ddiE/mGIYɫaa)a aIaiyٺ|AY?yF,MG=Yo3QU>a"Hy}>I2 5?sݾ L? ?9@; @)W9W9X9 X9W9X9:WA2WA*WIVQbUQBUQ*UYUYU]H@BB BA*BAAAA"C*CRCCCסIG (> N x x b %:Y 7P1y : 5=,1PfFAY}F-@}F@y}F}F/J"}FH@@ٳ??V?? {?)~F-@ ~Fo7_;I~Dɫ髱) IY-?y5XFa iMa iM a mMa mM a qMa qM a eMa eM MJ +?^I +ǿMH=MX9 ML)IIIyMI +?Q?y&1|M94a"Hyx:}>I 5?ݾ K? ?9n@: :)W W X  X W X :W 2W*WVbUBU*UUU@<@BIBI BIAM}*BIAQAQAQAQ"CY*CYRCYCYCau?iu?9IAGe4>9IFi? } z z  =:Y Q1y : 5{J,|-QfFAY}6+.@}6@y}6I}6U!}6H@?HE?@ `l? C )a?)~6+.@ ~6_;I~4ɫYY)Y YIYY?yiFZ****** received transponder code query ******F****** received ping request ******  a"Hy,<}>I!% 5?%ŋݾ %J? 5?9%R@%; %;)!WYWYXY XYWYXY:Wa2Wa*WaVabUiBUi*UqUqUu  @BB BA*BAAA A "C*CRCCCIG HQ,OGQfFAY}F"/@}F>@y}F9CZ}Fa;}FHG`Bm?S?m ?`s?@F?)~F"/@ ~Fb;I~FCɫYY)Y YIaY?y|FxDUSBL response received:!U1,P 26A,000,002BA,188,80,80,CB,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 9IhFi?U; (E)=ܔCI=ܔCi9=====5 5 5 5 5@ =@ =@111i11 1)1I1i1}jƼM(=YQU>a"Hy <}>I : 5?  :Vݾ ^J?  ?9@3; ;):WiWiXq XqWqXq:Wq2Wq*WyVybUyBU*UUU @BB BAn*BAAAA"C*CRCCC II)M]A!IAG}z>  D:Y y D5) U;9 W,raQfFAY}:/@}::"@y}:h}:0}v}:H` !? ? ǿE?X`?)~:/@ ~:Bp`;I~:Cɫ99)9 9I9Y},QU?a"Hy٦}?IȹŽ 5?Žݾ ƽI? ?9ƽL@ǽ4: ȽǺ:)ȹWWX XWX:W2W*WVbUBU*UUU`,@B)B) B)A5_*B1A1A1A1A1"C9*C9RCACACA)I1GU>(^,Ed{QfFAY}rQ/@}r#@y}r2^}}r:ͽ}rH /?p?*s.ͿLY?丿w?)~rQ/@ ~rEz^;I~rCɫ) IY?yȁFxDUSBL response received:!U1,R,263,000,002BB,188,80,80,CF,FF Fpublishing direction and range infoɰ e= )OCIy@XՎ?yCٱ%dNmea in: $SNTTA,0.292985,0.292854,,,224629.51*5E X9v+ǿQv> )Iy/$? rh? rh<C<C IA)IAI1AikAKA u u u u@ u@ u@qqqiqq q)qIqiqM$=Y&QU>a"HyP9}>Iȡ :ť 5? :ťݾ ƥF? ?9ƥϪ@ǥ: ȥ:)ȥ:WWX XWX:W2W9*WAVAbUABUI*UIUIUU9@R(Combining 5 samples.P*Q@ZQ] ݖ@J1K JQXՎ?yC2Q:QbQ~Lsk@&Ytş~?RQ0ֿթ?ĢVTm?BQ? Q+@QÿPR9?PS9?PQQw3@"Q@B B  B A*BAA1A9AA"CQ*CqRCqCqCy׍?i׍?qIyܝ>9ܙIܝFiܝ?ܙܙܙܝNU; ݝ(EG> = { {  M:Y #R1y : 6) m;e,?QfFAY}:J/@}:f@y}:$}:`B}:H (?&? iͿL?װ?)~:J/@ ~:e];I~:Cɫ99)9 9I9Y}?y}FQ=M=YQU?!!a%"H!)y-d<}-?I15 5?5dݾ 5C? E?95@5ܹ: 5 :)1mmmAdded new target pos. range: 4.440000 m, bearing: 110.882821 deg, deltaT: 4.566374 s, approachRate: 0.013140 m/s, LOS rate: 0.418374 deg/s, posRepo size: 4Wu?WqXq XqWqXy:Wy2Wy*WyVybUBU*UU`@UMH?BB BAu*BAAAA"CЉ?RCC?CIG>:k,XQfFAY}>>/@}>3Z@y}>G}>^}>H@:RQd? ?@iG ҿ Q?¿%>/@ ~>х\;I~>Cɫ99)9 9I9Y}?y}ہF E MEG=YMkqQUM>IIaU"HUHQy]}]>Iae 5?e-ݾ e@? m?9e@e: e:)aWWX XWX:W2W*WVbUBU*UUU ?BB BA*BAAAA"C?RCCC IG= > ] } }  =;:Y kS1y Ԋ: W59 @(r, QfFAY}en/@}@y}}8T}HB@`y? e?`@)ֿ?p"ɿ@?)~en/@ ~~`;I~ɫ  )  I 5>91I5pFi5M?1115T; 5r(EYE?yM}F - - - -@ -@ -@)))i)) )))I)i)=ĽM=;=YE QUE>IIaM"HIIyUN;}U>IY e:] 5? e:]ݾ ]=? m?9]@]: ]#:)]:WWX XWX:W2W*WVbUBU*UUU ?BB BA@*BAAAA"C*CRCCCI)9IAG]4>Lx,QfFAY}6G/@}6Dc@y}68}6}6H`t#)X@?d?zRfӿ`K?8 ?)~6G/@ ~6}`;I~4ɫai)i iIiY ?y~F5<M=]=Y=J޼QU=>AAaE"HAIyMѻ}M>IQU 5?Uݾ U.;? e?9Ug@Ub: U:)QWWX XWX:W2W*WVbUBU*UUU -?BB BA*BAAAAi"Cy*CyRCCC׉IG> s z z   (:Y Q1y : |5x~,QfFAY}6^.@}6 @y}6>嫾}6W6}6H ~@?"q? ' @5:ο`?g.?)~6^.@ ~6__;I~6Cɫ19)9 9I9Yu?yu<|FI=)a i}@a } a m}@a } a q}@a } a e@a  }Zd;Od;OֿMb?}j} }@=)yIyi}Mb@Mb@Mb@}©}} };A)}Iyi}}}6A1MD=YQU>a"HyzS}>Iȹ :Žd 5? :Žݾ ƽj8? ?9ƽެ@ǽ%: Ƚ>)Ƚ:WWX XWX:W2W*WVbUBU*UUU@On?BB BAl*BAAAA"C*CRCCCסIG >5>91I5ȖFi5?1115S; 5'Ea,RfFAɫ髑) IY?y|F}fMM=YQU>a"Hy}>Iȡť< 5?ťcݾ ƥ5? ?9ƥQ@ǥ: ȥQ?)ȡWWX XWX:W2W*WVbUBU*UUUk@BB BAt*BA1A1A1A1"C9*CARCACaCaץ?iץ?ׁIi]nGIiEٺAEAG]U>  v v j 0:Y N1y : Y5 ,a0RfFAY}6P/@}6bl@y}6 Ế}6л}6H@Wp 7? ?k+R̿;?bx1?)~6P/@ ~6{_;I~6CɫYY)Y YIYY?y{F    @ @ @i )Ii M R=YOQU>a"H!y%{<}%>I)- 5?-Bݾ -W3? 5?9-í@-: -?))WYWYXY XYWYXa:Wa2Wa*WaVabUiBUi*UiUiUm ׆@RB*** querying acoustic contact ***PPBB BA*B!A!A!A!A!"C)*CIRCQCQCQIIYGu>q,5AJRfFAY}:S/@}:to@y}:"}:s}:H`' G?@?+ҿɒ? +?)~:S/@ ~:M^;I~:Cɫ99)9 9I9Y?yuFZ****** received transponder code query ******F****** received ping request ******9IFi?=R; O'E UM]F=Y]QU]>aaae"Haaym9}m>Iqu 5?uݾ u0? }?9u;@u: u?)qWWX XWX:W2W*WVbUBU*UUU&@BB BA*BAAAA"C*CRCCCIG=/> ~ ~  4_:Y T1y @: 5) ;9 ,+dRfFAY}%tE/@}%`@y}%BXž}% }%H `]? ?8}_տ?`4!`v`?)~%tE/@ ~%b;I~!ɫ  )  IYM?yMWrFUxDUSBL response received:!U1,P 263,000,002BB,188,80,80,CF,FF UCommand AckUBRequesting micromodem ping code 2iQQeNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )IiMI8MU#=Y}̄QU}>ya"Ht}@y}>Iȑ :ŕq 5? :ŕÊݾ ƕ^-? ?9ƕͮ@Ǖ: ȕ@)ȕ:W1W9X9 X9W9X9:W92WA*WAVAbUABUA*UIUIUMN @BB BAo*BAAAA"C*C RC)C1C9Iׁ)ׅ^AaIqG>0Ş,s}RfFAY}MqW/@}Mr@y}MȾ}MF}MHඈc$??Mi Կz?`,[?)~MqW/@ ~M`;I~Iɫ11)1 9I9Y{?y1tFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B a ia i a ma m a qa q a ea e Mb@Mb@Mb@ )Iy{Gz  a "H  yH+;}>I 5?1ݾ ,? E?9į@&: :)WWX XWX:W2W*WVbUBU*UUU` -@BB  B A *B AAAA"CY*CYRCYCaCa9IFia?=R; W'E)iIiiiiim4qIG>    Z:Y k1y Y: 5) j;,ΗRfFAY}68t/@}6@y}6ξ}6<`Ž}6H9th3_:? ? Կ`$?.VJ?)~68t/@ ~6^;I~6CɫYY)Y YIYY?yvFxDUSBL response received:!U1,R,284,000,002BA,189,80,80,C7,FF Fpublishing direction and range infoɰd=鰥7> )GCIy(@cR?KR ٱI4=)%=Q=M=YS,QU&?a"Hy;}&?I8 5?ݾ f+? ?9b@: w:)W!W!X! X!W!X!:W)2W)*W)V)bU1BU1*U1U1U=3@RE(Combining 5 samples.PI*QM(@ZQMdz @Z"JQMcR?KR 2QM:QIbQMl㾛@;?RQMV$*ҿA1c-?5`E~dK?BQM? QMv@QMPMS9?PMR9?PMQIQMN@"QMw3@ByB BA*BAAAA"C*CRCCCiIyG=ث,-RfFAY}6\/@}6@y}6Ծ}6}6H d ?N?Yzӿ`?@8?)~6\/@ ~6];I~6Cɫ99)A AIAY}?y}ztF TNmea in: $SNTTA,0.067071,,,,224633.98*44 MMMC=Yu0ȼQUu>yya}"H}Hyy;}>Iȉ :ō 5? :ōݾ ƍu*? ?9ƍ\@Ǎ!< ȍ:)ȍ:m%uAdded new target pos. range: 4.380000 m, bearing: 107.865134 deg, deltaT: 4.302145 s, approachRate: -0.013947 m/s, LOS rate: -0.701438 deg/s, posRepo size: 4W-?W1X1 X1W9X9:W92W9*W9VAbUABUA*UAUE@U~?B B BA*BAAAA"CEm;?RCICM?CQ׍?i׍?aIGD> { {  q:Y #R1y : 59 @,RfFAY}:i0@}:* @y}:H־}:G}:HYud` ?m?F ҿ?CҦn0?)~:i0@ ~:j];I~:Cɫ99)9 9I9܁9܁I܅XFi܅?܁܁܁܅Q; ݅&EY?yUtFm=imR=yy    @ @ @ i=? ?)?I?iK?v MB=YqWQU>a"Hy<}>I 5? ݾ )? ?9T@0: :)W!W)X) X)W)X):W)2W1*W1V1bU1BU9*U9U9U=`+?BaBi BiAm*BiAqAqAqAq"C}?RCyCyCIG )>I AA) AA/鸔,_RfFAY}60@}67 @y}6׾}6bCu}6H`v8?6?V`-ҿ}.?^%?)~60@ ~6a;I~6CɫYY)Y YIYY?yqF5]$M=U=Y=HQU=>AAaE"HAAyM<}M>Iȡ :ťa 5? :ťnݾ ƥ(? ?9ƥ=@ǥ#: ȥ<:)ȥ:WWX XWX:W2W*WVbUBU*UUU`?BB BA*BAAAA!"C!*C)RC)C)C)iIqG>- y - x- x-  - x=:Y- 7P1y- :- X5,~9RfFAY}61@}6%0!@y}6g׾}6}6H`_@ ?2 ?@@cҿU#?`j@.#?)~61@ ~6Ua;I~6Cɫ99)9 AIAY{?y1tFS㥫I +?Mb`?/]94= ;)IyZd;O?V-?Mb`j<< ­OA)­_AI­,Ai­AaA % % % %@ %@ %@!!!i%?! %)%I%i%x?5=M=;=Y=:QU=>AAaE"HAAyM<}M>IQU 5?Uݾ U)? e?9U@U : U:)QWWX XWX:W2W*WVbUBU*UUUV?BB BA*BAAAA"C*CRCCCI)\AשIG">܁9܁I܅Fi܅1?܁܁܁܅ Q; ݅&EŔ,SfFA|i|@Y}6{!1@}6=!@y}6 4پ}6t}6H@$ ?`?@7 vϿW? ~)?)~6{!1@ ~6_;I~6Cɫ99)9 9I9Y]_?y]wF)> >~=Ma=YQU>a"H y  ;} >I 5?ݾ /*? %?9)@: n:)WAWAXA XAWIXI:WI2WI*WIVIbUQBUQ*UQUYU]H-@BB BAV*BAAAA"C*CRCCCשIG=   w w   5:Y O1y P: 6J%̔,N2SfFAY}:r>1@}:Y!@y}:ܾ}:JPl}:H`3? ? Hҿ`3?Ѫ u?)~:r>1@ ~:^;I~:CFJFailed to close latch before timeout.q FFHardware FaultYR?yRxFI a=) =Ei<MEW=YEQUM>IIaM"HIQyU9;}U>Ia e:e 5? m:eݾ e*? m?9e@e: e:)e:WWX XWX:W2W*WVbUBU*UUU .9@BB BA)*BAAAA"C*CRCCC׉I-$@Hardware Fault in component: DDMG=0 Ӕ,LSfFAY}6.1@}6!@y}6#Sܾ}6n}6H@ `?Z? ܯտͲ?jg?)~6.1@ ~64];I~4>Powering down<ɪ<)@ @!9!I%xFi%?!!!%P; %F&EY_?ywFɮa= U U U U@ U@ U@ U@QQQiUQ Q)QIQiUeg;Mm,=Ym;QUm>qqau"Hqyy}!<}}>IȁŅ 5?Ņbݾ ƅZ+? ?9ƅ)@Dž: ȅ:)ȁWWX XWX:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PPByB BAV*BAAAA"C*CRCCC5?i5?!I)GMR>  | |   +:Y R1y i: i5) ~;9 u >u Ci nGI i % iٺ! % A7ٔ,֨fSfFAY}61@}6E!@y}6;׾}6}6H` ` ??`ԿR? Ѻ_?)~61@ ~6\;I~6CY^J?y^0uFbZ****** received transponder code query ******bF****** received ping request ******fa"Hy;}>I %:r 5? -:ݾ +? -?9@: :):WiWiXq XyWyXy:Wy2Wy*WVbUBU*UUUS @BB BAۍ*BAAAA"C*C RC C CIG>I @A) @A:,SfFAY}6t1@}6"@y}6dѾ}6ީ}6Hb@" ܿ?`?` ҿ ]s?uB?)~6t1@ ~6%&\;I~6CYBj?yByFFxDUSBL response received:!U1,P 284,000,002BA,189,80,80,C7,FF FCommand AckJBRequesting micromodem ping code 2iHHRNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ddrh|?=M=YPa"Hy<}>I 5?ݾ W)? ?9@P; ;)WWX XWX:W2W*WVbUBU*UUU@<@BB BA*BAAAA"C *C RC C C!9!I%@Fi%?%=!!% P; %%EI$5NClearing failed state for component DDMq 5G=> (  y y   7:Y P1y ': 5) X;VI攙, ^SfFAY}6W2@}6$s"@y}6;I;}6ծ}6HB@@e?P?@Bҿ?@Z?)~6W2@ ~6[;I~6CY^?y^{F`bAA%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B v=M=Y D)FHCIDyDFσ``af"HfHdyj5<}j>Iln( 5?nݾ n&? r?9nٷ@n: n:)lWW X  X W X :W 2W*WVbUBU*UUU@@R-(Combining 5 samples.P1*Q1ZQ5 @" JQ5σa"HyQ}>I) -:- 5? 5:-ݾ -%? 5?9-@) -:)-:mmAdded new target pos. range: 4.380000 m, bearing: 112.280455 deg, deltaT: 4.408105 s, approachRate: 0.000000 m/s, LOS rate: 1.001637 deg/s, posRepo size: 4WB?WX XWX:W2W*WVbUBU*UUU`*o?BABA BIAMS*BIAIAIAIAI"CUPB?RCYC]B?CY9IIGe>\,SfFAY}>2@}>G3"@y}>\ľ}>?<}>H ^`b$`?@?[Uʿ?4@?[?)~>2@ ~>\;I~AIaM"HIIyUM}U>IY]޹ 5?]ݾ ]#? m?9]w@]: ]_:)YWWX XWX:W2W*WVbUBU*UUUXP?BB BA*BAAAA"C?RCCC1I9G]== = {= {=  = 5+:Y= #R1y= := 5Nm,uTfFAY}62@}6L7"@y}6¾}6cТ}6H{@O /-?@?@mkѿ`L?{ﲿ۵?)~62@ ~6\;I~6CYRB?yRFe;O?A`"Mb?t>ٽ <)IyZd;Oy&1~jtxj`Ļ •C[A)•KAI•+Ai•3A3[A©­_A    @ @ @i )Ii;M>=Y   a"Hy:}>I!% 5?%ݾ %D"? -?9%@%: %:)!WQWQX XWX:W2W*WVbUBU*UUU}G?BYBY BaAe*BaAaAiAiAi"CX?RCCCIG$>9IFiv?N; K%Eb,eTfFAY}6;2@}6V"@y}6ൾ}6#}6H  M? ?,ӿqB?p?)~6;2@ ~6E];I~6CYBf?yBmF tt~'9=M~]=Y?=QU>a "H  y;}>I e: 5? e:\ݾ T!? e?9\@: :):WWX XWX:W2W*WVbUBU*UUUD%?B)B) B)A-*B)A1A1A1AQ"C]m?*CYRCYCYCaIב)ו]AIIYGu=  ~ ~ 4  J:Y T1y @: O 6 ,5TfFAY}6q2@}6"@y}6Hꭾ}6\}6HMb! ??Iwrӿ R?6?)~6q2@ ~6~];I~4YB"?yBF=MH=Y%=QU%>!)a-"H))y5XX<}5>I9=? 5?=ݾ =V ? E?9=Ӻ@=˵: ==:)9WiWiXi XiWiXi:Wq2Wq*WqVqbUBU*UUU^@ByBy ByA*BAAAA"CB?*CRCCCױIG>\,[OTfFA494I6Fi6E?6=446N; 6<%EY}J2@}J0"@y}JΧ}JIʽ}JHh?`?]`п a"Hy<}>I :l 5? :ϖݾ 5? ?9L@: :):WqWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C!*C!RC!C!C)iIqG> ' | |   ":Y R1y i: F5) ;9 , 7iTfFAY}62@}6"@y}6}6*⥽}6H& @M? &?@h`ο 1?Q?)~62@ ~6L\;I~6CYB?yBFFa=ɮFp=IRa=)R%=V<MZ\=YZ=QUZ>\\a^"H\yl} >I  | 5? ݾ +? ?9 @ : :) WYWaXa XaWaXa:Wa2Wa*WiVibUiBUi*UqUqUuٰ@RB*** querying acoustic contact ***PPBB BA:*BAAAA"C*C RC C C IG=j ,TfFAY}6d2@}6"@y}6}6}6HI`:ʔ?{=?` οc?`~?)~6d2@ ~6a[;I~6CY^?yḃFbZ****** received transponder code query ******bF****** received ping request ******fa"HyS}>Iȱ :ŵ 5? :ŵ"ݾ Ƶ? ?9Ƶ@ǵ: ȵ:)ȵ:WWX XWX:W2W*WVbUBU*UUU @B!B) B)A-}*B)A)A1A1A1"C9*C9RC9C9CAׁIG>>a9aIaiae=aaeM; e$E A } } x  $:Y kS1y Ԋ: X5) n;&,TfFAY}6/a2@}6|"@y}6}6}6H s^@?@+u?˿e?`{h?)~6/a2@ ~6ٻ[;I~4BPowering upB"Initializing DDM.Y?yF%xDUSBL response received:!U1,P 26F,000,002BA,188,80,80,C8,FF %Command Ack%BRequesting micromodem ping code 2i))-ya"H!iU}nGIiiܿٺ)-Ay2}=>IAE 5?Eɕݾ E? ?9Ep@E< E<)AW WX XWX:W2W*WVbUBU*UAUAUM)@BqBq BqA}*ByAyAyAyA"C *CRCCC91IAG]v>-,ȶTfFAY~8?y~dF?A%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =ML=YQU>!!a%"H%H)y-}->I1 =:5w 5? =:5ݾ 5m? E?95@5: 5:)5:WaWaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UqUyU}T@BB BA*BAAAA"C*CRCCCיIG% >  { {   2:Y #R1y : !59 @Y 9Y IY iY ] =Y Y ] IM; ] $E4,]TfFAY}R1@}R-!@y}Rw}R.}RH Y\ ZR@??`5Lʿb?4?)~R1@ ~R-\;I~PY^?y^FbxDUSBL response received:!U1,R,26B,000,002B9,189,80,80,C8,FF fFpublishing direction and range infob3I `ɰbdd=b7> `)`I`yb=@b(q?uٱ` - - - -@ -@ -@)))i)) )))I)i)=i=MEW=YE\=QUE>IIaM"HIQyU}U>IY] 5?]2ݾ ]? m?9]@]: ]:)YWWX XWX:W2W*WVbUBU*UUU0@R(Combining 5 samples.P*Q=@ZQՏɣ @eG^JQ(q?u2Q3I :QbQ'@>?RQ<+׿p?r}?BQ9? Qv@Q7ϿPPR9?PQQz8@"QF@BB BA*BAAAA"C*CRCCCIG5 >#:,MTfFAY}vE1@}vе!@y}va}v}vH@K??A2п?$iÿ@?)~vE1@ ~vl\;I~tY ?y 5FTNmea in: $SNTTA,0.053472,,,,224642.82*49 )Õ= Õ>[ܼMB=YQ=QU>a"Hy:;}>I^ 5?Дݾ  ? ?9F@I: :)mqAdded new target pos. range: 4.319999 m, bearing: 112.766485 deg, deltaT: 4.464323 s, approachRate: -0.013440 m/s, LOS rate: 0.108870 deg/s, posRepo size: 4mTStarting intercept timer at range: 4.32 m.W9?WX XWX:W2W*WVbUBU*UUG@U @q?ByBy ByA}J*ByAAAA"C9?RCC9?CaIqG> =i =      :Y y  5~ A,YUfFAY~A?y~|FIu4=)u4= Q?~jt?{Gz < > #) I y Q?Mb?:v? < < T= ~>A) VAI -Ai 7oA  LA]=MeB=YuQU}>a"Hy}>Iȡ =:ťT 5? E:ťݾ ƥ? M?9ƥ@ǥ < ȥ)<)ȥ:W W X  XWX:W2W*WVbUBU*UU!U%H?BiBq BqAu]*BqAqAqAqAy"Cy*CRCCCaIiG9>9I@Fi?=L; R$E)ݙIݙiݙݝ=ݝ=ݝ44G,T6UfFAY~C?y~VF    @ @ @i )Ii?x=MS=YQU>a"Hy}>Ie 5?6ݾ ? ?9@@: 8:)W!W)X) X)W)X):W)2W)*W1V1bU9BUA*UIUaUe?BB BA*BAAAA"C*CRCCCqIyG= X  t t   ::Y M1y : E5]M,8UfFAY}>0@}> @y}>3r"}>Z}>H@ҍ@ a? ?@}'8?ѕ?)~>0@ ~>E[;I~>CY^?yb^F)-^A]=M]S=Yew!>QUe>aaam"Hiiyuo}u>Iy :}} 5? :}>ݾ }k? ?9}f@}: }:)}:WWX XWX:W2W*WVbUBU*UUU`?BB BAʃ*BAAAA"Cy*CyRCyCCqIyG= 9 I Fi 1?    =L;  #EET,QUfFAY}6 0@}6* @y}6l}6Pq׽}6H@nQ[@0? o?zC@=lſ (?c?)~6 0@ ~6j\;I~6CY^?y^F II][M]J=Yep7=QUe>aaam"Hiiyuμ}u>Iy}o 5?}Sݾ } ? ?9}ξ@}k: }ܹ:)yWWX XWX:W2W*WVbUBU*UUU+$@BB BA*BAAAA"C*C!RC!C!C!IG= j w w   ':Y O1y P: =6) A;9 oZ,ekUfFAY}6/@}6@y}6.콙}6q }6Hm lkӆ?C?@` {ƿJ? %?)~6/@ ~6t^;I~6CYB?yBF 5 5 5 5@ 5@ 5@111i11 1)1I1i1Eb<MML=YM~=QUM>QQaU"HQQy1}>I :I 5? :jݾ &? ?9>@; N;):W9W9XA XAWAXA:WA2WA*WIVIbUIBUI*UIUQUuN@BB BA*BAAAA"C*CRCCCIG>Wa,'UfFAY}>E.@}>@y}>}>g}>Hu@`B?l?@'@߽(?x?)~>E.@ ~>];I~>CY^?ybFbp=ɮ`uL7A`堿Qſ~jt?u+u( u<)qIqyuMb? rh?kt?u Ñu<ME=Y]O=QU>a"HQYy]}]>Iae 5?eݾ e+? m?9e@e: e;)aWWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBYBY BYA]L*BYAaAaAaAa"Ci*CiRCCCׁIG>ܩ9ܩIܭFiܭa?ܭ=ܩܩܭK; ݭ#E      ?:Y U1y : 5) ښ;΁g,|UfFAY}6L.@}6*h@y}60}6i}}6HbF?@5?wُ@_? zh?)~6L.@ ~6\;I~4Yf?yfFjZ****** received transponder code query ******jF****** received ping request ******nIIaM"HIQyU}U>IaeI 5?eݾ e:/? u?9e@e: eK:)aWWX XWX:W2W*WVbUBU*UUU1 @B B BAy*B!A)A1A1A"C *C1RC9C9CA)I1GU>m,!XUfFAY~?y~mFxDUSBL response received:!U1,P 26B,000,002B9,189,80,80,C8,FF Command Ack BRequesting micromodem ping code 2i  Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )IisM=Y QU >  a "HHy}>I! M:% 5? M:%Nݾ %5? M?9% @%: %:)%:WWX XWX:W2W*WVbU BU *UUU=6?@BB B A *B A A AA"CA*CARCACACIQIYGu> K y y   c%:Y P1y ': 59 @ܡ 9ܥ ۔CIܥ pFiܥ M?ܡ ܡ ܡ ܥ K; ݥ #Eߓt,/3UfFAY}6-@}6k@y}6 }}6oN}6HA`U?@?|볿@? ?)~6-@ ~6\;I~6CYn?ynF%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ‰_AMM=Y,=QU?a"Hy}?I? 5?ݾ H8? ?9<@: ׾:)W!W!X) X)W)X):W)2W)*W1V1bUQBUQ*UYUYU]@8;@BB BA*BAAAA"C*CRCCCIG>inGIi=Vٺ9=6AI AA) AAz,UfFAY}6!.@}6=@y}6GB}6ꕽ}6H@Y`? 1F?`?)~6!.@ ~6&~\;I~4YF0?yF7FJxDUSBL response received:!U1,R,260,000,002B9,188,80,80,B7,FF JFpublishing direction and range infoJHɰHJ> H)J7CIHyHJDA?qm1ٱH^;MbY=YbA=QUb>ddaf"Hddyj;}j>Iș :ŝ 5? :ŝĖݾ Ɲ ~  z z   IR:Y Q1y : k6Z,VfFAY}n-@}n1@y}nw}n}nH}@k?@ %z ? ls?)~n-@ ~n^[;I~lY?y FTNmea in: $SNTTA,0.041285,,,,224647.27*4E EMb@Mb@Mb@EE E)EIAyE~jtMb`?{GzEDE;E# E ?A)E+MAIEa"Hyx(}>I)- 5?-ݾ -L;? =?9-@-: -:))mqAdded new target pos. range: 4.319999 m, bearing: 111.250565 deg, deltaT: 4.455711 s, approachRate: 0.000000 m/s, LOS rate: -0.340219 deg/s, posRepo size: 4WA?WX XWX:W2W*WVbUBU*UUUm?B!B) B)A-*B)A)A)A1A1"C=A?RC9C=A?C9I)I9IIMFiM?M=MBDIMPK; Mx#EGe4>χ, VfFA|i|Y}B`--@}BH@y}B }B}BH e75?`ĥ>??`4@J?)~B`--@ ~B+\;I~BCY^}?yb>FI!)!]*|=M]c=Yeaaam"Hiiyu}u>Iy :}= 5? :}#ݾ }\:? ?9}@}[: }:)} :WWX XWX:W2W*WVbUBU*UUU`ni?BaBi BiAm΁*BiAiAiAqAq"C*CRCCC׉IG=  { {   /:Y #R1y : {5,I:VfFAY}F٤,@}Fd@y}FJ}Fr8}FH`a i?Z{?lm?)~F٤,@ ~FV\;I~FCY?y F MB=YQU>a "H y%џ}%>I)- 5?-Tݾ -49? m?9-@- < - <))WWX XWX:W2W*WVbUBU*UUU@?BB BAE*BAAAA"C*CRCCC?i?IGe>A 9A IE FiE ?A A A E J; E 3#E)݊۔CIيiي݊=݊=݊E5┕,~TVfFAY}66|,@}6@y}6.}6X}6Hje (z?> |A ?=`9?)~66|,@ ~6+\;I~6CYR]?yVRF    @ @ @ @ÉÉÉiÍÉ č)čIčičoͼMN=Y a"HyTл}>Iȹ :Žӵ 5? :Žݾ ƽ&8? ?9ƽ@ǽ: Ƚ[:)Ƚ :WWX XWX:W2W*WVbUBU*UUU ?B)B1 B1A5*B1A9A9A9A9"CA*CARCACACIIIYGu=  ~ ~   *:Y T1y @: i5) ;9 ( ,&VnVfFAY}6Ғ,@}6]@y}6ȼ}6>}6H@c@ r?`d`bl?`Z?)~6Ғ,@ ~6[;I~6CYn"?yn-FIM^AMK=Ya"Hyh`;}>IȹŽ 5?Žݾ ƽ7? ?9ƽA@ǽ: Ƚ=:)ȹWWX XWX:W2W*WVbUBU*UUU@B)B) B)A-*B)A1A1A1A1"C9*C9RC9C9CAqIyG=I @A) BA,~8VfFAY}j,@}j9@y}j漙}j }jHs ?@'? 9r Ԝ?@-@)?)~j,@ ~j [;I~jCYzl?y~[F aaB`"۹?)\(̿=Ga )IyV-{Gz?ף< 6A)"WAI@AiKAFA    @ @ @i )Iit;M8=YQU>a"Hy}>I : 5? :,ݾ A9? ?9@: E:) :W!W)X) X)W)X):W)2W1*W1V1bU1BU9*U9U9U=٬@BaBi BiAm*BiAqAqAqAq"Cy*CyRCyCyCIב)ו^AiIqG>9IPFi8?J; "E  y y   *:Y P1y ': 35) ߈;g,t VfFAY=N?y=IFAɮEa=]&Mef=YeQUe>iiam"HmHqyu}u>Iy} 5?}ݾ }:? ?9}@}@: }:)yWWX XWX:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCC IG5=mH,)VfFAY}i+@}@y}/T}}H3 e *p?`?g:6 낪?j t?)~i+@ ~}];I~CY(?ylFZ****** received transponder code query ******F****** received ping request ****** u u } }@ }@ }@yyyiyy y)yIyiy=M9=Y&[QU>a"Hy˼}>Iȩŭw 5?ŭ ݾ ƭ=? ?9ƭp@ǭ: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU`z @BB BA#*BAAAA"C*CRC C C IG (> x { {   (:Y #R1y : 59 @ 9 I Fi ?    _I;  q"E6,jVfFAY}>+@}>x@y}> e}>va}>H@  Dw??t??)~>+@ ~>f%\;I~>CYj?yjFnxDUSBL response received:!U1,P 260,000,002B9,188,80,80,B7,FF nCommand AcknBRequesting micromodem ping code 2illvNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 IC=)4=MMU`=Ye7QUm>yya"Hyw}>I m:) 5? u:}ݾ >? }?9@>< <) :WqWyXy XyWX:W2W*WVbUBU*UUU @BQB BA=*BAAAA"C*CRCCCױIGI>^Z,0VfFAY}6'r*@}6@y}6*y}6K}6H O|US@8?,J`/?뱿 ?)~6'r*@ ~6Ki[;I~6CY^[?y^xF`b@ArNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M@=YBQU>a"H y ȫ} >I 5?ݾ @? %?93@0: :)WAWAXA XAWAXI:WI2WI*WIVIbUQBUQ*UYUYU]@9/@BB BAW*BAAAA"C*CRCCC1IYG> ` z z   ':Y Q1y : W5[C•,} WfFAY}NC*@}N^@y}Nt}N}NHZ"gn?D?cx繿`[? Wnz?)~NC*@ ~NzZ;I~NCYZ?yZ^F^xDUSBL response received:!U1,R,250,000,002B8,188,80,80,B2,FF bFpublishing direction and range info^ A\ɰ^d=\ \)^2CI\y^Q@^?ci߿ٱ\ndNmea in: $SNTTA,0.004773,0.155952,,,224651.70*57 ux&RQȿI +u7uB u9)qIqyuMb?l?ua"Hyڻ}>I :Q 5? :}ݾ E?  ?9@; ;):WIWQXQ XaWaXa:Wa2Wa*WVbUBU*UUU`4@R(Combining 5 samples.P*QQ@ZQ1 @E,bJQ?ci߿2Q A:QbQ i @R?RQs8Կz1?TP4p?BQk? Q@QHPPPQQ@"Q@BB BAʃ*BA!A!A!A!"CI*CIRCICICQ܉9܉I܉i܉܉܉܉܍9I; ݍ]"EיIGA> nȕ,u[#WfFAiNmGI`ilԿٺ  AY}*@}3@y}˽½}x}H@T?@? `VN?۳@2?)~*@ ~SZ;I~CY-?y-F 鿩o;MT=YMQU>a"Hy H<} >I 5?ݾ H? ?9@': ܹ:)muAdded new target pos. range: 4.259999 m, bearing: 108.513319 deg, deltaT: 4.492666 s, approachRate: -0.013355 m/s, LOS rate: -0.609270 deg/s, posRepo size: 4Wk?WX XWX:W2W*WVbUBU*UU = @Uf?BQBQ BQAU*BQAYAYAYAY"Ce/?RCaCek?CׁIG> M ~ ~   %:Y T1y @: E55Ε,-?=WfFAY}2+@}#N@y}o轙}1į}HP"@? ?+s@j?`͵ }?)~2+@ ~@[;I~CY=?y=;F    @ @ @i )Ii%MJ=YQ8QU>a "H  y <}>I %: 5? %:ݾ M? %?9@: R:):WIWIXI XIWIXI:WQ2WQ*WQVQbUYBUY*UYUYU]?BB  B A *B A AAA"Ck?RCCC!I)GM>܁ 9܁ I܅ PFi܅ 8?܁ ܁ ܁ ܅ H; ݅ "Ei~Օ, WWfFAY}6+@}6@y}6}6}6H]$ dh?n?@j¿?@ﳿ`_?)~6+@ ~6X\;I~6CYBG?yBF)v> tcMZ=Y%:QU%>!)a-"H))y5<}5>I9=u 5?=Bݾ =P? E?9=W@==: =ϸ:)9WWX XWX:W2W*WVbUBU*UUU?BiBi BiAu܄*BAAAA"C*CRCCCשIG= =i =  x x   +:Y 7P1y : 5) ;9 Aە,pWfFAY#?yjFI=)=o M?=YQU>a"Hy}>I 5?ϗݾ  U? ?9@: :)W9WAXA XAWAXA:WA2WI*WIVIbUIBUI*UQUQUU)?BB BAe*BAAAA"C*CRCCC?i?IG- >5╙,UWfFAY}6I,@}6De@y}6}6AMB}6H9rN?P?V`[?R?)~6I,@ ~6U\;I~6CYng?ynYFA`"?~jt?{GzY=< #)Iy~jtl:vļT `=A)RAI:AiWAHA    @ @ @ÁÁÁiÁÁ ā)āIāiāM?=YmQU>a"Hy<}>Iȱ :ŵ_ 5? :ŵuݾ ƵS? ?9Ƶ=@ǵ: ȵ:)ȵ:WWX XWX:W2W*WVbUBU*UUU@?B!B! B!A%ԅ*B!A)A)A)A)"C1*C1RC1C1C9191I5Fi5?1115G; 5!E)IŃ۔CiŃ=Ń=Ńl94IIYGu> F    )  g9:Y y  !6) i;D蕙,0WfFAY ?y F‰^AMY=YQU>a"HHy}>I 5?%ݾ R? ?9@: s:)WWX X W X :W 2W *WVbUBU*UUU`S@BABI BIAM*BIAIAIAIAQ"CY*CYRCYCYCa1I9GU=m,@WfFAY}B,@}B-@y}BH}B|}BHx.Y? ?x|uÿ?`ߢ ]?)~B,@ ~Bf%\;I~BCYj4?yjFlɮnp= xx = = = =@ =@ =@999i99 9)9I9i9M MMQ=Y˽QU>a"Hyk<}>I : 5? :˖ݾ gP? ?9S@n; ӽ;):WYWYXY XYWYXY:Wa2Wa*WaVabUaBUi*UUU X@RB*** querying acoustic contact ***PPBB BA`*BAAAA"C *C RC CCIG >  w w  2:Y O1y P: 359 @! 9! I% 8Fi% ?! ! ! % G; % 7!ED,vQWfFAY}:v,@}:2@y}:J_}:jj}:H`?`?¿۰? l=?)~:v,@ ~:d\;I~:CYJ?yJuFNZ****** received transponder code query ******NF****** received ping request ******N a "H  y>'}>I!%P 5?%yݾ %N? -?9%@%: %2:)!WYWYXY XYWaXa:Wa2Wa*WaVabUiBUi*UiUiUu'F @BB BA0*BAAAA"C*CRCCCIG={,,WfFAY}6Z,@}66v@y}6jn}6(}6H@ )5?t?Rƿ{?`8@?)~6Z,@ ~67\;I~4Yvk?yvFzxDUSBL response received:!U1,P 250,000,002B8,188,80,80,B2,FF zCommand AckzBRequesting micromodem ping code 2ix|Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )E= E=m <MuC=Y QU>a"HyȂ}>I %: 5? -:ݾ L? =?9n@< O<):W)W1X1 X1W1X1:W12W9*W9V9bU9BU9*UAUAUEh? @BB BA*BAAAA"C*CRCCCשIGK>  z z u  hD:Y Q1y : 5,b XfFAY}6Vh,@}6@y}63w}69}6H `/ ?@I? &xʿٙ?@u`?)~6Vh,@ ~6[;I~4Y^?y^-FnNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IE=)E=ES㥛?v/?MbE/a"Hy:}>I 5?ݾ H? ?9@: ':)WWX XWX:W2W*WVbU BU *UUU)@9IFia?F;  EBB BA*BAAAA"C *C RC C CIG-->h ,%XfFAY}>#,@}>@y}>~}>"ۘ}>H@`??&)m˿}?@?)~>#,@ ~>j[;I~!!a%"H!)y-<}->I15T 5?5ݾ 5$A? =?95@5: 5:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUyU}@BB BAF*BAAAA"C*CRCCCI)]AױIG= 9 I Fi 1? E; E,YXfFAY}6ց,@}6a@y}6e}6ب}6HfX6?హ?05̿ 5?53q?)~6ց,@ ~6T[;I~4YRG?yRmF `` M M U U@ U@ U@QQQiQQ Q)QIQiQeN=MeF=Ye~QUm>iiam"HiqyuA}}>IȁŅ' 5?Ņݾ ƅ=? ?9ƅ<@Dž÷: ȅw:)ȁWWX XWX:W2W*WVbUBU*UUUN@BB BA*BAAAA"C*CRC C C IG >i}nGI!i9m#ܿٺimA  } }  3:Y kS1y Ԋ: 6sE,1xsXfFAY}6,@}6@y}6}6ؽ}6Ha@z?ͅ?a%п T? R?)~6,@ ~6Ζ[;I~6CYR?yRFvdMvR=Y~QU~>a"H y y<} >I : 5? :]ݾ T9? %?9t@: :):WAWAXA XAWIXI:WI2WI*WIVQbUQBUQ*UQUU@q`@RB*** querying acoustic contact ***P P BB BA Ȇ*B)A1A9A9A9"Cq*CqRCqCqCyiIqG>\,#,HOXfFAY}>HK-@}>f@y}>ls}>H }>H m{?`^? @ҿ@? !l?)~>HK-@ ~>[;I~<J^Dynamic Docking Module:C REMUS Capture Rev 1.1 y9yI}Fi}E?}=yy}7E; }< Eɫ) IY-?y-FQ?ˡE{Gz\=' ף)Iyy&1?Mbp:v`e=T 3CA)$RAI-AiuA=NA)= gM=YCQU>a"HyIC<}>Iȉō 5?ōݾ ƍ9? ?9ƍw@ǍU: ȍ:)ȉWWX XWX:W2W*WVbUBU*U U U `v@BQBQ BYA}*ByAyAAA"C*CRCCC?i?יIG> `  z;:Y y =6) 4;9 8V),N)XfFAɫ髙) IY?yF ] ] ] e@ e@ e@YYYiYY Y)YIYiYuMu~=YuQU} ?yya}"H}Hy} ?Iȉ :ō 5? :ōiݾ ƍ-:? ?9ƍ@Ǎ: ȍ:)ȍ:WWX XWX:W2W*WVbUBU*UUUc@BB BA *BAA A A "C*CRCCCIIQGu>Z>0,XfFAY}6 -@}6@y}6 e}6搽}6H`@f? ?଎Ϳ+?VZ:?)~6 -@ ~6v[;I~6Cɫ99)9 9IAY]6?y]F}\d=M}[=Y&QU>a"Hy<}>Ișŝ 5?ŝݾ Ɲ:? ?9Ɲ@ǝ: ȝ:)șWWX XWX:W2W*WVbUBU*UUU<@BB BA`*BAA!A!A!"C)*C)RC)C)C1IG==q 9q Iu НFiu E@u =q q u D; u E)Ii=ޏ5  | |   V:Y R1y i: F6) ;i6,XfFAY}6Mp.@}6؋@y}6@}6M}6H !F?@j?@s˿d?@{?)~6Mp.@ ~6'];I~6Cɫ99)9 9I9Yi?yFxDUSBL response received:!U1,N,80,80,63,E4 8,188,80,80,B2,FF ZNo reply:!U1,N,80,80,63,E4 8,188,80,80,B2,FF -a"Hyf<}>I :C 5? %:ݾ :? %?9}@: :):WIWIXI XQWqXq:Wq2Wy*WyVybUyBUy*UUUe@BB BAӆ*B!A!A!A!A!"CI*CIRCQCQCQIa)a)I1Gu><,XfFAY}JpP/@}Jk@y}JⒾ}J}JH k o?? (Ϳ'?`?)~JpP/@ ~Jyua;I~JCɫ髁) IY?yF - - - -@ -@ -@)))i)) )))I)i)=3wM=6=YET(AAaM"HIy<}>Ișŝ 5?ŝݾ Ɲ`;? ?9ƝS@ǝ: ȝI:)șWWX XWX:W2W*WVbUBU*UUUU@BYBY BYA]*BYAaAaAaAa"C*CRCCC9IIGeU>E E }E }E  E !:YE kS1yE Ԋ:E 59M @zC,pYfFAɫyy)y yIyY!?yBF]v/?&1?y&1]x=]P= ]`)YIYy]~jth?/$?]D;]]< Y)]WAI],Ai]{AY]PA    @ @ @ùùùiùù Ĺ)ĹIĹiĹ*MR=YQU>a"Hy}>I : 5? :hݾ =? ?9@: _:):9IiC; EW1W9X9 X9W9X9:W92WA*WAVAbUABUA*UIUIUM" @BqBy ByA}*ByAyAAA"C*CRCCCIIYG>I,"r(YfFAY}6o0@}6/ @y}6}6ᇽ}6HX}@^?~a? 8L -˿?Z@?)~6o0@ ~6];I~4ɫYY)Y YIYY\?yfF)õ> õ >;M]=Y2=QU>a"Hyv=}>I 5?"ݾ m@? ?9@: :)W W X  XWX:W2W*WVbUBU*U!U!U%T @R-B*** querying acoustic contact ***P)P)BQBQ BQAUև*BYAYAYAYAY"Ca*CaRCaCiCi?i?IG>= b = y= y=  = ;:Y= P1y= ':= 5?P,yya}"Hyyyƹ}>Iȉō# 5?ōˎݾ ƍ-C? ?9ƍ@Ǎ(: ȍV:)ȉWWX XWX:W2W*WVbUBU*UUU!@B)B) B)A-J*B)A1A1A1A1"C9*C9RC9C9CA!I1GM1> _A >9 I i  =   C;  EV,(\YfFAY}:P0@}:Ol @y}:}:b}:H8-@?MO?`ș ǿ`*?t`?)~:P0@ ~:i\;I~:Cɫ99)9 AIAY]?y]FexDUSBL response received:!U1,P 80,80,63,E4 8,188,80,80,B2,FF eCommand AckeBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 1<MV=Ya;QU>qya"HyYr<}>I : 5? :xݾ E? ?9Z@ ; y;):WWX XWX:W2W*WVbUBU*UUU@"@BB BA*BAAAAAAA"CI*CIRCICICQYIyG^> { { I \G:Y #R1y : 6\,vYfFAY}^0@} @y}5ׁ};…}H@/ |?f3?чɿ?o,?)~^0@ ~s_;I~Cɫ髱) IY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B RQ?)\(~jt?=Ga =)Iy~jt?~jtV-?=< =FA)NAIitApMA = = = =@ =@ =@ =@999i=9 =)=I=i=M+;MM=YUQQa]"HYYyeg<}e>Iim 5?mݾ mJ? u?9m@m: m:)iWWX XWX:W2W*WVbUBU*UUUv#@BB BA*BAAAA"C*CRCCCI)IG%o>c,ޏYfFAY}60@}6!@y}6js}6 }6H9!#`?@0?' ɿ@4$?`jZ?)~60@ ~6r`;I~6CɫYY)Y YIYY}O?y}7FxDUSBL response received:!U1,R,272,000,002BB,189,80,80,BB,FF Fpublishing direction and range info ɰ e=鰅7> );CIy@ W?GٱTM=Y_=QU?a"Hy~8<}?I : 5? :ݾ M? ?93@s: :):ܹ9ܹIܽ@Fiܽ?ܽ=ܹܹܽC; ݽxEWWX XWX:W 2W *W V bU1BU1*U9U9U=,$@RM(Combining 5 samples.Pi*Qm@ZQmͱZY@r tJQm W?G2Qm :QibQm9` #Vx@?RQmPi(+9׿;U~? W?BQm ? Qm@Qm9οPiPiPmQiQm5@"Qm@BB BA*BAAAA"C*CRCCCIG%>i nGI i1 u ٺq u [A  D:Y y ;6) f;9 i,d˩YfFAY}i0@} @y}k}S}H:<!f?`NF? 9ȿ 9.?/L?)~i0@ ~^;I~Cɫ  )  IYe?yeFTNmea in: $SNTTA,0.009551,,,,224701.82*40 H<M 8=YOa"HHy}%>I)-6 5?-Sݾ -Q? 5?9-@-k: -@:))meqAdded new target pos. range: 4.440000 m, bearing: 111.953091 deg, deltaT: 10.092522 s, approachRate: 0.017835 m/s, LOS rate: 0.340824 deg/s, posRepo size: 4We ?WiXi XiWiXi:Wi2Wq*WqVqbUqBUq*UyU}`@U}`c ?BB BA*BAAAA"C?RCC ?CיIG>Rp,YfFA%6Could not parse latch stateɫ!))) )I)Y4?yF)= = e e e e@ e@ e@aaaiaa a)aIaiau=Mu)=Y}QU}>ya"Hy}>Iȑ :ŕ 5? :ŕyݾ ƕV? ?9ƕ9@Ǖ: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU8d?BB BA`*BAAAA"C ?RCCC?i?ױIG>ܱ9ܱIܵxFiܵ?ܱܱܱܵC; ݵyE C y y  *9:Y P1y ': 5) 4;Vw,}YfFAY}61@}6g!@y}6|?e}6曽}6H@??`q>ȿ@j?n?)~61@ ~6q\;I~4ɫ99)9 9I9YR?yF5]D;M==Y=.2},mXYfFAY}e1@}e\!@y}e[}eW}eHs?7?@4@$ſ G? Q8?)~e1@ ~e\;I~eCɫII)Q QIQYyMbX9ȶX9v?~jth?MEM= MD;)IIIyMMb?Mbpy&1?Ma"Hy ;}>I : 5? :ݾ [? ?9@: :):WWX XWX :W 2W *W V bUBU*UUU?BB BA*BAAAA"C*CRCCCI ) IGm> w w  @:Y O1y P: 69 @,&ZfFAY}61@}6!@y}6OP}64}6H`$l?a?5-ſ`?@I F?)~61@ ~6 a;I~4ɫYY)Y YIYYe`?yeF:M@,+ZfFAY}602@}6L"@y}6,D}6䙛}6H`+?`?@`ſ =_?qR?)~602@ ~6vC_;I~6Cɫ99)9 9IAY?yF=GM=H=Y=&AAaE"HAIyMpF<}M>IQUZ 5?UFݾ U^? e?9U@U: U4:)QWWX XWX:W2W*WVbUBU*UUU@!-@BB BA~*BAAAQAQ"CY*CYRCYCYCaiIqG>= = |= |=  = ,:Y= R1y= i:= i58,EZfFAY}>E2@}> #@y}>a9}>ͮ}>HH6@]??4ಾĿ? Yc?)~>E2@ ~>];I~<ɫYY)Y YIYYv?ybF } } } }@ }@ }@yyyiyy y)yIyiyZO=MC=Ya"Hy<}>Iȱ :ŵ 5? :ŵ ݾ Ƶ`? ?9Ƶ?@ǵ: ȵ:)ȵ:WWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BAЅ*BAAAA"C*CRCCC ?i ?IG (>999I=XFi=?999=RC; =<Eb,^ZfFAY}>k3@}>)#@y}>1}>-}>H@`ں?`q?@_vÿ?dCq?)~>k3@ ~>S\;I~>CɫYY)Y YIYY%?yFZ****** received transponder code query ******F****** received ping request ******a"Hy<}>I 5?ωݾ zb? ?9n@: :)W1W1X9 X9W9X9:W92W9*WAVAbUABUA*UIUIUM% @ByBy ByA}d*ByAAAA"C*CRCCCIG  =i ={,xZfFAY}Ϧ3@}Y#@y}w'}Zϯ}H@1\ ?`?@S_VĿ@ ? `t?)~Ϧ3@ ~4\;I~Cɫ) IY?yuF5xDUSBL response received:!U1,P 272,000,002BB,189,80,80,BB,FF =Command Ack=BRequesting micromodem ping code 2iAA Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %y&1㥛 ҿ~jt?%`% %D<)!I!y%Zd;O?X9v?{Gz?%j<=%<%ף< !)%OQAI%1Ai%!%@A    @ @ @i )Ii-><MU=Y]caia"Hy;}>I :) 5?  :ݾ f? ?9e@< <):WWX XWX:W2W*WV bU! BU! *U! U) U- @@BQ BQ  BY A] 0*BY AY AY A A "C *C RC C C x x  8A:Y 7P1y : X5י I G >t,ZfFAY}:}3@}:x#@y}:̪#}:?1}:H&U8ϻ?St? I@_?ݥ?)~:}3@ ~:8a;I~8ɫ99)9 9I9Y}?y}*F鮁ɮ=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B A9AIEȖFiE?E=AAE/C; E+E=M=Yo랪,ZfFAY}6G3@}6bc#@y}67#}6aB}6H`wFҸ? ?@= \? g@?)~6G3@ ~6`;I~6Cɫ99)9 9I9Y}6?y}؎FxDUSBL response received:!U1,R,268,000,002BA,189,80,80,C0,FF Fpublishing direction and range info ɰd=鰁 )@CIy(@Ou|?abٱ¡¡5M^=Y9QU>a"HHy}>I :u 5? :ݾ #j? ?9l@: :):WWX XWX:W2W*W V bU BU *UUUౝ@R%(Combining 5 samples.P)*Q-(@ZQ-d@`ݥ%JQ-Ou|?ab2Q- :Q)bQ-}юj@ \?RQ-,ڿheͰ? ?BQ-U@ Q-T{@Q-P-Q9?P)P)Q-Q-@"Q-5@BB BA*BA!A!A!A!"C)*CIRCICICQIIQGu> z z  T:Y Q1y : 6,eZfFAY}6u,3@}6G#@y}6~ }6?}6HA`(? ŗ?`|r ? zG $?)~6u,3@ ~6B7_;I~6CɫAA)A IIIY]|?yeFDNmea in: $SNTTA,,,,,224706.32*5A    @ @ @i )Iii<M7=Y;QU>a "H  yWu}>I| 5?ݾ 7m? %?9,@: :)mUqAdded new target pos. range: 4.380000 m, bearing: 115.141758 deg, deltaT: 4.406422 s, approachRate: -0.013617 m/s, LOS rate: 0.723641 deg/s, posRepo size: 4W]U@WYXY XYWYXY:WY2Wa*WaVabUaBUi*UiUm@Um҆?BB BAN*BAAAA"C?RCCU@CשIG >999I=Fi=?999=C; =E,ZZfFAY}6@Y3@}6t#@y}6}6[}6H`}U? ?M?@H뼿I ?\ೞ?)~6@Y3@ ~6B];I~4ɫii)i qIqY?yΏFi}nGI1iIٺAP?9wA;MJ=Ya%"H!!y-/;}->I1 =:5 5? =:5$ݾ 5o? =?95@5Q; 5;)5:WWX XWX:W2W*WVbUBU*UUU?B!B! B!A%<*B)A)A)A)A)"C5U@RC1C1CY1IAG]3> * { {  ,7:Y #R1y : 5A޽,*ZfFAY}^>? u?X ¿ #?;7ې?)~^E= Et)AIAyE?~jth?~jt?E    @ @ @i )IiM;=Yؑ  a "H y;}>I 5?ݾ r? -?9,@C: :)WQWQXQ XQWQXQ:WY2WY*WYVYbUaBUa*UaUaUm n?BB BAV*BAAAA"C*CRCCC׹IGD>Ė,[fFAɫ髑) IY?yrF9ܔCI8Fi?=ADB; E}=M}g=YQU>a"Hy}>IșŝK 5?ŝ͉ݾ ƝRu? ?9Ɲl@ǝ: ȝ:)șWWX XWX:W2W*WVbUBU*UUUQ;?B B  B A *B AAAA"C*CRCCC!I1)1!I1GU>  ~ ~  +:Y T1y @: 5) ~;9 ʖ,x-[fFAY}6J3@}6#@y}6Ҥ}6Ʈ}6H@}{Ϯ? p]?r,ÿ?d?@ ~?)~6J3@ ~6(a;I~6Cɫ99)9 9I9Y}t?y}אFjP<MQ=YQU>!!a%"H!)y-T<}->I1 =:5 5? =:5ݾ 5x? E?95@54: 5A:)5 :WaWaXa XiWiXi:Wi2Wi*WiVqbUqBUq*UyUyU}`>@B!B! B!A%ф*B)A)A)A)AI"CQ*CQRCYCYCYIIQGu>і,G[fFAY}N3@}N#@y}N}Nb}NH`gtg?h?@v@3?@?)~N3@ ~N _;I~Lɫ髁) IY?yF=ip=!%]A m m m u@ u@ u@iiiiii i)iIiiii<MD=YQU>a"Hyɻ}>Ișŝ 5?ŝrݾ Ɲz? ?9Ɲ@ǝ: ȝ:)șWWX XWX:W2W*WVbUBU*UUU Õ@BB BA*BAAAA"C*CRCCCסIG >9IȖFi?B; E) I i = = _ 5 Y { { v &:Y #R1y : 5) ;ז,7a[fFAY}6Ԏ3@}6^#@y}6}6ߛ}6H b"?r? i¿`a?=` ?)~6Ԏ3@ ~6P];I~6Cɫ99)9 9I9Y]G?y]Faaj׼MX=YS1;QU>a"Hyzk}>I :C 5? :Iݾ }? ?9?@=: :)!:WWX  X W X :W 2W *WVbUBU*UUUm@RB*** querying acoustic contact ***PPBB BA܄*BAAAA"C*CRCCC! IG- >)ޖ,d{[fFAY}Ng3@}N#@y}Nt}Nh}NHHaL??YX¿?@o?)~Ng3@ ~N*4\;I~NCɫyy)y yIyY?yrFZ****** received transponder code query ******F****** received ping request ******Uj UO=)QIQyU rh?~jt?~jtUCyya"Hy}>IȑŕA 5?ŕ`ݾ ƕx{? ?9ƕ@Ǖ{: ȕǺ:)ȑWWX XWX:W2W*WVbUBU*UUU 3L @BB BA*BAAAA"C*CRCCCסIGE> v v  V:Y N1y : F69 @喙,-?[fFAY}6P3@}6hl#@y}6 }6𢆽}6HL^@ ?)?g@ ɰ?򧰿۟?)~6P3@ ~6h[;I~6Cɫ99)9 9I9܁9܁I܅Fi܅a?܁܁܁܅6B; ݅EY?yFxDUSBL response received:!U1,P 268,000,002BA,189,80,80,C0,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I!)!)= > =>    @ @ @ùùùiùù Ĺ)ĹIĹiĹ;MB=Y11a5"H1AyMS}M>IY :]N 5? :]xݾ ]y? ?9]@]; ]:;)]":W WX XWX:W2W*WVbUBU*U!UAUE 9 @BB BA*BAAAA"C*CRCCCI9Gmx>;떙,y[fFAY}J 3@}J#@y}Jn}JO}JHc@@"?`{?Ƃ@ ? `?)~J 3@ ~JQ_;I~JCɫ髙) IY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Q=M\=YQU>a"HHy<}>I   5? ݾ w? ?9 N@ b: :) W9W9X9 X9WAXA:WA2WA*WAVIbUIBUI*UIUQUU7P@ByBy BAK*BAAAA"C*CRCCCIIYGu>  { {  -:Y #R1y : 5",8[fFAY}J3@}J$@y}J$}JP}JHt`5?`B?r`NĿW?`>v?)~J3@ ~J@a;I~Hɫ髙) IY?yF]M\=YQU>a"H y 2<} >I 5?ݾ Av? %?9@: n:)WAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU]@M@BB BA{*BAAA A"C*CRCCC IG= >y9yIyiyy}BDy}A; }EwO,<[fFAY}rEL4@}rg$@y}rK}&}rGٽ}rH؉@|? ?`\qjƿ`8?`3պ@;f?)~rEL4@ ~rZ^;I~rCɫ) IY5*?y5FEDNmea in: $SNTTA,,,,,224710.72*59 QQYY    @ @ @áááiáá ġ)ġIġiġM?=YyQU>a"HyL<}>I : 5? :ݾ Kt? ?9@: :)#:WWX XWX:W2W*WVbUBU*UUUU@B!BA BAAE*BIAIAIAIAI"CQ*CQRCQCYCYYIiG8>      C@:Y y  5w,[fFAY}:"}:e}:H`` ?$? ,?Y ?)~:a"Hyʺ}>I 5?Wݾ Ov? ?9@w: :)WWX  X W X :W 2W*WVbUBU*UUUrC@BIBI BIAM*BIAQAQAQAQ"CY*CYRCYCYCaaIqG;>e,Q\fFAY}RF4@}Rnb$@y}R=$}R7}RH9;@1 ?c$? l^?@I@ ?)~RF4@ ~R*\;I~RC9Ii=ADA; gEɫ髉) IY?yFJMl=Y8i3oGI9iqٺA  z z  1:Y Q1y : 25) ;9  ,a0\fFAY}64@}6$@y}6L#!}6yq}6H ʬ a@? +?@(?``nj?)~64@ ~6[;I~6CɫII)I IIIY}?y}FF)Õ= Õ=-6only read 2 of 4 data itemsBMMN=YQU>a"Hy<}>Iv 5?iݾ y? ?9@: :)W W X XWX:W2W*WVbUBU!*U!U!U%`<@BIBQ BQAUs*BQAYAYAYAY"Ca*CaRCaCaCiiIyG=r,CJ\fFAY}N5@}N@%@y}N\'}N}NH`FJ?@?`}^?` ?)~N5@ ~NV`;I~NCɫ髡) IY?yF 5 5 = =@ =@ =@999i99 9)9I9i9MMMB=YMvQUU>QQaU"HQYy]*<}e>Ia u:eͬ 5? u:eݾ e{? u?9eO@ek: eb:)e%:WWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C*CRCCCשIG>9IȖFi?iA; ;E  { { N :Y #R1y : Y5) };U,rd\fFAY}6B4@}6$@y}6P,}6}6HΚ@5U1? ?n`ſRw?`f@h?)~6B4@ ~6z_;I~6CɫYY)Y YIYYk?yF6MT=YKQU>a"Hyp}>I 5?ݾ f}? ?9@g: :)WWX  X W X :W 2W *WVbUBU*UUU`@BB BA*BAAAA"C!*C!RC!C)CIAIQGm>, ~\fFAY}3@}$@y}3s+}$}Hn?:?@A ԏȿ`T?򙾿Q?)~3@ ~];I~Cɫ) IY-?y5GF5xDUSBL response received:!U1,N,80,80,63,E4 A,189,80,80,C0,FF =ZNo reply:!U1,N,80,80,63,E4 A,189,80,80,C0,FF -=~jtx?HzGѿ~jt?;= <)IyMbMb?Mb`= µ?A)µOAIµh3AiµaAGIA_A    @ @ @ ÉÉÉiÍf?É č?)č?Ič?ičK?@M$=YM ;QU>a"Hy}>Iȹ :Ž\ 5? :Ž͍ݾ ƽ{? ?9ƽ@ǽ2 ; ȽX ;)Ƚ&:WWX XWX:W 2W *W V bUBU*UUUz@BYBa BaAeC*BaAiAiAiAi"Cq*CyRCyCyCIGi>   B5:Y y {59 @%,Η\fFAY}683@}6#@y}68)}6}6H.c `?@Q?oĿ`?|2v?)~683@ ~6\;I~6Cd9dIfFif?f=ddfhA; f:E)]ܔCI]ܔCiY]=]=]6 5ɫYY)Y YIYY?yF;ۼM=YW;QU ?!!a%"H!)y-}- ?IQU 5?Uݾ U+{? e?9U @U: U :)QWWX XWX:W2W*WVbUBU*UUU 0@B!B! B!A%*B!A)A)A)A)"CQ*CQRCQCQCY)IYG>&+,\fFAY}Z3@}Z#@y}Z+}Z,}ZH[i ?V?[甾`b?j?)~Z3@ ~ZD\;I~Xɫ髙) IY%?yF55<M5H=Y=}QU=>9AaE"HEHAyM|-}M>IQU 5?Uݾ UNz? ]?9U@U: U:)QWWX XWX:W2W*WVbUBU*UUU@M0 @BB BAd*BAAAA"C*CRCCCIG>  | |  M4:Y R1y i: j52,\fFAY}:C3@}:ͣ#@y}:2}:벼}:H`9G`d? d?A@s2 :?@ ?)~:C3@ ~:`;I~8ɫyy)y yIyY?ylFI=)%=)= > U U U U@ U@ U@ U@QQQiUQ U)UIUiUej<MeG=Ym논QUm>iiau"Hqqy}}}>Iȁ :Ņ) 5? :Ņݾ ƅqy? ?9ƅ1@Dž: ȅ:)ȅ':WWX XWX:W2W*WVbUBU*UUU`4!@RB*** querying acoustic contact ***PPBB BA4*BAAAA"C *C RC C CIG= >9IiGA; (E|8,oe\fFAY}R?3@}Rɷ#@y}R ;}RD;}RH`A@@V??@U?Çz`Z?n?)~R?3@ ~Rc;I~RCɫqy)y yIyYG?ymFZ****** received transponder code query ******F****** received ping request ******19a="H99yE&I;}E>IIMo 5?Mݾ Mx? ]?9M@M: M:)IWYWYXa XaWaXa:Wa2Wa*WVbUBU*UUU !@BB) B)A-*B)A)A)A)A1"C1*C9RC9C9C9IG-->      (H:Y y  E55?,EG\fFAY}6e3@}6~#@y}6rQD}6 _}6H (@-?d?@ܰ`c?Mf?)~6e3@ ~6y_;I~6Cɫaa)a aIaY?ycFxDUSBL response received:!U1,P 80,80,63,E4 A,189,80,80,C0,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Mb?$C˿y&1|=Z `)Iy~jtx?{Gzt?~jt;ף;D DA)JAI0AiQHA % % % %@ %@ %@!!!i!! !)!I!i!=ʹ<ME=YMzQUM>a"HyŻ}>I : 5? %:ݾ v? %?9@< <)(:WWX XWX:W2W*WVbUBU*UUU '"@B!B! B!A%8*B!AIAIAIAI"CQ*CQRCQCQCYa Ii G > E,]fFA@9B۔CIB8FiB?B=BBD@B7A; BEY}v3@}v\"#@y}v2I}vu1}vH??@]H¿@?Y?)~v3@ ~vL];I~vCɫ) IYUC?y]F}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B  ZwM=Y5QU?a"Hy%F}%?I)-Ů 5?-ݾ -1v? 5?9-@-: -Ǻ:))WYWYXY XYWYXa:Wa2Wa*WaVibUiBUi*UiUqUu(z#@BABI BIAM]*BIAIAQAQAQ"CY*CYRCYCYCaYIiG8>  { {  2:Y #R1y : }5) ;9 R%L,o2]fFAY}6w3@}6#@y}6N}6:}6H@0;G??@W1 Fƿv?`޲`"C?)~6w3@ ~69\;I~6Cɫ99)9 AIAY}?y}?FxDUSBL response received:!U1,R,27B,000,002BB,189,80,80,B9,FF Fpublishing direction and range infoA ɰ e=鰁 )9CIy@J6?EgٱdNmea in: $SNTTA,0.067904,0.184217,,,224716.38*54 Mc=YOQQU>a"Hym}>I :~ 5? :ݾ /u? ?9@^: :)):W W X  X WX:W2W*WVbUBU*UU!U%2$@R5(Combining 5 samples.P1*Q5@ZQ5Z4@3JQ5J6?Eg2Q5A :Q1bQ5xAoK@v?RQ5९ٿ\5?A6x?BQ5q? Q5~@Q5D޿P1P5Q9?P5Q1Q5n-@"Q5@B1B9 B9A=*B9A9AAAAAA"CQ*CQRCQCQCaiIqG>| S,L]fFAY}N43@}N?P#@y}NS}Nƽ}NH />?@gk?ȿ H? 2+?)~N43@ ~NL[;I~NCɫ髙) IY?y$F    @ @ @i )Ii3IM9=Y;QU>a"Hy;}>I' 5?zݾ s? ?9?@: :)meuAdded new target pos. range: 4.440000 m, bearing: 113.574687 deg, deltaT: 10.101679 s, approachRate: 0.005940 m/s, LOS rate: -0.155130 deg/s, posRepo size: 4Weq?WaXi XiWiXi:Wi2Wq*WqVqbUqBUy*UyU}`@U}@a?BB BA*BAAAA"CN?RCCq?CIG%>a9aIeȖFie?aaaegA; e9E  } } r /:Y kS1y Ԋ: 5) t;M >I i nGI `Ai  ٺ `A WA6Y,Lf]fFAY}6J3@}6ԥ#@y}6Y}6)Gν}6H"?B?-ɿ?9) ?)~6J3@ ~6.`;I~6Cɫ99)9 9IAY.?yFI=)==iUM=V=Y=}QU=>AAaE"HAIyMU`<}M>IQ ]:Uۭ 5? ]:Uqݾ Ur? e?9U\@UV: UA:)U*:WWX XWX:W2W*WVbUBU*UUU@E?BB BA*BAAAA"Cc ?*CRCCCשIG>+`,]fFAY}N43@}N#@y}N^_}Nν}NH@%b??=?*ɿ{?`7?)~N43@ ~NC_;I~NCɫyy) IY?y?F rh?I +v/C >94 xi)Iy rh?y&1?/$C<`e<,  ?A)YAI0Ai3CA u u u }@ }@ }@yyyiyy y)yIyiyg<M7=Y 4QU>a"H!y%9}M>IQUʬ 5?UGݾ UBn? e?9U@U; U;)QWWX XWX:W2W*WVbUBU*UUU @u?BQBQ BQAU*BQAYAYAYAY"Cq?*CRCCCIי)ם\AיIGd>   .:Y y P69 @a 9a Ie Fie ?a a a e )A; e EwXf,]fFAY}6%3@}6.A#@y}6 i}6 }6H͙?H\?'l`ÿ"?%&?)~6%3@ ~6L];I~6Cɫ99)9 9IAY]?yeF:<Me=YZQU?a"H y } ?I 5?3ݾ  k? %?9@: ӻ:)WWX XWX:W2W*WVbUBU*UUUQ?B!B! B!A-*B)A)A)A1A1"C9*C9RC9C9CA)I1GU>hsl,8]fFAY}62@}6"@y}6x}6:}6HN f@?`m?`X~o?@X?`1?)~62@ ~6];I~6CɫYY)Y YIYY~?y,F 11}2<M}D=Y{QU>a"HHyE}>Iș :ŝ 5? :ŝݾ Ɲ!g? %?9Ɲ}@ǝ< ȝ<)ȝ+:WIWIXI XIWQXQ:WQ2WQ*WYVYbUYBUY*UYUaUe`ow@BB BAN*BAAAA"C*CRCCC׉IGM1> W { { % ::Y #R1y : 6V[s,Q]fFAY}6 2@}6"@y}6Cځ}6=}6H@MQ-?p?]5ƿ ?q?)~6 2@ ~6\];I~6Cɫ99)9 9I9YG?ymF    @ @ @éééiéé ĩ)ĩIĩiĩMF=Y3ѼQU>a"Hyy}>I 5?ݾ 9c? ?9@: Q:)WWX XWX:W2W*WVbUBU*UUU6@BB BA*BAAAA"C!*C!RC!C)CI]?iYAIIGm5> 9 I Fi 1?    @; E)ݝ۔CIݝ۔Ciݙݝ=ݝ=ݝ4`y,]fFAY}>?2@}>"@y}>`}>}>H |@Պ?Ej?o̿ !?J`?)~>?2@ ~>_;I~>CɫYY)Y aIaY?yFUM\=Yi4QUU>YYae"Haiy};}>Iș :ŝ 5? :ŝאݾ Ɲq_? ?9Ɲ@@ǝ"; ȝ $;)ȝ,:WWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BĂ*BA!A!A!A!"C)*C)RC1C1C1 IG5 > Q  y y   H::Y P1y ': 5m,W^fFAY}62@}6"@y}6~}6̽}6HĔ ?:w?`*:̿΅? ȸ?)~62@ ~6a;I~6Cɫ99)9 9I9Y}?y}eFZ****** received transponder code query ******F****** received ping request ******}33> }j)yIyy}a"Hy}>Iȡť 5?ťݾ ƥ`? ?9ƥ@ǥD: ȥǺ:)ȡWWX XWX:W2W*WVbU!BU!*U!U!U-C @BqBq BqAu*ByAyAyAyA"C*CRCCCיIGb> 9 I xFi ?    @;  E8,^fFAY}62@}6/3"@y}6a~}6t}6H@y B?@?`˿@x?o?)~62@ ~6^;I~6Cɫ9A)A AIAY.?yFxDUSBL response received:!U1,P 27B,000,002BB,189,80,80,B9,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 0d<M%|=YU:QU]?ia"HyҼ} >I1 =:5 5? =:57ݾ 5a? E?95 @5: 54:)5-:WWX XWX:W2W*WVbUIBUI*UIUQUU @B9B9 B9A=*ByAAAA"C*CRCCCyIG R  N:Y y 5) ;9 ,E5^fFAɫyy)y yIyY4?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ]@=MeF=YmQUm>iiau"Hqqy}}}>IȁŅf 5?Ņؒݾ ƅb? ?9ƅh@Dž: ȅܹ:)ȁWWX XWX:W2W*WVbUBU*UUUe@@BB BA`*BAAAA"C*CRCCCIGE>},\O^fFAɫ髙) IY?yF xDUSBL response received:!U1,R,265,000,002BB,188,80,80,C0,FF  Fpublishing direction and range info   ɰ  > ) @CI y  !Ж?+R 8Pٱ  99    @ @ @áááiáá ġ)ġIġiġMD=YQU>a"Hy}>I2 5?ݾ c? ?9@; ";)W1W1X1 X1W1X1:W92W9*W9V9bU9BUA*UAUAUE:@R(Combining 5 samples.P*QZQ{Ɏ@qfbJQ!Ж?+R 8P2Q :QbQ$Y,%c-5" w@{'W?RQtYؿXX?4VI@.?BQv? Q{@QۿPPPQQ;@"Qn-@BaBi BiAm*BiAqAqAqAq"Cy*CyRCyCyCׁIܭ>9ܩIܭFiܭE?ܭ=ܩܩܭ@; ݭEGA>I AA) AA o  B(:Y y 5) ;ә,&7i^fFAY}r`1@}r:|!@y}r}rP]ֽ}rH@S6$ !?@? oܶͿ`Q?ܹ?)~r`1@ ~rT\;I~rCɫ) IY5?y5xFTNmea in: $SNTTA,0.071702,,,,224720.83*49 ƋMG=YQU>a"Hy "} >I : 5? :6ݾ  e? %?93@^: :).:mUqAdded new target pos. range: 4.440000 m, bearing: 113.518769 deg, deltaT: 4.501214 s, approachRate: 0.000000 m/s, LOS rate: -0.012423 deg/s, posRepo size: 4WUv?WQXQ XQWQXQ:WY2WY*WYVYbUaBUa*UaUaUe ?B)B1 B1A5g*B1A1A9A9A9"CEv?*CARCACEv?Cם?iם?ׁIG=>,^fFAY}f0@}f<!@y}f)?|}f[}fH+W1?'?Iw_˿6?CZD?)~f0@ ~fb;I~fCɫ髡) IY?yFMb?bX9ȶMb?=E =)Iy ףp= MbMbPQ8@ ¥AA)¥xUAI¥-Ai¥ZxA3OA M M M M@ M@ M@IIIiII I)IIIiI]}<M]5=Y]2aaam"Hiiyui}u>Iy}d 5?}ݾ }d? ?9}"@}: }k:)yWWX XWX:W2W*WVbUBU*UUU ?BB BA*BAAAA"C*CRCCCIG%M> P z z 3::Y Q1y : 9 @ܡ 9ܥ ܔCIܡ iܡ ܥ =ܥ ADܡ ܥ E@; ݥ E妗,^fFAY}6ώ0@}6Y @y}6$x}6H2S}6HZ@-?`T?[mǿ?`ꝩ?)~6ώ0@ ~6`;I~6CɫII)I IIIY}8?ydFI)IC=)4=5 =M=u=Y=D i =@,ζ^fFAY}6&0@}6 @y}6{}6KX7}6H *?V?`]ƿ6? 9?)~6&0@ ~64^;I~6Cɫ99)9 9I9Y}?y}F5=M5J=Y=WQU=>99aE"HEHIyU}]>IaeT 5?ehݾ eIb? u?9e@e8; ez%;)aWWX XWX:W2W*WVbUBU*UUU>?BB  B A)*BAAAA"C!*C!RC!C)CI׽\A)׽]AסIG!>      ?:Y y  35,^fFAY}:I0@}:!@y}:|}:B[}}:H")? b+?h ȿ`>1? ?)~:I0@ ~:|\;I~8ɫAA)I IIQY8?ydFQU^A    @ @ @ÙÙÙiÙÙ ę)ęIęię M@=YQU>a"Hy<}>I : 5? :ݾ La? ?9@': :)0:W!W!X! X)W)X):W)2W1*W1V1bU1BU1*U9U9U=@?BaBi BiAm*BqAqAqAqAq"Cy*CyRCyCC!I)I9IIMxFiM?IIIM#@; MEG9>!,t~^fFAY}6^0@}6!@y}6x}66V}6H`-@ `8? 0?3`Piǿ? 1?)~6^0@ ~6[;I~6Cɫ99)9 9IAY?yF  =M=U=YEAAaM"HIQy]}]>Iae 5?eْݾ e_`? }?9eR@e%; e';)aWWX XWX:W2W*WVbUBU!*U!U!U-@E.@BB BA*BAAAA"C*CRCCCIG (>I @A) ?A x x  4:Y 7P1y : 5 ,Y_fFAY}6k0@}6% @y}6't}6}6H`a@p@V?8g?\¿ ;?`5Sw`?)~6k0@ ~65%^;I~6Cɫ99)9 9I9YV?yvFuMb?Q롿/$ua"Hy3}>I : 5? :ݾ ^? ?9@6; !;)1:WyWX XWX:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBB) B)A-*B)A)A)A1A1"C9*C9RC9C9C9U?iU?!I1GM1>I 9I IM FiM v?I I I M @; M E)݊ܔCI݊ܔCiي݊=݊=݊057Ǘ,,F_fFAY}E0@}E @y}Eyx}Ec}EH@ '7 '?N? J@ȿ@q?gp?)~E0@ ~EQ^;I~ECɫ) IYM?yUF]Z****** received transponder code query ******]F****** received ping request ******e 5 5 5 5@ 5@ 5@111i11 1)1I1i1Mb-MM?=YU!QUU>YYa]"HYay;}>Iȉō 5?ōݾ ƍ\? ?9ƍQ@Ǎs: ȍ^:)ȉWWX XWX:W2W*WVbUBU*UUU @BYBY BYA]*BYAaAaAaAa"Ci*CiRCiCiCqqIyG_> \ | |  O:Y R1y i: 5) ;9 ]͗,8_fFAɫ髙) IYs?yFxDUSBL response received:!U1,P 265,000,002BB,188,80,80,C0,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Ia=)=u/r<M}_=YQU>a"Hy}%>IY] 5?]Sݾ ]_[? ?9]@]m< ]p<)YWWX XWX:W2W*WVbUBU*UUUEm @BiBi BqAu*BqAqAqAqAq"Cy*CRCCCיIGf>Eԗ,Q_fFAY}6G0@}6!@y}6px}6j½}6H,@?)?0?Td˿|? \`/?)~6G0@ ~632];I~6CɫYY)Y YIYY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B um;M}F=Y}yQU}>a"Hy0C<}>Iȡ m:ť 5? u:ťݾ ƥY? u?9ƥ&@ǥ< ȥt<)ȥ2:WWX XWX:W2W*WVbUBU*UUU*@BiBi BqAu*BqAqAqAqAq"Cy*CyRCCC9Ii@; EׁIG=> 8 ~ ~  #:Y T1y @: 5) ς;oڗ,k_fFAY}NF0@}Na @y}N n}N0}NHk `>!?{?*Idο`?V ?)~NF0@ ~NG\;I~Lɫ髩) IY8?ydFxDUSBL response received:!U1,R,27E,000,002BA,189,80,80,B8,FF Fpublishing direction and range infoӇɰd=7> )8CIy(@b*?w]zٱ M M M M@ M@ M@IIIiII I)IIIiI]ݻM]L=Yeaaae"Hiiym̼}u>Iy} 5?}זݾ }W? ?9}@}ܹ: }+:)yWWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q(@ZQz @8(7JQb*?w]z2QӇ:QbQM}@jNJ?RQ~տdp? VE?BQG? Q'}@Q3PR9?PPQQE;@"Q;@BB BA *B A A AA"C*CRCCCIG$>Zᗙ,-_fFAY} )/@}  @y} Sm} } H0Վ3?G?.hʿ`m??)~ )/@ ~ W`;I~ Cɫ) IYuA)MXAIMC/AiM5tAIMNA    @ @ @áááiáá ġ)ġIġiġM)=Y7;QU>a"Hye}>I : 5? :@ݾ U? ?9@M: 4:)3:muAdded new target pos. range: 4.380000 m, bearing: 110.688577 deg, deltaT: 4.406675 s, approachRate: -0.013616 m/s, LOS rate: -0.642251 deg/s, posRepo size: 4WG?WX XWX:W2W*WVbUBU*UU@U`?BB BAކ*BAAAA"C%7?RC!C-G?C)IG=r> y { {  x=:Y #R1y : 59 @ 9 I @Fi ? @; E!痙,}_fFAY}F/@}F}@y}FqNp}F}FH@``n?@?5ȿj?`>|?)~F/@ ~F{_;I~FCɫYY)Y YIYY?yGF5)r=M==Y=l QU= ?AAaE"HAAyMv}M ?IȡťƲ 5?ťݾ ƥT? ?9ƥ@ǥk: ȥ;)ȡWWX XWX:W2W*WVbUBU*UUU?BB BAC*BAAA!A!"C-G?RC)C)C1iIyG>헙,l_fFAY}:*/@}:@y}:Vo}:}:H``??`" qɿ?ذ?)~:*/@ ~:%f];I~:CɫQQ)Q QIQY?yF}<ME=Yn?;QU>a "H Hyg:}>I) 5:-ײ 5? 5:-ݾ -R? =?9-2@-; -";)-4:WqWqXq XqWyXy:Wy2Wy*WyVbUBU*UUU@?BB BA*BAAAA"C*CRCCCI!G=0> | |  ~:Y R1y i: 5,3_fFAY}6/@}6@y}6Ұg}6}6H(!?P?d2ȿ@? ټ`?)~6/@ ~6c\;I~6Cɫ99)9 9I9Y?y"FI9)9IE=)E=    @ @ @ ÙÙÙiÝ?Ù ĝ ?)ĝ?Iĝ?iĝ?P;MH=Yΐa"Hy_;}>I 5?<ݾ SQ? ?9c@k: A:)WWX XWX:W2W*WVbUBU*U U U `6?BB BA*BAAAA"C*CRC C C ܑ9ܑIܑiܑܕ=ܑܑܕ?; ݕRE!I)GIyyioGIi 5 ٺ1 5 IA,E_fFAY}>e/@}>@y}>a}>k}>H6IM?@?>"Rǿ? @i*?)~>e/@ ~>[;I~>CɫYY)Y YIYY?yF}5M}N=Y!a"Hy,l}>Iȹ :Ž 5? :Žݾ ƽO? ?9ƽ@ǽ: ȽH;)Ƚ5:WWX XWX:W 2W *WVbUBU*UU!U%$>@BaBa BaAmz*BiAiAqAqAq"Cy*CRCCCI%]A)! I1Gu6>  } }  5:Y kS1y Ԋ: 5ȥ,`fFAY}6/@}6*@y}6'|\}6}6H=r@?? )Sǿ Y?Tj -?)~6/@ ~6d\;I~6CɫYY)Y YIaY}?y}Fm!rh?mt< m@=)iIiymAAaE"HAIymf}>Iȑŕ 5?ŕݾ ƕ0S? ?9ƕ@Ǖ: ȕ,:)ȑWWX XWX:W2W*WVbUBU*UUU v@BABI BIAM*BIAQAQAQAQ"CY*CYRCYCYCaaIiG9>܉ 9܉ I܍ xFi܍ ?܉ ܉ ܉ ܍ ?; ݍ GEr, `fFAY}6Dc/@}6~@y}6~[}65}6H``<:??F 8Ŀ`3:?3@aaae"Hiiyu}u>Iy }:}# 5? :}ݾ }Y? ?9}i@}: }Q;)}6:WWX XWX:W2W*WVbUBU*UUU@D\ @BB BA*BAAAA"C*CRCCC?i?IGI>,FzT`fFAY}6KT.@}6o@y}6"CX}6?}6H))@Q_?` U?@Eſ? o4A?)~6KT.@ ~6\;I~6CYB#?yBjFFxDUSBL response received:!U1,P 27E,000,002BA,189,80,80,B8,FF FCommand AckFBRequesting micromodem ping code 2iHHNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =<M=_=YEqqa}"Hyyw}>Iɵ 5?ݾ \? ?9@ ; w;)191I5Fi5v?1115?; 5HE)IiŃ=Ń=ŃN4WWX XWX:W2W*WVbUBU*UUUW @BB BAe*BAAAA"C*CRCCCI!G=r>  W@:Y y 6) h;] ,Wn`fFAY}6S.@}6Ro@y}6Q}6}6H@V ?[?bȿ`W ?@Ǵ8?)~6S.@ ~6 \;I~6CY^2?ybsFrNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IER=)E%=UM:MUo=Y]b !)%LCI!y%Q@%Ou|?abٱ!S?ʡEÿ!rh?/> l=)IyMbV-y&1|?`; DA)VLAI0AikA KA % % % %@ -@ -@!!!i!! !)!I!i!=M=<=Y=GAAaE"HAIyMݦ;}M>IQU; 5?U2ݾ U]`? e?9UE@Uϸ: Uض:)QW1W1X9 X9W9X9:W92WA*WAVAbUABUA*UIUiUu@R(Combining 5 samples.P*QQ@ZQBE @O]xNsJQOu|?ab2Q :QbQ Ia;U@p}`Y?RQo!տW36?2?BQ? Qx@QعPPR9?PQQ0@"QE;@B1B1 B1A5Ѕ*B9A9A9A9AA"CI*CQRCQCQCYI׉)׉aIiG9> R } }  \::Y kS1y Ԋ: 69 @) 9) I- xFi- ?) ) ) - ?; - GE (,`fFAY}F /@}F]'@y}F)K}Fٽ}FH`@a"HHyռ<}>I : 5? :֗ݾ 2a? ?9@g: :)8:m5uAdded new target pos. range: 4.259999 m, bearing: 110.472074 deg, deltaT: 4.467534 s, approachRate: -0.026861 m/s, LOS rate: -0.048461 deg/s, posRepo size: 4W5?W1X1 X9W9X9:W92W9*WAVAbUABUA*UAUM = @UM`MI?BqBy ByA}@*ByAyAyAA"C?*CRCC?C׉IG=I.,t`fFAY}R/@}Rn@y}RXJ}Rh}RH @nֹ? 6? ]jȿ !?@, >?)~R/@ ~R>[;I~PYv?yvF}=i}<  - - - -@ -@ -@)))i)) )))I)i)= M=D=YEn:QUE>AIaM"HIIyUś<}U>IY] 5?]qݾ ]b? e?9] @]0: ]I:)YWWX XWX:W2W*WVbUBU*UUU@?BB BAG*BAAAA"C*CRCCCIG >I ) @A  y y  2:Y P1y ': 5P05,Y`fFAY}: 0@}:) @y}:0F}:t}:H3Uk@Ch?t?Oƿ*?糿`L?)~: 0@ ~:J-[;I~:CY^*?ybF]h=M]Z=Yeaaam"Hiiymx<}u>Iy} 5?}ݾ }b? ?9}g@}: }:)yWWX XWX:W2W*WVbUBU*UUU ss?BB BA*BAAAA"C*CRCCCIG=9Ii?; =E+Z;,Z`fFAY}6]z0@}6 @y}6bA}6/Ԏ}6H`YD5D3??Sdſ`?`M@7Z?)~6]z0@ ~6HZ;I~4Y^?yb`F}9M}H=YmCa"HyS<}>Iș :ŝ 5? :ŝݾ Ɲc? ?9Ɲ@ǝ: ȝM:)ȝ9:WWX XWX:W2W*WVbUBU*UUU?B B  B A *B AAAA"C*CRCC!C!IG= 4 } }  7:Y kS1y Ԋ: 5BB,F| afFAY}F0@}FU!@y}F=}F}FH`h~``?k?̗ ſ`&?`u@[?)~F0@ ~F [;I~FCYn?yn)FI9)9I9)9IM4=)M4=%I +?:v?l%94<%T= %)!I!y%~jtMb?Mb?%%@=%< %;A)%"WAI%0Ai%jdA!%IA    @ @ @ÁÁÁiÁÁ ā)āIāiā<M:=Y`a"Hyz<}>Iȱŵ 5?ŵݾ Ƶc? ?9Ƶ@ǵǺ: ȵ4:)ȱWWX XWX:W2W*WVbUiBUi*UqUqUu`#@BB BA*BAAAA"C*CRCCCIG (> 9 I @Fi ? B?; E i lH,V#afFAY}>GX1@}>s!@y}>8}>}>Hat ?`(C?@ĿY?@+g?)~>GX1@ ~>[;I~>CYJ?yJ:FiM%nGIaiyi=M]=Fٺ1AY0Ja"Hya<}>I! -:% 5? -:%ݾ %c? 5?9%&@%: %:)%::WQWQXY XYWYXY:WY2WY*WaVabUaBUa*UaUiUm}@BB BA@*BAAAA"C*CRCCCשIG>  { {  84:Y #R1y : 5N,<=afFAY}E՗1@}E`!@y}Ew5}Eј}EH`ù?K,?D;Ŀ?Whk?)~E՗1@ ~E1[;I~ECY]?y]AFaeAA    @ @ @i )Ii~=ME=Y;QU>a"Hy<}>IW 5?!ݾ c? ?9@: k:)WWX X!W!X!:W!2W!*W)V)bU)BU*UUU[`@RB*** querying acoustic contact ***PPBB BAm*BAAA A "C*CRCCCIG- >~U, WafFAY}6B1@}6!@y}6ɶ.}6 }6HF?k?hc̿û?@Sÿ)?)~6B1@ ~6[;I~4Y^ ?y^ FbZ****** received transponder code query ******bF****** received ping request ******ba"Hy%<}%>I) U:- 5? U:-Hݾ -c? U?9-z@-+; -;)-;:WWX XWX:W2W*WVbUBU*UUU @BB BA*BA!A!A!A!"C)*CIRCICICQ܉9܉I܍xFi܍?܍=܉܉܍@?; ݉ IG= >I ) AA   /:Y y 5) ;9% T[,.pafFAY}6G2@}6+"@y}6A}6q D}6H`R ϴ~? ?@qA` Ͽ? hȿ Y ?)~6G2@ ~6AZ^;I~6CYR!?yRߑFVxDUSBL response received:!U1,P 268,000,002B8,188,80,80,CC,FF VCommand AckVBRequesting micromodem ping code 2iTX^Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 "MZ=Y%9.=QU->9AaM"HIYym0<}u>I 5?hݾ 0c? 5?9"@t; Us;)WWX XWX:W2W*WVbUBU*UUU% @BB BAe*BAAAA"C*CRCCCI9Gi>Powering upB"Initializing DDM.YU?yU1F]a=ɮ]a=}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B e#~jq= ףp{Gzte㥽e eף)aIayekt?S㥛?{Gz?e 0=e/A)ezPAIe0AiebAaeHA U U U U@ U@ ]@QQQiQQ Q)QIQiQe <Mm*=Ym;=QUm>qqau"Hqyy})}}>Iȁ :Ņ 5? :Ņlݾ ƅe? ?9ƅ@Dž@; ȅ#;)ȅ<:WWX XWX:W2W*WVbUBU*UUU1@BB BAD*B!A!A!A!A!"C*CRCCCIGG>u >9q Iq iq u =q q u O?; u E)Ii= 4 V x x  D&:Y 7P1y : 5) ;h,VafFAY}6c1@}6~!@y}6B}6"}6H` ?Md? `ˈ?`ޠ`?)~6c1@ ~6\;I~6CY^?y^FbxDUSBL response received:!U1,R,2A8,000,002BA,18A,80,80,B8,FF fFpublishing direction and range infob`ɰbd=b> `)b8CI`yb(@bcy?yٱ`Iv=)v=s=Mx=Y%n, afFAY}V41@}VeP!@y}V>}Vc}VH_,bδ?@z?@k' !?f@ ?)~V41@ ~V9[;I~TYb?ybFEDNmea in: $SNTTA,,,,,224734.12*59 ܼMB=Ynda"HQyeл}m>Iȡťn 5?ťbݾ ƥj? ?9ƥ@ǥ%< ȥ<)ȡmEqAdded new target pos. range: 4.380000 m, bearing: 110.290534 deg, deltaT: 4.408369 s, approachRate: 0.027221 m/s, LOS rate: -0.041181 deg/s, posRepo size: 4WE4d?WAXA XiWiXi:Wi2W*WVbUBU*UU@UoE?BB BA*B A AAA"CE4d?*CARCACE4d?CIyIG>>    0:Y T1y : 9 @Ku,QafFAY?y%ʔF    @ @ @i )Ii =MF=YQU>a"Hy}>I  :ٱ 5?  :]ݾ  m? ?9@:  :)=:WWX XWX:W2W*WVbUBU*UUU3?9IFi1?6?; EB1B1 B1A55*B9A9A9A9A9"CA*CARCACICIIIQGu>{,I.afFAY}6ȭ0@}6S @y}6麽}6}6H'`!??3@T?޶@?)~6ȭ0@ ~6C[;I~6CYB_?yFݓF AEA^MQ=Y =QU>a"Hy}>Iȩŭ0 5?ŭWݾ ƭ2o? ?9ƭL@ǭ: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU`g?BB BA*BA!A!A!A)"CY*CaRCiCyCIG'>  } } - 84:Y kS1y Ԋ: 6႘,7 bfFAY}FO0@}Fk @y}F䬔}Fq}FH ~J ? i@ao?@m4?)~FO0@ ~F\;I~FCYV$?yVFI +?|?5^ɿ{Gzt?9<M ף;)IyˡEQ rh?'C = ?A)-HAI5Ai"WAEA E E E E@ E@ E@AAAiAA A)AIAiAUM]==Y]1=QU]>aaae"Haaym[}m>Iq }:u 5? }:uwݾ ur? ?9u@u: u?:)u>:WWX XWX:W2W*WVbUBU*UUU]?BBa BiAm*BiAiAiAiAq"Cq*CyRCyCyCy׭?i׭?ׁIG>% >9! I% Fi% ?! ! ! % i?; % ,Ej,%bfFAY}:I,0@}:G @y}:;x}:؉Ͻ}:HO@4?xD@?ٹ?)~:I,0@ ~:[;I~:CYJ?yJF) = ==ݼM=_=YE=QUE>AIaM"HIIyU翻}U>IY] 5?]ݾ ]2v? e?9]@]s: ]÷:)YWWX XWX:W2W*WVbUBU*UUU E?BB BA*BAAAQAQ"CY*CYRCYCaCaQIYG=  { {  /:Y #R1y : 52,+?bfFAY}6a0@}6 @y}6)^}6k}6H=pT? ? ?S?)~6a0@ ~6[;I~6CYf|?yfFIM=)M4=}<M}F=Y}a"HyL<}>Iș :ŝX 5? :ŝݾ Ɲy? ?9ƝC@ǝ: ȝ:)ȝ?:WWX XWX:W2W*WVbUBU*UUU'>@B B  B A *BAAAA"C*C!RC!C!C!iIyG= =i p=-,oYbfFAY}6 1@}6}'!@y}6H>}6BG|}6HC]? W?@>ק? {@?)~6 1@ ~66V[;I~6CY^*?y^F``r =MrT=Yzaaae"HaiyuU<}}>Iȑŕ 5?ŕݾ ƕ@}? ?9ƕ@Ǖ; ȕ=;)ȑW9WAXA XAWIXI:WQ2WY*WaVabUiBUq*UyUU @ܹ9ܹIܽpFiܽM?ܹܹܹܽ?; ݽsERUB*** querying acoustic contact ***PQPQByBy ByA}#*ByAAAA"C*CRCCCI)IG%>iE}nGIaiyݿٺA  z z  !:Y Q1y : 5) ;9 D,tsbfFAY}6^-1@}6H!@y}6$}6 3}6H`;_}?? = [=Ĝ?m }?)~6^-1@ ~6 Z;I~6CY^N?y^IFbZ****** received transponder code query ******bF****** received ping request ******fqya}"Hyyyō;}>Iȉ :ō 5? :ōݾ ƍ? ?9ƍ@Ǎ: ȍ:)ȍ@:WWX XWX:W2W*WVbUIBUI*UIUIUU(X @BB BA*BAAAA"C*CRCCCIGE>o,,ObfFAY}6D0@}6 @y}6L"}6[>}6H@??@@7H? ?)~6D0@ ~6Z;I~6CYvv?yvFzxDUSBL response received:!U1,P 2A8,000,002BA,18A,80,80,B8,FF zCommand AckzBRequesting micromodem ping code 2i||C=ia=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 15AMGz?^I +ǿˡE?Mp>MX9 M=)IIIyM~jtI +:vMM9MT M`=A)MNAIM5>AiMNAIMFAe/<M6=YU:QU>a"HyL}>Iȡť 5?ťќݾ ƥ? ?9ƥM@ǥB; ȥw9;)ȡWYWYXY XWX:W2W*WVbUBU*UUU/ @BB BAP*BAAAA"C*CRCCCIG>ܹ9ܹIܽPFiܽ8?ܽ=ܹܹܽ?; ݽpEI ) Y w w  &:Y O1y P: X5) ;V,*bfFAY}6W0@}6 @y}68+}6t}6H S bW?V Ge? wQ?)~6W0@ ~6OZ;I~6CY^?ybJFbp=ɮ`rNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B        @  @  @   i   ) I i Mx=Y%ۻQU% ?!)a-"H-H)y5\8}5 ?I9= 5?=ݾ =~? E?9=@=: =:)9WiWiXi XiWiXi:Wq2Wq*WqVqbUyBUy*UyUyU@*@BB BA*BAAAA"C*CRCCCU?iU?)I1GU>@, bfFAY}60@}6D @y}6Y1}6̽}6H``f膘@Y?=,q)? [?)~60@ ~6IZ;I~6CY^?y^F)h j>    @ @ %@i )Ii-/M5[=Y5 QU5>99a="H9AyE ;}E>II U:MG 5? ]:Mݾ Mq}? ]?9MI@MF: M=:)MA:WyWyX XWX:W2W*WVbUBU*UUU@@B9BA BAAEH*BAAAAIAIAI"Cq*CqRCqCqCyiIyG= z z  C:Y Q1y : 69 @j,bfFAY}f1@}f./!@y}f0+}f }fH lCa`!!a%"H!)y-l<}->I15ƾ 5?5ݾ EtI 5<|? E?95@5 : 5::)1WaWaXa XiWiXi:Wi2Wi*WqVqbUqBUq*UyUyU}`D@BB BA2*BAAAA"C*CRCCCa9aIeFie?aaae-@; eE)Ii遉適클5ױIG= i =,,bfFAY}Fv1@}F!@y}F1}Fqcӽ}FH@ @?@a軿@n:? Z?)~Fv1@ ~F3[;I~FCYE5?yEFyyE<MM9=YUtQU>a"HyW<}>I :w 5? :ݾ z? ?9@p: :)B:WWX XWX:W 2W *W V bUBU*UUU@BABA BAAE*BAAIAIAIAI"CQ*CQRCYCYCaI׉)׉qIGU1>  { {  /:Y #R1y : 6~zØ,cfFAY}6lu1@}6!@y}6AU}6}6H T|\?`1~?@-@X!? ?)~6lu1@ ~6Z;I~4Y^?ybFy&1?M¿y&1`<n `e)Iyy&1Mbpa"Hy¸}%>I!% 5?%6ݾ %{? 5?9%@%: %o:)!WQWQXY XYWYXY:WY2WY*WaVabUaBUa*UaUiUm @R}B*** querying acoustic contact ***PyPyBB BAy*BAAAA"C)*C1RC1C1C1)I1GU>Y9YI]Fi]}?YYY]g@; ]E2ɘ,x(cfFAY}:[X1@}:s!@y}:*}:š}:HQ|? 5?!@?J?)~:[X1@ ~:Z;I~8Y^?y^Fba=ib= hjArMMr_=YvQUv>ttav"Hxxy~}~>I  :U 5?  :Tݾ k|? ?9@: R:)C:W1W1X9 X9W9X9:W92W9*WAVAbUABUA*UAUIUM`@BqBy ByA}H*ByAyAyAA"C*CRCCCIG= $ | |   G":Y R1y i: 5И,MBcfFAY}6p1@}6!@y}6}6X}6H@a@eח?ݧ? y?`11a5"H19y=FK}E>IAE 5?Evݾ EI}? U?9E @Eg: Eض:)AWqWqXq XyWyXy:Wy2Wy*WVbUBU*UUU`ȼ@BB BA*BAAAA"C*CRCCCIG =֘,|(\cfFAY}60@}6 @y}6H}6Y}6HY!?n?{`IJ?@* |?)~60@ ~6[h[;I~6CY^?ybܔF<MK=YQU%>!!a%"H!)y-{}->I15I 5?5ݾ 5 ~? E?95>@5: 5:)1WaWaXa XiWiXi:Wi2Wi*WqVqbUqBUq*UqUyU}kX@BB BA.*BAAAA"C*CRCCC>9IFi?=;@; EIG= * t t  K:Y M1y : 5) ;9 ܘ,vcfFA|0i|0Y}%z0@}% @y}%Y.}%ry}%H ǻ`^@Y:?`u?#g? N? ?)~%z0@ ~%w[;I~%CY?ynF-xDUSBL response received:!U1,N,80,80,63,E4 A,18A,80,80,B8,FF UZNo reply:!U1,N,80,80,63,E4 A,18A,80,80,B8,FF -U?5 什)Iy{Gz?Mb`?y&1ף<;` QQaU"HQYy]K9}]>Ia m:eu 5? u:e3ݾ e{z? u?9e@eQ: e{:)eD:WWX XWX:W2W*WVbUBU*UUU ܂@BB BA*BAAAA"C*CRCCCIGEr>㘙,ߏcfFAY}>`0@}> @y}>T̽}>Ć}>H@#J?`?@ŝ`)?`뿰?)~>`0@ ~>\;I~>CY^?ybFr<Mr=YrayQUv,?ttav"Htxyz ;}z,?I 5?ݾ x?  ?9@: :)W)W)X) X1W1X1:W12W1*W9V9bU9BU9*UAUAUE{@BiBq BqAu*BqAqAqAyAy"C*CRCCCqIG=9IFi?l@; E >   u Z$:Y T1y : 5) 9;i nGI i % 4ۿٺ! % A'阙,cfFAY}6 0@}6!@y}6}齙}6wp½}6H/ ?`ٞ?bV¿*?D?)~6 0@ ~6[;I~6CYN?yRFW;MF=Y%%QU%>!)a-"H-H)y5C<}5>I9 E:=k 5? E:=ݾ =v? E?9=@=: =:)=E:WiWiXi XiWiXi:Wq2Wq*WqVqbUyBUy*UyUyU  @BB BA*BAAAA"C*CRCCCױIG=,FcfFAY}64C1@}6^!@y}6 )齙}66}6HAB? @z? eſ?P1?)~64C1@ ~6#[;I~4Y^?ybFf4=if= hh m m m m@ m@ u@iiiiii i)iIiiiMD=YAK:QU>a"HyZ<}>Iȡť˿ 5?ťUݾ ƥUs? ?9ƥn@ǥb: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUUs @RB*** querying acoustic contact ***PPBB BA*BAAAA!"C)*C)RC)C)C11IAG]=I AA)  | |  +:Y R1y i: j59 @,pcfFAY}611@}6 M!@y}6i余}6h}6H@ x? ?@ě;Ŀ@?XMٖ?)~611@ ~6,[;I~4Y^?y^FbZ****** received transponder code query ******bF****** received ping request ******f19a="H9AyE3}E>IQ ]:U2 5? ]:Uݾ Up? e?9U@U; U;)UF:ܡ9ܡIܥ8Fiܥ?ܥ=ܡܡܥ@; ݥEWW X  X W X :W 2W*WVbU1BU9*U9U9U=+!@BB BA*BAAAA"C*CRCCCIG>2,[cfFAY}m"1@}mJ>!@y}m\5}mý}mH@#N;???@k7¿=?D ?)~m"1@ ~md[;I~mCY?yFxDUSBL response received:!U1,P 80,80,63,E4 A,18A,80,80,B8,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -X9v?a"Hyɺ}>I 5?ݾ jn? =?9u@< <)WWX  X W X :W2W*WVbUBU*U!U!U%"@BB BA'*BAAAA"C*CRCC C I G >  ~ ~   1:Y T1y @: M6,g&dfFAY}:I1@}:Qe!@y}: }:}:H8ؤ?k? ݔƿ %??)~:I1@ ~:|[;I~:CYJ?yJFZNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)I-=))=jME=YEbQUE;?IIaM"HIIyU-<}UF?IY e:]r 5? e:]Vݾ ]m? m?9]@]: ]=:)]G:WWX XWX:W2W*WVbUBU*UUUV#@BB BA *BAAqAqAq"Cy*CyRCyCyCiIyG=ܡ9ܡIܥFiܥa?ܡܡܡܥ@; ݥE)1I1i15=5=5`4 i =AA ,+dfFAY}6S1@}6ޮ!@y}6 }6ʽ}6Hf@Ȼ?K?<x`Ŀ?%?)~6S1@ ~6N`[;I~6CY^?ybzF``fxDUSBL response received:!U1,R,2C6,000,002BB,189,80,80,BF,FF fFpublishing direction and range infofdɰf e=f7> d)f?CIdyf@fu; ?d`ٱd}M}F=Y+QU>a"Hy2<}>IȹŽ 5?Žݾ ƽk? ?9ƽ>@ǽ: Ƚ:)ȹWWX  X W X :W 2W *WVbU1BU1*U9U9U=/$@RM(Combining 5 samples.PI*QM@ZQM @   { {   3:Y #R1y : !5%+,DdfFAY}jV1@}j!@y}j}jm}jH@Ų?:?eM ?*`8?)~jV1@ ~j8[;I~jCY-?y-:FTNmea in: $SNTTA,0.129288,,,,224744.26*4F  % % % -@ -@ -@!!!i!! !)!I!i!EGME>=YMcQQaU"HQYye;}e>I  :  5? : Şݾ @j? ?9 @ A: :) H:meuAdded new target pos. range: 4.440000 m, bearing: 108.855382 deg, deltaT: 10.095347 s, approachRate: 0.005943 m/s, LOS rate: -0.142160 deg/s, posRepo size: 4XWm/?WX XWX:W2W*WVbUBU*UU`@Un?B B  B A @*BAAAA"Cm/?RCCm/?C)=?i=?I)GE0>R,^dfFAY}61@}6d!@y}6,}6$}6H8@µ?=8?#i?P?)~61@ ~6[;I~4Y^?ybF!i%< 11܁9܁I܁i܁܅=܁܁܅@; ݅E<MP=Yl;QU>a"Hy:}>Iź 5?fݾ i? ?9G@: Q:)W1W1X9 X9W9X9:W92W9*WAVAbUABUA*UIUIUM?BqBy ByA}*ByAyAyAA"C*CRCCCiIyG=I @A) @A  | |   ,:Y R1y i: E5) ;9 E,xdfFAY}1@}g!@y}q }V/}Ht֢?Q:?`ԻE?`W+?)~1@ ~'#[;I~CYE ?yE FUףp= ?Ut UD;)QIQyU~jthI +UUDU94 U ?A)UNAIU6AiU\AQU(HA)m= i        @ @ @   i   ) I i %-;M% =Y%(QU%>))a-"H)1y5ѫ}=>I9=ͺ 5?=Lݾ =g? M?9=V@=: =:)9WiWiXq XqWqXq:Wq2Wq*WyVybUyBUy*UUU ?BB BA*BAAAA"C*CRCCCI)IGh>d$,"ndfFAY}6*1@}6!@y}6Ȉ}6,}6H|`@޸?b6?6X?@z/?)~6*1@ ~6 [;I~6CYf?yj F}7=M}=YQU?a"Hy'ں}?Iș :ŝѺ 5? :ŝ=ݾ Ɲf? ?9Ɲ_@ǝ$: ȝs:)ȝI:WWX XWX:W2W*WVbUBU*UUU@P?B B  B A*BAAAA"C*C!RC!C!C!׉IG=܁9܁I܁i܁܁܁܁܅CA; ݅(E  } }   1:Y kS1y Ԋ: 5) ގ;*,RIdfFA|i|@Y}6@R1@}6m!@y}6- }6QK}6H@`Ⲿ?X?`ȹ`?@@?)~6@R1@ ~6([;I~6CYFc?yFBFI9)9IA)AIM4=)MR=}ɼM}J=YټQU>a"HHy}>Ișŝպ 5?ŝ(ݾ Ɲe? ?9Ɲk@ǝ: ȝ':)șWWX XWX:W2W*WVbUBU*UUUE @BB  B A Ճ*B A AAA"C*CRCCC!IG==v1,l$dfFAY}6l0@}6 @y}6 #}6-0O}6H@x;]?@Ԅ?`;*`"]?ʎQ?)~6l0@ ~6dO[;I~6CY^?ybUF    @ @ @i )Ii X ;M B=Y QU>a"Hy%}%>I) 5:-ۺ 5? 5:-ݾ -d? 5?9-y@-: -f:)-J:WYWYXY XYWYXY:Wa2Wa*WaVabUaBUi*UiUiUm`l@BB BA̓*BAAAA"C*CRCCCשIG=  { { z  ).:Y #R1y : 59 @7,dfFAY}>0@}> @y}>c }>ϲ}>H@k+:ر?? rP|ſ}?Y᷿w?)~>0@ ~>b<[;I~``ab"H``yfK}f>Ihj 5?jݾ jc? n?9j@jb: jY:)hWWX XWX:W 2W *W V bUBU*UUUM@!9!I%XFi%?%=!!%A; %EREB*** querying acoustic contact ***PAPABaBa BiAmx*BiAiAiAiAq"Cq*CyRCyCyCqIG= >iEnGIQiqgܿٺAs=,dfFAY}N0@}N @y}N}N-}NH@;@?-?+Qǿ ?`J f?)~N0@ ~N= [;I~NCYZ?y^gF^Z****** received transponder code query ******bF****** received ping request ******ba"Hyܺ}>I  :  5? : ݾ f? %?9 @ 1h; ~;) K:WyWX XWX:W2W*WVbUBU*UU!U-/Y @BB BAƃ*B!A)A)A)A)"C1*C1RCYCYCYQIYG}Y> 9 s s  #:Y M1y : 35D, efFAY}6MP0@}6k @y}6 #}69ͽ}6H oK U??` U [GƿtK?Co?)~6MP0@ ~6][;I~6CY^?yb(Fbp=ɮ`fxDUSBL response received:!U1,P 2C6,000,002BB,189,80,80,BF,FF fCommand AckfBRequesting micromodem ping code 2iddnNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= >    @ @ @i )Ii~M 9=Y >QU >a"HyC}>I!%$ 5?%ݾ %Mi? U?9%<@%d: %D:)!WWX XWX:W2W*WVbUBU*UUU-j @BB BAG*BAAA!A!"C)*C1RC1C9Ci)9)I-Fi-1?-=))-tB; -EYIyG~>)J,-efFAY}6͓0@}6X @y}6(,}6˛}6H@y`P&@? ? {sĿk?`Z.`$u?)~6͓0@ ~6^[;I~6CY^L?yboFrNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =Mt=YܼQU?a"Hy(L<}?I 5?Zݾ hk? ?9|@: :)WWX XWX:W2W!*W!V!bU!BU!*U)U)U-e$@BQBY BYA]Z*BYAYAaAaAa"Ci*CiRCiCiCqQIYG}= w w w   (:Y O1y P: |5Q, lGefFAY}J0@}J!@y}J5}JQq}JHXQ H߷?k?bsſ z?iP\b?)~J0@ ~J}[;I~HYf?yjFnxDUSBL response received:!U1,R,281,000,002BB,189,80,80,CD,FF rFpublishing direction and range infonf3lɰll l)nMCIlyln9*Ek?(ٱlI|)|:8MV=Y%kɼQU%>11a="HAIy]<}e>Iy :}η 5? :}(ݾ }m? ?9}@}; };)}L:WWX XWX:W2W*WVbUBU*UUUR@R(Combining 5 samples.P*QZQƐ1@#XJQ9*Ek?(2Qf3:QbQ\h~6R3@ߒE)?RQJ׿^鍦0?nwG?BQL? Q@Q+ͿPPPQQ.@"Q&@BYBa BaAe*BaAaAaAaAi"Cq*CqRCqCqCyiIqG> =i R=0W,OaefFAY}R1@}R5!@y}R7}Rֽ}RH7a 3?]?Z ȿ +?F tQ?)~R1@ ~R[;I~RCl9lInxFin?lllnB; nE)QIQiQU=U=U̼4Yu?yuđFDNmea in: $SNTTA,,,,,224748.67*50  = = = =@ =@ =@999i99 9)9I9i9MMM8=YU:QUU>QYa]"HYYye;}e>Iim 5?mݾ mp? u?9m@mo: m:)im%mAdded new target pos. range: 4.440000 m, bearing: 111.592034 deg, deltaT: 4.455695 s, approachRate: 0.000000 m/s, LOS rate: 0.614192 deg/s, posRepo size: 4X!W%L?W!X! X)W1X1:W12W1*W1V9bU9BU9*U9U9UE@?BB BAp*BAAAA"CW?RCCL?CIG$>5 5 x5 x5  5 i*:Y5 7P1y5 :5 F6)5 u;9U ^,#{efFAY}6/H1@}6c!@y}6.}6Y}6Hª} ?`Q?@ш!ȿ?3V?)~6/H1@ ~6X [;I~6CB`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ) IY C?y VF=Dl?/$?~jt?=O >=1> =D<)9I9y=A`"Mb?S㥛?=Y===/< =`=A)=RAI=C/Ai=bA9=HA]\0M]"=Yeaiam"Hiiyu+;}u>Iy :} 5? :}ݾ }{r? ?9}A}; }:)}M:WWX XWX:W2W*WVbUBU*UUU@`?BB BA*BAAAA"CL?RCCC qIG> e,mefFAY}>g1@}>!@y}>X'}>[A}>Ht@(? K?n Ŀ _?wv?)~>g1@ ~> [;I~>CɫYY)Y YIYY0?yFUQ<M]=Y]P9IiB; EI ) ?A k } }   ':Y kS1y Ԋ: X5) S;+k,ڮefFAɫyy)y yIyY?y1F)%> %=    @ @ @ÙÙÙiÙÙ ę)ęIęię<ME=YQU>a"HHy}>I : 5? :"ݾ Ku? ?9AM: :)N:WWX XWX:W2W*WV bU BU *U UU!?B9B9 B9AED*BAAAAAAAAA"CI*CQRCQCQCQIIQGu>>r,cefFAY}Jd1@}J!@y}J2}Jƪ}JH, vK??@ 潿k=?S`?)~Jd1@ ~J][;I~Hɫ髙) IY?yFuMuN=Y}QU}>yya}"Hy<}>I 5?~ݾ w? ?9FA: :)WWX XWX:W2W*WVbUBU!*U!U!U% I@BQBQ BQAUx*BQAYAYAYAY"Ca*CaRCaCaCiסIG > =  x x   M:Y 7P1y : }59 @9Ax,efFA090I2Fi2v?00024C; 2.EY}r1@}r8!@y}rvd;}r\T6}rHg\@?/?)¿$K?9g`;o?)~r1@ ~r0a;I~rCɫ) IY C?yVF    @ @ @i )Ii~1MD=Y9QU>a"HyE:}M>IQ ]:U 5? ]:Uݾ Ux? ]?9UAU: U0:)UO:WWX XWX:W2W*WVbUBU*UUU@BQBQ BQAU*BQAYAYAYAY"Ca*CaRCaCiCi}?i}?YIaG8> =i =g~,kefFAY}N1@}N}!@y}NL6}Nн}NHF@T*??@ǿ@?>T?)~N1@ ~N[_;I~NCɫy髁) IYL?y F@AS㥛?MbXʡE?ݤ>ʽ -=)IyMb?Mb?~jt?<<= 3CA)IAI1AiaAHA_A M M M M@ M@ M@IIIiII I)IIIiI]M]B=Ye.aaam"Hiiyu@:}u>Iy}O 5?}ݾ }|? ?9}A}@: }:)yW)W)X) X)W)X):W12W1*W1V1bU9BU9*U9U9U= @RmB*** querying acoustic contact ***PiPiBB BA*BAAAA"C*CRCCCIGL>  | |   F:Y R1y i: 45O,0GffFAY}:e1@}:"@y}: ,}:ͩݽ}:H l` ?@?vǿg?Cb]?)~:e1@ ~:_];I~:CɫYY)Y YIYY?yƎFZ****** received transponder code query ******F****** received ping request ******  a"Hy* ;}>I!% 5?%Iݾ %? 5?9%A%j; %#;)!WaWaXa XaWaXa:Wa2Wi*WiVibUiBUi*UQUQU]` @BB BA*BAAAA"C*CRCCCסIG >i9iIm Fim?m=iimC; mrEimGIi)UgٺQUEAjy,h 0ffFAY}:1@}:!@y}:-'}:}:H@??sj¿`? @р?)~:1@ ~: ];I~:CɫYY)Y YIYY?yaFxDUSBL response received:!U1,P 281,000,002BB,189,80,80,CD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 <MJ=Y%m?99aE"HAYym}m>Iȉ :ōʺ 5? :ōwݾ ƍ? ?9ƍAǍ(= ȍ<(=)ȍP:W!WX XWX:W2W*WVbUBU*UUU  @B1B9 B9A=h*B9A9A9AAAa"Ci*CiRCiCiCqIס)סבIG%n>    G  *:Y y  5a,&IffFAY}F1@}F`!@y}F\+}FpD}FH/ 3ػ??R=` R? 'N?)~F1@ ~F`\;I~FCɫYY)Y YIYY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )E= E=    @ @ @ùùùiùù Ĺ)ĹIĹiĹ-<M?=YQU>a"HyK}>I 5?ݾ %? ?9A: :)WWX XWX:W2W*W!V!bU!BU!*U)U)U-9@BB BA-*BAAAA"C*CRCCCI G-,>a 9a Ia ia e =a a e HD; e E,dffFAY}:1@}:!@y}:0}:WC}:HŐU?@$?`d?@Y?)~:1@ ~:__;I~8ɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,R,27C,000,002BB,189,80,80,BC,FF Fpublishing direction and range inforɰ鰁 )a"Hy}>I :X 5? :ťݾ ? ?9A: :)Q:WWX XWX:W2W*W V bU BU *U UU@R%(Combining 5 samples.P!*Q!ZQ%BJ-0@_,JQ%q!R2?r2Q%r:Q!bQ%"&k3.@1d?RQ%QuEؿ}.'?=zo?BQ%Í? Q%p@Q%׿P%Q9?P!P!Q!Q%!@"Q%.@BIBQ BQAU*BQAQAYAYAY"Ca*CaRCaCaCiiIqG> J  } }   #N:Y kS1y Ԋ: 6) S;9= ,}ffFAY}-;J1@}-e!@y}-C2}-ټ }-H@!?M?\sx2@?2 ~?)~-;J1@ ~-Y`;I~)ɫ)))) )I1Ym!?ymF=TNmea in: $SNTTA,0.037988,,,,224753.14*4D MbX9?|?5^Q?ʡ=ҽ \=)IyMbPMb~jt?< @A)NAI0AiQHA 5 5 5 5@ 5@ 5@111i11 1)1I1i1E;ռME(=YMKQUM>IQaU"HQQy]Y}]>I 5?ݾ 2? ?9A; /;)mmAdded new target pos. range: 4.440000 m, bearing: 112.601317 deg, deltaT: 4.430846 s, approachRate: 0.000000 m/s, LOS rate: 0.227786 deg/s, posRepo size: 4XWÍ?WX XWX:W2W*WVbUBU*UUUV?B1B1 B1A=%*B9A9A9A9A9"CUÍ?RCYC]Í?CYm?im?IIYGuz>,lffFAɫ髡) IY ?yHFIM]A?Mk=YQU?a"Hy}?Iȩ :ŭ 5? :ŭݾ ƭ? ?9ƭ+Aǭ: ȭ|:)ȭR:WWX XWX :W 2W *WVbUBU*UUU`_?BB BA*BAAAA"C*CRCCCI G%,>9IȖFi?=iD; E)ݑIݑiݑݑݑݕ;4} } ~} ~}  } y0:Y} T1y} @:} 5)} ;ǫ,'hffFAY}:1@}:50!@y}:m6}:}:H`@S? V`?"ſή?z=f?)~:1@ ~:_\;I~:Cɫ99)9 9I9Y}?y}F=sO<M=P=YEQUE>AAaM"HMHIyUi}U>IY]# 5?]ݾ ]? e?9]7A]: ]^:)YWWX XWX:W2W*WVbUBU*UUU:?BB BA*BAAAA"C*CRCCC IG>r,[CffFAY}6%[1@}6v!@y}6˜8}6}6H9`"y?UB?K/Ŀ'?ԭi?)~6%[1@ ~6>[;I~6CɫYY)Y YIYY?yQF M M M M@ M@ M@IIIiII I)IIIiI/MB=YQU>a"Hy '<}>I :h 5? :{ݾ ? ?9EA: :)S:WWX XWX:W2W*W!V!bU!BU!*U!U)U-@T?BQBY BYA]*BYAYAYAYAa"Ca*CiRCiCiCqIׁ)ׅ^AiIqG>  | |  =.:Y R1y i: j59 @ 9 I Fi ?    D;   EZٸ,ffFAY}6B1@}63!@y}6w(:}6}6H@B@?[?0}DĿL$?@)vg?)~6B1@ ~6;[;I~6Cɫ99)A AIAY?y F) =  >5M=T=Y=QU=>AAaE"HAIyM-}M>IQU 5?Ukݾ U? e?9URAUL: U:)QWWX XWX:W2W*W1V1bU1BU1*U1U9U= i@BB BAĆ*BAAAA"C*CRCCCסIG >,ffFAY}61@}6O/!@y}6O@}6Xo}6H@d? MX? Ŀ?,o`+b?)~61@ ~6`;I~6Cɫ99)9 9I9Y]?y]F}ʡE?1Zd˿~jt?}=}"[ }=)yIyy}~jt?I +?{Gzt?}<}9<}ף; y)}$RAI}h3Ai}fAy}\KA    @ @ @i )IiM?=Y:fQU>a"Hy"(}>I   5? ݾ Y? ?9 A < <) WWX XWX:W2W*WVbUBU*U!U)U-i@ByBy ByAJ*BAAAA"C*CRCCCIGI>  } }  3:Y kS1y Ԋ: 52ř,bgfFAY}>I0@}> @y}>6H}>ۼ}>H\k?6/?@i?)i@?A@_?)~>I0@ ~>hz_;I~>CɫYY)Y YIYY}?y}F%;M%X=Y- QU5>AIaU"HQYy] }]>Ia m:e 5? m:eݾ eʋ? u?9eAe: e:)eT:WWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA7*BAAAA"C*CRCCC?i?IG>ܩ9ܩIܭ8Fiܭ?ܩܩܩܭE; ݭ# E̙,2gfFAY}60@}6* @y}6yvR}6#$}6HWP?`k?ʵ~ÿ@~? $M?)~60@ ~6];I~6Cɫ99)9 9I9Y]?y]FeZ****** received transponder code query ******eF****** received ping request ******m a"H!1y ΁} >Ia 5?ݾ G? %?9A@: :)WAWAXA XAWIXI:WI2WI*WQVQbUQBUQ*UQUYU]Z$ @BB BAJ*BAAAA"C*CRCCC׉IG> ( { {  ":Y #R1y : 5ҙ,LgfFAY}60@}67 !@y}61Y}63}6H`\;@?O?1@ƿ6?`s@4?)~60@ ~6/\;I~6Cɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,P 27C,000,002BB,189,80,80,BC,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @éééiéé ĩ)ĩIĩiĩiIM.=YreQU> a"Hy%;}m>Iy :}/ 5? :}ݥݾ }Ì? ?9}.A}3< }0<)}U:WWX XWX:W2W*WV!bU!BU!*U)U)U- @BqBy ByA}*ByAyAAA"C*CRCCCסIGg>ܡ 9ܡ Iܡ iܡ ܥ =ܡ ܡ ܥ E; ݥ / EC'ٙ,ZdfgfFA:>8ihIpi|-ٺ)-AY}U1@}U"!@y}U[}U6}UH l`k?D?@H4ǿ =?(Ѳ-?)~U1@ ~U[;I~UCɫQQ)Q YIYY>?yTF鮙ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5V<M=W=Y=@̻QU=>AAaE"HAAyM~;}M>IQU6 5?Uݾ U'? ]?9U^AU@: Uӻ:)QWW!X! X!W!X!:W!2WI*WIVIbUIBUI*UQUQUU5n@BB BAއ*BAAAA"C*CRCCCI)]AIGE>   |,:Y y 5) @;9 A,?gfFAY}60@}6!@y}6m,a}6lq}6HNx x+?@K?pƿ?`1o,?)~60@ ~6 `;I~6Cɫ99)9 9I9Y}?y} FxDUSBL response received:!U1,R,282,000,002B9,189,80,80,BA,FF Fpublishing direction and range infolɰdd=鰁 ):CIy=@Kk?xf7ٱ]v/~jtxQ?]x]Ļ ]u<)YIYy]J +? q}M}F=YWQU>a"Hy}>Iș :ŝ 5? :ŝͦݾ Ɲ? ?9ƝAǝw: ȝ:)ȝV:WQWQXY XYWYXY:WY2Wa*WiVibUiBUi*UqUqUu|@R(Combining 5 samples.P*Q=@ZQpF @Cq-Hy]JQKk?xf72Ql:QbQ! ǻqGZu@nn?RQԛ2ֿ0c ?V?BQ~? Q{@QÿPR9?PQ9?PQQ*@"Q!@B B  BA*BAAAA"C9*CARCACACAQIaG}{><晙,g&gfFAɫ) IY?yFuDNmea in: $SNTTA,,,,,224757.58*52 - - - -@ -@ -@)))i)) )))I)i)=<M=N=YEQUE>IIaM"HIQyU}U>IY] 5?]ݾ ] ? e?9]A][: ]:)YmuAdded new target pos. range: 4.319999 m, bearing: 111.232008 deg, deltaT: 4.530929 s, approachRate: -0.026485 m/s, LOS rate: -0.302214 deg/s, posRepo size: 4XW~?WX XWX:W2W*WVbUBU*UUG@U@V?BB BA*BAAAA"C?RCC~?CIG$>I9IIMȖFiM?IIIMLE; MJ E  } }   /:Y kS1y Ԋ: }6) ;c왙,gfFAY}6E0@}6 @y}6}}6'}6H J? C? U`sƿ l? S@?)~6E0@ ~68^;I~4ɫ99)9 9I9Y}?yeF_<M_=YuQU>!!a%"H%H)y-"}->I9 E:= 5? E:=Zݾ =#? E?9=FA=: =:)=W:WiWiXi XiWiXi:Wq2Wq*WqVqbUyBUy*UyUyUR?BB BAo*BAAAA"C~?RCCC?i?IG>K,RgfFAY}>I0@}>Կ @y}>w}>ӂ}>H=;?8?ɿc?]?)~>I0@ ~>.];I~>CɫYa)a aIaY?yFIIXeMC=YԼQU>a"Hy=}>Iȱŵ 5?ŵ0ݾ Ƶ ? ?9ƵAǵܹ: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUU}^?B!B! B!A%/*B!A)A)A)A)"C1*C1RC1C9C9IIQGu>I 9I II iI M =I I M )E; M 8 E)يIيiييي݊ZY5 . | |  #:Y R1y i: 6) ;u,֭gfFAY}6T0@}6Cp @y}6潅}6 }6H }?T?!п;? 6?)~6T0@ ~6 G\;I~6CɫYY)Y YIYY?y:F M M M M@ M@ M@IIIiII I)IIIiI(MI=Y$QU>a"HyC}>Iʰ 5?ݾ χ? ?9A; ;)WWX XWX:W2W*WVbU BU *U UU`F?B9B9 B9AE*BAAAAAAAAA"CI*CQRCQCQCQIIQGq],hfFAY}6I0@}6ge @y}6 }6*#}6H!ཊ?OX?ѿe?ÿ?)~6I0@ ~6\;I~6Cɫ髉) IY?yDF~jtx?S㥛{Gz?;/ݼ ף<)IyMbp?Mb`?S㥛?;;/< ^BA)MVAIivAOA)> =v:M *=Y QU >a"Hy}>I! -:% 5? -:%#ݾ %q? 5?9%A%V: %:)%X:WQWQXQ XQWQXY:WY2WY*WYVabUaBUa*UaUiUmjJ@BB BA*BAAAA"C*CRCCCI)yIG^>     :Y T1y : 59 @,chfFAY}6Ҁ0@}6] @y}6戈}6>}6Hu#?ݾ u? }?9uAu: u:)qWWX XWX:W2W*WVbUBU*UUU@BB BAT*BAAAA"C*CRCCCiIG > >9 I  Fi ?    E; 2 E ,)?5hfFAY}6S0@}6!@y}6}6 t}6H?R?*ʿ;e?j?)~6S0@ ~6N_;I~6Cɫ髙) IYZ?yF m m m m@ m@ m@iiiiii i)iIiii}M}H=YOQU>a"Hy<}>Iș :ŝ 5? :ŝ[ݾ Ɲ? ?9ƝAǝ: ȝs:)ȝY:WWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA*BAAAA"C!*C!RC!C)C))I1G}>  | |  -:Y R1y i: 5̙,LOhfFAY}6+1@}6!!@y}6]}6~}6H@;>?l?@q`_ſ?`ǁ??)~6+1@ ~6];^;I~6CɫYY)Y YIYY?yyFZ****** received transponder code query ******F****** received ping request ******qIaM"HQQy]{:}]>Iaeΰ 5?etݾ ej? ?9e Ae; e;)aWWX XWX:W2W*WVbUBU*UUU @BIBI BIAM7*BIAQAQAQAQ"CY*CYRCYCYCaו?iו?aIiG9> 9 I Fi 1? = D;  E ,hhfFAY}R?w0@}Rʒ @y}R}Rfk}RHL)?.?vʿ?R?)~R?w0@ ~R\;I~RCɫ髉) IY?ẏFxDUSBL response received:!U1,P 282,000,002B9,189,80,80,BA,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %౼M-O=Y=1QUE>QYae"Hay[}>I :԰ 5? :ݾ ? ?9Am=  =)Z:WWX! X!W!X!:W)2W)*W)V)bU)BU1*U1U1U5c* @BB BA}*BAAAA"C*CRCCCI GUu> u z z y (:Y Q1y : 5) ;9 ,тhfFAY}RWf0@}R @y}R@}Rj}RH@uugn?}8?8Ϳ`ō? 뵿?)~RWf0@ ~R_;I~RCɫyy)y yIyY?yhF鮹ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I +&1?L7A`堿9P= +)Iy~jthI +{GzD9ף JA)IAI,AiIzANA    @ @ @ i? ?)?I?i?,/M0=YJ;QU >  a"Hy9}>I!%L 5?% ݾ %? -?9%?A%: %:)!WIWQXQ XQWQXQ:WQ2WY*WYVYbUYBUY*UaUaUe[@BB BA*BAAAA"C*CRCCCׁIGE>&,hfFAY}J0@}J# @y}Jt}J +}JH?@qC?:0?CͿ[V?  ,?)~J0@ ~J$`;I~HɫYY)Y YIYY?yFxDUSBL response received:!U1,R,25B,000,002B9,188,80,80,C5,FF Fpublishing direction and range info$ɰ鰥> )ECIy틻?$ٱ_<Mw=Y-9ܑIܑiܑܕ=ܕBDܑܕD; ݕEG>iqIiٺ A= 9 9 = a = ii:Y9 y9 = !6)= ;--,ZhfFAY}v+0@}v @y}v'}v}vH,@O?a?`^vSͿQ.?]@ȳ?)~v+0@ ~v];I~vCɫIQ)Q YIYY?yUF DNmea in: $SNTTA,,,,,224802.04*54 u<M}3=Y;QU>a"HHy0<}>I :" 5? :!ݾ ֋?  ?9A; ;)[:m=mAdded new target pos. range: 4.319999 m, bearing: 112.430883 deg, deltaT: 4.356995 s, approachRate: 0.000000 m/s, LOS rate: 0.275161 deg/s, posRepo size: 4XWJ,?WX XWX:W2W*WVbUBU*UUUC?BYBY BYAeF*BaAaAaAaAa"CmJ,?RCiCuJ,?CqqIyG]>~3,^dhfFAY}60@}6H @y}6N}6+}6HE ?O3??]`̿? At?)~60@ ~6\;I~4ɫ99)9 9I9Y%?yF u u u u@ u@ u@ u@qqqiuq u)uIuiu1<MZ=Yѥa"Hy}>Iȡť 5?ťݾ ƥ? ?9ƥAǥ: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU ?BB BA$*BAAAA"C*CRCCCIG$>ܑ 9ܑ Iܕ xFiܕ ?ܕ =ܕ ADܑ ܕ ;E; ݕ @ E:,.=hfFAY}>N0@}>ٞ @y}>z }>˔}>H@@.R@?H?iJ}ʿV6? ?)~>N0@ ~>];I~>CɫYY)Y YIYYo?yԈFu5;MuK=Y}bya"HyE}>Iȑ :ŕ 5? :ŕDݾ ƕ ? ?9ƕAǕ: ȕ:)ȕ\:WWX XWX:W2W*WVbUBU*UUU?BB BA*B A A A A "C*CRCCC-?i-?)I1GM> =i   | | ]  ^+:Y R1y i: 5) I;@@,ifFAY}6/@}6 @y}6A}6+,}6H)?~?B`9ʿѺ??)~6/@ ~6w\;I~6Cɫ99)9 9I9Y}?y}F?%C?Zd> t)IyMb?Mbp rh<C ?A)G[AI-AixA(PA E E E E@ E@ E@AAAiAA A)AIAiAUb=M]==Y]'Taaae"Haiym}m>Iqu 5?uݾ uC? ?9uAuܹ: u:)qWWX XWX:W2W*WVbUBU*UUU?BB BAM*BAAAA"C*CRCCCסIGA>U$G,ifFAY}6/@}6E@y}6}}6殽}6H@O Qj?٘?@@˿jh?+?)~6/@ ~6)`;I~6Cɫ99)9 9I9Y}?y}Fh<Ma=Y5;QU>!!a%"H!)y-i}->I1 =:5 5? =:5§ݾ 5? E?95A5: 5:)5]:WaWaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UqUyU}7@BABA BAAE*BAAIAIAIAi"Cq*CqRCqCqCy=>99I9i9==99= E; =& E)Ii==5iIqG>  ~ ~   3G:Y T1y @: 5) T;?NM,7ifFAY}6/@}6 @y}6 z}6˽}6H ѡd??^̿? ?)~6/@ ~65^;I~6Cɫ99)9 9I9Y?yF)E > E>}L=MD=Ya"Hy4;}>IJ 5?{ݾ և?  ?9A< 8<)WWX XWX:W2W*WVbUBU*UUU `@BQBQ BQAU*BYAYAYAYAY"Ca*CRCCCIי)יׁIG=>5T,QifFAY}BX0@}B. @y}B5p}Bֽ}BH ? ? )c̿@q? ?)~BX0@ ~B\;I~BCɫYY)Y YIYYs?yFAA M M M M@ M@ M@IIIiII I)IIIiIeƓMeL=Ymiiau"Hqqy}R;}}>Iȁ :Ņ 5? :Ņ:ݾ ƅ ? ?9ƅ,ADžE: ȅp:)ȅ^:WWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA*BAAAA"C *C RC C CIG> | } }   L):Y kS1y Ԋ: 69 @) - \A1 91 I1 i1 1 1 1 5 E; 1 `Z,bkifFAY}6*0@}6AF @y}61`}6ؽ}6H'@xr??<#@VV˿ ? ] ?)~6*0@ ~6[;I~6Cɫ99)9 9I9Y}e?y}FZ****** received transponder code query ******F****** received ping request ******a"HyRp;}>I   5? ݾ i? ?9 AA &: :) WW!X! X!W!X!:W!2W)*W)V)bU)BU1*U1U1U5@7 @BB BA*BAAAA"C*CRCCCשIG#>@Ha,`ifFAY}B8/@}B@y}B~Q}B1^}BHv?m?W`#ſ`?`.`]I?)~B8/@ ~BC[;I~BCɫyy)y yIY?yFxDUSBL response received:!U1,P 25B,000,002B9,188,80,80,C5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ˡE?Zd;OǿZd;O=j< j)IyQMb?~jt?u<< ~>A)WAI.AiVpApMA    @ @ @i )Iie&M=Me=Ymqqa"HyB}>I :a 5? :ݾ ׇ? ?9rAo< 4<)_:WWX XWX:W2W*WVbUBU*UUU@BIBI BIAU*BQAQAQAYAY"Cy*CRCCC?i?ס I G > ~  | |   =:Y R1y i: "69rg,G;ifFAY}>`,/@}>G@y}>F}>-<}>H`, W@t??c|s,?`?d?)~>`,/@ ~>];I~>CɫYY)Y YIYY?yiFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M=MM=YU=QUU%?YYa]"HYayeT }e)?Iim 5?mקݾ m? ?9mAm; m;)iWWX XWX:W2W*WVbUBU*UUU0D@BYBY BYAe*BaAaAaAaAa"C*CRCCC9Ii(E; 7 EiIqG>m,eifFAY}F.@}FE@y}F<}Fm;}FH0}A?0?`@S u? y?u?)~F.@ ~Fʑ_;I~FCɫ髙) IY?yÒFxDUSBL response received:!U1,R,26C,000,002BB,189,80,80,C8,FF Fpublishing direction and range infoc ɰ e=7> )HCIy@{I%m?U1{ٱ    @ @ @ñññiññ ı)ıIıiı=M5=Y ~a"HHy9}>I!% 5?%Mݾ %ĉ? -?9%A%: %:)!WqWqXq XqWqXq:Wy2Wy*WyVybUBU*UUU1@R(Combining 5 samples.P*Q@ZQGےISr@u MKJQ{I%m?U1{2Qc :QbQuϰ%m:b@o?RQY(ֿ*?2 ?BQ? Q@Q-ɿPPQ9?PQQ#@"Q:@B1B1 B1A5 *B1A9A9A9A9"Ca*CaRCaCaCi9IIGeV>  { {   Y1:Y #R1y : 35%t,9ifFAY}fI.@}f@y}f2}far}fH+`ʹ?T?`>Fÿ>?ѭ8u?)~fI.@ ~f];I~fCɫ髹) IY?yCF=DNmea in: $SNTTA,,,,,224806.48*58 )U= U=\MY=Ya"H y c9} >I :N 5? :ݾ ? %?9A: ^:)`:mUqAdded new target pos. range: 4.440000 m, bearing: 110.992965 deg, deltaT: 4.521011 s, approachRate: 0.026543 m/s, LOS rate: -0.318052 deg/s, posRepo size: 4XQWU?WQXY XYWYXY:WY2WY*WaVabUaBUa*UiUm`@Um`]?BB BA<*BAAAA"CA'?RCC?CI)שIG > 9 I Fi v? E; , E CiQ Ii i zٺ AE ?9E Aۮz,ifFAY}Jw.@}Jy@y}J$}JW }JH@ ?`Pv? o@8ʿ]?@-%K?)~Jw.@ ~J?];I~JCɫyy)y yIyYJ?yFU-<M]U=Y]=QU]>aaae"Haaym!}m>Iqu 5?u"ݾ u? }?9uAu: uw:)qWWX XWX:W2W*WVbUBU*UUU&?BB BA*BAAAiAi"Cu?RCqCqCyaIqG">  | |   E1:Y R1y i: 6 ,ijfFAY}>G.@}>c@y}>E}>}>H@3`??@apZUʿ?¿`N?)~>G.@ ~>^;I~>CɫYY)Y YIaY0?yFv/?(\пʡE?x= =)Iy:vy&1?MbT`e< EA)-HAI=4AicApIA    @ @ @i )IiM @=Y =QU >a"Hy}>I! -:% 5? 5:%ݾ %? 5?9%A%2: %:)%a:WWX XWX:W2W*WVbUBU*UUU `?BQBQ BQAUa*BYAYAYAYAY"Ca*CRCCCׁIG=>Z,+ jfFAY}V-@}V*@y}Vw}Vֽ}VH'?+?X ĿN?{?)~V-@ ~V҃];I~VCɫqy)y yIyY?y F=MR=Y=QU>a"HyX}>Iȱŵ 5?ŵݾ Ƶ? ?9Ƶ+Aǵ0: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUU`.?BB! B!A%*B!A!A!A)A)"C1*C1RC1C1C9M?iM?y9yIyiyyyy}E; }e E)I1GU>  y y   .:Y P1y ': 5) c;9 gꍚ,]:jfFAY}F .@}F&@y}Fi}F7⽽}FHj `S?5?ӿt¿ ?щ?)~F .@ ~Fa_;I~Dɫ髁) IY?yڗF    @ @ @éééiéé ĩ)ĩIĩiĩF=MF=Yz=QU>a"Hyhc;}>I : 5? :Vݾ ? ?9IA[: g:)b:W!W!X! X!W!X):W)2W)*W)V1bU1BU1*U1U9U=?BaBa BaAe*BiAiAiAiAi"Cq*CyRCyCyCyIIQG>@Ӕ,=TjfFAY}JeD.@}J_@y}J.Ľ}J}JH@ \y?Y?`¿3?I ǧ?)~JeD.@ ~J_;I~JCɫyy)y yIyYa?yFUDMUS=Y]`=QU]>YYae"Haaym<}m>Iqu 5?uݾ un? }?9ueAu: u=:)qWWX XWX:W2W*WVbUBU*UUU`m@BYBY BaAeՂ*BaAaAaAaAi"C*CRCCCׁIGq 9q Iu xFiu ?u =q q u E; u E)Ii==4- - - - } - m:Y- T1y- :- 6)- ;Q,njfFAY}6B=.@}6X@y}6B᜽}6:ֽ}6HI@?s?x??ȦT?)~6B=.@ ~6];I~6Cɫ19)9 9I9Yu?yuF 鿍A<MQ=Y9L=QU>a"HyǑ}>I   5? ݾ ? ?9 A q: @:) W9W9XA XAWAXA:WA2WA*WIVIbUIBUI*UQUQUU@R]B*** querying acoustic contact ***PaPaBB BA*BAAAA"C*CRCCCIש)ש׉IG=I ) 塚,jfFAY}Vp.@}V:@y}V}Vư}VH$j?K/d#N?W ?)~Vp.@ ~VS\;I~VCɫ髙) IY?yȗFZ****** received transponder code query ******F****** received ping request ******a"Hy;}>I :ڳ 5? :.ݾ ? ?9A: :)c:WWX XWX:W2W*WVbUBU*UUUt @B!B! B!A-*B)A)A)A)A)"C1*C1RC9C9C99IAGeU>  } } 1  ؇:Y kS1y Ԋ: 69 @s,ʡjfFAY}6;.@}6Ư@y}6D}6}6H5\8ׁ?`:R˶ h?S`&?)~6;.@ ~6X[;I~6CɫYY)Y YIYY}[?y}ǘFxDUSBL response received:!U1,P 26C,000,002BB,189,80,80,C8,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }G=Mc=Y/=QU>a"HHy;}>I)9)I- Fi-?-=))-E; - E 5?ݾ ? }?9 As< v<)WiWiXq XqWqXy:Wy2W*WVbUBU*UUU@# @BB BA*BAaAaAaAa"Ci*CiRCiCqCqyIGb>9,LjfFAY}VR.@}Vݣ@y}V<8}V{w}VH/6`򽠿?,@? 3÷?)~VR.@ ~V];I~VCɫqy)y yIyY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B …_A׻MG=Y*=QU>a"Hy}>I : 5? :ݾ ? ?9MA9: g:)d:WWX XWX :W 2W *W VbUBU*UUU@BABA BAAE*BIAIAIAIAQ"CQ*CYRCYCYCYm?im?aIqG>  | | |  0:Y R1y i: 45 ,RjfFAY}6>F.@}6a@y}6t}6b}6H#R' ?@ 3?Zt?)~6>F.@ ~6`;I~6CɫYY)Y YIYY?yFxDUSBL response received:!U1,R,2F4,000,002BA,188,80,80,AF,FF Fpublishing direction and range info[(ɰd=鰥> )/CIy(@3H?o m4ٱ ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYmO<Mu?=Yu7yya}"Hyy}>Iȉō 5?ōݾ ƍ? ?9ƍAǍR: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUU`@R(Combining 5 samples.P*Q(@ZQ?2 @y6yJQ3H?o m42Q[(:QbQ1 ` @`ű?RQ Y&Ͽt*)?{w?BQ٩? QV@QoPS9?PPQQ @"Q#@BB BA*BAAAA"C*CRCCCסIGA> 9 I Fi ?    DF;  EsL,cjfFAY}vL-@}v@y}vF}v񶸽}vH O@٧? ^uӈ?`l`?)~vL-@ ~v4^;I~vCɫ) IY5?y5FTNmea in: $SNTTA,0.028794,,,,224810.92*46 El;MMM=Y]iqau"Hyy5}>Iȹ :Ž 5? :Žȯݾ ƽ [ } }  ;:Y kS1y Ԋ: |54š,@ kfFAY}R-@}R@y}R6»}R*ּ}RH `ه ,?@ֹ`[x?sĚ@?)~R-@ ~R\;I~RCɫqq)q yIyY?yaF~jt?ѿ> ףp=?=̌ Q>)Iy{GzMb?~jt?#<= µ:A)µ$RAIµ?AiµVLAFA)= >/=MR=Ya"Hy}>I˳ 5?3ݾ  ? ?9A:  :)WWX! X!W!X!:W!2W!*W)V)bU)BU)*U1U1U5 T)?BYBa BaAe*BaAaAAA"C*?RCCCI!)!I G%,>^Ț,v#kfFAY}J-@}J@y}J;}JϱP}JH``#?`R`"c P?)~J-@ ~JZ\;I~Hɫqy)y yIyY?yؙFi}nGI9IFi?F; !EiXٺJA    @ @ @ÁÁÁiÁÁ ā)āIāiā,~M;=Y<a"Hy /}>I : 5? :ݾ +? ?9 A(: ;)f:W9WAXa XaWaXa:Wi2Wi*WiVibUiBUq*UqUqUu³?BB BA(*BAAAA"C٩?RCCCIG%M>  | |   n1:Y R1y i: 35) ;9 Κ,@y}6O;}67- }6H8xr՚,VkfFAY}N,@}N@y}N ;}N_}NHĮWlq X]?({.`?)~N,@ ~Ni^;I~NCɫ髑) IY?yaF99m?MmD=Yu.QUu>qya}"Hyyy_L}>Iȉōx 5?ōݾ ƍӠ? ?9ƍU AǍ: ȍܹ:)ȉWWX XWX:W2W*WVbUBU*UUU?BqBy ByA}*ByAyAyAA"C*CRCCC?i?יIG>9IPFi8?=*G; H!E G ~ ~  |9:Y T1y @: 5) {;Wۚ,pkfFAY}:`,@}:>|@y}:j;}:}:Hڋw)햿o?pOƑ`#xW@?)~:`,@ ~:k];I~:Cɫ99)9 9I9Y]?y]NF    @ @ @i )IiMJ=YQU>a"Hy†}>Iȡ :ťZ 5? :ťݾ ƥǢ? ?9ƥu Aǥ; ȥΧ;)ȥg:W9WAXA XIWIXQ:WQ2WY*WaVibUqBUy*UyUUL@BB BA*BAAAA"C*CRCCC IG5O>À⚙,kfFAY}R,@}RB.@y}RB$;}Rj`7}RH r@ak]?4mxগdꦿ?)~R,@ ~Rv>\;I~RCɫyy) IY?y F@AA`"?zG?jtԿY= > Ġ)IyMbPX9v~jtxĻ ¥ ?A)¥IAI¥AAi¥FA(DA    @ @ @i )IiV=MA=YQU>a"H!y%8}%>I)- 5?-fݾ -? =?9- A-: -:))WYWYXY XYWaXa:Wa2Wa*WaVibUiBUi*UqUqUu`Ă@R}B*** querying acoustic contact ***PyPyBB BAB*BAAAA"C*CRCCCIG$>  z z   ~:Y Q1y : 59 @蚙,:[kfFAY}6],@}6"@y}6'>}6}6H8o@`/خ?S@G?@l`?)~6],@ ~6B[;I~6CɫYY)Y YIYY}?y}ŚFZ****** received transponder code query ******F****** received ping request ****** P4M]=Y QU >a5"H=H9yEP}E>II U:a9aIeFie?e=aaeG; e!E)Ii4Mô 5? :Mݾ Ma? ?9M AMj< Mj<)Mh:WWX XWX!:W!2W!*W!V!bU)BU)*UIUQUUl @BB BAǀ*BAAAA"C*CRCCCI)\AסIG >f,1]kfFAY}v+@}v @y}v}vC}vHi %?>ᶿ@R?%@y?)~v+@ ~v(Z;I~vCɫ) IY%&?y%F-xDUSBL response received:!U1,P 2F4,000,002BA,188,80,80,AF,FF -Command Ack5BRequesting micromodem ping code 2i11=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 % % - -@ -@ -@ -)))i-?) -?)-?I-?i-?FM%=YdHQU>a"H!yE}E>IY] 5?]=ݾ ]:? e?9] A]; ]a;)YWWX XWX:W2W*WVbUBU*UUUF @BQBQ BYA]$*BYAYAYAYAY"C*CRCCCׁIG>  y y   U:Y P1y ': 5,kfFAY}6,@}6w7@y}6\z}6ҽ}6Hu`l 2ҡ?R Uo?F?)~6,@ ~6BT\;I~6Cɫ99)9 9I9YE7?yMěFIɮMR=mNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B '=M=YQU?a"H y 6;} ?I :0 5? %:گݾ ? %?9C A[: :)i:WAWAXI XIWIXI:WI2WI*WQVQbUQBUY*UYUYU]@BB BA`*BAAA)A1"C1*C9RC9C9C9 IG5 >Y9YI]PFi]8?]=YY]0H; ]!E,kfFAY}>we,@}>@y}>ϻ}>tR}>H _s`^0`?pɲy?"Q?)~>we,@ ~>t^;I~<ɫYY)Y YIYY?yaFxDUSBL response received:!U1,R,2EF,000,002BA,189,80,80,A6,FF Fpublishing direction and range infog'ɰ7> )&CIy^+^?׶ٱae^A)M@=YQU>a"H)y!<}>IȹŽ 5?Ž?ݾ ƽ? -?9ƽ~ Aǽ7_< Ƚ+[<)ȹWYWaXa XaWaXa:W2W*WVbUBU*UUUc@R(Combining 5 samples.P*QZQ^a @yZJQ^+^?׶2Qg':QbQrɡyѩ(@v\=?RQ@̿_*?n>xƮ?BQfX? Q@QNuPPS9?PQQT@"Q @BiBi BiAm*BiAqAqAqAq"C*CRCCC׵?i׵?בIG> =i = ) { {   ":Y #R1y : 6%, lfFAY}:i-@}:@y}:LD}:}:HrR>I I?ã`0h C?bL?)~:i-@ ~: \;I~:CɫYY)Y aIaY?yF]DNmea in: $SNTTA,,,,,224815.38*5D &1 ףp= ǿRQнQ8 ½)IyMbI +Mb`?9; ;9A)MVAI3CAi=FA    @ @ @ @i )Ii6&<M7=Y/OQU%>)AaE"HAIyM9<}U>IY ]:]_ 5? e:]Tݾ ]? e?9] A]E: ]:)]j:mqAdded new target pos. range: 4.380000 m, bearing: 102.660298 deg, deltaT: 4.483883 s, approachRate: 0.000000 m/s, LOS rate: -0.331250 deg/s, posRepo size: 4XWfX?WX XWX:W2W*WVbUBU*UUU$?BB B9AEˀ*BAAAAAAAAA"CMLk?RCQCUfX?CQYIaGY>,I%lfFAY}6y?-@}6[@y}6$}6}6}6H2 `0?klU?̦A?)~6y?-@ ~6DS\;I~6Cɫyy)y yIY?yF 9 I Fi ?  BD   !Eg<M`=Y QU>a"Hyc2<}>I 5?eݾ ;? ?9 A: k:)WWX XWX:W2W *W V bU BU*UUU@@?BABA BAAEr*BAAIAIAIAI"CU2D?*CYRCYCYCYiIqG>  y y j  :Y P1y ': Y5) ft;9 #,J?lfFAY}6-@}651@y}6!߼}68}6HFD &ׄ?@??=.b?@?)~6-@ ~6a\;I~6Cɫ99)9 9I9YE?yErF)= =       @ @ @i )Ii%M%T=Y%ߝQU->))a-"H)1y5ػ}=>IAEȺ 5?Ewݾ EN? M?9E7 AEZ: E0:)AWiWiXi XWX:W2W*WVbUBU*UUU;?B)BI BIAU*BQAQAQAQAQ"C]fX?RCYCaCaIב)ו]AaIyG>} ,qVYlfFAY}6,@}6;@y}6aV }6]8#}6H 7VU?N?x`橡?b?)~6,@ ~6[;I~6CɫYY)Y YIaY?yWFuZVM}E=Y}QU>a"HyĻ}>Iȡ :ť$ 5? :ťݾ ƥf? ?9ƥy AǥS; ȥOF;)ȥk:WIWIXQ XQWQXQ:WQ2WQ*WYVYbUYBUY*UaUaUe?BB BA*BAAAA"C*CRCCCשIG >iunGIizٺJA_A9IFi?H; !E  w w   gk:Y O1y P: 25) ;6,:slfFAɫyy) IY?yF<ME=YQU>a"Hy }>I)- 5?-ݾ -~? ?9- A-< -<))WWX XWX:W2W*WVbUBU*UUU `?BYB BAM*BAAAA"C*CRCC CQIaG}Y>#, lfFAY}6/,@}6@y}6))}6]ս}6HT`@Q?E|@#?`?)~6/,@ ~6z?^;I~6Cɫ9A)A AIAY}?y}FzG?Zd;O?Mb W>j<= )Iyqya}"Hyyyۺ}>Iȉ :ō) 5? :ōlݾ ƍL? ?9ƍ AǍ: ȍ:)ȍl:WWX XWX:W2W*WVbUBUI*UIUIUM.@BB BA*BAAAA"C*CRCCC?i?IGI> E  { { {  S9:Y #R1y : 59 @F),lfFAY}6J,@}6@y}6' ?}6x}6H pZkyb?ާ? ۰K?)~6J,@ ~6\;I~6Cɫ99)9 9IAY}7?y}ěFAAAAܡ9ܡIܥ8Fiܥ?ܡܡܡܥdH; ݥ!E<Mj=YzQU>a"HHy5 }>I 5?ݾ ? ?9] A: :)W W X  X WX:W2W*WVbUBU*U!U!U% @R-B*** querying acoustic contact ***P)P)BQBQ BQAU`*BYAYAYAYAY"Ca*CaRCaCiCiqIyG=.0,YlfFAY}6,@}6v@y}6i}6e}6H`e?@j?vS 9?Ԑ`?)~6,@ ~6[;I~6Cɫ99)A AIAY?yNFZ****** received transponder code query ******F****** received ping request ******a"Hy{}>I : 5? :ݾ  ? ?9 A$; %;)m:WiWiXi XWX:W2W*WVbUBU*UUUz @BiBi BiAm*BqAqAqAqAy"C*CRCCCסIGA> j  w w   F<:Y O1y P: 25X6,lfFAY}>Ȓ,@}>S@y}>}>!}>H p?g?m@ϋӱ?@?)~>Ȓ,@ ~>[;I~>CɫYY)Y YIYY?yiFxDUSBL response received:!U1,P 2EF,000,002BA,189,80,80,A6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= > =MG=Y!QU>a"Hy%V}%>I)-K 5?-ݾ -? E?9- A-s; - u;))WqWyXy XyWX:W2W*WVbUBU*UUU@F @BBA BAAE*BAAIAIAIAI"CQ*CQRCQCQCYI׉)׍^AaIGb>ܩ9ܩIܭȖFiܭ?ܩܩܩܭH; ݭ"E)IIIiIM=M=M'4W<,{lfFAY}Fx,@}F5@y}FS}Fѽ}FH@@IJ@o?I<e? W ?)~Fx,@ ~F\;I~FCɫ髁) IY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ]/$?~jt{Gz],=] ]#)YIYy]a"Hy`}>I -: 5? -:ݾ ? -?9, A]: ^:)n:WQWQXQ XQWQXQ:WY2WY*WYVYbUaBUa*UaUaUmD3@BB BA:*BAAAA"C*CRCCCI G%o>  | |   5+:Y R1y i: i5JFailed to close latch before timeout.q >BHardware FaultYR?yRFVxDUSBL response received:!U1,R,2AB,000,002BA,188,80,80,B9,FF VFpublishing direction and range infoVkTɰTV> T)V9CITyTV}}u{?-ٱT    @ @ @i )Ii%YM%=Y-v;QU-?))a-"H11y5ϼ}=?IAE7 5?Exݾ E? M?9E= AE$: E:)AW W X  X WX:WQ2WQ*WYVYbUYBUY*UYUaUek@R(Combining 5 samples.P*QZQPP @"ɋJQ}}u{?-2Qk:QbQ蕌tD9e@Ȯh?RQ38QѿOߌ?$W Ļ?BQ|? Q?@Q+PPPQQ@"QT@BB BA*BAAAA"C*CRCCC!)I1-$E@Hardware Fault in component: DDMGU>JI,;:(mfFAY}z+@}z)@y}zt:}zb}zH8 y??@<?s[?)~z+@ ~z6\;I~xPowering downɪ)! !Q9QIUFiUa?QQQUqH; U!EYm?ym"FDNmea in: $SNTTA,,,,,224819.81*53 %k;M-"=Y-:QU->11a5"H11y=c}=>IAEչ 5?EVݾ E? M?9E] AE: E:)Am}mAdded new target pos. range: 4.380000 m, bearing: 105.524538 deg, deltaT: 4.361610 s, approachRate: 0.000000 m/s, LOS rate: 0.656693 deg/s, posRepo size: 4XyW|?WX XWX:W2W*WVbUBU*UUUB ?BB BAr*BAAAA"C?RCC|?C?i?יIGM>5 5 v5 v5  5 %?:Y5 N1y5 :5 5)5 _;9U |P, BmfFAY}6+@}6H@y}61}6-k}6H4@QY?`?%@n``?Hav?)~6+@ ~6[;I~6CYR3?yRF ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYm0Mm=YuTQUu?yya}"HyyWE}?Iȉ :ō6 5? :ōAݾ ƍ? ?9ƍp AǍ: ȍ:)ȍo:WWX XWX:W2W*WVbUBU*UUU ?BB BA*BAAA A "C |?RCCCI!GE=EV,[mfFAY}6+@}6C@y}6~}6[}}6H Q@? ?M>R"ȶ?@{m?)~6+@ ~6[;I~4YR?yRjF]>=M]L=Y]LQUe>aaae"Haiym҂<}m>Iqu 5?u$ݾ u?? ?9u Au÷: u:)qWWX XWX:W2W*WVbUBU*UUUV?BB BA%*B!A!A!A!A!"C1*C9RC9C9CA1IA$]NClearing failed state for component DDMq ]Gm=A9AIE FiE?E=EADAEH; E"E  y y   ,:Y P1y ': 5) ;\,umfFAY}~:,@}~,@y}~^Ž}~M}~H`:U?`N? P@2??)~~:,@ ~~p\;I~~CYE/?yMFL7A`?ˡE? rh?+='= C<)IyQJ +QH `=A)QLAIb8AiOQADA}?M},=Y3QU>a"HyX;}->Iȉ :ō 5? :ōݾ ƍK? ?9ƍ AǍ: ȍR:)ȍp:WWX XWX:W2W*WVbUBU*UUU@?B9B9 BAAE*BAAAAAAAAI"CI*CQRCQCQCYIa)e]AQIYG>I ) AAc,雏mfFAY}6,@}6*@y}6)˽}6}6HR _G?ό?YZ?@Y)@?)~6,@ ~6[:\;I~6CYf?yjF    @ @ @ÑÑÑiÑÑ đ)đIđiđMm=YQU?a"Hyٹ}?I\ 5?.ݾ  ? ?9IAS; *C;)WWX XWX:W2W*WVbUBU*UUU.@B)B) B)A5*B1A9A9A9A9"CY*CYRCaCaCiׁIG> # { {   3":Y #R1y : 59 @i% NmGI9 iQ i,ywmfFA&ٺ(*?AY}F+@}F@y}F1Ƚ}F ,}FH`#A ??@Cf?x~?)~F+@ ~Fn[;I~FCYRB?yRFt9tIvXFiv?v=vBDtvH; v"E;MI=Yi;QU>a"HHy}>I :/ 5? :ݾ t? ?9A: E:)q:WW X  X W X :W 2W*WVbUBU*UUU`D@BABI BIAM݁*BIAIAQAQAQ"CY*CYRCYCYCa1I9G]=p,c^mfFAY}V+@}V@y}V2ɽ}V솽}VH^<`E?? *@W? Ű@?)~V+@ ~V>[;I~VCYb?ybFpp - - - -@ -@ -@)))i)) )))I)i)=QM=R=Y=QUE>AAaE"HAIyM}U>I 5?:ݾ ? ?9A: ض:)WQWYXY XYWYXY:Wa2Wa*WiVbUBU*UUU@@RB*** querying acoustic contact ***PPB!BI BIAM*BQAQAQAQAY"Ca*CaRCCC?i?סIG > C C:Y y 6v,-mfFAY}>+@}>@y}>dԽ}>}>Hx(`ᮠ?@?{ ?@?)~>+@ ~>^Z;I~>CYJ?yJFNZ****** received transponder code query ******NF****** received ping request ******N a "H  y}>I!% 5?%ǯݾ %~? -?9%aA%: %:)!WQWQXQ XYWYXY:WY2Wa*WaVabUaBUa*UiUiUm @BB BAy*BAAAA"C*CRCCC1I9G]=9I Fi?H; 8"E#},mfFAY}mv+@}m8@y}m@w}mw%}mH9 @??"9?@?)~mv+@ ~m,Z;I~mCY=?yFxDUSBL response received:!U1,P 2AB,000,002BA,188,80,80,B9,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 +?B`"۹ rh=ν C)Iy{Gz?y&1?y&1|?ף<`e<`; a"HyV}>I : 5? :ݾ ? ?9A: ;)r:W9W9X9 XAWAXA:WI2WI*WIVIbUQBUq*UyUyU@@B9B9 BAAE*BAAIAiAiAq"Cy*CRCCCI׹)׹שIG>- ) ) -  - /:Y) y) - F6,nfFAY}6D~+@}6ϙ@y}6c}6}6Hi ?@d? * GҺ`9׿?'şj?)~6D~+@ ~6CZ;I~6CY^?ybFrNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )IiM=YQU?a"Hy :} ?I 5?ݾ p? ?9AA: :)WAWAXA XAWAXA:WI2WI*WIVIbUIBUQ*UQUQU] @BB BA*BAAAA"C*CRCCC׉IG=V1,Y*nfFAY}6+@}6@y}6@}6:v}6HE' wz?@r?@#'`9?@?)~6+@ ~6}qZ;I~6CD9DIFFiF1?DDDFI; FI"E)1I1i1115`*5Yn?ynFrxDUSBL response received:!U1,R,283,000,002B9,189,80,80,C1,FF vFpublishing direction and range inforȥpɰrdd=r7> p)rACIpyr=@r88?7Eٱp5M58=Y=GQU=>AAaE"HAIyU.<}U>IY m:]) 5? u:]ݾ ]? u?9]A].B; ]B;)]s:WWX XWX:W2W*WVbUBU*UUU ~@R(Combining 5 samples.P*Q=@ZQ97}B @r0dJQ88?7E2Qȥ:QbQs$frY@7[?RQ"g ͦҿ\OF?U!?BQO? QȂ@Q&PPPQQ"@"Q@B)B) B1A5*B1A9A9A9A9"CI*CIRCICICQ IGe4>),DnfFAY}n+@}n @y}no}n3)ֽ}nH*3 ,*? †?`.Ŀ /?4?)~n+@ ~nPZ;I~nCY ,?y ҖFTNmea in: $SNTTA,0.091805,,,,224824.25*48 Mc=Y;QU>a"Hy;}>IȹŽa 5?Žݾ ƽT? ?9ƽAǽ: Ƚ;)ȹm=qAdded new target pos. range: 4.319999 m, bearing: 107.121525 deg, deltaT: 4.486274 s, approachRate: -0.013374 m/s, LOS rate: 0.355972 deg/s, posRepo size: 4X9W=O?W9X9 X9WAXA:WA2WA*WAVbUBU*UUG@U@??BB BAb*BAAAA"C d?RC CO?CE?iE?I G5.>E,^nfFAY}R'+@}R@y}R}Ri䴽}RH_? "?9ÿ4p? (e~?)~R'+@ ~RZ;I~RCYr?yvFImp=)m4=    @ @ @ñññiññ ı)ıIıiı%MK=Yr:QU>a"HyK}>I : 5? :ݾ ? ?9)As: :)t:WWX XWX:W2W!*W!V!bU!BU!*U)U)U- [?BB BA*BAAAA"C]?*CRCCC IG= >܁9܁I܅Fi܅v?܁܁܁܅ I; ݅F"E E  $:Y y j5) ;9 Gq,axnfFAY}-@+@}-8@y}-R}-Xp}-H S@e)Mu?`?:r?­ ?)~-@+@ ~-Z;I~-C=Powering upE"Initializing DDM.YL?yFEGz?/$?Mb?Ep>E= E<)AIAyEv/?~jth?y&1|Exi=ED;E` E;9A)ETAIE5AiEYAAE\GA]=Me3=YeQUe>iiam"Hiqyu}u>Iy} 5?}ݾ }? ?9}A}: }]:)yWWX XWX:W2W*WVbUBU*UUU`SY?BB BA*BAAAA"CO?*CRCCC IG(>$U,,nfFAY?yQFQMg=YQU>a"Hy}>I 5?ݾ ǜ? ?9A: 8:)W)W)X) X)W)X):W)2W1*W1V1bU9BU9*U9U9U= .?BiBi BiAm/*BiAqAqAqAq"Cy*CyRCyCCqIyG> L } }   x%:Y kS1y Ԋ: 59 @*, nfFA>9I@Fi?=I; J"EY]?y]F A    5@ 5@ 5@111i11 1)1I1i1EO1<MED=YAQUM>IIaM"HMHQyY}]>Ia m:e 5? m:e#ݾ e͜? m?9eKAe(: et:)eu:WWX XWX:W2W*WVbUBU*UUU ?BB BA *BAAAA"C*CRCCC1IIGm>dg,enfFAY}6*@}6.@y}6* }6^pٽ}6Hvn[?k?;xſ`.?⺿#?)~6*@ ~6bm[;I~6CYb?ybF    @ @ @áááiáá ġ)ġIġiġfMT=YրQU>a"HyIZ}>I 5?Xݾ Ӝ? ?9A; ;)W)W)X) X)W)X):W12W1*W1V1bU9BU9*U9U9UEC@BiBi BiAm*BiAAAA"C *C RC C1C9IIQG}>  u u   :Y KN1y y: X5,snfFAY}6G*@}6@y}6}6ܽ}6H@ `dB?#? Ua5ſ?xV /?)~6G*@ ~6hZ;I~6CYBJ?yBFF@ADPPVd=MV]=YVeXXaZ"HX\yb㯻}b>Id j:f 5? j:fݾ fԜ? j?9fAf: fI:)fv:W|W|X| XWX:W2W*WV bU BU *U UU;@RB*** querying acoustic contact ***PPBB BA[*BAAAA"C*CRCCCױIG=5 >9imGIiҿٺǸAA9AIEFiEE?E=AAEI; EP"Eq,nfFAY}^z*@}^@y}^}^ɽ}^H`I 1Z(??ܠ@ÿ@cž?_?)~^z*@ ~^Z;I~\Yj?yjFnZ****** received transponder code query ******nF****** received ping request ******na"H y S:} >I> 5?ݾ U? E?9YA; ;)WWX XWX:W2W*WVbUBU*UUUX @BB BA*B A A A A "C1*C1RC1C9C91IAGex> i p= G | |  |9:Y R1y i: 5iě,\tofFAY}6!(+@}6C@y}6d潙}6:}6H| &@?@z? ?T5?)~6!(+@ ~6pZ;I~6CYB?yBFFxDUSBL response received:!U1,P 283,000,002B9,189,80,80,C1,FF JCommand AckJBRequesting micromodem ping code 2iHHRNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 z=M=Y ! 9% ۔CI% @Fi% ?% =! ! % oI; % z"Eʛ,YP-ofFAY}6]+@}6zy@y}6^ս}61k}6H z @??dw?K?)~6]+@ ~6pZ;I~6CYn?yn$Fpɮrp=%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ^MA=Ya"Hy <}>Iȩŭ 5?ŭ1ݾ ƭ? ?9ƭAǭ8: ȭ:)ȩWWX XWX:W2W*WVbUBU*U U U `@BB BA*BAAAA"C*CRCCCI)ױIG>  { { t  !:Y #R1y : }5) (;9 ~ћ,*GofFAY}:t+@}:`@y}:Kǽ}:'}:H"jǛ?`? b?*B?)~:t+@ ~:QZ;I~8Y^Y?ybFfxDUSBL response received:!U1,R,2AF,000,002BB,189,80,80,CF,FF jFpublishing direction and range infof/zdɰf e=d d)fOCIdyf@fz]k?9OٱdUdNmea in: $SNTTA,0.059486,0.162465,,,224828.66*5C UC=iU= 鿩 } } } }@ }@ }@ }@yyyi}y })}I}i}<M;=Ywa"HyP;}>I : 5? :Nݾ ~? ?9 AL; ½;)x:W1W9X9 X9W9X9:W92WA*WAVAbUABUi*UqUyU}2@R(Combining 5 samples.P*Q@ZQVS @Bz JQz]k?9O2Q/z:QbQwlj=[Js @Iн?RQA'п,b:?Nؾ?BQ? Qh@QuPPPQQ@"Q"@BB BAW*BAAA!A!"C)*C)RC1C1C1IG-->כ,aofFAY}6|r+@}6@y}6½}6ذ}6H@" ?'?-? PDO? q`?)~6|r+@ ~6Z;I~4Y^?y^$FuEݼMu^=Y}h;QU}>a"Hyι}>IȑŕA 5?ŕݾ ƕΩ? ?9ƕ_AǕ: ȕ:)ȑmqAdded new target pos. range: 4.440000 m, bearing: 104.730890 deg, deltaT: 4.437339 s, approachRate: 0.027043 m/s, LOS rate: -0.538754 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UU`@U)?BB BA*BAAAA"C%f?RC!C-?C)9IYG=]A9IFi1?I; "E)YIYiY]=]=]4  x x   ,:Y 7P1y : 25) ։; ޛ,zofFAY}FP+@}F@y}F฽}F6}FHA6v}?@¿ ?nͩ?)~FP+@ ~FAZ;I~FCY^?y^ɕFa"HyW3<}>I :? 5? :ݾ ? ?9zAw: :)y:WWX XWX!:W!2WA*WAVIbUIBUI*UIUIUUP?BB BA΂*BAAAA"C?RCCC?i?IGI>䛙,'ofFA|i|Y}BT,@}BYp@y}B }Bڽ}BH@t -M{? 7 vo? B5N?)~BT,@ ~BZ;I~BCYN?yRF=<@M=z=YE=QUE?AIaM"HIIyU<}U?IY]= 5?]2ݾ ]? e?9]A]s: ]:)YWWX XWX:W2W*WVbUBU*UUU0Q?BB BAL*BAAAA"C*CRCCCבIG=      .:Y T1y : 59 @ 9 I Fi a? J; ;#E뛙,ofFAY}6,@}6 @y}6΋}6u9}6H OZm? O?G*ev?aY ?)~6,@ ~6#Z;I~6CY?yەF=MC=Y=a"HHy<}>IA 5?|ݾ ? ?9A: :)WWX X W X :W 2W *WVbUBU*UUU* ?BABI BIAMƂ*BIAIAIAIAQ"C*CRCCCIG>,wofFAY}J1-@}JL@y}Jā}J(Y}JH@ a"Hyfk<}>I :G 5? :ݾ 4? ?9A: (:)z:W WX XWX:W2W*WVbUBU!*U!U!U%?BQBQ BQAU*BYAYAYAYAY"Ca*CaRCaCiCiIy)yIIYGu= m w w   (:Y O1y P: 5-,MofFAY}6O-@}6Ok@y}6/}6i}6H)@9#?@ ?@u9??"/?)~6O-@ ~6lZ;I~6CY^?ybFp=i=]v<M]Q=YeUQUe>aaam"Hiiyu7;}u>IM 5?ݾ б? ?9A: :)WWX XWX:W2W*W!V!bU!BU!*U)U)U-@n@BQBY BYA]*BYAYAaAaAa"Ci*CiRCiCiCi׉IG=i9mܔCIm8Fim?m=iimK; m#EI ) @A8X,g*ofFAY}@-@}\@y}}N}H*>@E?#? J1?`~?)~@-@ ~Z;I~Ye?ymwF@AmktB`"ɿZd;?m 0mN my=)iIiym~jt?:v?{Gz?mDAimNAimGEA    @ @ @i )Ii.M3=YtQU>a"Hyu}>I  :  5? : ۩ݾ R? ?9 (A : :) {:W9W9X9 X9W9X9:WA2WA*WAVAbUIBUI*UIUIUU@R]B*** querying acoustic contact ***PYPYByB BA*BAAAA"C*CRCCCIG5.>  y y   C:Y P1y ': 46@,-pfFAY}6-@}6@y}6}6ԟ}6H`a@ X? ?z??)~6-@ ~6Z;I~4Y^?y^FbZ****** received transponder code query ******bF****** received ping request ******fiiam"Hiqy}3<}}>IȁŅ 5?Ņݾ ƅ? ?9ƅvADžY: ȅ+:)ȁWWX XWX:W2W*WVbUBU9*UAUIUu) @BB BA*BAAAA"C *CRCCC%?i%? IG5 >iU mGIi i E߿ٺ eAa 9a Ie Fie ?a e ADa e L; e +$Ei ,/pfFAY}6#-@}6@y}6}67}6Hy@2??&j?E @?)~6#-@ ~6Z;I~4YB?yBFFxDUSBL response received:!U1,P 2AF,000,002BB,189,80,80,CF,FF FCommand AckJBRequesting micromodem ping code 2iHHIH)HRNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 If=)d<M Q=Ym9QU%>1a"Hy!<}>I : 5?  :Uݾ ?  ?9A}; <;)|:WWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"C*C RC CCׁIGI> =i   | | j  ):Y R1y i: Y5) ;9 BS,IpfFAY}BX8.@}BS@y}B}B}BH 8Ct?@N?}6m?񢷿?)~BX8.@ ~BZ;I~BCYft?yfאFja=ɮhzNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @éééiéé ĩ)ĩIĩiĩǬM?=Y";QU>a"Hy)<}>I 5?ݾ S? ?9,Aэ; Ɵ;)WWX XWX:W2W*WVbUBU*UUU@ @B1B1 B1A5ф*B1A9A9A9A9"CA*CARCACACiAIQGm>{, cpfFAY}6%.@}6@y}6w%}67}6H`8_J?)?ݵ?@?)~6%.@ ~6Z;I~6CYBR?yF_FJxDUSBL response received:!U1,R,2B2,000,002B8,189,80,80,B5,FF JFpublishing direction and range infoF%DɰFd=D D)F5CIDyFQ@Fڮt=_??5ٱD)Z= Z=^<M^]=Yb1yQUb>`daf"Hddyj<}j>IlnS 5?nԬݾ n? r?9n}An]: nM:)lWWX XWX:W2W*WVbUBU*UUU@@R(Combining 5 samples.P*QQ@ZQ}f  @c0MJQڮt=_??52Q%:QbQp3l@!?RQRLDӿ1;}G?r3C)9I9y={Gzty&1?y&1|=ף=`e<=` =;A)=SAI=:Ai=$RA9=3GA    @ @ @ÙÙÙiÙÙ ę)ęIęięEMM.=Y9QU>a"Hy<}>Ii u:m 5? u:m2ݾ m? }?9mAm: m:)m}:mqAdded new target pos. range: 4.259999 m, bearing: 107.648187 deg, deltaT: 4.392066 s, approachRate: -0.040983 m/s, LOS rate: 0.664220 deg/s, posRepo size: 4XW}?WX XWX:W2W*WVbUBU*UU = @U(?B)B) B1A5Ʉ*B1A1A1A1A9"C]?RCyC}}?CYIiG:>I ) ?A%,TpfFAY}6/@}6 @y}6`}6}6H dq@`,? ?`<跿j? E4?)~6/@ ~6J\;I~6CYN?yNF=1M=f=Y=NQU=>AAaE"HAIyM'g<}M>IQU 5?Usݾ UƲ? e?9UAU: U:)QWWX XWX:W2W*W!V!bU!BU!*U)U)U-?BB BAG*BAAAA"C}?RCCC׉IG=  { { + 5+:Y #R1y : 59 @ 9 I Fi }?    O;  %E)ݙIݙiݙݝ=ݝ=ݝze5+,&pfFAYL?y F™^AQ<MA=YQU>a"HHy}>I9 E:=δ 5? E:=ǭݾ =V? E?9=A=: =(:)=~:WiWiXi XiWiXi:Wq2Wq*WqVqbUyBUy*UyUyU?BB BA*BAAAA"C*CRCCC?i?IG>П2,pfFAY}6/@}6@y}6 }6ㄩ}6H5Sfx$? f? hB¿u??)~6/@ ~6h[;I~6CYv ?yvFIi)iI}4=)y    @ @ @i )Ii2MK=YEQU>a"Hy+}>I 5?ݾ ? ?9A: ]:)W!W!X! X!W!X):W)2W)*W)V)bU1BU1*U1U9U=Y?BB! B!A%*B!A!A!A)A)"CQ*CQRCQCQCY)I1GU> =i  T  x x   ::Y 7P1y : j58,pfFAY}6/@}6 @y}6m}6L}6H]_@Z/?`?`Z¿ʭ?I@Ɛ?)~6/@ ~6`[;I~4Y^T?ybF;ML=YļQU>a"Hy%<}>I :x 5? :\ݾ s? ?9A: k:):WW X  X W X :W 2W *WVbUBU*UUU *@BABI BIAM*BIAIAQAQAQ"CY*CYRCYCYCaiIyG=ܱ9ܱIܱiܱܵ=ܱܱܵDR; ݵ)'E>,pfFAY}6jA0@}6\ @y}6 }6ur}6H ^n5@??5'?@5?)~6jA0@ ~6K[;I~6CYB?yB}Fv/?X9vֿI +?xi= 94=)IyI +X9vI +9494 5>A)RAI5Ai\AHA)= > m m m m@ m@ m@iiiiii i)iIiiiM<M-=YЩQU>a"HyS;<}>I 5?խݾ ̰? ?94AF: I:)W)W1X1 X1W1X1:W12W9*W9V9bU9BU9*UAUAUEj@BqBy ByA}Ņ*ByAAAA"C*CRCCCI)IGK> ] t t   &:Y M1y : W5E,qfFAY}>Rg0@}>݂ @y}> )}>ƯN}>H`(p"|7?`*?O@+ ?GyU?)~>Rg0@ ~>%l[;I~>CYJ'?yJώFLNAARp=iR< XXb[<Mb=YbQUb?ddaf"HdlyzI;}~?I3 5?}ݾ \?  ?9^A: :)W1W1X1 X1W1X1:W92W9*W9V9bUABUA*UAUAUM`i@RUB*** querying acoustic contact ***PQPQBqBy ByA}*ByAyAAA"C*CRCCCqIG=I AA) AAܩ 9ܩ Iܭ pFiܭ M?ܭ =ܩ ܩ ܭ T; ݭ (EL,rn2qfFAY}6p0@}6Q @y}65}6ࢽ}6H"e;OC?K?sſ`x? f?)~6p0@ ~6|[;I~4Y?y5F Z****** received transponder code query ****** F****** received ping request ******a"Hy.:}>Iș :ŝ# 5? :ŝݾ Ɲͯ? ?9ƝAǝ: ȝ:)ȝ:WWX XWX:W2W*WVbUBU*UUU`l @BB BAJ*BAAAA!"C!*C)RC)C)C)1I9GU=  { {   B:Y #R1y : 6) g;9 R,XLqfFAY}:0@}:2 @y}:?}:2}:Hk`3H@p̳??S?8ʿ`? 濾4?)~:0@ ~:#[;I~:CYj?yjFnxDUSBL response received:!U1,P 2B2,000,002B8,189,80,80,B5,FF rCommand AckrBRequesting micromodem ping code 2ippvNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ©© M U U U@ U@ U@QQQiQQ Q)QIQiQ <M*=YॼQU>a"Hy3;}%>I)-; 5?-sݾ -Y,:$fqfFAY}V0@}VQ/ @y}V(2L}V9#}VH.CM??`V2ÿ [?V JW?)~V0@ ~V[;I~VCYb?ybQFfp=ɮdvNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m>iiNmGIfi1eٿٺaeAMn=Yh QU>a"HyIּ}>Iȩ :ŭ 5? :ŭ ݾ ƭ? ?9ƭ Aǭ : ȭ:)ȭ:WWX XW!X!:W!2W!*W!V)bU)BU)*UIUQUU`HR@BB BA?*BAAAA"C*CRCCCQ9QIUȖFiU?QQQUV; U)EIG$> =i 4=  y y   B:Y P1y ': W5) ;/B_,qfFAY}JK0@}J7 @y}JjW}J*}JH" UE %E??l@:2Ŀ?िnD?)~JK0@ ~J0[;I~JCYV?yVFZxDUSBL response received:!U1,R,268,000,002B9,188,80,80,CB,FF ZFpublishing direction and range infoZ XɰZdd=Z> X)ZKCIXyZ=@ZOu|?abٱX -?Sſ~jt? ?5> / D=) I y {Gz?99a="H99yE=:}E>IIM> 5?M!ݾ MA? ?9M/AMf< M4<)IWWX XWX:W2W*WVbUBU*UUU @R(Combining 5 samples.P*Q=@ZQH @W.:JQOu|?ab2Q :QbQ9 RsRpg@]>v?RQj?q׿aa?s?BQ? Q;{@QʿPPR9?PQQ*@"Qh@BqBq BqA}*ByAyAyAyAy"C*CRCCC׉IG>',f,qfFAY}v:0@}vV @y}vh]}vk}vH"]`z?@P?_Uǿ?+?)~v:0@ ~v[;I~vCY?yЍFTNmea in: $SNTTA,0.005229,,,,224837.56*47 )>  >޻MM=Y€QU>!!a-"H)9yM|;}U>Ii :mu 5? :m1ݾ m? ?9mUAm; m;)m:m]mAdded new target pos. range: 4.319999 m, bearing: 111.956520 deg, deltaT: 4.473840 s, approachRate: 0.013411 m/s, LOS rate: 0.963006 deg/s, posRepo size: 4XYW]?WYXY XYWaXa:Wa2Wa*WiVibUiBUi*UqUuG@Uu`?BB BA *BAAAA"CO?RCC?CI)ׁIG$>  { {  3:Y #R1y : 59 @I 9I IM XFiM ?M =M BDI M X; M *E!Zl,γqfFAY}BD0@}Bd` @y}B'I^}Blܩ}BH%dΞ?@֍?@RFȿ@i?絴>$?)~BD0@ ~BZ;I~BCYj?yj~F=R=i=%=    @ @ @i )Ii;&ML=YBQU>a"HHyQ:}>I 5??ݾ >?  ?9zA: /:)W)W1X1 X1W1X1:W12W1*W9V9bU9BU9*UAUAUE!?BqBq BqA}-*ByAyAyAyAy"C?RCCCaIiG=?s, qfFAY}>p0@}> @y}>r2b}>Μ}>H 1aG ?`2q?m jȿ ?@&!?)~>p0@ ~>"Z;I~AAaE"HAAyM,$<}M>IQ ]:U 5? ]:UMݾ UШ? e?9UAU: UI:)U:WWX XWX:W2W*WVbUBU*UUU@?BB BA*BAAAA"C?RCCC)I1GU=- - w- w-  - '0:Y- O1y- P:- 5fy,nnqfFAY}60@}6E @y}6j}69}6H J(N"?)d?sc ɿ`?RE?)~60@ ~6Z;I~6CYN?yRF U U U U@ U@ U@QQQiQQ Q)QIQiQe.MeH=YmQUm>iqau"Hqqy}:}}>IȁŅ1 5?Ņ[ݾ ƅG? ?9ƅADž÷: ȅw:)ȁWWX XWX:W2W*WVbUBU*UUU7?BB BA*BAAAA"C?*CRC C C  IG5=9IFi1?Y; +E)݁I݁i݁݅=݅=݅(5jN,HrfFA|i|Y}6M30@}6N @y}6"~m}6H}6H" 2??Ͽ`k?p"?)~6M30@ ~6Z;I~6CYR?yR!F/$? rhMbP?>C :)IyI +I +y&19494`e 5>A)MVAIn.AibnAQLA - - - -@ -@ -@)))i)) )))I)i)==ME==YEEͻQUE>IIaM"HIIyUjQ}U>IY e:] 5? e:]8ݾ ]z? m?9]A]4: ]:)]:WWX XWX:W2W*WVbUBU*UUU@ByBy ByA}*BAAAA"C?*CRCCCIG$> Q } }   %:Y kS1y Ԋ: 59x,"rfFAY}6/@}6~ @y}6!h}608}6Hi? Ĥ?wѿ?@[Pƿ`?)~6/@ ~6Z;I~6CY^?y^QF]{M]Z=Yedaaam"Hiiyu3}u>I, 5?ݾ ȥ? ?9A: :)W W X  X WX:W2W*WVbUBU*U!U!U%*@BIBI BQAU?*BQAQAYAYAY"Ca*CaRCaCaCaiIyG= 9 ۔CI xFi ? = DZ; d+EI,4rfFAY}>>/@}>@y}>w`}>8g}>H ӵ??SϿ? ¿$?)~>>/@ ~>[;I~>CYJ?yJFLN@AZ#˼M^U=Y^``ab"H`dyf5}f>Ihj 5?jݾ j? r?9jAjk: j:)hWWX X W X :W 2W *WVbUBU*UUU @R%B*** querying acoustic contact ***P!P!BIBI BIAM*BIAQAQAQAQ"CY*CYRCYCYCaYIaG= d     b':Y y  |5,0NrfFAY}6@/@}60\@y}6'x]}6}6H@WSN?P?>ǿw?ߦ/-?)~6@/@ ~6_[;I~6CYR?yRZFVZ****** received transponder code query ******VF****** received ping request ******V99a="H9AyEြ}M>II :M" 5? :M۫ݾ M8? ?9M)AM~_< M;)M:WWX XWX:W2W*WVbUBU*U UU! @BYBY BYA];*BaAaAaAaAa"C*CRCCC׉IG>C,hrfFAY}6/@}6:@y}68`}6맼}6H@x?@?O¿?@|`:?)~6/@ ~6-[;I~6CF`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ܡ9ܡIܥНFiܥE@ܥ=ܡܡܥ*Z; ݥV+Eɫ) IY-?y-4F5a=ɮ5a=5xDUSBL response received:!U1,P 268,000,002B9,188,80,80,CB,FF 5Command Ack5BRequesting micromodem ping code 2i99ENmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ?==ME!=YUΪQU]>a"Hy}>I 5?ݾ +?  ?9FA; P;)WqWX XWX:W 2W1*W9VAbUIBU*UUUt@B B  B A {*B A A A A E A A E  E -:YA yA E X5)E ;9e "Cq *Cy RCy C C I G >,ŐrfFAY}67.@}6@y}6f}6R%}6H@ Kn?J? JӘ x?`U$D 0?)~67.@ ~6[;I~6CɫYY)Y YIYY2?ysFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B %Zd;O?MbXѿl?%j<=% %=)!I!y%aaae"Haiymz}u>Iq }:u 5? :uݾ u? ?9uAuf: u:)u:WWX XWX:W2W*WVbUBU*UUUUc@BB BAa*BAAAA"C*CRCCCI G%N>XƦ,]jrfFA|i|Y}6;T.@}6o@y}6ai}6}6H7`? C? ȿ`=?P`?)~6;T.@ ~6\[;I~6Cɫ99)9 9I9Y}E?y}FxDUSBL response received:!U1,R,270,000,002BA,189,80,80,D0,FF Fpublishing direction and range info'g ɰd=鰅7> )PCIy(@m$_?4xrbٱMt=Y»QU?a"Hy} ?I 5?ݾ 6? ?9A8: :)WWX XWX:W2W*WVbU BU *U U U ` @R(Combining 5 samples.P!*Q%(@ZQ%cq @Յ&JQ%m$_?4xrb2Q%'g :Q!bQ%*>\ &s3@`|?RQ%a=#տV?%F?BQ%oI? Q%@Q%P!P!P!Q!Q%3@"Q%*@BQBY BYA]*BYAYAYAaAa"Ci*CiRCiCiCiQIYG}=imGIi޿ٺ  Aܑ 9ܑ Iܕ @Fiܕ ?ܕ =ܑ ܑ ܕ Y; ݕ +E    |  .:Y y  45) ;/򬜙,LrfFAY}6.@}6K0@y}6k?`}6ٽ}6H;|Ury?d?@{ ˿@? o(?)~6.@ ~6-_;I~6Cɫ19)9 9I9Y2?ysF)E= E>uՉ<Mu>=Y}a"HHy$}>I : 5? :mݾ ̡? ?9AA$k; c;):mMqAdded new target pos. range: 4.380000 m, bearing: 109.796104 deg, deltaT: 4.415668 s, approachRate: 0.013588 m/s, LOS rate: -0.489261 deg/s, posRepo size: 4XIWUoI?WQXQ XQWQXQ:WQ2WY*WYVYbUYBUa*UU@Uh?BB BAa*BAAAA"C%)?RC!C%oI?C)IG J>Jس,h rfFAY}> .@}> @y}>S}>RԽ}>H Q`?@w?@ʿCO?@V &?)~> .@ ~>^;I~>CɫYY)Y YIYY?yF%DNmea in: $SNTTA,,,,,224842.12*57 } } } @ @ @ÁÁÁiÁÁ ā)āIāiā5MI=Ya"Hy}>Iȩŭ 5?ŭ<ݾ ƭf? ?9ƭAǭ^: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU`?B!B! B!A%*B!A)A)A)A)"C5G]?RC1C1C9 IG5 > ~ { {   t):Y #R1y : 59 @o,rfFAY}:-@}:@y}:-yS}:d}:HlA@)?`ǁ?'ǿ%??]`;?)~:-@ ~:3\;I~8ɫ99)9 9I9Y}?y}NFR=i="=MR=Y:QU>!!a%"H!)y-|}->Iȉō6 5?ō ݾ ƍ? ?9ƍAǍA: ȍo:)ȉWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C q?*CRCCCQ9QIQiQU=QQUzY; U*E IGm>I ) @AP,sfFAɫyy)y yIyY*?yF rh?X9v?I +?C=}= 9=)Iy&1?Mb?Mb`P== ;A)WAIC/AimA(LA } } } }@ }@ }@yyyiyy y)yIyiy $<M5=YQU>a"Hy}>Iȩ :ŭ 5? :ŭݾ ƭF? ?9ƭaAǭ: ȭb:)ȭ:WWX XWX:W2W*WVbUBU*UUU2?BB BA*B!A!A!A!A!"CoI?*CRCCC?i?IGI>  ~ ~   w2:Y T1y @: E5wǜ,sfFAY}6\6.@}6Q@y}6h}6ZÇ}6Hqz@+&[?@N?"}ȿ`(?{`?)~6\6.@ ~6q[;I~6Cɫ99)9 9I9Y}?y}F=Me=YoQU>!!a%"H!)y-;O<}->I157 5?5ݾ 5? E?95A5k: 5:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUyU}?@BB BA*BAAAA"C*CRCCC׉IG=1 91 I5 Fi5 E?5 =1 1 5 UY; 5 *E)ň۔CIň۔Ciň=ň=ň4>͜,7sfFAY}>1.@}>OM@y}>(#e}>cH½}>H F~ iC@^?T?˿`[g??)~>1.@ ~>\;I~<ɫYY)Y YIYY}m?y}FI)IUR=)U=vMB=Y a"Hy ,}>I : 5? %:ݾ ? -?9"A; ;):WWX XWX:W2W*WVbU!BU!*U!U!UM@BB BAR*BAAAA"C*CRCCCסIGA> =i = Z  | |   jO:Y R1y i: F6|&Ԝ,bhQsfFAY}6L.@}6׳@y}6j!Z}6}6H +W( ?@8? yW`̿?c`i?)~6L.@ ~6^;I~4ɫ99)9 9I9Y}E?y}F    @ @ @i )IiMV=Y&a"Hy`<}>I  / 5? uݾ 7? ?9 ~A A: {:) W9W9X9 XAWAXA:WA2WA*WIVIbUIBUI*UIUQU@RB*** querying acoustic contact ***PPBB! B!A%*B!A!A!A)A)"CQ*CQRCQCQCYIi)iiIqG>Qڜ,GksfFAY}6F/@}6=b@y}6%Q}6Ͻ}6H@2? ?@u0ʿ`-?f@#+?)~6F/@ ~6u];I~6CɫAI)I IIIY}?y}FZ****** received transponder code query ******F****** received ping request ******a"HyC<}>I  : ' 5? : Sݾ |? ?9 A ; ;) :WAWAXA XAWAXA:WI2WI*WIVIbUIBUQ*UQUQU]` @BB BA&*BAAAA"C*CRCCC9Ii=_X; a*EaIqG  } }   ?,:Y kS1y Ԋ: 45) ;9 .9᜙,!sfFAY}6T/@}6@y}6mS}6}}6H }2??N>ƿ`=?B?)~6T/@ ~6P\;I~6Cɫ99)9 9I9YC?yVFxDUSBL response received:!U1,P 270,000,002BA,189,80,80,D0,FF Command AckBRequesting micromodem ping code 2i=i>Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 11#~j?zGế~jtx?= ׽ ;)IyQ?MbP?~jt?<:< a"Hyj<}>I. 5?ݾ )? ?9Af: :)WWX XWX:W!2W!*W!V!bU!BU)*U)U)U-R&@BB BA*BAA A A "C*CRC!C!C)QIYG>I ) BATb眙,sfFAY}6/@}6$@y}62uW}6=c}6H`Fz?`9?Hſ?ϫ>?)~6/@ ~6A[;I~6Cɫ99)9 9IAY]?y]UFaɮaNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B u=Mu=Y}ZQU}?ya"Hy*}?Iȑ :ŕ 5? :ŕݾ ƕ? ?9ƕ7AǕw: ȕ+:)ȕ:WWX XWX:W2W*WVbUBU*UUU`@@BB BA ̓*B A A A A"C*CRCCC IG5 >9IiW; *E5  5 {5 {5  5 5:Y5 #R1y5 :5 =6)5 ;휙,ָsfFAY}6/@}6l7@y}6U}6۽}6Hn @9? ?)ʿ u?S` ?)~6/@ ~6[[;I~6CɫAA)A IIIY?yFxDUSBL response received:!U1,R,265,000,002BB,188,80,80,C6,FF Fpublishing direction and range info ɰ e=鰥> )FCIy@!Ж?+R 8PٱdNmea in: $SNTTA,0.063430,0.175674,,,224846.48*58 5pWM=O=YEK;QUM>QYa]"HeHiy-}5>I9=ۭ 5?=aݾ =o? E?9=dA=U: =:)9WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q@ZQ{Ɏ@qfbJQ!Ж?+R 8P2Q :QbQ @YXNq?RQSsֿz^ ?7U?BQDH? Q@Q^ǿPQ9?PPQQ18@"Q3@BaB BAx*BAAAA"C*CRCCCסIGA>t,ٯsfFA|i|Y}6.@}6 @y}6L}61}6H@S@$D?:?s@'˿`mr?ǿ'?)~6.@ ~6ͮ^;I~4ɫiq)q qIqY?y;FI!)!)5= 5= } } } }@ }@ }@yyyiyy y)yIyiygME=Y~a"Hyu}>Iȩŭ" 5?ŭݾ ƭ? ?9ƭAǭ1: ȭI:)ȩmemAdded new target pos. range: 4.440000 m, bearing: 111.136931 deg, deltaT: 4.503150 s, approachRate: 0.013324 m/s, LOS rate: 0.297753 deg/s, posRepo size: 4XaWeDH?WaXi XiWiX:W2W*WVbUBU*UU`@U*?BB  B A *B A AAA"C?RCCDH?C!I)GM1>5 ? 5 z5 z5  5 a:Y5 Q1y5 :5 59= @ iM mGIa iy ٺ A,sfFAY}6H.@}6{d@y}6}C}6}6H H@?`m?@:@~ǿBP? E@M?)~6H.@ ~6hl^;I~4ɫ99)A AIAY?yFa9aIaiae=aaeV; e)E}M}J=Y}ia"Hy7}>Iȑ :ŕc 5? :ŕƣݾ ƕ? ?9ƕAǕ: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU+?BB  B A „*B A A AA"C?*CRCCCבIG&>,0ftfFAY}6[.@}6w@y}6>}6M}6H&qY?|_?)~6[.@ ~6|\;I~6CɫYY)Y YIaY?yF rh? ףp= ǿ㥛 ?C >Q8 =)Iy~jtI +?Zd;O?D9<j<= µ:A)±I±iµhiA\KA        @  @  @   i   ) I i <M%B=Y%v?))a-"H)1y50;}5>I9=e 5?=ݾ = ? M?9=A=: =:)9WiWiXi XiWqXq:Wq2Wq*WqVybUyBUy*UyUU)?BB BA*BAAAA"CDH?*CRCCCIG$>5 5 {5 {5 g 5 @:Y5 #R1y5 :5 5,FA tfFAY}6Ѫ.@}6[@y}6>(9}66p}6Hx`L?tQ?ſ?LAg?)~6Ѫ.@ ~6[;I~6Cɫ) IY ?y Fyy;M4=YAa"Hy.<}>I :g 5? :[ݾ ? ?9+A0: :):WWX XWX:W2W*WVbUBU*U U U o?B1B9 B9A=t*B9A9A9A9AA"CI*CIRCICICQe?ie?YIiGa>y9}ܔCIyiy}=yy} V; }))E ,:tfFAɫ髁) IYX?yF==M=|=Y=QU= ?AAaE"HAIyM}M ?IQUh 5?Uݾ UC? e?9UUAU: U:)QWWX XWX:W2W*WVbUBU*UUU t?BB BA*BAAAA"C*CRCCC׹IGE>5 5 }5 }5  5 ?:Y5 kS1y5 Ԋ:5 5,StfFAY}>/@}>^!@y}>.}>}>H D O]?`6? vNƿm?ડLh?)~>/@ ~>-[;I~>CɫYY)Y YIYY}?y}FuMuF=Y}ya"Hy]<}>Iȑ :ŕc 5? :ŕݾ ƕn? ?9ƕAǕ: ȕ$:)ȕ:WWX XWX:W2W*WVbUBU*UUU@BB BAx*B A A A A "C*CRCCCIG>,mtfFAY}6.@}6@y}6A%}6_}6H qF?CK?@ŒĿ?㳿 {?)~6.@ ~6];I~6Cɫ99)9 9I9Y}?y}̒F?Ac=MY=Yƾa"HyM}>IȹŽ^ 5?Ž]ݾ ƽp? ?9ƽAǽ=: Ƚϸ:)ȹWWX XWX:W2W*WVbUBU*UUU@R B*** querying acoustic contact ***P P !9%۔CI%xFi%?!!!%U; %(E)ݱIݱiݱݵ=ݵ=ݵ5BB BA*BAAAA"C*CRCCCI)^AIG>5 5 {5 {5  5 &2:Y5 #R1y5 :5 35)5 $;9= !,뭇tfFAY}R.@}R1@y}R}RA}RHf@ݲ? e?`ÿ`a"HyL»}>Iș :ŝ 5? :ŝ~ݾ Ɲ˳? ?9ƝAǝ/; ȝ½;)ȝ:W W X  X WX:W2W*WVbUBU*UU!UE 3 @BB BA*BAAAA"C*CRCCC׹IGf>',ʈtfFAY}6".@}6@y}6}68}6H@k@0?g?"@;[¿?n ?)~6".@ ~6R@\;I~6Cɫ99)9 9I9Y;?yFxDUSBL response received:!U1,P 265,000,002BB,188,80,80,C6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 j/=M%r=Y5V|!9!I%Fi%v?%=!!%UT; %?(E5 5 z5 z5  5 +:Y5 Q1y5 :5 j5)5 ;?).,betfFAY}>p.@}>@y}>\}>{x}>HNf?`xZ?@@W\[?º@e?)~>p.@ ~>_t[;I~>CɫYY)Y YIYYp?yrFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m MmE=Ym#qqa}"Hyyy;}>Iȉō_ 5?ō+ݾ ƍb? ?9ƍAǍY; ȍ3;)ȉWWX XWX:W2W*WVbUBU*UUUY@BB BA*BAAAA"C *C RCCC%?i%?IG>s5,=tfFAY}6S/@}6?o@y}6 }6 }6H< ?3? X6@'? S?)~6S/@ ~6[;I~6Cɫ99)9 9I9Y}?y}qFxDUSBL response received:!U1,R,286,000,002B9,189,80,80,C5,FF Fpublishing direction and range infoZQɰdd=鰅7> )ECIy=@b ?r"jٱf=MW=Y-a"Hy<}>I : 5? :ݾ ? ?9A: :):WWX XWX:W2W *W V bU BU *UUU@R%(Combining 5 samples.P)*Q-=@ZQ-c(U6 @nSHwJQ-b ?r"j2Q-ZQ:Q)bQ-¬V6|# @ :?RQ-ǖ<ݾտ7?W#ze?BQ-0? Q-Q@Q-ỿP)P-Q9?P)Q)Q- @"Q-18@BQBY BYA]**BYAYAaAaAa"Ci*CiRCiCCױIG#>5 5 }5 }5  5 @:Y5 kS1y5 Ԋ:5 O69= @=;,%tfFAܹ9ܹIܽXFiܽ?ܹܹܹܽS; ݽ'Eɫ)1)1 1I1YU?yUFDNmea in: $SNTTA,,,,,224850.91*5F } } } @ @ @áááiáá ġ)ġIġiġcM%=Y-QU->Yaam"Hiqyu}u>Ișŝ 5?ŝ;ݾ Ɲ? ?9Ɲ)Aǝ: ȝ:)șmuAdded new target pos. range: 4.319999 m, bearing: 110.105163 deg, deltaT: 4.385513 s, approachRate: -0.027363 m/s, LOS rate: -0.235267 deg/s, posRepo size: 4XW0?WX XWX:W!2W!*W!V!bU)BU)*U)U-G@U-,?BB BAɄ*BAAAA"C0?RCC0?CI)]AIG%>'$B,ufFAɫ髱) IYv?yFQ?SÿK7A?=  >)Iy~jtl?Mbp?D; )I5Ai\AEA)= >=Mo=YQU?a"H!y!}-?I1 =:5 5? =:5Lݾ 5? =?95yA5: 5:)5:WYWaXa XaWaXa:Wa2Wi*WiVibUiBUq*UqUqUu= c = |= |=  = ;:Y= R1y= i:= X5pNH,"ufFAY}J).@}J@y}JJk}J-<}JH@5?` p?qJzW?2$@@?)~J).@ ~J\;I~JCɫ髡) IY?yՒF m m m m@ m@ m@iiiiii i)iIiii};M}T=YQ0a"Hy=}>I 5?ݾ ô? ?9A=: :)W W X XWX:W2W*WVbUBU*U!U!U%?iIiyٺAB9B9 BAAE*BAAaAaAiAi"Ci*CqRCqCqCqyIG<>9IȖFi?=R; q'E0wN,Ka"Hy9\}>I : 5? :ݾ ? ?9? A: :):WiWiXi XqWqXq:Wq2Wq*WyVybUyBUy*UyUUҐ?BB BA؃*BAAAA"C*CRCCCU?iU?!I)GM1>   ):Y y 5`U,VufFAY}>`.@}>@y}>i}>}>H~?<}?`¿P?඿֟?)~>`.@ ~>P[;I~>CɫQQ)Y YIYYv?yF))UMUQ=YUYYa]"HYayeR}m>Iqu 5?u9ݾ uL? }?9u Au4: u :)qWWX XWX:W2W*WVbUBU*UUUN@BB BA*BAAAA"C*CRCCCIG>[,apufFAY}6!C.@}6^@y}6EX}6t}6H 5`,??``( X?+?)~6!C.@ ~6]\;I~6Cɫ99)9 9I9e>9aIe8Fie?aaaeR; e'EY}?y}pFc<MN=Y_!!a%"H!)y-}->I : 5? :ݾ ? ?9!AY; ;):WWX XWX:W2W*WVbUBUI*UQUYUe @RB*** querying acoustic contact ***PPBB BAƒ*BAAAA"CA*CARCACICIAIiG^>  q l3:Y y 5) >;9 =rb,BufFAɫ髑) IYE?y0FZ****** received transponder code query ******F****** received ping request ******}o }j<)yIyy}kt?X9v?Zd;O?} 0=}<}j<= }?A)}NAI}=4Ai}rZAy}3GA    @ @ @ i?  ?)?I?i?޻M0=YQU>a"Hy } >I5 5?ݾ ׶? ?9d!A: :)WWX XWX:W2W*WVbUBU*UUUS@BBA BAAE܃*BAAAAAAIAI"CI*CQRCQCQCQI׉)׍^AYIaGY>h, ufFAY}6!$.@}6?@y}6 }6Wjּ}6H`??`̧? (b?ۊԮ?)~6!$.@ ~6;];I~6Cɫ99)9 9I9Yt?y%FxDUSBL response received:!U1,P 286,000,002B9,189,80,80,C5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ) >  >=M%o=Y-piQU5?AIaU"HUHayuI}}>Ișŝ 5?ŝݾ Ɲ%? ?9Ɲ!Aǝr; ȝ;)șWqWqXq XyWyXy:W2W*WVbUBU*UUU؈ @BIBI BIAM*BIAQAQAQAQ"CY*CYRCYCYCaIyG^>m>9iImȖFim?m=iimfQ; m&E)IiO5  z z   4:Y Q1y : 5) j;n,ufFAY}fK.@}fWg@y}fa}f}fH@6yد?m? ?Vʯd?)~fK.@ ~f$[;I~fCɫ) IY *?y F-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @ @i )IiM==YsQU>a"Hy +;} >I : 5? :ٲݾ ӻ? ?9"A: :):W9WAXA XAWAXA:WI2WI*WIVIbUIBUQ*UQUQUU@g @BB9 BAAE#*BAAAAAAAAI"CI*CQRCQCQCQ9IIGm6>u,[ufFAY}6E.@}6#@y}6*}6Q}6H@-Ȣ? Q?` Zǿl?}ɾ`n?)~6E.@ ~6 [;I~6CɫYY)Y YIYYE?y0F鮙ɮxDUSBL response received:!U1,R,2A1,000,002BC,189,80,80,BD,FF Fpublishing direction and range infoYɰ`e=鰡 )=CIy@JU?vVٱ^}M`=Y0"a"Hy8}>Io 5?ݾ ? ?9M"Ar: :)WWX XWX:W!2W!*W!V!bU!BU)*U)U)U-@)@R=(Combining 5 samples.PA*QE@ZQE}g @ВJQEJU?vV2QEY:QAbQEz$Nշ<@@k?RQE5@Otҿt9?F]C?BQE9? QE@QEtPER9?PAPAQAQEV-@"QE @BB BA܃*BAAAA"C!*C!RC!C!CIYi]?)I1GU> ! { {  ":Y #R1y : j59 @A{,dufFAY}j/-@}j@y}j7 }jӪ}jH@@?`\?g]ɿK?`?)~j/-@ ~j];I~jC9Ii=[P; $&Eɫ19)9 AIAYX?yFUTNmea in: $SNTTA,0.006115,,,,224854.96*41 /$?EԸ rh>ƽ C )Iy{GzYYa]"HYYye,}e>Ii u:m 5? u:mӳݾ m? }?9m"Am#: mo:)m:mqAdded new target pos. range: 4.500001 m, bearing: 107.530209 deg, deltaT: 4.043483 s, approachRate: 0.044517 m/s, LOS rate: -0.636816 deg/s, posRepo size: 4XW9?WX XWX:W2W*WVbUBU*UU@@U8?BB BA*BAAAA"C?RCC9?C  I G- >_,' vfFAɫ髙) IY?yTFu/=M}=Y}QU}6?a"Hy}6?Iȑŕ 5?ŕ/ݾ ƕ~? ?9ƕ"AǕM: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUUvy?BB BAf*B A A A A"CxX?RCCCIIQGu>] ] }] }]  ] +:Y] kS1y] Ԋ:] W5%鈝,_%vfFAY}6k..@}6I@y}6U}6}6He P?ĝ?@.*ÿv?2%ஐ?)~6k..@ ~6"^;I~6CɫII)I IIIY}?y}KFHMQ=YQU>!!a%"H!)y-df<}->I1 =:5ܦ 5? =:5ôݾ EtI 5G? E?95"A5: 5:)5:WaWaXa XiWiXi:Wi2Wi*WqVqbUqBUq*UyUyU}Y?BB BAi*BAAA)A)"C5?*C9RC9C9C9Ii)m]A)I1Ge>9IFi1?{O; %El,??vfFAY}6wA.@}6]@y}6m}6d_}6H|??`wΙ?Δ`X?)~6wA.@ ~6+];I~4ɫ99)9 9I9Yi?yF)%= %= m m m m@ m@ m@ u@iiiimi i)iIiim;MD=Y؇QU>a"HyX6;}>Ișŝ 5?ŝaݾ Ɲ? ?9Ɲ"Aǝ^: ȝw:)șWWX XWX:W2W*WVbUBU*UUU/?BB BAS*BAAAA"C9?*CRCCCסIG">= b= x= x=  = 9':Y= 7P1y= := !5,YvfFAY}N.@}N$/@y}Nj}N}NH?`\? 5`¿?`I`3?)~N.@ ~NM\;I~NCɫyy)y yIyY2?y“FuAMuK=Y}W:QU}>yya"Hy}>Iȑŕ' 5?ŕݾ ƕؼ? ?9ƕ*#AǕ': ȕ:)ȑWWX XWX:W2W*WVbUBU*UUUO@BB BA*BA A A A "C*CRCCC IG5 >CiNmGIiٺXAk%,rvfFAY}6.@}6@y}6}6qŽ}6H>@)XA?Z?VWſ?Y_?)~6.@ ~6k[;I~6CPR_AT9TITiTTTTV`N; V%EɫYY)Y YIYYer?yeKFRiMF=YeFa"Hy /}5>II :MM 5? :Mݾ M? ?9MY#AM< Mb<)M:WWX XWX:W2W*WVbUBU*UUU@@BB BAу*BAAAA"C*C1RC9C9Ci?i?יIGb>  | |  "6:Y R1y i: 5) ;9 4 ,̌vfFA-6Could not parse latch stateɫ)))) )I)Y?yF U r?I +?/$?UC>U94< U<)QIQyUˡEV-?MbP?U'Ua"Hy}}}>Iȁ :Ņ 5? :Ņݾ ƅ? ?9ƅ#ADžV: ȅ:)ȅ:WWX XWX:W2W*WVbUBU*UUU @@RB*** querying acoustic contact ***PPBqBy ByA}*ByAyAyAA"C*CRCCCיIG>8,vfFAY}6*#.@}6>@y}6?)}6 }6H`P @a ?`? C@K?ʯD?)~6*#.@ ~6 ^;I~6Cɫ99)9 9I9Yu?y}F}Z****** received transponder code query ******F****** received ping request ******ܡ9ܡIܡiܡܡܡܡܥM; ݥ$E   N2:Y y !5) G;L,EvfFAY}6-@}6@y}6S}6ے}6Hշ>`os?@?͛_ĿV?h`υ?)~6-@ ~6 ];I~6Cɫyy)y yIyY?y8FxDUSBL response received:!U1,P 2A1,000,002BC,189,80,80,BD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 } } } @ @ @yyyiyy y)yIyiy<M,=Y QU>a"Hy G} >I 5?ݾ ]? ?9[$A: 4;)WWX XWX:W2W*WVbUBU*UUU_ @B)B1 B1A=q*BYAaAaAaAi"Cq*CRCCCI)\AIG>RI,]vfFAY}6-@}6@y}6}6O}6Hݳ@OAv?`?Tm@cǿ-? @:q?)~6-@ ~6[;I~6Cɫ99)9 9I9YT?y9FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U M]|=Y]? x x  :Y 7P1y : 259 @s,6;vfFA$9$I$i$$$$&L; &P$E)Ii = = `4Y}bE-@}b(a@y}b2}b½}bH gk?z?7tĿ ?@w`?)~bE-@ ~b@q[;I~bCɫ髡) IY?yF=xDUSBL response received:!U1,R,2A5,000,002B9,189,80,80,C1,FF EFpublishing direction and range infoF>ɰdd= )ACIy=@LTq?ٱMb)\(99a="H9AyE3}E>IIM 5?Mݾ M|? }?9M$AMǸ; Mb;)IWWX XWX:W2W*WVbUBU*UUUS@R(Combining 5 samples.P*Q=@ZQ;2 @-~8()@JQLTq?2QF>:QbQ(T R@2̥d ?RQjҿ'8!9?V gj?BQM? Q@Q`PPR9?PQQ%@"QV-@BqBy ByA}*ByAyAyAA"C*CRCCCש I G >Q[Ý,<wfFAɫ髙) IY$?yFEdNmea in: $SNTTA,0.025684,0.346987,,,224859.40*50 =M=YQU-?a"Hy}0?I1 =:5 5? E:5Wݾ 50? E?95$A5: 5:)5:muuAdded new target pos. range: 4.319999 m, bearing: 106.669141 deg, deltaT: 4.632556 s, approachRate: -0.038856 m/s, LOS rate: -0.185873 deg/s, posRepo size: 4XqW}M?WyXy XyWyXy:Wy2W*WVbUBU*UUG@U?BB BA*BAAAA"C0?RCCM?C׉IG> n y y z Q:Y P1y ': 5ɝ,'wfFAY}6 ,@}6@y}6.}6 }6Ho@'?;?lǵ?S)?)~6 ,@ ~6_;I~6Cɫ99)9 9IAY|?yF=i=  =;M=P=Y=AAaE"HAIyMk}M>IQUܨ 5?Uݾ U"? e?9U$AU: U:)QWWX XWX:W2W*WVbUBU*UUU.?BB BA*BAAAA"CM?RCCCשIG>I9IIIiIIIIML; M#EI- @A)- @AHmН,\AwfFAY}>,@}>@y}>}>䑼}>HmF|`r5?D?`Y@R?' ջ?)~>,@ ~>];I~<ɫYY)Y YIYYA?y˓F    @ @ @ÑÑÑiÑÑ đ)đIđiđMC=Y9;QU>a"Hy_}>I˨ 5?ƹݾ .? ?9$A: :)WWX XWX:W2W *W V bUBU*UUUC?BYBY BYAe*BaAaAaAiAi"Cq*CyRCyCyCIG )>] Y Y ]  ] 2:YY yY ] 6֝,w[wfFAY}6,@}6H@y}6" }6g8}6H ~w=?+? @_L?⦿`?)~6,@ ~6\;I~6CɫIQ)Q QIQY?yF-M-R=Y5QU5>11a="H99yE<}E>Iș :ŝ 5? :ŝݾ Ɲ1? ?9Ɲ%Aǝf: ȝ:)ȝ:WWX XWX:W2W*WVbUBU*UUU.?B B  B A  *B AAAA"C*CRCCC!YIiG>9 99 xܝ,ˆuwfFAIuXFiu?qqquLK; uv#EY}j-@}j3@y}j[v}jcӞ}jH@̏q?;?~`@¿p??)~j-@ ~j[;I~hɫ) IY5?y=FMJ +?ˡEI +?MH=M' M94=)IIIyMy&1|?/$~jt?M`;MMD< M3CA)MIAIM6AiMWAIMFA)] > ]>m<Mm8=Ym;MQUm>qqau"Hqyy}<}}>IȁŅ 5?Ņ ݾ ƅ? ?9ƅ'%ADž;: ȅ:)ȁWWX XWX:W2W*WVbUBU*UUU@?BB BA*BAAAA"C *C RC C C!I1Ge3>! i% =㝙,^wfFAY}6,@}6w@y}6^B}6}6HyW?? z@?GҲ`S?)~6,@ ~6O:[;I~6CɫYY)Y YIYYr?yKF m u u u@ u@ u@qqqiqq q)qIqiq{ MZ=Y :QU>a"Hyh}>Iȡ :ťP 5? :ťݾ ƥ? ?9ƥF%Aǥ : ȥ:)ȥ:WWX XWX:W2W*WVbUBU*UUU`P @BB BAу*BAAAA"C!*C!RC!C!C)=?i=?)I1Gu>5 5 v5 v5  5 J+:Y5 N1y5 :5 5静,37wfFAY}62,@}6@y}6}6נz}6Hy`^W?@+?{=@?`@?)~62,@ ~6W[;I~6Ci /mGI)iAɫYY)Y YIYY_?ٺAyݓF鮝p=ɮ=r<MT=YQU>a"HH y Ȼ} >I 5?;ݾ _? %?9g%A: U:)WaWaXa XaWaXi:Wi2Wi*WiVibUBU*UUUB4@RB*** querying acoustic contact ***PPBB BA*BA AAA"C*CRCCC!1IQGi9IFia?J; -#E,wfFAY}>,@}>@y}>: }>}>Hoi`yũ?`S;?`RCÿP?7?,?)~>,@ ~>^;I~>Cɫai)i iIiY};?y}FZ****** received transponder code query ******F****** received ping request ******a"HyL}>I  :  5? : Ϸݾ ? ?9 %A  ; ;) :WAWIXI XIWIXI:WQ2WQ*WYVYbUYBUa*UaUaUm@c@BB BA*BAAAA"C*CRCCCAIIGe4>5 35 |5 |5  5 y#:Y5 R1y5 i:5 5,wfFAY}6,@}6,@y}6 }6%}6H@b}f?`!D?L@%ƿ`sC?羿x?)~6,@ ~6)J];I~6Cɫ99)9 9I9Y]?y] FexDUSBL response received:!U1,P 2A5,000,002B9,189,80,80,C1,FF eCommand AckeBRequesting micromodem ping code 2iaauNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 U U U U@ ]@ ]@QQQiQQ Q)QIQiQ0)M2=Y[g:QU>a"H)1y=;}=>IQU? 5?URݾ U? ?9U%AU< U<)QW)W)X) X)W)X):W12W1*W1V1bU1BU9*U9U9U]e @BB BA*BAAAA"C*CRCCCI1G]v> 9 I ȖFi ? = :J; "Eg,8wfFAY},@}~@y}3- }i}Hnufߘ?#6?p!@ ǿ`>8?Ew?)~,@ ~\;I~Cɫ髩) IYx?ya"Hyk;}>I  : 1 5? : ݾ p? ?9 %A :  :) :WWX XWX:W2W*WVbUBU*UUU@@B1B9 B9A=*B9A9AAAAAA"CI*CIRCICICyiIyG>- - {- {-  - C3:Y- #R1y- :- F6)- ;95 ,wxfFA|i|@Y}:f,@}:@y}: }:|ࣽ}:H T` ;?VU?@I¿nJ?sF?)~:f,@ ~:\;I~:CɫYY)Y YIYYi?y3FxDUSBL response received:!U1,R,2A0,000,002B9,189,80,80,D0,FF Fpublishing direction and range infoQ ɰ鰡 )PCIywJ?f )bٱPNmea in: 224904,COPROC,0.20.0.39330*72 Response from modem failed NMEA checksum: 224904,COPROC,0.20.0.39330*72 expected 0I=)úM=YQU?a"HyL}?I, 5?ݾ s? ?9&A: :)W!W!X) X)W)X):W)2W)*W1V1bU1BU1*U9U9U=@RM(Combining 5 samples.PI*QIZQMb' @DQ JQMwJ?f )b2QMQ :QIbQMON\d@g8?RQMTѿ[?F ?BQM*? QM%@QMPIPIPIQMQMn @"QM%@BYBa BaAe*BaAaAaAiAi"C*CRCCCIG (>! ,*xfFAY}J<,@}J2X@y}J f}J%P#}JH!B@K? a?]8w?4@=?)~J<,@ ~JҴ[;I~JCɫii)i iIiYL?y F M M M M@ M@ M@IIIiII I)IIIiIe MeB=YeVQUe>iiam"HiqyuNĻ}}>Iy}- 5?},ݾ }? ?9}7&A}$: }:)ymqAdded new target pos. range: 4.319999 m, bearing: 106.160210 deg, deltaT: 4.256864 s, approachRate: 0.000000 m/s, LOS rate: -0.119555 deg/s, posRepo size: 4XW*?WX XWX:W2W*WVbUBU*UIUQUU`?BB BA*BAAAA"C*?RCC*?CIG$>܉9܉I܉i܉܉܉܉܍sI; ݍ|"E)!I!i!!!%}45  5 z5 z5  5 H:Y5 Q1y5 :5 E5)5 ;a ,xaDxfFAɫ髡) IY?yFmXMG=YQU>a"Hy}>Iȹ :Ž. 5? :Žѹݾ ƽS? ?9ƽf&Aǽ(; Ƚb6;)Ƚ:WWX XWX:W2W*WVbUBU*U U U ?BB BA&*BAAAA"C*CRC C C I G%,>3,5^xfFAY}V_+@}V@y}V¸}Ve}VH @?X}?LM? 1a?)~V_+@ ~V^;I~Tɫyy)y yIyYI?yGF aaL`MJ=YuyQU>a"Hy U}>I2 5?uݾ ? %?9&A{; ;)WWX XWX:W2W*WVbU!BU!*U!U!U-]?BQBQ BQAUۅ*BYAYAYAYAY"Ca*CRCCCׁIG=>5 5 {5 {5  5 :Y5 #R1y5 :5 69= @ܹ 9ܹ Iܽ 8Fiܽ ?ܹ ܹ ܹ ܽ H; ݽ "Ea,K!xxfFAɫ髉) IYv?ybFQ?S㥛?(\>/< )Iyy&1?L7A`堿 rh?`e<+C< @A)+MAIh3Ai\A\GA - - - -@ -@ -@)))i)) )))I)i)=4;M=&=YEQUE>AAaM"HIIyU}U>IY e:] 5? e:]ݾ ]? e?9]&A]+: ]:)]:WWX XWX:W2W*WVbUBU*UUU:?BABI BIAMЅ*BIAIAQAQAQ"Cq*CyRCyCyCyI׉)׍]AiIyG>E$,xfFAY}J ,@}Jd)@y}J(}JL,}JH``@R?_?@VG ?g=?)~J ,@ ~J8\;I~JCɫ髉) IY?yF=<M==YEjQUE?AAaE"HIIyM<}U?IY] 5?] ݾ ]? e?9]'A]: ]:)YWWX XWX:W2W*WVbUBU*UUU@=@BB BA*BAAAA"C*CRCCCIIQGm>5 5 }5 }5  5 p:Y5 kS1y5 Ԋ:5 6o*,aƫxfFAY}>,@}>2/@y}>1}> v}>H  ʷ?U?0p!Ŀ`?j\ &v?)~>,@ ~>[;I~<ɫ99)9 9I9Y}?y}FI)IC=)R=M[MMI=YUQUU>QYa]"H]HYyed:}e>Ii u:mt 5? u:mUݾ m? u?9m;'Am_: m:)m:WWX XWX:W2W*WVbUBU*UUU}@BB BA*BA A A A "C*CRCCC IG5 >191I5pFi5M?1115UH; 5!E Y1,/xfFAY}J+@}J)@y}J?U9}Jof}JH`T@?j?E)fĿT ? Qqm?)~J+@ ~Jz5\;I~JCɫyy)y yIyY?yЍFɮa= E E E E@ E@ E@ MAAAiEG?A EK?)E?IE?iE&?] MB=YCQU>a"Hy1}>I 5?ݾ ? ?9v'AI: @:)WYWaXa XaWaXa:Wa2Wi*WyVybUBU*UUU@RB*** querying acoustic contact ***PPBB BA *BAAAA!"Ca*CRCCCם?iם?YIiG:>5 5 z5 z5 a 5 4:Y5 Q1y5 :5 k57,p|xfFAY}6S+@}6qo@y}6C}6}6H5 @s^?@z? xÿ L?}`4e?)~6S+@ ~6)^;I~4ɫII)I IIIY]?y]lFeZ****** received transponder code query ******eF****** received ping request ******ma"HyԜ}>I  :U 5?  :ݾ ? ?9'A: #;):W1W9X9 X9W9X9:W92WA*WAVAbUABUA*UIUIUM @ByBy ByA}4*BAAAA"C*CRCCCiIqG>QUCimGIiٺAm?9mAA 9A IE 8FiE ?A A A E H; E !E6=,VaxfFAY}5+@}5;7@y}55Q}5}}5H GF?`D?Oƿ?? PF?)~5+@ ~5!*];I~5Cɫ) !I!Y5?y=FUxDUSBL response received:!U1,P 2A0,000,002B9,189,80,80,D0,FF ]Command AckeBRequesting micromodem ping code 2iai=iR>Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 y&1X9v rh?`e C=)Iyy&1|~jt~jt?`廹ļD< ^BA)NAI0AijdApIA    @ @ @ @éééiíé ĭ)ĭIĭiĭM=Y シQU5>99aE"HAIyu6}}>Iȉōq 5?ōݾ ƍ? ?9ƍ'AǍ; ȍW;)ȉWWX XWX:W2W*WVbUBU*UUUz@B B  B A *B A! A! AA AA "CI *CI RCI CQ CQ I! )! = = w= w=  = 0:Y= O1y= P:= 6)= ;9E Y Ii G >D,2yfFAɫ髙) IY?yF-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B  M=YQU(?a"Hy}/?I 5?iݾ >? ?9'A: 0:)WWX! X!W!X!:W!2W!*W)V)bU)BU1*U1U1U5mG@BaBa BaAĕ*BaAiAiAiAi"Cq*CqRCqCqCyױIG>TJ,-yfFAY}J,+@}J[H@y}J>\}J.A}JH\))??`nʿQ? @:#?)~J,+@ ~JS[;I~JCɫyy)y yIyY ?yoFxDUSBL response received:!U1,R,258,000,002B8,188,80,80,D5,FF Fpublishing direction and range info ɰd=> )UCIyQ@\oz?-Bٱ)= > RM X=Y:QU%>99aE"HAAyMU2;}M>IQ ]:U 5? ]:U-ݾ U? e?9U&(AUR: U:)U:WWX XWX:W2W*WVbUBU*UUU`@R(Combining 5 samples.P*QQ@ZQ8~ @6'= JQ\oz?-B2Q :QbQoy`@r@=9Y?RQJ>bӿŸa`?z 37?BQ? Q|@QCPPPQQ.@"Qn @BB BAk*BAAAA"C*CRCCCAIQGm>9IȖFi?=bG; d!E-  - {- {-  - us:Y- #R1y- :- |5)- ;=Q,FyfFAY}6*@}6'@y}6'\}6od}6HDzbh1y?`@?0@ȿ`c? U2?)~6*@ ~6h0[;I~6Cɫ) IY ?y [FuTNmea in: $SNTTA,0.007562,,,,224908.32*42 Iq)qIa=)=    @ @ @i )Ii<M$=Y敺QU>a"HyA}>I 5?ݾ ?  ?9Y(As: :)m=qAdded new target pos. range: 4.259999 m, bearing: 108.250849 deg, deltaT: 4.456196 s, approachRate: -0.013464 m/s, LOS rate: 0.469153 deg/s, posRepo size: 4X9W=?WX XWX:W2W*WVbUBU*UU = @U @[?B9BA BAAE *BAAAAAAAAI"CMi?RCQCU?CQ1IAG]v>- =i- a=NW,`yfFAY}N*@}N5@y}Nb}No#}NHrbe`?@? aƿ@?2?)~N*@ ~N[^;I~NCɫ髑) IYG?ymFu7+=Mu|=Y}jQU} ?yya"Hy7#} ?I :9 5? :ݾ ? ?9|(A: :):WWX XWX:W2W*WVbU!BU!*U!U!U% ]?BQBQ BQAU*BYAYAYAYAY"Ce\?RCaCaCiסIG >= = w= w=  = 5j:Y= O1y= P:= 69U @ ]A 9 I XFi ? = F; !E)ݱIݱiݱݵ=ݵ=ݵ)4],zyfFAY}F\*@}F3@y}Fdi}Fd98}FH<.2d֐??`j`ÿ?p?+?)~F\*@ ~FV_;I~FCɫai)i qIqYyV-?ˡEܿ?h= =)IyX9v?{GzQ}=# @A)RAIn.Ai@A    @ @ @ÑÑÑiÑÑ đ)đIđiđYQU>a"Hyې}>Ia 5?سݾ 7? ?9)AY: :)WWX XWX:W2W*WVbUBU*UUU@g?B1B1 B1A1*B1A9A9A9A9"CE?*CARCACACI!I)GM1>8d,{yfFAY}VМ)@}VZ@y}V$o}V}VH0@ø'c??{@+ƿ`?* R?)~VМ)@ ~V~^;I~VCɫyy)y yIyY?ynF II}IM}a"Hy}>Iș :ŝ 5? :ŝKݾ Ɲ? ?9Ɲ|)Aǝ: ȝ:)ȝ:WWX XWX:W2W*WVbUBU*UUU?B B  B A *BAAAA"C*CRCC!C!I1)1 IG5 >I! )% AA5 ) 5 x5 x5  5 7:Y5 7P1y5 :5 6! k,VyfFAY}6V)@}6+r@y}6p}6nl}6H`@F?A?6`Rɿ ?|P?)~6V)@ ~6 G];I~6CɫYY)Y YIYY?yF5t=M=O=Y=t;QU=>AAaE"HEHAyMl1}M>Iȩŭ 5?ŭݾ ƭ? ?9ƭ)AǭQ: ȭ]:)ȩWWX XWX:W2W*WVbUBU*UUU:@BB BA*B!A!A!A!A!"C)*C)RC1C1C1u>9qIqiqu=qqu/F; u EׁIG>jq,7yfFAY}V|D)@}V`@y}V/t}Vu\}VHF `?p?4xQ˿`~S?Z?)~V|D)@ ~VLh\;I~VCɫ髑) IYv?ybF)e> e=    @ @ @éééiéé ĩ)ĩIĩiĩxW=M>=YQU>a "H  y(}>I %:D 5? %:îݾ O? %?9*A: ^:):WIWIXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UYUYUe@@BB BAЅ*BAAAA"C*CRCCCסIG >- P - ~- ~-  - 3::Y- T1y- @:- 5*x,t yfFAɫ  )  I YMT?yMFQɮQIe=)e=u9v<Mu5=YuQUu>yya}"Hyy}>Iȉō} 5?ōԬݾ ƍ? ?9ƍ+AǍR: ȍ':)ȉWWX XWX:W!2WA*WAVIbUIBUI*UIUIUUP@R]B*** querying acoustic contact ***PYPYBB BA*BAAAA"C*CRCCC׹IGf>- =i- =܅ >9܁ I܅ Fi܅ v?܅ =܁ ܁ ܅ E; ݅ EG~,yfFAJFailed to close latch before timeout.q Hardware FaultYU?yUOF]Z****** received transponder code query ******]F****** received ping request ******ea"Hy}>I 5?ݾ ? ?97+Aۻ; :)W1W1X1 X1W1X1:W92W9*W9V9bUABUI*UIUQUU@ @BB BAp*BAAAA"C*CRCC!C!1IA-$U@Hardware Fault in component: DDMGew>5 1 1 5  5 :Y1 y1 5 5)5 7};9= 0,HzfFAbPowering down`ɪ`)` `Y5?y54F=xDUSBL response received:!U1,P 258,000,002B8,188,80,80,D5,FF =Command Ack=BRequesting micromodem ping code 2i9AMNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ‰^AkMY=YQU->9Aam"Hiy}>I m:L 5? u:"ݾ q? u?9V+A< <):WWX XWX:W2W*WVbUBU*UUU`@BB BA{*BA A A A "C*CRCC1C9IG=>iu mGI i iٺ ;A[Z,#/zfFAY}F%(@}F@y}F'*u}Fǽ}FH S?HD?+%ͿZ?`=o?)~F%(@ ~Fkb\;I~FCYV?yV=F~Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ]=i]= qqu:Mua=Y} QU}>ya"Hytϼ}?Iȑŕ֪ 5?ŕ=ݾ ƕ? ?9ƕm+AǕ: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU|.@BB BAw*BA A A A "C*CRCCC9I@Fi?E; h EIG )>I% AA)! 5 5 }5 }5  5 ,:Y5 kS1y5 Ԋ:5 25)5 ։;QC,}IzfFAY}F(@}F@y}FZm}F }FHw_`a"? D?`~8пg? ?)~F(@ ~F[;I~DYf6?yf؎FjxDUSBL response received:!U1,R,288,000,002B9,189,80,80,BC,FF jFpublishing direction and range infojhɰjdd=j7> h)jYYa]"HYaye&;}e>Ii u:mU 5? }:mZݾ m? }?9m+Am: m:)m:WWX XWX:W2W*WVbUBU*UUUs@R(Combining 5 samples.P*Q=@ZQ?pa. @K~ѦJQ-?ak8~%2Q:QbQk4E\4@m.l=?RQ>-̿8m'?L! ?BQuL? Q@QyPS9?PPQQ=@"Q.@BB BA*BAAAA"C*CRCCCI$NClearing failed state for component DDMq G>*l,SczfFAY}R37(@}RR@y}RW}R}}RH`^?—?1 ɿ ?@DZ6?)~R37(@ ~Rל[;I~RCY%.?y%F)= ==M@=Y LJ=QU >a"H!y-}->IAE 5?Eݾ E]? ?9E+AE< E<)Am-qAdded new target pos. range: 4.319999 m, bearing: 103.534664 deg, deltaT: 4.414824 s, approachRate: 0.013591 m/s, LOS rate: -1.068261 deg/s, posRepo size: 4X)W5uL?W1X1 X1W1X1:W12W9*W9V9bU9BU9*UAUEG@UE`@?BqBq BqAu"*BqAyAyAyAy"C/?RCCuL?CׁIG>] P] |i 9i Im НFim E@i i i m D; m  E] |]  ] %:Y] R1y] i:] 5)] v;9,P}zfFAY}r&(@}rA@y}rJ}r}rH@@a@J?? }`!ȿ(?p}J?)~r&(@ ~rm[;I~rCY~?y~FuTNmea in: $SNTTA,0.004805,,,,224912.78*48 }{Gz?ʡEZd;O}#=}- }j)yIyy}Mb?Zd;OMbP}<}j} }:A)}p_AI}0Ai}7oAy}NA    @ @ @i )Ii5=M;=Ya"Hy >} >I : 5? :ݾ }? ?9+A< <):WWX XWX:W2W*WVbUBU*UUU;4?BaBa BaAe*BaAiAiAiAi"Cu ]?RCCC׭?i׭?בIGA> i a=~, zfFAY=N?y=F?\<M]=YQU> a "H y]}]>Iimn 5?mݾ m? u?9m+Am: m2:)iWWX XWX:W2W*WVbUBU*UUU>?BB BAZ*BAAAA"CP?RCCC)I1GM>5 5 {5 {5  5 w2:Y5 #R1y5 :5 359= @O,zfFAY}FS(@}F@y}F2}Fpٽ}FH~cu)??ɿ6?p@=V?)~FS(@ ~F-[;I~FCYR,?yRF)-]A]<M]U=Yey=QUe>aiam"HmHiyuzɻ}u>Iy} 5?} ݾ }? ?9},A}: }:)yWWX XWX:W2W*WVbUBU*UUU?BB BA"*BAAAA"Cl?RCCCIG=ܱ9ܱIܵFiܵ@ܱܱܱܵD; ݵE)IIIiIIIM4,VzfFAY}:,(@}:1@y}:E%}:޽}:H@fn??֗.ȿΑ?=Y))a-"H11y=J;}=>IA U:E" 5? U:Eݾ E? ]?9EH,AE?; E@;)E:WWX XWX:W2W*WVbUBU*UUUg@BYBY BYA]p*BYAaAaAqAy"Cf?RCCCIי)ם^AyIG>- - x- x- x - U*:Y- 7P1y- :- X5,¢zfFAY}6(@}6>@y}6 }6"}6H@U`_Ԥ?\?`o@qſ@?z`V?)~6(@ ~6{[;I~6CY^?y^F]R~=M]X=Y]!=QU]>aaae"Haiym6Y}m>Iquv 5?u ݾ u? ?9um,Au=: u:)qW!W!X! X!W!X!:W)2W)*W)V)bU)BUQ*UQUQUU\@BB BA*BAAAA"Cc?*CRCCCIG > 9 I Fi E? vD; E侞,vzfFAY}>8(@}>T@y}>}>tUϽ}>HRCm??Ŀ@S?A }?)~>8(@ ~>N[;I~>CY^?y^F`ɮ`?K7ѿT㥛 ?L=I =)Iy/$?~jtxL7A`?<Ļ+= ™)XAI™iaApIA)ý= ý>x<MD=Y6=QU>a"Hy<}>I }: 5? }:ݾ ? }?9,AӒ< :):WWX XWX:W2W*WVbUBU*UU U @R5B*** querying acoustic contact ***P1P1BqBy ByA}|*ByAyAAA"CuL?*CRCCCסIG">5 5 y5 y5 p 5 W:Y5 P1y5 ':5 5bŞ,Q{fFAY}6Q1(@}6L@y}6ཙ}6",ǽ}6H`d`K;@e??¿)?`'?)~6Q1(@ ~6V];I~4Yvi?yvFzZ****** received transponder code query ******zF****** received ping request ******za"Hyט}>I 5?lݾ ? ?9,A: :)WWX XWX:W 2W *W V bUBU*UUU` @BABA BAAES*BIAIAIAIAI"C*CRCCCIG>c˞,,2{fFAY}6P(@}6l@y}6 Sͽ}6ɢ}6H@(@ ?F?H@?* a?@9!?)~6P(@ ~6ӻ\;I~6CY^?ybFbxDUSBL response received:!U1,P 288,000,002B9,189,80,80,BC,FF fCommand AckfBRequesting micromodem ping code 2iddjNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 5;MUS=Y] aiam"HiyyN;}>Iȑ :ŕ^ 5? :ŕݾ ƕ? ?9ƕ,AǕΆ; ȕH;)ȕ:W!W!X! X)W)a9aIexFie?aaaeD; eEX):W)2W)*W)V)bU1BU1*U1U1U=ӹ @BB BAL*BA A A A "C*CRCCCIGER>5 5 |5 |5  5 o/:Y5 R1y5 i:5 5)5 ͌;9= ZҞ,L{fFAY}6e(@}6@y}6-}6<ս}6HH0r`? / g]? ~ ?)~6e(@ ~67\;I~6CYb?ybF`bAArNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IM_A}<=M}F=Ya"Hy<}>Ișŝ 5?ŝǩݾ ƝZ? ?9Ɲ,Aǝ: ȝ:)șWWX XWX:W2W*WVbUBU*UUU +@BB  B A *B A AAA"C*CRCCC׉IG=dٞ,e{fFAY}6ʃ)@}6T@y}6̓}6u}6H@@`? ?u?k?)~6ʃ)@ ~6\;I~6C>Powering upB"Initializing DDM.YuR?y}FxDUSBL response received:!U1,R,2C8,000,002B9,189,80,80,C3,FF Fpublishing direction and range infoɰ鰁 )CCIy3W|?ݵ*cٱ 鿱 % % % %@ %@ %@!!!i!! !)!I!i!E=ME>=YE|7=QUM>QQaU"HQYyex<}e>IiiIIqigݿٺA :m 5? :mpݾ mG? ?9m-Am== m9=)m:WWX XWX:W2W*WV)bU)BU)*U)U1U5@RE(Combining 5 samples.PA*QAZQExa2 @l$.@JQE3W|?ݵ*c2QE:QAbQEh~W=b@L9?RQE(O%ʿk?$m?BQE-? QE(@QEaPAPES9?PAQEQE%@"QE=@BB BAق*BAAAA"C*CRCCCIGI>i 9i Im Fim ?i i i m D; m E5 E 1 1 5  5 S9:Y1 y1 5 }5)5 W;M5ߞ,{fFAY}^)@}^@y}^|\}^}^H*ߓ`Q?@^kc¹(?S`?)~^)@ ~^G[;I~^CYn[?ynxFETNmea in: $SNTTA,0.032715,,,,224917.15*4D Uy&1?yya}"Hyy4O:}>Iȉō0 5?ō\ݾ ƍ? ?9ƍL-AǍ: ȍI:)ȉmqAdded new target pos. range: 4.319999 m, bearing: 101.887059 deg, deltaT: 4.525202 s, approachRate: 0.000000 m/s, LOS rate: -0.364095 deg/s, posRepo size: 4XW-?WX XWX:W2W*WVbUBU*UUU?BB BAW*BAAAA"CP ?RCC-?CׁIG>l枙,F{fFAY;?yۖF=MU=YQU>a"H9yE}E>IIMʪ 5?M?ݾ M? ]?9M-AM); M*;)IWWX XWX:W2W*WVbUBU*UUU@?7?BB BA_*BAAAA"C -?RCCC IG5 >5 5 y5 y5  5 A:Y5 P1y5 ':5 59= @D잙,Gt{fFAY}6|*@}6@y}6,}6s}6H5??`4'`? V`*?)~6|*@ ~6 [;I~6CYvV?yvF    @ @ @ñññiññ ı)ıIıiıfML=Ya"HHyQW=}>I :h 5? :ݾ ? ?9-A: (:):WWX XWX:W2W*WV!bU!BU!*U!U!U-I?BB BA*BAAAA"C*CRCCC9ܔCIFi?=D;  E=?i=? IG1a,,]O{fFAY}6d+@}6*@y}6 }6}6H@`D y?`MMF@t??)~6d+@ ~6Z;I~6CYB?yFF    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉl^MM=Y_a"Hy<}>I 5?ݾ (? ?9 .A: D:)W!W!X! X)W)X):W)2W)*W1V1bU9BU9*U9UAUE?BB BAD*BAAAA"C*CRCCC)I1GU>5  5 }5 }5 3 5 v4:Y5 kS1y5 Ԋ:5 5lX,2{fFAY}6*@}6 @y}6Pϼ}6e0}6H5 @j ?`od?@}s?)~6*@ ~6",[;I~4Y^?y^F)-]A]M]O=Y]aaae"Haiymm,}m>Iq }:u 5? :uۭݾ ud? ?9ue.Au+: u:)u:W!W!X! X!W!X!:W)2W)*W)V)bUQBUQ*UQUQU]4R?BB BA*BAAAA"C*CRCCC׉IG= 9 I Fi ? = AE; D E)Iiň=ň35n>,|fFAY}6G+@}6#@y}6(}6'}6HI! ? ?t@Ė?`ి%?)~6G+@ ~6[;I~4Y^?y^KFMb?/$ÿ&1?@= =)IyI +~jt?I +?9=94< ±)µOAIµ?Aiµ+MA=FA    @ @ @éééiéé ĩ)ĩIĩiĩ <M5=Y;QU>a"Hy:}>IU 5?ݾ ? ?9.AW: :)WIWIXQ XQWQXQ:WY2WY*WYVYbUaBUa*UiUqUum.@B1B9 B9A=i*B9AAAAAAAA"CQ*CQRCQCQCYIq)u]AAIIGm5>I% @A)! 5 35 {5 {5  5 y#:Y5 #R1y5 :5 j5h,|fFAY}6*@}6,@y}6{ʼ}6 }6H,~q`;?@U`GC?@?)~6*@ ~6<[;I~6CY^?ybFba=ɮ`%!>M%i=Y-QU->))a5"H11y=4̻}=>IA M:E 5? M:Eӯݾ EC? M?9E.AEg: E:)E:WqWqXq XqWqXq:Wy2Wy*WyVybUBU*UUU`V@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCIG= ,4|fFAY}6*@}6@y}6}6J}6HjW ?r.ҨT?%\?)~6*@ ~6Z[;I~6CY^P?ybԓFbZ****** received transponder code query ******bF****** received ping request ******f %=-*M5J=Y5{QU5>!!a-"H)1y=9}=>IAEī 5?Eݾ E? u?9EG/AE; ED;)Aܡ9ܡIܥFiܥ?ܡܥADܡܥ4F; ݥ EWWX  XWX:W2W*WVbU!BU)*UQUQUU @BB  BA*BA!AAAYAa"Cq*CyRCCCIGI>]  ] w] w]  ] I:Y] O1y] P:] 5)] w;9e z,SN|fFAY}>"+@}>i>@y}>+ }>`<}>HK!0CY?@ 7ܱW?`n"?)~>"+@ ~> [;I~>CYJ?yJ1FNxDUSBL response received:!U1,P 2C8,000,002B9,189,80,80,C3,FF NCommand AckNBRequesting micromodem ping code 2iPPIP)PVNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )IiEC4MM-=YʻQU>a"Hy<}>I :o 5? :ݾ 7? ?9/A: w:):WWX XW!X!:W!2W!*WIVIbUIBUI*UQUQUU@ @BB BAD*BAAAA"C*CRCCCIGK>= =i= =,!th|fFAY}6i<+@}6W@y}6}6|}6H)@ .?@_ Z Ԡ?麟``?)~6i<+@ ~6 Z;I~6CY^?y^UF``rNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ;Mk=YrD;QU?a"Hy;}?Iȩŭ3 5?ŭֲݾ ƭ? ?9ƭ/Aǭ: ȭ:)ȩ8qjAggregate::initialize lineCaptureDepth:SetNavAcoustic19 r~Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNavq9rdReseting nav to dock location at range 4.319999 m q99 s6Initialize SetNavComponent.WWX XWX:W2W*WVbUBU*UUUm@B)B1 B1A=5*B9AAAAAAAA"CQ*CYRCYCYCaqIG=ܩ9ܩIܭhFiܭ?ܩܭBDܩܭ?G; ݭR!EU U }U }U  U 4 :YU kS1yU Ԋ:U 5)U H; ,'O|fFAY}64H+@}6c@y}6}6%G}6H@-l箔? @ p?@=?)~64H+@ ~6Z;I~6CY^a?y^hFfxDUSBL response received:!U1,R,2A0,000,002B8,188,80,80,B1,FF fFpublishing direction and range infobQ `ɰbd=b> `)b1CI`ybQ@bwJ?f )bٱ`Mb?̿{Gz=ff #)IyMbQ?~jt?<<  ?A)KAI ?AiKAGEA    @ @ @ÙÙÙiÙÙ ę)ęIęięټM9=YQU>a"Hy:}>IY 5?ݾ ? ?9)0A; ;)XYXYXYs}lSetNav fix at 20210815T224922: (41.552319, -70.708603)9} s:Uninitialize SetNavComponent.rfCompleted lineCaptureDepth:SetNavAcoustic:UpdateNav19 rAggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNavqRCompleted lineCaptureDepth:SetNavAcoustic8qnAggregate::uninitialize lineCaptureDepth:SetNavAcousticWWX XWX:W2W*WVbUBU*UUUo@R(Combining 5 samples.P *Q Q@ZQ ~ b @gO JQ wJ?f )b2Q Q :Q bQ {u0B7_`@_4Ѱ?RQ '(Hѿ{j?=?BQ ? Q @Q P R9?P P Q Q F @"Q %@BYBY BYAe*BaAaAAA"C*CRCCCIס)סׁIG=> &,_C|fFAY}R:+@}RU@y}RF}RQm}RH#%'V@a?@RTר?󜭿`?)~R:+@ ~RiZ;I~PY^?y^F=TNmea in: $SNTTA,0.025107,,,,224921.58*42 =C=i=a= IIM^=Y^ QU>a"Hy}>Iȩ :ŭ- 5? :ŭxݾ tI ƭ ?9ƭǭ: ȭ:)ȭo:mqAdded new target pos. range: 4.259999 m, bearing: 105.518384 deg, deltaT: 4.436573 s, approachRate: -0.013524 m/s, LOS rate: 0.818498 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UU = @U?BIBQ BQAUń*BQAYAYAYAY"C?RCC?CיIG>iNmGIiۿٺ:AI ) @A- Z - |- |- \ - ;:Y- R1y- i:- Y59- @,,|fFAY}:Y*@}:@y}:}~}:ȼ}:HFs5?`K#?``h`}ʯ?  ?)~:Y*@ ~:Z;I~:CYv?yz`FMJ=Y QU>a"HHyʱ}>IȹŽW 5?Žyݾ ƽ < ?9ƽӕ<ǽ: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUUZ?B!B) B)A-*B)A)A)A1A1A9AIEFiE?E=AAEOH; E!E"C?RC!C)CYiIqG>3,|fFAY}6_*@}6@y}6c }6AzB}6HN9~$??`e@?9{?)~6_*@ ~6Je[;I~6CY^P?ybF)e= e>    @ @ @éééiéé ĩ)ĩIĩiĩnټMH=Y^%QU>a"Hy= ;}>I 5?zݾ < ?9=0: )W W X  X W X:W2W*WVbUBU*UU!U%d?BIBI BIAUZ*BQAQAQAQAY"C]K?RCaCaCau?iu?iIyG=5 H5 {5 {5  5 &%:Y5 #R1y5 :5 59,E|fFAY}6+@}6k9@y}6}6}6H` @?@?@`iڶ?Ju?)~6+@ ~6s[;I~6CY^?ybFI)I-4=)-4=]BM]Q=Ye2QUe>aaam"Hiiyu<}u>I : 5? :{ݾ < ?9 e=I: :)p:WW!X! X!W!X!:W!2W!*W)V)bU)BU)*U1U1U5n?BYBa BaAe*BaAaAaAiAi"Cu?*CqRCqCqCyqIyG=99=۔CI9i9999= I; =P"E% =i% =A@,3}fFAY}RlG+@}Rb@y}R@9ʽ}R}RH@6w??1`)IyMb`?~jtx;Ļ @A)IAI;AiOQAEA    @ @ @ÁÁÁiÁÁ ā)āIāiāƝM7=YīQU>a"Hy%;}>I 5?{ݾ < ?9i=$; (;)W)W1X1 X1W1X1:W12W9*W9VAbUIBUI*UIUQUUK?BB BA8*BAAAAAAAA"CU?RCQCQCYyIG<>- - }- }-  - /:Y- kS1y- Ԋ:- 6G,Cp}fFAY}6].+@}6I@y}6D꽙}6ݭv}6H`  ߧ??@u@"Ǿ??N?)~6].+@ ~6y$\;I~4Yj?yjFIM^A}T<M}_=Yd0QU>a"Hy}>Iș :ŝ 5? :ŝ{ݾ Ɲ< ?9Ɲm=ǝ: ȝ^:)ȝq:WWX XWX:W2W*WVbUBU*UUU @B B  B A *B AAAA"C*CRCCC!Iױ)ױiIyG=.M,fK7}fFAY}6~/+@}6K@y}6= }6w}6H` %O?`?"@T`??)~6~/+@ ~6vZ\;I~6CY^M?ybFbp=ɮ`difR= llv{fMvT=Yz uQUz>xxa~"H|qyur49}u>Iy}z 5?}{ݾ }< ?9}\r=}': }U:)yWWX XWX:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PP9IhFi?I; "E)݅ܔCI݅ܔCi݁݅=݁݅)4BB BA*BAAAA!"C!*C)RC)C)C)1IAGe=I! )! 5 U5 |5 |5  5 /&:Y5 R1y5 i:5 5)5 τ;9= T,*Q}fFAY}6*@}6@y}6$$}6rUL}6H69m??F¿`4?@3 :?)~6*@ ~6S\;I~6CYN)?yN[FRZ****** received transponder code query ******RF****** received ping request ******Va"Hy }>I u:g 5? u:{ݾ 7u< }?9zw="< "<)r:WWX XWX:W2W*WVbUBU*UUUM @B9B9 B9A=*BAAAAAAAAA"Ci*CiRCqCqCqIIQGm>@Z,k}fFAY}:*@}::@y}:7}:jݑ}:Hq ? "?@;ſ ? @ch?)~:*@ ~:+\;I~:CYJ?yJFNxDUSBL response received:!U1,P 2A0,000,002B8,188,80,80,B1,FF NCommand AckNBRequesting micromodem ping code 2iLPVNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )r > r> /DMY=Y5[EQU5>IIaU"HQiy}Ok}>IȡťW 5?ť{ݾ ƥQ< ?9ƥ]|=ǥ< ȥ<)ȡWIWQXQ XQWYXY:Wa2Wa*WaVbUBU*UUU @BABA BAAE7*BAAAA"C*CRCCC?i?IG}Y>9ܔCIFi?=AD_J; "E5 5 5 5  5 ):Y5 T1y5 :5 5)5 ;%)a,Qބ}fFAY}:t*@}:F@y}:=}:@Ƚ}:HD ?o?Glȿ?` M?)~:t*@ ~:|[;I~8Yn?ynԉFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Ie=)e=%L7A`?X9v޿I +?%+=% %9<)!I!y%㥛 /$~jt%%%ļ !)%OAI%5Ai%]A!%HAMMM8=YdQU>a"HyPɻ}>I :̖ 5? :6|ݾ ]+ ?9=;; ׾;)s:W9W9X9 X9W9X9:WA2WA*WAVAbUIBUI*UiUiUu`@BB BA*BAAAA"C*CRCCCIG (>! i% =Vg,2Ȟ}fFAY}B*@}B@y}BUB}B*}BH Ǐ"??@oy+ȿo%? `L?)~B*@ ~BgQ[;I~BCYN4?yRFVxDUSBL response received:!U1,R,24B,000,002B8,188,80,80,D1,FF VFpublishing direction and range infoR#PɰPP P)RQCIPyPR=<}?W^߿ٱP    @ @ @i )IiMQ=YZ8QU>a"Hy:}>I 5?|ݾ  ?95=: R:)W!W!X! X)W)X):W)2W1*W1V1bU1BU1*U9U9U=`%@RM(Combining 5 samples.PI*QIZQMc @?Ov>JQM=<}?W^߿2QM#:QIbQMNe nb] @]zJV?RQMlӿ1 ?` <?BQMU? QM|@QMPMQ9?PMR9?PMQIQM'@"QMF @BB BA!*BAAAA"C*CRCCCIG=>- ) ) -  - `[:Y) y) - 595 @Wm,}fFAY}R*@}RY@y}RrvQ}R}RH]`m@[b?`y?`ǿ)?zB?)~R*@ ~R~RCYn?ynyFETNmea in: $SNTTA,0.028226,,,,224926.03*46 QU]Ay9yI}Fi}}?y}BDy}J; }%#EuܻMK=YQU>a"HHy <}>I! 5?m}ݾ  %?9>: :)mmAdded new target pos. range: 4.259999 m, bearing: 108.474961 deg, deltaT: 4.388359 s, approachRate: 0.000000 m/s, LOS rate: 0.673732 deg/s, posRepo size: 4XWU?WX XWX:W2W*WVbUBU*UUU?BB BA7*BAAAA"C%?RC!C%U?CIIY)YAIIGm>dt,en}fFAY}>*@}>3@y}>g}>#}>H [ e?V?@/ƿ?`v(?)~>*@ ~>[;I~>CY^?ybF 11]:<M]S=YeDgQUe>aaam"Hiiyur}u>Iy :}3 5? :}~ݾ }1< ?9}3>}$: }s:)}t:WWX XWX:W2W*WVbUBU*UUU??BB BA*BAAAA"CU?RCCCבIG=I% AA)% AA5 |5 {5 {5  5 L):Y5 #R1y5 :5 5 Caz,.S}fFAi]nGI i,BEڿٺ@FAY}~8*@}~T@y}~y}~}~H@"u?`z? Iǿ?gڛ M ?)~~8*@ ~~[;I~|Yg?y F    @ @ @i )Ii<MB=Y*QU>a"Hy6m}>Ip 5?~ݾ   ?9Q>: ÷:)W1W1X1 X1W1X1:W12W9*W9V9bU9BUA*UAUAUE`4]?B B  BA*BAAAA"C*C!RC!C!C!)IIGm>y9yI}pFi}M?}=yy}K; }O#Ev,#~fFAY}:)@}:$@y}:}:4^}:H"??cʿ ?t?)~:)@ ~:\\;I~:CY^?yb0F-B`"?I +:v?-N>-9 -T=))I)y-{Gz:vX9v-#-T-} ))-$RAI-C/Ai-bnA)-(LA    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉϼM?=YQU>a"HIyUQ}U>IY e:] 5? e:]C~ݾ ] e?9]uY>]: ](:)]u:WWX XW X :W 2W*WVbUBU*UUU%?BB BA*BAAAA"C*CRCCC?i?I G%M>5  5 z5 z1 5 v4:Y5 Q1y5 :1 , ~fFAY}6')@}6 @y}6R}6ܫ}6H ? ?@4@Ϳ`daaam"Hiiyup;}u?I 5?}ݾ c ?9m`>e; /;)W!W!X! X!W!X):W)2W)*W)V)bU1BU1*U1U9U=1!@BaBa BaAe*BiAiAiAiAi"Cq*CqRCyCyCyQIYG=% =i% =7ˍ,9~fFAY}>0*@}>AL@y}>|}>ǽ}>Hs@LP??l-`\ϿM?a e?)~>0*@ ~> [;I~>CYHyH%>9%۔CI%ȖFi%?%=!!%K; %Z#EYwQU>a"Hyb<}>I :5 5? :}ݾ L ?9h>< \<)v:W)W)X) X)W)XI:WQ2WQ*WQVQbUQBUY*UYUYU]B@BB BA*BAAAA"C)*C1RC1C1C9!I9Ge3>5 h5 x5 x5 } 5 ':Y5 7P1y5 :5 k5)5 ;9= ,S~fFAY}6*@}6 @y}6O}6hʽ}6H@?`?XO`S+п@%Y? a?)~6*@ ~6c[;I~6CY^?ybFba=ɮ` e e e m@ m@ m@ miiiim?i m ?)mK?ImK?im?}3m<M}a"HyV<}>Ișŝv 5?ŝ}ݾ Ɲ$ ?9Ɲp>ǝI: ȝ:)șWWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB B  B A*BAAAA"C*C!RC!C!C!I9)=^AIG==+ݚ,m~fFAY}66+@}6*@y}6wᓾ}6L}6H`+*W?(? X Ͽ:?݊?)~66+@ ~6RL[;I~4Y^|?ybRFbZ****** received transponder code query ******bF****** received ping request ******f99a="H9AyMVr<}M>IQ 5:U 5? =:U|ݾ U= =?9Ux>U< U!<)Uw:WyWX XWX:W2W*WVbUBU*UUU @BB BA*BAAA A "C1*C1RC1C1C9 I1G}>E>9AIEFiE1?AAAEK; E#E)ݱIݵ۔CiݱݱݱݵY5I% @A)! 5 Z5 y5 y5  5 &:Y5 P1y5 ':5 j5)5 ';š,+n~fFAY}JS2+@}JM@y}J}JSϽ}JHI`J? ?vi?ѿD? 굸 Hh?)~JS2+@ ~JD[;I~HYn#?ynFvxDUSBL response received:!U1,P 24B,000,002B8,188,80,80,D1,FF vCommand AckvBRequesting micromodem ping code 2itxNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Q? rȿp= ף? u= C =) I y a%"H!9y=Mj;}=>IAEߞ 5?E{ݾ E6S U?9EP>E: E:)AWqWqXy XyWyXy:Wy2Wy*WVbUBU*UUUs@BB BA%*BAAAA"C*CRCCCש I G >+履,VG~fFAY}:(+@}:CD@y}:}:j#}:H/}x? ?#ӿ t? apÿw1?)~:(+@ ~:2[;I~:CYJ?yJFLN@AZNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ]M]=YeL}^: }:)yWWX XWX:W2W*WVbUBU*UUU@BB BAȇ*BAAAA"C*CRCCCשIG=5 5 z5 z5  5 ?:Y5 Q1y5 :5 69= @w,1#~fFAY}F,+@}FJH@y}F}F}FH`}' E ??? Eӿ@>?¿`2N?)~F,+@ ~FA:[;I~DYR?yRFZxDUSBL response received:!U1,R,29E,000,002B9,189,80,80,CB,FF -%nFailed to parse device response: 2.01,24.5685,4.825.28 5Fpublishing direction and range infoVTɰVdd=V7> T)VKCITyV=@V=J1?gwٱTI)IC=)%=    @ @ @i )Ii*M5=Ya"HHyp:}>I : 5? :;zݾ lk ?9ڛ>: 0:)x:WAWAXA XAWAXI:WI2Wi*WiVqbUqBUq*UqUyU}@R(Combining 5 samples.P*Q=@ZQ:ů @`l',~fFAY}68*@}6@y}68Џ}6!}6H@@? F? k п`? q?)~68*@ ~6YF[;I~4Yb?ybF)-^A6<M`=Yɷa"HyX}>I 5?yݾ "y ?9>K; K;)mmqAdded new target pos. range: 4.319999 m, bearing: 103.884397 deg, deltaT: 4.487700 s, approachRate: 0.013370 m/s, LOS rate: -1.022921 deg/s, posRepo size: 4XqWuy?WyXy XyWX:W2W*WVbUBU*UUG@U ?ByBy ByA}*BAAAA"C?RCCy?CשIG#>5 5 }5 }5 r 5 4-:Y5 kS1y5 Ԋ:5 5E+,~fFAY}>*@}>9@y}>჏}>`%}>H b`'?7O?@˿?`ߣڹ?)~>*@ ~>h[;I~>CYJ?yJ6FDNmea in: $SNTTA,,,,,224930.57*52 ]=M]O=Yei:QUe>aiam"HiiyuQ}u>Iy :} 5? :}xݾ }̓ ?9}~>}: }:)}y:WWX XWX:W2W*WVQbUQBUY*UYUYU]J|?BB BA*BAAAA"C?RCCCIGU>9ܔCI`Fi@=L; #EŸ,fFAY}R+@}R "@y}R񍾙}R}RH/m`7?l=? H@9ͿG?֯?)~R+@ ~R}[;I~PYf?yfF ףp= ~jtÿy&1|?Q8 `;)IyZd;O?~jtX9vj<=D `=A)`AI-Ai}AfRA    @ @ @áááiáá ġ)ġIġiġM6=Y ;QU>a"Hy <}>I 5?wݾ  ?9>: U:)WWX XW X :W 2W*WVbUBU*UUU@S?BIBI BIAM;*BQAQAQAQAQ"C]?RCYCYCaiIG>5 5 5 5  5 |,:Y5 T1y5 :5 X5P=ȟ,"fFAY ?y F)Í= Í>Ro;M\=YQU>a"Hy}>I : 5? :vݾ  ?9L>$: :)z:WWX  X W X :W 2W *WVbUBU*UUU ?BABI BIAM0*BIAIAIAQAQ"C]?*CYRCYCYCau?iu?1I9G]=inGIi-׿ٺ)-ArgΟ,Dj<fFA`9`IbFib@```bL; b$EY}0+@}?@ʿ`? Ý`?)~0+@ ~#[;I~CY?y F    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ<M==Ya"Hy;}>IȹŽz 5?Žuݾ ƽ ?9ƽJ>ǽ: Ƚ:)ȹWWX XWXi:Wi2Wq*WqVqbUqBUy*UyUyU}@BB BAĆ*BAAAA"Cy?*CRCCCIG=/>5 5 w5 w5 y 5 :Y5 O1y5 P:5 5)5 7};9= MO՟,REVfFAY}>g+@}>1@y}>}>"}>H Lps?yL?7ͿE? O?)~>g+@ ~> +[;I~>CJ`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ)))) -I)Ymi?ymFiɮiIq)uAq}M/=Y;QU>a"Hy a}>Iȩ :ŭL 5? :ŭtݾ ƭ ?9ƭA>ǭ: ȭ:)ȭ{:WWX XWX:Wa2Wa*WaVabUiBUi*UiUiUu@@BB BAӆ*BAAAA"C*CRCCC I!G=r>by۟,G pfFAY}6z+@}64@y}6ڀ}66Ľ}6H@^`.? Z?Gο?`"ͷ K?)~6z+@ ~6_/[;I~6Cɫyy)y yIyY?y8F׉M=Y=QU ?a"HyH9} ?I 5?sݾ d ?9>: :)WWX XWX:W2W*WVbUBU*UUUa@RB*** querying acoustic contact ***PPBB BA*BAAA A "C!*CIRCQCQCYI)]AIG=P>9۔CIFiE?=rM; $E5 5 5 5  5 s+:Y5 T1y5 :5 {5)5 [;b⟙,PfFAY}:.;+@}:V@y}: q}:濽}:Hf`:?#c?̿? J?)~:.;+@ ~:[;I~:CɫAA)I IIIYu?y}F}Z****** received transponder code query ******F****** received ping request ****** ףp=ʿQm>mQ mu)iIiymZd;Oa"Hyד;}>I 5?tݾ $ ?9>: ϸ:)WAWX XWX:W2W*WVbUBU*UUU @B)B) B)A-0*B)A1A1A1A1"C9*CRCCCבIG>p蟙,֣fFAY}>T|+@}>ޗ@y}>d}>x}>H@9 ?@Y? ɿ_?LT?)~>T|+@ ~>m|[;I~>CɫYY)Y YIYYV?yvFxDUSBL response received:!U1,P 29E,000,002B9,189,80,80,CB,FF Command AckBRequesting micromodem ping code 2ip=iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 aaJ=MZ=YL=QU>a"HHy,<}%>I1 E:5B 5? M:5uݾ 5 u?95>5&; 5;)5|:WWX X)W)X1:W12W9*WAVAbUABU*UUU T @BYBY BYA]*BYAiAiAiAq"C*CRCCC 9IQG{>5  5 {5 {5 d 5 M4:Y5 #R1y5 :5 59= @,ǽfFA.>9,I.@Fi.?,,,.N; .N%EY}+@}@y}_}& }H ^TB?JG?+e^ſ?.@8?)~+@ ~M];I~Cɫ) IY-x?y-FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ) > > = = = =@ =@ =@999i99 9)9I9i9MӃMUB=YU9YYa]"HYayeB<}e>Iim 5?m^vݾ m x }?9m?m0: m÷:)iWWX XWX:W2W*WVbUBU*UUU+@BBY BYA}І*ByAAAA"C*CRCCCץ?iץ?aIG>>y,3fFAY}6u+@}6@y}6^}6,4}6H 9"@A?_Z? Cƿ?`*7?)~6u+@ ~6]^;I~6Cɫ99)9 9I9Y?yFxDUSBL response received:!U1,R,262,000,002BA,189,80,80,C9,FF Fpublishing direction and range info{Fɰd= )ICIy(@mJw?>#=ٱå:Me=Ya;QU>a"Hy8}>I  :  5? : wݾ ]i ?9 ? : :) }:W9W9X9 XAWAXA:WA2WA*WIVIbUIBUI*UIUQUUl@Re(Combining 5 samples.Pa*Qe(@ZQe1@jJQemJw?>#=2Qe{F:QabQeva>U!VI@ ?RQep{ӿu5:?M ?BQe? QeJ@QePeQ9?PeR9?PaQaQe,@"QeG@BB BĂ*BAAAA"C*CRCCC׉IG=5 5 y5 y5  5 |,:Y5 P1y5 ':5 5,uufFAY}z+@}z;@y}zY}z-}zH @_@wʹ?=?2ʿ?d'?)~z+@ ~z\;I~zCɫ) IY-?y5FDNmea in: $SNTTA,,,,,224934.95*58 I)8M9=Y%.99aE"HAQy]s}e>Ig 5?xݾ V e?96?\< Y<)mmAdded new target pos. range: 4.380000 m, bearing: 108.131798 deg, deltaT: 4.402164 s, approachRate: 0.013630 m/s, LOS rate: 0.964844 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UU-@U5 ?]>9YI]Fi]v?YYY]O; ]%E) ۔CI i = 5BqBy ByA}*ByAyAAA"C?RCC?CqIyG~> =i =!,B fFAY}2}*@}2@y}2~4P}2N̽}2H2| kɵ?@`?`5@Sʿ? /?)~2}*@ ~2\;I~0ɫYY)Y YIYY.?yFʡE?nʿ333333?=V =)IyS㥛+/$?/ݼ< ½DA)½NAI½0Ai½lA(LA    @ @ @i )Ii%;M-J=Y-11a5"H19y=.}=>IA M:E 5? U:Ewݾ E/O U?9E ?E: E8:)E~:WqWqXy XyWyXy:Wy2Wy*WVbUBU*UUU ?BB BA*BAAAA"C&>?RCCCשIG >5 1 1 5  5 :2:Y1 y1 5 "6,%fFAY}2*@}28@y}2lJB}2 }2HіjuH?~?@WNȿ$?N?)~2*@ ~2o[;I~2CɫYY)Y YIYY}?y}FܼM]=Y=QU>!!a%"H!)y-}->I15l 5?5wݾ 5H =?95|?5ض: 5I:)1WaWaXa XaWaXa:Wi2Wi*WiVibUqBUq*UqUyU} n?BB BA4*BAAAA"C.?RCCCIG>E >9A IE XFiE ?A A A E P; E t&EN,;?fFAY}B +@}Bz)@y}Ba7}BL}BH:`DD?7? yFſ`?ہ@k?)~B +@ ~B-[;I~BCɫ髁) IY=?yE}F        @  @  @   i   ) I i El=ME7=YEIIaU"HQQy](<}]>Ia m:e9 5? m:ewݾ e? m?9e?eA: e8:)e:WWX XWX:W2W*WVbUBU*UUU`?BB BAŅ*BAAAA"Cf?*CRCCCIG%+> j  t t   F<:Y M1y : 5) ;9 ,XfFAY}2+@}2$@y}2,3}2b}2H@?x?ÿ[H?@쫿`v?)~2+@ ~2[^;I~2Cɫ99)9 9I9Y}?y}lF)= =E5ME_=YEI7IIaM"HIQy]*<}]>Iae 5?ehwݾ e8 m?9e?ev: e:)aWWX XWX:W2W*WVbUBU*UUU9@BB BA4*BAAAA"CdR?RCCC)I1GU>9 = Ci mGI i 5ٺ "AO,yrfFAY}2 ,@}2&@y}22}2K)Z}2HQ?W?6|ÿ;? תx?)~2 ,@ ~2];I~2CɫYY)Y YIYY%?yF0bM@=Yk:QU>a"H!)y=L<}=>IY]u 5?]/wݾ ]0 ?9]!?]s; ]P;)YWWX XWX:W2W*WVbUBU*UUUt@BB BAd*BAAAA"C.?*CRCCCI9IFia?R; Q'EG-N>= = {= {=  = /:Y= #R1y= := 6)= t;",CfFAY}2N+@}2@y}2E3}21}2H`@̺?Fe?6 /¿`vK?@ɥ >{?)~2N+@ ~2\;I~2CɫYY)Y YIYY?yGF鮥p=ɮUK~jtȿ~jt?U^UD UD<)QIQyUX9v?Mby&1|?Ua"HIQyU}U>IY e:] 5? e:]{vݾ ]}+ m?9]v$?]; ];)]:WWX XWX:W2W*WVbUBU*UUU@R B*** querying acoustic contact ***P P BB BAC*BAAAA"C?RCCCIױ)׵\AׁIG=>a'),dfFAY}:+@}:2@y}:#3}:1}:H쉷?`r?`6Ŀ]? r?)~:+@ ~:p[;I~:Cɫ99)9 9I9Y]`?y]FeZ****** received transponder code query ******eF****** received ping request ******ea"HHyǻ}>I 5?uݾ & ?9z'? =  =)W9W9X9 X9W9X9:WA2WA*WAVAbUIBUI*UIUiUu` @BB BAU*BAAAA"C*CRCCCIG$>5 5 y5 y5 v 5 ,*:Y5 P1y5 ':5 59= @ 9 I Fi ? = T; (E0,AfFAY}6/,@}6J@y}6Y/}6β}6H `? M?ƿ9?`h?)~6/,@ ~6%"[;I~4ɫYY)Y YIYYe?ye"FmxDUSBL response received:!U1,P 262,000,002BA,189,80,80,C9,FF mCommand AckuBRequesting micromodem ping code 2iqqNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =MJ=Y)! a "H!y5<}=>IY :]> 5? :]&uݾ ] ?9]*?]< ]<)]:W)W1X1 X1W9X9:WA2WA*WIVIbUqBUq*UyUyUk` @BB BA*BAAAA "C *CRCCCI1GeU>96,mڀfFAY}2,@}2@y}2,(}2z }2HHF3?`*?4eƿ?`T'n?)~2,@ ~2V];I~0ɫ9A)A IIIY?yQF}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5 5 5 5@ 5@ 5@111i11 1)1I1i1EռME5=YEtIIaU"HQQy]q<}]>Iaeǝ 5?eftݾ e m?9e.?e: e#:)aWWX XWX:W2W*WVbUBU*UUUR@BB BA?*BAAAA"C*CRCCC%?i%?IG-->5 )5 }5 }5  5 ":Y5 kS1y5 Ԋ:5 5mc<,fFAY}2P-@}28@y}2r(}2j첽}2Hirฅ`5??`e ſ?  r?)~2P-@ ~2G^;I~2CɫAA)A IIIY}?ylF)= >Yu;Mb=Y \:QU>a"Hy<}>I %:Y 5? %:sݾ p -?92?: 0:):WIWqXq XqWqXq:Wy2Wy*WVbUBU*UUU@e@BB BA4*BAAAA"C*CRCCC܉9܉I܍8Fi܍?܍=܉܉܍UV; ݍN)EI)GER>KC, fFAY}2V-@}2q@y}2e.}2 J}2H}W? '?¿`ı??)~2V-@ ~2\;I~2CɫYY)Y YIYY?yFdNmea in: $SNTTA,0.350381,0.350306,,,224939.39*5C MRQ?ˡE? rh?M=M'= MC<)IIIyM~jt?y&1?~jth?M=M`A)MTAIM2AiMIMAAm =MmC=YuvdQUu>qya}"Hyyyj<}>Iȉō 5?ō-sݾ ƍ ?9ƍ9?Ǎ/: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUUq@ByBy ByA}*ByAAAA"C*CRCCCIG$>5 5 |5 |5  5 ,:Y5 R1y5 i:5 35wI,'fFAY}2-@}2d3@y}2]S8}2 m}2H_E`r?.?@ȹ`?&m@{?)~2-@ ~2PZ\;I~2Cɫ19)9 9I9Yu?yu"F U U ] ]@ ]@ ]@YYYiYY Y)YIYiYm[MuJ=Yu!ļQUu>yya}"Hyy}>IȑŕQ 5?ŕrݾ ƕ ?9ƕ#B?Ǖ : ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU@B!B! B)A*BAAAA"C*CRCCCI)]AIGܙ 9ܙ Iܝ Fiܝ ?ܝ =ܙ ܙ ܝ X; ݝ |*E)Ii=V5]P,;AfFAY}2@,@}2ʩ@y}2@}2_ }2H`>+ޚJ? x?u _¿8? @j?)~2@,@ ~2\;I~2Cɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,R,26A,000,03650,188,80,80,C9,FF Fpublishing direction and range info ɰ`?鰅> )Iy/GDŵDu?t^nٱyy    @ @ @i )Ii<M2=YQU%>!)a-"H)1y5}5>I9 E:=l 5? M:=qݾ =E U?9=rK?=X%; =&;)=:WqWqXq XqWyXy:Wy2Wy*WyVbUBU*UUU @R(Combining 5 samples.P*Q/GDZQS<]@AyJQŵDu?t^n2Q :QbQI/}o|Q1@: ^'a@RQzbPԿL ?ٿ ?BQ? Q9DQ|P9?PQ9?PQQZC"Q,@BB BA*BAAAA"C*CRCCCIGE>5 1 1 5  5 4:Y1 y1 5 25)5 |;9= V,k[fFAɫqq)y yIyYz?yǍFU:MUl=Y]QU]?YYae"Haaye}m?I, 5?iqݾ  ?9R?: <:)m}Added new target pos. range: 796.739990 m, bearing: 108.816381 deg, deltaT: 5.728554 s, approachRate: 138.317627 m/s, LOS rate: 0.119504 deg/s, posRepo size: 4mVStopped intercept timer at range: 796.74 m.W?WX XWX:W2W *W V bUBU*UU@U`t?BaBi BiAm*BiAqAqAqAq"C}?RCyC}?CyaIqG>:\,DufFAY}J,@}J,@y}J=}J׽}JH47??@Mɿ ߏ?@nxG?)~J,@ ~JZ^;I~JCɫ) IY5?y=cFmMb?J +?/$ma"Hyl;}>I : 5? :qݾ  ?9S?s; z;):;] wAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;wdResuming normal ranging with 1.000000 count pings.;1<WWX XWX:W2W*WV--tFailed to parse device response: ,24.5699,4.82561,2749.14 bU)BU1*U1U1U5?BB BA8*BAAAA"C*CRCCC?i?׹IGg>5  5 z5 z5  5 K6:Y5 Q1y5 :5 695 @ՙc,rfFAɫ髙) IY?y"F)e > e>    @ @ @ ñññiõ?ñ ĵ?)ĵ?Iĵ?iĵK?<MX=YQU>a"Hy}>I 5?qݾ M޽ ?9 U?L ; J0;)X-?1<-w-Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;5 w5Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRW9W9X9 X9W9X9:WA2WA*WAVAbUABUI*UIUIUUܵ?BB BA*BAAAA!"CI*CIRCICICQAIIGm5>i,QfFAɫyy)y yIyY?ytFiIi1ٺVA$<MJ=YQU>a"HHy}>I  : @ 5? : qݾ ҽ ?9 :V? 8: :) :W9W9X9 X9W9X9:WA2WA*WAVAbUIBUI*UIUIUU ,?ByBy ByA}Ʌ*ByAAAA"C*CRCCCiIqG>e k e {e {e  e P:Ye #R1ye :e 25) 9- ܔCI- Fi- a?- =- AD) - _; - -E/p,1fFAY}2s,@}2m@y}2 C}2^|}2H^ `?@B!?H@ſ;?\?)~2s,@ ~2[;I~2Cɫ99)9 9I9Y}?y}4F - - - -@ -@ -@ -@)))i-) -)-I-i-E<MES=YEhbQUE>IIaM"HIQyU }U>IY] 5?]qݾ ]ƽ m?9]^W?]: ]:)YWWX! X!W!X!:W!2W)*W)VQbUQBUQ*UYUYU] +?BB BA{*BAAAA"C*CRCCCI)IG (>v,T܁fFAY}2$,@}2/@y}2~DF}2`DG}2H`a ' ?B?`|:@>Ŀ?@ni]?)~2$,@ ~2`[;I~2Cɫ99)9 9I9YE?yFIIuD"M}G=Y}~QU}>a"Hyg}>Iȹ :Ž 5? :Žqݾ ƽr ?9ƽX?ǽ: Ƚ0:)Ƚ:WWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"C*CRCCCIG 5 5 w5 w5  5 !+:Y5 O1y5 P:5 5U},fFAY}}'+@}}@y}}G}}Y}}H@V ?T?"s9ſ 6? Y?)~}'+@ ~}v];I~}Cɫqy)y IY?y}F?A}DlL7A`堿A`"}O}+ }Y)yIyy}I +i|?5?Mb`}94}q=} y)}+MAI}0Ai}jdAy}HA9۔CIXFi?=BDb; /E    @ @ ]@i )Iimj"Mm#=Ym"PQUu>qqau"HqyyFػ}>Iȉō 5?ōRsݾ ƍ ?9ƍ4`?Ǎ: ȍ:)ȉWWX XWX:W2W*WVbUBU*UU U t@R5B*** querying acoustic contact ***P1P5ByBy ByA}Ņ*ByAAAA"C*CRCCCבIG>烠,afFAY}2ӯ+@}2]@y}2܄F}2}2H7 |sb? Xg?@`vǿ?M?)~2ӯ+@ ~2tD^;I~2Cɫii)i qIqY?y*FZ****** received transponder code query ******F****** received ping request ******a"Hy}>I  : 5?  :mtݾ Ƚ ?9f?: :):WQWQXQ XQWYXY:WY2WY*WVbUBU*UUUV! @BB BA*BAAAA"C*CRCC C =?i=?IG=r>5 5 {5 {5  5 ).:Y5 #R1y5 :5 t6 ,!=*fFAY}6c+@}6@y}6D}6~x}6H?`O?@ʿ@u? 3?)~6c+@ ~6o\;I~4ɫ99)9 AIAY]?y]ƎFexDUSBL response received:!U1,P 26A,000,03650,188,80,80,C9,FF eCommand AckeBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )õ= õ= M=Y;QU ? a"H)y=O<}E ?Iae 5?eTuݾ eϽ ?9ej?ev< eQ<)aWWX XWIXI:WQ2WQ*WYVYbUaBU*UUU q @B1B1 B1A=*B9A9A9A9A9"CA*CIRCICICIaIyG^> 9 I Fi ? = e; 1E ,DfFAY}2P,@}2l@y}2 C}2K}2H`*?-? `]˿O?e/?)~2P,@ ~2Q#\;I~2Cɫ99)9 9I9Y}\?y}F鮁ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )IiM:=Y<.;QU>a"Hy%W<}%>I)-Ɛ 5?-vݾ -:ٽ U?9-aq?-I; -;))WWX XWX:W2W*WVbUBU*UUU`@BB BA%*B!A!A!A!AA"CI*CQRCQCQCQAIIGm5>5 5 ~5 ~5 8 5 xW:Y5 T1y5 @:5 6)5 b;9= $,A]fFAY}:$,@}:@y}:jF}:|}:H&??:`mǿ@d?!M?)~:$,@ ~:![;I~8ɫ99)9 9I9Y]r?y]FexDUSBL response received:!U1,R,298,000,002BA,189,80,80,B9,FF mFpublishing direction and range infoeVaɰed=e7> a)e9CIaye(@e-_?B#HٱauV+=M}R=Y}QU}>a"Hy3<}>Iȱ :ŵɏ 5? :ŵwݾ Ƶ ?9ƵLw?ǵ: ȵ(:)ȵ:WWX XWX:W 2W *W V)bU1BU1*U1U1U=`@PA*QE(@ZQE.XQ @{t/JQE-_?B#H2QEV:QAbQEr]!Ht@5ҳ?RQEG2ѿfn?ou~?BQE? QE@QEPEQ9?PE9?PEQEQE:-@"QEZCBB BA*BAAAA"C*CRCCCI)IG$>^R,wfFAY}~,@}9@y}rJ}BvP}H%@C??Y@Yſ@'?䉩U?)~~,@ ~h[;I~Cɫ髙) IY?yƎFTNmea in: $SNTTA,0.031132,,,,224945.04*4A i9iImFim1?m=iimh; m2E{Gz?{Gzty&1?#=ף `e=)Iy/$?/$Mbp?<; a"Hy?}%>I)- 5?-vݾ - ׽ 5?9-z?-: -:))m}Added new target pos. range: 4.380000 m, bearing: 106.394485 deg, deltaT: 4.400343 s, approachRate: -180.067780 m/s, LOS rate: -0.550388 deg/s, posRepo size: 4W?WX XWX:W2W*WVbUBU*UU@U@?BaBq BqAu*BqAyAyAyAy"C ?RCC?CqIG>- - |- |-  - :Y- R1y- i:- i5)- |;6,fFAY}22#,@}2>@y}2'5H}2Gý}2H @&? :?@AEɿ? 跿k??)~22#,@ ~2^;I~2Cɫ99)9 9IAYE?yMF[M=Y;QU?!!a%"H!)y-d}-?I1 =:5 5? =:5hvݾ 5н E?95}?5: 5:)5::eueAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;evmZEntering USBL mode with 5.000000 count pings.1;mq;mWqWqXq XqWqXy:Wy2Wy*WyVybUBU*UUUD?BQBQ BQAU*BQAYAYAYAY"Ce?RCaCaCiIIQGu>3`,脫fFAY}2x+@}2 @y}2?B}2tѽ}2H@s#ѳ?S?7@͊ɿ4?+`&B?)~2x+@ ~2 ];I~2Cɫ99)9 9I9Yr?yFU3<M]F=Y]+Qaaae"HeHaym}m>Iqu 5?uuݾ uaȽ }?9u?u÷: uϸ:)qX@q;uCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:uAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLWWX XWX:W2W*WVbUBU*UUU$?BB BA*BAAAA"C?*CRCCC?i?סIG >5 15 {5 {5  5 P#:Y5 #R1y5 :5 59= @i 9i Im Fim ?m =i i m j; m 4E)Ii=k5H,_łfFAY}:+@}:n@y}:?H@}:Ls}}:H``kT?GY? =Uxſ? `?)~:+@ ~:`H\;I~:Cɫ99)9 AIAY}#?y}jF)]= ]>    @ @ @áááiáá ġ)ġIġiġpU<MD=Y";QU>a"HyѤ}>I : 5? :uݾ  ?9?: s:):WWX XW X :W 2W *WVbUBU*UUU?BIBI BIAUe*BQAQAQAQAQ"CY*CYRCYCaCaIG%>"r,:߂fFAY}2+@}2@y}2 tD}2va}2Hk 3?2T?Oh?Jh?)~2+@ ~2[;I~0ɫAA)I IIQY}?y}XFJMU=Y%-QU%>!!a%"H))y-9}5>Iȉō 5?ōrtݾ ƍ޹ ?9ƍ?Ǎ: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUU@@BB BAl*BAAAA"C *C RC C C)I1G>m >iiNmGIi5ٺ15.A5 ) 1 1 5  5 7:Y1 y1 5 6o,'fFAY}fy+@}f@y}fI}f$}fH@{`?[?9:Pÿ ?s^?)~fy+@ ~f \;I~fCɫ髹) IYr?yF}MbʡE?Zd;}@}= }y)yIyy}~jt? rhˡE}<}C }' }^BA)}KAI}h3Aiyy}z@A    @ @ @i )IiM0=Y`:QU>a"Hy}> 9 I i  =   0m; j5EIȡťx 5?ť0sݾ ƥe۽ ?9ƥڅ?ǥ5; ȥ;)ȡWWX XWX:W2W*WVbUBU*UUU@BaBi BiAm*BiAiAiAqAq"C*CRCCCIױ)ױבIGa> i a=҃Ġ,fFAY}2%P+@}2k@y}21H}2' c}2HH@)U??c`nſ:?`(ӫ`W?)~2%P+@ ~2^;I~2Cɫ99)9 9I9Y\?yF@AGMu=Y;QU?a"Hy<}?I :y 5? :Xrݾ  ?9Ň?: ,:):WWX XWX:W!2W!*W!V!bU)BU)*U)U)U-U@R=B*** querying acoustic contact ***P9P=BaBa BaAe*BaAiAiAiAi"Cq*CqRCqCyCyqIyG=5 ? 1 1 5  5 BM:Y1 y1 5 6Iʠ,l,fFAɫ髹) IY ?y=FZ****** received transponder code query ******F****** received ping request ******a"Hy}>Iȡťz 5?ť2qݾ ƥ> ?9ƥc?ǥ; ȥ;)ȡWWX XWX:W2W*WVbUBU*UUU @BB BAw*B!A!A!A!A!"C)*C)RC1C1C1IG > 9 ܔCI XFi ?    Qo;  6E-Ѡ,FfFAY}6*@}6#@y}6lF}6ڏ}6HBdv@???@ ǿ -?"OR?)~6*@ ~6\;I~6CɫYY)Y YIaY?y!FxDUSBL response received:!U1,P 298,000,002BA,189,80,80,B9,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @ÙÙÙiÙÙ ę)ęIęię]E?M]0=Ym)l;QUm>qya}"Hyy }>I : 5? :oݾ V ?9N?: (:):WWX XWX:W2W*W!VAbUABUA*UIUIUM @BB BA*BAAAA"C*CRCCC?i?IG%o>5 L5 y5 y5 B 5 x%:Y5 P1y5 ':5 5נ,`fFAɫyy)y yIyY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )E> E>uMuo=Y}QU}?ya"Hy}?Iȑŕ 5?ŕoݾ ƕ" ?9ƕY?Ǖӻ: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUUT3@BB BA*BAAA!A!"C)*C)RC)C)C1IG-->(ݠ,qzfFAY}R*@}R @y}RF}Rj}RH@`+@pw?? zIɿ*?ڶD?)~R*@ ~R [;I~RCɫqq)q qIqY?y*FxDUSBL response received:!U1,R,27E,000,002B8,189,80,80,B9,FF Fpublishing direction and range infoӇɰd= )IyQ@b*?w]zٱ}bX9?Mbx&?}E6>} }7=)yIyy}/$?:v}<}}T }?A)}$RAI}0Ai}hiAy} KAr<MG=YQU>a"Hy>:}>Iȹ :Ž 5? :Žnݾ ƽ>& ?9ƽ?ǽA; Ƚ 7;)Ƚ:WWX XWX:W2W*WVbUBU*U!9۔CI Fi?=7q; 7EUYUe9@R(Combining 5 samples.P*QQ@ZQ" @:&YJQb*?w]z2QӇ:QbQ - z z  K:Y Q1y : 5) S;9 >䠙,IfFAY} *@} e@y} żI} ƽ} H@`t]#?а?ોɿ ? T ;?)~ *@ ~ h^;I~ ɫ) IYM?yMFDNmea in: $SNTTA,,,,,224949.50*5B    @ @ @i )IiMz<MM@=YMԻQUM>QQaU"HQYy]<}]>Iaed 5?e@nݾ e) u?9eӑ?e': e:)amuAdded new target pos. range: 4.259999 m, bearing: 105.977044 deg, deltaT: 4.490742 s, approachRate: -0.026722 m/s, LOS rate: -0.092956 deg/s, posRepo size: 4WEG?WAXA XAWAXA:WI2WI*WIVIbUIBUQ*UQUU = @UU$?BB BAG*BAAAA"CG?RCCG?CI)׹IGD>\ꠙ,fFAY}F<*@}F@y}F;J}F0}FHvWd?@d? I@/Eɿ 1?»>?)~F<*@ ~FcL];I~FCɫyy)y yIyYP?yF)-]A8»MV=Y?QU>a"HHy#}>Iȹ :Žۍ 5? :Žmݾ ƽS- ?9ƽ?ǽ: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUUJ?B1B1 B1A5Z*B1A9A9A9A9"CA*CARCACACI׉IG>ܹ 9ܹ Iܽ Fiܽ 1?ܹ ܹ ܹ ܽ r; ݽ d8E   *:Y y F5) ;],ȃfFAY}^ü*@}^M@y}^@F}^}^H]@| )?@?Fɿ@?8D?)~^ü*@ ~^[;I~^Cɫ) IY ?yF    @ @ @i )Iiұ;MD=Y1a"Hy D} >IF 5?mݾ 1 ?90?: s:)WAWAXI XIWIXI:WI2WI*WQVQbUQBUQ*UQUYU] #?BB BAG*BAAAA"C*CRCCCIG(>.,fFAY}6*@}6?@y}6A}6T}6H||Ҹ??d-ƿ ?g\?)~6*@ ~6da[;I~6Cɫ19)9 9I9Yu?y};FV=M\=YOIa"H  y R}>I 5?1mݾ \4 %?9I?I: :)WAWIXI XIWIXI:WI2WQ*WQVQbUQBUY*UYUYU]?BB BA*BAAAA"C*CRCCC׵?i׵?iIyG=  y y  v4:Y P1y ': 59 @8,fFAY}:}*@}:@y}:`B}:sc}:H>_v4? ?«Tſ&? j`?)~:}*@ ~:}:[;I~:Cɫ9I)I IIIYt?yאFL7A`MbHzG+ = )IyX9v?~jthMb`?<D; `=A)SAIi@A)= =<;M<=YIQU>a"HyB}>I  :  5? : lݾ 0 ?9 ? : :) :W9W9XA XAWAXA:WA2WA*WIVIY9YI]xFi]?]=YY]w; ]:E)Ii邉==킖5bUqBUy*UyUyU} w ,fFAY}2*@}2m@y}2LB}2x}2HA{ζ?`l?ǿ@4?̳7S?)~2*@ ~2^;I~0ɫYY)Y YIYY?y_F5xQ=M=W=Y=QU=>AAaE"HAAyMڹ;}M>IȡťS 5?ť+lݾ ƥ- ?9ƥx?ǥU: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU @B1B1 B1A=1*B9A9A9A9A9"CA*CARCICICIqIG>  J:Y y 5i unGI i  ٺ  AJ ,d]/fFAY}6q*@}6f@y}6=}6Ľ}6H @ޕ²??`.n@ȿ@ǐ? Y`N?)~6q*@ ~6!^;I~6CɫII)I QIQY} ?y} F    @ @ @i )IiU<MO=YRa"Hy;}>I  :  5? : kݾ v* ?9 ? 4: M:) :W9W9X9 X9W9XA:WA2WA*WAVAbUIBUI*UIUIUU]@R]B*** querying acoustic contact ***PYPYByB BA*BAAAA"C*CRCCCIש)ש׉IG=Q 9Q IQ iQ U =Q Q U !; U UE#3,9IfFAY}J`{*@}J@y}J05}J}JHb@ׁ?@j?YQɿ͇?QZL?)~J`{*@ ~JG\;I~JCɫYY)Y YIYY0?yFZ****** received transponder code query ******F****** received ping request ******AAaE"HAAyM:}M>IY] 5?]-kݾ ]-' m?9]?]: ]:)YWWX XWX:W2W*WVbUBU*UUUQ @BB BAa*BAAAA"C*CRCCCIG>= } = |= |=  = 4R:Y= R1y= i:= "6\,cfFAY}=e*@}=@y}=.}=&4}=HR f?`?!Dƿࣹ? `Aj?)~=e*@ ~=1[;I~=CɫQQ)Q QIYY?y̒FxDUSBL response received:!U1,P 27E,000,002B8,189,80,80,B9,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )Ii-Z<M5#=Y=fPIIaM"HIYye:}e>Iq :u 5? :ujݾ uL# ?9u?u0; u;)u:WWX XWX:W2W!*W!V!bU!BU)*U)U)U-@y @BqB BA*BAAAA"C*CRCCC׹IG>,|fFAY}BWe*@}B@y}B#N+}B m}BH`Ґ `y? ?ÿ;P? 2?)~BWe*@ ~B9[;I~@ɫ髹) IYx?yFɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 9ܔCIi=; E}Q?ktQYa]"HYyyΏ}>Iȉō 5?ōHjݾ ƍ! ?9ƍR?Ǎ: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUU1@BYBa BaAeO*BaAiAiAiAi"C*CRCCCױIGe>U U {U {U  U /3:YU #R1yU :U 5)U ;9] Ho%,u˖fFAY}6Rj*@}6܅@y}6"}6R}6H@ ؄ 4?`3?ſ`|=? ǵ z?)~6Rj*@ ~6d[;I~6Cɫ99)9 9I9Ye?yFxDUSBL response received:!U1,R,292,000,002BA,189,80,80,C3,FF Fpublishing direction and range infoɰd=鰡 )CCIy(@vJy*?#@caٱ)= <M~=Ya"HHy <}>I : 5? :iݾ  ?9?: :):m qAdded new target pos. range: 4.380000 m, bearing: 104.966607 deg, deltaT: 4.364912 s, approachRate: 0.027492 m/s, LOS rate: -0.231491 deg/s, posRepo size: 4Wf?WX XWX:W2W*WVbUBU!*U!U%@U%.?BQBQ BQAU#*BQAYAYAYAY"Cef?RCaCef?CiiIqG>9۔CIFiE?; jE  {F:Y y 5) ;ۀ2,ʄfFAY}6*@}6c@y}6C}6KϽ}6H+P??+@uĿ \? 4?)~6*@ ~6^;I~6Cɫ99)9 9I9YE?yEFI)I4=)  % % %@ %@ %@ %!!!i%?! % ?)% ?I% ?i%?5M5S=Y=f=QU=>99a="HAAyE<}M>IQU 5?U|iݾ U ?9Uà?U*_< U߼:)QWWX XWX:W2W*WV bU BU *U)U1U5@?ByBy BAA*BAAAA"C*CRCCC׉IG>8,YfFAY}6*@}6@@y}6D}6qݩ}6H@X`:U?`O?3-¿`?H q?)~6*@ ~6w\;I~4ɫII)I IIIY}?y}F!=ML=Y}!!a%"H!)y-";}->I1 =:5= 5? =:54iݾ 5H E?95?50: 5:)5:WaWaXa XiWiXi:Wi2Wi*WiVqbUqBUq*UyUyU} }?BB BA*BAAAA)"C1*C1RC9C9C9)I1G]>  W:Y y 59 @>,.=fFAɫ) IY5?y5Fܙ9ܝܔCIܝ@Fiܝ?ܙܙܙܝ; ݝHE?ktƿ~jth?= 0 D;)IyS㥛??Mb`/<< ;9A)TAI5AiG[AGA    @ @ @ @i )Ii:M/=YQU> a "H  y}>I˅ 5?9iݾ  %?9ԣ?: :)WIWIXI XIWIXI:WQ2WQ*WQVQbUQBUY*UYUYU]?BB BA*BAAAA"C*CRCC!C!e?ie?9IAGeU>E,nfFAY}:*@}:@y}:Vν}:n}:H @ 8??@)?`'?)~:*@ ~:2[;I~8ɫQY)Y YIYY?y Fu:Mug=Y}r=QU}>yya}"HyPһ}>Iȑ :ŕ 5? :ŕI! )% @A z z g W:Y Q1y : 5K,1fFAY}6OH+@}6c@y}6Hذ}6|}6H W (?Q?`?ڵ u?)~6OH+@ ~6_;I~6CɫYY)Y YIYYR?yF) = >5;M=N=Y==QU=>AAaE"HAAyM<}M>Iȩŭo 5?ŭAiݾ ƭ ?9ƭi?ǭ: ȭ#:)ȩWWX XWX:W2W*WVbUBU*UUUM@BB BA%ق*B!A!A!A!A!"C)*C1RC1C1C1IIQGu>ܙ9ܝ۔CIܝFiܝv?ܝ=ܙܙܝ&; ݝ{E))I)i)-=)-5R,KfFAY}2+@}2}@y}2;ؐ}2 ̽}2H`:G (?@ `*?ff ?)~2+@ ~2_;I~2CɫII)I IIIY]?yeFae?A    @ @ @i )Iic<MQ=Yr#=QU>a"Hy<}>I :A 5? :Giݾ  ?93?|: w:):W!W!X! X!W!X!:W)2W)*W)V)bU1BU1*U1U1U=/@REB*** querying acoustic contact ***PAPABaBi BiAm*BiAiAiAqAq"Cy*CyRCyCyCIב)בiIyG= s     (:Y y  j5oX,efFAY}2?,@}2e[@y}2A܀}2z}}2Hum?@?`@t? #?)~2?,@ ~2j];I~2Cɫ99)9 9IAY?yFZ****** received transponder code query ******F****** received ping request ******  a "H yǠ<}>I!% 5?%Piݾ %k 5?9%#?%f; %;)!WYWYXa XaWaXa:Wa2Wa*WiVibUiBUi*UiUqUu @BB BAq*BAAAA"C*CRCCCqICinGIi)G= >]zٺaeA##_,}fFAɫ髙) IY?yFxDUSBL response received:!U1,P 292,000,002BA,189,80,80,C3,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 a9aIeFiea?e=aae.; e9oE~jt?kt?I +D= 0= 94)Iy11a5"H19y=}=>IA U:E 5? ]:Ehݾ Et e?9EX?E}; Ev;)E:WWX XWX:W2W*WVbUBU*UUU F@BB BAn*BAAAA"C*CRCCC  I G5 >   | |   84:Y R1y i: 5) ;9% f,hXfFAY}2,@}2t@y}2}2==}2H@z`y9?Ya?ʋ@ѳ,? ?)~2,@ ~2i1[;I~2Cɫ99)9 9IAY]?y]vFea=ɮea=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B %W>M%=Y-QU-#?))a-"H11y=)<}=#?IAE^ 5?Ehݾ E M?9E?EI: E:)AWiWqXq XqWqXq:Wy2Wy*WyVybUyBU*UUU`0@BB BA*BAAAA"C*CRCCC IG>4l,2fFAY}2O,@}2@y}2ʆ}2ԇ}2HD(}|Ѐ?@a?D}ȷ&ְ?`K?)~2O,@ ~2ŮZ;I~2Cɫ99)9 9I9Y?yҕFxDUSBL response received:!U1,R,29E,000,002BB,18A,80,80,CC,FF Fpublishing direction and range infoɰ e=> )LCIy@=J1?gwٱȧMN=Y]QU>a"HHyJ}>I   5? Lhݾ V ?9 ׭? #: :) W9W9X9 XAWAXA:WA2WA*WIVIbUIBUI*UIUQUU@Re(Combining 5 samples.Pa*Qe@ZQe. @B[SZԚJQe=J1?gw2Qe:QabQe?~eMI@|?RQeyg`ҿztbT?%}8b?BQe? Qez@Qe,PaPaPaQaQe@"Qe^+@BB BAʂ*BAAAA"C*CRCCC׉IG=999I=Fi=?==99=ģ; =BeE,s,ͅfFAY}r_,@}r{@y}rcb}r8}rH 7?@@@wU?j@?)~r_,@ ~r ^;I~rCɫ) IY?yFDNmea in: $SNTTA,,,,,224958.39*54 )ý> ý=    @ @ @i )IiM9=Ya"H!!y%%}->I1 =:5 5? =:5gݾ 5R =?95Ѯ?5s: 5(:)5:mmmAdded new target pos. range: 4.440000 m, bearing: 106.757353 deg, deltaT: 4.447436 s, approachRate: 0.013491 m/s, LOS rate: 0.402647 deg/s, posRepo size: 4Wu?WqXq XqWqXq:Wq2Wy*WyVybUyBU*UU`@U 7?BB BA*BAAAA"Cu?RCC?CסIG >5  5 z5 z5  5 5:Y5 Q1y5 :5 j59= @Fy,fFAY}2!&,@}2A@y}2i 1}2ν}2HHs`xK?`B?úH"?@?)~2!&,@ ~2,<^;I~2Cɫ99)9 AIAY] ?y]FMa=Yv=QU>a"Hy}>Ib 5?gݾ ݽ ?9?: 4:)W!W!X) X)W)X):W)2W)*W1V1bU1BU9*U9U9U= ٱ?BiBi BiAm**BiAqAqAqAq"C}4?*CyRCyCyCQIYGu=/,fFAɫ髁) IY?yF9IFi?=W; e]EI)~jtQ롿:v?\ T<)IyA`"?I +?(\µ?Y=94<= ­:A)­OQAI©i­zPA=FA        @  @ @   i   ) I i /<M1=YQU>a"Hy}>I :f} 5? :4gݾ  ?9Ҳ?$; ;):WqWyXy XyWyXy:W2W*WVbUBU*UUU ?BB BA*BA!A!A!A!"C-?*C1RC1C1C19IAGeU>! i% =5  5 |5 |5  5 I:Y5 R1y5 i:5 E5)5 w;9= X,ofFAY}:&-@}:=B@y}:HJ}:E:}:H`H`D7?4?ø AoF?P?)~:&-@ ~:h\;I~:Cɫ99)9 9I9Y}C?y}FUޣ;M]b=Y]FQU]>aaae"Haaym94=}m>Iqu{ 5?ufݾ u }?9u#?uӻ: u:)qWWX XWX:W2W*WVbUBU*UUU?BB BA݂*BAAAA"C*CRCCC ?i ?IG>G,{4fFAY}:~-@}:@y}:r}:iW}:H@GM?n?`Y?ݪI?)~:~-@ ~:K[;I~:CɫYY)Y YIYY?yFUKMUJ=Y]hɼQU]>YYae"Haaym<}m>Iq }:ubz 5? }:uifݾ u }?9u?u: u:)u:WWX XWX:W2W*WVbUBU*UUU`B@BB BA9*BAAAA"C*C RC C C I9G>9ܔCIFi?i; -XE= _ = }= }=  = f;:Y= kS1y= Ԋ:= 46)= ";j,TNfFAɫ  )  IYMx?yMFQU@AU=iU= aa    @ @ @ñññiññ ı)ıIıiıŷM)=YQU>a"Hy}>Iwx 5?eݾ tI p$= ?9ۺ?J: 5:)WWX XWX:W2W*WVbU!BU!*U!U!U-@@R5B*** querying acoustic contact ***P1P1BQBY BYA]O*BYAYAYAaAa"Ci*CiRCiCiCq9IIGeV>I! )! ,]7hfFAɫ髱) IY?yFZ****** received transponder code query ******F****** received ping request ******U U yU yU  U :YU P1yU ':U 59m @x~,sfFAY}2u-@}2@y}2抽}2Խ}2H@2 A?`?TrY?@Gz !?)~2u-@ ~2\;I~2Cɫ99)9 9I9܁9܅۔CI܅PFi܅8?܅=܁܁܅; ݅UE)iIiiim=m=m5Y?yhFxDUSBL response received:!U1,P 29E,000,002BB,18A,80,80,CC,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 mZd;Ͽ{Gz?&1?mymף= mP>)iIiymktX9v?~jtm 0mQQaU"HQYy]5}]>Ii }:mw 5? :mgݾ mXr= ?9mt?m; m~;)m:W1W1X9 X9W9X9:WA2WA*WIVIbUqBUy*UyUU3 @B)B1 B1A5.*B1A1A9A9A9"CA*CARCACACIA IQ Gm >ը,fFA|i|@Y}J;.@}J1W@y}J&I}J:W}JH`uPv?+?`T"Ӽ?Ŵ?)~J;.@ ~J[;I~Hɫ髑) IY?yՒFɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B <M=YQU?a"HyE<} ?I(x 5?gݾ \= ?9c?: k:)W9W9XA XAWAXA:WA2WA*WIVIbUIBUI*UQUQUUV @ByB BA*BAAAA"C*CRCCCׁIG>inGI i M %ٺI M FA-  - v- v-  - 6:Y- N1y- :- }5.Ѭ,DµfFAɫyy)y yIyYz?yFxDUSBL response received:!U1,R,295,000,002BC,189,80,80,C3,FF Fpublishing direction and range info8ɰ`e=7> )CCIy@I6~?|NsٱߵM?=YQU>a"HHy}>I :x 5? :iݾ == ?93?s: :):WWX XWX:W2W*WVbU BU *UUUFa@R%(Combining 5 samples.P!*Q%@ZQ%ͬh,@>#JQ%I6~?|Ns2Q%8:Q!bQ%9LKi@VN@?RQ%)QOԿ'r%?Gaǻ?BQ%Ƨ? Q%@Q%ζP%P9?P!P!Q!Q%@"Q%@BYBY BYA]O*BYAaAaAaAa"Ci*CiRCqCqCqIGEQ>}>9yI}Fi}}?}=yy}ϑ; }:RE,φfFAY}z.@}z@y}z׽}z"}zHF`j?@?`)ý?@?)~z.@ ~z\;I~zCɫ) IY-~?y-{FDNmea in: $SNTTA,,,,,225002.44*59    @ @ @i )IimMU=Y gQU >a"Hy8<}>I!%!y 5?%"jݾ % = -?9%?%: %8:)!memAdded new target pos. range: 4.500001 m, bearing: 108.618190 deg, deltaT: 4.097341 s, approachRate: 0.014644 m/s, LOS rate: 0.454157 deg/s, posRepo size: 4meTStarting intercept timer at range: 4.50 m.WeƧ?WiXi XiWiXi:Wq2Wq*WqVqbUqBUy*UyU}@@U} ?BaBi BiAm*BiAiAqAqAq"C}B?RCyC}Ƨ?CyyIG<>- u) ) - w - (:Y) y) - "5=㹡,xfFAY}2I!/@}2<@y}2齙}2ӂ}2H >Ӡ _?PT?@"NE?@F?)~2I!/@ ~26_;I~0>JFailed to close latch before timeout.q >>Hardware FaultYB?yBFiR= =kMEm=YEɼQUE?IIaM"HIIyU9<}U?Iy :}y 5? :}kݾ }== ?9}?}s: }:)}:WWX XWX:W2W*WVbUBU*UU!U%`ľ?BiBi BiAu*BqAqAyAyAy"CƧ?RCCCQIY-$u@Hardware Fault in component: DDMG}=<,mTfFAY}JQ/@}J&m@y}J,뽙}J*}JHKЌ7 ?@?w5 U?@?)~JQ/@ ~JD^;I~JCZPowering downXɪX)X XI9IIIiIM=IIMݍ; MNEY?yFQ+ÿQu u)IyQ뱿~jtxMb`\Ļ ¥`=A)¥+MAI¥a%"H!!y-f;}->I15*| 5?51lݾ 5t< =?95?5߼: 5:)1WaWaXa XaWaXa:Wi2Wi*WiVibUqBUq*UqUqUuw?BB BA&*BAAAA"C*CRCCC׹IGf>5 o5 |5 |5  5 B(:Y5 R1y5 i:5 E5)5 ;9= =ơ,/fFAY}2D/@}2@y}2`}29}2Ho\[? ?X4rJ? P?)~2D/@ ~2T];I~0YB ?yBFsM%=Y%ǔQU%"?))a-"H)1y5b<}5#?I9=} 5?=lݾ =K< M?9=?=g: =ض:)9WiWiXq XqWqXq:Wq2Wq*WVbUBU*UUU% R?BiBi BiAm*BqAAAA"C*CRCCC׉IG= ͡, 7fFA|i|Y}R0@}R @y}RS}Rݦ}RH`JsQi? ?a@6F¿@%? gT?)~R0@ ~R+\;I~RCYfv?yfbFIMC=)M=}1M}D=YӼQU>a"Hys;}>Iș :ŝ 5? :ŝmݾ Ɲ!< ?9Ɲ?ǝ: ȝ:)ȝ:WWX XWX:W2W*WQVQbUQBUY*UYUYU]c?BB BAЅ*BAAAA"C*CRCCCI$ NClearing failed state for component DDMq G>999I9i9999=L; =GJE% =i% =5 65 x5 x5  5 #:Y5 7P1y5 :5 j5)5 ;Oԡ,PfFAY}6;/@}6@y}6}6Bl}6H $I@_@V? ?`q` ?`Wա?)~6;/@ ~6 [;I~6CYB?yBcFxz^A~M~S=Y0QU>a "H  yj}>I 5?hnݾ < %?9=?: :)WIWIXI XIWIXI:WI2WQ*WQVQbUQBUQ*UYUYU] @BB BA8*BAAAA"C*CRCCCבIG=2ڡ,jfFAY}JË/@}JM@y}J)}J$}JH`.&mB?`[?|g@'V"?`ѡ`?)~JË/@ ~J[;I~HY^ ?ybF``    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ%=M@=Y73QU>a"Hyo}>Iȹ :Ž 5? :ŽIoݾ ƽ%< ?9ƽ?ǽ: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUUn@R B*** querying acoustic contact ***P P B1B1 B1A5*B9A9A9A9A9"CA*CARCACICIIIQGu=5  5 |5 |5  5 4:Y5 R1y5 i:5 695 @ᡙ,˜fFAp9pIrFir?ppprh; r7GEY~~?y~,FZ****** received transponder code query ******F****** received ping request ******A)OAI7AirZAHA-2M53=Y5QU5>99a="H9AyE}E>IIM 5?Mnݾ M U?9M7?M: M:)IWyWyXy XyWyXy:W2W*WVbUBU*UUU`[ @BB BAN*BAAAA"C*CRCCCIG-->I% AA)% AAD硙,{fFAY}RN.@}R@y}R<}R@Y}RH`S?`;/?n#(ÿ`Y^?k?)~RN.@ ~R[;I~RCYf?yfȌFjxDUSBL response received:!U1,P 295,000,002BC,189,80,80,C3,FF jCommand AckjBRequesting micromodem ping code 2ihhvNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 MnMUo=YeRQUe?yya"Hy'̼}>I u: 5? }:{nݾ  ?9?< %<):WWX XAWAXI:WI2WI*WIVIbUQBUQ*UQUQU]q$ @BB BAw*BAAAA"C*CRCCCIG%M>5 c 5 {5 {5  5 !P:Y5 #R1y5 :5 6cm,rQfFAY}6.@}6'@y}6&(H}6~}6H@ ?6?`ſO?nR?)~6.@ ~6k[;I~6CY^Z?ybۋF`ɮ`%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )IisMA=YQU>a"HHy}>I 5?nݾ   ?9?: :)W)W)X) X1W1X9:WA2WA*WIVQbUYBUY*UaUaUe`@BB BA׆*BAAAA"C*CRCCC)IG-->9IFi?=; DE)QIQiQU=U=U5V,v3҇fFAY}JG.@}Jc@y}JHV}J @}}JHI8@?@\?1@ƿ?|M>?)~JG.@ ~JE[;I~JCYn?ynFvxDUSBL response received:!U1,R,277,000,002BB,189,80,80,BE,FF vFpublishing direction and range infov} tɰv e=t t)v>CItyv@v+E?LfٱtI)I=)= - - - -@ U@ U@)))i)) )))I)i)eMeB=Ye_QUe>iiam"Hiy}>Iș :ŝR 5? :ŝmݾ Ɲc ?9Ɲ?ǝ9: ȝ ;)ȝ:WWX  X W X :W2W*WVbUBU*UUU`@RM(Combining 5 samples.PQ*QU@ZQUE@[JQU+E?Lf2QU} :QQbQUρ=7lS_@Go?RQUԿj^?E ?BQU٬? QU@QUPQPUP9?PQQQQU$,@"QU@BB BA;*BAAAA"C*CRCCCIG$>% =i% =5 5 }5 }5  5 C:Y5 kS1y5 Ԋ:5 j5,*fFA`bCY}^7-@}^@y}^8a}^}^H@nU@oi?@s?`@0ʿ ?C?)~^7-@ ~^>C[;I~\i!I9iQ}gٺAYq ?9 AyTNmea in: $SNTTA,0.055054,,,,225006.84*4E YӼQU>a"Hy8Y}>I 5?*mݾ   ?9-?: :)mqAdded new target pos. range: 4.440000 m, bearing: 109.522309 deg, deltaT: 4.417222 s, approachRate: -0.013583 m/s, LOS rate: 0.204680 deg/s, posRepo size: 4W٬?WX XWX:W2W*WVbUBU*UU`@U ?BB BA *B A A A A "C٬?RCC٬?C-?i-?IaGB>h,dfFAH9HIJ8FiJ?J=HHJ; JCEY}rѤ-@}r[@y}rf}rŶ}rH QhvB?^?@p@ʿ`'??)~rѤ-@ ~r!*[;I~rCY=?yEFui|?5&1ʿ/$uquP u,)qIqyuI +S㥛Zd;Ou94u/ݼuj uAA)u$RAIu0AiuhAqu\KA    @ @ @ i? ?)?I ?i ?3<Ma"Hy3}>IM 5?lݾ   ?9?{: +:)W1W1X1 X1W1X1:W92W9*W9V9bUABUA*UAUAUE?BqBq BqAu*ByAyAyAyAy"C*CRCCCiIqG>5 1 1 5 $ 5 (U:Y1 y1 5 6)5 c;9= m,'fFAY}2%-@}2@y}2bl}2 }2H@?׾?P_Tɿ BI? &?)~2%-@ ~26[;I~2CYB?yBFU~MUh=Y]WzQU]>aaae"Haiym}m>Iq }:u 5? }:u`lݾ u$ ?9u?u: u:)u:WWX XWX:W2W*WVbUBU*UUU?BB BA(*BAAAA"C*CRCCCIG== ,E9fFAY}N-@}N}3@y}N`w}N:}NH @f(??b@ʿ``?`?)~N-@ ~NWI[;I~NCY^?y^nF)m= m=u,<M%>=Y-ѼQU->YYae"Haqy4;}>Iȑŕ΋ 5?ŕkݾ ƕ ˽ ?9ƕ?ǕR: ȕ÷:)ȑWWX XWX:W2W*WVbUBU*UUU@K?BABA BAAE*BIAiAiAiAi"Cq*CqRCyCyCyIױ)׵]AׁIG>܁9܅ڔCI܅Fi܅a?܅=܁܁܅B; ݅AE5 5 |5 |5  5 |,:Y5 R1y5 i:5 5)5 @;`,6tSfFAY}:pV-@}:q@y}:_}:j}:H$?τ?WCf̿`??)~:pV-@ ~:J#[;I~:CFPowering upF"Initializing DDM.Y=m?y=IF M M U U@ U@ U@ U@QQQiUQ U)UIUiUexMeF=YeB׼QUm>iiam"Hiqy}3<}}>Iȁ :Ņ 5? :Ņ}kݾ ƅݽ ?9ƅ*?Dž: ȅ:)ȅ:WWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"C*CRCCC IG- >},LOmfFAY}V-@}V +@y}V酾}Vн}VH @k:?? - ο@?,@I?)~V-@ ~V=a[;I~VCY~?y~ FI)I=)C=<MS=YQU>a"Hy6}>I  N 5? kݾ z ?9 ? #; $;) WWX XWX:W2W*WVbUBU*UUUyK@B9BA BAAEĆ*BAAAAAAIAI"CQ*CQRCQCYCYIIyG>5 R5 {5 {5  5 %:Y5 #R1y5 :5 59= @n!,*fFA>9I Fi?; z@EY}R-@}R'0@y}RN$}R }RH`^5?`ؓ?Leѿt?¿?)~R-@ ~Rl[;I~RCYf?yfFhjAA EԸ?KQ? = ^ u<) I y y&1Q{Gz `e u # ?A) xUAI n.Ai pA  MA e m m m@ m@ m@iiiiii i)iIiii}M}A=Y}}h;QU>a"Hy@A:}>I :* 5? :kݾ i ?9?: s:):WAWAXA XIWIXI:Wq2Wq*WqVqbUyBUy*UyUyU}ժ@RB*** querying acoustic contact ***PPBB) B)A-4*B)A)A1A1A1"C9*C9RC9C9C9U?iU?!I1GM1>',fFAY}FE-@}F`@y}F~}F"}FH C ? ?ૻtѿ}?ÿa?)~FE-@ ~F+[;I~DYZ?yZxF^Z****** received transponder code query ******^F****** received ping request ******b11a="H9AyE<}M>IQU 5?Ukݾ U  ?9U%?U< U;)QWYWYXY XaWaXa:Wa2Wa*WiVibUiBUi*UiUqU| @BB BAg*BAAAA"C*CRCCCIG>5  5 5 5  5 5:Y5 U1y5 :5 5 .,ẈfFAY}Nr;-@}NV@y}N3u}N}NHJּ?`?!!ο[?&?)~Nr;-@ ~N{[;I~NCYZ?yZF^xDUSBL response received:!U1,P 277,000,002BB,189,80,80,BE,FF bCommand AckbBRequesting micromodem ping code 2i``fa"HHy}>I :} 5? :vlݾ 9 ?9 ?F; <):WWX XWX :W 2W *WVbUBU*UUU`hJ @BaB BA4*BAAAA"C*CRCCCסIGF>Y9YI]Fi]E?]=YY]}; ]J>E4,IԈfFAY}2x-@}2p@y}2;t}2ؚ}2H/~`l?`? vnʿK?`ɲ ?)~2x-@ ~2H[;I~2CYR.?yVFZp=ɮZR=~Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B % - - -@ -@ -@ -)))i-(?) )))I)i-I?EO<ME<=YM:QUU>QYa]"HYaye<}m>IȱŵQ 5?ŵlݾ Ƶ ?9Ƶ ?ǵ; ȵ;)ȱWWX XWX:W2W*WVbUBU *U UIUM@H(@BB BA*BAAAA"C*CRCCCI)IG$>5  5 |5 |5  5 "6:Y5 R1y5 i:5 {5;,fFAY}2n-@}2@y}2@v}2}2H>*`I@Q?`?? ƿ ]|?vU?)~2n-@ ~2d[;I~2CYB?yBFJxDUSBL response received:!U1,R,27E,000,002BA,189,80,80,C2,FF JFpublishing direction and range infoFӇDɰFd=D D)FBCIDyF(@Fb*?w]zٱD^;M^g=Y^QUb>``ab"Hddyf}j>IhjÕ 5?j]mݾ j# r?9j?j0: j^:)hWWX  X W X :W 2W *WVbUBU*UUU;|@R-(Combining 5 samples.P)*Q-(@ZQ-z @8(7JQ-b*?w]z2Q-Ӈ:Q)bQ-rDr!{!=@)IaHv?RQ-2{ӿ⬻?@P?BQ-? Q-@Q-P-Q9?P)P)Q)Q-.@"Q-$,@BB BĂ*BA A A A "C*CRC1C1C91IAG]=B,fFAY}N-@}N9@y}Nt}Nl}NH@GY??`ݰĿF? %@A?)~N-@ ~N#[;I~NCYz?y~F>9IxFi?=}; 9>E)ڔCIڔCi==5dNmea in: $SNTTA,0.037592,0.404445,,,225011.29*5F I)I%4=)%R=El?+bX9ֿE>E EE)AIAyEv/A)EMVAIEC/AiE`sAAEMA    @ @ @ @áááiåá ġ)ġIġiĥM"=Ym^;QU>a"HyK}>I :* 5? :qnݾ 6 ?9?: :):muAdded new target pos. range: 4.380000 m, bearing: 108.273593 deg, deltaT: 4.373591 s, approachRate: -0.013719 m/s, LOS rate: -0.285513 deg/s, posRepo size: 4W?WX XWX:W2W!*W!V!bU!BU)*U)U-@U-w?BQBY BYA]*BYAaAaAaAa"Cm?RCiCm?CqyIG<> =i =- = - z- z- % - 8:Y- Q1y- :- 6)- ʔ;95 -H,M"fFAY}2-@}2{*@y}2\[n}2H}2Hj`r?z?lqȿ`? ?)~2-@ ~2[;I~2CYXyXY]a"Hyt}>I :l 5? :pݾ -T ?9@: :):W)W)X) X)W1X1:W12W1*W1V9bU9BU9*U9U9UE qz?BiBi BiAuކ*BqAqAqAqAq"Cy*CyRCCCiIqG>>9IFi1?; 2BE5  5 5 5  5 "6:Y5 WU1y5 :5 W5)5 ;?U,VfFAY}6),@}6@y}6JX}6A}6H|![r??a`}Ϳ`?`?)~6),@ ~6)[;I~6CYN?yRF~4=i~%=  ,9<Mc=Ya"Hy5}>Iȡť} 5?ťpݾ ƥa ?9ƥ@ǥ: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU "a"HyE;}>I! U:% 5? U:%qݾ %'q ]?9%p@%; %;)%:WWX XWX:W2W*WVbUBU*UUU @B!Bq BqAuh*ByAAAA"C*CRCCC!I)GE0>5 5 x5 x5  5 P0:Y5 7P1y5 :5 595 @Rb,fFA 9 I i "= ";D"; "JEY]?y]F]a"Hy}>I3 5?>rݾ ߀ ?9@8: :)WWX XWX:W2W*WV!bU!BU!*U!U!U- @BQBY BYA])*BYAYAYAaAa"Ca*CiRCiCiCqIIYG>{h,fFAY}6,@}6~@y}6O}6<}6H c3q ??Gw}ȿ?qҴ U=?)~6,@ ~6[;I~6CYB?yF=FDDIH)HIR=)R=Z=MZt=YZd% =i% a=5 5 u5 u5  5 ?:Y5 KN1y5 y:5 6n,}fFAY}j},@}j@y}jpA}jp}jH x@} >? ?G`ǿ ?`DP?)~j},@ ~j}Z;I~jCYv?yvFzZ****** received transponder code query ******zF****** received ping request ******~AAaE"HEHIyMi}U>IY ]:] 5? e:]Psݾ ] e?9]@]: ]:)]:WWX XWX:W2W*WVbUBU*UUUM @BIBI BIAM*BIAQAQAQAQ"CY*CYRCYCYCau?iu?AIIGm>>9I Fi?=A; rNEou,N׉fFAY}:4,@}:@y}:86}:ɧ}:H\MI1?m?f@Ŀa?`ߍ6m?)~:4,@ ~: Z;I~:CYJ?yJ!FNxDUSBL response received:!U1,P 27E,000,002BA,189,80,80,C2,FF RCommand AckRBRequesting micromodem ping code 2iPPVNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 (=M a=Y11a="HAQyeC}m>Iȉō5 5?ōsݾ ƍ ?9ƍD @Ǎ; ȍ;)ȉW1W1X9 X9W9X9:WA2WA*WyVbUBU*UUUb @B9B9 B9A=*B9AAAAAAAA"Ci*CiRCiCqCqaIyG>>5 5 y5 y5  5 U*:Y5 P1y5 ':5 5N{,1(fFAY}2),@}2@y}2A0}2@}2HCV`ۄ"&?` ?`¿`p?`뾧`}?)~2),@ ~2\Z;I~2CYRG?yRFbNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i= ))eGH=MeD=Ye{fiiam"Hiqyu:}u>Iș :ŝ 5? :ŝktݾ Ɲ ?9Ɲ @ǝ$: ȝ:)ȝ:W!W!X! X!W)X):W)2W)*W)V1bUQBUQ*UYUaUm@R@BB  B A܄*BAA!A!AQ"C*CRCCCׁIGI! )! 9 99 I9 i9 9 9 9 = ; = FNE, fFAYn?yrCFvxDUSBL response received:!U1,R,26D,000,002B9,189,80,80,C7,FF vFpublishing direction and range infor pɰrdd=p p)rGCIpyr=@rӔ:j?4weQٱpdNmea in: $SNTTA,0.145051,0.145482,,,225015.72*50 EԸ?I +?~jt=94= )Iy~jt?~jtX9v<D ­@A)­$RAI©i­@A    @ @ @i )Ii5/ =M=$=Y=QU=>AAaE"HAIyM}M>IQU0 5?Usݾ UN e?9U` @UM: U:)QWWX XWX:W2W*WVbUBU*UUU E@R%(Combining 5 samples.P)*Q-=@ZQ-;N௛ @3SWJQ-Ӕ:j?4weQ2Q- :Q)bQ- },A@?RQ-_1 tԿ{?=J!?BQ-i? Q-ʀ@Q-gP)P-Q9?P-Q)Q-&@"Q-.@ByB BA<*BAAAA"C*CRCCCI)׹IGf>5 5 }5 }5 h 5 @*:Y5 kS1y5 Ԋ:5 5)5 R;9= Ɉ,$fFAY}2,@}2J@y}2a3}2T}2H<l`|? #?`d`SÿC? 49x?)~2,@ ~2fE[;I~2CYB?yBF=ټM==YECQUE?AIaM"HIIyU~l}U?IY e:] 5? e:]Dsݾ ]y e?9] @]: ]:)]:mqAdded new target pos. range: 4.319999 m, bearing: 109.002231 deg, deltaT: 4.574449 s, approachRate: -0.013116 m/s, LOS rate: 0.159284 deg/s, posRepo size: 4Wi?WX XWX:W2W*WVbUBU*UUG@U?BB BA*BAAAA"CL4?RCCi?CIG=􎢙,>fFAY}6x,@}6-@y}6 0}6J}6H6N?C0?`ɿ H? )R@K?)~6x,@ ~6{<[;I~6CY^9?ybFI9)9IE=)EC=}M}F=Y;QU>a"Hyx}>Ișŝ 5?ŝrݾ Ɲᮾ ?9Ɲ @ǝ: ȝ:)șWWX XWX:W2W*WVbUBU*UUUe?BABI BIAM߄*BIAQAQAYAY"Ce/?*CaRCaCaCiyIG=܉9܉I܍Fi܍1?܍=܉܍a"Hy}>I :c 5? :qݾ E ?9j @: :):WWX XWX:W 2W *W V bUBU*UUUC?BABA BAAE.*BIAIAIAIAI"CUi?*CQRCYCYCYm?im?YIqG=Q U Ci NmGI i  4޿ٺ  tA,nrfFAY}BV,@}B@y}B;}BX޽}BHX(@?o?Iƿ4?`mt?)~BV,@ ~B\;I~BCY^?ybpF]=M]P=Ye=QUe>aiam"HiiyuB}u>Iy}! 5?}hqݾ } ?9}@}: }w:)yWWX XWX:W2W*WVbUBU*UUU@)!?BB BAƒ*BAAAA"C*CRCCCI G-,>5 5 |5 |5  5 :Y5 R1y5 i:5 59= @y 9} ۔CIy iy } =y y } ; } IEj,EGfFAYv(?yvF]a=i]< iiMb@Mb@Mb@ )Iy/$ rh?S㥛?,C</< ;9A)\AIh3AiaAJAM?=YQU>a%"H!!y-}->I15 5?5yrݾ 5 =?95w@5: 5:)1WaWaXa XaWaXa:Wa2Wi*WiVibUiBUi*UqUU](?BqBq BqAu*ByAyAyAyAy"C*CRCCC׉IG>I! )% ?A,B$fFAY}6,@}6^#@y}6T}6/mD}6H`7R?z?wFR@;?wS?)~6,@ ~60P[;I~6CYF?yFF    @ @ @ÑÑÑiÑÑ đ)đIđiđL=MQ=YD+=QU>a"HHy1:}>I : 5? :lsݾ y ?9@: 0:):WWX XWX:W2W*WVbUBU*UU U @BQBY BYA]D*BaAaAiAiAi"Cq*CyRCyCyCIי)י׉IG=5 V5 z5 z5 c 5 D&:Y5 Q1y5 :5 5x,)fFAY}6+@}6@y}6}60}6H1I+w??Qyڍ?ڕ ?)~6+@ ~6(7[;I~6CY\y\bAAb@AYr.ptav"Httyz}z>I|~b 5?~Ttݾ ~Z ?9~@~ض: ~I:)|W)W)X) X)W)X):W12W1*W1V1bU9BU9*U9U9UE`@RMB*** querying acoustic contact ***PIPIBiBq BqAq*BqAqAyAyAy"C*CRCCCIG=9ڔCIXFi?3; FE*,يfFAY}:+@}:@y}:8꽙}:l}:H/(Y]?@N? )A`z@zE??)~:+@ ~:P&[;I~:CYb?ybFfZ****** received transponder code query ******fF****** received ping request ******f99aE"HAAyML}M>IQ e:U- 5? e:URuݾ U e?9U!@U; U;)U:WWX XWX:W2W*WVbUBU*UUU6@BB BAÂ*BAAAA"C*CRCCC I1Gu>% =i% =5 h5 |5 |5  5 ':Y5 R1y5 i:5 5-T,fFAY}6e+@}6@y}6L߽}6sЁ}6H44`SC?@?@(@`@lۻ?@?)~6e+@ ~6([;I~6CYz&?yzF~xDUSBL response received:!U1,P 26D,000,002B9,189,80,80,C7,FF ~Command Ack~BRequesting micromodem ping code 2i|| Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 } } } }@ }@ }@yyyiyy y)yIyiy M)=Y;a"HyM;}>I)- 5?-vݾ -a 5?9-@-M: -:))WWX XWX:W2W*WV!bU)BU1*U9UaUm' @BqBq BqA*BAAAA"C*CRCCC%?i%?IG> 9 ۔CI Fi a?    V;  CEKâ, fFAYr?yrFva=ɮtNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B e~jt5^I ˿Zd;?eeX e=)eIaye rha"Hy}>Iȹ :ŽK 5? :Ž+vݾ ƽK ?9ƽ@ǽ; Ƚk;)Ƚ:WiWiXi XiWiXi:Wq2Wq*WqVqbUqBUy*UyUyU}@BB BA*BAAAA"C*CRCCCI G-N>  { {   J:Y #R1y : 5) {;9 )fɢ,+l'fFAY}:a+@}:n}@y}:=}:u}:H`f #b??V?N ?)~:a+@ ~:l\;I~:CYJ?yJFNxDUSBL response received:!U1,R,2BE,000,002B9,189,80,80,CB,FF RFpublishing direction and range infoN LɰLL L)NKCILyLNMH.?jnqfٱLf<Mf{=Yf|=QUf?hhaj"Hhlyn}r?Ipr= 5?ruݾ r z?9rs@r: r:)pWWX XWX!:W!2W!*W!V!bU)BU)*U)U)U5FA@RE(Combining 5 samples.PA*QAZQE?,vF @oGJQEMH.?jnqf2QE :QAbQE_盄@Ħ@ۮe?RQE)W%οo7??BQE_9? QE@QE<PES9?PAPEQEQER@"QE&@BqBy ByA}j*ByAAAA"C*CRCCCiIyG=I! )% @AQТ,TAfFAYul?yu[FDNmea in: $SNTTA,,,,,225020.18*50 )= >    @ @ @ i? ?)?I?i?+M,=YQU>a"Hy } >I %: 5? -:wuݾ  5?9@X_; `;):mqAdded new target pos. range: 4.319999 m, bearing: 103.948915 deg, deltaT: 4.316273 s, approachRate: 0.000000 m/s, LOS rate: -1.170759 deg/s, posRepo size: 4W_9?WX XWX:W2W*WVbUBU*UUU?Q9QIQiQU=QQU; UwAEBB BA*BAAAA"C'?RCC_9?CIGI>5 l5 x5 x5 m 5 (:Y5 7P1y5 :5 5)5 d;5x֢,"[fFAY}6;+@}6\W@y}6?}6Qz}6H&`N p c?@`轿`?6?)~6;+@ ~6[;I~6CYB?yBFU&(MUh=Y];=QUe>aaae"HaiymSٻ}u>Iquǩ 5?u(uݾ u; ?9u@u: u:)qWWX XWX:W2W*WVbUBU*UUUY?BB  B A *BAAAA"CW?RCC!C!IG==@ܢ,4ufFA|i|Y}JP+@}J?l@y}J; }Jet}JH2& X?M?s? v@c?)~JP+@ ~J[;I~JCYv;?yvۖFI)X9v?OnÿX9v?= }=)Iy{Gz?MbZd;O?#=j< ;9A)SAI;9Ai$RAEݢ<MM#=YUjriqau"Hqyk$;}>I! -:% 5? -:%tݾ % -?9%@%: %4:)%:WiWqXq XqWqXq:W2W*WVbUBU*UUU?BB BA_*BAAAA"C%&?RC!C!C))I9GUu>- - |- |-  - 0:Y- R1y- i:- |595 @A 9A IE FiE ?A A A E ; E V?E)M۔CIM۔CiIM=M=M4։㢙,Z׎fFAY}:ہ+@}:e@y}:&}:?}:H/6``c?@?, @? ӧ`?)~:ہ+@ ~:Z;I~:CYJn?yJ5F U U U U@ U@ U@ ]@QQQiUQ U)UIUiUmb=Mm=Ym4QUm?qqau"Hqyy}"<}?IȁŅt 5?Ņsݾ ƅC ?9ƅ@Dž: ȅ:)ȁWYWYXY XYWYXY:Wa2Wa*WaVabUaBUi*UiUiUm6w?BB BAҁ*BAAAA"C/?*CRCCC IG5 >I颙,ٳfFAY}6+@}62@y}6l-}6T}6HS@Q??`=z!?4?)~6+@ ~6rZ;I~6CYB3?yFF=M=M=YE95QUE>AIaM"HMHIyUu<}U>IY]ʧ 5?]rݾ ]͑ e?9]@Y ]k:)YWWX XWX:W2W*WVbUBU*UUUJ@BB BA*BAAAA"C_9?*CRCCC iE]nGIai׹E߿ٺeAIG>U U {U {U  U +:YU #R1yU :U 5,‹fFAY}2,@}24@y}2۟}2z}2Hdf`?u?JȆO??)~2,@ ~2Z;I~2CYN=?yNF)  >     @ @ @ùùùiùù Ĺ)ĹIĹiĹ<MA=Y)ۺQU>a"Hy-;}>I : 5? :qݾ  ?9@: :):WWX XWX!:W!2W!*W!V!bU)BU)*U)U)U5ݢ@BYBY BYAe*BaAaAaAaAa"Ci*CiRCqCqCqI׉)׉1IIG=9I8Fi?|; =E,4i܋fFAY}2+@}2l@y}2#"}2NI}2H@ O?`ʴ?C>X`D??)~2+@ ~2DfZ;I~2CYZ?yZF^@A\nƼMn[=Yrppav"Httyv4L}z>I|~w 5?~qݾ ~ ?9~@~M: ~{:)|W!W)X) X)W)X):W)2W1*WAVAbUIBUQ*UaUaUe@RmB*** querying acoustic contact ***PiPiBB BA*BAAAA"C*CRCCCבIG=5 5 v5 v5  5 H-:Y5 N1y5 :5 5P,YfFAY-?y-F5Z****** received transponder code query ******5F****** received ping request ******5YYa]"HYaye}e>Ii u:m{ 5? }:m`pݾ mtu }?9m@m: m:)m:WWX XWX:W2W*WVbUBU*UUU  @BYBY BYA]u*BaAaAaAaAa"Ci*CiRCqCqCqׅ?iׅ?iIqG~> 9 I Fi ? {; =Eg, fFAYt?ytFxDUSBL response received:!U1,P 2BE,000,002B9,189,80,80,CB,FF Command Ack%BRequesting micromodem ping code 2i!!-Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 n<M=YQU?)Qa]"HYy}?I!% 5?%oݾ %f ?9%@%< %NJ<)!WQWiXi XiWiXq:Wq2Wq*WyVybUyBUy*UyUUv @BIBI BIAMP*BIAQAQAQAQ"Ca*CaRCiCiCiׁIGb>! i% =5 5 }5 }5 Y 5 3G:Y5 kS1y5 Ԋ:5 5z ,)fFAY}2^2,@}2M@y}2Ң}21B}2Hlb?`B;Cp?sc?)~2^2,@ ~2EuZ;I~2CY^c?ybFENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5sMK=Y}QU>a"Hy<}>I :6 5? :oݾ V ?9N @: :):W!W!X) X)W)X):W)2W)*W1V1bU1BU1*U9U9U=@I@BaBi BiAm*BiAiAiAqA "C*CRCCC IG5 >M,CfFAY}2;,@}2V@y}2 }2 }2Hm@.SZx? ?KL`n?2?)~2;,@ ~2hZ;I~0B`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ܡ9ܡIܡiܡܥ=ܡܡܥz; ݥa"Hyԃ:}>I= 5?nݾ > ?9Z!@ض: I:)WWX XWX:W92W9*WAVAbUABUA*UIUIUM ko@R}(Combining 5 samples.Py*Q}(@ZQ})y%!& @5;JQ};4.?)m2Q}N#:QybQ}BKXol@T>?RQ}CͿH+?Uo?BQ}R? Q}@Q},P}R9?P}S9?PyQ}Q};@"Q}R@BB BAց*BAAAA"C*CRCCCI)^AIG>5 / 5 ~5 ~5 ) 5 7:Y5 T1y5 @:5 !6)5 ӓ;9= ,#]fFAY}z)+@}z@y}z7D}z"ӽ}zH +X?J u?@@,4@#? zE?)~z)+@ ~zZ;I~zCɫ) IYU?yUFTNmea in: $SNTTA,0.045378,,,,225024.63*4B mwMmt=Yu_;QUu?qya}"HyyyP}?Iȉō 5?ōsnݾ ƍ/ ?9ƍ"@Ǎ: ȍ:)ȉmqAdded new target pos. range: 4.380000 m, bearing: 103.296625 deg, deltaT: 4.615292 s, approachRate: 0.013000 m/s, LOS rate: -0.141332 deg/s, posRepo size: 4WR?WX XWX:W2W*WVbUBU*UU@U'e?B B BA*BAAAA"CR?RC!C%R?C!I G%,>cB,wfFAY}]+@}]y@y}]G}]1f}]H}[1x??@:  ?Q`A?)~]+@ ~]Z;I~]Cɫ)1)1 1I1YmY?yuFmV-333333MbX9?mm mʡ=)iIiymS㥛~jt?~jt?m/ݼmDa"Hyp:}>I :! 5? :3oݾ + ?9"@: :):WWX X!W!X!:W!2W!*W)V)bU)BU)*U)U1UU?BB BAW*BAAAA"C*CRCCCIG>܉ 9܉ I܍ ȖFi܍ ?܉ ܉ ܉ ܍ w; ݍ :E- ) - z- z-  - 7:Y- Q1y- :- F5)- j;]&$,gfFAY}J,@}J)@y}JΟ}J3I}JHW^@r??U@*w?F8?)~J,@ ~JOZ;I~JCɫYY)Y YIYY?yF0M=Y?QU%?!!a%"H!)y-F;}-?I15r 5?5oݾ 5( E?95#@5ܹ: 5n:)1WWX XWX:W2W*WVbUBU*UUU?B)B) B1A5*B1A1A1A1A1"C9*C9RCACACAQiU?)I9GU>P*,-CfFAɫ髹) IY?y$FIeC=)e%=n0MC=YQU>a"HHy}>I  :  5? : Opݾ $ ?9 W$@ k: :) :W9W9X9 X9W9X9:WA2WA*WAVAbUABUI*UIUIUU[0?ByBy ByA}*ByAAAA"C*CRCCCשIG%,>5 5 {5 {5 ~ 5 J+:Y5 #R1y5 :5 59= @<1,/ŌfFAɫ髑) IY$?yF    @ @ @ñññiññ ı)ıIıiın=MG=YQU>a"Hy}>I] 5?pݾ  ?9%@^: :)191I5Fi5?1115\s; 58E)Iił=ł=ł4WWX XWX:W2W*WVbUBU*UUU ?B)B) B)A-*B)A1A1A1A1"C9*C9RCYCaCaYIaG8>b7,ތfFAY}:W,@}:fs@y}:eV}::^}:Ho"|?u?U7 ?5&?)~:W,@ ~:~R_;I~:Cɫ99)9 9I9Y}?y}wFU>M]R=Y]QU]>aaae"Haaym=<}m>Iq }:uˤ 5? }:uqݾ u ?9u%@u: u(:)u:WWX XWX:W2W*WVbUBU*UUU g@BB BA*BAAAA"C*CRCCCI ) ]AIG- >inmGI`Ai U޿ٺU`AUmA5 d5 |5 |5  5 b':Y5 R1y5 i:5 5n=,mfFAY}v/,@}vaK@y}v^}v}vH`?@?n@d? 5?)~v/,@ ~v8^;I~vCɫ) IYe?yF=i= ~jt? +οlD<v )IyS㥛?Q?/<< 5>A)VLAIf8Ai‰DA 5 5 5 5@ 5@ 5@111i11 1)1I1i1E6ME.=YMF QUM>IIaU"HQQy]}]>Iae 5?e%qݾ e m?9e&@e : eӻ:)aWWX XWX:W2W*WVbUBU*UUU&@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCIGI>) 9) I) i) ) ) ) - n; - >6EI9 )= AAtD,!fFAY}6bQ,@}6l@y}6]ν}6}6H3g װ?r?|@ ?둿/?)~6bQ,@ ~6];I~6Cɫ99)9 9I9Y}?y}FZ****** received transponder code query ******F****** received ping request ******U U yU yU  U ,:YU P1yU ':U 6J,,fFAY}2Y,@}2t@y}2Hؽ}2^O}2H`ff`FEȨ?m?aeD ?@é ?)~2Y,@ ~2\;I~2Cɫ99)9 9I9Y?yەFxDUSBL response received:!U1,P 2DB,000,002BA,189,80,80,CC,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ]A=׻M=F=YMGQUU>aiau"Hqy֒:}>IȹŽڢ 5?Žpݾ ƽ ?9ƽ'@ǽm; Ƚ`;)ȹW)W)X1 X1W1X9:W92WA*WVbUBU*UUU @BiBq BqAuƂ*BqAqAqAyAy"C*CRCCC׽?i׽?aIqG^>Q,fFfFAY}:,@}:@y}:Q余}:3ӽ}:H`vI?p>?P@-ÿ{?0?)~:,@ ~:C1\;I~:Cɫ99)9 AIAY}?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B II)MAIQ)UAIa)e=    @ @ @éééiéé ĩ)ĩIĩiĩR;MB=Y%]QU>a"H9IȖFi?=Ej; 3EyA<}>I' 5?>pݾ ν ?9a(@: b:)WAWAXA XAWAXI:WI2WI*WQVQbUQBUQ*UQUYU]@9@BB BA*BA)A)A)A)"C1*C1RC1C1C9!I9G]3>E =iE p=U c U }U }U q U !P:YU kS1yU Ԋ:U 5)U ;9] W,B`fFAY}6~W-@}6s@y}6㽙}6J}6HVX`hm??ZDſT?|?)~6~W-@ ~6Aa;I~6Cɫ) IY x?y FxDUSBL response received:!U1,R,298,000,002B9,189,80,80,CA,FF Fpublishing direction and range infoVɰdd= )JCIy=@-_?B#Hٱ%qM%)=Y-Ɵ:QU->))a5"H11y=D<}=>IA M:EQ 5? M:Eoݾ E3 M?9E)@ED: E:)E:W W X XWX:W2W*WVbU9BU9*UAUAUE`%@RU(Combining 5 samples.PQ*QU=@ZQUÕb' @[y|JQU-_?B#H2QUV:QQbQU!O(jx@@z?RQUEpӿ7V?dԴo?BQUN? QU@QUPQPUR9?PQQQQU%@"QU;@BB BAO*BAAAA"C*CRCCCױIG>],M-zfFAY}ra-@}r_}@y}r余}rT }rHO/>?(?{3¿p?J?)~ra-@ ~rqd_;I~pɫ) IY ?y  FuDNmea in: $SNTTA,,,,,225029.10*51 m{Gzt?MbX~jtmף;mʽ m)iIiymI + } >@Mh=Y3QU>a"Hy:}>Iȡť7 5?ťHpݾ ƥ ?9ƥ)@ǥ : ȥU:)ȡmqAdded new target pos. range: 4.319999 m, bearing: 107.567215 deg, deltaT: 4.438923 s, approachRate: -0.013517 m/s, LOS rate: 0.962078 deg/s, posRepo size: 4WN?WX XWX:W2W*WVbUBU*UUG@U?B!B! B!A-*B)A)A)A)A)"C5.v?RC1C5N?C9I)IG J>9IFia?=f; 1EM M yM yM  M aY:YM P1yM ':M j5)M ;d,fFAY}2-@}2@y}2oX}2[}2H@ 8??`?`@# `x?@ɰ ?)~2-@ ~2*^;I~0ɫ9A)A AIAY?yF=i> )) } } } }@ }@ }@yyyiyy y)yIyiy<M]=Y&QU>a"Hy;}>Iȩ :ŭ 5? :ŭpݾ ƭ̽ ?9ƭ)@ǭI: ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUUH?BB BAD*BAAAA"C?RCCCסIG >IE AA)A j,ҭfFAY}:-@}:@@y}:N}:O\}:H)T[??\þ@?`"O ų?)~:-@ ~:Q];I~:Cɫ99)9 9I9Y}?y}FU'=M]N=Y]QU]>aaae"HeHaym;}m>Iqu 5?uqݾ uܽ }?9uu*@uw: u+:)qWWX XWX:W2W*WVbUBU*UUUj?BB BA*BAAAA"C ?RCCCIG>U U zU zU  U >!:YU Q1yU :U !59] @q,ڭǍfFAY}F-@}F @y}FF}FzEb}FH`nn??V" ~%?@1 *?)~F-@ ~F*\;I~FCɫ髙) IY?yܔFim_Ay9yIyiy}=yy}jb; }/EAMC=YQU>a"Hy<}>I :Ӡ 5? :qݾ W ?9*@: :):W!W!X! X!W!X!:W!2W)*W)V)bU)BU1*U1U1U5 7?BaBa BaAe.*BaAiAiAiAi"CuN?RCqCqCy׉i׍?ׁIG>Ow, fFAY}6/.@}6(K@y}6E}6v}6Hv?"?@`? 'DZ?)~6/.@ ~65_;I~6Cɫ99)9 9I9Y}?y}ӔFI)AI)AI=) 5 5 5 5@ 5@ 5@111i11 1)1I1i1EvMMT=YMcN;QUM>QQaU"HQYy] <}]>Iae 5?eqݾ e m?9eo+@eM: eQ:)aWWX XWX:W2W*WVbUBU!*U!U!U%@?BB BA2*BAAAA"C*CRCCCׁIGu u {u {u Y u !:Yu #R1yu :u 5*~,kfFAY}6.@}6M5@y}65}6! }6H@Y@?8n? ?/K <)IyQ:v?~jtuT=D ¥`=A)¥VLAI¥5Ai¥WAEAhMB=Y:QU>a"HyO}>I : 5? :sݾ  ?9,@,: :):WWX XWX:W2W*WVbUBU*UUUͰ@BB BA*BAAAA"C*C RC C C!I G%,>q9qIqiqqqqu _; u-E) I i = = xr5,?fFAY}:-@}:z@y}:a}:$}:H23u? =?ȼk?`@࡮?)~:-@ ~:B^];I~:CɫYY)Y YIYY?yFAA<M]=YMQU>a"HyMs}M>IQU< 5?Utݾ U ]?9U$.@Uk: U:)QWWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BAA*BAAAA"C*CRCCCI)IG>U U |U |U  U J+:YU R1yU i:U 6<,6"/fFAiRmGI^/aAilY} k-@} @y} } Xٺ/aAA} Ha`L?`? F3@"f?`족ߨ?)~ k-@ ~ 6 \;I~ Cɫ) IY}?y}/FZ****** received transponder code query ******F****** received ping request ******YYa]"HYaye}e>Iimj 5?mHuݾ m }?9m/@m: mk:)iWWX XWX:W2W*WVbUBU*UUU0+ @BB BAt*BAAAA"C*CRCCCIGI>$,HfFAY}N;-@}NŰ@y}N@}N$}NHcD`!C??p¿@m?@> ?)~N;-@ ~N{[;I~NCɫ髑) IY_?yݓFxDUSBL response received:!U1,P 298,000,002B9,189,80,80,CA,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 E>9AIEXFiE?E=AAE[; EL,E    @ @ @i )IieM1=YEQU>a"Hy;}>I : 5? :vݾ  ?9<1@#; ;):W)W)X) X)W1X1:W12WY*WYVabUaBUi*UiUqU@ ) @BYBa BaAe*BiAiAqAyAy"C*CRCCCIG>U U }U }U  U gF:YU kS1yU Ԋ:U 5)U ;9e L,hbfFAY}:-@}:@y}:N}: }:H?Z"?$?` pÿ?I?)~:-@ ~:01[;I~:Cɫ99)9 9I9Y}?y}UF鮅p=ɮ=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 8wM~=YQU ?a"Hy;}?Iȱŵ 5?ŵ`wݾ ƵW$ ?9Ƶ@2@ǵI: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUU o@B!B! B!A%5*B!A)A)A)A)"C1*C1RC1C1C9M?iM?)I1GU> w,|fFA|a"Hy}>Iș :ŝ 5? :ŝ%wݾ Ɲ" ?9Ɲ2@ǝ; ȝ;)ȝ:WW!X! X!W!X!:W)2W)*W)V)bU1BU1*U1U1U5@@RE(Combining 5 samples.PI*QM@ZQMdzX. @%}nݻJQMМ(f?0X:;2QM:QIbQMyGv@w4'm?RQMSZ (ҿ)@/?`?BQMcc? QM@QMPMQ9?PIPIQIQMp$@"QM%@BB  B A *B AAAA"CA*CIRCICICQqIG~>9IiY; '+EU U zU zU  U -:YU Q1yU :U F6)U };`,fFAY}6!_.@}6z@y}6 }6 *}6H@ol?? ^Ay&?ڰ2?)~6!_.@ ~6a];I~4ɫ19)9 9I9YUP?y]ԓFN>=M=YQU ?a"Hy  =}  ?I 5?vݾ ! ?9s3@Ǻ: Y:)mMqAdded new target pos. range: 4.440000 m, bearing: 107.155744 deg, deltaT: 4.409745 s, approachRate: 0.027213 m/s, LOS rate: -0.093309 deg/s, posRepo size: 4WUcc?WQXQ XQWQXQ:WQ2WY*WYVYbUYBUa*UaUe`@Ue?B B BA*BAAAA"Ccc?RC!C%cc?C!IG- >,(bfFAY}2s.@}2c@y}2}2Sf}2HcE?? ? ?)~2s.@ ~23\;I~0ɫ99)9 9I9Y?yFUnM]D=Y]T;QU]>aaae"HeHaym8G;}m>Iq }:u 5? }:uvݾ u ?9u4@u4: u:)u:WWX XWX:W2W*WVbUBU*UUU`*?BB BA*BAAAA"C*CRCCCI׉)׉iIqG>U U yU yU  U +:YU P1yU ':U 69] @Zq,>ʎfFAY}:U.@}:@y}:OX}:}:H ?h? ¿(?O?)~:U.@ ~:sj[;I~:CɫYY)Y YIYY?yՒF9Ii,X; F*E AA    @ @ @áááiáá ġ)ġIġiġMD=YPQU>a"Hy[<}>I 5?vݾ  ?94@: :)WWX XW X :W 2W *WVbUBU*UUUe??BABI BIAM*BIAQAQAQAQ"CY*CYRCYCYCaIG$>,fFAY}6]./@}6I@y}6 }6ɽ}6H=0@ƭF2?A?d @=vĿQ?``?)~6]./@ ~6k=[;I~6Cɫ99)9 9I9Y]?y])FieMW=YܻQU>a"H y z<} >I8 5?mvݾ , %?9L5@+: {:)WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA "C*CRCCCIIQGm>  x x \ :Y 7P1y : Y5Ⱦ,.fFAɫ) IY ?yF%~jtӿI +?&1%%94< %н)!I!y%~jt?ˡE?I +?%D<%'=%94< %`=A)%+MAI!i%XA!%=FA    @ @ @ÁÁÁiÁÁ ā)āIāiāM3=YQU>a"Hy}>Iȱ :ŵ 5? :ŵwݾ Ƶ3 ?9Ƶ6@ǵ: ȵ:)ȵ:WWX XWX:W2W*WVbUBU*UUU?BB BÄ́*BAAAA"C*CRCCC?i?IGM>ܱ9ܱIܵȖFiܵ?ܵ=ܱܱܵV; ݵ/)Eţ,fFAY}2-0@}2I @y}2r }2|̽}2H|}I@~?`?V@*sĿ@? =?)~2-0@ ~2B^;I~0ɫ99)9 9I9Yx?ya"Hy".=}>Iȑŕܖ 5?ŕwݾ ƕ  ?9ƕ7@Ǖ: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU@@BB BA*B A A A A"C*CRCCCׁIG>U U }U }U " U n:YU kS1yU Ԋ:U "66ˣ,ҩ1fFAY}:j0@}: @y}:c}:}:HA|`3?ի?bÿ?@gc@?)~:j0@ ~:I\;I~:Cɫ99)9 9I9Y}?y}EF@A:MY=YУ;QU>a"HyȦ<}>I :̕ 5? :@xݾ  ?98@q: :):WiWqX XWX:W2W*WVbUBU*UUU-@RB*** querying acoustic contact ***PPBB BA *BAAAA"C!*C!RC!C)C))I1GU>ң,܄KfFAY}6#1@}6>!@y}6 }6}6Hr`<`?Cy?@Z(? O ?)~6#1@ ~6:\;I~6CɫYY)Y YIY܁9܁I܁i܁܅=܁܁܅S; ݅'E)QIQiQQQU4Yi?y3FZ****** received transponder code query ******F****** received ping request ******=YuQUU>QYa]"HYYye<}e>Iim 5?mxݾ m u?9m9@m: m:)iWWX XWX:W2W*WVbUBU*UUU$ @B9B9 B9A=*B9AAAAAAAA"CI*CIRCICICQIa)aAIQGm5>U vU U U  U (:YU T1yU :U 5)U ;9] 8أ, `efFAY}61@}6!@y}6}6r}6H4f?z6?y(? @?)~61@ ~6/g[;I~6CɫYY)Y YIYY}?y}FxDUSBL response received:!U1,P 2A3,000,002BB,189,80,80,C9,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 UpM}L=YMQU>a"Hy<}>I  :s 5?  :yݾ  5?9:@; t;):WWX XWX:W2W*WVbUBU)*U1U1U= @i}nGI1iIuٺy}=ABB BAC*BAAAA"C*CRCCCI1Gew>ߣ,=fFAY}61.2@}6I"@y}6#)}6v}6Hv ia? . ?)?`~#?)~61.2@ ~6"[;I~4ɫ9A)A AIIY}??yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =lQ?Zd;?==\= ==)9I9y=V-~jt?{Gzt?==D==ף; =a"HyS<}>IQ 5?zݾ  m?9<@|< g<)WWX XWX:W2W*WVbUBU*UUU`@BQBQ BYA]*BYAYAYAaAa"C*CRCCCYIqG]>܁9܁I܅pFi܅M?܅=܁܁܅zQ; ݅&EU ? U |U |U  U BM:YU R1yU i:U i5)U ;-壙,7fFAY}2\|2@}2"@y}2}2C}2HQA??@=*?H7 ϣ?)~2\|2@ ~25$_;I~2Cɫ99)9 9I9Y}?y}tFxDUSBL response received:!U1,R,26F,000,002BB,18A,80,80,B6,FF Fpublishing direction and range info- ɰ鰅> )6CIyσa"HHy}>I 5?d}ݾ  ?9M?@s: ':)mmAdded new target pos. range: 4.440000 m, bearing: 114.075777 deg, deltaT: 4.341225 s, approachRate: 0.000000 m/s, LOS rate: 1.594028 deg/s, posRepo size: 4W?WX XWX:W2W*WVbUBU*UUU4?BABI BIAM*BIAIAIAQAQ"CUh ?RCYC]?CYYIiG9>U U yU yU  U P0:YU P1yU ':U 59u @; ,̏fFAY}:#C2@}:^"@y}:ܦ!}:}:H(Izv? v?@uĿ f?õ|?)~:#C2@ ~:O\;I~8)9-ڔCI-Fi-?-=)-;D-O; -v%EɫYY)Y YIYY?yF    @ @ @áááiáá ġ)ġIġiġ <MJ=YQU>a"Hy*}>I 5?~ݾ s ?9@@: :)WWX XW X :W 2W *WVbUBU*UUUa?BABA BIAM*BIAIAIAQAQ"CU@?RCYCYCY׉IG>M7,fFAY}2L2@}2Dh"@y}2p&'}2 ڽ}2H@ :?@? @ƿ`?` d?)~2L2@ ~2[;I~2Cɫ99)9 9I9Y}?y}FMU=YXeQU>!!a%"H!)y-:}->Iȑ :ŕؒ 5? :ŕݾ ƕj ?9ƕ,B@Ǖk: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU?BB BA*BA A A A "C?RCCCI)))IIQGu>U iU {U {U ~ U ':YU #R1yU :U 52,؂fFAY}2\2@}2Jx"@y}2(}2ǽ}2Hq{a??@TAƿ9?@j?)~2\2@ ~2[;I~2Cɫ99)9 9I9Y}?y}F mPn?ʡE?m= mt)iIiymA)mzPAIiim]Aim(HA}MC=YlQU >a"Hy;}>I!%{ 5?%ݾ % 5?9%C@%i: %:)!WQWQXY XYWYXY:WY2WY*WaVabUaBUa*UaUiUm?BB BA*BAAAA"C*CRCCCIG$>%>9!I%pFi%M?%=!%Ŀ@O?!γt?)~62@ ~6'^;I~6Cɫy髁) IY?yF    @ @ @i )Ii #M B=Y QU>a"Hy%<}%>I) 5:- 5? 5:-0ݾ -& 5?9-D@-: -k:)-:WYWYXY XYWYXY:Wa2Wa*WaVabUiBUi*UiUiUuN@BB BAJ*BAAAA"C*CRCCCIG )>U 0U xU xU  U <#:YU 7P1yU :U 35ls ,94fFAY}:fC3@}:^#@y}:J0}:h}:HD7`0?? I`Ŀ ?@ͳm?)~:fC3@ ~:];I~:CɫYY)Y YIYY?yJFu*zMuT=Y}OQU}>ya"Hy8<}>Iȑŕ 5?ŕ<ݾ ƕ½ ?9ƕ8F@Ǖ: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU@BB BAz*BAA!A!A!"C)*C)RC)C)C1E?iE? IG5 >B[,NfFAY}2}3@}2-#@y}2o-9}20}2H@<? Td?ࢂ 'O`o? r?)~2}3@ ~2X];I~2C~>9~۔CI|i|~=||~J; ~#Eɫ99)9 9IAY]?y}FI)%=<MY=YQU>a"Hy<}>I :m 5? :Cݾ Z  ?9~G@: I:):WIWIXI XIWIXI:WQ2WQ*WYVYbUYBUY*UYUaUe %@RmB*** querying acoustic contact ***PiPiBB BAJ*BAAAA"C*CRCC C )I1GU>u u {u {u W u +:Yu #R1yu :u  6)u ;9 ,gfFAY}2>3@}2EZ#@y}2I}2e}2H@`1?`p? \? ƈ@z`?)~2>3@ ~2];I~2Cɫ99)9 9I9Y?yӊFZ****** received transponder code query ******F****** received ping request ******a"Hy}>Iȩŭ4 5?ŭdݾ ƭ ?9ƭH@ǭ(: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU" @BB BAB*BAAAA"C*CRCCCIG (>Mm ,qʁfFAY}:3@}:+#@y}:Y}:EO}:H``? Q8=)Iy/$?Mb`?Zd;O<;j ?A)OQAI1AicAIA    @ @ @ÙÙÙiÙÙ ę)ęIęię M =YQU>a"Hy2<}>I :E 5? :ݾ  ?9I@: (:):WWX XWX>9Ii=H; "E)aIaiae=e=e5:WI2WI*WQVqbUyBU*UUU@B)B1 B1A5և*B9A9AAAAAA"CI*CqRCqCqCyI׹)׹׉ I G >U U zU zU  U >:YU Q1yU :U 5)U ;&,ifFAY}23@}2r#@y}2db}2 J}2H ?@b2?@bƿ O ?@ٰ%?)~23@ ~2E\;I~2Cɫ99)9 9I9Y]?y]F}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B MMM=YMQUM?QQaU"HQYy]l:}e?Iae 5?eɄݾ e+ u?9e5J@e: e:)aWWX XWX:W2W*WVbUBU*UUU:@BB BAr*BAAAA"C*CRCCCIG>i nGI i - ٺ) - zA,,ǀfFAY}:33@}:#@y}:$f}:ޅ}:H  F? B!? m xƿ ?@PL ?)~:33@ ~:L_;I~:CɫYY)Y YIYY8?yFxDUSBL response received:!U1,R,24E,000,002BB,188,80,80,B9,FF Fpublishing direction and range infoɰ鰥> )9CIyk/?Cރ߿ٱu;Mu9=Y}QU}>a"HHy;}>IQU 5?Umݾ U. ?9UJ@U1< U<)QWWX XWX :W 2W *W V bUBU*UUUR)@RM(Combining 5 samples.PI*QIZQMTӵ?@'MM}JQMk/?Cރ߿2QM:QIbQMl#?XHbژ@- ?RQMPgۿ^1??r?BQMZ@ QMw@QMPIPMP9?PIQMQM.@"QMA@BB BA_*BAAAA"C*CRCCC׹IGj>U ` U {U {U  U O:YU #R1yU :U 59] @3,eϐfFAH9HIJ8FiJ?J=HHJF; J!Eɫ髉) IY?yhF5DNmea in: $SNTTA,,,,,225042.42*5B IM^Am"MuJ=YuQUu>yya}"Hyy}>Iȉ :ō3 5? :ō"ݾ ƍ ?9ƍK@Ǎk: ȍA:)ȍ:mmAdded new target pos. range: 4.440000 m, bearing: 116.393773 deg, deltaT: 4.546851 s, approachRate: 0.000000 m/s, LOS rate: 0.509802 deg/s, posRepo size: 4WZ@WX XWX:W2W*WVbUBU*UUU`B?BB BA*BAAAA"C@RC!C%Z@C!5?i5?I!G=Q>}9,6fFAY}6z_4@}6{$@y}6@}6}6H@.?? rǿ?@P?)~6z_4@ ~6_\;I~6CɫII)I IIQYyyyI>) ?YmQU>!a%"H!!y-<}->I15 5?5܃ݾ 5ͽ =?952L@5: 5 :)1WaWaXa XaWaXa:Wi2Wi*WiVibUiBUq*UqUqU}`w?BB BA*BAAAA"C5Z@RC1C1C9)I1G]>U =iU =m 8m }m }m  m #:Ym kS1ym Ԋ:m W5y@,QfFAɫ髁) IY ?y F~jt?S?)\(?=/> Ga=)Iy~jtx+? rhĻ=C ^BA)SAI0Ai pAMAMa"Hy}>I :Ƒ 5? :ݾ  ?9NM@: :):WWX XWX:W2W *WVbUBU*UUU?BABI BIAM+*BIAIAQAQAQ"CY*CYRCYCYCaAIIGm5>ܙ9ܙIܝFiܝ?ܙܙܙܝ E; ݝ% EF,fFAY}:R4@}:Rn$@y}:}:8ټ}:H@"??KLſQ=?`%m?)~:R4@ ~:W\;I~:Cɫ99)9 9I9Y}O?y}F=<M=e=YEQUE>AAaM"HIIyU}U>IY]+ 5?]Zݾ ]x e?9].N@]s: ]:)YWWX XWX:W2W*WVbUBU*UUUDt?BB BAڈ*BAAAA"C*CRCCCI)IG>U Q Q U b U .:YQ yQ U 5M,q6fFAɫ髙) IY?yF 鿁˼MC=YQU>a"Hy}>I  %: r 5? %: $ݾ  5?9 IM @A)M @AS,wPfFA9IFia?=\C; @EY}F!4@}F\=$@y}Fc}FĽ}FH `:?d?>-Kο }?l~?)~F!4@ ~F _;I~Dɫqq)q qIqYS?yNF m m m m@ m@ u@iiiiii i)iIiii;MN=YQQU>a"Hy}>IșŝƏ 5?ŝӆݾ Ɲ ?9Ɲ*P@ǝ: ȝ':)șWiWiXi XWX:W2W*WVbUBU*UUU@BB  B A *B AAAA"C*CRCCC!IG-,>U U U U  U I:YU WU1yU :U E5)U ;9] !Z,~jfFAY}2;(4@}2C$@y}23ʗ}2!}2H:?t?\+п`o?M齿 _?)~2;(4@ ~2y];I~2Cɫ99)9 9I9Y\?yFAA$MU=YQU>a"Hy:}>I 5?{ݾ   ?9Q@R: I:)W)W1X1 X1W1X1:W92W9*W9V9bU9BUA*UAUAUE @RMB*** querying acoustic contact ***PQPQBqBq ByA}*ByAyAyAyAy"C*CRCCCם?iיiIyG= a,[fFAY}:.3@}:#@y}:F }:}:H [D5??'@Lο`?`@m?)~:.3@ ~:7\;I~:Cɫ99)9 9I9Y}j?y}!FZ****** received transponder code query ******F****** received ping request ******  a"HyY/}>I! -:%3 5? -:%ݾ %} -?9%kR@%: %:)%:WQWQXQ XQWQXQ:WY2WY*WYVYbUYBUa*UaUaUm @BB BA*BAAAA"C*CRCCCׁIG=>!9!I%Fi%1?!!!%A; %rEE =iE =U mU {U {U  U (:YU #R1yU :U |5)U v;3g,*6fFAY}6ؘ3@}6b#@y}6 }6+}6H@Al. p??@ =@eGͿ@y? c?)~6ؘ3@ ~6E\;I~6Cɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,P 24E,000,002BB,188,80,80,B9,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =Mt=YcQU?a%"H!qy*}>I~ 5?Lݾ  ?9wS@; ;)WWX XWX!:W!2W9*W9V9bUABUi*UqUqU} @BB BA:*B!A!A!A!A)"CA*CIRCICICIaIyG_>]m,fFAY}6O3@}6#@y}6Ơ}6}6H@>q}.@)?@?6kο?` U?)~6O3@ ~6\;I~6Cɫ99)9 9I9Y?yFɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B LLM<=Y QU>a "H Hy;}>Iȱ :ŵ 5? :ŵ;ݾ ƵF' ?9ƵT@ǵ0: ȵ^:)ȵ:WWX XWX:W2W*WVbUBU*UUU@B!B) B)A-E*B)A)A1A1A1"C9*C9RC9C9CAIQ)U^AIG-->U = U U U  U 8:YU T1yU :U 59] @% >9% ڔCI% xFi% ?% =! ! % z@; % E)ыIыiыՋ=Ջ=Ջ5Et, ёfFAY}F3@}F'#@y}F3}F PJ}FHZwzzs?կ?qwʿ$?`- h?)~F3@ ~Fx_;I~FCɫYY)Y YIYY?yXFxDUSBL response received:!U1,R,255,000,002BC,188,80,80,C9,FF Fpublishing direction and range info^ɰ`e=鰡 )ICIy@3`I-?9D߿ٱ     @ @ @ñññiññ ı)ıIıiıgML=Y8;QU>a"Hy;}>I 5?ݾ V- ?9U@ : Y:)WWX XWX:W2W*WVbUBU!*U!U!U%~@R5(Combining 5 samples.P9*Q=@ZQ=CT9@^JQ=3`I-?9D߿2Q=^:Q9bQ=C} 0mf @A?RQ=q9Uڿ̖q?̶&?BQ= @ Q=x@Q=P=O9?P9P=Q9Q=@@"Q=.@BiBi BqAu}*BqAqAqAqAy"Cy*CRCCCIG$>'rz,5fFAY}z3@}z{#@y}z}z6ټ}zH`^B?@d?`1 ȿ ? ֙a?)~z3@ ~zjp^;I~zCɫ) IY#?y͆FiMnGIDNmea in: $SNTTA,,,,,225046.86*57 i 5ٺ  ,A6=ME=YUQU>a%"H!!y-l}->I1 =:5 5? =:5ݾ 53 =?95W@5: 5:)5:mmqAdded new target pos. range: 4.500001 m, bearing: 115.465987 deg, deltaT: 4.376212 s, approachRate: 0.013711 m/s, LOS rate: -0.212007 deg/s, posRepo size: 4Wu @WqXq XqWqXq:Wy2Wy*WyVybUyBU*UU@@U`?BB BA*BAAAA"C @RCC @CIG&>] ] {] {]  ] >:Y] #R1y] :] +6 X, fFAY}2h3@}2@#@y}2̢}2N}2H ;`??T"̿?itB?)~2h3@ ~2h];I~0ɫ99)9 AIAY]?y]FMbp?QM?;\ n>)IyIQaU"HQQy] }]>Iae 5?eݾ e9 u?9ejW@e: eo:)aWWX XWX:W2W*WVbUBU*UUU`NP?BB BALj*BAAAA"C*CRCCCi?IG$>9I@Fi?=;D?; E), ~fFAY}6f}3@}6#@y}6ب}6j}6H< 8_o1?U?@п@?*O(?)~6f}3@ ~60n\;I~6Cɫ99)9 9I9Y?yFUM][=Y]ϻQU]>aaae"Haaym];}m>Iq }:u& 5? }:u΋ݾ u6? ?9uW@u: u:)u:WWX XWX:W2W*WVbUBU*UUU="?BB BA>*BAAAA"C*CRCCCaIqG>     <0:Y WU1y : 5䫍,W9fFAY}:3@}:$@y}:*}:}:H ``^? ?dtQѿ? a?)~:3@ ~:l[;I~:Cɫ99)9 9I9Y}?yF    @ @ @i )Ii%M%>=Y- )1a5"H11y=y<}=>IAE 5?Eݾ EE M?9E0X@E1: E:)AWWX XWX:W2W*WVbUBU*UUU 4?BIBQ BQAUA*BQAQAYAYAY"Ca*CaRCaCaCaIiG9> 9 ٔCI Fi E? = =; 7Eۓ,3SfFAY}6U4@}6$@y}6o}6uD}6Hɡ? G?iѿ3? Z?)~6U4@ ~6Ԩ_;I~6CɫYY)Y YIYY'?y2F)%= %=e=<MeX=YeXiiam"Hiqyu =}}>Iy}. 5?}ݾ }sK ?9}X@}: }Ǻ:)yWWX XWX:W2W*WVbUBU*UUU @BB BA$*BAAAA"C*CRCCC I)]AIIQGu> } } } L 4R:Y kS1y Ԋ: L'6) ֪;9 ߾,mfFAY}2aL5@}2g%@y}2,g}2zֽ}2H`ӷx??@ u<п@?h7?)~2aL5@ ~2J=_;I~0ɫ99)9 9I9Y}m?y}F=i={<MO=Y;QU>!a%"H!!y-<}->I1 =:5 5? =:5ݾ 5jQ E?95X@5: 5o:)5:WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUyU}2@B!B! B!A%҈*B!A)AIAIAI"CQ*CQRCQCYCYIIqG>IA )E BA奡,醒fFAɫyy)y yIY)?y F]ˡE&1 ףp= ǿ]什]н ]Q8)YIYy]y&1|?Q롿X9v]`;]\] ]~>A)]aAIYi]+AY]=A    @ @ @ñññiññ ı)ıIıiı==M@=YQU>a"Hy}>I 5?ݾ [ m?9 Z@< Y<)WWX XWX:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PPB)B) B)A5c*B1A1A1A1A1"C9*C9RCACACAq9qIuFiu@u!=uCDquf<; uEׁIG=>    y  -:Y WU1y : 5) ;Ч,ĠfFAY}N&5@}NB%@y}N$}N}NH|ੇ@@ ?@<"?@̿E?S?)~N&5@ ~N\;I~NCɫyy)y yIyY8?yFZ****** received transponder code query ******F****** received ping request ******a"HyD}>I :0 5? :ݾ f ?9[@e; ;):WQWYXY XYWYXY:WY2WY*WaVabUaBUa*UiUiU @BB BA_*BAAAA"C*CRCCC?i?IG (>,fFAY}6Aj5@}6˅%@y}6L}6)}6H. ["?@y?U`#п?@T?)~6Aj5@ ~6U\;I~6CɫYY)Y YIYY?yFxDUSBL response received:!U1,P 255,000,002BC,188,80,80,C9,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 IR=)C=]g-Me?=Y}^1=QU}>a"HH!y]<}]>I 5?ݾ q ?9Q\@I: U:)WQWYXY XYWYXY:WY2W*WVbUBU*UUU`غ @BB BA%*B!A)A)A)A1"C9*C9RC9C9CiyIG>E =iE a=% M% }% }%  % %:Y% kS1y% Ԋ:% !59% @i 9i Im НFim E@m "=i i m 8;; m Eyᴤ,xԒfFAɫyy)y yIyY^?yFɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉּMW=YQU>a"Hy}>Iȹ :Ž 5? :Ž͇ݾ ƽx ?9ƽ4]@ǽE: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU 6@BB  BAֈ*BA!A!A!A!"CI*CQRCQCQCQaIiG9> ,UfFAɫ髙) IY%?yFxDUSBL response received:!U1,R,262,000,002B9,189,80,80,BD,FF Fpublishing direction and range info{Fɰdd=7> )=CIy=@mJw?>#=ٱ)= >f=M T=Y QU >a"Hy}>I!% 5?%ݾ % -?9%8^@%: %ϸ:)!WQWQXQ XQWYXY:WY2WY*WYVabUaBUa*UaUaUmF@R}(Combining 5 samples.Py*Q}=@ZQ}CR$ @_JQ}mJw?>#=2Q}{F:QybQ}iaŚc,^>p @T>?RQ} ڿ;/B?Ę2?BQ}3@ Q}k@Q}4P}P9?P}O9?PyQ}Q}SF@"Q}@@BB BA$*BAAAA"C*CRCCCQIyG">e e e e  e 0:Ye T1ye :e 5,?8fFAY}VU4@}Vߴ$@y}V ڇ}Vw}VH]?`?`;Vȿl?ǭ?)~VU4@ ~V];I~VCɫ) IY6?yFdNmea in: $SNTTA,0.094281,0.394168,,,225051.31*5A 鿩5Q롿i|?5I +?5\5 59<)1I1y5Mb`:v?Mbp?55T<5; 5 ?A)1I5n.Ai5A15SA    @ @ @ÑÑÑiÑÑ đ)đIđiđV=M3=Y=QU>a"Hy.}>Iȁ :ŅΉ 5? :ŅEݾ ƅc ?9ƅ^@Dž: ȅ:)ȅ:mqAdded new target pos. range: 4.319999 m, bearing: 116.144949 deg, deltaT: 4.419836 s, approachRate: -0.040726 m/s, LOS rate: 0.153617 deg/s, posRepo size: 4 9 I Fi E? #=   :; UE)ݝٔCIݝٔCiݙݝ!=ݝ =ݝ 6W%3@W!X! X)W)X):W)2W)*W1V1bU1BU1*U1U=G@U=f?BB BA`*BAAAA"C3@RCC3@CיIGb>IE AA)E AA Ȥ, "fFAɫ髙) IY?y FuT=M}`=Y}QU}>a"Hy}>Iȑŕ 5?ŕݾ ƕ ?9ƕ^@ǕR: ȕ:)ȑW9W9X9 X9WAXA:WA2WA*WAVIbUIBUI*UIUQUU`?ByBy ByAĆ*BAAAA"C*CRCCCסIG >iNmGIi1]zٺae A} } {} {}  } _h:Y} #R1y} :} 5GΤ,y;fFAɫyy)y IY?yF]<M]L=YYQU]>aaae"Haiyi}m>Iqu 5?u̇ݾ u~ ?9uG_@u˵: u:)qWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*CRCCC׉IG> 9 I Fi v? 9; E0դ,aUfFAY}NU4@}N%@y}N%_}Nh۽}NHh0 ??@Qʿ? ?)~NU4@ ~N\;I~NCɫyy)y yIyY?yٍFI))-===M=L=Y==QUE>AAaE"HAIyM=<}M>IY e:]W 5? e:]ݾ ]} e?9]_@]R: ]:)]:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*CRCCCI!G}> K | |  c%:Y R1y i: 5) ;9 6Zۤ,ofFAY}2~ 5@}2)%@y}2X}2m)ӽ}2H`|} EP?@? `Peɿ@)?@t¹`_?)~2~ 5@ ~2Bl`;I~2Cɫ99)9 9I9Y}?y}FF 5 5 5 5@ 5@ 5@111i11 1)1I1i1}}3=M}F=Ya"Hy;}>IȹŽ* 5?Ž`ݾ ƽ } ?9ƽ_@ǽ: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU`UK@BB BAs*BAAAA"CI*CQRCQCYCIGI>?C⤙,}fFAɫ髑) IYA?y|F~jthX9v+?D =)Iy~jth?~jt?{Gz?D;<#< ~>A)VAI.AimAQLA-2;M-?=Y5QU5>19a="H99yE}E>II U:M 5? U:M܈ݾ My U?9M`@M8: M:)M:WyWyXy XyWyXy:W2W*WVbUBU*UUU`z@BB BA]*BAAAA"C*CRCCCI)ܩ9ܩIܩiܩܩܩܩܭ7; ݭ-EIG$>  } }  =.:Y kS1y Ԋ: 5) ċ;Yl褙,aTfFAY}-+5@}-#%@y}-4sA}-j{}-H @P@!?ֺ?@jÿ ?@ٮ _?)~-+5@ ~-"];I~-CɫQQ)Q QIQY4?yMF 鿩 ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYm4e=MuF=Yuc=QUu>yya}"H}HyyN}>Iȉō( 5?ōTݾ ƍu ?9ƍOa@Ǎ=: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PPBB BA*BAAA A "C*CRCCC!I1GM1>,/fFAɫ) IY ~?y {FZ****** received transponder code query ******F****** received ping request ******a"H y}>I %: 5? %:ĉݾ Jr %?9a@0: :):WAWIXI XIWIXI:WQ2WQ*WQVQbUQBUY*UYUYU]`V @BBA BIAM*BIAIAIAIAQ"CQ*CYRCYCYCYAIQG}7>ܵ >9ܱ Iܵ xFiܵ ?ܱ ܱ ܱ ܵ 7; ݵ E 1 y y   P#:Y P1y ': k6) S;Y~, דfFAY}295@}2GU%@y}2%#}2"ֽ}2HCN?t?` ƿN?uk?)~295@ ~2[;I~2C>JFailed to close latch before timeout.q >>Hardware FaultY?yhF%xDUSBL response received:!U1,P 262,000,002B9,189,80,80,BD,FF %Command Ack-BRequesting micromodem ping code 2i))5Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I<MQ=Y=QU>a"Hy;}>IQU. 5?U<ݾ Un m?9Ub@Um; U;)QW9W9X9 X9W9XA:WA2WA*WiVibUiBUi*UiUqUu# @BB BA.*BAAAA"C*CRCCC-?i-?!I9-$U@Hardware Fault in component: DDMGmW>C,fFAY}25@}2t%@y}2}2&}2H.O??)஻ǿ@K?ff?)~25@ ~2a];I~2C:Powering down<ɪ<)< a"H y<}%>I9 U:= 5? ]:=*ݾ =m e?9=d@=O; =4;)=:WWX XWX:W2Wq*WqVybUyBUy*UUU@BB BA*BAAAA"C*CRCCC I G5 >M =iM p== = w= w=  = *:Y= O1y= P:= 69E @t,] fFAY}65@}6%@y}67,}6}6H` ,??@@Lq??)~65@ ~6`;I~6CYB?yB$FFxDUSBL response received:!U1,R,29D,000,002BB,189,80,80,C0,FF FFpublishing direction and range infoFtDɰF e=D D)F@CIDyF@F"?>ٱD ~   @ @ @ i? ?)?IA?i?/=M=YCs=QU?a"HQay}rc}}?IȁŅބ 5?Ņݾ ƅ1l ?9ƅd@Dž; ȅ^;)ȁWWX XWX:W2W*WVbUBU*UUU@@R5(Combining 5 samples.P9*Q=@ZQ=). @75JQ="?>2Q=t:Q9bQ=ˢ)&{H@9QIUFiU1?U$=QQU]6; UYEIG (>j,3$fFAY}^ 5@}^'%@y}^5q齙}^CK}^H#|(߱? v?@7@?`85?)~^ 5@ ~^^;I~^CYn?ynȖFEDNmea in: $SNTTA,,,,,225055.74*58 )= =<MK=Yea"Hy+}>I 5?eݾ i ?9-f@=: :)mUqAdded new target pos. range: 4.440000 m, bearing: 114.534295 deg, deltaT: 4.468332 s, approachRate: 0.026856 m/s, LOS rate: -0.360460 deg/s, posRepo size: 4W]@?WYXY XYWYXY:Wa2Wa*WaVabUaBUi*UiUm`@Uu 9?BB BAf*BAAAA"C@RCC@?CI)׉I$NClearing failed state for component DDMq G=Q,g~>fFAO zz N:YQ1y:X5Y}r4@}r"$@y}rн}r秤}rH``XT@ĥ?>? F@ ?t*?)~r4@ ~rf];I~rCY~?y~Fe=ie%= ii    @ @ @ @ùùùiýù Ľ)ĽIĽiĽa=MK=Ya"HyO}>I 5: 5? =:!ݾ g =?9jg@.< .<):WyWX XWX:W2W*WVbUBU*UUU=?BB BA-*B)A)A)A1A1"C=@?RC9C9C9!I1GM>IE @A)E @AU >9Q IQ iQ Q Q Q U 5; U E)Ii቉#=$=~a4,RXfFAY}24@}2$@y}2}2q}2H `}VZ~?!? O!ÿN?@W$ģ?)~24@ ~2];I~2CYB ?yB4F<MW=Y=QU%>!!a%"H!)y-}5>I15_ 5?5Ӎݾ 5f E?95h@5: 5w:)1WaWaXi XiWiXi:Wi2Wi*WqVqbUqBUq*UyUyU}z?BB BAj*BAAAA"C*CRCCCבIG=i q i ]nGI i) ,BrfFAY}64@}6<$@y}6}6}6H@@?ʎ/Ŀ? W¿@?:ٺ8: A)~64@ ~6C];I~6CYFN?yFF},=MC=Y4=QU>a"Hy:}>Iș :ŝ 5? :ŝݾ Ɲcf ?9Ɲi@ǝE: ȝ:)ȝ:WW!X! X!W9X9:WA2WI*WQVQbUYBUa*UiUqUu y?BB BAڀ*BAAAA"C*CRCCC ?i?I)Ge4>M M |M |M  M n1:YM R1yM i:M 35\", fFAY}2`4@}2%@y}2C}2D} }2H I`,۠ ?ED ¿m?v|ȩ?)~2`4@ ~2s^;I~2CYN?yRךFI)I p=) %=T㥛 ?B`"%C?> Zd>)Iy~jt{Gz?Zd;O?ף<j< ;9A)SAI:AifBA e e e e@ e@ e@aaaiaa a)aIaiau;M}<=Y}F=QU}>a"Hy<}>Iȑŕ݀ 5?ŕݾ ƕJ^ ?9ƕ$k@Ǖ: ȕܹ:)ȑWWX XWX:W2W*WVbUBU*UUU @BB BA *B A A AA"C*CRCCC9I Fi?#=5; E׉IG>A iE = ),:襔fFAY}B4@}B$@y}B鼙}B*}BH# ?n IA`"?`I?)~B4@ ~BU];I~@YN?yNF|=Md=Y[=QU>!a%"H%H!y-x}->I1 =:5~ 5? =:5\ݾ 5V E?95)l@5: 5A:)5:WaWaXa XaWaXa:Wi2Wi*WiVibUqBUq*UqUqU} @BB BA *BAAAA"C*CRCCC)I9GU=m ? m {m {m  m BM:Ym #R1ym :m 62/,{fFAY}24@}2$@y}2C}2z}2H@iy?:4(?@./`;?)~24@ ~2?[;I~2CYBn@yBF % % % %@ %@ %@!!!i!! !)!I!i!55=M5H=Y599aE"HAAyMf}M>IQU6 5?U@ݾ U9 I XFi ? 4; tE6,ZٔfFAY}B4@}B$@y}B_"}B7}BH@:@2#``B*?5^?Ba?)~B4@ ~B[;I~BCYN@yNFRZ****** received transponder code query ******RF****** received ping request ******Vyya}"Hyy}>Iȉō 5?ō&ݾ ƍZE ?9ƍwn@Ǎ; ȍ;)ȉW9W9XA XAWAXA:WA2WA*WIVIbUIBUI*UQUQUU༟ @BB BA~*BAAAA"C*CRCCCשIG>m m |m |m  m ?:Ym R1ym i:m E5D<,tfFAY}6#(4@}6C$@y}6LAs}6PR}6H%]kf?@鯿$hn? 1f?)~6#(4@ ~6H[;I~6CYR@yR0FVxDUSBL response received:!U1,P 29D,000,002BB,189,80,80,C0,FF VCommand AckVBRequesting micromodem ping code 2iXXnNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Mc"MUG=Ye7wa"H !y5}]>Iq :u 5? :uݾ u; ?9uo@u'< uq'<)u:WWX XWX:W 2W *W V bUBU*UUUP @B B  BA~*BAAAIAIAQ"C*CRCCCIGj>,C,vP fFAY%@y%F%a=ɮ%p=ENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B :vL7A`п~jtT+ ļ)IyV-{Gz?y&1?#=`e< •:A)•VLAI•^BAi•DACA    @ @ @i )Ii<M1=Y QU > a"Hy}>I!% 5?%Lݾ %7 -?9% q@%: %A:)!WQWQXQ XQWQXQ:WY2WY*WYVYbUYBUa*UaUaUe.@ܑ9ܑIܕȖFiܕ?ܑܑܑܕ4; ݕbEBB BA~*BAAAA"C*CRCCCiaIiG9>u u yu yu  u ?,:Yu P1yu ':u 5)u ;9} VI,*'fFA|i|@Y}6)4@}66E$@y}6Z<}6P}6H 'Ye?`cbʽ@㓿`Vÿ`l?)~6)4@ ~6.[;I~6CY^@ybFfxDUSBL response received:!U1,R,2F2,000,002B9,189,80,80,85,FF fFpublishing direction and range infobq(`ɰbdd=` `)bCI`yb=@baQ?.ٱ`I4=)C= M_=Y|=QU>a"HyY9}>I %:ʃ 5? %:Zݾ 3 %?9?r@$: 0:):WaWiXi XiWiXi:Wi2Wi*WVbUBU*UUU@R(Combining 5 samples.P*Q=@ZQv@P,AfFAePowering upm"Initializing DDM.Y=@yF}TNmea in: $SNTTA,0.047215,,,,225100.17*47    @ @ @i )Ii%1=M:=YQU>a"Hy}>Iڃ 5?ݾ / ?9s@; ;)m}uAdded new target pos. range: 4.319999 m, bearing: 109.739516 deg, deltaT: 4.426181 s, approachRate: -0.027112 m/s, LOS rate: -1.083277 deg/s, posRepo size: 4W})?WyXy XWX:W2W*WVbUBU*UUG@U?B9BA BAAE~*BAAAAAAIAI"CM/?RCQCU)?CQ9IAG]U>ܑ 9ܑ Iܕ 8Fiܕ ?ܑ ܑ ܑ ܕ 4; ݕ mEm i i m  m ,:Yi yi m 5)m u;hV,ZfFAYr@yrF}=M}e=YQU?a"Hy}?Iș :ŝ 5? :ŝݾ Ɲ#- ?9Ɲt@ǝ: ȝ:)ȝ:WWX XWX:W2W*WVbUQBUQ*UYUYU]?BB BA]}*BAAAA"CJ?RCCCIG>\,^tfFAY}}4@}}$@y}}I)=}}}}H@@﫿l(?~<"',͢y?)~}4@ ~}lZ;I~yY@yF Mb@Mb@Mb@ )IyMb?Q@=u …7A)…TAI…XGAi…DAEA.ڻM,=Y%<=QU> a"H!yU<}U>Iȑŕނ 5?ŕݾ ƕ5 ?9ƕNv@Ǖb< ȕ <)ȑWWX! X)W)X):W)2W)*W1V1bU1BU1*U1U9U=Թ?BB BA}*BAAAA"C`u?RCCCIG l>u  u tu tu  u 4:Yu M1yu :u P69u @zc, fFAY}F4@}F$@y}FRX=}F97}FH@1@]n>?`U `1ᦿ@%?)~F4@ ~FIZ;I~FCYV@yVoF    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉMr=YIQU?a"Hy} ?Iȹ :Ž: 5? :Žjݾ ƽ'; ?9ƽ:w@ǽ: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU`]?B)B) B)A5}*B1A1A1A9A9"C=Up?*CARCACACA=>99I=Fi=?999=4; =E)тIтiттՂ#=Ղ"4QIYG}=æi, {fFAY}V04@}VL$@y}V"=}Vl}VH Bbܲ_?0@Q ?)~V04@ ~VeZ;I~TYf@yfFӼMK=Y;QU>a"HHyG}>Iȩŭg 5?ŭLݾ ƭB ?9ƭhx@ǭ: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU?BB BA%o~*B!A!A!A!A!"C-)?*C1RC1C1C1iIyG=i5nGIIiaӿٺ]A A   l @v:Y U1y : N6@p,ke•fFAY}F/3@}F$@y}F7*=}F}FH@O`˹!t? `3O>?)~F/3@ ~FRZ;I~FCYR@yR]FI)I%=)%= m m m m@ m@ m@iiiiii i)iIiii}MK=Yj;QU>a"Hy}>Ișŝ 5?ŝ,ݾ ƝJ ?9Ɲy@ǝ÷: ȝ|:)șWWX XWX:W2W*WVbUBU*UUU61@BB BA~*BAAAA"C*CRCCCI G% >- >9) I- PFi- 8?) ) ) - {5; - E?v,7ܕfFAY}JG-4@}JH$@y}J$ =}J}JHN{;Y|a?p@`趿=?)~JG-4@ ~JFZ;I~JCY?y F@AELeMEO=YMQUM>QQaU"HQYy];}]>Ia m:e 5? m:eݾ eRR u?9ez@e: e:)e:WWX XWX:W2W*WVbUBU*UUU`I]@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCשIG=m `m wm wm  m ':Ym O1ym P:m 5|,+fFAY}}f4@}}y$@y}}x<}}6}}H`%1 RJ?lUn e?)~}f4@ ~}+Z;I~}CYQ?yqFZ****** received transponder code query ******F****** received ping request ******a"HyV;}>I  U~ 5? ݾ XJ ?9 {@ : 8:) WQWYXY XYWYXY:Wy2W*WVbUBU*UUUQZ @BB BA*BA A A A "C*CRCCC9IAGZ>Ƀ,;fFAY}FF4@}FLb$@y}F|;}Fe}FHK ?Y?խ}@E?)~FF4@ ~FNZ;I~DYZ?yZF^xDUSBL response received:!U1,P 2F2,000,002B9,189,80,80,85,FF ^Command AckbBRequesting micromodem ping code 2i``nNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76      @ @ @ùùùiùù Ĺ)Ĺ >9Ii"=D6; KEIĹiĹ}MP=Y$AQU>a"Hy 7} >I :'} 5? :ݾ ~C %?9|@: :):WWX XWX:W2W*WVbUBU*UUU@ܧ @BABI BIAUr*BQAYAYAA"C*CRCCCI!G=r>Ia )a u  u {u {u  u 4:Yu #R1yu :u j5)u ː;9} 󉥙,^)fFAY}63@}6"$@y}6}6>}6H@zZ^? ?D?)~63@ ~6JZ;I~6CYN?yR`FRp=ɮPbNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B CMp=Y3QU?a"Hy} ?Iȱŵ6| 5?ŵJݾ Ƶ= ?9Ƶ}@ǵM: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUU@B!B! B!A%*B!A)A)A)A)"C1*C1RC1C9C9IG5=ܐ,bCfFAY}J3@}JR;#@y}J4}J7}JH@ h?e?Y?"恿J?)~J3@ ~Jv\;I~HYZ?yZ3FbxDUSBL response received:!U1,R,31B,000,002BB,189,80,80,B0,FF bFpublishing direction and range infobΚ1`ɰb e=` `)b0CI`yb@b.Z?Hvٱ` M S=Y HQU >a"H!y-}->I1 E:5{ 5? E:5ݾ 5 6 M?95~@5Q:; 5'8;)5:WYWYXY XYWaXa:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q@ZQ8+O @h~JQ.Z?Hv2QΚ1:QbQh'@4H @-0mC{?RQjH( ҿPo*?]@?BQ? QJ@Q1PQ9?PP9?PQQ@"QQ@B!BA BAAM*BIAIAIAIAI"CQ*CQRCQCYCYI׉)׍]AYIiG9> >9Ii+7; Em ) m |m |m  m 7:Ym R1ym i:m 5)m i;%,Z~]fFAY}b(2@}b"@y}b:}b"#}bHroJBc?`?gUמ?@?r?)~b(2@ ~b~q\;I~`Yr?yrF]TNmea in: $SNTTA,0.022698,,,,225104.61*40 Iu=)up=    @ @ @ùùùiùù Ĺ)ĹIĹiĹMM>=YUYּQUU>QYa]"HYYye}}e>Iimy 5?mݾ m- ?9m@mY: m:)imqAdded new target pos. range: 4.440000 m, bearing: 106.375135 deg, deltaT: 4.450655 s, approachRate: 0.026963 m/s, LOS rate: -0.755929 deg/s, posRepo size: 4XW ?W X  X W X :W 2W*WVbUBU*UU`@U4b?BB BAB*BAAAA"C?RCC?CסIG ><3,]wfFAY}(2@}"@y}Kd8}g}H@k H ? @2o@ ?%#?)~(2@ ~[;I~CY?yFK?SſDl?^:>/ O=)Iy:vT @A)FAI?AiIA(DAM8=YQU> a "H  y9}>I %:z 5? %:؝ݾ 8- -?9@: :):WIWIXI XQWQXQ:WQ2WQ*WQVYbUYBUY*UYUaUeg?BB BA*BAAAA"C?RCCCסIGm . m }m }m  m K:Ym kS1ym Ԋ:m 59u @,&fFAY}62@}6'"@y}6Zt}6{}6HxlE @Я?& [ď? 4@?)~62@ ~6jZ;I~4Y^{?y^dFMMMk=YU3-QUU?QYa]"HYaye19a="H=H9yE&!}E>IIMz 5?Maݾ M, U?9Mj@M/: M:)IWyWyXy XyWyXy:W2W*WVbUBU*UUU-?BB BAق*BAAAA"C*CRCCCIG>u ~u yu yu  u t):Yu P1yu ':u 46(,ĖfFAY}:02@}:#L"@y}:8}:}:H4Wh?&?@@V l?`?)~:02@ ~:7Z;I~:CY^?ybF]9M]X=YeQUe>aiam"HiqyuTO}}>Iȁ :Ņz 5? :Ņ'ݾ ƅ+ ?9ƅ@Dž4; ȅ6;)ȅ:WWX XWX:W2W*WVbUBU*UUUg?BB BAD*BAAAA"C*CRCCCIG>} >9yI}pFi}M?}=}BDy}9; }?E) I i "= != 5R, ޖfFAY}Ji1@}J!@y}J, Խ}JH}JH@ɏI5? Bp?`N<'u?(?)~Ji1@ ~Jx];I~JCYZt?y^%F‘‘{v<MB=YQU>a"Hy6} >I{ 5?ݾ + %?9@; M;)WWX XWX:W2W*W!V!bU)BUY*UaUiUˑ@BB BA*BAAAA"C *C RCCCIG-->i nGI) i9 m "ؿٺi m A T?9 Au l u }u }u  u o<:Yu kS1yu Ԋ:u 5A,[fFAY}v1@}vG:!@y}v@(}vĻ}vH`!X?@?1\`?pxM?)~v1@ ~v҃_;I~vCY?yFAEAAI]4=)]R=~jtQ?Q?< <)IyMbP?ˡE:v:'T ;9A)OQAI;9AiOQAGEA m m m m@ m@ m@iiiiii i)iIiii}zM}@=Y}.QU>a"Hy-~'}5>Ii :m{ 5? :mݾ m^1 ?9mW@m`a< m]<)m:WWX! X!W!X!:W!2W!*W)V)bU)BU)*U)U1U5X@R]B*** querying acoustic contact ***PYPYBB BAH*BAAAA"C*CRCCCIGH>U =iU =eĥ,nfFAY}>0@}> @y}>}>'}>H @e??Z`w?K`'?)~>0@ ~>`\^;I~>CYR?yV.FVZ****** received transponder code query ******ZF****** received ping request ******Z11a5"H19yE}E?IQU| 5?U]ݾ U%5 e?9UɁ@U%); U+;)QWWX XWX :W 2W *W%>9!I%8Fi%?%=!!%<; %EVbUqBUq*UyUyU}? @BB BA *BAAAA"C*CRCCC IG5 > x x  Y>:Y 7P1y : 5) ;9 ʥ,I,fFAY}6C0@}6_ @y}6Q}6"}6H#|=??@n``\ÿ`N:?@\?)~6C0@ ~6\;I~6CYrv?yrFvxDUSBL response received:!U1,P 31B,000,002BB,189,80,80,B0,FF vCommand AckvBRequesting micromodem ping code 2itt~Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )5= 5>]MeG=YuQU}>a"Hy_}>I :Z} 5?  :ݾ ,9 ?9Z@9< <):WWX XWX:W2W*W V bU BU*UUUf @BABA BAAE*BaAiAiAiAi"Cq*CqRCqCqCy׍?i׍?aIyG>>3wѥ,%FfFAY}2d0@}2( @y}2n}2~+}2HCz"G+߬?@?@-J Fǿহ? 0j?)~2d0@ ~2[;I~0YR?yR͑FvNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i< 鿩мM8=YKۼQU>a"Hy>;}>Iȩŭ1~ 5?ŭݾ ƭ< ?9ƭ@ǭ: ȭ#:)ȩWWX XWX:W2W*WVbUBU*U)U1U5 ]3@BYBY BYAem*BaAaAaAaAa"C*CRCCCׁIG>>9IFia?="A;  EIa )e AAu u vu vu  u @*:Yu N1yu :u |5)u R;ץ,_fFAY}:X0@}: t @y}:Gx.}:s}:H eJ+?ñ?\@aƿ?}mf?)~:X0@ ~:p[;I~:CYRN?yRFVxDUSBL response received:!U1,R,28B,000,002BA,189,80,80,CE,FF VFpublishing direction and range infoVOoTɰVd=T T)VNCITyV(@VgM 8? 7ٱTjb;Mjl=Yn8QUn?ppar"Hptyvj }z?Ixz~ 5?zݾ z? ?9zg@z: zw:)xW!W!X! X)W)X):W)2W)*W1V1bU1BU1*U1U9UE@@RM(Combining 5 samples.PQ*QU(@ZQU>6 @ZnNJQUgM 8? 72QUOo:QQbQU ^i',@ L?RQUXֿvAg?E˜?BQUd? QUɀ@QU8PUP9?PUQ9?PUQUQU,@"QU@BB BAZ*BAAAA"C*CRCCCqIG=ݥ,yfFAY}/@} @y}n;}2?}HO9`8yg`?v? ;@#ǿPL? :V?)~/@ ~T[;I~Y=?yELFTNmea in: $SNTTA,0.025003,,,,225109.06*4F a ie@a e a me@a e a qe@a e a ee@a e ]Q?&1~jt?]u<]н ]<)YIYi]Mb@Mb@Mb@]©]] ](A)]OAI]Ai]A]]vAy}]A % % % %@ %@ %@!!!i!! !)!I!i!5U<M5=Y5,ɼQU=>99a]"HaaymE}m>Iq u:u 5? }:uݾ uD }?9u@uӻ; uO?)u:mqAdded new target pos. range: 4.380000 m, bearing: 110.560135 deg, deltaT: 4.392643 s, approachRate: -0.013659 m/s, LOS rate: 0.952729 deg/s, posRepo size: 4XWd?WX XWX:W2W*WVbUBU*U!U%@U%x?BiBi BqAu9*BqAqAqAA"Cz?RCCd?CI)^AױIGg>m Vm xm xm  m D&:Ym 7P1ym :m 59u @䥙,,fFAY}6-/@}6@y}67A}64̽}6H`)Ǝ>?@??"@ȿ?@gE?)~6-/@ ~6bg[;I~4YBJ?yBFIt)tI~=)~=e><Me=YeQUe?iiam"Hiqyut}u?Iy}v 5?}Wݾ }AG ?9}@}: }S?)yWWX XWX:W2W9IFi1?=E; ! E*WVbUBU*UUUbq?B B  B A *BAAAA"Cu?RCC!C!IG==e =ie =꥙,`fFAY}6/@}6@y}6D}6$Ƚ}6Hn#’??@ ȿ`v?VB?)~6/@ ~6C[;I~4Y^0?ybFE䯼MEL=YMQUM>QQaU"HUHy }>IF 5?ݾ J ?9@ : o?)W1W9X9 XAWAXA:WA2WA*WIVIbUIBUI*UIUUx ?BB BAa*BAAAA"C4N?RCCC  IG5 >u  u zu zu  u 5:Yu Q1yu :u 6,lǗfFAY}N/@}N%@y}N[H}N}NH@- nǼ?0?6 ?ƿ ?ֱ@N?)~N/@ ~N%[;I~NCY^G?ybF    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ!ME=Y QU>a"Hyu }>I1 =:5 5? =:5ݾ 5O E?95@5%: 5??)5:WaWaXa XaWaXa:Wi2Wi*WiVibUqBU*UUU@?BB BA܄*BA A A A "C45?*CRCCC-?i-? IG1ܽ>9ܹIܽxFiܽ?ܽ=ܹܹܽI; ݽ"E,GfFAY}6*/@}63F@y}6M}6X i}6H@? ?'`TFſ??Y ;N?)~6*/@ ~6Cs[;I~4YZC?yZVF%p=i%= AA}=<M}L=Y:BQU>a"HyL}>IȩŭЂ 5?ŭݾ ƭS ?9ƭ&@ǭ; ȭ@)ȩWWX XWX:W2W*WVbU BU *U U U `aZ@BB BA*BAAAA"C%d?RC!C!C) IG1 } }  8A:Y kS1y Ԋ: |5Q,"fFAY}B\.@}B@y}B P}B8}BH:S?B?uȿ?`;V`a9?)~B\.@ ~Be[;I~@YR4?yRMFa ima im a mma mu a qua q a ea e y&1?V-~jt?`e<h <)IyMbP?{Gzt~jt:ף EA    @ @ @i )Ii݂M4=YлQU>a"H y(}>IԂ 5?ݾ U[ %?9D@: :)WAWAXI XIWIXI:WI2WQ*WQVQbUQBUY*UYUYU]@BB BA*BAAAA"C*CRCCC׉IG>!,rfFAY}6.@}69$@y}6}eR}6 ؽ}6H܊Q`@ݷ?x?Lʿ j? &?)~6.@ ~66[;I~6CYNz?yRFfH<Mfv=YfQUf?hhaj"Hhlynּ}r?Ip v:r؂ 5? z:rݾ raa z?9r[@r: r:)r:WWX XW!X!:W!2W!*W!V)bU)BU)*U)U1U5@u>9qIuFiuE?qqquQP; u&E)Ii=='4RB*** querying acoustic contact ***PPBIBq BqA}O*ByAyAyAyAy"C*CRCCCI)]AשIG>u \ u u u  u (;:Yu WU1yu :u 5)u ;9} , ,H.fFAY}6|-@}6@y}6iumGyIa"HiܿٺWAy}>I!%߂ 5?%Zݾ %wi U?9%z@%; %Q;)!WWX XWX:W2W*WVbUBU*UUU=6 @BB BA*BAAA!A!"C!*C)RCICICQAIQGm>,HfFAY}R-@}R#@y}RO}R!V}RHeWqdU? P?lyȿ'?Q :?)~R-@ ~R:Z;I~RCYb4?ybMFfxDUSBL response received:!U1,P 28B,000,002BA,189,80,80,CE,FF fCommand AckfBRequesting micromodem ping code 2iddnNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 = = = =@ =@ =@999i99 9)9I9i9M(=Ya"HyM1}>I  :  5? : $ݾ r ?9 @ : 4:) :WYWaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UqUyU} @BB BA*BAAAA"C*CRCCCIGMR>]>9YIYiY]=YY]W; ]*Em 0m |m |m v m <#:Ym R1ym i:m 5)m B;=,ybfFAY}2}-@}2@y}2-kG}2}2Hm@Rl Mn?6? ǿ #?J@J?)~2}-@ ~2[;I~2CY^?y^hF`ɮba=rNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }*=M}r=Y$ i)m=CIiyimӔ:j?4weQٱi}a=i}= 鿉)\(? ףp= y&1G=Q `)IyMbp?Q롿{Gz?;\#< a"Hy2<}>I!% 5?%@ݾ %^q 5?9%5@%8: %@:)!WQWQXQ XQWYXY:WY2WY*WYVabUaBUa*UiUiUm@.@R}(Combining 5 samples.Py*QyZQ}<]@DJQ}Ӕ:j?4weQ2Q} :QybQ}ӕTOQg-@Fj<?RQ}tyԿ45?`?BQ}Um? Q}k@Q}jPyP}P9?P}Q}Q}A/@"Q},@BIBQ BQAU*BQAQAQAQAY"CY*CaRCaCaCׁIG_>u u {u {u  u F:Yu #R1yu :u 359} @qQ%,MNfFAY}b,@}bM@y}br=}by}bHXQy?'?`w>Ŀ̋?VTe?)~b,@ ~bZ;I~`Yn?yrCF>9IНFiE@= `; h.EETNmea in: $SNTTA,0.057122,,,,225113.50*40 e=Me=YeC))a-"H-H1y5g}5>IAE 5?E"ݾ Eh M?9E@Ek: E:)AWiWiXi XqWqXq:Wq2Wq*WyVybUyBUy*UUUͼ?BB BA*BAAAA"CUm?RCCCIG=u u zu zu  u ,:Yu Q1yu :u 6b2,ʘfFA|i|@Y}:+@}:$@y}:>}:B}:H? k?-@¿O?l?)~:+@ ~:[;I~:CY^p?y^F    @ @ @ùùùiùù Ĺ)ĹIĹiĹVY=M@=YVQU>a"Hy}>I : 5? :yݾ c ?9y@V: :):WWX! X!W!X!:W!2W!*W)V)bU)BU)*U)U1U5` 3?BYBa BaAeт*BaAaAiAiAi"Cq*CqRCqCqCyIIYGu=9IFiE?Wf; 1Er8,fFAY}6+@}6@y}67}6+}6H-?}?@W7ɿb?> PJ?)~6+@ ~6[;I~6CY^=?ybfFEA6MET=YE8IIaM"HIQyU }U>IY]g 5?]ݾ ]] m?9]@]k: ]:)YW!W)X) X)W)X):W12W1*WQVYbUYBUY*UYUaUeT?BB BA ^*B A A)A1A1"CA*CARCACACIaIqG>  ?:Y y 6ո>,fFAY}^z+@}^@y}^*}^r}^Hy<a??dyh̿ s@? ݸ¿4?)~^z+@ ~^];I~^CYn?ynF{GzK׿n?ף^ V>)Iy~jtx?{Gz/$?;ף,= 3CA)IAIiaAGA)=  e e e e@ e@ e@aaaiaa a)aIaiauPMu8=Yuyya}"Hyy͋}>Iȑ :ŕƆ 5? :ŕݾ ƕ}I ?9ƕ@Ǖ: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU x?BB BA*B A A A A "C*CRCCCI G- >E,fFAY}6*+@}6BF@y}6d}6i}6HpH@z]? ?i@Bxȿ!y?᾿d?)~6*+@ ~6^;I~6CT9TITiTV=TTV4k; VQ4EY~?y~FYi]4=u=M}\=Y}a=QU}>a"HyBX}>Iȑŕ 5?ŕqݾ ƕ8 ?9ƕB@Ǖp: ȕ$:)ȑWWX XWX:W2W*WVbUBU*UUU@(@BB BA|*BA A A A "C*CRCCC!I!GM=Ia )e @Au u }u }u  u A:Yu kS1yu Ԋ:u 6)u ;9} K,h1fFAY}61+@}6DM@y}6}6ʛ}6H/@YYa]"HYayea:}e>I : 5? :ݾ ! ?9@: :):WWX XWX:W2W*WVbUBU*U U U @@RB*** querying acoustic contact ***PPB9B9 B9A=*B9AAAAAAAA"CI*CIRCICICQIa)a9IaGb>R,IKfFAɫ髡) IY?yHFZ****** received transponder code query ******F****** received ping request ******a"Hy}>I 5?ُݾ B ?9@9; ';)WWX XW!X!:W)2W)*W1V1bU1BU9*U9U9UE` @BB BA2*BAAAA"C*CRCCCIGI>ܡ9ܡIܡiܡܥ=ܡܡܥn; ݥ-6E)1I1i15=5=5 5m m zm zm  m /:Ym Q1ym :m 5)m %;X,efFAY}:*@}:$@y}:}: +}:H @y7`o? ?,?`e#?)~:*@ ~:0[;I~:Cɫ99)9 9I9Y]?y]FexDUSBL response received:!U1,P 26D,000,002BA,188,80,80,BD,FF mCommand AckmBRequesting micromodem ping code 2iiiIq)q}Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 IR=)7M[=Yaia"HyO`}>IS 5?ݾ u 5?9@; ;)WWX XWX:W2W*WVbUBU*U)U1U5^ @BB BA*BAAAA"C*CRCCCi=}nGIai#ݿٺAIG=r>e =ie = _, ~fFAY}6*@}6@y}6f }6jɽ}6H- #`a?`0? Ŀ |I?`縿?)~6*@ ~6;[;I~6CɫYY)a aIaY??y@F鮙ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B eQ?|?5^ҿn?e\>e a)aIaye{Gz?Q롿~jt?e#a"Hyܗ}>Iȹ :Ž 5? :Žӎݾ ƽI ?9ƽj@ǽ"; Ƚ;)Ƚ:WWX XWX :W2W*WVbUBU*UU!U%j@BB BA*BAAAA"C!*C1RC1C1CI׭?i׭?yIG_>u u {u {u S u I :Yu #R1yu :u k59u @e,'ޘfFA">9"ؔCI"xFi"?"="CD "~p; "7EY}Fz*@}F@y}FW}F\ }FH`L^i@{? j@F*ǿ@X?Px?)~Fz*@ ~F\;I~FCɫQY)Y YIYYu?y}FxDUSBL response received:!U1,R,210,000,002B8,187,80,80,B1,FF Fpublishing direction and range info}뾩yɰ}d=}1> y)}1CIyy}Q@}K=?϶tܿٱy)> > e e m m@ m@ m@iiiiii i)iIiii мM[=Y6=QU>a"Hy }>Im 5?8ݾ Rٽ ?9ϊ@: ÷:)WW X) X)W)X):W12W1*W1V1bU1BU9*U9U9U= u@Rm(Combining 5 samples.Pq*QuQ@ZQuKF@xIkNJQuK=?϶tܿ2Qu:QqbQuU ?$52w%@_?RQuYB"J׿9??^K2`?BQu3G? Qu/y@QuɿPqPqPuQuQu '@"QuA/@BB BA*BAAAA"C*CRCCCI G%,>l,DfFAY}r*@}r3@y}rн}r}rHh T`^H?~@Pÿ ?`f?)~r*@ ~rH\;I~rCɫ) IY-?y-FDNmea in: $SNTTA,,,,,225117.96*53 R=ip= M =MC=Y%=QU>!a%"H%H)y5S}5>I9 M:= 5? M:=ݾ =Ľ U?9=B@=l,; =Z8;)=:m]qAdded new target pos. range: 4.259999 m, bearing: 112.030313 deg, deltaT: 4.410247 s, approachRate: -0.027210 m/s, LOS rate: 0.593859 deg/s, posRepo size: 4XaWe3G?WaXi XiWiXi:Wq2Wq*WqVqbUyBUy*UyU = @U`?BB BAu*BAAAA"C(?RCC3G?CIGM>Ie AA)a u u zu zu  u :Yu Q1yu :u i5r,a̙fFAY}27*@}2@y}2UŽ}2em}2HrL@??MѲ?3 ?)~27*@ ~2^;I~0ɫYY)Y YIYY?yF5l<M=Z=Y=HfAAaE"HAAyMm:}M>IQU 5?Uݾ ]tI UԳ e?9U@U2: U:)QWWX XWX:W 2W *W V bUBU*UUU|y?BABA BAAEH*BAAIAIAIAI"CU3G?RCQCQCYIi)iIIQG>E>9EٔCIEFiEv?AEBDAEq; E7E'y,4ffFAY}2s*@}2@y}2ͽ}2vC}2HJFY m?'?#? 1M?)~2s*@ ~2a;I~0ɫYY)Y YIYY}F?y}F - 5 5 5@ 5@ 5@111i11 1)1I1i1E/[<MEJ=YE QUM>IIaM"HIQy]}]>Ia m:e 5? m:e0ݾ e m?9e@e: e:)e:WWX XWX:W2W*WVbUBU*UUU?BQBY BYA]*BaAaAiAiAi"Cq*CqRCyCyCyשIG!>u u u u  u B:Yu WU1yu :u {5,GfFAY}28*@}2S@y}2ɽ}2E}2H̹`Wt@?#>?$=a?0?)~28*@ ~2O*^;I~2Cɫ99)9 9I9Yu?y}cFI)I=)={Gz1Zdۿ|?5^?ף"۾ =)IyMb?:v:v?<ԼT< …:A)…NAI…f8Ai…xUAEA>UMD=Y;QU>a"Hyt}>IG 5?ݾ  ?9@: D:)WWX XWX:W2W*WVbUBU*UUU?BB BA'*BAAAA"C*CRCCCIG$>a ie =9 99 I= XFi= ?= =9 9 = ~t; = <9E:,fFAY}B *@}B[%@y}Bc}BꝽ}BHƁD'?IU?> ^ ?@K?)~B *@ ~B\;I~@ɫYY)Y YIYYp?yFUQXMUP=Y]Yaae"Haaymw}m>Iqux 5?uݾ u }?9uߌ@uU: u:)qWWX XWX:W2W*WVbUBU*UUU?BB BAт*BAAAA"C*CRCCC 5?i5?IIGu>u <u |u |u  u 1$:Yu R1yu i:u 5)u ;9} .d,3fFAY}2)@}2W@y}2}2}2Hj?#d?@qQ?@?)~2)@ ~2[;I~0ɫ99)9 9I9Y}0?y}7F)= = 5 5 5 5@ 5@ 5@111i11 1)1I1i1Eo<MEK=YM#=QUM>IQa"Hy[}>I : 5? :9ݾ r ?9C@: :):WWX XWX:W2W*WV!bU!BU!*U!U!U-qP@BQBQ BQA]*BYAYAYAYAY"Ca*CaRCiCiCi)IAGm>L,MfFAY}2v*@}23@y}2}2 @k}2HR`7s>? X?@{TP?R ?)~2v*@ ~27[;I~2CɫII)I IIIY}?y}F?A=i= 鿑    @ @ @i )Ii)<MO=Ym#a"H y ;} >Iڋ 5?ݾ Z %?9@:  :)WAWAXA XIWIXI:WI2WI*WQVQbUQBUY*UYUYU]V@RmB*** querying acoustic contact ***PiPiBB BA*BAAAA"C*CRCCC IGM>>9IȖFi?u; :EIe @A)a u u u xu xu  u '=:Yu 7P1yu :u 5)u ;w,gfFAY}2 Q*@}2l@y}2[}2}2H`L@/aUe?@?[!?b?)~2 Q*@ ~2_;I~0ɫ19)9 9I9Yu&?yuF}Z****** received transponder code query ******}F****** received ping request ******a"H  y5 <}5>I9 E:= 5? E:=ݾ =? M?9=@=0: =:)=:WiWiX XWX:W2W*WVbUBU*UUU` @BQBQ BQAU*BQAYAYAYAY"Ca*CaRCaCaCIי)יׁIG>],fFAY}6i*@}6!@y}6ʔ}6l}6H F{%T?w\?@^(?`h?)~6i*@ ~6m^;I~6Cɫ99)9 9I9Y}R?y}FxDUSBL response received:!U1,P 210,000,002B8,187,80,80,B1,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 e#~j?\(\Ͽy&1|?e%>ez e`;)aIaye ףp= ?:vQ?eQ8=eTeu< e`=A)e+MAIe;AiezPAaeEAyy    @ @ @ i? ?)?I?i? %;M =Y9QU>a"Hy}>I 5?ćݾ  ?9̎@e; ;)WyWX XWX:W2W*WVbUBU*UUU3@BB BAق*BAAA A "C1*C1RC1C1C9I IQ Gu >u u {u {u  u /:Yu #R1yu :u 59} @ 9 I pFi M? = -v; !:E)qIqiqu=u=u4ه,=dfFAY}>|)@}>@y}>8}>~¼}>Hߜ>?5? `@o=?tH ?)~>|)@ ~>l];I~<ɫyy)y yIyY?y7Fa=ɮ=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IQ)QM=YEa ie =i nGI i e ٺa e A,1?fFAY}2V)@}2Xr@y}2R}2-}2H~~ ²?`?ǂ~h Cǰ? ٔ@?)~2V)@ ~2E\;I~2Cɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,R,260,000,002B9,188,80,80,B0,FF Fpublishing direction and range infoɰdd=鰅> )0CIy=@DA?qm1ٱv<M9=Y;QU>a"HHy  }>I)-v 5?--ݾ - ?9-ۏ@-R= -Q=))WyWX XWX:W2W*WVbUBU*UUU ZR@R (Combining 5 samples.P *Q =@ZQ & @Wg}JQ DA?qm12Q :Q bQ  2 @K4fMhz?RQ !'K`ҿ ރ??BQ ? Q @Q mP Q9?P P Q Q _ @"Q '@u u zu zu t u X3:Yu Q1yu :u }5By B  B A *B A A A A "C *C RC C C ׭ ?iש y I G- >ț,"ϚfFAY}fw)@}f@y}f }fU3}fH  ?? ~ `?Y?)~fw)@ ~f([;I~fCɫ) IY5?y5FTNmea in: $SNTTA,0.021631,,,,225122.41*46 &MX=YQU>a"Hyw;}>I  :  5? : `ݾ > ?9 d@ : s:) :mEqAdded new target pos. range: 4.319999 m, bearing: 106.904249 deg, deltaT: 4.650089 s, approachRate: 0.012903 m/s, LOS rate: -1.102358 deg/s, posRepo size: 4XIWM?WIXI XIWQXQ:WQ2WQ*WYVYbUYBUY*UYUeG@Ue`?BB BA9*BAAAA"Cn?RCC?CaIqG>܉9܍ؔCI܍Fi܍?܍!=܍CD܉܍s; ݍ8Eù,IfFAY}2_:)@}2U@y}2K}2`5"}2Hl@?ߢ?jc?,3 ?)~2_:)@ ~2wq];I~2CɫYY)Y YIYY?y\F=<M=W=Y=ʼQU=>AAaE"HAIyM }M>IQU 5?Uݾ U e?9U@U4: U@:)QWWX XWX:W2W*WVbUBU*UUU@\?BB BA*BAAAA"CU?RCQCQCY)I9G]> ~ | |  =:Y R1y i: 5(,EfFAY}6](@}6@y}6}6{}6HU@z?`?T@j`?ã?)~6](@ ~69<_;I~6Cɫ99)9 9I9Yu?y}FMb`?Zd;O?{Gz?;j= ף<)IyMb?Mbpa"Hy!} >I? 5?ݾ  %?9\@U; 5<)WWX XWX:W2W*WVbUBU*UUUHa?BiBi BiAm*BiAqAqAqAq"C}?RCyCyCyIG=>܁ 9܁ I܅ pFi܅ M?܁ ܁ ܁ ܅ n; ݅ /6EƦ,fFAY}2gD)@}2_@y}2}2tl}2Hj@ ?? ](`O?`h`?)~2gD)@ ~2];I~2Cɫ99)9 9I9Y}?y}F=)M=V=Y=ӀQUE>AAaE"HAIyM5@<}M>IQ ]:U 5? e:Uݾ U@< e?9U@U0: U:)U:WWX XWX:W2W*WVbUBU*UUU?BB BA9*BAAAA"C*CRCCCשI9G]>u u u u  u ):Yu T1yu :u E5)u և;9} ͦ,ˆ6fFA|i|Y}6)@}6)@y}6bvν}69}6HDT-?F?9Q$ù?Ċ?)~6)@ ~6}\;I~6CɫYY)Y YIYY?yܔFIC=)4=5&\;M=J=Y=܅QU=>AAaE"HAIy](}e>I 5?ݾ < ?9!@; ;)WiWqXq XqWyXy:W2W*WVbUBU*UUU?*?BB BA.*BAAAA"C*CRCCCׁIGF>Ӧ,aPfFAY}69|(@}6×@y}69ཙ}6?}6HPS=ܬ??`)tf{?`|?)~69|(@ ~6$l\;I~6Cɫii)i iIiY?yF M M M U@ U@ U@ U@IIIiMI M)MIMiMeҢ<MeH=Ye諼QUm>iiam"Hiqyu}}>Iȁ :Ņ? 5? :Ņyݾ ƅn< ?9ƅ@Dž: ȅ=:)ȅ:WWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"C*CRCCC?i?IG)>999I=8Fi=?999=h; =2Eu  u xu xu  u 4:Yu 7P1yu :u 5)u ː;ڦ,FCjfFAY}2(@}2F3@y}24}2@}2H`( ?z?`ZС?c`?)~2(@ ~2.\;I~2Cɫ99)9 9I9Yu?y}Fy}AA =MQ=Y(ݼQU>a"Hy } >I 5?ݾ  = ?9@: :)WAWAXA XAWAXA:WA2WI*WIVIbUIBUQ*UQUQUUc@ReB*** querying acoustic contact ***PaPaBB BA*BAAAA"C*CRCCC׉IG=ঙ,&fFAY}:'@}:@y}:O;}:)}:H;H`? u? e? ֳ?)~:'@ ~:`;I~:Cɫ99)9 9I9Y}?y}$FZ****** received transponder code query ******F****** received ping request ******a"H!y%}%>I1 M:5 5? M:5ݾ 5׽< U?95@5|; 5Yv;)5:WWX XWX:W2W*WVbUBU*UUU@B B BA*BAAAA!"C*CRCCC׹IGf>u [u {u {u  u &:Yu #R1yu :u {59} @- >9- ٔCI- Fi- a?- =- BD) - g; - 2E[$禙,fFAY}6(@}65@y}6 }6j*½}6H`QR^? .?޻ Ŀ`U??)~6(@ ~6Xv^;I~6Cɫ99)9 9I9Y}?y}AFxDUSBL response received:!U1,P 260,000,002B9,188,80,80,B0,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  Mt=Y SQU?!)a5"H1Ayl;}>I9=M 5?=ݾ =|< ?9=c@=@< =<<)9WWX XWX:W2W*WVbUBU*UUU @B9B9 B9A=*B9AAAAAAAA"Ca*CaRCiCiCiAIYG[>N,:ηfFAY}2'@}2c@y}2}2Fѽ}2HW f ? ? 9ſB?@ܹ?)~2'@ ~2v];I~2CɫYY)Y YIYY5?yF鮥p=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ,<M?=YqܻQU->9AaE"HMHyy}}}>Iȁ :Ņ% 5? :Ņ`~ݾ ƅB; ?9ƅ"@Dž/$< ȅv$<)ȅ:WWX XWX:W!2WI*WQVQbUQBUY*UYUYUe@BB BA*B A A A A"C*CRC!CACIYIiGZ>u u }u }u  u 1:Yu kS1yu Ԋ:u F57,ٯћfFA|i|@Y}6['@}6^w@y}6}6eѽ}6HG `?H(?@\jT ƿ` a?۹ƀ?)~6['@ ~6~x\;I~6Cɫ99)9 9I9YuL?y}oFxDUSBL response received:!U1,R,25A,000,002B9,188,80,80,AF,FF Fpublishing direction and range info}|yɰyy y)}/CIyyy}FR?(L` ٱy    @ @ @ @ùùùiýù Ĺ)ĹIĹiĽMI=YXQU>a"Hy*}>I 5?F}ݾ 9 ?9ԕ@^: :)WWX X!W!X!:W!2W!*W)V)bUiBUi*UiUqUu@R(Combining 5 samples.P*QZQsM @I UJQFR?(L` 2Q|:QbQ3Lsl@n,?RQh7byп ;i?fb?BQ]? Q`@QVPPQ9?PQQ)@"Q_ @BB) B)A-Z*B)A1A1A1A1"C9*C9RC9C9CAu?iu?>9IFi1?=t; C9E)eؔCIaiae!=e =e5YIiG8>b,ŏfFAY}v&@}vK@y}v}v*ڽ}vHp>R?]T? 3ƿl?@y?)~v&@ ~v&\;I~vCɫ) IY?yF]TNmea in: $SNTTA,0.031697,,,,225126.86*44 }<MP=Y^λQU>a"Hy_}>Ișŝƈ 5?ŝ'|ݾ Ɲ ?9Ɲ@ǝ: ȝ:)șmqAdded new target pos. range: 4.319999 m, bearing: 105.155386 deg, deltaT: 4.240099 s, approachRate: 0.000000 m/s, LOS rate: -0.412458 deg/s, posRepo size: 4XW]?WX XWX:W2W*WVbUBU*UUU%?iQIii%hٺ!%ABYBY BA'*BAAAA"C??RCC]?CסIGk>m A m ym ym  m 9:Ym P1ym ':m 5I,gfFAY}2&@}26@y}2Tn}2\}2H@}^`{ ?e?F lĿ~?-?)~2&@ ~2^;I~2Cɫ19)9 9I9Y}?y}F+L7A`尿X9v+ )Iy~jtx~jtI +ĻD94 :A)RAI=4Ai\AGA = = = =@ =@ =@999i99 9)9I9i9MMM>=YU PQUU>QYa]"HYYye}e>Ii u:m& 5? u:mg{ݾ mn, }?9m7@m: m:)m:WWX XWX:W2W*WVbUBU*UUU p?BB  B A 9*B A A A A"CNw?*CRCCC!I)GE0> 9 I xFi ? ; @E-r,;fFAY}>&@}>l@y}> }>׆}>HY+?i? T6=ÿ0?y?)~>&@ ~>E^;I~<ɫYY)Y YIYY?yӔF= ;M=^=YEغQUE>AIaM"HIIyU}U>IY]S 5?]zݾ ]w` e?9]ʗ@]Գ: ]E:)YWWX XWX:W2W*WVbUBU*UUUK?BB BA2*BAAAA"C]?*CRCCCI)IG>Ie AA)a q u }u }u 5 q Yu kS1yu Ԋ:u 5)u ;9} P ,D9fFAY}6u&@}6$@y}6Y}6r}6HN60?`w?`>9!Ŀ`M? ǐ?)~6u&@ ~6_;I~6Cɫ99)9 9I9Y}?yF    @ @ @i )Ii λM >=Y Z};QU>a"Hy}%>I! 5:% 5? 5:%zݾ % 5?9%w@%: %:)%:WYWYXY XYWYXY:WY2Wa*WaVabUaBUa*UiUiUuF?BB BAH*BAAAAI"Ci*CiRCiCiCqׁIG=>%,9RfFAY}6;&@}68@y}6}6}6Ha1@`}+? W?m!ĿM?`_F?)~6;&@ ~6^;I~4ɫ99)9 9I9Y}L?y}oF_A,ƻM[=Y%g;QU%>!!a-"H))y5l}5>I9= 5?=^yݾ =餼 E?9= @=Z: =˵:)9WWX XWX:W2W*WVbUBU *UUU`* @BB BAZ*BAAAA"C*CRCCCu>9qIuFiuv?qqquC; uEEבIG>u u {u {u  u w2:Yu #R1yu :u 6)u k;J,qlfFAY}6%@}6z@y}6}6H}6H@4'?+? \¿ *?N[`'?)~6%@ ~6B ];I~6Cɫ99)9 9I9Y}?y}FI=)R=[MJ=Y%`-;QU%>!!a-"H))y5͙}5>I9 E:=5 5? E:=xݾ = E?9=@=: =g:)=:WiWiXi XiWiXi:Wq2Wq*WqVqbUyBUy*UyUyU`@BB BA*BAAAA"C*CRCCC?i?IG >+!,fFAY}:(%@}:]D@y}:}:hc}:H6jL?G? ? ڡ?)~:(%@ ~:[;I~:Cɫ99)9 AIAY}?y}F@AHzG?(\?(\µ?= >z> =)IyS㥛?Q롿MbP/<\ …=Y);QU>a"HyM} >I)-w 5?-wݾ - =?9-K@-: -:))WaWaXa XaWaXa:Wi2Wi*WiVqbUqBUq*UqUyU}X@RB*** querying acoustic contact ***PPB!BA BIAM|*BIAIAIAIAQ"CQ*CYRCYCYCYAIQGu6>u u yu yu x u f!:Yu P1yu ':u X59} @y } _A܍ >9܉ I܍ Fi܍ 1?܍ =܉ ܉ ܍ 3; ݍ FE',fFAY}6 %@}6(@y}6 x }6볽}6H _?$?D`Ŀ`?`@?)~6 %@ ~6:_;I~6Cɫ99)9 9I9Y}?y}ÒFZ****** received transponder code query ******F****** received ping request ******M]=Y6a"Hyt}>I   5? vݾ ` ?9 Ϛ@ %; H<;) WAWIXI XIWIXI:WI2WQ*WIVIbUQBUQ*UQUQU]7 @BB BA *BAAAA"C*CRCCCIG (>l-,]fFAY}6$@}6@y}6o }6Ƚ}6H`Tie1? ?@B Ŀ ?`͸o?)~6$@ ~6y _;I~6CɫII)I IIIY}?y}FxDUSBL response received:!U1,P 25A,000,002B9,188,80,80,AF,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 q;MI=Yi;QU->9AaM"HMHYym}u>Iȑ =:ŕ 5? E:ŕuݾ ƕ M?9ƕf@Ǖa= ȕD=)ȕ:WAWAXA XiWiXi:Wq2Wq*WyVybUBU*UUUc @BB BA*BAAAA1"CI*CQRCQCQCYaIG`>u  u u u  u %q:Yu T1yu :u W5A4,8ԜfFAY}2s|$@}2@y}2\}2}2H@^$ 3?/?`0ÿ?@ųɞ?)~2s|$@ ~2`K];I~2CɫYY)Y YIYY?y(F鮡ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m m m u@ u@ u@iiiiii i)iIiii5忼M58=Y=;QU=>99a="HAAyEؕ}M>IQU5 5?Utݾ Up ]?9U@U: Uk:)QWWX XWX:W2W*WVbUBU*UUU+@BB BAG*BAAAA"C*CRCCC9ڔCI Fi?=ف; LAEIG (>r:,@fFAY}6P$@}6jl@y}6 }6i}6H=@͔Uө?@;? B`hc?@Ҧ?)~6P$@ ~6,\;I~4ɫ9A)A AIAY?y֑FxDUSBL response received:!U1,R,251,000,002B8,189,80,80,B8,FF Fpublishing direction and range info )8CIyQ@NW^?v1,߿ٱ^A9Md=Y QU>a"Hy}>I :o 5? :sݾ T ?9@: :):W!W!X! X)W)X):W)2W)*W)V1bU1BU1*U9U9U=I@RM(Combining 5 samples.PI*QMQ@ZQM]$ @;JQMNW^?v1,߿2QMu K u }u }u  u 9:Yu kS1yu Ԋ:u E5xA,fFA|(i|*@Y}  $@} ;@y} T} `} H}` ?@I?(@?`œ?)~  $@ ~ I.];I~ ɫ) IYM?yUzFTNmea in: $SNTTA,0.058770,,,,225131.30*48 I)AIC=)uS?#~jܿK?u/]>u u^=)qIqyuy&1? rhy&1|u`ea"HyEӻ}E>IIM 5?M*sݾ M,x U?9Mۜ@Mn: Mϸ:)ImuAdded new target pos. range: 4.259999 m, bearing: 102.925480 deg, deltaT: 4.403888 s, approachRate: -0.013624 m/s, LOS rate: -0.506350 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UU = @U]M?B)B) B)A-&*B)A1A1A1A1"C]?RCYC]?CaQIaG}Y>! 9! I% Fi% a?% =! ! % )w; % :E)ݝٔCIݙiݙݝ=ݝ=ݝt06bH,C!fFAY}6!2$@}6M@y}66}6.}6H~Fy?\a"Hy[A;}>I : 5? :rݾ  ?9@F: :):WyWX XWX:W2W*WVbUBU*UUU`F??BB BAp*BAAAA"C1?*CRCCCIG-->inGI1iIuٺy}/Au 0u |u |u  u <#:Yu R1yu i:u j5}8N,Q;fFAY}:p$@}:5@y}:O}:u}:H`Zq@? ??@2[)Ŀ v?=oӈ?)~:p$@ ~:_;I~:Cɫ99)9 9I9Y}?y}F5nM=S=YEmQQUE>IIaM"HIIyU4s}U>IY] 5?]8rݾ ]5 e?9]f@]: ]:)YWWX XWX:W2W*WVbUBU*UUUV?BB BA)*BAAAA"C?*CRCCCשIG>` U,UfFAY}6-$@}6*@y}6(}6򈹽}6Hm@e?@mC? D@ƿ|?@㶿`N?)~6-$@ ~6F];I~6Cɫ99)9 9I9Y}?y}4F MǼMUH=YUjQUU>YYa]"HYayeݺ}e>Ii u:mѐ 5? }:mqݾ m }?9m@m(: mA:)m:WWX XWX:W2W*WVbUBU*UUU`f?BB BA{*BAAAA"C*CRCCCI ) \A >9IFi?el; 4EI1GU>u u yu yu  u .:Yu P1yu ':u *6)u ;9} J[,[ofFAY}6%@$@}6[@y}6}6T}6H dc?@4?Wſ`kB??)~6%@$@ ~6*[;I~6CɫYY)Y YIYY?yF ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYmMmH=Yu;QU>a"Hy;}>I 5?(qݾ Y ?9@: ::)WWX XWX:W2W*WVbUBU*U1U1U=z@BIBQ BQAU*BQAQAQAYAY"C*CRCCCׁIG`>1b,4fFAY}F$@}F@y}FG{}F,}FH06w ?@g?>Ŀ?Dz?)~F$@ ~Fp[;I~FCɫyy)y yIyY?yF{Gzt?QB`"۹ף;u ν)IyL7A`?I +l?+=9= `=A)SAI5AiE`AIA]A } } } }@ }@ }@yyyiyy y)yIyiyM9=Yq̻QU>a"Hy<}>Iȩ :ŭĐ 5? :ŭapݾ ƭ ?9ƭt@ǭ: ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUU@BB B!A%*B!A!A!A!A!"C)*C1RC1C1C1IG--> >9 I i  =   o;  6Eu u |u |u  u /:Yu R1yu i:u 5)u t;\h,bfFAY}:M%@}:)@y}:&}: A}:H@8"W^ͳ?@? @33ÿ@? Oߧ }?)~:M%@ ~:[;I~:Cɫ99)9 9I9Y}m?y}Ftf=Mm=YؼQU?a"Hy2<}?I 5?oݾ PL< ?9Ҟ@b: :)WWX XWX:W2W*WVbUBU*UUU`%@RB*** querying acoustic contact ***PPB1B1 B1A5R*B9A9A9A9A9"CA*CARCACICi}?i}?)I9GU>e =ie =n,fFAY}=%@}=]*@y}=C4}=R]}=H@ _`д??Ŀ j?x9u?)~=%@ ~=p_;I~=Cɫ ) IY5`?y5F=Z****** received transponder code query ******=F****** received ping request ******=a"HHyԍ8}>I 5?nݾ = ?9P@: :)WaWaXa XaWaXa:Wa2Wi*WiVibUiBUq*UqUqUum @BB BAU*BAAAA"C*CRCCCIG K>i m ym ym  i Ym P1ym ':m 59u @]ou,֝fFAY}6~$@}6@y}6;}6딒}6H@6@Fr??@R>ǿT? %b?)~6~$@ ~6u^;I~6Cɫ99)9 9I9Y?yFxDUSBL response received:!U1,P 251,000,002B8,189,80,80,B8,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )-> -=eMmg=Y}.QU>a"HyN}>I  :n 5? :6nݾ *I= ?9@õ< <):9Ii=u; lJEWWX XWX:W2W*WVbUBU*UUU @BiBi BiAm*BiAqAqAqAq"Cy*CRCCCיIGg>{,ffFAY}6NW$@}6r@y}6=<}6#}6Hi ժ?W ?`k@p^ǿ@z?"`?)~6NW$@ ~69-];I~6CɫAA)I IIIY}i?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B _MD=Y;QU>a"Hy} >I!%R 5?%zmݾ %= E?9%@%Ք; %@;)!WYWaXa XWX:W2W*WVbUBU*UUU|@BABI BIAMӆ*BIAIAIAIAQ"CQ*CYRCYCYCYI)]AסIGh>u u |u |q u *:Yu R1yu i:q ,~ fFAY}61$@}6M@y}6z/<}6}6H \`0w??`jWǿ`d?U_?)~61$@ ~6SV\;I~6Cɫ99)9 9IAY]T?y]FexDUSBL response received:!U1,R,259,000,002B7,188,80,80,B9,FF mFpublishing direction and range infoeCaɰec=e> a)e9CIayef@ej#?ɚ̏0ٱaJ +?Mbsh|??H> =)IyMbp?Mb{Gz?;#<  ?A)RAI0AifA=JA % % % %@ %@ %@ %@!!!i%! %)%I!i%5M=C=Y=:QU=>AAaE"HAIyM}U>IQ ]:U 5? e:U5mݾ Uh= e?9UP@U: UQ:)U:WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qf@ZQ͢q @NX*LJQj#?ɚ̏02QC:QbQbuJ=B@OO C?RQ.?"qʿ}oTխ?5Q?BQ :? Qڀ@Q^PPR9?PQQ0%@"QZ@BB BAY*BAAAA"C*CRCCCI G-,>ܵ >9ܱ Iܱ iܱ ܵ =ܱ ܱ ܵ ; ݵ -MEe,4e$fFAY}f1$@}f)M@y}fN@}f'iw}fH X %??Ql`ƿ X?Z\f`?)~f1$@ ~f,[;I~fCɫ) IY?yF}DNmea in: $SNTTA,,,,,225135.75*5E ‘•^A;e;MS=YBQU>a"Hyb/7}>I 5?lݾ = ?9@: ':)muAdded new target pos. range: 4.199998 m, bearing: 102.159740 deg, deltaT: 4.489498 s, approachRate: -0.013365 m/s, LOS rate: -0.170562 deg/s, posRepo size: 4XW :?WX XWX:W2W*WVbUBU*UU`@U?B)B) B)A5M*B1A1A1A1A1"C= :?RC9CE :?CaYIiG8>m i i m  m <0:Yi yi m j6ڎ,M>fFAY}r0$@}r{L@y}rV}rX}rH:@֢>?T?Qcƿ ?Tf G?)~r0$@ ~r#_;I~rCɫ髩) IY'?yFI}=)}4=    @ @ @i )IiػMG=YUQU>a"HyӸ}>I :X 5? :lݾ =  ?9@: :):W)W)X) X1W1X1:W12W1*W9V9bU9BU9*U9UAUEFu?BB BAd*BAAAA"C*CRC!C!C!I)GM1>Ҽ,XfFAɫyy)y yIyY?ySF] M]T=Y]QUe>aaae"Haiym}m>Iy} 5?}jlݾ }= ?9}@}R: }':)yWWX XWX:W2W*WVbUBU*UUUi?BB BAv*BAAAA"C*CRCCCY9YIYiYYYY]; ]VE)ڔCIڔCi==!5IIQGm>u u yu yu  u 1:Yu P1yu ':u {5)u ̎;9} 曧,hqfFAiNmGIXid~ٺ|~-Aɫyy)y IYy}S㥛?Zd;?{Gz?}$>}y= }#=)yIyy} rh?~jtx?~jth}C =};}D }^BA)}NAI}h3Ai}hiAy}\KA)í= í=YQU>a"Hy}>I : 5? :kݾ = ?9o@8: :):WW X  X WX:W2W!*W)V1bU1BU9*UAUIUU?BIBQ BQAQ*BQAQAQAQAY"Cy*CRCCCqIG>΢,2ƋfFAY}F"@}F@y}Fr*k}F_aK}FHr*? S?@^ɿT#?`?)~F"@ ~F'\;I~FCɫ髉) IY?yF )) u u u u@ u@ }@qqqiqq q)qIqiq<MQ 9Q IQ iQ Q Q Q U M; U CnEu  q q u  u V5:Yq yq u |5)u ;,ϢfFAY}N #@}N6%@y}No}NI}NH `8`˶?}:?@`JͿ@M?`Z ?)~N #@ ~N\;I~NCɫyy)y yIyY?yFEmMI=Y:QU>a"HHyG<}>Iȱŵ 5?ŵjݾ Ƶh= ?9Ƶ?@ǵ: ȵY:)ȱWWX XWX:W2W*WVbUBU*UUU`3@B!B! B!A%*B!A)A)A)A)"C1*C1RC1C1C9IG= >t$,fFAY}BkP#@}Bk@y}BQt}BV}BH `T% E? [? vwο<@?@FC ?)~BkP#@ ~B~^`;I~BCɫQY)Y YIYY?yF    @ @ @i )Ii <<M S=Y y7QU>a"H!y%6<}%>I) 5:- 5? =:-~jݾ -= =?9-@-: -:)-:WWX XWX:W2W*WVbUBU*U U Uv@RB*** querying acoustic contact ***PPBYBq BqAu*BqAqAqAyAy"Cy*CRCCCם?iם?iIyG>m U m m m m m w:Ym T1ym :m j69u @ ,mٞfFAY}6m#@}6@y}6d~}6V}6H??bοy?ųB?)~6m#@ ~6:^;I~6Cɫ99)A AIAYmM?yu]FuZ****** received transponder code query ******}F****** received ping request ******}a"HyC<}>I 5?jݾ (= ?9@=; +?;)W9WAXA XAWAXA:WA2WI*WIVIbUIBUQ*UQUQUU @BB BAڇ*BAAAA"C*CRCCC>9IFia?; FEYIiG>,5,3fFAY}6w#@}6@y}6넂}6 l}6H@@$??b kϿ#?d ?)~6w#@ ~6G\;I~4ɫ99)9 9I9Y!?yBF=xDUSBL response received:!U1,P 259,000,002B7,188,80,80,B9,FF =Command AckEBRequesting micromodem ping code 2iAANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 AM2=YmeQU>a"HIQy];}]>Iș :ŝ 5? :ŝoiݾ ƝP= m?9Ɲ@ǝt< ȝ<)ȝ:WWX XWX:W2W*W9V9bU9BUA*UAUAUE @BB BA*BAAAA"C*CRCCC׹IG>} } }} }}  } 4 :Y} kS1y} Ԋ:} E5,ç, fFAY}2#@}2@y}2I}2#}2H"Y]?`u?" ^ο~ ?[&?)~2#@ ~2j\;I~0ɫ99)9 9I9YE%?yEFIɮImNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B mMb?~jt~jthm@>mĽ mD)iIiymL7A`?A`"A)mWAImC/AimpAimMA e e e e@ e@ e@aaaiaa a)aIaiaMF=YFs;QU>a"Hy\}>I 5?!hݾ "= ?9k@ӻ: 4:)W!W!Xa XaWiXi:Wi2Wi*WiVqbUqBUq*UqUyU}]C@BB BA$*BAAAA"C*CRCCCI G%M>9I Fi?=; EFɧ,&fFAY}6$#@}6@y}6'}6lY}6HO`|D?=?/`̿?Z?)~6$#@ ~6z\;I~6Cɫ99)9 9I9Y?y9FxDUSBL response received:!U1,R,27A,000,002B9,189,80,80,C2,FF Fpublishing direction and range info ɰdd=鰥7> )BCIy=@a+y49?kٱ <Mq=Y))a5"H11y=;}=>IAE 5?Eqeݾ E= M?9E@E: E:)AmmAdded new target pos. range: 4.319999 m, bearing: 99.579582 deg, deltaT: 4.399517 s, approachRate: 0.027276 m/s, LOS rate: -0.586464 deg/s, posRepo size: 4XWv?WX XWX:W2W*WV bUBU*UUG@U`k?BB BA*BAAAA"Cy?RCCv?CסIGA>X֧,fZfFAɫyy)y yIyYk?yoFܙ9ܙIܙiܙܙܙܙܝ; ݝEMO=YQU>a"Hy}>I: 5?dݾ @= ?9̦@=: U:)W)W)X) X)W)X):W12W1*W1V1bU9BU9*U9U9U=]?BiBi BiAuӇ*BqAqAqAqAq"C}v?RCyCCiIqG >u u yu yu  u 0:Yu P1yu ':u 5)u Z;9} ^ܧ,{tfFAY}F#@}FD @y}F}F 9}FH: &??@࠺пM?h ?)~F#@ ~F=v];I~Dɫy髁) IY?yUFIa=)=(\?J +ѿ t)IyQ?Q?<\= EA)OAI-Ai5tAMA8M9=YQU>!a-"H)9yE;}]>Ii :m 5? :mcݾ mm=  ?9m@m< m<)m:WIWIXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UYUYU7?BB BAF*BAAAA"C*CRCCCIGj>a ie a=j㧙,UfFAY}:»#@}:L@y}:R{}:le}:H(9? g? οܚ?۴ ??)~:»#@ ~:LF\;I~:Cɫ99)9 9I9Y}4?y}F ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYm R<Mmh=Ymqqa}"Hyyy}?Iȉō$ 5?ōcݾ ƍ#> ?9ƍR@Ǎ: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUU?BB BA!*BAAAA"C *C RC C CI!)%\AIG>ّّܙ9ܙIܙiܙܝ=ܙܙܝ; ݝE)1I1i1115^5u u {u {u  u ?,:Yu #R1yu :u 5)u ;^駙,+2fFAY}69#@}6þ@y}6v}}6p}6H ??`Rʿb?+ ?)~69#@ ~69\;I~6Cɫ99)9 9I9Y]!?yeBF(<MR=Y;QU>a"HH y 3|} >Ii u:m 5? u:m4cݾ m > u?9m@m(: m:)m:WWX XWX:W2W*WVbUBU*UUU @@BB BA*BAAAA"C*CRCCC)I1GU>iIIaiyٺA,ŸfFAY}#@}#@y}}6}H`@??@c6Tʿ@??)~#@ ~[;I~Cɫ) IY?yF=i=  5 5 5 5@ 5@ 5@111i11 1)1I1i1M=MM6=YUgQUU>YYa]"HYiym4;}u>Iy} 5?}bݾ }+> ?9}ާ@}5; };)yWWX XWX:W2W*WVbUBU*UUU @BB BĂ*BAAAA"C*CRCCCיIG@>Ie AA)e AAu s q q u y u <:Yq yq u 59} @,%۟fFAY}6#@}6% @y}6҃}6jkY}6HT?` ?@H@G̿K?@D?)~6#@ ~6K<`;I~6CɫYY)Y YIYY}i?y}F?A(Mh=YQU>a"Hyg;}>I : 5?  :bݾ :>  ?9@: :):E>9AIEFiE1?E=AAE; ESEWWX XWX:W2W*WVbUBU*UUUf@RB*** querying acoustic contact ***PPBB BAӆ*BAAAA"C)*C1RC1C1C1E?iE?)I1GU>1,PfFAY}=#@}=0@y}=b}=|h`}=H @B??`"! b̿W? %?)~=#@ ~=x^;I~=Cɫ11)9 9I9Yu?y} F}Z****** received transponder code query ******F****** received ping request ******))a-"H)1y5SO}=>I9=܋ 5?=>bݾ =73> M?9=M@=L: =:)9WiWqXq XqWqXq:Wq2Wy*WyVybUyBUy*UUUm @BB BA*BAAAA"C*CRCCCׁIG>> ~ ~  EV:Y T1y @: 5O,wfFA|i|ɫyy)y yIyY?ywFxDUSBL response received:!U1,P 27A,000,002B9,189,80,80,C2,FF Command AckBRequesting micromodem ping code 2iI)ANmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)      @ @ @i )Ii5Ț=M=I=YEQUE>qqau"Hqy}>I : 5?  :aݾ ,>  ?9|@; ;) :WIWQXQ XQWQXQ:WQ2WY*WYVYbUYBU*UUU @BB BA*BAAAA"CA*CIRCICICQ9IYG|>=>99I= Fi=?==99=L; =#E ,~)fFAY}6e#@}6@y}6H}6gR}6H /??@@%ο`{?P?)~6e#@ ~6j4\;I~6Cɫ99)9 9I9Yu?y}JFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B E.Mi=Yg:QU>a"Hy<}?Iȩŭ- 5?ŭaݾ ƭo'> ?9ƭ@ǭU: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU/>@BB! B!A%z*B!A!A!A)A)"C*CRCCCIG$> { {  C:Y #R1y : }6,LSCfFAY}:U$@}:q@y}:`h}:WϽ}:H@`d?? Rп?`2 ?)~:U$@ ~:h[;I~:Cɫ99)9 9I9Y}k?y}oFxDUSBL response received:!U1,R,25B,000,002B8,188,80,80,BD,FF Fpublishing direction and range info$ɰd=鰅> )=CIyQ@틻?$ٱ}MZ=YJ*QU>a"Hy<}>IX 5?oaݾ !> ?9̨@ : :)WWX XWX:W2W*WVbU BU*UUUb@RU(Combining 5 samples.PQ*QUQ@ZQU"O,x @T7JQU틻?$2QU$:QQbQU-/I@n?RQUN)Rȿ<ֶ6??BQU%? QU@QUTPUR9?PUS9?PQQQQU8@"QUG1@BB BAӇ*BAAAA"C*CRCCCIG,G=]fFAY}Mā$@}MN@y}M\!}M~}MH`#+N`X?٩??ο ?@?)~Mā$@ ~Mʏ_;I~MC9IFi1?=; Eɫii)q qIqY?yFDNmea in: $SNTTA,,,,,225144.64*58 =i4= !! u u u u@ u@ u@qqqiqq q)qIqiq:M/=YQ;QU>a"Hy;;}>Iȡ :ť 5? :ťaݾ ƥ> ?9ƥ@ǥ(: ȥ(:)ȥ :m}qAdded new target pos. range: 4.259999 m, bearing: 101.676689 deg, deltaT: 4.476480 s, approachRate: -0.013403 m/s, LOS rate: 0.468472 deg/s, posRepo size: 4XyW%?WX XWX:W2W*WVbUBU*UU = @U?BB! B!A%ˇ*B!A!A)A)A)"C5?RC1C5%?C11IAG]U>m h i i m  m P:Yi yi m 5)m d;9u ",*wfFAY}mC$@}m?_@y}mO|}m}mH`/`??7)Ϳ`H?S7*?)~mC$@ ~m24_;I~mCɫII)I QIQYu?yueFmQ?MbX9Կ+?mu=mʡ m>)iIiymy&1|{Gzt?y&1m`廹mף;m`e m?A)mIm0AiiimKA<MJ=YY;QU>a"Hy^}>Iȩŭ 5?ŭ6aݾ ƭ&> ?9ƭ@ǭ: ȭϸ:)ȩWWX XWX:W2W*WVbUBU*UUU8?BB BAo*BAAAA"CI?*CRCCCיIGA>3$,*吠fFAY}2?$@}2z[@y}2rz}2ټ}2H@?I?9mͿ?`Bֳ@?)~2?$@ ~2];I~2Cɫ99)9 9I9Y?yӊFUht<M]a=Y]@;QU]>aaae"Haaym%}m>Iy :} 5? :}Qaݾ }R> ?9} @}: }:)} :WWX XWX:W2W*WVbUBU*UUUo?BB BAB*BAAAA"C%?RCCCiIqG>>9Ii=; E T  &:Y y 5) ;N1*,8fFAɫ髙) IY?yFI9)9IER=)ER=    @ @ @ÙÙÙiÙÙ ę)ęIęię]VME=YQU>a"HHy}>I| 5?oaݾ > ?92@: :)WWX XWX:W2W*WVbUBU*U U U @?B1B9 B9A=M*B9A9A9AAAA"CA*CIRCICICQ)I1GU>m =im ='1,=ĠfFAY}6]#@}6@y}6 y}65}6H| @??Y@Շʿ?r?)~6]#@ ~6\[;I~4>JFailed to close latch before timeout.q >>Hardware FaultYB?yBwF    @ @ @i )IiF<MX=Y^;QU>a"Hycf} >I %:t 5? %:aݾ > %?9C@; ;) :WWX XWX:W2W*WVbUBU*UUU`6 @BB BA*BAAAA"C!*C!RC!C!C))I1-$M@Hardware Fault in component: DDMGQ q ~ ~  k(:Y T1y @: |59 @LC7,uvޠfFAY}6'$@}6BC@y}6v}6}6H;A??I`A̿2?ΰ&?)~6'$@ ~6[;I~6C>Powering down<ɪ<)< <܁9܅۔CI܁i܁܅=܁܅a"Hy?<}>Im 5?aݾ = ?9W@÷: U:)WWX XWX:W!2W!*W!V!bU)BU)*U)U)U- 3@BYBY BYA]F*BYAaAaAaAa"C*CRCCCIGK> i nGI) iA m $ٺi m Asu=,CsfFAY}~^n$@}~@y}~ӹr}~l}~H4@I?`? vʿ@?¬` ?)~~^n$@ ~~a;I~~CY?yӊF ))=y&1Mb?+=`== =)9I9y=a"Hy<<}>I  : ӌ 5? : faݾ = ?9 @ <  <)  :WWX XWX:W2W*WVbUBU*UUU@R B*** querying acoustic contact ***P P BiBq BqAuB*BqAAAA"C*CRCCCבIG?> } }  D:Y kS1y Ԋ: }5TD,*fFAY}6$@}6!@y}6n}6}6HI2`"?{?a^g̿W?7Im?)~6$@ ~6:b;I~6CYZ.?yZF^Z****** received transponder code query ******^F****** received ping request ******ba"HyO<}>Ișŝ4 5?ŝ!aݾ Ɲ)= ?9ƝƩ@ǝ$: ȝ:)șWWX XWX:W2W*WVbUBU*UUU@x @BB  B A *B A A AA"C*CRCCCשI$NClearing failed state for component DDMq G>܁9܅ڔCI܅ Fi܅?܅=܁܅;D܅=; ݅ЌEbJ,,fFAY}:$@}:@y}:Ug}:_}:H@Ii W` ?? c"̿? :0 ?)~:$@ ~:"Ib;I~:CYF?yFFJxDUSBL response received:!U1,P 25B,000,002B8,188,80,80,BD,FF JCommand AckJBRequesting micromodem ping code 2iHHRNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 NMJ=Y8a"Hy<}>I   5? `ݾ = E?9 @ ; ,;) W1W9X9 X9W9XA:WA2WI*WVbUBU*UUU+ @B1B1 B1A5*B1A9A9A9A9"CA*CARCACaCiaIyG=>% % z% z%  % 3:Y% Q1y% :% Y6`gQ,TEfFAY}Fm$@}F@y}Fڠa}Fd隽}FH y@͇@Q?`?ڎ`ʿ`?ಿ#?)~Fm$@ ~Fl|_;I~DY^?ybFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IY)YImC=)m=    @ @ @ @i )IiBMA=Yo!!a%"H!)y-_;}->I1 =:5 5? =:5~`ݾ 5$= E?95D@5 : 5:)5:WaWaXa XaWiXi:Wi2Wi*WiVqbUyBUy*UyUyUH @BB BA7*BAAAA"C*CRCCCIG- >iW,_fFAY}6%@}6@y}6@a}6+2}6H@?Nq-?y?;ʿ@?@%(?)~6%@ ~6j];I~4YRR?yRFVxDUSBL response received:!U1,R,26B,000,002B8,188,80,80,C7,FF ZFpublishing direction and range infoV3I TɰTT T)VGCITyTV(q?uٱT)9)I-Fi-1?)))-; -E=MO=Yrr:QU>a"Hyf<} >I   5? 0`ݾ = =?9 @ #; ÷;) WWX XWX:W2W*WVbUBU*UUUX@R(Combining 5 samples.P*QZQPTQA: @4JQ(q?u2Q3I :QbQL-(%=@(?RQmQhmʿc?$zP?BQ ^? Q@Q)aPPR9?PQQ.@"Q8@B9BA BAAEY*BAAAAIAIAI"CQ*CQRCQCQCY)I1GU>M M {M {M  M .:YM #R1yM :M !5)M .;9m >],yfFAY}Z:%@}Z@y}Z\}Z.}ZH=`? To? ɿ@M?`@/?)~Z:%@ ~Zw\;I~ZCYjm?ynIFuTNmea in: $SNTTA,0.026681,,,,225149.05*47 Q?Qsh|? u< \ ) I y Mb`?:v?Mb ; T<   ?A) TAI 0Ai   AA e e e e@ m@ m@ maaaie=?a a)aIaie~?}IM}2=Y}:4a"HyN;}>Iȑ :ŕ 5? :ŕL`ݾ ƕ= ?9ƕ@Ǖ: ȕQ:)ȕ:mmAdded new target pos. range: 4.259999 m, bearing: 102.222530 deg, deltaT: 4.426407 s, approachRate: 0.000000 m/s, LOS rate: 0.123315 deg/s, posRepo size: 4XW ^?WX XWX:W2W*WVbUBU*UUUCS?BB BA*BA!A!A!A!"C- ^?RC)C- ^?C1יIG@>ud,tfFAY}62%@}6@y}6S}6aې}6H`jFt?`Ƅ?O &ɿ)M? %=?)~62%@ ~6f[;I~6CYNG?yRmF=i< ]1=M]u=Yeaaam"HmHiyuC<}u>Iy :}E 5? :}y`ݾ }= ?9}@}: }A:)}:WWX XWX:W2W*WVbUBU*UUU ?BB BA5*BAAAAq"Cy*CyRCCCiIyG=Yq,^*ǡfFAY}: J&@}:e@y}:J}:Y}:H @h?`R?*ɿ1?Y??)~: J&@ ~:K8[;I~:CYJ?yJڌF    @ @ @ @ÁÁÁiÅÁ ā)āIāiąSMG=Yf<a"Hy=n<}>Iȱŵی 5?ŵ`ݾ ƵS= ?9Ƶ*@ǵ: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUUn?B!B! B!A%o*B)A)A)A)A)"C1*C9RC9C9C91I9GU=  | | Y r :Y R1y i: 59 @w,%fFAY}6&@}6)@y}6E}6>O}6H@$B?@VE? @}:ɿ`ъ? A6I?)~6&@ ~6[;I~6CYN?yRFd9dIfXFif?f=ddf"; f:EI)I)I =) =B =MJ=YIRa"Hyl <}>IȹŽs 5?Ž`ݾ ƽ= ?9ƽT@ǽ: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUUH?BaBi BiAm*BiAiAiAiAq"C*CRCCC׉IG=m =im p= ~,7fFAY}F&@}F@y}F.=}F?\ҽ}FHE @n+?6?`;ɿc?Y͹'J?)~F&@ ~F8[;I~DYR?yRFV-? rȿMbX9?h>C ʡ=)Iykt{Gz?{Gz 0#<# …5>A)…TAI…0Ai…;eA=JA    @ @ @ i? )Iin?j5M6=YPa"H y<}>Iȑ :ŕR 5? :ŕaݾ ƕ= ?9ƕ@Ǖk: ȕs:)ȕ:WWX XW X :W 2W *WVbUBU*UUU@BaB BA)*BAAAA"C*CRCCCסIGA> ~ ~  C:Y T1y @: 5R򄨙,UfFAY}JQ&@}J@y}Ji/}J˽}JH@lR`M?@D?)@>[ȿ ?@_?)~JQ&@ ~JS[;I~HYV?yVFXX)f= f=jI=Mju=Yn =QUr?ppar"Httyvä}z ?I|~ 5?~6bݾ ~F|= ?9~]@~ܹ: ~b:)|W!W)X) X)W)X):W)2W1*W1V1bU1BU1*U9U9U=8@RMB*** querying acoustic contact ***PIPIBiBi BiAu*BqAqAqAqAy"C*CRCCCבIG=9Ii; ,E)QIQiQU=U=U4,.fFAY}2+&@}2@y}2?u(}2}2HT`/K?P?y\ qĿ_?J@?)~2+&@ ~2N[;I~2C>Powering up>"Initializing DDM.YA?y|FZ****** received transponder code query ******%F****** received ping request ******%a"Hy}>Iȱ :ŵ 5? :ŵcݾ Ƶ]= ?9Ƶ@ǵ; ȵ;)ȵ:WWX XWX:W2W*WVbUBU*UUUe @i%nGIi 5ؿٺ1=ABqBy ByA}]*ByAyAyAA"C*CRCCCסIG >Ie AA)e @A ) | |  7:Y R1y i: 5, tHfFAY]?y];FexDUSBL response received:!U1,P 26B,000,002B8,188,80,80,C7,FF eCommand AckeBRequesting micromodem ping code 2iaauNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 U U U U@ U@ U@ ]@QQQiUQ Q)QIQiU2=M!=YQU>a"Hy}>I 5?dݾ W9= ?9@=: w:)WWX XWX:W!2W!*W!V)bU)BU)*U)U)U5 @ByBy ByA*BAAAA"C*CRCCC?iIG%o>-,MbfFA6>94I6Fi6a?6=446; 6 EY}B&@}Ba@y}BY,}BQ}BH ,gCC#?6?@ÿGi?٩?)~B&@ ~B/Z;I~BCYz4?yzMF~a=ɮ~a=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B …]A@;M=Y=QU?a"HyCL<}?I := 5? :dݾ B#= ?9@: :):W W X  X W X :W2W*WVbUBU*UUU%@BB BA*BAAAA"C*CRCCC IG5 >] kY Y ] w ] ':YY yY ] "5)] S;9e `,M|fFAY}u '@}uM&@y}u$}us}uHu@`G? 6?0\ƿ`i?@K Vy?)~u '@ ~u_Z;I~uCY?y;FxDUSBL response received:!U1,R,256,000,002B8,189,80,80,CF,FF Fpublishing direction and range info0ɰ鰕7> )OCIy @?9߿ٱI)I=)R=E?V-K?E>Eh E^=)AIAyEMbMbp{Gz?EEE#< E@A)EJAIE2AiE]AAEFA } } } @ @ @ÁÁÁiÁÁ ā)āIāiāM/=Ya"HyI3;}>Iȩŭ 5?ŭdݾ ƭ@4= ?9ƭ,@ǭQ; ȭ;)ȩWWX X!W!X!:W!2W!*W)V)bU)BU)*U)U1U5`@@Re(Combining 5 samples.Pa*QaZQeF@[8 @}A JQe @?9߿2Qe0:QabQe|azVd]0@ l?RQe9'x_GпЏtXg?+?BQe? Qe@QePaPaPaQaQe?'@"Qe.@BB BA*BAAAA"C*CRCCCIG%M>A,g fFAY}jO5'@}jP@y}j}jϽ}jHt4?4?I]")ƿ ?%?)~jO5'@ ~j/[;I~hY 4?y MFTNmea in: $SNTTA,0.028158,,,,225153.52*43 );Mj=Y.=QU>a"Hy;} >I :ِ 5? :dݾ EA= %?9H@: :):mUmAdded new target pos. range: 4.259999 m, bearing: 104.988778 deg, deltaT: 4.498910 s, approachRate: 0.000000 m/s, LOS rate: 0.614870 deg/s, posRepo size: 4XQWU?WQXQ XYWYXY:WY2WY*WYVabUaBUa*UaUiUm ?BB BA*BAAAA"C,?RCC?C׉IG=a9e۔CIeXFie?aaae&; eE)j,n௢fFA2"2y2y2a 2":Y2P1y2':2k5)2K;Y}B_'@}Bs{@y}BF}Bķ}BH/`@V?'/? iÿ ?  ?)~B_'@ ~B*c\;I~BCYR?yR_F=MY=Y%!!a-"H-H)y5;}5>I9=! 5?=dݾ =WO= E?9=f@=: =:)9WaWiXi XiWiXi:Wi2Wi*WqVqbUqBUq*UyUyU}?BB BA1*BAAAA"C?RCCCבIG= S,ӿɢfFAY?yF 鿁-Nonly read 0 of 1 data item for altitude=M==YQU>a"Hy } >Is 5?eݾ _= ?9@: s:)WAWAXA XAWAXA:WA2WI*WIVIbUIBU *UUU ū?BqBq BqAu*BqAyAyAyAy"C*CRCCCׁIG>g|,fFA>9Ii=; EY}F6I'@}Fd@y}Fٌ}F!}FH@` ?P:?Ľ@Ņ?`q?)~F6I'@ ~FPA[;I~DYV?yVܔF*=MQ=Y-a"Hyg}>Iȱ :ŵ 5? :ŵ+eݾ Ƶn= ?9Ƶ@ǵ|: ȵ:)ȵ:WWX XWX:W2W*WVbUBU*UUUb?B!B) B)A-.*B)A)A)A1A1"C9*C9RC9C9CAU?iU?1I9GU= = v v  E$:Y N1y : 5) ';n,qrfFAY}2'@}2 0@y}2J}25}2Ht߫?LS? ᪽&˾?u@?)~2'@ ~2Z;I~0YN?yRSFA`"?~jt?S㥛Y=D= /ݼ)Iyl?y&1 rh=`C  ?A)NAI6AirZAGAIM^Am_<Mm>=Y}a"Hyc}>I{ 5?cݾ Y= ?9V@; ;)WWX XWX:W2W*WVbUBU*UUUk@BIBI BIAM*BIAQAQAQAQ"CY*CYRCYCYCaAIQGu6>ُŨ, TfFAY}B'@}B3@y}B⽙}B}BH}@J? X?`E? 6`?)~B'@ ~BZ;I~BCYR?yRFI%4=)%%= u u u u@ u@ u@qqqiqq q)qIqiq<MZ=Ya"Hy:}>Iȡ :ťE 5? :ťcݾ ƥI= ?9ƥ@ǥ: ȥ^:)ȥ:WiWqXq XqWqXq:Wq2Wq*WyVybUyBUy*UUU`@BB BA*BAAAA"C*CRCCCIG >!9!I!i!%=%AD!%:; %Em m }m }m b m B:Ym kS1ym Ԋ:m <6)m D;޷˨,[&1fFAY}2XN'@}2i@y}2lӽ}2jȺ}2H இу? I?`Rs?0J?)~2XN'@ ~2n\;I~2CYf?yfFhhzʶ<MzT=Y~S|a"Hy * <} >I 5?aݾ ]9= ?9@: :)WAWAXA XAWAXA:WI2WI*WIVIbUIBUQ*UQUQUU`@ReB*** querying acoustic contact ***PaPaBB BAq*BAAAA"C*CRCCCבIG=-Ҩ,KfFAY}fF'@}f1b@y}f:ɽ}f䘽}fHQ @? O?`=h+?`x?)~fF'@ ~f0X\;I~fCYr?yrFvZ****** received transponder code query ******vF****** received ping request ******z e e e e@ e@ e@aaaiaa a)aIaia1<M2=Y;a"Hy䄺}>I :ɐ 5? :`ݾ 0$= ?96@: R:):WAWAXI XIWIXI:WI2WI*WQVQbUQBUQ*UQUYU]` @BB BAH*BAAAA"C*CRCCCIG(>m  m zm zm  m M4:Ym Q1ym :m 59m @ 9 I Fi ? = BD  ;  E)ݍ۔CIݍ۔Ci݉ݍ=ݍ=ݍ@5-ب,dfFAY}6u'@}6+@y}6,}6n}6H!L@~?xe?` ONܷ?@?)~6u'@ ~6wZ[;I~6CYB?yBbFFxDUSBL response received:!U1,P 256,000,002B8,189,80,80,CF,FF FCommand AckFBRequesting micromodem ping code 2iDDJC=iJ=NNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 dd~OC=Mi=Yd)1a5"H9Iy}}>I 5?_ݾ = ?9ɱ@': w:)WWX XWX:W2W*WVbUBU*UUUR @BB BA*BAAAA"C*CRCCCשIG">iEmGIYiqٿٺAި,Z~fFAY}JX''@}JB@y}J';}Jb}JH (H j$`?^?˷@?)~JX''@ ~J\I[;I~JCYfL?yfFzNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B y&1"~j?{Gz?`S= ף<)Iy~jt?y&1?Q=`e< ;A)&MAIb8AiSAGEA (<M :=Y Ha"Hym[;}%>I! -:%N 5? 5:%@_ݾ %< ?9%W@%< %<)%:WWX XWX:W2W*WVbUBU *U U U-@D@BB BA*BAAAA"C*CRCCCסIGu u u ru ru  u '=:Yu _L1yu 7:u !5娙, fFAY}6&@}6@y}6}6.}6Hէ @s?wk?@i?)~6&@ ~6 [;I~6CYB?yBFFxDUSBL response received:!U1,R,2CC,000,002B9,189,80,80,B3,FF FFpublishing direction and range infoFDɰFdd=D D)F3CIDyF=@FEw``ab"H``yfE}f>Ihj1 5?j^ݾ jj< r?9jҲ@j : jf:)hWWX XWX:W2W*WVbUBU*UUUf@R(Combining 5 samples.P*Q=@ZQP_ @,T7JQEw9IiQ; SE" 쨙,ʇfFA|$i|&@Y}Rd&@}R@y}R}R7}RH͐@ץ@{?@ag9 l?G ?)~Rd&@ ~R Z;I~PYbt?ybtF=DNmea in: $SNTTA,,,,,225157.94*55 I9)9IM=)M= % % % %@ %@ %@!!!i!! !)!I!i!5AM54=Y=9AaE"HEHAyM8$}M>IQǓ 5?UP^ݾ U: ]?9Un@U: U@:)QmmAdded new target pos. range: 4.319999 m, bearing: 99.339412 deg, deltaT: 4.356189 s, approachRate: 0.013774 m/s, LOS rate: -1.296860 deg/s, posRepo size: 4XW'?WX XWX:W2W*WVbUBU*UUG@U?BB BAP*BAAAA"C?RCC'?CIG>m <m zm zm  m 1$:Ym Q1ym :m 5,ỊfFAY}6u&@}6@y}6{}6}6Ha`q"? 9g @C ? ?)~6u&@ ~6qZ;I~6CYN-?yR F=j=ME\=YEIIaM"HIIyU;}U>IY e:] 5? e:]]ݾ ]R m?9]@]: ]:)]:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C=8?RCCCױIG= 9 I i ; E,o+fFAY}B&@}BK @y}Biwp}B}BH @꘿?~@l ?@෿`?)~B&@ ~B˴Z;I~BCYZl?yZF    @ @ @áááiáá ġ)ġIġiġXeMC=Yךa"Hy(;}>Id 5?i]ݾ  ?9z@]: i:)WWX XWX:W 2W *W V bUBU*UUU u?BABA BAAEҀ*BIAIAIAIAI"CU'?RCQCYCY׉IG=m gm }m }m  m x:Ym kS1ym Ԋ:m !6)m <9u ,fFAY}F'@}FO!@y}F`U}FK}FH̶Z?{z?@9θ@Ϻ?@@U?)~F'@ ~FZ;I~DYj?ynƙF5=i5= AAK7A?Cl绿? >;߽ >)IyQ?Q?S㥛?u<u</< :A)zPAI;AiNA u u u u@ u@ u@qqqiqq q)qIqiqּM>=Yyva"Hy9;}>Iȡ :ť 5? :ťz]ݾ ƥ! ?9ƥȴ@ǥ{: ȥ:)ȥ:WWX XWX:W2W*WVbUBU*UaUiUm@ɹ?BB BA/*BAAAA"C*CRCCCI GE0>+,fFAY}Rq&@}R @y}R=}Rƽ}RH[@,a?l广 k??)~Rq&@ ~R[;I~RCYbt?yftFup4M}]=Y}كa"HyD\}>Iȑŕ 5?ŕ]ݾ ƕ ?9ƕ @Ǖb: ȕӻ:)ȑWWX XWX:W2W*WVbUIBUQ*UQUQUU ZO@BB BAP*BAAAA"C*CRCCCIG>i9iImXFim?iiim; mEm m |m |m 6 m cW:Ym R1ym i:m 6)m Q;$T ,е3fFAY}2=&@}2@y}23}2#}2Hϛ@k }`?px@S@y? ?)~2=&@ ~2e[;I~2CYjD?yjF}R<M}J=Ya"Hy#}>Iș :ŝ( 5? :ŝ]ݾ Ɲl)< ?9ƝU@ǝ: ȝ:)ȝ:WWX XWX:W2W*WVbUBU*UUUKj@B B  B A *B AAAA"C*CRCCC!iIyG=6<,őMfFAY}FW&@}F@y}FӪ}FG}FH`w.` ?@~9 nԡ?HL?)~FW&@ ~F [;I~FCYZ?yZؙFId)dIn=)nC=    @ @ @ ÙÙÙiÝ=?Ù ĝ?)ĝ?Iĝ?iĝ?iXMG=Yp(a"Hy:}>Ij 5?]ݾ < ?9@: :)WWX XWX:W2W*W V bU BU *U UU @RB*** querying acoustic contact ***PPBABA BAAE(*BAAIAIAIAI"CQ*CQRCQCQCYI!G==u u }u }u W u :Yu kS1yu Ԋ:u G59} @a 9e ڔCIe ȖFie ?e =a a e U; e Ef, ngfFAY}6&@}6)@y}6 }6}6H(Y*d?p? r }?BSa?)~6&@ ~6Z;I~4YN?yRFRZ****** received transponder code query ******VF****** received ping request ******Va"H!y%;}->I15 5?5]ݾ 5= =?95@5(; 5V;)1WWX XWX:W2W*WVbUBU*UUU @BABI BIAME*BIAIAIAQA"C*CRCCCשIG=@O ,fLfFAY}R&@}R@y}R }R$}RHtȟ 8.??U~?R`?)~R&@ ~RZ;I~PYf9?yfOFnxDUSBL response received:!U1,P 2CC,000,002B9,189,80,80,B3,FF nCommand AcknBRequesting micromodem ping code 2illvNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 J +?q= ףp?ʡE? H= k> =) I y Q?Zd;O? \= ̼ j<= qya}"HyyG;}>I :? 5? :[ݾ q= ?9'@Q< <):WqWqX XWX:W2W*WVbUBU*UUU@`l@B!B) B)A-_*B)A)A1A1AQ"CY*CYRCYCYCaIIYGu>m \i i m C m &:Yi yi m 5(x&,l"fFAY}6Ϊ&@}6X@y}6H}6M}6H T@?@Ჿ(?O@^?)~6Ϊ&@ ~60Z;I~6CY^ ?ybFrNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =4=i== IIUM=YಹQU ?a"Hy4}!?Iȱŵ~ 5?ŵZݾ Ƶ= ?9ƵƷ@ǵ; ȵ;;)ȱWWX XWX:W!2W!*W!V!bU!BU)*U)U)U-`Q6@BB BA*BAAAA"C*CRCCC׉IG= 9 ۔CI 8Fi ? =   ; E)ݱIݱiݱݱݱݵ4Ia )e AAi I9 iQ ,,l fFAZwֿٺXZAY}jU_&@}jz@y}j }j8Y}jH@2f`ٹ?i8Y?V%?)~jU_&@ ~j{Z;I~jCY~}?y~>FxDUSBL response received:!U1,R,2A8,000,002B9,188,80,80,C3,FF  Fpublishing direction and range infoɰ> )CCIycy?yٱEJMEK=YM;QUM>Q1a5"H5H1y=~2}=>IA M:EV 5? M:E!Yݾ Eڿ= U?9E@E: E:)E:WqWqXq XqWyXy:Wy2Wy*WyVybUBU*UUU@R(Combining 5 samples.P*QZQ^ʦ @`->aSJQcy?y2Q:QbQt"5"@"R?RQ7Nǿ!_?$}ǰ?BQ? Q@QGMPR9?PS9?PQQ @"Q@BIBI BIAM΁*BQAQAQAQAQ"CY*CYRCYCaCau?iu?IIG#>m m ym ym  m 1:Ym P1ym ':m 5X3,ΤfFAY}^E&@}^za@y}^4}^Y#}^H`wGf@9?mХ@?Vf`?)~^E&@ ~^Z;I~^CYj?yjF=DNmea in: $SNTTA,,,,,225202.39*51 QQ    @ @ @ÙÙÙiÙÙ ę)ęIęięKMD=Y;ѻQU>a"Hy}>IN 5?Wݾ <= ?9@: 8:)mmAdded new target pos. range: 4.319999 m, bearing: 100.720449 deg, deltaT: 4.475782 s, approachRate: 0.000000 m/s, LOS rate: 0.308558 deg/s, posRepo size: 4XW ?W X  X W X :W2W*WVbUBU*UUU?BB B)A-H*B)A)A)A)A1"C5?RC9C=?C9AIIGm> 9 ڔCI Fi ?    ;  EX9,{fFA|i|@Y}J)W&@}Jr@y}J::}J}JH { `7?` ?y)Y4E?.@?)~J)W&@ ~JjZ;I~JCYZ?y^HFI))-AI))-AI}C=)}%=$;ML=Y&QU>a"Hy+;}>Iȹ :ŽD 5? :Ž=Vݾ ƽ> ?9ƽ@ǽG; ȽG;)Ƚ:WWX XWX:W2W*WVbUBU *U U U  #?B9B9 B9A=2*B9AAAAAAAA"CM?*CIRCICQCQIIQGu= . ~ ~ v #:Y T1y @: 5) ;9 1@,fFAY}6/&@}6@y}6m}6}!}6H`l/ϑ??? ȅ ? ?)~6/&@ ~6dZ;I~6CY^J?ybFп~jtQļ u)Iy rh?X9vMbC = `=A)|KAI`=Ai-HACA E E E E@ E@ E@AAAiAA A)AIAiAU=M]>=Y].QU]>aaae"Haiym;}m>Iqu1 5?u Uݾ u> ?9u4@u: u :)qWWX XWX:W2W*WVbUBU*UUU?BB B!A%[*B!A!A!AAAI"CM?*CQRCQCQCQAIIGm5>0F,~fFAY}N&@}N@y}Ny}N{}NH`߈@<\|c?`? r@綿?f?)~N&@ ~N}AZ;I~NCYb?yb7F^MQ=YQU>a"Hy9}>I : 5? :Tݾ U> ?9ɻ@: :):W9WAXA XAWAXA:WA2WA*WIVIbUIBUQ*UQUQUU/?ByB BA *BAAAA"C*CRCCCׁIG>ܡ9ܡIܥFiܥ?ܥ=ܡܡܥ*; ݥ]Ee e {e {e  e E:Ye #R1ye :e j5)e ;L,AG6fFAY}:&@}:@y}:f}:T}:H@@TR|̊?fp@?  M?)~:&@ ~:TZ;I~:CY^?y^F ))]M]T=YeIQUe>aaam"Hiiyu<}u>Iy} 5?}Sݾ }0> ?9}\@}g: }:)yWWX XWX:W2W*WVbUBU*UUU?BB BAL*BAAAA"C*CRCCCבIGES,S PfFAY=?y=F    @ @ @i )Ii5^M===Y=QU=>AAaE"HAIyM}M>IQU 5?UQݾ U> ]?9U@U: U:)QWWX XWX:W2W*WVbUBU*UUUY@BB BA|*BAAAA"C*CRCCC?i?IIQGu>u u }u }u  u /:Yu kS1yu Ԋ:u 59} @ܭ >9ܩ Iܩ iܩ ܩ ܩ ܩ ܭ ; ݭ 0EZ,/ifFAY}:&@}:@y}:qȽ}:}:H J~`7??փ/?@?)~:&@ ~:OA\;I~8Y^$?y^Fhj_ArbMrc=YrQUv>ttav"Htxyz̻}~>I  : 5?  :Qݾ >  ?9@|: g:) :W)W1X1 X1W1X1:W12W9*W9V9bU9BUA*UAUAUE<@RUB*** querying acoustic contact ***PQPQBqBq ByA}*ByAyAyAyA"C*CRCCCqIG=`,jكfFAY}>ݸ&@}>g@y}>⽙}>}>H+| ?0z?W`F? &?)~>ݸ&@ ~>`\;I~>CYX?yF Z****** received transponder code query ****** F****** received ping request ******a"HyW;}%>IAEH 5?E?Pݾ E= U?9E7@E: EI:)AWWX XWX:W2W*WVbUBU*UUU@Gd @BB BA*BAAAA"CA*CIRCICICI9IAGeV>u u ~u ~u  u A:Yu T1yu @:u !5rg,򱝥fFAY}6&@}6@y}6}6%a}6Hnڪ4?@d?wij?`@?)~6&@ ~6b|\;I~6CYR?yR֑FVxDUSBL response received:!U1,P 2A8,000,002B9,188,80,80,C3,FF VCommand AckVBRequesting micromodem ping code 2iTT^Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 MMU=Yj׼QU ?a"Hyt<}?I %:* 5? %:Oݾ = -?9@N: :)!:WWX XWX:W2W*WVbUBU*UUU ( @BB BAi*BAAAA"C *CRCCCQ9U۔CIUFiU?QQQU; UfEׁIGB> @m,KfFAY}6$&@}6@y}6Y}6}6H@҉o2?Y?`u??F@?)~6$&@ ~6!.\;I~4Yb?ybhFfp=ɮd~Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B <M6=YUQU>a"HHy;}>IU 5?Oݾ = ?9=@$m< Ni<)WWX XWX:W2W*WVbUBU*UUU JT@B1B1 B1A5.*B1A9A9A9A9"Ca*CaRCaCiCiYIiG8>m `m ym ym  m ':Ym P1ym ':m 5i&t,hѥfFAY}:_&@}:@y}:!r}:h}:H`w е?Y?x@?AϬ£?)~:_&@ ~:@\;I~:CY\y`fxDUSBL response received:!U1,R,26F,000,002B9,189,80,80,C0,FF fFpublishing direction and range infob- `ɰ`b7> `)b@CI`y`bσIIaM"HIQyU}]>Ia m:eA 5? m:eNݾ e= m?9e@e9: e:)e":WWX XWX:W2W*WVbUBU*UUU@@R(Combining 5 samples.P*QZQb @LJQσI 9M ڔCIM pFiM M?I I I M ; M E)ڔCIڔCi቉==剰4?Sz,NfFAY}Z&@}Zm@y}Z}Z+K}ZHaY`? ~c?wl`K?b?)~Z&@ ~Z[;I~XY~?y~FeTNmea in: $SNTTA,0.041744,,,,225206.83*48 (Ma"Hy}>I_ 5?Mݾ i= ?9A@; ;)m=mAdded new target pos. range: 4.319999 m, bearing: 103.671992 deg, deltaT: 4.410422 s, approachRate: 0.000000 m/s, LOS rate: 0.669220 deg/s, posRepo size: 4X9WE?WAXA XAWAXA:WI2W *W V bUBU*UUU?BB BA*BAAAA"C5?RCC?CCiIIiG'>%ڿٺ!-wAi?9Am  m xm xm  m B5:Ym 7P1ym :m 358, fFAY}2&@}2(@y}2r)}2dsY}2HD @),?w]?Xÿ%?˪ ?)~2&@ ~2l[;I~2CYf?yfNF]&1Mb?{Gz]P]@= ]ף)YIYy]I +?:v?/$]9<]T<], ]5>A)]NAI]5Ai]Y]@A™^A    @ @ @i )IiM8=YQU>a"Hy^@}>Iȉ :ōL 5? :ōMݾ ƍf= ?9ƍ@Ǎf: ȍ:)ȍ#:WWX XWX:W2W*WVbUBU*UUU`0?B9B9 BAAE*BAAAAIAIAQ"Cm?RCiCiCqAIIGm5>b,vfFAY}:z&@}:V@y}:4}:Pʽ}:H3Z@ ??Y? |ȿ'? k丿Y?)~:z&@ ~:cY[;I~:CF`Dynamic Docking Module:!C REMUS Capture Rev 1.1 >9IȖFi?=; ȏEɫ髝) IY_?yFI9)9}ٌM}=Y}=QU}>a"Hy}>Iȑŕ 5?ŕ(Mݾ ƕ= ?9ƕ:@ǕǺ: ȕ{:)ȑWWX XWX:W2W*WVbUBU*UUU{?BB BA V*B A A A A"C*CRCCCi Iq G >a ie =u ku ~u ~u  u ':Yu T1yu @:u W5)u S;9} ,8fFAY}6Β&@}6W@y}6);}6Ƚ}6H@5k@#?I?@&MɿXZ? U O?)~6Β&@ ~6Q[;I~4ɫ9=)9 9I9Y] ?y]Fo=M=YQUG?a"H y p;} G?I 5?Lݾ = ?9s@< r<)WWX XWX:W2W*WVbUBU*UUUs?BB  B A *B AAAA"C*CRCCC! IG>t,RfFAY}2+&@}2G@y}24=}2Pj}2H@ ?7k?@+ƿz?^`?)~2+&@ ~2w[;I~2Cɫ9A)A AIAY]?y]ŏF)=  ] e e e@ e@ e@aaaiaa a)aIaiauʼM}B=YQU>a"Hy'p}>I : 5? :Lݾ Y= ?9@;  ;)$:WaWaXa XaWaXa:Wa2Wi*WVbUBU*UUU@BB BA@*BA A A A "C*CRCCC!I)GM1> 9 I Fi ? {; Eu u }u }u  u P0:Yu kS1yu Ԋ:u 5)u ;,ҊlfFAY}6&@}6]@y}61D}6 3d}6H``TCݷ?r?@`ƿ_? ]?)~6&@ ~6wa;I~4ɫ99)9 9I9YV?yĐFi< !!U=M]L=Y]9zQU]>aaae"Haaymл}m>Iqu 5?uULݾ u= }?9uE@u+: u8:)qWWX XWX:W2W*WVbUBU*UUUC@BB BA؄*BAAAA"C*CRCCC׉IG (>Ie @A)e ?A,efFAY}:i%@}:<@y}:^8J}:`b<}:H?F?$? *ƿ@? @IX?)~:i%@ ~:\e;I~:Cɫ99)9 AIAY?yFAAQ롿?~jth\̌> D)Iy rh?a"Hy}>I! -:% 5? 5:%2Lݾ %*= 5?9%@%: %:)%%:WQWQXQ XYWYXY:WY2WY*WaVabUaBUa*UiUiUm T@RuB*** querying acoustic contact ***PqPqBB BA„*BAAAA"C*CRCCCׁIG=>u q u yu yu  u ?Q:Yu P1yu ':u 69} @,_EfFAɫqy)y yIyY?yFZ****** received transponder code query ******F****** received ping request ******a"Hy}>I  e 5? Lݾ 5= 5?9 @ E; ;) WqWyXy XyWyXy:Wy2Wy*WVbUBUܑ9ܑIܕFiܕv?ܑܑܑܕ(; ݕjE*UUUw^ @BB  B A *B A AAA"C*CRCCC!IG )>ڭ,~fFAY}:&#%@}:>@y}:pRF}:½}:Hڨw@;?`q?@`#ʿ`?ڷB?)~:&#%@ ~:a;I~:Cɫ髙) IYt?yאFxDUSBL response received:!U1,P 26F,000,002B9,189,80,80,C0,FF Command AckBRequesting micromodem ping code 2iI) Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 IER=)E4=u<M}F=YAIam"HmHqyu](}}>Iȁ :Ņ 5? :ŅKݾ ƅ@= ?9ƅ@Dž< ȅ& <)ȅ&:WiWqXq XqWyXy:Wy2W*WVbUBU*UUU @BB BAф*BAAAA"C*CRCCCסIGf>e =ia u a u }u }u  u ;:Yu kS1yu Ԋ:u j5´,ӦfFAɫ髁) IYN?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M=MMM=YMQUU>QQa]"HYYye}e>Iim6 5?mKݾ mI= u?9m:@m: m:)iWWX XWX:W2W*WVbUBU*UUUH@BB BAZ*BAAAA"C*CRCCCI9G}>ܑ 9ܑ Iܕ xFiܕ ?ܑ ܑ ܑ ܕ ; ݕ E캩,fFAY}:^%@}:z@y}:6D}:޽}:H]i9?Ҫ?T@]˿`Z?I:?)~:^%@ ~:_;I~8ɫAA)I IIQY}?y}ՒFxDUSBL response received:!U1,R,289,000,002B9,188,80,80,D6,FF Fpublishing direction and range infoɰ鰅> )VCIy޳?B+ٱ    @ @ @áááiáá ġ)ġIġiġ|<M@=Y.;QU>a"H1y= <}=>IA }:E~ 5? :EKݾ ET= ?9E|@EG; E8<)E':WWX XWX:W2W*WVbU!BUi*UqUyU#@R(Combining 5 samples.P!*Q!ZQ%쥒) @7 3+JQ%޳?B+2Q%:Q!bQ%Dh<~@1?RQ%Q-ǿu?m]?BQ%C? Q%@Q%>HP!P!P!Q!Q%3@"Q%@B!B) B)A-*B)A)A1A1A1"C9*CYRCYCYCaqiu?QIaG}z>u u zu zu  u *k:Yu Q1yu :u W5,fFAY}Z)2%@}ZM@y}ZLn=}Z%}ZH@mls?@ ?ɿE?'R?)~Z)2%@ ~Zç`;I~ZCɫ) IY?yUFDNmea in: $SNTTA,,,,,225211.32*58 鿱=/$?=t =)9I9y={Gzti|?5=ף=q= =;A)=I=C/Ai=fA9=EA]x<MeD=Ye}iiam"Hiqyu׻}u>Iy}, 5?}Jݾ }[= ?9}C@}: }:)ymqAdded new target pos. range: 4.319999 m, bearing: 100.691216 deg, deltaT: 4.555953 s, approachRate: 0.000000 m/s, LOS rate: -0.654260 deg/s, posRepo size: 4XWC?WX XWX:W2W*WVbUBU*UUU?BB BA̓*BAAAA"C?RCCC?CסIGA>ǩ,!fFAY}>%@}>< @y}>%4}>K]}>H`k@b`??Ŀ@g?H@u?)~>%@ ~>"l^;I~>Cɫy髁) IY2?y“F     @  @  @   i   ) I i %`<M%N=Y-KA9AIE@FiE?E=AAEq; EE)ɂIɂiɂ͂=͂=͂H4qqau"Hqyy&}>IȉōÁ 5?ōJݾ ƍ_= ?9ƍ@ǍF; ȍ;)ȉWWX XWX:W2W*WVbUBU*UUU^?BB BA*BAAAA"C%C?RC)C)C)IG-->i9 IQ ii yٺ Au nu u u  u .(:Yu WU1yu :u 5)u ;9} *Ω,k;fFAɫ髹) IY5?y=F    @ @ @i )Ii;MK=YQU>!!a%"H!)y}>Iȑ :ŕZ 5? :ŕ9Iݾ ƕ|c= ?9ƕ@Ǖ: ȕ:)ȕ(:WWX XWX:W2W*WVbUBU!*U)U)U-:?BB BA*BAAAA"C*CRCCCI׹)׽]AיIGA>թ,!?UfFAY}:jO%@}:j@y}:k,!}:d}:HtzP,s?`?ſH?`nE?)~:jO%@ ~:[;I~8ɫ99)9 9I9Y}?y}FI)=}T=M}U=Y}E=QU>a"HyH<}>IȩŭЄ 5?ŭuHݾ ƭ}i= ?9ƭ@ǭt.; ȭ);)ȩWWX XWX:W2W*WVbUBU *U U U1?BYBY BYA]*BYAaAaAiAi"Cq*CyRCyCyCyIG (>1 91 I1 i1 1 1 1 5 Z; 5 Eu u zu zu q u *:Yu Q1yu :u 5)u ;:۩,;ofFAY}2%@}2<@y}2ȝ}28k}2H@C??`pǿ?Ms?)~2%@ ~2K\;I~2CɫYY)Y YIYY?yF5C׼M=O=Y=\AAaE"HAIyMj<}M>Iȩ :ŭc 5? :ŭGݾ ƭs= ?9ƭD@ǭv; ȭL;)ȭ):WWX XWX:W2W*WV bU BU *UUU2"⩙,a"Hy,}>I 5?1Hݾ = ?9@%; =;)WAWAXA XAWX:W2W*WVbUBU*UUU O@BBA BAAEL*BAAIAIAIAI"CQ*CQRCQCQCYm?im?9IIGeU>u u }u }u  u 1:Yu kS1yu Ԋ:u 59u @L詙,ТfFAY}F%@}F6@y}F׽}F}FH`3 W? 7?.Ŀ?A?)~F%@ ~F?*^;I~DɫYY)Y YIYYl?y[F XϼMq=Y]=QU?a"Hy<}?I  : 5?  :Hݾ =  ?9@|: :)*:W1W1X1 X1W1X9:W92W9*W9V9bUABUA*UAUAUM`@RUB*** querying acoustic contact ***PQPQBqBy ByA}*ByAyAyAA"C*CRCCC9Ii=; EQIyG=Ia )e @Az,,fFAY}-%@}-Z@y}- }-н}-H C@b?@ @s? k?)~-%@ ~-c\;I~-Cɫ) IYMP?yU#FeZ****** received transponder code query ******eF****** received ping request ******eYaae"HeHiyu;}u>Iy}( 5?}0Iݾ }= -?9}E@}i< }<)yWWX XWX:W2W*WVbUBU*UUU w @BB9 B9A=ف*B9AAAAAAAA"CI*CQRCQCQCYYIiGZ>m Pm ym ym  m %:Ym P1ym ':m 5xl,֧fFAY}6G%@}6@y}6}6+}6HG@q? e?.5} ?)7?)~6G%@ ~6[;I~6Cɫ9A)A AIAY}?y}!FxDUSBL response received:!U1,P 289,000,002B9,188,80,80,D6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =Ma=Y=QU>)1a5"Hy}>I  :Ƅ 5?  :Iݾ 0= E?9@ < <)+:WWX XWX:W 2W1*W1V9bU9BUA*UAUU @BB BA *BAIAIAIAI"CQ*CQRCQCQCYI׉)׍^AaIyG_>ܹ9ܹIܽFiܽv?ܽ=ܹܹܽp; ݽE_,VcfFAY}2%@}2l@y}20}2T3}2H:G@}?`? 0妴\? n?)~2%@ ~2+j^;I~2Cɫ99)9 9I9Y?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IQ)QIe=)e=GSMB=Y3a"HyԻ}>I  c 5? +Jݾ = U?9 @ < <) WWX XWX :W 2W *W V bUBU*UUU@P'@BB BA6*BAAAA"C*CRC C CqIG~>e =ie p=u u u u  u P0:Yu T1yu :u 6q,= fFAY}6%@}6.@y}6!؁}6㺽}6H@$-%H?һ;8?+H ?)~6%@ ~65^;I~6Cɫ99)9 9I9Y}J?y}2Fw/Ŀ!rh̿&1?&lg P=)Iya"Hyػ}>I   5? Iݾ = ?9 '@ : w:) W9W9X9 X9W9XA:WA2WA*WAVAbUIBUI*UQUQUU!@BB BA*BAAAA"C*CRCCCסIG >, $fFAY}fs%@}f@y}f=8}fAC}fH c2uH`H?@`g`?ÿd?)~fs%@ ~f];I~fCɫ) IYU?yUsFeDNmea in: $SNTTA,,,,,225215.74*5E }>9yI} Fi}?yyy}U; }E)]= ]=uMuB=Yu83=QUu>yya}"Hyyr3}>Iȹ :Ž 5? :ŽZIݾ ƽy= ?9ƽm@ǽ; Ƚ';)Ƚ,:WAWIXI XIWIXI:WQ2WQ*WYVYbUYBUY*UUUEP@BB BA*BAAAA"C*CRCC C ?i?IG%M>m  m {m {m  m 3:Ym #R1ym :m 5)m ;9u ,L=fFAY}nQ%@}nUm@y}n}n}nH`!5? fm1 `?@wÿ@?)~nQ%@ ~n:];I~nCɫ) IY5?y5jFE=iE> YY    @ @ @ùùùiùù Ĺ)ĹIĹiĹ|MU=Yl=QU>a"Hyq}>Iȑŕs 5?ŕHݾ ƕ*Z= ?9ƕ@Ǖy: ȕ:)ȑWW X  X W X :W 2W*WVbUBU*UUU@BB BA*BAAAA"C*CRCCCIGI>IY )] AA,WfFAY}:4z%@}:@y}:ộ}:4 }:H 1 g糿 ?92|?P`?)~:4z%@ ~:n-\;I~:Cɫ99)9 9I9Y]?y]aFexDUSBL response received:!U1,R,333,000,036AE,189,80,80,AD,FF mFpublishing direction and range infoec6aɰeV?e7> a)e-CIayeHDetD+?vë ٱamڗMmQ=Ymb'=QUm>qqau"Hqyy};}>Iȁ :Ņ. 5? :ŅHݾ ƅ<= ?9ƅ@Dž: ȅ/:)ȅ-:WWX XWX:W2W*WVbUBU*UUU`6Q@R(Combining 5 samples.P*QHDZQchA/@t!1L oJQtD+?vë 2Qc6:QbQw%E @q&$P@RQv`0㫿9`?7EY?BQR? QGDQ.P9?PPmQQB"Q3@BABI BA*BAAAA"C*C RC C C I G-,>}>9yI}Fi}a?}=yy}; }E) I i = = 4u 9 u u u P u ^8:Yu T1yu :u N 6)u ;,&qfFAY}24 &@}2%@y}2 ;}2}2He[ : ?!U["@;Ca@`?)~24 &@ ~2^[;I~2Cɫ99)9 AIAQQYe/?ymFiNmGIi]ٺY]A…]A=ME=Ya"Hy=J<}E>Iimׂ 5?m8Hݾ m= ?9m'@m< m<)ime}Added new target pos. range: 802.380066 m, bearing: 93.132430 deg, deltaT: 5.584569 s, approachRate: 142.904510 m/s, LOS rate: -1.353513 deg/s, posRepo size: 4mVStopped intercept timer at range: 802.38 m.WR?WX XWX:W2W*WVbUBU*UU` @U HP?BB BA*BAAAA"CƲ?RCCR?C!Iy)}]AiIyG\>",fFAɫyy)y yIyY}?yFI)I%p=)%%=    @ @ @áááiáá ġ)ġIġiġ\MK=YQU>a"Hy}>I : 5? :Gݾ ]< ?9a@: k:).:; wAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR; wdResuming normal ranging with 1.000000 count pings.;1<W!W)X) X1W1X1:W92W9*W9VAbUABUA*UAUIUM@1?BB BA*BAAAA"C?RCCCIG'>m =im %=u q q u  u ?,:Yq yq u 69} @8(, `fFAY}2&@}266@y}2~~<}2!1}2Hj `B\@?jdϏ!Z?)~2&@ ~2\;I~0ɫYY)Y YIYY}Q?y}qF>9IFi?=; ƐE5ueM5S=Y= =QU=>AAaE"HEHAyM*;}M>IQU9 5?UGݾ U< ]?9U@U: UU:)QX}?1<}w}Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;} w}Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRWWX XWX:W2W*WVbUBU*UUU-5?BB BA*BAAQAQAQ"C]?RCYCYCaIIYGu>/,!a"Hy=<}>Iȡť 5?ť,Gݾ ƥb< ?9ƥ@ǥ÷: ȡ)ȡWWX XWX:W2W*WVbUBU*UUU M?B B BA*BAAAA"C%@?RC!C!C!]?i]?IIaG>u B u yu yu  u 9:Yu P1yu ':u F6(5,#٨fFAY}2&@}2@y}2 =}2ǽ}2Hշq?FƦ` s鸿@G?)~2&@ ~2uF[;I~0ɫ99)9 9I9Y}?y};F  ]M!!a%"H!)y-;}->Iȉ :ō 5? :ōFݾ ƍZ; ?9ƍ@ǍI: ȍ4:)ȍ/:WWX XWX:W2W*WVbUBU*UUU @BB BA0*BAAA A "C?RCCCIIQGu>>9IFi}?=; ǐEIe AA)e BA>%<,fFAY}6'&@}6@y}6=}6}6H`ǴXc@x*?B~?δ ?)~6'&@ ~6Z;I~4ɫ99)9 9I9Y}?yFS㥛? rh?+η?$>C< v=)IyL7A`?~jt~jt?+=< 5A)]AI ?AiKAGA=z̻MM!=Y]];QU]>iqau"HyyS<}>Iȱŵ 5?ŵEݾ Ƶk}< =?9Ƶ@ǵ< ȵb<)ȱWYWYXa XaWaXa:Wa2Wa*WiVibUiBUi*UiUqUuN@R}B*** querying acoustic contact ***PyP}BB BAI*BAAAA"C$?*CRCCCI)ױIG>} ? } z} z} s } BM:Y} Q1y} :} F5* C,q fFAY}2g'@}2@y}2s^"=}2א}2H@@⳿Z?orJo?)~2g'@ ~2W\;I~2Cɫ99)9 9I9Y?y;FZ****** received transponder code query ******F****** received ping request ******B7I,r&fFAɫ髙) I>9IFi?m; &EY]?yFxDUSBL response received:!U1,P 333,000,036AE,189,80,80,AD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I4=)4=IMF=YQU5>9AaM"Hqyy}>IȹŽ_ 5?ŽDDݾ ƽM< ?9ƽ@ǽ ; Ƚ;)ȹW)W)X) X)W1X1:W12W1*W9V9bUaBUa*UiUiUm` @BB BAր*BAAA A "C R?RCCC9IQG{>  | |  oI:Y R1y i: 5) B;9 P,<@fFAY}6'@}6% @y}6R=}6REu}6Hq S@ð`!+?|`}`?)~6'@ ~6I[;I~6CɫYY)Y YIYY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m m m m@ m@ m@iiiiii i)iIiii} <M}P=YQU>a"Hy)<}>Iș :ŝ 5? :ŝCݾ Ɲ= ?9Ɲ @ǝ: ȝE:)ȝ1:WWX XWXQ:WQ2WQ*WQVYbUYBUY*UYUYUe n2 @BB BAr*BAAAA"C*CRCCC=?i=?IG)>JV,dZfFAY}6(@}6C2@y}6<}6D{r}6HC !Ϯ?☿gZH ?)~6(@ ~6B#[;I~6Cɫ99)9 9I9Yu?y}Fy}@AxDUSBL response received:!U1,R,302,000,002BA,189,80,80,AE,FF Fpublishing direction and range info,ɰd=鰁 ).CIy(@? ?5cԣٱe{:MmK=YmЇQUm>a"Hy;}>Iȡť 5?ťBݾ ƥ5= ?9ƥ@ǥ: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU@'@P*Q(@ZQ>Y.l @mvJQ? ?5cԣ2Q,:QbQاY]0Z@0ױ?RQf nH?8mvK?BQZ? Q֊@QPR9?P9?PQmQ@"QBBB BAn*BAAAA"C*CRCCCIGܹ9ܹIܽFiܽ?ܽ=ܹܹܽC; ݽE  :?:Y y "6) q;s\,K:tfFAY}v'@}@y} <} }H@ ;³@0?. v`D?)~v'@ ~MZ;I~ɫ!)! !I)Y?yFUDNmea in: $SNTTA,,,,,225221.01*5B 5ʡE?rh|y&1|?5=5 5`;)1I1y5y&1|x&?I +5`廹57=59 5`=A)5VLAI5DAi5^BA15DAM*MU/=YU˜QUU>YYa]"HYayeٻ}e>Ii u:m~ 5? }:m Dݾ m= }?9m@mb: mk:)m2:muAdded new target pos. range: 4.380000 m, bearing: 97.827283 deg, deltaT: 4.040853 s, approachRate: -197.483078 m/s, LOS rate: 1.161847 deg/s, posRepo size: 4WZ?WX XWX:W2W*WVbUBU*UU@U0?BB BA*BAAAA"Cip?RCCZ?C IG J>[c,fFAY}6{(@}6@y}6/<}6=ν}6Hq׵+&?r ભ`ѹP?)~6{(@ ~6Z;I~4ɫ99)9 9I9Y}?y}F^A = = = =@ =@ =@999i99 9)9I9i9M=fMMr=YMQUU?QQa]"HYYye;}e?Iim| 5?m Eݾ mL< u?9m5@m/: m:)i:-u-Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;5v5ZEntering USBL mode with 5.000000 count pings.1;5q;5W9WAXA XAWAXA:WA2WA*WIVIbUYBUY*UYUYUe C?B)B) B)A-*B1A1A1A9A9"CE?RCiCiCiIש)שׁIG>> \ x x  (;:Y 7P1y : 59 @i,里fFAY}6g(@}6&@y}62]<}6x}6HG9]?'rً`?)~6g(@ ~6G_];I~6Cɫ99)9 9I9a9aIeFiei?aaae; eϑE)Ii5Y/?yFu;MuH=Y}?QU}>ya"HHyt<}>Iȑŕ{ 5?ŕi}]nGI`AiXٺ`AAmp,)fFAY}:(@}:F@y}:3}:є}:H`Ez?`c5g@ufQ?`?)~:(@ ~:\;I~:Cɫ99)9 9I9Y}?y}FI)EMEN=YEQUM>IIaM"HIQyU;}]>Ia e:eDz 5? m:egGݾ eCָ m?9e@e: e :)e3:WWX XWX:W2W*WVbUBU*UUU^?BB BA*BAAAA"Cu?*CRCCCI!G> | |  F:Y R1y i: b6:v,۩fFAY}6(@}6%@y}6}6;}6HP@e s?)8 ]eU?= `?)~6(@ ~6o[;I~6CɫYY)Y YIYY ?yZF M M M M@ M@ M@IIIiII I)IIIiIME=YQU>a"Hy;}>IȹŽx 5?ŽHݾ ƽp; ?9ƽ@ǽ=: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU@6)@B)B) B)A-+*B)A1A1A1A1"C=Z?RC9C9CAU?iU?AIQGm>Y9YIYiY]=YY]; ]E|,!fFAY}(@}@y}}^y}Ha] $6 ;? K ?0 ?)~(@ ~2Z;I~CɫII)I IIQY?yFI +:vy&194Խ `e)Iyy&1|?y&1|a"Hy!;}>I :x 5? :YHݾ ( ?9@k: :)4:WWX XWX:W2W*WVbUBU*UUU f@BB BA|*BAAA9A9"CA*CIRCICICI9IAG]U>  x x f w2:Y 7P1y : }5,S\fFAY}6(@}6%@y}6}6}6H Y =*Rj? Z? -U֥F!??)~6(@ ~6(\;I~6Cɫ99)9 9I9YC?yFi= 鿱 Mm=YP¼QU?a"Hy}?Ix 5?#Hݾ Vμ %?9 @: :)WWX XWX:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPB)B1 B1A5݂*B1A1A9A9A9"CA*CARCACACI)I1GM>Ӊ,7)fFAY}:)@}:.:@y}:]Q}:=Ǽ}:HpQ>?+?o@:?@ޘ?)~:)@ ~:ٱ^;I~8 9 ۔CI Fi ? =   Z; Eɫ99)9 9I9Y}?y}nFZ****** received transponder code query ******F****** received ping request ******99a="H9AyEE5<}E>II U:Mx 5? U:MGݾ M ]?9M1@M: M=:)M5:WWX XWX:W2W*WVbUBU*UUU @BB BA%*B!A!A!A!A!"CI*CIRCICQCQIׁ)ׁaIqG;> ~ ~  X:Y T1y @: 6) ;9 w,ICfFAY}6y)@}6)@y}6Pk}6"J}6H`z˕??o{(1?dI`L?)~6y)@ ~68^;I~4ɫ99)9 9I9Y}?y}F鮅a=ɮxDUSBL response received:!U1,P 302,000,002BA,189,80,80,AE,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Mb=YIQU>a%"H!y;h<}>I!%x 5?%Gݾ %" ]?9%V@%i; %;)!WIWQXQ XQWQXY:WY2Wa*WVbUBU*UUU@] @B)B) B1A5D*B1A1A1A1A1"C9*CaRCaCaCaaIyG`>喪,p\fFA|i|Y}6)@}67@y}6Z}6KA}6Ht/? Uv?@>xUö?%?)~6)@ ~6k}\;I~4ɫ99)9 9I9Y?yKFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IQ)UAuU/M}A=Y}}QU}>a"Hy<}>Iș :ŝx 5? :ŝ[Gݾ Ɲ>= ?9Ɲ{@ǝ<; ȝ;)ȝ6:WWX XWX:W2W*WVbUBU*UUU(@BYBa BAi*BAAAA"C*CRCCCIGG>9IFi?M; E r v v T <:Y N1y : 6) q;T,vfFAY}eh)@}e@y}ehIȽ}eO}eHཉ?`s?gaK?@Q?)~eh)@ ~eS[;I~aɫiq)q qIqYX?yFxDUSBL response received:!U1,R,275,000,002B9,189,80,80,B6,FF Fpublishing direction and range info ɰdd=鰹 )6CIy=@O>8L? Qg6ٱdNmea in: $SNTTA,0.327376,0.327226,,,225225.44*5A y&1?sh|?~jt`e= ļ)Iy rh{Gz?Mb`Cף< • ?A)•KAI•`=Ai•NAEA)í= í= - - - -@ -@ -@)))i)) )))I)i)=$M==YEQUE>AAaM"HIIyU}U>IY]x 5?]Hݾ ]H e?9]@]: ]:)YWWX XWX:W 2W*WVbUBU*UUUR@R-(Combining 5 samples.PI*QM=@ZQM.{ @E%JQMO>8L? Qg62QM :QIbQMJWU[iEx@:Ը?RQMѿm?ssh?BQM4? QMƒ@QMPMQ9?PMR9?PMQMQM@"QM@BB BA*BAAAA"C*CRCCCIG >,fFAY}2)@}2@y}2k߽}2 ̽}2H?7h?Q=¿`Pջ?@ R`?)~2)@ ~24[;I~2Cɫ99)9 9I9Y}9?y}F]lM]=Y]%QUe"?aaae"HaiymM;}u"?Iy}x 5?}Hݾ }gO ?9}%@}s: }':)ymqAdded new target pos. range: 4.319999 m, bearing: 106.045107 deg, deltaT: 4.586739 s, approachRate: -0.013081 m/s, LOS rate: 1.791648 deg/s, posRepo size: 4W4?WX XWX:W2W*WVbUBU*UUG@U`HN?BB BA߄*BAAAA"C  ?RC C4?CAIG> { {  >:Y #R1y : 59 @!,~fFAY}2 )@}2@y}2P}2{}2H`l@D?@M?l*?.q?)~2 )@ ~2\;I~2CT9TIVFiV}?TTTV; VEɫ99)9 9IAY]?y]F;>it>g,<MS=YO-QU>a"HHy;}>I :x 5? :Iݾ W ?9w@I: :)7:W!W!X! X!W!X!:W)2W)*W)V)bU1BU1*U1U9U=|?BaBa BaAm*BiAiAiAiAi"Cu?RCyCyCy1IAG]= ,YĪfFAY}2*@}2/@y}2}2\Zۼ}2HsB{L?`-? O?D" ը?)~2*@ ~2@`;I~2Cɫ99)9 9I9Y ?yF    @ @ @ñññiññ ı)ıIıiıKM;=Yo+QU>a"Hy;}>Ix 5?Iݾ ` ?9@: :)WWX XWX:W2W*WVbUBU*UUUk?BB BA*BAAAA!"CE?RCICICI)I1G]3>  z z  3:Y Q1y : 53,+5ުfFAY}:/*@}:K@y}:o%#}:iż}:H33q@z? 9?ʽ`<N? \?)~:/*@ ~:`;I~:Cɫ99)9 9I9Y}?y}NFUVM]R=Y]/&QU]>aaae"Haaym-;}m>Iq }:ux 5? }:uGJݾ uh ?9u%@u0: u^:)u8:WWX XWX:W2W*WVbUBU*UUUo?BB BA*BAAAA"Cu?RCCCIG>ܡ9ܡIܥpFiܥM?ܡܡܡܡ ݡ)5۔CI5۔Ci11155 iE nGI} /aAi  ٺ /aA A b,6"fFAY}%?*@}%[@y}%1}%.g}%H`1~@M???`Ŀ@? r`?x?)~%?*@ ~%D_;I~%Cɫ) IY5?y5`FI)AI p=) a i@a  a m@a  a q@a  a e@a  - - - -@ -@ -@)))i)) )))I)i)=Q:ME/=YE7QUE>IIaM"HIQyU;}U>IY]x 5?]Jݾ ]^t e?9]@]: ](>)YWWX XWX:W2W*WVbUBU*UUU ?BB BA*BAAAA"Cz?RCCCI)GMS> } }  F:Y kS1y Ԋ: 5FĪ,fFAɫyy)y yIyY6?y؎F=ZlM=s=YEQUE?AAaE"HIIyM}U?IY]x 5?]pKݾ ]| e?9]@Y ]NN?)YWWX XWX:W2W*WVbUBU*UUU&@BB BA*BAAIAIAI"CU?*CQRCYCYCYm?im?IIQG}>Xqʪ,+fFA&>9&ڔCI&Fi&?$$$&; &ɑEY}B*@}B@y}BB}B(}BH |@??&N*̿*?п+?)~B*@ ~Bi\;I~BCɫQY)Y YIYYyyyAAYU&QUU>YYa]"HYaye <}e>Ii u:m}x 5? u:mLݾ m }?9m"@m: mJ?)m9:WWX XWX:W2W*WVbUBU*UUUh@RB*** querying acoustic contact ***PPBB BA*BAAAA"C4?RCCCIG>  ~ ~  5:Y T1y @: !5) ;9 WѪ,fEfFAY}:C~*@}:̙@y}:2H}:$Ͻ}:Hy ׳? ?d@ʿ?7[`:?)~:C~*@ ~:^;I~:Cɫ99)9 AIAY}?y}!FZ****** received transponder code query ******F****** received ping request ******19a="H99yE@}E>IIMrx 5?MLݾ M U?9M|@MJ: M?)IWyWyXy XyWyXy:W2W*WVbUBU*UUU@B1B1 B9A=*B9A9A9A9AA"Ca*CiRCiCiCiaIiG9>ת,l|_fFAY}6*@}6@y}6sQ}6ƻ}6HXr,=?[?s@!ɿ?-3?)~6*@ ~6^;I~4ɫYY)Y YIYY?yFxDUSBL response received:!U1,P 275,000,002B9,189,80,80,B6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 _A%bM%]=Y5?̼QU=>IQa"HyW:}>I)-gx 5?-3Mݾ - ?9-@-_< -@))WWX XWX:W2W*WVbUBU*UUU v @BB BA*BAAAA"C*CRCCCM>9IIM FiM?IIIM; MۑEIGMt> { {  :Y #R1y : 46) s;Fݪ,zyfFAY}R*@}R<@y}RJU}R߂}RHڀ@.??d@̿x?@dQ?)~R*@ ~R\;I~Pɫ) IYM?yMFep=ɮaNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B a ia i a ma m a qa q a ea e L7A`?MbX9+?+>ʡ =)IyMb?~jtx? rh?@=;C< ¥;A)¥rZAI¥0Ai¥=jAQLA    @ @ @i )Ii논M.=YZQU>a"H!!y%<}->I)-w 5?-Lݾ -t =?9-k@-Q: -:))WaWaXa XaWaXa:Wa2Wi*WiVibUiBUq*UqUqUu@@BB BA*BAAAA"C*CRCCCשIGC>䪙,2fFAY}2y+@}2x@y}20S}2c"}2H໽U k?Fn?c *ͿD6? ?)~2y+@ ~2[;I~2Cɫ99)9 9I9Y}?y}ЍFxDUSBL response received:!U1,R,26C,000,002BB,189,80,80,B4,FF Fpublishing direction and range infoc ɰ e=鰁 )4CIy@{I%m?U1{ٱI)M|=YS;QU ?a"Hy<} ?I :u 5? :ALݾ KR ?9@: :)::WWX X W X :W 2W *WVbUBU*UUU +@R(Combining 5 samples.P*Q@ZQGےISr@u MKJQ{I%m?U1{2Qc :QbQD`ZȾq@H^?RQV0ҿ2I?#.lt~?BQ=? Q@QJPP9?PQ9?PQQ*7@"Q@B!B! B!A% *B)A)A)A)AI"CQ*CQRCYCYCYIIQGu> [ ~ ~  2:Y T1y @: 59 @Gꪙ,fFAy9}۔CI}Fi}v?yy}qqau"Hu Hyy}<}>Iȉōt 5?ōKݾ ƍ! ?9ƍ@Ǎ: ȍ:)ȉmmAdded new target pos. range: 4.440000 m, bearing: 107.537586 deg, deltaT: 4.295134 s, approachRate: 0.027939 m/s, LOS rate: 0.347481 deg/s, posRepo size: 4W=?WX XWX:W2W*WVbUBU*UU`@U$?BB BAh*BAAAA"C=?RCC=?CיIGA>ɥ,ƫfFAY}6+@}66@y}6uZ}6 쩼}6H ?` L?@?ÿ?@D?)~6+@ ~6<\;I~6CɫYY)Y YIaYk?yF u u u }@ }@ }@yyyiyy y)yIyiy~<MZ=YmQU>a"Hy:}>Iȡ :ťes 5? :ť5Kݾ ƥY ?9ƥ@ǥ: ȥ:)ȥ;:WQWQXQ XQWYXY:WY2WY*WYVabUaBUa*UaUaUm =~?BB BA*BAAAA"C*CRCCCIG (>  z z  &J:Y Q1y : |5k,fFAY}6+@}6@y}6[}6c-}6H` a?`Y?`>¿ a"H  y ϻ}>I8r 5?Jݾ Q %?9@: :)WAWIXI XIWIXI:WI2WQ*WYVYbUYBUY*UYUaUe K-?BB BA*BAAAA"C*CRCCCiIyG=9ڔCIiY; *E,fFAY}2+@}2D@y}2*T}2/e}2Hmw@۾?@N?`Ɍƿ@h?h/C?)~2+@ ~2\];I~2Cɫ99)9 9I9Y}?y}FK7ɿ@5^I ?I b>)Iy~jth+Mb`D •/CA)•NAI•0Ai•kA\KA©­^ASM?=Y|a"Hy;}>I :6s 5? : Jݾ ڟ ?9@=: $:)<:WWX XWX:W2W *W V bUBU*UUU@ ?BABA BAAE~*BAAIAIAIAI"CQ*CQRCQCQCYIi)iIIYG> } } }  =:Y kS1y Ԋ: k6,zfFAY}2 +@}2@y}2N}2w}2H @Mѷ?_J?s@uɿ,?춿` 8?)~2 +@ ~2T\;I~2CɫYY)Y YIYYZ?yۋF M M M M@ M@ M@IIIiII I)IIIiIe MeP=Yewiiam"Hiqy;}>I+t 5?hIݾ   ?9@Z: :)W1W1X1 X1W1X1:W12W9*W9V9bU9BU9*UAUAUE#H@BqBq BqAu׆*BqAyAyAyAy"C*CRCCCׁIG> >9 I Fi ? ;D a; /E)uڔCIuڔCiqqqu%4 ,W.fFAY}6ܳ+@}6e@y}6ygM}6庽}6HKz$v?@^?`]ɿ?ܶV:?)~6ܳ+@ ~6f[;I~4ɫ髙) IimGIYV?iyvF@AFٺyA=<M=0=Y=$5;QU=>AAaE"HAIyM}U>IQ ]:U8u 5? e:UHݾ UE e?9U)@Ua< U!b<)U=:WWX X W X :W 2W *WVbUBU*UUU@REB*** querying acoustic contact ***PAPABB BA*BAAAA"C*CRCCC׹IGh>ށ iޅ = )  7:Y y 5) j;9 ,AHfFAY}FJ+@}FӾ@y}FQ}F퍋}FH@#?_`?ǿW ?`B?)~FJ+@ ~Fz;[;I~Dɫqq)q qIqY?yFZ****** received transponder code query ******F****** received ping request ******, bfFAY}2+@}2@y}2T}2er}2H 4?`W?ƿ d? A?)~2+@ ~2^;I~0ɫ99)9 9I9Y}g?y}YFxDUSBL response received:!U1,P 26C,000,002BB,189,80,80,B4,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )Ii%A<MM2=YU@ûQUU>Yaae"Hay;}>Iȱŵ"w 5?ŵnGݾ Ƶa ?9Ƶ0@ǵ; ȵ';)ȱW!W)X) X)W)X):W)2W)*W1V1bU1BU1*U9U9U=`~ @܉9܉I܉i܉܍=܉܉܍f; ݍ0EBB BAԅ*BAAAA"C*CRCCCIG-o> { {  :Y #R1y : 6) L;`J,V{fFAɫqq)q yIyY?ylFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5=i5=)\(|?5^ɿRQ?GaM =)Iy~jtMb?{Gzt?D<ף; @A)SAI0AigA KAMa=YQU>a"Hy}?I :Bw 5?  :Gݾ Ӕ ?9[@; ;)>:WWX XWX:W2W*WVbUBU*UUU-r @BqBq BqA}4*ByAyAyAyAy"C*CRCCCיIGB>I} @A)} @A 0%,7•fFAY}>9+@}>@y}>=2B}>ҽ}>H;ϑ?KW?@ɿ!?ӹB?)~>9+@ ~>Z\;I~>CɫYY)Y YIYY?yQFxDUSBL response received:!U1,R,27C,000,002BA,189,80,80,C2,FF Fpublishing direction and range inforɰd=鰡 )BCIy(@q!R2?rٱ5 M5E=Y=32=QU=>9AaE"HAAyMs;}M>IQUfw 5?UHݾ U ]?9U@U: Uw:)QWWX XWX:W2W*WVbU BU *U UUrS@R%(Combining 5 samples.P!*Q%(@ZQ% @P6vvJQ%q!R2?r2Q%r:Q!bQ%D yY@̭5!?RQ%X?ҿre?ǬwO?BQ%? Q%˂@Q% P!P%P9?P!Q!Q%-@"Q%*7@BYBa BaAe*BaAaAiAiAi"Cq*CqRCqCqCyaIiG9>  ~ ~ e +:Y T1y @: G59 @ܡ 9ܡ Iܥ XFiܥ ?ܥ =ܡ ܡ ܥ ; ݥ VE\+,efFAY}vQ,@}v2@y}v5:}vJ½}vH$ QA?L?0)ȿ%? rT?)~vQ,@ ~v[;I~tɫ) IY?yFDNmea in: $SNTTA,,,,,225233.92*52    @ @ @i )Ii-W=M-K=Y5]11a="H= H9y=[;}E>II U:Mw 5? U:McHݾ M ]?9M@M: M:)M?:muAdded new target pos. range: 4.380000 m, bearing: 107.217284 deg, deltaT: 4.083749 s, approachRate: -0.014692 m/s, LOS rate: -0.078433 deg/s, posRepo size: 4W?WX XWX:W2W*WVbUBU*UU@U?BB BA*BAAAA"C?*CRCC?CסIGD>>B2,SyɬfFAY}>;N,@}>i@y}>E;}>+ܝ}>H2?@D6?t)EƿZ?a^?)~>;N,@ ~>B6[;I~>CɫYY)Y YIYYM?yFI)I C=)  ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYm0MmX=YmQUu>qqau"Hyyy}<}>Iȉōw 5?ōHݾ ƍ ?9ƍ@Ǎo: ȍ:)ȉW1W1X1 X1W9X9:W92W9*W9VAbUABUA*UAUAUM@>?BB BA*BAAAA"C*CRCCCIG (>ށ iޅ 4= i y y  2<:Y P1y ': E58l8,SfFAY}6W,@}6@y}6wb?}6F}6H.(]?s ?_ÿ ?l`g?)~6W,@ ~6Z;I~6Cɫ99)9 9I9Y?yFUZ]<M]L=Y] QU]>aaae"Haaym;}m>Iq }:uw 5? }:uIݾ ut ?9u!@us: u^:)u@:WWX XWX:W2W*WVbUBU*UUU`?BB BA*BAAAA"C*CRCCC׭?i׭?iIqG>->9)I- Fi-?)))--; -Ee>,(DfFAY},@}>@y}->} }H3 <ܾ?? ~{!e¿ Ң?` 栿 n?)~,@ ~M>^;I~Cɫ) IY-?y-tFA)I0Ai@A    @ @ @i )Ii!<M2=YA(;QU>a"Hy l;} >Isw 5?Hݾ ݼ %?9K@; ;)WAWIXI XIWIXI:WI2WQ*WQVQbUQBUQ*UYUYU]I?BB BAɅ*BAAAA"C*CRCCCyIG>>  | |  ):Y R1y i: 5~E, fFAY}2;j,@}2ą@y}28}2.}2H@@)Eh?.?j O'¿`?@9ev?)~2;j,@ ~2J\;I~0ɫ) IY?y4FM=iM= QQr<MB=YWa"HyV}>Iȡ :ťw 5? :ťHݾ ƥ ?9ƥr@ǥ=: ȥk:)ȥA:WWX XWX:W2W*WVbUBU*UUU`]@B9B9 BAAE{*BAAAAAAAAI"CI*CQRCQCQCQIG l>Iޅ AA)ށ ) 9) I- XFi- ?- =) ) - T; - EgK,~0fFAY}6Z,@}6sv@y}625}6̣|}6H?'`.`Q?@7? DDĿt? 4o?)~6Z,@ ~6x[;I~6Cɫ99)9 9I9Y}_?y}Fd<M|=Y  z z g 1:Y Q1y : 5) ;9 OR,JfFAY}6f,@}6x@y}6F1}6(}6H/ @۪?U6?@@%ʿ`?U G?)~6f,@ ~6|b[;I~6Cɫ99)9 9I9Y}?y}FAA    @ @ @i )Ii%x;M-I=Y-)11a5"H19y=:}=>IAEv 5?EyHݾ MtI E^l U?9E@E: E:)AWqWqXy XyWyXy:Wy2Wy*WVbUBU*UUU4@RB*** querying acoustic contact ***PPBB BAC*BAAAA"C*CRCCCIG>VX,|dfFAY}:,@}:*@y}:'}:z }:HH? -? ̿?ÿ`h/?)~:,@ ~:n];I~8ɫ99)9 9I9Y}?y}4FZ****** received transponder code query ******F****** received ping request ******a"Hy;}>I :Tv 5? :JHݾ 5 ?9@A; ;)B:W)W)XI XIWQXQ:WQ2WQ*WQVYbUYBUY*UYUYUe@3 @BB BA{*BAAAA"C*CRCCC9IFia?=; ʒE)aIaiae=e=e5IG)> i}nGIi! u ٺq } Aޅ =iޅ p= r { {  (:Y #R1y : 6) Ά;^,~fFAY}> -@}>'@y}>z}>_}>H`{y2? ?/ȿ`"c?x b?)~> -@ ~>$R`;I~>CɫQQ)Q QIQY2?ysFxDUSBL response received:!U1,P 27C,000,002BA,189,80,80,C2,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 6only read 3 of 4 data itemsa i@a  a m@a  a q@a  a e@a         @  @  @   i   ) I i e;Mm#=Ym7qa"Hyn<}>Iv 5?Hݾ  ?9@; ?)WIWqXq XyWyXy:W2W*WVbUBU*UUU @BB BAa*BAAAA"C*CRCCC?i?סIG>Le,QfFAY}2?,@}2@y}2}28}2H@,l?7(? r@  z z  R.:Y Q1y : 59 @ >9 I XFi ? ; ܒExk,,fFAY}:1,@}:@y}:}:4J}:Hd +?4? wx@p@2+? x,?)~:1,@ ~:=K];I~:CBJFailed to close latch before timeout.q BBHardware FaultYF?yFhFJxDUSBL response received:!U1,R,279,000,002BB,189,80,80,BE,FF NFpublishing direction and range infoJi HɰJ e=H H)J>CIHyJ@JnJ4=?×pٱHb-b=Mbh=Ybo;QUf>ddaf"Hf Hhyj}j>Ip r:ru 5? v:rGݾ r̽ v?9r7@r: rp?)rC:W W X XWX:W2W*WVbUBU!*U!U!U%0b@R5(Combining 5 samples.P1*Q5@ZQ5.$ñ<@q4vlJQ5nJ4=?×p2Q5i :Q1bQ57{&&/:L@GBӿ Xb ?_VO?BQ5? Q5b@Q51P1P1P1Q1Q5 @"Q5-@BiBi BiAm.*BiAqAqAqAq"Cy*CyRCyCC9II-$]@Hardware Fault in component: DDMG=yr,/̭fFAEPowering downAɪA)I IY?y2FEDNmea in: $SNTTA,,,,,225238.37*56 YY    @ @ @éééiéé ĩ)ĩIĩiĩWM=YQU>a"Hy}>I&u 5?Gݾ C ?9c@ : ?)mmAdded new target pos. range: 4.440000 m, bearing: 108.371763 deg, deltaT: 4.348119 s, approachRate: 0.013799 m/s, LOS rate: 0.265512 deg/s, posRepo size: 4mTStarting intercept timer at range: 4.44 m.W?W!X! X!W!X!:W!2W!*W)V)bU)BU)*U1U5`@U5#?BYBa BaAe*BaAaAaAiAi"Cm?RCqCu?CqIׁ)ׁqIG]>  { {  -:Y #R1y : 5y,fFAY}6*,@}6@y}6/}6Q\}6Hf۝?`N?ML¿ ?ţ?)~6*,@ ~6I[;I~6CYB?yBFM=Y%j=QU%?!)a-"H))y5}5?I9=t 5?=Gݾ = E?9=y@=: =X?)9WiWiXi XiWiXi:Wi2Wq*WqVqbUqBU*UUU?BABI BIAM*BIAIAIAIAQ"Cq*CyRCyCyCyiIyG=q9qIuȖFiu?qqqu; uE2,fFAY}J-@}J\4@y}J}JBս}JHїrtxC? Q?boĿ ?`i}?)~J-@ ~Jv[;I~JCYTyTa ia i a ma m a qa q a ea e 1Zd?L7A`?+?"=+= =)Iy:vMb?LT@= `=A)NAI=4AirZAFA    @ @ @i )IiY!a"Hy <} >I :v 5? :kHݾ wҽ %?9N@V: :)D:WAWAXA XAWAXI:WI2WI*WQVQbUQBUQ*UQUYU]@?B1B9 B9A9*B9AAAAAAAa"Ci*CqRCqCqCyׁI$NClearing failed state for component DDMq G=> = w w  u:Y O1y P: 6o,RfFAY~x?y~a"Hy}>IȹŽLx 5?ŽIݾ ƽó ?9ƽ@ǽE: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU@C?B!B) B)A-*B)A)A1A1A1"C*CRCCCױIG>i 9i Im 8Fim ?m =i i m ; m ֒ED,2t3fFAY}2V.@}2q@y}2ؽ}2Z}2H `s?~?|4Ŀ ?⽿`ϙ?)~2V.@ ~2N\;I~2CY>?yBF5~M=Q=Y=v$=QU=>AAaE"HAIyMJ=}M>IQUy 5?UIݾ U e?9U@U: U:)QWWX XWX:W2W*WVbUBU*UUUUC@BB BA-*BAAAA"C*CRCCCI!G== 3 { {  y#:Y #R1y : 5,,7PMfFAY}2.@}2#@y}2ѽ}2<}2H5⩚?o?!@(?#?)~2.@ ~2e[;I~2CYN?yRF=ip= U U U U@ U@ @QQQiQQ Q)QIQiQtE=MB=Y0a"Hy@<}>I :{ 5? :?Jݾ Y ?9d@: [:)E:W WX XWX:W2W*WVbUBU!*U!U!U%@$@BIBQ BQAU*BQAYAYAYAY"Ca*CaRCaCaCiIIYG=V,x*gfFAY}:_/@}:E{@y}:V'׽}:R}:HW`|?`^@?=MBغ? ?)~:_/@ ~:"\;I~:CYFz?yFFHJ@AZz<MZ]=YZQU^>\\ab"H``yf=<}f>Ihj$} 5?jJݾ j n?9j @j: j:)hWWX XWX:W 2W *W V bU BU*UUUA@R%B*** querying acoustic contact ***P!P!BABI BIAMO*BIAIAIAIAQ"CQ*CYRCYCYCaQIaG}=9IpFiM?; ؒE w S P=:Y y k5) ɘ;9 >,fFAY}2 /@}2 @y}2Kٽ}20s}2HA-Yaae"Haaym<}m>Iȑ :ŕ4} 5? :ŕqLݾ ƕ ?9ƕ@Ǖ4: ȕ:)ȕF:WWX XWX:W2W*WV bUBU*UUU% \ @BB BA*BAAAA"C*CRCCCIG$>h,fFAY}BI0@}Be @y}B0&˽}B}BHΠ/ 7?`?`ލ@Z?`:`?)~BI0@ ~B"[;I~BCYbi?yb3FnxDUSBL response received:!U1,P 279,000,002BB,189,80,80,BE,FF rCommand AckrBRequesting micromodem ping code 2ittI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 IUa=)U%=    @ @ @i )Ii"M 3=Yu!!a%"H!1y59<}5>I9=F} 5?=Nݾ =' m?9=@=; =M;)9WWX XWX:W2W*WVbUBU*UUU1@B)B) B1A5*B1A1A1A1A1"C9*CARCaCaCiׁIGb> 9 I Fi ? =   ;  E)ݡIݡiݡݥ=ݥ=ݥq55ޅ =iޅ = y ~ ~  Q:Y T1y @: 5) ;,fFAY}Rv0@}R @ifnmGy}R}Rs]I|iEٺAEmA}RHE?@?i`1?S?)~Rv0@ ~R[;I~PY?yiF鮍a=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U;MUh=Y]sz,іήfFAY}2T0@}2 @y}2ʽ}2oս}2H`*?? Gm*¿`N?=?)~2T0@ ~2x[;I~0Y>?yBFFxDUSBL response received:!U1,R,288,000,002BB,18A,80,80,BE,FF FFpublishing direction and range infoB@ɰ@B> @)@I@y@B-?ak8~%ٱ@Z<MZj=YZDQUZ>\\a^"H``yb<}f>Ihjc} 5?jPݾ j n?9j`@j9: j(:)hWWX XWX:W2W *W V bU BU*UUUH@R%(Combining 5 samples.P)*Q)ZQ-LE @jW\VJQ--?ak8~%2Q-:Q)bQ-N [@f?RQ-sy eH׿/Py?N?BQ- 6? Q-݂@Q-οP)P)P)Q)Q-i@"Q- @B9B9 B9A=*B9AAAAAAAA"CI*CIRCICICQQIYGu=  } }  1:Y kS1y Ԋ: }59 @Ŷ,DfFAY}jk1@}j+!@y}j@߽}j}jH?.?'?<ѷ?)~jk1@ ~j޻[;I~jCYv?yv;FeTNmea in: $SNTTA,0.023610,,,,225242.79*49 eYYa]"Haayu;}}>Iȑŕ|} 5?ŕRRݾ ƕ ?9ƕW@Ǖ: ȕ:)ȑmmAdded new target pos. range: 4.440000 m, bearing: 111.552692 deg, deltaT: 4.442322 s, approachRate: 0.000000 m/s, LOS rate: 0.716051 deg/s, posRepo size: 4W 6?WX XWX:W2W*WVbUBU*UUU?ܑ9ܑIܑiܑܑܑܑܕ5; ݕ&EBB BA*BAAAA"C̚?RCC 6?CIG(>Ie @A)a *,fFAY}::0@}:Ĥ @y}:*s}:(T}:Hk`$G?$??S?)~::0@ ~:f\;I~:CY^?ybFI +ƿ^I +ǿI +94X9 9)IyI +~jt9ļL ½ :A)½tUAI½79Ai½WAHA    @ @ @i )Iid<MB=YĝQU>a"HyQ}>I :v~ 5? :Rݾ O ?9@0; i%;)H:WIWIXI XQWQXQ:WQ2WY*WYVYbUaBUa*UaUaUmW?BB BAx*BAAAA"C 6?RCCCII)I!I)GM1>  | |  84:Y R1y i: 6\ƫ,njfFAY}2`0@}2 @y}2}2'}2H| 6k?`?@źɾ?"Ф฽?)~2`0@ ~25\;I~2C>Powering up>"Initializing DDM.Y5?y5FM\=Y, QU>a"Hy}>IX 5?Qݾ Ď ?9@: :)W)W1X9 X9WAXA:WQ2W*WVbUBU*UUU Y?B!B) B)A-*BIAIAIAQAQ"CY*CYRCYCYCYaIqG>ܑ 9ܑ Iܕ Fiܕ ?ܕ =ܑ ܑ ܕ ; ݕ UE̫,C6fFAY}6ك/@}6c@y}6Ky}6Ţ}6HOY;z ?`+?`C@߽?/@[?)~6ك/@ ~66[;I~6CYB?yF FI)A]M]S=Ye%aiam"HiiyuP}u>Iy :}Q 5? :}Qݾ } ?9}@}: }:)}I:WWX XWX:W2W*WVbUBU*UUU:?BB BA*BAAAA"C*CRCCCIaG=m =im = z t t  =:Y M1y : 5ӫ,PfFAY}>r!/@}><@y}>}>Ľ}>H;5?R?=¿ɽ?fˢ?)~>r!/@ ~>:[;I~>CYJ?yJF)= = ] ] ] ]@ ]@ ]@ ]YYYi]?Y ]?)]?IYi]v?mwMmI=Yu@S:QUu>qqa"H yg}>Ih 5?AQݾ  %?9@: =:)WIWIXI XIWQXQ:WQ2WQ*WYVYbUYBUY*UYUaUe@BB BA*BAAAA"C*CRCCC?i?IG>`ګ,aifFAY}:d/@}:@y}:.}:a}:H`Jp? N4?e& ÿ?iԷ?)~:d/@ ~:Z;I~:CYJ?yJF= =M=M=YEQUE>AIaM"HIIyU/<}U>IY e:]] 5? e:]Pݾ ]L e?9]X@]: ]:)]J:WWX XWX:W2W*WVbUBU*UUU࿋@BYBa BaAe*BaAaAaAaAi"Ci*CqRCyCyCA9AIEpFiEM?AAAE; EqEiIyG=     J:Y T1y : 5) {;9 J૙,փfFAY}6 0@}6-( @y}6T}6h}6HwPQ?`?@Mb G=)IyI +?I +?Mb`?94=9<; •:A)•RAI•6Ai•YAGA - - - 5@ 5@ 5@ 5@111i51 5)5I1i5MʼMM:=YU&fQU>a"HyA<}>I)-{ 5?-Pݾ - =?9-@-׾: -{:))WyWyXy XWX:W2W*WVbUBU*UUU7R@RB*** querying acoustic contact ***PPBB BA؄*BA)A)A)A)"C1*C1RC1C1C9AIIGm5>Ia )e AAp站,걝fFAY}6J0@}6 @y}6kF}6k[}6H@ 7a?`?.-Lÿ N]?`Ϸ?)~6J0@ ~6Z;I~4YB,?yBFFZ****** received transponder code query ******FF****** received ping request ******Fa "H  yt<}?I  :~ 5?  :Pݾ  ?9@{: :)K:WiWqXq XqWyXy:Wy2Wy*WyVbUBU*UUU? @BB BA"*BAAAA"C *CRCCCI)))IIQGm>A 9A IE 8FiE ?A A A E ; E E= = = =  = -:Y= V1y= := !5)= ͊;gN,}ϷfFAY}6s1@}6*!@y}6}6h0}6H`QLh?D?*[¿G? O ?)~6s1@ ~6aZ;I~6CYj?yjrFnxDUSBL response received:!U1,P 288,000,002BB,18A,80,80,BE,FF nCommand AcknBRequesting micromodem ping code 2ippvNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 UM]C=Ym>:QUu>a"H Hyp<}%>IaeH} 5?ekPݾ e; ?9eM@e= ew=)aW1W1X1 X1W1X9:W92W9*W9V9bUABUA*UAUaUm@BB BA*BAAAA"C*CRC C C IGMR>6,vѯfFAY}61@}6,!@y}6 }6L}6Hf@6?UJ?r?>?)~61@ ~6Z;I~4Yn?ynFpɮra=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IY)]AIm=)m=    @ @ @ñññiññ ı)ıIıiı=MC=YӼQU>a"HyI<}>I{ 5?CPݾ $ ?9@: :)WWX XWX:W2W*WVbUBU*UUU j@B B BAt*BAAAA"C*C!RC!C!C!)I1GU>E =iE =% % v% v% u % G/:Y% N1y% :% 59% @'`,fFAY}6 2@}6&"@y}6$a}6}6H4`?? N@ÿ?>?)~6 2@ ~6Z;I~4Y^p?ybrFfxDUSBL response received:!U1,R,277,000,002BB,189,80,80,D5,FF fFpublishing direction and range infob} `ɰ`b7> `)bUCI`y`b+E?Lfٱ`UMUR=Y}EƼQU}>a"Hy<}>Iȑ :ŕz 5? :ŕPݾ ƕ ?9ƕ@Ǖ!< ȕ'"<)ȕL:W!W!X! X!W!X!:W)2W)*W)V)bU1BU1*UQUQU] @Re(Combining 5 samples.Pi*QiZQmE@[JQm+E?Lf2Qm} :QibQmAFƐRz@//?RQmN]*ؿZ~u?@?BQm? Qm@QmܿPmO9?PiPiQiQm9&@"Qmi@ܹ9ܹIܹiܹܹܹܹܽd; ݽǓE)IIIiIM=IM4BB BA*BAAAA "C*CRCCCQiU?)I1GQimGIiVڿٺ% AJ,kfFAY}b2@}b"@y}b}b}bH?%R =?`? )Ŀ?췿`-?)~b2@ ~b[;I~bCYZ?y*FDNmea in: $SNTTA,,,,,225247.24*5C Ponly read 0 of 1 data item for BIT errora i@a  a m@a  a q@a  a e@a     @ @ @i )IiM2=Y:QU >  a"Hy<}>I!%>x 5?%Oݾ % -?9%;@%E: %>)!m]mAdded new target pos. range: 4.440000 m, bearing: 113.225132 deg, deltaT: 4.493060 s, approachRate: 0.000000 m/s, LOS rate: 0.372227 deg/s, posRepo size: 4W]?WYXa XaWaXa:W2W*WVbUBU*UUU'?BABA BAAE*BIAIAIAIAI"Ce0?RCiCm?Ci9IIGe4>u u zu zu [ u :Yu Q1yu :u "5>r,\;fFAY_?yFa=i<TM`=YQU>a"Hy}>I :v 5? :Oݾ  ?9@c: R?)M:W!W!X! X)W)X):W)2W)*W1V1bUBU*UUU-?BB BAV*BA A A A "C5!?*C1RC1C1C9)I1GU>ܽ>9ܹIܽFiܽ?ܹܹܹܽ; ݽEIE AA)A ,9fFAY}62@}6"@y}6|}6}6H4@Kc?`?@[GƿH?F`r?)~62@ ~6-[;I~6CYB?yBFM]AM]A})<MP=Y!a"Hy;}>Iu 5?Oݾ w ?9m@e; ?)WiWiXq XyWyX:W2W*WVbUBU*UUU`?BaBa BaAe5*BiAiAAA"C?*CRCCCIש)שׁIG>} K } w} w}  } 9:Y} O1y} P:} |5,RfFAY}NN3@}NKj#@y}N3}NϺ}NH"U` :?`N?`EĿ F?` a?)~NN3@ ~N)[;I~NCYZm?yZF    @ @ @éééiéé ĩ)ĩIĩiĩmMF=Yz%QU>a"Hy<}>Ivs 5?Oݾ ۽ ?9@: V?)W W X XWX:W2W*WVbUBU!*U!U!U%̷?BIBQ BQAUR*BQAYAYAYAY"Ca*CaRCaCaCiIIYGu=b,lfFAY}N?3@}N;[#@y}NR}N}NH@L`?`?^t@GW?\k?)~N?3@ ~N6Z;I~NCYZ?yZEFI)AI!)%AI-=)-C=]<M]Q=Ye 0QUe>aaam"HiiyuV}u>Iy}q 5?}lOݾ }Xս ?9}@}>: }*@)yWWX XWX:W2W*WVbUBU*UUU@?BB BA *BAAY9]۔CI]ȖFi]?YY]a"Hy}>I  5: q 5? 5: iOݾ 1߽ 5?9 @ v; ;) N:WqWyXy XyWyXy:Wy2W*WVbUBU*UUU!@BB BAN*BAAAA!"CA*CIRCICICIYi]?AIIGm5>',fFAY}>xk2@}>"@y}>m}>}>H%DpA?x?@]dƿ k? ⼿@u?)~>xk2@ ~>Z;I~>CYJc?yJFLN?A^rмM^r=Y^(9QIQiQQQU;DUW; UHE -,bfFAM}M}M M/:YMkS1yMԊ:M35)M;Y}n2@}n"@y}n}ne}nHyĵ?b?uU@(L?@j?)~n2@ ~njZ;I~lYv?y%bF5Z****** received transponder code query ******MF****** received ping request ******Uaaae"HeHiym$i}m>Iȑŕq 5?ŕdOݾ ƕO ?9ƕ@Ǖ: ȕ:)ȑWWX XWX:W)2W)*W1V1bU1BU1*U9U9U=` @BB BAЅ*BAAAA"C*CRCCCIG$>IA )E @AU4,*9԰fFAY}6l1@}6!@y}6a}6r}6H$`R? :,?`Ͻ@(Y?V?)~6l1@ ~67[;I~6CYB ?yBFFxDUSBL response received:!U1,P 277,000,002BB,189,80,80,D5,FF FCommand AckFBRequesting micromodem ping code 2iDDNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 } } } }@ }@ }@yyyiyy y)yIyiy%<M6=YQU>a"Hy}>I :p 5? :dOݾ  -?9@; ;)O:WWX XWX:W2W*WVbUBU*UUU@ @BB BA*BAAAAAIAI"CQ*CYRCCCI׹)׹יIGb>= 2= {= {=  = e#:Y= #R1y= := 59= @:,HfFAY}2b1@}2!@y}2"}2Q}2H>`}?F"?@`#¿@A,=fFAY}F2@}Fw"@y}FА!}FvT}FHṋ??)wȿ`?ᙿZ?)~F2@ ~FR[;I~FCYZ?yZFbxDUSBL response received:!U1,R,26D,000,002BA,189,80,80,C8,FF bFpublishing direction and range info^ \ɰ^d=\ \)^HCI\y^(@^Ӕ:j?4weQٱ\Il)l=S?K7A?= > =t<)9I9y=~jtl:v=D==T =5>A)=OAI=h3Ai=rZA9=FA    @ @ @ÙÙÙiÙÙ ę)ęIęięTjM<=Y;QU>a"Hy<}>I :kr 5? :Nݾ  ?9<@: :)P:WWX XWX:W2W*WVbU BU *UUU`@R(Combining 5 samples.P*Q(@ZQ<]@DJQӔ:j?4weQ2Q :QbQ&pS#=T@NN?RQx+DٿPꃨ?LőIa?BQ? Qz@QPPO9?PQQ*@"Q9&@BB BA)*BAAAA"C!*CIRCICICIAIIGm5>% X % ~% ~%  % c:Y% T1y% @:% 6H,V!fFAY}^s3@}^#@y}^>T#}^%}^Hj@ޥ? qU?@K=̿eT?`7YĿ@{.?)~^s3@ ~^{[;I~^CYj ?yjoFETNmea in: $SNTTA,0.047672,,,,225251.67*42 )]= ]>XڽM^=YQU>a"Hy3O=}>Iȱŵt 5?ŵLݾ Ƶ ?9Ƶ"@ǵ0: ȵ:)ȱmqAdded new target pos. range: 4.380000 m, bearing: 114.183838 deg, deltaT: 4.483804 s, approachRate: -0.013382 m/s, LOS rate: 0.213815 deg/s, posRepo size: 4W?WX XWX:W2W*WVbUBU*UU@U`1?B B  BAk*BAAAA"C?RC!C%?C!IG- >9IpFiM?=-; E)ݍ۔CIݍ۔Ci݉݉ݍ=ݍ4i nGI! i9 m Eܿٺi m A8N,Ҧ;fFAY}2D4@}2$@y}2:-}2`}2HJ`=[??`Tʿ ڌ?¿7?)~2D4@ ~2V[;I~2CYN?yR0F]#M]N=YeǼQUe>aiam"Hiiyu =}u>Iy :}u 5? :}Kݾ } ?9}@}: }g:)}Q:WWX XWX:W2W*WVbUBU*UUU#?BB BA*BAAAA"C*CRCCC׹IG= U,UfFAY}25@}2%@y}25}2}2HN@I?i? ȿs?`@G?)~25@ ~2 [;I~2CY^?ybF    @ @ @éééiéé ĩ)ĩIĩiĩy<MD=YQU>a"Hy(=}>I_w 5?6Jݾ U ?9@: w:)W W X  X W X :W2W*WVbUBU*UUU%5?BIBI BIAM*BQAQAQAQAQ"CY*CYRCaCaCa1I9GU U Q Q U  U ::YQ yQ U 59L[,bofFAY}23H7@}2c'@y}27}2I}2H:9v=?? HDſ ?FY?)~23H7@ ~2[;I~2CY^?y^F-^A-^A]SM]Q=Y]2QU]>aaae"Haiyme=}m>Iqux 5?uHݾ u ?9u@u4: u:)q>9ڔCIFi?P; ̔EWAWAXA XAWAXA:WI2WI*WIVIbUiBUq*UqUqUuz@?BB BA/*BAAAA"C*CRCCCIi)iiIG >3b,;fFAY}=29@}=M)@y}=z9}=}=H߿`;??@[¿?΍wh?)~=29@ ~=qI\;I~=CY}~?y}ވF{GzbX9ȶy&1|ףE `)Iy&1V-?~jtx?нh=; f8A)p_AI=4AifALA    @ @ @i )Ii 2<M 2=Y ֋QU>a"HyM=}%>I! 5:%{ 5? 5:%Kݾ % =?9%@%; %>;)%R:WYWYXY XYWYXa:Wa2Wa*WaVabUiBUi*UiUqUu@BB BA*BAAAA"C*CRCCCaIiG9>I M M M  I YM U1yM :M 5\h,fFAY ?y  FIy)y‚Mb=YQU>a"Hy}>I| 5?Nݾ  ?9J@': @:)WW X  X W X :W 2W *WVbUBU*UUU@1(% P-lAggregate::initialize lineCaptureDepth:MicromodemCommsq(-P-|Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn(-BIBQ BQAUˈ*BQAYAYAYAY"Ca*CaRCaCaCiiIy>9IFi?=; EE =iE =G > n,'fFAY}Bć;@}BM+@y}BD}B; }BHB'ܿݖ? -? ӏ@Z? h4d?)~Bć;@ ~B];I~BCYR?yRFPPEuOutgoing frame #1, 64 bytes: C0811961210000005D00000400320000000000000000151D80030C5669C08C79984C240922D745794C8D730922FCCC4FFFEC03F88F2BE5C3381729D6EC18F957EPOutgoing frame #2, 6 bytes: 69F1D5596D00MDNmea out: $CCCYC,0,1,10,1,0,2*6A )Õ;> Õ>UX=M=YꄼQU>a"HHyl=}>I : 5? :Qݾ {$ ?9@: :)S:W1 W9 X9  X9 WA XA :Wa 2Wa *Wi Vi bUi BUi *Ui Uq Uu N'@R} B*** querying acoustic contact ***Py Py B B  B A ȇ*B A A A A "C *C RC C C ) i- ?e F e ze ze v e M:Ye Q1ye :e 5 I G% >_ou,ֱfFAY}:<@}:2,@y}:M}:_H}:H` ۿ@?Z?-¿@Ou?`寿`L?)~:<@ ~:_];I~:CY^s?y^:FbZ****** received transponder code query ******bF****** received ping request ******bߘ{,YfFAY}F=@}F"-@y}FW}FP}FHvۿ@AR?r?`޹`ſȾ?`)?)~F=@ ~F];I~FCYR?yRFVxDUSBL response received:!U1,P 26D,000,002BA,189,80,80,C8,FF ZCommand AckZBRequesting micromodem ping code 2iXXbNNmea in: $CADRQ,225255,1,10,0,64,1*71 buNmea out: $CCTXD,1,10,1,C0811961210000005D00000400320000000000000000151D80030C5669C08C79984C240922D745794C8D730922FCCC4FFFEC03F88F2BE5C3381729D6EC18F957*4F dif=ܩ9ܩIܭFiܭ}?ܩܩܩܭ<; ݭIE    @ @ @ùùùiùù Ĺ)ĹIĹiĹ:M=Y㟼QU>a"H!y%<}->I1 =:5Y 5? =:5Uݾ 5Z3 =?95}@5: 5:)5T:WWX XWX:W2W*W V bU BU *U UU @BB BAr*BAAAA"C*CRCCCױIG>IE @A)E AAU U U U  U 4:YU T1yU :U |5)U 5;9] ,~ fFAY}:+=@}:-@y}:#b}:&}:H`r@ܿ?ý?>MVKο ?<Ŀ ?)~:+=@ ~: .];I~:CY^D?ybDF`ɮ`jQYa]"Haiy<}>Iԁ 5?Wݾ = ?9@Ú; ;)WQWQXq XqWqXq:Wy2Wy*WyVybUBU*UUU ѫ@BB BA*BAAAA"C*CRC C C I9)9 I G5 >Ԯ,8k$fFAY}>@} !.@y}e}Kd'}Hzۿ?H~?Xuο f? OĿW?)~>@ ~1];I~Y@?y߆F5NNmea in: $CADRQ,225256,1,10,0,64,2*71 5|Response from modem unexpected: $CADRQ,225256,1,10,0,64,2*71 y9}۔CI}Fi}?}=y}) ) a- "H) 1 y5 i<}= >IA M :E D 5? M :E Yݾ E H M ?9E @E : E (:)E U:Wi Wq Xq  Xq Wq Xq :Wq 2Wy *Wy Vy bUy BU *U U U ~@B B  B A ݈*B A A A A "C *C RC C C U U |U |U ! U eU:YU R1yU i:U F6)U ; I G >ڎ,N>fFAY}-L>@}-h.@y}-vg}-}-Hڿ@?;? @T ſ?2>?)~-L>@ ~-\;I~-CYE ?yE FUxDUSBL response received:!U1,R,220,000,002BC,187,80,80,B6,FF UFpublishing direction and range infoM󾩰IɰM`e=M1> I)M6CIIyM@MPv?RAݿٱI}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I) E E E E@ E@ E@AAAiAA A)AIAiAUVMU=Y]IXQU]v?Yaae"Haaymu<}mu?Iqu 5?uZݾ uK }?9u@u: u!:)qW9W9XA XAWAXA:WA2WI*WIVIbUIBUQ*UQUQUU [@R(Combining 5 samples.P*Q@ZQq5Tvn@!tJQPv?RAݿ2Q:QbQ8Y|?Q(l @7˙D?RQ4-*9]&r?UF$?BQ.@ Q\@Q-PM9?PPQQ0@"Q*@BB BA+*BAAAA "C *CRCCCI)GM1>,XfFAY}ZY>@}Z.@y}Z|p}Z}ZH ڿ@i?`}? 1 <@?|L`h?)~ZY>@ ~Z"J];I~ZCYn?ynF=DNmea in: $SNTTA,,,,,225256.53*5C E]AiE\A<MQ=YQU>a"HyA<} >Iz~ 5?g\ݾ xP ?9@: :)mMmAdded new target pos. range: 4.500001 m, bearing: 128.183253 deg, deltaT: 4.846320 s, approachRate: 0.024761 m/s, LOS rate: 2.888669 deg/s, posRepo size: 4WM.@WQXQ XQWQXQ:WQ2WQ*WYVYbUYBUY*UaUe@@Uei?BB BALj*BAAAA"C@RCC.@CסIG=M I I M  M P0:YI yI M 59U @曬,[qfFAY}:B>@}:/@y}:p{}:y}:H@+#ڿ&p?`? %bsÿ{?E`?)~:B>@ ~:];I~:CYF?yFrF!9!I%8Fi%?!!!%U; %VE)ݽڔCIݹiݹݽ=ݽ=ݽv41=zCi%nGIiIgٺAM/=YQU>a"Hy:5<}>I) 5:-} 5? =:-s^ݾ -%W =?9-nA-=: -:)-V:WWX XWX:W2W*WVbUBU*UUU5?BB BA *BAAAA"C [@RC CC9QIaG}z>Ϣ,}ˋfFAY}Fs?@}F+/@y}F~}F8}FH c ,Fڿ@?jj?bſ`|?`s?)~Fs?@ ~FT\\;I~FCYZd?yZF6only read 2 of 4 data itemsa i@a  a m@a  a q@a  a e@a       @ @ @ i(? ?)p?I?iK?%M%k=Y%,QU-?))a-"H)1y=;}=?IAE{ 5?E_ݾ E\ M?9EAE: EP>)AWiWqXq XqWqXq:Wq2Wy*WyVybUyBUy*UUU?BiBi BqAu*BqAqAqAqAq"C} @RCyCCaIqG>M / M zM zM  M 7:YM Q1yM :M 5,fFAY}6?@}6/@y}6}}6Z椽}6H`Oڿ@?v? Jſi`?`F`U?)~6?@ ~6\;I~6CYN?yRFɵ===lM=Z=YE;QUE>AIaM"HIIyU}U>I :z 5? :aݾ b ?9mAB: ,;?)W:WWX XWX:W2W*WVbUBU *U U U `t?B9B9 B9A=m*B9AAAAAAAA"CMR @RCICICQIIYGu=!9%ڔCI%pFi%M?%=!%;D%; %}E#,fFAY}R+>@}R/@y}R}R ؽ}RHUvSڿ ? h?7@ȿ?7?)~R+>@ ~R"[;I~PYb?ybuF    @ @ @ @ÑÑÑiÕÑ ĕ)ĕIĕiĕT<MD=Y'QU>a"HHyd[}>Isy 5?Rcݾ i ?9A%: :?)WWX XWX:W2W*WVbUBU*UUU?BB BAA*BAAAA"C%d@RC!C!C) IG= >U U ~U ~U t U /:YU T1yU @:U }5 ,WٲfFAY}6?@}6~$/@y}6}6Qe }6H`l@Gۿ >?^?WͿ`So? `?)~6?@ ~6x[;I~6CYB?yBтFIp)p~M~V=YݦQU>a "H  y;}>I:x 5?dݾ q %?9|A_: ?)WIWIXI XIWIXI:WI2WQ*WQVQbUQBUY*UYUYU]8@BB BA*BAAAA"C@RCCCבIG=>6,i8fFAY}J?@}Jw./@y}JZ}Jq}JHoڿ`}?V?˿h? 6@?)~J?@ ~J`[;I~JCp9pIrFir?r=ppr; rEY}u?yvF@Ai]AmM5=Y:QU>a"Hy:}>IQUv 5?Ufݾ U{ ]?9U!AU: U-?)QWWX XWX:W2W*WVbUBU*UUU`@R B*** querying acoustic contact ***P P BIBQ BQAU*BQAQAYAYAY"Ce@RCCCIGF>U U U U  U :YU T1yU :U 5)U |;9e ì, fFAY}:?@}:[/@y}:}:S}:H`ڿ`?r?  Uƿ?S?)~:?@ ~:k[;I~:CF`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ  )  I YMf?yMmFUZ****** received transponder code query ******UF****** received ping request ******UM< M\>)IIIyMZd;OA`"?{Gz?MjA)M-ZAIM-AiMrAIM=NA    @ @ @áááiáá ġ)ġIġiġwYM=Yha"H y K<} >I1 =:5w 5? E:5iݾ 5Ny E?95A5: 5:)5X:WWX XWX:W2W*WVbUBU*UUU @BB  B A *B A A1A1A1"C=β@RC9C9C9) I1 GU >\Hɬ,,&fFAY}Fͧ?@}FW/@y}FG({}F`꙽}FHٿ? V?@g9Ŀ?de?)~Fͧ?@ ~Fy[;I~FCɫyy)y yIyYW?ydFxDUSBL response received:!U1,P 220,000,002BC,187,80,80,B6,FF Command AckBRequesting micromodem ping code 2i=i<Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 9IpFiM?=D; ҕEII )M @A   5:Y y W5) ;     @  @  @ i ) I i 7Ma"Hy%S{;}%>I)-y 5?-zkݾ -v 5?9-|A-R: -:))WYWYXY XYWYXY:Wa2Wa*WaVabUiBUi*UiUiUu`C@BB BA*BAAAA"C.@RCCCסIG?0Ѭ,[%HfFAY}-?@}-0@y}-~}-S}-H@aٿ??`J@$pĿφ? G_?)~-?@ ~-^;I~)ɫ) IY=l?y=FEa=ɮEp=eNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ɵ===M>Y pج,}afFAY}2?@}2/@y}2ă}2I銽}2H`Rzٿ??G vĿ1J?wǰ?)~2?@ ~2>X^;I~2Cɫ99)9 9I9Y?yFxDUSBL response received:!U1,R,197,000,002CA,186,80,80,37,FF Fpublishing direction and range infooٵɰi=鰥> )\BIy@?AֿٱIa=)=J<M_=YQU>a"H y } >Iz 5?mݾ Dt %?9AI: U:)WAWAXA XAWIXI:WI2WI*WIVQbUQBUQ*UQUYU]Q@Rm(Combining 5 samples.Pi*Qm@ZQm7@oKJQm?Aֿ2Qmoٵ:QibQm[ Sn @eJYGV?RQm >+_YK?[?BQmv_@ Qmpc@QmnPmJ9?PmM9?PiQmQmC@"Qm0@BB BAm*BAAAA"C*CRCCC׉IG>yy '0:YP1y':59@e >9a Ie Fie ?e =a a e t; e E:ެ,{fFAY}Z?@}Zb/@y}Z"}Z }ZH@mYٿ@?N?0yƿ`J?b?)~Z?@ ~Z ];I~ZCɫ髱) IY ?yF]DNmea in: $SNTTA,,,,,225301.01*58 IY)Yw/?~jth?~jt?&>D; <)Iy~jtx)\(?QĻGa= ^BA)xUAI0Ai uA3OA ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYmf<Mu(=Yu^QUu>yya}"HyyyJ_:}>Iȉ :ō'y 5? :ōnݾ ƍς ?9ƍAǍ: ȍs:)ȍZ:mmAdded new target pos. range: 5.339999 m, bearing: 136.411309 deg, deltaT: 4.518179 s, approachRate: 0.185915 m/s, LOS rate: 1.821100 deg/s, posRepo size: 4Wv_@WX XWX:W2W*WVbUBU*UU(\@U0?BB BA+*BA A A A "C7g@RC9C=v_@CA=i=1I9G]v>Y 嬙,cfFAY}6a@@}6!0@y}6PT}6ik}6H(qٿQ!?u?J @ʿJ?{v ?)~6a@@ ~65\;I~6CɫYY)Y YIYYb?yF) uMl=Y]QU?a"Hy<}?I}x 5?oݾ G ?9A: @:)WWX XWX:W2W *W V bU BU*UUU?BABA BAAEՊ*BIAIAIAIAI"CU:@RCQCYCY)IQGm>;|| $:YR1yi:X5J묙,[fFAY}6/@@}6XK0@y}6d}6}6Hxڿ4?`/V?@]Ϳ?"¿=?)~6/@@ ~6[;I~4ɫII)I IIQY}q?y}F>9IFi?; E)݉IݍڔCi݉ݍ=ݍ=ݍA5i}nGIi 5ٺ15A 鿁     @  @  @ i ) I i  6':M  a "H H y% ji;}% {>I)  :- #w 5?  :- zqݾ -   ?9- \A- < - <)- [:W W X  X W X :W 2W *W V bU BU *U1 U1 U5 Q ?B B  B A ъ*B A A A A "C v_@RC C C שIG> p,kγfFAY}2@@}20@y}2@}28}2H߀ٿ??˿`b?p0?)~2@@ ~2[;I~2Cɫ11)1 1I1YU?yUтF?z=M>YٻQU?a"Hy/=}?Iv 5?qݾ  ?9|Ayg< 6a<)WWX XWX:W2W*WVbUBU*UUU_?BB BA *B A A A A "C*CRCCC!I)miimF m<0:Yiyim5G>,0fFAY}2A@}2R:1@y}2ొ}2샽}2H6`Cؿ?p?LĿ@' ? `?)~2A@ ~2f_;I~2Cɫ99)9 9I9Y}{?y}Fɵ==%WYM%H=Y%QU%>))a-"H)1y5<}=>I9=v 5?=rݾ = M?9=A=÷: =U:)9WiWiXi XqWqXq:Wq2Wy*WyVybUyBUy*UUU@B)B1 B1A5*B1A1A1A9A9"CA*CARCACACA)I1GU>܉9܉I܍pFi܍M?܉܉܉܍}; ݍE?},R fFAɫyy)y yIyYO?yFu~jth(\ſS㥻?uDu. u/=)qIqyuMbp:v?y&1uuTA)u_AIqiuxAquQA    @ @ @i )Ii>M/=YQU >  a "H y}>I -:u 5? -:sݾ ` -?9A: j:)\:WQWQXQ XQWQXQ:WQ2WY*WYVYbUYBUa*UaUauu{u{u u,:Yu#R1yu:u5)u;9}U @R B*** querying acoustic contact ***P P B)B1 B1A5*B1A1A1A9A9"Ca*CaRCaCaCi}?i}?YIaGZ>,fFAY}:i@@}:S0@y}:/.}:H|}:H@y@=_ٿ *??@Z>`Hȿz?t v?)~:i@@ ~:_&];I~:Cɫ99)9 9I9Y}?y}FZ****** received transponder code query ******F****** received ping request ******a"Hy}>Iȩŭu 5?ŭ)sݾ ƭ ?9ƭAǭ: ȭ@:)ȩW)WIXI XQWQXQ:WQ2WQ*WYVYbUYBUY*UYUaUe@BB BA*BAAAA"C*CRCCC IG (># ,5fFA9I8Fi?=; Eɫ髹) IYu?yvFxDUSBL response received:!U1,P 197,000,002CA,186,80,80,37,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 \Ai \A퉻M>=YQU>QQa]"HYy}>I %:  LA:YT1y:5);;t 5? ::sݾ 4ž ?9 A< <)]:WqWqXy XyWyXy:Wy2W*WVbUBU*UUU@PY @BB BA*B!A!A!A!A!"C)*C)RC)C)C1I1Gew>I,^OfFAY}6Q@@}680@y}6}6Ƚ}6H`ق`ٿ`Ba"H!y%eD}%>I15$t 5?5Hsݾ 5%о =?956A5Ǻ: 58:)1WaWaXa XaWaXa:Wi2Wi*WqVqbUqBUq*UqUyU}`W@BB BA*BAAAA"C*CRCCCII)M\AIG-->,6xifFAY}6l@@}60@y}6㇎}6}6H 7@ٿ_? 8?H@fVǿM?`b7N?)~6l@@ ~6w^;I~4ɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,R,1D4,000,002BD,187,80,80,B6,FF Fpublishing direction and range infoѾɰe=鰅1> )6CIy@ >^?M\1jٿٱ=i=A*=Md=Y)2QU>a"Hy\<}>I :s 5? :Xsݾ gھ ?9KA : :)^:WWX XWX:W 2W *W V bU BU*UUU;p@R-(Combining 5 samples.P)*Q-@ZQ-,f@!QJQ- >^?M\1jٿ2Q-Ѿ:Q)bQ-*#(YK @7@?RQ-Q,J0?/F??BQ-=L@ Q-_J@Q-AP-L9?P-J9?P-Q)Q-=@"Q-C@BaBa BaAe|*BiAiAiAiAi"Cq*CyRCyCyCyIG>uuuu u0:YuV1yu:u59}@A9AIAiAE=AAE; EE ,gfFAY}Jfq@@}J0@y}J}JB}JHyؿ T?? =f`1ſ;? !O?)~Jfq@@ ~Ja"Hy:}>Ir 5?4tݾ ھ ?9A: 4:)m uAdded new target pos. range: 4.559999 m, bearing: 133.658346 deg, deltaT: 4.111862 s, approachRate: -0.189695 m/s, LOS rate: -0.669517 deg/s, posRepo size: 4W =L@WX XWX:W2W*WVbUBU*UU@p=@U+?B1B1 B1A=Ή*B9AAAAAAAI"CU@RCYC]=L@Ca}?i}?)IAGm>&,.fFAY}:9~@@}:Ù0@y}: }:Y}:H`qؿ?? c@Hſ [?˰ X?)~:9~@@ ~:CF^;I~:Cɫ99)9 9I9Y}?y}F]2M]=Y]/QUe?aaae"Haiym8/;}m?Iquq 5?utݾ uھ ?9uAu: u:)qWWX XWX:W2W*WVbUBU*UUUp?BB BAu*BAAAA"C @RC C CIGM>u* uuu u,7:YuT1yu:u5% >9! I% Fi% ?% =! ! % ; % 1En-,x fFAY}6c@@}6"0@y}6Q}6fṽ}6H@z`ٿ??>@v'ȿ?KEj?)~6c@@ ~6?];I~4ɫYY)Y YIYYe?yeڂFI))VMF=Ya"HHy}>I :q 5? :Tuݾ ۾ ?9 Ai; |j;)_:WWX XWX:W 2W *W V bUBU*UUU`?BABA BAAM*BIAIAIAIAQ"CU=L@*CYRCYCYCY)I9GQ4,дfFAY}6 J@@}6e0@y}67}66}6H`<ٿT?`!?O@Gƿ@D?9ܲ`/?)~6 J@@ ~6\;I~6CɫII)I IIIY}?y} a "H y } >I  : o 5?  : Zvݾ ۾  ?9 pA g: ^:) `:W9 W9 X9  X9 WA XA :WA 2WA *WI VI bUI BUI *UQ UQ UU ?B B  B A *B A A A A "C *C RC C C I) )- ]A I G% >71:,׿fFAY}6@@}6%;0@y}67}6ţ;}6Hpؿ@?x?? o@¿ ?@:]?)~6@@ ~62T\;I~6Cɫ99)9 9I9Ym?yFU>>M]>Y]jQU]?aaae"HaaymɈ}m?Iqu^o 5?uvݾ u۾ }?9uAu: u:)qWWX XWX:W2W*WVbUBU*UUU`sN@BB BA҈*BAAAA"C*C RC C CiIqG>inGI`Ai9)9)uiٺu`AuAI-ȖFi-?-=))-J; -\E)݉I݉i݉݉݉ݍ b5[?9AkA,ZfFAY}21?@}2/@y}2'}26*}2H@QK,ٿ`?t?d¿a?_?)~21?@ ~25^;I~2Cɫyy)y yIyY?yF=ia=a i@a  a m@a  a q@a  a e@a  _ۼMB=Y QU>a"Hy4}>Ixn 5?Fwݾ ۾  ?9A: >)W)W1X1 X1W1X1:W12W9*W9V9bU9BU9*UAUAUE @BqBq BqAu/*BqAyAyAyAy"C*CRCCCugqqu u':YqyquW5)u ;9}ׁIG>FG,fFAY}^j`?@}^{/@y}^[}^=}^H`;ڿP??`W˿`g?t?)~^j`?@ ~^+];I~\ɫ髑) IYj?y!FAAɵ=p=   % %@ %@ %@!!!i!! !)!I!i!5M5E=Y5{QU=>99a="H9AyEO}M>IQUm 5?Uwݾ Uܾ ]?9U AQ UV?)QWyWyXy XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCC?i?IG(>ܹ 9ܹ Iܽ XFiܽ ?ܽ =ܹ ܹ ܽ ; ݽ |EmM,PR8fFAY}F0?@}F/L/@y}F}F/}FH8? ۿ??`Ϳ=?&h?)~F0?@ ~FJ\;I~FCɫyy)y yIyY?yVFZ****** received transponder code query ******F****** received ping request ******a"Hy}>I :l 5? :xݾ ܾ ?9G AG: ?)a:WWX XWX:W2W*WVbUBU*UUUV @B1B1 B1A5*B1A9A9A9A9"CA*CARCACACIa 2/:YWU1y:k5);AIIGm5>HUT,,RfFAY}J\p?@}J/@y}J1D}J( }JH O ڿj??RͿ`h?H@n?)~J\p?@ ~J\;I~HɫYY)Y YIYY?y(FxDUSBL response received:!U1,P 1D4,000,002BD,187,80,80,B6,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 m=im=     @  @  @ i ) I i -=M-19a="H99yE`;}Ee>IIMj 5?Myݾ Mݾ U?9M AM: MW@)IWyWyXy XyWyXy:Wy2W*WVbUBU*UUU`*@BB BA*BAAAA"C*CRCCCI)\AAIIGe ?x\,KtfFA2|2|2|2 2L):Y2R1y2i:2596@}>9yI}Fi}v?yyy}; }EY}7G?@}b/@y}%}q}HTUڿ?. ?@e ]%ȿ?@L?)~7G?@ ~+`;I~Cɫ髑) IY?yˉFp=ɮa=xDUSBL response received:!U1,R,236,000,002BC,188,80,80,B6,FF Fpublishing direction and range info'ɰ`e=> )Iy@Z,?AvW޿ٱNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B \Aia ia i a ma m a qa q a ea e i|?5ֿV-?S㥛Ŀm= $)IyMbP?V-L=m ~>A)_AI-Ai}A    @ @ @éééiéé ĩ)ĩIĩiĩ =M{=Yjc,zUfFAY}6>@}6.@y}69}66k}6H@D:gڿ@?` ?`5Ŀ@8}?fD5?)~6>@ ~6_;I~6CɫYY)Y YIYY?yF5=M==Y=x;QU=I?AAaE"HAIyM'}MI?IQ ]:U|i 5? e:Uzݾ U e?9U+ AU: U:)Ub:muAdded new target pos. range: 4.500001 m, bearing: 127.530205 deg, deltaT: 4.375769 s, approachRate: -0.013711 m/s, LOS rate: -1.400472 deg/s, posRepo size: 4Ws@WX XWX:W2W!*W!V!bU!BU!*U)U-@@U-`?BYBY BYA]4*BYAaAaAaAa"CmJ@RCiCms@CqIIYG> i,0fFAI0)0: ::: :~:Y:T1y:::j5Y}BE>@}B`.@y}B]򋾙}B}BH` ,@5ۿ@B?`?@CȿF?`㿵@?)~BE>@ ~B];I~BCɫyy)y yIyY?yFTNmea in: $SNTTA,0.024552,,,,225309.68*45 UMU:=YUYYa]"H]Hayex}e>IimGh 5?m{ݾ m) }?9m Am: mM:)iWWX XWX:W2W*WVbUBU*UUU`?BB BAM*BAAAA"C@RCCC ?i ?IG )>a9eٔCIe@Fie?aaae; eÖE|p, µfFAY}>^=@}>.@y}>0}>uӽ}>HT/ۿB?I?Lɿ`?r{ ?)~>^=@ ~>T\;I~>CɫYY)Y YIYYe?yeF    @ @ @i )Ii<MO=Y-!a%"H!)y5C}5>I9 E:=5g 5? M:=k|ݾ =G ?9= A="< = <)=c:WWX XWX:W2W*WVbU!BU!*U!UAUM>?BB BA4*BAAAA"C ҷ@RCCCIG5O>v,۵fFA6 6}6}6 676:Y6kS1y6Ԋ:635Y}V<=@}VƱ-@y}V\}V^ͽ}VH@ .@ۿ?t?@ȿ?Eڸ?)~V<=@ ~V5\;I~VCɫyy)y yIyY?yF=MP=Ya"HyIx}>I*f 5?)}ݾ _ ?9 A: :)WWX XWX:W2W *W V bU BU*UUU ?BABA BAAEȆ*BIAIAIAIAI"CU @RCQCYCY)I1GU>F|,fFA6=i6p=%>9%ڔCI%Fi%E?%=!!%0; %ՖEY}-=@}-9-@y}-${}-t}-H_=Oۿ0?? ǿ.?.(?)~-=@ ~- [;I~-Cɫ ) IYU?yUF=I +ˡEĿy&1?=9=' =`e=)9I9y=&1MbP~jt?=P==< 9)=-ZAI9i=xA9=OA - - - -@ -@ 5@)))i)) )))I)i)M MU=YUiiam"Hiqyu}u>Iy :}]h 5? :}}ݾ } ?9} A}: }g:)}d:WWX XWX:W2W*WVbUBU*UUU9x?BB BA*BAAAA"CŶ @RCCC I)]AIG=>{,bfFA6E 6x6x66 6S9:Y67P1y6:6 6)6W;9:Y}B/=@}B-@y}BB{p}B$}BHPۿy? x?`Ծ@<ƿ?5@+?)~B/=@ ~BK_;I~BCɫyy)y yIyY?yF-=M5=Y5^=QU=%?99a="H9AyE:}E'?IIM|i 5?M;~ݾ M  ]?9M AM: M:)IWyWyXy XWX:W2W*WVbUBU*UUU`@BB BA*BAAAA"C @*CRCCCIG>䉭,$)fFAY}6[==@}6X-@y}6b}6ݽ}6H Ubܿ Y?3?@ ALȿ@#?`W?)~6[==@ ~6];I~4ɫ99)9 9I9Yu?y}ЍF`MO=Y( =QU>a"HyAT}>Ik 5?~ݾ  ?9# A-: :)W1W9X9 X9W9X9:W92WA*WAVAbUABUA*UIUIUM @R]B*** querying acoustic contact ***PYPYByB BA *BAAAA"C` @RCCC׉IG=imG9I@Fi?T; E)ݑIݑiݑݕ=ݕ=ݕ4IE/aAiYjٺ/aAAː,UCfFAI0)2?A66|6|6 6-:Y6R1y6i:65)6};Y}R<@}R,@y}RT}Rc}RH Uܿ ? ت?^ɿ|`?E?)~R<@ ~R];I~Pɫyy)y yIyY?yQFZ****** received transponder code query ******F****** received ping request ******a"HyKr}>I :m 5? :oݾ _ ?9 A: $:)e:WWX XWX:W!2W!*W!V!bUIBUI*UIUIUM@7@BB BA?*BAAAA"Cs@RCCC?i?׹IGE>$,.]fFAɫyy)y yIyY?y=FxDUSBL response received:!U1,P 236,000,002BC,188,80,80,B6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 g ~ ~ >9 ٔCI i     s;  E U ':Y T1y @: 5) ; Zd;OMbпMb j  ) I y ~jthMb`?Zd;O D ; j :A) WAI 31Ai jA  KA e e e e@ m@ m@aaaiaa a)aIaiau<M}a"Hy}Y>Iȑ :ŕl 5? :ŕ\ݾ ƕB ?9ƕ AǕ; ȕU;)ȕf:WAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UyUyU}`qx@BB BAw*BAAAA"C*CRCCCI9G]"?*a,GɅfFAY}V;@}V+@y}V49}V=}VH 4 'ݿ@ ? ?`Y`'Sÿ@Y?  @`?)~V;@ ~VDNa;I~VCɫ髉) IYZ?y*FxDUSBL response received:!U1,R,274,000,002BC,189,80,80,C6,FF Fpublishing direction and range infoK ɰ鰵7> )FCIyIP?]*WٱNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)v=M=Y >QU=d?9AaE"HAAyM[н}M_?IQUl 5?U[ݾ Ur }?9U AU^; U;)QWWX XWX:W2W*WVbUBU*UUU@V@R(Combining 5 samples.P *Q ZQ qS@$JQ IP?]*W2Q K :Q bQ boX@D&L[?RQ  D@/\z࿄?X\P?BQ @ Q tp@Q MP M9?P P Q Q &-@"Q 3A@BB BA*BAAAA"C*CRCCC׉IG?>\,zfFAY}6G;@}6c+@y}6=Q0}6}6H2ݿyE?3?,vƿ Q?T?)~6G;@ ~6٥_;I~6Cɫ99)9 9IAY}V?y}ĐFl<M]=Y!!a%"H!)y-}->I15l 5?5Vݾ 5 E?95 A5I: 5:)1muqAdded new target pos. range: 4.500001 m, bearing: 121.664575 deg, deltaT: 4.127641 s, approachRate: 0.000000 m/s, LOS rate: -1.421061 deg/s, posRepo size: 4Wu@WqXq XqWyXy:Wy2Wy*WyVbUBU*UUU@T?BQBY BYA]؄*BYAYAYAYAa"CeY @RCiCm@CiIIQG}>{{z =.:Y#R1y:59@ 9 I xFi ? =   t;  ,2XfFAY}6 ;@}6)(+@y}6[$}6F}6H :4*ݿO?u? K|ƿj?_?)~6 ;@ ~6s];I~4ɫ99)9 9I9YR?y_Fi]A <M <=Y ?a"HHyp}%>I! 5:%l 5? 5:%Pݾ %5 5?9% A%,: %:)%g:WyWyXy XyWyXy:W2W*WVbUBU*UUU@H?BB BA*BAAAA"CU @RCCC!I1GM1>,D6ӶfFAY}B1:@}B +@y}B+}Bc^˽}BH`: ݿd?@?0@ÿ ?`|?)~B1:@ ~B V\;I~@ɫ) IY-?y-UF=i=) } } } @ @ @yyyiyy y)yIyiyU<M(=Y:a"HyLa}>Iȩŭl 5?ŭLݾ ƭ ?9ƭ AIAA)@A :Yy 5ǭ: ȭa;)ȩWWX XWX:W2W*WVbU BU *U U U wj?B9B9 B9AE5*BAAAAAAAAA"CM@RCICQCQQIaG}z>,fFAY}6:@}6}*@y}6 }6'}6Ht;ݿp??[@Iſ?@z?)~6:@ ~6[;I~4ɫ99)9 9I9Y}?y}֑F>9IFiv?= IM 4=)M R= T㥛 ?(\пv/? = xi=) I y :v?:v?Mb? T< < < ;9A) MVAI 5Ai cA JA)% = ! - i0M- =Y5 9 A aE "HA I yM }U >IY } :] k 5?  :] ݾ ]   ?9] A] ; ] |;)] h:W W X  X W X :W 2W *W V bU BU *U U U Oc?BY BY  BY Ae i*Ba Aa Aa Ai Ai "Cq *Cy RCy Cy C IG>t­, fFAY}R:a:@}R|*@y}R}ROɽ}RH0`ݿ ? 0?@c¿e&?츿 N?)~R:a:@ ~R[;I~RCɫ髑) IY?yFI1)1    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ=M=YbW=QUR?a"Hy}S?IȹŽZk 5?Ž-ݾ ƽ ?9ƽ Aǽk: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU`e@yy ):YP1y':5)ׇ;9%BIBI BIAU*BQAQAQAQAQ"CY*CYRCaCaCaIG$>'ɭ, f&fFAY}29@}2j)@y}2%}2*}2Hl ^i޿ ? ? @7Dp? 3?)~29@ ~2^;I~2Cɫ99)9 9I9Y}*?y}F=M]=Ya"HyQ }>I :j 5? :ݾ  ?9% A: :)i:WWX XWX:W2W*WVbU BU *U U U@BB BA#*BAAAA"C*CRCCC=i=IG>9IFi1?;  E Э,NC@fFAY}6*9@}6E)@y}6e}6du}6Hi ޿ ?E? N ,?xmq?)~6*9@ ~6'];I~6Cɫ99)9 9I9YyyyY;QU>a"Hyg}>Ii 5?ݾ  ?9Y A: ߼:)WWX XWX:W2W *W V y|| ):YR1yi:5)J;bU)BU)*U)U)U5@R=B*** querying acoustic contact ***P9P9BaBa BaAa*BaAiAiAiAi"Cq*CqRCyCyCyIב)ב׉IG>9֭,2ZfFAY}69@}6{+)@y}6G뽙}6Y}6HU ߿?c?@\hX? z>?)~69@ ~6Ĝ\;I~6CɫAA)A IIIY ?yF5Z****** received transponder code query ******=F****** received ping request ******=a"Hyn}>I  : h 5? : yݾ  ?9  A : {:) j:WYWYXY XYWYXY:WY2Wa*WaVabUBU*UUU4 @BB BA**BAAAA"C *C RC C CI)GEQ>cܭ,UsfFAY}Jc9@}J)@y}J4ҽ}J"}JH@i߿ ?)x?_¿N?W㻿`?)~Jc9@ ~J[;I~HɫYa)a iIiY t?9IXFi?=; E)}ٔCI}ٔCiy}=y}K5iI@A)%%y%y% %.:Y%P1y%':%|5)% ;I1y%FiQae@A}ٺy}AxDUSBL response received:!U1,P 274,000,002BC,189,80,80,C6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ]x&1?(\տ(\?]A>] ]z>)YI]y]~jt~jth?]]ļ]D; ]5>A)]+MAI]5Ai]WAY]=FAy;M!=Ya"HyǺ}>Ivi 5?ݾ ` ?9 A^; ;)WYWYXY XYWaXa:Wa2Wa*WaVibUiBUi*UiUqUuT@BB BA*BAAAA"C*CRC C CY?i?ש I G >K㭙,pҍfFAY}6LO8@}6j(@y}6]Ľ}6b}6He߿??@z @?x`?)~6LO8@ ~68;[;I~6CɫYY)Y YIYY??y@FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B uX=M}=Y}w魙,ᶧfFAY}62n7@}6'@y}6}lȽ}6}6H` N`??B( T?@|`?)~62n7@ ~6b^;I~6Cɫ19)9 9I9Yu?yuȖF}xDUSBL response received:!U1,R,29D,000,002BD,18A,80,80,BB,FF Fpublishing direction and range info}tyɰ}e=}> y)};CIyy}@}"?>ٱyI)ww .:YO1yP:69%@ U U U U@ U@ U@QQQiQQ Q)QIQiQAz<M8=YQU>a"HHy5}>I :0j 5? :ݾ  ?9A: :)k:W W X  X W X :W2W*WVbUBU*UUU`!@R-(Combining 5 samples.P1*Q5@ZQ5TgY p@WJQ5"?>2Q5t:Q1bQ54z4)q#o1G@?RQ5>AZܿxz޴ގ?vܵ?BQ5@ Q59@Q5IP5N9?P5M9?P1Q5Q5{@"Q5&-@BaBi BiAmf*BiAiAqAqAq"Cy*CyRCyCyCYIiG8>ܕ>9ܑIܕFiܕa?ܕ=ܑܑܕ; ݕE^,fFAY}27@}2/ '@y}2ӽ}2%{}2H Fu 9VҴ??`hp?t9 YYae"Haaym}m>Iy}j 5?}ݾ }^ ?9}*A}*; }U9;)ymEqAdded new target pos. range: 4.559999 m, bearing: 116.399879 deg, deltaT: 4.535264 s, approachRate: 0.013229 m/s, LOS rate: -1.160836 deg/s, posRepo size: 4WE@WaXi XiWiXi:Wi2Wi*WqVqbUqBUq*UqU}@p=@U}`m?BB  B A H*B A AAA"Ce@RCC@CI)GEQ>͇, d۷fFAY}637@}6ZO'@y}6˽}6Pz}6H@@El?@U?`7p@LLs?`0 ǽ?)~637@ ~6];I~4ɫyy)y yIyY?yF%TNmea in: $SNTTA,0.030489,,,,225318.27*4C h+MR=Y#a"Hy9;}>I :j 5? :0ݾ  ?9PA: :)l:~yy t):YP1y':|5W1W9X9 X9W9X9:W92WA*WAVAbUABUA*UIUIUMw?ByBy ByA}j*ByAAAA"C@RCCC׉IG>/,B@fFAY}Z 7@}Z%'@y}Z~Y}Z1ڽ}ZH:Yfh??@L#?J?)~Z 7@ ~Zm\;I~Xɫ!)! !I)]>9YIYiYYYY]g; ]EYu?yuF=iC=)!㥛 ?̿~jt>ff D)I@y:viiam"Hiqyu }}>IȁŅl 5?ŅPݾ ƅ ?9ƅADž=: ȅE:)ȁWWX XWX:W2W*WVbUBU*UUU7?BB BAu*BAyAyAyAy"C@RCCCבIG>B,m fFAY}26@}2y&@y}2j[}2}2Hd}ƒ?@.K?T> ö?@:?)~26@ ~2[;I~2Cɫ99)9 9I9Yu?y}FI ) AAzz ~*:YQ1y:5)= = <M =Y 6;QU >  a "H  y 2P} >I) 5 :- Gm 5? 5 :- uݾ - 5 ?9- A- : - X:)- m:WY WY XY  XY WY XY :WY 2Wa *Wa Va bUi BUi *Ui Ui Um ?BI BI  BI AM *BI AQ AQ AQ AQ "C] @RCY CY Ca Y Ia G > ,M(fFAY}B8-6@}BH&@y}Bƽ}B.R}BH C@ɰ?w?`uRƸ?@` ?)~B8-6@ ~B2\;I~BCɫYY)Y YIYY?yFud>M}=Y}+QU}m?a"Hyl}m?Iȑŕm 5?ŕݾ ƕ9 ?9ƕAǕ: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU?BB  B A E*B AAAA"C*CRC!C!C! IG5 >=>99I=XFi=?==99=F; =ߖEū,tBfFAY}25@}2F%@y}2Iyؽ}2?-9}2HS!`@? E?@,D??)~25@ ~2^;I~2CɫYY)Y YIYY}?y}}FI) E E E E@ E@ E@ E@AAAiEA E)EIEiEMF=YoQU>a"Hy~}>I%s!!% %(:Y!y!%6)%;95n 5?ݾ  U?9A%< d)<)WWX XWX:W2W*WVbUBU*UUUK@B!B! B!A%M*B!AIAIAIAI"CQ*CQRCQCQCYaIiG;>,\fFAY}25@}2%@y}2}ս}2}2H`a2? ?`]ÿ@/?`7 Z?)~25@ ~2];I~2CɫII)I IIIY}?y}GF鮁ɮcML=Y4j;QU>a"HyB}>I i= : o 5? : ݾ  ?9 0A -; !.;) n:WAWAXA XAWAXA:WA2WI*WIVIbUQBUQ*UQUQUUwe@ReB*** querying acoustic contact ***PaPaBB BAˁ*BAAAA"C*CRCCCסIG >`,͔vfFAY}Mj5@}M%@y}Mǽ}MA}MH # FF?@?@Ư@]ǿ?`ÿZv?)~Mj5@ ~Mg^;9I Fi?'; ΖEI~MCɫ) IE9E|E|E E#:YER1yEi:E5)E;Y&?yFZ****** received transponder code query ******F****** received ping request ******AAaM"HIIyM>Q:}U>IY]@p 5?]ݾ ]{ e?9]xA]: ]:)YWWX XWX:W2W*WVbUBU*UUU Ǐ @BQBQ BQAU$*BQAYAYAYAY"Ca*CaRCaCaCiIIYG}>#,afFAY}65@}6';%@y}6)ƽ}6YS}6H U1Li?`?@ĿҸ? ??)~65@ ~6];I~4ɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,P 29D,000,002BD,18A,80,80,BB,FF Command AckBRequesting micromodem ping code 2i=ia=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 M =Y a:QU > a "H H y u} >I  : q 5?  : ݾ S  ?9 A : :) o:W W X  X W X :W 2W *W V bU BU *U U U "l@BI BI  BI AM B*BQ AQ AQ AQ AQ "CY *CY RCY Ca Ca ׉IG>IA+,4fFAY}Rt4@}R$@y}RqKν}R }RH`[y?y?` DĿE?@[?b(bbb{ b":YbWU1yb:b59b@)~Rt4@ ~R>\;I~RCɫ髩) IY?yF Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 8<M=YQU?a"Hyy}?IWq 5?ݾ > ?9A: @:)W1W1X1 X1W1X9:W92W9*W9V9bUABUA*UAUIUM`Y@BqBq ByA}3*ByAyAAA"C*CRCCCסIG#>iNmGI`Ai!Uٺ]`A]A܁9܁I܅Fi܅v?܁܁܁܅; ݅E)Ii=75#2,jȸfFAY}F4@}F=$@y}FڢĽ}F}FHKՑ??`EDÿ`?; i?)~F4@ ~F_;I~FCɫyy)y yIyY?y"FxDUSBL response received:!U1,R,2F5,000,002BA,188,80,80,B5,FF Fpublishing direction and range info)ɰd=鰽> )5CIy(@ߐD?d2̔ٱ    @ @ @ @ùùùiýù Ľ)ĹIĹiĹMM=YAa"Hy/};}>I -:q 5? 5:ݾ  5?9A] <  <)p:WQWYXY XYWYXY:WY2Wa*WaVabUaBUa*UiUUw@R(Combining 5 samples.P*Q(@ZQV{? @#JQߐD?d2̔2Q):QbQ!ݪ'NfFQ@rG^?RQADzHտJ]j?kB?BQ? Q@QqPP9?PN9?PQQ%@"Q{@B)B1 B1A5r*B1A1A1A9A9"C9*CARCACACiAIIGm5>L8,fFAY}:i4@}:$@y}:}:dٽ}:H@h@aW@qq?{?`R w@?|@/?)~:i4@ ~:)];I~:Cff}f}f f:YfkS1yfԊ:f 5ɫ99)9 9I9Y}9?y}OFDNmea in: $SNTTA,,,,,225322.65*5B ɵ==5;M5D=Y5D99a="H9AyE޻}E>IIM~r 5?M8ݾ ME ]?9MRAM: MU:)ImuAdded new target pos. range: 4.380000 m, bearing: 109.647991 deg, deltaT: 4.500804 s, approachRate: -0.039993 m/s, LOS rate: -1.500151 deg/s, posRepo size: 4W ?W X  X W X :W2W*WVbUBU*UU@U!?ByBy ByA}_*BAAAA"C@RCC?CIGI>܉ 9܉ I܍ xFi܍ ?܍ =܉ ܉ ܍ ; ݍ E{>,fFAi=Y}]|4@}]$@y}]F}]F}]H pg#?`3?@`B? @{?)~]|4@ ~]Z\;I~]Cɫ)))1 1I1Ye=?yeFelRQȿI +?eeB e9=)aIaye~jty&1?eDee`e< e7A)exUAIe;9AieaeBA = = = =@ =@ =@999i99 9)9I9i9MMM9=YU=QYa]"HYaymһ}m>Iq }:ur 5? }:umݾ u\ }?9ujAu: u:)uq:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"CS?RCCCI G-N>`E,&fFAY}23@}2 $@y}2̨}2&}2H@GI?o?`y?K?)~23@ ~2T[;I~2C  z z  *,:Y Q1y : 45ɫ99)9 9I9Y?y"FZ<Mw=Y;QU?!a%"H!!y-׼}-?I15)s 5?5ݾ 5- =?95|A5: 5:)1WaWaXa XaWaXa:Wa2Wi*WiVibUqBUq*UqUqU}?BB BAr*BAA A A "C-?RC1C1C1AIIGm>K,h0fFAY}2 C3@}2^#@y}2*}26%}2HG@_? m?p㴿+?@?)~2 C3@ ~2];I~2Cɫ99)9 9I9Y]?y]=F)= >5Y;M5H=Y=O,QU=>99aE"HAAyMҼ}M>IQUs 5?Uƒݾ U| ]?9UAU: Q)QWyWX XWX:W2W*WVbUBU*UUUQ?BB BAg*BAAAA"C*CRCCCשIG=191I5Fi5v?1115; 5xExqR,h?JfFAY}2E3@}2la#@y}27 }2NI}2HZ <@Y^?Ƴ?π춿y?@e?)~2E3@ ~2r_;I~2CI)@Axx 0:Y7P1y:35) ;9ɫ99)9 9I9Y}?y}+F    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ#MD=YWa"Hy9}>Iȹ :Žs 5? :Žݾ ƽ ?9ƽAǽ: Ƚg:)Ƚr:WWX XWX:W2W*WVbUBU*UUU@~?B)B) B)A-n*B1A1A1A1A1"CQ*CYRCaCaCiaIqG>X,YdfFAY}2nB3@}2]#@y}2ڧ}2W}2HՄ??f[?˴W?)~2nB3@ ~2 `;I~2CɫYY)Y YIYY?yYF5ټM=Q=Y=yAAaE"HAIyM9 }M>IQU- >9) I- Fi- ?) ) ) - ; ) ^,}fFA {{w 4:Y#R1y:"5)Y;ɫ) IY5?y5QF9ɮ9ETNmea in: $CAERR,225326,DATA_TIMEOUT,2*4F )I 鿱Mb{Gzt?ktף;  )IyQ~jt?Mb?<= 5>A)IAI:AiOQADA^A 5 = = =@ =@ =@999i99 9)9I9i9M1MM-=YMQUU>QQaU"HQYy]}e>Ii u:mt 5? u:mݾ ml u?9m Am: m:)ms:WaWiXi XiWiXi:Wq2Wq*WqVybUBU*UUU`)@RB*** querying acoustic contact ***PPBB! B!A%/*B!A!A)A)A)"C1*C1RC1C1CY1I9G]v>e,ΗfFAY}:3@}:e#@y}:՝}:ƽ}:HyF"d?@d?KZ1? ø1?)~:3@ ~:\;I~:Cɫ99)9 9I9Y}?y}FZ****** received transponder code query ******F****** received ping request ******I Q aU "HU HQ y] $Ի}] >Ia m :e u 5? m :e Lݾ e u ?9e hAe : e :)e t:W W X  X W X :W 2W *W V bU BU *U U U г @B B  B A *B A A A A "C *C RC C C  ?i ?׹ I G% >ak,fFAY}Fؚ2@}Fb"@y}F 阽}F0}FH@Y  ?W?W⳿?x ?)~Fؚ2@ ~F8[;I~FC  } }  76:Y kS1y Ԋ: !59@ɫyy)y yIyY?yFxDUSBL response received:!U1,P 2F5,000,002BA,188,80,80,B5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ?=M>Y f7QU?!)au"Hyy%-}?Iu 5?ݾ ޾ ?9Aq; :)WYWYXY XYWYXa:Wa2Wa*WaVabUiBU*UUU  @BB BA*BA A A A "C*CRCCC9IFia?=; EiIGC>r,i˹fFAY}2)1@}2!@y}2{G}2%o<}2HG?`?I? u?qA? AO?`?)~2)1@ ~2^;I~2Cɫ99)9 9I9Y} ?y}FI=)=)> %> 5 5 5 5@ 5@ 5@111i11 1)1I1i1EV;MME=YMQUM>QQaU"HQYy]}]>IaeJv 5?eXݾ eؾ u?9eAe: e:)aWWX XWX:W2W*WVbUBU*UUU/@BB BA*BAAAA"C *CRCCCIG- >'x,_fFAY}2 m1@}2!@y}2;ʽ}2.=}2HgO?p? ~$x R??@e?)~2 m1@ ~23b;I~2C%f %|%|% %;:Y%R1y%i:%5ɫYY)Y YIYY?yFw<MD=YQU>a"Hyჼ}>I :v 5? :"ݾ CҾ ?9A: 4:)u:WWX XWX:W 2W *W VbUBU*UUU@BABA BIAME*BIAIAIAQAQ"CQ*CYRCYCYCYIu\A)u[AiIqG>- 4>- Ci /mGI i AE ٺA M A 9 I i = ; )aIaiae=e=ew4,ha"Hy}>IȹŽ{w 5?Žݾ ƽp˾ ?9ƽFAǽ%; Ƚ>)ȹW9W9X9 X9W9X9:Wa2Wa*WaVabUiBUi*UiUiUm @BB BA*BAAAA"C*CRCCCIGn>@,fFAY}2/@}2  @y}2Ͻ}2v.}2HIKӠ? ?f޿ ?Ce`ϻ?)~2/@ ~2\wg;I~0_ ~~ f;:YT1y@:5ɫ99)9 9I9Yr?yFɮNmea in: $CAXST,7,20210815,225326.164815,3,0,200,4000,14500,1,1,10,1,2,1,3,64,14500*5F Response from modem unexpected: $CAXST,7,20210815,225326.164815,3,0,200,4000,14500,1,1,10,1,2,1,3,64,14500*5F \A\A M =Y cQU >  a "H  y% }% >I) - x 5?- 2ݾ - þ 5 ?9- A- : - 2?)) W W X  X W X :W 2W *W V bU BU *U U U @.@R B*** querying acoustic contact ***P P B B  B A *B A A A A "C *C RC C! C! y I G >&,2fFAY}:X/@}:s@y}:Nbڽ}:}:H@S ?B?kÿ` ?? @?)~:X/@ ~:2f;I~:Cɫ99)9 9I9Yu?yuFX<M=YTQU?a"Hy]}5?I9=Kx 5?=ݾ =h E?9=A=$: =֘?)9WaWiXi XiWiXi:Wi2W*WVbUBU*UUU8~@BB BA *B AAAA"C*CRCCC!AIQq9qIuȖFiu?qqqu; uEG>> ,LfFAY}6/@}6]$@y}6^}6)}6H826@6?@Z? =¿@?@<`a?)~6/@ ~6-Nc;I~6C y y y  x=:Y P1y ': 6) ;9ɫyy)y yIyY?yF    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ;M;=YQU>a"Hy5}>Iȹ :Žx 5? :Žwݾ ƽ ?9ƽAǽd: Ƚ?)Ƚv:WWX XWX:W2W*WVbUBU*UUU@(@B)B1 B1A5*B1A1A1A9A9"C9*CARCACACA IG5 >9,tffFAY}j#.@}j@y}j(}jH}jH&`e`XC?gb?¿u?@G`?)~j#.@ ~jb;I~jCɫ) IY5c?y5FAAe:Nmea in: $CAACK,10,1,1,1*7B )= =4M5=Y߼QU>a%"H!)y-c}->I15Gy 5?5mݾ 5 =?95JA5: 5K@)1WyWyXy XyWyX:W2W*WVbUBU*UUUr@BB BA*BAAAA"C*CRCCCI)]AI!G=Q>q 9q Iu Fiu 1?u =q q u ; u ĖE>, fFA  { {  *:Y #R1y : 5) ;ɫyy)y yIyY?yFQNmea in: $CACST,6,0,20210815225328.978879,06,32767,45,0111,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,31.1,12.37,23,-9.37,-01,0.00,49,14500,4000*5D Response from modem unexpected: $CACST,6,0,20210815225328.978879,06,32767,45,0111,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,31.1,12.37,23,-9.37,-01,0.00,49,14500,4000*5D a ia i a ma m a qa q a ea e a Ia I Mb?`"{Gz< #)IyMb?+{Gz<ף •:A)•nRAI•5Ai•WAFA Me=YQU>a"Hy}>IQz 5?ݾ  ]?9A< :)WWX XWX:W2W*WVbUBU*UUU  ҆@BB BAy*BAAAA"C*CRCCC׹IGE>J,gdfFAY}>.@}>r@y}>Z}> }>H=@ ?.?`=6ǿ`? Or?)~>.@ ~>`;I~>CNJFailed to close latch before timeout.q RRHardware FaultYRY?yVFj8B<Mjn=Yjs,X9fFAY}:J-@}:@y}:J}:}:H G a? 8?`˞¿>?௫ "?)~:J-@ ~:^;I~:CFPowering downDɪD)D D     .Z:Y T1y : 59@Y?yFɮɵ-=-=    @ @ @ÁÁÁiÁÁ ā)āIāiā<M"=Y;QU>a"HHy+}>9IxFi?=4; ՖEI!%| 5?%mݾ %껾 5?9%A%: %:)!WQWQXY XYWYXY:WY2WY*WaVabUaBUa*UiUiUm @BB BA*BAAAA"C*CRCCCIGE>[,κfFAY}2@-@}2[@y}2>}23 }2HٛrJ`a?u? E⻿b?@K?)~2@-@ ~2k];I~2CYB?yBcF M=YDwQU ?  a "H y}?I! %:%} 5? -:%/ݾ %G -?9%BA%6-; %];)%x:WqWqXq XyWyXy:Wy2Wy*WVbUBU*UUU @RB*** querying acoustic contact ***PPBB BA'*BAAAA"C*CRCCCױIG=n,RfFAY}6h,@}6@y}64}6!}6Hzh-}? *?`kgG¿ ?%N@?)~6h,@ ~6h];I~6CYN?yR?F% %z%z% %S:Y%Q1y%:%5    @ @ @áááiáá ġ)ġIġiġ犻M@=Y!,QU>a"Hy'n}>I 5?qݾ  ?9AI: :)WWX XWX:W 2W *W V bU BU*UUU @BABA BAAE6*BIAIAIAIAI"CQ*CYRCYCYCYQIY$mNClearing failed state for component DDMq uG}= >9 I Fi E?    ;  Eo,fFAY}6,@}6@y}6}6}6HIzϚ-?`&9? R+Y9ƿ`ܿ?)Ih?)~6,@ ~6]];I~6CYNY?yNFPPeZd;?+Qey=e eu)aIayeA`"?~jtxeY=eLeĻ e?A)eIAIe0AieXAaeDA)}= }> U U U U@ U@ U@QQQiQQ Q)QIQiQeMm?=Ymqqau"Hqyy}Z}}>IȁŅ~ 5?Ņݾ ƅ\ ?9ƅPADž: ȅ:)ȁWWX XWX:W2W*WVbUBU*UUUظ!@BB BAW*BAAAA!"C*CRCCCׁIG>rƮ,fFAY~a?    s 5+:Y y  F5y~F}Setting waiting for range response to false due to timeout. Elapsed:6.057613)MH=YQU>a"Hy}>Iȱ :ŵ~ 5? :ŵ ݾ Ƶセ ?9ƵAǵg: ȵ:)ȵy:WWX XWX:W2W*WVbUBU*UUU@|"@B!B! B!A%Ղ*B)A)A)A)A)"C1*C9RC9C9C9IIQGm>̮,ǀ5fFAY}6,@}66@y}6~콙}6y}6H`K`q`[?`~?D@ ?#`#?)~6,@ ~6+v\;I~6CYN?yRFi]nGI/aAiAAE ٺE/aAEbB>9I@Fi?; /E)IIIiIIIM4 ] ] ] ] @ ] @ ] @ e Y Y Y i] =?Y ] ?)] ?I] K?i] K?} |;M} a "H y }} >Iȡ  :ť ~ 5?  :ť R~ݾ ƥ ټ  ?9ƥ Aǥ ; ȥ ;)ȥ z:W W X  X W X :W 2W *W V bU BU *U U U #@BI BI  BI AU *BQ AQ AQ AQ AQ "CY *Ca RCa Ca Ca u ?iu ?y I G >Ӯ,PfFAZ^Z}Z}Zf Z&:YZkS1yZԊ:Z}5)Zm;9^Y9?yF鮩ɮ=M>YQU?a"Hy}?I} 5?}ݾ  ?9A: #:)W!W!X! X!W!X!:W!2W)*W)V)bU)BU1*U1U1U5B!$@BB BA*BAAAA"C*CRCCCIG>ٮ,,ifFAY}F|&+@}FB@y}F7뽙}F}FH@U)?`?¿BS??)~F|&+@ ~F[;I~FCYR?yRFfqMf^=Yj};QUj>hhan"HllyrY&}r>Itv} 5?vJ|ݾ v z?9v%Av: v:)tWWX XWX:W!2W!*W!V!bU!BU)*U)U)U-1$@BB BAL*BAAAA"C *C RC C CIG=ܑ 9ܑ Iܕ Fiܕ v?ܕ =ܑ ܑ ܕ ; ݕ DEmங,HƒfFAY}:A*@}:@y}:}ٽ}:Q}:H@@}D X? @Ŀ@"?ʾ ?)~:A*@ ~:\;I~:CYFv?yFF^\\^ ^Y1:Y\y\^5)^t;?l"~j?L> S=)Iy{Gzt?Mb?S㥫?ף;</]= …ZBA)…FAI…5Ai…tUAEA    @ @ @ @i )IiKM*=Ya"Hy }>Iȱ :ŵc} 5? :ŵ|ݾ ƵA ?9ƵCAǵ ; ȵ:)ȵ{:W!W!X! X!W!X!:W)2W)*W)V)bU)BUQ*UQUQU]@w%@ReB*** querying acoustic contact ***PaPaBB BA*BAAAA"C*CRCCCI]A)IG K>箙,sfFAY}>z:*@}>V@y}>c⽙}>\?}>H@ }Y?`6? vM?@]`?)~>z:*@ ~>w[\;I~>CYJ?yJ֑FNZ****** received transponder code query ******NF****** received ping request ******N=/,LfFAY}6)@}6{@y}6&X}6aj}6H #?@ Q? 4@[??)~6)@ ~6^\;I~4YN!?yRߑFVxDUSBL response received:!U1,P 2F5,000,002BA,188,80,80,B5,FF VCommand AckVBRequesting micromodem ping code 2iTTf fyfyf fw?:YfP1yf':f59j@999I=Fi=a?999=!; =SE     @  @  @ i ) I i 7.:M   a "H H y j } >I! - :% | 5? 5 :% &}ݾ % ^ 5 ?9% sA% : % =:)% |:WQ WQ XY  XY WY XY :WY 2WY *W V bU BU *U U U '@BQ BQ  BQ A] e*By Ay Ay Ay A "C *C RC C C ?i ?ױ I G >Z,@һfFAY}6)@}67@y}6}6g }6Hc{ܟ@ٱ?W?@o|b?@ui?)~6)@ ~65[;I~4YB?yBFVzsMV3>YVQQUZ?  a "H y[i}?I| 5?6}ݾ ꎾ -?9yA: :)WIWIXQ XQWQXQ:WQ2WQ*WYVYbUYBUY*UaUaUe $(@BB BAC*BAAAA"C*CRCCCשIG=n,fFA**|*|* *0:Y*R1y*i:*5Y}>)@}>P@y}>yk}>}>Ho 4?U? % M廿)B?`V6`?)~>)@ ~>[;I~xxaz"Hxxy~C:}~>I| 5?f}ݾ 䃾 ?9As: ':)WWX XWX:W2W*WVbUBU*UUU(@BB1 B1A=*B9A9A9A9A9"CA*CARCICICIIIYGu=ܵ>9ܱIܵFiܵ?ܵ=ܱܱܵ; ݵ7ESg,fFAY}6)@}6m@y}6}6u*}6H @-?S?s?@%?)~6)@ ~6P[;I~4BPowering upB"Initializing DDM.Y?y"FX9v{Gzt?:v?ף; =)Iyy&1|MbQ?`廹\=  ?A)+MAI5AiXAFA    @ @ @ÁÁÁiÁÁ ā)āIāiāNM&=Y2JQU>a"Hy]9}>Iȱ :ŵ~ 5? :ŵV|ݾ Ƶku ?9Ƶ Aǵs: ȵ|:)ȵ}:WWX XWX:W2W*WVbUBU*UUU~)@B)B) B)A-*B)A1A1A1A1"C9*C9RC9C9CAIQ)Q!I1GM1>v,MfFA**z*z* *2:Y*Q1y*:*E5Y}Z2)@}Z@y}Z}Zi]}ZH@j}5?`C?` @p?`1j?)~Z2)@ ~Z![;I~XYf?yfuFv#޼Mz=YzQUz ?||a~"H|y3;} ?I   5? {ݾ fi ?9 [A >: :) W9W9X9 X9WAXA:WA2WA*WAVIbUIBUI*UIUIUU*@ByB BA0*BAAAA"C*CRCCCqIG=< ,(9fFAY}6m)@}6@y}6}6 v}6Hey`)7?a-? pyĿ`?M܅?)~6m)@ ~6[;I~6CY^~?y^,Fj4=ihEMEE=YM~QUM>IIaU"HQayu;}}>Iȑ :ŕց 5? :ŕzݾ ƕX ?9ƕAǕ|; ȕ(;)ȕ~:Y9YI]pFi]M?]=YY]; ]%EWWX XWX:W2W*WVbUBU*UUU  >{+@R5B*** querying acoustic contact ***P1P1BqB BAN*BAAAA"C*CRCCCiIqG>r,tSfFA* ((* *4:Y(y(*6)*j;9.Y}B)@}Bj@y}B%}B}BHm@?-? )ɿ7? [?)~B)@ ~B9[;I~BCY^|?ybRF % % % %@ %@ %@!!!i!! !)!I!i!5oM5K=Y=QU=>AAaE"HAIyM%}M>IQU 5?Uzݾ UmH ?9U*AU< Uհ<)QW9WAXA XAWAXA:WA2WI*WIVIbUIBUI*UQUqUui@,@BB BA*BAAAA"C*CRCCCשIG>,OmfFAY}>:)@}>@y}>")}>]Ž}>HoO@H&?$?@-O@1ǿ ?`Xj?)~>:)@ ~>ai[;I~ttav"Htxyzg&;}~>I  :. 5?  :;yݾ 8  ?9A: :):W1W1X1 X1W1X1:W92W9*W9V9bUABUA*UAUAUM`,@BqBq BqA}*ByAyAyAyA"C*CRCCCqIG=zCi5nGIIiaٿٺAQ9QIUFiU?QQQU; UE)Ii==4ŵ!,#,fFA..}.}. .):Y.kS1y.Ԋ:.|5).;Y}R)@}R@y}R 5}Rl6H}RHpT r?*?u|ÿ`?mv?)~R)@ ~RdO[;I~PYn?yrFzNmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I|)|-~jt?/$:v?-D=-, -<))I)y-~jtI +?{Gz--9<-ף -5>A)-$RAI-2Ai-aA)-HA    @ @ @i )IiܼM=YDQU>a"Hy } >I 5?zݾ E ?9A: :)WAWAXA XAWAXA:WI2WI*WQVQbUQBUY*UaUaUe.@BB BA*BAAAA"CY*CaRCaCiCqבIG>',6fFA"=i"=Y}6)@}6F@y}6CF}6~ȼ}6H@7`@#? #?@¿Ӯ?`c?)~6)@ ~6a[;I~6CY^?y^FrNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B #M=YgQU?a"Hy๻}?I  :  5? : rzݾ FM ?9 A s: :) :W9W9XA XAWAXA:WA2WA*WIVIbUIBUI*UIUQUUϪ.@BB BAg*BAAAA"C*CRCCCשIG>; .,L㺼fFA* *z*z* *F:Y*Q1y*:*59.@Y}M {)@}M@y}MV}M}MH >o?%?m'ſB? G?)~M {)@ ~M[;I~MCY?yFxDUSBL response received:!U1,R,2B4,000,002B8,189,80,80,C6,FF Fpublishing direction and range info#>9IFi}?=; Eɰd=鰽7> )FCIyQ@"W?+ٱ) ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYV~<M/=Y QU>a"HHyQ}>Ḯ 5?{ݾ X ?9A=: U:)WWX X!W!X!:W!2W)*W)V)bU)BU)*U1U1U5%/@RE(Combining 5 samples.PA*QEQ@ZQELo @n#ZJQE"W?+2QE#:QAbQE&R?]wHZ@~#?RQERʿ7?0 Q?BQEH? QE҂@QEaPER9?PEP9?PAQAQE"@"QE%@ByBy ByA,*BAAAA"C*CRCCCׁIG=>4,ԼfFAYU?yUÇFDNmea in: $SNTTA,,,,,225338.48*5F C=i<i\A M=YQU>a"Hy}>I : 5? :{ݾ f ?9SA: =:):m yAdded new target pos. range: 4.259999 m, bearing: 102.185333 deg, deltaT: 15.801577 s, approachRate: -0.007594 m/s, LOS rate: -0.472273 deg/s, posRepo size: 4X W H?W X  X W X :W 2W *W V bU BU *U U = @U `3?BI BI  BI AU *BQ AQ AQ AQ AQ "C] ?RCY Ce H?Ca A I G >;,lfFAI"AA) **~*~* *{!:Y*T1y*@:*t6YUj?yU!F>M=YQUx?a"Hy}x?I 5?-|ݾ Gk ?9fA: :)W!W!X) X)W)X):W)2W)*W1V1bU1BU1*U9U9U=ɵ?BiBi BiAm*BiAqAqAqAq"C}uu?RCyCyCQIYG=9Iiv; ERB,yfFAY}FqT)@}Fo@y}Fu}F2:}FH 'Y? ?yHȿTW?&`C?)~FqT)@ ~F[;I~DYn?ynFl?^I +ǿ{Gz?=X9 #=)IyS㥛?~jt?/<= DA)zPAI1AikAzLA m m m u@ u@ u@qqqiqq q)qIqiqsM@=Y獽QU>a"HyG}>Ișŝ 5?ŝ{ݾ ƝjX ?9ƝAǝʽ: ȝ:)șWWX XWX:W2W*WVbUBU*UUUӪ?BB BAlj*BAAAA"CP?RCCCסIG >-H,M"fFA& &&&w &n:Y&WU1y&:&"5Y}ZQ)@}ZNm@y}Z%}Z[}ZH @5??ſ` ?j?)~ZQ)@ ~Z\;I~ZCYf?yf)FI9)9IA)AI=4=)=4=)E= E>uE=MuK=Y}QU}>ya"Hy չ}>Iȑ :ŕ 5? :ŕ{ݾ ƕ}F ?9ƕAǕ: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUUt?BB BA '*B A A AA"C?RCCC IG5 >WN,(9܁I܅Fi܅?܁܁܁܅]; ݅ECMP=Y<9QU>!!a%"H!)y-}->I15B 5?5n{ݾ 54 E?95A5: 5U:)1WQWQXY XYWYXa:Wi2W*WVbUBU*UUU@`@BIBI BIAUA*BQAQAQAQAQ"C]:?RCYCaCaaIiG<>?U,VfFA**}*}* *!+:Y*kS1y*Ԋ:*5)*;9.Y}Fɹ(@}FS@y}F}FP}FHftY?A?; @˿v?`⫟`?)~Fɹ(@ ~F];I~DYn>?ynF ^A_A % % % %@ -@ -@!!!i!! !)!I!i!=M==Y=¼QU=>AAaE"HAIyM)}U>IY ]:] 5? e:]{ݾ ] e?9]A]: ]:)]:WWX XWX:W2W*WVbUBU*UUUX@RB*** querying acoustic contact ***PPBB BA*BAAAA"C?RCCC I G >7j[,ofFAY}65'(@}6B@y}6}67}6H 6'a(? w)?@b`Ϳ{?@ ?)~65'(@ ~6\;I~6CYN{?yRFRZ****** received transponder code query ******VF****** received ping request ******Vy9yI}8Fi}?yyy}; }EUb,ˉfFA6 6w6w6 6h:Y6O1y6P:6 5)6;Y}e'@}e@y}el}eOp}eH@@T?5?@Ͽ?`Yీ?)~e'@ ~e[;I~eCYl?yFxDUSBL response received:!U1,P 2B4,000,002B8,189,80,80,C6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 {GztˡE{Gzף' #)Iyy&1|MbMb`廹 JA)+MAIn.Ai5tANA    @ @ @i )IiPM=YyQU >  a "H yW}%>I1 E:5 5? M:5zݾ 5$ U?95A5; 5o;)5:WWX XWX:W2W*WVbUBU*UUU3 @BB BA*BAAAA"CH?RCCCI)I GM >{h,򔣽fFAY}6*(@}6.F@y}6x}6}6H f?# ?Ë`ѿ?)%^?)~6*(@ ~6I<[;I~6CYF?yFYFVNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I=)=U<M]=Y]QU]?aaae"Haaym <}m?IquՂ 5?uzݾ u- }?9uAu: uǺ:)qWWX XWX:W2W*WVbU)BU1*U1U1U5 c @BB BAL*BAAAA"C*CRCCCסIG!>i NmGI i % ٿٺ! % YAæn,sfFA* *** *>:Y*WU1y*:*59.@Y}ZY(@}Zt@y}ZH}Z+}ZH@ @Ǐs?`? ѿ@? ^L?)~ZY(@ ~Z7[;I~ZCYf?yfFjxDUSBL response received:!U1,R,2B2,000,002B8,189,80,80,B9,FF jFpublishing direction and range infoj%hɰhh h)j9CIhyhjڮt=_??5ٱhIp)pMM<Mc=YpyQU >  a "H Hy<!9!I%Fi%?!!!! !)Iiŀ=ŀ=ŀ4}=>IAE 5?Eazݾ E9 U?9EAE: E4:)AWqWqXq XWX:W2W*WVbU!BU!*U!U!U%@C@RU(Combining 5 samples.PY*QYZQ]}f  @c0MJQ]ڮt=_??52Q]%:QYbQ]ܭppIVpJ@E,bk?RQ]bb$漣ſ0?R?BQ]{? Q]@Q]7PYP]R9?PYQYQ]^=@"Q]"@BB BA'*BAAAA"C*CRCCCIG>au,yZ׽fFAY}zB*(@}zE@y}z<}zp}zHvc} ??п -?@/P?)~zB*(@ ~z?U[;I~zCY%?y-=FDNmea in: $SNTTA,,,,,225342.55*5E Ā<M==YQU>a"HyK˻}>I :* 5?  :#zݾ H ?92A; k;):mqAdded new target pos. range: 4.259999 m, bearing: 100.182776 deg, deltaT: 3.976819 s, approachRate: 0.000000 m/s, LOS rate: -0.503557 deg/s, posRepo size: 4XW{?WX XWX:W2W*WVbUBU *U U U By?BYBY BYA]*BAAAA"C?RCC{?CיIG@>6{,'fFAY}N(@}Ny;@y}N,}N|9}NH n?`?` oп?a"Hy%غ}%>I)-I 5?-yݾ -(U 5?9-AA-{: -/:))WAWIXi XqWqXy:Wy2W*WVbUBU*UUU {?BqBq BqAuى*ByAyAyAyAy"C\?*CRCCCׁIG=>%>9!I%XFi%?%=!!%[; %E&,2 fFAY}6FT(@}6o@y}6c߭}62}6H@` ?@ ?aҿ`Q?!~?)~6FT(@ ~6t[;I~4Y^?y^΅F%=i%=ˡE?l?y&1?'== `e<)Iy/$?<L DA)\AI,Ai҂ATAQ-=MI=Y!QU>!!a%"H!)y-<}->I9 =:={ 5? E:=Lyݾ =e E?9=~A=: =:)=:WaWiXi XiWiXi:Wi2Wi*WqVqbUqBUy*UyUyU}@v?BB BAL*BAAAA"C{?*CRCCCIG>͈, $fFAnnnn n+:YnWU1yn:n5Y}~(@}~@y}~82}~/}~H /?g?~@@3ӿ?`?)~~(@ ~~i[;I~~CY\?yF    @ @ @i )Ii_MN=Ya"Hy <}>I 5?xݾ v  ?9AR: k:)WWX XWX:W2W*WVbUBU*UUU!?BIBI BIAU*BQAQAQAQAQ"CY*CYRCaCaCaIiG><,>fFAh9hIjFijv?hhhjC; jݖEY}E*(@}EF@y}EFF}E}EH:?@?fwҿ ? E۵@$?)~E*(@ ~E[;I~ECYe6?ye;F - - - -@ -@ -@)))i)) )))I)i)=r=M=D=YE`AAaE"HIIyUg}U>IY e:] 5? e:]wݾ ] e?9]A]: ]:)]:W W X  X W X :W 2W*WVbUBU*UUU@^@BB BA *BAAAA"C*CRCCCסIG!>1ݕ,tXfFAY}R'@}Rd@y}R(}R}RH|k?`? 0RYWҿ@j?m$?)~R'@ ~RG[;I~RCYf>?yfTF? .:YT1y:#5);9%I9)9)A:=MO=YQU>a"Hy Yp} >I* 5?\wݾ  ?93Aϸ: :)WAWAXA XAWAXA:WI2WI*WIVIbUQBUQ*UQUQU]@Qd@BB BAއ*BAAAA"C*CRCCCשIG=,prfFAY}>'@}>]@y}>'}>ܽ}>HAW? ?t'nӿ? \@ ?)~>'@ ~>[;I~>CYJ`?yJˈF>9IНFiE@=.; ҖEu  u u u  u B5:Yu W1yu č:u 6)u ԑ;&9&I&(Fi&,@&=&&&2; &ӖE'S㥫?Dl?㥛 ?'/]='O= ( ( ( ( (?:Y (V1y (: (!5) (; '=)'I'y'Q?y&1|Q'\='`' 'BA)'-ZAI'+Ai'XA''QTA!(!( ( ( ( (@ (@ (@ (á(á(á(iå(z?á( ĥ(?)ĥ( ?Iĥ(?iĥ(?(M(IM >Yc>QU?a"HypI} ?I  | 5? sݾ X ?9 qA ^: ϸ:) WWX XWX:W2W*WVbUBU*UUU@B= BA BAAE*BAAAAAAIAI"CQ*CQRCQCQCyQIYG}>i,fFAY}:'@}:@y}:敾}: }:H@ n?@hY?4I@пx?ൿ?)~:'@ ~:[;I~8YF?yFQFJxDUSBL response received:!U1,P 2B2,000,002B8,189,80,80,B9,FF JCommand AckNBRequesting micromodem ping code 2iLLRNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 w,=MZ=Y%9AaE"HIYymF;}u>Ișŝ{ 5?ŝrݾ Ɲ䝾 ?9ƝAǝO< ȝ><)șWWX XWX:W2W*WVbUBU*UUU @B!BI BIAM?*BIAIAQAQAQ"CY*CYRCYCYCaaIG>>~~ ~*:YT1y@:i59 @e >a i mGI i 5 gۿٺ9 E A{,YfFAY}nC'@}n_@y}n3}nZ}nH@' v@L?!?X6Ͽ`M?`.?)~nC'@ ~nN[;I~nCYz?y~FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ܙ9ܙIܝFiܝ@ܝ=ܙܙܝa; ݝE))I)i)-=-=-5I54=)54=Nonly read 0 of 1 data item for altitudea i@a  a m@a  a q@a  a e@a  )Ý= Ý> = = = =@ =@ =@ =@999i=9 =)=I=i=M;MU=YUYYa]"HYaye2}e>Ii u:mz 5? u:mqݾ m }?9m Am\: m>)m:WWX XWX:W2W*WVbUBU*UUUS@BB BA)*BAAAA"C *C RC CCI1)1I!GER>ů,?fFAY}6='@}6[Y@y}6~}6#᩽}6H@ +Q?@?@ ϿE?vq?)~6='@ ~6F[;I~6CYRR?yRFVxDUSBL response received:!U1,R,271,000,002B8,188,80,80,C3,FF VFpublishing direction and range infoVX TɰTV> T)VCCITyTV p[?dʙٱTI\)\)d?M}=Y~/=QU ?a"Hyj} ?IAz 5?=qݾ Х %?9EAr#; YS?)WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*QZQxL̨" @ ?JQ p[?dʙ2QX :QbQbe G50@ab-?RQ8j˿$KB ?L`?BQ9? Q@QjmPQ9?PPQQ^;@"Q^=@BIBQ BQAUY*BQAQAQAYAY"CY*CaRCaCaCaiIqG>m m |m |m  m F:Ym R1ym i:m E5˯,q1fFAY}NPP'@}Nk@y}NJ}N8}NH`&# C??`:uο&?.?)~NPP'@ ~N*a[;I~NCYZz?yZǍF%TNmea in: $SNTTA,0.111750,,,,225347.92*4D ܝ>9ܝؔCIܙiܙܝ=ܝCDܝ:Dܝ; ݝEq u ^A     @  @  @ù ù ù iù ù Ĺ )Ĺ IĹ iĹ ^<M a "H y W:} >I y 5? oݾ w  ?9 A %: ?) m% mAdded new target pos. range: 4.259999 m, bearing: 103.054673 deg, deltaT: 5.424408 s, approachRate: 0.000000 m/s, LOS rate: 0.529440 deg/s, posRepo size: 4X) W- 9?W) X)  X) W) X1 :W1 2W1 *W1 V1 bU9 BU9 *U9 UA UE q?Bi Bi  Bq Au *Bq Aq Aq Aq Aq "C} 9?RC C 9?C ו ?iו ?y I G >֯ү,DKfFAY}FB'@}F@y}F0k}FAӽ}FHk`nk?+? Ua Ϳ$?餹 ?)~FB'@ ~F1\;I~FCYb?ybFF}'>M}>Y}">QU}?a"Hyw=}?Iȑŕx 5?ŕoݾ ƕӭ ?9ƕAǕ>: ȕ?)ȑWWX XWX:W2W*WVbUBU*UUU-?ByBy ByAs*BAAAA"C*CRCCCשIG=m m m }m }m  m <:Ym kS1ym Ԋ:m 6د,XefFAY}6'@}6a@y}6S}6ɽ}6HKt;?? 5˿|H?@(`*?)~6'@ ~6\;I~6CYvE?yvFeR=iamEMF=Ya=QU>a"Hy~;}>I :w 5? :nݾ d  ?9 Ah: @):W)W)X) X1W1X1:W12W1*W9V9bU9BU9*UAUAUE@?B)B) B)A5*B1A1A1A1A1"C9*C9RC9CACA)I1GU>w߯,>fFAY}6ڛ'@}6d@y}6DA}6X^}6HD? b?T-ſ`? MZ b?)~6ڛ'@ ~6[;I~6CYB~?yB{F999I=Fi=@= =99=; =Ea i]a i] a mea me a qea qe a eea ee e7A`?MbȿL7A`?e>e@ e+=)aIayeQ?Mbp?I +?ae;e94< e+;A)eVAIe0AienAaeLA)}> }> % % % %@ %@ %@!!!i!! !)!I!i!U=MU3=Y]"=QU]>Yaae"Hay!/}>Iȑŕv 5?ŕTnݾ ƕb ?9ƕR AǕʽ: ȕY:)ȑWWX X!W!X!:W)2W)*W)V1bU1BU1*U9U9U=@?BB BA*BAAAA"C*CRCCCI)IG J>  { {  *:Y #R1y : E5) ;9 寙,"ߘfFAY}6Ud'@}6@y}6- 5}6{μ}6H x?@V?`t ¿ C?`i`}?)~6Ud'@ ~6"[;I~6CYB?yB֑F=R]<M=t=Y=!=QU=?AAaE"HAIyM(}M?IQ ]:U;v 5? ]:Umݾ U e?9U~ AU: Ub:)U:WWX! X!W!X!:W!2W!*W)V)bU)BUI*UQUQUU`@BB BAi*BAAAA"C*CRCCCשIG=쯙,fFAY}:'@}:s@y}:Z'}:@}:H`נ ?`/? wHĿ ?Ӯ`c?)~:'@ ~:.[;I~8YFg?yJFI|)|ɵ = ==<M=J=YEq=QUE>AIaM"HMHIy]O;}e>IȁŅOu 5?Ņmݾ ƅ ?9ƅ ADžb: ȅӻ:)ȁWWX XWX:W2W*WVbUBU*UUU^@BB BAu*BqAqAyAyAy"C*CRCCC׉IG=A9AIEFiEE?AAAE; EE  >:Y y 5) *;,!̿fFAY}2'@}2@y}2}2~ֽ}2H Y@u>?`?l@>ƿ@C?*}`?)~2'@ ~2^f\;I~0YR?yRđFdd % - - -@ -@ 5@)))i)) )))I)i)]YMeH=YeN=QUe>iiam"Hiqyu<}u>Iy}`t 5?}mݾ } ?9} A}w: }:)yW)W)X) X)W)X):W12W1*W1V1bU9BU9*U9U9U= @x@RMB*** querying acoustic contact ***PIPIBB BAp*BAAAA"C*CRCCC?i?IG >-',cfFAY}:'@}:y @y}:f}}:ֽ}:H`KZa"Hy;}>I  :+s 5? :lݾ  ?95!A; I;):WWX XWX:W2W!*W!V!bU!BU)*U)U)U-൹ @ByB BA*BAAAA"C*CRCCCיIG%> u u  >:Y KN1y y: 59 @,JAfFAY}6'@}6j@y}6ཙ}6 ~}6HJ X?g?@m  ??)~6'@ ~6];I~6Cv>9tIvFiv1?v=ttvs; vEɫ髹) IY=?yfFxDUSBL response received:!U1,P 271,000,002B8,188,80,80,C3,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ?%C̿A`"? > Zd Y=) I y Mb`?AIaM"HIIyU}U>IȁŅ]s 5?ŅVlݾ ƅ ?9ƅD!ADž'< ȅ(<)ȁWWX XWX:W2W*WVbUBU*UUU`9t@ByBy ByA}^*BAAAA"C*CRCCC׉ I G >9,fFAY}:R'@}:@y}:̽}:r폽}:H@'@$UJW??#՞q?Ɀ` ?)~:R'@ ~:J.\;I~:Cɫ99)9 9I9Y}?y} FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )Å= Å=@M=YE=QU?a"HyH}?Iȱ :ŵ|s 5? :ŵ;lݾ Ƶ ?9ƵN!Aǵ: ȵ(:)ȵ:WWX XWX:W2W*WVbUBU*UUU-@B)B) B1A5*B1A1A1A1A9"C9*CARCACACAIQ)QIIQGm>% % }% }%  % +:Y% kS1y% Ԋ:% 5c ,{3fFAY}2&#(@}2>@y}2}2}2Hn Z2 ? 9?`n? ݺf?)~2&#(@ ~2 b;I~2CɫYY)Y YIYYyxDUSBL response received:!U1,R,223,000,002B8,188,80,80,9C,FF Fpublishing direction and range infofɰ鰡 )CIy̍PEl?x7gݿٱI)AI)A)i-nGIAiqWٺAY=QU>a"Hy <<}>I  s 5? lݾ  U?9 ]!A < 1<) W!W!X) X)W)X):W)2W)*W1V1bU1BU1*U9U9U=g@Rm(Combining 5 samples.Pi*QiZQmӵ9E@ۮc{PJQm̍PEl?x7gݿ2Qmf:QibQmk)!Kq@#h?RQmծ}Կ‚\XF?Gy?BQmQ,? Qm4@QmPmP9?PmQ9?PmQiQm@"Qm^;@BB BA*BAAAA"C*CRCCC>9ٔCIFia?=BD;D;  E)uؔCIuؔCiqu=u=u 6IG=q>K,MfFAY}vN(@}vMj@y}v 놽}vT}vH@c$}&|?4DAڰ?9?)~vN(@ ~v \;I~vCɫ) IYU ?yUFDNmea in: $SNTTA,,,,,225352.41*5A   ]A m m m m @ m @ m @i i i ii i i )i Ii ii } &<M} a "H y ,;} >Iș  :ŝ s 5?  :ŝ kݾ Ɲ   ?9Ɲ r!Aǝ : ȝ :)ȝ :m mAdded new target pos. range: 4.259999 m, bearing: 108.849945 deg, deltaT: 4.528354 s, approachRate: 0.000000 m/s, LOS rate: 1.279775 deg/s, posRepo size: 4X W Q,?W X  XY WY XY :Wa 2Wa *Wa Va bUi BUi *Ui Ui Um `8?B B  B A **B A A A A "C U?RC C Q,?C E ?iE ? I G= >,~ifFAY}6tU(@}6p@y}6*X{}6n}6H`d(-8?  N@e?ޅ ?)~6tU(@ ~6_[;I~4ɫQQ)Q QIQYV?yFMg`<MM=YUk=S =y=y= =Ec:Y=P1y=':=|5 9 I 8Fi ? =   Y;  qE ,_fFAY}bg(@}b|@y}bJgg}b%|}bHr0 E`$?ZQ?.$`M?)~bg(@ ~b [;I~bCɫ髑) IY ?yF]=i]%=M rh(\ȿZd;O?MCMG Mj=)IIIyM?{Gz?~jt?Ma"Hy.$;}>I : s 5? :kݾ C ?9!A: :):W W X  X W X :W2W*WVbUBU*UUU *?BIBI BQAU**BQAQAQAQAY"C]Q,?RCaCaCa9IIGm5>&,'0fFAY}2{(@}2I@y}2-R}2\Ľ}2H8R[? ɺ`B?y?)~2{(@ ~2#^;I~0ɫ99)9 9I9Y}?y}AF*F<M[=Y(ca"HyT;}>I@r 5?[kݾ 됾 ?9!Af: :)WWX! X!W!X!:W!2W!*W)V)bU)BU1*U1U1U5#?BaBa BaAe*BaAiAiAiAi"Cq*CqRCqCqCyI׉)׉ׁIG>% %z%z% %D:Y%Q1y%:%r6C-, fFAY}2͗(@}2W@y}2D}2*}2HyC`@ǝ??=Ź@ ?@gշ ?)~2͗(@ ~2ы`;I~2CɫYY)Y YIYY?yF)C<MN=Ya"HHyP;}>IȹŽgq 5?Ž)kݾ ƽp ?9ƽ!Aǽw: Ƚ+:)ȹWWX XWX:W2W*WVbUBU*UUU }?B)B) B1A5*B1A1A1A1A1"C9*C9RCACACA׉IGܩ9ܭڔCIܭFiܭ?ܭ=ܩܩܭr; ݭE4,fFAY}2˿(@}2U@y}2E}2}2H%Qi?7X +?n?)~2˿(@ ~2T];I~0ɫYY)Y YIYY}?y}\FI)ɵ=a=%z!!% %#):Y!y!%5    @ @ @i )IiMrM=Y#QU>a"H y ۂ;} >I  : p 5?  : jݾ  ?9 ?"A ^: :) :W W X  X W X :W 2W *W V bU BU *U U U @R B*** querying acoustic contact ***P P B B!  B! A% *B! A! A) A) A) "C1 *C1 RC1 C1 C1 M ?iM ?ש I G >*;:,fFAY}6ٻ(@}6c@y}6N}6?}6HOcs? |?`BΩ?觿 ?)~6ٻ(@ ~6`\;I~6CɫAA)I IIIY?yeFZ****** received transponder code query ******F****** received ping request ******ܕ >9ܑ Iܕ Fiܕ }?ܕ =ܑ ܑ ܕ n; ݕ E:A,fFAY}B&(@}BB@y}BTO}B}BH, Д?b?`񫪿?).?)~B&(@ ~B Y[;I~@ɫYY)Y YIYY?yFxDUSBL response received:!U1,P 223,000,002B8,188,80,80,9C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 333333?L7A`{Gz?>+ #<)Iy~jt~jtx~jtxļĻĻ :A)$RAI ?Ai+MA=FAEC1;ME#=YMQUM>IQaU"HQQy]}]>Iȁ :Ņp 5? :Ņkݾ ƅ" ?9ƅ"ADž: ȅR:)ȅ:WWX XWX:W2W*WVbUBU*UUU4 @BB BA*BAAAA==|=|9 =+:Y=R1y=i:9)=;9M"CY*CaRCaCiCqIש)שבIG>GG,fFA|$i|$Y}F8&(@}FA@y}FdU}F@}FH@84#r=u?=?걿 ?@ ?)~F8&(@ ~FJZ;I~FCɫQQ)Q QIQY?yɕFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @ÙÙÙiÙÙ ę)ęIęię'<Mg=YnQU>a"Hy }>I?q 5?Ukݾ ` ?9"A|: 0:)WWX XWX:W2W*W V bU BU *U UU`# @BABA BAAM΂*BIAIAIAIAI"CQ*CQRCQCYCYYIaG}8>^mM,]Q8fFAY}:^(@}:uz@y}: e}:8}:H@-MЄ ? Dy`?Eʲ`?)~:^(@ ~:1N_;I~:Cɫ99)9 9I9Y}?y}nFxDUSBL response received:!U1,R,253,000,002B8,188,80,80,C9,FF Fpublishing direction and range infoɰ鰁 )ICIyھH?߿ٱ[Mr=Y5QU?a"Hy(<}?I :q 5? :kݾ  ?9"A: :):WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*QZQSŔ @s'5:JQھH?߿2Q:QbQY뙕B@(?RQ&Zҿ ?ps?BQm? Q@Q\PPP9?PQQ@"Q@BYBY BaAe*BaAaAaAaAa"C*CRCCC׉IG>M>9IIMPFiM8?M=IIM]; MuE% %{%{% %Y:Y%#R1y%:%5)%>;WT,7RfFAY}v?r(@}vɍ@y}vs}vk}vH`2@H0 m?@ @Mr? #<}?)~v?r(@ ~vN];I~vCɫ) IY?yʔFDNmea in: $SNTTA,,,,,225356.47*58 4M;=Y(QU>a"Hy0;}>Ir 5?kݾ  ?9"AU: +:)m qAdded new target pos. range: 4.259999 m, bearing: 106.725852 deg, deltaT: 3.985208 s, approachRate: 0.000000 m/s, LOS rate: -0.532994 deg/s, posRepo size: 4XWm?WX XWX:W2W*WVbU!BU!*U!U!U-p?BQBQ BYA]5*BYAYAYAYAY"Ce9q?RCiCmm?Ci}?i}?AIQGm>]Z,lfFAY}2(@}29@y}2}28}2H>H~?D溿@R?մm?)~2(@ ~2\;I~2CɫII)Q QIQY}p?y}FI)^A E E E E@ E@ E@AAAiAA A)AIAiAU<MUQ=Y]QU]>YYa]"Haaye;}m>Iq }:u^s 5? }:ulݾ u }?9u#Au: u:)u:WWX XWX:W2W*WVbUBU)*U1U1U5f+?BB BAт*BAAAA"Cm?RCCCשIG (>%%z%z% %/:Y%Q1y%:%!59-@i5%nGIAiYٺAI 9M ٔCIM FiM }?M =I I M =; M cE)ڔCIٔCi==c5fa,PfFAY}6X(@}6@y}6{}6}6HrA?@(?'S`޳?r.?)~6X(@ ~69_[;I~4ɫ99)A AIAY?ywFa I@a  Zd;O?'1ZĿX9v?~j>" <)IyV-?{Gzt~jt<ףD µ`=A)µOAI±i± u u u u@ u@ u@qqqiqq q)qIqiqM8=Y ǼQU>a"HyU;}>Iȡťr 5?ťzkݾ ƥ ?9ƥV#Aǥ: ȥ/:)ȡWWX XWX:W2W*WVbUBU*UUU ?BB BA*BAAAA"C!*C!RC!C)C)IG5->ag,fFAY}:(@}: @y}:蹱}:"}:H'R?`Y?m2X@0?@lw?)~:(@ ~:Z;I~:Cɫ99)9 9I9Y}?y}nFE-MEa=YEͼQUM>IIaM"HIQyUP+<}]>IY])r 5?]jݾ ]Q m?9]#A]: ]:)YWWX XWX:W2W*WVbUBU*UUUϷ?BB BA*BAAAA"C*CRCCCI)IG>%%{%{% %f.:Y%#R1y%:%35ym,fFA|i|@Y}6~)@}6@y}6ϋ}6}6H`z@ ? ?e@`[)?@:?)~6~)@ ~6 ];I~6CɫYY)Y YIYYt?y%F) > >     @ @ @i )Ii%M%==Y%QU%>))a-"H-H1y5<}=>I9 E:=q 5? M:=_jݾ =J M?9=#A=V: =:)=:WqWqXq XqWqXq:Wy2Wy*WyVybUyBU*UUU`R@BB BA*BAAAA"C*CRCCCI9ؔCIFi?=:D7; ]EG )>_t,2tfFAY}6)@}6Z@y}6}6̆}6H@v 3X\?a?`O``"0?-ð@?)~6)@ ~6IG^;I~4ɫII)I IIIY}i?y}F)MT=Y*QU>a"HyK<}>Ip 5?iݾ  ?9#A: :)W1W1X1 X9W9X9:W92W9*W9VAbUABUA*UAUIUM`"~@ByBy ByA}S*ByAAAA"C*CRCCCIG$>% %x%x% %:Y%7P1y%:%5z,OfFAY}6@*@}68@y}6 ս}6}6Hcڑ?D?ǎ PY@4? T?)~6@*@ ~6];I~6Cɫ99)9 9I9Y?yFa=ɮR= >9 ٔCI pFi M? ;D ; OEa Im a Im e @5^I ?K?Mb`?e b>e ^= e ;)a Ia ye Mb` rh?V-e e C =e e a "H y ;} j>Iȡ  :ť }o 5?  :ť jݾ  tI ƥ B  ?9ƥ L$Aǥ >; ȥ );)ȥ :W W X  X W X :W 2W *W V bU BU *U U U + @R B*** querying acoustic contact ***P P B!B! B!A%*B)AAAA"C*CRCCC ?i ?IG ?,fFAY}FL)@}F@y}Fv轙}Fͽ}FH?K?el3ÿ ?ு +?)~FL)@ ~F[;I~FCɫiq)q qIqY|?yFZ****** received transponder code query ******F****** received ping request ******Y-sQU-?)1a5"H19y=K]}E?IIM4o 5?Mjݾ M˦ U?9M_$AMY; M:)IWWX XWX:W2W*WVbUBU*UUU> @BB BA*BAAAAu7u|u|u u#:YuR1yui:uF5)u;9}"C*CRCCCIG'>U, (fFAY}:)@}:B@y}:U}:^}:H̞ ?DS?`|-hX?򰱿 ?)~:)@ ~:[;I~:Cɫ99)9 9I9Y}?y}KFxDUSBL response received:!U1,P 253,000,002B8,188,80,80,C9,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 /<MB=YIQU>a"Hy]}>I9 M:=`n 5? }:=kݾ = ?9=$A=0< =k<)=:WWX XWX:W2W*WVbUBU*UUU@@BB BAi*BAAAA"C *CRCCC!9IQG}z>+,BfFAY}2)@}2/@y}2E}2 -}2Hƕ?Q? *St?u?)~2)@ ~2];I~0 9 I Fi ? =   !; TEɫYY)Y YIYY}?y}ܔFAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B {{ -:Y#R1y:5)};E uOutgoing frame #1, 64 bytes: C0811961210000005D00000400320000000000000000151D80030C5669C08C79984C240922D745794C8D730922FCCC4FFFEC03F88F2BE5C3381729D6EC18F957M POutgoing frame #2, 6 bytes: 69F1D5596D00M DNmea out: $CCCYC,0,1,10,1,0,2*6A )- = - = E E E E @ E @ E @A A A iA A A )A IA iA U ,<MU Y a ae "Ha a ym }m >Iq } :u m 5? } :u flݾ u ;  ?9u $Au : u b;)u :W W X  X W X :W 2W *W V bU BU *U U U `@B B  B A .*B A A A A "C *C RC C C I ) I G >5,]fFAY}Rp7*@}RR@y}Rމ}R$Y}RH@z?*? f?7窿`?)~Rp7*@ ~Rٻ`;I~RCɫ髉) IY?yFxDUSBL response received:!U1,R,270,000,002B9,188,80,80,CF,FF Fpublishing direction and range info'g ɰdd=鰡 )OCIy=@m$_?4xrbٱBNmea in: $CACYC,0,1,10,1,0,2*68 )6FM >YH+QU?a"Hyh=}?I!%l 5?%lݾ % 5?9%%A%': %:)!WWX XWX:W2W*WVbUBU*UUUu@R(Combining 5 samples.P*Q=@ZQ#Ҷ @Ԯ+JQm$_?4xrb2Q'g :QbQBˣxB,owfFAY}M*@}M6@y}M}M.rv}MH~^\?3?/j?`7P?)~M*@ ~M+^;I~MCɫ) IYMt?yU%Fe eyeye eC:YeP1ye':e69m@uNNmea in: $CADRQ,225401,1,10,0,64,1*76 }uNmea out: $CCTXD,1,10,1,C0811961210000005D00000400320000000000000000151D80030C5669C08C79984C240922D745794C8D730922FCCC4FFFEC03F88F2BE5C3381729D6EC18F957*4F q9qIuFiua?u=qqu#; uVEMb?Dl:v@>O T)Iy/$?V-Mb<@ ^BA)-HAI=4AiXAEA    @ @ @áááiáá ġ)ġIġiġ;Ma"Hy}b>I :l 5? :jݾ ˾ ?9%A: /:):mqAdded new target pos. range: 4.319999 m, bearing: 106.673580 deg, deltaT: 4.616566 s, approachRate: 0.012997 m/s, LOS rate: -0.011323 deg/s, posRepo size: 4XWO?WX XWX:W2W*W!V!bU!BU!*U)U-G@U- ?BYBY BYA]*BYAaAaAaAa"CmO?*CiRCiCmO?Cqׅ?iׅ?QIaG} ??,3fFAY} 9)@} 6U@y} 0} } H=?`w?@T]YL1? X`x?)~ 9)@ ~ U\;I~ ɫ) IY-??y-@FDNmea in: $SNTTA,,,,,225401.03*5D zTXD response from modem unexpected: $SNTTA,,,,,225401.03*5D ɵp=p= =M>YQU?a"Hy}?I!%l 5?%djݾ %ξ 5?9%%A%^: %:)!WqWqXq XqWqXy:Wy2Wy*WyVybUBU*UUU`%?BB9 B9AE*BAAAAAAAAA"CI*CIRCQCQCQYIaG}7> } }  4:Y kS1y Ԋ: 5ac,fFAY}R^)@}Ry@y}R"`%}RE}RHl?? a?Zjƿ ?q?)~R^)@ ~R;[;I~RCɫ髙) IY5?yFuӫM}S=Y}QU}>a"H HyK;}>Iȑŕl 5?ŕuiݾ ƕ־ ?9ƕ%AǕ: ȕ^:)ȑWWX XWX:W2W*WVbUBU*UUU`?imGIiٺBB BA*BAAAA"C!*C!RC!C!CI)I1G;>99=ڔCI=XFi=?==99=%; =WE)ݭٔCIݩiݩݭ=ݭ=ݭ26L,JfFAY}Jg)@}J @y}J }J%}JH`G$?a?1U˿?B¿@EB?)~Jg)@ ~JX`;I~JCɫYY)Y YIaY?yF)=  e e e e@ e@ e@aaaiaa a)aIaiażM6=Y)a"Hy:}>I :m 5? :Shݾ ߾ ?9>&A$: s:):W)W)X1 X1W1X1:W12W1*W9V9bU9BU9*U9UAUE o9?BqBq BqAu9*BqAyAyAyAy"C*CRCCCIי)יׁIG=>  { { c #:Y #R1y : 5z,fFAY}B4)@}B3P@y}B?}Bb}BH?@`P?}?ȿ`S?`Sb?)~B4)@ ~BZ`;I~@ɫ髑) IY?y&FUa"Hy }>I0m 5?jgݾ  ?9&AR: ÷:)WWX XWX:W2W*WVbUBU*U U U  @B1B9 B9A=x*B9A9AAAAAA"CI*CIRCICICQ)I1G>a,$fFAY}60)@}6K@y}6}6[D}6H@*Dೳ?E?@,6`¿ |?`(v:?)~60)@ ~6^;I~6Cɫ11)9 9I9YU5?yUFep=ɮep=mNNmea in: $CADRQ,225402,1,10,0,64,2*76 uRNmea out: $CCTXD,1,10,1,69F1D5596D00*3E >9ٔCIFiv?= ; HEGz?㥛 ¿ʡE?p=> =)IyZd;O~jt?/$?j<D<< •:A)•xUAI•2Ai•aAHA    @ @ @ñññiññ ı)ıIıiı=M!=YNa"Hy}>I :Pn 5? :hݾ  ?9&A: Kb<):WWX XWX:W2W*WVbUBU*UUUQ6@RB*** querying acoustic contact ***PPBB BA*BA!A!A!A!"C)*CIRCICICQe?ie?IIQGm>  | |  2:Y R1y i: 5) |;9 ư,fFAY}B]n)@}B@y}BC}B6}BH@Vv?k? vH??ՠ̰,l?5fFAY}:\)@}:@y}:7y}:.}:Hgf`Y,?@Q? YJ`׽?7?)~:\)@ ~:\;I~:Cɫ99)9 9I9Y}?y}6FxDUSBL response received:!U1,P 270,000,002B9,188,80,80,CF,FF Command AckBRequesting micromodem ping code 2i.Nmea in: $CATXP,70*75 I)I)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 M=MF=YHQU>a "H Qy] <}]>Iaeo 5?eYjݾ ew޾ ?9e}'Ae`< e`<)aWWX XWX:W2W*WVbU!BU!*U!U!Ue @BB BA:*BAAAA"C*CRCC C I G-N>9I@Fi?=; ?E [ ~ ~  ~O:Y T1y @: 5) ~;%Ӱ,OfFAY}6e)@}6~@y}6ݍ}6C}6HNm@?i?bsA ?`q-3?)~6e)@ ~6[;I~6CɫYY)Y YIYY?yF?AsļMY=Yp8QU>a"Hy@}>I :p 5? :2kݾ ܾ ?9'A|: 0:):WWX XWX:W2W*W!V!bU!BU!*U!U)U-ڸ @BQBY BYA]*BYAYAaAaAa"Ci*CiRCiCiCiIG >ٰ,ZhfFAY}6@)@}6[@y}6}6 }6HfC@?x?@ %uĿ?aK?)~6@)@ ~6HV`;I~6CɫYY)Y YIYY?ymF M U U U@ U@ U@QQQiQQ Q)QIQiQm? Mm@=YuN;QUu>yya}"Hyy}>Iȑŕq 5?ŕ;lݾ ƕ3پ ?9ƕ(AǕi); ȕ*;)ȑW!W!X! X!W)X):W)2WQ*WQVYbUYBUY*UaUaUe`F@BB BA*BAAAA"C*CRCC C I G-,> w w  @:Y O1y P: P69 @ఙ,jfFA|i|@Y}B`)@}B{@y}BHC }Br}BH`OUy?s?UĤƿ?@Z@|?)~B`)@ ~B^;I~BCɫYY)Y YIYi9iImxFim?m=iim; miY?)a i%@a % a m%@a % a q%@a % a e%@a % a I%@a - %Mb@Mb@Mb@%% %)%I!i%Mb@Mb@Mb@%©%% %)%I%i%%%U*MU:=Y]Yaae"Haaym;}m>Iq }:ur 5? }:uJmݾ uM־ }?9ux(Au: u2>)u:WWX XWX:W2W*WVbUBU*UUU\P@BB BA*BAAAA"C*CRCCCI Ge4>氙,ڮfFAY}28)@}2@y}2^}2 }2H`z?}J?Dſ?@(4?)~28)@ ~2Fa;I~2Cɫ99)9 9I9Y}?y}F鮁ɮ     @  @  @ i ) I i ;M =Y Y= a "H !H y ~N<} >Iȁ Ņ t 5?Ņ nݾ ƅ Ѿ  ?9ƅ (ADž : ȅ Έ?)ȁ W W X  X W X :W 2W *W V bU BU *U U U `o@R B*** querying acoustic contact ***P P B B  B A q*B A A A A "C *C RC C C p | |  <:Y R1y i: 5 I G% >,LfFAY}Vs)@}V@y}VDž}V}VH@&?`bA?@^o/ÿkE?AE?)~Vs)@ ~V7`;I~VCɫ髙) IY"?y-F3M>Yy9yIyiyyyy}; }6E,$bfFAY}6.)@}6 @y}6h}6{}6Hc %? G?@Gt˿? M?)~6.)@ ~6e;I~4ɫYY)Y YIYY?yF.Nmea in: $CATXF,70*63 \Response from modem unexpected: $CATXF,70*63 - 5 5 5@ 5@ 5@111i11 1)1I1i1Mh<MME=YUE;QU]>YYae"Haaymb}m>Iy}Ku 5?}pݾ }ξ ?9}j)A}: }?)yWWX XWX:W2W*WVbUBU*UUU@)@BIBI BIAMu*BIAQAQAQAQ"CY*CYRCYCYCaaIiG9> ` x x  ':Y 7P1y : P6!,~fFAY}6*@}667@y}6U}6]}6H: qJ?`9?`+KEc? ɀ4?)~6*@ ~6=h;I~6Cɫ99)9 9I9Y?yFNmea in: $CAXST,7,20210815,225404.390801,3,0,200,4000,14500,1,1,10,1,2,2,3,70,14500*52 Response from modem unexpected: $CAXST,7,20210815,225404.390801,3,0,200,4000,14500,1,1,10,1,2,2,3,70,14500*52 I}=)}=)}V> }>T;MD=Yq|;QU>a"HyE;}>Iȱŵ:v 5?ŵqݾ Ƶʾ ?9Ƶ)Aǵ: ȵ@)ȱWWX XWX:W2W*WVbUBU*UUU@BB BAj*BA A A A "C*CRCCC!I)GM1>4>i I-`AiQ]Mٺ`A!4BY@9A,efFAY}2x(*@}2D@y}2}2-}2H  Mx>%? 6?@N?`?)~2x(*@ ~2(i;I~2C%>9!I%@Fi%?%=!!%; %$E)Iiဉ==5ɫ) IY ]?y RF)a ia i a ma m a qa q a ea e a i@a  a m@a  a q@a  a e@a  y&1?a"H  y @:}>I -:fw 5? 5:Lrݾ Ǿ 5?9'*Af; "@):WQWYX XWX:W2W*WVbUBU*UUU@BB BA*BA!A!A!A!"C)*C)RC)C)C1IG=>  { { z ,:Y #R1y : 5) ;9 $,fFAY}2='*@}2B@y}2B꽙}2P}2Hu`Qp?:?U  N?<؜?)~2='*@ ~2d;I~2CɫYY)Y YIYY?yF*?i>uV<Mu'=Yu5yya}"Hyy"}>Iȉōx 5?ōnsݾ ƍSþ ?9ƍ*AǍ: ȍA@)ȉWWX XWX:W2W*WVbUI BUI *UI UI UU ׹@B B  B A u*B A A A A "C *C RC C C ׁ I G >$N ,d7fFAY}6:*@}6QV@y}6L߽}6H}6Hгpqࡺ?7?@@绿 jۻ? ?)~6:*@ ~6c`;I~6Cɫ99)9 9IAY?yJFM=Y9!9!I%xFi%?%=!!%; %E  | | p :Y R1y i: 5) [y;E,}QfFAY}>N*@}>.@y}>ߜٽ}>{}>HtI?`>G?`@ͽ@&?=`r?)~>N*@ ~>-^;I~<ɫYY)Y YIYY?yF    @ @ @i )Ii-=M-D=Y-;QU5>99a="H9AyE}E>IIMy 5?Mtݾ M ]?9M+AM: Mth@)IWyWyXy XWX:W2W*WVbUBU*UUU 7@RB*** querying acoustic contact ***PPBB BA|*BAAAA"C*CRCCCשIG>b,kfFAY}r/)@}r@y}rཙ}rSz}rH';? $O?@d?@3#`?)~r/)@ ~r\;I~rCɫ) IYMv?yMFm:Nmea in: $CAACK,10,1,1,1*7B IU=)U%=)]= ]=iG<M7=YQU>a"Hyef}m>IȁŅz 5?Ņuݾ ƅ ?9ƅf+ADž: ȅ\@)ȁWWX XWX:W2W*WVbUBU*UUU} @B!B) B)A-P*B1AAAA"C*CRC!C)CYױIG>} =i} a= " x x  6:Y 7P1y : 59 @$H!,R`fFAY}2 )@}2 @y}2潙}2p}2HdB?YQ?@ŃjMe?' ?)~2 )@ ~2' `;I~0d9fڔCIf Fif?f=ddf; fEɫYa)a aIaYm?ymF:Nmea in: $CAACK,10,1,2,1*78 Sent 62 bytes from file Logs/20210815T210608/Courier0033.lzma.parts.Packets left to send: 0a ia i a ma m a qa q a ea e a Ia I M?S㥛?A`"?n>/< =)Iy{Gz?y&1?Mbpף<`< =A)HAI\5AiSACA    @ @ @ÙÙÙiÙÙ ę)ęIęię{MF=YȻQU>a"HyѺ}>I  y 5?  vݾ  ?9 +A r: Y:) WYWYXY XYWYXY:Wa2Wa*WaVbUBU*UUUH!@BB BA*BAAAA"C *C RCCC9IIGeU>s',pAfFAY}6)@}6@y}6&㽙}6P}6H J? M?EsU?Ѷڬ?)~6)@ ~6o];I~6Cɫ99)9 9I9Y?yvFSetting waiting for range response to false due to timeout. Elapsed:6.062350UNmea in: $CACST,6,0,20210815225408.977736,06,32767,45,0146,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,29.7,11.02,23,-8.02,-01,-0.03,49,14500,4000*72 Response from modem unexpected: $CACST,6,0,20210815225408.977736,06,32767,45,0146,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,29.7,11.02,23,-8.02,-01,-0.03,49,14500,4000*72 q GM =Y ] ;QU > a "H "H y p:} >Iȩ  :ŭ -x 5?  :ŭ Xvݾ ƭ  ?9ƭ +Aǭ : ȭ (:)ȭ :W W X  X W X :W 2W *W V bU BU *U U U ft"@1(%  P% pAggregate::uninitialize lineCaptureDepth:MicromodemCommsq(% P% Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn(- BI BI  BI AM *BI AQ AQ AQ AQ "CY *CY RCY Ca Ca u ?iu ?Y Ia  z z  :Y Q1y : j5G >-,fFAY}R[*@}Rnw@y}Rս}Rj}RHp1{`_-?`jĿ ,?@ X?)~R[*@ ~RKm];I~RCɫyy)y yIyY?ypF = = = =@ =@ =@999i99 9)9I9i9MEMU=YU@=QUU`?YYa]"HYYye<}e`?Iimw 5?mkvݾ m~ u?9m ,Am: mM:)iWWX XWX:W2W*WVbUBU*UUU`"@BB BAƒ*BAAAA"C*CRCCCIIGe4>9IXFi?=; E14,kfFAY}:*@}:@y}:sɽ}:H}:H@ .C{? &ÿ $?=ܾ ^?)~:*@ ~:F\;I~:Cɫ99)9 9I9Y}?y} Fu<Mj=Y 3 } } z 7:Y kS1y Ԋ: 5b:,fFAY}2*@}2I@y}2ͽ}2K}2HA@r.e?@?-򷿿?i?)~2*@ ~2g[;I~2Cɫyy)y yIyY?yFɵ==;MF=YQU>a"Hy;}>Ivu 5?vݾ R  ?9v,A+: :)W)W)X) X1W1X1:W12W9*W9V9bU9BU9*UAUAUE |]$@BB BA|*BAAAA"C*CRCCCI))) IG5 >)A,fFA494I4i44446; 6EY}Ff+@}F@y}Fإܽ}Fr}FH` `˥??o ?`Z* 0?)~Ff+@ ~F_;I~FCɫ髙) IY?yJFMb?S?:v=> T)Iyy&1?Zd;O?`e<j< …f8A)…"WAI…;9Ai…WA(HA U ] ] ]@ ]@ ]@YYYiYY Y)YIYiYu==Mu3=Y}QU}>a"Hyg<}>Iȡ :ťyt 5? :ťvݾ ƥI ?9ƥ,Aǥ; ȥu;)ȥ:WWX XWX:W2W*WVbUBU*UU U `kJ%@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCIGI>} =i} =  z z  d0:Y Q1y : W5) ;9 aG, fFAY}B+@}Bp@y}BIὙ}B_}BH@{0`K??`J` ?ʬ?)~B+@ ~Bʊ^;I~BCɫYY)Y YIYY?yFZ****** received transponder code query ******F****** received ping request ******a"HyY<}>Is 5?wݾ d ?9,Ak: :)W)W)X) X)W1X1:W12W1*W1V9bU9BU9*U9U9UE@ &@BiB BA|*BAAAA"C*CRCCCIG$>pM,]:fFAiPI^/aAid~Xٺ~/aAAY}E&,@}E^B@y}E!:޽}Ev[}EH@T`@7?`~?E)iQ? 䞷?)~E&,@ ~E\;I~ECɫ) IYU?yUF]xDUSBL response received:!U1,P 270,000,002B9,188,80,80,CF,FF ]Command Ack]BRequesting micromodem ping code 2iaaܑ9ܑIܕFiܕ?ܑܑܑܕZ; ݕE)ڔCIڔCi==:5 i    2<:Y T1y : 5) җ; 99AA    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉMa"Hy;}B>Iȹ :Žq 5? :Žwݾ ƽ ?9ƽ8-Aǽ: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU'@B)B1 B1A5t*B1A1A1A9A9"C9*CARCACACA]?i]? IG5)?XX,dfFAY}R=p,@}RNj@y}RHVὙ}R,}RHj` Ȟ? a?`Zi>?`f f?)~R=p,@ ~RM7>Y^QU?a"Hy =} ?Ijq 5?wݾ  ?9E-An: :)WaWaXa XWX:W2W*WVbUBU*UUU;"(@BB BA؃*BA A A A "C*CRCCCIޥ@A)ޥAAI!GE>^,h~fFAY}>L,@}>@y}>j}>(}>H`|@w_?A?̉@5 ?ꤿ?)~>L,@ ~>u\;I~>CɫII)I IIQY?y_FuJ +Fx?Cl绿uHuK> u;߽)qIqyuMbl?I +uu=u94 u:A)uOAIu:AiuxUAquFA    @ @ @i )IiɼM9=YꈼQU>a"Hy Z'<} >I :p 5? :Oxݾ ɾ ?9-A{{ .:Y#R1y:59@(: W<):WWX XWX:W2W*WVbUBU *U U U  )@BB BA1*BAAAA"C*CRCCCܑ9ܑIܑiܑܕ=ܑܑܕ.; ݕ֖E׹IGE>Ee,zQfFAɫ髹) IY?y)FI =) =) > >5l&M=X=Y=QU=>AAaE"HAAyM}M>IQUp 5?Uxݾ UҾ ]?9U-AU: U:)QWWX XWX:W2W*WVbUBU*UUUC)@BB BA*BAAAA"C*CRCCCI)IG>kk,,fFAY}2-@}2!@y}2UA }2 ý}2H܇Ԁ@ԥ?B?@b@!5Ŀ? j ?)~2-@ ~2[L`;I~2Cɫ99)9 9I9Y}P?y}FI)v]MU=YM1QU>a"H#HyG<}>IȹŽbo 5?Ž~yݾ ƽ\ܾ ?9ƽ-Aǽ^: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU(*@R B*** querying acoustic contact ***P P B)B1 BAZ*BAAAA"C*CRCCC% zz# 6:YQ1y:}6IGى ٍ ]Aܙ 9ܙ Iܝ 8Fiܝ ?ܝ =ܙ ܙ ܝ -; ݝ ՖE^r,)fFAY}2-@}2O:@y}2$H }2*ؽ}2H`|[? ?Zpſ`z?ͷ?)~2-@ ~2];I~0ɫ99)9 9I9Y}c?y}F    @ @ @i )IiME=YQU>a"Hy>n;}>I  : n 5? : zݾ  ?9 %.A : :) :W9W9X9 XAWAXA:WA2WA*WIVIbUIBUI*UIUQUUwX+@ByB BA*BAAAA"C *CRCCC IG5 >y, fFAY}Ns-@}N@y}Nq^}Nxf}NHJ Ѵ?@?N9?kP?)~Ns-@ ~N![;I~NCɫ髩) IY?yF ^A;MI=Y QU>  a "H yQ<}>Im 5?zݾ O -?9^.A: :)WIWIXI XQWQXQ:WQ2WY*WYVYbUYBUY*UaUaUe ?(,@BB BA*BAAAA"C*CRCCC?i?בI xx |k:Y7P1y:5G=2,fFAY}V-@}V=@y}V!}Vk}VH` NW??@-L¿ *?*@J?)~V-@ ~Vc[;I~Tɫ髡) IY5P?y5FENmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 E=iE%= 9 I Fi ? =    ; ĖEua"Hy7t<}>I :"n 5?  :zݾ   ?9k.A: :):W)W)X1 X1W1X1:W12W1*W9V9bU9BUA*UAUAUE28-@BiBq BqAuZ*BqAqAyAyAy"C*CRCCCיIG>,gfFAY}Fc9.@}FT@y}FԦ&}Fr}FH ? ?¿X?`X?)~Fc9.@ ~F,^;I~FCɫYY)Y YIYYX?yPFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B RM=YyQU?a"HyOa<}?I6n 5?|zݾ y ?9r.A: :)WWX XWX:W 2W *W VbUBU*UUU-@BABA BAAEׅ*BIAIAIAIAI"CQ*CQRCYCYCY] || O:YR1yi:5);9IIQGu>3I,3fFAY}BH.@}Bc@y}B.}Bns}BH`6)@&??\.ÿ@P?\߯)y?)~BH.@ ~B9];I~BCɫQQ)Q QIQY?yƎFxDUSBL response received:!U1,R,269,000,002BB,189,80,80,C9,FF Fpublishing direction and range info ɰ e=鰕7> )ICIy@x?0^ShٱI=)=<MY=Y觼QU>a"Hy;}>I :On 5? :bzݾ } ?9{.A: :):WWX XWX:W2W*W!V!bU!BU!*U!U)U-.@R=(Combining 5 samples.P9*Q=@ZQ=-~@v6JQ=x?0^Sh2Q= :Q9bQ=!pZsz_@ 9?RQ=ֿ| ??BQ=? Q=@Q=ÿP=O9?P9P=Q9Q=&@"Q=@BqBq BqAu*BqAyAyAyAy"C*CRCCCaIyG= 9 I i ; ED,MfFAY}R.@}RW#@y}R_8}R"}RH@թ @!W?6?G $?@ ny?)~R.@ ~R[];I~RCɫ) IY?yF-DNmea in: $SNTTA,,,,,225416.41*5D    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉM9=Y'QU>a"Hy}>Itn 5?@zݾ ޾ ?9.A': :) zz :YQ1y:6);mqAdded new target pos. range: 4.440000 m, bearing: 110.463017 deg, deltaT: 15.286909 s, approachRate: 0.007850 m/s, LOS rate: 0.247888 deg/s, posRepo size: 4XW?WX XWX:W2W *W V bU BU *UU`@UW?BB BA*BAAAA"C.?RCC?CבIG@>-f,ya"Hy }>Iȑ :ŕn 5? :ŕ zݾ ƕھ ?9ƕ.AǕ: ȕ^:)ȕ:WWX XWX:W2W*WVbUBU*UUUg?BB BAЅ*B A A A A "C?RCCC)I1GM>Y Y i }nGI i M $ٺI M AbN,HfFAY}2-@}2@y}2K}27}2H@ o??J`Q?]?)~2-@ ~2e,];I~2Cɫ99)9 9I9Y}?y}=F zG? rh? ףp= ? >C = Q8=)Iy{GztMbpv/ףxi ?A)NAI™icApIA©©S<MF=YQU>a"Hy}>In 5?yݾ  ?9.An: w:)WWX  X W X :W2W*WVbUBU*U!U!U%@?ByBy ByA}w*BAAAA }} B:YkS1yԊ:{59@"C*CRCCC->9)I-ȖFi-?)))- ; -ÖE)aIaiae=e=e4aIiG9>y, (fFAY}B~ .@}B(@y}BMT}Bl}BH`Y%?t?` ƿ)Y?`Wݬ?C?)~B~ .@ ~BuP\;I~BCɫ髁) IY?yF    @ @ @éééiéé ĩ)ĩIĩiĩF)MJ=YQU>a"H y-!<}->I15n 5?5yݾ 5 E?95.A5: 5:)1WWX XWX:W2W*WVbUBU*UUU?BB! B)A-*B)A)A)A)A)"C1*C9RC9C9C9!I)GM1>ͣ,fFAY}63.@}6fO@y}6V}6 Խ}6H aA %?`c?ێxʿ?` G!?)~63.@ ~6`;I~6Cɫ99)9 9I9Y]?y]ڌF5M5S=Y=ǻQU=>99aE"HE$HAyM!;}M>IQ ]:Un 5? ]:Uwyݾ U ]?9U.AU$: U:)U:WWX XWX:W2W*WVbUBU*UUUG@BB BAo*BAAAA"C*CRCCC~~ .:YT1y@:5שIG >! 9! I% Fi% ?% =! ! % ; % EC,#fFAY}:h<.@}:W@y}:U}:Cd}:H`3D?`? by˿#?`]< ?)~:h<.@ ~:7!^;I~:Cɫ99)9 9IAY}4?y}FIR=)R=)= =5;M=J=Y=;QU=>AAaE"HAIyM/:}M>Iȑŕn 5?ŕ-yݾ ƕ ?9ƕ.AǕ: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU`@B9BA BAAE`*BAAAAIAIAI"C*CRCCCסIG >B,fFAY}2'.@}2B@y}2@Z}2ν}2Hى@XF@8I?Rd? l@ʿS?*2?)~2'.@ ~2݊\;I~2CɫYY)Y YIYY?yFI)    @ @ @i )Ii<MM=Yr3QU>a%"H!!y-U}->I1 =:5n 5? =:5xݾ 5Q =?95.A5: 5:)5:WWX XWX:W2W*WVbUBU *UUU@@RB*** querying acoustic contact ***P!P! {{ K6:Y#R1y:5BB BA)*BAAAA"C*CRCCCIG (> ,֎fFAY}6-@}6~@y}6a}6}6Hxj@r 6?v? Zy̿G?`Ҽ?)~6-@ ~6[;I~4ɫII)I IIIY}?y}FZ****** received transponder code query ******F****** received ping request ******} }=)yIyy}Zd;O?:v?:v}j<}<}Լ }:A)}WAI}n.Ai}y}(@A9IFiv?=; E    @ @ @i )Ii5:$=M5-=Y5TQU=>99a="H9Aye}m>Iqum 5?uxݾ u$ }?9u3/Auf: uM:)qWWX XWX:W2W*W V bU BU *U UU`ڞ @B9B9 BAAe*BaAaAaAaAi"Ci*CqRCqCqCqyIG^>RƱ,DjfFAY}2-@}2<@y}2mf}29}2H@{Zۇ&?@}? >  ο?ƾ`?)~2-@ ~2b:[;I~2Cɫ99)9 9I9Y?yٍFxDUSBL response received:!U1,P 269,000,002BB,189,80,80,C9,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 M2M]o=YeOQUm?ya"Hy}>I :l 5? :xݾ 9  ? -:Yy6)͊;99h/A1= +1=):WWX XWX:W2W*WVbUBU*UU!U%3 @BiBq BqAu*BqAqAyAyAy"C*CRCCC׽?i׽?סIGf>̱,F6fFAY}2y-@}2@y}24d}2໰}2H Fʁ ? 7?@j Wʿ`^??)~2y-@ ~26_;I~0ɫ99)9 9I9Y}o?y}#FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=簼MC=Y.t;QU>a"Hy91}>Ij 5?xݾ  ?9/A: :)WW!X! X)W1X1:W92WA*WAVIbUBUIޑ)ޑ*UUU\@BiBq BqAuR*BqAqAqAyAy"Cy*CRCCCסIGA> 9 I xFi ? ; EJӱ,h PfFAY}6--@}6I@y}60sa}6!;}6H4Pr3?p?-ƿ`A?@2Ѧ@1?)~6--@ ~6KF^;I~4ɫ99)9 9I9Y}%?y}FxDUSBL response received:!U1,R,284,000,002BB,189,80,80,BE,FF Fpublishing direction and range infoɰ鰁 )>CIycR?KR ٱ        @  @  @     i \?  ?) ?I ?i ?}M}?=Y};QU>a"H|| d0:YR1yi:W5);y-}>Iȹ :Ž`i 5? :Žxݾ ƽ ?9ƽ/Aǽ+: Ƚ:)Ƚ:WWX) X)W)X):W)2W1*W1V1bU1BU1*U9U9U=e @Rm(Combining 5 samples.Pi*QiZQm|6@*BJQmcR?KR 2Qm:QibQm9yGedg@ޑq?RQm_Т+ӿN?q੻?BQm? QmG@Qm;PmP9?PmO9?PiQmQm-@"Qm&@BB BAd*BA A A A "C*CRCCCI G%M>ڱ,jfFAY}fj-@}f_@y}f-^}fn}fH(JAO??@ Ŀ ?` X9?)~fj-@ ~f];I~fCɫ髱) IY#?yjF]TNmea in: $SNTTA,0.032578,,,,225420.84*44 Ii)m=)u)> u>X=MZ=Y;QU>a"Hy-$<}>Iȱŵ2h 5?ŵxݾ Ƶ ?9Ƶ"0Aǵ': ȵ:)ȱmqAdded new target pos. range: 4.440000 m, bearing: 107.834747 deg, deltaT: 4.518545 s, approachRate: 0.000000 m/s, LOS rate: -0.581663 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UUU>?BB BAe*BAAAA"C%Co?RCACE?CIIY)]\A9IIGe4>Wౙ,փfFAY}:-@}:@y}:FZ}:,}:H`@??@(ſ? u??)~:-@ ~:u}\;I~:CFJFailed to close latch before timeout.q FFHardware FaultYJz?yJǍFI)I +?:vL7A`?94=Խ +=)IyMby&1~jtx?`e;  ?A)TAI0AimAQLA    @9IFiv?; E -@ -@ -@i )Ii=@HME@=YE/IIaM"HIqyu;}u>Iy}ni 5?}7yݾ } ?9}`0A}=:ޑiޕa= zz 8A:YQ1y:45)*; };)y8qjAggregate::initialize lineCaptureDepth:SetNavAcoustic19 r~Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNavq9rdReseting nav to dock location at range 4.440000 m q99 s6Initialize SetNavComponent.WWX XWX:W2W*WV)bU)BU)*U)U)U5`?ByBy ByA}*BAAAA"C?RCCCסI-$@Hardware Fault in component: DDMGA>籙,fFAY}2"-@}2@y}2JQV}2MDk}2H ] YX??;bƿ3?2`@?)~2"-@ ~2`[;I~2C>Powering down<ɪ<)< aaam"Hiiyu$}u>Iy :}j 5? :}pyݾ y ?9}0A}: }9:)}:XXXslSetNav fix at 20210815T225422: (41.552319, -70.708603)9 s:Uninitialize SetNavComponent.rfCompleted lineCaptureDepth:SetNavAcoustic:UpdateNav19 rAggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNavqRCompleted lineCaptureDepth:SetNavAcoustic8qnAggregate::uninitialize lineCaptureDepth:SetNavAcousticWWX XAWIXI:WI2WI*WIVQbUQBUQ*UQUYU]!Z?BB BA*BAAAA"C*CRCCCI G%M>>,ڌfFAY}6@-@}6O\@y}6V}6}6HG] ??o Gȿ@? b첿@e5?)~6@-@ ~6u[;I~6CY^e?ybΐF iiim]A=Ml=Y̺QU?a"H%HybH}?IȹŽk 5?Žyݾ ƽi=nG =?9ƽ0Aǽ|9ٔCIi=; E)Ii==5s&,a"Hy}>I  :l 5?  :yݾ   ?9 1A: g:):W1W1X1 X1W1X9:W92W9*W9V9bUABUA*UAUAUMz1?BqBy ByA}ԅ*ByAyAAA"C*CRCCCaIq$NClearing failed state for component DDMq Iމ)މG=P,5CfFAY}:,@}:'@y}:"O}:V}}:H- o?`?aHoƿ@? I?)~:,@ ~:/[;I~:CYF?yF4F=B<M=V=YEՀAIaM"HIIyUx+}U>IY]m 5?]zݾ ] e?9]@1A]: ]^:)YWWX XWX:W2W*WVbUBU*UUU`ާ@BB BA{*BAAAA"C*CRCCC1I9Ge=}} 1:YkS1yԊ:5Z8,fFAY}6,@}6@y}6J}6`[}6H $-z`??=h;Jſf'?ߪT?)~6,@ ~6[;I~6CYB6?yB؎FIN=)N=u)\(?i|?5?uGa=u uL=)qIqyu~jthMbP?~jth?uDu:uD; q)uSAIun.Aiuquz@A)Õ> Õ=    @ @ @i )Ii ,M >=Y)a"H!!y-K>}->I9 E:=m 5? E:=.zݾ = M?9=G1A=[; =p;)=:ܙ9ܙIܙiܙܝ=ܙܙܝ; ݙW W X) X)W1X1:W12W1*W1V9bU9BU9*U9UAUEP@RmB*** querying acoustic contact ***PiPiBB BA*BAAAA"C*CRCCCI)]AIG )>b,fFAY}6|,@}6@y}6/F}6Q]}6H\*`B@? ?``ſl?`"`Q[?)~6|,@ ~6 [;I~6CYR?yRFVZ****** received transponder code query ******VF****** received ping request ******Va"Hy}}>Im 5??zݾ h ?9M1AR: ;)WqWqXq XqWyXy:Wy2Wy*WyVbUBU*UUU\ @BB BA&*BAAAA"C*CRC C C ލ=iމXzz m&:YQ1y:}5 IG5 > ,8fFAY}6a,@}6|@y}6DC}6R}6H(k?@&(?PĿB?oƩ``?)~6a,@ ~6Z;I~6CYB?yB4FFxDUSBL response received:!U1,P 284,000,002BB,189,80,80,BE,FF FCommand AckFBRequesting micromodem ping code 2iDDNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 zPԼM~L=Y ;QU>!!a-"H1AyU|#}]>In 5?Rzݾ * =?9S1A< <)W W1X1 X9W9X9:WA2WA*WIVIbUqBUq*UyUyU+ @BB BA{*BAAAA"C!*C!RCICICIAIYG9>ܙ9ܙIܝFiܝ1?ܙܙܙܝ; ݝzE:u,RfFAY}:KL,@}:g@y}:~B}:c}:H`?0?ǿ|*?)BO?)~:KL,@ ~:*[;I~:CY^=?y^Fba=ɮba=rNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ <M@=Yh:QU>a"HyF}>Iȹ :Žn 5? :Ždzݾ ƽ ?9ƽY1Aǽ: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUUS@BB BA*BAAAA"C!*C!RC)C)C)=?i=? _:Yy5)|;9 IG5 >,"lfFAY}2Rm,@}2܈@y}2\<}2ri}2H %?`)?Tʿo?J;??)~2Rm,@ ~2{+[;I~0YN?yRaFVxDUSBL response received:!U1,R,25B,000,002BA,189,80,80,BE,FF VFpublishing direction and range infoR$PɰRd=P P)PIPyR(@R틻?$ٱP]=i]p<MK=Y>la"Hy;}>Iȱŵ-n 5?ŵwzݾ Ƶ ?9Ƶ_1Aǵ: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUU@Ct@R (Combining 5 samples.P *Q (@ZQ #\¯L@qJQ 틻?$2Q $:Q bQ C"@:?RQ 0"{Կzϼbx?"8'?BQ n? Q @Q P P P9?P Q Q 0@"Q -@B9BA BAAEh*BAAAAIAIAI"CQ*CRCCCIމ)މIG >!,efFAY}6d,@}6K@y}6}#4}6ٽ}6HD,@@ư?`4?a`fȿ f?T?)~6d,@ ~6[;I~6CYR?yRF-dNmea in: $SNTTA,0.383324,0.383612,,,225425.25*5F A9EڔCIAiAE=AAEs; EqE}} +:YkS1yԊ:F6)l;U~jt rhUUD UC )QIQyU:v rh?~jt?UTUC a "H y N}% >I) 5 :- 2n 5? 5 :- r{ݾ - N = ?9- 1A- k: - R:)- :m qAdded new target pos. range: 4.380000 m, bearing: 109.413975 deg, deltaT: 4.365815 s, approachRate: -0.013743 m/s, LOS rate: 0.361726 deg/s, posRepo size: 4X W n?W X  X W X :W 2W *W V bU BU *U U @U @ P?B! B!  B! A% C*B! A) A) A) A) "C5 n?RC9 C= n?C9 IY )] \A IG5>V ),NGfFAY}B&,@}A@y}.}1}H'G?:Q?e+Ŀs?ĘPu?)~B&,@ ~rZ;I~CY?yNFII)ImY<Mm=Ym$B/,fFAv v{v{v v>:Yv#R1yv:vX59v@Y?y`F    @ @ @i )Ii(;Mh=YQU>a"Hy}?I  :i9mݔCIiiim=m@Dm=Dmx; mE*6,fFAY}2&+@}2@y}2t!}2qݻ}2Hi Į?y?'yſ'?[(w?)~2&+@ ~2K[;I~0YF?yFΏFUəMUT=Y]T=QU]>aaae"HaiymJ}m>Iqu=n 5?u|ݾ u }?9u2Au: uA:)qWWX XWX:W2W*WVbUBU*UUU*?BB BA<*BAAAA"C*CRCCC?i?1I9GU=6T<,fFAY}2۾+@}2e@y}2}2,=}2Hx`?`?bĿ K?;B@?)~2۾+@ ~2[;I~2CRPowering upV"Initializing DDM.f fzfzf fK6:YfQ1yf:f35Y]?ye F %=i R=x=M4=Y5o99a="H9AyEY}E>Iy :}=n 5? :}}ݾi5NmG } ?9}?2A}@/= }/=)}:I)i9WQWYXY XYWYXY:WY2W*WVbUBU*UUUu@׿ٺABB BA*BAA9A9A9"CA*CARCICICIבIG>a 9e CIe XFie ?e =e =De @De E; e E)IݔCiC=?7wa"Hy}>I^n 5?6~ݾ i ?9p2A: :)W!W!X) X)W)X):W)2W)*W1V1bU1BU1*U9U9U=`.@REB*** querying acoustic contact ***PIPIBiBi BiAmt*BqAqAqAyAy"Cy*CRCCCQIYGu=7fI,fl'fFAY}2+@}23@y}2}2O}2H *@q?@?E i2?ʰ^?)~2+@ ~2[;I~2CYF?yF_FJZ****** received transponder code query ******JF****** received ping request ******J))a-"H)1y56ۼ}5>IAE~n 5?E~ݾ E, M?9E2AE: E:)AWqWqXq XqWqX:W2W*W!V!bU!BU!*U!U)U-`3d@BB BA1*BAAAA"C*CRCCCI)שIG>QP,VAfFAY}U*@}Ug@y}UR}U㔽}UH @ ; ,?\?Ї?Rp?)~U*@ ~UZ;I~QYu?yuF}xDUSBL response received:!U1,P 25B,000,002BA,189,80,80,BE,FF }Command Ack}BRequesting micromodem ping code 2iyyI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 } } } }@ }@ }@yyyiyy y)yIyiy ˓M #=YAAaM"HIQy]e}>Iȡ :ťn 5? :ťݾ ƥ: ?9ƥ2Aǥ^: ȥ(:)ȥ:W 9 I Fi a?    ; EWX XWX!:W!2W)*W1V1bUYBUa*UaUaUeYz @BB BA{*BAAAA"C *CRCCqCyױIG>AxV,"[fFAY}2*@}2@y}2a뽙}2}2H``8N@"?`?ۻ)Q? mԴ?)~2*@ ~2Z;I~2CYF?yFFVNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B v ttv[ v:Ytytv| 6)v ;9z]_=M]=Ye?=QUe ?aaam"HiiyuH}u?I15n 5?5ݾ 5 E?953A5: 5:)1WWX XWX:W2W*WVbUBU*UUU~@BB BA*BA A A A "C1*C1RC1C9C9)I1GU>\,"ufFAY}zM*@}z@y}z޽}zV}zHH??zȻ?uh?)~zM*@ ~z[;I~zCYU?y]^F}xDUSBL response received:!U1,R,26C,000,002B9,188,80,80,C4,FF Fpublishing direction and range infouc qɰudd=u> q)uDCIqyu=@u{I%m?U1{ٱq}dNmea in: $SNTTA,0.123721,0.301769,,,225429.41*5F l?/$a"Hy+9}>I  : 'n 5? : ݾ C ?9 t3A : :) :WQWYXY XYWYXY:WY2Wa*WaVabUaBUi*UiUiUmb@R}(Combining 5 samples.Py*Q}=@ZQ} @JQ}{I%m?U1{2Q}c :QybQ}kކ?5lɂW@>A?RQ}ޞӿh>C?e#tw?BQ}9? Q}@Q}6PyPyPyQyQ}K@"Q}0@BB BAʃ*BAAAA"C*CRCCC?i?סIGI> 9 CI Fi ? = >D ?D z;  Exc,ڎfFA|i|Y}6*@}6@y}6ٙ⽙}6uH}6H@:? ?@@ qD?䨿(?)~6*@ ~6[;I~6CYNP?yRԓFv vzvzv vv4:YvQ1yv:vi5)v$;    @ @ @ùùùiùù Ĺ)ĹIĹiĹ<M%n=Y%QU%?))a-"H))y5&*;}=?I9=m 5?=ݾ =9 M?9=3A=: ==:)9m}uAdded new target pos. range: 4.319999 m, bearing: 107.433473 deg, deltaT: 4.212564 s, approachRate: -0.014243 m/s, LOS rate: -0.470142 deg/s, posRepo size: 4XyW}9?WyXy XWX:W2W*WVbUBU*UUG@UX?BB B!A%*B!A!A!A!A!"Cm\?RCqCu9?CqaIqG>Ji,ݳfFAY}6*@}6@y}6㽙}6-Y}6H B l??lἿT?``=?)~6*@ ~6Z;I~4YF?yFF=;M=Y=YE-QUE>AIaM"HM'HIyU /}U>Iȹ :Ž5m 5? :Žݾ ƽ ?9ƽ4Aǽ: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU@"B?B1B1 B1A5*B1A9A9A9A9"CE9?RCACACIIIYGu=4p,*fFAY}:]*@}:@y}:ν}:褽}:H`N?I?`? :@@ҹ?`z|л?)~:]*@ ~:8[;I~:CYN?yNFvvxvxv v11:Yv7P1yv:v59z@=[M=J=YEAIaM"HIIyU0;}U>IY]l 5?]~ݾ ] e?9]L4A]w: ] :)YWWX XWX:W2W*WVbUBU*UUU ?BB BA*BAAAA"CY*CYRCYCYCaQIaG}=ܱ9ܵCIܵ8Fiܵ?ܵ=ܵ?Dܵ>Dܵ; ݵgEv,_yfFAY}MO+@}M@y}M~}M~ƽ}MHX(,c?+?`I?G?)~MO+@ ~M=Y\;I~IYe?ymF - - - -@ -@ -@)))i)) )))I)i)=*K;M=;=YEAAaE"HIy;}>I : l 5? :ݾ E ?94A: :):W)W)X) X)W)X):W12W1*W1V1bU9BU9*U9U9U=E6?BB BA*BAAAA"C*CRCCC׹IG$>|,OfFA o w w  <:Y O1y P: 5Ym?yuAFm:v?K7A`ſMb?mTa"Hy}>Iȩŭk 5?ŭӆݾ ƭP ?9ƭ4Aǭ: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU @BB BA*BA!A!A!A!"C)*C)RC)C1C׹IGE>ܡ 9ܥ CIܡ iܡ ܥ =ܡ ܡ ܥ ; ݥ ZEك,&fFAY}6*@}64@y}6p}6d}6H@Y1? ?@ p>ȴ?Ձ 6?)~6*@ ~6A[;I~6CY^?y^.F)-^A]2M]v=Y]j^,Y)fFAY}6ʭ*@}6T@y}6+ϟ}6}6Ho@ɋ??@@'@?TB`?)~6ʭ*@ ~6Z;I~6CY^?y^ҕFv vyvyv vD:YvP1yv':v5 5 = = =@ =@ =@999i99 9)9I9i9M<MMK=YMQQaU"HQYyeR}e>Ii u:mk 5? u:mۈݾ m u?9m5AmH: m:)m:WWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BAʂ*BAAAA"C*CRCCCIG=imGIi! M ߿ٺQ U Aꐲ,CfFAY}6$*@}6@y}6}6yƂ}6HqE?@d)?̷|?2L@5?)~6$*@ ~6Z;I~4YN?yReFRZ****** received transponder code query ******VF****** received ping request ******Va%"H!)y-n}->I9=j 5?= ݾ = M?9=5A=7; =;)9WWX XWX:W 2W*WVbUBU*UUU ~ @BaBi BiAm*BAAAA"C*CRCCCQ9UߔCIUpFiUM?QQU=DU; U*E)CICi僕C==D7IG (>r,]fFAY}2ԙ*@}2^@y}2̉w}2:}2H`t@ȑk?` *?P`g? ?)~2ԙ*@ ~2seZ;I~0YF?yFmFJxDUSBL response received:!U1,P 26C,000,002B9,188,80,80,C4,FF JCommand AckNBRequesting micromodem ping code 2iLLRNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 - -~-~-& -J]:Y-T1y-@:-6)-j;9U)= ==MG=Y;  a "H y='`:}E>IQ :Ugj 5? :U+ݾ U ?9U?6AU\< U]<)U:WWX XWX:W2W*WVbUBU*UU U  @BqBy ByA}*ByAyAyAyA"C*CRCCCI)]A׉IGB>,C,bwfFAY}M/*@}M@y}Ms}MCny}MH (6]q? ?vx?R?)~M/*@ ~MwPZ;I~MCYe;?ymۖFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I ) MʡEʡEӿMb`M-M M)IIIyM~jt?Ma"Hy O;}>Ii 5?ӊݾ  ?9e6AM: 4:)W W X  X W X :W2W*WVbUBU*UUU%5?@BIBI BIAM_*BQAQAQAQAQ"CY*CaRCaCaCaױIGf>I 9M CII iI M =M >DM ?DM 6; M Et&,@hfFAY}2*@}22@y}2gx}2k}2HFB?@3? w? Ġ?)~2*@ ~22Z;I~2CYFU?yFFJxDUSBL response received:!U1,R,2A0,000,002BA,188,80,80,C0,FF NFpublishing direction and range infoJQ HɰJd=H H)J@CIHyJ(@JwJ?f )bٱHZNNmea in: 8677,0.133037,,,225433.83*5D ZResponse from modem failed NMEA checksum: 8677,0.133037,,,225433.83*5D expected 0j1=Mj=YnQUn"?r=ir=v v}v}v vVB:YvkS1yvԊ:v6)v!;||a~"Hy 8}  ?I :{i 5? ]:ݾ ~ ]?9{6A!< "<):WWX XWX:W2W*WVbUBU*UUUd@R(Combining 5 samples.P*Q(@ZQEG/ @! dJQwJ?f )b2QQ :QbQ>2K񿲟 E@riEsW;?RQO;,?пA?acY3?BQ? Q:@QRPPPQQe@"QK@B9B9 B9AE*BAAAAAAAAA"CI*CIRCQCQCy1IAG=R,kIfFAY}24)@}2@y}2v}2}2H °]*? l?+@Ү?P|?)~24)@ ~2Z;I~2CY^?y^+F15_A=K=M=D=Y=~:QUE>AAaE"HE(HIyM}U>IY]h 5?]Uݾ ]_ e?9]6A]ض: ]':)YmqAdded new target pos. range: 4.380000 m, bearing: 104.741313 deg, deltaT: 4.354925 s, approachRate: 0.013778 m/s, LOS rate: -0.618187 deg/s, posRepo size: 4XW?WX XWX:W2W*WV!bU!BU!*U!U%@U- ?BB BAn*BAAAA"C?RCC?C?i?שIG=b8,:fFAY}:%)@}:@y}:gc}:o}:H`Q@퍊{?@e.m?<`?)~:%)@ ~:)Z;I~:CYNf?yNkFv vvv$ vZ:YvV1yv:v69z@R=i< m m m m@ m@ m@ m@iiiimi m)mImim;MF=Y9a"Hy}>Iȱ :ŵh 5? :ŵݾ ƵB ?9Ƶ6Aǵs6; ȵt2;)ȵ:WqWqXq XyWyXy:Wy2Wy*WVbUBU*UUU?BB BAT*BAAAA"C?RCC C >9CIi=<DAD  EI)GM>b,YfFAY}2)@}2? @y}2kC6}2}2HPj@zAKn?p@FbƦ?6X?)~2)@ ~2[;I~2CYFt?yFtFIl)n@A%v:M%Q=Y%))a-"H)1y5;}5>IAE h 5?Eݾ E- M?9E6AEض: E:)AWiWiXi XqWqXq:Wq2Wq*WyVybUyBUy*UUU@?BB BAP*BAAAA"C*CRCCCױIG=e,GfFAry rrrr rMf:YrU1yr:r6Y}z)@}z@y}z }z}zH`rઐ|?Ft0軿3? 齿@:?)~z)@ ~z[;I~zCY =?y FEQ?Eu=EL E)AIAyEMb`?{Gz?AiAAEEA    @ @ @áááiáá ġ)ġIġiġ➼M'=YXa"Hye}>I :f 5? :ݾ  ?9-7A: :):WWX XW X :W 2W *W VbUBU*UUU`?B!B! B!A%*B!A)A)A)A)"C1*C1RC1C1CYIi)i1IAG]U> 9 CI 8Fi ? = ;D BD ; TEtIJ,fFAY}6ȩ)@}6R@y}6F}6=t}6Hʤxxϊ?~Rx? [?)~6ȩ)@ ~6{c[;I~6CYF?yJךF=c=M=~=YEQCAIaM"HIIyU&8}U>IY]e 5?]ȋݾ ]} e?9]7A]^: ]:)YWWX XWX:W2W*WVbUBU*UUU@}Y@BB BA/*BAAAA"C*CRCCC1I9GU=~Ѳ,eFfFAY}2)@}2@y}2ظ}2}2Hc^a@>?@ЂV?@Ӝ?)~2)@ ~2/I[;I~2CYF?yFF m m m u@ u@ u@iiiiii i)iIiii#!=MF=Yz0a"Hyo}>Iȹ :Žd 5? :Žuݾ ƽ ?9ƽ7Aǽ: Ƚ :)Ƚ:WWX XWX:W2W*WVbUBU*UUU@@R B*** querying acoustic contact ***P P B)B1 B1A5*B1A9A9A9A9"CA*CARCACACI?i?ܙ9ܝCIܝpFiܝM?ܝ=ܝ:DܝCDܝ; ݝqEשIG>ײ, A`fFAY}6z)@}6[@y}6}6L}6Hmϟ@;$p|?F3Us?=G=?)~6z)@ ~6k[;I~4Y^?ybjFbZ****** received transponder code query ******fF****** received ping request ******fa"Hy7}>Ic 5?ݾ \ ?918AI; ;)WAWAXA XAWAXA:WA2WI*WQVybUyBUy*UyUU @BB BA*BAAAA"C*CRCCCIG>ݲ,#zfFAY}6ZT)@}6o@y}6={}6D#}6H`/2 ?x`@??)~6ZT)@ ~6N[;I~6CYV?yV1FZxDUSBL response received:!U1,P 2A0,000,002BA,188,80,80,C0,FF ^Command Ack^BRequesting micromodem ping code 2i\\fNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Ip)rAA!iNmGIiQ4ۿٺAl¿y&1kt?`e  0=)IyL7A`堿ˡE?y&1|+'=` 5>A)EAI ?Ai-HABA-ePonly read 0 of 1 data item for BIT errorm.=Mm=Yua"Hy}>I :b 5? :ݾ & ?98A< /<):WWX XWX:W2W *W V bU BU1*U1U9U= @BB BA3*BAAAA"C*CRCCCIG >ܑ 9ܕ CIܕ Fiܕ ?ܕ =ܑ ܑ ܕ ; ݕ yE)5CI5Ci5C5=5=57䲙,fFAv ttve v[:Ytytv6)v ;Yz?y~DF|ɮ~p=eNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B %uH;M-=Y5QU5?99a="H9AyE}E?IIMb 5?Mݾ M ]?9M8AM:: M:)IWyWyXy XWX:W2W*WVbUBU*UUU |C@BYBY BYA],*BYAaAaAaAa"Ci*CiRCqCqCqaIqG>겙,ҭfFAY}6w(@}6P@y}6K=}6Ѽ}6H>M͂?`;`^&R?`.@?)~6w(@ ~6iZ;I~6CYF?yJMFNxDUSBL response received:!U1,R,240,000,002B8,189,80,80,A1,FF NFpublishing direction and range infoJHɰJd=J7> H)J!CIHyJQ@JLG ?(s u ޿ٱHbƤ:Mbc=YfI/ddaj"Hj)HhynT}n>Ip v:rb 5? z:rݾ r- z?9r-9Ar: r:)r:WWX XWX:W2W!*W!V!bU!BU!*U)U)U-@,@R=(Combining 5 samples.P9*Q=Q@ZQ=]Q @ d kJQ=LG ?(s u ޿2Q=:Q9bQ=\ nEz\|8@fx/y?RQ=\eӿDv? Y!?BQ=? Q=Á@Q=P9P9P9Q9Q=)@"Q=e@BqBq BqAu(*BA A AA"C9*C9RC9C9CA1I9G]=,fFAn=ilz zzz] zZ:YzWU1yz:z 69~@Y}%~(@}%>@y}%}%s{}%HA@- `,?>@?zp?)~%~(@ ~%[;I~!Y=?y=FTNmea in: $SNTTA,0.056267,,,,225438.29*41    @ @ @i )Ii&<M,=YmQU>a"Hyi:}>Ib 5?ݾ 2  ?99A: w:)5>95CI1i15=59D5DD5; 5zEm]qAdded new target pos. range: 4.259999 m, bearing: 107.795002 deg, deltaT: 4.426476 s, approachRate: -0.027110 m/s, LOS rate: 0.689869 deg/s, posRepo size: 4XYW]?WYXa XaWaXa:Wa2Wi*WiVibUiBUi*UqUu = @Uu ?BB9 BAAE*BAAAAAAAAA"CM?RCQCU?CQYIaG8>h,rfFAY}2SU(@}2p@y}29$}2Ga}2H`2~?#` d?@#@?)~2SU(@ ~2C[;I~2CYz?yzFf Mb=Y'QU>a"Hy<}>Iob 5? ݾ  ?99As: ':)W W X  X W X:W2W*WVbUBU*UU!U%?BIBI BIAUg*BAAAA"C?RCCCIG>^*,jfFA b   /  P:Y V1y : 6Y}'@}{@y}ʤ}{}H@& @,T?嘔?`ÿs?)~'@ ~_[;I~CY?yF v?%C̿Dl? x> Zd O=) I y +I +?y&1|?  94< `; ?A) I ^BAi EA  \CA e e e e@ m@ m@ maaaie=@a a)aIaia};M}/=Y}mw;QU}>a"Hy}>Iȑ :ŕ3c 5? :ŕݾ ƕ ?9ƕ.:AǕ: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU@?B B  B A I*B AAAA"C*CRCCC!!I)GE0>5 >95 CI5 8Fi5 ?5 =1 1 5 ; 5 E,?fFAIl)n@AYr7?yrěF)í= í=Mi=YQU>a"Hy}>Ic 5?ݾ 2 ?9i:Aض: :)W!W!X! X!W)X):W)2W)*W)V1bU1BU1*U1U9U=^?BaBa BaAm`*BiAiAiAiAi"Cq*CyRCyCyCyI׉)׉iIyG=: ,;/fFAY}N'@}N2@y}NA}Nq}NH[`nͩ@z?@`L1@?t#o?)~N'@ ~N3:[;I~NCYZX@y^Fv ttv  v[T:Ytytv6e=MeR=YeQUm>iiam"Hiqyu}}>Iȁ :Ņmd 5? :Ņwݾ ƅ1 ?9ƅ:ADžV: ȅ:)ȅ:WWX XWX:W2W*WVbUBU*UUU`-L@BiBi BqA*BAAAA"C*CRCCC׉IG=<#,DHfFAY=}@y=FI)    @ @ @ @i )IiG;M@=Y QU >  a"Hy}>I!%!e 5?%Rݾ % -?9%:A%: % :)! >9CIFia?=ED8; EW W X) X)W1X1:W12W1*W1V9bU9BU9*U9UAUE<@BB BA~*BAAAA"C*CRCCCסIG >(M,bfFAn=in=z zzz zx|:YzT1yz:z6)z\;9Y}?y}F8MQ=YQU>a"Hy}>Iȹ :Že 5? :Žݾ ƽ ?9ƽ2;Aǽ: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU`@R B*** querying acoustic contact ***P P B1B1 B1A=*B9A9A9A9A9"CA*CARCICICI]?i]?1I9G]= w,|fFAY}2:&@}28V@y}2s(}2{}2Hr-#?A]@ ?o?)~2:&@ ~2[;I~2CYF?yFpFJZ****** received transponder code query ******JF****** received ping request ******Jm`e m.>)iIiymZd;O)1a5"H11y=u}=>IAEf 5?EYݾ E m?9Ec;AE; EE;)AWWX XWX:W2W*WVbUBU*UUU' @B)BA BAAMd*BIAIAIAQAQ"CY*CYRCaCaCiיIGb>>9CIi=8DFDN; —Ed%,(fFAY}r`%@}r|@y}r<}r}rH`"᝿?@f 4?t 2?)~r`%@ ~rZ;I~rCY~ ?yF xDUSBL response received:!U1,P 240,000,002B8,189,80,80,A1,FF  Command Ack BRequesting micromodem ping code 2i  a=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }H }}}[ }v:Y}WU1y}:}| 6)}x;mMmt=Y}`QU}>yya}"Hy}>Ii u:mqg 5? }:mݾ m* ?9m;AmH< mn<)m:W9W9XY XYWYX:W2W*WVbUBU*UUU@%@BB9 B9AU*BYAYAYAYAY"Ca*CaRCiCiCiqIGa> +,afFAYr?yrߜFvp=ɮtNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 9MJ=YQU>a"H*H y } >I#h 5?ݾ B %?9;A: :)WAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU]8N@BB BA*BAAAA"C*CRCCCIױ)ױqIyG=i ]nGI!iI}E޿ٺAbu2,OfFAE E|E|EG E[:YER1yEi:EX 69M@Y}ML%@}Mg@y}M=\`}Md }MH`̩ X?0?!Ҷ?)~ML%@ ~MZ;I~MCYmy?ym'FxDUSBL response received:!U1,R,21A,000,002B9,187,80,80,A1,FF Fpublishing direction and range info}va𾩰yɰ}dd=}1> y)yIyy}=@}D>?5ܿٱy    @ @ @i )Ii O<M H=YԱQU>a"Hy%I}%>I)-h 5?-ݾ -# 5?9-;A-0: -÷:))ܕ>9ܕCIܕ Fiܕ?ܕ=ܑܑܕl; ݕ֗E) CI Ci C = = ^6W1W1X1 X1W9X9:W92W9*W9V9bUABUa*UaUiUm{@R}(Combining 5 samples.Py*Q}=@ZQ}Ng @;EJQ}D>?5ܿ2Q}va:QybQ}Ϧ ٥sq@P1?RQ}\7Ƅҿ#Hs?hy?BQ}? Q}@Q}PyPyP}QyQ}r@"Q})@BB BA*BAAAA"C!*C!RC!C!C)I!GE0> 8, fFAY}rE%@}r'a@y}rX`c}rM}rH@=@``Q?|FNh?t?)~rE%@ ~r^Z;I~rC~`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫaa)a eIiY?yCF DNmea in: $SNTTA,,,,,225442.73*5D I ) A8Not Powering down - fast GPS )Iiiɶ%% %)%I%i%%%ɷ%15^A]-;Me=YekQUe>iiam"HiqyuYH}u>Iy :}i 5? :}#ݾ } ?9} >,ffFAY}^$@}^@y}^g}^ҽ}^H Q`iF?w.`?@|<`?)~^$@ ~^3Z;I~^C9i==M MMM Mg:YMT1yM:M36ɫ髹) IY ?yFMb@Mb@Mb@ )Iy/$Mb?ˡE<' f8A)$RAIi+MAGEA=GM=u=Y=ZQU=?AAaE"HAIyMeӼ}U?IQU9j 5?Uqݾ U' e?9U$ܕ>9ܑIܕFiܕv?ܑܑܑܕi; ݑAE,fFAY}B $@}B"@y}Bj}B}BH`{.?@]@F྿U?`귽?)~B $@ ~B*Z;I~BCɫQQ)Q QIQYu?y}ÜFoMO=Y+QU>a"H1y=ڼ}E>Iȁ :Ņj 5? :ŅϘݾ ƅ ?9ƅDK,1fFAY}R #@}R@y}Rg}RQƽ}RH\˭ J`?EMGrܬ?@A ?)~R #@ ~R^;I~P- ---M -3T:Y-V1y-:- 6ɫ髱) IY3?y_F)E= E>    @ @ @i )IiXHMI=Y;QU>a"Hyem}>Ij 5?+ݾ  ?9bR,mKfFAY}:#@}:|9@y}:D\}:}:HLu?+,$@?/T ?)~:#@ ~:];I~:Cɫ99)A AIAY}@y}F=M[=Y;QU>a "H  y|}>!9!I%Fi%1?%=!!%Y; %ΗEI9 E:=,k 5? E:=ݾ = E?9=X,5efFAY}^ "@}^@y}^L}^;}^H^`1\??Lj@?豿`?)~^ "@ ~^\;I~\] YY]r ]:YYyY]6)];9eɫ髱) IY[?yF    @ @ @i )Ii`MM==Y*a"Hy}>I|k 5?ݾ  ?9 '_,ލfFAɫ) IY5?y5F99v/:v?p= ףxiT= )Iy~jtS㥛Mb?/ݼ< )+MAI;9AiNA3CA - - 5 5@ 5@ 5@111i11 1)1I1i1EBMED=YEQUM>IIaM"HIQyU}]>IY :]m 5? :]ݾ ]2 ?9]-=A]Ж< ]ژ<)]:WaWaXa XaWiXi:Wi2Wi*WqVqbUqBUy*UUU)@RB*** querying acoustic contact ***PPB!B! B!A%*B)A)A)A)A)"C1*C1RC1CYCYQIYG}Y>,>9I Fi?=9DGDr; ܗE f,[fFAY}^!@}^@y}^f8J}^hۜ}^H`N>`E?`5@OkD?i@?)~^!@ ~^<\;I~\AiEp=ɫ髙) I c j:YyW6)";Y?y̜FZ****** received transponder code query ******F****** received ping request ****** a"Hyk}>I!%Dp 5?%؛ݾ % M?9%=A%; %U;)!WWX XWX:W2W*WVbUBU*UUU`m @BB BA*BAAAA"C!*C!RCACACI]?i]?AIIGe4>4l, 3fFAY}:G!@}:}c@y}:+u;}:+B}:HA_e汿@Fn?;Q@L`l?ʗ:?)~:G!@ ~:Y\;I~:CɫII)Q QIQY}?y}{FxDUSBL response received:!U1,P 21A,000,002B9,187,80,80,A1,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ~8M\=Ya%"H%+H1yE}M>Iimvr 5?mœݾ m5 ?9m.>Am= mc=)iWiWiXq XqWqXq:Wy2W*WVbUBU*U)U)U5@s @B1B1 B1A=}*BaAaAiAiAi"C*CRCCCIG>s,fFAY}^L @}^ @y}^@0}^}^Hi}@?@3+_?B?)~^L @ ~^ _`;I~^Cɫ髙) I3>9IXFi?=X; ЗE  r:YU1y:V6);Y7?yěF Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )å > å> - E E E@ E@ E@ EAAAiE?A EK?)EK?IEK?iEK?h<M2=Y;QU>a"Hy>}>Iȡ :ťu 5? :ť՝ݾ ƥl ?9ƥ>Aǥ"< ȥ"<)ȥ:WWX XWX:W2W*W!V!bU!BU!*U)U)U-@EC@BQBY BYA]`*BYAYAYAYAa"Ci*CiRCiCiCqaIiG@>Fy,fFAY}:3 @}:O@y}:/}:%h}:H 3r<6?` ? P?)~:3 @ ~:e];I~:CI=AA)=AAɫYY)Y YIYY?y(FxDUSBL response received:!U1,R,2AB,000,002B7,189,80,80,AD,FF Fpublishing direction and range infokɰc=鰥7> )-CIyf@}}u{?-ٱ5oO<M5P=Y59QU=>99a="H9AyE}E>IQUKw 5?UȞݾ U ]?9UC?AU: U÷:)QWyWyXy XyWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qf@ZQ"n @#൚JQ}}u{?-2Qk:QbQ9L{hs׿E~a@+&n?RQ芤U0ĹJ"?j 8?BQD? Q@QPS9?PPQQ@"Qr@BQBY BYA]7*BYAYAYAaAa"C*CRCCCIס)סaIiG9>Y Y i nGI) iY 6ٺ A_0,fFAɫ) I  ^:YWU1y:69@Y?y%̜Fl?m?~jtx>n> Ļ)Iy rhA`" rh?C YC< …6A)…"WAI…5>AiFA        @  @  @  @   i   ) I i %6<M%<=Y-QU->11a5"H19yE}E>IQ ]:Uy 5? ]:Uݾ U e?9U?AU%; U2;)U:mqAdded new target pos. range: 4.199998 m, bearing: 95.016394 deg, deltaT: 4.460156 s, approachRate: -0.026905 m/s, LOS rate: -2.667410 deg/s, posRepo size: 4XWD?WX XWX:W2W9*WAVAbUABUA*UIUM`@UM k?BB BA*BAAAA"Cf?RCCD?C׹IGf>ܽ->9ܹIܹiܹܽ=ܽ8Dܹܽ-; ݽE)MCIMCiMCM=IM6KY,fFAY}:@}:@y}:dA}:r}:H@p ?03{9?`IJ?)~:@ ~:|\;I~:CɫYY)Y YIYY"?y|F]AMMUn=YUsRQUU?YYa]"HYaye]}e?Iim`{ 5?mݾ m= }?9m @Am|: m:)iWWX XWX:W2W*WVbUBU*UUU#?BB BA*BAAAA"C ?RCCC)I1GU> ,z4fFAY}ZD@}Z@y}Z.}Zw}ZH 6? "?3>ݥ?@⵿?)~ZD@ ~Z\;I~ZCɫ髙) IY?yaF5x 115 5z:Y1y156TMD=Y$5a"HyF }>I :} 5? :lݾ  ?9u@A: [:):WWX  X W X :W 2W*WVbUBU*UUU%?BiBi BiAu*BqAqAqAqAq"C}#?RCyCCIIG&>j,UNfFAY}:p@}:@y}:}:푽}:H@6 0?ۣ? A6?)~:p@ ~:`;I~:Ce5>9eCIeȖFie?e=aae; eEɫ髱) IY?yF m m m m@ m@ m@iiiiii i)iIiii}MN=Y"a"Hy}>Ișŝ 5?ŝPݾ Ɲ" ?9Ɲ@Aǝ˵: ȝ':)șWWX XWXi:Wq2Wq*WqVqbUqBUy*UyUyU}`?BB BA3*BAAAA"C?RCCCIG-,>,7hfFAY}RY@}R>u@y}R0)}R{}RH@}@(疿 ? C@v$?5V@?)~RY@ ~Rg^;I~Pɫqy)y yIyY ?y4Fu qqu u0p:Yqyqu6)å= å=䅼ME=YZƻQU>a"HyW}>I΁ 5?2ݾ # ?9DAA: R:)WWX XWX!:W!2W!*W!V!bU)BU*UUU :$@BB BAj*BAA!A!A!"CMD?RCICICQAIIGe4>|,| fFAY}B@}B@y}B֡D}B\f}BH4`@ﲌ?` Б? 1 ?)~B@ ~B];I~BCɫYY)Y YIYY}?yuFI +?EԸ:v9<ƽ Լ)Iy:vI +Q?T94u< ½:A)½NAI½aaam"Hiqy}<}}>Iȉ  :ōd 5? :ōMݾ ƍ ?9ƍbAAǍ< ȍْ<)ȍ:WQWQXY XYWYXY:WY2WY*WaVabUaBU*UUU`o@BB BA*BAAAA"C*CRCCCI)IGI>e6>9aIe8Fie?e=aae; eE,)fFA  i:YU1y:)6);9ɫ)))) )I)Ym?ymFim@ATM8=YQU>a"Hy}>Iȩŭ 5?ŭiݾ ƭ ?9ƭAAǭ: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PPBB BAu*B!A!A!A!A)"C)*C1RC1C1C19IIGeV>$Ѭ,µfFAɫ髙) IY5?yFZ****** received transponder code query ******F****** received ping request ******; }T:)}:WIWQXQ XYWYXa:W2W*WVbUBU*UUU @BB BA*BAAAAAAAA"CI*CIRCQCQCQyIG^>,fFAY}:Ͻ@}:Y@y}:*}:$ }:H@Inِ? y1?D?NI?)~:Ͻ@ ~:[;I~:C*>9IFi?=; EɫYY)Y YIY}=i}a=YJ?yF5xDUSBL response received:!U1,P 2AB,000,002B7,189,80,80,AD,FF =Command Ack=BRequesting micromodem ping code 2i99MNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 . ~~ R`:YT1y@:6) ;   % %@ %@ %@!!!i!! !)!I!i!<M=Y;0QU>a"Hy,ʼ}>I6 5?ݾ  %?9AA˵: :)WiWiXi XiWiXi:Wq2Wq*WqVqbUBU*UUU @B!B) B)A-[*BQAQAYAYAY"Ci*CiRCCCIG>㹳,zfFAY}:cA@}:\@y}:}:}:H`f@Nr $|T?Ih׹=}?\`?)~:cA@ ~:^;I~:Cɫ99)9 9I9YT?y9Fɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B !M=YΠQU?a"Hy@Ҽ}?Iȱ :ŵ 5? :ŵݾ Ƶ ?9ƵAAǵ: ȵ0:)ȵ:WWX XWX:W2W*WVbUBU*UUU` @BB BA؃*BAAAA"C*CRCCCIG$>,XSfFAY}BP @}B%@y}Bq}B+}BH_MjVw`?*qϵ?@MP%?)~BP @ ~B];I~BCɫYY)a aIaYP?yԓFxDUSBL response received:!U1,R,37D,000,002B7,188,80,80,AC,FF Fpublishing direction and range infoGɰ鰕> ),CIy[L?* }ٱ  }i:YU1y:69@Dl?~jt:v?O >D <)Iy~jt?y&1| rh?<`C< @A)FAI:AiNA)= > 5 5 5 5@ 5@ 5@111i11 1)1I1i1M<MM2=YM;QUM>QQaU"HQYy]}]>Iaec 5?eDݾ e u?9eAAe: e:)aWWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*QZQʯI@SJQ[L?* }2QG:QbQ0c¨?g@))?RQ3,}??"n<Gc?BQ? Qf@QF ?PV9?PS9?PQQ@"Q@BB BA*BAAAA"Cy*CRCCCyIG^>">9Ii=; E#Ƴ,.fFAIޅ@A)ޅ@Aɫ髹) IY?yFTNmea in: $SNTTA,0.090517,,,,225451.67*4E Me=YQU>a"Hy}>I :5 5? :ݾ  ?9BA$: :):m-mAdded new target pos. range: 4.199998 m, bearing: 82.402769 deg, deltaT: 4.471683 s, approachRate: 0.000000 m/s, LOS rate: -2.820778 deg/s, posRepo size: 4X)W5?W1X1 X1W1X1:W92W9*W9V9bU9BUA*UAUAUE@:?BqBq BqAu*BqAyAyAyAy"Cl(?RCC?CׁIG>@ͳ, 7fFAY}:@}:* @y}:뽙}:Vi}:H`k?1?`z=l?@ʣ@?)~:@ ~:݊];I~8ɫYY)a aIaYz?yF}ؼMP=Y[QU>i}nGa"HIi ٺOA- ))- -BZ:Y)y)-6yY,}5>I9= 5?={ݾ = e?9=0BA=; =f;)9WWX XWX:W2W*WVbUBU*UUU?B)B) B)A-O*B)A1A1A1A1"C=?RC9C9Ca9IIGeU>8Գ,?PfFAY}:^@}:y @y}:}: O}:H֋ 彩??@M@& h?$Ǟ`?)~:^@ ~:^;I~:CV>9VCITiTV=TVFDV2; VE)=CI=Ci9=====6ɫ99)9 9I9Y&?yDF…]A-Nonly read 0 of 1 data item for altitude̼ME=YQU>a"Hy&}>I 5?!ݾ  ?9KBAk: :)WWX XWX:W2W*WVbUBU*UUU`?BB BA*BAAAA"C ?RC C CIG )>11ڳ,jfFAY}B@}B+ @y}B<}B̼}BHI/1?? _ d? @@ګ?)~B@ ~B~a;I~BCɫYY)Y aIa}=i}=Yt?yאF4aMO=Y>QU>a"Hy}>I : 5? :ݾ  ?9hBA$1; 7;):W W X  XWX:W2W!*W!V!bU)BU)*U)U1U5 ?BYBa BaAeф*BaAaAaAaAi=  a:Yy6"CD?RCCC?i?שIG#>᳙,fFAY}:@}:7 @y}:N}:!Q}:Hk) :N?@@?S&`ÿ ?sҩ?)~:@ ~:+`;I~:CɫYY)Y YIYY=?yFDl?EԸ?~jth?O== D;)Iy/$y&1~jt?,`D< ?A)KAIf8AiYA\GA = = = =@ =@ =@999i99 9)9I9i9MMM?=YU#QUU>QYa]"HYYye }e>Iims 5?m9ݾ m u?9mBAm9: m':)iWWX XWX:W2W*WVbUBU*UUU?BYBY BYA]*BYAaAaAaAa"Cm ?RCiCiCqaIiG9>ܥ >9ܡIܥpFiܥM?ܥ=ܡܡܥ@; ݥE@C糙,BvfFAY}:@}:/ @y}:#}:}:H Qzx`?@?ſ`a?߱;?)~:@ ~:];I~:Cɫyy) IY?yF)-> ->}RMX=YMQU>a"HyK} >I : 5? %:ݾ ) -?9CA7%; \b;):WaWaXa XaWaXa:Wi2Wi*WqVqbUqBUq*UqUyU} @  Sk:YW1yč:);9BB BA*BAAAA"C)?RCCCשIG!>gm,QfFAY}:^@}:y @y}:b*}:N}:H /f?,?F`xVĿ?3?@Ö?)~:^@ ~:0];I~:Cɫ99)9 9I9Iޙ)ޙYP?yF:=MS=YpQU>a"H-H y } >I} 5?ݾ  %?9cCA9: ˵:)WAWAXA XAWIXI:WI2WI*WIVQbUQBUQ*UYUYU]6@ReB*** querying acoustic contact ***PaPaBB BAZ*BAAAA"C?RCCCqIyG=;U,s,fFA"]A"^A&">9&CI&Fi&?&=$&GD&I; &ȗEY}Z@}ZG @y}Z6}Z];}ZHHO #V?.O?"|)ÿ >?g(~?)~Z@ ~Z\;I~ZCɫyy)y yIyYE?yFZ****** received transponder code query ******F****** received ping request ******a"Hy¼}> l k:YT1y:N6);I  :U 5? :ݾ  ?9CA; ;):WAWAXI XIWIXI:WQ2WQ*WQVQbUQBUY*UYUYU]W @BB BA*BAAAA"CR?*CRCCCIGE>_,fFAY}:' @}:( @y}:E}:{}:H !?? hf? P? 7ſc?@{f?)~:' @ ~:^;I~:CɫII)I IIIY}i?y}3FxDUSBL response received:!U1,P 37D,000,002B7,188,80,80,AC,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  C=M j=Y.QU%>19aE"HAQyeۼ}m>Iȉō‹ 5?ōݾ ƍ7 ?9ƍDAǍ= ȍ=)ȉWQWQXQ XYWYXY:Wa2W*WVbUBU*UUU @BaBq BqA*BAAAA"C?RC!C!C)1IQG>@g,fFAY}:.@}:@y}:eS}:sx}:H`& ?i?b@[Cʿa"Hyz)}>Iȩ :ŭ^ 5? :ŭݾ ƭ ?9ƭDAǭ: ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUU@<0@BB! B!A%)*B!A!A)A)A)"C5?RC1C1C1I)M$>9IIMXFiM?M=IIMN; M̗EGeV>,YfFAY}>@}>@y}> [}>^}>HC?l?@~OͿ`+?@ϕ!?)~>@ ~>^;I~>Cɫii)i iIi^  %d:YV1y:D6)Y;Y?ytFxDUSBL response received:!U1,R,27B,000,002C2,18A,80,80,22,FF Fpublishing direction and range infoA ɰWg=鰽> )BIy@J6?EgٱE{M=YQU ?a"Hy"} ?I} 5?#ݾ 3  ?9DA|: :)W1W1X1 X1W1X9:W92W9*W9V9bUABUA*UAUAUMxt@R](Combining 5 samples.PY*Q]@ZQ]_@+uJQ]J6?Eg2Q]A :QYbQ]:?aV]@Nk?RQ]@FhXp?qԍC&?|jeO?BQ]Z? Q]b@Q]<P]U9?P]V9?P]QYQ];@"Q]@BB BAɅ*BAAAA"Cq?RCCCqIyG= ,s9fFAY}z;@}zV@y}z{b}zUڽ}zH @\5?u?4Auο? ?)~z;@ ~z]];I~zCɫ)))) )I1Ym?ymΏFDNmea in: $SNTTA,,,,,225456.08*54 )= ==M/=YCQU>a"Hy%}>I+ 5?ݾ  ?9JEA: |:)m%iAdded new target pos. range: 4.860001 m, bearing: 89.768316 deg, deltaT: 4.366195 s, approachRate: 0.151162 m/s, LOS rate: 1.686949 deg/s, posRepo size: 4X!W%Z?W!X) X)W)X):W)2W)*W1V1bU1BU1*U9U=p@U=|?BaBi BiAm<*BiAiAiAqAq"C}/?RCyC}Z?CQIaG8>5 *>91 I5 xFi5 ?5 =1 1 5 ?; 5 ƗEأ,.vSfFAY}RA/@}RJ@y}Rh}Rν}RH fIa@,?o? B)Ͽb?*?)~RA/@ ~R&\;I~RCɫyy)y yI  j:Yy6)";Y?y!F>¼Mb=YQU>a"Hy}>Iȡ :ťs 5? :ť ݾ ƥ ?9ƥEAǥc: ȥ:)ȥ:WWX XWX:W2W*WVbUBU*UUUm?BB BA*BAAAA"C%M?RC!C!C))I9Gu>,UOmfFAY}:)@}:8E@y}:qh}:}:HbY@q? p?rVͿ?`۳?)~:)@ ~:p[;I~:CɫYY)Y YIYY?yF    @ @ @ñññiññ ı)ıIıiı[=MF=Y]QU>a"HylW}>I 5?ݾ % ?9 FA: :)W9WAXA XAWAXA:WI2WI*WIVIbUQBUQ*UYUYUe@?BB BÄ́*BAAAA"CZ?RCCCׁIGG>i%nGI9iQ}ٺAh!,*fFAY}J@@}JS\@y}J)h}JB}JHGTS?j?@%wɮͿ?)o`?)~J@@ ~Jz`;I~Hɫ髹) I  g:YDW1yY:69@Y?yΏFUMb@Mb@Mb@UU U)UIQyUMbp㥛 Q?UUUu< Uyya}"HyyY;}>Iȑ :ŕ5 5? :ŕGݾ ƕ ?9ƕFAǕ: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU ?BB BA<*BA A A A "C*CRCCCIG )>)>9CIFiE?=1; E)yIyiyy}=}5',fFAY}:b @}:;@y}:oc}:}:H`af(4?H{?EϿ F2?@(὿[?)~:b @ ~:^;I~:CɫAA)I IIIY?y=F    @ @ @i )Ii5sM=N=Y=3^AIaM"HIQyUݢ}U>Iaea 5?eݾ e u?9eFAe&; e;)aWWX XWX:W2W*WVbUBU*UUU@B B BAw*BAAAA"C!*C)RC)C1C1M?iM?!I)GM1> .,*fFAY}B=@}B@y}B^}B/}BH \ y@ ??+eͿ@?"0?)~B=@ ~B\;I~BCɫYY)Y YIYY?yXF  j:YxZ1yq:6 - - - -@ -@ -@)))i)) )))I)i)eX;MeG=Ymt/qqau"Hu.Hyy}ㇼ}}>Iȁ :Ņ 5? :Ņݾ ƅ ?9ƅuGADž#T< ȅfT<)ȅ:W W X XWX:W2W*WVbUBU*UU!U% @BB BAl*BAAAA"C*CRCCCסIGA> >9 I НFi E@ = E; ɗEX4,nfFAY}>_@}>x{@y}>^^}>ZY}>H:@_?`q?H` ˿@?`і4?)~>_@ ~>[];I~>Cɫyy)y yIyYa?yhF?A)= =s=Mg=Y6;QU>a"Hyte}>I 5?Oݾ   ?9GA: :)W)W)X1 X1W1X1:W12W9*W9V9bU9BU9*UAUAUE@RMB*** querying acoustic contact ***PIPIBB! B!A%*B)AQAQAYAY"Ca*CaRCaCaCׁIG>;,fFAY}>@}>m@y}>4}\}>c}>HoP~y??tE '˿AY?ð0?)~>@ ~>\;I~>CɫYY)Y YIYY?y FZ****** received transponder code query ******F****** received ping request ******19a="H99yE;}E>II ]:Mߝ 5? ]:Mݾ M' ]?9MYHAM: M:)M:WyWX XWX:W2W*WVbUBU*UUU} @BB  BA*BA!A!AIAI"Ca*CRCCCI)I G-N>iB,_~fFAY}RC@}R @y}ROS}Rqܽ}RH `iP?? (miͿ9?ﺿ@#?)~RC@ ~R^;I~RCɫqq)q qIqYi?y3FxDUSBL response received:!U1,P 27B,000,002C2,18A,80,80,22,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 % %ף=)%I!y%y&1|Q뱿 rh%`廹%\%C %?A)%OQAI%C/Ai%kA!%JA܅!>9܅CI܅Fi܅E?܅=܁܁܅X; ݅җE    @ @ @ i3? ?)?I ?i ?-M5=Y5aaam"Hiqyd,<}>I۠ 5?kݾ  -?9IAg; g;)WWX XWX :W 2W *WVbUBU*UUU@BaB BA*BAAAA"C*CRCCCס I G >H.H, P"fFAY}:V@}:@y}:YB}:}:Hm uDl@X?߿]̿ ?a὿@4?)~:V@ ~:I`;I~:CɫYY)Y YIYYG?yF  Vg:YX1y/:6);9Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Ժ<M=Yg=QU?a"Hy}?IQ 5?۔ݾ  ?9SIAR: ^:)W9W9XA XAWAXA:WA2WA*WIVIbUIBUQ*UQUQUU@I@ByB BA܄*BAAAA"C*CRCCCiIqG>UZN,D3a"Hy3}>Iȱ :ŵä 5? :ŵݾ Ƶ4 ?9ƵIAǵ; ȵ;)ȵ:W!W)X) X)W)X):W)2W1*W1V1bU1BU1*U9U9U],@BB BA߄*BAAAA"C*CRCCCIGn>܅ >9܁ I܅ @Fi܅ ?܅ =܁ ܁ ܅ c; ݅ חE?U,qVfFAY}fD@}f_@y}f&}fr9}fHZw??Z\Ŀ? 禿A?)~fD@ ~f\;I~fC  lr:Yy6);ɫ) IY5g?y5FMTNmea in: $SNTTA,0.052357,,,,225500.54*47 =Md=YCa"HyT}?I 5?@ݾ  ?9@JA|: R:)W9W9X9 X9W9X9:WA2WA*WAVAbUIBUI*UIUiUu@BB BA*BAAAA"C*CRCCCIG (>i[,ofFAY}B@}B.@y}Bs}BK}BH cb??'y@;Ŀ`?u'ޒ?)~B@ ~B`\;I~BCɫYY)Y YIYYc?yBF R<M U=Y ca"Hy%5M<}%>I) 5:- 5? 5:-|ݾ - 5?9-JA-: -:)-:WyWyXy XWX:W2W*WVbUBU*UUU @BB BAՃ*BAA A A"C)*C1RC9C9C!I1GM1>Sb,fFAY}F@}Fk@y}Fa%}Fo͝}FH`ƒ%_ޅ??`e`a ſy?`~ ?)~F@ ~F [;I~DɫQY)Y YIYY?yFxDUSBL response received:!U1,R,CA4,000,036A5,18A,80,80,37,FF Fpublishing direction and range info7 @?ɰ??鰙 )\BIyuHDz?g?ʩ%2?ٱIAA)@A  0p:YV1y:69 @=+?I +?/$?===9< ==)9I9y=Mb?:vMbp?=<=T=; =a"Hy6y;}>I!%ը 5?%&ݾ %I 5?9%JA%: %Ǻ:)!WQWQXQ XQWQXY:WY2WY*WYVYbUaBUa*UaUiUm$@R}(Combining 5 samples.Py*Q}uHDZQ}emS@ȵ@JQ}z?g?ʩ%2?2Q}7 @?:QybQ}V!j:ٔEj@'ÑF@RQ}4҅{s??f)@?BQ}.7@ Q}VCQ}@P}f9?P}U9?P}tQ}Q}7B"Q};@BB BAK*BAAAA"C*CRCCCI)->9)I-Fi-1?-=))-Z; -ӗEׁIGE>(|h,fFAY}:`@}:6|@y}:iF }:Ȳ}:H woq? <)Ŀ[?`p?)~:`@ ~:Ca;I~8ɫYY)Y YIYYr?yKF  ]A51=M=n=Y=n,}fFAinnGIxi 5ٺ9==AY} @}&@y}w}ȁ}H@}Y2y$8?Hÿ̿?`, ?)~ @ ~^;I~E j 'b:Yy6ɫ髉) IY-?y-FI)A-6only read 3 of 4 data itemsbM0=Y  a"H/Hy9}>I!%P 5?%ݾ % -?9%JA%: %k:)!;M wMAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;MwUdResuming normal ranging with 1.000000 count pings.;U1% >9% CI% XFi% ?% =! % FD% 8; % E)ݱIݱiݱݵ=ݵ=ݵa6su,/NfFAY}RA$@}R?@y}R㽙}R}RH` kwTSya"Hyӑ;}>Iȑŕ 5?ŕPݾ ƕ ?9ƕKAǕ': ȕ:)ȑX?1<wCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR; wAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRWWX XWX:W2W*WVbUBU*UUU‰?BB  B A ^*B AAAA"C"?RCCC! IGE>J{, (fFAY}:w@}:@y}:ʽ}:}`}:H `^r?0?@| ټ EG?@髿`?)~:w@ ~:*[;I~:CɫYY)Y YIYYt?y%F% !!% %|^:Y!y!%6+<M@=Y%99a="HAqy}@<}>Iș :ŝȩ 5? :ŝݾ Ɲ ?9Ɲ,KAǝP< ȝP<)ȝ:WWX XWX:W2W*WVbUBU*UUU@?BB BA*BAAAAAAAA"CM]?RCICICQIGj>͟, fFAɫ髙) IYC?yF=iC=1Zd?K7A`ſ/$?"[>+ <)Iy~jtx?a"Hy}>I6 5?Ȑݾ  ?9FKA/; @;)WWX XWX!:W)2W)*W)V1bU1BU1*U1U9U=@ByBy ByA݂*BA9CIȖFi?=9DEDD; EAAAAAA"CM4?RCU N>CQCYyIG^>Ɉ, $fFAY}Bk@}B^@y}BW}B}BH*)^z? ;? ; ? e@?)~Bk@ ~BE];I~BCɫYY)Y YIYY?yFI)AA% %}%}% %Dp:Y%kS1y%Ԋ:%36)%;9-U=M]b=Y]}=QU]>aaae"HaaymL}m>Iȑ :ŕ 5? :ŕݾ ƕY ?9ƕ^KAǕ$: ȕ0:)ȕ:WWX XWX:W2W*WV bUBU*UUU`e@BaBa BaAe|*BaAiAiAqAq"CS?RCM=CC׉IG>,e>fFAY}B@}B@y}BBs}Bj;}BHWx b?b?hԦ@h?@v? /?)~B@ ~BKi`;I~BCɫ髑) IY?yȗFp=ɮR= u u u u@ u@ u@qqqiqq q)qIqiq3=MG=Y};QU>a"Hy}>Iȡť 5?ťRݾ ƥn ?9ƥ}KAǥ: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUUF7@RB*** querying acoustic contact ***PPBB BA*BAAA!A!"C-@RC-Xm;C)C)!I9G> 9 CI i = :D DD Z; EFܕ,XfFAY}:"@}: @y}:2}:L}:H@a xٞ?_?`g@FY?@en r?)~:"@ ~:6_;I~:Cɫ99)9 9I9YE?yEFMZ****** received transponder code query ******MF****** received ping request ******Ua"Hy^;}>I : 5? :ݾ  ?9KA:  ;):% %%% %_h:Y%DW1y%Y:%6)%;W1W9X9 X9W9X9:W92WA*WAVAbUABUA*UIUIUM`G @ByBy ByA}*BAAAA"C@RCCCQE?΅>I)GEQ>,nrfFAY}:@}:a@y}:Ց}:wy}:H wa`|,!e?@E`6?`?)~:@ ~:];I~:Cɫ99)9 9I9Y?yFxDUSBL response received:!U1,P CA4,000,036A5,18A,80,80,37,FF Command AckBRequesting micromodem ping code 2i%=i%p==Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ;M<=Ya"Hy%R}M>Iae 5?eяݾ e ?9eKAeZ= e<)aWWX XWX!:W!2W!*W!V)bU)BU)*U)U)U53 @BB BA*BAAAA"C{ @RC/fCC0p>%?i%?IG >,ZIfFAɫ髹) IY?yuFAA% %%% %r:Y%V1y%:%69-@5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B v/?y&1?v/?x=`< xi=)IyI +Zd;OMb94j< ­/CA)­/CAI­6Ai­RADA        @  @  @   i   ) I i re<M5=Y%QU%>!!a-"H))y5}5>I9 E:= 5? E:=yݾ =z E?9=LA=: =:)=:>9CIFi?=<DBD; ǗEWAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UQUYU] E@BB BA*BAAAA"Cy@RC CCֽE>qIG>,*fFAY}:7_@}:z@y}:[n}:#&}:H w)`%N?߿#ǭ??)~:7_@ ~:ۼ\;I~8ɫ99)9 9I9Yuf?y}kFxDUSBL response received:!U1,R,161,000,002C2,186,80,80,41,FF Fpublishing direction and range info}ϸyɰ}Wg=}> y)}BIyy}@}[-_~? gӿٱyet=Mmk=Ym=QUm?a"H0Hyļ}>Iȡť 5?ť,ݾ ƥ ?9ƥKLAǥ(: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU@P*Q@ZQW_@ꃳJQ[-_~? gӿ2Qϸ:QbQIRab@Bu=_?RQ6.7'̿|b?_[d?BQ? Q.@QԈPS9?Pf9?PQtQ@"Q7BBqBq BqAuT*BqAyAyAyAy"CmO@RCCC֍0>ׁIG@>,fFAɫ) II@A)@A% !!%f %S^:Y!y!%6Yu?yuFDNmea in: $SNTTA,,,,,225506.20*5A = = = =@ =@ =@999i99 9)9I9i9MoMM==YUQUU>QYa]"HYYye}e>Iim 5?mώݾ m u?9mLAm: m:)imAdded new target pos. range: 4.860001 m, bearing: 102.749746 deg, deltaT: 4.395218 s, approachRate: -181.328903 m/s, LOS rate: -14.047527 deg/s, posRepo size: 4m!ProNav REINIT: LOS rate is -14.047527 deg/s. Setting heading cmd to target bearing of 102.749746deg and heading rate command to 0 deg/s.W?WX XWX:W2W*WVbUiBUq*UyUp@UuT?BB BA*B!A!A!A)A)"C-߱@RC1C5?C1=!=IGn>ܭ >9ܭ CIܭ ȖFiܭ ?ܭ =ܭ ;Dܭ CDܭ R; ݭ E"*,+fFAɫ髙) IYp?yFuN=MuY=YyQU}>ya"Hy}>Iȑ :ŕ 5? :ŕ~ݾ ƕ ?9ƕLAǕ: ȕ:)ȕ::EuEAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;EvMZEntering USBL mode with 5.000000 count pings.1;Mq;MWQWQXQ XYWYXY:WY2WY*WaVabUaBUa*UaUiUmZH?BB BA*BAAAA"Cz@RCCC֍t=aIyG;>T,÷fFAY}J@}JU0@y}JI}Jܛ}JH O^ ?߿@>߲`?Ƿ?)~J@ ~J\;I~JCɫYa)a aIiY?yƙFM1 M~M~M M`:YMT1yM@:M)6{Gz?@5^I ¿V-?ף<b =)IyQMb`?Mb?u;< f8A)RAI5>AiNAFAM4=Yq=QU>a"Hy !$} >I7 5?ݾ e -?9MAs; O;)X]@q;eueCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:eueAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLWiWiXi XqWqXq:Wq2Wq*WyVybUyBUy*UyUU-?CiUnGIiiٺVAB[?9lAB BA%/*B!A!A!A!A!"C-A@RC)C1C1 e=e== ;IG5><ô,K fFAY}:Q1@}:L@y}:Ἑ}:}:H@m)?@K:7?";?)~:Q1@ ~:͖[;I~:CɫYY)Y YIYY&?yFi] };M]i=Y]4aaae"Haiym;}m>Iq }:u] 5? }:u,ݾ u ?9uMAu: u:)u:WWX XWX:W2W*WVbUBU*UUU?BB BA$*BAAAA"CB@*CRCCC-}5?i5?m >9iImFim?m=iimc; mE)ݵCIݵCiݵCݵ=ݵ=ݵK7 IG=/>vfɴ,nm'fFAY}:<@}:IX@y}:}:G}:H W7?o Ж?@5?)~:<@ ~:Z;I~:CɫYY)Y YIYY}?y}XF% %%%Y %q:Y%U1y%:%E 6)%;9-5cq<M5M=Y5X99a="H9AyE!:}M>IIM 5?Mݾ Mt ]?9M8MAM: M:)IWWX XWX:W2W*WVbU BU *U U)U5P5@ByBy ByA*BAAAA"Cy@RCCC֥tׁIG?>Nд,9GAfFAY}>j@}>i@y}>;}>]9}>H4Zn?@/W?)~>j@ ~>i/];I~>Cɫii)i iIiY?yF ML=Y%D!!a-"H))y- ;}5>I9 E:= 5? E:=Տݾ => E?9=QMA=: =:)=:WiWiXi XiWiXi:Wi2Wq*WqVqbUyBUy*UyUyU} B@BB BA6*BAAAA"C>@RCCCE I GER>M #>9M CIM pFiM M?M =M <DI M ; M їE$xִ,["[fFAɫ髙) IY?yFɮa=I)% !!%k %^j:Y!y!%36)%;    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉҕMB=YQU>a"Hy}>IȹŽ 5?Ž-ݾ ƽ ?9ƽlMAǽ: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU`-@RB*** querying acoustic contact ***PPB)B) B)A-u*B1A1A1A1A1"C="@RC9C9CA׽ׁIG=>ܴ,tfFAY}v@}v?@y}v"(S}vR\}vHZy\b? TP@ƣ`d?ff?)~v@ ~v\;I~tɫ) I YyZ****** received transponder code query ******F****** received ping request ****** 9)IyMb?~jt̼<D ½5>A)½KAI½AAi½EA(DAY a"Hyx;<}>Iȩ :ŭ 5? :ŭݾ ƭ ?9ƭMAǭs: ȭ[:)ȭ:W9W9Xy XWX:W2W*WVbUBU*UUU Z @BqBq BqAq*BAAAA"C @RClf~CC֕Vw$iIyG>㴙,؎fFAY}:@}:P-@y}:὎}:~}:H|_b]5k? l>ב?̰?)~:@ ~:'H[;I~:Cɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,P 161,000,002C2,186,80,80,41,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 MIș (>9 CI Fi }? = =D BD ; ՗Eŝ 5?ŝݾ Ɲ }?9ƝMAǝ< ȝ><)șWWX XWX :W 2W *W V bUBU*UUU` @BB BA*BAAAA"Cg @RCCC ->->SIG5>6鴙,fFAY}B@}BX@y}B}B}BHCo8g`r?WL,? ?)~B@ ~BRZ;I~BCɫYY)Y YIYY_?y,F?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i    @ @ @i )Ii(M:=YTXQU>a"H1H y } >I 5?-ݾ N %?9MAg: =:)WaWiXi XiWiXi:Wq2Wq*WqVqbUqBUy*UyUyU}29@B!B) B)A-ց*B)A1A1A1A1"C=F@RC=C9CAELzI1G]U>3,&fFAɫ髙) IY?yFxDUSBL response received:!U1,R,0BA,000,002B6,187,80,80,3C,FF Fpublishing direction and range info6&ɰhc=1> )pBIyz@XpR?oĿٱ M [=Y QU>%w %%% %$f:Y%DW1y%Y:%6))a-"H11y=}=>IA M:E 5? M:Eʒݾ E M?9E*NAE: E$:)E:WqWqXq XyWyXy:Wy2W*WVbUBU*UUU @R(Combining 5 samples.P*Qz@ZQ^1W@&|hJQXpR?oĿ2Q6&:QbQ [g@Ƣ?RQ׿ÿPR9?PS9?PQQ(@"Q@B1B9 B9A=E*B9A9A9AAAA"Cmk@RCm#=CiCq֝בIG> .>9 CI PFi 8? = >D AD ; E$,vfFAY} F@} @y} } <㟼} H@a}Z8V?w?^?@O?)~ F@ ~ >`;I~ Cɫ) IYM?yU6F5TNmea in: $SNTTA,0.004543,,,,225510.63*42 _?;M0=YA̼QU>a"Hys}>IȹŽֲ 5?Žݾ ƽ> ?9ƽdNAǽ: Ƚ:)ȹmqAdded new target pos. range: 4.140001 m, bearing: 111.633677 deg, deltaT: 4.468775 s, approachRate: -0.161118 m/s, LOS rate: 1.988001 deg/s, posRepo size: 4W\d?WX XWX:W2W*W V bU BU *UU`\@U\?BYBa BaAe:*BaAiAiAiAi"Cu?RCu=Cu\d?Cyԕ^Aԕ^A}..{QIYGuz>,nRfFAY}`@}|@y}H9}M }H Zy?Q? 17?@`?)~`@ ~^;I~CI9)=?A] ]]] ]l:Y]V1y]:] 6ɫ髉) IY??y@F%Q뱿sh|?ſI +?%\%) %94<)!I!y%Ai%IA!%CA    @ @ @i )IiѼM+=YQU>!!a%"H!!y-<}->I1 =:5V 5? =:5ݾ 5 E?95NA5: 5:)5:WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUyU}ù?BB BA*BAAAA"C?RC}}1>CC֭HiIyG>3, fFAY}:9@}:@y}:Cf}:s}:HJ;&g ,?` ZĬ? 5z?)~:9@ ~:E];I~8ɫ99)9 9IAY}9?y}FmM=Y<#QU$?!!a%"H!)y-<}-$?I9== 5?=ݾ =K E?9=NA=: =0:)9WiWiXi XiWiXi:Wi2Wq*WqVqbUyBUy*UyUyU}?B)B) B)A=*B9AAAAAAAA"CUD?RCUM>CQCYܝ/>9ܝCIܙiܙܝ=ܝ?Dܝ@Dܝ; ݝE D#IG (>i ,)fFAY}:.@}:%J@y}:}:l}:H8*' 匿 &?@Vwݰ?@ځ?)~:.@ ~:Uz\;I~8ɫ99)9 9I9Y?y7FE EEE Ej:YEWU1yE:E6)E2;9MU;MUG=YUTQU]>YYa]"HYayeE<}e>Ii u:m 5? }:mwݾ m ?9mOAm+; m;)m:WWX XWX:W2W*WVbUBU*UUU1a?BB BA *BAAAA"C?*CRC^P>CC =֥?役ׁIG=>iU mGIa iy ٺ "A:,kCfFAY}B3@}B2O@y}Bؑ}BTb}BH_'&K?@궿`,7? 4?)~B3@ ~Bж[;I~BCɫYY)Y YIYY}?y} F==i==-a"HyX3:}>I 5?lݾ  ?9cOAB: :)W W X  X W X :W2W*WVbUBU*UUU@@BIBI BIAM*BIAQAQAQAQ"C]Ӵ?RC]D0>CYCaE!I1-$UfCommunications Fault in component: RDI_PathfinderUpG]T>ܕ 3>9ܕ CIܕ Fiܕ ?ܕ =ܕ >Dܕ BDܕ ; ݕ E)%CI%Ci!%=%=%`7,]fFAY}:TP@}:k@y}:G}:C}:H@g!R@? ?q@=0&?`R?)~:TP@ ~:];I~:Ce aae e"h:Yayae6)eɽ;ɫ) IY- ?y-FPowering down)å å ><M=Y=QU>a"H!y%_;}%>I) 5:-Ĺ 5? =:-^ݾ - =?9-OA-: -7:)-:WYWaXa XaWaXa:Wa2Wi*WiVibUiBUi*UqUqUu\@RB*** querying acoustic contact ***PPBB BA**BAAAA"C\d?RCv>CC*:ש I G >=B,xwfFAY}EE@}E@y}E{}EԼ`}EH` @,\?`?Ժ?*?)~EE@ ~E_^;I~EC]JFailed to close latch before timeout.q ]]Hardware FaultYe?yegFmZ****** received transponder code query ******mF****** received ping request ******mA)IAI;AiOADA=CM==Y=6QU=?AAae"Hiiyu<}u?Iy} 5?}ɒݾ } ?9}OA} ; };)yWWX XWX:W2W*WVbUBU*UUU@BiBi BiAmƃ*BiAqAqAqAq"Cy*C}RC>CC֝( _&$,gfFAY}:*@}:F @y}:'ֽ}:E)c}:H`H\?ٸ?62+˺?`9 z?)~:*@ ~:z{];I~8FPowering downDɪD)D DI1)5AAE EEEq Eii:YEV1yE:E69M@Y$?yF xDUSBL response received:!U1,P 0BA,000,002B6,187,80,80,3C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 e9>9eCIepFieM?e=e?De@De; eE<M?=YQU>)1a5"H9Iy]<}e>IY]' 5?]ґݾ ]l ?9](PA]; ];)YW9W9XA XAWAXA:WA2WA*WIVIbUIBUI*UQUQUU @BB BA*BAAAA"C*C-RC>CC$=I)׹ I $ hClearing failed state for component RDI_PathfinderUp G >P*,BCfFAY}:`@}:| @y}:e}:}:H`W`&?X?:*h?3u?)~:`@ ~:\;I~8Yn?yngFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }NM}}=Y5QU ?a"H2HyX,<}?Iș :ŝJ 5? :ŝ;ݾ Ɲx ?9ƝSPAǝ: ȝI:)ȝ:WWX XWX:W2W*WVbUBU*UUU < @BB BAƃ*BAAAA"C!*C%԰RC%:>C!C) =>=> [1=IG (>^81,*fFAY}:A^@}:y @y}:`}:}:HSg ?q8ÿ@?p?)~:A^@ ~:܉[;I~8YF0?yFFJxDUSBL response received:!U1,R,383,000,002B4,188,80,80,98,FF NFpublishing direction and range infoJHHɰJb=J> H)JCIHyJ@J~嫥?7GƏٱHbLMbW=YbPQUb>ddaf"Hdhyj4}j>Ișŝ 5?ŝbݾ ƝE ?9ƝPAǝ; ȝM<)șW)W)X) X)W1M MMM M'o:YM0Y1yM:M6X1:WY2Wa*WaVabUaBUi*UiUiUm`;@R(Combining 5 samples.P*Q@ZQ@4JQ~嫥?7GƏ2QH:QbQ:)?͉I2@c?RQ4?~('r?HS}zg?BQ ? Qx@QX?PX9?PR9?PQQ@"Q(@BB BAa*BAAAA"C!*C%URC%/>C)C)-=I$NClearing failed state for component DDMq G)>5 ;>91 I5 8Fi5 ?5 =1 5 AD5 ; 5 E5c7,LfFAY}:n@}: @y}:S-}:1b}:HEbd}?`?8¿1Z?`?)~:n@ ~:[;I~:CY^!?y^ߑF/M<=YQU>a"Hy;}>I  : 5?  :ݾ / ?9PA|; 7;):==i=p=mqAdded new target pos. range: 4.020000 m, bearing: 77.697691 deg, deltaT: 4.002716 s, approachRate: -0.029980 m/s, LOS rate: -8.478240 deg/s, posRepo size: 4W ?WX XWX:W2W*WVbUBU*UUz@UO9?BB BAe*BAAAA"C]?RCP@>C ?C>׹IGE>-=,UfFAY}fc@}f0 @y}fS }f`w}fH 遘?`?`¿ '?S`@?)~fc@ ~feZ;I~fCYr?yrLF]TNmea in: $SNTTA,0.023958,,,,225514.72*45 5f 555} 5d:Y5U1y5:5 6+?uVͿl?>rh =)Iy~jt{Gzty&1ļף`e a"Hy<}>IT 5?ݾ  ?9PA: 9:)WW X  X W X :W 2W*WVbUBU*UUUn?BB BA9*BAAAA"Cؖ?RC >CC))-7>IG=r>tD,fFAY}Bh@}B, @y}B}BD?}BH@/Ҥ?B?`f¿.?M?)~Bh@ ~B([;I~BCYN?yNđF=,MEg=YUQUU>iiau"Hqqy}Qh<}}>Iȁ :Ņ׻ 5? :Ņ.ݾ ƅ ?9ƅQADž: ȅ$:)ȅ:WWX XWX:W2W*WVbUBU*UUU ?BqBy ByA}p*ByAyAyAA"C?RC >CC?>9CIȖFi?=@D@D; їE֕U#>iIqG>J,,fFAY}>`{@}> @y}>r}>8C!}>H r?k4?@¿ =D?J죿d?)~>`{@ ~>o];I~>CY^X?ybF<MD=YQU>a"Hy6;}>IȹŽk 5?Žݾ ƽ ?9ƽAQAǽ: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU?B!B) B)A-*B)A)A)A1A1I9)9E EEE E^]:YEW1yEč:E6)E|;9M"CU?RCYCYCY5XM> IG= >Q,eFfFAY}>6R@}>m @y}>E}>}>H`AO?@:?@zƿ@?`m?)~>6R@ ~>?\;I~>CYJ?yJrFMI=Y_?QU>a"Hy6ʻ}>I 5?ېݾ  ?9fQA/: H:)WWX XWX:W2W *W V bU BU *UUUs@BABA BAAM*BIAIAIAIAI"CUP?RCYCYCY m=m>5jz> IG- >A>9CIFia?=>DBD; E@W,C`fFAY}Vv@}V @y}Vm!}VrS}VHJs?@;Y? \PſY?r`G?)~Vv@ ~VJ[;I~VCY9?yF;MI=YQU>a"Hyl}>I : 5? :1ݾ  ?9QA[: E:):WWX X W X :W 2W *WVbUBU*UUU B@  th:YU1y:N6);BB BA߄*BA A A A "Cx?RCCC>IGI> ],ezfFAY V?y ĐFq= ףp?X9vˡE?k> '=)IyˡEL7A`堿a"Hy}>IL 5?ݾ n ?9QA{: :)WWX XW!%CX:W12WA*WQVQbUii}/mGBUq*Uޙiޝ=I i!eEٺaeAUU G@RB*** querying acoustic contact ***PPBB BA؄*BAAAA"C-ͼ?RC)C)C1>%?i%?I G5p>d,fFAY}: @}: @y}:4-*}:R }:H@zl=2?6P?FĿ@,??)~: @ ~:H\;I~:CYF?yF|FVZ****** received transponder code query ******VF****** received ping request ******Z!)a-"H)1y5m}=>II U:M 5? U:Mݾ M U?9M8RAM; M[;)M:WYWYXY XaWaXa:Wa2Wa*WiVibUiBUi*UiUq}@>9}CI}XFi}?}=}=D}CD}; } E)ݕCd  d:YWU1y:6);IݕCiݑݕ=ݕ=ݕ97U @BB BA*BAAAA"C +8?RC)C1C1AE]AAI)GUS>j,ҭfFAY}Z@}Z @y}ZA0}Zi}ZHa j?NM?UJ ǿ K?@s?)~Z@ ~Zy[;I~XYf?yfEFjxDUSBL response received:!U1,P 383,000,002B4,188,80,80,98,FF jCommand AcknBRequesting micromodem ping code 2illr=ir=vNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =ٻMEH=YU|QU]>iqau"H}3Hy}>I 5?^ݾ  ]?9RA< <)WWX XWX:W2W*WV bU BU*UUU@EY @B!B! B!A% *BIAIAIAIAI"CUV?RCQCYCYyYIaG|>q,fFAY}jIB@}j] @y}jh.3}jz,}jH&Cd?@?o?4ſH?x9@{?)~jIB@ ~j|[;I~jCYzV?yzĐF-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }t<MA=Y"QU>a"Hy٤}>I :t 5? :ǒݾ ] ?9RA: $:):W!W)X) X)W)X):W)2W)*W1V1bU1BU9*U9U9U=@Iޑ)ޕ@A w s:YX1y/:|69@B!B! B!A%؄*B)A)A)AAAA"CUD?RCQCQCYe?΅>Ii)i9IIGmV>u^Aq}=>9}CIyiy}=};D}ED}; }Ew,fFAY}N@}N @y}N7}N }NH]j@?@?@cſr?@Jw?)~N@ ~Nd[;I~NCVPowering upV"Initializing DDM.Y~?y{FxDUSBL response received:!U1,R,22D,000,002C1,189,80,80,1D,FF Fpublishing direction and range infoɰg=鰥7> )AIy@&K?jiݿٱ<MH=YX4QU>a"H y Z} >I. 5?0ݾ %tI  %?9FSAl: :)WAWAXI XIWIXI:WI2WI*WQVYbUYBUY*UYUaUe@Ru(Combining 5 samples.Pq*Qu@ZQuK@ZJQu&K?jiݿ2Qu:QqbQudF[׿^1@ԋ"?RQu%`0а=3l? Z8?BQu4? QuԖ@Qu4PuU9?PuX9?PuQqQu+@"Qu@BB BIAM*BQAQAQAQAQ"C]ܮ?*C]\RCYCaCa u=u=e>9IIGeU>)~,jhfFAY}J@}JA9 @y}Jb9}J}JH ` 㭛?q?Kpɿ  ?]?)~J@ ~J[;I~HYV?yZWF%dNmea in: $SNTTA,0.463717,0.463230,,,225519.09*5F I!)!=bX9ȶ?|?5^K?=E==ҽ =^=)9I9y=&1L7A`堿X9v?=P9=< =`=A)=OQAI=2Ai=aA9=HA]-M]D=Y]vQUe>aaae"Haiym!;}u>Iy :}% 5? :}ݾ } ?9}SA}: }:)}:D | b:YV1y:6miAdded new target pos. range: 4.800000 m, bearing: 94.364937 deg, deltaT: 4.438558 s, approachRate: 0.175733 m/s, LOS rate: 3.755104 deg/s, posRepo size: 4W4?WX XWX:W2W*WVbUBU*UU@33@U`?BB BA*BAAAA"Cv?RCC4?C֝>yIG`>,TfFAY}B:0@}BK @y}BI6}Bܽ}BHu@N w?o? zʿ-?@ `N?)~B:0@ ~B?[;I~@Yj?yjFFuMuZ=Yub;QU}>yya}"HyyYE;}>Iȉō 5?ōݾ ƍQ ?9ƍTAǍ: ȍ:)ȉWWX XWX:W2W@>9CIi=:DFD; E*WIVIbUIBUI*UQUQUU?ލ=iލ=BB BAs*BAAAA"Cn?RCCC?΅>ױIGD>$;,7/fFAY}:4@}: @y}:E7}:t}:H@{QX?}? ^/ɿ`a?+]?)~:4@ ~:3[;I~:CYF?yJF=<M=N=YEAAaM"HIIyU }U>IY] 5?]Cݾ ]k e?9]|TA]ض: ]k:)YWWX XWX:W2W*WVbUBU*UUU?BB BA)*BAAAA"Cș?RCCCd  d:YDW1yY:`6>סIG >F$,HfFAY}N@}N@y}Ns<}N6"}NH v@-?@?`5ȿ jn?xNd?)~N@ ~ND[;I~NCYXyXYIQU>a"Hy:}>Iȱ :ŵ 5? :ŵݾ Ƶz ?9ƵTAǵN: ȵ:)ȵ:WWX XWX:W2W*WVbUBU*UUU@ȝ?B!B) B)A)*B)A)A1A1A1"C=A?RC9C9CAE>!I)GE0>%B>9%CI% Fi%?%=%<D%DD%; %EM,bfFAY}:@}:2@y}:=}:웽}:H@@Qá? |?hȿ@?$`n]?)~:@ ~:*[;I~8YF?yFF=M=AIaM"HIIyU=:}U>IY] 5?]ݾ ] e?9]PUA]: ]U:)YWWX XW)X):W)2W)*W)V1bUQBUQ*UQUYU]!@Iޑ)ޕAA  i:YWU1y:6)N;9BB BAG*BAAAA"C?RCCC>IGI>w,ҫ|fFAY}B"@}B @y}BԹ7}B)}BHW? |?ȿ`?ך{a?)~B"@ ~BA[;I~@YN?yNaFsh|??J +?#~j=H= 㥽)Iyy&1|?{Gzy&1|?`;ף`; ‘)•RAI•0Ai•cAHAOMC=YTLa"Hyqs;}>I : 5? :Oݾ  ?9rUA: :):WyWyXy XyWyXy:W2W*WVbUBU*UUU@k@BB BAh*BAAAA"C ?RC CC1 ====%v>I G5O>`,fFAY}:@}:@y}:z4}:v}:H` Y?g?` ǿy?)簿`n?)~:@ ~:_[;I~8YFX?yJPFHJ@AZ-MZ\=YZu a "H  y}>I} 5?ݾ  %?9UA9: 0:)WIWIXI XIWIXI:WQ2WQ*WQVYbUYBUY*UYUYUeRX@RmB*** querying acoustic contact ***PiPiBB BAׅ*BAAAA"C?RCCCܽA>9ܽCIܹiܹܽ=ܹܹܽ; ݽޗE  r:YDW1yY:r6)(;?΅>ׁIG> ,afFAY}:x@}:@y}:+Q7}:c=}:H? A? cƿ?Iwt?)~:x@ ~:'0\;I~:CYJ6?yJ؎FJZ****** received transponder code query ******NF****** received ping request ******N  a"H4Hy}>I : 5? :ݾ  ?9UA$: :):WAWAXA XIWIXI:WI2WI*WQVQbUqBUq*UyUyU}` @ޕ=iޕ=BB BA*BAAAA"C 8i?*C-XRC1C1C1%>I G%M>iEmGIYiiٺ4Aq,}=fFAY}:@}:@y}::}:b3}:H@F/?`?4ܔƿ >? @p?)~:@ ~:;/\;I~8YJ?yJXFNxDUSBL response received:!U1,P 22D,000,002C1,189,80,80,1D,FF NCommand AckNBRequesting micromodem ping code 2iLLVNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ~Ԁ<MK=YQU>))a5"H1Iy]3<}e>Is 5?Eݾ ߾ ?9UA: ;) O ^j:YV1y:3 69@W1W1X9 X9W9XA:WA2WI*WVbUBU*UUUf @BB BAl*BAAAA"C%4?RCICICIY]^A]>1IAG]v>ܽE>9ܽCIܽXFiܽ?ܽ=ܹܹܽU; ݽE)UCIUCiQU=U=UrH7 ,@fFAY}:@}: @y}:8}:y}:H:?%}? ǿ? f@i?)~:@ ~:[;I~8YF?yFƎFZNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B mQMuC=Yu;QUu>yya}"Hyy;}>Iȉ :ō 5? :ōݾ ƍ޾ ?9ƍUAǍ ; ȍ";)ȍ:WWX XWX:W2W*WVbUBU*UUU`@BB BA*B A A A A "C*CRCCCMN؅>!I1GM1>(ž,RfFAY}:/@}:KK @y}:5}:\}:H C? p?3ȿࠞ?a?)~:/@ ~:[;I~:CYF?yJ}FNxDUSBL response received:!U1,R,20B,000,002C2,187,80,80,35,FF NFpublishing direction and range infoJ龩HɰJWg=J1> H)JTBIHyJ@Ju~?@4ܿٱHX9v?MҿK7A?=n  >)IyMbpX9v?< AA)+MAI1AifAIAX MB=Y;QU> a "H  y <}>I 5?hݾ ޾ %?9.VA: :)WiWiXi XiWiXi:WqIޕAA)ޕ@A8 ^ a:Y0Y1y: 62W*WVbUBU*UUU`@R(Combining 5 samples.P*Q@ZQk"?s@ "JQu~?@4ܿ2Q:QbQO8+e@@m?RQbH1?j~ ?BQt)? Q@Q!PPU9?PQQ0@"Q+@BaBa BaAeŅ*BiAiAAA"C*CURCCC֝>Iש)׭\AyIG^>Lŵ, fFAY}V@}V@y}V#;}V}VH  g ?~??y&ƿ .C?Iɢ@q?)~V@ ~V[;I~VCYbI?ybGF5TNmea in: $SNTTA,0.006684,,,,225523.52*4A UG>9UCIQiQU=U=DUCDUW; UE ڻM I=Y 4MQU >a"Hy:}>IAE3 5?Eޕݾ E4߾ U?9EcVAE: E:)AmiAdded new target pos. range: 4.860001 m, bearing: 96.311487 deg, deltaT: 4.463774 s, approachRate: 0.013442 m/s, LOS rate: 0.436077 deg/s, posRepo size: 4mTStarting intercept timer at range: 4.86 m.Wt)?WX XWX:W2W*WVbUBU*UUp@U`?BiBi BiAmۅ*BiAqAqAqAq"C?RCCt)?C յ=Ե=֩׉IG`>.˵,1fFAY}B}@}B@y}BcSC}BM}BH ]?@? `ſD? @i?)~B}@ ~B>];I~@YN?yNFI)=³=M=Y=YE4QUE>AIaM"HIIyU\}U>IY e:]r 5? e:]Hݾ ]v߾ m?9]VA]: ]:)]:WWX XWX:W2W*WVbUBU*UUUZ?BB BÄ́*BAAAA"Ct)?RCCCG m Pb:YxZ1yq:j6M?΅>!I9GU2> ҵ,„KfFAY}:@}:@y}:gG}:jV}:H-A? ?@{ȿ`?H(Z?)~:@ ~:\;I~:CYF?yJ F=W;M=J=YE!QUE>AIaM"HIIyUkź}U>IY] 5?]ݾ ]߾ e?9]VA]: ]+:)YWWX XWX:W2W*WVbUBU*UUUߢ?BB BA*BAAAA"C*CW5RCCCޑiޕa=>סIG >eM>9eCIe Fie?e=e>DeBDeS; eE.ص,_efFAY}:sg@}:@y}:vNG}:eƼ}:HF`qC`?A?̀@##˿?Y3C?)~:sg@ ~:\;I~:CYF?yF|F]PM]H=Y]w9QUe>aaae"Haiym]}u>Iq :u 5? :u,ݾ u ?9uVAuk: uV:)u:WWX XWX:W2W*WVbUBU*UUU)?BB BA*BAAAA"C*CRCCC]A  h:YWU1y:W6)V;9=IIG-->ߵ,<fFA|i|Y}:g_@}:z@y}:(uD}:}:HDGЍF??`5Pk̿@&h?r/1?)~:g_@ ~:[;I~8YJr?yJFQ?I +I +?\=94 9=)Iy:vV-?~jtxT<Ļ @A)KAIC/AifAHA7MA=Y;QU>a"Hy:}>I   5? ݾ  ?9 \WA 3: :) W9W9X9 X9W9X9:WA2WA*WAVAbUABUI*UIUIUM`w?ByBy ByA}*ByAAAA"C*CRCCC֡aIqG9>`嵙, fFAY}B$@}B5@@y}B8@}BմĽ}BHRґ?٩?a Bʿ@?I?)~B$@ ~B[;I~BCY^T?y^FN>9CIFiv?=@DAD_; E]M]T=Yeaaam"Hiiyum}u>Iy :} 5? :}ݾ }v ?9}WA}$: }:)}:WWX XWX:W2W*WVbUBU*UUU5 @BaBi BiAm*BiAiAiAqAqIޕ@A)ޕ?A  q:YY1y:i6);"C*CRCCC?΅>I)]A׹IGE>U%쵙,|fFAY}:W#@}:>@y}:?}:8}:H:PF?೫?w`ɿ&?7Ѵ"U?)~:W#@ ~:i][;I~:CYf?yfrFhjAAz L=MzQ=YzC;QUz>||a~"H~5Hy Y} >I   5? ݾ  ?9 XA : f:) W9W9XA XAWAXA:WA2WA*WIVIbUIBUI*UQUQUU+@R]B*** querying acoustic contact ***PaPaBB BA*BAAAA"C*CRCCC խ=ԩ֭>iIqG> ,tfFAY}:\@}:Yx@y}:܍=}:▽}:Hಿ A>`%??s@|ȿ`&?4^?)~:\@ ~:[;I~:CY^4?y^MFbZ****** received transponder code query ******bF****** received ping request ******f=YN;QU>a"Hy^<}>I 5?eݾ  ?9vXA: R:)W)W)X1 X1WYXY:Wa2Wa*WaVabUiBUi*UiUiUm @  lr:YW1yč:69@BB BA*BAAAA"C *C RC)C)C1!I G%M>9IxFi?P; EW7,ʧfFAY?yđF%xDUSBL response received:!U1,P 20B,000,002C2,187,80,80,35,FF %Command Ack-BRequesting micromodem ping code 2i))5Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i<M5F=YEQUM>Yaam"Hiyޝ=iޝ=y}>I %:/ 5? -:Νݾ  5?9XA<  <):WWX XWX:W2W)*W)V1bU1BU9*U9U9U=e @BB  B A p*B A AAA"C*CRCCCA=6Ʌ>QIyG> > Ci NmGI `Ai1 ] ٺe `Ae A[&,fFAY}>s@}>@y}>=}>ũ}>HB :<ѕ?U?@ʿ ‘?ǶR?)~>s@ ~>!i[;I~>CYr?yr:Fva=ɮtNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Cl?A`"?;=Y L=)Iy/$?MbI +?<@9< `=A)RAI2Ai@A  ȁ:YY1y:6[<M:=YDQU>a"H!!y-Y;}->I157 5?5ݾ 5 =?95-YA5: 5{:)1WiWiXi XiWqXq:Wq2Wq*WyVybUBU*UUU`I;@B B BA@*BA!A!A!A!"C1*C5 RC1C1CYqu^Am>AIQGuz>I,`fFA|i|Y}:m@}:@y}:4}:(}:Hv`0rg?`@7˿i?j6q=?)~:m@ ~:,];I~:CYJ?yJ FT9VCITiTV=V>DVCDVW; VE)=CI=Ci9=====]7NxDUSBL response received:!U1,R,059,000,002B6,187,80,80,31,FF bFpublishing direction and range infoNLɰNhc=L L)NDBILyNz@N;-M?ıܳٱLv!8Mvv=YvיIGA>w ,J4fFAY}~n@}~@y}~ &}~^}~Hx4-?`nuɿ?rƽ [?)~~n@ ~~s];I~|Yi?y3FDNmea in: $SNTTA,,,,,225527.98*5A    @ @ @ i? ?);?I;?i?%ǼM%8=Y-=QU->)1a5"H11y=Ȳ}=>IAE 5?EPݾ EU M?9EYAE: E:)Am}qAdded new target pos. range: 4.140001 m, bearing: 117.878246 deg, deltaT: 4.417128 s, approachRate: -0.163002 m/s, LOS rate: 4.882530 deg/s, posRepo size: 4W}ث@WX XWX:WIމ)ލ@Ag  d:YU1y:{62W*WVbUBU*UU`\@U`?BB BA*BAAAA"C?RCCث@C}?΅>QIYG}Y>J[,NfFAY}B8@}BS@y}B}B}BH``?>? ?bPƿ@?@ޜց?)~B8@ ~B k\;I~BCY^?ybF]s:=M]Y=Yeaaam"Hiiyu,}u>Iy :} 5? :}ݾ }۾ ?9} ZA}: }^:)}:WWX XWX:W2W*WVbUBU*UUUV?BaBi BiAm*BiAiAiAqA"CM?RCCC֥>ׁIG=>ܵQ>9ܵCIܵFiܵv?ܵ=ܵ=Dܱܵs; ݵEq,_gfFAY}:-@}:YI@y}:)}:H}:H B??@5mƿ@-?@C?)~:-@ ~:g[;I~:CYJC?yJVFMO=YX;QU>!!a%"H!)y-к}->I15 5?5ݾ 5վ E?95ZZA5: 5:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUqU}D?BB BA*BAAAA"C?RCCC6 m :YV1y:j6);9>IG$>Lm ,mʁfFAY}:d@}:.@y}:V}:IԽ}:H/1_vO?| ƿ@?`!3@4{?)~:d@ ~:Z;I~8YF?yFFa i@a  a m@a  a q@a  a e@a  Mb?+1Zd?< "=)IiMb@Mb@Mb@© ;A)I1Ai6A - - - -@ 5@ 5@ 5@)))i-) -)-I-i-E;ME9=YE=jIIaM"HIQyU;}]>Ia e:e 5? m:eݾ eBϾ m?9eZAe: eK>)e:=i=WQWQXQ XQWYXY:WY2Wa*WaVabUiBUi*UUU`ݍ?B B BA*BAAAA"C?RC%6>C!C!=6Ʌ>E?iE?I!G=r>k&,fFA&T>9&CI& Fi&?&=$&DD&q; &EY}J!@}JD=@y}J }J}JH >,tu@?Ŀg? y?)~J!@ ~JZ;I~JCYV?yVF=ME\=YEIIaM"HIIyU4}U>I 5?ݾ ɾ ?9ZAٮ: T?)W!W!X) X)W)X):W)2W)*W1V1bUQBUQ*UYUYU]0@BB BÄ́*BAAA<  u:Yyi6);A"C~4?RC =CC K>IG )>,,fFAY}B@}B% @y}B9;}BT}BH H3?K? L``¿`b?$ Q?)~B@ ~BĔZ;I~BCYN?yN;F   U U ] ]@ ]@ ]@YYYiYY Y)YIYiYm4<MmG=Ym{qqa}"H}6Hyy_}>Iȉō 5?ōݾ ƍľ ?9ƍK[AǍ: ȍ?)ȉWQWQXQ XQWYXY:WY2WY*WYVabUaBUa*UaUaUm@o@BB BA*BAAAA"Ci@RC}L=CCU>סIG >h3,[fFAY}:!@}:@y}:#}:U%=}:H GE?? g`5?qb?)~:!@ ~:yZ;I~:CYV?yV FXZ@AjfMjT=Ynappar"Hppyv}v>Ixz 5?z)ݾ zǾ ~?9z[Az: z?)xW!W!X! X!W!X!:W)2W)*W)V)bU1BU1*U1U1U5`Z@REB*** querying acoustic contact ***PAPABaBi BiAm*BiAiAiAiAq"Cuث@RC}HqQCyCu}7>IAA)AA+ S `:YX1y/: 69@QIYG}=EY>9AIEFiEa?E=E>DAE; EЗE9,C8fFAY}>C(@}>C@y}>l%}>7&}>H 8&?c|ÿ@?o)?)~>C(@ ~> Z;I~a"Hy<}>Ișŝ 5?ŝ<ݾ Ɲ ?9Ɲ[Aǝ5: ȝ8@)șWW X  X W X :W 2W*WVqbUqBUq*UyUyU} @BB BA&*BAAAA"C*CRCfCC  >x 6>IG%M>q@,0fFAY}:-s@}:@y}:F}}:)ƽ}:H`T@H!D@? 3Fÿ?X@?)~:-s@ ~:Z;I~:CYF=?yFFJxDUSBL response received:!U1,P 059,000,002B6,187,80,80,31,FF NCommand AckNBRequesting micromodem ping code 2iLLVNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76   h:YV1y:6a ia i a m a m  a q a q  a e a e  {Gz? rȿZd;O? ף= C j<) I y MbPy&1|?Q?  `; u< ~>A) LAI 5Ai -ZA  FA)%> %=    @ @ @i )Ii:M%=Y-b11a5"H99y=<}U>Iy :} 5? :}pݾ }´ ?9}\A}<< }D<)}:WWX XWX:W2W*WVbUBU*UUU~G@BB1 B1A=*B9A9A9A9A9"CA*CEDRCM;CICIU> I G5 >E [>9E CIE 8FiE ?E =E <DE EDE ; E ֗EF,fFAY}:"S@}:n@y}:ཙ}:Brk}:H(U?@?A@q.? <`5?)~:"S@ ~:Z;I~:CYF|?yJFJp=ɮJ4=ZNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B uMu=Y}kM,6fFAY}:SN@}:i@y}:!余}:#r}:H [%1??oJ J?@{۞,?)~:SN@ ~:Z;I~:CYF?yFFNxDUSBL response received:!U1,R,15C,000,002B6,187,80,80,3F,FF NFpublishing direction and range infoJ|HɰHH H)J|BIHyHJ9#?P~ |#ӿٱH    @ @ @i )IiMQ=YQU>a"HyC9}>I :k 5? :ݾ  ?9\A ; %;):WWX X!W!X!:W!2W!*W)V)bU)BU)*U)U1U5`@R(Combining 5 samples.P*QZQ|@) JQ9#?P~ |#ӿ2Q|:QbQ Q@h'O3?RQ1Ee пh?@(z?BQ(? Q~@QȄPT9?PQ9?PQQ@"Q&@) Z _:YU1y:a 6B!B! B!A-*B)A)A)AIAI"CQ*C]RC] _;CYCYԑԑi/mGI/aAiֵi=ٺ/aA`AסIGA>S,PfFAY}RGq@}Rь@y}R}Ra}RH`;@i??,"d@C? ה?)~RGq@ ~R-\;I~RCY^?y^F%DNmea in: $SNTTA,,,,,225532.41*5A %4=i%==^A=^Au>=M}D=Y}΄QU}>a"Hy;}>IȑŕC 5?ŕҕݾ ƕ ?9ƕ#\AǕ: ȕ4:)ȑmqAdded new target pos. range: 4.140001 m, bearing: 104.611232 deg, deltaT: 4.455379 s, approachRate: 0.000000 m/s, LOS rate: -2.977752 deg/s, posRepo size: 4W(?WX XWX:W2W*WVbUBU*UUU[v?BB BA*BAAAA"C Qd@RC =C (?Cm<סIG >_>9CIFi?==DDD; E)݅CI݅Ci݅C݅=݅=݅ 6!Z,~jfFAY}: @}:@y}:}: }:H Gţ?J?辿Jg? ]?)~: @ ~:N\;I~:CYF?yFXF=M=N=YEk9QUE>AIaM"HIIyU<}U>IY e:] 5? e:]ݾ ] e?9]0\A]s: ]:)]:WWX XWX:W2W*WVbUBU*UUU@?BB BAl*BAAAA"C @RCo=CC  k:YWU1y:{6);99IG > a,YfFAY}:0@}:@y}:}:ޢ}:H``T?@?` ¿ Ϳ?. ٦?)~:0@ ~:[;I~:CY^|?ybF"~j?MbпS㥛?Sc> /<)Iyy&1{Gz`eף ^BA)JAI;9AiWAGA    @ @ @áááiáá ġ)ġIġiġ<M5=YdQU>a"Hy:}>Ic 5?/ݾ  ?9F\AM: w:)WWX XWX:W2W*WVbUBU*UUU?BB) B)A-N*B)A)A)A1A1"C=?RC=8>C9C9=qE?iE?I!G=r> ^>9 CI Fi }? = ED ; E3g,"6fFAY}F@}F* @y}Fn"}F0}FH'=cx??`ÿ`x?e"@ɤ?)~F@ ~FQ[;I~FCYng?ynYF}77M}a=YIQU>a"Hy3<}>Ișŝ 5?ŝ]ݾ Ɲ ?9ƝW\Aǝ: ȝ:)șW!W!X! X!W!X):W)2W)*W)V)bU1BU1*U1U9U=?BaBa BaAmԅ*BiAiAiAiAi"C}1?RC}y m>CyCy` ||v Nd:YR1yi:`6){;֍uE]m, fFAY}>@}>@y}> }>}>HS@ ?=? @ E? @˱?)~>@ ~>B[;I~>CYZ?yZЍF u } } }@ }@ }@yyyiyy y)yIyiyMI=YJ~QU>a"H7HyW}>Iȩ :ŭ 5? :ŭݾ ƭ= ?9ƭi\Aǭ: ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUU@?BB BA *BAAAA"C(?RC >CC֭$OV=iIyG>Ft,fFAY}B@}B8@y}BE}BI(%}BHZ?@?@.Z?@@mA?)~B@ ~B~K\;I~BCR`Dynamic Docking Module:!C REMUS Capture Rev 1.1   f:YV1y:69@ɫ11)1 5I1Yek?ymFiiM"=YlQU>a"Hya}>Iȩŭ 5?ŭՖݾ ƭܼ ?9ƭ\Aǭ: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUUF@RB*** querying acoustic contact ***PPBB! B!A%*B!A!A)A)A)"C1*C5RC1C1C1܍a>9܍CI܉i܉܍=܉܉܍; ݍEz=I!)!IGj>oz,fFAɫ) IY?yZFZ****** received transponder code query ******F****** received ping request ******%qIyG>XY,zfFAY}J@}J@y}J)'}Jռ}JH@v@p??eÿ@?b?)~J@ ~J \;I~JCɫ髙) IY\?yFxDUSBL response received:!U1,P 15C,000,002B6,187,80,80,3F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 m iim mm:Yiyim6-Gz?MbpL7A`?-p=>- -+=))I)y- rhQ{Gz-C-) -3CA)-IAI-=4Ai-]A))        @ @ @   i   ) I i ' <M=Y QU>a"HyB;}>I 5?ܖݾ ƾ %?9\A; <)WWX XWX:W2W*WVbUBU*UUU zG @BiBi BqA*BAAAA"C*CGRCCC֝ 8>ץ ?iץ ?y ܉ 9܉ I܍ Fi܍ ?܍ =܉ ܉ ܍ ; ݍ EI G >,F|fFAY}^҄@}^\@y}^0}^ "}^H%`?@?Ŀ`?. ̂?)~^҄@ ~^N[;I~^Cɫ髙) IY?yFɮa==Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)6<M=YQU?a"Hya}?I : 5? :ɖݾ ɾ ?9\A: :):W!W)X) X)W)X):W12W1*W1V1bU9BU9*U9U9U=jB @BiBi B A *B A A AA"C*COˮRCCC! M>M>%<>I G%M>T,v9fFAY}n-I@}nd@y}n'9}n?}nHL`N?F? ?ǿ?`h?)~n-I@ ~n&\;I~nCɫ髩) IY?yFxDUSBL response received:!U1,R,17D,000,002B5,186,80,80,51,FF Fpublishing direction and range info;ɰc=> )BIy@CB[??s2ԿٱG  v:YU1y:6 m m m m@ m@ m@ miiiimAi mA)mAImAimA}M}1=Y=QU>a"Hy}>Ișŝ 5?ŝݾ Ɲξ ?9Ɲ>]Aǝض: ȝ:)șWWX XWX:W2W*WVbUBU*UUU@qw@R(Combining 5 samples.P*Q@ZQ9@DmNJQCB[??s2Կ2Q;:QbQ$[:@@AP?RQ٬T˿l=?A|?BQ%}? Qz@QaPU9?PT9?PQQN%@"Q@B!B! B)A-*B)A)A)A)A)"C1*C=RC9C9C9g>IG k>,3SfFAY}fg:@}fU@y}f`E}fx}fH#Pr??#H _̿?@Ք4?)~fg:@ ~f]^;I~fCɫ) IY?yȌF}DNmea in: $SNTTA,,,,,225536.50*5E =i=%%M%d=Y%QU->))a-"H)1y=%}=>IA E:E 5? M:Eݾ E/Ҿ M?9Eq]AE: E;)E:m}uAdded new target pos. range: 4.080000 m, bearing: 102.724549 deg, deltaT: 4.118879 s, approachRate: -0.014567 m/s, LOS rate: -0.458057 deg/s, posRepo size: 4W%}?WX XWX:W2W*WVbUBU*UUQ@U?BB BAw*BAAAA"C[?RCC%}?C>I)-d>9)I-8Fi-?-=-<D)-; - EסIGA>_,HmfFAY}V?@}V@y}VR@M}V2r }VH`. c[ ?@߿ο&|?`\?)~V?@ ~Vb;I~VCɫ髡) IY?yFu<MuV=Yu줼QUu>yya}"Hyy8 }>Iȉō 5?ōkݾ ƍվ ?9ƍ]AǍ: ȍ':)ȉWWX XWX:W2W*WVbUBU*UUUങ?  (m:YDW1yY:6) ;9BB BA)*BAAAA"C%}?RCCC  >I GUt>i5 mGII ia ٺ Aǥ,fFAɫ髹) IY?y"F1Zd?RQ?Mb"=B> @)IyZd;O~jt{Gzjļ# `=A)TAI1AifAJA M M U U@ U@ U@QQQiU3AQ U)UWBIUrAiUzAe<Me<=YeQUe>iiam"Hiqyu}}>Iy}+ 5?}ݾ }Wؾ ?9}]A}: }:)yWIWIXI XIWQXQ:WQ2WQ*WQVYbUYBUY*UYUYUe`Q?BB BA*BAAAA"C*CRCCCIG>- f>9- CI- XFi- ?- =- =D) - ; - E)͊CI͊Ci͊C͊=͊=͊\v6/Ч,aŠfFAY}V@}Vy @y}V9AV}V%d@}VH@~T@.Ʊ?m? =ɿ0:MW=YܽQU>a"Hy}>Iȹ :Ž. 5? :Žݾ ƽھ ?9ƽ^Aǽ: ȽN:)Ƚ:WI@A)  r:YWU1y:6);WX  X W X:W2W*WVbUBU*UUU%?BIBI BIAU*BQAQAQAQAQ"CY*CYRCaCaCaօFӅ>ׅ?iׅ?YIaGY>,fFAY}@}@y}Y}C}H }uT??`. &ʿ_? ӧ@>?)~@ ~z];I~Cɫ) IY-?y-kF   Õ 0=Õ+=ÕiÕAÕ ĕA)ĕzBIĕOAiĕAu;M:=YQU>a"H8Hy7:}>I[ 5?ݾ ݾ ?9N^As: I:)WWX XWX:W2W *W V bU BU *UUU?B9BA BAAE̅*BAAIAIAIAI"CQ*CUԱRCQCQCY %=%=>IG>崶,ׇfFAY}R@}R@y}R^}RO}RHXVfs"?W?S˿a?`K.?)~R@ ~Rr\;I~RCɫ髑) IY?y*FE<M^=YWQU>a"Hye}>Iȩ :ŭV 5? :ŭٖݾ ƭz ?9ƭ~^Aǭ: ȭE:)ȭ:WWX XWX:W2W*Ww  z:YW1yč:r69@VbUBU*UU U `@BB BA*BAAAA"C*CRCCCd>9CIFi1?=;  E>IGi> ,qUfFAY}BU@}B0@y}Be}B}BH`` @e?`?K@}ʿ|?ѩ.?)~BU@ ~Bpa;I~@ɫYY)Y YIYY?ykFAμMY=Y)QU>a"HyԻ}>IU 5?ݾ 4 ?9^A: R:)WWX XWX:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PP=ip=B1B9 B9A=̅*B9A9A9AAAA"CA*CIRCICICQaIy)yiIGd>,;fFAY}^@}^O@y}^l}^9C}^H߿`Z?E?P Mʿ@V?  $?)~^@ ~^_;I~^C} h {:YU1y:6ɫII)I IIIYP?yFZ****** received transponder code query ******F****** received ping request ******a"Hy}>I! -:%r 5? 5:%&ݾ % 5?9%_A%: %:)%:WWX XWX:W2W*WVbUBU*UUU @B9B9 B9A=Z*B9AAAAAAAA"Ci*CiRCiCiCqԁԅ]A֝ ?΅> h>9 CI xFi ? = ;D GD ; Eq I G >%ȶ,_ "fFAY}>e@}>@y}>i}>7ܤ}>H`Z߿g??!߿1οM?E ?)~>e@ ~>5];I~<ɫyy)y yIyY?yFxDUSBL response received:!U1,P 17D,000,002B5,186,80,80,51,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 5 =M==YMO׉IG>Lζ,;fFAY}@}.@y}]^}}H߿ H@??&޿gϿ?@<?)~@ ~v];I~Cɫ) IY I?y GFɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I!)!5 555 5l:Y5W1y5č:56 U ] ]]7=]9<]i]3A] ]rA)]AI]5Ai]vAme&Mm8=Ymaqqau"Hqyy}:}}>Iȁ :Ņ 5? :Ņݾ ƅv ?9ƅ_ADž0: ȅ=:)ȅ:WWX XWX:W2W*WaVabUaBUa*UaUiUm@@BB BAۅ*BAAAA"C*CRCCC->5?i5? IG5>/ն,UfFAY}>@}>@y}>V}>F}>H@ *??@B߿T5ο@ ~>6P];I~>Cɫ髙) IY?yXF=Mf=Y(a "H  y:}>I 5??ݾ i -?9_Ak: :)WIWIXI XIWQXQ:WQ2WQ*WYVYbUYBUY*UYUaUe`n@BB BAl*BAAAA"C*CRCC!C! U=U=ui>9uCIuFiuE?u=u=DuEDu.; u2EAI)GER>^۶,ɰofFAY} v@} @y} ~X} >:} H ǩ?`?ë߿ (̿~?@H(?)~ v@ ~ ^;I~ ɫ  )  IY5?y5FETNmea in: $SNTTA,,0.034764,,,225540.93*4C <M?=YzQU>a"HyH;}>I 5?ݾ [ ?9#`Aϸ: @:)] ]]] ]"h:Y]V1y]:]`6)]ɽ;9W1W1XY XaWaXi:Wi2W*WVbUBU*UUUZ@BiBi BiAm)*BiAAAA"C*CRCCC֥6Ʌ>y I G >C⶙,~fFAɫ髑) IY*?yF rh?V-?Zd;?C =m= y=)IyMbV-/$ :A)\AI0AibnA1i5=pMA @ @ @Õ©ÕÕiÕAÕ ĕA)ĕ5AIđiĕAv<M;=YQU>a"Hy}>I : 5? :ݾ  ?9^`A; ;):WW X  X W X :W 2W*WVbUBU*UUU@BB BA*BAAAA "C *C RCCC5?΅> IG5>i 9m CIm НFim E@m =m <Dm FDm ; m -En趙,]fFAɫ髱) IY?yFxDUSBL response received:!U1,R,D52,000,03695,189,80,80,51,FF Fpublishing direction and range info@?ɰ?7> )Iy8HD b eo?0g?ٱ%'<M-f=Y)QU->11a5"H19y9}=>IAE 5?Eݚݾ E U?9E`AE: ED:)AWqWyXy XyWyXy:Wy2W*WVbUBU*UUU`RN@R(Combining 5 samples.P*Q8HDZQ( ^ج@5|@JQ b eo?0g?2Q@?:QbQ:. yIt@̤X@RQSeU쿷:9gk?R?BQ~-@ QCQ4P9?PU9?PQQB"QN%@BB BAń*BAAAA"C*CbRCCC= === =f:Y=W1y=č:=6)=;>יIGA>,/fFAY}:'4@}:O@y}:aO}:}:H%߿`? }}޿οݾ?@?)~:'4@ ~:>^;I~:Cɫ髁) IYP?yFimGIi{ٺuA   ýtý=ýC =iýAý ĽWB)ĽAIĽnAiĽrA{.M@=Ya"H9Hyּ}>I : 5? :ݾ  ?9`A3: *:):m%}Added new target pos. range: 800.880066 m, bearing: 155.320769 deg, deltaT: 5.578808 s, approachRate: 142.826218 m/s, LOS rate: 9.427860 deg/s, posRepo size: 4m-VStopped intercept timer at range: 800.88 m.W-~-@W1X1 X1W1X1:W92W9*W9V9bUABUA*UAUE` @UE@D1?BqBq BqAuZ*ByAyAyAyAy"C~?RCp}>C~-@C֥>YIiGZ>&,fFAY}^`@}^8@y}^D?}^[}^H߿ /? 9޿iο?`iÿO?)~^`@ ~^];I~^Cɫ髑) IY?y}FMN=Y"=QU>a"Hy>e}>IȱŵA 5?ŵݾ Ƶ ?9ƵaAǵg: ȵ:)ȱ; wAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;wdResuming normal ranging with 1.000000 count pings.;1<WWX XWX:W2W*WVbUBU*UUU@E?I))-@A=: === =u:Y=V1y=:=69=@BIBI BIAMŅ*BIAQAQAQAQ"C]0?RC]E>CYCam& >܍k>9܍CI܍@Fi܍?܍=܉܉܍; ݍE)ݥCIݥCiݥCݥ=ݥ=ݥ6yIG<>,OfFAY}:J@}:>f@y}:jv/}:Y߽}:H@"߿.ւ7?߿ɿ]?`ꀻ`W?)~:J@ ~:U];I~:Cɫ99)9 9I9Y?yF B=ML=Y=QU>a"Hy>;}>I :j 5? :ݾ  ?9:aA{< <):X?1<wCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR; wAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRWWAXI XIWQXQ:WY2W*WVbUBU*UUU?BB BA)*BAAAA"C ?RC =C C !%=5}>IG >4,Q fFAɫ) IY=L?y= F= 99= =Kh:Y9y9=6e+ʡEkt?ee- e =)aIayeT㥛 L7A`堿~jth?ee+eD; ef8A)ep_AIe2AieaeCA ]@ ]@ ]@]©]]i]fA] ])]AI]AiYm};Mu/=YuQUu>yya}"Hyyy}>Iȉō 5?ō~ݾ ƍa ?9ƍaAǍ: ȍض:)ȉWWX XWX:W2W*WVbUBU*UUU ?BB BA*BAAAA "C d@RCܟTCC12q>׹IGf>܍ i>9܍ CI܍ xFi܍ ?܍ =܉ ܉ ܍ ; ݍ EL,R$fFAY}:@}:+@y}:T%}:dۼ}:H`߿a@yf? R?߿ ÿ?`|?)~:@ ~:yd`;I~:Cɫ99)9 9I9Y}*?y}F]A<Mz=YAIIGm5>},v>fFAY}J@}J@y}Jr"}J,9}JH`߿@?m? ߿8?`4#?!?)~J@ ~J^;I~Hɫ髡) IYL?y F   ýy=ý\=ý`iýAý ĽB)ĽBIĽAiĽjA4M@=Y@;QU>a"Hy%h}>I= === =D:Y=WU1y=:=r6 : 5? :ݾ  ?9bAe< <):W W X  X WX:W2W*WVbUBU*UUU% E@BB BA*BAAAA"C @RC]CC>IGj>k,RXfFAY}B5@}B@y}BY}B]Y}BHE߿@R?{?߿ O ?@Qj?)~B5@ ~B];I~@ɫYY)Y YIYY?yF鮥a=ɮC= <MW=Y:a"H!y%ƻ}%>I)-n 5?-ݾ -Q =?9-cA-s: -:))WYWYXY XYWaXa:Wa2Wa*WaVibUiBUi*UiUiUu@[@R}B*** querying acoustic contact ***PyP}BB BA„*BAAAA"CP@RC CCֽ\=195CI5Fi5a?5=5:D5HD5; 5 EשIG >i,,rfFAY}:~@}:@y}: '}:x}:H`e߿ `[?~?i߿x¿@?¢ౣ?)~:~@ ~:W\;I~8ɫyy)y yIY?yFZ****** received transponder code query ******F****** received ping request ****** >=M==Y%_a"Hy \;}>II :M 5? :Mݾ M ?9McAMё< M|<)M:WWX XWX:W2W*WVbUBU*UUUc @BIBI BIAM-*BIAQAQAQAQ"C]@RCYCaCam$ӿ=I IQ Gu >L",fFAɫ髙) IY?yŏFxDUSBL response received:!U1,P D52,000,03695,189,80,80,51,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 V-?n?V-?=V> <)Iy&1Q:v?нu< DA)FAIi]AFA @ @ @©iGA 1A)rAI1Ai1A nM !=Y QU>a"Hy]}e>Iim_ 5?m/ݾ m ?9m^dAm߄; mD;)iW!W!X) X)W)X):WQ2WY*WaVabUiBUi*UqUU`e@BB BA@*BA!A!A!A!"C-@RC)C)C1 u= I G >5 m>91 I5 8Fi5 ?1 1 1 5 ; 5 E}),GfFAY}B@}B@y}B}Ba}BH߿`G ??@߿@Kÿ`RN?@"?)~B@ ~B:>a;I~@ɫYY)Y aIaYa?yhFAAMNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =M=Ysr=QU?a"H:Hy;} ?I : 5? :ݾ | ?9dAR: :):r  e:YU1y: 6);WWX X!W!X!:W!2W!*WIVIbUIBUI*UQUQUUa@BB BA*BAAAA"CC!@RCCCMR!=יIGb>2/,fFAY}>Е@}>Z@y}>}>c}>HWp߿Tl-v? ߿!ÿSS??)~>Е@ ~>ܐ^;I~>CɫYY)Y YIYY}]?y}FxDUSBL response received:!U1,R,501,000,002B4,189,80,80,92,FF Fpublishing direction and range infoɰb=鰁 )CIy@&k? .U ٱ    @ @ @i A)1AIAiA<M[=Y=عQU >  a "H yJa}>IȹŽ 5?Žtݾ ƽ ?9ƽeAǽ: Ƚ:)ȹW W X9 X9W9XA:WA2WA*WAVAbUIBUI*UiUqUu |@P*Q@ZQ4C%? T JQ&k? .U 2Q:QbQtEF@w& @l 5?RQ .?|.d?P!?BQu? Q5Q@Q2@P^9?P9?PQQ@"QBBB BAV*BAAAA"C&@RCCC^Aጻ?i?סIGA>6,fFAY}-+@}-@y}-4}-}-H0i߿`q'h?@E߿_Dÿ??)~-+@ ~-]\;I~-Cɫ11)1 9I9Ym?yuhFDNmea in: $SNTTA,,,,,225546.59*50 = ===K =g:Y=X1y=/:= 69E@q>9CIFi?=;D; E-<M .=Y QU >a"Hy|H}>IA M:Eq 5? U:Eݾ E U?9EKfAE: EA:)E:m}Added new target pos. range: 4.020000 m, bearing: 55.054067 deg, deltaT: 4.472143 s, approachRate: -178.183044 m/s, LOS rate: -22.420280 deg/s, posRepo size: 4mProNav REINIT: LOS rate is -22.420280 deg/s. Setting heading cmd to target bearing of 55.054067deg and heading rate command to 0 deg/s.Wu?WX XWX:W2W*WVbUBU*UUz@U`?B)B) B)A5.*B1A1A1A1A1"C] +@RCaCeu?CaUhI!G=r>D<,utfFAY}:y@}:K@y}:}:}:H`:S߿ ]??@L߿`?Uj*?)~:y@ ~:u[;I~:Cɫai)i qIqYT?y9FNonly read 0 of 1 data item for altitudea i@a  a m@a  a q@a  a e@a  5 5 5 5@ 5@ =@111i5A1 1)59AI55Ai5AM<MM8=YM跻QUM>QQaU"HQYy]I}]>Iae 5?eݾ e u?9e gAe): e>)a:uAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;vZEntering USBL mode with 5.000000 count pings.1;q;WWX XWX:W2W*WVbUBU*UUU*?BB BA؃*BAAAA"C-@RCCC  iNmGIi%o=ڽEٺIM3A1I9G]>b,C,aO fFAɫ髙) IY?yFM=YQU ?a"Hy} ?I 5?=ݾ  ?9gA.; D?)= ===f =h:Y=DW1y=Y:=6XM@q;MuUCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:UuUAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLWYWYXY XYWYXY:Wa2Wa*WaVabUaBUi*UiUiUu\?BB BA *BAAAA"C-M.@RC)C)C) ===>%$I))-^AIG J> w>9 CI i = =D ED ; E)eCIeCieCe=e=e7VI,*'fFAY}:@}:@y}:}:Q}:HY߿ !H?@~? h߿\`+? ?)~:@ ~:a;I~:CɫYY)Y YIYYn?yF5=M=S=Y=HҼQU=>AAaE"HAIyMT;}M>IQ ]:U 5? ]:U ݾ U e?9Ua>P,AfFAY}: @}:@y}:}:= 8}:HP߿@盟??x?߿@¿ ?ƦT7 >iA 5A)AIAijA-!MM<=YU/M:QUU>YYa]"HYaymȺ}m>Iy} 5?}$ݾ }~ ?9}hA}: }?)y  xo:YV1y:6WWX XWX:W2W*WVbUBU*UUU cG@B1B9 B9A=*B9AAAAAAAI"CM@-@RCQCQCQyyIG^>jV,.ZfFAY}: @}:@y}:fI}:w}:Hqt߿`? ?~=߿pjÿ`?R?)~: @ ~::];I~:Cɫ99)9 9I9Yu?y}^FJM`=YY;QU>a "H  y;}>I 5?ٯݾ \ %?9iA: ?)WiWqXq XqWqXq:Wq2Wy*WyVybUyBUy*UUU<#@BB BAʃ*BAAAA"C*@RCCCy9yI}Fi}a?}=}>Dy}; }$E֕N؅ޝ=iޝ=סiץ?aIqG>\,ytfFAY}jN@}j@y}j}j"?}jHܳ߿2'u?eh? R߿ſ?謳ڐ?)~jN@ ~j[;I~jCɫ) IY?y.Fɮa=-=i-%=  k:YWU1y:6a iua iu a mua m} a q}a q} a e}a e} }A)}IAI}7Ai}YAy}=FA @ @ @©iA )AIAi5A<=M#=Y QU>a"Hy. <}>I   5? iݾ L ?9 !jA : :) W9W9X9 X9W9XA:WA2WA*WAVAbUIBUI*UIUIUU&@RB*** querying acoustic contact ***PPBB BA% *B!A!A!A!A!"C-J%@RC)C)CQM! I9 G] >zc,-fFA|i|ɫ髙) IY?yFZ****** received transponder code query ******F****** received ping request ******u |>9q Iu Fiu ?u =q q u :; u 5Ei,qrfFAY}:8*@}:E@y}:=}:k}:H`<߿ 8Ù?@X?a߿&Ŀ+?@7?)~:8*@ ~: Y^;I~:Cɫ99)9 9I9Y?yF xDUSBL response received:!U1,P 501,000,002B4,189,80,80,92,FF  Command Ack BRequesting micromodem ping code 2i  %Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )e= e=&=MG=YbQU>a"H;Hy ; r 'o:YDW1yY:6);9%}>Ișŝ 5?ŝݾ Ɲ ?9ƝjAǝ=< ȝ=<)șWWX XWX:W2W*WVbUBU*UUU@ @B1B1 B1A=*B9AYAYAYAY"Ce_@RCiCiCiԍԍ Օԕ I G% >p,nMfFAY}:<@}:X@y}:T}:6}:H 6߿ ?V?*߿FĿ=?W T?)~:<@ ~:%_;I~8ɫ99)9 9I9Y}H?y} FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)    @ @ @iA A)AIAiAME=Yd;QU>a"Hy5;}>I :C 5? :ݾ ^ %?9]kA #; \(;) :WYWYXY XYWYXY:Wa2Wa*WiVibUiBUq*UqUqU} '@BB BA*BAAAA"CMl@RCICICQAIIG}7>v,(fFAY}:H@}:Ҩ@y}: }:ӽ}:H] Q|sJ?߿zſ?* ?)~:H@ ~:+];I~:Cɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,R,502,000,002AF,189,80,80,99,FF Fpublishing direction and range infof3ɰa=鰁 )CIyn@w?amf-ٱH=M]=Ya"Hy X<} >I 5?#ݾ < %?9kA: :)WYWYXa XaWaXa:Wa2Wa*WiVibUqBUy*UyUyU+@>9CIFiv?=?DDDk; FERu(Combining 5 samples.Pq*Qun@ZQuo$?7U JQuw?amf-2Quf3:QqbQu=EL@ZkJK@g*!?RQu?4&i?jj[O?BQux? QuZB@Qu@PqPu^9?PuQuQu>@"Qu@     n:Y V1y : 6) ;B)B) B)A5*B1A1A1A1A1"C=}@RC=_CACA!I1GM1>|,fFAɫ)1)1 9I9Y?yɕFDNmea in: $SNTTA,,,,,225551.04*5E aaae"Haaym}m>Iq }:u# 5? }:uݾ u" ?9uWlAu: u:)u :mmAdded new target pos. range: 3.720000 m, bearing: 55.687236 deg, deltaT: 4.442865 s, approachRate: -0.067524 m/s, LOS rate: 0.142514 deg/s, posRepo size: 4Wx?WX XWX:W2W*WVbUBU*UU @U@d?BB BA΂*BAAAA"C F @RC C x?C?i?IG>ȃ,fFAɫyy)y yIyYc?yFM=iM=ȓ=M=YQU?a"Hy} ?I 5?Qݾ i$ ?9lA: ;)WWX XWX:W2W*W!V!bU!BU)*U1U1U=?ByBy BA*BAAA)A)"C5@RC5doC1C1m mmm m:YmU1ym:mi69u@AIIGm5> }>9 CI i  = =D FD P;  EE򉷙,)fFAY}:@}:n@y}:z轙}:`}:H?sq%@S? @*? ?)~:@ ~:Z;I~:CɫYY)Y YIYY;?yۖF=ݼM=P=Y==QU=>AAaE"HAIyM<}M>Iȩŭ 5?ŭۺݾ ƭ3& ?9ƭ$mAǭ: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU@/?BB BA_*BA!A!A!A!"C-ŷ@RC-;=C)C1e;9IIGeU>i- ]nGIE `AiQ ٺ `A Aڐ,CfFAY}:j@}:@y}:.Խ}:|VP}:H@=d?Z_?)@ay?@4䩿@?)~:j@ ~:0`;I~:CɫYY)Y YIYY}n?y}5F)=  > m m mmta"Hy-}5>I9 M:= 5? M:=ݾ =' u?9=mA=%; =;)= :WWX XWX:W2W*WVbUBU*U)U)U5+CC֥| uIש)׭]AyIG^>W,v]fFAɫ髱) IY_?y,FIQ)QuMuL=Y}QU}>yya"Hy}>Iȑŕ 5?ŕݾ ƕ) ?9ƕ nAǕR: ȕk:)ȑܽ|>9ܽCIܽFiܽ1?ܽ=ܽ<DܽGDܽ; ݽ4E)]CI]Ci]C]=]=]io7WWX XWX:W2W*WVbUBU*UUU@B!B! B!A-ց*B)AAAA"C/?RC{>CC֥1IaIiG9>0,SwfFAɫ  )  I YM?yMbF6only read 2 of 4 data itemsa i@a  a m@a  a q@a  a e@a   n .:YU1y:6 @ @ @©ifA )5AIAiA~;M'=YQU>a"H!y!}->I) 5:- 5? 5:-ݾ -+ =?9-nA-: ->)-:WWX XWX:W2W*WV bU BU *U U U@R=B*** querying acoustic contact ***P9P9ByBy ByA*BAAAA"C ?RC >CC]A^A֕iIyG>,l&fFAɫ髙) IY5?yFZ****** received transponder code query ******F****** received ping request ******N?)qWWX XWX:W2W*WVbUBU*UUUd@BB BA- *B)A)A)A)A1"C51?RC9C9C9M=iM=E6[ѽI)GEQ>ܽ>9ܽCIܽ Fiܽ?ܽ=ܽ;DܽHDܽ#; ݽAE@,fFAY}V4n@}V@y}Vr}Vm$}VH b~d:?D>?@@?)~V4n@ ~V^;I~VCɫ髉) IYp?yFxDUSBL response received:!U1,P 502,000,002AF,189,80,80,99,FF Command AckBRequesting micromodem ping code 2i=i%=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 E;MMK=Y]=QUe>qya"H<Hy=}>I 5?ݾ 9. }?9moA < ?)WWX XWX:W2W ~~ }i:YT1y@:6);9*WVbUBU*UUU@? @BB BA*BAAAA"C?RCCC<HיIG >),fFAY}Nr|@}N@y}N1f}NB}NH``p@?#"`C¬?R`?)~Nr|@ ~Nn_;I~Lɫyy)y yIyY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B       = xi= !!a-"H))y5;}5>I9=0 5?=Vݾ =/ E?9=oA=%: =?)9WaWiXi XiWiXi:Wq2Wq*WqVqbUqBUy*UyUyU}p @BB BAr*BAAAA"C?RCCCׁIG>>R,fFAY}NG@}Nѵ@y}NZJ}NG̽}NH@褭?@6OM?灹`,?)~NG@ ~N:];I~NCɫ髹) IYJ?y2F@AxDUSBL response received:!U1,R,502,000,002B3,18A,80,80,A8,FF Fpublishing direction and range infoɰmb=> )(CIyp}@w?amf-ٱ-JZM-[=Y5R99a="H99yEӟ;}E>II]>9]CI]XFi]?]=]=D]FD]8; ]@II)M?ABB BA*BAAAA  b~:YX1y/:26);"CQ?RCCCI =יIGb>,fFAɫ  )  I Y)y)TNmea in: $SNTTA,,0.470235,,,225555.07*40 I)a i-a i- a m-a m5 a q5a q5 a e5a e5 5{Gz?/$?Mb?5ף<5,= 5=)1I1y5A)5-HAI5:Ai515z@A 5@ 5@ 5@5©55i5A5 55A)5OAI55Ai5AYEQUM>IIaM"HIQyU}}>IȁŅb 5?Ņݾ ƅ1 ?9ƅpADž߼: ȅ:)ȁmiAdded new target pos. range: 3.959999 m, bearing: 58.144663 deg, deltaT: 4.046447 s, approachRate: 0.059311 m/s, LOS rate: 0.607305 deg/s, posRepo size: 4W|?WX XWX:W2W*W V bU BU *U U @U`?ByB BA*BAAAA"Cuɧ?RCC|?C֥ȿ=ׁ I G >,iķ,fFAY}F|@}F]@y}Fټ}F}FH:M ?8ն"!?`l @}?)~F|@ ~FJ&\;I~FCɫQQ)Q QIQY?yFmdP<MmU>9UCIUFiUa?U=U?DUEDUO; U>ELʷ,sJ,fFAY}:k@}:_@y}:.򟼙}:ý}:Hﱿ ?00?@U@V?)~:k@ ~:KV[;I~:Cɫ99)9 9I9Y}?y}FOMP=Y!!a%"H!)y-_-}->Iȁ :Ņ 5? :Ņݾ ƅ(1 ?9ƅpADž': ȅ:)ȅ:WWX XWX:W2W*WVbUBU*UUU5?BB BAn*BAAAA"CD??RC C CMl=!I)GM1>vѷ,$FfFAY}:@}:@y}:3F}: }:H`<B y>? @-ޜKƈ? x ?)~:@ ~:_;I~:CɫAA)A AIAY?y:F=i< U U UU=U=U=iUAU UA)UAIUAiQebI=MeF=Ymiiau"Hqqy}ͼ}}>IȁŅ 5?Ņ3ݾ ƅ 1 ?9ƅ qADž: ȅ:)ȁW W1X1 X1W9X9:WA2WA*WIVIbUiBUq*UyUyU`?BB) B)A-*B)A1A1A1A1"C=ʧ?RC9CACY-g --- -Gy:Y-U1y-:-6e >!I)GER> ׷,_fFAY}:iw@}:@y}:ػ}:0<}:H O阿 5R?` {?|?)~:iw@ ~:b];I~:Cɫ99)9 9I9Y@yF9Ii =y; REUL<M]K=Y]_aaae"Haaym{8}m>Iq }:uP 5? }:uݾ u0 ?9u9qAuR: u:)u:WWX XWX:W2W*WVbUBU*UUUR?BB BAU*BAAAAi"Cu?RCqCqCymQ8>AIIGm5>Pݷ,_yfFAY}eTZ@}eu@y}e>ں}eV}eHIP,}Y? וN@G[? Ԫ ?)~eTZ@ ~e;\;I~eCɫ)))) )I)Ym?ymF11inGI/aAi)II)MAA}Gٺ}/aA}A{Gza"Hy%\}%>I)- 5?-Tݾ -, U?9-qA-; -j;))WWX XWX:W2W*WVbUBU*UUU_?@RB*** querying acoustic contact ***PPBaBq BqA}*ByAyAyAA"C|?RCCCօw>A II Gm >2䷙,fFAY}:*@}:@y}:?N;}:I}:H?ujb@oq?`&nPi`eF@c?)~:*@ ~:!T[;I~:Cɫ99)9 9I9Y]+@yeFeZ****** received transponder code query ******mF****** received ping request ******m)==9=M=YߑסIGA>>9CI8Fi?=>DFD; gE)݉IݍCiݍCݍ=ݍ=ݍM79귙,KfFAY}:@}:@y}:U<}:,}:HV goලj?P @x@ )?)~:@ ~:JZ;I~8ɫ99)9 9I9Y] ?yeFmxDUSBL response received:!U1,P 502,000,002B3,18A,80,80,A8,FF mCommand AckmBRequesting micromodem ping code 2iii}Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 MK=Yrm  a"H=H)y=,}E>Iaeo 5?eݾ e' ?9erAeT< eɶ<)aWWX XWX:W2W *WVbUBU!*UYUaU` @B!BA BAAE*BIAIAQAQAQ"CY v r:YU1y:`6);9*CɭRCCC^A>IG>,@lfFAɫ髹) IYy?y'FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ¹¹   <@C=i=A 9A)5AIrAi5A;M8=YQU>!!a%"H!!y-}->I1 =:5Q 5? =:5cݾ 5x# E?95YsA5^: 5w:)5:WaWaXa XaWaXi:Wi2Wi*WqVqbUqBUq*UqUyU} @BB BA*BAAAA"C*CRCCC֥>yIG_>',EGfFAY}:@}:@y}:<}:tb}:H``Xuy|? Z@gmސ ڢ`?)~:@ ~:vd_;I~:Cܥ>9ܥCIܥpFiܥM?ܥ=ܥ=DܥGDܥ; ݥ|Eɫ髉) IY?yFxDUSBL response received:!U1,R,502,000,002B2,189,80,80,BC,FF Fpublishing direction and range infoɰb=7> )99a="H9)y-P;}5>I9=n# 5?=ݾ =P U?9=sA=R; =T;)9WWX XWX:W2W*WV)  Vt:YV1y:s6)S;bUBU*UUU u@R%(Combining 5 samples.P!*Q%y@ZQ%=A?a;% JQ%w?amf-2Q!:Q!bQ%Z@( @L:?RQ%ir?f:#?:[k?BQ%N~? Q%aP@Q%@P%_9?P!P!Q!Q%@"Q%U@BqB BA;*BAAAA"C*CRCCC֭>ס I G >#, NfFAY}@}1 @y}Z\<}UQ}HnXa ߗt?@k@ت``fF?)~@ ~\;I~ɫ) IY?yFeDNmea in: $SNTTA,,,,,225559.10*53 Q?y&1?:v?\=`= <)Iy~jthMb`?{Gz?D;ף< :A)zPAIDAi3CADA @ @ @©iA A)AIAi Ȁ<M K=YkQU>a"Hy%K;}%>I)-b# 5?-ݾ -l =?9-sA-; -h;))mmqAdded new target pos. range: 3.899999 m, bearing: 56.852794 deg, deltaT: 4.121236 s, approachRate: -0.014559 m/s, LOS rate: -0.313466 deg/s, posRepo size: 4WmN~?WiXi XiWqXq:Wq2Wq*WyVybUyBUy*UU23@U?BB) B1A5*B1A1A1A1A1"C= ?RCACEN~?CA]6Ʌ>YIaG>9,fFAY}B@}B,@y}B;}B+hh}BHvc`{sp?_r Ix`?)~B@ ~B[;I~BCɫYY)Y YIYY/?yF)U= U>uS<M}j=Y}ʮQU}>a"HyM;}>Iȑ :ŕY# 5? :ŕ)ݾ ƕ ?9ƕtAǕ: ȕk:)ȕ:WWX XWX:W2W*WVbUBU*UUUi?BB B A *B A AAA"C@?*CtRCCC! >IG I>  Zn:Y0Y1y:69%@ܝ>9ܝCIܝFiܝ?ܝ=ܝ;DܝHDܝ9; ݝPEK+ ,.fFAɫ髹) IY?yFIY)YIm=)m=zpME=YQU>a"Hy}>IO# 5?Aݾ  ?9tA: @:)WWX! X!W!X!:W!2W!*W)V)bU)BU)*U1U1U5 h?BYBa BaAe*BaAaAaAiAi"CuN~?*CuRCqCqCyցyIGd>e,մHfFAY}R@}R@y}R}R5t}RHYv@糨 Ɓ?O@9& Jw?􁮿@N?)~R@ ~R*Z;I~RCɫyy)y yIyY?yXF m m uu>uu,=iuzAu uA)uWBIunAiu1AMO=YQU>a"HyR+}>Iȡ :ťE# 5? :ťZݾ ƥ ?9ƥtAǥ: ȥ:)ȥ:WQWQXQ XQWQXQ:WQ2WY*WYVYbUYBUa*UaUaUe`j?BB BA*BAAAA"C*CRCCC % %%%s %p:Y%U1y%:%6]>1IAG]v>>,bfFAU>9UCIUFiU}?U=U=DUGDU; U-Eɫ髱) IYD?yF…]AiHMI=YQU>a"Hy}>Iȱŵ;# 5?ŵsݾ Ƶw ?9ƵtAǵ: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUU`V?BB! B!A%*B!A!A)A)A"C*CRCCCֽ>בIGa>j,x|fFAY}N@}N@y}Nb}N!y}NH@Gƭ/? ߿dک˗?"?)~N@ ~N];I~Lɫqq)q qIqY?yȗFzG?V-Zd;O? =m j<=)Iy)\(~jt? rh?Ga=C<  ?A)JAI@Ai-HADA -@ -@ -@-©--i-A- -)-nAI-1Ai-A=M=@=YEg'QUE>IIaM"HIQyU}U>IY e:]# 5? e:]ݾ ] m?9]tA]: ]:)]:W W X  X W X :W2W*WVbUBU*UUU@BB BA*BAAAA"C*C RC C C M=M=u uuu uZn:YuDW1yuY:u26M?΅>)I1Ge>JO%,FEfFAY}>@}>@y}> }> nJ}>H@B߿ ??߿@ 쫿 J? AG?)~>@ ~>,\;I~>CɫYY)Y YIYY?yF?A,=Mg=YQU>a"Hy\λ}>I" 5?iݾ  ?9tAض: ϸ:)W W X  X WX:W2W*WVbUBU*U!U!U% @R-B*** querying acoustic contact ***P)P)BQB BA*BAAAA"C*CjxRCCC>IGE>E>9ECIAiAE=E>DEFDE$; E/Epy+, fFAY}:@}:p@y}:4:}:1}:Ha߿Fhǣ?'w߿uD?B?)~:@ ~:b[;I~:CɫII)I IIIY}{?y}dFZ****** received transponder code query ******F****** received ping request ****** >MG=YټQU>a"H>Hy } >I" 5?ݾ  %?9auA : [:)WIWIXI XIWQXQ:WQ2WQ*WYVYbUYBUY*UaUaUe,@BB BA*BAAAA"C*CRCCCaAIIGuW>i]NmGIqiٺAc2,6fFAY}:X@}:t@y}:pl}:-r}:H o߿ ϗ? h>߿L剭?@(J?)~:X@ ~:Z;I~:Cɫ19)9 9I9Yu?yuF}xDUSBL response received:!U1,P 502,000,002B2,189,80,80,BC,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=a=)=4=   í=í9íiíAí ĭA)ĭAIĭOAiĭA |;M.=Y<ռQU>  a"Hm iim m l:Yiyim6yo }>Iȱ :ŵX" 5? :ŵݾ Ƶ  ?9ƵuAǵ: ȵ:)ȵ:WYWaXa XaWaXa:Wa2Wa*WiVibUiBUi*UqUqUu`. @B B BA-*B)A)A)A)A1"CA*CIRCICQCy֭<->ׁ I G >p8,fFAY}:[@}:@y}:}:<ʼn}:H ޿Y??@޿ qı ?- ?)~:[@ ~:8^;I~:Cp9rCIpipr=r?DrEDr:; r8E)}CI}Ci}C}=}=}7ɫyy)y yIyY?yF鮉ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Ma=Y QU>a"HyQȼ}?I)" 5?)ݾ  ?9JvA: @:)WAWAXA XAWAXI:WI2WI*WiVqbUqBUq*UqUqU}מ@BB BA=*BAAAA"C*CRCCC>׹IGg>>,ճfFAY}:@}:O.@y}:D}:N;}:H9F޿({?~?@e޿ɱ?s?`?)~:@ ~:N a;I~:CɫII)I IIIY}=?y}fFxDUSBL response received:!U1,R,4A9,000,002B0,189,80,80,AB,FF Fpublishing direction and range infogBɰqa=鰁 )+CIyq@=G˿B+?o Sٱ-S㥫#~j?L7A`尿-/]-= -+))I)y-S㥛T㥛 :v-/ݼ--Լ -a"HyUH}U>IY e:]$ 5? e:]ݾ ] e?9]vA]k: ]s:)]:WWX XWX:W2W*WVbUBU*UUUgz@R (Combining 5 samples.P *Q q@ZQ  2?N JQ =G˿B+?o S2Q gB:Q bQ ܩA8x?$;,{ @cY?RQ 2?FC]L?a{?BQ y? Q cN@Q ?P ^9?P _9?P Q Q @"Q @U UUU Uql:YUxZ1yUq:U)6BB BA^*BAAAA"C*CRCCC>IG>ڠE,_fFAY}~T@}~@y}~ý}~$}~H ޿ U@C? ? ݿ +k? 4 ?)~~T@ ~~K`;I~~Cɫ ) IYM[?yMxFDNmea in: $SNTTA,,,,,225603.55*5E =i> u ;Mu==YuJQU}>yya}"Hyyj }>Iȑŕ& 5?ŕݾ ƕ ?9ƕ0wAǕ: ȕ:)ȑmmAdded new target pos. range: 3.779998 m, bearing: 58.618493 deg, deltaT: 4.375950 s, approachRate: -0.027423 m/s, LOS rate: 0.403501 deg/s, posRepo size: 4mTStarting intercept timer at range: 3.78 m.Wy?WX XWX:W2W*WVbUBU*UUo=@Ux?BB BAW*BAAAA"C%*u?RC!C%y?C)=>>9CIFi?=>DFD0; :EIG5q>K,g1fFAY}BM@}Bמ@y}Brؽ}B-D}BHݿVڊ@#?cݿl?걿?)~BM@ ~Bg];I~BCɫYY)Y YIYY?yFOMZ=Y޼QU>a"Hy[`}>Iȱ :ŵ ) 5? :ŵݾ Ƶ/ ?9ƵwAǵH: ȵ:)ȵ:WWX XWX:W2W*WVbUBU*UUU?B!B! B!A%*B)A)A)A)A)"C5y?RC1C9C9y  z:YDW1yY:`6);9֥>YIiGZ>pR,RCKfFAY}:@}:M@y}:7F뽙}:}:H+5ݿ xdJkIIaM"HIQy]ﯼ}]>IaeQ+ 5?elݾ e m?9e xAe: e:)aW W X  X)W1X1:W12W1*W1V9bU9BU9*U9U9UE`m?BB BAe*BAAAA"C*CRCCC?΅>׹IGh>X,\efFAY}:@}: @y}:2F}:q}:H@ܿ@q>r?@J?ܿ@p? `?F>9FCIFFiF?F=F<DFHDF; F0E)~:@ ~:Y[;I~:CVJFailed to close latch before timeout.q VVHardware FaultYV?yZFzMQ=YQU>a"HyT}>I :- 5? %:?ݾ < %?9yxA: P:):WaWaXi XiWiXi:Wi2Wi*WqVbUBU*UUU?BB BAt*BAAAA"C*C[RCCC!%]Ae= eee eu:YeT1ye:e6)e;E>I)-$E@Hardware Fault in component: DDMGMR>_,XfFAnPowering downpɪp)p pYMG?yMF]~jthOnÿ~jt?]D] ]D=)YIYy]Ql]u]] ];A)]NAI]5Ai]xUAY]GEA}^Ay e@ e@ e@e©eeiepAe eOA)eAIeAieA}ƼM}=YQU>a"Hy}>I\/ 5?&ݾ 2 ?9xA: ;)WaWiXi XiWiXq:W2W*WVbUBU*UUU@B)B) B)A-܄*B)AQAQAQAQ"CY*C]RCYCYCae >A II Ge >.e,RטfFAY}:2G@}:b@y}:m;}:}:HvyܿS{#F??ܿvQſ`3? d?)~:2G@ ~:D];I~:CYV.?yVF]M]=YeQUe)?aaae"Hiiym9}u)?Iy}:0 5?}ݾ }% ?9}xA}: }k:)yWWX XWX:W2W*WVbUBU*UUU@@BB BA"*BAAAA"C*CRCCC M=iM=] ]]] ]M~:Y]DW1y]Y:]i69]@IG (>܅>9܅CI܅8Fi܅?܅=܅;D܁܅; ݅&El,lfFAY}:r@}:@y}:"}:}:Hw*ܻܿ$x?@MO?ۿſF? ?)~:r@ ~:];I~:CY^?ybXF`b@Af=ifC= !!5M5M=Y=QU=>9AaE"HE?HAyMG}M>IQ ]:U1 5? ]:U ݾ U e?9U;yAU: U_:)U:WWX XWX:W2W*WVbUBU*UUU`M@RB*** querying acoustic contact ***PPBB BAl*BAAAA"C*CRCCCV݅>I$NClearing failed state for component DDMq G r,fFA|i|@Y}:z'@}:C@y}:,}:85l}:H@@Dܿ`,"?4?rܿxƿ 5y? fy~?)~:z'@ ~:]];I~8YR?yRFVZ****** received transponder code query ******VF****** received ping request ******V99aE"HAAyM;}M>IQU3 5?Uݾ U+ ]?9UyAU: U:)QWyWX XWX:W2W*WVbUBU*UUUw @BB BA*BAAAA"C*C1RCCCu uuuv ul:YuW1yuč:u`6>׹IGE>'y,efFA>9CIFi?=ID; EY}f@}fw@y}fU8}f}fH ܿ? ?):ܿȿ`?`@Tc?)~f@ ~fZ\;I~fCYr?yraFvxDUSBL response received:!U1,P 4A9,000,002B0,189,80,80,AB,FF vCommand AckvBRequesting micromodem ping code 2itt~Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 U,MeZ=YmvQUu>a"Hy<}>IQ ]:Uc4 5? e:Uݾ U' e?9UyAU: U:)U:WWX XWX:W2W*W V bU1BU1*U9U9UE` @BB BA-h*B)A)A)A)A1"C1*C=RC9C9C9E>I)Gew>y,@fFA4:CifmGIpi|-5ٺ)-A?9AY}S@}@y}]'> ]Ļ)YIYy]Zd;OL7A`堿]j]]+ ]5>A)YI]=4Ai]bAY]HA @ @ @©i3A A)AIAiAӼM'=Y2!QU>a"H y^1<}>I] ]]] ]l:Y]X1y]/:]D64 5??ݾ z ?9yA< <)W)W)X1 XAWAXA:WA2WI*WIVIbUIBUI*UQUQUU`]S@BB BAЅ*BAAAA"C*CRCCCֵ>׉IG>9,fFAY}:@}: @y}:MB}:y'}:H`ܿώ?@?ܿFɿ 5?iV?)~:@ ~:.[;I~:CYF!?yFFJxDUSBL response received:!U1,R,3DE,000,002AE,189,80,80,9C,FF NFpublishing direction and range infoJ +]HɰJ`=H H)JCIHyJ=j@J[HG?y;>UٱHb Mb=YfQUf?dhaj"Hhhyn}n?Ip v:r5 5? v:ryݾ rG# z?9ryAr: r:)r:WWX XWX:W2W*W!V!bU!BU!*U!U)U-Ye@R=(Combining 5 samples.P9*Q==j@ZQ= @+pCJQ=[HG?y;>U2Q= +]:Q9bQ=7?w֘ @i?RQ=q.a?H"?.^?BQ=7{? Q= T@Q=̴?P=]9?P=^9?P9Q=Q=@"Q=@BqBq BqAu%*BqA1A1A1A9"C9*CARCACACA)IG-->->9-CI-Fi-a?-=-<D-HD-; -E)ͅCIͅCiɅͅ=ͅ=ͅV7f,4fFAY}n@}nm@y}n0N}n8׆}nH@)ܿ@P5? ?!fܿ@Ǎʿ C? Ѐ`^I?)~n@ ~nZ;I~nCYzr?yzFeTNmea in: $SNTTA,,0.024538,,,225607.97*42 **=M<=YCͼQU>a"HyJֻ}>I]5 5?ݾ b' ?9zA: w:)m mAdded new target pos. range: 3.660000 m, bearing: 66.911313 deg, deltaT: 4.351443 s, approachRate: -0.027577 m/s, LOS rate: 1.905763 deg/s, posRepo size: 4W7{?WX XWX:W2W*WVbUBU*UU%G @U5@ ?U UUU UX}:YUW1yUč:U6)U;9]BaBi BiAm*BiAiAiAqAq"Cuņ?RCyC}7{?Cyu6Ʌ>QIYGuz>K,MfFAY}:(@}:`D@y}:`\[}:s%}:H ܿ@(70?(? S)ܿ;ʿ`5?D@.>?)~:(@ ~:J[;I~:CYF#?yFjF=i= } } }}#<}d;}ףi}A} }jA)}jAI}Ai}Ap_<MM=Y*QU>a"HyF}>Iȡť5 5?ťݾ ƥ*+ ?9ƥ/zAǥ: ȥ4:)ȡWWX XWX:W2W*WVbUBU*UUU?BB BAe*BA!A!A!A!"C-J2?RC)C)C1M>!I)GM1>% >9% CI% Fi% ?% =% >D% GD% ; % Eu,gfFAY}:C@}:@y}:g}:=}:H2ۿfr+? ?͙ۿH}Ϳĵ?Ӱ@?)~:C@ ~:\;I~8Y^?y^XF5M=P=YQU>a"Hy̻}>Iȹ :Ž5 5? :Žaݾ ƽ / ?9ƽHzAǽ: Ƚ=:)Ƚ:WWX XWX:W2W*WVbUBU*UUU@'?B)B) B1A5l*B1A1A1A9A9"C=Hu?RCACACAM>U q w:Yy6)[;IG-->_,fFAY}:.@}:@y}:8j}:ɽ}:H̨ۿ1??ڿϿ@?@?)~:.@ ~:K[;I~8Y^?y^uF{Gz?333333?Zd;O?#>= j<)Iy~jtI +MbD94 @A)NAI1AihiAJA E@ E@ E@E©EEiEAE EA)EOAIEAiEAUV^M]9=Y]QU]>aaae"HaaymA}m>Iqu7 5?uݾ u3 ?9uzAu: uI:)qWWX XWX:W2W*WVbUBU*UUU@?BB BA0*BAAAA"C?RCCC II)M@A=>I1GUT>2,afFAY}B{f@}B@y}B,k}B|}BH Cۿ ?)?ڿο#? m?)~B{f@ ~BX[;I~@YN?yNQFI)AI)A=1ME^=YEQUE>IIaM"HIIyUd}U>IY e:]7 5? e:]ݾ ]d7 m?9]zA]: ]:)]:WWX XWX:W2W*WVbUBU*UUU@B@BB BA?*BAAAA"C㤛?RCCC] ]]] ]|:Y]Y1y]:]V69e@֍>aIiG9>>9CIFi1?=FD;  E,AfFAY?yF‰^A><MB=YQU>a"H@Hy}>I8 5?iݾ ; ?9{A: :)WW!X! X!W!X!:W!2W)*W)V)bU)BU)*U1U1U5@BB BA*BAA A A "Cl*?*CXRCCC]g>9IaG|>֙,vfFAY}: J@}:e@y}:Pn}:Y}:HCڿ@-ć?@;?@ٿ Ͽ`p? p`[?)~: J@ ~:[;I~8FPowering upF"Initializing DDM.Y}?y}kF   X9>I iA A)AIAiAX<MG=YQU>a"Hyl.} >I  : 9 5? : ݾ #@ ?9 `{A : :)  :W9WAXA XAWAXA:WA2WI*WIVIbUIBUI*UQUQUU5@ReB*** querying acoustic contact ***PaPaBB BA̅*BAAAA"CDZ?RCCCM=iMa=]/ ]]]a ]t:Y]X1y]/:]!6>ׁIG=> >9 I @Fi ? = ; Eù,fFAY'?yώF%Z****** received transponder code query ******%F****** received ping request ******%IIaM"HIQyU}]>IY]; 5?]ݾ ]~D m?9]{A]: ]:)YWWX XWX:W2W*WVbUBU*UUU@z8 @BB BA*BAAAA"C7{?RCCC =IGE>,fFAY}Bm@}B[?y}BTc}BΞ}BH@ٿM:?r?@Dٿ Ϳ@.?`X`?)~Bm@ ~Be$[;I~BCYN?yN}FRxDUSBL response received:!U1,P 3DE,000,002AE,189,80,80,9C,FF RCommand AckRBRequesting micromodem ping code 2iPTZNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  ףp= ?ʡEy&1?Q8> `<)IyQ)\(~jt?Ga< ;A)SAIn.AimAJA]L ]]] ] w:Y]V1y]:]6)Å> Å= E@ E@ E@©iA )I1AiACM=Ya"Hy}>I 5:= 5? 5:ݾ YB e?9/|A< . <)!:WWX XWX:W2W*WVbUBU*UUU F@BB BAŅ*BAAAA"C*CRCCC > I G >qƸ,fFAY}:]@}:?y}:\}:9}:H"ٿ`d`?@?#ٿa˿Zb?` :?)~:]@ ~:zZ;I~:CYF?yFFJa=ɮHZNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M=Y}IUAA)UBA!I)GE0>m>9mCIiiim=m<DmHDm; mE͸,6fFAY}>ew@}>%?y}>Z}>b}>H ؿ`^u`ƫ?ͷ?ؿ@1ʿ(?'+SA?)~>ew@ ~>[;I~a"Hy {} >IiNmGIiI)GEQ>]ֿٺY]AӸ,"rPfFAY}Re@}Rs?y}RuZ}R9}RH@Uؿx=?@? ؿ@Z;̿?P4?)~Re@ ~RY[;I~RCY^_?ybF=DNmea in: $SNTTA,,,,,225612.41*5B   Ýt=Ý^:ÝĻiÝAÝ ĝA)ĝAIĝAiĝA*><M?=YB:QU>a"Hy;}>I :C 5? :ݾ D> ?9H}A: :)":mmAdded new target pos. range: 3.720000 m, bearing: 48.390183 deg, deltaT: 4.449905 s, approachRate: 0.013484 m/s, LOS rate: -4.162141 deg/s, posRepo size: 4W 5X?W X  X W X:W2W*WVbUBU*UU @U%Yf?B B  B A V*B AAAA"C?RCC5X?C!mm mmIG%>Y 9] CIY iY ] =Y ] ID] ; ] E)CICi==\7ڸ,.=jfFAY}:"@}:Z?y}:gT}:+}:H !ٿ@4m?O?^ؿ`v̿ Na?@y8?)~:"@ ~:[;I~8Y^?ybF}r<M}N=Ysa"Hy<}>IșŝE 5?ŝݾ Ɲ< ?9Ɲ}Aǝg: ȝ:)șWWX XWX:W2W*WVbUBU*UUUR?BB  B A &*B A AAA"CP?RCCC!IGE=Uq UUUM Uz:YUV1yU:U 6)UJ;=น,fFAY}:J@}:c?y}:hJ}:"}:H eٿ3_?@f?@ؿ"ʿ"?,| ?H?)~:J@ ~: Z;I~:CYb?ybŏF%=i-?Cl绿:v?5^>;߽ T<)Iy:vV-a"HyB<}>I :F 5? ::ݾ ; ?9}A: 9:)#:WWX XWX:W2W*WVbUBU*UUU@m?B!BA BAAE@*BAAAAA"C+P?RCCCI)יIGA>$縙,|fFAY}BA@}B1?y}B=\A}B%}BHYٿa??ؿɿ ?7y X?)~BA@ ~B1Z;I~@YN?yN F=7E=M=e=YE5AIaM"HIIyU}U>IY]H 5?]ݾ ]`; e?9]0~A]E: ]:)YWWX XWX:W2W*WVbUBU*UUU`@?BABI BIAM*BIAIAIAQAQ"C}(t?RCyCyCy׉IG=U UUU U>k:YUWU1yU:U69]@ >9 CI i  = ;D JD r; E1N,ηfFAY}:X@}:ƭ?y}:1<}:Ǹ}:H$ٿNlW?@? ؿȿad? #f?)~:X@ ~:MZ;I~:CYr?yryF=M@=YBa "H AHy9}>Iȩ :ŭ{I 5? :ŭݾ ƭ: ?9ƭy~Aǭ: ȭ=:)ȭ$:WWX XWX:W2W*WVbUBU*UUUq@B!B! B!A%*B)A)A)A)A)"C5dc?RC1C9C9IIYGu>6,fFAY}:@}:B?y}:۷9}::ݽ}:HV4ٿf䛿@?Tؿ`@ʿ`t?6pJ?)~:@ ~:oW[;I~:CY^?ybUFI!)%A } } }}A`>}y}= i}A} }vA)}AI}Ai}AwMP=Y;QU>a"Hy;}>IȩŭJ 5?ŭ'ݾ ƭ: ?9ƭ~Aǭ(: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU@BB B!A%5*B!A!A!A!A!"C-Y?RC)C1C1E?iE?IG==U UUU U:YUU1yU:U6 >9 CI i = =D HD u; E`,nfFAY}:R@}:?y}:1}:D}:H Rٿ;^xxaz"Hx|y~x;}~>I  :K 5?  :uݾ H9 ?9~A: :)%:W1W1X1 X1WX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA *BAA!A!A!"C-T?RC)C)C))I9GU=H,`fFAY}B@}B2?y}BJ$}Bݏ}BHMٿPdbz )?cؿ@ƿఁ?kD~?)~B@ ~B8[;I~BCY^?ybFbZ****** received transponder code query ******bF****** received ping request ******f ;)IyQMb?{Gz?<ף< :A)OQAIh3AibAHA U@ U@ U@U©UUiUAU UA)UAIUjAiUAe<Mm(=Ya"Hy)}>IȡťK 5?ťdݾ ƥ~7 ?9ƥ6Aǥ; ȥ;)ȡWWX XWX:W2W*WVbU!BU!*U!U!U-B @M=iM=]a ]]] ]cd:Y]DW1y]Y:]6BB BA*BAAAA"CAV?*CRCCCIGE>4r,2;fFAY}:@}::?y}:c}:Ë}:H@yٿ[[P?ٿ?/ſaY?A@?)~:@ ~:1[;I~:CYf?yf FjxDUSBL response received:!U1,P 502,000,002AF,189,80,80,B3,FF jCommand AcknBRequesting micromodem ping code 2illrR=ir=vNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 E<MMu=Y]19ܵCIܱiܱܵ=ܵ>DܵGDܵj; ݵԗEסIGF>T ,'9fFA|i|@Yu?y}KF鮉ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )]= ]>   ííjí#iíAí ĭA)ĭjAIĭAiĭA;M4=YQU>a"Hy}>I :JL 5? :ݾ 4 ?9A: :)&:WW X  X W X :W 2W*WVbUBU*UUUb@B!B! B!A%i*B)A)A)A)A)"C1*C1RC1C9C9M MMM Mm:YM0Y1yM:M6)M;9UAIQGm5>,RfFAY?yF%xDUSBL response received:!U1,R,502,000,002B0,18A,80,80,B8,FF -Fpublishing direction and range info!!ɰ%qa=%> !)%8CI!y%q@%w?amf-ٱ!U&<MUe=YQQUU>YYa]"HYaya}e>IimmL 5?mݾ m83 }?9mAm : m:)iWWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qq@ZQE5j?.\Ux3 JQw?amf-2Q:QbQd@`cZ@%c?RQqz?s޲ܬ?s@6?BQZ? Q4@Q@Pa9?P`9?PQQh@"Q1@BB BAL*BAAAA"C*CRCCCשIG>II)MAAܩ 9ܭ CIܭ Fiܭ v?ܭ =ܩ ܩ ܭ h; ݭ חE,lfFAY}fˠ@}fx?y}fv]}f}fH@LٿdJ&?ؿ!9?`s?)~fˠ@ ~f[;I~fCYv&?yvF]TNmea in: $SNTTA,0.027084,,,,225616.86*43 <ME=YV=QU>a"HyE}>Iȱ :ŵL 5? :ŵQݾ Ƶ1 ?9ƵAǵ: ȵ=:)ȵ':miAdded new target pos. range: 3.779998 m, bearing: 48.955869 deg, deltaT: 4.456078 s, approachRate: 0.013464 m/s, LOS rate: 0.126947 deg/s, posRepo size: 4WZ?WX XWX:W2W*WVbUBU*UU o=@U p?B1B9 B9A=*B9A9A9AAAA"CEZ?RCICMZ?C?i?IG >u uuu uth:YuWU1yu:u6)u; iU ]nGIi i ޿ٺ GA!, fFAY-?y-F=EԸ?~jt?{Gz?===< =#=)9I9y=/$i|?5A)=NAI=5Ai=G[A9=3GAIM^A @ @ @Ý©ÝÝiÝAÝ ĝAA)ĝAIĝAiĝ5A M:=YQU->11a5"H19y=}=>IAEGO 5?Eݾ E/ m?9EJAE; E;)AWWX XWX:W2W*WVbUBU*UUUb?B1B1 B1A5H*B1A9A9A9A9"CA*CARCaCiCiaIiG9>\',fFAY}:I @}:M?y}:Ͻ}:$v}:H3׿#|?`?`׿bԹ?1@D?)~:I @ ~:#Z;I~:CYF??yJ@F=Wn=M=e=YEE=QUE>AIaM"HIIyU}U?IY e:]QQ 5? e:]ݾ ]V. m?9]}A]p: ]$:)](:WW X  X W X :W 2W*WV1bU9BU9*U9U9UE?BB BA*BAAAA"C*CRCCCשIG=M=iM=] YY] ]#s:YYyY]269]@i9mCIm Fim?m=m<DmIDm`; mۗE)CICi჉==KU7-,kfFAY}-{ @}- ?y}-ƽ}-}-HB׿ԛ?g?s׿ Ҹ?.ك ?)~-{ @ ~-[;I~)YE?yMF = = ==9==O==Ľi=A= =A)=jAI=5Ai=OAUZ<MU9=Y]GYYa]"HeBHayel}m>IquS 5?uݾ u, }?9uAu: u':)qWWX XWX:W2W*WVbUBU*UUU@Y?BB BAn*BAAAA"C*CRCCCI ) !I)GU>E4,8fFAY}: @}:?y}: y}:q:}:H׿/@?׿Ff?`-3@?)~: @ ~:Z;I~:CY^{?ybdF)5> 1E%5ME^=YELxIIaM"HIQyU}U>IY e:]V 5? m:]ݾ ]#+ m?9]A]: ]:)]):WWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"C*CRCCCIG5=us uuu ue:YuDW1yuY:u6M >9I IM FiM a?M =M =DM HDM F; M ͗E:,fFAY}:C @}:s?y}:x}:N }:H@/׿-@?%׿$?N鴿`(?)~:C @ ~:![;I~:CY^?y^FuV<MuG=Y}ya"Hy}>IȑŕX 5?ŕlݾ ƕ) ?9ƕ3AǕ: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU h@BB BAE*BA A A A "C*CRCCCIIYGu=IU@A)U@AA,vfFAY}NbU @}N?y}N1}Nڵ}NH PK׿@n@'&?Dֿ˹?ߣ?)~NbU @ ~N[;I~NCYzl?y~[F|~@AI)Av/?S㥛y&1?x=/ݼ `e<)IyQ~jtZd;ODj  ?A)FAI:AiRADA E@ E@ E@E©EEiEAE EOA)EAIEAiEAU]MU<=Y]>YYae"Haaym2(}m>IquZ 5?uݾ ul+ }?9ufAu: u:)qWWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCC I1Ue UUUn Ud:YUV1yU:U6Ge>kH,h!fFAY}:x @}:6(?y}:}:㫽}:Hpk׿T橿?r׿ཧ H.?f7?)~:x @ ~:M@[;I~:CY^?y^FbZ****** received transponder code query ******bF****** received ping request ******b99a="H9AyM;}M>IQ ]:UZ\ 5? e:Uݾ Uf- e?9UAU ; U;)U*:WWX XWX:W2W*WVbUBU*UUU @BB BAu*BAAAA"C*CRCCCױIG=9IȖFi?=<DID1; ŗEqqa}"Hyyys<}>Iȩŭ^ 5?ŭݾ ƭ#0 ?9ƭ́Aǭ: ȭ:)ȩWWX XWX:W2W*WVbU BU *U U U @BB BAH*BAAAA"C*CRCCC!QIYGuz>f U,UfFAY}BR, @}B?y}B}B]}BHؿ` t?/׿vL? {7?)~BR, @ ~BzZ;I~@Y^?yb$Fbp=ɮ`rNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }A;M}=Y|Q:QU?a"Hy[3<}?Iș :ŝD` 5? :ŝ'ݾ Ɲ1 ?9ƝAǝ$: ȝ:)ȝ+:WWX XWX:W2W*WVbUqBUq*UyUyU}3@@BB BAA*BAAAA"C*CRCCCIG> >9 CI Fi ? = =D HD N; ЗEJ[,[ofFAY}:k @}:?y}: }:E}:Hؿ⣿k?#Pؿ @;?, I?)~:k @ ~:&Z;I~8YF?yFcFJxDUSBL response received:!U1,R,502,000,002AC,189,80,80,CD,FF NFpublishing direction and range infoHHɰJ"`=J7> H)JMCIHyJb@Jw?amf-ٱH)E= E=;MI=YTQU>a"Hy<}>Iȱŵ6b 5?ŵQݾ Ƶ 4 ?9Ƶ Aǵ: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUU @R(Combining 5 samples.P *Q b@ZQ |f?.Yy JQ w?amf-2Q :Q bQ r+%@ $ @Sa?RQ 4'?J3m?cf?BQ X? Q i(@Q @P P a9?P Q Q #@"Q h@BB BA'*BAAAA"C*CRCCCI9C  hv:YU1y:6);9G)> 3b,9fFAY%?y-JFdNmea in: $SNTTA,0.004387,0.351122,,,225621.31*52 =M?|?5^?~jt?=n>=M> =<)9I9y=I +{GztL7A`?=94=ף=+= =:A)=OAI9i=zPA9=pEA @ @ @Ý©ÝÝiÝ AÝ ĝA)ĝAIĝAiĝAtxM:=YQUU>QQaU"HQay}>Iȑ :ŕc 5? :ŕjݾ ƕ0 ?9ƕMAǕ: ȕ:)ȕ,:mqAdded new target pos. range: 3.539999 m, bearing: 48.350868 deg, deltaT: 4.452027 s, approachRate: -0.053908 m/s, LOS rate: -0.135893 deg/s, posRepo size: 4WX?WX XWX:W2W*WVbU!BU!*U!II)MAAUMQ @UM ?BB BA*BAAAA"CX?RCCX?C?i?׹IGG>]h,QfFAYY?yFI)a=MY=YQU>a"Hy}>Ic 5?>ݾ - ?9nA: Ǻ:)W!W!X! X!W!X):W)2W)*W)V)bU1BU1*U1U9U=?BaBa BaAmW*BiAiAiAiAi"Cq*CyRCyCyCyqIyܝ>9ܝCIܙiܙܝ=ܝ>DܙܝQ; ݝ͗EG=Ub U}U}U Ux:YUkS1yUԊ:U 6)U@;n,fFAY}:@}:?y}:򘢽}:}:H Aٿ$O<Ț6?{^ٿ`M?&?)~:@ ~:Z;I~8YZ?yZF u u uu=uTu9iuAu uA)uAIuAiuA;MP=Y4QU>a"HCHy-=}>IȡťQd 5?ť)ݾ ƥ* ?9ƥAǥ: ȥ':)ȡWWX XWX:W2W*WVbUBU*UUU(T?BinGBIi%Eۿٺ)-A BAMH*BIAQAQAQAQ"CY*CYRCYCYCaiIqG>]ou,fFAY}:@}:6?y}:v}:0}:HͺٿL;@x-?֕ٿ.跿@H?`?)~:@ ~:\[;I~8YF"?yJ-F} M}K=Y}cQU>a"Hy;}>Iș :ŝe 5? :ŝݾ Ɲ' ?9ƝAǝ: ȝs:)ȝ-:WWX XWX:W2W*WVbUBU*UUU`,?BB  B A *B A A AA"C*CRCCC!I1)5^AI)GE=U QQU Uۃ:YQyQU69]@ܕ >9ܑ Iܕ ȖFiܕ ?ܕ =ܑ ܑ ܕ T; ݕ ϗE)%CI!i%C%=%=%t 7{,¤fFAY}:@}:`?y}:^}:ŵ}:HTٿ@] ?Y>?Fmٿ0qj,?x\Z?)~:@ ~:h[;I~8Y^?ybFC=i=<MH=Y˔QU>a"Hy}>IȹŽe 5?Ž ݾ ƽ$ ?9ƽAǽ: Ƚ:)ȹWWX  X W X :W 2W *WVbUBU*UUU].@BABI BIAMH*BIAIAIAQAQ"CY*CYRCYCaCiבIG5 >؀, fFAY}:R@}:?y}: ̽}:G7}:Hٿ (q`D?`ؿ]?ئ?)~:R@ ~:[;I~:CYb?ybFL7A`堿Mb?+ <)IyZd;OQ+j µ`=A)µKAIµf8Aiµ$RADA  @  @  @ ©  i A  A) AI Ai AM;=YQQU>a"Hy}>I :9g 5? :)ݾ F) ?9A|: :).:W W X  X W X:W2W*WVbUBU*UUU%౭@BIBI BIAU*BQAQAQAQAQ"CY*CYRCaCaCaU2 UUU~ U u:YUU1yU:U<6aIqG>,Y$fFAY|?yF!%AAEMEc=YMQUM>IIaM"HQQyU}]>IaeSh 5?eCݾ e, m?9eAe: e÷:)aWWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCC?i?I999I=Fi=?====D9=@; =ŗEGU=؎,D>fFAY}FjN@}F?y}FH}F)ֽ}FH0ٿa6I?wؿ ;H ?E ?)~FjN@ ~FZ;I~FCYRX?yVFVZ****** received transponder code query ******ZF****** received ping request ******ZQQaU"HQYy]x}e>Iȁ :Ņi 5? :Ņaݾ ƅ)1 ?9ƅAADž$; ȅ:)ȅ/:WWX XWX:W2W*WVbU BU *U U U  " @BYBY BYA]*BYAaAaAaAa"C*CRCCCU UUU Ul:YUV1yU:U6ׁIG>K,XfFAY}BD@}BV?y}BX}B<ѓ}BH ٿjo@C`RK?`ؿ`ud5?`?)~BD@ ~BZ;I~BCY^?y^CFbxDUSBL response received:!U1,P 502,000,002AC,189,80,80,CD,FF bCommand AckfBRequesting micromodem ping code 2iddjNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 5IM=^=YMiQUU>aaam"HiyϺ}>IȹŽj 5?Ž|ݾ ƽ4 m?9ƽ_Aǽ9< Ƚ1<)ȹW!W!X! X)WiXq:Wq2Wy*WyVbUBU*UUU { @B9B9 B9A=<*B9AAAAAAAA"Ci*CiRCiCqCqׁIGB>5 >91 I5 8Fi5 ?5 =1 1 5 '; 5 E曹,BqfFAY-??y-F5a=ɮ1mNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ]Me9=YmQUu>a"Hy}>I :zl 5? :ݾ 9 ?9A: I:)0:(  U:YW1yč:i6);9WWX XW!XA:WA2WA*WIVIbUIBUI*UQUQUU_@BB BA^*BAAAA"C*CRCCCI)]AIG%o>΢,?ƋfFAY}Bk@}Bc?y}B%ѽ}B}BHٿCJ?`7?@ٿZ6?@?)~Bk@ ~Be[;I~@YN0?yNFRxDUSBL response received:!U1,R,502,000,002AC,18A,80,80,CB,FF VFpublishing direction and range infoPPɰPR> P)RKCIPyPRw?amf-ٱPMrh|? rh?X9v?M=MC = M}=)IIIyM~jthy&1/$?MDM`eM< M:A)MOQAIM7AiM"WAIMFA @ @ @å©ååiå3Aå ĥA)ġIĥ5AiĥrAMU=YQU>a"Hy> =}>Im 5?Iݾ 7 ?9A: :)WWX XWX:W2W*WVbUBU*UUU`@R(Combining 5 samples.P*QZQ|f?.Yy JQw?amf-2Q:QbQgiV@hHz@$?RQ?^(sE?7Բ?BQP8]? Q+@Q@PPPQQB@"Q#@BYBY BYAea*BaAaAaAaAa"C*CRCCC׉IG>,fFAY}fC@}f־?y}f/ӽ}fh}fH(ٿA ? ?`ٿ\m?n@O?)~fC@ ~fq[;I~fCYv?yvrFeTNmea in: $SNTTA,,0.134471,,,225625.74*43 )} > } >;MJ=YwRQU>a"Hy;}>Io 5?ݾ Z5 ?9؃A; u;)m5iAdded new target pos. range: 3.539999 m, bearing: 49.511604 deg, deltaT: 4.472746 s, approachRate: 0.000000 m/s, LOS rate: 0.259513 deg/s, posRepo size: 4W5P8]?W9X9 X9W9X9:W92WA*WAVAbUABUA*UIUI>9CIpFiM?=ID3; ŗEUMԛ?BQBQ BQAU*BYAYAYAYAY"CeP8]?RCaCP8]?CU UUU Uq:YUV1yU:UN6)U;aIqG>",||fFAY}:@}:?y}:RὙ}:~2}:HMڿ+8w? ?@ )ڿ@.? 4/?)~:@ ~:Zy[;I~:CJ`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ  )  III)M?AY?y|F M U UUiiam"HmDHqyuW<}u>Iy :}r 5? :}\ݾ }G2 ?9}A}: }:)}1:WWX XWX:W2W*WVbUBU*UUU@l?BiBi BqAu*BqAqAqAqAq"C*CRCCC?i?בIG> ,XfFAY}:a@}:؃?y}:}:"}:H9ڿ /U??V!ڿܰf? V $?)~:a@ ~:[;I~:CɫYY)Y YIYY?yFM=YQU?a"Hy<:}?Iȱŵxs 5?ŵ ݾ Ƶx0 ?9Ƶ7Aǵ: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUUOk?BB BA-*BAAAA"C*CRCCC]y ]]] ]Mf:Y]DW1y]Y:]N69m@IG%>>9IFi?=<DC; ЗE4,2fFAY}BD^@}B?y}B}BǼ}BHٿ=Ǘ?`.?`|ٿ u?Ę`?)~BD^@ ~BU&\;I~BCɫYa)a aIiYi?y3Fe;ME=Y޼QU>a"H!Qye(}e>Iȁ :Ņeu 5? :Ņݾ ƅ. ?9ƅhADž#=< ȅ@><)ȅ2:WWX XWX:W2W*WVbUBU*UUU^?BB BA*BA!AAAAAA"CI*CIRCICICQ9IIGeV>!!imGIi#ܿٺAù,  fFAɫ髙) IY?yF~jth?{Gz?QD;ף< u)Iy~jtMbMb`D 5>A)KAIiXAFA M@ M@ M@M©MMiMpAM MA)MOAIMAiMA]WGM]C=YeQUe>aiam"Hiqyu}u>Iy}v 5?}ݾ }[. ?9}A}: }$:)yWWX XWX:W2W*WVbUBU*UUU@a@U UUU U݀:YUU1yU:U6BB BA*BAAAA"C*CRCCCI)\AסIGA>Gɹ,&fFAɫ髙) IY?yF}>9}CIyiy}=}=Dy}J; y) I i = = #6]MX=YQU>a"Hy}>IA M:Ew 5? M:Eݾ E. U?9EAE: E:)E3:WqWqXq XqWqXy:Wy2Wy*WyVybUBU*UUU -@BB BA*BAAAA"C*CRCCC׉IG>/й,@fFAY}:Q@}:?m@y}: }:}}:H4ڿ@LY`??@hڿrſ? j7 ?)~:Q@ ~:=x\;I~:Cɫ99)9 9I9Y?y>F@A)= = % % %%O=% =%ף;i%A% %A)%rAI%Ai%vA5XмM5Q=Y=QU=>99aE"HAAyM=}M>IQUx 5?Uwݾ U. ]?9UAU: U0:)QWyWX XWX:W2W*WVbUBU*UUU#@RB*** querying acoustic contact ***PPBB BAG*BAAAA"C*CRCCCשIG> N m:YWU1y: 6LYֹ,ZfFAY}:K@}:0g@y}:.}:N+}:H 1ڿH!?C?@ݐڿ@ſ ,?Iق?)~:K@ ~:`;I~:CɫYY)Y YIYYI?yGFZ****** received transponder code query ******F****** received ping request ******a"Hy?e}>I :y 5? :fݾ / ?9؄A; ;)4:WQWQXQ XQWYXY:WY2WY*WYVabUaBUa*UaUaUm @BB BAۅ*BAAAA"C*CRC C C ?i?I G-,>}>9yI}pFi}M?}=y}HD}R; }їEܹ,tfFAY}V+@}V:@y}V>}V4x;}VH `ڿ^ ??@gڿ`Aſ?`rt? r?)~V+@ ~Vȯ`;I~VCɫ19)9 9IAY?yٍFxDUSBL response received:!U1,P 502,000,002AC,18A,80,80,CB,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   \:YV1y:s6)˳;9Mbp?S㥫?Q;/]= )Iy{Gz?{Gzp= ףף<# AA)+MAI5AiAA @ @ @Ý©ÝÝiÝGAÝ ĝA)ĝAIĝAiĝAM =Y߼QU>a"H)y=E}=>Iimy 5?mPݾ m&8 ?9mAm; m;)iWy Wy Xy  Xy Wy X :W 2W *W V bU BU *U U U @B1 B9  BY A] *BY Aa Aa Aa Aa "Ci *Ci RCi Ci Cq q I G >j㹙,UfFAY}:|@}:@y}:qQ}:<}:H`\#ڿsy? =y?`ۿ 8ƿ? ~Z?@fQ?)~:|@ ~:+`;I~8ɫ99)9 9I9Y}c?y}F鮅p=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5=M==Y=QU=O?AAaE"HAIyMB}MU?IQUy 5?Uݾ UB; ]?9UAU: U:)QWWX XWX:W2W *W V bU)BU1*U1U1U52@ByB BA*BAAAA"C*CRCCCסIG!>X鹙,u:fFAY}^@}^ ?y}^u}^8}^H ٿ@T3?H?ٿ YοW?' ?)~^@ ~^];I~\ɫ) I>9IFi?/; EY5?y5"F=xDUSBL response received:!U1,R,502,000,002AE,189,80,80,C7,FF =Fpublishing direction and range info11ɰ5`=57> 1)5GCI1y5=j@5w?amf-ٱ1eϼMeG=Ym%QUm>iqau"HuEHqy}}}>Iȁ :Ņy 5? :Ņݾ ƅRA ?9ƅ-ADž; ȅ+;)ȅ5:WWX XWX:W2W*WVbUBU*UUU @Ru(Combining 5 samples.Py*Q}=j@ZQ}s:@?apuV JQ}w?amf-2Qy:QybQ}Tz@ؐ @oN?RQ}4>?Z͸?ʌ5Gk~,<fFAY}J@}J8w?y}J}JϽ}JH@Ǒٿ`vT ? ??`ؿп֬?$?)~J@ ~Jeb;I~JCɫyy)y yIYyDNmea in: $SNTTA,,,,,225630.27*5B )= =   å%>åC<å!>iåQAå ĥ5A)ĥ5AIĥOAiĥAYIļQU>a"Hyջ}>Iy 5?ݾ G ?9QA: :)mmAdded new target pos. range: 3.660000 m, bearing: 49.119678 deg, deltaT: 4.463000 s, approachRate: 0.026888 m/s, LOS rate: -0.087817 deg/s, posRepo size: 4Wx[?WX XWX:W2W!*W!V!bU)BU)*U)U-G @U- V?BYBY BYAY*BYAaAaAaAa"Cmx[?*CiRCiCux[?CqYIiG9>ާ,fFAY}^D@}^@?y}^ g}^}^H2ٿ$g^?A?ؿ@ѿ]?״`{?)~^D@ ~^P_;I~\ɫ髙) IY?yFMa"Hyw}>I :y 5? :Iݾ 4M ?9nA[: g:)6:WWX XWX:W2W *W V bU BU*UUUp?B9BA BAAE*BAAAAIAIAI"CQ*CQRCQCQCY)I1GM>  Wr:YW1yč:`69@9I Fi?=ID*; E,[fFAY}[@}?y}1ω}辶}H4ٿds?'?Lؿ@ѿ@?`?)~[@ ~a];I~ɫ)))) )I)Ye\?ymF}?333333?~jt}<}= }D)yIyy}l:vy&1}}T}` } ?A)}"WAI}n.Ai}5tAy}=NA @ @ @©iA )I=AiA*M+=Y(QU>a"HyB;} >I  z 5? ݾ Q ?9 A f: {:) W9WAXA XAWAXA:WA2WI*WIVIbUIBUI*UQUQUU ^?BB BA*BAAAA"C*CRCCC1E?iE?1I9GUv>@,fFAY}Z;@}Z0?y}Z Z}Z(}ZHٿxmY?;(?ؿ ѿj4??)~Z;@ ~Zy\;I~ZCɫ) IY ?y F}]AyX<M{=Y\QU?a"Hyƻ} ?Iȡ :ťO{ 5? :ť.ݾ ƥT ?9ƥAǥ: ȥ:)ȥ7:WQWYXY XYWYXY:WY2Wa*WaVbUBU*UUU?BB BA*BAAAA"C *C RC C C  p:YX1y/:26I!G=0> ,)fFAY}:@}:D?y}:a}:}:H ؿ`{ğ?5? Uؿѿ@?`?)~:@ ~:[;I~:Cɫ19)9 9I9Yu?y}F>9IFiE?=; ȗE ;M5S=Y5.QU5>99a="H9AyEF}E>IIM&| 5?Mݾ M$X }?9MAM; M:)IWWX XWX:W2W*WVbUBU*UUU @B9B9 B9A=*BAAAAAAAAA"Ci*CiRCiCqCqaIqG>Z,YCfFAi*}nGILid~ٺ|~Aɫ99)9 9I9Yu?yu+F=i= E E EEE>EԼEaaae"Haaym}m>Iq }:u} 5? }:uݾ u0\ ?9uڅAup: u0:)u8:WWX XW!X!:W)2W)*W)V)bU1BU1*U1U1U5@BB BA*BAAAA"C*CRCCC  ~:Yy36׹IGE>4,.]fFAY}:@}:?y}:}:T}:H ؿ`}`m? ;2?`4ؿѿ`? ?)~:@ ~:T_;I~:CɫYY)Y YIYY|?yFAAW=Mh=YUQU>a"Hys}>I} 5?ݾ r_ ?9A$: :)W W X XWX:W2W*WVbUBU!*U!U!U%`XE@R-B*** querying acoustic contact ***P)P)BQBQ BQA]N*BYAYAYAYAY"Ca*CaRCiCiCiIG>ܽ>9ܹIܽ(Fiܽ,@ܽ=ܹܹܽE; ݽ͗E)QIQiUCU=U=U5%$,?wfFAY}P@}?y}}l}Hٿ j`Ү?@? ٿ੯ѿ@? j?)~P@ ~^];I~Cɫ) IY% ?y-F-Z****** received transponder code query ******5F****** received ping request ******5A)XAI+Ai/yANA     z:Y y  6) ;9 U@ U@ U@U©UUiUAU U)UAIU1AiUA;<M=Y׻QU>a"Hy@r<}>I :Y~ 5? :ݾ ob ?9A: :)9:W WX XWX!:W!2W!*W!V)bU)BU)*U)U)Uu @BB BA*BAAAA"C*CRCCCשIG>$,dfFAY}:0@}:v?y}: Ď}:~}:Hsjٿ nW!#?`D?` ٿ#ҿ?`?)~:0@ ~:|\;I~:Cɫ99)9 9I9Y]?y]FexDUSBL response received:!U1,P 502,000,002AE,189,80,80,C7,FF eCommand AckeBRequesting micromodem ping code 2iaaIi)iuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }bM=Yb;QU?a"Hy<}?I~ 5?ݾ 1d U?9 A; ;)WWXI XIWIXQ:WQ2WY*WYVabUBU*UUUf @BB BAC*BA!A!A!A!"C)*C)RC)C)C1I9GmV>2*,ƪfFAY}Z@}Z?y}ZZ}Z,Խ}ZH@ٿS? ?!ؿ`Rҿ4?"`?)~Z@ ~Z&\;I~ZCe>9eCIeFie@e=aaem; eEɫ髑) IY ?yFa=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B (<MG=YTa"HFHy;}>I 5?ݾ cf ?9A: ':)W9W9X9 XAWAXA:WA2WA*WIVibUiBUi*UqUqUu(@BB BA*BAAAA"C*CRCCCIG$>  }:YxZ1yq:6)Q;*1,JfFAY}:@}:P?y}: }:)}:HMٿN? P?`Fٿgѿ? ?)~:@ ~:5\;I~:CɫYY)Y YIYY}?yFxDUSBL response received:!U1,R,502,000,002AE,189,80,80,BC,FF Fpublishing direction and range infoɰ鰉 )%i%3A% %A)%5AI%5Ai%A=<MER=YE IIaU"HQYy]q:}e>Ii :m| 5? :mGݾ mh ?9m"Am1< mP<)m::W)W)XI XIWQXQ:WQ2WQ*WQVYbUYBUY*UYUYUe@R(Combining 5 samples.P*QZQs:@?apuV JQw?amf-2Q:QbQR@,͌@R31?RQh4?ZdK?ZQ?BQG0Y? Qf,@Q@PPb9?PQQ#@"Q@BB BA*BAAA)A)"CI*CIRCICQCQIa)aAIIGm5>_F7,ZfFAY}z@}z?y}z#}zzD}zH@$ٿ`??/? ٿϿ?ط?)~z@ ~z`;I~xɫ) IY?yzFuDNmea in: $SNTTA,,,,,225634.65*59 }=i}=-<M5<=Y5z99a="H99yE0}E>IIM 5?Mݾ Mj U?9M/AM: M0:)ImmAdded new target pos. range: 3.660000 m, bearing: 48.609333 deg, deltaT: 4.446772 s, approachRate: 0.000000 m/s, LOS rate: -0.114767 deg/s, posRepo size: 4WG0Y?WX XWX:W2W*WVbUBU*UUU`?BB BA&*BAAAA"CG0Y?RCCG0Y?CסI R    w:Y P^1y : D69@G+>]>9YI]HFi]@]=YY]}; ]Ejt=,nfFAY}}@}}7@y}}Ez}}X}}Hڿ`.@E?S0? ڿο 2?@Ih?)~}@ ~}u^;I~yɫ) IY?y/F ʡE?~jtMb -=  ) I y V-y&1   `e Ea"Hy@<}>Iȑ :ŕ 5? :ŕݾ ƕLl ?9ƕKAǕ: ȕ:)ȕ;:WAWAXA XAWAXA:WI2WI*WIVIbUQBUQ*UQUQU]s?BB BAt*BAAAA"C*CRCCC׉IG`>*VD,^0fFAY}Zy]@}Zy@y}Zo}Zc}ZH`Tڿ(=[?@&6? ٿ`mQϿ`?d@,?)~Zy]@ ~Z&];I~Xɫ髙) IY?yF+Mm=Y=QU?a"Hy=<}?I 5?ݾ Hm ?9`A: R:)WWX XWX:W2W*W V bU BU *UUU"?B9BA BAAE|*BAAAAAAAAI"CQ*CQRCQCQCYm?im?aIqG> e q:Y[1yݏ:6iJ,,fFAY}:3@}:vO@y}:/c}:}:H pAڿ },?`,R?Iٿ Ϳt*?^ ?)~:3@ ~:[;I~:C>9IFiY@=; Eɫyy)y yIyY[?yxF5><M=S=Y=eAAaE"HAIyM,ֻ}M>IQ ]:U} 5? ]:Uݾ Uln e?9UxAU|: U:)U<:WWX XWX:W 2W *W V bUBU!*U!U!U%?BB BAW*BAAAA"C*CRCCCסIG >gQ,EfFAY}R@}R@y}R;W}Ry>H}RH ڿ`2@?#u?`ڿʿg? yx`_B?)~R@ ~Rȁ[;I~Pɫ髉) IY?ywFM^AI    @ @ @ÑÑÑiÕpAÑ ĕ5A)ĕvAIĕAiĕA<MC=Yva"Hy<}>If 5?&ݾ o ?9A׏< <)WWX XWX:W2W*WVbUBU*UUUL-@B B BA*BAAAA"C!*C!RC!C!CI  j:YX1y/: 6!I)GM1>W,v_fFAɫ髡) IY?yFuH<MuM=YuQU}>yya}"Hyy}>IȑŕD 5?ŕݾ ƕp ?9ƕAǕ9: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU 3@BB BA*BAAAA "C*CRCCCI))-]AaIqG>>9IHFi@=l; E߿],iyfFAY},@}_H@y}=}}H=nڿ#?`Ɋ?ڿ ȿ@9?tѰ`a?)~,@ ~' `;I~ɫqq)q qIqY?yF@A=iR=- ףp= ?y&1?㥛 ?-Q=-`e= -=))I)y-/$~jtQ?--ļ-< -`=A)-zPAI-0Ai-=jA)-=JA    @ @ @ÉÉÉiÍAÉ čvA)čAIčAič5A6<M8=Y:f=QU>a"Hy)"<}>Iȹ :Žm 5? :Ž0ݾ ƽm ?9ƽɆAǽ,: Ƚ4:)Ƚ=:IIinGI`Ai    ` "h:Y V1y : 6) ɽ;9%ٺ%`A%;AW)W)X1 X1W1X1:W12WQ*WYVYbUYBUY*UaUaUe@RmB*** querying acoustic contact ***PiPiBB BAq*BAAAA"C*CRCCCIG-p>qd,~tfFAY}:~@}:)@y}:C'}:b}:H@ڿ@2?iٿɿ[?ӿQ?)~:~@ ~:r_;I~:CɫYY)Y YIYY?yҕFZ****** received transponder code query ******F****** received ping request ******a"H!y- h<}->I15K 5?5}ݾ 5Lk E?95A5: 5-:)1WiWiXi XiWiXq:Wq2Wq*WyVybUyBUy*UyUU @BB BAʂ*BAAAA"C*CRCCCIIQGm>j,OfFAX9ZCIZFiZ@Z=XXZ`; ZE)ECIECiAE=E=E5Y}zr@}zy@y}z'}z߽}zH@ڿ գ?@ ڿ vNƿ5?f|?)~zr@ ~zH^;I~xɫ) IYC?yFxDUSBL response received:!U1,P 502,000,002AE,189,80,80,BC,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 M;=Y%yF=QU->9AaE"HMGHYym$Һ}u>Iȑ- --- -th:Y-U1y-:-6)-; M:ŕh 5? M:ŕݾ ƕg U?9ƕAǕj= ȕKi=)ȕ>:WWX XWX:W2W*WVbUBU*UUU @B9BA BIAM݂*BIAQAyAyAy"C*CRCCC ?i ? I G5 >kq,*fFAY}J@}Jw3@y}J,}Jzg}JH ڿrc?NLڿ¿ 3?@?)~J@ ~J'z];I~JCɫ髉) IY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I1)1   Í$>ÍhÍ#a"Hyn}>IȹŽ_ 5?Ž!ݾ tI ƽ3e ?9ƽAǽ: Ƚ!:)ȹWWX XWX:W2W*WVbUBU*UUU`*@BB BA*BAAAA"C*CRCCCIG)>w,fFAɫ髹) IY?yF xDUSBL response received:!U1,R,502,000,002AE,18A,80,80,CC,FF  Fpublishing direction and range infoɰ> )LCIyw?amf-ٱM=MMP=Y]QU]>YYae"Haaye}m>Iq }:ub 5? }:umݾ uRb }?9u3AuI: u:)u?:WWX XWX:W2W*WVbUBU*UUUɩ@R(Combining 5 samples.P*QZQs:@?apuV JQw?amf-2Q:QbQ<@ʸW@ [%M&?RQW81_?Jj?;8-?BQ`? Q2@Q@PPPQQq@"Q#@BB BA*BA A A A "C*CRCCCIGM>  g:YW1yč:69@ܭ>9ܩIܭ`Fiܭ@ܭ=ܩܭJDܭ5; ݭ˗E~,fFAY}] @}]'@y}]iս}]\t}]HKڿB?:?ڿ 9? s?)~] @ ~]]ya;I~]Cɫyy)y yIyY?yFTNmea in: $SNTTA,0.044377,,,,225639.14*4F ~jt? r?v/?>C> xi=)Iy rh?Zd;C<y ­a"Hy̺}>I[ 5?Qݾ a ?9rA: C:)miAdded new target pos. range: 3.660000 m, bearing: 50.161592 deg, deltaT: 4.418025 s, approachRate: 0.000000 m/s, LOS rate: 0.351347 deg/s, posRepo size: 4W`?WX XWX:W!2W!*W!V!bU)BU)*U)U)U-.?BYBY BYA]*BaAaAaAaAa"Cm`?RCiCm`?CqI)ױIGg>w񄺙,fFAY}:l@}: @y}: }:}:Hڿ`|??quڿS?@?)~:l@ ~:J^;I~:CɫYY)Y aIaY?yF =i 4=]p6=M]|=Y]k=QUe ?aiam"Hiiy}}}?IȁŅ 5?Ņݾ ƅa ?9ƅADž: ȅa:)ȁWWX XWX!:W!2W!*W!V!bU)BU)*U)U1U5L?BYBa BaAe*BaAaAiAiAi"Cq*CqRCqCqCy׉IG>=ia=i }}V e:YkS1yԊ: 6,[.fFA$9$I&@Fi&?&=$$&; &EY}NE@}N @y}N}N3P}NH`ڿO?`aڿuu`?Q?)~NE@ ~Np\;I~NCɫ髙) IY?yuFWMF=Ya"HyO9}>Iȱ :ŵ] 5? :ŵݾ Ƶ a ?9ƵчAǵ: ȵ$:)ȵ@:WWX XWX:W2W*WVbUBU*UUU@}?BB BA*BAAAA"C*CRCCCIG$>?,KuHfFAY}^t@}^?y}^ܠ}^}m}^H_ڿ0&@\ꔿ V ?]%ڿeE?໙?)~^t@ ~^\;I~\ɫ髙) IY-?y-F    @ @ @iA 5A)5AIrAiA ˼M C=Ya"Hy%}%>I)- 5?-ݾ -` 5?9-A-9: -^:))WYWYXY XYWYXY:WY2Wa*WaVabUaBUi*UUU t?B1B1 B9A= *B9A9A9A9A9"Ca*CiRCiCiCi}?i}?j ~~s e:YT1y@:6ׁIG=>-,wMbfFAY}>@}>h?y}>}>+퐽}>H@\ڿ#砿@?@ڿ. c}?T ?)~>@ ~>o\;I~>Cɫ99)9 9I9Y} ?y}FI)AI)A =M[=Y;QU>!!a%"H!)y-M}->Iȑ :ŕ 5? :ŕݾ ƕ_ ?9ƕ9AǕ$: ȕ0:)ȕA:WWX XWX:W2W*WVbUBU*UUU-@BB BA *B A A A A"C*CRCCC)I9G>A9AIE FiE?E=E<DAE; EEZ,6|fFAY}J@}J?y}Jq}JĽ}JH€ڿ@7?ڿ?g4?)~J@ ~J^;I~Hɫqq)y yIyYv?yF J +?Q롿 ףp= ? = \ Q8=) I y Zd;O?l?  j< = ) +MAI ;9Ai zPA  DA m m m m@ m@ m@iiiimAi mA)iImOAimA}+=M}5=Y} QU>a"Hy;}>Ișŝΐ 5?ŝ$ݾ Ɲ\ ?9ƝQAǝ*: ȝ:)șWWX XWX:W2W*WVbUBU*UUU@Ȯ@B B  B A P*BAAAA"C*CRCC!C { `:YW1yč:6)=;9%׹IGG>?,fFAY}: @}: @y}:L}:Loѽ}:H@\ڿ `87.? )ڿ ?``-?)~: @ ~:`;I~:Cɫ99)9 9I9Y?yFKfMg=Y{:QU>a"H y ;} >I : 5? %:iݾ X %?9dA: :)B:WAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU]_@ReB*** querying acoustic contact ***PaPaBB BAy*BAAAA"C*CRCCCIױ)ױשIG=A 9A IE FiE a?E =A A E ; E E1j,fFAY}F@}Fm-@y}Fi}Fs}FHoڿ8 ? tOڿ@`@T?@z?)~F@ ~FIJ];I~FCɫYY)Y YIYY;?yۖFZ****** received transponder code query ******F****** received ping request ******a"HHHy ߑ;}->I15G 5?5ݾ 5U E?95|A5ܹ: 5:)1WaWaXa XiWiXi:Wi2Wq*WqVqbUqBUq*UyUyU}` @BB BA_*BAAAA"C*CRCCC= AIi=== =q:Y=T1y=:=6)=;GI>iu mGI /aAi ٺ /aA AQ, fFAY}>bL@}>g@y}> }>ؙ}>H`ڿ@ϡ?ڿ@LfbL@ ~>[;I~>Cɫyy)y yIyY]?yRFxDUSBL response received:!U1,P 502,000,002AE,18A,80,80,CC,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    0>νDi\A XA)AIAi5AvM5=YͻQU>11a5"H1AyM<}M>IY :]t 5? :]ݾ ]Q ?9]A]< ]a<)]C:WWX XWX:W2WA*WAVIbUIBUI*UIUQUU @BB BA*BAAAA"C*CRCCCIG%o>|,_fFAY}:XM@}:h@y}:NҦ}:P}:Huڿ H\? yڿcԴ?@D⶿?)~:XM@ ~:TZ;I~:Cɫ99)9 9IAY]?yeAFiɮma=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M`=YѻQU>a"Hy+9}>Iō 5?Yݾ M ?9A>: K:)W9W9XA XAWAXA:WA2WI*WIVIbUQBUQ*UQUQUU;@BB BAm*BAAAA"C*CRCCC׭?i׭?סIG >  l:Yy69@>9IFi?=D; xE)݅CI݅Ci݁݅=݅=݅e5M,qfFAY}:-@}:%I@y}:=[}:Cq\}:H`ڿ > )?@ڿŴ?@s*?)~:-@ ~:\;I~:Cɫ99)9 9I9Y}L?y}oFxDUSBL response received:!U1,R,502,000,002AD,189,80,80,C3,FF Fpublishing direction and range infoɰu`=鰅7> )CCIyff@w?amf-ٱ-:v?p= ףy&1?-T=- -`<))I)y-~jt~jtx{Gz?--Ļ-#< -;A)-I)i-RA)-BA @ @ @Å©ÅÅiÅAÅ ą5A)ąAIąOAiąAU;MUB=Y] :QU]>YYae"Haaym}m>Iȱ :ŵ? 5? :ŵݾ ƵL ?9ƵAǵ: ȵ^:)ȵD:WWX XWX:W2W)*W)V)bU)BU)*U1U1U5@RE(Combining 5 samples.Pa*Qeff@ZQexP^B(?0B JQew?amf-2Qa:QabQeMB@@<6MI%@b/G?RQeˆ4H?lB5?v4k?BQea? Qe*1@Qe@PaPaPaQaQe @"Qeq@BB BAZ*BAAAA"C*CRCCC9IAGeU>ź,6WfFAY}v*@}vyF@y}v_}v?}vHQڿ ?c?-ڿgo?Ab?)~v*@ ~v_;I~vCɫ) IYU[?yUxFTNmea in: $SNTTA,0.002025,,,,225643.55*41 yy:ME=YQU>a"Hy͹}>I 5?ݾ L ?9ʈA4: :)mmAdded new target pos. range: 3.599999 m, bearing: 50.502490 deg, deltaT: 4.497204 s, approachRate: -0.013342 m/s, LOS rate: 0.075802 deg/s, posRepo size: 4Wa?WX X W X :W 2W *WVbUBU*UU @U C?BABI BIAMW*BIAIAIAIAQ"CUa?*CYRCYC]a?CY,  t:YWU1y:;6!I1GM1> 9 I 8Fi ? <D ; {E˺,&1fFAY}BQ@}Bܴ@y}B&ǽ}B(}BH`3%ۿ?`?+ۿj ڸ??)~BQ@ ~B5]_;I~BCɫYY)Y YIYYx?yFu";Mua=Y} QU}>ya"Hy<}>Iȑŕ# 5?ŕfݾ ƕOK ?9ƕوAǕg: ȕR:)ȑWWX XWX:W2W*WVbUBU*UUU@6?BB BAO*BA A A A "C*CRCCCI))-\A IGE>Һ,KfFAY}:@}:!@y}:Ҕ۽}:2}:H@sۿ"{??PۿP%e?54?)~:@ ~:c];I~8ɫYY)Y YIYY?yF   <ף=iA jA)AIAihGMD=Y,üQU>a"Hyc<}>I %: 5? %:ݾ nJ %?9AI; :)E:WYWYXY XaWaXa:Wa2Wa*WiVibUqBUq*UyUyU} ?BB BA*BAAAA"C*CRCCCIG$>  i:YT1y:6غ,dfFAY}:@}:6@y}:.轙}:6h}:H@xۿ`db`^?;ۿ@7 ?㬿?)~:@ ~:s\;I~8ɫII)I IIIY}J?y}F)> EMZ=Y퍼QU>a"H y :} >I 5?ݾ I %?9A: :)WAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU]?BB BA*BAAAA"C*CRCCCIG>܉9܉I܍pFi܍M?܉܉܉܍; ݍE޺,5~fFAY}5'9@}5T@y}5[S}5q}5H`ڠۿ`7ꚿ? ۿN¿?V?a@ɢ?)~5'9@ ~5[;I~5Cɫ  )  I Y?yޒF> o a:YDW1yY:6)#;9-Mb~jtL7A`? +=)IyI +?I +?:v?94<9<T< ?A)IAI5AixUAGEA @ @ @å©ååiåAå ĥ)ĥAIĥOAiĥA;M=Y3QU>a"Hy-;}>I :ߎ 5? :$ݾ G ?9A{: :)F:WW X  X W X :W 2W*WVbUBU*UUU@BIBI BIAM*BIAQAQAQAQ"CY*CYRCYCYCau?iu?QIYG}>庙,6fFAY}B@@}B˫@y}B}B۽}BHnۿ@Σ@}? ,ۿ@_ſC?& ?)~B@@ ~B)_;I~BCɫYY)Y YIYY?yFuMu=Y}V QU})?ya"HyŤ<})?IȑŕP 5?ŕ+ݾ ƕG ?9ƕ%AǕk: ȕܹ:)ȑWWX XWX:W2W*WVbUBU*UUUp@BB BAń*BA A A A "C*CRCCC IG5 >܉ 9܍ CI܍ Fi܍ ?܍ =܉ ܉ ܍ ; ݍ E캙,CqfFAY}:@}:6@y}:m}:,iʽ}:H@Vۿ SǓq?>ۿ@ſ R?@A?)~:@ ~:8a;I~:CɫYY)Y YIYY?yF{<MW=YsͼQU>a"HIHy:}>I : 5? :5ݾ E ?99A: :)G:W)W)X) X1W1X1:W12W9*W9V9bUABUA*UAUAUE@Z@RB*** querying acoustic contact ***PPBYBa BaAe{*BaAiAiAA"C*CRCCCשIy  Mf:Yy6)3;Gm4>,IfFAɫ髹) IYV?yĐFZ****** received transponder code query ******F****** received ping request ******a"Hy}>Ișŝ 5?ŝAݾ ƝvD ?9ƝPAǝ; ȝ;)șW W X  X WX:W2W*WVbUBU*UUU%y @BB BA؄*BAAAA"C*CRCCCI)IGE>,,+fFAY}:}@}:+@y}:&!}:D}:H`)ݿ~? ?@ܿ` ſR?c?)~:}@ ~:^;I~:CɫQY)Y YIYY?y!FxDUSBL response received:!U1,P 502,000,002AD,189,80,80,C3,FF Command AckBRequesting micromodem ping code 2i=iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 UZM]R=Ym-QUu>a"HyBx=}>I‹ 5?Nݾ 2C ?9cA; ;)WqWyXy XyWyX:W2W*WVbUBU'  -t:YV1y:69@->9-CI)i)-=))-D; -՗E*UYUaUeY @BB BA*BAAAA"C!*C!RC!C!C)1IQG>,fFAɫ髡) IY?yFi  I%`Aɮ iiٺ`AANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Dl!rhl O l ) I y ~jty&1|?a"Hy}>I :[ 5? :Uݾ eH ?9A: :)H:WWX XW X :W 2W *W VbUBU*UUU @@BABA BIAMG*BIAIAIAIAI"CQ*CQRCYCYCױIGj>#*,/fFAY}>O@}>7k@y}>,}>|y<}>H@z&޿2\?ε?9޿ſ}? j7?)~>O@ ~>5];I~>Cɫ髉) IYr?yFxDUSBL response received:!U1,R,502,000,002AF,189,80,80,BF,FF Fpublishing direction and range infoɰa= )?CIyn@w?amf-ٱ)MT=Y%YQU%>)1a5"H19y=cO=}=>Iߌ 5?8ݾ L ?9Aܹ: b:)  'o:Yy;6WIWIXI XIWQXQ:WQ2WQ*WQVYbUYBUY*UYUU@R(Combining 5 samples.P*Qn@ZQo$?7U JQw?amf-2Q:QbQRWRw@g@BDi-?RQj ? |?U9?BQTp? Q>@Q @PPPQQf@"Q @BB  B A *B A A AA"C*CRC9C9CAU?iQ1IAG]v>- >9) I- ȖFi- ?- =- =D) - ; - E)ݹIݹiݹݹݹݽ5S ,93fFAY}fV@}q@y}~L:}d}HI޿0 S??3޿`ƿ(?`s?)~fV@ ~d;I~CɫII)I IIIY?yFDNmea in: $SNTTA,,,,,225648.00*51 ] ] ]]=];]=i]=A] ]A)]AI]Ai]5Am<Mm7=YuQUu>qqau"Hyyyq:}>Iȉ :ōd 5? :ō#ݾ ƍQ ?9ƍ҉AǍ: ȍR:)ȍI:miAdded new target pos. range: 3.720000 m, bearing: 53.789007 deg, deltaT: 4.482382 s, approachRate: 0.026772 m/s, LOS rate: 0.733208 deg/s, posRepo size: 4WTp?WX XWX:W2W*WVbUBU*UU @U@{?B B  B A 1*BAAAA"C g?RCC%Tp?C!I!G=r><,!MfFAY}B@}B@-@y}BH}BO@}BHLݿ>ٽ?`?j޿@&ǿe?̞S_?)~B@ ~Ba;I~@ɫYY)Y YIYY?yF]AeM=Y8QU?a"Hy9Z} ?I 5?ݾ eU ?9A; *;)WWX XW!X!:W!2W)*W)V)bU1BU1*U1U9U=@c?ByB BA*BAAAA"Cn?RCCC  as:Yy|6I)GE0>,f,7lgfFAY}:+@}:|G@y}:aaae"Haaym;}m>I :@ 5? :ݾ Z ?9 A; ;)J:WWX XWX:W2W*WVbUBU*UU U ?B1B9 B9A=*B9A9A9AAAA"CEUs?RCICICIIY)]]A׉IG>>9IFia?g; EN ,kGfFAY}:R@}:pn@y}:jX}:=}:H`ݿ:F?`z?ljݿ`g|̿ ?@|K/?)~:R@ ~:\;I~:CɫYY)Y YIYYM?yFT㥛 ?~jt?l?>= =)Iy~jtQ?y&1|?\=`; 3CA)VLAI1AibAHA @ @ @Í©ÍÍiÍAÍ čA)čAIčXAičAM5=YQU>a"Hy;}>Ič 5?ݾ Z  ?9y&,c)fFAY}:@}:3@y}:MY}:p}:Ha޿g<\f?m?`ݿ$Ϳ`?C|(?)~:@ ~:[;I~:Cɫ19)9 9I9YuG?y}mF) > >;Ml=YQU?  a "H y<<}?I %:e 5? -:ݾ Z -?9`A: s:)K:WIWQXQ XQWQXQ:WQ2WY*WYVYbUYBUa*UaUaUe`V?BB BA*BAAAA"CTp?*CRCCC׉IG= 9 I Fi ? G; ֗Ec,,fFAY}BS@}B޶@y}Bt^}B}BH޿ r5@ģ?`b`?Uݿ̿Φ?Ϛ@`(?)~BS@ ~B'_;I~BCɫYY)Y YIYY?yuF<MA=YUQU>a"HJHyI;}>I   5? ݾ U[ 5?9 A ; X;) WWX! X!W!X!:W!2W)*W)V1bU1BU1*U9U9U= @BB BA0*BAAAi  py:YyN6);9A!"C)*C)RC)C)C1e?ie?I)GEQ>#3,fFAY}:,@}:@y}:'l}:}:H.޿5@?WL?@ݿMͿ*B? =)?)~:,@ ~:[_;I~:CɫYY)Y YIYY?yڌFAAI)    @ @ @iA jA)5AIjAiAMS=YQU>!a%"H!!y-}->I15 5?5/ݾ 5[ =?95A5: 5:)1WWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBaBa BiAmo*BiAqAqAqAq"C*CRCCCסIG >>9,fFAY}:X@}:s@y}:s}:|5}:Hݿ;? O? ݿ5Ϳ1?3?)~:X@ ~:*_;I~:CɫII)I IIIY]?y]FeZ****** received transponder code query ******eF****** received ping request ******ea"Hy$}>I : 5? :Nݾ \ ?9A; ;)L:W)W)X) X)W)X):W12W1*W1V9bU9BU9*U9U9UE@@BiBi BiAm*BqAqAqAqAq"Cy*CyRCCCבIG=q9qIuFiu1?qqqu2; uʗE  {:Y0Y1y:`6);@,fFAY}:Z@}::v@y}:Kw}:%}:Hdݿ@[9.??3H?E޿ZͿ? O ?)~:Z@ ~:7^;I~:Cɫ99)9 9I9Y]?y]ZFexDUSBL response received:!U1,P 502,000,002AF,189,80,80,BF,FF eCommand AckmBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 a i=@a = a m=@a E a qE@a E a eE@a E    @ @ @iA zA)AI5AiAM"=YWQU>!!a%"H!)y-ݥ9}5>I15 5?5ݾ 5\ e?95A5k; 5[?)1WWX XWX:W2W*WVbUBU*UUU0 @BB BA;*BAAAA"C*CRCCCI9)9IG=>KF,'jfFAY}B@}B@y}BKy}B}BH@޿M(z?@?@޿ Ͽ ?@@i?)~B@ ~BX];I~@ɫYY)Y YIYY}?y}?FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m=ima=,Mu=YQU?a"HyL<} ?I :7 5? :ݾ ] ?9:AS: V?)M:WWX XWX:W2W *W V bUBU*UUU@@BABA BIAM*BIAQAQAYAY"Ca*CiRCqCqCyIG-->  r:YY1y:69@i 9i Im xFim ?m =i i m ; m EyL,E6fFAɫ髹) IY4?yFxDUSBL response received:!U1,R,502,000,002B0,189,80,80,BF,FF %Fpublishing direction and range infoɰqa= )Iyq@w?amf-ٱ   õ`eõ`eõ@=iõfAõ ĵA)ĵAIĵjAiĵ5AO<M:=YQU>a"Hy}>I 5?ݾ ] -?9iA; z?)WiWqXq XqWqXq:Wq2Wy*WyVybUyBUy*UUU@R(Combining 5 samples.P*Qq@ZQE5j?.\Ux3 JQw?amf-2Q:QbQX/@Z0@CKo?RQGD%oʸ?'2 X?1U?BQ=?o? Q?@Q @PPPQQ@"Qf@B1B9 B9Ae`*BaAaAaAaAi"Ci*CqRCqCqCqׁIi}nGI/aAiGj>Fٺ/aAADS,O PfFAY}:@}:4*@y}:y}:}:HO޿ *?@? !B޿,$Ͽ G?/?)~:@ ~:[c;I~:CɫYY)Y YIYY?yFU =M]e=Y]QߺQU]>aaae"HaaymX;}m>Iqub 5?uݾ u^ }?9uAu: u.?)qmmAdded new target pos. range: 3.779998 m, bearing: 53.546269 deg, deltaT: 4.411880 s, approachRate: 0.013599 m/s, LOS rate: -0.055019 deg/s, posRepo size: 4W=?o?WX XWX:W2W*WVbUBU*UUo=@U_ ?BB BA*BAAAA"C=?o?*CRCC=?o?C!i%?IIGm5>  r:Yy6Z,jfFAY}:t@}:@y}:X{}:}:H8޿*x?R?ݿ п`? ?)~:t@ ~:=_;I~:Cɫ99)9 9I9Y}?y}FI)tMP=YhQU >  a "H yu}>I!% 5?%ݾ %^ -?9%A%t: %@)!WIWIXQ XQWQXQ:WQ2WY*WYVYbUYBUY*UaUaUe?BB BA)*BAAAA"C*CRCCC׉IG=9I@Fi?; E)ݡIݡiݡݥ=ݥ=ݥ5I))-AA>`,|փfFAY}BU@}BCq@y}B^v}Boݽ}BH ޿ P? T?_ݿп`?Ӻ`?)~BU@ ~Bq];I~BCɫYY)Y YIYY\?yFa ia i a m%a m% a q%a q% a e%a e% %v/?{Gzt?~jt?%xi=%ף; %<)!I!y%~jt?V-{Gzt?%D<%%ף; %?A)%TAI%n.Ai%7oA!%zLA @ @ @Å©ÅÅiÅAÅ ą5A)ąAIąAiąA;M0=Ya"H yJ<}>I) 5:- 5? 5:-vݾ -<] =?9-ՋA-+; -s6;)-N:WWX XWX:W2W*WVbUBU*UUU?  o:Y0Y1y:6BB BA*BAAAA"C*CRCCCI)IGj>kg,ձfFAY}:l@}:@y}: r}:v}:H޿@ i? ?X޿/Ͽ@E?C @?)~:l@ ~:;(\;I~8ɫYY)Y YIYY?y}F5S<M=i=Y=YAAaE"HAAyM;}M?IȩŭY 5?ŭݾ ƭP\ ?9ƭAǭ: ȭA:)ȩWWX XWX:W2W*WVbUBU*UUU?BB BAŅ*B!A!A!A!A!"C)*C)RC1C1C1IIQG> 9 I НFi E@ = 5; ̗E>m,ҌfFAY}:@}:$@y}:s}:)z}:Hl߿|ఙ?@e?߿ο ?쯿` ?)~:@ ~:͘[;I~8ɫaa)a iIiY#?yjFE=iE=   7=ףa"HKHyz<}>I   5? xݾ M[ ?9 A : w:) W9W9XA XAWAXA:WA2WA*WIVIbUIBUQ*UQUQUU0?ByB BAe*BAAAA"C*CRCCCבIG )>Q  w:YxZ1yq:6);9 &t,ifFAY}:`@}:@y}:jr}:7l}:H]޿S`͵?(?X߿T̿? I?)~:`@ ~:%`;I~8ɫ99)9 9I9YP?yFU[g;MUU=Y]:QU]>Yaae"Haaym:}m>Iq :u 5? :uݾ urZ ?9uAu: u~:)uO:WWX XWX:W2W*WVbUBU*UUU@BB BAZ*BAAAA"C*CRCCCiIG>Pz, CfFAY}B@}B@y}Bp}BoD}BHr޿@?@y? ߿@̿`?맿U?)~B@ ~B?`;I~BCɫYY)Y YIYYi?y3F<MT=Y!;QU>a"Hy4}>IQU[ 5?Urݾ UY e?9U6AUܹ: UM:)QWWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCܵ>9ܱIܱiܱܵ=ܱܱܵ-; ݵɗE)IYG$>- --- -h:Y-DW1y-Y:- 6)-h;8,fFAY}:a@}:M}@y}:eh}:߽}:H ߿Q⺓??޿ϿH? ?2`?)~:a@ ~:FV^;I~:Cɫ99)9 AIAY}?y}FZ****** received transponder code query ******F****** received ping request ******a"Hy<}>Iȹ :Ž% 5? :Žݾ ƽY M?9ƽLAǽ1< Ƚ'<)ȽP:WWX XWX:W2W*WVbUBU*UUU @B B  B A *BAAAA"C*CRCCCAI)GEQ>b,fFAY}:H@}:@y}:2[}:`=}:H@߿ f{?`'?߿#ο:?ac?)~:H@ ~:81];I~:CɫII)I IIIY}M?y}FxDUSBL response received:!U1,P 502,000,002B0,189,80,80,BF,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Mk=Y=QU >!a-"H)9yMi<}U>IquȎ 5?uݾ u6Z ?9u^Au; u=)qWyWyX XWX:W2W*WVbUBU*UUU`( @BB BA*BAAAA"C*CRCCCe eee eLs:YeW1yeč:e69u@IG%o>ܱ 9ܵ CIܵ Fiܵ E?ܵ =ܵ <Dܱ ܵ ; ݵ E,8fFAY}ZS@}Z+@y}ZT}Z;F}ZH!?@?8߿@̿Hi?`.Y4?)~ZS@ ~Z:\;I~ZCɫQQ)Q QIYY?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -=i-=   Í/<Íh=Íz>iÍGAÍ čzB)čAIčAičA<M=YGLa"Hy/<}>Iȹ :Ž 5? :ŽSݾ ƽZ ?9ƽwAǽ: Ƚ(:)ȽQ:WWX XWX:W2W*WVbUBU*UUUHZ@B)B) B)A-Ņ*B1A1A1A1A1"C9*C9RC9CACAIG>t,ѯRfFAY}BV@}BYr@y}B5Q}BY^}BHaBTj?0?^Gɿ)?%9I?)~BV@ ~B,[;I~BCJJFailed to close latch before timeout.q JJHardware FaultYN?yNFRxDUSBL response received:!U1,R,502,000,002B0,189,80,80,B7,FF VFpublishing direction and range infoPPɰPP P)R7CIPyPRw?amf-ٱPjz;Mj=Yjka"Hy $}>IA ]:E 5? e:Eݾ Ei[ m?9EAE߼; E;)ER:miAdded new target pos. range: 3.779998 m, bearing: 56.203410 deg, deltaT: 4.335283 s, approachRate: 0.000000 m/s, LOS rate: 0.612911 deg/s, posRepo size: 4W{?WX XWX:W2W*WVbUBU*UUU[?BQBQ BYA]a*BYAYAYAYAY"Ce{?RCC{?C?i?ס I G > ie nGIy i hٺ A,ffFAY}:@}:@y}:'D}:/x}:H(ؔEk??uȿ`^?[|Z[?)~:@ ~:F^;I~8YJk?yJF/$7A`¿~jt? D=)Iyy&1:v?`eT< ?A)SAIi@A e@ e@ e@e©eeie(Ae erA)eAIeAierAuMuz=Yu  h:YDW1yY:`6(,oGfFAY}:x@}:@y}:;}:O}:H@-͗-??d ȿ>?ԭ`a?)~:x@ ~:y:^;I~:CYF?yFFF=_Z=M=`=Y=AAaE"HAIyMz^}M>IY] 5?]ݾ ]_] e?9]A]: ]Q:)YWWX XWX:W2W*WVbUBU*UUU?BaBa BaAes*BiAiAiAiAi"C*CRCCCשI$NClearing failed state for component DDMq G>Q 9Q IU FiU v?U =Q Q U ; U E)CICiሉ==95߭,0fFAY}=@}=Z@y}=3}=4}=H3*@˗`=n? ? /s>ǿ@[?cfr?)~=@ ~=\;I~=CYU?y]ƎF - - eeF>e`yya}"HLHy9}>Iȑ :ŕ 5? :ŕ>ݾ ƕ^ ?9ƕ AǕ: ȕ:)ȕS:WWX XWX:W2W*WVbUBU*UUU`?BB BA *B A A A A "C*C!RC9CACAIQ)Q9IIGe>T ~ w:Yy<6)J;9´,QfFAY}:,@}:IH@y}:0}:?~}:H`IS+?n?5 ƿ? Iv?)~:,@ ~:[;I~:CY^?ybF}M}\=Ya"Hy<<}>Ișŝ> 5?ŝ^ݾ Ɲ_ ?9ƝKAǝ: ȝ':)șWWX XWX:W2W*WVbUBU*UUU`8P@BB  B A *B A AAA"C*CRCCC!I1GM=캻,fFAY}:w@}:x@y}:(}:}:HLo`s֐? ?? x3ǿ`?`-I-w?)~:w@ ~:M[;I~:CYF'?yFώF=<M=N=YEAIaM"HIIyU=<}U>I :ٓ 5? :ݾ ` ?9zA: :)T:WWX XWX:W2W*WVbUBU*UUU-@B)B1 B1A5*B1A9A9A9A9"CA*CARCACACI9Y9YI]XFi]?]=YY]; ]|EIqG>5^ 555m 5x:Y5WU1y5:5j6)5;+,fFAY}Vv@}V@y}V!}VL|}VH }`h@?{?@e Ŀ?6?)~Vv@ ~V[;I~VCYf?yjFln@AIp)rAi|?5?/$?ˡEq=< ')Iy Ý= @ @ @©i(A A)AI5Ai AM?=Y}a"Hy #;} >Iȑŕ[ 5?ŕݾ ƕ}_ ?9ƕAǕܹ: ȕ:)ȑW W X XWX:W2W*WVbUBU*U!U!U%&@RMB*** querying acoustic contact ***PIPIBB BA*BAAAA"C*CRCCCIG$>iǻ,D!fFA|i|Y}:IS@}:n@y}:+C}:a}:H`g(n`,? [ ?q¿u?աś?)~:IS@ ~:r[;I~:CYb?ybFFbZ****** received transponder code query ******fF****** received ping request ******f"=M}S=Y;QU>a"Hy }>Iȹ :Ž͔ 5? :ŽEݾ ƽ^ ?9ƽAǽg: Ƚ:)ȽU:W W X  X W X:W2W*W9V9bU9BU9*U9UAUE  @BB BAs*BAAAA"C*CRCCC IG5 >U UUU U#:YUDW1yUY:U69]@5 >91 I5 ȖFi5 ?5 =1 1 5 ; 5 EC,λ,r;fFAY}f#@}fS?@y}f$%}f }fH@Mqr ? ? yq`~¿`u?琿?)~f#@ ~f[;I~fCYr?yvFzxDUSBL response received:!U1,P 502,000,002B0,189,80,80,B7,FF zCommand AckzBRequesting micromodem ping code 2ixxNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76   ~>=uiA OA)AIAi5A%<M%&=Y-|QU->)1a5"H11y=}=>Iaef 5?eݾ e=] m?9eAe: e:)aWWX XWX:W2W*WVbUBU*UUU @BYBY BYA])*BaAaAiAiAi"C*CRCCCױIGj>ջ,>UfFAY}:@}:.@y}:m.}:;}:H@}gO?`?"[sĿ`U??)~:@ ~:[;I~:CYj?yjFFnp=ɮnp=zNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B im^AM=YQU ?a"HyyP} ?IȹŽǕ 5?Žݾ ƽq\ ?9ƽAǽ˵: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU@@B!B) B)A-s*B)A)A)A1A1"C*CRCCCI)IG>:ۻ,ofFAY}:=@}:}Y@y}:c.}:惘}:H`R@PAd??,ypǿ?`pŲ s?)~:=@ ~:\;I~:CY\y\fxDUSBL response received:!U1,R,502,000,002AD,18A,80,80,C8,FF fFpublishing direction and range info``ɰbu`=b> `)bHCI`ybff@bw?amf-ٱ`Yze:QUz>a"Hy;}>Iȩ :ŭ? 5? :ŭGݾ ƭf[ ?9ƭ΍Aǭۿ; ȭ7;)ȭV:WWX X!W!X!:W!2W!*W)V)bUQBUY*UYUYU]G@Rm(Combining 5 samples.Pq*Quff@ZQuxP^B(?0B JQuw?amf-2Qq:QqbQun0?4Ug@kv ?>9IFi?=; ERQupf?+\U?R /?BQu+{? Qu=@Qu?PqPqPqQqQu@"Qu@BQBY BYAa*ByAAAA"C*CRCmn mmm my:YmX1ym/:mr6)m;9CCIGn>#⻙,fFAY}J-@}JqI@y}J%}JaŽ}JH R@?? ?ǿ?P ~o?)~J-@ ~J\;I~JCYV?yVF%dNmea in: $SNTTA,0.353797,0.352809,,,225701.31*56 UB`"ɿQ롿UUN U\)QIQyUMbp?~jthZd;O?U;UDUj< U3CA)UJAIQiUbAQUQHA @ @ @õ©õõiõAõ ĵA)ĵAIĵAiĵAgMa"Hy}>ID 5?Cݾ X ?9ύA: :)mmAdded new target pos. range: 3.599999 m, bearing: 56.214844 deg, deltaT: 4.482085 s, approachRate: -0.040160 m/s, LOS rate: 0.002551 deg/s, posRepo size: 4W+{?WX XWX:W2W*WVbUBU*UU @U?BB B!A%*B!AAAAAIAI"CU+{?*CQRCQCU+{?CY%=i!aIiG:>L軙,JТfFAY}B1@}BM@y}BI#}B[u}BH@U@䣆? ? U ƿS?㴿`e|?)~B1@ ~B[;I~@Y^??ybF)5= 1} M}b=Y';QU>a"Hy!:}>Iș :ŝJ 5? :ŝ?ݾ ƝV ?9ƝЍAǝp: ȝ|:)ȝW:WWX XWX:W2W*WVQbUQBUY*UYUYU]?BB BA*BAAAA"C*CRCCC?i?IG>5e 115} 5y:Y1y15 69=@>9Ii=; Ew,2fFA|i|@Y}:S|@}:ޗ@y}:4,}:b}:HnpdG? m? 1V@֏ƿl?`-R@{?)~:S|@ ~:t[;I~8FPowering upF"Initializing DDM.Y%?y%F   Mb C>iA jA)jAIAiA-E<M-@=Y-cQU->a"HMHy*<}>IșŝV 5?ŝ9ݾ ƝS ?9ƝэAǝ: ȝ:)șWWX XWX:W2W*WVbUBU*UUU?B B BA*BAAAA"C*C!RC!C!C!Iie}nGIyiG>fֿٺAa,fFAY}:V@}:Pr@y}:&8}:P}:H8Vc ?`? iĿ`!?`@={?)~:V@ ~:\;I~:CY^E?y^Fu<M}V=Y}^QU}>a"Hyʻ}>Iȑ :ŕi 5? :ŕ3ݾ ƕQ ?9ƕӍAǕ; ȕ/;)ȕX:WWX XWX:W2W*WVbUBU*UUU`?B)B) B1A5*B1A1A1A1A9"C9*CARCACACAIIQGu=I!)%?A5 555 5"h:Y5V1y5:56, bfFAY}: =@}:X@y}:F}:3}:H@U@ /wӲ? ,?dǿ@x?8b?)~: =@ ~:,];I~8Y\y`))Yr QU>a"HyXy}>I} 5?.ݾ :O ?9ՍAR: I:)W)W)X) X)W1X1:W12W1*W9V9bU9BU9*UAUAUE @BiBi܉9܉I܍ȖFi܍?܉܉܉܍; ݍ×E)1I1i15=5=55 BqA*BAqAqAyAy"C*CRCCCI1)19IiGA>p,; fFAY}:G@}:0c@y}:Q}:/}:H;]#?3?`0 ̿@ ?`F%F5?)~:G@ ~:P\;I~:CYn?ynF r?Mb`?B`"۹?C>; =)IyS㥛{Gz/ݼ̼ף AA)IiaAGA @ @ @å©ååiå3Aå ĥ)ĥAIĥAiĥAkMa"Hy:}>I :× 5? :Rݾ Q ?9AX: :)Y:WW X  X W X :W 2W*WVbUBU*UUUM@BABI BIAM*BIAQAQAQAQ"CY*CYRCYCYCaiIqG>5 5|5|5 5o:Y5R1y5i:5D6,a$fFAY}:#@}:>@y}:AT}:^)۽}:H@))VM?`?߿Ϳa?~?"?)~:#@ ~:۩[;I~:CY^?ybȌF``%C(M%h=Y%QU->))a-"H)1yEλ}M>IaeϘ 5?eoݾ eS m?9eAe: e:)aWWX XWX:W2W*WVbUBU*UUUbk@RB*** querying acoustic contact ***PPBB BAw*BAAAA"C*CRCCCIG=}>9yI}Fi}a?}=yy}?; }՗E",8=fFAY}:@}:#@y}:yS}:"n}:H p`?@?@߿@6W̿ h@?@_1?)~:@ ~:L%[;I~:CY^?ybnFbZ****** received transponder code query ******bF****** received ping request ******f   Íy=Í94=Í9iÍAÍ čA)čAIčAičAM2=Yr;QU>a"H  yi}>I' 5?ݾ V %?9/A: s:)WIWIXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UYUYUe@ @BB BA*BAAAA"C*CRCCCשIG">= ===! ={:Y=[1y=H:="6)=;9E,|WfFAY}:i@}:@y}:ZU}:>K}:HzI??@(ɿ` z?먿@D?)~:i@ ~:,[;I~:CY^?y^ڌFbxDUSBL response received:!U1,P 502,000,002AD,18A,80,80,C8,FF bCommand AckbBRequesting micromodem ping code 2i`djNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 56R=M=h=YMQUU>aiam"Hqyؕ}5>IA E:E: 5? M:Eݾ EX M?9EJAE-: Ea;)EZ:WWX XWX:W2W *WIVQbUQBUY*UYUaUeW @BB! B!A-o*B)A)A)A)A)"C1*C1RC9C9C9AIaG9>,qfFAY}:@}:@y}: ]}:7}:H@fs Mϻ? ?@qǿhj?}[A?)~:@ ~:O\;I~:CYM?yFɮ=5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B `<M@=YQU>a"HE>9ECIE FiE?E=AEKDEm; EEy,}>I9=o 5?=ݾ =[ %?9=hA== ==)9WWX XWX:W2W*WVbUBU*UUU`x@5j 555 5y:Y5X1y5/:56)5;BABI BIAM*BIAIAIAIAQ"CQ*CYRCYCYCyYIiG[>",fFAY}:F@}:ѧ@y}:$g}:r<<}:H ߿ୃ`??U@Iǿ ??@/?)~:F@ ~:\;I~:CYb?yfFnxDUSBL response received:!U1,R,502,000,002AE,189,80,80,BD,FF rFpublishing direction and range infollɰn`=n7> l)n=CIlyn=j@nw?amf-ٱl5=YqQU>a"Hy}>I : 5? :ݾ a ?9xA: o:)[:WQWQXQ XQWYXY:WY2WY*WYVYbUaBUa*UaUaUm@R(Combining 5 samples.P*Q=j@ZQs:@?apuV JQw?amf-2Q:QbQQ ڢO@u.@%+׊?RQ߭u?Tm?gO^s?BQ+3z? QpA@Q}@PPPQQ@"Q@BB BA*BAAAA"C *C RC C CI!)!IG5.>C(,lfFAY}v5@}v@y}vv}v̼}vH@k޿ֶ? ?[߿ ̿@$?@Ř`?)~v5@ ~v11\;I~tY?y>F}DNmea in: $SNTTA,,,,,225705.74*5A ļMX=Y%QU>a"Hy"}>Iԝ 5?ݾ og ?9AZ: :)m-mAdded new target pos. range: 3.660000 m, bearing: 55.997644 deg, deltaT: 4.482086 s, approachRate: 0.013387 m/s, LOS rate: -0.048460 deg/s, posRepo size: 4XW+3z?WX XWX:W2W*WVbUBU*UUG @U` ?BiBi BiAuG*BqAqAqAqAq"C}+3z?*CyRCC+3z?CaIiG>-p --- -y:Y-U1y-:-r695@9CIi=; (E/,!a"HNHyѮ:}>I : 5? :ݾ m ?9A; ;)\:WWX XWX:W 2W *W V bU BU*UUUE?BABA BAAE~*BAAIAIAIAI"CQ*CQRCQCYCY1I9GU=65,]fFAY}N@}NM@y}N!~}NO}NHy޿!?`?1߿ο?~?K'?)~N@ ~Nw[;I~LYZ\?yZF)-> - > =MK=Y6QU>a"Hy><}>IȹŽb 5?Žݾ ƽs ?9ƽAǽZ: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUUE?B)B) B)A-*B)A1A1A1A1"C9*C9RC9C9CAU?iU?1IQG=5q 555 5z:Y5V1y5:56H%<,EfFAY}V4@}V&P@y}V"^}Vd훽}VH )6߿@5?P?@#߿;п@?`ڲ?)~V4@ ~VxF[;I~VCYr?yrQFIMJ=>9IFi1?=; DEYa$QU}>a"HyP<}>I  E: O 5? u: ݾ cz }?9 ƎA p< &<) ]:WqWyXy XyWX:W2W*WVbUBU*UUUpp?BB) B)A-?*B)A)A1A1A1"C9*C9RC9C9Ca9IIGeU>AAinGIi ؿٺ! % Au ?9u A|C, fFAY}F~@}F @y}F󁾙}F'}FH଄߿?@?޿oyѿ ?cS?)~F~@ ~FV&\;I~FCYR!?yVFS?Mb?Mb?/>= <)IyL7A`?~jtQ?+=Du< ­3CA)­OAI­,Ai­7oAKA @ @ @©ifA A)AIAiA;MC=Y2QU>!!a%"H!)y-[{<}->I15" 5?5ݾ 5w E?95A5: 5:)1WaWaXa XaWaX:W2W*WVbUBU*UUU`R@BABA BaAe%*BaAiAiAiAi"Cq*CqRCqCqCyyIG>-n --- -y:Y-xZ1y-q:-69I,&fFAY}:w@}:@y}:6h}:޽}:H@߿'>??޿:ѿ?2㺿 ?)~:w@ ~:[;I~:CYF?yFF~4=i~<  ]A=MT=Y5;QU>a"HyP}>Iȡť 5?ťݾ ƥt ?9ƥAǥ: ȥr:)ȡWWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA!"C!*C)RC)C)C))I9GU=ܹ9ܽCIܽ@Fiܽ?ܽ=ܽ;Dܹܽ(; ݽZE)MCIMCiMCM=M=M69!P,Y@fFAY}:j@}:@y}:@}:0}:HO`߿#??@B߿Pп@? ?)~:j@ ~:&[;I~:CY^?y^=F`` % % % %@ %@ %@!!!i%A! %OA)%OAI%OAi%5A=<M=O=Y=[QUE>AAaE"HAIyM}M>IY e:]ۢ 5? e:]ݾ ]Hr m?9]EA]: ]:)]^:WWX XWX:W2W*WVbUBU*UUU!=@R-B*** querying acoustic contact ***P)P)BiB BAw*BAAAA"C*CRCCCשIG>- ))- -}:Y)y)-N6)-u;95eIV,J^ZfFAY}Be@}BA@y}BƁ}Bʽ}BH]߿A-?@? ޿(п` ?'k ?)~Be@ ~B<[;I~BCYN?yNFRZ****** received transponder code query ******RF****** received ping request ******Ra%"H!)y-@}->I15 5?5ݾ 5o E?95qA5'; 5d:)1WiWiXi XqWqXq:Wq2Wq*WyVybUyBUy*UUU &O @BB BA*BAAAA"C*CRCCCבIG=)i-=ps\,9tfFAY}J @}J&@y}J }Js}JHU߿@@ k??`9߿Ͽ`2?-?)~J @ ~J!p[;I~JCYZ?y^iF܅>9܅CI܅`Fi܅@܅=܅<D܁܅c; ݅tExDUSBL response received:!U1,P 502,000,002AE,189,80,80,BD,FF Command AckBRequesting micromodem ping code 2i5Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 E EEE En{:YEU1yE:Ei6)Eu;?x&1пZd;?> y=)Iy{Gzt?y&1|?)\(ף;`;Ga •5>A)•SAI•+Ai•`sAQLA)%= %=    @ @ @ÉÉÉiÍAÉ čA)č5AIčjAičAdM =Y;QU>a"H y5}=>II :M 5? :M:ݾ Mw ?9MAMC< MC<)M_:W9WAXA XAWAXA:WA2WI*WIVIbUiBUq*UqUqUuK\@BB BA*BAAAA"C*CRCCC- ?i- ? I G >L[c,'fFAY}:?d@}:@y}:}}:=}:HKi߿`7?@O?@|߿`:̿@P?(g?)~:?d@ ~:h@\;I~8YV?yZLFXɮZp=jNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }e=M}=Y  `)b7CI`y`bw?amf-ٱ`z<MzS=Yza"HOHyʅ<}>Iȩ :ŭq 5? :ŭݾ ƭ ?9ƭAǭz; ȭ;)ȭ`:WWX! X!W!X!:W!2W!*W)V)bU)BU)*U)U1UU@Re(Combining 5 samples.Pa*QaZQes:@?apuV JQew?amf-2Qa:QabQe#DN!o@EJ@(`7?RQe;?qC]?*"}?BQe,w? Qe>@Qey@PaPaPaQaQe@"Qe@BB BA*BAAAA"C*CRCCC IG= >I%AA)%BA5` 555 5:Y5Y1y5:5D69=@a9eCIe(Fie,@e=aeJDex; e|E^mp,fFAY}:~@}: @y}:e}:~Ľ}:H Na"Hy;}>I 5?gݾ  ?9A ; ';)mmAdded new target pos. range: 3.660000 m, bearing: 55.320475 deg, deltaT: 4.404409 s, approachRate: 0.000000 m/s, LOS rate: -0.153748 deg/s, posRepo size: 4XW,w?WX XWX:W2W*WVbUBU*UUUX?BiBq BqAu@*BqAqAqAyAy"C},w?RCC,w?CIי)יׁIG=>rv,fFAY}B@}B@y}BȉW}BP}BH`e개?y?߿`̿g?ݶ@)?)~B@ ~Bu\;I~BCYN ?yN F=<M=d=YE =QUE>AIaM"HIIyU,}U>IY] 5?]$ݾ ]e e?9]A]÷: ]:)YWWX XWX:W2W*WVbUBU*UUU`?BB BA*BAAAA"C*CRCCC1I9GU=5- 115 5:Y1y156|,ǀfFA%>9%CI%Fi%@%=!!%m; %wEY}%b@}%@y}%M}%(}%H%2ל??@g߿_˿Xv?Z@&??)~%b@ ~%7\;I~%CY?yF )\(?p= ף?Mb? G= > @=) I y ~jtkt?l?   0= = `=A) xUAI i bnA  \KA @ @ @Å©ÅÅiÅAÅ ą)ąAIąAiā M=Y.a"Hy9}>Iȱ :ŵ 5? :ŵrݾ Ƶ ?9ƵAǵ(: ȵR:)ȵa:WWX XWX:W2W*WVbUBU*UUU?!i%=B)B) B)A5x*B1A1A1A1A1"C9*C9RC9CACAI)GEQ>k,[fFAY}:P@}:%l@y}:B}:q}:H ߿ܵ]?O?߿g?ǿ6?c f?)~:P@ ~:#[;I~:CY^?ybF=M=Y=QU?a"Hyk}?IȹŽ 5?Ž6ݾ ƽH ?9ƽAǽ': ȽU:)ȹWWX XWX:W2W*WVbUBU*UUU ?B)B) B)A-*B)A1A1A1A1"C9*C9RCACACAU?iU?1I9GU=5a 555 5x:Y5U1y5:526Ӊ,;7)fFA|i|Y}>@}>G@y}>;}>}>H?߿ a?@fO?P߿VĿRT?}`v?)~>@ ~>{[;I~>CY^=?ybfF]a<M]N=Yefaaam"Hiiyub̼}u>I : 5? :7ݾ  ?9=AI: l;)b:WWX XWX:W!2W!*W!V!bU)BU)*U)U)U-@BYBY BYA]^*BYAaAaAaAa"Ci*CiRCiCiCqqIyG=9CI(Fi,@=KDs; E»,CfFAY~2?y~“Fi-mGIAqu^AiؿٺA   C<a"H y }>Iy}1 5?}@ݾ }} ?9}hA}; }:)yWWX XWX:W2W *W V)bU1BU1*U1U9U=@BB BA*BAAAA"C*CRCCCIG$>I%@A)%AA5 115 5l:Y1y156)5;9=喼, \fFAY}:@}:H@y}: ;+}:I}:H9߿g<9?k?޿ƿM?@+Gz?)~:@ ~:X\;I~:CY^i?ybF``-<M-Y=Y5i.=QU5>11a5"H99yE}E>II U:MY 5? U:M&ݾ Mz U?9MAM: M:)Mc:WyWyXy XyWyXy:W2W*WVbUBU*UUU@g@RB*** querying acoustic contact ***PPBB BAS*BAAAA"C*CRCCCI)\AIG=",vfFA^>9\I^НFi^E@\\\^v; ^E)uCIuCiuCu=u=u~&6Y}g@}@y}"}s}H`{-߿7=? ?@ݶ޿@ƿP?k` ?)~g@ ~];I~CY?yFZ****** received transponder code query ******F****** received ping request ****** 9)IyQQa]"HYYy}>I 5?lݾ x ?9ҐA: :)-y --- -z:Y-X1y-/:-)6)-;WQWQXQ XQWQXQ:Wy2Wy*WyVybUBU*UUUe @BB BA*BAAAA"C*CRCC C IG=r>,fFAY}:.@}:@y}:i}:}:H@x߿8'r?ী?߿|8Ŀ?t鲿 ?)~:.@ ~:Ў\;I~:CY^e?y^FbxDUSBL response received:!U1,P 502,000,002AE,18A,80,80,B7,FF bCommand AckbBRequesting micromodem ping code 2iddjNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ) > >=x=ME=YU=QU]?iiau"HyyXg<}?IQ e:U¡ 5? e:Uݾ Uw m?9UAU< U;)Ud:WWX  X)W)X1:W12W9*W9VAbUABU*UUU@h @BiBi BiAu*BqAqAqAqAq"Cy*CyRCCC!i%p=סIGE>!,|~fFAY}:`@}:3@y}: }:x&}:HM߿ ߼ﵠ?!k?߿ ]L?@.!?)~:`@ ~:O\;I~:CYv?yvFxɮza=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B TMC=Y4a"HPHy:<}>IΣ 5?ݾ Wv ?9-Ag: ض:)WWX X W X :W 2W *WVbUBU*UUUW@BABI BIAM'*BIAIAIAIAQ"C1*C9RC9C9C9)I1GU>5 555 59q:Y50Y1y5:569=@ܭ>9ܭCIܭ@Fiܭ?ܭ=ܩܩܭY; ݭoE ,YfFAY}>o@}>@y}>/ }>[׼}>H߿ ?||?߿@`d?ີ3?)~>o@ ~>];I~ `)bQCI`y`bw?amf-ٱ`   ýý ýta"Hy%}>I :" 5? :ݾ t ?9fA: :)e:WWX X!W!X!:W!2W!*W)V)bU)BU)*U1U1U5@RE(Combining 5 samples.PA*QAZQEs:@?apuV JQEw?amf-2QA:QAbQE̘u@aY@RlrHf?RQE!,J?TA?X\=š3?BQEw? QE2@@QE{@PEc9?PAPAQAQEY @"QE@ByBy BA*BAAAA"C*CRCCCIG$>6,?fFAY}f@}f@y}fp }f.}fH@߿ ? |?@߿@ ?`@?)~f@ ~fY\;I~fCYr?yrFeTNmea in: $SNTTA,0.067958,,,,225714.63*47 ]A9MW=YQU>a"H!!y%}->I15# 5?5ݾ 5s =?95A5: 5R:)1mmiAdded new target pos. range: 3.660000 m, bearing: 55.421360 deg, deltaT: 4.472658 s, approachRate: 0.000000 m/s, LOS rate: 0.022556 deg/s, posRepo size: 4XiWmw?WqXq XqWqXq:Wq2Wy*WyVybUyBUy*UUU~O?BB BA*BAAAA"Cw?*CRCCw?CIG>I%AA)!-S --- - :Y-DW1y-Y:-6a, fFA-JXFailed to parse device response: 12,4877.60 Y}5@}5=@y}5 }5,}5H ߿}?||?JS߿`Bÿ ]0?@y ?)~5@ ~5d\;I~5CYu?yuFMb?ˡE?l?='= =)IyQQaU"HQYy]8:}e>Iim 5?mݾ mq u?9mAm: mk:)iWWX XWX:W2W*WVbUBU*UUU \?BB BA*BAAAA"C*CRCCCIGEQ>Eļ,FfFAY}:@}:@y}::}:J}:H`߿ѐ@v?@%߿`Ŀ@ni?`n?)~:@ ~:,\;I~8Y^?yb&FR_M=Y:aaae"Hiiym}u>I 5? ݾ Yn ?9A@: :)WWX XWX:W2W*W!V!bU!BU!*U!U)U-G?BQBY BYA]L*BYAYAYAaAa"Ca*CiRCiCiCiiIyG=!i!]>9YI]Fi]1?]=YY]A; ]bEWѼ,EfFAY}:D@}:@y}:[}:}:H`X޿@d$?`?@޿' ?s?)~:D@ ~:Z;I~:CYnJ?ynFIA)AIA)A   +=`94a"Hy#o}>I  :  5? : ݾ l ?9 A < <) g:WWX XWX:W2W*WVbUBU*UUU l@BQBY BYA][*BYAYAYAaAa"Ci*CiRCCCׁIG>5 115 5M~:Y1y15 6)5;9=׼,R|_fFAY}:@}:L@y}:d}:@7}:H5޿ @??`Ϝ޿`u7?!?)~:@ ~:Z;I~:CYJ?yJɕFUXM]S=Y]dQU]>aaae"Haiym}m>Iqu 5?uݾ uj ?9uɑAu: u:)qWWX XWX:W2W*WVbUBU*UUU @BB BA΂*BAAAA"C*CRCCCIG=Ԯݼ,cyfFA">9 I i " ; "DEY}@}v@y}W } }H޿ #??`K޿`[V?@2枿?)~@ ~:Z;I~CY?y\FAA]S?Mb?Mb]/]>]@= ])YIYy]y&1I +?{Gzt]`e]94<]ף ]?A)]IAI]=4Ai]"WAY]GEAqu^A @ @ @ý©ýýiý\Aý Ľ)Ľ9AIĽAiĽA)DM4=YQU>a"Hyܻ}>Ii u:m 5? u:moݾ mk u?9mّAm: m^:)mh:WWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBaBa BaAe*BaAiAiAiAi"Cq*CqRCqCqCy5x 555 5z:Y5Y1y5:56)5;iiyiIi-Uؿٺ)5KAI1GUS>ē伙,2fFAY%?y%SF-Z****** received transponder code query ******-F****** received ping request ******5a"Hy}>I 5?ݾ Dl ?9AF: ):)WWX XWX:W2W*WVbUBU*UUU׺ @B1B1 B1A=*B9A9A9A9A9"CA*CARCICICI)I1GU>ܽ꼙, fFAY}: @}:6@y}:}:-}:H ^#޿ :j?ݿ5]ÿ?R?)~: @ ~:Z;I~8YHyLVxDUSBL response received:!U1,P 502,000,002AE,189,80,80,D1,FF VCommand AckZBRequesting micromodem ping code 2iXX=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Y"a"HQHy%f}->IY]ǥ 5?]0ݾ ]'m ?9]A]; ]6;)YW!WIXI XIWIXI:WI2WQ*WQVQbUQBUQ*UYUYU] _ @BB BA*BAAAA"C*CRCCCEn EEE E :YEV1yE:Er69M@IG5O>i9iIm Fim?iiim; m;E-,fFAY}Fx@}F@y}F }F;怽}FHVݿkD?`?!ݿ¿?`N꯿?)~Fx@ ~FZ;I~DYrN?yrIFtɮvp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )=  M M MM#aaae"Haiym;ջ}u>Iy :} 5? :}ݾ }m ?9}A}0: }:)}i:WWX XWX:W2W*WVbUBU*UUU ]@BB BA*BAAAA"C*CRCCCסIG">,"fFAY}B@}B{@y}B }BGG}BH{ݿkS??`ݿ )k¿@?@ڨ?)~B@ ~BZ;I~@YR?yRF^xDUSBL response received:!U1,R,502,000,002AF,189,80,80,B4,FF ^Fpublishing direction and range info\\ɰ^a=\ \)^4CI\y^n@^w?amf-ٱ\InA)lz]<M~d=Y~C-QU~>a"H y ?} >I 5?ݾ n %?9A: A:)WAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UQUYU] @Rm(Combining 5 samples.Pi*Qmn@ZQmo$?7U JQmw?amf-2Qi:QibQm:ۧ@ VF@Ɲ'օ?RQm?t?{`q?BQmn? Qm>@Qm> @PiPmc9?PiQiQma@"QmY @BB BAH*BAAAA"C*CRCCCבIG=5 5}5}5 5:Y5kS1y5Ԋ:56,fFA">9 I"Fi"1? "; "?E)Ii==٘5Y}%s@}%@y}% k}%h}%HݿtZ3x??XݿRĿ]?z?)~%s@ ~%Z;I~%CYE?yEFdNmea in: $SNTTA,0.040429,0.462900,,,225719.09*5F w/?Mb?S㥫&>= /])IyA)µ+MAIµ5AiµYAFA @ @ @Õ©ÕÕiÕGAÕ ĕ)ĕAIĕAiĕpA4M&=Y^PQU>a"Hy{}>Iȹ :Ž 5? :Žݾ ƽl ?9ƽ:Aǽb: Ƚ:)Ƚj:m=mAdded new target pos. range: 3.720000 m, bearing: 53.383229 deg, deltaT: 4.383603 s, approachRate: 0.013687 m/s, LOS rate: -0.464944 deg/s, posRepo size: 4X9W=n?WaXa XaWaXa:Wa2Wi*WiVibUiBUi*UqUu @Uu ?BB BAu*BAAAA"Cn?RCCn?CIG%M>,hzfFAY}:R~@}:ݙ@y}:4}:Խ}:Hݿ^W@?ܿq,ƿ@,? ?d?)~:R~@ ~:u-[;I~:CYJ5?yJF}K!M}v=YY;QU?a"Hy,ǻ}?Ișŝ 5?ŝݾ Ɲ k ?9ƝWAǝ: ȝ:)șWWX XWX:W2W*WVbUBU*UUU`Q?B B  B A *B AAAA"Cil?RCCC!IG==I%@A)%@A5g 555 5Gy:Y5V1y5:5M6 ,U.fFAY}:-@}:H@y}:] }:Y0}:HLݿ@r?ܿiĿ@N?`Z`?)~:-@ ~:[;I~:CYb?yf7F#FMG=YJa"HytE}>I :V 5? :ݾ pi ?9{A: _:)k:WWX XWX :W 2W *W V bUBU*UUU`ž?BABA BAAM *BIAIAIAIAI"CUn?*CYRCYCYCYIi)m]AqIyG= 9 I xFi ?    ; CEu,C7HfFAY}Zr@}Z@y}ZA }Zũb}ZHܿދD? 6?@!ܿ`7¿ 6r? ?)~Zr@ ~Z[;I~ZCYn?yn F    @ @ @ÑÑÑiÕQAÑ ĕ9A)ĕzAIĕvAiĕA<MK=YN;QU>a"Hy}>I 5?ݾ g ?9A: :)WWX XWX:W2W*WVbUBU*UUU -?BB BA*BAAAA"C*CRCCCIG >- --- -r:Y-0Y1y-:-s6)-;95, bfFAY}:K@}:@y}: }:俽}:Hܿ`b5??^ܿĿ`I?oW?)~:K@ ~:Z;I~8YJ?yNF)-= ->]q2M]O=YeWP;QUe>aaam"Hiiyu:}u>Iy :}ۦ 5? :}ݾ }9f ?9}A}: }:)}l:WWX XWX:W2W*WVbUBU*UUU`>@BB BAA*BAAAA"C*CRCCCIG=%=i! >9 I i  =   ;  6EL, {fFAY}b @}bH<@y}br}b}bH.Iݿ`m $?ܿ /Aſ?CԻ?)~b @ ~b[;I~bCYr?yv8Fa"HyR<}>Iȡťg 5?ťݾ ƥ}c ?9ƥAǥ(: ȥk:)ȡWWX XWX:W2W*WVbUBU*UUU@BB BAq*BAAAA"C*CRCCC?i?׹IG$>- --- -m:Y-V1y-:-_6)-;/%,fFAY}Ba@}B@y}B}B;^}BHݿ'\6?5)ݿSDÿ)?*Y@?)~Ba@ ~BuZ;I~BCYr?yr^Ftv@A  M g=Y Xa"Hy<}%>I!% 5?%Wݾ %pa 5?9%A%N: %$:)!WQWQXQ XQWYXY:WY2WY*WaVabUaBUa*UaUiUm@RuB*** querying acoustic contact ***PqPqBB BAʃ*BAAAA"C*CRCCCױIG=Z+,4fFAY?yF5Z****** received transponder code query ******5F****** received ping request ******5a"HRHy}>Iȹ :Ž 5? :Žoݾ ƽ^ ?9ƽNAǽ: Ƚ :)Ƚm:WWX XWX:W2W*WVbUBU*UU U n @B1B1 B9A=*B9A9A9A9AA"CA*CIRCICICIIIYGu=I)))]x YY] ]z:YYyY]69u@9CIFiv?=; )Ei nGI i ܿٺ 9A)D2,^fFAY}B@}B/@y}B|F}B!x(}BH@2ݿ =O?? (ݿW }?ि?)~B@ ~BvZ;I~BCYn?yn1FrxDUSBL response received:!U1,P 502,000,002AF,189,80,80,B4,FF rCommand AckvBRequesting micromodem ping code 2ittzNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 E E EEE=EtiEAE EA)EAIEAiEAM/=Y*QU>a"HyX;}>I  Ӭ 5? bݾ |\ -?9 A  ]; ~C;) WYWX XWX:W2W*WVbU!BU)*U1U1U=@BB BAD*BAAAA"C *C RCCCI)))IG-o>m8,%[fFAY}:7@}:­@y}:}:Jo}:H`zݿYR?! ? TsݿJ6¿` ?O?)~:7@ ~:Z;I~:CY^?y^FvNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Mg=Y QU >  a"Hy}?I! -:% 5? -:%ݾ %Z -?9%A%I: % :)%n:WQWQXQ XQWYXY:WY2WY*WYVYbUaBUa*UaUaUmTJ@BB BA{*BAAAA"C*CRCCCשIG=-^ --- -x:Y-W1y-č:-6ܝ >9ܙ Iܝ Fiܝ ?ܝ =ܙ ܙ ܝ ; ݝ E<>,.fFAYEG?yEFUxDUSBL response received:!U1,R,502,000,002AD,18A,80,80,C1,FF UFpublishing direction and range infoIIɰMu`=M> I)MACIIyMff@Mw?amf-ٱIu/$?~jt?uD< ut)qIqyuQ/$?Zd;O?uuAAaE"HAIyU}U>IY]ܭ 5?]ݾ ]X e?9]ѓA]{: ]:)YWWX XWX:W2W*WVbUBU*UUU"@R (Combining 5 samples.P *Q ff@ZQ xP^B(?0B JQ w?amf-2Q :Q bQ Ȍ h@n>&2@}j@ ?RQ  0^\W?|q~?J?BQ ~ n? Q 7@Q @P P P Q Q @"Q a@BYBa BaAe܄*BAAAA"C*CRCCC-=i-=סIGC>YE, fFAY}>C@}>^@y}>}}>2#}>H[_ݿwj??DRݿ`¿? ?@X?)~>C@ ~>Z;I~a"Hy Z} >I! 5:% 5? 5:%nݾ %V =?9%A%c; %Jj;)%o:mqAdded new target pos. range: 3.599999 m, bearing: 53.275469 deg, deltaT: 4.529995 s, approachRate: -0.026490 m/s, LOS rate: -0.023788 deg/s, posRepo size: 4XW~ n?WX XWX:W2W*W!V!bU!BU!*U!U5 @U5 ?BB BA*BAAAA"C~ n?*CRCC~ n?C ?i ?IG(>- --- -r:Y-U1y-:-E6CK,0fFAY}:=b@}:}@y}:}:n<}:Hzqݿf@E?+?`,Zݿaÿq?`,J@`?)~:=b@ ~:=Z;I~:CYN?yNWF}TM}Q=YʰQU>a"Hy;}>Ișŝ 5?ŝIݾ Ɲ@U ?9ƝAǝI: ȝ:)șWWX XWX:W2W*WVbUBU*UUU`?B B  B A *B A AAA"C*CRCCC!IG==U>9QIUFiU?U=QQU; UE)CICi==R5R,JfFAY}FBH@}Fc@y}F$d}FB}FH`Sݿ@xm?x?&;ݿ@)Ŀ? H?)~FBH@ ~FZ;I~FCYr?yr4Fim]A   Õ+Õ5^>Õ=iÕAÕ ĕpA)ĕpAIĕSAiĕAM,=YRQU>a"HyY}>I :l 5? :Yݾ (S ?95A0: :)p:WW X  X W X :W 2W *WVbUBU*UUUm?BABI BIAM{*BIAIAQAQAQ"CY*CYRCYCYCa5U 555 5w:Y5X1y5/:56)5[;9=YIiG9>OX,_dfFAY}B+:@}BU@y}B$}B^}BH>ݿs@Wo??`3ݿ[ſ~? z `?)~B+:@ ~B[;I~BCYbE?ybF}HM}v=Y⮼QU?a"HyY*}?IșŝM 5?ŝݾ ƝQ ?9ƝPAǝ: ȝk:)șWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*CRCCCשIG>M >9M CIM 8FiM ?M =I I M ; M E^,yw~fFAY}Nb@}N9@y}NY/}NQ}NHݿ`&{j?l?ܿhXƿ?˩}?)~Nb@ ~N[;I~NCY^g?yYF ^I +?{GzĿ~jt X9> # ) I y ~jtxI +?Mb? Ļ 94= < ) VLAI 2Ai \A  FA @ @ @ý©ýýiýAý ĽA)ĽAIĽAiĽAvxM7=YfQU>a"Hynx}>I 5?ݾ OP ?9zA: :)WWX XWX:W!2W!*W!V!bU)BU)*U)U)U5g?BYBY BYAeԅ*BaAaAaAaAa"Ci*CqRCqCqCqiIG>= === =:Y=V1y=:=6)=;Se,QfFAY}:@}:@y}:;<}:E}:HӺܿ@υ5? l?ܿ!ƿe?TĖ@s?)~:@ ~:E];I~:CYbk?ybF)e= e=M`=YS QU>a"Hyt}>Iȹ :Ž۪ 5? :Ž]ݾ ƽ O ?9ƽAǽ=: Ƚ:)Ƚq:WWX XWX:W2W*WVbUBU*UUU7@B)B) B)A-*B)A1A1A1A1"C9*C9RC9CACA1I9GU=!i%a=zk,'1fFAY}R@}R3@y}R_J}Rw}RHܿ`΋ul?2?ܿ@Bȿ/? ڜ@\?)~R@ ~R ^;I~RCYb?ybuFhjAAIrA)pIp)p sM T=YQU>a"H%SH!y%B}->I)- 5?-ݾ -M =?9-A-: -:))WYWaXa XaWaXa:Wa2Wi*WiVibUiBUi*UqUqUu@RB*** querying acoustic contact ***PPB9BA BAAE0*BAAAAIAIAI"Cq*CqRCqCqCyiIyG=9CIi; -E5 555 5:Y5W1y5č:56)5;Pr,fFA|i|Y%?y%F5Z****** received transponder code query ******5F****** received ping request ******5a "H  y}>Iș :ŝZ 5? :ŝݾ Ɲ2L ?9ƝAǝ: ȝ:)ȝr:WWX XWX:W2W*WVbUBU*UUU @BaBi BiAm*BAAAA"C*CRCCCסIG > y,fFAY}Rݻ@}Rh@y}R ,Z}RAD}RH@ܿҗw? z? +ܿ`ʿ?`x=?)~Rݻ@ ~RW\;I~RCYj?yjF-xDUSBL response received:!U1,P 502,000,002AD,18A,80,80,C1,FF -Command Ack-BRequesting micromodem ping code 2i)1=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ‰‰⌼MO=YQU>a"Hyܹ}>I9=+ 5?=Pݾ =J m?9=A=.= =%-=)9WWX XWX):W)2W1*W9V9bU9BUA*UyUyU}4 @BB  B A *B A A A A"C*CRCCI!)%?A5 115 5h:Y1y1569=@CA!I9GeV> >9 I Fi ? = ; NE B,fFAY}:T@}:@y}:b}:49}:H`iܿ?`? ܿh>˿?@JX2?)~:T@ ~:W\;I~:CVfailed to initialize; deviceResponse_ loaded: !C REMUS Rev 1.1 !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH COVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS , available: 442q VV(Communications FaultYZ?yZ6F\ɮ^a=~Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B imGIiE3տٺAEA ףp= ?{Gz?sh|??Q8>#< =)Iyy&1Mb~jt`弹 µ@A)µNAIµC/AiµgApIA @ @ @©iA pA)~AI9Ai\Ay<M=Y`|QU>a"Hy7}>I : 5? :ݾ :N ?9(A: :)s:W9WAXA XYWYXa:Wa2Wa*WaVibUiBUi*UiUqUun}@BB BA*BAAAA"C*CRC C C I-$=LCommunications Fault in component: DDMGE>,fFAY}R @}R@y}Ri#j}R}RHxܿ@z?]?ܿ˿O?@:f&?)~R @ ~R\;I~RC~Powering downɪ) Ym?ymЍFuxDUSBL response received:!U1,R,502,000,002AD,189,80,80,C0,FF uFpublishing direction and range infoqqɰqu7> q)u@CIqyquw?amf-ٱq- --- -Z{:Y-X1y-/:-r6=U=M=Q=Y=SQUE>AAaE"HAIyMI<}M>Iim 5?m*ݾ mP ?9mF,z3fFAY}jE@}j0@y}jeo}j¹_}jHܿۊ?@?~ܿ Ϳι?0`&?)~jE@ ~jp\;I~jCYz?yzFeDNmea in: $SNTTA,,,,,225727.98*58 )}= }>νM=YQU?a"Hy|;}?Iȡť 5?ťkݾ ƥoR ?9ƥJAǥض: ȥ:)ȡmmAdded new target pos. range: 3.599999 m, bearing: 52.329556 deg, deltaT: 4.513340 s, approachRate: 0.000000 m/s, LOS rate: -0.209582 deg/s, posRepo size: 4XWi?WX XWX:W2W*WVbUBU*UUU?B!B! B!A-*B)A)A)A)A)"C5êk?RC9C=i?C9IIG=q9qIuFiua?qqquE; uhE!i%p=,,QMfFAY}N@}NU$@y}Ns}Nh}NH ɠܿ??@K]ܿ ^"ϿR'?@?)~N@ ~NC\;I~LYn?ynwF   ʡ`;;izA A)AIiATMD=YQU>a"Hy'}>I  :  5? : ݾ  U ?9 _A 1: :) t:W9W9X9 XAWAXA:WA2WA*WIVIbUIBUI*UIUQUU:?ByBy BA*BAAAA"Ci?*CRCCCץ?iץ?׉I$NClearing failed state for component DDMq G=E EEE E#s:YEW1yEč:E6V,*gfFAY}B@}Bj@y}Bʫx}BDV}BHqܿ3>?O?ܿdο}?`a`?)~B@ ~BZC\;I~BCYRR?yRF=Z=MEV=YE6XQUE>IIaM"HIIyU}U>IY]D 5?]$ݾ ]uW e?9]rA]R: ]:)YWWX XWX:W2W*WVbUBU*UUU?BB BAY*BAAAA"C*CRCCCiIyG=m >9i Im Fim 1?m =i i m ;; m cE)9I9i99===L5>,!fFAY}NS@}N@y}N-}NA$}NH \cܿa>?@:? ܿTοl ?/ߣF?)~NS@ ~N1\;I~NCY~?yaF/$?l¿ˡE?1> =)IyI +X9v+94  ?A)SAI1Ai pAMA  ^A @ @ @õ©õõiõ=Aõ ĵA)ĵAIĵAiĵ5A=M4=YaQU>a"Hyyc:}>I :d 5? :ݾ \ ?9A: k:)u:WWX XWX:W2W*W!V!bU!BU!*U)U)U5@K?BqBq BqAuh*ByAyAyAyAy"C*CRCCCסIG">I!)%AA5 555l 5B:Y5xZ1y5q:5N6)5;9=h,;fFAY}:@}:8@y}:ya}:3W}:Hiܿ!fG?v? —ܿ+п |? ?)~:@ ~:W\;I~:CY^,?y^4FU%=iU<&M_=Y١QU>a"Hy@;}>IȹŽP 5?Ž~ݾ ƽ_ ?9ƽAǽ: Ƚ:)ȹWWX XWX:W2W *W V bU BU*UUU/?BABA BAAE*BAAIAIAIAI"CQ*CQRCQCYCYI9GU=ݔ,HŴfFAY}N1@}N@y}N }NЃ}NHܿu?[?ܿ qп@@?3Я?)~N1@ ~N&[;I~NCY^6?yb؎F)<MH=YQU>a"HTHy劼}>I :[ 5? :+ݾ c ?9ŕA.: V;)v:W!W!X) X)W)X):W)2W1*W1V1bU1BU1*U9U9U=@]@BaBi BiAm*BiAqAyAyA"C*CRCCCI9I@Fi?2; _EG- >- --- -q:Y-W1y-č:-6)-;z,fFAYm?yF!!)= > =>   Å =ÅDÅD;iÅAÅ ąA)ąjAIąAiąOA<MM=YQU>a"Hy}>Iȱŵ_ 5?ŵݾ Ƶg ?9ƵAǵ: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BAR*BAAAA"C*CRCCC׉IG=%=i!򤹽,sfFAY}N@}N @y}NK~}Nѽ}NHsۿ@I3?`?`ڿ `п`v?tZ`#?)~N@ ~No[;I~NCYbc?ybFfZ****** received transponder code query ******fF****** received ping request ******ja"Hy}>I :y 5? :ݾ k ?9A; L;)w:W9W9XA XAWAXA:WA2WA*WIVIbUIBUI*UQUqUu@A@BB BA*BAAAA"C*CRCCCIG>5M 115 55w:Y1y1569=@ >9 I Fi @ = 7; aEq,qUfFAY}:@}:6@y}:v}:x}:H +ۿC?@G?`pۿϿ ?@?)~:@ ~:'[;I~:CY\y\bxDUSBL response received:!U1,P 502,000,002AD,189,80,80,C0,FF bCommand AckbBRequesting micromodem ping code 2i`djNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 A`"?~jtK?Y= ^=)Iy rhI +?MbPC94= 5>A)YAI-AiwA3OA @ @ @©iA )AIAiAY=viaiam"Hiqy;}>Iȱŵ 5?ŵݾ Ƶl ?9Ƶ0AǵZ; ȵM;)ȱWqWX XWX:W2W*WVbUBU*UUUF @B!B) B)A)*B)A)A)A)A1"CQ*CQRCYCYCY)I9GU>ƽ,/1fFAY}^ @}^@y}^+p}^'~}^HAۿm? X?ۿ $ ο8?`G?)~^ @ ~^1[;I~^CYn&?ynDFra=ɮrp= Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =MI!)!- ---w -r:Y-X1y-/:-|6̽,6fFAY}:k@}:@y}:p~k}:}:H`vۿ#]3? ? ۿ`ο-?m`} ?)~:k@ ~:s[;I~:CY^9?ybFfxDUSBL response received:!U1,R,502,000,002AF,189,80,80,B7,FF fFpublishing direction and range info``ɰba=` `)b7CI`ybn@bw?amf-ٱ`AMJ=Y9a"HyTb}>I :' 5? :ݾ n -?9rAR; ;)x:WWX XW X :W12W1*W1V1bU1BU9*U9U9U=yd@Rm(Combining 5 samples.Pq*Qun@ZQuo$?7U JQuw?amf-2Qq:QqbQu#uar@XJ@ne?RQuw2? `??BQu Kb? Qu_5@Qu@PqPqPqQuQuh@"Quo@ܵ>9ܱIܵ(Fiܵ,@ܵ=ܱܱܵ); ݵZEB9B9 B9AE߄*BAAAAAAAAa"Ci*CqRCqCqCqaIiG9>i]nGIiпٺnAӽ,OfFAY}b,@}b@y}bf}b@}bH ۿ??w6ۿgͿ`? \?)~b,@ ~b[;I~bCYrR?yr_FDNmea in: $SNTTA,,,,,225732.41*58 )å= å= e e ee(>e;ejieAe eA)eAIeAieAu<M}?=Y}+a"Hy@h;}>Iȑŕ 5?ŕݾ ƕn ?9ƕAǕ: ȕϸ:)ȑm mAdded new target pos. range: 3.720000 m, bearing: 50.647041 deg, deltaT: 4.354718 s, approachRate: 0.027557 m/s, LOS rate: -0.386366 deg/s, posRepo size: 4XW Kb?WX XWX:W2W*WVbU!BU!*U!U% @U%F?BB BA*BAAAA"Ce?RCC Kb?CI - ---z -l:Y-DW1y-Y:-6GE0>Aٽ,'ifFAY}:V@}:@y}:Bab}:r}:H@ۿgsL?w? +vۿ{̿K?*?)~:V@ ~:ݔ[;I~:CFPowering upF"Initializing DDM.Y=?y=ՒFU>=MUM=Y]5YYae"Haaye ٺ}m>Iq }:u 5? }:u_ݾ uo }?9uAu: u:)uy:WWX XWX:W2W*WVbUBU*UUUX?BB BA*BAAAA"C Kb?RCCCIG>-=i-=ܩ 9ܭ CIܩ iܩ ܭ =ܩ ܭ LDܭ ; ݭ +E[ཙ, fFAY}Jٱ@}Jd@y}JV\}JdM}JHۿ@@ ? ? ۿT˿T?#8?)~Jٱ@ ~J/t[;I~JCY~?yFmrh|?A`"Zd;O?m{>mY mj<=)iIiymS㥛I +a"Hy%/b9}%>I)- 5?-ݾ -Mo 5?9-ۖA-4: -s:))WYWYXY XYWYXY:Wa2Wa*WaVabUiBUi*UqUyUo?B9B9 BAAEK*BAAAAaAaAi"Ci*CqRCqCqCq=% === =t:Y=V1y=:= 6)= ;9EaIiG9>`罙,rfFAY}:x@}:&@y}:S}:x}:Hvۿ8QJ?`%?u)ۿ˿F?Z=?)~:x@ ~:B[;I~:CYF?yFCF))];M]j=Ye:?)~:-@ ~:V[;I~:CYVk?yV FDӻMB=Yג))aU"H]UHiy}$;}>Iȉō# 5?ōݾ ƍsn ?9ƍ AǍ; ȍ;)ȉWWX XWX:W2W*WVbUBU*UU U @e>9aIe`Fie@aaae; eE)Ii邉==킰>6BB BAS*BAAAA"C*CRCCCIG$>I!)%@A5 5{5{5y 5,i:Y5#R1y5:56)5;K,,fFAY}:0@}:@y}:cC}:⻻}:Hۿ<`? &? Nۿʿ1S?`H?)~:0@ ~:Z;I~:CY^?y^F u u uu>u=u;iufAu uA)uSAIuAiu9AmOMP=Ya"Hyc<}>I %:ڬ 5? -:Dݾ m -?9#A: :){:WiWX XWX:W2W*WVbUBU*UUU 0@B!BI BIAM{*BIAQAQAQAQ"CY*CYRCYCYCaIב)בaIqG>@,fFAY}BH@}B^d@y}Bq==}BĮ}BHLܿ*??@ۿ`AɿD?@U+Z?)~BH@ ~BZ;I~@YN?yNFPP)j= j=v{MvU=Yvxxaz"Hx|y<} >I 5?ݾ m %?9:AU"; P#;)WQWYXY XYWYXa:Wa2Wi*WiVibUqBUq*UqUyU}`G@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCiIyG=U UUU7 Ug:YU0Y1yU:U 69@U >9Q IU НFiU E@U =Q Q U ; U "E),3fFAY}:@}:J@y}:X<}:u}:HܿY? ?m\ܿ@ȿ@n?`S?b?)~:@ ~:PZ;I~:CY^!?ybߑFbZ****** received transponder code query ******fF****** received ping request ******fa"Hy0Q<}>Ișŝl 5?ŝ ݾ Ɲ%m ?9ƝOAǝ: ȝ:)șWWX XWX:W2W*WVbUBU*UUU0 @BB  B A e*B AAAA"C*CRCCC!IG-->R,EfFAY?y͑F%xDUSBL response received:!U1,P 502,000,002AF,189,80,80,B7,FF %Command Ack%BRequesting micromodem ping code 2i))I1)1ENmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ,Mn=YQU?a"Hy}>I1 E:5U 5? E:5ݾ 5l u?95`A5 < 5<)5|:WWX) X)W)X):W12W1*W9V9bUABUi*UiUiUmX @BB BAm*BAAAA"C*CRCCCE EEE E%q:YEX1yE/:E6IG-N>} ,8fFAY}J[@}J5w@y}J=}J \}JH \ܿ=?6?@?pܿ 0ǿ?`Un?)~J[@ ~J2[;I~JCY?y UF!ɮ%a=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ae]A>9CIFiE?=; 9E % % --=-=-i-QA- -A)-AI-9Ai-A=s.=M=3=Y=QUE>AAaE"HAIyM=H}U>IY]> 5?]0ݾ ]l e?9]rA]w: ]+:)YWWX XWX:W2W*WVbUBU*UUU.@BB BA̓*BAAAA"C*CRCCCשIG (>rf,tRfFAY}:V@}:@y}:~@}:F}:H@ܿ@f?`?ܿȿ1?c$f?)~:V@ ~:S[;I~:CY^?y^FbxDUSBL response received:!U1,R,502,000,002AC,189,80,80,B5,FF fFpublishing direction and range info``ɰb"`=` `)b5CI`ybb@bw?amf-ٱ`v\Mzx=YzpQUz?||a~"H|y n<} ?I! -:%* 5? 5:%ݾ %Bl =?9%A%h; %\;)%}:WiWiXi XiWqXq:Wq2Wy*WyVbUBU*UUU`x@R(Combining 5 samples.P*Qb@ZQ|f?.Yy JQw?amf-2Q:QbQ<26;@ ;2@yD^5?RQZ6Pkx?9 ? "dd߿?BQL!i? Q1@Q @PPPQQ{@"Qh@B!B! B!A%*B!AIAIAIAI"CQ*CQRCQCYCYaIqG>-9 --- -u:Y-V1y-:-W6,QlfFAY})@}wE@y}h">}0}HJݿ=V? .?ܿ@(ɿf?XⴿgW?)~)@ ~q`[;I~CY?yLFTNmea in: $SNTTA,0.041112,,,,225736.86*4E <M<=Y;QU>a"Hy^<}>I 5?Lݾ k ?9A÷: 4:)mmAdded new target pos. range: 3.539999 m, bearing: 52.177222 deg, deltaT: 4.417514 s, approachRate: -0.040747 m/s, LOS rate: 0.346390 deg/s, posRepo size: 4XWL!i?WX XWX:W2W*WVbUBU*UUQ @U`?BB BA9*BAAAA"Cd h?RCCL!i?CI׹)׹שIG=/>>9CI@Fi?; FE! ! y!,/fFAi>nmGIHiT~U׿ٺ|~jAY}4@}@y}>~8}\}H@ܿ$?@_?@|ܿ)ɿ@?ޡO`?)~4@ ~`[;I~CY?y(Fw/?:v?Q&>< )IyMbP{Gz?Mb`?ף<; AA)VLAIC/AicA(HA)== => @ @ @Å©ÅÅiÅGAÅ ą9A)ą9AIąAiąAVM1=YCa"HyN}>Iȱ :ŵc 5? :ŵݾ Ƶk ?9ƵAǵM: ȵ:)ȵ~:WWX XWX:W2W*WVbUBU*UUUfI?B!B) B)A-G*B)A)A)A1A1"C57g?*C9RC9C9C9=R 99= =w:Y9y9=6)=';9EIGI>',fFAY}:@}:@y}:r#5}:յ}:H)iݿkk? ?`Oܿ#ɿ??@`Xf`?)~:@ ~:k];I~:CY^]?ybF][M]w=Yex"9ܙIܝxFiܝ?ܝ=ܙܙܝ; ݝEE   GὩ=m=iA )AIAiA 6!<M 2=Y ;QU>a"HVH!y-}->I9 E:=; 5? E:=ݾ 9 M?9=ƗA='; =:;)=:WqWyXy XyWyXy:Wy2W*WVbUBU*UUU Z?B1B1 B9A=1*B9A9A9A9Aa"Ca*CiRCiCiCiם?iם?5 5~5~5 5r:Y5T1y5@:56)5T;YIiG8>4,fFA|i|Y}:f@}:@y}:3}:]}:HgSݿpk/? z?ܿ*ȿ.F?c@k?)~:f@ ~:[\;I~:CYF?yJzFIM^Ae~;Mej=Ye9QUe?iiam"Hiqyu}u?Iy} 5?}8ݾ }k ?9}ԗA}÷: }:)yWWX XWX:W2W*WVbUBU*UUU?BB BA&*BAAA!A!"C!*C)RC)C)C)IG==4:,6fFAY}:@}:4@y}:z:}:v}:H ݿT`&?@?Vݿ ȿp.? W i?)~:@ ~:/\;I~8Y^?ybFMD=YXQU>a"HyE<}>I 5?wݾ k ?9A; /;)W9WAXA XAWAXA:WA2WA*WIVIbUQBUY*UYUYUe 2S@BB BA*BAAAA"C*CRCCCIG% >] ]]] ]}:Y]V1y]:]69@ܝ>9ܙIܙiܙܙܙܙܝ; ݝPE)-CI-Ci))-=-/B5A,7pfFAY}Z@}Z@y}Zf>}Zα}ZH`bݿm?`?`ܿ\ʿ`?oеS?)~Z@ ~ZP[;I~ZCYj?yj2Fpr@AK7?J +?i|?5?I >H= q=)Iy/$~jt?{Gzt,D<ף ½a"Hy}>I :n 5? :uݾ Km ?9 Aw: :):WWX XWX:W2W*WVbUBU*U U U f@RB*** querying acoustic contact ***PPB9B9 B9AE*BAAAAAAAAA"CI*CQRCQCQCQIa)aAIQGm>G,EF!fFAY}:w@}:*@y}:h:;}:/Ҩ}:H@Wݿo1ۇ?9?NܿnɿE?5\?)~:w@ ~:![;I~:CYR ?yRFVZ****** received transponder code query ******VF****** received ping request ******Vqqa"HyC}>Iȩŭ 5?ŭNݾ ƭn ?9ƭ*AǭP#< ȭ#<)ȩWiWiXi XiWiXq:W2W*WVbUBU*UUU @BaBi BiAm*BiAqAqAyAy"C*CRCCC׉IG>5 555v 5{:Y5DW1y5Y:5`6N,+;fFAY}r8@}r @y}r4}rt }rH<ݿ`Qm??gݿ`gȿ -? 5N`h?)~r8@ ~rZ;I~rCY~?y~ŏFxDUSBL response received:!U1,P 502,000,002AC,189,80,80,B5,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 a9aIeFiev?e=aae ; eOE % % %% 0=%<%½i%\A% %=A)%AI%Ai%5AmݴMu-=Y}\U a "H yIv<}%>Ii u:m 5? u:msݾ m

sU,TfFAY}:x@}:J@y}:xY/}:}:H@F޿@0b?`?`ݿ k ȿ?jm?)~:x@ ~:Z;I~:CYzP?yzFp=ɮ=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ]Mh=Y'a"Hy"<}?IQ 5?2ݾ Qq ?9pAa; v\;)W WX XWX:W2W!*W!V!bU)BU)*UIUQUU $@@BB BAZ*BAAAA"C *C RCCC%?i%?I5 115 5r:Y1y15`6GE0>I+[,nfFAY}:f@}:J@y}:c.}:A}:H@8޿ 82/p? ? W޿ƿ?үy?)~:f@ ~:~Z;I~:CYF?yFFJxDUSBL response received:!U1,R,502,000,002AF,189,80,80,C8,FF NFpublishing direction and range infoHHɰJa=H H)JHCIHyJn@Jw?amf-ٱH\\b =Mf^=Yf:QUf>hhaj"Hlxyi@}>I  :  5? : ݾ r ?9 A Ӓ<  <) :WWX XWX:W2W*WVbUBU*UUU@S@R%(Combining 5 samples.P!*Q%n@ZQ%o$?7U JQ%w?amf-2Q!:Q!bQ%j>fs@5[5@/_?RQ%r?ޯ?M#?BQ%K p? Q%Y>@Q% @P!P!P!Q!Q%o@"Q%{@BB BA*BAAAA"C*CRCCCIG5 >=>99I=Fi=1?==99=; =KE?b,шfFAY} g/@} J@y} |3} fʽ} H_޿Crߵ?[ݿ`ɿD?`[?)~ g/@ ~ jZ;I~ CY%?y-XFTNmea in: $SNTTA,0.004476,,,,225741.31*44 (\?{Gz?Dl?.>#= O=)Iy?~jt?X9v<= 5>A)RAIh3AicAJA @ @ @©iGA A)AI5AiAM  =Y EQU >a"Hy%ٻ}%>I)- 5?-ݾ -gv 5?9-A-: -#:))meiAdded new target pos. range: 3.720000 m, bearing: 53.743026 deg, deltaT: 4.427685 s, approachRate: 0.040654 m/s, LOS rate: 0.353639 deg/s, posRepo size: 4XiWmK p?WiXi XiWiXi:Wq2Wq*WqVqbUyBUy*UyU} @U,?BB BAl*BAA% %%% %c:Y%V1y%:%`6)%;9-AQAq"C}K p?RCyC}K p?CiIyG]>@=h,֎fFAY~V?y~ĐFe=M}=YQU ?a"Hy} ?IȹŽr 5?Žݾ ƽx ?9ƽߘAǽ@: Ƚ{:)ȹWWX XWX:W2W*WVbUBUq*UqUyU}5?BB BA؄*BAAAA"C*CRCCCI)IG>ln,}fFAY}R@}R@y}RI3}RZ}RHKT޿<"n?,?e޿ ſK?|?)~R@ ~Ra[;I~RCYvP?yzF)m= i   õҍ>õx=õiõAõ ĵOA)ĵOAIıiıMG=YQU>9I Fi?; VEa"HWHyqe<}>I  :Ц 5?  :^ݾ {  ?9A: :):W1W1X1 X1W1X1:W92W9*W9V9bU9BUA*UAUAU?BIBI BQAUZ*BQAQAQAYAY"Ca*CRCCCׁIi]nGI-m ---| -y:Y-U1y-:-6)-;i1e׿ٺim.AG<>BOu,$EfFAY}R@}R @y}R<}R[5}RH |޿`a Cש? y?޿8ǿ\s?IGsm?)~R@ ~RQ\;I~RCYn?ynXF}㻻MO=YnQU>a"HyN<}>IșŝE 5?ŝ,ݾ Ɲ~ ?9Ɲ.Aǝw: ȝ+:)șWWX XWX:W2W*WVbUBU*UUUw?B B  B A l*BAAAA"C*CRC!C!C!IG==y{, fFAY}NY@@}N[@y}NC}NpJ}NH ޿?@_?޿@@ȿ@L?ը 4a?)~NY@@ ~NU[;I~NCYn?ynFI9)9*8MF=Y5QU>a"Hy+<}>I : 5? :ݾ  ?9VA4: b:):WWX! X!W)X):W12W1*W9V9bU9BU9*UAUAUE\1@BiBi BqAu*BqAqAqAyAy"C*CRCCCױIG% >] ]]] ] j:Y]DW1y]Y:]|69u@9IXFi?= ; OEf,Z fFAY}N@}Nm@y}NA5J}N@}NH3߿l ?`9? E߿`3ȿ?kW?)~N@ ~N\;I~NCYZc?yZFZd;O?y&1y&1j<`e `e)Iya"Hy<}>IȹŽ 5?Ždݾ ƽ ?9ƽeAǽ#: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU^@B)B) B)A-*B1A1A1A1A1"C9*C9RC9C9CA!I)GE>P,:#fFAY}>@}>^@y}>O}>!B}>H5߿ !?.?@R޿(ʿ?@C?)~>@ ~>[;I~>CYbo?yb#FddvMvk=Yv恼QUz?xxa~"H||y;}?I   :  5? : ݾ  ?9 rA : :) :W9W9X9 X9W9X9:WA2WA*WAVAbUABUI*UIUIUM Mj@R]B*** querying acoustic contact ***PYPYByBy BAR*BAAAA"C*CRCCC׉IG=- ))-t -ҁ:Y)y)-*6 ,=fFAY}:.@}:@y}:;Q}:ib}:H@K߿@Y=? %?[޿˿? `9?)~:.@ ~:[;I~:CY^M?y^FbZ****** received transponder code query ******bF****** received ping request ******fa"Hyt;}>I 5?,ݾ   ?9A; s;)WQWQXQ XQWQXQ:WY2WY*WYVYbUaBUa*UaUaUe`N0 @BB BA*BAAAA"C*CRCC C I)IG=/>,WfFAY}:@}:/2@y}:Q}: m}:H@ev߿>?@? %$߿`˿?`۳;?)~:@ ~:[;I~:CYJ?yJFNxDUSBL response received:!U1,P 502,000,002AF,189,80,80,C8,FF NCommand AckNBRequesting micromodem ping code 2iLLVNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )v= v>˝Mh=Y-QU5>AAaM"HIayu<}>I  :  5? 5: ݾ s =?9 A @; ;) :WWX XWX:W2W*WVbUBU!*U!U)Uu@Zn @BB BA*B A A AA"C*CRCCC!= === =|:Y=V1y=:=r6QIqG@>Ǜ,+hqfFAY}:@}:1@y}:E S}:j}:H߿ײʞ?@;?@߿̿1?} 4?)~:@ ~:/\;I~:CY^ ?ybHFba=ɮbR=rNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B j<M%:=Y-PDQU5>AAaM"HIYye <}m>IȁŅ 5?Ņݾ ƅm ?9ƅADžȗ; ȅ;)ȁWWX X!W!XI:WQ2WQ*WYVabUBU*UUUo|@BYB BA*BAAAA"C*CRCCCיIGc>}>9yIyiyyyy}W; }xE𰢾,IfFAY}:@}:F@y}:,S}:dw}:H@] N՝?6?߿;̿A? @2?)~:@ ~:R\;I~:CYF?yJ6FNxDUSBL response received:!U1,R,502,000,002AF,189,80,80,B9,FF NFpublishing direction and range infoHHɰHH H)J9CIHyHJw?amf-ٱHEx&?ˡE)\(?E7=E什 EGa=)AIAyE~jtZd;O? rh?EļEj<=EC< E?A)E"WAIE0AiEhAAEKA = = = E@ E@ E@AAAiE(AA ESA)EAIEAAiEpAT MC=Y4QU>a"HyV;}>I 5?޾  ?9̙A߼: :)WQWQXQ XQWQXQ:WY2WY*WaVabUBU*UUU`Y@R(Combining 5 samples.P*QZQo$?7U JQw?amf-2Q:QbQئ@o,@NG?RQM?h'?pl%c?BQw? QfA@Q@PPPQQ@"Qo@BYBY BaAe*BaAAAA"C*CRCCC?i?5] 555 5{x:Y50Y1y5:5|6)5;9=יIGA>ۨ,((fFA|$i|$Y}^w@}^@y}^+R}^}^Hܧ`ب??`߿@ʿ ?;B?)~^w@ ~^\;I~^CYj.?yjFETNmea in: $SNTTA,0.091851,,,,225745.73*43 Y]^AfM\=Y6;QU>a"Hy9}>Iȱ :ŵˡ 5? :ŵ޾ Ƶ ?9ƵAǵ: ȵ:)ȵ:miAdded new target pos. range: 3.720000 m, bearing: 55.478208 deg, deltaT: 4.499473 s, approachRate: 0.000000 m/s, LOS rate: 0.385641 deg/s, posRepo size: 4XWw?WX XWX:W2W*WVbUBU*UUU  d ?BB BA*BAAAA"CJt?RCCw?C IG- >,fFAY}:[@}:@y}:W}:ѯ$}:H@߿\Q?@.?Xɿ m?# D?)~:[@ ~:E];I~:CY^?ybF)9)I-XFi-?-=))-; -E    @ @ @ÙÙÙiÝAÙ ĝ9A)ĝAIĝSAiĝSAZMI=YYKQU>a"HXHy}>I 5?޾  ?9!A: :)WWX XWX:W2W*WV bU BU *U U U?B9B9 B9AE*BAAAAAAAAA"CMw?RCICQCQYIqG=  {:YW1yč:6);뵾,0fFAY}:n@}:@y}:A c}:U}:H@߿ x??@O@Hʿ`%&?T<3?)~:n@ ~:\;I~:CY^?y^Fu (=MuN=Y}qQU}>ya"Hy|}>Iȑ :ŕ 5? :ŕ޾ ƕ ?9ƕLAǕ_: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU Z?BB BAh*B A A A A "C*CRCCCI))-\AIIYG}=>,cfFAY}:h@}:@y}:_j}:U}:Ho%߿` s?? ߿@)pͿJ?v@L?)~:h@ ~:V\;I~:CY^e?y^F)- > - >5`M=N=Y={QU=>AAaE"HAIyM}M>IQU 5?U$޾ U/ }?9UxAU; U;)QWWX XWX :WI2WQ*WYVabUBU*UUU ?BB BA*BA1A1A1A9"Ca*CiRCiCiCq  Dp:YT1y:N69@YIaGY>9Ii=; EQ U Ci nGI i % "ڿٺ! % A¾, fFAY}>_@}>@y}>_Rj}>}>H޿ ?`?޿ п@ ? h@?)~>_@ ~>e[;I~>CY^Z?ybۋFFx?~jtMbX9?K>ļ ʡ=)Iya"HyF}>I : 5? :[޾ Յ ?9Ak: :):W)W)X) XIWIXQ:WQ2WQ*WQVYbUYBUY*UYUYUe @BB BA׆*BAAAA"C*CRCCCIG$>'ɾ,f&fFAY}:K@}:7g@y}:Vi}:q_ڽ}:H޿6?&?Uݿ@Ͽ`?@f?)~:K@ ~:[;I~:CY^?ybwFI)5dcM=d=Y=/;QUE>AAaE"HAIyMB<}M>IQU$ 5?U޾ U懿 e?9UAU+: U:)QWWX XWX:W2W*WVbUBU*UUU F@BB BA*BAAAA"C*CRCCCIG=  Yp:Y0Y1y:6о,%A@fFAY}:@}:[@y}:n}:m}:H@!Z޿T#hI? 0?=޿0ο{? h; ?)~:@ ~: [;I~:CYJ?yJnFLN?Ah9hIhihhhhj; jExx } } }}=}@} i}=A} }A)}XAI}Ai}AŽME=Y4QU>a"Hy2}>I :! 5? :޾ W ?9AD; ¿;):W9W9X9 X9W9XA:WA2WA*WAVAbUIBUI*UIUIUU`9@R}B*** querying acoustic contact ***PyPyBB BA*BAAAA"C*CRCCCIG% >5;־,"ZfFAY}:U@}:1q@y}:cz}: p}:Hc޿| @k??g޿οV?`L ?)~:U@ ~:[;I~8J`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ  )  I Y-|?y-RF5Z****** received transponder code query ******5F****** received ping request ******5a"Hy{<}>I 5?޾ t ?9A: :) } o:YW1yč: 6W!W!X! X!W!X):W)2W)*W)V)bU1BU1*U1U1U]; @BB BA*BAAAA"C*CRCCCIG>cܾ,QsfFAY}Jd@}J1@y}JZM}JjJ}JHK޿\+?`g? ޿`ο`K? Œ?)~Jd@ ~J\;I~JCɫ髡) IY?yFxDUSBL response received:!U1,P 502,000,002AF,189,80,80,B9,FF Command AckBRequesting micromodem ping code 2i 5Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Mn?v/Mx Mt)IIIyMy&1Q롿y&1M`弹M\M` M?A)MWAIIiM pAIMMA @ @ @í©ííiíAí ĭA)ĭjAIĭAiĭOA>9IFi1?=; E)QIQiQU=U=Um4=PM='=Y=QUE>AIaM"HIYyeh;}e>Iy :} 5? :}޾ }[ ?9}A}< }<)}:WIWIXq XqWqXy:Wy2W*WVbUBU*UUU`]@BB  B A 0*B A A A A) "C1 *C1 RC1 C1 C9 A Iy G >xK㾙,эfFAY}>@}>2@y}>*}>^/}>H`0޿?M? ߿>;ο ;?;J\?)~>@ ~>Z\;I~<ɫyy)y yIyY?ywFp=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B <M=YQ}QU+?a"Hy$x<}-?I 5?޾ l ?9՚A: :)W!W!X! X!W!X):W)2W)*W1V1bU1BU1*U1U9U=`@BaBa BiAm*BiAiAiAqAq"Cq*CyRCyCyCy׉IG>  s:YDW1yY:6);9 jv龙,WfFAY}:~@}: @y}:ը}:}:H`޿Q@~ߧ?@? ~޿п'?y?)~:~@ ~:d\;I~:CɫYY)Y YIYY?ySFxDUSBL response received:!U1,R,502,000,002AF,189,80,80,C0,FF Fpublishing direction and range infoɰ鰡 )@CIyw?amf-ٱIp=)=|M\=YVQU>a"HYHy;}>I 5?޾ 呿 ?9A :)W!W!X! X!W!X):W)2W)*W)V)bU1BU1*U1U9U=@RM(Combining 5 samples.PI*QIZQMo$?7U JQMw?amf-2QI:QIbQMpr&@C @÷C?RQMJp?j~p?n}#9?BQMq? QMH=@QM3 @PIPIPIQIQM|@"QM@ByB BAv*BAAAA"C*CRCCCQIaG=`_,fFA092CI0i02=2;D02; 2EY}JE@}J@y}J}Jѽ}JH`޿@@☢??c޿'ѿ?iQ ?)~JE@ ~Jf\;I~Hɫ髩) IY?yF]TNmea in: $SNTTA,0.028989,,,,225750.24*43   Å<Å;Å\=iÅGAÅ ąOA)ąAIąAiąAM=YV$;QU>a"Hyt3;}>I :ۤ 5? :޾  ?9%A0; 0;):m5mAdded new target pos. range: 3.720000 m, bearing: 54.063522 deg, deltaT: 4.393797 s, approachRate: 0.000000 m/s, LOS rate: -0.321973 deg/s, posRepo size: 4X1W5q?W1X1 X9W9XA:WA2WA*WAVAbUIBUI*UIUIUU@&?] YY] ]:YYyY]`6)];BB BA*BAAAA"C q?RC C q?C IG5>,cdfFAY}B@}B@y}Bx}B}BH޿`??޿`Ͽ{?'?)~B@ ~BRa;I~BCɫYY)Y YIYY?yUFۼM=Y],AfFAY}Ue@}UT@y}Uө}UaG}UHL޿`iy? ? ޿`ο?) F?)~Ue@ ~Uxa;I~UCɫ) IY?yF qqe>9aIaiaaaae; eE}' }}}V }-t:Y}[1y}ݏ:} 6)}0; rh~jt?X9v?C= <)Iyl~jthMbpD ¥5>A)¥rZAI¡i¥`sANA @ @ @©iA )=AIrAirA <M =Y6QU>a"Hy}>Iȩ :ŭ 5? :ŭ޾ ƭ! ?9ƭhAǭ; ȭz;)ȭ:WWX XWX:W!2W!*W!V!bU)BU)*U)UIUU_?BB BA*BAAAA"C*CRCCC I G >,fFAY}:N@}:@y}:PA}:ZC}:HR(޿`Zk??q޿ Wο@?墧Q?)~:N@ ~::_;I~:Cɫ) IY s?y :FcM{=YhQU ?a"Hy>}?If 5?f޾  ?9~A: :)WWX XWX:W2W*WVbUBU *U U U L?B9B9 B9AEQ*BAAAAAAAAI"CI*CQRCQCQCQYIiGZ> ,(fFAY}:@}:@y}:tǀ}: ۼ}:Hݿ`8%`?+?Ah޿JͿ  }:Y0Y1y:`69@a 9a Ia ia e =e <Da e ; e E,CfFAY}Rʔ@}RU@y}RgZ}Rz}RH`ݿ,' E?y ?\޿}_οW=?}➿?)~Rʔ@ ~R\;I~RCɫyy)y yIyY?yFiEnGIa)aIiiy5ٺAAI=) u } }} =};};i} A} }XA)}AI}Ai}Af<M2=Y3QU>a"Hy=:}>I 5?޾  ?9A: r:)W)W)X) X)W1X1:W12W1*W1V9bU9BU9*U9U9UE@t@BiBi BiAu*BqAqAqAqAq"Cy*CyRCCCׁIG=>,\fFAY}:KW@}:r@y}:L}:IJ}:HMݿK?'?;ݿdпy?`P`?)~:KW@ ~:>\;I~:CɫYY)Y YIYY?yՇFAAMw=Y`v  r:YY1y:6,vfFAY}@}C@y}}Ƌ}H[ ݿ7s`L?@:R?@ܿkпP?᰿?)~@ ~Aa;I~Cɫ髩) IYy Z****** received transponder code query ******F****** received ping request ******P `)IyˡEy&1?11a5"H1Yye՝}e>Ii u:mu 5? u:mM ޾ mo u?9mAm; mƾ;)m:WWX XWX:W2W*W9CI Fi?=;DMD; EV1bU9BU9*U9U9UE` @BB BA*BAAAA"C*CRCCCבIG>#,afFAɫ髙) IY0?yKFxDUSBL response received:!U1,P 502,000,002AF,189,80,80,C0,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 !!U<M]*,a"HZHyK}>I : 5? : ޾  ?9-A$: :):WWX XWX :W 2W *WVbUBU*UUU C@BABA BAAM*BIAIAIAQAQ"CQ*CYRCYCYCYIIQGu> 9 CI XFi ? =  LD q;  E)ݕCIݕCiݑݕ=ݕ=ݕ5 0,fFAɫ髙) IY^?y@FxDUSBL response received:!U1,R,502,000,002AD,189,80,80,BA,FF Fpublishing direction and range infoɰu`=鰱 ):CIyff@w?amf-ٱ U U UUP=Utyya}"Hyy}>IșŝΩ 5?ŝ ޾ Ɲl ?9ƝLAǝ; ȝ;)șWIWIXi XiWiXq:Wq2Wq*WqVqbUyBUy*UyUyU@@R(Combining 5 samples.P*Qff@ZQxP^B(?0B JQw?amf-2Q:QbQol@~Y@U@0a?RQ΁?B1?j1?BQri? Qb5@Qs @PPPQQ@"Q|@BB BA-*B)A)A)A)A1"C1*C9RC9C9C9u?iu?AIQG}7>  q:YxZ1yq:6);l$7,fFAY}j[3@}jN@y}j8}j}jHۿl=?? ۿ`Bѿ`?@o a"Hy}>I : 5? : ޾  ?9kAE: :):mqAdded new target pos. range: 3.599999 m, bearing: 52.248587 deg, deltaT: 4.489799 s, approachRate: -0.026727 m/s, LOS rate: -0.404235 deg/s, posRepo size: 4XWri?WX XWX:W2W*WVbUBU*UU @UZ ?B1B1 B1A5*B9A9A9A9A9"CE l?RCICMri?CiAIIGm5>2Q=,4fFAY}@}@y}}<}Haۿ@? ?ڿVѿ`?|l?)~@ ~'b;I~CɫAA)A AIAY?yFܭ>9ܩIܭFiܭ1?ܭ=ܭ<Dܩܭ]; ݭ~E-J +(\?Mb?-H-.> -=))I)y-iqau"Hqyy})}>Iȉō0 5?ō( ޾ ƍ ?9ƍAǍ; ȍu ;)ȉWWX XWX:W2W*WVbUBU*UUUb?BB BA*BAAAA"Cn?RCCC I G >6D,fFAY}:@}:v@y}:䉾}:ƽ}:H@YPۿ@P!??@иڿ ѿ]? 뷿?)~:@ ~:/`;I~8ɫ99)9 9I9Y]?y][FyeM=Yh'QUE?a"H y {} F?Iz 5?i ޾ Ң %?9A : :)WWX XWX:W2W*WVbUBU*UUU`?BB B A  *B A AAA"C0n?*CRCCC! IG5 >5 555[ 5m:Y5X1y5/:5| 6)5;_J,+fFAY}>!@}>K=@y}>a}>#}>H }ۿ?@Ց?ڿ@^ҿ!?@3`n?)~>!@ ~>^;I~>Cɫ99)9 AIAY}?y}ʊF7MH=YQU%>!!a%"H!)y-^<}->I9 =:=3 5? E:= ޾ =X E?9=ӜA=: =I:)=:WaWiXi XiWiXi:Wi2Wi*WqVqbUqBUy*UyUyU} 8?B!B! B)A-F*B)A)A)A1A1"CUri?RCQCQCYiIqG>ܡ 9ܡ Iܥ xFiܥ ?ܥ =ܡ ܡ ܥ B; ݥ nE/HQ,`EfFAY}:[@}:7@y}:}:0u}:Hߞۿō??r8ۿ փѿ?^c?)~:[@ ~:R];I~:Cɫ99)9 AIAY?ywF   Í=ÍO >ÍC=iÍAÍ čA)ĉIčAičA<MB=Yc a"HyL}>IȹŽݤ 5?Ž\޾ tI ƽޥ ?9ƽAǽh: Ƚ:)ȹWWXi XiWiXq:Wq2Wq*WqVqbUyBUy*UyUyU@BB BA*BAAAA"C*CRCCCIG (>5B 115 5Tv:Y1y156)5 ;!rW,:_fFAY}B"@}B2@y}B΅}B^e}BHۿ` @??ۿA_пF? 1b?)~B"@ ~BLV\;I~BCɫYY)Y YIYYV?yvF9=MT=Yi!!a%"H!!y-sX}->I1 =:5 5? =:5޾ 53 E?95A5I: 5:)5:WaWaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UyUyU}@BB BA*BAAAA"C*CRCCCשIG>],$yfFAY}}#@}}?@y}}}}}}H@ۿ ? ?dۿ)пp?@ȳ?)~}#@ ~}}[;I~}CɫII)Q QIQYm?yuFqu@AIy)yI +~jtL7A`?9ļ +=)Iyla"Hy:}>Ișŝ 5?ŝ޾ Ɲ- %?9Ɲ6Aǝ< ȝ <)șWaWiXi XiWiXi:Wi2Wq*WqVqbUqBUq*UyUyU}d@RB*** querying acoustic contact ***PPBB BA*BAAAA- ))- -:Y)y)-`695@"C1*C1RC1C9A9AIEНFiEE@E=AAE<; EkECY1IAG]U>Ci}nGI`Ai]ٺ]`A]2A}d,fFAY}:@}: @y}:,}:2(}:H Mۿ OK? @?@ڿ` п?6﴿Q?)~:@ ~:@`;I~:Cɫ99)9 9I9YK?yҋFZ****** received transponder code query ******F****** received ping request ******99a="H9AyEڷ}E>II ]:M 5? e:M*޾ M e?9MLAM4; MH;)M:WWX XWX:W2W*WVbUBU*UUU @BB BAۆ*BAAAA"C*CRCCC IG5 >Bj,O̬fFAY}Bx @}B(@y}B7x}B }BHڿ0@?9?@/ۿnͿk?8 ?)~Bx @ ~BD_;I~@ɫYY)Y YIYY?yFxDUSBL response received:!U1,P 502,000,002AD,189,80,80,BA,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =MC=Y\a"H[H1y=ɨ}=>IquL 5?u޾ u ?9uhAu?C< uB<)qWYWaXa XaWX:W2W*WVbUBU*UU U @p @5 555= 5k:Y50Y1y5:5F 6BQBQ BQA]h*BYAYAYAYAY"C*CRCCCׁIGh>M >9I II iI I I I M c; M Eq,fFAɫ髹) IY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B u=iu=   I>DHifA A)9AIAiSAK=ME=YQU>a"Hy}>I :| 5? :޾ R ?9A9: 0:):WWX  X W X :W 2W*WVbUBU*UUU ;@BB BA*BAAAA"C*CRCCCסIGA>Nw,ǂfFAY}B@}BB$@y}B s}BC}}BHMڿ`B? ?̡ڿsϿl*?෨-?)~B@ ~B];I~BCɫYY)Y YIYY?yFxDUSBL response received:!U1,R,502,000,002AD,189,80,80,BE,FF Fpublishing direction and range infoɰ鰡 )>CIyw?amf-ٱA<M`=YIa"Hyo$}>I 5?6޾ 䯿 ?9A< <)WWX XWX:W2W*WVbUBU*UUUV@R(Combining 5 samples.P!*Q!ZQ%xP^B(?0B JQ%w?amf-2Q!:Q!bQ%÷ E EEE ED:YEY1yE:E26},YlfFAY}U@}U@y}UM\i}UϽ}UHڿ_hOr?/?2ٿϿ?`=7?)~U@ ~U];I~UCɫ髹) I>9Ii]; }E)݉I݉i݉ݍ=ݍ=ݍ5Y?yٍFeDNmea in: $SNTTA,,,,,225759.10*51 Iu=)u=%V-?MbXv/?%h>%ʽ %xi=)!I!y% rh?MbPy&1|?%C<%%`; %DA)%JAI%+Ai%7oA!%fJA @ @ @õ©õõiõ=Aõ ĵjA)ĵAIĵiĵrAiM=YNa"Hy}>I  :_ 5? :޾  ?9A:; 9;):mUmAdded new target pos. range: 3.599999 m, bearing: 50.141764 deg, deltaT: 4.425467 s, approachRate: 0.000000 m/s, LOS rate: -0.476068 deg/s, posRepo size: 4XQWU `?WQXQ XQWYXY:WY2WY*WYVabUaBUa*UaUiUm`?BB BA*BAAAA"C%  `?RC! C-  `?C)  I) GE >;҄,8fFAY}:@}:D?y}:!~]}:Ʒ}:Hڿ<~?k?dgٿ Ϳx?!h ?)~:@ ~:yga;I~:CɫYY)a aIaYP?yF5=M==Y=.X=QU=K?AAaE"HAIyMec}MM?IQUC 5?U޾ UĮ ]?9UAU4: UǺ:)QWWX XWX:W2W*WVbUBU*UUUL?BB BAZ*BAAAA"CQ*CQRCQCQCYIIQG}>!i%=5 115 5:Y1y15r6,7.fFAY}:Y@}:N?y}:Z*W}:}:Hٿ@Sv`8?0ؿ+Uο`?\@?)~:Y@ ~:Xa;I~:CɫQY)Y YIYY}?y}4F(MN=Y,a"H  y }>I 5?D޾ < %?9A: :)WAWIXI XIWIXI:WI2WQ*WQVQbUQBUY*UYUYU]r?BB BA{*BAAAA"C*CRCCCiIyG= >9 I Fi E? = ;D MD E8呿,(GfFAɫ) IY-c?y-F 鿙    0=+j a "H y}>I %:֣ 5? %:޾  -?9˝A: 0:):WIWIXI XQWQXQ:WQ2WQ*WYVYbUYBUY*UYUaUe =?BB BA*BAAAA"C*CRCCC5 555 5k:Y5X1y5/:aIiG9>5;6)5O;9k,hafFAY}:w"@}:|?y}:jK}:xĽ}:H nٿ"]i ?`Rؿ˿B?U9?)~:w"@ ~:];I~:CɫYY)Y YIYY ?yF5M=X=Y=rAAaE"HAIyM}M>IQU 5?U޾ U' ]?9UםAUܹ: UǺ:)QWWX XWX:W2W*WV bU BU *UUUP%@B9B9 BAAE*BAAAAAAAAI"CQ*CQRCQCQCY׉IG>I!)%AAI;, {fFAY}Z4@}Z?y}ZTE}Z<}ZH`цٿ~Wz??`$ٿy ʿ`?`S?)~Z4@ ~ZO=\;I~Xɫqq)q qIyYc?yFX9v?"~j ףp= ?=S Q=)Iy rhktZd;O?C 0j< ¥:A)¥I¥2Ai¥=jAGA m@ m@ m@m©mmimAm mA)mAIm AimA}R;M}7=Y}`Za"Hy$;}>Iȑ :ŕe 5? :ŕ޾ ƕ⫿ ?9ƕAǕT: ȕ2:)ȕ:WWX XWX:W2W*WVbUBU*UUU2@B B  B A *B AAAA"C*CRCCC!܍>9܉I܉i܉܍=܍<D܍LD܍f; ݍEIG )>- --- -m:Y-W1y-č:-6)-x;4",+fFAY}: k@}:0 ?y}: P>}:F\}:H ٿK0QLO?A5ٿ)ɿ?@V?)~: k@ ~: [;I~:CɫQY)Y YIYY\?yFI=)R=5Me=Y  a"Hy:<}>I!%Ȧ 5?%޾ %֪ -?9%#A%I: %:)!WQWQXQ XQWQXY:WY2WY*WYVYbUaBUa*UaUaUm p@RuB*** querying acoustic contact ***PqPqBB BA*BAAAA"C*CRCCCIG>J,[fFAY}Be@}Bv?y}Bv6}BLX}BH4ٿ`uJoĀ?a? cٿ_ȿO? 罱i?)~Be@ ~B#`;I~BCɫYY)Y YIYY?yЍFZ****** received transponder code query ******F****** received ping request ******a"H\HyTE}>I %:| 5? %:޾  %?9MA:  :):WiWiXi XWX:W2W*WVbUBU*UUU` @BB BA *BAAAA"C *CRCCC U2 QQU U u:YQyQU69m@IGF>܍ >9܉ I܍ xFi܍ ?܍ =܉ ܉ ܍ s; ݍ Ei nGI /aAi U ٺU /aA44,p>fFAAɫ) IY?yFxDUSBL response received:!U1,P 502,000,002AD,189,80,80,BE,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 qu]A   õz>õC õTiõAõ ĵ9A)ĵSAIĵAiĵ9AJ;M*=Y-QU5>11a5"H99ye}e>Iim\ 5?m޾ m2 u?9mzAmB: m:)iWWX XWX:W2W*WVbUBU*UUU% @BiBq BqAu*BAAAA"C*CRCCCI!)%]AI!GE>w\,fFAY}B@}B@=?y}B|0}BƬ:}BHٿ??p?ٿ cƿ`?@@~?)~B@ ~B\;I~@ɫ髑) IY?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B QQP<MR=Ya"Hy^;}>Iȡ :ť۫ 5? :ť޾ ƥ& ?9ƥAǥ: ȥ-:)ȥ:WWX XWX:W2W*WVbUBU*UUU e@BB BAŅ*BAAA!  s:Yy6A!"C*CRCCCIGj>R,fFAY}:I@}:?y}:6}:D}:HRڿ4@*??ٿ3ǿ1?/ u?)~:I@ ~:[;I~8ɫYY)Y YIYY?y4FxDUSBL response received:!U1,R,502,000,002AD,189,80,80,B9,FF Fpublishing direction and range infoɰ鰙 )9CIyw?amf-ٱI +?A`"?{Gz?94=Y> ף<)Iy:v91I5 Fi5?5=15MD5o; 5E )AIAi\AU<MUN=YUP_QUU>YYa]"HYay<}>Iȩŭ% 5?ŭ޾ ƭʧ ?9ƭAǭ: ȭR:)ȩWWX XWX:W2W*W V bU BU*UUU @RM(Combining 5 samples.PQ*QQZQUxP^B(?0B JQUw?amf-2QQ:QQbQU4I3in@v:b@@ܨ?RQU O%?W5?'Cx?BQUV]? QUK.@QU#@PUd9?PQPQQUQU@"QU@B9B9 B9A={*BAAAAAAAAA"CI*CIRCICQCQ9IIGuy>nſ,fFAY}RJ@}R?y}R'7}RG}RH`Eڿ6\5??ٿ`Tȿ?J] $j?)~RJ@ ~RZ;I~RCɫ髹) IY~?y,F]DNmea in: $SNTTA,,,,,225803.56*53 )u> u=Ma=Y'FQU>!!a%"H!)y-b:}5>I15I 5?5޾ 5R E?95ڞA5p: 5:)1mumAdded new target pos. range: 3.599999 m, bearing: 49.637519 deg, deltaT: 4.515937 s, approachRate: 0.000000 m/s, LOS rate: -0.111659 deg/s, posRepo size: 4XqWuV]?WqXy XyWyXy:Wy2Wy*WVbUBU*UUU"?BB BAN*BAAAA"CV]?RCCV]?C?i?IG$>p  y:YV1y:i6˿,ӣ0fFAY}:>@}:?y}:W1}:x}:H&ڿ4\>z??ٿ@ǿ?^p?)~:>@ ~:`;I~:Cɫ99)9 9I9Y?yЍFI)I!)!u<MuU=Y}dya"HyN:}>Iȑ :ŕ 5? :ŕ޾ ƕ⨿ ?9ƕAǕ: ȕ=:)ȕ:WWX XWX:W2W*WVbUBU*UUU:G?BB  B A  *BAAAA"C*CRCCCשIG)>) 9) I- ȖFi- ?) ) ) - ; - E)Iiʼn5ҿ,~JfFAY}:&@}:/B@y}:.}:P}:Hzڿ "hߞ?@ٿȿ`l? m?)~:&@ ~:=%_;I~:CɫYY)Y YIYY~?y,F U U UU^:>U9UiUAU UA)U9AIUAiUAMI=Y5;QU>a"Hy]<}>Iȩŭ԰ 5?ŭ|޾ ƭw ?9ƭAǭ: ȭO:)ȩWWX XWX:W2W*WVbUBU*UUU!)?B!B! B!A-N*B)A)A)A)A1"C1*C9RC9C9C9iIqG>ޅ=iޅp=_  x:YU1y:6) ;9ؿ,!ZdfFAY}:d@}:@y}:1}::L}:Hڿd?|?Zڿ@Z7ȿ@?ֳl?)~:d@ ~:"];I~:CɫII)I IIIY}?y}>F;MR=YݻQU>!!a%"H!)y-<}->I1 =:5 5? =:5]޾ 5 E?957A5: 5:)5:WaWaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UyUyU}@]?BB BAG*BAAAIAI"CQ*CQRCYCYCYI׉)׍\AaIqG޿,!>~fFAY}N^@}Nz@y}NU8}NrR}NH-ۿ t? P?` gۿ ǿ;?@੿Ip?)~N^@ ~N\;I~NCɫqq)y yIyY?yF5=i5R=X9v?l?L7A`尿}=> +)IyZd;?L7A`堿 rh?y=+C = 5>A)$RAI2AifA=JA @ @ @Å©ÅÅiÅGAÅ ą)ąAIąAią=Aѻ<M4=Yk}QU>a"Hy<}>Iȱŵ@ 5?ŵ޾ ƵZ ?9ƵqAǵ: ȵR:)ȱ>9CIi;D; EWWX XWX:W 2W *W V bUBU*UUU@|?BABA BAAE*BIAIAIAIAI"CQ*CQRCQCYCYAIQGu6> ˗:YDW1yY:V6);Ѽ忙,fFAY}B9@}B@y}B7@}BT}BH_ۿ'3?)?@ܿ͗ǿ@? -i?)~B9@ ~BH\;I~BCɫYY)Y YIYYT?yF]<M]a=YeQUe>aaam"Hiiyu׸<}u>Iy :}e 5? :} ޾ }6 ?9}A}9: }:)}:WWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C*CRCCCIG- >Iށ)ށ뿙, fFAY}:8@}:T@y}:OG}:}:HQ0ܿk@d?` ?`:gܿǿj?䜿`7a?)~:8@ ~:\;I~:CɫYY)Y YIYY,?y4FMU=YQU>a"H]Hy6Z<}>I 5?/ ޾  ?9ПA: ϸ:)W W X  X W X:W2W*WVbUBU*UU!U%n@R-B*** querying acoustic contact ***P)P)BQB BA*BAAAA"C*CRCCC?i?I!G>Y  J:Yy69@ >9 I i ; E,fFAY}:I-@}:H@y}:oO}:}:H Eܿ@)j?@?Nܿ7ȿ@?](`RT?)~:I-@ ~:Qmb;I~:Cɫ99)9 9I9Y?yFZ****** received transponder code query ******F****** received ping request ******=YQU>a"Hyغ}>Iȩŭ 5?ŭ ޾ ƭa ?9ƭAǭ: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU : @BB BA-*BAAAA"C*CRCCCIG (>,ffFAY}BGD@}B_@y}BW}Bx}BH`$ܿ%U;?`?;ۿf˿@q?a"H y=SY;}=>Ii }:m 5? :m< ޾ m ?9m;Am"D< mD<)m:WWX XWX:W2W*WVbUBU*UUU @BIBI BIAM*BQAQAQAQAQ"CY*CYށiޅ=  m:Yy26RCYCCׁIGc>V#,V~fFAɫ髙) IYg?yYFa=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I +?QQ94> u)IyMb?Mbp? rh<;C AA)JAI0AifAHAq9qIuFiua?u=qqu; uEi5}nGIaiyhٺ1AM?9M+A U@ U@ U@U©UUiUAU UOA)QIUAiUALM$=YQU>a"Hy}>IȹŽ 5?Ž޾ ƽ ?9ƽGAǽ: Ƚ:)ȹW W X  X W X :W2W*WVbUBU*U9U9UE H@BB BAԅ*BAAAA"C*CRCCCI)]AIG > ,WgFA|i|Y}:P@}:@y}:_}:}:H@ܿN?@?`2bܿ6̿`%?5.?)~:P@ ~:][;I~8ɫ ) IYm?ymtFuxDUSBL response received:!U1,R,502,000,002AE,18A,80,80,BC,FF uFpublishing direction and range infoiiɰm`=m> i)ma"Hy<}>Iȹ :ŽQ 5? :Ž޾ ƽe ?9ƽPAǽo: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q=j@ZQs:@?apuV JQw?amf-2Q:QbQHqWw@T\@2z?RQ8> ?r< ?=:[}??BQ!h? QV6@Q@Pc9?Pd9?PQQ@"Q@Y  )x:YW1yč:6BB BAɅ*BAAAA"C*CRCCCIGj>38 ,@3gFAɫ)1)1 1I1Y?y}FDNmea in: $SNTTA,,,,,225807.99*54 M:MUb=Y]QUe>qqa}"Hyy}>IȹŽ 5?Ž޾ ƽ ?9ƽYAǽ; Ƚ;)ȹm iAdded new target pos. range: 3.660000 m, bearing: 51.927910 deg, deltaT: 4.435866 s, approachRate: 0.013526 m/s, LOS rate: 0.516335 deg/s, posRepo size: 4X W !h?WX XWX:W2W*WVbU!BU!*U!U%G @U%/?BQBQ BQAUŅ*BYAYAYAYAa"Ce9b?RCiCm!h?CiIy)}@AQIaG}Y>i 9i Im Fim ?i i i m ; m E, MgFAY}:%@}:gA@y}:b}:j}:H`-ܿ Oܥ??@ܿ`į̿E?e@'?)~:%@ ~:`;I~:CɫYY)Y YIYY?ytF u u u u@ u@ u@qqqiuQAq uA)uAIujAiujA场MX=YQU>a"Hy<}>Iȡ :ťӱ 5? :ťp޾ ƥҠ ?9ƥbAǥU: ȥL:)ȥ:W1W1X1 X1W9X9:W92W9*W9VAbUABUA*UAUAUM`?BB BAɅ*BAAAA"C!h?RCCC-?i-?IG-->  q:YT1y:N6)B;9yH,fgFAY}:$ @}:&@y}:Mc}:v}:H ܿ`?ີ?2ܿ{̿.?` (?)~:$ @ ~:S`;I~:CɫQY)Y YIYY?yFuk<MuK=Y}FQU}>yya}"Hy}>Iȑŕ 5?ŕ<޾ ƕ ?9ƕlAǕ=: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU 8?BB BA*BAAA A "C*CRCCCסIG">. ,aĀgFAY}B@}B-@y}Be}B$۲}BH#ܿ Ơ ? ?ܿ'Xο}?ĵ ?)~B@ ~B|];I~BCɫYY)Y YIYYE?yFZd;O?I +ƿMb?j=94 =)Iya"H!yMݻ}M>IQ ]:U 5? e:U:޾ U e?9UoAU: UN:)U:WWX XWX:W2W*WVbUBU*UUU@Խ?BIBI BIAM*BIAQAQAQAQ"CY*CYRCYށiޅp=Z _ >x:YX1y/: 6);CCyIG^>YY&,4gFAY}:,@}:@y}:I e}:ň}:HKRܿ ]?@?`"ܿ@Ϳ 4d?`""?)~:,@ ~:D[;I~:C6Could not parse latch stateɫ) IY-?y-F'M9=Y:QU>a"Hyv&}>Iű 5?;޾  ?9qA: s:)WWX XWX:W2W*WVbUBU*UU U @&@B1B9 B9A=*B9AAAAAAAA"CI*CIRCICICQIa)a9IIGeV>,,xzgFAY}:@}:+@y}:Coc}:}:H Yܿ`?I?ܿ[˿72?d0?)~:@ ~:\;I~:CɫII)I IIIY}?y}rF1=M%=Y-L;QU- ?11a5"H5^H9y=:}= ?IAEѱ 5?E=޾ E U?9ErAE: EM:)AWqWqXy XyWyXy:Wy2Wy*WVbUBU*UUU@BB BA*BAAAA"C)*C)RC)C)C1!I)GM1>- --- -k:Y-0Y1y-:-s695@A 9A IE FiE E?E =A A E ; E Ej3,UgFAY}:'@}:1@y}:Eb}:49\}:H@;ܿ v=?ܴ?ܿ̿ ?`}تC-?)~:'@ ~:(];I~8ɫ99)9 9I9YYyYaeAA   };iGA 9A)AIAi9AY-8;QU->11a5"H19y=<}=>IA M:E 5? M:E?޾ EΨ U?9EtAEI: EM:)E:WqWqXy XyWyXy:Wy2Wy*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCשIG>IAA)AA9,0gFAY}B-@}BH@y}B~^}BA}BH*ܿ2@/E?`?@ܿ̿`?@^@*?)~B-@ ~Ba;I~BCɫYY)Y YIYY?yWFZ****** received transponder code query ******F****** received ping request ****** õ>ֺMa"H)y5R;}5>I9= 5?=A޾ =ª M?9=wA=: =:)9WWX XWX:W2W*WVbUBU*UUU`z @B)B) B1A5*B1A1A1A1A9"C9*CARCACACa}?i}?AIQGm5>-B --- -_:Y-xZ1y-q:-6|@, gFAY}:;@}:_W@y}:ӓ]}:{}:Haܿ5`??@ܿ˿F{?@1?)~:;@ ~:^;I~8ɫYY)Y YIYY?yhFxDUSBL response received:!U1,P 502,000,002AE,18A,80,80,BC,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 9IНFiE@; EI +rh|~jt9 )IyMb?:v<T AA)zPAIC/Ai=jAJA @ @ @õ©õõiõAõ ĵA)ĵSAIıiĵ AS=M!=Yr:QU>a"Hy#:}%>I1 m:5ұ 5? m:5޾ 5v u?95A5< 5<)5:W)W)X) X)W1X1:WY2WY*WaVabUiBUi*UUU @BB BA.*BAAAA"C*CRCCC!I G5 > F,gFAY}BA@}B˸@y}Bϟ_}B}BH@GBݿ@s?Q?eܿjͿ`;?̶?)~BA@ ~B ];I~BCɫYY)Y YIYY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B MMM=YuQUu?yya}"Hyy<}?Iȉō 5?ō޾ ƍܫ ?9ƍAǍ|R< ȍR<)ȉW1W1X1 X1W1X9:W92W9*W9V9bUABUA*UAUAUMl@BB BAń*BAAAA"C*CRCCC IG*>=iR=-3 --- -"u:Y-W1y-č:-6'L,'5gFAY}: @}:;@y}:gX}:Gս}:H`ݿ ?U? ?HݿͿ`?``Y?)~: @ ~:[T\;I~:Cɫ99)9 9I9Y}e?yΐFxDUSBL response received:!U1,R,502,000,002AF,189,80,80,BD,FF Fpublishing direction and range infoɰa=鰕7> )=CIyn@w?amf-ٱMT=Ya"Hy{<}>I : 5? :޾ e ?9A: :):WWX XW XI:WQ2WQ*WQVQbUQBUY*UYUYU]A@R(Combining 5 samples.P*Qn@ZQo$?7U JQw?amf-2Q:QbQs}_@:&S@i"M?RQޘ<\??ven?BQ$6l? Q:@QJ @PPc9?PQQG!@"Q@BB BAԄ*B)A)A)A)A)"C1*C1RC9C9C9II)I!I1GM1>inGI iI ܉ 9܉ I܉ i܉ ܉ ܉ ܉ ܍ ; ݍ E ٺ |A S,OgFA|(i|(Y}-BR@}-m@y}-oN}-F}-H ZݿD\[? ?sݿ˿R?֨E9?)~-BR@ ~-)\;I~-Cɫ ) IY5?y5FDNmea in: $SNTTA,,,,,225812.43*57 = = ==j====i=A= =9A)=AI=9Ai=pAMMU3=YUYYa]"HYYye];}e>Iimt 5?m[޾ m u?9mAm÷: m:)imiAdded new target pos. range: 3.720000 m, bearing: 52.866880 deg, deltaT: 4.398405 s, approachRate: 0.013641 m/s, LOS rate: 0.213480 deg/s, posRepo size: 4XW$6l?WX XWX:W2W*WVbUBU*UU @U( ?BB BAC*BAAAA"C$6l?RCC$6l?CI G%,>% %%% %%q:Y%T1y%:%6)%;9-:Y,xigFAY}:@}:@y}:G}:%}:HM޿* ?~?@޿@ɿ;? td (Q?)~:@ ~:b;I~:Cɫ99)9 9I9Y?y؏F]n;Me[=Ymqqau"Hqyy}e<}}>IȁŅR 5?Ņ(޾ ƅ ?9ƅADž: ȅ:)ȁWWX XWX:W2W*WVbUBU*UUU`?BB BA8*BAAAA"C*C RC C Cq׉IG>I%@A)!`,VgFAY}Bw@}B@y}BB}Bڼ}BH U*޿# ;??l޿`\ƿ4?vؚNi?)~Bw@ ~B>a;I~BCɫYY)Y YIYY?yF-{Gz?kt?I +?-#=- = -9<))I)y-Mb`~jtxMbp--Ļ- -9iIm@Fim?iiim; mE @ @ @©i A A)SAIAiAAŠ<M1=Y}/!!a%"H!)y-ջ}->I1 =:5 5? =:5޾ 5ѭ E?95A5: 5:)5:WWX XWX:W2W*WVbUBU*UUU?B!B! B!A-*B)A)A)A)A)"C1*C1RC9C9C9- --- -0:Y-0Y1y-:-6)-;AIIGeV>'f,.gFAY}>m)@}>D@y}>A}>bּ}>H@ݿ 5 ??*޿@ƿ? R$l?)~>m)@ ~>5^;I~<ɫYY)Y YIYY?yF]-@<M]l=Y];QUe?aaae"Haiym_}m?Iy} 5?}޾ } ?9}A}: }:)yWWX XWX:W2W*WVbUBU*UUU`D[?BB BÄ́*BAAAA"C*CRCCCIIQGu>Dm, gFAɫ) IYV?yĐF   z>l=Q8=iA SA)AI9AiSA%NM%>=Y-QU->11a5"H5_H9y=}=>IA M:E 5? M:E޾ E; U?9EAE: E:)E:WqWyXy XyWyXy:Wy2W*WVbUBU*UUU5 @BB BA؄*BAAAA"C*CRCCCשIG >i4=- --- -Z{:Y-W1y-č:-695@ 9 I xFi ? o; E)Ii4}t,`gFAɫ髙) IY?yFae^AMT=YQU>a"Hy}>Iȱŵ" 5?ŵ޾ Ƶp ?9ƵAǵ=: ȵI:)ȱWWX XWX:W2W*WiVibUqBUq*UqUqU}@U@BB BAG*BAAAA"C*CRCCCIG$>N1z,8gFAY}Fk@}F+@y}F3}Fʽ}FH5޿5k ?ݿ@=ɿ _X?帿Z?)~Fk@ ~F0\;I~FCɫYY)Y YIYY?y`F=i=<MR=Y%8 =QU%>!)a-"H))y5L*<}5>I9 E:=V 5? E:=޾ = M?9=A=: =$:)=:WiWiXi XiWiXq:Wq2Wq*WyVybUyBUy*UyUUP@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCשIG>UP UUU Urw:YUV1yU:U6y,gFAɫ髙) IY*?yFZ****** received transponder code query ******F****** received ping request ******9ܑIܕFiܕ1?ܑܑܑܕ; ݕECl?ClۿCl?;>;߾ ;>)IyI +:v?QQaU"HQYy]}]>Iae 5?ev޾ e u?9eϠAei: eD:)aWWX XWX:W2W*WVbUBU*UUU; @BB BA*BAAAA"C*CRCCCIGI>I)@AMC,yvgFAY}:@}:@y}:'}:;t}:Hݿ G{0?`?ݿ`Y@ƿ ?`C3}?)~:@ ~: ^;I~:Cɫ99)9 9I9Y}i?y}3FxDUSBL response received:!U1,P 502,000,002AF,189,80,80,BD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= Mz=Y =QU?!)a5"H9Iy]}e?Iȁ :Ņ 5? :Ņ޾ ƅ %?9ƅݠADž< ȅu<)ȅ:WWX XWX:W2W*WiVqbUqBUy*UyUUZ_ @BB BA*BAAAA"C*C!RC!C!C)=?i=?= 99=z =as:Y9y9=6QIiGa>vm,Q8gFAY}JRe@}J܀@y}Jv"}J/E}JH !F޿d,@?`?1޿Ŀ`9?]f௏?)~JRe@ ~J\;I~JCɫYa)a iIiYV?yĐF]Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)I=) % % --D-㥽-AAaE"HAIyMF`<}U>IQU 5?UE޾ U; e?9UAUض: U:)QWWX XWX:W2W*WVbUBU*UUU&@BB BA؄*BAAAA"C*CRCCC!I)GM1>i9iImXFim?iiim}; mEMU,,RgFAY}B@}B.@y}B׭ }BI^}BH ޿ٜ??~޿Ŀ?Inq?)~B@ ~B}*\;I~BCɫYY)Y YIYY}?yNFxDUSBL response received:!U1,R,502,000,002AD,189,80,80,B3,FF Fpublishing direction and range infoɰu`=鰁 )3CIyff@w?amf-ٱMd=Y;QU>a"Hyg<}>Iȱŵ 5?ŵ޾ Ƶz ?9ƵAǵ: ȵb:)ȱWWX XWX:W2W*WVbU BU*UUU@R%(Combining 5 samples.P)*Q-ff@ZQ-xP^B(?0B JQ-w?amf-2Q):Q)bQ-f@\6@k8?RQ-i?m?yϽ?BQ-`r? Q-9@Q-@P)P)P)Q)Q-@"Q-G!@BB BA*BAAAA"C*CRCCCשIG >-D ))- -}v:Y)y)-i6)-0;95,lgFAɫQQ)Q QIQY4?yMFTNmea in: $SNTTA,0.004502,,,,225816.87*46  MO<MM5=YUQUU>QYa]"HYYye}e>Ii u:mR 5? u:m ޾ m u?9mAm: m:)m:mmAdded new target pos. range: 3.599999 m, bearing: 54.247166 deg, deltaT: 4.426641 s, approachRate: -0.027109 m/s, LOS rate: 0.311813 deg/s, posRepo size: 4XW`r?WX XWX:W2W*WVbUBU*UU @U_#?BB BA*BA!A!A)A)"Ce`r?RCiCm`r?CyIAG|>}g,gFA|i|||iunGI`Ai>9Ii; Eɫ)))) )I)ٺ`AUxAY]?y]WFMgfffff?K7A rh?M33>M  MC =)IIIyMMb?y&1?{Gz?MYYae"Haayi}m>Iqu 5?u2 ޾ u }?9uAur: uǺ:)qWWX XWX:W2W*WVbUBU*UUU`?}?BB BA*BAAAA"C*CRCCCIGI>-* -|-|- -jt:Y-R1y-i:-6)-e;d,gFAY}:+@}:RG@y}:3+}:$}:H k ޿A̛v?!? ˒ݿǿL?q?)~:+@ ~:];I~:CɫYY)Y YIYY}?y}F%3<Mw=YqQU?!!a%"H!)y-}-?I1 =:5N 5? =:5B ޾ 5 E?95(A5I: 5:)5:WWX XWX:W2W*WVbUBU*UUU@\?BaBa BaAe*BaAiAiAiA"C*CRCCCׁIG>q,8gFAɫ髑) IY?yEF)=> =>   ÍT>Í7ÍD=iÍ3AÍ čOA)čOAIčAičjAD#M4=YQU>a"H`Hy}>Iȱŵ 5?ŵW ޾ Ƶ ?9Ƶ7Aǵ: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUUJ?B!B! B)A- *B)A)A)A)A)"C1*C1RC9C9C9יIGA>-= --- -u:Y-Y1y-:-69-@ 9 I i  =   ; Ey,tgFAY}NT@}No@y}N }N>}NH=޿Z3?@?zݿ`ſ?`,`?)~NT@ ~Nc[;I~NCɫ髡) IY?yFI)U`M]b=Y]=QU]>aaae"Haaym;}m>Iq }:u4 5? }:uf ޾ u ?9uCAu: u:)u:WWX XWX:W2W*WVbUBU*UUU`- @BB BA5*BAAAA"C*CRCCCiIqG>ͺ,HQgFAY}Z3@}ZN@y}Z"}Z_E}ZH`޿<*ԁ??ݿXGƿ7-?`X ?)~Z3@ ~ZlN\;I~XbJFailed to close latch before timeout.q bbHardware FaultYfC?yfVF}I=M}Y=Y4XQU>a"Hyx}>Ișŝ 5?ŝw ޾ Ɲ ?9ƝOAǝ: ȝn:)șWWX XWX:W2W*WVbUBU*UUU?@BB BA*BA A AA"C*CRCCCI1-$]@Hardware Fault in component: DDMG}>U1 QQU Ut:YQyQU6d,*gFAY}^_7@}^R@y}^u,}^$Ё}^H޿<?Ȼ?ݿ@ƿx?`{?)~^_7@ ~^N];I~\vPowering downtɪt)t tI9IIIiIIIIM; ME)iIiiiiim44YML?yU F rh~jtx?C; ̼)Iykt?y&1|:v 0=`Լ `=A)RAIh3AiaApIA ]@ ]@ ]@]©]]i]A] ]jA)YIYi]rAmMm#=Ym㧼QUu>qqau"Hqyy}9:}>Iȉ :ō 5? :ō1޾ ƍǦ ?9ƍAǍ: ȍ:)ȍ:WWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA*BAAA A "C *CRCCCI))-\AI G-N>o,!gFA|i|@Y}JV@}JNr@y}J4}JL}JH`J"޿3o? ? ޿7ƿ@0w?:5v?)~JV@ ~JZ^;I~HYV?yVFZZ****** received transponder code query ******ZF****** received ping request ******^  k:YV1y:6 ,:gFAY?yFxDUSBL response received:!U1,P 502,000,002AD,189,80,80,B3,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76   O >t<Q8=iA A)AIAiA5M!=YQU>a"Hy}>I 5?޾   ?9СA': :)WIWIXI XIWQXQ:WQ2WQ*WQVYbUyBU*UUU @BB BAG*BAAAA"C*C RC C C1M>9IIM FiM?M=IIM; MEqI$NClearing failed state for component DDMq G>,TgFAY}V{@}V4@y}V>}Vxmr}VH5޿ /??`޿NSȿ?íe?)~V{@ ~V@+];I~TYf?yf4FhɮhzNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ڬM=YWQU?a"Hy;}?Iȹ :Ž 5? :ŽY޾ ƽK ?9ƽAǽ: Ƚ=:)Ƚ:WWX XWX:W2W*WVbUBU*UUU@@BB BA{*BAAAA "C*CRCCC IG5 >- --- -us:Y-DW1y-Y:-6)-;95,JngFAY}:g@}:G@y}:@}:b}:H޿ ;j~? ? <ݿʿj?`2w K?)~:g@ ~:[;I~8Y^?ybFfxDUSBL response received:!U1,R,502,000,002AE,189,80,80,B6,FF fFpublishing direction and range info``ɰb`=` `)b6CI`yb=j@bw?amf-ٱ`OMJ=YR޻QU>a"HyD}>I, 5?N޾ ) ?9Aض: I:)WWX XWX:W2W*WVbUBU*UUU@@R(Combining 5 samples.P*Q=j@ZQs:@?apuV JQw?amf-2Q:QbQ87@x[0@5=?RQi&F?8Md W?c?BQn? Q9@Q @PPPQQi@"Q@BIBI BIAM*BQAQAYAYAY"Ca*CaRCaCaCiױIG >g,V~gFAx9xIxixxxxz; zEY}-|@}-@y}-}@}-|Խ}-HC޿02@vU@?`7ݿ`<˿ {? `iD?)~-|@ ~-@[;I~)Y]r?y]FTNmea in: $SNTTA,0.036996,,,,225821.32*4C } ףp= Q?{Gzt}Q8}(> }ף)yIyy}I +? rh? rh?}94<}C =}C< }?A)}+MAI}0Ai}bAy}HA @ @ @©iA A)IAiA%<M7=Y-~:QU>a"Hy;}>I  :٪ 5? :޾ K ?96Af: :):mmAdded new target pos. range: 3.660000 m, bearing: 53.405748 deg, deltaT: 4.409215 s, approachRate: 0.013608 m/s, LOS rate: -0.190832 deg/s, posRepo size: 4XWn?WX XWX:W 2W *W V bUBU*UUG @U?BB BA*BAAAA"Cn?RCCn?CyIG<>=ip=- --- -n:Y-WU1y-:-6)-L;-,MgFAY}:@}:@y}:?}:!Q}:H8޿3X&? ב?ݿOɿ ?vU?)~:@ ~:.0[;I~:CYn?ynF} M}e=Y:QU>a"HyW}>Ișŝͩ 5?ŝ޾ Ɲ ?9ƝQAǝY: ȝʽ:)șWWX XWX:W2W*WVbUBU*UUU@?BB  B A *B A AAA"C*CRCCCiIyG=\,:gFA| i|"@Y}VmZ@}Vu@y}V~C}V8Y}VH޿6?–? ޿0ȿI? 򼪿_?)~VmZ@ ~Vw7[;I~VCYf ?yF    @ @ @ipA OA)AIAiOA<MB=Y/QU>a "H aH yX}>I %: 5? %:޾  %?9pA: 4:):WIWIXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UYUYUe@?B)BA BIAM*BIAIAIAIAQ"CQ*CYRCYCYCY!I)GM>-5 ---w -Ku:Y-DW1y-Y:-|695@iUNmGIm/aAiٺ/aAA9Ii=]; E?,gFAY}>@}>t@y}>J}>WB}>HݿP-??ݿCɿj4?`ǧV?)~>@ ~>K%\;I~>CY^6?yb؎Fuf;MuT=Y}QU}>ya"Hyە}>Iȑŕv 5?ŕ0޾ ƕ̦ ?9ƕAǕ: ȕW:)ȑWWX XWX:W2W*WVbUBU*UUUz?BB BA*BA A A A "C*CRCCC-?i-?I9Gu=IAA)m,gFAY}N`@}N@y}NpT}N7}NHആݿj^?#?LIݿ!`˿S?@Z`I=?)~N`@ ~NS[;I~LY^?y^Fu޶;MuJ=Y}QU}>ya"Hy}>I> 5?j޾ 饿 ?9A+: 8:)W9WAXA XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU]@d<@BB BA*BAAAA"C*CRCCCשIG>5 555; 5\l:Y5T1y5:5 6ES, gFA@9@I@i@@@@BF; BxEY}>8@}>@y}>THV}>є}>H`ݿtaH?? ݿcF̿?X2?)~>8@ ~>O[;I~>CYn?ynFIE=)ADl?y&1S㥛?O=` $>)Iy~jt?Mb?<< @A)NAIn.Ai(HA - - - -@ -@ -@)))i-QA) -~A)-AI-Ai-9A=ME>=YE֡QUE>IIaM"HIy9}>Iȹ :Žڥ 5? :Ž޾ ƽ6 ?9ƽAǽ: Ƚ:)Ƚ:W W)X) X)W)X):W12W1*W1V1bU9BU9*U9U9U=t@BB BA*BAAAA"C*CRCCCIG$>|, #gFAY}R@}R@y}RvAU}R}RH@Iݿ`umZ? c?ݿP˿v? O=?)~R@ ~RZ;I~RCYb!?ybFdf@AzMM~b=Yc5;QU>  a "H yJ}>Ișŝ 5?ŝ޾ Ɲ ?9Ɲ΢Aǝ: ȝ:)șWWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB B  BA%*BAAAA"C!*C!RC!C!C)I9)=^AIG5=i=- --- -i:Y-0Y1y-:-6,s=gFAY}:ѹ@}:\@y}:mY}:V}:H`dݿ1`?Y? "gݿ dʿ` ?`6`&[;I~:CY^\?y^FbZ****** received transponder code query ******bF****** received ping request ******fAAaE"HAIyM;}u>Iy :}# 5? :}޾ }棿 ?9}A}: }:)}:WWX XWX:W2W*WVbUBU*UUU @BABI BIA]*BYAYAYAYAY"Cq*CqRCqCqCyIIQGm>܁9܁I܅Fi܅1?܁܁܁܅; ݅`E)1I1i15=154,_WgFA|i|Y}^u@}^7@y}^`c}^iF}^H ݿIҰ? }w? ݿb˿m0? .-?)~^u@ ~^\;I~^CnPowering upn"Initializing DDM.Y?yٍFxDUSBL response received:!U1,P 502,000,002AE,189,80,80,B6,FF Command AckBRequesting micromodem ping code 2ia"H y Gc<}>I 5?޾ / U?9A; ;)W WX XWX:W92WA*WIVIbUQBUQ*UYUU׼ @B9B9 BAAE*BAAAAAAAAA"CI*CIRCQCQCq- ---u -m:Y-V1y-:-E6)-;9EQIqG]>P,9(qgFAY}:@}: @y}:Wbk}:4A}:H7>޿`X縱?2>?`l޿f̿`"*??)~:@ ~:/];I~:CY^?y^>FrNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B MM=YtQU>a"Hy=}>I   : k 5? : C޾  %?9 A |; ;) :WWX XWX:W2W*WVbUBU*UUU KD@BB BAG*BAAAA"C!*C)RC)C1I@A)C9I G%o>[",gFA9Ii; VEY}j/@}j@y}jjm}j}jH AW޿#ը?2?`޿ jοoi?5 ?)~j/@ ~j"];I~hY]?y]"FmxDUSBL response received:!U1,R,502,000,002AE,189,80,80,C1,FF mFpublishing direction and range infoaaɰaa a)eACIayaew?amf-ٱaMb{Gz?`"?ף< =)Iyl?Zd;OMb?=j< ?A)$RAI0AikAKA -@ -@ -@-©--i-3A- -9A)-SAI-Ai-9A=<M=7=Y=cQUE>AAaE"HAIyU;}U>IY] 5?]K޾ ] e?9](A]: ]ض:)YWWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*QZQs:@?apuV JQw?amf-2Q:QbQ:<@MIA@eA?RQgݯ?@Sj?p |?BQo? Q :@Q@PPPQQ@"Qi@BB BA*BAAAA"C*CRCCCI G-,>- ---o -g:Y-U1y-:-6)-;(,`gFAY}v@}vd @y}vk}v}vH@P޿%]?S8?`q޿Eο@5?ϐ?)~v@ ~v];I~vCY%C?y%FTNmea in: $SNTTA,0.044045,,,,225825.76*4A #!Me=Y;QU>a"Hy}>I : 5? :޾ 럿 ?9DA: :):miAdded new target pos. range: 3.660000 m, bearing: 53.674301 deg, deltaT: 4.496327 s, approachRate: 0.000000 m/s, LOS rate: 0.059727 deg/s, posRepo size: 4XWo?W!X! X!W!X!:W!2W)*W)V)bU)BU1*U1U1U5 h?BaBa BaAe]*BaAiAiAiAi"Cuo?*CqRCqCuo?CyIIQGu= .,gFAY}Z@}Z:@y}Z o}Zl}ZH@>޿@!?e6?@I޿+nͿ? Ǭ?)~Z@ ~ZX\;I~ZCYz?y~F   j<H=`a"HbHy  } >Iȑŕɤ 5?ŕ޾ ƕ ?9ƕfAǕ: ȕ':)ȑWWX XWX:W2W*WVbUBU*UUUT?BB BA*BAA A A "C*CRCCCIG5 >=iR=- ---p -Fn:Y-W1y-č:-695@999I=xFi=?999=; =SEN5,gFAY}:$l@}:@y}:E w}:}:H3ݿ BX?D?` ݿaο0?`=$ ?)~:$l@ ~:O\;I~:CY^?y^F5 +=M5X=Y=NQU=>9AaE"HAAyM^}M>IQU 5?Uݾ UU ]?9UAU : U:)QWWX XWX:W2W*WVbUBU*UUU+K?BB BAl*BAAAA"C*CRCCCIG=<,ngFAY}VD=@}VX@y}Vx|}VP+}VHݿZܠ?JG?<ݿп@M2? b?)~VD=@ ~V߂[;I~VCYf4?yjFL;M%<=Y- :QU]>aiam"Hqyл}>I %: 5? -:ݾ ɛ U?9Ah< "<):W1W1X9 X9W9XA:Wi2Wq*WqVybUBU*UUU M|?B B BA`*BAAAA"C*CARCACACI- --- -q:Y-X1y-/:-i6YIiGZ>q u Ci mGI i1 e fԿٺa e պA% >9% CI! i! ! ! ! % ; % GEB,H gFAY}B%]@}Bx@y}Bly}Bg}BHݿaUD?@{D? ܿ п`?¯?)~B%]@ ~B&[;I~BCY~?y~FL7A`?Mb`?; t<)Iy rh?Mb`{GzC<# @A)RAIC/AikAKA e@ e@ e@e©eeiezAe e9A)eAIeAieAu MuE=Yu;QU}>yya}"Hyy{;}>Iȉōؤ 5?ōpݾ ƍ ?9ƍAǍb: ȍ4:)ȉWWX XWX:W2W*WVbUBU*UUU`N?BB BA*BAAA A "C*CRCCC IG5 >I)I,$&gFAY}JqE@}J`@y}Jt}J}JHkݿUM?Q?M(ݿ "пM? w`?)~JqE@ ~JZ;I~JCY~i?yF)Õ= Õ=ӼMT=YBa"Hy2u}>I  :  5? :  ݾ S %?9 ţA Q; R;) :WQWX XWX:W2W*WVbUBU*UUUH-@B B  B A ӆ*BAAAA"C*CRCCC!)I1G>-~ ---H -f:Y-Y1y-:-s 6+BO,?gFAY}:TQ@}:l@y}:9v}:c|}:HݿKa?bK?oݿ ϿD? ?)~:TQ@ ~:$Z;I~:CY^K?ybҋF ] ] ] ]@ ]@ ]@YYYi]\AY ]A)]AI]Ai]AmMmR=YuOQUu>qya}"Hyyy:}>Iȉōk 5?ōݾ ƍ ?9ƍԣAǍ: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUU }!@RB*** querying acoustic contact ***PPBB BAۆ*BA A A A "C*CRCCCI))-]AIG==9Ii; BEh*V,QYgFAY}>-@}>jI@y}>*z}>N}>H aݿ|J\?@,N?@]ݿCο`? ?)~>-@ ~>o[;I~aaae"Hiiyu}u>I -:- 5? -:<ݾ 䜿 U?9A; m;):WWX XWX:W2W*WVbUBU*UUUѪ @BABA BAAE*BAAIAIAiAi"Cq*CqRCqCqCyiIqG>=ia=-W ))- -x:Y)y)-6#T\,̵sgFAY}R=@}RkY@y}R\L~}R%}RHWݿ:?@cC?`޿Ϳ(v?` @?)~R=@ ~Rl\;I~RCY^?y^ FbxDUSBL response received:!U1,P 502,000,002AE,189,80,80,C1,FF bCommand AckbBRequesting micromodem ping code 2iddjNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 E\MMK=Y]#QUe>ya"Hy;}>Iae 5?eݾ e. ?9eAeK< e1M<)aWWX XWX:W2W *W V bUBU*UUUt1 @BaBa BA,*BAAAA"C*CRCCCסIGF> 9 I i = ; JE)eCIeCiaae=e#4fAAaE"HAIyM<}U>IQ ]:U 5? e:Uݾ UН e?9UAUk: Us:)U:WWX XWX:W2W*WVbUBU*UUU_&@BB BA*BAAAA"C*CRCCC?i?IG (>- --- -0p:Y-DW1y-Y:-6)-;950fi,HlgFAY}:.@}:KJ@y}:Q{}: ݽ}:H g޿ %53???ੳݿ /п(?@ _?)~:.@ ~:\\;I~:CY^?yb[FfxDUSBL response received:!U1,R,502,000,002AC,189,80,80,BE,FF fFpublishing direction and range info``ɰb"`=` `)b>CI`ybb@bw?amf-ٱ`MFMM[=YU@YYa]"H]cHaye;}e>Iimp 5?m&ݾ mb }?9m&Am+: mf:)iWWX XWX:W2W*WVbUBU*UUU\@R(Combining 5 samples.P*Qb@ZQ|f?.Yy JQw?amf-2Q:QbQd@H7H@^?RQ[}?Bz*V-?V?BQn? QD2@Q@@PPPQQ@"Q@BIBQ BQAU *BQAQAYAYAY"Ca*CaRCaCaCi׉IG>I)RPp,PgFAY}^@}^q"@y}^B w}^}^H N޿)@ȡ? ?`Kݿ`t2п`?`$@4?)~^@ ~^,\;I~^CYrO?yr7FeDNmea in: $SNTTA,,,,,225830.18*59 )Å= Å=   ;tDiA A)$AIAi;A͕M O=Y ?a"Hyǽ}>I. 5?ݾ  ?9@A(; ;)m}qAdded new target pos. range: 3.539999 m, bearing: 53.428984 deg, deltaT: 4.416878 s, approachRate: -0.027169 m/s, LOS rate: -0.055541 deg/s, posRepo size: 4XyW}n?WX XWX:W2W*WVbUBU*UUQ @U`v?B1B9 B9A=*B9A9A9AAAA"Cn?*CRCCn?Cq9qIqiqu=qqq q׉IG>>% %%% %3l:Y%V1y%:%6)%M;#xv,W"gFAY}:n!@}:<@y}:v}:}:He޿jH??޿˦Ͽ`aiam"Hiiyu;}u>Iy :} 5? :}mݾ } ?9}VA}: }^:)}:WWX XWX:W2W*WVbUBU*UUU@Y?BB BA*BAAAA"C*CRCCCIG=M|,gFAY}m@}4@y}rr}Й8}H@f޿X C? #?@޿@̿` ?@Pl#?)~m@ ~[;I~CYA?y .FS㥫?i|?5QQaU"HQYy]}]>IϢ 5?bݾ  ?9ZA: :)W1W1X1 X1W1X1:W92W9*W9V9bUaBUa*UaUaUm`ʹ?BB BA*BAAAA"C*CRCCC-, ---{ -t:Y-0Y1y-:-695@I!G=r>e >9a Ie Fie v?a a a e ; e DE,gFAY}F+0@}FK@y}Fqdp}Fʨȼ}FH~޿n`9?!?`߿|˿?Xd?)~F+0@ ~F[;I~FCYR^?yR@F  =8@;ME=YEF;QUE?IIaM"HIIyU;}U?IY e:] 5? e:][ݾ ] m?9]\A]Y: ]:)]:W W X  X W X :W 2W*WV1bU1BU9*U9U9U=`Q?BB BA*BAAAA"C*CRCCC׉IG=E,ȳ(gFAY}BR@}BAn@y}B*p}Bc}BH޿`>`а??~޿@P\Ϳ?ۮe?)~BR@ ~Bu[;I~BCYN?yNFEbMML=YM:QUU>YYae"HaiymA;}u>Iy} 5?}Sݾ }% ?9}_A}S*; }+;)yWWX XWX:W2W*WVbUBU*UUU ?BB BA0*BAAAA"C*CRCCC  IG5 >- ---U -~:Y-WU1y-:- 60,BgFAY}:A*@}:E@y}:dm}:i}:H`}޿@ l?s'?S޿οt?걿?)~:A*@ ~:[;I~:CYF#?yJF ] ] ]]>]/ݼ]qqau"Hqyy}ǻ}>Iȉ :ōz 5? :ōJݾ ƍ ?9ƍcAǍr: ȍ:)ȍ:WWX XWX:W2W*WVbUBU*UUUM@BB BA%*BAAAA"C *C RC C C!i]}nGIyiI׿ٺAG> 9 I  Fi ?    ; CEǖ,"m\gFAY}:ʥ@}:U@y}:}i}:b}:H޿M3@To?@M?+ݿtͿ?`iְ?)~:ʥ@ ~:W[;I~8Y^V?y^vF``)n= n>r5=MrS=Yv01ttaz"Hxxy~;}~>I[ 5?Bݾ @  ?9fA: b:)WWX XWX:W2W*WVbUBU*UUU;n@R-B*** querying acoustic contact ***P)P)BB BA*BAAAA"C*CRCCCIG>-~ ---k -{:Y-0Y1y-:-36,iRvgFAY}@}0@y}Yd}Lƽ}H@9޿2c?M?ݿ ;ο N?/-?)~@ ~|[[;I~CY?ywFZ****** received transponder code query ******%F****** received ping request ******-a"Hy{;}>I :' 5? :}ݾ Ϟ ?9{AP: :):W1W1X1 X1W1X1:W12W9*WAVAbUABUA*UIUIUM+ @BB BA*BAAAA"C*CRCCCI!)!IGn> 9 I Fi 1?    ;  NEQأ, gFAY?yF%xDUSBL response received:!U1,P 502,000,002AC,189,80,80,BE,FF %Command Ack-BRequesting micromodem ping code 2i))5Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 1<M=YQU?a"Hy} ?Iȑŕ 5?ŕݾ ƕş ?9ƕAǕ: ȕ>:)ȑWWX XWX:W2W*WVbUBU*UUU` @ByBy ByA}*ByAAAA"C*CRCCCIGH>%=i%p=E EEE Ewq:YEX1yE/:E|6)E;9U,gFAY}:@}:z@y}:.>W}:]}:H*޿+*?`k? )+޿ʿ)???)~:@ ~:[;I~:CY^i?ybFbp=ɮ`rNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B D;MF=YZa"HdHyӻ}>I3 5?ݾ 蠿 ?9A: (:)W!W!X! X!W!X!:W!2W)*W)V)bU)BU)*U1U1U5@4@BaBa BaAeӆ*BaAiAiAiAi"Cq*CqRCqCqCyQIYGu=,gFAY}:qa@}:|@y}:\}:7}:H ݿ.p?q?`;?޿ɿZ?럿 >?)~:qa@ ~:\;I~:CYR?yRFVxDUSBL response received:!U1,R,502,000,002AE,189,80,80,C3,FF VFpublishing direction and range infoTTɰV`=T T)VCCITyV=j@Vw?amf-ٱT   D;tiA A)AIAiA%;M-V=Y-\QU->11a5"H19y= }=>IA M:E 5? M:Eݾ E U?9EAE: E-:)E:WqWqXq XqWyXy:Wy2Wy*WyVbUBU*UUU{@R(Combining 5 samples.P*Q=j@ZQs:@?apuV JQw?amf-2Q:QbQ#܍6@:I}j@lsn?RQЃ+W?Ӛ?p@?BQo? QU;@Q @PPPQQH@"Q@BB BA*BAAAA"C)*C1RC1C1C9U?iU?)I1GM>ܩ9ܩIܩiܩܩܩܩܭ; ݭLE)QIQiQQQUD3- --- -%q:Y-[1y-ݏ:-6)-;,gFAY}t@}@y}_}꼼}H ݿAE?a?Sݿɿ@?, @S;?)~t@ ~7[;I~CY?yڌFTNmea in: $SNTTA,0.075830,,,,225834.64*41 <M?=YEQU>a"HyS}>IS 5?1޾ X ?9AZ: R:)m-iAdded new target pos. range: 3.660000 m, bearing: 53.678774 deg, deltaT: 4.420121 s, approachRate: 0.027149 m/s, LOS rate: 0.056512 deg/s, posRepo size: 4XWo?WX XWX:W2W*WVbUBU*UUG @U?BiBi BqAuo*BqAqAqAqAq"C}o?*CRCCo?CׁIG>I)|A,NgFAY}@}@y}_}L|}H޿+8 Ч?d?ݿV̿@?`f+?)~@ ~L[;I~CYo?y#FS㥛?Q롿S㥛?>\ /<)IyMbMbp?Zd;O?;j< AA)NAIikAJA) > > -@ -@ -@-©--i-A- -A)-AI-9Ai-vA=;ME=YE"QUE>IIaM"HIQyUf<}U>IY e:]ߥ 5? e:]0޾ ]W m?9]ܤA]k: ]R:)]:WWX XWX:W2W*WVbUBU*UUUI?% %%% %v~:Y%V1y%:%`69-@BiBi BiAmR*BqAAAA"C*CRCCCIG->ܡ 9ܡ Iܥ Fiܥ ?ܡ ܡ ܡ ܥ ; ݥ PE&,hgFAY}:@}:@y}:V}:}:H ޿`<]?p?Jݿ@ο@K?⻿@?)~:@ ~:\;I~:CYF.?yFFI)=˄M==YEJ =QUE$?AIaM"HIIyU:}U$?I& 5?޾ ȡ ?9A: *:)WWX XWX:W2W*WVbUBU*U U U X?B9B9 B9A=*B9AAAAAAAA"CI*CIRCICICQ1I9GU=P,C+gFAY}BX@}B}t@y}BIM}B׽}BHE޿ Cc?? Eݿ`̿t? ]/?)~BX@ ~B#R];I~BCY^8?ybdF]`<M]H=Yeaaam"HiiyuP}u>Iy :} 5? :}޾ } ?9}A}]: }:)}:WWX XWX:W2W*WVbUBU*UUU ?BB BA*BAAAA"C*CRCCC IG= >i- --- -l:Y-X1y-/:-6f8,KEgFAY}:@}::@y}:K}:0}:H ݿLc?`n?ݿ xʿ`z8?@~汿J?)~:@ ~:'\;I~:CYf%?yfFYY    @ @ @iA pA)\AIi9A<MB=Y;QU>a"Hym }>I   5? S޾ " ?9 /A J; ';) WWX XWX:W2W*WVbU BU*UUU h@BaBa BaAed*BaAiAiAiA"C*CRCCCi?Y9YIYiYYYY]|; ]EqIG>b,]^gFA|i|Y}>@}>N@y}>_fM}>`x}>Hݿ]@x? ?_ݿʿ π?z@L?)~>@ ~>O[;I~>CYJ?yJZFE%=iEiiam"Hiqyuc}u>Iy}[ 5?}޾ }Y ?9}KA}: }:)yWWX XWX:W2W*WVbUBU*UUUK@BB BA;*BAAAA"C*CRCCCIG%=-7 --- -su:Y-W1y-č:-6,VxgFAY}u@}@y}8O}"\}Hpݿ[gj??U ݿ|˿`? 9`>?)~u@ ~U~CY?yF]MbP?v/Mbp?]:]xi ];)YIYy]v/?A)]RAI]0Ai]fAY]=JA    @ @ @ùùùiýQAù Ľ A)ĽAIĽAiĽAVDM4=YՀQU>a"Hyb}>Iȉ :ō 5? :ōD޾ ƍ ?9ƍAǍ: ȍ:)ȍ:WWX XWX:W2W*WVbUBU*U U U $@RB*** querying acoustic contact ***PPBABI BIAMh*BIAIAIAIAQ"Cq*CyRCyCyCqIyG<>I)?ACi-nmGIAiQ޿ٺA= >99 I9 i9 9 9 9 = ; = ŗEt,-gFAY}B@@}B˟@y}B!I}BM;}BH`.Nݿ@p^F??&ܿ`ʿ ?@G?)~B@@ ~BZ;I~BCYNR?yNFRZ****** received transponder code query ******RF****** received ping request ******RM M~M~M Ml:YMT1yM@:M6)M;9U,gFAY}: -@}:H@y}:OG}:X}:H0ݿ|@ĥ?*? zܿ ɿ?%}!Z?)~: -@ ~:VZ;I~8Yv~?yv,FzxDUSBL response received:!U1,P 502,000,002AE,189,80,80,C3,FF zCommand Ack~BRequesting micromodem ping code 2i||Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ] V;MeE=Yu;QU}>a"HeHyM}>I : 5? :cݾ  -?9A; ;):WWX XWX:W2W*WIVIbUIBUI*UQUQUU`Щ @BB BAN*BAAAA"C*CRCCCIG]T>,'fgFAY-g?y5YF=a=ɮ=R=eNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B   V>iA A)AIiA%U=M%>=Y%QU->))a-"H)1y=}=>IAE% 5?Eݾ E M?9E0AE: E:)AWiWiXq XqWqXq:Wq2Wy*WyVybUyBU*UUU`5@BqBy ByA}ԅ*ByAyAyAA"C*CRCCC9IXFi?'; XEIG-->=i=5 555 5~:Y5DW1y5Y:56)5};9,GgFAY}:@}::@y}:Y}:~}:Hܿng^??4 ݿ_ɿR?飗zE?)~:@ ~:"X];I~:CY^#?y^jFbxDUSBL response received:!U1,R,502,000,002AD,189,80,80,B9,FF fFpublishing direction and range info``ɰbu`=` `)b9CI`ybff@bw?amf-ٱ`v:=Mv`=YzHQUz>||a~"H|yC}>I  : R 5? : iݾ l ?9 cA : 8:) :W9W9X9 XAWAXA:WA2WA*WIVIbUIBUI*UIUQUU੫@Re(Combining 5 samples.Pa*Qeff@ZQexP^B(?0B JQew?amf-2Qa:QabQehq@؜@Q=?RQeS(o4a?R1l4??BQemTj? Qe|5@Qe @PaPaPaQaQe@"QeH@B1B1 B9A=e*B9A9A9A9AA"CA*CIRCICICIIIYGu=,0gFAY}= @}=Z%@y}=8[}=p}=Hܿ`ە? h?=Oܿ$2ͿG?#&?)~= @ ~=];I~=CYU?yU5FTNmea in: $SNTTA,0.041957,,,,225839.08*41 y&1|?y&1&1?`;` P=)Iy~jt?ˡEMb`?<'; ½^BA)½VLAI½C/Ai½fAGIA U@ U@ U@U©UUiUAU UpA)UpAIUSAiUSAmkMu(=YuQUu>yya}"Hyy;}>Ișŝb 5?ŝZݾ Ɲĝ ?9ƝAǝ); ȝ);)șmqAdded new target pos. range: 3.599999 m, bearing: 52.445734 deg, deltaT: 4.420080 s, approachRate: -0.013575 m/s, LOS rate: -0.278963 deg/s, posRepo size: 4XWmTj?WX XWX:W2W*WVbUBU*UU @U@?B9BA BAAEJ*BAAAAAAAAI"CMmTj?RCQCUmTj?Cq% %~%~% %8s:Y%T1y%@:%695@בIGc> 9 I Fi ? ; E)yIyiyyy}K4™,gFAY}:[@}:,@y}:)R}:*ܽ}:HEܿ@Y=? YܿhͿ])?ߺ$?)~:[@ ~:ޡ\;I~8Y^?y^F}M}q=YIIaM"HIQyUn}U>I 5?ݾ  ?9ئAI: ܹ:)WWX XWX:W2W*WVbUBU*UUU  U?B1B1 B1A=*B9A9A9A9A9"CA*CARCICICIIIaG=e eeej eKh:YeW1yeč:e6™,GgFAY}Vk@}VI@y}VW}V"≽}VH /%ݿ@v??!ܿ`˿ƭ?ذ9?)~Vk@ ~VY[[;I~VCj`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ܑ9ܑIܑiܑܑܑܑܕ; ݕEɫAI)I MIIYG?ymFI=)=   Õ>Õ/ݽÕq=iÕ\AÕ ĕ A)ĕAIđiĕA<M=YpfQU>a"Hy+<}>I :) 5? :ݾ  ?9 As: :):WWX XWX:W2W*WVbUBU*UUUG?B1B1 B9A=*B9A9A9AAAA"CA*CIRCICICIQIaG>™,agFAɫ髹) IY4?yF<M=YQU?a"Hy}?IȹŽҬ 5?Žݾ ƽ ?9ƽ(Aǽw: Ƚӻ:)ȹWWX XWX:W2W*WVbUBU*UUUF@B!B) B)A-`*B1A1A9A9A9"CI*CQRCQCQCYiIyG>- --- -r:Y-V1y-:-6,™,t{gFAY}bO}@}bژ@y}bX}b/M}bH2ݿl`e?R?c:ݿʿ@8? ??)~bO}@ ~b+\;I~bCɫ髱) IY?yF {GztQ?I + ף u< 94) I y Q롿y&1a"Hy%";}>IȑŕX 5?ŕjݾ ƕ ?9ƕRAǕ: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPB B  B A *B AAAA"C*CRCCC!I G-->܉ 9܉ I܍ XFi܍ ?܉ ܉ ܉ ܍ R; ݍ ǔE$%™,@gFAY}:}j@}:@y}:V}:nW}:H$ݿ.v{8? {?ܿ?]˿}? g+`a"HyG}>I : 5? :ݾ } ?9vA,< ,<):WYWYXY XaWaXa:Wi2W*WVbUBU*UUU5@BB! B!A%*BIAIAIAIAQ"CY*CYRCYCYCiׁIG=>- ---I -i:Y-W1y-č:- 6)-_;95:+™,gFAY}::K@}:f@y}:2/X}:yl}:H 3ݿ@@{ yt? 7?@Tܿ'˿?i9AaM"HMfHYym}>I 5?^ݾ ܙ %?9A^: :)WyWX XWX:W2W*WVbU!BU!*UiUqUu @BB BA*BA1AIAQAQ"C*CRCCCIG>S/2™,)gFAiJ]nGITi`vڿٺxzIAɫYY)Y YIYY?y FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B %>9!I!i!%=!!%; %hE)E > E> u u }}t=}<}94a"Hy}>I 5:IJ 5? 5:ݾ & =?9˧A?; ;):WWX XWX:W2W*WVbUBU*UUU78@  f:YU1y:6);BB) B)A-Ć*B)A)A1A1A1"C9*C9RC9C9CaIq)qYIiG}>L8™,JgFAY}:I@}:ke@y}:Y}:}:Hݿ}=?v?ܿ`}˿?F $8?)~:I@ ~:tL\;I~:Cɫyy)y yIyYV?yvFxDUSBL response received:!U1,R,502,000,002AF,189,80,80,BC,FF Fpublishing direction and range infoɰa= )x>™,gFAY}]@}] ;@y}]q[}]B}]Hܿ@w??`ܿʿzF?+§`:?)~]@ ~][;I~YɫQQ)Q QIQY?yFTNmea in: $SNTTA,0.036926,,,,225843.14*47 L7A`?ˡEQ+=什 u)Iyaaae"Haiyu}u>Iȁ :Ņs 5? :Ņݾ ƅ ?9ƅADž[O; ȅuI;)ȅ:miAdded new target pos. range: 3.720000 m, bearing: 52.446898 deg, deltaT: 4.072388 s, approachRate: 0.029467 m/s, LOS rate: 0.000286 deg/s, posRepo size: 4XWUj?WX XWX:W5 555 5}:Y5WU1y5:569=@2Wq*WyVybUyBUy*UU @UD?BB BA~*BAAAA"CUj?*CRCCUj?C?i?IG>5 >91 I5 Fi5 ?5 =1 1 5 Q; 5 EybE™, gFAY}: E@}:`@y}:d}:_!}:HܿBvP?@? %ݿ@im˿V?p.?)~: E@ ~:9_;I~8ɫQQ)Q QIQY?yFE]AE]Am=Mu=YuQUu?yya}"Hyyy;}?Iȉō8 5?ōiݾ ƍJ ?9ƍ.AǍ: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUU`X?BB BA*BA A A A "C*CRCCCׁIG>K™,a0 gFA|i|@Y}Fd@}F@y}F8m}FUQ}FH3"ݿ`Il,į?X?:ݿ@Ϳ`^c?{?)~Fd@ ~Fr`;I~DɫYY)Y YIYY}?y}ZF=ia=EZMEN=YMsQUM>IIaU"HQQy]cB<}]>Iae 5?e~ݾ e m?9ePAes: eϸ:)aWWX XWX:W2W*WVbUBU*UUU~?BB BA;*BAAAA"C*CRCCCI!G>- ---v -g:Y-0Y1y-:-`6AqR™,>J gFAɫ髙) IYo?y#F   õ">õ=õiõ(Aõ ĵA)ĵAIĵAiĵAӻMB=YQU>a"H9IFi1?A; &E)iIiiiiimM4y}>I  : 5?  :ݾ ӛ ?9uA: Z:):W1W1X1 X9W9X9:W92W9*WAVAbUABUA*UAUIUMS?BqBq ByA}R*ByAyAyAyA"C*CRCCCIי)ם\AIIYG>WX™,zd gFAY}: c@}:~@y}:r}:}:H ݿ`cK?N?nݿpϿ ?@?)~: c@ ~:q\;I~:CɫII)I IIIY}?y}ЍF)= =<MV=Y`QU>!!a%"H!)y-G =}->I15P 5?5ݾ 5 =?95A5': 5:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUyU}.@BB BA *BAAAA"Cq*CqRCqCqCyׁIG>- --- -|:Y-W1y-č:-|6*^™,Z} gFAY}:]@}:y@y}:'r}:3q}:H@ݿCG@Щ?mP?`-ݿ ο?jz?)~:]@ ~:[;I~8ɫ99)9 9I9Y?y~FI)AGz?V-y&1?p=> `e<)IyZd;O?a"Hy1}>I : 5? ::ݾ V ?9A: :):WWX XWX:W2W*W V bU BU *UUUx@B9BA BAAE-*BAAIAIAIAQ"CQ*CQRCYCYCYaIqG;>>9I@Fi?; Ee™,Fї gFAY}BO@}Bj@y}Bzr}Bڰ}BH ݿP@y?@R?aTݿϿk?"v ?)~BO@ ~BEp[;I~@ɫYY)Y YIYY?yFo<Mp=YQU?a"Hy /}?I 5?ݾ 7 ?9A: :)WWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB! B!A%*B!A!A!A!A)"CQ*CQRCQCQCYׁIG>%=i%=  W:YX1y/:6)s;9k™,] gFAY}:i*@}:E@y}:1r}: CȽ}:H ݿ[?[?nݿп ?]K?)~:i*@ ~:n`;I~:CɫYY)Y YIYY?yFZ****** received transponder code query ******F****** received ping request ******  a"HgHyQ}>I! 5:%h 5? 5:%ݾ % =?9%ӨA%; %;)%:WaWaXa XaWaXa:Wi2Wi*WiVibUiBUI*UYUaUm`f @BB BA*BAAA)A)"CI*CQRCQCYCiIGE>r™,7 gFAY}:@}:@y}:ҁq}:y}:HZݿCf@"?o?H#ݿ@ο?E?)~:@ ~:Ќ^;I~:Cɫ99)9 9I9Yum?y}FyyxDUSBL response received:!U1,P 502,000,002AF,189,80,80,BC,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ܡ9ܡIܥНFiܥE@ܥ=ܡܥNDܥ; ݥE   Ga=i(A rA)AIAiA<M-=Y6;QU%>IIaU"HQYy }>IȹŽ 5?Žݾ ƽ盿 ?9ƽAǽ½; Ƚ;)ȹW9WyX XWX:W2W*WVbUBU*UUU @ Y \l:Y0Y1y:E 6)p;BQB BAR*BAAAA"C!*C!RC)C)CQiIyG>rx™,a gFAY}:@}:@y}:lp}:[}:H'1ݿ hI?`{?`DݿfͿ? @ ?)~:@ ~:.m];I~:CɫYY)Y YIYY?yOFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U*MUl=Y];QU]?Yaae"Haaym}m?Iq }:u 5? }:uݾ uǛ ?9uAu: uA:)u:WWX XWX:W2W*WVbUBU*UUU+4@BB BAp*BAAAA"C*CRCCCI)]AסIG!>I)?A™,lA gFAY}:'@}:@y}:n}:7}:H<ݿ`Mm4?w}?ݿ<ο?r`?)~:'@ ~:\;I~8ɫ99)9 9I9Yu#?y}jFxDUSBL response received:!U1,R,502,000,002AE,189,80,80,BA,FF Fpublishing direction and range infoyyɰ}`=y y)}:CIyy}=j@}w?amf-ٱy~jt?/$?~jth>,= D)IyQ{GzMbpu# )Ii)=  @ @ @õ©õõiõAõ ĵpA)ĵAIĵSAiĵAE;M5=Y,;QU>a"Hy:}>I 5?ݾ * ?9 A; j;)W)W)X) X1W1X1:W12W9*W9V9bU9BUA*UAUIUM@@Re(Combining 5 samples.Pa*Qe=j@ZQes:@?apuV JQew?amf-2Qa:QabQe[&@\c@ݫ?RQe%6I-/?\ G?S2?BQej? Qe7@Qeq @Pec9?Ped9?PaQaQe@"Qe.@BienGBa BqAueIi*BFٺAAAAA"C*CRCCCo _ y:YY1y: 69@I!G=r>q9qIqiqu=qqu<; u#E™,$ gFAY} 4@} @y} g} rҽ} H rݿLh7?`}?ܿgϿ?`:?)~ 4@ ~ [;I~ ɫ) IY2?ysF}DNmea in: $SNTTA,,,,,225847.58*5D I=)=:M_=Ya"Hy"<}>I4 5?&ݾ v ?9Ar: j:)mmAdded new target pos. range: 3.660000 m, bearing: 52.583297 deg, deltaT: 4.510293 s, approachRate: -0.013303 m/s, LOS rate: 0.030242 deg/s, posRepo size: 4XWj?WX XW!X!:W!2W!*W)V)bU)BU)*U1U5G @U5g^?BYBa BaAea*BaAaAiAiAi"Cuj?*CqRCqCuj?CyaIiG>%™,A2 gFAY}:@}: @y}:^8_}:4o}:HRݿa?+?Yܿ`Ϳ?8T@7?)~:@ ~:M^_;I~:Cɫ99)9 9I9Y} ?y}Fn=MT=YG!!a%"H!!y-v:}->I1 =:5 5? =:5Oݾ 5Ĝ E?95&A5*: 5:)5:WaWaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UyUyU}?B)BQ BQA]*BaAiAAA"C*CRCCC m?im?AIQG8>%=i%p=  p:YV1y:s6™,L gFAY}:Y@}:@y}: <_}:Iu}:H<ݿ^XZB?? hݿ]̿?`'\,?)~:Y@ ~:_;I~:CɫQY)Y YIYY?y F9IFi@=_; 6EE^AA    @ @ @ñññiõAñ ĵA)ĵAIĵ\Aiĵ\AI<M@=Y QU>a"Hy:}>IE 5?}ݾ  ?96Aw: M:)WWX XWX:W2W*WVbUBU!*U!U!U%?BB BA*BAAAA"C*CRCCCIG$>>7™,af gFAY}ByQ@}Bm@y}B(je}Bo}BH`ݿD@q)?g?@ݿm̿p?@%"?)~ByQ@ ~B];I~@ɫYY)Y YIYY7?y'F==i=> iia=MK=Y-vQU>a"Hy[<}>I :ͱ 5? :ݾ u ?9DA: :):WWX XWX:W 2W *W V bUBU*UUUR)?BABA BAAE*BAAIAIAIAI"CQ*CQRCYCYCY)I1GU>= === =l:Y=Y1y=:=6{™, gFAY}:j@}:@y}:e}:v}:H ݿ`[>P?`a?`ݿ`̿ z?@L`"?)~:j@ ~:\;I~8ɫYY)Y YIYYc?yBFMbX?(\?I +=G> 94)IyMbMbp:vT )OQAI0AihiAfJA - - 5 5@ 5@ 5@111i5A1 5rA)5AI5 Ai5AER;MEB=YE_OQUE>IIaU"HQYy]g;}]>Iim 5?mݾ m: }?9mJAm; m;)iWWX XWX:W2W*WVbUBU*UUU@BB BAՃ*BAAAA"C*CRCCCסIGA>IAA)@A9I`Fi@=p; ?E)ݩIݩiݩݩݭ=ݭB|4I™,F_ gFAY}:f@}:@y}:^}:v}}:H޿6 7?f?`ݿ˿?ꮿ/?)~:f@ ~: \;I~:CɫII)I IIIY}?y}zF%޼M-_=Y-11a5"H19y=~;}=>IA M:E= 5? U:Eݾ E䞿 U?9EOAE&: E;)E:WqWyXy XyWyXy:Wy2W*WVbUBU*UUU6@B1B1 B9A=&*B9A9A9A9A9"CA*CIRCICICiIIQGm>= === =n:Y=0Y1y=:=6)=;9Et™,%? gFAɫ髡) IY4?yMFɮp=I ) AEMEH=YEQUE>IIaM"HMhHQyU}]>IY]x 5?]ݾ ] m?9]UA],: ]:)YWWX XWX:W2W*WVbUBU*UUU`.@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCIG (>D[™, gFAY}B@}BP3@y}B<}Bfk}BH޿zHr?Qݿ@EͿ }?`xcÿ@?)~B@ ~Bgyc;I~BCɫYY)Y YIYY?y(FZ****** received transponder code query ******F****** received ping request ******a"Hya<}>I :Ų 5? :ݾ h ?9\A: E:):WWX XWX:W2W*W)V)bU)BU1*U1U1U5& @ByB BAG*BAAAA"C*CRCCC?i?IGG>!i%= R }i:YU1y: 6);j™,A gFAɫ) IYE?y0FxDUSBL response received:!U1,P 502,000,002AE,189,80,80,BA,FF Command AckBRequesting micromodem ping code 2i Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 e=Mm`=YQU>19a="HAYym}m>Iqu 5?uݾ u }?9ucAuX: u ;)qWIWQXQ XQWQXY:WY2Wa*WaVbUBU*UUU@1$ @B9Ba BaAe܃*BaAaAiAiAi"Cq*CqRCqCqCyסIG k>#o™,$ gFAY}:&7@}:R@y}:P0}:~}:H`x޿Sa?lz?޿&ƿ)!I!y%/$?{Gz?Q%<%#<% %7A)%]AI%h3Ai%!%BA    @ @ @iA EA)(AI(Ai`A%k<M%1=Y-))a5"H11y5;}=>IAEP 5?Epݾ E M?9E{AEI: E:)AWiWqXq XqWqXq:Wq2Wy*WyVybUyBUy*UUU` -@BB BA*BAAAA"C9*CARCACACI9IIGmW>  m:YWU1y:s69@ܽ>9ܹIܽНFiܽE@ܹܹܹܽ; ݽZE;™,% gFAY}:C@}:=_@y}:h1}:S}:H޿h>?u?߿ſ`?'} ?)~:C@ ~:1^;I~:CɫYa)a iIiY?yFxDUSBL response received:!U1,R,502,000,002AE,189,80,80,B6,FF Fpublishing direction and range infoɰ鰹 )6CIyw?amf-ٱm8<MuW=YuLSQUu>yya}"Hyyy;}>Iȉ :ō 5? :ō ݾ ƍԣ ?9ƍAǍ: ȍ:)ȍ:WWX XWX:W2W!*W!V)bU)BU)*U)U1U5@RE(Combining 5 samples.Pa*QaZQes:@?apuV JQew?amf-2Qa:QabQe<@l+@\2?RQeIe?Rn?b@?BQe2At? Qe=@Qe@PaPec9?PeQaQe@"Qe@BB BA|*BAAAA"C*CRCCCI)IGI>I@A)BA}™,s5 gFAY}f;@}f@y}fiy0}fT}fH`M߿t?]?z<߿SƿC?0 {?)~f;@ ~fg^;I~fCɫ)! !I)Y]?y]LFTNmea in: $SNTTA,0.028840,,,,225852.04*48 )== ==    @ @ @áááiåAá ĥA)ĥAIĥAiĥAbMD=Y(;QU>a"Hyz<}>I 5?ݾ = ?9Aض: :)muiAdded new target pos. range: 3.660000 m, bearing: 54.667038 deg, deltaT: 4.443613 s, approachRate: 0.000000 m/s, LOS rate: 0.468929 deg/s, posRepo size: 4XW2At?WX XWX:W2W*WVbUBU*UUU M?BB BA9*BAAAA"Cvp?RCC2At?C!I G=Q> w 0p:Yy|6i NmGI) i9 m ٺi m NAh™,[O gFAY}>@}> @y}>&}>6}>H i߿`Ls?;X?@6!߿@KSǿ`?V`v?)~>@ ~>{Ta;I~>Ca9aIexFie?aaae; eYEɫ  )  I YM~?yM{FI)üM<=Yɰa"Hy <}>I :> 5? :)ݾ  ?9A: k:):WWX XWX:W2W*W!V!bU!BU!*U)U)U-`?BQBY BYA]*BYAYAYAaAa"Cm2At?RCiCiCiYIiGb>™,!=i gFAY}>K@}>Lg@y}>X}>X}>H ߿ {?nO?߿Ƥſ+?*ۉ?)~>K@ ~>f;I~<ɫQY)Y YIYY?yFu;Muy=Yu=QU}?yya}"Hyyŋ<}?Iȑŕ 5?ŕݾ ƕ᧿ ?9ƕѩAǕ': ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAA A "C*CRCCC-?i-?aIqG>5 555o 5l:Y5U1y5:56d™, gFAY}B@}Bc@y}B}B}aQ}BH߿@(t?@h?߿oTÿ%?h⩿ ?)~B@ ~B]a;I~BCɫYY)Y YIYY?yF`"?Dl? rh=O= C )Iy{Gz?ˡE?S㥛?#<'=/< :A)$RAI1AiaAHA99    @ @ @ÉÉÉiÉÉ čA)ĉIĉičA&=M4=Yy*  a"Hy06}>I! -:%/ 5? -:%;ݾ %] -?9%A%: %:)%:WQWQXQ XQWQXQ:WY2WY*WYVYbUaBUa*UaUaUm ?BB BA*BAAAA"C*CRCCCסIGA>a9aIeFie1?e=aaeu; eBE™, gFAY}: @}:@y}: ,}:.}:H Z߿[?`i?z߿aYÿ`2??)~: @ ~:3^;I~:Cɫ99)9 9I9Y}?y}2FŏMp=YnQU?!!a%"H!)y-}-?I15 5?5ݾ 55 E?95A5U: 5+:)1WWX XWX:W2W*WVbUBU*UUUb?BB! B!A%*B!A!A!A)A)"C1*C1RC1C1C9iIqG>U UUU Un:YUDW1yUY:U6)U;9]™,&ȶ gFAY}:i@}:@y}:g}:HY}:H`fEˠ?B?r߿`͌Ŀ ?ѪD?)~:i@ ~:Sj\;I~:Cɫ髡) IY?yF   ;`ipA A)rAIAiA%M-:=Y-aGQU->11a5"H5iH9y=<}=>IAE 5?Eݾ E U?9E=AEY: E:)AWqWyXy XyWyXy:Wy2Wy*WVbUBU*UUU+@BB BAɄ*BAAAA"C*CRCCCI)IG$>™, gFAY}RAB@}R]@y}Rb(}R*b}RH@~߿]&?`)B?`zi߿@ mǿ? 6u?)~RAB@ ~Rb;I~RC9IXFi?; LE)рIрiрррՀ4ɫ髙) IY?yŏFp=ɮ=)= =% M%]=Y%QU%>))a-"H)1y5iѻ}5>I9 E:=S 5? M:=Hݾ = M?9=^A=: =4:)=:WWX XWX:W2W*WVbUBU*UUU1@RB*** querying acoustic contact ***PPB1B1 B1A5@*B9A9A9A9A9"CA*CARCACACIIIQGu>!™,o~ gFAY}V6@}V@y}V/}VS}VH`߿@pW?@L?`R߿%ǿ? ,ǰ@u?)~V6@ ~VQ_;I~VCɫyy)y yIyY_?yFZ****** received transponder code query ******F****** received ping request ******a"Hy3}>I 5?ݾ +  ?9A@: :)WiWX XWX:W2W*WVbUBU*UUU @B B  B A V*BAAAA"C*CRCC!C!!I)G:>M MMM MDp:YMWU1yM:M69m@w Ù,qY gFAY}J܋@}Jg@y}Jˁ7}J_}JH ((߿ @l?!]?W߿ ſ?I x?)~J܋@ ~J*r`;I~JCɫyy)y yIY6?y؎FxDUSBL response received:!U1,P 502,000,002AE,189,80,80,B6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 /$?(\µX9v? &1>  }=) I y y&1|~jth?X9v? `廹 D; < a"H y nP} >I%=i%= E: 5? E: ݾ H M?9AW; ;):9IFia?; bEWiWiXi XiWqX:W2W*WVbUBU*UUU @BYBY BaAe*BaAaAaAiAi"C*CRCCC׉ I G >8Ù,MI gFAY}J8@}J@y}J>}JH}JH#@߿ "?@J? a߿Qǿ?yWJl?)~J8@ ~J_;I~JCɫqq)q qIqY?yF@A%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ;M=YIQU?a"Hy.<}?I 5?Bݾ * ?9A=: ϸ:)WWX XWX:W2W*W!V!bU!BU!*U)U)U-@BQBY BYA]*BYAYAaAaA"C*C RC C C IG-->% %%% %.r:Y%U1y%:%6)%w;9-] Ù,8 gFA|i|@Y}J@}J @y}J>}Jc}JHC5߿%'K?1M?@#߿`hȿ -?v e?)~J@ ~JJ];I~JCɫy髁) IY?yFxDUSBL response received:!U1,R,502,000,002AD,18A,80,80,CA,FF Fpublishing direction and range infoɰu`=鰽> )JCIyff@w?amf-ٱ !!      X>ƽ=ipA A)AIAi2M%E=Y%V1QU%>))a-"H)QyU]}U>IY e:]% 5? e:]ݾ ] m?9]A]; ];)]:WWX XWX:W2W*WV bU BU *U UU @R%(Combining 5 samples.P!*Q%ff@ZQ%xP^B(?0B JQ%w?amf-2Q!:Q!bQ%kt@FV@wݓ?RQ%{H?t?(?BQ%pt? Q%:@Q%@P!P!P%Q%Q%@"Q%@BB BA*BAAAA"C*CRCCCסIGA>JFÙ,Q gFAX9XIXiXXXXZ; ZsEY}@}@y}@}Çl}H`߿(?Q?}߿lȿQ?@J` b?)~@ ~*`;I~ɫqq)q qIqY?y5F]TNmea in: $SNTTA,0.049785,,,,225856.48*45 3MB=Y'QU>a"HyՅ}>I8 5?ݾ  ?9A: w:)mmAdded new target pos. range: 3.599999 m, bearing: 54.810629 deg, deltaT: 4.435370 s, approachRate: -0.013528 m/s, LOS rate: 0.032374 deg/s, posRepo size: 4X W pt?W X  X W X :W2W*WVbUBU*UU @Uc?BB BAJ*BAAAA"Cpt?*CRCCpt?C!I I)@A-9 --- -u:Y-V1y-:-6)-n;GEQ>oÙ,k gFAY}:@}:F@y}:ʯI}:S}:H&߿_@?@>>?)߿kɿS ?V?)~:@ ~:_;I~:Cɫ99)9 9I9Y?y~Fu"<Mua=Y}ƼQU}>ya"Hy;}>Iȑ :ŕK 5? :ŕ)ݾ ƕ ?9ƕAǕR: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU`?BB B A -*B A AAA"C*CRCCCiIqG>W!Ù, gFAY}B@}B@y}Bk7R}B/}BHD߿ ?%?@Jm߿Qɿ?@liL?)~B@ ~Bk^;I~@ɫYY)Y YIaY?ylF!!i/mGIiٺAI=)R=Mb`?Zd;O?I +;j<= 9)IyMb`X9v?{Gzt?<ף; ­AA)­OAI­1Ai­fA=JA  @  @  @©iA 9A)9AIAiAsM2=YQU>!!a%"H!)y-;}5>I15M 5?5ݾ 5 E?95تA5: 5@:)1WaWaXi XiWiXi:Wi2Wi*WqVqbUqBUq*UyUyU} ?BB BA4*BAAAA"C*CRCCCIGE>- --- -~:Y-0Y1y-:-695@ܡ9ܡIܡiܡܡܡܡܥ; ݥE,'Ù,,~ gFAY}>@}>9@y}>>W}>J}>HC߿`?`?`(߿D˿?(/:?)~>@ ~>+];I~>CɫYY)Y YIYYz?yǍF]U<M]l=Y]~QU]?aaae"Haiymq:}m?Iqu 5?uݾ um ?9uAu+: u#:)qWWX XWX:W2W*WVbUBU*UUU`?BB BA*BAAAA"C*CRCCC?i?IIQGm>=i-Ù,W gFAY}5P@}5@y}5Z}5HK}5HOT߿??'߿̿$? 8l0?)~5P@ ~5P\;I~5Cɫ11)1 9I9Yu?yu F 5 5 55h=5-5C =i5pA5 5A)5AI5Ai1EQME<=YMQUM>IQaU"HUjHQy] l;}]>Ia m:e 5? m:ehݾ eM u?9e Ae<: e:)e:WWX XWX:W2W*WVbUBU*UUUG@BB BAĆ*BAAAA"C*CRCCCIG$>- -{-{- -:Y-#R1y-:-6̓4Ù,2 gFA$9$I&XFi&?$$$&-; &EY}J@}Jt!@y}J`}Jv}JHN߿`@ū?`?g@߿@̿?+?)~J@ ~J[;I~JCɫyy)y yIyYx?yF==i=R= AAUmMU[=Y]~QU]>Yaae"Haaymo:}m>Iqu˥ 5?uݾ u. }?9u"Au: u߼:)qWWX XWX:W2W*WVbUBU*UUU`@BB BAІ*BAAAA"C1*C1RC1C1C9IIQGm>:Ù, gFAY}Bc@}B@y}B'6k}Brg}BHc߿`}n??`߿̿$?*?)~Bc@ ~Bl`;I~@ɫYY)Y YIYY?yF鮥a=ɮp=  S=M O=YӼQU>a"H!y%@}%>I) =:- 5? =:-/ݾ - =?9-I!)%?A]# ]]] ]s:Y]WU1y]:];6AÙ, gFAY}R]@}R@y}Rr}RT}RHY޿ ?`?`ʧ޿\ο*?s?)~R]@ ~R^;I~Pɫyy)y yIyY?y~FZ****** received transponder code query ******F****** received ping request ******q =)Iy~jt:vDT …?A)…(RAI…G/Ai…z@A)Ý > Ý> %@ %@ %@%©%%i%A% %)%AI%Ai%vAUwMU+=YU=tQU]>YYa]"Haay߻}>IȑŕA 5?ŕݾ ƕ ?9ƕOAǕ4: ȕ:)ȑWWX XWX:W2W *W V bU BU *UUU' @BYB BA-*BAAAA"C*CRCCCQ9QIUFiU1?U=QQUF; UE)Ii=4יIGb>GÙ, gFAY}:}@}:-@y}:|q}:o}:H@a޿ ? U'?n޿@EͿ@0?k?)~:}@ ~:O];I~:CɫYY)Y YIYY?yuFxDUSBL response received:!U1,P 502,000,002AD,18A,80,80,CA,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ѳMx=Y%QF;QU-?9AaM"HIYym }?I :x 5? :Uݾ ^ ?9]A^: :):WWX  X WX:W2W*W!V!bUBU*UUU5 @BB BA0*BAAAA"CA*CARCACACI= === =:Y=X1y=/:=6)=b;9EIIG}Y>MÙ,: gFAY} =@} X@y} p} a} H޿  ߰?@W?޿&QͿ`?@Z?)~ =@ ~ ں\;I~ ɫ) IY-?y-F11Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ] ] ]]t=]]+=i]A] ]vA)]AI]Ai]AuvMu5=YuO;QUu>yya}"Hyy2;}>Iȉō 5?ōݾ ƍ ?9ƍnAǍ: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUUf@BB BAh*BAAAA"C*CRCCCIGH>=i=9 99 I= xFi= ?9 9 9 = U; = ESTÙ,=|T gFAY}:@}:7@y}:*r}:n}:HQ߿`@+??`H߿!ο`p?@o0 ?)~:@ ~:[;I~:CɫYY)Y YIYY?ylFxDUSBL response received:!U1,R,502,000,002AD,189,80,80,C4,FF Fpublishing direction and range infoɰ鰭7> )DCIyw?amf-ٱғ<Mi=YQU>a"Hy/<}>I : 5? :ݾ I ?9|A: :):W!W!X! X!W)X):W)2W)*W)V1bU1BU1*U9U9U=φ@RM(Combining 5 samples.PI*QIZQMxP^B(?0B JQMw?amf-2QI:QIbQM?2tM]?BQM~s? QM59@QM @PIPIPIQMQM@"QM@BB BA4*BAAAA"C*CRCCCIG>- ))-} -h:Y)y)- 6)-;Z[Ù,[_n gFAY}v0@}vuL@y}vu}v 4}vH@L߿_@^?h?V߿@\?ο f?` ?)~v0@ ~v7`;I~vCɫ) IY??yF}DNmea in: $SNTTA,,,,,225900.91*5A ;M;=Y˻QU>a"HyL<}>Iȩŭ6 5?ŭݾ ƭ7 ?9ƭAǭҦ; ȭ;)ȩmEmAdded new target pos. range: 3.599999 m, bearing: 54.511678 deg, deltaT: 4.383856 s, approachRate: 0.000000 m/s, LOS rate: -0.068194 deg/s, posRepo size: 4XQW]~s?WX XWX:W2W*WVbUBU*UUU ?BB BA*BAAAA"C~s?*CRCC ~s?C  I!GE>!aÙ,5 gFAY}ZO@}Zk@y}Zz}Zadu}ZH]߿ u?@c?w߿ο`?@?)~ZO@ ~Z,`;I~ZCɫ髑) IY ?yƎF Zd;OˡE?I +? j< '= 9=) I y ~jt?~jtX9v =   @A) ~PAI ,Ai fnA   KA @ @ @ý©ýýiýAý Ľ)ĽAIĽAiĽ A=M;=Y&QU>a"Hy;}>Iڥ 5? ݾ G ?9A: :)WWX XW!X!:W!2W!*W)V)bU)BU)*U1U1U5`?BYBa BaAe*BaAiAiAiAi"Cq*CqRCqCqCyaIiG@>9IFiE?=@; EI)@A- ---Z -:Y-0Y1y-:-a 6)-H;\hÙ,E gFAY}:S@}:@y}:9{}:fɽ}:H@߿`d? ?޿௉п`?aM?)~:S@ ~:"Z^;I~:Cɫ99)9 9I9Y}c?y}F=;Mk=YMQU?!!a%"H!)y-؁}-?Iȁ :Ņ 5? :Ņݾ ƅ, ?9ƅ׫ADžj: ȅ:)ȅ:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*C RC C CIIQGu>KnÙ, gFAY}N@}N@y}N0{}Ne}NH޿T@?|?ݿ0cѿ? K g?)~N@ ~N ^;I~NCɫ髑) IY,?y4F m m mmj<=mm#a"HkHy}>I  I 5? ݾ 5 ?9 A ض: ϸ:) W9W9X9 X9W9XA:WA2WA*WAVIbUIBUI*UIUQUU@f?ByBy ByA}*BAAAA"C*CRCCCץ?iץ?aIiG>-j --- -y:Y-X1y-/:-W695@i9IQi$ٺA 9 I Fi @ ; E0uÙ,* gFAɫ髙) IY?yƎFu9<MuK=Y}QU}>yya"Hy}>Iȑ :ŕ 5? :ŕݾ ƕ( ?9ƕ%AǕ$: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU?M@ByB BA*BAAAA"C*CRCCCסIG >)i-=Z{Ù,( gFAɫ髙) IY?yiFae^AP=MH=YQU>a"Hy}>Iȱŵ 5?ŵݾ Ƶ( ?9ƵLAǵ: ȵ:)ȱWW!X! X)W)X1:W92W9*WAVIbUBU*UUU@BABQ BQAU*BYAAAA"C*CRCCC= ===Y =zm:Y=WU1y=:=E 6IGj>BÙ,z gFAY}>8~@}>Ù@y}>Zo}>{}>H(޿ 8??޿@Ϳ@? N?)~>8~@ ~>a;I~<ɫYY)Y YIYY?yXF鮝p=ɮezG?T㥛 V-?e =e e<)aIaye:vI +?Mbp?eԼe94a"Hy)}>I :٤ 5? :ݾ N ?9dA: :):W!W!X! X!W!X!:W!2W)*W)V)bU1BU1*U1U1U5@REB*** querying acoustic contact ***PAPABaBa BaAml*BiAiAiAqAq"Cq*CyRCyCyCyIב)בׁIG>܍>9܉I܍`Fi܍@܍=܉܉܍K; ݍErlÙ,T#gFAY}:@}:@y}:g}:}:H6޿ V??޿!Ϳ/?@@?)~:@ ~:^;I~:Cɫ99)9 9IAY}?y}`FZ****** received transponder code query ******F****** received ping request ******a"Hy/ <}>I   5? 7ݾ n ?9 yA I; ;) WAWAXA XAWIXI:WI2WI*WIVQbUQBUQ*UQUYU] @BB BA*BAAAA"CQ*CYRCYCYCY)I1GU>I)AA- --- -l:Y-V1y-:-6JÙ,.=gFAY}:E@}:0a@y}:+a}:c}:H`߿D5??@N߿̿ Z?@#?)~:E@ ~:\;I~:Cɫ99)9 9IAYZ?y*FxDUSBL response received:!U1,P 502,000,002AD,189,80,80,C4,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= > e  Í"[>Í7=ÍiÍ AÍ č9A)čAIčAičA%M- =Y-D11a="H9ayeP<}m>Iq :u 5? :u ݾ u ?9uAu; u;)u:WWX) X)W)X1:W12W9*WYVabUaBUi*UiUqUu,@BB9 B9A=*BAAAAIAIAI"Ca*CaRCaCiC׭?i׭?בIG>܉ 9܉ I܍ Fi܍ @܍ =܉ ܉ ܍ ; ݍ E)Ii 4~Ù, WgFAY}:@}:y@y}:P^}:_tq}:Hú߿>$? ?s߿˿]?t 1?)~:@ ~:'$\;I~:Cɫyy)y yIyYC?yVFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B <=M}=Y$-Y --- -)x:Y-W1y-č:-6)-;95BÙ,pgFAY}:.@}:@y}:2+^}:u+}:H߿@B.?v?@߿pʿ ?@8?)~:.@ ~:6D\;I~:CɫII)I IIIY}?y}FxDUSBL response received:!U1,R,502,000,002AE,189,80,80,B2,FF Fpublishing direction and range infoɰ`=鰁 )2CIy=j@w?amf-ٱ},<M}>=Y?9QU>a"Hay"x:}>IW 5?Jݾ ԫ 5?9ƬAh< <)WWX XWX:W2W*WVbUBU*UUU8@R(Combining 5 samples.P*Q=j@ZQs:@?apuV JQw?amf-2Q:QbQEKp@><=N@ ۰k?RQ?8V;%?Z50?BQw? Qb?@Q@PPPQQ @"Q@=ip=BaBa BaAe{*BaAiAiAiAi"Cq*CqRCqCqCyQIaG}z>đÙ,ƊgFAY}:Z@}:v@y}:6_}:Ҹ}:HB߿P??`(߿ͿU?``?)~:Z@ ~:!`;I~:Cɫ99)9 9I9Yu0?y}FRNmea in: $CAREV,225906,AUV,2.1.4000*20 M@ M@ M@M©MMiMfAM M)IIMAiMvA] <M]^=Ye5QUe>aiam"Hiiyu}u?Iy :}o 5? :}ݾ } ?9}جA}p: }g:)}:miAdded new target pos. range: 3.660000 m, bearing: 55.500809 deg, deltaT: 4.562070 s, approachRate: 0.013152 m/s, LOS rate: 0.216816 deg/s, posRepo size: 4XWw?WX XWX:W2W*WVbUBU*UUG @U@+i?BB BAa*BAAAA"C yqv?RCCw?CIG>)9)I)i))))-; -E- ---V -{:Y-U1y-:- 6)-;Ù,sgFAY}:+@}:'G@y}:9Y}:}:H@{߿7PM`?޿ο ~?`- ?)~:+@ ~:N`;I~:Cɫ髩) IYp?yrF QQJM,=YNa"HlHyǻ}>Iȡť 5?ťݾ ƥ ?9ƥAǥs: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU`?BB BA*BA!A!A!A!"C-w?*C)RC)C)C1יIGb>Ù,vgFAY}:$@}:?@y}:kP}:m}:H ߿u1?@? ߿̿? 5?)~:$@ ~:^;I~:Cɫ99)9 9I9Y}?y}F 5 5 55s>5=5+i5A5 5A)5AI5Ai5AE;MEx=YE9IAA)BA-C ---C -hv:Y-Y1y-:- 695@) 9) I) i) - =) ) - ; - Eo̵Ù,*RgFAY}:@}:}@y}:J}:库}:Hz߿|0L??߿w=ʿ{?L?)~:@ ~:\;I~:Cɫ99)9 9I9Y?yF5,;M=K=Y=zAAaE"HAAyMӣ<}M>IQUǥ 5?Uݾ UP ]?9UAU: U@:)QWWX XWX:W2W*WVbUBU*UUU?BB BA{*BAAAA"C*CRCCCIIQGm>iÙ,,gFAY}B@}B@y}B?}B0Ė}BH@*dh??`߿ V9ɿ?@@[?)~B@ ~B2\;I~BCɫYY)Y YIYYyImR=)m%=a i@a  a m@a  a q@a  a e@a  Y5AAIa"Hy+<}>I -: 5? 5:rݾ j =?99Ag< >):WWX XWX :W 2W *W V bUBU*UUU@?BB BA*BAAAA"C*CRCCC5! 555 5s:Y5W1y5č:56יIGb> Ci I i1 Ù, gFAN5ٺPRAY}^E@}^@y}^GI5}^}^H& ȶ?`7 ? ^iǿ`?ys=p?)~^E@ ~^[;I~^C?9\Aɫ髹) IY?y)F @ @ @©iA A)\AIi&Ma"Hyq}>I 5? ݾ z ?9OA: T?)W!W!X) X)W)X):W)2W1*W1V1bU1BU1*U9U9U=@BaBa BiAm*BiAqAqAqAq"Cy*CyRCyCyCׁIG>9IНFiE@F; :E=i=tÙ,"%gFAY}:@}:H@y}: C3}:p}:H ^@T9??@  Qǿ@ K?*/r?)~:@ ~:_;I~8ɫYY)Y YIYY!?yߑF鮥a=ɮ<M^=YH;QU>a"Hy]̻}>I' 5?ݾ  ?9dA: S?)W W X  X W X :W 2W*WVbUBU*UUU@R-B*** querying acoustic contact ***P)P)BIBI BIAUe*BQAQAQAYAY"CY*CaRCaCaCaIG>-. ))- -t:Y)y)-362Ù,?gFA|i|Y}>E@}>л@y}>5}>l/}>H  ˢ`?A?s93ƿ?@蓥`3x?)~>E@ ~>];I~>Cɫqq)q qIqY$?yFZ****** received transponder code query ******F****** received ping request ******=Y̩QU>a"Hyp}>IȡťJ 5?ťNݾ ƥ ?9ƥ}Aǥ: ȥa?)ȡWWX XWX:W2W*WVbUBU*UUU sP @BqBy ByA}*ByAAAA"C*CRCCCסIGA> 9 I xFi ? = ; \EÙ,}YgFAY}Fo@}F@y}F'6}F2}FH`߿.@{? L&?| UĿ >?`zܑ`|?)~Fo@ ~F];I~DɫYY)Y YIYY7?y'FxDUSBL response received:!U1,P 502,000,002AE,189,80,80,B2,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %M-Q=Y=&QUE>QYa]"Haqy}>Iȩŭk 5?ŭݾ ƭ ?9ƭAǭ; ȭo@)ȩW1W1X1 X9W9X9:WA2W*WVbUBU*UUU @B9B9 B9A=*B9AAAaAaAa"Ci*CiRCiCiCqI%@A)%AAM^ MMMt Mx:YMT1yM:M*6)M;9UYIqG^>DÙ,OtsgFAY}J@}J@y}Jl8}Jo7}JH") \?V? ~0oƿ?J$s?)~J@ ~Ja];I~HɫYa)i iIiY!?yߑFAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M3=Ym,QUm>iiau"Hqqy}؅<}}>Iȁ :Ņ 5? :Ņݾ ƅ ?9ƅADž: ȅ@)ȅ:WWX XWX:W2W*WVbUBU*UUU@BB BAe*BAAAA"C*CRCCC IG_>-Ù,UgFAY}:O)@}:D@y}:60}:}:HoH17?Y?$zȿ ?Եg?)~:O)@ ~:];I~:CɫQY)Y YIYY?yEFxDUSBL response received:!U1,R,502,000,002AE,189,80,80,B5,FF Fpublishing direction and range infoɰ )5CIyw?amf-ٱIC=)= M@ U@ U@M©MMiMGAM MA)MAIM9AiMAefgMec=YeU-?zcj- ))-~ -%q:Y)y)-<6)-;)ZÙ,9gFAY} {+@} G@y} C%} Ľ} H@BQa"HmHy9}%>I)-Ц 5?-ݾ -ڬ 5?9-ݭA-: -P@))meiAdded new target pos. range: 3.660000 m, bearing: 56.048505 deg, deltaT: 4.343473 s, approachRate: 0.000000 m/s, LOS rate: 0.126096 deg/s, posRepo size: 4XaWmXmz?WiXi XiWiXi:Wi2Wq*WqVqbUqBUy*UyUyU}sE?BABA BIAM*BIAIAIAIAI"CUXmz?RCYC]Xmz?CYYIaG8>i=?Ù,= gFAY}:r@}:X@y}:#]}:"T}:H:s r@7w? ?7`ʳƿ?}?)~:r@ ~:Pb;I~:Cɫqq)y yIyYG?yF   Õ =Õʡ=Õ 0iÕAÕ ĕA)ĕ9AIĕAiĕ\A;MQ=Yqa"Hy6<}>I 5?ݾ 笿 ?9A: i@)WWX XWX:W2W*WVbUBU*UUU ?BIBQ BQAU܄*BQAYAYAYAY"Ca*CiRCiCiCqׁIG>-& ---\ -t:Y-W1y-č:- 69-@i 9i Im Fim 1?i i i m %; m EhÙ,igFAY}:O@}:@y}:0 }:H}:Hpl\??mmſ`8?Ѕ?)~:O@ ~:^;I~:CFJFailed to close latch before timeout.q FFHardware FaultYJV?yJĐF  :MX=Y% QU>a"HyZ<}>I 5?!ݾ  %?9 Aį: @)WaWaXa XaWiXi:Wi2Wi*WiVibUBU*UUU`jD?BB BA؄*BAAAA"C*CRCCC I-$-@Hardware Fault in component: DDMG5 >Ù,gFAY}v&@}v@y}v8%}vS-}vH`tS??,`/TĿ-?`\?)~v&@ ~v\;I~t-Powering down)ɪ))9 9Y?y Fa i}a i} a m}a m} a q}a q} a e}a e} }#~j?> ףp=ʿQ?}%>}Q }\=)yIyy}MbP)\(?{Gz}}Ga=}# }iiam"Hiqyu3:}u>Iy} 5?}ݾ }í ?9}CA}: }ӻ:)yWWX XWX:W2W*WVbUBU*UUUd?BB BA*BAAAA"C*CRCCCI)@A- ---F -*k:Y-U1y-:-< 6I9Guy>zę,gFAYR?y_Fj<M=YQU?a"Hy}?I : 5? :aݾ 6 ?9cA(: :):WqWqXq XyWyXy:Wy2Wy*WVbUBU*UUU@BB BA*BAAAA"C*CRCCCI9IXFi?; EG- > ę,mr(gFAY}:b@}:~@y}:t-}:S}:Hbydm??=SǿP? B=t?)~:b@ ~:I\;I~:CYvm?yzFIm=)ipgML=YQU>a"Hy2}>IȹŽU 5?Žݾ ƽ ?9ƽAǽ: Ƚn:)ȹWWX XWX:W2W*WVbUBU*UUU+@B!B) B)A-R*B)A)A)A1A1"C9*C9RC9C9CA׉I$NClearing failed state for component DDMq G=-0 --- -t:Y-W1y-č:-6ę,fMBgFAY}:*@}:iF@y}:+}:ۢ}:H}L@7x? ? +ǿ c? Ls?)~:*@ ~:[;I~:CYF?yFFHɮJa= z z zz+>z>zDizAz zvA)zSAIzAix <M T=Y ;QU >a"Hy }>Iȡ :ť 5? :ťݾ ƥ ?9ƥAǥV: ȥ+:)ȥ:WWX XWX:W2W*WVbUBU*UUU`va@RB*** querying acoustic contact ***PPBQBY BYA]*BYAYAaAaAa"Ci*CiRCiCiCQIaG=iqIihٺA=i= >9 I i  =   ;  +EOę,3\gFAY}:+@}:TG@y}:)+}:M}:HM@q*™?@?v*[ƿ M]?!x?)~:+@ ~:M[;I~:CY^?y^FbZ****** received transponder code query ******bF****** received ping request ******b))a5"H19y=9}=>IAE/ 5?E/޾ E[ U?9EAE; E;)AWyWX XWX:W2W*WVbUBU*UUiUu @BB BAG*BAAAA"C*CRCCCIG>%\ %%% %gx:Y%V1y%:%W6)%;9-=ę,4vgFAY}@}e3@y}+} *}HD`Y?`?-@Ipƿ;`? ѯ|?)~@ ~Z;I~Y?ytFxDUSBL response received:!U1,P 502,000,002AE,189,80,80,B5,FF Command AckBRequesting micromodem ping code 2i=ip=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 !!5I +?m?Mb594<5n> 5)1I1y5y&1|?y&1|V-?5`;5`5< 1)1I55Ai5p_A15HA @ @ @ý©ýýiýAý Ľ A)ĽvAIĽAiĽAۼM =Y*!QU>a"Hy8}>I :Z 5? : ޾  ?9A : :):WWX! X!W!X!:W!2W!*W)V)bU)BU)*U1U1U57=@BB BAɅ*BAAAA"C*CIRCQCQCYם?iם?a Iq G >#ę,gFAY}Fau@}F@y}F/}FI@d}FHi@np? ?^@~Fƿ@? |?)~Fau@ ~FZ;I~DYnr?ynFpr@A~Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B <M=Yg_QU@?a"Hy?<}@?Iȱŵl 5?ŵݾ Ƶ0 ?9ƵAǵ': ȵ:)ȱWWX XWX:W2W*WVbUBU*UUU@ @BB BA*BAAAA "C*CRCCCܱ9ܱIܵFiܵa?ܵ=ܱܱܵO; ݵPE!I1GM>I!)%AAU UUU Uj:YUWU1yU:U6)Uڿ;o)ę,gFAY}:@}:X-@y}: 6}:b!S}:H *Hi?@;?P`ƿ?$t?)~:@ ~:N[;I~:CYF?yF*FV;MZ[=YZQUZ>\|a~"H|y<}>I   5? ݾ  ?9 A ; ;) WyWX XWX:W2W*WVbUBU*UUU@_@BB BA*BAAAA "C *CRCCC1IG5=0ę,gFAY}F~@}F@y}Fh:}Fw}FH[0@?l?@Yǿ;,?ti?)~F~@ ~FD}[;I~FCYRX?yRPFIX)X``        = E= 7=i GA  A) AI Ai A%+ԼM-C=Y-%QU5>a"HnHy~{<}>I  =:  5? =: ݾ  E?9 A ; <) :WWX XWX:W2W*WVbUBU*UUUYf@BQBQ BQAUׅ*BYAYAYAYAY"Ca*CaRCaCiCiIy)yaIqG>- --- -Fn:Y-W1y-č:-695@ܱ 9ܱ Iܱ iܱ ܵ =ܱ ܱ ܵ \; ݵ WE)IIIiIIIM47ę,WxgFAY}: @}:@y}:X;}:Dk}:HK??/ ǿ$Y?@7i?)~: @ ~:P[;I~:CY^?y^tFfDNmea in: $SNTTA,,,,,225914.28*5D v*;MvN=YzAfQUz>x|a~"H||yR3<}>I  ˟ 5? ݾ  ?9 A k: M:) W9W9X9 X9W9X9:WA2WA*WAVAbUIBUI*UIUIUM@ByBy ByA}Ʌ*ByAAAA"C*CRCCC1IAGe=ip=2=ę,d[gFAY}@}Y@y}A}Lm:}H@G@4?`3{? kǿ@0?`ি,e?)~@ ~.[;I~CY?yFxDUSBL response received:!U1,R,502,000,0366C,189,80,80,BD,FF Fpublishing direction and range info  ɰ ?  ) =CI y GD w?amf-ٱ ?i|?5"~j?L=q S=)Iyaaae"Haiym::}m>Iq }:uX 5? :uݾ u8 ?9u Au: u:)u:WWX XWX:W2W*WVbUBU*UUUx@R(Combining 5 samples.P*QGDZQ ^Ru@?∹qJQw?amf-2Q:QbQ FОvz@Yr@-.pX@RQODę,'gFAY}:@}:. @y}:J}:H}:H`ś?_? Swȿ@2?ZW?)~:@ ~:B\;I~:CY^?y^F}M}=YҼQU?a"HyQ<}?Ișŝ 5?ŝ޾ Ɲʬ ?9ƝAǝb: ȝY:)șmyAdded new target pos. range: 798.420044 m, bearing: 57.701213 deg, deltaT: 5.721441 s, approachRate: 138.909073 m/s, LOS rate: 0.288862 deg/s, posRepo size: 4mVStopped intercept timer at range: 798.42 m.W?WX XWX:W2W*WVbUBU*UU@\@U?BB! B!A%*B!A!A!A)A)"C-;}?RC1C5?C1E?iE?IG==Y9YI]XFi]?]=YY]N; ]OE$CJę, +gFAY}N;@}N @y}NN}N(5}NHm} O-? >`? ^ȿ ?@-R?)~N;@ ~N[;I~LY^?y^tFeZMI=Y1QU>a"Hyx}>Iȩ :ŭ 5? :ŭF޾ ƭۮ ?9ƭ AǭZ: ȭs:)ȭ:; wAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;wdResuming normal ranging with 1.000000 count pings.;1<WWX XWX:W2W*WVbUBU*UUU?B)B1 B1A5Ʌ*B1A1A1A9A9"C=?RCACACA)IQGm=IAA)BA-* --- -jt:Y-W1y-č:-6 )Qę,a"Hy%F<}>IU 5?v޾ tI  ?9+A: t:)X?1<wCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR; wAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRWWX XWX:W2W*WVbUBU *U U U@Tv?B9B9 B9A=*B9AAAAAAAA"CI*CIRCQCQCQ)I1GU>Q 9Q IU FiU ?Q Q Q U l; U _E{SWę,V^gFAY}R@}R< @y}R U}R}RH ,?-? ܒ˿p?`a6?)~R@ ~RK?[;I~RCY-?y-F<MX=Y4QU>a"Hy-5<}>I 5?޾  ?95A4: b:)W!W!X! X!W)X):W)2W)*W)V1bU1BU1*U1U9U=`}?BiBi BiAm*BiAqAqAqAq"Cy*CyRCyCCI)IG>- ---O -p:Y-V1y-:-3 6)-;959]ę,xgFAY-I?y5GF-J +?L7A`?ˡE-=-+> -什))I)y-y&1?v/?/$-`e<-xi=- -@A)-SQAI-r.Ai-hA)-=JA    @ @ @ÉÉÉiÍfAÉ č-A)čAIčAič AM0=YQU>a"Hy}>Iȹ :Žқ 5? :Ž޾ ƽV ?9ƽlAǽ: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU?B)B) B1A5ۅ*B1A1A1A1A9"CA*CARCACACII!GE0>=i=Ci) IA ii "Ͽٺ 3Afdę,!ugFAY=c?y=F<Mm=YQU?a"Hy}?I- 5?E޾ O ?9A: :)WWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C*CRCCC>9IFi1?:; DEIGM>- ---I - n:Y-DW1y-Y:- 6)-;ję,VIgFAY}:)@}:D @y}:G\}:[ý}:H`vb.? ??ؿఀͿ^?@p׷?)~:)@ ~:~8YFT?yFFZMZ_=YZޥQUZ>\\a^"H^oH`yb}f>Id j:fp 5? n:f޾ f_ ?9fAf !< f]!<)f:W9W9XA XAWAXA:WA2WA*WIVIbUIBUI*UQUQUU@@R}B*** querying acoustic contact ***PyP}BB BA*BAAAA"C*CRCCC ?i ?IG= xqę,=)gFAY}R@}R- @y}RY0W}R}RH"@p?V?`_-̿y?/?)~R@ ~RD?\;I~PYf?yjcFnZ****** received transponder code query ******rF****** received ping request ******ra"Hy}>I0 5?޾  ?9A: :)WIWIXi XiWiXi:Wq2Wq*WqVqbUqBUy*UyUyU}U @BB BA8*BAAAA"C*CRCCCI G-,>I)AA- --- -r:Y-U1y-:-`695@9IFiv?=); ;Ewę,1gFAY}:Ls@}:׎@y}:U}:h#s}:H `9ޮ? gy?`Ѷ@Zuʿq?ݶ??)~:Ls@ ~: [;I~8YF?yFOFJxDUSBL response received:!U1,P 502,000,0366C,189,80,80,BD,FF JCommand AckNBRequesting micromodem ping code 2iLLRNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 pr]A=M h=Yl;QU%>19aE"HAQyeE}m>Iȉ :ōs 5? %:ō1޾ ƍ -?9ƍ$AǍ<< ȍ];)ȍ:WWX XWX:W2W*WVbUBU*U!U)U@ @BB BAp*BAAAA"C)*C)RC)C)C1I!GM1>}ę,gFAY}]A@}]+]@y}]W}]vԎ}]HK@{?@Ƀ?@[˿?@qz7?)~]A@ ~]Nr[;I~]CY?y!FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I=)=w/?y&1?Mb?&>`e< @=)Iy~jtMbpMb`?D; 9>A)RAI2AiAjAKA m@ m@ m@m©mmimAm i)m\AImAimA}uM}(=Y(oQU>a"Hyл}>Ișŝ֔ 5?ŝj޾ Ɲ ?9Ɲ1Aǝ: ȝ4:)șWWX XWX:W2W*WVbUBU*UUU @B B  B A *BAAAA"C*CRCCCIױ)ױyIG=>% %%% %m}:Y%W1y%č:%{6Xę,1gFAY}:@}:D@y}:V}:..}:Hā@Oݲ?!?  qɿ ?@ID?)~:@ ~:g[;I~:CY^?y^tFbxDUSBL response received:!U1,R,502,000,002B0,189,80,80,C2,FF fFpublishing direction and range info``ɰbqa=` `)bBCI`ybq@bw?amf-ٱ`ܙ9ܙIܙiܙܝ=ܙܙܝ; ݝE)1I1i111545M=P=Y=:QU=>AAaE"HAIyM#4}M>IQ ]:U) 5? ]:U޾ U e?9U;AU-: U:)U:WWX XWX:W2W*WVbUBU*UUU[@P*Qq@ZQE5j?.\Ux3 JQw?amf-2Q:QbQٕkg@ @4\?RQ[? ? z p?BQ}? QH@Q;@Pb9?P9?PQVQ@"Q BBB BAɅ*BAAAA"C*CRCCCIG%>%=i%p=ߊę,-gFAY}j@}jV@y}j1\U}j.r}jHkhUcy?ϧ? mxȿ:z? 霿@{K?)~j@ ~jp[;I~jCY~?y~kFTNmea in: $SNTTA,0.046720,,,,225919.86*4D )í= í>Md=Y;QU>a"Hy}>Iu 5?޾  ?9EA: :)m-yAdded new target pos. range: 3.779998 m, bearing: 56.839216 deg, deltaT: 4.405789 s, approachRate: -180.362717 m/s, LOS rate: -0.195651 deg/s, posRepo size: 4W-}?WX XWX:W2W*WVbUBU*UUo=@U:?BiBi BiAm̅*BqAqAqAqAq"C}}?RCyC}}?CaIiG>M MMMM M9q:YMDW1yMY:M 6cƑę,qGgFAY]?y]uFp=i<    =`<q=i3A A)AIAAi$A-!M-E=Y-QU5>11a="H99yE}E>IIM̕ 5?M޾ M¸ U?9MOAM": M:)I:uuuAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;uv}ZEntering USBL mode with 5.000000 count pings.1;}q;}WWX XWX:W2W*WVbU BU *UUU;??BYBa BaAe0*BaAaAaAaA"C*CRCCCIG$>ܑ9ܑIܕFiܕ1?ܑܑܑܕ; ݑę,NagFAY}R~@}R@y}R'OI}R}RH \Y AzEФ??@Y?C ʿz?j屿`M?)~R~@ ~R\[;I~RCYf:?yf>F<MP=Yia"Hy/}>I : 5? :%޾ ø ?9ZA: :):X@q;uCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:%u%Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLW)W)X) X)W)X):W12W1*W1V1bU9BU9*U9U9U= ?BiBi BiAm߅*BqAqAqAqAq"Cy*CyRCyCCIIYGu=I)- ))-` -l:Y)y)-6)-;;95ę,C:{gFAY}b@}b@y}b?aG}bH}bHa't`P?g?6Nɿ`? Ұ (S?)~b@ ~b"[;I~bCYn?ynF rh?S㥛ĿQ?l>$ u<)Iy:v?Mb?I +?T<<9< @A)OAI0AigAJA @ @ @©i=A )AIAiAAVF=M:=Y;QU>a"Hy;}>I 5?޾ q ?9eA8: :)WW!X! X!W!X!:W)2W)*W)V)bU)BU1*U1U1U5 ?BaBa BaAe1*BaAiAiAiAi"Cq*CqRCqCqC׹IG#>ę,gFAY}Vl@}V8@y}VTF}VW^}VH@T`uw?`?T Үȿ?AZ?)~Vl@ ~VU[;I~TYA?y|FIy)yoM\=Y:QU>a"Hy^}>I  :D 5? :޾ Q ?9oAe: :):99=CI9i9==99=; ='EWQWYXY XYWYXY:WY2Wa*WaVabUaBUa*UiUiUm?BB BA]*BA!A!A!A!"CI*CIRCICICQIy)yׁIG>- ---p -q:Y-V1y-:-6)-;;+ę,{خgFAY}:@}:* @y}: )H}:6}:H@e^??`L ƿk?@"a?)~:@ ~:P[;I~:CYF?yF=FuMuQ=Y}OQU}>a"HpHyڡ}>Iȑŕ 5?ŕ޾ ƕ ?9ƕxAǕ: ȕ:)ȑ8qjAggregate::initialize lineCaptureDepth:SetNavAcoustic19 r~Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNavq9rdReseting nav to dock location at range 3.779998 m q99 s6Initialize SetNavComponent.WWX XWX:W2W*WVbUBU*UUU@@BB BAw*BAAAA"C!*C!RC!C)C)1I9G=%=i%=ę,gFAY}Z@}ZP@y}Z$I}Z}ZH߿`@Nײ?J ? @nǿ@C?H ^?)~Z@ ~Za5[;I~XYn_?ynFpr?A) > >iI i!UEڿٺQ]A   Ý=Ý=ÝjiÝAÝ ĝA)ĝAIĝAiĝ\A0<M4=Y QU>a"Hyt}>I1 e:5n 5? m:5޾ 5 m?95A50; 5u;)5:XXXslSetNav fix at 20210815T225923: (41.552319, -70.708603)9 s:Uninitialize SetNavComponent.rfCompleted lineCaptureDepth:SetNavAcoustic:UpdateNav19 rAggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNavqRCompleted lineCaptureDepth:SetNavAcoustic8qnAggregate::uninitialize lineCaptureDepth:SetNavAcousticWWX XWX:W2W*WVbUBU*UUU &@R%B*** querying acoustic contact ***P!P%BB BAV*BAAAA"C*CRCCCyIG=>% %}%}%x %m:Y%kS1y%Ԋ:%69-@999I9i9==99=; =EM=ę, gFAY}:~@}:F@y}:H}: ꄽ}:H`߿`÷? ?@߿ɿ ?@qI@KS?)~:~@ ~:j[;I~8YF?yFFJZ****** received transponder code query ******JF****** received ping request ******Jgę,kgFAY}Fp@}F @y}F?}F}FH`;%˟??{߿ʿn?获@M?)~Fp@ ~FN\;I~DYZP?yZFbxDUSBL response received:!U1,P 502,000,002B0,189,80,80,C2,FF bCommand AckbBRequesting micromodem ping code 2i``nNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 === =@=)9I9y=:v?X9vMbp=<== =^BA)=VLAI=n.Ai=fA9=HA @ @ @©iA pA)pAIpAiSA=A<M==YMXoQQa]"HYayeS<}m>Iy}˔ 5?}zwݾ }; ?9}*<};}; }v;)yWWX XWX:W 2W *WVbUI%@A)%@AE E~E~E` Em:YET1yE@:E6BUY*UaUaUm @BIBI BIAMZ*BIAQAQAqAq"Cy*CyRCyCyCqIyG>KOę,JEgFAY}:@}:B@y}:7}:j}:H1 -?`o?@ȿ ?da?)~:@ ~:H\;I~:CYJ|?yJFNp=ɮNp=zNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ;M=Y9CIi=; #EWWX X W X :W 2W *WVbUBU*UUU`@BB BAN*BAAAA"C*CRCCC  IG5 >tyę, 0gFAY}:(@}:@y}:'7}:̩}:H@_ˡ?` ?`Xiǿ`?򌰿j?)~:(@ ~:R[;I~:CYJ=?yJFRxDUSBL response received:!U1,R,502,000,002AE,18A,80,80,B8,FF VFpublishing direction and range infoPPɰR`=R> P)R8CIPyR=j@Rw?amf-ٱPId)fAz{<MzV=Y~?8QU>a"Hyݻ}>I : 5? 5:uݾ ; =?9L=< <<)p:WiWiX XWX:W2W*WVbUBU*UUU @R(Combining 5 samples.P*Q=j@ZQs:@?apuV JQw?amf-2Q:QbQ]J@[@ ic?RQ*G?L׳:?#3=l?BQry? Q?@QV@PZ9?Pb9?PQQ@"Q@BqBy ByA}*ByAyAyAyA"C*CRCCCI)\AסIG!>-z ---3 -af:Y-T1y-:-3 6eę,= JgFAY}^@}^@y}^D;}^}^H? x? ;߿ɿAG?DvBW?)~^@ ~^t[;I~^CYjP?yjF=TNmea in: $SNTTA,0.062819,,,,225924.32*4F )Õ= Õ=   =tD11a="H99y=}E>IIM 5?Muݾ M ; U?9MĈ=M: M:)ImqAdded new target pos. range: 3.660000 m, bearing: 55.829352 deg, deltaT: 4.422276 s, approachRate: -0.027135 m/s, LOS rate: -0.228358 deg/s, posRepo size: 4Wry?WX XWX:W2W*WVbUBU*UUG @U `?BiBi BiAmZ*BiAqAqAqAq"C}ry?RCyC}ry?CaIiG>=ip=9Ii=); a "H qy}}}>Iȉ :ō 5? :ō6tݾ ƍ; ?9ƍ=Ǎ\C; ȍTE;)ȍq:WWX XWX:W2W*WVbUBU*UUU`?B B BAa*BAAAA"C!*C!RC!C!C) IG5 >- ---m -1{:Y-W1y-č:-j6)-@;95ę,}gFAY}:^@}:Ez@y}:9}:}:H1߿a?`%&?ſ&? 0u?)~:^@ ~:)\;I~8YF?yJaF|?5^?B`"? rh?=N> C<)Iy~jtʡE~jthD ­d=A)­TAI­0Ai­ndAIA @ @ @©iA \A)AIAiAXMH=YH;QU>!!a%"H!)y=@U}E>IY]f 5?]tݾ ]; e?9]=]S: ]:)YWWX  X W X :W 2W1*W1V1bU1BU1*U9U9U=ڂ?BB BAh*BAAAA"C*CRCCC?i?IG&>ę,XgFAY}>>@}>Z@y}>MJ9}>.}>H`߿¶,?@/?߿Lſ?2v?)~>>@ ~>[;I~>CY^ ?ybF99܉9܉I܍ Fi܍?܍=܉܉܍J; ݍNE%Z=M-J=Y=<:QU=>AAaE"HAIyU?}U>IY m:]N 5? m:]sݾ ]: ?9]>]; ]';)]r:W W X  X W X!:W!2W!*W!V)bU)BU)*UiUqUu ?BB BA*BAAAA"C*CRCCCIG$>I)- -~-~- -:Y-T1y-@:-;6)-$;ę,ggFAY}B@}BB9@y}BN7}B}BH ٤߿`7?9? ߿ſ?x?)~B@ ~Bu[;I~BCYNP?yRF=-M=Z=YE8;QUE>AIaM"HMqHIyU尻}U>IY] 5?]sݾ ]Ժ e?9]M<>]|: ]:)YWWX XWX:W2W*WVbUBU*UUU?BB BAZ*BAAAA"C*CRCCCQIYG=ę,FgFAY}:@}:2@y}:$6}:xYa}:H`~߿`r?@B?@s߿ ,ǿ@X?ﴫq?)~:@ ~:KQ[;I~:CY^?y^F    @ @ @éééiízAé ĭA)ĭAIĭAiĭA<M@=Y:QU>a"Hy E} >I %: 5? %:sݾ ɂ -?9a>e"; 7;)s:WYWYXY XYWaXa:Wi2Wi*WVbUBU*UUU d@BiBq BqAu*BqAqAqAqAy"Cy*CRCCCIי)ם]AiIqG>- ---{ -p:Y-U1y-:-695@y9}CI}XFi}?}=yy}; }~Eę, gFAY?yF  AA)%= !MQ=YQU>a"Hy}>IȹŽ 5?Ž~sݾ ƽɻ ?9ƽ'>ǽ); Ƚ;)ȹWWX XWX:W2W*WVbUBU*UUU @^@RB*** querying acoustic contact ***PPB9B9 B9A=5*B9AAAAAAAA"CI*CIRCICICQIIYGu=%=i%a=ę,gFAY}B.P@}Bk@y}Bp57}B+}BH߿?@6-?j߿Oȿs?@󔴿Hb?)~B.P@ ~BU[;I~BCY^?ybŏFbZ****** received transponder code query ******bF****** received ping request ******f ף)Iyy&1?Zd;O?Mbp`<j< ¥9>A)¥OAI¥r.Ai¥bAGA    @ @ @ùùùiý=Aù Ľ)ĽAIĽAiĽA8M)=Y:QU>a"Hy/<}>I) =:- 5? =:-"sݾ -\ֻ E?9-2>-?'; -;)-t:WWX XWX:W2W*WVbUBU*UUU)] @BaBa BiAm@*BiAiAiAiAq"Cq*CyRCyCyCy׵?i׵?  5B 555 5Tv:Y5DW1y5Y:56imGשIiտٺAIG=r>ř,gFAY}:@}: @y}:Y8}:dv}:H߿ 3?`B?\߿ǿ)? M xl?)~:@ ~:vv[;I~:CY^?ybFfxDUSBL response received:!U1,P 502,000,002AE,18A,80,80,B8,FF fCommand AckfBRequesting micromodem ping code 2iddjNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Q9QIU FiU?QQQU; UE};Me=YQU>a"Hy[~}>Iw 5?rݾ ٻ ]?9>6< :<)WWX XWX:W!2W!*W!V!bUIBUI*UIUIUU@n @BB BA-*BAAAA"C*CRCCCIGK> ř,2gFAY}:ض@}:b@y}:r=}:}:HSD߿`MП?`-K?@s߿@ȿ`΋? p`?)~:ض@ ~:fZ;I~:CYj&?yjDFna=ɮl~Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B qq!8=M\=YOKQU>a"Hy &}>IȹŽl 5?Žrݾ ƽݻ ?9ƽɘ>ǽ@: Ƚ:)ȹWWX XWX :W 2W *WVbUBU*UUU`@BQBY BYA]*BYAaAaAaAa"Cy*CRCCCIG (>IAA)AA5 555\ 5k:Y5U1y5:5 6ř,3LgFAY ?y F%xDUSBL response received:!U1,R,502,000,002AE,189,80,80,C4,FF -Fpublishing direction and range infoɰ7> )DCIyw?amf-ٱ   åT=åC åTa"Hy}>I :C 5? :Frݾ  ?9^>: :)u:WWX XWX:W2W *W V bU BU *UUU๧@R%(Combining 5 samples.P!*Q!ZQ%s:@?apuV JQ%w?amf-2Q!:Q!bQ%| M@nI@ F?RQ%@E?[?>2!?BQ%Nt? Q%j=@Q%@P%[9?P%Z9?P!Q%Q%@"Q%@BYBY BYAeɄ*BaAaAaAaAa"Ci*CiRCqCqCyI׉)׍^A1IAG}=%>9!I%Fi%1?%=!!%; %E+ř,mtfgFAY}fR@}fm@y}f;}fG}fH߿@W?@'?F߿ɿB?U@U?)~fR@ ~fy\;I~fCYr?yrWFTNmea in: $SNTTA,0.027880,,,,225928.76*42 mMF=Y%;QU>a "H y3<}>I!% 5?%qݾ %g 5?9%>%c; %;)!m}mAdded new target pos. range: 3.660000 m, bearing: 54.772919 deg, deltaT: 4.416036 s, approachRate: 0.000000 m/s, LOS rate: -0.239226 deg/s, posRepo size: 4W}Nt?WX XWX:W2W*WVbUBU*UUU-?BB BA*BiAiAiAiAi"C}Nt?RCyC}Nt?CׁIG>- --- -b:Y-V1y-:-{6)-;95 ř,BgFAY}:_4@}:O@y}:ݗ7}:;}:H೷߿?3?y߿ ȿ?@hii?)~:_4@ ~:|0\;I~:CYr?yrrFl&1?:v?= <)Iy~jt?MbP?Q?<:< :A)TAI2AiI`AHA) = > @ @ @©ifA A)SAIAi9AfM;M==Ya"Hy}>I : 5? :qݾ ; ?9%>: :)v:W!W!X) X)W)X):W)2W1*W1V1bU1BU9*U9U9U=6?BiBq BqAu*BqAyAyAyAy"C*CRCCCIG )>=i=9&ř,GgFAY}:z@}:.@y}:q27}:%}}:H`p߿@`L?a"Hy}>Ișŝu 5?ŝqݾ Ɲ[< ?9Ɲ>ǝ: ȝU:)șWWX XWX:W2W*WVbUBU*UUU T?BB BA„*BAAAA"C*CRCCCIG>-h ---v -\y:Y-T1y-:-`6)-;c,ř,bgFAY}:o*@}:E@y}:w:}:XQ}:H߿~9?^2? ߿GOǿ2? :@m?)~:o*@ ~:|[;I~:CYn4?ynMF#<MI=YQU>a"HrHyHk;}>Iȱ :ŵ' 5? :ŵGqݾ Ƶ= ?9Ƶy>ǵ_: ȵ:)ȵw:WWX XWX:W2W*W V bU BU *U UU ?BIBY BYAe*BaAaAaAiAi"Ci*CqRCqCqCyqIG>K3ř,gFAY}Z@}ZH@y}ZI@}Z.ؼ}ZHv߿`OQ ?7?Ž߿_ƿ&? U,m?)~Z@ ~Z\;I~XY~?y~Fii   ýB>ý$ýĽiýpAý ĽA)ĽAIĽAiĽ Aq<MG=Y]QU>a"Hqy}}>Iȉō۝ 5?ōqݾ ƍK== ?9ƍd>Ǎ; ȍ;)ȉWWX XWX:W2W*WVbU BU1*U1U9U=p@BB BAK*BAAAA"C*CRCCCIG*>I@A)@A- --- -{:Y-DW1y-Y:-695@9Ii=; Eu9ř,gFAY=X?y=F΀<MK=YQU>a"Hy}>I 5?pݾ p= ?9>: :)WW X  X W X :W 2W *WVbUBU*UUU`a@BB BA*BAAAA "C*CRCCC IG5 >]@ř,gFAY}N?@}N@y}Nz?}NHz}NH~߿@Gm?`7?+]߿oȿ=?b?)~N?@ ~N[[;I~NCYZ?yZF\\I`)bAIh)j4=EԸ?+η~jtx=v Ļ)Iyy&1?? rh`e<<C µAA)µJAIµ0AiµaAGA  @  @  @ ©  i A  ) AI Ai A=U;M%D=Y%G4;QU%>))a-"H))y5:}=>IA ]:E 5? ]:Epݾ E'V= e?9EE>EC{; Em;)Ex:WWX X!W!X!:W!2W)*WIVIbUQBUQ*UYUYU]`@RB*** querying acoustic contact ***PPB B BA *BAAAA"C!*CIRCICICIAIIGm5>- --- -q:Y-U1y-:-6DFř,vgFA494I4i44446; 6EY}R+@}R@y}Rk?}Ro}RH@߿&ޱ?-6?`h߿Lȿ?f`c?)~R+@ ~R [;I~RCY~a?y~hFZ****** received transponder code query ******F****** received ping request ****** a"Hy:}>I 5?pݾ ==  ?9?>: ӹ;)WiWiXi XqWqXq:Wq2Wq*WyVybUyBUy*UyUU @B B  BA*BAAAA"C*C!RC!C!CaAIIGe>=i=Lř,C5gFAY}B@}B[@y}B=}Bd0}BHb߿L? B?`#߿$ȿ? )`?)~B@ ~Bb[;I~BCN`Dynamic Docking Module:!C REMUS Capture Rev 1.1 -I --- -:Y-X1y-/:-{6ɫ髽) IY??yFxDUSBL response received:!U1,P 502,000,002AE,189,80,80,C4,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 99   +>ףY=i3A \A)\AIAivAm )<Mu a "H y n} >I  : 5?  : pݾ  = E ?9 H> 2;  ;) y:W W X  X W X :W 2W *W V bU BU *U U U V@i- nGIA ia ڿٺ ѿAB1 BY  BY A] ^*Ba Aa Ai Ai Ai "C *C RC C C  ?i ? I G>yTř,eRgFAY}FCR@}Fm@y}F:}FPB@}FH`޿`@? &g?@޿#ǿ@i4?@ @co?)~FCR@ ~FnC[;I~Dɫ髍) IY?yqFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B <M=YG?Ib 5?pݾ = ?9>: :)WWX XWX:W2W*WVbU!BU!*U!U)U-{@BQBQ BQA]**BYAYAYAYAY"Ca*CiRCiCiCiaIiG>ܡ9ܡIܥ@Fiܥ?ܥ=ܡܡܥ; ݥEZř,lgFAY}6-@}6H@y}6;}6e_<}6H޿@@$?n?`>޿H5ǿ~V?$ +n?)~6-@ ~6p[;I~4ɫYY)a aIaY?yhFxDUSBL response received:!U1,R,502,000,002B0,189,80,80,CC,FF Fpublishing direction and range infoɰqa= )LCIyq@w?amf-ٱ {M X=Y6QU>a%"H!!y-sû}5>I9 E:=p 5? M:=tpݾ =w< M?9={>=; =,;)=z:WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qq@ZQE5j?.\Ux3 JQw?amf-2Q:QbQ.~q@U n@5?RQ*au?ಚu?dx0̾?BQds? QuC@Q @PP[9?PQQ@"Q@BB BA.*BAAAA"C*CRCCCIuAA)q'  -t:YDW1yY:6)0;9IGe3>چař,ZggFAY}2}E@}2a@y}2k>}2&}2H ޿*G?re?q޿ Fȿn?`b?)~2}E@ ~2s[;I~2Cɫ99)9 9IAY}a?y}hFIR=)= ףp= ?|?5^?Q8=ҽ <)IyMb~jtxMbĻ ½d=A)½~PAI½1Ai½bAHA @ @ @©iA A)vAIAi$A%dM-9=Y-QU->11a5"H19y=s^;}=>IAE 5?Eypݾ E9< U?9Eg>E: E:)AmmAdded new target pos. range: 3.779998 m, bearing: 54.474105 deg, deltaT: 4.520067 s, approachRate: 0.026548 m/s, LOS rate: -0.066108 deg/s, posRepo size: 4Wds?WX XWX:W2W*WVbUBU*UUo=@Uk?BB BA*BAAAA"C%ds?*C)RC)C-ds?C)I)GMR>ܩ 9ܩ Iܭ xFiܭ ?ܭ =ܩ ܩ ܭ ; ݭ Egř,AgFAY}2yD@}2`@y}2=}2虎}2H R޿HG?f?޿`ȿ~? l`?)~2yD@ ~2hq[;I~2CɫYY)Y YIYY}?y}FDNmea in: $SNTTA,,,,,225933.41*57 =M=[=YE;QUE>IIaM"HIQy]e-}]>Ii u:m 5? u:m~pݾ maO< }?9m>m: m-;)m{:WW)X1 X1W1X1:W12W1*W9V9bU9BU9*UAUAUE_?BB BAń*BAAAA"C*CRCCCuY uuu u)x:YuX1yu/:u6)u;IG (>mř,#gFAɫQQ)Q QIQY?yNF)= = } } }}#<}=}#a"HsHy}>IȩŭZ 5?ŭpݾ ƭ,; ?9ƭ>ǭE: ȭ÷:)ȩWWX XWX:W2W*WVbUBU*UUU?BB BA*BAA!A!A!"C)*C)RC)C)C1!I)GM1>tř,gFAY}:X@}:4@y}:8}:!T}:H޿`?w?#޿Fǿ?@'o?)~:X@ ~:;a;I~:CɫAA)I IIIY}?y}F >i Q'=MY=YHa"Hy}>I : 5? :pݾ  ?9>p3; k4;)|:W!W)X) X1W1X1:W12W9*W9VAbUABUA*UAUIUM!?BqBy ByA}*ByAyAyAA"C*CRCC C Q9QIQiQU=QQU; UE)჉u uuun u*k:YuU1yu:u6)ug;Ii჉ჩ5IG )>zř,gFAY}2X@}2@y}2j4}2nZ}2HD޿*ԣ?`[?Nj޿`ƿ~?ݪ@u?)~2X@ ~2Ǧ_;I~2CɫYY)Y YIYY?yF5ӘM=S=Y= &AAaE"HAAyM}M>Iȡť 5?ťpݾ ƥ` ?9ƥn>ǥ: ȥA:)ȡWWX XWX:W2W*WVbUBU*UUU2@BB BA%ń*B!A1A1A9A9"CA*CARCICICIQIG'>Jցř,gFAY}F@}F@y}F3}F:KK}FH`޿ j,??o޿ʜƿ]? x?)~F@ ~F];I~Dɫ髙) IY ?yF5Dl?L7A`尿Zd;?5O>5+ 5y=)1I1y5y&1|Mb?Mb?5`廹5<5< 5?A)5NAI50Ai5cA11QQ @ @ @í©ííiíAí ĭAA)ĭAIĭAiĩ#M4=Y;QU>a"Hyٺ}>Iʙ 5?pݾ !ͺ ?9d>#: #:)W W X  X W X :W2W*WVbUBU*UUU@@uT uuu uw:YuWU1yu:u69}@BB BA*BAAAA"C*CRCCCIG%M>M >9I IM FiM 1?I I I M ; M Eř,!gFAY}2O@}2@y}27>8}2L;}2H޿_??޿ƿ?@} Ks?)~2O@ ~25\;I~0ɫ99)9 9I9Y?y|F@AI)A]Mn=YqLQU?a"Hy:}?I  : 5?  : qݾ 1W; ?9>: :)}:W1W1X9 X9W9X9:W92W9*WAVAbUABUA*UAUIUM@RUB*** querying acoustic contact ***PQPQByBy ByA}*ByAAAA"C*CRCCCQIaG}=.ř,y;gFAY}^@}^B@y}^?}^(A}^H`]޿@H @Ԩ??`޿Jǿ F? ɧ@tg?)~^@ ~^9\;I~^Cɫ髑) IYG?yFZ****** received transponder code query ******F****** received ping request ******í½íףa"Hy}>I 5?wqݾ !< %?9>ܷ; Z;)m& iimB mt:Yiyim 6WyWX XWX:W2W*WVbUBU*UUUuX @BB BA܄*BAAAA"C*CRC C CIG-N>ř,?UgFAY}6@}6@y}6znG}6sͽ}6H!K޿0b3u? ?@ݿ ˿?_' ;Mp=YQU? a"H!y53ɺ}=?IY :]{ 5? :]qݾ ]n< u?9]J>]S= ](=)]~:9Ii=; Eu=iu=WWX XWX:W2W*WVbUBU*UUU @B B  BÄ́*BAAAA"C*C!RC1C1CA!IIGuX>:ř, ogFAY}2%|@}2@y}2gE}2-}2H*޿7[{`E? $ݿͿ?@<i(?)~2%|@ ~2a;I~2Cɫ99)9 9IAY]?y]Fep=ɮea=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ̼M<=Y;QU>a"Hyͽ} >IIMU 5?M rݾ M< ?9Mb>Ms< Ms<)I5 ~~ Ku:YT1y@:6WWX XWX:W!2W)*W1V9bU9BUQ*UYUU@@BqBq BqA}&*BAAAA"C*CRCCC?i?ױIG>{#ř,MgFAY}BB@}B̠@y}B@@}Brʽ}BH@O:޿4Tg??Eݿʿ?_ƸH?)~BB@ ~B'`;I~BCɫYY)Y YIYY}_?yFxDUSBL response received:!U1,R,502,000,002AE,18A,80,80,C6,FF Fpublishing direction and range infoimGIɰ`=鰵> i)FCIy=j@w?amf-ٱEٺAEAa"Hyџ:}>Iȡ :ť' 5? :ťpݾ ƥW< ?9ƥS>ǥ: ȥ:)ȥ:WWX XWX:W2W *W V bU BU *UUUh@R%(Combining 5 samples.P!*Q%=j@ZQ%s:@?apuV JQ%w?amf-2Q!:Q!bQ%}H,@11@s?RQ%.:X? f=Y?0#?BQ%n? Q%9@Q%g @P%Z9?P!P!Q!Q%,@"Q%@ByBy BAV*BAAAA"C*CRCCCיIGb> 9 I xFi ? = ; ETOř,ڢgFAY}fX@}f@y}fD}fj}fH`D7޿`- =?`?`=޿@ȿq? jɬ\?)~fX@ ~fT];I~fCɫ髱) IY?yF}TNmea in: $SNTTA,0.041975,,,,225937.73*42 ¡¥^A&C=Mi=YOQU?a"Hy::}>I 5?oݾ = ?9?< <)mEqAdded new target pos. range: 3.660000 m, bearing: 53.479685 deg, deltaT: 4.522382 s, approachRate: -0.026534 m/s, LOS rate: -0.219889 deg/s, posRepo size: 4mETStarting intercept timer at range: 3.66 m.WMn?WIXI XIWIXI:WQ2WQ*WQVQbUQBUY*UYU]G @U] ;?Ia)eAAuV uuu uw:YuX1yu/:u6)um;9}BB BÄ́*BAAAA"Cn?RCCn?C!I!GMS>wř,⫼gFAY}:Z@}:Gv@y}:O}:Dε}:Hݿ!)??-]޿@+ǿ >?`BV?)~:Z@ ~:Y^;I~8ɫ99)9 9I9Y}?y}NFI!)%AI5=)5%= } } Å<ÅzÅxi=iÅ AÅ ąA)ąSAIąAiąAܕMO=YܼQU>a"HtHy}>Iȩŭ 5?ŭCnݾ ƭB= ?9ƭv?ǭ0: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU v?BB B!A%*B!A!A!A!A)"C1*C1RC1C1C1 IGU>`ř,gFAY}2M@}2@y}2X}2xL}2Hݿ`9K?@Z?`%޿ |kȿ@?`*H?)~2M@ ~2I^;I~2Cɫ19)9 9I9Yu?yurFt;MR=YQU>a%"H!)y-u}>Iȱ :ŵȘ 5? :ŵlݾ Ƶ2h= ?9ƵW ?ǵ6; ȵV;)ȵ:WWX XWX:W 2W*WVbUBU*UUU%7U?BaBa BaAe*BaAiAiAqAq"Cy*CRCCܝ>9ܙIܙiܙܙܙܙܝ; ݝEC} }}} }}:Y}WU1y}:}6)}u;!I)GE0>ř,agFAY}2@}25@y}2#\}2D}2H@Kݿ@0d@n`? ?@"_ݿ`Yʿ\N?@o ,:?)~2@ ~2Vb;I~2Cɫ99)9 9I9Y}c?y}F)  > >5>M=H=Y=< QU=>AAaE"HAAyM(\}M>IQU 5?Ukݾ U= ]?9U?U: Uk:)QWiWX XWX:W2W*WVbUBU*UUUDH?u=iqBABI BQAU*BQAAAA"C*CRCCC׹IGf>rř,C gFAY}6@}6-@y}6]}6}6H`AݿQq"?ෝ?wܿ̿@?y (?)~6@ ~6&`;I~6Cɫ99)9 9I9Yu ?y}F ˡE?L7A`堿+ t)Iy~jth~jt/$?D< bBA)JAI0AiCeAHA %@ %@ %@%©%%i!% %A)%AI%Ai%AûM4=Y}QU>a"Hyɋ}>I  : i 5? : kݾ  = ?9 6? ; ;) :u> uuu uv:YuW1yuč:ui69}@WWX XWX:W2W*WVbUBU*UUU@@B9B9 B9AM*BIAIAIAIAI"Ca*CaRCaCaCi}?i}?YIaGY>ܑ 9ܑ Iܕ Fiܕ v?ܕ =ܑ ܑ ܕ ; ݕ E)!I!i!%=!%5eř,$gFAY}:@}:@y}:B=[}:>}:H7ݿv?Х?ܿmPͿ`.2?@q@$?)~:@ ~:^;I~8ɫ99)9 9I9Y}\?y}F=MEf=YE;QUE>IIaM"HIIyU#I}U>IY] 5?]kݾ ]`= e?9]?]N: ]:)YWWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C*CRCCCIGM>4ř,=gFAY}6ٕ@}6c@y}6hY}6 }6H`Eݿp&?5?@8ܿ@Ut̿ ?Yf/?)~6ٕ@ ~6\;I~6CɫYY)Y YIYY,?y4F±µ]A   =D;iA A)AIAiA J<MM=Yۈ;QU>a"H!y% ;}%>I) 5:- 5? =:-kݾ -= =?9-?-: -4:)-:WWX XWX:W 2W*WVbUBU*U!U!U-2@RUB*** querying acoustic contact ***PYPYBB BA*BAAAA"C*CRCCC Im@A)i  :YU1y:6IG=/> ř,}WgFAY}6@@}6@y}6]}6R}6H@Uݿ5kJ? ? ݿ@X̿ k?̔+?)~6@@ ~6%[;I~6C999I9i9==99=; =Eɫ) IY y Z****** received transponder code query ******F****** received ping request ******a"HyL;}>Ib 5?kݾ C= -?9:?^; 3:)WiWiXq XqWqXq:Wq2Wq*WyVybUyBUy*UUU @BB BA*BAAAA"C!*C!RC!C!C)I9)=]AI!G=r>ř,2qgFAY}6`@}6@y}6{Wa}6}6Hqݿ^e?`Z?>ݿVͿ ?{?)~6`@ ~6r\;I~6Cɫ髑) IY?yF-xDUSBL response received:!U1,P 502,000,002AE,18A,80,80,C6,FF -Command Ack5BRequesting micromodem ping code 2i19Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    y %~:Y 0Y1y : 6=1Zd?:v?-?="[>=T< =?5>)9I9y=kt?Mbp?A)=RAI9i=kA9=KA)u= u= - @ - @ - @% ©% % i% (A% % A)% AI% Ai% AE FME y y a} "H y ;} >I  : E 5?  : ojݾ =  ?9 !? "< <) :Wy Wy X  X W X :W 2W *W V bU BU *U U U @BY Ba  Ba Ae *Ba Ai Ai Ai Ai "Cq *Cy RCy C C q I G >ř,!gFAY}B@}B?@y}Bc}BdV}BH`X,ݿl?@?@6ݿ@̿9IxFi?; E{ř,?gFAɫyy)y yIyYi?y3FxDUSBL response received:!U1,R,502,000,002AD,189,80,80,C0,FF Fpublishing direction and range infoɰu`=7> )@CIyff@w?amf-ٱe=M=YQU?a"Hy}?I  & 5? Biݾ 7= ?9 '? b: :) W9W9X9 X9W9X9:W92WA*WAVAbUABUI*UIUIUMn@R](Combining 5 samples.Pa*Qeff@ZQexP^B(?0B JQew?amf-2Qa:QabQe25G@?Y:v@XHf?RQe2?.g1?gV8?BQeLmk? Qec5@Qe9 @PaPeZ9?PaQaQe@"Qe,@ByBy ByA*BAAAA"C*CRCCC  }:YV1y:6);9ױIG#>2ř,˿gFAY}2o@}20@y}2ҕr}2WX}2H<ݿ@P`ݖ?@`?`ݿ;Ϳ`R ? {F ?)~2o@ ~2^;I~0ɫYY)Y YIYY6?y؎F   U U UUm=U:UH=iUzAU UA)UAIUAiUvAe'MeC=Ye3 QUm>iiam"HmuHqy}3<}}>Iȁ :ŅM 5? :Ņbhݾ ƅ4= ?9ƅ,?Dž; ȅ;)ȅ:m}qAdded new target pos. range: 3.599999 m, bearing: 52.691289 deg, deltaT: 4.360745 s, approachRate: -0.013759 m/s, LOS rate: -0.180794 deg/s, posRepo size: 4WLmk?WX XWX:W2W*WVbUBU*UU @U2?BB BA*BAAAA"CLmk?RCCLmk?CIGMS>im/mGIiWٺAyř,|gFAɫ髙) IY?ytFETNmea in: $SNTTA,0.004789,,,,225942.27*4D ] JM]K=YeQUe>aiam"Hiiyu}u>Iy}} 5?}gݾ }'= ?9}21?}E: }^:)yܙ9ܙIܙiܙܝ=ܙܙܝ:; ݝΕEWWX XWX:W2W*WVbUBU*UUUu?B9BA BAAEɅ*BAAIAIAIAQ"CY*CYRCYCYCaI-AA)-@AIIYG>  k:YWU1y:6);Dř,ytgFAY}Bӂ@}B]@y}Byf}Bܨ}BH`ݿ?`?`Z?`ݿ Zο?@W??)~Bӂ@ ~BU\;I~BCɫYa)a iIiY%?yFI1)5AI9)=AI=)=Q?Q?X9vu=u< )Iy:vI +?S㥛T94=/ݼ @A)~PAI,AiqALA }@ @ @}©}}i}A} })}I}AiyR#M,=Yva"Hye<}>Iȩ :ŭ" 5? :ŭ7hݾ ƭM= ?9ƭR6?ǭ: ȭo:)ȭ:WWX XWX:W2W*WVbUBU*UUUc?B!B! B!A%d*B)A)A)A)A)"C1*C1RC1C9C99IIGmW>Z,ƙ,@O gFAY}2@}2@@y}2cf}2mŚ}2H(޿@l1'?N?$ݿ`ґͿ`?ײ8?)~2@ ~20a;I~2CɫII)I IIIY}?y}Fރ=M}=Y:QU ?!!a%"H!)y- <}- ?I157 5?5hݾ 5= E?959?5 : 5{:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UyUyU}?BB BA*BAAAA1"C9*C9RCACACA9IIGu>    k |:Y T1y : 369 @ܝ>9ܙIܝ@Fiܝ?ܝ=ܙܙܝU; ݝݕEV ƙ,,,'gFAY}6@}6@y}6+Bh}6}6H`1[޿;#l ?AAaE"HAIyM!<}M>IY e:] 5? e:]Diݾ ]= m?9]=>?]: ]w:)]:WWX XWX:W2W*WVbUBU*UUU`:@BB BAN*BAAAA"C*CRCCC-=i-p=)I9GU>b>ƙ,AgFAY}2+@}2@y}2i}2}2H@9޿"?@B?Q޿9˿1?ɡ /&?)~2+@ ~26^;I~2CɫYY)Y YIYYX?yPF=ia>  U U UU+=U`eU+=iU(AU U(A)UAIU5AiUAe=MmH=Ym}QUm>qa"Hy}>Iђ 5?iݾ Q= ?9B?; ";)WQWYXY XYWaXa:Wa2Wi*WiVqbUqBUq*UyUyU}` @BB BAׅ*BAAAA"C*CRCCCו?iו?eV eee ew:YeU1ye:e6iIyG:>hƙ,ZgFA|i|Y}6R@}6@y}6.m}6%}6H>޿`/?>9?`޿`>̿Vt?u.?)~6R@ ~6];I~4ɫYY)Y YIYY?yFMU=Y$"QU>a"Hy;}>I : 5? :ojݾ I#= ?9 G?^: :):WWX XWX:W2W!*W!V!bU!BU)*U)U)U-@h@A9AIExFiE?AAAEj; EE)сIсiссՁ=Ձ$4R]B*** querying acoustic contact ***PYPYBB BA*BAAAA"C*CRCCCiIyG=ƙ,tgFAY}V3=@}VX@y}V t}V}_}VH@޿ I??!޿Ϳ0L?!%X ?)~V3=@ ~Vl];I~VCɫ) I Y6?y؎FZ****** received transponder code query ******F****** received ping request ******99a="HAAyE*<}M>IIM= 5?Mjݾ Md= ]?9MK?M4: M=:)IWyWX XWX:W2W*WVbUBU*UUU @BYBY BYAu*BqAqAqAqAy"Cy*CRCCCiIyG>z#ƙ,>gFAY}2@}2&@y}2.w}2-ϖ}2H@i޿ ?`?@޿@)Ͽ@?I`?)~2@ ~2];I~2Cɫ99)9 9I9Y}r?y}FxDUSBL response received:!U1,P 502,000,002AD,189,80,80,C0,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)C=7;M=YNQU'?))a"Hy <}?I9= 5?=jݾ =< ?9=.N?=7>< =<<)9WaWX XWX:W2W*WVbUBU*UUUq @BIBI BIAM*BQAQAQAQAQ"CY*CYRCYCCׁIGb>=>99I=@Fi=?999=C; =ԕE)ƙ,rgFAɫ髁) IY?yFFɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B u& <MuC=Y}QU}>ya"HvHy}>Iȑ :ŕ 5? :ŕjݾ ƕ< ?9ƕgQ?Ǖ: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU@8@BB BAs*BA A A A "C*CRCCCסIG">  1{:YDW1yY:6)@;90ƙ,MgFAY}:@}:@y}: m}:}:H`'޿P??`х޿tϿ`0y?. ?)~:@ ~::_;I~:Cɫ99)9 9I9Y}#?y}jFxDUSBL response received:!U1,R,502,000,002B0,189,80,80,C1,FF Fpublishing direction and range infoɰqa=鰁 )ACIyq@w?amf-ٱ   =ʡ=i\A A)AIAirA@;MF=Ya"Hyk}>I15G 5?5jݾ 5˝< E?95T?5` ; 5y;)1WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qq@ZQE5j?.\Ux3 JQw?amf-2Q:QbQjvi@iH#!@M6ƙ,7gFAY}rļ@}rN@y}r8ue}rc}rH@߿?T?˾޿Ϳ[q?@[䳿@?)~rļ@ ~r/];I~rCɫ) I9IFiE?"; ÕEY?y4FDNmea in: $SNTTA,,,,,225946.62*54 =i=  tֻM E=Y a"Hy[;}%>I) 5:-d 5? 5:- kݾ -l< 5?9-iX?-: -:)-:meiAdded new target pos. range: 3.779998 m, bearing: 54.185571 deg, deltaT: 4.496272 s, approachRate: 0.040033 m/s, LOS rate: 0.332338 deg/s, posRepo size: 4We|r?WiXi XiWiXi:Wi2Wq*WqVqbUqBUq*UyU}o=@U}?BB BA{*BAAAA"ChYp?RCC|r?CׁIG@>  mp:YW1yč:6);I<ƙ,fgFAY}-;@}-@y}-6a}-/}-H| ߿`?O?2߿` ɿb?X@y7?)~-;@ ~-"];I~- Cɫ) IY%?y%F%S㥫?(\?S㥛%/]=%.> %/ݼ)!I!y%V-??Zd;O%<%L=%j %`=A)%TAI%n.Ai% pA!%(LA @ @ @Å©ÅÅiÅAÅ ąA)ąAIą AiąA<M4=Y))a-"H)1y5c;}=>Iae 5?ejݾ e; m?9e_?eӻ: ew:)aWWX XWX:W2W*WVbUBU*UUU ?BB1 B1A=5*B9A9A9A9A9"CE)n?*CARCICICIIIYGuz> i- mGI9 iQ Gٺ ACƙ,gFAY}:~@}:@y}:!c}:;}:H`޿ۖ?k"?`߿ȿE>?~?@5?)~:~@ ~:\;I~:Cɫ99)9 9IAY}?y}F=$=M={=YEȻQUE ?AAaM"HIIyU1}U?IY e:]u 5? e:]jݾ ]3: e?9]dd?]R: ]k:)]:WWX XWX:W2W*WVbUBU*UUU ү?BB BAɄ*BAAAA"C=|p?RCCCI)IG5 >o  y:YT1y:;69@9IНFiE@:; ЕEIƙ,4)gFAY}2#g@}2@y}2Śh}2}2H`޿` =?!?Zj߿ Pɿ ?@s@.-?)~2#g@ ~29a;I~0ɫ99)9 9I9Y}R?y}_FI)IC=)q<MM=Y?QU>!!a%"H!)y-}}->I15q 5?5jݾ 5ꥻ E?95j?5^: 5:)1WWX XWX:W2W*WVbU BU!*U)U)U-1p?BYBY BYA]*BYAaAaAaAa"Cm|r?*CiRCiCqCqaIqG>Pƙ,CgFAY}2k@}2@y}2h}2zY}2H`d޿ H@b?`?޿:Ϳ ?}?)~2k@ ~2^;I~0ɫII)I IIIY}C?y}VF)=  ] ] ]]A`>]X];i]QA] ]vA)YI]AAi]AuŎMuE=Y}+QU}>a"HyH2<}>Iș :ŝ_ 5? :ŝjݾ ƝU -?9Ɲp?ǝ< ȝR<)ȝ:WqWqXq XqWqXq:Wy2Wy*WyVybUyBU*UUU @BB BA*BAAAA"C*CRCCC )I1G]3>= ===P =}:Y=WU1y=:=N 6Wƙ,p]gFAɫ髁) Iܙ9ܙIܙiܙܝ=ܙܙܝB; ݝԕEY9?yFUGM]L=Y]QU]>aaae"Haaym}m>Iqud 5?u~jݾ u }?9uv?u: uY:)qWWX XWX:W2W*WVbUBU*UUU@@BB BA߄*BAAAA"C*CRCCC ?i ?-=i-a=IIQGu>3]ƙ,_wgFAY}l/@}J@y}8\}M}H y߿N~?D?޿οP? պ`N?)~l/@ ~f ];I~ɫ髉) IY?yF mJ +?L7A`堿MbP?m=m+ m:)iIiym{Gz? rh?Q?m#a"Hy<}>Iȩŭ 5?ŭkݾ ƭh; ?9ƭ{?ǭ&; ȭ%;)ȩWWX XWX:W 2W *W V bUBU*UUU@RB*** querying acoustic contact ***PPBB! B!A%*B!A)A)A)A)"C9*C9RC9C9CAIIYGuz>dƙ,R&gFAY}2;@}28W@y}2T}2L˽}2H߿?` ?<޿Ϳ@Li?丿 (?)~2;@ ~2=>\;I~0ɫ99)9 9I9Y}C?y}VFZ****** received transponder code query ******F****** received ping request ******}>9yI}`Fi}@}=yy}I; }וE)Ii46Ajƙ,gFAY}60@}6K@y}6L}6(}6H`߿@B?3?q߿`ʿ`Sk? - !L?)~60@ ~6];I~6CɫAA)A AIAY}?y}FxDUSBL response received:!U1,P 502,000,002B0,189,80,80,C1,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 <MJ=Ya%"H%wH9yM"}M>Iim 5?mkݾ m)H= ?9m?m; m;)iIM@A)M@AWqWqXy XyWyX:W2W*WVbUBU*UUUJ @BqBq BqA}*ByAAAA"C*CRCCCI)׹IGk>(qƙ,gFAY}:x@}:@y}:yG}:V֞}:H`nT߿ Tpٝ?5?@߿7[ʿ?uL?)~:x@ ~:; `;I~:Cɫ99)9 9IAY}g?y}F鮁ɮ=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B   j<#i3A 5A)5AIi5A><M:=Y?  a "H ydD}>I %:Ԉ 5? %:rlݾ Ö= -?9?: 4:):WIWIXQ XQWQXQ:WQ2WQ*WYVYbUYBUY*UaUaUe`]@BB BA%*B!A!A!A!] ]]] ]o:Y]DW1y]Y:]N6A!"C*CRCCCׁIG=>Rwƙ,gFAY}6\@}6,@y}6C}6+?}6Hև߿` 2?,? ޿@˿ T?w :?)~6\@ ~6M^;I~6C%>9!I%Fi%@%=!!%v; %EɫYY)Y YIYY?y͑FxDUSBL response received:!U1,R,502,000,002BD,189,80,80,B5,FF Fpublishing direction and range infoɰe=鰡 )5CIy@w?amf-ٱ)= =5ؼM5G=Y599a="H9AyEY<}M>IQU 5?Ulݾ U= ]?9U̅?U: U:)QWyWX XWX:W2W*WVbUBU*U U U @l@R(Combining 5 samples.P*Q@ZQ:y?&nhJQw?amf-2Q:QbQb,@=O @:t2?RQ{)?P?ح?BQt? Q|j@Q%@P[9?PPQQ*@"Q@BB BAm*BAAAA"C*CRCCCIGG>i}ƙ,ngFAɫ髩) IY?y^FUTNmea in: $SNTTA,0.005486,,,,225951.07*40 a i @a  a m @a  a q @a  a e@a  PnI +kt?  9  0=) I i Mb@Mb@Mb@ ©   A) QAI QAi ТA   A  xo:YU1y:)6 U@ U@ U@U©UUiUAU UvA)UAIU$AiU\Ae*=Me+=YmQUm>iiau"Hqqy}}}>Iȁ :Ņ@ 5? :Ņ~mݾ ƅ= ?9ƅC?Dž: ȅ>)ȅ:miAdded new target pos. range: 4.559999 m, bearing: 54.760949 deg, deltaT: 4.448951 s, approachRate: 0.175322 m/s, LOS rate: 0.129329 deg/s, posRepo size: 4Wt?WX XWX:W2W*WVbUBU*U1U5@p=@U= ~S?BB BAʃ*BAAAA"Ct?RCCt?C?i?שIG>dƙ,angFAY}6m@}6@y}69:}6k`}6Hcs߿O?7B?VH߿@ȿ@6?cɯ@h?)~6m@ ~6[;I~6Cɫ99)9 9I9Y?yF%=i%=uMu=Y} ?9ƕ?Ǖ: ȕH?)ȑWWX XWX:W2W*WVbUBU*UUUՃ?BB BA*BA A A A "C*CRCCC׉IG>!9!I%НFi%E@!!!%i; %Eƙ,8I,gFAY}:5@}:@y}: 1}:}:H`ޓ߿^?G?@E߿@ǿ`? to?)~:5@ ~:[;I~: Cɫ99)9 9I9Y}?y})FU.^M]L=Y]aaae"Haaymc;}m>IquL 5?uCnݾ uC)> }?9u?u,: u?)qWWX XWX:W2W*WVbUBU*UUUN?BB BA*BAAAA"C*CRCCCIG>9  u:YDW1yY:6)n;9wƙ,k'FgFAY}6.@}66@y}6J)}6}6H߿?rJ?Fv߿ƿ ~?A@}?)~6.@ ~6`;I~6Cɫ99)9 9IAY}k?y} F - - --#--i-A- -A)-AI-Ai-Au<MuH=Y}~yya"Hy?;}>Iȑŕ) 5?ŕnݾ ƕA> ?9ƕ?ǕJ: ȕ?)ȑWWX XWX:W2W*WVbUBU*UUU.?BB BAS*BAAA A "C*CRCCCI)))imGIIQIqiG>ٺlA-ƙ,7`gFAY}2T@}2Up@y}2"}2?>}2Hj߿ ?@C?}߿@Xſ@F?/?)~2T@ ~2{_;I~0f>9dIfxFif?f=ddfP; fܕEɫ99)9 9IAY]?y]|FI)I=)=mTMU=YGa"Hy<}>I 5?oݾ X> ?9?x: ?)W!W!X! X!W!X):W)2W)*W)V)bU1BU1*U1U9U=`lS?BaBa BaAe*BiAiAiAiAi"Cq*CqRCyCyCy9IQG=  ~:YWU1y:D6)%;QНƙ,cygFAY}5Yy@}5@y}5}5V%}5H @5?jC? 0ÿ@?>?@DmL?)~5Yy@ ~5?];I~1ɫ  )  I YMV?yMĐFa ia i a ma m a qa q a ea e x&1?x?I +?A>K7> 94<)IyV-~jtx?Mb?;= •I  a "H  y;}>I %: 5? %:oݾ e> -?9?: :):WIWIXI XIWQXQ:WQ2WQ*WQVYbUYBUY*UYUaUex@B B  B A ؄*B AAAA"C*CRCC!C!I!GMR>cƙ,_gFAY}6@}6)@y}6]r}6}6H4 ?D?%y@¿?o?)~6@ ~6Y];I~4ɫ99)9 9I9Y]?y]|FaeAA/8M~=YGK ?9ƥ?ǥ: ȥ4:)ȡWWX XWX:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBqBq BqAu*ByAyAyAyAy"C*CRCCC1׍?i׍?aIqG>I }} v:YkS1yԊ:D69@9IXFi?L; ەE/ݪƙ,!gFAY}6@}6"@y}6x}6ZR}6H /V@'?4?@F"eÿ@?S?)~6@ ~6$\;I~4ɫ99)9 9I9Y}?y}FZ****** received transponder code query ******F****** received ping request ******a"HxHy7<}>I  : / 5? : Pqݾ ^z> ?9 ܔ? ; ;) :WIWIXI XIWIXI:WI2WQ*WQVQbUYBUY*UYUYU]e @BB BÄ́*BAIAQAQAQ"CY*CYRCYCYCaIIQGm>bűƙ,mgFAɫ) IY?yFxDUSBL response received:!U1,P 502,000,002BD,189,80,80,B5,FF %Command Ack%BRequesting micromodem ping code 2i!!-Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 u u uux=uDAAaM"HIIyU}U>IY] 5?]@rݾ ]G> ?9]?]; ]e;)YWWX XWX:W2W*WVbUBU*UUU @BaBi BiAm*BiAiAiAqAq"C*CRCCCIG>6ƙ,GgFA494I6ȖFi6?4446g; 6E)Ii 5Y}F׏@}Fa@y}Fc}Fy}FH\@?D?߿`5Ŀ\?r`=?)~F׏@ ~Fb`;I~FCɫ髙) IY9?yFa=ɮ4=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2;Mw=Y+;QU?a"Hyk#} ?I : 5? :rݾ ӈ> ?9?E: :):W9WAXA XAWAXA:WA2WI*WIVIbUIBUQ*UQUQUU@ByB BA߄*BAAAA"C*CRCCCiIqG>I)?A?ƙ,.gFAY}bJx@}bԓ@y}b}bֽ}bH^V@dN? y߿'ƿa?‚?)~bJx@ ~bP^;I~`ɫ髑) IY?y|FxDUSBL response received:!U1,R,502,000,002B1,189,80,80,BD,FF Fpublishing direction and range infoɰa= )=CIyu@w?amf-ٱI)IC=)4=U:v?B`"?v/?UT=Uَ> Uxi=)QIQyU{Gzty&1?/$?UףU`ea"Hy>Z}>I 5?8sݾ > ?9?: U:)WWX XWX:W2W*WVbUBU*UUU@@R(Combining 5 samples.P*Qu@ZQAKK?Oh JQw?amf-2Q:Q=  u:YDW1yY:6bQC'"&@<ފ @L?RQ,y?7x?)?BQbdx? QTH@Q4 @PZ9?P[9?PQQa@"Q*@BABA BAAM*BIAIAIAIAI"CQ*CQRCYCyCyqIG_>'ƙ,gFAY}>Md@}>@y}>Yb }>F}>Hi @.q?}Y?)߿{ÿ? Sv?)~>Md@ ~>];I~>Cɫy髁) IY?yF%DNmea in: $SNTTA,,,,,225955.53*54 eMed=Ymiiau"Hqqy} _}}>IȁŅA 5?Ņsݾ ƅk> ?9ƅR?Dž=: ȅϸ:)ȁmmAdded new target pos. range: 3.839998 m, bearing: 55.593048 deg, deltaT: 4.459953 s, approachRate: -0.161437 m/s, LOS rate: 0.186571 deg/s, posRepo size: 4Wbdx?WX XWX:W2W*WVbUBUI*UQUU Q@UU -?BB BAK*BAAAA"Cbdx?RCCbdx?CIG%>i9iImFim?iiimc; mE,ƙ,.gFAY}6O@}6j@y}65w}6%߼}6Ha`@? `?  "UD?﹛ d?)~6O@ ~6\;I~6Cɫ99)9 9I9YqyyY;QU%>)1a5"H19y=U}=>IA M:E 5? M:Esݾ En> U?9E(?E{: E:)E:WqWqXq XyWyXy:Wy2Wy*WyVbUBU*UUU`H?BB BA*BAAAA"C*CRCCCשIG==i=  p:YU1y:{6):;9ƙ,(HgFAY}Jm@}J]@y}JO}J!n}JH, W>8? O?@'ๆ?~w?)~Jm@ ~JW];I~JCɫQY)Y YIYY?yF=i= aa    @ @ @ñññiõAñ ĵ9A)ĵSAIĵ9AiĵvAZ:Ma"Hy;}>I 5?(tݾ > ?9 ?: o:)WWX XWX:W2W*WVbU!BU!*U!U!U%`ۢ?BQBQ BQA]C*BYAYAYAYAY"Ca*CaRCiCiCiAIQGm>Y 9Y I] 8Fi] ?] =Y Y ] 7; ] ЕEoLƙ,bgFA|i|Y}6HR@}6m@y}69}6+Y}6H@߿֮? N? H¿ ? ֡ן?)~6HR@ ~6-pb;I~6CɫYY)Y YIYY'?yώF}M}M=Y}NQU>a"Hy}>Iș :ŝ` 5? :ŝ{tݾ Ɲ> ?9Ɲ?ǝ^: ȝ:)ȝ:WWX XWX:W2W*WVbUBU*UUU@H?BB  B A *B AAAA"C*CRCCC!I1)1iIqG>c  x:YX1y/:6)R;{gƙ,jj|gFAY}6L@}6mh@y}6}6[T}6H ߿ࣵܟ?@wN?߿ÿq@?`$;@?)~6L@ ~6x_;I~6CɫYY)Y YIYYZ?y*F+?~jtkt?=D  =)IyQ롿Mb`?~jt\; ¥DA)¥IAI¥5Ai¥ \AHA M M M M@ M@ M@IIIiMAI M)M\AIMAAiMA]#=Me>=Ye:QUe>iiam"HiqyuH}u>Iy} 5?}uݾ }K> ?9}|?}: }D:)yWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*CRCCCIG%>CiiIiXٺ A,Qƙ,+MgFAY}6@}6u@y}6}6tÛ}6H$@v?3?߿;ſ^_?C:@9?)~6@ ~6)];I~6Cɫ19)9 9I9YL?y FIQ)QIa)e=MX=Yw%QU>a"Hy^<}>Iȩ :ŭe 5? :ŭuݾ ƭ> ?9ƭ?ǭ: ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUU@BB! B!A%*B!A!A)A)A"C*CRCCCI  q:YV1y:W69@G(> 9 I i     b; Eyyƙ, gFAɫ)1)1 1I1YmA?ym|Fqu@A+M.=YQU>a"HyHy}>I 5?Bvݾ x> ?9?ȯ< Y<)WWX XW X :W 2W *WVbUBU*UUU]@RuB*** querying acoustic contact ***PqPqBB BA]*BAAAA"C!*C!RC!C)C)m?im?QIaG}>zaƙ,TgFAY}6b@}6@y}6.&}6!!a%"H!)y-}5>I1 =:5n 5? E:5vݾ 5q> E?95?5$: 5:)5:WaWaXi XiWiXi:Wi2Wq*WqVqbUqBUy*UyUyU} @BB BA*BAAAA"C*CRCCCסIG >=ip=S  w:YWU1y:`6 9 CI Fi ?    ;  E}ƙ,gFAY}2n@}2@y}2oX1}2-g}2H!`66??ƿ?`vx?)~2n@ ~2^;I~0ɫYY)Y YIYY}?y}FxDUSBL response received:!U1,P 502,000,002B1,189,80,80,BD,FF Command AckBRequesting micromodem ping code 2i=iC=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 EMMY=Y]&QUe>a"HyA<}>I 5?Gwݾ _> U?9W?s; ;)W WX XWX:W2W!*WVbUBU*UUU` @B)B) B)A-*B)A1A1A1A1"C9*C9RC9C9CAI1GeU> ƙ,xgFAY}Bn@}Bo@y}B :7}BcS}BH߿ `O?@%?@߿ƿ?qr?)~Bn@ ~B>];I~@ɫQY)Y YIYY?yXFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ~jt?)\(?)\(<Ga> Ga)IyI +?:v?Q94<T< @A)/MAI2AiI`A(HA @ @ @©iA vA)AAIAiA!=M3=Y]OQU>a"HyY}>I :B 5? :wݾ OS> ?9p?: :):W)W)X) X)W)X):W12W1*W1V1bU1BU9*U9U9U=@BiBi BiAml*BiAqAqAqAq"Cy*CyRCyCyC  :YDW1yY:6AIQGu6>\Ǚ,gFAY}2h@}20@y}2%<}21C}2H–߿ Щ?`5? ߿Cǿb?l?)~2h@ ~2^;I~2Cɫ99)9 9I9Y}#?y}jFxDUSBL response received:!U1,R,502,000,002B1,189,80,80,B6,FF Fpublishing direction and range infoyyɰyy y)}6CIyyy}w?amf-ٱy2;Mv=YlQU?a"Hyz}?I 5?vݾ I> ?9K?D: :)WWX XWX:W2W*WVbUBU *U U U `!q@R(Combining 5 samples.P*QZQAKK?Oh JQw?amf-2Q:QbQkP^@H% @nz?RQݬ?w)r?vE7?BQv? QyH@Q @PPZ9?PQQ@"Qa@B1B1 B1A5e*B1A9A9A9A9"CA*CARCACACIIIQGm>I)@Aܩ9ܭCIܭȖFiܭ?ܩܩܩܭ[; ݭE)IIIiIM=M=M4O Ǚ,s1gFAY}%K@}%/g@y}%F}%3,}%HN޿K?@RY?3޿3ȿ`? ' k_?)~%K@ ~%\;I~%Cɫ) IY5E?y5FDNmea in: $SNTTA,,,,,225959.96*51 I)I=)jzM8=Y亼QU>a"Hyf}>I 5?vݾ => ?9s?: :)m5mAdded new target pos. range: 3.839998 m, bearing: 55.271564 deg, deltaT: 4.386916 s, approachRate: 0.000000 m/s, LOS rate: -0.073282 deg/s, posRepo size: 4W=v?W9X9 X9W9X9:WA2WA*WAVAbUIBUI*UIUIUUb?BB BA*BAAAA"Cv?*CRCCv?CiIG!> j ^j:YWU1y:6);95fǙ,(CKgFAɫyy)y yIyY?yF } } }}=}L} 0i}A} }\A)}AI}Ai}AA;MP=YQU>a"Hy}>Iȩ :ŭs 5? :ŭvݾ ƭ1> ?9ƭz?ǭ: ȭ:)ȭ:WQWQXY XYWYXY:WY2WY*WaVabUaBUa*UiUiUGo?BB BA*BAAAA"C*C RC C CIG-,>ܡ 9ܥ CIܥ XFiܥ ?ܡ ܡ ܡ ܥ ; ݥ EǙ,p_egFAY}VJ@}Vԟ@y}V5]Q}V i}VH޿B1@_\?`y? C޿8@ʿ@?dH?)~VJ@ ~V`;I~VCɫ髙) IY?yF}ꈼM}I=Y}ռQU}>a"Hy}>IȑŕՁ 5?ŕJvݾ ƕ\&> ?9ƕ?Ǖϸ: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUUs?BB B A *B A A AA"C*CRCCCשI  :YW1yč:6) ;G$>Ǚ,v~gFAY}N@}N@y}NR}Ni}NHJoݿ`` ?B?[ݿ@Thʿ`?:G?)~N@ ~N^;I~NCɫyy)y yIyYy==i== IIZd;O?{Gz?p= ףj<#< )Iy~jth ףp= ~jtDQ8ļ AA)IG/AindAHA 5@ 5@ 5@5©55i5GA5 5A)5 AI5Ai5AYEƺQUM>IIaM"HQQy]&}]>Ia m:eF 5? m:euݾ e> u?9e?e; e;)e:WWX XWX:W2W!*W!V!bUIBUI*UQUQUU ?BB BA*BAAAA"C *CRCCCI)GEQ>%Ǚ,ԘgFAY}Fj@@}F[@y}F8S}FE}FH`ݿ` ?@?ܿ`˿@?鳿x8?)~Fj@@ ~Fk];I~DɫYY)Y YIYY?ykF5kߺM=AAaE"HAAyM}M>Iȡť 5?ť@uݾ ƥ> ?9ƥU?ǥ: ȥw:)ȡWWX XWX:W2W*WVbUBU*UUUf,@BB BA̅*BAAA!A!"C!*C)RC)C)C1IA)AiIqG>4 a 6u:YWU1y:!69@I9IIMFiM1?M=IMODM; MEG,Ǚ,PDzgFAY}>@}>@y}>U}>[w}>H Ɯܿ =??`7gܿd˿`o?`ލ@ ~>\;I~>CɫIQ)Q QIQY?y!F-R<M-J=Y5QU5>11a="H=zH9yE}E>II U:M 5? U:Mtݾ Mr > U?9M?M: Ms:)M:WyWyXy XyWyXy:Wy2W*WVbUBU*UUUR@B1B9 B9A=*B9A9A9AAAI"Cq*CyRCyCCIG(>2Ǚ,gFAY}V:@id}VU@y}VL[}V55Ip}VH ܿ{?{?,ܿ.ʿ4?_ =?)~V:@ix ~V\;I~VC%ٺ!%LA-JFailed to close latch before timeout.q --Hardware FaultY5?y=tFIA)AIUp=)U4= ] ] ] ]@ ]@ ]@YYYi]AY ]A)]AI]Ai]AmMmG=Y[QU>a"Hy}>IȩŭX 5?ŭ ?9ƭ ?ǭ; ȭ';)ȩWWX X!W!X!:W!2W!*W)V)bUIBUI*UQUQUU@R]B*** querying acoustic contact ***PYPYBB BAɅ*BAAAA"C*CRCCCI-$@Hardware Fault in component: DDMG )>%T !!% %w:Y!y!%N6I 9I IM FiM v?M =I I M 5; M ҕE (9Ǚ,ggFAY}6@}6 @y}6<]}6Go}6Hۿ@` ??`oۿ/˿ে?`=@2?)~6@ ~6(`;I~6C>Powering down<ɪ<)\ \Y5?y5=F=Z****** received transponder code query ******=F****** received ping request ******=a"Hiym}m>Iq }:u 5? }:usݾ u= ?9uߵ?u[: ur;)u:WWX XWX:W2W*WVbUBU*UUU i @BaBi BiAmw*BiAiAiAiAq"Cq*CyRCyCyCו?iו?YIaGZ>@Ǚ,AgFAY}6@}6|@y}6ߴW}61}6H࠴ۿY?`4?@SAۿ̿@?!{0?)~6@ ~6)f;I~6CY^_?ybFbxDUSBL response received:!U1,P 502,000,002B1,189,80,80,B6,FF fCommand AckfBRequesting micromodem ping code 2iddjNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 % r?~jt~jt?%C>% %<)!I!y%ya"HyŻ}>IԈ 5?sݾ =  ?9H?<  <)WWX XWX:W2W*WVbUBU*UUU @BABA BAAEV*BAAIAIAIAI"CQ*CqRCqCqCyiIyG>9FǙ,gFAY}:@}:N@y}:G=S}:BΒ}:Hۿ@? ?@uۿ ˿7? >=?)~:@ ~:tkg;I~:CYFE?yFFHɮJa=ZNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B !!]M]=Yeރ)9)I-xFi-?-=))-I; -ەEcLǙ,3gFAY}6@}6t@y}6X}6R\}6Hۿ ? ? ݶۿ y˿G?ߪ =?)~6@ ~6׋e;I~4YV?yV`FZxDUSBL response received:!U1,R,502,000,002AD,189,80,80,C5,FF ^Fpublishing direction and range infoXXɰZu`=X X)ZECIXyZff@Zw?amf-ٱXr)H=MrR=Yv]QUv>ttav"Hxxyz}~>I  : 5?  :tݾ =  ?9?: :):W1W1X1 X1W1X1:W12W9*W9V9bUABUA*UAUAUE M@RU(Combining 5 samples.PQ*QUff@ZQUxP^B(?0B JQUw?amf-2QQ:QQbQU W@l=@nUH?RQUJR?6D?X$w?BQU#d? QU1@QU@PQPQPUQQQU\@"QU@BB BA*BAAAA"C*CRCCCױIGE=  :YU1y:s6);95NSǙ,@MgFAY}V@}V,1@y}Vc}VdP}VHۿT`~?`o?`ۿ@̿&?f@-?)~V@ ~Vb;I~VCYb?ybzFETNmea in: $SNTTA,0.005062,,,,230004.38*4F   Ý`e=Ý=ÝQ8=iÝAÝ ĝA)ĝAIĝAiĝvA}=M>=YQU>a"Hy <}>I 5?=tݾ ]= ?9T?^: w:)mqAdded new target pos. range: 3.599999 m, bearing: 51.243368 deg, deltaT: 4.394093 s, approachRate: -0.054619 m/s, LOS rate: -0.916730 deg/s, posRepo size: 4W #d?W X  X W X:W2W*WVbUBU*UU @U%?BIBI BIAU&*BQAQAQAQAQ"C]p?RCYCe#d?CaIG >IAA)?A% >9! I% @Fi% ?% =! ! % b; % E)}CI}Ciy}=}=}f5cuYǙ,ggFAY}6m@}6@y}6Nl}6 }6Hv^ܿ=?@?@ܿ@utο O?8?)~6m@ ~6`;I~6CYR ?yZFmxMmO=YuQUu>qqa}"Hyyyw<}>Iȉ :ōp 5? :ōatݾ ƍ]= ?9ƍ?ǍM: ȍ:)ȍ:WWX XWX:W2W*WVbUBU*UUUX?BB BA*BAAAA"C :e?RC CCIG=  n:Yy6);]`Ǚ,LgFAY}: @}:6'@y}:-m}:ы}:H !ܿN&r?@ץ?ۿKп b?`4;?)~: @ ~:W^;I~:CY^?y^F:v?&1?a"HyS<}>Iȱŵ 5?ŵtݾ Ƶc= ?9Ƶn?ǵ: ȵʽ:)ȱWWX XWX:W2W*WVbUBU*UU U hH?BIBI BIAU-*BQAQAQAYAY"CeY`?RCaCaCiסIG >҇fǙ,dgFAY}69@}6T@y}6 j}6Խ}6H ܿ~G??!ܿ޵Ͽ?`:׹?)~69@ ~68];I~6CYB_?yBF5bM5d=Y=) AAaE"HAAyM;}M>IQU 5?Utݾ US= e?9U?U: U/:)QWWX XWX:W2W*WVbUBU*UUU?BB BAV*BAAAA"C`?*CRCCCIG5=-nFailed to parse device response: 2.01,24.8204,4.844251 Q u :Y0Y1y:E69@lǙ,}?gFAY}2 @}2)(@y}2Ld}2K}2H`:ܿ@ߐ ?d?@bܿKͿV?jѱ^ ?)~2 @ ~2k,\;I~0YN?yR`F~%=i~==I<M=J=YE2XAIaM"HM{HIyUۻ}U>I :S 5? :tݾ = ?9?M: :):WWX XWX:W2W*WVbUBU*U!U)UU @BB BA*BAAAA"C#d?RCCCסIG">;sǙ,gFAY}:m@}:@y}:J_}:}D}:Hܿ@]`%٬??ܿO`˿.?5?)~:m@ ~:3\;I~:CY^?y^WF u u uua"Hy}>Iȡť 5?ťuݾ ƥ= ?9ƥQ?ǥ: ȥӻ:)ȡWWX XWX:W2W*WVbUBU*UUU`f@BB BA*BAAAA"C*CRCCCI)\AשIG= _ %q:YX1y/: 6 >9 I НFi E@ = ND ; E@yǙ,gFAY}62@}6@y}6i_}66yL}6Hܿڑ@?n?ɨܿ \{˿?`4?)~62@ ~61\;I~6CYv=?yvFxzAADMR=Y`9QU>a"H!y%}->I) 5:- 5? =:-*uݾ -= =?9-?-: -:)-:WaWaXa XaWaXa:Wa2Wi*WiVibUiBUq*UqUqUu@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCױIG=ΫǙ,gFAY}6@}6 @y}6xb}6K}6HתܿZ?A? XܿKͿ?"?)~6@ ~6)\;I~6CYR?yR`FVZ****** received transponder code query ******VF****** received ping request ******V= v=)Iy?I +~jt<9D 9>A)RAIG/AikA KA m@ m@ m@e©eeieAe e)aIaieA}D;M})=YŻQU>a"Hy(;}>Ișŝ 5?ŝtݾ Ɲs= ?9Ɲ?ǝb: ȝk:)șWWX XWX:W2W*WVbUBU*UUU@s @B B  B A *BAAAA"C*CRCCC! x n:YV1y:615CIQiIiѿٺAMO?9MwAG]U>ՆǙ,ugFAY}:@}:E@y}:*e}:n}:HKܿ ?h?<ܿ̿Bh?d`8&?)~:@ ~:[;I~:CYF?yFOFJxDUSBL response received:!U1,P 502,000,002AD,189,80,80,C5,FF JCommand AckNBRequesting micromodem ping code 2iLLRNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -,M }=YQU% ?)1a="H9Qyey}m?Iȁ :Ņ 5? :Ņ6sݾ ƅ= ?9ƅh?Dž; ȅ;)ȅ:W1W9X9 X9W9XA:WA2WI*WyVybUBU*UUUh @BB BAp*B)A)A)A)A)"C1*C1RC9C9C9y9yIyiyyy}OD}; }#E!I9Gm5>ZǙ,6gFAY}6D@}6`@y}6[k}6=}6Hܿn1??ܿͿ@)? ?)~6D@ ~6[;I~6C>Powering up>"Initializing DDM.Y~g?yFp=ɮp=}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }O=M5=Y6[QU>a"Hy<}>IY 5?#rݾ = ?9?: :)WIWQXQ XQWYXY:WY2WY*WYVabUaBUa*UaUaUmQn@BB BA*BAAAA"C*C!RC)C)C)y  :YDW1yY:6!I)GM1>Ǚ,aPgFAY}:|@}:%@y}:Je}:ɦ޽}:H@#ݿSv}?`R?Pܿ׃Ͽ y??)~:|@ ~:@];I~:CY^A?yb|FfxDUSBL response received:!U1,R,502,000,002AE,18A,80,80,C6,FF fFpublishing direction and range info``ɰb`=b> `)bFCI`yb=j@bw?amf-ٱ`lin< tt 5 = ==ף;=9=ף;i=fA= =$A)9I=Ai=\AMMM`=YMxQQaU"HQYy]F<}e>Ii m:m 5? u:mFqݾ mW= u?9m?mR: m:)m:WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q=j@ZQs:@?apuV JQw?amf-2Q:QbQꉣ@P@' :\?RQG?&Ъ ?f?BQh? Qu5@Q @PPPQQ!@"Q\@BB BA]*BAAAA"C*CRCCCIG>u >9q Iq iq q q q u ; u EǙ,=HjgFAY}V%@}V@y}V@Y}VȽ}VHYKݿ r_q??@HܿͿ? s~ ?)~V%@ ~Ve\;I~VCYf?yfFETNmea in: $SNTTA,0.027076,,,,230008.82*47 <ME=Ya"Hy;}>Iȱŵه 5?ŵHpݾ Ƶi= ?9Ƶ*?ǵ': ȵ:)ȱmiAdded new target pos. range: 3.660000 m, bearing: 52.129496 deg, deltaT: 4.457313 s, approachRate: 0.013461 m/s, LOS rate: 0.198803 deg/s, posRepo size: 4Wh?WX XWX:W2W*WVbUBU*UUG @USx?BB BA&*BAAAA"Ch?RCCh?CIG>    2 :Y X1y /:  6) g;90Ǚ,]gFAY}2@}2|@y}2S}2}2Hoݿ`)fS?U? cݿ@Z˿0@?`:?)~2@ ~2o\;I~2CYR?yR`F~jt?zG?v/?> = xi=)Iy{GzMbPI +?#9< ?A)SAI0Ai@A m@ m@ m@m©mmimAm m)mAImAimA*<M<=Yk a"Hy;}>I! -:% 5? M:%Dqݾ %-= U?9%?%; %;;)%:WWX XWX:W2W*WVbUBU*UUU?BB BA*BA!A!A!A!"CI*CIRCICICQAIIGm5> $Ǚ,ZgFAY}2d@}2@y}2Q}2 AL}2H@Aݿ`*jש??@Dݿ@ɿ ?K?)~2d@ ~2.[;I~2CYB?yBFIp)pIv=)vR=mMd=Y%;QU%>!)a-"H))y5(}5?I9=0 5?=rݾ =?= E?9=?=: =:)9WWX XWX:W2W*WVbUBU*UUUy?BABI BIAM1*BIAIAIAQAQ"Cy*CyRCyCyCiIyG=9Iid; Ec c x:YDW1yY:W6)R;(NǙ,tηgFAY}Jdz@}J@y}J.HR}J݁ڼ}JH` 9ݿ`@L?@ ?&ݿ` ȿ?@Q?)~Jdz@ ~J0\;I~JCYV?yVF MB=Y'2QU>a"H|Hiym}m>Iy} 5?}rݾ }>X= ?9}?}{: }/:)yWWX XWX:W2W*WVbUBU*UUU _?BB BAC*BAAAA"C*CRCCC?i? IG5 >6Ǚ,zgFAY}6h@}6@y}6\M}6v7}6H0ݿ Rm0?? @ݿ`Y=ɿL?v^S?)~6h@ ~6\;I~4Ydyd   ÕB>Õ\Õ+iÕAÕ ĕA)ĕAIĕAiĕAY9a"Hy;}>I : 5? :sݾ qm= ?92?$: R:):WWX XWX:W2W*WVbUBU*UUU@;@B1B BA*BAAAA"C*CRCCCIG>=ia=  :YU1y:69@ 9 I @Fi ?    8;  ҕE)Iiʼn=ʼn=ʼnk&4x`Ǚ, gFAY}60?@}6Z@y}6D}6^}6HYݿxH?@J? Mݿȿw?L@]?)~60?@ ~6:[;I~6CYN|?yRF~=i~=  ܺMa"Hykλ}>IȡťJ 5?ťtݾ ƥ,= ?9ƥl?ǥ0: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUUn@BB BAN*BAAAA"C!*C!RC!C)C))I9GU=IǙ,4fgFAY}6ލ@}6h@y}6@}6}6Hcݿj@??@ݿ@ɿ?`O@\?)~6ލ@ ~6-[;I~4YBV?yBĐFDF@A=K7A?@5^I ¿㥛 ?= >=b ==)9I9y=I +~jt=94=D= =bBA)=NAI=0Ai=fA9=IA U@ U@ U@U©UUiUQAU UvA)UAIUAiUvAe=Me==Ym/a"Hy4<}>Iȡ :ťm 5? :ťyuݾ ƥ w= ?9ƥ?ǥ;; ȥ׾;)ȥ:WWX XWX:W2W*WVbU!BU!*U!U!U%@RUB*** querying acoustic contact ***PQPQBB BA؄*BAAAA"C*CRCCCI)]AIG$>    e :Y X1y /: eE6rǙ,:gFAY}6o@}6@y}6S=}6}6HݿX?`? Rݿ~9ɿ@ ? y岿`]?)~6o@ ~6[;I~4Yf?yfFjZ****** received transponder code query ******jF****** received ping request ******jAAaE"HAIyMV<}U>IY]_ 5?]#vݾ ]al= m?9]?]: ]S:)YWWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"C*CRCCCIG==ܱ9ܱIܵxFiܵ?ܵ=ܱܱܵC; ݵؕEǙ,9gFAY}^tK@}^f@y}^;}^鉗}^H޿>q?`^?ݿ =ȿ=W?``?)~^tK@ ~^[;I~\Y?y FxDUSBL response received:!U1,P 502,000,002AE,18A,80,80,C6,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @iA )AIAiA=?ME"=YmC;QUm>qya}"HyyD[<}>I : 5? :wݾ %]= ?9?R: :): ^:YU1y:;6W1W1X1 X1W9X9:W92W9*W9VabUaBUa*UaUiUm @BB BA*BAAAA"C*CRCCCIGEs>iM }nGIa iy ڿٺ ¿AǙ,RgFAY}2@}2 @y}28}2ຽ}2H`Y޿ ,x??Mݿ qɿE? eZ?)~2@ ~2`4[;I~2CYR?yR;FRa=ɮRR=bNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ;M|=Y6 L)N=CILyNn@Nw?amf-ٱLbkMf]=Yfc~hhaj"Hhhyn;}n>Ipr 5?rQxݾ rpJ= v?9r?r: r^:)pWWX XWX:W2W*WVbU!BU!*U!U!U-@R5(Combining 5 samples.P9*Q=n@ZQ=o$?7U JQ=w?amf-2Q9:Q9bQ=j UR@z#6@TWA(?RQ=v6J?%?r?BQ=%q? Q=>@Q= @P9P9P9Q9Q=>@"Q=!@BiBq BqAu*BqAqAyAyAy"C*CRCCCQIaG}=U QQU< Uo:YQyQU%6)UC;9u{Ǚ,稆gFAY}: @}:&@y}:\k.}:)}:H ޿ VQ?`Q?jb޿Lǿ`x?@Xճ@wp?)~: @ ~:}Z;I~:CYr?yr(FmdNmea in: $SNTTA,0.038426,0.360179,,,230013.29*57 mC=im< Q롿I +y&1? \ 94 `<) I y ~jtˡE?y&1| D '= `   a "H y<}>I %: 5? %:yݾ &= -?9?I: R:):m]iAdded new target pos. range: 3.720000 m, bearing: 53.971707 deg, deltaT: 4.427241 s, approachRate: 0.013553 m/s, LOS rate: 0.416108 deg/s, posRepo size: 4W]%q?WYXY XYWYXa:Wa2Wa*WaVabUiBUi*UiUu @Uu~?BB BAG*BAAAA"C~p?RCC%q?C IG-->KǙ,gFAY}6@}6;@y}6G)}6\T~}6H޿` ?@? ޿@iJƿ}$? U?)~6@ ~6[;I~6CYB ?yB FIM^A}=M}g=Y%Ka"Hym;}>Ișŝ 5?ŝ{ݾ Ɲ = ?9Ɲj?ǝ: ȝI:)șWWX XWX:W2W*WVbUBU*UUUă?BB  B A *B A AAA"Crq?*CRCCC!IG=Y9YIYiYYYY],; ]˕E&  t:YWU1y:6);[Ǚ,/jgFAY} k@} @y} N'} yx} Hg!߿Gd?nw?/޿ſ@? 3?)~ k@ ~ @[;I~ CY%7?y-'F   = >Ei A A)AIAiR;MB=Yd;QU>  a "H }Hy3<}>I %:. 5? -:|ݾ /< -?9?: :):WQWQXQ XQWQXQ:WQ2WY*WYVYbUYBUY*UaUaUe@w?BB BA*BAAAA"C%q?*CRCCCiIyG=I@A)AALǙ,9gFAY}:8@}: @y}:|}:<}:H ѯ߿[?޿ _ȿ@?dHe?)~:8@ ~:=\;I~:CYF?yFzFI|)~A%M%Z=Y%|))a-"H)1y5(<}=>IAEЎ 5?E}ݾ E< M?9E?E=: Eϸ:)AWiWiXq XqWqXq:Wq2Wq*WyVybUyBUy*UUU?BB BA&*BAAAA"C*CRCCC?i?IG= y n:YDW1yY:69@U >9Q IU FiU v?Q Q Q U `; U EǙ,wgFAY}6;Q@}6l@y}6D}6h}6H`~[ V?`r߿ǿ?(=j?)~6;Q@ ~6]\;I~6CYN]?yRF) =QlM=I=YE =QUE>AAaM"HIIyU:<}U>IY e:]n 5? e:]&ݾ ]M< e?9]?]: ]:)]:WWX XWX:W2W*WVbUBU*UUUC@BB BAV*BAAAA"C*CRCCCIG=ș,t gFAY}F@}F09@y}FǨ}FB}FH"߿Pk?`h\߿yĿ ?붿?)~F@ ~Fe\;I~F CYZ?yZFMb@Mb@Mb@ )IyI +Mb?y&1?9<`< )SQAIl3AiHA E@ E@ M@E©EEiEQAE EA)EAIEAiEA]Gg=M]:=Y]gaaae"HaiymL}m>IquO 5?uݾ u< ?9u?u: uI:)qWWX XWX:W2W*WV)bU1BU1*U1U1U=V@BB BA*BAAAA"C*CRCCCIG$>ip=J  :YU1y:|6ș,! gFAY}6@}6X!@y}6}6*}6H^߿#}?0s?Ⱦ߿p; ?+ ±?)~6@ ~60N[;I~6 CYB?yBLFDFAAV~yMVj=YV;QUZ?XXaZ"HX\yb}b>Idf? 5?fݾ f< j?9f?f: f:)dWxWxX| X|W|X|:W|2W*WVbUBU*U U U  @RB*** querying acoustic contact ***PPB9BA BAAE9*BAAAAIAIAI"CQ*CQRCQCQCYIi)iQIaG}=>9IFi1?b; E)݉I݉i݉ݍ=ݍ=ݍu4Dș,E; gFAY}R @}R@y}R6}R,+<}RH߿'x??߿˺ 7? gH??)~R @ ~R\;I~RCYr(?yrFvZ****** received transponder code query ******vF****** received ping request ******vaaae"Haiym- }m>Iq :u5 5? :uLݾ u/= ?9u?u; u?;)u:WWX XWX:W2W*WVbUBU*UUU _ @BaBa BiAm*BiAiAiAiAi"C*CRCCCשIG">  } } u }:Y kS1y Ԋ: E6j ș,U gFAY}6=@}6@y}6¤}6p;}6H˺߿;\? D? ߿ ?m?(?)~6=@ ~6mk\;I~4Yf9?yfFjxDUSBL response received:!U1,P 502,000,002AF,189,80,80,BD,FF jCommand AcknBRequesting micromodem ping code 2illrNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 E~=MMT=YUeya"HyT;}>I, 5?ݾ V= ?9#?; |;)WIWIXq XqWqXy:Wy2W*WVbUBU*UUU> @BqBq BqAu*BqAyAyAyAy"C*CRCCCIAA)?AסIGF>>9IXFi?=T; E$Lș,bo gFAY}:#@}:i?@y}:iy}:}:H ߿`Z@NI?@y?߿¦.ҽ?`3TY?)~:#@ ~:%\;I~8Y^?y^LF`ɮbp=rNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B MA=YGa"Hy<}>I : 5? :ݾ = ?9?9: $:):W!W!X! X!W!X):W)2W)*W)V)bU1BU1*U1U9U= vJ@BB BA9*BAAAA"C*CRCCC=?i=?iIG">5 555g 5%q:Y5X1y5/:56)5;9U24"ș,h> gFAY}:K@}:-@y}:b꽙}:F}:H߿jX?K?a߿\|`;?@?)~:K@ ~:\;I~8YN?yNFRxDUSBL response received:!U1,R,502,000,002AD,189,80,80,BF,FF VFpublishing direction and range infoPPɰRu`=P P)R?CIPyRff@Rw?amf-ٱPM:v?p= ף rhMT=M MC)MIIyMMbp?X9vv/?M;MMxi= MDA)MEAIMA4AiMvZAIMfFA)e= e>e4>ainGIiEܿٺA U@ U@ U@U©UUiUAU UAA)UAIUAiUAAe=Me4=YeA;QU>a"Hy,}>Iȡť 5?ťSݾ ƥ= ?9ƥc?ǥ{; ȥZ;)ȡW WX XWX:W2W*WVbUBU*U!U!UE,@RU(Combining 5 samples.PQ*QUff@ZQUxP^B(?0B JQUw?amf-2QQ:QQbQU2.@ 6@ {y?RQU,ŀq?(N}5sM?/;ܷ?BQU՞x? QU`=@QUt@PQPQPQQQQU} @"QU>@BB BA*BAAAA"C*CRCCC I G%N>_(ș, gFAY}b@}bI-@y}b꽙}bI}bH ߿`YEN?=?`L߿`YK?T?)~b@ ~b[;I~bCYnc?ynBFETNmea in: $SNTTA,,0.151319,,,230017.71*4F kMm=Y-3QU?a"HyQ͸}?Iȱ :ŵՏ 5? :ŵݾ Ƶ= ?9Ƶ?ǵ: ȵg:)ȵ:mmAdded new target pos. range: 3.599999 m, bearing: 55.644148 deg, deltaT: 4.546016 s, approachRate: -0.026397 m/s, LOS rate: 0.367891 deg/s, posRepo size: 4W՞x?WX XWX:W2W*WVbUBU*UU  @U  ?ܙ9ܝCIܝFiܝ?ܝ=ܝ:Dܙܝ0; ݝҕEBB BAՃ*BAAAA"C%d3u?RC!C%՞x?CiaIiG>=i= %    t:Y Y1y : 6)  ;.ș,N gFAY}6 @}66<@y}6}69(}6H߿x7?pz?߿ *߾@?cۤ ?)~6 @ ~6~W[;I~6CYB?yBF u } }} >}=}=i}A} }A)}AI}Ai}AYMK=YXQU>a"H~Hy;}>Iȡť 5?ťԁݾ ƥ> ?9ƥ?ǥ: ȥ9:)ȡWWX XWX:W2W*WVbUBU*UUU}M?BB BA*BA!A!A!A!"C-՞x?RC)C)C1IA)E\A1I9GU=r5ș,s gFA|i|Y}J@}J@y}Jy}J}JH9߿@䬠?-?@߿?z>?)~J@ ~J[;I~HYj?yj1F)MI=Yj0QU>a"Hy}>Iȩ :ŭ 5? :ŭݾ ƭ> ?9ƭ?ǭ: ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUU&?B!B! B!A%D*B!A)A)A)A)"C1*C1RC1C9C9)I1GM=     {:Y DW1y Y: N69@ܑ9ܕCIܑiܑܕ=ܕ;Dܑܕ4; ݑ;ș,u gFAY}2@}2@y}2q}2H/v}2H`˜߿@P??@^߿< ?N?)~2@ ~20[;I~2CYN_?yNݓF=]=M=P=Y=/QU=>AAaE"HAIyM/}M>IQUy 5?UNݾ U7> e?9U?U: U:)QWWX XWX:W2W*WVbUBU*UUU?BB BA*B AAA!A!"C9*CARCACACqI @A) @AI!G;>Bș,N !gFAY}JJ<@}JW@y}J0J}Jъ}JH`$߿ Te??~޿/D¿@J?3 ?)~JJ<@ ~J,[;I~HY^?y^(FI1)5AQ?333333?Zd;O?=> j<=)Iy~jthˡED' ?A)IAI5Ai&WAGEA -@ -@ -@-©--i-A- ))-AI-vAi-A=KM=;=Y=9QUE>AAaE"HAIyMt}U>IY e:] 5? e:]:ݾ ]M%> m?9]8?]+: ]4:)]:WWX XWX :W2W*WVbUBU*UUU?BiB BAG*BAAAA"C*CRCCCסIG >  9:YWU1y:6Hș,Y$!gFAY}6T@}6%p@y}6A7 }6DQ{}6H1߿Zw? Ԝ? ޿¿ ? I?)~6T@ ~6[;I~6CYB?yBF)z > x<M^=Y%QU%>!)a-"H))y5V;}5>I9= 5?=(ݾ => E?9=c?=÷: =:)9WWX XWX:W2W*WVbUBU*UUU0@A9AIAiAE=AAEG; EܕEBB BA*BAAAA"C*CRCCC׉IG=Nș,<>!gFAY}V@}V@y}V }V.}VH`m߿ y?y?yJ߿ŵÿ ? $?)~V@ ~VZ;I~VCYf?yjFhh E E EE>EнEYaae"Haaym;<}m>Iqu 5?uݾ u> }?9u?u0: u:)qWWX XWX:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBaBa BaAeɄ*BaAiAiAiAi"Cq*CqRCqCqCyiIqG==i.  t:YV1y:6Uș,wX!gFAY}6z@}69@y}6ߗ }6ٜ}6H߿`DO?j?`~߿ÿ %?i\?)~6z@ ~6Z;I~6CYRG?yRFVZ****** received transponder code query ******VF****** received ping request ******Va"Hy )<}>I  : 5?  :ݾ = ?9?: :):W1W1X9 X9W9X9:W92W9*WAVAbUABUA*UAUIUM Q @BB BA܄*BAAAA"C*CRCCCI)]AIG >999I9i9999=; =E)ɇIɇiɇ͇=͇=͇k5[ș,q!gFAY}FV\@}Fw@y}F. }FC^e}FH`?`$Y?@߿¿n?@c?)~FV\@ ~F£Z;I~FCYZ*?yZFbxDUSBL response received:!U1,P 502,000,002AD,189,80,80,BF,FF fCommand AckfBRequesting micromodem ping code 2iddrNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 !%]A M ?=Y=QUE>Iqa}"Hyy<}>I!% 5?%ݾ %= ?9%?%< %ۿ<)!W ~   t Ç:Y T1y : *6) ;9WX XWX:Wa2Wa*WiVibUiBUq*UqUqUu a @BB BA*BAAAA"C*CRCCCIG>bș,GƋ!gFAY}6'X@}6s@y}6}6?}6H߿౦@?fM?@6I` ?񮓿N?)~6'X@ ~6 \;I~6CYN?yRFPɮPbNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B v/?RQȿ)\(?xi=B Ga=)IyS㥛Q?Q롿/ݼ\=\ 9>A)NAIA4Ai \A\GA E@ E@ E@E©EEiEAE E)EAIEAiAUjVM]E=Y]QU]>aaae"Haaym)}m>I : 5? :ݾ = ?9?: :):W!W!X! X!W)X):W)2W)*W1V1bU1BU1*U9U9U=[@BB BA*BAAAA"C*CRCCCIG$>I)?A-hș,?!gFAY}F@}F4@y}Fb*}FӰ}FHM߿!x? \)^a"Hy%g/}%>I15{ 5?5bݾ 5ń= E?95k@57%; 53&;)1WWX XWX:W9IȖFi?; E2W*WVbUBU*UUU x@R (Combining 5 samples.P1*Q5=j@ZQ5s:@?apuV JQ5w?amf-2Q1:Q1bQ5od|@T @v`\n?RQ5Nhy?KN)H?`Ul?BQ5Lx? Q5f@@Q5@P1P1P1Q1Q5v @"Q5} @BB BA)*BAAAA"C*CRCCC?iIG>c  x:YX1y/:6)R;q)oș,!gFAY}Zϧ@}ZY@y}Zc<4}Z}ZH@D߿`@_,?`UZ? Y ߿ǿi?Нo?)~Zϧ@ ~Z];I~ZCYj=?yjF=TNmea in: $SNTTA,0.039684,,,,230022.15*45 )U= U=   =D=;i A 9A)AIAiA%I;M%9=Y-YQU->))a5"H5H1y=}=>IA M:E̐ 5? M:E7ݾ E>= M?9E@E: E:)E:m}mAdded new target pos. range: 3.660000 m, bearing: 55.571812 deg, deltaT: 4.373805 s, approachRate: 0.013718 m/s, LOS rate: -0.016538 deg/s, posRepo size: 4W}Lx?WX XWX:W2W*WVbUBU*UUG @U /?BB BA*BAAAA"CLx?*CRCCLx?CIG>iuNmGIi׿ٺAF vș,]!gFAY}RJ@}R.f@y}R4}R,ѽ}RHt޿`Nip?H޿ɿs?e@V?)~RJ@ ~R\;I~PY~I?y~GFrMR=Y_BQU>a"Hyo}>I: 5?ݾ [< ?9k@': ܹ:)WWX XWX:W 2W *W V bUBU*UUU aC?BB BAۅ*BAAAA"C*CRCCCIG- >=i=" ~~ s:YT1y@:69@ >9Ii=;  EX4|ș,s0!gFAY}2%@}2GA@y}21}2dϽ}2H`r޿h dq}?f/޿qɿH?m~n\?)~2%@ ~2܎[;I~0Y^c?ybF<ML=Y*a"HyI}>I 5?ݾ O< -?9d@6; ;)W!W)X) X9WAXA:WI2W*WVbUBU*UUU E?BB BA*BAAAA"C*CRCCCI)I G-N>ș,' "gFAY}N'@}NXC@y}N3}Nh}NHp޿9G?y?N޿ǿ@_?nhp?)~N'@ ~N3[;I~NCYb?ybƎF5Q? rh rh5\>5C 5C )1I1y5y&1a"Hyd9}>I : 5? :ݾ )< ?9V@M: b:):WiWqXq XqWqXq:Wq2Wq*WyVybUyBUy*UUU?BB BA*BAAAA"C*CRC!C)C)% !!%v %|:Y!y!%`6)I1GU1>Fș,!&"gFAY}:?H@}:c@y}:l?}:}:H޿ m?|c?߿ Aƿ ?Bdm?)~:?H@ ~:\;I~8F`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ܁9܁I܅XFi܅?܁܁܁܅; ݅Eɫ) IY E?y F=;M.=Y1ļQU>a"Hy;}>I 5?ݾ < ?9a@; ;)I)@AWWX XWX:W2W*WVbUBU*UUUy@BB BA*BAAAA"C!*C!RC)C)C)1IAGew>0ș,@"gFAY}JF@}J,b@y}JcL}JU}JH`޿ ?R?c]߿ wƿ#a?w9]?)~JF@ ~J0\;I~JCɫ髑) IY?yF   =<iA A)vAIAiA<Mm=YQU?a"HyB}?I :Ò 5? :ݾ < ?9&@: :):W1W9X9 X9W9X9:WA2WA*WAVIbUIBUQ*UQUQU] @BB BAK*BAAAA"C*CRCCCiim?g  ؆:YW1yč:69IIGe4>Yș,jZ"gFAY}2\@}2w@y}2V}2>}2HY޿Hʳ?l>?&߿ɿ@ҫ?+ H?)~2\@ ~2U\;I~2CɫAI)I IIIY}*?y}F@A=Ma=YQU>a"Hyk;}>IȹŽ 5?ŽBݾ ƽ< ?9ƽ@ǽ|: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU{@R B*** querying acoustic contact ***P P B)B1 B1A5*B1A9A9A9A9"CA*CARCACACIIGu=܁9܅CI܁i܁܅=܁܁܅; ݅Eș,t"gFAɫii)q qIqY?y4FZ****** received transponder code query ******F****** received ping request ******M M=)IIIyMZd;O? rh?:v?Mj<=MC =MT< MFA)M1HAIM0AiMIM?A @ @ @å©ååiåQAå ĥA)ĥAIĥ\AiĥA M=YQU>a"Hy}>I :` 5? :ݾ W= ?9@8: :):WW X  X W X :W 2W*WVbUBU*UU!U%' @BIBI BQAU{*BQAQAYAYAY"Ca*CaRCaCaCiIG>jș,U"gFAY}2c@}2@y}2mY}2Th{}2HO޿P$`?@]? 9޿{[˿?m8?)~2c@ ~2[a;I~2Cɫ99)9 9I9Y}'?y}ώFxDUSBL response received:!U1,P 502,000,002AE,18A,80,80,BC,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 qM=Y QU?a"Hy}?I!% 5?%Jݾ %+= }?9% @%e?< %=<)!WQWYXY XaWX:W2W*WVbUBU*UUU վ @B!B) B)A-*B)A)A1A1A1"C9*C9RC9C9CaAIYGZ>ș,0"gFAY}B>@}B@y}B]}Bl}BH` 8޿ ( Q?.[?2޿˿n?Tͬ 3?)~B>@ ~Bf;I~B C5 >95CI5Fi51?5=115~; 5E)ݹIݹiݹݽ=ݽ=ݽp}5ɫyy)y yIyY=?yFɮa= Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B j=M<=Y%QU>a"HHy3}>I! -:%I 5? -:%҄ݾ %M= 5?9%_ @%: %:)%:WQWQXQ XYWYXY:WY2WY*WYVabUaBUa*UaUiUmQQ@BB BA*BAAAA"C*CRCCCIG$>w  z:Y0Y1y:6);|ș, "gFAY}:R@}:@y}:pc}:E}}:H@X޿*?F?I޿{̿>?ۮ@&?)~:R@ ~:g;I~:Cɫ99)9 9I9Y}e?y}ΐFxDUSBL response received:!U1,R,502,000,002AF,189,80,80,CD,FF Fpublishing direction and range infoɰa=鰅7> )MCIyn@w?amf-ٱI=)4=   õj<=õT<õa"Hy;}>I 5?]ݾ o= -?9 @; ;)WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qn@ZQo$?7U JQw?amf-2Q:QbQLV]@P-@j= z?RQ?Q8?^F?BQЀp? Q=@Q @PPPQQ@"Qv @BB BAԄ*BAAAA"C*CRCCC?i?IGI>Yș,"gFAY}z@}z~@y}z>k}zi^}zH`9Y޿3?6?@ n޿ r̿%?@?)~z@ ~zje;I~zCɫ) IY?yEFDNmea in: $SNTTA,,,,,230026.62*5F MK=YQU>a"Hy&;}>I܊ 5?ݾ F= ?9+@: @:)mmAdded new target pos. range: 3.720000 m, bearing: 53.827409 deg, deltaT: 4.499568 s, approachRate: 0.013335 m/s, LOS rate: -0.387682 deg/s, posRepo size: 4WЀp?WX XWX:W2W*WVbU!BU!*U!U% @U-GR?BQBQ BQA] *BYAYAYAYAY"Ce|s?RCiCmЀp?CiAIQGm> -    t:Y V1y : W69@9I@Fi?;  EԼș,S"gFAY}4@}@y}Pr}}HF޿@"%|?@)-? 3޿7Nο?@ߓ ?)~4@ ~+b;I~Cɫ) IYE=?yEFa iu@a u a mu@a } a q}@a } a e}@a } uRQȿV-y&1?uBuh u`=)qIqiuMb@Mb@Mb@u©uu u@A)uIuG/Aiquu8A @ @ @©iA AA)AAIAiAM,=YymQU>a"HyOb}>I  : Ј 5? : bݾ = ?9 @ : $>) :W9W9XA XAWAXA:WA2WA*WIVIbUIBUI*UQUQUU^?ByB BA*BAAAA"CЀp?RCCCבIGa> iM mGWș,#gFAI:`AY}FQt@}Fۏ@y}F:Nr}F}FHݿ @~?@J?ݿ]ο@?ɚ ?)~FQt@ ~FCb;I~FCiPfxٺj`AjAɫ髡) IY.?yF ii}ζM}|=Y7QU ?a"HyFü} ?Iȩŭl 5?ŭݾ ƭ= ?9ƭ@ǭ: ȭM?)ȩWWX XWX:W2W*WVbUBU*UUU?BYBY BYA]"*BYAaAaAaAa"C*CRCCCI)סIG >R v w:Yy`6,ș,x)#gFAY}:u @}:'@y}:=+o}:kwG}:H ݿ@O@?4h?ݮݿ`Ϳ?)??)~:u @ ~:֪a;I~:Cd9dIfНFifE@dddf; fEɫ99)9 9I9Y}A?y}|Fe쓼MeL=Ym;QUm>iiau"Hqqy})}}>IȁŅ 5?Ņݾ ƅǽ= ?9ƅ^@Dž: ȅ?)ȁWWX XWX:W2W*WVbUBU*UUUC?BB BA]*BAAAA"C*CRCCC IG>ș,eSC#gFAY}2]@}2y@y}2Lm}2yn}2H ݿ@@?WX?ݿ $UͿ@e? @?)~2]@ ~2-`;I~0ɫ9A)A AIAY}i?y}3F    @ @ @i=A A)AIAiA<MC=Y;QU>a"HyA<}>I  :  5? : ݾ  = ?9 @ ; ?) :W9W9X9 X9W9XA:WA2WA*WIVQbUYBUa*UqUqUu" @BB BA*BAAAA"C*CRCCC  V:YDW1yY:W6I)GE0>$ș,.]#gFAY}64@}6 @y}6l}6}6HN޿ *7?@_6?2ݿϿZ?*1?)~64@ ~60^;I~6Cɫ99)9 9I9Y}?y}2FI4=)%=0 =MZ=Y:QU>a"H y <} >IP 5?ݾ = %?9(@: ?)WAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU]@BB BA*BAAAA"C*CRCCC)I1GU>I)9IFi@; Ea#ș, w#gFAY}e@}eh @y}e#l}e}eH`޿#u?2?޿ο A?{ ?)~e@ ~e@];I~eCɫ髩) IYC?yVFAAa ia i a ma m a qa q a ea e v/I +?A`"?xi9< Y=)IyMbA`"?Q롿Y=\ ~>A)nRAI+AimAfJA e e e e@ e@ e@aaaieAa e)eAIeAie Aus;Mu(=Y}W:QU}>a"Hy!;}>Iȑŕ 5?     w:Y Y1y : V6) 6;9ŕՂݾ ƕ= =?9ƕ@Ǖ"< ȕ<)ȑWYWaXa XaWaXa:Wa2Wa*WiVibUiBUi*UqUqUu @RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCIG=r>)ș,#gFAY}:'@}:@y}:Qk}:m}:H 4޿`%? #@?+;޿Ϳ`3?@?)~:'@ ~:<\;I~: Cɫ99)9 9I9Y}?y}֑FZ****** received transponder code query ******F****** received ping request ******I1ș,##gFA6 >94I6`Fi6@6=446v; 6EY}B T@}Bo@y}Be}BHý}BHbݿ 5M!ږ?f?Eݿ`οw??)~B T@ ~BWa;I~BCɫYY)Y aIaY}?yLFxDUSBL response received:!U1,P 502,000,002AF,189,80,80,CD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 l<M I=Yl19a="HEHy}>I  ~ 5? ݾ W= E?9 @ ; BI;) WWX XW!X!:Wi2Wi*WqVqbUyBUy*UUU>J @=ip=  :YU1y:N6);B!B! B)A-9*B)A)A)A)A)"C1*C1RC9C9C9IQ)U\A!IIG}Y>ș,#gFAY}2_@}2@y}2Z}2½}2HɆݿbH?`ȑ?ܿͿ?`!?)~2_@ ~2_;I~2Cɫ99)9 9I9Y]?y] Fep=ɮep=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    0=ĻiA A)AIiAiM:=Ya%"H!!y-}->I1 =:5} 5? =:5ݾ 5T = =?95@5: 5:)5:WyWyXy XyWyX:W2W*WVbUBU*UUU@B1B1 B9A=*B9A9A9A9A9"Ca*CiRCiCiCiAIIGm5>XCș,v#gFAY}2@}2-@y}2wR}2 }2H ݿ V^-?@M?4 ݿy̿?zj1?)~2@ ~2,];I~2Cɫyy) IY?y֑FxDUSBL response received:!U1,R,502,000,002AF,189,80,80,C0,FF Fpublishing direction and range infoɰ )@CIyw?amf-ٱ^A|<M ]=YZa%"H!!y-:}->I9=| 5?=ݾ =B< M?9==@=: ; =;)9WWX XWX:W!2W!*W)V)bUQBUQ*UYUYU]m@Rm(Combining 5 samples.P*QZQo$?7U JQw?amf-2Q:QbQ@& Hn]@£G?RQF?P|B??BQVl? Q:@Q @PPPQQ@"Q@BB BAi*BA A A A "C*CRCCCa ~ x:YW1yč:<69@I)GE0>a9aIaiae=aae|; eE)Ii= C5qș,d#gFAY}@}M:@y}K}pG}Hݿ@MGp?4?`@wݿ ʿ`"S?_ F?)~@ ~\;I~Cɫ髩) IY?yFmTNmea in: $SNTTA,0.025873,,,,230031.07*4F Iq)qa i @a  a m @a  a q @a  a e @a  :vPnMb T  ) I i Mb@Mb@Mb@ ©   ;A) AI G/Ai ^A  A  @  @  @ ©  i A  A) AI Ai AM%!=Y%AN))a-"H))y5;}5>IY]L{ 5?]ݾ ] e?9] @]: ][?)YmmAdded new target pos. range: 3.720000 m, bearing: 52.821589 deg, deltaT: 4.432719 s, approachRate: 0.000000 m/s, LOS rate: -0.226908 deg/s, posRepo size: 4WVl?WX XWX:W2W*WVbUBU*UUU@?BQBY BYA]Ʉ*BYAYAYAaAa"CeVl?RCiCmVl?Ci׉IG>(Wə,4$gFAɫqq)y yIyY?yqFu=M|=YQU ?a"Hy} ?I :hz 5? :ݾ  ?9/@; T?):W!W!X! X)WX:W2W*WVbUBU*UUUV ?BB! B)A-**B)A)A)A)A)"C1*C9RC9C9C9  ܂:YV1y:!6AIIGe4>~ ə,u,$gFA9IFi@;  EY}^i@}^@y}^D}^gb}^H޿`c4`?ɑ? ޿@aȿm?Ы]?)~^i@ ~^_;I~^Cɫ髙) IY?yUF}-`M}N=Ya"Hy4<<}>IșŝNy 5?ŝݾ ƝF ?9Ɲ @ǝ>: ȝߜ?)șWWX XWX:W2W*WVbUBU*UUU?BB  B A 5*B AAAA"C*CRCCC!)I1GU>Cgə,E$gFAY}6E@}6Ϟ@y}6?}6 }6HY:޿0? ?ݿ>ȿ y?`xM_?)~6E@ ~6_;I~6 CɫYY)Y YIaY?yzF !!   `;uĻiA A)AIAiA;MC=Y1Va"H yx;}>I&x 5?ˊݾ b -?9"@5; ?)WaWaXa XaWiXi:Wi2Wq*WqVqbUyBUy*UyUyU ?BB BA&*BAAAA"C*CRCCCi}nGI/aAi  D}:YU1y:W6EٺE/aAEAסIGA>lə,#_$gFAY}2x@}2@y}2O;}2^D}2H5޿a,"?u?2޿`XǿH? n?)~2x@ ~2m];I~2Cɫ99)9 AIAY}z?yF5VM=W=Y=@AAaE"HAAyM}M>IQUw 5?Uȋݾ Ut ]?9U#@UB: U@)QWWX XWX:W2W*WVbUBU*UUU?B9BA BAAEO*BAAAAAAIAI"Cq*CqRCqCqCyiIqG>% >9!I%Fi%E?!!!%; %Eə,y$gFAY}%@}%@y}%=}%\}%Hw޿  ?`?9G޿ȿ?m@c?)~%@ ~%\;I~!ɫIQ)Q QIQY?y;Fa i=a i= a m=a m= a q=a q= a e=a e= =Cl?v/+?=;==xi ==)9I9y=Mb:v?y&1?==<=`e= =~>A)=LAI=.Ai=`A==FA @  ~ ~ } p:Y T1y @:  6) ];9 @ =@Ý©ÝÝiÝAÝ ę)ĝIĝ$AiĝAMïMM"=YMǑQUM>QQaU"HQy<}>Iȡ :ťYv 5? :ťݾ ƥ7 ?9ƥ$@ǥ: ȥQ;)ȥ:WW)X) X)W)X):W12WA*WAVAbUABUA*UIUIUM@4@RB*** querying acoustic contact ***PPB1B1 B1A=*B9A9A9AAAA"CI*CQRCQCYCYaIqG>a$ə,:t$gFAY}:@}:*@y}:9}:}:H`˹޿f?\x?@c5޿հɿ`}?X?)~:@ ~:}[;I~: Cɫ99)9 9I9Y?yFZ****** received transponder code query ******F****** received ping request ******! 9! I% xFi% ?% =! ! % ; % E*ə,O$gFAY}2)@}2uE@y}2'2}2"}2H`޿]?{?d޿@ߒȿ`#?|1g?)~2)@ ~2p[;I~0ɫ99)9 9I9Y}*?yFxDUSBL response received:!U1,P 502,000,002AF,189,80,80,C0,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 +MR=Y*))a"HHy ;}>I  E: ;u 5? E: ߍݾ  M?9 C&@ S< <) :W9WAXA XWX:W2W*WVbUBU*UUU`>+ @  :YU1y:6)?;ByB BA*BAAAA"C*CRCCCIG-o>1ə,+$gFAY}F@}Fv,@y}F6*}F+}FH޿`{ ??j޿ oǿ@?t?)~F@ ~FE`;I~FCɫyy)y yIyY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )e> e>   í+ít=íCiéí ĭA)ĭAIĭAiĭAM>=Ya"Hyz}>It 5?ݾ O< ?9%'@R: ':)WWX XWX:W2W*WVbUBU*UUU! @BB) B)A-)*B)A)A)A1A1"C1*C9RC9C9C9Iq)u]AAIIGm5>~7ə,$gFAY}:@}:Z,@y}:X(}:}:H@޿ @? ?޿ hƿ?`԰?)~:@ ~:D^;I~:CɫAA)A AIAY}*?y}FxDUSBL response received:!U1,R,502,000,002B1,189,80,80,C5,FF Fpublishing direction and range infoɰa=鰁 )ECIyu@w?amf-ٱ=i= 鿡><M]=YO;QU>a"Hy`}>It 5?#ݾ = ?9'@< <)WWX XWX:W2W*WV!bU!BU!*U)UIUU @Re(Combining 5 samples.P*Qu@ZQAKK?Oh JQw?amf-2Q:QbQDo@ՌI@#lR ?RQޢ|? ,HM?p@?BQr? QF@Q @PY9?PPQQ@"Q@BB BA%*B!A!A!A!A!"CI*CIRCQCQCQ =i =  {:YT1y:i69-@AIQGi >9IFi1?; E >ə,9$gFAY}mJ@}mf@y}m2}m~}mH`޿j9?s?`߿ےſ@-&?@f ?)~mJ@ ~m^;I~mCɫII)I QIQY?yFTNmea in: $SNTTA,0.004647,,,,230035.11*46 q= ףp?Zd;?+=~> )Iya"Hy;}>I :s 5? :ݾ Q= ?9\(@:  :):miAdded new target pos. range: 3.839998 m, bearing: 54.357101 deg, deltaT: 4.039745 s, approachRate: 0.029704 m/s, LOS rate: 0.380101 deg/s, posRepo size: 4Wr?WX XW X :W 2W *W VbUBU*UU Q@UQ-?BABI BIAMK*BIAIAIAIAQ"CU xr?RCYC]r?CY9IIGuX>Də,%gFAɫ髙) IY?yFM]AI].M]y=Y]QUe?aaae"Haiyu}}?IȉōXs 5?ōʎݾ ƍׂ= ?9ƍ(@Ǎ@; ȍS;)ȉWQWYXY XYWYXY:Wa2Wa*WaVabUiBUi*UUU 6?BB BA*BA!A!A!AI"CUTs?*CQRCQCQCYו?iו?Q z w:YW1yč:6aIiG9> 9 CI XFi ? = y; E)QIQiQU=U=U'4DKə,.%gFAY}Js@}Jl@y}JoK5}J[}JH߿ e?e?߿ ƿ@+?@Wt?)~Js@ ~JEy^;I~J CɫYY)Y YIYY ?yFI)I%C=)%C=U;M]K=Y],QU]>aaae"Haaym#;}m>Iy :}r 5? :}ݾ }f= ?9}(@}: }:)}:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"Cr?*CRCCC׉IG>Rə,KxH%gFAY}b@}b@y}b3}b$}bH ޿p#K??޿@ƿS? >@{?)~b@ ~b`;I~bCɫ髑) IY ?y F   @iA A)AI\Ai PM?=YЂ;QU>!a%"H!!y-l}5>I9=r 5?=sݾ =2= M?9=O)@=k; =z ;)9WWX XWX!:W)2W)*W)V)bU1BU1*U9U9UE` :?BB BA*BAAAA"C*CRCCC }} :YkS1yԊ:6IGI>-Xə,Mb%gFAɫ髙) IY??yF}M}T=Y}QU}>a"Hy}>Iȑ :ŕEr 5? :ŕKݾ ƕC= ?9ƕ)@Ǖ4: ȕo:)ȕ:WWX XWX:W2W*WVbUBU*UUU?B B  B A *BAAAA"C*CRCC!C!I1)1iIqG>i9iImȖFim?iiim?; mٕEx[^ə, 8|%gFAY}N@}N^@y}NB}Nw}NH֏޿@?.u?`5m޿Lȿ0?@Og]?)~N@ ~Nτ];I~N Cɫ髑) IY?yЍF 99x&?:vˡE?7=Խ '=)Iy{Gz?V-?I +?#=<94< AA)KAIiaA(HA @ @ @Ý©ÝÝiÝAÝ ĝvA)ĝAIĝAiĝA;M7=YQU>a"Hye;}>Ip 5?ԍݾ = ?9*@/; +;)W)W)X1 X1W1X9:W92W*WVbUBU*UUU@     {:Y U1y : 6) ;9ByB BA *BAAAA"C*CRCCCIGi>  iu nGI i ٺ OA?eə,%gFAY}J@}Jx@y}JJ}J}JH\W޿@h_?w? ޿eQȿ?`/[?)~J@ ~J0];I~JCɫYY)Y YIYYX?yPFw<Mj=Y멼QU>!!a%"H!)y-"}-?I15So 5?5wݾ 5= E?95 ,@5ʽ: 5:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUyU}W@RB*** querying acoustic contact ***PPBB BAׅ*BAAAA"C*CRCCCIG>a 9a Ia ia a a a e O; e Ekokə,{%gFAY}V̕@}VV@y}VO}V}VH;1޿ n?w?js޿@ȿg?ҟ S?)~V̕@ ~V>\;I~VCɫ髉) IY?y-F Z****** received transponder code query ******F****** received ping request ******yya}"H}Hya}>Iș :ŝm 5? :ŝݾ Ɲ> ?9ƝP-@ǝ; ȝW;)ȝ:WWX XWX:W2W*WVbUBU*UUU @B9B9 B9A=*B9AAAAAIAI"CQ*CYRCYCYCY׍?i׍?5H 555 5v:Y5W1y5č:56)5v;YIGF> Urə,%gFAY}6@}6t@y}6WQ}6ᔹ}6H ݿ @@?` ? ޿Fȿ`?`=S?)~6@ ~6ta;I~6Cɫ11)1 1I9Y ?yHFxDUSBL response received:!U1,P 502,000,002B1,189,80,80,C5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Ia=)=   EEGa=Ej<=EףiEzAE EA)EAIEAiEA]<;M-=YbQU>a"HyX}>II) l 5?ݾ >  ?9.@; Q;)WIWIXI XIWIXQ:WQ2WQ*WQVQbUyBUy*UyUUś @BB BA*BAAAA"C*CRCCCQIiG~>|xə,J%gFAY}2@}2A@y}2DT}2<}2Hݿ@Uhˬ?@K?@ݿ`ɿ X?`H?)~2@ ~2O _;I~0ɫYY)Y YIYY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =Mo=YQU?a"Hyoѻ}?I :j 5? :,ݾ > ?9/@: :):WWX XWX:W2W*WVbU BU *U UU@BYBa BaAe*BaAiAiAiAi"Cq*CqRCqCyCiIyG>)9)I)i))))-<; -וE  :YWU1y:6) ;?~ə,q%gFAY}6Rc@}6~@y}6B[}6ކ}6Hݿ`hy q?`? ܿ@˿@e>?u2?)~6Rc@ ~6ǝ];I~6CɫII)I IIIY}?y}FxDUSBL response received:!U1,R,502,000,002AF,189,80,80,C9,FF Fpublishing direction and range infoɰa=鰁 )ICIyn@w?amf-ٱ%QzGếMbX?%u% ׽ %=)!I!y%MbpMbP?%%:%̼ %7CA)%JAI%0Ai%liA!%IA @ @ @Å©ÅÅiÅAÅ ą)āIąAiācFML=YВQU>a"Hy}>IQUj 5?U"ݾ U > ]?9U/@Ub: U:)QWWX XWX:W2W*WVbUBU*UUU@@R(Combining 5 samples.P*Qn@ZQo$?7U JQw?amf-2Q:QbQf%\@fV@T?RQYaB?v,8?q,M?BQňj? Q:@QM@PPY9?PQQ)@"Q@BYBY BYA]*BYAaAaAaAa"C*CRCCCIס)ץ\AׁIG?> ə,T&gFAY}f-@}f#@y}f;Tf}fF}fHܿ? ?@ܿ`*̿?@!M(?)~f-@ ~f?t\;I~f Cɫ髱) IY?yuF]DNmea in: $SNTTA,,,,,230039.55*55 ]=i]= ii<MH=YѼQU>a"Hy_}>I :j 5? :ݾ > ?9/@: (:):mqAdded new target pos. range: 3.720000 m, bearing: 52.491496 deg, deltaT: 4.455288 s, approachRate: -0.026934 m/s, LOS rate: -0.418739 deg/s, posRepo size: 4XWňj?WX XWX:W2W*WVbUBU*UU @U@?ByB BA0*BAAAA"C}9m?RCCňj?C} }}} }}:Y}DW1y}Y:}369@9IAGeU> 9 I XFi ? =   !;  ʕE ə,'1&gFAY}N@}N#@y}Nl}N%}NHܿ?A?@ܿOh̿`N?@*`?)~N@ ~Nn\;I~N Cɫyy)y yIyY\?yF<ML=YGyQU>a"Hy}>Iȱŵj 5?ŵݾ Ƶ= ?9Ƶ/@ǵ': ȵ:)ȱWWX XWX:W2W*WVbUBU*UUU?B!B! B!A%*B!A)A)A)A)"C5-l?*C1RC1C1C9׉IGM0>ןə,K&gFAY}2@}2s@y}2dh}2}I}2H ,Vܿơ,ϭ?@??3jܿ}̿`?@=$?)~2@ ~2`;I~2Cɫ99)9 9I9Y}6?y}؎F - 5 55`=5Q8>59i5A5 5A)1I5Ai1u=MuL=Y}&ya"Hy6}>Iȑ :ŕj 5? :ŕݾ ƕ = ?9ƕ/@Ǖ: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU?BB BA*B A A A A "Cňj?RCCC-?i-? I1G>  B:YU1y:6ʘə,*d&gFAY}2b@}24~@y}2*a}2k}2H?/ܿ а? ? ܿ@;0̿&?D -?)~2b@ ~20`;I~2Cɫ99)9 9I9YyyyI)AI=)Ya%"H!!y-}->I15j 5?5ݾ 5= =?95/@5k: 5w:)1WaWaXa XaWaXa:Wa2Wi*WiVibUiBUi*UqUqUu j?BB B!A!*B!A!A!A!A)"CI*CQRCQCQCQ)I1GM>ܩ9ܩIܭFiܭ1?ܩܩܩܭ'; ݭ͕E)ECIECiAAAE 5 ə,R~&gFAY}6v@}6@y}6`}6l}6H`3Aܿp??.ܿ%̿`D?جC.?)~6v@ ~6^;I~6 Cɫ99)9 9I9YE?yF|?5^?K7ѿQR>I )Iy~jt?{Gzt?Q<ף;u ­bBA)­NAI­r.Ai­fnAKA @  @  @©iA A)I\Ai\A :Ma"Hy 0;}>Iȡť#j 5?ťnݾ ƥк= ?9ƥ0@ǥ: ȥ:)ȡWWX XWX:W2W*WVbUBU *U UU4@BYBY BaAe*BaAqAqAyAy"C*CRCCC_  x:YW1yč:6I G-N>ܥə,ȕ&gFAY}:34@}:O@y}:'f}:ac}:H ۿ?? Hxۿwο`?`2@M?)~:34@ ~:x"];I~:Cɫ99)9 9I9Y}?y} F==M=b=YE,rQUE>AAaE"HIIyM}7}U>IY e:]i 5? e:]ݾ ]= e?9]f1@]: ]:)]:WWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"C*CRCCCI)]AIG>ܭ >9ܩ Iܭ @Fiܭ ?ܩ ܩ ܩ ܭ [; ݭ Eə,Ln&gFAY}6@}6@@y}6zh}6}6HJۿ<@?ڿaп? kS?)~6@ ~6ry];I~6CɫYY)Y YIYY?yF鮡ɮ 鿱MS=YߘQU>a"HHy }>I0i 5?{ݾ = ?92@R: I:)W W X  X WX:W2W*WVbUBU*UU!U%`)@R-B*** querying acoustic contact ***P)P)BQB BA„*BAAAA"C*CRCCCIIG >= === =W:Y=xZ1y=q:=6)=;9Eə,AI&gFAY}2@}2@y}2B_}2A}2H[ۿP`?@Z}ڿEFп? ?)~2@ ~2I];I~0ɫ99)9 9IAY}k?y FZ****** received transponder code query ******F****** received ping request ******ÅCÅ+iÅQAÅ ą\A)ąAIąvAiąA<M=Yoa"Hy]9}>I :h 5? :ˉݾ = %?92@L; ;):WiWiXi XiWiXi:Wi2Wq*WqVqbUqBUq*UUUّ @B B  B A S*B AAAA"CA*CARCICICq?i?בIG>ə,I,&gFAY}6 @}6@y}6P}6)ý}6H@ۿ8h?'?ڿ̿@? ڷ1?)~6 @ ~6a;I~6Cɫ19)9 9I9Yu?yu֑FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B nM=YK?=QU?a"Hy1Ǽ}?Iȩŭ)h 5?ŭkݾ ƭ= ?9ƭ3@ǭϸ: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU@" @BB! B!A%i*B!A!A!A!A)"C*CRCCCQ9QIUFiU@U=QQUY; UEIG%,>'  -t:YV1y:6)0;'Bə,&gFAY}2B@}2]@y}2H}2}2H`%VۿBi.?`A? nۿ\{ȿ`? ]?)~2B@ ~2 _;I~2Cɫ99)9 9I9Y}?y}ÒFxDUSBL response received:!U1,R,502,000,002B1,189,80,80,BD,FF Fpublishing direction and range infoɰa=鰁 )=CIyu@w?amf-ٱIR=)%=}?5^I?~jt~jt?Mb> =)IyS㥛AAaE"HAIyM}M>IQ ]:U6h 5? ]:Uݾ Ul= e?9U4@U: U$:)U:WWX XWX:W2W*WVbUBU*UUU-1@R=(Combining 5 samples.PA*QEu@ZQEAKK?Oh JQEw?amf-2QA:QAbQE,L7@\ϯ@1Sst?RQE4?OeE? ߲jo,?BQEc? QE=@QE@PEZ9?PAPAQAQEA@"QE)@BB BA *BAAAA"C *C RC C CI G%M>)ə,'gFAY}2@}2/@y}2D}2 }2H8ۿ+?T?zۿƿ@ y?@h?)~2@ ~2Ƴ^;I~2Cɫ) IY%A?y%˓FDNmea in: $SNTTA,,,,,230043.63*5D <M2=Y);QU>a"Hy}>IQ U \Au >9q Iu (Fiu ,@u =q q u 2; u ҕE"Tə,ȵ3'gFAY}2@}2e;@y}2B>}2I}2HDۿ A?V? ڿ@ܰɿ@2?@YֳX?)~2@ ~2];I~0ɫ99)9 9IAY?yF]O<Me=YuԖ<ə,M'gFAY}:a@}:+}@y}: _/}: }:Hۿ@V`[?@pWڿB8˿|?ཏ9?)~:a@ ~:\^;I~8ɫ99)9 9I9Y](?y]F  e e ee=e94e=ie Ae eA)eAIeAieAuMuI=Yu=QU}>yya}"Hyy"<}>Iȉōh 5?ōGݾ ƍ< ?9ƍ5@Ǎ: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUUৣ?BB BA*BAAA A "C*CRCCCIG> l }:YX1y/:*6yfə,zmg'gFAY}2L@}2(h@y}2s}2}2H`ۿ@,R Au?@͞ڿ`Sȿ?8㾿b?)~2L@ ~2b;I~2Cɫ99)9 9I9Y}N?y}FMP=Y6=QU>!!a%"H!)y--V}->I15h 5?5ݾ 5! =?95/6@5: 5:)1WWX XWX:W2W*WVbUBU*UUUA+?BB! B!A%Z*B!A!A!A!A)"C1*C1RC1C1C9)99=CI=НFi=E@==99=(; =̕EIQGu>Mə,$G'gFAY}2)@}2D@y}2$}2}2H@ۿ] M?@j%ۿ!Ŀ@ ? Es?)~2)@ ~2C`;I~2CɫII)I IIIY}?y}qFmMbX9?yya}"Hyy}>Iș :ŝ\i 5? :ŝݾ Ɲ ?9Ɲ`8@ǝ$; ȝ#;)ȝ:WWX XWX:W2W*WVbUBU*UUUY@B)B1 B1A5**B1A1A9A9A9"CA*CARCACACשIGD>  :YU1y:)6yə,('gFAY}6@}6q@y}6U?}6s}6H=ۿ `l|??<ۿJ?@V?)~6@ ~6^;I~6Cɫ99)9 9I9Yu ?y} FIC=)=<Md=Y)  a "H y!q}>Ii 5?ݾ  -?9:@': :)WIWIXI XQWQXQ:WQ2WQ*WYVYbUYBUY*UaUaUe@@BB BA*BAAAA"C*CRCCC׉IG=) 9- CI- @Fi- ?- =) ) - ; - E)݁I݁i݁݁݅=݅mX5ə,'gFAY}6/D@}6_@y}6}6}6Hnڿ[`;?`\?@ڿ`J@?`;j?)~6/D@ ~6R];I~6Cɫ99)9 9I9Y}?y}pF_P<MQ=Yɶa"HHyu}>I :j 5? :ݾ , ?9 <@0: ^:):W W X  X W X :W2W*WVbUBU*UUU"D@RMB*** querying acoustic contact ***PiPiBB BAƒ*BAAAA"C*CRCCCסIG!>!  s:Yyr6);9-ə,'gFAY}6r8@}6S@y}6 }63}6H`ڿL???ڿk=?lR ?)~6r8@ ~6Cf\;I~6CɫYY)Y YIYY?yyFZ****** received transponder code query ******F****** received ping request ******=Ym~jiiau"HqQyUHͺ}]>IY]*k 5?]ݾ ] m?9]?>@]: ]ܷ;)YWWX XWX:W2W*WVbUBU*UUU @BQBQ BYA]*BYAYAYAYAY"C*CRCCCׁIG?>Yə,'gFAY}6@}6(:@y}6[ܽ}6Эu}6H Aڿa?jڿY}? ?)~6@ ~6c[;I~4ɫ99)9 9IAY;?yFxDUSBL response received:!U1,P 502,000,002B1,189,80,80,BD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 UM]L=YeSya"Hy$}>Iȑ :ŕk 5? :ŕYݾ9CIXFi?=; E ƕ M?9ƕ?@@Ǖ< ȕ<)ȕ: =i =WIWIXI XIWIXQ:WQ2WY*WVbUBU*UUU@Ou @BB BA*B% %%%K %{:Y%DW1y%Y:% 6)%;AIAQAQAy"C*CRCCCI Ge >ʙ,(gFAɫ髑) IYN?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =Mb@Mb@Mb@== =)=I9y=J +~jthV-?=H=D=< =bBA)=IAI=5Ai=XA9=fFA % % % %@ %@ -@!!!i%A! %A)%AI%Ai%A5}M=/=Y=QU=>AAaE"HAIyM}M>IQUl 5?Uyݾ U; e?9UA@U: U%:)QWWX XWX:W2W*WVbUBU*UUU`4@BB BAZ*BAAAA"C*CRCCC׹IGE>M >MCimGI`Ai ٺ`AASʙ,zn(gFAY}62@}6@y}6Ľ}6_}}6Hڿ?`Vڿݼ?`f?)~62@ ~6^;I~6Cɫ99)9 9I9YE?yE͑FMxDUSBL response received:!U1,R,502,000,002AE,189,80,80,B7,FF UFpublishing direction and range infoIIɰM`=I I)M7CIIyM=j@Mw?amf-ٱIm^Am]A}M}=Y}=QU?a"Hy{}?Ișŝ/m 5?ŝKݾ Ɲ#< ?9ƝB@ǝ÷: ȝU:)șWWX XWX:W2W*WVbUBU*UUU @v@R(Combining 5 samples.P*Q=j@ZQs:@?apuV JQw?amf-2Q:QbQFpС@,ih@}]N?RQB\? |?ve?BQ`? Q@3@Q@PPZ9?PQQH @"QA@B!B! B!A%m*B!A)A)A)A)"C1*C1RC9C9C9IG== 9 CI Fi ? = ; E ʙ,E6(gFAY}f@}fE@y}f>}fr}fH ڿ @X?D9ڿa`v?k?)~f@ ~fO];I~fCɫ) IY4?yMFDNmea in: $SNTTA,,,,,230048.04*57   Ý94<Ý=Ý`eiÝAÝ ĝA)ĝvAIĝvAiĝAYM,=Ya"Hyf}>I :n 5? :ݾ < ?9GD@: I:):mqAdded new target pos. range: 3.660000 m, bearing: 50.255046 deg, deltaT: 4.367690 s, approachRate: -0.041211 m/s, LOS rate: -0.161001 deg/s, posRepo size: 4X W `?W X  X WX:W2W*WVbUBU*UUG @U%`Ot?BIBI BQAU*BQAQAQAQAQ"C]`?RCYCe`?CaI)]AI AA) AA%% %%% %t:Y%WU1y%:%M6)% ;IGE>ʙ, 'P(gFAY}2@}2O?y}2 G}2D}2H ڿ`J?? ڿ@˽B?= ?)~2@ ~2U\;I~2 Cɫ99)9 9I9Yu!?y}ߑFW<Mj=YQU >  a "H y}>I!%n 5?%sݾ %Q< -?9%nE@%: %:)!WQWQXQ XQWQXQ:WY2WY*WYVYbUYBUa*UaUaUeY?BB BAe*BAAAA"C*CRCCC׉IG=|ʙ,i(gFAY}:D @}:&@y}:j}:L}:Hڿ n d??ڿC@X?ό ?)~:D @ ~:[;I~: Cɫ99)9 9I9Y}C?y}VF)= MMMF=YM%QUU>QQaU"HYYy];}e>Ii m:mo 5? u:mݾ m$= u?9mF@me: m~:)m:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*CRCCC܅>9܁I܅Fi܅?܅=܁܁܅; ݅EIGM>-  t:Yy6);N ʙ,փ(gFAY}2@}2;?y}21}2_'}2HXڿ@ T??`Y_ڿ@gﹿ`u?@夿?)~2@ ~2^;I~2Cɫ99)9 9I9Y}?y}͑F=i=K?S㥛Mb`^:>/ݼ )IyMbP/$S㥛?,/< d=A)NAI;AiQVA\GA E@ E@ E@E©EEiEAE EA)EAIEAiEAU[<MU:=Y];:QU]>Yaae"Haaym~ǻ}m>Iqup 5?u1ݾ uX= }?9uG@u: u:)qWWX XWX:W2W*WVbUBU*UUU=?BB BAm*BaAiAiAiAi"Cq*CqRCqCqCy׭?i׭?ip=ׁIGA>m'ʙ,ݱ(gFAY}2@}2M?y}2Ľ}2"}2Hڿ ?@?@\nڿ`@¹ɏ? p ?)~2@ ~2^;I~2 CɫII)I IIIY}C?y}VFyMa=YWQU>!!a%"H!)y-=9}->I1 =:5r 5? E:5ݾ 5= E?95H@5E: 50:)5:WaWaXa XiWiXi:Wi2Wi*WqVqbUqBUy*UyUyU}M@BB BA*BAA)A)A1"C1*C9RC9C9C9 IG5 > ~~k :YT1y@:369@q 9q Iu Fiu ?u =q q u ; u E>-ʙ,(gFAY}2@}2-?y}2Vҽ}2c*}2H?bڿi'wr??c@ڿ I??;@?)~2@ ~2,];I~2 CɫIQ)Q QIYY&?yDF¡¡   > C =i vA)vAIvAiAzM<=YyQU > a"HHyy}>I!%s 5?%ݾ %L= ?9% J@%O< %w<)!WWX XWX:W2W*WVbUBU*UUU`@B)B) B)A5*B1A1A1A1A1"C9*C9RCACACAAIIGm5>n&4ʙ,'h(gFAY}2{@}2'.?y}2彙}2a+-}2H`Uڿ7!~?? ٿ ?``7?)~2{@ ~2[;I~2Cɫ99)9 9I9Y}4?y}MFAAI)I)AIp=)4=ޤ:Md=YؼQU>a"HyN}>I :t 5? :Sݾ := ?9J@: E:):WWX XWX:W2W*WVbUBU*UU U h@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*C!RC!C!C! IG5 > i gk:YW1yč:6P:ʙ,_C(gFAY}6}@}6?y}6}6PΚ}6H ?ڿ@.ۑ w?!ٿw¿`d?.?)~6}@ ~6yw[;I~4ɫYY)Y YIYY.?yFZ****** received transponder code query ******F****** received ping request ****** a"Hy%f<}%>I)-v 5?- ݾ -= =?9-L@-; -;))WaWaXa XaWaXi:Wi2Wi*WiVi9Ii=r; mE)тIтiтՂ=тՂ|I5bUBU*UUU@9Q @BB BA"*BAAAA"C *CRCCC)IQG9>b8Aʙ,:)gFAY}6z@}63+?y}6dH}6+}6Hڿ4<h?ٿ¿/?ܯ?)~6z@ ~6$[;I~6Cɫyy)y yIY?y}FxDUSBL response received:!U1,P 502,000,002AE,189,80,80,B7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 A  @v:Yy(6E:v?}?5^I̿y&1?ET>EMb E`e<)AIAyE:v~jt{GzEԼEļEף E?A)EKAIE?9AiAAEFA)] > ] > @ @ @õ©õõiõAõ ĵA)ĵAIıiĵAM=YQU>a"Hyһ}>I :w 5? :]ݾ ;= ?96M@: V:):WWX XWX:W2W*WVbU!BU!*U!U!U-@1@BYBa BaAeŅ*BiAiAqAqAq"C*CRCCCIG=>bGʙ,b)gFAY}2^@}2'?y}2i}2C1}2HٿgV??Viٿ¿? P西Ǧ?)~2^@ ~2];I~2 CɫYY)Y YIYY}?y}XFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i= 5q=M==Y=QU=?AAaE"HAIyMZ}M?IVx 5?ݾ )= ?9M@: +:)WWX XWX:W2W!*W!V!bU!BU!*U)U)U- yR@BYBY BYA]l*BYAaAaAaAa"Ci*CiRCiCiCq)I9GU> 9 I i  =   v;  pEMʙ,8)gFAY}>@}>{&?y}>0}>h}>H|ٿ@OZe ?^ٿMmſn?`?)~>@ ~>hb^;I~>Cɫ髡) IY?ytFxDUSBL response received:!U1,R,502,000,002AE,189,80,80,B1,FF Fpublishing direction and range infoɰ鰹 )1CIyw?amf-ٱ   TCT=i A A)AIAivA6ټM@=YQU>  a "H yƸ}>Ivy 5?Θݾ = M?9N@; Է;)WWX XWX:W2W*WVbUBU*UUU @R(Combining 5 samples.P*QZQs:@?apuV JQw?amf-2Q:QbQGNj@8@D f=%?RQ('??sK5y?BQ"Z? Q1/@Q@PPPQQ@"QH @BABI BIAMɅ*BIAIAIAIAQ"CQ*CYRCYCYCY ~ 9q:YWU1y:<6);9%yIG<>ie /mGIy i ٺ ZAtTʙ,[R)gFAY}Z@}ZG?y}Z>)}ZZ}ZH`Bٿ@e@x1?@3?ٿ ƿ6?@Ԅ?)~Z@ ~Z$];I~Z Cɫ) IY?yȌF}TNmea in: $SNTTA,0.032776,,,,230052.49*4C XMK=YQU>a"Hy}>I :z 5? : ݾ 3|= ?9O@$: :):mmAdded new target pos. range: 3.660000 m, bearing: 48.955415 deg, deltaT: 4.506461 s, approachRate: 0.000000 m/s, LOS rate: -0.288393 deg/s, posRepo size: 4XW"Z?WX XWX:W2W*WVbUBU*UUU?3?BiBi BqAuw*BqAqAqAqAq"C}Z?RCC"Z?CIױ)׵\AׁIG=>Zʙ,l)gFAY}:W@}:Ý?y}:* 6}: }:Hy$ٿ ev?? z2ٿdƿࢢ?@?`z?)~:W@ ~:\;I~8ɫ99)9 9I9Y}?y}FI!)!I54=)5%=u%=MuP=Y}QU}>ya"HyO:}>Iȑŕ{ 5?ŕFݾ ƕtV= ?9ƕwP@Ǖ: ȕ=:)ȑܽ>9ܹIܽFiܽ?ܽ=ܹܹܽ; ݽEWWX XWX:W2W*WVbUBU*UUUI?B!B! B!A%*B!A)A)A)A)"C5bZ?*C1RC1C1C9 IG= >5Y 555 5)x:Y5DW1y5Y:56)5;ֆaʙ,Ig)gFAɫyy)y yIyY%?yF~jt?K~jt?>^ <)Iy)\(v/=YEQUE>IIaM"HQQyU}]>IY e:]9~ 5? m:]ۙݾ ]L)= m?9]R@]: ]:)]:WWX XWX:W2W*WVbUBU*UUU`'J?BB BAd*BAAAA"C"Z?*CRCCCIG$>gʙ,-A)gFAY}2a @}2?y}2<}2$}2H@MؿC G?P? Eؿݕǿ2q?(n?)~2a @ ~2^;I~2 Cɫ99)9 9I9Y?yF]M]Z=Y]AQUe>aaae"Haiym }m>Iqu 5?ubݾ u1= ?9uoT@u: uk:)qWWX XWX:W2W*WVbUBU*UUUfF?BB BAȆ*BAAiAiAi"Cq*CyRCyCyCy׭?i׭?׉IG>U  w:YU1y: 69@ܱ9ܱIܵ8Fiܵ?ܱܱܱܵ; ݵE4mʙ,*)gFAY}% @}%?y}%s=}%}%H-|׿฼@?.?׿Z4ǿ@?`'לp?)~% @ ~%!"_;I~%C5JFailed to close latch before timeout.q 55Hardware FaultY=z?y=ǍF 鿹   Õ=ÕÕĻiÕAÕ ĕA)ĕAIđiĕAZ=MA=YvQU>a"HHy|}>I) 5:-# 5? 5:-ݾ -< 5?9-V@-|: -E:)-:WyWyXy XyWyXy:Wy2W*WVbUBU*UUU@@BB BA*BA A A A "C*CRCCCI -$%@Hardware Fault in component: DDMG-->tʙ,D)gFAY}2ߗ @}2f?y}2.G}2s*}2H@'׿ m>? /?׿ȿ? 椿@^?)~2ߗ @ ~28];I~2C>Powering down<ɪ<)< YYa]"HYaye{B}e>Iim 5?mݾ m"< }?9mX@m: m:)iWWX XWX:W2W*WVbUBU*UUUZ@BB BA0*BAAAA"C*CRCCC  Ӏ:YW1yč:6ׁIG>>zʙ,)gFAY}6` @}6?y}6S}6S}6H`ֿ2?&?Aֿ`Iʿ@JH?kϩF?)~6` @ ~6[\;I~6 CYB,?yB4F@@R<MR=YVQUV ?TTaZ"HXXy^0}^ ?I`b 5?bݾ b: f?9b!Z@bE: b:)`WxWxXx XxWxXx:Wx2W|*W|V|bUBU*UUU@RB*** querying acoustic contact ***PPB1B9 BA*BAAAA"C*CRCCCI)]A]>9YI]ȖFi]?YYY]; ]EIG=؁ʙ,'*gFAY}Bp @}B?y}B$]}BC}BHֿ %? ? ֿࠞ̿?aJ/?)~Bp @ ~B,[;I~B CYVR?yVFZZ****** received transponder code query ******ZF****** received ping request ******^iiam"Hiqyu|;}u>Iy :}Љ 5? :}Мݾ }; ?9}\@}; } ;)}:WWX XWX:W2W*WVbUBU*UUU @BB BAY*BAAAA"C*CRCCC  s   ~ ʙ, !*gFAY}2F @}2u?y}2[}2[׃}2H`>ֿDS?%?Kֿ%U̿@?@W3?)~2F @ ~2[;I~0YV?yV+FZxDUSBL response received:!U1,P 502,000,002AE,189,80,80,B1,FF ^Command Ack^BRequesting micromodem ping code 2i\\fNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 E'=MMo=Y];QUe?qqa}"Hym}?Ia 5?Wݾ Y ?9Z]@U; ~;)WWX XWX:W2W*WVbUBU*UUU @BIBI BIAM*BQAQAQAQAQ"CY*CYRCYCaCaaIyG=>]]A]]Aa9eCIeFiea?e=aaet; emE)Ii釉=h5,ʙ,Tq;*gFAY}V @}V?y}VzT}VAAaE"HAIyMQ}U>IQ ]:UE 5? e:Uݾ UT e?9U^@U: U:)U:WWX XWX:W2W*WVbUBU*UUUe@BB BAU*BAAAA"C*CRCCC׍?i׍?aIiG> i    py:Y T1y : 6) ;9ʙ,%?U*gFAY}: @}:?y}:k"T}:>}:HWYֿ\?A? =ֿʿS?x?@5H?)~: @ ~:=Z;I~: CYFr?yFFJxDUSBL response received:!U1,R,502,000,002AA,18A,80,80,AC,FF NFpublishing direction and range infoHHɰJz_=J> H)J,CIHyJZ@Jw?amf-ٱH \\b։=Mff=Yfx:QUf>hhaj"Hhlyn9}n>Ipr܎ 5?rݾ r* z?9rS`@r: rs:)pWWX XWX:W2W*W!V!bU!BU!*U!U)U-@l@R=(Combining 5 samples.P9*Q=Z@ZQ=J?kJQ=w?amf-2Q9:Q9bQ=8ޫ@'Dz@V|f?RQ=@/?m\G?5f?BQ=uM? Q=@Q=@P=[9?P9P=Q9Q=@"Q=@BiBq BqAu*BqAyAyAyAy"C*CRCCCaIiG==ʙ,&o*gFAY}Rq( @}R?y}R:Z}R1}RHֿ@?`%? >8ֿ ̿@ ?p0?)~Rq( @ ~RZ;I~RCY~V?y~ĐF}TNmea in: $SNTTA,0.041868,,,,230056.89*40 R=M:=YmQU>a"Hy2_<}>9IFi1?=z; oEI :ݐ 5? :4ݾ Y ?9b@[: g:):mMqAdded new target pos. range: 3.419998 m, bearing: 45.898397 deg, deltaT: 4.358636 s, approachRate: -0.055063 m/s, LOS rate: -0.701370 deg/s, posRepo size: 4XWuM?WX XWX:W2W*WVbUBU*UU(\ @U5Z?BB BAE؄*BIAQAQAYAY"C8R?RCCuM?C5 555 5gk:Y5X1y5/:5N6)5;YIaGZ>K#ʙ,*gFAY}> @}>N?y}>^^}>G}>HLֿ >z?$? ֿ`*Ϳ?Q(?)~> @ ~>Z;I~> CY^?y^F~jt?p= ף?+D== )IyZd;O?~jt:vj<DԼ )/MAI-Ai>A M M M M@ M@ M@IIIiMpAI MA)IIMAiMA]M]B=Ye QUe>aaam"Hiiyu}u>Iy}' 5?}/ݾ }v ?9}c@}: }:)yWWX XWX:W2W*WVbUBU*UUU2q?BaBiy}C BiA*Bi]nGAI/aAi AAA5ٺ5/aA=?A"C=uM?RCACACaAIIGm5>Lʙ,Т*gFAY}6g @}6-?y}6`}6ઽ}6H(zֿ'f7?#? տIͿ ? Ҵ@w?)~6g @ ~6Z;I~4YNa?yRhFI =) 4==<M=_=YE>ٻQUE>AIaM"HIIyU3}U>IY]J 5?]Jݾ ] e?9]d@]: Y)YWWX  X W X :W 2W *WVbU1BU1*U9U9U=?BB BA*BAAAA"C*CRCCCשIG> h |:Yy69@9IxFi?^; `Ewʙ,﫼*gFAY}:P @}:?y}:NZ}:d}:H tֿ&/? dNտ>ο}*?GȽq ?)~:P @ ~:$[;I~:CYF?yFF ] ] ]] 0]̼]A`>i]A] Y)]AI]Ai]Am;MmG=Yu eqya}"H}HyyZ }>Iȉ :ō 5? :ōJݾ ƍ ?9ƍbf@ǍA: ȍ:)ȍ:WWX XWX:W2W*WVbUBU*UUU(?ByBy ByA}*ByAAAA"C*CRCCC׉IG=`ʙ,*gFAY}6| @}60?y}6NP}6 ͽ}6H!ֿ@`CS?>տ ƞ̿`?@@u.?)~6| @ ~6l[;I~4Yv?yvFjMG=Ya"Hy'}>Iȱŵ 5?ŵNݾ Ƶq ?9Ƶg@ǵ$: ȵR:)ȱWWX XWX:W2W*WVbUBU*UUU,[@B!B! B!A%*B)A)A)A)A)"C1*C1RC9C9C9׉IG= }   u {:Y DW1y Y: E6 ʙ,a*gFAY}6] @}6?y}6J}6}6H)ֿ nd`ia? ~տ`ʿ j,?4H?)~6] @ ~6QZ;I~6 CYB?yB_F tt]K(=M]N=Yermaiam"HiiyuA}u>Iy :}$ 5? :}Zݾ }| ?9}Qi@}: }:)}:ܥ>9ܡIܥНFiܥE@ܡܡܡܥ@; ݥQEWWX XWX:W2W*WVbUBU*UUU )@B)B) B)A-1*B)A1A1A1A1"C9*C9RC9CACA9IaG=Vqʙ,> +gFAY}2 @}2i?y}28RE}2}2H\ֿ <@Y?տʿE?x-L?)~2 @ ~20Z;I~2 CYB?yBFDF@A%-?~jtL7A`堿%5^>% %+)!I!y%/$?333333MbP?%<%%: %:A)%vZAI%G/Ai%kA!%LA @ @ @©iA )AIAivA=M?=YIa%"H!!y-.R<}->I15h 5?5Gݾ 5 =?95mk@5: 5:)1WYWaXa XaWaXa:Wa2Wi*WiVibUiBUi*UqUqUu%@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCשIG=%[ !!% %Rx:Y!y!%i6ʙ,a$+gFAY}: @}:?y}::}:}:H@qֿ`z^?`^ֿ@ ɿ>8?G@n`?)~: @ ~:Z;I~: CFPowering upF"Initializing DDM.Y=?y=pFEZ****** received transponder code query ******EF****** received ping request ******Ea"Hy <}>I :y 5? :Jݾ ] ?9[m@B; ;):WWX XWX:W2W*WVbU BU*UUU`bW @BaBa BaAeƒ*BaAiAiAiAi"C*CRCCC׉IG>ܙ9ܝCIܝFiܝ@ܝ=ܙܙܝ%; ݝDE9ʙ,=+gFAY}6 @}60?y}6E2}6~}6Hֿ@fq?pg?4Yֿ@ǿ+?Rt?)~6 @ ~6mZ;I~6 CYz*?yzF~xDUSBL response received:!U1,P 502,000,002AA,18A,80,80,AC,FF ~Command Ack~BRequesting micromodem ping code 2i| Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ] ] ]]<]]7=i]A] ]A)]AI]Ai]AA[(=M-=Ya"HyH:}>I   5? ݾ Y ?9 o@ : :) WaWaXa XaWaX:W2W*WVbUBU*UUU8@  k:YX1y/:6);9%BB BA#*BAAAA"C*CRC C CqIG~>ʙ,W+gFAY}6m @}6=?y}6%.}6M}6H qֿi j? -ֿ@;ǿƽ?%.o?)~6m @ ~6>Z;I~4Y^[?y^xFba=ɮbp=nNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B uOM}x=Y}^*'ʙ,q+gFAY}: @}:R?y}:+}:{Ƚ}:Hֿ`Y#m? ֿ`FȿI?(g?)~: @ ~:'p[;I~:CYF?yJFNxDUSBL response received:!U1,R,4EC,000,002AF,189,80,80,B0,FF NFpublishing direction and range infoJLHɰJa=J7> H)J0CIHyJn@JG.?F+ ٱHb,}<MbW=Yb ddaf"Hdhyj:}n>Ipr 5?rIݾ rZ v?9r2s@r9: r˵:)pW W X XWX:W2W*WVbUBU*U!U!U%@{@Y9YIYiYYYY]; ];E)݀CI݀Ciـ݀=݀=݀5R}(Combining 5 samples.Py*Q}n@ZQ}-4?H/ JQ}G.?F+ 2Q}L:QybQ}_N@,oBЋ@9[E8?RQ}T\u?Z*?S?BQ}R? Q}^,@Q}@P}\9?P}[9?P}Q}Q}@"Q}@BB BA'*BAAAA"C*CRCCCqIG]>$  s:YU1y:W6);ʙ,+gFAY}^ @}^H?y}^ }^rѽ}^H`ֿ@ `w@z?4ֿ@Lǿ ? bӹp?)~^ @ ~^B[;I~^CYjH?yj F}DNmea in: $SNTTA,,,,,230101.35*59 }%=i}%=On?K ףp= ?>^ Q8=)IyMbpy&1|?~jt?`;< a"Hyk$}>I! -:%w 5? 5:%ݾ % ] 5?9%s@%,: %:)%:meiAdded new target pos. range: 3.720000 m, bearing: 47.191017 deg, deltaT: 4.452139 s, approachRate: 0.067384 m/s, LOS rate: 0.290337 deg/s, posRepo size: 4XaWmR?WiXi XiWiXi:Wq2Wq*WqVqbUqBUy*UyU} @U}K?BB BA*BAAAA"CR?RCCR?CIG$>*ʙ,_+gFAY}2) @}2?y}2}2\}2H ֿ`v ?@bֿ@7Ŀ(?@˵?)~2) @ ~2Q[;I~2 CYR?yRFu=Mui=Y}W,=QU}>ya"Hy;}>IȑŕK 5?ŕĕݾ ƕ< ?9ƕs@Ǖ: ȕ8:)ȑWWX XWX:W2W*WVbUBU*UUU@:?BB BA*BA A A A "C*CRCCCQIYGu=/ m t:YWU1y:j69@A9AIEНFiEE@AAAE; E2E>ʙ,9C+gFAY}2' @}2=?y}2>h}2D.}2Hֿ >?@?`Gֿ@ ?`$?)~2' @ ~2O [;I~2 CY^a?y^F m m uum=uH=uta"HHy}>I 5?ݾ  %?9t@: :)WiWiXi XiWX:W2W*WVbUBU*UUU@?BB  B A Ղ*B AAAA"C*CRCC!C1)I9G]>inGIi wѿٺ  @Aʙ,+gFAY}6$8 @}6]?y}6 w}6W}6H` ׿ 7??>׿`̢?"ʗ`I?)~6$8 @ ~6Z;I~6CYf]?yfRFI9)9IMa=)M=}H<M}K=Y;QU>a"HyX+;}>Iș :ŝ 5? :ŝ2ݾ Ɲ ?9Ɲ_t@ǝ: ȝ:)ȝ:WWX XWX:W2W*WVbUBU*UUU?B B  B A *B AAAA"C*CRCCC!qIyG=  X}:Y[1yݏ:6D%ʙ,5+gFAY}61I @}6w?y}6l}6%W}6H ׿ 0Z@ ?@ֿR¿`??)~61I @ ~6Z;I~6CY^?ybFt9tIvxFiv?v=ttv; v,E"<MG=YQU>!a%"H!QyeL;}m>Iȩŭɠ 5?ŭoݾ ƭ ?9ƭt@ǭ/< ȭ;)ȩW W X XWX:W!2WI*WQVQbUYBUY*UYUYU]@BB BAu*BAAAA"C*CRCCC ?i?I G-N>˙,1 ,gFAY}69 @}6?y}64}69;}6H< ׿Yē?ֿٟ 0#ÿ?fY`?)~69 @ ~6ZZ;I~6 CYB?yBFX9v~jt?Q?< u<)Iy+?I +?:v?=9<T< ?A)\GAIA4Ai&WAzDA 5@ =@ =@5©55i5GA5 5 A)5I1i5\AEJlMMA=YM;:QUM>QQaU"HQYy]B}]>Ia m:e 5? u:eٕݾ el2 u?9eu@e: e:)e:WWX XWX:W2W*WVbUBU*UUUॴ@BB BA=*BAAAA"C*CRCCCIG>    } m:Y W1y č:  67 ˙,2&,gFAY~?y~F?A %=M%_=Y-QU->))a-"H11y5}=>IAE 5?ENݾ Ek M?9Ev@E: En:)AWiWqXq XqWqXq:Wq2Wy*WyVybUyBU*UUU]@RB*** querying acoustic contact ***PPBB BA *BAAAA"C*CRCCCIG=9IFiv?=; BEB˙,@,gFAY}6 @}6?y}6[G}6e }6HR׿@Oz?@ֿ6ÿ@? @K?)~6 @ ~6SZ;I~4Yv?yv$FzZ****** received transponder code query ******zF****** received ping request ******zí=í=iéí ĭvA)ĭAIĭAiĭ$AAMA=Ya"Hy<}>I :J 5? :ݾ 3: ?9w@w: :):WW X  X W X :W 2W *WVbUBU*UUUj @BABI BIAMA*BIAIAQAQA "C*CRCCC)I9G]>  Z{:YWU1y:6)d;9UI˙,^Z,gFAY}25 @}2?y}2}2}2Hf׿4qb?@Lo׿Iÿ.r??)~25 @ ~2oZ;I~0YB?yB$FFxDUSBL response received:!U1,P 4EC,000,002AF,189,80,80,B0,FF FCommand AckFBRequesting micromodem ping code 2iDDNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 vJ MzX=Y߻QU >ya"Hy<}>I 5?ݾ <  ?9$y@; ; ;)WWX XW X :W12W9*WIVqbUqBUy*UyUU! @BQBQ BQAU*BQAYAYAYAY"Ca*CaRCCCׁIGB>v˙,9Gt,gFAP9PIPiPPPPR; R  a% "H! ! y- Bn;}- o>I1 = :5  5? E :5 =ݾ 5 ;< E ?95 ^z@5 : 5 :)5 :Wi Wi Xi  Xq Wy Xy :Wy 2Wy *Wy V bU BU *UUU@BB BAf*BAAAA"C*CRCCCיIG?v@%˙,,gFAY}: @}:;V?y}:-}:0ؽ}:H*Mؿ `Q T?n׿!ÿ?`ºੑ?)~: @ ~:UZ;I~:CYFx?yFFNxDUSBL response received:!U1,R,502,000,002AA,189,80,80,B3,FF NFpublishing direction and range infoJf3HɰJz_=H H)J3CIHyJZ@Jw?amf-ٱHbE0Mb=Yf6=QUf?ddaf"Hhhyj?<}n?Iprۚ 5?rݾ rk< v?9rz@r: r:)pW WX XWX:W2W*WVbUBU*UUU AS@R(Combining 5 samples.P*QZ@ZQJ?kJQw?amf-2Qf3:QbQǮV82@4@ZR#N?RQyH?S-#j?M?BQ@U? Q' @Q@P[9?P\9?PQQX@"Q@BaBi BiAmO*BiAiAAA"C*CRCCC׉IG=i+˙,U߯,gFAY}2( @}2e?y}2}2tr}2H`xؿ@@oK}M?`v/ؿz㛿?^ ?)~2( @ ~27Z;I~2CYN=?yRfFDNmea in: $SNTTA,,,,,230105.78*54 MR IIM Mw:YIyIM;69M@UDMUA=Y]>;QU]>aaae"HeHaym;}m>IquJ 5?uݾ u< ?9uU{@u< u9<)qmmmAdded new target pos. range: 3.419998 m, bearing: 47.728436 deg, deltaT: 4.587726 s, approachRate: -0.065392 m/s, LOS rate: 0.117143 deg/s, posRepo size: 4XiWu@U?WX XWX:W2W*WVbUBU*UU(\ @U ?ܹ9ܹIܹiܹܽ=ܹܹܽ; ݽ)E)MCIMCiIM=M=Mj95B1B1 B1A5^*B1A9A9A9A9"CE@U?RCACE@U?CIIIQGm>Q2˙,,gFAY~?y~\FeR=ieC= qq    @ @ @iA A)AIAiA<MC=YQU>a"Hy}>I : 5? :ݾ X= ?9|@: :):WWX XWX:W2W*WVbUBU*UUU@_?B!B! B!A%*B!A)A)A)A)"CQ*CQRCQCQCY)I1GU>{8˙,,gFAY}2@}2'8?y}2}2C}2H@ٿl@i?`H? ٿ`4¿?آ ?)~2@ ~2"&[;I~2CYB?yBʔFM MMM MB:YMWU1yM:M 6UMUS=Y]$QU]>aaae"Haaym<}m>Iqu5 5?uݾ u5= ?9u|@ug: u:)qWWX XWX:W2W*WVbUBU*UUU@3?BB BA5*BAAAA"C*CRCCCIG=9IFi1?=(; FEN>˙,q,gFAY}6@}6?y}66?}6_}6H@Nٿ ?d|?T?.ٿ ÿ W?"V?)~6@ ~6&[;I~6 CYNx?yRFQ?Mbȿ/$?\>@ ,=)IyMb?Zd;O=j 9>A)1HAI5AipEA^A 5 5 5 5@ 5@ 5@111i5zA1 5GA)5AI5GAi5AEME<=YM)%QUM>IIaU"HQQy] <}]>Ia m:e 5? m:eݾ e[@= m?9e}@e: ek:)e:WWX XWX:W2W*WVbUBU*UUU'?BB BAO*BAAAA"C*CRCCCIG>1 = Ci nGI `Ai Vۿٺ `A bAM A?9M AtE˙,3N-gFAY}:d@}:?y}:4*}:NI}:Hٿ @@䘿?@JFٿ\ſ?^Q?)~:d@ ~:JE[;I~: CY^T?y^9FI)I=@A)=?AM IIM M1{:YIyIM{6UJ7M][=Y]'QU]>aaae"Haiym<}m>Iquř 5?uݾ uJ= ?9u~@uQ: u:)qWWX XWX:W2W*WVbUBU*UUU^@BB BA؃*BAAAA"Cq*CqRCqCyCyiIyG=K˙,&1-gFAY ?y FPMD=YQU>a"Hy}>I : 5? :ݾ cV= ?9@: :):WWX  X W X :W 2W *WVbUBU*UUUf@BABI BIAM*BIAIAIAQ]^A]^Aa9aIe Fie?aaaee; egEAQ"Cy*CyRCyCCIG% >R˙, K-gFAY}2@}2 @y}2}2G}2H`8cڿG'(K? ڿ@ĿV?ST`H?)~2@ ~2[;I~0YNz?yRFPR@A)^= ^=     = O= !!a%"H!)y-{<}->M_ MMMx M:YMV1yM:M6)M;9UI15N 5?54ݾ 5?`= ]?95V@5; 5;)1WWX XWX:W2W*WV bU BU *U UUq@R=B*** querying acoustic contact ***P9P9ByB BAO*BAAAA"C*CRCCCשIG>X˙,d-gFAY}: @}:<@y}:Ki}:m}:H ڿ R_?@?IڿĿX?T`ɑ?)~: @ ~:L[;I~:CYF?yF(FJZ****** received transponder code query ******JF****** received ping request ******J  a "H y;}>I! -:% 5? -:%Wݾ %xj= 5?9%ր@%: %q:)%:==i==WaWaXa XaWaXa:Wi2Wi*WiVibUiBUq*UqUqUu` @BB BAG*BAAAA"C*CRCCCI)ױIG=u>9qIqiqqqqu; uEf^˙,x~-gFAY}6i@}6@y}6#'#}6d2}6H}ڿ0 Ņ?>? ΎڿſN?c f?)~6i@ ~6G[;I~4Y^?ybFfxDUSBL response received:!U1,P 502,000,002AA,189,80,80,B3,FF fCommand AckfBRequesting micromodem ping code 2iddnNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 E  v:YWU1y:r6)A;]{Gz?Dl?Q?]#<]O > ]\>)YIYy]Mbpaaam"Hiqy}/$<}>Iȑŕ> 5?ŕݾ ƕzR= ?9ƕ@Ǖ; ȕT:)ȑWWX1 X1W1X9:W92W9*W9V9bUABUA*UAUAUMs@BB BAń*BAAAA"C*CRCCCIG>e˙,2-gFAY}21@}2LM@y}2*}2ME=YE,QUE8?IIaM"HIQyU<=}U>?I 5?ݾ  H= ?9@: :)WIWIXI XIWIXI:WI2WQ*WaVibUiBUi*UiUqU<@BB BA"*BAAAA"C*C!RC!C!C) IG5 >8l˙,n-gFAY}:@}:1 @y}:Ϲ5}:}:H@ ܿV[?@4? ۿȿ࿘?a?`g?)~:@ ~:[;I~: CYF?yFFNxDUSBL response received:!U1,R,502,000,002AD,189,80,80,BE,FF NFpublishing direction and range infoHHɰJu`=H H)J>CIHyJff@Jw?amf-ٱHIZR=)Z=bMbS=YftݼQUf>dhaj"HjHhyn*<}n>Ip v:r 5? v:rݾ r8= v?9r,@r: r0:)r:WWX XWX:W2W*WV!bU!BU!*U!U!U-@R5(Combining 5 samples.MG MMM Mv:YMT1yM:M69U@PQ*QUff@ZQUxP^B(?0B JQUw?amf-2QQ:QQbQU$@E@Iѷ?RQU)f?RjE?~7S?BQUye? QU-2@QU6@PQPU[9?PQQQQUa@"QUX@BB BA)*BAAAA"C*CRCCC>9Ii; EI!G==r˙,2U-gFAY}^@}^o@y}^?7}^y}^HHܿ`Vc?uۿ@ɿ?hg PZ?)~^@ ~^S[;I~^CYjI?yjGFETNmea in: $SNTTA,0.004843,,,,230110.35*4C   å\=åj<>åjiåAå ġ)ĥAIĥAiĥAA$LM<=Y_QU>a"HyV<}>I 5?ލݾ 1&= ?9J@: :)m iAdded new target pos. range: 3.599999 m, bearing: 51.405400 deg, deltaT: 4.419212 s, approachRate: 0.040732 m/s, LOS rate: 0.832041 deg/s, posRepo size: 4XWye?WX XWX:W2W*WVbUBU*UU @U`?B)B) B1A5ۅ*B1A1A1A1A1"C=J\?RCACEye?CA!I1GM>y˙,$-gFAY}6n@}6@y}66}6j}6Hvܿ ?@?ܿ/Nȿ3?i?)~6n@ ~6[;I~6 CYB?yBF5M5S=M MMM MYp:YMY1yM:M6YU>;QUU>YYa]"HYayeT}e>Ii u:mv 5? }:mݾ m= }?9me@m: m]:)m:WWX XWX:W2W*WVbUBU*UUU`Y>?BB BA*BAAAA"Cye?RCCCIG=9IXFi?; E)هIهiه݇=݇=݇M4˙,.gFAY}6O@}6kk@y}6Z?}6sbp}6HOܿbߟ? q?C$ܿӓȿ? @c?)~6O@ ~6[;I~6 CYNo?yN#F~a=i~=  l?K7?Q=I > u)Iy/$Mb?y&1|?<`; YYae"Haaym+}m>Iqu 5?uݾ ue= }?9u@u: uϸ:)qWWX XWX:W2W*WVbUBU*UUU`8?BB BAR*BAAiAiAi"Cq*CqRCyCyCy׉IG>*˙,.gFAY}:x@}:$@y}:N}:u_}:H` _ܿ@ U? +?oJܿ@ɿɕ?ZN?)~:x@ ~:[;I~:CYF?yFFM MMM M-:YMX1yM/:M6U[<MU\=Y]QU]>aaae"HaaymO;}m>Iq }:u 5? }:uݾ u= ?9u@uA: u:)u:WWX XWX:W2W*WVbUBU*UUU`N?BaBa BaAe)*BaAiAiAiAi"C*CRCCC׉IG=T˙,3.gFAY}6x@}6@y}6W}6B}6HNܿy`;#?c?ܿʿ?T A?)~6x@ ~6I\;I~6 CYB?yBFz(MzQ=Y~ƼQU~>a"H y <} >I 5?ݾ != %?9L@A: Y:)WIWIXI XIWIXI:WI2WQ*WQVQbUQBUY*UYUYU]+@BB BA*BAAAAܡ9ܡIܡiܡܡܡܡܥp; ݥmE"C*CRCCCױIG==˙,%M.gFAY}2N@}2@y}2WV}2`}2Hxܿsb??@tܿʿ ? w@"A?)~2N@ ~2\;I~2 CYN?yRFI1)5AI9)=@AMX MMM Mx:YMT1yM:M6)M;9UimGI/aA % % %i1%E=%%i%QA%]fֿٺ]/aA]A %A)!I%Ai%AmF8Mm5=YuJ;QUu>qya}"Hyyy$}>Iȉ :ōΙ 5? :ō*ݾ ƍ$= ?9ƍ@Ǎ< ȍ%<)ȍ:W9W9X9 X9W9X9:WA2WA*WAVAbUABUI*UiUiUm@BB BA4*BAAAA"C*CRCCCIG (>e˙,jg.gFAY}2n@}2@y}2lrQ}2v7}2HQܿ@ @r{?p?_ܿ ɿ?'w-M?)~2n@ ~2[;I~2 CYN?yRFPP)b= b>f>Mfi=Yf_hhaj"Hhlyn:}r>Itv 5?vݾ v(= z?9v@vk: v:)tWWX XWX:W2W!*W!V!bU!BU!*U)U)U-`@R5B*** querying acoustic contact ***P1P1BB BA7*BAAAA"C*CRCCCIG=ܹ9ܹIܽFiܽa?ܹܹܹܽI; ݽXEeN˙,H.gFAYn?yn&FrZ****** received transponder code query ******rF****** received ping request ******vaiam"Hiy}>IȡťG 5?ťݾ ƥ= ?9ƥȃ@ǥs; ȥr;)ȡW)W)X) X)W)X):W)2W1*W1V1bU1BU1*U9U9U=O @BB BA*BAAAA"C*CRCCCסIGA>3x˙,".gFAY}28@}2T@y}2Fh}2wO}2Huۿ ?? ܿ/̿=?M` #?)~28@ ~2r[;I~2CYfO?yf7FjxDUSBL response received:!U1,P 502,000,002AD,189,80,80,BE,FF jCommand AcknBRequesting micromodem ping code 2illrp=ir=vNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 e#=Mmq=Yu4QU?a"Hyu}?I  :% 5? :ݾ O< %?9g@,< <<):WWX XWX:W2W*WVbUBU*UUU @ @BqBq BqA}*ByAyAyAyAy"C*CRCCCסIGG>J˙,.gFAY~?y~SFɮM MMM M;|:YMDW1yMY:M69U@Y9YIYiYYYY]y; ]rE}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ؼM?=YQU>!!a%"H%H)y-}->I15˕ 5?5yݾ 5< M?95$@5J; 5Yv;)1WaWaXi XWX:W2W*WVbUBU*UUU`u@B)B) B)A-v*B)A1A1A1A1"C9*C9RC9C9CAׁIG=>˙,0.gFAY}2V@}27@y}2Ț}2H}2H`Jۿ'@:?`s?Sۿ x8Ͽ`k?D m?)~2V@ ~2[;I~2 CYVM?yV]FZxDUSBL response received:!U1,R,502,000,002AD,18A,80,80,C1,FF ^Fpublishing direction and range infoXXɰXZ> X)ZACIXyXZw?amf-ٱX % % %%+>%#%Q=i%A% !)%AI%~Ai%A5wM5Z=Y5ꂽQU5>AAaE"HAIyMc}M>IQ ]:U 5? ]:UQݾ U< e?9Uυ@UR: U:)U:WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*QZQxP^B(?0B JQw?amf-2Q:QbQP@}qd1@+>)k?RQXM?v# ?S4Z?BQd? Q1@Q@PPPQQ}@"Qa@BB BAڇ*BAAAA"C*CRCCCIG=0˙,Ի.gFAM IIM MC:YIyIM;6Y]?y]8FDNmea in: $SNTTA,,,,,230114.80*53 I)AI>)4= <M==YQU>a%"H!!y-}->I15% 5?5Iݾ 5c< =?95@5: 5w:)1mmmAdded new target pos. range: 3.599999 m, bearing: 51.219493 deg, deltaT: 4.455384 s, approachRate: 0.000000 m/s, LOS rate: -0.041726 deg/s, posRepo size: 4XiW d?W X  X WX:W2W*WVbUBU*UUU%?BB BA*BAAAA"Cd?*CRCCd?CסIG >Q9QIQiQQQQU|; UtE5˙,./gFAv`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ) IY?yʊF'1Z??X9vТ>= })IyMb/$?y&1|?,=`; ¥AA)¥(RAI¡i¥pAzLA - @ - @ - @- ©- - i- GA- - )) I- Ai- A= 9<ME =YI QUM >Q Q aU "HQ Y ya }e >Ii } :m 5? } :m ݾ m B<  ?9m @m :; m Kf;)m :W W X  X W X :W 2W *W V bU BU *U U U @n1?Bq By  By A} F*By Ay A A A "C *C RC C C י I G >J˙,#j/gFAY}2*M@}2h@y}2W,}2}2HIۿ@>??ڿݪп?`˴`?)~2*M@ ~2%g[;I~2 CM IIMw M8:YIyIM|6ɫYY)Y YIYY?yF=H*M==Y=[һQU=?AAaE"HAIyM}M?I 5?ݾ 4< ?9@; );)WWX XWX:W2W*WVbUBU *U U U?B9B9 B9A=J*B9AAAAAAAA"CI*CIRCICQCQIIQGu>q˙,cE6/gFAY}2D@}2`@y}2}2:hO}2H@ڿx?@h??ۿ@п@YP?`  9xIz Fiz?z=xxz~; x)yIyiyyy}4E=iE=ɫII)I IIIY?yeFI<M@=YQQU >a"Hy}>I! M:% 5? U:%ݾ %< U?9%@%; %;)%:WWX XWX:W2W*WVbUBU*UUU ?BB BA*BA!A!A!A!"CI*CIRCICICQAIIGm5>˙,*P/gFA|i|@Y}6q@}69@y}6U}6}6Hڿ[T޵??DۿϿ`q?iw@?)~6q@ ~6p\;I~6 Cɫ99)9 9IAUh UUU U\y:YU0Y1yU:U6Y.?yFae]A   õĻõm=õ㥽iõAõ ĵA)ĵAIıiı9<MM=Y QU>a"Hy}>Iۏ 5?ݾ r < ?9^@: #:)WqWqXq XqWqXq:Wy2Wy*WyVybUyBU*UUU @BB BA*BAAAA"C*CRCCC)IG-->Y˙,Di/gFAY}:@}:@y}:}:E}:H ڿB?@?ڿ<п ?n?)~:@ ~:9];I~: Cɫ99)9 9IAY}?y}ȌFU =M]Q=Y]4QU]>aaae"Haaym}m>Iqu 5?uݾ u; }?9u@u: u:)qWWX XWX:W2W*WVbUBU*UUUJ@BB BAw*BAAAA"C*CRCCCIG>191I5xFi5?1115]; 5cE˙,׃/gFAY}6C%@}6@@y}6N׊}6낽}6Hڿ?`?hڿ0ѿ@$?H?)~6C%@ ~6K\;I~6 Cɫ99)9 9I9IA)EAAUr UUUv U(z:YUWU1yU:U`6)U[;9]Y?yڌF/$?MbX?1Zd?>= "=)Iy:v?:vT㥛 T<Լ  DA)~PAI,AivANA U@ U@ U@U©UUiUQAU U$A)QIUvAiU$Ae;Mm:=Ym! QUm>qqau"Hqyy}k<}}>Iȁ :Ņ 5? :Ņݾ ƅ` ?9ƅ@Dž: ȅ:)ȅ:WWX XWX:W2W*WVbUBU*UU U >@RB*** querying acoustic contact ***PPBYBY BYA]o*BYAaAaAaAa"C*CRCCC?i?ׁIG=>m4>mCimGI`Ai=3׿ٺ=`A=¼A ˙,/gFAY}2^@}2y@y}28}2}2H`ڿH}?@?@cٿ ҿ@e0?Z{?)~2^@ ~2'a;I~2 Cɫ99)9 AIAY}C?y}FZ****** received transponder code query ******F****** received ping request ******a"Hy x<} >I 5?ݾ  %?9@: :)WIWIXI XIWIXQ:WQ2WQ*WYVYbUYBUY*UYUaUe" @BB BA]*BiAqAqAqAq"Cy*CyRCyCyCiIqG>>˙,/gFAY}6@}6-@y}6}6T}6H(ۿp ?ٿҿ?!*@?)~6@ ~6":`;I~6CP9PIR@FiR?R=PPR>; RSEɫ髡) It  Qz:YX1y/:W6)~;Y=%?y=FMxDUSBL response received:!U1,P 502,000,002AD,18A,80,80,C1,FF MCommand AckUBRequesting micromodem ping code 2iQq}Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -Ponly read 0 of 1 data item for BIT error5M5+=Y=IIaU"HUHYye;}>Iș :ŝ 5? :ŝ֗ݾ Ɲ ?9Ɲ͋@ǝ< ȝ<)ȝ:WWX XWX:W2W*WVbUBU*UUU^&@B!B) B)A-d*B)A)A)A1A1"C1*C9RCYCYCaIIG5>v&˙,Ih/gFAY}:'e@}:@y}:}:ý}:Hۿ@L?`=?~ڿPп ?@?)~:'e@ ~:&^;I~:Cɫ99)9 9IAE=iEp=Y}?y}F鮁ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B g=Mc=Yw=QU>a"Hyݻ}>I] 5?ݾ H ?9F@: :)W!W!X! X!W)X):W)2W)*W1V1bU1BU1*U1U9U=\@BaBa BiAm*BiAiAiAqAq"Cq*CyRCyCyCyI)))I G5.>O˙,@/gFAY}6@}6q@y}6z}6x}6H kۿ+? ?]ۿ:Ͽ ??)~6@ ~6zT\;I~6 CM MMM M:YM[1yMH:M69U@ɫYY)a aIaYi?y3FxDUSBL response received:!U1,R,502,000,002AD,189,80,80,CE,FF Fpublishing direction and range infoɰ鰥7> )NCIyw?amf-ٱ^A5L=M5E=Y=m99aE"HAAyE8<}M>Iq }:u 5? }:u.ݾ u׽ }?9uҌ@u=: uI:)u:WWX XWX:W2W*WVbUBU*UUU @R(Combining 5 samples.P*QZQxP^B(?0B JQw?amf-2Q:QbQ2l @"0/@xL?RQ8cu|?y?֧4U?BQjb? Q80@Q@PZ9?PPQQ@"Q}@BB BA*BAAAA"C*CRCCC)IQܡ9ܡIܥ`Fiܥ@ܡܡܡܥn; ݥlEGEs>8̙,!0gFAY}6@}6-!@y}6ߍz}6v}6H@GۿE??ۿSͿ?I ?)~6@ ~6\;I~6 Cɫ9A)A AIAY?yFEdNmea in: $SNTTA,0.358442,0.358585,,,230119.29*57 ~jt^I +ǿ:vDX9 T)Iy~jt?S㥫?S㥫D</]=/] ;A)vZAIiuA=NA    @ @ @ñññiõAñ ĵ~A)ĵAAIıiĵAA<MA=Y':QU>a"HyE<}>I؏ 5?1ݾ  ?9@S: :)m%mAdded new target pos. range: 3.599999 m, bearing: 50.775879 deg, deltaT: 4.520845 s, approachRate: 0.000000 m/s, LOS rate: -0.098126 deg/s, posRepo size: 4X!W%jb?W)X) X)W)X):W)2W1*W1V1bU1BU9*U9U9U= N?BiBi BiAmɄ*BqAqAqAqAq"C}jb?RCyC}jb?CׁIG=>b̙,]0gFAY}:?@}:@y}:6{}:u}:HZۿ X?9? rۿ@j;Ͽ[?`0ʭ?)~:?@ ~:p`;I~: Cɫ99)9 9IAIA)E@AU UUU Ur:YUU1yU:Ur6Y=?yF M^=Yt$QU>a"Hy;}>I : 5? :0ݾ  ?9C@=: k:):WWX X W X :W 2W*WVbUBU*UUU@`?BABI BIAM*BIAIAQAQAQ"CY*CYRCYCYCau?iu?iIqG> ̙,80gFA>9Ii=; {EY}@}H@y}oTu}4^}H;ۿ`^g?+?`w6ۿ@Ͽ_?@!@?)~@ ~_;I~ɫ髉) IYV?yĐF)== =>   Íj<=Í=Íף;iÍQAÍ čA)čvAIčAič$A1<M<=Yca"Hy}>Iȱŵ 5?ŵ+ݾ Ƶ- ?9Ƶ @ǵ÷: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUU?BB BA؄*BA A A A "C*CRCCCIG%M>~t̙,R0gFAY}6Bx@}6̓@y}6ch}6.}6HWۿQ?`?@g,ۿklͿ? ?)~6Bx@ ~6#];I~6 CM MMMr M|:YMDW1yMY:M6ɫyy)y yIyY?yFUb<M]b=Y]=QU]>aaae"Haaymc^}m>IquT 5?u+ݾ u=A }?9u@uw: u:)qWWX XWX:W2W*WVbUABUA*UIUIUMiy?BqBy ByA}*ByAyAAA"C*CRCCC׉IG>̙,l0gFAY}2*]@}2x@y}2^W}21}2HYۿ@Ҕ?@>&?@?ڿ@rZ̿%?2?)~2*]@ ~29\;I~2 Cɫ99)9 9IAE=iAY?yFuYMuH=Y}&=QU}>ya"HyЄ}>Iȑ :ŕp 5? :ŕ,ݾ ƕW ?9ƕh@Ǖ0: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU`@?BB  B A *B AAAA"C*CRCCCI)\AIG-,>Q9QIQiQQQQU; UE))I)i)-=-=-p4܆!̙,bg0gFAY}2@}2?@y}2H}2h̟}2H"ۿ`0:֏?`.?5ۿʿS?` jJ?)~2@ ~2r[;I~0UF UUU Uv:YUV1yU:UV6)US;9]ɫyy)y yIY?y_F~jt?Q?Mb?D<\= =)Iy{GzQ~jt?ףu< d=A)SAIr.AipALA ]@ ]@ ]@]©]]i]GA] ]A)]AI]Ai]Au<Mu;=Yu=QUu>yya}"Hyy><}>IȉōD 5?ōݾ tI ƍN ?9ƍː@Ǎ: ȍ2:)ȉWYWYXY XYWYXY:WY2Wa*WaVbUBU*UUUN@BB BA1*BAAAA"C *C RC C CI)GER>'̙, A0gFAY}6@}6@y}6ղ>}6皽}6HۿU ?.?@ۿaxɿ`$?V[?)~6@ ~6x[;I~6Cɫyy)y yIyYA?y˓F*R=Mh=Y[a"Hy3<}>I : 5? :ݾ G ?9@|: :):W)W)X) X)W)X1:W12W1*W1V9bU9BU9*U9UAUE)@RMB*** querying acoustic contact ***PIPIBiB  BA*BAAAA"C*C!RC!C!C! IG5 >1 91 q-̙,>#0gFAIaiae=aaew; eqEY}%J@}%@y}%Vl2}%ek}%HGۿ`fQ`uI? Aۿ@ղȿ0?@ f?)~%J@ ~%l_;I~% CIY)]AAeS eee ew:YeDW1yeY:e6)e8;ɫ) IY?yF Z****** received transponder code query ****** F****** received ping request ****** a"HHyֻ}>I͊ 5?Mݾ < ?9@8; ;)W1W1X1 X1W1X1:W92W9*W9V9bUABUA*UYUYUe s @BB BA|*BAAAA"C*CRCCC?i?IG J>i mGI i iٺ Ag4̙,10gFAY}6J@}6e@y}6$}6u}6HYۿ@ZT?om?Kۿſ?86@?)~6J@ ~66];I~6CɫAA)A AIAYUe?yUF]xDUSBL response received:!U1,P 502,000,002AD,189,80,80,CE,FF ]Command Ack]BRequesting micromodem ping code 2iYYmNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )% > % >M =MU_=Y=QU>a"Hyq}>I : 5? 5:ݾ 4 =?9ؑ@U< <):WWX XWX:W2W*WV bUBU*UU!U%% @BB BA*BAAAA"C*CRCCC!IAGuW>:̙,0gFAY}6@}6@y}6}6g }6H?5ۿL@V?x?6ۿޜÿ?V*?)~6@ ~6v\;I~6 Cɫ99)9 9I9e e~e~e e:YeT1ye@:e69m@Yu?yuܔFyɮ}a=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iMG=Ya"Hy }>II 5?ݾ , ?90@: :)WAWAXA XAWAXA:WI2WI*WiVqbUqBUq*UqUqU}@BQBY BYAe.*BAAAA"C*CRC C C9IНFiE@=Y; bEYIiG[>A̙,1gFAaie=ɫ髹) IY?yFxDUSBL response received:!U1,R,502,000,002AD,189,80,80,BF,FF Fpublishing direction and range infoɰ )?CIyw?amf-ٱa I@a  M?S㥫?/]= t<)Iy~jt? rh?D<C < ¥;A)¥~PAI¥0Ai¥I`A    @ @ @iQA )AAIivA=M6=YQU>a"Hy}->I1 =:5J 5? =:5nݾ 5b =?95@5: 5E:)5:WYWaXa XaWaXa:W2W*WVbUBU*UUU@R(Combining 5 samples.P*QZQxP^B(?0B JQw?amf-2Q:QbQnv|@_M<@^g;p`w?RQm_?ģ s?Jik?BQWc? Q1@Q@PPZ9?PQQy@"Q@BB! B!A%*B!A)A)A)A)"C1*C1RC1C1C9Iס)ץ]AYIiGZ>H̙,j!1gFA] ]]] ]g:Y]U1y]:]6ɫ) IY-*?y-FDNmea in: $SNTTA,,,,,230123.71*59 ©­]AkM\=YQU>a"Hy}>I   5? ݾ  ?9 @ : ض:) miAdded new target pos. range: 3.599999 m, bearing: 50.881877 deg, deltaT: 4.468914 s, approachRate: 0.000000 m/s, LOS rate: 0.023719 deg/s, posRepo size: 4XWWc?WX XWX:W 2W *W V bU BU*UUU0|?BABA BAAE#*BAAIAIAIAI"CUWc?*CQRCQCUWc?CYQIaG}7>ܹ 9ܹ Iܽ Fiܽ E?ܹ ܹ ܹ ܽ X; ݽ aE5)N̙,8e;1gFAY} @} M1@y} Ec} r} H~ۿ`b.(@H?@߽ڿ'Ŀ`f!?`?)~ @ ~ Hb;I~  CɫQQ)Q QIYYuH?yu F 5 5 55^=5t<5ji5A5 5A)5AI5(Ai5AE;MEE=YM>=QUM>QQaU"HQQy];}]>Iae 5?eݾ eJ m?9e@e: e:)aW WX XWX:W2W*WVbUBU*U!U!U%).?BqBq BqAu*ByAyAyAyAy"C*CRCCCסIGB>U̙,?U1gFAY}6W@}6r@y}6余}6}6Hۿ љ?`Rۿ@~b ?@.۴v?)~6W@ ~6a;I~6 CIY)]@Am iim mr:Yiyim6ɫyy)y yIyY5?yFU<M][=Y]=QU]>aaae"Haaym/<}m>I :Ə 5? :ݾ  ?9@: :):W!W!X! X!W!X):W)2W)*W1V1bU1BU1*U1U9U=1?BaBa BaAe*BiAiAiAqAq"Cq*CyRCyCyCyו?iו?iIqG >:[̙,o1gFAY}2 f@}2@y}2L(ܽ}2I}2HvۿwN?@(?@ۿ Ļyw? ?)~2 f@ ~2];I~2Cɫaa)a aIaY?yF) = ==M=L=Y=/AAaE"HAIyM.;}M>IQU 5?Uݾ UG e?9UW@U: U/:)QWWX XWX:W2W*WVbUBU*UUU A?BB BA*BAAAA"CI*CYRCYCYCi܍>9܉I܍@Fi܍?܉܉܉܍; ݍ?EIG5O>-$b̙,71gFAY}Ff0@}FK@y}F轙}F[y}FH෠ۿ@E?ۢ?;ۿ>? t%?)~Ff0@ ~F^;I~F CɫYY)Y YIYm m~m~m mn:YmT1ym@:m;6)mL;9uY?yFa Ia I Mb@Mb@Mb@ )Iy㥛 ?I +Q?=9\= ?9A)SAI5AivZA3GA ]@ ]@ ]@]©]]i]A] ]$A)]$AI]Ai]Am =Mm8=Yu1_QUu>qya}"Hyyy}>I  : 9 5? : ݾ  ?9 f@ M: :) :W9W9X9 X9W9X9:W92WA*WAVabUaBUi*UiUiUm@@BB BAj*BAAAA"C*CRCC C IG%M>Lh̙,pТ1gFAY}6m@}6@y}6*}6}6Hۿ@DŽ`L?|ۿtR?'`?)~6m@ ~6Û\;I~6 C]=i]p=ɫaa)a aIaY*?yF5e~M=a=Y=fiQU=>AAaE"HAIyM&<}M>Iȩŭڏ 5?ŭFݾ ƭ ?9ƭ7@ǭI: ȭw:)ȩWWX XWX:W2W*WVbUBU*UUU B@B!B! B!A%#*B!A)A)A)A)"C9*C9RC9C9CAIQ)QIIQGu>܉ 9܉ I܍ Fi܍ ?܍ =܍ :D܍ PD܍ ; ݍ E)IIIiIIM=Md4wn̙,1gFAY}2@}2@y}2㽙}2}2Hܿ`S֫ ? ^ۿ@_(ÿh?=x?)~2@ ~2\;I~2 Cɫ99)9 9I9et eee e]:YeV1ye:e 6)e!;Yuv?yuFyy‘•^A   =v=Ta"HHy@<}>I  : d 5? : ǐݾ Xn ?9 @ : :) :W9W9X9 X9WAXA:WA2WA*WAVIbUIBUI*UIUIUU@R]B*** querying acoustic contact ***PYPYByB BA*BAAAA"C*CRCCCQIaG=au̙,ҏ1gFAY}2A@}2@y}2 l˽}2{}2HPܿ*7ɫ@?hۿ@b?廿?)~2A@ ~2a`;I~2 Cɫ19)9 9I9Y]?y]đFeZ****** received transponder code query ******eF****** received ping request ******e!!a%"H!)y-7;}->Iȑŕ 5?ŕݾ ƕ! ?9ƕ @Ǖϸ: ȕ:)ȑWWX XWX:W2W *W VbUBU*UUUk @BaBa BaAp*BAAAA"C*CRCCCסIG >{̙,`1gFAY}69@}6U@y}6;]ý}6ĭ}6H ܿ, v?+ܿ`:s@-b?`k?)~69@ ~6Db^;I~4ɫ99)9 9IAIY)]AAmE iim mv:Yiyim69u@Yut?yuאFxDUSBL response received:!U1,P 502,000,002AD,189,80,80,BF,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 BMN=Y?!a"HyM=<}>IAE^ 5?Epݾ E ?9E@E0o< Eo<)AWWX XWX:W)9-CI-ȖFi-?)))-; -E2W*WVbUBU*UUUX @B9B BAф*BAAAA"CA*CARCICICq׍?i׍?QIYG}>p̙,:= 2gFAɫ髙) IY?yrFɮp=%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -I +sh|??ʡE-94-)> --)-I)y-{Gzt?S㥛I +?-ף;-/ݼ-9< ))-QVAI-7Ai-QVA)-\GA)== == @ @ @ >CiIIaiyٺoAÍ©ÍÍiÍAÍ č$A)čAIčAAič$A#M$=YQU>a"Hy}>I %:1 5? %:ݾ  -?9d@; /;):WiWiXi XiWiXi:Wq2Wq*WqVqbUyBUy*UyUyU%E@B B  B A *B AAAA"C*C9RC9C9CA9IAGew>]̙,!$2gFAe aaeU e}:Yayae 6ɫ髑) IY=?yFxDUSBL response received:!U1,R,502,000,002AE,189,80,80,B8,FF Fpublishing direction and range infoɰ`= )8CIy=j@w?amf-ٱjM=Y QU  ?a"Hy}?I!% 5?%،ݾ % ?9%@%p< %<)!WIWIXQ XQWQXQ:WQ2WQ*WYVYbUYBUY*UYUaUeX@Ru(Combining 5 samples.Pq*Qu=j@ZQus:@?apuV JQuw?amf-2Qq:QqbQu3yE@c9@:$u?RQuRbF|?]y? (?BQu%i? Qu7@Qu@PqPqPuQqQu@"Quy@B B  B A *B AAAA"C*CRCCC!!I)GE0>! 9% CI% 8Fi% ?! ! ! % ; % 8E'ǎ̙,=2gFAY}j^@}j@y}jk}j}jH <ܿ Ԫ?@`s? Foܿ @3 9?5q`?)~j^@ ~j],^;I~j C]=i]=ɫ髱) IY.?yF]TNmea in: $SNTTA,0.004447,,,,230128.15*4D   9<,=u=iA vA)AIAi\A%M%9=Y-yQU->)1a5"H11y=|:}=>IA M:E 5? M:Eݾ E*< U?9E@E: Et:)E:m}iAdded new target pos. range: 3.660000 m, bearing: 52.181132 deg, deltaT: 4.401235 s, approachRate: 0.013633 m/s, LOS rate: 0.295203 deg/s, posRepo size: 4XW%i?WX XWX:W2W*WVbUBU*UUG @U W#?BB BA"*BAAAA"CZh?RCC%i?CI)IG5.>̙,W2gFAY}>@}>r@y}><}>ώ}>H'ܿ?@x? 6ܿ`?Ƥt?)~>@ ~>b;I~>CɫYY)Y YIYuZ qqu u>x:Yqyqu6Y?yZFm]Am]AȴMR=YQU>a"Hy.}>I^ 5?2ݾ < ?9\@: :)WWX XWX:W 2W *WVbUBU*UUU ?BB! B!A-;*B)A)A)A)A)"C5fh?*C1RC9C9C9AIIGe4>"כ̙,~q2gFAY}:R@}:m@y}:A }:}:H ۿ`A?@?Sۿq`wZ??)~:R@ ~:i`;I~: Cɫ9A)A IIIYI?yGF<MJ=Y,mQU>a"Hy-+_}U>Iȑ :ŕ1 5? :ŕݾ ƕ< ?9ƕ@Ǖ< ȕe<)ȕ:9CIFi}?; #EWWX XW!XA:WA2WA*WIVIbUIBUI*UIUQUUw[?BB BAۅ*BAAAA"C%i?*CRCCCIG l>̙,r2gFAIY)Ym4 mmm( m6u:YmT1ym:m6)m;9uɫ髑) IY?ywFQ? rhV-?\=C =)IyI +?Mbp94< EA)FAIl3AiXAFA @ @ @Ý©ÝÝiÝpAÝ ĝA)ĝAIĝAiĝAѧM;=YQU>a"Hy}>I 5?ݾ m< ?9`@8: I:)WWX XWX:W2W*WVbUBU*UUU@Í?BB BA*BAAAAAAAA"CI*CIRCQCQCQׁiׅ?YIaG}Y> ̙,_2gFAY}2n@}2@y}2b}2hս}2Hsۿ@|@n?ڿ Yǿ@?@KPs?)~2n@ ~2 ^;I~0ɫII)I IIIYU?yUF)= >Mk=YPQU?a"H y נ;} ?I : 5? %:ݾ < %?9@g: :):WAWAXI XIWIXI:WI2WI*WQVQbUQBUY*UYUYU]5?BB BA;*BAAAA"C*CRCCC IG5 > 9 I PFi 8? ; E̙,y=2gFAY}R@}R@y}Rk>)}R٩}RH`ۿ@vW?@ 'ۿ %ȿ-?׷Cl?)~R@ ~R*\;I~R Cem eee e:YeV1ye:e6)e;ɫyy)y yIyY?y F    @ @ @ùùùiýGAù ĽA)ĽAIĽAiĽA} =M>=YܼQU>a"HHy;}>Iؑ 5?*ݾ 5B< ?9@;; ;)WAWAXA XAWAXA:WI2WI*WIVIbUQBUQ*UQUQU]s[@BB BAĆ*BA AAA"C*CRC!C!C)!I)GM1>$̙,2gFAY}2y@}2L@y}2Z7}2ù}2H Cۿ ,,?5L?[ۿ ȿ`?`㯿@^l?)~2y@ ~2#H\;I~2CɫYY)Y YIYe=ie=YO?y7FAAAAlM]=YQU>a"Hy;}>I 5?/ݾ ; ?9-@ : :)W!W!X) X)W)X):W)2W)*W1V1bU1BU9*U9U9U=iL@REB*** querying acoustic contact ***PIPIB1B1 B1A5*B1A9A9A9A9"CA*CARCACACIIy)yIIQGm>&̙,2gFAY}Ft@}F@y}FrE}FԀj}FHۿ?vT?ڿ@*@ɿ=?`[?)~Ft@ ~F _;I~F Cp  y:Yy69@ɫ) IYU?y]JFZ****** received transponder code query ******F****** received ping request ******A)=SAI9i=9=AAqq    @ @ @iQA )vAIAiA-1M5=Y5ȼQU5>YYa]"HYayej`}e>Ii u:m 5? u:mݾ mw ?9mW@m; m+;)m:WWX XWX:W2W*WVbUBU*UUU @BYBY BYAez*BaAaAaAaAa"Ci*CiRCqCC׉IG>̙, 3gFAɫqq)y yIyYC?yFxDUSBL response received:!U1,P 502,000,002AE,189,80,80,B8,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 EғMM=Y]QUe ?qqa}"Hyy}?I 5?ďݾ  ?9m@< <)WWX! X!WaXi:Wi2Wq*WqVybUyBU*UUU q @BB BA*BAAAA"C*CRCCCיIGf>8̙,&3gFAY}F܁@}Ff@y}FS}F}FH|ڿ?@Y?>Mڿ`L˿K?Y`>?)~F܁@ ~Fy\;I~F CɫYY)Y YIYIa)e?AuL uuu u w:YuxZ1yuq:u6Yg?y F鮹ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }&=MG=Yl QU>a"Hy֘}>II U:Mi 5? U:Mݾ Ma ]?9M@Mk: M:)M:WWX XWX:W2W*WVbUBU*UUU`4@BB BA*B!A!A!A)A)"CI*CIRCICICQaie?AIIGm5>Q 9Q IU FiU ?Q Q Q U ; U E̙,@3gFAY}2˰@}2U@y}2o\}2b+e}2H "ڿ1 .?CB?/ڿ y˿!e?@5?)~2˰@ ~2Q[;I~0ɫ99)9 9I9Y]?yeFmxDUSBL response received:!U1,R,502,000,002AC,189,80,80,BD,FF mFpublishing direction and range infoaaɰe"`=a a)e=CIayeb@ew?amf-ٱa)  =   =iA A)AIAAiASMC=YZQU>a"Hy d;} >IQUL 5?UVݾ U֦ e?9U@UP: U;)QWWX XWX:W2W*WVbUBU*UUU `n@R%(Combining 5 samples.P!*Q%b@ZQ%|f?.Yy JQ%w?amf-2Q!:Q!bQ%>W@"[@ : (?RQ%@,K?jCQ?n4iA?BQ%`? Q%*,@Q%@P!P!P%Q%Q%*@"Q%@BB BA*BAAAA"C*CRCCCIGI>i}nGI/aAi 5 ٺ5 /aA5 LA|I̙,^Z3gFAY}v@}v+@y}vh}v>,}vH ڿ - ?#+?lڿW̿5? O&?)~v@ ~v(\;I~t}( }}} }At:Y}V1y}:}r6ɫ)! !I!Y=?yEFDNmea in: $SNTTA,,,,,230132.61*58 MJ=YQU>a"Hy KN;} >I :. 5? :!ݾ >ۼ %?9ϝ@: :):mUqAdded new target pos. range: 3.539999 m, bearing: 50.153970 deg, deltaT: 4.465680 s, approachRate: -0.026872 m/s, LOS rate: -0.453943 deg/s, posRepo size: 4XQWU`?WQXQ XQWYXY:WY2WY*WYVabUaBUa*UaUmQ @UmT?B1B1 B1A5ȇ*B1A9A9A9A9"CE-d?RCACe`?Ci!I1GM1>v̙,Ft3gFAY}:m@}:/@y}:%Uv}:4¼}:H@Vڿ @S?~&?ڿG̿ ~??)~:m@ ~:a;I~: CYi]=ɫ) IYU?y]F9I8Fi?;  Ea"Hy:}>I!% 5?%ݾ % 5?9%@%: %>)!WQWQXQ XQWQXY:W2W*WVbUBU!*U!U!U% ?BIBQ BQAu*BqAqAyAyAy"C`?RCCCI׹)׹׉I-$bCommunications Fault in component: RDI_PathfinderG>7\̙,3gFAm mmm| m n:YmWU1ym:m6)m;9uɫ) IY?yFa I@Powering down 鿍I)^A‰MQ=YQU>a"Hy}>I 5?ݾ e& ?9@: r]?)WWX XWX:W2W*WVbUBU*UU U ?B1B1 B1A5*B9A9A9A9A9"CA*CARCICICI9IIGeU>r̙,c3gFAY}6j@}6@y}6r}6*}6Hwڿ!8?`?ٿ#ҿ?" H?)~6j@ ~6,^;I~6 Cɫ99)9 9I9Y?yJF5M=M=}=Y=QU= ?AAaE"HAAyM<}M ?IQ ]:UҐ 5? ]:U}ݾ U0; e?9U3@U: U1?)U:WWX XWX:W2W*WVbUBU*UUU@ ?BB BAz*BAAAA"C*CRCCCIIQGm> 9 I Fi a? ; 'En̙,13gFAY}NH@}N@y}N4}Nv۽}NH4ڿ??tٿѿ?@o@v?)~NH@ ~N(\;I~N CIY)]AAɫyy)y yIY?yԉF% %%% %|:Y%0Y1y%:%6)%;    @ @ @ @ÉÉÉiÍÉ č)čIčičfMD=Y;QU>a"HHyٯ;}>I 5??ݾ 7V ?9X@z; ?)WWX XWX:W!2W!*W!V)bU)BU1*U1U1U51?BB BA*BAAAA"C*C!RC!C)C)=?i=?!I)$=dClearing failed state for component RDI_Pathfinderq =GM1>'̙,n3gFAY}2-@}2@y}2̃}2}2HVڿ]??k?@&ڿп %K? `?)~2-@ ~2*\;I~2 Cɫ99)9 9I9Ye~?yeވF)= MV=Yua "H  yȻ}>I 5?ݾ n %?9x@: ?)WWX XWX:W2W*WVbUBU*UUU`@B B BA*BAAAA"C*C!RC!C!C! IG5 >̙,3gFAY}J@}J"@y}J䃾}Ju}JHpڿ F? ^?ڿ|ϿN?SB?)~J@ ~J,R\;I~J Cɫ髙) IY?yF@A@A  :YX1y/:69@-=M-G=Y-.QU->11a5"H99y=vy}E>IIM~ 5?Mύݾ M„ U?9M@M: M@)IWW)X1 X1W9X9:WA2WI*WQVQbUYBUa*Uaܱ9ܱIܵFiܵv?ܱܱܱܱ ݱUUW@RB*** querying acoustic contact ***PPBB BA*BAAAA"C!*CIRCICICQAIIGm5>o͙,[4gFAm=imp=ɫyy)y yIyY^?y@FZ****** received transponder code query ******F****** received ping request ******a"Hy}>Iȡť[ 5?ťݾ ƥA ?9ƥ@ǥ: ȥ!4@)ȡWWX XWX:W2W*WVbUBU*UUU@E @BB BA*BAAAA"C*CRCCCI)IG (> ͙,<)4gFAɫ) I5Y555 5:Y5DW1y5Y:5{6Y=?y=wFExDUSBL response received:!U1,P 502,000,002AC,189,80,80,BD,FF ECommand AckMBRequesting micromodem ping code 2iIIUNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ‰^A;MG=YQU>a"Hy}>I9=8 5?=Zݾ = }?9=@= < =P@)9WWX XWX:W2W *WVbUBU*UUU 5{ @B B  B A *B AAAA"C9*C9RC9CACA!IAGmx>ܩ 9ܩ Iܭ xFiܭ ?ܩ ܩ ܩ ܭ ; ݭ E))I)i)))-4S͙,C4gFAY}2x@}2)@y}2x}2_}2H ,:ڿ-C?u?ٿqrѿ@ʝ? k{?)~2x@ ~2\;I~2 Cɫ髉) IYA?y.Fɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @ ÙÙÙiÝBBÙ ĝBB)ĝ/BBIĝ/BBiĝBBM.=Y0QU>a"Hye}]>Iae 5?eݾ e\ u?9e @eٮ: em@)aWWX XWX:W2W*WVbUBU*UUUd@B1B1 B1A5*BQAYAYAYAY"Ca*CaRCaCaCiqIG>͙,9\4gFAY}V@}V" @y}Vi~}V#@}VH@ٿ7>@? g2?ٿп`y?``(?)~V@ ~V\;I~V CIa)e@Aɫ髙) IYx?yFxDUSBL response received:!U1,R,502,000,002AE,18A,80,80,C5,FF Fpublishing direction and range info5 555} 5r:Y5W1y5č:5 6ɰ`=> )ECIy=j@w?amf-ٱ<Mn=Y^)=QU?a"Hyʼ}?I 5?ݾ  ?9'@: O@)WaWaXa XaWaXi:Wi2W*WVbUBU*UUU@R(Combining 5 samples.P*Q=j@ZQs:@?apuV JQw?amf-2Q:QbQE潔@dp@ "Q?RQD.(?=u?8?BQLl[? Q.@Q<@P[9?PPQQ_@"Q*@BB! B!A%І*B!A!A)A)A)"CI*CIRCICQCQe?ie?AIIGm5>͙,v4gFAY}2@}22?y}21w}2$y}2H uٿ vFp3?@I? Yٿ ϿƦ?H?)~2@ ~2[;I~2 Cɫy髁) IY?yF%TNmea in: $SNTTA,0.042639,,,,230137.07*49 )E= E>Y9YI]@Fi]?]=YY]; ]E<M>=Y7{a"H y #}>I 5?ݾ aȽ %?9L@F: O@)mmAdded new target pos. range: 3.660000 m, bearing: 49.109429 deg, deltaT: 4.432841 s, approachRate: 0.027071 m/s, LOS rate: -0.235637 deg/s, posRepo size: 4XWLl[?WX XWX:W2W*WVbUBU*UUG @U@t?BB BAh*BAAA!AA"CMLl[?RCICMLl[?CQ9IIGeV>#͙,4gFAY}^V@}^Or@y}^Wy}^}^H=ڿ/P|c%?uCٿ@пW?`c`C?)~^V@ ~^_;I~^ CxzCinGɫ) II`AY)i9y)m߿ٺm`AmAu uuu uɀ:YuWU1yu:uD6)u;9} }   @ @ @ @ÁÁÁiÅÁ ą)ąIąiąYQU>a"Hy<}>Iȱŵя 5?ŵpݾ Ƶս ?9Ƶm@ǵ: ȵћ@)ȱWWX XWX:W2W*WVbUBU*UUUY?BB! B!A!*B!A!A!A)A)"C1*C1RC1C1C9ׁIG=>!*͙,~4gFAYi]=ɫ髉) IY?y6FU|AM]aaae"HeHaym}m>Iqu 5?u<ݾ u }?9u@u: ur@)qWWX XWX:W2W*WVbUBU*UUU@?BB BA*BAAAA"C*CRCCCI ) \AׁIG>1 91 I1 i1 1 1 1 5 ; 5 E 1͙,Y4gFAY}jt@}jy@y}jS}jG}jH`ڿu?\?@ٿՎ̿`A?`Ƀ@d1?)~jt@ ~j\;I~j Cɫ髹) IY=?y=5F  }:YV1y: 6)c;]A]A    @ @ @i )IiU<MU;=Y]9=QU]>YYae"Haaym4;}m>I   5? ݾ 5 ?9 @ ): @) W9W9X9 X9W9XA:WA2WA*WAVIbUIBUI*UIUIUUv ?ByBy ByA}J*ByAAAA"C*CRCCCסIG@>37͙,44gFAY}F8@}F7@y}F gI}F}Z}FH`|3ۿ`=g? jH?oۿwɿh?Ū V?)~F8@ ~Fs[;I~Dɫ髙) IYo?y#F]TM]\=Y]aaae"Haiym<}m>Iy} 5?}ыݾ } ?9}˟@}: }Q@)yWWX XWX:W2W*WVbUBU*UUU`?BB BAR*BAAAA"C*CRCCCIiG>b=͙,%4gFAY}>)@}>@y}>K}>v"}>Hۿ@@v?$?ۿȿ@L?棿X?)~>)@ ~>\;I~a"Hy<}>I!%l 5?%ݾ %< 5?9%@%: %@)!WWX XWX:W2W*WVbUBU*UUU`Fc@BB BA8*BA AAA9"C9*CARCACACAu?iu?QIYG}Y>FD͙,5gFAY}6@}6$@y}6DP}6}6Hۿ` ۟?@b?ۿ@Lʿ?XF?)~6@ ~6{`;I~4ɫ99)9 9I9Y?y!F)õ > õ> % % % %@ %@ %@!!!i!! !)!I!i!=p=M=Y=Y="@QUE>AAaE"HIIyMP;}U>IY]R 5?]jݾ ] e?9] @]t: ]@)YWWX XWX:W2W*WVbUBU*UUU P@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCIIQGu>oJ͙,q+5gFAY}:@}:.@y}:-E}:Ӭ}:HXۿ@@? V-?J=ۿ!ʿ (?`-zK?)~:@ ~:A];I~:Cɫ99)9 9IAYe0?yeFuZ****** received transponder code query ******uF****** received ping request ******uiia"HyFٻ}> YV1y:6Iȩŭ9 5?ŭ4ݾ ƭ ?9ƭ*@ǭ#< ȭ@)ȩWyWyXy XWX:W2W*WVbUBU*UUUi @BB BA!*BAAAA"C)*C)RC1C1C1IG-->9IFiv?; %EWQ͙,E5gFAY}6@}6@y}68}6]}6H ۿ@kC?}a"HIyU:}U>Iȩŭ 5?ŭݾ ƭ ?9ƭM@ǭ: ȭT@)ȩWWX XWX:W2W*WVbUaBUa*UaUiUm @BB BAl*BAAAA"C*CRCCCI)))I1Gew>܁W͙,|_5gFAY}6)@}6FE@y}6 5}6[}6H;ܿ o@ ?/)? ܿ`+ǿ{?At?)~6)@ ~6[;I~6 Cɫ99)9 9IAYe?ym>FqɮqNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ^A^AQA<MU=Y;QU>a"HyՒ<}>I 5 115 5:Y1y156  5? Ίݾ | u?9 h@ a< zA) WWX XWX:W2W*WVbUBU*UUU )-@BB BAG*BAAAA!"CA*CIRCICICQAIIGm5>]͙,Wy5gFAY}:U@}:2q@y}:a7}:}:H|_ܿ ~??ۿȿ`?p ^d?)~:U@ ~:i[;I~8ɫYY)Y YIYY?yFxDUSBL response received:!U1,R,502,000,002AC,189,80,80,B6,FF Fpublishing direction and range infoɰ"`=鰥7> )6CIyb@w?amf-ٱ<M]=YEʻQU>܁9܁I܅XFi܅?܅=܁܁܅; ݅.E)QIQiQU=U=U04a"Hy;}>I! -:% 5? -:%ݾ %g' u?9%@%/< %A)%:WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qb@ZQ|f?.Yy JQw?amf-2Q:QbQмY@<@LR"?RQ?ך?/r'?BQB#g? Q/@Q @PZ9?P[9?PQQ@"Q_@BQBQ BQAU*BYAYAYAYAY"Ca*CaRCiCiCiYIiGZ>d͙,:5gFAY}f@}f(@y}fu3}f%}fHۿ r ?:?\ۿǿ`^?q?)~f@ ~fh_;I~f CIY)Yɫ) IY?ycFDNmea in: $SNTTA,,,,,230141.49*56 U UUU UZn:YUU1yU:U6)U);9]    @ @ @ùùùiùù Ĺ)ĹIĹiĹمM.=Y;QU>a"Hy}>IΎ 5?eݾ . ?9@9: A)m%mAdded new target pos. range: 3.539999 m, bearing: 51.731313 deg, deltaT: 4.483764 s, approachRate: -0.026763 m/s, LOS rate: 0.584751 deg/s, posRepo size: 4X)W-B#g?W)X) X)W)X):W12W1*W1V1bU1BU9*U9U=Q @U= F?BB BA8*BAAAA"CBm`?RCCB#g?C?i?IG%M>j͙,k5gFAɫ髁) IYo?y#F)-?> -?UM]f=Y]QU]>aaae"HeHaym}m>Iqu 5?u9ݾ u4 }?9u@uF: u]A)qWWX XWX:W2W*WVbUBU*UUU{r?BB BAR*BAAAA"CB#g?RCCCׁIG>y9}CIyiyyyy}; }AE̥q͙,%5gFAY}J@}Jg@y}Jˇ1}J`D$}JH` ۿ???ۿ@ ƿ?[8~?)~J@ ~J\;I~J Cɫyy) IY\?yFm<MuI=Y}ڷ;QU}>a"Hy}>Ișŝ 5?ŝݾ Ɲ; ?9Ɲߠ@ǝ4; ȝA)șWWX XWX:W2W*WVbUBU*U U U^?BYBa BaAe*BaAaAiAiAi  n:YX1y/:);"C*CRCCCIG%>iUmGI/aAiFٺ /aA yAw͙,z5gFAY}6y@}6@y}6k8}6c1ټ}6HKۿO?@J?`ۿ!ƿ?x?)~6y@ ~6\;I~4ɫ99)9 9I9]=i]=Ye?ye>F- 6only read 3 of 4 data itemskMH=Y㎼QU>a"Hyyi}>Iȩŭz 5?ŭ։ݾ ƭB ?9ƭ@ǭ: ȭh!A)ȩWWX XWX:W2W*WVbUBU*UUUt?BB BA%G*B!A!A!A!A!"C)*C1RC1C1C1IA)E]A)I1GU>}͙,Ý5gFA|i|Y}6c@}6'@y}61E}61}6H Ewۿ`?>?{ۿ@ȿ m?@_?)~6c@ ~6]m\;I~4ɫ99)9 9IAY]o?ye#F%>9%CI%ȖFi%?!!!%'; %HEEIaMMO=YMyQUU>YYa]"HYayeX}e>Iqu] 5?uݾ ueI ?9u@u: u'A)qW9W9X9 X9WAXA:WI2WI*WIVqbUqBUq*UyUU?BB BAR*BAAAA"C*CRCCCIG-->͙,lz6gFAY}6r/@}6J@y}6L}6j}6H`?ۿmC?^??ڿ0ʿp?`gڰlJ?)~6r/@ ~6.\;I~4ɫ99)9 9I9m mmm mn:YmU1ym:m6)mo;YM?yFE@<MMJ=YMQUM>QQaU"HQYy]e}e>Iy}C 5?}pݾ }2P ?9}<@}; }N.A)yWWX XWX:W2W*WVbUBU*UUU@BB! B!A%*B!AIAIAIAI"CQ*CQRCQCQCYaIiG9> ͙,U.6gFAY}:@}:;7@y}:O}:Dă}:H A*ۿ?`i??ڿʿ`2?`/`XG?)~:@ ~:_;I~: Cɫ99)9 9I9I]AA)YYe?yekFimAA    @ @ @i )Iim<MmH=YmQUm>yya}"Hyy@}>IȹŽ( 5?Ž:ݾ ƽW  ?9ƽ\@ǽr< Ƚ5A)ȹWWX XWX:W2W*WVbUBU)*UIUIUMo@RUB*** querying acoustic contact ***PQPQByBy ByA}̅*ByAAAA"C*CRCCC?i?סIGA>>9IiN; ]E ͙,5H6gFAY}F@}F&!@y}FO}FS_S}FH ۿ`@?@FD?@ۿʿ@??bީwM?)~F@ ~Fw];I~F CeJ aae ev:YayaeE6)e;ɫyy)y yIyY?yьFZ****** received transponder code query ******F****** received ping request ****** > E E E E@ E@ E@AAAiAA A)AIAiA2CM?=Y!9QU>!!a%"H!)yUoM}U>IY] 5?]ݾ ]?^ e?9]}@]ٮ: ];A)YWWX XWX:W2W*WVbUBU*UUU @BIBI BIAMs*BQAQAQAQAQ"CY*CYRCYCaCaIiG:>͙,b6gFAY}6?@}6/@y}6T}68}6Hۿ>Ψ?:?%ۿV2ʿaS?n@H?)~6?@ ~6\;I~6 CɫII)I IIIY]?y]FexDUSBL response received:!U1,P 502,000,002AC,189,80,80,B6,FF eCommand AckmBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 8=Mc=YlEQU>a"Hy-9 ;}5>IQU 5?Uӈݾ Uqd ?9U@U; UAA)QW)W)X1 X1W1X9:W92WA*WaVibUqBUq*UyUyU} @BB  B A *B A AAA"C*CRCCCaAIYG[>I͙,{6gFAY}2A@}2˧@y}2p^}2Ҝ}2Hwۿ@@V?@?9ۿ ȍ̿@Ɲ?`簿,?)~2A@ ~2[;I~0ɫ19)9 9I9U=iUp=eS eee ew:YeWU1ye:e69m@Yug?yuYFyɮ}=>9IFia?S; `ENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @ iG? ?);?Ip?i?;M6=YQU>!!a%"H!)yU<}U>IY]э 5?]ݾ ]k e?9]@]ͭ: ]HA)YWWX XWX:W2W*WVbUBU*UUU@BABI BIAMԅ*BIAIAIAQAQ"CY*CYRCYCYCaIב)בYIiG:>0͙,ĕ6gFAY}>w@}>@y}>g}>}>HUۿ\x?%ڿ@Cп??)~>w@ ~>[;I~> CFJFailed to close latch before timeout.q FFHardware FaultYJG?yJmFNxDUSBL response received:!U1,R,502,000,002AD,189,80,80,C3,FF RFpublishing direction and range infoLLɰNu`=L L)NCCILyNff@Nw?amf-ٱL``fQMfy=YfܼQUj?hhaj"Hhlyr6<}r ?Itv 5?vkݾ vq z?9vء@v%: vMA)tWWX XWX:W2W!*W!V!bU!BU!*U)U)U-E@R=(Combining 5 samples.P9*Q=ff@ZQ=xP^B(?0B JQ=w?amf-2Q9:Q9bQ=b`n@9@&^?RQ=z'c?s(2?@˭R?BQ=a? Q=5.@Q=@P9P=Z9?P9Q=Q=I @"Q=@BqBy ByA}*ByAyAAA"C*CRCCCYIi-$@Hardware Fault in component: DDMG=^͙,6gFAY}u@}w@y}_}ss}Hbۿ l?@\iڿNϿ`?` ?)~u@ ~$`;I~ C%Powering down!ɪ!)) )&  t:YX1y/:6Yy-TNmea in: $SNTTA,0.024667,,,,230145.93*4A    @ @ @ @ÉÉÉiÍÉ č)čIčičY$la"HHy }>Iȱŵ 5?ŵ!ݾ Ƶy ?9Ƶ@ǵ: ȵ4VA)ȱmmAdded new target pos. range: 3.599999 m, bearing: 50.512435 deg, deltaT: 4.320689 s, approachRate: 0.013887 m/s, LOS rate: -0.282103 deg/s, posRepo size: 4XWa?WX XWX:W2W*WVbUBU*UU  @U m?B1B9 B9A9*B9A9AAAAAA"CMa?RCICMa?CIe?ie?1IAG]U>ܱ9ܱIܵXFiܵ?ܱܱܱܵ8; ݵQE)IIIiIM=M=M 4C͙,J6gFAY}6{.@}6J@y}66Q}6ʊ}6H8ۿ@ɚ?Q9?ڿ`G&˿`W?Z0`B?)~6{.@ ~6@_;I~6 CYN?yNьFI]@A)]AA;M@}2HZ@y}2:FS}27}2H@9Dۿ@^ T?2?Hzۿ@DSɿ8?`)dN?)~2>@ ~2_;I~0YN0?yNF=<M=O=Y=KQUE>AAaE"HAIyM%;}U>e eee en{:YeU1ye:e6Iquq 5?uLJݾ uǂ }?9u;@uJ: uiaA)qWWX XW!X!:W!2W!*W!V)bU)BU)*U)U)UUG?BB BA!*BAAAA"C*CRCCC׉I$NClearing failed state for component DDMq G=M͙,.6gFAY}:@}:@y}:ie}:y֦}:H TyۿF?@N?  ۿοՁ?`N ?)~:@ ~:D_;I~8Y^#?ybjF=i=a9aIeFiev?aaaeB; eVE    @ @ @ÙÙÙiÙÙ ę)ęIęięa=MC=Y3QU>a"Hy\<}>IV 5?ݾ 6 ?9\@x:  hA)WyWyXy XWX:W2W*WVbUBU*UUU@Y?B9B9 B9AEe*BAAAAAAAAI"Cq*CqRCqCqCyIב)בqIG>u 4>q i }nGI i - ٺ) - A~͙, 7gFAY}2@}2 @y}2e}2!}2H tۿ 3?`S-ڿvѿ?ÿ@?)~2@ ~2^;I~2 CYNM?yNFUf]p=iYm mmm m~:Ym[1ymݏ:m6)m7;9uMuP=Y}a9QU}>yya"Hyw<}>IȑŕF 5?ŕTݾ ƕv ?9ƕ~@Ǖ : ȕfnA)ȑWWX XWX:W2W*WVbUBU*UUUlY@B!B! B!A%*B!A)A)A)A)"C1*C1RC1C1C9IG5=L͙, 07gFAY}B@}B;@y}BoJ}BZ}BHDܿ ?ڿ Yο@%&?@R ?)~B@ ~B];I~BCY^?ybڌFIC=)= } } } }@ }@ @yyyiyy y)yIyiyϿM8=Yx=QU>a"Hy;}>IȹŽ4 5?Žݾ ƽ% ?9ƽ@ǽ<; ȽuA)ȹWAWAXA XAWIXI:WI2Wi*WqVqbUqBUy*UyUyU}`@RB*** querying acoustic contact ***PPBB BAo*B)A)A)A)A1"C1*C9RC9C9CAaIiG9>a9aIexFie?aaae'; eHE8͙,bJ7gFAY}:@}: @y}:#*}:Y}:H S(ܿpjt?->? Qۿ`*Pǿ6?``v?)~:@ ~:ߝ\;I~: CYF\?yFFJZ****** received transponder code query ******JF****** received ping request ******J  a "H yݖ}>I)- 5?-ݾ -)9-@-: -{A))WYWYXY XYWaXa:Wa2Wa*WaVibUiBUi*UiUiUu@ : p:YWU1y: 6)L;BB BA*BAAAA"C*CRCCCqIyG=͙,d7gFAY}b8@}bS@y}bA!}b}bH`ܿ צ qe?=?@mܿÿ ? +~?)~b8@ ~b#"\;I~bCY?ykF xDUSBL response received:!U1,P 502,000,002AD,189,80,80,C3,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 IޝAA)ޙԧ<M9=Y-AIaU"HQay3;}>I 5?ݾ e ?9ޢ@Z; A)WWX XWX:W2W*WVbUBU*UUU` @B)B1 B1A5̅*B1A1A1A9A9"Ca*CaRCaCaCiyIGd>͙,|~7gFAY}24@}2@y}2F-}2NB}2Hܿ`? ?dܿ`ƿ R? &ԯ`z?)~24@ ~2[;I~2 CYB?yBFRNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B  9 I i     ; DE %A%A)-= -= u u u u@ u@ u@qqqiqq q)qIqiqݙ;MT=Y QU>a"H  q:YT1y:6);QyU=<}U>IY] 5?]ݾ ]q m?9]@]: ]VA)YWWX XWX:W2W*WVbUBU*UUU7| @B B) B)A-*B1A1A1A1A1"C9*C9RC9C9CAIIYG}>͙,XT7gFAY}6Y@}6@y}6.}6NW}6H ܿ Lj@:?5Pܿ–ȿ ,?`춿ag?)~6Y@ ~6b[;I~6 CYn4?ynFpɮra=vxDUSBL response received:!U1,R,502,000,002AE,189,80,80,B5,FF vFpublishing direction and range infoppɰr`=p p)r5CIpyr=j@rw?amf-ٱp~=i~4=,QMR=Y%QU>!!a%#H!!y-H<}->I15Ό 5?5Yݾ 595@5: 5CA)1WaWaXa XaWaXa:Wi2Wi*WiVibUiBUq*UqUqUu 0@R(Combining 5 samples.P*Q=j@ZQs:@?apuV JQw?amf-2Q:QbQ{@@B!@3H9!?RQ޻`??̢_?BQ8i? Q6@Q @PPPQQ@"QI @BB BA`*BAAAA"C*CRCCCI)ױIG=͙,77gFAY}]%#@}]>@y}]}]}]H0ݿCz!W?@ ?ܿ@8ƿS?:?)~]%#@ ~]Z;I~] CY}?y}Fޕ=iޕ="  s:YDW1yY:69@DNmea in: $SNTTA,,,,,230149.96*5C = = = =@ =@ =@999i99 9)9I9i9=ME,=YE=QUE>IQaU#HUHQy]p<}]>Iae 5?e ݾ e9e6@e: eA)amiAdded new target pos. range: 3.660000 m, bearing: 52.197136 deg, deltaT: 4.049386 s, approachRate: 0.014817 m/s, LOS rate: 0.416038 deg/s, posRepo size: 4XW8i?WX XWX:W2W*WVbUBU*UUG @U x?BB BA*BAAAA"C8i?RCC8i?CAIIGe5>9CIFia?=;D,; JEI͙,7gFAY}2B@}2@y}2M }2T}2H zݿ@rnpt,?cܿÿ@[?@ٲߝ?)~2B@ ~2[;I~2 CYN?yRwFI=)=}0ֻM}l=Yi=QU?a#Hy$}?Iȡť 5?ťݾ ƥ ?9ƥN@ǥt: ȥ֍A)ȡWWX XWX:W2W*WVbUBU*UUU;?B B BA*BAAAA"C!*C!RC!C!C)1IAG=3 ͙,t7gFAY}6 @}6d'@y}6,v}6;{}6H6ݿ@xw?c)?ܿ?v¿j? A`4?)~6 @ ~6?[;I~6 CY^#?y^FI) ~~ :YT1y@:6a i a i  a m a m  a q a q  a e a e  a i @a  a m @a  a q @a  a e@a  v/?/$MbX9? xi>  ʡ=) I i Mb@Mb@Mb@ ©   ) I i   -j-M5?=Y5E599a=#H9AyE8;}E>IIM 5?MDžݾ M`9Mk@M): M@A)IWyWyXy XyWyX:W2W*WVbUBU*UUU@?BB BA%*BAAAA"C*CRCCC?i?׉IG>2͙,M7gFAY}23@}2GO@y}2}2L}2H@XQݿl? ?`Nݿ1@?0/?)~23@ ~2]1[;I~0>Powering up>"Initializing DDM.T9TIVpFiVM?V=TVODV:; VRE)9I9i99===tV5Y]?y]$FI@A) % % % %@ -@ -@!!!i!! !)!I!i!==M=J=Y=QU=>AAaE#HAIyM;}M>IQUg 5?Uݾ U娾9U@Uw: U}A)QWWX XWX:W2W*WVbUBU*UUUj?BB BA*BAAAA"C*CRCCCשI9G]>_Ι,8gFAY}27@}2S@y}2~l}2Hr}2H "Lݿ`Ee@2??j~ݿ@?9൥?)~27@ ~2zT\;I~0YB?yB&F  )= EMM[=YMߴQUM>QQaU#HQQy]`6:}]>IaeI 5?epݾ e 9e@e: exA)aWWX XWX:W2W*WVbUBU*UUU@O1@B q {:YV1y:6B BA*BAAAA"C*CRCCCIG=H Ι,A38gFAY}Z @}Z5@y}Z)}Z*}ZH/ݿ,f@>??~ݿ+-?s!e|?)~Z @ ~ZK\;I~XYf?yjFu%=iup<    @ @ @i )Ii)=M@=YLûQU>a#Hy}>I% 5?Aݾ ͯ9@: ߚA)W)W1X1 X1W1X1:W12W1*W9V9bU9BU9*UAUAUE@BiBq BqAu*BqAqAqAqAy"Cy*CRCCCiIqG=ّٕ]Aܙ9ܙIܝFiܝ}?ܝ=ܝ:DܝPDܝ; ݝ7E-Ι,UM8gFAY}6@}6l @y}6s}6v}6HݿKq??`Oݿ ;?@w@?)~6@ ~6_\;I~4YN?yN&FbEMb_=YbQUb>ddaf#HdhyjCg}j>Iln 5?nݾ n9nڣ@n۞: n͝A)lW W X  X W X :W2W*WVbUBU*UUU%@R-B*** querying acoustic contact ***P)P)BIBI BQAU*BQAQAYAYAY"Ca*CaRCaCaCii=b @ x:YW1yč: 6)A;9QIYG}=iEnmGIQiiӿٺNAVΙ,+g8gFAY}6@}6$@y}6}6ţ&}6Hݿ2z@u?S?ݿ@ÿש??)~6@ ~6[;I~6 CYN:?yRFRZ****** received transponder code query ******VF****** received ping request ******Vu ׽ u̼)qIqiuMb@Mb@Mb@qqq q)qIqiqqq‰‰M0=Y2QU>a#HyZ :}>Iȵ :ŵAz 5? :ŵ1nݾ tI Ƶ~ ?9Ƶ@ǵ~: ȵ>:)ȵz:WWX XWX:W2W*WVbUBU*UUUY< @B!B! B)A-*B)A)A)A1A1"C1*C9RC9C9C9iIyG>? Ι,5 8gFA$9&CI&Fi&?&=$$&; &"EY}B<>@}BY@y}B'}BQ-}BH>ݿp Hq?@ ??9ݿſ1?6e?)~B<>@ ~B[;I~B CY^?y^ FbxDUSBL response received:!U1,P 502,000,002AE,189,80,80,B5,FF bCommand AckbBRequesting micromodem ping code 2iddId)djNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76   n{:Y0Y1y:26)u;    @ @ @i )Ii]y׼Me>=YMQU>a#Hy;}>II M:Mh 5? U:MWݾ UtI MP U?9M@M: Md:)M:WyWyXy XyWyXy:Wy2W*WVbUBU*UUU W @BB BA*BA!A!A!A!"C)*C)RC1C1C1AIiG]>h&Ι,8gFAY}6/@}6HK@y}6X5}66}6H`i!ݿ{?i?ܿ`?ǿ`?Fb`p?)~6/@ ~6mR[;I~4Yf?yfFzNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m=Ml=YyQU?a#Hy+}?Iȹ :Žp\ 5? :Ž Hݾ tI ƽ8 ?9ƽ@ǽe: Ƚ:)ȽN:I)?AWWX XWX:W2W*WVbUBU*UUU`)9@B)B1 B1A54*BAAAA"C*CRCCCIG>,Ι,仴8gFAY}6 @}6$@y}6J?}6}6H` ܿ`il??ܿȿ?`鯿Ca?)~6 @ ~6r[;I~6 CYB?yBSFFxDUSBL response received:!U1,R,502,000,002AD,189,80,80,C0,FF JFpublishing direction and range infoDDɰFu`=D D)F@CIDyFff@Fw?amf-ٱD TT)Z= Z>^M^Z=Yb'ټQUb>``af#HfHdyjλ}j>Il r:n#N 5? r:n5ݾ rtI n r?9n@nb; n;)n:WIWIXI XIWIXQ:WQ2WQ*WQVQbUBU*UUU@R(Combining 5 samples.P } Ӏ:YV1y: 69@*Qff@ZQxP^B(?0B JQw?amf-2Q:QbQ>Bg@z@S?RQ_DV?|4l?R@?BQ$j? Q4@Q< @PX9?PPQQ @"Q@BaBa BaAev*BaAiAiAiAi"C*CRCCC׉IG=Y9YIYiYYYY]; ]&E93Ι,k8gFAY}Z@}Z:@y}ZރI}Z .}ZHܿN s??ܿࢾȿ ?`VZ?)~Z@ ~Z,[;I~Z CYj?yjʊF5TNmea in: $SNTTA,0.027720,,,,230154.39*4B =4=i==    @ @ @i )Ii-T<M-4=Y-QU->11a5#H19y=k}=>IA M:E#= 5? M:EXݾ UtI EI,< U?9E@E: E:)E0:mmAdded new target pos. range: 3.599999 m, bearing: 52.404155 deg, deltaT: 4.449489 s, approachRate: -0.013485 m/s, LOS rate: 0.046527 deg/s, posRepo size: 4XW$j?WX XWX:W2W*WVbUBU*UU @UH?BB BAF*BAAAA"C$j?*CRCC$j?CYIiG>9Ι,Cr8gFAY}:@}:|@y}:u]}:tE}:Hpܿ@ګ??~ܿ3˿`l?& `t8?)~:@ ~:\;I~: CYFE?yFFa ia i a ma m a qa q a ea e a i@a  a m@a  a q@a  a e@a  gfffff?S?Zd;O33>> j)IiMb@Mb@Mb@ ™)™I™i™MR=YIQU>a#Hy :}>i=7 S su:YU1y: 6Iq }:u- 5? }:u] ݾ tI u= ?9u@u%: u:)u:WWX XWX:W2W*WVbUBU*UUU0?BABA BAAE\*BIAIAIAiAi"Cq*CqRCqCyCyiIqG>A 9A IE FiE }?E =A A E ; E E@Ι,DO9gFAY}2?@}2"@y}2m}2D}2Héܿ˙٘?O?@"ܿdϿ@k?`X?)~2?@ ~2V[;I~2 CYB?yBӊFI 4=) %=]A]f<M]Q=Yel'QUe>aaam#Hiiyuu<}u>Iș :ŝ 5? :ŝܾ tI Ɲ<> ?9Ɲr@ǝ; ȝ$;)ȝ:WWX XWX:W2W*WVbUBU*UU U @c?B1B9 B9A=B*B9A9A9AAAA"CA*CIRCICICI׉IG=FΙ,(9gFAY}6C@}6@y}6)-k}6}6H;ܿ-??h(ܿ Ͽ`#?4`@?)~6C@ ~69o[;I~6 CYN?yRʊFI)    @ @ @ÙÙÙiÙÙ ę)ęIęięME=Y@;QU>a#Hy}>I  o:YX1y/:6 :- 5? :ܾ tI ;> ?9A; S;)v:WWX XWX:W2W!*W!V!bU!BU)*U)U)U-D?BQBY BYA]F*BYAYAaAaAa"Ci*CiRCiCiCqiIyG=LΙ,69gFAY}2@}2U@y}2s h}2Bj}2H kܿ@? ?҄ܿ`̿?!?)~2@ ~2k)[;I~2 CYB:?yBFMT=Y%S!)a-#H))y5"һ}5>I9 E:= 5? M:=Gܾ MtI => M?9=! A=P: =:)=:WiWqXq XqWqXq:WqI)AA2W*WVbUBU*U!U!U%`eF@BiBi BqA*BAAAA"C*CRCCC׉IG=9I8Fi?; 'E)yIyiyy}=}5SΙ,O9gFAY}:P@}: @y}:w}:}:H`ܿ`\@T??ܿ@Ϳ@R?`H` ?)~:P@ ~:ce\;I~8YFb?yFF  )> ==<M=H=YEQUE>AIaM#HIIyUf;}U>IY e:]\ 5? e:]xܾ mtI ]> m?9]wA]q: ]):)]O:WWX XWX:W2W*WVbUBU*UUU 8`@BB BAU*B r 9~:YT1y:6);9AAAA"Cy*CyRCyCyCiIyG=YΙ,ܹi9gFAY}6@}6Z3@y}6ԋ}6>}6HIwܿഋ~?Ad?ܿSп? ?)~6@ ~6\;I~6 CYBm?yBIFFC=iFp=a iea ie a mea me a qea qe a eea ee a im@a m a mm@a m a qm@a m a em@a m e)\(?Mb~jteG=e@ e)aIaieMb@Mb@Mb@aaa a)aIaiaaa    @ @ @i )Ii֜<M@=YlQU>a#Hyj;}>I :r 5?  :ܾ  tI ?  @9A: :):W)W1X1 X1W1X1:W92W9*W9V9bU9BUA*UAUAUE@RUB*** querying acoustic contact ***PQPQBB BA*BAAAA"C*CRCCC IY)Y)I1Gm> 9 I Fi a? ; E`Ι,ݖ9gFAY}2OI@}2d@y}2}2T}2H@ܿ`?@cF? ܿSѿv? ;S0?)~2OI@ ~24c\;I~0YR?yRʊFVZ****** received transponder code query ******VF****** received ping request ******Vaiam#Hiy;}>I  :M 5? :gܾ tI 0? @9A\'< '<)8:WYWYXY XYWaXa:Wa2Wa*WaVibUiBU*UUUX @BB BAF*BAAAA"C*CRCCCIG )>i mGI!i9eտٺam\AgΙ,p9gFAY}:P@}:٩@y}: >}:Î}:HܿJ?\C?ܿ _#ѿ3?@j/?)~:P@ ~:[;I~: CYF2?yF%FJxDUSBL response received:!U1,P 502,000,002AD,189,80,80,C0,FF JCommand AckNBRequesting micromodem ping code 2iLLRNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Ij=)j=ttyL<Mb=Y-AIaM#HQayu><}}>Iș :ŝl 5? :ŝރܾ tI ƝI? u @9ƝD$Aǝ< ȝ<)ȝ:W!W)X) X)WqXq:Wq2Wy*WyVbUBU*UUU$ @BB! B!A%!*B!A)A)A)A)"C1*C1RC1C1C9IIaG:>:/mΙ,L9gFAY}2g@}2.@y}2Y?}2:-}2H`ܿ^?`S?ܿ@ ѿ?`#7!?)~2g@ ~2[;I~2 CYB?yB FRNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I|)|    @ @ @ i? ~~ :YT1y@:N69@ f?)?I?i?LM<=Ya #H H y}>I %: 5? %:oܾ %tI >f? -@9*A: :):WIWIXI XIWIXQ:WQ2WQ*WYVYbUYBUY*UYUaUe?@BB BA,*BAAAA"C*CRCCCשIG=܉9܉I܍Fi܍1?܉܉܉܍; ݍDEHtΙ,,9gFAY}6x@}6@y}6}6Ľ}6H[ܿv? a?ۿѿ ?ҶS?)~6x@ ~6`h[;I~6 CY^?y^FbxDUSBL response received:!U1,R,502,000,002AE,189,80,80,C3,FF fFpublishing direction and range info``ɰb`=` `)bCCI`yb=j@bw?amf-ٱ`I)@A-j<M-G=YU=>QUU>YYa]#HYayeAv}e>Ii :m 5? :m[ܾ tI mR? @9m&1Am9; mE;)m:WWX XWX:W2W*WV bU BU*UUUZ@R%(Combining 5 samples.P!*Q%=j@ZQ%s:@?apuV JQ%w?amf-2Q!:Q!bQ%8i@q%0l@l"j|?RQ%ݤ#: ?L-1ف?cut:?BQ%e? Q%d3@Q%^@P%S9?P%X9?P%Q%Q%@"Q% @BB BA*BAAAA"C*CRCCCסIG >BzΙ,t 9gFAY}F)@}F9@y}F]}Fٽ}FH uܿ ե?[?Xۿ5ҿ@?10?)~F)@ ~FL[;I~F CYR?yVF%DNmea in: $SNTTA,,,,,230158.83*58 11a ia i a ma m a qa q a ea e a i@a  a m@a  a q@a  a e@a  a Ia I q= ףp?ˡEI +?=什 94=)IiMb@Mb@Mb@  ۃ:Y`1y:6 ?A)SQAI*Ai9tALA)= =0<MM=Y:QU>  a #H yD;}>I :^ 5?  :Gܾ  tI ? @97A; ;):memAdded new target pos. range: 3.660000 m, bearing: 51.368196 deg, deltaT: 4.491786 s, approachRate: 0.013358 m/s, LOS rate: -0.230634 deg/s, posRepo size: 4XaWe?WX XWX:W2W*WVbUBU*U UG @U`?BB BAȆ*BAAAA"C e?RC C e?C IG%M>܁ 9܁ I܅ Fi܅ E?܅ =܁ ܁ ܅ ; ݅ 7E(Ι,:gFAY K?y ҋFp=i=        @  @  @  @   i   ) I i %iM%H=Y-QU->11a=#H9AyE}E>II ]:M 5? ]:M4ܾ ]tI Mʜ? ] @9M=AM: M;)M[:WWX XWX:W2W*WVbUBU*UUU ?BaBi BiAmۆ*BAAAA"C*CRCCC׉IG>RΙ,ȷ:gFAY}6Z@}66@y}6}6s S}6Hܿv?n?Tܿ$п?|{?)~6Z@ ~6ă[;I~4YB?yBF<M]=Y%?!)a-#H))y5}5>I9 E:=y 5? E:=1#ܾ EtI =? M%@9==CA=: =:)=:i " }:Y_1y̒:"6W!W!X! X!W!X):W)2W)*W)V)bU1BUQ*UQUQU]?BB BA~*BAAAA"C*CRCCCIG>}Ι,8:gFAY}:@}:$@y}:Æ}:諾}:HCXܿ 5?t?#ܿJ1ѿ`ڦ?] S?)~:@ ~:cK\;I~: CYFk?yFFI ) 4=   ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYm=MmE=YmQUu>qqau#Hyyy}>Iȉ :ōi 5? :ō3ܾ tI ƍ? *@9ƍIAǍA; ȍ#;)ȍ1:WQWQXY XYWYXY:WY2WY*WaVabUaBUa*UaUiUm`w?BB BA*BAAAA"C*CRCCCIG>E>9AIEFiE@E=AAE; E1E eΙ,nR:gFAY}6@}6@y}6'a}6P }6H6ܿ:d??[Eۿrѿv?k_?)~6@ ~6{z\;I~6 CYV?yZFI)]M]K=Ye aaam#Hiiyu%}u>Iy :}Z 5? :}۾ tI }? /@9}OA}: }:)}:WWX XWX:W2W*WVbUBU*UUUr? - 8:Y]1y:6)>;9B B  B A z*B AAAA"C*CRCCC׉IG=Ι,Il:gFAY}6~@}6,@y}6Бm}6,}6HZ3ܿ`k? ?ΦۿqϿ@6n?` ٶ?)~6~@ ~6\;I~6 CY^?y^Fa ia i a ma m a qa q a ea e K7/$ rh?I ,I)?A C<)Iykty&1?y&1|? 0`<`; AA)SAI-AiuA=NAMA=YE5=QU>a#Hy Ȼ} >IyZ 5?۾ 4? /@96PA: :)WAWAXA XAWAXA:WA2WI*WIVIbUIBUI*UQUQUU -@BB BA*BAAAA"C*CRC)C)C1!I1GM1>- >9) I) i) ) ) ) - ; - 5E)ݹIݹiݹݽ=ݽ=ݽQ4vΙ,":gFAY}6 @}6@y}6}zf}6dd}6HBܿ u:? ? <ܿ@u̿`2?`aի $?)~6 @ ~6[;I~6 CYbX?ynPFtɮt ) = >    @ @ @ññ  c|:YW1yč:6)I;ñiññ ı)ıIıiı]=MH=Y%!)a-#H))y5}/:}U>IY e:]FZ 5? e:]۾ ]? m/@9]PA]: ]:)]:WWX XWX:W2W*WVbUBU*UUU:@RB*** querying acoustic contact ***PPBQBQ BYA]ׅ*BYAYAYAYAa"Ca*CiRCiCiCqIIQGu>Ι,:gFAY}: @}: &@y}:g}:m}:H@ܿQ?@?.iܿHͿ@u?겿?)~: @ ~:Ԉ[;I~: CYJ4?yJFNZ****** received transponder code query ******NF****** received ping request ******N a#Hy<}>I)-Z 5?-$۾ -? 5/@9-PA- : -G:))WaWaXa XaWaXa:Wa2Wi*WiVibUiBUq*UqUqUuh @BB BA`*BAAAA"C*CRCCCבIG=/˭Ι,ڹ:gFAY}6 @}6)@y}6`}6]۽}6H`ݿ\?`~?`1ܿ@Pο ? @ ?)~6 @ ~6Z[;I~4YN?yRFVxDUSBL response received:!U1,P 502,000,002AE,189,80,80,C3,FF VCommand AckVBRequesting micromodem ping code 2iTT^Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =ip=  {:YX1y/: 69%@       @  @  @   i   ) I i u5M'=Yga#HHy=}>I) 5:-Y 5? =:-ܾ -d? =/@9-EQA-s: -^:)-:WWX XWX>9IНFiE@; >E:W2W *WVbUBU*UUAUM @B B BA*B!A)A)A)A1"CI*CIRCICQCYבIG>Ι,(:gFAiB}nGIN`AiXrf׿ٺr`ArAY}@}x@y}%O}˽}H7޿5R?]w?ݿ@Ɗ̿? ฿^1?)~@ ~"^[;I~ CY-%?y-FAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Ma<MMb=YUC=QUU>QQaU#HQYy]<}e>IimY 5?mܾ m0? u/@9mQAms: m:)iWWX XWX:W2W*WVbUBU*UUU`F@BB BAd*BAAAA"C*CRCCCIG(>޺Ι,:gFAY|y|xDUSBL response received:!U1,R,502,000,002AE,18A,80,80,C3,FF Fpublishing direction and range infoɰ> )Iyw?amf-ٱ"  :YyW6 ףp= 1ZdMbPQ8"۽ )IyDlMb?~jth?O=D; aaae#Hiiyu}u>Iy :}Y 5? :}ܾ }X? /@9}RA}: }:)}:WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*QZQs:@?apuV JQw?amf-2Q:QbQ-@$\J&@,_i?RQgr~D?L?Wl?BQn? Q29@Qm @PP9?PS9?PQQ@"Q@BaBa BiAi*BiAiAiAiAi"Cq*CqRCyCyC׭?i׭?יIGa> >9 I xFi ? = (; HE/Ι,};gFAY}^s@}^9@y}^6}^4}^H18޿o !? ?@6~޿`G<ſ? {?)~^s@ ~^[;I~^ CY?yF}TNmea in: $SNTTA,0.005013,,,,230203.27*42 I)@A<MΙ, E!;gFAY}6 @}6@y}676}6<}6Hݿ/b??`=G޿¿౶??|?)~6 @ ~6[;I~4YB?yB}F5M=V=Y=`.:QU=>AAaE#HAIyM5}M>IQU4Z 5?Uܾ U? e/@9URAU6: U :)QWWX XWX:W2W*WVbUBU*UUU w?BB BAŅ*BAAAA"Cn?  :YY1y:)6RCCCIG=JΙ,u";;gFAY}6@}6@y}638}6CxE<}6HUcݿ@HD ? '?hݿAÿ`?`H? <{?)~6@ ~6[;I~6 CY^?ybNF    @ @ @ñññiññ ı)ıIıiı_=MB=Y gQU>a#Hy}>I :VZ 5? :^ܾ ? /@9{SA9: s:):WWX XWX:W2W!*W!V!bU!BU!*U)U)U-?BQBY BYA]*BYAYAaAaAa"Ci*CiRCiCiCqIׁ)ׅ\AiIyG=q9qIu Fiu?qqqu; u2EΙ,T;gFAY}6B@}64^@y}6^[5}6 }6H1ݿfM??`huݿ ſ !? OX~?)~6B@ ~6[;I~6 CYj_?yjF}ļM}O=YG;QU>a#Hy}>IșŝrZ 5?ŝ ܾ Ɲ? /@9ƝSAǝ+: ȝ:)șWWX XWX:W2W*WV=ia=H  v:YW1yč:6)v;9bUBU*UUU]?B!B) B)A-V*B)A)A)A)A1"C*CRCCCױIG>H+Ι,n;gFAYn?yrFMb`?Fx?&1?;K> =)Iy~jthMb?V-?D< •FA)• DAI•0Ai•aA3GA - - - -@ -@ -@)))i)) )))I)i)=|@<ME1=YEQUE>IIaM#HIQy]}]>Ia m:ewY 5? u:e ܾ e%? /@9e5TAeN; e$;)e:WWX XWX:W2W*WVbUBU*UUU ?BB BA)*BAAAA"C*C RC C CIG%>q 9q Iu Fiu a?q q q u ; u EΙ,嵈;gFAY}B@}BG@y}B|"}Bj}BHݿ^?dܿ@uȿ`9?@Abf?)~B@ ~Bȯ];I~B CY^6?y^؎FI)]-M]o=Ye\=QUe?aaae#Hiiymj<}u? ~~ Wr:YT1y@:);IX 5? ܾ D? /@9iTA+: 8:)WAWAXA XAWIXI:WI2WI*WIVQbUqBUq*UqUyU} @BB BA*BAAAA"C*CRCCC-?i-?IG>@=Ι,֎;gFAY}:\@}:w@y}:}:(}:Hgݿgv@?ܿ1ȿ` b?@i?)~:\@ ~:^;I~: CYFV?yJĐFHɮHZ=MZV=Y^\`ab#H``yf}f>Ih n:jW 5? n:j ܾ jh? r/@9jTAjQ: j':)j:WWX XW X :W 2W *W V bUBU*UUU.@R%B*** querying acoustic contact ***P!P!BIBI BIAM؄*BIAQAQAQAQ"CY*CYRCYCYCa1I9)9IIG=qgΙ,@j;gFAY~.?yFZ****** received transponder code query ****** F****** received ping request ****** a#HHy}>IV 5? ܾ ? /@9TAb: Y:)WWX X!W!X!:W!2W!*W)V)bU)BU)*U)U1 ~ k:Yy<69@U5 m* @BABI BIAM"*BiAqAqAqAq"Cy*CyRCyCyC9Ii; ,E)ݩIݩiݩݭ=ݭ=ݭ4סIG >OΙ,kF;gFAY}6 @}6$&@y}6F}6}6Ha#ݿv}r8~?@ܿqſ@?k|@]?)~6 @ ~6ێ];I~4YR?yRiFVxDUSBL response received:!U1,P 502,000,002AE,18A,80,80,C3,FF VCommand AckZBRequesting micromodem ping code 2iXXb=i`fNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 :<MM=Ya#H!)y5D}U>Ia :eU 5? :e ܾ e$? /@9eUAe; ey;)e:WWX XWX:W2W*WVbUBU*UUUh @BYBa BaAe*BAAAA"C*CRCCCIG=P>yΙ,!;gFAY}6aY@}6t@y}6}6%}6Hܿx@?yA?ܿ¿? w?)~6aY@ ~6\;I~6 CB`Dynamic Docking Module:!C REMUS Capture Rev 1.1 =ip=  ~:YDW1yY:;6ɫ  )  I YM?yM)Fae?A}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B uX9v?#~j?Mb?u=u= u<)qIqyuMb`I +I +uu94u9 uj8A)uWAIu2Aiut_AquHA^A<M=Y +;QU >a#HyH}%>I)-3V 5?-j ܾ -? =0@9-5UA-z ; -;))WiWiXi XiWiXi:Wq2Wq*WqVqbUyBUy*UUUa@BB BA*BAAAA"C*CRCCCשIG> 9 I XFi ? ; 2Eaϙ, )=CIyn@w?amf-ٱ    @ @ @i )IiM=Y>QU$?  a #H y&}$?IqV 5?P ܾ ? -0@9CUA: :)WIWIXI XIWQXQ:WQ2WQ*WYVYbUYBUY*UaUaUet@Ru(Combining 5 samples.Pq*Qun@ZQuo$?7U JQuw?amf-2Qq:QqbQu2@X?@: ?RQut8?A?2&?BQuh? Qu9@Qu@PuQ9?PuP9?PqQuQu@"Qu@BB BA*BAAAA"C*CRCCCסICG*>i5nGIIia3ٿٺA?9aAϙ,#a#HyU}>Iȱ :ŵV 5? :ŵ% ܾ Ƶ? 0@9Ƶ[UA ~~ k:YT1y@:M6ǵ: ȵ^;)ȵ:m mAdded new target pos. range: 3.720000 m, bearing: 51.945938 deg, deltaT: 4.366523 s, approachRate: 0.013741 m/s, LOS rate: -0.338022 deg/s, posRepo size: 4X Wh?WX XWX:W2W*WVbUBU*U!U @UHj?BB BA*BAAAA"Ch?RC!C%h?C!I!G=/>ϙ,=AAaE#HAIyMe}U>Iim?W 5?m ܾ m? 0@9mpUAm; m:)iWWX XWX:W2W*WVbUBU*UUU`X)?I)BB BA]*BAAAA"CQh?*CRCC C  Q9QIUFiUa?QQQU=; UTEIiG>ϙ,W@}6Y@y}68余}6M}6H@ۿ`tj?a?@ۿWAp?@T?)~6Q>@ ~6v[;I~6 CɫYY)Y YIYY#?yjF    @ @ @ÑÑÑiÑÑ đ)đIđiđ MD=Ya#Hy"Q}>I :W 5? :G  v:YWU1y:6)e;9 ܾ ? 0@9UA; ;):WWX XWX:W2W*WVbUBU!*U!U!U%l?BQBQ BYA]e*BYAYAYAYAY"Ceh?*CiRCiCiCiaIqG>ϙ,Yiq))a5#H11y=}=>IAEsX 5?E ܾ E|? U0@9EUAE; E;)AWqWqXq XyWyXy:Wy2Wy*WVbUBU*UUUzl?BB BA؄*BAAAA"C*CRCCCI)]AIG%> 9 CI ȖFi ? = ;D ; &E"ϙ,^Iaaae#HaiymqG;}u>Iy }:}4Y 5? :} ܾ }?? 0@9}UA}-: }[:)}:WWX XWX:W2W*WVbUBU*UUUA<@BB BA*BAAAA"C*CRCCC i e z y:YU1y:6)v;ׁIG>(ϙ,?a#Hy$;}>IZ 5?w ܾ ? 0@9UA: s:)WWX XWX:W2W*WVbUBU*UUUB@B1B1 B1A=&*B9A9A9A9A9"CA*CARCICICQ)I1GU>/ϙ,]AAaE#HEHAyM}M>I :Z 5? :U ܾ ? 0@9$VA&; ;): ~~ 3l:YT1y@:s69%@W)WQXQ XQWQXQ:WY2WY*WYVYbUaBUa*UaUaUe@RB*** querying acoustic contact ***PPܱ9ܱIܵFiܵ?ܵ=ܱܵODܵ; ݵEBB BA"*BAAAA"C*C RC C Cm?im?AIIGm5>5ϙ,| > :<M M=Y =a#H!y%̝}%>I)-[ 5?-4 ܾ -? =0@9-JVA-; - ;))WaWaXi XiWiXi:Wi2Wi*WqVqbUqBUq*UyUyU} @BB BA*BI)AAAAiAqAq"Cq*CyRCyCyCy׉IG$><ϙ,Yaae#Haqy}BN}}>Iȉ :ōZ 5? :ō} ܾ ƍ? 0@9ƍVAǍ"; ȍ;)ȍ:WWX X W X :W2W*WVbUyBU*UUUJ@BB BAG*BAAAA"C *C RC C C I9 )9 ܥ >9ܥ CIܥ Fiܥ }?ܥ =ܡ ܡ ܥ ; ݥ E)ՈCIՈCiшՈ=Ո=Ո@61 IA Gm >Bϙ, =gFAY}6@}6@y}6余}6hW}6Hdۿ@/@??I0ۿ`؎?Ū ?)~6@ ~6Fq[;I~6Cɫaa)i iIiY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B tM=Y 6QU2?a#HyN9}4?IZ 5?ܾ ? 0@9WAb: w:)WWX XWX:W2W*W V bU BU*UUU`>@BIBI BIAUG*BQAQAQAYAY"CY*CaRCaCaCaIIQGu>'Iϙ,ge&=gFAY}6:@}6@y}6}6%k}6H^ۿʦ Н?bڿ`jÿ@?\?)~6:@ ~6$o_;I~6 CɫYY)Y YIYY?yFxDUSBL response received:!U1,R,502,000,002AD,189,80,80,BD,FF Fpublishing direction and range infoɰu`=鰩 )Iyff@w?amf-ٱI)=<MY=Y`QU>a#Hyd;}>IJZ 5?ܾ ? 0@9VWAI: )W!W!X! X!W!X):W)2W)*W)V)bU1BU1*U1U9U=@@RM(Combining 5 samples.PI*QMff@ZQMxP^B(?0B JQMw?amf-2QI:QIbQM~l* @bSh(@|v?RQMi#H ??.l?BQM5c? QMC1@QMM@PIPMQ9?PIQIQM@"QM@ByB BA*BAAAA"C*CRCCC=i=)---p )Y-WU1y-:-6qIyG=Pϙ,A@=gFAY}2@}2Z;@y}2I6}2 }2H@SsۿHa.ఆ? ڿ"ſ? ?)~2@ ~2m];I~2Cɫ99)9 AIAY?yF]DNmea in: $SNTTA,,,,,230212.22*5E    @ @ @ @ùùùiýù Ľ)ĽIĽiĹԼM<=YQU>a#Hyõ;}>I :Y 5? :Kܾ ? 0@9WAF: =:):YYmqAdded new target pos. range: 3.599999 m, bearing: 50.852435 deg, deltaT: 4.438396 s, approachRate: -0.027037 m/s, LOS rate: -0.246373 deg/s, posRepo size: 4XW5c?WX XWX:W2W*WVbUBU*U)U5 @U5@"?܉9܍CI܍Fi܍?܍=܍:D܍PD܍n; ݍEBB BAC*BAAAA"C5c?RCC5c?CIGI>i nmGI) iA m 5ٺi m A9Vϙ,PZ=gFAY}:K@}:f@y}:3}:}:Hۿ0\@x?%ۿCXƿuS?Ƕ8?)~:K@ ~:Z];I~: CɫYY)Y YIYYP?yF߻MN=YOIQU>a#Hy;}>IȱŵsY 5?ŵܾ Ƶ? 0@9ƵXAǵ: ȵk:)ȱWWX XWX:W2W*WVbUBU*U% !!% %W:Y!y!%6)%;95U U5`3?BaBa BaAeZ*BaAiAiAiAi"Cq*CyRCyCCIIqG:>a#Hy>}>I :X 5? :ܾ  ? 0@9KXA: :):WqWqXq XqWqXq:Wq2Wy*WyVybUyBU*UUU`s?BB BA*BAAAA"C!*C!RC!C!C)IG%M>Y 9] CI] 8Fi] ?] =Y Y ] F; ] єEKcϙ,ҍ=gFAɫ髙) IY?yFuMuya#Hy}>IȑŕX 5?ŕXܾ ƕ? 0@9ƕyXAǕ: ȕ:)ȑ  wq:YT1y:r6);WaWaXa XaWaXa:Wi2Wi*WqVqbUqBUq*UqUyU} z?BB BA*BAAAA"C*CRCCCIG-,>3wiϙ,=gFAY}N.@}N@y}N<}NV}NHCڿ j? n? uڿ 9)ǿN}?`ڡo?)~N.@ ~Nu`;I~N Cɫ髩) IY?yF!M-=YAQU>a#HHy}>I! =:%W 5? E:%ܾ %M? M0@9%XA%b; %;)%:WWX XWX:W2W*WVbUBU*U UU@'@BB BA*BAAAA"C *C RC C C)I9GU>Q^pϙ,=gFAY}NX@}Ns@y}NIF}N@ G}NHڿRY?`u? xڿ(ȿड?yje]?)~NX@ ~N_;I~N Cɫyy)y yIyYI?yGFIM=)IIM_A    @ @ @ÑÑÑiÑÑ đ)đIđiđB<Mo=Y*ڼQU?a#Hy}?I}W 5?ܾ 3? 0@9XA ;  ;)- --- -~:Y-DW1y-Y:-695@WQWYXY XYWYXY:Wa2Wa*WaVibUiBUq*UqUqU}Z@ 9 I ȖFi ? =   ; EBB BAۅ*BAAAA"C*CRCCC׹IGE>߇vϙ,Vd=gFAY}F@}FH@y}FpL}F:i"}FH`P ڿ,Χ? ?d-ڿ@,ɿ b?䣿@V?)~F@ ~F^;I~F CɫYY)Y YIYY?yٍF鮥a=ɮmM[=YQU>a#Hy}>IW 5?,ܾ ? 0@9YA: :)W W X  X W X :W2W*WVbUBU*UU!U%@ؔ@R-B*** querying acoustic contact ***P)P)BIB BA*BAAAA"C!*C)RCYCaC?i?IG)>|ϙ,R=gFAY}B@}BZ?y}BDT}B}BHٿ`2<c?`4?ٿ<ɿ X?``L?)~B@ ~B^;I~B CɫQQ)Q QIQYg?yYFZ****** received transponder code query ******F****** received ping request ******t H=)Iy{Gz&1 rh#PC •@A)•KAI•1Ai•cA p q:YWU1y:6zHA        @  @  @   i   ) I i =V<ME)=YEQUE>IIaM#HIIyUN6}U>IY :]Y 5? :]ܾ ]ٵ? 0@9]yYA]: ]:)]:WWX XWX:W2W*WVbUBU*UUU @BIBI BIAMԅ*BQAQAQAQAQ"Cy*CyRCCCqIyG]>ܹ 9ܹ Iܽ XFiܽ ?ܹ ܹ ܹ ܽ ; ݽ E#ϙ,N(>gFAɫ髑) IY,?y4FxDUSBL response received:!U1,P 502,000,002AD,189,80,80,BD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )5= 1UM]m=YmQUu?a#Hy}>IzZ 5?Jܾ M? 0@9YA= =)WWX XWX:W!2W!*W!V!bU)BU)*U)U)U5 @BB BA*BAAAA"C*CRCCCיIGe>{ĉϙ,(>gFAY}64@}6@y}6 `}6Teͽ}6H 7ڿ$8`I@a?wUٿ@$xο`d?8?)~64@ ~6_;I~4ɫ99)9 9I9Y}g?y}YFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ڏ;MF=YQU>a#Hy2<}>Iȹ :Ž*\ 5? :Žܾ ƽƲ? 0@9ƽZAǽg: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU@@@B!B) B)A-ԅ*B)A1A1A1A1"C9*C9RC9C9CAr || (z:YR1yi:6)I1GU>/ϙ,1B>gFAY}6@}6$*@y}6]^}6}6H'ڿ`4 R?a?‰ٿ`ͿY?ӡ@f?)~6@ ~6\3a;I~6 Cɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,R,502,000,002A9,189,80,80,BD,FF Fpublishing direction and range infoɰ&_=鰁 )Iy W@w?amf-ٱ    @ @ @i )Ii ;MT=Y8u;QU>  a #H y;}>I!%] 5?%oܾ %C? 50@9%rZA%; %;)!WiWiXi XiWiXi:Wq2Wq*WyVybUyBU*UUU@R%(Combining 5 samples.P!*Q% W@ZQ%p{?5N.JQ%w?amf-U>9UCIUFiUv?U=U;DUODU; UE)]CI]CiY]=]=]752Q!:Q!bQ%:E@pQ@vȺ?RQ%']?O?^L݈C֖ϙ,!\>gFAY}^J@}^ @y}^&b}^[}^H@ڿ3?`Z`?`-ٿ`̿M?𱪿j,?)~^J@ ~^*^;I~^ Cɫ髙) IYg?yYFuDNmea in: $SNTTA,,,,,230216.65*59 I=)4=]A̻M5<=YEpQUE>Yaae#H}=i}a= ` r:YT1y:6iyz}} >I! U:%_ 5? U:%ܾ %L? U0@9%ZA%o: %:)%:mqAdded new target pos. range: 3.360000 m, bearing: 49.275604 deg, deltaT: 4.471818 s, approachRate: -0.053669 m/s, LOS rate: -0.352615 deg/s, posRepo size: 4XW_*\?WX XWX:W2W*WVbUBU*UUG @U`{?BIBI BIAMԅ*BIAQAQAQAQ"C]P|\?RCYC]_*\?Ca9IIGeV>ϙ,v>gFAY}:l@}:.@y}:m}:QA }:H`ڿ%3?G? Rڿ`̿@8n?@0.?)~:l@ ~:b^;I~: Cɫ99)9 9I9Y}?y}!FX9vI +?L7A`?94< +=)Iy~jt?MbQD< ½d=A)½QVAI½r.Ai½fnA(LA    @ @ @i )Ii%<M-F=Y-ռQU->11a5#H19y=G;}=>IAE_ 5?Ekܾ E? U0@9EZAE}; E;)AWyWyX XWX:W2W*WVbUBU*U)U)U-?BqBy ByA}*ByAyAAA"C[?*CRCCCaIiG9>I 9I IM @FiM ?M =I M PDM ; M Eϙ,9b>gFAY}6@}6@y}6kv}6T}6H`ڿ? 5?ڿ@bο@?ɩ < ?)~6@ ~6֠];I~6 CɫYY)Y YIYY?yF  CiumGI/aAiٺ/aAA,5=MM=YQU>a #H  yش<}>I %:A` 5? %:ܾ ¬? %0@9([A: :):WIWIXQ XQWQXQ:WQ2WY*WYVYbUYBUa*UaUaUeL?} }}} }:Y}V1y}:}{6)};9BB BA*BAAAA"C_*\?*CRCCCIG$>ϙ,)=>gFAɫ髙) IYX?yPF AA)M= M=]敽M]U=Y]QU]>aaae#HeHiym}m>Iqu` 5?uYܾ u? 0@9uP[AuI: u:)qWWX XWX:W2W*WVbU1BU9*UAUIUM\?BB BAׅ*B)A1A1A9A9"CQ*CYRCYCaCiסIGA>ϙ,H>gFAY}:@}:M@y}:s}:}:Hۿ`3K?? ۿϿ`N1?z ?)~:@ ~:a;I~: Cɫ99)9 9I9Y}?y}F    @ @ @i )Ii+=MB=Y|;QU>a#H9CIНFiE@=:DV; ٔEy3=}>I  ` 5? ܾ *? 0@9 ~[A ;: @:) W9W9X9 X9W9XA:WA2WA*WAVAbUIBUI*UQUQUUC6@$ | -:YDW1yY:6);BB B!A%G*B!A!A!AAAI"CI*CQRCQCQCQAIQGm5> $ϙ,^>gFAY}6%@}6@@y}6kWr}6 }6H`ۿ1@Zޤ?A? |ۿο@?@ϱ=?)~6%@ ~6R_;I~6 Cɫ9A)A AIAY}?y}F&<ML=Yn;QU>a#H 9yEK<}M>Iq :ua 5? :u/ܾ uӨ? 0@9u[Au < u <)u:WWX XWX:W2W*WVbUBU)*U)U)U-M@ByBy ByA}&*ByAAAA"C*CRCCCׁIG=>Qϙ, >gFAY}@}D@y}u}H}Hyܿ` ?@֠?`;ܿ,WϿbs? To ?)~@ ~(7];I~ Cɫ) IY-?y-F5p=ɮ5=IM4=)M%=-Zd;O?+η?Zd;O?-j<>-v= -j<))I)y- rh?X9v?-C<-<- -9>A)-SAI-G/Ai))-LAAE^A    @ @ @ÑÑÑiÑÑ đ)đIđiđ<4  6u:YWU1y:69@M<=YQU>a#Hy<}>I_ 5?)ܾ ? 0@9[A: :)W W X  X W X :W 2W*WVbUBU*UUU@@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCC!C!I!GEQ>y9yI}`Fi}@}=yy}h; }E6ϙ,v?gFAY}2ڞ@}2c@y}2#y}2bⰽ}2Hݿz?@p?@~ܿ`<(п@?n?)~2ڞ@ ~2\;I~2Cɫ99)9 9I9Y}?y}FZ****** received transponder code query ******F****** received ping request ******AAaE#HAIyM=}M>Iȱ :ŵ^ 5? :ŵ%ܾ Ƶ? 0@9Ƶ\Aǵ: ȵ :)ȵ:WWX XWX :W 2W *W)V1bU1BU1*U1U9U=@ @BB BA{*BAAAA"C*CRCCC?i?סIG >6`ϙ,+?gFAY}:| @}:)@y}:;{}:x,}:H@ sݿ]T?T?BݿϿb?o@ ?)~:| @ ~:[;I~: Cɫ99)9 9I9Y}?y}^FxDUSBL response received:!U1,P 502,000,002A9,189,80,80,BD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 e Y=MmH=Y}:QU>a#Hyց<}>I] 5?#ܾ ?  0@9W\A; ;)W R r:Yy 6WX  X WX:W2W*W!V!bU)BU1*U1U9U=_ @B)B) B)A-ʃ*B1A1A1A1A1"C9*C9RC9CaCaAIYGZ>WHϙ,(aE?gFAY}6i@}6,@y}6z}6'}6H@vݿb`?S?ݿ&п ?@{?)~6i@ ~6c)_;I~4ɫ99)9 9IAY}?y}_FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B !9!I%Fi%@!!!%; %E yy)Å> Å=        @  @  @   i   ) I i =M===YEt:QUE>AAaM#HIiyu:}u>Iy :}H\ 5? :}!ܾ }-? 0@9}\A}: }:)}:WWX XWX:W2W*WVbUBU*UUUDF@BiBq BqAu1*BqAqAqAqAy"Cy*CRCCCׁIG=>1rϙ,%;_?gFAY}6)@}6@y}6Qy}6_F׽}6H@ ݿ@(FY,?66?9Aݿ.п?Q?)~6)@ ~6:|`;I~6 CɫAA)I IIIY?y(FxDUSBL response received:!U1,R,502,000,002AE,189,80,80,B6,FF  Fpublishing direction and range infoɰ`= )6CIy=j@w?amf-ٱ  bq:YU1y:6ʡE?!rh?L7A`?=l= +=)Iyaaae#Hyo<}>IȑŕKZ 5?ŕܾ ƕԨ? 0@9ƕ3]AǕܹ: ȕƼ;)ȑWWX  X W X :W 2W *WVbUBU*UUU@RM(Combining 5 samples.PI*QM=j@ZQMs:@?apuV JQMw?amf-2QI:QIbQMtžVJ@[Mb@-S/?RQM-ܟ?OQY ?A6 4?BQMҥl? QMS7@QMR @PIPIPMQMQM$@"QM;@BB BAG*BAAAA"C*CRCCCI ) IG l>Kϙ,y?gFAY}f6@}fuR@y}f+l}f}fH \޿\.&?LݿпB?O?)~f6@ ~f^;I~dɫ) IY5(?y5FDNmea in: $SNTTA,,,,,230221.08*56 El=ME]=YM%=QUU>QQaU#HQYy]<}e>IaeX 5?eOܾ eo? u0@9e]Ae: e:)amiAdded new target pos. range: 3.660000 m, bearing: 52.964518 deg, deltaT: 4.514823 s, approachRate: 0.066448 m/s, LOS rate: 0.817067 deg/s, posRepo size: 4XWҥl?WX XWX:W2W*WVbUBU*UUG @UH?BB BA*BAAAA"Ch#`?RCCҥl?C!I)GM1>9IFir@; E))I)i)-=)-65Pϙ,?gFAY}D@}ͦ@y}V}[N}H{޿ 2p_?2? ޿`YοЬ?th?)~D@ ~];I~ Cɫ) IYMr?yMKFI=)=        @  @  @   i   ) I i N;ML=Y%T=QU->))a-#H11y5S<}=>IA M:EV 5? M:Eܾ E"? U0@9EG^AEM; E';)E:WqWqXq XyWyXy:Wy2Wy*WyVbUBU*UUU ?  :YX1y/:W6);9B1B1 B1A5у*B1A9A9A9A9"Ce^j?RCaCaCiYIaG8>^ϙ,̬?gFAY}2@}26@y}2F}2 RU}2HK߿`Z?`;G?@߿ȿ`?`1'`s[?)~2@ ~2 D];I~2 CɫYY)Y YIYY?yF5dM=[=Y=.=QU=>AAaE#HEHAyMr:}M>IQUAU 5?Uh ܾ U? ]0@9U^AU: U+:)QWWX XWX:W2W*W V bU BU *UUU`9?B9BA BAAE{*BAAAAAAIAI"CUo?RCYCYCYIIQG> ϙ,?gFAY}>@}>j@y}>FB}>u}>H'߿o?K?Á߿=ƿ#?@UO`]k?)~>@ ~>(];I~> Cɫqq)q qIqܹ9ܹIܽFiܽ@ܹܹܹܽ; ݽEY?yFu=MuF=Yuq)yya}#HyyJ:}>Iȉ :ōzS 5? :ō ܾ ƍ@? 0@9ƍc_AǍ: ȍ:)ȍ:WWX XWX:W2W*WVbUIBUI*UQUQUUd?BB BA'V z +:YT1y:6);*BAAAA"C -o?*C RC C CI G%,>i-NmGIE`AiY$ٺ`A_Aϙ,(?gFAY}F2@}F@y}FC}FZ}FHU<߿ @I?B?@|߿ƿ@!M?ӝ`wg?)~F2@ ~Fla;I~FCɫ髙) IYMt?yU%F u#~j?ut u<)qIqyu~jt?X9vuD=uu u9>A)uNAIu0AiuCeAquHA)Í= É    @ @ @i )IiIAA)?A;M4=Yp:QU>a#Hyh;}>I  S 5?  ܾ Ԩ? 0@9 _A : =:) W9W9X9 X9W9XA:WA2WA*WAVAbUIBUI*UIUIUU@}?ByBy ByA*BAAAA"Cҥl?RCCCבIG?>ϙ,Ug?gFAY}:@}:@y}:$Q>}: I}:Hq߿0?@V?޿ɿ@$? "C`V?)~:@ ~:`;I~: CɫQQ)Y YIYY?ySF    @ @ @ÁÁÁiÁÁ ā)āIāiā;Mc=Yja#Hy}>Iȹ :ŽS 5? :Žܾ ƽ[? 0@9ƽ`AǽE: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU`G@B!B) B)A-*B)A1A1A1A1"C9*C9RC9C9CA  a:YU1y:i69@AIQGm>ܽ>9ܹIܽFiܽ@ܽ=ܹܹܽ; ݽE@Й,8@gFAY}6p(@}6C@y}6w,}6qgܽ}6H޿`yÈ ?@#޿Tɿt?`]]?)~6p(@ ~6<^;I~6CɫYY)Y YIYY?y F鮡ɮa=1MZ=YD>=QU>a#Hy[p}>IS 5?Uܾ ? 0@9t`A: :)W W X  X W X :W2W*WVbUBU*UUU%\@R-B*** querying acoustic contact ***P)P)BIBI BQAU*BQAQAYAYAY"Ca*CaRCaCaCiIG> Й,.@gFAY}BU@}B@y}B6`}B17}BHh޿"??@AY޿`ſ?$.\?)~BU@ ~B v];I~B Cɫaa)a iIiY?yFZ****** received transponder code query ******F****** received ping request ******a#Hy%X5}%>I) 5:-T 5? =:-ܾ -z? =0@9-`A-$: -:)-:WYWYXa XaWX:W2W*WVbUBU*UUU@ϻ @BBA BAAE|*BAAAAAAAAI"CI*CQRCQCQCQYIaG}Y>Й, G@gFAY}J@}Jd@y}Jw}J(}JH ޿`a??`޿ e¿>?ि?)~J@ ~J%e\;I~J CY]_Aa9aIeFieE?aaae; eEɫqq)q yIyY ?yF xDUSBL response received:!U1,P 502,000,002AE,189,80,80,B6,FF  Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 uY<M}h=Yݲa#Hy⻺}>I&T 5?ܾ ڪ? 0@98aA< w<)WWX XW!Xa:Wi2Wi*WqVqbUyBUy*UUU @BB BA**BAAAA"C*CRCCCיIGd>Й,a@gFAY}u@}ue@y}u}uVo}uHK߿`s?F?߿ ڧÿ b?ƥ /?)~u@ ~u ^;I~qɫiq)q qIqY?yJF@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B uBNmea in: 230225,AUV,2.1.4000*2E }Response from modem failed NMEA checksum: 230225,AUV,2.1.4000*2E expected 0 \ g:YT1y: 6}/$?I +p= ף?}=}94 }=)yIyy}ʡE?ˡE{Gz?}=}'}ף< }:A)}SQAI}0Ai}]Ay}FAn <M!=YQU>a#Hy<}>Iȱ :ŵT 5? :ŵWܾ Ƶ? 0@9ƵaAǵ: ȵ:)ȵ:WWX XWX:W2W*WVbUBU*UUUA@B!B) B)A-*B)A)A1A1A1"C9*C9RC9C9CA1IIG~>8Й,{@gFAY}6 @}6@y}67}6o}6HF͎?\D?`c߿@Ŀ?`ղ?)~6 @ ~6+`;I~6 CɫYY)Y YIYY?yɕFxDUSBL response received:!U1,R,502,000,002AC,189,80,80,BC,FF Fpublishing direction and range infoɰ"`=鰡 )e>9aIeFiev?aaae; eE %Й,@gFAY}N@}NU @y}Nh}N}NHgN ݆?@+?( ÿ?@AⱿ?)~N@ ~N^;I~N Cɫyy)y yIyY?yFUMUC=Y]-^Yaae#Haaym<}m>IquS 5?u۾ u? }0@9ubAu: u:)qmmAdded new target pos. range: 3.539999 m, bearing: 55.763177 deg, deltaT: 4.347570 s, approachRate: -0.027602 m/s, LOS rate: 0.643730 deg/s, posRepo size: 4XW&y?WX XWX:W2W*WVbUBU*UUQ @U?BB BA*BAAAA"CBr?RCC&y?C "    :Y U1y :  6) {;9׉IG>K+Й,a@gFAY}61`@}6{@y}6}6_}6HDy`l?`?e ¿`?g?)~61`@ ~6];I~6 Cɫ99)9 9I9Y}?y} F<MF=Y a#HHyZ<}>I  :S 5? :۾ ? 0@9]cA; ;):WYWYXY XYWYXY:Wa2Wa*WaVabUiBU*UUUH"?BB BA*BAAAA"C &y?RC CCI G-->22Й,29@gFAY}V@}V@@y}Vr}Vo-7}VHLFŸ?`?@@R?ʰ?)~V@ ~V\;I~T>9IXFi?;  E)ݑIݑiݑݕ=ݑݕ4ɫyy)y yIyY?yAFIC=)4=    @ @ @i )Ii;ME=Y;QU>a#HyM<}>I  S 5? /۾ Z? 1@9 cA : k:) W9W9X9 X9W9XA:WA2WA*WAVAbUIBUQ*UQUQUUa?BB BAm*BAAAA"C*CRCCC g s:YWU1y:6);IG (>`8Й, @gFAY}Em@}E@y}E }E$}EH`y|??@ÿb?:?)~Em@ ~E[;I~E Cɫ ) IY?y_FPn? rh?J +>C> H)IyV-? rh?~jt?<C=D< …?A)…NAI…5Ai…K[AGAeM?=Y$QU>a#Hy@<}>Iȹ :ŽP 5? :Ž۾ ƽ? 1@9ƽkdAǽ: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU`?BB BA1*BAAAA"C*CRCCC׹IGL>T>Й,0@gFAY}JC@}J:_ @y}J|}Jܝ}JH`? t>?3?6@]XĿ?R?)~JC@ ~Jfa;I~Hɫ髱) IY9?yF    @ @ @éééiéé ĩ)ĩIĩiĩZcMV=Y1QU> a #H y<}>IN 5?۾ ? %1@9dA: 0:)WQWQXQ XQWQXQ:WY2WY*WYVYbUYBUa*UaUaUeo@BB BA߄*BAAAA"C*CRCCC} }}} }n:Y}U1y}:}69}@סIG (>9IFia?=;  E i /mGI i ] ٺY ] A0vEЙ,lAgFAY}6q@}6 @y}6}6*Ž}6HNhQ? dKƿέ?`$Xǂ?)~6q@ ~6_;I~6 CɫII)I IIIYV?yĐF 11et;MmT=YmQUm>qqau#Hqqy};}}>Iȁ :Ņ>L 5? :Ņ۾ ƅ? 1@9ƅTeADž: ȅ:)ȅ:WWX XWX:W2W*WVbUBU*UUU`!@BB BA؄*BAAAAy"C*CRCCCyIG>KЙ,0AgFAY}^*Y@}^t @y}^}^iҽ}^H,BWws?!ǿ (? y?)~^*Y@ ~^g];I~\ɫ) IYu?yuF}a=ɮyME=YQU>a#Hyre}>II 5?s۾ y? 1@9eA:  :)WWX XWX:W!2W!*W!V!bU)BU)*U)U1U56@R=B*** querying acoustic contact ***P9P9BaBa BaAe*BiAAAA"C*CRCCCI)))u uuuQ ubq:YuV1yu:uj 6I G-,>RЙ,~JAgFAY}6@}6- @y}6!}6Xy}6H@%r?w?>:Ŀ?@a߮?)~6@ ~6i/\;I~6 Cd9dIdidf=ddf; fEɫ99)9 9IAYEc?yEFMZ****** received transponder code query ******MF****** received ping request ******Ua#Hy2A}>InG 5?۾  ? 1@9CfA: :)WWX XWX:W2W*W!V!bU!BU!*U!U)U- @BB BA*B!A!A!A!A!"C1*C1RC1C1C9)I1GU>XЙ,wgdAgFAY}r@}r} @y}r}rvj }rH q??@!@_¿ ?:?)~r@ ~r];I~r Cɫ) IY-?y5F=xDUSBL response received:!U1,P 502,000,002AC,189,80,80,BC,FF =Command Ack=BRequesting micromodem ping code 2i99MNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Iup=)u=m=ii5 ~~ Ku:YT1y@:)6Mb~jt?aaam#Hiiyu}>Iȡ :ťF 5? :ť۾ ƥ? 51@9ƥefAǥܚ< ȥ<)ȥ:WWX X!W!X!:WI2WI*WIVIbUQBUQ*UQUQU]@BB BA*BAAAA"C*CRCCC I G >^Й,4~AgFAɫ髙) IYI?yGF-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )IiM=YQU?a#H y }?IdF 5?۾ N? %1@9wfA: :)WAWAXA XAWIXI:WI2WQ*WQVYbUYBUY*UYUYUe`K@B)B) B)A-ۅ*B)A1A1A1A1"C9*C9RC9C9CA!I1G]2>9IFi?c; E0eЙ,AgFAY}RM@}R3 @y}RXH$}R=}RH`@ @_?`2?! r`Ŀ@r?g ?)~RM@ ~Ra;I~RCɫ) IY?yFxDUSBL response received:!U1,R,502,000,002AF,189,80,80,BD,FF Fpublishing direction and range infoɰa= )=CIyn@w?amf-ٱ)== ==E.<MMV=YMQUM>a#H y 6;} >I :E 5? :۾ x? %1@9fA=: :):WAWAXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UYUYUeY@Ru(Combining 5 samples.Pq*Qun@ZQuo$?7U JQuw?amf-2Qq:QqbQumR\>?5JS @~i*g?RQu,D ?d@?J_c?BQumց? QuH@Qu?PuO9?PuP9?PuQqQuN@"Qu@BB BA*BAAAA"C*CRCCC}L }}}h } w:Y}WU1y}:}6)};9סIG >kЙ,tAgFAY}e9@}e5 @y}eb0}eL}eHZ ? 6}?@ſ`~?g8|?)~e9@ ~eZ_;I~aɫQQ)Q QIYY?yFTNmea in: $SNTTA,0.074611,,,,230229.99*4D  e e e e@ m@ m@aaaiaa a)aIaia}ʅM}8=Y}ڼQU>a#HHy]9}>IșŝbE 5?ŝ۾ Ɲ? 1@9ƝfAǝ: ȝM:)șmiAdded new target pos. range: 3.720000 m, bearing: 58.118332 deg, deltaT: 4.480618 s, approachRate: 0.040173 m/s, LOS rate: 0.525632 deg/s, posRepo size: 4XWmց?WX XWX:W2W*WVbUBU*UU @U ?BB BA*BA!A!A!A!"C-h?RC)C-mց?C1Im@A)mAA!I)GM1>rЙ,9AgFA090I0i02=002L; 2ԔEY}bP@}b@y}bf7}b7}bH? b?lKƿ?t?)~bP@ ~b%^;I~b Cɫ) IY5?y5uFqMX=Y-QU>a#Hyr}>I :D 5? :/۾ ӱ? 1@9fA: :):WWX XWX:W2W*WVbUBU*UUU?BB BA0*BAAAA"Cmց?RCCCu uuu uq:YuT1yu:u6)u;IG(>xЙ,AgFAY}:lt@}:@y}:=}:0}:H+ s?? EƿÀ?@ᵥ9m?)~:lt@ ~:\;I~8ɫYY)Y YIYY?yGF~jtMb`?a#HyH5}>IE 5?*۾ -? 1@9 gA: :)W1W1X1 X9W9X9:W92W9*WAVAbUABUA*UAUIUUlO?BB BAC*BAA!A!A!"C)*C)RC)C)C1AIIG8>"Й,|AgFAY}N<@}N@y}N0H}Nd}NH BN,E?y?ʿ@I?CG?)~N<@ ~N4\;I~NCɫ髙) IY?yFI=)    @ @ @i )Ii<MI=Y/ڼQU>a#Hy-<}>I  :@E 5? :۾ y? 1@9NgA: V:):W1W1X9 X9W9X9:W92W9*WAVAbUABUA*UIUIUM?ByBy BA*BAAAA"C*CRCCCm=ii}W }}} }5:Y}U1y}:}69@בIG>a9aIaiaaaae; eE)مIمiم݅=݅=݅s4 Й,cBgFAɫqq)q qIyY?ynFUMUT=YUQUU>YYa]#HYaye}e>IimoE 5?m۾ m? }1@9mgAm: m:)iWWX XWX:W2W*W!V!bU!BU!*U)U)U- /@BYBY BYA]*BaAaAaAaAi"Ci*CqRCqCqCqׁIG>4Й,23BgFAY}J@}J@y}JVR}JO}JH@P<+@7f? Jo? @Sʿ ?`߯C?)~J@ ~J`;I~J Cɫ髙) IYy)õ= õ=Y-QU5>99a=#H9AyEF}E>IQUE 5?Uܾ U ? e1@9UgAU: U :)QWWX XWX:W2W*WVbUBU*UUU`l@BB BA*BAAAA"C*CRCCC} }}} }P:Y}W1y}č:}6IG-,>a 9a Ie Fie a?a a a e ; e E,Й,'PMBgFAɫ髙) IY?yFp=ɮp=  m m m m@ u@ u@iiiiii i)iIiii;Ma#Hy}>Iș :ŝE 5? :ŝܾ Ɲz? 1@9ƝhAǝ: ȝ:)ȝ:WWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA*BAAAA"C!*C!RC)C)C1i=mGII)M@AIYiyIyٺiAG>GЙ,fBgFAY}6@}6@y}6>\}6 }6H`S`&oɵ?`zc?@lɿQ?W@o>?)~6@ ~6 ];I~6 Cɫyy)y yIyY ?yHFZ****** received transponder code query ******F****** received ping request ******a#Hy箺}>IșŝE 5?ŝܾ Ɲ&? 1@9Ɲ$hAǝ/: ȝQ:)șWWX XWX:W2W*WVbUBU*UUUi @u uuu uq:YuV1yu:u6BB BA*BAAAA"C*CRCCCסIGA>2Й,ӀBgFAY}nk@}n%@y}n `}ni}nH@X`j% ͸?`l?@@#ɿ3?`A:?)~nk@ ~n!\;I~lɫ) IY?y>FxDUSBL response received:!U1,P 502,000,002AF,189,80,80,BD,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 AA U U U U@ U@ U@QQQiQQ Q)QIQiQ<M9=YQU > a#HyA}>I! -:%E 5? -:%ܾ %Σ? 51@9%/hA%: %R:)%:WWX XWX:W2W*WVbUBU*UUUள @9IXFi?; kEBB BAG*BAAAA"C*CRCCC)I1GM>XЙ,BgFAY}:@}:1@y}:e}:hQ|}:Hk,`E?z?6`Ykȿw?n`2?)~:@ ~:_;I~:Cɫ99)9 AIAY}?y}ZFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ImR=)mC=9;Ml=YxQU?a#Hyڀ}?IE 5?ܾ ? 1@97hA=: :)W)W)X) X)W)X1:W12W1*W1V1bU9BU9*U9U9UE@T!@BqBq BqAu;*BqAyAyAyAy"C*CRCCCiim=  `:YDW1yY:W6)>;9IG (>Й,}zBgFAɫ髙) IY\?yFxDUSBL response received:!U1,R,502,000,002B0,18A,80,80,C5,FF Fpublishing direction and range infoɰqa=> )ECIyq@w?amf-ٱ wD<M Y=Y QU>a#HHy%}%>I) -:-E 5? 5:-aܾ -D? 51@9-@hA-: -o:)-:WWX XWX:W2W*WVbUBU*UU U  @R(Combining 5 samples.P*Qq@ZQE5j?.\Ux3 JQw?amf-2Q:QbQJ@¶K @TXP?RQx~9 9 CI Fi 1? = ;D OD ;  rE kЙ,;VBgFAY}V@}Vo*@y}Vz}V%}VH@'hs^N1?R[?w@t~ο@?@>쮿d?)~V@ ~V|^;I~V Cɫ髹) IY?yFeTNmea in: $SNTTA,0.035336,,,,230234.43*43 ) > >    @ @ @i )Ii=M0=Y5QU>a#Hy s}>IE 5?8ܾ ? 1@9LhA: Y:)mEmAdded new target pos. range: 3.779998 m, bearing: 57.220272 deg, deltaT: 4.432151 s, approachRate: 0.013537 m/s, LOS rate: -0.202624 deg/s, posRepo size: 4XAWE?WAXA XIWIXI:WI2WI*WQVQbUQBUQ*UQU]o=@U]s? ~~ :YT1y@:i6);BB BA*BAAA A "C?RCC?C9IIGeU>Й,T7BgFAY}2@}2@y}2z}2?D}2H`?@@R?s?`Y7п ?@{?)~2@ ~2J8];I~2Cɫ99)9 9I9Yu'?y}ώF J +?~jt?~jtx?H=D= ;)IyMbP?{GzV-:ף … DA)…ZLAI…+Ai…>A"Ma=Y .QU>a#Hy}>IF 5?ܾ ? 1@9ohAH: <:)WWX XWX:W2W*WVbUBU*U U U ?BB BA*BAAAA"C*C RC C C IޥAA)ޥBAI G%,>|Й, CgFAY}:-@}:gI@y}:F!t}:}:H`?@?ο߿@)Ͽ@]:?`Ķ?)~:-@ ~:\;I~: Cɫ99)9 9I9Y}x?y}a#Hy}>I :F 5? :pܾ _? 1@9hA; ;):WW!X! X!W!X!:W)2W)*W1V1bU1BU9*U9U9UEv?BB  B A *B A AAA"C*CRCCC!?  v:YT1y:W69@!I)GM1>ܩ9ܩIܭFiܭE?ܭ=ܩܭPDܭ; ݭEêЙ,CgFAY}6@}63-@y}6Go}6;ս}6Hy @FN?? z߿пz?`⹿4?)~6@ ~6\;I~6 CɫQQ)Q QIQY?yXF M M M @ @ @ÁÁÁiÁÁ ā)āIāiāMJ=Y@a#Hy(}>IȱŵG 5?ŵܾ Ƶ ? 1@9ƵhAǵԳ: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUUD?B!B) B)A-l*B)A)A)A)A1"C1*C9RC9C9C9AIIGm>$Й,5CgFAY}NM@}N|i@y}N>/m}N}NH%4~? ?m߿uп`8b?o?)~NM@ ~N_O`;I~Lɫ髙) IY#?yjFIeC=)e=   % %@ %@ %@!!!i!! !)!I!i!5 ;M5A=Y5";QU=>99a=#H9AyM%<}M>IQ ]:UG 5? ]:U۾ U? e1@9UhAUW: U:)U:WWX XWX:W2W*WVbUBU*UUU3K@BB BAe*BAAAA"C*CRCCCޡiޥ=  m:YU1y:6׹I Ge4>ٝ ]Aٝ ]Aܥ >9ܥ CIܥ `Fiܥ @ܥ =ܥ :Dܡ ܥ ; ݥ E)1I5Ci115=5x5Й,OCgFAY}2a@}2}@y}2vl}2z⵽}2HO.@٥??m@sο`N???)~2a@ ~2$@`;I~0ɫYY)Y YIYY?yF=Q=M=\=Y=:QU=>AAaE#HAIyMR;}M>IQU+H 5?U:۾ Uk? e1@9U iAUE: Us:)QWWX XWX:W2W*WVbUBU*UUU A@BB BAɄ*BAAAA"C*CRCCCבIG='Й,lxiCgFAY}:'2@}:M@y}:@5l}:ua}:H`"?@?P,ը̿`C? Px?)~:'2@ ~:a^;I~:Cɫ99)9 9I9Y}N?y}F鮉ɮ=T㥛 ?=Y 0O:QU >a#Hy%Wۻ}->I1 =:5H 5? E:52۾ 5#? M1@95[iA5'; 5 ';)5:WWX X W X:W2W*WVbUBU*UUU%`]@RuB*** querying acoustic contact ***PqPq  /:YV1y:6BB BAZ*BAAAA"C*CRCCCIGj>Й,rSCgFAY}6 @}6 @y}6md}6L}6H`ښ=? ?`+@˿'Q?@ +?)~6 @ ~63];I~6 C>JFailed to close latch before timeout.q >>Hardware FaultYB?yB FFZ****** received transponder code query ******FF****** received ping request ******Fa#Hy%'}>I I 5?C۾ ĝ? 1@9iA; W;)W)W)X) X)W)X9:WA2WA*WAVAbUABUI*UIUqUu @BB BA*BAAAA"C *C RC C CIޭ@A)ޭAAI-$@Hardware Fault in component: DDMG )>I9IIIiIIIIM; MECi% NmGI= /aAiQ ٺ /aA OAzЙ,0CgFAbPowering down`ɪ`)` `Y-$?y5F=xDUSBL response received:!U1,P 502,000,002B0,18A,80,80,C5,FF =Command AckEBRequesting micromodem ping code 2iAA]Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  GM=YQU> ~~k #:YT1y@:a#H36);9UQye}e>Iq :uI 5? :u۾ u? 1@9ujAupN; uj;)u:W9W9X9 X9WAXA:WA2WI*WqVqbUqBUy*UyUU{@B B  B) A- *B) A) A) A1 A1 "C1 *C9 RC9 C9 C9 I Iq G >JЙ, CgFAY~?y~F%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }=i}a=    @ @ @ @i )IiM=YQU5?a#HHy}4?IșŝI 5?ŝV۾ Ɲ? 1@9Ɲ3jAǝ: ȝ÷:)șWWX XWX:W2W*WVbUBU*UUU I 9I II iI I I I M ; M ElЙ,CgFAY}:@}:@y}:H}:.}:H`???߿iʿ?gmE?)~:@ ~:09b;I~: CYFn?yFFJxDUSBL response received:!U1,R,502,000,002AF,189,80,80,C7,FF JFpublishing direction and range infoDDɰFa=F7> D)FGCIDyFn@Fw?amf-ٱD^<M~_=Y2=QU>a #H  y-}>IHJ 5?~۾ ? E1@9tjA: :)WWX XWX:W2W*WVbUBU*UUU@@R(Combining 5 samples.P*Qn@ZQo$?7U JQw?amf-2Q:QbQcRDm@\%d1@t?RQyg?8w "?80yi?BQ^w? QA@QC@PPP9?PQQd@"Q @BB BA*BAAAA"C*CRCCC I$-NClearing failed state for component DDMq -G5 >ޡiޥ=;  :YX1y/: 6)4;E1Й,CgFAY}6n@}66@y}6E}6㖽}6H@E߿ǽ?@V?m߿ɿ~?~6R?)~6n@ ~6c;I~6CYN?yRF:v?y&1?J +?T=`e< H=)IyMbpMb`?a#Hy}>I  :NJ 5? :۾ ? 1@9jAU: j:):mEqAdded new target pos. range: 3.720000 m, bearing: 55.453152 deg, deltaT: 4.408338 s, approachRate: -0.013610 m/s, LOS rate: -0.400859 deg/s, posRepo size: 4XAWE^w?WIXI XIWIXI:WI2WQ*WQVQbUQBUY*UYU] @U]?BB BAH*BAAAA"C4^z?RCC^w?CI1)1IIG%>&љ,9DgFAY?yFTNmea in: $SNTTA,,0.393299,,,230239.00*42 I)    @ @ @áááiáá ġ)ġIġiġ<M>=YQU>a#Hy}>ISJ 5?۾ ? 1@9jA: ~:)W!W!X! X)W)X1:W12W1*W1V9bU9BU9*UAUAUE '?BB B!A%'*B)A1A1A1A1"C=G{?*C9RC9C9CAP  rw:YU1y:69@9CIFi@; E!I1GM1>HCљ,dvDgFAY}6V@}6(r@y}6*}6U}6H`߿t7:?޿`ʿ;?`Ⱦ:R?)~6V@ ~6E`;I~6 CYN?yRKF XM%h=Y%=QU%>))a-#H)1y5S}5>I9 E:=SJ 5? E:=۾ =? M1@9=jA=: =b:)=:WiWiXq XqWqXq:Wq2Wq*WyVybUyBUy*UUU?BB BAi*BAAAA"Cmx?RCCCױIG=Iޡ)ޡom љ,Q8DgFAY}6v@}6t@y}69}6ѽ}6H@y ȭ=jG?u߿/ƿ`?`ܹt|?)~6v@ ~6_;I~6CYN?yRF    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ MB=Y8=QU>a#Hy;}>IȹŽUJ 5?Ž۾ ƽO? 1@9ƽjAǽ˵: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU@?BIBI BQAU*BQAQAQAYAY"Cey?*CaRCiCiCq׍?i׍?YIiG=  q:YV1y:6 >9 I Fi E? = OD ; ETљ, +RDgFAY}6@}6 @y}61 }6}6HD x?b1?j@>Ŀ?B?)~6@ ~6^;I~6 CYZn?yZF]`M]O=Yezaiam#Hiiyu<}u>Iȱ :ŵXJ 5? :ŵ0۾ Ƶ? 1@9ƵjAǵ[: ȵV:)ȵ:WWX XWX:W2W*WVbUBU*UUU@%@B)B) B)A-*B)A1A1A1A1"C=^w?*C9RCACACA׉IG=4љ,lDgFAY}:k@}:@y}:*}:}:H1 @O?M=?3a?p9?)~:k@ ~:\;I~: CYF?yFFI p=) 4=NbX9?/$)\(E>, Ga)IyZd;O?Mb`~jt?j<< •;A)•UAI•E4Ai•]AHA<ME=YO[:QU>a#Hyۻ}>I J 5?۾ $? e1@9jA"< ?<)WWX XWX:W2W*WVbUBU*UUU@BYBY BYA]H*BYAaAaAaAa"C*CRCCCީiޭp=  &:YWU1y:r6ׁIG=>Eg!љ,DgFAYnt?yr%Fva=ɮva= m m m m@ m@ m@iiiiii i)iIiiif<MM=YQU>a#Hy}>IȱŵI 5?ŵg۾ Ƶ? 1@9ƵjAǵ; ȵ;)ȱWWX XWX:W2W*WVbUBU*UUU8@R B*** querying acoustic contact ***P P B)B) B)A-*B1AAAA"C*CRCCCI)IG>ܑ9ܑIܕFiܕ1?ܕ=ܑܑܕ; ݕE)%CI!i!!%=%4'љ,a#Hy8}>I  :hI 5?  :۾ ?  1@9kA: :):W1W1X1 X1W1X9:W92W9*W9V9bUABUA*UAUAUM) @ByB BA9*BAAAA"C*CRCCCIIYG}> || p:YR1yi: 6-љ,1DgFAY}6@}6@y}6}6R}6H6@DKN?T?`0`׾?,@g?)~6@ ~6)y[;I~6CYN*?yRFVxDUSBL response received:!U1,P 502,000,002AF,189,80,80,C7,FF VCommand AckVBRequesting micromodem ping code 2iTT^Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 xx    @ @ @ùùùiùù Ĺ)ĹIĹiĹE ;ME6=YM[a#HHyZ}>I I 5?۾ ? 1@9.kAn; ;)WQWQXQ XQWQXY:WY2WY*WYVYbUaBUaIޭAA)ޭ@A*UaUU @BB B A #*BAAAA"C)*C1RC1C1C9YIqG]>܍ >9܍ CI܍ XFi܍ ?܉ ܉ ܍ PD܍ ; ݍ |E4љ,uDgFAY~$?y~FAAMNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B imGI`Ai<4]ٿٺ]`A]AMec=YeQUe>iiam#Hiqyu}}>Iy :}H 5? :}-۾ }? 1@9}LkA}: }Y:)}:WWX XWX:W2W*WVbUBU*UUU F@BABA BAAE*BAAIAIAYAY"Ca*CaRCaCiCi  :YT1y:`6) ;9IG&>w:љ,3ODgFAY}6k@}6w@y}6Ÿ⽙}62n}6H d0v?*?o@ؿ-E?{"?)~6k@ ~6n[;I~6 C>Powering up>"Initializing DDM.Y5 ?y5 FExDUSBL response received:!U1,R,502,000,002AE,189,80,80,B9,FF EFpublishing direction and range info99ɰ=`=9 9)=9CI9y==j@=w?amf-ٱ9'1ZԿK7A`?X9vТ> )IyV-? rh??m=C<L= ?A)JAI?9Ai+WAFA%M%F=Y-)1a5#H19y=g<}=>IAEIG 5?Ei۾ E? M1@9EkAE= E=)AWWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q=j@ZQs:@?apuV JQw?amf-2Q:QbQɕ%C?_"b@Ոx?RQB(k?Ӧ?Bd?BQk}? QC@Q?PO9?PPQQ@"Qd@BB BA*BAAAA"C*CRCCCסIGA>Aљ,3EgFAY-L?y-oFDNmea in: $SNTTA,,,,,230243.27*5F I >)%=    @ @ @i )Ii 3=MK=YQU>a#H!y%}%>I) 5:-E 5? 5:-۾ -`? =1@9-lA-: -:)-:mmmAdded new target pos. range: 3.660000 m, bearing: 56.832785 deg, deltaT: 4.511980 s, approachRate: -0.013298 m/s, LOS rate: 0.305771 deg/s, posRepo size: 4XiWmk}?WiXi XqWqXq:Wq2Wq*WyVybUyBUy*UyUG @U~?BB BAZ*BAAAA"Cd|?RCCk}?CI9MCIMFiM?M=IMODM; MEޥ=iޡIG$>%S%%% %A:Y%X1y%/:%6)%~;Gљ, !EgFAY}6H@}6c@y}6/Ὑ}6J6}6H@z ~l@_?4?m@@!-?+?)~6H@ ~6&[;I~6 CY^?y^F]3̼M]W=Y]L~:QUe>aaae#HaiymI}u>Iy}eD 5?}۾ }? 1@9}ZlA}: }:)yW!W!X! X!W!X):W)2W)*W)V)bUQBUQ*UQUQU]?BB BA*BAAAA"CT|?*CRCCC IG > Nљ,:EgFAY}6@}6@y}6}6h-}6H-T@ !?N?̗\?t?)~6@ ~6Z;I~6CYZ?yZpFI) u u u u@ }@ }@qqqiqq q)qIqiq MG=YmQU>a#Hy~l<}>Iȩ :ŭB 5? :ŭ۾ ƭ? 1@9ƭlAǭj: ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUUjA?BB BAƒ*BAAAA"Ck}?*CRCCCױIG>% %}%}% %:Y%kS1y%Ԋ:%)69-@) 9) I- 8Fi- ?) ) ) - ; - ETљ,fTEgFAY}6@}6@y}6˚}6VF}6H` F ?%?l?/?)~6@ ~6PZ;I~6 CYN?yR(F ]2'MeM=YeTQUe>iiam#Hiiyu<}u>Iy}nA 5?}Y۾ }ն? 1@9}mA}@: }ӻ:)yWWX XWX:W2W*WVbUBU*UUU ?BB BAG*BAAAA"C*CRCCC IG5=Iޥ@A)ޡ[љ,nEgFAY}6̹@}6U@y}6}6U}6HP S@? ?`Tc߉?灪 ?)~6̹@ ~6KZ;I~6 CY^g?ybF+η?K7AQ?v=  \=)Iy~jt?a#H!y5λ}=>IIM@ 5?M۾ Mݶ? U1@9MSmAM: M:)IWyWyXy XyWyXy:W2W*WVbUBU*UUU'?BB BA*BAAAA"C*CRCCQCaם?iם?I U> UUU Uv:YUW1yUč:U`6G;>bљ,0EgFAY}F@}F@y}F}F }FHNec?@|@7¿@< ?PJ?)~F@ ~FPZ;I~FCYR?yV̒F m m m m@ m@ m@iiiiii i)iIiii}٘;MS=YQU>a#H)y5;}5>I9 E:=> 5? E:=۾ =ض? E1@9=mA=: =V:)=:WWX XWX:W2W*WVbUBU*UUU@BABA BAAE*BaAiAiAiAi"Cq*CqRCqCqCy9IiN; ԔEׁIG>-hљ,nMEgFAY}:@}:3@y}:g-}:ν}:H`; O?6@Ŀ@п? '?)~:@ ~:jZ;I~8YJ?yJ)FHɮHIV=)V=^aM^X=Y^E;QUb>``ab#H`dyfV;<}j>Ihj= 5?j۾ rtI j˶? r2@9jmAj: jd:)hWW X  X W X :W 2W *WVbUBU*UUU =@R-B*** querying acoustic contact ***P)P)BIBI BIAM*BQAQAQAQAQ"CY*CYRCaCaCa1IyG=ޭ=iޭ=J  v:YWU1y:6Ynљ,-EgFAY}6(@}6C@y}6}6nƩ}6Hf7w? ¿`~@? Φ?)~6(@ ~6Z;I~4YN,?yNFRZ****** received transponder code query ******RF****** received ping request ******RIIaM#HMHQy};}}>Iȁ :Ņe< 5? :Ņ"۾ ƅĶ? 2@9ƅ nADž(: ȅ:)ȅ:W)WQXY XYWYXa:Wi2W*WVbUBU*UUU`' @BiBq BqAu"*BqAqAqAyAy"Cy*CRCCCI׹)׽\AׁIG> 9 I ȖFi ? ; E)aIaiae=e=e4Auљ, EgFAY?yF%xDUSBL response received:!U1,P 502,000,002AE,189,80,80,B9,FF %Command Ack%BRequesting micromodem ping code 2i!!5Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  % % %@ %@ %@!!!i!! !)!I!i!R'M(=YQU>)a5#H19yM}M>IY]: 5?]a۾ ]? 2@9]YnA]; ];)YWIWIXI XIWIXI:WQ2WQ  ~:YW1yč:6)Z;9*WVbUBU*UUUW @ByBy ByA}K*ByAAAA"C*CRCCCשIG>i{љ,EgFAY}6,@}6@y}6"}6}6H I`Q}??W/&T?ız?)~6,@ ~6\;I~6 CY^p?ybrF``rNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B qqEMb@Mb@Mb@EE E)EIAyE~jtl?:vEļE=ET Eiiam#Hiqyua˼}}?Iy :}3: 5? :}۾ }M? 2@9}nA}.: }:)}:WWX XWX:W2W*WVbUBU*U!U!U%`@BB BA*BAAAA"C*CRCCCIީ)ޭ?AIG$>Qљ, FgFAY~?y~)FxDUSBL response received:!U1,R,502,000,002AE,189,80,80,C1,FF  Fpublishing direction and range infoɰ )ACIyw?amf-ٱ-R"M5`=Y5QU5>99a=#H9AyU}>Iy9 5?۾ ?  2@9nA: k:)WIWIXI XIWIXQ:Wq2Wq*WqVybUyBUy*UyUyU`@R(Combining 5 samples.P*QZQs:@?apuV JQw?amf-2Q:QbQr?u`3@Ï?RQ+bY?KHE?4ij?BQ~? QC@Q?PPO9?PQQ@"Q@BB  B A *B A1A1A1A1"C9*C9RC9C9CAy9yIyiy}=yy}; }E׽?i׽?בIG]3>C  Ls:YU1y:)6)n;i]}nGIqiֿٺhA&љ,<#FgFAY}z@}z@y}z$}zʑ}zHtqf{?@?6/gǿƁ?u?)~z@ ~z\;I~z CY?y%FTNmea in: $SNTTA,0.038724,,,,230247.73*4E    @ @ @i )Ii ]ͻM ==Y"QU>a#HyM}%>I) :-8 5? :-g۾ -~? 2@9- oA-p< -<)-:m%iAdded new target pos. range: 3.660000 m, bearing: 57.061395 deg, deltaT: 4.398255 s, approachRate: 0.000000 m/s, LOS rate: 0.051977 deg/s, posRepo size: 4X!W%~?WIXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UYUYUeYO?BB BAń*BAAAA"C~?*CRCC~?CIG(>љ,ip=FgFAY}6B@}6^@y}6}6 }6H^~U?`; ?`ǿ@?D |z?)~6B@ ~6X\;I~6 CYB?yFFIu=)u%=ɖ:MP=YVa#Hy}>I$8 5?۾ ? 2@9DoA: :)WWX X W X :W 2W *WVbUBU*UUU:?BABI BIAM„*BIAIAIAIAQ"CY*CYRCYCYCa1I9G]=ޭ=iޭp=  r:YV1y:69@m ^Am \Aq 9q Iq iq u =q q u ; u EXљ,MWFgFAY}6B@}6@y}6!}6z}6H 7a9?J?]`>tƿ,?bH0?)~6B@ ~6ՠ[;I~6 CYR=?yRFiMF=Y QU5>AAaE#HAIyM<}U>Iy}m7 5?}۾ }j? 2@9}oA}: }b:)yWWX XWX:W2W*WVbUBU*UUUy?B)BQ BQAU*BQAQAYAYAY"Ca*CaRCaCaCiiIqG>ෛљ,c&qFgFAY}:@}:,@y}:/Q)}:a}:H ۮ`F튤?W?PEſ ~?Ϋ?)~:@ ~:[;I~:CYF?yJ!FQI +u 94)Iy rh?MbQ?C<u< ¡)¥SAI¥5Ai¥^AHA 5 5 5 =@ =@ =@111i11 1)1I1i1M߼MM7=YUQUU>YYa]#HYYyeM<}e>Ii u:m`7 5? u:mc۾ mk? }2@9moAmY: m:)m:WWX XWX:W2W*WVbU BU *U UU?BB BA*BAAAA"C*CRCCCIGG>=M === =5w:Y=T1y=:=6Ÿљ,FgFAY}2"@}2I>@y}2P6}2Ձ}2Hq9 `v?`F? lJſ?@qz?)~2"@ ~2Q\;I~2 CYR?yVŏF 鿉<Mg=YQU>a#HyQN;}>IX7 5?۾ ;? 2@9oA=: :)WWX  X W X :W 2W *WVbUBU*UUUg@BIBI BIAM@*BIAQAQAQA"C*CRCCC9IFia?; E)I1GM>IޥAA)ޥAAɨљ,ܤFgFAY}6@}6e@y}6 C}6wՉ}6H`Z৫??OxEɿ;? 簿@Y?)~6@ ~6N*];I~6CYR?yRZFiML=YxQU>a#Hy}>Iȹ :ŽM7 5? :Ž۾ ƽ-? 2@9ƽoAǽ: Ƚs:)Ƚ:WWX XWX:W2W*WVbUBU*UUU4@B)B) B)A-;*B)A1A1A1A1"C9*C9RC9CACA1I9G]=}\ }}}  }gx:Y}WU1y}:} 6љ,_FgFAY}N@}N$@y}N;}N`}NH2 ̣?+ ?@!ȿQ?*ȯf?)~N@ ~Nz[;I~LY?yFɮp=4=i    @ @ @ i? ?)K?I?iK?XM6=Y a #H Hy( }>IșŝB7 5?ŝQ۾ ƝD? 2@9ƝoAǝ: ȝ:)șWWX XWX:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PPByB BA~*BAAAA"C*CRCCCI G%M> 9 I i     ;  Eܵљ,FgFAY}NY@}N@y}N6>:}NV}NH{߿@ǯ`{?`?߿`hPǿ&?`Mm?)~NY@ ~N[[;I~N CYZ?yZZF^Z****** received transponder code query ******^F****** received ping request ******^}-H߿``?@'?߿ucƿ B?Hi?)~-%+@ ~-E3\;I~)YE?yEьFMxDUSBL response received:!U1,P 502,000,002AE,189,80,80,C1,FF MCommand AckMBRequesting micromodem ping code 2iQQ]Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 U +?Q뱿J +?Uv>U\ UH=)QIQyUA)U(RAIU0AiUndAQUpIA U u u u@ u@ u@ u@qqqiuq u)uIuiurJM=YQU>a#Hy}>I8 5?N۾ ]? 2@9EpA; U;)WaWaXi XiWX:W2W*WVbUBU*UUU//@BB BAs*BAAAA"C*CRCCCI)]AIG>љ,J] GgFAY}>@}>u@y}>4U}>zY(}>H I߿`(?@?C߿Rǿhu?@N?)~>@ ~>\;I~>CYJ?yJ"FLN?AbNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B u|}=Mu=Y}QU}%?yya#Hyc|}'?Iȑ :ŕy8 5? :ŕ۾ ƕ ? 2@9ƕepAǕ: ȕR:)ȕ:WWX XWX:W2W*WVbUBU*UUU` @BB BAܱ9ܱIܵȖFiܵ?ܵ=ܱܵPDܵ; ݵE)AIAiAAAE4*BAAAA"C*CRCCCI G% > xxt b:Y7P1y:*6);Mљ,%&GgFAY}6@}6 @y}6_}6 }6H`޿`pܳ?@%?`;߿ Cʿ?? r8?)~6@ ~6K\;I~6CYB?yBFFxDUSBL response received:!U1,R,502,000,002AF,18A,80,80,BA,FF FFpublishing direction and range infoDDɰFa=F> D)F:CIDyFn@Fw?amf-ٱD TTZ>&M^X=Y~,QU~>a#H y n} >I9 5?s۾ ? %2@9pA: :)WaWaXi XiWiXi:Wi2Wi*WqVqbUqBUq*UUU@R(Combining 5 samples.P*Qn@ZQo$?7U JQw?amf-2Q:QbQr]G@ӻ q@J~?RQS9[??%aDY?BQOt? Q@@Q@PPPQQ8@"Q@B!B! B)A-h*B)A)A)A)A)"C1*C9RC9C9C91I9G]=Iޥ@A)ޡ1Bљ,?GgFAY~?y~ьF    @ @ @ñññiññ ı)ıIıiıJM:=YQU>a#Hy}>I9 5?۾ ? 2@9pA: :)m%mAdded new target pos. range: 3.720000 m, bearing: 54.679797 deg, deltaT: 4.410400 s, approachRate: 0.013604 m/s, LOS rate: -0.539996 deg/s, posRepo size: 4X!W%Ot?W!X! X!W)X):W)2W)*W)V1bU1BU1*U9U= @U=?BaBa BiAms*BiAiAiAiAq"CuBy?RCyC}Ot?CyQIaG=ܱ9ܱIܵFiܵa?ܵ=ܵ;DܵODܵb; ݵVEi nGI) iA m ܿٺi m A*љ,YGgFAY}6Mg@}6ւ@y}6~=X}6⪽}6H ݿAГ?v?@ݿ`,̿@_?`ܴ'.?)~6Mg@ ~6\;I~6 CYN?yRF/h;M%V=Y%Z))a-#H))y5>}5>I9 E:=[: 5? E:=d۾ =? M2@9=pA=s: =^:)=:WiWiXi XiWiXq:Wq2Wq*WVbUBU*UUU@(?B B  B A h*B AA1A1A1"C=Ot?RC9C9CA1I9G]= M g:YT1y: 6);Vљ,sGgFAYqyqIp=)=|?5^?J +I +?=Ƚ 9<)Iy~jtx{Gzt?Ļף; …bBA)…~PAI…G/Ai…kAKA    @ @ @i )IiYQU>a#Hy}>I  x: 5? ۾ ? 2@9 qA : Ǻ:) W9W9X9 X9WAXA:WA2WA*WIVIbUQBUQ*UQUQU]F?BB BA*BA A A A "C*CRCCCޥ=iޥ=!I1G]3><љ,␍GgFAY}6d@}6@y}6~Z}6ȸ}6HUݿo0? ?^ܿ5Ϳ ,?@`W&?)~6d@ ~6U\;I~4YBV?yBvF=4M=aiam#HiiyuS}u>Iy}: 5?}۾ }L? 2@9}qA}I: }:)yWWX XWX:W2W*WVbUBU*UUU-@BB BAo*BAAAA"C*CRCCCIG=Nљ,GGgFAY}6S.@}6I@y}6_j}6q?}6H@kܿQ:?@?`ܿփ̿m?R;!?)~6S.@ ~6\;I~4YR8?yRdF   U U U U@ ]@ ]@QQQiQQ Q)QIQiQmcmMmI=Ym/QUm>qqau#HuHyp}>I  :: 5?  :۾ |? 2@9%qA[: 0:):WqWqXq XqWqXy:Wy2Wy*WyVybUBU*UUUo@BB BA*BAAAA "C*CRCCC)I1GU>IޥAA)ޡ  n:YWU1y:69@ܱ9ܱIܵFiܵ1?ܱܱܱܵ; ݵE7xљ,"GgFAY}:KI@}:d@y}:pk}:d؂}:H`ܿ`sL? ?ۿ`ںͿN;?Bӯ>?)~:KI@ ~:٣\;I~8YFV?yJvFHɮJa=Z;MZW=Y^aQU^>``ab#H``yf}f>Ihj: 5?j۾ j? n2@9j0qAj: jM:)hWWX XWX:W 2W *W V bUBU*UUUx@R%B*** querying acoustic contact ***P!P!BABI BIAM*BIAIAIAQAQ"CQ*CYRCYCYCau?iu?QIaG=љ,7GgFAY}2@}2@y}2fm}2/н}2H /ۿXʆ??ۿ@Ͽ@i?@}H?)~2@ ~2:\;I~0YB?yB5FFZ****** received transponder code query ******FF****** received ping request ******Fa#Hy } >I :; 5? :۾ &? %2@9dqAA: :):WAWAXA XIWIXI:WQ2WQ*WQVQbUYBUY*UYUYUeM @BB BAJ*BAAAA"C*CRCCCׁIyye YP1y':6G>-ҙ,HgFAY}6@}6@y}6xk}6w߽}6HFۿl?@?ڿPп,?$?)~6@ ~6۠\;I~4Y^V?y^vFbxDUSBL response received:!U1,P 502,000,002AF,18A,80,80,BA,FF fCommand AckfBRequesting micromodem ping code 2iddjNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)ּMb=Y;QU>!)a5#Hi9iIiiiiiim; m Ey}>I9=1; 5?=g۾ =? }2@9=qA=< =<)9WW X  X W X :W2W*WVbUBU*UUU@ @BB BA*BAAAA"C*CRCCCޭ=iޭ=IG J>I ҙ,ٳ(HgFAY~?y~eF%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B MJ=YQU>a#Hy}>IV; 5?۾ #? 2@9qAR: I:)WWX X W X :W 2W *WVbUBU*UUU R7@BB BAo*BAAAA"C*CRCCCI ) IG- > N g:YDW1yY: 6(ҙ,BHgFAY}6@}6(@y}6Mq}6蒂}6H=ܿf%?/?"ܿ Fοu?E j ?)~6@ ~6S\;I~6CY^m?ybIFfxDUSBL response received:!U1,R,502,000,002AE,189,80,80,BF,FF fFpublishing direction and range info``ɰb`=b7> `)b?CI`yb=j@bw?amf-ٱ`    @ @ @i )Ii5<MF=YbQU>  a #H y5<}=>IA M:Ev; 5? U:E۾ E? u2@9EqAE; EC;)E:WWX XWX:W2W*WVbUBU*UUU @R=(Combining 5 samples.PA*QE=j@ZQEs:@?apuV JQEw?amf-2QA:QAbQEr[@C-t9@IZMx?RQEk,?u^n"?(_/?BQEf? QEI5@QE@PEP9?PAPEQAQE(@"QE8@BB BA*BAAAA"C*CRCCCIG (>Y9YI]Fi]v?]=YY]; ]E)݉I݉i݉ݍ=ݍ=ݍ4Oҙ,v\HgFAY}N^@}N@y}Nq}NAO}NH,Xܿ p?@T?'qܿƒͿ?g-w?)~N^@ ~N֡\;I~NCYZ?y^/FDNmea in: $SNTTA,,,,,230256.61*59 11MQ=YbQU>11a5#H19y=;}E>IIM; 5?M)۾ M۠? }2@9MrAM@ = M<)IIޡ)ޥ@A z h:YU1y:6);9mqAdded new target pos. range: 3.660000 m, bearing: 51.605300 deg, deltaT: 4.495693 s, approachRate: -0.013346 m/s, LOS rate: -0.683876 deg/s, posRepo size: 4XWf?WX XWX:W2W*WV!bU!BU!*U!U-G @U- ?BqBq BqAu*ByAAAA"Cl?RCCf?CױIGe>ҙ, GvHgFAY}:@}:G@y}:Fu}:RgX}:Hxܿ`???@ܿ@uοf?@C`z ?)~:@ ~:];I~: CYJ ?yJoFCl?{Gz?)\(?;=ף< Ga=)Iy{Gzt{Gzy&1|ף#` d=A)TAIG/AifnALA   m m@ m@ m@iiiiii i)iIiii};M}==Y QU>a#HyB;}>Iș :ŝ< 5? :ŝ۾ Ɲ? 2@9ƝVrAǝ: ȝ:)ȝ:WWX XWX:W2W*WVbUBU*UUUu?B B  BAk*BAAAA"Cf?RCC!C! IG5 >I#ҙ,d HgFAY}6@}6-@y}6z}6`-}6Hwܿ@ޤD?֘?Oۿ DTп@1?@,O?)~6@ ~6\;I~6 CYv?yvSFmMZ=Y >QU>a#Hy=:}>IȹŽ> 5?Ž~۾ ƽT? 2@9ƽrAǽ: Ƚ^:)ȹWWX XWX:W2W*WV9I Fi?=; $EbUBU*UUU?BABI BIAMv*BIAIAIAIAQ"C*CRCCC!%CinmGI/aAiԿٺ/aA>AiIqG>  jg:YV1y: 6)*;W*ҙ,;HgFAY}6E@}6Ξ@y}6~}6V}6H ܿ۶?L?@ۿ)п?h?)~6E@ ~6\;I~4YB?yB9FIvR=)vC=M%S=Y%fDQU%>))a-#H))y5}}5>Iȡ :ťZ? 5? :ť'۾ ƥ? 2@9ƥrAǥ: ȥq:)ȥ:WWX XWX:W2W*WVbUBU*UUU](?BB BA*BA!A!A!A!"C)*C)RC)C)C11I9G]=ޡiޡ0ҙ,HgFAY~g?y F    @  @  @i )Ii%<M%;=Y%QU->))a5#H5H9y=}E>IIM@ 5?M۾ Mɟ? ]2@9MsAM[; M;)IWWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"C*CRCCCIG >  r:YW1yč:69@9IFi1?=; Eb7ҙ,HgFAf`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ  )  I YMu?yMFUp=ɮUp= ףp= a#Hy}>Iȩ :ŭB 5? :ŭ۾ ƭ ? 2@9ƭusAǭ: ȭ :)ȭ:WWX XWX:W2W!*W!V!bU!BU)*U)U)U- &(@R5B*** querying acoustic contact ***P9P9BB BA*BAAAA"C)*C1RC1CqCiIyG>>=ҙ,HgFAY}6v@}6@y}6c z}6n1T}6H%Bۿ`` p?Q? Uۿmο %?͹Q?)~6v@ ~6[;I~4ɫ99)9 9I9Y}m?y}IFZ****** received transponder code query ******F****** received ping request ******c&Dҙ,gIgFAY}6i@}6@y}6t}6k}6H5ۿ Հ?p?-ۿ%oοP?h ?)~6i@ ~6[;I~6Cɫ99)9 9I9ܡ9ܡIܡiܡܡܥ:Dܡܥ; ݥޓEY?yFxDUSBL response received:!U1,P 502,000,002AE,189,80,80,BF,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )Ii5M5 =Y5"99a=#H9aym<}m>IquOE 5?u۾ uD? }2@9usAu: uǸ;)qWWX XWX:W2W*WVbUBU*UUUT @BiBq BqAu*BqAAAA"C*CRCCCU?iU?QIYG>|PJҙ,B+IgFAY}6g @}6'@y}6=y}6;M}6HDڿ A?p?`ڿ οt?@b?)~6g @ ~6߁[;I~6 Cɫ99)9 9IAY}?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5݄=M==Y=QU=?AAaE#HAIyM}M?IQ ]:U\F 5? ]:U۾ U6? e2@9U0tAU : Up:)U:WWX XWX:W2W*WVbU)BU1*U1U1U5{ @BB BA*BAAAA"C*CRCCC׉IG  v:YX1y/:E6G >W8Qҙ, EIgFAY}6|@}6@y}6q}6Z}6Hڿ D? ? ۿ`g`οP$?4 2?)~6|@ ~6U\;I~6Cɫ99)A AIAY?yFxDUSBL response received:!U1,R,502,000,002AE,189,80,80,BC,FF Fpublishing direction and range infoɰ )a#H!y-l}->I15G 5?5۾ 5? =2@95stA5: 5:)1WaWaXa XaWaXa:Wi2Wi*WiVibUiBUq*UqUqU}@k@R(Combining 5 samples.P*QZQs:@?apuV JQw?amf-2Q:QbQ\(@ȌW@~^&X?RQZ+\C?8 7k?˦ ?BQ`? Q2@QP@PPP9?PQQ1@"Q(@BB BA*BAAAA"C*CRCCCשIG>ޭ=iޭp=ܡ9ܥCIܥFiܥv?ܥ=ܡܥPDܥq; ݥדEicWҙ,&^IgFAY}~5@}~@y}~}~d}~HGڿ i? /?@ڿ`aϿ a?K?)~~5@ ~~\;I~~Cɫ) IYi?yF5DNmea in: $SNTTA,,,,,230300.68*52 Q뱿w/Ŀ:v?\& T=)IyMbp?X9v:v;}T @A)(RAI-AiQLA u u u u@ u@ u@qqqiqq q)qIqiqM(=Y`QU>a#Hy}>@  +v:Y[1yH:6);9Iȹ :ŽI 5? :Ž۾ ƽ͕? 2@9ƽtAǽw: Ƚ:)Ƚ:mmAdded new target pos. range: 3.660000 m, bearing: 50.315507 deg, deltaT: 4.016303 s, approachRate: 0.000000 m/s, LOS rate: -0.321139 deg/s, posRepo size: 4XW`?WX X W X :W 2W *WVbUBU*UUU??BB BAӆ*BAAAA"C`?RCC`?C׹IGf>]ҙ,xIgFAY}6N@}6Bj@y}6ǀ}6V}6H` )ڿ%Z?@?`,7ڿ`ϿL?`N?)~6N@ ~6n_;I~6 Cɫ99)9 9I9Y}?y}F+<M|=Yϸtdҙ,կIgFAY}6@}6@y}61z}6p }6H _ڿM?@1? 2ڿϿ`?]k?)~6@ ~6ij;I~6Cɫ99)9 9IAM>9MCIMxFiM?IIIMZ; MʓE)ـIـiـ݀=݀=݀@5Y ?y -F 鿁?M@=Y9a#Hy+;}>I E:M 5? e:۾ l? m2@9uA < G<):WWX XWX:W2W*WVbUBU!*U)U1U5`D?Iީ)ޭ@A ] |:YDW1yY: 6)~;B)B) B)A-*B)A1A1A1A1"C9*C9RC9C9Ca9IIGeU>jҙ,슬IgFAY}:Yk@}:@y}:z}:Gq}:H`Mڿ@K! q,?b?<ڿ?Ͽ?@e>@?)~:Yk@ ~:5Zj;I~: Cɫ99)9 9I9Y}~?y},F U U U U@ U@ U@QQQiQQ Q)QIQiQe=MeP=YmQUm>iqau#HuHyy}I}}>IȁŅN 5?Ņ۾ ƅ!? 2@9ƅ.vADžp: ȅ:)ȁWWX XWX:W2W*WVbUBU*UUU?BB BAN*BAAAA"C!*C!RC!C)C))IQG>qҙ,fIgFAY}6!x@}6@y}6}6[}6H@Lڿ B??XڿϿh?؎?)~6!x@ ~6f;I~6Cɫyy)y yIY?yF    @ @ @ÑÑÑiÑÑ đ)đIđiđ%n=MF=Y掼QU>a#Hy :}>IP 5?۾ ? 2@9vAZ: :)WWX XWX:W2W*WVbUBU*UUUI@B1B1 B1A5*B9A9A9A9A9"CA*CARCACACI IGm>  :YX1y/:69@A9ECIEНFiEE@AAAE}; EݓEi=mGIU`Aiyٺ`AAwҙ,&RIgFAY}:@}:9@y}: ?}:y}:H ڿ` >?@b?`[ڿSп?`ﳿ?)~:@ ~:'c;I~: Cɫyy)y IY?y;FIu=)u=%x&1?%t= %;)!I!y%L7A`?Mb{Gz%+=%%ף %?A)%SQAI%,Ai%qA!%LAĒ=ME@=YM۷QUM>IIaU#HQQy]Y<}]>Ia m:eZP 5? m:e۾ e#? m2@9evAe: e:)e:WWX XWX:W2W*WVbUBU*UUUα@BB BA*BAAAA"C*CRCCCޥ=iޥ=שIG(>}ҙ,zIgFAY}2@}2@y}2y|}2۽}2H<ۿ`.? d?elڿп@=? ?)~2@ ~2yN`;I~2Cɫ99)9 9I9Yi?y3Fɮ % % % %@ %@ %@ %!!!i% ?! %?)%?I%?i%?5M5^=Y=39AaE#HAAyMV<}M>IQU"P 5?UL۾ U? ]2@9UwAUb: U:)QWWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCI)IG>  ~:Y0Y1y:6„ҙ,^JgFAY}6 @}6@y}6t}6Z'ӽ}6H@Tۿ'? ?+ڿ`|kп@H? r#?)~6 @ ~6c;I~6Cz>9zCIzFiz@xxxz; z Eɫ99)9 9I9Y?yFZ****** received transponder code query ******F****** received ping request ******a#Hy 7<} >Iȑ :ŕO 5? :ŕo۾ ƕ? 2@9ƕZwAǕk: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU  @BaBa BaAmń*BiAAAA"C*CRCCCשIG!>ҙ,-JgFAY}6;@}6ĸ@y}6~mq}6ѽ}6HbGܿ`? j?Mۿ7пO? >k ?)~6;@ ~6 `;I~6CɫYY)Y YIYY&?yDFxDUSBL response received:!U1,P 502,000,002AE,189,80,80,BC,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 5!<M=F=YM;QUU>aia#H y5h<}=>IquO 5?u۾ u{?  2@9uwAux< u¢<)qIޱ)޵AAH ^ v:Yd\1y: 6WWX XWX:W2W*WVbUBU*UU!U%2 @BB BA*BAAAA"C*CRCCCIGEs>֑ҙ,GJgFAY}F@}F@y}F$i}FP }FHܿ`ga#HyD<}>Iȱ :ŵWO 5? :ŵ۾ Ƶ? 2@9ƵwAǵ: ȵ:)ȵ:WWX XWiXi:Wi2Wi*WqVqbUqBUq*UyUyU}I@BB BAm*BAAAA"C*CRCCC?i?IG$>>9I(Fi,@; Eҙ,ͯaJgFAY}u@}u@y}uz^}uOy}uH`7ܿ`N w?@? qmܿ̿?@y/1?)~u@ ~u\;I~uCɫaa)a aIaY7?y'FxDUSBL response received:!U1,R,502,000,002AF,189,80,80,CA,FF Fpublishing direction and range infoɰa=鰡 )JCIyn@w?amf-ٱUMb?/$?~jt?U>U> U<)QIQyUqya}#Hyyr}>IȉōQO 5?ōk۾ ƍ? 2@9ƍwAǍ< ȍ<)ȉ  :YW1yč:6)?;9WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qn@ZQo$?7U JQw?amf-2Q:QbQN% h"@;/@i{H?RQx1?0l?G?BQM2h? Qy9@Q@PPPQQ@"Q1@BB BA*BAAAA"C*CRCCCשIGd>+ҙ,n{JgFAY}j@}j.@y}jcT}jj}jHPܿ`F`j?'?@ܿ`ʿ@i? 峬B?)~j@ ~j7 \;I~jCɫ) IYM?yUӔFDNmea in: $SNTTA,,,,,230305.12*5A Ip=)4=    @ @ @i )Ii-\=M-O=Y511a=#H99yE<}E>II U:MKO 5? U:M ۾ M? U3@9MxAM: M:)M:miAdded new target pos. range: 3.720000 m, bearing: 51.968276 deg, deltaT: 4.530904 s, approachRate: 0.013242 m/s, LOS rate: 0.364777 deg/s, posRepo size: 4XWM2h?WX XWX:W2W*WVbUBU*UU @U'?BB BA2*BAAAA"Cd?RCCM2h?Cޥ=iޥp=IG(>ҙ,%?JgFAY}6@}6@y}6J}6N}6Hܿ@ ?G?ܿSɿ1?M@U?)~6@ ~6N[_;I~6CD9DIFFiF@F=DDF; F1Eɫyy)y yIyY?yʔFuMuW=Y}*ya#HyZл}>IȑŕFO 5?ŕ۾ ƕ}? 3@9ƕxAǕs: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUUe?ByB BA5*BAAAA"CM2h?RCCCI)ש  :YDW1yY:6);IG$>:ҙ,PJgFAɫ)))) )I)Ym{?ymdF E E E E@ E@ E@AAAiAA A)AIAiAUR'=MU$=Y]QU]>YYae#HeHaym}m>Iq }:u?O 5? }:us۾ u\? }3@9u6xAu: u :)u:WWX XWX:W2W*WVbUBU*UUU`ͬ?BB BA*BAAAA"C*CRCCCIG5q>$ҙ,JgFAY}>Q@}>zm@y}>̿2}>}>H KBݿTt8? pܿ|#ʿ@:?@߻ R?)~>Q@ ~>^;I~> CɫYY)Y YIYY?yܔF e]Me=Yeۜ=QUe?iiam#Hiqyu<}}?Iy}.O 5?}7۾ }? 3@9}GxA}s: }':)yWWX XWX:W2W*WVbUBU*UUU`?BB BA.*BAAAA"C*CRCCC IIGm>Iޡ)ޥBA  Ls:YW1yč:W69@܅>9܁I܅(Fi܅,@܅=܁܅OD܅o; ݅]E)Ii==_4Qҙ,JgFAY}eQ@}eNm@y}e #}e}eH{Tݿ@pN?Pܿ@xǿ!g? !t?)~eQ@ ~el];I~e Cɫ)))) )I)Ya?yF:v?+ǿl?T=v> =)IyMb?:v rh?=TC< d=A)(RAIG/AindAHA<M6=Y =QU>a#Hy÷}>IN 5?۾ "? 3@9xA8: :)WWX XWX:W2W*WVbUBU*UUU @BB  B A Ղ*B A AAA"C9*C9RC9C9CAU?iU?1I9G]U>wҙ,JgFAY}6z@}6@y}6iK}6F;}6H?ݿdT?a#HyC;}>Iș :ŝM 5? :ŝ۾ Ɲe? 3@9ƝyAǝE: ȝ:)ȝ:WWXI XIWIXQ:WQ2WQ*WQVYbUYBUY*UYUYUe@@BB BA*BAAAA"C*CRCCC  {{] ;o:Y#R1y: 6IG)>bҙ, KgFA9IFi@; uE$$iRpGI\id~ٺ|~JAU?9UAY}@}2@y}<}n}Hݿ ZMZ??ݿ`̢ÿBP?&~?)~@ ~.6\;I~Cޥ=iޥ=ɫ) IY=h?y=FAɮAIU%=)U%=e<Me#=Ym5iiiau#Hqqy}m2<}}>IȁŅ2M 5?Ņ۾ ƅ? 3@9ƅyADžs: ȅ':)ȁWWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BAT*BAAAA"C*C RC C C I)GEs>ҙ,a0KgFAY}2]@}2y@y}2( }2;}2H Y޿@g,P2`?@?7޿1ÿWp?7?)~2]@ ~2za`;I~2Cɫaa)a iIiY?yFZ****** received transponder code query ******F****** received ping request ******pҙ,=JKgFAY}6@}6+@y}6}6ꃪ}6H@]޿\y ?`?I޿~ÿ@?R?)~6@ ~6_;I~6 Cɫyy)y yIyY?yFxDUSBL response received:!U1,P 502,000,002AF,189,80,80,CA,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -1M-g=Y=RQYae#Hay<} >I15L 5?5l۾ 5? E3@95MzA5; 5 ;)1WWX XWX:W2W*WVbUBU*UUU  @BIBQ BQAUÂ*BQAQAYAYAY"Ca*CaRCaCaCi191I5@Fi5?1115; 5fEYIGh>ҙ,X9dKgFAY}n=@}n@y}n7}n꡽}nH޿@ N?`޿ ¿`?z?)~n=@ ~nE^];I~nCɫ) IY-l?y-[F9=AANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 4Nmea in: 0.20.0.39330*70 Response from modem failed NMEA checksum: 0.20.0.39330*70 expected 0]rh|?y&1S㥛?]=]`e ]/<)YIYy] rhˡE?a#Hy;}>Iޙ)ޙ  Dp:YT1y:6);9I :J 5? :t۾ \? 3@9zAM: 4:):WAWAXA XAWAXI:WI2WI*WIVIbUqBUq*UqUyU}`4@BB BA*BAAAA"C*CRCCC1IaG>ҙ,#}KgFAɫyy)y yIyY?yFxDUSBL response received:!U1,R,502,000,002AF,189,80,80,C2,FF Fpublishing direction and range infoɰ鰡 )BCIyw?amf-ٱ        @  @  @   i   ) I i V<Mm=YQU?a#Hy}>I!J 5?5۾ ? 3@9zA=: :)WAWIXI XIWIXQ:WQ2WY*WYVYbUYBUa*UaUaUe@R(Combining 5 samples.P*QZQo$?7U JQw?amf-2Q:QbQkmR%@$-@I1?RQE]0p?_r2?ldL?BQ{s? QG@@Q. @PPPQQ^@"Q@B)B) B)A-n*B)A1A1A1A1"C9*C9RC9C9CAyi}?aIqG:>% >9! I% Fi% v?% =! ! % ; % tE=ҙ,SϗKgFAY}6@}6@y}6ƽ}6:}6H߿`, ?V߿`t?dF?)~6@ ~68\;I~6 Cɫyy)y yIyY?yF5ܼM=S=Y==QU=>AAaE#HAAyM=}M>IQU7I 5?U۾ U&? ]3@9U8{AU: U:)QmiAdded new target pos. range: 3.720000 m, bearing: 54.494350 deg, deltaT: 4.395783 s, approachRate: 0.000000 m/s, LOS rate: 0.574658 deg/s, posRepo size: 4X W {s?W X  X W X:W2W*WVbUBU*UUU%ൠ?BIBI BQAUÂ*BQAQAQAQAY"C]l?RCaCe{s?CaiIqG>/  t:Yy26);6ҙ,ҩKgFAY}%i@}%@y}%c}%ߌ}%H $т|?+qi?|@V?)~%i@ ~%#0_;I~%Cɫ11)1 9I9YuC?yuFI=)=)= = e e e e@ e@ e@aaaiaa a)aIaiau M}8=Y}a#HHyɐ<}>Iȑ :ŕ1H 5? :ŕ ۾ ƕ? 3@9ƕ{AǕ: ȕ=:)ȕ:WWX XWX:W2W*WVbUBU*UUUc?BB BA݂*BA!A!A!A!"C-{s?RC)C)C1ީiީIG)>ҙ,KgFAY}6@}6u@y}6}6L2Q}6H@:_~M}q?T? J`A?[?)~6@ ~6`;I~4ɫ99)9 9I9Yut?y}%FMe=Y QU>  a #H  y%<}>IfG 5?۾ h? %3@9{AR: ÷:)WIWIXI XIWIXQ:WQ2WQ*WQVYbUYBUY*UYUaUeલ?BB BA*BAAAA"C*CRCCCiIyG= ||{ ii:YR1yi:69@9IXFi?;Dt; `Eҙ,qrKgFAY}B@}B-@y}B^ؽ}BULۼ}BHP@ ?Q?R?hA`4?)~B@ ~B^;I~@ɫQQ)Q QIQY?yFZd;OʡEMb?j >)IyZd;O?T㥛 ?a#Hy=M}>I  :E 5?  :,۾ q? 3@9K|A: :):W1W1X1 X1W9X9:W92W9*W9VAbUABUA*UIUIUMŧ?BqBy ByA}Â*ByAyAyAA"C*CRCCCI G%,>ҙ, a#Hy<}>IB 5?۾ ?? 3@9|Aϸ: :)W W X  X W X :W2W*WVbUBU*UUU-@BIBI BIAUL*BQAQAQAQAQ"CY*CYRCaCaCaiIyG>Iީ)ޭ@A  :YT1y:E6 >9 I Fi ? :D B; EE)YIYiY]=]=]D4ә,LgFAY}6L@}6դ@y}63}6}ս}6Hr@vQ疤.?T)@. ?T?)~6L@ ~69R\;I~6 CɫYY)Y YIYY,?yF=M=S=Y==QUE>AAaE#HAIyMj+<}M>IQ ]:U@ 5? e:U۾ U? e3@9U%}AU^: U:)U:WWX XWX:W2W*WVbUBU*UUU@BB BA"*BAIAIAIAQ"CQ*CYRCYCYCYIIQG}>& ә,2LgFAY}6@}60@y}6}6'}6HSB@7?@dj@W? .J`?)~6@ ~64[;I~6Cɫ99)9 9I9Yu?y}gFyɮ}=k<MO=Y2a#Hy} >I  l> 5? *۾ ? 3@9 }A A: :) W9W9XA XAWAXA:WA2WA*WIVIbUIBUI*UQUQU]oD@ReB*** querying acoustic contact ***PaPaBB BAƃ*BAAAA"C*CRCCC׉IG=R  w:YU1y:61 ә,LLgFAY}:k@}:@y}:֜}:0r}:H`I ?4x?8' ?`?)~:k@ ~:Eu`;I~: Cɫ99)9 9I9Y}?y}̒FZ****** received transponder code query ******F****** received ping request ******     @  @  @   i   ) I i =<M=7=Y=QUE>AAaE#HAIyuW<}u>Iy :}; 5? :}۾ }? 3@9}~A}0: }:)}:WWX XWX:W2W*WVbUBU*UUUU @BIBI BIAU*BQAQAQAQAQ"CY*CYRCaCaCIi9iIm8Fim?m=m;Dim; mEinGIi$ٺAI GER>A7ә,nfLgFAɫyy)y yIyYg?yFxDUSBL response received:!U1,P 502,000,002AF,189,80,80,C2,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76   }:YWU1y:6);9eDl?y&1:v?eO=e`e eT=)aIayeI +?a#Hy}>IN< 5?۾ 7? 3@94~Aʽ: :)W9WYXa XaWaXa:Wa2Wa*WiVibUqBUq*UUU@ @BB BA*BAAAA"C*CRCCCI)IG>) ә,LgFAY}6vR@}6m@y}6˽}6}6H@S@" ?x?@wRh?Y?)~6vR@ ~6:/_;I~6CɫYY)Y YIYYz?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M=Y.QU?a#Hy%<}?I< 5?۾ @? 3@9L~A: :)W W X  X W X:W2W*WVbUBU*UUU%@BYBY BaAeO*BaAaAiAiAi"Cq*CyRCyCyCiIqG>q 9q Iu Fiu ?u =u :Dq u K; u JEKI&ә,]LgFAY}6@}60@y}6ɽ}6}6HC`?@ԽI'?` 0?)~6@ ~6bm];I~4ɫII)I IIIY}&?y}DFxDUSBL response received:!U1,R,502,000,002AE,189,80,80,B5,FF Fpublishing direction and range infoɰ`=鰁 )5CIy=j@w?amf-ٱ 鿙¥]A¡ m m m m@ m@ m@iiiiii i)iIiiiM8=Yh;QU>a #H  yP+<}>I %:< 5? %:p۾ ʨ? %3@9n~A: :):WWX XWX:W2W*W5  Ku:YT1y:6)';VbUBU*UUUu@R(Combining 5 samples.P*Q=j@ZQs:@?apuV JQw?amf-2Q:QbQZ?`@HA?RQ}>v?@?dQj?BQ1w? QE@Q\?PO9?PPQQT @"Q^@BB BA*BAAAA"C*CRCCCיIGb>~y,ә,zRLgFAY}j@}jw@y}jo}j9}jH@: i 6? g ? y?)~j@ ~ju\;I~hɫ髹) IY?yFUTNmea in: $SNTTA,0.056426,,,,230314.01*45 LMb=Ya#HHy:}>I0= 5?۾ ? 3@9~A': U:)mmAdded new target pos. range: 3.660000 m, bearing: 57.951812 deg, deltaT: 4.488959 s, approachRate: -0.013366 m/s, LOS rate: 0.770215 deg/s, posRepo size: 4XW1w?W X  X W X :W 2W*WVbUBU*UUG @U ?B B  B A Ʉ*B AAAA"Cw?RC9C=1w?CA1IAG]3>G[3ә,LgFAY}>Yf@}>@y}>}>߷}>H  F?0 ?_a?)~>Yf@ ~>Vm_;I~>Cɫ99)9 9I9Y}z?y}F=4=M=R=YED;QUE>AAaM#HIIyUJ}U>IY e:]}= 5? e:]۾ ]f? e3@9]~A]: ]=:)]:WWX XWX:W2W*WVbUBU*UUU(F?BB BAO*BAAAA"Cx9?RCCCIG>  xo:YX1y/:69@ 9 I i     i; ZEɅ9ә,LgFAY}2~@}2@y}2ý}2; d}2HG p?`j?@u? &\ ?)~2~@ ~2#b;I~2Cɫ99)9 9I9Y}e?y}ΐFIC=)C=/$)\(?i|?5?G= q=)Iy{Gz{Gzy&1|?##`;  õ>    @ @ @i )Ii M >=YiRQU>a#Hy%z\;}%>I)-> 5?-y۾ -? =3@9-~A-; -;))WYWYXY XYWYXa:Wa2Wa*WaVabUiBUi*UqUqUu?BB BAԄ*BAAAA"C{L?RCCC׉IG>m@ә,MgFAY}6@}6Z@y}6̽}6T}6H!@IIaM#HIQyUE<}]>IY e:]? 5? m:]۾ ]ǫ? m3@9]0A]: ]E:)]:WWX XWX:W2W*WVbUBU*UUU2?BB BAф*BAAAA"C|?*CRCCC } }:Yy 6IG$> 9 I i W; QEFә,+MgFAY}> @}>7' @y}>N̽}>6}>H= )T?`?` ~?߯@M?)~> @ ~><];I~> CɫYY)Y YIYY?yFU;M]I=Y]):QU]>aaae#Haaym$<}m>Iqu@ 5?u۾ u? }3@9uuAu˵: u=:)qWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C?*CRCCCiIqG>Lә,À5MgFAY}>!@}>%= @y}>sϽ}>}>HKFt`??z(? x?)~>!@ ~>P\;I~>Cɫ99)9 9I9Y}V?y}ĐF ))5^A5]A } } } }@ }@ }@ }yyyi}?y }v?)}v?I}v?i}v?;"MG=YQU>a#Hy U;}>IȩŭA 5?ŭm۾ ƭ&? 3@9ƭAǭq: ȭ :)ȩWWX XWX:W2W*WVbUBU*UUU[@BB! B!A%؄*B!A!A!A)A)"C51w?*C1RC1C1C9IIQGm>l  y:YV1y:6cSә,[OMgFAY}6-@}69I @y}6,Խ}6҄}6HgJ`([?? *1ty?@@?)~6-@ ~6r[;I~4ɫ) IY?yŏFa=ɮp=MMM1=YMᑻQUU>QQaU#HQYy]:}e>Ii m:mB 5? u:m,۾ mZ? u3@9mAm|: m$:)m:WWX XWX:W2W*WV٭]A٭^Aܹ9ܹIܽFiܽ}?ܹܹܹܽU; ݽPE)AIAiAAAE4bUBU*UUU|@RB*** querying acoustic contact ***PPBB  B A @*B AAAA"C*CRCCC!5?i5?I)GEQ>Yә,;iMgFAY}6@}6 @y}6J޽}6,}6H S? [? y$b?@a?)~6@ ~6`;I~4ɫ99)9 9I9Y}?y}WFZ****** received transponder code query ******F****** received ping request ******Iae@ 5?eS۾ e0? 3@9e;Aex< eUx<)aWWX XWX:W2W!*W)V)bU)BU)*U)U1U5 @S  w:YDW1yY:6)8;9BB BA*BAAAA"C*CRCCC׹IGf>]`ә,MgFAY}6=@}6@y}6}6ik`}6H v?y?`?D֫?)~6=@ ~6l^;I~6Cɫ99)9 9I9Y?yqFxDUSBL response received:!U1,P 502,000,002AE,189,80,80,B5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)=)= =    @ @ @ %@i )IieKk=M0=YƼQU>a#HyF}>I := 5? :z۾ K? 3@9~A: {:):WWX XW!XA:WA2WA*WIVIbUIBUI*UIUQUU5& @BB BA**BAAAA"C*CRCCC׹IGk> i5 nGII ia ܱ 9ܱ Iܵ Fiܵ ?ܱ ܱ ܱ ܵ l; ݵ \E hٺ ASfә,MgFAY}:1@}:M @y}:}:(q}:H@>^ ?Nÿ͋?<z?)~:1@ ~:];I~: CɫQY)Y YIYY?yF@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B uliMup=YuqQU}?yya}#Hyy <}?Iȑŕ; 5?ŕ۾ ƕk? 3@9ƕAǕ: ȕ:)ȑWWX XWX:W2W*WVbUIBUQ*UYUaUe@BB BAɄ*BAAAA"C*CRCCC3 ~~ "u:YT1y@:E6);IG (>.mә,ζMgFAY}6@}6T @y}6z}6,Ͻ}6H` xq?@Ŀ?`y?)~6@ ~6ky];I~6Cɫ99)9 9I9Yu?y}FxDUSBL response received:!U1,R,502,000,002AE,18A,80,80,CB,FF Fpublishing direction and range infoyyɰy}> y)}KCIyyy}w?amf-ٱy    @ @ @éééiéé ĩ)ĩIĩiĩhME=YfQU>a#HHy><}>I :x9 5? :۾ ? 3@9Ak: E:):WWX XW!X):W2W*WVbUBU*UUUו@R(Combining 5 samples.P*QZQs:@?apuV JQw?amf-2Q:QbQU7p??!TA@u;-?RQ|9%Ui?ԭ=?.ŕ{?BQK? Q"F@QC?PPO9?PQQ@"QT @BYBY BYA]*BYAaAaAaAa"Ci*CiRCiCiCqyIG<>sә,3MgFAY}z@}z @y}zG}z9q}zH~~Pyx?q> KZĿۜ?@瑷@?)~z@ ~zc];I~z Cɫ) IY-?y5FDNmea in: $SNTTA,,,,,230318.46*57 鿩±µ^AMI=Y0QU>a#Hyꏻ}>I  7 5? ۾ ? %3@9 !A z%; ?;) mUiAdded new target pos. range: 3.660000 m, bearing: 58.770759 deg, deltaT: 4.404286 s, approachRate: 0.000000 m/s, LOS rate: 0.185943 deg/s, posRepo size: 4XYW]K?WYXY XYWYXa:Wa2Wa*WaVabUiBUi*UiUqUu?B1B9 B9A=*B9A9AAAAAAQ9QIUpFiUM?QQQU9; UAE"CK?RCCK?C  ~:YU1y:6)%;סIGA>!zә,Z~MgFAY}6}@}6 @y}6 }6}6Hns$i?:u?@;`ĿX?: @?)~6}@ ~6 [_;I~6CɫYY)Y YIYYc?yFMb@Mb@Mb@ )Iy:v?Mb?~jtx?T<<; µ:A)µRAIµ5AiµK[AGA;MJ=YoQU>a#H y  } >I :6 5? %:۾ z? %3@9.A8: A:):WaWiXi XiWiXi:Wq2Wq*WqVqbUqBUy*UyUyU}@s?BB BA*BAAAA"C*CRCqCqCIGE>_ ә,paNgFAY}JN@}J׬ @y}J}JVF}JH~Y@w5?u?&Ubÿ$?e?)~JN@ ~J`;I~JCɫYY)Y YIYY?y!F m m m m@ u@ u@iiiiii i)iIiii;MP=Y&QU>a#Hy}>Iȡť)6 5?ť۾ ƥٛ? 53@9ƥ9Aǥ< ȥ9<)ȡWqWqXq XyWyXy:Wy2Wy*WyVbUBU*UUUDJ?BB BA*BAAAA"C!*C)RC)C)C)  :YW1yč:69@!I)GE0>I 9I IM 8FiM ?I I I M ; M )E3ә,;5NgFAY}6M@}6Ni @y}6a#}6~}6H@87@4[?~? M`ÿ@aM?Q@?)~6M@ ~6f`;I~6Cɫ99)9 9I9Y?yXFIE=)E=)M= M=u<;MuK=Y}JQU}>ya#Hyj'}>IȹŽ5 5?Žf۾ ƽ@? 3@9ƽEAǽܹ: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU@d?BB BAl*BAAAA"C*CRCCCIG (>^ә, 8NgFAY}R{@}R @y}R1}R'}RH @'?`? ÿ?빤 h?)~R{@ ~R^;I~Pɫqy)y yIyY?yF    @ @ @ÑÑÑiÑÑ đ)đIđiđaMG=Yta#HyoU}>I :?5 5? :F۾ ? 3@9QA: :):WWX XWX:W2W*WVbUBU *U U U f?B9B9 B9A=*B9AAAAAAAA"CI*CIRCQCQCQ IGU>  |:YWU1y:N6?Fә,QNgFAY}6T@}6Lp@y}6&X}6 }6H)?}?Y¿?@?)~6T@ ~6j];I~6 Cɫ99)9 9I9Y}?y}F;MT=Y2!!a%#H!!y-Ѽ}->Iȩŭ4 5?ŭ$۾ ƭ ? 3@9ƭ]Aǭ: ȭ+:)ȩWWX XWX:W2W*WVbUBU*UUUC&@BB B!A%*B!A!A!A!A)"C)*C1RC1C1C19CIi=PD; E IG>pә,kNgFAY}F@}F@y}F@R}FpG}FH@M ? ?@ mÿv?@h"?)~F@ ~F\;I~FCɫYY)Y YIYY\?yF鮡ɮ= 鿱eV-?J +Mb`?em=eȽ e;)eIayeMb?~jt rhea5#H1AyMo}U>Iq :u65 5? :ut۾ uP? 3@9uxAu< ub<)u:WaWaXa XaWaX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***P| || :YR1yi:h!6PB B  B A *B AAAA"C*CRCCC!I G%N>&Yә,NgFAY}6@}6 @y}6q>,}60}6H`P2S?{? %@ƿm?b`2y?)~6@ ~6a;I~6Cɫ99)9 9I9Y}A?y}|FZ****** received transponder code query ******F****** received ping request ******  a#Hya;}>I!%5 5?%۾ %? m3@9%A%< %M<)!WWX XWX:W2W*WVbUBU*UUU @B)B1 B1A5]*B1A1A9A9A9"CA*CARCiCiCiaIiG8> 9 I Fi ? ; E)݉I݉i݉݉݉ݍ5ә,NgFAY}RB:@}RU@y}R:}R }RH` E`?@O?-xȿ /?oc?)~RB:@ ~R٠`;I~RCɫqy)y yIyYX?yPFxDUSBL response received:!U1,P 502,000,002AE,18A,80,80,CB,FF Command AckBRequesting micromodem ping code 2i=iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 3ML=YS QU->99a=#H9AyET<}M>Iy :}6 5? :}"۾ } ? 3@9}A}?; } ;)}:WWX XWX:W ~ s:YT1y:<6);92W*WVbUBU*UUU`` @BB BAׅ*BAAAA"C*CRCCCyIGa>ʭә,_NgFAY}2E@}2?a@y}2<}2ُ}2H@жG'?@?@ɿq?`ʵ +W?)~2E@ ~28^;I~2Cɫ19)9 9I9Yuz?yuǍFy}?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IR=)R=)å> å>    @ @ @i )Ii݈MI=YާQU>a #H H y:}>Ic6 5?~۾ u? %3@9ŁA: :)WWX XWX:W2W*WVbUBU*UUU(@BABI BIAM*BIAIAIAIAQ"CQ*CYRCYCYCYAIIGm5>ә,\:NgFAY}R:@}R/V@y}R3}Rbܬ}RH \Fp?F?`ȿ\?@`Ne?)~R:@ ~R\;I~RCɫqq)y yIyY?yFxDUSBL response received:!U1,R,502,000,002AE,189,80,80,BF,FF Fpublishing direction and range infoɰ7> )?CIyw?amf-ٱ^M]=Ya#Hy}>I i}nGIiٺtA : 6 5? : ۾ ? 3@9 ݁A " = / =) :ܑ9ܕCIܕȖFiܕ?ܕ=ܕ;DܕODܕ; ݕEWWX XWX:W2W*WVbUBU*U U U @R(Combining 5 samples.P*QZQs:@?apuV JQw?amf-2Q:QbQ9wa?E@ɮ?RQ3$";?cG̦>?O.OS?BQ~? Q/B@QC?PPPQQ@"Q@BqBq BqA}*ByAyAyAyAy"C*CRCCC {{ Oo:Y#R1y:6);Iי)ם]AׁIG=>0ә,NgFAY}6@}6 /@y}6W3}6Wb}6HuH??`ƿ M?ث]v?)~6@ ~6w\;I~4ɫYY)Y YIYY?yQFy&1A`"?K`eY= ^)Iy~jt{Gzt?{Gz?ף;#< •=>A)•TAI•2Ai•rdAJA    @ @ @i )Ii <M-=YW:QU>a#Hy }>IȹŽ7 5?Žr۾ ƽJ? 3@9ƽAǽ: Ƚ:)ȹmmAdded new target pos. range: 3.660000 m, bearing: 56.994954 deg, deltaT: 4.452161 s, approachRate: 0.000000 m/s, LOS rate: -0.398864 deg/s, posRepo size: 4XW~?WX XWX:W2W*WVbU BU *U U U R?B9B9 B9A=*B9AAAAAAAA"CM6?RCICM~?CQ9IIGeV>ә,OgFAY}R2@}RqN@y}RC}Ri5}RH` >`? ? ҆ǿ:?`SB`d?)~R2@ ~R@^;I~RCɫ髙) IYx?yF AAIIuNfMug=Y}&1QU}>ya#Hyѻ;}?Iȑŕ.7 5?ŕ۾ ƕ? 3@9ƕAǕ: ȕk:)ȑWWX XWX:W2W*WVbUBU*UUUt=?BB BAІ*BAAAA"C?*CRCCC  Nq:YV1y:)69@IG-,>ܑ 9ܑ Iܕ Fiܕ ?ܕ =ܑ ܑ ܕ ; ݕ E|ә, OgFAY}6o@}6@y}6eN}6+f}6H@1,yya}#Hyy}<}>Iȑ :ŕe7 5? :ŕJ۾ ƕך? 3@9ƕAǕ: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU ?BB BA׆*BA A A A "C~?*CRCCCׁIG>ә,:OgFAY}V/@}V@y}V4P}Vu}VH@'v2 ??D{?@ɿ?`H?)~V/@ ~V`;I~V Cɫyy)y yIyY?ynF    @ @ @ÑÑÑiÑÑ đ)đIđiđXMG=Y6QU>a#Hy}>I7 5?۾ #? 3@9$A: r:)WWX XWX:W2W*WVbUBU*UUUMH?B1B1 B1A5*B1A9A9A9A9"CA*CARCACACIIIQGm>  Dp:YU1y:6ә,lzTOgFAɫ髙) IY?yFIA)E=)M= M=<ML=YQU>a#Hy}>Iȡ :ť7 5? :ť8۾ ƥm? 4@9ƥ6Aǥ: ȥ:)ȥ:WWX XWX:W2W*WVbUBU*UUU`?BB BA*BAA!A!A!"C)*C)RC)999I=ȖFi=?==99=; =ECICQIIQG>)ә,^nOgFAY}JP>@}JY @y}JQS}Jmt}JH r"? G?`&̿`71?؉ (2?)~JP>@ ~J\;I~JCɫ髑) IY?y&Fx&?S㥛?Mb?7=/< @=)IyMb{Gz?Mb?ף<< ?A)SQAI0AiliAfJA}MB=Y ֻQU >a#Hy&<}>I!%7 5?%"۾ %f? 54@9%WA%: %k:)!WQWQXQ XQWQXY:WY2WY*WYVYbUaBUa*UaUaUm5@BB BA*BAAAA"C*CRCCCz o af:YT1y:6IG%,>_ә,6OgFAY}F&@}FWB @y}FY}F}FH@ ~?E?@˿ ?'1?)~F&@ ~F\;I~F Cɫ髡) IY?yFɮa= = = = =@ =@ =@999i99 9)9I9i9M=MMW=YMQUU>QQaU#HYYy]w}e>Ii u:m7 5? u:m۾ m`? u4@9muAm: mV:)m:WWX XWX:W2W*WVbUBU*UUU?@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCIG >1 91 I1 i1 1 1 1 5 {; 5 ٓEә,OgFAɫ) IY5?y5܊F=Z****** received transponder code query ******=F****** received ping request ******=a#Hy}>I7 5?۾ [? 4@9A: :)WWX XWX:W 2W*WVbUBU*UUU_ @BABI BIAM?*BIAQAQAQAQ"CY*CYRCYCYCaaIqG>X S x:YxZ1yq: 6);9Hә,OgFAY}F߹@}Fh@y}FX}FN}FH4]? b?K2ɿ`? B] C?)~F߹@ ~F^;I~FCɫYY)Y YIYY2?y%FxDUSBL response received:!U1,P 502,000,002AE,189,80,80,BF,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 <M U=YS3:QU%>19aE#HEHy}>I :7 5? :۾ `? %4@9A; ;):WWX XW)X):W12W1*W9V9bUABUA*UiUqUu- @BBA BAAE!*BAAAAAAIAI"CQ*CQRCQCQCQ9IYGZ> 0ә,7OgFAY}^k@}^@y}^q^}^*}^HʩB3^?+o?@i~)ʿ@W?֤8?)~^k@ ~^D];I~^Cɫ髙) IY?yʊF@AmNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 9Ii=; E)iIiiim=m=m-5 M M M M@ M@ M@IIIiII I)IIIiI]X%M]6=YeHQUe>aaam#Hiiyu`9}u>Iy}7 5?}۾ }a? 4@9}ׂA}0: }:)yWWX) X)W)X):W)2W1*W1V1bU1BU1*U9U9U=@,@& P t:Y0Y1y:N 6);BB BAF*BAAAA"C*C!RC!C!C)!IQGh>Zә,$OgFAY}F1l@}F@y}FDh}F}FH`r ]Hz?_?xͿ@c? hѲ?)~F1l@ ~Fb\;I~FCɫYY)Y YIYY?yeFxDUSBL response received:!U1,R,502,000,002AD,189,80,80,BE,FF Fpublishing direction and range infoɰu`=鰡 )>CIyff@w?amf-ٱdNmea in: $SNTTA,0.004439,0.181483,,,230327.34*53 I=)Mb?Cl?:v?>;= T<)Iyy&1I +?I +`e94=94 @A)OAIr.Ai?A)M= M=]<M]K=Y]ʼQU]>aaae#Haiy~8}>Iȑŕ6 5?ŕe۾ ƕ}? 4@9ƕAǕ: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU@R-(Combining 5 samples.P)*Q-ff@ZQ-xP^B(?0B JQ-w?amf-2Q):Q)bQ-@,?]m@Y?RQ-G?fi?濋?BQ-}? Q-.>@Q-?P)P)P)Q)Q-4@"Q-@BB BA*BAAAA"C*CRCCCIGE>Fԙ,? PgFAɫ髱) IY?yFxMS=YQU>a#Hy}>I :5 5? :۾ ? 4@9A: :):m%qAdded new target pos. range: 3.599999 m, bearing: 56.807633 deg, deltaT: 4.445769 s, approachRate: -0.013496 m/s, LOS rate: -0.042135 deg/s, posRepo size: 4X)W-}?W)X) X)W)X1:W12W1*W1V1bU9BU9*U9U= @UE`P?BiBi BiAm7*BqAqAqAqAq"C}}?*CyRCyC}?C  n:YV1y:s69@׹I!G=/>inGIiMٺIM2A9IXFi?=;  Elԙ, V#PgFAY}6P@}6 @y}6[}6}6H_$??@eTR̿A?0j`,?)~6P@ ~6$a;I~4ɫ99)9 9I9Y]A?y].F` <MY=Y D =QU > a#Hy9}>I!%4 5?%۾ %Ԙ? -4@9%AA%': %:)!WQWQXQ XQWQXY:WY2WY*WYVYbUaBUa*UaUaUm<?BB BA*BAAAA"C*CRCCC׉IG=]ԙ,/=PgFAY}:u@}:@y}:S}:7k}:H5])A??pʿ"1?DZu>?)~:u@ ~:Z_;I~:Cɫ99)9 9I9Y ?yHF iiu]Au]A    @ @ @i )Ii;=M<=Y$a#Hy-Ⱥ}>I  : 3 5? : ۾ ? 4@9 iA =: :) :W9W9XA XAWAXA:WA2WA*WIVIbUIBUI*UQUQUU@?ByB BA*BAAAA"C *CRCCC }}1 :YkS1yԊ:6)I9G]3>~ԙ, WPgFAY}6F@}6a@y}6oQ}6d}6H` E9 ? ?Fʿ? 1h`D?)~6F@ ~6w];I~6CɫYY)Y YIYY?yF5M5W=Y=W;QU=>9AaE#HAAyMF<}M>qu]Ay9yI} Fi}?}=yy}; }EI2 5?C۾ ? 4@9Ab: +:)WW!X! X!W!X!:W!2W)*W)V)bU)BU1*U1U1U5Y?BYBa BaAeȆ*BaAaAiAiAi"Cq*CqRCqCqCyׁIG>ԙ,TpPgFAY}Bc@}BP@y}BAY}Bsr}BH p>Я?`%x?mʿ?@{9?)~Bc@ ~Bx\;I~BCJJFailed to close latch before timeout.q NNHardware FaultYr?yr5FMl?w/ĿˡE?M=M& M'=)IIIyML7A`? rhMb?M+=MCM< M?A)MSAIM1AiMjnAIMLA    @ @ @ éééií?é ĭA?)ĩIĭ?iĭK? =M4=YQU>a#Hy(;}>I :1 5? :۾ T? 4@9ǃA: H:):W W X  X W X:W2W*WVbUBU*UUU%{%@BIBI BIAUJ*BQAQAQAQAQ"CY*CYRCaCa# w s:YU1y:|6CI-$@Hardware Fault in component: DDMGF>"ԙ,ƊPgFAY}2D@}2Y`@y}2 qb}2xƽ}2H %Xh?@Xs?@YX@ο8?@*`?)~2D@ ~20\;I~2 C>Powering down<ɪ<)< =MM=YQU>a#Hy}>IȩŭT1 5?ŭ`۾ ƭ? 4@9ƭAǭܹ: ȭ+:)ȩWWX XWX:W2W*WVbUBU*UUU`T@BB BAh*BA!A!A!A!"C)*C)RC)C1C1ީiޭ=!I)GM0>q9qIuFiu1?u=u:Dqu; uEL(ԙ,RPgFAY}:N@}:@y}:SW}::}:H@h"x0?@?@ ο.?ӻ@u?)~:N@ ~:g\;I~:CY^'?ybώFbp=ɮbp=r*Mr=Yv =QUv ?xxa~#H|y qѼ}  ?I0 5?D۾ ? -4@9&A<; ;)WaWaXa XaWaXi:Wi2Wi*WqVqbUqBUq*UyUyU@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCIס)ץ\AqIyG== s u:YV1y:6);9.ԙ,vPgFAY}2@}2@y}2UB}2x}2Hb* ?[?Eɿ.?@ T?)~2@ ~2jU\;I~2CYB?yB"FFZ****** received transponder code query ******FF****** received ping request ******Faaae#HeHiymҼ}m>Iy }:}0 5? :}۾ }? 4@9}bA}: }s:)}:WWX XWX:W2W*WVbUBU*UUU @BABI BIAM*BIAiAiAqAq"Cq*CyRCyCyCyiIy$NClearing failed state for component DDMq G>b5ԙ,QPgFAY}6@}6@y}607}6LZ}6H/@͐qx?(?\*+ǿ ?M֪ Cq?)~6@ ~6x[;I~6 CY^m?y^FbxDUSBL response received:!U1,P 502,000,002AD,189,80,80,BE,FF fCommand AckfBRequesting micromodem ping code 2iddjNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %^A%^AEM=MU^=Ya #H 191I5Fi5v?115PD5; 5Ey}>IIMv/ 5?M1۾ Mڜ? e4@9MAM:; M 2;)IWWX XWX:W2W!*W!V!bU!BUI*UQUYUe# @;  u:YU1y:|6);BB BAR*BAAAA"C*CRCCCבIG>;ԙ,.PgFAY}% @}%'@y}%8}%b}%H i@K ?`l?F8ǿ?ɫn?)~% @ ~%6];I~%CYuE?yuFy}AANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B a#Hy=}>I :0 5? :۾ ? 4@9A: |:):WyWyX XWX:W2W*WVbUBU*UUU 7@B!B) B)A-*B)A)A1A1A1"C9*C9RC9C9Ca9IIGmV>Bԙ,0 QgFAY}6X@}6@y}6;}6ժf}6H@]i??@}OǿX?`U`i?)~6X@ ~6^;I~6CY^?y^FbxDUSBL response received:!U1,R,502,000,002B1,189,80,80,B0,FF fFpublishing direction and range info``ɰba=` `)b0CI`ybu@bw?amf-ٱ`vS7=Mv=Yz2QUz?||a~#H|yR}?I  f0 5? ۾ ? 4@9 A : :) W9W9X9 X9W9XA:WA2WA*WAVIbUIBUQ*UQUYU]h@R}(Combining 5 samples.P*Qu@ZQAKK?Oh JQw?amf-2Q:QbQZJ@bx @}?RQpUg?LV7?B?BQ"}? QK@Q@PPPQQ@"Q4@BB BA)*BAAAA"C*CRCCC)IG>  k:YDW1yY:69@9IFi1?OD; E)ݱIݱiݱݵ=ݵ=ݵ|e5 Iԙ,g%QgFAY}Z4x@}Z@y}ZX"8}Z3}ZH@Hdu¡?a?@IG ȿ?,'i?)~Z4x@ ~Z^;I~ZCYf?yfŏFETNmea in: $SNTTA,0.004958,,,,230331.75*42 IU4=)U4=)]> ]>лM@=Y a#Hy A}>Iȱ :ŵ0 5? :ŵq۾ ƵF? 4@9ƵDŽAǵw: ȵM:)ȵ:mmAdded new target pos. range: 3.839998 m, bearing: 56.737241 deg, deltaT: 4.356732 s, approachRate: 0.055087 m/s, LOS rate: -0.016157 deg/s, posRepo size: 4XW"}?WX XWX:W2W*WVbUBU*UU Q@U@'?B1B1 B1A5@*B1A9A9A9A9"CE"}?*CARCACm"}?CiaIiG>-2Oԙ,?QgFAY}|@}$@y})4-}v}H ncu&?`6?@w-)iȿ !?Ii?)~|@ ~E^;I~CY_?yF    @ @ @i )IiŻM6=Y  a #H y[:}>I)-y1 5?-(۾ -? =4@9-؄A-+; -,;))WiWqXq XqWqXq:Wy2Wy*WyVbUBU*UUU?BB BAV*BAAAA"C*CRCCC F r:YT1y:< 6IG)>i% mGI= /aAiQ Vԙ,ݚYQgFAY}6@}6;@y}6+"}6ƽ}6H F@i`B`?9ǿ@,?w`s?)~6@ ~6_;I~6CNۿٺN/aAN+AYV=?yVF}<M}f=Y#a#Hy.;}>9I Fi?=;D; EI :1 5? :۾ ? 4@9A: :):W!W!X! X)W)X):W)2W)*W1V1bUQBUQ*UQUYU]V?BB BA*BAAAA"C*CRCCCIG5 >L\ԙ,sQgFAY}j@}j@y}j}jV }jH/d[1?? =Zo"ƿ@t??)~j@ ~jd];I~jCYvP?yvF YYeK?I +y&1|e^=e94 e`)aIaye{Gz?MbQ?e#a#Hy]:}>Iȩŭ1 5?ŭ۾ ƭ? 4@9ƭAǭ: ȭϸ:)ȩWWX XWX:W2W!*W!V!bU!BU)*U)U)U-H?Iޙ)ޙ3  "u:YWU1y:6BB BAZ*BAAAA"C*CRCCCIGG>W,cԙ,3OQgFAY}:@}:@y}:r5$}:o}:HY`X? ?|ſ@0p?`2?)~:@ ~:\;I~:CYbt?ybאF]D=M]k=YesQUe?aaam#Hiiyuq;}u?Iy}2 5?}۾ }r? 4@9}A}: }:)yWWX XWX:W2W*WVbUBU*UUUE8@BB BAф*BAAAA"Cy*CyRCyCyCiIyG=ܹ9ܹIܹiܹܽ=ܹܹܽe; ݽϓE$Wiԙ,,-QgFAY}6@}69@y}6(@"}6t}6H) 4S4|?? @(ſ`R2??)~6@ ~6[;I~4YB?yBEF~=i~==M=L=YE;QUE>AAaM#HIIyU ;}U>IY e:]&2 5? e:]|۾ ]Q? e4@9]A]: ]I:)]:WWX XWX:W2W*WVbUBU*UUUk@BB BA *BAAAA"C*CRCCCI!G== l s:YyN6)9;9>pԙ,QgFAY}6}@}6@y}6l}64s}6HjO@Xm?A?=`ȑĿV?  ޑ?)~6}@ ~6[;I~6CY@y@@ɮBa=IN=)N=)R= R= v v v v@ v@ v@tttitt t)tItitY~\a#HH y :} >I=2 5?T۾ *? 4@9A^< ^<)WWX XWX:W2W*WVbUBU*UUUs@RB*** querying acoustic contact ***PPBABQ BQAQ*BYAYAYAYAY"Ca*CaRCaCiCi1IAGe=hvԙ,*QgFAY}6@}64@y}6k}6SϽ}6HxS`{`*?W .ǿgZ?쒹@]x?)~6@ ~62[;I~6C>Powering up>"Initializing DDM.Y?yCF%Z****** received transponder code query ******%F****** received ping request ******%IIaM#HIy}>I :K2 5?  :+۾ [? =4@9AK < :<):WaWaX XWX:W2W  p:YV1y: 6)(;*WAVAbUABUA*UIUIUM @BB BA<*BAAAA"C*CRCCCIGj>|ԙ,XQgFAY}6[@}6@y}6dG}6}6H '}C&? *jUɿ?`W?)~6[@ ~6[[;I~4YB?yBFFxDUSBL response received:!U1,P 502,000,002B1,189,80,80,B0,FF FCommand AckFBRequesting micromodem ping code 2iDHNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }~jt?(\¿I +?}=}z }9<)yIyy}a#Hyg;}>I)-1 5?-۾ -ͬ? 54@9-A-;: -:))WWX XWX:W2W*W!V!bU)BU)*U1UYU] []@BB BA*BAAAA"C*CRCCCIG%>zԙ,$RgFAY}6@}6I7@y}6}6m}6H `?@*?a`ǿ ?[x?)~6@ ~6[;I~6CYVc?yZFjNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B AAIM_A]M]=YeWa#HyN}>Ii/ 5? ۾ ? 4@9IA: Ǻ:)W!W!X! X)W)X):W)2W)*W1V1bUQBUQ*UYUYU]@@Rm(Combining 5 samples.Pi*Qmff@ZQmxP^B(?0B JQmw?amf-2Qi:QibQm6*?^:@zڙ?RQmgڷP?Hm>?r?BQm~? Qm@@QmW?PiPiPiQiQmA@"Qm@BB BAZ*BAAAA"C*CRCCCIG>Xԙ,UBRgFAY}N@}N-@y}Nf }NQ}NHŗ`P?? @? %?)~N@ ~N]\;I~NCYZ?yZ͑F%TNmea in: $SNTTA,0.074307,,,,230336.19*48 %4=i%4=    @ @ @i )Ii=M C=Y Ύ;QU >a#Hy}>I! -:%i. 5? -:%۾ %? 54@9%aA%/: %':)%:m}mAdded new target pos. range: 3.599999 m, bearing: 57.011210 deg, deltaT: 4.473815 s, approachRate: -0.053645 m/s, LOS rate: 0.061238 deg/s, posRepo size: 4XyW~?WX XWX:W2W*WVbUBU*UU @U0e?BqBq BqA}m*ByAyAyAyAy"C~?*CRCC~?C  }:YX1y/:6IG$>ԙ,(\RgFAY}:a#Hyw}>Ișŝ{- 5?ŝ۾ Ɲ? 4@9ƝxAǝ: ȝb:)șWWX XWX:W2W*WVbUBU*UUUE?B9BA BAAE *BIAqAyAyAy"C*CRCCCީiޭ=AIIGm5>ԙ,vRgFAY}BY@}B@y}B\ }BCkh}BHU<@=T?@:?K& ¿ h?@WĬϦ?)~BY@ ~BG[;I~BCYZ?y^OFeI +L7A`?Mb`?e94e+> e;)aIayeMb?{Gzte a #Hy%A}->I15}- 5?5۾ 5? E4@95A5: 5y:)1WyWX XWX:W2W*WVbUBU*UUU1?BB BAp*BiAqAqAqAq"Cy*C1  t:YT1y:r6RCCCIGI>ȣԙ,ޏRgFAY}6@}6&:@y}61}6}6H`߿?af?߿J%?뜿ح?)~6@ ~6^\;I~6CYN?yRFI)]ҼM]i=YeQUe>aaam#Hiiyu"}u?Iy :}- 5? :}۾ }? 4@9}A}|: }:)} :WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*CRCCC1IAG]=1=CiIiԿٺ >A9CI8Fi?=PD; Eԙ,ZRgFAY}2|@}2@y}2|}2}2Hc߿ V??`߿ Ȏ?v?)~2|@ ~2|\;I~0YBT?yBFtv]A%(<M%N=Y%))a-#H)1y5鬼}5>IAE- 5?EM۾ E? M4@9EAE: E:)AWiWiXi XqWqXq:Wq2Wq*WVbUBU*UUU @BIBI BIAU*BQAqAqAqAq"Cy*CyRCCCו?iו?iIG=I)?A=  u:YW1yč:);9ڰԙ,WRgFAY}:@}:8@y}:Ez }:B}:HCX߿???`}߿z?`j?)~:@ ~:pg\;I~:CYFr?yJF U U U U@ U@ U@QQQiQQ Q)QIQiQe;MmF=Ymx;QUm>qqau#HuHyy}T}}>Iȁ :Ņ- 5? :Ņ۾ ƅϮ? 4@9ƅADž9: ȅ:)ȅ :WWX XWX:W2W*WVbUBU*UUU=@BB BA*BAAAA"C*CRCCCIG>ԙ,LpRgFAY}6b@}6@y}6z}6]`4}6H }p߿@bW??`f`߿7¿ L? @R@?)~6b@ ~6\;I~6CT9TIVFiV?TTVODVi; VӓEY?yFR=i=5LM5N=Y=BQU=>AAaE#HAIy];}e>Iqu- 5?u۾ u? 4@9uAur: uj:)qWWX XWX:W2W*WVbUBU*UUUq@RB*** querying acoustic contact ***PPB)B1 B9A=*B9AAAIAIAQ"C*CRCCC)׉IG#>E EEE El:YEU1yE:E36)E;.ԙ,0KRgFAY}6@}6,@y}6}6Si}6H|߿-?`]?` ߿SĿJ?@{嬿4?)~6@ ~6r}[;I~4YNI?yRGFRZ****** received transponder code query ******VF****** received ping request ******V]/] ]94)YIYy]~jt?Zd;O m>}M}7=Y}ۼQU}>a#Hy$u<}>Iȑ :ŕ- 5? :ŕ۾ ƕŮ? 4@9ƕDžAǕ(: ȕ:)ȕ :WWX  X W X :W 2W)*W1V1bU1BU1*U9U9U=W @BB BAۅ*BAAAA"C*CRCCC=i=IG (>kԙ,5SgFA| i|"@Y?yF=xDUSBL response received:!U1,P 502,000,002AD,189,80,80,B5,FF =Command AckEBRequesting micromodem ping code 2iAAmNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )IiMxMM0=YUQUU>a#Hy}>I- 5?۾ ? 4@9A; ;)=M ===z =5w:Y=W1y=č:=69E@WyWX XWX:W2W*WVbUBU*UUU @BABA BIAM*BIAqAyAyAy"C*Cܩ9ܩIܩiܩܩܩܭPDܭ`; ݭΓERCCC)I9GU>@ԙ,+SgFAY}6.@}6@y}64}6Da}6H` ~? ?`=ƿey?@Lƫ`|t?)~6.@ ~69\;I~6CYN?yR=FbNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)eCF=Me=YmaQUu?a#H y[<}=?IAE- 5?E۾ E? 4@9EAEn< Egn<)AWWX XWX:W2W*WV bU BU *U1U1U5C@ByBy BAw*BAAAA"C*CRCCCשIG">(ԙ,DSgFAY}:,,@}:G@y}:":}:뽣}:H@=B`ӌg?\? Y ^ɿ;?6.^?)~:,,@ ~:*\;I~:CYF?yFFNxDUSBL response received:!U1,R,502,000,002AD,18A,80,80,B7,FF NFpublishing direction and range infoHHɰHJ> H)J7CIHyHJw?amf-ٱHZdNmea in: $SNTTA,0.005736,0.109785,,,230340.66*5D jyfMjT=YnZQUn>lpar#Hppyv<}v>Ix ~:z- 5? ~:z۾ z? 4@9z3Az: z:)z :W)W)X) X)W)X1:W12W1*W9V9bUABUA*UAUIUMܠ@Re(Combining 5 samples.Pa*QaZQexP^B(?0B JQew?amf-2Qa:QabQe,?n?zB@`+E?RQeGtY? Ia#Hy:}%>I9=- 5?=۾ =? U4@9=_A=; =:)9mmAdded new target pos. range: 3.599999 m, bearing: 56.023657 deg, deltaT: 4.410472 s, approachRate: 0.000000 m/s, LOS rate: -0.223911 deg/s, posRepo size: 4XWPz?WX XWX:W2W*WVbUBU*UUU {?BB BA*BAAAA"CPz?RCCPz?CAIIGm5>}ԙ,xSgFAY~?y~}F]p=i]4=^I +?Sۿ:vX9>ھ T)IyMbp?{Gz?y&1?;ף<`< ?A)/MAI0Ait_AFA M M M M@ M@ M@IIIiII I)IIIiIe0MeR=YeQUe>iiam#Hiqyu}}>Iy :} - 5? :}۾ }? 4@9}qA}: }4:)} :WWX X)W1X1:W12W1*W1V9bU9BU9*U9U9UE?BB BAŅ*BAAAA"C*CRCCCIG=.>  v:YW1yč:`6`fԙ,\tSgFAY}6@}6&@y}6O}6}6H ͦ`?C?߿@Aʿr?ϯ@H?)~6@ ~6\;I~6CY^v?y^bF]oM]\=Y](QUe>aaae#Haiym}m>Iqu}, 5?u۾ u0? 4@9uAu: u:)qW9W9X9 X9W9XA:WA2WA*WAVAbUIBUI*UIUIUU?ByBy ByAЅ*BAAAA"C*CRCCCIס)ץ]AiIqG=E>9AIEFiEa?AAAE; EE)ՅCIՅCiхՅ=Յ=Յb4 ԙ,^ISgFAY}6|@}6k@y}6vQ}6v}6H߿ TL??߿;ʿ? @TC?)~6|@ ~6\;I~6CYbX?ybPF]M]J=Ye畻QUe>aaam#Hiiyuv;}u>Iy :}+ 5? :}`۾ }? 4@9}A}w: }:)}:WWX XWX:W2W*WVbUBU*UUU ?BB BAׅ*BAAAA"C*CRCCCqIG>Q  w:YU1y:6);9Qwԙ,1&SgFAY}6H@}61@y}6$U}6"@}6H@ip߿e&?`?߿ ɿss?p}\F?)~6H@ ~6 \;I~6CYR=?yRFI!)!    @ @ @ if? ?)?IK?i&?Z=MA=Y QU>a#HHy "r} >I?+ 5?۾ ? 4@9A: 8:)WAWAXA XAWAXA:WI2WI*WIVIbUIBUQ*UQUQUU/h@BB BA*BAAAA"C*CRCCCiIyG=iQ Ii i ؿٺ AE >9A IE FiE ?A A A E ; E E-ԙ,7SgFAY}%t@}%@y}%.^}%qEZ}%H ߿`4? ?@߿YE˿ 3?4?)~%t@ ~%\;I~%CYu?y}XF5On?V-?:v5>5< 5Լ)1I1y5y&1Q롿55`5\ 5?A)5SAI5G/Ai5kA15 KAE]AAUVMU6=YUDQUU>YYa]#HYaye=n}e>I :, 5? :۾ !? 4@9ÆA ; ~ ;):W!W!X! X!W!X!:W)2W1*W1V1bU9BU9*U9UAU$@RB*** querying acoustic contact ***PPIAA)BABI BIAMl*BQAQAQAYAY"C*CRCCC     r:Y T1y : 6) ;׹IGf>&ԙ,SgFAY}6i@}6@y}6se}6uB}6Hw޿N ?M%?`B޿ο bv?X'w?)~6i@ ~6[;I~6CYn|?ynFrZ****** received transponder code query ******rF****** received ping request ******va#Hy=}>I, 5?۾ Ű? 4@9نA: :)WWX XWX:W2W*WVbUBU*UU U `}@BB BAN*BAAAA"C*CRCCC  IG5 >ՙ,TgFAY}6ʚ@}6S@y}6c}6c̽}6H4޿ 4į?g? U޿شο7?฿ ?)~6ʚ@ ~6\;I~6CYBP?yBFFxDUSBL response received:!U1,P 502,000,002AD,18A,80,80,B7,FF JCommand AckJBRequesting micromodem ping code 2iHHN=iN=RNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 UaMP=YF;QU%>))a-#H)Yy];}e>Iȑŕ- 5?ŕ.۾ ƕ ? 5@9ƕAǕ< ȕJ<)ȑWWIXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UaUU; @BQBY BYA]Z*BAAAA"C*CRCCC9CIxFi?= E- --- -0p:Y-0Y1y-:-6)-;9IAG]v>l ՙ,-TgFAY~|?y~FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )Å= Å=T;MD=YQU>a#Hy}>I :i. 5? :۾ ? 5@9A: :):WWX! X!W!X!:W!2W!*W)V)bU)BU)*UUU 'z @BB BAN*BAAAA"C*CRCCC=i=IG%>Hՙ,3mGTgFAY}F@}F@y}FiS}FI}FH޿ 8.?/Z?޿TɿD?`ϔH?)~F@ ~F\;I~DYZ?yZFbxDUSBL response received:!U1,R,502,000,002AF,189,80,80,B6,FF fFpublishing direction and range info``ɰba=b7> `)b6CI`ybn@bw?amf-ٱ`    @ @ @i )Iio;M F=Y 0=QU >a#HyB}>I!%1/ 5?%>۾ %ʫ? 55@9%(A%: %:)!WQWQXQ XQWYXY:WY2WY*WYVabUaBUa*UaUaUm`J@R}(Combining 5 samples.Py*Q}n@ZQ}o$?7U JQ}w?amf-2Qy:QybQ}=:I@0]G|@T ):?RQ}N_O?>u(#?]E?BQ}pq? Q}3?@Q}I @PyPyPyQyQ}l@"Q}@B B) B1A5G*B1A1A1A1A1"C9*CARCACACAIIaG>] ]]]c ]h:Y]V1y]:]W69m@ 9 CI Fi E? = ; Ecՙ,:]aTgFAY} @}@y} U} *ؼ}H`޿ c? -r?x޿ ȿs? nK?)~ @ ~E\;I~CYe?yΐFuDNmea in: $SNTTA,,,,,230344.68*52 Iq)q}X9v?S㥛MbX9?}=}/ݼ }ʡ=)yIyy}ˡE?/$~jt}'=}} }?A)}SAI}0Ai}kAy}KAM<M3=YQU>a#Hyrw}>Iȹ :Ž/ 5? :Ž۾ ƽ;? 5@9ƽVAǽ: Ƚ:)Ƚ:mmAdded new target pos. range: 3.720000 m, bearing: 54.123457 deg, deltaT: 4.075460 s, approachRate: 0.029445 m/s, LOS rate: -0.466254 deg/s, posRepo size: 4XWpq?WX XWX:W2W*WVbU BU *U U  @U :>?B9B9 B9A=Ԅ*BAAAAAAAAA"CMs?RCICMpq?CQe?ie?YIaG}8>ՙ,${TgFAY}6.@}6SJ@y}6pcX}6+}6H@Dݿ`4q?`?@2޿ȿ?ZG?)~6.@ ~6[;I~6CYf?yf;FU^AU^A    @ @ @ÙÙÙiÙÙ ę)ęIęięɂ<Mq=Y>QU?a#HyÇ}?I / 5? ۾ Ѫ? 5@9xA: /:)WWX XWX:W2W*WVbU BU *U U U`j?BB BA*BAAAA"C9r?*CRC CC IG- >}> }}}d }v:Y}WU1y}:}s6%ՙ,TgFAY}6H@}6@y}6T}62}6H@&ݿ=0??޿~ȿ`l? M?)~6H@ ~66[;I~6CYb?yb1F5=M=R=Y=9AAaE#HAIyMڻ}M>IQ ]:U. 5? e:U۾ UV? e5@9UAU: UI:)U:WWX XWX:W2W*WVbUBU*UUU?BB BAD*BAAAA"Cpq?*CRCCCIG=܉9܍CI܍@Fi܍?܍=܍;D܍OD܍; ݍEe++ՙ,+ٮTgFAY}6W@}6r@y}6EQ}6m1}6Htݿ6E??޿@Y|ɿ ?] ZM?)~6W@ ~6[;I~6 CY^?y^FxMD=Y\;QU>a#HHy%D<}>I. 5?۾ ө? %5@9ɇA; <;)WWX XWX:W2W*WVbUBUI*UQUQUU iL?BB BAx*BAAAA"C*CRCCCI)\AIG (>  :YU1y:)6);92ՙ,3TgFAY}Bqw@}B@y}BO}BD鉽}BH ޿7@6?~?ݿoʿ? H߰E?)~Bqw@ ~B[;I~BCYN?yNFIC=)R=) > > U U U U@ U@ U@QQQiQQ Q)QIQiQe MeN=Ymr;QUm>iqau#Hqyy}!;}}>Iȁ :Ņ. 5? :Ņ۾ ƅa? 5@9ƅADžp< ȅȑ<)ȅ:WQWQXQ XQWQXQ:WQ2WY*WYVYbUYBUa*UaUaUe p$@BB BA*BAAAA"C*CRCCCIG>܁ 9܁ I܅ Fi܅ E?܅ =܁ ܁ ܅ ; ݅ E)CICi==}5~@8ՙ,oTgFAY}v@}^@y}sQ}=a}H޿9? |?Jݿ`<˿`8?`AD??)~v@ ~G[;I~CYr?yKFV-?Pn? ףp= m=> Q8)Iy/$?Q?~jtx?<<; @A)JAIG/AifA(HAYH=M4=YpQU>a#Hy>}>I|- 5?۾ ة?  5@9A: :)W1W1X1 X1W1X1:W12W9*W9V9bU9BUA*UAUAUE @BqBq BqAuу*BqAyAyAyAy"C*CRCCC I G-->f  3y:YT1y:)6);g>ՙ,kTgFAY}6F@}6Ϲ@y}6vP}6Z}6H#8޿74?u? ݿ@J̿?du4?)~6F@ ~6 \;I~6CYNv?yRF = = = =@ =@ =@999i99 9)9I9i9M6MMi=YU8;QUU>QQa]#HYYye;}e>Iimi, 5?m۾ m-? u5@9m,Am9: m:)iWWX XWX:W2W*WVbUBU*UUUj@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCC ?i ?IG=@OEՙ,EUgFAY}6|@}6@y}6/yG}6>ʽ}6H B(޿@^9x?a?ۃݿ˿? θ@=?)~6|@ ~6~[;I~6CY^ ?yb FbZ****** received transponder code query ******bF****** received ping request ******fiiiI`Ai-ֿٺ-`A-A11a5#H99yE}E>II U:M+ 5? U:M۾ M? u5@9MLAM; M;)M:WWX XWX:W2W*WVbUBU*UUUL @B9BA BAAE*BAAAAAAAAI"Cq*CqRCqCqCyiIqG>191I5НFi5E@5=5:D5PD5I; 5EyyKՙ, 0UgFAY}J@}Jq-@y}J9B}JS}JHݿLoi?`k?(ݿːɿ"?W'X?)~J@ ~J[;I~HYVv?yVFZxDUSBL response received:!U1,P 502,000,002AF,189,80,80,B6,FF ZCommand AckZBRequesting micromodem ping code 2iX\bNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 % 8M-K=Y=~OQYae#Hayy}>IȹŽ) 5?Žx۾ ƽ? 5@9ƽiAǽ< Ƚ<)ȹWWX XWX:W2W*WVbUBU*UUUz @BAB BA*BAAAA"C*CRCCC ||e  n:YR1yi:6);שIGF>[aRՙ,IUgFAY}6۲@}6d@y}6B}6}6H`ݿd]? q?ݿ mʿ9?8f N?)~6۲@ ~6L[;I~6CYNn?yRF~Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @éééiéé ĩ)ĩIĩiĩN=M@=YQU>a#Hye}>I :( 5? :d۾ T? 5@9A: :):W W X  XWX:W2W*WVbUBU*U!U!U%U@BIBI BQAU*BAA)A1A1"C1*C9RC9C9C9IQ)U]A IG5 >A 9A IA iA A A A E 2; E EXՙ,cUgFAY}~h@}~@y}~;}~d}~H-ݿw\?ܿ˿@]?T;?)~~h@ ~~V-\;I~~CY=7?y='FExDUSBL response received:!U1,R,502,000,002AC,188,80,80,B7,FF EFpublishing direction and range info99ɰ="`==> 9)=7CI9y=b@=w?amf-ٱ9}dNmea in: $SNTTA,0.288368,0.288505,,,230349.12*5F Ia=)=(\?Mb?< t=)Iya#Hy9;}>I) 5?*۾ _? M5@9Am; X;)WiWiXq XqWqXq:Wq2Wq*WyVybUyBUy*UUU@@R(Combining 5 samples.P*Qb@ZQ|f?.Yy JQw?amf-2Q:QbQ:2 !@h=#@H?RQKİ ?é?@6?BQk? Q1@Q@PPPQQ!@"Ql@BIBI BIAM*BIAQAQAQAQ"Cy*CyRCyCC P    rw:Y WU1y : 6) ;yIG<>^ՙ,ȱ}UgFAY?yF    @ @ @i )Ii*mMZ=YQU>Qa]#HYYye}e>Ii m:m) 5? u:m۾ m%? u5@9mAm: mU:)m:mqAdded new target pos. range: 3.539999 m, bearing: 52.714686 deg, deltaT: 4.481776 s, approachRate: -0.040163 m/s, LOS rate: -0.314333 deg/s, posRepo size: 4XWk?WX XWX:W2W*WVbUBU*UUQ @U`?BB BA *BAAAA"Cm?RCCk?CIG>eՙ,UgFAY}6 @}6 @y}6IJ}6U+}6HbݿJ?`Xݿ`֠ƿu?` 7~?)~6 @ ~6d\;I~6CYvc?yvBF<MO=Y=QU>a#Hyc;}>Iȱŵ) 5?ŵ۾ Ƶ? 5@9ƵAǵ: ȵ^:)ȱWWX XWX:W2W*WVbUBU*UUU@?B!B! B)A-Ճ*B)A)A)A)A1"C=m?*C9RC9C9CA?i?׉IG=}  {:YW1yč:69@9CIFiE?; Ekՙ,hUgFAY}6@}6;@y}6{}6f}6HݿS`_a?? ݿ¿)??$?)~6@ ~6^;I~6CYF?yFF  ]:M]N=Yejaiam#HmHiyu(9}u>Iȩŭ]* 5?ŭx۾ ƭ? 5@9ƭAǭ: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU@y?B!B! B!A%*B!A)A)A)A)"C5k?RC1C1C9QIyG=rՙ,CUgFAY}2$P@}2k@y}2}2Sԋ}2H {_ݿ@`@ ?I?Iݿ@`?lH@v?)~2$P@ ~2 _;I~2 CB`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ) IY-?y-1Fb  x:YT1y:6 % % % %@ %@ %@!!!i!! !)!I!i!mMm=YmnQUm>qqau#Hqyy}7#}}>Iȁ :Ņ+ 5? :Ņ۾ ƅ? 5@9ƅшADž: ȅ:)ȅ:WWX XWX:W2W*WVbUBU*UUU?BB BAD*BAAAA"C *C RC C C I!)%\A!I1GMt> 9 I Fi 1? ; E.xՙ,1UgFAY}R4p@}R@y}R}R}RHUwݿ@aܫ?? tݿ@ʗÿ†?A@?)~R4p@ ~R];I~RCɫ髑) IY?yFI +x&J +97 H)IyˡE?J +A`"?'=HY= @A)IAI2Ai]AFAlM{=Y(8QU ?  a #H  y;}?I+ 5?/۾ ? -5@9A: ]:)WIWIXQ XQWQXQ:WQ2WQ*WYVYbUYBUY*UYUaU;@B1BY BYAe{*BaAaAaAaAa"Ci*CiRCqCqCqyIG<>ՙ,]UgFAY}z!H@}zc@y}z}zQr}zH jWݿ@ oL??ݿ@\zĿ .?L?)~z!H@ ~z\;I~zCɫ) IYm=?ymFI=)= - - - -@ -@ -@)))i)) )))I)i)=-FM=G=YEa;QUE>AIaM#HIIyU»}U>IY e:], 5? e:] ۾ ]? e5@9]&A]|: ]:)]:WWX XWX:W2W*WVbUBU*UUUd@BQBQ BQAU*BYAYAYAYAY"C*CRCCCp=ia=     Cr:Y DW1y Y: 6סIGA>ՙ,VgFAY}6@}6m@y}6}6>}6Hkݿx?@N?ܿ` kĿ`?>?)~6@ ~6ba;I~6Cɫ99)9 9I9Y}?y}XF@A]ݼMi=Yqa#Hy\}>Ia- 5?۾ ? 5@9NA: :)WWX XWX:W2W*WVbUBU*UUU2@R B*** querying acoustic contact ***P P B1B1 B1A=l*B9A9A9A9A9"CA*CARCICICI]?i]?IIYGu=q9qIuFiua?qqqu`; uΓE)CICi==J4ՙ,-2VgFAY}6@}6'@y}6GC}6gDŽ}6Hܿ@_~?*?®ܿ`Rÿ8?j`?)~6@ ~6+_;I~4ɫ99)9 9I9Y?yEFZ****** received transponder code query ******F****** received ping request ******19a=#H99yE侻}E>II ]:MI. 5? ]:M۾ M? e5@9MAM$; MB;)M:WWX XWX:W2W*WVbUBU*UUU@? @BB BA *BAAAA"C*CRCCCיIG>D  s:YWU1y:6ՙ,LVgFAY}:2@}:3@y}:`}:t}:H1ݿ y,?`?ܿ Ŀ@X? *?)~:2@ ~:];I~:Cɫ99)9 9I9Y]?y]=FexDUSBL response received:!U1,P 502,000,002AC,188,80,80,B7,FF mCommand AckmBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 鿡MP=YQU>a#HyG&<}>I5/ 5?۾ *? E5@9A< "]<)WyWyX XWX:W2W*WVbUBU*UUU@^ @I)BABI BIAMw*BIAIAIAQAQ"CQ*CYRCYCYCiIieݿٺae}AiIyG>܁ 9܅ CI܅ ȖFi܅ ?܅ =܁ ܅ OD܅ m; ݅ ԓE)ՙ,mfVgFAɫqy)y yIyY?yOF鮹ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B !rh?/$ۿ333333?l=ܾ =)Iyl?I +?Q=94<u ?A)NAIE4Ai\AGA    %@ %@ %@!!!i!! !)!I!i!%|:M-*=Y-QU->11a5#H19y=}=>Ia m:e0. 5? m:e۾ e? u5@9eՉAe: e:)e:WWX XWX:W2W  m:YT1y:6)%;9*WVbU!BU!*U!U!U%X\@BqBq BqAup*BqAyAyAA"C*CRCCCI)ױIGf>tՙ,@VgFAY}:%@}:@y}:&}:M}:H`ZݿMv? )?dzݿ@wLſ b?rGv?)~:%@ ~:D\;I~:Cɫ99)9 9IAY}?y}XFxDUSBL response received:!U1,R,502,000,002AD,18A,80,80,C9,FF Fpublishing direction and range infoɰu`=鰅> )ICIyff@w?amf-ٱMߝ:MMZ=YU4QUU>YYa]#HYiy}==}>IL- 5?F۾  ? 5@9A; 3;)WW!X! X!W!XI:WI2Wi*WqVqbUqBUq*UqUyU}@R(Combining 5 samples.P*Qff@ZQxP^B(?0B JQw?amf-2Q:QbQ0.@\y I@ܞMB?RQ(Y(O?p,?@R݂?BQ%n? Q7@Qq@PPPQQ@"Q!@BB  B A l*B A A A A"C*CRCCCI G%M>=ՙ,,VgFAY}Eޤ@}Eg@y}E2}E}EH@ݿ VA1?? ݿ`ſ9?`y?)~Eޤ@ ~EMc;I~ECɫ  ) IYM?yMFTNmea in: $SNTTA,0.005800,,,,230353.59*45 Ia=)R= = = E E@ M@ M@AAAiAA A)AIAiAmMuG=YuQUu>yya}#Hyyz}>Iȉ :ō`, 5? :ō۾ ƍ? 5@9ƍAǍ: ȍ:)ȍ:miAdded new target pos. range: 3.599999 m, bearing: 53.403682 deg, deltaT: 4.474108 s, approachRate: 0.013411 m/s, LOS rate: 0.153996 deg/s, posRepo size: 4XW%n?WX XWX:W2W*WVbUBU*UU @U~? 9 I Fi ?    ;  EBB BA*BAAAA=i=  D:YWU1y:6);"C%n?RCC%n?C!I!G=Q>gՙ,VgFAY}-@}-@y}-?}-q}-H`ݿY^??Yݿ@xFɿ`Q?X챿`#\?)~-@ ~-b;I~-Cɫ  ) IYM?yM!F U U U U@ U@ U@QQQiQQ Q)QIQiQe;o<MeK=Ym QUm>iqau#HuHqy}<}}>IȁŅs+ 5?Ņ۾ ƅ>? 5@9ƅ7ADž: ȅ:)ȁWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*CRCC C ?i?I)GE0>Kՙ,kVgFAY}:@@}:@y}:(C}:,ҽ}:H`ݿ`H[V`{?ܿ t˿ Y??> ZA?)~:@@ ~:d^;I~:Cɫ99)9 9I9Y}?y}F=M=`=YEQUE>AIaM#HIIyUڴ:}U>IY]* 5?]P۾ ]? e5@9]UA]n: ]#:)YWWX XWX:W2W*WVbUBU*UUU@(a?BB BA*BAAAA"C*CRCCCIG>  q:YT1y:i69@) 9) I- ȖFi- ?) ) - PD- ; - Evՙ,VgFAY}6t@}6D@y}6@}6Ӷ}6HxMݿr?b?`+ܿ@sʿ?=kN?)~6t@ ~6O\;I~6Cɫ99)9 9I9Y}?y}FZd;?~jtx~jtx?y=Ļ ;)IyI +? ףp= ?94<Q8= =>A)SAI2AiGeAJAT<MC=Y ;QU>a#Hy}>I : ) 5? :۾ ? 5@9}A; ;):W!W!X! X!W!X!:W!2W)*W)V)bU1BU1*U1U1U5`'?BaBa BaAe*BaAiAiAiAi"Cq*CqRCqCyCyiIqG>I@A)AA]ՙ,WgFAɫ髙) IY?yF    @ @ @ ÉÉÉiÍp?É č?)ĉIč?ič&?MK=YQU>a5#H19y=}E>IIMq' 5?M۾ M? }5@9MAM=; M ;)IWWX XWX:W2W*WVbUBU*UUUC@BiBi BiAŭ*BqAqAqAqAq"Cy*CyRCCCIו\A)ו]A  Yp:YU1y:6aIiG9>ԇՙ,(dWgFAY}6S@}6o@y}6_L}6M}6H ݿc??ݿ;ǿm?m i[?)~6S@ ~6O\;I~6Cɫ99)9 9I9Y?y$FUȻ;M]O=Y]QU]>aaae#Haiym}m>Iq }:u& 5? }:u۾ u? 5@9uȊAuo: u:)u:WWX XWX:W2W*WVbUBU*UUUk@B B  B A*BAAAA"C*CRCCCܱ9ܱIܵFiܵa?ܱܱܵODܵ; ݵEIG%>ՙ,!?5WgFAY}:o@}:@y}:]}:}:HDݿKI(?`?`ݿ]ȿ^{?`{@?)~:o@ ~:c;I~:Cɫ99)9 9I9Y}m?y}IFI4=)4=    @ @ @ @i )IiRMQ=Y!QU>a#Hy4.<}>Ir$ 5?S۾ ? 5@9A: {:)WWX XWX:W2W *W V bU)BU1*U1U1U5`wE@REB*** querying acoustic contact ***PAPABB BA*BAAAA"C*CRCCCI=i  y:YT1y:6G (>ՙ, OWgFAY}2x@}2@y}2 k}28}2HdݿW-A? 'z?`,ݿ$a̿?` @!?)~2x@ ~2Ma;I~0ɫYY)Y YIYYT?yFZ****** received transponder code query ******F****** received ping request ******a#H!y%$<}%>I) =:-" 5? =:-۾ -? E5@9-A-; -`;)-:WaWiXi XiWX:W2W*WVbUBU*UUU @BB BAY*BAAAA"C!*C!RC!C!C)=?i=?!I)GM0> >9 CI ȖFi ? = PD ; E)݅CI݅Ci݁݅=݅=݅5ՙ,hWgFAY}6>@}6@y}6j}6針}6H Uݿj@9?`p?` ݿ#ο?)i?)~6>@ ~6r^;I~6CɫII)I IIIY}E?y}FxDUSBL response received:!U1,P 502,000,002AD,18A,80,80,C9,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 % %%%d %j:Y%V1y%:%s6)%;9EDl?V-¿{Gz?O=h ף=)Iy:vQ?L7A`?Լu<+= ­EA)­JAI­0Ai­EjAJA        @ @ @   i   ) I i U]MMu =Y}:QU}>a#Hy. }>Iȱŵ" 5?ŵ۾ Ƶ? 5@9Ƶ@Aǵ: ȵ:)ȱWWX XWX :W 2W *W V1bU1BU1*U1U9U=@ @BB BA\*BAAAA"C*CRCCC׉ I G >ՙ,ЂWgFAY}6 @}6@y}6lf}6NU}6H %!ݿsGX?X?ݿ̿-?C "?)~6 @ ~6\;I~6Cɫ99)9 9I9Y}?y}F鮅a=ɮR=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =˼M==Y=v > iI Ia iy ٺ Aՙ,CWgFAY}6 @}6@y}6 m}6S$}6H#ݿ fX?~?cݿW̿`]?@ ` ?)~6 @ ~6L ];I~6Cɫ99)9 9I9YA?y.FxDUSBL response received:!U1,R,502,000,002AD,189,80,80,C1,FF Fpublishing direction and range infoɰ鰥7> )ACIyw?amf-ٱ=MQ=YQU>a#Hy";}>I :# 5? :۾ ? %5@9oAg: :):WAWAXA XAWIXI:WI2WI*WIVQbUQBUQ*UYUYU]`|@Rm(Combining 5 samples.Pi*QiZQmxP^B(?0B JQmw?amf-2Qi:QibQmh$KC@A@sZ/4?RQmg {{.?LcS>?gwU?BQm;k? Qm5@Qm @PiPiPiQiQmT@"Qm@BB BA*BAAAA"C*CRCCCI)\Aa9aIeXFie?aaae; eE׉IG=  l:YW1yč:6);Cՙ,SWgFAY}vWv@}v@y}vm|}v %}vH ܿo ?s? CAݿ ο@??)~vWv@ ~v a;I~vCɫ) IY-|?y-RFTNmea in: $SNTTA,0.005069,,,,230358.04*41 )í= é    @ @ @i )IiP;M 8=Y  QU >a#HHy}>I!%# 5?%۾ %'? 55@9%A%: %:)!memAdded new target pos. range: 3.599999 m, bearing: 52.768167 deg, deltaT: 4.374139 s, approachRate: 0.000000 m/s, LOS rate: -0.145289 deg/s, posRepo size: 4XaWe;k?WiXi XiWiXi:Wi2Wq*WqVqbUqBUq*UyUyU}!?BaBa BaAm*BiAiAiAiAi"Cu;k?RCqCu;k?CyYIiG8>ՙ,aWgFAY}6y@}6@y}6Ѐ}66yj}6H^ܿ y`p?`pj? ܿϿ`t?^@?)~6y@ ~6a;I~6CɫYY)Y YIYY6?yFI-=)-=ӼMT=YQQU>a#Hyr:}>Iș :ŝ# 5? :ŝ۾ Ɲ^? 5@9ƝAǝ-: ȝ:)ȝ :WWX XWX:W2W*WVbUBU*UUUW?BB BA`*BAAAA"C!*C!RC)C)C)iIqG>=i=7  su:YV1y:D69@q 9q Iu Fiu ?q q q u ; u Eՙ,:=WgFAY}6G@}6!@y}6}}6td}6H ӌܿ!? k?ߟܿ@Ͽ_?@@?)~6G@ ~6_;I~6Cɫ99)9 9IAY]X?y]FM333333?EԸMb?M>Mƽ M=)IIIyMy&1|~jt?~jtxM`廹MDqya}#Hyyy}>Iȉō" 5?ō۾ ƍ? 5@9ƍAǍ: ȍ:)ȉW1W1X9 X9W9X9:W92W9*WAVAbUABUA*UIUyU}b?BB BA*BAAAA"C9*C9RCACICq?i?סIGA> ֙,-!XgFAY}6@}6@y}6|}6e"}6H`fܿ@ٞ@ݠ?`t? \ܿdϿ!@?@ ?)~6@ ~6F];I~4ɫ19)9 9I9Y}?y}eF^A    @ @ @ÁÁÁiÁÁ ā)āIāiāKF<MG=Y;QU>a#Hy}>Iȹ :Ž" 5? :Ž?۾ ƽ? 5@9ƽËAǽ9: ȽE:)Ƚ!:WWX XWX:W2W*WVbUBU*UUU*?BB BAo*BAAAA"C*CRCCCIG (> ~~p bq:YT1y@:6#֙,#XgFAɫ髙) IY?ynF AAUc=MUP=YUQU]>YYa]#HYaye}m>IimD" 5?mw۾ m? }5@9m͋Am: mA:)iWWX XWX:W2W*WVbUBU*UUU;@BB BA*BAAAA9IFiv?="; 5E"C *CRCCCIG>I)N ֙,=7XgFAɫ髙) IY?yF5=i5=    @ @ @ùùùiùù Ĺ)ĹIĹiĹ<MC=YQU>a#Hy}>I :! 5? :۾ ? 5@9؋Ag: (:)":WWX X!W!X!:W!2W!*W)V)bU)BU)*U1U1U5 @BYBa BaAe*BaAaAaAiAi"Cq*CqRCqCqCyI׍]A)׉aIqG> }} Z{:YkS1yԊ:6"6֙,QXgFAɫ髙) IYi?yF)=  >HMX=YQU>  a #H y}>I! 5?۾ B? -5@9A: :)WIWIXI XIWIXQ:WQ2WY*WYVYbUYBUa*UaUaUe ݝ@RmB*** querying acoustic contact ***PqPqBB BAӆ*BAAAA"C*CRCCC IG5 > 9 I xFi ?    ;  .E{`֙,kXgFAY}6 @}6.@y}6B̅}6򧈽}6H kۿ0q?@?9ۿ п?d}B?)~6 @ ~6`;I~6Cɫ99)9 9I9Y}?y}wFZ****** received transponder code query ******F****** received ping request ******AIaU#HQayeCͼ}m>Ii u:my" 5? }:m۾ m? }5@9mAm4: m^:)m#:WWX XWX:W2W*WVbUBU*UUU t @BB BA*BAAAA"C*CRCCC=i=J w v:YW1yč:|6);9I)GEQ>H!֙,_XgFAY}6@}6U@y}6}6h䌽}6Hoۿϫ? ?Sۿ@п@?@#@?)~6@ ~6(^;I~4ɫYY)Y YIaY?yuFxDUSBL response received:!U1,P 502,000,002AD,189,80,80,C1,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @ñññiññ ı)ıIıiımRz=MuE=Y}CQU}>a#Hy} >I$# 5?۾ ? 5@96A': :)WYWX XWX:W2W*WVbUBU*UUU@f @BB! B!A%0*B)A)A1A1A1"CA*CIRCICICQ׽?i׽?יIG>9r'֙,G;XgFAY}6@}6@y}6z}6Qѽ}6H ^ۿE?z?``ڿDҿT>?`D'?)~6@ ~6\;I~6Cɫ99)9 9I9Ym?yIFp=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B AAuNMuq=Y}ļQU}?ya#Hypt}?ܙ9ܙIܝFiܝE?ܙܙܙܝ; ݝE)=CI=Ci999=g4IȹŽ# 5?Ž۾ ƽ?? 5@9ƽVAǽ: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU;@BB BA*BAAAA"C*CRCCCI c 8:YX1y/:W6);G-,>D-֙,XgFAY}V@}Vb@y}VĀ}V,}VH ߱ڿ[N? ٿѿ?}?)~V@ ~Va;I~VCɫyy)y yIyY?y6FxDUSBL response received:!U1,R,502,000,002AF,189,80,80,B2,FF Fpublishing direction and range infoɰa= )2CIyn@w?amf-ٱ 鿙    @ @ @i )Ii<MB=YO=QU>a #H H y#}>I %:r$ 5? %: ۾ F? %5@9}A: {:)$:WIWIXI XIWQXQ:WQ2WQ*WYVYbUYBUY*UYUaUe@R(Combining 5 samples.P*Qn@ZQo$?7U JQw?amf-2Q:QbQ ʆ@:ZK@-CF?RQڈU?0DX ?-?BQ\? Q0@QE@PPPQQ$@"QT@BABA BIAM*BIAIAIAIAQ"Ci*CiRCiCiCqaIiG9> 4֙,+XgFAY} @} 6@y} w}  Π} Hڿ!֠?`?`Bڿ Ͽ ?{~y?)~ @ ~ [e;I~ Cɫ) IYm?ymFTNmea in: $SNTTA,0.059184,,,,230402.49*4B ia=-O4<M-G=Y5Q19a=#H99yEg;}E>IQU#% 5?U۾ Uܵ>9ܱIܵНFiܵE@ܱܱܱܵ; ݵ EB:֙,OXgFAY}F@}F@y}FdWz}FB3}FHmڿ@6??9ڿxdο]?`껥?)~F@ ~F`;I~FCɫYY)Y YIaY%?yFbX9ȶ?S㥛kt?E=/ݼ  =)Iy{GzMb`? >5I<M5J=Y5лQU5>99a=#H9AyE}E>II U:M-% 5? ]:M7۾ ]tI M4? ]6@9MAM`: MG:)M%:WyWyX XWX:W2W*WVbUBU*UUU`{?BB BAd*BAAAA"C\?RCCCIG%>A֙,YgFAY}J4@}J$P@y}JzJ}J>}JHeڿ/T?~?dٿ-п@?VT?)~J4@ ~J+^;I~Hɫaa)a aIaYc?yFI-4=)-4= u u } }@ }@ }@yyyiyy y)yIyiyg=MT=YꪼQU>a#Hy^j}>Iȩŭ9% 5?ŭS۾ ƭ7? 6@9ƭAǭs: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*CRCCCשIG#>_  x:YX1y/:6$G֙,I YgFAY}:^#@}:>@y}:5{}:G8}:H`q ڿ:dhj`/-? ٿѿX? v?)~:^#@ ~:[];I~:Cɫ99)9 9I9Y},?y}4FI)999I9i9999=; =E¼ML=Y0a#Hy,}>Iȡ :ťM% 5? :ťn۾ ƥ0? 6@9ƥAǥZ: ȥs:)ȥ&:WWX XWX:W2W*WVbUBU*UUUQ?BB BA*BAAAA"C!*C!RC)C)C))I1GM>sM֙,]:YgFAY}6@}6w@y}6mf}6}6Hڿx; jY? ٿ@mϿ`??)~6@ ~6*\;I~6CɫYY)Y YIYY?y?F!!LzMI=YK=QU>a#Hyֻ}>I  c% 5? ۾ !? -6@9 A ť; ;) WWX XWX:W2W*WVbUBU*UUU`N@BB BA*BAAAA"C*CRCCC N p:YxZ1yq: 6IGI>JT֙,8TYgFAY}6u@}6 @y}6*W}6`M}6H`Gڿ7 2? :r?@=ٿ@H'̿?`;5?)~6u@ ~6lzc;I~6 CɫII)I QIQY}?y}F  5 5 5 5@ 5@ 5@111i11 1)1I1i1E<MMP=YM#=QUM>QQaU#HQYy]}]>Iaer% 5?e۾ e)? u6@9eAe: eQ:)aWWX XWX:W2W*WVbUBU*UUU d@BqBq BqAul*BqAyAyAyAy"C*CRCCC׉IG>I9MCIMFiME?M=M;DIM; MEwZ֙,UnYgFAY}6d@}68@y}6IW}6@<}6H >ڿC&l?h?`O?ڿʿ?pB?)~6d@ ~62+a;I~6Cɫ99)9 9I9Y?yuFip=eZd;O+η?~jtxejev= eĻ)aIayeI +Mby&1?e94ee`< e;A)eO[AIeG/AieuAaeNAۏ<MF=Y8QU>a#Hy;}>Iȡ :ť'& 5? :ť۾ ƥ? 6@9ƥ͌Aǥ: ȥw:)ȥ':WWX XWX:W2W*WVbUBU*UUUJZ@RB*** querying acoustic contact ***PPBB BA0*BAAAA"C*CRCCCשIG!>  :Y0Y1y:6);9Fa֙,bYgFAY}Nt@}N|@y}N]}NQ&}NH@ڿ@? _N?ڿy˿k?uF9;?)~Nt@ ~Ny_;I~Lɫ髹) IYM?yFZ****** received transponder code query ******F****** received ping request ******a#HyD<}>I& 5?۾ ? 6@9AT; ;)W9W9X9 X9W9XA:WA2WA*WAVIbUIBUI*UIUQUU @BB BA*BAAAA"C*CRCCCI)GER>h֙,ʡYgFAɫyy)y yIyY?y+FxDUSBL response received:!U1,P 502,000,002AF,189,80,80,B2,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  9 CI xFi ? = :D  ; EI-=)-=    @ @ @ÑÑÑiÑÑ đ)đIđiđk<M:=n   :YX1y/:6);YQU>aaae#Haiym}m>Iq }:u' 5? :uW۾ ux? 6@9uAu7; u;)u(:WWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"C*CRCCC1I9G]>G9n֙,YgFAY}:7@}:@y}:lY}:R}:Hڿ [ @]?PF?ڿ@3˿`D? a#HHy'<}>Iȡť]( 5?ť۾ ƥ? 6@9ƥAǥ: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU9J@BB BAz*BAAAA"C*CRCCC׹IGg>d u֙,YgFAY}6 @}6@y}6]U}66z}6Hڿ :?K?@|ڿ:˿jz?̔@??)~6 @ ~6_;I~6C6Could not parse latch stateɫ) IYUo?yU#F]xDUSBL response received:!U1,R,502,000,002AD,189,80,80,B3,FF eFpublishing direction and range infoYYɰ]u`=Y Y)]3CIYy]ff@]w?amf-ٱY…]A    @ @ @i )IisD<ME=Y)a#Hy:}>% %~%~% %k:Y%T1y%@:%69=@I E:) 5? E:۾ ? E6@9A< <)):WiWiXi XiWiXi:Wq2Wq*WqVqbUqBUy*UyUyU} @R(Combining 5 samples.P*Qff@ZQxP^B(?0B JQw?amf-2Q:QbQmc=@&@=K?RQ*h5D?aT? =pq?BQT`? Q//@Q@PPPQQ@"Q$@B>9I Fi?; E)ݩIݩiݩݩݩݭ4B BAR*BAAAA"C!*C!RC!C!C)) I1 GU >L{֙,eYgFAY}f F@}fa@y}fT}f}fHIۿ@t?`0?`tڿu̿@Q? 㩶@0?)~f F@ ~f:f;I~fCɫ) IYG?ymFuTNmea in: $SNTTA,0.044600,,,,230406.94*48 ˡE?Zd;Oy&1?=j `e<)Iy:v?y&1?a#Hy<}>I( 5?۾ ? 6@94AI)?A: 3";)m5mAdded new target pos. range: 3.599999 m, bearing: 50.207833 deg, deltaT: 4.539836 s, approachRate: -0.026433 m/s, LOS rate: 0.168451 deg/s, posRepo size: 4X1W5T`?W1X9 X9W9X9:W92WA*WAVAbUABUI*UIUM @UM?BqBy ByA}*ByAAAA"CT`?RCCT`?CבIGb>2֙,8 ZgFAY}:@}:@y}:0T}:)U}:HʒۿWQ??@ڿ̿U?`ڣ@/?)~:@ ~:`;I~8ɫ99)9 9I9Y?yьF=i=U|<MU}=Y]QU] ?Yaae#Haaym<}m ?Iqu0' 5?u۾ u? }6@9uHAuӻ: uD:)qWWX XWX:W2W*WVbUBU*UUU?BB BAs*BAAAA"C*CRCCCIIQGm>  Yp:YDW1yY:W64>Ci}/mGIiٺA- ?9- A\֙,+#ZgFA܅>9܁I܁i܁܅=܁܁܅; ݅Eɫ髙) IYy)U= U=Y]QUe>aaae#Haiym}m>Iy }:}%& 5? :}۾ }? 6@9}bA}R: }:)}*:WWX XWX:W2W*WVbUBU*UUU:?BB BA*BAAAA"C*CRCCCIG>֙,Na#Hyκ}>Iȩŭ% 5?ŭ۾ ƭ? 6@9ƭ|Aǭ: ȭ+:)ȩWWX XWX:W2W*WVbUBU*UUU$?BB! B!A%Y*B!A!A!A)A)"C1*C1RC1C1C9iIqG>  :YU1y:6o֙,)VZgFAY}6j@}6@y}6Zb}6Hj}6H`yۿD}?` ?@0*ۿ=Ϳ? 4h#?)~6j@ ~6\;I~6CɫAI)I IIIY}k?y}FI)<MR=YQU>!!a%#H!!y-f;}->I1 =:5$ 5? =:59۾ 5? E6@95A5: 5A:)5+:WaWaXa XaWiXi:Wi2Wi*WqVqbUqBUq*UqUyU}!?BB BA*BAA)A)A)"C1*C1RC1C9C9)I1G]>y}^A܁9܁I܅Fi܅1?܁܁܁܅; ݅E֙,pZgFAY}B@}B8@y}B@_}B̽}BH@ۿv?` ?ڿ@%kοC? ︿`/?)~B@ ~Bvb;I~BCɫYa)a aIiY?y-uF=ʡE?~jt(\µ?===D ==)9I9y=~jth?:v?Zd;O=D;=<=j< =?A)=XQAI=0Ai=hA9=JAM]AI    @ @ @ @ÑÑÑiÕÑ ĕ)ĕIĕiĕ4M4=Y\;QU>a#Hy ;}>I(# 5?(۾ ޿? 6@9A; ;)WWX XWX:W2W*WVbUBU *U U U @B9B9 B9A=0*B9AAAAAAAA"CI*CIRCICQCQ  ~:YV1y:6)l;9%!I1GM1>֙,~ZgFAY}2@}2@y}24Z}2Į}2Hۿ?J? ۿ@Ϳ ?|S)?)~2@ ~2Ia;I~0ɫ99)9 9I9Y}?y}GF 鿑`ۻMr=Y ֙,W[ZgFAY}6"@}6@y}68[}6}6H@0ۿpg$?@?ۿ ̿C?w2?)~6"@ ~6+P^;I~6C!9!I!i!!!!%j; %ԓEɫ99)9 9I9Y}??y}FZ****** received transponder code query ******F****** received ping request ******Yaae#Haaym< <}u>Iy}h! 5?}۾ })? 6@9}֍A}: }:)yWWX XWX:W2W*WVbUBU*UUU#! @BB BA*BAAAA"C*CRCCCM  5w:YWU1y:6);ׁIG=>ծ֙,8ZgFAY}6@}6@y}6 _}6܃}6H Vܿԩv?@?@-+ܿ@>V̿`1? -?)~6@ ~6ؕ\;I~6CɫYY)Y YIYY?ylFxDUSBL response received:!U1,P 502,000,002AD,189,80,80,B3,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )> >    @ @ @ÁÁÁiÁÁ ā)āIāiā2ȻM8=Y`QU>a#HHy<}%>I) =:-a 5? =:- ۾ -v? e6@9-A-; -;)--:WWX XWX:W2W*WVbUBU*UUU@ @BB  B A4*BAA9A9AA"CA*CIRCICICQyIG>֙,4ZgFAY}2@}2@y}2n`}2.}2H`bݿ`vc`)ȧ??@Eݿ@!N̿`}?d ,?)~2@ ~2?\;I~2CɫYY)Y YIYY?yGFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I%4=)%C=UѲM]w=Y]LQU]?aaae#Haaymu=}m ?Iqu 5?u۾ u? }6@9uAuϸ: u :)qWWX XWX:W2W*WVbUBU*UUU;@BYBa BaAeC*BaAaAiAiAi"C*CRCCCqIG!> =i ==E === =v:Y=U1y=:=69U@->9)I-Fi-v?)))-w; -ۓE֙, ZgFAY}z#@}z.?@y}z>`}zg˽}zHݿ@VNo?iz?`)ݿ'dο`?ָ ?)~z#@ ~z܎`;I~zCɫ11)1 1I1Yug?yuYF}xDUSBL response received:!U1,R,502,000,002AE,189,80,80,BC,FF }Fpublishing direction and range infoqqɰu`=q q)u <)Iy~jt?y&1?~jtx?=`e<; ?A)(RAIG/AikA KA    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ<M*=Y59QU>a#HyB<}>I  :q 5? :X۾ k? 6@9'AY: :).:WqWqXq XyWyX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q=j@ZQs:@?apuV JQw?amf-2Q:QbQX_c@|_@JV?RQX&TAT?֑?PQ?BQKl? Q7@Q @PPPQQ_@"Q@B1B1 B1A5ԅ*B1AQAQAQAQ"Cy*CyRCyCyCו?iו?qIyG~>֙, [gFAY}:b@}:D~@y}:e[}:&Ͻ}:H/ݿ -G?Fr?@`Gݿ ο`G?Y?)~:b@ ~:kb;I~:Cɫ99)9 9I9Y]0?y]F^A^AUM]y=Y]Y  W:YDW1yY:!6֙,4%[gFAY}2X@}2@y}2P_}2m-}2H Hݿza/\?e?trݿ Qʿ?(@6?)~2X@ ~2b;I~2Cd9dIfxFif?dddf; fE)YIYiY]=]=]54ɫ99)9 AIAY]?y]lF MP=Y! QU>a#H y "} >I 5?X۾ ? %6@9`A : {:)WWX XWX:W2W*WVbUBU*UUUّ?BB BA4*BAAAA"CKl?RCCC IG5 >I)@A#֙,?[gFAY}:@}:@y}:5Xk}: }:HW*ݿq??eݿ`ѾͿ(?ɰ`{?)~:@ ~:Ӈ`;I~8ɫ99)9 9I9Y}?y}F - - - -@ -@ 5@)))i)) )))I)i)E=MEF=YEQUE>IIaM#HIQyU ٺ}]>IY e:] 5? m:]۾ ]S? m6@9]A]^: ]:)]/:WWIXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UYUYUe`?BB BA1*BAAAA"C *C RC C CI5\A)1I G-,>= === =.:Y=X1y=/:=6l ֙,^Y[gFAY}6@}6@y}6_}6VV"}6H@ݿ YM@x?0ܿ@Xпϻ?,ÿ?)~6@ ~65z_;I~4ivmGI i!UٺQUAɫYY)Y YIYY})?y}[F) =% M%L=Y-)1a5#H11y=F<}=>IAE 5?E3۾ E? M6@9EAE3: E:)AWqWqXq XqWqXy:Wy2Wy*WyVybUBU*UUU ?BB BA*BAAAA"C*CRCCCשIG>9I@Fi?; E9֙,Gs[gFAY}@}j@y}4D}P-}HĞ޿@ @\n?ܿ`ׁϿ*`?4ſ?)~@ ~_;I~Cɫ) IYE?yE-FIa=)==L7A`堿I +?X9v?=+=94< 9)9I9y=I +Q롿~jth=9=\=D =bBA)=/MAI=r.Ai=kA9==JA    @ @ @ÙÙÙiÙÙ ę)ęIęię-OM--=Y-i=QU->11a5#H19y=#=}E>IA M:EB 5? U:EC۾ E۹? U6@9EȎAE: Ec:)E0:WqWqXy XyWyXy:Wy2W*WVbUBU*UUU*?BB BA*BAAAA"C*CRCCC=ia=- --- -:Y-WU1y-:-6)-;95יIGE>֙, [gFAY}6!@}6@y}6`.}6ͽ}6H}߿X]b@L? ޿k)ɿƿ?O$`?)~6!@ ~6#d;I~6CɫYY)Y YIYY?yeF=M=q=Y={=QU=?AAaE#HAIyM7=}M?IQUp 5?UI۾ U? e6@9UAUԳ: U:)QWWX XWX:W2W*W V bU BU *UUU ;@B9BA BAAEo*BAAAAAAIAI"CQ*CQRCQCQCYm?im?׉IG>'H֙,N[gFA898I:Fi:1?:=88:; :EY}Z@}Zx@y}Z<1}Z}ZH d`9@3?$?! RĿ`<?F?)~Z@ ~ZdMc;I~ZCɫyy)y yIyY?yJF]A@^ML=YQU>!a%#H!!y-<}->I1 =:5 5? =:5L۾ 5k? =6@95A5: 5:)51:WaWaXa XaWaXa:Wi2Wi*WiVibUqBUq*UqUqU}`@RB*** querying acoustic contact ***PPBB BAz*BAAAA"C*CRCCC IG5 >-u ---l -ez:Y-U1y-:-N6)-;0֙,[gFAY}6S@}6 @y}6;}6Vy}6H(x ??`#i5Ŀ]B?`nw?)~6S@ ~6{a;I~6Cɫ19)9 9I9Yu2?yu%F}Z****** received transponder code query ******}F****** received ping request ******a#HH!y%-X<}->IQUW 5?UM۾ U ? e6@9U,AU; UM;)QWWX XWX:W 2W *W V bUBU*UUU;e @BB BA!*BAAAA"C*CRCCCI%AA)%AAIGI>Z֙,][gFAɫ髱) IY%?yFxDUSBL response received:!U1,P 502,000,002AE,189,80,80,BC,FF Command AckBRequesting micromodem ping code 2i Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 MM=YQU>)1a=#H9Qye}>I! 5?N۾ ? 6@9OAz$= %=)= === =Cr:Y=WU1y=:=69E@WWX XWX:W2W*WV bU BU *U U U# @q9uCIuFiu?u=u;DuODu; uEBB BA$*BAAAA"C!*C)RC)C)CqIי)י׉IG>C֙,t{[gFAY}6@}6x@y}6z}6H4}6H`qZ\+?`?Tÿ`?A?)~6@ ~6^;I~4ɫyy)y yIyY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B S?|?5^ҽ t>)Iy"~j~jt?~jthS㽹<  DA)KAI2AibAGIA)=  M U U U@ U@ U@QQQiQQ Q)QIQiQeͼMe(=Yeqh=QUm>iiam#Hiqyu<}}>Iȁ :Ņ_# 5? :Ņ۾ ƅp? 6@9ƅADž: ȅ4:)ȅ2:WiWiXi XiWiXq:Wq2Wq*WqVqbUBU*UUUMB@BB BA*BAAAA!"C)*C)RC)C)CQQIiG>kי,X\gFAY}J@}J*@y}J/}Jh }JH6@UY(Dc??`^8zƿJ]? oն?)~J@ ~JJ_;I~Hɫ) IY1?yֆFxDUSBL response received:!U1,R,502,000,002AF,189,80,80,BA,FF Fpublishing direction and range infoɰa= ):CIyn@w?amf-ٱI=)=M}MM^=YMQQaU#HQYy];}]>Iae$ 5?e۾ em? u6@9e Ae: eM:)a%=i%4=5555m 5:Y5x1y5(:5j6WiWiXi XiWiXq:Wq2Wq*WqVqbUyBUy*UyUU1@R(Combining 5 samples.P*Qn@ZQo$?7U JQw?amf-2Q:QbQBx!@Ϯm.@D+j?RQ;oJX?R;{?S[?BQ}? QE@Q @PN9?PPQQn@"Q_@B!B! B!A-*B)A)A)A)A)"C1*C1RC9CYCaQIaG}z>a 9a Ie PFie 8?e =a a e ~; e ܓEƤ י,r(\gFAY}E@}E6@y}E<&}E }EHҴGM?@6eEʿ?oN?)~E@ ~Eae;I~ECɫ11)1 9I9Yu?yujFTNmea in: $SNTTA,0.006172,,,,230415.83*48 9AMU=YQU>a#Hy@<}>Iȡ :ť& 5? :ťI۾ ƥH? 6@9ƥaAǥF: ȥ:)ȥ3:miAdded new target pos. range: 3.720000 m, bearing: 56.775244 deg, deltaT: 4.441911 s, approachRate: 0.013508 m/s, LOS rate: 0.885561 deg/s, posRepo size: 4XW}?WX XWX:W2W*WVbUBU*UU @U K?B)B) B)A-u*B1A1A1A1A1"C= p?RC9C=}?CAU?iU?!I1GM1>"}י, B\gFAY}R[5@}RP@y}Rl%}R|}RH6CĀ?dȿ?@d?)~R[5@ ~R%c;I~RCɫyy)y yIyYI?yFu^Au]A    @ @ @i )Ii<MW=YC\;QU>a#H y0;}>I!%\' 5?%|۾ %)? 56@9%A%; %2*;)!WaWiXi XiWqXq:Wq2Wy*WyVybUyBU*UUU{w?BqBq BqAu[*ByAyAyAyAy"C]z?RCCC=B ===b =Tv:iIqY=]1y=:=<6G:>י,[\gFAY}6 @}6'@y}6}6mac}6HEఏ?`?໥Ŀ?Pc?)~6 @ ~6˵_;I~6Cɫyy)y yIyY}?yF 11MM=Ya#HyZ̻}%>I9 ]:=( 5? e:=۾ =? m6@9=A=; =;)=4:WWX XWX:W2W*WVbUBU*UUU@?BB BAΉ*BA!A)A)A)"C5?RC1C1C1 9 I Fi ? = :D  q; דE)ݝCIݝCiݙݝ=ݝ=ݝ6!I1GMR>bי,u\gFAY}NJ@}N@y}N&}N}NH `N@%,?5?@ſ ?@` ?)~NJ@ ~N^;I~NCɫyy)y yIyY?yOF=ip=Qֿx&1?lµ> )Iy|?5^~jtx?:vҽ;Լ ­:A)­]AI­5Ai­cAzLAMK=YॼQUE>IIaM#HIQyU}}U>IY]n* 5?]۾ ]Ӱ? m6@9]eA]n: ]:)YWWX XWX:W2W*WVbUBU*UUU '?BB BA*BAAAA"C9~?*CRCCCשIeaae e:Yayae6G>>)e;9v#י,M\gFAY}6@}6/@y}6b:}6[+}6H@jhn?@GV˿9?@=ؼB?)~6@ ~6&P];I~6Cɫ99)9 9I9Yu?y}QF)= > = = = =@ E@ E@999i99 9)9I9i9UYMUR=YU'LQUU>YYa]#HYaye}e>Ii u:m+ 5? }:m۾ m? }6@9mAm: m:)m5:WWX XWX:W2W*WVbUBU*UUU@ı?BB BA*BAAAA"C}?*CRCCCשIG>QQiNmGIi ٺ  A 9 CI Fi ? =  PD c;  ГEF)י,R\gFAY}f@}f8@y}fUD}f뭽}fHe@1wi?6?4eʿId?PL?)~f@ ~fc;I~dɫ) IY-j?y-ҀFIR=)4=8MB=YQU>a#Hyڻ}>I- 5?۾ -1 --- -t:Y-V1y-:-6)-;0י,TS\gFAY}6@}6~2@y}60>}6ﻼ}6H 6c{U? ?`"ſ+?`p?)~6@ ~6b;I~6CɫYY)Y YIYY?yFAAI) M^=YIa#HHy}>I/ 5?Q۾ ? 6@9KA*; );)W)W)X) X)W)X1:W12W9*W9V9bUABUA*UAUIUM@R]B*** querying acoustic contact ***PYPYBB1 B1A5m*B1A1A1A9A9"C9*CARCACACA IG5 >G6י,j3\gFAY}J@}J-@y}J@}J_P<}JH@@q??@ tAÿ???Hn?)~J@ ~J0`;I~JCɫy髁) IY?yFZ****** received transponder code query ******F****** received ping request ******qqau#Hqyy}U}}>Iȡ :ť0 5? :ť۾ ƥJ? 6@9ƥAǥk: ȥ4:)ȥ6:WWX XWX:W2W5 115z 5:Y1y15695@*W9V9bU9BU9*UaUaUm/ @ܩ9ܩIܭ؋FiܭT?ܭ=ܩܩܭ; ݭEBB BA5*BAAAA"C!*C!RC!C!C)!I)GMt>T=י, \gFAY}: @}:@y}:`O}:_<}:H@p߿z`ս?@?`c ſ?`p??W?)~: @ ~:^;I~:Cɫ99)9 9IAY]?y]-FexDUSBL response received:!U1,P 502,000,002AF,189,80,80,BA,FF eCommand AckeBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 鿡`"?11a=#H99yec˻}e>Iim4 5?mL۾ m{? }6@9mAmk: mR:)iWWX XWX:W2W*WVbUBU*UUUH" @BB BA.*BAAAA"C*CRCCC QIaG>iDי, ]gFAY}J5@}JDQ@y}J_}J}JH x߿@i]?)?`R ɿ ?P@;?)~J5@ ~Jw];I~JCɫ髙) IY?y$FɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U=iQ(Mv=YCQU? a #H  y}?I %:Y7 5? %:۾ ? -6@9OA: N:)7:WIWIXI XIWQXQ:WQ2WQ*WQVYbUYBUY*UYUYUeJ@BB BA2*BAAAA"C*CRCCCשIG)>M2 M~M~M M u:YMT1yM@:Mi6ܡ 9ܡ Iܥ HFiܥ ?ܥ =ܡ ܡ ܥ ; ݥ !Ek1Jי,*]gFAY}6ۓ@}6d@y}6f}6 }6H޿ ܅?@?k߿ʿ ?)F0?)~6ۓ@ ~6];I~4ɫ99)9 9I9Y?yFxDUSBL response received:!U1,R,502,000,002AF,18A,80,80,BA,FF Fpublishing direction and range infoɰ鰥> )Iyw?amf-ٱ)0>  ?    @ @ @ñññiññ ı)ıIıiıMN=Y_wQU>a#Hyɼ}>I: 5?E۾ #?  6@9A; ϸ;)WqWqXq XqWqXq:Wy2Wy*WyVybUBU*UUUy@R(Combining 5 samples.P*QZQo$?7U JQw?amf-2Q:QbQZwbk @t1'@zoژ?RQ-8R?{yR?(X ?BQt? Q9A@QS@PO9?PN9?PQQ\@"Qn@BB BAL*BAAAA!"CA*CIRCQCQCaI G%M>Qי,D]gFAɫ) IYU?yUFTNmea in: $SNTTA,0.048672,,,,230420.26*4C IC=)=    @ @ @i )Ii%<M-D=Y-QU->11a5#H19y=}=>IA M:E_> 5? U:E۾ E? U6@9EAE\: E2:)E8:mmAdded new target pos. range: 3.720000 m, bearing: 54.795941 deg, deltaT: 4.375357 s, approachRate: 0.000000 m/s, LOS rate: -0.452375 deg/s, posRepo size: 4XW%t?W!X! X!W!X):W)2W)*W)V)bU1BU1*U1U1U= ?BB BA*BAAAA"Cw?RCCt?C5 555 5:Y5WU1y5:56יIG@>@CWי,Bv^]gFAY}6Ȉ@}6Q@y}6wr}6ؐ}6H.޿ ?= ?=߿F̿?R@?)~6Ȉ@ ~65a;I~6C>JFailed to close latch before timeout.q >>Hardware FaultYB1?yBFI|)| <Mi=Y QU>a#Hy=}E>Iy}A 5?}T۾ }=? 6@9}PA}< }_<)yWyWyXy XyWX:W2W*WVbUBU*UUU\?BB BA*BAAAA"C-t?RC1C1C1I-$-@Hardware Fault in component: DDMG5.>AAI9MCIM؋FiMT?M=IIM; MmEom]י,Qx]gFAY}JV@}Jߚ@y}JU񀾙}Je.}JH@޿@3??߿ eο``?@e?)~JV@ ~JWe^;I~JCZPowering downXɪX)X XYD?yFi|?5L7A`堿l+ )IyMbp?&1X9v;P EA)NAIG/Ai?oALA-^A-\A u } } }@ }@ }@ }yyyi}?y y)}K?I}?i}v?lM#=YQU>a#HyÜ}>Iȩ :ŭ=C 5? :ŭa۾ ƭ? 6@9ƭAǭ: ȭ:)ȭ9:WWX XWX:W2W*WVbUBU*UUU ?BB BA܊*B5 555 5|:Y5U1y5:5D6)5;9=A9A9A9A9"CA*CIRCICICIYIaGZ>Udי,.]gFAY}6C@}6@y}6x}63}6Hݿ`!"?O?@la޿4п^?6S?)~6C@ ~6\;I~4YR?yRbF  }s=M}=Y} dQU?a#Hy}?IșŝDD 5?ŝ۾ Ɲ? 6@9ƝAǝ: ȝ:)șWWX XWX:W2W*WVbUBU*UUU?BB  B A H*B A A AA"C!*C!RC!C!C))I9GU=A 9A IE FiE ?E =A A E ; E E)CICi኉==VX6jי,I]gFAY}b@}b@y}b}bC}bH`?ݿ@@?;?0ݿ@ ҿ5?p?)~b@ ~bA\;I~bCY%?y%QU> a #H Hyy}>I)-E 5?-۾ -2? M6@9-ՔA-; -Z;))WyWyXy XyWyX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*CRC C CI$NClearing failed state for component DDMq G%>  {:YV1y:D6);Igqי,]gFAY}:/@}:@y}:os}: }:H~ݿ`L?@?b~ݿ@ҿ>?:{?)~:/@ ~:[;I~8Yb ?ybF)5= 5=    @ @ @ @ÙÙÙiÝÙ ę)ĝIĝiĝ<MQ=YcQU>a#Hy77}>I :G 5? : ۾ ? 7@9A: M:)::WWX XWX:W2W*WVbUBU*UUU r!@B!B! B!A%j*B)A)A)A)A9"CQ*CQRCQCQCYׁIG>im ]nGI /aAi ٺ /aA Awי,w]gFAY}F {@}F@y}F0.}F⡽}FHPݿzX@??sNݿ;ӿ`8?Hjm?)~F {@ ~FU[;I~FCY}?yF@AI =) =M==YGQU>a#Hy@}>IH 5?;۾ ? 7@91A: :)8%q%jAggregate::initialize lineCaptureDepth:SetNavAcoustic19% r%~Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNavq9%r-dReseting nav to dock location at range 3.720000 m q9-9- sM6Initialize SetNavComponent.WQWQXQ XYWYXY:WY2WY*WaVabUaBUa*UaUiUm @RB*** querying acoustic contact ***PPBB BA*BAAAA"C *C RC C C>9I8Fi?=; EI5 555 5:Y5DW1y5Y:5{6)5*;GE0>}י,p]gFAY}6@}6{,@y}6}6ʽ}6H Xܿ@}_?@?@̄ܿ`#Կ?`CQ?)~6@ ~6t[;I~4YN?yRgFRZ****** received transponder code query ******VF****** received ping request ******Va#H!y%}->I1 =:5!H 5? =:5m۾ 5? =7@95?A5 : 54:)5;:XYXYXYselSetNav fix at 20210815T230424: (41.552319, -70.708603)9e se:Uninitialize SetNavComponent.rmfCompleted lineCaptureDepth:SetNavAcoustic:UpdateNav19m rmAggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNavqmRCompleted lineCaptureDepth:SetNavAcoustic8mqunAggregate::uninitialize lineCaptureDepth:SetNavAcousticWyWyXy XyWyXy:Wy2W*WVbUBU*UUU @BB BA>*BAAAA"C*CRCCCIG$>1י,w^gFAY~?y~0F xDUSBL response received:!U1,P 502,000,002AF,18A,80,80,BA,FF  Command Ack BRequesting micromodem ping code 2i  %Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Y]^AU<MJ=Y%QU%>IQaU#HQYye}>IșŝG 5?ŝ۾ Ɲ? 7@9ƝMAǝ{; ȝ;)șWaWiXi XiWiXi:Wi2Wi*WqVqbUqBUq*UyUyU}I @BB BA*BAAAA"C*CRCC5L 555 5Ņ:Y5xZ1y5q:5_695@C9יIGf> 9 CI xFi ? = ; E݊י,-^gFAY}6b@}6C~@y}6p}6}6H Cܿ`|Y?? ۿ}Կ ?`ƺ2?)~6b@ ~6[;I~6CYf?yf/FzNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B aao =M]=YQU>a#Hy}>I  :?G 5? :۾ ? 7@9XA: :)<:WAWIXI XIWQXY:WY2Wa*WiVibUyBU*UUU@BB BA*BAAAA"C*CRCCCסIG >י,/G^gFAY}N@}N1@y}Np}N}NH@ۿK r??mۿԿ`V?@;N?)~N@ ~N1[;I~NCY^?y^FfxDUSBL response received:!U1,R,502,000,002B1,189,80,80,C5,FF fFpublishing direction and range info``ɰba=b7> `)bECI`ybu@bw?amf-ٱ`v%=iv< m m u u@ u@ u@qqqiqq q)qIqiq|=MR=Y;QU>a#Hy}>IȱŵF 5?ŵ۾ ƵP? 7@9ƵfAǵn$; ȵz%;)ȱWWX XWX:W2W *W V bUBU*UUU@R (Combining 5 samples.P*Qu@ZQAKK?Oh JQw?amf-2Q:QbQ"@b[@ [b ?RQnj#Ej EEE E:YEi1yE:EN6י,c a^gFAY}m@}m4@y}m}m}mH`ۿ ܽ -??'ۿ ӿR? e9Y?)~m@ ~m`[;I~mCY2?ysF=TNmea in: $SNTTA,0.056453,,,,230424.69*4D =kt?y&1? ףp= ?= ==`e= =Q=)9I9y=~jt?ˡE:v=<='=Լ =@A)=]AI=+Ai=9=\CA)U= U>]Ͻ=M]0=YeQ;QUe>aaae#HiiyuN"}u>Iy :}G 5? :}۾ }~? 7@9}A}; }f;)}=:mmAdded new target pos. range: 3.839998 m, bearing: 50.957832 deg, deltaT: 4.422913 s, approachRate: 0.027131 m/s, LOS rate: -0.867778 deg/s, posRepo size: 4XWc?WX XWX:W2W*WVbUBU*UU Q@Uq?BB BAa*BAA A A "Cn?RCCc?C܉9܉I܍(Fi܍,@܍=܉܉܍L; ݍՔEׁIG=> י,z^gFAY}6m@}6J@y}6݀}66ܽ}6H ۿ @?@0? gڿeԿz? *M?)~6m@ ~6[;I~6CYR?yROFIp=)%=    @ @ @ ip? )Iip?Md=Y  a#HyO }%>I)-xH 5?-۾ -}? =7@9-A-/; -1;))WiWqXq XqWqXq:Wy2Wy*WyVybUBU*UUU N?BB BAp*BAAAA"CdLe?RCCCIIQGu>%=i%=5 555 5.:Y5d\1y5:56י,仔^gFAY}:rl@}:@y}:W}:н}:Hۿ4ݥ? B? ۿӿ`?`ܸf?)~:rl@ ~:=[;I~:CYF?yF F=\o=M=X=YEAIaM#HIIyU]}U>IY]HI 5?]۾ ]a|? e7@9]A]: ]b:)YWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C]!`?RCYCYCYQIYG=܍ >9܉ I܍ Fi܍ Y@܉ ܉ ܉ ܍ W; ݍ ڔEי,>^gFAY}65@}6@y}6q}6ǽ}6Hhۿ@}?=G?jۿ@D/ӿwr?ⷿ~?)~65@ ~6[;I~4YB?yBFxz]A~<M~O=Ya #H H y-<}>I %:J 5? %:۾ z? %7@9A8: :)>:WyWyXy XWX:W2W*WVbUBU*UUU?BB  B A t*BAA!A!A)"CJ^`?*CRCCC IG5 >5555 5}:Y5`1y5:56)5Z;9=}י,Ov^gFAY}Bh @}B'@y}BS!}B97}BHl_ܿsF?`4Y? Hۿҿ`dL?B@h?)~Bh @ ~B\;I~@NPowering upN"Initializing DDM.Yu?y}ՒF  - - 5 5@ 5@ 5@ 5@111i51 1)1I1i5E=ME7=YE+=QUM>IIaM#HIQy]ZL<}]>IaeK 5?e۾ eoy? m7@9eAAen: e:)aWW X XWX:W2W*WVbUBU*UU!U%@-@BB BA*BAAAA"Cc?RCCC׉IG>S1י,\^gFAY}5@}5@y}55}5}5H`nܿcщ?{? ۿDѿ[?$軿 |?)~5@ ~5̬\;I~5CYL?yoF55/ݾ 5(>)1I1y5iiau#Hqqy}}}>Iȁ :Ņ"K 5? :ŅG۾ ƅr? 7@9ƅVADž: ȅ:)ȅ?:WWX XWX:W2W*WVbUBU*UUU`@BB BAZ*BAAAA"C *C RC C C)9)I-hFi-A@)))-g; -E)ݹIݹiݹݹݹݽ5----} -:Y-ƀ1y-:- 6)-|;YIaG9>"Xי, *^gFAY}6@}6@y}6n}6ĕ}6H@~nܿԣ??@/ܿ؈ο`?2 ?)~6@ ~6[;I~4Yn,?ynҖFpr?A)~ > ~> E E E E@ E@ E@AAAiAA A)AIAiAUM=MUs=Y] G=QU]?aaae#Haiymqʻ}m?IquK 5?u۾ um? 7@9uhAus: u(:)qWWX XWX:W2W*WVbUBU*UUU,E@RB*** querying acoustic contact ***PPBB BAb*BAAAA"C*CRCCC׉IG=?י,_gFAY}6@}6v @y}6Ebd}66}6H`ܿRQ? #?9ܿͿ`O?ʹ?)~6@ ~6“[;I~4Y^?ybȗFbZ****** received transponder code query ******bF****** received ping request ******fiiam#Hiy{;}>inGI%`AiAufпٺ}`A}ʶAIȁ :Ņ#K 5? :Ņw۾ ƅf? 7@9ƅADž; ȅ;)ȅ@:WWX XWX:W2W)*W)V)bU1BU1*U1U1U58' @BB BA*BAAAA"C*CRCCC5G 555 5:Y5a1y5:569E@סIGA>) 9) I) i) - =) ) - T; - ؔEiי,/_gFAY}:I@}:@y}:L}: }:H ܿ/쟿@?`AۿmuοKs?3?)~:I@ ~:)\;I~:CYR_?yR,FVxDUSBL response received:!U1,P 502,000,002B1,189,80,80,C5,FF VCommand AckVBRequesting micromodem ping code 2iTTIX)X^Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 `<M%b=Y-=QU5>IQaU#HYiyO;}>I!%?K 5?%۾ %a? U7@9%A%ó; %Χ;)!WYWYXa XaWaXi:W2W*WVbUBU*UUU`F @BiBi BiAmց*BiAqAqAqAq"Cy*CyRCyCyCaIG@>5Rי,II_gFAY}6%@}6@y}6(*}6f}6Hݿyyk@)?ۿ@Y ˿`,?`¿;?)~6%@ ~6\;I~6CY^ ?y^F`ɮ`rNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IM_A    @ @ @ÑÑÑiÑÑ đ)đIđiđc<MA=Y=QU>a#Hyu}>IgK 5?۾ I[? 7@9A?; @;)WWX XWX!:W!2W)*W)V)bU)BU1*UUU@@BB BA*B!A!A!A!A)"CQ*CQRCQCQCYiIqG>5 555 5|:Y5V1y5:56Vי,c_gFAY}~@}~ @y}~; }~Եӽ}~H`ܿDw6?cBܿ`'Fſ`:?$-@#?)~~@ ~~$];I~~CYE;?yE)FUxDUSBL response received:!U1,R,502,000,002AB,189,80,80,B8,FF UFpublishing direction and range infoIIɰM_=I I)M8CIIyM^@Mw?amf-ٱI ii?(\µMb?L= =)IyQ?&1?X9v?u<P=< 5A)YAI/AibfAHA=MC=Yi=QU>!a%#H!!y-}->I1 =:5I 5? =:5۾ 58^? E7@95ۖA5M: 5V:)5A:WaWaXa XiWiXi:Wi2Wq*WqVqbUqBUq*UyUyU} @R(Combining 5 samples.P*Q^@ZQ|}4R?!.. JQw?amf-2Q:QbQ\p#@Ce5}@3J?RQ_V?ԧW?F "VL?BQgi? Q=.@Q@PPP9?PQQ@"Q#@BiBi BqAu*BqAqAqAqAy"Cy*CRCCC>9IפFi@x; EIG$>0י,y}_gFAY}N @}N@y}NR}NT^}NHܿ'9s?@Q?4ܿM ?]@t?)~N @ ~N%\;I~LYn3?yn_FETNmea in: $SNTTA,0.027835,,,,230429.12*46 E%=iE= = = = =@ =@ =@999i99 9)9I9i9]=M]F=Ye?-=QUe>aiam#Hqqy}iۻ}}>IȁŅG 5?ŅC۾ ƅ`a? 7@9ƅ ADž6; ȅ>;)ȁmmAdded new target pos. range: 3.479999 m, bearing: 52.314574 deg, deltaT: 4.427855 s, approachRate: -0.081303 m/s, LOS rate: 0.306411 deg/s, posRepo size: 4XWgi?WXi XqWqXy:W2W*WVbUBU*UU @UHL?B1B1 B1A5!*B1A9A9A9A9"Cegi?RCaCegi?Ci5 555 5|:Y5X1y5/:5D6AIQG}7>oי,N_gFAY}:~@}:p@y}:Ὑ}:O}:H:ܿ`Zs?[?ܿ`0?`aaae#HiiymCZ}u>Iy :}F 5? :}۾ }Jd? 7@9}1A}: }4:)}B:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAAq"C*CRCCCqIyG= 9 CI Fi @ = a; ޔEי,p&_gFAY L?y  FI >)=?MD=YQU>a#HHy}>IJD 5?۾ g? 7@9^A: +:)WWX X W X :W 2W *WVbUBU*UUU$?BaBi BiAm*BiAqAqAqAq"Cy*CRCCCIIQGu>5 555 5|:Y5W1y5č:56)5;9=Ÿי,_gFAY}6@}6z@y}6}6r}6HIܿ 1w`?dۿ O:ѳ?{¿r?)~6@ ~6[;I~6CY^j?ybFI)    @ @ @ùùùiùù Ĺ)ĹIĹiĹ;MI=Y¥=QU>a#Hy*ּ}>I :gB 5? :!۾ j? 7@9A3; ;)C:WWX XWX:W!2W!*W!V!bU!BU)*U)U)U-@^?BYBY BYA]*BYAaAaAaAa"Ci*CiRCiCiCq1IAG]=י,K_gFAY}Rq@}R$@y}RTS}R%}RHۿE`珺Y? Wۿ7| g?g,?)~Rq@ ~R9\;I~RCYby?yb'FS㥻?~jt?+?/== =)Iya#Hyi}>I  @ 5? ۾ t? 7@9 A $< <) WWX XW!X!:W!2W!*W!V)bU)BU1*U1U9U=NV@q9qIuFiu@u=quODuF; uϔEBB BA*B!A)A)A)A)"C1*C9RC9C9Ca5 5{5{5 5c|:Y5#R1y5:56)5I;9IIGe4>י,̷_gFAY}6@}6|-@y}6E }6ν}6H #ۿ+{@?]ۿ Ѳ'? l?)~6@ ~6[;I~6CYN?yRF  ]M]T=Yel@=QUe>aaam#Hiiyux}u>Iy}t? 5?}۾ }@? 7@9}ؗA}U: }:)yWWX XWX:W2W*WVbUBU*UUU@2@BB BA  *B A A A A "C*CRCCCIG==ؙ,>`gFAY}6@}6v@y}6si켙}6 }6Hۿ@_C?!!a%#H!)y-s}->I1 =:5> 5? E:5#۾ 5? E7@95A5: 58:)5D:WaWiXi XiWiXi:Wi2Wi*WqVqbUqBUq*UUUv@RB*** querying acoustic contact ***PPB)B) B)A-7*B)A1A1A1Aq"Cy*CyRCyCyCבIG=5 5|5|5{ 50p:Y5R1y5i:569=@u >9q Iu xFiu ?q q q u @; u ̔E)CIi=={5P ؙ,ao2`gFAY}:@}:)@y}:Ἑ}:p2w}:H@ۿ@`åz?`ۿ la%#H!!y-`:}->I15< 5?5۾ 5d? E7@95 A5; 5j;)1WiWiXi XqWqXq:Wq2Wq*WyVybUyBUy*UUU @BB BAM*BAAAA"C*CRCCCױIG=ؙ,=IL`gFAY}6@}6@y}6Ƽ}6n@}6H@ۿC ?`}ۿ@=ۘ?nE?)~6@ ~6Z;I~6CYN?yRsFVxDUSBL response received:!U1,P 502,000,002AB,189,80,80,B8,FF VCommand AckVBRequesting micromodem ping code 2iTTZNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Ie=)eR=8MB=Y;QU> 1a=#H9AyM8}U>Iȁ :Ņ_; 5? :Ņ=۾ ƅt? 7@9ƅFADž< ȅ<)ȅE:WWX XWX:W2W*WVbU)BU1*U1U1U=M @BB BA*BAAAA"C*CRCCC EW EEE Ex:YEWU1yE:Er6AIqGa>inGIi5ܿٺ15AUؙ,%f`gFAY ?y ƙF ɮ -Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)-/$?+ǿV-?-&1>-v> -h>))I)y-:v?Ai- IA)-3CA>9IȖFi?=W; ٔE-eNonly read 0 of 1 data item for altitudeM.=YQU>a#Hy}>IU: 5?۾  7@9cA: :)W9W9X9 X9WAXA:WA2WA*WiVibUiBUi*UiUqUu jg@BB BA/*BAAAA"C*CRCCCI!GEQ> Bؙ,z`gFAY~?y~FxDUSBL response received:!U1,R,502,000,002AE,189,80,80,B2,FF  Fpublishing direction and range infoɰ`= )2CIy=j@w?amf-ٱae^A    @ @ @i )IiUGMUN=YYQU]>aaae#Haiyq}u>Iȁ :Ņm9 5? :Ņ۾ ƅs? 7@9ƅ|ADž; ȅw;)ȅF:WWX XWX!:W!2W!*WIVIbUIBUQ*UQUYU]@R(Combining 5 samples.P*Q=j@ZQs:@?apuV JQw?amf-2Q:QbQ :@zkU@7K?RQL%?5[]?/Eæ?BQe? Q7@Q@PPPQQr@"Q@B5g 5~5~5 5؆:Y5T1y5@:56BA BAAE*BAAIAIAIAI"CQ*CQRCQCQCYYIiGZ>,&ؙ,?`gFAY5?y=FTNmea in: $SNTTA,0.107345,,,,230433.56*42 鿱]ʼM][=YYQUe>aaae#Haiyi}u>Iy}8 5?}+۾ }r? 7@9}A}I: }:)ymmAdded new target pos. range: 3.660000 m, bearing: 51.450323 deg, deltaT: 4.509565 s, approachRate: 0.039915 m/s, LOS rate: -0.191648 deg/s, posRepo size: 4XWe?WX XWX:W2W*WVbUBU*UUG @U@$?BB BA*BAAAA"C f?RC C e?C IG- > 9 I Fi ?    /;  ĔEW,ؙ,ų`gFAY}rO@}r6@y}rٙ}rn&}rHڿ 鵝 3 ?ڿp:?Yˤ`?)~rO@ ~ruZ;I~pY~?y~F    @ @ @ iG? ?)v?Iv?i? CM O=YKda#HHy}%>I) 5:-7 5? 5:-۾ -o? 57@9-A-{: -Q:)-G:WWX XWX:W2W*WVbUBU*U U U@wI?BB BA*BAAAA"CSf?*CRCCC׹IG&>-n --- -y:Y-T1y-:-i6)-;95<3ؙ,2`gFAY}6C{@}6̖@y}6缙}6}6H 2(ۿt N?!ۿ*E?@uK?)~6C{@ ~6e[;I~6CYN?yRF)E> E>]M]V=Yex̼QUe>aiam#Hiiyu{<}u>Iy}6 5?}x۾ }t? 7@9}ǘA}: }:)yWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C%e?*C!RC!C)C)IG==e9ؙ,Dk`gFAY}6@}62@y}6 C}6 Z}6HVۿ@??`Tۿe^?N?)~6@ ~6=\;I~6CY^9?ybFI-C=)-C=1Zd?I +y&1"[>94 `e)Iy{Gz?AAaE#HAIyM<}M>IQU6 5?U۾ UƎ? e7@9UԘAU+: U4:)QWWX XWX:W2W*WVbUBU*UUU !?ܹ9ܹIܽFiܽ}?ܹܹܹܽ; ݽEBB BA*BAAAiAq"Cy*CRCCCבIG!>1i5=eS eee ew:YeWU1ye:e`6)e8;N@ؙ,9GagFAY}:Π@}:W@y}:L哽}:Axμ}:H:ۿ I)U?@?/ۿ sx?  ?)~:Π@ ~:[;I~:CY^?ybF    @ @ @ @ÙÙÙiÝÙ ĝ)ĝIĝiĝhIMT=Y~QU>a#HyM}>I : 7 5? :۾ K? 7@9A: E:)H:WyWyXy XyWyXy:W2W*WVbUBU*UUU@?BB BA*BAAAA"C*CRC!C!C!)I1GU>5xFؙ,"agFAY}6=x@}6Ɠ@y}6 ?}6rr}6H ۿq<@?ڿ `@?8?)~6=x@ ~60[;I~6CYvN?yvFyy?DMI=YQU>a#HyȻ}>I17 5?m۾ ċ? 7@9A^: :)WWX  X W X :W 2W *WVbUBU*UUU`#@BABI BIAMZ*BIAIAIAQAQ"C*CRCCCשIG>[ d Rx:YT1y:s69@ܹ9ܹIܽFiܽ?ܹܹܹܽ; ݽELؙ,4agFAY}6tG@}6b@y}6J}6C{}6HڿZ ?6ڿ 㺿a?`S8?)~6tG@ ~6P[;I~6CYR?yRFTV?A \\        @  @  @   i   ) I i }M}N=YQU>a#HyH}>Iȹ :ŽX7 5? :Ž۾ ƽC? 7@9ƽAǽ: Ƚ4:)ȽI:W W X  X W X :W 2W*W1V1bU1BU9*U9U9U=@@RMB*** querying acoustic contact ***PIPIBB BA„*BAAAA"C*CRCCC׉IG=I!)%@A,Sؙ,NagFAY}6@}6v@y}6}6ËP}6HhۿI6Pb?ڿ@~.?-`?)~6@ ~63[;I~6CYN?yRFRZ****** received transponder code query ******VF****** received ping request ******V99a=#H9AyM+<}M>IQU{7 5?U۾ UɈ? e7@9U AU; U;)QW!W!X! X!W!X!:W)2W)*W)V)bU1BU1*UqUqU}L @BB BA)*BAAAA"C*CRCCCIG- >D  }v:Y[1yH:6MYؙ,hagFAY}:&@}:GB@y}:{㽙}:zZ}:Hۿ??mdۿ@zng? ?)~:&@ ~:zZ;I~:CYF?yJŏFJxDUSBL response received:!U1,P 502,000,002AE,189,80,80,B2,FF NCommand AckNBRequesting micromodem ping code 2iLLVNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i9mCIiiiiiim; mE)ICi==ݿ3~jt?kt=̼  0)IyI +?{Gzt?Mbp94=ף; h=A)NAI:AiVVA3GA)}= }=M=Y!QU>a #H y=<}e>Iȱ :ŵf6 5? :ŵ۾ ƵՈ? 7@9Ƶ;Aǵ< ȵ<)ȵJ:WWX XWX:W2W*WVbUBU*UUU@ @B!B! B!A-@*B)A)A)A)A)"CQ*CYRCYCYCYI!GE>#`ؙ,㎂agFAY ?y ٍF-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Ip=)=    @ @ @i )IiKM~=YQU  ?  a #H y}?I!%5 5?%۾ %ۈ? -7@9%UA%3: %:)!WaWaXa XaWaXa:Wi2Wi*WqVqbUqBUy*UyUyU@BYBY BYA]*BaAaAaAaAa"C*CRCCC׉IG>!i!# u ":YWU1y:E6 ufؙ,lwagFAY}:@}:"@y}: )}:5.}:Hؗܿ`ꛢ?@D$?@ܿx5ſ? W@F?)~:@ ~:[;I~:CiJnGI`ilٿٺVAY%?y%cF-xDUSBL response received:!U1,R,502,000,002AE,18A,80,80,BA,FF -Fpublishing direction and range info!!ɰ!%> !)%:CI!y!%w?amf-ٱ! oMK=Y QU>a#HybW=}>I :5 5? :۾ ? 7@9yA=: :)K:WYWYXa XaWaXa:Wa2Wa*WiVibUiBUq*UqUqUu`@R(Combining 5 samples.P*QZQs:@?apuV JQw?amf-2Q:QbQ ?@̤o@Ւmt?RQ$!|?F#s#?^?BQ-Oi? Q8@Q@PPPQQ @"Qr@BB BA8*BA!A!A!A!"C)*C)RC)C1C1!I1GM>Q9QIUFiU}?U=QUPDU; UElؙ,/NagFAY=%?y=FDNmea in: $SNTTA,,,,,230438.01*51 ±µ]A = = = =@ =@ =@999i99 9)9I9i9M VMME=YUQUU>QYa]#H]HYye}e>Iim(4 5?m:۾ m-? }7@9mAm[; my;)imiAdded new target pos. range: 3.660000 m, bearing: 52.217332 deg, deltaT: 4.377303 s, approachRate: 0.000000 m/s, LOS rate: 0.175224 deg/s, posRepo size: 4XW-Oi?WX XWX:W2W*WVbUBU*UUU@iS?BB BAd*BAAAA"C-Oi?RCC-Oi?CI)IG>]# ]]] ]s:Y]V1y]:]6)];9esؙ,!agFAY}F@}F>8@y}F[}FNŽ}FH5ܿ@ ?L?8ܿ#ͿD?$?)~F@ ~Fh\;I~FCYv?yv F qq-MT=YQU>a#Hy<}>I^3 5?n۾ m? 7@9™A': ܹ:)WWX XW X :W 2W *W VbUBU*UUUd?BABA BIAMĆ*BIAIAIAIAI"C*CRCCCשIG=I!)%AAczؙ,nagFAY}F7@}FmS@y}Fpi}F8}FH`ܿ??`ܿο?`굿- ?)~F7@ ~F[;I~FCYR?yV?FK?l񲿸Q^= )I9IpFiM?=; Ey11a5#H19y=;}=>IA M:E1 5? M:E۾ E? U7@9EAE: E3:)EL:WqWyXy XyWyXy:Wy2W*WVbUBU*UUU`c?B1B1 B9A=*B9A9A9A9AA"CA*CIRCICICQQIG>] ]}]}]i ],i:Y]kS1y]Ԋ:]6)]; ؙ,(bgFAY}B@}B].@y}B[0p}BlFi}BH.ܿ ? M?`Qܿ@Ϳ`¿?xX`?)~B@ ~Be[;I~BCYjm?yjIF)E= E=    @ @ @i )Ii M K=Y>QU>a#H!y-㷻}->I9=<0 5?=۾ =? M7@9=A= ; =,;)9WyWX XWX:W2W*WVbUBU*UUU`?BB BA*BAAAA"C*CRCCC?i?IG>/ؙ,bgFAY}:l@}:@y}:Py}:Y }:H@ܿ Ńp??ܿ`H.Ϳ }? /5 ?)~:l@ ~:\;I~:CYFG?yJmFI=)5=M5Y=Y=A¼QU=>9AaE#HAAyM@o}M>IQ ]:U. 5? ]:U#۾ U? ]7@9U3AU: UA:)UM:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAIAIAIAI"CQ*CQRCYCYCYaIqG=!i%=* Y jt:YU1y:E 69@9IXFi?; E>ؙ,e7bgFAY}6@}6@y}6^}6 }6H^Rܿȋ s?@ ?ܿ`rο IQ? Qޛ ?)~6@ ~6P\;I~6CYv?yvFIY)Y        @  @  @   i   ) I i %Q;M%=Y% мQU->))a-#H11y}}}}>IȁŅ, 5?Ņ}۾ ƅM? 7@9ƅhADžU: ȅ:)ȁWWX XWX:W2W*WVbUBU*UUU e@R%B*** querying acoustic contact ***P!P!BQBY BYA]*BYAaAaAaAa"Ci*CqRCqCqCyIו]A)ב׉ I G >&ؙ,jQbgFAY}6ǭ@}6P@y}6}6y}6Hܿ`@?`Tn?`ۿ uѿ CJ?@˱`κ?)~6ǭ@ ~6ڌ\;I~6CY^?y^~FbZ****** received transponder code query ******bF****** received ping request ******f"  s:Yy6Pؙ,tCkbgFAY}6ϖ@}6X@y}6\0}6;\}6Hۿ@9i`r?jڿӿ3N?¿fu?)~6ϖ@ ~6\;I~6CYB?yBFFxDUSBL response received:!U1,P 502,000,002AE,18A,80,80,BA,FF JCommand AckJBRequesting micromodem ping code 2iHHNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 dd9IFiv?=; E}I +?T㥛 ?Mb`}94=}> })yIyy}y&1?~jt}`e<}} } DA)}^LAI}r.Ai}pAy}LA     @ @ @i )IiUCM}=YQU>a#Hy&}>IȹŽ+ 5?Ž۾ ƽ? 7@9ƽAǽH: Ƚʽ:)ȹW W X  X W X :W2W*W1V1bU9BU9*U9U9U=F @BB BA*BAAAA"C*CRCCCIG>h8ؙ,TbgFAY}6u@}6R@y}6M}6}6Huۿ Ғ@?kڿ@{ҿy?`¿?)~6u@ ~6\;I~6CY^e?ybFrNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =a=i=a=<M=YZ=QU1?a#Hy}0?I %:a+ 5? %:۾ ? -7@9A: k:)O:WiWiXi XqWqX:W2W*WVbUBU*UUU5 @BB BA*BAAAA"C*C!RC!C!C!)I9GU>  {:YDW1yY:26bؙ,bgFAY}6P@}67l@y}6|}6O}6Hۿ4?`?@`ۿпn(? ~?)~6P@ ~6[\;I~6CYFK?yFҋFJp=ɮJp=RxDUSBL response received:!U1,R,502,000,002AE,189,80,80,C1,FF RFpublishing direction and range infoPPɰPR7> P)RACIPyPRw?amf-ٱP)j= j>nMr[=Yrattav#Htxyzǻ}z>I|~'+ 5?~ ۾ ~`? 8@9~A~: ~:)|W)W)X) X)W)X1:W12W1*W1V1bU9BU9*U9UAUE@RM(Combining 5 samples.PQ*QQZQUs:@?apuV JQUw?amf-2QQ:QQbQURT@bQJBQ@rIQ:?RQU\/Ʉ?ñc?LbJ?BQUDc? QU2@QU@PUO9?PQPQQQQU@"QU @BaBa BiAmۆ*BiAiAiAiAi"Cq*CyRCyCyCyQIYG}=ܙ9ܝCIܝНFiܝE@ܝ=ܙܙܝ; ݝjE)5CI5Ci115=5!4+ؙ,bgFAY}b9@}bU@y}b2LJ}bD}bHBۿ!? ?`f+ܿ п&? % Z?)~b9@ ~b\;I~bCn`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ!)! %I!Y=?yEFDNmea in: $SNTTA,,,,,230442.04*59 I)IR=)4= M M M U@ U@ U@IIIiII I)IIIiImъ<Mm =YmQUu>qya}#H}HyJ}>Iș :ŝ* 5? :ŝh۾ Ɲ? 8@9Ɲ֚Aǝ2; ȝg5;)ȝP: 3:Y[1yH:6) ;9mmAdded new target pos. range: 3.660000 m, bearing: 50.924374 deg, deltaT: 3.999719 s, approachRate: 0.000000 m/s, LOS rate: -0.323262 deg/s, posRepo size: 4XWDc?WX XWX:W2W*WVbUBU*UUU ,?BiBi BiAm*BiAqAqAqAq"C}Dc?RCyC}Dc?CY Ii G >|tؙ,bgFAY}6@}6'@y}6e}6}6HDؙܿjŸ?`_?`8ࣱܿп? a ?)~6@ ~6&];I~6CɫYY)Y YIYY,?y4F5!=M==Y=eQU=(?AAaE#HAIyMp<}M)?IQUz* 5?U۾ Uʈ? e8@9UAU: U:)QWWX XWX:W2W *W V bUBU*UUU`g?BABA BAAE*BAAIAIAIAI"CQ*CQRCQCQCYIIQinGIG&>i5ӿٺ1=Aؙ,bgFAY}6 8@}6S@y}6-}6+н}6Hyܿ@^b? hD?ۿҿ? ? ?)~6 8@ ~6\;I~6CɫYY)Y YIYi9mCIm`Fim@m=iim; m~EY?yF&1 rh?V-?PC = <)IyI +?a#Hy<}>I  * 5? ۾ l? 8@9 A Y: :) W9W9X9 XAWAXA:WA2WA*WIVIbUIBUI*UQUQUUr?ByB BA*BAAAA"C*CRCCCIG=/>U UUU U:YU0Y1yU:U6)U;]ؙ,mcgFAY}:@}:;@y}:ㇾ}:'}:H=ݿ୅J}?`B?wۿߜҿ??`?)~:@ ~:3];I~:CɫYY)Y YIYY?y-F5C=i1 AA    @ @ @ÑÑÑiÑÑ đ)đIđiđ;fMO=YK=QU>a#Hy <}>Iȹ :Ž* 5? :Ž۾ ƽ? 8@9ƽAǽ; Ƚ;)ȽQ:WWX XWX:W2W*WVbUBU*UUU`?BB BA*BAAAA"C*CRCCCIG$>I!)%@AUؙ,? cgFAY}2D%@}2@@y}2}2bԽ}2H'tݿ@e<ޜ?a#Hy<}>I* 5?V۾ ? 8@9AA: {:)WYWYXY XaWaXa:Wa2Wa*WiVibUiBUi*UiUqU |@BB BA]*BAAAA"C*CRCCC IG5 >a9eCIeFie@e=aae; e|Eؙ,;:cgFAY}6@}6@y}6F}6}6H@ݿ9@w??ݿoп`E?@9ձ /?)~6@ ~6];I~6CɫYY)Y YIYYV?yvF) > >5M=D=Y=QU=>AAaE#HAIyM<}M>IQ ]:U* 5? ]:U۾ U(? e8@9U AU=: UI:)UR:WWX XWX:W 2W *W V bU1BU1*U1U1U5N@BB BA*BAAAA"C*CRCCCסIG >5Q 555 5w:Y5X1y5/:56)5;Gؙ,iTcgFAY}V<.@}VI@y}V9}V}VHMV޿ N?h?޿b^οk?@s??)~V<.@ ~VMb;I~VCɫqq)q yIyY?ycFI)IC=)=    @ @ @i )Ii <MM=Y;QU>a#H!y%B<}%>I)-+ 5?-۾ -? =8@9-A-: -:))WYWYXY XYWYXa:Wa2Wa*WaVabUiBUi*UiUqUuY@R}B*** querying acoustic contact ***PyPyBB BA8*BAAAA"C*CRCCC!I1GM>?ؙ,mcgFAY}6@}6M@y}6Ux}6 X}6H=޿`8?"?`,޿˿ ?27?)~6@ ~6`;I~6C^A]A 9 I i     ; Eɫ99)9 9I9Yu\?y}F}Z****** received transponder code query ******F****** received ping request ******UM> UGa=)QIQyU/$~jt?QUUA)UWAIQiUuAQU=NAu3<Mu6=Y}ya#Hy}>Iȱ :ŵ^* 5? :ŵ:۾ Ƶ? 8@9Ƶ*Aǵ: ȵ:)ȵS:WWX X W X :W 2W *WVbUBU*UUU e @BB BA*BAAAA"C*CRCCC5- 555 5t:Y50Y1y5:56)5;יIGB>ؙ,ycgFAY}R@}RB@y}Rlm}R2}RH`wݿP.z? vM?2޿@r̿`i? O 2?)~R@ ~R^;I~RCɫqy)y yIyY%?yF@AxDUSBL response received:!U1,P 502,000,002AE,189,80,80,C1,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ©­\AɼMS=Y11a5#H19y=}=>IAE) 5?E۾ EЄ? 8@9E;AE< ES<)AWQWYXY XYWYXa:W2W*WVbUBU*UUU@BQBQ BQAUd*BQAYAYAYAY"C*CRCCCיIGg>ؙ,cgFAY}6t@}6@y}6l}6}6H`}޿:P? F?`5ݿ6ϿX?@?)~6t@ ~6:];I~6Cɫ99)9 9I9Y}?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i4=  M M U U@ U@ U@QQQiQQ Q)QIQiQeX=MeT=Ye:QUm>iiam#Hiqy};}}>IȁŅo) 5?Ņ۾ ƅ? 8@9ƅKADžض: ȅk:)ȁWIWIXI XIWQXQ:WQ2WQ*WQVYbUYBUY*UYUaUem@BB BA*BAAAA"C*CRCCCIG (>51 555 5t:Y5X1y5/:569=@>9CIFiE?=; E<)ؙ,VecgFAY}J@}J@y}Jk}Jߧݽ}JH@@޿@1G? ռMM<=YU]/;QUU>YYa]#H]HYyei;}e>Iȩ :ŭ( 5? :ŭ:۾ ƭ{? 8@9ƭ[AǭI: ȭ:)ȭT:WWX XWX:W2W*W V bU BU *UUU!#@R%(Combining 5 samples.P!*Q!ZQ%s:@?apuV JQ%w?amf-2Q!:Q!bQ%AG)@`@_?RQ%g~^f?;+?o?BQ%0n? Q%@8@Q%J @P!P%O9?P!Q!Q% @"Q%@BB BA*BAAAA"C*CRCCCIG J>ؙ,>cgFAY}:@}:'@y}:6>c}:C}:H2޿_26?R?ݿͿ<,? A?)~:@ ~:?c;I~:Cɫ髑) IY0?yF)E= E=mMm:=Ymvqqau#Hqyy}#}}>Iȉō( 5?ō۾ ƍt? 8@9ƍmAǍ÷: ȍ:)ȉmiAdded new target pos. range: 3.660000 m, bearing: 53.309637 deg, deltaT: 4.536525 s, approachRate: 0.000000 m/s, LOS rate: 0.525791 deg/s, posRepo size: 4XW0n?WX XWX:W2W*WVbUBU*UUUX?BB  B A !*B A AAA"CFi?RCC0n?Cu` uuu ux:YuDW1yuY:u6IAG>:ؙ,cgFAY}:R@}:@y}:X}:n}:Hfg޿A&ז?hY?$ݿ̿?K`)?)~:R@ ~:rYc;I~8T9TIV@FiV?TTTV; VE)AIAiAE=E=E4ɫAA)A AIAY} ?y}FIY)Yi|?5?p= ף?Q?q== u<)IyX9v:v?~jt?T<< 99aE#HAAyM;}M>IQ ]:U( 5? ]:Uk۾ Uu? ]8@9UAU: U:)UU:WWX XWX:W2W*WVbUBU*UUU |S?BB BA*BAAAA"C0n?RCCCI)]AIG J>:#ٙ,<dgFAɫ髙) IY?yٍFMi=YQU>a#Hy}>Iȱŵ( 5?ŵ%۾ Ƶv? 8@9ƵAǵ: ȵ÷:)ȱWWX XWX:W2W*WVbUBU*UUU`?B!B! B!A%*B!A)A)A)A)"C1*C1RC1C1C9)I1GU>u uuuz u|:YuU1yu:u61 9 i nmGI i  ٺ  A/Mٙ,"dgFAY}6@}6i@y}6J}6{}6H޿O#?@&i?L޿Dʿ? ±L?)~6@ ~6 3];I~4ɫ99)9 9I9Y}?y}F^A<MS=Y=QU>!!a%#H!)y-4;}->I1 =:5( 5? =:5۾ 5w? E8@95ÛA5: 5m:)5V:WaWaXa XiWiXi:Wi2Wi*WiVqbUqBUq*UyUyU}?BABA BAAE*BAAIAIAiAi"Cq*CqRCqCyCyiIqG>ܩ9ܩIܭxFiܭ?ܩܩܩܭ; ݭE wٙ,iiau#Hqqy}P}}>IȁŅ) 5?Ņ۾ ƅ8y? 8@9ƅADžg: ȅ=:)ȁWWX XWX:W2W*WVbUBU*UUUt?BB BAG*BAAAA"C*CRCCC׉IG>uX uuu ux:YuW1yuč:u6)u;9`ٙ,VdgFAY}:{@}:@y}:?$;}:,}:H`N޿[#`ݩ?@?`]޿``ƿ @C?`5lp?)~:{@ ~:2];I~:CɫQQ)Y YIYY?yFU>:MUK=YU"=QU]>YYa]#HYaye|<}m>Iqu)) 5?u۾ uz? }8@9uAu: u÷:)qWWX XWX:W2W*WVbUBU*UUU@BB BAC*BAAAA"C*CRCCCIG >ٙ,apdgFA$9$I&Fi&v?&=$$&; &EY}j@}j@y}j.}js%}jH@X޿"?@?@a޿@ſp?kU`J?)~j@ ~jOd;I~jCɫ) IY.?yFa=ɮR= /$? t< xi=) I y y&1|{Gzt?ˡE `廹 ף; ' ?A) SAI 0Ai   @A)%= %> m m m m@ m@ m@iiiiii i)iIiii}<M}9=Yma#Hyx}>Iș :ŝ ) 5? :ŝ۾ Ɲu? 8@9ƝAǝ: ȝ:)ȝW:WIWIXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UYUYU]خ@RB*** querying acoustic contact ***PPBB BA"*BAAAA"C*C!RC!C!C)uD uuu{ u}v:YuWU1yu:u6)u0;IGK>p"ٙ,=dgFAY}6ҳ@}6[@y}6*/}6Qm}6H`y޿@`F?I?@R޿`Aƿ` ?`87z?)~6ҳ@ ~6 a;I~6CɫII)I IIIY}?y}FZ****** received transponder code query ******F****** received ping request ******a#HyO;}>I( 5?۾ r? 8@9A: b;)WAWIXI XIWIXI:WI2WQ*WQVQbUQBUY*UYUYU]c @BB BA*BAAAA"C*CRCCCIu\A)u\AIIQGm>(ٙ,HdgFAY}6o%@}6@@y}6MS7}6ĕ}6H`޿ `?'v? YYae#Hayy"<}>Iȩ :ŭ( 5? :ŭ۾ ƭtm? 8@9ƭAǭ:; ȭ<)ȭX:WWX XWX:W2W*WVbUBU!*U!U!U-oZ @u u{u{us un{:Yu#R1yu:u69}@BB BA *BAAAA"C*CRCCCa9aIe Fie?e=aae; eEבIG5q>*.ٙ,ZdgFAY}:@}:@y}:n4}:%}:H{߿@ AJ?޿ʿ@or? :J?)~:@ ~:/];I~:CɫYY)Y YIYY?yF?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B !!    @ @ @i )IiM?=YR;QU>a#HHy<}>I( 5?۾ h? 8@9A: :)W9W9X9 X9W9X9:W92WA*WAVAbUABUI*UIUIUM @ByBy ByA}1*ByAAAA"C*CRCCCiIyG>h5ٙ,dgFAY}6V@}6@y}6*}6ٽ}6H߿-!U?޿ɿ@E? Ǻ ~`?)~6V@ ~6];I~6CɫII)I IIIY}?y}FxDUSBL response received:!U1,R,502,000,002AD,189,80,80,BE,FF Fpublishing direction and range infoɰu`=鰁 )>CIyff@w?amf-ٱ 鿡<Ma=Ya#Hy}>I :( 5? :۾ e? 8@9Z: :)Y:WWX XWX:W2W*W V bU BU *U UU)@R%(Combining 5 samples.P!*Q%ff@ZQ%xP^B(?0B JQ%w?amf-2Q!:Q!bQ%eX@(cAd8@Z|H4?RQ%#,ͯ)?q?S>SXV?BQ%u? Q%9@Q%@P!P!P!Q!Q%@"Q% @BYBY BYA]*BYAaAaAaAa"Ci*CiRCiCiCqQIYGu=  l:YU1y:)6;;ٙ,|dgFAy9yI}Fi}1?}=yy}; }{EY}m4@@}m[@y}mެ$}m)}mH ߿`F?޿Oɿ~?L[?)~m4@@ ~mFca;I~mCɫ髉) IY?yEF]TNmea in: $SNTTA,0.044195,,,,230450.97*43 '1ZĿEԸX9v?"ƽ <)IyMb?~jtx?I +?<;94= qqau#Hqqy}4<}}>IȁŅz( 5?Ņ۾ ƅj? 8@9ƅADž: ȅn:)ȁmmAdded new target pos. range: 3.599999 m, bearing: 54.855319 deg, deltaT: 4.378586 s, approachRate: -0.013703 m/s, LOS rate: 0.353009 deg/s, posRepo size: 4XWu?WX XWX:W2W*WVbUBU*UU @Up?B)B) B)A5 *B1A1AYAYAY"Ceu?RCaCeu?CiqIG>Bٙ, egFAY}6 @}6%@y}6}6}6H`F@D`? ɯ߿@Lȿ@?ja?)~6 @ ~6Kc;I~6Cɫ99)9 9I9Y}V?y}ĐF)> >E<MEu=YEmu qqu u*k:Yqyqui6!Hٙ,_%egFAY}261@}2L@y}2I~}2}2HZ@?ځ??i(Rſ@ =?Qˈ?)~261@ ~2#e;I~2CɫYY)Y YIYY?yiFI)IC=)57M=K=Y=OAAaE#HAAyM:;}M>IQU' 5?U۾ Ur? ]8@9U"AU: U{:)QWWX XWX:W2W *W V bU)BUA*UIUIUU@G?ByBy ByA}*ByAAAA"C*CRCCCׁIG>9Ii=; )ݙIݙiݙݙݝ=ݝu4Oٙ,D?egFAY}2@}2|@y}2}2_}2H-r.?3?@ÿ? ?)~2@ ~2b;I~2Cɫ) IY%?y-EF        @  @  @   i   ) I i LmM$=Y%;;QU%>!)a-#H))y5^}5>I9 E:=' 5? E:=۾ =x? M8@9=+A=: =:)=[:m mmm mF{:YmDW1ymY:m`6)mR;9uWWX XWX:W2W*WVbUBU*UUU@?BB BA *BAAAA"C*CRCCC1I9G]v>Uٙ,?YegFAY}6@}63 @y}6X}6 "}6H߿@}@q?@n?B߿5¿v?9?)~6@ ~6Yh`;I~6Cɫ19)9 9I9Yu9?y}FiMmGIaqiyq5ٺA<M|=Y >9 I XFi ? ~; fE<)\ٙ,segFAY}%(@}%@y}%Z }% }%H߿@?]{? ߿\?~V?)~%(@ ~%DA_;I~!ɫ  ) IYE.?yMF=+η? ףp= bX9ȶ?=v==Q8 =E=)9I9y=A)=OAI=6Ai=\A9=zHA    @ @ @i )IiM7=Y  a #H y}>I=' 5?۾ x? -8@9=A : :)WIWIXI XQWQXQ:WQ2WQ*WYVYbUYBUY*UaUaUe@BB BA"*BAAAA"C*CRCCC׽?i׽?IY)]?Au uuu uo:YuW1yuč:u6)ux;yIGA>u cٙ,͌egFAY}2E@}2Na@y}2%j }2߼}2HJ߿@q}? \]?`e @9?H@?)~2E@ ~2sd;I~2Cɫ99)9 9I9Y}??y}F鮅p=ɮp==M{=Y:QU ?a#Hy<} ?Iȹ :Ž+' 5? :Ž۾ ƽu? 8@9ƽGAǽs: Ƚ:)Ƚ\:WWX XWX:W2W*WVbUBU*UUU @R B*** querying acoustic contact ***P P B1B1 B1A=^*B9A9A9A9A9"CA*CARCICICIשIG>A7iٙ,negFAY}6[@}6@y}6C6 }6 Kw}6H`ã@?IL? @¿x??)~6[@ ~6a;I~6CɫII)I IIIY}?y}؏FZ****** received transponder code query ******F****** received ping request ******a#HyB/<}>I  ' 5? *۾ nr? 8@9 SA {; 3;) WAWAXI XIWIXI:WI2WI*WQVQbUQBUY*UYUYU]t @BB BA8*BAAAA"C*CRCCCIIQGu>ܥ>9ܥCIܥFiܥ?ܥ=% %%%|ܥ;DܥODܥ-; ݥ9E %N:Y%T1y%:%6)%;pٙ,egFAY}6ʣ@}6S@y}6; }6񕙽}6H@&ཟ<t?`F? `߿Oÿty?`*~?)~6ʣ@ ~6o^;I~4ɫ99)9 9I9Y?y*FxDUSBL response received:!U1,P 502,000,002AD,189,80,80,BE,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )IiMMU)=YU5QU]>aa#HHyG/;}>Iȱ :ŵ' 5? :ŵ۾ Ƶgn?  8@9ƵcAǵ:/< ȵ-<)ȵ]:e=ie=WqWqXq XqWqXq:Wy2Wy*WyVybUBU*UUU@BB BA*BAAAA"C)*C1RC1C1CYױIG>Jvٙ,degFAY}6k@}6@y}6}6R}6Hr5 l?2?Ŀ?@t?)~6k@ ~6);];I~6Cɫqq)y yIyY=?yF@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ^ =Mk=YռQU?a#Hy <}?I' 5?u۾ k? 8@9mAS: :)W)WqXq XyWyX:W2W*WVbUBU*UUUb@BB BA*B AAAA!"C1*C9RCQCQmE mmm[ mv:YmU1ym:m| 69u@CyבIGb>܁ 9܁ I܅ 8Fi܅ ?܅ =܁ ܁ ܅ 5; ݅ >Els|ٙ,9egFAɫy髁) IY?yFxDUSBL response received:!U1,R,502,000,002AC,189,80,80,BF,FF Fpublishing direction and range infoɰ"`= )?CIyb@w?amf-ٱL7A`堿Q?~jt+u= D)IyI +?Mb?~jt?94<=< h=A)/MAI5AiYAfFA    @ @ @ÙÙÙiÙÙ ę)ęIęię=M-=YQU>a#Hy}>I :$ 5? :$۾ m? 8@9A: :)^:WWX XWX:W2W *W V bU BU *UUU@(@R%(Combining 5 samples.P)*Q-b@ZQ-|f?.Yy JQ-w?amf-2Q):Q)bQ-b\d?nkL@Bu;?RQ-s?k4pS?'EY5?BQ-Vz? Q-`:@Q-'?P-N9?P)P)Q)Q-@"Q-@BYBY BYAe*BaAiAiAiAi"Cq*CqRCqCqCyaIiGZ>R]ٙ,fgFAY}jK@}j@y}j11a5#H19y=R=}=>IAE" 5?E۾ En? U8@9EܜAE: E:)AmmAdded new target pos. range: 3.539999 m, bearing: 56.028749 deg, deltaT: 4.542504 s, approachRate: -0.013209 m/s, LOS rate: 0.258322 deg/s, posRepo size: 4XWVz?WX XWX:W2W*WVbUBU*UUQ @U??BB BA)*BAAAA"C@y?RCCVz?C?i?סIG(>Ia)e@Am! mmm ms:YmT1ym:mM6Dٙ,'fgFAY}2n@}2)@y}2i"}2}2H`a2A?>?`k ƿ`x7?`q~?)~2n@ ~2a;I~2Cɫ髉) IY?y؏Fe>Me8=Ym;QUm>iqau#Hqqy}<}}>Iȁ :Ņ 5? :Ņ^۾ ƅp? 8@9ƅADže: ȅ:)ȅ_:WWX XWX:W2W*W)9-CI-ȖFi-?-=-:D-PD-A; -FEV9bUABUA*UAUAUE?BB BA8*BAAAA"C*x?*CRCCCIGg>qٙ,AfgFAY}B8@}B@y}B_%}BR^ֽ}BH@= a?@^ sȿ`?+f &i?)~B8@ ~B_;I~BCɫQQ)Q QIQY2?ysF)= =    @ @ @áááiáá ġ)ġIġiġhMj=Y7QU>a#Hy\<}>I 5?۾ q? 8@9HA; ;)W)W)X) X1W1X1:W12W9*W9V9bUABUA*UIUIUM@p?BB BAa*BAAAA"CEVz?RCACACI9IAe aaex eas:Yayae6G8>bٙ,e[fgFAY}6e@}6 @y}6#}6>S}6HH Tܕ%?ɿ e? U?)~6e@ ~6];I~6CɫII)I IIIY}?y}FI)<M%V=Y-x;QU5>9AaE#HAIyM|<}M>IQU 5?U۾ U s? e8@9U|AU: UD:)QWWX XWX:W2W*WVbUBU*UUUࠄ?BB BA-G*B)A1A9A9AA"Cq*CyRCCCסIGB>- >9) I- Fi- a?- =) ) - ; - #E)ICi኉ኩ=T5ќٙ,ufgFAY}J=@}J\Y @y}J}J۽}JH3yVz2?@ǿ?C`po?)~J=@ ~J\;I~JCɫYY)Y YIYYm?yF+L7A`?/$+= 1)Iy{Gz?)\(?MbP?ף<Ga=: ©)­-RAI­p3Ai­^AzHANM>=YGa#Hy"<}>I : 5? :۾ r? 8@9Aa: :)`:WWX XWX:W2W*WVbUBU*UUU@ә?BB BAR*BAAAA"C!*CIRCICICIAU UUU} Us:YUV1yU:U 6)U;9eIiG9>jٙ,[fgFAY}:@}:4 @y}:A`}:"Õ}:H@OU ? x?@0@Nſ`?@~ࡎ?)~:@ ~:[\;I~:Cɫ99)9 9I9Y}?yF•]A•]A    @ @ @i )Ii%;M%F=Y-KH)1a5#H11y=0<}=>IAE 5?E!۾ A U8@9EAEI: EA:)AWqWyXy XyWyXy:Wy2Wy*WVbUBU*UUU \@BqBq BqAuC*BqAyAyAyAy"C*CRCCCסIGA>imGI9iQ}ٺy} Aөٙ,6fgFAY}6Ƨ@}6O @y}6{}6꜔}6HbM?@>o?`:? ſ+?@YJ?)~6Ƨ@ ~6b;I~6CɫYY)Y YIYY?yFF鮡ɮi= 鿱#Md=YȺQU>a#Hy;}>I : 5? :f۾ r? 8@9 A: :)a:WWX XWX:W2W*WVbU!BU!*U!U!U%-@R5B*** querying acoustic contact ***P1P1BB BAs*BAAAA"C*CRCCCIG>>9Ii=; u uuu uC:YuU1yu:u6)u;ٙ,sfgFAY}6@}6 @y}6uD}6}6H Fkl?d?p9r*ƿ˔?` `?)~6@ ~65'`;I~4ɫYY)Y YIYY?yOFZ****** received transponder code query ******F****** received ping request ******iiam#HmHqy} x;}}>IȁŅ  5?Ņ۾ ƅr? 8@9ƅ?ADž)< ȅ)<)ȁWAWAXA XAWAXA:WI2WI*WiVibUqBUq*UqUqUui @BB BAp*BAAAA"C*CRCCCI G-,>ٙ,fgFAY}6X@}6 @y}6H}6R}6H`y ?^?Q uſ@J?k`?)~6X@ ~6W];I~6Cɫ19)9 9I9Y]?y]aFexDUSBL response received:!U1,P 502,000,002AC,189,80,80,BF,FF eCommand AckeBRequesting micromodem ping code 2iaauNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )u > u> u u } }@ }@ }@yyyiyy y)yIyiy:M(=Y5;QU>a#H y ;} >I %: 5? %:۾ r? %8@9yA; ;)b:WYWYm iim m:Yiyim69u@XY XyWyX:W2W*WVbUBU*UUU 2 @BB BAh*BAAAA"C*CRCCC I9)9 IG5> 9 I i = ; !Eٙ,fgFAY}6̥@}6U @y}6P}6yfk}6Hpe@?Nu?`cT^sÿy?֜?)~6̥@ ~62\;I~4ɫ99)9 9I9YE?yEŏFIImNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IA)I4=)4=msh|??Zd;?A)mOAIm6AimM`AimGIA E E E E@ E@ E@AAAiAA A)AIAiAUf<M]h=Y];aaae#Haiym)}u>Iqu] 5?u۾ ux? 8@9uAuϸ: u:)qWWX XWX:W2W*WVbUBU*UUU@BB BA@*BAAAA"C*CRCCCIIQGu6>ٙ,ggFAY}6@}64 @y}6:}6> }6H-@E`P???1¿`v?EJ?)~6@ ~6}^;I~6CɫYY)Y YIYY?yFxDUSBL response received:!U1,R,502,000,002AE,189,80,80,BC,FF Fpublishing direction and range infoɰ`=鰩 )a#Hy}>I 5?۾ b}? 8@9A: :)W!W!X! X!W!X!:W)2W)*W)V)bU1BU1*U1U1U= /d@RE(Combining 5 samples.PI*QM=j@ZQMs:@?apuV JQMw?amf-2QI:QIbQM]?xΫ@0I\?RQM@I ?`|5 ?Lrá?BQMׁ? QME@QM@?PIPMN9?PIQIQM @"QM@ByB BAK*BAAAA"C*CRCCCqIyG={  z:YWU1y:E6&'ٙ,*ggFAY}f@}f2@y}f}f 0}fH_w??D mhÿ`s??)~f@ ~fMc;I~fCɫ髹) IYc?yFUTNmea in: $SNTTA,0.099550,,,,230459.85*44 6M==YQU>a#Hy}>I : 5? :C۾ ? 8@9A: p:)c:miAdded new target pos. range: 3.660000 m, bearing: 58.119480 deg, deltaT: 4.350046 s, approachRate: 0.027586 m/s, LOS rate: 0.480623 deg/s, posRepo size: 4XWׁ?W X  X W X :W 2W *WVbUBU*UUG @U?܁9܁I܅Fi܅?܁܁܁܅ ; ݅)EBB BA*BAAAA"C%1?RC!C-ׁ?C)m?im?QIYG}X> ٙ,YDggFAY}6@}6v @y}6!j&}6b}6H/ `ڤ?E?:ſ@۵? ?)~6@ ~6mf;I~4ɫ99)9 9I9Y}I?y}GF     @ @ @ ÙÙÙiÝ?Ù ĝ?)ĝK?IĝK?iĝ?MK=Y-QU>a#Hyh;}>I 5?۾ ? 8@9̞A=: :)WWX XWX:W2W*WV bU BU *U UUj?B9B9 B9AEۅ*BAAAAAAAAA"CU ?RCQCQCQIIQGu>u\ uuuz ugx:YuU1yu:u63ٙ,;6^ggFAY}6(@}6@y}6=)}6:I}6H@?@?D)ſ`Y? ̨ ?)~6(@ ~6ߝa;I~6Cɫ99)9 9I9Y},?y4F}MN=Y=QU>!a%#H)Yye}m>Iȑ :ŕ 5? :ŕ۾ ƕ4? 9@9ƕAǕ: ȕ:)ȕd:WWX XWX:W2W*WVbUBU*UUUL?BB BA*BAAAA"Cׁ?*CRCCCׁIG=>܍ >9܉ I܍ 8Fi܍ ?܉ ܉ ܉ ܍ ; ݍ 3EQ_ٙ,nxggFAY}6@}6@y}6(}6X}6H%@?`?Qſ`??)~6@ ~6^;I~6Cɫ99)9 9I9Y]M?y]F}^I +?Fx?ˡE?}X9>}Ƌ> }'=)yIyy}{Gz?a#Hy}>I 5?{۾ X? 9@9A: r:)WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C!*CARCACICII]]A)Y!I)GM0>mM iim m5w:Yiyim_6)m;9uEٙ,ggFAY}:^@}:@y}:,}:Y}:H @? l?2ſx?Vժ~?)~:^@ ~: ];I~:Cɫ99)9 9IAY}?y}5FIp=)=MzMMU=YU&QUU>YYa]#HYYye;}e>Ii u:m 5? u:mA۾ m? }9@9mAmw: m,:)me:WWX XWX:W2W*WVbUBU*UUU`ID@BB BAJ*BAAAA"C*CRCCCIG>oٙ,ƫggFA|i|@Y}6D@}6@y}6h:}6QUN}6HN 4??@ Dƿ8,?Zkn?)~6D@ ~6S\;I~4ɫYY)Y YIYY?ykF5=M=L=Y= QU=>AAaE#HEHIyM;}M>I 5?۾ ? 9@9)A8: f:)WWX XWX:W2W*WVbUBU*U U U @@BB BA̅*BAAAA"C*CRCC191I1i11115; 5E)ݡIݥCiݡݡݥ=ݥ?4C}* }~}~}m }jt:Y}T1y}@:}j6)}e;סIGA>Wٙ,ZggFAY}6g@}6y @y}6J}6ˇ}6H@$#5?G?\ɿ@92?L N?)~6g@ ~6e;I~6CɫYY)Y aIaY?yFa=ɮ - - - -@ -@ -@)))i)) )))I)i)=[M=J=YE"QUE>AAaE#HIIyM<}U>IY] 5?]۾ ]„? e9@9]@A]: ]@:)YWWX XWX:W2W*WVbUBU*UUU``@RB*** querying acoustic contact ***PPBB) B1A5*B1A1A1A1A9"C9*CARCACACA}?i}?IIQG>i }nGI i - ٺ) - Aٙ,|ggFAY}Zp@}Z @y}ZR}ZZ}ZHJ<@$?'?`2Ύʿ +?갿@@?)~Zp@ ~Z4c;I~ZCɫy髁) IY=?y=lFuZ****** received transponder code query ******}F****** received ping request ******}m m<)iIiyma#Hyg#<}>I : 5? :t۾ ? 9@9eA: (:)f:WWX X!WAXA:WA2WA*WIVIbUIBUI*UQUQUUۦ @u uuu up:YuU1yu:u69u@BB BA4*BAAAA"C*CRCCC׹IGf>) 9) I- ȖFi- ?) ) ) - ; - Eٙ,WggFAY}6:@}6Ý @y}6 Z}6G}6H?ڪ?*?@ ˿g'?!.?)~6:@ ~6@n_;I~6CɫII)I IIIY}?y}"FxDUSBL response received:!U1,P 502,000,002AE,189,80,80,BC,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76       @ @ @   i   ) I i m_<MuM=Y}QU}>a#Hy}>IȹŽ 5?Ž۾ ƽ%? 9@9ƽAǽ< Ƚ<)ȹWIWIXI XaWaXi:Wi2Wi*WiVqbUqBUq*UqUqU} @BB BA*BAAAA"C*CRCCCI9Gmx>Óڙ,2hgFAY}6,@}69H @y}6]}6}6H fv?@|=?y`eп@0?c?)~6,@ ~6§];I~6Cɫ99)9 9I9Y}?y}ȌFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }NM}p=YSQU?a#Hy}?Iș :ŝ< 5? :ŝw۾ Ɲr? 9@9ƝAǝR: ȝ:)ȝg:WWX XWX:W2W*WVbUBU*UUU`<@B B  B Aw*BAAAA"C!*C!RC!C!C!I9)=]AIG5 >uL uuu u w:YuV1yu:u6۽ ڙ, -hgFAɫyy)y yIyY?yFxDUSBL response received:!U1,R,502,000,002B1,189,80,80,C4,FF Fpublishing direction and range infoɰa= )DCIyu@w?amf-ٱI=)=MT=YQU >a#H!y%}%>I)-\ 5?-۾ -? =9@9-A-: -:))WYWYXY XYWaXa:Wa2Wa*WaVibUiBUi*UiUiUu@9I Fi?; ER(Combining 5 samples.P *Q u@ZQ AKK?Oh JQ w?amf-2Q :Q bQ /JN@p<'; @}1?RQ uUx 9?pU? Q I@Q r@P P P Q Q %@"Q  @BYBa BaAe~*BaAAAA"C*CRCCCׁIG=> ڙ,`GhgFAY}n@}n> @y}n)M}nZ}nH`?&$ ?e?۵ ˿?@3˶9?)~n@ ~nFa;I~lɫ) IY ?y FuDNmea in: $SNTTA,,,,,230504.30*5D    @ @ @i )Ii;M;=Y=QU>a#HyJ}>I :a 5? :۾ π?  9@9؟A: :)h:m mAdded new target pos. range: 3.839998 m, bearing: 57.127043 deg, deltaT: 4.501586 s, approachRate: 0.039986 m/s, LOS rate: -0.220464 deg/s, posRepo size: 4XW>?WX XWX:W2W9*W9V9bUABUA*UAUE Q@UE .r?BB BAl*BAAAA"C>?RCC>?Cmt iim mQz:Yiyims6IGH>ڙ,e`hgFAY}h@} @y}qQ}/}HE.f)V?3?`FL_ȿq?`QyM?)~h@ ~c;I~Cɫ)! !I)Y?y>FMb?MbX9ĿzG?=!  =)Iyy&1| rh rh`廹CC :A)O[AI2AiEjALAj(<M:=YQU >  a#Hy<}>I!% 5?%۾ %? -9@9%A%b: %V:)!WQWQXQ XQWQXQ:WQ2WY*WYVYbUYBUa*UaUaUe 8?BB BAG*BAAAA"C*CRCCC׽?i׽?סIG J>ܱ 9ܵ CIܵ Fiܵ 1?ܱ ܱ ܵ ODܵ ; ݵ *E$ڙ,ϟzhgFAY}6A@}6 @y}6OV}6(}6H}9 ?"?Bcǿ ?b␿ L?)~6A@ ~69a;I~6Cɫ99)9 9I9Y}?y}F  5 5 5 5@ 5@ 5@111i11 1)1I1i1EʼMEl=YMgYQUM?IIaM#HQQy]L;}]?Ia m:eO 5? m:e۾ ef~? m9@9eGAe[: e0:)ei:W WX XWX:W2W*WVbUBU*U!U!U%`?BB BA*BAAAA"C*CRCCCIG (>  ql:YW1yč:6);9R$ڙ,khgFAY}6@}6% @y}6)Y}6ˁż}6H@g& vY?*?f`3ȿ?:"eF?)~6@ ~62l_;I~6Cɫ99)9 9I9Yux?y}FMO=YڻQU> a #H  yͻ}>IH 5?L۾ |? %9@9~A : |:)WIWIXI XIWIXI:WQ2WQ*WQVQbUYBUY*UYUYUe@?BB BAІ*BAAAA"C*CRCCCyIG=9 +ڙ,mVhgFAY}:@}:y @y}:*vT}:Ő}:H9?&?*Hʿ^?`Ha#HHyd;}>I!% 5?%t۾ %={? E9@a9aIe Fie?e=e;Dae; eE9%A%T< %T<)!WWX XWX:W2W*WVbUBU*UUU`@BIBQ BQAU!*BQAQAYAYAY"Ca*CaRCaCCIי)יׁIG=>  F{:YWU1y:6)R; 1ڙ,5hgFAY}F@}F @y}FbK}F`໽}FH`LZ?J+?@?Sr˿A? ,=?)~F@ ~F\;I~FCɫqy)y yIyYs?yFIA)I%C=)%%=    @ @ @ñññiññ ı)ıIıiı5=MN=Ya#Hy;}>I : 5? :۾  z? 9@9A: V:)j:W9W9X9 X9W9X9:W92WA*WAVAbUABUA*UIUIUU3@ByBy ByA}*BAAAA"C*CRCCCׁIG>7"8ڙ,qhgFAY}e@}e] @y}eX_H}e-}eHl_k=?$? B3ʿ ?@`L?)~e@ ~e9Rd;I~eCɫii)i iIiY?yFp=ɮT㥛 ?v/?T㥛 >x= )IyI +?ˡE?94<'= ?A)UAI1AihAKA,M<=Y;QU>a#Hy;}>I 5?۾ y? 9@9A:  :)WWX XWX:W2W*WVbUBU *U U U  @RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCC7 V su:Y<`1y8: 69@IG%M>I 9M CIM XFiM ?I I I M ; M E)CICi=.=6{H>ڙ,dhgFAY}6@}6 @y}6ݜO}6SK}6H`4R\l? ?@;eȿ/?ڨ XN?)~6@ ~6lb;I~4ɫ99)9 9I9Y}?yQFZ****** received transponder code query ******F****** received ping request ******!)a-#H)IyU-}U>IY e:] 5? e:]M۾ ]y? m9@9]0Eڙ,igFAY}Fo@}F @y}F{U}F.}FH ?6?`a=-ɿ?TH@F?)~Fo@ ~F&_;I~FCɫYY)Y YIYY?yGFxDUSBL response received:!U1,P 502,000,002B1,189,80,80,C4,FF Command AckBRequesting micromodem ping code 2i=iC=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =MT=YQU>)1a5#H11y=y}=>IimW 5?m۾ mz? 9@9m_Am V; mU<)iienGIiWٺAE?9MAWYWYXY XyWX:W2W*WVbUBU*UUU@<} @\  gx:YY1y:6BB BAC*BAAAA"C*CRCCCIG5>?ZKڙ,/igFAY}2@}2@y}2"(Q}2.䎽}2H F&:?4i?ԡʿ ?y 1B?)~2@ ~2`];I~2Cɫ99)9 9I9Y}?y}>FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5M=P=Y=gDAAaE#HAAyMݼ}M>IQ ]:U 5? ]:U۾ Uy? e9@9UAUk: U:)Ul:9CIi=; EWqWqXq XqWqXq:Wq2Wy*WyVybUyBU*UUU@E@BB BAG*BAAAA"C*CRCCCI G5O>BRڙ,zIigFAY}Jt@}Jk @y}J F}J:}JH,1?I?ʿ?[@F?)~Jt@ ~J];I~JCɫyy)y yIyY?yFxDUSBL response received:!U1,R,502,000,002AF,18A,80,80,C5,FF Fpublishing direction and range infoɰa=鰽> )ECIyn@w?amf-ٱ    @ @ @i )Ii%ˡ<M-<=Y-e11a5#H19y=Z<}=>IAE 5?E,۾ Ey? U9@9EAEQ: E:)AWWX XWX:W2W*WVbUBU*UUU=@R(Combining 5 samples.P*Qn@ZQo$?7U JQw?amf-2Q:QbQ޳/2? @3ai7_?RQA?c3:?.?BQ_? QG@Q?PPPQQ@"Q%@BiBq BqAu*BqAqAqAqAy"Cy*CRCCCI׽\A)׹יIGA>  %~:YV1y:r6oXڙ,acigFAY}M{k@}M @y}MvD}MÙ}MH *?@O?@n dɿXh?ٲ`S?)~M{k@ ~M a;I~Iɫ)))1 1I1Y?yFTNmea in: $SNTTA,0.025058,,,,230508.75*44 I)I-a=)-=a i@a  a m@a  a q@a  a e@a  sh|??(\µ?Mb?)>= <)IiMb@Mb@Mb@© µA)µIµAiµ^AQA6<M?=Yr;QU>a#Hyc}>Iȉ :ō 5? :ō~۾ ƍy? 9@9ƍ̡AǍ: ȍ>)ȍm:m mAdded new target pos. range: 3.720000 m, bearing: 57.910510 deg, deltaT: 4.441975 s, approachRate: -0.027015 m/s, LOS rate: 0.176378 deg/s, posRepo size: 4X W _?W X  X WX:W2W*WVbU9BU9*U9UE @UEg?BB BA*BAAAA"C_?RCC_?CIG%o>>9Ii=:D; E^ڙ,^0}igFAY}R@}Rt @y}RL}Rov}RHF=?,?Flɿ@n?@,`*N?)~R@ ~RRc;I~RCɫAI)I IIIYg?yYF m m m m@ m@ m@iiiiii i)iIiiiM2=Y]QU>a#HyF<}>Iȱŵ 5?ŵ۾ Ƶy? 9@9ƵAǵ!*; ȵc?)ȱ  :YY1y:`6) ;9WWX XWX:W2W*WVbUBU*UUU?B!B) B)A-ԅ*B)A)A)A1A1"C9*C9RC9C9CA1I9GU>eڙ,igFAY}6 @}6 @y}6O}6r}}6Hiqau#Hqqy}}}>IȁŅQ 5?Ņ۾ ƅy? 9@9ƅADž: ȅ?)ȁWWX XWX:W2W*WVbUYBUY*UaUaUe6#?BB BAG*BAAAA"C*CRCCC?i?IGi>kڙ,igFAY}R:@}R @y}RN}Rp}RHxI R@B?&?@Mɿy?t`]K?)~R:@ ~R!5_;I~Pɫyy)y yIyY?yF IIu;Mup=Y} ;QU}?ya#HHyK;}?ܙ9ܙIܝ Fiܝ?ܝ=ܙܙܝ3; ݝ=EIȱŵ& 5?ŵX۾ Ƶy? 9@9Ƶ0Aǵl: ȵ?)ȱWWX XWX:W2W*WVbUBU*UUUR?B!B! B!A%5*B!A)A)A)A)"C1*C1RC1C1C9 IG5 >! l s:YWU1y:N6);2rڙ,HigFAY}2@}2) @y}2AAaE#HAAyM.!<}M>Iȡť 5?ť۾ ƥy? 9@9ƥSAǥ: ȥ@)ȡWWX XWX:W2W*WVbUBU*UUUy?B1B1 B1A5*B1A9A9A9A9"CA*CARCACACIQIqG>xڙ,ŮigFAY}b @}b @y}b\ N}b{Aݽ}bH$?`?IEC̿`C?@ +?)~b @ ~bO9];I~`ɫ髱) IY?yNFa ia i a ma m a qa q  a e a e  V-?X9vV- h=  ) I y ?~jth? < D; ̼ ?A) LAI 0Ai bfA  HA e e e e@ e@ e@aaaiaa a)aIaiauфMu7=Y};QU}>ya#Hy<}>Iȑ :ŕ* 5? :ŕ ۾ ƕ\w? 9@9ƕmAǕ: ȕ:)ȕn:WWX XWX:W2W*WVbUBU*UUU`^@BB  B A *B A A AA"C*CRCCC!I5]A)1I!GE0> t {:YT1y:*69@܉9܉I܍Fi܍v?܉܉܉܍l; ݍ\E~ڙ,|igFAY}2@}2 @y}2E}2gܽ}2H~Ѯ?@?VG˿@%?H 9?)~2@ ~2c;I~0ɫ99)9 9I9Y}?y Fa=ɮ=I=)=<Md=Y%!!a-#H))y5;}5>I9= 5?=۾ =u? E9@9=A=: =U:)9WiWiXi XiWiXi:Wq2Wq*WqVqbUqBUy*UyUyU}q<@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCIG>.Ѕڙ,ajgFAY}~϶@}~X @y}~'/>}~}~H`??`Ɍ }ɿ`?@V?)~~϶@ ~~Ÿb;I~~Cɫ11)1 1I1Ym?ymFuZ****** received transponder code query ******uF****** received ping request ******uAAaE#HAIyMA;}M>IQ ]:U 5? e:U۾ UCs? e9@9UAU: U;)Uo:WWX XWX:W2W*WVbUBU*UUU9 @BB BA*BAAAA"C*CRCCCיIG@>d   y:YU1y:r6`ڙ,,2jgFAɫ) I=>99I=@Fi=?999=s; =_E)فIفiفف݁=݁Q5Y]T?y]9FexDUSBL response received:!U1,P 502,000,002AF,18A,80,80,C5,FF eCommand AckeBRequesting micromodem ping code 2iaa Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @éééiéé ĩ)ĩIĩiĩe;Me!=YeQUe>iiam#Hiqyu}u>Iy}I 5?}L۾ }p? 9@9}A}: }ϸ:)yWWX XWX:W2W*WVbUBU*UUU @BB BA؃*BAAAA"C *C RC C C%?i%?IQG>Nڙ,{LjgFAY}FX@}F @y}Ft6}F`:;}FHg خ???¿`? f?E~?)~FX@ ~F^;I~FCVJFailed to close latch before timeout.q VVHardware FaultYZ?y^KFvNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B aausI=Mu=Yu?}  {:Yy6i NmGI i1 m zٺi m Asڙ,ejgFAY}: @}:& @y}: :}:ƀ}:Hs@!:k?`0?9Ŀ@ ?+w?)~: @ ~:R];I~:CBPowering downDɪD)D DY?y&FxDUSBL response received:!U1,R,502,000,002AE,189,80,80,CF,FF Fpublishing direction and range infoɰ`=7> )OCIy=j@w?amf-ٱ5x&1пAMBMM0=YUQUU>QYa]#HYYye;}e>Iim4 5?m۾ m6p? u9@9mAm: m:)iWWX XWX:W2W*WVbUBU*UUU,@R(Combining 5 samples.P*Q=j@ZQs:@?apuV JQw?amf-2Q:QbQ?]}I@W$?RQ$@+$\b?w$@P?N?BQ? QG@Q?PM9?PPQQ@"Q@BB BAx*BAAAA"C *C RC C CaIGb>15\A999I9i9999=5; =>E4ڙ,jgFAY}FJ@}F @y}Fu;}F}FHd@'? ?% ɿR?al\?)~FJ@ ~F^;I~FCYV?yVAF    @ @ @ iz? ?)A?Ip?iA? ;M x=YQU?!a%#H!)y5 =}=?IIM 5?M۾ Mp? e9@9M4AMhg; MX;)Im5mAdded new target pos. range: 3.660000 m, bearing: 59.042218 deg, deltaT: 4.469166 s, approachRate: -0.013425 m/s, LOS rate: 0.253226 deg/s, posRepo size: 4X1W5?W9X9 X9W9X9:W92WA*WAVAbUABUA*UiUmG @Um?BB  B A m*B AAAA"C?RC!C%?CIIa)a9IIGe4> u o:YyE6)x;9vڙ,pjgFAY}6(@}6 @y}6k3}6ս}6H|@N?C?qwVɿ@[?X;@V?)~6(@ ~6lg;I~4YB?yBFvTNmea in: $SNTTA,0.207807,,,,230513.23*4D I~a=)~4=vMP=Yğa#Hy:}>I : 5? :۾ q? 9@9fA: ~:)q:WWX X W X :W 2W *WVbUBU*UUU?BABI BIAM*BIAIAIAQAQ"C]|?*CYRCYCYCaQIY$mNClearing failed state for component DDMq mG}=pNڙ,坳jgFAY}v@}v! @y}vğ'}v8z}vH`"Vm?` ?ӊ e-ǿ ?#v?)~v@ ~vf;I~vCY?yF9IFiE?'; 7E m m u u@ u@ u@ u@qqqiuq u)uIuiu +=M==Ya#HHy}>Iȡť 5?ť۾ ƥRr? 9@9ƥAǥ: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU Lu?B B BA*BAAAA"C?*CRCCCבIG >a  x:YW1yč:6)/;s,ڙ,OjgFAY}NU@}Nި @y}N`n"}Nދ}NH"q@0[? '? @ſ8?@ @L?)~NU@ ~N c;I~NCYZN?yZIF=G<MEc=YEfIIaM#HIIyUc=}U>IY e:] 5? e:]۾ ]r? m9@9]ͣA]: ]I:)]r:WWX XWX:W2W*WVbUBU*UUU`p8?BB BA*BAAAA"C*CRCCCu?iu?1I9GU=Xڙ,3jgFAY}Z"@}Zz> @y}Z-}ZUrK}ZH)`?H? ÿ? @ړ?)~Z"@ ~Z`;I~ZCYr{?yrdF]C=i]= qq%C?Mby&1?Zd> `=)Iyy&1|)\(?Q`廹Ga= ;A)-RAIiM`AGA=K;M=;=Y=N AAaE#HAIyMs}>I 5?۾  o? 9@9Af: M:)W!W!X! X!W!X!:WI2Wi*WiVibUiBUq*UqUqUu`?BB BA*BAAAA"C*CRCCCIG(> (    At:Y y  V69=@9IНFiE@=?; CE>ڙ,kgFAY}F9@}F @y}FE}F}FH w?^?@D ƿ@_?{@c?)~F9@ ~F^;I~FCYn?ynF    @ @ @i )Ii*MQ=Y;QU>a#HyV/}>I :5? :&۾ k?  9@9'A: :)s:W)W)X) X)W1X1:W12W1*W9V9bU9BU9*U9UAUE%@BqBq BqAu*ByAyAyAyAy"C*CRCCC׉IG=rڙ,kgFAY}N@}N+ @y}NTw}N E}NH` Y^?s2ƿ>?``xz?)~N@ ~N];I~NCY^?y^Ffp=ɮf=zkM~Y=Y~a#H y;}>I!%q5?%۾ %h? 59@9%NA%/#; %4;)!WiWiXi XiWiXi:Wi2Wq*WqVqbUyBUy*UyUU@RB*** querying acoustic contact ***PPBQBQ BYA]*BYAYAyAA"C*CRCCCIס)ץ\AyIG=  :YX1y/:36̕ڙ,24kgFAY}:4@}:%P @y}:;}:ɽ}:H !Q[?bĿ N?︿?)~:4@ ~:I\;I~:CYR?yVeFVZ****** received transponder code query ******ZF****** received ping request ******Za#Hym;}>Iȱ :ŵ5? :ŵ۾ Ƶ>d? 9@9Ƶ{Aǵ=: ȵ:)ȵt:WWX XWX:W2W*WVbUBU*UUU" @BB BA*BAAAA"C*CRCCCIG- >zڙ,NNkgFAY}B9]@}Bx @y}B}B匽}BH ׽I?V?`@¿?v?)~B9]@ ~B [;I~BCYR?yRwFZxDUSBL response received:!U1,P 502,000,002AE,189,80,80,CF,FF ZCommand AckZBRequesting micromodem ping code 2iX\fNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ;MI=Y!)a-#H)1yU%;}]>Iimr5?mG۾ m`? 9@9mAm; m;)iWIWyXy XyWyX:W2W*WVbUBU*UUUq @BQBQ BQAU*BYAYAYAYAY"Ca*CRCCCׁIGA> ~~ =m:YT1y@:6ڙ,XrhkgFAY}:s@}: @y}: }:H}:H Ҕ?J?޴؊?3k?)~:s@ ~:Q[;I~8Y^?ybF`bAArNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B '1Z?MbXɿMbP?">J :)Iykt?{Gzt?l? 0=ף;= j8A)SAIp3AiO[AFA5ϼMG=Y&QU>a#Hy;}>Iȡť5?ť۾ ƥh? 9@9ƥǤAǥ; ȥf;)ȡWWX XWX:W2W*WVbUBU!*U!U!U% J@BB BAD*BAAAA"C*CRCCC׽?i׽?סIG&>܁9܁I܅@Fi܅?܅=܁܁܅; ݅hE)Ii=4ڙ,MkgFAY}6]?@}6Z @y}6hE}6)}6H°J9?`2]?]9@?Ӹ?)~6]?@ ~6#)[;I~6CY?yF xDUSBL response received:!U1,R,502,000,002B0,189,80,80,C5,FF Fpublishing direction and range info  ɰ qa=  ) ECI y q@ w?amf-ٱ  AA    @ @ @éééiéé ĩ)ĩIĩiĩ<MM=Y_QU>a#Hy:}>I :5? :B۾ hp?  9@9AK; K;)u:WAWAXA XAWIXI:WI2WI*WVbUBU*UUU@RU(Combining 5 samples.PY*Q]q@ZQ]E5j?.\Ux3 JQ]w?amf-2QY:QYbQ][ް?LGw @Mi'?RQ]Ld=?՞j?޼+q?BQ]G? Q]FO@Q]?PYP]M9?P]QYQ]@"Q]@BB BA*BAAAA"C*CRCCCIG$>@ ^ +v:YWU1y: 6);9ڙ,2kgFAY}VY@}V @y}V[}VIK}VHjY??5:꼿8@???)~VY@ ~Vd]\;I~VCYb?yb\FCTNmea in: $SNTTA,0.004941,,,,230517.60*4C i/mGIi wҿٺ  AU0MUA=YUYYa]#HYayeż}e>Iim5?m۾ mx? }9@9mAm: mU:)imiAdded new target pos. range: 3.779998 m, bearing: 59.363025 deg, deltaT: 4.397889 s, approachRate: 0.027285 m/s, LOS rate: 0.072946 deg/s, posRepo size: 4XWG?WX XWX:W2W*WVbUBU*UUo=@U`ު?BB BA*BAAAA"CG?*CRCCG?CׁIG>ڙ,kgFAY}:@}:: @y}: }:^}:H 36 $?x?%:b`?-?)~:@ ~:<];I~:CFPowering upF"Initializing DDM.)9)I-Fi-v?)))-y; -bEYM?yMF    @ @ @i )IiēM@=YjQU >  a#HHy}>I! -:%5? -:%۾ %? -9@9%A%Z: %:)%v:WQWQXQ XQWQXY:WY2WY*WYVYbUaBUa*UaUaUmN?B1B1 B1A59*B9A9A9A9A9"CA*CARCiCiCiI}\A)}]AaIiG9> || k:YR1yi:;6);ڙ,kgFAY}6@}6@y}6.}6O}6H@B@YB?@E?@uP]p?P@DZ?)~6@ ~6/[;I~6CYB?yBFIv=)v=~;M~r=Y؛;QU?a#H  y 4}?IJ5?۾ "? %9@94A: Ǻ:)WAWIXI XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU][?BB BA'*BAAAA"C*CRCCCבIG=dڙ,kgFAY}6K@}6Զ@y}6}6˴E}6H@2Oʙ??f ?@?)~6K@ ~6lr[;I~4YB?yBF?ˡE?'= t=)Iy{Gz?Mb`?Mb`#<; 7CA)5HAIj8AiXA3GAEME7=YM@YYa]#HYaye}e>Iq }:u5? :uz۾ u? 9@9u>Au; ue;)uw:W)WIXI XIWQXQ:WQ2WQ*WQVYbUYBUY*UYUYUe 9?BB BA *BAAAA"C*CRCCCi׹I u N:YWU1y:E69@G J>!9!I%XFi%?!!!% ; %'Eۙ,lgFAY}6v@}6@y}6a}61Q}6H4???`奔|?)~6v@ ~6'[;I~6CYB?yBF 5 5 5 5@ 5@ 5@111i11 1)1I1i1E MM\=YMQUM>QQaU#HQQy];}]>Iae5?eR۾ e ? m9@9eEAe: e:)aWyWyXy XWX:W2W*WVbUBU*UUU?B B1 B1A5t*B1A1A1A9A9"C9*CARCACACA)I1GU>ۙ,plgFAY}:@}:u @y}:#E}:Dr}:H&@>Ȕ?̱?y ¿??)~:@ ~:U[;I~:CYFc?yFBF eC=MeI=YmRvQUm>qqau#Hqyy0<}>Iȉō5?ō%۾ ƍ? 9@9ƍNAǍ$; ȍ{8;)ȉWWX XWX:W2W*WVbUBU*UUUE:@B1B1 B9A=Ճ*B9A9A9A9AA"CA*CIRCICICiIIQGm>  l:YDW1yY:D6. ۙ,K7lgFAY}64 @}6' @y}6"}6xo}6H)@š??¿`?`?)~64 @ ~6Z;I~4YBz?yBFFa=ɮFp=d9dIfFifa?f=f;Ddf; fE    @ @ @ÑÑÑiÑÑ đ)đIđiđMF=YQU>a#Hy;;}>Iș :ŝL5? :ŝ۾ Ɲ? 9@9ƝWAǝ: ȝI:)ȝx:WWX XWX:W2W*WVbUBU*U U U @R5B*** querying acoustic contact ***P1P1BYBY BYAeO*BaAaAaAaAa"C*CRCCC׉IG>ۙ,&QlgFAY}6V@}68r @y}6-}6̅}6H`>s?`X?@(%iĿ ??)~6V@ ~6Z;I~6CYBG?yBFFZ****** received transponder code query ******FF****** received ping request ******Fx|a#Hy6<}>I5?۾ ? 9@9_A7; ;)WWX XWX:W2W*WVbUBU*UUU` @BYBY BYA]܄*BaAaAaAaAa"C*CRCCCiIqG>L ]  w:YT1y: 6@ۙ,klgFAY}:@}:C @y}:$&}:}:H@*?`?Xǿ@1? Ͷr?)~:@ ~:;Z;I~8YFZ?yF*FJxDUSBL response received:!U1,P 502,000,002B0,189,80,80,C5,FF JCommand AckNBRequesting micromodem ping code 2iLLIP)PVNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Ij=)jC=YYa]#HYayH}>Iȉ :ō5? :ō۾ tI ƍ? :@9ƍAǍW: ȍ:)ȍy:WWX XWX:W 2W *WVbUBU*UAUAUM` @BqB BA*BAA9IFi?=; EAA1"C9*C9RCACACA1I9G]>(!ۙ,܄lgFAY}2V@}2Cr@y}2!)}2M㈽}2HQ 7B?@2?@Sƿ ?ݰ x~?)~2V@ ~2@Z;I~0YNI?yRGFPR@AbNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @ ÁÁÁiÅG BÁ ą B)ą BIą Bią BȌMk=YջQU?a#Hyڼ}%>I)-m5?-۾ -? ]:@9-A-s; -;))WWX XWX:W2W*WVbUBU*UUU 6@BIBI BQAUۅ*BQAQAQAQAQ"CY*CYRCaCaCaIiG9> n  n:YV1y:6);9rT'ۙ,blgFAY}6@}6@y}6!>(}6c}6HN ?Ju?s?`dAÿ?8?)~6@ ~6e\;I~6CYBc?yBFFxDUSBL response received:!U1,R,502,000,002AF,18A,80,80,C4,FF JFpublishing direction and range infoDDɰFa=F> D)FDCIDyFn@Fw?amf-ٱDZ<MZo=Y^&;QU^?``ab#H`dyf́}f?Ih n:jh5? n:j۾ j? r:@9jϥAj: j:)jz:WWX X W X :W 2W *W VbUBU*UUU{@R-(Combining 5 samples.P)*Q-n@ZQ-o$?7U JQ-w?amf-2Q):Q)bQ-A9(@@0 8#@SB 0?RQ-=;̻QU>a#HHy-;}>Iȩŭ5?ŭh۾ ƭ? :@9ƭAǭ: ȭ:)ȩmqAdded new target pos. range: 3.720000 m, bearing: 57.237402 deg, deltaT: 4.373271 s, approachRate: -0.013719 m/s, LOS rate: -0.486049 deg/s, posRepo size: 4XW:?WX XWX:W2W*WVbUBU*UU @U?BB BA*BAAAA"CW?RCC:?C!I)AA{  z:YWU1y:6);I)GEQ>d4ۙ,nlgFAY}2@}2@y}2g24}2qA}2H K1=@? 1?-ÿh?h؇`?)~2@ ~2\;I~0YN%?yRFu}Mut=Y}ѼQU}?ya#Hy }?Iȑ :ŕ5? :ŕ۾ ƕ? :@9ƕAǕ: ȕ:)ȕ{:WWX XWX:W2W*WVbUBU*UUU?B B  B A d*B AAAA"C+~?RCCC!1I9G=i5]nGIAiY"տٺA:ۙ,&QlgFAY~?y~F-Q? rh-u=-C -))I)y-#~j?{Gz? rh-=-#<-C -7CA)-KAI-p3Ai-"aA)-HA)M> MV>]=M]<=YeQUe>iiam#Hiqy}}>Iȉō5?ōS۾ ƍ[? :@9ƍhAǍe: ȍ;:)ȉWWX XWX:W2W*WVbUBU*UUUU?BB BA*BAAAA"C:?*CRCCCIG (> w |:YDW1yY:|69@܁9܁I܁i܁܅=܅:D܁܅q; ݅֓E8wAۙ,%mgFAYr)?yr[FIY)YIu4=)u%=    @ @ @i )IiiMS=YQU>a#Hy}u>Iy}&5?}۾ }8? :@9}A}: }:)yWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*CRCCCIG>=iGۙ,CmgFAY}2@}2@y}2o`}2j}2H`@a#??`|߿sͿ?ئ`?)~2@ ~2hk\;I~2CYBs?yBF=M;M=U=YEQUE>AIaM#HIIyU(}U>IY e:]5? e:]x۾ ];? m:@9]A]I: ]:)]|:WWX XWX:W2W*WVbUBU*UUUF@BB BA*BAAAA"C*CRCCCIG =i ~ py:Y0Y1y:<6+Mۙ,9mgFA9Ii=;DQ; ēEY}N@}N<@y}Nh}N軽}NH`߿@@ ?w?GS߿ }ο`;? Sڶ@ ?)~N@ ~N|[;I~NCY^?yb$F½^A½^A?M@=YQU>!)a-#H)9yM^!}M>Iqu5?u۾ uG? :@9u6Au: u+:)qWWX XWX:W2W*WVbUBU*UUU`@BABA BAAE*BAAIAIAIAi"Cq*CqRCqCqCyiIqG>Tۙ,SmgFAY}6e@}6@y}6q5p}6s}6H߿'ì?`?h߿0ο`? . ?)~6e@ ~6*t[;I~6CYB?yBFDɮDFC=iF= LL v v v v@ v@ v@tttitt t)tItit~IM~Z=YQU> a #H  yV!}>I %:F5? %:s۾ [? %:@9sA: :)}:WIWIXI XIWIXI:WQ2WQ*WQVQbUQBU*UUU6@RB*** querying acoustic contact ***PPB B  B A *BAAAA"C9*CARCACICQqIG=IAA)?A  } } x l:Y kS1y Ԋ: 6sZۙ,>mmgFAY}6@}68@y}6{}6f{}6HY߿ T3??@Y߿ ο ?v&?)~6@ ~6\;I~6CYf?yfwFjZ****** received transponder code query ******jF****** received ping request ******jA)UAI0AilA(LAêM<=YмQU>a#Hyq;}>I5?I۾ ?  :@9A: %:)W1WX XWX:W2W*WVbUBU*UUU`U @BiBq BqA*BAAAA"C*CRCCC׉IG>!9!I%XFi%?!!!%2; %Eaۙ,smgFAY}JQ@}Jڣ@y}Jod}JQC}JH@҂߿P`=??߿:Ͽ ? ?)~JQ@ ~J\;I~JCY^:?y^FfxDUSBL response received:!U1,P 502,000,002AF,18A,80,80,C4,FF fCommand AckfBRequesting micromodem ping code 2idhrNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )}?> }= = = E E@ E@ E@AAAiAA A)AIAiAi/M4=YQU>a#Hy }>I) 5:-5? =:-۾ -s? =:@9-ƧA-#; -;)-~:WWX XWX:W2W*WVbUBU*UUU@ @BQBQ BYA]*ByAAAA"C*CRCCC(  U:YyD6);9 1IAG]v>gۙ,GmgFAY}2@}2@y}2瀾}2 7`}2H@.v߿ QA?@?߿ο?@7!?)~2@ ~2\;I~2CYN~?yRވF~Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IY)YIe=)e=+!Mm=YQU?a#Hy} ?IȹŽ5?Ž۾ ƽ? :@9ƽAǽE: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUUC@B!B) B)A-*B)A)A1A1A1"C9*C9RC9C9CAIG>=ia=! 9! I% Fi% ?% =! ! % ; % Enۙ,8mgFAY}BT@}Bgp@y}B }BOh}BHA߿@"?K? v|߿п t?3@?)~BT@ ~B@\;I~BCYj?ynԉFvxDUSBL response received:!U1,R,502,000,002AD,189,80,80,C8,FF ~Fpublishing direction and range infottɰvu`=v7> t)vHCItyvff@vw?amf-ٱt    @ @ @i )Ii<M4=Y%^QUE>IIaM#HMHIy]Z}]>Iȉ :ō5? :ō۾ ƍ? :@9ƍAǍ; ȍ%;)ȍ:W W X XWX:W2W*WAVIbUYBUa*UaUiUm@4@R(Combining 5 samples.P*Qff@ZQxP^B(?0B JQw?amf-2Q:QbQ19]@ԓZi<@k b?RQ.ڍ]/?2`X?R?BQu? Q9@Q@PPPQQC@"Qb @BB BA*BAAAA"C *C RC C C8  u:YV1y:6)\;I)GMR>uۙ,mgFAY}j@}j.@y}j}jd}jH޿t|? c?`.!߿п%?`箿 ?)~j@ ~j&\;I~jCYv>?yvTFeTNmea in: $SNTTA,0.080098,,,,230526.50*4C qqMe=YQU>a#Hy:}>I5?۾ E? :@9.A: :)m qAdded new target pos. range: 3.599999 m, bearing: 54.840634 deg, deltaT: 4.554509 s, approachRate: -0.026348 m/s, LOS rate: -0.526241 deg/s, posRepo size: 4X Wu?WX XWX:W2W*WVbUBU*UU @U ?BIBQ BQAUއ*BQAQAQAQAY"C]{?RCaCeu?CaAIQGm>9+{ۙ,smgFAYvQ?yvˆFV-?SӿzG?</  =)IyZd;O??Mb?j<=<= 7CA)SAI-Ai=tANAME=YQU>a%#H!!y-}->I15f5?5D۾ 5{? =:@95TA5: 5<:)1WaWaXa XaWaXa:Wa2Wi*WiVibUiBUi*UqUU+?BqBq ByA}*ByAyAAA"Cu?RCCCI]A)שIG!>9IFi1?=l; ZE)YIY  r:Yd\1y:6)(;iY]=]=]4ۙ,ngFAY}B\@}B@y}Bt}Bj}BH޿ B^??ʨ޿ iѿ@?/?)~B\@ ~Bo[;I~BCY^k?y^oFuZ<MuU=Yu*QU}>yya}#Hyy}>Iȉ :ō5? :ō۾ ƍ? :@9ƍwAǍ: ȍ:)ȍ:WWX XWX:W2W*WVbUBU*UUU l?BB BAӇ*BAA A A "C*CRCCCIIYGu= Ci nmGI i! M DֿٺI U AYKۙ,"ngFAY}6c@}6e@y}6ݥ}6tߊ}6HK޿ Y?E?i޿̅ѿ ?檰?)~6c@ ~6*[;I~6CYB?yBF)z > z= = = = =@ =@ =@999i99 9)9I9i9M<MMK=YUȽQUU>QQaU#HYYye>}e>Iim5?m{۾ m? u:@9mAm÷: m:)iWWX X!W!X!:W!2W!*W)V)bU)BU)*U1U1U5`;?BB BA*BAAAA"C*CRCCCIG>  :Y|j1y:69@ܩ 9ܩ Iܭ Fiܭ v?ܩ ܩ ܩ ܭ ; ݭ Ewgۙ,Yjaaam#Hiiyue}u>Iy :}C5? :}۾ }Չ? :@9}¨A}: }:)}:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*CRCCCIIYGu=;Oۙ,EVngFAY}6@}6@y}61}6v}6H*ݿ@>?` ?ݿ8jѿ`s?͡@?)~6@ ~60[;I~6CYB?yF FMH=Y:;QU>a#Hy}>I5?۾ ? :@9AS; ;)WWX XWX:W2W*WVbUBU*U U U@BB BA*BAAAA"C*CRCCC!I9Gu6>0  t:YY1y:6`yۙ,> pngFAY}6ih@}6@y}6֎}6sJ}6H{ݿB=??ݿпş? ]?)~6ih@ ~6[;I~6CY^?ybF5^I ?EؿZd;O?>ƾ j=)IyMb?~jtl񢿙=D fBA)VVAIi zA(PA  ]A u u u u@ u@ u@qqqiqq q)qIqiq39=M.=Y,;QU>a#Hyܻ}>Iȡ :ť5? :ť۾ ƥ? :@9ƥ$Aǥ: ȥw:)ȥ:WWX XWX:W2W*WVbUBU*UUUt@RB*** querying acoustic contact ***PPBB BAM*BA!A!A!A!"C)*C)RC)C)C1!I1GM1>i9iImxFim?iiim; mEbۙ,ngFAY}6@}69@y}6<}6)Lc}6Hݿ`L4o-?I?{ ޿^ѿ?`AC?)~6@ ~6[;I~6CYB?yB݉FFZ****** received transponder code query ******FF****** received ping request ******FYaae#Hiyy?;}>Iȱ :ŵJ5? :ŵ۾ Ƶi? :@9ƵAǵs; ȵ<)ȵ:W9WAXA XAWIXI:W2W*WVbUBU*UU U 2 @BQBY BYA]*BYAYAYAYAa"C*CRCCCׁIGB>a 9a Ie Fie E?a a a e V; e ֔Eڵۙ, ngFAY}6+@}6G@y}6}6$:}6HݿW,\ܴ??8޿sҿ`*?@b#ar?)~6+@ ~6"g[;I~6CYzm?yzIFxxNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )ÅG> Å>    @ @ @ i? ?)v?I?iv??=M?=YoʼQU>a#HHy)<}>I#5?5۾ ;?  :@9As: :)W)W)X1 X1W1X1:W12W9*W9V9bU9BU9*UAUAUE>@B B  BA*BAAAA"C*C!RC!C!C! IG= >  |:Yg1y@:W6);9ۙ,XngFAY}2d"@}2=@y}2ٱ}2%&}2H rݿ :?i? D?ݿגӿ)?@⶿ e?)~2d"@ ~2<\;I~2CYR#?yRFVxDUSBL response received:!U1,R,502,000,002B0,189,80,80,C1,FF VFpublishing direction and range infoTTɰVqa=T T)VACITyVq@Vw?amf-ٱTIf4=)f4=jXȻMn]=YnS9QUn>ppar#Hptyvź}v>Ixz5?z۾ z9? :@9zAz : z:)xWWX XWX:W2W*WVbUBU*UUU`{k@R(Combining 5 samples.P*Qq@ZQE5j?.\Ux3 JQw?amf-2Q:QbQfQ@@+u?RQN,F?&;?%?BQ`Yl? Q<@Q@PPPQQ)$@"QC@BYBY BYAe%*BaAaAaAaAa"Ci*CiRCqCC׉IG=̻ۙ,(~ngFAY}%R@@}%[@y}%v}%\}%Hd޿0x?? ݿ;ӿ? t?)~%R@@ ~%\;I~%CYu?y}FDNmea in: $SNTTA,,,,,230530.94*54 K7A?Mb?Zd;O? >= j<)IyMb?Mb̼@= AA)SAI*Ai}A\OA    @ @ @ @i )Iii<M,=YY  a #H  y{;}>I :5? :۾ ? :@9A< <):mMmAdded new target pos. range: 3.779998 m, bearing: 52.897684 deg, deltaT: 4.357249 s, approachRate: 0.041310 m/s, LOS rate: -0.445912 deg/s, posRepo size: 4XIWU`Yl?WQXQ XQWQXY:W2W*WVbUBU*UUo=@U? 9 I Fi @    ; EBqBq BA*BAAAA"C`Yl?RCC`Yl?C  l:YW1yč:r6); IG5q>hۙ,1C ogFAY}:@}:@y}:Ȗ}:}:H+y޿@_V??N޿`ҿ? ?)~:@ ~:Y[;I~:CY^?ybڌF11].4=M]j=Yeaaam#HiiyuX<}u>Iy}5?}۾ }i? :@9}AA}I: }:)yWWX XWX:W2W*WVbUBU*UUU s?ByB BAo*BAAAA"C*CRCCCשIG=ۙ,:%ogFAY}6@}6=@y}6@}6}6H5޿ E N?-?_޿=Aҿd?2?)~6@ ~6 [;I~6CYB8?yBdF~a=i~R=  =pM=L=YE};QUE>AIaM#HIIyU<}U>IY e:]5? e:]۾ ]? e:@9]iA]: ]^:)]:WWX XWX:W2W*WVbUBU*UUU=?BB BA*BAAAA"C*CRCCCIG=I@A)@A i on:Y]1y:69@ 9 I (Fi ,@ = Z; QE)ݙIݙiݙݙݙݝp4 ۙ,>ogFAY~?y~F    @ @ @ñññiññ ı)ıIıiı MB=YQU>a#Hy}>I5?۾ ? :@9A: :)W WX XWX:W2W*WVbU!BU!*U!U!U% ?BQBQ BQAU*BYAYAYAYAY"Ca*CaRCaCaCiiIyG=]ۙ,XogFAY}6@}6@y}66}6 n}6H@޿ T|?? ߿ ѿ@N?eR?)~6@ ~6\;I~6CYB ?yBF)v> v==M%V=Y%))a-#H))y5I :}5>I9 E:=5? E:=]۾ =~? M:@9=A=s: =:)=:WiWiXi XiWiXq:Wq2Wq*WqVqbUBU*UUUa.@BABI BIAM*BIAIAQAQAq"Cy*CyRCyCyCi]unGIiסտٺAIGm> w    z:Y ^1y a: 6fۙ,nrogFAY}/@}K@y}G|}4}H޿H??޿Oѿ!v?ldz?)~/@ ~T[;I~CY=?y=FI)IR=)=mJ +?V-¿mh mt<)iIiymL7A`?Mb`a#Hy;}>I55?۾  ? :@9ԪA: :)W)W)X) X)W)X1:W12W1*W1V1bU9BU9*U9U9U=߿@BiBi BqAu*BqAqAqAqAq"Cy*CyRCCCׁIܩ9ܩIܭFiܭ@ܩܩܩܭ; ݭEG>=i=ۙ,7ogFAY}2.@}2I@y}2}2 f}2H`߿ձ?k?@޿Zѿ@J?@Ͳ]?)~2.@ ~2[;I~2CYb?yf*Ffp=ɮfa=-<M-k=Y59iqau#HuHqy}}}>Iȩ :ŭ;5? -:ŭ۾ ƭ? =:@9ƭAǭ< ȭ<)ȭ:WWX XWX:W!2W!*W!V!bU!BU)*U)U)U- < @BB BA*BAAAA"C*CRCCCשIG>ܩ 9ܩ Iܩ iܩ ܩ ܩ ܩ ܭ ; ݭ Eۙ,_AogFAɫ髹) IY?yFxDUSBL response received:!U1,P 502,000,002B0,189,80,80,C1,FF Command AckBRequesting micromodem ping code 2i Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 = = = =@ =@ E@999i99 9)9I9i9⧼MZ=YQU> a#Hy}e>Ii u:m5? u:m ۾ md? :@9mAm3< m7<)m:I)AAWQWQXQe4 e}e}e e6u:YekS1yeԊ:eE6)e;9 XYWX:W2W*WVbUBU*UUU@^@BB BA1*BAAAA"C*CRCCCIG >+:ۙ,mogFAY}6&x@}6@y}6%~}6wx}6H`޿m+υ??@ݿѿdq?J?)~6&x@ ~6\;I~4ɫYY)Y YIYY?yFAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U7=MUv=Y]=QU] ?Yaae#Haaym }m ?I!%j5?%۾ %y? -:@9%.A%: %:)!WQWQXY XYWaXa:Wq2Wy*WVbUBU*UUU$d@BB BA*B!A)A)A1A1"Ci*CiRCiCiCqyIG^>7gۙ,ogFAY}R9@}RT@y}Re'i}R'C}RH@޿@@?C+?@%޿^ο@?P U ?)~R9@ ~R1\;I~RCɫqq)q qIqY9?yFxDUSBL response received:!U1,R,502,000,002B0,189,80,80,AF,FF Fpublishing direction and range infoɰ鰹 )/CIyw?amf-ٱdNmea in: $SNTTA,0.043428,0.140535,,,230535.42*55 IA)AI=)=ux?V-/$?uK7>u u<)qIqyu+?lS㥛?u=uu/< u>A)uWAIu-AiusAquNA)Í= É    @ @ @ÑÑÑiÑÑ đ)đIđiđ!6M7=Y9=QU>a#Hy }>I5?۾ ?  :@9WA: :)I9IIMFiM@IIIMf; MϓEWWX XWX:W2W*WVbUBU*UUU` *@R (Combining 5 samples.P*QZQE5j?.\Ux3 JQw?amf-2Q:QbQ=@>B@|\K?RQî ?*>_Fm?Wu?BQ{p? Q:@@Q @PPPQQ4 @"Q)$@BB BA߄*B!A!A!A!A)"C)*CYRCYCYCa  7h:YV1y:6)۽;QIYGuz>yMܙ,+ pgFAY}6)f@}6@y}6bZ}6}6H`H޿`@?6?1 ߿ʿg?6 N@?)~6)f@ ~6d;I~4ɫ19)9 9I9Y}?y}F=Mi=Y*=QU ?  a #H yt<}?I! -:%f5? -:%۾ %+? -:@9%yA%p: %:)%:m]iAdded new target pos. range: 3.779998 m, bearing: 53.823062 deg, deltaT: 4.548278 s, approachRate: 0.000000 m/s, LOS rate: 0.203457 deg/s, posRepo size: 4XYWe{p?WaXa XaWaXa:Wi2Wi*WiVibUqBUq*UqUqU}``?BB BAx*BAAAA"C(o?RCC{p?CIG- >=i=u ܙ,'pgFAY}:}@}:@y}:R}: }:H`޿d?K<M=G=YEAAaM#HIIyUc;}U>IY]5?]۾ ]? e:@9]A]: ]:)YWWX XWX:W2W*WVbUBU*UUU@B?BB BA.*BAAAA"Cqm?*CRCCCIG> ~~ Z{:YT1y@:69@I 9I IM FiM r@I I I M ,; M E^ܙ,DApgFAY}61p@}6@y}6T}6ʑ}6H޿`;?V@O?)~61p@ ~6nk;I~6CɫYY)Y YIYY?ygF M M M M@ M@ M@IIIiII I)IIIiI|<MD=Y0QU>a#HyK}>I :5? :y۾ ܍? :@9̫A5; ;):WWX XWX:W!2W!*W!V)bU)BU1*U1U1U=Ii?ByBy BAƃ*BAAAA"C{p?RCCCI׹)׽\A׉IG>ܙ,c[pgFAY}6m@}64@y}6Z}6Lp}6H޿@i[?b4?`޿H˿@'?@V@7?)~6m@ ~6g;I~6CɫII)I IIIY}?y}pFw:MT=Y8~QU>!!a%#H!)y-ѹ}->I9=5?=~۾ =? ]:@9=A=; =;)9WWX XWX:W2W*WVbUBU*UUU`+?BB BAƒ*BAAAA"C)*C1RC1C9CaׁIG>>IAA)@At  e:YU1y: 6vܙ,EupgFAY}6K<@}6W@y}6aR}6}6H`޿`q{`L?8ݿl;ο@?঄?)~6K<@ ~6ed;I~4ɫ99)9 9I9Yu?y}zF}1Zd?y&1?A`"?}"=}`< }Y=)yIyy}S㥛?Mb?y&1?}/<}<}`< }7CA)}5HAI}r.Ai}fAy}HA    @ @ @i )IiM>=Ya#Hy}>I  :D5? :/۾ k? :@9AE:  :):WWX XWX:W2W*WVbUBU*UUU[?9I`Fi@=; E)݁I݁i݁݅=݅=݅K5BQBQ BQA]&*BYAYAYAYAY"C*CRCCCyIG=>#ܙ, pgFAY}:\@}:@y}:,@}:|3}:H ޿菿`u?ݿ`W̿x?3?)~:\@ ~:ug;I~:Cɫ99)9 9I9Y}?y}FE<MEV=YE`7=QUE>IIaM#HIQyUB<}U>IY]5?]۾ ]? m:@9]A]4: ]Ǻ:)YWWX XWX:W2W*WVbUBU*UUUJ@BB BA*BAAAA"C*CRCCC?i?IGM>U QQU U5j:YQyQU6i-%nGIAig߿ٺA)ܙ,ApgFAY}6@}6@y}6o2}6&}6Hೡ޿ ?`$?`8޿Vȿ 1? J`i?)~6@ ~6g;I~6CɫYY)Y YIYY?yÒF鮡ɮp=`=MS=Y=QU>a#Hy }>I5?۾ ? :@9-A@: :)W W X  X WX:W2W*WVbUBU*UU!U%)@R-B*** querying acoustic contact ***P)P)BB BA *BAAAA"C*CRCCCIG>=i= 9 I НFi E@ = ; E0ܙ,pgFAY}6/@}6@y}6V)}6o}6H޿Dm)?'4޿E ȿ 5?@g%8n?)~6/@ ~6M@a;I~6CɫYY)Y YIYY?yLFZ****** received transponder code query ******F****** received ping request ******yya}#H}Hy%A;}>Iȩ :ŭ15? :ŭ8۾ ƭ_? :@9ƭDAǭk: ȭ:)ȭ:WWX XWX!:W!2W!*WIVIbUQBUQ*UQUQUU @BB BA9*BAAAA"C *C RC C C!I9GeU>U7 U}U}Uk Usu:YUkS1yUԊ:U36)UJ;9]f6ܙ,pgFAY}6b@}6Y~@y}6D!}6^}6H@"߿:S?G?i޿ƿ ?@/7|?)~6b@ ~6E_;I~6Cɫ髑) IY?y;FxDUSBL response received:!U1,P 502,000,002B0,189,80,80,AF,FF Command AckBRequesting micromodem ping code 2i =i =-Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 eQ?Onÿ+?eu=e e=)aIayeX9v?V-?:v?ea#Hy(7<}>I!%$5?%۾ %? 5:@9%A%: %:)!WqWqXq XyWyXy:Wy2Wy*WVbUBU*UUU @Bq By  By A} *By A A A A "C *C RC C C I G% >=ܙ,pgFAY}6@}6@y}6}6Y}6HrF߿`@g?`~? ߿Ŀg?K1?)~6@ ~6$^;I~6Cɫii)i iIiY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B UrM]=Y]k>I@A)?Au@ uuu u+v:YuWU1yu:u6)u;Cܙ,aqgFAY}:@}:A@y}:[P}:چ}:H-U߿`k?o?v?6߿Aſ?Ƥ ?)~:@ ~:\;I~:Cɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,R,502,000,002B0,189,80,80,B9,FF Fpublishing direction and range infoɰ鰁 )9CIyw?amf-ٱ    @ @ @i )Ii@MF=Y QU>a#Hy!F;}>I5?۾ 7? :@9Ak: @:)W W)X1 X1W1X1:W12W9*W9V9bU9BU9*UAUAUE@A@Ru(Combining 5 samples.Pq*QqZQuE5j?.\Ux3 JQuw?amf-2Qq:QqbQuO?@k8@t\@k?RQu$uI@?D?cֵu?BQu8Su? Qu_D@Qu @PqPqPqQqQu@"Qu4 @BB BA*BAAAA"C*CRCCC!I)GM1>Jܙ,O?*qgFAY}6@}6t@y}6a}6 }6Hn߿>ϖ? n? )6߿m0ſ?ٯ?)~6@ ~6c;I~6CɫYY)Y YIYY?yF) > >5a<M=Q=Y=Z.QU=>AAaE#HAAyMN;}M>I %:q5? -:$۾ ? 5:@9Awo; p;):miAdded new target pos. range: 3.779998 m, bearing: 54.906607 deg, deltaT: 4.390448 s, approachRate: 0.000000 m/s, LOS rate: 0.246796 deg/s, posRepo size: 4XW8Su?WX XWX:W2W*WVbUBU*UUU ?BiBi BiAmC*BiAqAqAqAq"C}8Su?RCyC}8Su?Cו?iו?aIiG9>-  t:YDW1yY:69@ܡ 9ܡ Iܥ Fiܥ ?ܡ ܡ ܡ ܥ ; ݥ yEPܙ,DqgFAY}6V@}6Mr@y}6[}6*}6H@߿`U?@1? ߿`]ÿ೗?]`k?)~6V@ ~6]a;I~4ɫYY)Y YIYY}X?y}PFDNmea in: $SNTTA,,,,,230539.94*5D 9MM=Y;QU>!!a%#H!)y5t}5>IAEl5?EX۾ E? U;@9EMAEz; E%;)AWWX XWX:W2W*WVbUBU*UUU?BB BAׅ*B)A1A1A1A1"C9*C9RC9C9CA)I1GM>=i=%Wܙ, ]qgFAY}6@}6r@y}6}6?}6Hd޿`@٥??2޿`3.ÿl??)~6@ ~6#a;I~6Cɫ99)9 9I9Yuk?y}F    @ @ @i )Ii~M0=Y:;QU>a#HyzH}>I  :5?  :۾ Ħ? ;@9AV: :):W1W1X1 X9W9X9:W92W9*WAVAbUABUA*UIUIUMR?BqBy ByA}*ByAyAyAyA"C*CRCCCyIG=> D p:YWU1y: 62N]ܙ,wqgFAY}2~@}2(@y}2<$}2n}2H9a޿@??E?m޿`@¿p?;@v?)~2~@ ~2_;I~0ɫ99)9 9I9Y}?y}F+?Zd;y&1v>> `e)Iy{Gz rh#C •?A)•NAI•5Ai•]A(HA¥]A¡~Ma=YQU>a#Hyv}>I5?۾ ~? ;@9A: :)WWX XWX:W2W*W V bU BU*UUUq?=>99I=Fi=?===:D9=; =sEBaBa BaAel*BaAiAiAiAi"Cq*CqRCqCyCyI׵\A)׵]AסIG >6dܙ,qgFAY}2@M@}2h@y}2Y}2DR}2H@}4޿@rH?`2?@Y޿:? it?)~2@M@ ~2r];I~0ɫ99)9 9I9Y}?y}FĒ=MT=YQU>!!a%#H!)y-e}->I155?5۾ 50? E;@95̭A5: 50:)1WaWiXi XiWiXi:Wi2Wq*WqVqbUyBUy*UyUyU}m?BB BA*BAAAA"C*CQRCQCQCaׁIG=>I)@A.`jܙ,ӄqgFAY}6@}61@y}6#}6}6H@:c޿@ ?ɲ?@z޿`Cÿ `?p?)~6@ ~6a;I~6Cɫ99)9 9I9Y?yьF M M M M@ M@ M@IIIiII I)IIIiIe(MeF=YeoQUe>iiam#Hiqyu<}}>Iy :}D5? :}P۾ }ߥ? ;@9}A}: }:)}:WWX XWX:W2W*WVbUBU*UUU<6@BqBy BAs*BAAAA"C*CRCCCIG-->H m v:Yyj61 91 I5 Fi5 ?1 1 1 5 ; 5 |E)Iiň35^Hqܙ,FaqgFAY}6 @}6.@y}6 +}6f3}6HG޿@& ?>?`޿ NſJ?`&@?)~6 @ ~6)d;I~4ɫ99)9 AIAY}K?y}ҋF)å= å=    @ @ @i )Ii}M}O=YQU>a#HHy<}>Ișŝp5?ŝ۾ Ɲ? ;@9ƝAǝ9: ȝ˵:)șWWX XWX:W2W*WVbUBU*UUUx@RB*** querying acoustic contact ***PPB B BAۆ*BA)A1A1A9"CA*CIRCICICIIIQGm>:rwܙ,K;qgFAiNmGIXid$ٺ AY}5d@}5%@y}5Ϣ6}5Mk}5H߿49?g?@޿Zǿ@j?z p?)~5d@ ~5/_;I~1ɫ) I=i==  u:YU1y:6YE?yEFMZ****** received transponder code query ******MF****** received ping request ******MYYa]#Haaye<}m>Ii 5:m5? 5:m۾ m̥? =;@9m:Am< mq<)m:WyWyX XWX:W2W*WVbUBU*UUU@I @B B  B A *B A A! A! A! "CI *CQ RCY CY C I G >?}ܙ,`qgFAY}6Y@}6#@y}6kC}6O>b}6HU޿a'?m? s޿ȿ G? _?)~6Y@ ~6cE];I~6Cɫ19)9 9I9Yu?yu$F}xDUSBL response received:!U1,P 502,000,002B0,189,80,80,B9,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 >9Ii; E } } } }@ @ @ yyyi}?y }K?)}?I}?i}?ݹ<M=Y QU ?a#HyՎ} ?I+5?Z۾ ? ;@9OA{; <;)WWX XWX:W2W*WVbUBU*UUUV @B B BA*BAAAAIAIAI"C*CRCCCױIG>ܙ,rgFAY}6@}6@y}6R}6kf}6H,޿-$?9s?="޿I`ʿ@.?-F?)~6@ ~6Ä\;I~6Cɫ99)9 9I9Y}V?y}vFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ^A]AH<Mv=Y#;QU?a#Hy}?Iȡ :ťU5? :ť$۾ ƥ? ;@9ƥeAǥ; ȥv;)ȥ:WWX XWX:W2W*WVbU BU *U UU@B9B9 B9A=*BAAAAAAAAA"CI*CIRCQCQCQ)I1GU> ] do:YV1y: 6ܙ, ,rgFAY}2@}2I@y}2\}2D}2H`޿`l7Q ?Ig?ݿ@{L̿`h? /.?)~2@ ~2j[;I~0ɫYY)Y YIYYei?yeFmxDUSBL response received:!U1,R,502,000,002B0,18A,80,80,C1,FF uFpublishing direction and range infoiiɰim> i)mACIiyimw?amf-ٱiuM[=YoּQU>a#HyC}>IȹŽ`5?Ž۾ ƽL? ;@9ƽ~AǽU: Ƚ:)ȹWWX XWX:W2W*WVbU BU*UUU@R-(Combining 5 samples.P1*Q1ZQ5E5j?.\Ux3 JQ5w?amf-2Q1:Q1bQ5g@00@A]n?RQ53aDz?oRP2g?ŹX?BQ5n? Q5 @@Q5<@P1P1P1Q1Q5G@"Q5@BaBa BiAmӆ*BiAiAiAiAq"C*CRCCC)I1GQI) >9I8Fi?=; ~EGܙ,pFrgFAY}j<@}j@y}jY\}j}jHf4޿ /;?^?@3ݿ`\̿Z?@[g,?)~j<@ ~jFc;I~jCɫ) IY?y F]TNmea in: $SNTTA,0.050847,,,,230544.29*41 5 5 5 5@ =@ =@ =@111i51 5)5I5i5M;MM2=YMqx:QUU>QQaU#HQYy]i;}e>Iae45?e۾ e? u;@9eAeܹ: e :)ammAdded new target pos. range: 3.779998 m, bearing: 53.475156 deg, deltaT: 4.402283 s, approachRate: 0.000000 m/s, LOS rate: -0.325161 deg/s, posRepo size: 4XWn?WX XWX:W2W*WVbUBU*UUU!?BB BAĆ*BAAAA"Cn?RCCn?CIG(>  }:YT1y:i6);9—ܙ,`rgFAY}^@}^A@y}^[}^}^H:޿+ 2?_?޿`Y˿`@;?@2?)~^@ ~^`;I~^Cɫ) IYU?yF(\?-? t>)IyL7A`?V-?+=< ?A)-RAI™ikA(LA)é í>vMC=Y;QU>a#HyQ:}>I :5? :@۾ ˦? ;@9®A(: ]:):WW X  X W X :W 2W*WVbUBU*UUU ?BABI BIAM*BIAQAQAQAQ"CY*CYRCYCYCau?iu?!I1G8>ܙ,9_zrgFAY}2w8@}2T@y}2a}2YE}2H`L޿M@?/7?=޿@Ϳ\?A|?)~2w8@ ~2\^;I~2Cɫ99)9 9I9Y}?y}F} >9yI}Fi}a?}=yy}; }E    @ @ @ÙÙÙiÙÙ ę)ęIęięm <M]=YPQU>a#Hy<}>Iy5?۾ ? ;@9Ab: :)WWX XWX:W2W*WVbUBU *U U U@??B9B9 B9A=Ȇ*BAAAAAAAAA"CI*CIRCQCQCQ)I1GU>=i=  l:Yy6);;Ҥܙ,:rgFAY}6l@}6@y}6k}6Ϛ}6H`J$߿`G?`?@0޿ ο/?`/ ?)~6l@ ~6j\;I~6CɫYY)Y YIYYx?yFUMUP=Y].̼QU]>Yaae#Haaym<}m>I :5? :۾ H? ;@9A7:  :):WWX XWX:W2W*WVbUBU*UUU L?B1B1 B1A5І*B9A9A9A9A9"CA*CARCACICIׁIG>^ܙ,rgFAY}6@}6W@y}6Rt}6l}6H ߿|??߿mοW@?o?)~6@ ~6\;I~6CɫYY)Y YIYY?yьFYYf<MF=YQU>a#HHQyUV}U>IY]5?]O۾ ]? e;@9]-A]^: ]4:)YWWX XWX:W2W*WVbUBU*UUU@@B)B) B)A-s*B1A1A1A1A1"C9*C9RC9CACAIQ)Q!I)GM1>  r:YW1yč:69@y9yI} Fi}?}=yy}; }Eܙ,rgFAY}Nb@}N@y}N6}Nbx}NH ޿&?@?߿`9Ͽ?a`?)~Nb@ ~N~b;I~NCɫqy)y yIyY?yF    @ @ @i )IiԻMD=Y-ؼQU>  a #H y9}>I %:75? -:۾ ? -;@9PAa: :):WQWQXQ XQWQXQ:WQ2WY*WYVYbUYBUa*UaUaUe 0@B)B1 B1A5*B1A1A1A1A9"C9*CARCACACiYIiG9>IAA)AAܙ,rgFAɫ髉) IY)?y[FɮmL7A`?'1ZĿ333333?m+>m" m=)iIiym/$I +Mbm,m9m@ m@A)mSAImr.AimqAimLAMB=YQU>a#Hy}>Iȩŭ5?ŭQ۾ ƭ? ;@9ƭqAǭ: ȭk:)ȩWQWQXQ XQWYXY:WY2WY*WYVabUBU*UUU >@RB*** querying acoustic contact ***PPBB BA*BAAAA"C *C RC C C  n:YT1y:6I!GEQ>8ܙ,YrgFAY}6;@}6W@y}6 q}6n}6Ht޿@嗢?` ?޿@QϿ?,g?)~6;@ ~6_;I~6Cɫ9I)Q QIQYm`?y}FZ****** received transponder code query ******F****** received ping request ****** >% >9!I%xFi%?!!!%; %E)فIفiف݁=݁=݁5 u u u u@ }@ }@qqqiqq q)qIqiq<M]=Y=QU>a#Hyս}>I! -:%5? m:%۾ %X? u;@9%A%!< %+"<)%:WWX XWX:W2W*WVbUBU*UUU 4F @BB BAU*BAAAA"C)*C)RC)C)C1E?iE?!I1GM1>g ܙ,sgFAY}2c@}26@y}2Xd}2j}2H N޿`i^?'?F{޿zͿ<^?@@|?)~2c@ ~2];I~2Cɫ99)9 9I9Y?yFxDUSBL response received:!U1,P 502,000,002B0,18A,80,80,C1,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -F<M5P=YEYaae#HiyyP;}>Iȱŵ5?ŵ۾ Ƶ? ;@9ƵAǵ; ȵ;)ȱWWX XWX:W2W*WVbU iYBU!*UiIyUiU` @yٺ,A=ip= d 9~:YU1y:s6BB BA*BAAAA"C*CRCCCI)GE>}Jܙ,[/sgFAY}:@}:<@y}:`}:U}:H`8߿`L??߿z˿? -0?)~:@ ~::];I~8ɫAA)I IIQY#?yjF?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B "Nmea in: .75*55 %zResponse from modem failed NMEA checksum: .75*55 expected 0 e e e e@ e@ e@aaaiaa a)aIaia=M(=Y;QU>a#Hy^<}>I :n5? :T۾ d? ;@9ׯA : :):WaWaXa XaWaXa:Wi2Wi*WiVibUiBUq*UqUqUu`–@BB BAe*BAAAA"C*CRCCCI G-p>999I=@Fi=?===;D9=R; =KE3ܙ,q );CIy=j@w?amf-ٱ^A4<M=YQQU?a#Hy,<}?IY5?۾ @? ;@9A|: :)W)W)X) X)W)X):W)2W1*W1V1bU9BU9*U9U9U=@RM(Combining 5 samples.PQ*QU=j@ZQUs:@?apuV JQUw?amf-2QQ:QQbQU7mk@猠@/t?RQU7?⟃?h%8?BQUu? QUu>@QU\@PUL9?PQPQQQQU@"QUG@BB BA&*BAAAA"C*CRCCCiIyG= r m:YX1y/:6);9eܙ,.8csgFAɫaa)a aIaY?yFa i@a  a m@a  a q@a  a e@a  Mb?I +?= 94=)IiMb@Mb@Mb@© µ5A)µ5AIµ2Aiµ5A5A&M-=YQU>a#Hy}>I5?۾ ? ;@9A: >)m5mAdded new target pos. range: 3.660000 m, bearing: 54.999989 deg, deltaT: 4.448627 s, approachRate: -0.026974 m/s, LOS rate: 0.342765 deg/s, posRepo size: 4X1W5u?W9X9 X9W9X9:W92WA*WAVAbUABUA*UIUMG @UM!?BqBy ByA}K*ByAyAAA"Cu?RCCu?C׉IG?>I@A)?Aܙ,|sgFAɫ髙) I9Ii|; aEY?y4F    @ @ @ÙÙÙiÙÙ ę)ęIęięɄMa=YQU>a#Hy}>I :5? :I۾ n? ;@91A: U?):WWX XWX:W2W*WVbUBU*U U U @m?B1B9 B9A={*B9A9A9AAAA"CA*CIRCICICQIIQGu>  k:YU1y:6);nܙ,~ɖsgFAɫ髙) IY?yXF};M}M=YyQU}>a#Hy}>Iȑŕ5?ŕ۾ ƕ? ;@9ƕQAǕ: ȕӝ?)ȑWWX XWX:W2W*WVbUBU*UUUܙ,BsgFAY}jy@}j@y}j S}jOc}jH ߿ ?1?߿#ʿ`1?e̫JF?)~jy@ ~j'\;I~jCɫii)i iIiYuA?yu|F E E E E@ E@ E@AAAiAA A)AIAiAUɈ;MU==Y]&=QU]>Yaae#HeHaymn<}m>Ique5?u۾ u? };@9utAu: uF?)qWWX XWX:W2W*WVbUBU*UUU@?BB BA]*BAAAA"C*CRCCCI!GE0>=i4=  %q:YW1yč:)69@ܵ >9ܱIܵFiܵE?ܱܱܱܵ}; ݱܙ,AsgFAY}F@}F @y}FcgK}F(}FH@֑R?g?1r\ȿ`4B?%X?)~F@ ~F(k`;I~FCɫYY)Y YIYY=?yFu(<MuZ=Y}3ya#Hy<}>Iȑŕ5?ŕN۾ ƕ"? ;@9ƕAǕ\: ȕ@)ȑWWX XWX:W2W*WVbUBU*UUU@GK@BB BA*BAA A A "C*CRCCCׁIG>zܙ,esgFAɫ) IY5?y5F=i 鿙a i%a i- a m-a m- a q-a q- a e-a e- -Mb@Mb@Mb@-- -)-I)y-S㥫?{Gz?~jtx?-/]=-#<-; -?A)-I-r.Ai-piA--GAM_<MM==YMQUM>QQaU#HQYy]}]>Ia m:eF5? u:eZ۾ e? u;@9e°AeY: e:)e:WWX XWX:W2W*WVbU!BUA*UAUAUM @BB BA*BAAAA"C*CRCCC׹Ix  z:YU1y:`6GH>ܙ,/5sgFAY}F{t@}F@y}FSF}F]ѽ}FH|]AAE? ?Vud˿?@9iIm@Fim?iiim; mdEY.?yF鮡ɮa=    @ @ @i )IiMa=Yc_a#H!y%=}->I)-&5?-۾ -? =;@9-A-: -8:))WWX XWX:W2W*WVbUBU*UU UO@RB*** querying acoustic contact ***PPBYBa BaAe"*BaAaAaAiAi"Cq*CqRCqCqCyiIyG>I)@AOݙ,#tgFAY}:Vg@}:߂@y}:[^A}:<}:H@ I?f,??ɿ?@ി`R?)~:Vg@ ~:_^;I~:CɫQQ)Q QIQY?y4FZ****** received transponder code query ******F****** received ping request ******a #H  y}>I5?۾ ? -;@9AM; ;)WQWYXY XYWYXY:WY2Wa*WaVabUaBUa*UiUiUmN @BB BA{*BAAAA"C*CRCCCyIG>Z  >x:Yy6 ݙ,l1tgFAY}6B@}6b^@y}6f=}64}6H `TCx@?{?ҝtȿV?D2@ra?)~6B@ ~6\;I~6Cɫ99)9 9I9Y ?yFxDUSBL response received:!U1,P 502,000,002AE,189,80,80,BB,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= ==/=M=G=YMaiam#Hqy#}>Iȹ :Ž5? :Ž۾ ƽW? ;@9ƽCAǽm; ȽQ<)Ƚ:WWX XWX:W2W*WVbU BU *U U U @BYBY BYA]*BaAaAaAaAi"C*CRCCCם?iם?ׁIGj>܍ >9܉I܉i܉܉܉܉܍q; ݍ[E)Ii==˜4ݙ,TKtgFAY}2 @}2@y}25}2xe}2H` N]B?p?ʖƿ`?>r?)~2 @ ~2k\;I~2Cɫ9A)A AIAY}i?y}3FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M M M M@ M@ M@IIIiII I)IIIiI]&GM]H=Yeuaiam#Hiiyu)}u>Iy}e5?}۾ }? ;@9}nA}÷: }:)yWWX XWX:W)2W1*W1V1bU1BU9*U9U9U=G@BB BA*BAAAA"C*CRCCCIG$>=i=  &|:YT1y:;6);9i! IQ iq Wٺ Aݙ,etgFAY}:@}:W@y}:/}:j<}:HzN`?? ſ?2d?)~:@ ~:3F`;I~:CɫYY)a aIaY?y)F xDUSBL response received:!U1,R,502,000,002B1,189,80,80,BE,FF Fpublishing direction and range infoɰa= )>CIyu@w?amf-ٱ5dNmea in: $SNTTA,0.007006,0.295636,,,230553.19*58 n?t \)IyQ:v~jtTD ©)­XQAI­0Ai­fAIA<M5=Y]a#Hy!}>I :c5? :S۾ &? ;@9A: E:):WWX XWX:W!2W!*W!V!bU)BU)*U)U)U5 @R=(Combining 5 samples.PA*QEu@ZQEAKK?Oh JQEw?amf-2QA:QAbQE/wPe@29 @ry*T?RQE.4N?a+=?ƺ3W?BQE;~? QEL@QE@PAPEL9?PAQAQEP@"QE@BqBy ByA}*ByAyAyAA"C*CRCCCYIiG9>#ݙ,c}tgFAY}:(@}:*@y}: 3(}::Z}:H tF7?`?] [ſ5? 1?)~:(@ ~:a;I~8 9 I xFi ?    1; 8Eɫ99)9 9I9Y}?y}F]ANMa=Yda#Hy;}>Iȱŵ05?ŵ۾ Ƶg? ;@9ƵAǵ: ȵ:)ȱmiAdded new target pos. range: 3.839998 m, bearing: 57.008348 deg, deltaT: 4.507668 s, approachRate: 0.039932 m/s, LOS rate: 0.445543 deg/s, posRepo size: 4XW;~?WX XWX:W2W*WVbUBU*UU Q@U_>?B1B1 B1A5*B1A9A9A9A9"CE z?RCACE;~?CII]]A)YIIYG}>0 F:YWU1y:M6)< &ݙ,WtgFAY}6U8@}6S@y}6>"}6#Z}6H}:`ӣ??`ĿE?}@?)~6U8@ ~6 _;I~6CɫYY)Y YIYYt?yאF M U U U@ U@ @QQQiQQ Q)QIQiQ$<MJ=YRa#Hy;}>Iȱ :ŵ5? :ŵ۾ Ƶ? ;@9ƵAǵs: ȵ^:)ȵ:WWX XWX:W2W*WVbUBU*UUU ?B!B) B)A-ф*B)A1A1A1A1"C=;~?RC9C9CAIIQGu>IAA)AA4,ݙ,2tgFAY}6Sk@}6܆@y}6<#}6ă}6HW0̞?;? ſ@hQ? G@f?)~6Sk@ ~6];I~6CɫII)I IIIY}N?y}F=MS=YrQU>!!a%#H%H)y-<}->I155?5c۾ 5̌? E;@95ԱA5: 5=:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUyU}`s?BB BAZ*BAAAA"C1*C1RC1C1C9 IG5 >  o:YU1y:)69@9CIFi1?=$; 1ES3ݙ,jtgFAY}6@}6@y}6$}6D½}6H#Խu?@4?`ǿ {?q?)~6@ ~6qu];I~6Cɫ99)9 9I9Y]?y]F)> > M K=YQQU>a#Hy%u%<}%>I)-5?-۾ -? 5;@9-A-: -:))WYWYXY XYWYXY:Wa2Wa*WaVabUaBUi*UiUiUm>?BB BAt*BAAAA"C*CRCCC׉IG=F9ݙ,htgFAY}:X@}:@y}:2)#}:ʴ}:H% j& ?Q? ǿO?`H x?)~:X@ ~:;_;I~8ɫ99)9 9I9Y}?y}2FX9v?M?:v?=n> <)Iy~jthZd;O?Q?Dj<=u< ±)µ^LAIµ2Aiµ\AFA    @ @ @i )Ii%|M%:=Y%J;QU->))a5#H11y=}=>IA M:E{5? M:Ex۾ E? M;@9EAE: E:)E:WqWqXq XqWyXy:Wy2Wy*WyVbUBU*UUU?BQBQ BQAU*BQAYAYAYAY"Ca*CaRCaCCׁIG@>=i=[  Rx:Yy6T.@ݙ,PugFAY}6+@}6@y}6s#}6q=}6H@" {? ?LmoſMX?ມ ?)~6+@ ~6Pc;I~6CT9TIV FiV?TTTV; V'Eɫ) IYC?yVF = = = =@ =@ E@999i99 9)9I9i9] ;M]G=Yem5QUe>qqau#Hqyyٷ}>I*5?+۾ 4? ;@9AA; a;)WWX XWX:W2W*WVbUBU*UUU@@B!B) B)A-*B)A)A)A1A1"C1*C9RC9C9C9I)GMR>XFݙ,ugFAY}6@}6%@y}6<#}6Lo}6H`t#"4??y !ſQ? U?)~6@ ~6T`;I~6CɫII)I IIIY}4?y}MF•]A•^AMl=Yp:QU?a#Hyƺ}?Iȹ :Ž5? :Ž۾ ƽ? ;@9ƽbAǽ: Ƚw:)Ƚ:WWX XWX:W2W*WVbUBU*UUU'@R B*** querying acoustic contact ***P P B1B1 B1A5*B9A9A9A9A9"CA*CARCACACIIY)]\A1I9G]=B  Tv:YWU1y:67Lݙ,34ugFAY}F@}FJ@y}F}F6怽}FH`"@?`?@TAĿ`? ӯ@?)~F@ ~Fc^;I~Dɫaa)a iIiY&?yDFZ****** received transponder code query ******F****** received ping request ******Yaae#Haaym;}m>Iȑŕ5?ŕ۾ ƕp? ;@9ƕAǕ: ȕ8:)ȑWWX XWX:W2W*WV bUBU*UUU @BABA BAAE*BAAIAIAIAQ"Cq*CqRCqCqCyI)?AׁIG_>ܹ9ܹIܽXFiܽ?ܽ=ܹܹܹ ݹkSݙ,VNugFAY}6\^@}6y @y}6kk}6kL}6H +Gf+??#)FĿ@z?1`x?)~6\^@ ~6]q\;I~6Cɫ99)9 9I9Y}*?y}FxDUSBL response received:!U1,P 502,000,002B1,189,80,80,BE,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 üM~=YTI! }:%y5? }:%"۾ %? ;@9%A%C< %D<)%:W9W9XA XAWAXi:Wq2Wq*WyVybUBU*UUU`R1 @BB BA*BAAAA"C!*C)RC)C)C)     'o:Y T1y : 26) ;9!IAG\>Yݙ,1hugFAY}2W@}2 @y}2}2`w}2H:v?l?maÿ9N? ╮?)~2W@ ~2[;I~2Cɫ99)9 9I9YL?y FAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i|?5?vϿ~jt?=x <)Iy rhMb?ˡE?C<'= )XQAIp3AiGAA~~M;=Y;QU>a#Hyo<}>I5?۾ ? ;@9ɲAB< /<)WWX XWX:W2W*WVbUBU*UUUk@BqBq BqA}*ByAyAyAyAy"C*CRCCC5?i5?I G%M>|`ݙ, ugFA494I6Fi6a?4446; 6E)CICi== 5Y}b@}b2 @y}bW}b8S}bH4pp@?h?@`v?w5?)~b@ ~bc;I~bCɫ髙) IYC?yVFxDUSBL response received:!U1,R,502,000,002B1,189,80,80,AE,FF Fpublishing direction and range infoɰ ).CIyw?amf-ٱ % % % -@ -@ -@ -@)))i-) -)-I-i-EI=MED=YM[QUM>QQaU#HQYyeY}e>Iq }:u5? }:uA۾ u? ;@9u޲Au; u&;)u:WWX XWX:W2W*WVbUBU*UUU@R (Combining 5 samples.P *Q ZQ AKK?Oh JQ w?amf-2Q :Q bQ c6>?՘s82 @ z@?RQ a0v?1-I?mO-?BQ ܔ? Q Q@Q ?P P P Q Q b @"Q P@BaBa BaA*BAAAA"C*CRCCCסIGA>i= \ l:YU1y: 6);-fݙ,ugFAY}f@}f9 @y}f"}f+}fHrm0@ê? Z?u@qÿE?m7|?)~f@ ~fb;I~fCɫ) IY?!y͑Fi}nGTNmea in: $SNTTA,0.037233,,,,230557.62*44 Ivs<MO=Y3μQU>a#H y:}>I5?۾ ǔ? %;@9A: I:)iAm}iAdded new target pos. range: 3.839998 m, bearing: 58.898934 deg, deltaT: 4.437130 s, approachRate: 0.000000 m/s, LOS rate: 0.426083 deg/s, posRepo size: 4XyWܔ?WX XWX:W2W*WVbUBU*UUU [?ٺABB BAm*BAAAA"C,΁?RCCܔ?CסIG%>+lݙ,7µugFAY}2@}2w @y}2#}2xL}2HSP?`j? \=Uſ^?P?)~2@ ~2—_;I~2CɫYY)Y YIYYR?y_F U U U U@ U@ ]@ ]QQQiUp?Q Q)QIQiUp?mgMmT=YmQUm>qqau#H}Hyy}}>Iȉō 5?ōY۾ ƍ? ;@9ƍAǍ: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUU@r?BqBy ByA}*ByAyAAA"Cܔ?RCCCI\A)סIG >  Z{:Yy69@a9aIaiaaaae; eEsݙ,ugFAY}2;@}2gW @y}2}2.}2H2)™??PTdſ?䧱@(?)~2;@ ~2b];I~2Cɫ99)9 9I9Y}?y}֑Fkv<MQ=YMa #H  ya}>I %:*5? %:۾ x? %;@9A: :):WIWIXI XIWIXQ:WQ2WQ*WYVYbUYBUY*UYUaUe`?BB BAi*BAAAA"C*CRCCCqIyG=I@A)AAa#Hy}>I5?۾ v? ;@90A: :)W1W1X9 X9W9X9:W92W9*WAVAbUABUA*UAUIUMs?BqBy ByA}*ByAyAAA"C*CRC)C)C9סIGA>  c|:YV1y:6a 9a Ia ia e =a a e ; e E`ڀݙ,vgFAY}2@}29@y}2}2}2HW@h ??¿ ?IǗ?)~2@ ~2B:^;I~2Cɫ99)9 9I9Y}?y}F    @ @ @ @ÉÉÉiÍÉ ĉ)ĉIĉič\MM=Y=;QU>a#Hy}>I :5? :۾ ? ;@9CAN: :):WWX XWX:W 2W *W V bUBU*UUU?BABA BAAE*BAAIAIAIAI"CQ*CQRCQCYCYm?im?)IqG>ݙ,80vgFAY}2@}20@y}2#}2i Ƽ}2H@@ ? ?`4 ¿`?r%?)~2@ ~2a#H y R:} >I5?۾ Œ? %;@9UAc: p:)WAWAXA XAWIXI:WI2WI*WIVQbUQBUQ*UYUYU]@BB BA*BAAAA"C*CRCCCaIiG9>i   n:YU1y:6Iݙ, 7vgFAY}: +@}:F @y}:p)}:nٝ}:HS$+? y?ǿ? 1qx?)~: +@ ~:`;I~:Cɫ99)9 9I9Ye?y̒F鮡ɮ    @ @ @i )IiлM$=Y:QU>a#HybM<}>I :5? :۾ v? ;@9nA=: k:):WWX XWX:W2W*WVbUBU*UUU@@RB*** querying acoustic contact ***PP 9 I  Fi ? =   ; EB)B1 B1A5*B1A1A9A9AY"Ca*CaRCaCaCiQIaG}z>bݙ,PvgFAY}6R@}6n @y}6j'}6|}6Hq6@Apx? `mɿ?``Y?)~6R@ ~6q^;I~6CɫYY)Y YIYY?yFZ****** received transponder code query ******F****** received ping request ******  l:YWU1y:6);9?1ݙ,jvgFAɫ髙) IY?y FxDUSBL response received:!U1,P 502,000,002B1,189,80,80,AE,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 U/$?Mb㥛 U,=U U)QIQyU a #H 9yE}E>IQ e:U5? m:U۾ Uy? <@9UγAU< U<)U:WWX XWX:W2W*WVbUBU*UUU@& @BB BA*BAAAA"C*CRCCCש I G > 9 I i ; Eݙ,vgFAY}6@}6. @y}6 }6ԟ}6H%`W? G?s`ſ?@y?)~6@ ~6e4\;I~6CɫYY)Y YIYY?y̒FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ˦=M=YN=QU$?a#Hyt}+?I5?۾ 4? <@9As: ':)W W X  XWX:W2W*WVbUBU*UU!U%$ @BIBI BQAU*BQAQAQAQAY"CY*CaRCaCaCaAIQGm>  #:YU1y:`6);c;I~6Cɫ99)9 9I9Y}J?y}FxDUSBL response received:!U1,R,502,000,002AF,189,80,80,B3,FF Fpublishing direction and range infoɰa=鰁 )3CIyn@w?amf-ٱM^=YRa#Hyq5;}>I5?2۾ e? <@9$AQ: H:)WWX XWX:W2W*WV bU BU *U UU@R%(Combining 5 samples.P!*Q%n@ZQ%o$?7U JQ%w?amf-2Q!:Q!bQ%T`LT?C@ @T4?RQ%"?"&?7ME*?BQ%Lk? Q%J@Q%?P!P!P!Q!Q%@ @"Q%b @BYBY BYA]*BYAaAaAaAa"Ci*CiRCiCiCqׅ?iׅ?1IAG]=oݙ,[[vgFAY}f @}f' @y}f}f}}fH%$n?? L*X?gB~@?)~f @ ~fZb;I~dɫ) IY5?y5FTNmea in: $SNTTA,0.031370,,,,230602.08*4B U U U U@ U@ U@QQQiQQ Q)QIQiQe(<Me1=YmMCQUm>qqau#HuHqy}UN}}>Iȁ :Ņ5? :Ņ۾ ƅ? <@9ƅbADž: ȅ:)ȅ:mqAdded new target pos. range: 3.720000 m, bearing: 58.378638 deg, deltaT: 4.381083 s, approachRate: -0.027390 m/s, LOS rate: -0.118760 deg/s, posRepo size: 4XWLk?WX XWX:W2W*WVbUBU*UU @U={?BB  B A *B A A A A"CLk?RCCLk?CI G-->ܡ9ܡIܥFiܥ1?ܥ=ܡܡܥ; ݥE)9I9i9=====QS4=i=  X:Yy;6);Uݙ,j.vgFAY}6@}6;# @y}6$k}6A{}6H`F!rB??@X -Ŀ g? W .?)~6@ ~6_;I~6Cɫ99)9 9I9Y]i?y]F<Me=Ym.QU>a#H y K@} >IimC5?m۾ m? u<@9mAm: m:)iWWX XWX:W2W*WVbUBU*UUU@k?BB BAS*BAAAA"C*CRCCC)I1GM>ienGIi=ٺ9E*Aρݙ,vgFAY}F-@}F@y}F}Fܫ}FH6f |??*ekſ ??:H?)~F-@ ~F];I~FCɫQQ)Y YIYY?yՒF%Ponly read 0 of 1 data item for BIT errora i%@a % a m%@a % a q%@a % a e%@a % ]PM]D=Y] ;QU]>aaae#Haiy e}>I) E:-]5? m:-۾ -:? u<@9-дA-< ->)-:W WX XWX:W2W*WVbUBU*U!UAUEo?BB BA*BAAAA"C*CRCCCI)]A׹I n r:YWU1y:69@GH>ܡ 9ܡ Iܡ iܡ ܡ ܡ ܡ ܥ ; ݥ ERgݙ,wgFAY}2@}2k5@y}2H0}2L{}2H?@??M`ACÿ ?`@Ǡ?)~2@ ~2 p\;I~0ɫYY)Y YIaY?yF m m m u@ u@ u@iiiiii i)iIiii5<MH=Yxa#Hy}>Ișŝ5?ŝ۾ Ɲc? <@9ƝAǝ: ȝP?)șWWX X)W)X1:W12W1*W1V1bU9BU9*U9U9UE p?BiB BA*BAAAA"C*CRCCCסIG >IAA)BA2ݙ,wgFAY}JQ@}J!@y}J }J3J}JH@`WA@k"?? B ¿T??)~JQ@ ~J)\;I~JCɫqq)y yIyY?ygFuMuK=Yu#yya}#HyyB}>Iȑŕ5?ŕ_۾ ƕ? <@9ƕ  ؇:YT1y:{6ݙ,Χ9wgFAY}>{o@}>@y}>R}>Xg}>Hs &j??k5¿@t? ⱬ?)~>{o@ ~>c;I~>CJJFailed to close latch before timeout.q JJHardware FaultYN?yNF)> > M M U U@ U@ U@QQQiQQ Q)QIQiQes;Me]=Ye;QUm>iiam#Hiqy}+<}}>IȁŅ5?Ņ۾ ƅř? <@9ƅnADžٮ: ȅR?)ȁWWX XWX:W2W*WVbUBU*UUUL@BB BA*BAAAA"C*CRCCC׵?i׵?ׁI-$@Hardware Fault in component: DDMG=A9AIE FiE?AAAE; E Eݙ,vSwgFAY}Fz@}F@y}Fv}Fr8~}FH W .#qM?`? C??)~Fz@ ~Fs`;I~DVPowering downTɪT)T TY?yFɮ=s1<M2=Y)L!!a%#H!!y-:}->I1 =:55? =:5D۾ 5,? E<@95A5: 5@)5:WaWaXa XiWiXi:Wi2Wi*WqVqbUqBUq*UyUyU}`@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCIG$>p=ia=  :YWU1y:`6ݙ,PmwgFAY}2/@}2>K@y}2]}2.}2H/ g2?G?`\97w?y?)~2/@ ~2];I~2CYBn?yBFFZ****** received transponder code query ******FF****** received ping request ******F) I y MbpMb?~jt  < D yya}#HyysC}>Iȉō5?ōd۾ ƍɘ? <@9ƍAǍ<: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUU ' @BYBa BaAe*BaAaAaAaAi"Cq*CqRCqCqCyIIQGu>E >9A IE XFiE ?E =A A E ; E Eݙ,0)wgFAY}j@}j@y}j }jߞ}jH`FTt?t?``rF?`>?)~j@ ~j];I~jCY~H?y F xDUSBL response received:!U1,P 502,000,002AF,189,80,80,B3,FF  Command Ack BRequesting micromodem ping code 2i Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Y]^A E E E M@ M@ M@AAAiAA A)AIAiAr=M9=YQU>a#Hy%li}%>IIM5?M۾ M? ]<@9MƵAMM: M:)IWWX XWX:W2W*WVbU BU *U U U @BYBY BYA]*BYAAAA"C*CRCCC| ~~ z:YT1y@:6) ;9 IM]A)M\A1IA$]NClearing failed state for component DDMq ]Gew>ݙ, wgFAY}6)@}6@y}6 }6B(}6Hה W? s?v?Lޤ`?)~6)@ ~6 ];I~4Yn?ynFpr@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B oMp=YQU?a#Hy} ?Iȱ :ŵ5? :ŵ۾ Ƶ? <@9ƵеAǵ: ȵw:)ȵ:WWX XWX:W2W*WVbUBU*UUU@#@BB BAD*BAAAA"C*CRCCCIG- >I)?A ݙ,wgFAY}F@}FF@y}FA}F}FH`<V밈?@\?evFĿ`o?۲?)~F@ ~Fi\;I~FCYVA?yZ˓FbxDUSBL response received:!U1,R,502,000,002AE,189,80,80,BE,FF bFpublishing direction and range info\\ɰ^`=\ \)^>CI\y^=j@^w?amf-ٱ\sؼMG=YmQU>a#HHy2;}>IH5?۾ [? <@9ڵA: :)WWX XWX:W2W*WV!bU!BU!*U!U!U-A@R=(Combining 5 samples.P9*Q==j@ZQ=s:@?apuV JQ=w?amf-2Q9:Q9bQ=OL(1?4uWR@=+B?RQ=@T?xxs??BQ=,6~? Q=B@Q=?P9P9P=Q9Q=c@"Q=@ @BB BA*BAAAA"C*CRCCC׉IG>9Ii=; ܓE || ^j:YR1yi:6);gݙ,BwgFAY}b@}b]@y}b}b|ֽ}bH֥ Rt?R`ƿ`? ^?)~b@ ~b[;I~bCYv?yvFuTNmea in: $SNTTA,0.028103,,,,230606.50*4C )Í= Í=    @ @ @i )IiYMH=YHa#Hyn:}>I  :5? :۾ Ŏ? <@9A: o:):mEqAdded new target pos. range: 3.660000 m, bearing: 56.895517 deg, deltaT: 4.448012 s, approachRate: -0.013489 m/s, LOS rate: -0.333435 deg/s, posRepo size: 4XAWE,6~?WAXA XIWIXI:WI2WQ*WQVQbUQBUQ*UYU]G @U]S?BB BA*BAAAA"C?RCC,6~?C׵?i׵?סIG=cݙ,kwgFAY}J~@}J@y}JG}Jeý}JH` [ދ` ?gSyĿ?@r.Õ?)~J~@ ~J[;I~JCYZ?yZpFsh|??㥛  t)Iyp= ףZd;O??j<=< h=A)/MAI5Ai\A3GAM%G=Y%c))a-#H))y5ӻ}5>I9=5?=۾ =e? E<@9=)A=: =:)9WiWiXi XiWqXq:Wq2Wq*WqVybUyBUy*UyUyU`?BB BAƒ*BAAAA"C?*CRCCC׉IG==ip=B  Tv:YU1y:69@ 9 I i = }; ؓE)yIyiy}=y}40ޙ,>yxgFAY}Ja@}J}@y}J@}Jh}JH~k?@8!? ` G?+꯿ Ư?)~Ja@ ~J/"[;I~JCYn?ynzF}M}V=Y}&Ra#Hy6}>Iȑ :ŕ5? :ŕz۾ ƕ? <@9ƕjAǕ$: ȕ=:)ȕ:WWX XWX:W2W*WVbUBU*UUU`/?BB B A &*B A A A A"C,6~?*CRCCC׉IG= i mGI% /aAiA ?ޙ,"xgFAٺ/aA|AN?9NAY}Ej@}EY@y}E_}E2+}EH`b e@yR??`zێ ? P?)~Ej@ ~E+[;I~ECYmE?ym0F - - - -@ -@ -@)))i)) )))I)i)=<M===YE%QUE>AAaM#HIyd:}>IT5?۾ ? <@9A=: :)W!W!XI XIWIXI:WI2WQ*WQVQbUQBUQ*UYUYU]x?BB BA܃*BAAAA"C*CRCCCI)]AIG*> ~~ n:YT1y@:{6fXޙ,(+?yBÒF 5 u u u@ u@ }@qqqiqq q)qIqiq+lMY=YyQU>a#HyG<}>Iȡť-5?ť8۾ ƥ? <@9ƥAǥ: ȥ':)ȡWWX XWX:W2W*WVbUBU*UUU@@BB BA *BAAAA"C!*C!RC)C)C))I9GU=ܑ9ܑIܑiܑܑܑܑܕ; ݕEI@A)AACޙ,VxgFAY}F @}F<@y}F }F}FH?ԵjJ?` ſ?@3೐?)~F @ ~FZ;I~FCY^g?y^Fu\MuK=Y} QU}>a#Hy57<}>I  :5?  :'۾ '? <@99A,: :):W1W1X1 X1W9X9:W92W9*W9VAbUABUA*UAUAUMg@BqBq BqA}*ByAyAyAyAy"C*CRCCCׁIG=     i:Y y  6$jޙ,YoxgFAY}2@}2@y}2d}2s}2H@ʥS!??yHĿ@<0?@o?)~2@ ~2Z;I~2CYVk?yV F`ɮb=Iv=)v%=Zd;O?|?5^ʿ{Gzj=R #)IyS㥛?I +?L7A`?/<9<+= =>A)KAI6AiWAFA    @ @ @ i\? ?)A?I?i?-"M-2=Y-I QU5>11a5#H99y=<%}E>IAE5?E۾ E!? U<@9EWAE/: EY:)AWqWyXy XyWyXy:Wy2Wy*WVbUBU*UUUb@RB*** querying acoustic contact ***PPBB BAS*BA!A!A!A!"C)*C)RC)C)C1AIIGm5>܉ 9܉ I܉ i܉ ܉ ܉ ܉ ܍ ; ݍ ES"ޙ,‰xgFAY}F\<@}FW@y}FI}FQ}FHc@w ?M?`V8ÿX?멿 ˠ?)~F\<@ ~F[;I~FCYV?yZFZZ****** received transponder code query ******^F****** received ping request ******^a#Hy׼}>I :5? U:۾ •? U<@9oAOd< d<):WWX XWX:W2W*WVbUBU*UUU Z @BB BA*BAAA!A!"C)*CIRCICICQAIQGm>i  ~:YU1y:6)H;9{(ޙ,-xgFAY}6~@}6@y}6 }6E}6H> m ,}? ,?`HN¿`?@W?)~6~@ ~6BW\;I~6C>Powering up>"Initializing DDM.Y?yhF%xDUSBL response received:!U1,P 502,000,002AE,189,80,80,BE,FF %Command Ack%BRequesting micromodem ping code 2i))5Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }oM==YѻQU>a#HyI)-5?-۾ -͗? e<@9-A-0U; -BM;))WIWQXQ XQWQXQ:WQ2WY*WYVYbUYBUY*UaUaUeE @BB BA.*BAAAA"C*C!RC!C!C)!IIGZ>L.ޙ,qxgFAY=]?y=FuNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ]A    @ @ @ @ÑÑÑiÕÑ ĕ)ĕIĕiĕFMH=YQU>a#HHy}>I :5? :۾ ? <@9A: :):WWX XWX:W2W*WVbUBU*UU U `+C@B1B9 B9A=V*B9A9A9AAAA"CA*CIRCICICQIa)e\A191I1i11115; 5EiIqG>  ~ ~ 4 k:Y T1y @: O 6) ;Ď5ޙ,OxgFAY}6@}6"@y}6!}6%H}6H@C`?@?q=SvĿ #?@^`U?)~6@ ~6<\;I~6CYN?yNFRxDUSBL response received:!U1,R,502,000,002B1,189,80,80,C9,FF VFpublishing direction and range infoPPɰRa=P P)RICIPyRu@Rw?amf-ٱP}r;M}_=YjQU>a#Hy;}>IȹŽ5?Žf۾ ƽJ? <@9ƽAǽ@: Ƚӻ:)ȹWWX XWX:W2W*WVbUBU*UUU@R-(Combining 5 samples.P1*Q5u@ZQ5AKK?Oh JQ5w?amf-2Q1:Q1bQ5  @N/IAA)t;ޙ,e5xgFAY;?yF%dNmea in: $SNTTA,0.378042,0.376342,,,230610.94*58 {Gzt/$ÿRQ? ף  =) I y ~jt?~jt?y&1 D= < ` @A) 5HAI p3Ai $\A   m m m m@ m@ m@iiiiii i)iIiii}4=<M}.=Y}QU>a#Hy}>Iș :ŝ5? :ŝ۾ Ɲ? <@9ƝAǝX: ȝ:)ȝ:mmAdded new target pos. range: 3.839998 m, bearing: 56.263987 deg, deltaT: 4.441759 s, approachRate: 0.040524 m/s, LOS rate: -0.142180 deg/s, posRepo size: 4XWc{?WX XWX:W2W*WVbUBU*UU Q@U?BB BA*BA!A!A!A!"C-c{?RC)C-c{?C19IIGe4>G }}\ v:YkS1yԊ: 69@! 9! I% Fi% a?% =! ! % X; % ēEơBޙ, ygFAY}2-@}2lI@y}2;}2xJ}2HNB i~? ?DP;ǿ9W?騿 l?)~2-@ ~2\;I~2CYN?yN`FIA)A)> >]+M]u=Y]ЛQU]?aaae#Haiym;}m?Iqu5?u۾ u-? <@9uAu: u:)qW!W!X! X!W!X!:W)2W)*W)V)bUQBUQ*UQUQU]`?BB BA*BAAAA"C*CRCCCIG>Hޙ,$ygFAY}>6G@}>b@y}>H}>م}>H B@? ?1؟ɿ?fQ?)~>6G@ ~>Z\;I~a#HyKw;}>Iȩŭ5?ŭ"۾ ƭ&? <@9ƭKAǭ; ȭ;)ȩWWXq XqWqXy:Wy2Wy*WyVybUBU*UUU`?BB BA*BAAA A "C*CRCCCIG>=i  \l:YU1y:6oNޙ,>ygFAY}66@}6.@y}6N}6뤽}6H(@t@H? ?߿@*˿@Ζ?^-@?)~66@ ~6[;I~6CYN=?yRF U U U U@ U@ U@QQQiQQ Q)QIQiQeMeL=YmPQUm>iqau#Hqqy}}}>Iȁ :Ņd5? :Ņ\۾ ƅ%? <@9ƅzADž: ȅ:)ȅ:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C *C RC C CI)GE=9I Fi?A; E)aIaiaaaeqp4=Uޙ,uXygFAY}2K@}2@y}2 L}2"g}2H@Ϣ|?8?߿# ˿V? }`C?)~2K@ ~2[;I~2CYR?yR;FQQ=ME=YӞ;QU>a#Hy}>IȽ5?۾ ? <@9A; :)W9W9X9 X9WAXA:WA2WA*WIVIbUIBUQ*UQUYU] 4@BB BA*BAAAA"C)*C1RC1C1C1IA)E]A9IyiNmGI`AiQG9>Ͽٺ`AbA5 5z5z5k 59:Y5Q1y5:536 \ޙ,|rygFAY?yΏFePonly read 0 of 1 data item for BIT errora ie@a e a me@a e a qe@a e a ee@a e    @ @ @ñññiññ ı)ıIıiı(M:=YQU>a#Hy}>I :5? :۾ ? <@9޸AB: >):WWX XWX:W2W*WVbUBU*UUU@B)B) B)A-<*B1A1A1A1A1"C9*C9RC9CACa9IIGe4>I)@A ]A 9 I xFi ?    `;  ȓEbޙ,IygFAY}N[@}N@y}NL}NSu}NH#߿ c??߿@ɿ q?N?)~N[@ ~N[;I~NCYZZ?yZ*F\ɮ\rX<Mro=Yv$QUz?||a#H y `B}?Iú5? ۾ "? -<@9A#; WH?)WYWaXa XaWaXi:Wi2Wq*WqVqbUyBUy*UyUU`q@RB*** querying acoustic contact ***PPBB BA*BAAYAYAY"Ca*CaRCaCiCQIaG}=-3 -~-~- -"u:Y-T1y-@:-6)-;95iޙ,$ygFAY}6@}6 @y}6R}6U}6H *I?&?@ķ߿@k̿"?p/?)~6@ ~6E\;I~4YN?yR*FRZ****** received transponder code query ******VF****** received ping request ******Va#Hy#M<}>I5?2۾ ? %<@99A,: ?)WaWaXa XiWiXi:Wi2Wi*WiVqbUBU*UUU @BB BA*BAAAA "C*CRCCCM?iI IG5 >mpޙ,ygFAY}6hE@}6`@y}6W}62_}6H5 ? ?@̿? 浿v,?)~6hE@ ~6[;I~4YB#?yBjFFxDUSBL response received:!U1,P 502,000,002B1,189,80,80,C9,FF FCommand AckFBRequesting micromodem ping code 2iDDNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 } }  @ @ @ÁÁÁiÁÁ ā)āIāiāw;M9=Y2QU>a #H HQy]'<}e>IȑŕU5?ŕR۾ ƕ? <@9ƕnAǕD< ȕ;?)ȑWWܩ9ܩIܭ@Fiܭ?ܭ=ܩܩܭ; ݭEX XWX:W 2W *WVbUBU*UAUIUM @B B BAe%=i%=U UzUzUa Uii:YUQ1yU:U!6)U;*ByAAAA"C*CRCCCױIG>*vޙ,ygFAY}6O@}6@y}6ө]}6*\}6H( io??O˿ }?ݪB5?)~6O@ ~6~ \;I~4Y^?y^F`bAA%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ;<M]=Y1QU>a#Hy/L}>I :5? :۾ ? <@9A: &@):WWX  X W X :W 2W *WVbUBU*UUU8&@BABI BIAM-*BIAIAIAQAQ"CY*CYRCYCYCaIG- >W|ޙ,ygFAY}VO@}V@y}VwOe}ViU}VHs߿8ힱ?? 4˿l?`(?)~VO@ ~Vx[;I~VCYb?ybFfxDUSBL response received:!U1,R,502,000,002AE,189,80,80,B6,FF jFpublishing direction and range infoddɰf`=d d)f6CIdyf=j@fw?amf-ٱda ia i a ma m a qa q a ea e Mb?MbJ +?= H=)IyQ19a=#HIYye}e>Iim35?mT۾ m1? u<@9mAm: m:)iWWX XWX:W2W*WVbUBU*UUU@[#@R(Combining 5 samples.P!*Q%=j@ZQ%s:@?apuV JQ%w?amf-2Q!:Q!bQ%:x*4[@(w[@`ʷ?RQ%-?VtI%?V]E?BQ%x? Q%b?@Q%@P%K9?P!P!Q!Q%8@"Q%R@BqBq BqAuɄ*BAAAA"C*CRCCC- --- -#s:Y-DW1y-Y:-69=@בIGa>y 9y Iy iy } =y y } ; } ޓE9?ޙ,g zgFAY}J2@}J@y}Jpc}Ji[}JH ߿q@}?@?`߿˿`c2?˪A+?)~J2@ ~J~[;I~JCYV2?yZsFDNmea in: $SNTTA,,,,,230615.37*59 u9pMu=Y}g;QU} ?ya#Hy}?IȑŕX5?ŕ۾ ƕ? <@9ƕAǕ: ȕ:)ȑmqAdded new target pos. range: 3.660000 m, bearing: 55.639708 deg, deltaT: 4.540976 s, approachRate: -0.039639 m/s, LOS rate: -0.137477 deg/s, posRepo size: 4XWx?WX XWX:W2W*WVbUBU*UUG @U ?BB BAa*BAAAA"Cx?RCCx?CI!GU>I@A)(fޙ,'l'zgFAY}6@}6>@y}6"`}6 AR}6H ??@?@<0˿@5?2?)~6@ ~6_>[;I~6CYB?yBF=C<M=N=YEAIaM#HIIyUl%<}U>Ia m:e5? u:eN۾ eq? }<@9eչAer; e|;)e:WWX XWX:W2W*WVbUBU*UUU6c?BB B!A%)*B!A!A)A)A)"C1*C1RC1C1C9שIG>= === =:Y=U1y=:=6Mޙ,GAzgFAY}2|@}2@y}21]}2}2H`F`g3?@?@u2ͿH? "?)~2|@ ~2G[;I~2CYR?yRƎF    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ(MD=Y ;QU>a#Hy<}>IȹŽĶ5?Ž۾ ƽЊ? <@9ƽAǽR: ȽI:)ȹWWX XWX:W2W*WVbUBU*UUU?B)B) B)A-*B)A1A1A1A1"C9*C9RCACACAU?iU?IqG=)9)I)i))))-; -Exޙ, $[zgFAY}2/@}2GK@y}2*^}27ν}2HP`\4??NJ@aο?2@5?)~2/@ ~2!\;I~2CYR?yRٍF=M=Q=YEAQUE>AAaM#HIIyUw<}U>IY e:]5? e:]d۾ ]G? e<@9]A]: ]:)]:W WX X1W1X1:W92W9*W9V9bUABUA*UIUQU}`r?BB BA*B A1A9A9AA"Ca*CRCCC!I)GM1>i=-, --- -t:Y-WU1y-:-6Aޙ,rtzgFAYlyp:v?Q?l<= )IyL7A`?l?J +?+==H= •?A)•TAI•r.Ai•kAKA    @ @ @i )IiYQU >  a #Hy}>I!%(5?%x۾ %L? -<@9%+A%Q: %:)!WQWQXQ XQWQXQ:WQ2WY*WYVYbUYBUY*UaUaUeFe?B1B1 B1A9*B9A9A9A9A9"CI*CIRCICQCQAIIGm5> >9 I Fi E? = ; E)Ii቉==剜4pޙ,َzgFAY}6$@}6@y}6]}6}6HnS y+V??Ab)̿ȅ?@ı ',?)~6$@ ~6`[;I~4YB?yB}F=$<M=?)~2!@ ~2[;I~2CY>?yBXF@ɮ@n<MrQ=Yr0;QUr>ttav#Httyzٙ}z>I|~X5?~۾ ~M? <@9~pA~U: ~Ǻ:)|WWX XWX:W2W*WVbUBU*UUU@@RB*** querying acoustic contact ***PPB B  B A l*BA1A1A1A1"C9*C9RCACACAIG5=I)6ޙ,2zgFAY}2@}2@y}2Z}2˦%}2HR byݛ? ?Cgǿ@ ?=F?)~2@ ~2O[;I~2CY^r?y^FbZ****** received transponder code query ******bF****** received ping request ******fa#HHy } >Iq }:u5? }:u۾ u? <@9uAu!; uK(;܉9܉I܍xFi܍?܉܉܉܍O; ݍHE)u:WWX XWX:W2W*W!V!bU!BU!*UIUIUMϡ @BB BA*BAAAA"C*CRCCCסIGA>- --- -:Y-V1y-:-r6)-;@ƶޙ,izgFAY}:*@}:UF@y}:0[}:}:H`a' ~=?&?VY6Aɿ0?$pA?)~:*@ ~:[;I~8YF?yJ"FNxDUSBL response received:!U1,P 502,000,002AE,189,80,80,B6,FF NCommand AckNBRequesting micromodem ping code 2iLLIP)PVNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )v> v> Md=Y%!UQU->9AaM#HIYymY;}u>IȑŕJ5?ŕ۾ ƕ ? <@9ƕAǕ; ȕ4<)ȑWWX XWX:W2W*WV!bUIBUI*UIUIUU @BB BA*BAAAA"C*CRCCCסIGF>ޙ,8KzgFAY~?y~FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }Mb?1Zd?M?}=}"[> }n>)yIyy}~jt?Q?&1?}D=}u<}P= }DA)}^LAI}-Ai}piAy}JA M3=YQU>a#Hy}>I 5?۾ t?  <@9޺Al; ];)WWX XWX:W 2W *WVbUBU*UUU%@BB BAh*BAAAA"C*CRCCCיIGB>ia=5 555 5:Y5T1y5:5695@- >9) I- Fi- 1?) ) ) - ; - oE>ޙ,6 {gFAY}F:@}F V@y}FoZ}Fp}FH .?E? i˿@?F]2?)~F:@ ~F [;I~FCYV?yVFZxDUSBL response received:!U1,R,502,000,002AD,189,80,80,8E,FF ^Fpublishing direction and range infoXXɰZu`=X X)ZCIXyZff@Zw?amf-ٱXrMrm=Yr ;QUr?ttav#Htxyz6;}~?I 5: 5? =:۾  ? E<@9A?; ;):WWX XWX:W2W*WVbUBU*UUUJq@R(Combining 5 samples.P*Qff@ZQxP^B(?0B JQw?amf-2Q:QbQ?*'@"G?RQ74ȹ?ɍ-?yq.?BQy? Q}<@Q@?PPK9?PQQ@"Q8@BABI BIAM~*BiAqAqAqAq"Cy*CyRCyCyCסIG >5ޙ,*{gFAY}JF@}Ja@y}JW[}J}JHj2׍?௾? ˿=?C汿/?)~JF@ ~J [;I~JCYV!?yVF%DNmea in: $SNTTA,,,,,230619.82*5B =]A=^A }   @ @ @ÁÁÁiÁÁ ā)āIāiā"<M?=Yb,QU>a#Hy:}>Iȩŭͫ5?ŭ۾ ƭ>? <@9ƭAǭ: ȭ:)ȩmmAdded new target pos. range: 3.599999 m, bearing: 55.898470 deg, deltaT: 4.362857 s, approachRate: -0.013753 m/s, LOS rate: 0.059310 deg/s, posRepo size: 4XWy?WX XWX:W2W*WVbUBU*UU @U?B)B1 B1A5%*B1A9A9A9A9"CEy?*CIRCIC y?CI)))IG= >- ---t -:Y-WU1y-:-*6>ޙ,|C{gFAY}6@}6a2@y}6 ]}62}6H@d&2 ?u?`Z ˿`j?5E2?)~6@ ~6~[;I~6CYN?yRFUMUN=Y]ulQU]>aaae#Haiym^}m>Iq }:u5? }:u۾ u=? <@9u?AuX; uS;)u:WWX XWX:W2W*WVbUBU*UUU ?BB BA*B!A!A!A!A!"C1*C1RC1C9C99Ii; EI!Gu=I){ޙ,]{gFAY~?y~F - - 5 5@ 5@ 5@111i11 1)1I1i1}<M9=YQU>a#Hy}>IZ5? ۾ ? <@9eA< j<)WW X  XWX:W2W*WVbU!BU!*U!UIUM >?BB BAl*BAAAA"C*CRCCCIGE>- -~-~- -o:Y-T1y-@:-i6>ޙ,w{gFAY?yڌF%A`"?~jth?K?%=%D; %^=)!I!y%Mb`?A)%-RAI%0Ai!!%JA)]= ]=    @ @ @áááiáá ġ)ġIġiġMF=YQU>a#Hy}>I :5? :t۾ C? <@9|A: :):WWX  X W X :W 2W*WVbUBU*UUU;?BABI BIAMo*BIAQAQAQAQ"CY*CYRCYCYCa?i?IG$>9Ii; E&ޙ,i{gFAY}6@}6@y}6g}6Cu}6H߿"???߿5̿?㭿!?)~6@ ~6([;I~6CYB?yB-Fz˼M~l=Y~QU~?a#H y [} ?I5?۾ O? %=@9A: :)WAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UQUYU]@?BB BA*BAAAA"C*CRCCCqIG=ip=-& ))- -t:Y)y)-6)-;95~Pޙ,C{gFAY}6@}6l@y}6qk}6U}6H@}߿@۱@(f?? $߿ ο ,?`1϶@?)~6@ ~6k[;I~4YNi?yRF]2M]D=YehQUe>aaae#Hiiym;}u>Iy}l5?}L۾ }̜? =@9}A}: }:)yWWX XWX:W2W*WVbUBU*UUU R%@BB  B Aӆ*BAAAA"C!*C!RC!C!C!IG-=8ޙ,y{gFAY}6@}6t@y}6"p}6; }6H`߿@㓧?` ? ߿οм? >@n?)~6@ ~6c[;I~6CYR?yRF^^A^_A      @ @ @ i? ?)?I?i?-BM-M=Y5:QU5>19a=#H=HAyM >}M>IQ :UΪ5? :U۾ Um?9Ii=; E)iIiiim=m=m 4 %=@9U»AUD< UI<)U:WaWaXa XiWiXi:Wi2Wi*WqVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA*BA!A!A!A!"CQ*CYRCYCYCYIy)yIIYG>- ---{ -m:Y-xZ1y-q:-6)-;bޙ,U{gFAY}>z@}>@y}>u}>,}>Hu߿`z?~?N߿@ο X?@$k?)~>z@ ~>Ė[;I~a#Hy}>I  : C5? : ۾ ? =@9 A =: :) :W9WAXA XAWAXA:WA2WI*WIVIbUIBUQ*UQUQUU= @BB BA*BAAAA"C*CRCCCI!)!yIG^>ޙ,{gFAY~?y~wFxDUSBL response received:!U1,P 502,000,002AD,189,80,80,8E,FF Command Ack BRequesting micromodem ping code 2i  Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =6only read 3 of 4 data itemsa i=@a = a mE@a E a qE@a E a eE@a E    @ @ @ @ñññiõñ ĵ)ĵIĵiĵ MH=YQU>a#HyE}M>IIM5?M=۾ M|? ]=@9MAM: M>)IWWX XWX:W2W*WVbUBU*UUU @E EEE Eas:YEU1yE:E269U@BB  B A*BA1A9A9A9"CA*CARCICICQ9Ii=; E1IAG]>tߙ,|gFAY}6R@}6@y}6r}60}6H߿@wX??7̿?@cr?)~6R@ ~6|[;I~6CY^T?ybF`b?A%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M=Y, ߙ,Ɗ,|gFAY}6[G@}6b@y}6,q}6On}6HiŒ9?h?-mͿ ? w`,?)~6[G@ ~6K[;I~6CYB?yBFR <MV^=YV";QUV>XXaZ#HXXy^6<}^>I`b"5?b?۾ b݋? f=@9b Ab: b]?)`WxWxXx XxWxXx:W|2W|*W|V|bUBU*UUU s@B1B BA*BAAAA"C*CRCCCױIGM==i=- --- -r:Y-W1y-č:- 6̉ߙ,sF|gFAY}r@}rx@y}ry}r}rH`1 @??6@ο ?us?)~r@ ~rV[;I~rCY?yF=DNmea in: $SNTTA,,,,,230624.28*55 ܝ >9ܙIܙiܙܙܙܙܝ; ݝ{E    @ @ @i )IihiM8=YOQU>a#Hy<}>Iȑ :ŕ5? :ŕ۾ ƕ? =@9ƕߙ,B`|gFAY}BF@}B?b@y}B0}B=}BHY R@m?=z? =Xο`M8??)~BF@ ~B2[;I~BCYj?yjFp=i= ]S=MeC=YmQUm>a#Hy|}>Iȡťɬ5?ť۾ ƥ? =@9ƥSAǥ< ȥ?)ȡW WX XWX:W2W*WVbUBU*U!U!U%@BIBQ BQAU~*BQAQAQAYAY"Ca*CaRCiCiCqIG'>-U ---| -nc:Y-V1y-:-6ߙ,z|gFAY}2,@}2jH@y}2`}2l}2H(߿T?Yn?)Oп? 톬?)~2,@ ~25[;I~2CYb?ybFa ia i a ma m a qa q a ea e X9v?㥛 ?v/Ϳ<= xi)Iy~jth~jt?Mb?D<< ?A)Ir.AipA(LA    @ @ @i )Ii-ڹ;M5M=Y5ѼQU5>99a=#H9AyE}E>IIM25?MO۾ M*? ]=@9MhAM: M8:)IWyWyXy XyWX:W2W*WVbUBU*UUU/@RB*** querying acoustic contact ***PPBB BAl*BAAAA"C*CRCCCשIG>I)ܙ9ܙIܝxFiܝ?ܙܙܙܝs; ݝZE$ߙ,|gFAn`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫII)I UIQYK?yҋFM(=YQU>a#Hy}>I :v5? :۾ ? =@9A: \ ;):WWX XWX:W2W*WVbUBU*UUU@-3 --- -"u:Y-P^1y-:-6)-;95BABI BIAMۆ*BIAIAQAQAQ"CY*CyRCyCyCו?iו?qIG~>*ߙ,ҭ|gFAɫ髡) IY ?yHF)= ><M=YQU?  a #H Hy}?I155?5'۾ 5? =@95A50< 5<)1WiWiXi XiWX:W2W*WVbUBU*UUU@BB  B A *B AAAA"C*CRCCC!IG-,>1ߙ,|gFAY}b@}b%@y}bt{}bn}bH@taϳ?`Nr?@xV@_ο??)~b@ ~b[;I~bCA9AIEFiEE?E=AAEd; EREɫ) IY?y-F    @ @ @ÑÑÑiÑÑ đ)đIđiđPM@=YH=QU%>))a-#H)1y5<}5>I9=T5?=۾ =I? M=@9=A=V: =:)9WiWiXi XqWqXq:Wq2Wq*WyVybUyBUy*UyUU@BB BA*BAAAA"C*CRCCCשIG&>i=-~ --- -{:Y-[1y-H:-W6)-/;v8ߙ,B|gFAɫ髉) IY?y5Fa=ɮp=xDUSBL response received:!U1,N,80,80,63,E4 D,189,80,80,8E,FF ZNo reply:!U1,N,80,80,63,E4 D,189,80,80,8E,FF -IIaM#HQQyU}]>Ia m:eZ5? m:e۾ eo? m=@9eAe: e:)e:WWX XWX:W2W*WVbUBU*UUUf@BIBQ BQAUJ*BQAQAQAyAy"C*CRCCCIי)ם]AqIyG]>(>ߙ,d|gFAY}Jj@}J@y}J~}J*䡽}JHN@Q`h?5m 555y 5y:Y5DW1y5Y:569=@A9AIEНFiEE@E=AAE{; E]E)Ii==m05Eߙ,%Y}gFAY}>W@}>@y}>{}>Q̽}>H JR8?:?^ п#? v?)~>W@ ~>-fd;I~>CɫII)Q QIQYuM?yuFMTMU=Y(a#Hy{;}>I :5? :P۾ ? =@9SA: :):WWX XWX!:W!2W!*W!VbUBU*UUU + @BB BA*BAAAAAA"CI*CIRCICICQ9IIGe>CIAA)AAimNmGIyi׿ٺA!a%#H!1yEep}E>IY]ɦ5?]۾ ]ۇ? =@9]A]ž; ]U;)YW9W9X9 X9W9X9:W92WA*WAVAbUABUA*UIUIUM!@R]B*** querying acoustic contact ***PYPYByBy ByA*BAAAA"C*CRCCC׭?i׭?aIyG>-6 --- -_u:Y-T1y-:-6$Rߙ,H}gFAY}:g@}:@y}:n}: }:H?O@jyt?@ń?m;Eο? ?)~:g@ ~:P_;I~:C|9|I|i||||~; ~Eɫ99)9 9I9Y?yŏFZ****** received transponder code query ******F****** received ping request ****** >    @ @ @ÑÑÑiÑÑ đ)đIđiđU=M@=Ya#Hyր}>I :ܥ5? m::۾ ? m=@9̽A< <):WWX XWX:W2W*WVbUBU*UUU-!@B)B1 B1A5@*B1A1A9A9A9"CA*CARCaCaCi!I1GM1>PXߙ,b}gFAY}= @}=&'@y}=`}=ݽ}=H`iqau#Hqyy}"<}}>Iȁ  :YWU1y:r6Ņ\5?Ņ۾ ƅ? =@9ƅܽADž< ȅ<)ȁWWX XWX:W92WA*WYVYbUYBUa*UaUU6"@BB BA*BAAAA"C! *C! RC! C! C) I= \A)9  I) GE >w^ߙ,|}gFAY}6MH@}6c@y}6&S}6B۽}6HҤ/Sa?@?dPHfͿ@F? ź#?)~6MH@ ~6\;I~6Cɫyy)y yIyY%?yF鮡ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m m m m@ m@ m@iiiiii i)iIiiiM=Y *=QU?a#H y P<}-?I1 =:55? E:5۾ 5ʅ? E=@95A50: 5:)5:WaWaXi XiWiX:W2W*WVbUBU*UUUs#@BB  B A d*B A AAA"C*CRCCC!IG=.>9IFiE?7; E`eߙ,}gFAY}65[@}6v@y}6O}6}6H`@F ?ԇ? =˿D?`=?)~65[@ ~6`;I~6CɫQY)Y YIYY}R?y}FxDUSBL response received:!U1,R,483,000,002B1,18A,80,80,B1,FF Fpublishing direction and range info}yɰ}a=}> y)}1CIyy}u@}ع^?W3ٱy]Am;MZ=Yja#H!!y%I;}->IQU5?U۾ UЄ? ]=@9UAU@: U:)QWWX XWX:W2W*WVbUBU*UUU5$@R(Combining 5 samples.P*Qu@ZQ`yd@fW JQع^?W32Q:QbQgu1?4^ @٩w_?RQS?4ΨR_&?(C?BQd? Q0X@Q?PJ9?PPQQh@"Q@BYBY BYA]Y*BYAaAaAaAa"C*CRCCC׉IG> n g:YU1y:6);9kߙ,,b}gFAY}6~@}6V@y}6N}6XY}6Hп1׾?l?`FIɿ@?_`{N?)~6~@ ~6cc;I~4ɫ9A)A AIAYe=?yeFTNmea in: $SNTTA,0.078840,,,,230629.98*4E ]=M]F=Y]]W;QUe>aaae#HeHiym;}u>Iy}O5?}-۾ }ƃ? =@9}A}: }ϸ:)ym5mAdded new target pos. range: 3.839998 m, bearing: 63.291190 deg, deltaT: 10.107715 s, approachRate: 0.023744 m/s, LOS rate: 0.731394 deg/s, posRepo size: 4X9W=d?WAXA XIWiXq:Wy2W*WVbUBU*UU Q@U@-?BB BA*BAAAA"Ct-?RCCd?C?i?IGE>I@A)prߙ,=}gFAY}: @}:<<@y}:)#F}:*}:Hҟ` A@?:?`kǿ?8a?D9FCIFFiFv?F=DFNDF; FE)~: @ ~:X`;I~:CɫYY)Y YIYY6?y؎F    @ @ @áááiáá ġ)ġIġiġMD=Ya#Hy:b}>I :5? :r۾ ? =@9 A(: V:):WWX X W X :W 2W*WVbUBU*UUU?BABI BIAM*BIAIAQAQAQ"C]O?RCYCYCYשIG$> a n:Yy!6);Uxߙ,&}gFAY}jz@}j9@y}jc;}j@p}jH #I`䭧? ?`ǿ`K?@Fi?)~jz@ ~j^;I~hɫ髱) IY'?yώF B`"?S㥫?A`"? َ> /]= Y=) I y :v? ̼  < ) NAI 0Ai fA  HA)= =-<M-C=Y-11a5#H19y=}E>IIMc5?M ۾ Mڃ? U=@9M&AM+: Mϸ:)IWqWqXy XyWyXy:Wy2Wy*WVbUBU*UUU?BB BA*BAAAA"Ced?RCiCiCiYIaG:>-~ߙ,g}gFAY}Bg@}B]@y}B3}BF}BH@@5`9 ?y?A7ǿ[? q?)~Bg@ ~Bn\;I~@ɫ髁) IYI?yGF    @ @ @ùùùiùù Ĺ)ĹIĹiĹMQ=Ywa#Hy ><}>I :ڤ5? :۾ ? =@9>A: :):WWX XWX!:W!2W!*W!V!bU)BU)*U)U)U5W?BYBY BYA]ۅ*BaAaAaAaAa"Ci*CiRCqCqCqסIG#>%=i%=܉9܍CI܍ Fi܍?܍=܉܍OD܍; ݍuE  {:YV1y:i6);zߙ,S~gFAY}6@}68@y}64}6ߌn}6Hk??@:ƿu?V:s?)~6@ ~6m\;I~4ɫ99)9 9I9Y?yFUߴ=MUR=Y]QU]>Yaae#HaaymFH<}m>IquS5?u+۾ u? }=@9uUAu=: uk:)qWWX XWX:W2W*WVbUBU*U U U `1@BB BA„*BAAAA"C*CRCCCIG (>/׋ߙ,1~gFAY}:j@}: @y}:F5}:n8}:H K~^?;?u/ȿ?'4h?)~:j@ ~:Kb;I~:Cɫ99)9 9I9Y}?y}FF))uYMuH=Y}ϺQU}>ya#Hy?<}>Iȑ :ŕϥ5? :ŕ۾ ƕ? =@9ƕmAǕ: ȕV:)ȕ:WWX XWX:W2W*WVbUBU*UUU `@BB  B A s*B AAAA"C*CRCCC!)I1GM>U UUU Uql:YUU1yU:Ui69]@#ߙ,+K~gFA9IXFi?=; gE)ݳIݳiݳݻ=ݻ=ݻ6ɫ髹) IYv?ybFAAMP=Y%QU%>!!a%#H))y-}5>IȑŕI5?ŕW۾ ƕ)? =@9ƕAǕ?; ȕB;)ȑWWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB1B9 B9AEЅ*BAAIAQAQAY"Ci*CqRCyCyCIG )>I)@AiU /mGI i 5 ٺ9 = Aߙ,ee~gFAY}6:@}6@y}6c,}6-}6H Ċ$QH?M?m@k7Ŀ@~?W휿`?)~6:@ ~6*_;I~6Cɫ99)9 9I9YuT?y}F}Z****** received transponder code query ******F****** received ping request ******QQaU#HQYy]S(}]>IaeѦ5?e۾ eX? =@9eAe; e>)aWWX XWX:W2W*WVbUBU*UU U  c' @BQBQ BQAU*BYAYAYAYAY"C*CRCCCyIG?>U UUUp UӀ:YUDW1yUY:U6Kߙ, ;~gFAY}6 {@}6@y}6c.}68}6HlY@!?>? `Dÿ?``?)~6 {@ ~6#g];I~6Cɫ99)9 9I9Y}?y}!FxDUSBL response received:!U1,P 483,000,002B1,18A,80,80,B1,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= >E;MEO=YUaQU]>ia#Hy2}>I :N5? :۾ i? =@9A : R?):WWX) X)W1X1:W92W9*WAVAbUBU*UUU @BABA BAAM*BIAIAIAIAI"CQ*CQRCYCYCY5>91I5Fi5a?5=115b; 5QEiIG`>:ߙ,n~gFAY}Uf@}U@y}U6}U}UH@S|2Z@X%?`? h`ſJ?x?)~Uf@ ~U\;I~UCɫ11)1 9I9Y?y؏F鮱ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ<M3=YQU>a#Hyp;}>I֧5?۾ ? =@9оAJ: ?)WWX XWX:W2W*WVbUBU*UUUh@BB BA8*BAAAA"CA*CARCICICI%=i!1IAGmW>  'o:YT1y:6);9%ߙ,g~gFAɫ) IY,?y4FxDUSBL response received:!U1,R,502,000,002B1,189,80,80,9C,FF %Fpublishing direction and range infof3ɰ7> )CIyw?amf-ٱ    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉziM`=YQU>a#HHy}>IȹŽI5?Ž۾ ƽ? =@9ƽAǽ: Ƚ?)ȹWWX XWX:W2W*WVbUBU*UUU @R(Combining 5 samples.P *Q ZQ AKK?Oh JQ w?amf-2Q f3:Q bQ $c7@܏ @o=?RQ =zog?T݆? Qv8ӻ?BQ }? Q ~L@Q @P K9?P J9?P Q Q L@"Q h@BYBY BYAe*BaAaAAA"C*CRCCCaIqG9>) 9) I) i) ) ) ) - ; - sEfߙ,~gFAY}%W0@}%K@y}%RE}%LƋ}%HUJB?8?]ɿ@Q?" U?)~%W0@ ~%Te;I~%Cɫ髡) IYymTNmea in: $SNTTA,0.030866,,,,230634.39*41 •^A•^AYS߼QU>a#Hyy<} >I5?f۾ ? %=@9AU;  @)mMmAdded new target pos. range: 3.839998 m, bearing: 56.830466 deg, deltaT: 4.480918 s, approachRate: 0.000000 m/s, LOS rate: -1.441830 deg/s, posRepo size: 4u uuu ui:YuWU1yu:u26)u*;XIW}?WX XWX:W2W*WVbUBU*UUU^ ?BB! B!A!*B!A!A)A)A)"CU?RCQCU}?CY) I9 GU >7ߙ,T~gFAY}:@}:@y}: =)Iy{Gzt{Gz?Mb?ףף<= ½?A)½NAI½0Ai½bAzHAu<MI)))Bߙ,gFAY}6Z@}6@y}6`OL}6Uv}6HWv@f{??cʿ`^?J?)~6Z@ ~6];I~6CɫYY)Y YIYY?yF M M M M@ U@ U@ UIIIiM?I MA?)M?IM?iMA?ewMeR=Ye QUe>iiam#Hiy;}>I 5?:۾ ?  =@9)AR: ':)WyWyXy XyWX:W2W*WVbUBU*UUU;?B9B9 BAAE*BAAAAAAaAi"Cm}?RCqCqCqaIiG9>>9I Fi?=; E q :YV1y:6);Kߙ,hgFAY}6@}6i@y}6|K}6!}6Hfo?? Wɿ@D?OM?)~6@ ~6}\;I~6CɫQQ)Y YIYYu!?yuF) > >*MO=YZ;QU>a#H!!y%}˻}->I1 =:55? =:5۾ 5? ==@95{ߙ,:[4gFAY}> @}>@y}>(M}>nd}>H\q?/?@W]kɿ`Jy?@O?)~> @ ~> [;I~<ɫII)I IIIY?yF } } } }@ }@ }@ }@yyyi}y })}I}i}=MB=Y~QU>a#HyX}>IȩŭA5?ŭ*۾ ƭ? =@9ƭQAǭض: ȭk:)ȩWWX XWX:W2W*WVbUBU*UUU`?BB BA*BAAAA"C*CRCCCבIG>ia=4 :Yy69 @ܱ 9ܱ Iܵ Fiܵ 1?ܵ =ܱ ܱ ܵ ; ݵ E^[ߙ,rNgFAY}6j@}6^@y}6yV}6d{}6HF`~:x?O?A ʿ˥?s@f=?)~6j@ ~6c;I~6Cɫ99)9 9I9Y]?y]GF=i= 7MV=YȼQU>a#H y } >Iy}Ӧ5?}۾ }? =@9}eA}: }Ǻ:)yWWX XWX:W2W*WVbUBU*UUU @BB BAC*BAAAA"C*CRCCC IG5 >lߙ,JggFAY}65@}6@y}6jb}6j0}6H``V?Q?@I߿@Ϳ?@e?)~65@ ~6AAaE#HAIyM堼}M>IQ ]:UK5? e:U۾ U? e=@9UAUb: UI:)U:WWX XWX:W 2W *W)V)bU1BU1*U1U1U=h@REB*** querying acoustic contact ***PAPABB BA{*BAAAA"C*CRCCCסIG >U UUU U:YUW1yUč:U6Fmߙ,SʁgFAY}6ʭ@}6S@y}6X~j}6ǽ}6H |߿'v*?]?@E߿O9Ͽa??`Q?)~6ʭ@ ~6E_;I~6CɫYY)Y YIYY}?y}FZ****** received transponder code query ******F****** received ping request ******a#Hy%}%>IQU5?U۾ Uڔ? ]=@9UAU; U;)QWWX XWX:W2W*WVbUBU*UUUF @BABi BiAm*BiAqAqAqAq"Cy*CyRCyCyCi9iImFimv?m=iim; mE)Ii==(5׉IG>>I)AAsߙ,gFAY}:K@}:rg@y}:b}:j}:H`}߿Okv?~?R޿gϿ1?My ?)~:K@ ~:\;I~:Cɫ99)9 9I9Y}?y}QFxDUSBL response received:!U1,P 502,000,002B1,189,80,80,9C,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Ip=)=}MO=Ya#Hyu}>IIMC e:75? :i]nGF۾Ii ǔ? =@EٺAE!A9ÿA1= 81=):WWX XWX:W2W*WVbUBU*UUU  X @BQBQ BQAU?*BQAYAYAYAY"Ca*CaRCaCiCiaIGd>ߙ,gFAY}6@}6@y}6n\V}6Z ν}6H9߿@"w?@2!?`p޿@YͿ@? {& $?)~6@ ~6q[;I~4ɫYY)Y YIYY)?y[F鮥p=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉMJ=Ya#HHy}>IȹŽ5?Ž۾ ƽ? =@9ƽAǽ: Ƚ4:)ȹWaWiXi XiWX:W2W*WVbUBU*UUU @BB  B A *B A AAA"C*CRCCC!IQ)U]A!I)GM1>-) --- -Vt:Y-U1y-:-6a 9a Ie xFie ?a a a e ; e Eߙ,%\gFAY}Np@}N@y}NAT}NH}NH1߿``g?`&?`߿+˿ h?`'@J=?)~Np@ ~Nk];I~Lɫyy)y yIyYs?yFxDUSBL response received:!U1,R,4B4,000,002B0,189,80,80,B1,FF Fpublishing direction and range info|ɰqa=鰹 )1CIyq@R;k?$ٱU;MV=YF;QU>qya}#Hyyy}>Iȉ :ō25? :ō۾ ƍ? =@9ƍAǍ; ȍ;)ȍ:WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qq@ZQJ_?$?= JQR;k?$2Q|:QbQ"𵙇?$Ky @t]?RQ 9w?ZST?m%1~?BQ3? QK@Q?PJ9?PK9?PQQ@"QL@ByBy BA*BAAAA"C*CRCCCסIG!>ߙ,6gFAY}2@}2#1@y}2X}2}2Hi߿TNf??8߿V˿?ʱ4?)~2@ ~2Bd;I~2CɫYY)Y YIYY0?yFi=  &1?Zd;O rh?=j C =)Iy~jt?QMbD=u h=A)XAI0AikALA<M;=Y0QU>a#Hy0<}>Iͣ5?۾ T?  =@9-A: :)m=mAdded new target pos. range: 3.779998 m, bearing: 58.583045 deg, deltaT: 4.412572 s, approachRate: -0.013598 m/s, LOS rate: 0.397178 deg/s, posRepo size: 4XAWE3?WAXA XAWAXA:WI2WI*WIVQbUQBUQ*UQUUo=@U]i?BB BA!*BAAAA"C?RCC3?CבIG5.>-k --- -y:Y-X1y-/:-6a,gFAɫyy)y yIyY?yF    @ @ @ÙÙÙiÙÙ ę)ęIęięSMN=YQU>a#HyM}U>IQ ]:Ui5? e:UU۾ U? e=@9UZAUp: U:)U:WWX XWX:W2W*WVbUBU*UUUѪ?B!BA BIAMl*BIAIAIAIAQ"CU?*CYRCYCYCYu?iu?9IFiv?=; EAIIGm5>,9gFAY}: @}:*@y}:b}: d1}:HES߿U??Q߿`˿`:?Z`0?)~: @ ~:^;I~:Cɫ99)9 9I9Y}G?y}mFUPuM]P=Y]:ȼQU]>aaae#Haaym݋}m>Iqu 5?u@۾ u? }=@9uAu': uU:)qWWX XWX:W2W*WVbUBU*UUUk4?BB BA*BAAAA"C3?RCCCIG>I)- --- -th:Y-WU1y-:-D6 ,?6gFAY}2Q@}2@y}2u8f}2&.R}2H@?߿@.??$a߿ J˿&? R'?)~2Q@ ~2<-];I~2CɫYY)Y YIYY}s?y}FI) 5 5 5 5@ 5@ 5@111i11 1)1I1i1E3];MEK=YMQUM>IQaU#HQy}>I5?۾ ? =@9A: ;:)W W XY XaWaXa:Wa2Wa*WiVibUiBUi*UqUqUu ?BB BA*BAAAA"C*CRCCC׉IG> 9 I Fi 1? = ND ; E,]PgFA-6Could not parse latch stateɫ)))) )I)Y?yڌF)= =M<MM"=YMQUM>QQaU#HQYy]}]>Ia m:e+5? u:e۾ eg? u=@9eAe : ef:)e:WWX XWX:W2W*WVbUBU*UUU@BB BAo*BAAAA"C*CRCCC- -~-~- -xo:Y-T1y-@:-6)- ;95Iץ\A)סqIG~>!,~jgFAɫ髙) IY8?ydF rh?/$?K?C=1> ^=)Iy~jty&1|y&1D`` AA)NAI-AiJAM{=YQU ?a#Hy}?I  5? 5۾ ԑ? 5=@9 A ; {;) WQWQXQ XQWYXY:WY2WY*WYVabUaBUa*UaUiUmmz@B!B1 B1A=*B9AAAAA"C*CRCCCIGI>=i= !,YgFAY}2@}2@y}2x]}2Ȱ}2H޿Dݟ? 8'?Y޿GͿ ǃ?@"?)~2@ ~2*d;I~0ɫYY)Y YIaY}?y}FAA=i=       @ @ @   i   ) I i -`M-W=Y-n99a=#H9AyM}M>Iȱ :ŵߣ5? :ŵ۾ Ƶ? =@9Ƶ!Aǵ: ȵ{:)ȵ:WWX XWX:W 2W *W V bU1BU1*U1U1U5ƨ@REB*** querying acoustic contact ***PAPABB BA*BAAAA"C*CRCCCܵ>9ܱIܱiܱܵ=ܱܵODܵ; ݵtEIG$>-9 ---u -u:Y-T1y-:-E6)-n;3',4gFAY}6R@}6@y}6._}6S}6H@j߿`?a?m޿=Ϳ`v?' &$?)~6R@ ~67`;I~6CɫII)I IIIY]?y]FeZ****** received transponder code query ******eF****** received ping request ******ea#Hy\;}>IǤ5?۾ -? =@9BAI; ;)W!W!X) X)W)X):W)2W)*W1V1bU1BU9*U9U9U= @BaBi BiAmh*BiAiAqAqAq"Cy*CyRCyCyCו?iו?QIYG=]-,0gFAY}2#i@}2@y}2wb}2D≽}2H޿>X?@)?`˦޿̿^?@Ͱ%?)~2#i@ ~2I];I~2Cɫ99)9 9IAY?y?FxDUSBL response received:!U1,P 4B4,000,002B0,189,80,80,B1,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76   % %@ %@ %@!!!i!! !)!I!i!M%=YQU>a#HH y D} >I :5? :q۾ ? E=@9mA; ;;):WWX XWX:W2W*WVbUBU*UUU @B B  B A *B AAAAE AAED E-g:YAyAE 69U@"CY*CYRCaCaCiיIG>ܩ 9ܭ CIܩ iܩ ܭ =ܩ ܭ NDܭ ; ݭ E)9I9i9=====5F4,рgFAY}2@}2z/@y}2`ub}2;]}2H@~޿ H?>? ޿`V˿ ?C `,?)~2@ ~23];I~0ɫ99)9 9I9Y}%?y}F鮁ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)IC=)4== <M=x=Y=:QUE ?AAaE#HAIyM}U?I5?۾ tI %? >@9A: ::)W!W!X! X!W)X):W)2W1*W1V1bU1BU9*U9U9U=Z.@BaBi BiAmd*BiAqAqAqAq"Cy*CyRCyCyCׁIG>inGI iI ٺ VAq:,gFAY}6Pl@}6ه@y}6[}6R}6Hzݿ`+`0?@p? ]L޿ɿ E? @?)~6Pl@ ~61];I~6CɫQY)Y YIYYM?yFxDUSBL response received:!U1,R,502,000,002AE,189,80,80,B3,FF Fpublishing direction and range infof3ɰ`=鰡 )3CIy=j@w?amf-ٱa i5@a 5 a m=@a = a q=@a = a e=@a = E<MEI=YMQQaU#HQQy]wμ}]>Iae5?e۾ eM? m>@9eAe5: eI>)aWWX XWX:W2W*WVbUBU*UUU @R(Combining 5 samples.P*Q=j@ZQs:@?apuV JQw?amf-2Qf3:QbQFI32@ 0uo@Q*?RQD%?v<řɜ?“_!Ⱦ?BQqp? Q{;@Q @PK9?PJ9?PQQQ@"Q@BB BA*BAAAA"C*CRCCCIױ)׵\AׁIGUs U~U~U Ua#Hy;}>I :5? :۾ L?  >@9A: O?):mqAdded new target pos. range: 3.660000 m, bearing: 53.730042 deg, deltaT: 4.432827 s, approachRate: -0.027070 m/s, LOS rate: -1.094787 deg/s, posRepo size: 4XWqp?WX XWX:W2W*WVbUBU *U U G @U '?A9ECIAiAE=AAE; EEBB BA*BAAAA"C~?RCCqp?C IGH>G,p|gFAY}>@}>3@y}>Q}>}>H n޿@"ʝ? b?޿@˿?K :?)~>@ ~>xga;I~>Cɫ99)9 9I9Y}?y}F=6M=V=YE;QUE>AAaM#HIIyUQ<}U>IY]{5?].۾ ]? e>@9]A]: ]˜?)YWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C:- --- -m:Y-DW1y-Y:-6M,W9gFAY}6 @}60(@y}6pW}6ܐ}6Hߊ޿ v?P?T޿`e˿@W?T7?)~6 @ ~6g^;I~6CɫYY)Y YIYY?y"F ]A 5<M=K=Y=$XQU=>AAaE#HAIyM-;}M>Ix5?۾ ? >@9Al: ]?)WIWIXQ XQWYXY:Wa2Wi*WqVqbUyBU*UUU.?ByBy ByA*BAAAA"CCq?RCCC׭?i׭?ׁIG=>Q 9Q IU FiU v?Q Q U ODU ; U EǓT,2SgFAY}6?@}6b[@y}6b}6}6H@޿ ٪?4?`R޿`R̿ 8?j_)?)~6?@ ~6a];I~6CɫII)I IIIY}*?y}F - - 5 5@ 5@ 5@111i11 1)1I1i1E=MEJ=YE|ѼQUM>IIaM#HIQy]`;}]>Iae`5?e۾ e? m>@9e6Aeį: e$@)aWWX XWX:W2W*WVbUBU*UUU`?BIBi BiAu*BqAqAqAqAq"C}q?*CyRCCC׉IG>I%AA)%@AE EEE E:YEV1yE:E6)E;9MTZ,mgFAY}2(@}2C@y}2&{\}2ofɽ}2H޿H?B?޿CͿ`Y?؍@-?)~2(@ ~2\;I~2Cɫ99)9 9I9YE?yFI)a ia i a ma m a qa q a ea e {Gzt^I +ǿzG?ףX9  =)IyMb`?Zd;OMbp;j µ?A)µTAIµ0AiµpiA\KAz[MB=YeSa#Hy&a}>I :5? :K۾ ? >@9JA: :):WWX XWX:W2W*WVbUBU*UUU !@B1B1 B1A=*B9A9A9A9A9"CEqp?*CIRCICICIAIIGm5>a,膁gFAY}R@}R;!@y}RQJ}R,}RH@޿# d?rd?. ޿@˿+?`tRM=?)~R@ ~R`b;I~RCɫyy)y yIyY6?y؎F)M= M=uܖMuP=Y}\5=QU}>ya#HyW}>Iȑŕ5?ŕ۾ ƕ? >@9ƕ]AǕ9: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU8k@BB BA*BA A A A "C*CRCCC9IxFi?=; E)I1GU>e e}e}ee eg:YekS1yeԊ:e6)e_;>g,ŠgFAY}6G@}6c@y}6!@}6׏}6HR޿բ?b?޿^ȿ4??`_`?)~6G@ ~6,c;I~4ɫ99)9 9I9Y}?y}؏F    @ @ @i )Ii=MS=YLa#Hy7*<}>I  : P5? : ۾ m? >@9 pA : :) :W9W9X9 XAWAXA:WA2WA*WIVIbUIBUI*UIUQU@@RB*** querying acoustic contact ***PPBB B!A%8*B!A!A!A!A)"CI*CQRCQCQCY)I1GQ-=i)m,lMJ=YdԻQU>a#HHy Cm<} >I5?d۾ Q? %>@9AG: :)WIWIXI XIWIXI:WQ2WQ*WQVYbUYBUY*UYUYUe @BB BAl*BAAAA"C*CRCCCIIQGm>5E 555 5v:Y5WU1y5:5N69=@ 9 I i u; YEt,zԁgFAY}6Y@}61@y}6wK}6na}6H{߿$j? ? c{߿fɿQ?@Q?)~6Y@ ~6];I~4ɫ99)9 9I9Y]?y]OFexDUSBL response received:!U1,P 502,000,002AE,189,80,80,B3,FF mCommand AckmBRequesting micromodem ping code 2iiiNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ]AEMME=Y]iQUe>a#HyN<}>I9=5?= ۾ =0? >@9=A=O< =I<)9W9W9XA XAWiXi:Wq2Wq*WyVybUBU*UUU`Ϣ @B)B1 B1A5p*B1A1A9A9A9"CQ*CQRCQCQCa?i?I!Gmx> {,\gFAY}6@}60@y}6dO}6c4e}6Hx߿ !ڪ?@#?t߿`ɿU? K?)~6@ ~6];I~4ɫ99)9 9I9Y}m?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Mb@Mb@Mb@ )Iyy&1~jtX9v?`e< )/MAIr.AirdAGA    @ @ @ÙÙÙiÙÙ ę)ęIęię;M)=YSQU>a#Hy.}>Ia m:e5? m:eI۾ e? u>@9eAeI: eR:)e:WWX XWX:W2W*WVbUBU*UUU @I@A)-d --- - y:Y-DW1y-Y:-W6BqBq BAR*BAAAA"C*CRCCCױIG>9,2gFAY}R@}R@y}Rh^G}R<}RHv߿@9#?j+?#߿Yʿ@?G`L?)~R@ ~R];I~RCɫyy)y yIyY?yFxDUSBL response received:!U1,R,502,000,002B0,189,80,80,A9,FF Fpublishing direction and range infoɰqa= ))CIyq@w?amf-ٱNM=Yu@9A ; ;)W1W1X9 X9W9X9:W92W9*WAVAbUABUA*UAUIUM7@Re(Combining 5 samples.Pa*Qeq@ZQeE5j?.\Ux3 JQew?amf-2Qa:Qaܙ9ܙIܝFiܝ1?ܙܙܙܝ_; ݝNE))I)i)))-4bQe$5݁b.@es@\¡?RQe2.I`.?60?k&t?BQe8Qu? QeC@Qes @PaPeK9?PaQeQe@"QeQ@BB BA*BAAAA"C*C)RC)C)C)!I)GM1>* ,"gFA8AY}X4@}O@y}}9}\ҡ}H`߿ 0̖?L1?X߿ȿI?`E೿ `?)~X4@ ~d;I~Cɫ) IY c?y FuDNmea in: $SNTTA,,,,,230647.73*5E )É Í=;M0=Ya#Hy;}>Iq }:u?5? }:u۾ uՄ? }>@9uAu: u:)u:miAdded new target pos. range: 3.779998 m, bearing: 54.904858 deg, deltaT: 4.465225 s, approachRate: 0.026874 m/s, LOS rate: 0.263104 deg/s, posRepo size: 4XW8Qu?WX XWX:W2W*WVbUBU*UUo=@U?BB BA*BAAAA"C8Qu?RC C 8Qu?C I)-> -}-}- -v:Y-kS1y-Ԋ:-r61I9G]T>0H,);gFAY}2f@}2@y}2,0}2}2Ht߿y|k?90?߿Dǿ?,Tt?)~2f@ ~25a;I~0ɫII)I IIIYyyy = = = =@ =@ =@ =999i=?9 =A?)=K?I=A?i=K?YMRQQaU#HYYyeX <}e>Iim5?m۾ m? u>@9mAm: m:)iWWX XWX:W2W*WVbUBU*UUU@?BqBq ByAy*ByAyAyAyAy"C*CRCCCסIG >!i%=ܙ 9ܙ Iܝ Fiܝ ?ܝ =ܙ ܝ NDܝ B; ݝ >E0,aUgFAY}6@}67@y}6ݽ/}6}U}6H q"@Sĥ??`+ƿ*? VH|?)~6@ ~6.D^;I~4ɫ99)9 9I9Y?y*FUi;M]aaae#Haaymx<}m>Iq }:uȲ5? }:u۾ u? >@9uAu: u:)u:WWX XWX:W2W*WVbUBU*UUU+ ?BB BA*BAAAA"C*CRCCCׁIG>u uuu u0p:YuWU1yu:u6)u;9"Z,4ogFAY}:ƈ@}:O@y}:2}:j}:H` @ћ;?~$? 0+`VĿN;?`ԃ!?)~:ƈ@ ~:6];I~8ɫAA)A IIIY}e?yΐF%ʡE?S㥫:v%=%/] %Լ)%I!y%~jt?I +Mb?%<%94%< %h=A)%-RAI%2Ai!!%IA=^A=_A    @ @ @ @ÁÁÁiÅÁ ą)ąIąią 9=M 2=YѻQU>a#Hy%}%>I)-5?-\۾ -T? 5>@9-A-@: -÷:))WYWYXY XYWYXY:Wa2Wa*WaVabUiBUi*UiUiUuh?BB BAԄ*BAAAA"C*CRCCCסIGA>B, |gFAY}2);@}2V@y}2d1}2y}2H߿@1?9?@s߿Ŀ?@G\V?)~2);@ ~2g\;I~2CɫYY)Y YIYYG?yF5U,M5n=Y=i;QU=?9AaE#HAAyMa}M?Iȡ :ť5? :ť۾ ƥ? >@9ƥ+Aǥ: ȥ/:)ȥ:WWX XWX:W2W*WVbUBU*UUU @BB BA܄*BAA!A!A!"C)99=CI=XFi=?==99=?; =:E*C)RCICICQAIQGm>I)AA- -}-}-s -g:Y-kS1y-Ԋ:-6)-N;Fl,TgFAY}2e@}2@y}2&}2 U}2H߿j`Ȇ?{S?߿ Gſ?@C?)~2e@ ~2_;I~2CɫII)I IIIY}?y}EFI)pML=Yk!!a%#H!)y-g }->I155?5T۾ 5? E>@95?A5: 5:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUyU}`3'@BB BA *BAAAA"C1*C1RC1C1C9IIQG}>,/6gFAY}6 @}64@y}6}6XҊ}6H߿F?I]?ق߿Ŀ`?%`m?)~6 @ ~6Oa;I~4ɫ19)9 9I9Yu?y}F)Õ= Õ> - - - -@ -@ -@)))i)) )))I)i)=ŇM=H=YE =QUE>AAaM#HMHIyUS;}U>IY]5?]۾ ]$? e>@9]TA]: ]:)YWWX XWX:W2W*WVbUBU*UUUm@RB*** querying acoustic contact ***PPBB BAC*BAAAA"C*CRCCCI]A)]AIG>- -~-~-u -j:Y-T1y-@:-E69-@1 91 I5 Fi5 a?5 =1 1 5 O; 5 CE~, ׂgFAY}2oO@}2j@y}2*}2 z}2H) ?TW?߿(ÿ ?`l쮿@?)~2oO@ ~2 _;I~2Cɫ99)9 9I9Y}?y}FZ****** received transponder code query ******F****** received ping request ******a#Hyd <}>I  : n5? : 7۾ ? >@9 hA W< }<) :WWX XWX:W2W*W!V!bU!BU!*U!U)U- @BB BA5*BAAAA"C*CRCCCIG-->!i%=ר,SgFAY}Bv@}B@y}B }BA;}BH`'Z?`IIaU#HQQy]/<}]>Iae-5?eV۾ elj? m>@9eAe׾: e:)aWWX XWX:W2W*WVbUBU*UUU` @B)B1 B1A=x*B9AAAAAAAA"C*CRCCCIG >*,' gFAY}6x@}6@y}6}6zO}6H=`TL? '?`:2ÿ@ ?`?)~6x@ ~6\;I~4ɫ99)9 9I9Yp?yrFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B u9M}=Y}QQU}?a#HyV<}?Iȑ :ŕ 5? :ŕ۾ ƕK? >@9ƕAǕR: ȕ:)ȕ:WWX XWX:W2W9Ii=N; *WVbUBU*UUU<@BB BA*BAAAA"C*CRCCCIG$>^,$gFAY}:@}:Q @y}:#x}:}:H@>JuJ?U$?`Ŀ@?`>Ȳf?)~:@ ~:p\;I~:Cɫ99)9 9I9Y}?y}͑FxDUSBL response received:!U1,R,502,000,002AE,189,80,80,BF,FF Fpublishing direction and range infoɰ`=鰁 )?CIy=j@w?amf-ٱC<MX=Ya#Hyԅ;}>I5?G۾ ? >@9A: :)WWX XWX:W2W*WVbUBU*UUU$@R(Combining 5 samples.P*Q=j@ZQs:@?apuV JQw?amf-2Q:QbQw(@,]]ˠ@1rp?RQ5-?5K:\?ƽ=K?BQJ{? Q@@QC@PPPQQ@"Q@BIBi BiAum*BqAqAqAqAq"Cy*CyRCCC׉IG>I)@A- --- -5j:Y-U1y-:-{6,!x>gFAY}:z@}:@y}:J }:qŽ}:H2c5 ( ?`'Cdſ?:wH?)~:z@ ~:_ d;I~8ɫYY)a aIaY?yF%TNmea in: $SNTTA,0.004422,,,,230652.19*48 )= > =>    @ @ @i )Ii<M7=Ya#Hy ŝ<} >I :5? :۾ ? >@9A0: :):mMmAdded new target pos. range: 3.660000 m, bearing: 56.181345 deg, deltaT: 4.430312 s, approachRate: -0.027086 m/s, LOS rate: 0.288126 deg/s, posRepo size: 4XQWUJ{?WQXQ XQWQXY:WY2WY*WYVYbUaBUa*UaUeG @Ue ~?BB BA *BAAAA"CSz?RCCJ{?CI׹)׹׉IG">9CIȖFi?=r; WE)}CI}Ciy}=}=}(5,.SXgFAY}2@}2@y}2}2Ϥ}2HK?@,q@27Ŀ?@@y@?)~2@ ~2a;I~2Cɫ) IY k?y  FM-=inGIYa}hٺyAa#Hy<}>Ișŝw5?ŝ۾ Ɲ? >@9ƝAǝ: ȝb:)șWWX XWX:W2W*WVbUBU*UUU4?BaBi BiAmS*BiAiAiAqAq"C\z?*CRCCC׉IG>,9rgFAY}EAv@}Eʑ@y}E'}E񄦽}EHh`%#O? HHÿKK? r?)~EAv@ ~E_;I~ECɫ ) IY?yhFm6only read 2 of 4 data itemsa im@a m a mm@a m a qm@a m a eu@a u    @ @ @i )IieA<MeV=Ym؛;QUm>iqau#Hqqy}<}}?Iȁ :ŅO5? :Ņ/۾ ƅ]? >@9ƅADž: ȅ >)ȅ:WWX XWX:W2W*WVbUBU*UUU@W[?BB BA.*BAAAA"CJ{?*C RC C C I=i=G%N>E,gFAY}2i@}2@y}2ݾ}2EM}2HCN @?~?Ta`?n`?)~2i@ ~2JV];I~2CɫII)I IIIY}?y}ÒF]Ab<My=YǻQU?!!a%#H!)y-w<}-?I15#5?5۾ 5Ņ? =>@95A5: 5U*?)1WaWaXa XaWaXi:Wi2Wi*WiViy9yI}Fi}a?}=y}OD}z; }\EbUqBU*UUU`?BB BA *BAAAA"C*CRCCC?i?IG-->- -~-~- -:Y-T1y-@:-6)-;&,᥃gFAY}2w@}2 @y}2}2/}2H$@@d$? ?`);`?ɥ=?)~2w@ ~2/W];I~2Cɫ99)9 9I9Y?yFUdz;M]F=Y]QU]>aaae#Haaymj;}m>Iqu5?u۾ u? }>@9u)Au_: u?)qWWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C*CRCCCIIQGu>2,8gFAY}:@}:u@y}:O}: }:H3,l(m?8? `ÿi?0?)~:@ ~:gb;I~:Cɫ99)9 9I9Y}?y}ՒF u u u u@ u@ u@qqqiqq q)qIqiqXMG=Y-a#HHy0}>Iȡť5?ť\۾ ƥK? >@9ƥAAǥ: ȥl?)ȡWWX XWX:W2W*WVbUBU*UUU_@BB BA*BAAAA"C!*C!RC)C1CAIIYG}>I)AA- ))-e -do:Y)y)-695@y9yI}ȖFi}?}=yy}O; }FE,9كgFAY}2H@}2:d@y}2C}2j}2H` .j [?`` ?M@?)~2H@ ~2We;I~2Cɫ99)9 9I9Y}7?y}'F)Õ= Õ=1<MZ=Y=a#Hy+}>IȹŽ5?Ž۾ ƽ? >@9ƽWAǽx: Ƚ]?)ȹWWX XWX:W2W*WVbUBU*UUU`P_@R B*** querying acoustic contact ***P P B)B1 BA*BAAAA"C*CRCCCI\A)IG]>H,8gFAY}R@}R@y}R5彙}R5}RH` QQ@? D? H@S?@`?)~R@ ~R`;I~RCɫ髑) IYX?yFZ****** received transponder code query ******F****** received ping request ******C D)Iya#HayeA}e>Ii u:mY5? }:m_۾ m? }>@9m{Am : m;)m:WWX XWX:W2W*WVbUBU*UUUb @BaBa BaAe*BaAiAiAiAi"Cq*CqRCqCqC- ---l -Ij:Y-V1y-:-N6בIGa>f,,rO gFAY}2Bm@}2ˈ@y}2e}2м}2H_`P?#?7??z噿?)~2Bm@ ~2^;I~2Cɫ99)9 9IAY9?yFxDUSBL response received:!U1,P 502,000,002AE,189,80,80,BF,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I9IIMFiMa?IIIMo; MWE=Me=YUQU>a#Hyum+}u>IȉōU5?ō۾ ƍ+|? >@9ƍAǍ; ȍ;)ȉWWX XWX!:WA2WA*WIVIbUIBUI*UIUQUU @BB BA*BAAAA"C*CRCCC-=i-=IG%o>MX , 2'gFAY}: W@}:r@y}:y}:Z!c}:H`w n5?@?by?>#?)~: W@ ~:\;I~:CFJFailed to close latch before timeout.q FFHardware FaultY^i?y^FnNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B E^AA}M}`=Y}sQU}>a#HyU}?Iȑ :ŕ5? :ŕ<۾ ƕRx? >@9ƕAǕI: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU@B9B9 B9A=S*BAAAAAAAAA"CI*CIRCQCQCQe?ie?ׁI-$@Hardware Fault in component: DDMG>- -}-}- -;|:Y-kS1y-Ԋ:-6>,hAgFAY}6q@}6@y}6}6PԽ}6H;G&:PC?߿@XĿ? ~I`?)~6q@ ~6.\;I~6C>Powering down<ɪ<)< ) CIy,??Kc^ٱ u u u u@ u@ u@qqqiqq q)qIqiq M-=YAa#Hy}}>Iȱŵ5?ŵ۾ Ƶ6r? >@9ƵAǵ; ȵ;)ȱWWX XWX:W2W*WVbUBU*UUU ,@R(Combining 5 samples.P*QZQni;?8r JQ,??Kc^2Q҆:QbQ:?0 @'[!?RQtSM?qd\?HKF?BQj? QHH@Qy?PJ9?PPQQ@"Q@BB BAՃ*BAAAA!"CA*CIRCICICI9IIGeV>>9IȖFi?; xEi,ZgFAY}^ @}^@y}^۽}^{}^H.ᦿd?]߿#0ÿ`g?3 '?)~^ @ ~^+f;I~\Yv?yvFuTNmea in: $SNTTA,0.005718,,,,230656.62*4B tkMl=YJ=QU?a#Hy[}?I :5?  :"۾ m?  >@9A: :):miAdded new target pos. range: 3.660000 m, bearing: 59.870337 deg, deltaT: 4.505366 s, approachRate: 0.000000 m/s, LOS rate: 0.818800 deg/s, posRepo size: 4XWj?WX XWX:W2W*WVbUBU*UUUS?BYBa BaAex*BAAAA"C+?RCCj?C!I)GM0>IAA)@A- --- -:Y-T1y-:-D6)-;95,tgFAY~?y~_F On?I +ƿ1Zd? > 94 "=) I y Mbp?{Gzt?ˡE? ; ף; '= :A) -RAI 7Ai   AA)%= %>-<M-D=Y5QU=>IQa]#HYaye}e>Iimt5?mA۾ mr? }>@9mAm: m3:)iWWX XWX:W2W*WVbUBU*UUU?BB BA1*BAAAA"C{#,gFAY}F@}F@y}Fs½}F}FH`6󍋿@k? @-H?=@$?)~F@ ~FR_;I~FCYR?yRՒF u u u u@ u@ u@qqqiqq q)qIqiqn{<MU=Y=QU>a#HyM:}>Iȡť<5?ťW۾ ƥu? >@9ƥAǥk: ȥ:)ȡ9IFi?; E)UCIUCiQU=U=UW4WWX XWX:W2W*WVbUBU*U U U?BB BA*BAAAA"C-e ---i -y:Y-U1y-:-6)-v; i] mGIq i 5ٺ A),KrgFAY r?y KFj<MG=YQU>a#Hy}>I :5? :n۾ @9A: :):W)W)X) X)W)X1:W12W1*W9V9bU9BU9*U9UAUE$?BiBi BiAuу*BqAqAqAyAy"C[ ?*CRCCC)I9GU>=ip=0,KV„gFAY}J6@}J,@y}J"̽}J4 (}JH h%xv?I?@\ 9y?@U夿z?)~J6@ ~J(\;I~JCYV?yVUFMM=Y?QU>a#HHyە<}>IȩŭΪ5?ŭ۾ ƭk~? >@9ƭAǭ: ȭ:)ȩWWX XWX:W2W*W V bU BU *UUU?B9BA BAAE5*BAAIAIAIAI"C]j?*CYRCYCYCa}?i}?IG>-B ---p -Tv:Y-DW1y-Y:-695@>9IFi?=; yE6,(܄gFAY}:@}:&@y}:L-ν}:nl}:H5HHԜZ?\?- t?4t?)~:@ ~:q[;I~:CY^?y^_F u u u u@ u@ u@qqqiqq q)qIqiq4:MK=YB"QU>a#Hy6}>Iȩ :ŭ5? :ŭ۾ ƭQ? >@9ƭ Aǭ; ȭA;)ȭ:WYWYXa XaWaXa:W2W*WVbUBU*UUU  %@BB BA1*BAAAA"C*CRCCC׹IGE><, gFAY}JՂ@}J^@y}J0ɽ}J }JH+ -!!o?e1(?=Dz,?)~JՂ@ ~J[;I~JCYZ?yZhF``X9v{GzMb`ף )Iya#Hy%}>IŪ5?۾ ? >@9+Aw: =:)W)W)X) X)W)X):W)2W1*W1V1bU9BU9*U9U9U=L@RMB*** querying acoustic contact ***PIPIBiB BA.*BAAAA"C*CRCCCIG- >I)AA- ))- -:Y)y)-r6C,gFAY}6J@}6@y}6ƽ}6}6HM@ 1䂿d?`y?`J`?)~6J@ ~6:[;I~6CY^?yb֑FbZ****** received transponder code query ******fF****** received ping request ******f)1a5#H1܅>9܁I܁i܁܁܁܁܅; ݅dE1yu;}}>Iy :}5? :}}۾ }? >@9}NA}=: }k:)}:WWX XWX:W2W*WVbUBU*UUU%P @BQBQ BQAUi*BQAYAYAYAY"Ca*CaRCaCaCiI}]A)}]AIIQGu>I,)gFAY}R3@}RN@y}Rн}Ro2}RH@u`&p?`??`ih@???)~R3@ ~RZ;I~RCYf?yfFjxDUSBL response received:!U1,P 4B7,000,002AE,18A,80,80,8D,FF jCommand AckjBRequesting micromodem ping code 2ihhvNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @ñññiññ ı)ıIıiı5`M=-=Y=V*QUE>Iqau#Hqyy<}>I-5?۾ 0? >@9sA; 2;)WiWiXq XqWqXq:Wq2Wq*WyVybUyBUy*UUU@\ @BB BA*BA A A A= =~=~= = n:Y=T1y=@:=6"CQ*CRCCCIG>P,CgFAY}6)o@}6@y}6罙}6lM}6Hcx9?'?:xU?`π``?)~6)o@ ~6Z;I~6CYBz?yBFDɮDVNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B        @  @ @   i   ) I i %A<M-]=Y-CQU5>19a=#H9AyEV%<}M>IQ ]:U[5? e:UN۾ U? e>@9UAUd; U ;)U:WWX XWX:W2W*WVbUBU)*U1U1U5@ByB BAO*BAAAA"C*CRCCCסIG >=i=a9aIaiaaaeNDe; ewEW,x]gFAY}Fh@}FX@y}F!f}F8}FHq@wgV )#?@NYÿپ?/˷ ?)~Fh@ ~FZ;I~FCYV|?yVFbxDUSBL response received:!U1,R,4E4,000,002B0,189,80,80,AF,FF bFpublishing direction and range info^ً\ɰ^qa=^7> \)^/CI\y^q@^"s?Ehٱ\ ttM%]=Y%QU%>))a5#H1AyMg}U>IY]5?](۾ ]-? m>@9]A]: ]:)YWW!X! XQWQXY:WY2Wa*WVbUBU*UUU`ۧ@R(Combining 5 samples.P*Qq@ZQ[6?T JQ"s?Eh2Qً:QbQ̰tϞ?wp @z?RQ,A?f#?|%?BQ? QK@Q?PK9?PJ9?PQQ@"Q@BiBq BqAuN*BqAqAqAqAy"Cy*CRCCCyIG=>- --- -7h:Y-DW1y-Y:-W6)-۽;951],\WwgFAY?yNF-TNmea in: $SNTTA,0.029919,,,,230701.04*49 /$?K?1> ^=)IyI +?{Gz?~jth?94<ף<D; ?A)I6AiWAfFA % % % %@ %@ %@ %!!!i%?! %A?)%K?I%K?i%K?5<M5-=Y=QU=>9AaE#HAAyU}]>Iqu5?u1۾ uR? >@9uAu: uM;)qmmAdded new target pos. range: 3.779998 m, bearing: 58.138201 deg, deltaT: 4.416192 s, approachRate: 0.027172 m/s, LOS rate: -0.392224 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UUo=@U +?BB BA *B A A A A "CF?RCC?CIG%M>d,4/gFAvPowering upv"Initializing DDM. 9 I pFi M?    ; tEY1y1YQU>a#Hy}>I  : ީ5? : 8۾ q? >@9 A : :) :W9W9X9 X9W9X9:W92WA*WAVAbUABUI*UIUIUM'?ByBy ByAy*BAAAA"ClU?*CRCCCIG$>I@A)@A- --- -:Y-WU1y-:-6)-$;@j,gFAY}6@}6@y}6$齙}6 {t}6HBV֕{?Q?&`@? X {?)~6@ ~6Y[;I~6CY^x?y^aaam#Hiiyut}u>I*5?>۾ ? >@9A: :)W W X XWX:W2W*WVbUBU*U!U!U%'k?BIBI BIAU*BQAQAQAQAQ"C]?*CaRCaCaCaIq)qױIGe>~(q,ągFAY}nn @}n;@y}nv) }n.}nH\z@>#?4(?SW@y|W?΋$?)~nn @ ~n[;I~nCY?yŏF    @ @ @ @i )IiwYM9=YLQU>a#HHydF<}>Iȩ :ŭW5? :ŭF۾ ƭɄ? >@9ƭAǭI: ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUUM?BB BA@*B!A!A!A!A!"C)*C1RC1C1C1)I1GU>- -{-{- -l:Y-#R1y-:-695@9IFi?f; RE)!I!i!%=%=%4,Sw, ޅgFAY}JP@}J6@y}Jl}J[4}JHW`k}1?Q%? R@\8¿?Pധ?)~JP@ ~J+J\;I~HY A?y |FMT=Y 7QU>!a%#H!1yE Q}M>iAIYIQiqwԿٺ\AU5?UM۾ U? >@9UAUL< U#<)QWWX XWX:W2W*WVbUBU*U)U)U-5@BqBy ByA}]*ByAyAyAyA"C*CRCCCסIGA>=ip=~},gFAYM?yMXF=~jtzGếX9v== ׽ =)9I9y=)\(y&1?Mbp?=Ga=`e<=; =?A)=^LAI9i=XA9=FA    @ @ @ÙÙÙiÙÙ ę)ęIęięҊM?=YQU>a#Hy}>I U:5? U:}۾ Ą? U>@9>A< :):WWX XWX:W2W*WVbUBU*UUUX@BB BAl*BA!A!A!AA"CI*CIRCICICQׅ?iׅ?9IIGe4>- --- -i:Y-DW1y-Y:-|6n,gFAY}>p@}>@y}>}>醕}>H`dV!y? ?DxSÿ?@?)~>p@ ~>kE[;I~>CH9HIHiHJ=HHJ^; JMEYZ2?yZsF\\n?;Mnl=Yr@9~gA~@: ~:)|W)W)X) X)W)X):W12W1*W1V1bU1BU9*U9U9U=@RMB*** querying acoustic contact ***PIPIBqBq BqAua*BqAyAyAyAy"C*C!RC!C!C!I)GE=,S\,gFAY}R@}R6@y}R}R}RH@5>?A? ť¿@W?M ?)~R@ ~R~Z;I~RCYf?yfƎFnZ****** received transponder code query ******nF****** received ping request ******nQYa]#HYYyea<}e>Iqu$5?u۾ uZ? ?@9uAu; u;)qWWX XWX:W2W*WVbUBU*UUUhN @BB  BA*BAAAA"C*CRCCC׹IG$>IAA)% %%% %D}:Y%V1y%:%26)w,%FgFAY~c?y~F xDUSBL response received:!U1,P 4E4,000,002B0,189,80,80,AF,FF  Command Ack BRequesting micromodem ping code 2i  %Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )å= å=    @ @ @i )Ii%;Mm$=YmQUm>qqau#Hqyy}}}>Iȡ :ťީ5? :ť^۾ ƥ? ?@9ƥAǥ": ȥ:)ȥ:WWX XWX:W2W*WVbU!BU!*U!U)U-e @BqBy BA*BAAAA"C*CRCCCI9)9ܱ9ܵCIܱiܱܵ=ܱܱܵ4; ݵ6E1IAG]v>5,`gFAY}5@}5: @y}5 $}5ċ}5H ? (?wɟĿ ? C?)~5@ ~5Z;I~5CYT?yF鮩ɮ=%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ʡE?SÿX9v> })Iy~jtx?Zd;Oy&1?;j`e< h=A)PAI5Ai\A(HAU9MUG=Ye~*QUe>iiau#Hqy=}>Ișŝn5?ŝ۾ Ɲ? ?@9ƝAǝK; ȝ{W;)șWWX XWX:W2W*WVbUBU*UUU;J@B!B! B!A%*B!A)A)A)A)"C1*C1RC1C1C9%v %%%H %f:Y%WU1y%:%s 6)%;959IAGeV>̝,ygFAY}2@}2b @y}2}2 ~}2Hvz?`.?`dÿ?fI?)~2@ ~2w![;I~2CY^?y^FbxDUSBL response received:!U1,R,4B0,000,002B0,189,80,80,A1,FF fFpublishing direction and range infob `ɰ`` `)b!CI`y`bF?B*zٱ`rdNmea in: $SNTTA,0.148583,0.148446,,,230705.48*59 - - - -@ -@ -@)))i)) )))I)i)=M=t=YE(=ia= ,gFA(9*CI*pFi*M?*=((*; *`EY}^=.@}^I @y}^͇}^﨔}^H=6 Mh??? `Ŀ`?@a.?)~^=.@ ~^iZ;I~^CYr?yrF=M5M=Y=\"AAaE#HAIyM <}M>IY]r5?]h۾ ]q? e?@9]A]: ]=:)YmiAdded new target pos. range: 3.779998 m, bearing: 62.109943 deg, deltaT: 4.414172 s, approachRate: 0.000000 m/s, LOS rate: 0.899770 deg/s, posRepo size: 4XWD?WX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"CP?RCCD?C)AiE?)I1GU>5^ 555 5}:Y5U1y5:56)5;6ݪ,?gFAY}:FE@}:` @y}:}:}T@}:H=@?? 8`X¿>p? "ȧ?)~:FE@ ~:X[;I~:CY^?yb+F]M]W=YeQUe>aaam#Hiiyu"u;}u>Iy :}5? :}۾ }3? ?@9}A}$: }0:)}:WWX XWX:W2W*WVbUyBU*UUUz?BB BA*BAAAA"C*?RCCCIG$>EƱ,XqdžgFAY}RO@}R)k @y}R }R'}RH9@Y h?.? @`8ÿ b?Ұ?)~RO@ ~R\;I~PY?yF    @ @ @i )Ii X=M ?=YQU>!a%#H%H)y-\:}->I9=5?=۾ =? M?@9=+A=: =:)9WWX  X W X:W2W*WVbUBU*UUU%!k?BB BA-*BAAAA"C?RCCCסIG >I@A)- -~-~- -~:Y-T1y-@:-695@A9AIAiAE=AAEM; EDE,VgFAY}}b[@}}v @y}}A.}}rV}}H5?hn?2ſ?^h~?)~}b[@ ~}Y\;I~}CYP?yFy&1?V-?MbP?`e=h> :)Iy~jt?~jthy&1|D<D` ?A)/MAI5AiGA5HM59=Y5iQU=>99a=#H9AyM-:}M>IQ ]:Um5? ]:Uf۾ U̇? ]?@9U8AU: U:)U:WWX XWX:W2W*WVbUBU*UUUP#?BB BAZ*BAAAA"C,?*CRCCCI)\AIG$>Y,"gFAY}6~@}6 @y}6٢1}6̤}6Hb cr? ?=ƿ?`2bt?)~6~@ ~6N[;I~6CYb#?ybjF E E E E@ E@ E@AAAiAA A)AIAiA]lM]Z=Ye^QUe>iiam#Hiqy}뉼}}>IȉōK5?ō!۾ ƍ? ?@9ƍBAǍ; ȍ;)ȉWWX XWX:W2W*WVbUBU*UUU@BB BAe*BA A A A "CD?RCCC׉IG>5 555~ 5g:Y5T1y5:5<6A 9A IE FiE ?E =A A E ; E +E)ыIыo,gFAi = = 5Y}VG@}Vb @y}V0}Vޤ}VH *3iX?p?`ǿ?GBl?)~VG@ ~V[;I~VCY~?y~*FMW=Y?%;QU>a#HyS]<}>IȹŽ*5?Ž۾ ƽZ? ?@9ƽLAǽ: Ƚ:)ȹWAWAXA XAWAXA:WI2WI*WIVIbUQBUQ*UQUQU]2@BB BA*BAAAA"C*CRCCCiIG>i=!%Ci}nGIixۿٺAeB?9eAK+,.gFAY}6@}6= @y}6.}6 S}6HIp@?4F?`(B`ǿ P?l?)~6@ ~6\;I~6CY%?y%F))IIe<MmN=Yu;QU}>a#HyS<}>I :5? :۾ ?  ?@9XA; ;):WWX! X!W!X!:W!2W!*W)V)bU)BU1*U1U1U5@REB*** querying acoustic contact ***PAPAByBy ByA}&*ByAAAA"C*CRCCC?i?סIG >- -{-{- -l:Y-#R1y-:-{6Z,HgFAY}B7@}BR @y}B03}Bfc}BH`&@y ?{,?/@yƿS?`u?)~B7@ ~B\;I~BCYN?yNFRZ****** received transponder code query ******RF****** received ping request ******Ra#Hy<4<}>Iޫ5?E۾ ކ?  ?@9cA˵: :)W1W1XQ XQWQXQ:WY2WY*WYVYbUaBUa*UaUaUe v @BB BA*BAAAA"C*CRCCCIG>9CIFia?C; >EB,¢bgFAY}]H@}]d @y}]B}]$~}]H+T@!u??4sȿ r+? *-&]?)~]H@ ~]V\;I~YY?yFxDUSBL response received:!U1,P 4B0,000,002B0,189,80,80,A1,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =Mb?Mb?=L=< =<)9I9y=I +?l?==9<== =aaae#Haayma;}m>Iq }:u'5? }:u۾ u/? ?@9u}AuV: u_:)u:WWX X W X I)= === =k:Y=V1y=:=;6:W2WQ*WYVYbUaBUa*UiUiU@C@BIBQ BQA]&*BYAaAaAaAa"C*CRCCCI)סIG>eg,j|gFAY}6@}6_ @y}6D}6Iͽ}6H@ka`!tɕ?@@+?=K˿h]?1@A?)~6@ ~6 ];I~6CY^=?ybFrNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )Ii;H;M=YQU?a#H!y%}-?I)-5?-'۾ -x? =?@9-A-k: -:))WYWYXa XaWaXa:Wa2Wa*WiVibUiBUi*UiUqUu@BB BA*BAAAA"C*CRCCCבIG= 9 I Fi ? = d; OE^O,EgFAY}Ra@}R @y}R$6}R}RH`H` pp_?D?Y`ʿ?㷼4J?)~Ra@ ~R\;I~PY^2?y^sFbxDUSBL response received:!U1,R,439,000,002AF,189,80,80,AA,FF bFpublishing direction and range infobjq`ɰba=` `)b*CI`ybn@bˮZ?ٱ`vMv_=Yzz=QUz>x|a~#H|y}>I  : $5? : ۾  ? ?@9 A ; ;) :WaWaXa XaWaXa:Wi2Wi*WiVibUqBUq*UyUU`ȑ@R(Combining 5 samples.P*Qn@ZQ:'2x@ iJsJQˮZ?2Qjq:QbQ6|?fAB$ @xs -?RQK?>/?!?BQј? Q"Y@Q?PI9?PJ9?PQQ"@"Q@BB BAa*BAAAA"C*CRCCC IG5 >- --- -:Y-U1y-:-6)-X;95{,*gFAY}v 4@}vO @y}v4$'}v}vH@7?1;?`U`Sǿ?jPp?)~v 4@ ~v/[;I~tY%?y%XFTNmea in: $SNTTA,0.247360,,,,230709.95*47 JM:=Y=QU>a#HHy\<} >I{5?۾ ? ?@9A^: :)mmAdded new target pos. range: 3.720000 m, bearing: 68.405103 deg, deltaT: 4.396024 s, approachRate: -0.013648 m/s, LOS rate: 1.432012 deg/s, posRepo size: 4XWј?WX XWX:W2W*WVbUBU*UU @U@?BiBq BqAul*BqAqAyAyAy"Cɍ?RCCј?C׽?i׽?שIG;>i=a,ɇgFAY-?y-}F 鿹    @ @ @i )Ii /M -=YQU>a#Hy%}%>I) 5:-Ũ5? 5:-۾ -? 5?@9-A-^: -w:)-:WWX XWX:W2W*WVbUBU *U U U%@g?BIBQ BQAUŅ*BQAQAQAYAY܉9܉I܉i܉܉܉܉܍&; ݍ.E"C۷?RCCC- --- -g:Y-WU1y-:-6)-;׹IGf>,#gFAY}n@}n0 @y}nc.}n݊}nH@]&@? S?`-F`ƿ`?@CLw?)~n@ ~n'[;I~lYz?yzF5Cl绿v/y&1|?5;߽5x 5`;)1I1y5{Gz?J +5#<5H5 5:A)5UAI55Ai115IAU;MUj=YUןQU]>YYa]#HYaymۧ}m>Iquҩ5?u۾ uG? }?@9uAu÷: u˵:)qWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C5͗?RCCCIG>,gFAY}:Ӳ@}:\@y}:r+}:8}:H@]??@ſO_?Ǧń?)~:Ӳ@ ~:PD\;I~:CY^v?ybbF)) )] M]]=Ye%;QUe>aaam#Hiiyu4}u>Iy}5?}۾ }u? ?@9}A}9; }@;)yWWX XWX:W2W*WVbUBU*UUUx?BB BAЅ*BAAAA"C ?RC C C1IM\A)I)I1GU>-: --- -u:Y-U1y-:-695@܉ 9܉ I܍ Fi܍ a?܍ =܉ ܉ ܍ ; ݍ 'E ,gFAY}6@}6x@y}6}6<>}6H`yI@Al??`DFMÿ>? 5̢?)~6@ ~6S\;I~6CY ?ytFI=)=    @ @ @i )Iiz ;MB=YFa#Hy}>I  :@5?  :Q۾ ? ?@9GA: V:):W1W1X1 X9W9X9:W92W9*WAVAbUABUA*UAUIUM %V@BB BAɅ*BAAAA"Cј?*CRCC C  IG5 > ,h1gFAY}6v@}6@y}6S}6k)}6H@D/P??@M7¿@%?M?)~6v@ ~6)Z\;I~6CY^?ybFKMO=Yk=QU>a#Hy2}>Iy5?۾ А? ?@9oA6H; H;)WWX XWX!:W!2W!*W)V)bU)BU1*U1U9U=@ByBy BA*BAAAA"C*CRCCC IG1-j --- -e:Y-T1y-:-6,CKgFAY}6@}6C@y}6ϔ}6S$}6HHL?`?jÿ`?X՟?)~6@ ~6\;I~6CYB?yBFDF@APPV;MV[=YZXXaZ#H\\yb;}b>Id j:f5? j:f۾ f? j?@9fAf: f9:)f:W|W|X| X|W|X|:W2W*WVbU BU *U U U `z@RB*** querying acoustic contact ***PPB9BA BAAE*BAAAAAAIAI"CI*CQRCQCQCQm?im?QIaG}=)9-CI-8Fi-?-=))-*; --E)ńCIńCiń=ń=ń)6-=i-=>,>egFAi:nmGIDiPf߿ٺdfAYz?yzF~Z****** received transponder code query ******~F****** received ping request ******~a #H  y}>IY]:5?]۾ ]T? e?@9]A]: ]?)YWWX XWX:W2W*WVbUBU*UUU`E @B)B) B)A-*B)A1AIAIAI"CQ*CYRCYCYCY%5 %%%y %ڄ:Y%WU1y%:%6)I9GeV>,f~gFAY}2d@}2@y}2!}2؛}2H@f_‘?@?@e`\,ƿ?`k8 ?)~2d@ ~2I[;I~2CYB?yBuFFxDUSBL response received:!U1,P 439,000,002AF,189,80,80,AA,FF FCommand AckFBRequesting micromodem ping code 2iDDNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @éééiéé ĩ)ĩIĩiĩQ$M\=Y*KQU%>))aU#HQYye}m>Iȱŵh5?ŵ$۾ Ƶ? ?@9ƵAǵ: ȵg?)ȱW W X  X WX:W2W*WVbUBU!*U!U!UM @BB BA0*BA!A!A!A)"C1*C9RC9C9CiׁIG^>) 9) I- Fi- ?- =) ) - -; ) %,ԘgFAY}6IK@}6f@y}6P}6}6H gy'r?y?0`jſi?3E?)~6IK@ ~6[;I~6CYf?yfFja=ɮjp=zNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Me=Ya#Hy}?Iȹ :Žw5? :Ž۾ ƽӑ? ?@9ƽAǽ: Ƚ>?)Ƚ:WWX XWX:W2W*WVbUBU*UUU@Z5@BB BAh*BAAAA"C*CRCCC IG5 >I)AA5Y 5}5}5u 5)x:Y5kS1y5Ԋ:5E6)5;9=,,YgFAYK?yҋFxDUSBL response received:!U1,R,502,000,002B2,18A,80,80,B7,FF Fpublishing direction and range infof3ɰb=> )7CIyy@w?amf-ٱ E E E E@ E@ E@ EAAAiE?A E?)Ev?IEv?iAUM]>=Y]QU]>aaae#HeHiym}m>Iquͳ5?u۾ u!? }?@9u?Auީ: u%?)qW9W9XA XAWAXA:Wa2Wi*WiVibUiBUi*UqUqUu:@R(Combining 5 samples.P*Qy@ZQ=A?a;% JQw?amf-2Qf3:QbQRc@e8 @iR?RQa0?@$c?Fˌ?BQ?{? QM@Q@PK9?PI9?PQQK@"Q"@BB BAۆ*BA!A!A!A!"C)*C)RC)C)C19IAGe4>\2,̈gFAY}F9@}F.@y}F}F&E}FH w`h?h߿ׄʿI?Jȿ`E'?)~F9@ ~Fy\;I~FCYR?yRF%TNmea in: $SNTTA,0.364350,,,,230714.35*42 MS=YU=QU>a#HyD=}>I5?۾ ? ?@9fA}: @)m-mAdded new target pos. range: 3.899999 m, bearing: 56.372772 deg, deltaT: 4.511549 s, approachRate: 0.039897 m/s, LOS rate: -2.667007 deg/s, posRepo size: 4X)W5?{?W1X1 X1W1X9:W92WA*WAVIbUIBUQ*UYU]23@Ue$?BB BAJ*BAAAA"C?RCC?{?C)I9G]>9IFi}?=; E---- -l:Y-o1y-I:-6)-<)9,3ngFAY}2e@}2@y}28}2P~h}2H`0 f?t߿"ο@?`f̿?)~2e@ ~2kr];I~2CY^?y^Fa ia i a ma m a qa q a ea e p= ףy&1A`"?`e Y=)Iy+?{Gz?Mb?=ף<= ;A)SAIiO[AGA^ANMF=Y8QU>a#H!y%F<}->I15m5?5۾ 5? =?@95A5: 5:)1WYWYXa XaWaXa:Wa2Wa*WiVibUiBUi*UqUqUu /?BB BA*BAAAA"CҐ?RCCCIG>@,AgFAY}2l@}2@y}2v"}2Ֆ-}2HPCͯ ? ߿J̿8?`Rſ*%?)~2l@ ~2\;I~2CYZ?yZÇFa=ia= u u u }@ }@ }@ }@qqqiuq u)uIuiq>6MT=YQU>a#Hy}>Iȩ :ŭ5? :ŭ۾ ƭ0? ?@9ƭAǭb: ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUU'y?BB BA*BAAAA"C ?RCCCIG- >- --- -X:Y-DW1y-Y:-695@ 9 CI PFi 8? = ; E9F,gFAY}2;@}2V@y}2}2}2H@_~W@?@`ƿ#? [4с?)~2;@ ~2[;I~2CYNw?yRF]ӔM]M=Yeaaam#Hiiym\}u>Iy}ְ5?}\۾ }? ?@9}A}: }:)yWWX XWX:W2W*WVbUBU*UUU _?BB BA*BAAAA"C?RCCCIG=fL,4gFAY}N@}N@y}NU]}N/M}NH{H? F?`>Y1V? Qg+?)~N@ ~N];I~NCYZ?y^F)% > %>    @ @ @ñññiññ ı)ıIıiı$MD=Y8=QU>a#Hy+<}>I :5? :۾ =? ?@9A8: :):WWX XWX:W2W*WVbU!BU!*U!U!U%?BQBQ BQAU*BYAYAYAYAY"Ceo?RCaCaCiI}]A)yQIiG=%I %%% %:Y%^1y%a:%6nMS,MgFAY}64@}63P @y}6ZU}6Ժ}6H@B?`?@cտ?CMZg?)~64@ ~6Z_;I~6CYNU?yNكFI|)|I 4=) C==M=T=Y=AAaE#HAIyM g=}M>IY]5?]۾ ]? e?@9] A]@: ]n:)YWWX XWX:W2W*WVbUBU*UUU5 }@BYBY BaAe*BaAaAaAaAa"Cm+f?RCqCqCqiIqG=q9qIu0Fiu$?u=qqu; uEuY,ͭggFAY}:"@}:D> @y}:T}:Y}:H@ ? #S?4`AMz?hي~?)~:"@ ~:D^;I~8YNK?yN5FTVAAU:v?e;OοI +UTyya#Hy=}>Iȑ :ŕU5? :ŕ۾ ƕۥ? ?@9ƕAǕ: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU$@RB*** querying acoustic contact ***PPBB BA[*BAAAA"Ca?RCCCIG>Eu EEEh Eez:YEDW1yEY:E6]`,舁gFAY}6&@}6 @y}62}6m}6HXMx?N?L `:Ŀ@? ?)~6&@ ~6|];I~6CB`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ) IY-?y-F5Z****** received transponder code query ******5F****** received ping request ******5a#H y xG} >I]5?۾ ? ?@97A5: o:)WAWAXA XAWIXI:WI2WI*WIVQbUQBUQ*UQUQU]J @BYBa BaAe|*BaAaAiAiAi"CuCe?RCqCqCq׭?i׭?qIG>i 9i Im HFim ?m =i i m ; m E)Ii==*6f,kgFAY}2J@}2@y}2;}2 }2H ??ſ`[?r?)~2J@ ~2|w];I~2CɫAA)A AIIYu:?yuRF}xDUSBL response received:!U1,P 502,000,002B2,18A,80,80,B7,FF }Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 (M=YCQU?a#H!1yEG}M?Ii :m5? :m۾ md? ?@9mGAm< m<)m:WWX X)W)X):W12W9*W9V9YeCi/mGbUBUIi1eܿٺaeA*UaUiUm Ƌ @BB BEq EEE E?:YEX1yE/:E 6)E;9UA*BYAaAaAaAi"Cd@n?RCCCIG%>l,)?gFAY}6@}6@y}6L2}6{s}6H <++?i?w@ƿ@,?`u?)~6@ ~6?];I~6Cɫ99)9 9I9Y}y?y}ۀF鮅p=ɮ=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M M M M@ M@ M@ MIIIiM?I MK?)IIIiI%YM8=Y}!!a%#H%H)y- }5>I9=˱5?=۾ =¬? E?@9=[A=: =:)9WaWaXi XiWiXi:Wi2Wq*WqVqbUqBUy*UyUyU}q"@BB BAO*BAAAA"Cl!x?RCCCסIG >Ǚs,7ωgFAY}6e@}64 @y}6 .}6s(}6HIB?^TͿu?Ŀ@?)~6e@ ~6Ea;I~6CɫII)I IIIY}t?y}PzFxDUSBL response received:!U1,R,502,000,002AE,188,80,80,BD,FF Fpublishing direction and range infoɰ`=鰅> )=CIy=j@w?amf-ٱI)AI)AI=)=)í= í=LMd=Y>a#Hy*<}>IX5?'۾ ͮ? ?@9iA: :)WWX XWX :W 2W *W V bUBU*UUU@@R-(Combining 5 samples.P)*Q-=j@ZQ-s:@?apuV JQ-w?amf-2Q):Q)bQ-@t??Տ@gd?RQ- 1?H5L?pP?BQ-8? Q-@@Q-I?P)P-K9?P)Q)Q-@"Q-K@BYBa BaAeЌ*BaAaAiAiAi"Cu"?RCqCqCyQIiG=9IFi@?=; E---- -l;Y-w1y-:-36)-Vf<)y,gFAY}j@}j @y}js?}j}jHSUL`a#Hy<}>Iȡ :ťA5? :ťC۾ ƥ? ?@9ƥAǥ: ȥ:)ȥ:mmAdded new target pos. range: 3.660000 m, bearing: 57.395241 deg, deltaT: 4.394413 s, approachRate: -0.054615 m/s, LOS rate: 0.232675 deg/s, posRepo size: 4XW 8?W X  X W X :W 2W*WVbUBU*UUG @U?BIBI BIAM*BIAQAYAaAa"C}-d?*CRCC8?CyIG^>ʫ,gFAY}: x@}: @y}:O^}:CFE}:H`<zTئ(?ҿ#?ǿ@?)~: x@ ~:d;I~8ɫ99)9 9I9Y}$?y}wwF    @ @ @ @éééiíé ĭ)ĩIĩiĩj<MX=YQU>a#HyP}>Ig5?۾ -w --- -z:Y-U1y-:-695@ >9 I HFi ? =   ;  EՆ,ɫgFAY}6f@}6@y}6^o}6}6H`kt_?x?@$X@*ο?@ ?)~6f@ ~6g`;I~6Cɫ99)9 9I9Y}?y}@wF^AiMV=Y8QU>!!a%#H!)y-l}->I1 =:55? =:5۾ 5l? E?@95A50: 5^:)5:WWX XWX:W2W*WVbUBU*UUU ?BaBa BaAep*BaAiAiAqAq"C*CRCCC׭?i׭?ׁIG>,b6gFAY}6c?@}6Z@y}6'v}6?ܻ}6H`g?_?rʿNy?zE?)~6c?@ ~6ba;I~6CɫII)I IIIY}?y}uF    @ @ @i )Ii5M5-=Y5RQU=>AAa#Hy}>I5?۾ ? ?@9A: v:)W)W)X) X)W1X1:W12W1*W9V9bU9BUA*UAUIUM"~?BB BA*BAAAA"C*CRCCC5555 5:Y5xZ1y5q:5s6ׁIGc>,dPgFAY}6@}61@y}6P }6 =}6H6߿C@m0?ʍ?@R!ɿ&???)~6@ ~65a;I~4ɫ99)9 9I9Y?yDsFU,`=jgFAY}:@}:6@y}:}: }:H߿`î@?@_?3߿|ѿ@Vy? 3?)~:@ ~:fi;I~:Cɫ99)9 9IAY]?y]nFI)y&1?V-?ʡE?`e<m= =)IyMb:v)\(TGa 5HA)-RAI0Ai=tAOA)õ= õ>苽MD=YpQU>a#Hy.:}>Iͯ5?۾ 0? ?@9LA: ÷:)W!W!X) X)W)X):W12W1*W1V1bU9BU9*U9U9UEҬ@BiB BA(*BAAA)A1"Ci*CqRCqCyCIGE>- --- -:Y-[1y-ݏ:-6,agFAɫyy)y yIY?yhF@A    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ˽ML=YQU>a#Hy}>Iȹ :Žr5? :Ž۾ ƽw? ?@9ƽzAǽ: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU`c@R B*** querying acoustic contact ***P P B)B1 B1A5n*B1A1A1A9A9"CA*CARCACACAIIQGu>ܱ 9ܱ Iܱ iܱ ܱ ܱ ܱ ܵ ; ݵ E$,gFAY}2r@}21@y}2Ǫ}21J}2H`ݿ [<5T?@L? Zݿ տ ?`]躿 w ?)~2r@ ~2T a;I~2Cɫ99)9 9I9Y}G?y}hFZ****** received transponder code query ******F****** received ping request ******a#Hẙ}>I   5? ?۾ ? ?@9 A 6; ;) WAWAXA XAWAXI:WI2WI*WIVIbUQBUQ*UQUYU] @BB BA\*BAAAA"Cq*CyRCyCyCyiIyG>E EEE EL:YEd\1yE:ED6)E;9MKQ,۷gFAY}~@}~l@y}~D}~υ<}~Hqܿ i^??@Oݿ`iiԿؙ?,!?)~~@ ~~H2`;I~~Cɫ) IY-?y5fF=xDUSBL response received:!U1,P 502,000,002AE,188,80,80,BD,FF =Command Ack=BRequesting micromodem ping code 2i99E=iE=MNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 y}A•]A‘ - 5 5 5@ 5@ 5@111i11 1)1I1i1KM&=YرQU>a#HHyF}>I5?t۾ m? ?@9Ak6< 6<)WWX XWX:W2W*WVbUBU*UUUw@BiBi BiAu*BqAAAA"C*CRCCC)I9G]>5,mъgFAY}2}@}2@y}2}28f}2H@9ܿ&^@?ً?ݿ@-Կ*?F+?)~2}@ ~2Z`;I~2Cɫyy)y yIyY?ydFɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B MؿMMy=YUQUU?YYa]#HYaye嗼}e ?Ii :m;5?  :m۾ m ?  ?@9mAm< m <)m:W1W1X1 X1W1X1:W92W9*W9V9bU9BUA*UAUAUE@M@Y9YI]؋Fi]T?YYY]; ] E)Ii== 5BB BA/*BAAAA"C*CRCCCשIG#>---- -:Y-\e1y-:-_"6)-a;i ]nGI i Fٺ }Ay`,gFAY}2@}2y@y}2U}2^}2Hܿ|¾?`]?ܿ@տ?\@o?)~2@ ~2 d;I~2CɫYY)Y YIYY?ywbFxDUSBL response received:!U1,R,502,000,002AF,18A,80,80,BE,FF Fpublishing direction and range infoɰa=鰥> )>CIyn@w?amf-ٱMZd;?)\(̿ʡE?M~>MGa I)IIIyMT㥛 V-X9vMMhM MIA)M]AIM-AiM=AIMpYAmMmH=YmQUm>qqau#Hyyy}%<}>IȁŅݸ5?Ņy۾ ƅZ? ?@9ƅDADžY: ȅA:)ȁWWX XWX:W2W*WVbUBU*UUU@R=(Combining 5 samples.P9*Q=n@ZQ=o$?7U JQ=w?amf-2Q9:Q9bQ=|bVU@).n@t ?RQ=.R{?^hU?Qp?BQ=_f? Q=6@Q=@P=L9?P9P9Q9Q= @"Q=@BB BA*BAAAA"C*CRCCCסIG >I,sfgFAY}2@}20@y}2pAþ}2-}2Hlܿ~y??`d)?``ܿvֿ?@,?)~2@ ~2>h;I~2CɫYY)Y aIaYI?ycF}TNmea in: $SNTTA,0.060780,,,,230723.30*4D Iy)yI4=)%=)Õ> Ñ    @ @ @i )Iix<MB=YMQU>a#Hy;}>I  : 5? : ۾ _? ?@9 A [: :) :mmAdded new target pos. range: 3.720000 m, bearing: 51.560555 deg, deltaT: 4.479138 s, approachRate: 0.013396 m/s, LOS rate: -1.302636 deg/s, posRepo size: 4XW_f?WX XWX:W2W*WVbUBU*UU @U6?B1B1 B1A5[*B1A9A9A9AA"CMxz?RCQCU_f?CYaIqG?>  3:Yb1y:69@Q 9Q IU FiU ?U =Q Q U M; U CE;r,O;gFAY}:@}@}:ɘ@y}:'˾}:L[I}:Hۿэ'?@[?ܿ@4f׿@?@|0lu?)~:@}@ ~:Xb;I~:Cɫ99)9 9I9Y}?y})hFE4=MEV=YE6QUM>IIaM#HIQy]즼}]>Iae5?eh۾ e? m?@9eAeԳ: e$:)aWWX XWX:W2W*WVbUBU*UUUh:?BB BA*BAAAA"CK&q?RCCCIG>B, 9gFAY}28@}2S@y}2Tо}2%m}2H`Pdڿt?@(D?(ۿ#׿`K?젿*`?)~28@ ~2`;I~2CɫYY)Y YIYY?yjF=.=M=K=Y=QUE>AAaE#HAIyMI}U>Iȩ :ŭ5? :ŭ۾ ƭ? @@9ƭAǭg: ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUU^ l x:YP^1y:N6,PSgFAY}zR@}zm@y}zҾ}zg#}zHZٿA?g?@\ڿ(ؿo?`X Q?)~zR@ ~zq+^;I~zCɫ) IY ?yYoFm=im4= y}A…^A9IFi?=; %E % % % -@ -@ -@!!!i!! !)!I!i!=T=M=;=Y=QU=>AAaE#HAIyMX}U>IQU"5?US۾ U҄? e@@9UJAUg: U:)QWWX XWX:W2W*WVbUBU*UUU ?BB BA *BAAAA"C*CRCCCIG$>a,lgFA|i|@ɫ髉) IY,?ynlFMbX?ktƿMbP> 0 )Iy~jta#Hy}>I5?=۾ ? @@9QA: :)WWX XWX:W2W*WVbUBU*UUUaN@BB BA*BAAAA!"CA*CIRCICICQAIQGu6>  :YW1yč:6/,gFAY}N|@}N@y}Nؾ}N}NHTٿ@Bt?@3?`{ؿcۿd6? f?)~N|@ ~N4e;I~NCɫyy)y yIyY?ynFU=M]R=Y]QU]>aaae#HaaymS<}m>Iq }:u5? }:u۾ u|? @@9uXAu$: u:)u:WWX XWX:W2W*WVbUBU*UUU`B@BB BA0*BAAAA"C*CRCCCIG> 9 I pFi M? =   ;  E,gFAY}2q@}2@y}2߾}2/B߽}2Hٿ@'& \??ٿ :ۿ@?T;??)~2q@ ~2\d;I~2Cɫ99)9 9I9Y}p?y}rF?A)Ý= Ý=    @ @ @i )Ii=MQ=YQU>a#Hy -<} >I5?۾ ?v? @@9`A0: ^:)WWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB9B9 B9A=Q*BAAAAAAAAA"Ci*CiRCqCqCqIׅ\A)ׅ]AׁIG> s M:Y[1yH:6)a;9,\gFAY}6Q@}6l@y}65侙}6fȽ}6H /ٿ> {{??[ٿxۿH?5`?)~6Q@ ~6_;I~4ɫ99)9 9IAY}?y} vFZ****** received transponder code query ******F****** received ping request ******QQaU#H]HYy]\}e>Ia m:eF5? u:e۾ e`o? u@@9ehAe: e:)e:WqWqXq XqWqXy:Wy2Wy*WyVybUBU*UUU @BB BA*BAAAA"C*CRCCC !I1GM1>Y,;9ԋgFAY}6K@}6g@y}6S޾}6}6HPؿ@^Z?S?@^ٿPڿ`n?`0@U?)~6K@ ~6];I~6Cɫ99)9 9I9Y}?ywFxDUSBL response received:!U1,P 502,000,002AF,18A,80,80,BE,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =,<MEK=YU=QU]>iqa}#Hy>9IFiv?= ; )Ey}>Iy}5?}۾ }g? @@9}rA}Ϟ< }<)yWWX XWX:W2W*WVbUBU*UUU  @%@%%% %:Y%f1y%j:%`6)%/;BB BAN*BAAA A "C1*C1RC9C9C9M?iM?) I9 G] >,gFAY}2@}2&@y}2׾}2{1S}2H[ؿS@T?Љ?nٿ` $ٿ`.? `&)?)~2@ ~2];I~2Cɫ99)9 9I9Y}?y}uyF鮁ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Mb@Mb@Mb@ )IyQ㥛 ̽ LA)bfAI+AiAdA]A]A    @ @ @ ÙÙÙiÝ?Ù ĝ?)ęIĝ?iĝA?<M'=Yza#HyuG}>I! -:%T5? 5:%۾ %\? 5@@9%A%: %:)%:WqWqXq XyWyXy:Wy2W*WVbUBU*UUUz@BB BA*B!A!A!A!A!"C)*C)RC1C1C1I!GEs> ,gFAY}Fq*@}FE@y}F ؾ}FDS}FH@;ؿ|`/?z? F׿ڿJ?`tS|?)~Fq*@ ~F^;I~Dɫ髁) IYS?ya{FxDUSBL response received:!U1,R,502,000,002B0,189,80,80,BA,FF Fpublishing direction and range infoɰqa=鰽7> ):CIyq@w?amf-ٱ=M\=YQU>a#Hy.<}>I5?۾ S? @@9A|: :)WWX XWX:W2W*W!V)bU1BU9*UIUQUU?@Re(Combining 5 samples.Pa*Qeq@ZQeE5j?.\Ux3 JQew?amf-2Qa:QabQeXsg@lu@?RQeGjd1,?&P?X?w!?BQe O? Qe(@Qe @PeM9?PeL9?PeQaQe(@"Qe @BB BA*BAAAAAAA"CQ*CQRCYCYCסIGd>U UUU U:YUU1yU:U69]@ܕ>9ܑIܕНFiܕE@ܑܑܑܕ; ݕE)!I!i!%=%=%S5, !gFAY}v@}v@y}v9۾}vN1}vHؿ}?Q?۷ֿQqܿ`ʢ?Ŀ`?)~v@ ~vLg;I~tɫ) IiUnGIaY]?ym)}Fiy5ٺATNmea in: $SNTTA,0.005430,,,,230727.73*45 M_<MMR=YUwyQUU>QQa]#HYYye<}e>Ii u:m5? u:m۾ mJ? u@@9m=AmN: m:)m:mEmAdded new target pos. range: 3.779998 m, bearing: 46.506516 deg, deltaT: 4.482226 s, approachRate: 0.013386 m/s, LOS rate: -1.127574 deg/s, posRepo size: 4XAWM O?WIXI XIWIXI:WI2WQ*WQVQbUQBUY*UYU]o=@U]@?BB BA<*BAAAA"Cn~a?RCC O?CI]A)׹IGE>8,;gFAY}62f@}6@y}6׾}6}6H ؿ@3{?@s?v׿ @GۿX0?lP@v?)~62f@ ~6b;I~4ɫ99)9 9IAY}?y}zF)= = = = = =@ =@ =@999i= ?9 =)9I=i=?M%MM]=YMQQa]#HYYye+}e>Iimb5?m۾ mA? u@@9mAm: m#:)iWWX XWX:W2W*W!V!bU!BU!*U!U)U-?BB BA*BAAAA"CwX?RCCCIG (>e^ eee ex:YeY1ye:e{6_ ,|UgFAY}6@}6}\?y}6;}6\}6H ?ؿ`o@0??`:ؿtؿ?`@d?)~6@ ~6s_;I~6Cɫ99)9 9I9Y?y~F99=CI=`Fi=@==99=; = EU r=MUJ=Y] L=QU]>Yaae#Haaym}}m>Iqu5?u۾ u7? }@@9uAu: u8:)qWWX XWX:W2W*WVbUBU*UUU ?BB BA*BAAAA"C bS?RCCC׉IG>J,[ogFAY}:@}:H?y}:m6}:s|}:HؿW ??6? ʃٿ@տ`?@BK?)~:@ ~:|^;I~:Cɫ99)9 9I9Y}7?y~F=/$?p= ף?V-===> =m)=I9y=V- ףp= y&1==Q=` = DA)=?oAI=,Ai=A9=cA       @  @  @   i ?  ) I i ?H;M1=Y%T=QU%>!!a-#H))y5m}5>I9 E:=|5? E:=!۾ =/? M@@9=@A=: = :)=:WiWiXi XiWiXq:Wq2Wq*WqVqbUyBUy*UyUyU y?BB BA*BAAAA"C O?RCCC?i?IGG>U y !:Y`1y:6m3",.;gFAY}69@}6?y}6}6Q$}6H +ؿ@U?z?̏ٿԿ`k*?D?)~69@ ~6^;I~4ɫ99)9 9I9Y}?y}-F ^A(=Mr=Y=QU?!a%#H!!y-}-?Iȑŕ5?ŕ4۾ ƕ)? @@9ƕAǕk: ȕw:)ȑWWX XWX:W2W*WVbUBU*UUU`?BB BAƊ*BA A A A "C*CRCCC)I1GU>999I=Fi=E?==99=; =Ez\(,gFAY}2\v@}2#?y}2}2}2HؿM+4?`i?ٿIԿg?x $?)~2\v@ ~2d;I~2Cɫ99)9 9IAYE`?yM}Fr=ML=Y_=QU>a#H y k<} >I :)5? %:g۾ #? %@@9 A: :):WAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU] @BB BAՉ*BAAAA "C*CRCCC IG=>  :Yg1y@:6)];9=.,9gFAY}6'@}6B@y}6I}6)Ž}6Hlhٿ%T7?v?'ؿCdտv?@s@?)~6'@ ~6d;I~6Cɫ99)9 9I9Ya#H%H!y%<}->I)-5?-۾ -? =@@9-A-: -:))WYWYXa XaWaXa:Wa2Wa*WiVibUiBUi*UqUqUu@R}B*** querying acoustic contact ***PPBB BA_*BAAAA"C*CRCCCI\A)׉IG=ao5,֌gFAY}:@}:C@y}:L}: }:Heٿ,_Xz??@d ؿ ԿZ?ƿ@=?)~:@ ~:2c;I~:Cɫ99)9 9I9Y}3?y}aFZ****** received transponder code query ******F****** received ping request ******9I@Fi?=<D; ޓEIC=)4=)Õ> Õ>=MA=YBj=QU>a#Hyt}>I :%5? : ۾ ?? @@9A!c< c<):WWX XWX:W2W*WVbUBU*UUU8 @B B BA*BAAAA"C!*C!RC!C!CIaIGA>5/ 555 5:Y5xZ1y5q:56)5`;;,MgFAY}FU@}FM?y}Fd}F5]ٽ}FH`m ٿ`TmW?7? rHؿ6ҿ`+? '?)~FU@ ~FRb;I~FCɫ髁) IY?y FxDUSBL response received:!U1,P 502,000,002B0,189,80,80,BA,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 kt?5^I ӿkt? 0>  0=)IyRQ+?~jt½=D +EA)5ZAI+AixApUA    @ @ @i )Ii@=M=Y>p=QU>a#H y }>I35?۾ ? -@@9]A ; F;)WWX XW!X!:W)2W)*W1V1bUYBUa*UaUiUm @B)B) B)A-ˈ*BIAQAQAQAQ"CY*CYRCYCYCaו?iו?i Iq G >B,~ gFAY}:E@}:?y}:灾}:!}:H@;ٿeR?@J? ؿп@?R?)~:E@ ~:'_;I~:Cɫ99)9 9I9Y}?y}F鮅a=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =M=Y=QU?a#HyP}?Iȱ :ŵ;5? :ŵX۾ Ƶ? @@9ƵAǵ$: ȵs:)ȵ:WWX  X W X :W 2W*WVbUBU*UUU,@BABI BIAMr*BIAQAQAQAQ"CY*CYRCYCYCaIG$>9IxFi?=;DW; Eu6 uuuf u_u:YuU1yu:u6)u9;H,Y$gFAY}6Q@}6?y}6su}6r]}6H@]ٿW M?Ra? ISٿο|c? ժ1 ?)~6Q@ ~6x^;I~6Cɫ) IY 4?y FxDUSBL response received:!U1,R,502,000,002AF,189,80,80,B3,FF Fpublishing direction and range infoɰa= )3CIyn@w?amf-ٱ 119=]AE<ME2=YMWIIaU#HQQyUs:}]>IaeH5?e۾ e ? m@@9eAe: eo:)aWWX XWX:W2W*WVbUBU*UUU@@R(Combining 5 samples.P*Qn@ZQo$?7U JQw?amf-2Q:QbQh3cd@5rH@*?RQ\zu??B>2O?BQY? Q0@Q&@PPM9?PQQ@"Q(@B B  B A !*B AAAA"C*CRCCC!1IAG]T>vN,;>gFAY}V@}V@y}Vmnm}Vj{}VHٿ`:zL?NQ?@ٿͿ@i??)~V@ ~Vwe;I~Tɫ髹) IY?y F]TNmea in: $SNTTA,0.078838,,,,230732.18*42 = = = =@ =@ =@999i99 9)9I9i9MwF<MM[=YUQYa]#HYYye<}e>Iim[5?m۾ mG? u@@9mU,4XgFAY}2@}24?y}2Va}2Ž}2HٿC?@l?*hٿ@qͿ@?3 ?)~2@ ~2b;I~2Cɫ99)9 9I9܅>9܅CI܅ Fi܅?܅=܁܁܅; ݅E)CICi==Q,6Y?yFG<MS=YXa#Hy }>I :p5? :۾ ? @@9A9: :):W!W!X! X!W!X!:W!2W)*W)V)bUBU*UUU@?B!B) B)A-*B)A)A)A1A1"C5Y?RC9C9C9aIGB>G imG :Y]1y:6I);i%ٺA[,qgFAɫqq)q qIqY?yFIR=)=Mb?Mb!a%#H!!y}>IȱŵJ5?ŵ۾ Ƶ? @@9ƵAǵb: ȵ:)ȱWWX XWX!:W!2W!*W)V)bU)BU)*U1U1U5?BB BĂ*BAAAA"C*CRCCC׹IGg>b,ƋgFAY}6XE@}6?y}6;}6W,v}6H^ؿ ?c?uؿqwȿ]?<g?)~6XE@ ~6z];I~6Cɫ99)9 9I9Y)?y[F%o<M-q=Y5=QU=?AIaM#HIIyU}U?IY e:]5? e:]8۾ ]"? m@@9]A]p: ]$:)]:WWX XWX:W2W*WVbUBU*UUU y?BB BA*BAAAA"C*CRCCCIIQGm>- --- -:Y-DW1y-Y:-!695@}]A}^A܁9܁I܅Fi܅a?܅=܁܁܅; ݅Eh,ZgFAY}:u@@}:?y}: ,}:R鏽}:Hdؿ0FO?`?@3aؿ+ǿi? x?)~:u@@ ~:U\;I~:Cɫ99)9 9I9Y}k?y}Fe.=MmF=YmN=QUm>qqau#Hqyy}>}}>IȁŅ65?Ņ۾ ƅ ? @@9ƅADž: ȅ:)ȁWWX XWX:W2W*WVbUBU*UUUA?BB BA*BAAAA"C*C RC C C IG>"o,t|gFAY}6@}6 h?y}62$}6:9}6H ٿ`XnS|?9ؿ.ƿ@|?ka~?)~6@ ~6b;I~4ɫ99)9 9I9Y}?y}tF  ^A ^A    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉR<MG=Ya#HHyV<}>Iȹ :Ž5? :Ž|۾ ƽ ? @@9ƽ=Aǽ: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU;@B)B) B)A-Ʌ*B1A1A1A1A1"C9*C9RC9CACAIIYG}>-d --- - y:Y-WU1y-:-6 v,~WٍgFAY}6@}6?y}6#!}6}B}6H/ٿjIz`? ؿ -=ƿ?W;?)~6@ ~6.d;I~4!9!I%Fi%?!!!%K; %Eɫ99)9 9IAY]Z?y]*Faan=M\=Y;QU>a#Hy#;}>IR5?۾  ? @@9fAV; ÷;)WYWYXY XYWYXa:Wa2Wa*WaVabUiBUi*UiUiUu@RB*** querying acoustic contact ***PPBB BA*BAAAA"C *CRCCC)IQG%>4|,2gFAY}:d?@}:ڵ?y}:q}:N⋽}:H@ؿ@}s?@yؿĿ6?UG?)~:d?@ ~:E_;I~:Cɫ99)9 9I9Y}P?y}FZ****** received transponder code query ******F****** received ping request ******`e< `)Iyy&1|?~jt{Gz?`;ļף< =>A)I5AiaA } } } }@ }@ }@yyyiyy y)yIyiyTM#=Ya#HyS}>Iȩ :ŭ 5? :ŭ۾ ƭ? @@9ƭ~Aǭ: ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUU @BB B!A%Z*B!A!A)A)A)"C1*C1RC1C1C9- --- -on:Y-T1y-:-69IIGeU>1, gFAɫy髁) IYt?yאFxDUSBL response received:!U1,P 502,000,002AF,189,80,80,B3,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=))5= 1]zN=Mev=YuQU}?a5#H1IyM}U>IQU5?Ux۾ U? m@@9UAUs; U;)QWIWQXQ XQWQXY:WY2Wa*WVbUBU*UUU@ @BB BAф*BAAAA"C*CRCCCיIGf>191I1i15=115; 5E&J,&gFAY}2"@}2>|?y}29}2>}2Hؿ,}Rj?@??Ŭؿ`W7`5?z ?)~2"@ ~2[\;I~2Cɫ11)1 1I9Yu4?yuMF}p=ɮyNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B  j<MG=Y=QU>a#Hy}>IȩŭW5?ŭ/۾ ƭ? @@9ƭAǭ: ȭ^:)ȩWWX XWX:W2W*WVbUBU*UUU@BB BA%*B!A!A!A!A"C*CRCCCסIG!>%D %%% %}v:Y%V1y%:%6)%0;9-2,@gFAY}j@}jH?y}jƆ}jMo:}jHؿ 4Etq?C?ؿD=~^?`!?)~j@ ~jFl\;I~jCɫ髱) IY-?y-_F5xDUSBL response received:!U1,R,502,000,002AD,189,80,80,BA,FF 5Fpublishing direction and range info11ɰ5u`=1 1)5:CI1y5ff@5w?amf-ٱ1    @ @ @ÙÙÙiÙÙ ę)ęIęię"=MH=Y̺QU>a#Hy#}}>I :5? :۾ (? @@9A: :):WWX X W X :W 2W*WVbUBU*UU!U%@@R=(Combining 5 samples.P9*Q=ff@ZQ=xP^B(?0B JQ=w?amf-2Q9:Q9bQ=Pf&@/u@](rM?RQ=zG#?e@B? c?BQ=oX? Q=+@Q=1@P=N9?P9P9Q9Q=F @"Q=@BABA BAAM1*BIAIAIAIAI"CQ*CQRCYCYCY9IAGe4>X,ZgFAn>9lIliln=lln; nEY}5@}|?y}}_ }H@qٿ Y@ϧ@<?lؿ`ÿY?@7?)~5@ ~kr`;I~Cɫqq)q qIqYE?y0F5DNmea in: $SNTTA,,,,,230736.62*59 ==i== yy‘•]A <M;=Y!QU>a#Hy<}>I5?۾ ? @@9A= *=)mmqAdded new target pos. range: 3.599999 m, bearing: 48.440432 deg, deltaT: 4.393461 s, approachRate: -0.027314 m/s, LOS rate: -0.072802 deg/s, posRepo size: 4XiWuoX?WqXq XqWqXq:Wq2Wy*WyVybUBU*UU @U`#?BB BA܃*BAAAA-@ -}-}- -+v:Y-kS1y-Ԋ:-N6)-;"CoX?*C1RC9C=oX?CQQIaG}z>{,tgFAɫqy)y yIyY!?yߑF/$?/$?:v?1>< T<)IyMb`Q ?A)IAI7Ai+WAEA5MX=YQU>a#Hy}>I :5? :]۾ ? @@9A: :):W9W9X9 X9W9X9:W92WA*WAVAbUABUI*UUUn?BIBQ BQAUe*BQAQAQAYAY"Ca*CaRCaCaCiYIiG8>j,XUgFAY}6@}6X?y}6 }6gc}6HyٿXX@xə?`ؿtÿ?xW@1?)~6@ ~6];I~4ɫ99)9 9I9Y}(?y}Fq!=ML=Yl;QU>a #H y}:}>I5?#۾ 5? -@@9A: :)WIWIXQ XQWQXQ:WQ2WQ*WYVYbUYBUY*UaUaUe@3s?BB BA*BAAAA"C*CRCCC!I)GU2>- ))- -o:Y)y)-695@>9Ii; E)]CI]CiY]=]=]P5 ii I i ٺ A ,0gFAɫ髙) IY?y FIEa=)E4=)M= M>    @ @ @i )IiMJ=YQU>a#Hy}>I :5? :۾ o? @@9A$: :):W!W!X! X!W!X):W)2W)*W1V1bU1BU1*U1U9U=?BaBi BiAm*BiAiAqAqAq"Cy*CyRCyCyCiIqG>|, ŽgFAY}6 @}6&?y}6余}6}6HԒٿS\@?`V3ٿ(?`]5 &?)~6 @ ~6];I~6Cɫii)i iIiY?yNF5ʼM=U=Y=C=QU=>AAaE#HEHIyMV;}M>IQUn5?U۾ U? e@@9U)AU: UL;)QWWX XWX:W2W*WVbUBU*UUU@~@BB BA*BAAAA"C*CRCCC׉IG>- -~-~-~ -xo:Y-T1y-@:-<6䨶,ێgFA@9@I@i@@@@B; BEY}^@}^s?y}^C}^苽}^H+ٿ`M@?$Yٿ &¿,? S ?)~^@ ~^Lc;I~^Cɫ髱) IYz?yF    @ @ @ÙÙÙiÙÙ ę)ęIęięJ=M3=Y/$QU>a#H y;}>I9 U:=5? ]:=o۾ =? e@@9=EA=S; =k;)=:WWX XWX:W2W*WVbUBU*UUU@d@BQBQ BQA]O*BYAyAyAyA"C*CRCCCבIGa>Լ,$gFAY}Z@}Z4h?y}Z}Z,y}ZH'ٿM!?*%ٿÿ ? T@A?)~Z@ ~Z8_;I~ZCɫ) IY%G?y%F)-@A 99S㥛ĿMbS㥫?$@ /]=)Iy:v? rhMbT=C  a#Hy;}>I5?۾ ? @@9A: :)WWX XWX:W2W *W V bU BU *U% %%% %k:Y%U1y%:%6UU-d@R=B*** querying acoustic contact ***P9P9BYBa BaAe܄*BaAaAiAiAi"Cq*CyRCyCyCyQIYG}z>,4gFAY}F O@}F(?y}F}F尿}FH'ٿ`By?cٿHÿE?ש?)~F O@ ~Fi\;I~FCɫYY)Y YIYYV?yĐFZ****** received transponder code query ******F****** received ping request ******a9aIe8Fie?e=aae; e E,")gFAY}:@}:9?y}:+}:G"}:H@ ڿ7@?@ٿ$ÿ? 뵿``?)~:@ ~:[;I~:CɫQQ)Q QIQYu?yuFF}xDUSBL response received:!U1,P 502,000,002AD,189,80,80,BA,FF }Command Ack}BRequesting micromodem ping code 2iyyNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 fBML=YoUQU> a#H)y=;}E>Ia :e5? :em۾ e`? @@9eAe; e>=)e :WWX XWX:W2W*W!V!bU)BU1*UUU7 @-4 --- -6u:Y-DW1y-Y:-r6)-;9=BB BAs*BAAAA"C*CRCCC!)I1GM>A,TCgFAY}6ζ@}6?y}6 }6 }6HT9ڿ`0 qm?;ٿUÿ_s??)~6ζ@ ~6[;I~6Cɫ99)9 9I9Y}g?y}YFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I4=)R=)  > >    @ @ @  i? K?)K?Ii?.ټM8=Y0QU>!!a%#H!)y-;}5>I155?5۾ 5? E@@95A5: 5I:)1WaWaXi XiWiXi:Wi2Wq*WqVqbUqBUq*UyUyU}'0@BB BAԅ*BAAAA"C*CRCCCIG%>a 9a Ia ia a a a e ; e &E,?q]gFAY}6@}64?y}6}6}6H)ڿ`1{җ??`^ڿ4J¿@?`5*಩?)~6@ ~6a;I~6CɫYY)Y YIYY}?y}FxDUSBL response received:!U1,R,502,000,002AD,189,80,80,B7,FF Fpublishing direction and range infoɰ鰁 )7CIyw?amf-ٱ!M^=YQU>!!a-#H)9yED}M>Ia :e25? :e۾ e? @@9eAAede< e\d<)e :WWX XWX:W2W*WVbUBU*UU U @R(Combining 5 samples.P*QZQxP^B(?0B JQw?amf-2Q:QbQZT~@'@?RQ>| ^?4mW?TR B?BQC^? QD/@Q@PPN9?PQQM @"QF @BB BA*BAAAA"C*CRCCCIGE> :     :Y WU1y : 6) ";~!,wgFAY}f-@}flg?y}f4j}ff}fH`dٿJ!?@J?@ʼٿ`¿S?vs?)~f-@ ~f1b;I~dɫ髱) IY?y>F=TNmea in: $SNTTA,0.022500,,,,230741.05*43 X9v?Cl绿Mb}=;߽ )Iy{GztMb`?ף; )SAI5Ai\AHA    @ @ @ @i )IiӶM/=YEQU>a#Hy}>I45?۾ ?  @@9FA: :)m5iAdded new target pos. range: 3.599999 m, bearing: 49.831540 deg, deltaT: 4.475554 s, approachRate: 0.000000 m/s, LOS rate: 0.310824 deg/s, posRepo size: 4X9W=C^?W9X9 X9W9X9:WA2WA*WAVIbUIBUI*UIUQUU?ByBy ByAG*BAAAA"C]?RCCC^?CIG%M>6,6吏gFAY}:@}:(?y}:}:::}:Hh`ٿ^{5?@??ٿ@Ŀ`}??)~:@ ~:_;I~:Cɫ99)9 9I9Y}?y}F 1199u|:Mue=Y}QU}>ya#Hy)}>Iȑ :ŕ55? :ŕ۾ ƕl? @@9ƕJAǕ|: ȕs:)ȕ :WWX XWX:W2W*WVbUBU*UUUi?BB  B A h*B AAAA"C ^?*CRCCC!)I1GM> 9 I Fi ? =   ); /E-O -|-|) -]w:Y-R1y-i:))-;1,gFAY}2p@}2;?y}2:j(}29}2HٿAq—?d?Nؿtſ?禿$?)~2p@ ~2bs];I~2Cɫ99)9 9I9Y}?y}F%MP=YîQU>!!a%#H!)y-Mc}->IȁŅ65?Ņ۾ ƅT? @@9ƅOADž: ȅ#:)ȁWWX XWX:W2W*WVbUBU*UUU բ?BB BAl*B AAAA!"C%C^?*C)RC)C)C1)IQG>%,5ďgFAY}6 @}6/?y}62}6!}6HpؿLJS??`Jؿ|ſ |3?4`?)~6 @ ~6In];I~6Cɫ99)A AIAY}?y} F M M M U@ U@ U@IIIiII I)IIIiIeּMeE=Ym+üQUm>iqau#HuHqy}W}}>IȁŅ75?Ņ۾ ƅ;? @@9ƅSADž˵: ȅl<)ȁWQWQXQ XQWQXQ:WQ2WY*WYVYbUYBUa*UaUaUei?BB BAĆ*BAAAA"C*CRCCCIG (>- ---{ -\:Y-V1y-:-695@ 9 I Fi ?    ;  \E)ݩIݩiݩݭ=ݭ=ݭ4B,tޏgFAY}F @}F`?y}F,.D}FL5}FH@O3ؿକo? ?Tؿǿ`p_?`g?)~F @ ~F5c;I~FCɫ髉) IY?y?FI=)=)í= í=Y;MA=Y&QU >iNmGIi a #H5ٺ15A)y=~ }E>II M:M75? U:M9۾ M? U@@9MXAM: M:)M :WqWyXy XyWyXy:Wy2W*WVbUBU*UUU` >@BB BA*BAAAA"C)*C)RC)C)C1I G-N> n,3TgFAY}:~ @}:4?y}:,O}:P}:H ׿@???u׿ ;ʿp?Œ}N?)~:~ @ ~:!d;I~:Cɫii)q qIqY.?yFQ?|?5^? rh\== C )IyMb{Gzy&1|#` ?A)NAI1Aix_AGA    @ @ @i )IiTM'=YjQU>a#Hy}>I5?۾ ]? A@9~A: ض:)WW-8 --- -u:Y-T1y-:-`6X XYWYXY:WY2Wa*WaVabUaBUa*UiUiUmK@BB BA*BAAAA"C*CRCCCIG>eU,#-gFAY}6p @}6?y}6|P}6WP}6HY׿b??3׿@"oʿ? L?)~6p @ ~6`;I~6Cɫ99)9 9I9Y}2?y}%F?AM=YQU"?a#Hy}$?Iȹ :Ž5? :Ž۾ ƽ? A@9ƽAǽN: Ƚ|:)Ƚ :WWX XWX:W2W*WVbUBU*UUU` @R B*** querying acoustic contact ***P P BB BA!*BAAAA"C*CRCCCשIG>ܩ9ܩIܭpFiܭM?ܭ=ܩܩܭ}; ݭ[E ,( ,gFAY}60 @}6rS?y}6W}6kC}6H`& ׿@r?7?ֿ:˿N?`৿A?)~60 @ ~6];I~6CɫII)I IIIY}b?y}FZ****** received transponder code query ******F****** received ping request ******a#HyY:}>I   5? ۾ 5? A@9 A : :) WAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UYUaUm`` @BB BAU*BAAIAQAQ"C*CRCCCIG-->- ---q -{:Y-W1y-č:-6h,yEgFAɫqq)y yIyYA?y.FxDUSBL response received:!U1,P 502,000,002AD,189,80,80,B7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 u u } }@ }@ }@yyyiyy y)yIyiyr_<M$=YQU>a#Hy}>I  :5?  :k۾ [?  A@9A: :):WQWQXQ XQWQXQ:WQ2WY*WYVYbUyBU*UUUm @BB BA*BAAAA"C*CRCCCI)\AIGEs>ܡ 9ܡ Iܥ Fiܥ ?ܥ =ܡ ܡ ܥ ; ݥ ^E,_gFAɫ) IYa#Hy}>I!%5?%Q۾ %/? -A@9%A%8: %k:)!WQWQXQ XQWQXQ:WY2WY*WYVYbUaBUa*UaUaUm@UP@BB BAކ*BAAAA"C*CRCCCׁ  ;o:YX1y/:6);9IGb>,ygFAY}m @}mF?y}mh|}m_X}mH`ֿK? ?vտUп??j?)~m @ ~m#d;I~mCɫII)Q QIQY?yFxDUSBL response received:!U1,R,502,000,002AE,189,80,80,B6,FF Fpublishing direction and range infoɰ`=鰑 )6CIy=j@w?amf-ٱudNmea in: $SNTTA,0.005118,0.137862,,,230745.50*58 I=)R=)É Í>    @ @ @i )IiC<ML=YrQU>a#Hy}>I  :5?  :?۾ M?  A@9BA: R:):W1W1X1 X1W1X1:W92W9*W9V9bU9BU*UUU-@R(Combining 5 samples.P*Q=j@ZQs:@?apuV JQw?amf-2Q:QbQℎ3@K"@pPz?RQy* ?f?z?[Ba?BQ [K? Q$@Q!@PO9?PPQQ@"QM @BiBq BqAu*BqAAAA"C*CRCCCIG>k$,dtgFAY}6z @}6?y}60}6}6H.ֿ($Np??3xտ@Dп ?@S?)~6z @ ~6a;I~6CɫYY)Y YIYY}?y}cFe[=M=Y#QU?!!a%#H!)y-Q!}-?I155?5h۾ 5? EA@95hA5=: 5k:)1mumAdded new target pos. range: 3.660000 m, bearing: 45.513355 deg, deltaT: 4.500627 s, approachRate: 0.013332 m/s, LOS rate: -0.959463 deg/s, posRepo size: 4XW [K?WX XWX:W2W*WVbUBU*UUG @U `?BqBq BqAu8*ByAyAyAyAy"CH[?RCC [K?CׁIG>M>9IIM FiM?M=IIM`; MLEI y v:YU1y:6);*,DPgFAY}2 @}2 ?y}2߁}2r}2H`@ֿtQ`?vտ%ѿ ??)~2 @ ~2^;I~2CɫYY)Y YIYY?yFE4MMH=YULQU]>aiam#HuHy~;}>Iȩŭ95?ŭI۾ ƭ? }A@9ƭAǭ=< ȭc<)ȩWWX XWX:W2W*WVbUBU*UUUC?BB BĂ*BAAAA"C%RJQ?RC)C)CI!I)GM1>϶1,0ǐgFAY}R8 @}R?y}Re}Rν}RHֿ`: vq?,տfѿ>??P?)~R8 @ ~R\;I~Pɫqy)y yIyY?yeF ))-]A) u u u }@ }@ }@qqqiqq q)qIqiqZMF=YQU>a#Hy}>Iȡ :ťk 5? :ť5۾ ƥ>? A@9ƥAǥ: ȥ:)ȥ:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAA!A!A!"C- L?RC)C)C1!I1GM>  w:YW1yč:69@A 9A IE @FiE ?A A A E (; E .E7,IgFA|))a5#H11y=Q}=>IAE 5?E۾ E? MA@9EAEU: E:)AWiWqXq XqWqXq:Wq2Wy*WyVybUyBU*UUU /?BB BA*BAAAA"C iN?*CRCCC׹IGE> >,gFAY}6O @}6?y}6f}6lMS}6H\տ9ť?2?տп?@~0?)~6O @ ~6za;I~6Cɫ99)9 9IAY}s?y}F - - - 5@ 5@ 5@111i11 1)1I1i1E$<MEo=YEqQUM?IIaM#HIQy]^}]?Ia e:eu 5? m:er۾ ed? mA@9eAe: e:)e:WWX  XWX:W2W*WVbUBU*UU!U%?BB BA*BAAAA"C [K?RCCC׉IG>  F{:Y0Y1y:V6D,4gFAY}2k @}2S?y}2}2ɘF}2H`mտ)#? ?տ #п2?B`?)~2k @ ~2%&d;I~0>JFailed to close latch before timeout.q >>Hardware FaultYBX?yBPFIv4=)v4=)z> x~|=M_=Y%QU%>!)a-#H))y5;}5>I9= 5?=۾ =? EA@9=A=: =:)9WWX  X W X :W 2W *WVbU1BU1*U9U9U=j@BB BAׅ*BAAAA"C*CRCCCשI-$@Hardware Fault in component: DDMG>9IНFiE@= -E)݁I݁i݁݅=݅=݅C59Ai]nGIiyٺ,AK,5.gFAY}:t @}:{ ?y}:,Յ}:{gǽ}:Hտ^:?LԿѿ ?r ??)~:t @ ~:)`;I~:CBPowering downDɪD)D DY?y"FAA5M=-=Y=;QU=>AAaE#HAAyM:}M>IQ ]:U 5? ]:U۾ U? eA@9UAUB: U:)U:W!W)X1 X1W1X9:WA2Wi*WqVqbUyBU*UUUML@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCD d }v:YDW1yY:s6IGk>R,!wHgFAY}Bw @}B1%?y}BA{}Bٽ}BHտ GKc@a?ԿѿPA?``M?)~Bw @ ~B];I~BCYN%?yNFRZ****** received transponder code query ******RF****** received ping request ******R99a=#HAAyE"9}M>Iqu 5?uJ۾ u;? }A@9u+Au: uI:)qWWX XWX:W2W*WVbUBU*UUU` @B9B9 BAAEd*BAAAAAAAAA"Ci*CiRCqCqCaIqG> 9 I Fi @ ; E0X,ZbgFAY}md @}ma?y}m ԁ}moȡ}mH տ7?@?@59տ`п ?KP?)~md @ ~mE~\;I~mCY?yFxDUSBL response received:!U1,P 502,000,002AE,189,80,80,B6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 +HzGQ= )Iy~jtxktQ?Ļ 0\= ?A)SAI,Ai@A)-]A5<M5!=Y=p;QU=>YYae#Haaym5}m>Iq :u 5? :uL۾ u? A@9uWAu; u;)u:WWX XWX:W2W*WYVYbUaBUa*UaUiUmr7 @H o v:Y0Y1y:6)v;9B!B) BQAU*BQAYAYAYAa"C*CRCCC׉I$NClearing failed state for component DDMq G>W^,V(|gFAY}:=n @}:?y}:}:[v}:Hտ`OJ?`@?rտ@#п@?ҭK?)~:=n @ ~:%\;I~:CYF6?yF؎FVNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5"=M==Y=_?e,gFAY}6 @}6.?y}6u}6F}6H`vտܞ?:,?@`տοg?"$ ?)~6 @ ~6[;I~4YB?yBFFxDUSBL response received:!U1,R,502,000,002AC,18A,80,80,BD,FF JFpublishing direction and range infoDDɰF"`=F> D)F=CIDyFb@Fw?amf-ٱD u u u u@ u@ u@qqqiqq q)qIqiqMC=Y#a#Hyو}>Ii 5?H۾ ? A@9A : :)WWX XWX:W!2W!*W!V!bU!BU)*U)U)U-G@R}(Combining 5 samples.Py*Q}b@ZQ}|f?.Yy JQ}w?amf-2Qy:QybQ}֒n@m`@hÎ?RQ}{6i?ݞ[?@- }?BQ}H? Q}K@Q}@PyP}O9?PyQyQ}@"Q}@BB BA*BAAAA"C*CRCC C IG>ܑ9ܑIܑiܑܑܑܑܕ; ݕE: f u:YWU1y:6);slk,ꯑgFAY}^ @}^?y}^r}^}^H`\տ!ڶ?"7?jտMͿ ?'_?)~^ @ ~^*P[;I~\Yv?yvFTNmea in: $SNTTA,0.023241,,,,230749.94*40 I=)=)õ= õ=ME=YG;QU>a#HHy➻} >I : 5? :D۾  ? A@9A: :):mMqAdded new target pos. range: 3.539999 m, bearing: 44.931908 deg, deltaT: 4.330406 s, approachRate: -0.027711 m/s, LOS rate: -0.134271 deg/s, posRepo size: 4XQWUH?WQXQ XQWQXQ:WY2WY*WYVYbUaBUa*UaUeQ @UeJ?B)B1 B1A5*B1A1A1A9A9"C=H?RCACEH?CAaIiG>Iq)u@AQr,ܺɑgFAY}69 @}6}?y}6zv}6}6H@ۭտ@+@F? 5 ?@aaտSXϿb?9<?)~69 @ ~6[;I~6CYNZ?yN*FX=M%Y=Y%K'QU%>))a-#H))y5|<}5>I9=R 5?=B۾ =#? EA@9=A=: =:)9WWX XWX:W2W*WVbUBU*UUUys?BaBi BiAm*BiAiAiAiAq"C*CRCCCבIG=  :YDW1yY:69@ܕ >9ܑ Iܑ iܑ ܑ ܑ ܑ ܕ ; ݕ "E6~x,MgFAY}zۗ @}zf?y}z s}zн}zH@Eֿ` 済-?`_տ Vп+?`M@?)~zۗ @ ~z^[;I~zCY ?y F=Cl?p= ףx&?=O>= =7=)9I9y=kt?J +I +?= 0==H=94< =fBA)=NAI=G/Ai=qA9=QLA    @ @ @ÑÑÑiÑÑ đ)đIđiđM4=Y;QU>a#HyN<}>I : 5? :۾ &? A@9A: :):WWX XWX:W2W*WVbUBU*UU U ?B1B9 B9A=1*B9A9A9AAAA"CI*CIRCICICQAIIGm>~,qgFAY}:)o @}:c?y}:if}:Eֽ}:H`Yտi '2? Կ@:JϿ??)~:)o @ ~:<[;I~:CYj?yjEF==i=< IIU^AU^A}J<M}`=Y=QU>a#Hy߻}>Ișŝw 5?ŝ۾ ƝB)? A@9ƝAAǝ: ȝb:)șWWX XWX:W2W*WVbUBU*UUU@-?BB  B A  *B A AAA"C*CRCCC!iIyG=  i:Yy)6,'LgFAY}BZ @}B?y}BZ}Bܧ}BH@տ h` BI?`DVտ ̿$?U`4+?)~BZ @ ~BA[;I~BCY^L?y^ F e e e e@ e@ e@aaaiaa a)aIaiau뇻Mu;=Y}ya#HyY9}>I : 5? :۾ +? A@9zA: :):W!W!X! X!W!X!:W!2W)*W)V)bUIBUQ*UQUQUU?a@BB BA*BAAAA"C*CRCCC999I9i9==99=; =EIG$>踋,*1gFAY}> @}>5Y?y}>AX}>b}>H#ֿtݕ?`C?@Vտ x˿? X339?)~> @ ~>[;I~>CYJ?yJFE#<MM`=YU;QU>a#Hy- <}->Iim 5?mS۾ m=.? }A@9mAm%; m>;)iWWX XWX:W2W*WVbUBU*UUU~@BIBI BIAU*BQAQAQAQAQ"CY*CYRCaCaCaAIQGm>0  t:YWU1y:D6ğ,KgFAY}:3 @}:7?y}:dIZ}:}:HwֿBp?M$? UֿM̿ d?Dٰf4?)~:3 @ ~:[;I~:CYF?yFFIH)HIR=)R=)V= V= z z z z@ z@ z@xxxixx x)xIxix  =M N=Y nQU >a#Hy<}%>I!% 5?%:۾ %a0? 5A@9%A%: %:)!WQWQXQ XQWYXY:WY2WY*WaVabUaBUa*UaUiUmW@RuB*** querying acoustic contact ***PqPqBB BAx*BAAAA"C*CRCCCIG==) 9) I) i) - =) ) - ; - דE)ɉIɉiɉ͉=͉=͉4Θ,dgFAinGIi1]׿ٺY]gAY}Uj @}U?y}U/Y}U}UH)׿؜w?? ֿ`̿?@Qk@/?)~Uj @ ~U [;I~UCY}?y}đFZ****** received transponder code query ******F****** received ping request ******= =)9I9y=Mb?~jthMb`===D= ==>A)=OAI9i=gA9=GIA]:M]*=Ye:QUe>iiam#Hiqyu<}u>Iy :}? 5? :}f۾ }1? A@9}A}; };)}:WWX XWX:W2W*WVbUBU*UUUC @BIBI BIAUp*BQAQAQAQAQ"Cy*CRCCCYIaG9>  j:YU1y:6);9T,,~gFAY}6 @}6-Powering up>"Initializing DDM.YU0?y]FexDUSBL response received:!U1,P 502,000,002AC,18A,80,80,BD,FF eCommand AckeBRequesting micromodem ping code 2iaauNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @ ÙÙÙiÝ?Ù ĝ?)ĝK?Iĝ?iĝ?5;M=>=YEqqa}#Hyyy67<}>Iȱŵ 5?ŵ۾ Ƶ1? A@9ƵAǵ; ȵ;)ȱWQWQXQ XQWQXQ:WQ2WY*WYVYbUYBU*UUU @BB  B Aa*BAA!A!A)"CA*CIRCICQCY׹IG>oݥ,xgFAY}R( @}R-?y}RE}RЉ}RHn׿zOK?w׿]ʿ? ]G?)~R( @ ~R[;I~PYb?ybFfp=ɮdvNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 7QM=Y0 =QU ?a#Hy;}?Iȱ :ŵ 5? :ŵ۾ Ƶ1? A@9Ƶ)Aǵg: ȵ:)ȵ:WWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"C*CRCCCI-]A))>9IНFiE@; EIG>"  s:YDW1yY:6); ,gFAY}f @}?y}\@}] }H`׿ed?c׿@ ɿ?`U?)~f @ ~Ve[;I~CY5?y5qF=xDUSBL response received:!U1,R,502,000,002AB,189,80,80,BA,FF =Fpublishing direction and range info99ɰ=_==7> 9)=:CI9y=^@=w?amf-ٱ9    @ @ @ @áááiåá ĥ)ĥIĥiĥf=MH=Y#=a#HHyz<}>I] 5?g۾ W2? A@9DA: :)WWX X W X :W 2W *WVbUBU*UUU@R-(Combining 5 samples.P)*Q-^@ZQ-|}4R?!.. JQ-w?amf-2Q):Q)bQ-ɔ1@6F(3@v:?RQ-y?<7?jw?BQ-S? Q-!@Q-y@P)P)P)Q)Q-@"Q-@BaBa BaAe**BaAiAAA"C*CRCCCI G- >u, T̒gFAY}n@}n\?y}nW@}nx˽}nH`ؿY@? ׿ʿ?@]G?)~n@ ~n~nCY ?y֑F}TNmea in: $SNTTA,0.001992,,,,230754.38*4F hML=Y9QU>a#Hy<}>Iȹ :Ž  5? :Ž۾ ƽ2? A@9ƽ^Aǽ: Ƚ:)Ƚ:mmAdded new target pos. range: 3.479999 m, bearing: 47.231947 deg, deltaT: 4.434620 s, approachRate: -0.013530 m/s, LOS rate: 0.518655 deg/s, posRepo size: 4XWS?WX XWX:W2W*WVbU BU *U U @U?B9B9 B9AEi*BAAAAAAAAA"CMM?RCQCUS?CQ)I9GU=  r:YWU1y:W69@ 9 I Fi E? v; ϓEH,-gFAY}6 @}6%?y}6+=}6m׽}6HY?ٿWe,? Jiؿ@ʿ`?$kEG?)~6 @ ~6o[;I~6CYN??yNF\(\?y&1Lz> `)Iy{Gz?~jt)\(?ף<ļGa= :A)XQAI1AirdAHAV;MF=Y;QU>a#Hy<}>I 5?Z۾ "9? A@9pA: :)W1W9X9 X9W9X9:W92W9*WAVAbUABUA*UIUIUM?BqBy ByA}^*ByAyAAA"CS?RCCCץ?iץ?׉IG='B,gFAY}R88@}R?y}Rw5}R}RH@Ԝٿ S`-?ٿCɿ?! `?)~R88@ ~R[;I~PY~x?y~a#Hy5g<}>I  : 5?  :۾ F?? A@9As: ^:):WWX XWX:W2W*WVbUBU*UUU`ȿ?BQBY BYA]*BYAaAaAaAa"C*CRCCCסIG > }} M:YkS1yԊ:26 *,gFAY}6^@}6?y}6c*}6:}6HbٿEy??ٿſ`0)? ݆?)~6^@ ~6][;I~6CYR?yR;F])=M]S=Yeaaam#Hiiyu;}u>Iy}t 5?}۾ }E? A@9}A} : }:)yWWX XWX:W2W*WVbUBU*UUU m?BB BA*BAAAA"C*CRCCCIG%=y9yI}@Fi}?}=yy}; }EW,X3gFAYuG?yuF4=i=]A - - - -@ -@ -@)))i)) )))I)i)=nME<=YEQUE>IIaM#HIQyU}U>IY] 5?]"۾ ]K? eA@9]A]: ]':)YWWX XWX:W2W*WVbUBU*UUUF@BIBI BIAM܄*BIAQAQAQAQ"CY*CYRCYCYCaAIIGm>yi}=b  x:YV1y:6;,MgFAY}2[@}2ǭ?y}2:6%}2p}2H@$ڿP5h?ٿgƿ@ߏ?N<%~?)~2[@ ~26[;I~2CYV?yV͑F5{=M5]=Y=\RAAaE#HAIyMMz<}M>IQ ]:Uo 5? ]:Uÿ۾ U)Q? eA@9UAUI: Ub:)U:WWX XWX:W2W*WVbUBU*UUU;@BB BAm*BAAAA"C*CRCCCױIG=ܕ >9ܑ Iܕ Fiܕ 1?ܕ =ܑ ܑ ܕ ; ݕ Eh,wggFAY}F58@}FS@y}F#}F۽}FHڿ'{?ٿ g)ȿ e? h?)~F58@ ~F'\;I~DY%*?y-F15?APn?A`"˿Q?>Y <)Iykt? rhI +? 0=C94< AA)JAI0AiM`A\GA M>=Y*G;QU>a #H  y(<}>IV 5?۾ NS? %A@9Aܹ: :)WIWIXI XIWIXI:WQ2WQ*WQVQbUYBUY*UYUYU]`@RmB*** querying acoustic contact ***PiPiB)B) B)A-*B1A1A1A1A1"C9*C9RC9CACAAIQGm>k ] y:YU1y: 6);9N,9GgFAY}2ߋ@}2h@y}2}2}2HBڿ@" ?@SڿVPƿ@N?ӶB?)~2ߋ@ ~2[;I~0YB?yBFFZ****** received transponder code query ******FF****** received ping request ******F t    @ @ @ÙÙÙiÙÙ ę)ęIęię-MP=Y3a#HySR<}>I 5:= 5? =:۾ 8U? =A@9A"< #<):WyWX XWX:W2W*WVbUBU*UUU @B1B9 B9A=-*B9AAAAAAAA"Ci*CqRCqCqCyiIqG>x,)$gFAY}V@}V@y}Vy}V?,}VH?ڿ`8^? }?ܨڿsĿ Ť?Ӱ?)~V@ ~V2x[;I~VCYf?yfrFnxDUSBL response received:!U1,P 502,000,002AB,189,80,80,BA,FF nCommand AcknBRequesting micromodem ping code 2illzNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 M<MUQ=YuYa#Hy;}>I& 5?۾ W? A@9(A< <)5>91I5 Fi5?5=115; 5QE)ݱIݱiݱݱݱݵ4WWX XWX:W2W*WVbUBU*UUU @BiBi BiAm*BiAqAqAqAq"Cy*CyRCyCyC}T>yסinGIi9mտٺquiA  :YW1yč:W6)Y;IG k>,~gFAY~?y~OFa=ɮ%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )Ii MA=YQU>a#HHy}>I : 5?  :۾ Y?  A@9MA: :):W)W1X1 X1WX:W2W*WVbUBU*UUU@?@B B) B1A5p*B1A1A1A1A9"C9*CARCACACAIIQGu>g,ΓgFAY}Jq@}J@y}J6 }JɄ}JHڿ z ?sڿUmĿ ,4?`Yז?)~Jq@ ~JN[;I~HYZ?y^EFbxDUSBL response received:!U1,R,502,000,002AC,189,80,80,B5,FF fFpublishing direction and range info``ɰb"`=` `)b5CI`ybb@bw?amf-ٱ`rC=ir4= ^A<MJ=Y a#Hyͻ}>I!% 5?%۾ %Z? -A@9%rA%: %A;)!WiWiX XWX:W2W*WVbUBU*UUU,@R(Combining 5 samples.P*Qb@ZQ|f?.Yy JQw?amf-2Q:QbQ"i@Jg@n`?RQ6LC?"m?R?BQ2`? Q,@Qv@PN9?PPQQ&@"Q@B!B! BIAM *BIAQAQAQAQ"CY*CYRCYCYCaaIqG>(  At:YU1y:69@) 9) I- ȖFi- ?- =) ) - K; - 0E,gFAY}64@}6LP@y}6A}62}6H@ڿzJĔ?|?Vڿ<¿U8?<?)~64@ ~6Z;I~6CYN?yRF dNmea in: $SNTTA,0.029284,0.445631,,,230758.81*58 333333?EԸ~jt=ƽ )IyMby&1|X9v?`< AAaE#HAAyM}M>IQ ]:UR 5? ]:U۾ U ^? eA@9U}AU(: U0:)U:miAdded new target pos. range: 3.539999 m, bearing: 50.325442 deg, deltaT: 4.464609 s, approachRate: 0.013439 m/s, LOS rate: 0.692893 deg/s, posRepo size: 4XW2`?WX XWX:W2W*WVbUBU*UUQ @U9z?BQBQ BQAU*BQAYAYAYAY"CegX?RCaCe2`?CiiIG%>,gFAY}N@}Np@y}N}N!s$}NH;ۿY?ە? ۿ1ÿo?O{?)~N@ ~Nc![;I~NCYb??ybF    @ @ @i )Ii-M5K=Y5¼QU5>99aE#HAAyM<}U>IY] 5?]$۾ ]a? mA@9]A]; ] +;)YWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C2`?RCCCסIG >+  ~t:YDW1yY:;6v,jgFAY}:d@}:@y}:"}:@}:HTۿ@x˙?Ѝ?@ڿĿC?ȧ ?)~:d@ ~:[;I~8YFz?yFǍF) = ==;M=[=YE)QUE>AAaM#HIIyU9}U>IY] 5?]U۾ ]c? eA@9]A]: ]˵:)YWWX XWX:W2W*WVbUBU*UUU@\?BB BA*BAAAA"Cq*CyRCyCyCy׍?i׍?ܹ9ܹIܽ8Fiܽ?ܹܹܹܽ; ݽeEשIG=- ,FD6gFAY}Jn@}J@y}J=r'}Jb}JH@v0ۿ`$7? ?ڿ`ſn?߫g?)~Jn@ ~JX[;I~HYvs?yvF    @ @ @i )IiM?=Y-QU> a #H y ;}>I) :-c 5? :-۾ -2g? A@9-A-r< -<)-:WWX XWX:W2W*WVbU BU *U U)U5 ?BYBY BYA]*BaAaAaAaAa"C*CRCCCׁIG>U  w:YW1yč:6J,h PgFAY}6?@}6j[@y}6-}6E}6HuۿW?d??ۿ Lǿ9?@v?)~6?@ ~6%[;I~6CYB?yB F5M=W=Y=QU=>AAaE#HAIyMd<}M>IQU 5?UŻ۾ U j? eA@9UAU^: U4:)QWWX XWX:W2W*WVbUBU*UUU?BB BAĆ*BAAAA"C*CRCCCIGU=9IFi?; Eg,igFAY}6@}6}@y}6@D8}6g}6Hۿ=%nj?3?ടۿ/ȿ?[If?)~6@ ~6Z;I~4YbC?ybF!i%=}`"?X9vQ?}=}} }\=)yIyy}V-?a#Hy<}>Iȹ :Ž 5? :Ž.۾ ƽWn? A@9ƽAǽw: Ƚ:)Ƚ :WWXi XiWiXq:Wq2Wq*WqVqbUyBUy*UyUyU@@BB BA]*BAAAA"C*CRCCC I1GM1>  r:YV1y:N6);9 ,ՃgFAY}:o9@}:T@y}:2OD}:-{}:H`5ܿ@@??(ܿGɿ}c?!ݮ`Z?)~:o9@ ~:Z;I~:CY^ ?ybHF`b@A % % % %@ %@ %@!!!i!! !)!I!i!5XټM5d=Y=QU=>AAaE#HAIyMf<}M>IQUp 5?U۾ Uq? ]A@9UAU: U8:)QWWX XWX:W2W*WVbUBU*UUU@O@RB*** querying acoustic contact ***PPBB BA*BAyAyAyA"C*CRCCC׉IG=}', gFAY}6@}6!@y}6JR}6}k}6Hܿ@t?k?ܿ@ʿ f.?άE?)~6@ ~6r[;I~4YR#?yRFZZ****** received transponder code query ******ZF****** received ping request ******Za#Hyq<}>I %:N 5? %:+۾ u? -A@9AU9; b:;)!:a9aIe8Fie?aaae; e{EWWX XWX:W2W*WVbUBU*UUU @BB! B!A%%*B!A!A!A)A)"C1*C1RC1C1C9 IG5 >  :YDW1yY:6)H;@-,dgFAY}2@}2=5@y}2^}2o}2H@(ܿ`|e??acܿYͿ ?@洿@'#?)~2@ ~2X[;I~0Y^?y^FbxDUSBL response received:!U1,P 502,000,002AC,189,80,80,B5,FF bCommand AckbBRequesting micromodem ping code 2i`dId)djNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)C=)= >E앻MMO=Y]QUe>iqa}#H}Hy5p <}5>I9=) 5?=۾ =y? MA@9=A=; =];)9WWX XWX:W2W)*W1V1bU9BUA*UiUqU}@H @BQBQ BQA]4*BYAYAAA"C*CRCCCIށ)ޅ?AI!G=r>$'4,#kєgFAY}2s@}2@y}2d}2w}2H`ݿ?`?˂ܿ οa?}?)~2s@ ~2[;I~2CYN?yNFPɮRp=%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )Ii=<M=<=YEiQUE>AAaE#HIIyV<}>Iȡ :ť 5? :ť*۾ tI ƥ}? B@9ƥ AǥV; ȥ;)ȥ":WWX XWX!:W!2W!*W!V!bU)BU)*UIUIUU9@BB BA*BAAAA"C*CRCCCIG$>  :Yy69@y9yI}ȖFi}?yyy}; }|E)1I1i1115F4i I i տٺ xAP:,DgFAY}6@}6"@y}6^i}6p}6H`lݿ f?{?ܿο]?G??)~6@ ~6C[;I~6CYN2?yR%FVxDUSBL response received:!U1,R,502,000,002AA,189,80,80,C2,FF VFpublishing direction and range infoPPɰRz_=P P)RBCIPyRZ@Rw?amf-ٱPq= ףp?V-{Gz?>m #<)Iyy&1?y&1|?Mb`?`e<`;; =>A)VVAI0AilAQLA-JM-K=Y-/QU->QQaU#HQYy]<}]>Iae 5?e۾ es~? B@9eAe˹; e;)aWWX XWX:W2W*WVbUBU*UUU)@R(Combining 5 samples.P*QZ@ZQJ?kJQw?amf-2Q:QbQF)_Y@8i@7R?RQ_G?> ?6V?BQ~*k? QI+@Q@PPN9?PQQK@"Q&@BaBa BaAe!*BaAiAiAA"C*CRCCC׉IG>,>A,6gFAY}VdD@}V_@y}V&o}V{}VH|ݿ6L#?`J[?`<ݿ7οy?P@R?)~VdD@ ~VH[;I~VCYb#?ybFETNmea in: $SNTTA,0.078287,,,,230803.25*4F E4=iEC= aaqu^AecMmF=Ym_QUm>qqa}#Hyyr<}>Iȑŕ% 5?ŕɸ۾ ƕ~? B@9ƕ$AǕ; ȕ;)ȑmmAdded new target pos. range: 3.419998 m, bearing: 52.632884 deg, deltaT: 4.452973 s, approachRate: -0.026948 m/s, LOS rate: 0.518180 deg/s, posRepo size: 4XW~*k?WX XWX:W2W*WVbUBU*UU (\ @U ?BB BA%*BAAAA"C f?RCC~*k?CIG'>  c:YU1y:;6bG,gFAY}:1@}:@y}:{}:b}:HX޿ -?`+?_!޿@οl+?x a#Hy <}>Iȩ :ŭ 5? :ŭ۾ ƭk? B@9ƭ/Aǭs: ȭj:)ȭ#:WWX XWX:W2W*WVbUBU*UUU ?A9AIE FiE?AAAE; E{EBB BA*BAAAA"C~*k?RCCCIG5 >M,x8gFAY}6@}67@y}6}6Eݦ}6Hݿ>?@?@ݿпf?#@$?)~6@ ~6 \;I~6CYR4?yRF\0=MR=Y% QU%>))a5#H19yEs9}M>IQUU 5?Up۾ U? eB@9U;AU+; U:)QWWX XWX:W2W*WVbUBU*UUU?BB BA`*BA A A A "C*CRC!C!C!1I9G]=3  Ƅ:Y0Y1y:6ytT,}RgFAY}2Z@}2@y}2}2}2H ]ݿ:Dז??ݿnҿ?δ ɢ?)~2Z@ ~2.[;I~2CYN?yRFI)I R=) 4=) > >mDMmE=Yu㨼QUu>yya}#Hyy;}>Iȉ :ō 5? :ō@۾ ƍ6? B@9ƍHAǍQ: ȍH:)ȍ$:WWX XWX:W2W*WVbUBU*UUU ,?BB BA*BA A A A "C*CRCCCI9G=U>9QIUxFiU?QQQU; UPEZ,lgFAY}275@}2P@y}2}2}2H\<޿`1?s?Lݿҿ ? d ؛?)~275@ ~2Aw[;I~2CYN.?yRF{Gz1ZdCl?ף"۽ ;=)Iy~jt??y&1|?D<<`; ?A)UAI-AirApMA    @ @ @áááiáá ġ)ġIġiġƼM7=YQU>a#Hy@<}>I 5?V۾ ? B@9aA<  <)WWX XWX:W2W*WVbUBU*UUU@B)B) B)A-*B)A1A1A1A1"C9*C9RC9C9Ca9IIGeV> :Yy;6)n <9a,egFAY}F>p@}FNj@y}F}F"Խ}FH q޿Q@i? ? ݿ`4ѿ??)~F>p@ ~FV[;I~FCYV?yVьF-m6only read 3 of 4 data items=M_=Yd;QU>a#Hy"<}>Iȹ :Ž 5? :Ži۾ ƽ? B@9ƽvAǽ: Ƚb:)Ƚ%:WWX XWX:W2W*WVqbUqBUq*UyUyU}`B:@BB BAs*BAAAA"C*CRCCCIG>g,%AgFAY}2@}2@y}2jډ}2x֗}2H`޿܏?4?@޿`Bѿ`2?`wG*?)~2@ ~2s`[;I~2CYNe?yRFPP\\)-MT=Y s{QU > a#Hy<}>I!% 5?%۾ %[? 5B@9%A%/: %&:)!WQWQXQ XQWQXY:WY2WY*WaVabUaBUa*UaUiUm -@RuB*** querying acoustic contact ***PyPyBB BA*BAAAA9IFi@; E"C*C RC C CI)))IG%= 0 b~:Y^1ya:L$6);{m,gFAY}65@}6@y}6p}6}6H@֙߿ ? t?߿ п@@?{?)~65@ ~6\;I~6CYR?yRuFVZ****** received transponder code query ******VF****** received ping request ******VaU#HUHYy]=}]>Iae 5?e۾ eՁ? uB@9eAe; e;)aWWX XWX:W2W*WVbUBU*UUU3 @BaBi BiA0*BAAAA"C*CRCCCIG$>t,ӕgFAY}6!@}6@y}6%}6͎}6H !a-#H)Yye <}e>Iș :ŝ- 5? :ŝ۾ ƝA? B@9ƝAǝG< ȝN<)ȝ&:WWX XWX:W2W*WVbUBU*UUU9C @BB BA̅*BAAAA"C*CRCCCIGK>  |:YY1y:69@9I`Fi@1; #Ez,gFAY}2b@}29@y}2􄾙}2M}2H`g^ e Щ?=?6`gпn?@$C ?)~2b@ ~2!`\;I~2CYN?yR=FPɮRR=bNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ] rh?~jth rh?]C >]D ]C<)YIYy]Mb`?y&1?Q롿];]`e<]\ ]@A)]TAI]+Ai]Y]z@A)> = m m u u@ u@ u@ u@qqqiuq u)uIuiuZ<M'=Ya#Hy<}>Ișŝ 5?ŝ۾ ƝV? B@9ƝAǝX: ȝ:)șWWX XWX:W2W*WVbUBU*UUUC@BB BAw*BAAAA"C*CRCCC?i?סIGB> Ձ,GgFAY}F^@}Fz@y}FɃ}FS}FH6{M`.?@1?ޒ ^Ͽ@J? > T?)~F^@ ~F[;I~DY^T?ybFfxDUSBL response received:!U1,R,502,000,002AF,189,80,80,AF,FF jFpublishing direction and range infoddɰfa=d d)f/CIdyfn@fw?amf-ٱdLM{=Y%_;QU% ?!)a-#H))y5E<}5 ?I :$ 5? :۾ }? B@9A; j;)':WYWYXa XaWaXa:Wa2Wi*WqVbUBU*UUU`@R(Combining 5 samples.P*Qn@ZQo$?7U JQw?amf-2Q:QbQ%@*kP@g?RQ p\?JY?iB?BQ|? Q D@Q,@PPPQQ@"QK@BB BA*BAAAA"C*CRCCCIG )>  D}:YWU1y: 6/,!gFAY}N @}N@y}N*}Nɖ}NHm A? ?`G@FпV?5?)~N @ ~Nat[;I~NCYZ ?yZF%TNmea in: $SNTTA,0.087871,,,,230807.69*40 }>9yIyiy}=yyy y)IiW45E=M5:=Y5MܺQU=>99a=#H9AyE '<}M>Iqu 5?u|۾ uy? }B@9uAu4: u:)q4>zCinGI)iAuֿٺ,AmiAdded new target pos. range: 3.720000 m, bearing: 56.618296 deg, deltaT: 4.436942 s, approachRate: 0.067615 m/s, LOS rate: 0.898234 deg/s, posRepo size: 4X?9AW|?WX XWX :W 2W *W V bUBU*UU @U`f?BB BA*BAAAA"Cq?RCC|?CיIG@>(,c;gFAY~?y~NF¡¥]A    @ @ @i )Ii MM=YQU>!)a-#H)1y=}=>II U:M 5? :Mi۾ Msv? B@9MAM< M,<)M(:WAWAXA XIWIXi:Wq2Wq*WyVybUBU*UUUP?B1B1 B1A5*B1A9A9A9A9"CECb|?RCACACiIy)}]AaIiG<>  :Yy6{,=UgFAY}2:@}2: @y}2u}2t}2H U¯? S?οo? 0@?)~2:@ ~2;[;I~0YR?yRrF;M[=Y]B=QU]>aaae#Haiym<}m>Iqu 5?u[۾ us? B@9uAu: u:)qWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C?RCCCIG=ܥ>9ܡIܥ(Fiܥ,@ܥ=ܡܡܥ; ݥE:,iogFAY}6i@}6 @y}6s}6h}6Ht@@Wɲ?`?@@Ϳ?@?)~6i@ ~68[;I~6CB`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ髁) IA  U:YW1yč:6);9Y?yFZd;O?Pn?j=> )Iy{Gz?A)I-AipAQLA)M= M>    @ @ @ÑÑÑiÑÑ đ)đIđiđ<Ma#HyxM<}>I : 5? :͸۾ s? B@9-A: o:)):WWX XWX:W2W*WV bU BU *U U U `?B1 B1  B9 A= x*B9 A9 A9 A9 A9 "CE ~?RCI CI CI A II Gm >$,gFAɫ髱) IYX?yFWj=M=YQUY?a#Hy}Y?Iȱŵ 5?ŵ۾ Ƶ.t? B@9Ƶ=Aǵϸ: ȵ :)ȱWWX XWX:W2W*WVbUBU*UUUe-@BB! B!A%*B!A!A!A)A)"C5|?RC1C1C9 IG- >L,BТgFAY}2Ý@}2L @y}2s}24}2H`zW?`+?lο?yh?)~2Ý@ ~2C[;I~2C!9!I!i!!!!%; %Eɫ99)9 AIAY}?y}F%e+<M-R=Y-<7QU5>a#Hy=}>I 5?<۾ t? B@9\A; H;)WW!X! X!W!X):W)2W1*W1V1bU1BU1*U9U9U=z@ByB BA*BAAAA"C*CRCCCסIG >  :YDW1yY:|6);v,qgFAY}6@}6u @y}6`j}6W}6H`]K?$?`%A Rп ? 㓾`?)~6@ ~6<\;I~6Cɫ99)9 9IAY}?y};F    @ @ @i )Ii\MK=Y!!a%#H%H!y-e<}->I1 =:5 5? =:5۾ 5t? EB@95zA5: 5:)5*:WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUyU}L@RB*** querying acoustic contact ***PPB!B) B)A-*B)AIAIAQAQ"CY*CYRCYCYCYIב)בiIqG>`,`֖gFAY}2X@}2xt @y}2b^}2}2Hw Py?@?CM@Iaп;? ס?)~2X@ ~2e;I~2Cɫ19)9 9I9Y?yFZ****** received transponder code query ******F****** received ping request ******QQa]#HYYyenp<}e>Iimz 5?mι۾ m u? }B@9mAm: m:)iWWX XWX:W2W*WVbUBU*UUU`h @BB BAx*BAAAA"C*CRCCC)QIqG=>  k:Y0Y1y:69@!9!I%Fi%@!!!%L; %EN,cgFAY}B@}B< @y}BV}BCŽ}BH cvo??@^̿0?k`'?)~B@ ~Bc;I~BCɫ) IY-?y-hF5xDUSBL response received:!U1,P 502,000,002AF,189,80,80,AF,FF 5Command Ack5BRequesting micromodem ping code 2i11ENmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ʡE?Cl?Mb=;= )Iy)\(?L7A`?Ga=+= qqau#Hqqy};}}>Iȁ :Ņ<5? :Ņ۾ ƅJy? B@9ƅADž[; ȅk;)ȅ+:WWX XWX:W2W*WVbU BU *U U U ɴ@B) B)  B) A- .*B1 A1 A1 A1 A1 "C9 *C9 RC9 C9 Ca u ?iu ?Y Ii G >r,D gFAY}2b@}2z~ @y}2}S}2Nl}2H _8?߱?`PFȿ@ 4?V"L?)~2b@ ~2B`;I~2Cɫ19)9 9I9Y}?yFp=ɮa= Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 6=M=Y`  :YDW1yY:6,"$gFAY}:c@}: @y}:Q}:;M}:H\O? 4?n@/ȿ? K?)~:c@ ~:0];I~:Cd9dIdiddddf; frEɫ99)9 9I9Y}T?y9FxDUSBL response received:!U1,R,502,000,002B0,189,80,80,C2,FF Fpublishing direction and range infoɰqa=鰁 )BCIyq@w?amf-ٱM\=Y);QU>a#Hyd;}>I :5? :U۾ }? B@9&At: :),:WWX XWX:W2W*WVbUBU*UUUy@R(Combining 5 samples.P*Qq@ZQE5j?.\Ux3 JQw?amf-2Q:QbQN?Rv @f`?RQ(?/.w?*V]?BQk? QO@Q?PM9?PPQQ@"Q@B9B9 B9A=؃*BAAAAAAAAA"Ci*CiRCqCqCqiIqG>I}AA)}AA*,Z=gFAY}6j@}6 @y}6G}6c}6H``o즨?y? ɿ@(?@(`L?)~6j@ ~6\;I~4ɫYY)Y YIYY?yUF M M M M@ M@ M@IIIiII I)IIIiIeP;Me@=Yma#H ym}>I)-v5?-G۾ -? eB@9-[A-E< -<<))m-iAdded new target pos. range: 3.779998 m, bearing: 59.994490 deg, deltaT: 4.444113 s, approachRate: 0.013501 m/s, LOS rate: 0.759700 deg/s, posRepo size: 4X)W-k?W)X) X1W1X1:W12W9*W9VAbUaBUi*UqUuo=@Uu`?BB BA̓*BAA!A!A!"C5?RC1C5k?C9I׉)׍\AYIi   :YV1y: 6G^>',WgFAY}6#@}6? @y}6Z<}6H}6H;*}??@CȿSi?xab?)~6#@ ~6ó`;I~4ɫYY)Y YIYY?ypFDNmea in: $SNTTA,,,,,230812.25*53 =i)>U\;M]K=Y]aaae#Haaym_8}m>Iq }:u 5? }:u۾ u? B@9uAu: u:)u-:WWX XWX:W2W*WVbUBU*UUU?BB BAƒ*BAAAA"Ck?RCCCIG-->9I`Fi@9; E)yIyiyyy}3inGIi E4ٺAE*AR,qgFAY}EB@}Ey^ @y}E0}Eya}EH`/Qk 9?*?`ƿ@?6y?)~EB@ ~EZ`;I~Aɫ) I!YYyY(\µ?rh|?)\(?== Ga=)Iy?A)½-RAI½0Ai½GeApIA E E E E@ E@ E@AAAiAA A)AIAiAYe\iiam#Hiqy};}>Iȉō5?ōռ۾ ƍ ? B@9ƍAǍC: ȍN:)ȉWAWAXA XAWAXi:Wi2Wi*WiVibUBU*UUU?BB BA*BAAAA"C*CRCCCiim=}d }}} } y:Y}U1y}:}6)}d;9I G%o>,gFAɫyy)y yIyY?yFUћ<M]5?u۾ u? }B@9uAu: u:)qWWX XWX:W2W*WVbUBU*UUU@M?BB BAD*BAAAA"C*CRCCC ?i ?IG> ,_gFA6>96CI6НFi6E@6=446; 6{EY}FUr@}Fލ @y}F:4}Fw}FH@ @a? ?`pƿ`i?dr?)~FUr@ ~F:^;I~FCɫYY)Y YIYY7?y'FIp=)=5cBM=L=Y=$QU=>AAaE#HAIyM;}M>Iȩ :ŭ5? :ŭ۾ ƭe? B@9ƭAǭ: ȭ:)ȭ.:WWX XWX:W2W*WVbUBU*UUUU,@BB! B!A%*B!A!A!A)A)"C1*C1RC1C1C9IIYG>  b:Yy`6);N,;gFAY}2@}2r @y}2u/}2lȽ}2H@](WSK? ?)@ȿ h?a?)~2@ ~2y];I~0ɫII)I IIIY}?y}ޒF - 5 5 5@ 5@ 5@111i11 1)1I1i1E(MEJ=YEx4IIaM#HMHQy]3<}]>Iaed5?e۾ e3? mB@9e$Ae': e:)aWWX XWX:W2W*WVbUBU*UUU`R@BIBq BqAu*BqAqAqAyAy"Cy*CRCCCשIG">I}@A)yd,ٗgFAY}N@}N @y}NC"}N#}NH@-?` ?Y|ſ`2? @X?)~N@ ~Nvc;I~NCɫyy)y yIyY?yqF`MO=Y=QU> a #H  yg#=}>I %:5? %:۾ ? -B@9KA: :)/:WIWIXI XIWIXQ:WQ2WQ*WYVYbUYBUY*UYUaUe`|@RmB*** querying acoustic contact ***PiPiBB BA**BAAAA"C*CRCCCI׹)׽]AiIG>a9aIe@Fie?aaaeC; eEU  w:Yy;6)\;%,kgFAY}F@}F @y}F9(}F(/}FH @?9?]ƿ ?\ y?)~F@ ~Fa;I~FCɫYY)Y YIYY?y͑FZ****** received transponder code query ******F****** received ping request ******a#Hy =}>Ișŝ5?ŝ۾ ƝɌ? B@9ƝsAǝf: ȝ#:)șW)W)X) X)W)X1:W12W1*W1V1bU9BU9*U9U9UE~5 @BB BAm*BAAAA"C*CRCCCסIGA>2 , gFAY}Fd@}Fv@y}F5*}F}FH> MT?i? ǿ1'? u@hl?)~Fd@ ~FG._;I~FCɫ髙) IYR?y_FxDUSBL response received:!U1,P 502,000,002B0,189,80,80,C2,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉFM7=YQU>a#H y <} >I E:5? M:j۾ ? UB@9A]; ;)0:WWX XWX:W2W*WVbUBU*UUU @B)B1 B1A5*B1A1A1A1Aa"Ci*CqRCqCqލ=iމ  |:YW1yč:69@CqIG%>y 9y I} Fi} v?y y y } ; } ϒE_f , m'gFAY}2L1@}2L@y}2'}2sQ}2H |L;???k ƿ`?`'v?)~2L1@ ~2];I~2Cɫ99)9 9I9Y?yF鮙ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B UOgMUs=Y];QU]?Yaae#Haaym=}m?Iqu5?u۾ u? }B@9uAu: u4:)qWWX XWX:W2W*WVbUBU*UUU/@BB BA5*BAAAA"C*CRCCCiIqG>0,}@gFAY}2~@}2 @y}2 %}2\}2H f(@έ?? `pkĿs?`> ?)~2~@ ~2];I~2Cɫqq)y yIyY?yFxDUSBL response received:!U1,R,502,000,002AF,189,80,80,AE,FF Fpublishing direction and range infoɰa=鰹 ).CIyn@w?amf-ٱ$=MV=Y&;QU>a#HyI<}>I  :5? :۾ u? B@9A< <)1:WWX XWX:W2W*WVbUBU*UUU `9@R%(Combining 5 samples.P!*Q%n@ZQ%o$?7U JQ%w?amf-2Q!:Q!bQ%i3oN?H. @U*?RQ%y̔?N ?ÛNI?BQ%? Q%T@Q%?P%L9?P%M9?P!Q!Q%@"Q%@BB B A *B AAAA"C*C!RCACACIYIqG;>m mmm m~:YmU1ym:m6J[,XZgFAY}f@}f?@y}fE&}fTC}fH @^?E?` ÿ[?@_&?)~f@ ~fb;I~fCɫ) IY5?y5؏FDNmea in: $SNTTA,,,,,230816.61*57    @ @ @áááiáá ġ)ġIġiġ M/=Y _QU>a#Hy <} >I5?~۾ ? =B@9A; E;)mmAdded new target pos. range: 3.720000 m, bearing: 63.789206 deg, deltaT: 4.456606 s, approachRate: -0.013463 m/s, LOS rate: 0.851481 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UU @U@`?9CI Fi?f; EBB BA58*B9A9A9A9A9"CE͉?RCACM?CIIY)]?A1I9G]v>,ztgFAY}6: @}6U@y}6%}6_}6H| @-t?x? J`Ŀ?؈?)~6: @ ~6c;I~6CɫYY)Y YIYY?yXF~jth?i|?5~jt?D; <)IyQS㥫?Mbpu/]= µh=A)µUAIµp3Aiµ^AGIAaM]=Y5 :QU5>AAam#Hiqyu<}}>Iy}5?}_۾ }%? B@9},A}; }ù;)yWWX XWX:W2W*W)V)bU)BU1*U1U1U5@ ?BB BAl*BAAA A "C?RCCC!I)GEQ>mq mmm mz:YmX1ym/:mi6l#,}\gFAY}2 @}2@y}2*}2 ּ}2Hy@D?? ޠ¿*C?Da@n?)~2 @ ~2A`;I~0ɫ19)9 9I9Yu?y}FC<MX=Y_QU>  a #H  yB}>I %:5? %:G۾ ɒ? -B@9UA: R:)2:WIWIXI XIWQXQ:WQ2WQ*WYVYbUYBUY*UYUaUe`?BB BAG*BAAAA"C*CRCCC׉IG= 9 CI XFi ? = ; E)uCIuCiqu=u= T> Cu 4l),>gFAi"}nGI,i8Y}n>O@}nj@y}nZ5}nPJ%}nH&F? &??Vd?)~n>O@ ~n^;I~nC~5ٺ|~rAɫ) IY2?ysF    @ @ @éééiéé ĩ)ĩIĩiĩM?=YVüQU>a#HyB}>I[5?Z۾ k? B@9A: 8:)WW X  X W X :W 2W*WVbUBU*UUU@J?BIBI BIAMa*BIAQAQAQAQ"CY*CYRCYCYCaaIqG>m=ii|  z:YWU1y:D6) ;9D}0,g ˜gFAY}6@}63@y}6˵>}6N}6HY J`IV??*;,Ŀ?@@p?)~6@ ~60];I~6CɫYY)Y YIYY?yF M U U U@ U@ U@QQQiQQ Q)QIQiQmm<MmP=YugQU > a#HHy}%>I) =:-,5? =:-a۾ -? EB@9-A-; -;)-3:WqWqXq XyWyXy:Wy2Wy*WVbUBU*UUU B@BB BA)*BAAAA"C*CRCCC?i?סIG >6,ۘgFAY}6"@}6@y}69C}6<}6HMdy? o?QkԼƿqA?=$` c?)~6"@ ~62\;I~6CɫYY)Y YIYY?yaFIR=)C==,M=M=Y=5QUE>AAaE#HAIyM$O}U>IY]5?]N۾ ]? eB@9]A]G: ]:)YWYWYXa XaWaXi:W2W*WVbUBU*UUU @ҕ@BB BAh*BAAAA"C *C RC CC܍>9܉I܍Fi܍a?܉܉܉܍; ݍbE!I)GUS>m mmm m:YmW1ymč:mr6)m?;_<,gFAY}:@}:F@y}:6H}:=}:HO@ln? N?QȿK?ɰ UQ?)~:@ ~:=d;I~:Cɫ99)9 9I9Y}?y}OFmS㥫?!rh? rh?m/]=ml= mC<)iIiymS㥛?+?I +m/a#Hy.;}>I :^5? :Q۾  ?  B@9 Ar: :)4:W)W)X1 X1W1X1:W12W1*W9V9bU9BU9*UAUAUE:@RMB*** querying acoustic contact ***PIPIBqBq BqAup*ByAyAyAyAy"C*CRCCC IG (>IY)]AA C,RgFAɫ髙) IY?yXFZ****** received transponder code query ******F****** received ping request ******Qa#Hy}%>I)-5?-T۾ -? 5B@9-2A-<: -:))WYWYXY XYWYXa:Wa2Wa*WaVabUiBUi*UiUqUu` @BB BAl*BAAAA"C*CRCCCI)׉IG>  W:Y0Y1y:69@܁ 9܅ CI܅ XFi܅ ?܁ ܁ ܁ ܅ ; ݅ iEI,z)gFAY}6h@}6@y}6!~Z}6&}6HFE:n?&o?`q ˿?_J(?)~6h@ ~6F _;I~6CɫII)I IIIY}?y}FxDUSBL response received:!U1,P 502,000,002AF,189,80,80,AE,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ڲMP=Y 4QU>!)a5#H1Iy]R<}e>IȁŅ*5?ŅX۾ ƅL? 5B@9ƅXADž< ȅ<)ȁWIWQXQ XYWYXa:W2W *WVbUBU*UUU @BB BA*BAAAA"C *C RCCC9YIqG~> P,SCgFAY}:O@}: @y}:7e[}:z}:H  "*? 7Q?X̿7?Ե&&?)~:O@ ~:@9];I~:Cɫ99)9 9I9YyyyNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @  @i? )IiA?YjQU%>!!a%#H!)y-Y<}5>I9 =:=o5? E:=^۾ =؏? EB@9=A==: =:)=5:WaWiXi XiWX:W2W*WVbUBU*UUU<@B!B) B)A)*B)A1A1A1A1"C9*C9RC9C9CA!I1GU2>e=ia]  r:YDW1yY:6V,0]gFAY}6Q @}6Cm@y}6lk^}6D}6H{i?.? ,̿ ?``?)~6Q @ ~6&\;I~6Cɫ99)9 9I9YyyyxDUSBL response received:!U1,R,44F,000,002AF,18A,80,80,AD,FF Fpublishing direction and range infoivɰ鰅> )-CIyl'I?Z:`BٱYQU>a#HyC<}>I5?d۾ v? B@9A; ;)WWX XWX!:W)2Wq*WyVybUBU*UUU@@R (Combining 5 samples.P *Q ZQ 5o9y@-lJQ l'I?Z:`B2Q iv:Q bQ j7?5Ȉ @tnv?RQ ؖռ?R7?T*:?BQ ? Q _@Q ?P J9?P L9?P Q Q "@"Q @BYBa BaAa*BAAAA"C*CRCCC?i?195CI5Fi51?1115; 1סIGA>!],8wgFAY}jW> @}jY@y}ja}j4}jH0 U?0??̿? 7!?)~jW> @ ~j_;I~jCɫ髱) IY~?y,F=TNmea in: $SNTTA,,0.030406,,,230821.05*4E II)M= ףp= ?S㥛?Zd;?Q=/< y=)Iy~jtx?+?~jt;D h=A)SAIG/AiEjAJA    @ @ @ @i )IisMa#Hy"}>I %:5? -:۾ ? -B@9A; ;;)6:m}iAdded new target pos. range: 3.720000 m, bearing: 72.837725 deg, deltaT: 4.473072 s, approachRate: 0.000000 m/s, LOS rate: 2.022887 deg/s, posRepo size: 4XyW}?WyX XWX:W2W*WVbUBU*UUUG?BaBy ByA}N*BAAAA"C?RCC?CבIGc>  Z{:YV1y:6"d,䐙gFAY}:: @}:^V@y}:de}:u$A}:H s?@,,?O ɿ@\o?㇧@m*?)~:: @ ~:c;I~:Cɫ99)9 9I9Y}I?y}GF="$=M=j=YECQUE>AAaM#HIIyU }U>IY]5?]/۾ ]? eB@9]A]ܹ: ]M:)YWWX XWX:W2W*WVbUBU*UUUpZ?BB BAۅ*BAAAA"C?RCCCIG>I]AA)Y! ! ) 9) I- xFi- ?) ) ) - ; - rEO1j,AAaE#HAIyMDb}M>Iȡ :ťM5? :ť۾ ƥz? C@9ƥ Aǥv: ȥ:)ȥ7:WWX XWX:W2W*WVbUBU*UUU?B1B1 B9A=*B9A9A9A9A9"CEڝ?RCICICIQIyG>5 555 50}:Y5W1y5č:56)5;9=$q,0ęgFAY}2@}2$@y}2j}2h}2H!d( ? k=?@g̿Y? `s?)~2@ ~2^;I~2CɫYY)Y YIaY}?y}F e e e m@ m@ m@ miiiim3?i i)iIiimt?}R;M}F=Y}UQU>a#HHy }>Ișŝ5?ŝ۾ ƝΌ? C@9Ɲ)Aǝ: ȝӻ:)șWWX XW X :W 2W)*W1V1bU1BU1*U1U9U= ^l?BB BA*BAAAA"CS?RCCCIG$>ZCw,vޙgFAY}6=@}6ƣ@y}6(i}6}6H@%rLE?]? l&Ϳ??)~6=@ ~6\;I~4ɫ9A)A IIIYo?y#FmME=Yf;QU>19a=#H9AyM~c}M>Iy :}5? :}^۾ }? C@9}KA}: }/:)}8:WWX XWX:W2W*WVbUBU*UUU C@BB BAR*BAAAA"Cdu?RCCC 9CIi= ; E)qIqiqu=u=u4inGIqIiGB>ٺ5Ae=ie== === =N:Y=T1y=:=6)=;m},SgFAY}6`@}6{@y}6i}6x}6H`b fI!ַ?h?'x˿? 0?)~6`@ ~6/\;I~6Cɫ99)9 9I9Y}?y}}FMb`?x&ѿq= ףp?;7 =)Iyl?I +?Mb`?=9<; 7CA)NAI-AikAJA    @ @ @ @i )Ii;+=MG=Yy׺QU> a #H yDʻ}>I5? ۾ ? %C@9mAf: n:)WIWIXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UYUYUe7@BB BAŅ*BAAAA"C?*CRCCCIG-->=U,|,gFAY}6@}6*@y}6l}6`;}6H2wH*l|? P?@@ʿX? DԦ m?)~6@ ~6c;I~6CɫYY)Y YIYYA?y|F?AI)=Ma=YQU>a#Hy1<}>IJ5?۾ ? C@9A : {:)W W X  XWX:W!2W!*W!V!bU)BU)*U)U)U-"@R=B*** querying acoustic contact ***P9P9BYBa BaAe]*BaAaAaAiAi"Cm?RCCCIG> YX1y/:69@ 9 CI @Fi ? = ; fE, ,gFAY}6\@}6@y}6Nr}6=|}6H 8d`C@e?`ER? ^̿ ?~` ?)~6\@ ~6b;I~4ɫ99)9 9I9Y}?y}OFZ****** received transponder code query ******F****** received ping request ******99a=#H9AyEN}E>II }:M5? :Mm۾ Mr? C@9MAM; M^;)M9:WWX XWX:W2W*WV bU1BU9*UAUIUuલ @ByBy ByA}p*ByAAAA"C*CRCCCסIGA>I]@A)]@ABg,EgFAY}6b@}6@y}6>u}6򕛽}6H8@x? ?@;,@Ϳ@ ]?@߲@9?)~6b@ ~6 ._;I~6Cɫ99)9 AIAY}?y}FxDUSBL response received:!U1,P 44F,000,002AF,18A,80,80,AD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 } } } }@ }@ @yyyiyy y)yIyiyM2=YQU>a#H y}>IimQ5?m ۾ m? C@9mAm; m;)iWWX XWX:W 2W *W V bU BU*UUU[ @BB BA*BAAAA"C*CRCCCI=\A)=\AYIy.  t:YU1y:r6G>d,_gFAY}BI@}B{e@y}BRUu}BS?}BHP p?7?@9+`˿_? o9T ?)~BI@ ~Bto];I~BCɫaa)i iIiY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iC= B`"ɿMbN )Iy rh?Mb?Mbp?C<=; ¥AA)¥PAI¥0Ai¥pALA:MJ=Ym^QU>a#Hyb}>I :,5? :/۾ Q? C@9A: E:)::WWX XWX:W2W*WV!bU!BU!*U!U)U-`,@BQBQ BYA]*BYAYAYAYAY"Ci*CiRCiCiCqܑ9ܑIܕFiܕE?ܑܑܑܕ; ݕZEIGI>,(ygFAY}>5@}>0@y}>eu}> M}>H<է@4?@ѹ?`̿@Us?`H⨿ ?)~>5@ ~>t\;I~>Cɫ99)9 9I9Y}#?y}jFxDUSBL response received:!U1,R,458,000,002B3,189,80,80,A5,FF Fpublishing direction and range infoVlxɰmb=鰅7> )%CIyp}@u5?5oTgٱ    @ @ @i )IiiH<M]=YٺQU>a#Hy}>I5?T۾ ? C@9A: +:)W!W!X! X!W!X!:W)2W)*WIVIbUQBUQ*UQUQU]@Re(Combining 5 samples.Pi*Qmp}@ZQm->@QOB# JQmu5?5oTg2QmVlx:QibQm:?&ڞf @i?RQmvww?$l?e=ie=  r:YDW1yY:6,}gFAY}jq.@}jI@y}jwv}jΦ}jH f#`?? |ο? <:{?)~jq.@ ~j^;I~hɫ) IY?yOFTNmea in: $SNTTA,0.029340,,,,230825.50*47 UM E=YQU>a#Hy%r;}%>I) 5:-5? 5:-|۾ -? =C@9-0A-Y: -:)-;:memAdded new target pos. range: 3.959999 m, bearing: 70.479035 deg, deltaT: 4.423008 s, approachRate: 0.054262 m/s, LOS rate: -0.533277 deg/s, posRepo size: 4XiWms?WiXi XiWiXq:Wq2Wq*WqVqbUyBUy*UyU} @U @?BB BAp*BAAAA"Cs?RCCs?C?i?סIG >܉ 9܉ I܍ Fi܍ @܉ ܉ ܉ ܍ ; ݍ FEͪ,OgFAY}6@}6j1@y}6r}6F}}6H`FW@+??rͿ ?悲?)~6@ ~6):f;I~6CɫYY)Y YIYY}?y}FIp=)4=<M^=Y%a#H  ÿ́}%>I9=5?=۾ =,? ]C@9=KA= ; =;)9W9W9XA XAWAXI:Wq2Wq*WqVqbUqBUy*UyUyU}?BB BA1*BAAAA"Cs?RCCCIG%>H  v:Yy6)v;96,:ǚgFAY}Fb@}F @y}Flp}F:}FH@ ?H?>˿?@?)~Fb@ ~FLa;I~FCɫqq)q qIqYt?yאF    @ @ @áááiáá ġ)ġIġiġe<M>=Y;QU>a#HHy}>I :v5? :۾ ? C@9jAM: :)<:WW X  X W X :W 2W*WVbUBU*UUU~??BB BAф*BAAAA"C*CRCCCI G%,>IUAA)UBA,HgFAY}]0@}] @y}]+o}]3}]H O @?F?`_˿t? fĥ?)~]0@ ~]BV^;I~]Cɫ髉) IYZ?y*FZd;?I +?/$?y=94= <)Iy~jt?L7A`堿D<+ ?A)TAI-AiqAM7=Y:QU>a #H  y}>I)9)I-`Fi-@)))-; -E5?`۾ ڍ? EC@9|A,; ϸ;)WiWiXi XiWiXi:Wi2Wq*WqVqbUqBUq*UyUyU}tp?BB BA*BAAAA"C*CRCCCI)]AyIGD>U) UUU UVt:YUT1yU:U6)UT; ,XgFAY}6@}6 @y}6Sxm}6"xO}6H3@۸?`?qf˿k?:z?)~6@ ~6];I~6CɫYY)Y YIYY&?yDF  } } } }@ }@ @yyyiyy y)yIyiy!=Me=Yt;QU>a#HyL}>Iȩŭ5?ŭ ۾ ƭ? C@9ƭAǭs: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU @BB B!A%*B!A!A!A!A!"C)*C1RC1C1C1iIqG>,gFAY}6 @}6@) @y}6Jf}6U0}6H ; ??NKʿ?z)?)~6 @ ~6s6\;I~4ɫII)I IIIY}Z?y}*FMR=Y˅!!a%#H!)y-B}->I1 =:5n5? =:5۾ 5 ? EC@95A5=: 5:)5=:WaWaXa XiWiXi:Wi2Wi*WqVqbUqBUq*UyUyU}@ &@BB BA*BAAA)A)"C1*C1RC9C9C9)I1G]>iimp=UUUU U::YUU1yU:U269]@9 9 i NmGI i ٺ A) 9- CI) i) ) ) ) - (; - E)IiʼnE*4,.gFAY}6@}6 @y}65a}6En}6H $"?@)?r1ɿ?ۡ5?)~6@ ~69c;I~4ɫ99)9 9I9Y?yF@A<MN=YVha#Hy3}>I5?V۾ ?  C@9A^: :)W)W)X) X)W)X1:W12W1*W9V9bU9BU9*U9UAUEmR@RMB*** querying acoustic contact ***PIPIBiBq BqAu*ByAyAyAyAy"C*CRCCCם?iם?QIYG}=,`sHgFAY}J\@}Jjx @y}J:`}JH}JHVrH?f?`eʿ`? /t@2?)~J\@ ~Jb;I~HɫYY)Y YIYYc?yBFZ****** received transponder code query ******F****** received ping request ******QQaU#HQYy]{R<}]>Ia m:e5? u:e۾ e؇? uC@9eAe_: e:)e>:WWX XWX:W2W*WVbUBU*UUU @BQBY BYA]Ճ*BYAYAaAaAa"C*CRCCCׁIG=>2,abgFAY}U@}UI @y}U]}Ue}UH@z±?`W?й˿؁?@3w*?)~U@ ~U)_;I~Q9IFi@; OEɫYY)Y aIaY?yF鮡ɮxDUSBL response received:!U1,P 458,000,002B3,189,80,80,A5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I]@A)]AA} }}} }{:Y}X1y}/:}N6)};9 r?Mby&1|C> `)IyX9v?{Gzt~jtx?<ף; fBA)NAI,Ai ?AEx;ME=YEd;QUM>IIaM#HQQyU;}]>Iae 5?e۾ eLj? uC@9eAe.; e-;)aWWX XWX:W2W*WVbUBU*UUU`@B B  B A *B A A A A "C *C RC C C! Q Ia G} >W,=)|gFAY}:@}:$ @y}:8;[}:T㾽}:H 9`5@? ? ˤ̿1?QH9"?)~:@ ~:%];I~:Cɫ99)9 9I9Y}?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -t;M-=Y5I?,2gFAY}6S@}6 @y}6gS}6۽}6H ;Fݢ??{Ϳa#Hy9}>IP5?/۾ ω? C@9A: :)W!W!X! X!W)X):W)2W)*W1V1bU1BU1*U9U9U=`@RM(Combining 5 samples.PI*QMq@ZQME5j?.\Ux3 JQMw?amf-2QMf3:QIbQM26hg? @j=)??RQM/W? e?t?BQML? QMP@QM;?PMK9?PIPIQIQM$@"QM @BB BA*BAAAA"C*CRCCCIG%>m mmm m:YmW1ymč:m 69u@ 9 CI `Fi @ ; KEi,eޯgFAɫyy)y yIyY?yTF)-= -=Ux<M]S=Y]QU]>aaae#HeHaym}m>I :5? :۾ u? C@9A: :)@:mEqAdded new target pos. range: 3.779998 m, bearing: 61.458684 deg, deltaT: 4.440595 s, approachRate: -0.040535 m/s, LOS rate: -2.031338 deg/s, posRepo size: 4XIWUL?WQXQ XQWQXY:WY2Wa*WaVabUqBUq*UyU}o=@U@?BB BAf*BAAAA"Cц?RCCL?CסIGC>Yi]=Q,(ɛgFAY}6@}61@y}6C}6&0Ľ}6H ض??ʿ&Q?C E?)~6@ ~6K)c;I~6Cɫ99)9 9I9Y?ywFTNmea in: $SNTTA,0.029542,,,,230830.04*46 U=M]J=Y]==QU]>aaae#Haaymv<}m>Iqu`5?u ۾ u? }C@9u2Au: u:)qWWX XWX:W2W*WVbUBU*UUU h>?BB BA*BAAAAi"CufT?RCqCqCyiIqG>mB mmm mTv:YmV1ym:m6,ߤgFAY}~@}~B@y}~b6}~ }~H`pJ>F?̿[?I`h1?)~~@ ~~a;I~~Cɫ) IYM|?yMFE㥛 ?ʡE?"~j?E>E-2> ES=)AIAyEQ?Mb:v?E\=EE< E=>A)ESAIE0AiErdAAEIAu>9qIu(Fiu,@qqqu; uhE = = = =@ =@ =@999i99 9)9I9i9M)MM.=YUQQa]#HYYye<}e>Iim 5?m8۾ m? uC@9mPAm: mw:)iWWX XWX:W2W*WVbUBU*UUU ?BB BA*BAAAA"C ɋ?RCCCIGM>,rpgFAY}2I  :5?  :۾ ?  C@9iA: :)A:W1W1X1 X1W1X1:W92W9*W9V9bUABUA*UAUAUE?BqBq BqA}*ByAyAyAyAy"Cf?RCCCIIYGu>I]AA)]@Am mmm m}:YmX1ym/:m6,KgFAY}2S@}2 @y}2}2}2H X?oB?Ŀ@P??)~2S@ ~2];I~2CɫYY)Y YIYY}?y}SF;MO=Y=QU>!!a%#H!)y-}->I155?5۾ 5%? EC@95A5': 5:)1WaWaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UyUyU}?BB BA*BAAAA"C?RCCC)I1GU>q 9q Iu `Fiu @u =q q u ; u OE ,M-1gFAY}B@}Be @y}B[}Bi}BH$W?`[A?N Ŀ`?}w ͘?)~B@ ~BcZ\;I~BCɫyy) IY ?yFu=iuR=    @ @ @ i? A?)?I?i?NM>=Ya#Hy;}>I :Q5? :۾ ?  C@9A: ;)B:WWX XWX:W2W*WVbUBU*UUU@B9BA BaAe**BaAiAiAiAi"Cu?*CqRCqCqCyaIiG8>}8 }}} }u:Y}U1y}:}6)}\;9ן,KgFAY}:G@}: @y}:}:$W}:H0@?@,Y?*@7M?`f0?)~:G@ ~:b;I~:Cɫ99)9 9I9Y}?y}wFI<Ma=Y !=QU>a#HyԻ}>IȹŽ5?Žd۾ ƽV? C@9ƽAǽ=: Ƚ:)ȹWWX XWX:W2Wq*WqVqbUyBUy*UyUyU}Ii@RB*** querying acoustic contact ***PPBB BA*BAAAA"Cb?RCCC IG5 >Yi]=J,dgFAY}>@}> @y}>gy}>u_}>H "Ϣ H? H`?B" c? ī?)~>@ ~>b;I~>CɫQQ)Q QIQYR?yFZ****** received transponder code query ******F****** received ping request ****** a #H y } >Iș  :ŝ 5?  :ŝ ۾ Ɲ 8?  C@9Ɲ Aǝ ; ȝ ;)ȝ C:W W X  X W X :W 2W *W V bU BU *U U9 U= 5 @B B  B A ق*B A A A A "C L?RC C C ױ I G >D,~gFAɫ髙) IY?yەFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IQ)QIe=)e4==<M=YQUe?  a #H y}j?I 5?۾ z? %C@9A: ÷:)WIWIXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UYUYUe  @BB BAƂ*BAAAA"C*CRCCCׁIG>%,`gFAY}2^@}2 @y}2bн}2k}2HR??@vк? ?)~2^@ ~2H];I~0ɫ99)9 9I9Y?ynFxDUSBL response received:!U1,R,502,000,002B1,189,80,80,B7,FF Fpublishing direction and range infoɰa=鰡 )7CIyu@w?amf-ٱjrM_=Y+=QU>a#Hy}>IF5?ü۾ ? C@9(A: :)W!W!X) X)W)X):W)2W)*W1V1bU1BU9*U9U9U= @RM(Combining 5 samples.PI*QMu@ZQMAKK?Oh JQMw?amf-2QI:QIbQM? @\ Rk?RQMz䂬? "?>Uv:?BQM@? QMX@QM?PIPMK9?PIQIQM @"QM$@BB BA*BAAAA"C*CRCCCiIyG=IY)]AAm mmm m|:YmV1ym:m69u@ 9 I Fi 1? =   ;  >E ,,gFAY}%8@}% @y}%}%~G}%Hߌ? ? T`?@ᨿ?)~%8@ ~%)];I~!ɫ) IYU?yUFTNmea in: $SNTTA,0.136069,,,,230834.04*41 ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYm¼Mu3=Yuyya}#H}Hyy`?;}>Iȑ :ŕ35? :ŕ۾ ƕ? C@9ƕQAǕE: ȕR:)ȕD:mMiAdded new target pos. range: 3.839998 m, bearing: 61.885107 deg, deltaT: 4.007119 s, approachRate: 0.014973 m/s, LOS rate: 0.106416 deg/s, posRepo size: 4XIWU@?WQXQ XQWQXQ:WQ2WY*WYVYbUyBU*UU Q@U`?BB BAL*BAAAA"C@?*CRCC@?CI GM>2,RI̜gFAY}2:@}26 @y}2}2g}2Ht@9h? ҩ?z@vh? ڬ ?)~2:@ ~2];I~2CɫYY)Y YIYY[?yxF=i=  U%rM]_=Y]aaae#Haaymo;}m>IO5?_۾ +? C@9tA: :)WWX XWX:W 2W *W V bUBU*UUUK?BABA BAAEW*BAAIAIAIAI"CQ*CQRCQCYCYiIqG>mE mmm mv:YmDW1ymY:m69,h$gFAY}2@}2 @y}2B}2w}2H$\B?A? @/P?Ү ?)~2@ ~2f;I~2CɫYY)Y YIYY}L?y}oFuMbX?Q?X9v?u=u\= u<)qIqyuQ?Q?Mb?ua#Hy <}>Iȩܹ9ܹIܽȖFiܽ?ܽ=ܹܹܽ2; ݽE U:ŭ5? U:ŭR۾ ƭ? UC@9ƭAǭ< ȭi<)ȭE:WyWyXy XyWyXy:W2W*WVbUBU*UUU(?BB BAZ*BAAAA"C)*C)RC)C)C1!IAGe4>e=ie=W@,gFAY}6 *@}6E @y}6B}6ʄ }6H [?`Z? }? l?)~6 *@ ~6jb;I~6Cɫ99)9 9I9Y]?y]AF = = = =@ =@ =@999i99 9)9I9i9ud<MuL=YuQU}>yya}#Hyy}>Iȑŕ85?ŕB۾ ƕ? C@9ƕAǕ: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU"?BB BA*BAAA A "C*CRCCCiIyG>ez eee ez:YeT1ye:eM6)F,gFAY}2^@}2!z @y}2ze}2E,}2H@G?V?+[/?o@&?)~2^@ ~2%_;I~2Cɫ99)9 9IAY}?y}FI)IC=)MݝMMM=YUƒQUU>YYa]#HYYye }e>Ii u:m5? u:m1۾ m? }C@9mAm: m:)mF:WWX XWX:W2W*WVbUBU*UUUC@BB BAD*BAAAA"C*CRCCC)I1GU>9I8Fi?=); E^WL,Y3gFAY}V@}V26 @y}V˽}V)W}VH `1??neU?`7?)~V@ ~Vƅ];I~Tɫqq)q qIqY$?yF    @ @ @ÑÑÑiÑÑ đ)đIđiđME=YQU>a#Hyu#}>IȹŽ5?Ž۾ ƽ? C@9ƽ Aǽ/: Ƚ':)ȹWWX XWX:W2W*WVbUBU*UUU@@B1B1 B1A=*B9A9A9A9A9"CA*CIRCICICIaIiG>I]@A)Ye aae eq:Yayae6)e;9m;S,ɐMgFAY}2^@}2 @y}2):ֽ}2L}2Hwtq"8???eX*ƺ?p ?)~2^@ ~2a#Hyv}>I :5? : ۾ {? C@9/A: :)G:WAWAXI XIWIXI:WI2WI*WQVQbUyBUy*UyUyU}@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCC IG5 >2fY,QlggFAY}:@}:0 @y}:(ཙ}:ʏa}:H xy@n7??*f? G?)~:@ ~:c;I~:Cɫ99)9 9I9Y}r?y}KFZ****** received transponder code query ******F****** received ping request ******9aIaiae=aae; eE~jtx?#~j?Mb?;= @=)IyI +Mb?/$?94=< ¥A>A)¥JAI¥7Ai¥SAEAp;M/=YI8QU>a#Hy.;}>I5?Ծ۾ ? C@9QA: t:)WWX XWX:W2W*WVbU!BU!*U!U!U-`YW @BQBQ BQAUу*BYAYAYAYAY"Ca*CaRCiCiCi)IGB>m mmm mj:YmU1ym:m 6)m;N`,GgFAY}2E@}2>a @y}2{轙}2ei}2H` )??v`??)~2E@ ~2c;I~2Cɫ99)9 9I9Y}z?y}FxDUSBL response received:!U1,P 502,000,002B1,189,80,80,B7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )IiME=YQU>iiam#Hqyy;}>I :&5? :۾ ? C@9qAf; :)H:WWX XWX:W2W*WVbUBU*UUU @BB  B A O*B AAAA"CA*CIRCICQe=iea=CYבIG>"xf,S"gFAY}2M@}28i @y}2V}2xQ}2HX{@@қ??`U~`& *?{I?)~2M@ ~2_;I~2Cɫ99)9 9I9Y}?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5M=n=Y=[QU=?AAaE#HAIyMt:}M?IQU5?U۾ UG? ]C@9UAU: U:)QWWX XWX:W2W*WVbU)BUI*UQUQUU`NK@ByB BA*BAAAA"C*CRCCCױIG%>m m|m|m m:YmR1ymi:m69u@inmGIi=zٺ9E AY9YI]pFi]M?YYY]7; ]E)Ii釉==U5Jl,gFAY}2@}2S/ @y}2(?}2E1<}2H`n"Ѣ?@?h5g\?R:?)~2@ ~2Z^;I~2Cɫ99)9 9I9Yn?yFI)I=)= % % % %@ %@ %@!!!i!! !)!I!i!5 =M5J=Y=˼QU=>9AaE#HEHAyMb}M>IQU5?U۾ U4? ]C@9UAUϸ: U@:)QWWX XWX:W2W*WVbUBU*UUU:@BB BA*BAAAA"C*CRCCCIG>as,ΝgFAY}r)@}r @y}r}r$}rH`N;@aj??`.``Ŀ G?/?)~r)@ ~rV];I~rCɫ) IY-?y- F1ɮ5R=EDNmea in: $SNTTA,,,,,230838.42*5A 뱽MD=Y&QU>a#HyE}>Iȩ :ŭN5? :ŭ۾ ƭ? C@9ƭAǭ: ȭk:)ȭI:WWX XWX:W2W*WVbUBU*UUU z@B!B! B!A%*B!A)A)A)A)"C1*C1RC1C9C9 IG- >IY)]?Am m~m~m m:YmT1ym@:mE6Oy,gFAY}6H@}6ѷ @y}6v!}6}6H)/TN͝? ?ſv?zв?)~6H@ ~61\;I~6CɫYY)Y YIYY?y;F9CIFi?/; EQ?Clǿu<d; ̼)Iyy&1:v?/$`eT< ¥?A)¥^LAI¥E4Ai¥XAFA;MG=Y3QU>a#Hy'}>I05?۾ ڛ? C@9A^: r:)WWX XWX:W2W*WVbUBU!*U!U!U%\@BQBY BYA]*BYAYAYAYAa"Ca*CiRCiCiCqqIG">w,CgFAY}6WY@}6t @y}6%}64w}6H %d?B? MJſŚ? z r?)~6WY@ ~6Ed;I~6C>JFailed to close latch before timeout.q >>Hardware FaultYR?yRFV=iV= \\     @  @  @i )IiTMj=Y%1QU>a#Hy-5}>I :5? :*۾ ? C@9A: :)J:WIWIXQ XqWqXq:Wy2Wy*WyVbUBU*UUU 6@RB*** querying acoustic contact ***PPB1B1 B9A=̈́*B9A9A9A9AA"CA*CIRCICICiIIY-$m@Hardware Fault in component: DDMGu>m[ mmm m^:YmU1ym:mW6TƆ,MjgFAY}:?@}:) @y}:.$}:}:H$zZp?l?@|yſ@#{?*?)~:?@ ~: b;I~:CBPowering downDɪD)D DYx?y!!a%#H!!y-A'}->I155?5۾ 5]? EC@95A5': 5ܹ:)1WaWaXa XaWaXi:Wi2W*WVbUBU*UUU q@BQBY BYA]*BYAYAYAaAa"C*CRCCCׁIG=>Yi]=9CIFia?; xE,G6gFAY}J@}J# @y}J,&}J_o}JH@T2 ?A?ntBſJ?` ?)~J@ ~JR_;I~JCY ?y`F    @ @ @i )IiO;M`=YQU>a#HyU}>I  :н5?  :۾ B? C@9A: :)K:WWX XWX:W2W*WVbUBU*UUU`@B9BA BAAE*BAAIAIAIAi"Cq*CqRCyCyCyiIqG>m mmm m:YmWU1ym:m36)m ;9uד,PgFAY}6¥@}6K @y}661}6aL}6H!xg?? ſ` ?' {?)~6¥@ ~6Q];I~6CYR?yREFVxDUSBL response received:!U1,R,502,000,072C9,189,80,80,B7,FF VFpublishing direction and range infoPPɰRs@P P)PIPyRDRw?amf-ٱPI\)\If=)djpMn]=YnIQUn>ppar#HptyvT}v>Ixz5?z,۾ z#? C@9zAz1< zR<)xWWX XWX:W2W*WVbUBU*UUUm@R%(Combining 5 samples.P!*Q%DZQ%vƤ+@ࡤAJQ%w?amf-2Q!:Q!bQ%f&,4?@./ @b-i@RQ%4+?=YY? eޑ?BQ%9? Q%YDQ%YDP%>9?P!P%읿Q!Q%OC"Q% @BB BA *BAAAA"C*CRCCCשI$NClearing failed state for component DDMq G>Z,HigFAY}6e@}6 @y}6=}6iW}6H Ҫ`$B? ?$fGǿ@?`h?)~6e@ ~68w\;I~6CYN?yRaFܡ9ܥCIܥXFiܥ?ܡܡܡܥ; ݥBES?Mb`~jth?/> D;)Iyy&1?X9v:v`e<Լ h=A)NAI1Ai"aAGA мM 8=Y <߼QU >a#Hy}%>I!%N5?%X۾ %? 5C@9%$A%: %:)!meAdded new target pos. range: 1725.600098 m, bearing: 59.408391 deg, deltaT: 6.862919 s, approachRate: 250.878693 m/s, LOS rate: -0.360884 deg/s, posRepo size: 4meXStopped intercept timer at range: 1725.60 m.We9?WiXi XiWiXi:Wi2Wq*WqVqbUyBUy*UyU}f@U}?BB BAh*BAAAA"Cߎ?RCC9?C)I1GU>IY)]@Am, m}m}m} mt:YmkS1ymԊ:m 6)m;,*gFAY}6.@}6'J @y}6D}6}6Hy [ ??`.@pƿ@>l?je?)~6.@ ~6w\;I~6CY^G?y^F m m u u@ u@ u@qqqiqq q)qIqiqL5=MS=YWQU>a#H!y%}%>IQ ]:Uܾ5? e:U۾ UƔ? eD@9UCAU9; U;)UL:; wAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;wdResuming normal ranging with 1.000000 count pings.;1<WWX XWX:W2W*WVbUBU*UUU ?B9BA BAAE܄*BAAAAAAiAq"C9?RCCCסIG >c,gFAY~?y~OF]=i]4< iim6MI=YQU>a#Hy}>IȹŽa5?Ž۾ ƽ? D@9ƽ`Aǽ^: ȽU:)ȹX?1<wCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR; wAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRWWX XWX:W2W*WVbUBU*UUUP?BB BAp*BAAAA"C*CRCCCIG>m3 mmm m"u:YmU1ym:m69u@ܙ9ܙIܝFiܝ1?ܙܙܙܝ ; ݝE>,󍷞gFAY}24@}2 @y}2ŕO}2wd9}2H@J@?@$?;d@ȿ@Q?` P?)~24@ ~2%\;I~0YB?yB*F5M5Q=Y=QU=>AAaE#HEHIyM'l}M>IQ ]:U5? ]:U!۾ U? eD@9U~AU: U:)UM:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*CRCCCIG=]=i]p=&,hўgFAY}Vr@}V$ @y}VŏP}V'}VH"` ? <=?`3XFʿ?ɣD?)~Vr@ ~V[;I~TY~?y}F        @  @  @   i   ) I i %M%<=Y%QU%>))a-#H)1y5I\}5>I9=5?=Q۾ =~? MD@9=A=g: =ض:)9WiWiXi XiWiXq:Wq2Wy*WyVybUyBU*UUUA@BB BAŅ*BAAAA"C*CRCCC IG5 >m iim m j:Yiyim6i mGI i ٺ TAT_,AgFAY}6@}6I* @y}69S}6}}6H`[*? S?@Uʿ E?@  5B?)~6@ ~6kl[;I~6CYR?yRFI)I C=) C=)9)I-Fi-v?-=))-9; -E)ݽCIݽCiݹݽ=ݽ=ݽnO5Eףp= ?&1?Mbp?E>EP> E;)AIAyE/$?{GzEE,=E# EfBA)E^LAIEG/AiEgAAEpIA]p?=MeD=YeQUe>iiam#Hiqyup}u>Iy :}J5? :}ʿ۾ }֐? D@9}A}: }:)}N:WWX XWX:W2W*WVbUBU*UUU@BB BA&*BAAAA"C*CRCCCשIG!>l8,dgFAY}: !@}:< @y}:Z^}:, }:H??? ˿`?eְv-?)~: !@ ~:M[;I~:CY^G?ybFba=ɮba=v<Mvh=YzQUz>||a~#H|y N;} >I65?0۾ E? %D@9AK,; #;)WYWYXY XYWaXa:Wa2Wa*WiVibUiBUq*UqUqU}@fr@RB*** querying acoustic contact ***PPBB BA܄*BAAAA"C*CRCCC1I9GU=IY)]?Am: mmm mu:YmV1ym:m6b,UgFAY}6I@}6#e @y}6Dd}6 }6H A ?5+?GͿ`'a?f?)~6I@ ~6$.[;I~4YBg?yBYFFZ****** received transponder code query ******FF****** received ping request ******Fa#Hyk;}>I  :5? :۾ ? 5D@9A; X;)O:WyWyXy XyWyXy:Wy2W*WVbUBU*UUU @BB  B A ԅ*B A)A1A1A1"C9*C9RC9C9CA)I1GU>A9AIExFiE?AAAEx; EE,8gFAY}6J@}6f @y}6-d}6}6H7w?`+?'EοsI?`3@?)~6J@ ~6z[;I~6CYB6?yB؎FFxDUSBL response received:!U1,P 502,000,072C9,189,80,80,B7,FF FCommand AckFBRequesting micromodem ping code 2iDDJAAaM#HIQy]C9}]>Iqu5?u,۾ u? D@9u+Au3; uav<)qWIWIXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UYUYUe࿫ @BB BA*BAAAA"C*CRCCC IGER>}I }}}q }v:Y}0Y1y}:}6)};9t,ٰRgFAY}2\(@}2C @y}2f}2+qý}2H@g@h? 1?7Nο`"?@Ʒ> ?)~2\(@ ~2~[;I~0Y@y@F@ADrNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Y}QU?a#HyȻ}?Ișŝ|5?ŝ۾ Ɲ&? D@9ƝHAǝ: ȝ:)șWWX XWX:W2W*WVbUBU*UUU@B B  B A *B AAAA"C*CRC!C!C!iIyG=aia, lgFAY}2@'@}2B @y}26Qg}28H}2H?0?@0|ο[?c ?)~2@'@ ~2[;I~2C>Powering up>"Initializing DDM.)9)I-@Fi-?-=))-1; -EY=?y=FExDUSBL response received:!U1,R,502,000,002AF,189,80,80,AF,FF MFpublishing direction and range infoAAɰEa=A A)E/CIAyEn@Ew?amf-ٱAFx?{Gzy&1?K>ף `e=)IyI +?:vQ?94<Լu< …h=A)…UAI…0Ai…lALA    @ @ @ ÑÑÑiÕ\?Ñ ĕA?)ĕA?IĕA?iĕ?pMa#Hy }>I :55? :۾ i? D@9bA: ^:)P:WWX XWX:W2W*WVbUBU *U U U '@P*Qn@ZQo$?7U JQw?amf-2Q:QbQ^?Vi/@`d#n?RQ? }? ?BQ% ? QE@Q?PK9?P>9?PQ읿Q@"QOCBQBQ BQA]*BYAYAYAYAY"Ca*CiRCiCiCim mmm ms:YmDW1ymY:m6)m;yIG_>j,rgFAY5?y5OFDNmea in: $SNTTA,,,,,230845.26*52 I)IR=)=<M=YQU ?a#Hy} ?I155?5۾ 55? =D@95sA5$: 5:)1muyAdded new target pos. range: 3.720000 m, bearing: 57.311769 deg, deltaT: 4.540936 s, approachRate: -379.190582 m/s, LOS rate: -0.461716 deg/s, posRepo size: 4Wu% ?WqXq XqWqXq:Wy2Wy*WyVybUBU*UU @U}?BB BAp*BAAAA"CX?RCC% ?CIG>,kFgFAY}:D@}:Ϳ@y}:!e}:}:H`t`#@F?`U?@ʿ Xv?`-?)~:D@ ~:7[;I~8Y^E?y^F]qgM]U=Y];QUe>aaae#Haiymު}m>Iy }:}95? :}>۾ }? D@9}A}p: }|:)}Q::uAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;vZEntering USBL mode with 5.000000 count pings.1;q;WWX XWX:W2W*WVbUBU*UUU^?ByBy ByA}*BAAAA"C% ?RCCC׉IG=IY)]AAm iim m:Yiyim69u@9CIFiE?=^; E,ugFAY}2S@}2o@y}2Md}2md}2Hq ZC@D?l?` ` ˿@TM?ի(?)~2S@ ~27[;I~2CYR?yRƎF U U U U@ U@ U@ U@QQQiUQ U)UIUiUmZMmI=Yu*O;QUu>qya}#H}HyyF}>IȉōӼ5?ō̿۾ ƍ ? D@9ƍAǍ: ȍw:)ȉX@q;uCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:uAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLWWX XWX:W2W*WVbUBU*UUU?B!B) B)A-*B)A)A1A1A1"C9*C9RC9C9CAשIG>,ԟgFAY%6?y%؎F%=i=  ;M@=YQU>a%#H!!y-}->I1 =:5s5? =:5U۾ 5 ? =D@95A55: 5N:)5R:WaWaXa XaWaXa:Wa2Wi*WiVibUqBUq*UqUqUuz?BB BA*BAAAA)"C1*C1RC1C1C9!I1G]> ~~ :YT1y@:6,gFAY}6%@}6@y}6Kb}6}6H`H`jg? ?v@Rʿ?C3?)~6%@ ~6Q[;I~6CYNT?yRFd9dIf@Fif?dddf; fEU(\?ףp= ?X9vUz>U> U)QIQyUX9v?Qy&1|?Ua#Hy#}>Iqu]5?u۾ uړ? }D@9uAu: u:)qWWX XWX:W2W*WVbUBU*UUU@?B9BA BAAE*BAAaAiAiAi"Cq*CqRCqCqCyAIIGm5>]=i]=G,KgFAY}V"@}V@y}Vf}V+:}VHKem?z?Llh˿?Ħ(?)~V"@ ~V$[;I~VCYfE?yfF    @ @ @ùùùiùù Ĺ)ĹIĹiĹ*MZ=Y6>QU>aU#HQYy]0;}]>IaeJ5?eݽ۾ e? mD@9eAe: e:)aWWX XWX:W2W*WVbUBU*UUU+@BaBa BaAe*BiAAAA"C*CRCCCסIG >m1 m}m}m mt:YmkS1ymԊ:m6,;!gFAY~P?y~Fp=ɮI ) I=)%<M-U=Y-QU->11a5#H11yE}M>Ii m:m75? u:m2۾ m8? uD@9mAm: m:)mS:WWX XWX:W2W*WVbUBU*UUU`^@RB*** querying acoustic contact ***PPBB BAZ*BAAAA"C*CRCCCIG=imGIi)UwӿٺQU{A9Ii4; &E)CIib5),4h;gFAY}FR@}F@y}Fsj}Ff}FH`Qsh_?]?`RA̿@ ??)~FR@ ~F [;I~FCYb|?ybFfZ****** received transponder code query ******fF****** received ping request ******f))au#Hqqy}>;}}>IȁŅ5?Ņi۾ ƅ ? D@9ƅADž; ȅQ;)ȁWWX XWX:W2W*WVbUBU*UUUO @BqBq BqAuN*BqAyAyAyAy"C*CRCCCׁIG>I]AA)Yur uuu uI:YuWU1yu:u6)u;9},O?UgFAY}6@}6"@y}6i}6}6HWv@h.ߤ?`dy?C@Sο ?ݶ@9 ?)~6@ ~6Vs[;I~6CYB?yBFFxDUSBL response received:!U1,P 502,000,002AF,189,80,80,AF,FF FCommand AckFBRequesting micromodem ping code 2iDDNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 m;MmF=Y];QU>a#HyQ<}>I :5? :۾ ۖ? D@9:AXz; r;)T:WAWAXA XIWIXI:WQ2WQ*WYVYbUaBUa*UiUU`ׯ @B B  BA*BAAAA"C*CRC!C!C!)IAGm5>=,&ogFA494I6Fi6E?4446; 6dEY}^@}^%@y}^ f}^}^H0d@#q?්?B ^Ϳ=?q`*?)~^@ ~^B[;I~^CY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i= RQ?Mb?L7A`?B>@= +=)IyZd;O?Zd;O?Mbp?j<j<; ±)±Iµ-AiµpAKA        @  @  @   i   ) I i e=M1=Y%";QU%>))a-#H))y5O߻}5>I9=ֻ5?=۾ =D? ED@9=WA=: =Q:)9WWX XWX:W2W*WVbUBU*UUU&@BIBI BIAM*BIAQAQAQAQ"Cy*CyRCCCm mmm mk:YmV1ym:m6)mO;yIG`>&",CgFAY}6c@}6@y}6mf}6l}6HP q`8?? [+̿૏? ֬$?)~6c@ ~6ʎ[;I~6CYB?yBEFFxDUSBL response received:!U1,R,502,000,002B1,189,80,80,AE,FF JFpublishing direction and range infoDDɰFa=D D)F.CIDyFu@Fw?amf-ٱDnxMr=YrQUr?ttav#HttyzM}z?I| :~5? :~f۾ ~?  D@9~kA~: ~:)~U:W)W)X) X)W1X1:W12W1*W9V9bU9BU9*UAUAUErF@RU(Combining 5 samples.PQ*QUu@ZQUAKK?Oh JQUw?amf-2QQ:QQbQU/ @_\lSFF @ 3?RQUe"#?QES?%H?BQU{? QU2J@QU@PQPUK9?PUQUQU@"QU@BB BA *BA)A)A1A1"C9*C9RC9C9CAIIQGm=]=iYBO(,^ڢgFAY}rXv@}r@y}r` h}r=}rH=;B_?@џ?ّ߿ ?п ?`g ?)~rXv@ ~r\;I~rCYi?y3F}DNmea in: $SNTTA,,,,,230849.70*5D S M==YoQU>a#Hy޻}>I5?<۾ ? D@9A@: n:)mmAdded new target pos. range: 3.839998 m, bearing: 56.296058 deg, deltaT: 4.321236 s, approachRate: 0.027769 m/s, LOS rate: -0.235051 deg/s, posRepo size: 4W{?WX XWX:W2W*WVbUBU*UU Q@UU?B)B1 B1A5*B1A1A9A9A9"CE{?RCACE{?CI!I1GM>e] aae e{x:Yayae69m@y9yI}НFi}E@yyy}; }E\w.,gFAY ?y ƎFI)Ip=)R=    @ @ @i )Iim4MG=YQU>a#HHy}>I  : Ӹ5? : ۾ >? D@9 A : Z:) V:W9W9X9 X9WAXA:WA2WA*WAVIbUIBUI*UIUIUU ?ByBy BA*BAAAA"C*CRC CC IG5 >c5,c֠gFAY}^c@}^~@y}^jY}^}^H @?ƹ? :̿ ?j)?)~^c@ ~^l[;I~^CYn?yr؏F =MN=Y=QU>a#Hy'B}>IǷ5?۾ ? D@9A: o:)WWX XWX:W2W*WVbUBU*U U U w?B1B9 B9A=8*B9A9AAAAAA"CI*CIRCICICQׁIG=I]@A)]@A  r:YU1y:N6Q 9U CIQ iQ Q Q Q U Y; U E;,gFAY}-@}-?@y}-T:Y}-_}-HO z`??C c˿E?@ 6?)~-@ ~-[;I~)Y} ?yFMb@Mb@Mb@ )Iy~jtx?Mb`I +?;9< ½:A)½YAI½0Ai½EjA    @ @ @i )Ii-vM-3=Y-Z:QU->11a5#H19y=;}=>IAEŷ5?E۾ E? UD@9EAE: Ew:)AWqWqXq XqWyXy:Wy2Wy*WyVbUBU*UUU@+?B1B1 B1A5*B9A9A9A9A9"Ca*CiRCiCiCiYIiG9>tuB,P gFAY}RA@}R@y}RvV}R=}RH_p }d?? Y@ʿ@?0p=?)~RA@ ~R[;I~RCYb?yf4FMa=iM%= YY6<Mk=Y3;QU?a#Hy*;}?Iȩ :ŭķ5? :ŭݺ۾ ƭ? D@9ƭAǭ0: ȭ:)ȭW:WWX XWX:W2W*WVbUBU*UUU@3S@BB! B!A%{*B!A!A!A)A)"C1*C1RC1C1C9IGM=eO eee e]w:YeV1ye:e6H,$$gFAY}2.@}2@y}2yN}2Ȱ~}2Hd`n@j?V?)\kɿ?+]J?)~2.@ ~2@[;I~2CY^|?y^F=b<M=P=Y=AAaE#HAIyM}M>IȹŽ·5?ŽԺ۾ ƽ ? D@9ƽAǽ: Ƚܹ:)ȹWWX XWX:W2W*WVbUBU*UUUo@B)B) B)A-N*B1A1A1A1A1"C9*C9RC9CACAIIQGm=9CIi=; EU=iU=dN,M=gFAY}V@}V@@y}V)G}VDt}VH4sf@??ky ɿ?@5W?)~V@ ~Vr[;I~TYf?yjFna=ɮnp= ] ] ] e@ e@ e@YYYiYY Y)YIYiY}DAM}F=Ya#HygG;}>Iș :ŝ5? :ŝʺ۾ ƝK? D@9ƝAǝ: ȝ:)ȝX:WWX XWX:W2W*WVQbUQBUY*UYUYU] @ReB*** querying acoustic contact ***PiPiBB BA*BAAAA"C*CRCCCIG>im|m|m iYmR1ymi:m6U,WgFAY}2e@}2@y}2E}2̇}2H[ ˦??xMɿ`?@ V?)~2e@ ~2G[;I~2CYf?yfZFjZ****** received transponder code query ******jF****** received ping request ******jIIaM#HIQy],<}]>Iae5?e۾ et? uD@9eAe\: e:)aWWX XWX:W2W*WVbUBU*UUU w @BB BA;*BAAAA"C*CRCCCIG=i}nGIi ֿٺ  wA 9 I Fi v? ; cE)ݡIݥCiݡݡݥ=ݥƿ4[,qgFAY}F@}FX4@y}FNH}F} }FH` S厣??z'ʿ?` M?)~F@ ~Fj[;I~FCYn~?yn,FrxDUSBL response received:!U1,P 502,000,002B1,189,80,80,AE,FF rCommand AckvBRequesting micromodem ping code 2ittNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 /$?(\?:v?=> T=)Iy rh?kt? rh?C = 0=C< AA)OAIr.Ai?A    @ @ @i )Ii:M=YQU>a#Hy ;}>IAIY)]AA} }}}b }r:Y}X1y}/:}<6)};9 :E.5? :E۾ E? D@9EAE< E<)EY:WqWqXq XqWyXy:Wy2Wy*WyVbUBU*UUU@BB BAN*BAAAA"C*CRCC CI! I1 GM > b,gFAY}:@}:w@y}:GK}:&I}:Hي@Qկ? p? 'ȿ!E?z U?)~:@ ~:b[;I~:CYF?yFFHJ@AZNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ]ʼM]=YeTQUe/?aaam#Hiiyu}u1?Iy}5?}۾ }? D@9}A}w: }:)yWWX XWX:W2W*WVbUBU*UUU5@BB BA*BAAAA"C*CRCCCבIG=mh,bigFAY}JN@}Jj@y}J IT}J4}JHm:Zo??`.`JɿX?H?)~JN@ ~J$%[;I~JCYZ'?yώF xDUSBL response received:!U1,R,502,000,002AE,189,80,80,A9,FF Fpublishing direction and range info  ɰ `=  ) )CI y =j@ w?amf-ٱ -R=i) 99U=M]J=Y]QU]>aaae#HaiyuaT<}u>Iȁ :ŅC5? :Ņ۾ ƅ? D@9ƅHADž6; ȅr#;)ȅZ:WWX XWX:W2W*WVbUBU*UUU`8@R(Combining 5 samples.P*Q=j@ZQs:@?apuV JQw?amf-2Q:QbQ>>L?/[Wc@ 9&?RQN<,8?+ڧ?Fy?BQ?K? QC@Q?PPPQQ:@"Q@B)B1 B1A5*B1A1A1A1A9"C9*CARCACACAשIG>ܡ9ܡIܥ Fiܥ?ܥ=ܡܡܥ; ݥYEe eee e:YeV1ye:e6)ec;o,QgFAY}U@}U;@y}UW}U}UH |@4 ?l?@`B˿?+ 7?)~U@ ~U1[;I~UCYmZ?yuۋFTNmea in: $SNTTA,0.072352,,,,230854.18*40 5 5 5 5@ 5@ 5@111i11 1)1I1i1EwME<=YMhQUM>QQaU#HUHQy])<}]>IaeO5?e۾ eۢ? mD@9ewAe: e:)ammAdded new target pos. range: 3.660000 m, bearing: 57.137753 deg, deltaT: 4.464617 s, approachRate: -0.040317 m/s, LOS rate: 0.188526 deg/s, posRepo size: 4W?K?WX XWXA:WA2WA*WIVIbUIBUI*UQUUG @UU'?BB BA׆*BAAAA"C?K?RCC?K?C I!G=0>U=iQu, ١gFAY}N̋@}NU@y}NR}NO ~}NH} 3?+w?Qʿ,?@yC?)~N̋@ ~N+[;I~NCYb2?yb%FMMS=YMJa#Hy}>I5?{۾ ?  D@9A; ;)W)W)X) X1W1X1:W12W1*W9V9bU9BU9*U9UAUE\'?BiBi BqAu!*BqAqAqAqAy"Cy*CRCCCiIqG=e e}e}e en:YekS1yeԊ:e69m@ܡ 9ܡ Iܥ Fiܥ a?ܡ ܡ ܡ ܥ ; ݥ nE%|,gFAY}2@}2@y}2#P}2:}2HeM- ñ?}?Uȿ ?@qĦO?)~2@ ~2o[;I~2CYRb?yRFMbX9?(\µ{Gzt?ʡ= ף;)Iyy&1Mb?{Gz?`弹<ף< ‘)•NAI•0Ai•hA=JAML=Y;QU>a#Hyٺ}>I :ޮ5? :.۾ ? D@9Ab: :)[:WWX XWX:W2W*W V bU BU *U UU`Vo?BB BAU*BAAAA"C*CRCCCIG> ,G gFAY}J,@}J@y}JU}Jwꕼ}JHd` N?v?`1ǿr?U`M?)~J,@ ~J[;I~JCYZ?y^nF=^A=^AMf<MMQ=YMKQUM>Qya#HyB9}>Ișŝ25?ŝ۾ ƝI? D@9ƝAǝ); ȝ*;)șW)W)X) X)W)X):WQ2WQ*WYVYbUYBUY*UYUaUe?B)BQ BYA]*BaAiAAA"C*CRCCCIG )>IY)Ym iim mF{:YiyimW6B7,r&gFAY}6P@}6'l@y}6;_}6D<}6H`g ?u?ƿ??=?)~6P@ ~6[[;I~6CYB?yBF 5 5 5 5@ 5@ 5@111i11 1)1I1i1=ME=Y¼QU>a#HyP}>Iȹ :Ž5? :Ž۾ ƽ? D@9ƽAǽ: Ƚ^:)Ƚ\:WWX XWX:W2W*WVbUBU*UUU`*@B)B) B1A5*B1A1A9A9A9"CA*CARCACACIIG==I9IIIiIIIIM; ME ,7@gFAY}>$@}>:@y}>1h}>⭺}>Hl@' D?`Ws?ȓȿ?-U-?)~>$@ ~>K?[;I~>CYn?yn[FEa=iEC==%ME=Y?QU>a#H y }>I!%5?%R۾ %? -D@9%A%a'; %%);)!WaWaXi XiWiXi:Wi2Wq*WqVqbUqBUq*UyUyU}d@BB BA *BAAAA"C*CRCCC׉IG>mJ m~m~m mv:YmT1ym@:m6uN,sZgFAY}n@}nv@y}nm}n}h}nH l8OQ@? u?`W@'g˿n?Ρf?)~n@ ~n$v[;I~nCYz|?yzRF~p=ɮ~a= ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYmMmS=YuWAQUu>qya}#Hyyyt}>Iȉ :ō45? :ō۾ ƍS? D@9ƍ(AǍ : ȍ:)ȍ]:WWX XWX:W2W*WVbUBU*UUU@ɖ@RB*** querying acoustic contact ***PPBB BA*BAA A A "C*CRCCC׉IGQiU=9 99 I9 i9 9 9 9 = ; = {E;x,/MtgFAY}5@}5-@y}5m}5m}5H qa gh? |? ҽ L=)Iy:va#Hy  X} >I 5?۾ ? D@9=A: =:)WYWYXy XyWyX:W2W*WVbUBU*UUU @BB BAr*BAAAA"C *C RC CCI!G=Q>e eee eۃ:YeT1ye:e6)e;9m\,PgFAY}6 @}6@y}6~p}64}6H ci gT?t?@ZοM?X᱿ ?)~6 @ ~65[;I~6CYB?yBnFFxDUSBL response received:!U1,P 502,000,002AE,189,80,80,A9,FF FCommand AckFBRequesting micromodem ping code 2iDDIH)HNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 If=)f4=2=M=Y QU?)1a=#H9Iy];}e ?IȁŅ5?Ņν۾ ƅ? D@9ƅKADž< ȅ*<)ȁWWX XWX:W2W*WVbUBU*U!U!U- e @BBA BIAM*BIAIAIAIAQ"CQ*CYRCYCYCYaIyG>>e,,梨gFAY}2g:@}2U@y}2Gw}2[}2H}TYV?`T?`s`bο(?@yb?)~2g:@ ~2[;I~2CYR?yRFPPlliEnGIaiqڿٺܿANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B eT=Me6=Ye쁼QUm>iia#Hy/<}>I :\5? :۾ ? D@9^A: R:)^:W!W!X! X!W!X!:W)2W)*WIVibUqBUq*UqUqU}Z@BB BA*BAAAA"C*CRCCC>9IXFi?; aE)݁I݁i݁݁݁݅b949IG-O>Ia)e@Au uuu ur:YuU1yu:u6)u;Em,OgFAY}6e@}6@y}6Xw}6豽}6H??@5?@Ͽ^?ɐ.?)~6e@ ~6B[;I~6CY^G?ybmFfxDUSBL response received:!U1,R,4A8,000,002AD,189,80,80,AD,FF fFpublishing direction and range infob%`ɰbu`=` `)b-CI`ybff@b9m1?F<ٱ`    @ @ @ i=? )K?I?i?MQ=Y:QU>a#HHy '<} >I5?۾ ? D@9nA: :)WAWAXA XAWAXA:WA2WI*WIVIbUIBUQ*UQUQUUb@Re(Combining 5 samples.Pi*Qmff@ZQmPG%?| j#JQm9m1?F<2Qm%:QibQm^N?b;f[@ޞP?RQm%o?-Ƒ?or[?BQm? QmVF@Qm?PmJ9?PiPiQiQm@"Qm:@BQBQ BYA]*BYAYAaAaAa"C*CRCCC׉IG>,ۢgFAY}N.7@}NR @y}Nr}N-}NH`oo@ۭ?`? GοO?U ?)~N.7@ ~N[;I~NCYZ?y^QF-TNmea in: $SNTTA,0.034543,,,,230858.60*47 -=i-< =VMEE=YEGNIIaM#HQQy]G<}e>Ii u:m5? u:mt۾ mC? }D@9mAm@#; mk4;)m_:mmAdded new target pos. range: 3.599999 m, bearing: 61.338398 deg, deltaT: 4.457699 s, approachRate: -0.013460 m/s, LOS rate: 0.942335 deg/s, posRepo size: 4W?WX XWX:W2W*WVbUIBUI*UQU] @Um?BB BA*BAAAA"C?RCC%?C!I!GMR>e eee e}:YeX1ye/:e69m@ 9 I Fi v?    ;  mE,܀gFAY}2X@}2t @y}2cp}2"}2H@ ߯?`? ;ο? ?)~2X@ ~2:[;I~2CYbk?ybFS㥛?ʡE?y&1|$>> `)Iy rhkt̼C 0 ½AA)½UAI½-Ai½AA  m m m@ m@ m@ m@iiiimi i)mImim}4=M}G=Y{;QU>a#Hy;}>Ișŝ5?ŝ{۾ Ɲם? D@9ƝAǝ: ȝ:)șWWX XWX:W2W*WVbUBU*UUU)X?B B  B A*BAAAA"C;?RCC!C!IGM>Yi]=ߩ,]gFAY}6k_@}6z @y}6kq}6^}6Ho`@>)?\?Wο`? Ѵw?)~6k_@ ~6=[;I~6CYB#?yBjF}Wj=M}\=Y1QU>a#HyQ:}>Iȩ :ŭe5? :ŭ۾ ƭ? D@9ƭAǭH; ȭW;)ȭ`:WWX XWX:W2W*WVbU BU *U UU8?BQBY BYA]e*BYAYAYAaAa"Cu]?RCCC IG- >m mmm mv:YmU1ym:m6,6)gFAY}6N@}6@y}6hn}6:2}6H@8zF?`??˿}?`?)~6N@ ~6u[;I~6CYB?yB}FIp)pIvC=)tM%Q=Y% ))a-#H))y57ļ}5>I9=-5?=۾ =L? ED@9=A=0: =:)9WWX XWX:W2W*WVbUBU*UUU@ ?BaBi BiAmŅ*BiAiAiAiAq"Cj?*CRCCC׉IG=9I@Fi?; PEf,CgFAY}:D@}:@y}:|l}:μ}:H* n? E>?  )`ʿ@? *@$?)~:D@ ~:Q[;I~:CY^?ybF    @ @ @i )Ii,=M?=Y#;QU>au#Hqyy ;}>Iȑ :ŕ 5? :ŕ۾ ƕ? E@9ƕAǕ%L; ȕL;)ȕa:W!W!X! X!W)X):WQ2WQ*WQVQbUYBUY*UYUYUe@i@BB BA1*BAAAA"C?RCCCIG (>I]AA)]BAm mmm m:Ym0Y1ym:mD6, \gFAY}6Q@}6Im @y}6–i}6Bً}6H`ְ?`"?`̿/?/?)~6Q@ ~6~`[;I~6CB`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ  )  I YM?yMiFQɮU= aa~jt?Zd;OMb<j< @)Iy~jt?MbP{Gz<# 7CA)/MAIr.AijnA\KAdL<M!=Y ;QU > a#Hyx<}>I!%5?%۾ %U? -E@9%A%: %:)!WQWQXQ XQWQXQ:WY2WY*WYVYbUYBUa*UaUaUm@W-@RuB*** querying acoustic contact ***PqPqBB BA*B!A!A!A!A!"CA*CARCACACI9IIGew> 9 I Fi E? ; E|,vgFAY}6K@}6f @y}6^}6Amͽ}6H`x?@3? ο@? ?)~6K@ ~6a\;I~4ɫYY)Y YIYY?y!FZ****** received transponder code query ******F****** received ping request ******m mmmv mB:YmDW1ymY:m`6)m ;9uT,ʦgFAY}6 @}6 @y}6EQ}6Dmν}6H,^?d4?`A̿ B?8/,?)~6 @ ~6M&];I~6Cɫ99)9 9I9Y?yFxDUSBL response received:!U1,P 4A8,000,002AD,189,80,80,AD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= ==aMEP=YU=QU]>iiau#Hyy&<}>IȹŽǵ5?Ž۾ ƽ? E@9ƽAǽ= Ƚ<=)ȹWWX XWX:W2W *W V bU BU *UUU @ByB BA*BAAAA"C*CRCCCe=iayIGd>!,~gFAY}6}@}6 @y}6kG}6}6HN@D g?i1?`? lɿ4?`zR?)~6}@ ~6\;I~6Cɫ99)9 9I9Y}i?y}3FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =MB=Ya#Hyi<}>IW5?۾ ? E@9&Aa; +;)WQWYXY XYWYXY:Wa2Wa*WaVabUiBUq*UqUqUu\ @i9iIiiiiiim; m EBB BA*BAAAA"C*CRCCCI G%M>my iim mz:Yiyim6)m; ,YģgFAY}6C@}6_ @y}6F}6K}6H?`?Ysȿ?sK\?)~6C@ ~6[;I~6Cɫ99)A AIAY}?y}_FxDUSBL response received:!U1,R,414,000,002AE,189,80,80,9E,FF Fpublishing direction and range infoZ;iɰ`=鰁 )CIy=j@+;?.Hٱ    %@ %@ %@!!!i!! !)!I!i!=O=M=T=Y=v:QUE>AIaM#HMHQy]<}]>Ia m:e5? m:e۾ eb? mE@9e;Ae: e:)ec:W)W1X1 X1W1X1:W12W9*W9V9bU9BU9*UAUAUE`E@RU(Combining 5 samples.PY*Q]=j@ZQ]G'@Ne"JQ]+;?.H2Q]Z;i:QYbQ]Z'F?P @emk\?RQ]v<oƿ?lSy^?WNB?BQ]@? Q]Z@Q]?P]I9?P]J9?PYQYQ]@"Q]@BB BA1*BAAAA"C*CRCCCIG )>3,4ޣgFAY}rr@}r @y}rQgB}r}rH YD ? ?i] qʿ'?@? HI?)~rr@ ~r[;I~rCɫ9A)A AIIYe]?ymF=TNmea in: $SNTTA,0.066227,,,,230902.68*43 mʡE?(\¿/$?m=mz m,=)iIiym{GztMb?+?mףma#Hy;}>Iʹ5?۾ ?  E@9KA: b:)m]iAdded new target pos. range: 3.660000 m, bearing: 70.836561 deg, deltaT: 4.070589 s, approachRate: 0.014740 m/s, LOS rate: 2.333363 deg/s, posRepo size: 4mTStarting intercept timer at range: 3.66 m.W@?WX XWXinmGI:W iMۿٺIMAI]@A)]@Am} m}m}mu m:YmkS1ymԊ:mE69u@2W*WqVybUBU*UUG @U`g?BB1 B9A=V*B9A9A9A9A9"CE|?RCICM@?CIIY)Y1I9G]>i 9i Ii ii i i i m R; m 6E)IiF4^,VgFAY}:{@}: @y}:f4}:Mҽ}:H@X? ? ,n@ɿ}v?ݹHV?)~:{@ ~:d;I~8ɫ99)9 9I9Y}?y}F } } } }@ }@ }@yyyiyy y)yIyiyFeMw=YS&=QU?a#Hy$<}?Iȩ :ŭ5? :ŭػ۾ ƭ2? E@9ƭWAǭ: ȭ:)ȭd:WWX XWX:W2W*WVbUBU*UUU |o?BB BA*B!A!A!A!A!"C- ?RC)C1C1IG5 >E,gFAY}6y@}6p @y}6#}6ݏ}6H8`X%?+? ӅZƿ`'c?`$|?)~6y@ ~6G>c;I~6CɫYY)Y YIYY?yFE"MEO=YM*=QUM>IQa#Hy}>I5?3۾ !? E@9dA: ~:)WWX XWX:W2W*W!V!bU!BU!*U)U1U5 R?BiBq BqAu*ByAyAyAA"CNh?RCCCסIG >m% mmm mt:YmDW1ymY:mr6o ,2+gFAY}2s@}20 @y}2db}2N}2H/`S*?9? ?]Ŀ ? Aв??)~2s@ ~2 _;I~2CɫII)I IIIY]?y]Fh=MO=Ya#H y } >I :5? %:۾ ? %E@9pA: :)e:WAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UYUYUeY?BB BA*BAA1A1A9"CMԾ?RCyCyC9IxFi?p; FE=?i=?!I)GM1>]=iYY,vEgFAY}6M@}6^i @y}6 }6勁}6H`@@h?O?A¿P?`x?)~6M@ ~6ĸ];I~4ɫ99)9 9I9Y}?y}UF m m m m@ m@ m@iiiiii i)iIiii<MB=Ya#Hy}>Iȱŵe5?ŵܼ۾ Ƶ? E@9Ƶ|AǵC: ȵ#:)ȱWWX XWX:W2W*WV bU BU *UUU@BB BA5*BAAAA"C Qt?RCCCI G-,>m mmm mLs:YmWU1ym:m|6,J|_gFAY}Jd@}J @y}J}J<̷}JH@x@v8>? ?@ V`bG?Gɖ o?)~Jd@ ~J_];I~HɫYa)a aIiYP?yԓFey&1/${Gz?e`e e#=)aIaye~jt?~jt{Gzea#Hy}>I :5? :.۾ ? E@9A: ƾ;)f:WIWIXI XIWIXI:WQ2WQ*WQVQbUYBUY*UYUYU];@BB BA*BAAAA"C?*CRCCCI G%M> 9 I Fi 1? ; E,WygFAY}6P@}6l @y}6(}6K׼}6H`M?=?X?AĚ?)~6P@ ~6a;I~4ɫYY)Y YIYY}?y}F鮅a=ɮa=™^A    @ @ @i )Iiu=Mg=YQ;QU>a#H y ꘼} ?I5?۾ B? %E@9AI: :)WAWAXA XAWAXI:WI2WI*WIVIbUQBUQ*UQUYU]`5]@RmB*** querying acoustic contact ***PiPiB!B! B!A-*B)AIAQAQAQ"C]n?RCYCYCaIס)ץ\A׉IG>IY)]BAm iim m:Yiyim6)m5;9u$,6gFAY}2"Z@}2u @y}2}2傽}2HT<a?`+?`6}l?;?)~2"Z@ ~2|f;I~2CɫYY)Y YIYY?yFZ****** received transponder code query ******F****** received ping request ******aaae#HaiymQ:}m>Iqu5?u۾ u? E@9uAuܹ: u:)qWWX XWX:W2W*WVbUBU*UUU @BaBi BiAmH*BiAqAqAqAq"C?*CRCCCׁIG{*,gFAY}6@}6) @y}6,1㽙}6FW}6H,G Ɍ|? >W?X@r?)~6@ ~62a;I~6Cɫ99)9 9I9YuL?y}oFxDUSBL response received:!U1,P 414,000,002AE,189,80,80,9E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ҲME=Yua#H Hy%{}%>IYܡ9ܡIܥXFiܥ?ܥ=ܡܡܥ; ݥjE :]&5? :]V۾ ]? E@9]A]6< ]<)]g:WWX XWX:W2W*WVbU BU*UUaUm} @} }~}~}h }q:Y}T1y}@:}6)};BB BAZ*BAAAA"C@?*CRCCC׉IG>*1,ƤgFAY}Nǐ@}NP@y}N̽}NOXƽ}NHV F??K[`??)~Nǐ@ ~N^;I~NCɫqq)q qIyY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )IiMF=Ya#Hyk}>I[5?۾ C?  E@9A^: 4:)W1W1X1 X1W1X1:W92W9*W9V9bU9BUA*UAUAUE )'@BqBq BqAu*BqAyAyAyAy"C*CRCCC IG(>Yi]=7,gFAY}U@}U@y}U`ƽ}Uʕ}UH%(@\f?@J&鹸? R@?)~U@ ~U|\;I~UCɫQQ)Q YIYYC?yFxDUSBL response received:!U1,R,502,000,002AD,189,80,80,B5,FF Fpublishing direction and range infof3ɰu`= )5CIyff@w?amf-ٱIA)E%=Zd;?:v:v~>Խ T)Iyy&1|Mb?{Gz?`廹<ף< :A)XQAI6Ai+WAFA5d=M5*=Y5;QU=>99a=#H9AyE~ <}M>IQ U:U85? ]:U۾ Uf? ]E@9UAU: Uk:)Uh:WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P *Q ff@ZQ xP^B(?0B JQ w?amf-2Q f3:Q bQ ܑ 9ܑ Iܕ Fiܕ a?ܑ ܑ ܑ ܕ ; ݕ nE=,gFAY}2@}25 @y}2k Ƚ}2rs|}2HD`P?R?8(|?@b@y?)~2@ ~2[;I~2Cɫ99)9 9IAY]?y]FdNmea in: $SNTTA,0.065536,0.335917,,,230907.11*58 5Y<M==YEGQUM?Yaae#Haqy]<}?Iȡť$5?ťK۾ ƥ'? E@9ƥAǥ3= ȥ"=)ȡmqAdded new target pos. range: 3.599999 m, bearing: 58.089270 deg, deltaT: 4.532124 s, approachRate: -0.013239 m/s, LOS rate: -2.812653 deg/s, posRepo size: 4WŁ?WX XWX:W2W*WVbUBU*UU @U?BB BA*BAAAA"CM?RCCŁ?CI]A)]A׹IGF>D,zgFAY}: @}: @y}:oͽ}:ka}:H~ /??`i.??)~: @ ~:&vd;I~:Cɫ99)9 9I9Y}&?y}F ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYmEFMmG=YuûQUu>yya}#Hyy<}>Iȉ :ō 5? :ō۾ ƍ? E@9ƍAǍE: ȍ<:)ȍi:WWX XWX:W2W*WVbUBU*UUU`?BB! B!A%*B!A)A)A)A1"C=?RC9C9C9שIG">m' mmm m-t:YmX1ym/:m6U 4>Q i /mGI i  ٺ ;A ?9 Ap K,TW.gFAY}2@}2> @y}2?Uʽ}2:}2Hq?`_st @??)~2@ ~2b;I~2Cɫ99)9 9I9Y}i?y}F EY MEM=YEX;QUM>IIaM#HIQy]<}]>Iae5?eܺ۾ e? mE@9eAe: e:)aWWX XWX:W2W*WVbUBU*UUU?BB BAS*BAAAA"Ct?RCCC999I=ȖFi=?999=~; =NE)Ii=K4)I1GM>Q,4HgFAY}F@}F2 @y}FZŽ}F}FH-Q~r ?c@%D?v?)~F@ ~FnA_;I~FC6Could not parse latch stateɫ髩) IY*?yF!G<M)=Y;QU>a #H yM}U>Iȑ :ŕӴ5? :ŕ8۾ ƕG? E@9ƕ(AǕ/< ȕ.<)ȕj:WWX9 X9W9X9:WA2WA*WAVAbUABUI*UIUIUM`I?mD mmm m}v:YmU1ym:m6BB BA#*BAAAA"C^u?RCCC ?i?IG%> X,bgFAY}5@}5 @y}5KNɽ}5s}5HلB?`` k?0@`?)~5@ ~5N];I~1ɫii)q qIqYC?yFMbX?ˡE?T㥛 ='= )Iy ý>        @  @  @   i   ) I i <MT=YQU%>!!a-#H))y5+;}5>I9=~5?=۾ =١? EE@9=7A=Q: =:)9WiWiXi XiWiXi:Wi2Wq*WqVqbUqBUq*UyUyU}@??BABA BIAM݂*BIAIAIAIAI"CUEv?RCQCYCyaie=yIG^>) 9) I- Fi- ?) ) ) - j; - CE5H^,>{gFA|i|Y}>}@}>z @y}>Ͻ}>?}>H`l`T??^9v?ҧ?)~>}@ ~>[;I~>CɫYY)Y YIYYyY=QU=?AAaE#HAAyMQ}M?IQU,5?U۾ Uw? eE@9UEAU: U:)QWWX XWX:W2W*WVbUBU*UUU@}@BB BA*BAAAA"CDl?RCCCIG>m mmm ms:YmWU1ym:mi6)m9;9ua0e,ÕgFAY}6N2@}6M @y}6uཙ}6˼}6HI:?@p?'P麿@E?@Q?)~6N2@ ~6`;I~6Cɫ99)9 9I9Y}N?y}IF鮁ɮp=7<Ma#Hy%@}>I :˳5? :E۾  ? E@9UAa< B<)k:W)W1X1 X1W1X1:W12W9*W9V9bU9BU9*UAUAUE=@RmB*** querying acoustic contact ***PqPqBB BA*BAAAA"C_e?RCCCIG (>Zk,gFAY}6C @}6; @y}6뽙}6h}6H4?@R$Í??`( :F Jh?Yି?)~6C @ ~6@e;I~6Cɫ99)9 9I9Y}?y}JFZ****** received transponder code query ******F****** received ping request ******qya}#H}Hy}>IȹŽT5?Ž۾ ƽy? E@9ƽjAǽ: ; Ƚ] ;)ȹW1W1X1 X9W9X9:W92Wa*WaVabUiBUi*UqUqUu @BB BA*BAAAA"CE d?*CARCACACII]AA)]AAm mmm m}:YmT1ym:mr6)m@;9IAG]v>RBr,yɥgFAY}:@}:@y}:G뽙}:I?}:H  T| N?@Z fR?J?)~:@ ~:`;I~:Cɫ99)9 9I9Y}N?y}IFxDUSBL response received:!U1,P 502,000,002AD,189,80,80,B5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 mm=Mmr=Y:QU?a#Hy}}?I  :5? 5:۾  ? =E@9xA; 8<)l:WWX XWX:W2W*WVibUiBUq*UyUyU` @BB BA*BAAAA"C7i?RC!C)C)!IIGZ>5px,dgFAY}zzm@}z@y}z彙}z}ƣ}zH`i"ٟ?@h格?`cR@?)~zzm@ ~z ^;I~xɫ) IY ?y 7FAA5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }X9v{Gz/$?}}}ף }=)yIyy} ףp= rh?Mb}Q8}C =} y)}JAI}7Aiyy}GEAM8=Y;QU>a#Hyy3}>IҲ5?c۾ /? E@9A; ;)W!W!X! X!W)X):W)2W)*W1V1bU1BU1*U9UU@BABA BIAM *BIAIAQAQAQ"C}s?RCyCC?i?m iim m7h:Yiyim|69u@סIGf>9IFia?; Eӗ~,/5gFAY}2/'@}2B@y}2⽙}2!o}2H@`4U?@?翿M?8ɭѿ?)~2/'@ ~2\;I~2Cɫ99)9 9I9YqyyxDUSBL response received:!U1,R,4C2,000,002AE,189,80,80,B7,FF Fpublishing direction and range info}J yɰ}`=y y)}7CIyy}=j@}M ?rW3ٱy    @ @ @ ÉÉÉiÍ?É č?)ĉIč&?ič?Y_;QU>a#Hy5=}>I :5? :۾ z? E@9A: :)m:W!W)X) XIWIXI:WI2WQ*WQVQbUQBUY*UYUYU]`um@R(Combining 5 samples.P*Q=j@ZQ20z?rB/O JQM ?rW32QJ :QbQ^m.ǚ?d @.w?RQD'?v@c?f'Ǻ?BQ? Q$K@Q ?PJ9?PK9?PQQ@"Q@BB BA*B A A A A "C4؀?RCCCIG5.>,@gFAY}v@}v@y}v罙}vRa}vH@R3?s?wQ?` @L?)~v@ ~v[;I~tɫ) IYEH?yM FTNmea in: $SNTTA,0.063611,,,,230911.55*4B I)I=)= ;M a#Hy}%>I)-u5?-۾ -? 5E@9-A-R: -:))meiAdded new target pos. range: 3.660000 m, bearing: 60.694079 deg, deltaT: 4.363444 s, approachRate: 0.013751 m/s, LOS rate: 0.596962 deg/s, posRepo size: 4We?WaXi XiWiXi:Wi2Wi*WqVqbUqBUq*UyU}G @U}?BB BA*BAAAA"C ?RCC?C I!G=P>e eee~ er:YeV1ye:e<6,0gFAY}>ȩ@}>Q@y}> f}>xW}>H`6V+I?`?'Q?`?)~>ȩ@ ~>c;I~>Cɫy髁) IY?yҕFܙ9ܙIܝXFiܝ?ܝ=ܙܙܝ ; ݝE    @ @ @ @ñññiõñ ĵ)ıIĵiĵc<MO=YؕQU>a#Hy}>IC5?۾ ? E@9-A: :)WWX XWX:W2W*WVbUBU!*U!U!U% n?BQBQ BQAUʂ*BQAYAYAYAY"Ce?RCaCaCiIy)yaIiG>$,JgFAY}2a@}2@y}2}2TT}2H l"FCex??Y¿W? @?)~2a@ ~2@b;I~2CɫYY)Y YIYY?yەF]A5ə:M=T=Y= QU=>AAaE#HAIyM)?<}M>IQ ]:U5? ]:U3۾ U%? eE@9UYAU: UI:)Un:WWX XWX:W2W*WVbUBU*UUU?BB BAƂ*BAAAAI"Cu?*CqRCqCqCy׉IG>m iim m1{:Yiyimi6,VdgFAY}F@}F@y}Fy}F:}FH~LpB=?H ?*zb?R#F?)~F@ ~F^;I~Dɫii)i iIiYn?yFM=iM> QQi mGIIiaFٺAʡE?MbXV-=ʽ )Iy{Gz?~jt~jtף<DD µ?A)µKAIµ5AiµYAFA^M2=Yvva#Hy}>I5?۾ ? E@9pA: b:)W!W!X! X!W!X!:W)2W)*W)V)bU)BU1*U1U1U5`8?BaBa BaAm*BiAiAiAiAi"Cq*CyRCyCyCyQIYG}7>܉9܉I܉i܉܍=܉܉܍>; ݍ,E)Ii=5,w~gFAY}26]@}2x@y}2n㽙}2X}2H@IMh?-?n@k<c?Ҫ&?)~26]@ ~2\;I~2Cɫ99)9 9I9Y}x?y}F U U U U@ U@ U@QQQiQQ Q)QIQiQe<Mef=Ymiqau#Hqyy}}}>Iȁ :Ņ5? :Ņ۾ ƅ8? E@9ƅADž"; ȅ";)ȅo:WWX XWX:W2W*WVbUBU*UUU`"?BB BAO*BAAAA"C *C RCCC%?i%? IGE>m mmm m=m:YmWU1ym:m 6)m2;9u̥,RgFAY}2b@}2.@y}2齙}2.N}2Hpb{k?>?2PĞ*?`F`J?)~2b@ ~2H[;I~2CɫYY)Y YIYY?yF)= =5L<M=M=Y=QU=>AAaE#HAAyM9}M>IQU5?U۾ UÚ? ]E@9UAU^: Uϸ:)QWWX XWX:W2W*W V bU)BU)*U1U1U5K@ByB BA'*BAAAA"C*CRCCCסIG%>1,@y}-}-T}-Hdz(?@3?@F}A?,ůͲ?)~-"@ ~-&^;I~-Cɫ  ) I191I1i11115e; 5@EYM=?yMfFQɮUa=    @ @ @ñññiññ ı)ıIıiıcMA=YYQUE>IIaM#HMHQyU ;}U>IY :]5? :]۾ ]E? E@9]A]#; ];)]p:WWX XWX:W2W*WVbUBU*UUU#@R B*** querying acoustic contact ***P P BQBQ BQAU^*BQAYAYAYAY"Ci*CiRCqCqCy׹IGF>m mmm m'o:Ym0Y1ym:m6)m;<޲,̦gFAY}:k@}:P@y}:h}:}:H?@j_N{??[w¿A?@?)~:k@ ~:d;I~:Cɫ99)9 9I9Y}?y}AFZ****** received transponder code query ******F****** received ping request ******a#Hy@<}>Iȡť5?ť`۾ ƥܙ? E@9ƥAǥ; ȥD;)ȡWWX XWX:W2W*WVbU!BU!*U!U!U- @BB BAm*BAAAA"C*CRCCCI׽\A)׽\AסIG >h,gFAY}2g@}2U@y}2}2@}2H |ZmpP?`RG`ÿ ?̴?)~2g@ ~2P`;I~2CɫYY)Y YIYY?y_FxDUSBL response received:!U1,P 4C2,000,002AE,189,80,80,B7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 p= ף?~jt?X9v? > D= }=) I y Mb~jth   D a#Hy;}=>Ie@A)e@AX  x:YWU1y:IY  :]]5? : 69=@]>۾ ]? =E@9]A]i < ]<)]q:WWX XWX:W2W*WVbUBU*UUUT<@999I=Fi=a?==99=; =fEByBy ByA1*BAAAA"C*CRCCCש I G >~2,gFAY}:p)@}:D@y}:ڹ }:Mʽ}:H``|Ď@N&?Q@L@ſ I?^?)~:p)@ ~:D.^;I~8ɫ99)9 9I9Y}!?y}ߑF@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ii    @ @ @ùùùiùù Ĺ)ĹIĹiĹ1M=Y̻QU?a#Hy;P}?I5?+۾ ? E@9A[: s:)WWX XWX:W2W*W!V!bU!BU!*U)U)U-O@BQBY BYA]e*BYAYAYAaAa"Ci*CRCCCIG-->e,(gFAY}2@}2@y}2}2`}2H`>ё8`=? hÿ?`@E?)~2@ ~2V\;I~2Cɫ99)9 9I9Y}0?y}F:M`=Y;QU>a#Hyb}>IȹŽ5?Ž۾ ƽ? E@9ƽAǽg: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU`ؑ@B)B) B)A-a*B)A1AAA"C*CRCCCבIG= ~~ ~:YT1y@:6H,3gFAY}%@}%a@y}%J }%CaS}%H`u?@x1?`:?;/ )¿;?+?)~%@ ~%$[;I~!9Ii; Eɫ ) IYM?yMÒF]DNmea in: $SNTTA,,,,,230916.00*51 ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYuI<Mu0=YuƘQUu>yya}#Hyy<:}>Iȉ :ō5? :ō۾ ƍ\? E@9ƍAǍ: ȍ-:)ȍr:WWX XWX:W2W*WVbUBU*UUU2n@BB BA *BAAAA"C*CRCCCיIGA>]=i]=+,QMMgFAY}6)@}6\E@y}6}6h}6H`\@V}@ K?@.? H[Qÿ`4?$ʬ?)~6)@ ~6a#Hy_<}>I  75? ޿۾ ?? E@9 A : M:) W9W9X9 X9W9X9:W92WA*WAVAbUABUI*UIUIUM$@ByBy ByA}*ByAAAA"C*CRCCCiIyG== === =p:Y=V1y=:=6V,*ggFAY}>@}>,@y}>p}>}>HRMƇc&??@'*`Ŀ`)*? ~I?)~>@ ~>@b;I~>CɫYY)Y YIYYt?yאF}K?~jt?S㥫?}^:>}> }/]=)yIyy}{Gzt?S㥛?{Gzt}ף;}/<}ף }=>A)}JAI}5Ai}O[Ay}fFAaM?=YQU>a#Hyi}>Iȹ :ŽI5? :Ž۾ ƽ? E@9ƽAǽ#: ȹ)Ƚs:WWX XWX:W2W*WVbUBU*UUU@R B*** querying acoustic contact ***P P B1B1 B1A5ф*B1A9A9A9A9"CA*CARCACACIIY)]]AIIQGm>>9Ii; bE^?, gFAY}>&@}>@y}>}>8c4}>H` @s?`:&@ ~>_;I~>Cɫyy)y yIyY?y`FxDUSBL response received:!U1,R,502,000,05AE4,18A,80,80,B7,FF Fpublishing direction and range infof3ɰC?> )IyҩDw?amf-ٱ]A]A 5 5 = =@ =@ =@999i99 9)9I9i9MtMMP=YM{=QUM>QQaU#HQYy]{}e>Iael5?eD۾ e? uE@9eAe': e:)aWQWQXY XYWYXY:WY2Wa*WaVabUBU*UUU @@R(Combining 5 samples.P*QҩDZQajp@c<|JQw?amf-2Qf3:QbQm@ 5x@wtb@RQMi?JU? =DC?BQy? QDQ=DP9?PJ9?P/QQC"Q@BQBY BYA]*BYAYAYAYAa"Ci*CiRCiCiCqaIiG:>IY)]AAu uuu un:YuT1yu:u6)uo;9}i,嚧gFAY}6n\@}6w@y}6&}6$4}6H`߿^@V?\=? ÿ`?9`?)~6n\@ ~6_;I~6Cɫ99)9 9I9Y?y2FU<MUI=Y]QU]>YYae#HaaymȻ}m>Iq }:u5? }:uu۾ ud? }E@9u&Au: u:)ut:mAdded new target pos. range: 1358.579956 m, bearing: 55.859411 deg, deltaT: 6.070070 s, approachRate: 223.213226 m/s, LOS rate: -0.796476 deg/s, posRepo size: 4mXStopped intercept timer at range: 1358.58 m.Wy?WX XWX:W2W*WVbUBU*UUQ:@U`J?BB BA*BAAAA"C.o?RC C y?CaIqG>imGIiMٺIMA>,{gFAY}:@}:@y}:E/}:8}:H@`?@)?> ſJ?@&?)~:@ ~:^;I~:Cɫ99)9 9I9܁9܁I܅ȖFi܅?܁܁܁܅; َ݅E)Ii==4Y?yΏF    @ @ @i )Ii+MA=YiQU>a#HHy;}>I5?۾ ? E@9=Ao: :);5 w=Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;Ew]dResuming normal ranging with 1.000000 count pings.;]1<]WaWaXa XaWaXi:Wi2Wi*WqVqbUqBUq*UqUyU}o?B!B! B!AE<*BIAIAIAIAI"CUv~?RCQCQCY׍?i׍?aIyG<>u uuu u>k:YuV1yu:u)6)uy;z,SΧgFAɫ髙) IY2?ysF)A E=d=MQ=YQU>a#Hy}>Ișŝ5?ŝ۾ Ɲؗ? E@9ƝSAǝ÷: ȝܹ:)șX?1<wCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR; wAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRWWX XWX:W2W*WVbUBU*UUU@~?B1B9 B9A=a*B9AAAAAAAA"CMky?RCICICQIIQGu>]=i]=,rgFAɫ髙) IYT?yFIE=)E=y&1?I +:v?`=9 T<)Iy?{Gzt?<ף; ?A)NAI2AibAHA=ԁM=?=Y9QUE>AAaE#HAIyQ}U>IY e:]#5? e:]e۾ ]? eE@9]iA]+: ]:)]u:WWX XWX:W2W*WVbUBU*UUU@?BB BA*BAAAA"C=y?*CRCCCIG$>ܥ>9ܡIܥFiܥa?ܥ=ܡܡܥ; ݥE  m:YT1y:W6);,"OgFAY}6@}6{@y}6ɱ>}6*Ǽ}6H߿c۰?`?` aſ? o?)~6@ ~6a;I~4ɫ99)9 9I9Y?y;F    @ @ @ñññiññ ı)ıIıiı==MP=YWQU>a#H y d}>Iȑŕ5?ŕ۾ ƕM? E@9ƕAǕ^: ȕϸ:)ȑWWX XWX:W 2W *W V bUBU*UUU7@BYBa BaAe*BAAAA"Cy?*CRCCCIש)׭\AׁIG=>,(gFAY}6;|@}6ė@y}6P}6f3}6H ߿? ?߿'ɿ?'N?)~6;|@ ~6_;I~6Cɫ99)9 9IAY]A?y]|F^A^ArMZ=YsBQU>a#H y λ} >Iq }:u 5? }:u۾ tI u? F@9uAu: uS:)uv:WWX XWX:W2W*WVbUBU*UUU@>!@B B  BA]*BAAAA"C*C!RC!C!C! IGm>I]AA)]@A& z t:YU1y:69@ ,6gFAY}2$@}2o@@y}2GZ}2b}2H@"t߿@_ ߭??`|߿kʿ3? K:?)~2$@ ~2Ŋ];I~2C->9)I-XFi-?)))-Y; -zEɫYY)Y YIYY}.?y}F<MP=Ya#Hy^}>I5?-۾ Ƙ? F@9Aض: I:)WWX XWX:W2W*WVbUBU*UUU `#@RB*** querying acoustic contact ***PPB9B9 B9A="*B9AAAAAAAA"CI*CIRCICICQ1I9GU=,OgFAY}6 @}6@y}6]}6ۙ2}6H`߿-?\?F߿ؙʿ6}?@̥@9?)~6 @ ~6k\;I~6Cɫ99)9 9I9Ym?yFZ****** received transponder code query ******F****** received ping request ******a#Hy;q}>Iȱ :ŵ5? :ŵ۾ Ƶ? F@9ƵAǵ: ȵk:)ȵw:WWX XWX:W2W*WVbUBU*UUU` @BB BAR*BAAA A "C*CRCCCM?iM?IG-->= === =%:Y=xZ1y=q:= 6,MigFAY}6.@}6@y}6e}6BE}6HI.߿@mW??@Y߿r˿v?)?)~6.@ ~6vhc;I~6Cɫ) IY ?y =FxDUSBL response received:!U1,P 502,000,05AE4,18A,80,80,B7,FF Command AckBRequesting micromodem ping code 2i%Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 aiep=)9)I-Fi-1?))-OD-; -qnE333333?㥛 X9v> )Iyy&1|/$Mbp?`廹,; …@A)…PAI…r.Ai…hAJA)= =@M =Y&eQU>a#H!y%;}%>I)-5?-D۾ -b? ]F@9-A-: -÷:))WWX XWX:W2W*WVbU BU *U U U Ju@B B  B A w*B A A A A "C *C RC C C 9 II Ge > ,gFAY}2@}2~@y}2p}2}2H߿@?Uv UUU Uyz:YU0Y1yU:U6)U;9]',epgFAY}:@}:.@y}:;m}:}:H ߿ ?*?޿ [п`G{?h?)~:@ ~:b`;I~:Cɫ99)9 9I9Y},?y}4FxDUSBL response received:!U1,R,502,000,002AE,189,80,80,AF,FF Fpublishing direction and range infoɰ`=鰅7> )/CIy=j@w?amf-ٱ    @ @ @éééiéé ĩ)ĩIĩiĩMF=YP;QU>a#H y1;}>I 5?ƽ۾ ? %F@9%A|: :)WiWiX XWX:W2W*WVbUBU*UUU@P*Q=j@ZQs:@?apuV JQw?amf-2Q:QbQHz f@~@Dqu@+j?RQI?VJS?o?BQ7u? Q;@Q@PK9?P9?PQ/Q"@"QCB!B! B!A%*B!AIAIAIAI"CQ*CQRCQCQCYAIIGm5>.-,0KgFAY}:h@}:@y}:h}:Ķν}:H^υ?[?v߿aEϿN?n! B?)~:h@ ~:^;I~:Cd9dIf@Fif?f=ddf; f[fEɫ99)9 9I9Y}?y}ЍFeIMJ=YEa#HH yM<}>I)-h5?-u۾ -A? EF@9-IA-!I; -pJ;))myAdded new target pos. range: 3.660000 m, bearing: 54.882742 deg, deltaT: 4.441544 s, approachRate: -305.056061 m/s, LOS rate: -0.219894 deg/s, posRepo size: 4W7u?WX XWX:W)2W)*W)V)bU1BU1*U1U5G @U5 ?BB BA *BAAAA"C7u?RCC7u?C׹IGE>Ie@A)eAA]m ]]] ]y:Y]X1y]/:]6)];4,J&ѨgFAY}2k?@}2Z@y}2k}2=}2H@ ?? ο};? n,?)~2k?@ ~2_y];I~0ɫYY)Y YIYYv?ybFTNmea in: $SNTTA,0.081478,,,,230922.14*4F <MM=YQU>a#Hy@<}>I :5? :$۾ ? F@9kA: V:)y::uAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;vZEntering USBL mode with 5.000000 count pings.1;q;WWX XWX:W2W*WVbUBU!*U!U!U% )?BqBq BqAuЅ*BqAyAyAyAy"C*CRCCCqIG">B:, gFAY}F,@}F@y}Fm}Fu}FHB@??`I"Ͽ m?䶿@?)~F,@ ~FV];I~Di^NmGIhitFٺ%Aɫqq)y yIyY?yaFkt?l?Q? 0== u=)Iy~jtx?YYa]#HYYyeE<}e>Iim 5?m(۾ mǙ? uF@9m{Am: m:)iX@q;uCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:uAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLWWX XWX:W2W*WVbUBU*UUUti?BB BAh*BA A AA"C)*C)RC1C1CAIG%M>9IНFiE@; eE)ݙIݙiݙݝ=ݙݝR/4 )A,gFAY}2@}2@y}2 i}2ď}2H mt@2a@T?`nz?@-k 6Ϳ E?`,~ ?)~2@ ~2b;I~2Cɫ99)9 AIAYr?yF } } } @ @ @ÁÁÁiÁÁ ā)āIāiāVMX=Y^<a#Hy<}>Iȱ :ŵn5? :ŵ.۾ Ƶ? F@9ƵAǵ=: ȵ:)ȵz:8qjAggregate::initialize lineCaptureDepth:SetNavAcoustic19 r~Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNavq9rdReseting nav to dock location at range 3.660000 m q99 s6Initialize SetNavComponent.WWX XWX:W2W*WVbUBU*UUUr?B1B1 B1A5*B1A9A9A9A9"CA*CARCACACI)I1GU>m mmm m{:YmV1ym:ms6)m;6SG,4gFAɫyy)y yIyY_?yFI%4=)%%=Ul<MUN=Y]QU]>Yaae#Haaym}m>Iİ5?4۾ k? F@9A: :)XXXslSetNav fix at 20210815T230924: (41.552319, -70.708603)9 s:Uninitialize SetNavComponent.rfCompleted lineCaptureDepth:SetNavAcoustic:UpdateNav19 rAggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNavqRCompleted lineCaptureDepth:SetNavAcoustic8q nAggregate::uninitialize lineCaptureDepth:SetNavAcousticWWX XWX:W2W*WVbU!BU!*U!U!U%`M?BQBQ BQAUV*BYAYAYAYAY"Ca*CaRCaCaCi׉IG>\}M,p8gFA494I4i4446ND6?; 6fEY}B@}B@y}BZe}B^}BHZ2o?@?Z@cq̿ 'u?檯@"?)~B@ ~BR_;I~BCɫyy)y yIyYv?ybF U U U U@ U@ U@ UQQQiU\?Q U?)UA?IU?iU?eMeI=Ym iiau#Hqqy}/}}>Iȁ :Ņ- 5? :Ņxݾ tI ƅ ?9ƅDž?; ȅL ;)ȅo:WWX XWX:W2W*WVbUBU*UUU @B9B9 B9A=Ѕ*B9AAAAAAAA"CI*CIRCICQCQIa)aIIQGm>m# iim ms:YiyimD6)m;dT,mRgFAY}:<@}:X@y}::x_}:Y}:H0+@e?`D? 9@2˿f?@f2?)~:<@ ~: ^;I~8ɫ99)9 9I9Y}'?y}ώFAAj<MX=Y"a#Hy}>IȹŽ 5?Žxݾ ƽ ?9ƽ;ǽ': Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU~[@RB*** querying acoustic contact ***PPBB BA*BAAAA"C *CRCCC IG5 >Ia)aZ,=IlgFAY}2@}2_@y}2\uZ}2/}2H œ 痳??0ɿ@?@@?)~2@ ~2\;I~2Cɫ99)9 9I9Y}?y}tFZ****** received transponder code query ******F****** received ping request ******a#HyQ)}>I : 5? :yݾ U< ?9<: :)p:WWX XWX:W2W*WVbUBU*UUU(- @B1B1 B1A5Ʌ*B1A9A9A9A9"CA*CARCACICI!I)GER>m4 mmm m6u:YmX1ym/:m69u@܁9܁I܅@Fi܅?܁܁܁܅l; ݅gEAwa,%gFAɫ髹) IYc?yFxDUSBL response received:!U1,P 502,000,002AE,189,80,80,AF,FF Command AckBRequesting micromodem ping code 2i Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 eל<Mmw=Y}QU?a#Hy}M?Iim 5?m^yݾ ml< ?9m =mN; mU;)iWQWQXY XYWYXY:Wa2W*WVbUBU*UUUX @BQBQ BYA]*BYAYAYAA"C*CRCCCץ?iץ?ׁIGd>g,gFAY}2@}2@y}2[}2a}2H 1@UƯ?@?#ʿ W??`y`)8?)~2@ ~2$d;I~2Cɫ99)9 9I9Y}?y}=FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )= =u<M}I=Y}:>QU}>a#Hy:}>IȑŕU 5?ŕyݾ ƕ!= ?9ƕQ8=Ǖ: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU` @BB  B A w*B A AAA"C*CRCCC! IG5 >]=i]=m iimr m:Yiyim6a 9a Ie xFie ?a a e ODe 1; e hEm,"gFAY}J@}J6@y}JY}J}JHm߿ ?D ?`޿ Rο?`0Ļs?)~J@ ~JZ^;I~Hɫyy)y yIyY=?yFxDUSBL response received:!U1,R,502,000,002B1,189,80,80,A4,FF Fpublishing direction and range infoɰa= )$CIyu@w?amf-ٱ - - - 5@ 5@ 5@)))i)) )))I)i)E<MEL=YE$;QUM>IIaM#HMH y}>I %:1 5? %:zݾ 7b= -?9k=|: :)q:WiWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qu@ZQAKK?Oh JQw?amf-2Q:QbQz~{@"Z*@JCM?RQ}Q(6?rW?L ٻ{F?BQks? QD@Q @PZ9?PK9?PQQ#@"Q"@BIBI BIAM*BIAQAQAQAQ"CY*CYRCYCYCaaIiG9>t,ݵөgFAY}V@}V/@y}VQ}V}}VH s߿@#́V?n޿~ο`?ڿ?)~V@ ~V];I~Tɫ髩) IY?y4F}DNmea in: $SNTTA,,,,,230926.52*55  ݼMC=Ya#Hy2}>Iae 5?ewzݾ e^= u?9e=eM: e:)ammAdded new target pos. range: 3.839998 m, bearing: 54.575435 deg, deltaT: 4.448990 s, approachRate: 0.040458 m/s, LOS rate: -0.069073 deg/s, posRepo size: 4Wks?WX XWX:W2W*WVbUBU*UU Q@U p]?BB BA{*BAAAA"Cks?*CRCCks?CI]A)]AI)GE0> V i:YU1y: 6tz,CgFAY}Fu@}F@y}FD}Ftٽ}FH`?߿ $Re???޿@˿ w?r;?)~Fu@ ~F<];I~DɫYY)Y YIYY?yFOn?(\µ?J +?>= H=)Iyy&1?y&1Zd;O?`e<`j< ±)±Iµ0AiµEjAKA e e e e@ e@ e@aaaiaa a)aIaiaubMu3=Y}ya#Hy9}>Iȑ :ŕ 5? :ŕyݾ ƕΩ= ?9ƕ=Ǖ: ȕ:)ȕr:WWX XWX:W2W*WVbUBU*UUU?BB  B A *B A A A A"C*CRCCC9I@Fi?=; gEI)GEQ>IY)Y΁,ڑgFAY}RW@}R@y}R:}RϢ}RH|r߿뷠?B?@k<߿5Sȿ 6?`Ȱ`Cf?)~RW@ ~Re;I~RCɫ髉) IYi?y3Fee=Mer=Ym[] ]]] ]:Y]0Y1y]:]6,qZ!gFAY}6@}6k @y}61}6}6H`߿9?`sK?߿@ſ@ ?Ç4?)~6@ ~6b;I~6Cɫ11)1 1I1Y|?yF-M-N=Y5б19a=#H99yEX:}E>II U:M̙ 5? U:Myݾ M= ]?9M=M8: M:)Ms:WyWyXy XyWyX:W2W*WVbUBU*UUUV%?BB BAN*BAAAA"C*CRCCCAIIGe>i /mGI!i9eٺaeGA 9 I i ; eE)݉I݉i݉ݍ=݉ݍ5,#;gFAY}>P@}>@y}>x,}>VD}>H ߿`%w?N? T߿`ĿH?`šk?)~>P@ ~>9_;I~>Cɫyy)y yIyY?y F    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ1=MD=Yr>a#Hy;}>IȹŽt 5?Žxݾ ƽ= ?9ƽ`=ǽ=: Ƚϸ:)ȹWWX XWX:W2W*WVbUBU*UUU?B)B) B)A5*B1A1A1A1A1"C9*C9RCACACAIG&>]=iYuT u~u~u uw:YuT1yu@:u6)uJ;9/,TgFAY}6gs@}6@y}6~=)}6K5}6H@U!?4?0߿tƿ?簿@>~?)~6gs@ ~6];I~4ɫ99)9 9I9Y}k?y} FI=)=E7=MEP=YEIIaM#HIQyU<}]>Iae 5?exݾ e[= m?9e=e: e]:)aWWX XWX:W2W*WVbUBU*UUU@ @BB BAS*BAAAA"C*CRCCC)I1GU>G+,ngFAY}6Q@}6@y}6N%}6}6H( }&?@@#?`߿ǿ@?`XB`x?)~6Q@ ~6Ј^;I~6CɫYY)Y YIYY4?yMF-MbX?&1~jt-J>-н -))I)y-:v?a#Hy D<}>Iȹ :Žښ 5? :Žwݾ ƽd> ?9ƽ >ǽ: Ƚ:)Ƚt:WWX XWX:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCI\A)\Aܱ9ܱIܵFiܵv?ܱܱܱܵa; ݵhEIGI>m mmm ms:YmWU1ym:m6)m;,ԹgFAY}>@}>g,@y}>v!}>쥽}>HnH@}2??@@Lƿ c?@u?)~>@ ~>cc;I~>Cɫaa)a iIiYV?yĐFZ****** received transponder code query ******F****** received ping request ******  a #H ywE<}>I!% 5?%!wݾ %|> 5?9%>%; %I;)!WYWYXa XaWaXa:Wa2Wa*WiVibUiBUi*UqUqUuv @BB BA؄*BAAAA"C*CRCCC׉IG>IY)Y>,gFAY}6Q@}6+m@y}6Ǐ}6Pr}6H af@x}?l ?\Bhſ?ӱ?)~6Q@ ~6kGd;I~6Cɫ99)9 9I9Yu?y}FxDUSBL response received:!U1,P 502,000,002B1,189,80,80,A4,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 99<MC=Ya#H yz<}>I) =:- 5? E:-vݾ -,> M?9-O>-< -<)-u:WQWQXQ XQWYXY:Wa2W*WVbUBU*UUU@DN @BB BA*BAAAA"C!*C!RC!C)C)9} }}} }W:Y}DW1y}Y:}69@IGj>ܥ >9ܡ Iܥ Fiܥ ?ܥ =ܡ ܥ NDܥ ; ݥ nEg,nkgFAY}6k@}6 @y}6&}6J}6H dr q8??bL Pſ@ h?`.@^?)~6k@ ~6r`;I~6Cɫ99)9 9I9YE??yEFmNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B - - - -@ -@ -@)))i)) )))I)i)=L<M=N=YEԋ;QUE>AIaM#HMHIyU;}U>IY]Z 5?](vݾ ]:> e?9]#>]: ]:)YWWX XWX:W)2W1*W1V1bU1BU1*U9U9U=@BB BA^*BAAAA"C*CRCCCסIG >PO,_E֪gFAY}6@}6E@y}6=5}6Ϲ}6H@Rla?@?eh3xƿS?ƀ?)~6@ ~6./^;I~4ɫ99)9 9I9Y!?yߑFxDUSBL response received:!U1,R,502,000,002AF,189,80,80,AB,FF Fpublishing direction and range infoɰa=鰡 )+CIyn@w?amf-ٱMO=Y:QU>a#H y <} >I :) 5? %:uݾ MI> %?9{,>: .:)v:WAWAXI XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU]@Rm(Combining 5 samples.Pi*Qmn@ZQmo$?7U JQmw?amf-2Qi:QibQmPdI@\\@(Z#q?RQm~M?1*T?fkG9?BQmw~? Qm5E@Qm@PiPmZ9?PiQmQms@"Qm#@BB BAe*BAAAA"C*CRCCC׉IG=m=ii  ;|:YU1y:6y,!gFAY}B{@}B@y}B}B}BH,}?qƿ "?@η ?)~B{@ ~B\;I~BCRJFailed to close latch before timeout.q RRHardware FaultYr??yrFdNmea in: $SNTTA,0.071408,0.415390,,,230930.95*59 IC=)%=-x&1?Fxѿ-A>-Ƌ -))I)y-:v?X9v?Q?)-<-< -;A)-NAI-2Ai-^A)- GA    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉx;M3=Y4Y;QU>a#Hy)<}>IȹŽ 5?Žuݾ ƽW> ?9ƽC?>ǽY: Ƚ<)ȹmmAdded new target pos. range: 3.720000 m, bearing: 56.863425 deg, deltaT: 4.393888 s, approachRate: -0.027310 m/s, LOS rate: 0.520721 deg/s, posRepo size: 4Ww~?WX XWX:W2W*WVbUBU*UU @U?BB BA^*BAAI9IIIiIM=IMODMm; MjEA!Aa"Cme{?RCiCmw~?CiaIi-$}@Hardware Fault in component: DDMGZ>Ha, gFAY}6B?@}6Z@y}6}6/M]}6H-`5+??`exÿ=?@{Z?)~6B?@ ~6J\;I~6C>Powering down<ɪ<)< yya}#Hyy}>Iȉ :ōN 5? :ōuݾ ƍd> ?9ƍ4O>Ǎ: ȍb:)ȍw:WWX XWX:W2W*WVbUBU*UUUR?BB BAm*BAAA A "C+}?*CRCCCI)))!I)GM1>m> iim mv:Yiyim6,#gFAY}23@}2@y}2}2g"}2H@I@:??ݪ¿? 0?)~23@ ~2g;I~2CY^?y^F]>M]s=Y]QUe?aaae#Haiym}m?Iqu6 5?uuݾ uo> ?9u\>u: u:)qW!W!X! X!W!X!:W)2W)*W)V)bUQBUQ*UQUQU] hZ?BB BA*BAAAA"Cw~?*CRCCCIG >A 9A IE XFiE ?E =A A E ; E dE,ٱ=gFAY}N@}NE@y}N}N]T}NH 5[@?@?e:ÿB? W;`ؗ?)~N@ ~Nnj;I~NCYZN?yZF )) u u u }@ }@ }@qqqiqq q)qIqiqF<MG=Y QU>a#Hye}>Iȡťޔ 5?ťuݾ ƥ}> ?9ƥl>ǥ: ȥ:)ȡWWX XWX:Wq2Wq*WqVybUyBUy*UyUyU?BB BAZ*BAAAA"C*CRCCC I$-NClearing failed state for component DDMq -G5 >m3 m~m~m m"u:YmT1ym@:m6)m;9u ,WgFAY}60p@}6@y}61}6/:}6Hs`j$ˤ??p xÿv?w?)~60p@ ~6pJh;I~6CYv?yvhFZ<MI=YQU>a#Hyc!}>Iȱ :ŵ 5? :ŵuݾ Ƶ;> ?9Ƶ|>ǵk: ȵ:)ȵx:WWX XWX:W2W*WVbUBU*UUU` @B!B) B)A-.*B)A)A)A1A1"C9*C9RC9C9CA?i?׉IG=i ]nGI i m ٺi u A,hqgFAY}6n@}6@y}6}6{K}6HEql??`i0@Ŀ ?@A`?)~6n@ ~6\d;I~4YBJ?yBFMbp?MbʡE?; =)Iyy&1?Mb >;MG=YƻQU>a#Hy}>I 5?tݾ  > ?9>: D:)WWX XWX:W2W!*W!V!bU!BU!*U)U)U- S@BYBY BYA]*BYAaAaAaAa"Ci*CiRCiCiCqiIyG=>9Iiz; R_E)݉I݉i݉ݍ=ݍ=ݍO5Yi]=mK mmm m:YmWU1ym:mh6)mN;ѯ,DgFAY}2}Z@}2v@y}2r!}2_V}2H@g ;s¢??\` Ŀ? jyK?)~2}Z@ ~2`;I~0YBC?yBVFID)DINR=)N= r v v v@ v@ v@tttitt t)tItit~+M~Y=YqQU>a#H  y T}>I %: 5? %:Jtݾ z> %?9'>: :)y:WIWIXI XIWIXI:WI2WQ*WQVQbUQBUY*UYUYU]X@RmB*** querying acoustic contact ***PiPiB B  B A *B AAAA"C*CRCCC!IG5=,2gFAY}:`n@}:@y}:'%}:ph}:Hm ip(?-?^_ſ@?@Ԩч?)~:`n@ ~:^;I~:CYF?yFFJZ****** received transponder code query ******JF****** received ping request ******Ja#Hy E;} >I 5?sݾ D> %?9>+; :)WIWQXQ XQWQXQ:WQ2WQ*WYVYbUYBUa*UaUaUeؕ @BB BA*BAAAA"C*CRCCCI׽]A)׹ױIG=m mmm mn:YmT1ym:m69u@ 9 I i H; .`E ,gFAY}6}@}6J@y}6**}6Ä}6H poFm?`?@W`ZƿP,? [@-~?)~6}@ ~6\;I~6CYB?yBFFxDUSBL response received:!U1,P 502,000,002AF,189,80,80,AB,FF FCommand AckFBRequesting micromodem ping code 2iDDJNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ? ;MA=YP"QU>a#H HyT ;}>I  =:  5? =: rݾ y> E?9 {> ; D;) z:WWX XWX:W2W*WV bU1BU1*U1U9U=`M @BB BA*BAAAA)"C1*C1RC1C1C9aIyG=>,ثgFAY}6~@}6@y}6-}6U}6HjcW@?@?;_lǿW?`S~s?)~6~@ ~6\;I~6CYn9?ynFra=ɮrR=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B aa    @ @ @éééiéé ĩ)ĩIĩiĩMF=YlQU>a#Hy<}>I 5?Lrݾ J> ?9F>: Y:)W W X  X WX:W2W*WVbUBU*UUU4@BB  B A ߄*BAAAA"C*CRCC!C!IIiG>m mmm mp:YmU1ym:m6,ѯgFAY}6D@}65`@y}64-}6~}6H@B)?@ڸ? 6ȿ?5.k?)~6D@ ~6Z[;I~6CY^=?ybFfxDUSBL response received:!U1,R,502,000,002B0,189,80,80,A6,FF fFpublishing direction and range info``ɰbqa=` `)b&CI`ybq@bw?amf-ٱ`%L7A`:v?%̽%+ %<)!I!y%MbAIaM#HIIyU<}U>IY]g 5?]rݾ ]> e?9]>Y ]I:)YWWX XWX:W2W*WVbUBU*UUU @R (Combining 5 samples.P1*Q5q@ZQ5E5j?.\Ux3 JQ5w?amf-2Q1:Q1bQ5|3RLA@B.P @N+`q&[?RQ5 ~3?Ȑ ?.l?BQ5~? Q5H@Q5 @P1P1P1Q1Q5@"Q5s@BB BA*BAAAA"C*CRCCC?i?ܙ9ܙIܙiܙܙܙܙܝC; ݝIbEIG$>,W gFAY}F{@}F:@y}F/}Ff}FH 3E`B?@V? Wƿ`?@k@z?)~F{@ ~Fr[;I~FCYRi?yV3F%TNmea in: $SNTTA,0.047211,,,,230935.36*4A )== ==c;MQ=YqQU>a#Hyû}>I :L 5? :rݾ > ?9>: :){:m-iAdded new target pos. range: 3.779998 m, bearing: 57.054968 deg, deltaT: 4.468917 s, approachRate: 0.013426 m/s, LOS rate: 0.042861 deg/s, posRepo size: 4W-~?W)X) X)W1X1:W12W1*W9V9bU9BU9*U9UEo=@UE?BiBq BqAu*BqAqAqAyAy"C}~?*CRCC~?C׉IG=_  x:YV1y:6'( ,h&gFAY}:e@}:@y}:7}:U7}:H q@Qຌ?%? )oƿ?`?t?)~:e@ ~:V\;I~:CYR?yRFI) ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYm8=MmQ=YusQUu>yya}#Hyy }>Iȉō0 5?ō sݾ ƍ> ?9ƍ>Ǎ : ȍ:)ȉWWX XWX:W2W*WVbUBU*UUUj?ByBy ByA}*ByAAAA"C*CRCCCiIyG=ܑ 9ܑ Iܕ Fiܕ ?ܑ ܑ ܕ NDܕ ; ݕ 5dE,NA@gFAY}6J@}6Uf@y}6t>}6򣑽}6HrsB g??d@ȿR?5౿ H^?)~6J@ ~6r\;I~6CYB?yBEF u u u u@ u@ u@qqqiqq q)qIqiq~(MI=YvQU>a#Hy~~<}>Iȡ :ť 5? :ťhsݾ ƥ> ?9ƥ>ǥA: ȥ:)ȥ|:WWX XWX:W2W*WVbUBU*UUU ~?BB BA *BAAAA"C!*C!RC!C!C)I9)91IAGe=m m~m~m m9q:YmT1ym@:m;6)m;9u:,ZgFAY}6@}65@y}6>}6}6H`+?H?Fwɿ?>)X?)~6@ ~6\;I~4>Powering up>"Initializing DDM.Y~?yF‰]A}MF=YQU>a#Hyqj<}>I 5?sݾ E> ?9n>: :)WWX XWX:W2W*W!V!bU!BU!*U!U)U-R?BQBY BYA])*BYAYAYAYAa"Ca*CiRCiCiCiqIG>I]AA)Yk,tgFAY}V@}V@y}V?}V0}VHL@*|?@? >ɿ?@~@U?)~V@ ~Vx[;I~VCYv?yvWF YYI +?ʡE?:v?94<= T<)IyZd;O?/$Mb`j< @A)NAIG/AibAzHA } } } }@ }@ }@ yyyi}\?y }?)}A?I}?i}?+<M==Y"QU>a#Hys:}>Iȩ :ŭ+ 5? :ŭrݾ ƭ)> ?9ƭD>ǭ: ȭ:)ȭ}:WWX XWX:W2W*WVbUBU*UUUQ@BB BA*BAAAA"C*CRCCC191I5Fi51?5=115r; 5zbEIG'>] ]]] ]m}:Y]DW1y]Y:]6)].;K#,cҍgFAY}:@}:j- @y}:Ս@}:,4}:H@XMB? k?})ʿ{?8`P?)~:@ ~:[;I~:CY^G?ybFEb<MEd=YE QUE>IIaM#HIQyU<}U>IY]U 5?]Wrݾ ]> m?9]>]: ]I:)YWWX XWX:W2W*WVbUBU*UUU@BB BA܄*BAAAA"C*CRCCCu?iu?1I9GU=u),gFAY}6?R@}6m @y}6y>}6A௽}6H$`;?]?`j'ɿm?@U?)~6?R@ ~6G[;I~6CYv2?yvsFxz@A) = >W'MM=Y;QU>!!a%#H!!y-!<}->I1 =:5 5? =:5qݾ 5> E?95C>5_: 54:)5~:WaWiXi XiWiXi:Wi2Wi*WqVqbUqBUq*UyUyU} -@RB*** querying acoustic contact ***PPBB BAa*BAAAA"C*CRCCCבinGIiIEDѿٺAEAGu=m mmm mi:YmT1ym:m69u@) 9) I- Fi- v?- =) ) - ; - ^E)Iiʼn=ʼn=ʼn4]0,@gFAY}6D @}6% @y}6'>}6 s}6H" ?p?@^ǿ ?ꭿd?)~6D @ ~6[;I~6CYNL?yR FRZ****** received transponder code query ******VF****** received ping request ******VIIaU#HU Hqy}!}}>IȁŅ 5?Ņpݾ ƅ> ?9ƅ]>DžX; ȅ;)ȁWW X  X)W1X1:W12W1*W9V9bU9BUA*UAUAUM @BB BA*BAAAA"C*CRCCCI G-,>6,jg۬gFAY}69@}6 U @y}6ZE}6C}6HJ@ D?Z?R$ɿ?o6V?)~69@ ~6]\;I~6CYB.?yBFFxDUSBL response received:!U1,P 502,000,002B0,189,80,80,A6,FF FCommand AckFBRequesting micromodem ping code 2iDDNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 zm$M~c=Y QU >!)a-#H1AyUO<}]>I 5?:pݾ O> ?9|>: b:)WyWyXy XWX:W2W*WVbUBU*UUU @BB BA"*BAAAAAAI"CQ*CYRCCCIױ)׵]A~~ /:YT1y@:6יIGb><,AgFAY}2@}2 @y}2}H}2-}2Hi3 4??A?@#ʿ?@9@K?)~2@ ~2!7\;I~2CYN?yNFPɮRC=bNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B %/$?QٿʡE?%<%\Ͼ %>)!I!y%a#Hy|4<}>Iȱ :ŵi 5? :ŵLpݾ Ƶ> ?9Ƶ>ǵR: ȵ:)ȵ:WWX XWX:W2W*WVbUBU*UUU6@9Ii; [EB!B! B!AE1*BIAIAIAIAI"CQ*CQRCQCQCYAIIGm5>I]@A)]@AC,gFAY}:,@}: @y}:W F}:}:H I F? T7?n7eɿ@ܙ? ~S?)~:,@ ~:[;I~:CYF?yFkFJxDUSBL response received:!U1,R,4A0,000,002B2,189,80,80,A7,FF NFpublishing direction and range infoJ AHɰJb=H H)J'CIHyJy@J 즧b? KS|ٱHbkbMbn=Ybg;QUb?ddaf#Hdhyjo<}j?IlnԔ 5?nZpݾ n> v?9nL>n*: n:)lW W X  XWX:W2W*WVbUBU*U!U!U%`ށ@R5(Combining 5 samples.P1*Q5y@ZQ5 !? Ʈ JQ5 즧b? KS|2Q5 A:Q1bQ5?&ݻ @ag"?RQ5 L{?8 K6?.*T?BQ5:? Q5 \@Q5(?P5Y9?P1P5Q1Q5@"Q5@BiBi BiAm̅*BqAqAqAqAq"Cy*CyRCCCQIaG}=m mmm mn:YmDW1ymY:m`6mI,!)gFAY}N$@}NA@ @y}N'7C}Nc}NHv @?? kȿA?{`FZ?)~N$@ ~N[;I~NCY~?y~ƎF]TNmea in: $SNTTA,0.034392,,,,230939.80*45 )<M;=Yd;QU>a#Hyo<}>I :\ 5? :kpݾ > ?9>: :):m iAdded new target pos. range: 3.899999 m, bearing: 63.216392 deg, deltaT: 4.379046 s, approachRate: 0.027403 m/s, LOS rate: 1.407025 deg/s, posRepo size: 4mTStarting intercept timer at range: 3.90 m.W:?WX XWX:W2W*W!V!bU!BU!*U!U-23@U-`?BB BA*BAAAA"C?RC)C-:?C)!I)GM> 9 I Fi 1? = ; YE P,BgFAY}2rA@}2\ @y}2@@}2J}2Hńֳ@%??ܐtcǿ?7ਿ}e?)~2rA@ ~2<\;I~2CYN?yR5F    @ @ @ÑÑÑiÑÑ đ)đIđiđJMK=Y;QU>a#Hy;}>Iڕ 5?zpݾ  > ?9>: :)WWX XWX:W2W *W V bUBU*UUU?BaBa BaAeJ*BiAiAiAiAq"C}T\?RCyCC IG5 >m mmm m l:YmU1ym:m6)m);9uV,\gFAY}2;@}2 @y}26A}2:}2HG @?eA?`+`ÿ= ?X?`*n?)~2;@ ~2[;I~2CYN\?yRF=ń<M=Q=YEQUE>AIaM#HIIyU1}U>IY e:]V 5? e:]pݾ ](> e?9]>]c: ]p:)]:WQWqXy XyWyX:W2W*WVbUBU*UUU @T?B)BI BIAM*BIAQAQAQAQ"C]LI?RCYCYCYAIIGm5>N],vgFAY}B}d@}B @y}BmF}Bٻ}BH J% nꈹ?`N?ap $ſخ?zf?)~B}d@ ~B$ \;I~BCYN?yNOF~jtX9v+ļ )Iy{Gz?y&1|?#= •?A)•PAI‘i•fAIA e e e e@ e@ e@aaaiaa a)aIaia}i;=M}8=Y}l;QU>a#Hy_!}>Ișŝ 5?ŝqݾ Ɲ> ?9Ɲ>ǝ{: ȝ:)șWWX XWX:W2W*WVbUBU*UUU?BB  B A p*B AAAA"C:?RCCC!9IXFi?= ; [E)I1GM>m mmm mzm:YmV1ym:mi6)mg;aaam#Hiiyu <}u>Iy :} 5? :}qݾ }> ?9}O>}: }:)}:WWX XWX:W2W*WVbUBU*UUUBM@BB BAd*BAAAA"C*CRCCCIG=IY)Y?j,$BgFAYV?y vF 鿁@yMD=YQU>a#Hy}>I 5?rݾ ­> ?9>I: :)WWX XWX:W 2W *W V bUBU*UUU@BABA BAAM*BIAIAIAIAI"CQ*CYRCYCYCYQIaG}=mn m~m~m| my:YmT1ym@:m69m@ 9 I Fi a? ۚ; \E;p,ĭgFAY}6@}6 @y}6ZbS}6ư}6H ; !?@L'?˿Z!a%#H% H!y-i;}->I15ّ 5?5rݾ 5p> =?95>5V: 5+:)1WWX XWX:W2W*WVbUBU*UUU `@R=B*** querying acoustic contact ***P9P9BB BAl*BAAAA"C*CRCCC?i?שIG>-%w,ݭgFAY}N@}Nx @y}N%U}N}NH`.?<:?H ?;g5̿t?3ݵ /?)~N@ ~N[;I~LYZ?yZQF^Z****** received transponder code query ******^F****** received ping request ******^99a=#H9AyM;}M>IQ e:U 5? m:U#sݾ U&> u?9U#?UV; Ui;)U:WWXq XyWyXy:W2W*WVbUBU*UUUT @BB  B A *B AAAA"C*CRCCC!I G-,>m- mmm mt:YmT1ym:m|6i5}nGIIiaD׿ٺѼAwN},gFAY ?y >FxDUSBL response received:!U1,P 4A0,000,002B2,189,80,80,A7,FF Command AckBRequesting micromodem ping code 2iI)%Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 IU=)U=܍>9܉I܍XFi܍?܍=܉܉܍; ݍ7]E)ݩIݩiݩݭ=ݭ=ݭ5US㥫?IQaU#HQQy]}]>Iȉō9 5?ōNsݾ ƍ> ?9ƍ?ǍAp; ȍD\;)ȉWAWAXA XIWIXI:WQ2WQ*WyVybUBU*UUU~@ByBy ByA}G*BAAAA"C*CRCCCI)^AIG>9,gFAY}F@}F @y}FTc}F윽}FH& ?? ̿ .??)~F@ ~F<[;I~FCYZ?yZF\ɮ^p=jNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B uMu=Y}0BQU}?yya#HyKٻ}?I) 5:-j 5? =:-fsݾ -N> =?9-/?-: -{:)-:WyWyX XWX:W2W*WVbUBU*UUU\@BB BA*BAA)A)A)"C1*C1RC1C1C9AIIGe>immmH iYmV1ym:ms 6#`,+gFAY?y?F%xDUSBL response received:!U1,R,40F,000,002B2,189,80,80,A3,FF -Fpublishing direction and range info%eh!ɰ!! !)%#CI!y!%sb!?Q2ٱ!IM^AU='MUM=YUQUU>YYa]#Haaye}m>Iim` 5?msݾ m> }?9mb ?m#: m:)iWWX XWX:W2W*WVbUBU*UUU2@R(Combining 5 samples.P*QZQcv:@^7JQsb!?Q22Qeh:QbQ=p?ô7X/ @mccF?RQ$OP?v#?t+"?BQ跜? QIf@QC?PX9?PY9?PQQ"@"Q@BB BA*BAAAA"C*CRCCCIG= >q 9q Iu Fiu ?q q q u ћ; u ]E?J,'iEgFAY}fW@}fDs @y}fVo}f}fHb ?O?6,Ͽw?fv?)~fW@ ~f5[;I~fCY?y%FDNmea in: $SNTTA,,,,,230944.26*52    @ @ @i )Ii%M%==Y-ټQU->11a5#H19y=_<}=>IA M:E2 5? M:Esݾ E> U?9E?E: Ej:)E:m%iAdded new target pos. range: 3.899999 m, bearing: 70.150797 deg, deltaT: 4.462631 s, approachRate: 0.000000 m/s, LOS rate: 1.553882 deg/s, posRepo size: 4W%跜?W!X! X!W!XI:WI2WI*WQVQbUQBUQ*UQUYU] @1?BB BA7*BAAAA"C?RCC跜?C?i?IG$>e eee e{:YeDW1yeY:eM6)e;9m3r,.;_gFAY%m?y%IF]z4<MeG=YmQUu>ya#Hy}>I 5?sݾ > ?9?>; (;)WWX XWX:W2W*W V bU BU *UUU l?BB BA*BAAAA"CQ?RCCCIG (>ɟ,$ygFAY}nS{@}nݖ @y}nxg}n)}nH`@̐?1?Rd̿2?.@?)~nS{@ ~nf[;I~lY~Z?y~ۋF=L7A`?/$MbX?=+>=1 ==)9I9y=y&1y&1|Q=`e=`=u =a#Hy}>I := 5? :tݾ +> ?9?: [:):WWX XWX:W2W*WV>9IFi1?; ^\EbUBU)*U)U)U-B$?BYBY BYA]׆*BYAaAaAaAa"C%跜?RC)C)C)I G%,>Yi]=m m~m~m m|:YmT1ym@:m6)m;,gFAY}2@}2a @y}2xg}2+}2H A ?̿`? M ?)~2@ ~2kO[;I~0YB?yB FM%h=Y%R{QU%>))a-#H))y5}5>I9=C 5?=puݾ =Z> E?9=?=: =:)9WiWiXi XiWqXq:Wq2Wq*WyVybUyBUy*UUU?BB BA,*BAAAA"C*CRCCCI)]AױIG=,pͬgFAY}JS@}JCo@y}Jnh}J$}JH@*S?vf?nȽɿ?AޓI,?)~JS@ ~Jo[;I~JCYZ#?yZF ;MC=YQU>a#Hy7¼}>IȹŽr 5?Ž_vݾ ƽ> ?9ƽ2"?ǽ: Ƚ;:)ȹWWX XWX:W2W*WVbUBU*UUU@*7@B!B) B)A-%*B)A)A)A1A1"C9*C9RC9C9CAIG5=m mmmy m:YmW1ymč:m69u@1 91 I5 Fi5 ?5 =1 1 5 S; 5 ]Ew,֨ƮgFAY}Bv@}Bg@y}B5i}BxZ<}BH@]:@E?@?/ǿ`?@9?+?)~Bv@ ~B[;I~BCYnA?yn.FII    @ @ @i )Ii;ME=YQU>a#H Hy>}>I   :  5? : Owݾ > ?9 '? : #:) :W9W9X9 X9W9X9:W92WA*WAVAbUABUI*UIUIUM @ByBy ByA}*ByAAAA"C*CRCCCiIyG=IY)]AA,agFAY}u@}u@y}u@m}uIK;}uH}`q?B?uɿXd?wh?%?)~u@ ~u8[;I~uCY?yFMbX9?ѿA`"?ʡ=̌ Y=)IyMb?ˡE~jt<'D FA)KAI0AimALAɻM9=Y QU >a#Hy8}>I!% 5?%vݾ %{> 5?9%p,?%o: %w:)!WQWQXQ XQWQXY:WY2WY*WYVYbUaBUa*UaUaUm @RuB*** querying acoustic contact ***PqPqBB BA4*BAAAA"C)*C)RC)C)C1e?ie?AIIGe4>eH eee e:YeWU1ye:e6_,]gFAY}2M@}2ץ@y}2m}2 C}2H߿?`L?@Z˿n?ힿ ?)~2M@ ~2 \;I~2CYN?yR FRZ****** received transponder code query ******VF****** received ping request ******V ?9u<0?un< u<)u:WAWAXA XAWAXA:WA2WI*WIVIbUIBUQ*UQUqUu @ܹ9ܹIܹiܹܽ=ܹܹܽc; ݽ\EBB BAĆ*BAAAA "C)*C1RC1C1C1)I1GU>,GgFAY}R@@}R0\@y}Rl}R}".}RHj߿+? ?`J߿A̿V?R.?)~R@@ ~R[;I~RCYf.?yfFnxDUSBL response received:!U1,P 40F,000,002B2,189,80,80,A3,FF nCommand AcknBRequesting micromodem ping code 2ilpzNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )ý> ý> - - - -@ -@ -@)))i)) )))I)i)eMe"=Ym:QUm>iiau#Hqqy}}}>I 5?uݾ Љ> ?95?g: :)W W X XWX:W2W*WV9bU9BU9*UAUIUM@s@BB9 B9A=*B9AAAAAAAIYi]=} }}} }}:Y}DW1y}Y:})6"C*CRCCCIG>a a i nGI i - ׿ٺ) - +A,{.gFAY}2@}2(:@y}2>p}2~o}2HG߿ k?@?\Z߿4rͿ`?I$?)~2@ ~2j[;I~2CYN?yRьFRp=ɮPbNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -=M=Y\-QU ?a#HyA׻} ?I : 5? :tݾ > ?9:9?: $:):W W X  X WX:W2W*WVbUBU*UU!U%5@BIBI BIAUs*BQAQAQAYAY"CY*CaRCaCaCaiIyG=ܱ9ܱIܵXFiܵ?ܵ=ܱܵODܵ; ݵYE)IIIiIIM=M&t5,yHgFAY}N`M@}Nh@y}Nv}N%}NHb߿@O??@ 4߿DϿ $?8?)~N`M@ ~N[;I~NCYz?yzF~xDUSBL response received:!U1,R,502,000,002B1,189,80,80,A3,FF Fpublishing direction and range info~f3|ɰ~a=| |)|I|y~u@~w?amf-ٱ|=!=MER=YEQUE>IIaM#HIQy]m;}e>Iim 5?msݾ mO> }?9m=?m&; m;)iWaWaXa XaWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qu@ZQAKK?Oh JQw?amf-2Qf3:QbQO7 u@rBᏸ@y?RQ]#W/?<5A?j?BQt? QE@Q @PZ9?PX9?PQQ@"Q"@BB! B!A%*BAAAAIAIAI"CQ*CQRCQCQCY9IIGe>e eee eNq:YeU1ye:e|6)e;9mb, agFAY}ex@}e@y}e|}egP}eH|߿ y?پ?`x߿KDϿR2??@T?)~ex@ ~eK[;I~eCY?yٍFEDNmea in: $SNTTA,,,,,230948.70*5D {Gz{Gz+ףף )IyV-?{GzQ<ףu AA)-RAI-AiKA = = = =@ =@ =@999i99 9)9I9i9M/MM-=YUL;QUU>QYa]#HYYye;}e>Ii u:mє 5? u:mrݾ mօ> }?9mB?m: m:)m:m%qAdded new target pos. range: 3.839998 m, bearing: 54.770898 deg, deltaT: 4.478739 s, approachRate: -0.013397 m/s, LOS rate: -3.433980 deg/s, posRepo size: 4W-t?W)X) X)W)X):W)2W1*W1V1bU1BU9*U9U= Q@U=?BB BA*BAAAA"CS?RCCt?CIGI>IQ)Q:,S{gFAY}N^@}Nxz@y}N }Nt}NH ;\߿L ? E?߿HϿK?@`b?)~N^@ ~Nq[;I~NCYb?ybkF    @ @ @i )Ii <Me=YlQU>a#Hy{}>I   5? 2rݾ > ?9 E? : ]:) W9W9X9 X9W9X9:W92WA*WAVAbUABUA*UIUIUM [O?Y9YI]Fi]v?YYY]; ]!UEBB BA̅*BAAAA"C%?RC!CICIAIYGu>m mmi mӀ:YmDW1ymY:i)m;h ,gFAY}6Aa@}6|@y}6}6ms}6HI^߿nr?̻? ߿п`?JM?)~6Aa@ ~6[;I~4Y^?ybFu<MuR=Y}9QU}>a#Hy9}>Iȑŕ 5?ŕ^qݾ ƕ> ?9ƕKI?Ǖ: ȕw:)ȑWWX XWX:W2W*WVbUBU*UUU@?BB BA*BA A A A "Ca?RCCCQIYGu=L, bgFAY}J @}J$)@y}JNz}Jn }JH%߿d?? P޿`Ͽ?<h?)~J @ ~J`D\;I~JCY^?y^uFHMI=Y))aU#HU Hay@}>Iȡ :ť 5? :ťopݾ ƥJ> ?9ƥM?ǥ; ȥ+;)ȥ:WWX XWX:W2W*WVbU!BU!*U!U!U- ?BB BA0*BAAAA"C)?RCCCI)IG$>}b }}} }x:Y}U1y}:}N69@Q9QIUFiUE?U=QQU; U QEk3,%;ɯgFAY}:_@}:@y}:v}:Y<}:H@J޿\?? ߿[Ϳw?릿 ?)~:_@ ~:$[;I~:CYJ?yJFI =) = U U U ]@ ]@ ]@QQQiQQ Q)QIQiQm2K=MmL=Ym5qqau#Hqyy}\}}>IȁŅ 5?Ņoݾ ƅ> ?9ƅQ?Džض: ȅk:)ȁWWX XWX:W2W*WVbUBU*UUU?BqBq BqAu*ByAyAyAyAy"C)s?RCCCשIG=`,[$gFAY}-i@}-%@y}-v}-n4}-H@޿"H? ?~޿@kVͿ`?奿`u ?)~-i@ ~-][;I~-CYU?yUWFGzǿy&1?I +?p=`e< 9<)IyS㥛?Mbp/<̼ ­=>A)­SAI©i­pALAa=M6=Y8̺QU>a#Hy}>I : 5? :nݾ y> ?9T?: :):WWX XWX:W2W*WV!bU!BU!*U)U)U-|@BQBY BYA]*BYAYAYAaAa"Cmvg?RCiCiCqiIyG>eT eee ew:YeT1ye:ei6,gFAY}2#@}2@y}2=v}2 m}2HT޿`J??@U޿ 0ο &??)~2#@ ~2Z[;I~2CYR?yRFTT\\    @  @  @i )IiYMk=YQU>a#HyK;}>IȱŵZ 5?ŵBnݾ Ƶ`s> ?9ƵW?ǵ: ȵܹ:)ȱ>9IFi@=; [MEW!W!X! X!W!X!:W)2W)*W)V)bU)BU1*UQUQU]`~@ReB*** querying acoustic contact ***PaPaBB BA5*BAAAA"C4b?RCCC ?i ?IG>IY)]?An,gFAY}2J}@}2Ԙ@y}2Os}2jƏ}2H@޿@&`G? ?޿՞ο0?Rs`C?)~2J}@ ~2zN[;I~2CYR?yREFZZ****** received transponder code query ******ZF****** received ping request ******^9AaE#HAIyU}U>Ia m:e 5? u:emݾ eJl> u?9e'[?e< ek<)e:WWX XWX:W2W*WVbUBU*UUU @B)BI BIAM *BQAQAQAQAQ"C]Kb?*CYRCaCaCaiIqG>m} mmm m{:YmV1ym:m6ǜ ,0gFAY}R=@}RY@y}Ri}RX}RH ޿?)?`޿@ο?4 ?)~R=@ ~Rk\;I~RCY~p?yrF%xDUSBL response received:!U1,P 502,000,002B1,189,80,80,A3,FF -Command Ack-BRequesting micromodem ping code 2i)1]Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 --Ponly read -1 of 1 data item for altitude]<Me"=Ymjyya#Hy}>I 5?lݾ b> -?9}_?; ;)WWX X W X :W 2W *WVbU1BU1*U9U9U=` @BB BA*BAAAA"CRk?RCCCI)9Ii=ND; -JEIIG}>,JgFAY}2f@}2@y}2 ]}2}2HO޿%`̦?@AU?&޿@0̿ .{?a.?)~2f@ ~2L\;I~2CB`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ) IY%e?y-ΐF-a=ɮ-a=MNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B %發M-==Y-11a5#H11y=||}=>IA M:E/ 5? M:Ekݾ E[> U?9Eb?E: E:)E:WqWqXq XqWqXy:Wy2Wy*WyVbUBU*UUU`@BB BAԄ*BAAAA"Ct?RCCCיn  y:IYU1y:6);9Gf>,kdgFAY}Vq@}V9@y}VPjV}Vo'}VH޿C/jS?v?2޿`ɿB? w `F?)~Vq@ ~V",\;I~VCɫ髑) IY;?yFxDUSBL response received:!U1,R,4EB,000,002B1,189,80,80,A4,FF mFpublishing direction and range infoɰ )$CIyaȢ?9ٱdNmea in: $SNTTA,0.076551,0.288659,,,230953.20*5A I=)=i5NmGIIiaֿٺhA~jt?Qݿ:v?> T<)IyMb?:vkt?<Լ 0= ?A)UAI,AijnA(LA%`=M%J=Y%΍))a-#H)1y5q}5>I9= 5?=kݾ =m> M?9=ie?=.: =:)9WWX XWX:W2W*WVbUBU*UUU@&@R(Combining 5 samples.P*QZQX?c \ JQaȢ?92Q:QbQ~Ċ@O2j@~&_!?RQR~E?Ҳ?d&!?BQu? Q3G@QV @PPZ9?PQQ@"Q@ByB BA*BAAAA"C *C1RC1C9CIׁIG>, 5~gFAY}6ΐ@}6X@y}6x T}6}6HX&޿\6ќ?r? ݿ˿JQ?k'6?)~6ΐ@ ~6[;I~6CɫYY)a aIaܩ9ܩIܭ`Fiܭ@ܩܩܭODܭ-; ݭGE)1I1i1115h5Y?y1F 5 5 5 5@ 5@ 5@111i11 1)1I1i1EXMEo=YEF;QUM?IIaM#HQQy];}]?Iae 5?ekݾ e}> m?9eag?eB: e:)amiAdded new target pos. range: 3.839998 m, bearing: 54.835351 deg, deltaT: 4.541672 s, approachRate: 0.000000 m/s, LOS rate: 0.014191 deg/s, posRepo size: 4Wu?WX XWX:W2W*WVbUBU*UUUL?BB BAD*BAAAA"C u?*C RC Cu?C5?i5?I G-N>  us:Yy6);*%,QgFAɫ髑) IY?yFu0MuX=YuQU}>yya}#Hyy}>Iȑ :ŕ) 5? :ŕVkݾ ƕ> ?9ƕi?Ǖ: ȕ:)ȕ:W9W9X9 X9WAXA:WA2WA*WAVIbUqBUy*UUU@?BB BAx*BAAAA"C*CRCCCIG (>+,S뱰gFAY}6@}6)1@y}6j<}6}6HXݿ`I?@&?`Lݿȿ@]k?D@b?)~6@ ~6?k;I~6Cɫ9A)A AIAYR?y_F 鿁 MD=YNb=QU>a#H HyZ}>IȹŽ 5?Žkݾ ƽؑ> ?9ƽ'l?ǽ: Ƚ;)ȹW)W)X) X)W)X):W12W1*W1V1bU9BU9*U9U9U=r?BB BA*BAAAA"C*CRCCCסIGA>  {:YDW1yY:)69@ܙ9ܙIܝFiܝ@ܝ=ܙܝNDܝB; ݝEEF2,˰gFAY}:V@}:@y}:{2}:{Iؼ}:HWݿ*I@W?`T?@ݿ{.ſ`\7?Xڀ?)~:V@ ~:i;I~:CɫYY)Y YIYY}?y}F u u u u@ u@ u@qqqiqq q)qIqiqҫ=MP=Ya#Hyy9}>Iȡ :ť 5? :ťjݾ ƥ6> ?9ƥn?ǥ: ȥ:)ȥ:WWX XWX:W2W*WVbUBU*UUUuT?BB) B1A5*B9AAAAAAAA"CI*CIRCICQCQIe\A)e\A)I1GM>8,gFAY}6*@}6@y}61-}6jԼ}6H`ݿ|S??ݿĿܞ?':?)~6*@ ~6e;I~6CɫYY)a aIaY?yyF=&1?y&1?5^I ?=P>=`e= =X>)9I9y=iiam#Hqqyu<ڻ}}>IȁŅ> 5?Ņiݾ ƅܗ> ?9ƅt?Dž': ȅ:)ȁWWX XWX:W2W*WVbUBU*UUU>?BiB BA*BAAAA"C*CRCCCׁIG=>  :YV1y:D6&?,gFA|8i|:@A9AIEНFiEE@E=AEODE; ECEY}]B~@}]̙@y}]w(}]^}]HmuݿU`? 8?M{ݿ+Ŀ=?7ي?)~]B~@ ~]a;I~]Cɫ)1)1 1I1Ym?ymzFI4=)%=    @ @ @ñññiññ ı)ıIıiıMC=Yx=a#Hy}>I  : 5?  :Jhݾ >  ?9z?/;  #;):WWX XWX:W2W*WVbUBU*UUU#@BABY BYA]&*BaAaAaAaAa"Ci*CiRCiCiCq9IAGeU> F,XXgFAY}6u@}6@y}6i]&}6B}6H3qݿd`??]ݿ!ſI?3?)~6u@ ~6;b;I~6Cɫ99)9 9I9Yg?yF;M%k=Y-;QU-?11a5#H99yET}E?IIMl 5?MAgݾ Mٓ> e?9M?M5; M$;)IWWX XWX:W2W*WVbUBU*UUUX@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCC?i?סIG >/  t:YWU1y:64L,23gFAY}:@}:@y}:(}:h}:H3ݿmbd??2ݿ@ƿ`?2{?)~:@ ~:Dh;I~:Cɫ99)9 9I9Y}?y}FZ****** received transponder code query ******F****** received ping request ******a#Hy !;} >I 5?eݾ > ?9?: w:)WaWaXa XaWaXa:Wi2W*WVbUBU*UUUF @BB BA|*BA A A A "C*CRCCCIG-->A9AIExFiE?E=AENDÉ; EAES,MgFAY}6D@}6Ω@y}6+}6}6Hݿ@etx? ?ݿҔǿ@F?ods?)~6D@ ~6ߔb;I~6Cɫ99)9 9I9Y}!?y}ߑFxDUSBL response received:!U1,P 4EB,000,002B1,189,80,80,A4,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ÜM\=YܽQU>)a#Hy} >IQ :U 5? :Udݾ U> ?9U܅?U%< U<)U:WWX XWX:W2W*WVbUBU*UUU`? @BB BAe*BAAAA"C*CRCCC ~~ fm:YT1y@: 6)U;9IGew>FY,!fgFAɫyy)y yIyY??yFp=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M~jtA`"~jtMDMٽ M)IIIyMJ +y&1?MHMM`< M;A)MPAIMp3AiM]AIM\GA    @ @ @áááiáá ġ)ġIġiġ;M1=YQU>a#Hy}>I 5?eݾ C> ?9?{: k:)WWX XW X :W 2W *WVbUBU*UUU @BABI BIAM^*BIAIAIAQAQ"CQ*CYRCYCYCYI)IGE>Q0`,ʀgFAY}2@}2F@y}2O,}2}2H Sݿ[@&h?@?`hPݿ^!ǿo?ٱ@x?)~2@ ~2x];I~2Ct9vCIvFivv?tttv&; v@Eɫ99)9 9I9Y]?y]FexDUSBL response received:!U1,R,502,000,002AF,189,80,80,BB,FF eFpublishing direction and range infoef3aɰea=a a)e;CIayen@ew?amf-ٱa)Å> Å=*Mk=Y7oQU?  a #H AyM;}U>Iy :}B 5? :}fݾ }җ> ?9})?}; }t;)}:WWX XWX:W2W*WVbU BUI*UQUQU]@t@R(Combining 5 samples.P*Qn@ZQo$?7U JQw?amf-2Qf3:QbQv$@T{@[(!,?RQaaխ ?NsY?ٝ|d?BQ-:m? Q<@Q @P[9?PPQQ@"Q@B9B9 B9A={*BAAaAaAaAa"Ci*CiRCqCqCqyIG=>  G:YX1y/:6)p;]f,gFAY}  @} (@y} (} } HݿG4Xq?`O? H{ݿvǿ?u?)~  @ ~ X\;I~ Cɫ!)! !I!Ym?ymFDNmea in: $SNTTA,,,,,230957.61*53 Ia=)= 5 5 5 5@ 5@ 5@111i11 1)1I1i1EcME7=YMIIaM#HQQyUD<}]>Iae 5?ehݾ e(> m?9e?e: e :)amqAdded new target pos. range: 3.720000 m, bearing: 53.094219 deg, deltaT: 4.375518 s, approachRate: -0.027425 m/s, LOS rate: -0.397926 deg/s, posRepo size: 4W-:m?WX XW9XA:WA2WA*WAVAbUIBUI*UIUM @UU(?BB BA*BAAAA"CE.o?RCC-:m?CI!G=Q>i]nGI i M ٺI M 2Al,gFAY}z2@}z\N@y}z)%}zS}}zH ޿;@?l? mݿſ Y? <6?)~z2@ ~zWb;I~zCɫ) IY-?y5iF ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYuػM}G=Y}a#HHy;}>Iȡ :ť 5? :ťiݾ ƥQ> ?9ƥ?ǥ%; ȥT&;)ȥ:WWX XWX:W2W*WVbUBU*UUUq?BB BA*BAAAA"C o?*CRCCC?i?IGI>/  t:YWU1y:69@9CIFi1?=|; U>E)iIiiim=m=m<*5js,UαgFAY}2@}2@y}2&}2Q}2HݿkE (C? A?ݿ@Xſ@?Tǩ@?)~2@ ~2Sa;I~2CɫYY)Y YIYYG?yF!%\AU5<M]_=Y]QU]>aaae#Haaym:}m>Iqu 5?ujݾ u> }?9u]?u^: u:)qWWX XWX:W2W*WVbUBU*UUU*?BYBa BaAe܄*BaAaAiAiAi"C-:m?RCCCׁIG>y,]7gFAY}2 j@}2@y}2m*}2.S}2H Iaݿ@2i@.? {?`DݿſB?@z?)~2 j@ ~2^;I~2Cɫ99)9 9I9Yu?y}F Mb@Mb@Mb@ )IyMb?y&1|S㥛@=`/ݼ h=A)/MAIiM`AGA;M>=YQU>!!a-#H)y9}>Iȹ :Ž 5? :Žhݾ ƽƟ> ?9ƽM?ǽ3; Ƚ,;)Ƚ:WIWIXQ XQWYXY:W2W*WVbUBU*UUU`M?BABI BIAM̈́*BQAYAAA"C*CRCCC  Dp:Yy)6IGh>|, gFAY}:@}:@y}:41}:}:H Iܿ!`x??ݿJſ`U ?h6?)~:@F>9DIF FiF?DDDFy; Fa%#H!!y-}5>I9= 5?=gݾ =%> M?9=ۘ?=l; =;)9WyWyXy XyWyX:W2W*WVbUBU *U U U @D?@BYBY BYA]*BYAaAaAaAa"C*CRCCCIץ]A)ץ]AׁIG=>,gFAY}6o@}6@y}6$;}6}6H@ܿƆ@\1??tܿ`ƿWC?``s?)~6o@ ~6h];I~6Cɫaa)i iIqY]?yF)%= %==| =M=Y=Y=*ӼQUE>AAaE#HAIyM%}U>I 5?fݾ > ?9v?; +;)W1W1X1 X9W9X9:WA2WA*WAVIbUIBUQ*UQUQUU`J@BB BAV*BAAAA"C*CRCCCסIG >D  }v:Yy6$ь,5gFAY}66@}6ZR@y}6D}6}6HDݿ@t~?X?~ܿɿR\?:`YW?)~66@ ~6zx`;I~6CɫYY)Y aIaY}?y}FAAI=)    @  @  @  @i )Ii=M=J=Y= QU=>AAaE#HAIyMv<}M>Iq }:ur 5? :ueݾ u+> ?9u ?u(: u:)u:WWX XWX:W2W*WVbUBU*UUU m@R B*** querying acoustic contact ***P P BIBi BiAǘ*BqAqAqAqAq"Cy*CyRCCC׉IG>܁9܁I܁i܁܁܁܅OD܅v; ݅;E,{OgFAY}6wq@}6@y}6B}6۽}6H`MHݿtz|?஁ܿߤ˿@/?׺w>?)~6wq@ ~6Rg;I~6Cɫ99)9 9I9Yu#?y}jF}Z****** received transponder code query ******F****** received ping request ******!!a%#H!)y-<}U>IY] 5?]dݾ ]> e?9]?]r: ]:)YWWX XWX:W2W)*W1V1bU1BU1*U9U9UE఻ @BB B A e*B A AAA"C*CRC!C!CIׅ?iׅ?YIiG8>.  t:YW1yč:6*,yxigFAY}2j%@}2@@y}2~S?}2׽}2H ݿ`q?@Hܿ.˿`? l@D?)~2j%@ ~2b;I~2Cɫ99)9 9I9Y}?y}!FxDUSBL response received:!U1,P 502,000,002AF,189,80,80,BB,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 (\?MbXkt?z>ʽ  0=)Iy:v?V-?<< =>A)XQAI0AiGeAGIA    @ @ @i )Ii ϻM =Y5;QU=>AAaM#HIqy}}}>Iȁ :Ņϙ 5? :Ņeݾ ƅC> ?9ƅܢ?Dž: ȅI:)ȅ:WWX XWX:W2W*WVbUBU*UUU`"7@BqBq BqAu*ByAyAyAyAy"C*CRCCC׉ I G >$ˠ, TgFA>9IFi1?s; 9Eɫ) IY5t?y=אFEa=ɮEp=mNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B $=M=YQU?a#Hy}?I= 5?\eݾ  >  ?9?7; #9;)W9WAXA XAWAXA:WI2WI*WIVQbUQBUY*UYUYUe >@BB BAф*BAAAA"CA*CARCACICI9IIGmV>  p:YDW1yY:)6)L;9,.gFAY}:g@}:y@y}:9N}:B}:H=/ݿn N?"?`6ݿwɿ ?@Bէ^Q?)~:g@ ~:];I~8ɫ99)9 9I9Y}?y}iFxDUSBL response received:!U1,R,502,000,002B0,189,80,80,B3,FF Fpublishing direction and range infoɰqa=鰁 )3CIyq@w?amf-ٱMu=YO2QU?a#HyG<}?I : 5? :eݾ > ?9!?< <):WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qq@ZQE5j?.\Ux3 JQw?amf-2Q:QbQ %@$a,4G@xD?RQ3?,B?59?BQEk? Q>@Q,@PP[9?PQQ@"Q@BqBq ByA}*ByAyAyAyAy"C*CRCCCI׽\A)׽\AסIG >!,sgFAY}%9@}%|U@y}%UQ}%ku}%H@ݿ@ʃ1ԗ?J?ܿ`˿@?:?)~%9@ ~%d;I~%Cɫ) IYu=?yuFTNmea in: $SNTTA,0.069439,,,,231002.05*46 )= > % % % %@ -@ -@!!!i!! !)!I!i!MMM'=YMQUU>YYa]#H]Haym}m>Iqu 5?u/fݾ uI> ?9u?u7; uF;)qmmAdded new target pos. range: 3.779998 m, bearing: 52.759458 deg, deltaT: 4.420185 s, approachRate: 0.013574 m/s, LOS rate: -0.075735 deg/s, posRepo size: 4WEk?WX XWX:W2W*WVbUBU*UUo=@U&?BB! B!A%*B!A!A!A)A)"C-Ek?*C1RC1C5Ek?C1%>9!I%Fi%v?%=!!%q; %7E  m:YW1yč:6);׹IGf>s ,вgFAY}F@}F@y}FPQQ}FII}FHΗܿ@#??ܿ@ɿ?MK?)~F@ ~Fc;I~FCɫqq)q yIyYx?y ?94? : +:):WWX X!W!X!:W!2W!*W)V)bU)BU)*U1U1U5L?BYBa BaAe*BaAaAiAiAi"Cq*CqRCqCqCyסIG >P1,@gFAY}FD@}F_`@y}F+T}F}FH'ܿl?? iܿMɿm?K?)~FD@ ~FT`;I~FCinGIiٺA6Could not parse latch stateɫ) IYM=?yUFRQ?p= ף/$B> ,)IyˡE{Gzt?I +'ף;94 ­h=A)­-RAI©i­piA=JA        @  @  @   i   ) I i cbM}=Y}8ٻQU>a#Hyd}>  ::Y0Y1y:69@Iȑŕ 5?ŕgݾ tI ƕ> ?9ƕê?Ǖ: ȕl:)ȑW W X  X W X :W2W*W1V1bU9BU9*U9U9UE`?BB BA*BAAAA"C*CRCCCi?IG>! 9! I% xFi% ?! ! ! % >n; % 6E)ݱIݱiݱݱݱݵ'5X, gFAY}jP@}j@y}jU}jM}jH`8ۿ` ? ?`ۿʿr?%E?)~jP@ ~j^;I~hɫ髙) IY-?y-F0=M=YQU?a#Hycf}?I 5?*hݾ )> ?9%?: ܹ:)WW!X! X!W!X!:W!2W!*W)V)bU)BU1*U1U1U52?BaBa BaAe*BiAiA A A "C*CRCCCIG*>G,UgFAɫ髑) IY?yF YY#eMN=YQU>a#Hy}>Iȩ :ŭ[ 5? :ŭhݾ ƭ7> ?9ƭ?ǭ^: ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUU&@BB BA5*BA!A!A!A!"C)*C)RC)C1C1aIqG>  }:YV1y:6m,S8gFAY}6c@}6@y}6$R}6 #}6Hۿ$? ?_ۿ<ɿ? OM?)~6c@ ~6_;I~6Cɫ99)9 9I9Y}?y}F - - - -@ -@ 5@)))i)) )))I)i)E<MEP=YEo;QUE>IIaM#HIQyU}}]>IY]Ƙ 5?]iݾ ]S> m?9]?]=: ]:)YWWX XW X:W2W*WVbUBU*UUU%@l@BIBi BiAm*BqAqAqAqAq"Cy*CyRCyCCI׵]A)׵]AׁIG>>9Ii=k; D5EKU,,RgFAY}6@}6&@y}6V}6*U}6Hzۿ`O??ۿ ʿ?@ A?)~6@ ~6נe;I~6Cɫ99)9 9I9Y}?y}2F@A<<MO=Ya#Hy ;} >I :3 5? :jݾ b> %?9?; ;):WAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU]@t@ReB*** querying acoustic contact ***PaPaBB BA*BAAAA"C*CRCCCqIG= ~~ {:YT1y@:6,h lgFAY}6Ʊ@}6P@y}6QZ}6~}6Hۿ|V?$?/ۿO̿ A?`1`+?)~6Ʊ@ ~6JZa;I~6Cɫ99)9 9I9Y}?y}FZ****** received transponder code query ******F****** received ping request ******a#Hyr}>IȹŽ 5?Žiݾ ƽ> ?9ƽ5?ǽ: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU@b @B)B1 B1A5̈́*B1A1A1A9A9"CA*CARCACACI9IAGeU> 9 I i = i; 4E\g,CㅳgFAY}6@}6@y}6dZ}6 }6Hۿ CۜT?ӋڿG Ͽ ?饾 ?)~6@ ~6U_;I~6Cɫ9A)A AIAY]?y] FmxDUSBL response received:!U1,P 502,000,002B0,189,80,80,B3,FF mCommand AckmBRequesting micromodem ping code 2iiiNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ;M=Y.C:QU= ?IIau#HyyK5}?I :K 5? :jiݾ b> ?9̵?0: :):WWX XWX:W2W*WVbUBU*U UU=_ @BB B!A=*B9AAAA"C*CRCCCi?  }:YW1yč:6)Q;9IG-p>s,@gFAY}:D@}:`@y}:X}:c}:H@%Aۿ@k})? /Oڿ0rοl?`H?)~:D@ ~:"^;I~:Cɫ99)9 9I9Y}?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B AMA=Y?[;QU>a#HyŁ}>Iȱŵg 5?ŵhݾ Ƶ> ?9Ƶ?ǵ: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUU'@B!B! B!A%&*B!A)A)A)A)"C1*C1RC1C9C9)I1GU>,JgFAY}6@}6@y}6Y}6!/}6H`ڿ ޛ?QA?ࡈڿo.̿n?{3?)~6@ ~6q\;I~6CɫYY)Y YIYY ?yFxDUSBL response received:!U1,R,502,000,002AF,189,80,80,BB,FF Fpublishing direction and range infoɰa=鰡 );CIyn@w?amf-ٱ 鿙 M M M M@ M@ M@IIIiII I)IIIiI}<M<=Y@QU>a#HHy}>Iș :ŝg 5? :ŝDhݾ Ɲl> ?9Ɲ?ǝ: ȝs:)ȝ:WWX XWX:W2W*W1V1bU1BU9*U9U9U=~@R](Combining 5 samples.PY*Q]n@ZQ]o$?7U JQ]w?amf-2QY:QYbQ]@m@"RI?RQ]RB?yF?栁L?BQ]`? Q]4@Q]@PYPYPYQYQ]@"Q]@B B  B A *BAAAA"CI*CIRCICICQu>9qIu@Fiu?qqqutg; u2EYIqG[>&  A:YWU1y:_6);,}ӳgFAY}f@}f,@y}f\}f%ӈ}fHcۿ L"p?.?ڿ@N̿@[?`0?)~f@ ~fy)d;I~fCɫ髱) IY ?y F]DNmea in: $SNTTA,,,,,231006.50*5D =MX=YzQU>a#Hy6<}>I 5?gݾ > ?9q?: :)mqAdded new target pos. range: 3.720000 m, bearing: 50.151805 deg, deltaT: 4.488512 s, approachRate: -0.013367 m/s, LOS rate: -0.580962 deg/s, posRepo size: 4W`?WX XWX:W2W*WVbUBU*UU @U@?BB BA*BA A A A "C^%g?RCC`?CI-\A))IG )>,{OgFAY}:l@}:@y}:fU}:}:H@iۿ/d3%?\ڿ !Ϳ{?oһ@&?)~:l@ ~:Kd;I~:Cɫ99)9 9I9Y}?y}FMb@Mb@Mb@ )IyL7A`堿+ µa#Hyg_<}>I 5?qgݾ > ?9(?w: :)WW!X! X!W!X!:W!2W!*W)V)bU)BU1*U1U1U5k?BaBa BaAe*BaAiAiAiA"C`?RCCC)IYG?>I  v:YDW1yY:69@m >9i Im НFim E@i i i m je; m 1E,/gFAY}F0@}F8@y}Fl-H}Fн}FH`5ۿe=wI?@1tڿ˿? " -:?)~F0@ ~FwL`;I~FCɫ髑) IY.?yFIe=)e=    @ @ @ñññiññ ı)ıIıiı怼MK=Y=QU>a#HyD}>I : 5? :!gݾ S> ?9پ?: M:):WWX XWX:W2W*WVbU!BU!*U!U!U%?BQBQ BQA]"*BYAYAYAYAY"Ca*CaRCiCiCiIIQGm>,!gFAY}6@}6l@y}6:A}6BdQ}6Hڿpj?h?Xڿxȿ`? d?)~6@ ~6^;I~6Cɫ99)9 9I9Y}&?y}DF$=MV=Y!!a%#H!)y-}->I15 5?5fݾ 5> E?95u?5=: 5ϸ:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUyU}`?B!B! B!A%*B!A)A)A)A)"CQ*CQRCQCQCYm?im?IIaG>i]}nGIqiٺA  ҁ:YW1yč:6!?9A , :gFAY}6@}6.@y}6A}6L}6H QڿtC?d?`ڿ@ƿ`9?m?)~6@ ~6^;I~6Cɫ99)9 9I9YT?y9Fr=MB=YQU>a#Hyż}>IQ ]:U 5? e:U~fݾ U> e?9UR?Up: U9:)U:WWX XWX:W2W*WVbUBU*UUUl@B!BI BIAM؃*BIAIAIAQAQ"CQ*CYRCYCYCY9Iigc; 0E)ݱIݱiݱݵ=ݵ=ݵe4aIiG9>,TgFAY}:@}:?y}:OIH}:"}:Htٿ@a7ߔ?@? ٿ^ȿ``?t]?)~:@ ~:c_;I~:Cɫ99)9 9I9Y}r?y}KF  } }  @ @ @ÁÁÁiÁÁ ā)āIāiā;MK=YЀQU>a#Hyp}>Iȩŭ 5?ŭ4fݾ ƭ> ?9ƭ?ǭg: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU.@BB! B!A%у*B!A!A!A)A)"C1*C1RC1C1C9IG= >  m:Yy6,ngFAY}2x(@}2D@y}2¶E}2-}2H `ڿM#ۈ?6Jٿr̿?@@ *?)~2x(@ ~2i;I~2Cɫ99)9 9I9Y}G?y}FAAQ?~jt?Dl?(>= O=)Iyy&1?L7A`堿Mbp?`e<; ?A)JAI 0AicAGA5ǩM=P=Y=;QU=>AAaE#HAAyM <}M>I :r 5? :eݾ 5> ?9?I: :):W!W!X! X!W!X!:W!2W)*W)VIbUIBUQ*UQUQUU _[@ReB*** querying acoustic contact ***PaPaBB BA܄*BAAAA"C*CRCCCI]A)IG$> >9 I Fi E? = a; /E]",ygFAY}B*7@}BR@y}B9}B;}BH|ڿ @ ?` "ٿς̿ ;?-)¿%%?)~B*7@ ~BEd;I~BCɫaa)a aIiY?yFZ****** received transponder code query ******F****** received ping request ******  a#Hyz;}>I)-8 5?-eݾ -b> =?9-k?-'; -U;))WaWaXa XaWaXa:Wa2Wi*WiVibUqBUq*UqUqUu ] @BB BAC*BAAAA"C*CRCCCAIQGm>  i:YWU1y:{6);9-(,NgFAY}6|@}69@y}6))3}6pֽ}6Hmڿ"bԖ?`ٿɿG? XV?)~6|@ ~6`;I~6Cɫ99)9 9I9Y}c?y}FxDUSBL response received:!U1,P 502,000,002AF,189,80,80,BB,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)C=    @ @ @ùùùiùù Ĺ)ĹIĹiĹM.=Y5Nb99aE#HAiyuU}}>Iȩ :ŭ5 5? :ŭmdݾ ƭΎ> ?9ƭ?ǭs: ȭ:)ȭ:WWX XWX:W2W*W!V!bU!BU)*U)U)U-M @BqBy ByA}*ByAAAA"C*CRCCCשIGj>=W.,J&gFAY}6)@}6E@y}6p6}6}6H`sڿ<"?ה? +ڿǿF?``n?)~6)@ ~6];I~6Cɫ99)9 9IAY?yEFɮR=]Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ;=M`=YQU>a#HHyS;}>I 5?cݾ Q> ?9$?: :)WWX XWX:W2W*WVbUBU*UUU @B)B1 B1A5 *B1A9A9A9A9"CA*CARCACACI]?i]?9I@Fi?_; .E)I9G]3>!  :YDW1yY:r6)i;?5,ִgFAY}>4@}>oP@y}>6}>8}>H~ڿ? ?mڿ@ƿ?`སv?)~>4@ ~>r\;I~>Cɫ99)9 9I9Y}?yFFxDUSBL response received:!U1,R,502,000,002AF,18A,80,80,C5,FF Fpublishing direction and range infoɰ鰕> )ECIyw?amf-ٱ    @ @ @i )Ii|M=YvP:QU>a#H 9y=:}=>IA M:E 5? U:E'cݾ E> U?9E?E۽; E;)E:WWX XWX:W2W*WVbUBU*UUU9@R(Combining 5 samples.P*QZQo$?7U JQw?amf-2Q:QbQ[3@r @@1?RQ:58f?WK#>^?F8?BQDz_? QL5@Q@PPPQQZ@"Q@BqBq BqAus*BqAyAyAyAy"C*CRCCC׉ I G >k;,gFAY}v٫@}vc@y}v+2}v_}vHDڿr? ?ڿǿ@(? r?)~v٫@ ~v϶c;I~tɫ) IYI?yGFUTNmea in: $SNTTA,0.034039,,,,231010.94*41 iiE)\(?MbX9?Mb?EG=E!> E<)AIAyE~jtI +{GztEE9Eף E:A)ESAIE0AiErdAAEHA    @ @ @áááiáá ġ)ġIġiġMt=Y[8 ?9?ϸ: :)mmAdded new target pos. range: 3.720000 m, bearing: 50.066294 deg, deltaT: 4.563123 s, approachRate: 0.000000 m/s, LOS rate: -0.018739 deg/s, posRepo size: 4WDz_?WX XWX:W2W*WVbUBU*UUU@?BB BAۅ*BAAAA"CDz_?*CRCCDz_?C% %%% %{:Y%WU1y%:%N695@IG> 9 I xFi ? ^; ,.EQB,R gFAY}2@}2I0@y}2,}2̓}2HPۿ ~?`o?@lڿ`?Pǿr|?@t2v?)~2@ ~2d;I~2CɫYY)Y YIYY?y}F5 <M=~=Y= ?9ƥ?ǥo: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU?BB BAŅ*BAAAA"C!*C!RC)C)C)I=\A)=\AiIqG>{H,%#gFAY}2@}29@y}2ܠ-}2+X}2HWۿ@?l?/ۿ_ƿ?򳪿5?)~2@ ~2+`;I~2Cɫ99)9 9IAY}?y}ZFML=YwQU>!!a%#H!)y-`:}->I1 =:5 5? E:5cݾ 5> E?95q?5': 5:)5:WaWaXa XiWiXi:Wi2Wi*WqVqbUqBUq*UyUyU} ƀ?BB BA;*BAAA)A)"C1*C1RC9C9C9)I1G]>% %%% %|:Y%T1y%:%;6N,p=gFAY}6@}6a#Hyc}>Iȡťz 5?ťcݾ ƥJ> ?9ƥ?ǥ : ȥ|:)ȡWWX XWX:W2W*WVbUBU*UUU`/?BB BA*BAAAA"C*CRCCCשIG">ܥ>9ܡIܥȖFiܥ?ܥ=ܡܡܥ[; ݥ,EU,LWgFAY}:g@}:@y}:;}:r}:HQڿ ڋ? ]o?$ۿƿY?BĠ`r?)~:g@ ~:o^;I~:Cɫ99)9 9I9Y}?y}kF=3<M=O=YE|QUE>AAaM#HIIyUH<}U>IY e:]f 5? e:]cݾ ]> e?9]h?]<: ]:)]:WWX XWX:W2W*WVbUBU*UUU?BB BA̅*BAAAA"C*CRCCC?i?IG- >ut qqu uQz:Yqyqui6i nmGI i E ٺA E 8A[,0/qgFAY}r>@}r@y}rB}r\C}rH@ۿ`?[?ۿ Jvȿ58?U`b?)~r>@ ~r1^;I~rCɫ) IY5?y5F=i4=-K7A`?~jty&1?-+>-D -`=))I)y-I +~jt{Gz-9--ף -@A)-/MAI)i-x_A)-GA    @ @ @ @ÉÉÉiÍÉ č)čIčičʤ;M6=Y{QU>a#Hy9;}>IȹŽ` 5?Ž dݾ ƽy> ?9ƽ?ǽ/: Ƚ8:)ȹWaWiXi XiWiXi:Wi2Wq*WqVqbUqBUq*UyUyU}y@BB BA*BAAAA"C*CRCCC!IG%M>y 9y Iy iy } =y y } Z; } ,E)ىIىiى݉=ى݉5ӟb,gFAY}6T@}6p@y}6D}6ŀ}6H`lۿ`@; ?9 ?: 6:)WWX XWX:W2W*WVbUBU*UUU-@RB*** querying acoustic contact ***PPB1B9 B9A=*B9A9A9A9AA"CA*CIRCICICI1I9GU=} }}} }:Y}V1y}:}6)}?;9h, ݤgFAY}2y@}24@y}27H}2U}2H ۿF? 6?=ۿʿ`%? `Q?)~2y@ ~2.a;I~2Cɫ99)9 9I9Y8?ydFZ****** received transponder code query ******F****** received ping request ******))aU#HQYyeC;}e>Ii :m 5? :m\dݾ mA{> ?9m?m; m.;)m:WWX XWX:W2W*WVbUBU*UUU@@ByBy BA*BAAAA"C*CRCCCI)סIG > n,gFAY}6@}61@y}63R}65Ƈ}6H'ۿMI??@xۿ`a˿@L?@q dB?)~6@ ~6^;I~6Cɫ99)9 9I9Y}?y}tFxDUSBL response received:!U1,P 502,000,002AF,18A,80,80,C5,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )Iie=M%.=YmQUu>yya#HHy<}>IȹŽ 5?Ždݾ ƽp> ?9ƽB?ǽ ; ȽD;)ȹWWX XWA9AIEFiEa?E=AAElY; Er+EX:W2W*WVbUBU*UUU`ws @BB9 BAAEɅ*BIAIAQAQAQ"Ca*CiRCiCiCq  ݀:YDW1yY:|6);IG%>-u,1صgFAY}6<@}6@y}6$%^}6?}6Hsۿ D ??ۿ@N˿?`g77?)~6<@ ~6J^;I~6Cɫ99)9 9I9Y?ylFɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IE=)E=uM}j=Y}g QU}?a#Hy5<}?Iȑ :ŕԦ 5? :ŕdݾ ƕh> ?9ƕc?Ǖ: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU@BB BA4*B A A AA"C*CRCCC׉IG)> |,~gFAY}%)@}%D@y}%af}%х}%H`+ۿG@?l?ۿu/Ϳ?K !?)~%)@ ~%F];I~!ɫ) IYe?yeFuxDUSBL response received:!U1,R,502,000,002AF,189,80,80,B9,FF uFpublishing direction and range infoiiɰim7> i)m9CIiyimw?amf-ٱiT㥛 ?Zd;?(\µ>y= )IyMbZd;O?j< ?A)-RAIG/AihA=JA u u u u@ u@ u@qqqiqq q)qIqiqR<M9=Y QU>a#Hy;}>Iȱŵf 5?ŵdݾ Ƶr> ?9ƵB?ǵ': ȵ<)ȱWWX XWX:W2W*WVbUBU*UUU3U@R(Combining 5 samples.P*QZQo$?7U JQw?amf-2Q:QbQ},`@Xs}@2k#f?RQ?!ŭ?:?BQ(Ge? Q7@Q@PPPQQE@"QZ@B9B9 B9A=*BAAAAAAAAA"CI*CIRCICICQׅ?iׅ?QIaG[> &    t:Y W1y č: 69@ >9 I Fi ?    +X;  *E^,W gFAY}fE@}fϤ@y}f jf}fs}fH@VHܿ=E??ۿ+ο`1?, ?)~fE@ ~fVb;I~fCɫ!!)! !I!Ye?yelFTNmea in: $SNTTA,0.198932,,,,231015.38*47 =i=ZM%3=Y%E>QU%>))a-#H))y56S<}5>I9 E:= 5? E:=dݾ =}> M?9=?=H: =:)=:m}iAdded new target pos. range: 3.720000 m, bearing: 51.315075 deg, deltaT: 4.339648 s, approachRate: 0.000000 m/s, LOS rate: 0.287761 deg/s, posRepo size: 4W}(Ge?WyXy XyWX:W2W*WVbUBU*UUU(?BYBY BYA]4*BYAaAaAaAa"Cm(Ge?RCiCm(Ge?CqQIYG}z> ,$&gFAY}6=@}6@y}6a}6}6Hܿ֙?@?Dܿ3ο?v ?)~6=@ ~6d;I~6Cɫ99)9 9I9Y?y6F  5qLM==Y= e?9U?U: U:)QWWX XWX:W2W*WVbUBU*UUU@Ή?BB BA*BAAAA"C*CRCCC)I1GU>=s === =S:Y=DW1y=Y:=D6A,?gFAY}5(@}5@y}5NGa}5}5HIܿǮ??xܿ<̿? ˱@&?)~5(@ ~5mUa;I~1ɫ11)9 9I9Yu?yuFF - - - -@ -@ -@)))i)) )))I)i)==ME;=YEQUE>IIa#Hy}>I : 5? :dݾ #> ?9?y; 5;):i9iImxFim?iiimW; m4*EWWX XWX:W2W*WVbUBU*UUU`^?B B BAs*BAAAA"C!*CARCACACIIY)Y9IIGeV> *,YgFAY}6/@}6J@y}6ph}6]z}6Hۿ @?`T? ۿ 4ͿN?@Dy`?)~6/@ ~68^;I~4ɫ99)9 9I9Y}:?y}>F=M=\=Y=tQUE>AAaE#HAIyMj}U>IY]b 5?]}dݾ ]M> e?9]K?]: ]s:)YWWX XWX:W2W*WVbUBU*UUU(?BB BA߅*BAAAA"C*CRCCCI9G>u uuu uo:YuX1yu/:u6Y,sgFA|4i|6@Y}R>@}RY@y}Ro}R`}RH@ۿ@iC? $?`ۿͿ@O?@9<?)~R>@ ~Ry];I~Pɫiq)q qIqY?yFI=)%=:v?ףp= ?~jt?T=> <)Iy~jt?{Gzt=ףL )TAIikAKA - - - -@ -@ -@)))i)) )))I)i)=ިM=:=YEׄQUE>IIaM#HIQyU ;}U>IY]֨ 5?]Ucݾ ]o> m?9] ?]{: ]:)YWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*CRCCCIG'>Y 9Y I] @Fi] ?Y Y Y ] W; ] .*E/<,gFAY}2J@}2Ԧ@y}2$Xs}2qt}2H`4ܿ@@W?@+?+ܿBEο`!?୭ ?)~2J@ ~2%];I~2CɫYY)Y YIYY}?y}FW=Mb=Y^ QU>a #H  y U<}>I %:a 5? %:`bݾ Wx> %?9T?: 4:):WIWIXI XIWIXI:WQ2WQ*WQVQbUYBUY*UYUYU]@BB BA)*BAAAA"C*CRCCC׵?i׵?׉IG=uA qqu u@v:Yqyqu6)u;9}g,rgFAY}2@}2^ @y}2kq}2{M}2H 4ܿ@?G?`Tܿο@?*!`?)~2@ ~22d;I~2Cɫ99)9 9I9Yu?y}ΏFy}AAηMK=Ye;QU>a#HyO~<} >I   5? Oaݾ &h> ?9 ? 7; :) WAWAXA XAWAXA:WI2WI*WIVIbUQBUQ*UQUQU]@"@ReB*** querying acoustic contact ***PaPaBB BA<*BAAAA"C*CRCCCT>בimGIIi 5ٺ9=AGE>N,gGgFAY}2 @}2(@y}2G o}2G}2Hܿ@?z? rܿvο>? ?)~2 @ ~2;qa;I~2Cɫ99)9 9I9Y}?y}FZ****** received transponder code query ******F****** received ping request ******99aE#HEHAyMTt;}e>Ii }:mT 5? }:m `ݾ mV> }?9m?m!; m;)m:>9IНFiE@=W; *E)Ii==5W)W1X1 X1W1X1:W12W1*W9V9bU9BU9*UAUAUE{ @BB BA)*BAAAA"C*CRCCCIGI>O  ]w:YW1yč:6);-x,"۶gFAY}6l4@}6O@y}6o}6x}6Hܿ@)`f? ?@ܿ`Ϳ?! ??)~6l4@ ~6t_;I~6CɫYY)Y YIYY?yFxDUSBL response received:!U1,P 502,000,002AF,189,80,80,B9,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 :M_=Y瑸QU%>99aE#HIiy;}>IAEѦ 5?E_ݾ EE> ?9E3?E_< EV<)AWWX XAWAXA:WA2WI*WIVIbUIBUI*UQUQUUo9 @BB BA&*BAAAA"C*CRCCC!Ii)m]AAIYG{>Q,gFAY}2b@}2 @y}21r}2C}2Hhݿb?h?@.ݿοT?N?)~2b@ ~2Ց];I~2Cɫ99)9 9I9Y}V?y}ĐFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)Mb? ףp= ~jth?=Q8 D;)Iy rhQ?~jthC\=D ?A)SAI-AijnA M M M M@ M@ M@IIIiII I)IIIiI]<M]6=Ye QUe>aiam#Hiiyu<}u>Iy :} 5? :}_ݾ }A> ?9}1?}4: }:)}:WWX XWX:W2W*WVbUBU*UUU @BiBi BiAm؄*BqAqAqAqAq"Cy*CyRCyCCׁIG=> >9 I Fi @ = +X; *E*,gFAY}2@}2@y}2o}2Aý}2H@"޿U7Ҝ?aaae#Haiyu{=}u>Iy}: 5?}r`ݾ }=> ?9}$?}: }U:)yWWX XWX:W2W*WVbUBU*UUU@@@R(Combining 5 samples.P*Qq@ZQE5j?.\Ux3 JQw?amf-2Q:QbQh|1@|>l@ '\?RQ?5?4?BQn? Q>@Q!@PPPQQ!@"QE@B B  B A *B AAAA"C*CRCCC!AIIGe4>  :Yy6);N,(gFAY}2@}2B@y}2g}2i}2Hlb޿ ʧ?t;?O3޿`Ϳƻ?Ɀ`b?)~2@ ~2Va;I~2Cɫ99)9 9I9Yp?yrFU8=M]\=Y]aaae#HaaymD<}m>Iqu 5?uaݾ uV:> ?9u?u: uܹ:)qmiAdded new target pos. range: 3.779998 m, bearing: 53.286161 deg, deltaT: 4.411910 s, approachRate: 0.013599 m/s, LOS rate: 0.446765 deg/s, posRepo size: 4Wn?WX XWX:W2W*WVbUBU*UUo=@U?BB BA*BAAAA"C Ii?RC C n?C׽?i׽?סIG">0,BgFAY}:@}:s@y}:g`}:"}:H ,޿@?!?޿$XͿ? ?)~:@ ~:Kb;I~:Cɫ99)9 9I9Y}k?y} F=i=    @ @ @ùùùiùù Ĺ)ĹIĹiĹ<MC=Y|a#Hy <} >I %: 5? %:aݾ :6> -?9?5; #;):WQWQXQ XQWQXQ:WQ2WY*WYVYbUYBUa*UaUaUe>f?i9iIm`Fim@iiimoX; m*EB!B! B!AMS*BIAIAIAIAI"CUn?RCQCYCYAIIGm5> Y k:YV1y:E 6)D;I,j\gFAY}2ζ@}2X@y}2W}2O}2H`g߿?@~'?޿Q̿? )`f.?)~2ζ@ ~2a;I~2CɫYY)Y YIYY7?y'F QQ =M G=Y)IaU#HQayuD;}u>Iȉō 5?ōbݾ ƍ42> ?9ƍ?Ǎ< ȍ(<)ȉWAWAXA XIWIXI:WQ2WQ*WQVQbUYBUY*UYUYU]?BB BA*BAAAA"C*CRCCCI G%M>^,EvgFAY}6@}6y@y}6m7 m'=)iIiymMb?/$?X9vma#Hy:}>Iȩ M:ŭ 5? U:ŭRbݾ ƭD'> U?9ƭm?ǭr< ȭT<)ȭ:WqWqXy XyWyXy:Wy2Wy*WVbUBU*UUU@7?BB BA&*BAAAA"C*CRCCCI)I1G9> ~~ ;|:YT1y@:69@i 9i Ii ii i i i m X; m +E_, gFAY}20@}2L@y}2>,H}2}2H߿ wa#Hy֎<}>Ișŝ& 5?ŝbݾ ƝI> ?9Ɲ?ǝ: ȝǺ:)șWWX XWX:W2W*WVbUBU*UUU@?BB BA*BAAAA"C*CRCCCסIG >t,gFAY}:@}:@y}:=}:Lٽ}:H`M߿GhZ?`i?w;߿e˿? `F?)~:@ ~:x\;I~:Cɫ99)9 9I9Y}?y}LFI-a=)-=uʀMuK=Y}ya#HyD<}>Iȑ :ŕB 5? :ŕaݾ ƕ> ?9ƕW?Ǖ: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU`c"@BB BA9*B A A A A "C*CRCCC)I1GM>) n Vt:YW1yč:6D,÷gFAY}6@}6.@y}63}6~}6H`:*@Z?@ ?`@a6ǿW?Ar?)~6@ ~6c;I~6Cɫ99)9 9I9Y}?y}Fe=MX=Yna#HHy<}>Ia 5?aݾ > ?9? : F;)W!W)X) X)W)X):W1ܙ9ܙIܝНFiܝE@ܙܙܝNDܝX; ݝ.+E2W*WVbUBU*UUU`V@RB*** querying acoustic contact ***PPB)BI BIAU*BQAQAQAQAQ"CY*CYRCaCaCaו?iו?iIqG>_,ݷgFAbJFailed to close latch before timeout.q bbHardware FaultYE?y0FZ****** received transponder code query ******F****** received ping request ******a#Hy}>I :K 5? :uaݾ = ?9x?: (:):WAWiXi XiWiXi:Wi2Wq*WqVqbUqBUq*UyUyU} @BB BA܃*BAAAA"C*CRCCCI -$@Hardware Fault in component: DDMG-N>Iޙ)ޝ@Af  3y:YT1y:6i-oGIAiQٺA>,gFAY}2@}2@y}2S*}2>}2HFreB?? ^}Ŀ@)?`pC?)~2@ ~2e`;I~0>Powering down<ɪ<)< ףp=?~jteDeQ> e)aIaye/$:v?e̼e,eT< eC9A)eSAIe1AiebAae(HA^B<M%=Ya#Hyh<}>I` 5?aݾ = ?9Q@:  :)W)W)X) X1W1XQ:WY2Wa*WaVibUiBUi*UiUqUW@ܥ>9ܡIܥxFiܥ?ܥ=ܡܡܥZY; ݥh+E)ݙIݙiݙݝ=ݝ=ݝ4BB BA*BAAAA "C *C RC C C IY )] \AA II Gm >d&,ggFAY}:@}:@y}: }: }:H` g_`8?n?@Uͱÿ?ܣ`Ք?)~:@ ~:`;I~:CYF?yFAFZNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ]*=M]=Ye=QUeA?aaam#HiiyuN;}uA?Iy}S 5?}aݾ }= ?9} @}: }g:)yWWX XWX:W2W*WVbUBU*UUU@BB BAm*BAAAA"C*CRCCC׉IG> Q q:YV1y:j 6);9P ,_D+gFAY}2v@}2@y}2o}2u"}2HcQ@ ??A¿?`k?)~2v@ ~2^;I~2CYB?yB/FFxDUSBL response received:!U1,R,502,000,002AE,189,80,80,B8,FF FFpublishing direction and range info@@ɰB`=@ @)B8CI@yB=j@Bw?amf-ٱ@IL)L U U U U@ U@ U@QQQiQQ Q)QIQiQMH=Ya#Hy;}>I : 5? :aݾ > ?9X@ : N:):WWX1 X1W1X1:W92W9*W9V9bUABUA*UAUAUE@Ru(Combining 5 samples.Py*Q}=j@ZQ}s:@?apuV JQ}w?amf-2Qy:QybQ}m߱?"?r@&ڍX8?RQ}M Q?_?dn`?BQ}/~? Q}C@Q}?P}Z9?PyPyQyQ}@"Q}!@BB BA t*BAAAA"C*CRCC!C!I!$MNClearing failed state for component DDMq MGm>ޝ=iޝa=8,EgFAY}2 @}2'(@y}2}2:LO}2H@ @@z??y@.¿H??)~2 @ ~2\;I~0YV?yVF    @ @ @i )Ii駼MC=Yj M>9IIMFiM1?M=IIMDZ; M+Ea#Hyq!<}>Iߤ 5?aݾ D> ?9@: :)mmAdded new target pos. range: 3.660000 m, bearing: 57.049398 deg, deltaT: 4.399613 s, approachRate: -0.027275 m/s, LOS rate: 0.855356 deg/s, posRepo size: 4W%/~?W!X! X!W!X!:W!2W)*W)VIbUIBUQ*UQUUG @UU?BB BA*BAAAA"C1t?RCC/~?C?i?IG$>  |:YT1y:26);b,^gFAY}B@}B *@y}B}B9G}BHE@@Š?? [¿@?`k?)~B@ ~Bl[;I~BCYN2?yN“FETNmea in: $SNTTA,0.030635,,,,231024.32*44 ;M J=Y)QU=>AIaM#HQy-9}>I : 5? :aݾ  > ?9@(: :):W9WAXA XAWAXA:WA2WA*WIVIbUiBUi*UqUqUu~?BB BA*BAAAA"C/~?RCCCIG5->,xgFAY}6A@}6w]@y}6M}6̍}6HJ 7@F?r?`XQĿy?@l@і?)~6A@ ~6l[;I~4YV?yVF%>i%<l?ʡE~jt= )IyL7A`?J +?MbP?+=H=: ½=>A)½KAI½E4Ai½$\AFA u u u u@ u@ u@ uqqqiu?q uK?)qIu?iuK?p;MB=YQU>a#Hy;}>Iȡť 5?ťaݾ ƥ > ?9ƥ@ǥ: ȥ0:)ȡWWX XWX:W2W*WVbUBU*UUU``?BB BA*BAAAA"C!*C!RC!C!C) IG5 >Iޙ)ޙ  %~:YW1yč:s69@=>99I9i9==99==[; =h,E?u$,gFAY}2Q@}2m@y}2}2*}2Hg"4O?`p?@Z Ŀ0?* ?)~2Q@ ~2\;I~2CYN?yNF]yM]_=Ye;QUe>aaae#Hiiym_/;}u>Iy :} 5? :}aݾ } > ?9}@}k: }w:)}:WWX XWX:W2W*WVbUBU*UUU@y?BB BA*BAAAA"C*CRCC C I]A)]AIG=*,׊gFAY}6S@}6 o@y}6^ }6/}6H1-r?!?/`ÿ? C@?)~6S@ ~6ֱ[;I~4YN?yRFu;MuI=Y})ya#Hyr9}>Iȑŕ 5?ŕvaݾ ƕk> ?9ƕm @Ǖ: ȕD:)ȑWWX XWX:W2W*WVbUBU*UUU ?BB! B!A%*B!A!A)A)A)"C1*C1RC1C1C91IaG=` n x:YU1y:61,lƸgFAY}>@}>&@y}> }> g}>Hfm?]?'@rĿ`?z –?)~>@ ~>|_[;I~9Ii=[; ,E ;MB=Y:QU>a#HHy @<} >I1 =:5 5? =:5laݾ 5> =?95 @5: 5:)5:WWX XWX:W2W*WVbUBU*UUU@u@BB BA*BA A A A)"C1*C1RC1C1C9)I1GM>ޝ=iޝ=߰7, BgFAY}~+@}~@y}~H }~%}~Hh^? "?JDĿ6J?'?)~~+@ ~~PZ;I~|YE?yE&FQU@A¥^A¥^AfM<MN=Yp;QU>a#Hy :} >Ișŝ 5?ŝaaݾ Ɲ> ?9Ɲ @ǝ : ȝ:)șWWX XWX:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PPBIBI BiAmx*BiAqAqAqAq"Cy*CyRCyCyC׵?i׵?׉IG>  m:YV1y:6=,7gFAY}2_@}2-{@y}2 }2A}2H@ ~)ଋ??e??)~2_@ ~2[;I~2CYB?yBFFZ****** received transponder code query ******FF****** received ping request ******F5T 5#)1I1y5I +?~jth?Q?594<5D;5\= 5a#Hy r1} >IE 5?Qaݾ %> ?9 @: @:)WAWAXA XAWAXA:WI2WI*WiVbUBU*UUU@% @BB BA*BAAAA"C*CRCCCIG-->9I Fi?N\; ,ED,UgFAY~r?y~KFxDUSBL response received:!U1,P 502,000,002AE,189,80,80,B8,FF  Command Ack BRequesting micromodem ping code 2i  4=i<Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 MR=YQU>a#Hy}>I U: 5? ]:Aaݾ -> e?9 @)< π<):W WX XWX!:WI2WI*WIVIbUQBUQ*UQUQU]œ @BB BAу*BAAAA"C*CRCCCIG%M>Iޡ)ޡ  N:YT1y:i6);9J,-gFA4>iF]nGIPi\rڿٺprAY}i@} @y}9}:U}H`(=?`?g¿`D?a?)~i@ ~3_[;I~CY]?y]FaɮaNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )% > %>}ܻMK=YeQU>a#HIyU:}U>IY]ś 5?]2aݾ ]C=> e?9]8 @]: ]:)YWWX XWX:W2W*W)V)bU)BU1*U1U1U5@c@ByB BA*BAAAA"C*CRCCCI)׹IGG>Q,GgFAY}F9@}F.@y}Fv }Fn6}FH@<P??@ a?@ ?)~F9@ ~FA[;I~FCVPowering upV"Initializing DDM.Y=n?y=FExDUSBL response received:!U1,R,502,000,002B2,189,80,80,B0,FF MFpublishing direction and range infoAAɰEb=A A)E0CIAyEy@Ew?amf-ٱA!9!I%XFi%?%=!!%\; %W-E)1I1i15=5=55    @ @ @ éééií?é ĩ)ĩIĩiĭ?`<MD=Ya#H yY}>I %: 5? %:"aݾ K> %?9j @=: :):WiWiX XWX:W2W*WVbUBU*UUU#@R(Combining 5 samples.P *Q y@ZQ =A?a;% JQ w?amf-2Q :Q bQ J-3@iF# @ ;?RQ '.?DDxd?. ^?BQ ? Q Q@Q @P P Z9?P Q Q @"Q @BYBY BYAe*BaAaAaAA"C*CRCCCׁIG=> r \l:YWU1y:6)p;5X,1agFAY g?yFuTNmea in: $SNTTA,0.004982,,,,231028.70*4A Iy)y|?5^?S㥫?y&1?M>/]= `<)IyZd;O?Mb?A)3MAI1Ai~ZAEA- M5E=Y5QU5>99a=#H99yE}E>IIM< 5?Mu`ݾ MQ> ]?9M@M: MM:)ImiAdded new target pos. range: 3.899999 m, bearing: 57.347703 deg, deltaT: 4.495198 s, approachRate: 0.053390 m/s, LOS rate: 0.066361 deg/s, posRepo size: 4W?WX XWX:W2W*WVbUBU*UU23@UZ?BB BA*BAAAA"C?*CYRCYCe?Ca1IAG]U>ޥ=iޥp=(^,c{gFAY}6s@}6@y}6D}6g}6H,΃?`g?@Ƕ Ŀ@w? `?)~6s@ ~6\[;I~6CYB?yB1F = = = =@ =@ =@ E@999i=9 9)9I9i=MތMUo=YUμQUU?Yaam#Hiqy7<}?Iȉ :ō" 5? :ō_ݾ ƍV> ?9ƍ@Ǎ3; ȍ;)ȍ:WWX XWX:W2W*WVbUBU*UUU   :YDW1yY: 69@)9-CI)i)-=))-1^; --Ee,>gFAY}2@}2@y}2.}2}2Hb$g??Ŀ>?g?)~2@ ~2l[;I~2CYB?yBÒFU\<MUJ=Y]$ QU]>aaae#Haiym2;}m>Iquܗ 5?uA_ݾ u\> ?9u@u: u:)qWWX XWX:W2W*WVbUBU*UUU-?BB BA *BAAAA"C*CRCCCIG==:k,]gFAY}2a@}2@}@y}24 }2PU}2H.? H?` Ŀ?Egϔ?)~2a@ ~2N[;I~2CYN?yRF%=i==kM=L=YE(QQUE>AIaM#HIIyU_}U>IY] 5?]^ݾ ]'c> ?9]"@]< ]<)YWWX XWX:W2W*WVbUBU*UUU5?B9B9 B9A=ń*BAAiAqAqAq"Cy*CyRCyCyCׁIG>Iޙ)ޙ  o:YX1y/:E6$r,ȹgFAY}>N@}>zj@y}> $}>,Na}>H @^5T?? $ſ1k?ɫ݊?)~>N@ ~>Į[;I~>CYJ?yJrF   U U U U@ ]@ ]@QQQiQQ Q)QIQiQe }MmG=YmQUm>qqau#HuHyy}$7}}>Iȁ :ŅM 5? :Ņ]ݾ ƅi> ?9ƅ^@DžI: ȅ:)ȅ:9Ii9_; .EWqWqXq XqWqXq:Wy2Wy*WyVybUBU*UUU``?BB BA*BAAAA"C *C RCCCIQ)Q)I1GM>Ox,'gFAY}%B@}%^@y}%))}%w}%H;zh?t?ſ ?`?)~%B@ ~%Uc[;I~%CYEx?yEa#Hy,}>Iȱŵ 5?ŵ?^ݾ ƵCv> ?9Ƶ@ǵ/: ȵӻ:)ȱWWX XWX:W2W*WVbUBU*UUU&@BYBY BYA]*BYAaAaAaAa"Ci*CiRCiCiCqAIIGm>  :YV1y:26w~,gFAY}6<@}67@y}6|.}6|p}6HLFQ?n? J^ƿ?c{?)~6<@ ~6%[;I~6CYN?yR=FPPIT)T E E E E@ E@ E@AAAiAA A)AIAiAUMUb=Y}ohQU}>a#Hyл}>Iȑ :ŕb 5? :ŕ^ݾ ƕd> ?9ƕ@Ǖ7; ȕ;)ȕ:WWX  X W X :W 2W *WVbU1BU1*U9U9U=`&@REB*** querying acoustic contact ***PAPABB BAw*BAAAA"C*CRCCCשIG=ޝ=iޝ=ܹ9ܹIܹiܹܽ=ܹܹܽj`; ݽ(/Ezc,gFAY?yFZ****** received transponder code query ******F****** received ping request ******=Y%QU%>))a5#H11y=}=>IAEِ 5?E^ݾ E> m?9E@E; E;)AWWX XWX:W2W*WVbUBU*UUUൖ @BaBi BiAmK*BiAiAiAqAq"Cq*CyRCyCyCy׵?i׵?yIG>  zm:YWU1y:6)g;9-,j0gFAY}V@}Vm@y}V>}V`}VH7uT)׳?`n?@Πſ`?`o?)~V@ ~Vݐ\;I~TY~.?yFxDUSBL response received:!U1,P 502,000,002B2,189,80,80,B0,FF Command Ack%BRequesting micromodem ping code 2i!)MNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @áááiáá ġ)ġIġiġ-6-<M5.=Y= QU=>a#Hyh}>Iȑ :ŕ* 5? :ŕ_ݾ ƕ֍> ?9ƕ6@Ǖn"< ȕ"<)ȕ:W!W)X) X)W)X):W)2W)*W1V1bU1BU1*U9U9U= g @BB BA"*BAAAA"C*CRCCCI1GMu>p,=JgFAY}63k@}6@y}6rH}69 G}6H'R`u@vy??[\byȿx?`leZ?)~63k@ ~6X\;I~6CY^E?ybF`ɮb=%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B a9aIaiae=aaeb; eI0E}=i}%=<M}=YeQU ?a#HyQ}?I 5?Q_ݾ u> ?9@ܹ: :)WW!X! X!W!X!:W!2W)*W)V)bU)BU)*U1U1U5J@BYBa BaAe*BaAaAiAiAi"C1*C1RC1C1C9 IG5 >Iޙ)ޙ  l:YU1y:6);t,&dgFAY}Z?B@}Z]@y}ZO}ZNv}ZH;Ɔƪ?I? x5@ɿݶ?`7iJ?)~Z?B@ ~Z`\;I~ZCYf#?yfjFnxDUSBL response received:!U1,R,49E,000,002B2,189,80,80,A4,FF nFpublishing direction and range infojhɰhh h)j$CIhyhjjn?QŽDuٱhI +J +?y&1|94H= `)IyMbp?{Gzt?J +;ף;H AA)JAI0AicAHA<M==Y8wQU>a#Hy}>I : 5? : _ݾ ߇> ?9{@A: :):WWX XWX!:W!2W!*WIVIbUIBUI*UIUQUU@Re(Combining 5 samples.Pa*QaZQeg`@K JQejn?QŽDu2Qe:QabQe'Ԡ}? @2?RQeD?` J?-?BQe|? QeW@Qek?PeY9?PaPaQeQe@"Qe@BB BAe*BAAAA"C *C RC C CI!)%\A iUnGIAIaiy3׿ٺ¼AGC>hǞ,}gFAY}nn@}n@y}nBU}naQ}nH@֛W?`?p ʿw?`ƣzD?)~nn@ ~n<[;I~lY?yFTNmea in: $SNTTA,0.050497,,,,231033.15*4B    @ @ @i )Ii=<MEP=YMxQUU>QQa]#HYYyeo}e>Iimj 5?m^ݾ m|> u?9m@m#: m:)imiAdded new target pos. range: 3.899999 m, bearing: 61.094977 deg, deltaT: 4.423636 s, approachRate: 0.000000 m/s, LOS rate: 0.847103 deg/s, posRepo size: 4W|?WX XWX:W2W*WVbUBU*UUUx?BB BA-*BAAAA"Cd?RCC|?CׁIG>2  :YWU1y:369@Y9]CI]Fi]1?]=YY]d; ]1E)CICi==L5,pҗgFAY}:@}:@y}:.\}:Mm}:H@`)l?? 6˿`O?@ 5?)~:@ ~:3g[;I~:CY^?y^ƎFI!)!]n"MeY=YeQUe>iiam#Hiiyuu&}u>Iy} 5?}^ݾ }j> ?9}/@}: }:)yWWX XWX:W2W*WVbUBU*UUUh?BB BA*BAqAqAqAq"C}L?RCyCyCIIYGu=ޝ=iޝp=-׫,gFAY}6@}6 @y}6=_}6}6H߿ W`??߿om̿@?Yﱿz)?)~6@ ~6'`[;I~6CYB?yBF=kM=M=YEQUE>AIaM#HMHIyU}U>IY e:]Ռ 5? e:]P^ݾ ]pW> e?9]@]=: ]:)]:WWX XWX:W2W*WVbUBU*UUU*t?BB BA*BAAAA"Cȱ?RCCC?i?IG5=  :YDW1yY:N6P,˺gFAY}2 >@}2Y@y}2Fb}2x@}2H{{߿[z߱?`?߿;˿? w/?)~2 >@ ~2@[;I~0YR?yRF 9 CI Fi v? =   d; b1E    @ @ @i )Ii <M >=YQU>a#H!y%}%>I)-{ 5?- ^ݾ -B> =?9-@-: -8:))WYWYXY XYWYXa:Wa2Wa*WaVabUiBUi*UiUiUuW?BB BA*BAAAA"C]F?*CRC)C)C1)I1G]>r,agFAY}6@}6e@y}6(o}6]}6H&߿u?s? V߿g˿ ?x?)~6@ ~6c[;I~6CYB|?yBFr4=ir4=Zd;O?~jtX9v?j=Ľ <)Iy:v?/${Gzt?T<ף; =>A)XQAIG/AikAJAs<MK=Y9QU>a #H  yB6}>I %: 5? %:]ݾ %F> -?9@: :):WIWIXI XIWIXQ:WQ2WQ*WQVYbUYBUY*UYUaUe ?BB BAN*BAAAA"C|?*CRCCC׉IG=IޝAA)ޙ e  l:YU1y:6H,;gFAY?yF)õ> õ>KMM=YQU>a#Hy}>I9=S 5?=]ݾ =I> E?9=3@=8: =:)9WiWiXi XiWiXi:Wi2Wq*WqVqbUyBUy*UyUyU}&@BB BA*BAAAA"C*CRCCCI)]AIG >9I@Fi?=_d; A1E,!gFAY}6@}6s@y}6x}6Ͻ}6H߿^?? J#߿@]uп ?@A?)~6@ ~6 \;I~4YN?yNFPP E E E E@ E@ E@AAAiAA A)AIAiAm/M}Q=YQU>a#Hy<}>Iș :ŝ 5? :ŝ\ݾ ƝM> ?9Ɲ@ǝ: ȝ:)ȝ:WWX XWX:W2W*WVbUBU*UUUU:@RB*** querying acoustic contact ***PPBB BAz*BAAAA"C!*C!RC!C!C) IG5=b  x:YY1y:6)A;9@%,$2gFAY}2C#@}2>@y}2no}2.}2H©)??? 8h߿Qп`5?@⻿?)~2C#@ ~2N\;I~2CYB?yBFFZ****** received transponder code query ******FF****** received ping request ******F||a~#H|y w<} >I 5?A\ݾ Q> }?9W@_< &`<)WWX XWX:W2W*WVbUBU*UU1U=` @BB BA)*BAAAA"C*CRCCCשIG>ޥ=iޥ=p ,LgFAY}>K@}>g@y}>l}>T}>H`% "? ?O/ο Q?@?)~>K@ ~>[;I~9TIVНFiVE@V=TTVc; V0E^xDUSBL response received:!U1,P 49E,000,002B2,189,80,80,A4,FF ^Command AckbBRequesting micromodem ping code 2i``fNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  5d=MEF=YMz;QUU>aiau#Hqy5;}=>IA M:E 5? M:E[ݾ EU> ]?9E@EG; EsQ;)E:WWX XWX:W2W *W1V1bU1BU9*U9UAUE @BB BAl*BAAAA!"CI*CIRCICICQe?ie?ׁIGB>j ^ y:Y[1yH: 6);7,fgFAY}2i@}2@y}2,o}2=}2H)߿*d?@?7: C˿@ ?SP?)~2i@ ~23\;I~2CYB?yB|FRNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Cl?Pn~jtd;> ļ)IyS㥛?I +~jt/<94 a#Hy {}>IȩŭT 5?ŭZݾ ƭP> ?9ƭ@ǭ: ȭ@:)ȩWWX XWX:W2W*WVbUBU*UUU j@BB! B!A%*B!A!A!A!A)"C1*C1RC1C1C9)I1GU>],gFAY}F@}F-@y}FMo}FLW}FH߿ʶ@̗?`?߿@G̿`?F*`F?)~F@ ~F[;I~FCYr?yrF5xDUSBL response received:!U1,R,422,000,002AF,189,80,80,9A,FF 5Fpublishing direction and range info5\l1ɰ5a=1 1)5CI1y5n@5rzM?΅ٱ1M%=iM<    @ @ @áááiáá ġ)ġIġiġMZ=YRQU>a#HyW}>I* 5?PZݾ TL> ?9@: :)WWX XWX:W 2W *W V bUBU*UUUi@R%(Combining 5 samples.P)*Q-n@ZQ-ĝ@敠qJQ-rzM?΅2Q-\l:Q)bQ-dZ? @~h nĄ?RQ-?BF>?Ng#?BQ-;? Q-V@Q-׺?P-X9?P-Y9?P)Q)Q- @"Q-@BYBa BaAe)*BaAaAaAiAi"Ci*CqRCqCqCy1IAG=Iޙ)ޙ~~ E:YT1y@:69@9Ii=b; Q0EK,/igFAY}r|@}rg@y}r.Vc}r)}rHv߿@ %??`j߿{XͿ)/?뾳?)~r|@ ~r[;I~rCY?y=FTNmea in: $SNTTA,0.019913,,,,231037.58*4A )í> í==MF=Ya#Hy?} >I : 5? :Yݾ bG> %?9 @: :):mUmAdded new target pos. range: 3.720000 m, bearing: 66.486448 deg, deltaT: 4.403043 s, approachRate: -0.040881 m/s, LOS rate: 1.224487 deg/s, posRepo size: 4WU;?WQXQ XQWQXY:WY2WY*WYVYbUaBUa*UaUe @Um f?BB BAw*BAAAA"CR?RCC;?CI׽\A)׽[AסIG= T> i }nGI! i9 e ׿ٺa e AAw,IgFAY}nL[@}nv@y}nd`}n:{}nH߿ ?? ߿c˿?࿢@-?)~nL[@ ~nَ[;I~nCYz?yzNF    @ @ @ ñññiõ?ñ ĵ?)ĵ?Iĵ?iĵ?o =MM=YQQaU#H]HYye}e>IimՍ 5?mXݾ mIB> u?9mf!@m: m:)iWWX XWX:W2W*WVbUBU*UUU@Lm?BB BA*BAAAA"C?RCCCסIG>B  Tv:YU1y:6D[,λgFA&>9$I&Fi&@$$$&a; &/E)Ii==5Y}vZg@}v@y}vz^}vt}vHؤ߿@$o?` ?E߿ y˿@C?ڭ 1?)~vZg@ ~v<[;I~vCY=?y=F/MI=Yo;QU>a#HyO:}>I : 5? :Xݾ }=> ?96"@: k:):W!W!X) X)W)X):W)2W)*W1V1bUBU*UUU ?BB BAG*BAAAA"C P?RC C C IG5 >ޝ=iޙ,gFAY}V@}V@y}VG[}V{U}VH[߿߷KΊ?@7?z:߿nο-?@#@^?)~V@ ~V\;I~VCYj?yjFZd;O?1Zd˿+?j<="[ =)Iy{Gz?Mb?/$?#<@=< =>A)SAI+AikAJA^A+=MI=Y^a#Hyhb<}>I   5? Xݾ D> ?9 #@ : /:) W9W9X9 X9WAXA:WA2WA*WAVIbUIBUI*UIUIUU`?BB BÄ́*BAAAA"C ?*CRCCC-?i-? IGM>  (:YDW1yY:6n,gFAY}F6@}F2@y}FP}FW}FH( qj?Z߿6Bο? ??)~F6@ ~F\;I~FCYR?yRF u u u u@ u@ u@ u@qqqiuq u)uIuiuMQ=Yva#HyM<}>I %: 5? -:Xݾ K> -?9$@: :):WWX XWX:W2W*WVbUBU*UUU@X@BYBY BaAe5*BaAaAaAA"C;?*CRCCCׁIG>A9AIEFiEE?E=AAE\`; E /E&,cgFAY}^@}^@y}^F}^:Ң}^H@"!ϞQ? ?@X߿Tʿ?$L?)~^@ ~^!\;I~\YrL?yr FU=iQ;MI=Ya#Hy}>Iȩŭ 5?ŭjYݾ ƭ;S> ?9ƭ&@ǭ¿: ȭ:)ȩWWX XWX:W2W*WVbUiBUi*UiUiUu6y@BB BA*BAAAA"C*CRCCCIG>Iޕ@A)ޑ  x|:YX1y/:`6* ,{5gFAY}6#@}6>@y}6 >C}6Hvl}6H7Ȋ ??0ȿ`A?`%^?)~6#@ ~6[;I~4YB?yFF)R= P - - - -@ -@ -@)))i)) )))I)i)=<MEP=YE IIaM#HIIyU3;}U>IY] 5?]Yݾ ]3[> e?9]<'@]: ]M:)YWWX XWX:W2W*WVbUBU*UUUw|@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCI]A)]AIG= ,^OgFA}>9yI}@Fi}?yyy}_; }w.EY}R @}R>%@y}R|8}RNX}RH@a5??H1#ǿ?ȡ o?)~R @ ~R[;I~PYb?ybiFjZ****** received transponder code query ******jF****** received ping request ******ja#H y l} >IQ ]:U 5? ]:UPZݾ Ud> e?9U(@U: U:)U:WWX XWX:W2W*WVbUBU*UUU` @B!B! B!A-*B)AIAIAIAI"CQ*CQRCYCYCYaIqG>`  x:YWU1y:6);9,7igFAY}6 @}6@y}6 ,}6}6H)+`@c? ?C@ NĿJw? ?)~6 @ ~6[;I~6CY^_?y^FbxDUSBL response received:!U1,P 422,000,002AF,189,80,80,9A,FF fCommand AckfBRequesting micromodem ping code 2iddIh)hnNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 x&?~jtQ롿7= \)Iy{GztI +?ף9< ?A)I0AifA=JA}M(=Ya#Hy } >II :ME 5? :MZݾ M]c> ?9MO)@M< M <)M:ޥ=iޥp=WWX XWX:W2W*WVbUBU*UUU@V@BYBY BYA]V*BaAaAaAaAa"Ci*CiRCiCiCqQIYGu> ,4gFAY}J@}J9@y}JG'}J(}JH!2`Y?@$?W`}6?:V,?)~J@ ~J \;I~JCYvL?yv Fzp=ɮza=%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ‰^A    @ @ @ i̬? )Ii̬?i<M~=Yk -?9%)@%; %;)!WWX XWX:W!2W!*W!V!bU)BU)*U)UIUUoO@BB BA*BAAAA"C*CRCCCIG$>>9I Fi?]; -E  |:YW1yč:6);&,휼gFAY}6@}6@y}6'}6^p<}6H@y?.?`V*\?फ?e?)~6@ ~6[;I~4YB4?yBMFFxDUSBL response received:!U1,R,502,000,002AE,18A,80,80,B9,FF JFpublishing direction and range infoFf3DɰF`=F> D)F9CIDyF=j@Fw?amf-ٱDZ(=M^a=Y^>QU^>``ab#H`dyfk}f>Ihj[ 5?jS[ݾ jb> r?9jD*@j: j:)hWWX XWX:W2W*WVbUBU*UUU3@R(Combining 5 samples.P*Q=j@ZQs:@?apuV JQw?amf-2Qf3:QbQb 9@ֳF,P@F?RQl?4`?-Fϭ?BQWx{? QB@Q@PY9?PX9?PQQ@"Q @B9B9 B9AE*BAAAAAAAAA"CI*CIRCQCQCqQIYG}=8-,ӶgFAY}b@}b@y}b3'}b"6l}bH%@m?)?nM="¿?5"m?)~b@ ~b[;I~`YvN?yvFeTNmea in: $SNTTA,0.070716,,,,231042.03*42 m4=im< M M M M@ M@ M@ M@IIIiMI I)IIIiM]e<M]2=Ye:QUe>aaam#HmHiyuxb;}u>Iy :} 5? :}[ݾ }b> ?9}*@}: }:)}:mqAdded new target pos. range: 3.660000 m, bearing: 56.281930 deg, deltaT: 4.431506 s, approachRate: -0.013540 m/s, LOS rate: -2.302720 deg/s, posRepo size: 4XWWx{?WX XWX:W2W*WVbUBU*UUG @UY?BB BAZ*BAAAA"C4?RCCWx{?CׁIG>Iޑ)ޕAA  :YT1y:{69@ 9 I Fi a? \; P-E3,ߣмgFAYi?y3F)Õ= Õ >qMV=YQU>a#Hy}>I1 5?\ݾ 'b> ?9z+@˵: :)WqWqXq XqWqXq:Wy2Wy*WyVybUBU*UUU@@?BB BA*BAAAA"C}?RCCCIG- >!:,gFAY}J@@}J@y}J"(}J0}JH3@jL?,?` @?ſg2?{?)~J@@ ~J|\;I~HYZ?yZNFinmGIiT㥛 ?@5^I ?b>ڿٺ7A t=)Iy?~jt?<D< ­DA)­DAI­2Ai­M`A3GAG;M7=YV  a#H!y-x;}5>I9 E:=b 5? E:=m\ݾ =f> E?9=9,@=: =:)=:WiWiXi XiWiXq:Wq2Wq*WqVqbUyBUy*UyUyUJ?BB BA*BAAAA"CN?RCCCI G%M>  B:YyM6 A,[gFAY}6R~@}6ܙ@y}68}6}6HAψ? E? ߿Ŀ`?G #?)~6R~@ ~6ط\;I~6CY^t?y^אFIa)a    @ @ @i )Ii <M[=Y !a%#H!)y-i}5>I9= 5?=\ݾ =j> M?9=,@=; =z;)9WqWqXq XqWqXq:Wy2Wy*WyVybUBU*UUU>?B)B1 B1A5ф*B1A1A1A9A9"CE9x?RCACACA]?i]?)I1GU>܉9܉I܉i܉܍=܉܉܍\; ݍ,E)Ii==y4ޙiޝ=9G,YOgFAY}Ji@}J@y}J}Jj}JH`!#?%I?`(߿`2ſ ?Ҳ`a?)~Ji@ ~Ja\;I~JCYz,?y~F‰]A-T=M-H=Y-QU5>11a5#H19y=P}=>II M:M 5? U:M]ݾ Mn> U?9M-@M: M:)M:WqWyXy XyWyXy:Wy2W*WVbUBU*UUU_@BB BA"*BAAAA"Cp?RCCCIG>  q:YV1y:6]M,8gFAY}:a@}: }@y}:}:x}:Hn`;J?hK? C߿Tſ)?l`V?)~:a@ ~:[;I~8J`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ  )  I YM ?yM FQQ    @ @ @éééiéé ĩ)ĩIĩiĩ2d<M(=YqA:QU>a#Hy w}>I 5?s]ݾ s> ?9R.@A: :)W WX XWX:W2W*WVbUBU*U!UU`f@RB*** querying acoustic contact ***PPBB BA*BAAAA"C%p?*C!RC!C!C)I)GMt>܁ 9܁ I܅ XFi܅ ?܁ ܁ ܁ ܅ Z; ݅ 6,EET,)QgFAY}No@}No@y}NK}Nk[}NH@[ گlJ?@߿@ſ`? ?)~No@ ~N.[;I~Lɫyy)y yIyY?yFZ****** received transponder code query ******F****** received ping request ****** e?9U.@U: Ud:)QWaWaXa XiWiXi:Wq2Wq*WqVybUyBUy*UyUyU@B B  B A *BAAAA"C,cs?RCCC!IG-,>IޥAA)ޥ@A YW1yč:6)1;9oZ,;kgFAɫyy)y yIyY??yFxDUSBL response received:!U1,P 502,000,002AE,18A,80,80,B9,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =Mb?X9v?/$?==== =<)9I9y=X9v?I +I +?=<=9=94< = Í>    @ @ @i )IiU;MU=YQU>a#Hy}>I : 5? :\ݾ > ?920@: :):WWX XWX:W2W*WVbUBU*UUUG @B B  B A ^*B A A A A "C Wx{?RC C C! Y Ii G >Xa,gFAY}F@}Fh@y}FD}F>B}FH߿`\e?@m?߿C9¿`x?`bQ?)~F@ ~F[;I~FCɫYY)Y YIaY?yF鮡ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B  =M=Y|;QU?a#Hy}3?I 5? \ݾ > ?90@: ÷:)W!W!X! X!W!X):W)2W)*W)V1bU1BU1*U1U9U=`Cw @BaBa BaAe*BiAiAiAqAq"Cq*CyRCyCyCyiIqG>191I5 Fi5?1115Y; 5+E/  t:YU1y:6);g,}gFAY}24@}2@y}2!}2Ǽ}2H`߿Ϫ?@Lj? e߿``?L?)~24@ ~2[\;I~0ɫ99)9 9I9Y]?y]FexDUSBL response received:!U1,R,4C4,000,002B0,189,80,80,AE,FF mFpublishing direction and range infoe{Faɰeqa=e7> a)e.CIayeq@eet?&ٱa =MW=YsQU>!!a%#H!)y-߸}->IQ ]:U 5? ]:UF[ݾ U> e?9U1@U: U:)U:WWX XWX:W2W*WVbUBU*UUUL@R(Combining 5 samples.P*Qq@ZQ@W>R?X r JQet?&2Q{F:QbQumaf?"i @| Y?RQ!!g?"90?'?BQ9ق? QM@Q7?PPY9?PQQ$@"Q@BYBa BaAeH*BaAaAaAiAi"C*CRCCCסIG >m,8kgFAY}n͌@}nW@y}n}n#s}nH O߿@Nʖ?~?`H߿@YĿ ? ?)~n͌@ ~n>\;I~nCɫ ) IYM?yMFTNmea in: $SNTTA,0.006231,,,,231046.10*45 Ip=)=^A }   @ @ @ÁÁÁiÁÁ ā)āIāiā;M4=YQU>a#HHyO}>Iȱŵ 5?ŵ`Zݾ Ƶ> ?9Ƶ2@ǵ: ȵ:)ȱmiAdded new target pos. range: 3.779998 m, bearing: 58.570846 deg, deltaT: 4.077279 s, approachRate: 0.029431 m/s, LOS rate: 0.561383 deg/s, posRepo size: 4XW9ق?WX XWX:W2W*WVbUBU*UU o=@U IF?B1B1 B1A=A*B9A9A9AAAA"CEπ?RCICM9ق?CII!GE0>  V:Yy69@ 9 I i     [X;  *Eȓt,2ӽgFAY}B@}Bp@y}B }Baa}BH@L߿`J@sJ~?@"N޿ ȿC?o^?)~B@ ~Bnh;I~BCɫYY)Y YIYYE?y0FuTMu_=Y}AQU}>ya#Hy}>Iȑ :ŕ* 5? :ŕYݾ ƕ> ?9ƕ~3@Ǖ: ȕ0:)ȕ:WWX XWX:W2W*WVbUBU*UUU ?BB BA܃*B A A A A "C9ق?RCCC IG5 >z, gFAY}6z@}6n@y}6Z&}6= }6H`cD߿`@Ȩ@?@/޿ȿ@?tZ?)~6z@ ~6 e;I~6CɫYY)Y YIaY?yCF=iR= rh?sh|?~jt?l> <)IyQ?Q?MbP?u=u<: AA)IAI1Ai\AfFA XMA=Y+a#H!y%}%>I)-~ 5?-Xݾ -> =?9-(5@-#: -4:))WYWYXY XYWYXa:Wa2Wa*WaVabUiBUi*UqUqUu?BB BA<*BAAAA"C*CRCCC׉IG>Iޝ@A)ޙG ~~ v:YT1y@:i6,NgFAY}F@}F9@y}F;:}F;Ľ}FHy޿n?`Hc޿ ſ ?Lb?)~F@ ~F$\`;I~FCɫ髙) IY?y_F    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉd;MR=Y)Ja#Hy5f}5>I9 E:=5} 5? E:=Wݾ =V> E?9=6@=: =:)=:WiWiXi XiWiXq:Wq2Wq*WqVqbUyBUy*UyUyU U)?BB BA1*BAAAA"C*CRCCCׁIG9IFi1?EW; I*Eχ, gFAɫ髉) IY?y̒F\<MK=YQU>a#Hy}>I{ 5?Vݾ > ?9F8@8; 9;)WWX XWX:W2W*WV bU BU *UUU*\@BB BA*BAAAA"C)*C1RC9C9C9!I)GM1>  :YU1y:E6iEmGIYiq#ٺ:A,Z:gFAY}:@}:@y}:il}:Ʊ}:H`߿`6Ƚc? u?8+߿`Ŀ=?@`"?)~:@ ~:\;I~:Cɫ99)9 9I9Y}?y}LFI)UM]N=Y]AQU]>aaae#Haaym$<}m>Iquiz 5?uUݾ u> }?9u9@u: uw:)qWWX XWX:W2W*WVbUBU*UUUV@BB BA9*BAAAA"C*CRCCCIG>ޡiޡ 9 I XFi ? = V; )E)YIYiY]=]=]5,?TgFAY}6?@}66@y}6 }6[0}6H S߿ 3?Rh?@{߿0ÿԒ?@?)~6?@ ~6a;I~6Cɫ19)9 9I9Yu?yuF}AAy        @  @ @   i   ) I i %M%M=YOa#Hy6<}>I :x 5? :Tݾ j> %?9y;@; @;):WiWiXi XiWiXi:Wq2Wq*WqVqbUyBUy*UyUyU}@RB*** querying acoustic contact ***PPBB BAt*BAAAA"C*C!RC!C!C!I5\A)19IIG9>A  @v:Yyr6);9U ,TngFAY}6vd@}6@y}6 }6%I}6H`F [n?fW? .N e?@@Ԯ?)~6vd@ ~6spc;I~4ɫ99)9 9I9Y}?y}͑FZ****** received transponder code query ******F****** received ping request ******qya}#Hyyyi+<}>Iȉōz 5?ōRUݾ ƍ^> ?9ƍ=@Ǎf: ȍ:)ȉWWX XWX:W2W*WVbUBU*U)U)U- g/ @BqBy ByA}m*ByAyAAA"C*CRCCCׁIG=>,i9gFAY}F@}F@y}Fzd }FK1}FH c,`!Ѡ?(B?&& 2?@b?)~F@ ~FEa;I~DɫYY)Y aIaY?y2FxDUSBL response received:!U1,P 4C4,000,002B0,189,80,80,AE,FF Command AckBRequesting micromodem ping code 2i=i>Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ]oMeN=YuYQU}>a#HyL<}>I u:G| 5? u:Uݾ +> }?9~>@; ;):WYy9yI}Fi}a?}=yy}T; })EWaX XWX:W2W*WVbU!BU!*U!U!U%E @BB BA*BAAAA"C*CRCCCIޙ)ޝAA@ p +v:Yy6);I G]v>,gFAY}2@}2@y}2w }2gp}2H@/>?P    @ @ @éééiéé ĩ)ĩIĩiĩ/MD=Ya#HyR;}>I} 5?Vݾ /> ?9?@$: :)W WX XWX:W2W*WVbUBU*U!U!U%p0@BIBQ BQAU*BQAQAYAYAY"Ca*CaRCaCaCi}?i}?aIqG>G,廾gFAY}6@}6[@y}6(}6NH_}6H`57y"*?@E?`"YT? ?)~6@ ~6\;I~6Cɫy髁) IY|?yF xDUSBL response received:!U1,R,4F1,000,002AE,189,80,80,B1,FF Fpublishing direction and range info FM ɰ `=  ) 1CI y =j@ A`i?%ÆHٱ  - - - -@ -@ -@)))i)) )))I)i)=|M=5=YEAAaM#HMHIyUh;}U>IY e:] 5? e:]tWݾ ]v> e?9]A@]: ] :)]:WWX XWX:W2W*WVbUBU*UUU@@R(Combining 5 samples.P*Q=j@ZQv[?<{% JQA`i?%ÆH2QFM:QbQߝ?J4j@r $ ?RQgT?UӮ?p^?BQ~? QQC@Q?PPPQQ @"Q$@BB BAN*BAAAA"C*CRCCCIG5P> || l:YR1yi:69@q 9q Iu Fiu ?q q q u ;T; u (Eo0,վgFAY}^@}^M@y}^t+ }^D}^H`1Cw?g7? g7@¿W?`T ?)~^@ ~^[;I~^Cɫai)i iIiY?yF DNmea in: $SNTTA,,,,,231050.55*5B mxr=Mm8=Y}I?QU>a#Hy;}>Iā 5?:Xݾ > ?9aC@ޱi޵a=5= F6=)mqAdded new target pos. range: 3.660000 m, bearing: 56.997560 deg, deltaT: 4.502038 s, approachRate: -0.026654 m/s, LOS rate: -0.349461 deg/s, posRepo size: 4XW~?WX XWX:W2W*WVbUBU*UUG @U?BQBQ BYA]x*BYAYAYAYAY"Ce~?RCaCm~?CI)\A I G >[,ߣgFAY}63@}65@y}6*}6R &}6H yT}@Z? ?@=Ti¿? G?)~63@ ~6T2c;I~6Cɫ99)9 9I9Y}Z?y}*Fp= ף?)\(:v?=Ga T=)IyMb`y&1?~jth?`<D; =>A)/MAI5Ai‰¡¥]A    @ @ @ i? K?)?I&?i&?J^Md=Y 7ҼQU >  a #Hy<}>I -: 5? -:Xݾ > -?9D@: j:):WQWQXQ XQWQXQ:WY2WY*WYVYbUYBUa*UaUaUm?BB BA*BAAAA"C*CRCCCיIGA>  bq:YDW1yY:6B,x gFAY}:@}:6@y}:RP}:<o}:HqO~??`X;ĿC?}`?)~:@ ~:Ka;I~:Cɫ99)9 9I9Y}2?y}sF=JּM=m=YEʼQUE?AAaM#HIIyU9}U?IY]l 5?]Xݾ ]> e?9]D@]: ]:)YWWX XWX:W2W*WVbUBU*UUU*O?BB BAa*BAAAA"C*CRCCCI9I8Fi?=kS; <(EG5 >0l,S#gFAY}2@}2 0@y}2kP!}2BĽ}2H)J!8X?qǿ`?1`pu?)~2@ ~2c^;I~2CɫYY)Y YIYYT?yFi>=M=J=YEVQUE>IIaM#HIQyt}>I 5?AYݾ  ?9eE@7; E9;)W!W!X! X!W!X):W)2W)*W1V1bU9BU9*UAUAUEu?BB BA*BAAAA"C*CRCCC׉IG>IޝAA)ޝ@Az }} af:YkS1yԊ:6,0=gFAY}2@}2 @y}2!}2pý}2Hj:kV?߿tǿ ?@Gu?)~2@ ~2];I~2CɫII)I IIIY]'?y]ώF) > >    @ @ @ @i )Ii%^]M%L=Y-MpQU->)1a5#H11y=C}=>IA M:E~ 5? M:EYݾ A M?9EF@E: E;)E:WqWqXy XyWyXy:Wy2Wy*WVbUBU*UUU#1?B1B1 B1A5*B9A9A9A9A9"CQ*CQRCQCQCYiIqG> 9 I Fi ? {R; 'Ej~, WgFAY}6Mo@}6׊@y}6P#}6ep}6H@R}?@a#Hy}>Iȡť ~ 5?ťYݾ ƥP> ?9ƥF@ǥ{8; ȥ9;)ȡWWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"C9*CARCACACiIIqG>>0  t:YWU1y:26);9i }nGI i1 p,jpgFANٺLRUAY} ҟ@} \@y} rN.} !Y*} H@)ѩ? #? Zſ? `?)~ ҟ@ ~ b;I~ Cɫ ) IYM_?yMFU@AUAAIY)YGz?t< xi=)IyMbp?~jt?{Gzt?;D<ף; ;A)UAI5AibA=JA M M M M@ M@ M@IIIiII I)IIIiI]S<M]<=Y]ʼQU>a#Hy;}>I %:} 5? %:Zݾ }> %?94G@; v;):WiWiXi XiWiXi:Wq2Wq*WqVqbUqBUy*UyUU`@RB*** querying acoustic contact ***PPBB BAV*BAAAA"C!*C!RC!C!C)I!G=Q>ޕ=iޕ=2,HgFAY}2#@}2"@y}2f9}2֟}2H3; ˠ??v*Lȿu ? f?)~2#@ ~2@cf;I~2Cɫ99)9 9I9Y}?y}FZ****** received transponder code query ******F****** received ping request ******a#Hy ˗<} ?I<} 5?#Zݾ S> -?9{G@},; ,3;)WW!X! X!W!X):W)2WQ*WQVYbUYBUY*UYUYUeԂ @ܽ>9ܹIܽFiܽa?ܽ=ܹܹܽwQ; ݽ2'E)iIiiim=m=mP4BB) B)A-*B)A)A1A1A1"C9*C9RC9C9CAAIIGm5>7 }} su:YkS1yԊ:6)J;G,=gFAY}6@}6@y}6W;}6-}6H@o 8`C?`)?`cCȿ`kW?| f?)~6@ ~6 k`;I~6CɫYY)Y YIYY}?y}tFxDUSBL response received:!U1,P 4F1,000,002AE,189,80,80,B1,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 EŎMME=Y]QUe>qa#Hy}>I9 :=| 5? :=:Zݾ =o> ?9=G@=< =<)=:WQWYXY XYWYXa:W2W*WVbUBU*UUU@Z @BIBI BIAMɅ*BIAQAQAQAQ"CY*CYRCYCYCaAIYGb>,_}gFAY}2@}29@y}2=}2K4}2HY a`¬? ?N%ǿ`?k?)~2@ ~2^;I~2Cɫ19)9 9I9Yu?y}FyɮyNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U=iU=-Nonly read 0 of 1 data item for altitudeB<M@=Y9QU>a#HHypֻ} >I`| 5?OZݾ |> %?9)H@: ]:)WWX XWX:W2W*W!VAbUIBUI*UIUQUU@BB BA*BAAAA"C *C RCCC9IAGuW>Iޝ@A)ޝAA  Cr:YV1y:i69@ܩ 9ܩ Iܭ XFiܭ ?ܩ ܩ ܩ ܭ pP; ݭ &E,&TؿgFAY}:@}:?@y}:MF}:}:H @?V?)?)`'ǿ?#@b?)~:@ ~:;];I~:Cɫ99)9 9I9Y}r?y}FxDUSBL response received:!U1,R,44A,000,002AD,189,80,80,9D,FF Fpublishing direction and range infoKuɰu`=鰁 )CIyff@uqf?THH.ٱ)= =9MG=Y%QU%>!!a-#H)iyu}u>IȁŅ{ 5?ŅdZݾ ƅ> ?9ƅH@Dž<; ȅE;)ȁWWX XWX:W2W*WVbUBU*UUU @RU(Combining 5 samples.PY*Q]ff@ZQ]h*e@8 JQ]uqf?THH.2Q]Ku:QYbQ]Dv?:^ @Ww?RQ]~D?vJi?N(B9?BQ]ZW? Q]O@Q]?P]X9?PYPYQYQ]:@"Q] @BB BA*BA9A9A9A9"CA*CIRCICICI9IQGmx>h,q=gFAY}=@}= @y}=V}=}=H߿/@??h+ ȿ?흿 H?)~=@ ~= y\;I~=Cɫ  ) IY5?y5FDNmea in: $SNTTA,,,,,231054.98*5E 5On?Q5>5 5)1I1y5Zd;O? ףp= Zd;O5j<5Q5j< 5?A)5NAI52Ai5rdA15GIA    @ @ @i )Ii<M1=Y QU>a#Hyp:}>I :V~ 5? :Xݾ >  ?9LK@: :):m=mAdded new target pos. range: 3.599999 m, bearing: 65.058112 deg, deltaT: 4.432951 s, approachRate: -0.013535 m/s, LOS rate: 1.818327 deg/s, posRepo size: 4X9W=ZW?W9XA XAWAXA:WA2WA*WIVIbUIBUI*UQUU @UU?ByB BA)*BAAAA"CƁ?RCCZW?CqI1 b t:YT1y:<6G`>Y, gFAY}2b @}2%@y}2c}2g4N}2H@}@P??&`?{˿9? j!<,?)~2b @ ~2}d;I~2Cɫ99)9 9I9YE?yFI)]53M]=Y]`!QUe ?aaae#Haiymp<}m ?Iqu 5?u*Wݾ u> ?9uLM@u߼: u:)qWWX XWX:W2W*WVbUBU*UUU N'?BB BA*BAAAA"CB?RCCC]>9YI] Fi]?]=YY]O; ])&EiIqG>ޝ=iޝp=^ ,%gFAY}:@}:9@y}:wh}:-}:H ͚ȯ?s? :Ϳ@:?cjS?)~:@ ~:LLc;I~:Cɫ99)9 9I9Y]m?y]F%k<M%N=Y-KAQU->)1a5#H11y=F;}=>IA M:E( 5? M:E~Uݾ EQ> U?9EO@E: EM:)E:WyWyXy XyWyXy:Wy2W*WVbUBU*UUUq?BB BAR*BAAAA"CB?RCCCIG- > { :YV1y:62,?gFAY}2c@}2@y}2Ih}2dѽ}2H.3?6?߿AϿ?@ur?)~2c@ ~2_;I~2Cɫ99)9 9I9Y}\?y}F - - - 5@ 5@ 5@111i11 1)1I1i1EpMEH=YE9QUM>IIaM#HIQyUb*<}]>Iae` 5?eSݾ e> m?9e`R@eR: e:)aWWX XW X:W2W*WVbUBU*UUU%-6?BIBi BiAu*BqAqAyAyAy"CJ?RCCCסIG >Q 9Q IU xFiU ?Q Q Q U N; U %E,ЙYgFAY}2@}2@y}2hFe}2q}2HXY@aމ?.?߿п k?% ?)~2@ ~2J^;I~0ɫ99)9 9I9Y}?y}Fi=<MM=Y;QU>!!a%#H!)y-oU<}->I1 =:5 5? =:5Rݾ 5> E?95T@5s: 5:)5:WaWaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UyUyU}#V?BB BA*BAAAA"CƢ?RCCCױIGM>Iޙ)ޝBA  _h:YW1yč:6);9A)Ir.AilAzHA)= = M M M M@ U@ U@IIIiII I)IIIiI]g6=Me7=YeBYQUm>iiau#Hqqy}1<}}>IȁŅ< 5?ŅRݾ ƅ;> ?9ƅ+U@Dž: ȅ:)ȁWIWIXQ XQWQXQ:WQ2WQ*WYVYbUYBUY*UYUUlp@BB BAV*BAAAA"C=?RCCC׹IGF>[,#,DOgFAY}6@}6'@y}6m}6}6H@%9/?H? IͿVm?2R?)~6@ ~65a;I~6Cɫyy)y yIyYZ?y*F@A<Mg=YQU>a#HyW}<}>I 5?(Rݾ Y> ?9ZU@w: M:)W)W)X) X)W)X):W12W1*W1V1bU9BU9*U9U9UEC@RMB*** querying acoustic contact ***PIPIBiBi9IНFiE@M; !%E BqA*BAA!A!A!"CUZW?RCQCQCQIIYG>  ؇:YV1y:6);~V),s*gFAY}2@}2 @y}2Bt}2U}2H&`H?G)?@PtοI?>?)~2@ ~29c;I~0ɫ99)9 9I9Y}V?y}ĐFZ****** received transponder code query ******F****** received ping request ******!)a-#H))y5<<}5>I9 E:= 5? M:=2Rݾ =)> M?9=U@=: =b:)=:WWX XWX:W2W*WVbUBU*UUUx @BIBQ BQAU؄*BQAQAYAYAY"Ca*CaRCaCaCiYi}nGIiٺAIG)>ޝ=iޝ=>0, gFAɫyy)y yIyY?yFxDUSBL response received:!U1,P 44A,000,002AD,189,80,80,9D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76      @ @ @ÑÑÑiÑÑ đ)đIđiđѻM%=YQU >a#HHy}%>IIMe 5?M@Rݾ M > U?9MU@Mb: MY:)IWWX XWX:W2W*WV bUBU*UUU=`۔ @ a o:YWU1y:!69@BB BA*B!A!A)A)A)"C9*CARCACICQ׉IG>9IFi@L; $E)݁I݁i݁݁݁݅ X4h6,LgFAY}6@}6@y}6]Pf}6lw}6H0L8q?sM?ܔ Bο`?@϶ <?)~6@ ~6f^;I~6Cɫ99)9 9I9Y?y؏Fɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B vռMx=Y-=QU?a#Hy%} ?Iȱ :ŵ+ 5? :ŵHRݾ Ƶ> ?9ƵU@ǵ: ȵ!;)ȵ:WWX XWX:W2W*WVbUBU*UUU`=@BaBa BaAe8*BiAiAiAiAi"Cq*CqRCqCyCyYIiGZ><,gFAY}2@}2{ @y}2H[}2ʘ}2H`@!@ה?}P?U̿ `??Ӥ-?)~2@ ~2];I~0ɫ9A)A IIIY}L?y FxDUSBL response received:!U1,R,3E6,000,002B1,189,80,80,B2,FF Fpublishing direction and range info^ɰa=鰑 )2CIyu@w,?5nA)TAI-AinnAKA e e e e@ m@ m@aaaiaa a)aIaia;M/=Ya#Hy;}>Iȩŭ 5?ŭ9Sݾ ƭ> ?9ƭUW@ǭ\,; ȭO/;)ȩWWX XWX:W2W*WV bU BU *UUU @R-(Combining 5 samples.P1*Q5u@ZQ5 @EEJQ5w,?5nzC,5gFAY}2A@}21] @y}2EW}2|}2H`{`??`A? ʿ?ᮿd >z<M{=YW E?95>X@5: 5I:)5:muiAdded new target pos. range: 3.839998 m, bearing: 71.667399 deg, deltaT: 4.471311 s, approachRate: 0.053675 m/s, LOS rate: 1.478154 deg/s, posRepo size: 4XqWuD?WqXq XyWyXy:Wy2Wy*WVbUBU*UU Q@U`M?9IiK; ($EBQBQ BQAU*BYAYAYAYAY"Ce?RCaCeD?CiiIqG>I,Gr(gFAY}6@}6) @y}6!W}65a}6HTP?@ ?c*ʿx?0>?)~6@ ~6ec;I~6Cɫ99)9 9I9Y?yF5Y<M=H=Y=SQU=>AAaE#HAAyMZ<}M>IQU 5?UTݾ U> ]?9UdY@Uk: Uܹ:)QWWX XWX:W2W*WVbUBU*UUU`]#?BB BAń*BAAAA"Cف?RCCC I!GE> ~~ }:YT1y@:i6P,MBgFAY}:@}: @y}:Z}:KK}:HÆ` 'ݳ?`N? ʿ`#?Ҩ;?)~:@ ~:Wb;I~:Cɫ99)9 9I9Y}?y}1FI)    @ @ @ÙÙÙiÙÙ ę)ęIęięz=MC=YݻQU>a#Hy8<}>I : 5? :Uݾ g> ?9Z@8; 9;):W!W)X) X)W)X1:W12W1*W9V9bU9BUA*UAUAUM)d?BB BAD*BAAAA"C%?RC!C!CI!I)Ge4>ީiޭ=>9IНFiE@=J; #EV,(\gFAY}6@}60 @y}6X}6GĽ}6H ??`)d Ϳ?w$?)~6@ ~6N`;I~6Cɫ99)9 9I9Y}?y}F^A*2MU=Y,;QU>!!a%#H!)y5`;}>Iƀ 5?dVݾ > U?9[@< )<)WIWQXQ XQWQXQ:WQ2WY*WYVabUaBU*UUU?BB BAAË́*BAAIAIAIAI"CUM?RCQCQCYYIiGZ>  D}:YDW1yY:6) ;9^\,)vgFAY}6@}64 @y}6~L}6}6Hqqfv?@?vF οqd?I?)~6@ ~6|^;I~6CɫAI)I IIIY}9?y}FmʡE?Zd;OտMb?mo>m~ m=)iIiymZd;O?~jt?y&1?mja#Hy<}>Iȡť 5?ťGVݾ ƥ> M?9ƥy\@ǥ< ȥ<)ȡWiWqXq XqWqXq:Wq2Wy*WyVybUyBUy*UUUq?BB BA߄*BAAAA"Cl_?RCCCׁIG>c,@ߏgFAY}2)"@}2= @y}2 @}2Oؽ}2H@,`j?@?=˿(?\`B?)~2)"@ ~2]];I~2CɫYa)a iIiY=?yF}>9yI}Fi}E?}=yy}IJ; }a#E=i=    @ @ @i )IiMC=Y  aM#HIiyu<}u>Iy :}~ 5? :}'Vݾ }A> ?9}D]@}8: };)}:WWX XWX:W2W*WVbUBU*UUU- @BB BA*BAAAA"C F?*C RC C C5?i5?I G%M>Iޝ@A)ޝ@A  :YU1y:h6)P;i,=gFAY}:W@}: @y}:U:}:}:H{Ay??r8ſ?`e;s?)~:W@ ~:ba;I~:Cɫ髉) IYa?yhF)= =}=M<=Y oa#Hy @} >I} 5?Vݾ > ?9^@: :)WAWAXA XAWAXA:WI2WI*WIVIbUQBUQ*UQUQUUf@ReB*** querying acoustic contact ***PaPaBB BA*BAAAA"C?RCCCסIGA>p,OgFAY}21@}2M @y}27}2py<}2H@@;??@J` ?`Я?j{?)~21@ ~2b;I~2CɫYY)Y YIYY?yhFZ****** received transponder code query ******F****** received ping request ****** U?9=^@=+ = =\ =)=:WWX XWX:W2W*WVbUBU*UUU s @B B BA.*BAAAA"CD?RC!C!CIaIqG=>$  s:YT1y:69@y9yI}xFi}?}=yy}I; }#Ew,]pgFAY}6l@}61 @y}6,4}6<}6H FY?#?B`0`|?d8?E?)~6l@ ~6b;I~6CɫYY)Y YIaY}?y}CFxDUSBL response received:!U1,P 3E6,000,002B1,189,80,80,B2,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 - - - -@ 5@ 5@)))i)) )))I)i)UwM]+=Ye;QU>a#Hyc}>Iȱŵ{ 5?ŵUݾ Ƶ> ?9Ƶ}_@ǵǺ: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUUr9 @B)B) B1A5<*B1A1A1A1A9"CI*CIRCICQCyޥ=iޥ=yIG>i5 mGII ia ٺ A /},KgFAɫyy)y yIyY?yF鮽a=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B {GzL7A`"~j? ף + S=) I y :v?y&1I + < `e 9 fBA)  IAI 0Ai "aA  \GA%]A%]A m m m m@ m@ m@iiiiii i)iIiii}+M}Y=YQU>a#Hy}>Iș :ŝ{ 5? :ŝUݾ Ɲl> ?9ƝA`@ǝ: ȝ<)ȝ:WWX XWX:W2W*WVbUBU*UUUj@BiBi BiAm{*BiAqAqAqAq"C*CRCCC  :YV1y:6׹IGh>7,V(gFAY}2@}2l @y}23}2lw}2Hk`f?2?ƿ]?n`Bs?)~2@ ~2];I~2Cɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,R,502,000,002B3,18A,80,80,B8,FF Fpublishing direction and range infof3ɰmb=鰅> )8CIyp}@w?amf-ٱ+;Mm=Y6;QU?a#HyDλ}?I{ 5?rTݾ > ?9`@3: :)WWX XWX:W2W*WVbU BU *U U U  ]@%>9!I%Fi%1?%=!!%H; %"E)ݱIݱiݱݵ=ݵ=ݵ{5RE(Combining 5 samples.PA*QEp}@ZQE8]?{ JQEw?amf-2QEf3:QAbQElJ?W @Yu͒r?RQEpD?n<]??BQE@? QEX@QEj?PEY9?PEW9?PEQEQEX@"QE$@ByBy BAt*BAAAA"C*C)RC)C1C11IQGm>F,+gFAY}jR@}j @y}jh6}j=½}jH@%??‘@ zɿ0? -ܷ#Z?)~jR@ ~j4i];I~jCɫ) IY V?y ĐFuTNmea in: $SNTTA,0.027979,,,,231103.87*4F u=iu4=bM9=YQU>a#Hy}>I  :{ 5?  :Sݾ > ?9a@M; 9;):mmAdded new target pos. range: 3.959999 m, bearing: 59.588537 deg, deltaT: 4.348676 s, approachRate: 0.027595 m/s, LOS rate: -2.777595 deg/s, posRepo size: 4XW@?WX XWX:W2W*WVbUBU*UU @U~?BiBq BA؄*BAAAA"CFʛ?RCC@?C1IޕAA)ޑ,  t:YWU1y:6IIQGuy>(,DgFAY}:F@}:Vb @y}:B3}:M޽}:Hx? e?`@x ʿK? \$S?)~:F@ ~:d;I~:Cɫ99)9 9IAY}G?y}F)M= I    @ @ @ ÑÑÑiÕ?Ñ ĕ?)ĕA?IĕA?iĕA?۔MM=Y;QU>a#HyA|<}>Ij{ 5?Rݾ > ?9b@: 8:)WWX XWX:W2W*WVbUBU*UUU@?B1B1 B1A5܄*B9A9A9A9A9"CEH?RCACACIIIQGm>9Ii=H; "E.S,^gFAY}2@}2o @y}2+}2HH}2H`9nJܶ?S? ǿ0I?@ӵo?)~2@ ~2"d;I~2Cɫaa)i iIiY?yFԻMD=Ya#H!y%)<}%>I)-G{ 5?-Rݾ -j> =?9-c@-: -:))WYWYXY XYWYXa:Wa2Wa*WaVabUiBUi*UiUqUu@?BB BA*BAAAA"Cw?RCCCIG+> y ~:YT1y:6);9 },xgFAY}2D@}2J` @y}2u)}2i}2H h@ G?w?@bQſ ?ˬ n?)~2D@ ~2&a;I~2Cɫ) IY C?y VFIi)i&1?rh|~jtP= )Iy{Gz?QZd;O?#<uj< ;A)WAIiAA ] ] ] ]@ ]@ e@ e@YYYi]Y ])]I]i]uŰ<Mu*=Yu;QUu>yya}#Hyy h<}>Iȉ :ō{ 5? :ōQݾ ƍ> ?9ƍd@Ǎ#: ȍ:)ȍ:WWX XWX:W2W*WVbUBU*UUU?ޙiޝp=BB BA*BAAAA"CGB?RCCCIG>ef,qtgFAY}2@}2 @y}2I+}2 T}2H@8*?@?>k [¿O?7?)~2@ ~2_;I~0ɫ99)9 9I9>9Ii= H; 1"EYv?yFae^Ab=M=Y2QU?a#Hyӹ}?Iȱŵ{ 5?ŵQݾ Ƶ> ?9Ƶod@ǵD: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUUV@BB BA*BAAAA"C{?RCCCIG%,>  :YWU1y:6);,IgFAY}>&@}>* @y}>1}>9}>H`vW1??*.¿ ?+8??)~>&@ ~>v];I~>Cɫ99)9 9I9Y}E?y}0Fu<MuL=Y}JQU}>ya#Hy}>Iȑ :ŕ| 5? :ŕ8Qݾ ƕ> ?9ƕd@Ǖ: ȕP:)ȕ:WWX XWX :W2W*W!V!bU)BU1*U9UAUM+@B1B9 B9A=܃*B9A9A9AAAA"Cm߅?*CiRCiCiCqaIiG9>v,y$gFAɫ髙) IYC?yVF=i= % % % %@ %@ %@!!!i!! !)!I!i!5sMO=YQU>a#H Hy}>In| 5?Pݾ > ?9Ee@J: :)WWX XWX:W2W*WVbUBU*UUU@@RB*** querying acoustic contact ***PPBYBY BYA]*BaAaAaAaAa"Cm@?*CqRCqCqCqIIQGu>Iޝ@A)ޙ  p:Yy|69%@ٵ^Aٵ\A9Ii=_G; !E,gFAY}R:q@}RČ @y}R$6}R8ӽ}RH m|?"?`` ʿ`?S?)~R:q@ ~Rg;I~RCɫ髱) IY?yÒF Z****** received transponder code query ******F****** received ping request ******-=M/=YQU>!!a%#H!IyMFW<}M>IQ ]:Ux| 5? ]:UPݾ U> e?9UOe@Us: U:)U:WWX XWX:W2W*WVbUBU*UUU @B!B) B)A- *B)A)A)A1A1"C9*C9RC9C9Ca9IIGeV>5˽,gFAY}6S@}6o @y}62}6ҧ}6H@uR?`?@ʿ J4?˙`OS?)~6S@ ~6ήb;I~4ɫ99)9 9I9Y?y2FxDUSBL response received:!U1,P 502,000,002B3,18A,80,80,B8,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )IieAEMeF=Y a#H y } >I| 5?Pݾ > ?9Ye@Z: W;)WWX XWX:W2W*WVbUBU*UUU@BB BA*BA!A!A!A!"CY*CYRCaCaCi} }}} }m:Y}V1y}:})6׉IG>,gFAY}2;c@}2~ @y}25}2|}2H`nN?a?qȿr? ib?)~2;c@ ~2e_;I~0ɫYa)a aIau>9qIuFiuv?qqquG; u!EY?y|F鮡ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)ӼMj=YUQU?a#Hy:;}?I :| 5?  :Pݾ >  ?9`e@: :):WiWqXq XqWqXq:Wq2Wq*WyVybUyBUy*UUU@FR@BB BA*BAAAA"C*CRCCCIG-,>ޝ=iޝ=",-gFAY}6B@}6 @y}6>}6~}6H%3aBu? ,?/'ǿ`?`2c?)~6B@ ~6{^;I~4IMzCiNmGIɫ)i I%Fٺ)-Az?9GAYy5xDUSBL response received:!U1,R,4B0,000,002B2,188,80,80,CA,FF =Fpublishing direction and range info  ɰ b= > ) JCI y y@ F?B*zٱ …^A - - - -@ -@ -@)))i)) )))I)i)Y=QUE>AAam#HiiyuF<}u>Iy}| 5?}Pݾ }> ?9}ie@} Z; }[;)yWWX XWX:W2W*WVbUBU*UUU @R%(Combining 5 samples.P)*Q-y@ZQ-d23?H JQ-F?B*z2Q- :Q)bQ-@? 0ɗ @*E?RQ-S7\H?t?GC?BQ- ? Q-^@Q-?P-X9?P-Y9?P-Q-Q-@"Q-X@BB BA*BAAAA"C*CRCCCI1GUu>} }}} }=m:Y}U1y}:}6,xGgFAY} B@} ^ @y} ~C} U} H[Q%x?െ?`ǿ`I?`!J`?)~ B@ ~ r];I~ Cɫ) IY5?y5FTNmea in: $SNTTA,0.025686,,,,231108.31*44 (;Ma#Hy!t<}>I  | 5? Qݾ .> ?9 pe@ : :) mEmAdded new target pos. range: 3.899999 m, bearing: 64.478536 deg, deltaT: 4.538433 s, approachRate: -0.013221 m/s, LOS rate: 1.077464 deg/s, posRepo size: 4XAWM ?WIXI XIWIXI:WQ2WQ*WQVQbUQBUY*UYU]23@U] B#?B!B) B)A-ń*B)A)A)A1A1"C5:?RC9C= ?C9I)GE0>]>9YI]Fi]1?]=YY]vF; ]Y!E)Ii醉醩V 5{,;UagFAY}u@}u3 @y}u%NC}uy}uH@?@:c?C &ȿC?NJ\?)~u@ ~u7c;I~uCɫqy)y yIyY?yrFK7A?X9v~jt? > D=)Iy)\(kt?Mb?Ga 0== ¥?A)¥NAI¥0Ai¥cAHAypM==Y5+9QU5>99a=#H9AyE7<}M>II U:M| 5? ]:MRݾ M^> ]?9Mg@M: ME:)M:WyWX XWX:W2W*WVbUBU*UUU`E?BB BA*BAAAA"C?RCCCיIGI>Iޙ)ޙ  k:YV1y: 6);9,#{gFAY}286@}2Q @y}2q?}2v}2H0Q? "E?`/ʿ`? @aO?)~286@ ~2c;I~2Cɫ99)9 9I9Y}?yaF)  >  u } } }@ }@ }@yyyiyy y)yIyiyMa=Y0  a #H y <}>I| 5?jTݾ > -?9Pi@: A:)WIWQXQ XQWQXQ:WQ2WQ*WYVYbUYBUY*UaUaUe`kv?BB BAh*BAAAA"C I?RCCCׁIG>&,gFAY}2@}2 @y}2hh?}2q}2HR`~`}H?X?@@mȿr? `]?)~2@ ~2`;I~2C 9 I Fi v? =   E; !Eɫ99)9 9IAY?y|Fu=M}L=Y}˻8QU}>a#Hy,}>Iȑ :ŕx| 5? :ŕ Vݾ ƕ-> ?9ƕ(k@Ǖ: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C]?*CRCCCׁIG>O  ]w:YX1y/:6);?+,خgFAY}:@}: @y}:D}:&}:H j@@r?ss?@5Ŀo\?y`i?)~:@ ~:<_;I~8ɫ99)9 9I9Y]?y])FI!)!        @  @  @   i   ) I i =أ<M=>=YEC.QUE>AIaM#HM!HQyUՂ}U>IY]x| 5?]Wݾ ]> e?9]0m@]: ]:)YWWX XWX:W2W*WVbUBU*UUU,?BIBI BQAU*BQAQAQAQAY"C] ?*CaRCaCaCiAIQGu6>ޝ=iޝp=d,дgFAY}:5V@}:q @y}:#I}:uV<}:H T @@?z?@dLÿ.? J?`a?)~:5V@ ~:^;I~:Cɫ99)9 9I9Y}~?y}{Fe\1<MeY=Ye;WQUe>iiam#Hiqyu}u>Iy :}~| 5? :}cYݾ }> ?9}n@}p: }:)}:WWX XWX:W2W*WVbUBU*UUUl@BB BA*BAAAA"C*CRCCC IIQGm> 9 I xFi ?    E;  EU UUU U::YUW1yUč:UW6)U;A,gFAY}=:@}=V @y}=L}=w/}=HE~ 6?`}?@ڇ XAƿ1p?VVZ?)~=:@ ~=^;I~9ɫ  ) IYM!?yMߑFUAAQEJ +`"?p= ף?EHE= E=)AIAyE rh?MbJ +EC =EEH EDA)E IAIEG/AiEGeAAA]=:<Me;=YekQUe>iiam#Hiqyux}u>Iy}{ 5?}eXݾ }> ?9}2p@}: }:)yWWX XWX:W2W*WVbUBU*UUU` D@RB*** querying acoustic contact ***PPBB BAe*BAAAA"C*CRC C C YIaG}8>h,XpgFAY}2K@}2jg @y}2;N}2M}2HOK .@\?pv?jFɿ@?> G?)~2K@ ~2vf;I~2Cɫ99)9 9I9Yu~?y}{FZ****** received transponder code query ******F****** received ping request ******aaae#Haiyu';}u>Iy :}L{ 5? :}tWݾ }2> ?9}Wq@}g: }k:)}:WWX XWX:W2W*WVbUBU*UUU`J} @BB BA*BAAAA"C*CRCCC?i?IIGm5>Iޙ)ޙ-a --- -x:Y-WU1y-:-2695@O,FgFAY}6@}6? @y}6O}6}6H u``C?`?Zʿ`?"HA?)~6@ ~6a;I~6CT9TIV@FiV?TTTVE; V Eɫ髁) IY?yđFxDUSBL response received:!U1,P 4B0,000,002B2,188,80,80,CA,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  )å= å=,<MR=Y%QU->)1a5#H11y=ͼ}=>IIMz 5?MVݾ M> ?9Mzr@M< M;)IWWX XWX:W2W*WVbUBU*UUU@ @B9BA BAAEp*BAAIAIAIAI"CQ*CQRCQCQCYaIyG_>y ,}!0gFAY}6Uv@}6ߑ @y}614S}6ϒ}6H`X:n`ڭ?S?`Dͮʿ6?] =?)~6Uv@ ~6^;I~6Cɫai)i iIiY}?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B %[+=M%X=Y% QU%>))a-#H)1y5}=>I9=Oz 5?=Uݾ =U> M?9=s@=R: =':)9WiWiXi XiWqXq:Wq2Wq*WyVybUyBUy*UUU5@BB BA*BAAAA"C*CRCCC IGU>u qqu u%:Yqyqu6Fa,zIgFAY}:@}: @y}:gS}:}:H>\, ??@t˿E?v6?)~:@ ~: ];I~:CɫAA)I IIIY}?y}FxDUSBL response received:!U1,R,4B0,000,002B2,18A,80,80,B8,FF Fpublishing direction and range infoɰ鰅> )8CIyF?B*zٱ    @ @ @éééiéé ĩ)ĩIĩiĩ<MA=Y@QU>a#Hy><}>I :y 5? :Tݾ > ?9t@: :):W W X  X W X :W2W*WVbUBU*UUU"@R-(Combining 5 samples.P1*Q1ZQ5d23?H JQ5F?B*z2Q1:Q1bQ5q?ࣨ3 @Q?RQ5ꀗ?ѹW?u ?BQ5? Q5]@Q57?P1P5X9?P5Q5Q5"@"Q5@BaBa BiAm*BiAAAA"C*CRCCCIM]A)M]A IG-->ޝ=iޝ=ܵ>9ܱIܵНFiܵE@ܱܱܱܵD; ݵt E,cgFAY}j@}j @y}jN}j}}jH@\ؤ??`@ ˿?N 7?)~j@ ~jjh\;I~hɫ髱) IYg?yFdNmea in: $SNTTA,0.023855,0.469595,,,231112.76*56 I=)=~jt㥛 ¿~jt?== =D=)9I9y={GztMb`?~jth=ף=;=D =?A)=PAI=0Ai=9=?AU]AQ] M]@=Ye1aiam#HiiyuJ:}u>Iy}y 5?}Tݾ }> ?9}t@}: }:)ymmAdded new target pos. range: 3.899999 m, bearing: 64.044915 deg, deltaT: 4.379535 s, approachRate: 0.000000 m/s, LOS rate: -0.099011 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UUU P6?BB BA*BAAAA"C?*CRCC?CIG-O>i]/mGIqiٺA5  Ku:YW1yč:6)';9ݵ,-}gFAY}BӐ@}B] @y}B;I}B.E}BH `_` ??@x@ɿ?`nR?)~BӐ@ ~B`;I~BCɫaa)a iIiY?yUF    @ @ @ÁÁÁiÁÁ ā)āIāiā!<MX=Yara#Hy}>I :y 5? :Tݾ > ?9t@(: w:):W!W!X! X)W)X):W)2W)*W1V1bU1BU1*U9U9U=?BB BA̓*BAAAA"C*CRCCCIG&>%,gFA$9$I&Fi&@&=$$&0D; &$ E)Ii==z4Y}F@}F @y}FF}Fw}}FH-`C'A?ϙ?,.Uȿ`ر?` V?)~F@ ~Fa;I~FCɫYY)Y YIYYi?yFu=MuL=Y}q;QU}>ya#Hyp<}>Iȑŕy 5?ŕTݾ ƕ> ?9ƕu@Ǖ': ȕw:)ȑWWX XWX:W2W*WVbUBU*UUU`4?BB BAS*BA A A A "C*CRCCC׭?i׭?iIqG>+,#hgFAY}:\@@}:[ @y}:?}:}:H S [0f?@֋?`=< ȿ?@Y?)~:\@@ ~:`;I~:Cɫ99)9 9I9Y}?y}F )-A)-= ->=RM=N=Y=?AAaE#HE"HIyMH<}M>IQ ]:Uy 5? e:U Uݾ UM> e?9U9u@U: Uw:)U:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*CRCCCIG>4  Є:YV1y: 69@[2,BgFAY}6@}6* @y}66}6J4}6H`y4:`??`Gſ?@+u?)~6@ ~6__;I~6CfJFailed to close latch before timeout.q fjHardware FaultYj?yjF} j<M}W=Ysa#Hy~}>Ișŝy 5?ŝ$Uݾ Ɲ> ?9ƝWu@ǝ: ȝw:)șWWX XWX:W2W*WVbUBU*UUU?B B  B A *B AAAA"C*CRCCC!yI-$@Hardware Fault in component: DDMG>A9AIAiAE=AAEC; EE8,CgFAY}N@}Nm @y}N`4}Nf.}NH ~E? ?G`kPÿ`Gn?@Zv ǀ?)~N@ ~N];I~LVPowering downTɪT)X XY=?yfFIQ)Qv/?/$ʡE?x=1 =)Iy{Gzt{Gz/$# )OAIG/AirdAHA E E E E@ E@ M@AAAiAA A)AIAiAU2<M]$=Y];QU]>aaae#Haiym}m>Iq }:uTz 5? }:uUݾ u> ?9uu@u: ut<)u:WAWAXA XAWAXI:WI2WI*WIVIbUQBUQ*UQUQU]@BB BA^*BAAAA"C*CRCCCޝ=iޝ=  {:YU1y:V6IGj>?,gFAY}N*@}N @y}Nw6}N '}NH`  s??ſ?v?)~N*@ ~Ne~g;I~NCYZ?yZAFf^Adj̻Mn=Yn QUn?ppar#Hptyvk<}v?Ixzz 5?zTݾ z> ?9zu@z: z4:)xW!W!X! X!W)X):W)2W)*W)V1bU1BU1*U1U1U=`@REB*** querying acoustic contact ***PAPABiBi BiAmm*BiAqAqAqAq"Cy*CyRCyCyCqIG=E >9A IE FiE E?A A A E VC; E E2E,)gFAY}=@};Y @y}A7}w}H{y>? ?iȿ? ^?)~=@ ~ i;I~CY=?yfFZ****** received transponder code query ******F****** received ping request ******a #H  y3<}>Iz 5?Tݾ > E?9;v@; ;)WWX XWX:W2W*WVbUBU*UUU@ @BB  B A ^*B A AAA"C*CRCCCAI!$=NClearing failed state for component DDMq =GE0>'  -t:YW1yč:i6)0;9$L,2gFAY}N\9@}NT @y}N 1}NFP}NH`=|J?qyʿh ?`@cJ?)~N\9@ ~Nyg;I~NCYr?yvTFxDUSBL response received:!U1,P 4B0,000,002B2,18A,80,80,B8,FF  Command Ack BRequesting micromodem ping code 2i-=i-R=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 e e e @ @ @aaaiaa a)aIaia<M<=YMMa#Hy}>I1 e:5d{ 5? m:5Tݾ 5_> m?95v@5< 5^<)5:WWX XWX:W2W*WVbUBU*UUU@ @ByBy BAf*BAAAA"C*CRCCCIޙ)ޙסIGj>R,΋LgFAY}:@}:', @y}:G*}:Y)}:H@I?R?@Aȿ8?` l?)~:@ ~:c;I~8Y^g?y^FrNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )M > M>} M}z=YD ?9Ɲv@ǝ$: ȝ:)șWWX XWX:W2W*WVbUBU*UUUy@BB BA*BAAAA"C*CRCCC׉IG=9IiC; E"  s:YDW1yY:6);'Y,^ffgFAY}6@}6 @y}6&}6g}6H C?  ?Wÿq?@F?)~6@ ~6y`;I~6CYNX?yRFVxDUSBL response received:!U1,R,4E4,000,002B3,189,80,80,B5,FF VFpublishing direction and range infoRًPɰRmb=R7> P)R5CIPyRp}@R"s?EhٱP@5^I ?ktֿp= ף?b> =)IyˡEy&1?~jt?'`e<< :A)UAI1AibAHA%YM%@=Y%))a-#H)1y5}=>I9 E:=!| 5? M:=Uݾ => M?9=x@=V: =:)=:WWX XWX:W2W*WVbUBU*UUU(@R(Combining 5 samples.P*Qp}@ZQL[*(?@ JQ"s?Eh2Qً:QbQ ш?6^ @l(3?RQRF?fY?py~y?BQI? Qe\@QF?PY9?PPQQ_@"Q"@BIBI BIAm*BqAqAqAqAq"Cy*CyRCyCC׉IG>`,IgFAY}^6@}^ @y}^&}^Qā}^H_ z?@ ? c;ſ6?:?)~^6@ ~^B^;I~^CYvt?yv%FTNmea in: $SNTTA,0.026311,,,,231117.20*42    @ @ @ i? ?)A?I?i?-=M-I=Y5"t:QU5>19a=#H99yEL}E>IIM| 5?MVݾ M> U?9MPy@MI: M:)ImmAdded new target pos. range: 3.959999 m, bearing: 61.005897 deg, deltaT: 4.436279 s, approachRate: 0.013525 m/s, LOS rate: -0.685038 deg/s, posRepo size: 4XWI?WX XWX:W2W*WVbUBU*UU @U-?BB) B)A-*B1A1A1A1A9"CE)q?RCACEI?CIIa)e\AAIQGm> Q us:YWU1y:j 69@ 9 I @Fi ? = B; UEC9f,gFAY}6[@}6* @y}6"}6T}6H@~x?@Aȿ X? ϼg?)~6[@ ~6e];I~6CYB?yB̒FIzR=)z=||!M`=Y \  a#Hyp<}>I! -:%| 5? -:%Wݾ %> -?9%jz@%: %:)%:WQWQXQ XQWQXQ:WY2WY*WYVYbUaBUa*UaUaUm 8?BB BA*BAAAA"CI?RCCC IGE= 4> CiQ I i % Vڿٺ) - AIgl,gFAY}V@}V` @y}VKh}VEӽ}VH@ˈj? >@jƿ`?}?)~V@ ~V\;I~VCYb,?ybF-m6only read 3 of 4 data items MA=Ya#H#Hy}>IȱŵI} 5?ŵXݾ Ƶj> ?9Ƶ{@ǵ: ȵk:)ȱWWX XWX:W2W*WVbUiBUi*UqUqUu #?BB BA"*BAAAA"C*CRCCCIG >  ~:YV1y:26Ks,gFAY}6@}6: @y}6N}6w}6HR՜?` W?@Rÿ:? `Ԟ?)~6@ ~6[;I~6CYBg?yBF=$;M=P=YE]'AIaM#HIIyU}U>IY]} 5?]Yݾ ]ح> e?9]|@Y ]:)YWWX XWX:W2W*WVbUBU*UUUE'?BB BA*BAAAA"C*CRCCC?i?IG=܍>9܉I܍Fi܍v?܍=܉܉܍5B; ݍE)Ii4uy,gFAY}2@@}2 @y}2&.}2}>}2H@Cj`z?Rr?f`¿v?yBF tvA D<)IyMb~jthMb`?D; µ?9A)µVVAIµ2AiµM`AHA)= =:MA=YٻQU>a#Hyw}>I :a~ 5? :CZݾ M> ?9}@: :):W!W!X! X!W)X):W)2W)*W)V)bU1BU1*U1U9U=?BaBa BiAm*BiAiAiAiAi"Cq*CyRCyCyCyQIYGu=I  v:Yy6^,qgFAY}6Ѣ@}6[ @y}6_}6G}6Hf@n`C? )z?_@|i¿?>e?)~6Ѣ@ ~6[;I~6CY^*?y^F u u u u@ u@ u@ u@qqqiuq u)uIuiu`MJ=Y"a#Hy}>I 5?Zݾ Ϭ> ?9~@ : \:)W!W!X! X)W)X):W)2W)*W1V1bU1BU1*U9U9U='4@BaBi BiAm*BiAiAiAqAq"Cy*CyRCyCyCIIaG=܅ >9܁ I܅ XFi܅ ?܅ =܁ ܁ ܅ A; ݅ E,dgFAY}By@}B @y}B&}B 0}BHt_ ?Z?[4 ?᥿%?)~By@ ~BN[;I~BCYj?yjFn@AlIp)p~1M~Z=Ya #H  yA}>I %: 5? %:^[ݾ f> %?9R@: :):WIWIXI XIWIXI:WQ2WQ*WQVQbUQBUY*UYUYUe`\5@RmB*** querying acoustic contact ***PiPiBB BAC*BAAAA"C*CRCCCבIG=  ۃ:Yy6);9,?5gFAY}2o@}2 @y}2 }2>}2Hx )?lu?[rG?6?)~2o@ ~2g[;I~2C:Powering up>"Initializing DDM.Y2?ysF%Z****** received transponder code query ******%F****** received ping request ******%99a=#H9AyEe<}E>Iim 5?m \ݾ }tI mܫ> }?9m'@m: m:)iWWX XWX:W2W*WVbUBU*UUU@g @B9B9 B9AEa*BAAAAAAAAa"Ci*CqRCqCqCqaIiG9>ڙ,OgFAY}6@}6 @y}6}6rL}6H`8h@5?bx?R_`¿ ?Q2?)~6@ ~6Z;I~4YB?yBFFFxDUSBL response received:!U1,P 4E4,000,002B3,189,80,80,B5,FF FCommand AckFBRequesting micromodem ping code 2iDDNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 z%M~w=Y đQU?!)a-#H1AyU}]?I : 5? :\ݾ m> ?9@: :):WqWX XWX:W2W*WVbUBU*UUU / @BB BA s*B A A AA"C*CRCCC 191I5Fi5?1115A; 5EIaG:>  3:YWU1y:36)M;Pę,hgFAY}29@}2U @y}2}2l\}2H77? Џ?*ÿ@V? PA@R?)~29@ ~2Z;I~2CYfv?yfbFhɮhzNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B S㥛?Mb:v$> Լ)IyMbp?~jth?+?;D;= @A)KAI5Ai(\A\GAҼM:=Y fQU >a#Hy}}>I!% 5?%\ݾ %> -?9%@%Ǻ: %ٱ<)!WWX XWX:W2W*WVbUBU*UUU8+@BqBq BqAuЅ*BqAyAyAyAy"C*CRCCCשIG (>Iޙ)ޙի,ЂgFAY}2?@}2Y[ @y}2}2/}2H7Zj ??1@Űſ%?㣴ڈ?)~2?@ ~2*[;I~0YB?yBlFFxDUSBL response received:!U1,R,436,000,002B2,189,80,80,B9,FF FFpublishing direction and range infoFpDɰFb=D D)F9CIDyFy@FeL?p ٱD)V= T z z z z@ z@ ~@xxxixx x)xIxix M \=Y $QU>a#Hym:}>I :ڀ 5? :\ݾ b> ?9@: =:):WAWAXA XAWIXI:WI2WI*WqVqbUyBUy*UyUUݷ@R(Combining 5 samples.P*Qy@ZQ/(b@ 65 JQeL?p 2Qp:QbQ <1? e @M/!?RQFK?<f? ?BQǘ? QOe@Q?PX9?PY9?PQQ5@"Q_@BABA BAAE4*BAAIAIAIAI"Cq*CqRCqCqCyiIqG>M  5w:YDW1yY:69@1 91 I5 pFi5 M?5 =1 1 5 A; 5 EZצ,gFAY}VM@}Vנ @y}V!h}V$}VHTL6?`x?$ſ@P:?=~t?)~VM@ ~V^[;I~TYr?yrьFeTNmea in: $SNTTA,0.031592,,,,231121.61*49 ڐM<=YzQU>a#Hy '<} >I 5?\ݾ > ?9@ܹ: :)mMmAdded new target pos. range: 3.899999 m, bearing: 68.387822 deg, deltaT: 4.437181 s, approachRate: -0.013522 m/s, LOS rate: 1.663652 deg/s, posRepo size: 4XIWUǘ?WQXQ XQWQXQ:WY2WY*WYVYbUaBUa*UaUe23@Um@c&?BB BAs*BAAAA"CV?RCCǘ?C׉IG=,ƆgFAY}:@}: @y}:K}:}:HN;~?s? ]9ſ M?@ݯ[?)~:@ ~:([;I~8Y^?ybFI!)%AI!)%A } }  @ @ @ÁÁÁiÁÁ ā)āIāiā0{MQ=Yq]QU>a#H$Hyp}>Iȩŭ 5?ŭ\ݾ ƭd> ?9ƭԀ@ǭ: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU@?BB BA7*BAAAA"C?RCCCIG>R  w:YX1y/:6,5bgFAY}6@}6 @y}6o/}6d}6HIA?^?`\C@"ƿ?" {?)~6@ ~6 [;I~6CYB)?yB[F  ^A=I<=M=P=YEQUE>AIaM#HIIyU;}U>IY e:] 5? e:]]ݾ ]9> m?9]@]: ]^:)]:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"CT?RCCCIG=9IFi?=A; E ,=gFAY}2ҁ@}2\ @y}2:}2`u}2H@2;`E ?@U?2̕ǿ4?@z0`i?)~2ҁ@ ~2[;I~2CYN?yRF:vx&ѿa#Hy}>Iހ 5?8]ݾ U> ?9@: E:)W1W9X9 X9W9X9:W92W9*WAVAbUABUA*UIUIUM?BqBy ByA}7*ByAyAAA"C*?RCCCYimGIi5fտٺ9=.AIQG>  :YT1y:D6,gFAY}:@}:t @y}::>>}:g}:HB? J?3\`qƿ`Ѥ?1L@m?)~:@ ~:$\;I~:CYFu?yFF-%Ponly read 0 of 1 data item for BIT error]MeS=YeQUe>iiau#Hqqy}q;}>Iȉ :ō/ 5? :ōX]ݾ ƍ> ?9ƍ3@Ǎ;?; ȍ),;)ȍ:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"Cɞ?RCCC!i%? IG5 > 9 I i = A; E)YIYiY]=Y]ډ4#,,gFAY}6@}6| @y}6lD}6X}6HnMK?@7? z~Oƿk?p|f?)~6@ ~6bN\;I~6CYv?yveF ii)m> m>!<MF=Y3vQU>a#HyQ;}>IȹŽ 5?Žz]ݾ ƽ4> ?9ƽX@ǽ: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU@1@B)B) B)A-o*B)A1A1A1A1"C=ta?*C9RCACACA׉IG=  n:YV1y:6);9+N,7gFAY}6@}6 @y}6@MR}6r }6H4PCu??@a #H  yֻ;}>I }:с 5? :]ݾ ռ> ?9z@b< :):WWX XWX:W2W*WVbUBU*UUU;l@RB*** querying acoustic contact ***PPBIBI BIAMć*BIAQAqAqAq"C}?RCyCyCiIyG=6,QgFAY}2@}2 @y}2^}2jG}2H Y. г??J gʿ@'?@`6?)~2@ ~2`[;I~2CY^?y^FbZ****** received transponder code query ******bF****** received ping request ******f11a5#H99yEv }E>IIM% 5?M]ݾ M> ]?9M@M; M;)IW!W!X! X!W!X):W)2W)*W)V)bU1BUq*UUU@a @BB BA/*BAAAA"Cǘ?RCCCI \A) IG>q9qIqiqqqquA; uE  k:YDW1yY:26); `,kgFAY}2Q@}2;m @y}2c}21r}2H Bpߡ? *?4Pʿ @?r =0?)~2Q@ ~2s[;I~2CYZ?yZF^xDUSBL response received:!U1,P 436,000,002B2,189,80,80,B9,FF ^Command Ack^BRequesting micromodem ping code 2i``fNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I~4=)~4=Mb@Mb@Mb@ )Iyy&1I +?Mb`?`弹9<;  DA)NAI1AifAJA11=<ME"=YE9QUE>iiam#Hiqyu4}u>Iy :} 5? :}^ݾ }> ?9}1@}; }z;)}:W!W!X! X!W)X):W12W1*W9V9bUaBUa*UaUaUm @BB BA *BAAAA"C*CRCCCIG%>H,_gFAY}6 M?9E@E: E˵:)AWiWiXq XqWqXq:Wy2Wy*WyVybUyBU*UUU:!@BIBQ BQAU*BQAQAQAQAY"CY*CaRCaCaCaiIqG>  :YWU1y:69@m >9i Im 8Fim ?m =i i m B; m E3r,.;gFAY}2DL@}2g @y}2Ws}25}2HC XY? ? Ϳ.?U°`?)~2DL@ ~2#[;I~2CYN?yRFVxDUSBL response received:!U1,R,3E6,000,002B3,189,80,80,9E,FF VFpublishing direction and range infoR^PɰRmb=P P)RCIPyRp}@Rw,?5nppar#Hppyv2:}v>IxzɁ 5?z`ݾ z> ~?9z@z: z:)xW!W!X! X!W!X!:W)2W)*W)V)bU1BU1*U1U1U5@RE(Combining 5 samples.PI*QMp}@ZQMjk|g@֘;JQMw,?5na#H%H y :}>I : 5? %:aݾ '> %?9@g: :):mUiAdded new target pos. range: 3.959999 m, bearing: 71.820826 deg, deltaT: 4.396076 s, approachRate: 0.013649 m/s, LOS rate: 0.780924 deg/s, posRepo size: 4XQWUs?WYXY XYWYXY:WY2WY*WaVabUaBU*UU @U +?BB! B!A-z*B)A)A)A)A)"C5_?RC1C=s?C9!I)GE0>  `:YU1y:6",,gFAY}2@}2# @y}2U}2O=}2H kE?@Y? @ͿO?릿F?)~2@ ~2+[;I~2CYfb?yfF]#S<M]i=YeQUe>iiam#Hiiyum}u>Iy} 5?}aݾ }> ?9}@}: }:)yWWX XWX:W2W*WVbUBU*UUUZ?BB BAU*BAAAA"Cs?RCCCIG=9IXFi?A; E@,GgFAY}2@}26 @y}2}2,'@}2H@Ov?? ο E?@8 ?)~2@ ~2S[;I~2CYN?yReF{Gz?y&1S㥛#>` /ݼ)Iy:v?~jtkt<D 0 AA)VVAI0AipA=NA<MA=YjQU>a#Hyͺ} >I  : B 5? : `ݾ > ?9 l@ : :) :W9WAXA XAWAXA:WA2WI*WIVIbUIBUI*UQUQUU?BB BA*BAAAA"C)*C1RC1C1C1)I1GU>ޙiޝa=a  x:YWU1y:67,ʧgFAY}F@}F @y}FLP}FRz}FH\@r(?Y?'пη?b/?)~F@ ~F0[;I~FCYnZ?yrۋFII    @ @ @i )Iibk<MH=YQU>!!a%#H!)y-}->I15 5?5_ݾ 5> E?95@5k: 5:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUyU}8z?BB BA׆*BAAAA"C*CRCCCשIG> 9 I Fi v? =   A;  EQ,Ԃ gFAY}:|@}:@y}:ꈾ}:z?}:HF6A@? ?`п P? k?)~:|@ ~:0[;I~:CYF2?yF%F=ļM=Y=YEuQUE>AIaM#HIIyU&}U>IY e:]̀ 5? e:]_ݾ ] > e?9]g@]: ]:)]:WWX XWX:W2W*WVbUBU*UUUW@@BB BA!*BAAAA"C*CRCCC1I9GU=g  ؆:Y0Y1y:6)<;9T>zCimGIiU׿ٺAg ,]:gFAY}226@}2Q @y}2ŋ}2׌}2H &P׳?@? u Fѿ HA?@N%@C?)~226@ ~2j2[;I~2CYN?yRF^<MM=YdQU>!!a%#H!)y-w<}->I15 5?5:^ݾ 5?> E?95@5: 5:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUqU}`p@BB BA*BAAAA"C*CRCCC?i?IGe=Iޙ)ޝAAK,9TgFAY}6@@}6 @y}6[}6>}6H^O ?`?1$ѿ f? o?)~6@@ ~62[;I~4YN?yRQFR@AP)^= ^=       @  @  @   i   ) I i ;<MJ=Y_QU>a#Hy<}>IȱŵU 5?ŵM]ݾ Ƶ!> ?9Ƶq@ǵ4: ȵU:)ȱW!W!X! X!W!X):W)2W)*W)V)bU1BUQ*UQUYU]@ReB*** querying acoustic contact ***PaPaBB BA*BAAAA"C*CRCCCܽ>9ܹIܽFiܽE?ܽ=ܹܹܽfA; ݽE)IIIiIM=M=M*4IG>\  h:YW1yč:`6)z;,ngFAY}2 @}2 @y}2Bf}2,}2H&?M?@пT?]`2?)~2 @ ~2k[;I~2CYR?yRFVZ****** received transponder code query ******VF****** received ping request ******Va#Hy(}>Iș :ŝ 5? :ŝ]ݾ Ɲ> ?9Ɲ@ǝ#: ȝ:)ȝ:WWX XWX:W2W*WVbUBU*UUU E @B B BA*BAAAA"C*CRCCCׁIG>)!,gFAY}Nl@}N @y}Nk͌}NoG}NH ??`Y=п`a? ?)~Nl@ ~NQ4[;I~LYZ!?yZFbxDUSBL response received:!U1,P 3E6,000,002B3,189,80,80,9E,FF bCommand AckbBRequesting micromodem ping code 2i``fNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @  @ @éééiéé ĩ)ĩIĩiĩO<M:=YQU>a#HyR}>I8 5?]ݾ > ?9@ϸ: :)WAWAXA XiWiXi:Wi2Wi*WqVqbUqBUq*UyUyU}6 @BB BA%*BAAAA"C*CRCCCIm]A)m]A9IYGZ>  ;o:Yy{69@ܵ >9ܱ Iܵ Fiܵ @ܱ ܱ ܱ ܵ A; ݵ |Ea(,>ʡgFAY}2y@}2 @y}2}2Mُ}2H6 @??`/п3=?bM@Ľ?)~2y@ ~2c,[;I~2CYNV?yRvFPɮR4=bNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I%=)%R=-]A-]AE)Mq=Yf;QU?a#Hy6;}?I :~ 5? :^ݾ  u> ?9&@: :):W!W)X) X)W)X):W)2W)*W1V1bU9BU9*U9U9U=@I@BB BA*BAAAA"C*CRCCCIG>e;.,gFAY}6{@}67 @y}6ш}6z}6H@ ? ,?`пI?@]@[?)~6{@ ~6B[;I~4YB\?yFFJxDUSBL response received:!U1,R,437,000,002AE,189,80,80,A1,FF JFpublishing direction and range infoF qDɰF`=D D)F!CIDyF=j@FD ?FCٱD^P,=M^Y=Ybo``af#Hf&Hdyj9}j>IlnY~ 5?n9^ݾ nh> r?9n]@n: n{:)lWW X  X W X :W 2W*WV!bU)BU1*U9U9UE@RM(Combining 5 samples.PQ*QU=j@ZQU#;@PIJQUD ?FC2QU q:QQbQUcQ?wp @ L?RQU$ݢ?8 Z?C:rP?BQU? QUS@QU?PUX9?PUW9?PQQQQU*%@"QUp#@BB BA*BAAAA"C)*CQRCQCQCaiIqG=\ n gx:Y0Y1y:6#5,ڍgFAY}^g'@}^B @y}^"}^x}^H??D@п`c?@?)~^g'@ ~^H[;I~\Yj??yjF=TNmea in: $SNTTA,0.070569,,,,231130.50*4A    @ @ @ÙÙÙiÙÙ ę)ęIęięHM<=YzEa#HyA}>I :} 5? :|^ݾ Z> ?9@: Z:):mqAdded new target pos. range: 3.660000 m, bearing: 67.561294 deg, deltaT: 4.445702 s, approachRate: -0.067481 m/s, LOS rate: -0.958123 deg/s, posRepo size: 4X W ?W X  X WX:W2W*WVbUBU*UUG @U?B!B1 B1A5*B1A1A9A9A9Q9QIU`FiU@QQQU@; UTE"Cmy?RCiCm?Cqׅ?iׅ?aIiG>J;,\gFAY}>D@}>@y}>}>}>H y7@7?`?5п(?Jf?)~>D@ ~>}[;I~>CY^?y^"F 11"~j?~jth?Mb`S=D; )IyMby&1?~jt`e<D ¹)½VVAI¹i½bxA OA)= >`}<MH=Y a#Hy,P}>I} 5?^ݾ S> ?9ه@{: b:)W!W!X) X)W)X):W)2W)*W1V1bU1BU9*U9U9U=@@?BaBi BiAm*BiAiAqAA"C?RCCCIG>  :YDW1yY:`62B,7 gFAY}6D@}6|`@y}6{}6=?}6H`} IF,?`7K?S dͿ.?t6?)~6D@ ~6~6CY^?y^=FU=MO=Ya#Hyβ}>Iȱ :ŵ~} 5? :ŵG_ݾ ƵoM> ?9Ƶ@ǵ: ȵ:)ȵ:WWX XWX:W2W*WVbUBU*UUU`?B!B! B!A%w*B!A)A)A)A)"C5Ȕ?RC1C1C9QIYG=U >9Q IU (FiU ,@U =Q Q U @; U AE^H,#gFAY}J@}J@y}J+w}JbҼ}JH`"eG?e?M˿ ߘ?^`?)~J@ ~J[;I~HYnx?yna#Hy ,}>IR} 5?_ݾ F> ?9R@g: :)WWX XWX:W2W*WVbUBU*UUU *8?BB BA*BAAAA"C?*CRCCCIG >  {:YU1y:26);9BN,k?yB F ^A ^A=q=M=Q=YEoQUE>AIaM#HIIyU%;}U>IY])} 5?]`ݾ ]s@> e?9]@]: ]w:)YWWX XWX:W2W*WVbUBU*UUU@D<@BB BAS*BAAAA"C?RCCCIG=oU,VgFAY}V@}V4@y}V#u}V}VH`=q vaȯ?``? f+ο` o?`?)~V@ ~Vw&[;I~VCYb?ybhF=)<ME;=YMC;QUM>iiau#Hqqy}:}}>Iȁ :Ņ| 5? :Ņ`ݾ ƅ9> ?9ƅψ@Dž: ȅ#:)ȅ:W>9CIi=o@; &EWXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UYUYUe@BB BA.*BAAAA"C,s?*CRCCCIG-,>  c:YDW1yY:6);H[,CpgFAY}V@ih}V@Itiy}Vi}V}VH`o@qZ?{?j9Ͽ?I-?)~V@ ~V ];-ݿٺ15}AI~VCYE?yEFIM@A]a=i]=57A`? rh?#~j?5>5C > 5=)1I1y5y&1?I +l?5`e<5945= 5AA)5JAI5+Ai5 mA15GIA    @ @ @i )Ii&M3=Y3a#Hy獻}>I2~ 5?_ݾ  ?9c@: +:)W)W)X) X)W)X):W)2W1*W1V1bU1BU9*U9U9U=b@RMB*** querying acoustic contact ***PIPIBiBi BqAuń*BqAqAqAqAq"C}?*CyRCCCaIiG9>IޝAA)ޝ@Aˀb,gFAY}R;@}R@y}R^}Rtн}RH`Fn_rߚ??L$6ο ?@Qr?)~R;@ ~R\;I~RCYb?yfFjZ****** received transponder code query ******jF****** received ping request ******j 5==<M==YE=QUE ?IIaM#HIQyU}] ?Ia m:e  5? m:ep_ݾ ed[> u?9ẻ@e: e:)e:WWX XWX:W2W*WVbUBU*UUU @BB BAx*BAAAA"C*CRCCCIG5=&  A:Y0Y1y:69@>9CIi=>@;  E)݉I݉i݉݉ݍ=ݍt5h,y[gFAY}6@}6Q@y}6Y}6ý}6Hop_?`?1@MͿ6?ڷ"?)~6@ ~6\;I~6CYNg?yRFVxDUSBL response received:!U1,P 437,000,002AE,189,80,80,A1,FF VCommand AckVBRequesting micromodem ping code 2iTTZNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 <MD=Y3a#HyDp}%>I!%/ 5?%^ݾ %On> U?9%Z@%[; %;)!WAWIXI XWX:W2W*WVbUBU*UUU@ @BB! B!A%*B!AaAiAiAi"Cq*CqRCqCqCyaIyG>>n,@gFAY5(?y5F=p=ɮ=p=}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I) % - - -@ -@ -@ -)))i-?) -?)-A?I-A?i-A?=b<M=A=YEQUE>AAaE#HE'HIyU}U>IY e:]H 5? e:]<^ݾ ]7> e?9]@]: ]B:)]:WWX XWX:W2W*WVbUBU*UUU T@BB BA*BAAAA"C*CRCCCaIqG>a s :YDW1yY:6׼u,gFAY}:h@}:@y}:]A}:n}:H ߗ PT? ?[mNȿ?@H`?)~:h@ ~:?[;I~8Y^p?y^rFfxDUSBL response received:!U1,R,4A2,000,002AF,189,80,80,AB,FF fFpublishing direction and range infoba#Hy;}>ܝ>9ܙIܝ`Fiܝ@ܝ=ܙܙܝ?; ݝEIm 5?]ݾ .> ?9u@: :)WWX! X!W!X!:W!2W!*W)V)bU)BUI*UQUQUUS @Re(Combining 5 samples.Pa*Qen@ZQe"4c?37֖ JQe ^V??2Qes{,gFAY}Eۨ@}Ee@y}E 3}E }EHt|Y`\??@ſ`yD?z?)~Eۨ@ ~E2 \;I~ECY]?yeFTNmea in: $SNTTA,0.127072,,,,231134.95*4B L7A`堿&1?QQaU#HQYy]S}e>Ii u:mc 5? u:m"^ݾ m.> u?9m@m: m|:)m:mmAdded new target pos. range: 3.720000 m, bearing: 61.688472 deg, deltaT: 4.511342 s, approachRate: 0.013300 m/s, LOS rate: -1.301791 deg/s, posRepo size: 4XW9Љ?WX XWX:W2W*WVbUBU*UU @U6?BiBi BiAm*BiAqAqAqAq"C}t?RCyC}9Љ?CyIGH>  }:YWU1y:;6΂, gFAY}25@}2Q@y}2O+}2=}2H@LQm??yUÿ ^?`돿 ?)~25@ ~2k\;I~0Yb?ybޒF%p=i%=]>=M]q=Ye* ?9Y@: :)WWX XWX:W2W*W!V!bU!BU!*U!U)U-?BQBY BYA]*BYAYAYAaAa"CmϏ?RCiCiCiiIyG=Iޝ@A)ޝ?Aܝ>9ܙIܝFiܝE?ܙܙܙܝ?; ݝE,%gFAY}R@}R#@y}R*(}Rxa}RH ?{.? ?``Sÿ=?#da?)~R@ ~R˟[;I~PfpDynamic Docking Module:,+121,F!C REMUS Capture Rev 1.1 ɫAI)I MIIYm|?ymF)= =5<M5=Y5;QU5>99a=#H9AyE}M>II e:MY 5? m:MN_ݾ Mna> }?9M@M; M;)M:WWX XWX:W2W*WVbUBU*UUU@?B B BA%*B!A)A1A1A9"CU9Љ?RCYCaCi-E ))- -}:Y)y)-W6)-;95I)GE>",|?gFAY}6@}6+*@y}6 $}672}6HE>??FlhĿy?ю?)~6@ ~68[;I~6CɫYY)Y YIYY?yF M U U U@ U@ @QQQiQQ Q)QIQiQ9;M=YT ?9ƵP@ǵ: ȵ0:)ȱWWX XWX:W2W*WVbUBU*UUU n?B!B! B)A-*B)A)A)A1A1"C1*C9RC9C9C9iIyG>k ,WZYgFAY}J6@}J@y}Jݼ!}J|3}JH%?@J=? ?ſ"?`B?)~J6@ ~JT[;I~JCɫ髹) IY?y8FA9ECIEFiEv?E=AAE?; EEJ;MK=Y;QU>a#Hy@}>I)- 5?-J`ݾ -E> =?9-΍@-: -:))WyWyXy XyWyX:W2W*WVbUBU*UUUQ@BiBq BqA}q*ByAAAA"C*CRCCC׹I=i=.  t:YDW1yY:6);Gj><,SsgFAɫ) IY% ?y% FI=)=q= ףp?(\ſ~jt?=. =)IyZd;OI +Mb?j9@= ?A)JAI1Ai^AFAYY    @ @ @áááiáá ġ)ġIġiġ M8=YQU>a#Hy}>I :: 5? :`ݾ QY> ?9K@4: F:):WWX  X W X :W 2W *WVbUBU*UUUe@BABI BIAM*BIAIAIAQAQ"CY*CYRCYCYCaqIyG;>,gFAY}V"@}V@y}V}V{ν}VHC@BD)?߿ƿ ? n`F?)~V"@ ~V\;I~VCɫyy)y yIyY?ygFAAV<Mm=Y=QU?a#H y } ?Iȉō# 5?ōaݾ ƍi> ?9ƍ@Ǎ: ȍk:)ȉWWX XWX:W2W*WVbUBU*UUU`jy@RB*** querying acoustic contact ***PPBB BAƃ*BA A A A "C*CRCCC IG5 >|  z:YX1y/:`69@=>99I9i9999=?; =EF,gFAY}2^@}2@y}2N}2Ꙫ}2Hn. x*=? ,߿ ]Ŀ??)~2^@ ~2IU[;I~2CɫYY)Y YIYY}x?y}FZ****** received transponder code query ******F****** received ping request ******))a-#H)1y= }=>IA M:E( 5? M:Ecaݾ E|> U?9E!@E: E;)E:WIWQXQ XQWQXQ:WQ2WY*WYVYbUYBUY*UaUaUe @BB BAO*BAAAA"C*CRCCC ?i?IG )>54>1inGIiAۿٺAIAA)@A<1,gFAY}FT@}F@y}F8 }FѦ}FH9Ԕ@? FĿ&k??)~FT@ ~F!rb;I~FCɫyy)y IY?ypFxDUSBL response received:!U1,P 4A2,000,002AF,189,80,80,AB,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )%= %=-Ponly read 0 of 1 data item for BIT errorUXMU8=Y]aa#H(Hy6;}>IZ 5?aݾ È> ?9@< ~<)WWX X!W!X!:W!2W!*W)V)bU)BU)*U)U1U5` @BB BAƒ*BAAAA"C*CRCCCz  z:YWU1y:I1Gew>D6X,AgFAY}:@}:I@y}:}:RS}:HA@?>?0`I1?-f?)~:@ ~:Uj;I~8ɫ99)9 9IAY}?y}&FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 9IFi1?=?; E)uCIuCiqqu=uL4&<MU=Y{a#Hy::}>I 5:U 5? =:bݾ &> E?9 @ < ><):W1W1X9 X9WAXi:Wq2Wy*WVbUBU*UUU%ec@ByB BAx*BAAAA"C*CRCCCI!GEs>",gFAɫ髱) IY?yKFxDUSBL response received:!U1,R,502,000,002AD,189,80,80,B3,FF Fpublishing direction and range infof3ɰu`= )3CIyff@w?amf-ٱ%dNmea in: $SNTTA,0.030726,0.175083,,,231139.43*5A I!)!ʡE?Sÿ ףp= ?= Q8=)Iy rh?L7A`堿MbpC<+ •;A)•OAI•5Ai•O[A GA    @ @ @i )Ii{;M-=YQU>a#Hy}>I 5?Gaݾ "> ?9@f: w:)W W X  X WX:W2W*WVbUBU*U!U!U% @R5(Combining 5 samples.P1*Q5ff@ZQ5xP^B(?0B JQ5w?amf-2Q5f3:Q1bQ5$&h?T~ǝ@4Ҷ?RQ54 @?:]!w?LW?BQ5R{? Q5>@Q5?P5Z9?P5Y9?P5Q1Q5=@"Q5@BiBi BiAmi*BiAqAqAqAq"Cy*CyRCyCyCqIG]>=i=t  Qz:Yy6;k,VgFAY}2F@}2b@y}2Q}2}2H३8?2g?B >? ǔ@ ?)~2F@ ~2ثg;I~2CɫYY)Y YIYYx?yF ]A ^A5!<M==Y=, ]?9U@U: UI:)QmqAdded new target pos. range: 3.599999 m, bearing: 56.248503 deg, deltaT: 4.504266 s, approachRate: -0.026642 m/s, LOS rate: -1.207737 deg/s, posRepo size: 4XWR{?WX XWX:W2W*WVbUBU*UU @U@yt?BqBq BqAuO*BqAyAyAyAy"C ?RCCR{?CׁIG>>9IXFi?>; UE,7(gFAY}F@}F@y}F}FXp}FH Ɛ?R?B[¿?`AЭ/?)~F@ ~Fsc;I~FCɫqy)y yIyYn?yF<MD=YMQU>a#Hy<}>Iȱ :ŵW 5? :ŵ_ݾ Ƶ> ?9Ƶ}@ǵ: ȵ:)ȵ:WWX XWX:W2W*WVbUBU*UUU`z?BB! B!A%*B!A!A)A)A"C?RCCCשIG-->  m:YX1y/:6)%;9f|, BgFAɫ髙) IYL?yoF9i=%=    @ @ @ñññiññ ı)ıIıiı)<MG=YQU>a#Hy}>I 5?<_ݾ  >  ?9@<; (;)WAWAXA XAWAXI:WI2WQ*WQVQbUYBUY*UYUaUe@j?BB BAZ*BAAAA"C%R{?RC!C!C)IG)I@A),[gFAY}6E@}6-a@y}6}6^[}6H_p tȡ@^%?`4 ÿ ?l?4@(?)~6E@ ~6N_g;I~6Cɫyy)y yIܩ9ܩIܭFiܭa?ܩܩܩܭ>; ݭAEY?ypF) > >]M]B=Ymfa#Hy <}>II ]:Mŏ 5? ]:Mo^ݾ MI> ]?9M@M\: M:)M:WWX XWX:W2W*WVbUBU*UUU ?B!BA BAAEƒ*BAAIAIAIAI"CQ*CQRCQCQCYYIiGZ>n   :YV1y:)6);(,+ugFAY}6T@}6Gp@y}61}6:3Ž}6H`y`m`L%?2ÿ ?l?)~6T@ ~6'c;I~4ɫ99)9 9I9Y?yFv/?S㥛v/?xi=/ݼ xi=)Iy{Gzt{Gzt?y&1|ףף;` ‰)NAIE4Ai\AFA    @ @ @i )IiuqM}H=Y}-a#Hy;}>Ișŝ 5?ŝ^ݾ Ɲ> ?9Ɲ@ǝ; ȝį;)șWWX XWX:W2W*WVbUBU*UUU@?B)B1 B1A5 *B1A1A9A9A9"CA*CARCACACI!I1GM1> ,RgFAY}:`w@}:@y}:8}:Pd}:H7@eI"? L=ÿ7?9o?)~:`w@ ~:_;I~8ɫ9A)A AIAY}?y}FIY)Y<MX=Y;QU>a#Hy;}>I : 5? :^ݾ .> ?9@s: :):WWX XWX:W2W *W V bUBU*UUU]@BABA BAAE*BAAIAIAIAI"CQ*CYRCYCYCYIu\A)u\AiIqG>i%=F  v:YDW1yY:69@ܝ>9ܙIܝXFiܝ?ܙܙܙܝ>; ݝ/Ek,ygFAɫ  )  I YMg?yMFIM@Aae]AuMu1=YuQUu>yya}#Hyy}>Iȉō 5?ō^ݾ ƍL> ?9ƍ@Ǎ0: ȍk:)ȉWWX XWX:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBB BA*BA A A A "C*CRCCCI G-N>U,TgFAY}6@}6s@y}6}6ț}6HHj ? H"?`R??)~6@ ~6v\;I~6Cɫ99)9 9I9Y]v?y]FmZ****** received transponder code query ******mF****** received ping request ******ma#H)Hy$<}>I  : 5? m:^ݾ ފ> u?9ђ@c< d<):WWX XWX:W2W*WVbUBU*UUU@ @B1B1 B9A=*B9A9A9A9A9"Ca*CiRCiCiCi!I1GU1> ~~ :YT1y@:h60,.gFAY}:4@}:@y}:齙}:}:H˶ EBF?0 ?ٳ 6`&??)~:4@ ~:,c;I~:CɫAA)I III]>9YI]Fi]a?]=YY]D>; ]EY}?y}UFxDUSBL response received:!U1,P 502,000,002AD,189,80,80,B3,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 u>MR=Ya#H)y]}e>Ișŝ~ 5?ŝ_ݾ Ɲ3> ?9Ɲ@ǝ; ȝ;)șWWX XWX:W2W*WVbUBU*UUUq @BB BA5*BAAAAAAAAI"CI*CQRCQCQCQaIyG^>IAA)iU nGIi iy ٺ ZA,J gFAɫyy)y yIyYk?y FɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B kt/$?a#Hy}>Iȑŕ 5?ŕ-_ݾ ƕ> ?9ƕ@Ǖk< ȕ<)ȑWQWQXQ XYWYXY:WY2WY*WVbUBU*UUUU3@BB BAS*BAAAA"C*C RC C C 9 }} u:YkS1yԊ:6IG5p>%,gFAY}6@}6P@y}6}6:Լ}6H}Ik?`!?`ʢ? M?)~6@ ~6Ka;I~6CɫYY)Y YIYYy    @ @ @i )IiY6QU?a#H!y%9a}%?I) 5:-3 5? 5:-=_ݾ -Ё> =?9-/@-: -:)-:WYWYXY XYWaXa:Wa2Wa*WaVibUiBUi*UiUiUuh@BB BA*BAAAA"C*CRCCC IG5 >E>9AIEFiE?AAAE>; EE)ݱIݱiݱݱݵ=ݵ% 5}7 ,'*gFAY}f`@}f@y}f}fR}fH Џo^י? ?I*??)~f`@ ~f1n^;I~fCɫ) IY ?y F%DNmea in: $SNTTA,,,,,231143.86*56 I)))UM]aaae#Haiyu}u>IȁŅ 5?ŅP_ݾ ƅ{> ?9ƅW@Dž; ȅCE;)ȁWWX XWX:W2W*WVbUBU*UUU @BB BA*BA!A!A!A!"C)*C)RC)C)C1I!G=/>=ia=  9~:YV1y:6);9+,NDgFAY}:_,@}:G@y}:u}:!}:He`u ?,?b@.c? N?)~:_,@ ~:\;I~:Cɫ99)9 AIAY}4?y}MFAA±µ^AMU=YV>a#Hy}>I }: 5? }:c_ݾ t> }?9{@(: G:):WWX XWX:W2W *WVbUBU*UUU @BaBi BiAm*BAAAA"C*CRCCCׁIG>DC,Sv^gFAY}6@}6@y}6m}6޼}6HQ_~?W9? Y`|G?x?)~6@ ~6*`;I~6Ct9tIv8Fiv?tttv=; vEɫ髉) IYz?yF u u u u@ u@ u@qqqiqq q)qIqiq<M1=YC:QU>a#Hy>Ի}>Iȡť_ 5?ťz_ݾ ƥ!k> ?9ƥ@ǥ4: ȥM:)ȡWWX XWX:W2W*WVbUBU*UUUs@RB*** querying acoustic contact ***PPBqBq ByA}O*ByAyAyAyAy"C*CRCCCסIGA>  u:YT1y:6)a;m,SxgFAɫyy)y yIyY?yF=iR=~jt?T㥛 ?S㥛D<> /ݼ)Iy/$~jty&1?ļ`< …?A)…/MAI…5Ai…+WAFA=MZ=YQU>a#Hy}>Iȹ :Žf 5? :Ž_ݾ ƽu> ?9ƽ@ǽ: Ƚ:)Ƚ :WWX XWX:W2W*WVbUBU*UUUS @B)BA BAAEń*BIAIAIAIAI"CQ*CQRCYCYCYaIiG9>I@A)AAV$,/3gFAY}6+@}6@y}6l }6k}6H AWv? O? e¿`s?H(?)~6+@ ~6}$a;I~6Cɫ99)9 9I9Yu?y}Fyɮ}a=)M= M>mMuM=YuQU}>yya#Hy+<}>Ișŝz 5?ŝ_ݾ Ɲ> ?9Ɲ{@ǝ(; ȝM;)șWWX XWX:W2W *WVbUBU*UUUQ@BaB BA1*BAAAA"C*CRCCCיIGA>  :YDW1yY: 69@>9IiOD=; Eu*,gFAY}:$@}:@y}:}:h>W}:H`k\^?@?@¿`@ ? ڟ?)~:$@ ~:jw^;I~8ɫ99)9 9I9Y}?y}F    @ @ @i )IiJe;MS=YGQU>a#Hy4;}>I 5?`ݾ D> ?9@`: :)WYWYXi XiWqXq:Wq2Wq*WqVybUyBUy*UyUyU >@BB BA&*BAAAA"C*CRCCCIGE>Ng1,gFAY}6\@}6@y}6.}6ݩ}6H/@X@]?@?@l`?Ŀ G?@Z`?)~6\@ ~6У\;I~6Cɫ99)A AIAYyyyxDUSBL response received:!U1,N,80,80,63,E4 D,189,80,80,B3,FF ZNo reply:!U1,N,80,80,63,E4 D,189,80,80,B3,FF -QYa]#H]*HayeŢ;}e>Iq }:u 5? :uP`ݾ u> ?9uX@u&D; uZ;)u :WWX XWX:W2W*WVbUBU*UUU`t@B9BI BIAI*BIAIAQAQAQ"CY*CYRCYCYCa!I1GM1>i=  l:YV1y: 6y7, gFAN>9LILiLN=LLNm=; NEɫ) IYm?yF))=@5^I ?kt=b>=̼ = 0)9I9y={GzX9vMb`?=ף==; =?A)=NAI=E4Ai=]A9=HAQU]A]ϻM]iiam#Hiqyu}u>Iy} 5?}X`ݾ }Ê> ?9}ݕ@}4: }:)yWWX XWX:W2W*WVbUBU*UUU@BB BAR*BAAAA"C*CRCCCIG(>=,ӟgFAY}2@}2@@y}2!}26'p}2H`Wv_>??wx`~ÿL?`?)~2@ ~24b;I~0ɫ99)9 9I9Yu?y}F    @ @ @ÑÑÑiÑÑ đ)đIđiđKMW=Y3a#Hy}>I :5 5? :_`ݾ > ?9Q@ 2; F;) :W!W!X! X!W!X!:W2W*WVbUBU*UUU+ @BB BA*BAA!A!A!"CI*CIRCICICQ!I)GM0>  :YyW6hD,XtgFAY}:o@}:@y}:2@}:4}:HҤMsѣ?`?`E¿!?`-_@;?)~:o@ ~:Ab;I~:Cɫ99)9 9I9Y?y*F=i=<M[=YɻQU>a#Hy<}>I\ 5?d`ݾ > ?9@p: E:)WWX XWX:W2W*WVbUBU*UUUV @RB*** querying acoustic contact ***PPB1B1 B1A5*B9A9A9A9A9"CA*CARCACACIIIQGm>܅>9܁I܁i܁܅=܁܁܅"=; ݅eEI)J,fO-gFAY}6@}6@y}6}6t'}6H¯> ?+?`g¿@Ȍ?`m?)~6@ ~6}m`;I~6Cɫaa)i iIqYT?yFZ****** received transponder code query ******F****** received ping request ****** =>mT>iUnGIii}M1=ٺ)AYQU>a#HyK;} >I %:ٚ 5? %:j`ݾ > M?9Q@ ; ;) :WWX XWX:W2W*WVbUBU*UUU!@BiBi BiAm*BiAqAqAqAq"Cy*CyRCyCyCיIGb>H w v:YW1yč:|6Q,0GgFAY}FC @}F;@y}F^&}FV!}FH vU<Ȣ?@?:Ŀ^?`͍?)~FC @ ~F^;I~FCɫ!!)) )I)Ye?yeOFmxDUSBL response received:!U1,P 80,80,63,E4 D,189,80,80,B3,FF uCommand AckuBRequesting micromodem ping code 2iqq}Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 +<M,=YRQU>a#Hy(;}>IO 5?o`ݾ > 5?9@; !;)W!W!X! X!W)X):W12Wq*WyVybUBU*UUU<"@BB BAp*BAAAA"C*CRCCC I G5 >W,agFA >9IFi?=<; ?E)sIsis{={={5Y}l4@}O@y}3}}H+G?౵?yȿ a?Mf?)~l4@ ~ _;I~Cɫ)))) )I)Ym?ymЍFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)a i@a  a m@a  a q @a  a e @a  PIMT=Y QU>!!a%#H!!y-DT;}->I1 =:5z 5? =:5u`ݾ 5$> =?95Q@5z: 5o>)5 :WaWaXa XaWaXa:Wi2Wi*WiVibUqBUq*UqUqU}h#@BB BA *BAAAA"C*CQRCQCQCY=i=  l:YT1y:D6);9qIG> ^,zgFAɫyy)y yIyY?yFxDUSBL response received:!U1,R,4B0,000,002B1,18A,80,80,A5,FF Fpublishing direction and range info ɰa=> )%CIyu@F?B*zٱ^A5?;M5=Y=QU=?9AaE#HAAyM}M?IQUp 5?Uz`ݾ UK> ]?9U@U\: U7/?)QWWX XWX:W2W*WVbUBU*UUU@$@R(Combining 5 samples.P*Qu@ZQ-sQ?̪Ų JQF?B*z2Q :QbQ|Q?Nc @$ 9߲T?RQMRɉ?Ԅ?B"?BQ? Q}T@Q?PPZ9?PQQ@"Q=@BB BA*BAAAA"C*CRCCCiIqG>d,gFAY}2A@}2 ]@y}2v;}25s}2H?w?AAaM#HIIyU+;}U>IY] 5?]`ݾ ]R> e?9])@]: ]k?)YmmAdded new target pos. range: 3.839998 m, bearing: 61.106950 deg, deltaT: 10.015687 s, approachRate: 0.023962 m/s, LOS rate: 0.485084 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UU Q@Uh?BqBy ByA}%*ByAAAA"Cײ?RCC?C)!I1GM1>% >9%CI!i!%=!!%<; %$E  |:YV1y:)6);k, gFAY}23!@}2<@y}2C}2μ}2H`8E??B WƿCT? =]h?)~23!@ ~2sa;I~2Cɫ99)9 9I9Y}?yFDNmea in: $SNTTA,,,,,231149.61*55 =i> = = = =@ =@ =@999i99 9)9I9i9U_<MU:=YUQU]>YYa]#H]+Haye咻}m>Iqu 5?u`ݾ u> }?9u@u: u?)qWWX XWX:W2W*WVbUBU*UUU ?BB BA*BAAAA"C?RCCC?i?IG$>I)r,vgFAY}V@}V@y}V.Q}VTU}VH@&i f ??`r|ɿ@M? J?)~V@ ~V=];I~VCɫ髁) IY?yF)-= -=uMuZ=Y};QU}>yya}#Hy}>Iȑŕ< 5?ŕ`ݾ ƕ> ?9ƕ @Ǖ: ȕ?)ȑWWX XWX:W2W*WqVqbUqBUq*UyUyU}e?BB BA*B!A)A)A)A)"C5邉?RC9C9CAYIiG8>  q:YWU1y:V69@/x,VgFAm >9mCImFima?m=iimb<; mEY}@@}+@y}l-W}g}H @~ U?`? [mRȿ? CI?)~@@ ~Z\;I~CɫQQ)Q QIQY?yFa ia i a ma m a qa q a ea e QʡE?n\= V)Iy~jt?I +?~jt<9< ­7CA)­^LAI­1Ai­GeAIA%!M6=Y#VQU>a#Hy1}>I : 5? :T`ݾ > ?9@{: b:):WWX XWX:W2W!*W!V!bU!BU)*U)U)U-ݨ?BQBY BYA]*BYAYAaAaAa"Cm?*CiRCiCiCqYIiG9>W~,x(gFAY}F`@}F@y}FAb}F=2}FH@ @.?? AQ@&ɿ@s ?]@7?)~F`@ ~F:2d;I~Dɫ髙) IY?y5F    @ @ @ÑÑÑiÑÑ đ)đIđiđ֡<M_=YQU>a#Hy߻}>I) 5?(`ݾ „> ?9@; ;)WWX XWX:W2W!*W!V!bU)BU1*U1U1U=`1N@ByBy ByA}J*BAAAA"C?RCCCI׹)׽]AשIG#>=ia=F  v:YT1y:6?,gFAY}F@}FJ@y}FKl}Fe$}FH>߿`@B??/`6˿F?@"?)~F@ ~Fpd;I~FCɫyy)y yIyY?yFI=)=  5M=R=Y=μQU=>AAaE#HAIyMu }M>IQ ]:U+ 5? ]:U_ݾ Ú> e?9UU@Uw: U:)U:WWX XWX:W2W*WVbUBU*UUU@=@BaBa BaAe*BaAiAiAiA"C*CRCCCסIG > >9I Fi?=<; ECn,/gFAY}:V@}:@y}:0q}:[Q}:H߿oa??` ߿`|Ϳ?~y?)~:V@ ~:`;I~:Cɫqq)q qIqYZ?yۋFkϼMP=YbQU>a#Hy^T}>I. 5?_ݾ }> ?9@: :)W!W!X! X!W!X!:W)2W)*W)V1bU1BU1*U1U9U=@REB*** querying acoustic contact ***PAPABaBi BiAm׆*BiAqAqAqAq"Cy*CyRCyCyCaIyG= q wq:YV1y:66R,MIgFAY}6@}6@y}6qx}6}6H߿ VƬ?޳?߿foϿ?*?)~6@ ~6];I~4ɫ99)9 9I9Y]?y]>FeZ****** received transponder code query ******eF****** received ping request ******ea#Hyl;}>I  : 5?  :_ݾ v> ?9)@: 3:):W1W1X1 X1W1X9:W92W9*W9V9bUABUA*UAUAUM @BqBq BqAuG*ByAyAyAyAy"C*CRCCCiIqG>I)?A >9 I Fi 1? = ;; Ec~, cgFAY}ff@}f@y}fb]x}f@}fH?߿g˶??๕߿`%п`?`϶`?)~ff@ ~f\;I~fCɫ) IY5?y5F1ɮ1=xDUSBL response received:!U1,P 4B0,000,002B1,18A,80,80,A5,FF =Command Ack=BRequesting micromodem ping code 2i9AMNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 /$?Mby&1?1> `e<)Iy+I +V-9 ¥;CA)¥NAI¥,Ai¥?A)= =틼M"=YN:QU>a#Hy<}>I 5?_ݾ [d>  ?9͜@: :)WQWQXQ XQWqXq:Wy2Wy*WyVybUyBU*UUU@ @  N:YDW1yY:(6);9 imGIiEٺAEABQBQ BQAU*BQAYAYAYAY"Ca*CaRCaCaCa Iq G >,Xp}gFAY}6Ą@}6N@y}6cu}6}6H`߿[FQ??{߿@aο sa?+S?)~6Ą@ ~6/z^;I~4ɫYY)Y YIYY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U§M]=Y]& ?9/@: w:)W!W!X! X!W)X):W)2W)*W1V1bU1BU1*U1U9U=;@BaBa BiAm*BiAiAiAqAq"Cq*CyRCyCyCyIIYG>Ս,KgFAY}2@}2)@y}2y}2/}2H߿@԰`PJ??Z߿ο ?"@?)~2@ ~2d;I~2CɫYY)Y YIYYo?y#FxDUSBL response received:!U1,R,502,000,002B0,188,80,80,B3,FF Fpublishing direction and range infof3ɰqa=鰥> )3CIyq@w?amf-ٱI)    @ @ @i )Ii%=M%N=Y% 1QU->))a-#H)1y=9<}=>IA M:EƠ 5? M:E~`ݾ EK> M?9E@Ep: E:)E:WiWqXq XqWqXq:Wy2Wy*WyVybUBU*UUU@@R(Combining 5 samples.P*Qq@ZQE5j?.\Ux3 JQw?amf-2Qf3:QbQ1@6K~@2p?RQ ?go:?iQ?BQ,)w? QMD@Q@P[9?PPQQ@"Q@BB BIAMR*BQAQAQAQAQ"CY*CaRCaCaCq׉IG>u >9uCIu@Fiu?u=u:Dqu;; uE)Ii==hC6i=Q  w:Y0Y1y:W6);N,1(gFAY}2@}2?@y}2l}2p&}2Hc߿?%?߿{Ͽ?ഈ`H?)~2@ ~2b;I~2Cɫ99)A AIAYe?yeFTNmea in: $SNTTA,0.062417,,,,231153.99*41 uX<MuE=Y}YQU}>yya}#H,HyC;}>Iȑŕ 5?ŕ`ݾ ƕ;> ?9ƕ/@Ǖs: ȕ:)ȑmqAdded new target pos. range: 3.779998 m, bearing: 55.317470 deg, deltaT: 4.441913 s, approachRate: -0.013508 m/s, LOS rate: -1.303375 deg/s, posRepo size: 4XW,)w?WX XWX:W2W*WVbUBU*UU o=@U }?BYBY BYA]*BYAaAaAaAa"C?RCC,)w?CiIqG>՟,gFAY}:P @}:&@y}:4}:4}:H߿@ ?@V?߿gп`??)~:P @ ~:2_;I~:Cɫ99)9 9IAY}%?y}F=EM=N=YE]QUE>AAaM#HIIyUx;}U>IY e:]G 5? e:]$aݾ ]"-> e?9]@]N: ]E:)]:WWX XWX:W2W*WVbUBU*UUU?BB BAd*BAAAA"C:?RCCCIG >/  t:YxZ1yq:69-@܉ 9܉ I܉ i܉ ܍ =܍ ;D܉ ܍ 8;; ݍ cE͸,gFAY}6O@}6%k@y}6}}6}6H̘7?†? @Ͽ d?s_?)~6O@ ~6߱];I~6Cɫ11)1 9I9Yu?yu?F=ie&1?:v?y&1?eP=e= e`<)aIayeQ~jt?y&1|eueD=e` e@A)eXQAIe-AiepAae(LA 5 5 5 5@ 5@ 5@111i11 1)1I1i1E਼ME:=YMh;QUM>IQaU#HQQy]<}]>Iae٢ 5?ebݾ e!> m?9e@e: e:)aWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C|?RCCCIG$>I)AA,gFAY}2g@}2@y}2ʯy}2(ϗ}2H#@ଯ? ?`IAϿ?e`?)~2g@ ~28\;I~2Cɫ99)9 9I9Y}g?y}YF)= > 5 5 5 5@ 5@ 5@111i11 1)1I1i1Ee=ME]=YM.IIaU#HQQy]u};}]>Ia m:e} 5? m:emdݾ ey> m?9e@e: e:)e:WWX XWX:W2W*WVbUBU*UUU?BB BAԅ*BAAAA"C,)w?RCCCIIYG>  :YDW1yY:6>,ygFAY}:M@}:h@y}:.w}::}:Hm`ĵ??E4Ϳ`?@h ?)~:M@ ~:b;I~:Cɫ99)9 9I9Y}?y}FE7MEK=YE;QUE>IIaM#HIQyU3}U>IY] 5?]fݾ ]> m?9]@]C: ]:)YWWX XWX:W2W*WVbUBU*UUU+@BB BA*BAAAA"C*CRCCCIG>9CIFiE?=:; @ER ,{2gFAY}5N@}5ة@y}5rAw}5'}5H{6`jp??ej{̿ ?` ?)~5N@ ~5*c;I~5Cɫ ) IYg?yYFI) E E E E@ E@ E@ EAAAiE?A EA?)EK?IE&?iE&?U,(<M]:=Y] N:QU]>aaae#Haiym9<}m>Iq }:u 5? }:ugݾ uv> ?9u@u: uE:)u:WWX XWX:W2W*WVbUBU*UUUɱ@BaBa BiAmԅ*BiAiAqAqAq"Cy*CRCCC׹IGF>=i=  :Y0Y1y:M6,ILgFAY}6@}6B@y}64q}67}6H\ u?qw? 2[EϿm?| y?)~6@ ~6F`;I~6CɫII)I IIIY}?y}F@A^A™<Mk=YV ;)Iy:v?y&1Q?T<`eu< 7CA)I‰iqAKAM;=Ya#HyT}>I 5?hݾ > ?9@Q: :)WWX XWX:W2W*WVbUBU*UU U `G @BB BA*BAAAA"C*CRCC)C1iIGA>  ݁:YxZ1yq:06);9B,mgFAY}2@}2h@y}2N\}2}2HĠ1? ?߿ vP̿ S?ʲ ,?)~2@ ~2B];I~2Cɫ99)9 9I9Y}2?y}sFxDUSBL response received:!U1,P 502,000,002B0,188,80,80,B3,FF Command AckBRequesting micromodem ping code 2ii=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 5 5 5 5@ 5@ 5@ =@111i51 5)5I5i5s8<M *=Y ɍa#Hy}>IA M:Eӡ 5? M:Ehݾ E& > U?9E֣@Es: E:)E:WWX XWX:W2W*WVbUBU*UUU` @BQBQ BqAua*BqAAAA"CI)?A*CRCCC!1I9GU>*,ڙgFAY}2j@}2@y}2[FV}2n}2H߿ <??K߿ Ju˿@ݖ?˱ 9?)~2j@ ~2ݢ\;I~2Cɫ99)9 9I9Y?yWF鮥p=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )%> %=U=M]=Y]Ș }?9u@u÷: u4:)qWWX XWX:W2W*WVbUBU*UUU@-@BB BA*BAAAA"C*CRCCC׉Iܽ>9ܹIܽНFiܽE@ܽ=ܹܹܽ:; ݽEG$>1  :Y0Y1y:N6); ,w,HgFAi I"_Ai,FٺF_AFDAY}~bE@}~`@y}~XL}~H}~H Z߿@? 5? ߿ɿd? 曨S?)~~bE@ ~~`d;I~~Cɫ) IY-R?y-_F5xDUSBL response received:!U1,R,502,000,002B2,189,80,80,B7,FF 5Fpublishing direction and range info11ɰ5b=57> 1)57CI1y5y@5w?amf-ٱ1    @ @ @ÙÙÙiÙÙ ę)ęIęię=<MA=Y9a#H-HyO}>I :9 5? :gݾ > ?98@R: :):WWX XWX:W2W*WV bU BU *U U U@R(Combining 5 samples.P!*Q%y@ZQ%=A?a;% JQ%w?amf-2Q!:Q!bQ%fPϙ@lQp @F<5?RQ%(>X ?Dr#?m_?BQ%/w? Q%K@Q% @P!P%[9?P!Q%Q%@"Q%@BQBY BYA]*BYAYAYAaAa"Ci*CiRCiCiCqIG(>=,gFAY}f@}f+@y}fD}f P@}fH@^߿ ;`4?`+?߿b!ȿ`/p?r`?)~f@ ~fa;I~fCɫ) IYU?yUFDNmea in: $SNTTA,,,,,231158.41*57 I) CL=MH=Ya#Hy%}%>I)-s 5?-gݾ -<"> 5?9-o@-: -÷:))meiAdded new target pos. range: 3.899999 m, bearing: 55.323016 deg, deltaT: 4.470477 s, approachRate: 0.026843 m/s, LOS rate: 0.001241 deg/s, posRepo size: 4XaWm/w?WiXi XiWiXi:Wq2Wq*WqVqbUyBUy*UyU}23@U}?BB BA*BAAAA"C/w?*CRCC/w?CשIG">i=n  y:YV1y:69@ 9 I i = :; E)݁I݁i݁݅=݅=݅X5f,ngFAY}6N@}6nj@y}6=}6u}6H߿l:?%? Y߿ ɿ்?a=`W?)~6N@ ~6i"_;I~6Cɫ99)9 9I9Yu?yuՒFu:v?@5^I ¿Dl?uTA)uOAIur.AiugAquHA…]A…]AјMS=Ya#Hy "<}>Iȩ :ŭw 5? :ŭgݾ ƭ> ?9ƭҤ@ǭE: ȭ:)ȭ:WWX XWX:W2W*WVbUBUi*UiUqUu@?BB BA*BAAAA"C*CRCCCIG$>"N,GgFAY}:Dn@}:Ή@y}:;/}:?}:H߿@YUL/?`"߿ʿ)?R?)~:Dn@ ~:b];I~:Cɫ99)9 9I9Y}~?y}{F u u u u@ u@ u@qqqiqq q)qIqiq.MK=Y =QU>a#Hy;}>Iȩŭ 5?ŭgݾ ƭ> ?9ƭ;@ǭ\(; ȭQ;)ȩWWX XWX:W2W*WVbUBU *U UU?8?BQBQ BQAU*BYAYAYAYAa"Ci*CqRCqCqCy IGU1>  0:Yy6x,%gFAY}6F@}6ab@y}6 !}65ֽ}6H@߿_Y#I?r7߿ǿ@? ?e`n?)~6F@ ~6}^;I~6CɫYY)Y YIYYE?y0F=ia=5a=M5P=Y==QU=>9AaE#HAAyMȻ}M>Iȩ :ŭ 5? :ŭ}gݾ ƭ > ?9ƭ@ǭ: ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUUh?BB BA܃*B!A!A!A!A!"C)*C)RC1C1C1E?iE?U>9QIU@FiU?QQQU:; UEaIG>IAA)@AJ ,4gFAY}6@}6 @y}6g9}6qw}6H%`؟Г?3?߿?wſ,T?U?)~6@ ~6˧c;I~6CɫII)I IIIY}T?y}9F)=  5 5 5 5@ 5@ 5@111i11 1)1I1i1E :MEI=YMeIIaU#HQYy]<}e>Iim 5?mwgݾ m`> u?9m @m7= mi=)iWaWaXa XaWaXa:Wi2Wq*WqVqbUyBUy*UUU@N  Iw:Yy6BB! B!A%؃*B!A!A!A)A)"C)*C1RC1C1C9IG=>?,NgFAY}6T@}6o@y}6L}6;}6Hm`uy? 8?`<6ĿZY?6 ґ?)~6T@ ~6ed;I~4ɫ99)9 9I9Y?yFU1=M]I=Y]aaae#Haaym<}m>Iqu 5?upgݾ u= }?9ur@u: uE:)qWWX XWX:W2W*WVbUBU*UUU'6@BB BAH*BAAAA"C*CRCCCIIQGm>i 9i Im xFim ?i i i m :; m 1EF,̳hgFAY}:{~@}:@y}:#s}:}}:H ep? S@sÿ`b?`ɠ?)~:{~@ ~:`;I~:Cɫ99)9 9I9Y}?y}&FI)u~jt?/$?&1?u>u,= uP=)qIqyuS㥛?y&1S㥛?u/a#HyH;}>Iȩ :ŭ 5? :ŭfݾ ƭ$> ?9ƭɦ@ǭw: ȭ^:)ȭ:WWX XWX:W2W*WVbUBU*UUU@@RB*** querying acoustic contact ***PPB!B! B!A%x*B)A)A)A1A1"C1*C9RC9C9C9IG5 >=ip=U UUU UX:YUW1yUč:U6)U;9]ʝ ,ѕgFAY}2D@}2_@y}2齙}2~}2H )w`+p|x? 2?&Y u+?<?)~2D@ ~2&^;I~2Cɫ99)9 9I9Yu|?y}F}Z****** received transponder code query ******F****** received ping request ******=Y]=QUe>aaae#Haiyu}u>Iy} 5?}1fݾ }> ?9}'@}: }:)yWWX XWX:W2W*WVbUBU*UUU= @BABI BIAM*BIAIAIAQAQ"CQ*CYRCYCYCYAIIGe4>l&,jgFAY}2@}2@y}2"۽}2P}2HT6舿@0N?%V?ѳ`m?)~2@ ~2b\;I~2CɫII)I IIIY}?y}TFxDUSBL response received:!U1,P 502,000,002B2,189,80,80,B7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 d<Mf=Y*!a-#H)9yMp}U>Iq :u 5? :ueݾ uS> ?9ux@u= u?=)u:9IFi1?=;; eEWyWyXy XWX:W2W*WVbUBU*UUU_n @BABI BIAMf*BIAQAQAYAY"C*CRCCCיIGl>] ]]]~ ]~:Y]V1y]:]<6)]Z;|,,EgFAY}2&@}2@y}2ͽ}2N}2Hs7@#z`Mf? ?8?.S?)~2&@ ~2[;I~0ɫ99)9 9I9Y} ?y}F鮁ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =iC=    @ @ @ñññiññ ı)ıIıiı<M==Y|a#H.HyJ3}>Iz 5?eݾ f,> ?9ԧ@: :)WWX XWX:W2W!*W!V!bU!BU!*U)U)U-!@BQBY BYA]**BYAaAaAaAa"Ci*CiRCiCiCqIIQGu>I@A)AAI3,d gFAY}2ٯ@}2c@y}2􏿽}2gbH}2H@@qCv?f?. L@?@n?)~2ٯ@ ~2e;I~2CɫYY)Y YIYYt?y%FxDUSBL response received:!U1,R,502,000,002B0,189,80,80,BD,FF Fpublishing direction and range infoɰqa=鰡 )=CIyq@w?amf-ٱ)= >H;M5E=Y5L99a=#H99yE;}E>II U:Mm 5? U:M]dݾ M:9> ]?9M2@M: M:)M:WWX XWX:W2W*WVbUBU*UUUs@R(Combining 5 samples.P*Qq@ZQE5j?.\Ux3 JQw?amf-2Q:QbQ60%@7- @8 w?RQ<\,?kS&?o ?BQ{? QH@Q@PPPQQ @"Q@BQBY BYA]*BYAYAYAYAa"C*CRCCCׁIG@>  i:YWU1y:69@ >9 I Fi a? #<; E:,7gFAɫ髁) IY?y8F%dNmea in: $SNTTA,0.006348,0.423771,,,231202.85*5E V-?Zd;OL7A`堿|?>j< +)Iya#Hy}>I 5?dݾ ^=> ?9Z@: :)i}nGI`Ai)]ٺ]`A]AmmAdded new target pos. range: 3.779998 m, bearing: 56.290031 deg, deltaT: 4.459681 s, approachRate: -0.026908 m/s, LOS rate: 0.216835 deg/s, posRepo size: 4XW{?WX XWX:W2W*WVbUBU*UUo=@Ux?B)B) B)A-q*B)A1A1A1A1"C]{?RCYC]{?Ca1IAG]v>J@,gFAY}2K@}2՟@y}2}23}2H.Κ? 's?  g广%x?hX?)~2K@ ~2K^;I~2CɫYY)Y aIaY}|?y}FI)    @ @ @ÙÙÙiÙÙ ę)ęIęięMM=Yx;QU>a#Hyڻ}>I 5?cݾ A> ?9@G: :)WWX XWX:W2W*WVbUBU *U U U?B9B9 B9A=*B9AAAAAAAA"CI*CIRCICQCQIIQGu>=i>  v:Yy26$G,ݴgFAY}2"@}2>@y}2 }2Qؼ}2H @@? ? @e`݇?@!욿 z?)~2"@ ~2&\;I~2CɫAI)I IIIY}?y}F]AD<MT=Y#QU>!!a%#H!!y-}}->I1 =:5ק 5? =:5cݾ 5~E> E?95@5R: 5:)5:WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUyU}?BB BAD*BAA)A)A)"C1*C1RC9C9C9ܕ>9ܑIܕ8Fiܕ?ܑܑܑܕ=; ݕE))I)i)-=-=-3 IG5 >BM,Û7gFAY}~1@}~M@y}~}~D}~H@ `;?@u?`@9?1 ?)~~1@ ~~[;I~~Cɫ ) IYMt?yM%F    @ @ @i )IiUh<MU7=Y]ęQU]>YYae#Haaym;}m>Iqu 5?uHcݾ u"J> }?9u٨@u: uk:)qWWX XWX:W2W*WVbUBU*UUU~?BB BA*BAAAA"C*CRCCCI G%,>P  rw:Yy6i&T,hQgFAY}:@}:@y}:Ž}:7Y}:H ?8Ol?d?A)0&W? F?)~:@ ~:pa;I~:Cɫ99)9 9I9Y}.?y}]F=i=E)ݼME^=YM ݻQUM>IIaU#HQYy]<}]>Ia m:e! 5? m:e cݾ e N> u?9e@e; e;)e:WWX XWX:W2W*WVbUBU*UUUϯ?BB BAb*BAAAA"C*CRCCCIG>IAA)@Aܑ 9ܑ Iܕ Fiܕ ?ܑ ܑ ܑ ܕ ?; ݕ EPZ,$CkgFAY}2@}2W,@y}2pȽ}2Rq}2Hh`y0=K?L7 ?z?)~2@ ~2d;I~0ɫ99)9 9I9Y}?y}pFbX9ȶ?{Gz?MbE=ף= )IyS㥛?I +Mb?/<94< •A>A)•IAI‘i•UADA)í> í>MC=YXQU>a#Hyg<}>I 5?hbݾ @V> ?9\@: :)WWX XWX:W 2W *W V bUBU*UUU8/@BABA BAAEƒ*BIAIAIAQAQ"CY*CYRCYCYCaiIqG>  :YV1y:6)?;9d8a,CgFAY}23@}2-@y}2$Խ}2 c}2Hf z|w?`F?nN %?VM:?)~23@ ~2 ``;I~0ɫYY)a aIaYk?y FAA    @ @ @i )Ii-:M-S=Y5yQU5>99a=#H9AyEHg9}E>II U:Mէ 5? ]:Maݾ M]> ]?9M@M: M2:)M:WyWyX XWX:W2W*WVbUBU*UUU-H@RB*** querying acoustic contact ***PPB9BA BAAES*BAAAAIAIAI"Cq*CqRCqCqCyiIqGbg,gFAY}2f@}2@y}2罙}2i_ּ}2H? ` ?`xT?`DF@?8?)~2f@ ~2^;I~2Cɫ99)9 9I9Yv?yFZ****** received transponder code query ******F****** received ping request ******99a=#H9AyEFJ}M>IQU 5?U6aݾ Ue> e?9U @U~: U:)QWWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"C*CRCCC999I9i9999=B; =pEIGM>=iu uuu uo:YuU1yu:u6)ux;m,ԸgFAY}:S@}:&o@y}:X}:G"}:H }?.g?"Z?8!?)~:S@ ~:M_;I~8BJFailed to close latch before timeout.q FFHardware FaultYFg?yFFJxDUSBL response received:!U1,P 502,000,002B0,189,80,80,BD,FF NCommand AckNBRequesting micromodem ping code 2iLLVNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 pr^A M_=Y%QU->99aE#HM/HYym}u>Iȑ :ŕ 5? :ŕ`ݾ ƕ\m> ?9ƕ`@Ǖ; ȕc<)ȕ:WWX XW X :W12W1*W9V9bUABUA*UIUU @BB BA*BAA)A)A)"C1*C1RC1C1C9aI-$@Hardware Fault in component: DDMGF>@yt,gFAUPowering downQɪQ)Y YY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ==i=R=    @ @ @i )Ii:M=YQU>a#Hy}>Ix 5?_ݾ w>  ?9Ӫ@0: :)W1W1X1 X1W1X1:W92W9*W9V9bUABUA*UAUAUM X@BqBq ByA} *ByAAAA"C*CRCCCyIGb>X  x:Yy`69@- >9) I- pFi- M?) ) ) - E; - !Ez,gFAY~?y~͑FxDUSBL response received:!U1,R,502,000,002AE,18A,80,80,BE,FF Fpublishing direction and range infoɰ`=> )>CIy=j@w?amf-ٱ=ףp= ?/$??=>=,> =<)9I9y=S㥫? rh{Gzt?=/]==C =ף; =fBA)=`GAI=5Ai=zZA9=FAUM]h=YYQU]>aaae#Haiyi}m>Iqu 5?u^ݾ u{> ?9u@u : uI:)qWWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q=j@ZQs:@?apuV JQw?amf-2Q:QbQLsT@fg;@93d?RQ]l?L9{?zV'?BQPz? QA@Q@PPPQQ4@"Q @BB BAm*B A A A A "C*CRCCC!I)G8>I@A),+lgFAY}VF@}Vb@y}VO }Vҽ}VHmqtg?rſ2? =`?)~VF@ ~V.f;I~TYj?yj|FMTNmea in: $SNTTA,0.258612,,,,231207.26*4B EMl=YQU?a#Hy/=}?Iȱ :ŵ 5? :ŵe]ݾ Ƶ> ?9Ƶ9@ǵ: ȵ:)ȵ :mqAdded new target pos. range: 3.660000 m, bearing: 56.023688 deg, deltaT: 4.441709 s, approachRate: -0.027016 m/s, LOS rate: -0.059964 deg/s, posRepo size: 4XWPz?WX XWX:W2W*WVbUBU*U U G @U <+?BB BA*BAAAA"C Pz?*C RC C Pz?C) I$-NClearing failed state for component DDMq -G5 >  0p:YDW1yY:N6, A gFAY}2T@}2 p@y}2S#}2Z}2Him@ vl2u?E?9{ſs??)~2T@ ~2-d;I~2CYB?yBFI)I!)! } } } }@ }@ }@yyyiyy y)yIyiyS=MK=YɼQU>a#Hy;}>Iȩŭ 5?ŭ[ݾ ƭ> ?9ƭ@ǭA: ȭ/:)ȩWWX XWX:W2W*WVbUBU*UUU?BB BAK*BA!A!A!A!"C)*C)RC)C)C19IȖFi?=a#Hy<}>I : 5? :Zݾ *> ?9ԭ@: :)!:WWX XWX:W 2W *W V bU!BU!*U)U)U-@?BiBi BqAu*BqAqAqAyAy"Cy*CRCCC׉IG==il   :YWU1y:6Ĕ,vSgFAY}6m@}6@y}6Vy$}6}}6H v@a@??Nÿx?`O ?)~6m@ ~6'`;I~6CYNN?yNF=<MEQ=YEaQUE>IIaM#HIIyUK}U>IY] 5?]2Yݾ ]> m?9]@]: ]q:)YWWX XWX:W2W*WVbUBU*UUU%?BiBi BiAmZ*BAAAA"C*CRCCCשIG=9IFia?I; *#E)aIaiaae=e5,|mgFAY}:(@}:@y}:,}:V }:HWW@Э?`?Ŀ@h?\Ӈ?)~:(@ ~:[_;I~:CYF?yFgFp=ip= rhʡE?Zd;OC > j<)IyZd;OI +j9̼ ­/=MA=Y֏QU>a#Hyz;}>I :ƨ 5? :IYݾ > ?9@Y< Z<)":WqWqXq XyWyXy:Wy2Wy*WVbUBU*UUU9@BB BAƃ*BAAAA"C*CRC C C)IG--> n    y:Y T1y : 6) ;9 ա,ٲgFAY}B @}B"%@y}Bt3}BZz}BHQRc?@|? /v`ȿ;Q?w@g?)~B @ ~B];I~@YR?yRF u u u u@ u@ u@ uqqqiu?q u?)u?Iu?iuA?MO=YQU>a#Hy]<}>Iȡťǩ 5?ť[Yݾ ƥ^}> ?9ƥd@ǥԳ: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU@@BB BAń*BAAAA"C!*C!RC!C)C))I9GU=I),gFAY}6)7@}6R@y}66}6Ͻ}6H;jJ ?@?g`+ ʿ?`ׅbT?)~6)7@ ~6>\;I~6CYN?yRΏFPR@AbhMbX=Yf QUf>ddaj#Hhhyn;}n>Ipr 5?rkYݾ r$s> v?9rï@r: rE:)pWWX XWX:W2W*WVbU!BU!*U!U!U%@R5B*** querying acoustic contact ***P1P1BB BA<*BAA1A1A1"C9*C9RCACACA܁9܁I܅XFi܅?܁܁܁܅J; ݅#EIG==*,jgFAY}6;q@}6Ō@y}6p9}6ү}6H@c`:_Ǘ?8?@ė6Hɿ ? `\\?)~6;q@ ~6[;I~6CY^9?y^FbZ****** received transponder code query ******bF****** received ping request ******b=Y0ǻQU>a#H0H1y='<}=>IA M:E 5? M:E}Yݾ Ef> M?9E3@E"; E ;)E#:WWX XWX:W2W*WVbUBU*UUUU @B1B1 B1A5߄*B1A9A9A9A9"CA*CARCACACI!I1GM>A  @v:YX1y/:69@,?gFAY}:&@}:B @y}:0F=}:H}:H` ? j?~ȿX? T]?)~:&@ ~:[;I~:CYR?yR؏FVxDUSBL response received:!U1,P 502,000,002AE,18A,80,80,BE,FF VCommand AckVBRequesting micromodem ping code 2iXX^Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 rM%R=Y-QU5>AIaU#HQayu<}}>Ișŝݬ 5?ŝYݾ Ɲ4\> ?9Ɲ@ǝ; ȝ;)șWWX XWX:W2W*W V bU1BU9*U9UAUE9 @BB BAM8*BIAIAIAIAI"CQ*CQRCYCYCYaIGG>=i=y9yI}Fi}1?yyy}eK; }#E:,]gFAY~?y~OFɮa=%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5Mb@Mb@Mb@55 5)5I1y5a#Hy}>I : 5? :Zݾ G> ?9i@"; ;)$:WWX XWX:W2W*WVbUBU*U U U 0@B1B9 B9A=p*B9A9AAAAAA"CI*CIRCICICQ!I1GM1> s X:YV1y:6);9 $,gFAY}6@}6 @y}6=:}6<}6H ?@cz? (@aſ@&? Hϛ`u?)~6@ ~6\;I~6CYfL?yf FjxDUSBL response received:!U1,R,502,000,002B3,189,80,80,8E,FF nFpublishing direction and range infohhɰjmb=j7> h)jCIhyjp}@jw?amf-ٱhv%=iv<=M=Y e -?9%@%ض: %I:)!WIWQXQ XQWQXQ:WY2WY*WYVYbUYBUa*UaUaUeu@Ru(Combining 5 samples.Py*Q}p}@ZQ}8]?{ JQ}w?amf-2Qy:QybQ}PY@N9됺 @xH7?RQ} )?!?AӔz?BQ}? Q}U@Q}@PyPyP}QyQ}]@"Q}4@BB BA*BAAAA"C*CRCCCױIG=OO,"gFAY}F@}Fo @y}F>}FXGb}FH% :i?s?ǿ?@ȫf?)~F@ ~FT=\;I~FCNPowering upN"Initializing DDM.YqyqDNmea in: $SNTTA,,,,,231211.71*5A 9IiK;  $EY5?"QU5>99a=#H9AyE :}E>II U:MI 5? U:M ]ݾ M(> ]?9Mʲ@MR: M:)M%:m%iAdded new target pos. range: 3.959999 m, bearing: 58.023079 deg, deltaT: 4.367502 s, approachRate: 0.068689 m/s, LOS rate: 0.457788 deg/s, posRepo size: 4X!WM?WIXI XIWIXI:WQ2WQ*WQVQbUQBUY*UYU] @U]`?BB BA*BAAAA"C?RCC?CI G%,>IAA)AA2   u:Yy6);v,qa#HyD<}>I 5? ^ݾ > ?9x@^: ϸ:)WWX XWX:W2W*WVbUBU*UUU  Nn?B1B1 B1A=<*B9A9A9A9A9"CE?*CARCICICI1I9Gu=b,VgFAY}6RZ@}6u @y}6j>}6<}6H'kӞ?`G[? ɿI?)"QV?)~6RZ@ ~6@;\;I~4YBA?yB|FI|)|5*M5Q=Y=d;QU=>9AaE#HAAyM3;}M>IQ ]:U 5? ]:U8_ݾ U> e?9U(@U: U:)U&:WWX XWX:W2W*WVbU BU*UUUb?BYBa BaAe]*BaAaAiAiAy"C?*CRCCCׁIG=9  u:YW1yč:69@ >9IiK; <$E ,apgFAY}J@}Jr; @y}J>}Jf}JH~ )?@Tj?`Hpȿ@?O`?)~J@ ~J[;I~JCYV=?yVFi=nGIQiiտٺA5/$?S㥛? ףp= 5,=5$> 5Q8)5I1y5A`":v?{Gzt5Y5<5ף 1)5XQAI1i115IAU7<MU-=Y]1vQU]>YYae#Haaym7}m>Iqu 5?u`ݾ uA= }?9u@u\: ud:)qWWX XWX:W2W*WVbUBU*UUU[(?BABA BAAE*BaAiAiAiAi"Cq*CqRCqCqCyׁIG=>=i=p,G=gFAY}6I@}6@y}6>}6/K}6HU{!Dc?`?@dkǿ? g?)~6I@ ~6[;I~6CYNt?yRאF]<M]q=YesQUe?aaam#Hiiyu}u?Iy} 5?}aݾ }"= ?9}@}ӻ: }D:)yWWX XWX:W2W*WVbUBU*UUU`:@BB BAф*BAAAA"C*CRCCCIG=L  Ņ:YDW1yY:6,YgFAY}6@}6@y}6>}6̷}6H@pYsH?`?5ſ?`ݫ;p?)~6@ ~6[;I~6CY^(?y^Fi=})=M}H=YI\:QU>a#Hy)}>Iș :ŝQ 5? :ŝcݾ ƝR= ?9Ɲc@ǝ0: ȝ:)ȝ': >9IFiv?=AL; s$E)YIYiY]=Y]44WWX XWX:W2W*WVbUBU*UUU f@B)B1 B1A5*B1A9A9A9A9"CA*CARCACACI1I9G]=,ngFAY}6@}6@y}6Z@}6f}6H@_) .??@`|ſ@7? &n?)~6@ ~6[;I~6CY^?y^ F`b?AUMUM=Y]iQU]>Yaae#He1HaymƠ;}m>Iqu 5?ugdݾ u= }?9u@u: u:)qWWX X!W!X!:W!2W!*W)V)bU)BU)*U)UQUU`I@R]B*** querying acoustic contact ***PYPYBB BA*BAAAA"C*CRCCCIG >I@A)  p:YyW6,-gFAY}:Z@}:@y}:mlF}:\.}:H@ DI^?1s?@ǿ`? af_?)~:Z@ ~:_[;I~8YJ?yJFNZ****** received transponder code query ******NF****** received ping request ******N  a #H y>;}>I! -:% 5? 5:%eݾ %= 5?9%ַ@%P: %:)%(:WYWYXa XaWaXa:Wa2Wa*WiVibUiBUi*UiUqUu% @BB BA*BAAAA"C*CRCCCױIG=ܹ9ܹIܹiܹܹܹܹܽ5L; ݽl$EA,dgFAY}Mg@}M @y}MI}M輽}MH@`?g?K_˿`?4??)~Mg@ ~M[;I~MCYe?ymFuxDUSBL response received:!U1,P 502,000,002B3,189,80,80,8E,FF uCommand AckuBRequesting micromodem ping code 2iyyI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 &1sh|??㥛 ?P= =)Iy+?a#HyqQ;}>Iȱŵ 5?ŵdݾ Ƶ= ?9Ƶy@ǵc; ȵX;)ȱWWX XWX:W2Wz  z:YT1y:|6);9*WVbU!BU!*U)U)UU"@BB BAx*BAAAA"C*CRCCCIG >, gFAY}6(@}6D @y}6rG}6&}6H 8di?N\? RͿ?`Z\)?)~6(@ ~6%\;I~6CYB?yBrFDɮDRNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ] qM]=Y];QUe(?aaae#Haiym};<}m(?Iq }:uϨ 5? :udݾ u= ?9uǸ@u: u:)u):WAWAXA XAWAXA:WI2WI*WIVIbUQBUQ*UYUYU]@F@BB BA*BAAAA"C*CRCCCIG= >=i=0,_%gFAY}:#C@}:^ @y}:7C}:}+}:H@zU ?t[?˿:A?@F9?)~:#C@ ~:[;I~8Y^?yb:FfxDUSBL response received:!U1,R,502,000,002AE,189,80,80,B8,FF fFpublishing direction and range info``ɰb`=` `)b8CI`yb=j@bw?amf-ٱ`v^Av]Azm=MzQ=Y~Ba#Hy ߅;} >Ia 5?_cݾ > ?9:@: :)WAWAXA XAWAXI:WI2WI*WIVIbUQBUQ*UQUQa9aIexFie?aaae'L; ee$EUU@R(Combining 5 samples.P*Q=j@ZQs:@?apuV JQw?amf-2Q:QbQ 4?!ъP@H(>?RQqۼi?{Yǒ?M8?BQ ? QB@Q?PZ9?PPQQX!@"Q]@BB BA@*BAAAA"C*CRCCCIG= p   u y:Y U1y : E6) 8;r,EH?gFAY}z;@}zW @y}z39}za}zHgeN i?` @@̿!?1t7?)~z;@ ~z{];I~xY-?y-;FTNmea in: $SNTTA,0.006968,,,,231216.18*4D =i?    @ @ @i )Ii 8M9=Ya#Hy%}%>I) 5:- 5? 5:-bݾ -A > =?9-@-F: -:)-*:mqAdded new target pos. range: 3.660000 m, bearing: 57.610576 deg, deltaT: 4.445847 s, approachRate: -0.067479 m/s, LOS rate: -0.092784 deg/s, posRepo size: 4XW ?W)X) X)W)X):W)2W1*W1V1bU1BU9*U9U=G @U=y?BB BA*BAAAA"C ?*CRCC ?CI)GE0>*,+YgFAY}6)@}6@y}6d*}6}6H`$ݛ?`ܢ?O@ƿ s3?[uy?)~6)@ ~6;\;I~6CYN??yRF=<M=Y=YE]=QUE>AIaM#HIIyUwƼ}U>Iw 5?aݾ > ?92@: 4:)WWX XWX:W2W*WVbUBU*UUU ~_?B1B1 B1A=^*B9A9A9A9A9"CA*CARCICICIIIYGu=I)@At ~~ ]:YT1y@:69@a9aIe@Fie?aaaeK; e@$E%,rgFAY}20@}2eL@y}2X"}2ʀy}2H@N+{,??]4¿ A?-ˎӗ?)~20@ ~2\;I~2CYf7?yf'F%> ףp=?y&1?%Q>% %`e<)!I!y%{Gzta#H yO}}%>I! 5:%e 5? 5:%aݾ %> 5?9%@%]: %:)%+:WYWYXY XYWYXY:WY2Wa*WaVabUaBUa*UiUiUmb?BB BA*BAAAA"CA*CIRCICICIAIIGm5>$ #,W̌gFAY}6@}6x"@y}6Y#}67x&}6H@`[3bC? h?@^@U?M@?)~6@ ~6!\;I~6CYR?yRKFI1)1    @ @ @ÑÑÑiÑÑ đ)đIđiđ"=M`=Y׺QU>a#HyT}>I" 5?naݾ > ?9ܺ@: :)WWX XWX:W2W*WVbUBU*UUU]?B)B1 B1A5i*B1A9A9A9A9"CA*CARCACACIIY)]\AIIYGu=3  "u:YU1y:6I7),gFAY}2~@}2@y}2%}2)Eʼ}2H@R?@?5%ÿK?%i?)~2~@ ~2x\;I~2CYB?yBF9IxFi?RK; #EA,MS=Y%QU%>!)a-#H))y5\}5>I9= 5?=Daݾ =b > E?9=-@=E: =:)9WWX XWX:W2W*WVbUBU*UUU?@B!B) B)A-*B)A)A1A1A1"CY*CYRCYCYCaQIYG=IIi}nGI=i=i ڿٺ ܿA)"0,GgFAY}jKq@}jՌ@y}j&}jcd}jH (n@po??`SVſݫ? (`?)~jKq@ ~j+[;I~jCYv?yvKFIe=)e%=im^A    @ @ @ñññiññ ı)ıIıiıx<M@=Yq$QU>aM#HM2HQyU)}]>IY e:]ת 5? m:]aݾ ]$> m?9]@]v; ];)],:WWX XWX:W2W*WVbUBU*UUU`_@BB BAi*BAAAA"C*CRCCCIG*>  &:YT1y:N6H6,[gFAY}6^@}6@y}6}6}6H`}i? A @ɿ?f`_?)~6^@ ~6];I~4YB~?yF{FDFAAJC=iJa=v½MvZ=Yzsx|a~#H|y%e;}%>I)- 5?-`ݾ -(> 5?9-һ@-: -:))WqWX XWX:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PPBB BA-*B)A)A)A1A1"C9*C9RC9C9CAYIyG=9IFi1?=K; #E)ݑIݑiݑݕ=ݕ=ݕ64\s<,8gFAY}6k@}6@y}6,}6}6H H]}?`Eɿ@?qÿM?)~6k@ ~6^;I~6CYb?yb2FfZ****** received transponder code query ******fF****** received ping request ******f}-= }D;)yIyy}a#Hyh<}>I  5: ڬ 5? 5: `ݾ ?> =?9 O@ : :) -:WyWyXy XWX:W2W*WVbUBU*UUU Gl @BB BA*BAAAA)"C)*C1RC1C1C1!I1GM1>I)  x|:YWU1y:_6)[;9S[C,DgFAY}6@}6@y}6N}6l}6H `@@? Zƿ?Ͻ?)~6@ ~6.];I~4YBg?yFFJxDUSBL response received:!U1,P 502,000,002AE,189,80,80,B8,FF JCommand AckJBRequesting micromodem ping code 2iHHRNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 dd)v= v> W=Mh=Y%9AaM#HIYyuT<}>I   5? `ݾ Q> }?9 @ h< 8 <) WQWQXQ XQWQXY:WY2Wa*WaVibUBU*UUU; @B9B9 B9AE*BAAAAAAaAi"Ci*CqRCqCqCqׁIGA>I,'gFAV >9TITiTTTTVJ; V#EY~?y~Fɮp=%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Iq)q    @ @ @i )IiA <M==YQU>a#Hy}>I  : 5?  :`ݾ Le>  ?9(@: :).:WWX XW X :W 2W)*W1V1bU1BU1*U1U9U=a@BB BA*BAAAA"C*CRCCCI]A)IG$> ~~ =m:YT1y@:6)2;imP,AgFAY}2{@}2 @y}2j}2\}2Htyħ?@?4 ?@K '?)~2{@ ~2d\;I~0YR?yRޒFVxDUSBL response received:!U1,R,502,000,002B2,189,80,80,AD,FF VFpublishing direction and range infoTTɰVb=T T)V-CITyVy@Vw?amf-ٱTjk Mj]=YnͺQU}>yya#Hy<}>IȑŕK 5?ŕ`ݾ ƕw> ?9ƕ@Ǖw: ȕ+:)ȑWWX XWX:W2W*WVbUBU*UUU@R%(Combining 5 samples.P)*Q-y@ZQ-=A?a;% JQ-w?amf-2Q):Q)bQ-͎@Ft$_Q @O?RQ-?8=}?b]?5?BQ-/? Q-R@Q-v@P-[9?P-Z9?P-Q-Q- @"Q-X!@BB BA*BAAAA"C*C!RC!C!C))I1GM>=iV,)[gFAY}J03@}JN@y}J}J}JHE/g??c?~P@?)~J03@ ~J2C];I~JCYV?yVhF%TNmea in: $SNTTA,0.005038,,,,231220.60*48        @  @  @   i   ) I i WM%7=Y%TQU%>))a-#H)1y5)}5>I9= 5?=`ݾ =;> E?9=$@=Գ: =:)9mUiAdded new target pos. range: 3.899999 m, bearing: 57.825625 deg, deltaT: 4.464316 s, approachRate: 0.053759 m/s, LOS rate: 0.048171 deg/s, posRepo size: 4XYWe/?WaX XWX:W2W*WVbUBU*U U 23@U@?BB BA.*BAAAA"C/?*CRCC/?C׹IGE>ܡ9ܡIܥXFiܥ?ܡܡܡܥTJ; ݥm#E  r:YDW1yY:_6);\,ugFAY}F@}F^-@y}FjJ}FV}FHB@S$?@ÿ? 0?)~F@ ~F\;I~FCYb?ybF/$?Q?{Gz<= ף)IyMb`Mb`?~jt?;D< ?A)IAI6AiXAFA -   @ @ @ùùùiùù Ĺ)ĹIĹiĹM@=YU;QU>a#Hyz}>I : 5? :`ݾ > ?94@: k:)/:WWX XWX:W!2W!*W!V!bU)BU)*U)U)U5?BYBY BYA]*BYAaAaAaAa"Ci*CiRCiCqCqׅ?iׅ?AIIGm>zc,\gFAY}2l@}2 @y}2E}2}2HŸ@GC@^?t ^'ĿUH?`A ?)~2l@ ~2rj[;I~2CYN?yR2F}vM}c=Yk#a#Hy.}>Ișŝ 5?ŝ`ݾ Ɲԉ> ?9ƝB@ǝ^: ȝ:)șWWX XWX:W2W*WVbUBU*UUU=?BB  B A *B A AAA"C*CRCCC!1I9GU=I)?A N N:YWU1y:'69@i,6gFA& >9&CI&Fi&?$$$&(J; &U#EY}Bt@}B@y}B}Bzқ}BH`KQ??e¿ ' ?@N ?)~Bt@ ~BZ;I~BCYR?yRyF  )> =Eu=MEN=YE;QUE>IIaM#HIQyU }U>Iȹ :Ž 5? :Ž`ݾ ƽ:> ?9ƽQ@ǽ: Ƚ:)Ƚ0:W9W9XA XAWAXA:WA2WA*WIVIbUIBUI*UIUQUu`?BB BA*BAAAA"C*CRCCCIG>wp,IgFAY}:Q@}:l@y}:w}:S}:H@~.*? ?@I7¿ C?`鮰` ?)~:Q@ ~:Z;I~:CYFG?yFF U U U U@ U@ U@ ]QQQiU=?Q UK?)U?IU?iU?m MmH=Yu܏QUu>qqa}#H}3Hyy<}>Iȉō 5?ō`ݾ ƍ> ?9ƍ_@Ǎ: ȍ8:)ȉW9W9X9 X9W9XA:WA2WA*WIVIbUIBUQ*UqUyU} >>@BB BA܄*BAAAA"C*CRC C C  IG5 >  ~:YU1y:E6v,>gFAY}6@}6:@y}68}6 j}6H} Ц?`d?@ [?@?)~6@ ~6_Z;I~6CYfR?yf_F}<MI=YKQU>a#HyA<}>Iș :ŝ 5? :ŝaݾ Ɲ> ?9Ɲn@ǝ[: ȝ:)ȝ1:WWX! X!W!X):W12W*WVbUBU*UUU@BB BA*BAAAA"C)*C)RC)C)C1IG-->A9AIAiAAAAEXJ; Eo#Ep=i=i} nGI i  ۿٺ A},1gFAY}6o@}6 @y}6d}6}6H& O?@}?¿`?L?)~6o@ ~6jZ;I~6CY^=?y^F`b?AIj=)j=:v?Q?Q?T>u= u=)IyQ?Mbp?\=; =>A)OAIizZAGA]A = = = =@ =@ =@999i=z?9 =)=I=i=MMM>=YU/QUU>QQa]#HYYye>W<}e>Iim۰ 5?mV`ݾ mܒ> u?9m@m: m:)iWWX XWX:W2W*WVbUBU*UU)U-@R5B*** querying acoustic contact ***P1P1ByBy ByA}*ByAAAA"C*CRCCCaIqG>l  y:YX1y/:`6,gFAY}2Z@}2Dv @y}2ԍ }2轗}2HK?g??@[#@ÿ`?@Ų?)~2Z@ ~2dQZ;I~2CYNm?yRFRZ****** received transponder code query ******VF****** received ping request ******Va#H!y-<}->I1 E:5F 5? E:5_ݾ 5}> E?95L@5; 5B;)52:WiWqXq XqWX:W2W*WVbU!BU!*U!U!U% @BB BAR*BAAAA"C*CRCCC?i?IG>E >9A IA iA A A A E `J; E t#E)ՋC!,*gFAIi = = Ȓ4Y=9?y=FExDUSBL response received:!U1,P 502,000,002B2,189,80,80,AD,FF ECommand AckEBRequesting micromodem ping code 2iAImNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 n=M?=YQU>a#H!y-}U>Iae 5?e^ݾ e>  ?9eѿ@e< e<)aWWX XWX:W2W*WV bU BU *U UU@ @BYBY BaAm߄*BiAiAiAiAi"C*CRCCCיII)@A q   z z:Y DW1y Y: 6) I;9G5p> ,YDgFAY}2(@}2D @y}2}2my}2H`.@z-k? ? O`[?`؎?)~2(@ ~2އ\;I~0YN~?yR{FRa=ɮPbNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ] ] e e@ e@ e@ e@aaaiea a)aIaiau<Mu@=Y}GQU}>yya}#Hy}>Iȉō 5?ōb^ݾ ƍb> ?9ƍ:@Ǎʽ: ȍU:)ȉWWX XWX:W2W*WVbUBU*UUU ?@BYBY BYAe*BaAaAaAaAa"C*CRCCC׉IG>6,>^gFAY}:ZE@}:` @y}:a$}:h}:H 2`o`?~?@Xs\¿B}?`@6?)~:ZE@ ~:'\;I~:CYF?yF)FIP)Pj=Mji=YnQUn>llar#Hppyv;}v>Ix ~:zb 5? ~:z]ݾ z> ~?9z@z: z :)z3:WyWyX XWX:W2W*WVbUBU*UUUw@BIBI BIAM*BQAQAQAQAQ"CY*CYRCYCaCaIו\A)ו]AׁIG!> >9IiJ; #E  {:YWU1y:6);^,IxgFAYn?ynFdNmea in: $SNTTA,0.356214,0.356683,,,231225.07*56 J +?DlI +?H=O 9<)Iy~jtMbp?L7A`堿D;+ µAA)µ9HAIµ5AiµYAfFA    @ @ @i )Ii%ǻM%7=Y-QU->))a-#H1y}>Ii 5?^ݾ ّ> ?9@: :)W W)X) X1W1X1:W12W1*W9V9bU9BU9*U9UAUE U@BB BAń*BAAAA"C*CRCCCסIG >=ia=yG,gFAY}:d@}: @y}:,.}:兽}:HS0`?Z?(? ~ƿc?{@x?)~:d@ ~:[;I~:CY^G?y^Fdf@A >M ^=Y ˼QU>a#Hy%͉<}%?I) 5:-w 5? 5:-#^ݾ -> ?9-@-< -@<)-4:WWX XWX:W2W *W V bU1BU9*U9U9UE@BB BA܄*BAAAA"C*CRCCCIG >  :YDW1yY:r69@ 9 I Fi a? = rK; $EK,SgFAY}>n@}> @y}>.}>}>H$od$i@IH? / @\ʿ?`e9T?)~>n@ ~>\;I~>CY^_?y^FbxDUSBL response received:!U1,R,502,000,0367B,189,80,80,A7,FF fFpublishing direction and range info``ɰbю?` `)b'CI`ybGDbw?amf-ٱ`v9MzJ=YzgɷQUz>||a~#H|y%<}>I   5? B^ݾ s> ?9 @ b: Q:) W9W9X9 XAWAXA:WA2WA*WIVIbUIBUI*UIUQUU@Re(Combining 5 samples.Pa*QeGDZQer{y{Ou@FxJQew?amf-2Qa:QabQeaMy@[c=@`*`va@RQe|???BQeQb? Qey'DQe\CPe9?Pe[9?PePQeQeC"Qe @BB BAV*BAAAA"C*CRCCC)ץ?iץ?׉IG>X,gFAY}b@}b @y}b1}bhf}bH X7 ?4R?Eƿ`?'jt?)~b@ ~b[;I~bCY?yEF    @ @ @i )Iiު<M<=YQU>a#H4Hy} >I : 5? :h^ݾ {y> ?9@: :)5:m yAdded new target pos. range: 799.320007 m, bearing: 58.362935 deg, deltaT: 5.634950 s, approachRate: 141.158310 m/s, LOS rate: 0.095353 deg/s, posRepo size: 4mVStopped intercept timer at range: 799.32 m.WQb?WX XWX:W2W*WVbU!BU!*U!U%`@U-@P?BB BA *BAAAA"CQb?RCCQb?CIG$>I)BA4  6u:YWU1y:6=,׆gFAYV?yĐF%ˡE?B`"ѿX9v?%'>%َ %}=)!I!y%~jthAIaM#HIQyU}U>IY] 5?]!^ݾ ]c> e?9]&@]: ]:)Y; wAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;wdResuming normal ranging with 1.000000 count pings.;1<WWX XWX:W2W*WVbUBU*UUU@[#?BB BA؄*BAAAA"C*CRCCCIG (>܁9܁I܅ Fi܅?܅=܁܁܅K; ݅G$EV,rngFAY}RYI@}Rd @y}Rq:}R;}}RHh$Eŧ?$e?ǿ!?`i?)~RYI@ ~RjE\;I~PYz ?y~F    @ @ @i )IiʻM_=YHļQU>a#H!y%}->I1 =:5" 5? =:5]ݾ 5 =?95N@5: 5A:)56:X]?1<]w]Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;] w]Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRWaWaXi XiWiXi:Wi2Wi*WqVqbUqBUq*UyUyU}?BB BA*BAAAA"C*CRCCCI]A)\AסIG=;  u:YDW1yY:6,3gFAY}JV&@}JA @y}J9}JfX}JH`T 7_?@o?<7ȿ? /`?)~JV&@ ~J[;I~JCZ`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ)))) -I)YM?yMFM%=Yu:QU>a#HyW}>It 5?]ݾ q:> ?9@I: :)W1W1X1 X1W1X9:W92W9*W9VbUBU*UUU?BB BA1*BAAA9A9"CA*CARCACACI=i=1IAG]v>܉ 9܉ I܍ Fi܍ 1?܉ ܉ ܉ ܍ K; ݍ P$E2, $-gFAY}N@}N@y}N}5}N}NH%?@>?^ǿ`[?s篿9o?)~N@ ~N&[;I~NCɫ髉) IY~?y{Fk=Ml=Y-4IȱinGIŵ 5?ŵZ]ݾiQ Ƶ(> ]?9Ƶ@ǵ< ȵ<}ؿٺyA)ȱWWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C*CRCCCIGM>  b~:Yy6);9,FgFAY}F+k@}F@y}F5}F}FH@-) ?? cſi?Zh z?)~F+k@ ~FA[;I~FCɫii)i iIiY?yF M M M M@ M@ M@IIIiII I)IIIiI]-MeW=Ye:QUe>iiam#Hiqyua}u>Iy :}ݯ 5? :}$]ݾ }X> ?9}@}: }:)}7:WWX XWX:W2W*WVbUBU*UUU(@BB BAɄ*BAAAA"C*CRCCC?i?סIG >,`gFAY}Uu@}U@y}U;=6}U|k}UH`J0@l?ס?. Iǿ ? v`Jq?)~Uu@ ~U [;I~UCɫ) IY7?y'Fɮa= S㥫?Gz߿y&1?/]=p `<)Iy?{Gz rh?<#C< ;A)1RAI1AiHA8~=M2=Y!QU>a#H  y :}>I 5?\ݾ !> %?9)@ : :)WAWIXI XIWIXI:WI2WQ*WQVQbUQBUY*UYUYU]c@RmB*** querying acoustic contact ***PiPmBB BA*BAAAA"C*CRCCC9Ii=:DL; b$E)ݩIݭCiݩݩݩݭ$5iIqG\> r }:YV1y:6);,zgFAY}:@}: @y}:76}:}:H@0t\?ໃ? 3ȿ C? µ `?)~:@ ~:k[;I~:Cɫ99)9 9I9Y}Z?y}*FZ****** received transponder code query ******F****** received ping request ******!!a%#H!)yM<}M>IQ ]:U 5? e:U\ݾ U*> e?9Up@U: U^:)U8:WWX XWX:W2W*WVbUBU*UUUx @BABI BIAM*BIAIAQAQAQ"CY*CYRCYCYCaAIIGm5>,^gFAY}F !@}F< @y}F)8}Fι}FH E L ?;r?(M-[=Y5QU=>Ia#H y <}%>Ișŝj 5?ŝ[ݾ ƝU3> ?9Ɲ@ǝ"; ȝ;)șWWX XWX:W2W*WVbUBU*UUU @BQBY ByA}w*ByAAAA"C*CRCCCI\A)]AיI  :YDW1yY:z"69@G-p>! 9! I! i! % =% ;D! % DL; % v$E,gFAY}2@}2a @y}2@}21ױ}2HCX+T?47? ;( ʿ@S?;ϵP?)~2@ ~2Yg;I~2Cɫ99)9 9I9Y9?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I%p=)%=!!U7=M]E=Y]ܨQU]>aaae#Haaym<}m>Iq }:uF 5? }:u[ݾ u;> ?9u@u: u:)u9:WWX XWX:W2W*WVbUBU*UUU U@BB BA߄*BAAAA"C*CRCCCqIG$>z,X7gFAY}F@@}F)\ @y}F+A}FJ}FH`@k?@y? {V@Qɿ`?kP?)~F@@ ~Fc;I~FCɫqq)y yIyY?yFFxDUSBL response received:!U1,R,43D,000,002AE,189,80,80,9A,FF Fpublishing direction and range info.drɰ`=鰹 )CIy=j@I*Z,?Sjٱ - - - -@ -@ -@)))i)) )))I)i)=:M=N=Y=^CQUE>AAaE#HE5HIy ˇ<} >I 5?Zݾ GE> ?9R@=: ϸ:)WAWAXA XAWAXA:Wi2Wi*WiVibUqBUq*UqUqU}@P*Q=j@ZQ ,Y@=rLJQI*Z,?Sj2Q.dr:QbQۥ?b @!½?RQ2ҙ?Q?9lh?BQF? QV@Q ?PY9?P9?PQPQ+@"QCBB BAs*BAAAA "C)*C)RC)C)C1!I)GM0>=  u:YU1y:6!,gFAY}e_X@}es @y}e9}e}eH@D?@?|~qȿ ?e?)~e_X@ ~eF,a;I~eCɫ)))) 1I1Ym?ym4FdNmea in: $SNTTA,0.481453,0.481447,,,231230.74*59 a iu@a u a mu@a } a q}@a } a e}@a } u/$?RQ?Q?u,=u= u<)qIqiuMb@Mb@Mb@u©uu u@)u@Iu@iuS@uu@M6=Ya#HyPS;}>Iȱŵ 5?ŵZݾ ƵN> ?9Ƶ@ǵ: ȵ>)ȱmuAdded new target pos. range: 3.660000 m, bearing: 68.610384 deg, deltaT: 4.510345 s, approachRate: -176.407806 m/s, LOS rate: 2.271988 deg/s, posRepo size: 4WF?WX XWX:W2W*WVbUBU *U U G @U O?BB BA{*B9IFiv?=OL; {$EAAAA"Cv?RCCF?Ci?IGM>sH,BgFAY}J|@}J @y}J?5}Jc}JH`2Σ? b?@y@Dƿ ? cs?)~J|@ ~Ja;I~JCɫ) IY?yƎF )= = E E E E@ E@ E@AAAiAA A)AIAiAU`M]O=Y]?aaae#Haiymi;}m>Iq }:uɮ 5? }:u~Yݾ uW> ?9u@u:: uTR?)u:::uAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;vZEntering USBL mode with 5.000000 count pings.1;q;WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C`}?RCCC IG5->I)@A^  x:YV1y:26r0,gFAY}6cQ@}6l @y}6X4}6}6H`Hb`ë?Q$?Z`ĿSm? $}?)~6cQ@ ~6_;I~4ɫYY)Y YIYY?yF=M=^=Y=;QUE>AAaE#HAIyM}M>IY] 5?]Yݾ ]_> e?9]5@]S: ]-?)YX}@q;}uCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:uAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLWWX XWX:W2W*WVbUBU*UUU(?BB BA*BAAAA"C?RCCC1I9G> >9 I Fi ? = =L; q$E^ ,/gFAY}JjU@}Jp @y}J:}J }JH1 ?@?@xÿ^:?E6w?)~JjU@ ~Jd;I~JCɫqq)y yIyYc?yFMG<MUI=YUQUU>YYa]#HYYye":}e>IȹŽ 5?ŽwXݾ ƽh> ?9ƽ@ǽ: Ƚ?)ȹWWX XWX:W2W*WVbUBU*UUU?B)B) B)A-*B)A1A1A1A1"C=?RC9C9CAIQ)U\AaIiGS  w:YU1y:`6)8;9B,xIgFAY}68@}6T @y}6xB}6}6H :g?`?5@ƿ'-?IȞ@h?)~68@ ~6H4d;I~6CɫYY)Y YIYYyI=) ]A ^AY=QU=>99aE#HAAyM}M>IQUd 5?UWݾ Ueq> ]?9U@U>: U?)QWyWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"CMJ?RCQCQCQ1IYG>2u,}ycgFAɫ) IYE?yE!Fa i]a i] a m]a m] a q]a q] a e]a e] a i]@a e a me@a e a qe@a e a ee@a e ]?y&1n?]L=]`e ]V>)YIYi]Mb@Mb@Mb@YYY ]+EA)]I]4Ai]Y]a#Hy}>I< 5?^Wݾ {> ?9(@: $@)a9aIeXFie?e=aaa er$EWWX XWX:W2W*WVbUBU*UUU@BABI BIAM*BIAiAqAqAq"C}F?*CyRCyCyCiIqG\>a  x:YW1yč:6)/;i}nGIiٺA,/}gFAY}20@}2 @y}2}F}2^}2HR`@á?n0?&ʿP?t@I?)~20@ ~2uw];I~0ɫ99)9 9I9Y}?y}tF鮁ɮp=iռMx=Y]AQU?a#Hyԙ}?Iȹ :Ž 5? :ŽVݾ ƽ> ?9ƽf@ǽ: Ƚ=2@)Ƚ;:WWX XWX:W2W*WVbUBU*UUU8@R B*** querying acoustic contact ***P P BB BAɅ*BAAAA"C*CRCCC?i?IG>%,c gFAY}Z@}ZZ @y}ZFF}Z}ZHL`7Y?4?+ʿE?سM?)~Z@ ~Z2\;I~ZCɫ!))) )I)Ye,?ye4FmZ****** received transponder code query ******mF****** received ping request ******u % - - -@ -@ -@)))i)) )))I)i)=zƻM==Y= :QUE>AAaE#HIIyMT}U>IY] 5?]LVݾ ]> e?9]@]: ]S@)YWWX XWX:W2W*WVbUBU*UUU=f @BB BA*BAAAA"C - Cr:YV1y:#69@*CRCCCױIG>q 9q Iq iq u =u :Dq u zL; u $E)Ii==h5+,gFAY}6@}6z @y}6FI}6}6H@ab`1?U!?`!Wvɿp? _@P?)~6@ ~6T\;I~6CɫYa)a iIiY?yFxDUSBL response received:!U1,P 43D,000,002AE,189,80,80,9A,FF Command AckBRequesting micromodem ping code 2ieNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @ÙÙÙiÙÙ ę)ęIęięh<MF=YQU>a#H6Hy <}>IȹŽí 5?ŽUݾ ƽ:> ?9ƽ@ǽ; Ƚn@)ȹW!W)X) X)W)X):W)2W)*W1V1bU1BU1*U9U9UE @BB BA*BAAAA"C*CRCCCIG>2,gFAY}Fn@}F @y}F#L}FF}}FH`Թ?}?k`_ɿMY? @_N?)~Fn@ ~Fd;I~FCɫqq)y yIyY?yF-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )=M=YuQU?a#Hy=}?I 5?`Uݾ ȏ> ?9P@: )@)WWX XWX!:W!2W!*W!V!bU)BU*UUU@F2@BB BAG*BAAAA"C)*C)RC)C)C1IE]A)E]A!I)GE0>V  w:YW1yč: 68,gFAY}B@}B @y}BQ}Be5}BH4?`?#@ȿ ?v1L?)~B@ ~B{Ub;I~@ɫQQ)Q QIQY?yFxDUSBL response received:!U1,R,471,000,002AE,189,80,80,A5,FF Fpublishing direction and range info~ɰ鰙 )%CIy+aD}?ZdٱIa=)R=a ia i a ma m a qa q a ea e &1?V-?:v?=m= T<)Iya#Hy:}> 9 I Fi 1?    L; $EI!%J 5?%Vݾ %> 5?9%M@%: %:)!WQWQXQ XQWQXY:WY2WY*WaVabUaBUa*UaUiUm`@R}(Combining 5 samples.Py*QyZQ}B+@]WVJQ}+aD}?Zd2Q}~:QybQ}'?΋w @&vG?RQ}59?V5?*c?BQ}? Q}|T@Q}?PyP}Y9?PyQ}Q}v@"Q}+@BB BA*BAAAA"C*CRCCCIGL>b>,KvgFAY}6@}6/ @y}6oW}66}6Hzhɮ??@ ˿?}a7?)~6@ ~6:_;I~6Cɫy髁) IY?yF5TNmea in: $SNTTA,0.005674,,,,231235.20*46    @ @ @  i? A?)?I?i?4=M%G=Y-^fQU->11a5#H19y=;}E>II ]:M! 5? ]:MVݾ M> e?9M4@M; M;)M<:mmAdded new target pos. range: 3.660000 m, bearing: 66.515305 deg, deltaT: 4.475809 s, approachRate: 0.000000 m/s, LOS rate: -0.468089 deg/s, posRepo size: 4W?WX XWX:W2W*WVbUBU*UUU>s?B B  B A &*BAAAA"C&e?RC!C%?C!IGEQ> k Dp:YV1y:36E,RgFAY}2ſ@}2O @y}22S}2W }2H@ ώ?5?@`˿`#4?4?)~2ſ@ ~2];I~2Cɫ99)9 9I9Y}?y}*FMr=Y&X E?95@5I: 5:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUyU} >9 I Fi v? = WL; $EkK,52gFAY}%7@}% @y}%L}%5}%H ͔`W??rɿ j? MJ K?)~%7@ ~%"\;I~!ɫ) IYU#?yUjF 鿹)> > = E E E@ E@ E@ E@AAAiEA E)EIEiEU;MU8=Y]gYYae#HaaymC }m>Iq }:u 5? }:u Xݾ u> }?9u@u: u:)u=:WWX XWX:W2W*WVbUBU*UUU`?BB BAe*BAAAA"C*CRCCCI G-,> p 1{:YW1yč:6)@;9RR,LgFAY}:@}:  @y}:P}:e}:H@ 4? ?@@Wdɿ ?zI?)~:@ ~:c;I~:Cɫ髉) IY?yFm,=Mm:=YmQUu>qqau#Hqyy}<}}>IȁŅ 5?ŅXݾ ƅ> ?9ƅ@Dž: ȅ:)ȁWWX XWX:W2W*WVbUBU*UUU<?BB BÄ́*BAAAA"C *C RC C CYIiGZ>Y,TegFAɫ髙) IY?yrFMb@Mb@Mb@ )IyL7A`?Q?Mb?+=u<= AAaE#HAIyU}U>IY]ˡ 5?]Xݾ ]ߋ> e?9]D@] : ]@:)YWWX XWX:W2W*WVbUBU*UUU ?ܵ >9ܱIܵxFiܵ?ܵ=ܱܱܱ ݱBBi BiAm*BiAiAiAqAq"Cq*CyRCyCyCyI׵\A)ױׁIG=>  :YV1y:6)Q;3_,gFAY}2X@}2 @y}2M}2'>}2H`l? w?`1ʿt?]@iD?)~2X@ ~2+a;I~2CɫAA)A IIIYu?y}FIC=)=\A 5 5 5 5@ 5@ 5@111i11 1)1I1i1EмME[=YMi#IQaU#HQQy]zz:}]>Ia m:e 5? m:eJXݾ eߒ> u?9e@e: eQ:)e>:WWX XWX:W2W*WVbUBU*UUU @BYBa BaAeG*BaAiAiAqAq"C*CRCCCסIG >=i=\f,4gFAY}6@}65 @y}6D}6I}6HF@I??@ɿcr?"@WO?)~6@ ~6/^;I~6Cɫ99)9 9I9Y?y`Fɮa=<MM=Y%))a-#H)1y=}=>IIM 5?MXݾ MX> ]?9M @M; M;)IWWX XWX:W2W*WVbUBU*UUU@-&@RB*** querying acoustic contact ***PPBB BA*BAAAA"C *C RCCCaIqG>  }:YWU1y:69@ܱ 9ܱ Iܱ iܱ ܱ ܱ ܱ ܵ NL; ݵ z$E)Il,‡gFAPRzCi~nGIi)]ٺY]hAY}u@}u0 @y}uEA}uhͽ}uH3D/??ǖ@ʿ ?-`F?)~u@ ~u^;I~uCɫii)i iIiY?yFZ****** received transponder code query ******F****** received ping request ******9Ya]#H]7Haye;}m>Iq u:u 5? }:uWݾ u> ?9u@u¿; u?;)u?:WWX XWX:W2W*WVbUBU*UUU] @BB BA5*BAAAA"C*CRCCC?i?IGj>g,s,vOgFAY}6@@}6@\ @y}6P>}6嶽}6H`C|SP?`?ɿ8?o`QR?)~6@@ ~6 6^;I~6Cɫ9A)A AIAY}?y}rFxDUSBL response received:!U1,P 471,000,002AE,189,80,80,A5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= =O<M%u=Y5;QU?a#Hyr;} >I15Ý 5?5vWݾ 5ѩ> u?95@5; 5r;)1W!W!X! XqWqXq:Wy2W*WVbUBU*UUU@* @BB BA*BA!A!A!A!"C)*C)RC1C1C1!I)G]T>I)AA% !!%f %:Y!y!%6Vy,(,gFAY}2KW@}2r @y}2T9}2!}2HW`_ ?G?@|yſ?裿as?)~2KW@ ~2c;I~2Cɫ99)9 9I9Y?y F?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Mb@Mb@Mb@ )IyMb?S㥛Mb</ݼ )TAI2AivdAJA<M>=Y<:a#Hyu`;}>I  :H 5?  :Y9YI]@Fi]?]=YY]]L; ]$E)Ii邉==킭?4Vݾ > ?9P@< <)@:W WX XWX:W2W*WVbUBU*U!U!U%`@BB BA*BAAAA"C*CRCCCסIG5O>p>,gFAY}:e@}: @y}:Q-4}:h <}:Hc <??@Yg?m?6?)~:e@ ~:b;I~8ɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,R,3F8,000,002B1,189,80,80,A4,FF Fpublishing direction and range infobɰa=鰉 )$CIyu@ޡp9?;dUaXٱ     5 5@ 5@ 5@111i11 1)1I1i1Mx<MuD=Yu!Qyya#HyP}>Ișŝ̞ 5?ŝ;Vݾ ƝY> ?9Ɲ@ǝ+;; ȝ1;)șW W X  XWX:W2W*WVbUBU*UU!U%`@RU(Combining 5 samples.PQ*QUu@ZQUԎzj@{hJQUޡp9?;dUaX2QUb:QQbQƯ?$> @Gsۨ?RQUij0m?. 1v?Mae?BQU@x? QUi@QU?PUX9?PQPUQQQU@"QUv@BB BA*BAAAA"C*CRCCCI)\AIGE>8 ~~ u:YT1y@:r6j,}gFAY}f&|@}f @y}fXY4}fA}fH@-=??>`¿`m?A`A?)~f&|@ ~f`;I~dɫ) IY5X?y5FTNmea in: $SNTTA,0.006939,,,,231239.62*49 I=)=]A]A =M N=YQU>a#Hy%XM}%>I)-I 5?-Uݾ -X> 5?9-@-k: -:))meiAdded new target pos. range: 3.839998 m, bearing: 73.172855 deg, deltaT: 4.438020 s, approachRate: 0.040558 m/s, LOS rate: 1.500117 deg/s, posRepo size: 4We@x?WiXi XiWiXi:Wi2Wq*WqVqbUqBUy*UyU} Q@U}"?BB BA*BAAAA"CP?RCC@x?CסIG >=ip=I 9I IM xFiM ?M =I I M L; M $E~,4gFAY}2ӓ@}2] @y}241}2<}2Hղ@@#??${ȿ`Q ?*if?)~2ӓ@ ~2T^;I~2CɫYa)a aIaY}?y}gF    @ @ @ÁÁÁiÁÁ ā)āIāiāa<MR=Ya#Hy'r;}>I  : ޟ 5? :  Uݾ > %?9 @ 8; U9;) A:WWX XWX:W2W*WVbUBU*UUUI(?BB BAƃ*BAAAA"C%%c?RCACACIAIIGm5>  r:YWU1y:6)T;9 z,>NgFAY}:a@}: @y}:Ζ&}:f}:H ]C@q?RF@Xʿ^?@}hUO?)~:a@ ~:JR^;I~:Cɫ99)9 9I9Y]?y]|F=½M=Q=Y=uAAaE#HAIyM:}M>IQUw 5?UqTݾ etI U> e?9U@U: U:)QWWX XWX:W2W*WVbUBU*UUUc}?BB BA*BAAAA"CW?RCCC?i?IG>,XrhgFAY}2х@}2[ @y}2tT}2m˽}2H=q?`,?ruǿ@? $u?)~2х@ ~2(c;I~2Cɫ99)9 9I9Y}?y}F 9IFi1?;DL; $E%)\(?~jt:v%G=%D %Լ)%I!y% ףp= ?X9v?%%Q8=%}= %=>A)%NAI%1Ai%aA!%HA)E= AU<MU:=Y]Ƀaaae#HaiyuP^}u>Iȁ :Ņ 5? :ŅVUݾ ƅN> ?9ƅ@Dž#; ȅ ;)ȅB:W9W9X9 XAWAXA:WA2WA*WIVIbUIBUI*UQUQUU ?BB BA%*BaAqAqAqAy"Cè?RCCC׹IGf>c  x:YU1y:6)S;,MgFAɫyy)y yIyY?yÒF e e e m@ m@ m@iiiiii i)iIiiif=MY=YQU>a#Hy}%>I)-؝ 5?-!Vݾ -> =?9-L@-H; -e;))WaWaXa XaWaXa:Wi2Wi*WVbUBU*UUU?BB BA *BA A A A "CT?RCCCIG )>,(gFAY}6Yr@}6 @y}6sf }6Wh}6HxZޥ?`?<@Ŀ??)~6Yr@ ~6a;I~4ɫ99)9 9I9Yk?y FMI=Y&(QU>a#Hyc=}>I : 5? :Vݾ m> ?9@;  ;)C:WWX XWX:W2W*WVbUBU*UUUiI@B1B9 B9A=S*B9A9A9AAAA"CmƩ?*CiRCiCiCqIׁ)ׁaIiG9> ~~ {:YT1y@:;69 @9IFiv?:DM; 1%E,gFAY}:[x@}: @y}:}:I u}:Hj%,VƠ? ? y[ÿ`M?wLT?)~:[x@ ~:^;I~:Cɫ99)9 9I9Y}?y}1F鮅p=ɮI=)4=^A™    @ @ @i )Ii} ;M}L=Y}=QU}>a#H8Hy4q:}>Iȱŵ 5?ŵWݾ Ƶz> ?9Ƶ@ǵ: ȵU:)ȱWWX XWX :W 2W *W)V)bU1BU1*U1U1U=uU@REB*** querying acoustic contact ***PAPABB BAD*BAAAA"Ck?RCCCסIG >ȳ,gFAY}6o.@}6I @y}6 m}6}6H@h•?Z?`eR¿?`&?)~6o.@ ~6jI];I~6CɫYY)Y YIYY?y_FZ****** received transponder code query ******F****** received ping request ******!!a-#H)1y=;}E>II =:MY 5? =:MrXݾ M)> E?9M+@Mi= M{=)MD:WWX XWX:W2W*WVbU BU*UUU @BaBa BaAe1*BAAAA"C@x?RCCCסIGA>  m:YV1y:6,ԹgFAɫ髙) IY9?yFxDUSBL response received:!U1,P 3F8,000,002B1,189,80,80,A4,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  >9IXFi?=;DM; `%E5y&1|EԸ?A`"?5`5= 5Y=)1I1y5Zd;O?I +?15j<=59e_Mm =Y}QU>a#Hy}>I| 5?iYݾ > ?9@a: :)WAWAXA XAWAXA:WI2WI*WIVQbUQBUY*UYUYU]B%@BB BA߄*BAAAA"C*CRCCC ?i ? I G >,gFAɫyy)y yIyY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 鿉 M M M M@ M@ M@ UIIIiM(TBI MGTB)MGTBIMOSBiMTBeػMe=YiQUu$?qqa}#Hyyy}(?Iȑŕ 5?ŕYݾ ƕU> ?9ƕu@ǕP: ȕ%:)ȑWaWaXa XaWX:W2W*WVbUBU*UUU1@BB BA*B A A A A "C*CRCCCI)GEQ>- -~-~- -=m:Y-T1y-@:-6,*pgFAY}6Jf@}6ԁ @y}6 }6ס9}6Hj!`U W??`k ?gR?)~6Jf@ ~60b;I~6CɫYY)Y YIYY?yFxDUSBL response received:!U1,R,45F,000,002B1,18A,80,80,A4,FF Fpublishing direction and range infoyɰ鰥> )Iy:"L?Nyٱi(=Mh=YŏQU>a#Hy,<}>I : 5? :hZݾ > ?9@: :)E:WWX XWX!:W!2W!*W!V!bU)BU)*U)U)U5~@RE(Combining 5 samples.PA*QAZQE ʅ[3@z!Ys JQE:"L?Ny2QEy:QAbQEMHhf?Vgc @TV?RQE_U?&X6?PK?BQE$? QEc@QE7?PAPEX9?PEQEQE@"QE@BB BAx*BAA!A!A!"C)*C)RC)CICQIIQGu>ܝ >9ܝCIܝȖFiܝ?ܝ=ܙܙܝN; ݝ%E))I)i))-=-z5+/,{L7gFAY}Z4@}ZLP @y}Z}Zӈ[}ZHVd`;?e?) i@ ? 3/`?)~Z4@ ~ZS_;I~ZCɫ髹) IY?y;FMDNmea in: $SNTTA,,,,,231244.07*5B =aM?=Y`9a#Hy-C}5>Iae( 5?e%[ݾ eV> ?9e@e}< e{v<)am5mAdded new target pos. range: 3.839998 m, bearing: 68.467374 deg, deltaT: 4.376306 s, approachRate: 0.000000 m/s, LOS rate: -1.075218 deg/s, posRepo size: 4W=$?W9XA XAWAXA:W2W*WVbUBU*UUUv?BB B!A%*B!A!A)A)A)"C5Ÿ?RC1C5$?C1I׉)׍]AYIaGZ>  }:YT1y:6);9 ,>&QgFAY}:@}:a @y}:x.}:Ar}:H!u?@)?@?`?)~:@ ~:];I~:Cɫ99)9 9I9Y}?y}WFI54=)1 } } } }@ }@ }@ @yyyi}y })}I}i}MMJ=Yɕa#Hy{}>Iȱ :ŵ 5? :ŵ[ݾ Ƶ> ?9Ƶ?@ǵ(: ȵ:)ȵF:WWX XWX:W2W*WVbUBU*UUU@?B!B) B)A-*B)A1A1A1A1"C=&?RC9C9CA IG5 >@,kgFAY}2R @}2$ @y}2}24z}2HPp+?n$?`{?`?)~2R @ ~2q\;I~2Cɫ99)9 9I9Y}?y}Fe>9eCIeFie?aaae4O; e&EzG?^I +ǿ+? =X9 =)Iy~jty&1?Zd;O?`e<j<= ?A)/MAIE4AiXAFA=MD=YDo:QU>a #H yI:;}>I!% 5?%v\ݾ % > 5?9%@%I8; %7;)!WiWiXi XqWqXq:Wq2Wq*WyVybUBU*UUU?BiBq BqAu *BqAyAyAyAy"C+n?RCCCסIGA>\ ~~ gx:YT1y@:W6);(,܄gFAY}2g@}2H @y}2}2 ^}2H%&``V@C???蕫`?)~2g@ ~2l]`;I~2CɫYY)a aIaY&?yDF U U U U@ U@ U@QQQiQQ Q)QIQiQeDMmT=Ym\QUm>qqau#Hqyy}u<}}>Iȁ :Ņ 5? :Ņ]ݾ ƅn> ?9ƅ@Dž : ȅZ:)ȅG:W1W1X1 X1W1X9:W92W9*W9V9bUABUA*UAUAUE nc?BB BA*BAAAA"Ck?*CRCCC?i?IG$>R,,gFAY}6@}6 @y}64 }6Q}6HDQ@x;?0?+ÿ?L`?)~6@ ~6c;I~6Cɫ99)9 9I9Y?yF !!U%M]K=Y]ԇQU]>aaae#Haayml<}m>Iqu 5?u]ݾ u> }?9uf@u: u^:)qWWX XWX:W2W*WVbUBU*UUU@G@BB BAń*B A AAA"C$?*CRCCCIG (>a  x:YV1y:69 @Y9YI]8Fi]?YYY]O; ]8&E},gFAY}:@}: @y}:f\ }:}:H`.@S(?w? Tÿ}?@߲`?)~:@ ~:r_;I~:Cɫ99)9 9I9Y}L?y} FE:ԼMEL=YEl;QUM>IIaM#HM9HQyUY}]>Ia e:e 5? m:e{^ݾ e> m?9e@e: e0:)eH:WWX XWX:W2W*WVbUBU*UUU@}@BB BA*BAAAA"C*CRCCCIGe>4e,rogFAY}2-@}2H @y}2}2M}2H K 6f??` Ƥe?@~?)~2-@ ~2A=^;I~0ɫYY)Y YIYY*?yF鮡ɮp=    @ @ @i )Ii<MM=Ya%#H!!y-%]}->I15 5?5&_ݾ 5? =?95+@5: 5#:)1WYWaXa XaWaXa:Wa2Wi*WiVibUiBUi*UqUU@RB*** querying acoustic contact ***PPByBy BA*BAAAA"C*CRCCCI)\AשIG#>% %%% %:Y%T1y%:%6U,JgFAY}2@}2C @y}2}2n@}2H`11v`8?`L&?`E? ᧿ԯ?)~2@ ~2:r];I~2Cɫ99)9 9I9Y?y FZ****** received transponder code query ******F****** received ping request ******9Ii=O; ]&EIE=)E=T㥛 ?kt{Gzt= 0 ף)IyX9v?{GzQ<# ;A)XQAIi$\A\GA^<M==Y.f;QU>a#Hy }>Iȩŭ 5?ŭB^ݾ ƭ? ?9ƭ@ǭQ: ȭ:)ȩWWX XWX:W2W*W)V)bU)BU)*U)U1U5 ] @ByBy ByA*BAAAA"C*CRCCCIGI>v,l$gFAY}F@}F @y}F }F7}FH ׂI ?Z/?EVR?Ʀr?)~F@ ~F?\;I~FCɫYY)Y YIaY?yFxDUSBL response received:!U1,P 45F,000,002B1,18A,80,80,A4,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )Ii% <=MM8=YU QU]>aaa#Hyû}>I :< 5? :`]ݾ > E?97@2< W2<)I:WWX XWX:W2W*WVbUBU*UUUF@BB BA *BA ||v :YR1yi:`6AA)A)"CI*CIRCQCQCqIyG>,~gFAY}6@}6 @y}6}6 }6H`y)"?!?N? 0?)~6@ ~6Ӣd;I~6CɫYY)Y YIYYa?yhFAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B t?Md=Y˴QU>a#HyF;}?I 5?\ݾ j> ?9@: :)WWX  X W X :W 2W*WVbUBU*UUUE@BABI BIAM*BIAQAQAQAQ"CY*CYRCYCYCaqiu?)I9G>>9IȖFi?=P; s&E5 4>5 Ci mGI i ٺ YA ,+9gFAY}2@}2~ @y}2]o}2}2H@v? D?*¿Z?b(?)~2@ ~2b;I~0ɫII)I IIIY}t?y}אFxDUSBL response received:!U1,R,474,000,002AE,189,80,80,AD,FF Fpublishing direction and range info~ɰ`=鰅7> )-CIy=j@xtʮm?tưcٱ 鿡%M]=YDQU>a#Hy/X}>I : 5? :[ݾ > ?9 @t: ^:)J:WWX XW X :W 2W *W V bUBU*UUU`@R-(Combining 5 samples.P)*Q-=j@ZQ-gU?""gJQ-xtʮm?tưc2Q-~:Q)bQ-?ѸN @>8A?RQ-T?ȱe;?n?BQ-H? Q-U@Q-7?P)P)P)Q-Q-@"Q-@BaBa BaAmф*BiAiAiAiAi"Cq*CyRCyCyCyyIGU>    n m:Y DW1y Y: 6) ;9t,SgFAY}fa@}f @y}f)/$}f\}fHY`A? q?#Ŀio?>80?)~fa@ ~f_;I~fCɫ髹) IY?yFUTNmea in: $SNTTA,0.040299,,,,231248.51*4C    @ @ @éééiéé ĩ)ĩIĩiĩl=M:=Y잼QU>a#Hy3}>I8 5?[ݾ S> ?9@: M:)mqAdded new target pos. range: 3.660000 m, bearing: 66.823190 deg, deltaT: 4.441496 s, approachRate: -0.040527 m/s, LOS rate: -0.370187 deg/s, posRepo size: 4mTStarting intercept timer at range: 3.66 m.WH?WX XWX:W2W*WVbUBU*UUG @U _?BB! B!A%K*B!A)A)A)A)"C=CY?RCACEH?CAיIGD>,ڐmgFAY}: @}:O< @y}:s)}:]}:H@O|Z?@?aǿ?wDq?)~: @ ~:^;I~:Cܥ>9ܥCIܥFiܥ?ܥ=ܡܡܥP; ݥ~&E)9I9i9=====VV5ɫ髑) IY?yrFy&1|?nQ?`;V \=)IyQ{Gz?u#< ?A)IAI5Ai\A3GA/M%=Y[/QU>a#Hy:<}>Iȩ :ŭ 5? :ŭ}[ݾ ƭ0> ?9ƭ@ǭ: ȭb:)ȭK:WWX XWX:W2W*WVbUBU*UUUB?B!B! B!A%*B!A)A)A)A)"C5k]?*C1RC1C1C9II)I     Nq:Y W1y č: 6) ;IAG]v>A!,mgFAY}F@}F& @y}F)}F|Ƚ}FH@`b?\? -B`ȿ $?ΰDi?)~F@ ~FX];I~FCɫYY)Y YIYY?y)FI=)4=5<M==Y=n9QU=?AAaE#HAAyMd<}M?Iȩŭ͒ 5?ŭ[ݾ ƭV> ?9ƭ@ǭ : ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU`?BB BA*B!A!A!A!A!"C-H?*C)RC1C1C1iIG>'',EGgFA|i|@ɫ髙) IY]?yF    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ<MD=YQU>a#Hy5}5>I9 E:= 5? E:=\ݾ => E?9=7@=g: ==:)=L:WiWiXi XiWqXq:Wq2Wq*WqVybUyBUy*UyUyU܋?BB BAV*BAAAA"C*CRCCCIG*>% t t:YWU1y:*69 @ܝ >9ܝCIܝFiܝa?ܝ=ܙܙܝ'P; ݝ&E.,h$gFAY}6:@}6=V @y}6)}63}6Hc@??@!pkĿ ?*?)~6:@ ~6SDc;I~6Cɫ99)9 9I9Y]?yeF /MW=YQU>a#H:HyK<}>Id 5?W\ݾ M> ?9h@: :)W1W9X9 X9W9X9:W92W9*WAVAbUABUA*UIUIUM@w0@BqBy ByA}x*ByAyAAA"C*CRCCCץ?iץ?QIYG= 5,mgFAY}:\ @}:& @y}:y/*}:}:H`0P`f??1x%¿,?E`(?)~:\ @ ~:a;I~:Cɫ99)9 9I9Y}?y}F 鿁<M:=Y ψQU >11a5#H19y=Ի}=>IAE 5?E\ݾ E> u?9E@E; E;)AWWX XWX:W2W*WVbUBU*UUU @B9B9 BAAE *BAAiAiAiAi"Cq*CyRCyCyCׁIGJ>I)@AE EEE E0}:YET1yE:E6J+;,gFAY}2@}2! @y}2'*}2Y}2H G? X?;{ÿ??O@?)~2@ ~2‘_;I~2CA9AIE FiE?E=AAEO; Eo&Eɫyy)y yIyY(?yFa=ɮL7A`?S㥫?kt?+>/]=  0=)IyJ +?V-?Zd;OH=<j< =>A)NAI1Aix_A\GA    @ @ @ÑÑÑiÑÑ đ)đIđiđH1<M2=YQU>a#Hy΀}>I : 5? :[ݾ > ?9@: :)M:WWX XWX:W2W*WV bU BU *U U U@`@RB*** querying acoustic contact ***PPBABA BAAM*BIAIAIAIAI"CQ*CQRCYCYCY9IIGeV>B,(gFAY}:@}:( @y}:0}:Tp}:H@!V ?p?y `ƿ? >s?)~:@ ~:~];I~:CɫQY)Y YIYY?yUFZ****** received transponder code query ******F****** received ping request ****** e?9]1@]b: ]:)YWWX XWX:W2W*WVbUBU*UUUL @BB BA̓*BAAAA"C*CRCCCI)]AIG'>  p:Yy6>H,%"gFAY}6@}6{ @y}6+A6}6z}6H`a^e|?]?~@Zȿ g?`/ d?)~6@ ~6dc\;I~4ɫ99)9 9I9Yu;?y}FxDUSBL response received:!U1,P 474,000,002AE,189,80,80,AD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=4=)=C=üMD=YnQU>a#Hy|ƺ}>IQ e:U; 5? e:UZݾ U > ?9U@U/< U<)UN:WWX XWX:W2W*WVbUBU*UUU @BB BA*BAaAaAaAa"Ci*CiRCiCqCqyIGc>=i=I9IIMFiM1?M=M:DIMO; Me&EgN,3kAAaE#HAIyM8 ;}M>IQUf 5?UYݾ U$> e?9U@Uܹ: Un:)QWWX XWX:W2W*WVbUBU*UUUX@BB BAq*BAAAA"C*CRCCCשIG"> (    At:Y WU1y : |6) B;9@OU,EVgFAY}6;(@}6C @y}6W@}6Ip}6H`IAY??B]"̿?ӽ7?)~6;(@ ~6b;I~6CɫYY)Y YIYY}?y}UFxDUSBL response received:!U1,R,441,000,002B2,189,80,80,B0,FF Fpublishing direction and range infoHsɰb=鰁 )0CIyy@R?Cz ٱEMe=YQU>a#Hy%<}%>I) U:-Ɋ 5? U:-&Yݾ -> ]?9-@-; -3;)-O:WWX XWX:W2W*WVbUBU*UUU@@R(Combining 5 samples.P*Qy@ZQa#@Qsb JQR?Cz 2QHs:QbQk?a @1n`?RQHbu?vQo?̂?BQQ? Qe@Qd?PPPQQ)@"Q@BQBY BYA]5*BYAYAYAYAa"Ca*CiRCiCiCץ?iץ?׉IG>o|[,-pgFA9I@Fi?hP; &EY}mU@}m߱ @y}m3}m^+}mH 6@v('>?wVο Y? (Ŀ?)~mU@ ~m`;I~mCɫ) Ii5mGYE4?IIyEMFiaٺATNmea in: $SNTTA,0.049041,,,,231252.95*41 {Gz?MbX9Ŀ+?#>! =)Iy:v?ly&1?T<`< l=A)\QAI1Ai&aAzHA    @ @ @ @i )Ii|ƼM=Y}  a #H yM<}>I!%ċ 5?%jXݾ %> ?9%&@%d< %_<)!miAdded new target pos. range: 3.899999 m, bearing: 69.972078 deg, deltaT: 4.466966 s, approachRate: 0.053728 m/s, LOS rate: 0.704928 deg/s, posRepo size: 4WQ?WX XWX:W2WI)  r:YU1y:86);*W1V1bU1BU1*U1U=23@U=Ł?BB BA*BAAAA"CfJ?RCCQ?CIG >Cab,ngFAY}:a@}:7 @y}:L"}:;}:H`;*䔿 l?|=ʿ3?@H?)~:a@ ~:m_;I~:Cɫ99)9 9I9Y}V?y}ĐFEżME=YEw=QUE?IIaM#HIQyUd<}]?IY]G 5?]Xݾ ]> m?9]r@]: ]q:)YWWX XWX:W2W*WVbUBU*UUU?BB BA؄*BAAAA"C)?RCCCIG> h,Q٣gFAɫ髙) IY?yFu&<M}G=Y}QU}>a#Hy}>Iȑ :ŕ 5? :ŕlWݾ ƕ> ?9ƕ@Ǖ: ȕ:)ȕP:WWX XWX:W2W*WVbUBU*UUU``?BB BA *B A AAA"CQ?*CRCCC!I1)5\AaIqG>- ---y -p:Y-T1y-:-69m@E >9AIAiAAAAEP; E&E)qIqiqu=u=uR5un,ܹgFAY}6@}6H @y}6}6=}6H@b?`K?`2Uÿ?+X@$?)~6@ ~6BDa;I~6Cɫ19)9 9I9Yu?yu:FIp=)= = = = =@ =@ E@999i99 9)9I9i9U.<MUM=YU/YYa]#H];Haye}e>Iim֍ 5?mVݾ m,> }?9m[@m^: mI:)iWWX XWX:W2W*WVbUBU*UUU?BB BA@*BAAAA"C*CRCCCIG>lu,gFAY}:@}: @y}: }:J&}:H7@D5? E?,@Ub¿`?@댤`~?)~:@ ~:%Sd;I~:Cɫ99)9 9I9Y}?y}F=A&M=L=YESAAaM#HIIyU;}U>IY e:] 5? e:]*Vݾ ]> e?9]@]: ]:)]Q:WWX XWX:W2W*WVbUBU*UUUQ@BB BAń*BAAAA"C*CRCCCIG >  n:YV1y:{6{,igFAT9TIVFiV1?V=V;DTVP; V&EY}} @}} @y}}}}}}H {@a#Hyϴ}>I͎ 5?Wݾ 0>  ?9Z@: ϸ:)WIWQXQ XQWQXQ:WQ2WQ*WYVYbUYBUY*UUU'@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRC C C ?i?IGn>w,pC gFAY}6e!@}6< @y}6 h}6";}6H3E .?x? S¿e|?#?)~6e!@ ~6e_;I~6Cɫ99)9 9IAY]?y]FeZ****** received transponder code query ******eF****** received ping request ******e ?9@i <  <)R:WYWYXY XYWYXa:Wa2Wa*WaVabUiBU*UUUt@BB BAG*BAAAA"C*CRCCCIG$>%e %~%~% %d:Y%T1y%@:%6و,m%gFAY}2BT@}2o @y}2d6}2T}2H`x`@?[g? @Hÿ;?K?)~2BT@ ~2];I~2Cɫ99)9 9I9Y]?y]4FmxDUSBL response received:!U1,P 441,000,002B2,189,80,80,B0,FF mCommand AckmBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 MX=YQU>a #H y-8<}>I 5?zXݾ ? ?9'@/; ;)WWX XWX:W2W*WVbUIBUQ*UQUYU]= @BB BA{*BAAAA"C*CRCCCIG-N>ܭ >9ܩIܭȖFiܭ?ܭ=ܭ:DܩܭQ; ݭD'E,>gFAY}6k@}6 @y}6,}6WT}6H@f}?@`?`mÿM?`C>@J?)~6k@ ~6v\;I~6Cɫ99)9 9I9Y?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IQ)Q    @ @ @i )IiM:=Y:%:QU>a#HykX;}>I :. 5?  :AYݾ ?  ?9@: <)S:WWX XWX:W2W*WVbUBU*U U U @ae @BB BAŅ*BAAAA"C*CRCCCIGH>? }} @:YkS1yԊ:6,(XgFAY}:@}:+@y}:b}:oC}:H )ȚZ?i-?ĿA!?^ࠏ?)~:@ ~:b;I~:Cɫ99)9 9I9Y}g?y}YFxDUSBL response received:!U1,R,48A,000,002B3,189,80,80,A8,FF Fpublishing direction and range infoˁɰmb=鰁 )(CIyp}@뛁?*ٱI=)+M`=YQU>a#Hyt<}>IK 5?Yݾ  ? ?9@9< V<)WWX XWX:W 2W*WVbUBU*UUU0@RU(Combining 5 samples.PQ*QUp}@ZQUt)@%: JQU뛁?*2QUˁ:QQbQU@zzh?2x1 @Cg?RQU_8?܁|?;K?BQUC ? QUi@QU?PQPQPQQUQU@"QU)@BB BAԅ*BAAAA"C1*C9RCACACiשIGI>i= ,rgFA >9I8Fi?=jR; 'E||i||Y}U@}U@y}U0}U}UH ] w8? ?N% ƿS?@W~?)~U@ ~ULc;I~UCɫ)1)1 1I1Y?yFdNmea in: $SNTTA,0.047169,0.355307,,,231256.99*55 /$?t= ,)Iyl?~jtx?S㥛?=;/< ­?A)­3MAI­I4Ai­^AGA    @ @ @ÑÑÑiÑÑ đ)đIđiđM#=Y IQU>a#Hy2<}>I :* 5? :`Yݾ  ? ?9@>: h:)T:mmAdded new target pos. range: 3.959999 m, bearing: 68.507801 deg, deltaT: 4.054867 s, approachRate: 0.014797 m/s, LOS rate: -0.361116 deg/s, posRepo size: 4WC ?WX  X W X :W 2W *WVbUBU*UU @U`?BIBI BIAMh*BIAQAQAQAQ"CeC ?RCiCmC ?CqIG=r>" h s:YT1y:6);9,ۊgFAY}2Zi@}2@y}2k}2*}2HJ`|? +?@4&Ŀ?l@?)~2Zi@ ~2`;I~2Cɫ99)9 9I9Y?y"F) = =EA=MM|=Y]QU]?Yaae#Haaym }m?Iqur 5?uXݾ u? }?9u@u: u:)qWWX XWX:W2W*WVbUBU*UUU5?BB BA*BAAAA"Cq*CqRCqCqCy׍?i׍?iIqG>',fgFAY}:6E@}:`@y}:Ɉ%}:`}:H5>?`?5Ŀ?@?)~:6E@ ~:$^;I~:CBJFailed to close latch before timeout.q BFHardware FaultYF?yF-F  =]M=]=YEQUE>AIaM#HIIyUbĻ}U>IY] 5?]Xݾ ]? e?9]H@]: ] :)YWWX XWX:W2W*WVbUBU*UUU@}?BB BA*BAAAA"C*CRCCCI-$@Hardware Fault in component: DDMG>A9AIEpFiEM?AAAER; E'EIAA)AAeT>i  Oo:YWU1y:6);i}nGIi uٺq}zA,5CgFAY}2@}2Y,@y}23}2m}2H"@F?? گƿ``?`q?)~2@ ~2];I~2C>Powering down<ɪ<)< a #H <H yӻ}>I! -:% 5? 5:%Wݾ %? 5?9%@% ; % ;)%U:WYWYXY XYWYXY:WY2Wa*WaVabUaBUi*UiUiUmm?BB BA*BAAAA"C*CRCCCסIGA>9,2gFAY}6B@}6 @y}6D@}6}6HIo*??ȿ`? MZ?)~6B@ ~6]^;I~6CYNK?yRҋF%]A%^A]bh<M]=YeQUe ?aaam#Hiiyun}u ?Iy} 5?}Wݾ }l? ?9} @}: }:)yWWX XWX:W2W*WVbUBU*UUU L|?B B BAۆ*BAAAA"C!*C!RC!C!C)I9)91IYG=  l:YDW1yY:`69@f,gFAe>9aIaiaaaaeR; e'E)CICiCK=K=K{5Y}>z@}> @y}>E}>l}>H@Aq@﫱??`$ ȿ?'4Z?)~>z@ ~>h;I~>CY^?y^JFI%R=)%R=U/$? rh?A`"?U>UC= UY=)QIQyU a#HyƎ}>I! M:%} 5? M:%Wݾ %Y? M?9%Y@%ξ; %Q;)%V:WWX XWX:W2W*WVbUBU*UUUr@BB BAz*BAAAA"CA*CARCACACI9II$]NClearing failed state for component DDMq ]Ge5>=ip=M, gFAY}6-@}66I @y}6I}6}6HH`K?;?`>ƿ@M?U]?)~6-@ ~69+j;I~6CYB?yB܊FR<MRu=YV QUV ?TTaV#HXXyZ}^ ?I`b 5?btWݾ b? f?9b@b0: b:)`WtWxXx XxWxXx:Wx2W|*W|V|bU|BU*UUU@RB*** querying acoustic contact ***PPB1B1 B9A=?*B9A9A9A9AA"CA*CIRCICICIQIYG}= a n:YW1yč:!6v,'gFAY}29@}2{U @y}2U}2}2H@Jw@? '?2ȿτ?Hn@H?)~29@ ~2g;I~2CYVu?yVFZZ****** received transponder code query ******ZF****** received ping request ******^IIaM#HQQy]a:}e>IȁŅd 5?Ņ\Wݾ ƅ? ?9ƅ@Džs: ȅ:)ȁWWX XWX:W2W*WVbUBU*UUU@r @BB BA*BAAAA"C*CRC C C ?i?שIG>9I8Fi?R; (E],ۈAgFAY}2@}2 @y}2c}20q}2H`@Ե??jI˿>?fc4(?)~2@ ~2f;I~2CYN?yRˉFVxDUSBL response received:!U1,P 48A,000,002B3,189,80,80,A8,FF VCommand AckVBRequesting micromodem ping code 2iTT^Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ii % % % %@ -@ -@!!!i!! !)!I!i!UM)=YWQU>a#Hy?d<}>I  :  5? : ?Wݾ ? ?9 @ : :) W:WYWYXY XYWYXY:Wa2Wa*WaVbUBU*UUU`h @BB BA*BAAAA"C *C RC CCIGMR>I)U UUUr Uo:YUT1yU:U6,Ie[gFAY}2@}2e @y}2rl}2_}2HM@a+?@v?@K̿Q? ?)~2@ ~2b;I~2CYV?yV݉FjNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }2;M}v=Y}XټQU ?a#Hy;} ?Ișŝ^ 5?ŝ*Wݾ Ɲ/? ?9Ɲ@ǝL: ȝ:)șWWX XWX:W2W*WVbUBU*UUU @BB BA*BA1A9A9AA"CY*CaRCaCiCIG (> 9 I Fi ? R; 'E,l?ugFAY}2@}2@y}2r}2P}2H`` }?@K?K@oͿ )?`?)~2@ ~28_;I~2CYN?yRFVxDUSBL response received:!U1,R,4A5,000,002B3,189,80,80,B0,FF VFpublishing direction and range infoRЄPɰPP P)R0CIPyPR@ӊC?lՎٱPbdNmea in: $SNTTA,0.076318,0.145988,,,231301.41*5B ](\µ{Gzt?~jt]]ף; ]ļ)YIYy]V-Mb?y&1|]m]<]` ]AA)]SAI] 0Ai]lAY]QLAM8=Y#[QU>a#Hy;}>I :d 5? :aXݾ ? ?9@: :)X:W)W)X) XIWIXQ:WQ2WQ*WQVYbUYBUY*UYUYUe@R(Combining 5 samples.P*QZQ1E@iIH JQ@ӊC?lՎ2QЄ:QbQG  :YX1y/:{6);9,!gFAY}2;M@}2h@y}2u}2U}2H@p??@@ο X??)~2;M@ ~2V];I~2CYN>?yNTFI4=)= ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYmMmb=YuKϻQUu>yya}#HyyO<}>Iȉō7 5?ōWYݾ ƍ ? 5?9ƍ@Ǎr< ȍ<)ȉmemAdded new target pos. range: 3.959999 m, bearing: 66.340705 deg, deltaT: 4.451646 s, approachRate: 0.000000 m/s, LOS rate: -0.486808 deg/s, posRepo size: 4We4?WaXa XiWiXi:Wi2W*WVbUBU*UUU ?BB BAއ*BAAAA"C?RCC4?C!!I1GM>=i=,EgFAY}:#@}:W?@y}:Gs}:}:HÜ??-Ϳ?`cﰿn?)~:#@ ~:\;I~:CYF?yFF= <M=N=YEq;QUE>AIaM#HIIyUл}U>IY e:] 5? e:]iZݾ ] ? m?9]6@]C: ]q:)]Y:WWX XWX:W2W*WVbUBU*UUUH?BB BA*BAAAA"C4?RCCC1I9G]=i9iImFima?iiimR; m'E  N:YU1y: 6);(,gFAY}6G@}6 @y}6r}6,^}6H"??`]U#̿? ?)~6G@ ~6[;I~4YB>?yBTF=ɼM=J=YE1:QUE>AAaM#HM=HIyU$}U>IY] 5?][ݾ ]? e?9]@]: ]@:)YWWX XWX:W2W*WVbUBU*UUUh^?BB BAއ*BAAAA"C*CRCCC?i?IG=,gFAY}Jt@}J @y}J |}J9}JHQ?`E? q̿00? @?)~Jt@ ~JE[;I~JCYZ?yZʊF 鿁    @ @ @i )Ii@2=M@=YQU> a#H!y-z}5>II e:M 5? m:M\ݾ M,? u?9M@M; M;)MZ:WWX XWX:W2W*WVbUBU*UUU ?BABi BiAmF*BiAiAiAqAq"Cy*CyRCyCyCyׁIG=>I@A)?An  y:YV1y:69@a 9a Ie Fie ?e =a a e `R; e 'E, )Iy/$?Mb?~jt<<D )PAI-Ai?A~<M;=YQU>a#Hy}>I 5?u\ݾ b? ?9@< <)WWX XWX:W2W*WVbUBU*UUU G@BQBQ BQA]*BYAYAYAYAY"Ca*CRCCCׁIG,agFAY}Nrp@}N@y}N}N榽}NH ??'@DϿ@?W2?)~Nrp@ ~N[;I~LVPowering upV"Initializing DDM.Y]?y]FUfMUT=Y]QU]>Yaae#Haaym&#=}m>Iqu4 5?u@\ݾ u? }?9uk@u: u :)qWWX XWX:W2W*WVbUBU*UUU*@BB BA;*BAAAA"C*CRCCCI\A)1IG!>  :YX1y/:)6 ,O*gFAY}>L@}>%h@y}>7r}}>}>H`$s? ?5lο[?`ݱ`?)~>L@ ~>BZ;I~>CYr?yrFtvAAI~=)~= M M M M@ M@ M@IIIiII I)IIIiI]E<Me[=Ye҇;QUe>iiam#Hiqyuſ}u>Iy :}` 5? :} \ݾ }? ?9}@}: }:)}[:WWX XWX:W2W*WVbUBU*UUUI(@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCC IG-=!9%CI%Fi%1?%=%;D!%R; %'E)ݑIݑiݑݑݕ=ݕd85=ip=x, 'DgFAY}2wT@}2p@y}20}2I}2H` rV??V@zϿ`j? R?)~2wT@ ~2Z;I~2CYNk?yNFRZ****** received transponder code query ******RF****** received ping request ******Ra#Hy:}>Id 5?[ݾ ? ?9'@M: {:)WWX XWX!:W!2W!*WAVAbUIBUI*UIUIUU @BB BA*BAAAA"C*CRCCC׹IG$>E $ E E E  E s:YE DW1yE Y:E 6%$,]gFAY}6#@}6:?@y}6ˍ|}6 }6H ڴ?s? 7Ͽ @?6@?)~6#@ ~6Z;I~4YBz?yBǍFFxDUSBL response received:!U1,P 4A5,000,002B3,189,80,80,B0,FF FCommand AckFBRequesting micromodem ping code 2iDHNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 z:Mi=Y !)a5#H1Iy]`}e>I =: 5? E:[ݾ D? u?9~@]z< z<)\:WyWyXy XyWX:W2W*WVbUBU*UUU @BB BA *B AAAA"C*CRCCC!5?i5? I!Gu6> 9 I xFi ? Q; f'EN, wgFAY}6%@}6 @y}6؄u}6/c}6H b P?0?6{̿e?[k ?)~6%@ ~6Z;I~4YBe?yBFRNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B   Dl?I +?S㥻? O > 9> /=) I y Mba#Hy5}>IșŝO 5?ŝ[ݾ Ɲ> ?9Ɲ@ǝ: ȝU:)șW!W!X) X)W)X):WI2WQ*WQVQbUiBUq*UqUqUuR%@BB BA*BAAAA"C*CRCCCסIG!>IAA)@A6$,ʩgFAY}6@}6O@y}6p}6Rs}6HQϷ? ?@@S̿`? u?)~6@ ~6qZ;I~6CYB?yBЍFFxDUSBL response received:!U1,R,4A8,000,002B3,189,80,80,B1,FF FFpublishing direction and range infoF%DɰDD D)F1CIDyDF9m1?F<ٱDZ^F=MZm=Y^Z r?9j@j: j:)j]:WWX XWX :W 2W *W V bUBU*UUU Xs@R%(Combining 5 samples.P)*Q)ZQ-DGJ@Ⳣ S JQ-9m1?F<2Q-%:Q)bQ-'3_?Bx$ @@B?RQ-Q^S_?G?y?BQ-? Q-d@Q-?P)P-Y9?P-Q)Q-@"Q-@BYBa BaAe *BaAaAiAiAi"Cq*CqRCqCqCIG=% %%% %Zn:Y%Y1y%:%)6Fc*,͑gFAY}N@}N8$@y}N&m}NK }NH z`` ??%̿u? ± ?)~N@ ~N$Z;I~LYZ?yZȌF%TNmea in: $SNTTA,0.026419,,,,231305.84*42 uMu>=Y};QU}>ya#Hy;}>Iȑŕ 5?ŕ[ݾ ƕ> ?9ƕ@Ǖ : ȕY:)ȑmmAdded new target pos. range: 3.959999 m, bearing: 66.287737 deg, deltaT: 4.365120 s, approachRate: 0.000000 m/s, LOS rate: -0.012134 deg/s, posRepo size: 4W?WX XWX:W2W*WVbUBU*UUUo?BB BAw*BAAAA"C?*CRCC?C Iו]A)בׁIܩ9ܭCIܭ@Fiܭ?ܭ=ܩܩܭZQ; ݭ)'EG > H1,_gFAY}6@}6b @y}6 l}6f}6H/?@?C̿`>?ͱ ?)~6@ ~6Z;I~6CYR~?yR,FI5=)5R=    @ @ @ @áááiåá ĥ)ĥIĥiĥE<MF=Y;QU>a#H>Hy}>I : 5? :[ݾ K> ?9@=: k:)^:W W X  X WX:W2W*WVbUBU*UU!U%A?BIBI BIAUN*BAAAA"C*CRCCCIG>i=- --- -#s:Y-V1y-:- 6r7,:gFAY}B%@}BA@y}Bg}B}BHcਰ붳?`?v̿?`t ?)~B%@ ~BIZ;I~BCYN`?yRFNM%D=Y-]!Yaae#Hiyy<}>Iȡťx 5?ť[ݾ ƥ[> ?9ƥ@ǥ_; ȥ;)ȡWWX) X1W1X1:W12W1*W9V9bU9BU9*U9UAUE|?BB BAU*BAAAA"C*CRCCC׉IG>ܭ >9ܭ CIܩ iܩ ܭ =ܩ ܩ ܭ P; ݭ &E=,gFAY}>(@}>oD@y}>f]}>W]]}>H @aJ?X?Gɿu?^@5?)~>(@ ~>9^Z;I~>CYJr?yJFkt?Mb?I +? == 9<)IyZd;~jth?A)SAIv.AimAKA   % %@ %@ %@!!!i!! !)!I!i!5pq=M5I=Y599a=#H9AyE:}M>IIM 5?M\ݾ M9> ]?9M@M: M:)IWyWyX XWX:W2W*WVbUBU*UUU `?BB BA*BAAAA"C*CRCCC?i?IG>- --- -|:Y-X1y-/:-;6)-;9=фD, gFAYP?yF 鿁<MR=YQU>a#Hy}>I :͎ 5? :^ݾ > ?9@: :)_:WWX XWX:W2W*WVbUBU*UUUॉ@BB BAZ*BAAAA"C*CRCCC IG5 >I)AAbJ,,gFAY}2@}2.@y}2!AL}25o}2HJ @\IJ?z?ŭȿ\?OXO?)~2@ ~2-[;I~2CYN?yR!FUMV=Yg3=QU>!!a%#H!!y-|i}->I15 5?5B_ݾ 5!> =?95I@5(: 5:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUqU}dx@BB BA*BAAAA"C*CRCCC׹IG]=U>9QIQiQQQQUP; U&E4>inGI i!UڿٺQUAm?9A-L --- - w:Y-U1y-:-;6)-;˖Q,7FgFAY}FV@}F @y}FFI}Fl=}FH  hRw?`?@Չǿ@t?:HY?)~FV@ ~FDZ;I~FCYn?yrEFtt    @ @ @ÙÙÙiÙÙ ę)ęIęię =MA=Y;QU>a#Hy፼}>I :. 5? :`ݾ W> ?9%@R: I:)`:WWX XWX:W2W*WV bU BU *U UU@RB*** querying acoustic contact ***PPBABA BAAE *BAAIAIAIAI"CQ*CQRCQCQCYIi)iI!Gu=\W,`gFAY}%@}%" @y}%qTK}%U-}%H` a?*J?̳ǿ??FW?)~%@ ~%[;I~%CYm?yu)FZ****** received transponder code query ****** F****** received ping request ******/]= u<)Iy?{Gz?L7A`堿<ף<+ ¡)¥NAI¥K/Ai¥ fAzHA<M,=YUQU>a#Hy}>I׏ 5?$`ݾ z> ?9@: :)W!W)X) X)W)X):W)2W1*W1V1bU1BU1*U9U9U=@ @BiBi BiAm*BiAqAqAqAq"Cy*CyRCyCyCׁIG=>ia=% %%% %0:Y%DW1y%Y:%69-@M >9I IM xFiM ?M =I I M 4P; M &E)CICi቉==2J5],g_zgFAY}:@}: @y}:J}:i}:H` i?J?@̿`]?@.:.?)~:@ ~:*[;I~:CYRC?yRVFVxDUSBL response received:!U1,P 4A8,000,002B3,189,80,80,B1,FF VCommand AckVBRequesting micromodem ping code 2iTT^Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )Ii-:;M-V=YuPN;QU}>a#Hy:}>I :Î 5? :_ݾ a> ?9'@7"< "<)a:WWX XWX:W2W*WVbUBU*UUU R @B B  B A *B AAAA"CA*CIRCICICQaIyGb>Kd,9gFAY}6G@}6ѫ @y}6O9}6!0}6H`|n`1?@B LϿ@ ? ̌ſQ?)~6G@ ~6^;I~4YN.?yRFRp=ɮRp=bNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ;Me=YA=QU?a#Hyl<}?I 5?y_ݾ > ?9@Y: Q:)WWX XWX:W 2W *W V bU BU*UUU`H@BABA BAAE"*BAAIAIAIAI"CQ*CQRCYCYCYm?im?1I9GU=- --- -{:Y-Y1y-:-;6j,gFAY}2D@}2 @y}2#&}2m}2HD p/?@s ̿?@ÿ6?)~2D@ ~2_;I~2CYN?yR!FVxDUSBL response received:!U1,R,502,000,002B1,189,80,80,B6,FF VFpublishing direction and range infoRf3PɰRa=P P)R6CIPyRu@Rw?amf-ٱP dd~M~W=YB=QU> a #H  y E<}>I 5?%_ݾ  > %?9@b: :)WQWYXa XaWiXi:Wq2Wq*WqVqbUBU!*U!U)U@.@R(Combining 5 samples.P)*Q-u@ZQ-AKK?Oh JQ-w?amf-2Q-f3:Q)bQ-Al?U! @ނ=2?RQ-$~?H$?8uRV??BQ- ? Q-S@Q-e?P)P)P)Q-Q-&@"Q-@BB BA*BAAAA"C*CRCCC9I@Fi?=O; _&EIG )>I){q,gFAY}Z@}Z@y}Z!}ZZ}ZH`Q 5t?a+?X@0uƿ ? M`}?)~Z@ ~Zm];I~ZCYf?yfF=TNmea in: $SNTTA,0.034296,,,,231310.29*43    @ @ @ÙÙÙiÙÙ ę)ęIęię]=M?=YUa#H?Hyv;}>I u:ϋ 5? u:^ݾ q> u?9g@ݲ< <)b:mqAdded new target pos. range: 3.839998 m, bearing: 61.791253 deg, deltaT: 4.510227 s, approachRate: -0.026606 m/s, LOS rate: -0.996953 deg/s, posRepo size: 4W ?WX XWX:W2W*WVbUBU*UU Q@U=z?BAB BAń*BAAAA"Cd?RCC ?CסIG >% %~%~% %}:Y%T1y%@:%6x,-gFAY}]@}]B-@y}]d!}]l>}]H% @?z%?@-`ÿ ?2?)~]@ ~]!s\;I~]CY&?yDFkt?)\(/$ 0=Ga )IyMbPQ?Q?\=u< 6A)|_AI2AivdA\KA<M8=YɀQU>a#HyS2;}>IҊ 5?k_ݾ e>  ?9@4: :)W)W)X) X)W1X1:W12W1*W1V9bU9BU9*U9U9UE`m?BiBi BqAu*BqAqAqAqAy"C},?RCCCIו\A)ו\AaIqG> >9 CI i = yO; )&E8~,gFAY}6@}62@y}6L}6(c}6HW`紳?@5??`6v?kӒ[?)~6@ ~6\;I~6CYN?yRFI =) =    @ @ @ÙÙÙiÙÙ ę)ęIęięjK<M`=YRa#Hyѻ}>I : 5? :_ݾ > ?9R@: :)c:WWX XWX:W2W*WVbUBU *U U U ]?B9B9 B9A=*BAAAAAAAAA"CMY?RCICICQIIYGu==i=% %%% %p:Y%T1y%:%)6)%:;9- ,gFAY}2>@}2 @y}2*}2@/}2H3 f 6Ԫ?@L? ¿t??)~2>@ ~2.p[;I~2CYN?yRF=)M=R=YEϦAAaM#HIIyU}U>IY]$ 5?]m`ݾ ]> e?9]@]=: ]ϸ:)YWWX  X W X :W 2W *WVbUBU*UUUK?BaBi BiAm*BiAiAiAiA"C/?*CRCCC׉IG=J,Y/gFAY}J@}J @y}JG }J)}JHd@Ͳ?S?tHÿc??)~J@ ~Ja[;I~HYZ?yZF=MD=Yoa#HQy]/Ĺ}]>Ia m:e$ 5? m:eaݾ ej> m?9eF@e: e(:)ed:WWX XWX:W2W*WVbUBU*UUU_@BQBQ BQAU*BQAYAYAYAY"Ce ?*CaRCaCaCiܝ >9ܙIܝ Fiܝ?ܝ=ܙܙܝN; ݝ%E׽?i׽?׉IG>- --- -M~:Y-WU1y-:-`6)-;2,7IgFAY}6t@}67 @y}6< }6ΐR}6Hھ@K?`h?9 o?Y`?)~6t@ ~6Z;I~6CYf?yj;F II    @ @ @ÙÙÙiÙÙ ę)ęIęię~$MJ=Y;QU>a#Hy(}>IE 5?aݾ > ?9@: {:)WWX XWX:W2W*WVbUBU*U U U @BB BA*BAAAA"C*CRCCCIG>I@A)@A_,GcgFAY}z @}z< @y}z;}z}zH?f~?WC??)~z @ ~zPZ;I~zCY0?yF!%@A/$?v/?{Gzt?,=xi> ף;)Iya#HyK}>I : 5? :`ݾ w> ?9)@: $:)e:W!W)X) X)W)X):W12W1*W1V1bU1BU9*U9U9U=a@RMB*** querying acoustic contact ***PIPIBiBq BqAua*BqAqAqAqAy"Cy*CRCCC!I1GM>  Oo:YU1y:69%@ܭ >9ܭ CIܭ ȖFiܭ ?ܭ =ܩ ܩ ܭ N; ݭ %EiM nGI i ڿٺ A ,|gFAY}2/@}2;K @y}2}2|^}2HX`c}y?x?`P@I¿ ?`@?)~2/@ ~2_Z;I~2CYN ?yRFRZ****** received transponder code query ******VF****** received ping request ******V11a5#H9AyEo;}E>IIM 5?MW`ݾ M> =?9M@M< M<)IWyWyXy XyWX:W2W*WVbUBU*UUU@ @BB BA*BA A A A "C1*C1RC1C1C9Ii)i)I1GM>\o,˖gFAY}:uK@}:f @y}:Bf}:9}:H@Q@j?%q? ? ÿ? ( Ǚ?)~:uK@ ~:([;I~:CYF?yFFJxDUSBL response received:!U1,P 502,000,002B1,189,80,80,B6,FF JCommand AckNBRequesting micromodem ping code 2iLLVNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 In=)n4=  ML=Y%,];QU->9AaM#HIayuw;}}>Ișŝp 5?ŝ_ݾ Ɲ> =?9Ɲ@ǝԨ< ȝZ<)șWWX XWX!:W!2W)*WIVQbUQBUY*UYUaUeX% @BB  B A &*B A A AA"C*CRCCC!AIYG9>i=%r %%% %(z:Y%WU1y%:%{6,ӤgFAY}2ɖ@}2S @y}2}2S䥽}2H`ռݒ?D[?h jĿ?*`?)~2ɖ@ ~2[;I~2CYNP?yRFPɮPfNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B sM@=Y:QU>a#HyO5<}>I :, 5? :_ݾ > ?9z@: :)f:WWX X W X :W 2W *W VbUBU*UUU@BABA BIAMZ*BIAIAIAIAI"CQ*CYRCYCYCY99=CI=Fi=?==99=N; =%E)͂CI͂Ciɂ͂=͂=͂m5iIyG=,'gFAY}6@}6A @y}6}6}6H Tp?@L?`ſ'R?!<|?)~6@ ~6͵[;I~6CY^?y^ŏFbxDUSBL response received:!U1,R,415,000,002AF,189,80,80,A3,FF fFpublishing direction and range infobti`ɰba=` `)b#CI`ybn@bpϨH? E?TMٱ` 5 5 5 5@ 5@ 5@111i11 1)1I1i1E<MER=YM0*QUM>IIaU#HU@HYy]F;}]>Iaeފ 5?e^ݾ e> m?9e@eE: e:)aWWX X1W1X1:W12W9*W9V9bU9BU9*UAUAUE"@Ru(Combining 5 samples.Pq*Qun@ZQu<68@¾ܞJQupϨH? E?TM2Quti:QqbQu}?d@ @FBY?RQurT?q(a?df?BQu? Qub@Qu?PuW9?PqPqQqQu@"Qu&@BB BA@*BAAAA"C*CRCCC5?i5? IG5 >% %|%|%@ %Ti:Y%R1y%i:% 6,ggFAY}>Z@}>@y}>#}>7ߙ}>H`ĥl? >?@5qĿk??)~>Z@ ~>6[;I~>CY^_?y^F%dNmea in: $SNTTA,0.478565,0.479253,,,231314.73*5F 11a i@a  a m@a  a q@a  a e@a  ʡE?Q롿Mb`=\ )IiMb@Mb@Mb@© ½ @)½ʱ@I½x@i½f@eѻMA=Y~QU>a#Hy;}>Iș :ŝ 5? :ŝ]ݾ Ɲ]> ?9Ɲb@ǝy: ȝt>)ȝg:mmAdded new target pos. range: 3.720000 m, bearing: 74.081850 deg, deltaT: 4.420641 s, approachRate: -0.027145 m/s, LOS rate: 2.780275 deg/s, posRepo size: 4W?WX XWX:W2W*WV!bU)BU)*U)U- @U5ai?ByBy ByA}V*ByAAAA"CL?RCC?CסIG >I)AA! % ^A5 >91 I5 8Fi5 ?5 =1 1 5 lN; 5 %E2վ,6gFAY}2t@}25@y}2n*}23}2H1 45?))a-#H)1y5<}5>I9=J 5?=P]ݾ => M?9=@=: =M?)9WiWiXi XiWiXq:Wq2Wq*WqVybUyBUy*UyUU@M?BB BA*BAAAA"C y?RCCCױIG=- -}-}- -s:Y-kS1y-Ԋ:-6)-;95,gFAY}26@}2 R@y}2}2}2H`:`{?@#?$I?@#?)~26@ ~2[;I~2CYN?yRF    @ @ @ÑÑÑiÑÑ đ)đIđiđ=MB=YQU>a#HyN;}>I 5?\ݾ c> ?9<@: Μ?)WWX XWX:W2W*WVbUBU*UUU'?B)B1 B1A5*B1A9A9A9A9"CE5ٙ?RCACACIIY)]]A1I9G]=,_1gFAY}2@}2J@y}2(}289}2H&?+4?6,3h¿`? Tަ@h?)~2@ ~2[;I~2CYR2?yRsFI 4=) %==XM=Q=YE64;QUE>AIaM#HIIyU}U>IY] 5?]\ݾ ]> m?9]@]>: ]?)YW!W!X! X)W)X):W)2W)*W)V1bU1BU1*U9U9U=@?BaBa BiAma*BiAiAiAiAq"Cu2?RCyCyCy >9IFi?M; X%EQIYG==ia=% %%% %}:Y%WU1y%:%6)%c;,7KgFAY}:@}:F @y}:}:4$}:H@v ?Y?`?M?)~:@ ~:`[;I~:CYF?yFNF=<M=J=YE7|;QUE>AIaM#HIIyU}U>IY e:]q 5? e:]y[ݾ ]|> e?9]@]: ]H@)]h:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C?RCCCQIYGu=,begFAY}6@}6k @y}6}6}6H@ @D-?A?^@\Ŀ|??)~6@ ~6[;I~6CYB?yB|Fa ia i a ma m a qa q a ea e a i@a  a m@a  a q@a  a e@a  a I@a  l?Zd;?{Gzt?>y= ף;)IiMb@Mb@Mb@ )Ii‰    @ @ @i )IiK;M >=Y $QU >a#Hy<}>I!%5 5?%Zݾ %=> 5?9%@%1: %@)!W WX XWX:W2W*WVbUBU*U!U!U%$@BB BA*BAAAA"C*CRCCC׽?i׽?׉IG>M7MMM M$:YMV1yM:M`69m@9IinM; %E",l|gFAY}2M@}2i@y}23#}2}2Hh:@;s??q Lƿ f?x?)~2M@ ~2I2[;I~2CYNP?yRFPP \\      @  @  @   i   ) I i M[=YQU>a#HyS<}>Iȱŵ 5?ŵ>Zݾ Ƶ> ?9Ƶ@ǵ˵; ȵ5@)ȱW!W!X! X!W!X!:W)2W)*W)V)bU1BU1*UQUQU]@@ReB*** querying acoustic contact ***PaPaBB BAZ*BAAAA"C*CRCCCIG>I)@A ,XgFAY}6@}6c@y}6 N%}6Ž}6Hqkg?@f?7 ǿ ϒ?^@o?)~6@ ~6[;I~6CY^_?y^FbZ****** received transponder code query ******bF****** received ping request ******f11a5#H19yE<}E>IIM 5?MYݾ M> ]?9Mj@M: MN@)IWAWAXA XAWIXI:WI2WI*WIVIbUqBUq*UqUyU}] @BB BAV*BAAAA"C*CRCCC IG5 >% %~%~% %:Y%T1y%@:%6 8,O@gFAY}v7 @}v'@y}vic#}vB޽}vH!Zp?`?8rvȿEV?3`[h?)~v7 @ ~vr[;I~tY ?y =FxDUSBL response received:!U1,P 415,000,002AF,189,80,80,A3,FF Command AckBRequesting micromodem ping code 2i%Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ]^A]]AT>ܡ9ܡIܡiܡܥ=ܡܡܥ!M; ݥ$EinGIi EgڿٺAEA    @ @ @ i? ?)?I?i?]M] =Y]p;QU]>a#HAHy;}>Iȑŕx 5?ŕXݾ ƕN> ?9ƕ@Ǖ; ȕo@)ȑW!W!X! X)W)X):W)2W)*W1V1bU1BU1*U1U9U}@ @BB BAw*BAAAA"C*C9RC9C9CAIq)q׉IG>,^gFAY}2@}2#@y}2? }2<Ž}2HX”? ?`NK Cǿ ?9ƽN@ǽ: Ƚ@)ȹWWX XWX:W2W*WVbUBU*UUU @B!B) B)A-@*B)A1A1A1A1"C9*C9RC9C9CAשIG>=i=- --- -;|:Y-X1y-/:-6F,gFAYA?y |FxDUSBL response received:!U1,R,439,000,002B5,189,80,80,AE,FF Fpublishing direction and range infojqɰc= ).CIy@ˮZ?ٱa i-a i- a m-a m- a q-a q- a e-a e- a I-a I- -i|?5#~j~jt?-q-㥽 -=))I)y-~jtS㥻Mb`?--/ݽ-; -QYYa]#HYaye}e>Iim 5?m6Wݾ m > }?9m@m: m:)iWWX XWX:W2W*WVbUBU*UUU-p@R=(Combining 5 samples.PA*QE@ZQE)@0]Ll JQEˮZ?2QEjq:QAbQEEz~z?p]@*D ?RQE5#?o6?V(Ww?BQEǣ? QEv@QEӓ?PEX9?PEW9?PEQAQE @"QE@BB BA]*BAAAA"C*CRCCCIG$>} >9yI}Fi}a?yyy}L; }$E) I i = = 4o1,WgFAY}f*@}f0F@y}f"}fV;}fH1 Ak?y!?`IpT`?@dxp? ?)~f*@ ~f{\;I~fCz`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫAA)A EIAY*?yFDNmea in: $SNTTA,,,,,231319.20*57 )= = E M M M@ M@ M@ M@IIIiMI M)MIMiM]8<M]"=Ye;QUe>aaae#Hiiym\ۼ}u>Iq :u 5? :uUݾ u> ?9u@u: u:)ui:mmAdded new target pos. range: 4.080000 m, bearing: 73.310681 deg, deltaT: 4.469556 s, approachRate: 0.080545 m/s, LOS rate: -0.172538 deg/s, posRepo size: 4Wǣ?WX XWX:W2W*WVbUBU*UUQ@U@=?BB BA*BAAAA"C ǣ?RC C ǣ?C%?i%?I5O 555 5]w:Y5T1y5:56)5;9=G=r>X,fgFAY}:X@}: @y}:{}:}:H@q@=6?j2?`zSE ? y5c@J?)~:X@ ~:g\;I~:CɫYY)Y YIYY?y F!<M=Y9QU?a#Hy3}?Iȱŵ8 5?ŵTݾ Ƶ> ?9Ƶ@ǵ: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUU\?B!B! B!A-*B)A)A)A)A1"C1*C9RC9C9C9IIQGm>I)AAM ,4gFAY}::@}:@y}:}:}:H ?2? 6 >?=?)~::@ ~:&[;I~8ɫYY)Y YIYY?y|F9IȖFi?0L; k$E    @ @ @ÁÁÁiÁÁ ā)āIāiāM4=Y;QU%>!)a-#H)1y5:}5>I9 := 5? :=Sݾ =3> ?9=!A=o< =o<)=j:WWX XWX:W2W*WVbUBU*UUUN?B)B) B)A-*B)A1A1A1A1"C9*C9RC9C9CA9IAGeU>% %%% %q:Y%W1y%č:%6)%;3k,VNgFAɫ髙) IY?yUFu=Muj=Y}QU}>ya#Hy}>Iȑŕע 5?ŕRݾ ƕ> ?9ƕAǕ|: ȕ:)ȑW9W9XA XAWAXA:WA2WA*WIVIbUIBUI*UQUQUUz?ByB BA5*BAAAA"C*CRCCCI׭]A)ש׉IG$>x,6hgFAY}B,=@}BX@y}B}BN}BH=q?!?` Gſ ?n?)~B,=@ ~Bj;I~BCɫQY)Y YIYY?yF(\?ly&1G> `e)Iy{Gzy&1?X9v?#`e<< ­fBA)­IAI­2Ai­]AME=Y ;QU>a#HyW!<}>I : 5? :&Sݾ > ?9A; ;)k:WWX XWX:W2W*WVbUBU*UUU`?V@BABa BaAe*BiAiAiAiAi"Cq*CqRCqCyCyIGI>=ip=% %%% %N:Y%DW1y%Y:%69-@ >9CIFi?=K; >$E} ,gFAY}: :@}:U@y}:}:ʨ}:H=[?$?Ŀ ??)~: :@ ~:kk;I~:Cɫ99)9 9I9Y}?y}F    @ @ @ÑÑÑiÑÑ đ)đIđiđ];ML=Yk;QU>a#Hyv}>I 5?Sݾ g> ?9A;  ;)W!W)X) X)W)X1:W12W1*W9V9bU9BUA*UAUAUM@cf@ByBy ByA}t*ByAAAA"C)*C)RC)C)C1!I)GU2>&,gFAY}JXT@}Jo@y}JK}Jć}JH@K ۩?`!?@5vYÿ ?ʰw?)~JXT@ ~Jg;I~Hɫqq)y yIyY?y^Fa=MY=YZa#Hy;}>I :i 5? :Tݾ > ?9(A|: :)l:W!W)X) X)W)X):W)2W1*W1V1bU1BU9*U9U9U=\@RMB*** querying acoustic contact ***PIPIBiB BAʃ*BAAAA"C*CRCCC?i?IG>%? !!% %v:Y!y!%6,,ĵgFAY}2@}2 @y}2 }2]}2H@_v@e6? y ?G@*Ŀ$$?͒Θ?)~2@ ~2d;I~2Cɫ99)9 9I9 >9CIXFi?=NDK; 8$EYg?yFZ****** received transponder code query ******F****** received ping request ******=Y|ka#HBHy\d<}>I? 5?Tݾ > ?9NAw: :)WWX XWX:W2W*WVbUBU*UUU @B B) B)A-*B)A1A1A1A1"C9*C9RC9C9CA!I)GM0>I)?A3,gFAY}R@}R"@y}R9@}Rge}RH y f_>>? g?ac#¿,?@?)~R@ ~R%c;I~RCɫqq)q yIyYA?y˓FxDUSBL response received:!U1,P 439,000,002B5,189,80,80,AE,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =MJ=YI;QU>a#H)y}M:}}>Iȑŕ 5?ŕUݾ ƕJ> ?9ƕsAǕ7@< ȕB<)ȑWWX XWX:W2W *W V bU BU *UUU @BB BA*BAAAA"C*CRCCC5 5~5~5 5g:Y5T1y5@:56IIG|>>9,xgFAY}:@}:@y}:P }:%}:HlE??2?`!`C?A|?)~:@ ~::d;I~8ɫ99)9 9I9Y}?y}F鮅a=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Zd;O?Q뱿X9vj<\ )Iyy&1|?V-?l񢿙`;m= :A)OAI5AizZAFA <MD=YyQU>a#Hy%<}%>I) 5:-c 5? 5:-Uݾ -> =?9-A-: -{:)-m:WYWYXY XYWaXa:Wa2Wa*WaVibUiBU*UUU?@BB BA9*BAAA!A)"C9*CaRCaCaCiI}\A)yYIiG`>inGIiUWٺQUA9I Fi?=pK; $EP@,TgFAY}F]t@}F@y}Fg}Fz}FH]e@ ?@W?s??)~F]t@ ~F5a;I~FCɫyy)y yIyY?yɕFxDUSBL response received:!U1,R,4B3,000,002B3,189,80,80,B8,FF Fpublishing direction and range info[`ɰmb=鰡 )8CIyp}@S?' -ٱ = E E E@ E@ E@AAAiAA A)AIAiA] =M]V=Ye[;QUe>aiam#Hi y}>I 5?7Vݾ > %?90Ak: :)WIWIXI XQWQXQ:WQ2WQ*WYVYbUYBUY*UYUaUe @R(Combining 5 samples.P*Qp}@ZQ_F?zE z JQS?' -2Q[`:QbQ+fk?v @n?RQ&]?Pք_?"d~$?BQ? Qh@QD?PY9?PX9?PQQ@"Q @BB) B)A-΂*B)A)A1A1A1"C9*C9RC9C9CAAIIGm5>=i=% %%% %i:Y%V1y%:%6)%_;9-gF,3gFAY}fu/@}fJ@y}f:F}f}fH`D +?6?.¿@}?G,`??)~fu/@ ~fp{_;I~dɫ) IY?yەF}DNmea in: $SNTTA,,,,,231323.66*5C - ;M->=Y-% 11a5#H19y=((}E>IA U:EӜ 5? U:EVݾ E> U?9EAE: Eb:)En:mqAdded new target pos. range: 3.959999 m, bearing: 67.128759 deg, deltaT: 4.458715 s, approachRate: -0.026914 m/s, LOS rate: -1.386481 deg/s, posRepo size: 4W?WX XWX:W2W*WVbUBU*UU @Uݯ?BB BAƂ*BAAAA"Cl3?RCC?CIG (>#M,7gFAY}Fh?@}FZ@y}FZ7}FE }FHP@}9 (9?uƿ? /|?)~Fh?@ ~F_;I~D] >9]CIYiY]=Y]OD] K; ]#E)CICi==P_6ɫqy)y yIyY ?y F 鿁    @ @ @i )Ii#MO=Ya#Hya!;}>I0 5?DWݾ  >  ?9A: :)WWX XWX:W2W*WVbUBU*UUU@?B!B! B!A%H*B)A)A)A)A)"C5?RC1C1C99IAG8>  9q:YWU1y:6);/T,PgFAY}: 5@}:P@y}::㽙}:d }:HQRzY`C?`%ſh?# *?)~: 5@ ~:A^;I~:Cɫ99)9 9I9Y}?y}F=h;M=V=YEoAAaM#HIIyU-ٺ}U>IY e:] 5? e:]Wݾ ]> m?9];A]: ]b:)]o:WWX XWX:W2W*WVbUBU*UUU@?BB BA=*BAAAA"C?RCCCIG>I)@A2Z,LjgFAY}F?@}F @y}F,ؽ}F }FHG!rs?` n?a?``?)~F?@ ~FcXb;I~FCɫQY)Y YIYY?yFMbX9?V-??!>h= =)Iy)\(~jtxMb?GaĻ< C9A)VVAI6Ai~ZA(HACs=M@=YXa#Hy*}>I 5?Xݾ > ?9A: V:)WQWYXY XaWaXa:Wq2Wq*WyVbUBU*UUU?BB BAn*BAAAA"C*CRCCCIGI>%E %%% %v:Y%DW1y%Y:%{69-@e >9eCIaiae=aaeJ; e#E'a,=gFAY}2o@}2u @y}2ބϽ}2Vȃ}2H ??w @?``@?)~2o@ ~2pa;I~2Cɫ9A)A AIAY?yF ] ] ] e@ e@ e@aaaiaa a)aIaiau7ȼMuR=Yu;2yya}#HyyX-}>Iȉ :ō3 5? :ōYݾ ƍ> ?9ƍAǍB: ȍ:)ȍp:WWX XW!X!:W!2W!*W!V)bU)BU)*UIUQUU]@BB BA*BAAAA"C*CRCCCI)IG$>Cg,dwgFAY}J@}JD @y}J%}J_}JH`,7z? ? ?kګ?)~J@ ~JaE_;I~Hɫyy)y yIyY?yɕFuMuJ=Y}#=QU}>ya#Hy}>Iȑŕx 5?ŕZݾ ƕY> ?9ƕUAǕ: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU*@BB BA΂*BA A A A "C*CRCCCׁIG>=ia=%I %%% %v:Y%WU1y%:%6pm,^gFAY}f@}fC @y}f-}f4}fHh5+`6?R?fr@`B?'?)~f@ ~fH];I~fC9CIFi1?=J; #Eɫ髑) IY-*?y5F11    @ @ @ÑÑÑiÑÑ đ)đIđiđ7ϼMG=Y8=QU>a#HCHyQ}>I 5?[ݾ > ?9A; ;)WWX XWX:W2W*WVbUBU*U U U `u@RB*** querying acoustic contact ***PPB9B9 B9A=#*BAAAAAAAAI"CI*CQRCQCQCQסIG%>Vt,2gFAɫ髱) IY?yFZ****** received transponder code query ******F****** received ping request ******99a=#H9AyE}E>Ii u:m 5? }:m\ݾ m> }?9mAm: mk:)mq:WWX XWX:W2W*WVbUBU*UUUS @B9B9 BAAEu*BAAaAaAaAi"Ci*CqRCqCqCqaIiG:>eu eee ee:YeU1ye:e6az,gFAɫ髙) IY?yɕFxDUSBL response received:!U1,P 4B3,000,002B3,189,80,80,B8,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }I +{Gzt?p= ף?}9}ף; }=)yIyy}:vDl:v?}T}O}T< }@A)}5HAI}:Ai}PAy}DAM)=YQU>a#Hy}>IȹŽ 5?Ž[ݾ ƽ> ?9ƽAǽb: Ƚ=:)ȹWWX XWX:W2W*WVbUBU*UUU@b @B)B) B)A-΂*B)A1A1A1A1"C9*CARCACACI9CIFi?=ND\J; l#EI=AA)=AAYIqG>i,_gFAY}J@}Jo @y}J}J3Q}JH@O->v)?`<`贿\?Z.@?)~J@ ~J&h;I~JCɫ髑) IY?yTFɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B      @  @  @   i   ) I i CkM}=Y3 E?9=A=: =:)=r:WiWiXi XiWiXi:Wi2Wq*WqVqbUqBUy*UyUyU}@b"@BB BAf*BAAAA"C*CRCCC9IIGe4>E( EEEe EAt:YET1yE:E6s,@gFAY}6t@}6 @y}6;}6ʆ}6HzIkA Ž u,?@+-f*?`?)~6t@ ~6a;I~6CɫII)I IIIY}?y}FxDUSBL response received:!U1,R,502,000,002AD,189,80,80,C3,FF Fpublishing direction and range infof3ɰu`=鰁 )CCIyff@w?amf-ٱϼMe=Y>QU>a#Hy}>IQ 5?Zݾ > ?9aA4: o:)WWX XWX:W2W*WV bU BU *U UU@ŏ@R%(Combining 5 samples.P!*Q%ff@ZQ%xP^B(?0B JQ%w?amf-2Q%f3:Q!bQ%^ w"?y̱N @vR(,?RQ%!,B??:J?BQ%w? Q% H@Q%?P%Z9?P%Y9?P%Q!Q% @"Q%@BYBY BYA]*BYAaAaAaAa"Ci*CiRCiCiCqIׁ)ׅ\AQIYGu=I M zCi mGI i  ٺ  _AU,9gFAZ >9ZCIZFiZ?Z=Z<DXZyJ; Zw#Eɫii)q qIqY?yF5DNmea in: $SNTTA,,,,,231328.11*57 e~:M/=YQU>a#Hy}>Iȡ :ťѨ 5? :ťZݾ ƥ> ?9ƥAǥ-: ȥg:)ȥs:mqAdded new target pos. range: 3.599999 m, bearing: 60.638508 deg, deltaT: 4.392864 s, approachRate: -0.081951 m/s, LOS rate: -1.477453 deg/s, posRepo size: 4Ww?WX XWX:W2W*WVbUBU*UU  @U 4?BIBI BQAU*BQAQAQAQAQ"C]iI?RCaCew?Ca9IIGe5>5=i1M MMM Mr:YMDW1yMY:M6)M';9U꥔,~SgFAɫ) IY ?yF    @ @ @i )IiMV=YQU>a#Hy}>I 5?Yݾ > ?9RA,: :)W)W)X) X)W)X1:W12W1*W1V1bU9BU9*U9U9U=?BiBi BiAm *BqAqAqAqAq"C}u?RCyCyCIG(>͚,DMmgFAY}F @}F @y}Fk}F}FH @앒@? ʷ?l?)~F @ ~FR[;I~FCɫy髁) IY7?y'FMbX9?y&1|?kt!>`;  )Iy{Gz?y&1|?ף<`< l=A)NAIA>Ai1RA3GAZ<MI=YQU>a#H y A=} >I : 5? %:!Yݾ d> %?9qAV: =:)t:WAWAXI XIWIXI:WI2WQ*WQVQbUQBUQ*UYUYU]@?BB BA*BAAAA"C(?RCCC׵?i׵?שIG >ܡ9ܡIܥFiܥ}?ܥ=ܡܥMDܥJ; ݥ#E)=CI=Ci=C=====7E EEE E}i:YEU1yE:E 6)E;,<0gFAY}J @}J @y}J(C}J㊂}JH RP??!B1A?>i?)~J @ ~Jb;I~JCɫ髑) IY?y:FuMuS=Yu QU}>yya}#Hyyn=}>Iȑŕr 5?ŕXݾ ƕ> ?9ƕAǕ: ȕw:)ȑW1W9X9 X9W9X9:W92WA*WAVAbUABUA*UIUIUMx?ByBy ByA}@*ByAAAA"Cw?RCCCסIG'>I5@A)1ߧ,gFAY}:j%@}:@@y}:)Ƚ}:9}:HwR J?P?CHế?j?)~:j%@ ~:b;I~:CɫYY)Y aIaY4?yMF    @ @ @ñññiññ ı)ıIıiısME=Y{ӼQU>a#Hyȱ<}>I= 5?XXݾ > ?9Ab: Y:)WWX XWX:W2W*WVbUBU*UUU`w@BB! B!A%*B!AIAIAIAI"CQ*CQRCQCQCYaIiG9>E AAE Er:YAyAE69M@ ,gFA& >9&CI$i$&=$&ND&dJ; &n#EY}^ "@}^=@y}^_ݽ}^0L}^H`K`s? J?`?s?@.]?)~^ "@ ~^a;I~^Cɫ髙) IYR?y_FM]AM\A    @ @ @ÑÑÑiÑÑ đ)đIđiđ ;ML=Y9׼QU>a#HDHy}>I : 5? :Wݾ > ?9A:  :)u:WWX XWX:W2W*WVbUBU*U U U `ߠ@B1B9 B9A=*B9A9AAAAAA"CI*CIRCICQCaIׁ)ׅ]AסIG >,EgFAY}2=$@}2?@y}26}2o}2H@D>Jhx?@??`*s¿.? ~?)~2=$@ ~2J^;I~2Cɫ99)9 9I9Y}?y}FAAPM\=YQU>a#Hy9}>Iש 5?Wݾ 7? ?9A\: :)W!W!X) X)W)X):W12W1*W9V9bU9BU9*UAUAUM[@RB*** querying acoustic contact ***PPBB BA5*BAAAA"C1*C9RCACACQ)I1GU>M=iMp= h n:YV1y:6,9gFAY}2d@}2 @y}2A }2렽}2HY?iW?ÿ &?鳿?)~2d@ ~2*\;I~2CɫQY)Y YIYY?yFZ****** received transponder code query ******F****** received ping request ****** L=)IyMbp?㥛 ?~jt;= ?A)IAI7Aiz@A U U ] ]@ ]@ ]@ ]YYYi]p?Y ]&?)]A?I]?i]&?B M#=YȼQU>a#Hya}>I :C 5? :Xݾ S> ?9yAM: :)v:W1W1X1 X9W9X9:W92WY*WaVabUaBUa*UiUiUm@ @BB BA*BAAAA"C*CRCCCM >9MCIMFiM?M=M;DIM2J; MX#EIGn>s,~gFAY}B @}BW& @y}B}Bռ}BH : / ? d|? 23L?@j`?)~B @ ~BR`;I~BCɫQY)Y YIYYP?yFxDUSBL response received:!U1,P 502,000,002AD,189,80,80,C3,FF  Command Ack BRequesting micromodem ping code 2i  Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )]= ]>P=Mu=Y)QU?a#Hy?}?Im 5?cYݾ > ?9A< <)WaWaXa XaWaXa:Wa2Wi*WiVibUiBUq*UqUqUuc @BB BAZ*BAAAA"C*CRCCC-?i-?U QQU Us:YQyQU6IaG~>-,QM"gFAY}:1@}:hM @y}:2)}:cE}:H /?_? ]{ÿb?F?)~:1@ ~:Te;I~:Cɫ99)9 9IAY}c?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B MG=YP.QU>a#Hyy;}>I :Q 5? :8Zݾ > ?9X A: b:)w:W!W)X) X)W)X):W12W1*W1V1bU1BU9*U9U9U= M@BiBi BiAm*BiAqAqAqAq"Cy*CyRCyCyCIG5.>I=AA)=@AE >9E CIE FiE ?E =A E ODE .J; A (X,$*IIaM#HIyk:}>I15) 5?5 [ݾ 5> =?95 A5M: 5:)1WyWyX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qn@ZQ(#@ C))JQz?~^2QNYj:QbQM~?Ȉ= @Y:& c?RQun6?df8?'C?BQ? Q`@Q?PX9?PZ9?PQQP@"Q @BQBQ BQAU!*BYAYAYAYAY"Ca*CRCCCׁIG>>E EEE E҂:YEW1yEč:EM6)EG;9M?,VgFAY}J@}JQ @y}J<}J~}JH z.?`|[?'`ȿ{?`@^?)~J@ ~JN_;I~JCɫ髙) IY~?y,F=TNmea in: $SNTTA,0.037432,,,,231332.56*40 QU]A NM >=YQU>a#Hy%}%>I) 5:- 5? 5:-[ݾ -> 5?9-G A-: -:)-x:meiAdded new target pos. range: 3.720000 m, bearing: 73.229245 deg, deltaT: 4.504817 s, approachRate: 0.026638 m/s, LOS rate: 2.794950 deg/s, posRepo size: 4We?WiXi XiWiXi:Wq2Wq*WqVqbUyBUy*UyU} @U`?BB BAN*BAAAA"C*?RCC?CI)\AשIG > j,HogFAY}>3@}>N @y}>}G}>O|}>H@nG_0?څ?pIȿ~?`8宿wU?)~>3@ ~>4^;I~>Cɫ髁) IYo?y#FeMb@Mb@Mb@ee e)eIayeS㥫MbMbe/]ee el=A)eSAIe1AievdAaeIAi}nGI)iA muٺqu2A u } }@ }@ }@yyyiyy y)yIyiyEAxME+=YMQUM>IQaU#HQQy]ɼ}]>Iaev 5?e\ݾ e> m?9e Ae: e:)aWWX XWX:W2W*WVbUBU*UUU0?9CI8Fi?=J; K#EB B  BAR*BAAAA"C]K?RCaCaCa==i==E AAEu EWr:YAyAEE6)E;QIYG}{>Q,AgFAY}:gx@}: @y}:P}: y}:H Sg@ܰ?J?xɿ`g?`w G?)~:gx@ ~:];I~8ɫ99)9 9I9Y}Z?y}ۋF]WMe=YeQUe?iiam#Hiqyu}}?Iy}^ 5?}J]ݾ }> ?9} A}: }˵:)yWWX XWX:W2W*WVbUBU*UUU@?BB BA׆*BAAAA"CӖ?RCCCIG>{, gFAY}6@}6 @y}6LMU}6*I}6H"@??۬ʿhx?౿z:?)~6@ ~6e;I~6Cɫ99)9 9I9Y}K?y}ҋFuM}I=Y};QU}>a#HyI}>Iȡ :ť 5? :ť^ݾ ƥ_> ?9ƥ1 Aǥ; ȥ;)ȥy:WWX XWX:W2W*WVbUBU*UU U Y?BIBQ BQAUۆ*BQAQAYAYAY"Ce[ݡ?RCaCaCa}?i}?IIQGu>e eeeg em:YeT1ye:e69@ 9 CI Fi a? = J; H#E)uCIuCiqu=u=u)6,mpgFAY}F@}F @y}FV}F}FHEl ?4?@ pʿ?a#HEHyѻ}>Iģ 5?^ݾ j> 5?9 Aw; ;)WqWqXq XyWyXy:Wy2Wy*WyVbUBU*UUU @BB BA*BAAAA"C?RCCC)IG=.>I=@A)9ڍ,KgFAY}6w@}6 @y}6%?\}6Y4}6H`!QIIaM#HIQy]?}]>Ii u:mڤ 5? }:m_ݾ m> }?9m Am Q; m=;)mz:WWX XWX:W2W*WVbUBU*UUU@BqBq ByA}h*ByAAAA"C?RCCCשIG)>E EEE E|:YEV1yE:E6*,'gFAY}j[e@}j @y}ji}j('}jH =m?\?@_ʿc?{q^$?)~j[e@ ~j];I~jCɫ) IY5e?y5F=@A=AAy&1|/$ ףp= ?`, Q8=)IyIIaM#HQQy]&}]>Iae 5?e|^ݾ e> m?9eA Ae: e2:)aW W X  XWX:W2W*WVbUBU*UU!U%ݨ@RMB*** querying acoustic contact ***PIPIBB BA*BAAAA"C?RCCCI)]Aܕ>9ܑIܕ Fiܕ?ܕ=ܑܑܕI; ݕ;#EIGE>,y gFAY}2=y@}2ǔ @y}2gs}2p}2H@k@<=??@#Ϳ`#? F@@ ?)~2=y@ ~2Aj\;I~2CɫYY)Y YIYY?y6FZ****** received transponder code query ******F****** received ping request ******9AaE#HAIyUV;}u>Iy :}y 5? :}]ݾ } > ?9} A}; };)}{:WWX XWX:W2W*WVbUBU*UUU- @BqBq BqAu*ByAyAyAyAy"Cb?*CRCCCסIGA>==i=p=E= EEE Eu:YEDW1yEY:Es6,$gFAY}6\@}6 @y}66u}6}6Hyղ@g?Ǵ?qο.o?mL?)~6\@ ~6\;I~6CɫII)I IIIY}?yFxDUSBL response received:!U1,P 419,000,002AF,189,80,80,AC,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  M M=YQU%>19aE#HAQye;}m>Iȉō 5?ō\ݾ ƍ > ?9ƍ AǍ = ȍ=)ȉWQWQXY XYWYXa:Wa2W*WVbUBU*UUU`N @B9B9 BaAĕ*BaAaAaAiAi"CmQe?RCqCqCqaIGd>܁ 9܁ I܁ i܁ ܁ ܁ ܁ ܅ J; ݅ D#E#,_>gFAY}N@}N4 @y}NTx}N}NH@=б?O?`S$Ͽ?_?)~N@ ~Nd;I~NCɫyy)y yIyYi?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i=)Ý= Ý= ] e e e@ e@ e@aaaiaa a)aIaia}M}5=YqϻQU>a#HyP<}>I  :  5? : [ݾ > ?9  A &%; K;) |:WqWqXq XqWqXy:Wy2Wy*WVbUBU*UUU@@B)B) B)A-ӆ*B)A1A1A1A1"C=d?RC9C9CaYIaGZ>En AAE Ey:YAyAEz"6)E;9U,XgFAY}6@}6. @y}6)Az}6ޠ}6H@#??@͙@f?Ͽ??)~6@ ~6?b;I~6CɫYY)Y YIYY?yFxDUSBL response received:!U1,R,4EC,000,002AF,189,80,80,A8,FF Fpublishing direction and range infoLɰ鰡 )(CIyG.?F+ ٱ S=M R=YwQU>a#Hy%ډ}%>I)- 5?-Zݾ -> 5?9- A-: -U:))WyWyXy XyWyXy:W2W*WVbUBU*UUU@R(Combining 5 samples.P*QZQ-4?H/ JQG.?F+ 2QL:QbQ$r5?` @`yhW?RQF$}Ch?HI?WkN?BQ67? QK@Q?PZ9?PX9?PQQ@"QP@B1B9 BAAE*BiAqAqAyAy"C?RCCCI)GEQ>I=AA)9 ,rgFAY}m@}mb @y}m}m}mH@zɼ??`2s̿*?@x?)~m@ ~m {];I~iɫII)I IIQY?yƎFTNmea in: $SNTTA,0.356256,,,,231336.99*47 a i@a  a m@a  a q@a  a e@a  - - - -@ 5@ 5@)))i)) )))I)i)<M1=YQU>a#Hy@*}>I 5?Yݾ > ?9lAͭ: >)mmAdded new target pos. range: 3.720000 m, bearing: 60.078057 deg, deltaT: 4.432028 s, approachRate: 0.000000 m/s, LOS rate: -2.967307 deg/s, posRepo size: 4%>9!I%xFi%?%=!!%NJ; %i#EW=67?W9X9 X9W9X9:WA2WA*WAVAbUABUI*UIUIUM`*o?BB BA*BAAAA"Cڜ?RCC67?CױIGe>= === =ҁ:Y=U1y=:=;6)=;p",OgFAɫqq)y yIyY?yٍFM^AM^AuMuy=YuQU}?yya}#Hyy}?Iȑ :ŕ 5? :ŕXݾ ƕ> ?9ƕAǕm: ȕPJ?)ȕ}:WWX XWX:W2W*WVbUBU*UUU7?BB BA*BAAA A "C?RCCCI!)!!I1GM>),p$gFAY}6h@}6 @y}6ƛ}6‘a}6H`1?`?*@Ͽ ?E?A?)~6h@ ~6\;I~6Cɫ99)9 9I9Y}?y}F=0<MEN=YM")QUM>YYa]#HYaym}u>Iy}IJ 5?}Wݾ } > ?9}1A}: }~?)yWWX XWX:W2W*WVbUBU*UUU?B!B! B!A%*B)A)A)A1A1"C= (?RCACACA IG= >9i==E EEE Eۃ:YEX1yE/:E69M@i nGI! i9 e $ٺi m ~A) 9- CI- Fi- E?- =) ) - J; - #EK0,;gFAY}6@}6 @y}6Ʉ}6Ჽ}6H@ `'ư?`?~п#? 4 ?)~6@ ~6b;I~6Cɫ99)9 9I9YE?yEF        @  @ @   i   ) I i %pM%L=Y%;QU%>))a-#H-FH1y5;}=>I9=| 5?=Wݾ =g> M?9=A=: =/?)9WiWiXi XiWiX:W2W*WVbUBU*UUUu?BABA BAAM)*BiAqAqAqAy"C?RCCCסIG >*6,gFAY}6y(@}6D @y}6Z:}6ѽ}6H<Q?r?vRп?`?)~6y(@ ~6i@d;I~6Cɫai)i iIiY?y>F)=  >5M5I=Y=049AaE#HAAyM<}M>IQU= 5?U1Vݾ U > ]?9UAUF: UJ?)QWWX XWX:W2W*WQVYbUYBUa*UUU 4@BB  BAG*BAAAAAAAA"CMz?RCICICQׅ?iׅ?YIaGY>E3 EEEt EƄ:YExZ1yEq:E*6U<,{gFAY}N@}N @y}NJ{}N;Hм}NH- ?? ˿'???)~N@ ~NN^;I~NCɫyy)y IY5?y=Fa iea ie a mea me a qea qe a eea ee eV-? rha#Hy}>I : 5? :cVݾ `> ?9*A: :)~:W)W)X) X)W)X):W12W1*W1V1bU1BU9*U9U9U=ɍ@BiBi BiAm1*BqAqAqAqAq"C}Dv?RCyCyC191I5НFi5E@15:D15J; 5#E)iIiimCm=m=md&6yIG<>I5@A)5BA` ?9CA: ^:)WWX XWX:W2W*WVbUBU*UUU@Gv@R]B*** querying acoustic contact ***PYPYBB BA*BAAAA"C-v?*C)RC1C1C9AIQGm5>E EEE Em:YEDW1yEY:E`6(fI,'l'gFAY}FBC@}F^ @y}Fy}FԢ}FHg@~^? ?vIM˿"? @ ?)~FBC@ ~F \;I~Dɫyy)y yIyY?yFZ****** received transponder code query ******F****** received ping request ******11a=#H99yE}E>IIM 5?MVݾ M> ]?9McAM: M;)IWYWYXa XaWaXa:Wa2Wa*WiVibUiBUi*UqUqUu` @BB BA-*BAAAA"C|?RCCCI))-\AIG (>) 9- CI- Fi- @- =- ;D) - YK; - #ESP,9^AgFAY}N[@}N @y}NIr}N@ْ}NH>#*? Y)?`f2ο 1?ӱ ?)~N[@ ~N&f;I~NCɫiq)q qIqY.?yFxDUSBL response received:!U1,P 4EC,000,002AF,189,80,80,A8,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )IiM:;MU,=Yba#Hy }>I : 5? :Vݾ a> ?9A~; ;):WYWYXa XaWaXa:Wa2Wa*WiVibUiBUi*UqUqU`B @BB BA"*BAAAA"CȚ?RCCC!1i1Uh UUU U\y:YUW1yUč:U6)U;9eyIG>oxV,#[gFAY}6@}6+@y}60g}6}6H@ެFUg?`L[? A6ο?By?)~6@ ~64c;I~6Cɫ99)9 9I9Y}?y}F鮅p=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Ml=Y =QU?a#Hyó}?I" 5?Wݾ > %?9A; ;)WWX X1W9X9:WA2Wi*WqVqbUyBU*UUU@S@B1B1 B1A51*B1A9A9A9A9"Ce?RCaCaCiYIaGY>S\,tgFAY}6@}6^@y}6j]}6}6Hv~d??gQ@ Ϳk?@4#?)~6@ ~6{_;I~6Cɫyy)y yIyY.?yFxDUSBL response received:!U1,R,502,000,002B2,189,80,80,B6,FF Fpublishing direction and range infof3ɰb= )6CIyy@w?amf-ٱmQ?Mb?zG?mu>m< m =)iIiymMbMb?V-?mm ->U&;M]?=Y]aiam#Hy@}>Iȡ :ť 5? :ťWݾ ƥ> ?9ƥAǥn; ȥW;)ȥ:WWX! X!W!X!:WI2WI*WQVQbUQBUQ*UYUYU]@R(Combining 5 samples.P*Qy@ZQ=A?a;% 9IiK; $EJQw?amf-2Qf3:QbQO#R@jh @׿-?RQ,o?mcF?g?BQ#|? QL@Q@P[9?PZ9?PQQr@"Q@BaBi BiAm"*BiAiAiAqAq"Cuuۉ?*CyRCyCyC׵?i׵?יIGb>E[ EEE E^:YEU1yE:E`6)Eh;c,gFAY}fE@}f*@y}f(W}f췽}fH _qh? ?`fU̿?s^*?)~fE@ ~f];I~fCɫ) IY?yFTNmea in: $SNTTA,0.023099,,,,231341.43*40 e e e e@ e@ e@aaaiaa a)aIaiau ~<MuH=Y}Kyya}#Hy;}>IȑŕԸ 5?ŕiXݾ ƕ> ?9ƕAǕ: ȕ':)ȑmmAdded new target pos. range: 3.899999 m, bearing: 56.431648 deg, deltaT: 4.476393 s, approachRate: 0.040211 m/s, LOS rate: -0.814586 deg/s, posRepo size: 4W#|?WX XWX:W2W*WVbUBU*UU23@U@'h?BB BA*BAAAA"C%j?RC)C-#|?C)IG-->I1)5?A]i,-gFAY}6Ծ@}6^@y}6ӮQ}6\Խ}6HR3?`mk?`̿? )?)~6Ծ@ ~6h\;I~4ɫ99)9 9I9Y?yWFU M]_=Y]aaae#Haiym)<}m>Iq }:u 5? }:uXݾ u > ?9u-Au: u:)u:WWX XWX:W2W*WVbUBU*UUU ?BB BA*BAAAA"CǺ?RCCCIIYG}>E EEE Ei:YEDW1yEY:E69M@ 9 I i = :L; o$E;p,GgFAY}:@}:@y}:5F}:晢}:H+f?|?̷ 2ʿ#?T쳿M?)~:@ ~:~b;I~8ɫ99)9 9I9Y}?y}F]6MeJ=Yeiiau#HuGHyy}ʺ}>Iȉō 5?ōYݾ ƍ"> ?9ƍ[AǍc; ȍ;)ȉWWX XWX:W2W*WVbUBU*UUUr?B)B) B)A-)*B1A1A1A1A1"C=#|?RC9C9CAIQ)U]AIIYGu>Ov,8jgFAY}2@@}2A\@y}2`?}2݄}2H@qqau#Hyyylv}>Iȑ :ŕd 5? :ŕWZݾ ƕ> ?9ƕAǕ2`; ȕa;)ȕ:WWX XWX:W2W*WVbUBU*UUU` ?BABI BIAM"*BIAQAQAQAQ"CY*CYRCYCaCaYIaGY>==i=a=E^ EEEg Ex:YEV1yE:E6x|,EgFAY}6e@}6p@y}6;}6U}6HZ}??O1 ɿN?g`^?)~6e@ ~6ǵ_;I~6CɫAA)A AIIiNmGY}?yFIiٺ;AMb?MbX9?=ʡ =)Iy{Gz~jt̼# AIaM#HIQyU}U>IY] 5?]Zݾ ]Z> e?9]A]I: ]:)YWWX XWX:W2W*WVbUBU*UUU`?BB BA*BAAAA"C*CRCCC}>9yI}НFi}E@yyy}L; }$EIG )>؃,!gFAY}6L'@}6B@y}6̖8}6}6H`AU?v?%"SOȿ@?ﱿf?)~6L'@ ~65!];I~6Cɫ99)9 9I9Y?yFUx<MUZ=Y];QU]>Yaae#HaaymP'}m>Iqu 5?uZݾ u{> }?9uAu: u÷:)qWWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C*CRCCC ?i ?iIyG>EL EEEN E w:YEDW1yEY:E'6g,)gFAY}:@}:A@y}:/}:,j}:H @??߿ǿ ?X`u?)~:@ ~:[;I~:Cɫ99)9 9I9Y}?y}͑FAA<MW=Yra#Hy}>I :K 5? :Zݾ }> ?9A: :):WiWiXi XiWqXq:Wq2Wq*WyVybUyBUy*UUU@0@RB*** querying acoustic contact ***PPBB BAm*BAAAA"C*CRCCC I9G}>I9)=AAm >9i Im @Fim ?m =i i m L; m $E)Ii==:W5G,CgFAY}2yJ@}2f@y}2'}2c=i}2HL߿o?@@?^߿@ſ ?@1?)~2yJ@ ~2[;I~0ɫ99)9 9I9Y}G?y}FZ****** received transponder code query ******F****** received ping request ******99a=#H9AyEE^}E>Iqu 5?u([ݾ u> }?9uAu=: u:)qWWX XWX:W2W*WVbU)BU)*U1U1U5t @BB BA܄*BAAAA"C*CRCCCYIiGZ>E: EEE Eu:YEWU1yE:E36)E;9Mn,]gFAY}6ت@}6b@y}6"}6}6HO d[J?.?5߿ SſF?S ܆?)~6ت@ ~6&b;I~6CɫII)I IIIY?yFxDUSBL response received:!U1,P 502,000,002B2,189,80,80,B6,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ))U=M]Z=YmENa#Hy=ho<}E>Iy :} 5? :}a[ݾ }h> ?9}EA}P< }<<)}:WWX XWX:W2W*WV!bU!BU!*U)U)U-`{; @BB BA*BAAAA"C*CRCCC׹IG k>>,3wgFAY}:w*@}:F@y}:}:0}:HV^r?+?>ƿi?I?)~:w*@ ~:7a;I~:Cɫ99)9 AIIY}?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B y&1K7ɿZd;O?`eI j=)Iy/$333333?= A>A)NAI0Ai&aAGA e e e e@ e@ e@ e@aaaiea e)aIeieuVwM}9=Y}~a#Hy <}>9IFiv?=8M; $EI% 5?\ݾ > U?9}A/< -2<)WWX XWX:W2W*WVbUBU*UUU`/@BiBi BqAuɄ*BqAyAAA"C*CRCCC׹IGf>==i=%=M M~M~Mq MDp:YMT1yM@:M6)M;-',HkgFAY}6@}6S:@y}6=}6&js}6H`U`́W?F?)> 2ÿ2? Q?)~6@ ~6_;I~6Cɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,R,502,000,002AE,18A,80,80,BD,FF Fpublishing direction and range infoɰ`=鰅> )=CIy=j@w?amf-ٱ+Mm=Yh ?9A8: :):WWX XWX:W2W*WVbU BU *U U Up@R%(Combining 5 samples.P!*Q%=j@ZQ%s:@?apuV JQ%w?amf-2Q!:Q!bQ%C@_,4@XD#f?RQ%9p;?f*,xt? ?BQ%{? Q%A@Q%@P!P%[9?P%Q!Q%@"Q%r@BB BA*BAAAA"C!*C!RC!C)CI)I1GM>P,9CgFAY}^@}^@y}^B}^v,<}^H ‘@>ְ? ;M5=YmQU%>)1a=#H9AyUɐ}]>Iqu 5?ua]ݾ u_> ?9uAu; u/;)qmqAdded new target pos. range: 3.660000 m, bearing: 56.349470 deg, deltaT: 4.362722 s, approachRate: -0.055011 m/s, LOS rate: -0.018836 deg/s, posRepo size: 4W{?WX XWX:W2W*WVbUBU *UUG @U ?BB BA߄*BAAAA"C{?*CRCC{?C?i?IGn>E EEE~ E~:YET1yE:E<69M@ >9 I Fi ? =   M;  %%Ej8,\gFAY}6=@}6X@y}6}6SZ}6H߿Ȫ?@M???)~6=@ ~64^;I~6Cɫ99)9 9IAY]N?y]F M M M M@ M@ M@IIIiII I)IIIiI]O/=M]W=YeQUe>aaam#HmHHiyuz}u>Iy :} 5? :}]ݾ }? ?9}A}: }:)}:WWX XWX:W2W*WVbUBU*UUU@~?BB BAZ*BAAAA"C*CRCCC)I1GU>I9)=?Ab,gFAY}Jx@}J@y}J}JNq}JH@ @ݬ?@@B?߿PĿMk?Lڭ@?)~Jx@ ~J"b;I~JCɫYa)a iIiY?y)Fma#Hy<}>I 5?\ݾ ? ?9A; :)WWX XWX:W2W*WVbUBU*UUU ?BIBQ BQAU*BQAQAQAYAY"C*CRCCCיIGc>E EEE Eq:YEWU1yE:E`6Ȍ, gFAY}6B@}6̰@y}65}6}6HZ`|p?D?@8߿Ŀ6? @ ?)~6B@ ~6Xf;I~4ܱ9ܱIܵXFiܵ?ܱܱܱܵM; ݵI%Eɫ) IY *?y Fyy    @ @ @i )Ii^hM7=Ya#Hy7;}>If 5?'[ݾ 6? ?9 A0: :)WWX! X!W!X!:W!2W)*W)V)bU)BU1*U1U1U5v?BYBa BaAe*BaAiAiAiAi"Cq*CqRCqCqCyI ) IG k>u,ٵgFAY}6IU@}6p@y}6}6'}6Hs?U? ߿'Ŀ!?ұR?)~6IU@ ~6`sa;I~6CɫII)I IIIYum?y}F0M=Y;QU?!a%#H!!y-K}-?I1 =:5f 5? =:5(Zݾ 5? =?95dA5R: 5:)5:WaWaXa XaWaXa:Wi2Wi*WiVibUqBUq*UqUqU}`?@BB BAR*BAAAA)"C1*C1RC1C1C9)I1G]>5=i5p=E AAE Er:YAyAE6,*,gFAY}6L@}6h@y}6&4}6*R}6Hc߿Q?M? ߿oÿ`S?Sm?)~6L@ ~6Ga^;I~4ɫ99)9 9I9Y?yFu 2=MuD=Y}湼QU}>ya#Hy}>Iȱŵ 5?ŵXݾ Ƶ)? ?9ƵAǵa; ȵ";)ȱWWX XWX:W2W*WVbUBU*UU U @B1B1 B9A=*B9A9A9A9AA"Ca*CiRCiCiCiaIiG9>4>i /mGI!iYٺuAܵ >9ܱ Iܵ Fiܵ a?ܱ ܱ ܱ ܵ N; ݵ e%E,8fFgFAY}R@}R@@y}R%}R}RH @A?=4?ÿ`?Ơ@m?)~R@ ~RF|^;I~RCɫyy)y yIyY?y;F) > > m m m m@ m@ m@iiiiii i)iIiii};M}J=YмQU>a#Hy <}>Iș :ŝ 5? :ŝWݾ Ɲ? ?9ƝHAǝg: ȝ:)ȝ:WWX XWX:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPB B BA*BAAAA"C!*C!RC!C!C)=?i=?)I1GU>E EEE Eh:YEU1yE:E6)Ey;9M,B`gFAY}U@}U*$@y}U*0}U^I}UH ;o?\?8ƿ?ܨB}?)~U@ ~U];I~UCɫYY)Y YIYY?yFZ****** received transponder code query ******F****** received ping request ******a#Hy<}>Ig 5?Vݾ  ? ?9A< <)WWX XWX:W2W*WVbUBU*UUU%@' @BIBI BQAU1*BQAQAQAQAQ"CY*CRCCCyIG^>I5AA)5AA,7zgFAY}6Dg@}6΂@y}6Ԩ1}62}6H@a |%?~?ɿ ? Ka?)~6Dg@ ~6١d;I~6Cɫ99)9 9I9Y}?y}kFxDUSBL response received:!U1,P 502,000,002AE,18A,80,80,BD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 m >9iImȖFim?m=iim.N; mx%E)Ii==y5    @ @ @i )Ii=7M=A=YEaQUm>qya}#HyyY<}>Iȱ :ŵ 5? :ŵ]Vݾ Ƶ ? ?9ƵAǵ9: ȵ0:)ȵ:WQWQXQ XQWQXQ:WQ2WY*WVbUBU*UUU`@BB BA̅*BAAAA"C*CRCCeb ezeze& ex:YeQ1ye:e:#6)eA;C1qIyG>,gFAY}6@}60@y}6.}6)ܽ}6H{b{h@?4ɿX?`+Y?)~6@ ~6/ c;I~6C>JFailed to close latch before timeout.q >>Hardware FaultYn?ynƎF%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ‰^Ac<M|=Y ,ҭgFAY}6@}6{@y}6/}6z}6HgPc?@?NO.ȿ -?> (k?)~6@ ~6_;I~6C>Powering down<ɪ<)< )a#HyV}>Iȡ :ť 5? :ťTUݾ ƥ? ?9ƥqAǥ: ȥ:)ȥ:WWX XWX:W2W*WVbUBU*UUUu@R(Combining 5 samples.P*Qu@ZQAKK?Oh JQw?amf-2Q:QbQ4@; Y @9H?RQf㜮p?Vblg?< ?BQe|? QJ@Q@P\9?PPQQ@"Q@B1B1 B1A5*B9A9A9A9A9"CA*CARCCCIyG^>U=iU=eL eee e w:YeWU1ye:e69m@Q 9Q IQ iQ U =Q Q U N; U c%Eu,ogFAY}f@}f@@y}f7}fْ}fHГ`YŠ?@?`t`\0ȿ ?@ g?)~f@ ~fAp];I~fCYM?yFDNmea in: $SNTTA,,,,,231350.31*5A Ml=YҲQU?a#HIHy<}?I7 5?Tݾ ? ?9A: :)miAdded new target pos. range: 3.839998 m, bearing: 56.554748 deg, deltaT: 4.504619 s, approachRate: 0.039959 m/s, LOS rate: 0.045571 deg/s, posRepo size: 4XWe|?WX XWX:W2W*WVbUBU*UU Q@U@Pn?BB BA*B!A!A!A!A!"C-e|?*C)RC1C5e|?C1AIQGm>P,qgFAY}U@}U@y}U=}UM}UHՋ@U`궫?@T? lǿ?H mi?)~U@ ~Uo];I~UCYX?yPFsh|???rh|?)>> =)IyV-?a#Hyd}>I   5? Sݾ {? ?9 A : b:) WWX XWX:W2W*WVbUBU*U U U m?BQBQ BYA]ׅ*BYAYAYAYAY"C*CRCCC׽?i׽?yI$NClearing failed state for component DDMq G>>] YY]} ]l:YYyY] 6(,cgFAY}2@}2@y}2C}2}2H\`^e^? ? Fƿ@P?`f?)~2@ ~2\;I~2CYZ?yZF } } } }@ }@ }@yyyiyy y)yIyiyuc<Md=YIQU>a#Hy}>Iȩ :ŭ 5? :ŭSݾ ƭ ? ?9ƭ5Aǭ=: ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUUO?BB BA*BAAAA"C*CRCCC  >9 I Fi a?    M; S%EשIG>IQ)U@A,>gFAY}6i@}6\@y}6M}6Z}6HMVy[??3R i]ɿ? ȪmO?)~6i@ ~6jL\;I~6CYR?yRьF]iiam#Hiqyu}u>Iy}' 5?}4Rݾ }? ?9}xA}I: }:)yWWX XWX:W2W*WVbUBU*UUU ?BB BAs*BAAAA"C*CRCCCIG5=e eee e8:YeT1ye:e6: ,/gFAY}2`@}2@y}2V}2~}2Hb`t֤?|?\?˿?2?)~2`@ ~2[;I~2CYBx?yBFtv]AM%O=Y%&QU%>!)a-#H))y5Y2<}5>Iȩ :ŭ 5? :ŭBQݾ ƭ? ?9ƭAǭ: ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUU`m>?BB BA%І*B!A!A!A!A!"C)*C)RC1C1C1IA)A1IIGe= >9IiM; +%E%,IgFAY}2@}2Y2@y}2MY}2 }2HԊ]?`? B``̿`?L>N*?)~2@ ~2C[;I~2CYN.?yNF M M M M@ M@ M@IIIiII I)IIIiI]IMeF=YeQUe>iiam#Hiiyuw<}u>Iy} 5?}UPݾ }C> ?9}A}0: }^:)yW W X  X W X):W12W1*W1V1bU1BU9*U9U9U=~@BB BA*BAAAA"C*CRCCCIG>QiU=l  y:YV1y:6);9O,HbgFAY}@}M,@y}EY}|}H@W贫?/?}^˿?ɰ?6?)~@ ~[;I~CY5T?y5F99!rh??y&1|?l=< `;)Iy:vMbpLԼ A>A)TAIt3AihAKAuMu:=YuU:QUu>yya}#Hyy\}>Iȉ :ōG 5? :ōQݾ ƍg> ?9ƍgAǍ: ȍ:)ȍ:WWX XWX:W2W*WVbUBU*UUU`,S@RB*** querying acoustic contact ***PPBB BAY*BA A A A "C*CRCCC!I)GM>i I i  hٺ % Aw,ū|gFAY}6] @}6;@y}6P5^}6T}6HbS@`?`? r˿`? ܯ/?)~6] @ ~6+[;I~6CYR?yVeF~Z****** received transponder code query ******~F****** received ping request ******~a#Hy#;}>I 5?Qݾ > %?9A@; ֥;)ܝ >9ܙIܙiܙܝ=ܙܝNDܝM; ݝ%EW!W!X! X!W!X!:W!2W)*W)VIbUQBUQ*UQUQU] @BB BAo*BAAAA"C*CRCCCIG&> h us:YT1y:6);`%,?gFAY}6;@}6@y}6x`}6[}6HRp@]3??-?˿`?eͪs0?)~6;@ ~6[;I~6CY^?y^FbxDUSBL response received:!U1,P 502,000,002B1,189,80,80,BC,FF bCommand AckbBRequesting micromodem ping code 2i``jNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 % - m m@ m@ m@iiiiii i)iIiii!<M,=Y!QU>a#Hy}>I : 5? %:PRݾ > -?9'A ; ;):WiWiXi XiWiXq:Wq2Wq*WqVqbUyBUy*UyUyU9 @BB BAJ*BAAAA"C*C!RC!C!C)9IQGZ>IU@A)U?A+,agFAY}:_@}:@y}:mc}:}:HNe$?`? c Cʿ 2?@밠Q2?)~:_@ ~:c[;I~:CYF6?yFFHɮJa=ZNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ]M]z=YeQUe?aaam#Hiiyu l}u ?Iy} 5?}Rݾ }K> ?9}oA}+: }߼:)yWWX XWX:W2W*WVbUBU*UUU @BB BA`*BAAAA"C*CRCCCשIG=5 555 5o:Y5U1y5:5269=@ܝ>9ܙIܝXFiܝ?ܝ=ܙܝODܝPM; ݝ%E))I)i)-=-=-5p2,!=gFAY}6>U@}6p@y}6]m}6C)}6H(}`h?]?T˿1_?l?)~6>U@ ~6`[;I~4YBO?yB7FFxDUSBL response received:!U1,R,502,000,002B0,189,80,80,A6,FF FFpublishing direction and range infoDDɰFqa=D D)F&CIDyFq@Fw?amf-ٱDv^Av^Az<MzQ=YżQU>!!a%#H%JH)y-\,}->I15 5?5lSݾ 5e> ?95A5< 5 <)1WWX XWX:W2W*WVbUBU*UU!U%;@R5(Combining 5 samples.P*Qq@ZQE5j?.\Ux3 JQw?amf-2Q:QbQw@ f@K?RQҳL«?ScQ?`Yu?BQ^z? QF@Q@PP\9?PQQ'@"Q@BB BA*BAAAA"C*CRCCCQI]A)סIGA>F8,>gFAY}NS@}Nn@y}NOy}Nys}NH@`0@$?? -?@ο? yy?)~NS@ ~N[F[;I~LYZ?yZ F5DNmea in: $SNTTA,,,,,231354.73*58 a i=@a = a m=@a = a q=@a = a eE@a E =Pn?i|?5?~jtx=>== =Ļ)9I9i=Mb@Mb@Mb@=©== =@)=@I= @i=== @    @ @ @ÙÙÙiÙÙ ę)ęIęięM0=YϼQU>a#Hy}>I :e 5? :!Tݾ > ?9.A: >):m qAdded new target pos. range: 3.779998 m, bearing: 56.121964 deg, deltaT: 4.397387 s, approachRate: -0.013645 m/s, LOS rate: -0.098419 deg/s, posRepo size: 4X W^z?WX XWX:W2W*WVbUBU*UUo=@Ur?B B  B A,*BAA1A1A9"C=^z?RCACE^z?CAIG=/>IiM=%/ !!% %t:Y!y!%6$>,AgFAY}6z@}65@y}6d}6M}6H`%@ +?x?Ͽ@ǝ?겿?)~6z@ ~6 c[;I~6C>Powering up>"Initializing DDM.Y}?y}F%K:M-U=Y-䆼QU->11a5#HE>9AIAiAE=AAEL; E$EQQy]I;}]>Iae 5?eTݾ e+> m?9eAe: eY?)aWWX XWX:W2W*WVbUBU*UUU`?BB BA(*BAAAA"C*CRCCC IG= >E,gFAY}>@}>g@y}>o}>$}>HM{v? \?<@0п? ڳ ?)~>@ ~>3[;I~>CYf|?y5RF    @ @ @i )Ii%<M%J=Y-QU->)1a5#H11y=\|<}=>IAE 5?EUUݾ E=> M?9EAEu: E?)AWWX XWX:W2W*WVbUBU*UUU?B)B) B1A5*B1A1A1A1A9"C9*CARCACaCau?iu?YIiG>eeee e:YeDW1yeY:e6!K,z1gFAY}B@}Be9@y}Bw%}BlA}BH[f] ?`J?yRϿ?DE?)~B@ ~Bqq[;I~BCYN'?yRF&ۼMR=Y QU>a#H  y<}>I9=) 5?=Uݾ =3> E?9=8A=\: =T?)9WWX XWX:W2W*WVbUBU*UUU?BB  B A d*B AAAA"C1*C1RC1C1C9iIyG>IY)]@A999I=Fi=1?==99=L; =$ER,3KgFAY}6@}6@y}6m/}6}6HHZ@2?S?Pο%8?`c`W?)~6@ ~6<[;I~6CY^^?y^@F m m u u@ u@ u@qqqiqq q)qIqiq<MM=Yl&QU>a#Hy5K}5>I9 E:= 5? E:=Vݾ => M?9=A=z: =@)=:WiWiXi XqWqXq:Wq2Wq*WyVybUyBUy*UyUU %@BB BA*BAAAA"C*CRCCCIG> ~~ @i:YT1y@:s6);9X,NaegFAY}:P@}:l@y}:,}:_V}:H@e @n@c?@p?x GͿ@u?`G?)~:P@ ~:v[;I~:CY^?y^6FI)I-4=)-%=a ia i a ma m a qa q a ea e a i@a  a m@a  a q@a  a e@a  kt?-ƿMbp 0>?5 )IiMb@Mb@Mb@ ½CA)½I½/Ai¹9A<ME=YfQU>a#Hy-}>Ique 5?u,Wݾ u> }?9uAuͭ: u@)qWWX XWX:W2W*WVbUBU*UUU`@B9BA BAAE*BAAAAIAIAI"Cq*CqRCqCqCyׁIG>>_,:gFAY}6J@}62@y}6D}6fq}6Hm߿`ٟU?y? /п`ҥ? ~*8?)~6J@ ~6I[;I~6CYv?yvFxx U U U U@ U@ U@ UQQQiU?Q U?)U?IUA?iUv?eRMmR=YmQUm>iqau#Hqqy}2}}>IȁŅ 5?ŅWݾ ƅ> ?9ƅ@ADž: ȅ5@)ȁWWX XWX:W2W*WVbUBU*UUUj@RB*** querying acoustic contact ***PP>9IxFi?=_L; $EBB BA*BAAAA!"C!*C)RC)C)C))I9GU=]=i]=  n:YWU1y:6);e,gFAY}2@}2Y@y}2}2}2H ߿2D?@ ?w߿@ѿ? _+?)~2@ ~2w[;I~2CYR?yRFVZ****** received transponder code query ******VF****** received ping request ******Va]#HYYye}e>Iimv 5?m^Xݾ m> u?9mAm; moO@)iW9W9X9 X9W9X9:W92WA*WAVAbUABUA*UIUIUM  @BB BA*BAAAA"C*CRCCCשIG>((l,TgFAY}f2@}f7N@y}fdž}f,}fH`J߿P!?౱?߿6пX?\a?)~f2@ ~fP[;I~dYvC?yvFzxDUSBL response received:!U1,P 502,000,002B0,189,80,80,A6,FF zCommand AckzBRequesting micromodem ping code 2ixxNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )=> ==CiqIi Ͽٺ  qA 5 5 5 5@ 5@ 5@ 5@111i51 5)5I5i5E =ME =YMn:QUM>IQaU#HUKHQy]}]>I| 5?.Yݾ > ?9 A1: Mp@)W)W1X1 X1W1X1:W12W9*WaVabUiBUi*UqUqU @BiBi BqA]*BAAAA"C*CRCCC-?i-?9I@Fi?:DK; <$EIG=>|  z:Yy`6) ;s,gFAY}2@}2n@y}2r}2V}2H ޿/?ͼ?6%߿`FRп?@˩ A?)~2@ ~2G[;I~0Y^?y^kFba=ɮ`rNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ]"j=M]=YepQUe?aiam#Hiiyu}u?Iy} 5?}Yݾ }8> ?9}OA}J: }@)yWAWAXA XIWIXI:WI2WI*WqVqbUqBUq*UqUyU}V&@BB BA̅*BAAAA"C*CRCCCIG>IUAA)UAAR7y,gFAY}:K1@}:L@y}:z}:{}:H ߿`l?֠? $߿Nѿ@]8?@?@Ͽ?)~:K1@ ~:fb[;I~:CYF~?yJ,FNxDUSBL response received:!U1,R,502,000,002AF,189,80,80,BC,FF NFpublishing direction and range infoHHɰJa=H H)Jiiau#Hqqy}4D<}}>IȁŅ; 5?ŅIZݾ ƅ> ?9ƅADž: ȅ@)ȁWWX XWX:W2W*WVbUBU*UUU@@R(Combining 5 samples.P*Qn@ZQo$?7U JQw?amf-2Q:QbQ@0@&xg8?RQ`L?Z ?+G?BQns? Q>@Q&@P]9?PPQQ@"Q'@BB BAN*BAAAA"C*CRCCCשIG>- - - - M - 7h:Y- U1y- :- 695 @p",qgFAY}n=z@}nǕ@y}n֊}nz}nHH߿ `?u?@߿sѿ $?L୸?)~n=z@ ~nE|[;I~lYz?yzF]TNmea in: $SNTTA,0.042407,,,,231359.19*42 y9yI}НFi}E@}=};Dy}~K; } $E)Ii==6p5™™    @ @ @i )IiI<MA=YB;QU>a#Hy|,<} >I 5?Zݾ > ?9A @)m qAdded new target pos. range: 3.720000 m, bearing: 54.482910 deg, deltaT: 4.420357 s, approachRate: -0.013573 m/s, LOS rate: -0.370797 deg/s, posRepo size: 4X W ns?WX XWX:W2W*WV!bU!BU!*UIUM @UU@e?BB BA*BAAAA"CFt?RCCns?CI)))I G%,>CI,]gFAY}6"@}6@y}6̇}6d&}6Hz߿@F`w?ˑ?R߿ ѿ? B?)~6"@ ~6b^[;I~6CYB?yBuF]M]U=Yek}aaam#Hiiyu;}u>Iy}k 5?}[ݾ }> ?9}]A}%: }d@)yWWX XWX:W2W*WVbUBU*UUU7?BB BA0*BAAAA"CM#s?*CRCCCIG=YiYM M M M h M i:YM T1yM :M 6v,F4gFAY}:@}: @y}:P}:=}:Hw߿?H?@y߿Vп&[?jT?)~:@ ~:f[;I~:CYF6?yF؎F    @ @ @ÁÁÁiÁÁ ā)āIāiā.=MF=Ya#HyH}>IȹŽ 5?Ž1\ݾ ƽ> ?9ƽAǽF: Ƚ@)ȹWWX XWX:W2W*WVbUBU*UUU`sy?B!B! B!A-*B)A)A)A)A1"C5ns?*C9RC9C9C9 IGu=y9}CI}Fi}@}=y}ND}J; }#E[,YNgFAY}6{@}6@y}6n}6i}6H߿`??߿Ͽ? PR4?)~6{@ ~6fw[;I~6CYfA?yj|F)M= I}<M}M=Y;a#Hyҡ}>Ișŝ 5?ŝ\ݾ Ɲ> ?9ƝAǝ: ȝ`@)șWWX XWX:W2W*WVbUBU*UUU ?BB  B A ]*B A AAA"C*CRCCC!5?i5?iIyG=c,$ggFAY}6@}65@y}6>{}6`㟽}6Hb߿ Ħ??6e߿ fϿ n?&^@s?)~6@ ~6U[;I~6CYB?yBFa ia i a ma m a qa q a ea e a i@a  a m@a  a q@a  a e@a  Gz?Dl?S?p>O > />)IiMb@Mb@Mb@ ­fBA)©I­\-Ai©h<ME=Y a#Hy}>IE 5?y]ݾ > ?9oA: @)WWX X!W!X!:W!2W!*W)V)bU)BU)*U)U1U5@G@@BYBY BaAe-*BaAaAaAaAi"Ci*CqRCqCqCqiIyGI]@A)]@Am mmm ms:YmU1ym:m6m,ˁgFAY}2@}2t@y}2p}2#NO}2H@߿K?@?iF߿@Ϳ`?0?)~2@ ~2K[;I~2CYR?yR2F!9%CI%`Fi%@%=!!%aJ; %p#E    @ @ @i )Ii=MI=Y\a#Hyϼ}>I 5? ^ݾ >  ?9Az: @)W)W1X1 X1W1X1:W92W9*W9V9bU9BUA*UAUAUE@BB BA*BAAAA"C*CRCCCשIG>f,vgFAY}:@}:w@y}:Om}:VXD}:H ޿`g? ?@ +߿ ̿@m?@a৿a?)~:@ ~:+[;I~:CY^?yb͑F`b@Aln]ArU<Mr\=Yvtxaz#Hxxy~.}~>IS 5?^ݾ >  ?9 A: @)W1W1X1 X1W1X1:W12W9*W9V9bUABUA*UAUAUE`~y@RUB*** querying acoustic contact ***PQPQBqBq ByA}m*ByAyAyAA"C*CRCCCIץ\A)ץ]AqIG=e eee ej:YeDW1yeY:e6,ˀgFAYvX?yvFzZ****** received transponder code query ******zF****** received ping request ******z=YQU>a#HLHy}>I 5?k_ݾ ڱ> ?9~ A: T@)WWX XWX:W 2W *W V bUBU*UUU @BABA BAAE*BAAIAIAIAI"CQ*CQRCQCYCYiIyG=%>9!I%(Fi%,@%=!%OD%I; %$#EU=iU=k,[gFAY}2@}2@y}2h\}2Tj}2H iQ߿???%޿&Ϳ V?~µ$?)~2@ ~2\;I~2CYB?yBFFxDUSBL response received:!U1,P 502,000,002AF,189,80,80,BC,FF FCommand AckFBRequesting micromodem ping code 2iDDNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  =M W=YA3=QU%>11a#Hy!/<}>I 5?`ݾ <> ]?9 Aj; A)W)W)Xq XyWyXy:W2W*WVbUBU*UUU @B9BA BAAE*BAAAAaAiAi"Ci*CqRCqCqCqIIiG:>e e~e~ev er:YeT1ye@:e`6ӹ,8gFAY}:i^@}:y@y}:|O}:ඳ}:H߿`^zn? ? G߿`˿)?@9?)~:i^@ ~:b\;I~8YJ_?yJݓFHɮJp=ZNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B a ia i a ma m a qa q a ea e Q?J +l?µ>H =)Iyp= ף?J +v/?>Hxi= µ@A)µ TAIµ1Ai±=BA)= >u;M>=YTa#Hyh<}>I : 5? :_]ݾ > ?9!A"< <):WWX XWX:W2W*WVbUBU*UU UQ@BYBY BYA]*BYAaAaAaAa"C*CRCCC?i?שIG )>i]nGI!iA׿ٺAZ,gFAf>9dIdidf=ddf`I; f"EY=?y=UFExDUSBL response received:!U1,R,502,000,002B0,189,80,80,C3,FF MFpublishing direction and range infoAAɰEqa=A A)ECCIAyEq@Ew?amf-ٱA 5 5 5 5@ 5@ 5@111i11 1)1I1i1E%vME5=YEQUM>IQaU#HQQy]}]>Iae2 5?eIZݾ e> m?9e"Ae: e:)aWWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qq@ZQE5j?.\Ux3 JQw?amf-2Q:QbQ><{@%t@tn1?RQi?Fc#?:~"?BQv? QC@Q@PP]9?PQQ@"Q@BB BA̓*BAAAA"C*CRCCCׁIG=>IY)]?Am iim mg:Yiyim6)m;9u,gFAY}>K@}>Zg@y}>R:}>}>HO@С?? 4?Rȿ)?2N@e?)~>K@ ~>[[;I~>CYJ?yJF~DNmea in: $SNTTA,,,,,231403.62*5D }&<Mf=Ym=QU>a#Hy&=}>I : 5? :Wݾ > ?9>#Ao: E:):miAdded new target pos. range: 3.779998 m, bearing: 55.081200 deg, deltaT: 4.505496 s, approachRate: 0.013317 m/s, LOS rate: 0.132791 deg/s, posRepo size: 4X!W%v?W!X! X!W!X):W)2W)*W)V1bU1BU1*U1U=o=@U=r?BaBa BaAe*BiAiAiAiAq"Cuv?RCyC}v?CyiIqG=,G6gFAY}:>@}:Y@y}:2}:}:HPP@-??@-ǿ #?4uo?)~:>@ ~:[;I~:CYR?yRF^A ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYm MuP=Yu[yya}#Hyy }>Iȉō 5?ōUݾ ƍ)> ?9ƍ$AǍ: ȍU:)ȉWWX XWX:W2W*WVbUBU*UUU?ByBy ByA}*ByAAAA"C*CRCCCI]A)שIG=-JFailed to parse device response: .74 e eee eKh:YeT1ye:eV69m@,{PgFAY}6@}63@y}6ܮ#}6EG}6H`{3~Z?`"?@"߿Aǿ_?r t?)~6@ ~6 O\;I~6CYR?yRFЖMP=Y=QU>!!a%#H!)y-h}->I15 5?5VRݾ 5>? E?95$A5: 5:)1WaWaXa XiWiXi:Wi2Wi*WiVqbUqBUq*UqUyU} >7?BB BA*BAAAA"C*CRCCCױIG=U=iU=!,~jgFAY}2@}2@y}2H}2쬽}2H`)#Q=?N??c߿Gſg?]?)~2@ ~2[;I~2CYB?yB FL7A`?)\(?Mb+=Ga= )Iya#Hy}>I :} 5? : Sݾ  ? ?9 %A: o:):WWX XWX:W2W!*W!V!bU!BU!*U)U)U- ?BYBY BYA]*BYAaAaAaAa"Ci*CiRCiCiCqiIyG=e e|e|e en:YeR1yei:e6R ,9agFA2>90I2НFi2E@2=002mH; 2g"E)ݳIݳiݳݻ=ݻ=ݻ!#6Y}F@}F@y}F}Fސ}FH =$|?5??#ÿ?Gﱿ?)~F@ ~F][;I~FCYn?ynpF)U > U> U U U U@ U@ U@QQQiQQ Q)QIQiQe1Mm@=Yma#Hy;}>Iȡť 5?ťSݾ ƥ? ?9ƥE%Aǥ; ȥI;)ȡWWX XWX:W2W*WVbU!BU!*U!U!U%@BB BAƒ*BAAAA"C *C RC CCE?iE?I G%,>a3,3gFAY}:\@}:-x@y}:8}:P}:H {@m?!?`] ?`ۿ!!a%#H!)y-q<}->I1 =:5 5? E:5MTݾ 5? E?95r%A5: 5;)5:WaWiXi XiWiXi:Wi2Wi*WqVqbUqBUq*UyUyU}.@BB BA *BAAAA"C1*C9RC9C9C9IG==IQ)Qe e}e}e eW:YekS1yeԊ:e6],gFAY}6< @}6'@y}6_}6N"|}6HlL>pd?z?:@?  a #H MHy<}>I!%" 5?%Tݾ %? -?9%%A%: %:)!WIWIXQ XQWQXQ:WQ2WQ*WYVYbUYBUa*UaUaUe@RuB*** querying acoustic contact ***PqPqBB BAf*BAAAA"C*CRCCCבIG=e>9aIexFie?aaeNDeH; e:"E/F,WgFAY~X?y~FZ****** received transponder code query ******F****** received ping request ******a#Hy}>I : 5? :Uݾ #? ?9%A: ^:):WyWyXy XyWyXy:W2W*WVbUBU*UUU @BB BA*BAAAA"C)*C)RC)C)C1!I)GM1> ~~ o:YT1y@:;6o,gFAY}:@}:@y}:e߽}:]L}:Hy!? ?@}V޻?@.b-?)~:@ ~:fZ;I~:CYJ?yJFNxDUSBL response received:!U1,P 502,000,002B0,189,80,80,C3,FF NCommand AckNBRequesting micromodem ping code 2iLPVNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 p= ף?MbX9? = ʡ= ) I y y&1~jt?~jtx? `e < ; l=A) I 5Ai YA  FA-<M-3=Y5K19a=#H99yEE<}E>IimJ 5?m=Vݾ m#? u?9m &Am: mǺ:)iWWX XWX:W2W*WVbUBU*UUU`a @B1B1 B1A5*B9A9AaAA"C*CRCCCIGj>u=iu=] ]A] ]Ae >9a Ie XFie ?e =a a e G; e "Eg,CgFAY}:@}:F@y}:޽}:0f}:H" y?@? @ǻ?ِ?)~:@ ~:#Z;I~:CYN ?yN FRp=ɮPjNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ;M|=Y:QU ?a#HyQ;} ?I 5?Vݾ >$? ?9,&A: u:)W W X XWX1:W12W9*W9V9bU9BU9*UAUAUE@z@BB BA*BAAAA"C*CRCCCIG>e eee e{:YeU1ye:er6)e;9mz,^gFAY}6@}65 @y}6@Ὑ}6(a}6H>jۊ??j)@9@|? ?)~6@ ~6Z;I~6CYR?yRzFVxDUSBL response received:!U1,R,502,000,002B0,189,80,80,B3,FF VFpublishing direction and range infoTTɰTT T)V3CITyTVw?amf-ٱT    @ @ @i )Ii-AM-R=Y-UQU->11a5#H19y=0<}=>IA M:E 5? U:E#Wݾ UtI E$? U?9ER&AE: E.:)E:WWX XWX:W2W*WV!bU!BU!*U!U)U-I@R](Combining 5 samples.PY*QYZQ]E5j?.\Ux3 JQ]w?amf-2QY:QYbQ]:k?\ܳ ٞ @N:OY?RQ]0GC-?vS?м+?BQ][? Q]L@Q]?PYPYPYQ]Q]@"Q]@BB BA&*BAAAA"C*CRCCC%?i%? IG5 >U T>Q 7 ,v9gFAijnGIti|-ۿٺ)-&AY}M@}M- @y}MS 轙}Mq ?9A}MH-4`0??3?0?)~M@ ~Mek[;I~IY?yFMDNmea in: $SNTTA,,,,,231408.06*54 aݼM5=YQU>a#Hy@}>Ix 5?Wݾ %? ?9&Ak: :)miAdded new target pos. range: 3.779998 m, bearing: 58.350313 deg, deltaT: 4.403173 s, approachRate: 0.000000 m/s, LOS rate: 0.742445 deg/s, posRepo size: 4XW [?W X  X W X :W2W*WVbUBU*UUU?BIBI BIAU*BQAQAQAQAQ"C]{?RCYC][?CaaIiG>>9CIFi?G; !EIQ)U@Ae eee e!j:Ye0Y1ye:e`6)e;,uSgFAY}6`Q@}6l @y}6{F}6é}6HM?k? O'￿?l?)~6`Q@ ~6,\;I~4YRN?yRF<Mf=Y%*QU%>!!a-#H))y5\<}5>I9 E:=: 5? E:=*Xݾ =T%? E?9=&A=0: =:)=:WiWiXi XiWiXi:Wi2Wq*WqVqbUqBUy*UUU?BB BAZ*BAAAA"C[?RCCC׹IG]=,PmgFAY}6@}6E @y}6 }6)ay}6Hu?s?`u^ÿ%?ڮ?)~6@ ~6 \;I~6CYRp?yRrF"~j?/$?~jtS=< D)Iyaaam#Hiyy={<}>Iȉō 5?ō]Xݾ ƍw)? ?9ƍ&AǍe: ȍ7:)ȉWqWyXy XyWX:W2W*WVbUBU*UUUCB?BqBq BqAu*BqAyAyAyAy"C*CRCCCI׹)׹סIGA>e eee eYp:YeV1ye:e69m@ 9 I 8Fi ? BG; !EI!,M.gFAY}Z1@}Z, @y}ZN}Z}ZH G`@ۃ?[? qĿ ?`, ?)~Z1@ ~ZҒ[;I~ZCYjm?ynF    @ @ @i )IivMQ=YϻQU>a#HybN<}>I : 5? :Xݾ ,? ?9'A: :):WIWIXI XQWQXQ:WQ2WY*WYVYbUYBUY*UaUaUe?BB BAR*BAAAA"C*CRCCC׉IG=Yi]=',gFAY}:@}: @y}:}:}:H et?@b6? `REſe?X?)~:@ ~:T[;I~8Y^2?ybsFE"MEU=YE QUE>IIaM#HIQyU<}U>IY] 5?]Xݾ ]{0? m?9]Z'A]Ǻ: ]{:)YWWX XWX:W2W*WVbUBU*UUU?BB BAa*BAAAA"C*CRCCCQIYGu=e eee e\l:YeU1ye:ei6 .,igFAY}22@}2 @y}2Q#}2#"}2HC@?`O?5IſS?ɱ@x?)~22@ ~2[;I~2CYR?yRaF) ,> > ] ] ] ]@ ]@ ]@ ]YYYi]?Y ]?)]?I]?i]&?mMmG=Yu˼QUu>yya}#H}NHy}j<}>Iȉ :ōP 5? :ōXݾ ƍC4? ?9ƍ'AǍ ; ȍ-;)ȍ:WWX XWX:W2W*WVbUBU*UUUA@B!B) B)A-h*B)A)A1A1A1"C9*C9RC9C9CA?i?׉IG=܍>9܉I܉i܉܍=܉܉܍F; ݍ!E)CICi==E54,^gFAY}2@}2[3 @y}2o/}2Ne>}2H]^@YX??@S e¿`w? Us?)~2@ ~2\;I~0Yb?ybEFddv<MvS=Yz}2QUz>x|a~#H|y;}>I  9 5? "Yݾ  8? ?9 'A : <) WWX XWX:W2W*WVbUBU*UUU@R%B*** querying acoustic contact ***P!P!BaBi BiAm *BiAiAAA"C*CRCCCIG>IY)]AA  D}:YWU1y:26;, gFAY}:@}: @y}:*A}:_ <}:H[`??`V$@/ÿ?݀?@dn?)~:@ ~:R\];I~8F`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ) IY-,?y-4F5Z****** received transponder code query ******5F****** received ping request ******5 `e=)Iyy&1|:v~jt`廹T AAaM#HIIyU&}U>IY e:] 5? e:]Xݾ ],? e?9]'A]8: ]I:)]:WWX XWX:W2W*WVbUBU*UUU @BiBi BqAu*BqAAAA"C*CRCCCI\A)\AשIG>,B,gFA<9ȖFi>?>=<<>E; > !EY}F@}F@ @y}FSO}Fd}FH@|@|?@?@ſ`A? 5{ yX?)~F@ ~Fg];I~FCɫ) IY ?yFxDUSBL response received:!U1,P 502,000,002B0,189,80,80,B3,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 %ûMU=Y]6QU?a#HyrT} ?I 5?qXݾ z&? -?9(A; 8;)WWX X!W!X!:W)2W)*W)V1bU1BU1*U1U1U}` @BB BA*BAAAA"C*CRCCC׹IGj>u> uuu uv:YuT1yu:u6)u;9m/H,T"gFAɫyy)y yIyY?y5Fɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B MT=YQU>a#Hy}>Iȩŭ 5?ŭ%Xݾ ƭs? ?9ƭ(Aǭ: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUUp=@BB! B!A%J*B!A!A!A)A)"C1*C1RC1C1C9IG*>U=iUp=WN,())a-#H)y }>I :H 5? :Wݾ ? ?9B(A: :):W W)X1 X1W1X1:W12W1*W9V9bU9BU9*U9UAUE@Ru(Combining 5 samples.Pq*QqZQuj @m.>zJQuˮZ?2Qujq:QqbQuPI?KU @L?RQuy*?H0?%?BQu? Qu\@Qu?Pu[9?PqPqQqQu!@"Qu@BB BA*BAAAA"C*CRCCC5?i5?IGM0>999I= Fi=?==99=E; = Ee eee eq:YeDW1yeY:e6)e;?U,VgFAY}F6@}F" @y}F%f}Fė}FH`0J@@?q?:4Ϳ@?j.?)~F6@ ~F[;I~FCɫ髙) IY?yF%TNmea in: $SNTTA,0.040176,,,,231412.56*40 uTV=MuE=Y}QU}>ya#Hyǻ}>I 5?IWݾ ? %?9e(AM: Y:)mUiAdded new target pos. range: 3.779998 m, bearing: 68.482960 deg, deltaT: 4.480063 s, approachRate: 0.000000 m/s, LOS rate: 2.261720 deg/s, posRepo size: 4XYW]?WYXY XYWYXY:Wa2Wa*WaVabUaBUi*UiUiUu 9?BB BA*BAAAA"C?RCC?CiIG+>i[,ogFAY}B8p@}B‹ @y}Bw}BJ}BHHcF-?`)? rο $?C|?)~B8p@ ~B[;I~@ɫ髡) IYo?y#F5)\(a#Hym<}>I : 5? :;Vݾ M? ?9(A: b:):WWX XWX:W2W*WVbUBU*UUUt?B1B1 B1A5R*B9A9A9A9A9"CEŠ?RCACICIi%nGI9iQؿٺ)AIG?>IQ)QeL eee eŅ:YeV1ye:ei69m@1 91 I5 xFi5 ?5 =1 1 5 D; 5 EQb,gFAɫ髹) IY ?yF&Z<M[=YQU>a#Hy}>IE 5?OUݾ ? ?9 )A': b:)WWX XWX:W2W*WV bU BU *U UU0?B9B9 B9A=)*BAAAAAAAAA"CM-?RCICICQIe]A)a)I1GM>{h,BgFAY}6@}6 @y}6e}6<}6H@u?jT?iϿ@>?q?)~6@ ~60d;I~6CɫYY)Y YIYY?yGF5M=S=Y=ZQU=>AAaE#HAAyM@=}M>Iȡ :ť 5? :ťPTݾ ƥm? ?9ƥ\)Aǥ: ȥ:)ȥ:WWX XWX:W2W*WVbUBU*UUUp?BB BAC*BAA!A!A!"C-w?RC)C)C1iIqG> ^ :YU1y: 6n,pgFAY}6s@}6P @y}6.7}65f}6Hּ`s@ ?\c?`qyο ?֫?)~6s@ ~6a;I~4ɫII)I IIIY}%?y}F - - - -@ -@ 5@)))i)) )))I)i)E$MEJ=YE;QUE>IIaM#HMOHQyU Ļ}]>IY] 5?]SSݾ ] ? m?9])A]: ]:)YWWX XWX:W2W*WVbUBU*UUU?BIBi BqAud*BqAqAqAqAy"C}?RCCC׉IG>ܡ9ܡIܥНFiܥE@ܡܡܡܥ=D; ݥ( EQiU=ڏu,TgFAY}N @}N @y}NÏ}N1 }NH@`y`į?`yya}#Hyy4<}>Iȉō 5?ōLRݾ ƍ ? ?9ƍ*AǍض: ȍk:)ȉWWX XWX:W2W*WVbUBU*UUU ;@BB BA*BAAAA "CP֙?*CRCCC?i?׉IG$>e aae eM:Yayae6%{,'gFAY}%p@}%0 @y}%}%}%H@4`e`? ?j8ѿ]?@17`?)~%p@ ~%\;I~!ɫ) IYm?ym=FquAAMb@Mb@Mb@ )Iy?{Gz?<#= @A)I+AiqAJA u u u u@ u@ u@qqqiqq q)qIqiq<M:=YZQU>a#HyG<}>Iȡ :ť 5? :ť]Rݾ ƥ ? ?9ƥV*AǥA: ȥ:)ȥ:WqWqXq XqWqXq:Wq2Wy*WyVybUyBU*UUU@RB*** querying acoustic contact ***PPBB BAw*BAAAA"C%?*C!RC)C)C)I)GEQ>} >9y I} `Fi} @y y y } C; } E)ݩIݩiݩݭ=ݭ=ݭE4,! gFAY}F/X@}Fs @y}Fh䈾}F񦓽}FH@@C o?  ?%aп? ɱ@i?)~F/X@ ~F4c;I~Dɫqy)y yIyY ?yFZ****** received transponder code query ******F****** received ping request ******))a-#H)1y=9<}=>IAE 5?EmRݾ EI? U?9E*AE ; E;)AWyWyXy XWX:W2W*WVbUBU*UiUiUm @BB BA*BAAAA"C*CRCCCIG (>IQ)Qe7 aae esu:Yayae_6)eJ;9mSΈ,R$gFAY}:@}:\ @y}:}:Ľ}:HG%@??@/6/ѿC?@?)~:@ ~:?)d;I~:CɫQQ)Q QIQY?yFxDUSBL response received:!U1,P 439,000,002B0,189,80,80,B3,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ]A]A=<MEH=YU-:QUU>aiau#Hqy<}>Iȹ :Ž 5? :ŽRݾ ƽ? ?9ƽ*Aǽ:= Ƚ<)Ƚ:WWX XWX:W2W*WVbUBU*UUU@Uz @B1B1 B1A]K*BYAYAYAYAa"Ca*CiRCiCiCiI׭\A)׭]AבIGk>B,D>gFAY}J9@}JIU @y}JЃ}J<}JH`OkS!T?@?@!ҿK? |k ?)~J9@ ~Ja;I~JCɫQQ)Y YIYY?yXF鮙ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )IiM@=Ya#Hy1<}>I6 5?Rݾ ? ?9<+A: Q:)W)W)X) X)W1X1:W12W1*W1V9bU9BU9*U9U9UE`"@BiBq BqAul*BqAqAqAqAy"Cy*CRCCC9IFi@IC; EIG%+>e[ eee eRx:YeV1ye:e1!6)e;ە,BXgFAY}6k @}6& @y}6{}6J̽}6H/g@A??@ ?FACп*?@@?)~6k @ ~6^;I~6CɫYY)Y YIYYP?yFxDUSBL response received:!U1,R,502,000,002B2,189,80,80,A5,FF Fpublishing direction and range infof3ɰb=鰡 )%CIyy@w?amf-ٱ%;M^=Ya#Hy}>I : 5? :Rݾ ? ?9+AZ: :):WWX XWX!:W!2W!*W!V!bU)BU)*U)U)U5@RE(Combining 5 samples.PA*QEy@ZQE=A?a;% JQEw?amf-2QEf3:QAbQE#&? @',l?RQEŠ{1?(V?h()?BQEZA? QEU=iU= , rgFAɫii)i iIiY?yF5TNmea in: $SNTTA,0.061422,,,,231416.99*40 MbpZd;O?EԸ?j<= =)Iy~jtl?Mb?== A>A)+WAI-AiuANA)= = - - - -@ -@ -@)))i)) )))I)i)MM"=YQU>a#Hy}>I 5?Sݾ ? %?9+Aa: /:)mumAdded new target pos. range: 3.899999 m, bearing: 60.543412 deg, deltaT: 4.404804 s, approachRate: 0.027243 m/s, LOS rate: -1.802475 deg/s, posRepo size: 4XqW}ZA?WyXy XyWyX:W2W*WVbUBU*UU23@U@m?BB BA%*B!A!A!A!A!"C-W?RC)C5ZA?CQe?ie?IIYG}{>  ~:YW1yč:)69@ >9 I i = B; jE,GgFAY}>/@}> K @y}>0h}>҇}>H`W&`=@s?@Z?2@H̿?@?)~>/@ ~>A\;I~>CɫYY)Y YIYY2?ysFU<M]=Y]u=QU] ?aaae#Haiym+}m ?Iq }:u 5? }:uTݾ u? ?9u",Au: u:)u:WWX XWX:W2W*WVbUBU*UUUW?BB BAa*BAAAA"C?RCCCiIqG>G,)gFAY}R@}R4 @y}RT_}Ri}RHwTI`G?%L? l[ʿQ? p0?)~R@ ~Re;I~RCɫqy)y yIyY?yF5=M5M=Y599a=#H9AyEk<}M>IIM 5?MUݾ Mo? ]?9Mn,AM: M&:)IWyWyX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C?RCCCIG>Iy)}?A  l:Yy6q q i nmGI i = iٺ9 = AG,*gFAɫyy)y yIyY|?yF    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉkMA=YQU>a#HPHy}>If 5?Vݾ &? ?9,A^: :)WWX XWX!:W!2W!*W!V)bU)BU1*U1U9U=\?BqBy ByA}N*ByAAAA"C$?RCCCIױ)׵\A܅>9܅CI܅Fi܅@܅=܁܁܅B; ݅>EסIG >*,gFAY}F*@}FDF @y}F T}FA=}FH8,?0x?ZȿQ?$bH?)~F*@ ~F^;I~Dɫ髙) IY?yEFu<MuP=Y}yya#HyS|}>I  : 5?  :Wݾ ? ?9 -A ; ~ ;):WQWQXY XYWYXa:Wi2Wq*WyVybUBU*UUU@BB BA *BAA!A)A)"C=ع?RC9C9CAI)GEQ>  Sk:YU1y:6?)~2@ ~2\;I~0ɫ99)9 9I9Y*?yFQ?ktƿ?< 0 L=)Iy{Gzt?~jt/$?ף;D< ?A)NAI,AitiAIAF<MG=YS;QU>a#Hy/ѻ}>I 5?Wݾ ? ?9-A#: o:)WqWqXq XqWqXq:Wy2Wy*WyVybUBU*UUUT@BB  B A *B AAAA"C ?*CRCCC!IG-->qiu=܅ >9܁ I܅ Fi܅ E?܅ =܁ ܁ ܅ gB; ݅ -E^>,К gFAY}Rx@}R @y}RsF}Ruؽ}RH% pX^? c? ˿̦?9?)~Rx@ ~RP)];I~RCɫqq)q yIyY?yF@A e e e e@ e@ e@aaaiaa a)aIaiauuüMuM=Yuyya}#Hyy}>Iȑ :ŕY 5? :ŕ^Wݾ ƕi ? ?9ƕ+-AǕ: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU@&@RB*** querying acoustic contact ***PPBB BA1*BA A A A "C=?RCCC-?i-?!I1GM>} }}}z }j:Y}V1y}:}6)};9Bf,l'gFAY}6q@}6 @y}66]9}6ƽ}6H2FO"??`U0ɿ@O ?~e=T?)~6q@ ~6fb;I~6Cɫ99)9 9I9Y}r?y}FZ****** received transponder code query ******F****** received ping request ******a#HyM:}>I   5? 9Wݾ "? ?9 :-A ; w;) WWX X!W!X!:W!2W!*W)V)bU)BU)*U1U1U5@` @ByBy BA*BAAAA"CZA?RCCCׁIG>O,7OAgFAY}FH<@}FW @y}F!3}FȎ}FH`\@(+@DЦ?`ٛ?FI AǿG?ඏ`o?)~FH<@ ~FVc;I~FCɫ髱) IY~?y{FxDUSBL response received:!U1,P 502,000,002B2,189,80,80,A5,FF Command AckBRequesting micromodem ping code 2i Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 eR=MmC=Yu*la#HQymK<}u>Iy :} 5? :} Wݾ }:%? ?9}N-A}3=; }kO;)}:9IxFi?@B; E)ݽCIݽCiݹݽ=ݽ=ݽj5WWX XWX:W2W*WVbUBU*UUU= @BiBi BiAm*BiAqAqAqAq"C*CRCCCיIGe>I}AA)}BA  j:YWU1y:6)ڿ;x,$[gFAY}2W@}21s @y}2Dz5}2JR}2He`R?Q?=n$!ƿ`?`ݩu?)~2W@ ~2`;I~0ɫ99)9 9I9Y}i?y}3FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B = = = E@ E@ E@999i99 9)9I9i9uM}:=Y9QU>a#H)y=~;}E>Iy}2 5?}Vݾ }'? ?9}a-A}i; }ӹ;)yWWX XWX:W2W*WVbUBU*U!U!U-@U@BqBq BqAu*ByAyAyAyAy"C*CRCCCI)יIGb>,tgFAY}J{@}J @y}J7}J}JH`At@? ?@k@}Bǿ.?@ l?)~J{@ ~JL^;I~JCɫyy)y IY?y`FxDUSBL response received:!U1,R,48D,000,002B0,189,80,80,AC,FF Fpublishing direction and range info!ɰqa=鰹 ),CIyq@IJ?N6ٱʡEa#Hy=;}>I : 5? :Vݾ (? ?9-A: :):WWX XWX:W2W*WVbUBU*UUU4@R(Combining 5 samples.P*Qq@ZQsM? P| JQIJ?N62Q!:QbQjT8O?S+>/} @ӏeR?RQt?$<?{}sY&?BQ5? Q[@Q?P[9?P\9?PQQ@"Q$@BBA BAAE*BIAIAIAIAI"CQ*CQRCQCYCY9IIGeV> n h:Yy69@ܱ 9ܱ Iܵ Fiܵ 1?ܱ ܱ ܱ ܵ A; ݵ Ew,َgFAY}FqD@}F_ @y}F2}F}FH`m`&=? ?T@ƿ`r6?@G=r?)~FqD@ ~FAO];I~Dɫyy)y IY?yƎF%TNmea in: $SNTTA,0.019924,,,,231421.45*41 =JjMEf=YEbIIaM#HIIyU(}U>IY] 5?]bUݾ ]c(? e?9]-A]s: ]':)YmmAdded new target pos. range: 3.779998 m, bearing: 66.789592 deg, deltaT: 4.527153 s, approachRate: -0.026507 m/s, LOS rate: 1.379715 deg/s, posRepo size: 4XW5?WX XWX:W2W*WVbUBU*UUo=@U u?B9BA BAAE*BAAAAIAIAI"CU+?RCQCU5?CYIIaG>qiq,˺gFAY}V@}Vr @y}V).}V |2}VH@8 6;??FĿ[??)~V@ ~VX\;I~VCɫ髙) IYg?yYF)U> U>    @ @ @ÙÙÙiÙÙ ę)ęIęięJTMC=Ya#Hy}>I 5?Tݾ (? ?9 .A: ϸ:)WWX XWX:W2W*WVbU BU *U U U~ ?B9B9 B9A=ԅ*BAAAAAAAAA"CM/?RCICQCQe?ie?!I1GM>  ;o:Yyi61,gFAY}2Q@}2@m @y}2H5}20}2HcQW?@??bwGſ݊? 򶥿xx?)~2Q@ ~2d;I~2CɫYY)Y YIYY?yF    @ @ @éééiéé ĩ)ĩIĩiĩ=MI=YbQU>a#HQHyL<}>I : 5? :Sݾ )? ?9G.A5; ;):W)W)X1 X1W1X1:W12W1*W9V9bU9BU9*UAUAUE7?]>9YI]XFi]?]=YY]A; ]EBB BÄ́*BAAAA"C5?RCCC׉IG>,wgFAY}Ja@}J @y}J=}Jn[U}JHm?)_?೤ƿ?G4i?)~Ja@ ~Jc;I~JCɫyy) IYv?ybF ۜMF=Y3QU%>11a=#H9IyUV<}]>Iqu 5?uRݾ uu)? ?9u.Au; u;)qWWX X W X :W 2W *WVbUBU*UUU?BABI BIAMЅ*BIAIAIAIAQ"CQ*CYRCYCYCY׹IGD>Iq)u@A} }}} }h:Y}W1y}č:}6,KgFAY}6&@}66 @y}6C}6v }6Hŧ?`H? Vƿ:?<)g?)~6&@ ~6ea;I~6Cɫ99)9 9I9Yu?y}aFiEmGIYiqٺzAUK7?MbP~jth?UI >U UD;)QIQyUL7A`?y&1y&1|?U+=U`eU`; U?A)UKAIU0AiUM`AQU3GAe^Aa    @ @ @ ñññiõ=?ñ ĵ?)ĵK?Iĵ?iĵ?y<M?=Y_]QU>a#Hy;}>I :a 5? :Rݾ *? ?9.A3: :):WWX XWX:W2W*WVbUBU!*U!U!U-@Q 9Q IQ iQ Q Q Q U A; U E,&gFAɫ髱) IY?yF6M`=YQU>a#Hy}>Iȱŵ' 5?ŵkQݾ Ƶ-,? ?9Ƶ.Aǵ: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUU@B!B) B)A-*B)A1A1A1A1"C9*C9RC9C9CAAIQGm>  g:YU1y:)6);95 ,)gFAY}67R@}6m @y}6 G}6-}6H&`@s!?2?`kɿG?G@IO?)~67R@ ~6p];I~6Cɫ99)9 9I9Y}?y}}FM[=YiLQU>a#Hy<}>Iȹ :Ž 5? :ŽPݾ ƽ-? ?9ƽ%/Aǽ: Ƚ:)Ƚ:8qjAggregate::initialize lineCaptureDepth:SetNavAcoustic19 r~Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNavq9rdReseting nav to dock location at range 3.779998 m q99 s6Initialize SetNavComponent.WWX XWX:W2W*W V bU BU *UUU@RB*** querying acoustic contact ***P!P!BABA BAAEŅ*BIAIAIAIAI"CQ*CQRCYCYCY1IIGe=qiu=,CgFAY}R@}R @y}R$H}R^o}RH [lq? S?!ȿ?MgT?)~R@ ~Ra;I~RCɫyy)y yIY?yFZ****** received transponder code query ******F****** received ping request ******YYae#HaaymMz}m>Iȑŕ 5?ŕOݾ ƕ6/? ?9ƕe/AǕ': ȕ:)ȑXXXslSetNav fix at 20210815T231425: (41.552319, -70.708603)9 s:Uninitialize SetNavComponent.rfCompleted lineCaptureDepth:SetNavAcoustic:UpdateNav19 rAggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNavqRCompleted lineCaptureDepth:SetNavAcoustic8qnAggregate::uninitialize lineCaptureDepth:SetNavAcousticWWX XWX:W2W*WVbUBU*U)U)U-w @BqBy ByA}*ByAyAAA"C*CRCCCסiץ?ׁIG=>  j:YV1y:6);,l]gFAY}6@}6w+ @y}6BO}6't}6H,tq?`11a=#HAqy;}>Iȹ :Ž- 5? :Žxݾ tI ƽ ?9ƽǽ; ȽԱ;)Ƚo:WWX XWX:W2W*WVbUBU*UUyU(F @B B  B A C*B AAAA"C*C9RC9C9CAI1Gew>>,ߌwgFAY}6*@}6/F @y}6T U}6}6H @v@?B-? ʿp?:?)~6*@ ~6H;`;I~4ɫYY)Y YIYY2?ysF鮡ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -MbRQ+?--½ -=))I)y-y&1 rh?:v-`e-C =-T -A>A)-OAI- 0Ai- fA)-IA    @ @ @i )IiWM8=Y-QQU>!a%#H!!y-{;}->I15v 5?5Lyݾ 5 E?95m<5: 5':)1WaWaXa XaWiXi:Wi2Wi*WqVqbUqBUq*UqUyU}@BB BAa*BAAAA"C*CRCCCסIGA>I}@A)}AA  Bg:YDW1yY:69@>9IFi1?=@; cE)݉I݉i݉݉݉ݍ4&$,^igFAY}2@}25 @y}2\W}2ހ}2H/ q?!/?l=ʿ߸?`| ;?)~2@ ~2u];I~2Cɫ99)9 9I9YE?yEtFUxDUSBL response received:!U1,R,448,000,002AF,189,80,80,C3,FF UFpublishing direction and range infoMHtIɰMa=I I)MCCIIyMn@M?'"r?3! &ٱI}"M}=YaQU ?a#Hy5W} ?Ișŝ 5?ŝyݾ ƝW ?9Ɲ<ǝ: ȝ:)șWWX XWX:W2W*WVbUBU*UUUCd@R(Combining 5 samples.P*Qn@ZQXM'@|wQJQ?'"r?3! &2QHt:QbQEЅ?'}h @C+y N?RQb ?I?ΊT?BQß? Q6]@Q.?PX9?P[9?PQQg@"Q@B!B! B!A%Ʌ*B)A)A)A)A)"C1*C1RC9C9C9II)M]A)I9GU=P*,=CgFAY}>@}> @y}>:PZ}> ڍ}>H`C!A??`D ʿ9?`PT3?)~>@ ~>E\;I~>Cɫy髁) IY?yOF%DNmea in: $SNTTA,,,,,231425.89*5C U<MU==Y]ڻQU]>Yaae#Haiyu<}u>Iy :}- 5? :}}zݾ } ?9}7&=}?RCCß?CIGK>r  (z:YV1y:691,$gFAY}2@}22@y}2uVU}2~}2H`Ů??zO˿@y? h44?)~2@ ~2}[;I~0ɫ99)9 9I9Yu?y}kF U U ] ]@ ]@ ]@YYYiYY Y)YIYiYmBMmI=YmCqqau#HuRHyy}<}>Iȁܙ9ܙIܝFiܝv?ܙܙܙܝ@; ݝ-EŅ 5?Ņ"{ݾ ƅF ?9ƅr_=Dž; ȅ{;)ȁWWX XWX:W2W*WVbUBU*UUU?BB BA̅*BAAAA!"C%ß?RC)CCסIG >u=iu=b7,YgFAY}JV@}Jq@y}JP}J>}JH"$2O??k@ɿ?`L HE?)~JV@ ~Jia;I~JCɫai)i iIqY'?yώF}X9v?}?5^I̿~jt?}=}Mb }D=)yIyy}a#Hy <}>I :` 5? :{ݾ j ?9=: :)q:WAWaXi XiWiXi:Wi2Wi*WqVqbUqBUq*UqUyU}@?BB BA*BAAAA"C*CRCCC5?i5?I G%M>  zm:YyW6=,gFAY}2m@}2f@y}2V}2:F}2H zDŽ@Ƣ???@#ȿ?`5J 3C?)~2m@ ~2+`;I~2CɫYY)Y aIaY}0?y}F 5 5 5 5@ 5@ 5@111i11 1)1I1i1E=MEc=YE(QUM>IIaM#HIQy]ֆ;}]>IaeF 5?e |ݾ e9 m?9ed=eR: e:)aWWX  XWX:W2W*WVbUBU*UU!U%`|?BB BAa*BAAAA"C*CRCCCסIG >ܝ>9ܙIܝ@Fiܝ?ܝ=ܙܙܝ%@; ݝEtD,gFAY}6 @}6@y}6ڎ^}6k}6H@%)?@?0˿@? @,?)~6 @ ~66<^;I~6Cɫ) IY-?y-FM(=YQU>a#Hy|;}>I :# 5? :|ݾ d ?9z=g: =:)r:WWX XWX:W2W*WV!bU!BU!*U)U)U- @BQBQ BYA]*BYAYAYAYAa"Ci*CiRCiCiCiYIiGZ>Iq)u@A  #s:Yy 6)K;9+J,6,gFAY}2 @}2@y}2vU}2A}2H`?8@>a?`?iͿ@}? ?)~2 @ ~2(\;I~2Cɫ99)9 9I9Yum?y}F]A\A%YM%=Y%imGIi)]XٺY]AQ,eFgFAY}N|@}N@y}NE}Na̽}NH Fƒe?]? #˿g?w ~??)~N|@ ~N];I~NCɫyy) IY=?yFA9AIAiAAAAE?; EE - - - -@ -@ -@)))i)) )))I)i)=k<M=:=YE =QUE>AAaE#HIIyU M}U>IY e:] 5? e:]n}ݾ ] e?9]M=]: ]:)]s:WWX XWX:W2W*WVbUBU*UUU!@R B*** querying acoustic contact ***P P BIBI BQAU*BQAQAQAQAQ"CY*CYRCaCaCaIiG9>?  v:YX1y/:C"6);W,1A`gFAY}-"@}-@y}-B}- }-H`D`@a ܻ?`?@a'ȿ{9?GP`Z?)~-"@ ~-a;I~-Cɫ11)1 9I9Y?yFZ****** received transponder code query ******F****** received ping request ******a#Hy<}>I 5?}ݾ 뀽 ?9>Q: Y:)WWX XWX:W2W*WVbUBU*UUU5 @BiBq BqAu1*BqAqAqAqAy"C*CRCCCיIGb>u=iu=],2zgFAY}6Z@}6@y}6M}6}6H` |?}~?ƿH?`@U?)~6Z@ ~6b;I~6CɫYY)a aIaY&?yDFxDUSBL response received:!U1,P 448,000,002AF,189,80,80,C3,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )% > % >    @ @ @i )Ii)=M%E=YѼQU>a#Hy<}>I2 5?]~ݾ V ?9>$; V;)WAWAXI XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU]@. @BB BA*BAAAA"C*CRCCC?i?I1Gew>F  v:YT1y:369@=>99I=xFi=?999=?; =Ed,gFAY}6!@}6@y}6zV}6F }6H1%j?Ly?Cǿ1?-砿KH?)~6!@ ~6a;I~6Cɫ99)A AIAY}G?y}F鮅a=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ]BM]l=YeȼQUe?aaae#Hiiymh}u?Iș :ŝ[ 5? :ŝ~ݾ Ɲ)5 ?9Ɲ5>ǝ: ȝ+:)ȝt:WWX XWX:W 2W*WVbUBU*UUUP@BaBi BiA܄*BAAAA"C*CRCCCסIG >j,RҭgFAY}6;@}6.W@y}6S}6!}6H}l^t??kM`˿@23?@*2?)~6;@ ~6]^;I~6CɫYY)Y YIYY?y`FxDUSBL response received:!U1,R,4A2,000,002B3,189,80,80,B5,FF Fpublishing direction and range infoa%#H!!y-}5>I9= 5?=3ݾ =x M?9=KT>=; =;)9WWX XWX:W2W*WVbUBU*UUU @R(Combining 5 samples.P*Qp}@ZQw,@H@x= JQ ^V??2QG @T ?RQ+2?.$?&: ?BQt? Qf@Qm?PPX9?PQQ"@"Qg@BqBy ByA}*ByAyAyAyA"C*CRCCCסIGA>  ~:YWU1y: 6q,ݱgFAY}j@}j@y}jF}jP}jHT |ӝ?@?b;̿ M?W2?)~j@ ~ji^;I~jCɫ髹) I9Ii?; E)qIqiqu=qu 4YA?y|F]TNmea in: $SNTTA,,0.055824,,,231430.33*49 u^Au]A    @ @ @ùùùiùù Ĺ)ĹIĹiĹ)ܼMB=Ya#HSHyk}>I : 5? :ݾ  ?9p>H: :)u:mmAdded new target pos. range: 3.959999 m, bearing: 67.795454 deg, deltaT: 4.511804 s, approachRate: 0.053194 m/s, LOS rate: -0.611895 deg/s, posRepo size: 4XWt?WX XWX:W2W*WVbUBU*UU @U?BiBi BiAm]*BiAqAqAqAq"C}?RCyC}t?CIב)בaIiG9>x,ĖgFAY}].@}]@y}]3J=}]✽}]H`=,e?H?)ȿ@ֆ?A\?)~].@ ~]\;I~]Cɫ髑) IY?yF5~jt?EԸ?/$?5D>5= 5<)1I1y5~jtl?Mb`?55=5; 5l=A)5UAI5 0Ai5gA15JAMMM4=YUQYa]#HYYye5}e>Iim 5?mݾ m u?9m>mn: m4:)iWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"Ct?RCCCIGM>} }}} }n{:Y}U1y}:}26(~,cgFAɫ髙) IY?y4F    @ @ @ñññiññ ı)ıIıiı[<Mh=YQU>a#Hy}>I :~ 5? :Pݾ ? ?9l>: :)v:WWX XWX:W2W*WV!bU!BU!*U!U!U-$?BQBQ BQA]{*BYAYAYAYAY"Ca*CaRCiCiCqiIqG>u=iu=9IFiv?=MD@; 1E,>gFAY}6Sp@}6݋@y}6G}6.Ǽ}6H@)nY??`g`?ſ`?Wl?b?)~6Sp@ ~6'c;I~6CɫII)I IIIY}?y}*F=mM=T=YEؼQUE>IIaM#HIQy]}]>Iim 5?m"ݾ m }?9m>mJ4; m55;)iWWaXa XiWiXi:Wi2Wq*WyVybUyBU*UUU?BB BA*BAAAA"C*CRCCC?i?IG*>  .:YV1y:6);9:,H/gFAY}6 o@}6@y}6fJ}6R}6Ha&0y*??YUsƿ +?k[?)~6 o@ ~6`;I~6Cɫ99)9 9I9YT?yFUvM]I=Y]:QU]>aaae#HaaymZK}m>IquL 5?uݾ u }?9uM>uk: u:)qWWX XWX:W2W*WVbUBU*UUUХ?BB BA*BAAAA"C*CRCCCiIqG>$,HgFAY}:4@}:@y}:AH}:=z}:H 3fC?t?*<mȿl? µT?)~:4@ ~:5^;I~8ɫQY)Y YIY܅>9܁I܅XFi܅?܅=܁܁܅bA; ݅EY~?y,F    @ @ @i )IiTM@=Y ;QU>a#Hy%;}%>I9 E:= 5? E:=ݾ = E?9=k>=: =;)=w:WWX XWX:W2W*WVbUBU*UU U \h@BQBY BYA]N*BYAYAaAaAa"C*CRCCCׁIG=>Iq)q| }} z:YkS1yԊ:;6) ;R,WbgFAY},@} @y}F}}Hc`p?@V?`\ɿ@?@9Q?)~,@ ~\;I~Cɫ) IYe?yeٍFim?AMb?{Gzt?{Gz>ף; ף)IyMb?y&1?:v?<`e<T= fBA)NAI1AiGeAIA%٫<M%H=Y-3S;QU->))a5#H11y=~<}=>IAE 5?E ݾ Es^ M?9EL>E/: E:)AWqWqXq XqWqXq:Wy2Wy*WyVybUBU*UUU "@RB*** querying acoustic contact ***PPBB BA*BA9A9A9A9"CA*CIRCICICIIy)yQIaG}8>i I i  ٺ  iA4w,\|gFAY}2U@}2ߤ@y}2i J}2~}2HQi4̲?I?`ȿO? U:Q?)~2U@ ~29_;I~2Cɫ99)9 9IAY}?y}FZ****** received transponder code query ******F****** received ping request ******a#Hy%<}>I  :  5? : *ݾ ; ?9 > K; %;) x:WWX XWX:W2W*WiVqbUqBUq*UyUyU}] @BB BA~*BAAA)A1"C9*C9RCACACAAIQGu7>  Ӏ:YU1y: 69@ܙ9ܙIܙiܙܙܙܙܝgB; ݝ,EGa,gFAY}2q3 @}2N@y}2S}2d}2HU@? E?@ȿ` I? D?)~2q3 @ ~2ac;I~2CɫYY)Y YIYY?yFxDUSBL response received:!U1,P 4A2,000,002B3,189,80,80,B5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @ñññiññ ı)ıIıiıD=M$=YrQU>a#HyҪ<}>Iր 5?Zݾ  = ?93>: ӻ:)WQWQXQ XQWQXY:WY2Wy*WyVbUBU*UUU~ @BB BA*BAAAA"C*C RC C CQyi}p=IiG>,bgFAY}2: @}2cV@y}2Z}2o}2HEV?:?Ƕ`{˿`? I:4)?)~2: @ ~2w_;I~0ɫYY)Y YIYY?yF鮡ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B UeM]}=Y]ꧼQU] ?aaae#Haaym:}] ?Ia u:eS 5? u:eݾ eP= }?9e>eC; eD;)ey:WWX XWX:W2W*WVbUBU*UUU"@BB BA*BAAAA"C*CRCCC?i?IG=P>/  t:Yy6p,yya}#H}THy4:}>Iȉō 5?ōݾ ƍ= ?9ƍ>Ǎ: ȍ8:)ȉWWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q@ZQ*P:?F JQw+3}?L8s"2Q:QbQ}&XW?ldp @sR?RQVeo7??y6!6?BQ{`? Q7h@Q?PPPQQ)@"Q"@BqBy ByA}l*ByAyAAA"C*CRCCCׁIG=>9,%gFAY}R- @}RH@y}RV}RL:}RH`b ?D?`?ȿ? ŦYE?)~R- @ ~R4\;I~Pɫqq)q qIqY?yF%dNmea in: $SNTTA,0.030844,0.464185,,,231434.77*5C /$?(\ȿ&1?1>G P=)Iy~jt?S㥫?MbP?</]=: ?A)TAI 0AihA3KA e e e e@ e@ e@aaaiaa a)aIaiaMA=Y$!!a-#H)1y=/}=>Ii u:m} 5? }:mݾ m= }?9m>mA; m;)mz:mmAdded new target pos. range: 4.020000 m, bearing: 66.416944 deg, deltaT: 4.444358 s, approachRate: 0.013500 m/s, LOS rate: -0.310171 deg/s, posRepo size: 4XW{`?WX XWX:W2W*WVbU!BU!*U!U%z@U-"O?BqBq BqAu*BAAAA"C{`?RCC{`?C׹IGi>Iq)uAA  :YV1y:6~ž,gFAY}2Q @}2Dm@y}2NZ}2x=}2H`?`3? 4`Qſ?`0F?)~2Q @ ~2;\;I~2Cɫ99)9 9I9Y}e?y}F ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYmI<Mmh=YmW@QUu>qya}#Hyyy;}?Iȉō| 5?ōaݾ ƍ= ?9ƍ>Ǎ: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUU֖?BB BA*BAAAA"C *C RC CCI!)%]A)I9G]>!9!I!i!!!!%RC; %E)ݱIݱiݱݵ=ݵ=ݵ*5c,gFAY}2 @}2!@y}25h}2O}2HE@?& ?K:ǿ8?I-?)~2 @ ~2/d;I~0ɫ99)9 9I9Y}%?y}Ft<MP=YV QU>!!a%#H!)y- %<}->I15&z 5?5ݾ 5K= E?95>5Ǻ: 5ӻ:)1WaWaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UqUyU}–?B)BI BQAUd*BQAQAQAQAY"Ca*CiRCCC׉IG>;  u:YWU1y:_6(,1gFAY}rn @}r@y}rZu}rOR}rH1t??`˿g`? ?)~rn @ ~rHc;I~rCɫ) IY5?y=?F    @ @ @ i3? ?)?I?iA?EME9=YEQUE>IIaM#HIQyU^!;}]>IY e:] x 5? m:]$ݾ ]= m?9](>]: ]:)]{:WWX XWX:W2W*WVbUBU*UUU5?BB BA*BAAAA"C*CRCCCIG )>,KgFAY}:i @}: @y}: ~v}:!ʽ}:H๷s?j?Ͽσ?`c`?)~:i @ ~:_;I~:Cd9dIdiddddfC; fEɫ99)9 9I9Y}?y}܊F)> >m?MmY=YmAQUu>qqau#Hyyy}}>Iȉō9v 5?ōxݾ ƍ= ?9ƍ>Ǎ: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUU?BB BA?*BA A AA"C!*C!RC!C)C1E?iE? I!GE>  p:YU1y:;6)o;9/,_egFAY}2V @}2Jr@y}2-r}2/ҽ}2H `??v%tϿ?@0~?)~2V @ ~2a];I~2Cɫ99)9 9I9Y}m?y}IF&1?Mb?/$?P=> ,=)Iy~jth?Zd;O?Q?D;j<=< •fBA)•\QAI•K/Ai•pALABW<MF=Y a#Hy5}>I :t 5? :=ݾ M= ?9>A: :)|:WWX XWX:W2W*W V bU BU *UUU%@B9BA BAAE*BAAAAAAIAI"CQ*CQRCQCQCYIIQGu>F,:gFAY}2o@}2@y}2p}2鋽}2H _,Q·? 9?= ̿? ?)~2o@ ~2v\;I~2CɫII)I IIIY}A?y}.FAA    @ @ @ @i )Ii*jMW=Yv;QU>a#Hy}>I  s 5? ݾ = ?9 ? : :) W9W9XA XAWAXA:WA2WA*WIVIbUIBUI*UIUQUU .@R]B*** querying acoustic contact ***PYPYBB BA*BAAAA"C*CRCCC׉IG=9IxFi?C; EIޑ)ޑ  r:Yy6);,gFAY}2j@}2y@y}29s}2co}2HZ+G@ѹ? +W?`@:̿@.? t ?)~2j@ ~2S^;I~2Cɫ99)9 9I9Y?yFZ****** received transponder code query ******F****** received ping request ******99a=#H9AyE }E>IQ ]:Ur 5? ]:Uݾ U= e?9U)?U: U:)U}:WWX XWX:W2W*WVbUBU*UUU ~ @BB BA~*BAAAA"C*CRCCCI)ױIG>),gFAY}v@}v.@y}vdt}vPw`}vH@i@7$ƺ? I?@˿`B?@? ?)~v@ ~ve;I~vCɫ髱) IY-?y-nF5xDUSBL response received:!U1,P 4CF,000,002B4,189,80,80,C0,FF 5Command Ack5BRequesting micromodem ping code 2i11ENmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 zCiNmGI_AiMٺU_AUA }   @ @ @ÁÁÁiÁÁ ā)āIāiā5M==Y=ᘺQU=>AAaE#HEUHIyM;}M>Iqu q 5?uݾ u1> ?9u?u8: uʽ:)qWWX XWX :W 2W1*W1V9bU9BUA*UAUIUu@ @5  Ku:YWU1y:N69@BiBi BiAm*BiAqAqAqAq"Cy*CyRCyCyCa Iq G > ,2gFA494I6Fi6v?4446hC; 6EY}B}@}B;@y}Bt}BX #}BH`@!1? ;P?ʿ`I?@ˣ?)~B}@ ~Ba;I~@ɫyy)y yIyY)?y[Fp=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )=M=Y=QU?a#Hy}?Iȱ :ŵ9p 5? :ŵ1ݾ Ƶ; > ?9Ƶ'?ǵ: ȵ:)ȵ~:WIWIXI XIWX:W2W*WVbUBU*UUU@BB  B A *B AAAA"C*CRCCC!!I1GM1>ޝ=iޝ=8,gFAY}2v@}2@y}2*({}2~T}2H@%e3p?CIyy}y@}ihM?RzrٱyQ롿9vҿMb`?\ ;)IyQ?{Gz:v?<#T< @A)OAIi(LA)= = M C=YyQU>a#Hy%Y;}%>Iȉōo 5?ōݾ ƍ?> ?9ƍ0?Ǎ`; ȍ֌;)ȉWWX XW X :W 2W *W VbUBU*UU!U%`/@Re(Combining 5 samples.P*Qy@ZQ1RRB?%tu JQihM?Rzr2QR/:QbQ$N`_?X:# @ *r?RQw^ ???BQw? Q^@Q?PPPQQ@"Q)@BABA BAAeĆ*BiAqAqAyAy"C*CRCCC1I9G]v>  8:YT1y:`6+,gFAY}2P@}28l@y}2}2]ei}2HBGQǻ?AM? } 1CͿ@Ü?@eAY?)~2P@ ~29];I~2Cɫ9A)A AIAY}?y}FDNmea in: $SNTTA,,,,,231439.23*51    @ @ @ùùùiùù Ĺ)ĹIĹiĹ;MO=YW1QU>a#HyA}>Io 5?ݾ S> ?9?; ;)mMqAdded new target pos. range: 3.899999 m, bearing: 64.665963 deg, deltaT: 4.461615 s, approachRate: -0.026896 m/s, LOS rate: -0.392454 deg/s, posRepo size: 4XIWUw?WQXQ XQWQXY:WY2WY*WaVabUaBUi*UiUu23@Uu`?B)B) B)A5*B1A1A1A9A9"C]*?RCaCw?CׁIG=>e>9aIexFie?aaaeMC; eE_I,1^gFAY}6@}6@y}6Ms}6N}6Hpؿ?0y?`@%̿k?`"??)~6@ ~6Dg\;I~4ɫYY)Y YIYY?y6F5g;M=T=Y= QU=>AAaE#HAAyM#ּ}M>IQ ]:UYo 5? ]:Uoݾ U\#> e?9U?Ug: UR:)U:WWX XWX:W 2W *W V bU1BU1*U1U1U5't?BB BA*BAAAA"Cw?RCCCIG%>  o:YU1y:6ou ,tA4gFAY}>h@}>@y}>ރ}>ae}>H ;?@t? '7ο ]M?^]?)~>h@ ~>d;I~<ɫqq)y yIyY?y F%^A%^A m m u u@ u@ u@qqqiqq q)qIqiq첻ME=Y ;QU>a#Hyκ}>Ișŝo 5?ŝԇݾ Ɲ%,> ?9Ɲs?ǝ: ȝ:)șWWX XWX:W2W*WVbUBU*UUU`?BB BAĆ*BAAA A"C*C!RC!C!C)I9)=\AIG )>Z,'NgFA9Ii8C; E)CICiCCCKs3Y}N^@}N"@y}N$}NXֽ}NH@ `@/q?`[?@`п? ?)~N^@ ~Nd;I~NCɫyy)y yIyY?yeFUkM]M=Y] aaae#Haiym<}m>Iȑ :ŕn 5? :ŕAݾ ƕ4> ?9ƕ9 ?Ǖ: ȕ=:)ȕ:WWX XWX:W2W*WVbUBU*UUU?BaBa BaAe*BiAiAiAA"C*CRCCCשIG">i  :YDW1yY:{6)_;9q,_ggFAY}6i@}6@y}6y}6y}6HOm?gz?`Zп?@2?)~6i@ ~6)`;I~6Cɫyy)y yIyYq?yF~jt?t> =)IyS㥛a#Hyϻ}>I  Mn 5? 9ݾ /> ?9 $? Y: :) W1W9X9 X9W9X9:W92WA*WAVAbUABUA*UIUIUM?ByBy ByA}Q*ByAAAA"C*CRCCC׉IG>ޕ=iޕp=m ,h́gFAY}2 @}2@y}2q}2�}2H ?ʞ?@,@>ο@E? J@?)~2 @ ~2/4^;I~2C>JFailed to close latch before timeout.q >>Hardware FaultYR?yRJF)5= 5=    @ @ @i )Ii[M\=Y8a#Hy h}>I  : m 5? : ݾ ?*> ?9 (? =: :) :W9W9X9 XAWAXA:WA2WA*WIVIbUIBUI*UQUYU]@BB BAz*BA!A!A!A!"CQ*CQRCQCYCYu?iu?IIY-$u@Hardware Fault in component: DDMG}>!9!I!i!%=!!%B; %{E V M~:Y[1yH: 6);&,YgFAY}6<@}6@y}6s}6u}6Hq:?|?p̿-?׭ ?)~6<@ ~6\;I~6C>Powering down<ɪ<)< a #H  y}>Ifm 5?ݾ #%> %?9-?: :)WIWIXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UYUYU] P@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCIG$>,,8gFAY}2rj@}2 @y}2Vu}2M}2HN`@?` ?@1̿k?(N ?)~2rj@ ~2b];I~2CYN?yNFRZ****** received transponder code query ******RF****** received ping request ******Riiam#HuVHqy} ټ}}>IȁŅl 5?Ņݾ ƅ$!> ?9ƅ1?Džs: ȅ:)ȁW)W)XQ XQWQXQ:WQ2WY*WYVYbUYBUY*UaUaUeJ @BB BA4*BAAAA"C*CRCCCIG >Iޑ)ޑ, f t:YV1y:69@! 9% CI% Fi% v?% =! ! % B; % LE3,^gFAY}BT@}BRp @y}BIr}B) 2}BHx?@?r˿"?:@?)~BT@ ~Bh;I~BCY^?y^QFbxDUSBL response received:!U1,P 4E7,000,002B2,189,80,80,BE,FF bCommand AckfBRequesting micromodem ping code 2iddjNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 E]AE]Aj,=MH=Yu;QU>a#H1y=kJ}=>IA M:El 5? U:Eݾ Ej> ]?9E6?E{; E*};)E:WWX XWX:W2W*WVbUBU *U1U9UEA @BB B!A%*B!A!AAAIAI"CQ*CQRCQCQCYIש)׭]AׁI$NClearing failed state for component DDMq GB>9,6gFAY}6@}650 @y}62l}6_}6H`Z|8`$?2? @|ɿwC?`P@"?)~6@ ~6k;I~6CYR?yRFRa=ɮRp=bNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B (\µ? rȿI +? = C 94<) I y Mb{Gz{Gz?  ף #< ;CA) I  0Ai AtA  fNA-FM-@=Y-11a=#H99yEP}E>IIM>m 5?M܋ݾ M> U?9M8?M8: M+:)IWyWyXy XyWyXy:Wy2W*WVbUBU*UUU@@B)B) BIAM*BQAQAQAQAQ"Ci*CRCCC׉IG&>  :YW1yč:D6i nGI% `AiA Fٺ `A >Af@,gFAY}6@}6 @y}6j}6ϼ}6H2I c߼?;?8rɿp?@E'?)~6@ ~6ii;I~6CYN?yRFVxDUSBL response received:!U1,R,477,000,002B3,189,80,80,B8,FF VFpublishing direction and range infoRAYPɰRmb=P P)R8CIPyRp}@Ro7s_[?:c? ٱP    @ @ @i )Ii%=M%]=Y-y;QU->)1a5#H11y=}=>IA M:Em 5? M:Eˋݾ E%#> M?9E;?E-: E:)E:WW!X! X!W!X!:W)2W)*W)V)bU1BUQ*UYUYU]@}@R(Combining 5 samples.P*Qp}@ZQ8JG[>/@9 JQo7s_[?:c? 2QAY:QbQo'x?taP @]g??RQ Ф?t2"U?)n?BQ? QOh@Q?PW9?PPQQ@"Q@B!B! B)A-*B)A)A1A1A1"CQ*CQRCQCQCYIIQGu>9IFi1?B; <Eޑiޕ=F,gFAY}:@}:7, @y}:Ql}:}:H@C`*?\?oeʿV?@"?)~:@ ~:te;I~:CYF?yFF dNmea in: $SNTTA,0.471948,0.471867,,,231443.62*55 ]*<M]G=YeQUe>aaam#Hiiyu}u>Iy}n 5?}ݾ }&> ?9}W=?}: }ض:)ymiAdded new target pos. range: 3.959999 m, bearing: 67.862178 deg, deltaT: 4.379515 s, approachRate: 0.013700 m/s, LOS rate: 0.729810 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UU @U ??BB BA*BAAAA"C?RCC?C?iIG>  s:YY1y:6SM,6gFAY}E[@}E @y}Ek}E&}EH@%Oe?` x?+@ʿO7?`O !?)~E[@ ~Ea;I~ECY]?y]QF 5 5 5 5@ 5@ 5@111i11 1)1I1i1E"ME<=YM};QUM>a#HyN}>I :o 5? :ݾ *> ?9??9: $:):W9W9X9 X9WAXA:WA2WA*WaVibUiBUi*UiUqUu?BB BA?*BAAAA"C?RCCCIG$> 9 CI xFi ? = _B; (ES,PgFAY}6Y@}6 @y}6 g}6}6H`@os@? ?`]qmͿ@?S?)~6Y@ ~6ˢ^;I~6CYB?yBFU|<MU[=Y]-aaae#Haiymӻ}m>Iqu,p 5?uݾ u/.> }?9uA?u: uI:)qWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*CRCCCIGu=Iޙ)ޝ@A  i:YW1yč:W6)M;9"Z,RjgFAY}6U@}6 @y}6bb}6`}6H1w?@? qϿ#??)~6U@ ~6%t^;I~6CYB?yBFu:v?q= ףp?Zd;O?u uj=)qIqyu ףp= ?a#Hy d;}>I :o 5? :ݾ 4> ?9F?M: :):W!W!X) X)W)X):W)2W)*W1V1bU1BU1*U9U9U=`?BB BA*BAAAA"C*CRCCCI׽]A)׹qIyG= a,YgFAY}:@}: @y}:ܦ_}:0}:H`@/tiۛ? 9?b:Ͽ?0O?)~:@ ~:d];I~8Y^'?ybώF    @ @ @ÑÑÑiÑÑ đ)đIđiđv<MM=Y_a#Hy:}>Iuo 5?ݾ :> ?9K?; ;)WWX XWX:W2W*WVbUBU*UUU`*=@B)B1 B1A=*B9A9A9A9A9"CQ*CQRCQCQCYiIqG>u>9qIuFiuE?u=qquB; uE)Ii==^5  n:Yy6)^;3g,4gFAY}6@}68 @y}6|`}6l+ǽ}6H` 7u?V?``Ϳ@?B ?)~6@ ~6\;I~6CYN.?yRF(=MU=YJQU>!!a%#H!)y-l~}->I15!o 5?5ݾ 5F@> E?95#P?5: 5:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUqU}`@BB BA"*BAAAA"C*CRCCCױIG=ޑiޕ=]m,gFAY}6@}6# @y}6A_}6O}6H w\?@?eο ? ?)~6@ ~63\;I~6CYN?yRiFPPb%<<MbP=Yfނ;QUf>ddaj#HjWHhynp:}n>Ip v:rn 5? v:rݾ r)F> v?9rT?r: r:)r:W WX XWX:W2W*WVbUBU*UUU h@RB*** querying acoustic contact ***PPBB BA*BAAAA"Cq*CqRCqCqC?i?שIG= s 0p:YT1y:69@e >9a Ie НFie E@e =a a e A; e EGt,gFAY}]@}] @y}] R}]Gҽ}]H[`lUƠ?M?̿?U*?)~]@ ~][;I~]CYm?yuFZ****** received transponder code query ******F****** received ping request ******!!a%#H!!y-;W:}5>I15^n 5?5Oݾ 5M> E?95Z?5^: 5:)1WaWaXi XiWiXi:Wi2Wi*WqVqbUqBUq*UyUyU} @BB BAń*BAAAA"C*CRCCCIG (>epz,gFAY}:@}:L9 @y}:/A}:U⋽}:H`?R?`P}ȿ`c?r)[?)~:@ ~:\;I~:CFPowering upF"Initializing DDM.Y=z?y=FExDUSBL response received:!U1,P 477,000,002B3,189,80,80,B8,FF ECommand AckEBRequesting micromodem ping code 2iAAUNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 MJ +?Q?/$?M>Mu< M,=)IIIyMy&1|?S㥛y&1|?M`;M/ݼM`; M;A)MXAIM 0AiMIMAA=M5=Y=QU>a#Hy}>I :o 5? :Ѕݾ Q> ?9]?U"< U"<):WWX XWX:W2W*WVbUBU*UUU @BB BAO*BAAAA"C*C!RC!C!C1Im\A)m\AIޑ)ޕAA  n:YDW1yY:r6I!G=>2X,gFAY~?y~^F-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I=)={T=M=YQU ?a#Hy}?I  o 5? yݾ T> ?9 _? : :) W9W9X9 X9W9X9:W92WA*WAVAbUABUA*UIUIUM @ByBy ByA}ʃ*ByAAAA"C*CRCCC׉IG= 9 I Fi E?    3A; Eu,gFAY}6^a@}6| @y}6_{4}6+~}6H೛ ʵ??@ÿq?G?)~6^a@ ~6R[;I~6CY^7?y^'FbxDUSBL response received:!U1,R,467,000,002AF,189,80,80,B6,FF fFpublishing direction and range infob3{`ɰba=` `)b6CI`ybn@bV?p[Uٱ`    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉɻM9=Y.a#HyI׼}>I) 5:-Mp 5? =:-ݾ -X> =?9-b?-: -Y:)-:WyWyXy XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qn@ZQ*hND}@JQV?p[U2Q3{:QbQ?EN@ @(?RQ;J? $gM?ɩ ?BQ? QZ@Q?PPW9?PQQ@"Q@B1B9 B9A=*B9A9AAAAAa"Ci*CiRCiCiCqaIiG9>  9~:YU1y:;6*,$a9gFA  i%nGIY?yFiտٺA=DNmea in: $SNTTA,,,,,231448.09*5F    @ @ @ÙÙÙiÙÙ ę)ęIęięs<MO=YQU>a#Hy}>Ip 5?ݾ $\> ?9e?`: 6:)mqAdded new target pos. range: 3.720000 m, bearing: 67.113439 deg, deltaT: 4.483203 s, approachRate: -0.053533 m/s, LOS rate: -0.167010 deg/s, posRepo size: 4XW?W X  X W X :W2W*WVbUBU*UU @Uf?BIBI BIAM*BIAQAQAQAQ"C]?RCYC]?Cau?iu?AIQGm> >9 I xFi ? =   "A;  Eד, 3SgFAY~?y~^F ii)q u=` M]=YQU>a#Hy}>Iȹ :Žq 5? :Ž$ݾ ƽ^_> ?9ƽKh?ǽ : Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU?B)B) B)A5ʃ*B1A1A9A9A9"CA*CARCACACIIG>  q:YV1y:N6);9߽, mgFAY}6~@}6 @y}6'K}6&}6H`*{?#W?C`ƿu? q }?)~6~@ ~6Ux\;I~6CYN?yR_F!rh?L7A`V-?l=+ m=)IyX9vy&1/$?`e< fBA)`GAI2AiM`A3GAM%B=Y%;f=QU%>))a-#H))y5{}5>I9=r 5?=ݾ =f> E?9=-l?=: =:)9WWX XWX:W12W1*W9VAbUQBUY*UaUiUu3?BB BA1*BAAAA"C*CRCCC)IG-->,KgFAY=?y=/F    @ @ @ i3? ?)?I?i?k=ML=Y QU >  a #Hy}>I!%s 5?%%ݾ %m> -?9%o?%: %:)!WIWIXQ XQWQXQ:WQ2WY*WYVYbUYBUa*UaUaUez!?BB BAt*BAAAA"C*CRCCCI׹)׽]A׉IG=ܱ9ܱIܵFiܵv?ܵ=ܱܱܵ;A; ݵEM :YWU1y:6);CЧ,ŠgFAY}2@}2 @y}2q}2}2H`Xn-p@?(2 4Ŀū?ٶ??)~2@ ~2[;I~2CYn?ynFIM=)M%=IM^A}H<M}S=YOi=QU>a#HyR}>Iș :ŝtt 5? :ŝݾ Ɲt> ?9Ɲhs?ǝ: ȝ0:)ȝ:WWX XWX:W2W*WVbUBU*UUUO?BB BA9*B A A A A "C*CRCCCIG=r,gFAY}26@}2 @y}2}2绽}2H ͒ bz n?UVÿ 8?#Dʛ?)~26@ ~2_[;I~2CYRi?yVF    @ @ @ @ÉÉÉiÍÉ č)čIčičMH=Ya#HXHyZK<}>Ipu 5?ݾ |> ?9%w?0: :)WWX XWX:W2W*WVbUBU*UUU @B1B1 B1A5S*B9A9A9A9A9"CA*CARCACICIIIYGu=U QQUF U}i:YQyQU< 69U@ܩ 9ܩ Iܭ Fiܭ 1?ܩ ܩ ܩ ܭ A; ݭ tE)9I9i9=====D4,xgFAY}J *@}JE @y}J0}J!d}JHm Z>h?{^¿{g?0?)~J *@ ~JZ;I~JCYZ?yZ7F\\n<MnX=Yndppar#Hptyv<}v>Ix :z[v 5? :zݾ zˁ> ?9zz?z; z;)z:W)W)X) X)W)X1:W12W1*W1V1bU9BU9*U9UAUE@RMB*** querying acoustic contact ***PIPIBB BA *BAAAA"C*CRCCC?i?IG=ޝ=iޝ= ,UgFA|@i|Y}R!@}R< @y}Rk۽}Rʽ}RHҩ@b@s?i@w`¿fq?3#?)~R!@ ~R*Z;I~PYz?yzܔF~Z****** received transponder code query ******F****** received ping request ******>)YIYy] rh~jt?Mbp?]C ]<]; ]:A)]OAI]I4Ai]~ZAY]FA)Õ= Õ>    @ @ @i )Iim,Mm=Ym#qqau#Hqyy}}}>Iȡť{v 5?ťݾ ƥ`> ?9ƥ?ǥM: ȥI:)ȡWWX XWX:W2W*WVbU!BU!*U!U)U-@7 @BqBq BqAu.*ByAyAyAyAy"C*CRCCCיIGd>u uuu ul:YuT1yu:u6S,6gFAY}JJ>@}JY @y}JwȽ}J'a}JH ,@bG #r?@@J ? +z?)~JJ>@ ~JAZ;I~JCYVn?yVFZxDUSBL response received:!U1,P 467,000,002AF,189,80,80,B6,FF ZCommand Ack^BRequesting micromodem ping code 2i\\fNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 M=Y ?9}?}U< }+<)}:WWX XWX:W2W *W V bU BU *UUUM+ @U>9QIUXFiU?QQQU@; U^EBB BA*BAAAA"C*CRCCCIG J>",q"gFAY}B@}B @y}Baɽ}B}BH2{Fmd?`[K?rj!?H?)~B@ ~BZ;I~BCYj?yjFnp=ɮna=~Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B f;MM=YmKQU>a#Hyʳ<}>Iȱŵv 5?ŵDݾ Ƶ> ?9Ƶ}?ǵ: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUU r@BB BA*BAAAA"C *C RC C CI!)%\AI G- >  i:YWU1y:)6I,;gFAY}6o@}6: @y}6ّʽ}6}6H`);rLi ?@OG?|w?)~6o@ ~6.Z;I~6CYB?yBFFxDUSBL response received:!U1,R,468,000,002AD,189,80,80,AC,FF FFpublishing direction and range infoFd{DɰFu`=D D)F,CIDyFff@Fk%0b?-sJٱDV^AT U   @ @ @ÑÑÑiÑÑ đ)đIđiđ:MI=YQU>a#Hy<}>I :v 5? :*ݾ > ?9?; ;):WQWQXQ XQWYXY:WY2WY*WYVabUaBUa*UaUaUm (@R(Combining 5 samples.P*Qff@ZQ@v?*~JQk%0b?-sJ2Qd{:QbQͲD?oO @ s?RQxi?zʂ?Dkc?BQP? QzT@Q%?PPPQQ@"Q@B B BA*BAAAA"C*C!RC!C!C!AIQGm>I 9I IM FiM ?I I I M @; M XE3,UgFAY}V@}Vw @y}VŽ}V_>}VH`r %` ?@Q@%2S?`ro@?)~V@ ~V[;I~TYb7?yb'FETNmea in: $SNTTA,0.024790,,,,231452.51*4F ܼMK=Y@;QU>a#Hy<}>Iȱŵv 5?ŵ ݾ ƵӀ> ?9Ƶ?ǵ: ȵ:)ȱmmAdded new target pos. range: 3.599999 m, bearing: 68.179549 deg, deltaT: 4.406042 s, approachRate: -0.027236 m/s, LOS rate: 0.241966 deg/s, posRepo size: 4XWP?WX XWX:W2W*WVbUBU*UU @U ??B1B1 B1A5*B9A9A9A9A9"CEM?RCACEP?CIIIQGu=p  y:Yy6)8;9*Z,VogFAY}2@}2n @y}2ý}2}2Hn (eۄ?`FB@͛RY?R@?)~2@ ~2kp[;I~2CYR?yRyF)\(?+?Mbp?G== ;)Iy/$MbP~jt a#Hysκ}>Iȡťtw 5?ťhݾ ƥw> ?9ƥ?ǥ: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU/?B B BA*BAAAA"C%6K?*C!RC!C!C)=?i=?IG*>i-}nGIAiYٿٺVAޕ=iޕ=`B,ygFAY}6@}6: @y}6_˽}6}6H@P@=k?R ?D2.XEa?ҧ3?)~6@ ~6t[;I~6CYf?yfF]ŇM]u=YelFQUe?aiam#Hiiyu_O}u?Iy :}w 5? :}ݾ }p> ?9}?}N: }$:)}:WWX XWX:W2W*WVbUBU*UUUF?BB BAt*BAAAA"CP?*CRCCCIG=9IpFiM?=@;   q:Y y 6) ;{l,TgFAY}6?@}6Z[ @y}6Crཙ}6ļ}6Hk"`T@Aѥ?!? k+L?p?)~6?@ ~6&[;I~6CYN9?yRFU9M]K=Y]ѼQU]>aaae#Haiym z}m>Iqu7x 5?uݾ ug> ?9u{?u: u¿:)qWWX XWX:W2W*WVbUBU*UUUyc?BB BA߄*BAAAA"C*CRCCCIG=H,.gFAY}2l@}2 @y}2!+}2rTѼ}2H-I?@ ?):vP`1?@M?)~2l@ ~2];I~2CYR?yRF U U U U@ U@ U@QQQiQQ Q)QIQiQMD=YQU>a#HYHyJ;}>I :x 5? :Xݾ ^> ?9y?E: =:):W W X  X WX:W2W*WVbUBU*UU!U%:@BIBI BIAUK*BQAQAQAYAY"CY*CaRCaCaCaI}]A)yIIYGu=Iޙ)ޝ?A- - - - D - ͈:Y- U1y- :- q&695 @ 9 I Fi ? A; mE*,gFAY}:@}:, @y}:,}:C}:H I@<? ? B@y?=@?)~:@ ~:d\;I~:CY^?y^OFI-a=)-=]<=M]Q=Y]QUe>aaae#Haiym=K<}u>Iy} y 5?}ݾ }V> ?9}f?}: }:)yWWX XWX:W2W*WVbUBU*UUU@b)@BB BAp*BAAAA"C*CRCCCIG>{,gFAY}Nl@}N @y}N}N!m}NHJ=@m?@?8?Lk[?)~Nl@ ~N[;I~NCYm?ymFMgfffff?Qֿ`"?M33>Mµ M=)IIIyM ףp= &1+?MQ8MPM= M@A)MJAIM6AiM+WAIMfFA    @ @ @ùùùiùù Ĺ)ĹIĹiĹM5=YQU>a#HyMM:}>I :{ 5? :ݾ f> ?9n?: :):WWX XWX:W!2W!*W!V!bU!BU)*U)U)U5@@R=B*** querying acoustic contact ***P9P9BYBa BaAe*BaAaAaAaAi"Cq*CqRCqCqCyIIQGu>m m m m  m ؇:Ym WU1ym :m 6q,Q gFAY}2w@}2 @y}27-}20@E}2H'`QX?@?"@p¿@ ?@h`§?)~2w@ ~2*[;I~0YNX?yRPFRZ****** received transponder code query ******VF****** received ping request ******Va#HyNI}>I} 5?Bݾ t> %?9ԓ?: :)WiWiXi XiWiXi:Wi2W*WVbUBU*UUU @BB BAׅ*BAAAA"C*CRCCC!5?i5?ܙ9ܙIܝFiܝ}?ܙܙܙܝA; ݝxE))I)i)-=)- 5)I1GU>ޝ=iޝp=ٻ,ӡ$gFAY}6'@}6" @y}65}6icK}6H@t Є?`<?AP_ÿ`+?^ ?)~6'@ ~6[;I~4Y^?y^FbxDUSBL response received:!U1,P 468,000,002AD,189,80,80,AC,FF bCommand AckfBRequesting micromodem ping code 2iddjNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= ==MES=YMQU]>aiau#Hqy/}>IQ e:U= 5? m:Uݾ U<> ?9U?U3< U<)U:WaWaX XWX:W2W*WVbUBU*UUUo @B9B9 B9A=*BAAaAaAaAi"Ci*CqRCqCqCqaIyGC>m m zm zm  m k:Ym Q1ym :m : 6, x>gFAY}2u@}2 @y}2X~"}2/}2H ` R?`!?A&uÿ`9?E1?)~2u@ ~2g[;I~2CYf?yfFhɮhzNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @ñññiññ ı)ıIıiıW+MB=YQU>a#Hy8o}>I 5?ݾ ݇> ?9?: :)W W X XWX:W2W*WVbUBU!*U!U!U%@BB BA*BAAAA"C*CRCCC IGE>ܑ 9ܑ Iܕ Fiܕ ?ܑ ܑ ܑ ܑ ݑ J,QXgFAY}2P@}22 @y}2g#}2}2H஬g?{F?`T¿)h?@ ?)~2P@ ~2[;I~2CYN?yRwFVxDUSBL response received:!U1,R,502,000,002AE,189,80,80,B5,FF VFpublishing direction and range infoRf3PɰR`=P P)R5CIPyR=j@Rw?amf-ٱPj(Mj[=YjzQUn>llan#Hppyv+}v>Ixz 5?z3ݾ z> ?9z|?z< z<)xWWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P!*Q%=j@ZQ%s:@?apuV JQ%w?amf-2Q%f3:Q!bQ%<$*y? @"u()?RQ%ijU?XRPV]?Pd ?BQ%-? Q%OH@Q%#?P%Y9?P!P%Q!Q%@"Q%@BaBa BaAe*BaAiAiAiAi"C*CRCCCI׭\A)ש׉IG=Iޙ)ޙ 6    _u:Y X1y /: 6) 9;9 ,9rgFAY}R;@}Rŷ @y}R?(}RDvϼ}RHTȎ? cc?`rFÿ ? `?)~R;@ ~Rb[;I~PYnm?ynIF=TNmea in: $SNTTA,0.027698,,,,231456.96*4A Mb@Mb@Mb@ )Iyy&1?~jt{Gz`e<# ?A)NAI2Ai]A\GAU]AU]A    @ @ @éééiéé ĩ)ĩIĩiĩM#=Y: QU>a#Hyu}>I : 5? :iݾ > ?9O?; ;):mmAdded new target pos. range: 3.660000 m, bearing: 59.165851 deg, deltaT: 4.427968 s, approachRate: 0.013550 m/s, LOS rate: -2.035629 deg/s, posRepo size: 4XW-?WX XW!X!:W!2W!*W)V)bU)BU)*U1U5G @U5 >?BYBa BaAe*BaAiAiAiAi"Cu?RCqCu-?CqIGI>", gFAY}:+W@}:r @y}:5}:'}:H@e-@%?f?+>ſ?^x?)~:+W@ ~:*[;I~:CY^s?y^F])G=M]{=Y]S'QUe ?aaae#HaiymlT}m ?Iqu 5?uݾ uR}> ?9u?u: uw:)qWWX XWX:W2W*WVbUBU*UUUr?BB BA*BAAAA"COʏ?RCCC191I1i11115@; 5_EשIG=n),gFAY}6!@}6= @y}6F}67JA}6H`  ?_?Wȿ ?\?)~6!@ ~6h[;I~6CYBi?yBF MO=Y-QU>a#H!y%}%>I) 5:-P 5? 5:-=ݾ -n> =?9-?-: -:)-:WYWaXa XaWaXa:Wa2Wa*WiVibUiBUi*UqUqUu@?BB BAӆ*BAAAA"C?RCCC?i?ױIG= W l:Yy 69@ i nGI i E VٿٺA E A7/,cԿgFAY}~G5@}~P @y}~6Q}~3FW}~H@a )?L? yɿ5?`UI?)~~G5@ ~~[;I~~CYEo?yE#F)ù ý>      @  @  @   i   ) I i z=M:=YüQU>!!a%#H%ZH)y-`3;}->I15 5?5ݾ 5_> E?95?5s: 5I:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUqUu@ ?BB BAR*BAAAA"C܂?RCCCIG(>1 91 I5 8Fi5 ?1 1 1 5 @; 5 EE6,gFAY}6K@}6wg @y}6,?U}6}6H !?$A?5˿@v?P:?)~6K@ ~6][;I~6CYB|?yBRF=,|M=Z=YEQUE>AAaM#HIIyUq;}U>IY e:] 5? e:]ߊݾ ]Q> e?9]3?]R: ]^:)]:WWX  X W X :W 2W *WVbU1BU1*U9U9U=/@BB BA*BAAAA"C?RCCCIGM>  ~:YY1y:6)%;9D<,OtgFAY}:p@}: @y}:iW}:r}:H74@@{? #?`̿@? -*?)~:p@ ~:{[;I~8Y^?ybF?I +{Gz?L>9 #<)IyMb rh~jthCD µ7CA)µNAIµ2AiµgA KA<MA=YRQU>a#Hyf<}>I 5?ݾ O> u?9r?d< O<)WWX XWX:W2W*WVbUBU*UUU`ِ@B1B9 B9A=Ȇ*B9A9A9AAAA"CM=?*CIRCICiCqIׅ]A)ׁaIqG>Iޑ)ޕAAc,C,fO gFAY}6m@}6 @y}6g^}6<o}6HB9|`Oٱ?`T?E˿?`v*`z2?)~6m@ ~6[;I~6CYBm?yBIFDDVɼMV_=YVJQUZ>XXaZ#HX\yb(;}b>Idf? 5?fݾ fM> j?9f?f: f:)dWWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA*BAAAA"C6?RCCC>9IFia?n@; EiIyG=  }:Y0Y1y:`6)u;~WI,.'gFAY}2e@}2u @y}2Hh}2A3}2H<??`X`ُɿn?` k,?)~2e@ ~2[;I~2CYNo?yN#FRZ****** received transponder code query ******RF****** received ping request ******Va#Hy_}>I : 5? :ݾ J> ?9ͩ?p: :):WWX XWX:W2W*WVbUBU*UUUW @BB BAR*BAAAA"C%܃?*C!RC!C!C))I1GM>AP,AgFAY}2W@}2 @y}2Bt}2 }2H {?N&?-˿P?`ؠ[?)~2W@ ~2[;I~2CYNX?yNPFRxDUSBL response received:!U1,P 502,000,002AE,189,80,80,B5,FF RCommand AckRBRequesting micromodem ping code 2iPTZNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ==MES=YU0QU]>iqa}#Hyy&y}>I݈ 5?-ݾ ?H> -?9?@; D;)WWX XWX:W2W!*WiVibUqBUq*UyUyUt @BB B!A%ׅ*B!A)A)A)A)"C5-?*C1RC1C1C9M?iM?!I9Ge4>ޑiޕa=u  ez:YV1y:69@9IFi1?@; E)aIaiaae=e4lV,ZgFAY}F~0@}FL @y}FH(~}F!5}FH ? =?I ?0 6οq?@&l?)~F~0@ ~Fz[;I~FCYj!?yjFlɮl~Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )IiǵM?=YӮQU>a#Hy ;} >I 5: 5? 5:Aݾ E> =?9-?; ;):WaWaXa XaWaXa:Wi2Wi*WiVibUqBUq*UqUqUu65@B9Bi BiAu%*BqAyAAA"C*CRCCCyIGB>\,tgFAY}^=@}^;Y @y}^}^ު}^H`U?G?``\7п?@ĩ ?)~^=@ ~^iU[;I~^CYn?ynkFrxDUSBL response received:!U1,R,46C,000,002AE,18A,80,80,A9,FF rFpublishing direction and range infon'|lɰln> l)n)CIlylnՉ?&jٱl~dNmea in: $SNTTA,0.190591,0.189797,,,231501.40*52 =QQ?11a5#H19y=:}=>IIM 5?M_ݾ M@> U?9M?M8: M:)IWWX XWX:W2W*WVbUBU*UUUG@R(Combining 5 samples.P*QZQ%;:@qJQՉ?&j2Q'|:QbQJq? @0}?RQiBH?|*=1U?3R3(?BQ8? QhO@Q?PX9?PY9?PQQ#@"Q@BIBQ BQAU̅*BQAQAYAYAY"C*CRCCCyIG<>5  Ku:YDW1yY:6zc,gFAYT?yF<Mf=YQU>a#Hy}>I :l 5? :ݾ <> ?9? : f:):mMiAdded new target pos. range: 3.660000 m, bearing: 64.762378 deg, deltaT: 4.501534 s, approachRate: 0.000000 m/s, LOS rate: 1.243249 deg/s, posRepo size: 4XQWU8?WQXQ XQWQXY:WY2WY*WYVYbUaBUa*UaUaUm?y9yI}Fi}E?yyy}?; }EBB BA*BAAAA"CpIޑ)ޕ@A6i,tgFAY}2@}2@y}2@|}2XS}2H@ (A~?(? Ϳ/M?Қ?)~2@ ~2_[;I~2CYf?yfF]MeP=Ye7iiam#Hiiyu}u>Iy}E 5?}ݾ }7> ?9}?}^: }ϸ:)yWWX XWX:W2W*WVbUBU*UUU`?BB BA*BAAAA"Ch؊?RCCCIG=  }:Yy6p,wMgFAY}6M@}6ci@y}6z}6B}6HՁ`7\?`J?@W@]̿`m ?@h?)~6M@ ~62[;I~6CYb?yb؏F    @ @ @ ÙÙÙiÝ?Ù ĝA?)ĝ?Iĝ?iĝ&?%=ME=Yܣ;QU>a#H[Hy}>I :- 5? :ݾ 2> ?90?: :):WWX XWX:W2W*W V bU BU *UUU s?BQBY BYA]8*BYAaAaAaAa"Cm8?RCqCqCyIG>}>9}CI}`Fi}@}=yy}y?; }Ev,(gFAY}2<@}2 X@y}2Ky}2Ŋ}2H@P|U@;?Q?Bο?`dҰ/?)~2<@ ~26[;I~2C>`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ) IY-?y-NF=I +?jtĿ#~j?=9== ==)9I9y= ףp= ?lV-=Q8=== =@A)=PAI=+Ai=rA9=LA]7<M]=Yec>;QUe>iiam#Hiqyu}u>Iy}ێ 5?}ݾ }i+> ?9}D?}Y: }:)yWWX XWX:W2W*WVbUBU*UUU@?BB BA*BAAAA"C*CRCCC?i?QIaG}z>ޕ=iޕ=  p:YW1yč:|6);9|,gFAY}2@}2@y}2Av}2,}2H&KΨ?4@?r п`c?@,?)~2@ ~2 [;I~2Cɫyy)y yIyYi?y3F    @ @ @ÑÑÑiÕ?Ñ ĕ)ĕIĕiĕA?܌M=YE;QU ?a#Hy<} ?I 5?1ݾ '> ?9?#: :)WWX! X)W1X9:WIi]mG2WQIq*WyVibUBUfտٺ.A*U)U)U-*<@BqBy ByA}*ByAyAyAA"C*CRCCCׁIG=>ȃ,gFAY}6^@}6z@y}6 o}6J}6H @tQ@$? X?@veο ?}?)~6^@ ~6 ];I~6CɫYY)Y YIYY?yF!9%CI%(Fi%,@!!!% ?; %bE5<M=R=Y=AAaE#HAIyM}M>IQ ]:U" 5? ]:Udݾ etI UR#> e?9Ur?U: U:)U:W!W!X! X!W!X!:W)2W)*W)VIbUQBUQ*UQUQU]`?@BB BÄ́*BAAAA"C*CRCCCIG$>  o:Yy6)U;, )gFAY}2/@}2@y}2h}2˽}2HȨL@d?Y?h,Ͽt?Hʸ@X?)~2/@ ~2g;I~2CɫYY)Y YIYYt?yאFAAI)I=)&MR=Y+a#Hyv;}>Ig 5?ݾ > ?9?: w:)WWX XWX:W2W!*W!V!bU!BU)*U)U)U-@,@R=B*** querying acoustic contact ***P9P9BYBY BYAeф*BaAaAaAaAa"Ci*CiRCqCqCqYIyG=IޕAA)ޕAAڐ,FCgFAY}2@}2@y}2_}2ҽ}2H 8P?4X? >Dο@?%?)~2@ ~2rl;I~2Cɫ99)9 9I9Y}V?y}ĐFZ****** received transponder code query ******F****** received ping request ******11a5#H19y= <}E>IA m:Eܓ 5? u:E~ݾ E> u?9E/?E; E;)E:WWX XWX:W2W*WVbUBU*UUU @B1B9 B9A=؄*B9A9AAAAAA"Ci*CiRCiCiCqAIIGm5>  :YX1y/:69@!9%CI!i!!!!%>; %DE ,aq]gFAY}6@}6# @y}6`S}6k}6HUl? U?[@ť˿@?`k -7?)~6@ ~6oj;I~6Cɫ99)9 9I9Y} ?yFxDUSBL response received:!U1,P 46C,000,002AE,18A,80,80,A9,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 M\ûMUX=Y!a-#H)Yy,<}>Iȡť. 5?ť|ݾ ƥW> ?9ƥ?ǥ; ȥU;)ȡWqWqXq XqWyXy:W2W*WVbUBU*UUU%P @BiBi BiAu*BqAqAqAqAq"Cy*CRCCCיIGg>.,KwgFAY}:D@}: @y}:L}:}:H= 8?3?4ɿf?i`K?)~:D@ ~:4f;I~:Cɫ99)A AIAY]?ymFma=ɮmp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B gfffff?t= D<)Iy{Gz~jtx:v?ףĻT< l=A)+WAIv.AipALA)= = ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYm=Mu9=Yupyya}#Hyy<}>I  : • 5? : |ݾ => ?9 6? 4: :) :W9W9X9 X9W9X9:WA2WA*WAVAbUiBUi*UiUiUu`U;@BB BA*BAAAA"C*CRCCC-?i-?I G%M>;  u:YV1y: 6,N&gFAY}6@}6 @y}6D}6c+}6HO`?6?? nɿk?9W?)~6@ ~6b;I~6CɫYY)Y YIYYe?ye2FmxDUSBL response received:!U1,R,42A,000,002AE,189,80,80,A6,FF uFpublishing direction and range infom%niɰim7> i)m&CIiyimʾ?_ԉa%ٱiMm=Y9IFi@>; E)UCIQiQU=U=U4I9 5?A}ݾ j> ?9/?: R:)W W X  X WX:W2W*WVbUBU*U!U!U%@R5(Combining 5 samples.P1*Q1ZQ5 WS@uyJQ5ʾ?_ԉa%2Q5%n:Q1bQ50t~?V @ F~?RQ5e?V~?$2b?BQ5#? Q5W@Q5?P1P5X9?P5Q1Q5'@"Q5#@BB BA*BAAAA"C*CRCCC IG>SC, gFAY}fq@}f @y}f=}f8c}fH _ Qd?8?_ǿ``?櫿@.g?)~fq@ ~fd;I~dɫ) IYe?yΐF}TNmea in: $SNTTA,0.043028,,,,231505.88*4D -2M-3=Y5k9AaM#HIYyeE];}m>Iȁ :Ņݖ 5? :Ņ}ݾ ƅ> ?9ƅ?DžX; ȅ;)ȅ:miAdded new target pos. range: 3.660000 m, bearing: 69.208743 deg, deltaT: 4.389135 s, approachRate: 0.000000 m/s, LOS rate: 1.013039 deg/s, posRepo size: 4XW#?WX XWX:W2W*WVbUBU*UUU r?BiBi BiAmԄ*BiAqAqAqAq"CX?RCC#?CqIG]>  |:YT1y:6(,gFAY}2@}2: @y}26}2-}2HP?@jN?@r`Ŀ`^?9 z?)~2@ ~2Yd;I~2Cɫ99)9 AIAY?yFII    @ @ @ÑÑÑiÑÑ đ)đIđiđ<MT=Ya#H\Hy>}>If 5?}ݾ {#> ?9?4: :)WWX XWX:W2W*WVbUBU*UUU @k?BB BA*BAAAA"CSy?RCCCI)\AIG$>ܹ9ܹIܽ@Fiܽ?ܽ=ܹܹܽc>; ݽER,gFAY}J e@}J @y}J5J1}J7=}JH 6@8?`h?`TV"pĿ ?xO?)~J e@ ~Jk~c;I~JCɫYa)a aIiY?y;F}7A`?y&1? ףp= }>}`e= }Q8)yIyy}~jt?a#Hy$}>I 5?~ݾ -0> ?9?: :)WWX XWX:W2W*WVbUBU!*U!U!U%@g?BQBQ BQAU*BYAYAYAYAY"Ce`?RCiCiCiסIGA>T  w:YDW1yY:i6)J;9},gFAɫ髙) IY;?yF    @ @ @ÑÑÑiÑÑ đ)đIđiđ:=M_=YQU>a#Hy}>I : 5? :+~ݾ :> ?9?: :):WWX XWX:W2W*WVbUBU*UUUG?B1B1 B1A5*B1A9A9A9A9"CE.?*CARCACACIIIQG>d,ngFAY}2T@}2: @y}21}2۽}2H@:nz?`4?.ɿ"?#V?)~2T@ ~2_;I~2CɫII)I IIIa9aIeFiev?e=aaej>; e EY}?y}2F)= >7MU=YQU> a #H  yq<}>I^ 5?I~ݾ 1E> %?9?:  :)WIWIXI XIWIXI:WQ2WQ*WQVQbUYBUY*UYUYUe3@BB BA*BAAAA"C#?RCCC5?i5? IG5 >{  :Y0Y1y:6);,G,gFAY}2T@}2Np @y}2g,}2|}2HR??,? bhǿ`w?O m?)~2T@ ~2 Gb;I~2Cɫ99)9 9I9Y?yΏF=*/MEF=YEXRIIaM#HIIyU<}U>IY e:] 5? e:]g~ݾ ]P> m?9]?]: ]:)]:WWX XWX:W2W*WVbUBU*UUU@BB BA<*BAAAA"C)*C)RC)C)C1!I1GM1>i)IE_AiYٺ_AA4?9a#Hyh:}>Ișŝ 5?ŝ~ݾ ƝE\> ?9Ɲ?ǝ: ȝ:)șWWX XWX:W2W*WVbUBU*UUU3@RB*** querying acoustic contact ***PPB B BAɄ*BAAAA"C!*C!RC!C!C))I1GM>a9aIeFie1?aaaed>; e E  :YT1y:i6)5;],`gFAY}z@}zq @y}z>$}z#zd}zH@{p ȷ¡?bV?¿(z?@0?)~z@ ~z-a;I~zCɫ)! !I!Y?y FZ****** received transponder code query ******F****** received ping request ****** 94<)Iy~jt?{GzMb`ף ?9A)TAI1AiaAzHA±±;M8=Ym&;QU>a-#H))y5ڋ}5>I9 E:=R 5? E:=}ݾ =_\> m?9=c?=; =;)=:WWX XWX:W2W*WVbUBU*UUU @B)B) B)A-*B1A1A1A1A1"C9*C9RCYCaCaYIaG^>X,ygFAɫyy)y yIyY=?yFxDUSBL response received:!U1,P 42A,000,002AE,189,80,80,A6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )IiM8=YQU>aE#HAAyM}M>IQU 5?Uo}ݾ Uy\> ]?9U?U; U';)QWWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C!*C)RC)C)CY:  u:YWU1y:69@שIG>,gFAY}65@}6 @y}6ӿ(}6od}6H )t ꓦ?@`M?l`jſ?*p?)~65@ ~6B];I~6C >9 I XFi ? =   )>; Eɫ99)9 9I9Ym?yFɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M{=YROQU ?a#HyQM;} ?Iȱ :ŵ 5? :ŵ}ݾ Ƶ\> ?9Ƶ?ǵ: ȵ:)ȵ:WWX XWX:W2W*WVibUqBUq*UqUqU}@R@BB BAR*BAAAA"C*CRCCCשIG >0,WgFAY}B0@}B @y}BL&}Bz,F}BH@WhG?Y?i`ĿB?o?)~B0@ ~BHf\;I~BCɫYY)Y YIYY?yFFxDUSBL response received:!U1,R,465,000,002B1,189,80,80,A3,FF Fpublishing direction and range infoS{ɰa=鰙 )#CIyu@)pA;?s@#fٱ=i= ) > >/MX=Y?;QU>a#Hy7}>IO 5?|ݾ 7]> ?9?: :)WWX XWX:W2W!*W!V!bU!BU!*U)UIUM@R](Combining 5 samples.Pa*Qeu@ZQel'4.@ JQe)pA;?s@#f2QeS{:QabQe'9? @ K?RQeSLZ;?z8?*bC?BQeᷔ? Qe_@Qe?PeY9?PaPaQeQeH@"Qe'@BB  B A s*B A AAA"C*CRCCC!)IQG<>y ~~ z:YT1y@:`6,urgFAY}~@}~]# @y}~i4'}~QVB}~HE'?=G?ÃĿ??)~~@ ~~Wc;I~~Cɫ) IY?ytF}TNmea in: $SNTTA,0.029933,,,,231510.32*47    @ @ @i )Ii&M9=Y QU>a#H]Hy><}>I   5? |ݾ ]> ?9 ? ^: :) mMmAdded new target pos. range: 3.839998 m, bearing: 66.569763 deg, deltaT: 4.482412 s, approachRate: 0.040157 m/s, LOS rate: -0.588741 deg/s, posRepo size: 4XIWMᷔ?WIXQ XQWQXQ:WQ2WQ*WYVYbUYBUY*UaUe Q@Ue~?BB BAɅ*BAAAA"C?RCCᷔ?C׉IG>>9IȖFi?>; E)ݑIݕCiݑݕ=ݕ=ݕ4], ]gFAY}u@}uw @y}u^$}uZ)}uHw}@të?_M?4ÿ@Q?@㤿 @?)~u@ ~uc;I~qɫii)i iIiYX?yPF{Gz?DlO t<)Iyy&1?{Gz/$?`<#< @A)NAIt3Ai&aAHA$M<=Y;QU>a#Hy}>I :] 5? :{ݾ i>  ?9?: w:):WWX XWX:W2W*WVbUBU*UUU@-x?B)B) B)A=ׅ*B9A9A9A9A9"CEᷔ?RCACICI1I9G]U>8  :YDW1yY:N6C,W"gFAY}2+@}2$G @y}2&}2j}2H 6?`>?@ÿ?@?)~2+@ ~2_;I~2Cɫii)i qIqY?yFI)I=) M M M M@ M@ M@IIIiII I)IIIiI]<M]C=Ye>QUe>aiam#Hiiyuo;}u>Iy} 5?}zݾ }u> ?9}"?}< }!<)yWAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UQUYU]l?BB BA *B A A AA"C*C!RC!C)C9QIaG}z>],mhFAV>9TIVFiV?V=TTV=; VEY}bK@}bg @y}b#(}b\}bH`Q? 3?z'ÿ!?@1?)~bK@ ~b !];I~bCɫ髙) IY:?y>F]M]r=Y]QU]?aaae#Haiym ;}m?Iq }:u 5? :uHyݾ u4~> ?9u ?ug: u:)u:WWX XWX:W2W*WVbUBU*UUU?BB BA߅*BAAAA"C*CRCCC IG5 >e  y:YU1y: 76)v;9?+ ,.hFAɫyy)y yIyY?ylF]ҼM]J=Y]QU]>aaae#Haiym}m>Iqu? 5?uUxݾ u> ?9u?u: uϸ:)qWWX XWX:W2W*WVbUBU*UUU?BB BA4*BAAAA"C*CRCCCIQGm>,HhFAY}Jg@}J @y}J9}J/}JH 2Wc?`Z? @ǿ`H?+`i?)~Jg@ ~J _;I~JCɫ髑) IY\?yF5=i5= AA)M= M=uX<MuH=Yu%QU}>yya}#Hyy<}>I : 5? :\wݾ > ?9?^: :):W!W)X) X)W)X):W12W1*W1V1bU1BU9*U9U9U=e[@BaBi BiAm*BqAqAqAqAq"Cy*CyRCyCC׉IG=.>ܥ>9ܡIܥ8Fiܥ?ܥ=ܡܡܥ=; ݥE }} r:YkS1yԊ:6);A,bhFAɫ)))) )I1Ym0?ymFqq=T㥛 ?Zd;O?V-?=>=j= =m=)9I9y=y&1|?y&1|=`;=̼=` =?A)=^LAI=0Ai99=GA    @ @ @ÙÙÙiÙÙ ę)ęIęięGM8=YQU>a#Hy}>I 5?vݾ Ɖ> ?9g?߼: w:)WWX XWX:W2W*WVbUBU *U U U @RB*** querying acoustic contact ***PPB9B9 BAAE!*BAAAAAAAAI"CI*CQRCQCQCQYIaG}8>j,}u|hFAiNNmGI^`Ail ٺ `A AY}}W@}} @y}}I}}H}}H `$w? ?. -]ɿ@? s P?)~}W@ ~}B`;I~}CɫQQ)Q YIYY8?ydFZ****** received transponder code query ******F****** received ping request ******a#H  y;;}>I %: 5? -:ivݾ > 5?9?~$; >;):WYWYXY XYWYXY:Wa2Wa*WaVibUiBUi*UiUqUuV @BB BA*BAAAA"C*CRCCCaIqG;> h p:YDW1yY:69@>O%,EhFA&>9$I&ȖFi&?$$$&=; &Eɫ髡) IY?yFxDUSBL response received:!U1,P 465,000,002B1,189,80,80,A3,FF Command AckBRequesting micromodem ping code 2i -Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 u^Aq e e e @ @ @aaaiaa a)aIaia?.M/=YQU%>)1a5#H19y=}=>Iae 5?euݾ e> u?9eU?e: e:)aWWX XWX:W2W*WVbUBU*UUU @BB B9A=Ȇ*B9AAAAAAAA"CI*CIRCICICQIi)i9IQG{>z+,&hFAY}No@}N\ @y}NOuU}N}}NH`1s?@?`ɈYʿ M}?C??)~No@ ~N/<\;I~NCɫqy)y IY?yFp=ɮ=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @áááiáá ġ)ġIġiġ ;M Z=YQU>a#H^Hy%}%>I)-: 5?-luݾ -X> 5?9-?-': -:))WYWYXY XYWYXY:Wa2Wa*WaVibUiBUi*UiUiUuL@BB BA*BAAAA"C*CRCCCסIGI>_  x:Yy68a2,@hFAɫyy)y yIyY?yFxDUSBL response received:!U1,R,3D8,000,002BE,189,80,80,A7,FF Fpublishing direction and range info[ɰf= )'CIyד@'N?M9ٱK<Mu=YQU?a#Hy}?I  :  5? : uݾ > ?9 ? : s:) :W9W9X9 X9W9X9:WA2WA*WAVAbUABUI*UIUIUM_@R](Combining 5 samples.Pa*Qeד@ZQe 64&@|@ JQe'N?M92Qe[:QabQe#R=?N`t@>bM>9MCIMFiMa?IIIMp=; ME8,QhFAY}Z@}Z@ @y}Zg[g}Zq}ZH\@? ]m?{y"ο?` ?)~Z@ ~Zb;I~ZCɫ髹) IY?yFedNmea in: $SNTTA,0.025118,0.459528,,,231514.78*59 ]Mb@Mb@Mb@]] ])]IYy]}XM}2=Y}QU}>a#HyzR=}>Iȑŕ 5?ŕ9uݾ ƕx> ?9ƕ?Ǖ: ȕI:)ȑmiAdded new target pos. range: 4.619999 m, bearing: 73.834837 deg, deltaT: 4.411024 s, approachRate: 0.176830 m/s, LOS rate: 1.647027 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UUz@UU?BB BA*BA!A!A!A!"C-M?RC)C-?C1IG5.> v p:Yy`6Z>,hFAY}:d@}:F @y}:ba}:Z}:H`BO0`\?T?b? ̿(?3t$?)~:d@ ~:b;I~:Cɫ99)9 9I9Y}K?y}ҋF    @ @ @ ÁÁÁiÅ?Á ąA?)ą?IąA?ią?Z;M\=Ypa#Hy<}>Iȱ :ŵ* 5? :ŵ`uݾ ƵD> ?9Ƶ?ǵ: ȵ:)ȵ:WWX XWX:W2W*WVbUBU*UUU{?B!B! B!A-ۆ*B)A)A)A)A1"C5?RC9C9C9QIqG>yE,hFAy9yI}XFi}?yyy}.=; }eE)Ii==535Y}Va@}V| @y}V}c}VF8}VH=?k?S? mv0ʿd'?}F/?)~Va@ ~Vj_;I~Tɫ) IYm?ymF `;M C=YLIQU>a#Hy% }%>I)- 5?-uݾ -> 5?9-E?-': -:))WYWYXY XYWYXa:Wa2Wa*WaVabUiBUi*UiUqUuH?BB BAȆ*BAAAA"C?RCCCׁIG>  :YU1y:6);9K,0h1hFAY}U7<@}UW @y}UkJn}U,}UH$@T`Mj?`N?wʿ઄??)~U7<@ ~US^;I~UCɫ11)1 9I9YqyqI4=)C= ]A ^A U U U U@ U@ U@ U@QQQiUQ U)UIUiUYeUؼQUm>iiau#Hqqy}}}>Iȁ :Ņ 5? :Ņuݾ ƅ> ?9ƅs?Dž: ȅZ:)ȅ:WWX XWX:W2W*WVbUBU*UUUg?BB BA*BAAA A"C)*C)RC)C)C1!I1GM1>Iޑ)ޑ1R,JBKhFAY}J8@}JQT @y}J|}J}JH(ʼ?`8?`e@̿A?"?)~J8@ ~Jf];I~JCɫyy)y IY?yьFmsX<Muyya}#Hyy}>IȉōN 5?ōuݾ ƍ/> ?9ƍ?Ǎ: ȍ4:)ȉWWX XWX:W2W*WVbUBU*UUU`fF@BB BAs*BAAAA"C *CiRCqCqCqiIqG>9IFi1?=<; IE || ҁ:YR1yi:{6);X,ehFAY}:D@}:` @y}:ɀ}:}:H`L@?`}-?@J<п@? g?)~:D@ ~:l^;I~8ɫ99)9 9I9Y}^?y}@Fi|?5bX9ȶ?+η?qE= v=)IyMb~jt?<L µfBA)µ3MAIµ 0Aiµ?ACMD=Y>QU>a#Hy:}>I̞ 5?.vݾ Cs> ?9?: b:)WWX XWX:W!2W!*W!V!bU)BU)*U)U)U5@BYBY BYA]*BaAaAaAaAa"Ci*CqRCqCqCqiIqG(_,~hFAY}JP@}J @y}JE~}Jlս}JH`<98R??@ @пm?g๿?)~JP@ ~JByc;I~JCɫyy)y yIyY?y-FAA=iR= ) >  - - - -@ -@ 5@)))i)) )))I)i)E&<MES=YEIIaM#HIy\o<}>I :W 5? :zvݾ \> ?9?R: (:):WIWIXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UYUYUeF@RB*** querying acoustic contact ***PPB B BA*BAAAA"C)*C)RC)C1C1!I)GM0>@  +v:YU1y:69@ 9 I xFi ? <; FEe,ԘhFAY}6T@}6) @y}6~}6Ľ}6He O??`H<пXm?Է?)~6T@ ~6`;I~4ɫ99)9 9I9YG?ymFZ****** received transponder code query ******F****** received ping request ******a#H!!y-v<}->I15 5?5vݾ 5wG> E?95y?5: 5F:)1WiWiXi XiWqXq:Wq2Wy*WyVybUyBUy*UUU7 @BBI BQAU*BQAQAQAQAY"CY*CaRCaCaCaׁIG>l,hFAY}\@}cx @y}P},}H`T@??AaNϿ?u2D?)~\@ ~~^;I~ɫ  )  IYMs?yMFUxDUSBL response received:!U1,P 3D8,000,002BE,189,80,80,A7,FF UCommand AckUBRequesting micromodem ping code 2iYYeNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 M M M M@ M@ M@IIIiII I)IIIiI3;M%=Y=i}]nGQU>Ii$ٺ_Aa#H_Hy<}>Iq }:u; 5? :u4wݾ uS)> ?9u?u=: u:)u:WWX XWX:W2W*WVbUBU*UU UvS@w  |:YDW1yY:)6BB BA%*B!AIAIAQAQ"Ca*CRCCCIי)יׁ I G >r,ʊhFAY}6@}6 @y}6eŅ}6}6HЬ x9?`?LϿ`#?9?)~6@ ~6\;I~6 Cɫ99)9 9I9Y}?y}F鮅a=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B :Mv=YQU?a#Hy<}?I 5?mwݾ > ?9?˵: :)WWX XWX:W2W*WVbUBU*UUUt>@BQBY BYA]*BYAYAYAaAa"Ca*CiRCiCiCqIIQGu>܉9܉I܍Fi܍E?܍=܉܍ND܍<; ݍ>E[(y,hhFAY}F@}F @y}Fz}FLҽ}FH@cʳ?l?@ ѿ`? V?)~F@ ~FM\;I~FCɫ髙) IY4?yFxDUSBL response received:!U1,R,432,000,002B4,189,80,80,B7,FF Fpublishing direction and range infooɰb= )7CIy@a#Hy<}>Iȡ :ť 5? :ť[wݾ ƥp> ?9ƥ@ǥ: ȥ(:)ȥ:WWX XWX:W2W*WVbUBU*UUUI@R(Combining 5 samples.P*Q@ZQxY @, JQ  ɀ:Y0Y1y:6,AhFAY}2?@}2@y}2a!}2Tҽ}2H5 ?t?@vп?Dd?)~2?@ ~29a;I~0ɫ99)A AIAY)?y[FMTNmea in: $SNTTA,0.025752,,,,231519.23*4B      @ %@ %@i )Ii5=M=O=Y=J=QUE>AAaM#HIQyU_;}]>IaeX 5?eJwݾ e!> u?9e3@e; e';)amqAdded new target pos. range: 4.020000 m, bearing: 72.234407 deg, deltaT: 4.496689 s, approachRate: -0.133431 m/s, LOS rate: -0.355913 deg/s, posRepo size: 4XW_?WX XWX:W2W*WVbUBU*UUz@U"?B!B! B)A-*B)A)A)A)A1"C5Lr?RC9C=_?C9M?iM?!I1GM1>܁ 9܁ I܅ НFi܅ E@܁ ܁ ܁ ܅ <; ݅ (E9,hFAY}J@}Jp@y}JBs}Jj(k}JH~" s~l??P9̿W?్ ?)~J@ ~JLb;I~JCɫyy) IY?y>F)]= ]=<MU=Y=QU>a#Hy;}>Iȱ :ŵ 5? :ŵ:wݾ Ƶ> ?9Ƶ`@ǵ1; ȵN;)ȵ:W W X  X W X:W2W*WVbUBU*UUU%`w?BIBI BQAUG*BQAQAQAQAQ"C]a?*CYRCaCaCaiIqG>W  5:YxZ1yq:6)";9g,4hFAY}B@}B@y}BJ*s}BT}BH _ D?@? j| {ɿ`\? 䊕`>?)~B@ ~B`;I~BCɫQQ)Q QIQY?yXF u u u u@ u@ u@qqqiqq q)qIqiq=MK=Ys9QU>a#Hyۻ}>Iɝ 5?)wݾ .> ?9@4: w:)WWX X W X :W 2W *WVbUBU*UUUi?BABI BIAMl*BIAIAIAIAQ"CU_?RCYCYCYaIiG>yK,MhFAY}6\@}6@y}6Yx}6wټ}6H#>R@>C?w?`Kʿ`?@Tu ?)~6\@ ~6^;I~6CɫYY)Y YIYY}E?y}FyMT=YVQU>  a#Hy1#<}>I)- 5?-wݾ -> =?9-@-; -;))WqWqXy XyWX:W2W*WVbUBU*UUU@O?BB BA%*B!A!A!A!A!"CI*CQRCQCQCQIa)e]AIIQGu>->9)I-Fi-E?-=))-<; -,E)ńCIńCiń=ń=ńsn5  :YDW1yY:i6)-;&v,:ghFAY}2@}2X@y}2u}2}2H%*]:?u|?`z`tʿ/h?Zl@ ?)~2@ ~2(];I~2Cɫ99)9 9I9Y}?y}*FI=)=㥛 ¿ ףp= ?̼ Q8=)Iy~jtxy&1a#Hy}>I  :ܞ 5?  :vݾ >  ?9@: :):W1W1X1 X1W1X1:W92W9*W9V9bUABUA*UAUAUE?BqBq BqAu*ByAyAyAyAy"C*CRCCCׁIG>^,&hFAɫ髙) IYr?yF    @ @ %@i )Ii5vM=E=Y=QUE>AAaM#HIQyU}]>Iae 5?eRvݾ e$> u?9eM@e; em(;)aWWX XWX:W2W*WVbUBU*UUUQ@BB BA*BAAAA"C*CRCCCAIIGm5>8  :Yy 69@% >9! I! i! % =! ! % <; % =E@,ehFAY}2+@}2@y}2_}2gƽ}2H @B@W?]? hkHͿx? ;?)~2+@ ~2e;I~2CɫYY)Y YIYYg?yYFMd=Yv=QU>a#Hy`=}>I :o 5? :uݾ ?> ?9@w: :):WIWIXI XIWIXI:WQ2WQ*WQVQbUYBUY*UYUYUe3@RmB*** querying acoustic contact ***PiPiBB BAԅ*BAAAA"C*CRCCC׹i׽?שIG=, FhFAY}2<@}2@y}2qW}2?>}2H1@D?=`?ˋ ˿@x? -?)~2<@ ~2a;I~2Cɫ99)9 AIAY}P?y}FZ****** received transponder code query ******F****** received ping request ******    @ @ @ÑÑÑiÑÑ đ)đIđiđ=M0=Ya#H`Hy`;}>Ie 5?uݾ = ?9@÷: :)WWX XWX:W2W*WVbUBU*UU U  @B1B1 B9A=Z*B9A9A9A9A9"CI*CIRCICICQAIIGe4>J  v:YWU1y:6Ι,ThFAY}:@}:@y}: U}:{k}:H ۚ%x?i? 40ɿ p?ά@B?)~:@ ~:/~^;I~:Cɫ99)9 9I9Y}?y}|FxDUSBL response received:!U1,P 432,000,002B4,189,80,80,B7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =Mul=Y;QU>a#HyOU}>I  : + 5? : 7uݾ w= ?9 @ $; k4;) :WWX XWX:W2W *WVbUBU*U!U!UM@F+ @>9Ii =; SEB B  B A *B AAAA"C*CRCCC!IG=P>5Ĺ,hFAY}6@}6@y}6QAR}6hu}6H`*?`?q? ɬ !ɿ?_xE?)~6@ ~6g];I~6Cɫ9A)A AIAY]e?y]ΐFaɮaNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B %:vʿ+?%%T %=)!I!y%~jt?p= ף?Q%D<%=% %l=A)%1RAI% 0Ai%fA!%IAE<ME6=YM;;QUM>QQaU#HQQy]}]>Iae 5?euݾ eW= m?9eP@e: e:)aWWX XWX:W2W*WVbUBU*UUU`@BB BAԄ*BAAAA"C*CRCCCI)IG$>D }} }v:YkS1yԊ:6i nGI) ia ٺ AU,hFAY}2@}2u@y}2L}2̊}2H@kO?@8j?ʹ)ɿd?@J?)~2@ ~2Ʉ^;I~2Cɫ99)9 9I9Y?y2FxDUSBL response received:!U1,R,4A5,000,002B2,189,80,80,BE,FF  Fpublishing direction and range infoЄɰb= )>CIyy@@ӊC?lՎٱI5a=)54=9=^A    @ @ @áááiáá ġ)ġIġiġR<MS=Yma#Hy;}>I : 5? :Xvݾ x= ?9@<: ':):WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qy@ZQ]Dl?Yv JQ@ӊC?lՎ2QЄ:QbQF)Ь?Nf @\}?RQ{էA?cpa?&{Y9?BQҘ? Q+e@Qf?PY9?PPQQt@"Q.@BQBQ BQA]*BYAYAYAYAY"C*CRCCCׁIG=> 9 I @Fi ? = <; HE',hFAY}v`4 @}vO@y}vXHF}v}vH F@&?&V? ȿ`w?@"S?)~v`4 @ ~vzb;I~vCɫ) IY?yFTNmea in: $SNTTA,0.082539,,,,231523.65*42 MI=Yua#Hy[<}>I 5?vݾ -= ?9 @$; $;)mUqAdded new target pos. range: 3.899999 m, bearing: 68.407377 deg, deltaT: 4.440587 s, approachRate: -0.027024 m/s, LOS rate: -0.861830 deg/s, posRepo size: 4XYW]Ҙ?WYXY XYWYXa:Wa2Wa*WaVibUiBUi*UiUu23@Uu?BB BAń*BAAAAAAA"CM?RCICMҘ?CQYIiG8>?  v:YDW1yY:{6);9,6hFAY}6X @}6@y}6YE}6D}6H`#???gȿ?LQ?)~6X @ ~6F~d;I~4ɫaa)i iIiY}(?y}F=MW=Y:QU>!!a%#H!)y-=}->I15 5?5{wݾ 5= E?959 @5: 5:)1WaWaXa XaWiXi:Wi2Wi*WiVibUBU*UUU@?BABA BAAE*BAAIAIAIAI"Cuș?RCqCyCy?i?שIG)>,aPhFAY}64~!@}6@y}6=rB}63}6H`qX ţu?@?L9@ɿ (?UuL?)~64~!@ ~6^a;I~4ɫAI)I IIIY?y1F II)M> M>    @ @ @ùùùiùù Ĺ)ĹIĹiĹ]׼Me7=Ym;QUm>qya}#HyyyC<}>Iȉ :ōؗ 5? :ō#xݾ ƍ G= ?9ƍ @Ǎ: ȍ:)ȍ:WWX XWX:W2W*WVbUBU*UUU@]?BB BAD*BAAA A "CE?RCCCܽ>9ܹIܹiܹܹܹܹܽ<; ݽLEIG-->|  z:YWU1y:i6) ;,DjhFAY}2ފ!@}2h@y}2F9}2o}2Hke* 9?`?@mP;ȿ1? HQ 1_?)~2ފ!@ ~2^;I~0ɫ19)9 9I9Yu?yuՒF}A`"?V-Mbp}Y=}h })yIyy}X9vZd;O?Zd;O}}j<=}j y)}SAI}K/Ai}y}?A<MX=Ya#HyY;}>IȱŵO 5?ŵ(yݾ Ƶ= ?9ƵO@ǵ: ȵU:)ȱWWX XWX:W2W*WVbUBU*UUUOc?B!B! B!A-*BAAAA"C#?*CRCCCשIG >,hFAY}6%!@}6@@y}6R3}6$}6HE`gƴ?& ? oeY`Ŀ` M?M@*|?)~6%!@ ~6CH];I~6Cɫ99)9 AIAY}=?y}fFJ=MK=Y%a#Hy{{}>Iȹ :Ž 5? :ŽFzݾ ƽ< ?9ƽ@ǽZ; Ƚ[;)Ƚ:W W X  X W X :W2W*WVbU!BU!*U!U)U-v?BiBi BiAm^*BqAyAyAyAy"CҘ?RCCCII)M\AIG-->  i:YV1y:69@ܭ >9ܩ Iܭ Fiܭ E?ܭ =ܩ ܩ ܭ <; ݭ IE)Ii==R5 $,ghFAɫ髹) IYi?yFIeC=)aii    @ @ @i )IiiU;MD=YQU>a#Hy } >I 5?k{ݾ G< ?9 @R: w:)WAWAXA XAWAXA:WI2WI*WIVIbUQBUQ*UQUQU] "@@BB BAS*BAAAA"C*CRCCC׉IG>"N,[ηhFAY}2 @}2@y}2?1}2}2H@ @C(?@?`"ƿ ?@m`\q?)~2 @ ~2e;I~2CɫYY)Y YIYYX?yFM\=Y6q;QU >  a#HaHy}>I) =:- 5? =:-p|ݾ - : E?9-F@- ; -H!;)-:WyWyXy XyWyX:W2W*WVbUBU*UUUJ@RB*** querying acoustic contact ***PPBYBY BYA]*BYAaAaAaAa"C*CRCCCסIG >m  y:YWU1y:66,zhFAY}R s @}R@y}R(}R}RH ]2?%c?@oƿ t?dzx?)~R s @ ~R2_;I~RCɫyy)y yIyY?y(FZ****** received transponder code query ******F****** received ping request ******a#HyT8}>I 5?}ݾ S  ?9@N; ;)WyWX XWX:W2W*WV bUBU*U!m>9iIm@Fim?m=imMDm<; mDEUU  @BB BAG*BA!A!A!A!"C)*C)RC)C1C1E?iE?I)GEQ>`,hFAY}Ft @}F4@y}F$}F }FH`H:?f?ǿ,? +Ͷ`u?)~Ft @ ~FN];I~FCɫ髙) IY?yFxDUSBL response received:!U1,P 4A5,000,002B2,189,80,80,BE,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 !!}Mb?S㥫X9v?}<}/] }}=)yIyy}{Gz?Q? õ? % % % %@ %@ %@!!!i!! !)!I!i!M#=MM=Y]V;QU]>aaam#Hiqy}:9}}>  o:YU1y:6Iȉ :ōΓ 5? :ō}ݾ ƍ ?9ƍ@Ǎ%< ȍ,;)ȍ:WYWYXY XYWaXa:Wa2Wa*WaVibUiBUi*UUU^Q@BB BA*BAAAA"C*CRCC C I G >G,_hFAY}R @}R@@y}Rm}Rj}RH'`mU?`^? \ſ?,?)~R @ ~RdQ\;I~RCɫyy)y yIyY?y̒FɮR=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m<Mu=YA E ^AU >9Q IU xFiU ?Q Q U NDU =; U QEt,EhFAY}B# @}B@y}B}B>M}BH"` =.? "k? U&¿?l?)~B# @ ~Bݮa;I~BCɫQQ)Q YIYYz?yFxDUSBL response received:!U1,R,468,000,002B4,189,80,80,A8,FF Fpublishing direction and range infod{ɰb=鰙 )(CIy@k%0b?-sJٱ_MU=Yra#Hy}>I 5?j}ݾ (< ?9x@: :)WWX XWX:W2W*WV!bU!BU!*U!U!U-@RE(Combining 5 samples.P *Q @ZQ l @@h JQ k%0b?-sJ2Q d{:Q bQ ,6#?[r@&[?RQ K/ ?EK?*~?BQ x? Q s@Q ?P X9?P Y9?P Q Q d@"Q t@ByB BAO*BAAAA"C*CRCCCI)IG(>  :Yy6);9 ,<19hFAY}j_ @}j{@y}j}jpI}jH  w,?z?@,J?u?)~j_ @ ~jD@c;I~jCɫ) IY ;?y Fi}mGIiDNmea in: $SNTTA,,,,,231528.10*50 I =) =  MٺIMeA m m m m@ m@ m@ miiiim=?i m?)m?Im?imK?}P<M}1=Y;QU>a#HyBȻ}>Iș :ŝ 5? :ŝS}ݾ Ɲ < ?9Ɲ'@ǝ; ȝ;)ȝ:miAdded new target pos. range: 4.020000 m, bearing: 72.554258 deg, deltaT: 4.417485 s, approachRate: 0.027165 m/s, LOS rate: 0.938742 deg/s, posRepo size: 4XWx?WX XWX:W2W*WVbUBU*UUz@U?BB B!A%*B!A!A!A!A)"C-dɛ?RC1C5x?C1ױIGD>,RhFAY}2χ@}2Y@y}2n}2}2H`?@? 5?좿?)~2χ@ ~2_;I~2Cɫ19)9 9I9Yu?y}qF zM f=Y 9QU >a#Hy}%>I!% 5?%@}ݾ %< 5?9%@%: %:)!WQWQXY XYWYXY:Wa2Wa*WiVibUqBUq*UyUyUG?BB BA**BAAAA"C:~?RCCCI>9IFi1?=MD<; LEG5 >  ;o:YV1y:6);,lhFAY}2T@}2@y}25}2}2H){V$??Yܟſ%?`8?)~2T@ ~2];I~2Cɫqq)q yIyY?yzF5^I ?Q??X>(> <)IyMb?~jt?y&1=<`e ½?A)½^LAI½6Ai½S[AGA    @ @ @ @i )Ii-i:M5!=Y5L9QU5>99a=#H9yZ}>I :J 5? :|ݾ < ?9 @ : :):W9W9X9 X9W9XA:WA2WA*WAVAbUIBUI*UIUIUU?BB BA&*BAAAA"CY?RCCC =?i=?IG5>T!,uhFAY}F)@}F@y}Fb}FԴ}FHp`hg?@z? @ſ@?@T@??)~F)@ ~FL];I~FCɫqy)y yIyYp?yrF !!)%= %=U,MU=Y]);QU]?YYae#HaaymO}m?IF 5?|ݾ < ?9@; Z;)WyWX XWX:W2W*WVbUBU*UUU@6?B9BA BiAm*BiAqAqAqAq"C}B>?*CRCCCYIiG8>  q:Y0Y1y:69@ >9 I Fi ? = %=; `EJ',hFAY}2@}2A@y}21}2Ӊ}2H(h@i w ? ?@TҁĿ@9S? ď?)~2@ ~28P\;I~0ɫYY)Y YIYY?y)F5"M=L=Y=d@QU=>AAaE#HAAyMx}M>IQ ]:U 5? ]:U_|ݾ U\< e?9U@U: UQ:)U:WWX XWX:W2W*WVbUBU*UUUc @BB BA*BAAAAI"CUx?*CQRCYCYCYIIQG}>-,dhFAY}6@}6@y}69B }6*I}6H[`mjN? ?`așÿ^?@Ԩ?)~6@ ~6c;I~4ɫ99)9 9I9Yu?y}F m m m m@ m@ m@iiiiii i)iIiii} W<M}F=YDQU>a#HbHyQ}>Ișŝ 5?ŝ|ݾ Ɲ< ?9Ɲ@ǝ@: ȝ:)șWWX XWX:W2W*WVbUBU*UUU`@BB BA*B A AAA"C*CRCCC!IY)YAIIGm5>  }:YWU1y:6C4,8hFAY}:7@}:@y}:)#}:J$}:H'Xg5??@Xj1ÿ.O? eP@?)~:7@ ~:ta;I~:Cɫ99)9 9IAY}?y}`F@AI=)4=™]A~'MY=YYQU>a#HyN"}>Ig 5?{ݾ ֺ; ?9@k: b:)WWX XWXq:W2W*WVbUBU*UUUW@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCC ܝ>9ܙIܝXFiܝ?ܝ=ܙܙܝ=; ݝE)iIiiim=m=m95)I1GU>Iޝ@A)ޝ@A]:,hFAY}6;@}6@y}6&O%}60L}6HbcP?i?i"Ŀ`?P+@s?)~6;@ ~6^;I~6CɫAA)I IIQY?yFZ****** received transponder code query ******F****** received ping request ******} }t=)yIyy}y&1?a#H!y-6p;}->I1 =:5 5? =:5|ݾ 5"< =?95n@5+: 5w:)5:WaWaXa XaWaXa:Wi2Wi*WiVibUqBUq*UqUqUu`{ @BB BA5*BAAAA"C*CRCCC׹IGf> ~~ :YT1y@:6OA,hFAY}B2 @}B$@y}B*}B}BH@)~@S? ?@8rſ@w:? |?)~B2 @ ~B]];I~BCɫQQ)Q QIQY?y!FxDUSBL response received:!U1,P 468,000,002B4,189,80,80,A8,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 = ME=YUQU]?iqa}#Hyy<} ?I 5?I|ݾ L< ?9@; ;)WqWyXy XyWX:W2W*WVbUBU*UUUI @BaBi BiAm*BiAiAiAiAq"C*CRCCC׵?i׵?יIGe>܉ 9܉ I܍ ȖFi܍ ?܉ ܉ ܉ ܍ =; ݍ EH,!hFAY}:8@}:"@y}:4}:uX}:Hyu P??߀ !ſ`c?ʠxv?)~:8@ ~:*\;I~:Cɫ99)9 9I9Y}??y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B AA)E= E>}^=M}G=Y}BQU}>a#Hy}>Iș :ŝL 5? :ŝ|ݾ Ɲ< ?9Ɲ@ǝ: ȝ=:)ȝ:WWX XWX:W2W*WVbU!BU!*U)U)UU P1@BB BA*BAAAA"C*C RC CC!I)GM1>  v~:YT1y:r6);98N,;hFAY}2 Z@}2u@y}2A}2P}2H%`mkź??o Ŀ?l?)~2 Z@ ~2a;I~2Cɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,R,4D9,000,002B4,189,80,80,B5,FF Fpublishing direction and range infoɰ鰁 )5CIyJ1?1uDٱ % % % %@ %@ %@!!!i!! !)!I!i!5!<M=?=Y=QU=>AAaE#HAAyM<ʼ}M>IQU 5?U|ݾ UT< ]?9U~@U: U:)QWWX XWX:W2W*WVbUBU*UUU @@R(Combining 5 samples.P*QZQqע7%?Grwh JQJ1?1uD2Q:QbQ@?Tۀ[ @ַ̉?RQ2#?l/}?N.Ei?BQ? Qg@Q?PY9?PX9?PQQx @"Qd@BB! B!A%*B!A!A!AIAI"CQ*CQRCQCQCQAIQGu6>g U,UhFAY}b.@}b:J@y}b`pQ}b}bH3?@?O@Yƿj?u敿VS?)~b.@ ~bKc;I~bCɫ) IY?yF}TNmea in: $SNTTA,0.025648,,,,231532.55*49 ^MM=YQU>a#Hy%]ٻ}%>999I=Fi=a?999=x>; =EI) e:- 5? e:-|ݾ -< m?9-@-[< -s;)-:mmAdded new target pos. range: 4.020000 m, bearing: 64.954375 deg, deltaT: 4.463639 s, approachRate: 0.000000 m/s, LOS rate: -1.702620 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UUU@K?B!B! B!A%*B)A)A)A1A1"C=c?RC9CE?CAI)IG=Q>  }:YV1y:6)Q;K[,]ohFAY}2A@}21]@y}2Y}2d#[}2HQ`N@?@?$ɿ?_ê7JFailed to close latch before timeout.q >>Hardware FaultYRX?yRPFIe4=)e%= MbX9~jt?MbP ʡ = ) I y I +kt rh 94  0 C A>A) ^LAI 0Ai Q`A   GA!%^A m m m m@ m@ m@iiiiii i)iIiii}\ԻM}C=YĜQU>a#HyC5;}>Ișŝ 5?ŝi|ݾ Ɲ/< ?9Ɲ@ǝI: ȝ0:)șWWX XWX:W2W*WVbUBU*UUU?B B  B A ׅ*BAAAA"C?RCCC!ׁI-$@Hardware Fault in component: DDMG=>iE/mGIYiqhٺA3b,l=hFAY}2M5@}2P@y}2&_}2x}2Hp I?e?@9˿@? ]'?)~2M5@ ~2q];I~2C>Powering down<ɪ<)< yya}#Hyy}>Iȡ :ť? 5? :ť{ݾ ƥΈ ?9ƥ? @ǥ#=; ȥ,;)ȥ:W WX XWX:W2W*WV!bU!BU!*U)U)U-@٩?BiBi BqAu*BqAqAyAyAy"C9|?RC!C!C)IG-O>  &|:YWU1y:269@1 91 I5 XFi5 ?5 =1 5 ND5 I?; 5 E\h,QhFAY}:nX@}:s@y}:#.g}:~}:H @`X?@?@5`&̿?7?)~:nX@ ~:V\;I~:CYF?yFF=N'=M=v=YEüQUE?AIaM#HIIyU;}U?IY]P 5?]f{ݾ ]yq e?9]6!@]: ]ض:)YWWX XWX:W2W*WVbUBU*UUU?BB BAz*BAAAA"C]m?RCYCYCaו?iו?QIYG=n,NhFAY}6W@}6r@y}6մj}69}6Ha.`+[?? c̿? b?)~6W@ ~6[;I~6CYB?yB܊F tt)z> z= = = = =@ =@ =@999i99 9)9I9i9MqMMI=YU QUU>QYa]#H]cHaye^}e>Iim 5?mzݾ m u?9mb"@m: m+:)iWWX XWX:W2W*WVbUBU*UUUF?BB BA?*BAAAA"CL?RCCCI$ NClearing failed state for component DDMq G= ~ m:YU1y:<6ou,6hFAY}2@}2 @y}2o}2*< }2HԻ?^?@ ʿ? Lz@O?)~2@ ~2[;I~2CYR.?yRF=D<M=K=YEJQUE>AAaM#HIIyUǒ}U>Iy }:} 5? :}Izݾ }|+ ?9}#@}: }:)}:WWX XWX:W2W*WVbUBU*UUU`@BABI BIAM*BIAIAIAIAQ"Cuň?*CqRCyCyCy9I Fi?=@; EiIyG={,hFAY}V@}V] @y}VxDz}Vp}VH aF`\?@?`@DͿ? .?)~V@ ~VX[;I~VCYz?y~QF  M?I ++?ML>M94 M=)IIIyMy&1|?~jtx?)\(M`;M;MGa M?A)MTAIMK/AiMCoAIMLA    @ @ @áááiáá ġ)ġIġiġ<M5=Y6QU>a#HyW}>IY 5?yݾ m ?9$@׾: :)WWX XWX:W 2W *WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA*BAAAA"C%?RCICICQIס)ץ]AׁIG>>  s:YV1y:6, hFAYr?yrFvZ****** received transponder code query ******vF****** received ping request ******v99a=#H9AyE}E>II U:M 5? ]:Myݾ M ]?9M$@M: M:)M:WyWyX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"C9?RCCCשIG>>9IFiv?=@; 8E)iIiiiiimg5,Y$hFAY}:p@}:m @y}:1}:O}:H/6"?A?@=vϿ7?q ?)~:p@ ~:;[;I~:CY^?yb6FbxDUSBL response received:!U1,P 4D9,000,002B4,189,80,80,B5,FF fCommand AckfBRequesting micromodem ping code 2iddjNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =6<ME\=YUAQUU>iiau#Hqy1}>Ik 5?Cyݾ `׽ ?9'%@= =)WWX XWX:W2W*WVbUBU*UUU + @BB BA*BAAAA"CO_?RCCC)aIqG^>  |:Y0Y1y:6);9֎,G<>hFAY~?y~Fp=ɮp=%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )IiM==YQU>a%#H!!y-}->I1 =:5 5? =:5xݾ 5 =?95%@5: 5(:)5:WaWaXa XaWaXa:Wa2Wi*WiVibUqBUq*UqUqUu @BB BA*BAAAA"C ?*CRCCC?i?׉IG=Լ,XhFAY}:H@}:Ҽ @y}:ꈾ}:}:Hj#@+t?T? K;п@I?`8?)~:H@ ~:*[;I~:CYF H)J.CIHyJu@JUG9n?9BٱH XX)^= ^=b^$Mbc=YfqQUf>ddaf#HdhyjB<}n>Ipr{ 5?rxݾ r v?9r7&@r: rb:)pW W X XWX:W2W*WVbUBU!*U!U!U%q@R5(Combining 5 samples.P1*Q5u@ZQ5VN@Ht5JJQ5UG9n?9B2Q5GF\:Q1bQ5N?1 @G%HV?RQ5Xg?5t&?$ 9y?BQ5Ч? Q5g@Q5$v?P5W9?P5Y9?P5Q5Q5K(@"Q5x @BiBq BqAuކ*BqAqAyAyAy"C?RCCCy9yI}xFi}?yyy}zA; }EבIG=  :YW1yč:26);Q,qhFAY}R _@}Rz @y}R}}RҮm}RH&G4Ǻ?`?`wGJϿ?@D ?)~R _@ ~RV[;I~RCY?yF}DNmea in: $SNTTA,,,,,231536.96*51 MbX9?/$ÿMb?ʡ= <)Iy rhMbp~jtCD @A)VVAI,AivANA5 M=5=Y=,!AAaE#HAAyMJ}M>I : 5? :xݾ f ?9&@: :):mmmAdded new target pos. range: 3.839998 m, bearing: 75.118134 deg, deltaT: 4.363347 s, approachRate: -0.041253 m/s, LOS rate: 2.329349 deg/s, posRepo size: 4XqWuЧ?WqXq XqWqXq:Wy2Wy*WyVybUBU*UU Q@UI?BB BA*BAAAA"CE?RCACEЧ?CI9IIGe4>΢,XƋhFAY}6@}6k @y}6!燾}6}6H``?5?hп?`n?)~6@ ~6*[;I~6CYN?yRF    @ @ @ÙÙÙiÙÙ ę)ęIęięb;MQ=YλQU>a#Hy.}>IN 5?xݾ e" ?9&@ض: ':)W!W!X! X!W)X):W)2W)*W)V1bU1BU1*U9U9U=?BaBa BiAm*BiAiAiAiAi"Cu+?RCyCyCyI׉)׍\AQIYGu=|  z:YxZ1yq:i69@y9yI}НFi}E@}=yy}qB; }2E/,hFAY}2@}2+" @y}2P(}20+M}2HnwZ`?[?#%пl?@Ѫ?)~2@ ~2[;I~2CYB?yBFIv=)v4=z^Az^AJ =MW=Y%8ݼQU%>!)a-#H))y5[}5>I9= 5?= yݾ =( E?9=Q'@=: =:)9WiWiXi XiWiXi:Wq2Wq*WqVqbUBU*UUU?BaBi BiAu*BqAqAqAyAy"CQ?RCCCiIyG=Iޑ)ޕ?A i ]nGI i1 ] fԿٺa e MAh*,hFAY}Jd@}J4 @y}J;4}J}JH6?? п?@`a?)~Jd@ ~Jgh[;I~JCYV~?yZ,FM{<MMF=YUlQUU>QYa]#H]dHYye}e>Ii u:m 5? u:mRyݾ mh/ u?9m'@m: m:)m:WWX XWX:W2W*WVbUBU*UUU@$?BYBY BYA]N*BaAAAA"Cj?RCCCaIqG=  ɀ:YDW1yY:6 ,WhFAY}6@}6o @y}6`}6r}6H` ??`Yѿ@??)~6@ ~6[z[;I~6C>Powering up>"Initializing DDM.Y]?y]ЍF   !9!I%Fi%@!!!%C; %E 5@ 5@ 5@i )IiE<ME<=YM+MQUM>IIaM#HQQy]}]>Iaeu 5?eyݾ e}6 m?9e(@e: e:)aWWX XWX:W2W*WVbUBU*U!U!U%@@BqBy ByA *BAAAA"Cȥ?RCCCm?im?IIqG9>4,+3hFAY}6@}6t @y}6ŋ}6}6H(? ? I@q@ҿ^A?g?)~6@ ~67\;I~4YN?yR>F  A`"Q?Mb`?ٽu= ;)IyMb{Gz# fBA)SAI+AizA OA)= >iMO=Ya#H y $} >I : 5? %:Fyݾ 9 %?9(@b: :):WAWIXI XIWIXI:WI2WI*WQVQbUQBUY*UYUYU]@BB BAG*BAAAA"CЧ?RCCC׉IG=  |:Yd\1y:M6,4 hFAY}2N@}2j @y}2LI}2~ӽ}2H`6)??@ ѿ?@w ]?)~2N@ ~2{\;I~2CYfC?yjFhhzTMz\=Y~sa#H y T} >IL 5? yݾ < ?9(@(: :)WAWAXA XAWAXI:WI2WI*WIVIbUQBUQ*UQUQU]@ReB*** querying acoustic contact ***PaPaBB BA]*BAAAA"C*CRCCCבIG=9I(Fi,@=^E;  EF,!&hFAY}2m@}2 @y}2W }2􊤽}2H@@2? ?yп @?!ӳ?)~2m@ ~2D\;I~2CYR?yRFVZ****** received transponder code query ******VF****** received ping request ******V=ME7=YE:QUE>IIaM#HIQyU6;}U>IY e:]ȏ 5? e:]xݾ ]@ m?9]c)@]9: ]:)]:WWX XWX:W2W*WVbUBU*UUU`JK @B)BI BQAU*BQAQAQAQAQ"CY*CaRCaCaCaIו]A)בiIqG> r Y:Y[1yH:6);9.,e@hFAYn?yrFFvxDUSBL response received:!U1,P 3DA,000,002B1,188,80,80,AE,FF vCommand AckvBRequesting micromodem ping code 2ittzNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I-4=))AA m u u u@ u@ u@qqqiqq q)qIqiq<M3=YQU>  a#Hy}>I!%H 5?%{xݾ %}D m?9%)@%< %<<)!WWX XWX:W2W*WVbUBU*UUU@B B BAs*BAAAA"C!*CARCACACIסIGj>X,bZhFAY}:@}:b@y}:3Ʌ}:'}:H`75? ?`&п?ٷ8?)~:@ ~:څ[;I~:CYF?yJaFHɮHZNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ];M]}=Ye`  s:YDW1yY:6)9;,]thFAY}6@}6@y}6}6_}6H@`??#?Uq&п`e?`@J?)~6@ ~6i,[;I~6CYr?yr*Fsh|??~jt?J +?=D= H=)Iy{Gz rh~jth#C D …?A)…UAI…,Ai… xANA    @ @ @i )IimѻMA=Ya#Hy} >I :ב 5? : xݾ pH ?92+@s: |:):WAWAXA XAWAXA:WA2WI*WVbUBU*UUU@BIBI BIAU*BQAQAQAQAQ"CY*CYRCaCaCa}?i}?aIiG>6m,J_hFAY}V"@}V>@y}VŹs}V}VHpw Zh?fa?zο-?4W?)~V"@ ~V2 [;I~VCYf?yf|FnDNmea in: $SNTTA,,,,,231541.40*5A tt)z > x~8=M\=Y=QU>  a #H  yǼ}>IȹŽ 5?Žwݾ ƽI ?9ƽ,@ǽ˵: Ƚ=:)ȹWWX  X W X :W 2W1*W1V1bU1BU1*U9U9U=J@BB BA*BAAAA"C*CRCCCIG>>9IieH; \"E. ~~ t:YT1y@:6);,1hFAY}6[@}6@y}6i}6;f }6Hy>[l@ö??` u@ʿ? &?)~6[@ ~6)[;I~6CY^?y^WFv㓻MvL=Yvxxaz#Hx|y~Qȼ}>I   :  5? : wݾ @K ?9 ,@  : $:) :W1W1X9 XAWAXA:WA2WA*WIVIbUIBUI*UIUQUU@BB BA*BAAAA"C *C RC CC1IG5=|, hFAY}:L@}:Nh@y}:jg}:)}:H0*|a?ê?;W˿@d?B@8)?)~:L@ ~:Q[;I~8YF?yJ2F z z z z@ z@ z@xxxixx x)xIxix<MI=Y ,;QU >  a#HeHy}>I!%8 5?%dwݾ %L -?9%-@%: %:)!WQWQXQ XQWQXQ:WQ2WY*WYVYbUaBUa*UaUaUe@RuB*** querying acoustic contact ***PqPqBB BA*BAAAA"C*CRCCCI)]AבIG=S  w:YW1yč:369@,hFAY}6,m@}6@y}6dd}6*}6H:ڬ??`0˭̿,P?@_"?)~6,m@ ~6bQ[;I~4YNR?yR_FIZa=)Z=\\׵;M%I=Y%~))a-#H))y5;}5>I9 E:=d 5? E:=,wݾ =N M?9=.@=: =:)=:a9aIe(Fie,@e=aae/J; eP#EWWX XWX:W2W*WVbUBU*UUUTO@BB BA*BAAAA"C*CRCCCI!G=,hFAY}6|@}6@y}6![}6ڽ}6H@FI? ?߿>ο??.}?)~6|@ ~6x\;I~6CYN?yRF}ˡE?GzǿX9v}=}p= })yIyy}y&1|?Mbp??}`;};}< }AA)}NAIyi}kAy}IA    @ @ @i )Ii;M>=Y2a#Hy;}>I( 5?9wݾ B ?9.@ӻ: W:)W1W9X9 X9W9X9:W92WA*WAVAbUABUA*UIUIUMw@BqBy ByA}*ByAyAAA"C*CRCCC׉IG=iunmGIiֿٺAL   w:Y0Y1y:6˺,hFAY}2@}2@y}2u=K}2н}2H`Уi}??߿@<̿=? k5?)~2@ ~2l\;I~2CYNe?yNΐFb=޼Mb_=Ybb3=QUb>ddaf#Hdhyj?}j>Il r:n 5? v:nAwݾ ne9 v?9n$/@n: n4:)n:W W X  XWX:W2W*WVbUBU*U!U!U% v@BIBQ BQAUԄ*BQAQAYAYAY"Ca*CaRCaCaCi}?i}?QIaG=]>9YI]Fi]@]=YY]L; ]V$E ,Ox)hFAYv?yF%xDUSBL response received:!U1,N,80,80,63,E4 1,188,80,80,AE,FF %ZNo reply:!U1,N,80,80,63,E4 1,188,80,80,AE,FF --QQaU#HQYy]}e>Iae 5?eKwݾ ev. u?9eS/@e: e@:)aWWX XWX:W2W*WVbUBU*UUU %@BB BA*BAAAA"C*CRCCCQIaG=ޝ=iޝp=M  5w:Yy6T,TChFAY}23u@}2@y}2Po?}2J^;}2H_ ߿ &@6=?X?`6߿ yĿ K?Uk?7q?)~23u@ ~2[;I~2CYB?yB^F    @ @ %@i )Ii-<M5L=Y599a=#H9AyEp}E>IIM 5?MKwݾ M# ]?9Mp/@M: M:)IWyWyXy XWX:W2W*WVbUBU*UUU@@BB BAʃ*BAAAA"C*CRCCC IG5=',.]hFAY}6@}6s@y}6Q?}6 }6H,߿@|?U?>߿ƿ ?s l?)~6@ ~6P\;I~6CYNr?yRKFbMbR=YbuQUf>ddaf#Hdhyj:}j>Ip v:rc 5? v:rMwݾ r v?9r/@r: r8:)r:>9IНFiE@=M; U%EWWX XWX:W2W*WVbU BU*UU!U%`8 @B1B9 B9AEу*BAAqAyAyAy"C*CRCCCI)שIG >  :YWU1y:6)6;9 ',g*whFAY}9s@}Î@y}5}\C}H@^߿ N?@$e?޿@ȿV?u۱j?)~9s@ ~n:\;I~Y-?y5CFIE=)E=%MbX9?㥛 ?T㥛 ?%ʡ=%= %=)!I!y%? ףp= :v?%<%Q%T< !)%9HAI%0Ai%vdA!%GA11 } } } }@ @ @yyyiyy y)yIyiyM0=Ya#Hyٺ}>Iȱŵ 5?ŵuݾ Ƶe ?9ƵK2@ǵ: ȵ=:)ȱWWX XWX:W2W*WVbUBU*UUU`!@RB*** querying acoustic contact ***PPBB BA<*BAAAA"C*CRCCCIG'>$,hFAY,?yF%Z****** received transponder code query ******%F****** received ping request ******%a#Hy}>Iȩ :ŭ 5? :ŭatݾ ƭ ?9ƭs4@ǭ ; ȭ ;)ȭ:WWX XWX:W2W*WVbUBU*UUU@!@BB BA"*BAAAA"C*CRCCC IG5 > >9 I @Fi ?    O; W&E)ݙIݙiݙݝ=ݝ=ݝ55u uuu  ur:YuDW1yuY:u: 6)uT;1*,ªhFAY}2[@}2@y}24&"}2~t}2H޿䍘?I?f޿Tſ@/?-@?)~2[@ ~2ʚ\;I~0Yvr?yvKFzxDUSBL response received:!U1,P 80,80,63,E4 1,188,80,80,AE,FF zCommand AckzBRequesting micromodem ping code 2ix|Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ]<MeM=Ym)E=QU}>a#Hy"׼}>Ij 5?rݾ   ?96@; L;)WWX XWX:W2WI*WIVIbUIBUI*UQUQUU "@BB BAу*BAAAA"C*CRCCCi?IG J>1,#hFAY}:U@}:@y}:%}:&8}:H@޿ ˣ??޿Ŀ;?`𵦿`?)~:U@ ~:Z[;I~:CY^$?y^FrNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B II)U= U>    @ @ @ùùùiùù Ĺ)ĹIĹiĹS<MC=YZQU>a#HfHy:}>Iș :ŝٞ 5? :ŝoqݾ ƝC ?9Ɲa9@ǝ: ȝ:)ȝ:WWX XWX:W2W*WVbUBU*UUUP#@BABI BIAU*BQAQAQAQAQ"Cq*CRCCCiIqG>u uuu uHl:YuWU1yu:ui69}@fC7,vhFAY}:t@}:4@y}:1h+}:n}:H$߿` 1?Jq?޿1ƿrS?@c?)~:t@ ~:[;I~8V>9TIVxFiV?V=TVMDVHR; V'EY^_?y^ݓFbxDUSBL response received:!U1,R,502,000,002B1,18A,80,80,B1,FF fFpublishing direction and range infobf3`ɰ`b> `)b1CI`y`bw?amf-ٱ`є;MM=YgQU>a#H!y5<}=>Iim 5?mpݾ m>Խ ?9m;@mZ< m_<)iW1W9X9 X9W9X9:W92W9*WAVAbUABUA*UIUIUM V$@R}(Combining 5 samples.Py*QyZQ}AKK?Oh JQ}w?amf-2Q}f3:QybQ}L@L݉@f?RQ}B `T?, '?Vq!ٿ?BQ}t? Q}G@Q} @P}[9?P}W9?P}Q}Q}@"Q}K(@BB BA*BAAAA"C*CRC!C)C)!I)GM1>o=,ZhFAY}fx@}f@y}fv(}fpc}fH`;߿`j?U?5.߿ 7<ǿ?@?`Fw?)~fx@ ~f[;I~fCYr?yrUF}TNmea in: $SNTTA,,0.358755,,,231547.06*49 Pn?e;OοZd;O?>t j<)IyMbp?+Mb?;< @A)^LAI5AiQ`AHA5<M5A=Y5 ;QU5>99a=#H9AyE<}E>II U:M- 5? ]:Moݾ M@Ľ ]?9M<@M/: M+:)M:mqAdded new target pos. range: 3.839998 m, bearing: 54.740227 deg, deltaT: 10.174873 s, approachRate: 0.000000 m/s, LOS rate: -2.002768 deg/s, posRepo size: 4XWt?WX XWX:W2W*WVbUBU*UUU`?BiBi BiAu5*BqAqAqAqAq"C}WM?RCyCt?CIב)בiIqG>  :Yy 6]D,jP hFAY} @} 3 @y} ;!} 8} H@Ь߿ ?Y?\N߿Kƿ? B0?)~ @ ~ g\;I~ CY!y!IR=)%=]A % - - -@ -@ -@)))i)) )))I)i)Y=oAAaE#HAIyM2;}M>IQUF 5?U#oݾ U! e?9U=@U: U:)QWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"CoU?RCCC׹IG>ܑ9ܑIܕFiܕv?ܕ=ܑܑܕ'T; ݕ(EiJ,, hFAY}6 @}6n(@y}6^ }60}6H߿?X?c߿@ſ@?ub@?)~6 @ ~6\;I~6CYn?ynF})<M}a#Hyd:}>IșŝL 5?ŝnݾ ƝI ?9Ɲ>@ǝs: ȝ÷:)șWWX XWX:W2W*WVbUBU*UUU;?BB  B A *B A AAA"CQ?RCCCiIyG=  ~ ~   ݀:Y T1y @: 6iE mGIY iq ׿ٺ ALgQ,E hFAY}:w@}:W@y}:%}:ܬ}:H@>=U#?8?߿F%ƿˉ?@Lw?)~:w@ ~:9\;I~:CYJ?yNhFu3MuK=Y}CQU}>yya#Hy<}>Iȑ :ŕc 5? :ŕCnݾ ƕ ?9ƕ?@Ǖ9: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU@'?BB BA.*BA A A A "C?RCCC-?i-?IG=W,<_ hFA&>9$I$i$&=$&ND&U; &~)EY}{@}A@y},}$y}H@l`Y?.? ߿CoƿA~? |?)~{@ ~^[;I~CY?yF 鿁)\(?:vMb`G=Լ )Iy+?V-= l=A)OAI0Ai^A3GA)5> 5> } } } }@ }@ }@yyyiyy y)yIyiyj<M,=Y₼QU>a#Hy`:}>Iȩŭ 5?ŭ?mݾ ƭઽ ?9ƭ@@ǭ: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU{G@BB! B!A%*B!A!A)A)A)"C5?RC1C1C1IGM1>- u - - -  - ez:Y- DW1y- Y:- !6)- ;95 ],ǟy hFAY}2ۘ@}2e@y}26}2 BŽ}2H=@P|? ?y{߿@eɿ@?@:X?)~2ۘ@ ~2b+\;I~2CY^ ?y^ F u u u u@ u@ u@qqqiqq q)qIqiq;Mr=Y QU?a#Hyޤ;}>I %: 5? -:ylݾ m -?9A@0: ^:):WWX XWX:W2W*WVbUBU*UUU03@B)BI BQAU*BQAQAQAQAQ"C]Qt?RCYCaCaAIQGm>ld,it hFAYR?y_F=\MEO=YEQUE>IIaM#HIIyU}U>IY]Z 5?]kݾ ]˽ e?9]B@]ض: ]:)YWWX XWX:W2W*WVbUBU*UUU`#@RB*** querying acoustic contact ***PPBB BA*BAAAA"C1i?RCCCIי)ם\AiIyG=E>9AIAiAAAAEW; E(*Em m ~m ~m  m o:Ym T1ym @:m 6)m U;j,O hFAY}2C@}26_@y}25}2 }2HB߿`J b?2?`6[߿^ȿ Q? $c?)~2C@ ~2[;I~2CYNL?yR FRZ****** received transponder code query ******VF****** received ping request ******V19a=#H9AyMjC}u>Iȉ :ō 5? :ōjݾ ƍ޽ ?9ƍ"D@Ǎg< ȍ"<)ȍ:WWX XWX:W2W*WVbUBU*UUU @B1B1 B1A5*B1A9A9A9A9"CE}c?RCACACiaIiG9>IޕAA)ޕAA{q,/ hFAY}F˓@}FU@y}F_:}F>I}FH`,y?@? +ǿW7?˨Yn?)~F˓@ ~F\;I~FCYZ?yZF\ɮ\bxDUSBL response received:!U1,P 502,000,002B1,18A,80,80,B1,FF bCommand AckfBRequesting micromodem ping code 2iddnNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @ i\? ?)?IK?i?ehb<M2=YCQU>a#HgHy.<}>Iѡ 5?iݾ t %?9dE@s; M;)WWX XWX:W2W*WVbUBU*UUUx @BiBi BiAm*BqAqAqAqAq"C+d?*CRCCCIGn>m u m m m  m ez:Ym W1ym č:m 69u @w,^ hFA9Ii=MDW; *E)Ii==s(5Y}@}@y}-!A} RA}HZ@&r?@?&ǿ?L`e?)~@ ~b7];I~CY?yFENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =HzG?I +ƿp= ף==>=94 =)9I9y=Mb?L7A`堿MbP?=<=+=: =aaam#Hiiyu5P<}u>Iy :} 5? :}2iݾ }E ?9};F@}: }:)}:WWX XWX:W2W*WVbUBU*UUU 2@BqB BAG*BAAAA"C.j?RCCC?i׹IGF> ~, hFAY}6{@}6@y}6aH}6e}6H\`x ?@R?DBɿ\? q@O?)~6{@ ~6z\;I~6CYN?yRtFVxDUSBL response received:!U1,R,4FF,000,002AE,189,80,80,9F,FF VFpublishing direction and range infoRݎPɰR`=R7> P)RCIPyR=j@Ri?o~ȿٱP dd)f= f=    @ @ @ @i )Ii(3Mb=Y!QU>!!a%#H!)y-<}->IQU] 5?Uhݾ U ]?9UG@U: UU:)QWWX XWX:W2W*WVbUBU*UUU೰@R(Combining 5 samples.P*Q=j@ZQk ㈷?m3N JQi?o~ȿ2Qݎ:QbQ[@:p<#@6T!/0?RQ46~?%Ca? ?BQ7|? QA@Q@PZ9?P[9?PQQ*@"Q@BYBa BaAeɅ*BaAaAaAaAi"Cu{s?RCqCqCq)I9G}> ^    x:Y 0Y1y : 6h, hFAY}Z(@}Z@y}Z H}Zؽ}ZHjwO0?o?c9̿ ? X@5?)~Z(@ ~Zc7\;I~ZCYf?yf+FEDNmea in: $SNTTA,,,,,231551.50*5A MR=Y}QU>a#Hyz;}>Iȱŵ& 5?ŵ8hݾ Ƶ ?9ƵG@ǵg: ȵ:)ȱmmAdded new target pos. range: 3.660000 m, bearing: 56.449225 deg, deltaT: 4.424816 s, approachRate: -0.040679 m/s, LOS rate: 0.386230 deg/s, posRepo size: 4XW7|?WX XWX:W2W*WVbUBU*UUG @UV?BIBQ BQAU*BQAQAYAYAY"Ce9IFi1?=XX; *E,. hFAY}2vU@}2q@y}2H}26$}2HZIK??"'@45ʿR?lM?)~2vU@ ~2t[;I~0YBC?yBF MT=Y;QU%>!!a-#H))y5M}5>I9 E:= 5? E:=gݾ = E?9=H@=: =:)=:WiWiXi XiWiXi:Wq2Wq*WqVqbUqBUy*UyUyUwc?B!B) B)A-]*BAAAA"C7|?RCCCI\A)]AIG5 >g,uH hFAY}:@}:!7@y}:bN}: }:H+?l?O!7ȿܮ? U砿T?)~:@ ~:%\;I~:CYFI?yFGFIE=)AAE^A    @ @ @ ÑÑÑiÕ?Ñ ĕ?)đIđiđ=MA=Y QU>a#Hy< }>IХ 5?)gݾ ߽ ?9I@|: R:)WWX XWX:W2W*WVbUBU*UUU)?B)B1 B1A5ۅ*B1A9A9A9A9"CA*CARCACACIIIYGu=  X}:YY1y:6 >9 I i = X; +E1,[b hFAY?ylFL7A`尿 +οT㥛 ?+v =)IyI +iiam#Hiqyu}u>Iy :}B 5? :}*gݾ } ?9}I@}: }:)}:WWX XWX:W2W*WVbUBU*UUUOe?BB BA4*BAAAA"C!*C)RC)C)C)9IIGe4>W,'| hFAY}>L5@}>P@y}>$_}>l3@}>HD(`O??@ʿ@#?rw5?)~>L5@ ~>2[;I~>CYJ?yJFimGIi5ؿٺ9=A = = = =@ =@ =@ E@999i=9 =)9I9i9MOMUW=YU +QUU>YYa]#HYaye;}e>Iim 5?m'gݾ m }?9m2J@m: m:)iWWX XWX:W2W*WVbUBU*UUUb@BB BAh*BAAAA"C*CRCCCi?IG>  s:YV1y:D6?, hFAY}6@}6:,@y}6b>[}6W$}6Hg;⏪??f˿Q2?@"3?)~6@ ~6[;I~6CYv?yvF ii)m= m=MV=Y#a#HyM}>Iȹ :Ž 5? :Ž%gݾ ƽR ?9ƽ~J@ǽl: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU&@B!B) B)A-*B)A)A1A1A1"C9*C9RC9C9CAיIG=܉9܉I܍ Fi܍?܍=܉܉܍Y; ݍ2+Ei,ޯ hFAY}F@}Fm@y}FhY}FXN}FH ?@? @!wʿ@?3`5=?)~F@ ~FS[;I~FCYV?yVF\^AAM U=Yl;QU>aiam#Hiy䉻}>Ii 5?#gݾ  -?9J@!; K;)WiWiXi XqWX:W2W*WVbUBU*UUUK@RB*** querying acoustic contact ***PPBB BA*BAAAA"C!*C!RC!C!C)IIYGu> Z :Yy(6Q,( hFAY}6@}6`@y}6kc}6/ }6H@ʑL{?@?6hʿ 1?O42?)~6@ ~67[;I~6CB`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ  )  I YM ?yMHFUZ****** received transponder code query ******UF****** received ping request ******Ua#HhHyk}>I : 5? :!gݾ ' ?9/K@: :):W!W!X! X!W!X!:W!2W)*W)V)bU)BU1*U1U1U5`G @BB BA*BAAAA"C*CRCCCI]A)IG>ܥ >9ܡ Iܥ Fiܥ 1?ܥ =ܡ ܡ ܥ EY; ݥ U+E~, hFAY}~[@}~*@y}~ eD;)aIaye~jt?a#Hyر;}>I. 5?gݾ ) ?9K@ӻ: w:)WWX XWYXY:WY2WY*WaVabUaBUa*UiUiUmW@BB BA*BA1A9A9AA"Cy*CRCv  yz:YX1y/:6);9CC! I1 GM >量,]p hFAY}2S,@}2G@y}2N~}2½}2H`??@߿` пov? ̖?)~2S,@ ~2d[;I~2Cɫ99)9 9I9Y}?y}F鮁ɮ4=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M M M M@ M@ M@IIIiII I)IIIiI]ՉM]=Y]Z QUe?aaae#Haiym?;}u?Iy} 5?} gݾ }+* ?9}*L@}: }:)yWaWaXa XaWaXa:Wi2Wi*WVbUBU*UUU`?@BB BA*B A A A A "C*CRCCC!I1G]2>ԍ,K hFAY}6'@}6.C@y}6{}6}6H`@g?D?>(߿Mѿ $?P@U?)~6'@ ~6[;I~6Cɫ99)9 9I9Y?y[FxDUSBL response received:!U1,R,4F1,000,002AD,189,80,80,A3,FF Fpublishing direction and range infoFMɰu`=鰡 )#CIyff@A`i?%ÆHٱƼMQ=Y;QU>a#H y r?} >I : 5? %:fݾ + %?9L@: w:):WAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU]@Rm(Combining 5 samples.Pi*Qmff@ZQm -?D JQmA`i?%ÆH2QmFM:QibQm:?kYI@3ƮT?RQm6IIт?o?-@&Ь?BQmay? QmL:@Qm(?PiPmZ9?PiQiQm#@"Qm*@BB BA *BAAAA"C*CRCCC?i? IG5 >)9)I-Fi-v?-=)-ND-FY; -V+E)Iiń=ń=ń4  b:YV1y:6);P,9(1 hFAɫqq)q qIqY?yF5DNmea in: $SNTTA,,,,,231555.99*5B    @ @ @ÑÑÑiÑÑ đ)đIđiđJ=M2=YQU>a#Hy}>I 5?fݾ - m?9ZM@< -<)mqAdded new target pos. range: 3.599999 m, bearing: 55.911276 deg, deltaT: 4.428121 s, approachRate: -0.013550 m/s, LOS rate: -0.121485 deg/s, posRepo size: 4XWay?WX XWX:W2W*WVbUBU*UU @U)?B9Ba BaAe*BaAiAiAiAi"Cuay?RCqCuay?CyyIG^>ޝ=iޝ=П,K hFAY}6B@}6@y}6c{}6[}6H߿` *?ť?yC̿?@.i?)~6B@ ~6-[;I~4ɫ99)9 9IAY]?y]!F(=Mj=Y_@:QU?a#H y D} ?I :p 5? %:fݾ . %?9M@: b:):WAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU] ?BB BA*BAAAA"C!*C!RC!C!C) IG5 >  :YDW1yY:r69@E >9A IE FiE E?E =A A E $Y; E D+E,d hFAY}6 @}6@y}6i}6*}6H@8߿qz?ď? |2ͿC?@?)~6 @ ~6ѩ_;I~6Cɫ99)9 9I9Y]?yeFM{Gz?X9v?MM#< M<)IIIyMQ?/$:vMa#Hy:}>Iȩŭt 5?ŭeݾ ƭ5 ?9ƭN@ǭ8: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*CRCCCI)\AIG$>,~ hFAɫ髙) IY?y"F    @ @ @ùùùiùù Ĺ)ĹIĹiĹTMD=YQU>a#Hy} >I :y 5? :dݾ = ?9P@: $:):W9WAXA XAWAXA:WA2WA*WIVIbUIBUQ*UQUQUUT?BB B)A-*B)A1A1A1A1"C9*CARCACACiaIiG9>Iޕ@A)ޕ@A  9~:YV1y:6,O hFAY}6F@}6>b@y}6?}6&8}6H A߿ *?`׼?j ߿@+[п+?2?)~6F@ ~6b;I~6Cɫ99)9 9I9Y}I?y}GF;MY=Y-z;QUu>yya}#Hyy?Լ}>Iȉō 5?ōdݾ ƍ\C ?9ƍQ@Ǎ: ȍo:)ȉWWX XWX:W2W*WVbUBU*UUU`|C@BB BAۅ*BAAAA"C *CRCCCIIQGu>9IFi@X; +E ,Dn hFAY}6R@}6@y}6e}6v%}6H`a߿S׷?5?`z߿KͿa?6 f?)~6R@ ~6}{_;I~6Cɫ99)9 9I9Y}?yF}<MD=YX7!a%#H-iHQyUq#}U>IY] 5?]bݾ ]J e?9]ER@]: ]I:)YWWX XWX:W2W*WVbUBU*UUU@BIBI BIAM*BQAQAQAQAQ"CY*CYRCYCaCau?iu?AIIGm5>  im}nGIiEٺA  |:YU1y:6,oI hFAɫyy)y yIyY?yrF E E E E@ E@ E@AAAiAA A)AIAiAUe9=M]M=Y]QU]>aaae#Haaym}m>Iq }:u 5? }:ubݾ uQQ ?9uDS@uE: u=:)u:WWX XWX:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PPBB BA*BAiAqAqAq"Cy*CyRCyCyCiIyG>ޕ=iޕ= >9 I `Fi @ X; *Eb,% hFAY}:@}:L5@y}:}:ڿZ}:H߿w@̴?@d? Y߿@[ϿB?@!o`?)~:@ ~:~\;I~8ɫ99)9 9I9Y}?y}FZ****** received transponder code query ******F****** received ping request ****** Ut=)QIQyU/$?:vQ롿Uyya}#Hyyg;}>Iڥ 5?`ݾ (] ?9U@: M:)WWX XWX!:W!2W!*WAVIbUIBUI*UIUQUU`BZ @BB BAK*BAAAA"C*CRCCC׹IGE>P  rw:YDW1yY:6);9, hFAY}zy(@}zD@y}z﹁}z}zH*߿?`?:޿eп ?Գ@?)~zy(@ ~zc;I~zCɫ) IY ?y FxDUSBL response received:!U1,P 4F1,000,002AD,189,80,80,A3,FF Command AckBRequesting micromodem ping code 2iI!)!-Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ]A ] ]  @ @ @ÁÁÁiÁÁ ā)āIāiā<M8=Ya#Hy7;}>I) 5:- 5? 5:-_ݾ -nh }?9-V@-(< -(<)-:WWX XWX:W2W*WVbUBU*UUU @BiBi BqA}*ByAAAA"C*CRCCC IG5>"*,+ hFAɫ髁) IY?yOFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ;Mt=YQU?a#Hy}?Iȱŵ 5?ŵ^ݾ Ƶp ?9Ƶ X@ǵ: ȵ@:)ȱWWX XWX:W2W*WVbUBU*UUU`O@BB BAp*BAAA A "C*CRCCCy9yI}(Fi},@}=y}MD} X; }*EIG-->Iޑ)ޑO  ]w:Yy|6);T ,N3 hFAY}:i@}:n@y}:q}:}:H ߿`)H???A߿Ͽ?< ?)~:i@ ~: 6`;I~8ɫ99)9 9I9Y}L?y} FxDUSBL response received:!U1,R,502,000,002AD,189,80,80,AD,FF Fpublishing direction and range infof3ɰ鰁 )-CIyw?amf-ٱ<MZ=Y:=QU>a#Hy.<}>I : 5? :{]ݾ  z ?9Y@< <):WWX XWX:W2W*WVbUBU*UU U`A@R%(Combining 5 samples.P!*Q!ZQ%xP^B(?0B JQ%w?amf-2Q%f3:Q!bQ%+RkQ@,d2@>,?RQ%ֵ#"? ?01?BQ%-u? Q%9@Q%@P%[9?P!P!Q!Q%@"Q%#@BB BA*BAAAA"C*CRCCCIG+>'<,M hFAY}B@}B9@y}Bm}BhĽ}BHe߿?`?GS߿tϿ`m? +緿?)~B@ ~Be^;I~@ɫ) IYZ?y*FTNmea in: $SNTTA,0.032406,,,,231600.43*42 )9 ==    @ @ @ÁÁÁiÁÁ ā)āIāiā~:M/=Ya#Hyw/<}>Iȱŵ^ 5?ŵ \ݾ Ƶ΂ ?9ƵY[@ǵs: ȵ:)ȱmmmAdded new target pos. range: 3.599999 m, bearing: 54.873671 deg, deltaT: 4.467374 s, approachRate: 0.000000 m/s, LOS rate: -0.232263 deg/s, posRepo size: 4XqWu-u?WqXq XqWqXq:Wy2Wy*WyVybUBU*UUU`?BB BA*BAAAA"C--u?RC)C--u?C1e?ie?9IIGeU>  }:YT1y:69@܉ 9܉ I܉ i܉ ܍ =܉ ܍ ND܍ W; ݍ *E)9I9i9=====4:f,rlg hFAY}2@}2"@y}2h}2}2H ߿ ΰ'E?D?P߿@iͿ?汿 ?)~2@ ~2h,];I~2Cɫ99)9 9IAY]?y]zFUL7A`?~jtU+>UD U̼)QIQyU~jth?MbpUD;UU Ul=A)UUAIU+AiUmAQU3KAu=Mu_=Y}Tyya#Hy;}>Iȑ :ŕP 5? :ŕ\ݾ ƕh ?9ƕp[@Ǖ#: ȕ:)ȕ:W!W!X! X!W!X):W)2W)*WIVQbUQBUQ*UQUYU]D?BB BA&*BAAAA"C*CRCCCIG (>ޕ=iޕp=GN ,RH hFAY}6@}6@y}6c}68Q9}6H߿X?@? #˿&?:/?)~6@ ~6_;I~46Could not parse latch stateɫ髉) IYz?yFm-Mm.=Ym?qqau#Hqyy}lI}}>IȁŅ> 5?Ņ[ݾ ƅ/ ?9ƅ[@Dž^: ȅ:)ȁW1W1X1 X1W1X1:W92W9*W9V9bUaBUa*UaUaUm k?BB BAO*BAAAA"C*CRCCC׹IGf>  #:YU1y:6{&,0 hFAY}B)@}B@y}BA_}B}BH߿@5??@8bɿ? ւ:?)~B)@ ~B~9 I i    MD 8W; >*E!I)GM>å,,( hFAɫ) IYE?yE(F    @ @ @i )IiѻMA=YQU>!!a%#H%jH)y-}->I1 =:5 5? =:5[ݾ 5u E?95[@5: 5:)5:WaWiXi XiWiXi:Wq2Wq*WqVqbUqBUy*UyUyU}`:B@BB BAG*BAAAA"C*CRCCCI)GE0>Iމ)ލAAV  w:YWU1y:(6(3, hFAɫyy)y yIyY?yLFU;M]X=YYQU]>aaae#Haayi}m>Iqu 5?u[ݾ u ?9u[@u: uM:)qWWX XW!X!:W!2W!*W!V!bU)BU)*U)U1U5*h@BYBY BaAe9*BaAaAaAaAa"Ci*CqRCqCqCqׁIG>- >9) I- `Fi- @- =) ) - V; - *EQ9, hFAY}JÌ@}JM@y}JB}Js}JHG߿?KN?޿ɿ@8?IS?)~JÌ@ ~J ];I~JCɫ髉) IYy]{Gz?V- rh]ף>]m ]C)YIYy]Mb`?{Gz?Q?];]#<]\= ]?A)]^LAI]-Ai]kAY]GIA)m= m>Y}=QU}>a#Hy5A}>Iȑ :ŕé 5? :ŕ[ݾ ƕ~ ?9ƕ.\@ǕA: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCIGu6> ! h:Yy"6)!;9i- nGIA iQ ٺ xA5@,. hFAY}Ji@}J@y}J*s?}Jث}JH g޿qҒ?f[?`޿~ɿ@?T?)~Ji@ ~JEd;I~JCɫ  )  I YM?yMÒFUZ****** received transponder code query ******UF****** received ping request ******Ua#Hy4}>I^ 5?H\ݾ Dl ?9\@: :)WWX XWX:W2W!*W!V!bU!BU!*U)U)U- @BQBY BYA] *BYAaAaAaAa"Ci*CiRCiCiCqqIޕ=iޕ=G>F,k hFAY}FHM@}Fh@y}Fh:}FA½}FH@޿@y?"h?Z޿(ʿ 9? ׷S?)~FHM@ ~Fd;I~Dɫ髙) IY9?yFxDUSBL response received:!U1,P 502,000,002AD,189,80,80,AD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ˯M=Ytl9IFi@=V; *E][: ]<)]:WWX XWX!:W!2W!*W)V)bU)BU)*U1U1U5 @BB BA߄*BAAAA"C*CRCCCIG%n>  k:Yyr6);L,\6 hFAY}6D@}6ά@y}6U/}6)}6Hu[޿@"nv?`?b޿Hſ@?'㤿Ѐ?)~6D@ ~6`;I~6CɫIQ)Q QIQY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ]^AY    @ @ @ @áááiåá ĥ)ĥIĥiĥ·MK=Ya#Hyw}>Iب 5?\ݾ S ?97]@: :)WWX XWX:W 2W *W V bUBU*UUU(@BB BA*BAAAA"C*CRCCCI))-\AIG%,>S,}!P hFAY}>#@}>@y}>i8'}>y}>H=ݿB`*?@7?9޿`EÿL?OҎ?)~>#@ ~>^;I~>CɫYY)Y YIYY9?yFxDUSBL response received:!U1,R,502,000,002B0,189,80,80,BB,FF Fpublishing direction and range infoɰqa=鰡 );CIyq@w?amf-ٱ;M[=Y|a#Hy}>I : 5? :\ݾ KF ?9{]@< <):WWX XWX:W2W*WVbUBU*UUU@R%(Combining 5 samples.P!*Q%q@ZQ%E5j?.\Ux3 JQ%w?amf-2Q!:Q!bQ%q!<@d @@tkgt?RQ%)$?'A? ,?BQ%o? Q%B@Q% @P!P%[9?P!Q!Q% @"Q%@BqBy ByA}߄*ByAyAAA"C*CRCCCסIG >Iޑ)ޕ@A% ~~ 7:YT1y@:69@ 9 I xFi ? = V; *EZ,i hFAY}VI@}V e@y}V!%}V,J}VHKݿ@`A??ݿ¿\? @@?)~VI@ ~VY];I~Tɫii)q qIqY?yF-TNmea in: $SNTTA,0.028253,,,,231604.87*43 %L7A`? rhտ~jt?%+=% %<)!I!y%x&{Gz?%L%7%ף< %:A)%SAI%t3Ai%vdA!%pIA } } } }@ }@ }@yyyiyy y)yIyiyM=Yn;QU>a#Hyw}>Iȩŭ 5?ŭT]ݾ ƭ? ?9ƭ`@ǭy: ȭ:)ȩmmAdded new target pos. range: 3.779998 m, bearing: 53.602112 deg, deltaT: 4.444057 s, approachRate: 0.040503 m/s, LOS rate: -0.286126 deg/s, posRepo size: 4XWo?WX XWX:W2W*WVbUBU*UUo=@U`k?BB BA1*BAAAA"Co?RCCo?C?i?IG>`,D hFAY}>@}>@y}>$}>;fܼ}>HܿC l?`"?~ܿ ÿ}?0j?)~>@ ~>߁^;I~<ɫQQ)Y YIYY?y*FUNMU=Y]:QU]'?aaae#Haiyu}u'?Iy}l 5?}]ݾ }k; ?9}a@}Գ: }:)yWWX XWX):W)2W)*W1V1bU1BU1*U1U9U=@S?BB BA*BAAAA"C*CRCCCסIG >  ɀ:YV1y:6~g,% hFAY}2@}2<@y}29$}2UU}2Hܿ @vɚ?3"?ܿ5ſp?P@?)~2@ ~2`f;I~2Cɫ99)9 9I9Y?yƎFUIM]J=Y]z:QU]>aaae#Haaym76:}m>Iq }:u< 5? }:u]ݾ u(5 ?9u)d@u: uX:)u:WWX XWX:W2W*WVbUBU*UUUA-?BB BA*BAAAA"C*CRCCC}>9yI}XFi}?yyy}W; }'*E)Ii邉==킵4שIGޕ=iޕa=?m,? hFAɫ髹) IY\?yF    @ @ @éééiéé ĩ)ĩIĩiĩ&MD=YQU>a#HkHy}>I% 5?b^ݾ . ?9kf@: g:)WWX X W X :W 2W *WVbUBU*UUU   M~:YT1y:V 6c&t,g hFAY}6F@}6@y}6}6}6Hܿ+2zsn?@\}ܿ7ƿ?.0?)~6F@ ~64^;I~6CɫYY)Y YIYYR?yF5RM=S=Y=ܖAAaE#HAIyM6<}M>Iȩ :ŭ 5? :ŭ^ݾ ƭ' ?9ƭh@ǭt: ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUUz@BB BAY*B!A!A!A!A!"C)*C)RC1C1C1iIqG>q 9q Iu Fiu ?u =q q u pW; u Z*EPz,9D hFAY}F޶@}Fh@y}Fo}Fj}FH@ܿ=0?`s%?ܿ9Ŀ +??)~F޶@ ~F\;I~FCɫYY)Y YIYYC?yFx&1?B`"?@5^I ?>> b>)IyZd;Ov/V-?jxi< ?A)OAI‰iQ`AHA M >=YWQU>))a5#H1AyM3»}U>Iqu# 5?u^ݾ u ?9uBj@uϛ; ue;)qWWX XWX!:W)2W1*W9V9bUABU*UUU@@BB BA]*BAAAA"CA*CIRCICICI9IIGeU>Iޑ)ޑ4 w 6u:YDW1yY:|6);9z8,hFAY}6@}6P@y}6|(}6<}6Huݿ``n? 4 ? ܿ@Bſ@X?Fe?)~6@ ~6]\;I~6Cɫ99)9 AIAY?ylF@A = = = =@ =@ =@999i99 9)9I9i9MRV<MUW=YUt޼QUU>YYa]#HYayeM5<}e>Ii u:m 5? }:m^ݾ m }?9mk@m: m:)m:WWX XWX:W2W*WVbUBU*UUU`N@RB*** querying acoustic contact ***PPBB BA4*BAAAA"C*CRCCC ?i ?IIQGu>c,hFAY}R@}R`@y}R]0}RcUN}RH`|ܿ΁g?? ܿIkƿ@?;f|?)~R@ ~R%fb;I~RCɫyy)y yIyY?y$FZ****** received transponder code query ******F****** received ping request ******a#Hyi:}>IB 5?^ݾ  ?9cm@; Ϻ;)9I8Fi?sW; \*EW1W1X1 X1W1X1:W92W9*W9V9bUABUA*UAUAUE @BB BA*BAAAA"C*CRCCCIG$> z :YWU1y:6);,N8hFAY}2_0@}2K@y}2Z7}2}2Hݿd}/ߒ? ? ܿvȿ`n?A%g?)~2_0@ ~2)$b;I~2CɫII)I IIIY]o?y]#FexDUSBL response received:!U1,P 502,000,002B0,189,80,80,BB,FF eCommand AckmBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 AAimGI_Ai)]ٺ]_A]Ar?9`A E M M M@ M@ M@IIIiII I)IIIiI]<M]$=Y]lQU>a#Hy;}>I : 5? :^ݾ  ?9ao@"w; ;):WWX XWX:W2W*WVbUBU*UUU%j!@ޕ=iޕ=BB BAR*BAAAA"C*CRCCCI)IG >t,}RhFAY}J2@}J@y}J<}Jǽ}JH9^ݿnXV/?mܿ`"fʿ`.`?h`O?)~J2@ ~Jߞ_;I~Hɫ髹) IY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B …]A…\AK@M=YZQU ?a#Hyw<}?Iu 5?^ݾ ڽ ?9p@E: ض:)WWX XWX:W2W *W V bU BU*UUU '@B9BA BAAĔ*BAAAAAAIAI"CQ*CQRCQCQCQIIQGu>Y  )x:YV1y:69@ >9 I pFi M? =   0W;  9*E,lhFAY}2@}2@y}2WV=}2}2Hݿ^ց?7?Kݿɿ T?X@FU?)~2@ ~2];I~2Cɫ99)9 9IAYE^?yM@FUxDUSBL response received:!U1,R,502,000,002AE,189,80,80,B7,FF UFpublishing direction and range infoIIɰM`=I I)M7CIIyM=j@Mw?amf-ٱIX9vq= ףp?+η?}= v=)IyAAaE#HAAyM6<}M>IQU5 5?U ^ݾ UĽ ]?9Ubq@U: U :)QWWX XWX:W2W*WVbUBU*UUUg@R (Combining 5 samples.P *Q =j@ZQ s:@?apuV JQ w?amf-2Q :Q bQ $ o@ǁE@r/5?RQ 5?F4?0g7?BQ hl? Q 8@Q | @P \9?P P Q Q -@"Q  @BYBa BaAe*BAAAA"C*CRCCCסIGA>,rhFAY}ry@}rU@y}rhE}r&>}rH(޿4^??@nݿپɿ?o T?)~ry@ ~r\;I~rCɫ) IY?y6FuDNmea in: $SNTTA,,,,,231609.30*52    @ @ @i )Ii<<M?=YؚQU>a#HyD<}>I : 5? :I]ݾ ۬ ?9Fr@g< <):mqAdded new target pos. range: 3.660000 m, bearing: 52.911136 deg, deltaT: 4.473708 s, approachRate: -0.026823 m/s, LOS rate: -0.154453 deg/s, posRepo size: 4XWhl?WX XWX:W 2W *W V bUBU*UUG @U ?BaBa BaAe*BaAiAiAiAi"Cuhl?RCqCuhl?Cy׍?i׍?YIiG8>Iމ)މ  M:YU1y: 6,@hFAY}2ɘ@}2S@y}2D,O}2k[}2H4޿*@j?`x?@N0޿ɿf?Ѫ oM?)~2ɘ@ ~213];I~2Cɫ99)9 9I9Y}?y}F=M=V=YEȼQUE>AAaE#HIIyMy;}U>IY] 5?]\ݾ ] e?9]s@]: ]:)YWWX XWX:W2W*WVbUBU*UUU@wW?ܽ>9ܹIܽFiܽ?ܽ=ܹܹܽ)W; ݽ5*EBB BĂ*BAAAA"C*CRCCC IG5 >ݭ,%hFAY}b@}6~@y}X}}H ݿ ?v?`޿ O2ȿ@x?`ς H?)~b@ ~ zc;I~Cɫ)))) )I)Y5?y= F  ] ] ]@ ]@ ]@YYYiYY Y)YIYiYm:Mu =YuiQUu>yya}#H}lHy0ǻ}>Iȹ :Žk 5? :Ž[ݾ ƽq ?9ƽ4t@ǽB; ȽE;)Ƚ:WWX XW X :W 2W *WVbUBU*UUUm?BB BAĆ*BAAAA"C*CRCCCI]A) I G- >´,UhFAY}6q@}6@y}6Rb}6[}6Hsyݿ!G@n?K?ݿ vʿ?-\6?)~6q@ ~6a;I~6CɫYY)Y aIaY?yFU/D;M]=Y]0QU]?aaae#Haaym}m&?IquH 5?u'[ݾ uT }?9ut@u: uϸ:)qWWX XWX:W2W*WVbUBU*UUU(?BYBa BaAe*BaAaAiAiAi"C*CRCCCׁIG>ޡiޥa=ܹ9ܹIܹiܹܽ=ܹܹܽW; ݽ-*E)IIIiIM=IM5r,hFAY}JYw@}J@y}J{h}JV/}JHwݿ`Tm@*?औ?Cݿ`̿?b`%?)~JYw@ ~J-_;I~JCɫqq)q qIqYs?yFZd;Ooʡſkt?j<-  =)Iy rh+MbC @ AA)3MAIv.AihApIA!P<M?=YqQU >  a #Hyz}>I -: 5? -:/[ݾ X -?9v@F: :):WWX XWX:W2W*WVbUBU*UU U *@BB BA*BA A AA"CI*CIRCQCqCyqIyG^>o  y:YyD6)&;9,hFAY}JX@}Jt@y}Jwn}JU!}JH@ܿڀ+? ?`)ܿο }?`ɰ ~?)~JX@ ~J]^;I~JCɫqy)y yIyY?yF    @ @ @éééiéé ĩ)ĩIĩiĩnNMO=Y>VQU>a#Hy}>I 5?3[ݾ } ?9=w@: $:)W W X  X WX:W2W*WVbUBU*UUU% '@BIBI BIAU4*BQAQAQAQAQ"CY*CYRCaCaCaIIQGm>`,P!hFAY}J@}J@y}Jڟq}J}JH|Lݿ?oݝ?r?ܿ Ͽ`n?@?)~J@ ~JR\;I~JCɫ髙) IYyYQU>a#H y W<} >I 5?2[ݾ ; %?9lx@p: :)WAWAXA XAWAXI:WI2WI*WIVIY9YI]Fi]a?]=YY]sW; ]]*EbUqBUq*UqUyU}p6@RB*** querying acoustic contact ***PPB!B! B)A)*B)AIAIAIAQ"CQ*CYRCYCYCYaIqG>Iޑ)ޑ' ~~ -t:YT1y@: 6)0;(,$d;hFAɫyy)y yIyY?yӊFZ****** received transponder code query ******F****** received ping request ****** M >mMua#Hy}>I : 5? :2[ݾ  ?9y@< <):WWX XWX:W2W*W!V!bU!BU!*UAUIUM @BB BAB*BAAAA"C*CRCCCIGF>,xGUhFAY}^@}^@y}^? ^S?޿̿N?,R?)~^@ ~^>b;I~^Cɫ髑) IY?yF%xDUSBL response received:!U1,P 502,000,002AE,189,80,80,B7,FF %Command Ack%BRequesting micromodem ping code 2i!!5Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiY<M(=Yca #H yZ<}>I 5?3[ݾ r$ e?9P{@E< V<)WYWYXa XaWaXa:Wi 2W*W r:YT1y:69@VbUBU*UUU@Q9QIU FiU?U=QQUW; U*EBB BĂ*BAAAA"C*CRCCCI\A)]A I G >a<,h ohFAY}6ީ@}6h@y}6+j}6(B}6H@޿(@Q?@K?`&A޿R̿@S? !?)~6ީ@ ~6a;I~4ɫ99)9 9I9Yu?y}ȌFyɮ}p=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B K? rh?J +^=C< Ƚ)IyQ ףp= V-Q8 ?A)VVAIK/AipAGMA<Mp=Y:QU?  a #H yt;}?I %:D 5? %:*[ݾ . -?9T|@t< g<):W W X  X W X :W2W*WVbUBU*UUU+@BB BAw*BAAAA"C*CRCCCיIGA>ޕ=iޕ=iaI`Aiٺ`A2A#,QhFAY}V@}V[@y}Vj}V3x}VH@{T޿`5@`?8?Q޿W(Ϳk?`,@?)~V@ ~V J_;I~Tɫyy)y yIyY?yFxDUSBL response received:!U1,R,502,000,002AF,189,80,80,BF,FF Fpublishing direction and range infoɰa= )?CIyn@w?amf-ٱ™]A0;MQ=YQU>a#Hy:<}>I 5?[ݾ ; ?9}@: :)WIWIXQ XQWQXQ:WQ2WQ*WYVYbUYBUY*UaUaUe @R(Combining 5 samples.P*Qn@ZQo$?7U JQw?amf-2Q:QbQ ˻\@6l@9#?RQNo?֭ !?.q?BQxp? Q=@Q @PP\9?PQQ@"Q-@BB BAh*BAAAA"C!*CIRCQCYCaIGI>  :YWU1y:{6M,NӢhFAY}6@}6;@y}6k}6x}6H @2޿@'V?EA? .޿y;Ϳ -?/. ?)~6@ ~6];I~6CɫYY)a aIaY!?yF 9 I Fi v?    W; t*E-TNmea in: $SNTTA,0.004868,,,,231613.77*46        @  @ @   i   ) I i <M%C=Y%ğQU%>))a-#H)1y5}5>I9 E:= 5? E:=[ݾ =I M?9= @=: =:)=:m}iAdded new target pos. range: 3.720000 m, bearing: 53.820313 deg, deltaT: 4.428829 s, approachRate: 0.013548 m/s, LOS rate: 0.205286 deg/s, posRepo size: 4XyW}xp?WyXy XWX:W2W*WVbUBU*UU @U`D?BB BA%*BAAAA"Cxp?RCCxp?C!I)GM1>2w,ThFAY}>@}>6@y}>Qm}>z}>H@"E޿ -@q?:8?@ݿ%7Ͽ`ef?ைN?)~>@ ~>R\;I~>Cɫaa)a aIiYI?yGFu<MuV=Y}@QU}>ya#HmHy;}>Iȑŕ 5?ŕ[ݾ ƕU ?9ƕ*@Ǖ: ȕ:)ȑW9W9X9 XAWAXA:WA2WA*WIVIbUIBUQ*UQUQUU?BB BAۅ*BAAAA"C*CRCCC׉IG>Iޑ)ޕ?A  k:YDW1yY:_6~a,hFAY}2@}2@y}2`}2~ }2H ޿@$?շݿ@Nп? ?)~2@ ~2O!f;I~2Cɫ9A)A AIIYy)e= e=    @ @ @i )IiYa#Hy5<}>I :q 5? :Zݾ b  ?9@< D <):WiWiXi XiWiXq:Wq2Wq*WqVqbUyBUy*UyUyU[?BB BA*BAAAA"C*CRCCCI Ge4>9CIxFi?W; v*E,$bhFAY}6]@}6 @y}6~>P}60}6H@*Y߿``F?@#?ہ޿Ϳ`?ټ!?)~6]@ ~6Һd;I~6Cɫ99)A AIAYX?yPF5x?l?Mb`?5K7>5= 5;)1I1y5a#Hyl<}>I` 5?Zݾ }^ -?9@; ;)WiWqXq XqWqXq:Wq2Wy*WyVybUyBUy*UUUy?B1B1 B1A5ׅ*B1A9A9A9A9"CA*CARCICICIIa)e\A9IIGeV>  p:YV1y:V6);9p,\= hFAY}6@}6@y}6J}6y}6Hh߿!?`*?DO߿ dɿ?@*R?)~6@ ~67a;I~4ɫ99)9 9I9YM?yF5M=e=Y=9AAaE#HAIyMԚ:}M?IQUT 5?UZݾ U[ e?9U@U: Uk:)QWWX XWX:W2W*WVbUBU*UUU`?BB BA*BAAAA"C*CRCCCשIG>ޑiޕ=,U$hFAܩ9ܭCIܩiܩܭ=ܩܩܭW; ݭ*E)1I1i15=15 O5ɫ) IY5?y=F±µ^A<MA=YQU>a#Hy}>I :F 5? :gZݾ LX ?93@|: R:):W!W!X! X!W!X!:W)2W)*W)V1bU1BU1*U1U1U=K@BaBa BaAe*BiAiAAA"C*CRCCC׉IG> ~ r:Yy<6);,=hFAY}6$z@}6@y}6nQ}6,̀}6H ߿0?`P?@߿pʿ0?쁯gE?)~6$z@ ~6];I~6Cɫ) IY-?y-ƎF11    @ @ @ ùùùiý=?ù Ľ?)Ľ?IĽ?iĽK?D|;M.=Y5|QU>a#Hy<}>I6 5?2Zݾ ~T ?9R@; +;)WAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UQUYU]K@RB*** querying acoustic contact ***PPB!B! B)A-*B)A)A)A)A1"C1*C9RCYCYCYu?iu?QIaG}z>,WhFAY}2V@}2@y}2E}2H}2H&@ ??߿ cʿ.?`u L?)~2V@ ~22b;I~2Cɫ9A)A AIAY]?y]FeZ****** received transponder code query ******mF****** received ping request ******mIޑ)ޕ@A  as:Yy369@ܽ>9ܹIܽFiܽ1?ܹܹܹܽW; ݽ*E,+qhFAY}=5"@}==@y}=6}=~}=HA Wd?`?@/`sǿ4? !O Vo?)~=5"@ ~= `c;I~=Cɫ  )  IY-?y-F5xDUSBL response received:!U1,P 502,000,002AF,189,80,80,BF,FF 5Command Ack=BRequesting micromodem ping code 2i99ENmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 m~jt?L7A`?S㥫m m/])iIiym~jt{Gz?y&1|?mm#qqau#Hqyy};}}>IȁŅ 5?Ņ7\ݾ ƅU ?9ƅ@Dž]: ȅ:)ȁWW)X1 X1W1X1:W92W9*WAVAbUIBUQ*UQUYU]@BIBQ BQAU*BQAQAYAYAY"Ca*CaRCCCy I G > ",˄hFAY}2@}2@y}22}2W^}2H($ Ώ;??8: ,ſ`O$?+Z?)~2@ ~2E`;I~2CɫYY)Y YIYYv?ybF鮡ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B CJ<M=YYO } ]w:YDW1yY: 6t(,ahFAY}2+}@}2@y}2=8}2}2H߿@!G?` ? %Ŀ@?@g`y?)~2+}@ ~2C^;I~2CA9AIEXFiE?AAAE X; E*EɫYY)Y YIYY ?yFxDUSBL response received:!U1,R,502,000,002AD,18A,80,80,C6,FF Fpublishing direction and range infoɰu`=鰽> )FCIyff@w?amf-ٱF<M[=YQU>!!a%#H!)y-m}->IY]? 5?]^ݾ ]Z e?9]b@]: ]{:)YWWX XWX:W2W*WVbUBU*UUU @R(Combining 5 samples.P*Qff@ZQxP^B(?0B JQw?amf-2Q:QbQ Z@fi@$}?RQ 2xi?0q_?z4?BQЭy? Q=@Q@PPPQQ @"Q@BaBa BaAm*BiAAAA"C*CRCCCסIG >U/,6;hFA44irnGIi!u%ٺq}AY}bU@}p@y}4"A}+}H߿f@̱?@f?|ƿ?\Lk?)~bU@ ~\;I~Cɫ髱) IY#?yjFUDNmea in: $SNTTA,,,,,231618.21*52 im]A e e m m@ m@ m@iiiiii i)iIiii}<M)=YQU>a#HnHyH}>Iȩ :ŭq 5? :ŭ`ݾ ƭd^ ?9ƭ@ǭ: ȭ:)ȭ:mmAdded new target pos. range: 3.599999 m, bearing: 55.881056 deg, deltaT: 4.427102 s, approachRate: -0.027106 m/s, LOS rate: 0.465484 deg/s, posRepo size: 4XWЭy?WX XWX:W2W*WVbUBU*UU @U?BB BAe*BAAAA"C x?RCCЭy?C!5?i5?I!G=r>F  v:Yyr6/5,@hFAY}6@}6j;@y}67C}6}6H ߿ ? )?F߿ɿ A?W XT?)~6@ ~6X\;I~6CɫYY)Y YIYY~?y,F;M{=YͻQU% ?!!a%#H!)y-5%}- ?I9=< 5?=bݾ =$a E?9=Z@=÷: =:)9WWX XWX:W2W*WVbUBU*U UU ?BABA BAAEN*BIAIAIAIAI"CUZy?RCQCYCYQIyG!>a9aIeFiea?aaae-X; e*Ey(<,hFAY}fi@}f@y}f<}f}fHm߿Y@?޿˿k}?@eƼ@?)~fi@ ~fd;I~fCɫ髱) IYI?yGFu333333?kt:v?u>u uT=)qIqyuQ? rhuLu\=uC ufBA)u9HAIu1AiuaAquGA    @ @ @i )Ii<M0=YVa#Hy }>I 5?cݾ Iމ)ލAA  :YV1y:62 C, hFAY}2@}2;@y}2/9}2u}2H@V߿BvK?޿`ʿ ? r H?)~2@ ~2=]c;I~2Cɫ99)9 9I9Y?yF)%= %>U=<M]h=Y] aaae#Haaym}m>Iq }:u 5? }:udݾ uy ?9uЇ@u: u:)u:WWX XWX:W2W*WVbUBU*UUU ެ?BB BA*BAAAA"C*CRCCCIו]A)בiIqG>H7I,&hFAY}:@}:W@y}:*>}:}:HeK߿@Gx?F?޿ɿ@e? ⳿X?)~:@ ~:_;I~:Cx9xIxixz=xxz3X; z*Eɫ99)9 9I9Y}k?y}FռME=YAQU>a#Hy}>I 5?eݾ  ?9@j; Al;)W!W)X) X)W)X):W12W1*W9V9bUABUA*UAUIUM 7@BB BA*BAAAA"C *C RCCC!I1GU2>?  v:YU1y:r6);9LP,E@hFAY}2@}2G@y}2J}2vV}2H`B߿bت?4?jD߿ (ɿ0?ST?)~2@ ~2'^;I~0ɫ99)9 9I9Y}~?y},F - - - 5@ 5@ 5@)))i)) )))I)i)MN=YQU>a#Hy:}>Iș :ŝ_ 5? :ŝ6gݾ ƝȈ ?9ƝI@ǝB: ȝ:)ȝ:WWX XWX:W2W*WVbUBU*UUUiY@B)B1 B1A5N*B1A9A9A9A9"CA*CIRCICICQIIQGu>ޑiޕ=HIV,]ZhFAY}2\@}2@y}2j!V}22}2H1߿h°?`#?[߿UɿY?ॿE?)~2\@ ~2];I~0ɫ99)9 9I9Y}?y}FAA™^A<MZ=Y5QU>a#Hy'9}>I% 5?fhݾ tI B ?9@D; ';)WWX XWX:W2W!*W!V)bU)BU)*U1U1U5`%f@RMB*** querying acoustic contact ***PIPIBB BA*BAAAA"C9*C9RCACACQ?i?סIGA>9IXFi?W; *E)ݑIݑiݑݕ=ݕ=ݕV42   u:YWU1y:6);w\,JthFAY}6 @}6@y}6#[}6<}6H-߿ ]?@s?޿@*̿`/? 곿`+?)~6 @ ~6b;I~4ɫqq)q qIqY?y~FZ****** received transponder code query ******F****** received ping request ******A)]PAI]K/Ai]bAY](HA    @ @ @i )Ii 7M )=Y%QU>a#HyE':}E>II U:M 5? U:Mwhݾ M U?9MG@M: M:)M:WyWX XWX:W2W*WVbUBU*UUUJ @BB BA%-*B!A!A!A!A!"C)*C)RC1C1C11IAGmW>>[c,hFAY}2@}2@y}2=W}2н}2H޿@e.=?@y/? X޿Ϳ`?r 5!?)~2@ ~2f;I~0ɫyy)y yIyY?yFxDUSBL response received:!U1,P 502,000,002AD,18A,80,80,C6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -.<M5p=YEI9= 5?=hݾ =h M?9=@=; =<)9WAWAX XWX:W2W*WVbUBU*UUU= @BiBi BiAm*BiAqAqAqAq"Cy*CyRCyCyCׁIGc>Iޙ)ޝ@An  y:YW1yč: 69@ji,AhFAY}2@}2k @y}2FZ}2"_}2H޿@xd?@jN?ă޿ 6˿`? E?:?)~2@ ~2)a;I~2CF>9DIF FiF?F=DDFW; Fd*Eɫ99)9 9IAY4?yF鮽a=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B uMM}E=Y}ŽQU}>a#Hya}>Iȑ :ŕ3 5? :ŕhݾ ƕ/ ?9ƕ@Ǖ: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU@c!@BB BA`*BA A A A "CQ*CQRCQCQCYIm\A)iIIQGm>=mp,.hFAY}:@}:\@y}:&g}:ŭ}:H6޿@?IG?`޿uʿ ?@7*,?)~:@ ~:_;I~:Cɫ99)9 9I9Y}?y}!FxDUSBL response received:!U1,R,502,000,002AF,189,80,80,C1,FF Fpublishing direction and range infoɰa=鰅7> )ACIyn@w?amf-ٱ        @ @ @   i   ) I i -q=M-2=Y519a=#H=oH9yET}E>IIM 5?Mhݾ M U?9M@M: M!:)IWyWyXy XyWyXy:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qn@ZQo$?7U JQw?amf-2Q:QbQ[zV@Y@W?RQO)ۤ?V?`E?BQq? Q~?@Q @PPPQQ@"Q @BB BA*BAAAA"C*CRCCCIG%N>v,hFAɫ) IY5?y5+FTNmea in: $SNTTA,0.028428,,,,231622.64*40 K7?+η:v?>v T=)Iy/$?y&1Q<`eu DA)NAI 0AiIjA3KA#M>=YQU>a#H y } >I@ 5?gݾ  ?9ۋ@: Q:)mMmAdded new target pos. range: 3.720000 m, bearing: 54.081588 deg, deltaT: 4.495140 s, approachRate: 0.026696 m/s, LOS rate: -0.400314 deg/s, posRepo size: 4XQWUq?WQXQ XQWQXY:WY2WY*WYVabUaBUa*UaUm @Um?BB BA*BAAAA"COs?RCCq?C-JFailed to parse device response: .71 ׁIG_>ޕ=iޕ=e|,rhFAY}6ǔ@}6Q@y}6T2s}6Jӽ}6H`޿c ?)?@-޿Fп`V?柹?)~6ǔ@ ~6>];I~6Cɫ19)9 9I9Yu?yuF E E E E@ E@ E@AAAiAA A)AIAiAUM]=Y] QUe ?iiau#Hqyy-=} ?Iȑ :ŕL 5? :ŕfݾ ƕ? ?9ƕ~@Ǖ: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUUX'?BB BA*BAAAA"C.r?*CRCCC?i?I GM1>imGIiFٺAV  w:YV1y:W6, ]hFAɫ  )  I Y-?y-QF;M)=YQU>a#Hy}>I 5?Veݾ 7 ?9o@s: ϸ:)WWX XWX:W2W*WVbU!BU*UUU ?B!B) B)A-*B)A)A1A1A1"C=q?*CYRCYCYCaQIaG}z>Ӊ,6)hFA9IxFi?xW; ^*EY}B @}B$@y}Bk}Bb줽}BH=߿mȦ?? ޿]οa9? ?)~B @ ~BCAb;I~@ɫyy)y yIyY?yuF}p4=M}y=Y}iIޙ)ޝAA  }:YU1y:6);9`,ChFAY}2M @}2$@y}2u}2'u}2H,߿??`T>߿ο X?֭?)~2M @ ~2y_;I~2CɫII)I IIIY}I?y}GF U U U U@ U@ U@QQQiQQ Q)QIQiQm<MmK=Yu`QUu>yya#Hy-8}>Ișŝ/ 5?ŝVcݾ Ɲl ?9Ɲ@ǝ; ȝ;)șWyWyX XWX:W2W*WVbUBU*UUUG?BB BAۅ*BAAAA"C*CRCCCI)IG%>,[\hFAY}6:@}6@y}6|}6}6H@޿ a¸?@~? z߿̿`YM?h`?)~6:@ ~6nj^;I~6C>JFailed to close latch before timeout.q >>Hardware FaultYB?yB+FErME_=YEgQUM>IIaM#HIQyU'}U>Ia m:eR 5? m:eWbݾ eⷾ m?9e@eR: e:)e:WWX XWX:W 2W1*W9VAbUIBU*UUU-@BQBQ BYA]*BYAYAaAaAa"C*CRCCCסI-$@Hardware Fault in component: DDMGA>)9)I-@Fi-?)))-W; -q*E  &:YV1y:;6);,zvhFAY}2D@}2@y}2M}2-}2H޿@ m? $?@e߿yͿ?@ W?)~2D@ ~2b:];I~0>Powering down<ɪ<)< /]=)Iyy&1ˡEˡE`弹'' µ?A)µSAIµv.AiµpAQLA:<M'=Yy8QU>a#Hy3}>I  1 5? ,bݾ [þ =?9 N@ ; -;) WQWQXQ XQWQXY:WY2WY*WYVYbUBU*UUU b@RB*** querying acoustic contact ***PPBB BA*BAAAA"C *C RC C CI!G=r>ޝ=iޝ=,whFAY}6q@}6@y}6q䀾}6}6H޿@b?Z?޿п`A? ?)~6q@ ~6`;I~6CYNk?yRFRZ****** received transponder code query ******VF****** received ping request ******V  Oo:YY1y:|69@% >9! I% Fi% E?! ! ! % W; % *E!,ohFAY}N6@}N@y}N}}N}NH`޿@??`?l޿kпk?U8`r?)~N6@ ~N?i;I~NCYZg?yZYF^xDUSBL response received:!U1,P 502,000,002AF,189,80,80,C1,FF ^Command Ack^BRequesting micromodem ping code 2i``fNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 % <M-N=Y=QQa]#Haqy;}>Iȩ :ŭ 5? :ŭaݾ ƭӾ ]?9ƭj@ǭ4< ȭ*<)ȭ:WWX XWX:W2W*WVbUBU*UUU  @BiBq BqAuԅ*BqAqAqAyAy"Cy*CRCCCסI$NClearing failed state for component DDMq GG> ,YhFAY}6@}6-@y}6{}6}6HX޿@?`?޿0п?|?)~6@ ~6i;I~6CY^?ybŏFbp=ɮb=rNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B  1=MC=Y};QU>a#HpHy}>I 5?aݾ ܾ  ?9 @M; \:)WQWqXq XqWqXq:Wy2Wy*WyVybUBU*UUU@BB BA@*BAAAA"C*CRCCC IIQGu>Iޙ)ޙq  z:YWU1y:D6U4,7hFAY}6bA@}6\@y}6$w}6bʱ}6H5V߿ IX?|? ߿ 6Ͽa#Hy)<}>I :} 5?  :aݾ : -?9@5<  <):WqWqXq XqWqXq:Wy2Wy*WyVybUBU*UUUҡ@R(Combining 5 samples.P*QZQo$?7U JQw?amf-2Q:QbQ@&Ɉ,@Tz?RQ(8?=?Abq?BQt? Q>@Q@P]9?PPQQ @"Q@BB BA&*BAAAA"C!*C)RC)C)C1Ii)m]A9CIFi@qX; *E)sIsisss{Cu4YIaGY>],ohFAY}:<@}:@y}: s}:+}:H`),߿f?i?`$߿8ο?&i?)~:<@ ~:8a;I~:CY^?y^FF-dNmea in: $SNTTA,0.004898,0.364554,,,231627.05*50 rh|+?)\(?= Ga=)Iy{Gz?/$I +ף<94 A>A)XAI+AirApMAgƼMQ=YGa#Hyq }>Ișŝ 5?ŝ`ݾ Ɲ( ?9Ɲ@ǝ߼: ȝM:)șmiAdded new target pos. range: 3.720000 m, bearing: 54.626548 deg, deltaT: 4.420886 s, approachRate: 0.000000 m/s, LOS rate: 0.123269 deg/s, posRepo size: 4XWt?WX XWX:W2W*WVbUBU*UU!U%*3?BB BAs*BAAAA"C t?RCCt?CaIiG9>  D}:YX1y/:W6E,5hFAY}2y@}2@y}2q}2ض}2H߿@=@??޿ Ͽ?1 ?)~2y@ ~2̑_;I~2CYNi?yR3F<MX=Y%=;QU%>!!a-#H))y5}5>I9 E:= 5? E:=W`ݾ = E?9=u@==: =:)=:WiWiXi XiWiXi:Wq2Wq*WqVqbUqBUy*UyUyUO?BB BA*BAAAA"C*CRCCCױIG=ޕ=iޕR= >9 I `Fi @ PY; X+E"p,+hFAY}2@}2%@y}2k}2H}2H޿mjzq?? ݿ@пl8?`P?)~2@ ~2m];I~2CYB?yBrF U U U U@ U@ U@QQQiQQ Q)QIQiQe;MeF=Ymkiqau#Hqqy 7}>IO 5?_ݾ  ?9@: =:)W W X  X WX:W2W*WVbUBU*UU!U%s?BB BA*BAAAA"C*CRCCC?i?בIG>  :YV1y:N6);9 iU /mGIa iy E߿ٺ AW,wEhFAY}>)@}>~E@y}> a}>ܽ}>HГ޿@ʼn?@k;?iݿο`?̺ ?)~>)@ ~>K];I~a#Hy}>Iȩ :ŭ 5? :ŭ^ݾ ƭ ?9ƭD@ǭ: ȭw:)ȭ:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*CRCCCIG5 >r,_hFAY}>D9@}>T@y}>Y}>0|}>H޿ ɜ?`B?`7޿`xͿ?2%'?)~>D9@ ~>[;I~a#Hy2;}%>I)-& 5?-_ݾ - 5?9-@-: -÷:))WQWYXY XYWYXY:WY2WY*WaVabUaBUi*UiUiUm@@BB BA*BAAAA"C*CRCCCAIIi9mCIm(Fim,@m=iimZ; m$,EG<>Iޑ)ޕ?A,  t:YX1y/:6);,VyhFAY}2y@}2@y}2ƬS}2}2H+߿G?_1?޿@+_̿uE?`L@1?)~2y@ ~2I` 5?`ݾ { ?9@: :)WWX1 X1W1X9:W92W9*W9V9bUABUA*UAUAUM`@BB BA*BAAAA"C*CRCCCI]A)ױIG>ғ,2hFAY}:@}:@y}:PK}:+h}:H`/߿@@?8?'޿]ʿ t??[粿=H?)~:@ ~:C[;I~:CYF|?yFFHJ@AZM^T=Y^``ab#H`dyf<;}f>Ih n:j 5? r:j`ݾ j r?9j@jF: j:)j:WWX X W X :W 2W *WVbUBU*UUU @R%B*** querying acoustic contact ***P!P!BIBI BIAMN*BIAQAQAQAQ"CY*CYRCYCYCaqIG=.  t:YV1y:69@i 9i Im Fim @m =i i m ,]; m f-E,hFAY}2jk@}2@y}2YB}2L}2H޿@jc?V?@޿W.ȿ2?2#:b?)~2jk@ ~2p[;I~2CYB ?yBFFZ****** received transponder code query ******FF****** received ping request ******F99aE#HAAyMD4}M>IQU 5?U.aݾ Ur }?9U@U=; U÷;)QWWX XWX:W2W*WVbUBU*UUUY @BB BA*BAAAA"C9*C9RCACACiIyG>ޕ=iޕ=#,hFAY}Nu#@}N>@y}N8=}Nh+O}NH޿Y? `o?/޿Ƣǿ?qsj?)~Nu#@ ~Ng[;I~NCZPowering upZ"Initializing DDM.Y]=?y]FexDUSBL response received:!U1,P 502,000,002AF,189,80,80,B9,FF eCommand AckeBRequesting micromodem ping code 2iaauNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ­^A­]A    @ @ @i=? )Ii?=-LM=!=Y2a#HqHy }>I  :  5? : aݾ  ?9 @ P; ;) :WW X  X W X:W2W9*WAVAbUABUI*UIUQUu@ @B1B9 B9AE*BAAIAIAIAI"Cy*CyRCyCyC^  x:YDW1yY:6׵?i׵?׉IG>,hFAY}=\/@}=J@y}=99}=oA}=H޿` ? q? M޿ƿ?Ƨq?)~=\/@ ~=S|[;I~=CY?y|Fɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B A`"?i|?5οS㥛?=q $>)Iy:va#Hy:}>Ih 5?;bݾ ݾ ?9ŗ@I: :)WWX XWX:W2W*WVbUBU*UU U -@B1B1 B9A=*B9A9A9A9A9"CA*CIRCICICI 9 CI @Fi ? =   `; `/E!I1Gm5> ,fhFAY}:Y@}:Qu@y}:y4}:=X}:H߿@?`l?@޿@ ƿ`~?ᘪ Eu?)~:Y@ ~:"A[;I~:CYF?yFEFJxDUSBL response received:!U1,R,502,000,002AE,189,80,80,C3,FF NFpublishing direction and range infoHHɰJ`=H H)JCCIHyJ=j@Jw?amf-ٱH ~   @ @ @ @i )Ii M=YhQ(S?||>?BQ&t? Q=@Q@PP]9?PQQ0@"Q @BB BA *BAAAA"C*CRCCCױIG =Iޑ)ޕ@AD  }v:YW1yč:6,hFAY}v@}vb@y}v1}v8}vHe߿R?T?1߿`"9ǿ?%3t?)~v@ ~vR[;I~vCY-~?y-{FTNmea in: $SNTTA,0.005672,,,,231631.51*46 )õ= õ=1=M<=Y;QU>a#Hyn<} >Ik 5?bݾ %˾ ?9P@: :)mMqAdded new target pos. range: 3.660000 m, bearing: 54.623284 deg, deltaT: 4.366005 s, approachRate: -0.013743 m/s, LOS rate: -0.000748 deg/s, posRepo size: 4XIW&t?WX XWX:W2W*WVbUBU)*U)U-G @U-KU?BqBy ByA}*ByAyAAA"C&t?*CRCC&t?CI)\AסIG > >9 I Fi 1? =   gh;  _3E)ݕCIݕCiݑݑݑݕW35z ,~W.hFAY~?y~ŏF`MN=YQU>a#Hy} >I! =:% 5? E:%Fcݾ % M?9%@%; %;)%:WWAXA XAWAXA:WA2WI*WIVIbUIBUQ*UQUQUU@Ѽ?BB BA@*BAAAA"C*CRCCCשIG#>  p:YWU1y:6);9+, 6HhFAYC?yVF    @ @ @i )Ii.G=MH=YQU>a#HYya}e>Iim 5?mcݾ mӶ u?9m@m: m:)iWWX XWX:W2W*WVbUBU*UUU?BB BA*BAA A A "C*CRCCC IG- >^!,bhFAY}E@}E@y}E 7}Eý}EH K߿`u?S? V޿ɿ? `X?)~E@ ~E*[;I~ECY]?y]iF{Gz?Zd;Ͽn?#>y V>)Iy{Gz?y&1|y&1|?ף<``; ½?A)½NAI½2Ai½z@A]AݼM<=YL?QU>a#HyvE}>Ia 5?1cݾ o ?9)@: k:)W!W!X! X!W!X!:W!2W)*W)V)bU)BU1*U1U1U5?BiBq BqAu*BqAqAqAqAy"Cy*CRCCCו?iו?ׁIܽ>9ܹIܽ Fiܽ?ܽ=ܹܹܽSq; ݽ8EG)>  s:YyM6);H,{hFAY}6&@}6)@y}6p4}6+f}6H@߿?@? <߿`ɿ;p?@@z`?)~6&@ ~6Z;I~4YN?yRF    @ @ @ÑÑÑiÑÑ đ)đIđiđ[M`=Y;QU>a#HyXt<}>I :C 5? :bݾ a ?9c@I: :):WWX XWX:W2W*WVbUBU*U U U `J@B9B9 B9A=1*B9AAAAAAAA"C*CRCCi ]nGI!i9mڿٺimͿACׁIG>0%,]ĕhFAY}6@}6@@y}6Q/}6f}6H ߿`و?P?c߿Wvƿ`? Khk{?)~6@ ~6Z;I~6CY^.?y^F]*;M]O=YeOaaae#Hiiym<Ȼ}u>I% 5?\bݾ ' ?9@: :)WiWiXi XiWiXq:Wq2Wq*WyVybUyBUy*UyUUA@BB BA"*BAAAA"C*CRCCCIG>Iޑ)ޑ  p:YU1y:W69@ܩ 9ܩ Iܩ iܩ ܩ ܩ ܩ ܭ \x; ݭ ;E4Z+,hFAY}>%@}>UA@y}>83}>Yo}>H@߿ `?`%@ ~>_[;I~>CYV?yV=FXZAAjܼMjT=Yj!QUj>llan#HlpyrA#<}v>It z:v 5? ~:vaݾ v ?9v@vmG; v];)v:WWX XWX:W2W*WVbUBU*UUU*@RB*** querying acoustic contact ***PPB B BAw*BAAAA"C!*C!RC!C!C)I=\A)=]A IG5 > B2,xhFAY}6%@}6@y}6:}6}6H`@""?@ ? ߿Sɿ2?>\?)~6%@ ~6UH[;I~6CYB?yBFFZ****** received transponder code query ******FF****** received ping request ******FIIaM#HMrHQy<}>Ișŝ 5?ŝwaݾ Ɲ ?9Ɲ)@ǝ: ȝ#:)șWWX XWX:W2W*WVbUBU*UUU B5 @BIBQ BQAU*BQAQAQAQAY"CY*CaRCaCaCaׁIG>e  Ć:YDW1yY:o8,EchFAY}f@}f"@y}fwy>}fΒ}fH@/ඖG?@H? @Tɿ`? u Z?)~f@ ~fZ;I~fCYv?yvFzxDUSBL response received:!U1,P 502,000,002AE,189,80,80,C3,FF zCommand AckzBRequesting micromodem ping code 2ixxNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I9MCIIiIM=IIM; MJE rh ףp= ?lC Q8> )IyMb rh?MbC< a#Hy<}>I %: 5? %:dbݾ ? -?9@: :):WqWqX XWX:W2W*WVbUBU*UU U  F@BB BA*BAAAA"CQ*CYRCYCYޕ=iޕp=C-?i-? I G- >8>,s.hFAY}6"R@}6m@y}6]C}6.̖}6H`KVR?`?+ɿE? }`U?)~6"R@ ~6 [;I~6CYBv?yBbFDɮDvNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )IiAM=YQU?a#Hyu<}?I 5?bݾ   ?9@|: :)W1W1X XWX:W2W*WVbUBU*UUUzV@BQBQ BQAUЅ*BQAYAYAYAY"Ca*CaRCaCaCiiIyG>]  {x:YU1y:6~E, hFAY}6~@}6@y}6?}6"}6H@g`vBc?@?@3DɿC?{S?)~6~@ ~6Z;I~4YB6?yB؎FFxDUSBL response received:!U1,R,502,000,002B0,18A,80,80,C5,FF FFpublishing direction and range infoDDɰFqa=F> D)FECIDyFq@Fw?amf-ٱDZ<M^`=Y^&``ab#H`dyfl"<}f>Ihj 5?jcݾ jm r?9jj@j>: j:)hWWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qq@ZQE5j?.\Ux3 JQw?amf-2Q:QbQv;g@$g @'>?RQ`?}LJ?ً?BQ{? QF@Q@PPPQQ@"Q0@BIBI BqAu*BqAqAqAyAy"Cy*CRCCC׉IG=I 9I II iI I I I M `; M AEkK,0hFAY}EKr@}EՍ@y}E<7}EBf}EH`2bcs@Ӧ? ?Y46ǿ? [ o?)~EKr@ ~EE^[;I~ECY?yFTNmea in: $SNTTA,0.024848,,,,231635.95*4E )5> 5> } } } }@ }@ }@yyyiyy y)yIyiyV׼M0=Ya#HySj}>Iȩ :ŭ 5? :ŭdݾ ƭ෾ ?9ƭ@ǭ9: ȭM:)ȭ:miAdded new target pos. range: 3.779998 m, bearing: 56.289228 deg, deltaT: 4.458430 s, approachRate: 0.026915 m/s, LOS rate: 0.373662 deg/s, posRepo size: 4XW{?WX XWX:W2W*WVbUBU*UUo=@U"L?BB  B A *B A AAA"C {?RCC{?CIQ)Q!I)GM1>Q  w:YyN6);9*R,'JhFAY?yF%=i=;MW=YQU>a#Hy}>I9= 5?=Meݾ =ĺ E?9=X@=: =:)9WaWaXi XiWiXi:Wi2Wi*WqVqbUqBUy*UyUyU}b?BB BA*BAAAA"C:|?*CRCCC׉IG- >X,dhFAY~?y~uF~jtÿZd;O{Gz?j ף<)IyMbPy&1y&1|`` ?A)3MAI 0AibAHA|M G=Y QU >a#Hy}>I! -:% 5? 5:%dݾ %滾 5?9%@%#: %:)%:WWX XWX:W2W*WVbUBU*UUUF?BQBY BYA]0*BYAYAYAYAa"C{?*CRCCC9IFia?V; E)ݕCIݑiݑݕ=ݕ=ݕ5ׁIG> o Oo:YV1y:6);^,w~hFAY}6H @}6%@y}6C}6\D}6H>Kp?@T?`ǿ_M?Ma?)~6H @ ~6[;I~6CYN?yRЍF!%^A    @ @ @éééiéé ĩ)ĩIĩiĩ;<MO=YdQU>a#Hy<}>I 5?dݾ  ?9@: :)W W X XWX:W2W*WVbUBU*U!U!U%`?BIBQ BQAU *BQAYAYAYAY"Ca*CaRCaCaCi}?i}?QIYG}=e,[hFA|@i|@Y}6"@}6>@y}6C}6i}6H`&K ?@? `ȿ=?@a\?)~6"@ ~65[;I~6CYBR?yBFI4=)C==ȼM=S=Y=:QU=>AAaE#HAIyMz;}M>IQ ]:U 5? e:UOdݾ U e?9Uk@U: U:)U:WWX XWX:W2W*WVbUBU*UUU1@BaBa BaAeY*BiAiAiAA"C*CRCCC׉IG=O  ]w:YT1y:69@ 9 I i = \; /Esk,,hFAY}:8@}:6@y}:tA}:}:H O@T_h??`b@qʿ ?2i`JK?)~:8@ ~:[;I~8YJ?yJF=<M=J=YE;QUE>AIaM#HIIyU}U>IY]Z 5?]cݾ ] e?9]ʝ@]R: ]÷:)YWWX XWX:W2W*WVbUBU*UUU%L@BB BA*BAAAA"C*CRCCC1I9GU=19inGIiؿٺ)Aiiam#HmsHqyu}u>Iy :}1 5? :}cݾ } ?9})@}: }$:)}:WWX XWX:W2W*WVbUBU*UUUސ@RB*** querying acoustic contact ***PPBB BAl*BAAAA"C*CRCC C I)IG=  :YWU1y:6gy,hFAY}J'J@}Je@y}J#G>}J i}JH ^=@>r?z?ǿ? e?)~J'J@ ~JU[;I~JCYZ\?yZF^Z****** received transponder code query ******^F****** received ping request ******^a#Hy-<}>I 5?Ycݾ 6 ?9e@+: ϸ:)WAWAXA XAWAXA:WI2WI*WiVibUqBUq*UqUqUut> @ܙ9ܝCIܙiܙܝ=ܙܙܝ; ݝtEBB BA*BAAAA"C*CRCCCIG (>2,shFAY}FDR@}Fm @y}FA@}FÒ}FH"#@9?`%[?] Oȿ?  b[?)~FDR@ ~FR[;I~FCYR?yVFZxDUSBL response received:!U1,P 502,000,002B0,18A,80,80,C5,FF ZCommand AckZBRequesting micromodem ping code 2iXXbNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  ѻMg=Y-QU5>AIaM#HQayu5=}>I15 5?5cݾ 5 M?95@5); 53;)1WWX! X!W!X):W)2WQ*WYVYbUaBUa*UiUUS @BYBY BYA])*BaAaAaAaA"C*CRCCCaIyG=>% %%%o %k:Y%xZ1y%q:%6,hFAY}J@}J @y}J>}J菽}JH`LNڥ?B?7OȿŸ?. f_?)~J@ ~J?\;I~JCYn?ynȌFpɮpNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ae]A    @ @ @ @éééiíé ĩ)ĩIĩiĩ\M@=Y;QU>a#HyYq<}>I :a 5? :bݾ  ?9Ȟ@: -:):W WX XWX:W2W*WVbUBU*UUUK@BIBi BiAmw*BqAqAqAqAq"Cy*CyRCyCC׵?i׵?ׁIG>ܕ >9ܕ CIܑ iܑ ܑ ܑ ܑ ܕ ; ݕ [hE I,3hFAY}>@}>6 @y}>ݬB}>m9}>HP@T? 9? F6 DUɿ`&0?`{V?)~>@ ~>PZ\;I~>CYJ?yJFRxDUSBL response received:!U1,R,502,000,002AF,189,80,80,C7,FF RFpublishing direction and range infoLLɰNa=N7> L)NGCILyNn@Nw?amf-ٱLIX)XIb=)b=f>=Mf[=Y5[>QU5>99a=#H99yEc;}E>IIM 5?Mbݾ Ml u?9M@Mo; M;)IWWX XWX:W2W*WVbUBU*UUU@"@R(Combining 5 samples.P*Qn@ZQo$?7U JQw?amf-2Q:QbQ@e?c? @mU?RQYp;E?h?l)6%?BQ*R? QiH@Q8?PPPQQ!@"Q@BqB BA*BAAAA"C*CRCCCסIG=M MMM Mr:YMDW1yMY:M;6)M;9U.,XMhFAY}V5@}V @y}VySF}Vʏ}VH`JM q*0?@4? A:tɿԢ?ࠟ@S?)~V5@ ~V[;I~VCYb?ybF]TNmea in: $SNTTA,,0.023047,,,231640.38*4B M>=Y QU>a#Hy̎}>Iȱ :ŵ% 5? :ŵcbݾ Ƶ: ?9Ƶ/@ǵ: ȵE:)ȵ:mmAdded new target pos. range: 3.720000 m, bearing: 58.334692 deg, deltaT: 4.445717 s, approachRate: -0.013496 m/s, LOS rate: 0.460098 deg/s, posRepo size: 4XW*R?WX XWX:W2W*WVbUBU*UU @U 2?B1B1 B9A=*B9A9A9A9A9"CE@U?RCACM*R?CIIIQGu=V,*ghFAY}6-@}6 @y}6%C}6!}6HD_*?-? j{@ ǿ VW?Ld?)~6-@ ~6[;I~4YN?yRZFK7A?~jt`"? > =)IyV-/$?~jtxh<Ļ ?A)OAI1AiKeAIA)%> = - - - -@ 5@ 5@)))i)) )))I)i)E$ME@=YE۴;QUE>IIaM#HIQyU&;}]>IY] 5?]dݾ ] m?9](@]: ]=:)YWWX XWX:W2W*WVbUBU*UUU`R|?BB BA;*BAAAA"C*R?RCCCI]A)=>99I=XFi=?==99=ٝ; =_EױIG> h p:YU1y:6)o; @, hFAY}:@}: @y}:#@}:^&}:H@e#?/?}cƿn?l`i?)~:@ ~:[;I~8YN?yRGF~a=i~=   ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYm?MmY=Ym qqau#Hyyy}G:}>Iȉ :ō 5? :ō{eݾ ƍz ?9ƍ@Ǎ: ȍ:)ȍ:WWX XWX:W2W*WVbUBU*UUU +F?BqBq ByA}C*ByAyAyAyA"C*CRCCC׉IG=h,hFAY}6@}6t$ @y}6DB}6V<}6H`gl@?N'?} PTǿ e#? d?)~6@ ~6T\;I~4YN?yRFY.=MP=YeQU>!!a%#H!)y-NU;}->I158 5?5fݾ 5 E?95@5: 5:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUqU} ?BB BA*BAAAA"C*CRCCCױIG=  }:Yy69@1 91 I5 Fi5 a?1 1 1 5 ; 5 YE)IňCiň=ň=ňz48,bhFAY}6V_@}6z @y}6uI}6\}6HO@산?B?``ȿ ? U?)~6V_@ ~6*[;I~6CYN?yRGF      @ @ @ ÑÑÑiÕ?Ñ ĕ?)ĕK?Iĕ?iĕK?"MA=YQU>a#HtHy\L<}>I : 5? :hݾ  ?9@k: o:):WWX XWX:W2W*WVbUBU*U U U )@B9B9 B9A=C*B9AAAAAAAA"CI*CIRCICICQe?ie?)IAG]=ޑiޑ|,ԝhFAY}6@}6 @y}6K}6 }6HŔ@n? ?x` |ʿ`YK?`E?)~6@ ~6U[;I~6CY^X?y^PFI%=)%4=]7=M]O=Y]QUe>aaae#Haiym;}m>Iqu 5?ujݾ ug ?9uǣ@u: ub:)qW!W!X! X!W!X!:W)2W)*W)V)bUQBUQ*UQUQU]y@BB BAׅ*BAAAA"C*CRCCCIG>  n:YWU1y:6,TrhFAY}:V@}:Ar @y}:@F}:}:HL`Ο?  ?`q_ɿ ?@x/Q?)~:V@ ~:Q[;I~:CY^r?ybF``eOn?et eļ)aIayeL7A`堿y&1|I +e+e`e9 eAA)eNAIaiecAaeGIA}d<M}H=YZUa#Hyʻ}>Ișŝv 5?ŝjݾ Ɲ ?9Ɲ*@ǝw: ȝ:)șWWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCC9Ii:; WE׉IG=iE }nG,ThFAI4i e>    @ @ @ @ùùùiýù Ľ)ĽIĽiĽh<ME=YQU>a#Hy}>I :C 5? :jݾ  ?9@;  ;):W)W1X1 X1W1X9:W92W9*WAVAbUABUA*UIUIUU`s @BaBa BaAea*BaAiAAA"C*CRCCCIש)שׁIG> Y    )x:Y W1y č: N6,p(hFAY}6@}6 @y}6H}6m}6H@6M ?@0?Nuȿ ?"U?)~6@ ~6UA[;I~6CYNi?yR3FVxDUSBL response received:!U1,P 502,000,002AF,189,80,80,C7,FF VCommand AckVBRequesting micromodem ping code 2iTTZNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 tt<M%W=Y5лQU5>a#HyΫ}>I 5?lkݾ  -?9@A; ;)WWX XW X :W12W9*WAVAbUABUI*UQUQU]n @BB BA*BA)A)A)A)"C1*C1RC1C1C9)I9Gm5>9I Fi?=A; WE#,26hFAY}2@}23 @y}2.O}2c}2H@\b??HFʿ౸?)PxC?)~2@ ~2U[;I~0Y^?yb`Fba=ɮba=rNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @áááiáá ġ)ġIġiġɮ;MA=YotQU>a#HyG<}>I : 5? :kݾ Lľ ?9O@: (:):WWX XWX:W2W *W V bU BU *UUU*@BB BA*BAAAA"C*CRCCCIG>m d m m m  m y:Ym X1ym /:m D6)m d;9u ,OhFAY}21K@}2f @y}2QM}2:}2H@}`??E`˿E~? 瘷I8?)~21K@ ~2+[;I~2CYB?yB;FFxDUSBL response received:!U1,R,502,000,002AE,189,80,80,B9,FF FFpublishing direction and range info@@ɰB`=@ @)B9CI@yB=j@Bw?amf-ٱ@V^ATZ <MZ\=Y^b;QU^>``ab#H`dyf8S<}f>Ihj 5?j8lݾ jɾ r?9j@j: jY:)hWaWX XWX:W2W*WVbUBU*UUUq@R(Combining 5 samples.P*Q=j@ZQs:@?apuV JQw?amf-2Q:QbQ?d4y@<=?RQ5rm5r?6? ¿?BQւ? QD@Q?PPPQQ@"Q!@B1BQ BQAU*BQAYAYAYAY"Ca*CaRCaCaCi}?i}?QIYGu= ,vihFAY}No@}NK @y}N(xE}N~н}NH %?`$?@L"˿`?ֈ>?)~No@ ~N\;I~NCYZ?y^F%TNmea in: $SNTTA,0.437774,,,,231644.82*48 I!)!I=4=)=C==|?5^?{Gz=# =t=)9I9y=y&1?Mb`?~jt?=`e<=;=D< =?A)=OAI=K/Ai= fA99U1<M]2=Y] aaae#Haaymǟ;}m>y9yI}Fi}v?yyy}Z; }WEIȑ :ŕ* 5? :ŕlݾ ƕ'ƾ ?9ƕץ@Ǖ: ȕ:)ȕ:mmAdded new target pos. range: 3.660000 m, bearing: 58.565389 deg, deltaT: 4.438495 s, approachRate: -0.013518 m/s, LOS rate: 0.051976 deg/s, posRepo size: 4XWւ?WX XWX:W2W*WVbUBU*UUG @U ?BB BA*BAAAA"Cւ?*CRCCւ?CIG5->e  e e e  e us:Ye WU1ye :e 6)e ;,hFAY}2\@}2.x @y}2)@}2Dۧ}2Hڏ?@W?@a#HyhE}>I 5?kݾ ]þ  ?9@; ;)WWX XWX:W2W*WVbUBU*UUUR?BIBQ BQAU*BQAQAYAYAY"Ca*CaRCaCaCiׁIG>,phFAY}668@}6S @y}6?}6 r}6H`??!R`gɿ`?@㵿 R?)~668@ ~6\;I~6CYF?yFF)-> ->]h=M]R=YeA;QUe>aaam#Hiiyu}u>Iy} 5?}kݾ } ?9}"@}: }w:)yWWX XWX:W2W*WVbUBU*UUUHS?BB BA*BAAAA"C*CRCCCIG=y9yI}@Fi}?yyy}k; }VE +    ~t:Y 0Y1y : 6) w;.,sJhFAf`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ  )  I YM!?yMߑF 鿹      @  @  @   i   ) I i a,M=YQU>!!a%#H%uH)y-}5>I1 =:5/ 5? =:5pkݾ 5 E?95V@5+; 5I;)5 :WiWiXi XiWiXi:Wi2Wq*WqVqbUqBUy*UyUyU}V?BB BAe*BAAAA"C*CRCCCיIGb>E,,hFAY}6w@}6 @y}6(}6}6H`?@,?MAtǿ)?ᵿs?)~6w@ ~64[;I~6CɫQY)Y YIYYJ?yFu!<Mu=Yu6=QU} ?yya}#Hyy1<} ?Iȑŕ 5?ŕKkݾ ƕv ?9ƕv@Ǖ: ȕ@:)ȑWWX XWX:W2W*WVbUBU*UUU7k@BB BA*B A A A A "C*CRCCCaIqG>@,hFAY}:r@}: @y}:"}:كB}:H`Bԏ@}? >?`V*ĿG?``e?)~:r@ ~:[;I~:Cɫ99)9 9I9Y}[?y}xF%>9!I%Fi%E?!!!%; %TE)IiŁ=ŁT4=p= ף?T㥛 MbP=== =)9I9y=~jt~jt===D =yya}#HyJ}>Iȱ :ŵ 5? :ŵjݾ Ƶ ?9Ƶ¦@ǵ: ȵ:)ȵ :WWX XWX:W2W *W V bU BU*UUU@;@RB*** querying acoustic contact ***P!P!BIBQ BQAeW*BaAaAaAaAi"Ci*CqRCqCqCqYIiGZ>ޕ=iޕ=  wq:YU1y:6);(,hFAY}6~@}6p @y}6b$}6o}6H11a=#H99yE}E>IIM 5?Mjݾ M U?9M@M: Mk:)IWWX XWX:W2W*WVbUBU*UUU@B!B! B!A%.*BAAIAIAIAI"CQ*CQRCQCQCYaIiG:>R,hFAY}6@}6+; @y}6}6}6H@N`c?L?@p@65ſ`?hHj?)~6@ ~6Gj;I~6CɫII)I IIIYyyyxDUSBL response received:!U1,P 502,000,002AE,189,80,80,B9,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 YV  a#H)y=}E>Ia :e 5? :esjݾ e ?9e8@eK; e#<)e :W9W9X9 XAWAXA:W2W*WVbUBU*UUU@ @B B  B A *BAAAA"C*CRCC!CAI9GmV>A  U:YV1y:69@>9Ii=+; .REV} ,W8hFAɫyy)y yIyY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @éééiéé ĩ)ĩIĩiĩXMa#Hy}>I 5?)jݾ Wþ ?9}@ : $:)W W X  XWX:W2W*WVbUBU*UU!U%xk @BIBQ BQAUD*BQAQAQAYAY"CY*CaRCaCaCaI}\A)}[AQYiIinmGIi4ۿٺDAG%,>Iޙ)ޝAAd,DnRhFAY}6d`@}6{ @y}6}6Q}6H՞[?@W?4@o`? ?)~6d`@ ~6I0g;I~4ɫYY)Y YIYYC?yFxDUSBL response received:!U1,R,502,000,002AE,189,80,80,B4,FF Fpublishing direction and range infoɰ鰡 )4CIyw?amf-ٱ# =M[=Y^=QU>a#Hy-<}>I : 5? :iݾ _ž ?9@; ;) :WW!X! X!W!X!:W!2W)*W)V)bU)BU)*U1U1U5\4@RE(Combining 5 samples.PA*QAZQEs:@?apuV JQEw?amf-2QA:QAbQE@6?a @(e?RQE,1?zP_?@]?BQE? QE]H@QE ?PAPAPAQAQE@"QE@BqBy ByA}݂*ByAyAyAA"C*CRCCC׉IG>  u:YWU1y:6,sIlhFAY}2Ğ@}2N @y}2}2Il}2H@΋ے?@H?_ G)?cPi?)~2Ğ@ ~2b;I~2CɫII)I IIIY]?y]SF9CIxFi?=; }OEdNmea in: $SNTTA,0.023902,0.444024,,,231648.89*5D L7A`?I +?Mbp+>9< )IyMb`?/$L7A`?;+= ;A)OAI5Ai]AGA    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉjM%=Y;QU>a#Hy;}>I@ 5?iݾ  ?9@D; ם;)miAdded new target pos. range: 3.660000 m, bearing: 59.393583 deg, deltaT: 4.053384 s, approachRate: 0.000000 m/s, LOS rate: 0.204322 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UUU@5?B)B1 B1A5*B1A1A9A9AY"Ce?RCaCe?CiQIaG}z>x!,w,hFAY}FZ@}F @y}F+=콙}FZ}FH!@ؔ?O?v? ?)~FZ@ ~Fc;I~DɫQQ)Y YIYY}5?y}FJ9<M=Y n QQaU#HQYy] }e>Ia m:eC 5? u:eIiݾ eѯ u?9ex@ew: e:)e :WWX XWX:W2W*WVbUBU*UUU c?BB BA*BAAAA"C*CRCCCIG>ܹ9ܽCIܽFiܽ1?ܽ=ܹܹܽ,; ݽLEN-,VhFAY}rb@}r} @y}rHͽ}rmܽ}rH@ஒ`9@f?@"B¿ ?j?)~rb@ ~rUb;I~rCɫ) IY [?yxF    @ @ @i )IiM%1=Y-1AaE#HEvHy}>I : 5? u: iݾ x u?9¨@< Ɣ<):WWX XWX:W2W*WVbUBU #  s:Yyi6);9*U UUW?BB BAW*BAAAA"C*CRCCCIG >4,hFAY}2@}2 @y}2wǽ}2yҽ}2H @xIޥAA)ޥ@A8:,GhFAY}6@}6S @y}6^Ž}6yb}6H_Ii@吿9aIeXFie?aaaeɉ; eUJEY?yAF aa> ףp=?Q?lQ>\> )Iyy&1??qqa}#Hyyy<}>Iȉō 5?ōhݾ ƍ ?9ƍs@Ǎ: ȍܹ:)ȉWWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C *C RC C CIGM0>C  i:YU1y:6);iA,qhFAY}NN@}Ni @y}N|ǽ}N}~}NH!.@iUr?D&?@zz?k?)~NN@ ~N%\;I~NCɫqy)y yIyY?yF e e e e@ e@ e@aaaiaa a)aIaiauq<MuT=Y}/QU}>ya#HyL<}>Iȑ :ŕ 5? :ŕhݾ ƕ ?9ƕ@Ǖ: ȕA:)ȕ:WWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB B  B A *B AAAA"C*CRCCC! IG5 >#G,4G!hFAY}2A@}2 @y}2oս}2*R}2Hr$*ޒ?B?|bsH??)~2A@ ~2 c;I~2CɫYY)Y YIYY?y7FZ****** received transponder code query ******F****** received ping request ****** a#Hy<}%>I)- 5?-hݾ - =?9-V@-U; -a;))W9W9X9 X9WAXA:WA2WA*WAVIbUIBUI*UiUqUu) @BB BA *BAAAA"C*CRCCCIG$>a9aIeȖFie?aaae; e`GE)Ii==M4U ~~ w:YT1y@:26)\;;N,6";hFAY}2Ym@}2 @y}2r-޽}2u}2HSJ ?`?Ʌi@?@`4?)~2Ym@ ~2 fa;I~2CɫYa)a aIaY.?y]FxDUSBL response received:!U1,P 502,000,002AE,189,80,80,B4,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)%=%ڼM-H=Y=*QU=>IQa]#HYiyn<}>Iȱ u:ŵJ 5? u:ŵhݾ Ƶ }?9ƵԪ@ǵ7< ȵ&<)ȵ:WWX XWX:W2W*WVbUBU*UUU@M @BaBa BaAeb*BiAiAiAiAq"Cy*CyRCyCyCסIGg>+U,ThFAY}:ڢ@}:d @y}:%۽}:<}:H @??@9PW?1m ?)~:ڢ@ ~:SY_;I~:Cɫ99)9 9I9Y}?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )Ii >M?=Ytc;QU>a#Hy4;}>I 5?lhݾ /u  ?9M@: :)W)W)X) X1W1X1:W12W1*W9V9bU9BU9*U9UAUEI@BiBq BqAu*BqAqAqAqAy"Cy*CRCCCI)IG (>   :YV1y:69@;+[,{nhFAY}2@}2 @y}2Tݽ}2@}2HE š?۠?巻М?@gk?)~2@ ~2M_;I~0>9I8Fi?=(; XDEɫYY)Y YIYY?yzFxDUSBL response received:!U1,R,502,000,002AD,189,80,80,BE,FF Fpublishing direction and range infoɰu`=鰡 )>CIyff@w?amf-ٱEJ +?p= ףp= ף?E=E E=)AIAyE{GztQ?A`"?EףEuA)EKAIAiAAEEA) >  >@MJ=Y,QU>a#Hyh<}>I!% 5?%hݾ %_ U?9%@%{; %;)!WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qff@ZQxP^B(?0B JQw?amf-2Q:QbQ 篋?}BU @ݾO?RQ*?m%?B2nX?BQ\? QJ@Q?P\9?PPQQ^ @"Q@BIBQ BQAU&*BQAYAYAYAY"Ca*CaRCaCaC׉IGC>Iޑ)ޑi mGI i ٺ Ab,ÈhFAY}f5@}f[Q @y}f9}fi}fH?@?v׼??)~f5@ ~fD_;I~fCɫ) IY ?yLFuDNmea in: $SNTTA,,,,,231653.34*59 FMN=YQU>a#Hy<}>I : 5? :Diݾ J ?9ѫ@: :):mmAdded new target pos. range: 3.599999 m, bearing: 61.934619 deg, deltaT: 4.495868 s, approachRate: -0.013346 m/s, LOS rate: 0.565193 deg/s, posRepo size: 4XW\?WX XWX:W2W*WVbUBU*UU @U@=?B B  B A 9*BAAAA"CP?RCC\?C!I G%,>  |:YU1y:6=h,ChFAY}6@}6u @y}6}6}6H < `تb?`^]?Wk?I *?)~6@ ~6b;I~6Cɫ99)9 9I9Y}?y}F ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYm<MmO=Yu=!QUu>qya}#Hyyyl<}>Iȉō[ 5?ōiݾ ƍ6 ?9ƍ@Ǎ: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUU`ݿ?BB BA*BAAAA"C \?RC CC!i%?)I1GU>9Ii=; AEgn,8khFAY}2jJ@}2e@y}2}2GR}2H@E@π@?!? B¿R? ?)~2jJ@ ~2c;I~2 CɫYY)Y YIYY?yF M M M M@ M@ M@IIIiII I)IIIiI]%MeK=YeܼQUe>iiam#HmwHqy<}>I : 5? :1jݾ B  ?9^@$: =:):W)W)X) X1W1X1:W12W1*W9V9bU9BU9*U9UAUE?BqBq BqAu{*BqAyAyAyAy"C*CRCCCIIYG>ޕ=iޕ=(  At:YW1yč:6HOu,=EhFAɫyy)y yIyY?y2FI%=)%=UoM]K=Y]QU]>aaae#Haaym}m>Iqu 5?ujݾ u }?9u@u÷: u:)qWWX XWX:W2W*WVbUBU*UUU A?BYBa BaAe*BaAaAiAiAi"C*CRCCCiIyG>hy{,` hFAY}J@}Jh@y}J(}J(T9TIVFiV?TTTV~; V'?E}JH f eiH?@?P ƿO? !}?)~J@ ~J_;I~JCɫy髁) IY?yF:v?ʡE{Gz?T< #>)Iyy&1|?J +?X9v`;H= ?A)^LAII4AiXAEA    @ @ @ ùùùiý\?ù ĽA?)ĽA?IĽA?iĽ?YM5=Y9QU>a#Hyr<}>I :8 5? :kݾ Q ?9U@ : :):WWX! X!W!X!:W!2W)*W)V)bU)BU1*U1U1U5+@@BYBa BaAë́*BaAiAiAiAi"Cq*CqRCqCqCyI׉)׍\AaIiG9> D |:Yyq&6)l;9Ha, hFAY}6_@}6)@y}6=4}6}}6H`Cx@[;?l?Zǿib?`kXqg?)~6_@ ~6];I~6Cɫ99)9 9I9Y}?y}NF)= =yMk=YQU?!!a%#H!)y-P<}-?Iȉō 5?ō}kݾ ƍx' ?9ƍ@Ǎ: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C *CRCCCIIQGu>Iޕ@A)ޕAAr,#hFAY}282@}2M@y}2<}2߮}2H\~N`|;? ? vǿu?e@a?)~282@ ~2\;I~2Cɫ99)9 9I9Y}L?y} FMR=Y&QU>a#Hy;}>Iȹ :Žs 5? :Žkݾ ƽ4 ?9ƽy@ǽ: ȽA:)Ƚ:WWX XWX:W2W*WVbUBU*UUUN#@R B*** querying acoustic contact ***P P B)B1 B1A5*B1A1A9A9A9"CA*CARCACACIIIYGu=ܽ>9ܹIܽFiܽa?ܹܹܹܽz; ݽ =E  X:YV1y:6);,=hFAY}6R@}6n@y}6D}62YE}6H+@:@? '?`ƿRx?@G4_?)~6R@ ~6O(c;I~6Cɫ99)9 9I9YZ?y*FZ****** received transponder code query ******F****** received ping request ******a#Hy;}>Iȩŭ 5?ŭZlݾ ƭA ?9ƭ(@ǭ: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUUy @BB BA*BAAAA"C)*C)RC1C1C1ו?iו?aIiG9>,ލWhFAY}:gb@}:}@y}:*rO}:[}:H @B< F?q? dȿ ?4Ъ@L?)~:gb@ ~:"b;I~:Cɫ99)9 9I9Y}?y}XFxDUSBL response received:!U1,P 502,000,002AD,189,80,80,BE,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ]AݼM}U=Y$мQU>a#Hy;}>I2 5?lݾ [O =?9Я@a; L;)WWX XWX:W2W*W9V9bUBU*UUU ҧ @BB BAl*B A A AA"Cy*CyRCyCyCޕ=iޕ=p  y:Yy69@qIyG>Ǜ,bhqhFA090I2Fi21?0002Nw; 2M;E)Ii==4Y} @}['@y}T}YQ}H`WXhV@O?Ԟ?zȿi?*@:E?)~ @ ~S_;I~ɫ髑) IYA?y|FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)))IU=)U=V-?'1Z?Dl<"> O)IyMb`~jtx?I +;94 l=A)OAI1AiKeAIA u u u u@ }@ }@qqqiqq q)qIqiql;M#=Y2QU>a#HyB8}>I! -:% 5? -:%lݾ %d 5?9%@%: %:)%:WqWqXq XqWqXy:Wy2Wy*WyVbUBU*UUUGe@BB BA]*BAAAA"C!*C!RC)C)C)1IIGew>v,lChFAY}:9T@}:o@y}:A`Y}:$}:H @а? ?@A~ȿ? @A?)~:9T@ ~:u@^;I~8ɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,R,3E4,000,002AE,189,80,80,B4,FF Fpublishing direction and range info/^ɰ`=鰁 )4CIy=j@떧?1UVqٱ q<M n=YSQU?a#Hy%}%?I)- 5?-lݾ -s 5?9-@-: -h:))WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q=j@ZQϤ-$@Wd+]JQ떧?1UVq2Q/^:QbQT1Z?" @۽rm?RQEr?`?]&~X;?BQO? Q`@QR?PZ9?P\9?PQQ@"Q^ @BB BA1*BAAA!A!"CI*CIRCICICQIa)e]AAIQGm5>  }:YT1y:N6ۨ,9(hFAɫ) IYU?yU4FTNmea in: $SNTTA,0.069315,,,,231657.78*43 )=  M J=YQU>a#Hy%}%>I) 5:-h 5? 5:-lݾ -悾 5?9-#@-f: -:)-:meiAdded new target pos. range: 3.660000 m, bearing: 76.809896 deg, deltaT: 4.440500 s, approachRate: 0.013512 m/s, LOS rate: 3.349910 deg/s, posRepo size: 4XiWmO?WiXi XiWiXq:Wq2Wq*WqVqbUyBUy*UyU}G @U@\?BABI BIAM{*BIAIAQAQAQ"C]l1?RCYC]O?CYYIiG<>a9aIeFiev?e=aae8t; e9E,hFAY}61@}6M@y}6k}6f}6Hv??@п-0?0?)~61@ ~6δ`;I~4ipGI i!MyٺIM'Aɫ髩) IY?yGFM=iM= YY    @ @ @i )IiIM$=YbQU>a#HxHy } >I)-1 5?-clݾ -! 5?9-D@-I: -:))WYWYXY XaWaXa:Wa2Wa*WiVibUiBUi*UiUqUuլ?BB BAC*BAAAA"CZ?RCCCD  }v:YDW1yY:)6IG>,hFAY}2b@}2@y}2j}2:}2H`/&N`?@S?ðNп?@=b?)~2b@ ~2g;I~0ɫYY)Y YIYY?y+F=#=M==Y=u;QU=?AAaE#HAIyM<}M?IQ ]:U 5? e:UJlݾ UZ e?9UW@Us: U:)U:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAIAI"CUp3?RCYCYCY׍?i׍?iIG#>L,hFA 9 I"@Fi"?"= "Eq; "8EY}-@}-@y}-kc}-U}-HS-.?f?`@p̿ ;?q?)~-@ ~-}b;I~-Cɫ)))1 1I1Ym?yuF]X9v?{Gzt?ʡE?]<]ף; ]=)YIYy]Q11a5#H19y=t}E>IIM 5?Mlݾ MϘ U?9Mİ@M: M:)IWqWyXy XyWyXy:W2W*WVbUBU*UUU-J?BB BAh*BAAAA"CY?RCCCIGJ>`  x:YW1yč:6);9{, hFA|i|@Y}6@}6 @y}6af}6d}6H`x϶??`?X˿4? 6ԫ%?)~6@ ~6_;I~6CɫYY)Y YIYY?ylFI)AI R=) 4==Θ<M=q=Y=uQU=?AAaE#HAIyMv}M?IQ ]:U 5? ]:Ulݾ U e?9U@U: Ug:)U:WWX XWX:W 2W *W V bU1BU1*U1U1U5 @BB BA4*BAAAA"C5?RCCCסIG!>',f&hFAY}>@}>6 @y}>h}>N}>H@Y{?K?]̿ >?@a S?)~>@ ~>#V];I~>Cɫai)i iIiY?yF5\;M=J=Y=tQU=>AAaE#HAAyM }M>IQU 5?UTmݾ U ]?9Up@U: U^:)QWWX XWX:W2W*WVbUBU*UUU@BB BA)*BAAAA"CU s?RCQCQCYIIQG}>9IFiE?(o; 6E6  :YDW1yY:);,A@hFAY}:<@}:dX @y}:QYc}:Sv}:H` Q@%I?@U?˿/?+<`#?)~:<@ ~:D\;I~:Cɫ99)9 9I9Y}k?y}F    @ @ @i )Ii*;MO=YOWqya}#Hyyy"}>IȉōS 5?ōmݾ ƍࣾ ?9ƍϱ@Ǎж; ȍE;)ȉWWX XWX:W2W*W V bUBU*UUU%@u@RuB*** querying acoustic contact ***PqPqBB BA*BAAAA"C_j?RCCC)IG=/>Iޑ)ޑ9,&ZhFAY}F1 @}F' @y}Fq]}F~A}FH4@?Ͷ?*?mìɿw?_@E8?)~F1 @ ~Fd;I~DɫYY)Y YIYY4?yFZ****** received transponder code query ******F****** received ping request ******a#Hy%Z}%>I) =:- 5? =:-nݾ - =?9-*@- ; - ;)-:WWX XWX:W)2W1*W9V9bUABUi*UqUyU}@u @BiBi BiAm`*BiAqAqAqAq"C}"?*CyRCCCיIGb>U  w:YX1y/:69@ 9 I @Fi ?    n;  [6ENg,1thFAY}N$@}NM@ @y}N/a}Ni!}NHY ?^?@Lgnɿ?4?)~N$@ ~N`c;I~NCɫ髑) IY\?yFxDUSBL response received:!U1,P 3E4,000,002AE,189,80,80,B4,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ~jtx?J +y&1|;Ƚ `)Iy rh~jt?~jtx?C=; A>A)SAI-AikAJA    @ @ @i )Ii%8<M%=Y-޻QU->)1a5#HQaymh4;}m>Iqu, 5?u)oݾ uq ?9u@u/>; uC;)qWYWYXa XaWaXa:Wi2Wy*WyVybUBU*UUU )@BB! B!A%*B!AIAIAIAI"CU?RCQCQCY׍?i׍?a Iq G >L,ԍhFAY}F@}F2, @y}Fe}Fm}FH`ϵ?`?@~`G˿z? ެ M%?)~F@ ~Fl_;I~FCɫ髙) IY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B <M=Y+xQU?a#Hys}?I : 5? :oݾ t ?9I@s: :):WW!X! X!W!X!:W!2W)*W)V)bU)BU1*U1U1U5@BYBa BaAe*BaAiAiAiAi"Cu}?RCqCqCy1IAG>ޑiޕp=}  {:Y0Y1y:D6u,hFAY}2@}24 @y}2e}2Ph}2Hm @յ?@,?:˿v?]%?)~2@ ~2ǁ];I~0ɫ99)9 9IAYE?yMGFUxDUSBL response received:!U1,R,48E,000,002AF,189,80,80,A4,FF UFpublishing direction and range infoMS>IɰMa=I I)M$CIIyMn@M6ީ?@9ٱI}6<M}c=Y}9QU>a#Hy }>Ișŝ 5?ŝpݾ Ɲv ?9Ɲų@ǝ: ȝ:)șWWX XWX:W2W*WVbUBU*UUU d@R(Combining 5 samples.P*Qn@ZQľF?W)Q JQ6ީ?@92QS>:QbQa)?в3 @!h?RQhkk?~;?`> ?BQV(? QW@QK?P[9?PZ9?PQQ@"Q@B!B! B!A-C*B)A)A)A)A)"C59?RC9C9C9IGu=ܵ>9ܱIܵFiܵv?ܱܱܱܵl; ݵ5E)aIaiaaae"j4^,hFAɫ) IYU?yUȌFTNmea in: $SNTTA,0.026899,,,,231702.23*48 ) > >    @ @ @i )Ii`WM*=YQU>a#HyHy}>I :6 5? :qݾ y ?9k@: :):m5mAdded new target pos. range: 3.720000 m, bearing: 66.766397 deg, deltaT: 4.384449 s, approachRate: 0.013685 m/s, LOS rate: -2.290710 deg/s, posRepo size: 4X1W5V(?W1X1 X1W1X9:W92W9*W9V9bUABUA*UAUM @UM@?BqBq BqA}w*ByAyAyAyAy"C"¤?RCCV(?C I)\AIGI>v  yz:YDW1yY:6ɇ,chFAY}:S@}:n @y}:f}:qۡ}:HN?@ ?:@d̿?󳳿@?)~:S@ ~:<_;I~:Cɫ99)9 9I9Y]4?y]F=;M=i=YE=QUE>AIaM#HIIyU <}]>Iim 5?m:rݾ m ?9m@m{; mʢ;)iWWX XW!X!:W)2W1*W9V9bUABUI*UQUYU]@Y?BqBq BqA}`*ByAyAyAyA"CΛ?RCCCIGE>Iޑ)ޕ@Aܝ >9ܙ Iܙ iܙ ܙ ܙ ܙ ܝ k; ݝ &5E,MHhFAY}=@}= @y}=Z;f}=6[}=H0P@?@?G̿? ?)~=@ ~=me;I~=CɫQQ)Q QIQY?yF}/$?Q?ˡE?}1>}u< }'=)yIyy}Q?~jth}\=}D} }AA)}PAI}v.Ai}lAy}\KA    @ @ @i )Iig߼M*=YQU>a#Hyw*<}>Iȩ :ŭ 5? :ŭrqݾ ƭ ?9ƭk@ǭw: ȭ:)ȭ:WW!X! X!W!X!:W!2W!*W)V)bU)BU)*U1U1U5?BB BĂ*BAAAA"Cs?RCCCi%nGIIiٺAG%o>  r:YW1yč:6);9֙,vhFAY}2@}2 @y}2j}2%}2H@s?`#?1Ϳ&?-l?)~2@ ~2`;I~2CɫYY)Y YIYYV?yvF  \A5͞<M=z=Y=k ,(hFAY}Ju@}J @y}Jm}JF[}JH@ǩq@?@d?Ϳ`_?/?)~Ju@ ~JC^;I~JCɫqq)q qIyYK?yҋFuʡMuF=YukQUu>yya}#Hyy}>Iȉō 5?ō=pݾ ƍ ?9ƍ9@Ǎ: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUUe@BB BAۆ*BAAAA"C _?RCCCaIiG>)9)I)i)-=))-j; -4Eޕ=iޑ  w:Yy 6)6;ث,BhFAY}6o@}6L @y}6Kzo}6->M}6H`[N6%??@P˿?O?)~6o@ ~6\;I~4ɫ99)9 9I9Y}?y}F    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ=MG=YQU>a#Hyˆ}>I :! 5? :oݾ Ѡ ?9@%; ;):WWX  X W X :W 2W*WVbUBU*UUU`6@BABI BIAMl*BIAQAQAQAQ"C]`_?RCYCYCaI)G=,\hFAY}Jڝ@}Jd @y}JQq}J }JH@o@^??@ʿ`?,B?)~Jڝ@ ~J\;I~JCɫyy)y yIyY?yF)= ==n =MEQ=YMcQUM>Yaae#Hay;}>I9= 5?=nݾ = ?9=!@=)< =S<)9W)W)X1 X1W1X1:W12W1*W9V9bU9BU9*U9UAUE;@RmB*** querying acoustic contact ***PiPiBB BA*BAAAA"CV(?RCCCI)IGE>G  v:YDW1yY:69@) 9) I) i) - =) ) - i; - #4E,׈vhFAY}2@}2{ @y}2cp}2SS/}2H`9 ]*?1?`g^˿_? 1N?)~2@ ~2^c;I~2CɫYY)Y YIYYs?yFZ****** received transponder code query ******F****** received ping request ******a#Hy;}>Iȉ :ō' 5? :ō[nݾ ƍ ?9ƍu@Ǎ: ȍ4:)ȍ:W W X  X W X :W2W*WVbUBU*UUUm @BB BA*BAAAA"C*CRCCCׁIG=>Iޙ)ޙ2#,J|hFAY}v@}v @y}vs}v"^}vHల5["?? =̿`*?@ ?)~v@ ~v$5b;I~vCɫ) IY-0?y-F5xDUSBL response received:!U1,P 48E,000,002AF,189,80,80,A4,FF 5Command Ack5BRequesting micromodem ping code 2i119i=R=ENmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )IiE <ME'=YM!QUU>qya}#HyyyR0}>Iȉō 5?ōmݾ ƍ ?9ƍԷ@Ǎ; ȍ;)ȉWWX XWX:W!2W!*W!V!bU!BU)*U)U)UUD?@ByBy ByA}!*BAAAA"C*CRCCC  :Y0Y1y:6)I1GU>*,<hFAY}6V@}6 @y}6{}6E}6H@I ? ?]h!Ͽ."?`?)~6V@ ~6-_;I~6CɫYY)Y YIYY?yZFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U(M]=Y]+мQU]?aaae#Haaym;}m?Iq }:u 5? }:uYmݾ uP ?9u@u: u:)u:WWX XWX:W2W*WVbUBU*UUU`qC@BB BA;*BAAAA"C*CRCCC9Iii; 04EIG (>0,) hFAY}JL@}Jhh@y}J{}J}JH` n@i(?`?1ѿ?s Y?)~JL@ ~J ];I~JCɫyy)y yIyY?yFxDUSBL response received:!U1,R,502,000,002B1,189,80,80,BC,FF Fpublishing direction and range infof3ɰa= )a#HzHy<}>IK 5?lݾ  ?9j@:  :)WWX X!W!X!:W!2W!*W)VIbUYBUa*UUUO@R(Combining 5 samples.P*Qu@ZQAKK?Oh JQw?amf-2Qf3:QbQ"3?cm~%Y @v?RQC?n2r?|(ِ?BQ@? QR@Q|?P\9?P[9?PQQ_&@"Q@BB! B)A-*B)A)A)A)A)"C1*C1RC9C9C9!I)GE0>  D:YY1y:V6$7,=hFAY}:,~@}:@y}:q}:;}:HS^??|vп '? 5"u?)~:,~@ ~:];I~8ɫaa)a iIiY?ywFTNmea in: $SNTTA,0.058246,,,,231706.69*43 I)AI=)-x?q= ףp/$?-K7>- -,=)-I)y-ktA)-+WAI-v.Ai-lsA)-MA    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ=M.=Ya#Hy;}>Iȹ :Ž 5? :Žmݾ ƽ ?9ƽ@ǽ: Ƚ:)Ƚ :mmAdded new target pos. range: 3.839998 m, bearing: 61.437873 deg, deltaT: 4.499644 s, approachRate: 0.026668 m/s, LOS rate: -1.184210 deg/s, posRepo size: 4XW@?WX XWX:W2W*WV bU BU *U U Q@U+?B9B9 B9A*BAAAA"Cy?RCC@?CIGj> 9 I @Fi ? j; 4E)qIqiqqqu!4P=,4hFAɫ髱) IY?y"F    @ @ @i )IiC=Mk=YQU?a#Hy}?I!% 5?%nݾ % 5?9%@%4: %:)!WQWQXQ XYWYXY:WY2WY*WaVabUaBUa*UiUiUm?BB BA*BAAAA"C@?RCCCׁIG>s  !!a%#H!)y-}->I15d 5?5oݾ 5þ E?95@5^: 5:)1WaWiXi XiWiXi:Wi2Wq*WqVqbUqBUy*UyUyU}?BB BA*BAAAA"C?RCCC)I1GU>aJ,+hFAY}N+@}N @y}NM^}NUl}NHZ@|W?@?kʿ`?`ͬm2?)~N+@ ~Noa;I~Lɫqy)y yIyY??yFu=iu > 鿑|M>=Y؎a#HyW}>I : 5? :pݾ ƾ %?9@; Y;)!:WQWYXY XYWYXY:WY2Waq9qIqiqqqquk; u45E*WaVbUBU*UUUW?BB BA*BAAAA"C |%?*C RC C CIGI>  }:YW1yč:6)c; iu mGI i ٺ A% :?9% AsHQ,aEhFAY}F f@}F @y}FX}Fм}FH`ǰۺ?`F?`6|ǿ?eF?)~F f@ ~F^;I~FCɫYY)Y YIaY?yF u u u u@ u@ u@qqqiqq q)qIqiq4b<MP=Yka#Hy_}>I 5?qݾ ɾ ?9O@: :)WWX XWX:W2W*WVbUBU*U U U  @B1B9 B9A=*B9A9AAAAAA"CM?RCICICQe?ie?)I1GU>uW,J_hFAY}?]@}x @y}TX}!}H@5j??7ȿm? ;E?)~?]@ ~H\;I~Cɫ) !I!Y?y*FʡE?J +ɿV--=H )IyMb?Mb`Mbp?=; ½fBA)½3MAI½K/Ai½hAIA<M6=YQU>AIaM#HIIyU!}U>IY e:]{ 5? e:]qݾ ]ƾ m?9]@]b: ]k:)]":WWX XWX:W2W*WVbUBU*UUU'@BB BA*BAAAA"Cž?*CRCCCIGI>ލ=iލ=  N:YDW1yY:69@a 9a Ie xFie ?a a a e l; e 5E],yhFAɫ髙) IY?yOFɮp=I) = E E E@ E@ E@AAAiAA A)AIAiA]e;Meg=YuQU}>ya#Hy}?Iȑŕ 5?ŕpݾ ƕľ ?9ƕ@ǕI: ȕ:)ȑW9W9XA XAWAXA:WA2WA*WIVIbUiBUq*UqUqUu @RB*** querying acoustic contact ***PPBB BAp*BAAAA"C@?*CRCCCI G-,>.d,^hFAY}609@}6T @y}6V}6?}6Hՠ@Ӭ?&?˿@}? t70?)~609@ ~6%c;I~6Cɫ99)A AIAY_?yFZ****** received transponder code query ******F****** received ping request ****** e>};M}H=Y;QU>a#Hy۱}>Iȡ :ťl 5? :ťoݾ ƥe¾ ?9ƥ|@ǥ; ȥ';)ȥ#:WWX XWX:W2W*WVbUBU*UUU @BB BAV*BAAAA"C*CRCCCI)שIG!>  .r:Yy6a#Hy6:}>999I=Fi=v?999=n; =c6EI 5?Woݾ  ?9@< :)WWX XWX:W2W*WVbUBU*UUU = @BABI BIAMZ*BIAQAQAQAQ"CY*CyRCyCyCqIIޝAA)ޝ?AG>`q,vhFAɫ髙) IY?yFAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =MQ=YQU>a#H{H!y%}%>I)-A 5?-nݾ - =?9-K@-: -w:))WYWYXY XYWaXa:Wa2Wa*WaVibUiBUi*UqUqUu"@BB BA*BAAAA"C*CRCCC׉IG>T  w:Y0Y1y: 6w,hFAY}m@}mq @y}mK}m+8}mHO|6 ?)Y?`]zNɿ7?!`M?)~m@ ~m];I~mCɫii)q qIqYP?yFxDUSBL response received:!U1,R,502,000,002AE,18A,80,80,AF,FF Fpublishing direction and range infoɰ`=鰝> )/CIy=j@w?amf-ٱMb@Mb@Mb@ )IyZd;O?Mbp?y&1?j<=;`< @A)NAIiKeAIA]A%M%:=Y% _;QU->))a-#H)1y5%}=>I9 :=7 5? :=nݾ =ڵ ?9=ܽ@=-< =4:)=$:WWX XWX:W2W*WVbUBU*UUUS@R(Combining 5 samples.P*Q=j@ZQs:@?apuV JQw?amf-2Q:QbQ[?}W @?RQB¥Q?+ֶ?v?BQxD? QJ@Q?PP\9?PQQq@"Q_&@BABI BIAMZ*BIAIAQAQAQ"CY*CYRCYCYCau?iu?YIaG}Y> 9 I xFi ? 7o; 7Et},^hFAY}6@}6" @y}6HK}6Jٽ}6H.H1?Q?=T̿`O?0?)~6@ ~6\;I~6Cɫ99)9 9IAY?yFmTNmea in: $SNTTA,0.004358,,,,231711.16*4A -Ponly read 0 of 1 data item for BIT error5\K<M5`=Y5QU=>99a=#H9AyEh;}M>IquK 5?umݾ u设 }?9uX@uǺ: un:)qmqAdded new target pos. range: 3.660000 m, bearing: 60.996485 deg, deltaT: 4.491785 s, approachRate: -0.040073 m/s, LOS rate: -0.098265 deg/s, posRepo size: 4XWxD?WX XWX:W2W*WVbUBU*UUG @UX?BQBQ BQA]5*BYAYAYAYAY"CxD?RCCxD?CAIQGu6>ޕ=iޕ==  u:YX1y/:r6);9=҄,8hFAY}: u@}: @y}:E}:u}:Hd@L$}?7v?Jɿ>|?@ª P?)~: u@ ~:R];I~:Cɫ99)9 9IAY}?y}|FIA)AIQ)U=e<MP=Ya#HyZ{}>Iȱ :ŵc 5? :ŵlݾ Ƶ茶 ?9Ƶ־@ǵ: ȵ:)ȵ%:WWX XWX:W2W*WVbUBU*UUU?B!B) B)A-*B)A1A1A1A1"C9*C9RC9C9CAIIQGm>a,.hFAY}6>@}6{Z @y}61:}6e}6H OW&Kʮ?@ ?v[ǿ=?4/k?)~6>@ ~6ܓc;I~6Cɫaa)i iIqY?yFk<MH=Ya#HyS}>Ik 5?4lݾ s ?9^@3\; I;)W!W!X! X)W)X):W)2W1*W1V1bU1BU1*U9U9U=j?BaBi BiAmń*BiAqAqAqAq"Cy*CyRCyCyCܹ9ܹIܹiܹܹܹܹܽp; ݽ7E)IIIiIIIM4IGM1>< h u:YU1y:6);,GhFAY}B@}BO4 @y}B4}BJA}BH^M@+|7? k?@Zſss?ͧx?)~B@ ~Ba;I~BCɫaa)a aIaY}?y};F - - - -@ -@ -@)))i)) )))I)i)=C<MER=YEIIaM#HIQyUĻ}]>IY e:] 5? m:]kݾ ]m m?9]߿@]: ]0:)]&:WWX XWX:W2W*WVbUBU*UUU1?BiB BA*BAAAA"C*CRCCCׁIG>Iޕ@A)ޕ@AR,ahFAY}e@}e& @y}e5}.}ex|}eH61?H'3?`?&?ƿ@?@~y?)~e@ ~e\;I~eCɫiq)q qIqYa?yhFʡE?l?S㥫?-2>> /]=)Iyv/?  a #H y1}>I 5?jݾ ڒ -?9@: :)WIWIXQ XQWQXQ:WQ2WQ*WYVYbUYBUY*UYUaUe?BB BA*BAAAA"C*C!RC!C!C!I!GMR>h  \y:YT1y:|69@ܩ 9ܩ Iܩ iܩ ܩ ܩ ܩ ܭ r; ݭ 8E8,n{hFAɫyy)y yIyY?yޒF^A % % % %@ %@ %@!!!i!! !)!I!i!5*I=M5Y=Y=QU=>9AaE#HAAyM}M>IY ]:] 5? e:]iݾ ]y e?9]S@]: ]:)]':i}nGI1iIuWٺq}AWWX XWX:W2W*WVbUBU*UUUP@BB BA*BAAA!AA"CI*CIRCQCQCQו?iו?yIG_>^ ,xhFAY}6h@}6 @y}6-}6Wj}6H @`&i?4?@@ſ7?@NҬ#}?)~6h@ ~6[;I~6Cɫ99)9 9I9Y}z?y}F鮍p=ɮMf=Y:QU>a#HyJ}>I 5?iݾ b ?9@ ; >+;)WWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPByB BAO*BAAAA"C*CRCCC׉IG>ޕ=iޕp=  M~:YyD6&K,[^hFAɫ髙) IY??yFZ****** received transponder code query ******F****** received ping request ******IIaU#HQQy]}]>Iae; 5?e!hݾ eg u?9e@e; e;)aWWX XWX:W2W*WV]>9YI]Fi]v?]=YY]v; ]:EbUBUi*UqUqUum @BB BA^*BAAAA"C*CRCCCIG (>2,z7hFAY}6v@}6F @y}6,}6(q}6H~ 5]^j?i? {ſw?`i }?)~6v@ ~6c;I~6Cɫ99)9 9I9YyxDUSBL response received:!U1,P 502,000,002AE,18A,80,80,AF,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )E= E>Yu=;QU}>a#H|Hy ;}>I : 5? :7 @BB BA*BA A A A "C*CRCCCII)M]AI1Gew>p  y:YWU1y:6Ba,%hFAY}~g@}~= @y}~z,}~Ww}~H| jލ??mȿ3u?;ηh?)~~g@ ~~^;I~|ɫ) IY  ?y  F}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }:v?i|?5&1?}<}q }P=)yIyy}{Gz?/$?~jt?}#<}<}< y)}3MAIyi}Q`Ay}FA U U U U@ U@ U@QQQiQQ Q)QIQiQe<Meiiau#Hqqy}2}}>IȁŅ 5?Ņrgݾ ƅm ?9ƅ@Džʽ: ȅ:)ȁWWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C*CRCC C IG=Q>Iމ)މM >9I II iI I I I M {; M =E,phFAY}F@}F @y}F+0&}F}FH`& Z\h?/A_ɿമ? gj]?)~F@ ~Fd];I~FCɫyy)y yIyYR?y_FxDUSBL response received:!U1,R,502,000,002AF,189,80,80,BF,FF Fpublishing direction and range infoɰa=7> )?CIyn@w?amf-ٱ iM {=YAB?BQe? QJ@Q?PPPQQ@"Qq@B9B9 B9A=*BAAAAAAAAA"Ci*CiRCiCiCqaIqG;> || Fn:YR1yi:6);9Zo,hFAY}rXa@}r| @y}r}rL}rH@Le"??@'%ƿ?a`?)~rXa@ ~r.];I~pɫ) IY50?y5FTNmea in: $SNTTA,0.026481,,,,231715.57*48 ±µ]A = = = =@ =@ =@999i99 9)9I9i9r<M3=Ya#Hy}>I{ 5?gݾ E[ ?9Z@U:  :)mEmAdded new target pos. range: 3.720000 m, bearing: 59.950736 deg, deltaT: 4.400950 s, approachRate: 0.013634 m/s, LOS rate: -0.237619 deg/s, posRepo size: 4XIWMe?WIXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UYU] @Ue?BB BAa*BAAAA"Ce?RCCe?C!I G%N>t,0hFAY}:g@}:` @y}:!}:e}:H  b]G? ? @pĿ a ?@/X!?)~:g@ ~:,c;I~8ɫII)Q QIQY%?y-F>9Ii=; @E    @ @ @ÙÙÙiÙÙ ę)ęIęięz;MI=Y_QU>a#HyE~:}>I : 5? :gݾ GQ ?9@M: Y:)*:WWX XWX:W2W*WV!bU!BU!*U!U!U-@W?BQBQ BQA]K*BYAYAYAYAY"Ca*CaRCiCiCiiIyG;>  ~:YWU1y:6);,JhFAY}2#?@}2Z @y}2(}2 }2HNc*h?@ ? > Ŀ`<?̣?)~2#?@ ~2$$a;I~2CVJFailed to close latch before timeout.q VVHardware FaultYj0?ynFI9)9uMux=Y}/QU}?ya#Hy}?Iȑŕ% 5?ŕhݾ ƕI ?9ƕ@Ǖ: ȕ{:)ȑWWX XWX:W2W*WVbUBU*UUUdc?BB BAa*BA A A A "C*CRCCC׉I-$@Hardware Fault in component: DDMG=:,ddhFAY}:}@}: @y}:q,}:EW}:H@L{س?`{ ?_ U2ÿ,t?Th?)~:}@ ~:Q^;I~8FPowering downDɪD)D DYa?yhF~jt?/$ƿS㥛?=&1 /<)Iy{Gz?~jtxף<Ļ l=A)OAI1Ai^A\GA)U> Q]OMe$=Ye5QUe>iiam#Hiqyuu}u>Iy :} 5? :}gݾ }gJ ?9}9@}: }D:)}+:WWX XWX:W2W*WVbUBU*UUU d?BB BA*BAAAA"C*C RC C C I)\A9IAG]U>\  gx:Yy69@9Ii=3; eDE)݁I݁i݁݅=݅=݅E5 ,L6~hFAY}2z@}21 @y}25*}2(}2Hb@? $?uĿ1'?`NŤ@?)~2z@ ~2Nd];I~0YB9?yBF 5 5 5 5@ 5@ 5@ 5111i5?1 5A?)5K?I5K?i5&?E#MM=YMOK ?9n@: :)WWX XWX:W2W*WVbU!BU!*U!U!U- x?BB BA߄*BAAAA"C*CRCCCשIG>Iޑ)ޑH,hFAY}:(@}:AD @y}:'}:*}:H4ͱ?=?IĿ?r?)~:(@ ~:F\;I~:CYF?yFŏF='M=K=YE;QUE>AAaM#HIIyUQ}U>IY] 5?]fݾ ]NL e?9]@Y ]U:)YWWX XWX:W2W*WVbUBU*UUU@BB BA@*BAAAA"Cy*CRCCCשI$NClearing failed state for component DDMq G>  g:YV1y:6,hFAY}%@}% @y}%f-}%i}%Hzp?@*B?7ːĿ߅?ૅ?)~%@ ~%[;I~%CY=?y=ΏF=a=ɮ9Y]^A    @ @ @ @áááiåá ĥ)ĥIĥiĥ!:MC=YLQU>a#Hy}>I : 5? :fݾ fM ?9@: ":),:WWX XWX:W 2W *W V bUBU*UUU<0@R%B*** querying acoustic contact ***P!P!ܙ9ܙIܝ Fiܝ?ܝ=ܙܙܝև; ݝDHEBB BA<*BA A A A "C*CRCCCM?iM?!I1GM>q}uCinGIi = FٺA E A,"hFAY}29@}2U @y}2D6}2O}2H`@7@?@(?o@pƿ Y? xs?)~29@ ~2[;I~2CYB ?yBFFZ****** received transponder code query ******FF****** received ping request ******Fxxaz#Hz}H|y- <}>I1 5?"fݾ bN ?9=@: U:)W)W)X) X)W)X):W12W1*WQVQbUYBUY*UYUYUe| @BB BA*BAAAA"C!*C!RC!C)C))I9Ge>ޕ=iޕ=F | v:Yy6,shFAY}2:W@}2r @y}2v>}2C&g}2H`U˰R?U? -`8ǿ 8?a`e?)~2:W@ ~2v[;I~2CY>r?yBFFxDUSBL response received:!U1,P 502,000,002AF,189,80,80,BF,FF FCommand AckFBRequesting micromodem ping code 2iDDJNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 U ףp= ?ʡEL7A`?UQ=U U+=)QIQyU~jt?~jtMb`U=UDU U@A)UIAIU2AiQQU GA}'M$=YQU>a#Hyo;}>I : 5? -:!eݾ K -?9@; ;)-:WqWqXq XqWqXq:Wq2Wy*WyVybUyBU*UUUP @BB BA*BAAAA"C *CRCCCAIiG^>ܝ>9ܙIܝXFiܝ?ܙܙܝNDܝ_; ݝLE",|hFAY}2ie@}2 @y}2خG}2%a}2H``a`Q?'?vȿo?X?)~2ie@ ~2[;I~2CYB?yBFFAAF@ARNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ) = =    @ @ @ÑÑÑiÑÑ đ)đIđiđZMr=YoԼQU?a#Hy);}?Ir 5?hdݾ I ?9B@U: +:)W)W)X) X)W)X):W)2W1*WQVQbUYBUY*UYUYU]O@BB BA*BAAAA"C*CRCCCIY)]]A)I9Ge>Y  J:YU1y:6)E;9 ,W hFAY}2Ud@}2 @y}22O}2}2H``U? ?xHʿ`̶?`@E?)~2Ud@ ~2L[;I~0YNI?yRGFVxDUSBL response received:!U1,R,502,000,002AE,189,80,80,B0,FF VFpublishing direction and range infoPPɰR`=P P)R0CIPyR=j@Rw?amf-ٱPjFMj[=Yj1QUn>llan#Hppyrv8}v>Ix z:z 5? ~:zcݾ zG ~?9z@z8: z/:)z.:WWX XWX:W2W*WVbUBU*UUUۀ@R(Combining 5 samples.P*Q=j@ZQs:@?apuV JQw?amf-2Q:QbQƳ?:@͋(?RQv%+T!)a-#H)999I9i9999=~; =YOEIyUp}U>IY] 5?]bݾ ]D e?9]K@]k: ]:)YmqAdded new target pos. range: 3.660000 m, bearing: 58.822607 deg, deltaT: 4.382295 s, approachRate: -0.013692 m/s, LOS rate: -0.257429 deg/s, posRepo size: 4XW5i?WX XWX:W2W*WVbUBU*UUG @Ux?BB BA*BAAAA"C5i?RCC5i?CׁIG>  :YWU1y:6)-;/,M hFAY}2u@}2* @y}2SX}2#9}2H5?`1? :@Bɿ ?ʞ A?)~2u@ ~29[;I~2CYN?yRڌF^A=ّM=Z=YEOQUE>AIaM#HIIyU}U>IY]a 5?]aݾ ]A e?9]@]': ]:)YWWX XWX:W2W*WVbUBU*UUU DͿ@? ?)~6`@ ~6,[;I~6CYBk?yBFMb@Mb@Mb@ )Iy~jth?MbP?~jthD;:D ­?A)­1RAI©i­fAJA<MB=YEQU>a#HyC}>I :I 5? :aݾ B ?9@w: ,:)/:WWX XWX:W2W!*W!V!bU!BU!*U)U)U-S?BYBY BYA]*BYAaAaAaAa"Ci*CiRCiCiCIG>  .:YV1y:69@=>99I= Fi=?999=w; =RE/ ,ŀ hFAY}6 @}6 @y}6>qh}6ɽ}6H`"M9?@ ?` ο@q?ފ?)~6 @ ~6{[;I~6CYNC?yRFI|)|I =) =    @ @ @áááiáá ġ)ġIġiġML=Y|QU>a#Hy6<}>I3 5?aݾ C ?9@k: :)WWX XWX:W2W*W V bU BU *U UU@?BABA BAAE]*BIAIAIAIAI"CQ*CQRCYCYCYQIaG=zZ&, hFAY}2 ~@}2 @y}2A'l}2y}2H= @(?^?QͿ`B?\r?)~2 ~@ ~2![;I~2CY^?y^F]7M]P=Y]QU]>aaae#Haiym߻}m>Iq }:u 5? :uaݾ uD ?9u@u: u:)u0:W!W!X! X!W!X):W)2W)*W)V)bUQBUQ*UQUQU]G@BB BA*BAAAA"C*CRCCCI]A)IG>  :YX1y/:6J,,{ hFAY}:@}:A @y}:uu}:e}:H`;@l@(??@!Ͽc?`?)~:@ ~:@[;I~8FPowering upF"Initializing DDM.Y=?y=-F>9IFiv?=; #UE)qIqiqu=u=u̩4    @ @ @éééiéé ĩ)ĩIĩiĩw<M6=YQU>a#H~HyI:}>I 5?aݾ E ?9@: 4:)W W X XWX:W2W*WVbUBU*U!U!U% @BIBQ BQAU*BQAQAQAYAY"CY*CaRCaCaCaIIQGm>Iޑ)ޕ@Aj3,U hFAY}2P@}20 @y}2z}2􇕽}2HW\ F±? 6?`οu? ?)~2P@ ~2Br[;I~0YR?yRnFTɮTV%=iV<  ޼Mj=YPQU>!!a%#H!)y-5}->I1 =:5 5? =:5aݾ 5[F E?95@5=: 5:)51:WaWaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UqUyU}`@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCױIG=  |:YDW1yY:6\9,#2 hFAY}2l@@}2[@y}2WTz}2e˼}2H| 5?O?'E˿@? ?)~2l@@ ~2ft[;I~0YN?yR܊FRZ****** received transponder code query ******VF****** received ping request ******V =)IyS㥫I +?:v?/]94<T< •@A)•SAI•-Ai•pAQLAށM3=YO)QU>a#HyL}>I   5? bݾ F 5?9 @ {; ;) WyWyXy XyWyXy:Wy2W*WVbUBU*UUUjN @B9B9 BAAE?*BAAAAaAaAi"Cy*CRCCC?i?שIGB>>9Ii=; VE|@, !hFAY}6@}6d@y}64AAaE#HAyjV}>Iș :ŝx 5? :ŝQdݾ ƝF ?9Ɲ@ǝ; ȝ;)ȝ2:W)W)X1 X1W1X1:W92W9*WVbUBU*UUU!@BB BA*BAAAA"C*CRCCCޕ=iޕp=*  jt:Yy26)e;9ױIG> F,!hFAY}6^@}6$z@y}6z}6Ь}6Hj@#jH?@M?@ ˿? ɑ ?)~6^@ ~6[;I~6CYN?yR[FR@APbNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)Am<Mu=YuQUu?yya}#HyyҼ}?Iȉō 5?ō:eݾ ƍ$G ?9ƍ7@Ǎ; ȍ;)ȉWWX XWX:W2W*WV bU BU *U UU.@ByBy ByA *BAAAA"C*CRCCCשIG=4L,]5!hFAY~?y~FxDUSBL response received:!U1,R,502,000,002B0,189,80,80,B4,FF  Fpublishing direction and range infoɰqa= )4CIyq@w?amf-ٱ܁9܁I܁i܁܅=܁܁܅@; ݅VE)E= E>    @ @ @i )Ii <M5=YQU>a#Hy}>I 5?fݾ sG -?9 @^: ܹ:)WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qq@ZQE5j?.\Ux3 JQw?amf-2Q:QbQۗiI@܂@f`?RQJJ v[?j*(m?@o?BQ{? QG@Q2@PPPQQ:@"Q@BB BA*BAAAA"C*CRCCCIGF>  :YW1yč:6)#;wS,O!hFAY}NZ@}N@y}N텾}N[}NH@;~ ?9N? X-iп`?@ ?)~NZ@ ~Nw[;I~NCYZ?yZF%DNmea in: $SNTTA,,,,,231724.42*59 uNM}d=Y}FAQU}>a#HyF<}>Iȑ :ŕB 5? :ŕgݾ ƕJH ?9ƕ@Ǖ=: ȕI:)ȕ3:mmAdded new target pos. range: 3.779998 m, bearing: 56.310924 deg, deltaT: 4.509093 s, approachRate: 0.026612 m/s, LOS rate: -0.557026 deg/s, posRepo size: 4XW{?WX XWX:W2W*WVbUBU*UUo=@U ?BB BA*BAAAA"Cp?RCC{?CשIG=IޕAA)ޑY,hzi!hFAY}2@}2(@y}2d-}2-}2H1Iy?oN?@3п V?Ŵ@?)~2@ ~24m[;I~2CY^?y^F+?bX9ȶ?T㥛 ?>E= =)IyMb/$MbP?: ½DA)½NAI¹i½rALAUMD=Ya#Hy_;}>I 5?gݾ H ?9@: ˵:)W!W!X! X!W!X):W)2W)*W)V)bU1BU1*U1U9U=?BaBa BaAm*BiAiAiAiAi"C{?RCCCIG>  :YX1y/:r69@܉9܍CI܉i܉܉܉܉܍; ݍUUE``,U!hFAY~V?y~vFm]Am]A    @ @ @i )Ii.<MI=YQU>a#H  y}>I! -:% 5? -:%{gݾ %G 5?9%G@%3; %5;)%4:WiWiXi XiWiXi:Wq2Wq*WyVybUyBU*UUU f?BB BA*BAAAA"CI*CIRCQCQCQe?ie?IIQGm>"f,.!hFAY}:G{@}:і@y}:~}:c}:HO@fL`ڰ?s8?@;}ϿM?U+ ?)~:G{@ ~:Z[;I~:CYFx?yJF=⑼M=W=YEAIaM#HIIyU<}U>IY] 5?]egݾ ]G e?9]@]3: ]:)YWWX XWX:W2W*WVbUBU*UUU@?BB BAІ*BAAAA"Cy*CyRCyCyCiIyG=ޑiޕ=1  :YDW1yY:;6<m, !hFAY}6@}6x @y}6[g}68}6H@|(?`+? `Ͽ@? ?)~6@ ~6I[;I~6CYB8?yBdF q<MM=Y@QU>)9)I-@Fi-?-=))-A; -[SE9a=#H=HAyEM<}E>II U:MA 5? ]:MLgݾ MZG ]?9M@M: M:)M5:WyWX XWX:W2W*WVbUBU*UUU_?BB BA*BAAAA"C*CRCCCבIG=t,!hFAY}2P@}2ڲ @y}2u}2s}2HHO'?`-?qп??)~2P@ ~2R[;I~2CY^?y^ȌF)e> e=    @ @ @éééiéé ĩ)ĩIĩiĩ><M?=YqQU>a#Hy_<}>I 5?1gݾ G ?9$@,: E:)W W X  XWX:W2W*WVbUBU*U!U!U% @BQBQ BQAUw*BYAYAYAYAY"Ca*CaRCaCaCiI}\A)y1IAG=  :Y0Y1y:26K2z,]!hFAY}2@}2d @y}2r}2 T}2H  ??@G >ο?򧩿?)~2@ ~2A[;I~0YN%?yNFRp=ɮP=X9v?y&1I +?=<=` =94<)9I9y=y&1y&1?/$=`e=`e<= =@A)=\QAI=,Ai=pA9=LA]o;M]Q=Y]R ;QUe>aaae#Haiym <}u>I : 5? :gݾ QQ ?9W@: r:)6:W!W!X! X)W)X):W)2W)*W1V1bU9BU9*U9U9U=i2@RMB*** querying acoustic contact ***PIPIBB BAd*BAAAA"C*CRCCCIG>9CIFiE?=; PE)ݱIݱiݱݵ=ݵ=ݵ5Iޕ@A)ޕAA,"hFAY}6Y@}6 @y}6+~}6&}6H@-q? S?Cο`?K@?)~6Y@ ~66<[;I~6CYf?yfȌFjZ****** received transponder code query ******jF****** received ping request ******jYYa]#HYaym;}m>Iqu 5?ugݾ u[ ?9u@u_; u;)qWWX XWX:W2W*WVbUBU*UUUT @BB BAw*BAAA!A!"C!*C)RC)C)C)IG>a  x:YW1yč:6MC,yv"hFAY}6$@}6@ @y}6ts}6%:ѽ}6H@4I@JJ? G?@п'?~_?)~6$@ ~6}[;I~6CYN\?yRFVxDUSBL response received:!U1,P 502,000,002B0,189,80,80,B4,FF VCommand AckVBRequesting micromodem ping code 2iTT^Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 u   @ @ @ÙÙÙiÙÙ ę)ęIęię <M3=Y99aE#HAIyu;}}>Il 5?-hݾ bg ?9@: :)WWX XWX!:W!2W!*W!V!bUIBUI*UIUQUU3 @BB BA*BAAAA"C*CRCCCIGK>~m,Q8"hFAY}:'@}:B @y}:Tf}:ս}:HW @֢??`|Ͽ`? ??)~:'@ ~:3];I~:Cb>9`I`i````b; b9MEYno?yn#FprAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Mb=Y.=QU>a#HyG9}?Iȹ :ŽH 5? :Žphݾ ƽo ?9ƽ@ǽ: Ƚk:)Ƚ7:WWX XWX:W2W*WVbUBU*UUU@B1B1 B1A5R*B1A9A9A9A9"CA*CARCACACIiIqG>zCi)IAiagؿٺϽA  3l:YT1y:6)M;9MU,,R"hFAY}2@}2$ @y}2._}2hw}2HQ>@? ? *HaZ˿?<,`.?)~2@ ~2^\;I~2CYNI?yRGFVxDUSBL response received:!U1,R,502,000,002B0,189,80,80,BE,FF VFpublishing direction and range infoPPɰPP P)R>CIPyPRw?amf-ٱPI\)^AIa)e==MJ=Y{a#HyB}>IȹŽ 5?Žhݾ ƽz ?9ƽ@ǽ: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUUb@R (Combining 5 samples.P*QZQE5j?.\Ux3 JQw?amf-2Q:QbQ0חp?Uq @~J?RQxk?`ׯ֬? eD?BQ8? QK@Q?PPPQQ^@"Q:@BIBI BIAMۅ*BIAQAAA"C*CRCCCIG>t,l"hFAY~ ?y~FedNmea in: $SNTTA,0.094134,0.417572,,,231728.86*54 MMb@Mb@Mb@MM M)MIIyMy&1+?{GzIM=Mף Ma#Hy}>I  : 5?  :xiݾ   ?9@İ< Y<)8:miAdded new target pos. range: 3.779998 m, bearing: 58.289825 deg, deltaT: 4.384511 s, approachRate: 0.000000 m/s, LOS rate: 0.451339 deg/s, posRepo size: 4XW8?WX XWX:W2W*WVbUBU*UUU ,?BiBq BqAu*BqAyAAA"C?RCC8?CיI>9Iio; IEGh>  W:Yyr6)s;g,m"hFAY}:@}:; @y}:\}:p>}:H l`q?MB? )cDɿ `b?c@>?)~:@ ~:[;I~8YbZ?yb*F    @ @ @éééiéé ĩ)ĩIĩiĩG=M\=Y;QU>a#Hy}>I@ 5?jݾ ! ?9@: 4:)WW X  X W X :W 2W*WVbUBU*UUU?BB B A *B A AAA"C5?RC1C1C9)I1GU>Iޑ)ޕ@Ae,"hFAY}6<@}6@y}6TW}6J}6H`,@c?_?@ ̿y? 0N0?)~6<@ ~6q[;I~4YB?yBF]M]Q=YeUaaam#HiiyuT}u>Iy :}_ 5? :}jݾ }? ?9}@}0: }:)}9:WWX XWX:W2W*WVbUBU*UUU 9?BB BA-*BAAAA"C8?*CRCCCIG=  v:YDW1yY:V69@뻭,Ԛ"hFA494I6@Fi6?4446Ɔ; 6#GEY}B@}B@y}BL}Bl}BH4:?y?k:Ϳ@n? <漿 A'?)~B@ ~BjH\;I~BCY^x?y^a#HHyU̻}>I  q 5? Okݾ  ?9 @ : {:) WAWAXA XAWAXA:WI2WI*WIVIbUIBUQ*UQUQU]y?BB BA*BAAAA"C*CRCCC׭?i׭?iIyG=,z"hFAY}2e@}2@y}2$@}2tܽ}2H;l?? v`i˿?c`A?)~2e@ ~2\;I~2CY^?y^`F]ݙ;M]T=Y]=QU]>aaae#Haiym}m>Iy} 5?}kݾ }4 ?9}@}Ǻ: } :)yW!W!X) X)W)X):W)2W)*WQVQbUQBUY*UYUYU] =@BB BA*BAAAA"C*CRCCCIG>ޙiޝp=  j:Yy6ͺ,O"hFAY}2@}2@y}28}2e}2H9+@? ? JRȿ? [e?)~2@ ~2s\;I~2CYn?ynNFA`"?i|?5:v?= =)Iy~jtx?MbQ?;< ;A)VVAI 0AihAJAKM5=Y%a#HIyU%S;}U>IY e:] 5? e:]kݾ ] e?9]@]{: ]:)]::WWX XWX:W2W*WVbUBU*UUU@4@BIBI BQAU*BQAQAQAQAY"CY*CaRCaCaCaIiG9>a9aIaiaaaaeX; eDE,+#hFAY=?y=`FEa=ɮA)]= ]>    @ @ @ @áááiåá ĥ)ĥIĥiĥ ;M^=YQU>a#Hy}>Ic 5?kݾ  ?9@W: -:)WWX XWX:W 2W *W V bUBU*UUU@֡@R%B*** querying acoustic contact ***P!P!BABI BIAM*BIAIAIAQAQ"CY*CYRCYCYCaI ) IG>4 | 6u:YWU1y:6,!#hFAY}2wB@}2^ @y}22}2}2HX'@{?o?C Ŀ5?Gb?)~2wB@ ~2h\;I~2CYNC?yRVFRZ****** received transponder code query ******VF****** received ping request ******Va#Hy%@<}%>I) 5:- 5? =:-]kݾ -׃ ?9-@-< -<)-;:WYWYXY XYWYXa:Wa2Wa*WaVabUiBUi*UiUiUu` @BB BA*BAAAA"C*CRCCCIG>Iޙ)ޝAA< ,:#hFA9IxFi?G; [BE)CICiCCCKW4Y}Nl<@}NW @y}NI;4}N}NH@#@.?o? 6`ɂſi?I{?)~Nl<@ ~Nz>\;I~NCYZ?yZ^F^xDUSBL response received:!U1,P 502,000,002B0,189,80,80,BE,FF ^Command Ack^BRequesting micromodem ping code 2i``fNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @ÁÁÁiÁÁ ā)āIāiād=M1=YaQU>a #H yiN}%>I15D 5?5#kݾ 5x M?95X@5; 5;)1WWX XWX:W2W*WVbUBU*UUiUm` @BB BAʃ*BAAAA"C*CRCCCIG5P>- ~~ t:YT1y@:6);9,T#hFAY}2)@}2+E @y}2 6}2sg}2H?q?@Nƿ J?tq?)~2)@ ~2[;I~2CYB4?yBMFDF@ARNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B E]AE^AU薽MUf=YUQUU>YYa]#HaayeW}m?Ii u:m 5? }:mjݾ mm }?9m@m; m;)m<:WWX XWX:W2W*WVbUBU*UUU@3@BB BA*BAAAA"C*CRCCC ?i ?IG=,n#hFAY??yFxDUSBL response received:!U1,R,502,000,002AF,189,80,80,BC,FF ]Fpublishing direction and range infoɰa= )u= uH=)qIqyua#Hy}>IG 5?kݾ r  ?9@P: :)W1W1X1 X9W9X9:W92W9*WAVAbUABUA*UUU%@R(Combining 5 samples.P*Qn@ZQo$?7U JQw?amf-2Q:QbQH?yJ @p%[?RQyq?c}Y?}oR?BQ? Q@H@QG?PPPQQ@"Q^@BiBi BqAu^*BqAqAqAqAy"Cy*CRCCC191I5Fi5v?1115{; 5r@E׹IGg>ޕ=iޕ=  :YV1y:;6);i nGI i - ؿٺ) - A,~#hFAY}:>d@}: @y}:>4}:rǦ}:H4͛?`d?fȿj?f?)~:>d@ ~:[)\;I~:CYfp?yfrFMz=Y ;QU?a#Hy93<}?Iȡ :ť 5? :ťkݾ ƥ8v ?9ƥ@ǥM: ȥQ:)ȥ=:mqAdded new target pos. range: 3.720000 m, bearing: 57.998039 deg, deltaT: 4.539237 s, approachRate: -0.013218 m/s, LOS rate: -0.064281 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UU @U@?B!B! B!A-*B)A)A)A)A1"C5?*C9RC9C=?C9 IG>-,}:H̘ '?`!?gȿ`Lu?@ȵb?)~:|Z@ ~:P[;I~:CYF?yF|F) > >M%Q=Y%jQU%>))a-#H)1y5=}5>I9= 5?=.kݾ =qz M?9=@=: =8:)9WWX XWX:W2W*WVbUBU*UUU?U?BB BA*BAAAA"C*CRCCC1I9GU==f === =Ά:Y=Y1y=:=i69U@% >9! I! i! % =! ! % }; % >EW,)#hFAY}2+3@}2N @y}22}2Ƒ}2H {x8??ȿ@n3?R 'd?)~2+3@ ~2L[;I~0YNG?yRF } } } }@ }@ }@yyyiyy y)yIyiy8;MD=Y$;QU>a#HHy=}>Iȩŭ 5?ŭAkݾ ƭ~ ?9ƭ@ǭ: ȭf:)ȩWWX XWX:W2W*WVbUBU*UUU d?BB BA܄*BA!A!A!A!"C)*C)RC)C)C1)I9GU=?,u#hFAY}6J@}6e @y}6.}6%=}6H`m`ä?`u?sƿ?B`u?)~6J@ ~6p[;I~4Y\y`UR=iU=Ya#Hy[a;}>Iȱ :ŵD 5? :ŵTkݾ Ƶ ?9Ƶ @ǵ: ȵw:)ȵ>:WWX XWX:W2W*WVbUBU*UUUI?B!B) B)A)*B)A)A)A)A1"C9*C9RC9C9CA1I9GU=u uuu up:YuV1yu:u6i,#hFAY}B^@}By @y}B3}B{}BH`Cl ?J? QǿZ?Oj?)~B^@ ~B[;I~BCYN?yRFV-?'1ZԿ ףp= h=Т Q8)IyI +?Mb?~jt?94==< •a#Hy+;}>IȡťI 5?ťjݾ ƥu ?9ƥ@ǥ; ȥξ;)ȡW WX XWX:W2W*WVbUBU*U!U!U%@?BB BA1*BAAAA"C*CRCCC?i?׹I >9 I Fi 1?    z; A=EG%M>Q , $hFAY}:?@}: @y}:z6}:䴽}:HP B{??-<ɿ y?9^?)~:?@ ~:\;I~:CYFc?yFF=M=l=YEQUE?AIaM#HIIyUn}U?IY e:] 5? e:]jݾ ]k e?9]`@]: ]b:)]?:WWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"CY*CYRCYCYCaQIYG=ޕ=iޕ=uw uuu uz:YuW1yuč:uM6{ ,#$hFAY}2Z~@}2 @y}2 =5}2yǼ}2H `?`?"hĿe?@d}?)~2Z~@ ~2)\;I~2CYf2?yjsFhɮhz[<MzO=Y~-I;QU~>a#Hy М} >IB 5?kjݾ _ ?9@: +:)WAWAXA XAWAXI:WI2WI*WIVIbUQBUQ*UQUQUU߫@ReB*** querying acoustic contact ***PaPaBB BAa*BAAAA"C*CRCCCבIG= 9 I Fi ? =   w;  ;E ,p=$hFAY-?y-F5Z****** received transponder code query ******5F****** received ping request ******=  a #H y}>I! %:%s 5? -:%jݾ %Q -?9%@%: %:)%@:WIWQXQ XQWQXQ:WY2WY*WYVYbUYBUa*UaUaUe ". @BBI BQAUń*BQAQAQAQAQ"CY*CaRCaCaCaIי)ם\AiIyG>  ~:YX1y/:26);9 ,KW$hFAY}6@}62* @y}6y6}61Γ}6HRxu@4S?4? 'Ŀ X?.|?)~6@ ~6i[;I~6CY^?y^FbxDUSBL response received:!U1,P 502,000,002AF,189,80,80,BC,FF fCommand AckfBRequesting micromodem ping code 2iddjNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -M5Y=YE QQUM>a#Hy-}5>I9= 5?=iݾ =D E?9=f@=+: =:)9WWX XWX:W2W*WVbUBU*UU1U5 v @BB BA1*BAAAA"C!*C!RCCC I1G[>Iޑ)ޕ@A ,&q$hFAY?yFAA5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B %A`"?+η?%Y=%v= %L)!I!y%{Gz?a#Hy}>IY e:]u 5? e:]hݾ ]G ?9]@]; ];)]A:WWX XWX:W2W*WVbUBU*UUU`?&@B B BA5*BAAAAAAAA"CI*CQRCQCQCQܭ>9ܩIܩiܩܭ=ܩܩܭgt; ݭ9E)Ii==d59IIGmV> }} |:YkS1yԊ:)6); " ,$hFAY}6w@}6 @y}6d?}6}6H2J`c?Q?X̿`%?[8?)~6w@ ~6w\;I~6CYbv?ybbFfxDUSBL response received:!U1,R,502,000,002B1,18A,80,80,B5,FF fFpublishing direction and range info``ɰba=b> `)b5CI`ybu@bw?amf-ٱ`ttz0tM~=Y~QU~ ?a#H y }  ?IL 5?gݾ @I ]?9@< D<)WWX XWX:W2W*WVbUBU*UUU]@R(Combining 5 samples.P*Qu@ZQAKK?Oh JQw?amf-2Q:QbQ)Y@NS: @?Pӊ?RQLQJ??\Xw?BQ"? QQL@Q@PPPQQP!@"Q@BYBa BaAeЅ*BaAaAaAiAi"Ci*CRCCC׭?i׭?׉IG=( ,k$hFAY}R>z@}Rȕ @y}R87}R_B}RHW: Z?Ϳ?:ÿ?)~R>z@ ~R<^;I~P^`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ)! %I!Y]?y]tF DNmea in: $SNTTA,,,,,231737.75*5F ]:M]=Y]faaae#Haiym9}m>Iq }:u 5? :u^fݾ tI uXK ?9uU@u:: u:)uB:mmAdded new target pos. range: 3.839998 m, bearing: 57.785600 deg, deltaT: 4.343913 s, approachRate: 0.027624 m/s, LOS rate: -0.048905 deg/s, posRepo size: 4XW"?WX XWX:W2W*WVbUBU*UU Q@U@ ?BB BAɅ*BAAAA"C "?*C RCC"?CIGl>ލ=iމ- e - - -  - d:Y- T1y- :- 69E @ܝ >9ܙ Iܙ iܙ ܝ =ܙ ܙ ܝ nq; ݝ .8Eb. ,g$hFAY}6+@}61G @y}6S,}6}6H6"h|?`-ʿU?@|R?)~6+@ ~6];I~6Cɫ99)9 9I9Y}%?y}F ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYm}Mm=Ym=QUu?qqa}#H}Hyy}?Iȉō 5?ōeݾ ƍL ?9ƍ@Ǎ: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUU@^?i=}nGIQiawֿٺAB)B) B1A5d*B1A1A9A9A9"CA*CARCiCiCiaIiG9>5 ,$hFAY}6J@}6 @y}6*}6Qz}6H K?@?ƿB?@箿 ?)~6J@ ~6j\;I~6CɫYY)Y YIYYX?yPF51=M=N=Y= ;QU=>AAaE#HAIyM}M>IQU 5?Udݾ UVO e?9U]@Uϸ: U:)QWWX XWX:W2W*W V bU BU *UUU?BYBa BaAeׅ*BaAaAaAaAi"Cq*CqRCqCqCyI׉)׉iIG%+>m $ m m m C m _:Ym WU1ym :m 6 < ,n$hFAY}6F@}6Kb @y}6/}6)}6H+ @@ح?q?G8;ſ?%椿f?)~6F@ ~6\;I~4ɫYY)Y YIYY}G?y}mF m m=)iIiym{GztˡEMbmףm'm m7A)mS[AIm2AimcAim=JAlME=YcDQU>a#Hy5<}>Iȩ :ŭ 5? :ŭ dݾ ƭVR ?9ƭ@ǭb: ȭ:)ȭC:WQWYXY XYWYXY:WY2Wa*WaVabUaBUa*UiUiUm`z?BB BA*BAAAA"C*CRCCCIG (>M>9IIIiIM=IMMDMn; M6E-B , W %hFAY}2@}2> @y}2и4}2m82}2HJ9? bU?W`ſ y?쥿@y?)~2@ ~2ɟ\;I~2Cɫ髁) IY?y?F    @ @ @áááiáá ġ)ġIġiġ؛M,=YQU>a=#H99yE -<}E>IIMr 5?Mcݾ MU U?9M@Mض: Mض:)IWyWyXy XyWyXy:W2W*WVbUBU*UUU @BB BA*BAAAA"C*CRCCCיIGi>e e e e  e r:Ye T1ye :e q 6dI ,%&%hFAY}6v@}6 @y}6ya5}6vU}6H`F`N?V?G}ƿ?@@t?)~6v@ ~6 \;I~6Cɫyy)y yIyY)?y[Fu;Mux=Y}QU}?ya#HyѺ}?Iȑ :ŕk 5? :ŕ>cݾ ƕW ?9ƕ@Ǖ$: ȕ:)ȕD:WWX XWX:W2W*WVbUBU*UUU@@BB BA*B A A A A "C*CRCCC-?i-? IGU>E >9E CIE FiE ?E =E <DA E fl; E {5EAO ,;?%hFAY}2p@}2 @y}2P7}2S}2H6+?`]?l9ƿ`?ar?)~2p@ ~2`;I~2Cɫyy)y yIyY?ywFp=ɮa=IC=)%=MT=YQU>a#Hy}>I 5?bݾ Z  ?9~@: :)W)W)X) X)W)X1:W12W1*W9V9bU9BU9*U9UAUE3@RMB*** querying acoustic contact ***PIPIBiB BA*BAAAA"C*CRCCCI1GI   y X:Y U1y : 6) ;9 ~+V ,Y%hFAY}6{@}6 @y}6 <}6S}6HC-?M?G<%ǿ_? e~k?)~6{@ ~6b;I~6Cɫ99)9 9I9Yu?y}F}Z****** received transponder code query ******F****** received ping request ******19a=#HAIy]b;}]>Iq :u 5? :uKbݾ u] ?9u#@u; u6;)uE:WWX! X!W!X!:W!2W!*W)V)bU)BU)*U)U1U5 @BB BA;*BAAAA"C *C RC CCIGn>0T\ ,s%hFAɫyy)y yIyY?ynFxDUSBL response received:!U1,P 502,000,002B1,18A,80,80,B5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 >9IpFiM?j; E4EeOn?RQпL7A`尿e>e e+)aIayey&1Mbp? rhe`弹e;eC eAA)eNAIaiaaeIA)} > }>v<M5=YQU>a#Hy}>Iȡť 5?ťbݾ ƥg ?9ƥ|@ǥ: ȥ:)ȡWWX XWX:W2W*WVbUBU*U U U @2+@BB BA*BAAAA"C*CRCCCIׁ)ׁ1IAGu>  0}:Y y N6) ; =c ,J%hFAY}:'@}:OC @y}: E}:.}:H@ wB?m`? y̿@z?窾@,?)~:'@ ~:"@^;I~:Cɫ99)9 9I9Y}\?y}fF}@AyNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i= aa,M=Y.QU?a#Hy}?I 5?7cݾ o ?9@b: :)WWX XWX:W2W*WVbUBU*UU U N@B1B9 B9A=և*B9A9A9AAAA"CA*CIRCICICQ)I1GU>Gfi ,l%hFAY}2@}2"* @y}2UD}2ǽ}2H R? h?>>)˿@7d?`Q|C?)~2@ ~25];I~2CɫYY)Y YIYY?yFxDUSBL response received:!U1,R,502,000,002AE,189,80,80,BE,FF Fpublishing direction and range infoɰ`=鰥7> )>CIy=j@w?amf-ٱ E E E E@ E@ E@AAAiAA A)AIAiAU­;M]@=Y]^:QU]>aaae#Haaymnl}m>Iȁ :Ņ7 5? :Ņcݾ ƅx ?9ƅ@Dž{; ȅN;)ȅF:WWX XWX:W2W*WVbUBU*UUU9@Rm(Combining 5 samples.Pi*Qm=j@ZQms:@?apuV JQmw?amf-2Qi:QibQmِ ?pW@E9#\?RQm.?Vy}Q?5gwת?BQm|? QmB@Qm?PiPiPiQiQmy@"QmP!@BB BAć*BAAAA"C*CRCCC I)GmW> >9 CI 8Fi ? = ;D g; 3E)}CI}Ci}C}=}=}6Np ,I%hFAY}fg@}f@y}fȋH}f<>}fH@*VQ?u?`A,ȿ? Q`Z?)~fg@ ~f\;I~fCɫ髹) IYg?y F]TNmea in: $SNTTA,0.057208,,,,231742.23*48    @ @ @ÁÁÁiÁÁ ā)āIāiā5i<MF=YK#QU>a#HHy+1}>IȹŽ 5?Ž?dݾ ƽ ?9ƽa@ǽ: Ƚ:)ȹmqAdded new target pos. range: 3.660000 m, bearing: 57.512713 deg, deltaT: 4.526467 s, approachRate: -0.039766 m/s, LOS rate: -0.060287 deg/s, posRepo size: 4XW|?WX XWX:W2W*WVbUBU *U U G @U @?B9B9 B9A=*B9AAAAAAAA"C|?*CRCC|?C?i?IGE>x  z:YxZ1yq:E6);xv ,-$%hFAY}2Y@}2@y}2`T}2U}2H <"[.?@\h?*Зƿs[? Su`TP?)~2Y@ ~2 d;I~2Cɫ99)9 9I9Y}?y}AFIR=)=};M_=YpQU>a#Hyº}>I : 5?  :dݾ l ?9@; U;)G:WWX XW)X):W12W9*WAVibUqBUq*UyUU?BB! B!A%~*B!A)A)A)A)"C1*C1RC1C1C9I)GEQ>͢| ,%hFAɫyy)y yIyYO?y7F$C?"~j?{GzZ>S= #)Iy:v:v+TT ­?A)­SAI­0Ai­hA3KA ] ] ] e@ e@ e@ eYYYi]?Y ]A?)]K?I]?i]&?u<Mu<=YuQU}>yya}#Hyy}>Iȑŕ 5?ŕ$dݾ ƕC ?9ƕc@Ǖ: ȕh:)ȑWWX XWX:W2W*WVbUBU*UUU?BB BA*BA A A A "C*CRCCCܑ9ܕCIܕFiܕ?ܕ=ܑܑܕe; ݕ 2EIG (>|  z:YV1y:6) ;inmGI1iA}Wٺy}-A ,s&hFAY}6l@}6 @y}6c!\}6}6HAnk?@$?XrXnɿ N?@ޟa??)~6l@ ~6_;I~6Cɫ99)9 9I9Y]?y]F9Mg=YQU>a#Hyrm}>I  : 5?  :cݾ ] ?9@: :)H:W1W1X1 X9W9X9:W92W9*WAVAbUABUA*UAUIUMC?BqBy ByA}J*ByAyAyAyA"C*CRCCCIס)ץ]AQIYG=Q ,(&hFAY}:)@}: E@y}:K\}:mT}:H%E? ?߿`&̿9S?崿`+'?)~:)@ ~:^;I~8ɫ99)9 9I9Y}?y}8F EMED=YM̹QUM>IIaU#HQQy]!}]>Iae 5?ecݾ e" m?9e@ew: eM:)aWWX XWX:W2W*WVbUBU*UUUtb?BB BA*BAAAA"C *C RC C C IGU>  0}:YDW1yY:69@܉ 9܉ I܉ i܉ ܍ =܉ ܍ ND܍ .d; ݍ #1Ez ,OB&hFAɫyy)y yIyYb?yF    @ @ @ @i )IiMQ<M@=YQU>a#Hy}>I  :  5? : bݾ  ?9 {@ =: w:) I:W9W9X9 X9W9XA:WA2WA*WAVAbUIBUI*UIUQUU`@ByBy ByAU*BAAAA"C*CRCCCQIaG>FƖ ,j\&hFAY}2@}2e@y}2)j}2D\}2H0߿`f]??E߿Oο? `'?)~2@ ~2Z`;I~0ɫIQ)Q QIYY?yF鮥a=ɮ!;M_=Y QU>a#HyB}>I 5? bݾ  -?9"@ף; 7;)W9WAXA XAWIXi:Wq2Wy*WVbUBU*UUUWs@RB*** querying acoustic contact ***PPB1B9 B9A=M*B9A9A9AAAA"Ci*CiRCiCiCqׅ?iׁaIiG9>  ;|:YX1y/:W6 ,Ev&hFAY}2@}2H@y}2\n}2xM}2H@߿@2??֜̿І?  ?)~2@ ~2a;I~0ɫ99)9 9I9Y?yFZ****** received transponder code query ******F****** received ping request ******a#Hyn}>191I5ȖFi5?5=115lb; 550EI!% 5?%aݾ % M?9%@%; % ;)!WqWqXq XqWqXq:Wy2Wy*WyVybUBU*UUU` @BB BA(*BAAAA"Ca*CaRCaCaCi9IIGeV>ޕ=iޕ=Hأ ,` &hFAY}22@}2@y}2}j}2Ч}2H ߿`>?@?y ʿ`.?@'?)~22@ ~2`_;I~2Cɫ99)9 9I9Y})?y}[FxDUSBL response received:!U1,P 502,000,002AE,189,80,80,BE,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 _G=Mu=Y MI1 E:5 5? E:5aݾ 5; ?95|@5C< 5iD<)5J:WAWAXi XiWiXq:Wq2Wy*WyVbUBU*UUU!0 @BB B!A%*B!A)A)A)A)"CA*CIRCICICII1GeU>  {:YV1y:|6 ,&hFAY}6#@}6@y}6i}6XLټ}6Hd߿? ?Z,@ʿZ?t )?)~6#@ ~6L];I~6Cɫ99)9 9I9Y?y>FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B <M@=Y:QU>a#HyfB;}>Iȱŵ8 5?ŵaݾ Ƶ ?9Ƶ@ǵZ: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUU;@BB) B1A5G*B9A9AAAAAi"Cy*CRCCCI)IGI>1 91 I5 Fi5 ?1 1 1 5 `; 5 J/EF ,&hFAY}:@}:h@y}:`xn}:u}:H߿@??K_@ͿA?歿}?)~:@ ~:];I~:Cɫ99)9 AIAY}?y}FxDUSBL response received:!U1,R,502,000,002AE,189,80,80,B6,FF Fpublishing direction and range infoɰ鰁 )6CIyw?amf-ٱ 鿹    @ @ @i )IiMC=Y ;QU >)1a5#H5H1y=;}=>IA M:E 5? M:Eaݾ E u?9E@E; Ev;)EK:WWX XWX:W2W*WVbUBU*UUU{@R(Combining 5 samples.P*QZQs:@?apuV JQw?amf-2Q:QbQߵLu^@@W?RQUe?j.?$Ł?BQ.x? Q>@Q@P]9?PPQQ@"Qy@BqBq BqAu*BqAyAyAyAy"C*CRCCCסIGA>Iޑ)ޕ?Ah  \y:YT1y:6);9n ,E&hFAY}~8@}~@y}~-q}~}~H`Z߿@=? ?߿,ο?^ j ?)~~8@ ~~'\;I~~Cɫ) I Yk?yF5TNmea in: $SNTTA,0.004482,,,,231746.66*4F -tV?Mb~jt-r>-@ -ļ))I)y-A`"?Mb`--Y=- -fBA)-NAI--Ai-)-?AM C=MM7=YMI»QUM>QQaU#HQYy]T}]>IaeI 5?eWbݾ e8 u?9e@eD: eM:)ammAdded new target pos. range: 3.660000 m, bearing: 55.546261 deg, deltaT: 4.429399 s, approachRate: 0.000000 m/s, LOS rate: -0.443955 deg/s, posRepo size: 4XW.x?WX XWX:W2W*WVbUBU*UUUp?BB BA*BAAAA"C}{?RCC.x?CIGI>> ,Ό&hFAY}2ՠ@}2_@y}2q3p}20}2H@߿9:??߿ο"?2?)~2ՠ@ ~2`;I~2Cɫ99)9 9I9Y}?y}F = = = =@ =@ =@999i99 9)9I9i9M^=MMr=YM!9;QUU?QQa]#HYYyeܻ}e?Ii u:m 5? u:mbݾ m= }?9m@m; m[;)mL:WWX XWX:W!2W!*W!V!bU)BU)*U)UIUU`$?ByBy ByA}*ByAAAA"C Oz?*CRCCC?i?9IFi1?=MD^; Q.E)uCIuCiuCu=u=u75שIG >H  v:YV1y:6)v;^& ,g'hFAY}2"@}2@y}20[k}2l봽}2H ߿@z??p߿ οC)?@x ?)~2"@ ~2l`;I~2Cɫ99)9 9I9Y}?y}ٍFIa=)%=>ؼMO=YDa #H  y b;}>Ir 5?ecݾ  %?9@n: #:)WAWIXI XIWIXI:WI2WQ*WQVQbUQBUY*UYUYU]3?BB BA*BAAAA"C.x?RCCCשIG=P ,9C+'hFAY}:|@}:@y}:@i}:ƌ}:H`߿ /xƬ?O?@߿-RͿW? ?)~:|@ ~:p^;I~:Cɫ99)9 9I9Y]#?y]jF=E=M=F=YEL;QUE>AAaM#HIIyU(:}U>IY] 5?]cݾ ] e?9]t@]: ]{:)YWWX XWX:W2W*WVbUBU*UUU5?BB BAe*BAAAA"C*CRCCCI9G]>&  t:Yy69@ ]A 9 I @Fi ? = ND ]; S-E!: ,%E'hFAi6/mGI@iLfٺdfAY}@}@y}j}}H@߿@_??_߿ ŃοO?G`t ?)~@ ~];I~ɫ髑) IYG?yF    @ @ @ÁÁÁiÁÁ ā)āIāiā}=M6=Y(QU>a#Hyͨ}>Iȹ :Ž 5? :Ždݾ ƽ*¾ ?9ƽ5@ǽ : Ƚ/:)ȽM:WWX XWX:W2W*WVbUBU*UUUR@BB B A ܄*B A A A A "C*CRCCC9II)M\AI!GEQ>b ,{^'hFAɫ) IY?y|F 鿡e5^I ?y&1?Mb?eX>e`e> e=)aIayey&1|Mb~jte`廹eeD e@A)eSAIaiekAae\KAhML=YQU>a#Hy}>Iȡť 5?ťdݾ ƥľ ?9ƥo@ǥ: ȥ4:)ȡWWX XWX:W2W*WVbUBU*UUU]@BB BA*BAAAA"C!*C!RC!C!C)!I)GM1>V  w:YT1y:6 ,x'hFAY}6@}6 @y}6)c}6m_}6HI8߿`??K߿s˿Z6?t:*?)~6@ ~6_;I~4ɫ99)9 9I9Y]?yFp=ɮR= % % % %@ %@ %@!!!i!! !)!I!i!5k\=M5b=Y=r99aE#HAAyM}M>IQ ]:U- 5? ]:Updݾ Uƾ ]?9U@U: U:)UN:WWX XWX:W2W*WVbUBU*UUUQB@RB*** querying acoustic contact ***PPBB BAV*BAAAA"C*CRCCCy9yI}НFi}E@}=yy}C[; }e,EיIG=t ,ѯ'hFAY}:@}:-@y}:[}:T}:H".߿ nk6??@޿@{̿h+?ȝ,?)~:@ ~:da;I~:Cɫ99)9 9I9Y}?y}FZ****** received transponder code query ******F****** received ping request ******a#Hy}>Iȡť 5?ťVdݾ ƥoɾ ?9ƥ@ǥ; ȥ;)ȡWWX XWX:W2W*W!V!bU!BU!*U!U)U-ϣ @BB BAɄ*BAAAA"C*CRCCC?i?IG$> j Qm:YW1yč:6 ,'hFAY}2ϱ@}2Y@y}2DP}2yԽ}2Hm"߿'?2?@t޿̿` ?f@*+?)~2ϱ@ ~2d{^;I~2CɫYY)Y YIYYa?yhFxDUSBL response received:!U1,P 502,000,002AE,189,80,80,B6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I4=)4=%{<M-F=Y=a#Hy }5>IQ :Uc 5? :U;dݾ U˾ ?9U@Ux< Ut<)UO:WYWYXa XaWX:W2W*WVbUBU*UUUjT @B1B1 B1A=*B9A9A9A9A9"C*CRCCC׉IGj>u >9q Iu Fiu @q q q u Y; u y+ET ,u'hFAY}F@}F @y}FPI}Fͽ}FHF߿ʄ? 5?޿@S̿ ? (%9?)~F@ ~F\;I~FCɫ髱) IYy?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )IiY9a#HHyV;}>I 5?"dݾ @ξ ?9U@ : :)WWX X!W!X!:W!2W*WVbUBU*UUU@BB BA*BAAAA"C *C RCCCI)GE0>+  ~t:YWU1y:6)w;9 ,LO'hFAɫ髩) IY?yCFxDUSBL response received:!U1,R,502,000,002AE,189,80,80,B9,FF Fpublishing direction and range infoɰ )9CIyw?amf-ٱuT㥛 ?|?5^{Gz?u=uҽ uף<)qIqyu/$ ףp= a#Haye}e>Ii u:m 5? }:mcݾ m?Ҿ }?9m@mz: m:)mP:WWX XWX:W2W*WVbUBU*UUUU@R(Combining 5 samples.P!*Q!ZQ%s:@?apuV JQ%w?amf-2Q!:Q!bQ% z T@oFQ|@Ј}]?RQ% $H?1֪?B?BQ%s? Q%;@Q%@P!P%]9?P!Q!Q%@"Q%@BqBq ByA}<*ByAAAA"C*CRCCCIױ)ױבIGa> ,)$'hFAY} $y@} @y} K5} } H=߿ i?jd? VJ߿;ſ ?SfG|?)~ $y@ ~ b;I~ Cɫ) IY5;?y5FDNmea in: $SNTTA,,,,,231751.12*5E 9IНFiE@=W; *E = = = =@ =@ =@999i99 9)9I9i9-<MK=YJ=QU>a#HyFd}>Iȩŭb 5?ŭcݾ ƭ$־ ?9ƭ@ǭ˵: ȭ:)ȩmmAdded new target pos. range: 3.660000 m, bearing: 54.539279 deg, deltaT: 4.482321 s, approachRate: 0.000000 m/s, LOS rate: -0.224656 deg/s, posRepo size: 4XWs?WX XWX:W2W*WVbUBU*UUU r?BB BA*BAAAA"Cs?RCCs?CI G-O>  q:YDW1yY:26)1; ,U(hFAY}F@}Fk@y}Fi+}FԘ}FH:߿@?k?`A޿ǿ%G?[- y?)~F@ ~FLN`;I~FCɫYY)a aIaY}?y}zFr&Mf=Y!!a%#H!)y-i;}->I15 5?5cݾ 5kپ E?956@5Z: 5:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUyU}` ?BB BA&*BAAAA"C*CRCCC IG5 > ,-(hFAY}F<@}FX@y}F }F}FHd߿ %o??`޿ƿa?@]~?)~F<@ ~FWW^;I~DɫQQ)Y YIYY,?yFul:MuD=Yuyya}#HyyzB}>Iȉ :ō 5? :ōcݾ ƍݾ ?9ƍ@Ǎ: ȍ:)ȍQ:WWX XWX:W2W*WVbUBU*UUU -?BB BA"*BAAA A "C*CRCCC?i?סIG">  :YV1y:i69@- >9- CI- Fi- E?- =) ) - V; - )E)ݡIݡiݡݥ=ݥ=ݥ~5 ,+G(hFAY}N@ @}N'@y}N}Nכ}NH޿Ω?0?޿yĿ]???)~N@ @ ~N2(^;I~NCɫqq)q qIqY?yޒFIE=)E=    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉu4<MG=Y#ta#HyN}>IȹŽL 5?ŽYcݾ ƽ ?9ƽ@ǽe: Ƚ~:)ȹWWX XWX:W2W*WVbUBU*UUU *?B1B1 B1A5*B1A9A9A9A9"CA*CIRCICICIAIIGe>l ,a(hFAY}e*@}eDF@y}e*/}eC9}eHK޿=`h?[? ޿ ÿ@?`榿@ß?)~e*@ ~eg ];I~eCɫ11)1 1I1YJ?yF/$?t< u=)Iy{GzV-?#< …a#Hy;}>Iȹ :Ž 5? :ŽVcݾ ƽaھ ?9ƽ@ǽ; Ƚ:)ȽR:WiWiXi XiWiXq:Wq2Wq*WqVqbUyBUy*UyUyU@BB BA*BAAAA"C!*C!RC!C!C)I!G=Q>y  z:YW1yč:i6( ,c{(hFAY}6@}6@y}6^L}6c}6Hՙ߿@.ϗ?Er? p߿ mÿNY?' ޞ?)~6@ ~6 E_;I~6CɫII)I IIIY}L?y}oF8=Mg=Y!!a%#H!)y-<}->I15 5?5Scݾ 5վ E?95@5: 5:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUyU}"@BB BAZ*BAAAA9IFiv?=@U; 4)E"C1*C1RC9C9C9Ii)m]A)I1GU>i)IAiaiٺAT% ,*R(hFAY}6`p@}6@y}6A }6}6H`p@؄_?R?߿5Ŀ?޳:?)~6`p@ ~6 b;I~6Cɫ11)1 1I1Yu?yuzFyɮ}= 鿉 5 5 5 5@ 5@ 5@111i11 1)1I1i1EwMEG=YM kQQaU#HQYy]$<}]>Ia m:e; 5? m:eQcݾ eξ u?9e@e: e:)eS:WWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA&*BAAAA"C*CRCCCIG>  zm:YT1y:6_;+ ,.(hFAY}2d@}24@y}2 }2m}2Hm H*Y? s߿ ÿ !'? ?)~2d@ ~2F_;I~2 Cɫ) IY ?y ֑FZ****** received transponder code query ******F****** received ping request ******a#Hyź}>Ișŝ 5?ŝNcݾ ƝǾ ?9Ɲ@ǝr; ȝ;)șWWX XWX:W2W*WVbUBU*UUUK @BB BAi*BA!A!A!A!"C)*C)RC)C1C1IGj>>9CIFi1?=S; (E#2 ,(hFAɫ髹) IY?ypFxDUSBL response received:!U1,P 502,000,002AE,189,80,80,B9,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 ex=Mms=YQU>1Qa]#H]Hiyu}u>Iy :} 5? :}Lcݾ }6¾ ?9}@}; };)}T:WWX XWX:W2W*WVbUBU *U UU/ @BB BAƒ*BAAAA"C*CRCCCיIGf>j ~~ y:YT1y@:W6);9Q8 ,(hFAY}v@}v~@y}vp }vƽ}vH(`gώG?^߿ſ@??)~v@ ~v\;I~vCɫ ) IYM?yUhFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B  2Nmea in: .20.0.39330*7C  Response from modem failed NMEA checksum: .20.0.39330*7C expected 0I=)R=uFx?Zd;V-?uK>uy uh=)qIqyu/$?y&1?{Gz?u,=u`e19a=#H9AyEQ <}E>IIM 5?Mbݾ M| ]?9M@Mf: M:)IWyWyXy XWX:W2W*WVbUBU*UUU7@BB BA.*BAAAA"C*CRCCCױIGe>y> ,(hFAY}B@}B@y}BB }BJs}BH 3`I?$F?@QU¿?.}?)~B@ ~BȜ[;I~BCɫQQ)Q YIYYN?yFxDUSBL response received:!U1,R,502,000,002AF,18A,80,80,C2,FF Fpublishing direction and range infoɰa=鰝> )BCIyn@w?amf-ٱ܁9܁I܅ Fi܅?܁܁܁܅R; ݅'E    @ @ @i )Ii%pM%]=Y-))a5#H11y=T;}=>IAE 5?Ebݾ Eܷ M?9E>@E: EY:)AWiWqXq XqWqXq:Wq2Wy*WyVybUyBUy*UUU@R(Combining 5 samples.P*Qn@ZQo$?7U JQw?amf-2Q:QbQ ?馀@ө{Ӌ@0L?RQ ߢ?!Ud?f G?BQ0z? Q^D@Q@PPPQQ@"Q@BB BAZ*BAAAA"C*CRCCC I!GEQ>F  v:YU1y:D6)S;aE ,d)hFAY}2@}2 #@y}2%}2*8}2H+T@+@ם?@2?@ K`'c?Φ@?)~2@ ~2`;I~2Cɫ11)1 9I9Yuv?yuF<Ms=YQU?a#H!y%g<}%?I1 =:5 5? =:5aݾ 5 =?95@5.: 5::)5U:mmiAdded new target pos. range: 3.720000 m, bearing: 56.086836 deg, deltaT: 4.426107 s, approachRate: 0.013556 m/s, LOS rate: 0.349643 deg/s, posRepo size: 4XiWu0z?WqXq XqWqXq:Wq2Wy*WyVybUyBU*UU @U?BIBQ BQAU*BQAYAYAYAY"Cew?RCaCe0z?CׁIG>^K ,Rc0)hFAY}R@}Rj@y}RG}R!{Y}RHFE@ ?>? E2` }? * L?)~R@ ~R_;I~RCɫ) IY?y֑Fu=iu= 鿁    @ @ @ i? ?)?I?i?μM>=YI;QU>)a5#H1IyUҮ}U>IY]W 5?]`ݾ ] e?9]I@]: ]b:)YWWX XWX:W2W*WVbUBU*UUU`*?BQBQ BQA]i*BYAYAYAYAY"C}0z?RCCCיIGA>  o:YV1y:{69@ܙ9ܙIܝXFiܝ?ܙܙܙܝAAaE#HAAyM¼}M>IY e:]R 5? e:]g`ݾ ]i e?9]@]: ]:)]V:WWX XWX:W2W*WVbUBU*UUU`X?BB BA*BAAAA"C*CRCCCIG>ZX ,2d)hFAY}b"@}b[>@y}b|}b}bH߿`j?p?߿ kOD? ?)~b"@ ~bԽ\;I~bCɫ髉) IY?yFq= ףp?NbX9п:v?= =)Iy:vX9v?~jtx?Լ<; l=A)^LAIi~ZAFAԀ<M==Y\QU>  a #H yiԻ}>I 5?Vaݾ  -?9X@#: M:)WIWIXI XQWQXQ:WQ2WQ*WQVYbUYBUY*UYUaUe@(=?BB BA*BAAAA"C*CRC!C!C!I!GM1>  r:YU1y:60^ ,s})hFAY}6Wc@}6~@y}6I }6c}6H @G? jY?߿ÿ*??)~6Wc@ ~6[;I~6CɫYY)Y YIYYt?yאFI4=)%=999I=ȖFi=?999= P; =n&E)сIсiсՁ=Ձ=Ձi4    @ @ @ @i )IiFML=YQU>a#Hy !<} >I :] 5? :5bݾ  ?9@^: :)W:WAWAXA XAWAXA:WI2WI*WIVIbUQBUQ*UQUQU]b?BB BAф*BAAAA"C*CRCCC׉IG>Le ,ϗ)hFAY}Jԓ@}J^@y}JS }J }JHi q|?@[K? ߿iÿi?@$Pਞ?)~Jԓ@ ~J^;I~JCɫyy)y yIyY?yƎFU苽MUU=Y]kQU]>Yaae#Haaym;}m>Iqu 5?u cݾ u }?9u_@u^: u:)qWWX XWX:W2W*WVbUBU*UUU@@BaBa BaAe*BaAiAiAiA"C*CRCCCׁIG>e  d:Yy6k ,̱)hFAY}5Z@}5qv@y}5 }5r}5H. ޯ@&?|[?`N߿u¿ y+?౧?)~5Z@ ~5_;I~5Cɫ!!)! !I)YeA?ye|Fma=ɮmp=    @ @ @i )Ii <MA=Yc;QU>a#Hy}>I :o 5? :cݾ Ԩ ?9@: f:)X:WWX XWX:W2W*WVbUBU*UUU\q@RB*** querying acoustic contact ***PPB)B) B)A-]*B)A1A1A1A1"CY*CYRCYCYCa1I9G]3>)9)I-8Fi-?-=))- O; -%E uCi- ]nGIY iy 5ٺ Ar ,O)hFAY}R@}Re8@y}R+ }Rr}RH ߿ǿ@9?h?@0߿@ ¿`Nt?LO?)~R@ ~Rʂ];I~RCɫqq)q qIyY?y=FZ****** received transponder code query ******F****** received ping request ******)a-#H-H1y5}5>I9= 5?=dݾ = e?9=w@=; =';)9WWX XWX:W2W*WVbUBU*UUU`O @B)B) B)A-w*B)A1A1A1A1"C9*C9RC9C9CaAIQGm5> } m:YW1yč: 6);9+x ,_)hFAY}6@}6O@y}6}6|_}6H ߿&? 9t? z߿ÿ`?`?)~6@ ~6[;I~6CɫYY)Y YIYYz?yǍFxDUSBL response received:!U1,P 502,000,002AF,18A,80,80,C2,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 v/? rh?Mb?x>C= =)Iy:v?/$~jtx?T< ?A)NAIt3Ai\A\GA!M.=YQU>  a #H yh}>Il 5?Odݾ  u?9@9< 8<)WWX XWX:W2W*WVbUBU*UUU f @B B B1A=*B9AAAAAAAI"Cy*CyRCCCבIG> ,<)hFAY}J\@}J@y}J}J0}JH@"p߿ @4?`y?Wf߿ÿ@?:ॿ` ?)~J\@ ~JC]\;I~JCɫ髉) IY!?yFAA9IpFiM?=MD@N; z%ENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @éééiéé ĩ)ĩIĩiĩMx=YQU?a#Hy}?I : 5? :cݾ  ?9@a: :)Y:WWX XWX:W2W*WVbUBU *U UU @BB BA%*BAAAA"C*CRCCCסIGA> ~~ %q:YT1y@:6);J ,*hFAY}:@}:@y}:}:m}:He߿`T@ܨ?Dp?{߿`)Rÿ?И\?)~:@ ~:\;I~:Cɫ99)9 9I9Y}?y}uFxDUSBL response received:!U1,R,502,000,002AD,189,80,80,BA,FF Fpublishing direction and range infoɰu`=鰅7> ):CIyff@w?amf-ٱI=)=LpM]=Y¼QU>a#Hy8}>I# 5?cݾ | ?9Z@< <)WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qff@ZQxP^B(?0B JQw?amf-2Q:QbQ*1_^@!6t@V?RQO6a/?zF%?:Ҹ?BQEv? Q?<@Q@PPPQQQ @"Q@BB BA0*BAAAA"C*CRCCCסIG >3) ,3*hFAY}=@}=@y}=M(}=ZH}=H`?߿@@-ţ?`m?1߿@ Rſ@B?ᱨ ]?)~=@ ~=b;I~=Cɫ)))1 1I1Yg?yYFTNmea in: $SNTTA,0.004424,,,,231800.00*4E U U U U@ U@ U@QQQiQQ Q)QIQiQm<Mu1=YߝQU>a#Hy }>Iș :ŝ 5? :ŝbݾ ƝU ?9Ɲ@ǝ: ȝ:)ȝZ:mUqAdded new target pos. range: 3.599999 m, bearing: 55.176799 deg, deltaT: 4.395129 s, approachRate: -0.027303 m/s, LOS rate: -0.207056 deg/s, posRepo size: 4XQW]Ev?WYXY XYWYXY:Wa2Wa*WaVabUiBUi*UiUm @Uu?BB BAԅ*BAAAA"CEv?RCCEv?CIGM>  :YDW1yY:69@_A9IFi?=NDM; !%E ,L*hFAY}2@}2k8@y}2,0}2f|}2H ޿C??޿g.ǿ?u?)~2@ ~2_;I~2Cɫ99)9 9I9Y]?y]FMh=YQU>a#Hy뤼}>I 5?bݾ  ?9@÷: :)W!W!X! X)W)X):W)2W)*W1V1bU1BU1*U9U9U=?BaBi BiAm*BiAiAiAqAq"Cy*CyRCyCyCIG>9 ,f*hFAY}J@}JT*@y}J=;}J}JH@޿ yɠ?`v?`}޿@Dȿ jF? @f?)~J@ ~J=B];I~Hɫ髙) IY?yF=i> !!Pn?(\µ> )IyA`"?y&1?MbY=`e< ­@A)­KAI­2Ai­|_AGAԼM<=Y˼QU>a#Hy}>I m: 5? m:aݾ o u?9@ӑ< <)[:WWX XWX:W2W*WVbUBU*UUU?B1B1 B1A5*B1A9A9A9A9"Ca*CaRCaCiCiaIGA>g  Gy:YU1y:6% ,*hFAY}:s@}:)@y}:0H}:}:H@޿`5l?gM? ޿@:ɿ@[? 8@Q?)~:s@ ~:\;I~:Cɫ99)9 9I9܁9܁I܅pFi܅M?܁܁܁܅L; ݅$EY ?yHF    @ @ @ùùùiùù Ĺ)ĹIĹiĹ<MJ=YEQU>a#Hy y<}>IH 5?`ݾ  ?9u@; n;)W9W9X9 X9W9XA:WA2WA*WIVIbUQBUQ*UQUYU]@?BB BA*BAAAA"C!*C!RCACACI!I1GM1>K ,g*hFAY}F@}F+@y}F^T}FCW}FH W߿@O?Y?@*߿y.˿A[?@yF^=?)~F@ ~F [;I~FCɫyy)y IY?yFuMuP=Y}QU}>yya#HyA<}>Iȑŕ 5?ŕ_ݾ ƕ ?9ƕ'@Ǖ: ȕ/:)ȑWWX XWX:W2W*WVbUBU*UUU@BB BA(*BA A A A "C*CRCCCIiG>  Yp:Yy 6s ,:*hFAY}6@}6-*@y}6VP]}6N}6H"\߿T? ?)߿AT̿@ s?`er,?)~6@ ~6i]^;I~6CɫII)I IIIY]?y]eFI=)=    @ @ @i )Ii-=)<M-O=Y-QU->11a5#H19y=i;}E>IA M:E 5? U:E^ݾ E* U?9E@E: E:)E\:WyWyXy XyWyXy:Wy2W*WVbUBU*UUU=@B1B1 B9A=*B9A9A9A9AA"CA*CIRCICICQ)I1GU>܁9܁I܅8Fi܅?܁܁܁܅XL; ݅w$E)Ii==4] ,*hFAY}J@}J62@y}Je}JE:}JHS߿`W\?@?3߿ Ϳ ~?Q`6?)~J@ ~J3_;I~JCɫqq)y yIyY?y/Fp=ɮ5M=I=Y=oQU=>AAaE#HEHAyMV:}M>IQUi 5?U^ݾ U ]?9U@U=: U:)QWWX XWX:W2W*WVbUBU*UUUd}@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCIG>  q:YW1yč:W6 ,*hFAY}2b@}2@y}2hq}2G}2H,߿T ?? hR߿y̿`?mD@?)~2b@ ~2I_;I~2Cɫ99)9 9I9Y}?y}wFZ****** received transponder code query ******F****** received ping request ******11a5#H19y=»}=>IA M:E, 5? M:E]ݾ Ed U?9E@E: E:)E]:WqWqXq XyWyXy:Wy2Wy*WVbUBU*UUU @B1B1 B1A5*B9A9A9A9A9"CA*CiRCqCqCyIGE>Km ,h+hFAY}F@}Fy@y}F7(|}Fv}FH߿@:?@?߿FϿ3?Ű?)~F@ ~F+];I~D5>91I5ȖFi5?1115K; 5 $Eɫ髹) IY|?y RFexDUSBL response received:!U1,P 502,000,002AD,189,80,80,BA,FF mCommand AckinGIi%BRequesting micromodem ping code 25ٺ15AiIQ]Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 鿩    @ @ @i )Ii mM#=YE8QUE>IQaU#HQyy|0;}>Iȉō 5?ōq]ݾ ƍ ?9ƍ@Ǎ: ȍ^:)ȉWWX XWX:W2W*WVbUBU *U U U *@  r:Y0Y1y:6);9BB BA*BAAAA"C!*C)RC)C9CQ׉ I G >g ,z+hFAY}2@}2@y}2h~}2z}2HF޿ ?@G?޿\Ͽ ?I}?)~2@ ~2 \;I~2CɫYY)Y YIYY^?y@FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B UqRM]=Y]QU]!?aaae#Haaymֻ}m%?Iq }:u 5? }:uH]ݾ u ?9u @u: u:)u^:WWX XWX:W2W*WVbUBU*UUU@@BB BA*BAAAA"C*CRCCCסIG > ,05+hFAY}NX@}N@y}N>}NS V}NH ߿*?"? QK߿ο"?詿`?)~NX@ ~N\\;I~Lɫ) IY%a#Hyp;}>I 5?]ݾ w ?98@: @:)WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qq@ZQE5j?.\Ux3 JQw?amf-2Q:QbQG@jd闏`@7WmzB?RQ8I?QӃ?In?BQDt? QC@Q< @PPPQQ@"QQ @B)B1 B1A5ކ*B1A1AYAYAY"Ca*CaRCaCaCi1IAG]3>>9I Fi?=K; #E  :Yy{6); ,]O+hFAY}2@}2p@y}2RI}2G}2H@߿`9@m?2?߿iο G;?` `?)~2@ ~2Pa;I~0ɫ99)9 9I9Y]?y]ȌFI)I4=)4=}I=M}Q=YwQU>a#Hyx9}>I 5:I 5? 5:\ݾ ' =?9a@q; ;)_:mmAdded new target pos. range: 3.779998 m, bearing: 54.669517 deg, deltaT: 4.469494 s, approachRate: 0.040273 m/s, LOS rate: -0.113499 deg/s, posRepo size: 4XWDt?WX XWX:W2W*WVbUBU*UUo=@U?B1B1 B9A=w*B9A9A9A9A9"CeDt?RCiCmDt?CiAIQGm5>ޝ=iޝ= ,6i+hFAY}6#@}6~?@y}6񇾙}6ْ}6H ߿a??V2߿`пK?<?)~6#@ ~6_;I~6CɫYY)a aIaY}?yFTNmea in: $SNTTA,0.005069,,,,231804.50*43 5l?y&1|I +5>5` 594)1I1y5J +?ˡE5H=55' 5@A)5OAI5,Ai5CoA153KAM=MM>=YU%QUU>QYa]#HYYye;}e>IimW 5?m[ݾ m׫ u?9m(@m: mϸ:)iWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*CRCCCAIIGiU  w:YyD69@J ,+hFAY}6@}6-@y}6Vʉ}6}6HQ޿ݩ?`?޿ 2ѿ`B? a ?)~6@ ~6c];I~6Cd9dIfxFif?dddfJ; f}#Eɫy髉) IY'?yώF)ù ù<MS=YQU> a#Hy.}>Iȡťm 5?ťbZݾ ƥd  ?9ƥ@ǥ^< ȥ^<)ȡWWX XWX:W2W*WVbUBU*UUU?BB BA*BA A A A "C*CRCCCIG]> ,^+hFAY}6@}6q@y}6%}6 }6HC޿( ??޿п?PR?)~6@ ~6~w\;I~6Cɫ99)9 9I9Yu?y}F=iC=  E<MMS=YMWqya}#Hyy}>Iȑ :ŕ 5? :ŕNYݾ ƕl ?9ƕ@Ǖ7; ȕ8;)ȕ`:WWX XWX:W2W*WVbUBU*UUU\?BB BA*B!A!A!A!A!"C*CRCCCׁIG>p  y:YW1yč:6 ,6ȶ+hFAY}:A7@}:R@y}:t}:J}:H@"߿C?@?޿`п?@2q@)?)~:A7@ ~:k[;I~:Cɫ99)9 9I9Y}g?y}YF=M=K=YE4;QUE>AAaM#HMHIyUY<}U>IY] 5?]&Xݾ ]ػ e?9]X@]: ]:)YWWX XWX:W2W*WVbUBU*UUU٥?BB BAԅ*BAAAA"C*CRCCCIG>9IFiE?=I; #Ey ,ɯ+hFAY}F!@}F@y}F =}Fɽ}FHج߿@̦?@?6߿ѿ 9?`^?)~F!@ ~F^;I~F Cɫ) IY?yF™™C-<M?=YVa#Hy߭<} >I : 5? :Vݾ  ?9#@: :)a:WAWAXA XAWAXA:WI2WI*WIVIbUQBUQ*UQUQUUB@@BB BA*BAAAA"C*CRCCCסIG >  l:YxZ1yq:6! ,+hFAY}20@}2K@y}2i}2j}2H  ɣ#??߿<п@u?ܴ '?)~20@ ~22`;I~2CɫII)I IIIY}=?y}F鮁ɮa=I)Ip=)=uV?V-¿L7A`?rh>h +=)IyQ?Mbp~jt?u<D< ?A)VVAI"+AiuAMA===M=W=YEAAaM#HIIyU<}U>IY] 5?]Vݾ ] e?9]H@]: ]÷:)YWWX XWX:W2W*WVbUBU*UUU`I@RB*** querying acoustic contact ***PPBIBI BIAU*BQAQAQAQAQ"CY*CYRCYCaCaIIQGm>5  ,\X,hFA6>94I6`Fi6@6=446H; 6"E)Ii==o4Y}FB@}F)^@y}Fz}F}FH`ř??Ͽ*?`%?)~FB@ ~Fg^;I~DɫYY)a aIaYi?y3F%Z****** received transponder code query ******%F****** received ping request ******-a#Hy.;}>I 5: 5? 5:bVݾ Y 5?9r@; O;)b:WWX XWX:W2W*WVbUBU*UUU ] @B9BA BAAE*BAAAAAAiAi"Cq*CqRCqCqCyAIQGm5>  :Yy6);93 ,4,hFAY}:@}:7@y}:eu}:j}:H @ò?{?@`Ϳa? h?)~:@ ~:Xz];I~:Cɫ99)9 9I9Y}9?y}FxDUSBL response received:!U1,P 502,000,002B0,189,80,80,B8,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= =    @ @ @ñññiññ ı)ıIıiı=ld<M=4=YEqDa#Hyb}>Iȩŭo 5?ŭVݾ ƭ ?9ƭ@ǭ: ȭ@:)ȩWWX XWX:W2W*W!V!bU!BU)*U)U)U-_l @BB BA߄*BAAAA"C*CRCCCIGEr>] ,8,hFAY}2H@}2@y}2Uk}2ŕ}2H4 w??@\߿ ˸Ϳ`e ?6 ?)~2H@ ~2s\;I~2C>JFailed to close latch before timeout.q >>Hardware FaultYR ?yR FTTbNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B = = E E@ E@ E@AAAiAA A)AIAiA}[=M}l=Ysi9iIm(Fim,@m=iim(H; m<"EzCieNmGIyIޡ)ޥAA]  {x:YX1y/:i6);i5ٺA]%?9]AE ,BQ,hFAY}6@}6^@y}6rV}6yk}6Hp#?`?`߿ୠ̿N?e ,?)~6@ ~6\;I~4>Powering down@ɪ@)@ @Y?yFxDUSBL response received:!U1,R,502,000,002B0,189,80,80,C3,FF Fpublishing direction and range infoɰ )CCIyw?amf-ٱg'M,=Y-=QU>a#Hy!}>I0 5?Uݾ f ?9@: :)WWX XWX:W2W*WVbUBU*UU U @R(Combining 5 samples.P*QZQE5j?.\Ux3 JQw?amf-2Q:QbQt\0@;@_?RQU?ڿ%??:q?BQΟw? QMD@QO@P\9?PPQQH@"Q@BIBQ BQAU*BQAQAQAYAY"Ca*CaRCaCaCiaIqG\>p ,ik,hFAY}6=@}6ǿ@y}6R4E}64}6H  7?o?߿`ɿ?`n% .Q?)~6=@ ~6oc;I~6CYB?yBFvdNmea in: $SNTTA,0.407722,0.405734,,,231808.88*5B 5v/?(\¿5z 5t=)1I1y5~jthy&1?~jtx5D5`e<5Ļ 1)5OAI5,Ai5kA15JA]N?=Mex=Ym_Q=QUm?ya#Hyz}?Iȡť 5?ťUݾ ƥ ?9ƥ@ǥ+?; ȥ-N;)ȡmiAdded new target pos. range: 3.779998 m, bearing: 55.421186 deg, deltaT: 4.483488 s, approachRate: 0.000000 m/s, LOS rate: 0.167653 deg/s, posRepo size: 4X!W%Οw?W1X1 X1W1X9:W92W9*W9V9bUABUA*UAUU`X?BB BA *BAAAA"C%Οw?RC!C%Οw?C)I)GEQ>  ~:YDW1yY:69@a 9a Ia ia e =a a e LG; e !Ew! ,-',hFAY}N/@}N@y}N-?}NA}NHV#`ģ??< Ǹȿ5?_?)~N/@ ~N'k;I~NCY^?ybJFI)))    @ @ @ iz? ?)?IA?i?=MO=Yea#Hy6<}>I : 5? :Uݾ & ?9B@: :)d:W!W!X! X!W!X):W)2W)*W)V)bU1BU1*U1U9U=R?BaBa BaAe*BiAiAiAiAi"Cq*CqRCyCyCyiIy$NClearing failed state for component DDMq G=U=iUp=' ,l|,hFAY}6s@}6@y}6 ;}6(f}6H@_@{Fʗ??.@Rɿ@@?봿[?)~6s@ ~6k;I~6CYf[?yfxF}ݼM}U=Y;a#Hyɰ<}>Ișŝ0 5?ŝVݾ Ɲ ?9Ɲm@ǝ: ȝ+:)șWWX XWX:W2W*WVbUBU*UUU?BB BAW*BAAAA"C*CRCCCIG>w  |:Yy6ܫ- ,yW,hFAY}6M@}6@y}6-}6}6H ]P? &?m``:ǿ`?! .n?)~6M@ ~6,>d;I~6 CY^=?ybfF    @ @ @ @ÉÉÉiÍÉ č)čIčičMH=Y=QU>a#HHyTu<}>Iȹ :Ž 5? :ŽBVݾ ƽ8 ?9ƽ@ǽ: Ƚ:)Ƚe:WWX XWX:W2W*WVbUBU*UUU 8aaam#Hiiyu }u>Iy}y 5?}tVݾ } ?9}@}: }:)yWWX XWX:W2W*WVbUBU*UUU?BB BA.*BAAA A "C*CRCCCשIG>IޝAA)ޝ@Av _ yz:YV1y: 6: ,c ,hFAY}2S@}2@y}2w }2}2H@̜X???z ÿ *)?`2@?)~2S@ ~2O^;I~2CYBe?yBFS㥻?/$ˡE?/=, '=)Iyy&1|Mb?Mbp?`廹=; µ;A)µTAIµ0AiµaAHA;MB=Y =QU>a#Hy7}>I  :  5? : Wݾ  ?9 9@ ]: :) f:WIWIXI XQWQXY:Wa2Wa*WiVqbUyBU*UUU@l@BB BA*BAAAA"C*CRCCCIG%> >9 I Fi @ =   E;  !EyA ,-hFAY}F@H@}Fc@y}Fb}Fӓ)}FHbum?#+?m?@ ۼ?)~F@H@ ~F\;I~FCYn?ynFva=ɮt    @ @ @ÁÁÁiÁÁ ā)āIāiā7=MP=YC =QU>a#Hy苼}>Iȱŵ 5?ŵWݾ Ƶ% ?9Ƶ@ǵ: ȵ':)ȱWWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB9BA BAAE*BAAIAIAIAI"CY*CYRCYCYCaqIyG= YT1y:6);9/G ,a -hFAY}2/@}2K@y}2}2j}2Hzm`er? 5?h@K?g뢿 6?)~2/@ ~2[;I~2CYV?yZvFZZ****** received transponder code query ******^F****** received ping request ******^!)a-#H)1y5m~}=>IAE 5?EXݾ E M?9E @E: E:)AWqWyXy XyWyXy:Wy2W*WVbUBU*UUU @BB BA*BAAAA"C*CRCCCױIG=ޙiޙM ,:-hFAY}2\@}2x@y}2彙}2 }2H@'iv{Q-?U@I:ߠ?`7@E?)~2\@ ~2 [;I~2CYR?yRFVxDUSBL response received:!U1,P 502,000,002B0,189,80,80,C3,FF VCommand AckVBRequesting micromodem ping code 2iTT^Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @áááiáá ġ)ġIġiġMJMM,=Ya#Hy;}>I -: 5? -:Xݾ  5?9@2< 0<)g:WYWYXY XYWaXa:Wa2Wa*WVbUBU*UUU @BB BA-*B)A1A1A1A1"C9*C9RCACACiיIGc>>9IFi1?=D; t E)AIAiAAAE 4  X:YW1yč:6);HT ,|T-hFAY}6@}6@y}6jѽ}6ȥ}6H1Z@+?_VUY?뷿 R?)~6@ ~6[;I~6CYB{?yBdFDDRNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =q<M=r=YE [ ,Un-hFAY}:z2@}:N@y}:n}:䜽}:H@z@l@G?N`_ǽ?@^?)~:z2@ ~:)[;I~:CY^?ybeFfxDUSBL response received:!U1,R,502,000,002AF,189,80,80,B9,FF fFpublishing direction and range info``ɰba=` `)b9CI`ybn@bw?amf-ٱ`na#Hy(}>I : 5? :XYݾ ѷ ?9@%; ;)h:WWX XWX:W2W*WVbUBU*UUUF@R5(Combining 5 samples.P1*Q5n@ZQ5o$?7U JQ5w?amf-2Q1:Q1bQ5ff @@7f@xN?RQ5hC+y?,Ε?^J?BQ5E}? Q5E@Q5@P1P5\9?P1Q5Q5@"Q5H@BB BA*BAAAA"C*CRCCCIGE>Iޑ)ޕAA  n:YDW1yY:69@i ]nGIA ia b ,-hFA9CIXFi?2D; " E:Uտٺ8:AY}n@}nr6@y}nH}ncl}nH`r3sxPQ?W?Rm 7?)~n@ ~nQ+[;I~nCY?ywFuDNmea in: $SNTTA,,,,,231813.30*57    @ @ @i )Ii;MP=Y'ma#Hywx}>I 5?Yݾ  ?97@: :)mmAdded new target pos. range: 3.720000 m, bearing: 56.684771 deg, deltaT: 4.414831 s, approachRate: -0.013590 m/s, LOS rate: 0.286214 deg/s, posRepo size: 4XWE}?WX XWX:W2W*WVbUBU*UU @U`}X?BaBa BaAm*BiAiAiAiAi"Cu'|?RCqC}E}?CyyIG>h , -hFAY}6'C@}6^@y}6A}6%}6H@f2pG?Z,"`a?@A ?)~6'C@ ~6[;I~4>Powering up>"Initializing DDM.YP?yԓFNRMJ=Y;QU>!!a%#H!)y-;}->I1 =:5 5? =:5Yݾ 5K E?95^@5: 5k:)5i:WaWaXa XiWiXi:Wi2Wi*WiVqbUqBUq*UyUyU} ?BB BA*BAAAA"Cz|?*CRCCCiIyG>  s:YV1y:Hn ,-hFAY}:O@}:Fk@y}:ͨ}:}:HX^@fD?N@.l??)~:O@ ~:*[;I~8Y^i?ybFI!)%A } } } }@ }@ }@yyyiyy y)yIyiyS<MT=YsK;QU>a#HHyR;}>Iȩŭ 5?ŭZݾ ƭ ?9ƭ@ǭ: ȭ8:)ȩWQWQXQ XYWYXY:WY2WY*WaVabUaBUa*UaUiUm pr?BB BAS*BAAAA"CE}?*CRCCCI)IG>]>9YI]8Fi]?]=YY]C; ]E/u ,-hFAY}6<@}6vX@y}6H}6e֜}6Hj`gI?GW@?n?)~6<@ ~6Z;I~6CYB?yF(F) > =朽MR=Y+:QU%>!!a%#H!)y-@A}5>I1 E:5 5? E:5YZݾ 5ʸ E?95@5F: 5:)5j:WaWiXi XiWiXi:Wi2Wq*WqVqbUqBUq*UyUyU} vm?BB BAG*BAAAA"C*CRCCCױIG=M  5w:Y0Y1y:26Z{ ,-hFAY}B-@}B@y}B}B(}L}BHyb|9?Z?`N@؋?u ?)~B-@ ~BZ;I~BCYn,?ynFMb@Mb@Mb@ )Iy~jtx{Gz??Ļ#<L= ¥;A)¥1RAI¥C9Ai¥PA    @ @ @i )Ii<M.=YqQU>!a%#H!!y-}->I15 5?5Zݾ 5 =?95@5: 54:)1WaWaXa XaWaXa:Wi2Wi*WiVibUqBUq*UqUqUu?BB BA"*BAAAA"C*CRCCCבIG> 9 I Fi ? = B; pEB ,xz .hFAY}2U@}2"@y}2b/}2l~*}2Hgx]?KS?[g޶?l8 /?)~2U@ ~2pZ;I~2CYN?yRF~a=i~R==, M=n=YE*wQUE?AAaM#HIIyUG;}U?Iȱŵt 5?ŵ [ݾ Ƶ2 ?9Ƶ Aǵb: ȵM:)ȱWWX X W X :W 2W *W VbU1BU1*U1U9U= A@BB BA*BAAAA"C*CRCCCשIG>u ~~- e:YT1y@:#6);9k ,Q#.hFAY}:G@}:Wc@y}:R}:'$)}:H@?iz???u c? @?)~:G@ ~:[Z;I~:CYF?yJEFJp=ɮJ=TV]A^1M^S=Y^FMQUb>``ab#H`dyf&<}f>Ih n:jM 5? r:j_[ݾ j՚ r?9j"Aj: j:)jk:WW X  X W X :W 2W *WVbUBU*UUUO@R-B*** querying acoustic contact ***P)P)BIBI BIAU *BQAQAQAQAQ"CY*CaRCaCaCa9IAG]=_ ,/=.hFAY}6@}6-@y}6н}67 &}6HRLI??T??)~6@ ~6YZ;I~4Yf?yfFjZ****** received transponder code query ******jF****** received ping request ******nQU>a#Hy <}>IȹŽ# 5?Ž[ݾ ƽ ?9ƽ?Aǽϸ: Ƚܹ:)ȹWWX XWX:W2W*WVbUBU*UUU@CF @BB BA*BAAAA"C*CRCCCIG>9IPFi8?=?B; E || {:YR1yi:6);. ,$W.hFAY}6+@}61G@y}6t}6n0/}6HB2k?`?@ǽ?M?)~6+@ ~6=Z;I~6CYN?yN}FRxDUSBL response received:!U1,P 502,000,002AF,189,80,80,B9,FF VCommand AckVBRequesting micromodem ping code 2iTTZNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ML=YQU>a#Hy<}>I -: 5? 5:$\ݾ  ]?9\A; ;)l:WIWQXQ XQWQXY:WY2Wa*WaVibUBU*UUU @BIBQ BQAUŅ*BQAQAQAYAY"C*CRCCCIA)E\AyIGd>ޑiޕ=V ,6p.hFAY~?y~F?A%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }&1)\(?X9v}P}Ga= })}Iyy}?{Gzt?{Gzt?}<}ף;}ף; }?A)}^LAI}:Ai}+WAy}3GA)Õ= ÑZ|<M:=YQU>a#Hy}>I_ 5?[ݾ  ?9Ac; ;)WWX  X W X :W 2W*WVbUBU!*U!U!UM&@BB BA*BAAAA"C *C RC C CI G-N>U  w:YU1y:69@a 9a Ie Fie }?a a a e A; e E)ݍCIݍCi݉ݍ=ݍ=ݍ04~ ,.hFAY}6@}6@y}6}6}6H@?@c?N?^f*?K ?)~6@ ~6؂\;I~4YN?yRFVxDUSBL response received:!U1,R,502,000,002AD,18A,80,80,BC,FF VFpublishing direction and range infoPPɰRu`=R> P)Ra#Hyb}>I  : 5?  :V[ݾ a  ?9AE: :)m:W1W1X1 XQWQXQ:WY2WY*WYVYbUYBUa*UaUaUe@@R(Combining 5 samples.P*Qff@ZQxP^B(?0B JQw?amf-2Q:QbQ?ap7"@1?RQ}7?V T?#Z?BQ? QA@Q?PPPQQ@"Q@BB BA *BAAAA"C*CRCC!C!)I1GU> ,.hFAY}F@}F@y}FN"}F^}FHρZ??n Gÿ4? + w?)~F@ ~F\;I~DYR0?yRF%DNmea in: $SNTTA,,,,,231817.74*53 %=i%=WMI=YQU>a#Hys}>IB 5?Zݾ  ?9Ak: :)m-mAdded new target pos. range: 3.599999 m, bearing: 57.297125 deg, deltaT: 4.390888 s, approachRate: -0.027330 m/s, LOS rate: 0.139460 deg/s, posRepo size: 4X)W-?W)X) X1W1X1:W12W1*W9V9bU9BU9*U9UE @UE@0?BiBq BqAu!*BqAqAyAyAy"C?RCC?CבIG=Iޕ@A)ޕ@A" ~~ s:YT1y@:|6( ,}.hFAY}zA@}z ]@y}z1}z }zHQiu=??@e *0ſ ?GW@?)~zA@ ~z\;I~zCYUg?y]YF 5 5 5 5@ 5@ =@111i11 1)1I1i1Ez<MMC=YMQUM>QQaU#HUHYy]R}]>Ia m:e 5? u:eZݾ eE} u?9eAe: ef:)en:WWX XWX:W2W*WVbUBU*UUU!?BB BAԅ*BAAAA"C*CRCCCIuCimnGIiٺ9IFi?='A; EG*>t̵ ,?R.hFAY}2@}2@y}2C}2{M}}2H@ep3??`Yȿa#HyN<}>Ișŝ! 5?ŝ&Zݾ Ɲy ?9Ɲ%Aǝ: ȝ:)șWWX XWX:W2W*WVbUBU*UUUW?BB  B A Ć*B A AAA"C*CRCCC!iIyG=  r:YWU1y:r6q ,,.hFAY y Iy)}AI=)%=HzG?~jth?Q= >D; u)Iy99a=#H9AyE}E>IIM 5?M{Yݾ MQ ]?9McAM: M':)IWyWyXy XyWyX:W2W*WVbUBU*UUU ?BB BA*BAAAA"C*CRCCC׉IG>ޕ=iޕp= 9 I ȖFi ? = @; GEj ,[ /hFAY}6{@}6@y}6QS}6= }6HkO@k??@B̿`E?>1?)~6{@ ~6.K[;I~4YB?yBF㔺M!)a-#H))y5^}5>I9 E:= 5? E:=Xݾ =! E?9=A=: =:)=o:WWX XWX:W2W*WVbUBU!*U)U)UU@ByB BĂ*BAAAA"C*CRCCC I!GE>c  x:YDW1yY:s6)R;9* ,%/hFAY~ ?y~HF    @ @ @ñññiññ ı)ıIıiı<M@=YQU>a#Hy}>Ij 5?9Xݾ _ ?9Ag: :)WWX XWX:W2W*WVbUBU*UUU fh@B)BI BIAM*BQAQAQAQAQ"CY*CYRCYCaCaaIqG>2 ,D?/hFAY}2@}2C@y}2!-i}2έ%}2H@߿@(?x?@s˿S?t+@&?)~2@ ~2]\;I~2CYB4?yBF@ɮB=R<MR_=YVyjQUV>TXaZ#HXXy^ }^>I` f:b 5? f:bWݾ bh f?9b Ab$: b:)bp:WiWqXq XqWqXq:Wq2Wy*WyVybUyBU*UUU W@RB*** querying acoustic contact ***PPBB BA`*BAAAA"C*CRC C C IG=ܡ9ܡIܥ Fiܥ?ܡܡܡܥA@; ݥ EIޑ)ޕAA w >k:YW1yč:|6)y; ,Y/hFAY}vé@}vM@y}vwr}vz}vH@߿ @~?`?m߿ Ϳ?hm ?)~vé@ ~v\;I~vCY]8?y]dFeZ****** received transponder code query ******eF****** received ping request ******e99a=#H9AyE>}E>IIM 5?MVݾ M ]?9MOAM: M:)IWWX XWX:W2W*WVbUBU*UUAUM @BB BA%*B!A)A)A)A)"CQ*CYRCYCYCY1I9G]U>G ,s/hFAY}-@}-@y}-Xu}-7}-H߿@c?`?̬߿ĒϿ`kt?x?)~-@ ~-[;I~-CYE2?yE%FMxDUSBL response received:!U1,P 502,000,002AD,18A,80,80,BC,FF MCommand AckMBRequesting micromodem ping code 2iII]Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 S?q= ףp{Gzt?> ף;)Iy rh?S㥫~jtC</] µ;CA)µNAIµv.AiµmAKA  % % %@ %@ %@!!!i!! !)!I!i!MMM=Y]ѻQU]>aaae#Hiyy!<}>Iș :ŝ 5? :ŝcUݾ Ɲ唾 ?9ƝAǝVo; ȝn;)ȝq:W W X  XWX:W2W*W!V!bU)BU)*U1U9U=@SO@ ^:YWU1y:W69@BB BA!*BAAAA"C!*C!RC!C!CIA IQ Gu >) 9) I- Fi- v?- =) ) - ?; - Ep, ,O/hFAY}6@}6\0@y}6v}6 }6H@ͭ?`C?@߿`, Ͽ;?@ ?)~6@ ~6 `[;I~6CYB?yBFDF@ARNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =v=ME=YE+QUEV ,*/hFAY}:@}:@y}:~}:xJ}:H`߿@l?? G@EοX? ?)~:@ ~:S[;I~:CYFz?yFǍFJxDUSBL response received:!U1,R,502,000,002AF,189,80,80,B2,FF NFpublishing direction and range infoHHɰJa=J7> H)J2CIHyJn@Jw?amf-ٱH)^ > ^>b=MbR=YfQUf>ddaj#Hhhynz}n>Ipro 5?rSݾ rB v?9ruAr÷: r:)pWWX XWX:W2W*WVbU!BU!*U!U!U-j@R5(Combining 5 samples.P9*Q=n@ZQ=o$?7U JQ=w?amf-2Q9:Q9bQ= H8ko@F@FZ?RQ==Ή? ?,L?BQ=hx? Q=0B@Q=@P9P9P=Q=Q="@"Q=@BiBq BqAu*BqAqAqAyAy"C*CRCCCYIaG}=  ~:Y[1yݏ:r6A ,</hFAY}v} @}v(@y}v^}vgV}vH`߿T?? ەϿAo?㩿t?)~v} @ ~v%[;I~tY-?y-FTNmea in: $SNTTA,0.052621,,,,231822.21*49    @ @ @ ÑÑÑiÕ\?Ñ ĕ?)ĕA?IĕA?iĕA?<M/=YQU>a#HHyN;}>I : 5? :LRݾ \ ?9A""; /#;)r:m5mAdded new target pos. range: 3.720000 m, bearing: 55.596237 deg, deltaT: 4.399312 s, approachRate: 0.027277 m/s, LOS rate: -0.386626 deg/s, posRepo size: 4X1W5hx?W9X9 X9W9X9:WA2WA*WIVIbUIBUQ*UQUU @U]X?BB BA*BA9IFiE?=h , /hFAY}2o @}2&@y}2Hc}22}2H@Y߿1ݲ?@Y?߿WZпJ|? 밿 ?)~2o @ ~2R[;I~0YR~?yR,F]^M]b=YeQUe>aaam#Hiiyu;}u>Iy} 5?}FQݾ } ?9}FA}: }ϸ:)yWWX XWX:W2W*WVbUBU*UUUd?BB! B)A-N*B)A1A1A1A1"C9*C9RC9CACA1IYG>y  z:YU1y:i6 ,/hFAY}2@@}2U\@y}2zP}2{}2H`ʡA?K{? +߿@͙п$iiam#Hiqyu;}}>Iy :} 5? :}7Rݾ } ?9}A}: }0:)}s:WWX XWX:W2W*WVbUBU*UUU4?BB BA`*BAAAA"C*CRCCCסIG!>i% %nGIA ia ֿٺ ,A 9 I Fi @ >; +E| ,0hFAY}2@}29@y}2 }2E߽}2H`!כΤ?k?߿`8bѿ`b6?@`?)~2@ ~2$[;I~0Y^?y^uF]<M]]=Y]:QU]>aaae#Haiym?/<}m>Iqu 5?uSݾ uپ ?9uAu: u4:)qWAWAXA XIWIXI:WI2WI*WqVqbUqBUq*UyUyU} P?BB BA0*BAAAA"C*CRCCCI-]A)-]AIG- >  ::YX1y/:|6);9 ,*r(0hFAY}:j@}:@y}:/Ȃ}:u}:HsJ??ST?߿+ѿ`+?7;@?)~:j@ ~:^[;I~8YF?yFtFI)==M=L=YE:QUE>AIaM#HIIyUq<}U>IY e:] 5? e:]Sݾ ]Ⱦ e?9]A]: ]:)]t:WWX XWX:W2W*WVbUBU*UUUM@BB BAɅ*BqAqAqAqAy"Cy*CRCCC׉IG= ,UMB0hFAY}2@}2@y}2n}2S}2HMO`z@?`_?'Xkп`Q?`?)~2@ ~2-{[;I~0Y^?ybXF    @ @ @ÙÙÙiÙÙ ę)ęIęię:<MC=Yvja#Hy}>I 5?Tݾ cӾ ?9CA#: <:)WWX XWX :W 2W *WVbUBU*UU!U%h@BaBa BaAel*BiAiAiAiAq"C*CRCCCܙ9ܙIܝ(Fiܝ,@ܝ=ܙܙܝ=; ݝE)I1GM>2 ~  u:YV1y:<6); ,(\0hFAY}6cn@}6@y}69y}6@}6Hr'}Yɵ?Ć? 8QvkͿ@?JI$?)~6cn@ ~6ذ[;I~4YN?yROFRa=ɮRa=biMb[=Yf7ddaj#Hhhyn }n>Ip v:r 5? v:rUݾ r|ܾ v?9rAr9: r:)ru:WWX XWX:W2W*WVbU!BU!*U!U!U%@@RB*** querying acoustic contact ***PPBB BAp*BA A AA!"CA*CIRCQCqC?i?IG> ,v0hFAY}:(@}: D@y}:۪u}: }:H .?`?E ̿`)j?@?)~:(@ ~:[;I~8Y^?ybFbZ****** received transponder code query ******bF****** received ping request ******f /<)IyS㥛S㥛MbP/ݼ/ݼ l=A)~ZAI-AirANA    @ @ @ i3? )Iit?5M5)=Y=x;QU=>9AaE#HAAyMZ}M>Iquz 5?uUݾ u޾ ?9uAu4: uR:)qWWX XWX:W2W*WVbUBU*UUU` @BABA BAAe*BiAiAiAiAi"Cq*CqRCqCyCyׁIG?>g ~~ Gy:YT1y@:69@ܑ 9ܑ Iܕ Fiܕ @ܑ ܑ ܑ ܕ i=; ݕ E# ,ޏ0hFAY}6@}6@y}6n}6}6H ߿Jx2?@^?@˿?^@?)~6@ ~6U1[;I~4YN?yRiFVxDUSBL response received:!U1,P 502,000,002AF,189,80,80,B2,FF VCommand AckVBRequesting micromodem ping code 2iTT^Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ON=Mj=Y a#H19y=8}E>IQ :U 5? :UUݾ UH߾ ?9UAU< Uݡ<)Uv:WWX XWX:W2W*WVbUBU*UiUiUmz @BB BA*BAAAA"C*CRCCCIG-N>) ,ܹ0hFAY}6a@}6@y}6g}6Q<}6H n>߿Ҩ??`Aȿ`c??@.?)~6a@ ~6g[;I~4Y^?ybEFlnAA Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B EMF=Ya#Hyռ}>I 5?2Vݾ  ?9@AZ: g:)W!W!X) X)W)X):W)2W)*W1V1bU1BU1*U9U9U=`J@BaBi BiAm *BiAiAiAqAq"Cy*CyRCyCyCIו\A)בYIiG=  o:Y0Y1y:640 ,˟0hFAY}2@}2@y}2%c}2}2H`޿$`Nֹ?`?߿@A ɿD)?`6?)~2@ ~2[;I~0YRk?yV FfxDUSBL response received:!U1,R,502,000,002AF,189,80,80,BC,FF fFpublishing direction and range info``ɰ`` `)bYYa]#H]HayeY}m>Iqu 5?ufVݾ u ?9u|Au; u;)qWWX XW!X!:W!2W!*W)V)bUqBUq*UyUyU}n@R(Combining 5 samples.P*QZQo$?7U JQw?amf-2Q:QbQB@.?@?RQ"k>?hn1?ݡP?BQ8u? QA@Q@P]9?PPQQ@"Q"@BB BAS*B191I5НFi5E@1115<; 57EAiAiAiAi"Cq*CqRCqCqCyׁIG>7 ,Sy0hFAY}~@}~< @y}~>h`}~湽}~H@S>߿Y=?& ?޿Ϳ`?@'?)~~@ ~~\;I~~CY?y2FDNmea in: $SNTTA,,,,,231826.64*50 :мM?=Y ;QU>a#Hy <}>I :e 5? %:Vݾ  M?9AL`< <)w:mmAdded new target pos. range: 3.720000 m, bearing: 55.017638 deg, deltaT: 4.492265 s, approachRate: 0.000000 m/s, LOS rate: -0.128799 deg/s, posRepo size: 4XW8u?WX XWX:W2W*WVbUBU*UUU?BiBi BiAu*BqAqAqAqAq"C}8u?RCyC8u?CYIiG9>G  v:YW1yč:6.= ,bK0hFAY}FP@}FVl@y}F7X}F}FH߿䦄?`? ޿:ο?i?)~FP@ ~F\;I~FCY ?y ޒFq= ףp?kt?y&1|= = `)IyQ?Qy&1u<`e EA)9HAI,AihAHA u   @ @ @i )IiwI=M==Ya#Hy?h<}>I 5?Uݾ  ?9Aw: :)W!W)X) X)W)X):W)2W1*W1V1bU1BU9*U9U9U=j?BaBi BiAm*BqAqAqAqAq"Cy*CyRCyCCבiו?iIqG>5 >91 I5 Fi5 @5 =1 1 5 ?<; 5 E)Iiň=ň=ň4D ,'1hFAY}F`@}F{@y}FJ}FA˽}FHo߿)͚??f$߿̿ ~4?츿7?)~F`@ ~F[;I~FCYn?yn1FuC=iu%= 鿁M_=Y~=QU>a#Hy';}>I : 5? :QUݾ  ?92A$: :)x:WWX  X W X :W 2W *WVbUBU*UUU<?BABI BIAMD*BIAIAIAQAQ"CY*CYRCYCYCaIIaG}=)  Vt:YWU1y:6)T;9XBJ ,+1hFAY}FR@}F>n@y}F"A}FԒ}FH h߿@? ? ߿iIɿ?BZ?)~FR@ ~F[;I~FCYR?yRgF] =M]P=Y]>aaae#Haiym}m>Iqu3 5?uTݾ u ?9ukAu: u:)qW!W!X! X!W!X!:W)2W)*W)V)bU)BU1*U1U1U=@?BB BAƃ*BAAAA"C*CRCCCשIG>2-Q ,ND1hFAY}B@}B@y}B>}Bgp}BH@߿ ??`߿`ɿl?>ʴV?)~B@ ~B$p[;I~BCYNi?yNF!!i}nGIiMU׿ٺIMA    @ @ @ÁÁÁiÁÁ ā)āIāiā=M7=Y;QU>a#Hy/;}>Iȱ :ŵ 5? :ŵSݾ Ƶ ?9ƵAǵE: ȵ=:)ȵy:>9I`Fi@;; EWWX XW X :W 2W *W VbUBU*UUUE@BABI BIAMS*BIAIAIAIAQ"CQ*CYRCYCYCYIq)qYIiG> 1    t:Y U1y : 6) ;#SW ,^1hFAY}B@}BN,@y}B~<}Boǽ}BH5ʖS?S?߿eʿ m?@?xqO?)~B@ ~BG[;I~@Yb?ybFII)II}4=)}C= <MY=Y;QU>  a#HAyM <}>Iȩŭ 5?ŭ4Sݾ ƭm ?9ƭAǭ; ȭ:)ȩWWX XW!X!:W!2W!*W!V)bU)BU)*UIUQUU @BB BA9*BAAAA"C*CRCCCIG$>}] ,2x1hFAY}6_@}6z@y}6|4}6}6H`\@D~Y?`>?+̍ȿq? f?)~6_@ ~6_K[;I~6CYbc?ybBFfp=ɮfp=y&1w/Ŀ~jth?`e& D;)Iy{Gz?~jtx??ף<;< ¥A>A)¥\QAI¥v.Ai¥cAzHA    @ @ @i )Ii;ME=YȜ!!a%#H!!y-C<}->I15 5?5Sݾ 5 =?95A5#: 5M:)1WaWaXa XaWaXa:Wi2Wi*WiVibUqBUq*UqUqU}@RB*** querying acoustic contact ***PPBB BAՃ*BAAAA"C*CRCCCIIQGm>m5 mmm mKu:YmWU1ym:mN69u@9IFi@;; BEKed ,o1hFAY}6To@}6ފ@y}6{U)}6!}6H"k!s??%R(@ƿ?Go?)~6To@ ~63[;I~6CB`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ) IY ?y FZ****** received transponder code query ******F****** received ping request ******a#Hy9;}>Iș :ŝi 5? :ŝRݾ Ɲ!߾ ?9Ɲ$AǝB; ȝC;)ȝz:WWX XWX:W2W*WVbUBU*UUUq @BB BA*B!A!A!A!A)"C)*C1RC1C1C1!i%?IGn>j ,=I1hFAY}6R&@}6A@y}6F[}6*2}6HS%} ??RKÿ@ ?)~6R&@ ~6.L\;I~6CɫYY)Y YIYY?yFxDUSBL response received:!U1,P 502,000,002AF,189,80,80,BC,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =;M |=Y=QU% ?19aE#HAQye[}m?I   5? Rݾ ,ھ E?9 =A P; N;) WWX XWiXq:Wy2W*WVbUBU*UUU @B9BY BaAe|*BaAiAiAiAq"C*CRCCCIޝAA)ޝ@AI)GU>u uuu u~:YuU1yu:u6vq ,p$1hFAɫ髹) IY a?yF@A5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B y9yI}Fi}E?yyy}Y:; }E    @ @ @i )Iil?=M<=YQU>a#HH y }>I : 5? %:RRݾ uԾ %?9ZA$: :){:WAWIXI XIWIXI:WQ2WQ*WQVQbUYBUY*UYUYU]D?@BB) B)A-Ղ*B)A)A)A1A1"C9*C9RC9C9CA!I1GM1> w ,1hFAY}M@}M#6@y}MF }MM }MHYw@iv#)?@߿~ǿij?&`i?)~M@ ~MX];I~MCɫQQ)Q YIYY|?yFxDUSBL response received:!U1,R,502,000,002B0,189,80,80,C2,FF Fpublishing direction and range infoɰqa=鰹 )BCIyq@w?amf-ٱeNbX9?+?L7A`尿eE>e= e+)aIaye/$?X9v?e,=ee< e?A)e^LAIet3Aie^Aae\GA[MB=Y0=QU>a#Hy`޺}>Iȡť 5?ťQݾ ƥ̾ ?9ƥAǥ: ȥ':)ȡWWX XWX:W2W*WVbUBU*UUU`@R(Combining 5 samples.P*Qq@ZQE5j?.\Ux3 JQw?amf-2Q:QbQ`@9e@+?RQ74B?>߇?W֋?BQz? Q}E@Q@PP]9?PQQ#@"Q@B B  B A *BAAAA"C*CRCC!CAIq)q9IIGeU>e  y:YW1yč:6} ,1hFAY}fH@}fd@y}f}ff}fHq-n_ $? v ſn?@@?)~fH@ ~f7];I~fCɫ) IY?yFDNmea in: $SNTTA,,,,,231831.11*54       @ @ @   i   ) I i %M%@=Y%))a-#H)1y5q;}5>I9 E:= 5? M:=Pݾ =ľ M?9=A=: =:)=|:miAdded new target pos. range: 3.779998 m, bearing: 56.079743 deg, deltaT: 4.505445 s, approachRate: 0.013317 m/s, LOS rate: 0.235738 deg/s, posRepo size: 4XWz?WX XWX:W2W*WVbUBU*UUo=@U?BaBa BaAe*BaAiAiAiAi"Cuz?RCqCuz?CyיIGc>ޥ=iޥ=u>9qIuxFiu?u=qqu9; uE} ,2hFAY}6M@}6~i@y}6}6͌}6Huaqz?-%?DPU¿`9%?jP?uo ?)~:@ ~:΀g;I~:Cɫ99)9 9I9Y}?y}F=,;M=G=YEAAaM#HIIyUx}U>IY e:] 5? e:]Oݾ ]! e?9]P A]E: ]=:)]}:WWX XWX:W2W*WVbUBU*UUU t^?BB BAL*BAAAA"C*CRCCC?i?IGM>,Ƒ ,pG2hFAY}Fo^@}Fy@y}FG}F'}FH` ?j?@'`ȷ?Մ`0?)~Fo^@ ~FEk;I~FCɫYY)Y YIYY|?yF9I Fi?9; @E)ݱIݱiݱݵ=ݱݵ B5=M=J=Y=~AAaE#HAIyM}M>I 5?Nݾ n ?9 A: ]:)WWX XWX:W2W*WVbU!BU!*U!U!U%`?BQBQ BQAU*BYAYAYAYAY"Ca*CaRCaCaCi)I9G>Iޝ@A)ޙ- E - - -  - v:Y- WU1y- :- 6)- A;D ,TTa2hFAɫii)i qIqYV?yFEԸ?x&~jt?=7 D<)Iy~jtxZd;OMb`Ļj ½A>A)½KAI½I4Ai½YAEA    @ @ @i )Ii-<M-.=Y5QU5>19a=#H99y}>I : 5? :Nݾ  ?9 A: :)~:WWX XWX:W2W*WV bU BU *U U U+K@BB BA*BAAAA"C*CRCCCױIGf>Q ,"{2hFAY}6@}6@y}6&ཙ}6NF}6H`>rS(Y?` ,?8$ H?)~6@ ~6We;I~6Cɫ99)9 9I9Yg?yFuzM}l=Y}iunGIigٺA%>9!I%ȖFi%?!!!%8; %E- - - -  - q:Y- W1y- č:- 6)- ;u ,2hFAY}6tg@}6@y}6ཙ}6}6H@*km?b߿ ?`ű@D?)~6tg@ ~6Qna;I~6Cɫ) IY J?y Fɮa= u u u u@ u@ u@qqqiqq q)qIqiqM-=Y{QU>a#Hy,-}>IșŝR 5?ŝNNݾ Ɲ] ?9Ɲ Aǝ: ȝ4:)șWWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA*BAAAA"C!*C!RC)C)C)׹IGf>ޕ=iޕ=C+ ,خ2hFAY}6k@}6@y}62꽙}6s}6H~ Y? "i?߿@6?~@9?)~6k@ ~65d;I~6Cɫ99)9 9I9Y}?y}FZ****** received transponder code query ******F****** received ping request ******m M m m m  m 5w:Ym WU1ym :m 69u @ ,2hFAY}6z@}6#@y}6%}6:O}6H ֑?_?` Ѿ?K@?)~6z@ ~6za;I~6Cɫ99)9 9I9Y}t?y}אFxDUSBL response received:!U1,P 502,000,002B0,189,80,80,C2,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 9I8Fi?7; E YY % % % %@ m@ m@!!!i!! !)!I!i!M%=YQQU>a#HHy4:}>I!% 5?%Mݾ % 5?9%^ A%0: %:)!WqWqXq XqWqXy:Wy2Wy*WVbUBU*UUU:_ @B1B1 B1A]ф*BaAaAiAiAi"C*CRCCCױIG> F ,2hFAY}@} @y}Q}b}HeM?y>?G7 X`? K?)~@ ~7^;I~ɫ) IY=?y=FAAeNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Uw/? rNbX9?U&>U UE>)QIQyU)\(Mb?UGaUU< Uqya}#Hyy<}>Iȉ :ō 5? :ōNݾ ƍ 5?9ƍ AǍ< ȍ۲<)ȍ:WYWYXY XYWYXa:Wa2Wa*WaVabUiBUi*UiUiUun&@BB BA1*BAAAA"C*CRCCC IG5P>IލAA)ލAA} y y }  } i:Yy yy } 6tg ,Mj2hFAY}6:@}6LV@y}6Y}6@ T}6Hlt@ԕ?@a)?[bP@??@GԲ?)~6:@ ~6o];I~6Cɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,R,502,000,002AE,189,80,80,C2,FF Fpublishing direction and range infoɰ`=鰁 )Iy=j@w?amf-ٱ    @ @ @ i(? ?)Iv?i&?Mf=Y QU>  a #H y9U<}>I 5?Oݾ U -?9 A: :)WIWIXI XIWQXQ:WQ2WQ*WYVYbUYBUY*UYUaUe}@Ru(Combining 5 samples.Pq*Qu=j@ZQus:@?apuV JQuw?amf-2Qq:QqbQu]@(D oQ@#v?RQu ??֌v?BQun|? QuB@QuE@PqPqPqQqQu @"Qu#@BABI BIAM*BiAqAqAqAq"Cy*CyRCyCyCiIqG>ܹ9ܹIܽFiܽ?ܹܹܹܽq7; ݽ\EqQ ,MN3hFAY}vZ{@}v@y}v}vb}vH@r f@? ?`_p<5¿?@ ?)~vZ{@ ~v`\;I~tɫ) IY5v?y5bFTNmea in: $SNTTA,0.004398,,,,231835.55*48 I)AI=)>U&M]6=Y]aQU]>aaae#Haiym<}m>Iq }:ub 5? }:uPݾ u; ?9ur AuE: u:)u:mmAdded new target pos. range: 3.660000 m, bearing: 56.601115 deg, deltaT: 4.374790 s, approachRate: -0.027429 m/s, LOS rate: 0.119177 deg/s, posRepo size: 4XWn|?WX XWX:W2W*WVbUBU*UUG @U@?BB BAЅ*BAAAA"C n|?RC C n|?CI!)%\AIG (> {    z:Y W1y č: 6) ;9 y ,!03hFAY}J@}J3@y}J?"}Jt}JH@1]?@G? /{|ÿl4?E>?)~J@ ~JM^;I~JCɫ髡) IY?y~F    @ @ @ @ùùùiýù Ľ)ĹIĽiĽ MQ=YQU>a#HyN;}>I   5? Rݾ â ?9  A ض: :) W9W9X9 XAWAXA:WA2WA*WIVIbUIBUI*UQUQUU`?ByB BA-*BAAAA"C*CRCCCIG )>ޑiޕ=Aa ,eI3hFAY}27@}2@y}2}23}2H +W??`ÿC?0c?)~27@ ~21`;I~0ɫYY)Y YIY܅>9܁I܁i܁܅=܁܁܅6; ݅EY`?yF5dVM=W=Y= QU=>AAaE#HAAyM#;}M>IQU 5?URݾ U ]?9U+ AU: U:)QWWX XWX:W2W *W V bU BU*UUUp?BYBa BaAeU*BaAaAiAiAi"C*CRCCCiIqG> ,Lc3hFAY}J8@}J@y}JK(}JZ }JH [`}ت?@?Ŀ? qģϊ?)~J8@ ~J_;I~JCɫqq)q yIyY?yuF\(\?333333?Q롿z>> \)Iy:v{Gz?:vT#<Լ ¥A>A)¥NAI¥t3Ai¥(\AU/<MA=YQU>AAaE#HAIyU}U>IY e:] 5? e:]ISݾ ]ե e?9]A A]: ]E:)]:WWX XWX:W2W*WVbUBU*UUUMx?BB BA0*BAAAA"C*CRCCC?i?סIG(>   n:YyE69@b ,}3hFAY}6-7@}6R@y}6w1}6b}6H Mͅ?? ) Bǿ@q?YYa]#HYYyeU}e>Iim 5?mSݾ mI u?9mS Am: m(:)iWWX XWX:W2W*WVbUBU*UUU8@BB BAۆ*BAAAA"C*CRCCCױIG>}>9yI}pFi}M?yyy}c6; }E)IIޕ@A)ޕBAi==>4V ,ѐ3hFAY}:3@}:?O@y}:9}:'mϽ}:H *FPHy?@?!߿ '_ʿ@??guP?)~:3@ ~:];I~:Cɫ99)9 9I9Y}?y} FE;MEK=YEvQUM>IIaM#HIQy] }]>Ia e:et 5? m:eSݾ e7 m?9ee AeE: e:)e:WWX XWX:W2W*WVbUBU*UUUp@BB BAĆ*BAAAA"C*CRCCCIG>  s:YWU1y:6 ,8h3hFAY}]T@}]vp@y}]\E}]}]H@Kk٘??`@ʿL|?`쵿` J?)~]T@ ~]n[;I~]Cɫ) IY?yF ɮ p=I)A m m m m@ m@ m@ miiiimz?i m?)iIiii}M =YQU>a#HHy <};} >IV 5?Tݾ  ?9| A'; #;)WAWAXA XAWAXI:WI2WI*WIVIbUQBUQ*UQUQU]@ƣ@ReB*** querying acoustic contact ***PaPaBB BAJ*BAAAA"C*CRCCCיIG> zCi% nmGI9 iQ } ٺy Aǯ ,D3hFAY}6"X@}6s@y}6ݞU}6[}6H@.?@ |??@{G`i0ʿ b?W۪@B?)~6"X@ ~6a;I~6Cɫ99)9 9IAI9IIMFiM?IIIM5; MEY?yFZ****** received transponder code query ******F****** received ping request ******Tݾ u" ?9u Au0: u:)u:WWX XWX:W2WI*WQVQbUQBUQ*UYUYU]  @BB BAȆ*BAAAA"C*CRCCCIG (>ޕ=iޕ=+  ~t:YV1y:6)w;9 ,3hFAY}:_f@}:@y}:|h}:`E}:H4|@R?أ?@P ˿j?%G%?)~:_f@ ~:~`;I~:Cɫ99)9 9I9Y}K?y}ҋFxDUSBL response received:!U1,P 502,000,002AE,189,80,80,C2,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -QQa]#HYYym:}u>I 5?Sݾ ž ?9 Aʽ: ӻ:)WWX XWX:W2W*W VbU9BU9*UAUIUMZ@BB BAۆ*BAAAA"C*CRCCC׹IG> ,3hFAY}6ˇ@}6U@y}6[$t}6f}6H6{,?[?KIͿ:?@ ?)~6ˇ@ ~6^;I~6Cɫ99)9 9I9Y?y܊FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U=iU?> aa    @ @ @ @éééiíé ĭ)ĩIĩiĩM=YQU ?a#Hy;} ?I :Z 5? :'Sݾ ʾ ?9 AX: :):WWX XWX:W2W*WVbUBU*UU U @?^@BB BA?*BAAAA"C*CRCCC׹IGE>E>9AIEȖFiE?AAAE5; ESEa  x:Yy`6)/; ,4hFAY}:@}:@y}:z}:Hb}:HqLv y1?`m?@B AϿ?Pw`?)~:@ ~:];I~:Cɫ99)9 9I9Y}?y}eFxDUSBL response received:!U1,R,502,000,002B0,189,80,80,BC,FF Fpublishing direction and range infoyyɰ}qa=y y)}qqa}#Hyyy<}>IȹŽ 5?ŽRݾ ƽҾ ?9ƽ Aǽ: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU`F@R (Combining 5 samples.P*Qq@ZQE5j?.\Ux3 JQw?amf-2Q:QbQ]e@RA@yў?RQ|? ,?d ?BQʩz? QE@Q@PPPQQ@"Q @BABI BIAM*BIAIAIAQAQ"CQ*CYRCYCYCYaIiGA>Iޑ)ޕAA ,L24hFAY}-'@}-9C@y}-}}-H}-Hod@Af?`Q?Tп@ N?F?)~-'@ ~-2\;I~-Cɫ) IY-?y-FDNmea in: $SNTTA,,,,,231839.99*5C    @ @ @i )Ii ]M P=Y QU >a#Hyn<}>I!%z 5?%Rݾ %]ؾ 5?9%K A%׾: %:)!memAdded new target pos. range: 3.779998 m, bearing: 56.101350 deg, deltaT: 4.496891 s, approachRate: 0.026685 m/s, LOS rate: -0.111136 deg/s, posRepo size: 4XaWmʩz?WiXi XiWiXi:Wi2Wq*WqVqbUqBUy*UyU}o=@U}`}?BB BA*BAAAA"Cʩz?RCCʩz?CI)ׁIG>6  _u:YDW1yY:69@ ,L4hFAY}6_@}6z@y}6}6}6H`R|? 8?@Ͽ ?ױ?)~6_@ ~6^;I~6C|9|I~ Fi~?~=||~5; ~EɫYY)Y YIYY}?y}9FI=)=5ىM=Y=Y=ɈQU=>AAaE#HAAyM)<}M>IQ ]:U 5? ]:UQݾ U޾ e?9Ux AU: U^:)U:WWX XWX:W2W*WVbUBU*UUU&N?BABA BAAE*BAAIAIAIAI"CQ*CQRCQCYCYIIYGu>' ,^ff4hFAY}6u@}6q@y}6}6*}6HP|U?@?ZqZп|?C?)~6u@ ~6t`;I~4ɫ99)9 9I9Y?yԉFp= ףʡEMbp?- ;)Iya#Hy7X;}>I 5?1Qݾ  ?9 A{:  :)WWX XWX:W2W*WVbUBU*UUU`2?BB! B!A%*B!AIAIAIAI"CQ*CQRCQCQCYaIGB>ޑiޕ=  }:YX1y/:;6y ,@4hFAY}:p@}:b@y}: n}:.}:H@To,Y`5?@ ?@an 9YѿU?w?)~:p@ ~:Nd^;I~:Cɫ99)9 9I9Y}?y}SF u u u u@ u@ }@qqqiqq q)qIqiq'<MO=Y~¼QU>a#HyL}>Iȡ :ťX 5? :ťPݾ ƥ ?9ƥ Aǥ: ȥ:)ȥ:WWX XWX:W2W*WVbUBU*UUUK@?B)B1 B1A5v*B9A9A9A9AA"CI*CIRCQCQCQu?iu?iIqG>9IxFi?4; E:& , 4hFAY}2Y@}2t@y}2󎾙}2〽}2H_Tٷ?j ?@ʇX ѿ@B?=-?)~2Y@ ~2+p];I~0ɫ99)9 9I9Y}E?y}F <MR=YOQU>!!a%#H!!y-t}->I15 5?5Pݾ 5 =?95 A5÷: 5U:)1WWX XWX:W2W*WVbUBU*UUU?B!B) B)A-\*B)A1A1A1A1"C9*C9RC9C9CA)I1G  :YW1yč:6,d, ,4hFAY}2?@}2"@y}2"}2F}2H`A:s =?`?G ѿ?@n@?)~2?@ ~2Ԅ\;I~0ɫII)I IIIY}?y}8F - - 5 5@ 5@ 5@111i11 1)1I1i1E4MEH=YE[ QUM>IIaM#HIQy]G}]>Ia m:e 5? m:eKPݾ e m?9e Ae: e:)e:WWX XWX:W2W*WVbUBU*UUU@^@BIBQ BQAU*BQAQAQAYAY"Ca*CaRCaCaCaIIQG}>Iޙ)ޝBAK3 ,4hFAY}:"@}:[>@y}:愑}:ν}:H@Cc| ?@?@@ҿ,?@?F>9DIFFiFE?DDDF3; FE))I)i)))-5)~:"@ ~:#\;I~:Cɫyy)y yIyY?y݉F鮽a=ɮa=y=MQ=YgQU>a#HHy);}>Iqud 5?uOݾ u ?9uAu: u:)qWWX XWX:W2W*WVbUBU*UUUU@RB*** querying acoustic contact ***PPBABI BIAM*BiAqAqAqAq"Cy*CyRCyCyCIױ)ױ׉IG>/ z t:Yy6);9u9 ,ŭ4hFAY}2p{@}2@y}2}2[޽}2H6khM"۽ M<)IIIyMX9v?Mbp~jtx?Mqqau#Hqyy}B<}>Iȁ :Ņ 5? :ŅXOݾ ƅ ?9ƅ3ADž: ȅ:)ȅ:WWX XWX:W2W*WVbUBU*UUU @BqBy ByA}׆*ByAyAyAyA"C*CRCCCסIGA>]@ ,ʈ5hFAY}6Hc@}6~@y}6x}6Vh}6Heab?@ ? XOѿy?@0-@?)~6Hc@ ~6`;I~6Cɫ99)9 9IAY}T?y}FxDUSBL response received:!U1,P 502,000,002B0,189,80,80,BC,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 imGI_Ai Uٺ]_A]A    @ @ @i )IizM4=Y;QU>aE#HAIyMP}M>IQUy 5?UNݾ UH ]?9UhAU< U<)QWWX XWX:W2W*WVbU!BU!*U!U!U% @ܑ9ܑIܕFiܕ@ܑܑܑܕt3; ݕ;EB)BY BYA]Y*BaAaAiAiAi"Cy*CRCCCޕ=iޕ= q :Yy6)$;׉IG>هF ,=d5hFAY}:`@}:2@y}:}:lf}:HE@X` ?`?zп`ޖ?譫?)~:`@ ~:^;I~:Cɫ99)9 9I9Y]?y]FaaNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }=M}}=YQU ?a#Hyrq}?Ișŝ) 5?ŝ8Nݾ Ɲ ?9ƝAǝ: ȝU:)șWWX XWX:W2W*WVbUBU*UUUb@B B  B A z*BAAAA"C*CRCC!C!)I1GM>L ,6?55hFAY}2@}2}@y}2}2'}2H`nk???En!пj? ! ?)~2@ ~2 ];I~2CɫYY)Y YIYY} ?y}HFxDUSBL response received:!U1,R,502,000,002B0,189,80,80,BA,FF Fpublishing direction and range infoɰ鰁 ):CIyw?amf-ٱ 鿡6{MU=Y;QU>a#Hy嗼}>I : 5? :Mݾ ! ?9A: :):W!W!X) X)W)X):W)2W)*W1V1bU1BU1*U9U9U=@ƈ@RM(Combining 5 samples.PI*QIZQME5j?.\Ux3 JQMw?amf-2QI:QIbQM/]gȬ@&νRX@gc)Bq?RQM;?Ļ>?З ?BQMz? QMjF@QMf@PIPIPIQIQM@"QM@BYBY BaAe*BaAaAaAaAi"C*CRCCC׉IG">  ɀ:Y0Y1y:i69@S ,[&O5hFA9Ii=2; EY} W@} (s@y} } n} H`{@;2?@]? []JϿw ? G$ ?)~ W@ ~ q\;I~ Cɫ) IY5?y5GFDNmea in: $SNTTA,,,,,231844.44*56 M M M M@ M@ M@IIIiII I)IIIiI]N<M]4=YeZaiam#Hiiyu%}u>Iy}Z 5?}Lݾ } ?9}A}; }& ;)ymmAdded new target pos. range: 3.779998 m, bearing: 56.086324 deg, deltaT: 4.385762 s, approachRate: 0.000000 m/s, LOS rate: -0.003426 deg/s, posRepo size: 4XWz?WX XWX:W2W*WVbUBU*UUUl?BB BAC*B A A A A "Cz?*CRCCz?CI)GE0>IޝAA)ޝAAY ,Lh5hFAY}2t@}2Y@y}2+}2jP}2H`ce?}Y?C[$п +?`?)~2t@ ~2w:^;I~0ɫ19)9 9I9Yu?y}FMb@Mb@Mb@ )IyI +?~jt~jtx9<Ļ …BA)…APAI…*Ai… xApMA}<MW=YX;QU>a#Hy;}>Iȹ :Ž 5? :Ž^Lݾ ƽ ?9ƽAǽ: Ƚ$:)Ƚ:WWX XWX:W2W*WVbUBU*UUU &?BB BA*BAAAA"C*CRCCCסIG >  D}:YW1yč:`6` ,FЂ5hFAY}2@}2r@y}2 }2腔}2H5@Sxܥ?@+1?`B ='ѿY?ڱ`?)~2@ ~2`;I~2Cɫ99)9 9I9Y]?y]FIC=)mMV=YGQU>a#H yUǍ<}]>Iim 5?mKݾ mW ?9mLAmc; m;)iW1W1X1 X1W1X1:W12W9*W9V9bU9BU9*UAUAUEk?BB BA*BAA A A "C*CRCCCI)GEQ>Q9QIU`FiU@U=QQU'2; UEf ,窜5hFAY}6@}6 @y}6}6}6H`Z<|? '?`(9ѿy?|?)~6@ ~6_;I~6CɫYY)Y YIYYk?yF U U U U@ U@ U@QQQiQQ Q)QIQiQeMeC=Ym6QUm>iiau#HqyU;}>I : 5?  :Kݾ   ?9A: s:):W)W1X1 X1W1X1:W12W1*W9V9bU9BU9*UAUAUE[?BiBq BqAu*BqAqAyAyAy"C*CRCCCׁIG>ޑiޕ=z  :YX1y/:{6m ,5hFAY}2@}2@y}2ง}2/}2H@1?u{ v?_C?@3:пl?`?)~2@ ~2y];I~2 CɫYY)Y YIYY?yFy<MO=Y!!a%#H%H)y-}->I15 5?5fJݾ 5 E?95A54: 5b:)1WaWaXa XiWiXi:Wi2Wi*WqVqbUqBUq*UyUyU} 4@BB BA*BAAAA"C*CRCCCIG>E >9A IE (FiE ,@A A A E 1; E <Es ,Q5hFAY}>@}>E@y}>sH}>}>HVBwh)?h?G`hϿ@?U=?)~>@ ~>];I~>CɫYY)Y YIYYT?yF=i= !%AU;M]E=Y]x=QU]>aaae#Haaym}m>Iqu$ 5?uIݾ uu }?9uAu: u:)qWWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C*CRCCCYIG>  8s:YV1y:r6)];9\z ,l>5hFAY}2@}2@y}28#z}2~}2H`2O'n?k?]yο ?访g?)~2@ ~2\;I~0ɫ99)9 9I9Y}E?y}F鮁ɮ{Gz|?5^ɿ  a #H y(.;}>I %: 5? %:Iݾ E -?9A: :):WIWIXQ XQWQXQ:WQ2WQ*WYVYbUYBUY*UYUaUe q@RmB*** querying acoustic contact ***PiPiBB BA*BAAAA"C*CRCCC I)G}7>Iޕ@A)ޕ?A ,]6hFAY}2@}2x:@y}2}2&}2Hi5dɰ? N?^_Ͽ`v??)~2@ ~2}`;I~2CɫYY)a aIaY}?y}FZ****** received transponder code query ******F****** received ping request ******aaam#HiiyuKK<}u>Iy} 5?}Iݾ }= ?9}CA}: }:)yWWX XWX:Wq2Wq*WqVqbUyBUy*UyUyU Y+ @BB BA*BAAAA"C*CRCCCIG$>>9Ii=B1; E)݁I݁i݁݁݁݅H4 d &:Yys6);$ ,6hFAY}6V@}6q@y}6C}64}6H s~` iN?=? @ѿ 3?G4@?)~6V@ ~6= `;I~6Cɫ99)9 9I9Yr?yFxDUSBL response received:!U1,P 502,000,002B0,189,80,80,BA,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)==KMEL=YMaiau#Hyy}<}>I : 5? :Iݾ a ?9vA; e;):WWX XWX:W2W *W V bU BU *UUU` @ByB BA*BAAAA"C*CRCCC׹IGk>pO ,76hFAɫ髑) IY?y+FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @ i\? A?)A?I?iA?eȼM@=YQU>a#Hy}>I 5?Iݾ  ?9Aض: U:)W)W)X) X)W)X1:W12W1*W1V1bU9BU9*U9U9U=H@BiBi BiAm*BqAqAqAqAq"Cy*CyRCyCC!I)GM0>ޑiޕ=  ~:YxZ1yq:69@t>immGI`Aiٺ`AA ]A >9 I `Fi @ = ?1; E6 ,ҩQ6hFAY}2&@}2@y}2Ga}2۽}2H`d`6GS?ZP?@Oο W?º$ ?)~2&@ ~2];I~0ɫYY)Y YIYYeE?yeF<Mc=Yi=QU>a#Hyx<}>Iȡ :ť 5? :ťIݾ ƥ ?9ƥAǥ: ȥ:)ȥ:WWX XWX:W2W*WVbUBU*UUU @BB BA*BA!A!A!A!"C)*C)RC)C)C1IG5=yb ,qk6hFAY}:@}:.@y}:%P}:F}:H -[?l?`+ɿ@1?JRL?)~:@ ~:Z:];I~:CɫAA)A IIIYqyqdNmea in: $SNTTA,0.444400,0.404437,,,231848.89*5B =ia= 鿥A-Mb@Mb@Mb@-- -)-I)y-MbP?~jtx?I +-:-;-94 -:A)-&aAI- 0Ai-)-CAYe=QUm>iiau#Hqqy}4+}}>IȁŅ 5?ŅIݾ ƅ/ ?9ƅADž': ȅ:)ȁWWX XWX:W2W*WVbU BU*UUUઠ@BYB BA*BAAAA"C*CRCCCיIGA>  :YW1yč:6H ,_6hFAY}2@}2<@y}2F,K}2X}2H@!?/? 58ƿ:?@ y`^?)~2@ ~2_;I~2Cɫ99)9 AIAYx?yQQaU#HQYy]}]>Ia m:e 5? m:eIݾ e^ u?9eAe: e#:)e:WWX XWX:W2W*WVbUBU*UUU,@BB BA*BAAAA"C*CRCCCIG>܉9܉I܍Fi܍E?܉܉܉܍1; ݍ5EIޑ)ޕAAr ,6>6hFAY}Fs@}Fa@y}Fz!M}F}FH8nܪ? I?ɿ^x?@9L?)~Fs@ ~FR`;I~DɫYY)Y YIYY?yƎFDMT=Y6QU>a#Hyb}>IAEr 5?EIݾ E U?9EAE: E:)AWqWyXy XyWyXy:Wy2Wy*WVbUBU*UUU` @RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCIGe>  5j:YDW1yY:6B , 6hFAY}6@}65@y}6K}6ʽ}6HG9? ~?χ3˿7?̸"8?)~6@ ~6ȑ^;I~4ɫ99)9 9I9Y}2?y}sFI)I=)    @ @ @i )Ii(<MG=Y;QU>a#HHy ;} >I? 5?Iݾ  ?9A: D:)WWX XWX:W2W*WVbUBU*UUU`S@B9B9 BAAEa*BAAAAAAAAA"Ci*CqRCqCqCqaIqG>܍ >9܉ I܍ Fi܍ v?܍ =܉ ܉ ܍ 1; ݍ IE ,6hFAY}J#@}J@y}JvD}J+}JH)B.??}ʿ`\h?J?)~J#@ ~Jd ];I~JCɫYY)Y YIYY?yF`{MM=Ya#Hy l;}>I : 5? :Iݾ  ?9A: V:):W W X  X WX:W2W*WVbUBU*U!U!U%@BIBQ BQAU)*BQAQAYAYAY"Ca*CaRCaCaCiiIqG=ޙiޝ=  g:Yy6);9 ,6hFAY}2s@}2e@y}2:}2=}2HQ3j?@?vǿ=?h?)~2s@ ~2\;I~2Cɫ99)9 9I9Y?yьF/$?V-? rh?1>> C >)IyX9vl?11a5#H99y=}E>IIM 5?MKݾ M U?9MAM: M÷:)IWqWyXy XWX:W2W*WVbUBU *U U U <@BYBY BYA]s*BYAAAA"C*CRCCCיIGb> ,7hFAY}Z[2@}ZM@y}ZH*4}Z4}ZH -@[D 髢? ?0rǿ g?`vo?)~Z[2@ ~Z3Z\;I~Xɫ髑) IY ?y FxDUSBL response received:!U1,N,80,80,63,E4 0,189,80,80,BA,FF ZNo reply:!U1,N,80,80,63,E4 0,189,80,80,BA,FF -->9)I-XFi-?)))-1; -UE  0:YU1y:6); , 7hFAY}2H@}2d@y}2z$0}2V}2H@h ?{=?`?`x@lǿ? 8r?)~2H@ ~2a;I~2Cɫ99)9 9I9Y}Z?y}ۋFMU=Y'a#Hyg;}>IȹŽ 5?ŽaNݾ ƽ ?9ƽ_Aǽ: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU@@B)B) B)A-׆*B)A1AAA"C*CRCCCשIG>IޕAA)ޕ?A ,^:7hFAY}J@}J6@y}J2}Jy}JH@ddH??ƿ=?Ɱlt?)~J@ ~J`;I~JC-6Could not parse latch stateɫ)1)1 9I9Ym?yIF       @  @  @   i   ) I i dM=YJQU>!!a%#H!)y-}5>I1 =:5" 5? E:5gPݾ 5 E?95A54: 5,:)5:WiWiXi XiWiXi:Wi2Wq*WqVqbUqBUy*UyUyU} e^ @RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCIGn>)  Vt:YT1y:69@- >9) I- 8Fi- ?- =) ) - 1; - PE)ݹIݹiݹݽ=ݽ=ݽz4z ,|T7hFAY}6>@}6@y}69}6#A}6H@\ ȫ??݆$ƿ ?p?)~6>@ ~6c^;I~6Cɫ99)9 9I9Y?y8FZ****** received transponder code query ******F****** received ping request ******ſv?y n?)~Rj@ ~R];I~RCɫqq)q qIyY?yӊFxDUSBL response received:!U1,P 80,80,63,E4 0,189,80,80,BA,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 {Gz?(\¿a#HYye}e>ޕ=iޕR=  :YDW1yY:E6I : 5?  :Qݾ  5?9yA< <):WWX XWX:W2W*WVbUBU*UUU`2"@B B  B A B*B A A A A "C *C RC C C ! I) GE > ,{7hFAiZ}nGIdipٺEAY}Em@}E@y}ES=D}E:}EH`RVe@a??Tƿ`La? ٖg?)~Em@ ~Ez\;I~ECɫ) IYUC?yUFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B mMm=YuwQUu?qya}#Hyyy+ :}!?IȉōG 5?ō&Rݾ ƍ ?9ƍAǍ: ȍI:)ȉWWX XWX:W2W*WVbUBU*UUUx"@B9IFi?=1; 3EB BA*BAAAA"C*CRCCCIGI> ,Rѡ7hFAY}F2@}F@y}FL}F5}FH@i@l? ?s`@%ɿ`Al?H-M?)~F2@ ~F_;I~FCɫqy)y yIyY%?yFxDUSBL response received:!U1,R,502,000,002AD,189,80,80,BB,FF Fpublishing direction and range infoɰu`=鰹 );CIyff@w?amf-ٱA'Mg=YQU>a$Hy1<}>I 5?aRݾ T ?9A: :)W1W1X9 X9W9X9:W92W9*WAVAbUABUA*UIUIUM@cd#@R](Combining 5 samples.PY*Q]ff@ZQ]xP^B(?0B JQ]w?amf-2QY:QYbQ] EO?ZP@1mxS?RQ]Q!?mټg?PL]T#?BQ]M|? Q]>@Q]?P]\9?PYPYQYQ]@"Q]@BB BA$*BAAAA"C*CRCCCiIyG= }}4 #:YkS1yԊ:$6n: ,u7hFAY}2@}2x@y}2Z}2®}2Hpm@??E*̿`G%?@}R(?)~2@ ~2t`;I~2Cɫ11)1 9I9Y=?y=1FTNmea in: $SNTTA,0.025837,,,,231854.16*45 ]A m m m m@ m@ m@iiiiii i)iIiiiEM=Y#ʼQU>a$HHy9;}>Iȱ :ŵ 5? :ŵRݾ Ƶ ?9ƵAǵ: ȵ:)ȵ:mmAdded new target pos. range: 3.599999 m, bearing: 56.467920 deg, deltaT: 9.698523 s, approachRate: -0.018559 m/s, LOS rate: 0.039346 deg/s, posRepo size: 4XWM|?WX XWX:W2W*WVbUBU*U U  @U  ?B1B9 B9A=*B9A9AAAAAA"CMM|?*CIRCICMM|?CQQIYGu> >9 I i = 61; E! ,47hFAY}V7@}V@y}V%g}V٧}VHa`r@?@?[@7Ϳ@M?l`?)~V7@ ~Vk^;I~VCɫ髙) IY?yF]M]=Y]FQUe(?aaae$Haiym}m(?Iy} 5?}Rݾ } ?9}A}˵: }:)yWWX XWX:W2W*WVbUBU*UUU/=?BB BA*BAAAA"C*CRCCCIG- >  n:YV1y:6)L;9J ,F]7hFAY}BWJ@}Be@y}Bdr}Bˎf}BH꾲? ?`M2\Ϳ[?@S?)~BWJ@ ~BgQ];I~BCɫy髁) IYy{Gz?:v?#> T=)IyI +?~jt?Mb94<< A>A)TAI 0Ai@A u u u u@ u@ u@qqqiqq q)qIqiqYQU>a$Hy}>Iș :ŝ 5? :ŝRݾ tI ƝD ?9ƝAǝf; ȝ;)ȝ:WWX XWX:W2W*WVbUBU*UUU@,0?BB BA*BAAAA"C*CRCCCIGI>3,< 8hFAY}J@}JQ@y}JE}J|}JHg߿๳±?@l?!߿Ͽ??)~J@ ~J ];I~JCɫ髱) IY6?y;F)e= e=RMa$Hy}>I)- 5?-Rݾ - =?9-HA-: -:))WYWYXY XYWaXa:Wa2Wa*WaVibUiBUi*UiUqUu`k?BB BA *BAAAA"C*CRCCC?i?u>9qIu8Fiu?u=qqu0; uEIG$>ޕ=iޕa=  :Yy;6)?;\,U#8hFA|i|Y}6@}6 @y}6O}6WȽ}6H ط߿@&m?@ǁ?`L߿|ѿ ŷ?"@Ž?)~6@ ~6d\;I~4ɫ99)9 9I9Y/?yF !!=5%M=P=Y=QU=>AAaE$HAIyM٤;}M>IQ ]:U" 5? e:URݾ U e?9UqAU": UP:)U:WWX XWX:W2W*WVbUBU*UUU 8@BB BA*BAAAA"C*CRCCC IIQGu>,<8hFAY}V@}V@y}Vl}V}VH>߿κi?xr?G߿u{ѿL+? ?)~V@ ~V`;I~VCɫ髙) IYB?ykF    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉMD=YQU>a$Hy :}>I. 5?Rݾ S ?9Az: :)WWX XWX:W2W*WVbUBU!*U!U!U%@@BQBQ BQAU݉*BQAYAYAYAY"Ca*CaRCaCCIG&>n  y:Y0Y1y:r69@e ^Ae _Am >9i Im ȖFim ?m =i i m 80; m E]o,V8hFAY}24@}2@y}21}2m^}2HF߿ɥ??§߿п?}?)~24@ ~2Z`;I~2Cɫ99)9 9I9Y}?y}F鮁ɮ3<M\=Y^QU>a$Hyꐼ}>IȹŽZ 5?ŽSݾ ƽ ?9ƽAǽk: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU m@R B*** querying acoustic contact ***P P B1Bq BqAu*BqAyAyAyAy"C*CRCCCI)שIG=Iޕ@A)ޕ@A,,p8hFAY}J9]@}Jx@y}Jȓ}JF=}JHj߿)?nv?߿п`7?`̯@?)~J9]@ ~J1^;I~Hɫ髹) IYy?y*FZ****** received transponder code query ******F****** received ping request ******a$Hy2}>I :v 5? :.Rݾ  ?9A: :):WWX XWX:W2W!*W!V!bU)BU)*U)U)U-]T @BB BA*BAAAA"C *C RC C CI G%M>  :YW1yč:6",~8hFAY}6u@}6@y}61}6c3E}6HOy޿.`?}?߿п?C?)~6u@ ~6];I~6Cɫii)i iIqYM?yFxDUSBL response received:!U1,P 502,000,002AD,189,80,80,BB,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 999I=Fi=a?==99=I/; =E)ݡIݡiݡݥ=ݥ=ݥ5    @ @ @i )Iie5Me'=YmѼQUu>a$Hy}>Iq :u 5? :uHQݾ u ?9uoAu; u3;)u:WWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C*CRCCC U ?iU ?! I1 GM >(,Y8hFAY}ND@}N@y}N}Nl}NHZB޿i@;?f?@tE߿ *ҿ ]?>Kj?)~ND@ ~Nh];I~NCɫyy)y IY3?yaFAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )Å= Å=M=YEQU ?a$Hy}$?I8 5?Pݾ V ?9A: :)W!W!X! X!W!X!:W)2W)*W)V1bU1BU1*U1U9U=@E@BB BA*BAAAA"C*CRCCCIG (>  :YWU1y:6.,:8hFAY}62@}6@y}6+}6&䟽}6H<޿`a3?`b?`޿oӿ ?`P?)~62@ ~6i_;I~6CɫYY)Y YIYY)?yFxDUSBL response received:!U1,R,502,000,002AF,189,80,80,BE,FF Fpublishing direction and range infoɰa=鰙 )>CIyn@w?amf-ٱ MX=YQU>a$HHy=}>I& 5?)Pݾ ( ?9A: ^:)WAWAXA XAWAXA:WI2WI*WIVIbUIBU*UUU$@R(Combining 5 samples.P*Qn@ZQo$?7U JQw?amf-2Q:QbQkV@E_l@$!?RQ|?/?<c?BQn? Qc;@Q @P]9?P\9?PQQW@"Q@BYBY BYA]#*BYAaAaAaAa"C*CRCCCׁIG>T>iunGIiFٺA% >9! I% Fi% ?% =! ! % :.; % vE5,8hFAY}6}@}6@y}6𺡾}6}6H޿@!?`xo? ޿ӿ?M?)~6}@ ~6~a;I~6CɫYY)Y YIYY}F?y}ЃF    @ @ @i )Ii}Q;M}2=Y5:QU>a$Hyѻ}>I :R 5? :TOݾ  ?90A: $:):mmAdded new target pos. range: 3.720000 m, bearing: 53.490944 deg, deltaT: 4.465243 s, approachRate: 0.026874 m/s, LOS rate: -0.666700 deg/s, posRepo size: 4XW n?W X XWX:WA2WI*WQVQbUYBU*UU @U9?BYBY BYAe*BaAaAaAaAa"Cms?RCiCun?CqIס)סqI  }:Yd\1y:6)c;9G>:;,08hFAY}2h@}2@y}2Z}2*}2H B$޿퍵?\?`:4޿Կz1?B?)~2h@ ~2^;I~2Cɫ99)9 9I9Y]W?y]FTNmea in: $SNTTA,0.053414,,,,231858.65*41 Mbrh|㿪Mb? =)IyZd;O/$~jtj<ļ ­DA)­XAI­+Ai­(A SA^AK=MV=Y[QU>a$Hy;}>I 5?Oݾ H ?9sA: :)WWX XW!X!:W!2W!*W!V)bUBU*UUU'?BB BAX*BAAAA"C n?RC C CI G-,>Iޑ)ޕAAB, 9hFAY}6@}64@y}6)}6q}6H5I޿`砷?sA?W~޿g7Կ@?RᲿ7?)~6@ ~6\;I~6Cɫ99)A AIAY}?y}ׅF=;MN=YbQU>a$Hy<}>Iȱ :ŵ 5? :ŵ6Pݾ Ƶ ?9ƵAǵg: ȵ:)ȵ:WWX XWX:W2W*WVbUBU*UUU@_?B)B) B)A-I*B1A1A1A1A1"C9*C9RC9CACA191I5@Fi5?1115L-; 5EIIQGu>  [:Y_1y̒:6)L;H,@%9hFAY}6@}6=@y}6Ȧ}6{}6H@oݿ_? Y?@^޿@ӿ.{?Cf`n??)~6@ ~6k\;I~6C>JFailed to close latch before timeout.q >>Hardware FaultYB?yBF U   @ @ @i )Ii.=MV=YT:QU>a$Hy3{}%>I)- 5?-Pݾ -{$ 5?9-A-8; -ϸ;))WWX XWX:W2W*WVbUBU*UUU ?BB BAÈ*BA!A!A!A!"C)*C)RC)CICQe?ie?IIQ-$m@Hardware Fault in component: DDMGq"O,x|?9hFAY}6J@}6e@y}6 }6}6H (ݿ&3?`f?`*޿lӿ-?S ;>?)~6J@ ~6EC\;I~6C>Powering down<ɪ<)<    @ @ @áááiáá ġ)ġIġiġ`;M0=YrQU>a$Hym}>I :z 5? :1Qݾ ( ?9MA; r;):W1W1X1 X1W1X9:W92W9*WAVAbUABUI*UIUIUU`g@BB B!A%*B!A!A)A)A)"C1*C1RC1C1C99IIGeU>ޑiޕ=|  z:Y0Y1y:69@1 91 I5 НFi5 E@1 1 1 5 ,; 5 E V,WY9hFAY}:Y@}:Xu@y}:Ҩ}:ڽ}:H`ݿ@=,? O[? fݿ`Hտ?3?)~:Y@ ~:9;b;I~8Y^_7\,%=s9hFAY}jp@}j@y}jȨ}j}jH OB޿ '(S6?9?G]ݿ տ@ɷ?@?)~jp@ ~juc;I~jCYzd?yz0Fp=ɮp=@5^I ?y&1b> `)IyQy&1|?{Gzt?`;ף; )VAI*AifRA    @ @ @ %i3? ?)A?I?i?5<M5/=Y5.9QU5>99a=$H9AyE<}E>IIM 5?MURݾ Mb, ]?9MAM: Mܹ:)IWWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB B A T*B A A A A "C*CRCCCI)))I $NClearing failed state for component DDMq G-,>  :Yd\1y:6c, 9hFAY}2ih@}2@y}2;}2}2HN޿@gכ? C5?ݿ:տ`X?ľ$&?)~2ih@ ~2%c;I~2CYR?yRFVZ****** received transponder code query ******VF****** received ping request ******VIȡ :ť 5? :ťRݾ ƥ, ?9ƥAǥ: ȥ^:)ȥ:WQWQXY XYWYXY:WY2WY*WaVabUaBUa*UaUiUm @BB BA/*BAAAA"C*CRCCC>9I`Fi@+; :EIG>IޕAA)ޕ@AFi, 9hFAY}2ސ@}2h@y}2F}2!}2H@߿ z~?K?'޿_ӿ`?ji`2i?)~2ސ@ ~2`;I~2CYBu?yBFFxDUSBL response received:!U1,P 502,000,002AF,189,80,80,BE,FF FCommand AckFBRequesting micromodem ping code 2iDDNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ~SL=MR=YT=QU>)1a5$H9Iy;}>Ii 5?Sݾ d- E?9"A; S;)W9W9X9 X9WAXA:WA2WI*WVbUBU*UUU? @BB BA*BAAAA"C!*CiRCiCiCi׉IGG>  :Y(b1yz:N6.p,9hFAY}2Z~@}2@y}2}2<}2H߿@@B?f? ߿4`ѿ2s?b ?)~2Z~@ ~2_;I~0YRA?yR.FTTvNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @ñññiõ?ñ ĵ)ĵIĵiĵ&?D=M>=YHa$HHy8}>I : 5? :ETݾ - ?9TA$: :):WQWQXY XYWYXY:WY2WY*WaVabUaBUa*UaUiUm V@BB BA*BAAAA"C*CRCCC IG5 > 9 I (Fi ,@ = R+; E)!I!i!%=%=%4Xv,w9hFAY}6ty@}6@y}6e}6E}6H&߿XX?@t?߿п' ?3@?)~6ty@ ~6G^;I~6CYR?yVF^xDUSBL response received:!U1,R,502,000,002B0,18A,80,80,BF,FF ^Fpublishing direction and range info\\ɰ^qa=^> \)^?CI\y^q@^w?amf-ٱ\?=MN=YMa$HyRC}>I 5?Tݾ 8. ?9A; ;)WiWiXi XiWiXq:W2W*WVbUBU*UUU@Rm(Combining 5 samples.P*Qq@ZQE5j?.\Ux3 JQw?amf-2Q:QbQLs@">—@a?RQjք?l?u ?BQv? Q%D@Q@PP]9?PQQR@"QW@BB BA*BAAAA"C*CRCCC!I G%M>  :Y[1yH:i6);9̄|,9hFAY}^0@}^L@y}^}^}^H߿h@y?7?j޿ 1ҿY??)~^0@ ~^:\;I~^CYj?yj~FETNmea in: $SNTTA,0.073436,,,,231902.99*4E QQMy&1?{Gz ףp= ?M`a$Hyd&}>I :l 5? :Tݾ U3 ?9A: :):miAdded new target pos. range: 3.779998 m, bearing: 55.076576 deg, deltaT: 4.462025 s, approachRate: 0.013446 m/s, LOS rate: 0.355361 deg/s, posRepo size: 4XWv?WX XWX:W2W*WVbUBU*U U o=@U `?BYBY BYA]-*BYAaAaAA"CNt?RCCv?CיIGA>i) IA iY ٺ Aj,U:hFAY}N{@}N@y}Ny}Nm }NH 4l߿V I?@?'>޿@Dҿ'? ?)~N{@ ~N ^;I~NCYZ?yZOF]=M]d=Ye=QUe>aaam$HiiyumQ<}u>Iy} 5?}pTݾ }7 ?9}A}] ; }1;)yWWX XWX:W2WQ*WQVQbUqBUq*UyUyU} ?BB BAp*BAAAA"Cht?*CRCCC!܍>9܉I܍Fi܍@܍=܉܉܍*; ݍE)I9GU>^  x:YW1yč:`6);,0(:hFAY}F@}F@y}Fq}F`- }FH4߿u`??޿'ѿ[?.?)~F@ ~FQ_;I~FCYR?yR=F]M]J=Ye@=QUe>aaam$Hiiyuw,;}u>Iy}8 5?}2Tݾ }E< ?9}A}0: }:)yWWX XWX:W2W*WVbUBU*UUUm?BB BAw*BAAAA"Cv?*CRCCCIG=U,uB:hFAY}>@}>@y}>H\}>Ͽ}>HF߿E? ?GQ߿@Ϳ R? c` ?)~>@ ~>E];I~>CYJZ?yJ*FIx)xI=)    @ @ @ ÙÙÙiÝf?Ù ĝf?)ęIęię <MD=YN=QU>a$Hy:}>I : 5? :Sݾ DA ?9A!; e";):W9W9X9 XAWAXA:WA2WI*WIVQbUQBUQ*UYUYU]=?BB BA*BAAAA"C*CRCACICIaIiG>  :Y0Y1y:r69@i 9i Ii ii i i i m ); m 2EŪ,[:hFAY}6@}6@y}6{F}6A}6Hu p??~߿@O ˿?@鰶1E?)~6@ ~6n\;I~6CYN?yNF5z=M5S=Y=]=QU=>9AaE$HAAyMo;}M>IQU 5?USݾ UE ]?9UAU: U^:)QWWX X!W!X!:WQ2WQ*WYVYbUaBU*UUU?BB BAK*BAA A A"C*CRCCCU?iU?I)GE0>*ќ,3u:hFAY}:ǩ@}:Q@y}:&1}:; }:H@pa? #?!߿`ǿ`?`n?)~:ǩ@ ~:~8Y^?yb_FRQ?Q/$?=u =)Iyy&1|?~jtMb?`;< ­:A)­I­v.Ai­lsAGIA)= =    @ @ @ @i )Ii;M1=Y;=QU >11a5$H19y=z)}E>IA u:E+ 5? }:E;Sݾ E}C }?9EMAE; E=3;)E:WWX XWX:W2W*WVbUBU*UUU@BiBq BqAu1*BqAqAyAyAy"C*CRCCCסIGA>ޑiޕp=d   y:YDW1yY:6 ,V:hFAY}60@}6 L@y}6P }6(Z}6H߿c ɽ?N?`߿Ŀ; ?몿?)~60@ ~6V[;I~6C>Powering up>"Initializing DDM.Y=.?y=]FEa=ɮAMa=iM= YYy=Md=Y4=QU>a$Hy٫}>IȹŽ 5?ŽRݾ ƽA ?9ƽAǽs: Ƚ':)ȹWWX XWX:W2W*WVbUBU*UUU4@RB*** querying acoustic contact ***PPB)B) B)A-b*B)A1A1A1A1"C9*C9RCACACA!9!I%Fi%@!!!%); %EשIG>(,px:hFAY}6:@}6V@y}6C}6K³}6H߿ >m?Z? so߿vſ_?`g5`?)~6:@ ~6v[;I~4Y^ ?ybFbZ****** received transponder code query ******bF****** received ping request ******f a$H!y-}:}->I9 M:= 5? M:=ERݾ =? U?9=A=>; =;)=:WWX XWX:W2W*WVbUBU*UUUC @BABI BIAM**BiAyAyAA"C*CRCCCI)IGM1>  :Yy!6K˰,T:hFAY}62|@}6@y}6Р}6}6H8@}O[?߿@Ŀ I ?+Ի`?)~62|@ ~6\;I~6CYBx?yBFFxDUSBL response received:!U1,P 502,000,002B0,18A,80,80,BF,FF FCommand AckFBRequesting micromodem ping code 2iDHNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 hh - - - -@ 5@ 5@)))i)) )))I)i).MA=Y2=QU>a$HHy%<}>IȁŅ/ 5?ŅQݾ ƅ@= ?9ƅADž; ȅ;)ȁWWX XWX:W2W*WVbUBU*UU)U-> @BB BAO*BAAAA"C*CRCCCסIGF>Iޕ@A)ޕAA 9 I @Fi ? =   #);  E.,.:hFAY}6W@}6@y}6Fֽ}6Kʽ}6H@(HF \X?@?( p?)~6W@ ~6>];I~6CYf?yfAFhj@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B <MW=Y0c=QU>a $H y-P<}->I : 5? :9Qݾ A; ?9>A< ;):W)W)X) X1W1X1:W12W9*W9V9bUABUA*UAUaUmD@BB BA*BAAAA"C*CRCCCIG J>^  x:Yy 6)9E, :hFAY}6@}68@y}6B}6*}6Hex]a|V? < _ A?.`?)~6@ ~6.+\;I~6CY^"?yb-FfxDUSBL response received:!U1,R,502,000,002AE,189,80,80,C5,FF fFpublishing direction and range info``ɰb`=b7> `)bECI`yb=j@bw?amf-ٱ`Mb@Mb@Mb@ )IyMb11a=$H99yEw;}E>IIM6 5?MQݾ M8 U?9MAM9: M:)IWyWyXy XyWyXy:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q=j@ZQs:@?apuV JQw?amf-2Q:QbQ: @Z$I@J~$i?RQT}?Σ54?]?BQ|? QOB@Qv@PPPQQ@"QR@BB BA*BAAAA"C*CRCCC?i?IG$>k ,x;hFAY}J@}J_4@y}J'4}JdW}JH@6u5q }X?_`Ƕa?ܪ??)~J@ ~J[;I~JCYn?ynFETNmea in: $SNTTA,0.004887,,,,231907.43*4A )= >L<M`=Y$=QU>a$Hy u;} >I0 5?!Rݾ 6 ?9A: :)mMmAdded new target pos. range: 3.660000 m, bearing: 56.530563 deg, deltaT: 4.445590 s, approachRate: -0.026993 m/s, LOS rate: 0.327063 deg/s, posRepo size: 4XIWU|?WQXQ XQWQXQ:WQ2WY*WYVYbUYBUa*UaUeG @UmY?9IFi1?(; E)YIYiYY]=]4BB BAj*BAAAA"C{?RCC|?CIG(>ޕ=iޕa=  {:YU1y:6);I1,#*;hFAY}:4@}:@y}:.D}:F}:H@]g`sy@oE?`e?Ta ?l ?)~:4@ ~:•[;I~:CY^?ybF]H<M]U=Yeaiam$Hiiyuû}u>Iy :}9 5? :}Rݾ }4 ?9}A}: } :)}:WWX XWX:W2W*WVbUBU*UUUM?BiBi BiAmL*BiAqAAA"C{?*CRCCCIGm>(,AD;hFAY}6t=@}6X@y}6+}6{Q}6HW f9,S?`sM?e#?)~6t=@ ~6 [;I~6CYB?yBF    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ8MF=Y;QU>a$Hy53<}>IU 5?Sݾ $2 ?92A%; ;)W W X  X W X:W2W*WVbUBU*UU!U%`C?AEuCiI i1mֿٺiuYAByBy BA*BAAAA"C|?*C?9ARC C CIM]A)I!I)GM1> ~~ Y:YT1y@:69@9IFi?=Z(; TEC,w^;hFAY}B˫@}BU@y}BGm}B}BH ݷ=@48? @? ?)~B˫@ ~BP[;I~@Y^?y^F™^A MD=Yc!!a-$H)Iy}<}}>Iȑ :ŕs 5? :ŕSݾ ƕ/ ?9ƕsAǕ< ȕm <)ȕ:WW!X! X!W!X!:W!2W)*W)V)bUIBUQ*UQUQUU?BB BA*BAAAA"C*CRCCCIG$>Iޑ)ޕ?A=p,h]x;hFAY}R@}R^@y}RQK}R@Խ}RH`L"(?`Ct``?s`?)~R@ ~R[;I~RCYb?ybQFIE4=)E4= Q?Zd;?a$Hy3<}>Ișŝ 5?ŝ5Tݾ Ɲc+ ?9ƝAǝ: ȝ:)șWWX XWX:W2W*WVbUBU*UUU?BB BA/*BAAAAAIAI"CQ*CQRCQCQCYYIiG8>  2n:YT1y:6?U,,;hFAY}:@}:/@y}:3}:ӝǽ}:H3@w "?x?y㸿C?)~:@ ~:<[;I~:CYJ?yJF=2M=a=YEAIaM$HIIyU';}U>IY e:] 5? e:]Tݾ ]' e?9]A]: ]k:)]:WWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAY9YI]Fi]?]=YY]'; ]EA"C*CRCCC?i?׉IG=~,);hFAY}6<@}6W@y}6*}63}6H@ $?砵W?÷{?)~6<@ ~6Z;I~4Yf?yfSFhɮjR=)v > v>z żMzO=Y~;QU~>|a$Hy ;} >Iu 5?zUݾ # ?9 A: M:)WAWAXA XAWAXA:WI2WI*WIVIbUIBUQ*UQUQUU@@ReB*** querying acoustic contact ***PaPaBB BA*BAAAA"C*CRCCCבIG=F  v:YDW1yY: 6g,;hFAY}B@}B0@y}Bzj!}B4}BH `4@24`.? +?`?)~B@ ~BZ;I~BCYn&?ynFvZ****** received transponder code query ******vF****** received ping request ******vaaae$HeHaym2}m>Iȱŵ 5?ŵ6Vݾ Ƶ ?9ƵDAǵ: ȵ:)ȱWWX XWX:W 2W *W V bU1BU1*U1U1U= @BB BA*BAAAA"C*CRCCCשIG >Y9YI]Fi]?YYY]D'; ]E/,U;hFAY}z@}z@y}zgW<}zsK}zH:`*>`X?4?`t_@͈?`p`?)~z@ ~z`[;I~zCYE?yMɕFxDUSBL response received:!U1,P 502,000,002AE,189,80,80,C5,FF Command AckBRequesting micromodem ping code 2i!]Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 lx&?$C˿7> Z)IyMbP~jt?  a $H  yq}>I9 E:= 5? E:=Vݾ = M?9=A=: =b:)=:WWX XWX:W2W*WVbUBU*UUU@ @ ~~ b~:YT1y@: 6);9BB BA΂*BAAAA"C!*C)RC)CQCQIe\A)aI IQ Gm >,9;hFAY}6@}6u3@y}6o}6_- }6H ,2c g?@߭? ?)~6@ ~6g[;I~6CYB?yB7FDDVNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ݼM=Y=QU'?a$Hy<}'?I 5?7Wݾ  ?9A /:)W!W!X! X!W!X!:W!2W)*W)V)bU)BU)*U1U1U5@BaBa BaAe *BaAiAiAiAi"Cq*CqRCqCqCyiIyG=A,{QQa]$HYYy];}e>Ii u:m 5? u:mWݾ mw }?9mAm; m;)m:WWX XWX:W2W*WVbUBU*UUU@@R(Combining 5 samples.P*QZQs:@?apuV JQw?amf-2Q:QbQDUaU? :@o1j2?9IPFi8?=t&; RERQa?}'??BQ#? QE@Q?PPPQQ= @"Q@BqBy ByA}*ByAyAAA"C*CRCCCשIG>H  :YT1y:r6); ,P-CMD=Yy[QU>1a5$H19y=<;}E>IIM 5?MTXݾ M u?9MGAM; M;)ImiAdded new target pos. range: 3.660000 m, bearing: 57.806042 deg, deltaT: 4.384069 s, approachRate: 0.000000 m/s, LOS rate: 0.290935 deg/s, posRepo size: 4XW#?WX XWX:W2W*WVbUBU*UUU@?BIBI BYAeK*BaAaAaAaAa"Cu#?RCqCu#?Cy׭?i׭?iIqG>Ŷ,U0Ga$Hy4<}>Iȱ :ŵ 5? :ŵXݾ Ƶ ?9ƵAǵ=: ȵ:)ȵ:WWX XWX:W2W*WVbUBU*UUU@?B!B! B)A-{*B)A)A)A)A1"C9*C9RC9C9C9 IG5=ޑiޑ5  Ku:YW1yč:69@9Ii%; E)ݩIݩiݩݭ=ݭ=ݭ4,3ayya}$Hyy}>Iȉōf 5?ō#Yݾ ƍ- ?9ƍAǍ8: ȍϸ:)ȉWWX XWX:W2W*WVbUBU*UUUx?BB BAO*BAA A A "C*CRCCCIG=0> ,;zienGIqi ~~} x|:YT1y@: 6ڿٺͿA$,軔!!a%$H!)y-޺}->I15! 5?5Yݾ 5 E?95A5: 5:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUqU}`@ܡ9ܡIܥFiܥ}?ܡܡܡܥ$; ݥEBB BA*BAAAA"C*CRCCCIG=Iޑ)ޕ@A+,ꖮa$Hy-ӻ}>Iȩŭ 5?ŭYݾ ƭ^ ?9ƭAǭ; ȭ;)ȩWIWQXQ XYWYXa:Wa2Wi*WqVybUBU*UUU @BqBq BqAu)*ByAyAyAyAy"C*CRCCCiIyG>  Oo:YW1yč:262,w?@sÿ I?ʰ?)~:J@ ~:B|Z;I~:CYF_?yFFHɮJp= z z z z@ z@ z@ zxxxiz?x zK?)zA?Iz?izK?cMR=Y fQU > a$HHy<}>I! -:% 5? -:%Zݾ % -?9%A%: %:)%:WQWQXQ XQWYXY:WY2WY*WYVabUaBUa*UaUaUmI@RuB*** querying acoustic contact ***PqPqB1B1 B9A=V*B9A9A9A9A9"CA*CARCICICI}?i}?IIYGu=ܡ9ܡIܥFiܥ?ܡܡܡܥ$; ݥQE=18,t\A)3MAI5Ai~ZAFA kM-=Y6QU>a$Hy%<}%>I)-J 5?-Yݾ - =?9-`A-߼: -:))WYWYXY XYWYXa:Wa2Wa*WiVibUiBUi*UqUqUuK @BB BA*BAA A A "C*CRCC9CיIGB>ޕ=iޕ= ~ O|:YWU1y:<6)7;93X>,R*a$Hy%N}->I1 =:5 5? =:5Yݾ 5 =?95A5: 5[:)5:WyWX XWX:W2W*WVbUBU*UUU` @B)B1 B1A5<*B1A1A9A9A9"CI*CIRCQCQCyיIGf>?E,=hFAY}6@}6.@y}6M!}6#T}6H ?`?bzĿi?d-?)~6@ ~6I[;I~6CYR?yR*FTTfNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B A9AIEpFiEM?E=AAE5$; E E5M=g=Y=QU=?AAaE$HAIyM}M?IQUR 5?UXݾ Ui ]?9U-AU0: U:)QWWX XWX:W2W*WVbUBU*UUU/D@BB BA*BAAAA"C*CRCCCIi)iIIaG>  ȁ:YU1y:6)|;iK,/=hFAY}J@}J @y}J\1}J{}JH  ,k??#9ǿ?@r?)~J@ ~J`[;I~HYV?yVƎFZxDUSBL response received:!U1,R,502,000,002AF,189,80,80,BA,FF ^Fpublishing direction and range infoXXɰZa=X X)Z:CIXyZn@Zw?amf-ٱX7^M_=Y%0QU->19aE$HAQye1<}e>Iy :}D 5? :}MXݾ } ?9}A}; }ù;)}:WQWQXQ XQWQXY:WY2WY*WYVYbUaBUa*UaUaUm@R(Combining 5 samples.P*Qn@ZQo$?7U JQw?amf-2Q:QbQp|?74S@"$?RQ?n?9^|Q?BQV? QtG@Q?PPPQQB@"Q= @BB BA*BAAAA"C!*C!RC!C!C))I1GU>Iޑ)ޕAAQR,,I=hFAY}6@}6 @y}6yM8}6N}6H? A{?Oǿ?``l?)~6@ ~6![;I~6CYn?ynFI9)9    @ @ @ÑÑÑiÑÑ đ)đIđiđMA=Y.QU>a$HyN;}>Ic 5?Wݾ  ?9A: :)mmAdded new target pos. range: 3.720000 m, bearing: 57.730002 deg, deltaT: 4.470826 s, approachRate: 0.013420 m/s, LOS rate: -0.017008 deg/s, posRepo size: 4XWV?WX XW X :W 2W *W VbUBU*UU @U?BB BA*BAAAA"CV?*CRCCV?CIG>A9AIEFiE?AAAE#; EE+  ~t:YWU1y:6)w;~X,ϡc=hFAY}R<&@}RA @y}R@}R\a4}RH@^n?g?U"@ǿ ? % ph?)~R<&@ ~RN\;I~RCYbT?ybF/$?Mb`Zd;&1> y)Iy~jt~jt?~jt< ?A)NAI2Ai&aA(HA)> >d<MF=Y^QU>a$Hy;}>I  : Y 5? : Xݾ  ?9 B A A: k:) :W9W9X9 X9W9X9:WA2WA*WAVAbUABUI*UIUIUM`ގ?BB BA*BAAAA!"C)*C)RC)C)C1!I)GM>a^, n}=hFAY}6@}6 @y}6uL}64}6H ;H?5? !xʿ?c?`zDF?)~6@ ~6$];I~6CYB_?yBF 5 5 5 5@ 5@ =@111i11 1)1I1i1k<MP=YQU>a$Hyߡ<}>IȹŽT 5?ŽYݾ ƽ" ?9ƽ AǽI: Ƚ4:)ȹWWX XWX:W2W*WVbUBU*UUU?B)B) B)A-V*B)A1A1A1A1"C9*C9RCACACA1I9G=0 ~~ :YT1y@: 69@ke,qV=hFAY}6@}6: @y}6CQ}6}6Hjhjf? ? q;ο?`?)~6@ ~6JI\;I~6CY^?y^}Fp9pIrFira?pppr#; rE)qIqiqu=u=uf4%=i<5M5Q=Y=DQU=>99a=$HAAyEd<}M>IQUW 5?UZݾ U% ]?9U AU: U4:)QWyWX XWX:W2W*WVbUBU*UUU`?BYBY BYA]Ņ*BaAaAaAaAa"C*CRCCC׉IG=k,&=hFAY}@}[# @y}DL}}H ac1l??`!Ϳ@U]?ݼ?(?)~@ ~x[;I~CYe?yeЍF m m m m@ m@ m@iiiiii i)iIiii}M7=Y<3a$HyP}>Iș :ŝY 5? :ŝ[ݾ Ɲ( ?9Ɲ !Aǝ-: ȝ:)ȝ:WWX XWX:W2W*WVbUBU*UUU:@B B BA *BAAAA"C*C!RC!C!C!I9)9 IG5 >  #s:YY1y:6 t> zCi% }nGI9 iQ r,=hFAY}2@}2* @y}2K}2Џ}2H A?}2? /2ʿ@L?J?)~2@ ~2l[;I~2CBؿٺ@B)AYJ!?yJF%M%b=Y-:QU->11a5$H5H1y=k}=>IAET 5?EY\ݾ E_+ M?9ED!AE: E:)AWqWqXq XqWqXy:Wy2Wy*WyVybUBU*UUU2@BB BA%*BAAAA"C*CRCCC׉IG=9IFi1?4#; EIމ)ލ@Ax,=hFAY}6@}6 @y}6SP}6)C}6H~>`N? G*?`Tȿ`F?`W짿 M?)~6@ ~6#\;I~6CY^?ybF`ɮba=Mb@Mb@Mb@ )IyV-~jtx?S㥛;/ݼ ¥:A)¥YAI¥I4Ai¥kALA=MB=YbCQU>a$Hyz9:}>I : 5? :\ݾ . ?9m!Aw: =:):W W X  X W X:W2W*WVbUBU*UU!U%(@R-B*** querying acoustic contact ***P)P)BIBQ BQAUG*BQAYAYAYAY"Ca*CaRCaCaCiqIyG=  E:YU1y:6~,E=hFAY}2x@}2 @y}2P}2}2Hn%y?Laaae$Haiym!}m>Iqu 5?uY]ݾ u#2 ?9u!AuT`< u`<)qW!W!X! X!W!X!:W)2W)*W)V)bU)BU1*UQUQU]` @BB BA*BAAAA"C*CRCCCi?IG>܅,ȕ>hFAY}:TK@}:f @y}:VO}:fD9DIDiDF=DDF"; FfE}:H`?@bI?@pWƿ?tW?)~:TK@ ~: \;I~:CYn'?ynώFrxDUSBL response received:!U1,P 502,000,002AF,189,80,80,BA,FF rCommand AckvBRequesting micromodem ping code 2ittzNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 MMUK=Ye1:QUm>ya$Hy|ۻ}>I :/ 5? }:]ݾ 5 }?9!A< ȯ<):W)W1X1 X1W1X1:W92W9*WAVAbUBU*UUUTd @BABA BA*BAAAA"C*CRCCCIG J>ޑiޕp= zzn s:YQ1y:6);9,_y2>hFAY}r@}r @y}rT}rNF*}rH$?3?hF`ȿ 1b?`?Ҥ)I?)~r@ ~r~[;I~rCY~A?y|FeNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B % % % %@ %@ -@!!!i!! !)!I!i!=š<M=<=Y=AAaE$HAIyMG;}U>IQU{ 5?Ub^ݾ U9 e?9U!AUR: U:)QWWX XWX:W2W*WVbUBU*UUUB)@B!B! B!A-]*B)A)A1A1A1"CI*CIRCQCQCQ!I1GM>d,OL>hFAY}6Ź@}6O @y}6[R}6 j}6H>|@<ܧ?'?!`>˿8?/ *;?)~6Ź@ ~6tb[;I~6CYBv?yBbFFxDUSBL response received:!U1,R,502,000,002AE,18A,80,80,C1,FF FFpublishing direction and range infoDDɰF`=F> D)FACIDyF=j@Fw?amf-ٱDTV^A^!M^g=Y^;QUb>``ab$H`dyfIhj 5?j^ݾ j< r?9j"Aj=: jb:)hWWX X W X :W 2W *WVbUBU*UUUp@R-(Combining 5 samples.P)*Q-=j@ZQ-s:@?apuV JQ-w?amf-2Q):Q)bQ-}X?h^@p?RQ-`מM?.?tr9?BQ-^? Q-pD@Q-5?P)P)P-Q)Q-@"Q-B@BaBa BaAeЅ*BiAiAiAiAi"Cq*CqRCyCyCyqIyG=܉9܍CI܉i܉܍=܉܉܍_"; ݍ%E  :YT1y:6);,Ef>hFAY}^.@}^ @y}^]bH}^x}^H*4 qL?`;A?@7 ʿr?]F?)~^.@ ~^7[;I~^CYn6?yr؎FUDNmea in: $SNTTA,,,,,231920.78*5A ~jtxL7A`?Mb?Ļ+= =)IyX9v~jtMbD DA)JAIK/AiIjAJA[M<M.=YDa$Hy»}>I : 5? :9_ݾ > ?9@"A: R:):mEmAdded new target pos. range: 3.660000 m, bearing: 58.135715 deg, deltaT: 4.397173 s, approachRate: -0.013645 m/s, LOS rate: 0.092267 deg/s, posRepo size: 4XAWE^?WAXA XIWIXI:WI2WI*WQVQbUQBUQ*UQU]G @U]@+?BB BA*BAAAA"C^?*CRCC^?CIG+>Iށ)ޅAA B,z>hFAY}6e@}64 @y}6NC}6AB}6H o(&i?Q?`bɿJ?SM U?)~6e@ ~6&i[;I~6CB`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ) IY5?y5ƎF    @ @ @i )IiM*=Y^!!!a%$H!)y-ʟ}->I15 5?5_ݾ 5A =?95{"A5: 5:)1WaWaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UqUqU}X?B1B9 BYA]*BYAaAaAaAa"C*CRCCC  w:Yy69@שIG>*,ݙ>hFA9CIi=!;  EY}B@@}B[\ @y}Bt#E}B }BH `2?Y? j@ɿ}? DܳO?)~B@@ ~BR[;I~BCɫyy)y yIyYg?yYF)E= E=uƋMu=Y}mQU} ?yya$Hy} ?Iȑ :ŕ 5? :ŕ_ݾ ƕB ?9ƕ"AǕ: ȕ(:)ȕ:WWX XWX:W2W*WVbUIBUI*UQUQUU?ByB BAԅ*BAAAA"C*CRCCC?i?סIG >U,>hFAY}6@}6@y}6)D}6-}6H D4?w?ǿfu? :@a?)~6@ ~6g[;I~6Cɫ19)9 9I9Y}*?y}F    @ @ @i )Ii )=M A=Y:QU>a$HHy܃}%>I!%v 5?%T`ݾ %E u?9%"A%< %:)!WWX XWX:W2W*WVbUBU*UUU':?BB BA*BAAAA"CA*CARCICICI9IIGe4>ޕ=iޕ=  ~ ~  |:Y T1y @: 6<,2>hFAY}:@}:@y}:2C}:}:H F?Ӈ? 2ſJS?@BWj?)~:@ ~:ŧ[;I~:Cɫ99)9 9I9Y}?y}`F=M=Y=YEB8;QUE>AAaM$HIIyU}U>IY e:]A 5? e:]`ݾ ]'G e?9]#A]: ]=:)]:WWX XWX:W2W*WVbUBU*UUUV@BB BA*BAAAA"C*CRCCCIG>999I9i9==99=q!; = E)ݹIݹiݹݽ=ݽ=ݽ5f,m>hFAY}2@}2>@y}2ExD}2}2H/Wɳ?|? nƿh?f?)~2@ ~2P[;I~2Cɫ99)9 9I9Y}?y}FQ? rhLu< C)Iya$Hy;}>Iw 5?_ݾ H ?9\#A: :)WWX XWX:W2W*W V bU BU *UUU w@B9BA BAAE*BAAAAAAIAI"CQ*CQRCQCQCYIi)iIIQGu>  }i:YU1y:6sQ,U?hFAY}6D@}6Ω@y}6k>}6y}6H`7-`F?r?Kȿ`g?`$c?)~6D@ ~6Н[;I~6CɫAA)A AIAYui?yu3Fyɮ}p=    @ @ @i )IiMW=Yaa$Hy\}>I : 5? : _ݾ cJ ?9#A: P:):W9W9X9 X9W9X9:W92WA*WAVAbUABUA*UIUIUM@R]B*** querying acoustic contact ***PYPYBB BA*BAAAA"C*CRC)C)C)!IyinmGIiؿٺ8AG(>Iމ)މ 9 I i  =   ;  c EOx,#?hFAY}2@}2@y}2T7}2D}2H`tX[? ?@ZzǿI?`W`i?)~2@ ~22f;I~0ɫ99)9 9I9Y}?y} FZ****** received transponder code query ******F****** received ping request ******a$HyEʼ}>I   5? 9^ݾ K ?9 #A < <) WWX XWX:W2W!*W!V!bU!BU!*U)U)U- 8` @BB BA*BAAAA"C*CRCCCIG%>u uuu u{:YuWU1yu:u6)u;9}A,r4?hFAY}6hp@}6@y}67}6ʽ}6HWa}??Hmɿ}?T?)~6hp@ ~63c;I~6CɫYY)Y YIYY?yFxDUSBL response received:!U1,P 502,000,002AE,18A,80,80,C1,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= >XMG=Y-]QU5>AAaM$HIiyՌ}>IQ e:U, 5? :US]ݾ UpM ?9U\$AUTC< UXC<)U:WqWyXy XyWX:W2W*WVbUBU*UUU @B9Ba BaAeń*BaAiAiAiAi"Cq*CqRCqCqCיIGf>6,N?hFAY}2x@}2@y}2e7}2i}2H~i?@߿"̿? 6?)~2x@ ~2a;I~2Cɫ99)9 9I9YR?y_FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U U U U@ U@ U@QQQiQQ Q)QIQiQeF<Me7=YmfQUm>qqau$Hqyy}`&<}}>IȁŅr 5?Ņ\ݾ ƅN ?9ƅ$ADžI: ȅA:)ȁ8qjAggregate::initialize lineCaptureDepth:SetNavAcoustic19 r~Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNavq9rdReseting nav to dock location at range 3.660000 m q99 s6Initialize SetNavComponent.WWX XWX:W2W*WVbUBU*UUUʂ@B B  B A *B AAAA"C*CRCCC!!I1GM1>9IxFi?=w ; " E} }}} }B:Y}T1y}:};6)};,|h?hFAY}2;@}2 @y}230}2}2H@ǛYq@?3\_ʿ?]NO?)~2;@ ~2a;I~0ɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,R,502,000,002AE,189,80,80,CF,FF Fpublishing direction and range infoɰ鰅7> )OCIyw?amf-ٱ=i=? rh?Mb`?ff>C > ;)Iy/$~jth?y&1?D;`e< 5MS=Yoa$Hy9<}>I   5? \ݾ M ?9 $A : :) X1X1X1s=lSetNav fix at 20210815T231925: (41.552319, -70.708603)9= s=:Uninitialize SetNavComponent.r=fCompleted lineCaptureDepth:SetNavAcoustic:UpdateNav19E rEAggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNavqERCompleted lineCaptureDepth:SetNavAcoustic8EqEnAggregate::uninitialize lineCaptureDepth:SetNavAcousticWIWIXI XQWQXQ:WQ2WQ*WYVYbUYBUY*UYUaUe@`@Ru(Combining 5 samples.Pq*QqZQus:@?apuV JQuw?amf-2Qq:QqbQuZQ? @s2.?RQu gB`Y?2yG?x?BQuV|? Qu]@@Qu?Pu^9?PqPqQuQu@"Qu@BB  B A &*B A AAA"C*CRCCC!!I1Gm5>(,[?hFAY}f+@}f&G@y}f$&}fWՄ}fH`APăϜ? ?5ƿ m? n_@?)~f+@ ~f_;I~dɫ) IY?y2F}TNmea in: $SNTTA,0.051137,,,,231925.24*49 ¡¡--=M-F=Y-11a5$H19y=-}=>IA U:E- 5? U:Exݾ UtI E U?9EE@; E:)Eo:mmAdded new target pos. range: 3.660000 m, bearing: 56.567811 deg, deltaT: 4.518420 s, approachRate: 0.000000 m/s, LOS rate: -0.347003 deg/s, posRepo size: 4XWV|?WX XWX:W2W*WVbUBU*UUU m8?BB BA*BAAAA"C-|~?RCCV|?CI)IG$> ~ k:YDW1yY:<69@ 9 I i =  ; E,fh?hFAY}2@}2@y}2a }2M"}2HG-/@p?'?1`"ÿD?@d?)~2@ ~2qqau$Hqyy}]t}>IȁŅt 5?Ņyݾ ƅu; ?9ƅ<Dž8: ȅ:)ȁWWX XWX:W2W*WVbUBU*UUU(?BB BAa*BAAAA"C ;~?*C RC C CסIG >Iޑ)ޑr,gE?hFAY}:T@}:޶@y}:}:lte}:H`@?@8?eĿ}?@"U œ?)~:T@ ~:6a;I~:Cɫ髑) IY?yUF    @ @ @ÁÁÁiÁÁ ā)āIāiā;<M,=Ya$HHyٻ}>Iȱ :ŵʔ 5? :ŵyݾ Ƶ< ?9Ƶ <ǵ|: ȵ:)ȵp:W W X  X W X :W2W*WVbUBU*UUUB?BB BA5*BAAAA"CV|?*CRCCC!I)GMt>1  t:YV1y:r6F,X ?hFAY}6c@}6@y}6Y}6}6H@-@ >5 M=z=Y=3i9iIm Fim?iiim; m Ef,z?hFAɫ髙) IY?yF|?5^?Qy&1?R> `<)IyMbP?{Gztkt?:ף 0= ?A)OAI5Ai]AHA pM >=Y QU>a$Hy}%>I!%/ 5?%+zݾ %< E?9%<%q; %;)!WyWyXy XyWyXy:Wy2W*WVbUBU*UUUo/@BB BAń*BAAAA"C*CRCCCIGF>ޙiޝ=5 f 5 5 5  5 3y:Y5 DW1y5 Y:5 6,@hFAɫyy)y yIY?y1F    @ @ @ ñññiõ?ñ ĵK?)ĵ?Iĵ?iĵK?#=MO=YQU>a$Hy}>I :U 5? :@zݾ HB= ?9o=I:  :)q:WWX XWX:W2W*WVbUBU!*U!U!U% P@BB BAD*BAAAA"C*CRCCCIG$>a 9a Ie XFie ?a a a e ; e E)IiR4~,%@hFAY}2z@}2{@y}2=6}2L}2H@t %?\? @豿?@gͶ?)~2z@ ~2\;I~2Cɫ99)9 9I9YE?yEFMp=ɮIaau`Muc=Yu=QUu>yya}$HyyH}>Iȉōy 5?ōLzݾ ƍ߀= ?9ƍ =Ǎ: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUU1@RB*** querying acoustic contact ***PPBB BA*BA A A A "C*CRCCCI)))IG= ~ ~  &:Y T1y @: 6) ;9 W> ,7@hFAY}6w@}6r@y}66v}6 }6H@`N? )]? ׿ٿ?@I@੻?)~6w@ ~6q`;I~6Cɫ99)9 AIAY}?y}FZ****** received transponder code query ******F****** received ping request ******QQaU$HQYy]}]>Ia m:e 5? m:eYzݾ eЦ= u?9e=e: eM:)er:WqWqXq XqWqXq:Wy2Wy*WyVybUBU*UUU @BB BAK*BAAAA"C*CRCCC IG-->Iޙ)ޝ@Aim unGIy i ٺ A&,nhQ@hFAɫ髁) IY?yFxDUSBL response received:!U1,P 502,000,002AE,189,80,80,CF,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)=5<M=L=YMQUU>aaam$Hqqy}}>Iȑŕܕ 5?ŕezݾ ƕ= M?9ƕE =Ǖ< ȕ<)ȑ>9IFia?=G;  EWIWIXI XQWQXQ:WQ2WQ*WYVYbUYBUY*UYUU @B B  B A*BAAAA"CA*CARCICICQ!IYG->     s:Y X1y /: 6) 9;P,[Ck@hFAY}2@}27@y}2}2B}2HH@#0?r+?@ſ.,?i?)~2@ ~2,h\;I~2CɫYY)Y YIYY!?yߑFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B +?Dl?L7A`堿v>>O= +)IyQ?~jtx?~jt\=;ļ •?A)•IAI•5Ai•XAEAmMm+=YmQUm>qqau$Hqyy}ҕ<}}>Iȁ :Ņ 5? :Ņyݾ ƅ= ?9ƅ|d=Dž: ȅ:)ȅs:WWX XWX:W2W*WVbUBU*UUUV@B9B9 B9A=e*BaAaAaAaAa"Ci*CiRCqCqCqץ?iץ?yIG^>^8!,*@hFAɫ髙) IY?yFxDUSBL response received:!U1,R,502,000,002AD,189,80,80,C0,FF Fpublishing direction and range infoɰu`= )@CIyff@w?amf-ٱ M M M M@ M@ M@IIIiII I)IIIiI]M]s=YeQUe?aaam$Hiiyu}u?Iy}^ 5?}yݾ }n= ?9}=}0: }:)yWWX XWX:W2WI*WQVQbUQBUQ*UYUYU]0@Rm(Combining 5 samples.Pi*Qmff@ZQmxP^B(?0B JQmw?amf-2Qi:QibQm#ԕ ? dh@ErĮ?RQm]Ϊ?/Q?z5*?BQmgz? Qm{=@Qmh?PmZ9?Pm^9?PmQiQm@"Qm@BB BA*BAAAA"C*C)RC)C)C)!I)GM1>m m m m  m :Ym WU1ym :m 69u @ 9 I ȖFi ? ; \ EKt',C@hFAY}-@}-@y}-- }-:ͽ}-HWP:8?]ſ?OZ`?)~-@ ~- F[;I~-Cɫ) IYU?yU;FDNmea in: $SNTTA,,,,,231929.69*53 =i%= M5M6=Y-)a$Hy}<}>IȹŽ 5?ŽKxݾ ƽ= ?9ƽׯ=ǽ8: Ƚr:)ȹmqAdded new target pos. range: 3.599999 m, bearing: 56.125491 deg, deltaT: 4.443069 s, approachRate: -0.013504 m/s, LOS rate: -0.099553 deg/s, posRepo size: 4XWgz?WX XWX:W2W*W V bU BU *U U @U }?B9B9 BAAE*BAAAAIAIAI"CUgz?RCQCUgz?CQAIIGe5>-,Ը@hFAY}:p\@}:w@y}:< }:쮽}:Hp.2W?;@8Ŀr?̤@%?)~:p\@ ~:m`;I~8ɫ99)9 9I9Y}?y}iF } } } }@ }@ }@yyyiyy y)yIyiymM`=Yn2a$HHy.<}>Iȩ :ŭŒ 5? :ŭwݾ ƭ= ?9ƭ]=ǭ: ȭ:)ȭt:WWX XWX:W2W*WVbUBU*UUU [?BB! B!A%*B!A!A)A)A)"C1*C1RC1C1C9II)M]A IG5 >    n:Y T1y : 6t4,@hFAY}2\@}2@y}2}2Y}2H@{@pi?~?`ÿ ?d`7?)~2\@ ~2_;I~2Cɫ99)9 9I9YEi?yE3FMV=YvQU>a$Hy<}>I 5? wݾ = ?9E=: k:)W)W)X) X)W)X):W12W1*W1V9bU9BU9*U9U9UE ?BB BA*BAAAA"C*CRCCCIG>ܱ9ܱIܱiܱܱܱܱܵ; ݵ4 E:,@hFAY}2Qa@}2| @y}2y}2}2HxD @(M?Ā?m'YĿ%\? K2?)~2Qa@ ~2];I~2CɫAA)A AIAY]9?y]FI)I=)C=`"?))a5$H11y=<}=>IA :E 5? :Ewݾ E[r= ?9E>E!< EH!<)Eu:WWX XWX:W2W*WVbUBU*UUU j?BiBq BqAu߄*BqAqAqAqAy"C*CRCCCיIGb>!A,hAhFAY}F@}F @y}FV}Fs`}FH@m_?_?JſQ?`7?)~F@ ~F\;I~FCɫyy)y yIyY?yFuMuj=Y}1QU}>yya$Hy<}?Iȑŕ 5?ŕCxݾ ƕh= ?9ƕ+>Ǖ: ȕӻ:)ȑWWX XWX:W2W*WVbUBU*UUU}@BB BAK*BAAAA"C*CRCCC?i?סIG >)  Vt:Yy6ܩ 9ܩ Iܩ iܩ ܩ ܩ ܩ ܭ s; ݭ  EG,)A AhFAY}:@}:  @y}:b}:2}:HP{ʻ?@Y?~jÿ@ ?@y@?)~:@ ~:oc];I~:Cɫ99)9 9I9Y}?y}F= ;M=N=YE;QUE>AAaM$HIIyUB;}U>IY e:] 5? e:]xݾ ]m_= e?9]E>]: ]:)]v:WWX XWX:W2W*WVbUBU*UUUB.@BB BA5*BAAAA"C*CRCCCIG>M,:AhFAY}6"e@}6 @y}6"}6\}6HzeN6?]2?-RÿA?`?)~6"e@ ~6t^;I~6CɫYY)Y YIYYZ?y*F鮥a=ɮa==i= 鿹        @  @  @   i   ) I i 7<ML=Y%1OQU%>!!a%$H))y-<}5>I9= 5?=|yݾ =W= E?9=R`>=: =M:)9WWX XWX:W2W*WVbU BU *U U)U5@@R=B*** querying acoustic contact ***P9P9ByB BA*BAAAA"C*CRCCCשIG >  Zn:YDW1yY:D6T,DSAhFAY}6 @}6& @y}6V,}6<}6H@u` .? ?Ŀp?Eઃ?)~6 @ ~6b;I~6Cɫ9A)A AIAY]P?y]FeZ****** received transponder code query ******eF****** received ping request ******ea$H yA<}>I 5?zݾ N= -?9z>: f:)WIWIXI XIWQXQ:Wq2Wq*WyVybUyBUy*UUUo @B)Bi BiAuZ*BqAqAqAqAq"Cy*CyRCCCIױ)׵\AY9YI]Fi]a?YYY]"; ] E)Ii჉==僕D4׉IG>Z,|mAhFAY}:[@}:Pw @y}:6}:}:Hcm?d?}ȿ?"`g?)~:[@ ~:`;I~:CɫAA)A IIIY}E?y}FxDUSBL response received:!U1,P 502,000,002AD,189,80,80,C0,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 "~?y&1?Q?S>`e= =)Iy11a=$H9AyE<}M>II :Mʆ 5? :Myݾ M-%= ?9M>M< M,<)Mw:W!W!X! X!W)X):W12WQ*WYVYbUaBUa*UiUiIޙ)ޝAA  :YxZ1yq:`6Uu#@BB BA *B A A A A "C1*C9RC9C9C9I IQ Gu >a,FAhFAY}FR0@}FK @y}F8}FVʽ}FH2 z? ?=ʿ?渿@>S?)~FR0@ ~FS^;I~FCɫYY)Y YIYYyyimGIi-yٺ)-A=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)I4=)%=YE7ݻQUE?AIaM$HIQyU4 }U?IY] 5?]yݾ ] = e?9]o>]: ]:)YWWX XWX:W2W*WVbUBU*UUU/@BB BA*BAAAA"C*CRCCCIG (>U >9Q IU XFiU ?Q Q Q U ; U E~g,΋AhFAY}2@}2% @y}2Vd9}2i}2H``{f???੡;ȿ/ ? ``?)~2@ ~2*\;I~2Cɫ99)9 9I9Y}c?y}FxDUSBL response received:!U1,R,502,000,002B1,189,80,80,BF,FF Fpublishing direction and range infoɰa=鰁 )?CIyu@w?amf-ٱ-:M-aaae$Haqy}~}}>Iȁ :ŅE 5? :Ņyݾ ƅ< ?9ƅǎ>Dž: ȅ;)ȅx:WWX XWX:W2W *WVbUBU*UUU@R-(Combining 5 samples.PI*QMu@ZQMAKK?Oh JQMw?amf-2QI:QIbQM?8 @.xm9G?RQMw&'?FZ.5?.1 ?BQM}z? QMP@QM%?PMY9?PMZ9?PMQMQM@"QM@BB BA*BAAAA"C*CRCCC?i?IG$>L   w:YWU1y:V6);97,n,qAhFAY}r@}rN @y}r`o?}r}rHt Ӆ??̩hȿM?&AM^?)~r@ ~r \;I~pɫaa)a aIaYE?yF-DNmea in: $SNTTA,,,,,231934.13*52    @ @ @éééiéé ĩ)ĩIĩiĩM=Y[9QU>a$HHyֺ}>I 5?Ryݾ < ?92>e; ;)mmiAdded new target pos. range: 3.839998 m, bearing: 59.300447 deg, deltaT: 4.440170 s, approachRate: 0.054052 m/s, LOS rate: 0.715053 deg/s, posRepo size: 4XiWm}z?WiXq XqWqXq:Wq2Wy*WyVybUyBU*UU Q@UQ?BIBi BqAu*BqAqAqAqAy"C} ?RCC}z?Cމiލ=׉IG>u,B?AhFAY}2r@}2b @y}2'H}2}2H=r@n?R?]@ʿ?]C?)~2r@ ~2`;I~0ɫ99)9 9I9Y}?y}}F]M]=Y]dQUe?aaae$Haiym=}m?Iy }:}t 5? :}/yݾ }J< ?9}R>}: }A:)}y:WWX XWX:W2W*WVbUBU*UUU@D?BB BAŅ*BAAAA"C}z?RCCC9I Fi?;  E)I1G> ~~ o:YT1y@:W6)x;;{,AhFAY}2@}2V @y}2$I}22Խ}2H@ ,R?@?˿?@`}7?)~2@ ~2^;I~2Cɫ99)9 9I9YE?yEFuZd;O?~jt?S㥻?uj=uD= u/=)qIqyuZd;O?a$H)y5<}5>I9= 5?=xݾ =< E?9=L>=: =':)9WiWiXi XWX:W2W*WVbUBU*UU U?BB BA*BAAAA"C *C RCCCIA)AI)GEQ>",BhFAY}6@}6 @y}6*C}6Yn}6H `S`??qgȿK?F DY?)~6@ ~6^;I~6Cɫ99)9 9I9Y?yFIQ)QIY)YIep=)e=    @ @ @ñññiññ ı)ıIıiı:MG=Y^a$Hy }>I : 5? :wݾ ݴ< ?9٥>: :)z:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*C)RC)C)C)!I)GM1>  }:Yy69@ 9 I Fi 1? /; c EL,"BhFAɫ髡) IYi?y3Fus=M}P=Y}QU}>a$Hy}>Iȑŕ 5?ŕPwݾ ƕ< ?9ƕe>Ǖ: ȕ^:)ȑWWX XWX:W2W*WVbUBU*UUU @BB  B A *B AAAA"C*CRCCC!)I1GM>w,a$HyW>}>Ià 5?vݾ = ?9F> s:)W!W!X! X!W!X):W)2W)*W)V1bU1BU1*U1U9U=^@BaBa BaAe*BiAiAiAiAq"Cq*CyRCyCyCy׍?i׍?ׁIG>/  t:YDW1yY:5a,mVBhFAY}2i@}2W @y}2P}2/}2Hr(a$Hy`S}>I :ك 5? :vݾ (= ?9m>: :){:W W X  X W X :W2W*WVbUBU*UUU%*Q@R-B*** querying acoustic contact ***P)P)BQBQ BQAU`*BQAYAYAYAY"Ca*CaRCaCaCiiIqܑ9ܑIܑiܑܑܑܑܕ; ݕ; EG=,bpBhFAY}2J@}2԰ @y}2K}2tzƽ}2Hs@??`˿J?YH@8?)~2J@ ~2"b;I~2CɫAA)I IIIY8?ydFZ****** received transponder code query ******F****** received ping request ******a$Hy;}>I߄ 5?6vݾ `O= ?9>I: =:)WWX XWX:W2W*WVbUBU*UUU`o @B9BA BAAE*BAAiAiAiAi"Cq*CqRCqCqCyׁIG=>C  hv:Yy;6p,6=BhFAY}:@}:7 @y}:=J}:vȽ}:H`@Ь3??fh@m˿ &?,`9?)~:@ ~:h`;I~:Cɫ99)9 9I9Y})?y}[FxDUSBL response received:!U1,P 502,000,002B1,189,80,80,BF,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 uMP=Y8;QU>a$H 1y=D;}=>Iy :}څ 5? :}Pvݾ }"= ?9}>}_< }"<)}|:WWX XWX:W2W*WAVYbUBU*UUU@ @BB BA*BAAAA"C *C RCCCIa)a9IQG{>ܙ 9ܙ Iܝ Fiܝ ?ܙ ܙ ܙ ܝ ; ݝ  E))I)i)))-è3V,vBhFAɫyy)y yIyY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I==)==    @ @ @i )IiMC=YQU>  a $H y}>IĆ 5?hvݾ = %?9a>Ȳ: E:)WIWIXI XIWQXQ:WQ2WQ*WQVYbUYBUY*UYUYUe-+@BB BA(*BAAAA"C*CRCCC׉IG>k  /e:YW1yč:6)=;9"Ů,8BhFAY}6 @}6' @y}6D~K}6q}6H@W4?7? \ ɿ E?閭P?)~6 @ ~6];I~6CɫII)I IIIY} ?y}oFxDUSBL response received:!U1,R,502,000,002B1,189,80,80,B6,FF Fpublishing direction and range infoɰ鰁 )6CIyw?amf-ٱuMuT=Y}#QU}>ya$HHy~<}>Iȑ :ŕ 5? :ŕyvݾ ƕ׺= ?9ƕ>Ǖp: ȕ:)ȕ}:WYWYXa XaWaXa:Wa2Wa*WiVibUBU*UUU`@R(Combining 5 samples.P*QZQAKK?Oh JQw?amf-2Q:QbQV&w?{yq8 @l{A?RQ03?V~@~P?VF1?BQ? QQ@Q?PPY9?PQQ}@"Q@B!BI BIAMk*BQAQAQAQAQ"Ca*CaRCaCaCׁIG=>-T>)imGIiٺZA,BhFAY}U@}UQ @y}U(G}UPܼ}UH`sr?`?@fƿ \?` a?)~U@ ~U`;I~UCɫ髑) IY?yF195CI5Fi5a?5=115Z; 5 EDNmea in: $SNTTA,,,,,231938.57*5E    @ @ @i )Ii-=M'=Y-;QU->99aE$HAQy]} }e>Iy} 5?}vݾ }9= ?9}>}!; }Q;)ymiAdded new target pos. range: 3.839998 m, bearing: 59.524737 deg, deltaT: 4.454863 s, approachRate: 0.000000 m/s, LOS rate: 0.050347 deg/s, posRepo size: 4XW?WX XW!X!:W!2W!*W!V)bU)BU)*U)U)U5;7?BB BA*BAAAA"C ?*C RC C ?C1E?iE?  s:Yy6);)I9GU>׻,]BhFAY}rL@}rִ @y}rvM}rá}rH`y`a"?`^?Zſӂ?4`Q[?)~rL@ ~rfl`;I~rCɫ) IYUX?yUF Mrh|?{Gzt?M=M Mף;)IIIyMS㥛?!)a-$H))y5@}5>I9 E:= 5? E:=3wݾ =>= M?9=>=/: =:)=~:WiWiXi XiWqXq:Wq2Wq*WqVybUyBUy*UyUyU;?BB BA*BAAAA"C*CRCCCסIGA>,܄ ChFAY}FP@}Fڸ @y}FX}F }FH  A??`ȿ@?9D?)~FP@ ~F*X^;I~FCɫYY)Y YIYY}#?y}F)=Mr=Y^QU?!!a%$H!)y-S>:}-?I15V 5?5wݾ 5к= E?95>5: 5:)1WWX XWX:W2W*WVbUBU*UUU?BB BA%%*B!A!A!A!A!"C)*C1RC1C1C1IIQG>+  ~t:YV1y:|69@1 91 I5 Fi5 ?1 1 1 5 &; 5 E#,_%ChFAY}F @}F1 @y}Fӷ`}Fy}FH` ?@h?`ܼ˿f?(?@v(?)~F @ ~F\;I~FCɫYY)Y YIaY}?y}Fy<MJ=Y*QU>!!a%$H!)y-k<}->I15 5?5xݾ 5M= E?95>5: 5w:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUyU}@)>?BB BA*BAAAA"C1*C9RC9C9C9IQ)Q)I1G]>),EK?ChFAY}BQ@}B8m @y}Ba}B'}BH ? d?@'Ϳ?@h\?)~BQ@ ~BG[;I~@ɫQQ)Q QIQY?yFI=R=)=4=    @ @ @ ÉÉÉiÍ?É č?)ĉIč?ič?MB=YQU>a$Hy> <}>Iȹ :Ž 5? :Ž?yݾ ƽ= ?9ƽ>ǽ: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU@C?BB BA*BAAA A "C*CRCCCA9IAGe4>  ܂:YX1y/:6h,4YChFAY}:t@}: @y}:>e}:r}:H)xK??@T̿j?`?)~:t@ ~:];I~:CɫII)I IIIY?ypF%5&M-R=Y-OQU->11a5$H19y=;}=>IAE[ 5?Eyݾ Ex= U?9E>E: E:)AWqWqXq XqWqXy:Wy2Wy*WyVybUBU*UUU @BB BA:*BAAAA9CIi=;  E"C*CRCCC IGE>(,sChFAɫ) IY C?yFp=ɮ=J +Q?{Gz?H< #=)IyˡEQ?QQaU$HQYy]}]>Ii u:m' 5? u:mE{ݾ mrs= u?9m!?m: m:)m:WWX XWX:W2W*WVbUBU*UUU@@RB*** querying acoustic contact ***PPBB BA*ByAAAA"C*CRCCC׭?i׭?yIG=>t  Qz:YDW1yY:60 ,̌ChFAY}2@}2A+ @y}2Cn}20}2H y ?ȡ? `6ʿ?)?)~2@ ~2^;I~0ɫII)I IIIY}?y}FZ****** received transponder code query ******F****** received ping request ******a$Hyu}>I   5? ^|ݾ p= ?9 &? ;: :) WAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU] @BB BA*BAAAA"C*CRCCCIIQGu>ޕ=iޕ=9IȖFi?=;  Ec7,ChFAY}6@}6 @y}6 t}6^H}6H @ZF?@?@>Iο 7?`?)~6@ ~6# ];I~6Cɫ99)9 9I9Y`?yˈFxDUSBL response received:!U1,P 502,000,002B1,189,80,80,B6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 m MB=YOQU>Yaae$Hay5}>Iȩ :ŭÆ 5? :ŭ}ݾ ƭ j= ?9ƭ ?ǭF< ȭG<)ȭ:WyWX XWX:W 2W *W V bU BU*UUU2w @BB BA*BAAAA"C*CRCCCI)))  ;o:YWU1y:6);91I9G]>',ChFAY}2|@}2 @y}2a$HHyϺ}>Ișŝ 5?ŝ~ݾ Ɲb= ?9Ɲ?ǝض: ȝk:)șWWX XWX:W2W*WVbUBU*UUU`(@BB B!A!*B!A!A!A!AI"CI*CQRCQCQCQAIIGm5>K,(eChFAY}2 r@}2 @y}2w}2@}2H d@o %? ?`_@ο?`;?)~2 r@ ~2}\;I~2Cɫ19)9 9I9Yu?y}FxDUSBL response received:!U1,R,502,000,002AF,189,80,80,B8,FF Fpublishing direction and range infoyyɰ}a=y y)}8CIyy}n@}w?amf-ٱyy9yI}Fi}a?yyy}; } E) I i = = 5IC=)=4;Ma$Hy%}->Ia :eW 5? :e3ݾ eg\= ?9e?e .< eS/<)e:WWX XWX:W2W*WVbUBU*UUU@R-(Combining 5 samples.P)*Q-n@ZQ-o$?7U JQ-w?amf-2Q):Q)bQ-F?q[@sf?RQ-k{?[l? ?BQ-? Q-G@Q-B?P)P)P-Q)Q-8@"Q-}@BB BA*BAAAA"C*CRCCCIGj>  O|:YW1yč:6)7;s,9ChFAY}:P@}:9 @y}:Kv}: #}:H@C`n&a? ? )̿}? ^ɣ@ ?)~:P@ ~:a;I~:Cɫ99)9 9I9Y}?y}ˉFdNmea in: $SNTTA,0.334676,0.334838,,,231943.03*57 Mb`?B`"ɿqqau$Hqyy}I}}>IȁŅB 5?Ņݾ ƅ+ =  ?9ƅ?Dž< ȅ<)ȁm]qAdded new target pos. range: 3.720000 m, bearing: 58.479048 deg, deltaT: 4.494782 s, approachRate: -0.026697 m/s, LOS rate: -0.232645 deg/s, posRepo size: 4XYW]?WaXa XaWaXa:W2W*WVbUBU*UU @U`?BB BA*BAAAA"C?RCC?CIGI>im NmGI i  5ٺ  /A[,DhFAY}:@}:K @y}:h w}:z!F}:H@ y@?@Z? C ̿?* `r ?)~:@ ~:d`;I~8ɫ99)9 9I9Y}0?y}KF~Mb=YQU>!!a%$H!)y-}->I15 5?5ݾ 55< =?95(?5: 5k:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUyU}o?BYBY BYA]*BaAaAaAaAa"Ci*CqRCqCqCqqIyG>8 u u:YyE69@y9yI} Fi}?yyy}b; }n Ej ,A'DhFAɫyy)y yIyY?yF !!UE<M]F=Y]QU]>aaae$Haaym}m>Iy }:} 5? :}ݾ }:< ?9} ?}E: }:)}:WWX XWX:W2W*WVbUBU*UUU ?BB BA*BAqAqAqAq"Cy*CyRCyCyC׉IG!>m,ADhFA|i|Y}N{@}N @y}Nz}NN}NH@"?? )`'~Ϳ@?@ ?)~N{@ ~N}\;I~Lɫyy)y yIyYI?yF    @ @ @i )Ii <M ?=Y  QU>a$H!y%;}->I15 5?5ݾ 5) E?950#?5; 57;)1WiWqXq XqWqXq:Wq2Wy*WyVybUyBUy*UUU"?B)B) B1A5*B1A1A1A1A1"C9*C9RCACACaAIIGm5>X  x:Yy6a,a[DhFAY}6]e@}6 @y}6~}6/}6Hq@o??@.-@MͿ m?L?)~6]e@ ~6[;I~6Cɫ99)9 9I9Y}?y}ʊF>9CIi=5; V E]<MeV=YmQUu>a$Hy-OW}U>Iȉ :ō 5? :ō[ݾ ƍ ?9ƍ&?Ǎ< ȍz"<)ȍ:WQWQXQ XQWYXY:WY2WY*WYVabUaBUa*UUU?BB BAF*BAAAA"C*CRC C C I G%M>,uDhFAY}J@}J- @y}JR~}Jm=}JH@tD?`1?@2œͿ`??)~J@ ~J^;I~JCɫYY)Y YIYY?yFI!)!I-=))/$?:v?Mb>< )Iy~jtx~jtx~jth?ĻĻD; ?A)SAI-AimAKA    @ @ @ÑÑÑiÑÑ đ)đIđiđ<M7=Y QU>a$Hy;}>IȹŽ7 5?Žiݾ ƽS ?9ƽ '?ǽ: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU@B)B1 B1A5*B1A1A9A9A9"CA*CARCACACIAIIGm5>Iޑ)ޕBA  r:YDW1yY:6#,^DhFAY}:`@}:| @y}:O{}:o}}:H@@Җ?`? `dMο?q?)~:`@ ~:7a;I~8ɫ99)9 9I9Y}%?y}F鮁ɮa=E=Mr=Y5:9IFi1?=; 7 E),|CDhFAY}FJ@}FAf @y}Fu}F8}FH>il??w`7ϿKm?ɤ`?)~FJ@ ~F^;I~FCɫqq)q qIqY?yȌFZ****** received transponder code query ******F****** received ping request ******)1a5$H19y=N}=>IIM‹ 5?Mݾ M U?9M(?M\: M:)IW9W9X9 X9W9X9:WA2WA*WAVibUqBUq*UyUUk @BB BAw*BAAAA"C*CRCCCYIaG8> d k:YWU1y:s6);9B0,DhFAY}6%@}6UA @y}6|r}6˶}6H Rز??ο ? ߳?)~6%@ ~6>];I~6CɫYY)Y YIYY%?yFxDUSBL response received:!U1,P 502,000,002AF,189,80,80,B8,FF Command AckBRequesting micromodem ping code 2i=i>Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  }   @ @ @ÁÁÁiÁÁ ā)āIāiāM;;MM,=YU;QU]>aa$HHy}>I  : 5?  :ݾ   ?9)?w: :):WqWqXq XqWqXq:Wq2Wy*WyVybUBU*UUU`Q5 @BB BAd*BAAAA"C)*C1RC1C1CaYIqG>6,@DhFAY}R̷@}RV@y}Rv}RU1}RH@` 9{?6?-ο@+? ?)~R̷@ ~RH\;I~RCɫqq)q qIy9IxFi?=;  EY?y4FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -? rhͿy&1|5^>l `)Iyl?S㥛?a$Hy1}>I 5?ݾ  ?9.?: M:)W W X  X W X:W2W*WVbUBU*UU!U%i'@BB BA{*BAAAA"C*CRCCCIGj>$  s:YU1y:36);=,DhFAY}6„@}6L@y}6֎}}6`}6HY4?%8?@3@8ѿ1_?l ?)~6„@ ~6m\;I~6CɫYY)Y YIYY?yFxDUSBL response received:!U1,R,502,000,002AF,189,80,80,AE,FF Fpublishing direction and range infoɰ鰡 ).CIyw?amf-ٱ        @  @  @   i   ) I i M%=Y%/QU% ?))a-$H))y5 }5 ?I9={ 5?=~ݾ =3 E?9=2?=': =w:)9WiWiXi XiWiXi:WI2WQ*WQVQbUQBUQ*UYUYU]@Rm(Combining 5 samples.P*QZQo$?7U JQw?amf-2Q:QbQk$@7Cms4@%,9e ?RQ [?xp {e?@?BQ{? QA@Q'@PZ9?PPQQj&@"Q8@BB BA*BAAAA"C*CRCCCIG )>C,&EhFAY}J@}J7@y}JRw}Jp}JH{HD? .? `ѿө?¿ٶ?)~J@ ~Jd;I~JCɫ髁) IY?y=FI)I%p=)%%=U;MUG=Y]OcYYae$HaayeS1<}m>Iq }:u 5? }:u:~ݾ u }?9u7?u(: u:)u:mmAdded new target pos. range: 3.720000 m, bearing: 56.295686 deg, deltaT: 4.390345 s, approachRate: 0.000000 m/s, LOS rate: -0.497310 deg/s, posRepo size: 4XW{?WX XWX:W2W*WVbUBU*UUUt>?BqBq BqA}w*ByAyAyAyAy"CQ?RCC{?CiIqG> 7 Hl:YX1y/: 69@ܹ9ܹIܽНFiܽE@ܽ=ܹܹܽ; ݽ E)MCIMCiIM=M=M<5!J,~*EhFAY}:d@}:@y}:e}:͎}:H`<=??K?qY@8*п`{?7Ҿ`w?)~:d@ ~:}b;I~8ɫ99)9 9I9Y}?y}F=`M=L=YE2=QUE>AAaM$HIIyU}U>IY] 5?]}ݾ ] e?9] Q,9_DEhFAY}F@}F@y}FݓV}F}FH[@4[I?Nq?@ʿ`W?ﯿ@}a$Hy}>I : 5? :F}ݾ  ?9A?s: :):WWX XWX:W2W*WVbUBU*UUU?B1B1 B1A55*B9A9A9A9A9"CA*CARCACACQYYimGIi!ٺAIG (>+  ~t:Y0Y1y:63W,4^EhFAY}Bo@}BP@y}BQ}B=}BH.a?3?ȿ`?\@N?)~Bo@ ~B^;I~@}>9}CI}`Fi}@yyy}M; } Eɫ) IY?yF=i= J +?{Gzt+?=ף =)IyQ? rhy&1?\=C`e< C9A)~ZAI 0AikALAO=M7=Y1a$Hy}>I 5?d|ݾ  ?9E?: ϸ:)W1W1X1 X9W9X9:W92W9*WAVAbUABUA*UIUIUM@V>?BqBy ByA}{*ByAyAyAA"C*CRCCCaIiG9>_],7xEhFAY}R˿`?F??)~Rf  3y:YU1y:6Ed,lEhFAY}2 d@}2@y}2?}2RȽ}2H :Bo?@?@szUʿ@?B`qJ?)~2 d@ ~2`;I~2Cɫ99)9 9I9Y}x?y}a$HyD:}>I 5?zݾ 9E ?9L?: :)W W X  X W X:W2W*WVbUBU*UUU%.G@BIBI BIAM*BQAQAQAQAQ"CY*CYRCYCaCaiIqG>a9eCIeНFieE@e=aae; e Epj,?ǫEhFAY}Fh.@}FI@y}F|.}FS}FH@V@Ds-?%? ǿ@|?@Yu?)~Fh.@ ~FbFc;I~Dɫ髙) IY?yFa=ɮp=I)I4=)4=<MW=Y/=QU>  a $H y }>I!% 5?%zݾ %~ -?9%#P?%: %:)!WIWIXQ XQWQXQ:WQ2WY*WYVYbUYBUa*UaUaUeQ@RmB*** querying acoustic contact ***PqPqBB BAń*BAAAA"C!*C!RC!C!C))I1GU>S  Ec:YDW1yY:6Xq,EhFAY}:@}:9 @y}:4%}:}:H@9G\6??w@Iÿ?±`?)~:@ ~:y `;I~8ɫ99)A AIAY}4?y}MFZ****** received transponder code query ******F****** received ping request ******=Ya$HHym }>I %: 5? -:?yݾ ; -?9T?< <):WQWQXQ XQWQXQ:WQ2WY*WYVYbUYBUY*UaUaUe" @BB BA*BAAAA"C*CRCCCIG$>Xw,EhFA%>9!I%@Fi%?%=!!%; % EY}%@}@y}!}hs}H`N?? ſ)? =p?)~%@ ~1];I~ɫ)))) )I1Ym?ymFuxDUSBL response received:!U1,P 502,000,002AF,189,80,80,AE,FF uCommand AckuBRequesting micromodem ping code 2iqyNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I +#~jԿQ?94㥾 (\>)Iy >! ~~f s:YT1y@:6);9    @ @ @ùùùiùù Ĺ)ĹIĹiĹ<M=Y;QU>a$Hy%#9}>I %:' 5? -:yݾ < 5?9kV?; ;):WWX XWX:W2W*WVbUBU*UU U {@B B  B A {*B A A A A "C *C RC C C ׹ I G >۫},uWEhFAY}29@}2@y}2Q}2=<}2Hڰ@cMF?`U?crſ C?翶`?)~29@ ~2u];I~0ɫ99)9 9I9Y}?y}WFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5M==Y= N=QU=L?AAaE$HAIyM:}MN?IQUa 5?Uyݾ U< ]?9U>W?U: U=:)QWWX XWX:W2W*WVbU)BU1*U1U1U5B@BaBa BaAe*BaAiAiAiAi"C*CRCCC׉IG> ,8FhFAY}N@}N @y}N}N}NH3 I9? ?;4ÿ~?@ݢ?)~N@ ~N>\;I~NCZJFailed to close latch before timeout.q ^^Hardware FaultYb?ybFjxDUSBL response received:!U1,R,502,000,002AF,18A,80,80,B9,FF jFpublishing direction and range infoddɰdf> d)f9CIdydfw?amf-ٱd ʫM_=YA=QU>!a%$H!)y5AM}5>I9=Ņ 5?=yݾ =$= M?9=X?=(; =);)9WAWAXA XAWAXA:WI2WI*WIVIbUqBUq*UqUqU} n@R(Combining 5 samples.P*QZQo$?7U JQw?amf-2Q:QbQ}I @$@dŦ?RQoI>?}*?N?BQ9? QxF@QJ@PY9?PZ9?PQQ@"Qj&@BB BAC*BAA!A)A)"C)*C1RC1C1C1AII-$]@Hardware Fault in component: DDMGm5>9I Fi?; v E0  t:YV1y:6);@,b-FhFAY}6֤@}6`@y}6ߌ}6y_}6H \? ?` ?9`P?)~6֤@ ~6a;I~6C>Powering down<ɪ<)< a$Hy<}>I  : [ 5? : yݾ g= ?9 Z? -: |:) :miAdded new target pos. range: 3.720000 m, bearing: 57.121876 deg, deltaT: 4.410833 s, approachRate: 0.000000 m/s, LOS rate: 0.187309 deg/s, posRepo size: 4XW9?WX XWX:W2W*WVbUBU*UUU`7l?B)B) B)A-R*B)A1A1A1A1"C}9?RCyC}9?CqIG> ,)FFhFAY}NG@}NGc @y}N]}NU)}NH@FF.??C$? , `?)~NG@ ~N_;I~NCYb?yfrFm=Mm=YmNɻQUu?yya$HyJ =}?Iȑŕ 5?ŕzݾ ƕI= ?9ƕ[?Ǖ3=; ȕQ>;)ȑWWX XWX:W2W*WVbUBU*UUUL?B9B9 BAAE*BAAAAAAAAA"CI*CIRCQCQCQIIYGu=  s:YU1y:69@ӗ,`FhFA^>9^CI^ȖFi^?^=\\^f; ^` E)qIqiqqu=u65Y}fo@} @y}Sy}) }HBW `ۣ?ѐ?`GW`?ףA?)~fo@ ~^;I~CY#?y jF%|?5^?MbMb%=% %)!I!y%y&1|Mb`y&1%`廹%%`e %A>A)%OAI%5Ai%(\A!%GAEME0=YM:QUM>IIaM$HQQyU;}]>Ia m:e 5? m:e-zݾ ep= m?9e}\?ek: e:)e:WWX XWX:W2W*WVbUBU*UUU?BB BAe*BAAAA"C*CRCCCI$NClearing failed state for component DDMq G (>,ezFhFAY}:{4@}:P @y}: ~}:.}:H?@bc?w?Hjÿ? m-?)~:{4@ ~:1];I~8Y^?y^=F    @ @ @ i=? K?)?IK?iK?̻Ma=Y ;QU >a$Hy%"}%>I15 5?5;zݾ 5Z= E?95 ]?5i: 5:)1WqWqXq XqWqXq:Wy2Wy*WyVybUyBU*UUU`?BB BAw*BAAAA"C*CRCCCשIG= i ~:Yyg*6i}mGIi$ٺA@,{FhFAY}2<@}2 @y}2y}2F}2H'$ z^(s϶?JÿC?` ?)~2<@ ~2g\;I~2CYV~?yV,F!i%=]qM]V=Ye٨;QUe>aiam$Hiiyu5}u>Iy}: 5?}Izݾ }-D= ?9}]?}: }:)yWWX XWX:W2W*WVbUBU*UUU?BB BAN*BAAAA"C*CRCCCiIyG=ܥ>9ܡIܥFiܥ?ܥ=ܡܡܥm; ݥd E ,eUFhFA|i|Y}6 @}6@y}6F<}6DB}6H^ ??`C%{??)~6 @ ~6[;I~6CYV?yVlFD;MF=YQU>a$HyH}%>Iș :ŝj 5? :ŝ\zݾ Ɲ)= ?9ƝL^?ǝ; ȝ;)ȝ:WWX XWX:W2W!*W!V!bU!BU!*U)U)U-6@BB BA4*BAAAA"C*CRCCCסIG >  n:YV1y:6(,6FhFAY}:@}:\ @y}:w}:}:H'@-?`H?`$<NQ? `?)~:@ ~:\;I~:CYF?yJ>FJp=ɮJ=IV=)V= z z z ~@ ~@ ~@ ~@xxxizx z)zIziz gM T=Y QU>a$HHy%;}%>I)- 5?-lzݾ -= 5?9-^?-: -<))WWX XWX:W2W*WVbUBU*UU U $~@R5B*** querying acoustic contact ***P1P1BqBy ByA}G*ByAyAAA"C*CRCCC׉IG=0&,.FhFA(9(I*Fi*}?(((*; *u EY}U@}U@y}UO}U<}UH `L?9?`+`n޽ ?@ἀѶ?)~U@ ~Uu\;I~UCYu?yu?F}Z****** received transponder code query ******}F****** received ping request ******} )Iya$HyV}>I : 5? :zݾ < ?92e?k: :):W W X  X W X :W 2W*WVbUBU*UUU0I @BIBI BIAM*BIAQAQAQAQ"CY*CYRCYCaCaqIyG;>Iމ)ލ@AQ  w:YT1y:M6);9G,FhFAY}2\@}2ox@y}2y }2}2HE@??7%"?`G?)~2\@ ~2\;I~2CYZ?yZF^xDUSBL response received:!U1,P 502,000,002AF,18A,80,80,B9,FF %Command Ack-BRequesting micromodem ping code 2i)1ENmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @ i? )IiK? ~<MF=YCQU>!!am$Hiiyu h}u>Iy}o 5?}zݾ }E; ?9}j?}< }<)yW W X  XWX:W2W*WVbUBU!*UAUAUM @BB BAl*BAAAA"C *C RCCCׅ?iׅ?YIaG}{>{1,?GhFAY}6@}6~@y}6}6Fu<}6H_??>¿?bQ ?)~6@ ~6[;I~4Y^?y^F`b@ArNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }DM=YQU ?a$HQy]&<}e?Ii u:m 5? u:mzݾ m< u?9mo?m]; m ;)m:WWX XWX:W2W*WVbUBU*UUU7@BaBa BaAe*BAAAA"C*CRCCCסIG!>A9AIEPFiE8?AAAE; E E  i:YU1y:6);)Z,R/GhFAY}N|@}N_@y}N}NX}NHp`%`"&??@wÿ\?UΪ ?)~N|@ ~Nt[;I~NCYno?yr#FzxDUSBL response received:!U1,R,502,000,002AF,189,80,80,B5,FF Fpublishing direction and range infottɰtv7> t)v5CItytvw?amf-ٱt==i=%=:=MI=Y2QU>a$Hyy}>Iȑŕ 5?ŕzݾ ƕʍ ?9ƕ9t?Ǖ+: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU -@R%(Combining 5 samples.P)*Q)ZQ-o$?7U JQ-w?amf-2Q):Q)bQ- j?͑w@% iw?RQ-ć?~? cu?BQ-ޕ=iޕ=C, IGhFAY}ZR@}Zm@y}ZW }Zc}ZHb@s*@?? O¿?@`(?)~ZR@ ~Zx[;I~ZCY%?yFTNmea in: $SNTTA,0.061106,,,,231956.34*4D     @  @  @  @i )Ii%M%A=Y%QU->))a-$H19yE9̻}E>II :MS 5? :M{ݾ Ma ?9My?M-< MI<)M:miAdded new target pos. range: 3.720000 m, bearing: 57.610924 deg, deltaT: 4.464287 s, approachRate: 0.000000 m/s, LOS rate: 0.109547 deg/s, posRepo size: 4XW+  ~t:Yy69@o,acGhFA">9"CI"Fi"}?"= "MD"; " EY}f2Z@}fu@y}fYz+}fz}fH )+O??IĿU?R͝?)~f2Z@ ~fR[;I~fCYrM?yrF Mb@Mb@Mb@   ) I y kt?{GztMb  0= ף  ) OAI I4Ai (\A  HA-<M-I=Y5ۼQU5>11a=$H99yE:}E>IIM 5?Mzݾ MG' U?9M~?M: M:)IWyWyXy XyWyXy:Wy2W*WVbUBU*UUU@>?B1B9 B9A=*B9A9A9A9AA"Ca*CiRCiCiCqaIiG>Y,.}GhFAY}6C@}6_@y}6 8}6*}6Hb@7?@ˬ?`K6ƿ?@)t?)~6C@ ~6On[;I~6C>Powering up>"Initializing DDM.Y?yٍFI)    @ @ @éééiéé ĩ)ĩIĩiĩ6;MA=Y&QU>a$HyU}>I 5?yݾ BP ?9?; a;)WWX XWX:W2W*WVbUBU*UUUH?BB) B)A-*B)A)A1A1A1"C9*C9RC9C9CAAIQGu7>Iޑ)ޕ?A x }:Yy6~, GhFAY}>?@}>@y}>F#I}>Ґ}>H `)?w?@Y1ʿ?cK?)~>?@ ~>:[;I~>CY^?y^ڌF]M]d=YeM>QUe>aaae$Hiiym<}u>Iy :}R 5? :}xݾ }#q ?9}'?}: }:)}:WWX XWX:W2W*WVbUBU*UUU@?BaBi BiAmo*BiAiAiAqAq"C*CRCCCiIyG=9IFi?=ND;  E)}CIyiy}=y}S6,}GhFAY}VM@}V @y}VV}VĽ}VH @O$ ?T?̿Ο? k@'?)~VM@ ~Vp\;I~VCY}?yZF      @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉh<M7=Y.QU>a$Hyb <}>I 5?vݾ  ?9?N; ;)W!W!X! X!W!X!:W)2W)*W1V1bU1BU9*U9U9U=`].@ByB BA;*BAAAA"C*CRCCC׉IG>  q:YX1y/:6*,'GhFAY}6%@}6pA @y}6nc}6Yؽ}6H` ?6?h ο/2?`T`: ?)~6%@ ~6<[;I~6CDDYNI?yRGFivNmGIi}=i}=fοٺ AN=M]=Y QU>a$HHy;}>I : 5? :vݾ | ?9S?; ;):W9W9X9 X9W9XA:WA2WA*WAVAbUIBUI*UIUIUU)+@BB BAۅ*BAAAA"C*CRCCCIG>ޙiޝ= >9 CI Fi a? = ; E,3GhFAY}>@}>~ @y}>!i}>W}>H(Mr?@M?Pп`?`?)~>@ ~>[;I~>CYJX?yJPFLɮNp==X9v~jt?A`"?==> =Y=)=I9y=y&1|~jtx?{Gz=`廹=;=# =l=A)=+WAI=0Ai=IjA9=LAU:MUM=Y]QU]>aaae$Haaym#<}m>Iqu 5?u*vݾ uG ?9u?u< ug<)qWyWyXy XyWyXy:W2W*WVbUBU*UUU@@RB*** querying acoustic contact ***PPBABI BIAMׅ*BiAqAqAqAq"C*CRCCC׉IG> G:Yy6)-;9\,2vGhFAY}6:@}6kV @y}6V4h}6{}6H]@D?? > п@?N ?)~6:@ ~6[;I~6CYn?yn>FrZ****** received transponder code query ******rF****** received ping request ******va$Hy<}>I : 5? :Ovݾ f ?9?|: :):WWX XWX:W2W*WVbUBU*U U U   @BB BAG*BAAAA"C!*C!RC!C)C))I9Ge>P,QHhFAY}6*s@}6 @y}6hj}6|NĽ}6H``r x@#??Aο ?ܷ?)~6*s@ ~6O[;I~4YN8?yRdFVxDUSBL response received:!U1,P 502,000,002AF,189,80,80,B5,FF VCommand AckVBRequesting micromodem ping code 2iTTIX)XIX)X^Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ۼMJ=Y{QU>a$H!!y-<}5>IҌ 5?xvݾ  ?9[? <  <)WWX XWX:W2W*WVbUBU*UU)U-Z @ByBy ByA}*ByAAAA"C*CRCCCܙ9ܙIܝxFiܝ?ܙܙܙܝ; ݝ EIG-N>Iޑ)ޕAA  M:YY1y:6)a;R ,82HhFAY}v7@}v?S @y}v2q}v[!}vHeS@Tٸ?? $@˿*?`?)~v7@ ~v\;I~vCY?yF  AA-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )Ii;M:=YzQU>a$Hyj }>I : 5? :vݾ Ľ ?9?H: :):W WX XWX:W2W*WVbUBU*U!U!U%(@BIBQ BQAU*BQAQAYAYAY"Ca*CaRCaCaCiaIiG>>,LHhFAY}6@}6 @y}6:w}6;}6H`R`z?w?EGɿ@'?z??)~6@ ~6&^;I~6CYNI?yRGFVxDUSBL response received:!U1,R,502,000,002B2,189,80,80,BF,FF VFpublishing direction and range infoPPɰRb=P P)R?CIPyRy@Rw?amf-ٱPUo=MUe=YU&QUU>YYa]$Haaye}m>Iqu 5?uvݾ u̽ ?9u?us; u;)qWWX XWX:W2W*WVbUBU*UUUӝ@R5(Combining 5 samples.PY*Q]y@ZQ]=A?a;% JQ]w?amf-2QY:QYbQ]kL3@)/| @=̑?RQ]ѶpO? \F *?(E[ 7?BQ]$ɂ? Q]S@Q]@PYP]Z9?PYQYQ]: @"Q]/ @BB B Aۅ*BAAAA"C!*C!RC)C)CQ)I1GU>{  z:YU1y:69@ܡ 9ܡ Iܥ @Fiܥ ?ܥ =ܡ ܡ ܥ ; ݥ z E , eHhFAY}V`l@}V @y}V~v}V ϼ}VH.?@q? Q]X˿?#@?)~V`l@ ~VD^;I~VCYz?y~FF]TNmea in: $SNTTA,0.056702,,,,232000.77*45 e>ieC=/$? rh?Mb?,=C< <)Iy~jtlkt 0 fBA)NAI,AiqA<M>=Y4:QU>!!a%$H!)y-%}->I15 5?5ovݾ 5 E?957?5: 5:)1muiAdded new target pos. range: 3.899999 m, bearing: 58.542726 deg, deltaT: 4.417817 s, approachRate: 0.040744 m/s, LOS rate: 0.210919 deg/s, posRepo size: 4XqWu$ɂ?WyXy XyWyXy:Wy2Wy*WVbUBU*UU23@UL?BQBQ BYA]s*BYAYAYAYAa"C$ɂ?RCC$ɂ?CׁIG>ޑiޕ=2,8HhFAY}6n@}6B @y}6q}6^x}6HA? ? @EͿ?@}*@ ?)~6n@ ~6$\;I~6CYR?yRF ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYmmMmV=YuOa$Hy9}>I  : C 5? : vݾ ] ?9 F? M: f:) :WiWiXi XiWiXi:W2W*WVbUBU*UUU*?B)B9 B9A=)*B9AAAAAAAA"CY*CYRCaCaCaiIqG>  8s:YyN6Y&,HhFAY}:!@}:< @y}:?o}:}:H` 7?`%?Ϳ@?`ah ?)~:!@ ~:![;I~:CYFT?yFF=5=M=M=YEd;QUE>AIaM$HIIyUK}U>IY] 5?]uݾ ]Y e?9]I?]$: ]ض:)YWWX XWX:W2W*WVbUBU*UUU5?BB BA*BAAAA"CY*CYRCYCYCa1I9G]=195CI1i11115R; 5U ED,,GtHhFAY}6-@}6H @y}6^q}6q&}6Hm 9/??k@]Wο?Oֲ?)~6-@ ~6_[;I~4Yf2?yfsFI9)9}Ԇ<M}F=YbQU>a$Hyf:}>Iș :ŝّ 5? :ŝ|uݾ Ɲ/ ?9Ɲt?ǝ: ȝ:)ȝ:WWX XWX:W2W*WVbUBU*UUU˜?B B  B A a*B AAAA"C*CRCC!C!בIG=Iޑ)ޑ  b:YW1yč:6,3,PHhFAY}26U@}2p @y}2'o}2}2H@@R?? aο? ݳ ?)~26U@ ~2 4[;I~2CYR?yRrF    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ<MH=Y;QU>a$HHy;}>IȹŽ/ 5?Ž(uݾ ƽA ?9ƽ?ǽ': Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU@B)B) B)A-*B)A1A1A1A1"C9*C9RCACACAIIYGu=) 9) I- НFi- E@- =) ) - ; -  E)Ii=R5+V9,)HhFAY}6[@}6Uw @y}6g}6ڞ}6Hq_ K?!?`mͿ৾? T?)~6[@ ~6&[;I~4YR?yRF-?ʡE{Gz?5>- #=)Iy~jtx?{GztMbp;ף •?A)•VVAI‘i•CoAQLAZMI=Yaa$Hym:}>I :6 5? :tݾ B ?9?: w:):WWX XWX:W 2W *W V bUBU*UUU'R@BABA BAAE&*BIAIAIAIAI"CQ*CYRCYCYCYQIaG=  p:Yy6)(;9>@,IhFAY}2P@}2 @y}2ob}2T}2H. $??U!"̿@J?v#"?)~2P@ ~2Z;I~2CYR?yR;FTɮV=VC=iV<~8%=M~W=YZ  a $H  yu<}>I9=< 5?=tݾ =C E?9=z?=: =:)9WWX XWX:W2W*WVbUBU*UUU $v@RB*** querying acoustic contact ***PPB B  B A*BA1A1A1A1"C9*CARCACACAiIG=i]nGIiؿٺAޕ=iޕp=hF,IhFAY}2=2@}2M @y}2]}2\:ƽ}2H d@ң?6?l,@ Ϳ ?)A?)~2=2@ ~2k[;I~2CYB?yBFFZ****** received transponder code query ******FF****** received ping request ******Fa$Hy<}>IC 5?tݾ vD %?9?: ϸ:)WaWaXi XiWiXi:Wi2Wi*WqVbUBU*UUUf @BB! B!A%̈́*B!A)A)A)A)"CY*CYRCaCaCaqIG>>9IFi@=V; E  h:YDW1yY:N6)y;L,4IhFAY}6@}6? @y}6;IV}6Xս}6H`?'?zbYͿ@7?`!?)~6@ ~6ц];I~6CYBa?yBhFFxDUSBL response received:!U1,P 502,000,002B2,189,80,80,BF,FF FCommand AckFBRequesting micromodem ping code 2iDDNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Ifa=)f4=~<MZ=Y˝))a5$H1y<}>I %:J 5? -:btݾ 5tI XE U?9d?L< z<):WWX  X W X1:W12W9*WAVAbUABUI*UqUyUub @BB BA*BAAAA"C*CRC)C1CA׉IGB>R|S,NIhFAY}2T%@}2@ @y}2HP}2P}2H`bЦ??@`˿ 8?`{P:?)~2T%@ ~2N\;I~2CYNN?yNF^Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)](<M]D=Y]gaaae$Haiymg<}m>IquO 5?u3tݾ u=F ?9uΗ?u: uk:)qWAWAXA XAWAXA:WA2WI*WIVIbUiBUq*UqUqUu ,@BB BAZ*BAAAA"C*CRCCC  I1Gm>Iޑ)ޕ@A  n:YV1y:E69@ >9 I i = ; EY,2rhIhFAY}:XQ@}:l @y}:~ N}:`ʣ}:HAiz@@?? M=ʿG? ` A?)~:XQ@ ~:6[;I~:CY^c?ybBFfxDUSBL response received:!U1,R,502,000,002B0,189,80,80,BE,FF fFpublishing direction and range info``ɰbqa=` `)b>CI`ybq@bw?amf-ٱ` kt?Q?I +?  0> > 9<) I y a$Hy;}>I) 5:- 5? =:-sݾ -L =?9-?-8: -:)-:WWX XWX:W2W*WVbUBU*UUU#@R(Combining 5 samples.P*Qq@ZQE5j?.\Ux3 JQw?amf-2Q:QbQ.,խ"0?BQ(? QN@Q?PPPQQ@"Q: @BB BAՃ*B!A)A)A1A1"Ca*CaRCaCaCi}?i}?QIaG}z>`,VIhFAY}NQ@}NIm @y}N}K}N_Ƚ}NH &Fb?@?ྭ˿D?_8?)~NQ@ ~N[;I~NCYZ;?yZF%TNmea in: $SNTTA,0.031218,,,,232005.21*4C )= > 9    @ @ @ÁÁÁiÁÁ ā)āIāiā?ؼMo=YJ;QU?a$Hy8}?Iȱŵ 5?ŵ>sݾ ƵQQ ?9Ƶo?ǵw: ȵ:)ȱmmAdded new target pos. range: 3.779998 m, bearing: 59.583128 deg, deltaT: 4.528089 s, approachRate: -0.026501 m/s, LOS rate: 0.229766 deg/s, posRepo size: 4XW(?WX XWX:W2W*W V bU BU *UUo=@Uj?BYBY BYA]*BaAaAaAaAi"C ,?RC C(?C)I1GU> u m:YDW1yY:E6f,*IhFAY}2Sb@}2} @y}2DAC}2e}2H`zbu??L̿`]B?/U,?)~2Sb@ ~2<];I~2CYR?yRF4=i=<ML=YVa$Hy^%;}>Iȡ :ťP 5? :ťrݾ ƥ:W ?9ƥ?ǥ : ȥ{:)ȥ:WWX XWX:W2W*WVbUBU*UUU@?BB BA*BAAAA"C%(?RC!C!C)IG5=u>9qIqiqu=qquk; uREޝ=iޝ= l,IhFAY}2Bq@}2̌ @y}259}2ܽ}2H pˡ??C`ʿ?b J?)~2Bq@ ~2*\;I~2CYNJ?yNF M M M U@ U@ U@ UIIIiM(?I M?)MA?IMr@iM?eWMeL=Yeiiam$Hiqy};}}>IȁŅ 5?ŅKrݾ ƅ$] ?9ƅ?Dž: ȅ@:)ȁW)W)XI XIWIXQ:WQ2WQ*WQVQbUYBUY*UYUYUej?BB BA*BAAAA"C*CRCCCIG>  |:YX1y/:6s,IhFAY~L?y~oFj=MG=YQU>a$HHy}>Iȹ :Ž 5? :Žqݾ ƽ3c ?9ƽB?ǽ: Ƚ:)Ƚ:WWX XWX:W2W*WVbUqBUq*UqUyU}@ё?BB BAZ*BAAAA"C*CRCCCIG>m >9m CIm НFim E@i i i m ; m *Ey,IhFAY}6n@}6 @y}6j-}6q}6H_??Bſ?@ǭ|?)~6n@ ~6F\;I~6CYBg?yBFI)I)/$?/$?{Gz?>1> #=)Iy+? ףp= MbP?=Q8: •n8A)•UAI• 0Ai•bA(HAvcMI=Ysa$HyǴ}>I0 5?pݾ ^ ?9Q?8:  :)WWX XWX:W2W *W V bU BU *UUU?BABA BAAE*BAAIAIAIAI"CQ*CRCCCIGE>IޝAA)ޝAA {{ 7h:Y#R1y:6)۽;9#܀,RJhFAY}6S@}6 @y}6I#}61}6H@/@c,?`?*AYUc?~.?)~6S@ ~6H[;I~6CY^c?y^BF    @ @ @ @ÁÁÁiÅÁ ą)ąIąią<M5C=Y=ڶAAaE$HAIyUg}U>IY] 5?](oݾ ][ u?9]?]; ]9;)YWWX XWX:W2W*WVbUBU*UUU@@B9BA BAAEՃ*BAAAAAAAAI"Cq*CqRCqCqCyaIqG>,3pJhFAY}6@}6 @y}6# }6F<}6H `Mtppar$Hptyv}v>Ix ~:z5 5? :znݾ zOY ?9z8?z: z:)z:W!W)X) X)W)X):W)2W1*W1V1bU1BU1*U9U9U=@RMB*** querying acoustic contact ***PIPIBiBi BiAm5*BqAqAqAqAq"Cy*CRCCCqIG=>9CI@Fi?; E)ݭCIݩiݩݭ=ݭ=ݭ1;5A  @v:YT1y:6);8/,L7JhFAY}2@}23 @y}2h$}2C"}2H`|@sb?`E?@Xv?`=?)~2@ ~2p[;I~2CYR?yRLFVZ****** received transponder code query ******VF****** received ping request ******VIIaM$HIQy]D}]>IaeҎ 5?elݾ eU m?9e?e˵: e:)aWWX XWX:W2W*WVbUBU *U U U- e @BqBy ByA}9*ByAyAAA"C*CRCCCסIG >ޑiޑ  i} nGI i gٿٺ A- ?9- 7A,&QJhFAY}6@}66 @y}6i.}69}6H`c}Ҭ?):? @ſ`E? 妿`$?)~6@ ~6\[;I~6CYR?yR FVxDUSBL response received:!U1,P 502,000,002B0,189,80,80,BE,FF VCommand AckVBRequesting micromodem ping code 2iTT^Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 1M%_=Y5bټQU>a$H y9}>I! -:%] 5? -:%Okݾ %Q 5?9%?%; %;)%:WWX XW!X!:W!2W)*WqVqbUyBUy*UUU@ @B9B9 BAAE*BAAAAAAiAi"Cy*CyRCyCyCסIGF> ~~ Nq:YT1y@:69@ >9 I Fi 1?    ;  E8A,kJhFAY}6M@}6h @y}6B81}6R}6H @C?)?`agȿ ?@,]f?)~6M@ ~6!\;I~6CYR?yRFTV?AbNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Mb@Mb@Mb@   ) I y Mb11a=$H99yE;}E>IIM 5?Mpkݾ M> U?9M?MD: M8:)IWqWyXy XyWyXy:Wy2W*WVbUBU*UUU@@BQBY BYA]Ʉ*BaAAAA"C*CRCCCAIIGm5>(,܄JhFAY}2-@}2 @y}2*}2g}2HxE??w@!ȿY;?wP k?)~2-@ ~2\;I~0YB?yB=FFxDUSBL response received:!U1,R,502,000,002B0,189,80,80,B5,FF FFpublishing direction and range infoDDɰDD D)F5CIDyDFw?amf-ٱDIL)L    @ @ @i )Ii5jM5\=Y5`AAaM$HIQyU <}U>I9 E:= 5? E:=kݾ =), E?9=ʴ?=g: =:)=:WWX XWX:W2W*WVbUBU*UUUm@R(Combining 5 samples.P*QZQE5j?.\Ux3 JQw?amf-2Q:QbQ 㲳?-ء @(`mn?RQ P>??GE0?BQ? QM@Q?PPPQQ@"Q@BYBY BYA]w*BYAaAaAaAa"C*CRCCC׉IG>Iޕ@A)ޕ?A  n:YWU1y:`6T,'JhFAY}Z@}Z @y}Za}#}Z }ZH@9?? ſ`yY?E?)~Z@ ~Z\;I~ZCYf?yf؏FETNmea in: $SNTTA,0.063035,,,,232009.65*4A <MD=Ya$HyT;}>Iȱŵp 5?ŵkݾ Ƶ7 ?9Ƶٵ?ǵ: ȵs:)ȱmmAdded new target pos. range: 3.779998 m, bearing: 59.082871 deg, deltaT: 4.381537 s, approachRate: 0.000000 m/s, LOS rate: -0.114174 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UUU `?B B BA8*BAAAA"C%?RC!C%?C!}?i}?ܱ9ܵCIܵXFiܵ?ܵ=ܱܱܵ; ݵEAIQGm>},JhFAY}6ҳ@}6\ @y}6P(}6 3}6H e??&qĿ? ݉?)~6ҳ@ ~6\;I~6CYBA?yB|F )))-= -=    @ @ @ÁÁÁiÁÁ ā)āIāiā7MK=Y?QU>a$HHy;}>Iȱ :ŵ. 5? :ŵkݾ Ƶ ?9Ƶ?ǵ: ȵ:)ȵ:WWX XWX:W2W*WVbUBU*UUUv?BABA BIAM]*BIAIAIAIAQ"CY*CYRCYCYCaשIG>b }} x:YkS1yԊ:6d,nJhFAY}6@}6B @y}664}6U}6H@Ĭ??Eƿv?E u?)~6@ ~6[;I~4YB?yBFra=ir<MR=Y%QU%>!)a-$H))y5 <}5>Iȱŵ 5?ŵkݾ Ƶq ?9Ƶ(?ǵ: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUU%?BQBQ BQA]*BYAYAYAYAY"Ca*CaRCiCiCiiIyG=ީiޭ=ܵ >9ܱ Iܱ iܱ ܱ ܱ ܱ ܵ ; ݵ E,OJhFAY}6@}6U @y}6a:}6Le}6Hج?? t/ǿ]=?y#Ak?)~6@ ~6[;I~4Y^?y^F-Zd;O?~jtۿʡE?-j<>-۾ -=)-I)y-?y&1?{Gz?-<-`e<-ף< -?A)-3MAI-2Ai-^A)-GAE<MM9=YMdQUM>QQaU$HQYy]}]>Iae 5?ekݾ eս u?9e?e: e:)aWWX XWX:W2W*WVbUBU*UU U ?B!B) B)A-K*B)A)A1A1A1"C9*C9RC9C9CAaIqG;>  as:YU1y:i6);9v,$KhFAY=?y=}F - - - -@ -@ -@)))i)) )))I)i)=M=K=YEQUE>AAaE$HIIyM}U>IY e:]9 5? e:]nkݾ ]½ e?9]?]: ]I:)]:WWX XWX:W2W*WVbUBU*UUU@ @BB BAŅ*BAAAA"C*CRCCCIG> ,KhFAY}20@}2. @y}2F<}2S}2H@ $n?B?@ ȿ`f?ܲF_?)~20@ ~2%;[;I~2CYN?yR!FI)I)<M_=Y%wfQU%>!!a-$H))y5<}5>I9=v 5?=@kݾ =F E?9=$?=+: =:)9WaWiXi XiWiXi:Wi2Wq*WqVqbUqBUq*UyUyU}c@BB BA*BAAAA"C*CRCCCIG=Y9YI]Fi]a?YYY]n; ]EIޕAA)ޕBA  O|:Yy)6)7;z,9KhFAY}6I_@}6z @y}6A}6B^|}6H@j?[?@6ȿ.?^?)~6I_@ ~6$[;I~6CYR?yR*FVa=ɮV=    @  @  @i )IiҒ:MK=YSNQU>a$HyB5<}>Iȱ :ŵ 5? :ŵ kݾ Ƶ ?9Ƶ?ǵ; ȵ:)ȵ:W)W)X) X)W)X):W12WQ*WQVQbUYBUY*UYUYU]@ t@RmB*** querying acoustic contact ***PiPiBB BA*BAAAA"C*CRCCCIG>,5SKhFAY}6@}6J @y}6CbL}6<9]}6H S`'ޱ?@N?kȿ`?=Q?)~6@ ~6,[;I~6CYb?ybOFfZ****** received transponder code query ******fF****** received ping request ******f99a=$HAAyUB<}u>I 5?jݾ ň %?9?: 8:)WIWIXI XQWQX:W2W*WVbUBU*UUU@ @BB BAp*BAAAA"C*C!RC!C!C!)I1GU>;  u:YDW1yY:69@U >9Q IU FiU ?U =Q Q U V; U E)CICiሉ==,5,mKhFAY}:@}:%# @y}:DNV}:ko}:H@x(!? ?@+? 6`ɿԗ?RS??)~:@ ~:̮[;I~:CF`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ  )  I YM?yMFUxDUSBL response received:!U1,P 502,000,002B0,189,80,80,B5,FF UCommand AckUBRequesting micromodem ping code 2iQQ]=i]=eNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ޑiޕ=i|?5?kt{Gz?= #<)Iy:v?Zd;O?/$<j<=, ?A)NAIv.AivdAHA M M M M@ M@ M@IIIiII I)IIIiI]ļM]=YeExQUe>aiam$Hiiyu<}u>Iy :} 5? :}jݾ }Ǹ ?9}C?}: }:)}:WWX XWX:W2W*WVbUBU*UI UQ UU ǽ@B B  B A *B! A9 A A A "C *C RC C C y I G >=,mKhFAY}J4@}J

I@B)B) B)A-*B)A1A1A1A1"C9*C9RC9C9CAAIYG}7>  :YV1y:6),NGKhFAɫ髹) IY ?y FxDUSBL response received:!U1,R,475,000,002AD,189,80,80,A3,FF Fpublishing direction and range info~ɰu`= )#CIyff@ Ng?b͵GٱI=C=)=R==^A=]AEMMN=YMQUM>QQaU$HQYy]}]>Ia m:e 5? m:ejݾ e. u?9e?e: e:)e:WWX XWX:W2W*WVbUBU*UUU @R(Combining 5 samples.P*Qff@ZQ<μ;T?d,*JQ Ng?b͵G2Q~:QbQݼ[?IR@ @?*s?RQ[g)?+?2Px?BQ˖? QR@Q?PX9?PPQQu@"Q@>9IFi1?U; EBB BA*BAAAA"C!*C!RC)C)C) IG5 >,#KhFAY}2@}2M @y}2_}2)'}2H`s4JD? 2*?s Z̿޿?z#?)~2@ ~2`[;I~2Cɫ99)9 9I9YE?yEFI)    @ @ @i )Ii%0:M%L=Y--QU->)1a5$H5H1y==}=>IAE* 5?Ejݾ E M?9En?EI: Ew:)AmmAdded new target pos. range: 3.599999 m, bearing: 67.499782 deg, deltaT: 4.435053 s, approachRate: -0.040585 m/s, LOS rate: 1.897815 deg/s, posRepo size: 4XW˖?WX XWX:W2W*WVbUBU*UU @Um?BqBq ByA}*ByAyAyAyA"C_?RCC˖?C׉IGA>Iޕ@A)ޕ@A  ;|:Yy6,eKhFAY}6@}6v @y}6`}6V}6H` ?S?<\̿`??)~6@ ~6\;I~6CɫII)I IIIY}?y}ٍFTNmea in: $SNTTA,0.006232,,,,232014.22*43 5rM=I=Y=$ QU=>AAaE$HAAyMW<}M>IQUH 5?Ujݾ U0 ]?9UK?U: UǺ:)QWWX XWX:W2W*WVbUBU*UUUx?BB BA*BAAAA"CT?RCCCסIG$>>9IFiv?=_; EZ+,KhFAY}6@}6 @y}6Ma}6⚏}6H9@e?@?˿ ?S%?)~6@ ~6[;I~6CɫYY)Y YIYY?y4F ))zGếDl?Zd; ׽O= y)Iyy&1?{Gz`<ף µ =&=MA=Y&QU>a$Hy&<}>I :l 5? :jݾ v ?9?: :):WWX XWX:W2W*WVbUBU*UUU?BABA BAA]{*BYAYAYAYAa"Cm ?RCiCiCqIIiG;>   n:YU1y:6);95d,дLhFAY}R,@}R=H@y}Ree}RJt}RH*N?? 2˿~o?ӭ %?)~R,@ ~Ra;I~RCɫyy)y yIyYyp=i= u } } }@ }@ }@yyyiyy y)yIyiyY9QU>a$HyhL<}>Iȡť 5?ťkݾ ƥ% ?9ƥ!?ǡ ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU ~?BB BA*BA!A!A!A!"C-?RC)C)C1 IG5 >ޕ=iޕ=B=,ގ"LhFAY}F@}F1 @y}Ff}F] }FH ?@|?#! Zɿ?໠,?)~F@ ~F{f_;I~Dɫ髙) IY?yFܙ9ܙIܝ@Fiܝ?ܝ=ܙܙܝm; ݝE%Ma$Hy}>I :ł 5? :_kݾ . ?9?: V:):WWX XWX:W2W *W V bUBU*UUU?@BABA BAAM*BIAIAIAQAQ"CUXK?RCYCYCYIIQGu> r l:YV1y:6);g,@kya$Hy5<}>I 5?kݾ -7 ?9?: D:)W!W!X! X!W!X!:W!2W)*W)V)bU1BU1*U1U1U5@d@BaBa BiAm̈́*BiAiAqAqAq"C}ʞ?*CyRCyCyCׁIG>S,XVLhFAY}:\@}:@y}:h}:ĉ}:H=11a5$H11y=<}=>IA M:E( 5? M:Ekݾ E? U?9EX?E : E:)E:WqWqXq XqWyXy:Wy2Wy*WyVbUBU*UUU'@RB*** querying acoustic contact ***PPBB BA؄*BAAAA"C(͜?RCCC!IAGe>Iމ)މ -    :Y 0Y1y : 69 @܉9܉I܍Fi܍E?܉܉܉܍h; ݍEy,"pLhFAY}6V@}6Mr@y}6wa}6몳}6HgZ ?Kw?HT̿ ?^㵿 |?)~6V@ ~6od];I~6Cɫ99)9 9I9Y]?y]NFeZ****** received transponder code query ******eF****** received ping request ******e' u)IyQ?:v))a-$H)1y5TT<}=>I9=J 5?=kݾ =3 M?9=H?=: =:)9WqWqXq XqWqXq:Wq2Wy*WyVybUyBU*UUU@ @B1B1 B1A5*B1A9A9A9A9"CE ?RCACACIAIIGm5>La",LhFAY}6R@}62n@y}6(Z}6y}6HemRy? ? l@72˿ "?Jڲ@/?)~6R@ ~6Wb;I~6Cɫ99)9 9IAY}?y}UFxDUSBL response received:!U1,P 475,000,002AD,189,80,80,A3,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= =ޏ=M _=YƑ)1a=$H9Iye.}e>IȁŅh 5?ŅVjݾ ƅ) %?9ƅ?Dž< ȅ<)ȁWWX XWX:W 2W *WVbUBU*U!UiUma @BB  B A 5*B A AAA"C?RCCC!I1GeU>=f === =3y:Y=W1y=č:=D6(,أLhFAY}>@}>U2@y}>63Y}>t}>HX@I? ɕ?)@!ȿf?Ǣ@B?)~>@ ~>`;I~>CɫYY)Y YIYY?yqFAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 99=CI=НFi=E@999=U; =E)сIсiсՁ=Ձ=Ձ4u=iq       @ @ @   i   ) I i MF;MU7=YUN^;QUU>YYa]$HYaye}e>Iȉ :ō 5? :ōviݾ ƍ ?9ƍ?Ǎ: ȍ:)ȍ:WWX XWX:W2W *W V bU BU*UUUU@BYBa BaAe**BaAAAA"C?*CRCCCׁIG=>ޝ=iޙ.,ձLhFAY}6g@}6@y}6-AY}69}6HO 0V&?`,?~1ȿ?@&@?)~6g@ ~6^;I~6Cɫ99)9 9I9Y}$?y}FxDUSBL response received:!U1,R,412,000,002AF,189,80,80,B0,FF Fpublishing direction and range infohɰa=鰁 )0CIyn@o9?D-@ٱ % % % %@ %@ %@!!!i!! !)!I!i!5p&=M5L=Y=| QU=>99aE$HEHAyMU}M>IQU 5?Uhݾ Ux ]?9U?U: UU:)QWWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qn@ZQ`G@LS{JQo9?D-@2Qh:QbQΌF>?[F] @eQ8_?RQ|B? 7?`:B.?BQ? Qb@Qq?PW9?PX9?PQQ(@"Qu@BYBY BYAe*BaAAAA"C˖?RCCCסIGA>IMuCimGI}  {:YWU1y:6iMFٺIMAg5,LhFAY}j=@}jX@y}jT}j7$ͽ}jH kbt?Q?:`̿_? (?)~j=@ ~j];I~jCɫ  ) IYMv?yMFdNmea in: $SNTTA,0.030976,0.487696,,,232018.57*5F I=)%= cM M=Y =a$Hyl<}>I! -:%Ё 5? 5:%gݾ % 5?9%?%: %^:)%:meiAdded new target pos. range: 3.720000 m, bearing: 75.074980 deg, deltaT: 4.474066 s, approachRate: 0.026821 m/s, LOS rate: 1.693135 deg/s, posRepo size: 4XaWe?WiXi XiWiXi:Wi2Wq*WqVqbUqBUq*UyU} @U}@?BB BA*BAAAA"C?RCC?C!IIG9>191I5Fi5@1115D; 5E;,iLhFAY}z֖@}z`@y}z[J}zY}zH -`3J5? ?1@Ϳh!? ?)~z֖@ ~z_];I~zCɫ) IY=?y=FI)]Q?RQa$HyQ<}>I 5?Cfݾ ] ?9P?: b:)WWX XWX:W!2W!*W!V!bU)BU)*U1U1U5k?BYBa BaAex*BaAiAiAiAi"Cum?RCqCqCyIGI>Iޑ)ޑm mmm m:Ym0Y1ym:m_6)m?;9ugB,-C MhFAY}:@}:O@y}:¾?}:g̽}:H`޽e'?Px?.sʿ ?%@H?)~:@ ~:Yc;I~:Cɫ99)9 9I9Y}?y}:F=}<M=h=YEAIaM$HIIyUK<}U>IY e:]P 5? e:]dݾ ]ܽ m?9]l?]: ]s:)]:WWX XWX:W2W*WVbUBU*UUU ?BB BA@*BAAAA"C/?RCCCIG>{H,%MhFAY}6x@}6(@y}679}6@}6Hœ+@*;?K? @ſp?q?)~6x@ ~6ya;I~6CɫYY)Y YIYY?y&F9I`Fi@=U; E ) > 4>=w=M=K=Y=AAaE$HAIyM<}}M>I 5?Acݾ  ?91?: :)W!W!X! X!W!X!:W)2W)*W)VIbUQBUQ*UQUQUU?BB BAx*BAAAA"C|?RCCCIG$>u qqu u:YqyquD6)u?;O,n>MhFAY}6@}6m@y}67}6Z(}6H`kO?>?`O0;ſ@?@4 pu?)~6@ ~6^;I~6Cɫ) IY .?y ]F}=i}=    @ @ @ @i )Ii;M%=Y;QU> a $H  y}>I %: 5? %:`aݾ 磽 -?9?k: b:):WIWIXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UYUYUe`@BB BAb*BAAAA"C?*CRCCCyIG^>ޕ=iޕ=U,oXMhFAY}6k@}6@y}6B6}6~}6HVc@}gtm??RPǿ`?@ei?)~6k@ ~6.R];I~6Cɫ99)9 9I9Y?yܔFUf<MU=Y]/;QU] ?aaae$Haaym}m ?Iqu5 5?u#`ݾ u4 }?9uV?uk: u:)qWWX XWX:W2W*WVbUBU*UUU$@BB BA.*BAAAA"C*CRCCC)IQG8>9IFi@; EB  Tv:YX1y/:D6) ;\,@rMhFAY}r@}r@y}rY@/}r}rH g`?c:?9?@`@/ƿ?!w?)~r@ ~r\;I~rCɫ髱) IY?y/Fp=ɮp=IR=)4=sh|?? ףp= ?~jtx=Q8> Ļ)Iy ףp= ?y&1?Zd;O?Q8=`e<j< A>A)JAI0AiaA GA - - - -@ -@ -@)))i)) )))I)i)=顼M=<=YE IIaM$HIQyUV}U>IY]ف 5?]_ݾ ]j m?9]?]f: ]o:)YWWX XWX:W2W*WVbUBU*UUU @R-B*** querying acoustic contact ***P)P)BiBi BqAut*BqAqAqAqAq"C*CRCCCיIGA>~b,MhFAY}6@}6< @y}6$}6~M}6H y@Q 7a$Hy%;}%>I) =:- 5? =:-_ݾ -> =?9-?--; -;)-:WaWaXi XiWiXi:Wi2Wi*WqVIbUQBUQ*UQUQU]@J @BB BA*BAAAA"C*CRCCCIG$>Iޑ)ޕAA *    jt:Y V1y : 69 @'i,eMhFAY}6@}6g!@y}6~}6%2}6H zFE?(? ē¿@\?[ ?)~6@ ~6`;I~6CɫYY)Y YIY܁9܁I܅Fi܅E?܁܁܁܅; ݅EY?yFxDUSBL response received:!U1,P 412,000,002AF,189,80,80,B0,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %a<M-H=Y]:a$Hy;;}>I)-X 5?-^ݾ - m?9-:?- Q; -;))W9W9X9 XAWAXA:Wi2Wq*WqVqbUyBU*UUUil @BIBQ BQA]*BAAAA"C *CRCCCIG>}p,@MhFAY}6TM@}6h@y}6}6>'}6H@.`/@N?5?'S¿=?>?)~6TM@ ~6^;I~6Cɫ99)9 9I9Y}r?y}KFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ) > >    @ @ @ùùùiùù Ĺ)ĹIĹiĹ;M@=Y;QU>a$HHy1<}>I :~ 5? : ^ݾ  ?9s?a'; B;):W9W9X9 X9WAXA:WA2WI*WIVIbUQBUQ*UQUYU] @BB BAу*BAAAA"C*CRCCC)I1GM1>    k:Y W1y č: 69v,qMhFAY}6~@}6@y}6 }6;>}6H X` $PL??`4Yÿ? Kz`[?)~6~@ ~6L];I~6Cɫ99)9 9I9Y}T?y}9FxDUSBL response received:!U1,R,44F,000,002B0,18A,80,80,B9,FF Fpublishing direction and range infoivɰqa=鰅> )9CIyq@l'I?Z:`Bٱ=i>3!M^=YQU>a$Hy<}>I| 5?]ݾ @ ?9?4: +:)WWX XWX:W2W*W V bU BU *U UU@R%(Combining 5 samples.P!*Q%q@ZQ%02G@.~!JQ%l'I?Z:`B2Q%iv:Q!bQ%§?EYN!+ @lY?RQ%Mi ?$;-%S?+&C?BQ%? Q%Ae@Q%?P!P%W9?P!Q%Q%f@"Q%(@BqBy ByA}؃*ByAyAAA"C*CRCCCqIG'>y9yI}xFi}?}=yy}~; }[E)CICޑiޕ=i== 5Kh|,W MhFAY}n#@}n>@y}n%'}n9ۼ}nH@6`X??`t¿ ? 3?)~n#@ ~nv\;I~nCɫ  )  IYM?yMFTNmea in: $SNTTA,0.033362,,,,232023.02*47 Q?p= ףMb?u= =)IyZd;?~jt?y=D< ¥?A)¡I¡i¥(\AEA    @ @ @i )Ii2uM)=YNQU>a%$H!!y-m=}->I1 =:5 { 5? =:5}\ݾ 5^ =?95L?5: 5Q:)5:mmmAdded new target pos. range: 3.779998 m, bearing: 72.821967 deg, deltaT: 4.394031 s, approachRate: 0.013654 m/s, LOS rate: -0.512744 deg/s, posRepo size: 4XqWu?WqXq XqWqXq:Wy2Wy*WVbUBU*UU o=@U `?BiBi BiAm*BiAqAqAqAq"Czn?RCC?CqIyG]>e e e e w e }i:Ye U1ye :e |6L,0 NhFAi&}nGI0i8ZFٺX^]Aɫ) IY5?y5_FI>)=©©RʼM_=YQU>a$Hy}>I  y 5? [ݾ l ?9 @ : :) W9W9X9 XAWAXA:WA2WA*WIVIbUIBUQ*UQUQUU@?BB BA1*BAAA)AA"CMy?RCICQCQ!I)GM0>pv,p'NhFAY}6@}6M@y}6F'}6}6H@l`i1Z??<yǿe?ʶ@q?)~6@ ~6Jb;I~6C%>9!I%Fi%1?!!!%; %Eɫ99)9 9I9Y}?y}֑FI)MY=YQU>!!a%$H!!y-gM}->Iȱ :ŵx 5? :ŵZݾ Ƶ ?9Ƶ!@ǵ: ȵ:)ȵ:WWX XWX:W2W*WVbUBU*UUU`S?B!B! B!A%i*B!A)A)A)A)"C5?*C1RC1C9C9)IQGm>Iޑ)ޑm e i i m  m d:Yi yi m {6)m Ӻ;9u ],YANhFAY}2@}2%@y}2s'}2 }2H4],v~?q?@)@Mǿ`?G@o?)~2@ ~2a;I~2Cɫ99)9 9I9YE?yEF     @ @ @i )Ii%M%J=Y%6QU->))a-$H)1y=}=>IAEv 5?EYݾ EcY; M?9E@Ep: E;)AWWX XWX:W2W*WVbUBU*UU!U%[`?BB BAɄ*BAAAA"C*CRCCCסIG >҇,d[NhFAY}6@}6 @y}60}6}6Hoa?`W?fU@slǿ?`pm?)~6@ ~6o^;I~6Cɫ99)9 9I9YV?yĐF YY)m= m=MA=YQU>a$Hy<} >Iȡťt 5?ťXݾ ƥ}; ?9ƥn@ǥ%< ȥ&<)ȡWYWYXY XYWaXa:Wa2W*WVbUBU*UUU@BB BA؄*BAAAA"C*C RC C C I G%M>!9!I!i!!!!%B; %E    :Y WU1y : 6) Y;,B?uNhFAY}:@}:-@y}:@7}:(N}:H)m oT? ?`} ſ ~?`Y`4s?)~:@ ~:\;I~:Cɫ99)9 9I9Y}?y}F=i4=1Zd?y&1(\µ?"=` =)Iyy&1|?Mb`?l?`;;= µ;A)µ\QAIµ2AiµQ`AHA    @ @ @i )Ii%M%D=Y-jQU->)1a5$H11y=݁:}=>IA M:Et 5? M:EXݾ Eζ< U?9E@Ej: E:)E:W WX XWX:W2W*WVbUBU*U!U!U%7@BB BAG*BAAAA"C*CRCCCסIGA>ޑiޕ=ٙ,NhFAY}2@}2@y}2e:}2 R}2HePY@K1?@^?v %Dƿ`+?@Lϩn?)~2@ ~2v\;I~2Cɫ99)9 9I9Y}?y}F鮅a=ɮa=;Mg=YQU>a$Hy}>IȹŽt 5?ŽXݾ ƽ= ?9ƽ@ǽ+: ȽY:)ȹWWX XWX:W2W*WVbUBU*UUUy@R B*** querying acoustic contact ***P P B)B1 BA5*BAAAA"C*CRCCCIG>hé,ENhFAY}6@}6@y}6L;}6?}6HONp`3ѯ??`KP?ǿ8H?`jg?)~6@ ~6դ^;I~6Cf>9dIf Fif?dddf{; fEɫ99)9 AIAY6?y؎FZ****** received transponder code query ******F****** received ping request ******a$H y/}>I %:tt 5? -:Yݾ Q= -?9@G: u:):WQWYXY XYWYXY:WY2Wa*WaVabUaBUa*UiUiUmE @BB BA*BAAAA"C *C1RC1C1C91IYG>  Ɍ:YV1y:6);,1NhFAY}:m+@}:F@y}:>}:}:H`?{?@Gſ?Ӝ n?)~:m+@ ~:Ya]$H]Hiyu}}>IZt 5?Yݾ = ?9@/: ]:)WWX XWX:W2W*W!VAbUABUA*UIUIUM` @BB BAY*BAAAA"C*CRCCC!9IQG}z>Iޑ)ޑն,NhFAY}6@}6 @y}6tH}62;}6Hj??1ÿ?7e?`fc?)~6@ ~6;_;I~6Cɫ9A)A AIAY}'?y}ώF?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B p=MY=Y ͼQU5>AIau$Hqyμ}>Iȱ :ŵOt 5? :ŵYݾ Ƶ"= ?9Ƶ@ǵ: ȵ:)ȵ:WWX XWX!:W!2W!*WiVibUiBUi*UiUqUu 0v@BB BA*BAAAA"C*CRCCCIGI>9IXFi?=; E  :YDW1yY:f36)P;,ɒNhFAY}MG)@}MD @y}MmO}Mﳼ}MH @?4?dƿ`?z`BV?)~MG)@ ~M];I~MCɫ) IYMX?yUPF]xDUSBL response received:!U1,R,4F4,000,002B2,189,80,80,A7,FF ]Fpublishing direction and range infoUQɰUb=U7> Q)U'CIQyUy@U^?|) _ٱQuVNmea in: 0.120064,0.119002,,,232027.46*50 uResponse from modem failed NMEA checksum: 0.120064,0.119002,,,232027.46*50 expected 0 鿉M rhFxɿK?MC MK M^=)IIIyMMbp?MbP?~jthM;M:MD Ml=A)IIM0AiMbAIMHA)Á Å>        @  @  @   i   ) I i ZM%,=Y%oQU%>))a-$H))y5`}5>I9=-t 5?=Yݾ =!= E?9=@=M: =:)9WiWiXi XiWiXi:Wq2Wq*WqVqbUyBUy*UyUyU8@R(Combining 5 samples.P*Qy@ZQE-?v@l JQ^?|) _2Q:QbQѠ?M{ @ U_{]N?RQ"s:y?*0?bx?BQf? Q[@Q?PX9?PPQQ@"Qf@BB BAׅ*BAAAA"C*CRCCCIGi>s,bhOhFAY}2@}2  @y}2T}2d*}2Hԇ?@t?G=?J ~kȿh? դH?)~2@ ~2A];I~2Cɫ99)9 9I9Yu!?y}F=i%=rM =Y 8QU ?a$Hyg.}?I!%t 5?%Xݾ %̧= 5?9%@%+: %:)!memAdded new target pos. range: 3.899999 m, bearing: 62.399427 deg, deltaT: 4.556989 s, approachRate: 0.026333 m/s, LOS rate: -2.287155 deg/s, posRepo size: 4XaWef?WaXa XaWiXi:Wi2Wi*WqVqbUqBUq*UyU}23@U}pZ?BB BA%*BAAAA"CB*?RCCf?CשIG=ޕ=iޑ  r:Yy69@!,u=*OhFA494I4i44444 6E)Ii = = 4Y}b@}bd @y}b]}bc}bH o @?;? saʿ ?ë4?)~b@ ~bN];I~bCɫ髙) IY?yFuMuD=Y}AQU}>ya$Hy[}>Iȑ :ŕs 5? :ŕXݾ ƕ= ?9ƕ8@Ǖ^: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU?BB BA h*B A A A A"C+?RCCC IG5 >,DOhFAY}2@}2F @y}2d}2}2H] ?:?AKͿ1X? 6?)~2@ ~2c;I~2CɫYY)Y aIaY?ylFI a=) %=^A e e m m@ m@ m@iiiiii i)iIiiix<MD=Y QU>a$Hy=}>Is 5?Xݾ -=  ?9X@: :)W1W1X1 X1W1X1:W12W9*W9V9bU9BUA*UAUAUE@v,?BqBq BqAu4*BqAyAyAyAy"C:?RCCCiquzCIinGIi-ٺ)-AG=/>3  "u:YWU1y:W6$,M]OhFAY}2@}23 @y}2d}2._}2H` ;@c?jf??˿X?lF(?)~2@ ~2P`;I~2Cɫaa)a iIiY?y6FIa)aMI=Y QU->)1a5$H11y=W}=>IA M:Es 5? M:EXݾ Ej= U?9Ew@E: E:)E:WqWqXq XqWqXy:Wy2Wy*WyVybUBU*UUU ?BB BA*BAAAA"C]]A]]Am>9iIm Fim?iiim; mEIޱ)ޱO,wOhFAY}6ڛ@}6d @y}6e}6L}6HhK@Aw?1?5tɿ` s?¥/?)~6ڛ@ ~6:^;I~6Cɫ99)9 9I9Y]?y]GF}'1Z?J +?S㥫}">}H> }/])yIyy}a$Hyߠ}>Iȱŵ"s 5?ŵYݾ Ƶ= ?9Ƶ@ǵ߼: ȵǺ:)ȱWWX XWX:W2W*WVbUBU*UUU@L?B!B! B!A-C*BAAAA"C?RCCCIG$>  D}:YDW1yY:68,OhFAY}=S^@}=y @y}=m}=zB}=Hmp??;@˿l?@?)~=S^@ ~=\;I~=Cɫ)1)1 1I1Ym?yuF )> > - - - -@ -@ -@)))i)) )))I)i)=ÜM=@=Y=QUE>AAaM$HIIyU}U>IY e:]zr 5? e:]pYݾ ]Y= e?9]@]: ]':)]:WWX XWX:W2W*WVbUBU*UUUk@BB BA*BAAAA"Cf?RCCCיIG@>_,OhFA9IFiv?b; EY}B)F@}Ba @y}Bw}BH}BH͸XF'? >? TKͿĮ?H`?)~B)F@ ~B'\;I~BCɫ髙) IY  a $H y?}>Iq 5?Yݾ  )= -?9=@: :)WIWIXI XQWQXQ:WQ2WQ*WYVYbUYBUY*UaUaUeC@RmB*** querying acoustic contact ***PiPiB B BAކ*BA!A!A!A!"C1*C1RC1C9C9 IG5 >޽=i޽=  wq:YV1y:6);9TH,aOhFAY}2U@}2nq @y}2|}2LY}2Hչ`-?@[x?`Ͽ A?ݴ?)~2U@ ~2&_;I~2Cɫyy)y IY?yQFZ****** received transponder code query ******F****** received ping request ******11a5$H=H9yE;}E>II ]:MMq 5? ]:M Zݾ M< ]?9M@M,; M6-;)M:WWX XWX:W2W*WVbUBU*UUU @BB BA?*BAAAA"C*CRCCCIG$>Rv,wLOhFAY}BV(@}BC @y}BZy}B}BH@Iu?`&?`ο? 3^ ?)~BV(@ ~B`;I~BCɫqy)y IYU8?yUdFmxDUSBL response received:!U1,P 4F4,000,002B2,189,80,80,A7,FF mCommand AckuBRequesting micromodem ping code 2iqq}Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 IC=)=㥛 ?i|?5? rh?>q> C<)IyJ +{GzH#̼ ½@A)½SAI¹i½pALA!9!I%xFi%?!!!%; %E    @ @ @i )Ii-@MU=Ye;QU>a$H  fm:YU1y:36)U;y}>Ir 5?Zݾ ; =?9y @O; G;)WWX XWX:W2W*WVbUBU*UUU/ @Ba Ba  Bi Am *Bq Ay Ay A A "C *C RC C C9 q I G >,OhFAY}6ͯ@}6W @y}6t}6E}6H ̀Oŷ?ଳ? k̿6???)~6ͯ@ ~6%;^;I~6Cɫ99)9 9IAY}%?y}F@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I) U U U U@ U@ U@QQQiQQ Q)QIQiQe<Me=Ym?I) 5:-s 5? 5:-f[ݾ -G =?9-= @-R: -:)-:WaWaXa XaWaXa:W2W*WVbUBU*UUU3@B9B9 BAAed*BaAaAaAiAi"Ci*CqRCqCqCqיIGd>I޵AA)޵@A,PhFAY}2F@}2vb @y}2.t}2,T}2HjV0@T??7~ ̿@;?ͩz ?)~2F@ ~2\;I~2CɫYY)Y YIYY~?y,FxDUSBL response received:!U1,R,429,000,002B1,189,80,80,8F,FF Fpublishing direction and range info\mɰa=鰡 )CIyu@y%?\ߣٱ;MT=Y߹QU>a$Hy}>It 5?[ݾ q ?9) @: ^:)W!W!X! X)W)X):W)2W)*W)V1bU1BU1*U9U9U=@U@RM(Combining 5 samples.PI*QMu@ZQM%ja@جUPJQMy%?\ߣ2QM\m:QIbQM81c:? 6H @ABS?RQMaN/s?"@u?cKB?BQM? QMAb@QMש?PMW9?PMX9?PIQIQMg@"QM@BB BAN*BAAAA"C*CRCCCiIyG=1 i t:YWU1y:69@% >9! I% @Fi% ?! ! ! % N; % BE% ,-PhFAY}6;@}6 @y}6p{}6R͐}6H $@B5?Q?`+Bο t?l?)~6;@ ~6[;I~6Cɫ99)A AIAYC?yF=TNmea in: $SNTTA,0.033525,,,,232031.93*49 yy)Í> Í=BM9=Y6QU>a$Hyl\}>Iu 5?\ݾ  ?9v @: M:)mUmAdded new target pos. range: 3.839998 m, bearing: 69.427206 deg, deltaT: 4.336076 s, approachRate: -0.013837 m/s, LOS rate: 1.620770 deg/s, posRepo size: 4XQW]?WYXY XYWYXY:WY2Wa*WaVabUBU*UU Q@U *?BB BA]*BAAA!A!"C-x?RC)C-?C1Ia)e]AI)GUS>N,\FPhFAY}Nh@}N^ @y}Nk}N(xn}NH` `b,?`?`c.ο?ܬ9?)~Nh@ ~N~[;I~Lɫqy)y yIyYI?yGFE=iE=    @ @ @ ÙÙÙiÝ ?Ù ĝ?)ĝ?Iĝ?iĝ?#=MO=Y;[QU>a$Hyơ}>I :v 5? :D]ݾ L6 ?9x@: I:):WWX XWX:W2W*W V bU BU*UUU?B9BA BAAEۅ*BAAAAAAIAI"CU6?RCQCQCY IG5 >޵=i޵=r y e:YV1y:6+,Ɏ`PhFAY}e@}e @y}ec~}e}eH @RN?@?ο ?$?)~e@ ~ea;I~eCɫyy)y yIyYk?yFx&?zGҿQ?7= u<)IyMb/$Zd;O?,j< ™)™I™i™S}M:=YޯQU>a$Hyd;}>Ix 5?+]ݾ  e?9@:< '<)WWX XWX:W2W*WVbUBU*UUU[?B!B) B)A-*B)A)A)A)A1"C5?RC9C9CY9IFiE?=;  E)9I9i9=====w=5QIaG}Y>w,^zPhFAY}6La@}6| @y}6gbv}6N}6H`@ @? ?@ο r?ʲ A?)~6La@ ~66G_;I~4ɫ99)9 9IAY?yF m m m m@ m@ m@ u@iiiimi m)mImim@#<Ma=Ya$Hyʻ}>Iȡ :ťz 5? :ť]ݾ ƥ ?9ƥ@ǥ : ȥ:)ȥ:WQWQXQ XQWQXQ:WY2WY*WYVYbUYBUa*UaUaUepn?BB BA*BAAAA"C*CRCCC)=?i=?IG--> T 9:YW1yč: 6i I i  ٺ  A$,6?PhFAɫqy)y yIyY?yFI1)1I1)1u=MuK=YuQU}>yya}$Hyy}>Iȑŕ{ 5?ŕ]ݾ ƕ ?9ƕ@Ǖ9: ȕR:)ȑWWX XWX:W2W*WVbUBU*UUU`N@BB BA*BA A A A "C*CRCCCIG- >I޵@A)޵AA 9 I НFi E@ ; E*,PhFAY}6H@}6\d @y}6cc}6>}6Ht@L?-?TY˿`s=?8, &?)~6H@ ~660\;I~4ɫ9A)A IIIY}.?y}F=MF=Y3=QU>a$Hyi}>I  :.} 5? :\ݾ " ?98@; 8;):W1W1X9 X9W9X9:W92W9*WAVAbUABUA*UAUIUM @BqBy ByA}"*ByAyAAA"C*CRCCCׁIG>e  y:YDW1yY:6)v;91,|PhFAY}BM@}Bi @y}Bdf}B6r}BH Z?'? ̿?Q#?)~BM@ ~B[;I~@ɫYY)Y YIYY*?yF鮥a=ɮ4= 鿱    @ @ @i )Ii<MV=Y-ڻQU>a$HH!y%H:}->I)-~ 5?-\ݾ - =?9-S@-: -:))WWX XWX:W2W*WVbUBU *U U U-@R=B*** querying acoustic contact ***P9P9ByBy ByA*BAAAA"C*CRCCCI)\AIG (>s8,PhFAY}5\@}5$x @y}5N@j}5fI}5H@~?+?@$@j˿@?e ?)~5\@ ~5^;I~5Cɫ) IYMe?yUΐFUZ****** received transponder code query ******]F****** received ping request ******]11a5$H19y=:}=>IA M:E~ 5? M:Ej\ݾ E: U?9E@E: E(:)E:WqWqXq XyWyXy:Wy2Wy*WVbUBU*UUU @B1B1 B1A5Ԅ*B9a9aIaiaaaaek; eEAAAA"C*CRCCCױIGe>=i=E AAE E2n:YAyAE;6)E;8>,vPhFAY}6@}6< @y}6Sg}6}6HP@R??X̿@?r<?)~6@ ~6KI`;I~6Cɫ99)9 9IAY}?y}ŏFxDUSBL response received:!U1,P 429,000,002B1,189,80,80,8F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )Iim4MmK=Yu;QU}>a$Hy<}>IȹŽ~ 5?Ž\ݾ ƽ; ?9ƽ8@ǽ< ȽD<)ȹWQWQXQ XYWYXY:WY2W*WVbUBU*UUU @BQBQ ByA}@*BAAAA"C*CRCCC1I9GU> !E,QQhFAY}6@}6+ @y}6<\}6Wp}6H W ?? 2̿`d?p$?)~6@ ~6];I~6Cɫ99)9 9I9Y?yNFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U5<MUm=Y]7  r:YxZ1yq:69@a 9a Ia ia a a a e ); e EZK, /QhFAY}Jd@}J @y}J0Q}J}JHڤ? ?,~˿? 56?)~Jd@ ~J];I~JCɫ髉) IY?yFxDUSBL response received:!U1,R,502,000,002B1,189,80,80,B1,FF Fpublishing direction and range infof3ɰ )1CIyw?amf-ٱI1)5AI1)5A    @ @ @ÑÑÑiÑÑ đ)đIđiđM1MD=Ya$Hy<}>I :* 5? :m[ݾ ?< ?9@: :):WWX XWX:W2W*WVbUBU*UUU >@R(Combining 5 samples.P*QZQAKK?Oh JQw?amf-2Qf3:QbQ1t7? @w]z?RQAB??\w ?\ U?BQă? QO@Q?PY9?PW9?PQQ@"Qg@B)B) B)A--*B1A1A1A1A1"C9*C9RC9C9CAIIQGu6>I޹)޽?A4R,h@IQhFAɫ) IY5?y5|FDNmea in: $SNTTA,,,,,232036.35*5E U<MG=YQU>a$Hy}>I  J 5? [ݾ w< ?9 _@ I: :) mEmAdded new target pos. range: 3.839998 m, bearing: 58.982857 deg, deltaT: 4.494461 s, approachRate: 0.000000 m/s, LOS rate: -2.323827 deg/s, posRepo size: 4XIWMă?WIXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UYUYUe@1?B)B) B)A-*B)A1A1A1A1"C=j?RC9C=ă?CAYIG<>  k:YDW1yY:|6aX,$cQhFAY}j@}j @y}jG}ja}jH@xn?`O?o@eȿ`?@X?)~j@ ~j[;I~jCɫ髱) IY?yF 鿡-kt?Zd;Q- 0=-y -))I)y- rh?l?y&1|-C =-=-` -QQaU$HQYy]l <}]>Ii u:m} 5? u:mZݾ mAh< u?9m@m: m:)m:WWX XWX:W2W*WVbUBU*UUUQ?BB BA]*BYAaAaAaAa"CmԒ?RCiCiCqIׁ)ׁ 9 I i  =    ; EבIG@>^,R|QhFAY}2@}2W @y}2ME}2c}2HG?m?e$2ȿ@?櫿\?)~2@ ~2T_;I~2CɫII)I IIIY}]?y}F=iC= 5 5 5 5@ 5@ 5@111i11 1)1I1i1E{ME]=YM;QUM>IQaU$HQYy]"}]>Iae{ 5?eZݾ eY< m?9e@e: eD:)aWWX XWX:W2W*WVbUBU*UUU@?BiBq BqAuV*BqAyAyAyAy"Cdn?RCCCiIqG>i=  p:YyD6ne,?ɖQhFAY}2F@}2Ф @y}2OA}2r}2H@ @x?Y?uȿ L?ɭ@U`?)~2F@ ~2K^;I~2Cɫ99)9 9I9Y?y(FU;MUI=Y]>Yaae$Haaymƀ}m>Iq }:uEz 5? }:uZݾ ueH< ?9u=@u(: u:)u:WWX XWX:W2W*WVbUBU*UUU@WF?BB BAG*BAAAA"CD?RCCCIIQGm> 9 I Fi E? =   ;  E)ݙIݙiݙݝ=ݝ=ݝ,$5k,TQhFAY}@}0 @y}@}Ž}H@?6?u1ʿ ?:I?)~@ ~];I~Cɫqq)q qIqYE?y0F e e e e@ e@ e@aaaiaa a)aIaia<M6=Y:QU>a$Hy;}>Ibx 5?JZݾ +< ?9@: :)WWX XWX :W 2W *W V bUBU*UUU:@BABI BIAM܃*BIAIAQAQAQ"C]?RCYCYCYu?iu?AIGG>  }:YV1y:6);9ڀr,QhFAY}2l@}2 @y}2ES;}2)}2H ېyn??o_˿I?#'O=?)~2l@ ~2H];I~2Cɫ99)9 9I9Y}?y}Ft>I)AI)AinGI)iuǻM\=ٺAYla$HHyML<}>Iv 5?Zݾ E < ?9@k: @:)W!W)X) X)W)X):W12W1*W1V1bU1BU9*U9U9U=V<@BaBi BiAm*BiAqAqAqAq"C}ă?*CyRCyCyCׁIG>@}>0 @y}>5+}>˽}>H`C?[? oȿ /]?@`-e?)~>@ ~>"n\;I~>Cɫqq)q qIyY?yyF鮽p=ɮa=U/$?T㥛 ?A`"?U=U= U=)QIQyUQ?y&1|?MbPUuyya$Hy}>I  : Rv 5? : Yݾ < ?9 V@ : :) :WYWaXa XaWaXa:Wa2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA*B A A A A "C*CRCCC9Ii; xE9IIGe4>1 }}n t:YkS1yԊ:6);~,H5QhFAY}2X@}2 @y}23}2<犽}2Hiٝ?z?ĿI?@&`Տ?)~2X@ ~2#F_;I~2Cɫ99)9 9I9Y?yFZ****** received transponder code query ******F****** received ping request ******)1a5$H11y=Z}=>IAEu 5?EYݾ EC< m?9E@E; E;)AWWX XWX:W2W*WVbUBU*UUU @BABA BAAM*BIAQAQAQAQ"Ci*CqRCqCyCI)IGE>t,URhFAY}F@}FF @y}F}F }FH[ ?6? *j? ?)~F@ ~Fܕ_;I~Dɫ髙) IY|?yFxDUSBL response received:!U1,P 502,000,002B1,189,80,80,B1,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =ML=Y%YQQaU$HQYy]]}]>Iȉ :ōVu 5? :ōYݾ ƍ< ?9ƍ6@Ǎ< ȍ<)ȍ:WWX XWX:W2W*WVbUBU*UUU`c @BB BA*BAAAA"C*CRCCC׹IGk>W  x:YWU1y:69@ܩ 9ܩ Iܩ iܩ ܩ ܩ ܩ ܭ ; ݭ mE,1RhFA|i|Y}2@}22 @y}2$}2\}2H_D Xp? P?`+1?O?)~2@ ~2Ę^;I~2CɫYY)Y YIYY}?y}FAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B <ML=Y|QU>  a$H9yE}M>Iqut 5?uQYݾ u_%< ?9u@u@: u8:)qWWX XWX:W2W*WVbUBU*UUU})@B!BI BQAUA*BYAYAYAaAa"Cq*CqRCqCqCaIiG9>Uϒ,KRhFAY}Vo@}V @y}V_}VF}VH@5d`3?Df? aÿk?, w?)~Vo@ ~V*_];I~VCɫyy)y yIyY?yӔFxDUSBL response received:!U1,R,4C2,000,002AF,18A,80,80,A9,FF Fpublishing direction and range infoJ ɰa=鰽> ))CIyn@M ?rW3ٱ    @ @ @i )Ii;MH=YNQU>  a $H yw}>I %:dt 5? -: Yݾ +< -?9 @: :):WQWQXQ XQWQXQ:WQ2WY*WYVYbUYBUa*UaUaUeط@R(Combining 5 samples.P*Qn@ZQ-Y?y JQM ?rW32QJ :QbQj*W?R: @r['4?RQx? ?>`?BQ[z n af:YDW1yY:6,eRhFAY}ry@}ru @y}rf]}r}rH`WQ lz?`;~?` }ſ ?@O(?)~ry@ ~rm\;I~pɫ) IY?yFdNmea in: $SNTTA,0.061926,0.487786,,,232040.80*59 I)I)=Mb@Mb@Mb@== =)=I9y=:v?Zd;y&1|?=T<=y=`; =AA)=dGAI=I4Ai=S[A9=FA]bM]D=Yeaaam$Hiiyu }u>Iy}u 5?}#Xݾ }< ?9} @}: }+:)ymmAdded new target pos. range: 3.720000 m, bearing: 61.877546 deg, deltaT: 4.443995 s, approachRate: -0.027002 m/s, LOS rate: 0.651371 deg/s, posRepo size: 4XW[9IIMFiMv?M=IMMDM; McEBB BA*BAAAA"C?RCC[', RhFAY} ?@} G[ @y} } ǽ} HE`߉ ?&bĿeL?`籸̖?)~ ?@ ~ A\;I~ Cɫ) IY ?y ̒F    @ @ @i )IiNMP=Y R=QU>  a $H y%}>I %:iw 5? -:4Wݾ < -?97"@: :):WYWYXY XaWaXa:Wi2Wi*WiVqbUqBUq*UyUyU}?BB BA*BAAAA"C[  `:YWU1y:!6f ,t^RhFAY}2@}2 @y}2꽙}2֡}2H@&?cFt?@@ GI?fҰ?)~2@ ~2`;I~2Cɫ99)9 9I9Yu?y}LFM\=Y =QU > a$Hynx}>I!%x 5?%RVݾ %< -?9%#@%: %:)!WQWQXQ XQWQXY:WY2WY*WYVYbUaBUa*UaUaUe-?BB BA9*BAAAA"C*CRCCCI׹)׹iIyG>I 9I IM FiM ?M =I M NDM ; M RE7,?RhFAY}R@}RM@y}R뽙}R.[}RHD x?]?`'g?@4 ?)~R@ ~R^;I~RCɫqq)q qIqY ?y F==i=>H<MB=YNQU>a$Hy}}>Iȩŭdz 5?ŭPUݾ ƭ= ?9ƭV%@ǭ|: ȭs:)ȩWWX XWX:W2W*WVbUBU*UUUe?BB BA*B!A!A!A!A!"C)*C)RC1C1C1AIIGm>=ip=\ t gx:YV1y:*6);9, RhFA|i|@Y}6<@}6IX @y}6}6W^}6HRH@,2??@:5Ҩÿ?@`?)~6<@ ~6\;I~6CɫYY)Y YIYY,?yFME=YXOQU >a$H%H1y=2<}E>IY :]{ 5? :]JTݾ ]= ?9]'@]; ]8;)]:WWX XWX:W2W*WVbUBU*UUU $@BiBq BqAu"*BqAqAyAyAy"C*CRCCCסIGA>$G,RhFAY}J"@}J @y}JR#}J-Lj}JHb ƃ? s?`E{@ F `2?`?)~J"@ ~Jɺ[;I~JCɫ髹) IY]?yFIe=)e%=Mb?zG?Dl= > O)Iy~jtx?Mb{Gz?;@ף< l=A)3MAI7AiXAFA    @ @ @ÑÑÑiÑÑ đ)đIđiđarM?=Y;QU>a$Hyr<}>IB} 5?Sݾ ?= ?9=(@: :)9IFia?=}; JE)ݡIݡiݡݥ=ݥ=ݥF85WWX XWX!:W!2W!*W!V)bU)BU)*U)U1U5`H|@BB BAV*BAAAA"C *C RC CCE?iE?I)GEQ>  :YU1y:6)B;.,nShFAY}2t@}2 @y}2&齙}2}z}2H [?RE?: f@??)~2t@ ~2O[;I~2C>JFailed to close latch before timeout.q >>Hardware FaultY^??y^F`ɮbp=Id)dr<Mr=Yv|ea$Hy<}>I 5?CRݾ = ?9*@Z: 0:)WWX X1W9X9:W92W9*W9VAbUABUA*UAUAUM@> @BqB BA*BAAAA"C*CRCCCI)ױIGe>  i:YWU1y:W69@ >9 I Fi ? = k; AE,4ShFAY}f@}f @y}f&}fG }fH`KV0쮥?:?@XqH?@W?)~f@ ~f_;I~fCYr?yrFvxDUSBL response received:!U1,P 4C2,000,002AF,18A,80,80,A9,FF vCommand AckvBRequesting micromodem ping code 2itt~Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )IiejkMb=YQQU>a$HyH<}>I! -:% 5? -:%Qݾ %= 5?9%+@%: %:)%:WWX XWX:W2W*WVbUBU*UUUm @BqBq BA*BAAAA"C*CRCCC1I9GUv> m,^NShFAY}F0@}FK @y}F }FC}FHt@0X?`?`5p@`J?47?)~F0@ ~F_;I~FCYV?yV2FrNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i>;Mg=YQU>a$Hy<}?I 5?Qݾ =  ?9,@N: :)W)W)X1 X1W1X1:W12W1*W9V9bU9BU9*UAUAUE?@BiBq BqAu*BqAqAyAyAy"C*CRCCCiIq$NClearing failed state for component DDMq G=i U (m:YT1y: 6ɖ,8hShFAY}J߸@}Ji @y}J}Jü}JH ??`Bn-]ſ?zT@׌?)~J߸@ ~Jh];I~JCYni?yn3FrxDUSBL response received:!U1,R,3F8,000,002B2,189,80,80,A9,FF rFpublishing direction and range inforbpɰrb=r7> p)pIpyry@rޡp9?;dUaXٱpdNmea in: $SNTTA,0.280681,0.240975,,,232045.22*54 ]B`"?)\(Mb?]َ>]G ]=)YIYy] rhS㥫?l?]C]/]=]= ]?A)]JAI]5Ai]XAY]FAuM}A=Y}WAQU}>a$Hy<}>I : 5? :URݾ = ?9.@: :):WAWIXi XiWiXi:Wi2Wq*WqVqbUqBUq*UyUyU}<@ىٍ\Aܕ>9ܑIܕ8Fiܕ?ܑܑܑܕ_; ݕ;ER(Combining 5 samples.P*Qy@ZQlT$@-m-JQޡp9?;dUaX2Qb:QbQ[I?T[˴ @H'?RQG[W?Z7w?^?BQϦ? Qm@QN?PW9?PX9?PQQ@"Q@BYBY BYA]*BYAaAAA"C*CRCCC?i?I!G=Q>s},,ShFAY}N,@}N H @y}N}}N'½}NH{̮? Tx?~ſ@!??)~N,@ ~N\;I~NCYn?yriF    @ @ @ i? A?)?I?iA?M;MT=YDQU>a$Hy֚<}>I 5?iSݾ = ?9/@;  ;)m%iAdded new target pos. range: 3.899999 m, bearing: 74.668625 deg, deltaT: 4.443310 s, approachRate: 0.040510 m/s, LOS rate: 2.878728 deg/s, posRepo size: 4X)W-Ϧ?WIXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UYU]23@Ue`?BB BA*BAAAA"C?RCCϦ?CI G-,>W  x:YU1y:i6,ShFAY}6)@}6mE @y}6}6y}6H YW?`>t?@Ŀ?& ?)~6)@ ~6w\;I~6CYBZ?yB*FI)EMEV=YEd[QUE>IIaM$HIQyUNܹ}U>IY]~ 5?]Tݾ ]= m?9]x1@]I: ]b:)YWWX XWX:W2W*WVbUBU*UUUܐ?BB BA*BAAAA"C ?RCCCIG=ܑ 9ܑ Iܑ iܑ ܑ ܑ ܑ ܕ c; ݕ =EH,˵ShFAY}F8@}F-T @y}F}FvKs}FH 7?Li? `DĿ@!)a5$H1AyU;}U>IY e:]s} 5? e:]Uݾ ]> e?9]'3@]: ]:)]:WWX XWX:W2W*WVbUBU*UUU ?BBI BIAM{*BIAIAQAQAQ"C]%?RCYCYCYIב)בaIqG> { q:YWU1y:6)1;9 ,ShFAY}6@}6q @y}6!}6.5}6H`@R@n?@?`  "?`q?)~6@ ~6=l\;I~6CYNA?yN|F=<M=Y=Y=.QUE>AAaE$HEHIyM"}M>IY]~| 5?]Vݾ ]> e?9]4@]: ]ϸ:)YWWX XWX:W2W*WVbUBU*U!U)U- ?BB BA]*BAAAA"C??RCCCIG>#,[xShFAY}R @}Ru( @y}R'}RѿV}RHR`@.?е?%?@{?)~R @ ~R"5\;I~RCYf?yfNFE%=iE=mi|?5?#~jĿV-?m=m% m<)iIiymMby&1:vmm`emT i)mNAImt3Aim\AimGA<M7=Y[QU>a$Hyʼ}>Iȡ :ť9} 5? :ťVݾ ƥ > ?9ƥ5@ǥ: ȥo:)ȥ:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C%I?RC!C)999I=Fi=?==99=k; =AEC)iIG!>=i=W  x:Yy6);,LSThFAY~X?y~PF    @ @ @i )Ii M S=Y QU>a$H!y%}->I15} 5?5Vݾ 5> E?955@5 ; 5;)1WWX XWX:W2W*WVbUBU*UUU,5@BaBi BiAׅ*BAAAA"C?RCCC?i?סIG >",.ThFAY}Br@}B? @y}Bi1}BQ}BHS `6\`:?y? ſu? oө`.{?)~Br@ ~Bɦ[;I~BCYRI?yRGFjhMj`=Yn˼QUn>ptav$Htxyz9Ӽ}~>I :y~ 5? :Wݾ > ?96@ ; n<):W!W!X! X!W!X!:W)2W)*W)V1bU1BUA*UAUAUM@9@RB*** querying acoustic contact ***PPBB BAۅ*BAAAA"C?RCCC IG5 >   l:Yy69@I 9I II iI M =I I M ; M ME)Iiň?4e ,R 7ThFAY}6tT@}6o @y}6. 4}6}6H\ 1??`fĿ@d?鬡@|?)~6tT@ ~6[;I~6CYNX?yRPFRZ****** received transponder code query ******VF****** received ping request ******Viiau$Hqy}>I!%4 5?%Wݾ %= -?9%6@%|: %:)!WWX XWX:W2W*WVbUBU*UUU> @B1B1 B1A5ׅ*B1A9A9A9A9"CEz(?*CARCACACIIIQGm>I@A)BA) - uCi NmGI i gٺ A7,;PThFAY}JI@}Jd @y}JU$9}JA}JH\ L:?`?ĿP? >᜿'w?)~JI@ ~Jm[;I~JCYy%xDUSBL response received:!U1,P 3F8,000,002B2,189,80,80,A9,FF %Command Ack-BRequesting micromodem ping code 2i))ENmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 YEQU>a$Hy}ۺ}>Iȩŭ 5?ŭ%Wݾ ƭq= ?9ƭ*7@ǭ@< ȭ@<)ȩWWX XWX:W2W*WVbUBU*UUU w# @BB BA*BAAAA"C ?RCCC I)IGER>5 555 5bq:Y5U1y5:561,HjThFAY}68A@}6\ @y}6V?}6A}6HC@vkW4??p*ǿ`? ϧg?)~68A@ ~6_[;I~6C>Powering up>"Initializing DDM.YE?yEFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B >9CIȖFi?=MD; UE]y&1?X9v?Mb]`e<]< ])YIYy]a$Hy Y}>Iȁ :Ņ_ 5? :ŅWݾ ƅS= ?9ƅ7@Džk: ȅg:)ȅ:WWX XWX:W2W*WVbUBU*UU U Q@BQBQ BQA]*BYAYAYAYA"C+?RCCCyIG_>!,ThFAY}6G@}6ў @y}6mG}6}6H `j@ǽ?@?T@-3ʿ?WKJ?)~6G@ ~6^E[;I~4Yb?yb5FjxDUSBL response received:!U1,R,502,000,002B0,189,80,80,A2,FF nFpublishing direction and range infojf3hɰjqa=h h)j"CIhyjq@jw?amf-ٱhzC=iz=    @ @ @i )IiJMZ=Y!QU>a$Hy3<}->I15 5?5Wݾ 5= E?957@5a: 5X:)1WaWaXi XiWiX:W2W*WVbUBU*UUU@@R(Combining 5 samples.P*Qq@ZQE5j?.\Ux3 JQw?amf-2Qf3:QbQ} ?N @4ʿ?RQuhC?vYQ?o#?BQ? QN@Qd?PY9?PW9?PQQ@"Q@B!B! B!A%J*B!AIAIAIAI"CU$?RCQCQCYAIIGm5>=ip= ~~ r:YT1y@: 6fE',EThFAY}@} @y}F}Ž}H1mi#?Ul?`6˿`? @?)~@ ~h{\;I~Y5?y5FTNmea in: $SNTTA,0.004459,,,,232049.67*43 ±±E<MET=YM ;QUM>QQaU$HQYy].=}]>Ia m:e* 5? m:e Wݾ e[= u?9e#8@e: e:)e:mqAdded new target pos. range: 3.779998 m, bearing: 59.800587 deg, deltaT: 4.443584 s, approachRate: -0.027005 m/s, LOS rate: -3.345956 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UUo=@U๢?BB BA*BAAAA"C?RCC?C?i?IG >9IFia?=<D; XEm-,SThFAY%?y%F  % % %@ %@ %@!!!i!! !)!I!i!<MD=YQU>a$HHy}>I 5?Vݾ == ?9|8@: ':)WWX XWX:W2W*WVbU!BU!*U!U!U%+?BQBQ BQA]*BYAYAYAYAY"Ce?RCaCiCqIIQGu># j s:YDW1yY:6);9U4,.ThFAY}2z@}2 @y}2/G}2l}2H W? L? ڐ@ ɿX? S?)~2z@ ~2FJ];I~2CYR?yV!FI1)1}ˢ<M}a=Y+QU>a$Hy<}>Iș :ŝ 5? :ŝVݾ Ɲס= ?9Ɲ8@ǝp: ȝ:)ȝ:WWX XWX:W2W*WVbUBU*UUU]`?BB  B A *B A AAA"C?RC!C!C!IG5=z:,ThFAY}23U@}2p @y}2IWN}2B}2H& E?)?+ȿ Q?ާ'Q?)~23U@ ~2\;I~2CYF?yJ=FmL7A`?I +?I +?m+>m9< m9<)iIiܡ9ܥCIܥ Fiܥ?ܥ=ܡܡܥ; ݥZEym ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYm1;Mm#=YuGhQUu>qya}$HyyyC3<}>IO 5?*Wݾ  n= ?9:@ʽ: :)WWX XWX:W2W*W!V!bU!BU)*U)U)U-u?BqBy ByA}w*ByAAAA"C?RCCCI)׹IGf>I  v:YT1y:N6);gA,UhFAY}fs@}f@y}fQ}fz}fH@ –?`?@dο}?쿿?)~fs@ ~f&\;I~fCYv?yvFM=Y)QU?a$Hy&f=}?Iȹ :Ž^ 5? :ŽAWݾ ƽ7= ?9ƽ:@ǽI: Ƚ:)Ƚ:WaWaXa XaWaXi:Wi2Wi*WiVibUBU*UUUQ?BB BA*BAAAA "C?RCC!C))I1GM>[G,ܽUhFAY}F@}F)@y}FI}F]ƽ}FH@V7@|?t?7^H˿ ?CG@iqqau$Hyyy2;}>Iȉō~ 5?ōgWݾ ƍ< ?9ƍ;@Ǎ*(; ȍ;)ȉWWX XWX:W2W*WVbUBU*UUU@B9BA BAAE*BAAIAIAIAI"C*CRCCCIG>ia=@  +v:Yy69 @ܑ9ܕCIܕFiܕv?ܕ=ܕ;Dܑܕ; ݕ`EڻM,9UhFAY}F@}F @y}FbD}F}FH6 DŽூ?? -ȿj?`T?)~F@ ~F[\;I~DYlylpɮp    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉYFa$Hy }>Iȱŵ| 5?ŵWݾ Ƶ-< ?9Ƶ<@ǵ+: ȵ8:)ȱWWX XWX:W2W*WVbUBU*UUU;%@RB*** querying acoustic contact ***PPB)B) B)A)*B)A1A1A1A1"C9*CARCACACAU?iU?)I9G]=T,ZSUhFAY ?y FZ****** received transponder code query ******F****** received ping request ******a$Hy}>Iȱ :ŵ`{ 5? :ŵWݾ Ƶ ?9Ƶ=@ǵ^7; ȵ49;)ȵ:WWX XWX:W 2W *W VbUBU*UYUYU] @BB BA&*BAAAA"C*CRCCCױIG">  :YU1y:M6Z,rPmUhFAY}:@}: @y}:1C}:N}:H ?`v ?zOʿt@?`@J?)~:@ ~:e[;I~:CYF?yF*FJxDUSBL response received:!U1,P 502,000,002B0,189,80,80,A2,FF NCommand AckNBRequesting micromodem ping code 2iLLIP)PVNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ->9-CI-xFi-?-=))-; -[E)ݽCIݽCiݹݽ=ݽ=ݽ#86-S?EԸy&1?->-ƽ -`<))I)y-L7A`?Mbp?~jt-+=-;- -;A))I)i-gA)-IAu@M}0=Y5;QU>a$Hy}>Inz 5?Wݾ ;d ?9>@?< <)WW9XA XAWAXI:WI2WQ*WQVQbUBU*UUU @BB BA*BAAAA"C *C RC C CIAA)@AIG=>Ͷa,w0UhFAY}Fݡ@}Fg @y}FF:}F}FH@C03?$+?y^q˿`"4?!@?)~Fݡ@ ~F.q\;I~FCYZ?yZaF\^@AnNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U U U ]@ ]@ ]@QQQiQQ Q)QIQiQm<Mmr=Yu {{ 5j:Y#R1y:6g,UhFAY}:@}:G1 @y}:.}:l}:HӶuH?a?`ǿ0?@Pn?)~:@ ~:!\;I~:CY^_?ybFfxDUSBL response received:!U1,R,429,000,002AF,189,80,80,A9,FF fFpublishing direction and range infob\m`ɰba=` `)b)CI`ybn@by%?\ߣٱ`zP;Mzf=Yz=QU~>||a$Hy ż} >Iy 5?Uݾ  ?9@@: #:)WAWAXA XAWAXA:WA2WI*WIVIbUIBUQ*UQUQUUs@Re(Combining 5 samples.Pi*Qmn@ZQmO_@fJQmy%?\ߣ2Qm\m:QibQm?hS5 @ ׫?RQmO'1)? T?&?BQm? Qm_@Qm?PmW9?PmY9?PiQmQm@"Qm@BB BAV*BAAAA"C*CRCCCױIG=9IFiv?; kEe n,_UhFAY}Bx@}B @y}B1'}B?w}BH?@Ȏ?=>ÿ?`U@ ?)~Bx@ ~B-)\;I~BCYN?yN}FDNmea in: $SNTTA,,,,,232054.09*55 =i<%IM%G=Y%))a-$H-H1y5ƙ}=>I9 M:=Jx 5? U:=\Uݾ = ]?9=}A@=}; =;)=:mmAdded new target pos. range: 3.720000 m, bearing: 72.327127 deg, deltaT: 4.365392 s, approachRate: -0.013744 m/s, LOS rate: 2.869511 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UU @U ?B9BI BIAMŅ*BIAIAQAQAQ"Ce#?RCaCe?CiaIqG>ip=.  t:YV1y:D6);9t,'UhFAY}6@}6| @y}6C$}6;H}6H S?:?@g@Ŀ ?}?)~6@ ~6d\;I~6CYN?yRF\A    @ @ @áááiáá ġ)ġIġiġE8=MB=Y;QU>a$Hyu:}>Itw 5?Tݾ  ?9uB@k: A:)WWX XWX:W2W *W V bU BU*UUU {?BABA BAAE)*BAAIAIAIAI"CUGD?RCQCQCY1I9GU={,tUhFAY}6@}6a3 @y}6T}6Q}6H]- A?A)SAI0AiaAIA%yM%C=Y-v11a=$H99yE\<}E>IQ ]:Uy 5? e:UOSݾ U e?9UD@U; U$;)U:WWX XWX:W2W*WVbUBU*UUUD?BB BAh*BAAA A "CI?RCCCסIG > s n:YW1yč:6)o;,sVhFAY}>i@}> @y}>}>}>Hծ ,?k?@ÿJm?` 尿?)~>i@ ~>[;I~AAaM$HIIyUA}U>IY]w{ 5?]Rݾ ]j e?9]F@]˵: ]:)YWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C?RCCC1I9GU=I@A)?A-,QM"VhFAY}6}c@}6 @y}6ۘ }6k_}6H`ʇ" S?@?@d|`¿`?`?)~6}c@ ~64[;I~6CYv?yvF)m= m=    @ @ @ùùùiùù Ĺ)ĹIĹiĹv;MB=Y1pa$Hy}>I} 5?Pݾ Î ?9 I@p: g:)WWX XWX:W2W!*W!V!bU)BU)*U1U9U=`@BB! B!A-*B)AQAQAQAQ"C]W?RCaCaCaiIqG>ܹ9ܽCIܽȖFiܽ?ܽ=ܹܹܽ; ݽE q Qm:YV1y:6)C;W,|(aaae$Haaym+}m>Iq }:u 5? }:uZOݾ uަ; }?9u&K@u: u :)u:WWX XWX:W2W*WVbUBU*UUUy@BB BA*BAAAA"CU?*CRCCC1I9GU=?,VVhFAY}6y@}6 @y}6 }6}6H࿐ @?Ȱ?C{¿?``>?)~6y@ ~6[;I~6CYbX?ybPFhɮhnp=in=z2<MzQ=Y~ȻQU~>|a$Hy K<} >I 5? Nݾ jo< ?9EM@0: (:)WiWqXq XWX:W 2W *W1V9bUABUA*UIUyU}@RB*** querying acoustic contact ***PPBB BAׅ*B A A1A1A1"C=?RCACACIYIiG>ia= ~~ xo:YT1y@:69 @ j,oVhFAY}6O)@}6D @y}6P}6F}6HC`><?:y?S|ÿ;#?ܚ?)~6O)@ ~6YZ;I~4Yf?yfFjZ****** received transponder code query ******jF****** received ping request ******j9iIm8Fim?m=m<Dim; mEe eD)aIaye:va$HyM<}>I :d 5? :Nݾ L= ?9[N@k: :):WAWAXA XAWAXA:WI2WI*WIVIbUIBUQ*UQUQUU@ @BB BA*BAAAA"C*CRCCCIG l>Q,йVhFAY}6@}6# @y}67v}6Áw}6H@ ³i?`P?`|fÿ&~?@[ B?)~6@ ~6Z;I~6CYB8?yBdFFxDUSBL response received:!U1,P 429,000,002AF,189,80,80,A9,FF FCommand AckFBRequesting micromodem ping code 2iDHNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 z8M~=YQU?a$Hy <}?II 5?Oݾ #=  ?9N@=: :)WWX XWX:W2W*W V bU1BU9*UAUAUM @BB BA*B!A!A!A!AI"CQ*CYRCYCYCaaIyG>>  o:Yy6|,JVhFAY}2@}2 @y}2}2^E}2H`e@rѧ?2D?`¿ ? cj̤?)~2@ ~2u[;I~2CYf?yfڌFhjAAzNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IY)Ya<M@=Ya$Hy;}>Iȹ :Ž, 5? :Ž;Pݾ ƽ= ?9ƽO@ǽ: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU<@B)B) B)A-o*B)A1A1A1A"C*CRCCCI)שIG>y9yI}Fi}}?yyy}=; }E)Ii==HE6٥,pVhFAY}6^@}68z @y}6 }6}6H@D?m? ÿ2?벿@?)~6^@ ~6 f[;I~6CYRZ?yRۋFVxDUSBL response received:!U1,R,449,000,002B3,189,80,80,A9,FF VFpublishing direction and range infoVyuTɰVmb=T T)TITyVp}@Vg7Jl?_^+*ٱT)f= f=    @ @ @ i? K?)?I?i?MI=Ya$HHy蛼}>I 5?Pݾ > ?9P@: {!;)W1W1X9 X9W9X9:W92WA*WAVAbUABUA*UIUIUMs@R(Combining 5 samples.P*Qp}@ZQ[6 O =@VU/ JQg7Jl?_^+*2Qyu:QbQI0?ѭS @ ,?RQҐSd?8? ?BQ`!? Qm@Q?PPW9?PQQ@"Q@B)BQ BQAU׆*BQAYAYAYAY"Ca*CiRCiCC׉IG>  n:YU1y:6]T>YimGIiM ޿ٺI M A,>[VhFAY}J[@}J @y}J}J}JHaʌY?S eǿ ?n;@'u?)~J[@ ~J<\;I~JCYj?yjF=TNmea in: $SNTTA,0.028906,,,,232058.54*4A MF=YQU>a$Hy}>I 5?Qݾ >  ?9Q@: :)m=mAdded new target pos. range: 3.959999 m, bearing: 71.230458 deg, deltaT: 4.483551 s, approachRate: 0.053529 m/s, LOS rate: -0.244598 deg/s, posRepo size: 4X9W=`!?W9XA XAWAXA:WA2WA*WIVIbUIBUQ*UQUU @UUU?BB BA;*BAAAA"Cu.?RCC`!?C׉IG=,&VhFA!9%CI!i!%=%;D!%C; %EY}ud@}u @y}u}u }uH* u2j|?$Pȿȏ?gRie?)~ud@ ~u\;I~uCY?y[FZd;?B`"ɿ~jt?=N D<)IyQ?y&1?Q?u=`<u= @A)^LAI5Ai\AGA    @ @ @ @i )IijJ<M,=YLۼQU>!!a-$H)1y=6;}=>IA U:E`~ 5? U:E2Qݾ E(;> ]?9EjS@EI; EH;)E:WWX XWX:W2W*WVbUBU*UUU ?BB BA *BAAAA"C;?*CRCCC ?i?yIG^>m  y:YWU1y:6);9,K WhFAY}6+@}69 @y}6͙*}6&}6H@`*i?@c?`դ@ƿ`:? gOLy?)~6+@ ~6\;I~6CYN?yRFI =) C=^A<M=Y%80QU%?!!a-$H))y5*<}5?I9=| 5?=Pݾ =P> E?9=T@=: =:)9WiWiXi XiWiXi:Wi2Wq*WqVqbUqBUy*UyUyU}?BB BAȆ*BAAAA"C`!?*CRCCCבIG=,$WhFAY}6@}6~0 @y}61}62C}6H,w?^?@HEĿ? ?)~6@ ~6"\;I~6CY^O?yb7FMB=YQU>a$Hyp}>Iȹ :Ž{ 5? :ŽUPݾ ƽm> ?9ƽV@ǽV: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU?B)B) B)A-*B)A1A1A1A1"C9*C9RC9C9CA1IIG}=>9Ii=?; E  ~:YU1y:)l;m,>WhFAY}2@}2 @y}2m,3}2z$ۻ}2H@{ ?`F?M¿WH?oz?)~2@ ~2l];I~2CYR'?yRFI|)| U U U U@ ]@ ]@QQQiQQ Q)QIQiQmEMmN=Ym}hQUm>qqau$Hqy}>I!%By 5?%Oݾ %> -?9%W@%4: %:)!WQWqXq XqWqXq:Wy2Wy*WyVybUyBU*UUU#@BB BAd*BAAAA"C*CRCCC  IG= >I)@A,XWhFAY}:/@}: @y}:E:}:j}:H`e' 9 ?E?O@%ſC;?`J ot?)~:/@ ~:Ȁ\;I~:CYF?yF8F) = >=M=M=YE嚼QUE>AIaM$HIIyU&}U>IY e:]w 5? e:]ROݾ ]> e?9]X@]: ] :)]:WWX XWX:W2W*WVbUBU*UUU"@BB BA*BAAAAQ"CY*CYRCYCYCaQIiG=  r:YWU1y:W69@M ,{rWhFA`9`IbFib?b=``b2; bEY}=w@}=h @y}=I}=}=H nYY?#? hʿs?JG?)~=w@ ~="\;I~=CYU'?yUF]a=ɮYy&1?7A`?~jt?`>> <)Iykt?Mb? 0== fBA)IAI1Ai&aAGA M U U U@ U@ U@ UQQQiU?Q U?)QIQiQe<Me9=YeQUm>iiam$Hqqy}73}}>IȁŅv 5?ŅNݾ ƅ>  ?9ƅZ@DžW< ȅM<)ȁWIWIXI XIWQXQ:WQ2WQ*WQVYbUYBUY*UYUYUe@RB*** querying acoustic contact ***PPBB BAd*BAAAA"C*CRCCC I G%,>,IWhFAY}6@}6I @y}6\T}6Fؽ}6H6Rf$m? 9?@7Ϳb?gf#?)~6@ ~6];I~6CYB>?yBTFFZ****** received transponder code query ******FF****** received ping request ******F||a~$H|y oO<} >I : v 5? %:Nݾ C> %?9Z@; u;):WIWIXI XIWQXQ:WQ2WQ*WQVYbUYBUY*UYUaUe` @B)B) B)A-އ*B)A1A1AQAQ"CY*CYRCYCaCa1I9GU==i=$ ~~ s:YT1y@:6,p$WhFAY}:@}:) @y}:,Y}:S<}:H`'`M.?x?N̿?['?)~:@ ~:n\;I~8YR?yRgFVxDUSBL response received:!U1,P 449,000,002B3,189,80,80,A9,FF VCommand AckVBRequesting micromodem ping code 2iTT^Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 xz^AM%G=Y5BQU=>IQaU$HYiy}\6<}>Iȡť=u 5?ťpMݾ ƥ> ?9ƥ[@ǥ; ȥr;)ȡW1W9X9 X9W9XA:WA2WI*WVbUBU*UUU\ @BQBQ BQA]>*BYAYAYAYAY"Ca*CRCCC׉IGI>ܱ9ܵCIܵFiܵ?ܵ=ܱܱܵ5; ݱ,WhFAY}6%@}69 @y}68]}6<'u}6H*V;m`?@Eo?U;`ϼʿp?@魿`@3?)~6%@ ~6c\;I~6CYN?yRFPPbNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @ @i )Ii<M>=YiQU>a$HHy;}>Ixt 5?Lݾ >  ?9\@ض: :)W)W)X) X1W1X1:W12W9*W9V9bU9BU9*UAUAUE`I@BiBq BqAu*BqAyAyAyAy"C*CRCCCIG% >@ a +v:YDW1yY:!6'*,@WhFAY}2@}2c @y}2Ɣa}2H5}2H Eg?`|?7@ʿ@Z?`$+2?)~2@ ~2JE\;I~2CYLyPVxDUSBL response received:!U1,R,3D1,000,002B0,188,80,80,9B,FF VFpublishing direction and range infoRCZPɰRqa=R> P)RCIPyRq@R9Z?kU}ٱPI\)\I\)\Ynlpar$Hppyv;}v>Ix ~:zs 5? ~:z7Lݾ z?> ?9z]@z: z:)z:W!W!X! X!W!X):W)2W)*W)V)bU1BU1*U1U1U= ˗@RM(Combining 5 samples.PI*QMq@ZQM|$J@<8JQM9Z?kU}2QMCZ:QIbQMzN?إ0 @}T>/T?RQM.?o60}?@p͒?BQM‘? QMf@QM4o?PMV9?PIPIQMQM@"QM@BB BA!*B!A!A!A!A!"C)*C)RC1C1CQQIyG=Y,lWhFA$9&CI&Fi&?&=$$&; &E)CICi==c5Y}r<@}r @y}rni}r`$}rH``Qs?~?4(@ʿ`h?E%?)~r<@ ~r-\;I~pY=?y=FTNmea in: $SNTTA,,0.397670,,,232102.98*4D Cl˿rh|?x&;_= 7 )Iy~jt? rh)\(D<CGa A>A)UAIK/AikAKA)å> å=    @ @ @i )Ii2RM  a $H yaл}>Is 5?eKݾ > -?9{^@: :)mUmAdded new target pos. range: 3.779998 m, bearing: 75.455572 deg, deltaT: 4.400699 s, approachRate: -0.040903 m/s, LOS rate: 0.960101 deg/s, posRepo size: 4XYW]‘?WYXY XYWYXY:Wa2Wa*WaVibUiBUi*UiUuo=@Uu s?BB BA *BAAAA"C?RCC‘?C9IIGm5>N C:YY1y:6);9T<,C XhFAY}6G@}6Ъ @y}6fu}6'}6H`@[@F?@s? ˿a?`R[7?)~6G@ ~6[;I~6CYR?yR/FiemGIyiٿٺVA7=Ma=YQU>a$Hy1}>I :s 5? :Jݾ Ħ> ?94_@#: :):WWX XWX:W2W*WVbU!BU!*U!U!U%?BQBQ BQAU*BYAYAYAYAY"Ce!?RCaCaCiiIyG=6f ,al'XhFAY}6Y@}6{u @y}6~}6T:}6H>p6q?s?v,Ϳi?搦a?)~6Y@ ~6[;I~6CY^?ybF]M]Q=YezQUe>aiam$Hiiyu}u>Is 5? Jݾ > ?9`@ϸ: @:)W W X  XWX:W2W*WVbUBU*U!U!U%@?BIBQ BQAUć*BQAQAYAYAY"CewL?RCaCaCa}?i}?iIyG=M>9MCIMȖFiM?M=IIM; ME e i:YDW1yY:6);UN,HAXhFAY}6)l@}6 @y}6}6g}6H`u m0?b?ο5?`96?)~6)l@ ~6k[;I~6CYzM?yz]FIm=)m=m]Ai    @ @ @ùùùiùù Ĺ)ĹIĹiĹԻMD=YQU>a$Hy;.;}>I :t 5? :NIݾ U> ?9`@: :):WWX XWX:W2W*WVbUBU*UUU;?BQBY BYA]ڇ*BYAaAaAaAa"C?*CRCCCׁIG>7x,"[XhFAY}6@}6 @y}6}6G{}6Hg ?K7?xп`M?R`?)~6@ ~6oU[;I~6CB`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ11)9 =IAYk?yoFMb@Mb@Mb@ )Iy~jt?Zd;O<j< DA)\QAI-AirApMA`:M%=Y%QU->))a-$H11y5}d<}=>IAE)s 5?EEIݾ E> M?9Ea@E: E:)AWqWqXq XqWqXq:Wy2Wy*WyVybUBU*UUU@j@BB BAӇ*BAAAA"C‘?RCCCI)ױIG>  Zn:YU1y:269@9 9 A 9A IE FiE a?E =E <DA E ; E EϢ,tXhFAY}6@@}6 @y}6}6\ }6H@g`ƴ?1?- пS?ܴ`?)~6@@ ~6]k[;I~6CɫYY)Y YIYY:?yF m m u u@ u@ u@qqqiqq q)qIqiq<M=YQU?a$Hy:}?Iȡ :ťr 5? :ť?Iݾ ƥ}> ?9ƥa@ǥ: ȥ;)ȥ:W1W1X1 X1W1X1:W12W9*W9V9bU9BUA*UAUAUE.@BB BA*BAAAA"C*CRCCCסIG >#,ގXhFAY}6uA@}6\ @y}6.ވ}6 U}6H4ϊ?Z? Ͽ?V`K?)~6uA@ ~6y`[;I~6Cɫ99)9 9I9Yu?y}Fyɮy=MT=Y7QU>a$Hy}>I  r 5? ;Iݾ k> ?9 hb@ : :) W9W9X9 XAWAXA:WA2WA*WIVIbUIBUI*UIUQUU@R]B*** querying acoustic contact ***PYPYBB BA0*BAAAA"C*CRCCC׉IG>Y  )x:YW1yč:|6),[XhFAY}:@}:A @y}:f}:$ d}:H`4hv?Mh?ͨ`Rп_?@k.?)~:@ ~:i1[;I~:Cɫ99)9 9I9Y})?y}[FZ****** received transponder code query ******F****** received ping request ******a$Hyk}>IȡťIq 5?ť4Iݾ ƥ1X> ?9ƥb@ǥ; ȥ';)ȡWWX XWX:W2W*W!V!bU!BU!*U!U)U-X @BB BA*BAAAA"C*CRCCC?i?IG$>9CIFiv?=;D; yEМ0,XhFAY}6@}6g @y}630}6'}6H`nHe{?W?vѿ?ⰿ *?)~6@ ~6L[;I~6CɫYY)Y YIYY%?yFxDUSBL response received:!U1,P 3D1,000,002B0,188,80,80,9B,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @ÑÑÑiÑÑ đ)đIđiđmM<Mu(=Y}QU}>a$HHyz;}>I :xp 5? :'Iݾ #B> ?9c@9; N;):WYWYXY XYWYX:W2W*WVbUBU*UUU4H@BB BAd*BAAAA"C*CRCCC =i= _    :Y y  6iIyG>T6,MjXhFAY}6@}69 @y}6돾}62}6H`y ? oK?Brѿ@? 8s?)~6@ ~65[;I~6CɫAA)I IIQY4?yF@AMNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ^A:MS=YdrQU>a$Hyo;}>Io 5?Iݾ d0> ?9d@ϸ: :)W9W9X9 XAWAXA:WA2WA*WIVIbUIBUI*UQUQUU`Î@ByB BA`*BAAAA"C*CRCCCIGI> 9 I НFi E@ = ; lE{<,EXhFAY}>@}> @y}>)}>N}>H@M`?4?\W@ҿ@|?(?)~>@ ~>@b;I~>Cɫyy)y yIyY!?yFxDUSBL response received:!U1,R,46A,000,002AD,189,80,80,B6,FF Fpublishing direction and range infoq|ɰu`=7> )6CIyff@Vոw?V1ٱI)Zd;OʡE<M`=Y Da$Hy<}>I :p 5? :#Iݾ 0> ?9>d@: :):WWX XWX:W2W*WVbUBU!*U!U!U%@R5(Combining 5 samples.P9*Q=ff@ZQ=#*?i>JQ=Vոw?V12Q=q|:Q9bQ=3Wg? @?RQ=q4?R~UA\_?i|b?BQ=%? Q=HL@Q=  :YT1y:{6);95C,,YhFAY}vf@}v) @y}vꇾ}v}vH7-S?S?@Uҿ [??)~vf@ ~v̍a;I~tɫ) IY?yF}TNmea in: $SNTTA,0.004875,,,,232107.46*49    @ @ @i )Ii|4<MG=Ya$Hy}>IMp 5?.Iݾ Q1> ?9od@=: ':)mMqAdded new target pos. range: 3.599999 m, bearing: 66.313050 deg, deltaT: 4.507294 s, approachRate: -0.039935 m/s, LOS rate: -2.028384 deg/s, posRepo size: 4XIWM%?WQXQ XQWQXQ:WQ2WY*WYVYbUYBUY*UaUe @Ue`@?BB BA*BAAAA"C4F?RCC%?CaIqG>I)mJ,)YhFAY}6@}6u5 @y}6}6,}6H T?`z?<пv)?!!a%$H!)y-L}->I1 =:5p 5? =:58Iݾ 51> E?95d@5: 5g:)5:WaWaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UyUyU}?B!B! B!A%*B!A)A)A)AI"CU>?RCQCQCY)I1GM>ܕ>9ܑIܕ(Fiܕ,@ܕ=ܑܑܕ; ݕaE)!I%Ci!!!%4B6 ~ m:Y0Y1y:<6);`P, CYhFAY}6"@}6 @y}6 }6W7}6H@I?i?@P@Ϳ`?`/=?)~6"@ ~6A9];I~4ɫ99)9 AIAY?y4F==i=%=<MC=Y6;QU>a$Hy}>Iȱŵp 5?ŵBIݾ Ƶ2> ?9Ƶd@ǵ: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUURA?BB BA{*BAAAA"CĘ?RCCC?i?IG (>t>zCiIi)ܿٺA5?9=AqW,]YhFAɫ髡) IY5?y=OFMb@Mb@Mb@ )Iya$Hy}>I  :5q 5?  :uHݾ F0> ?9e@,: :):W1W1X1 X9W9X9:W92W9*WAVAbUABUA*UIUIUM@j?BqBy ByA}p*ByAyAyAyA"CX?RCCCׁIG@>=i:  u:YW1yč:69 @܁ 9܁ I܅ Fi܅ @܅ =܁ ܁ ܅ ; ݅ ^E?],wYhFAɫyy)y yIyYx?yaaae$Haiyi}m>Iquq 5?uGݾ u.> ?9uf@u: uU:)qWWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C?RCCCIGm>&d,jYhFAY}64h@}6 @y}6v`}6#Cɽ}6H g-G? z?ݨ@Ϳ?@?)~64h@ ~6`;I~6CɫII)I IIIY}?y}FI)]<MN=YL=QU%>!!a%$H!)y-<}->I9=q 5?=Gݾ =-> E?9=cg@=: =}:)9WaWaXi XiWiXi:Wi2Wi*WqVqbUyBUy*UyUyU`4@BB BA-̈́*B)A1A1A1A1"C=?*C9RC9C9CAIש)ש׉IG >8 q u:YV1y:6Pj,CYhFAY}6@}6 @y}6U}6L}6H o??@/cV˿q? 6?)~6@ ~6#x^;I~4ɫ99)9 9I9Yp?yrFp=ɮa= % % % %@ %@ %@!!!i!! !)!I!i!5<M=I=Y=]AAaE$HAIyMn;}M>IQ ]:UYr 5? ]:UeFݾ U+> e?9UDh@U : U:)U:WWX XWX:W2W*WVbUBU*UUULv@RB*** querying acoustic contact ***PPBB BA*BAAAA"Cr?RCCCIGU>)9)I-`Fi-@-=))-; -[EI)8q,YhFAY}:i@}: @y}:J}:`}:H ^R?? ȿN+?hS?)~:i@ ~:/];I~:CɫYY)Y YIaYg?yFZ****** received transponder code query ******F****** received ping request ****** > 5 5 = =@ =@ =@999i99 9)9I9i9M+=MM:=YMQQaU$HUHYy]V:}e>Iaer 5?eEݾ e)> u?9e6i@e-: e|:)aWWX XWX:W2W*WVbUBU*U!U)U- @BqBq BqA}*ByAyAyAyAy"C2?*CRCCCסIGC>||| :YR1yi:6ew,FYhFAY}><@}>ŵ @y}> B}>{3}>H;P |?Q?`'rƿ? e?)~><@ ~>`\;I~>Cɫ) IY5T?y59FxDUSBL response received:!U1,P 46A,000,002AD,189,80,80,B6,FF Command AckBRequesting micromodem ping code 2i=iR=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Mb@Mb@Mb@ )IyV-?y&1Q<`u l=A)PAIK/AiIjAIA=ql<M=#=Y=AAaE$HAIyMM;}M>IY e:]s 5? e:]oDݾ ]%> e?9]j@]: ]s:)]:WWX XWX:W2W*WVbUBU*UUUQ @BB BA؃*BAAAA"C%?RCCCIG%>! 9! I! i! ! ! ! % ; % TES},5YhFAY}6j@}6t @y}6q<}6)}6H@Ti?z?`(Amſ`:l?g`q?)~6j@ ~6[;I~4ɫ99)9 9I9Y ?yF?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m m m m@ m@ m@ miiiim\?i mA?)mA?ImA?im?}=M=YП ?9ƥSk@ǥz: ȥ :)ȡWWX XWX:W2W*WVbUBU*UUU@@BB BA**BAAAA"C*CRCCCIG$>  :YU1y:E6) ;9 t,ZhFAY}:p@}:2 @y}:6}:}:Hh/??^Gȿ@?qfe?)~:p@ ~:a;I~:Cɫ99)9 9I9Y}*?y}FxDUSBL response received:!U1,R,3DF,000,002AF,189,80,80,A5,FF Fpublishing direction and range info;d]ɰa=鰁 )%CIyn@&)Q ?YٱIp=)=­]A­\A;MX=YYqa$Hy}s:}>I :Us 5? :Bݾ ; > ?9Yl@S; VT;):WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qn@ZQ@.:GN@fJQ&)Q ?Y2Q;d]:QbQ=?Hq? @xoH?RQ2?{H`?_@5?BQ܈? Qa@Qy?PV9?PW9?PQQc"@"Q,@BaBi BiAm#*BiAAAA"C*CRCCCסIG >,,ZhFAɫyy) IY?yFTNmea in: $SNTTA,0.075682,,,,232111.93*46 I)AI)A    @ @ @ @ñññiõñ ĵ)ĵIĵiĵ M-=YMQUM>IIaU$HQQy]}]>Iaes 5?eAݾ e> m?9em@e: eM:)amiAdded new target pos. range: 3.720000 m, bearing: 74.544767 deg, deltaT: 4.439151 s, approachRate: 0.027032 m/s, LOS rate: 1.854345 deg/s, posRepo size: 4XW܈?WX X>9IFi@=q; CEWX:W2W*WVbUBU*UU @U S?B9Ba BaAe*BaAaAiAiAi"Cu—?RCqCu܈?CqI)IG k>D  s:Yy6);҇,jkFZhFAY}F@}F @y}F"(}FBR}FH iS @#?mzUȿ x?=i?)~F@ ~Fca;I~FCɫYY)Y YIYY?yKF5<M5h=Y==QU=?99aE$HAAyM}M?IQUs 5?U@ݾ U> ]?9Un@U^: Uϸ:)QWWX XWX:W2W*WVbUBU*UUU@Z?B9BA BAAEi*BAAAAAAAAI"CuQ?RCqCqCqaIqG>IAA)AA,]Q`ZhFAɫii)i iIqY?yF{Gz ½)IyS㥛?~jtx?L7A`?/<;+= 7A)]AI1Ai^ApIAI=M2=YQU>a$Hy}>I :r 5?  :@ݾ *>  ?9Lo@: :):W)W)X1 X1W1X1:W12W1*W9V9bU9BU9*UAUAUE?BiBq BqAu*BqAqAyAyAy"Cy?RCCCyIG<>  i:YV1y:69@ >9 I НFi E@ A; )E)QIUCiQU=U=UI 5۝,zZhFAY}:@}:~ @y}:B }:>s}:H@j~@}?%?e¿q?@@D?)~:@ ~:a\;I~8ɫ99)9 9I9Y}?y}\F=i= } }  @ @ @ÁÁÁiÁÁ ā)āIāiāvͼMc=Ya$Hy;}>Iȩŭjr 5?ŭU@ݾ ƭ8> ?9ƭo@ǭ: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU`?BB! B!A%*B!A!A!A)A)"C5̪?RC1C1C9M?iM? IG5 >i I i  yٺ  ATä,a$Hy}>Iȑ :ŕq 5? :ŕ@ݾ ƕF> ?9ƕtp@Ǖ: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU 2@BB BA *B A A AA"C" ?RCCCIiG>i=m. m~m~m mR`:YmT1ym@:m6,ӭZhFAY}2i@}2f @y}2!}2;}2H +QDϠ?` ? $%I덿?O?)~2i@ ~2_;I~2CɫYY)a aIaY}?y}AFI=)^A]R¼MeL=Ym=QUm>ya$Hy$<}>I15q 5?5?ݾ 5jV> =?95q@5: 5:)1WaWaXa XaWaXa:Wi2Wi*WiVibUqBUq*UqUqU}~@BB BA*BAAAA"Cq?*CRCCCu>9qIuxFiu?qqqu&; uEבIG&>ձ,5ZhFAY}BK@}Bg @y}BKݽ}B}BH'^YYYa]$H]HayeԘ}m>Iq }:urp 5? }:u]?ݾ ud> }?9uq@u: uA:)u:WWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BAO*BAAAA"Ce?RCCCIG>mQ mmm mw:YmWU1ym:m6,tZhFAY}M@}M$ @y}M:ʽ}M+}MH@rg?@\B?@ `A)E^LAIEt3AiE+WAAEGEAe;Me:=Ymiiam$HqqyuHc}}>IȁŅn 5?Ņ?ݾ ƅl> ?9ƅs@Dž: ȅ#:)ȁWWX XWX:W2W*WVbUBU*UUU tP @BB BA=H*B9A9A9A9AA"CE܈?RCICICI1IAG]U>I@A)e >9e CIe Fie ?e =a a e ; e Er(,bZhFAY}2hV@}2q @y}2˽}2kTo}2HvM^|?tj?ۮ@h9n?U?)~2hV@ ~2 \;I~0ɫYY)Y YIYY?yFxDUSBL response received:!U1,P 3DF,000,002AF,189,80,80,A5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= >    @ @ @ÙÙÙiÙÙ ę)ęIęię-w<M5>=Y=$QU=>Aa$Hyg}>I :k 5? :@ݾ ;t> ?9u@:< <):WWX XWX:W2W *W V bUBU*UU!U- @BB  B A*BAyAyAyA"C*CRCCC|  z:YW1yč:6) ;9IG >,?[hFAY}2X@}2 @y}2޽}2xg}2H@aJ?`D@azĻ?j?)~2X@ ~2[;I~2CɫYY)Y YIYYP?yԓF@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i=U@M]n=Y]GۼQU]?aaae$Haaym<}m ?Iquj 5?u@ݾ uy> ?9uv@u: u:)qWWX XWX:W2W*WVbUBU*UUU`*@BB BA*BAAAA"C*CRCCC?i?שIG >o<, /[hFAY}2{l@}2 @y}2sܽ}2Aݽ}2H5L@?Z* ÿՀ?@?)~2{l@ ~2Ta;I~0ɫ9A)A AIIY}?yTFxDUSBL response received:!U1,R,437,000,002AC,189,80,80,A2,FF %Fpublishing direction and range info qɰ"`= )"CIyb@D ?FCٱ    @ @ @i )Iii<M8=Y>;QU>a$Hy<}>I :g 5? :Aݾ V> ?9x@: A:):9IFia?=o; AEWWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qb@ZQ`c@[2JQD ?FC2Q q:QbQ$?e @+"?RQ@?Guk?~5?BQ? Q.S@QW?PPV9?PQQ@"Qc"@BIBI BIAMf*BIAQAQAQAQ"CY*CyRCyCCyIG]>    O|:Y WU1y : D6) 7;$,H[hFAY}v-@}v5I @y}v½}vh(ѽ}vH-@>?HFnKR?@3 t?)~v-@ ~v_;I~vCɫ) IY?y:FTNmea in: $SNTTA,,0.033079,,,232116.35*4D Ia=)%=™™⑽MZ=Y=QU>a$Hy=}>Ie 5?Bݾ /> ?9wz@: ]:)mqAdded new target pos. range: 3.539999 m, bearing: 70.527024 deg, deltaT: 4.502130 s, approachRate: -0.039981 m/s, LOS rate: -0.892409 deg/s, posRepo size: 4XW?WX XWX:W2W *W V bUBU*UUQ @U34?BABA BAAE@*BIAIAIAIAI"CU?RCQC]?CYIIQGm>P,/b[hFAY}nG@}nRc @y}nb`}ng{}nH@ X?J@bjE?T C?)~nG@ ~n/^;I~nCɫ髱) IY?yFIQ)Q333333?l?i|?5?=> =)Iy{GztQ?I +ף\=94 C9A)TAIn8AiXAGA53=M5A=Y=99a=$HAAyMv;}M>IQUd 5?UBݾ UC> ]?9Uf{@U@: U:)QWWX XWX:W2W*WVbUBU*UUU ː?BB BA*BAAAA"CnF?RCCCI)I G%,>% 7 % % %  % su:Y% T1y% :% 69- @ >9 I Fi ? = ; Ebw,|[hFAY}2@}26 @y}2N}2ۻ}2H@?h`$J?@6 ?s6䱿@? ?f{?)~2@ ~2];I~2Cɫ99)9 9I9Y?y:F m m m m@ m@ m@iiiiii i)iIiiiGMW=YT;QU>a$HyL}>Iș :ŝc 5? :ŝCݾ Ɲ|> ?9ƝA|@ǝ|: ȝ:)ȝ:WWX XWX:W2W*WVbUBU*UUUn]?BB BA@*BAAAA"CCߜ?RCCCIG&>`,[hFAY}:-E@}:` @y}:I-}:#}:H-eN`=?-? 6J ݶ?珿A?)~:-E@ ~:@^;I~:CɫQQ)Y YIYY?y֑F !!)-> )u`JMuK=YuMQU}>yya}$Hyy(}>Iȉōb 5?ōCݾ ƍw> ?9ƍ(}@Ǎ': ȍ:)ȉWWX XWX:W2W*WVbUBU*UUU?BB BAi*BAAAA "Ca?*CRCCCIG- >- ) ) -  - xo:Y) y) - r6E,b[hFAY}fQ@}fگ @y}f9Ͻ}f_}fHHBC?pߋ?`?)~fQ@ ~fU_;I~fCɫ髹) IY9?yF    @ @ @i )Ii MC=YQU>a$Hy=<}>I  :b 5?  :,Dݾ p> ?9~@A: Z:):W1W1X1 X1W9X9:W92W9*W9VAbUABUA*UAUAUM?BqBq BqA}߄*ByAyAyAyAy"C?*CRCCC9IpFiM?=; E)UCIUCiQU=U=U}5U?iU?!I)GM1>p,<[hFAY}2&%@}2@ @y}2hؽ}21ӽ}2H @y儗 ? :¿@G? I@?)~2&%@ ~21_;I~0ɫ99)9 9I9Y}?y}=FHMX=Yf7QU>!!a%$H%H)y-ӿ<}->I15Ha 5?5Dݾ 5/k> E?95~@5=: 5:)1WaWaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UqUyU}@@T>uCi%NmGI9iIٺ*ABB BAw*BAAAA"C*CRCC C IG-,>=i=   b k:Y WU1y : <6ʞ,'[hFAY}6w@}6/ @y}6ֽ}6=}6Hz`޾??]vq`κ?F?)~6w@ ~6^;I~6Cɫ11)1 1I1YA?y|F鮽a=ɮa=IC=)=]v/?:v?sh|??]xi=]< ]=)YIYy]~jtV-~jt]D]]ļ ];A)]1RAI]7Ai]+WAY]3GAu;MuD=Y}T:QU}>a$Hy)}>Iȑ :ŕc 5? :ŕEݾ ƕ_> ?9ƕ,@Ǖs: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU@@RB*** querying acoustic contact ***PPBB BA]*BAAAA"C*CRCCC׹IG$> 9 I Fi }? = ; E&,I[hFAY}:9@}: @y}:޽}:O}:Hk#%꿠?3?i&ʻ?`@̢?)~:9@ ~: ];I~:Cɫ99)9 9I9Y}?y}FZ****** received transponder code query ******F****** received ping request ******9AaM$HIQyUV}U>IY]d 5?]Eݾ ]`S> m?9]@]: ]:)YWWX XWX:W2W*WVbUBU*UUU ę @BaB BA1*BAAAA"C*CRCCCI)IGE> "  s:Y y )6) ;9 ,\hFAY}6U@}6 @y}64}6Gϼ}6H$S0|M?? ^ z`H?͙@?)~6U@ ~6G^;I~6CɫYY)Y YIYYk?yFxDUSBL response received:!U1,P 437,000,002AC,189,80,80,A2,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 EM ^=YqؼQU%>19aE$HAy}>I)-f 5?-Fݾ -G> e?9-@-K; -;))WWX! X!W!XI:WI2WQ*WYVYbUYBUa*UUU @BABA BIAM*BIAIAIAIAQ"CQ*CYRCYCYCyaIyG_>I)?A# ,1\hFAY}2@}2| @y}2}2}2H5<`@U??`D@Z?`ޠ?)~2@ ~2z^;I~2Cɫ99)9 9IAY%?yFAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B u¼MuC=Y}QU}>ya$HyȻ}>Iȑ :ŕ4h 5? :ŕoFݾ ƕ8<> ?9ƕC@Ǖ: ȕR:)ȕ:WWX XWX:W2W*WVbUBU*UUU`@]>9YI]PFi]8?YYY]o; ]EBB BAd*BAAAA"C*C RC CCIG )>    |:Y T1y : `6) ;,K\hFAY}:@}: @y}: }:6h}:H@G @>`? ?@ 9&¿@?઼?)~:@ ~:b;I~:Cɫ99)9 9I9Y} )2CIyu@z+?w%Uٱ    @ @ @éééiéé ĩ)ĩIĩiĩME=YdQU>a$HyR;}>Ii 5?Fݾ /> ?9@Z: :)W)W)X) X)W1X1:W12W1*W1V9bU9BU9*U9U9UE@ @RU(Combining 5 samples.PQ*QUu@ZQU/ՕT?3 JQUz+?w%U2QU-:QQbQUYK?3Ha @$N?RQU>y?.+?8 ?BQU]? QU[X@QU^?PUX9?PQPQQQQU @"QU@BB BA ކ*B A A A A"C*CRCCCu?iu?AIQGm5>.,_e\hFAY}2)@}2 @y}2}29}2H@\I 8`? ? SI@&¿K&?M?)~2)@ ~2$`;I~2Cɫ99)9 9I9Y}?y}nFdNmea in: $SNTTA,0.045053,0.452107,,,232120.79*52 T㥛 ?K7ɿ{Gz>I ף)Iy+~jt?~jtD<D fBA)KAI5Ai~ZAGA2ME=Y:QU>a$H!y%\:}%>I1 5:5dj 5? =:5Gݾ 5i(> =?95}@5: 5:)5:mmmAdded new target pos. range: 3.839998 m, bearing: 62.383949 deg, deltaT: 4.394096 s, approachRate: 0.068273 m/s, LOS rate: -1.853185 deg/s, posRepo size: 4XiWu]?WqXq XqWqXq:Wy2Wy*WyVybUyBU*UU Q@UtC?BB BA*BAAAA"C?RCC]?CI!I1GM1>i=Y 9] CI] Fi] ?] =] <DY ] ; ] . E ~ ~  p:Y T1y @: 6) ;,.<\hFAY}2@}2$ @y}2}2UX}2HlG`9?`D?;Bÿc}? +?)~2@ ~2^;I~2Cɫ99)9 9I9Y}?y}JFJM\=Y!QU>!!a%$H!)y-;}->I15j 5?5}Hݾ =tI 5g!> E?95@5G: 5:)1WaWaXa XaWaXi:Wi2Wi*WiVibUyBU*UU U`1?B9B9 B9AMz*BIAQAQAQAQ"C]%ԕ?RCaCaCiiIyG>)%,'\hFAY}6@}6)0 @y}6k-}6Hk}6HeQ0??MGſ ?G{}?)~6@ ~6w];I~6Cɫ99)9 9I9Y2?y%F ] ] ] e@ e@ e@aaaiaa a)aIaiat<MC=Y!QU>a$Hy<}>Iȡ :ť/k 5? :ťWIݾ ƥ<> ?9ƥt@ǥA: ȥZ:)ȥ:WWX XWX:W2W*WVbUBU*UUU-?BB BA!*BAAAA"Cm?RCCCI)IG (>H%,,E\hFAY}:@}:d @y}:;}:\}:H ; 9D??*BƿoT?@k?)~:@ ~:[\;I~:Cɫ99)9 9I9Y}>?y}TFEXoMMO=Y]QU]>YYae$Haaymֆ}m>Iquk 5?u$Jݾ uK> }?9u@u/: u:)qWWX XWX:W2W*WVbUBU*UUU?BB BAއ*BAAAA9IPFi8?=i; \ E"C8?RCCCIG>I)@A- y t:YWU1y:6);< 3,\hFAY}2@}20 @y}2SG}2U^}2H`L7??L& =ȿ`Z?`@X?)~2@ ~2%_;I~2Cɫ99)9 9I9Y}C?y}F )= =eיMmH=YmsQUm>qqau$HuHyy}5 }}>Iȁ :Ņk 5? :ŅJݾ ƅ> ?9ƅl@Dž: ȅ:)ȅ:WWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C_?RC C C  IG5 >79,m\hFAY}6@}6`0 @y}6V}6:}6H >-,Ah?z?@+@ʿ?,9?)~6@ ~6~`^;I~6Cɫyy)y yIyY?yyFzG?x&?? W>7= <)IyV-I +?{Gz?94=#< @A)PAI2AicAIA - - - -@ -@ -@)))i)) )))I)i)=2M===YE QUE>AIaM$HIQyU@<}U>IY]Fk 5?].Lݾ ]S > e?9]*@]: ]k:)YWWX XWX:W2W*WVbUBU*UUU x@BB BA7*BAAAA"CRy?*CRCCCIG (> } U\:YDW1yY: 69@>9IFi}?=;  E)ňCIiň=ň=ň3M6n@,Ӄ]hFAY}6@}6 @y}60b}6P}6H L #? L?Y`{˿[ ?3 (?)~6@ ~6m6^;I~6CɫYY)Y YIYYs?y:F鮥p=ɮR= = E E E@ E@ E@AAAiAA A)AIAiAU MU[=Y]GQU]>YYa]$Haaye'<}m>Iimj 5?m=Mݾ m > }?9mΆ@m: m:)iWWX XWX:W2W*WVbUBU*UUUDv@RB*** querying acoustic contact ***PPBQBY BYA]Q*BYAaAaAaAa"C?RCCCIG$>i/mG=i=Ii=$ٺ9=AJF,d]hFAY}2@}2 @y}2\l}2+1}2H@CU h|?u/?ʿH?NG?)~2@ ~2VW];I~2Cɫ99)9 9I9Yu?y}F}Z****** received transponder code query ******F****** received ping request ******!!a-$H))yUo;}U>IY e:]j 5? e:]aNݾ ] > m?9]~@]A: ]:)]:WWX XWX:W2W*WVbUBU*UUU @B)B) B1A5*B1A1A1A1A9"C=]?RCACACA!I1GM>  #s:YU1y:i6xL,UN4]hFAY}:@}:P @y}:v}:[Km}:H`e`S3? ?ю̿`w?wɬ?)~:@ ~:z\;I~:CɫQQ)Q QIQYw?yFxDUSBL response received:!U1,P 4DE,000,002B1,18A,80,80,B2,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ܹ9ܹIܽFiܽ?ܹܹܹܽ; ݽ E }   @ @ @ i=? ?)K?IK?iv?WM%=Y9QU>a$Hy 4<} >IQi 5?Oݾ : > ]?9W@< <<)WWX XWX:W2W*WVbUBU*UUU @BABA BAAE*BIAqAqAqAy"C*CRCCCI)IG>Y[S,^N]hFAɫ髑) IY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B P=Mx=YQU?a$Hy} ?Iȱ :ŵh 5? :ŵPݾ ƵS > ?9Ƶ@ǵ: ȵ:)ȵ:WWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C*CRCCCIG%>  Dp:YDW1yY:6Y,g]hFAY}2K@}2 @y}2J}2P0}2H Jg̼?>? 1 Ϳ`kZ?.F?)~2K@ ~2a;I~0ɫAA)I IIQY?yFxDUSBL response received:!U1,R,3F3,000,002B3,189,80,80,AE,FF Fpublishing direction and range info aɰmb=鰥7> ).CIyp}@ s;M C=Y 'QU>a$Hy)}%>I!%h 5?%Pݾ %== 5?9%@%: %:)!WQWQXY XYWYXY:WY2WY*WaVabUaBUa*UiUiUm/@R}(Combining 5 samples.P*Qp}@ZQb.!@~ovJQܙ9ܝCIܝȖFiܝ?ܝ=ܝ;Dܙܝ; ݝ E]o`,Ӂ]hFAY}f@}f% @y}f܉}fd_}fH @vU?X6? пz?ȳ`f?)~f@ ~f_;I~fCɫ) IYU?yUUFTNmea in: $SNTTA,0.031952,,,,232125.24*4F =i= ] e e e@ e@ e@ e@aaaiea e)eIeieu㹼MuC=Y}ռQU}>yya$Hy3}>Iȑ :ŕ i 5? :ŕ Qݾ ƕ= ?9ƕ@Ǖ: ȕ^:)ȕ:miAdded new target pos. range: 3.959999 m, bearing: 73.455488 deg, deltaT: 4.449736 s, approachRate: 0.026968 m/s, LOS rate: 2.488134 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UU @U?BqBq ByAF*BAAAA"C=?RCC?CyIG=>0  :Y[1yݏ:6)r;9pf,]hFAY}6@}6 @y}6}6۟}6H )v ?`|*?HRѿ?ζ?)~6@ ~6Ů];I~6Cɫ99)9 9I9Y}?y}9F=Md=YvQU>!!a%$H!)y-;}->I15&i 5?5/Qݾ 5I= E?953@5: 5w:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUyU}?BB BA*BAAAA"CE?RCCC׉IG=l,]hFA999I= Fi=?==99=; = Eɫ) IY-?y-8FI4=)%=™^A    @ @ @i )Ii><M$=YQU>a$HHy}>Iȑ :ŕNi 5? :ŕaQݾ ƕҼ= ?9ƕS@Ǖƾ; ȕn;)ȕ:WWX XWX :W 2W *W V bUBU*UUUR?BB BA*BAAAA"C ?RCCCבIG> h ,i:YDW1yY:6);ԩs,]]hFAY}6@}62 @y}6m/}6a}6H @@?o?N@Ͽ?`6@G?)~6@ ~6>[;I~4ɫ99)9 9I9Y]A?y].FI)AI)AT#=M=YXy,6]hFAY}6&@}6 @y}6y\}6}6Hg =??1`[,пF?`,[?)~6&@ ~6`;I~4ɫ99)9 9I9Y}?y}Fmp= ף?K7ٿMbpm>mI̾ m)iIiym rh? rh~jtmC =mC mD mAA)mSAIiimvAim=NA<MA=Y7QU>  a$HyR}>I!%i 5?%Pݾ %o= -?9%7@%: %:)!WQWQXQ XQWQXQ:WY2WY*WYVYbUaBUa*UaUqU}`&@BB BA*BAAAA"C?RCCCשIG)>I)  f:YV1y:{69 @999I=@Fi=?==99=5; =C Ef,3^hFAY}N#@}N @y}Nm}N }NH@gQ ? 7e?oRѿ ]t?=ʮ?)~N#@ ~Nz^;I~NCɫ髉) IY?ylF    @ @ @éééiéé ĩ)ĩIĩiĩs=MG=YQU>a$Hy;}>I :i 5? :Nݾ e= ?9@< <):WWX XWX:W2W*WVbUBU*UUU`v@BB BA4*BAAAA"CS?RCCC ?i?IG%>,^hFAY}J@}J! @y}J}Jֽ}JH`%<@#?Sj? hR9ѿ@?@չа?)~J@ ~JG\;I~Hɫyy)y yIyY:^M%U=Y%))a-$H)1y5;}5>I9=i 5?=Mݾ =0= M?9=@=: =:)9WiWiXi XiWiXq:Wq2Wq*WyVybUyBUy*UyUU\@RB*** querying acoustic contact ***PPBB BAކ*BAAAA"CNݦ?RCCCIG- >  v:YX1y/:!6,6^hFAY}F@}F> @y}F}FG}FH@}s%:?—?\cETпɫ?`?)~F@ ~FwH\;I~Dɫ髙) I9CIFiE?=<D>; E)ՁCIсiсՁ=Ձ=ՁA6Y?yFZ****** received transponder code query ****** F****** received ping request ****** aaam$HiiyuU}u>Iy :}>j 5? :}Lݾ }< ?9}@}: }:)}:W W X  X W X:W2W*WVbUBU*UUU` @BB BA*BAAAA"C?RCCCסIGA>=ip=A A ,WP^hFAiXIdipٺ15AY}=Q@}=m @y}=q}=d=}=H`]׾?@?`8?Ͽ ?`?)~=Q@ ~=[;I~=Cɫ  ) IY-?y-cF5xDUSBL response received:!U1,P 3F3,000,002B3,189,80,80,AE,FF =Command Ack=BRequesting micromodem ping code 2i99ENmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 #<MW=Y/=QU>a$H y֓}>IAEj 5?EJݾ EJ< ?9EO@E;< E?<)AW9W9X9 X9WAXA:WI2WI*WQVQbUQBUy*UyUyU}I @BB BA8*BAAAA"C9*C9RC9C9CAIq)q1IQG>- ---w -l:Y-WU1y-:-|6-%,Xj^hFAY}:d@}: @y}:j}:,@}:Hk?? п`&?_?)~:d@ ~:&Cc;I~:CɫQQ)Q QIQY??yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Ii)i-?~jth?I +?->-D; -94=))I)y-Mbp?l?-;--= -?A)-XAI-,Ai-wA)- OA]`;M]?=Ymyya$Hy4;}e>Iy :}yj 5? :}Jݾ }< ?9}d@}: }:)}:WWX XWX:W2W*WVbUBU*UU!U%`@BiBi BqAu*BqAqAqAqAq"C*CRCCCבIGc>>9IFi@=; E ,Z^hFAY}6%@}6 @y}6vb}6#}6H@@8+?@?@>`EϿ`? ~M?)~6%@ ~6®`;I~6CɫYY)Y YIaY?ylFxDUSBL response received:!U1,R,4F9,000,002AF,188,80,80,B0,FF Fpublishing direction and range info 2ɰa=鰥> )0CIyn@ Hh?:جٱ 5 5 5 5@ 5@ 5@111i11 1)1I1i1EME^=YM)IIaU$HQy`<}>Iqj 5?Jݾ %=  ?9u@=: :)WiWiXi XiWqXq:Wq2Wq*WqVybUyBUy*UyUyU@R(Combining 5 samples.P*Qn@ZQZw) k? JQ Hh?:ج2Q 2:QbQwf?:ݹ @scv?RQe#?f1?S{:?BQ? Q(H@Q#?PX9?PV9?PQQ!@"Q @BB) B)A-4*B)A)A)A1A1"C9*C9RC9C9CAAIIGm5>IAA)AA  :YDW1yY:63,4^hFAY}2@}2 @y}2`wV}2*}2H@: #?`?`3p ˿ۜ?nK2?)~2@ ~2^^;I~2CɫAA)A AIIYz?yǍFDNmea in: $SNTTA,,,,,232129.70*50 =7<M=K=YE AIaM$HIIyU}U>IY]mj 5?]Kݾ ]_= m?9]@]ض: ]:)YmqAdded new target pos. range: 3.720000 m, bearing: 59.041856 deg, deltaT: 4.450555 s, approachRate: -0.053926 m/s, LOS rate: -3.238614 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UU @U ׆?B9B9 B9AE*BAAAAAAAAA"Cmw¡?RCiCu?Cqׅ?iׅ?)I9G]>a_,^hFAY}6k@}6 @y}6>H}6x}6H`ێ p@?? bfCʿ ?>`E?)~6k@ ~6%];I~6Cɫ99)9 9I9܁9܁I܅НFi܅E@܁܁܁܅ ; ݅EY6?y؎F]>i]=    @ @ @ñññiññ ı)ıIıiı=MB=Ya$HHyAv}>I :fj 5? : Kݾ ŏ= ?9@ ; ;):WWX XWX:W!2W!*W!V!bU)BU*UUU@O?BB BA*BAAAA"C ?RC C CIG (>^  x:YT1y: 6);9 E,y^hFAY}:}+@}:G @y}:8}:<5}:H t ?@)?@Avgǿ? ?k?)~:}+@ ~:_\;I~:Cɫ99)9 9I9Y}?y}FE!MES=YEy)=QUM>IIaM$HIYy]S%}]>Iaecj 5?e4Kݾ e&= u?9e@ez: eq:)aWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"CҔ?RCCCIG>i=o,e^hFAY}2b@}2 @y}2*}2<ʼ}2H`i"?Q? Cnÿ`g7?j혿8?)~2b@ ~2d,a;I~0ɫYY)Y YIYYT?yF}Mb@Mb@Mb@}} })}Iyy}/$?Mby&1?}<}}`e< }l=A)}SAI}/Ai}gAy}IA ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYm';Mm,=Yuqqa}$Hyyy9}>Iȉ :ōp?BB BA*BAAAA "C ?RCCCI!)!I G%M>y9}CI}Fi}E?}=yy}I; }+E ||L ^:YR1yi: 6);W,_hFAY}:@}:A @y}:%}:}:H`Hx`Ʊ?`O?I¿@?@ɗ?)~:@ ~:TZa;I~8ɫYY)Y aIaY}?y}rFI)u=M|=YPs,|_hFAY}2%]@}2x @y}2 }2dr}2H`?6? Ŀ T?`0ﭿ@?)~2%]@ ~2ʖ^;I~0ɫ99)9 9I9Yi?y3FUOM]D=Y]4aaae$Haaym<}m>Iq }:ui 5? }:uIݾ u= ?9ue@u: u:)u:WWX XWX:W2W*WVbUBU*UUU@"@BB BA*BAAAA"C\v?RCCCiIqG>I@A)@A'  -t:YT1y:69 @,W9_hFAY}:¶@}:K @y}:z}: }:H?@O?*%?˜@"ſ?F@?)~:¶@ ~:^;I~: C%>9%CI%Fi%1?%=!!%; %Eɫ99)9 9I9Yyyy鮅a=ɮp= U U U ]@ ]@ ]@QQQiQQ Q)QIQiQYmiqau$Hqyy}\<}}>IȁŅi 5?ŅoIݾ ƅ>= ?9ƅ@Dž: ȅ:)ȁWWX XWX:W2W*WVbUBU*UUUb@RB*** querying acoustic contact ***PPBB BA*BAAAA"C D-p?RC C C%?i%? IG5 ><,8S_hFAY}6#?@}6Z @y}6'}6}6H ki?`? ſ`5?&@o?)~6#?@ ~6M];I~6Cɫ99)9 9I9Y}Z?y}*FZ****** received transponder code query ******F****** received ping request ******  a $H y"<}>I! -:%i 5? -:%Iݾ %Q= ?9%@%^< %<)%:WWX XWX:W2W*WVbU BU)*U)U1U5` @ByBy ByA}*BAAAA"Cko?*CRCCCסIG >% %%%y %5j:Y%DW1y%Y:%6, m_hFAY}2@}2< @y}2a}2k}2H;K?@? ÿ? U?)~2@ ~2b\;I~2Cɫ99)9 9I9Y]x?y] )Iy~jtQ? ףp= ?ļ\=Q8= ½a%$H!)y-z;<}->I15i 5?5RJݾ 5> =?95@5; 5;)1WyWyX XWX:W2W*WVbUBU*UUU`w @BB BA*BAAAA"Chw?RCC!%]A5>95CI5Fi5a?5=5;D15; 5~E)ņCIņCiņ=ņ=ņo5Caip=qIG> ,c_hFAY}R@}R @y}RLy}RL\}RH=`Gs?>?. T@x?HP?)~R@ ~RHub;I~RCɫqy)y yIyYC?yVF@A-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )Ii6)=Mq=Y %?91@R: I:)WAWAXA XAWIXI:WI2WI*WQVQbUQBUQ*UYUYU]@BABI BIAM*BIAIAIAQAQ"C]H?RCYCYCYimGI-_Ai9ٺ_AAyIG_> yy >k:YP1y':{6V,6ʠ_hFAY}6@}6A @y}6}6º|}6H `R H:ʔ??y:H\ ,k?`U`?)~6@ ~65_;I~6Cɫ99)9 9I9YuN?y}FxDUSBL response received:!U1,R,502,000,002B1,189,80,80,BB,FF Fpublishing direction and range info}f3yɰ}a=}7> y)};CIyy}u@}w?amf-ٱyI)m۬<MmT=Ym.:QU>a$Hy;}>Iȡ :ť*h 5? :ť-Lݾ ƥ+> ?9ƥɐ@ǥ; ȥ;)ȥ:WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qu@ZQAKK?Oh JQw?amf-2Qf3:QbQ/?4y @L(?RQ .4q=.? kj?JEѻ?BQ? QT@Qw?PPX9?PQQ[@"Q!@BqBq BqAuZ*BqAyAyAyAy"C?RCCCaIqG>k,]_hFAh9hIjȖFij?j=hhj; jDEY}=@}=O @y}=-L}=0r}=H ,a {/@??@L>%[U?`?)~=@ ~=,];I~=CɫYY)Y YIYYu?yuUFTNmea in: $SNTTA,0.032495,,,,232134.12*4F -#=M->=Y5L:QU5>11a=$H=H9yE;}E>IIMg 5?MCMݾ M$=> U?9Mn@Mw: M:)ImiAdded new target pos. range: 3.839998 m, bearing: 60.652906 deg, deltaT: 4.421127 s, approachRate: 0.027142 m/s, LOS rate: 0.364398 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UU Q@U,?BB BA̓*BAAAA"C?RCC?CyIG>>I)L  b:YDW1yY:6);9,xz_hFAY}2 @}2 @y}2_}2{¼}2H-_@'nݨ??@l ? ^,?)~2 @ ~2yu];I~2CɫYY)Y YIYY?y:F U U U U@ ]@ ]@QQQiQQ Q)QIQiQeMmX=YmQqa$Hy$}>I :@g 5? :?Nݾ M> ?9@: :):W9WAXA XAWAXA:WA2WI*WIVIbUIBUQ*UQUQUUE4?BB BA@*BAAAA"C*CRCCCiIyG >> ,V_hFAY}F@}F @y}Fc꽙}F:}FHF 3@??^`dL?@!?)~F@ ~F];I~FCVJFailed to close latch before timeout.q VVHardware FaultYZ?yZpF=iR=U/$? rh/$U>UC U)QIQyUZd;OUU̼Uj Ul=A)QIU5AiUYAQU GAu0=MuI=Y};QU}>yya$Hy$}>Iȑŕg 5?ŕMݾ ƕD> ?9ƕT@Ǖ: ȕR:)ȑWWX XWX:W2W*WVbUBU *UUU`o?BYBa BaAeƒ*BaAaAiAiAi"C*CRCCCסI-$@Hardware Fault in component: DDMG9Ii=R; !EN ~~ b:YT1y@:26)=;c,[?`hFAY}:@}: @y}:}:n}:HT3@%'?`G?`U?A?)~:@ ~:*a;I~:CBPowering down@ɪ@)@ @Y?y8F<M:=YGQU>a$HyG;}>Iȡ :ťh 5? :ťvMݾ ƥ:> ?9ƥ@ǥ: ȥ:)ȥ:WWX XWX:W2W*WVbUBU*UUUZ?BB BAq*BAAA!A!"C)*C)RC)C)C1I)GE0>=i=, "`hFAY}Je@}J @y}JB6뽙}Jo}JH@M`=@??8`)H?V?``?)~Je@ ~Jae;I~HY^?ybF u u u u@ u@ u@qqqiqq q)qIqiqMr=Yg;QU?a$Hy]}?Iȡť.i 5?ť#Mݾ ƥP3> ?9ƥ@ǥZ: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU`?BB BA*BAAAA"C*CRCCCIG>" || s:YR1yi:69@,H,;`hFA6>94I6Fi6?6=446'; 6 EY}FI@}F @y}F潙}F>}FH^3B?]1ONм?`@ȱ?)~FI@ ~F4*f;I~FCY?yFIy)y    @ @ @i )IiGg<MD=Y;QU>a$Hyպ;}>Ii 5?Lݾ t*>  ?9W@Ȳ: :)W1W1X1 X1W9X9:W92W9*W9VAbUABUA*UAUAUM 4@B1B1 B1A5|*B1A9A9A9A9"CA*CARCACACIIIQ$eNClearing failed state for component DDMq eGu> 1,aU`hFAY}JLE@}J` @y}J余}J|@}JH́`k?RF¿?$`?)~JLE@ ~JӇc;I~JCYZ?yZFbp=ɮb=)r0> r=z<Mz[=YzO;QU~>a$Hy <} >I :j 5? :\Lݾ "> ?9@ӏ< <):WWX XWX:W2W*WVbUBU*UUUQ@RB*** querying acoustic contact ***PPBB BAD*B A A A A "C*CRCCC IG5=  0p:YWU1y:67Z,o`hFAY}6b@}6P~ @y}6Dݽ}6s3}6H`` rK?9?o*ⰻ??)~6b@ ~6j`;I~6CYJ?yJFRZ****** received transponder code query ******RF****** received ping request ******VO > T)IyMbp?Mb` rh;C a$Hym;}>I  j 5? ,Lݾ W> ?9 ē@ : ':) WQWQXY XYWYXY:WY2WY*WaVabUaBU*UUU@B @BB BA9*BAAAA"C*CRCCCIGE>e>9aIeȖFie?e=aae ; eE@B",[y`hFAY}Fg@}Fl @y}Fɭս}Fߑ}FH@<@dh??yS?@@˾?)~Fg@ ~F];I~FCYV?yZҕFZxDUSBL response received:!U1,P 502,000,002B1,189,80,80,BB,FF ^Command Ack^BRequesting micromodem ping code 2i\Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 j(=Mx=YG ?9ƕؓ@ǕrB; ȕS;)ȕ:WYWYXY XYWaXa:Wa2Wi*WVbUBU*UUU`R @BaB BAʂ*BAAAA"C*CRCCCׁIG@>^ ~~ %d:YT1y@:r6m(,6[`hFAY}2/@}2EK @y}2F̽}2'6ý}2HɈ@(@?Kh ~?O> H?)~2/@ ~2];I~0YN?yNFPPbNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B !%]A];M]M=Y]=aaae$Haiym}m>Iqu{j 5?uKݾ u2> ?9u@uض: u:)qWAWAXA XAWAXA:WA2WI*WIVIbUiBUq*UqUqUuB@BB BAÂ*BAAAA"C*CRCCCIG >e >9a Ie XFie ?e =a a e ; e E)CICi==G'5.,:`hFAY}@}4! @y}/r}f}HhzGĤ?`}& W¿6?@ ੤?)~@ ~q];I~CY%R?y%F5xDUSBL response received:!U1,R,434,000,002AE,18A,80,80,8C,FF 5Fpublishing direction and range info5vap1ɰ5`=5> 1)5 CI1y5=j@5{H#=?f1nٱ1    @ @ @ @ÙÙÙiÝÙ ĝ)ĝIĝiĝVӻMB=Y aa$HHyȻ}>I :{j 5? :Kݾ > ?9@$: :):W9WAXA XaWaXa:Wi2Wi*WiVibUiBUq*UqUqUu@R(Combining 5 samples.P*Q=j@ZQİJ@OLJQ{H#=?f1n2Qvap:QbQm1܏?8wQ5m @!s:k?RQlžKI?V@s?Jy ?BQK? Qi[@Q~?PV9?PPQQ@"Q[@BB BA%ق*B!A!A!A!A!"C)*C)RC1C1C1I)GM>r k e:YT1y:36);9A M zCi }nGI `Ai % ٺ% `A% A5,1]`hFAY}f@}f# @y}fb}f5}fH@9}QG䓿?IM?`]Hܿ?)~f@ ~f\;I~dYr0?yv7F]TNmea in: $SNTTA,0.040058,,,,232138.55*40 <MK=Y-a$Hy9}>Ixj 5?Kݾ y> ?9@: U:)m mAdded new target pos. range: 3.660000 m, bearing: 71.304511 deg, deltaT: 4.438742 s, approachRate: -0.040552 m/s, LOS rate: 2.399690 deg/s, posRepo size: 4X W K?WX XWX:W2W*WVbUBU*U!U%G @U%@c?BB BA*BAAAA"Cj#?RCCK?CI GM>;,/`hFAY}]]@}]y @y}]}]K4}]H"P?`0?`@!.ܶ?@/@T?)~]]@ ~]u[;I~YY}?y}$Fm/$?~jtx{Gzm,>mĻ m#)iIiym{Gzt?I +L7A`?mף;m9m+= mC9A)mSAIm7AimUAimFA = = = =@ E@ E@999i99 9)9I9i9UMU3=YU:QUU>YYa]$HYaye[;<}e>Iq u:uk 5? }:u>Kݾ u}> }?9uf@u: u:)u:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C3?RCCCI G%,>9Ii; EIAA):  u:YV1y:6);1B,` ahFAY}2h@}2 @y}2}2}2H`/!ۗ? ?`S2uVO?@K?)~2h@ ~2[;I~0YB?yBF==M=t=YE[QUE?AIaM$HIIyUJG<}U?IY]k 5?]Jݾ ]4> e?9]@]U: ]:)YWWX X W X :W 2W *WVbU1BU1*U9U9U="?BB BA*BAAAA"Cw?RCCCIG>'H,$ahFAY}Rr@}R @y}RV}RyM}RH L`YN?@?x C?y?)~Rr@ ~R3[;I~RCYbr?ybF=%=i=p<. MD=Yw!a$HyC6}>IȹŽ l 5?ŽJݾ ƽ*> ?9ƽ@ǽ0: Ƚ:)ȹWaWaXa XaWiXi:Wi2Wi*WiVqbUBU*UUU ?BB BA*BAAAA "C-?RC1C1C1 IG5 > ^ }i:YT1y: 69@ >9 I i ; EN,(>ahFAY}: 9@}:T @y}:}:L}:H83 b@?o޻@? J?)~: 9@ ~:_Z;I~:CYF;?yFۖF  ^A ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYmüMmM=YmWOqqa}$HyyyT}>Iȉ :ōl 5? :ō_Jݾ ƍ9> ?9ƍ%@Ǎ: ȍ:)ȍ:WWX XWX:W2W*WVbUBU*UUU:?BB BA_*BAAAA"C Om?RC C CI!)! IG5=>U,XahFAY}F;H@}Fc @y}F^}F_}FHn08F ?`aSfg@mF?:?)~F;H@ ~FTF[;I~FCRPowering upV"Initializing DDM.Y?yFU;MU<=Y];QU]>YYae$Haaye ;}m>Iqum 5?uJݾ uH> }?9uf@u|: u:)qW)W)X) X)W)X):W12W1*W1V1bU9BU9*U9U9U= 1@BiBi BiAuH*BqAqAqAqAq"C}K?*CyRCCCשIG )>n  le:YU1y: 6\,1zrahFAY}v@}v2 @y}v'}vԽ}vHܻ Z?z ?`xƺ?)~v@ ~v [[;I~tY&?yF a=ɮ a=?ktX9v?= }=)IyQ?X9v? rh?\=<C = l=A)^LAIi1RADA E E E E@ E@ E@AAAiAA A)AIAiAU!@M]J=Y] ;QU]>aaae$HaaymIq }:unk 5? }:uIݾ uV> ?9u@u: u:)u:WWX XWX:W2W*WVbUBU*UUU ҡ@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCׁIG>܁9܁I܅ȖFi܅?܅=܁܁܅; ݁xb,OahFAY}^^@}^z @y}^7}^w}^HL `KM`? ^Hw?`:y?)~^^@ ~^[;I~\Yrp?yrFvZ****** received transponder code query ******vF****** received ping request ******v E>U;MU]=Y]$QU]>aaam$Hiiyu=}}>IȁŅi 5?ŅIݾ ƅc> ?9ƅ@Dž9; ȅA;)ȁWWX XWX:W2W*WVbUBU*UUU( @BB BAт*BAAAA"C*CRC C CIG- > }}P rj:YkS1yԊ:N 6i,p$ahFAY}6@}6 @y}6BB}6ƫW}6H@B\J?Ah?0Bp?@ ٪?)~6@ ~6Z;I~6CYv?yvFzxDUSBL response received:!U1,P 434,000,002AE,18A,80,80,8C,FF zCommand AckzBRequesting micromodem ping code 2i||Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ]7<MeJ=Yu QU}>a$Hy<}>I :ch 5?  :Iݾ r> ?9-@< <):WWX XWX:W2W*WVbUBUI*UIUIUM`Ԁ @BB BA*BAAAA"C*CRCCCI GUS>܍ >9܉ I܍ Fi܍ ?܍ =܉ ܉ ܍ ; ݍ EAo, ahFAY}Z @}Z3'@y}Z+}Z=?}ZHN ف? =`?L0?FT?)~Z @ ~Z`[;I~ZCYn?yrʔFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B u u u u@ u@ u@qqqiqq q)qIqiqM9=Y`:QU>a$HHy;}>Iȡťf 5?ťIݾ ƥ3> ?9ƥ͗@ǥ': ȥU:)ȡWWX XWX:W2W*WVbUBU*UUU.@BB BA5*BAAAA"C*CRCCCIG$> || ;|:YR1yi:6)&;9*v,ahFAY}:f @}:'@y}:k}:P}:H6M@@?^? K `ܶ "f?㘠B?)~:f @ ~:M[;I~:CYb?ybӔFfxDUSBL response received:!U1,R,488,000,002B1,189,80,80,9E,FF fFpublishing direction and range infofdɰfa=f7> d)fCIdyfu@f C?t:5#ٱdzݧ:Mzh=Y~QU~>a$H y  9} >I :me 5? :gIݾ > %?9P@: :):WAWAXA XAWIXI:WI2WI*WIVQbUQBUQ*UQUQU]@Rm(Combining 5 samples.Pi*Qmu@ZQmiUsG@{ۤQ JQm C?t:5#2Qm:QibQm< z?JY @^R&?RQm- ?|&?.dB?BQmI? Qmd@Qm+?PmW9?PmV9?PiQmQm @"Qm@BB BA2*BAAAA"C*CRCCCyIG=^X|,ahFAY}F@}F @y}F)}Fb}FH`?07 }?tb? *%+` 4? ^ I?)~F@ ~FI2[;I~FCY~$?y~FdNmea in: $SNTTA,0.391912,0.392018,,,232142.99*5A Mb@Mb@Mb@ )Iy:vQ?MbP?T\=: …A>A)…JAIi…OADA    @ @ @i )IiM.=YyvQU>a$Hy 4d} >Ie 5? Kݾ 8> ?9@@b: :)m]mAdded new target pos. range: 3.839998 m, bearing: 69.061668 deg, deltaT: 4.401421 s, approachRate: 0.040896 m/s, LOS rate: -0.509572 deg/s, posRepo size: 4XYW]I?WYXa XaWaXa:Wa2Wi*WiVibUiBUq*UqUu Q@Uuv1?BB BA*BAAAA"C]?RCCI?C׹IG$>!9!I%8Fi%?%=!!%; %E)ݹIݹiݹݽ=ݹݽU5  i:YDW1yY:6);d<, bhFAY~p?y~rFIa)a,Md=YQU>a$Hy}>IȹŽe 5?ŽPLݾ ƽ> ?9ƽ@ǽN0< Ƚ2;f,vl'bhFAY}6@}6 @y}6q׽}6ы½}6Ht@dg׆.?$9¿@?@%?)~6@ ~6U[;I~6CYF?yFFEnMMP=YMڼQUM>QQaU$HQYye<}m>Iq :ue 5? :uMݾ u> ?9u@u< u4<)u:WYWYXY XYWYXa:Wa2Wa*WaVibUiBUi*UUU?BB BA*BAAAA"CI?*CRCCC-?i-?IG- >c  x:YxZ1yq:|69@- >9) I- Fi- ?- =) ) - ; - EM,EAbhFAY}No@}Nx@y}N{ڽ}Nzμ}NH@pkd?`4?t p{4?@#@?)~No@ ~N\;I~NCYZ?y^F )) } } } }@ }@ }@yyyiyy y)yIyiyjMF=YJQU>a$HyeQ}>Iȩŭe 5?ŭ#Oݾ ƭc> ?9ƭ@ǭ: ȭD:)ȩWYWYXY XYWYXY:Wa2Wa*WaVibUiBUi*UqUU x?BB BA1*BA!A!A!A!"CQ*CQRCYCYCYiIqG>-x,"[bhFAY}6H@}6vd@y}6p潙}65[<}6H X $]`4?19a=$H9AyMƻ}M>IY e:] f 5? e:]Pݾ ]> m?9]]@]H%; ]T&;)]:WWX XWX:W2W*WVbUBU*UUUC@B!B! B)A-Ԅ*B)A)A1AA"C*CRCCCiIqGY  )x:YU1y:6,TubhFAY}B/@}BBK@y}B}BP)}BH-Hon?;? 0l~$? ~e8?)~B/@ ~B^;I~BCYb?ybFrh|?ʡE?~jt=> )Iy;M/=YƼQU>a%$H!!y-X}->I15f 5?5Oݾ 5Hp> =?95@5ӻ: 5:)1WYWaXa XaWaXa:Wa2Wi*WiVibUiBUq*UqUqUu@BB BAɄ*BAAAA"C*CRCCCסI>9Ii=; EG$>=iD,'َbhFAY}2@}2y @y}2 }2Y}2H  ?`O?@!@i/?@ުp?)~2@ ~2];I~0YR?yRrFPɮPbMby=YfQUf?ddaj$Hhhyn}n?It ~:vf 5? :vNݾ vc> ?9vm@v{; vXz;)v:WAWAXA XAWAXI:WI2WI*WIVIbUQBUQ*UUUQ@R B*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCIG>   j:YT1y:)6X,bhFAY}:H@}:c @y}:}:3}:H`.Q?o?`@2?4@?)~:H@ ~:;\;I~:CYF2?yFsFJZ****** received transponder code query ******JF****** received ping request ******J  a $H y}>I!%{g 5?%Mݾ %S> -?9%@%~: %:)!WQWYXY XYWYXY:Wa2Wa*WaVabUaBUi*UiUiUm @BB BAa*BAAAA"C*CRCCCױIG= 9 I Fi ? ; E,bhFAY}2C@}20 @y}2Tf}21,V}2Hv@ME?u? Y?v (?)~2C@ ~2[;I~2CY^?ybFfxDUSBL response received:!U1,P 488,000,002B1,189,80,80,9E,FF fCommand AckfBRequesting micromodem ping code 2iddnNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )U= U=    @ @ @ÁÁÁiÁÁ ā)āIāiā{M#=YQU>a$HH)y-ɻ}5>I1 =:5h 5? E:5Lݾ 5@> E?95@5N: 5/;)5 :WWX XWX:W2W*WVbUBU*UUU @B)B1 B1A5*B1A9AiAiAi"Cy*CRCCC?i?׹IGf>  f:YU1y:N6);9Pƶ, ?9Ɲ@ǝض: ȝk:)șWWX XWXq:Wy2W*WVbUBU*UUUy@BB! B!A%p*B!AAAIAIAI"CQ*CQRCQCQCYaIiG9>l,NEbhFAY}6,@}6 @y}6DŽ9}6SC}6H;`p?\?V =.ƿ,? p?)~6,@ ~6{[;I~6CYB'?yBώFFxDUSBL response received:!U1,R,4AE,000,002AD,189,80,80,A8,FF FFpublishing direction and range infoFaхDɰFu`=D D)F(CIDyFff@F27` ?D RٱDMb@Mb@Mb@ )Iy/$?~jtS㥫<D/] ?A)IAIt3AiS[AFA-sM5@=YUQUU>YYae$HaiymH2:}>Ișŝ.h 5?ŝ'Kݾ Ɲ> ?9Ɲ@ǝ; ȝ;)șW!W!X! X)W)XI:WQ2WQ*WQVQbUQBUY*UYUYU]@@R(Combining 5 samples.P*Qff@ZQ"J?2bJQ27` ?D R2Qaх:QbQ:?1΢ @7,-?RQ%?g? D?BQ䰒? QP@QD?PPW9?PQQA@"Q @BB BA*B A A A A "C*CRCCC}>9}CI}pFi}M?}=y}LD}; }E!I)GM1>  Sk:YT1y:6);,)chFAY}5wQ@}5m @y}5^G}5ѽ}5H̸@??2?@zΙ˿ ?g:?)~5wQ@ ~5-[;I~5CY\?yF-TNmea in: $SNTTA,0.047697,,,,232147.43*4D E^AA    @ @ @ÑÑÑiÑÑ đ)đIđiđMC=Y QU>a$HyK<}>I :h 5? :XJݾ  > ?9 @; ;) :mqAdded new target pos. range: 3.599999 m, bearing: 65.662297 deg, deltaT: 4.514177 s, approachRate: -0.053166 m/s, LOS rate: -0.753043 deg/s, posRepo size: 4XW䰒?WX XW X :W2W*WVbUBU*UU @U@?BIBI BIAM*BQAQAQAQAQ"C]ۗ?RCYC]䰒?CaAIQGm>q,)chFA|i|@Y}6@}6 @y}6'O}6]}6H`@Ԟ?0?9$Ϳ?>& I&?)~6@ ~6m\;I~6CYN?yRF=M%g=Y%QU%>))a-$H)1y5Sl<}5>I9=g 5?=Iݾ == M?9=q@=: =w:)9WqWqXq XyWyXy:W2W*WVbUBU*UUU?BB BA*BAAAA"Ck?RCCC I!GE= |  n:YDW1yY:69@m >9i Im Fim ?i i i m ; m E)ICi=5, CchFAY}6!@}6 @y}6/S}68}6H@.F??@G˿`ID?Ŵ 6?)~6!@ ~6n?\;I~6CYN?yR}FmVMmE=Yu.QUu>ya$Hyp;}>Iș :ŝg 5? :ŝHݾ Ɲf= ?9Ɲ@ǝ#; ȝ;)ȝ :WWX XWX:W2W*WVbUBU*UUU  ?BIBI BIAMŅ*BIAQAQAQAQ"C]*?RCYCYCaI)Gu=uCimGIi=տٺ9=A,1]chFAY}2b@}2@y}2E ^}2lr}2HB`? ? ;5Meʿk?ܛ 1?)~2b@ ~2\;I~0YRP?yRF)U= U> E E M M@ M@ M@IIIiII I)IIIiIel<Me/=YedQUm>qqau$Hqyy5<}>Iȑŕgg 5?ŕGݾ ƕ= ?9ƕr@Ǖ; ȕ;)ȑWWX XWX:W2W*WVbUBU*UUU@?BB  B A Z*B A A AA"C;?RCCC5?i5?!I1G<>  ݀:YWU1y:6>,iwchFAY}2U@}2@y}2Sd}2Na}2H}*? ?@(`v̿`[??)~2U@ ~2l\;I~2 CYV?yVFi|?5?Mb?y&1q=< `e)Iyy&1|?QMb`;u ­;A)­+WAI­0Ai­IjAKA        @  @  @   i   ) I i ';MX=YQU>a$Hy<}>Iȱ :ŵg 5? :ŵGݾ Ƶ= ?9Ƶ@ǵ: ȵ:)ȵ :WWX XWX:W2W*WVbUBU*UUU`k@B!B! B!A%C*B)A)A)A)A1"C5䰒?*C9RC9C9C9>9I Fi?=<D4; E)I1G>^&,gchFAY}2ߊ@}2h@y}2 d}2ݭ}2H??`t [̿E?@CL;?)~2ߊ@ ~2,\;I~2CYN!?yRF]7M]a=Ye:QUe>aaam$Hiiyu}u>Iy}g 5?}(Gݾ }= ?9}@}: }:)yWWX XWX:W2W*WVbUBU*UUU@B B  B A %*BAAAA"C!*C)RC)C)C11IAGu=  l:YV1y:W6P,5CchFAY}2 @}2'@y}2@Nc}2Բ}2H`_V\?@?`n`˿1.?@ǰ$?)~2 @ ~2߇[;I~0YN?yR=F^]A^]Ab6b=MbT=Yf:QUf>dhaj$Hhhyn뤼}n>Iprh 5?rFݾ ru|= v?9r!@r: r':)pWWX XWX:W2W*WVbU!BU!*U!U!U-@R5B*** querying acoustic contact ***P1P1BB BAw*BAAAA"C*CRCCC׹IG= >9 I xFi ? = ;D  ;  :E8,chFAY}22@}2vN@y}2-g}2c}2H``V:?`?u˿0?@?)~22@ ~2$=[;I~2CYn?yrFvZ****** received transponder code query ******vF****** received ping request ******va$HHyP;}>I :Kh 5? %:KFݾ c= %?9k@7; Z8;) :WWX XWX:W2W*WVbUBU*UUU @BIBI BIAMC*BIAQAQAQAQ"CY*CYRCYCYCaaIiG9>Y  c:YU1y:6);9e,chFAY}:p@}: @y}:j}:]o}:Hhm$?`?D)˿ ?(l?)~:p@ ~:F[;I~:CYf?yfFvxDUSBL response received:!U1,P 4AE,000,002AD,189,80,80,A8,FF vCommand AckzBRequesting micromodem ping code 2i||Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 eϺ;MN=YֻQU>a$HQy]<}]>Iȱŵh 5?ŵEݾ ƵJL= ?9Ƶ@ǵ; ȵ;)ȱWyWyX XWX:W2W*WVbUBU*U U U { @BQBQ BYA}1*ByAyAyAA"C*CRCCCיIGf>,chFAY}2:y@}2Ô@y}2kj}2}2H`@̵? B? ^1̿# ?RI?)~2:y@ ~2[;I~2CYf?yfFhjAAzNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B S㥛{Gz?y&1|/ݼף= `)IyI +?a$Hܽ>9ܹIܽ@Fiܽ?ܽ=ܹܹܽ,; ݽEy:}>I  : g 5? : tEݾ %= -?9 @ w; 8v;) :WIWQXQ XQWQXQ:WQ2WY*WYVYbUYBUY*UaUaUe D@BB BA-*BAAAA"C *C RC C CIGI>I@A)?A [ }i:YX1y/:| 6);t,dhFAY}2@}2i+@y}2nf}2(}2HX@ǰ?,?^˿ ȏ?yt@!?)~2@ ~2 Z;I~2CYN_?yRFVxDUSBL response received:!U1,R,4A3,000,002AF,18A,80,80,AE,FF VFpublishing direction and range infoRԖPɰRa=R> P)R.CIPyRn@R_\8P?vٱP~4|M~}=YE ,,dhFAY}fO@}f k @y}fd}f0}fH?? ? uʿ DT? `k-?)~fO@ ~f [;I~fCY?y ΏFTNmea in: $SNTTA,,0.112976,,,232151.90*45 R=iR=5;M58=Y5{;QU=>99a=$H9AyEؼ}M>IQ m:UJf 5? u:UDݾ UX< ?9U@UL; U0;)U:miAdded new target pos. range: 3.720000 m, bearing: 66.730047 deg, deltaT: 4.399185 s, approachRate: 0.027278 m/s, LOS rate: 0.242715 deg/s, posRepo size: 4XW?W1X9 X9WAXa:Wa2Wi*WiVibUiBUi*UqUu @Uu?BB! B!A%<*B!A!A!A)A)"C-?RC1C5?C19IAGeU>J  v:YU1y:69@ܭ >9ܩ Iܭ НFiܭ E@ܩ ܩ ܩ ܭ ; ݭ E,sgFdhFAY}NW@}N_s @y}Ne}N)}NH@͝P@?c ? H@n̿`s?܁?)~NW@ ~NWZ;I~LYb?ybFQQ    @ @ @ÙÙÙiÙÙ ę)ęIęię$<MS=Y&QU>a$Hy`:}>Ie 5?ODݾ Yk< ?9@8: :)WyWyXy XyWyXy:W2W*WVbUBU*UUUD;?BB BA*BAAAA"C *C RC)C)C1)I9G]>,UQ`dhFAY}]ؼ@}]a @y}]5e}] }]H?X?@~%/Ͽ@i?K?)~]ؼ@ ~]9[;I~] CYA?y|FI==)==Ex&?J +?V-?E7=E= Eh=)AIAyE rh?V-y&1ECyya$HyY<}>Iș :ŝfg 5? :ŝBݾ Ɲ[< ?9Ɲ5@ǝX; ȝI;)ȝ:WWX XWX:W2W*WVbUBU*UUU@-?B B  B A ]*B AAAA"C9*C9RC9CACAI!G=Q>K  b:YW1yč:6,zdhFAY}2P}@}2٘ @y}2]}2/Ͻ}2H |@z?c ?`ͿI?`@ ?)~2P}@ ~26H\;I~2CYN?yR|FI)    @ @ @ÙÙÙiÙÙ ę)ęIęięT=Mm=YW9YIYiY]=YY]; ]E)CIi邉==A5G}=i /mGI i ֿٺ  hA0$,dhFAY}2@}2 @y}2hS}2T}2H@k ?T?ɿ@=? `4G?)~2@ ~2[;I~2CYN&?yRDF) = =E<MEQ=YEIIaM$HIQyUS}U>IY]Mj 5?]n@ݾ ]+!< m?9]@]: ]Ǻ:)YW W X  X W X :W2W*W)V)bU1BU1*UaUiUm 7@BB BA*BAAAA"C*CRCCCױIG>I)AA9 ~~ u:YT1y@:6*,ҭdhFAY}:K@}:Hg @y}:M}:WB}:HK"?@*w?g@BȿE?˧`aaae$Haaymg}m>Iq }:uk 5? }:u ?ݾ u; ?9u@u: u:)u:WWX XWX:W2W*WVbUBU*UUUE@BB BA*BA!A!A!A!"C)*CIRCICQCQ IG5 >U >9Q IU FiU @U =Q Q U ; U E1,dhFAY}B\Q@}Bl @y}BHH}BւԽ}BH R@7cn?}|? `˿H?@8?)~B\Q@ ~BY\;I~BCYN?yRiFPɮR=TiV= U U U U@ U@ U@QQQiQQ Q)QIQiQeмMeH=Ym Uiiau$HuHqy}A]:}}>IȁŅm 5?Ņ=ݾ ƅ*; ?9ƅ@Dž: ȅI:)ȁWWX XWX:W2W*WVbUBU*UUU`]@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*C RC C C I!GM=  xo:YV1y: 6) ;98,dhFAY}M3@}MA)]\QAIYi] fAY]IAqu^A}cڼM}9=Ya$Hy}>Iș :ŝm 5? :ŝ`>ݾ Ɲ< ?9Ɲ0@ǝ< ȝ<)ȝ:WWX XWX:W2W*WVbUBU*UUU`KH @BB BA]*BAAAAAA"CI*CIRCICICQIׁ)ׁYIaG8>(>,ddhFAY}2 @}2' @y}2[6}2\z}2HeF6 E3?j?@`0ǿ?`LǮn?)~2 @ ~2)*\;I~2CYN?yR)FVxDUSBL response received:!U1,P 4A3,000,002AF,18A,80,80,AE,FF VCommand AckVBRequesting micromodem ping code 2iTTZNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Iv=)v%=    @ @ @ùùùiùù Ĺ9IFiE?=,; E)ĹIĹiĹVG=M;=Yʥa$Hy}>Im 5?>ݾ Ra= ?9{@C; ;)WWX XWX:W2W*WVbUBU*UUU` @BB BA*BAAAA"C*CRCC CQIaG}z>  |k:Yy6);E,>ehFAY}2s@}2< @y}240}2C)}2H`Ru B ?J?JĿ?`ߤ:?)~2s@ ~2[;I~2CYBx?yB `)b)CI`y`bV?p[Uٱ`)E= E >cǻM7=Y,a$Hy<}>I  m 5? ?ݾ = ?9 @ Ǻ: :) WWX XWX:W2W*WVbUBU*UUUj@R(Combining 5 samples.P*QZQ*hND}@JQV?p[U2Q3{:QbQzZ~?< @6:?RQTwsԬ?BD*^?MT`+?BQP? Q\@Q?PPPQQ$@"QY@BB BA&*BAAAA"C*CRCCCI G%M>  m:YW1yč:M69@>9CIxFi?=<D8; E$R,HehFAY}N@}NJ @y}N>+}Nt7D}NH A 4?@?ÿ`?8`?)~N@ ~N[;I~LZ`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫAA)A EIIY?y FDNmea in: $SNTTA,,,,,232156.32*5E m<M%=Yca$Hy];}>I :n 5? :C@ݾ i> ?9F@R: :):miAdded new target pos. range: 3.720000 m, bearing: 69.074079 deg, deltaT: 4.505554 s, approachRate: 0.000000 m/s, LOS rate: 0.520254 deg/s, posRepo size: 4XWP?WX X W X :W 2W *WVbUBU*UUU^(?BABI BIAM*BIAIAIAQAQ"C]v?RCYC]P?CYQIYG}z>PX,behFAY}rf@}r @y}r}r|}rH@Ŷ h=?{?Ȩ>Ŀ`? 4`^?)~rf@ ~rZ;I~pɫ髱) IYi?y3FU~jt?Mbp? ףp= ?UD=U; UQ8=)QIQyUX9v?~jt?Q?U ?9Ƶ@ǵ;; ȵ+;;)ȱWWXy XyWX:W2W*WVbUBU*UUUq?B9BA BAAE*BIAIAIAIAI"CUP?RCyCyCyqIyG]> }} Nq:YkS1yԊ:{6w^,|ehFAY}6S@}6n @y}62}6)}6Hf@r?&`? 4>ſ ? $8?)~6S@ ~6[;I~6Cɫ99)9 9I9Y}?y}F-Ponly read 0 of 1 data item for BIT error5M=b=Y=FQU=>AAaE$HAAyM<}M>IQUk 5?U?ݾ U-> u?9U@U; U;)Qܝ>9ܝCIܝ Fiܝ?ܝ=ܙܝKDܝ:; ݝEWWX XWX:W2W*WVbUBU*UUU u?BB BA)*BAAAA"C*CRCCCשIG">=i=`e,2ehFAY}:N@}:i @y}:Yu}:C|}:H?-a?@Ŀ ?7`r?)~:N@ ~:Z;I~8ɫQQ)Y YIYYm?yF]6GMeH=YeQUm>iiau$Hqqy}D}}>Iȁ :Ņj 5? :Ņ?ݾ ƅ> ?9ƅ@Dž: ȅ:)ȅ:WWX XWX:W2W*WVbUBU*UUUM/?BB BAR*BAAAA"C*CRCC C IG% > p l:YV1y:6 k,aehFAY}6`@}6L| @y}6@.%}6 }6H)ӥ? U?`#@ſ@?@񶰿?)~6`@ ~6 [;I~6Cɫ99)9 9I9Y}?y}؏F%<M%N=YfQU>a$Hy7;}>IȡťVi 5?ť?ݾ ƥe> ?9ƥ@ǥ: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU?BB BA8*BAIAIAIAI"CQ*CQRCQCQCYAIIGu6>ܝ>9ܝCIܝFiܝa?ܝ=ܙܝLDܝ; ݝE)-CI-Ci-C-=-=-6 qr,=ehFAY}6 @}6 @y}6'}6}6Hވ?E?W5ǿ?Nt?)~6 @ ~64[;I~6Cɫ99)9 9I9Y}#?y}jF)> > U U U U@ U@ ]@QQQiQQ Q)QIQiQe WMmF=Ym»QUm>qqau$HuHyy}{;}}>Iȁ :Ņh 5? :Ņg?ݾ ƅ%> ?9ƅ@Dž< ȅ<)ȅ:WQWQXQ XQWYXY:WY2WY*WYVabUaBUa*UaUaUm 7@zCi5mGIQiiٿٺVABB BAe*BAAAA"C*CRCCCI G-N>I)?A  zm:YT1y:6)g;9Ux,;ehFAY}6@}6* @y}6!$}6U}6H A۠? D?1@zLƿm?ó9~?)~6@ ~6Ob;I~6CɫII)I IIIYI?yGF鮕p=ɮp=/$?K7?I +>I > 9)Iy ףp= y&1?S㥛?Q8`e</< A>A)PAI™iz@A>MD=Yea$Hy ;}>Ih 5?@ݾ {-> ?9G@Y: :)WWX  X W X :W 2W *WVbUBU*UUUb@R%B*** querying acoustic contact ***P!P!BIBI BIAUۅ*BQAQAQAQAQ"CY*CaRCaCaCa9IAGe>e~,QehFAY}RxR@}Rn @y}R$}Rce}RH` 꼩? Z?IqĿy?`sTɉ?)~RxR@ ~R9f;I~RC6Could not parse latch stateɫ) I999I=ȖFi=?===;D9=; =EYU?yUF]Z****** received transponder code query ******]F****** received ping request ******]iiam$Hiqy}$}}>I :Ni 5? :Aݾ `6> ?9 @C*; ;):WYWYXY XWX:W2W*WVbUBU*UUUA @BB BA*BA9A9A9A9"CA*CARCICICIQIaG}z> b 8:YU1y:<6)>;R,fhFAY}2@}2$ @y}2R+}2ޔ}2Hg ?bC?@A?ƿP? 0z?)~2@ ~2c;I~2Cɫ11)9 9I9Yu?yu4F}xDUSBL response received:!U1,P 467,000,002AF,189,80,80,A9,FF }Command AckBRequesting micromodem ping code 2i5Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 <MP=YCQU>a$H)y5 <}5>Iimi 5?mBݾ m=> }?9m@mo; m;)iW1W9XY XYWYXa:Wa2Wa*WaVabUiBUi*UiUiUus @BB BA{*BAAAA"C*CRCCCIGEs>=i=+׋,1fhFAY}6n\@}6w @y}6Z,}6j!}6H ev?O?`*Ŀh?^٣@[?)~6n\@ ~6`;I~4ɫ髁) IY?y>F?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B MZ=YQU>a$Hy}>I :\j 5? :Cݾ fD> ?9C@7: C:):W!W!X! X)W)X):W)2W)*W1V1bU1BU1*U9U9U= @BaBi BiAmG*BiAqAqAqAq"Cy*CyRCyCyC׉IG>  h:YDW1yY:r69@E>9AIAiAE=E<DAE; EET,KfhFAY}6@}6 @y}6?q,}6T}6Hߝ`?@w?`Ut?݋?)~6@ ~6I_;I~6Cɫaa)i iIqY?yFxDUSBL response received:!U1,R,465,000,002B2,189,80,80,AC,FF Fpublishing direction and range infoS{ɰb=鰹 ),CIyy@)pA;?s@#fٱI)]<MeR=YmBnQUm>a$Hys}>Iȡťj 5?ťDݾ ƥL> ?9ƥ@ǥ; ȥ;)ȡWWX XWX:W2W *WVbUBU*UUU@RM(Combining 5 samples.PQ*QUy@ZQU{sU@b JQU)pA;?s@#f2QUS{:QQbQU;?l  @iz@?RQUf5SP?n\tl?bHD?BQUi6,`efhFAY}B@}B @y}Bcg2}BE}BH yj@{? (?@ÿ 0?ʗ?)~B@ ~B];I~@ɫyy) IY?yGFETNmea in: $SNTTA,0.030585,,,,232200.81*43 J +? rhտn?> V>)IyMbp?kt{Gz; 0# ;CA)IAI5AiQ`AHA 5 5 5 =@ =@ =@999i99 9)9I9i9MMM<=YUK\QUU>QQa]$HYYy]*7}e>Iiml 5?m.Dݾ myH> ?9m@m8< m<)im=iAdded new target pos. range: 3.899999 m, bearing: 69.487237 deg, deltaT: 4.451867 s, approachRate: 0.040432 m/s, LOS rate: 0.092806 deg/s, posRepo size: 4XAWEiI)AA  o:YU1y:6N,;fhFAɫ髙) I>9IFi?=; EY??yF?<MS=YQU>a$Hy}>I :m 5? :Cݾ @E> ?9 @: :):W W X  XWX:W2W*WVbUBU*UU!U%`!?BIBQ BQAU*BQAYAYAYAY"Ca*CiRCiCiCqiIyG>,R&fhFAY}5Yj@}5 @y}5F}5c}5H/^ Z?w? i'ȿF?L֫Y?)~5Yj@ ~5_];I~1ɫ  ) IYM?yM>F=i4> M M U U@ U@ U@QQQiQQ Q)QIQiQeq?Me@=YmN@QUm>iiau$Hqqy}l}}>IȁŅFn 5?ŅBݾ ƅUB> ?9ƅ@Dž: ȅ0:)ȁWWX XWX:W2W*WVbUBU*UUU~?BB BAG*BAAAA"C*CRCCC I)[AIG)>2 T  u:Y0Y1y: 6(,fhFAY}É@}EV @y}EvG}Ec|}EHf9 `? ao?Lh`ȿ ?oO%U?)~É@ ~E/\;I~Aɫ ) IYMC?yMF¹½]A    @ =@ =@i )IiU7ݻMUK=YUQUU>YYa]$HYayei;}e>Ii u:m\o 5? u:m%Bݾ m?> }?9m3@m[: m:)m:WWX XWX:W2W*WVbUBU*UUU2?BB BA]*BAAAA"C*CRCCCI G%,>=ip=>9I8Fi?=; E< ,fhFAɫyy)y yIyY?y-FU`M]\=Y]QU]>aaae$HeHaym}m>Iqu^p 5?uAݾ uG=> }?9u@u: u:)qWWX XWX:W2W*WVbUBU*UUU S~?BB BA*BAAAA"C*CRCCCIG>  l:YWU1y:D6);9[7,ۧfhFAY}2t@}2f @y}2aF}2L#}2H^b Ů?t?(_@_ȿFI)p= ף?v/y&1|>xi `)Iy{Gzty&1|~jtף` A>A)OAI1AifAIAl=MD=Y:QU>a$Hy}>I :p 5? :XAݾ 1-> ?9ڲ@V: ^:):WWX X W X :W 2W *WVbUBU*UUU@I@BABI BIAMG*BIAIAQAQAQ"CY*CYRCYCYCaiIqG>,ׄghFAY}N5^@}Ny @y}NT}Nuɽ}NH.L s8¤?Gh?̿@n?፸(?)~N5^@ ~N _;I~NC܁9܁I܅ȖFi܅?܅=܁܁܅g; ݅E)IiC==t5ɫ髹) IY?yGFɮ ] ] ] ]@ ]@ ]@ ]YYYi]?Y ]?)]l?IYi]l?m:MmO=YuQUu>yya}$Hyyze}>Iȉōp 5?ō(Aݾ ƍ> ?9ƍ@ǍI: ȍ:)ȉW9WAXA XAWAXA:WI2WI*WiVqbUqBUq*UyUyU}th@RB*** querying acoustic contact ***PPBB BAC*BAAAA"C *C RC CCIGE/>IAA)  th:YT1y:`6);imGI_Ai ] $ٺ] _A] AI,_ghFAY}F@}FC @y}FTV}F/}FH 8g@?Q?L ͸˿? 1贿;1?)~F@ ~FH_;I~DɫYY)Y YIYY?yFZ****** received transponder code query ******F****** received ping request ******19a=$H99yE4<}E>II ]:M q 5? ]:M@ݾ M> e?9M @M; M;)M:WWX XWX:W2W*WVbUBU*UUU`i @BB BA*BAAAA"C*CRCCCIG>ys,;94ghFAY}N"@}N @y}NOV}NYOi}NH{ w?B? wɿ?` ?@?)~N"@ ~N];I~NCɫyy)y yIyY?yFxDUSBL response received:!U1,P 465,000,002B2,189,80,80,AC,FF Command AckBRequesting micromodem ping code 2i=ip=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @ @i )IisM(=Yu$8QU>a$Hy<;}>IFq 5?@ݾ = -?9F@8; ;)WWX XWX:W2W*WVbUBU*U!U)U-$ @BB BA*BA!A!A!A)"CY*CYRCYCaCi܍>9܉I܍XFi܍?܍=܉܉܍:; ݍwEI)\A  :YV1y:r6).;בIG>`,c+NghFAY}68@}6T @y}6X}6G:}6H@?$?ɿ@ ?@?)~68@ ~6\;I~6CɫIQ)Q QIQYV?yvFAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 9=^Am~_<Mmw=YmQUu?qqau$Hqyy}<} ?Iȉōkq 5?ō@ݾ ƍ= ?9ƍ_@Ǎ: ȍ4:)ȉWWX XWX:W2W*WVbUBUa*UaUaUm @BB BA*BAAAA"C*CRCCCIG(>=i=&,gghFAY}6@}60 @y}6[}6Y֣}6H P?+3?W nwǿ=?WB?)~6@ ~6y\;I~6Cɫ19)9 9I9Yu?y}lFxDUSBL response received:!U1,R,444,000,002AE,189,80,80,B7,FF Fpublishing direction and range info}syɰ}`=y y)}7CIyy}=j@}zXx?6ٱy~jt?{Gzt< ף)IyMbQ?Mbu< )SAI 0AiIjAJA 2<M A=YeʻQU>a$Hy$}%>I! m:%1q 5? u:%@ݾ %:= u?9%@%'!< %:)%:WWX XWX:W2W*WVbUBU*UUU@@R%(Combining 5 samples.P)*Q-=j@ZQ-'u-.@*JQ-zXx?62Q-s:Q)bQ-!?| ؚf @]M?RQ-}!?-2W  x:YDW1yY:69@q,@ځghFAY}v@}vA @y}vka`}v#Q}vHp` D?`5?`Hʿ@? 1?)~v@ ~vb;I~t->9)I- Fi-?-=))-5; -tEɫ) IY\?yFTNmea in: $SNTTA,0.070499,,,,232205.24*41 I)    @ @ @ i? )Iiv?;M#=Y{QU>a$H y K} >Ip 5?gAݾ = %?9ڳ@I: ϸ:)mUmAdded new target pos. range: 3.660000 m, bearing: 70.912786 deg, deltaT: 4.439417 s, approachRate: -0.054061 m/s, LOS rate: 0.321112 deg/s, posRepo size: 4XQWUk?WQXY XYWYXY:WY2WY*WaVabUaBUa*UaUmG @Um?BB BA*BAAAA"Ck?RCCk?C׽?i׽?׉IG>,ghFAY}2@}2 @y}2`b}2 }2H`y! `ȍ?`,?`~kĖ̿ ?@rv?)~2@ ~2}h_;I~2CɫYY)Y YIYY,?y4F5<M==Y=#ƻQU=?AAaE$HAAyMU;}M?IY ]:]p 5? e:]Aݾ ]Z= e?9]@]: ]I:)]:WW X  X W X:W2W*WVbUBU*UUU%` ?BIBI BQAU*BQAQAQAQAQ"CY*CYRCaCaCaIIQGu>I)@A  i:YU1y:/96,퀵ghFAY}2q@}2 @y}27a}2q}2Hp@1b? 4?b̿?`'!?)~2q@ ~2s];I~2CɫYY)Y YIYYM?yF M M U U@ U@ U@ U@QQQiUQ Q)QIQiUeMeH=Ye< ;QUm>iiam$Hiyy}f}}>IȁŅp 5?ŅAݾ ƅR= ?9ƅ/@Džc: ȅf:)ȁWWX XWX:W2W*WVbUBU*UUUt?BYBY BYA]*BaAaAaAaAa"C*CRCCCiIqG>%>9!I!i!%=!!%k; %E,bghFAY}2@}21 @y}2n-^}2}2HY@W"|?`DK?`O˿? (?)~2@ ~2)\;I~2Cɫ99)9 9I9Yu?y}uF=i%=MP=Y  ;QU >  a $HHy'}>I! -:%|p 5? -:%DBݾ %V= -?9%_@%: %:)%:WQWQXQ XQWQXY:WY2WY*WYVYbUaBUa*UaUaUe?BB BA0*BAAAA"C*CRCCCI)]A׉IG= l q:YWU1y:N6,8ghFAY}2@}2p @y}2CY}272}2HY&Gԭ?T?D˿ ?@a)-?)~2@ ~2[;I~0ɫ99)9 9I9Y]:?y]>FmJ +?MbX9Mb?m=mʡ m<)iIiymktMb?{Gzm 0ma$Hy}>Iȩŭp 5?ŭ=Cݾ ƭK< ?9ƭ@ǭ: ȭǺ:)ȩWWX XWX:W2W*WVbUBU*UUU`?B!B! B!A%߅*B!A)A)A)A)"C1*C1RC1C9C91IYG>=i=,jhhFAY}2S@}2n @y}2#.S}2n}2H~I2?@m?J7ʿ`5? }]m:?)~2S@ ~2a;I~0f>9dIfFif1?f=ddf; fEɫYY)Y YIYYe?yeٍF U U ] ]@ ]@ ]@YYYiYY Y)YIYiYmKML=Ya$Hyj}>I) 5:-Cq 5? =:-7Dݾ -0< =?9-@-: -k:)- :WYWYXa XaWaXa:Wa2Wa*WiVibUqBUq*UqUqUu`4@BB BA*BAAAA"C*CRCCCסIG >q H:YV1y:C+6)t;9,hhFAY}2@}2J @y}2 I}2j}2H`>`7Uװ?b?  ȿ` ?;S?)~2@ ~2_;I~0ɫYY)Y YIYY}?y}tF鮁ɮI)ؤ<MV=Y a$Hy}>Iq 5?Eݾ >a< ?9@: :)W)W)X1 X1W1XQ:WQ2WY*WYVYbUYBUa*UaUaUe G(@RmB*** querying acoustic contact ***PqPqBB BAɅ*BAAAA"C*CRCCC?i?IG> ,6hhFAY}:D@}:` @y}:G}:rI}:HRm@W?1? v`|ǿ?VZ?)~:D@ ~:>>];I~8ɫ99)9 9I9Y}?y}FZ****** received transponder code query ******F****** received ping request ******11a5$H19y=e}=>IAEq 5?EFݾ E; U?9E@E: E :)AWWX XWX:W2W*WVbUBU*UUU @BB BA1*BAAAA!"CI*CIRCICICQAIIGm5>>9IFiv?B; E)qIqiqu=u=u5I)AAU UUU] UTi:YUDW1yUY:U 6)UѾ;,MPhhFAY}2'@}2>C @y}2*H}2(}2H}??`+ ɿ?`P`S?)~2'@ ~2*\;I~2C||ɫAI)I IIIiYZ?I`Ay*FixDUSBL response received:!U1,P 444,000,002AE,189,80,80,B7,FF Command Ackyٺ`AkABRequesting micromodem ping code 2iu?9u}A}Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ;M>=Y5QU>am$Hiqy}}>Iȑ :ŕYr 5? :ŕ*Gݾ ƕX ?9ƕ?@Ǖ~D< ȕD<)ȕ!:WWX XWX:W2W*WVbUBU*UUU` ~ @BABA BAAE*BIAIAIAIAI"CQ*CQRCQCYCY9IYG>",jhhFAY}6@}6L- @y}6SC}6Yi}6H`~`"?@?ȿ]P?@N`]?)~6@ ~6[;I~6Cɫ99)9 9I9Y}G?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i= B`"۹?p= ףzG? =   =) I y I +?X9v~jth 9<  D ?A) OAI  0Ai fA  IA-ǜ<M-X=Y-q:19a=$H9Iy]Ho}e>Iy}r 5?}mFݾ } ?9}@}F; };)yWWX XWX:W2W*WVbUBU*UUU =@BB BA܄*BAAAA"CA*CIRCICICIAIYGuX>U UUU Ubq:YUU1yU:U)69]@ !,YhhFA6>94I4i46=446; 6IEY}B@}BB @y}B;}BE}BHa9D?`?ƿ:^?;H@l?)~B@ ~B$\;I~BCɫyy)y IY?y FxDUSBL response received:!U1,R,462,000,002AE,189,80,80,B1,FF Fpublishing direction and range info?zɰ鰑 )1CIy ; ?!uٱ % % - -@ -@ -@)))i)) )))I)i)=+Z<M=[=Y=AAaE$HAIyMP}M>IY ]:]*s 5? e:]Eݾ ]ҧ e?9]$@]E: ]R:)]":W!W!X! X!W!X):W)2W)*W1V1bU1BU1*U1U9U=ڦ@RM(Combining 5 samples.PI*QIZQM6AT@x؝MJQM ; ?!u2QM?z:QIbQM취?C|M @K2?RQM;$N?EK?2mGr?BQM? QMrV@QM}?PIPIPIQIQM@"QM@BB BA*BAAAA"C*CRCCCIG )>=i3',4hhFAY}2@}2 @y}2|6}2P]}2Hȋ X?J?` eƿ`?@w6`r?)~2@ ~2a;I~2CɫYa)a aIaYR?y_F=DNmea in: $SNTTA,,,,,232209.71*50 IU,>)U]>u;M}F=Y}AVa$HyV}>Iȑŕs 5?ŕDݾ ƕX\ ?9ƕ@Ǖ#: ȕ:)ȑmmAdded new target pos. range: 3.660000 m, bearing: 67.632888 deg, deltaT: 4.415198 s, approachRate: 0.000000 m/s, LOS rate: -0.742865 deg/s, posRepo size: 4X)W5?W1X1 X1W1X1:W92W9*W9V9bU9BUA*UAUAUER?BB BA*BAAAA"Cћ?RCC?CסIG >  }:YT1y: 6_-,hhFAY}2@}2 @y}2:e2}2}2H`h Õ?` ?!4ȿ/?u]@Ga?)~2@ ~2L`;I~2Cɫ19)9 9I9YuE?yu0FI) M M M M@ M@ M@IIIiII I)IIIiI]qk=M]L=Ye$#aaam$HmHiyuz;}u>Iy :}t 5? :}Dݾ } : ?9}!@}: }=:)}#:WWX XWX:W2W*WVbUBU*UUU M?BB BA܃*BAAAA"C?RCCCIG- >e>9aIaiae=aae0; eEE4,hhFAY}:@}:I+ @y}:)}:r}:HǂL2?uʿK&? )L?)~:@ ~:p_;I~:Cɫ99)9 9I9Y}?y}CFEMEL=YE_IIaM$HIQyUB;}]>IY]t 5?]DCݾ ]~L; m?9]@]: ]:)YWWX XWX:W2W*WVbUBU*UUU ?BB BA<*BAAAA"C*CRCCCIG- >  r:Yyr6o:, hhFAY}2|@}2 @y}2}27}2HnB?`S?1ƿ?U#|?)~2|@ ~2o^;I~2CɫYY)Y YIYY?yÒF Zd;O?v/lj=xi )Iyp= ף?:v~jt?=T= ½A>A)½PAI¹i½Q`AGAu<MA=Ya$Hy!&}>Is 5?Aݾ < ?9i@Ǻ: U:)W!W!X! X!W!X!:W)2W)*W)V1bU1BU1*U1U1U=`'?BaBa BaAe *BiAiAiAiAq"Cq*CyRCyCyCyiIqG>a 9a Ia ia e =a a e ; e E?gA,ihFAY}Bj@}B @y}B9 }B <}BHҳզ? ;?@H^¿@L?@?@T?)~Bj@ ~Bb;];I~@ɫyy)y yIyY?yyFi= U U U U@ U@ U@QQQiQQ Q)QIQiQeM<MeP=Ymrviiau$Hqqy}wr}}>Iȁ :Ņr 5? :Ņ@ݾ ƅ-= ?9ƅ*@Dž: ȅ!b<)ȅ$:W1W1X1 X1W1X1:W12W9*W9V9bU9BUA*UAUAUEX/@BB BA*BAAAA"C*CRCCCIG$>  n:YV1y:)o;9ρG,|ihFAY}2#@}2? @y}2}2AR%}2H o`N?DQ?X`a¿2?`Dpá?)~2#@ ~2 c;I~0ɫ99)9 9I9Y.?y]FUv<M]M=Y]S;QU]>aaae$Haaym0}m>Iqur 5?u?ݾ ut{= ?9u@ul: uB:)qWWX XWX:W2W*WVbUBU*UUU@=@BB BAb*BAAAA"C*CRCCCׁIG>=i=߫M,W9ihFA|i|Y}BQ@}Bگ @y}B}B}BH`_`] OƧ?I{?@wd``P?c@¥?)~BQ@ ~B0a;I~BCɫYY)Y YIYY?yF鮥a=ɮ=I=)4=;MT=Y;QU>a$Hy}U>IY e:]Sq 5? e:]I>ݾ ]= m?9]@]: ]:)]%:WQWQXY XYWYXa:Wi2W*WVbUBU*UUU@D@RB*** querying acoustic contact ***PPB!B! B!A%L*BIAIAIAIAI"CQ*CQRCQCYCYAIIGm5> >9 I xFi ? =   ; E  =m:YWU1y:|6)2;T,2SihFAY}2@}2% @y}2 }2,X}2H ]!@x?R?`[<ÿ?웱A_;I~2Cɫ99)9 9I9Y}?y}7FZ****** received transponder code query ******F****** received ping request ******a$Hy}>I!%wp 5?%<ݾ %T= 5?9%@%f: %<:)!WQWQXQ XQWYXY:WY2WY*WYVabUaBUa*UaUaUm @BB BA *BAAAA"C*CRCCC׽?i׽?׉IG>ݽZ, mihFAY}2or@}2 @y}2}2}2H@vYep?p?*^ÿG?#?)~2or@ ~2^;I~0ɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,P 462,000,002AE,189,80,80,B1,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 &1?Mb?I +P>< 94)Iy rh? rh 5>=JiM=,=Y= aaam$Hiiyu A}u>Iy :}p 5? :}]<ݾ }= ?9}ݽ@}; }z;)}&:WWX X!W!X!:W)2W)*W1V1bU9BUa*UaUiUmD @B)BY BYA]A*BaAaAiAiAq"Cy*CyRCCCI@A)qIyG>m ~ m m m z m f:Ym T1ym :m 69u @a,ihFAY}V@}V.1 @y}V}V}VH6???@ l? ?)~V@ ~V\;I~VCn>9nCInFin1?n=llnE; nE)݃I݃i݃݋=݋=݋6ɫyy)y yIyY?y7FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B <M=YoiENmGIYiiٺuAg,*ĠihFAY}2@}2b: @y}2 f}2[y}2H@:V?q? @R8? ?)~2@ ~2];I~0ɫYY)Y YIYY?yJFxDUSBL response received:!U1,R,502,000,002AD,189,80,80,AE,FF Fpublishing direction and range infof3ɰu`=鰡 ).CIyff@w?amf-ٱ-Nonly read 0 of 1 data item for altitude B;M S=Y_;QU>a$H!y%M:}%>I) 5:-p 5? 5:-;ݾ -= =?9-_@-: -:)-':WWX XWX:W2W*WVbUBU *U U U־@R(Combining 5 samples.P!*Q%ff@ZQ%xP^B(?0B JQ%w?amf-2Q%f3:Q!bQ%~?Z@e?RQ%Ĩ!?D*?T?BQ%o2? Q%B@Q%?P%X9?P!P%Q!Q%)@"Q%@BB BA*BAAAA"C*CRCCCI)\AIG$>M ! M M M  M s:YM U1yM :M 6 m,oihFAY}6@}67 @y}6f}6S}6H9w? |?¿#?@#`m?)~6@ ~6lPa;I~4ɫYY)Y YIYYH?y F  ]A5QM=H=Y=Q:QU=>AAaE$HEHIyMv޹}M>IQU*q 5?U:ݾ U= e?9U@Uӻ: U:)QmqAdded new target pos. range: 3.599999 m, bearing: 58.279211 deg, deltaT: 4.438629 s, approachRate: -0.013518 m/s, LOS rate: -2.107335 deg/s, posRepo size: 4XWo2?WX XWX:W2W*WVbUBU*UU @U?BB BA*BAAAA"C^?RCCo2?CׁIG>ܽ>9ܹIܽ Fiܽ?ܽ=ܹܹܽz; ݽ3Ei=]t,ihFAY}6@}6 @y}6;}6^9}6H@:+u?@?i ?eⱿI?)~6@ ~6`^;I~4ɫ99)9 9I9Y}p?y}FM<MUI=Y]Ը;QUe>iqa}$Hyy}>IȱŵZq 5?ŵy:ݾ Ƶ/> ?9Ƶ@ǵ; ȵ;)ȱWWX XWX:W2W*WVbUBU*UUU`i?BB BAт*BAAAA"CB?RCCCIAGe4>    o:Y WU1y : r6 {,UihFAɫ髙) IY&?yFx&?)\(/$?7=Ga ,=)Iyy&1:v?`e< ­:A)©I­I4Ai­XADA = = = =@ =@ =@999i99 9)9I9i9UMU.=YUQUU>YYa]$HYaye}m>Ii u:mq 5? }:m:ݾ m > }?9m8@m: m:)m(:WWX XWX:W2W*WVbUBU*UUU`7?BB BA*BAAAA"C|?RCCC ?i ?I G%M>,<jhFA,9,I,i,.=.;D,.; .?EY}B(@}B @y}B2ܽ}B⬽}BH`7\? Y x?u?)~B(@ ~B[;I~BCɫQQ)Q YIYYV?yF5M5t=Y5=QU=?99a=$H9AyE4;}E?Iȡťq 5?ť+;ݾ ƥ"> ?9ƥh@ǥ: ȥ<:)ȡWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C%@?RC!C!C)aIiG>I) &    _:Y U1y : 26) |;9 , "jhFAY}6@}61@y}6˽}6҆}6H , 0_?  up?@?)~6@ ~6Z;I~6CɫII)I IIIY}?y}F0<ML=YR!!a%$H!)y-}->I1 =:5r 5? =:5~;ݾ 5> E?95@5: 5:)5):WaWaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UyUyU}m?BB BA*BAAAA)"C5y?RC1C1C9IIYGu>3H,6;jhFAY}6ߚ@}6h@y}6Ľ}6ON}6H.`?o?@Y=\?@뷩`?)~6ߚ@ ~6a;I~6Cɫ99)9 9I9Ye?yFia= u u u u@ u@ u@ }qqqiu?q uK?)uK?IuK?iuK?˼MC=Yxa$Hy+}>Iȡť_r 5?ť;ݾ ƥ^(> ?9ƥտ@ǥA: ȥY:)ȡWWX XWX:W2W*WVbUBU*UUUU@BB BA*BAAAA"CCx?*CRCCCI)IG%>Y9YI]XFi]?YYY]; ]IE% 2 % % %  % u:Y% WU1y% :% 6)% ;/,UUjhFAY}Bi@}B @y}B0˽}B}BH`@??h@j[?`梿 ?)~Bi@ ~Bb_;I~BCɫYY)Y YIYY,?yҖF鮥p=ɮa=¹¹j=MX=YQU>a$Hy}}U>IY e:]r 5? e:](<ݾ ]?2> e?9] @]$: ]:)]*:WWX XWX:W2W*WVbUBU*UUUp}@RB*** querying acoustic contact ***PPBB BAb*BAAAA"C4|?RCCCשIG>Z,0ojhFAY}Fj@}FI@y}Fֽ}FkT}FH |a?'?︽9κ? e?)~Fj@ ~Fj];I~Dɫ髙) IYR?yFZ****** received transponder code query ******F****** received ping request ******= C)IyL7A`?I +y&1|?+=94`; ­iiau$Hqqy}!9}}>IȁŅq 5?Ņ:ݾ ƅB9> ?9ƅ @DžA: ȅ:)ȁWWX XWX:W2W*WVbUBU*UUU@I @BB BAق*BAAAA"Co2?RCCC IGF> 9 I Fi a? ; FE&B,xjhFAY}6@}6@y}6Ὑ}6}6H +U?`!@{o0?`۴@Dz?)~6@ ~6[;I~6Cɫ99)9 9IAYyxDUSBL response received:!U1,P 502,000,002AD,189,80,80,AE,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Y7QU ?a%$H!9yE\<}M?Ii :mp 5? :mg9ݾ ms>> ?9m@m1< mf<)m+:WWX XWX:W2W*WVbUBU*U!UU@1} @BB BA*BAAAA"CA*CARCACICI]?i]?!IIG}X>x  z:Yy6);El, TjhFAY}:@}:8@y}:R⽙}:hL}:H@9HwP? %;?텳?)~:@ ~:[;I~:Cɫ99)9 9I9Y}?y}ʔF@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )m= m=vMa$Hy:}>Io 5?7ݾ D> ?9@ض: k:)WWX XWX:W2W*WVbUBU*UUU-%@B1B1 B1A55*B1A9A9A9A9"CA*CARCACACI)I1GU>`,/jhFAY}2m@}2 @y}2۽}29]}2H  ??? h@o? Å@?)~2m@ ~2[\;I~2Cɫ99)9 9I9Y}e?y}FxDUSBL response received:!U1,R,502,000,002B0,189,80,80,B0,FF Fpublishing direction and range infoɰqa=鰁 )0CIyq@w?amf-ٱ    @ @ @i )Ii-<MU=Y  a $H Hy}>I&o 5?6ݾ J> -?9l@˵: :)WIWIXI XIWIXQ:W2W*WVbUBU*UUU +@R-(Combining 5 samples.P1*Q5q@ZQ5E5j?.\Ux3 JQ5w?amf-2Q1:Q1bQ5~Eg@q3 v @P\o?RQ5g֭?k>? a)\?BQ5 ? Q5K@Q5s@P5Y9?P5X9?P5Q5Q58@"Q5)@BB BA*BAAAA"C*CRCCCIG (>ܽ>9ܹIܹiܹܹܹܹܽ; ݽ8E)ݕCIݕCiݑݕ=ݕ=ݕ4{  z:YV1y: 6);q u uCi ]nGI _Ai % ٺ% _A- AA,jhFAY}fJ@}f@y}fжܽ}fz}fH@=s? ?` F0?+`0?)~fJ@ ~fg`;I~fCɫ) IY-?y5FTNmea in: $SNTTA,0.041009,,,,232218.56*47  }M :=Y>gQU>a$Hyx}%>I) 5:-7n 5? 5:-15ݾ -2Q> 5?9-X@-k: -:)-,:memAdded new target pos. range: 3.779998 m, bearing: 57.765738 deg, deltaT: 4.445973 s, approachRate: 0.040486 m/s, LOS rate: -0.115492 deg/s, posRepo size: 4XiWm ?WiXi XiWiXi:Wq2Wq*WqVqbUyBUy*UyU}o=@U}?BB BAL*BAAAA"C ?RCC ?CI)I!Ge4>䨻,jhFAY}b@}bw/@y}bu轙}b3}bH :?Ȝk?CU?)~b@ ~bh^;I~bCɫ) IY5i?y5FUU94 U})QIQyUa$Hy8;}>In 5?4ݾ _> ?9@: :)W W X XWX:W2W*WVbUBU*U!U!U%?BIBQ BQAUS*BQAQAYAYAY"Ca*CaRCaCaCiaIiG9>=i= n c:Yy69 @Y 9Y I] ȖFi] ?Y Y Y ] }; ] 4E@, khFAY}B8@}B7@y}BH}B?v}BH9]u@?@¿@?e%?)~B8@ ~B΀\;I~@ɫYY)Y YIYY7?y'FUDM]e=Y]^HQU]>aaae$Haaym:}m>Iq }:u o 5? }:u4ݾ uj> ?9u @u: uk:)u-:WWX XWX:W2W*WVbUBU*UUU&?BB BA*BAAAA"C*CRCCCIG>X,$khFAY}2@}2@y}20:}2C}2He9:£?@B?N? ^l?)~2@ ~2 \;I~0ɫYY)Y YIYYg?yF5M=L=Y=λQU=>AAaE$HAIyM(q}M>Iȡťo 5?ť3ݾ ƥw> ?9ƥk@ǥz: ȥ.:)ȡWWX XWX:W2W*WVbUBU*UUUD?BB BA*BAAA!A!"C!*C)RC)C)C1E?iE?iIqG>  :YDW1yY:26,x>khFAY}2@}2k1@y}22}2˻}2H@@+^?`? @^ ?@yP?)~2@ ~2G];I~2CɫII)I IIIY}?y}gF)= > 5 5 5 5@ =@ =@111i11 1)1I1i1Ev<MMI=YMM QUM>QQaU$HQYy] /;}]>Ia m:eo 5? m:e2ݾ e> u?9e@eb: e{:)e.:WWX XWX:W2W*WVbUBU*UUU'@BYBY BYA]ƃ*BYAaAaAaAa"C*CRCCCiIyG>>9Ii=; VEI)Z,QXkhFAY}6@}6z,@y}6e}6PD}6HH0䮭? ?? U ?)~6@ ~6QWc;I~6Cɫ99)9 9I9Y?yhF ))UM]I=Y]dQU]>aaae$HaaymB}m>Iqu{p 5?uY2ݾ uE> }?9u,@u: uw:)qWWX XWX:W2W*WVbUBU*UUUD@BB BA.*BAAAA"C*CRCCCQIqG { :YT1y:6U,!=rkhFAY}(@}@y} }>;}H``E@?)?`Ҷ}? 2 T?)~(@ ~[a;I~Cɫ) IY,?yFa=ɮp=i4=A`"?I +I +?Y=94 9<)Iykt?L7A`尿y&1 0=+`e fBA)IAII4AiXA M M M M@ M@ M@IIIiII I)IIIiI]J;M]:=YeؚQUe>aiam$Hiiyu}u>Iy :}q 5? :}k0ݾ }{> ?9}[@}: }b:)}/:W)W)X) X)W)X):W12W1*W1V1bU1BU9*U9U9U= @RmB*** querying acoustic contact ***PiPiBB BA"*BAAAA"C*CRCCCIGH> 9 I Fi ? = M; EN,khFAY}2k @}2%@y}2^}2a}2H๸#D??? ߚÿ?s꫿ ?)~2k @ ~2_^;I~2CɫYY)Y YIYYz?yFZ****** received transponder code query ******F****** received ping request ****** a$Hy%<}%>I)-r 5?-.ݾ -bj> =?9-V@-; -;))WaWaXi XiWiXi:Wi2Wi*WIVIbUQBUQ*UQUQU]@5 @BB BAO*BAAAA"C*CRCCCסIG >=i=8 t u:YV1y:*6)\;9 u,&khFAY}2=b@}2}@y}2J}2gD}2H!4vq? ?$`۲ƿ ?@~?)~2=b@ ~2N];I~2CɫYY)Y YIYY?yFxDUSBL response received:!U1,P 502,000,002B0,189,80,80,B0,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I4=)%=J6M%I=Y-QU5>AIaU$HQayR<}>Iȩŭs 5?ŭ,ݾ ƭX> u?9ƭ@ǭ< ȭD<)ȩWWX! X!W!XI:WQ2WQ*WYVYbUaBUa*UUUc{ @ByB BAt*BAAAA"C*C!RC!C)C19IYG>2,DkhFAɫ髙) IY~?y{FAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Iq)q    @ @ @i )Ii1M>=YQU>a$HHy}>I :t 5? : +ݾ E>  ?9@: :)0:W9W9X9 XAWAXA:WA2WI*WIVQbUQBUQ*UYUYU].@=>99I=XFi=?999=; =EBqBq BqA}*ByAyAyAyAy"C*CRCCC׽?i׽?סIGA>  Cr:YU1y:;6);h,5khFAY}2 @}2 @y}2*#}2,}2H@rL`p?io?_#oƿ_?`+?)~2 @ ~2];I~2Cɫ99)9 9I9Y}?y}|FxDUSBL response received:!U1,R,42F,000,002AC,189,80,80,9D,FF Fpublishing direction and range infoCoɰ"`=鰁 )CIyb@" ?]B>rٱ"M`=YۋQU>a$Hy2E=}>Iu 5?d)ݾ 5> ?9@: :)WWX XWX:W2W*WV bU BU *U U U@Ҡ@R%(Combining 5 samples.P!*Q%b@ZQ%.T@sIPJQ%" ?]B>r2Q%Co:Q!bQ%0?;  @Y/&?RQ%Ħu?sFx}?w=?BQ%? Q%P@Q%?P%W9?P%Y9?P!Q%Q%@"Q%8@BQBY BYAe*BaAAAA"C*CRCCC aIiG9>G,khFAY}f@}f @y}f-}f "V}fH Q ? 9\? O ſ@u?^@R?)~f@ ~fBb;I~fCɫ) IY-?y5FTNmea in: $SNTTA,0.005053,,,,232223.01*42 鿩A`"X9v?V-?Y}= <)IyMb?V-?L7A`堿<<+ •:A)•SAI•2Ai•^AHA    @ @ @i )Ii=M*=Y QU >  a$Hyy;}>I! -:%t 5? -:%|)ݾ %%> -?9%"@%: %:)%1:m]mAdded new target pos. range: 3.539999 m, bearing: 68.916383 deg, deltaT: 4.409511 s, approachRate: -0.054428 m/s, LOS rate: 2.528771 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UUQ @U?BYBa BaAet*BaAaAiAiAi"Cu?RCqCu?CqqIG]>6  _u:YWU1y: 69@- >9) I- Fi- ?) ) ) - ; - UE))I)i)))-K+4,,P lhFAY}:/@}:SK @y}:fa<}:v}:H%L`D?#? t`ǿ:j?$.e?)~:/@ ~:8`;I~:Cɫ99)9 9I9Y}e?y}ΐF=i=uMuh=Y}&QU}>ya$Hy<}>Iȑŕs 5?ŕ)ݾ ƕ> ?9ƕz@Ǖ: ȕw:)ȑWWX XWX:W2W*WVbUBU*UUU?iEnGI]`AiqB1B1 B9A=Ԅ*B9A9A9A9A9EzٺM`AM A"Cm?RCiCiCqׁIG=>V ,x*'lhFAY}6m@}6 @y}6juA}6ٽ}6H!? ?~FIi˿` ?⮺@?)~6m@ ~6L^;I~6CɫYY)Y YIaY?yF5׼M=N=Y=0MQU=>AAaE$HAIyM<}M>Iȡ :ťr 5? :ť)ݾ ƥ > ?9ƥ@ǥ: ȥH:)ȥ2:WWX XWX:W2W*WVbUBU*UUU?BB BA)*BA!A!A!A!"C- ?RC)C1C1iIqG>% %%% %Zn:Y%V1y%:%6f>,AlhFA|i|Y}2@}2s @y}2׍A}2}2H±.? ?f ňʿ ?J?)~2@ ~23\;I~0ɫQQ)Q QIQYyyyI=)= 5 5 5 5@ 5@ 5@111i11 1)1I1i1YEpQUM>IIaM$HIQy]!p;}]>Iaeq 5?e)ݾ e= m?9e;@e=: e:)aWWX XWX:W2W*WVbUBU*UUU@\]?ByB BA*BAAAA"C?RCCC9IFi1?6; EשIG >h,ZlhFAY}6@}6t @y}6eC}65N}6Hi_,?? ڦ&ɿ F?@`*P?)~6@ ~6[;I~6Cɫ99)9 9I9Y_?yFI)UڻM]aaae$Haiy}<}>Ișŝp 5?ŝ)ݾ Ɲ= ?9Ɲ@ǝ; ȝ;)șWWX XWX:W 2W*WV!bUIBUI*UQUYUe@BB BAV*BAAAA"C8?RCCC ?i?I G%M>  p:YDW1yY:6,tlhFAɫ髙) IY?yFʡE?y&1ˡE=` ')Iy rhL7A`堿{Gzt?C+ף; ;A)XAI1Ai fAJAmE[Mm:=YQU>a$Hy}>I  : *r 5? : )ݾ = ?9 *@ : :) 3:WWX XWX:W2W*WVbUBU*UUUR@RB*** querying acoustic contact ***PPB B  B A *BAAAA"C?*C!RC!C!C!I)@AIG> 9 I Fi v? <D ; Ez#,plhFAY}2W@}2s @y}2H}2vK}2H[h ? k?`;`ȿ?X?)~2W@ ~2+\_;I~2Cɫ99)9 9I9Y}?y}FZ****** received transponder code query ******F****** received ping request ******11a5$H11y=<}=>IAEYs 5?E)ݾ E8= m?9E@E; EA;)AWWX XWX:W2W*WVbUBU*UUU @B1B1 B1A5*B1A9A9A9A9"CA*CARCQCQCiAIIGm5>o  e:YWU1y:6);9 ),rlhFAY}2@}26. @y}2N}2G}2H`v|@$Ҳ?\?@ǟȿ@?1q@dP?)~2@ ~2^;I~2CɫII)I IIIY}L?y} FxDUSBL response received:!U1,P 42F,000,002AC,189,80,80,9D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 B=MQ=Y\cQU >!a-$H)9yM8}U>Iq :ut 5? :uv)ݾ u= ?9u@uY= u=)u4:W9WAXA XAWiXi:Wq2Wq*WyVybUBU*UUU`9 @BBa BaAe*BaAiAiAiAi"Cq*CqRCqCqCyI׉)׉aIyG^>0,OlhFAɫ髁) IYv?ybFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B AAuVM}A=Y}QU}>a$HHy}>Iȡťu 5?ť`)ݾ ƥ)= ?9ƥ@ǥ; ȥo;)ȡWWX XWX:W2W*WVbUBU*UUUQ @u>9qIuFiu1?u=qqu>; u3EBB BAЅ*BAAAA"C!*C!RC!C!CI!I)GM1>=i=5 555h 53:Y5DW1y5Y:56)5M;6,k(lhFAY}:p@}: @y}:Q}:}:H`'S?@? -ο?`ۿ\?)~:p@ ~:ʀ];I~8FJFailed to close latch before timeout.q FFHardware FaultYb?ybF``fxDUSBL response received:!U1,R,41C,000,002AD,18A,80,80,AC,FF fFpublishing direction and range infofkdɰfu`=f> d)f,CIdyfff@fwpo?8kٱd 5 5 5 5@ 5@ 5@111i11 1)1I1i1UNM]_=YmpQUm>qqau$Hqyy}}}>Iȁ :Ņv 5? :ŅR)ݾ ƅL= ?9ƅ@Dž: ȅ:)ȅ5:WWX XWX:W2W*WVbUBU*UUU @R}(Combining 5 samples.P*Qff@ZQ0P~@x)JQwpo?8k2Qk:QbQpڱt?Pi7p @uS?RQM noe?=Q`?Syy{?BQ[? QS@QK?PPW9?PQQ%@"Q@BB  B A h*B AAAA"C*CRCCC!!I1-$E@Hardware Fault in component: DDMGI<,lhFAY}f@}f @y}fK}f}fH 0p?`4?; οO?`*4?)~f@ ~f}_;I~fCPowering downɪ) Y?ywFTNmea in: $SNTTA,0.022861,,,,232227.05*4E ʡE?I +&1?94 P=)Iy rh~jth&1?DP= @A)PAIv.AifAIA)= M=Y"; a $H  yMz;}>I}w 5?*ݾ > %?9q@Y: :)mUiAdded new target pos. range: 3.599999 m, bearing: 70.319441 deg, deltaT: 4.053035 s, approachRate: 0.014804 m/s, LOS rate: 0.346175 deg/s, posRepo size: 4XQW][?WYXY XYWYXY:Wa2Wa*WaVabUiBUi*UiUm @Uu ?B1B9 B9A=*B9A9AAAAAA"CM[?RCICM[?CIׅ?iׅ?QIYGuz> f l:YU1y:69 @m >9i Ii ii m =i i m ; m XEC,mhFAY}2@}2 @y}2rF}2 }2H @=!?? Xʿ ?%@J?)~2@ ~2Pa;I~2CYBk?yBFt=M=Y%% ?9Ɲ@ǝ: ȝ:)ȝ6:WWX XWX:W2W*WVbUBU*UUUi?BaBi BiAm*BiAiAiAqA"C*CRCCC׉IG>I)AAI,L)mhFAY}6@}6t @y}6I}6}6H``X? ?Aǿ%? |~]?)~6@ ~65_;I~6CYBV?yBvF M M M M@ M@ U@IIIiII I)IIIiIeiiam$Hiqyud}}>IȁŅ`x 5?Ņ*ݾ ƅ2> ?9ƅ@DžR: ȅ=:)ȁW)W)X) X)W)X1:W12W1*W1V1bU9BU9*U9U9UE@?BB BA*BAAAA"C*CRCCCI$NClearing failed state for component DDMq G > i bq:YWU1y:6P,CmhFAY}:@}: @y}: V}:}:H@m}? ?@$Iǿ?op)L?)~:@ ~:d_;I~:CYF?yFQF>i<^A e e e e@ m@ m@aaaiaa a)aIaia}MI=YQU>a$Hy;}>Iȩŭx 5?ŭ]+ݾ ƭE> ?9ƭc@ǭ; ȭ;)ȩWWX XWX:Wq2Wq*WqVybUyBUy*UyUU ?BB BA*BAAAA"C*CRCCC9I Fi?; eE)ݩIݩiݩݭ=ݭ=ݭ:L5IQ)Q1IAG]>t>zCi}nGIi1uٺqupAW, q]mhFAY}:L@}: @y}:]}:yM}:H`zdV ? b?@-+ʿڃ?@`m6?)~:L@ ~:[];I~:CYzm?y~IFMD=YyQU>a $H y-O<}->IA :Ey 5? :E+ݾ EY>  ?9E@E< E<)E7:WaWiXi XiWX:W2W*WVbUBU*UUU@-q@B B BA*BAAAA"C!*C!RCACICIAIIGm5>=iR=e  y:YV1y:6.],IKwmhFAY}6@@}6[ @y}6Z}6*}6H:9ȓ?`&i?./˿b ? ﲿ .?)~6@@ ~6~\;I~6CYB#?yBFMb@Mb@Mb@ )IyMbp?QMb;u ­AA)­JAI­K/Ai­KeA(HA       @  @  @     i ?  A?) A?I A?i ?ѳMF=Y;QU%>!!a%$H!)y-5<}5>I9=y 5?=+ݾ =3W> E?9=@=+: =:)9WaWaXi XiWiXi:Wi2Wi*WqVqbUqBUy*UyUyU}`@BB BA%*BAAAA"C*CRCCC)I1GU> >9 I Fi a? =   n;  LEd,`:mhFAY}B@}B @y}BV}B}BH|]@]? OX? _bʿ@?[:?)~B@ ~BC[;I~BCYN?yNFIT)T)^ > ^>bu<Mbb=Yfv0ddaj$HhhynaW<}n>Ip v:r'z 5? v:rR+ݾ rT> v?9r)@r: r:)r8:WWX XWX:W2W*WV!bU!BU!*U!U!U-E@R5B*** querying acoustic contact ***P1P1BQBY BYA]*BYAYAaAaAa"Ci*CiRCiCiCqiIqG=  b:YWU1y:6);9.Aj,mhFAY}6@}6<, @y}6c_}6nfU}6H` @?`i&? ?ʿS?2?)~6@ ~6[;I~6CYV?yVFZZ****** received transponder code query ******ZF****** received ping request ******^!!a%$H!)y- <}->I9=yz 5?=+ݾ =]R> E?9=a@=2: =:)9WiWqXq XqWqXq:Wq2Wy*WyVybUyBU*UUU@+ @BB BA;*BAAAA"C*CRCCCױIG=I)S)q,mhFAY}Fz@}F @y}F.r}Fܐ]}FH ??@`8%̿ ? 調@t?)~Fz@ ~FOZ;I~FCY?yF!ɮ%a=-xDUSBL response received:!U1,P 41C,000,002AD,18A,80,80,AC,FF -Command Ack-BRequesting micromodem ping code 2i11ENmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 >9IXFi?=;  E    @ @ @ @i )Iik<M%"=YeQUm>iiam$HuHqyuI<}}>Iȁ :Ņz 5? :Ņ*ݾ ƅ4O> ?9ƅ@Dž5; ȅ;)ȅ9:WWX XWX:W2W*WVbU!BU!*U!U)U-@ @BqBq BqAu*ByAyAyAyA"C*CRCCCIG5q>  {:YU1y:26);Xw,mhFAY}>S5@}>P@y}>}>}>HA??shοU? O?)~>S5@ ~>Z;I~>CYb?ybF5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B %=i^AucM}i=Y@QU?a$Hy<}?Iȡť{ 5?ťW*ݾ ƥ,M> ?9ƥ@ǥϸ: ȥܹ:)ȡWWX XWX:W2W*WVbUABUI*UQUYU] E@BB BA*BAAAA"C*CRCCCIG'>|}},mhFAY}R@}Rs@y}Rp}R}RHN@_4?`k?Cѿ`_?@ػ +?)~R@ ~RC[;I~PYbk?yboFfxDUSBL response received:!U1,R,4CD,000,002B3,189,80,80,BD,FF jFpublishing direction and range infofGdɰfmb=f7> d)f=CIdyfp}@fgԚT?F)ٱdua$HyG<}>I  :Mz 5?  :+ݾ J>  ?9@8: +:)::WWX XWX:W2W*WVbUBU*UUU@8@R(Combining 5 samples.P*Qp}@ZQܒH?Zu JQgԚT?F)2QG:QbQ( |?)P_ @D}H?RQb/?5-?=i4=!  s:YDW1yY:r69 @ܵ>9ܱIܵFiܵ1?ܵ=ܱܱܵ; ݵEUg,`xnhFAY}^% @}^%@y}^Pa}^w1}^H ?`W?ѿ->?@o X?)~^% @ ~^U[;I~\Yrq?yrFuDNmea in: $SNTTA,,,,,232231.48*51 "=MM=Yd;QU>a$HyK<}>Ivy 5?,ݾ H> ?9q@: :)mmAdded new target pos. range: 3.959999 m, bearing: 64.450498 deg, deltaT: 4.487811 s, approachRate: 0.080217 m/s, LOS rate: -1.307752 deg/s, posRepo size: 4XW?WX XWX:W!2W!*W!V!bU)BU)*U)U- @U5\?BYBY BYA]Q*BaAaAaAaAa"Cm)?RCiCu?Cqׅ?iׅ?IIQGu=В,2Y,nhFAY}Fn@}F}@y}FӃ}F#p}FH DKƼ?g7? !ο@K?[?)~Fn@ ~F[;I~FCYV?yVFI))-= -=u:MuN=Y}QU}>yya$Hy~<}>I!%x 5?%].ݾ %yF> 5?9%N@%: %3:)!WQWYXY XYWYXY:WY2Wa*WaVabUaBUa*UiUiUu@d?BB BA%M*BAAAA"CC?RCCC׹IG#>q  z:YU1y:D6w,(FnhFAY}NG@}Nc@y}Nn}N}NH+`G:@?`7?@^~̿`?0?)~NG@ ~N[;I~NCZPowering up^"Initializing DDM.Y]?y]F      @ @ @Y9YI]xFi]?]=YY]x; ]Ei )Ii-^<M52=Y5{QU5>99a=$H9AyEl}E>IQ U:Uw 5? ]:U/ݾ U|E> ]?9U9@Uk: Uw:)U;:WWX XWX:W2W*WVbUBU*UUU??BB BA*B!A)A)A)A)"C5?RC1C1C9!I)GU2>I)m, `nhFAY}}4@}}`P@y}}1l}}⑍}}H fl?~,?PbOпfU?@r?)~}4@ ~}Ԥ[;I~} CY6?yF=?+{Gzt=>= =ף)9I9y=/$?/$?/$=,==,==, =DA)9I=,Ai=qA9=LAUM]G=Y]¼QU]>aaae$Haiym%6}m>Iquu 5?ux/ݾ u*8> ?9u@u: u':)qWWX XWX:W2W*WVbUBU*UUU@?BB BA`*BAAAA"C*CRCCCI)יIG@>   j:YX1y/:q 6!˝,ynhFAY}6u@}6@y}6=Y}6å}6H.U\?`M?@> пq?곿?)~6u@ ~6~6CYN?yRԉF=i<    @ @ @ áááiå\?á ġ)ġIġiĥ?ӼMj=YhQU>a$Hy}>I :s 5? :/ݾ ,> ?9@: :)<:WWX X W X :W 2W *WVbUBU*UUU`d?BABI BIAM*BIAIAIAQAQ"CY*CYRCYCYCaIIYGu=Y9YI]Fi]E?]=YY]:; ]E)Ii釉===G5,nhFAiznmGIi1}ҿٺy}2AY}(8@}S@y}ꄋ}g}H` J?`a$Hy]}>I`q 5?.ݾ > ?9@: ӻ:)WWX XWX:W2W *W V bU BU*UUUc/@BABI BIAM*BIAQAQAQAQ"CY*CYRCYCYCaiIqG>i=  {:YT1y:6);9 ݪ,1nhFAY}2(@}2D@y}2}2?M}2HW@o?=? F&Ͽ@y+??)~2(@ ~2c[;I~2CYBZ?yBۋF@B@AR;MRs=YV-;QUV?TTaZ$HXXy^4}~?I  :o 5?  :Y.ݾ >  ?9t@: b:)=:W1W1X1 X1W1X1:W92W9*W9V9bUABUA*UAUAUE @RB*** querying acoustic contact ***PPBB BA׆*B!A)AQAYAY"Ci*CRCCC%?i%? IG- >DZ,vnhFAY-?y5F=Z****** received transponder code query ******=F****** received ping request ******=YYa]$H]HYye}e>Iim m 5?m-ݾ mE> u?9mf@mw: m:)iWWX XWX:W2W*WVbUBU*UiUiUm  @BB BA*BAAAA"C*CRCCCIG(>  q:YW1yč:)6)1;i,TnhFAY}5h@}5@y}5犾}5d }5H~@H?#n?`*`Vп`&?蒱M?)~5h@ ~5Z;I~1Ym?ymFxDUSBL response received:!U1,P 4CD,000,002B3,189,80,80,BD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  ףp= ?x&?+?Q=7 > =)Iy{GzMb?V-#= ­fBA)©I­+Ai­wAMA=M&=Y":QU>!!a%$H!!y-[<}->I1 ]:5+l 5? ]:5q.ݾ 5S= e?95@5; 5;)5>:WWX XWX:W2W*WVbUBU*UUU @BiBi BqAl*BAAAA"C*CRCCCI)1IQG>,$nhFAY}J@}JF@y}J}J x}JH`"U?@/_? Gп@:??)~J@ ~JZ;I~HYj?yjӊFpɮp Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )IiM=YDQU?!!a%$H!!y- <}-?Ik 5?.ݾ = ?90@: :)W1W1X1 X1W1X9:W92W9*W9V9bUABUA*UAUAUE@BqBq ByA}B*ByAyAyAyAy"C*CRCCCiIqG>  C:YxZ1yq:69 @9CIFi@=; XE-,ohFAY}2V@}2@r@y}2}2̽}2HI)yIU?(?7WNѿ?@^?)~2V@ ~2m[;I~0YB?yBwFFxDUSBL response received:!U1,R,47C,000,002B2,189,80,80,B8,FF JFpublishing direction and range infoF;DɰFb=D D)F8CIDyFy@F2/=?=^ٱDZ]AZ]AbӸ<Mbc=Yf;QUf>dhaj$Hhhyn%=}n>Iprj 5?r&/ݾ rջ= v?9r@rϸ: r:)pWWX XWX:W2W*WVbUBU*UUUw@R(Combining 5 samples.P*Qy@ZQD@MÀH JQ2/=?=^2Q;:QbQs?d @Ӈ}.?RQ;a)GG?1?Š~?BQL? Q&c@Qŭ?PW9?PX9?PQQ)@"Q&@BABA BAAE*BAAIAIAIAI"Cq*CqRCqCqCyiIyG=-,\.ohFAY}z]@}z@y}zӽ}z90}zHsK[@??Lп?>9?)~z]@ ~zv\;I~zCYU?y]FTNmea in: $SNTTA,0.027106,,,,232235.95*49 -6only read 3 of 4 data items;;M-=YNg;QU>a$Hy2<}>I : j 5? :/ݾ {= ?9@: 0:)?:mmAdded new target pos. range: 3.899999 m, bearing: 69.067966 deg, deltaT: 4.382934 s, approachRate: -0.013690 m/s, LOS rate: 1.053511 deg/s, posRepo size: 4XWL?WX XWX:W2W*WVbUBU*UU23@U@?BB BA*BA!A!AAAA"CM?RCICML?CQ9IIGe4>=i="  s:YU1y:r6i,HohFAYe?yF>9Ii=; E <M Y=Y QU>a$Hy%}%>I)-Xi 5?-0ݾ -= 5?9-J@-: -D:))WQWYXY XYWYXY:WY2Wa*WaVabUaBUa*UiUiUmI?BB BA*BAAAA"Cz?RCCCIG>?,ĘbohFAY} @}c@y}}D}H@ gN?`0?@M`Ͽ?1&E?)~ @ ~D[;I~CYe?ye FI)333333A`"?V-> )Iyy&1|?Q?Mb``;< ½?A)½+WAI½v.Ai½vA OA)= >K_M==YI=QU>a$Hy5=}>I :Th 5? :a0ݾ ~= ?9@]: f:)@:W)W)X) X)W)X):W12W1*W1V1bU9BU9*U9U9U=z ?BiBi BiAmĆ*BqAqAqAqAq"C}XH?RCyCyCaIqG>  Nq:YW1yč:|6hg,j|ohFAY}2i!@}2@y}2x}2G}2H .`L??@w*[Ϳ ?``@q?)~2i!@ ~27[;I~2CYNv?yRbF    @ @ @ùùùiùù Ĺ)ĹIĹiĹܥ=M^=Yga$Hyw;}>Iwg 5?0ݾ {= ?9@: :)WWX XWX:W2W!*W!V!bU!BU!*U)U)U-`?BYBY BYA]Ѕ*BYAaAaAaAa"CmBg?*CiRCiCiCqiIyG=ٱٵ^Aܹ9ܽCIܽНFiܽE@ܽ=ܹܹܽL; ݽEIAA)_O,EohFAY}FBK!@}Ff@y}FZv}FGZ}FH% @޼?`{?cM`e˿?|@?)~FBK!@ ~F[;I~FCYbI?ybGF[MJ=Y~;QU>a$Hy3<}>I  :f 5?  :0ݾ w=  ?9z@: :)A:WIWIXI XIWIXI:WI2WQ*WQVQbUYBUY*UYUYU] 2A@BB BAۅ*BAAAA"CL?RCCC׉IG=/  :YP^1y: "6qy, ohFAY}:x!@}:]@y}:?Jv}:}:H෇A?G?R ɿ`}?`^w?)~:x!@ ~:+[;I~:CY^?ybFEC=iEa$Hy3;}>IȹŽe 5?ŽC1ݾ ƽ$v= ?9ƽ@ǽ: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C*CRCCC IG5 >Ta,ohFAY}6G#!@}6>@y}6Lt}6<}6HÓr??|~ȿF?`Џ?)~6G#!@ ~6DZ[;I~6CYJ ?yJFTVAAi9iIiiiiiim; msE)Ii==k5    @ @ @i )Ii=k=MD=Y ;QU >a$HH!y%/L}%>I15d 5?51ݾ =tI 5t= E?95H@5; 5e";)1WWX XWX:W2W*WVbUBU*UUU%n@R-B*** querying acoustic contact ***P)P)BB BA*BAAAA"C*CRCCC?i?סIG >5T>5uCimGIi4ڿٺdA=ia=  :YxZ1yq:6);9 L,)ohFAY}V!@}VV@y}VQk}Vh}VHI`Z=?द?$ѿ@#(?¿?)~V!@ ~VK ];I~VCYb?ybXFfZ****** received transponder code query ******fF****** received ping request ******f >M#=Y=a$Hy<}>I :$c 5? :1ݾ = ?9@V= I=)B:WWX XWX:W2W*WVbUBU*UUU. @B1B1 B1A5l*B1A9A9A9A9"CA*CARCACACIAIQGm>,EohFAY}F!@}FK@y}Fz`}F}FHte`["?`?r@пZ?-Dÿ*?)~F!@ ~F^;I~FCY^?y^FfxDUSBL response received:!U1,P 47C,000,002B2,189,80,80,B8,FF fCommand AckjBRequesting micromodem ping code 2ihhIp)pvNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 E'k<MM=Y]=QUe?qya$Hy%<}-?IY]Pb 5?]0ݾ ]\= ?9]B@]; ];)YWWX XWX:W2W*WV)bU)BU)*U1U1U5 @BB BAK*BAAAA"C*CRCCCסIG J>]>9YI]Fi]@]=YY]; ]gE l }:Yd\1y:N6);d, phFAY}F l"@}F@y}F_*V}F}FHMElyi?L?``OͿ`q? ?)~F l"@ ~Fs.^;I~DY^?y^F`ɮ`%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )IiaMA=Ya$Hy<}>I  :6a 5?  :n0ݾ =  ?9@: :)C:W1W9X9 X9W9X9:W92W9*WAVAbUABUA*UIUIUM2@BB BA*BAAAA"C*CRC C CIIIQGm>I@A)@A ,h1phFAY}FSV"@}Fq@y}F$J}FL&}FHzB @?=? ]ƿ,?+ZeY?)~FSV"@ ~FP\;I~FCYRG?yRFZxDUSBL response received:!U1,R,502,000,002B4,189,80,80,93,FF ZFpublishing direction and range infoVf3TɰVb=T T)VCITyV@Vw?amf-ٱTrj=Mv\=Yz|a$H y4h}>I/` 5? 0ݾ \= -?9-@); .+;)WyWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q@ZQTW?G( JQw?amf-2Qf3:QbQ4w?)I5 @"$c5RM?RQP?fѬ?42t%?BQ? Qi@Q ?PPW9?PQQ@"Q)@BIBi BiAm܄*BqAqAqAqAq"Cy*CyRCyCCiIqG>  Z{:Y[1yݏ:169@<,pKphFAY}Z6"@}Z+R@y}ZD}Z&L}ZHĚ@9h?Z?\` ĿCs? g?)~Z6"@ ~Z[;I~ZCYfp?yfrFz>9xIzНFizE@z=xxz#; zE5TNmea in: $SNTTA,0.031146,,,,232240.36*41 5=i5%=%r<M-6=Y-JS11a5$H11y=u}=>IA M:E^ 5? M:E/ݾ E#= U?9E@E: E:)ED:mmAdded new target pos. range: 4.020000 m, bearing: 66.207346 deg, deltaT: 4.475293 s, approachRate: 0.026814 m/s, LOS rate: -0.639203 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UUz@UD?BB BA*BAAAA"CΗ?RCC?C׹IG>,OephFAY}2{"@}2@y}2D}25O> 5Q8)1I1y5~jtx?y&1|?5;55`; 5?A)51RAI5-Ai5hA15IA    @ @ @ùùùiùù Ĺ)ĹIĹiĹ;MA=Y9QU>a$HyS9<}>I^ 5?/ݾ = ?9@2: %:)W1W1X1 X9W9X9:W92W9*W9VAbUABUA*UAUAUM51?BqBq ByA}*ByAyAyAyA"C?RCCCם?iם?ׁIG>  }:YU1y:`6,~phFAY}2A"@}2ʸ@y}2@}2 }2H`?X?̘?` /ȿ?`=Y?)~2A"@ ~2`0[;I~2CYB?yBFI =)     @ @ @ÁÁÁiÁÁ ā)āIāiā/¼Mb=Y +a$Hy;}>Iȱ :ŵ^ 5? :ŵs/ݾ Ƶ= ?9Ƶ@ǵ: ȵ:)ȵE:WWX XWX:W2W*WVbUBU*UUU?B!B! B!A%ń*B!A)A)A)A)"C1*C1RC1C9C91I9GU=>9I@Fi?;D; E%,ԘphFAY}22}"@}2@y}2F8}2\}2HNO? ?mȿ?`))a-$H)1y9}>I^ 5?a/ݾ = ?9@; ;)WQWYXY XYWYXY:Wa2Wa*WaVibUiBUi*UiUqUug?BB BAԄ*BAAAA"C*C1RC1C1C9 IG5 >  i:Yy6 ,,ҲphFAY}rs"@}r@y}r)}r}rH@MJ[?੾? : yǿ%?@ֶ@Ln?)~rs"@ ~rZ;I~rCY~&?y~DF    @ @ @ i? A?)?I?iA? }\<M ;=Y'=QU>a$Hy%gĺ}%>I)-^ 5?-N/ݾ -`= 5?9-@-ܹ: -+:))WYWYXY XYWYXY:Wa2Wa*WaVabUiBUi*UiUiUu` @BB BA*BAAAA"C*CRCCCI)יIG=I)2,ΊphFAY}:"p"@}:@y}:!}:d`}:H`B@9ٯ??6`Dÿ` ??)~:"p"@ ~:Z;I~:CV>9TIVxFiV?V=TTV; V EY^?y^F))e#ûMeW=Ymǭqya}$HHy}>Iȡ :ťd^ 5? :ť;/ݾ ƥ= ?9ƥ@ǥ: ȥ:)ȥF:WWX XWX:W2W*WqVqbUqBUy*UyUyUFE@BB BA *B A A1A9A9"CA*CARCACACiIIQGu> y o:YWU1y:6);9 '9,ephFAY}6zr"@}6@y}6!}6(}6HD1.? ? 5¿#?Ҥ ?)~6zr"@ ~6UZ;I~6CYB?yBFDF@AJC=iJ=u~jt?NbX9?J +uD=uE> uȽ)qIqyu:v?~jt?Mb`ua$Hy;9}>Iȩŭ] 5?ŭ.ݾ ƭ= ?9ƭa@ǭ?: ȭH:)ȩWWX XWX:W2W*WVbUBU*UUU[@RB*** querying acoustic contact ***PPB!B! B!A%*B)A)A)A)A)"C1*C1RC9C9C9IG==@,AqhFAY}22"@}28N@y}2i$}2X}2HD9s??^ի¿`}?@v[`q?)~22"@ ~2 Z;I~2CYN?yRÒFRZ****** received transponder code query ******VF****** received ping request ******Va$Hy }>I :\ 5? :.ݾ v= ?9@-< K-<)G:WyWyXy XWX:W2W*WVbUBU*UUUp @B1B1 B1A5 *B9A9A9A9A9"CA*CARCiCiCiaIiG9>ܥ>9ܡIܥFiܥ1?ܥ=ܡܡܥi; ݥ:E)1I1i15=5=5+5ip=5 i Ku:Yy6)';i] NmGIq i ܿٺ A,;F,"qhFAY}6Ƅ!@}6O@y}6L%}6=}6HKuw? ?0~ÿ?a׌?)~6Ƅ!@ ~6Z;I~6CY^z?y^FbxDUSBL response received:!U1,P 502,000,002B4,189,80,80,93,FF bCommand AckfBRequesting micromodem ping code 2iddjNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -;żM5e=YE;QUM>iqa}$Hy5}=>IAE[ 5?Eg.ݾ Ec> M?9E#@E: EE;)AWWX XWX :Wq2Wq*WyVybUBU*UUU`B @BB! B!A%O*B!AAAIAIAI"CQ*CQRCQCQCYׁIGB>MgL,-4qhFAY ?y Fp=ɮ==Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)    @ @ @i )Ii-<M5;=Y5QU5>99a=$H9AyM}U>IY e:]Z 5? e:] .ݾ ]> m?9]@]< ]Ͷ<)]H:WYWYXa XaWaXa:W2W*WVbUBU*UUU`?@B B  B A *B AAAA"C*CRCCCAI)GE0>  n:Yy69@KS,MqhFA&>9$I$i$$$$&; &hEY}B}!@}Bs@y}Bet}B}BHz@ő&??Oſv[?fHS?)~B}!@ ~B`\;I~BCYR?yRFVxDUSBL response received:!U1,R,4D7,000,002B3,189,80,80,B2,FF VFpublishing direction and range infoVeTɰVmb=T T)V2CITyVp}@Vwyq?zl=ٱTjjXMjc=Ynlpar$Hppyv8}v>IxzZ 5?z-ݾ zj> ~?9z@z: z:)xW!W!X! X!W!X!:W)2W)*W)V)bU)BU1*U1U1U5@@R(Combining 5 samples.P*Qp}@ZQle?Hr JQwyq?zl=2Qe:QbQ u??8Z @?RQ/F?DC?Àp?BQ ? Qg@Q?PPPQQ@"Q@BYBY BYA]*BYAaAaAaAa"Ci*CiRCiCiCqQIYGu=zY,gqhFAY}R!@}R 3@y}R}Rau}RHX3@{?A? 6P 8ÿ±?_S?)~R!@ ~R[;I~RCY^?y^֑F=DNmea in: $SNTTA,,,,,232244.80*57 IIS㥛?ʡE?~jt?$>-= D=)Iy:v?Mb? rh?=C< •A>A)•NAI‘i•>AE;M/=Y6a$Hy1Z}>I :iX 5? :-ݾ l > ?9s@+; #;)I:mmAdded new target pos. range: 3.959999 m, bearing: 67.613347 deg, deltaT: 4.408978 s, approachRate: -0.013609 m/s, LOS rate: 0.318895 deg/s, posRepo size: 4XW ?WX XWX:W2W*WVbUBU*UU @U h?ByB BAi*BAAAA!"CU ?RCaCe ?CiבIGa>  s:YU1y:D6]`,qhFAY}6 @}6@y}6}6tT<}6H)C? e?j2@Q¿?AF s?)~6 @ ~63[;I~6CY^?ybLF=R=i=<    @ @ @ÙÙÙiÙÙ ę)ęIęię<M^=Y~QU>a$Hyq}>I-W 5?.ݾ > ?9@0: o:)WWX XWX:W2W*WVbUBU*U U U ?B9BA BAAE9*BAAIAIAIAI"CQ*CYRCYCYCaqIyG=A9AIAiAAAAEB; EEˇf,dqhFAY}6I @}6'@y}6}6}6H`1?`,?@0x=?@'ᠿk?)~6I @ ~6`Z;I~4YNv?yRF=P<M=R=YEVԻQUE>AIaM$HIIyU3}U>IU 5?.ݾ > ?9o@: M:)WWX XWX:W2W*WVbUBU*UUU @=v?BQBY BYA]*BYAYAaAaAa"Ci*CiRCiCqCyבIG=i;  [a:Yy6l,?qhFA|i|Y}>~@}>@y}>}>f}>H`Ū?C?`@!?෍#?)~>~@ ~> [;I~>CY^?ybF u u u u@ u@ u@qqqiqq q)qIqiqMF=Y;QU>a$Hys}>Iȡ :ťzT 5? :ť.ݾ ƥ!> ?9ƥ@ǥR: ȥ:)ȥJ:WWX XWX:W2W*WVbUBU*UUUP?BB BA*BAAAA"C*CRCCCIG>A 9E CIE XFiE ?E =E <DA E ; E Es,`qhFAY}6@}6@y}6;}6)}6H U? ˬ? ??F` ?)~6@ ~6Z;I~6CYN??yRFI)5a<M=O=Y= AAaE$HEHIyMzy;}M>IQU$S 5?U+.ݾ U)> e?9Ut@U: U:)QWWX XWX:W2W*WVbUBU*UUU @BB BA^*BAAAA"C*CRCCCױIG= {{M fm:Y#R1y: 6)U;91y,qhFAY}2̧@}2U@y}2r}2`K}2H+A!?`?p`P¿ f?@%?)~2̧@ ~2Z;I~2CYR?yR:Fv/?|?5^ʿJ +?xi=R =)Iyy&1|I +~jth`廹94D @A)IAI2Ai]AFA <M@=YE;QU>a$Hyc}>I  :T 5?  :-ݾ (>  ?9@: :)K:W1W1X1 X1W9X9:W92W9*W9VAbUABUA*UAUAUMu~@BqBq ByA}@*ByAyAyAyA"C*CRCCCIי)יבIG=I)AA,rhFAY}2:e@}2À@y}2%}2;Z}2H@+t?? ¿0t? `۞?)~2:e@ ~28[;I~2CYR?yRđFPP    @ @ @i )Ii MX=Y6QU>!!a%$H!)y-S0}->I15U 5?5*-ݾ 5C(> E?95@5: 5^:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUqUE@RB*** querying acoustic contact ***PPByB BAp*BAAAA"C*CRCCCIG>>9Ii=; ]Eh  \y:Y0Y1y:6);-ֆ,ŬrhFAY}2@}2B@y}2D}2ezF}2H J@b?8?` E¿?`D?)~2@ ~2[;I~2CYj_?yjݓFnZ****** received transponder code query ******nF****** received ping request ******rQQaU$HQYy]}e>Ii u:mW 5? u:m,ݾ mx'> }?9m0@m; m;)mL:WWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"C*CRCCCIGU=,6rhFAY}2@}2_8@y}26}2#f}2H z`=F?@ ?ԋ Ŀy? Ngڏ?)~2@ ~2y[;I~2CB`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ) IYMT?yU9FUa=ɮUp=exDUSBL response received:!U1,P 4D7,000,002B3,189,80,80,B2,FF eCommand AckeBRequesting micromodem ping code 2iaa}Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @ÑÑÑiÑÑ đ)đIđiđE^ME=YM__QUU>yya$HyZ;}>IșŝY 5?ŝ+ݾ Ɲy&> ?9Ɲ @ǝH: ȝ/;)ș=i %    t:Y W1y č: 69@WiWiXq XqWqXq:Wy2Wy*WyVybUBU*UUU@B1 B9  B9 AE ؃*BA Ai Ai Ai Ai "Cy *C RC C C i ?ס I G > 9 I Fi ? = D; E)uCIqiqu=qu 6,(bPrhFAY}F>m@}FLj@y}F-5"}Fa}FH&5??`ޒſ`0?@9X?)~F>m@ ~FY[;I~FCaai]nGIiؿٺ%)Aɫ) IY ?y 1F-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B H&M}=YQU ?a$Hyo~<} ?Iq }:u0Z 5? }:u+ݾ u/&> }?9u@u{: u:)uM:WWX XWX:W2W*WVbUBU*UUU@@BB BAD*BAAAA"C*CRCCC׹I G%o>Z,d>jrhFAY}6}@}6b@y}6F}6t}6H)4[??~@fƿL?`v iy?)~6}@ ~65v[;I~6Cɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,R,4BC,000,002B3,188,80,80,B9,FF Fpublishing direction and range infoaɰ鰅> )9CIy߮j?ٱI)MbX?#~jĿ㥛 ?J>% =)Iyy&1?~jtI +?`e<D9< ?A)KAII4Ai\A GAM%j=Y%;QU->19a=$HAQy]&;;}e>IȁŅ:Z 5?Ņ:+ݾ ƅ.> 5?9ƅ@Džd< ȅ<)ȁWWX XWX:W2W*WVbUBU*UUU*@R5(Combining 5 samples.P1*Q1ZQ5sA?Tʜ JQ5߮j?2Q5a:Q1bQ5澅R?&* @K?RQ5:>ݑ?! G?dia ?BQ5H? Q5f@Q5?P1P1P1Q1Q5"@"Q5@BB BAt*BAAAA"C*CRCCCIGj>  p:YV1y:6,rhFAY}6~i@}6@y}6t}6@ؽ}6H8Z?`?yi ǿ?`o`x?)~6~i@ ~65Z\;I~6CɫYY)Y aIaY?yF ] ] e e@ e@ e@aaaiaa a)aIaiau)=MV=Yu a $H19yE=K}E>IY]CZ 5?]*ݾ ]9> ?9]@]y*< ]*<)YmEmAdded new target pos. range: 3.959999 m, bearing: 67.126498 deg, deltaT: 4.552637 s, approachRate: 0.000000 m/s, LOS rate: -0.106938 deg/s, posRepo size: 4XAWEH?WQXQ XQWQXQ:WY2WY*WYVYbUYBUa*UaUaU ?BB BA*BAAAA"C%H?RCACEH?CIIY)Y܍>9܉I܍Fi܍1?܍=܉܉܍; ݍ" EI)GEQ>$,RrhFAY}6+@}6%G@y}6}}6l }6H B@ɠ??`ÿM?!z?)~6+@ ~6[;I~6Cɫ99)9 9IAY?y_FTNmea in: $SNTTA,0.028524,,,,232249.36*40 M%P=Y%N))a-$H)1y5j'}5>I9 E:=PZ 5? E:=*ݾ =QB> M?9= @=|: =R:)=N:WiWiXi XqWqXq:Wq2Wq*WyVybUyBUy*UUU?BB BA1*BAAAA"C*CRCCCIIaG> ~~ o:YT1y@: 6;Q,Y۷rhFAY}je@}j@y}j }j-}jH`@I??`=g??)~je@ ~jQYe;I~jCɫ髱) IY?y̒FU=iUR=    @ @ @ñññiññ ı)ıIıiıP<M@=YQU>a$HHyE}>IeZ 5?=*ݾ L> ?9@@M: f:)WWX XWX:W2W*WVbUBU!*U!U!U% R?BQBQ BQAU*BQAYAYAYAY"Ca*CaRCCCIG)>܅ >9܅ CI܁ i܁ ܅ =܅ ;D܁ ܅ ; ݅ E 6,rhFAY}6@}6u@y}6!}6}}6H~NFP%?`Q?`etY¿` ? ?)~6@ ~6a;I~6Cɫ99)9 9I9Y}P?y}ԓFI=) =MV=YQU>!!a%$H!)y-g;}->Iȑ :ŕzZ 5? :ŕ)ݾ ƕV> ?9ƕq@Ǖ(: ȕ:)ȕO:WWX XWX:W2W*WVbUBU*UUU ?BB BA*BA A A A "C*CRCCCIIYG>i=- --- -j:Y-T1y-:-6)-!;9Mu`,rhFAɫyy)y yIyYr?yKF(\µ?B`"۹?== ̼)Iy~jt?{Gz~jt=#ļ A>A)NAIiS[A逼M>=YQU>a$Hy}>I  Y 5? (ݾ ,O> ?9 @ 3: :) W1W9X9 X9W9X9:W92WA*WAVAbUABUA*UIUIUMR?ByBy ByA}у*ByAAAA"C*CRCCCiIG>H,_shFAɫyy)y yIY?yzFI) m m u u@ u@ u@qqqiqq q)qIqiqڼMQ=YQU>a$Hy}>Iȡ :ťRY 5? :ť(ݾ ƥ5H> ?9ƥ@ǥ: ȥ^:)ȥP:WWX XWX:W2W*WVbUBU*UUU @BB BA&*BAAAA"C*CRC)C)C15>91I1i15=115; 5$ EQIaG8>  :YyN6)?;Ur,;shFAY}:c@}:1@y}:S$}:I}:HBvR)? ?W:&ÿl??@+?)~:c@ ~:>\;I~:Cɫ99)9 9I9Y}.?y}]F™]A=MZ=YtQU>a$HySļ}>IX 5?J'ݾ A> ?9@^: :)WiWiXi XiWiXi:W2W*WVbUBU*UUUX@RB*** querying acoustic contact ***PPBB BAb*BAAAA"C!*C!RC!C!C)I9)9 IG5 >U,Y9shFAY}6IY@}6t@y}6t! }6ꈽ}6HA@X??` 0}ĿR?䰿?)~6IY@ ~6Oa;I~6 Cɫ99)9 9I9YE?yEޒFMZ****** received transponder code query ******MF****** received ping request ******Ua$Hy˺}>IAX 5?a&ݾ w:> ?9@: N:)W WX XWX:W2W*WVbUBU!*U!U!U%s @BB BA%*B!A!A!A!A!"CI*CQRCQCQCQ)I9Ge>  ii:YV1y:69@= >99 I9 i9 = =9 9 = ; = E,:SshFAY}^C@}^H_@y}^7}^- }^H8=r<9?`?`fyƿN? rk?)~^C@ ~^ c;I~^Cɫ髑) IY?yhFxDUSBL response received:!U1,P 4BC,000,002B3,188,80,80,B9,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 m m u u@ u@ u@qqqiqq q)qIqiqLM-=Y(a$HAyM0}U>Iȁ :ŅW 5? :ŅE%ݾ ƅ1> ?9ƅJ@Dž < ȅ<)ȅQ:WWX XWX:W!2W!*W!V!bU)BU)*U)U)U- @BB BA.*BAAAA"C*CRCCC}?i}?qIG>W,lshFAY}2x@}20@y}2}2Ǹ}2HSX? z? ƿ` ?A϶?)~2x@ ~23W`;I~0ɫ99)9 9I9Y}?y}(F鮅p=ɮ=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Mb@Mb@Mb@ )IyMb?{Gzt?Zd;O?<ף;j< ?A)KAIt3Ai|_A\GA)l> ? [M W=Y,;QU>a$Hy&<}%>I!%8W 5?%(%ݾ %:> 5?9%t@%: %:)!WQWYXY XYWYXY:WY2Wa*WaVabUaBUa*UiUiUm 2@BB BAG*BAAAA"C*CIRCiCiCiAIQGm5>  =:YU1y:6u,1shFAY}Fp@}F2@y}FY}Fn}FH\P@ӯ? ? ƿ| ?@CĶ?)~Fp@ ~F^;I~FCɫQQ)Y YIYYa?yhFxDUSBL response received:!U1,R,49F,000,002B3,189,80,80,B9,FF Fpublishing direction and range infor$ɰ鰝7> )IyZh?{#xٱռMa=YQU>a$Hy꯺}>I :V 5? : %ݾ D> ?9@<: v:)R:WWX XWX:W2W!*W!V!bU!BU!*U)U)U-@a@R=(Combining 5 samples.P9*Q9ZQ=ry#>@H2 JQ=Zh?{#x2Q=r$:Q9bQ=Go?0< @`kX?RQ=> -?ґ&C?q?BQ=xE? Q=g@Q=?P9P9P9Q9Q=@"Q="@B)B1 B1A5*B1A1A9A9A9"CA*CARCACACiAIQGu>9CIi=<DKD};  E)eCIeCiae=e=e\6inmGIiٺA,^shFAY}bO@}b k@y}b3U}bz}bH@E`?K? ſ@c?`>뵿`w?)~bO@ ~bz\;I~`ɫ髹) IY?y;F]TNmea in: $SNTTA,0.004967,,,,232253.72*4E IY)Y    @ @ @i )Ii-äM56=Y5;QU5>99a=$H9AyE}E>IIMQV 5?M$ݾ MeO> ]?9M@Mϸ: Mb:)ImiAdded new target pos. range: 3.959999 m, bearing: 67.712583 deg, deltaT: 4.347420 s, approachRate: 0.000000 m/s, LOS rate: 0.134812 deg/s, posRepo size: 4XWxE?WX XWX:W2W*WVbUBU*UUUf?BB BA*BAAAA"CxE?RCCxE?CI)IG5.>  q:YDW1yY:6,_shFAɫ髁) IYN?yF  ^A U ] ] ]@ ]@ ]@YYYiYY Y)YIYiYme<MmX=YmQUm>qqau$HuHyy}}>Iȁ :ŅU 5? :Ņ$ݾ ƅX> ?9ƅ@Dž: ȅ:)ȅS:WWX XWX:W2W*WVbUBU*UUUkl?BB BAZ*BAAAA"C *C RCCCׁIG> >9 I Fi ? = LD ; P EV,.9shFAY}6n@}62@y}6h}6άs}6H`[`lu?!?K`s?,?)~6n@ ~6),c;I~4ɫ99)9 9IAY}?y}F=놽M=M=Y==QUE>AAaE$HAIyM;}U>IY]wU 5?]$ݾ ]b> e?9]/@]: ]:)YWWX XWX:W2W*WVbUBU*UUU ?BB BA1*BAAAA"C*CRCCC)IAGe>  q:YT1y:6);9 r,@shFAY}2@}2@y}2}2$8}2H tc^`??s x?Ц (?)~2@ ~2ga;I~0ɫYY)Y YIYYp?yrFi=ua$Hyb<}>I m:U 5? m:$ݾ l> m?9N@6b< a<)T:WWX XWX:W2W*WVbUBU*UUU 4?B!B! B!A%*B)A)A)A)A)"C1*C1RC1C1C9m?im?9IIGeV>Y,thFAY}>`)@}>D@y}>Jo }>}>H5X??`@\n@?`)@ ~>A_;I~>Cɫaa)i iIiY?y F))> =5>M5j=Y=:]QU=?9AaE$HAAyM<}M?IQUU 5?Uo$ݾ Us> ]?9Ue@Uض: U:)QWWX XWX:W2W*WVbUBU*UUU?@BB BA*BAAAA"CQ*CQRCQCQCYAIa܍>9܉I܍ȖFi܍?܍=܉܉܍; ݍ EG!> p bq:YV1y:6);,!thFAY}6@}6@y}6{}69f}6HNN?@?@r&?霞`?)~6@ ~6V];I~6Cɫ99)9 9I9Yu?y}ΏFk,MN=YsQU>  a $H yE<}>I+V 5?U$ݾ  |> -?9@: :)WIWIXQ XQWQXQ:WQ2WY*WYVYbUYBUY*UaUaUe`m@BB BA<*BAAAA"C*CRCCCiIyG=8,;thFAY}:@}:@y}::}:th2}:H?ş? O!$¿? #?)~:@ ~:*\;I~:Cɫ99)9 9I9Y}?y}F    @ @ @ @i )Iif=ML=YuoQUu>yya}$HyyyO;}>Iȉ :ōjV 5? :ō;$ݾ ƍo> ?9ƍ@Ǎ; ȍ;)ȍU:WWX XWX:W2W*WVbUBU *UUUx@RB*** querying acoustic contact ***PPBaBa BaAe*BaAiAiAA"C*CRCCCI)שIG#>= }} u:YkS1yԊ:69@i 9i Im 8Fim ?m =m ;Di m $; m E ,VUthFAY}2T @}2@y}2%}2B}2H9?@h? YaĿ?ر`?)~2T @ ~2c}a;I~2Cɫ99)9 9I9Y}?y}FZ****** received transponder code query ******F****** received ping request ******a$Hy;}>I  V 5? %$ݾ > ?9 @ ~: :) WW!X! X!W!X!:W!2W)*W)V)bUIBUQ*UQUQUU`'# @BB BA*BAAAA"C*CRCCC׉IG>J,]othFAY}6 @}6X.@y}6@"}6,}6H@] \??@f$ƿI?#`~?)~6 @ ~6b;I~6Cɫ髡) IYk?yFxDUSBL response received:!U1,P 49F,000,002B3,189,80,80,B9,FF Command AckBRequesting micromodem ping code 2i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i|?5?MbI +?=@ 9<)Iy?v/?Mb?L=xi== ¥@A)¥IAI¥1Ai¥>A    @  @  @i )IiMݥMU =Y}QU}>a$Hy:}>+  t:YDW1yY:6I1 =:5R 5? =:5;$ݾ 5]> =?95'@5 : 5:)5V:WaWaXa XaWaXa:Wi2Wi*WVbUBU*UUU`q@BB BA*BA A A A "C *C RC C C M ?iM ?! I1 GM >l2",6thFAY}6#( @}6C@y}6}(}69}6H O?~z?`Hƿ?3u?)~6#( @ ~6D^;I~6Cɫ99)9 9I9Y}?y}ڌF鮅a=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }!<M}=Y}¼QU9?a$Hy;}??IșŝsQ 5?ŝC$ݾ ƝS> ?9Ɲ@ǝU: ȝǺ:)șWWX XWX:W2W*WVbUBU*UUU J=@B B  B A o*BAAAA"C*CRCC!C!I9CIi=; " EG5 >\(,thFAY}6 @}6<@y}6V+}6<}6H`? hZ? XƿFQ?Siu?)~6 @ ~6\;I~6CɫYY)Y YIYY?yFxDUSBL response received:!U1,R,502,000,002B3,18A,80,80,A7,FF Fpublishing direction and range infof3ɰ鰥> )'CIyw?amf-ٱ)= =;MV=YлQU>a$Hyw<}>I :O 5? :U$ݾ A> ?9@: M:)W:W!W!X! X!W!X!:W!2W)*W)V)bU)BU1*U1U1U5@RE(Combining 5 samples.PI*QIZQM8]?{ JQMw?amf-2QMf3:QIbQMp9?cP @߭?RQM@>?NJ4?h?BQMr)? QMb@QM?PIPIPIQIQM\@"QM@BB BAh*BA!A!A!A!"C)*C)RCICICQIIQGm>  s:YW1yč:6.,thFAY}>> @}>ȭ@y}>g-}>}>H% Y? T?9 %ÿ@w?l(?)~>> @ ~>]\;I~<ɫy髁) IY!?yF=DNmea in: $SNTTA,,,,,232258.18*5B    @ @ @ÙÙÙiÙÙ ę)ęIęię&<M==Y֘QU>a$HHy:}>IhL 5?f$ݾ > 5?9@L_< _<)mmAdded new target pos. range: 3.959999 m, bearing: 64.530220 deg, deltaT: 4.444524 s, approachRate: 0.000000 m/s, LOS rate: -0.716019 deg/s, posRepo size: 4XWr)?WX XWX:W2W*WVbUBU*UUU?BB BA%*BA!A!A!A!"CM?RCICUr)?CYaIqG:> 9 I Fi ? ; E)ݥCIݡiݡݥ=ݥ=ݥF5 iM ]nGIi S}5,[thFAY}: @}:F@y}:4 7}:}:HLMa$Hy3}>Iȑ :ŕI 5? :ŕw$ݾ ƕ> ?9ƕ@Ǖ: ȕA:)ȕX:WWX XWX:W2W*WVbUBU*UUU?B B  B A -*B AAAA"Cr)?RCCCבIG)>  h:YDW1yY:6)y;9;,thFAY}J3 @}J7@y}JB}J>:}JHK C@f˾?`a? 1¿`8?l-S?k?)~J3 @ ~JBc;I~JCɫ髡) IY4?yFq= ףp?/$Zd;O?k>1 j<)Iy~jt? rhI +?<C 94< ­AA)­OAI©i­bApIA^A    @ @ @ i? )Ii&?%}uM%A=Y-pQU->)1a5$H11y=T}=>IAEJ 5?E#ݾ E> M?9E@E: E:)AWqWqXq XqWqXq:Wy2Wy*WyVybUyBU*UUU`i ?BB BA`*BAAAA"C*CRCCCשIG!>B, uhFAɫyy)y yIyY?yFUMUX=Y]QU]>Yaae$Haaym}m>Iqu K 5?u"ݾ uȲ> }?9u|@u': u@:)qWWX XWX:W2W*WVbUBU*UUU<?BB BAh*BAAAA"Cq*CqRCqCqCyܱ9ܵCIܵ8Fiܵ?ܵ=ܵ<Dܱܵ ; ݵ) E׉IG>*  jt:YV1y:6)e;H,Y$uhFAY}:XK@}:f@y}:fM}:K:@}:Hx@>!`T?`?@QĿ ? [?)~:XK@ ~:^;I~:Cɫ99)9 9I9Y]?y]FE&MEL=YEҼQUE>IIaM$HIQyU}]>Ia e:eK 5? m:e'"ݾ eڵ> m?9e@eV: e:)eY:WWX XWX:W2W*WVbUBU*UUUoA@BB BA*BAAAA"C*CRCCCIG>aN,+3>uhFAY}6݉@}6g@y}6N}6dY}6H@/ 5Y?`q?iAȿ?;N?)~6݉@ ~6) ];I~4ɫQQ)Q YIYY.?yFIa=)%=)= > M M U U@ U@ U@ U@QQQiUQ Q)QIQiUeɼMe9=YeQUe>iiau$Hqqy} <}}>IȁŅ4L 5?ŅS!ݾ ƅ> ?9ƅ~@Dž: ȅ:)ȁWWX XWX:W2W*WVbUBU*UUUw@BB BA*BAAAA"C*CRCCCIGG>i=  v:YT1y:69 @ܱ 9ܵ CIܵ ȖFiܵ ?ܱ ܵ ;Dܱ ܵ h!; ݵ EU,XuhFAY}2V@}2_r@y}2P}2}2H yNYl?? mlʿ?菳H>?)~2V@ ~2#J\;I~2CɫYY)Y YIYY}?y}F(Mi=Y%QU>a$Hy}>I :L 5? : ݾ >  ?9@: :)Z:W)W)X) X1W1XQ:WQ2WQ*WYVYbUqBUq*UyUyU}@A@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCI)IGU>[,quhFAY} @} B+@y} iU} l} H@?Yte%D?? 9R`uʿ{?@!P7?)~ @ ~ T`;I~ Cɫ) IYMe?yMFUZ****** received transponder code query ******UF****** received ping request ******U=Ǿ =O>)9I9y=y&1|?y&1|I +=`;=`=9 =;CA)=^LAI= 0Ai=hA9=JA    @ @ @ÙÙÙiÙÙ ę)ęIęięD<M"=YQU>a$HyR }>IL 5?C ݾ >  ?9"@Y: 4:)WiWiXi XiWiXi:Wq2Wq*WqVqbUBU*UUU @B)B1 B1AU*BQAYAYAYAY"Ca*CaRCaCiCבIG>  {:YW1yč:N6b,;ƋuhFAY}63@}64O@y}6r_}6퀽}6Hd\`U0?? As˴ʿ? 0r -?)~63@ ~6_;I~6CɫYY)Y YIYY ?yHFxDUSBL response received:!U1,P 502,000,002B3,18A,80,80,A7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %- M-=Y=QU= ?IQa]$HYiy;}?I :L 5? :ݾ >> %?9J@ ; ;)[:m>9iImFima?iiim]"; mEWYWYXY XYWaXa:W2W*WVbUBU*UUUa @BB BA*BAAAA"C*CRCCCׁIGc>I)@A$h,袥uhFAY}2@}2 @y}2a}2}2H@"@?mG? Ŭ#˿(?`$?)~2@ ~2_;I~2Cɫ99)9 9I9Y?y Fp=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B pMC=YqQU>a$Hy<}>IȱŵL 5?ŵݾ Ƶ[> ?9Ƶx@ǵ4: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUU ?@BB BAĆ*BAAAA"C*CRCCCIG-->  k:YDW1yY: 6"o,|uhFAɫ髙) IY?yQFxDUSBL response received:!U1,R,4F0,000,002B3,189,80,80,BB,FF Fpublishing direction and range info0ɰ7> );CIyN1y-?6 "ٱ e e e e@ e@ e@aaaiaa a)aIaiau<M}L=Y}QU}>a$HHy}>Iȑ :ŕL 5? :ŕZݾ ƕc> ?9ƕ@ǕE: ȕ:)ȕ\:WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*QZQ82LM?bF JQN1y-?6 "2Q0:QbQ\?Vc)9 @g"?RQ@޿2*?7%?f#?BQ&? Qa@Q%?PPPQQ @"Q\@BB! B!A%*B!A!A)A)A)"C1*C9RC9C9CAIG5 >U >9Q IU XFiU ?Q Q Q U C#; U E} v,cuhFAY}v @}v?@y}vS}vk}vH@Ȱ?"?- ʿ 4? e6?)~v @ ~v\;I~vCɫ) IY?y F}TNmea in: $SNTTA,0.062201,,,,232302.60*43 I4=)4=)õ > ñ ME=Y =QU>a$Hy<}>IL 5?ݾ C> ?9@: :)m%mAdded new target pos. range: 3.959999 m, bearing: 64.525186 deg, deltaT: 4.464791 s, approachRate: 0.000000 m/s, LOS rate: -0.001127 deg/s, posRepo size: 4X)W-&?W1X1 X9W9XA:WI2WQ*WYVYbUaBUi*UqUyU?B)B1 B1A5Ć*B1A1A9A9A9"Ce&?*CaRCaCe&?CiYIiG\>X  x:Yy6);94|,2uhFAY}2!@}2 @y}28W}26E}2Htb??-(@ɿ[?`f :?)~2!@ ~2~[;I~2Cɫ99)9 9IAY]?y]Fi|?5333333a$Hy$Z<}>IșŝJ 5?ŝݾ Ɲ(> ?9Ɲ@ǝj: ȝ:)șWWX XWX:W2W*WVbUBU*UUUk?B B BAl*BAAAA"C!*C!RC!C!CׁIG=>, vhFAY}6`A!@}6\@y}6]}6=}6H%1??I>Gʿl? <@0?)~6`A!@ ~6lb;I~6Cɫ99)9 9I9Y?yЍF5=M=b=Y=wQU=>AAaE$HAIyM&<}M>IQ ]:UrI 5? ]:U8 ݾ UƓ> e?9U9@U: Uw:)U]:WWX XWX:W2W*WVbUBU*UUU:?BB BA *BAAAA"C*CRCCC999I=Fi=1?==99=#; =E)ݍCIݍCi݉݉݉ݍ4׉inGIIiG=/>M$ٺIMdAu* uuu ujt:YuWU1yu:u6)ue;F, &vhFAɫyy)y yIyY?yٍF !!)-]AU.:M]H=Y]QU]>aaae$Haaym}m>IquG 5?u ݾ u4> }?9u@u: u:)qW!W!X! X!W!X!:W!2W)*W)V)bUaBUa*UaUiUm`?BB BA*BAAAA"C*CRCCCסIG >;2,@vhFAY}FX!@}F@y}F,?Z}F}۽}FHgy忬?@?5mUͿ$?`ú ?)~FX!@ ~Fj];I~FCɫQQ)Q QIYY:?y>F    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉpD<ME=Y;QU>a$Hy<}>I :3F 5? :q!ݾ {> ?9@; ;)^:WWX XWX:W2W*WVbUBU*UUU t@ByB BA߅*BAAAA"C*CRCCCיIG@>m m~m~m mZ{:YmT1ym@:m69u@) 9- CI- Fi- v?- =- <D) - ,$; - EX,QZvhFAY}:#!@}:@y}:RT}:C}:HYuD~Ҳ?.? pʿY?@/6?)~:#!@ ~:\;I~8ɫ99)9 9I9Y}z?y}ǍF=ia=esMeO=Ym6piiau$Hqqy}>;}}>IȁŅD 5?Ņ "ݾ ƅ!g> ?9ƅQ@Dž; ȅ';)ȁW1W1X1 X9W9XA:WI2WQ*WYVYbUaBUi*UqUyU%@BB BA*BAAAA"C*CRCCCIGE>,1ztvhFAY}6!@}6@y}6P}6[q}6H_O@3@??`i@ȿ@? @H?)~6!@ ~6\;I~6CɫYY)Y YIYYL?y F?A=NbX9?x&x&?=>=7 =7=)9I9y=Mb`?Q?~jt?=;=\==< =:A)=VVAI=K/Ai=kA9=JAB=M@=Yya$Hiyu\q}u>Iy :}C 5? :}"ݾ }Co> ?9}@}< }n<)}_:WWX XWX:W2W*WVbUBU*UUUk(@RB*** querying acoustic contact ***PPB!B! B!A-*B)A)A)A)A)"C1*C1RC9C9C9AIIGmV>=ia=  m:YX1y/:6j,uUvhFAY}6k!@}6@y}6I}6h}6H`J@'? ?,0+Tʿ?HKB?)~6k!@ ~6;a;I~6C9IxFi?$; DEɫ) IY_?yFZ****** received transponder code query ******F****** received ping request ******QQaU$HQYy]$}>IȉōB 5?ōK#ݾ ƍjv> ?9ƍ_@Ǎ÷: ȍ:)ȉWWX XWX:W2W9*W9VAbUABUA*UAUIUM O @BB BAV*BAAAA"C*CRCCCI)ױIG> ,0vhFAY}6L@!@}6[@y}6UB}6}6H@?i?Dʿ01?DJ?)~6L@!@ ~6 a;I~6Cɫ99)9 9I9Y?yFxDUSBL response received:!U1,P 4F0,000,002B3,189,80,80,BB,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -<M5=YEȹ ?9Ƶ@ǵ; ȵx;)ȱW9W9X9 X9WAXA:Wi2Wq*WqVqbUyBU*UUU @BIBI BQAU&*BQAQAQAQAY"CY*CRCCCaIqG^>O ( ]w:YT1y:q#6},vhFAY}6 @}6@y}6!@}6Bp}6H`)`tר?@?=ɿ@?@:7M?)~6 @ ~6$^;I~4ɫYY)Y YIYY2?ysF鮝a=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M>=Y;QU>a$HHy } >I %:@ 5? %:J$ݾ > %?99@: I:)`:WIWIXI XQWQXQ:WQ2WQ*WYVYbUYBUY*UYUaUe8@BB BAa*BAAAA"C*CRCCCIG$>9IFiv?$; xEç,vhFAY}2 @}2L @y}2 =}2}2H'@#@v? `%?@= ˿`G?`ϻB?)~2 @ ~2Mf^;I~2 CɫAI)I IIIY}?y}=FxDUSBL response received:!U1,R,502,000,002B4,188,80,80,7D,FF Fpublishing direction and range infof3ɰb=鰅> )BIy@w?amf-ٱ - - - -@ 5@ 5@)))i)) )))I)i)moMmS=Y}i;QU>a$HQye}>I? 5?$ݾ c> ?9@#< a:)WQWQXQ XQWYXY:WY2WY*WYVabUaBUa*UiUiUu@R}(Combining 5 samples.P*Q@ZQTW?G( JQw?amf-2Qf3:QbQH{4?^=˒ @jB?RQ>d+w?fn?1?BQn1? Qd@Q?PV9?PPQQA"@"Q @BB BAw*BAAAA"CA*CIRCICICI9IIGeU>    i:Y WU1y : 6) ;9 Ҽ,vhFAɫqq)y yIyY2?ysFdNmea in: $SNTTA,0.059815,0.319678,,,232307.05*5E %=i%4=:v?11a5$H19y=}=>Ia m:eA 5? m:e$ݾ e3> u?9e-@e: e:)ea:miAdded new target pos. range: 4.020000 m, bearing: 64.544181 deg, deltaT: 4.496338 s, approachRate: 0.013344 m/s, LOS rate: 0.004224 deg/s, posRepo size: 4XWn1?WX XWX:W2W*WVbUBU*UUz@U?BaBa BiAma*BiAiAiAiAi"Cun1?*CyRCyC}n1?CyIG]>,kwhFAY}:s @}:@y}:}"}:)}:H p#?@]?`t=.¿H?}@?)~:s @ ~: \;I~:Cy9yI} Fi}?}=yy}%; }Eɫ髩) IY_?yFI]=)]R=)e= e>S;MC=Y}=QU>a$HyT}>INB 5?$ݾ > ?9@: ض:)WWX XWX:W2W*WVbUBU*UU U  :h?BB BAV*BAAAA"C*CRCCCIGj>- - - -  - g:Y- V1y- :- 6)- ;=,x)whFAY}2 @}2/@y}2V}2z}2H >7ձ ?V?T`@#+?@5x`0?)~2 @ ~2Ha;I~2CɫYY)Y YIYYc?yF5K¼M=|=Y= ?9ƥ@ǥ; ȥ;)ȥb:WWX XWX:W2W*WVbU BU *U UU`?B9B9 BAAE*BAAAAAAAAA"CI*CQRCQCQCQqIG%>,RCwhFAY}6!@}61@y}6}6F=}6H@YO"?C? {`%g? g6?)~6!@ ~6_;I~4ɫII)I IIIY}P?y}F U U U U@ U@ U@ ]QQQiU?Q U?)U?IU?iUK?m*<MmG=Yuoya$Hy:<}>IȑŕeD 5?ŕ$ݾ ƕ> ?9ƕl@Ǖ=: ȕ:)ȑW9WAXA XAWAXA:WA2WI*WIVIbUQBUQ*UQUQU]H>?BB BAZ*BAAAA"C*CRCCCIG-,>܁9܁I܅ȖFi܅?܅=܁܁܅5&; ݅$E) CI Ci = 5I I !   i H_:Y WU1y : 6I ) #;i Xٺ Au U?9u A,I0]whFAY}61!@}6UM@y}6}6gW}6Hf :p?Z>?@.e¿@D?`6=?)~61!@ ~6];I~4ɫ99)9 9I9Y?y=F 鿉©© M%B=YUNYYa]$HYaye;}e>Iȉ :ōE 5? :ō$ݾ ƍe> ?9ƍ@Ǎ: ȍ:)ȍc:WWX XWX:W2W*W V bU BU *UUU @BYBY BaAew*BaAAAA"C*CRCCCיIGA>Z,$ wwhFAɫ髙) IYP?yF:vX9v~jt?T =)IyQS㥛?:v/<T ?A)KAIt3Ai^A\GA M M M M@ M@ U@ U@IIIiMI M)MIMiM] <MeC=YeQUe>iiam$Hiqyu}u>Iy}E 5?}%ݾ }> ?9}a@}M: }<)yWIWIXI XIWIXI:WQ2WQ*WQVQbUYBUY*UYUYU]Z@BB BAZ*BAAAA"C*CRCCCIGI> s    e:Y U1y : 69 @!,whFAY}6^ @}6@y}6g }6~}6H>`Bϣ?f?/k¿`;_?]?)~6^ @ ~6[;I~6CɫYY)Y YIYYT?yF=i=wMi=YCa$Hyϡ}>IyE 5?&ݾ C> ?9@: :)W W X  X WX!9%CI%8Fi%?%=!%KD%&; %]E:W2W1*W9V9bU9BU9*UAUAUE@R]B*** querying acoustic contact ***PYPYBB BA%*B!A!A!A!A!"CI*CQRCQCQCQ)I1GU>N1,8whFAY}2!@}2U;@y}2}21b}2Hd@4?@I?@?+ÿ`?@^w x?)~2!@ ~2׹b;I~0ɫ99)9 9I9Y?ytFZ****** received transponder code query ******F****** received ping request ******))a5$H9Iy]b<}]>Ia m:egE 5? m:ee'ݾ e+> m?9eQ@ep: e$:)ed:WWX XWX:W2W*WVbUBU*UUU pd @BB BAɅ*BAAAA)"CA*CRCCCסIGA>=i= y  z:Y y W66,|whFAY}:!@}:i8@y}:}:P}:Hf`? N?#Hˬ¿q?+ݲਥ?)~:!@ ~:_b;I~8ɫ99)9 AIAY}?y}FxDUSBL response received:!U1,P 502,000,002B4,188,80,80,7D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @éééiéé ĩ)ĩIĩiĩ_$=M%=Y a$HHy}>I!%QE 5?%t(ݾ %n> 5?9%@%I: %:)!WqWqXq XqWyXy:Wy2Wy*WVbUBU*UUUc @BQB BA&*BAAAA"C*CRCCCI)IG>9CIpFiM?=LD&; EJC,lvwhFAY}B @}B@y}B}BU}BHaYQ[?@y\?R@̶Q8?r@?)~B @ ~B_;I~BCɫy髁) IY?y*Fp=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)))I +?:v?Mb`94<< )Iy~jt?y&1|<` a$Hyѻ}>I :D 5? :(ݾ >  ?9A: :)e:W)W1X1 X1W1X1:W12W9*W9V9bU9BU9*UAUAUE @BB BA*BAAAA"C*CRCC!C)I)GEQ> #  s:Y y 6) ;9 n,WwhFAY}2 @}2@y}2G}2+}2H"=4-? l? WCn{?`N?)~2 @ ~2<^;I~2Cɫ99)9 9I9YuP?y}FxDUSBL response received:!U1,R,502,000,002B4,189,80,80,B0,FF Fpublishing direction and range infoyyɰy}7> y)}0CIyyy}w?amf-ٱy 99AE^A    @ @ @i )Ii&E<MZ=YkQU>  a-$H)1y5)}5>I9="D 5?=)ݾ =[> E?9=>A=j; = ;)9WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*QZQTW?G( JQw?amf-2Q:QbQ`[?[qk @rx?RQ P?ҟ*n?"w+Y?BQ4u? QSh@Q?PW9?PV9?PQQ @"QA"@BABI BIAMZ*BIAIAQAQAQ"Ci*CiRCiCiCqaIiG9>aW,v5xhFAY}v& @}vdB@y}v2}vLg}vHK@w?ё?௄g?@d?)~v& @ ~vsy\;I~vC>9Ii=c'; Eɫ) IYu2?yusFTNmea in: $SNTTA,0.030164,,,,232311.49*4D -zM-G=Y5TQU5>19a=$H99yEӯ}E>II U:M{C 5? U:M`)ݾ MÅ> U?9MeAM^: M:)Mf:miAdded new target pos. range: 4.020000 m, bearing: 65.110308 deg, deltaT: 4.425233 s, approachRate: 0.000000 m/s, LOS rate: 0.127932 deg/s, posRepo size: 4XW4u?WX XWX:W2W*WVbUBU*UUU@8?BB BAa*BAAAA"C4u?RCC4u?CיIG@>% ! ! % | % i:Y! y! % 6)% ;o ,,xhFAY}6N@}6@y}6E}6݇}6H@_ @??HĿ$x?ܹ?)~6N@ ~67\;I~4ɫYY)Y YIYY?y؏FR<MS=YvQU>a$Hy|}>IB 5?)ݾ > 5?9A; ;)WWX XWX:W2W*WVbUBU*UUU?BB BA8*BAAAA"C*CRCCCסIGA>Cg,ExhFAY}B4@}BO@y}B }B }BH~ B`? ?y`Ŀ)3? Ĵ|?)~B4@ ~Bc;I~BCɫ髉) IY_?yFIE=)E=)M= M=    @ @ @ÑÑÑiÑÑ đ)đIđiđMK=Y;QU>a$Hy}>I :6B 5? :)ݾ 8> ?9A< <)g:WWX XWX:W2W*WVbUBU*UUU N9Ii=';  E,_xhFA|8i|:@Y}m}@}m@y}m}mΟ1}mH`rX@@,?? l|c¿`?@3?)~m}@ ~m_;I~mCɫ) IYE*?yEF=Cl?y&1x&?=;_>=`e =7=)9I9y=:v?Zd;O{Gz=<=j=ף 9)=SAI=I4Ai=\A9=(HA]F<M]1=Y]bQUe>aaam$Hiiyui}u>Iy}BB 5?})ݾ }h}> ?9}A}: }4:)yWWX XWX:W2W*WVbUBU*UUUH?BB BA*BAAAA"C*CRCCCױIGe>% %%%m %{:Y%DW1y%Y:%j69%@,9yxhFAɫyy)y yIyY?y1F u u u u@ u@ u@qqqiqq q)qIqiqg=Mn=YQU?a$Hy}?IȡťLB 5?ťL(ݾ ƥ(x> ?9ƥ,Aǥ: ȥ+:)ȡWWX XWX:W2W*WVbUBU*UUU?BB BAD*BAAAA"C!*C!RC!C)C) IG5 >m$,mtxhFAY}2@}2*@y}2}2ݛ}2H'@9?p+?M`'h? A՟?)~2@ ~2 {];I~2Ca9aIeFie?aaae(; edE)Ii==`5ɫ髩) IinGIYt?y אFiE$ٺAEA )ME=YQU>a$Hy,}>I :WB 5? :n'ݾ q> ?9kAE: s:)h:WYWaXa XaWaXa:Wa2Wi*WiVbUBU*UUUhL@BB BAф*BAAA A "C*CRCCCIG-->IAA)% %%% %m:Y%X1y%/:%`6)%;9-*,QxhFAɫ髙) IY]?yF@AMQ=MMT=YeQUm>yya$Hy}>I15bB 5?5&ݾ 5#k> =?95A5f: 5:)1WyWyX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BAV*BA)A)A)A)"C1*C1RC9C9C9AIIGm5>ö1,M0xhFAY}F@@}F!\ @y}F{/"}Fo}FH@l?hb?ĿC0?Q?)~F@@ ~Fb;I~Dɫyy)y yIyY?yFZ****** received transponder code query ******F****** received ping request ******a$HHy}>I :vB 5? :%ݾ oe> ?9AA: :)i:WWX XWX:W2W*WVbUBU*UUU ௞ @BB BAń*BAAAA"C*CRCC!C)!I)GE0>a9aIeFiea?e=aae(; eE  W:YWU1y:{6);7,xhFAY}@}QQaU$HQYy]R}]>Iae[A 5?e%ݾ e_> ?9eAe; e;)aWWX XWX:W2W*WVbUBU*UUUP @BBI BIAQ*BQAYAaAA"C*CRCCC I G] > >,axhFAɫ髙) IY]?yFɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @éééiéé ĩ)ĩIĩiĩM <MM u?9e?Ae: eb:)ej:WWX XWX:W2W*WVbUBU*UUU4 @BB BAV*BAAAA"C*CRCCCIG$>% %%%x %l:Y%U1y%:%69-@D,yhFA 9 I  Fi ? =   W); Eɫ髹) IY?yFxDUSBL response received:!U1,R,502,000,002B3,189,80,80,B7,FF Fpublishing direction and range infoɰmb= )7CIyp}@w?amf-ٱI)- =M-^=Y)QU5>11a=$H99yA}E>IIM? 5?M*%ݾ MX> U?9MgAM: MH:)IWqWyXy XyWyXy:Wy2W*WVbUBU*UUU@R(Combining 5 samples.P*Qp}@ZQ8]?{ JQw?amf-2Q:QbQ/?d @?RQs@<;?%;?sƨu|?BQCj? Q\@Qp?PPW9?PQQ@"Q @BB BA*BAAAA"C*CRCCCױIG>5K,x.yhFAY}J@}JG @y}J-"}J白}JHގ o-?m?nſ` 0?@?)~J@ ~J[\;I~JCɫYY)a aIaYn?yF}DNmea in: $SNTTA,,,,,232315.97*54 ‘•]Ac<MB=Y+QU>a$Hy葼}>I :? 5? :$ݾ ?S> ?9A: f:)k:mqAdded new target pos. range: 3.959999 m, bearing: 61.510191 deg, deltaT: 4.400899 s, approachRate: -0.013634 m/s, LOS rate: -0.818041 deg/s, posRepo size: 4XWCj?WX XWX:W2W*WVbUBU*UU  @U?B B  BA*BAAAA"C?RCaCeCj?Cau?iu?YIaGY>  Nq:YW1yč:6R,jHyhFAY}>Y@}>@u @y}>y}>gν}>H`w`!FJ?f?g1 Sǿ ?us?)~>Y@ ~>b;I~>CɫQQ)Q QIQY$?yF m m u u@ u@ u@qqqiqq q)qIqiqڹMM=Y;QU>a$Hy }>Ișŝ7> 5?ŝ$ݾ ƝN> ?9ƝAǝ#: ȝ:)șWWX XWX:W2W*WVbUBU*UUU*?B B BA*BAAAA"CCj?RC!C!C!!IIG>>9IFiv?=); $E1X,5_byhFAY}~@}~+ @y}~*}~}~H^`1?`?@8X2ſ? @?)~~@ ~~U_;I~|ɫ) IY ?y Fm=ii-y&1Mb?~jtx?-`-= -;))I)y-Zd;O?Zd;O~jt-j<=-j<- -A>A)-NAI-1Ai))- GAMNMM>=YMOpQQaU$HQYy]r+}]>Iae> 5?e##ݾ eK> u?9e6Ae: e:)aWWX XWX:W2W*WVbUBU*UUU`?BB BA*BAAAA"C*CRCCCIG%,> d n:YV1y:s6W^, )|yhFAY}6@}6" @y}6J}65}6H\+L@^??-Q¿k?|eˢ?)~6@ ~6+^;I~4ɫAA)I IIIY?y.F)]> ]>    @ @ @i )Ii+O=MP=Y%Q a $H IyUǨ}U>IY e:]> 5? e:]!ݾ ]F> e?9]A]$: ]:)]l:WWX XWX:W2W*WVbUBU*UUU@sr?B)B) B)A- *B1A1A1A1A1"C9*C9RC9CACA!I1GU2>=ia=?e,yhFAY}> z@}> @y}>j+}>6u}>H$QVah?w? ÿ? O?)~> z@ ~>];I~>CT9TIVxFiV?V=TTVi*; VaEɫYY)Y YIYY?yF=MQ=YRQU>a$Hy!}>IȱŵU? 5?ŵ7 ݾ Ƶ8C> ?9Ƶ Aǵk: ȵw:)ȱWWX XWX:W2W*WVbUBU*UUU?@B!B! B!A%*B!A)A)A)A)"C1*C1RC1C1C9 IG5 >% %%%i %%q:Y%X1y%/:%6)%;9%ik, ߯yhFAY}6@}6. @y}6}6>}6H6@Fut?@F`ƫǿ P?bp?)~6@ ~6];I~6Cɫ99)9 9I9Y}9?y}FI)MS=YY!!a%$H!)y-<}->Iȉ :ō? 5? :ōݾ ƍ@> ?9ƍ|AǍ: ȍA:)ȍm:WWX XWX:W2W*WVbUBU*UUUr@BB BA*BAAA A "C*CRCCCIIQGu>Qr,yhFAY}6H@}6 @y}6}6sP}6HO5िt?@Yǿ@n7? Ֆo?)~6H@ ~6Ne;I~6C>JFailed to close latch before timeout.q >>Hardware FaultY^?ybKF``llrʼMv`=Yv_=QUv>xxaz$HzHxy~gA;}>Iȡť@ 5?ťTݾ ƥ>> ?9ƥAǥ: ȥI:)ȡWWX XWX:W2W*WVbUBU*U!U!U% J@R-B*** querying acoustic contact ***P)P)BB BAi*BAAAA"C*CRCCC?i?ױI-$@Hardware Fault in component: DDMG >Mt>Iܩ9ܭCIܩiܩܭ=ܩܭKDܭ*; ݭE)9I9i9=====m5iNmGI_Ai%yٺ-_A-A  q:YT1y: 6)B;x,yhFAY}F_@}FO{ @y}F'꽙}F` }FH`,`Uy?;¿`A?*Q?)~F_@ ~Fb;I~DNPowering downPɪP)P PY ?yFZ****** received transponder code query ******F****** received ping request ******} }=)yIyy}V-y&1|?AAaE$HAIyM<=}M>IQ ]:U@ 5? e:UMݾ UO> e?9U-AUV: U:)Un:WWX XWX:W2W*WVbUBU*UUU`0 @BB BA**BAAAA"C*CRCCCIGm>~,mpyhFAY?yF%xDUSBL response received:!U1,P 502,000,002B3,189,80,80,B7,FF %Command Ack-BRequesting micromodem ping code 2i))-=i-=5Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I_M=YQU?a$Hy}u?Iȑŕ@ 5?ŕݾ ƕ9Y> ?9ƕYAǕ: ȕ:)ȑWAWAXI XIWX:W2W*WVbUBU*U)U1U5؀ @BB BA*BAAAA"C)*C1RC1C1C9AIYGZ>% !!% %r:Y!y!%r69%@,IhzhFA9IFi1?=LD*; EY}@} @y}۽}|}H] -??```(f?@ڲ ?)~@ ~_;I~Y?yeFa=ɮa= Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @ùùùiùù Ĺ)ĹIĹiĹF=M7=Ya$Hy{<}>IFA 5?ݾ g> ?9A: U:)WWX X!W!X!:W!2W!*W)V)bU)BU)*U)U1U5 =@BYBa BaAe*BaAaAaAiAi"Ci*CqRCqCqCqI׉)׉9II$]NClearing failed state for component DDMq ]G>,'1zhFAY}B2@}B @y}BnϽ}B?_}BH]`.9?? O_@`?#žL?)~B2@ ~Bv];I~BCY^?y^FfxDUSBL response received:!U1,R,4CD,000,002B2,189,80,80,B3,FF fFpublishing direction and range infobG`ɰbb=` `)b3CI`yby@bgԚT?F)ٱ`5H޼Mj=YAa$Hy=}=>IA M:EA 5? M:EH ݾ Es> M?9EAE: E=:)Eo:WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qy@ZQ_?Jq-g JQgԚT?F)2QG:QbQ)bN?~۵g) @Zׁ?RQWq?f ?'$ ?BQ? Q^@Q?PPPQQx @"Q@BIBi BqAuD*BqAqAqAqAq"Cy*CyRCCCiIqG>8  :Yy6,KzhFAY}^A@}^ @y}^NŽ}^X:8}^Hu!? ? 9j,`:?馿?)~^A@ ~^\;I~^CYj?yjӔF=DNmea in: $SNTTA,,,,,232320.36*59 I9)9      @ @ @i )Ii%;M%<=Y%=))a5$H11y=L<}=>IAEB 5?E ݾ E> M?9EAEh: E:)Am}mAdded new target pos. range: 3.899999 m, bearing: 63.534208 deg, deltaT: 4.455504 s, approachRate: -0.013467 m/s, LOS rate: 0.454273 deg/s, posRepo size: 4XyW?WX XWX:W2W*WVbUBU*UU23@U#?BB BA2*BAAAA"CI?RCC?CIG>=>9=CI=ȖFi=?==99=*; =Eɘ, dzhFAY}2w@}2 @y}2}2}2HpO$@ڙ?`?k$ z?`y:s?)~2w@ ~2_[;I~2CYZ?yZF 11:v?X9v:v?< T=)IyMbp?l?;= ½?A)½dGAI½5Ai½UADAMP=Y;QU>a$Hy+}>I :B 5? :!ݾ )> ?9A: +:)p:WWX XWX:W2W*WVbUBU*UUU?B!B! B!A%*B!A)A)A)A)"CU?RCQCQCYiim?IIQGm> | p:Yy6,~zhFAY}2@}2 @y}2-ý}2) }2HQ@9v??N+_l??L?)~2@ ~2k8[;I~2CYN?yRF u u u u@ u@ u@ uqqqiuf?q u?)u?Iu&?iuK?VMO=Y]QU>a$Hy9}>IȡťA 5?ť!ݾ ƥ> ?9ƥAǥk: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU`\?BB BA*BAAAA!"C!*C)RC)C)C)1I9GU=A 9A IE pFiE M?E =A A E *; E Eaܥ, zhFAY}6@}6r @y}6m̽}6 s}6H`LN>?`8 ?5⡽ B?@O?)~6@ ~6T[;I~6CYN7?yR'F~=i~=UlMI=YY3QU>a$Hy }>Iȹ :ŽA 5? :Ž !ݾ ƽj> ?9ƽAǽI: Ƚb:)Ƚq:WWX XWX:W2W*WVbUBU*UUU [?B)B1 B1A5*B1A9A9A9A9"CA*CARCACACI)I9GQ v th:YWU1y:`6);9%,CzhFAY}b߻@}bi @y}bjɽ}b }bHsZ5xߋP?'&`"?@ѵu?)~b߻@ ~bZ;I~bCYn,?ynF)]= ]=    @ @ @ @i )IiПMD=Yw;QU>a$H y ;} >IA 5?!ݾ U> %?9 A: :)WAWAXI XIWIXI:WI2WI*WQVQbUQBUQ*UQUYU]@BB BA"*BAAAA"C*CRCCCIױ)ױyIG=',RzhFAY}:@}: @y}:P}:[}:H Y5~@B ?`M& ߪ?@+?)~:@ ~:Z;I~:CY^!?y^ߑF5ѰM5Y=Y5nz99a=$H=HAyE˧}M>II ]:MA 5? ]:M!ݾ M}> ]?9MAMb: M:)Mr:WyWX XWX:W2W*WVbUBU*UUU*@BB BAe*BAAAA"C*CRCCCIG=9Iib*; _EH  v:YT1y:6)v;,#zhFAY}6@}6" @y}6d}6#}6H@LT@Zw?U$O@@?*E?)~6@ ~6JZ;I~6CYvp?yvrFxxI|)|`"?Mb= )IyI +?y&1?9<`e< •;A)•OAI•n8Ai•VVAFASMC=Y:QU>a$Hy}>IDA 5? ݾ > ?94A: :)WWX XWX:W2W*WVbU BU *U U U b@RB*** querying acoustic contact ***PPBABA BAAE*BAAIAIAIAI"CQ*CRCCCIG>,{hFAY}:/@}:QK @y}:Ƚ}:g}:Hh! Y`%:?a.?`_! @@?O?)~:/@ ~:\Z;I~8YF?yFFJZ****** received transponder code query ******JF****** received ping request ******N99a=$H99yEah}E>IIM@ 5?MS ݾ M_> m?9MXAML< M[M<)IWWX XWX:W2W*WVbUBU *U)U)U5 @BB BAx*BAAAA"C*CRCCCI G%,>  h:YWU1y:69%@ie ]nGI} `Ai Dֿٺ `A A 9 I Fi ? = *; +E)qIqiqu=u=u59,m{hFAY}F@}F3 @y}F&K⽙}F c<}FH5@e?@G? k:?@m? ?)~F@ ~F];I~DYR]?yRFVxDUSBL response received:!U1,P 4CD,000,002B2,189,80,80,B3,FF VCommand AckVBRequesting micromodem ping code 2iTXnNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 (<MO=YQU> a $H9y=}E>IA M:Et@ 5? U:Eݾ Eǰ> ]?9EzAE<; ENN;)Es:WWX XWX:W!2W!*W)VibUqBUq*UyUyUB @B1B9 B9A=V*B9A9AAAAAA"Ci*CiRCiCiCqaIqG<>e,3{hFAY}:@}:) @y}:n}:w{}:H `}ࣼ?G?6E?Q@?)~:@ ~:G];I~:CJPowering upN"Initializing DDM.Y=k?y= F9ɮ9]Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 4=i=        @  @  @   i   ) I i :M7=Y QU>a$HyUλ}>I @ 5?ݾ j> ?9Aض: ϸ:)W!W!X! X!W)X):W)2W)*W1V1bU1BU1*U1U9U=@5@BaBa BiAmS*BiAiAiAqAq"Cq*CyRCyCyCyaIqG>6  _u:YT1y:6K,M{hFAY}20@}2 @y}2J}2 g}2HC9?OC? c?l@?)~20@ ~28\;I~2CYNC?yRVFVxDUSBL response received:!U1,R,502,000,002B3,189,80,80,A8,FF VFpublishing direction and range infoRf3PɰRmb=P P)R(CIPyRp}@Rw?amf-ٱP)f= f>nۼMnr=YnQU?!!a%$H!)y-L}-?I1 ]:5? 5? e:59ݾ 5b> e?95A5; 5];)5t:WWX XWX:W2W*WVbUBU*UUU@R (Combining 5 samples.P *Q p}@ZQ 8]?{ JQ w?amf-2Q f3:Q bQ ?n# @$sFS?RQ [i2$?i?6Bv?BQ ? Q Y@Q ?P P P Q Q u@"Q x @BaBa BaAe*BaAiAiAiAi"C*CRCCCIש)ש׉IG=i9iIiiiiiim+); mEc~,g{hFAY}R}@}R @y}R }R}RH>Prk@DA?@DXĿ[? Z`З?)~R}@ ~R(\;I~RCY^?y^`FUDNmea in: $SNTTA,,,,,232324.80*50 =/$?RQ?v/?=>== =xi=)9I9y=:v:vaiam$Hiiyu:}u>Iy}a@ 5?}bݾ }W> ?9}A}/: }:)ymmAdded new target pos. range: 3.959999 m, bearing: 59.505366 deg, deltaT: 4.417752 s, approachRate: 0.013582 m/s, LOS rate: -0.911966 deg/s, posRepo size: 4XW?WX XWX9:W92WA*WAVAbUABUA*UIUM @UM`?BqB BA*BAAAA"C$?RCC?CIG]3>  !j:Yy6$_, {hFAY}2ߟ@}2i @y}2}2ȶ}2H`{*XL_??`ÿk?`?)~2ߟ@ ~2 +[;I~2CYBP?yBFIp)p = = = E@ E@ E@999i99 9)9I9i9UMU^=YUo;QU]>YYa]$HYaye;}e>Ii }:m@ 5? }:mݾ m> }?9mAm; m;)mu:WWX X!W!X!:W!2W!*W)V)bU)BU)*UAUAUE?BB BAZ*B AAAA"CA?RC!C!C)!I1GM>m >9i Im pFim M?i i i m '; m E,#e{hFAY}f@}f @y}fi }fɜ}fH0? -?` ÿ?? f?)~f@ ~f~Z;I~dYr?yrFm]Ai'E<MF=YāQU>a$Hy{;}>IȹŽA 5?Žݾ ƽ1> ?9ƽAǽ: Ƚ:)ȹWWX XWX:W2W*WVbUqBUq*UqUyU}:?BB BA1*BAAAA"C _?RCCC%?i%?IG>  }:YU1y: 6);9 ,-?{hFAY}6@}6 @y}6 }6Xe}6H |z`?@?`lÿ%?dਛ?)~6@ ~6Z;I~6CYB?yB4F U U U U@ U@ U@QQQiQQ Q)QIQiQeaMmN=YmQUm>qqau$Hqyy};}}>Iȁ :Ņ3B 5? :Ņݾ ƅ> ?9ƅ:ADž: ȅ:)ȅv:WWX XWX:W2W*WVbUBU*UUU@?BB BA{*BAAAA"C?*C RC C C IG5=",{hFAY}F@}F @y}F}F"}FHW| ?`?o¿ M?`L@?)~F@ ~F\;I~DYV?yVF=>i=4=}~~<MI=YQU>a$HHyA}>IșŝB 5?ŝݾ Ɲ> ?9Ɲ[Aǝ: ȝ:)șWWX XWX:W2W*WVbUBU*UUU`7@B B  B AG*BAAAA"Cc?RC!C!C!IG= 9 I Fi ?     '; E  } } k W:Y kS1y Ԋ: 36) s;M,{hFAY}2Զ@}2^ @y}2='}2}2Hȅ]?`?ÿ`? ] ?)~2Զ@ ~23e\;I~2CYN?yRFp= ף?y&1? rh?>`e= C =)Iyy&1|I +`94 l=A)NAIi(\A\GA) > >ҍMD=Y~QU>a$Hyp}>I   C 5? ݾ > ?9 hA  : V:) W9W9X9 X9W9XA:WA2WA*WAVAbUIBUI*UIUIUM@u@ByBy ByAK*BAAAA"Cl?*CRCCC׉IG=,|hFAY}F@}F" @y}F7+}F-x}FH@S ;]?? ƿ `a?`[ ~?)~F@ ~F[;I~FCYn.?yrFtv?A U U U U@ U@ U@QQQiQQ Q)QIQiQeR<MeS=Ym>QUm>iiam$Hiqy}<}}>Iȁ :Ņ6C 5? :Ņݾ ƅ> ?9ƅtADž: ȅ ?;)ȅw:WWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA"*BAAAA"C?RCCCIG>  Wr:YDW1yY:69@ >9 I ȖFi ? =   l&;  CE<,|hFAY}6A@}6 @y}6,}6KĽ}6H Np;?` ?`Pȿ?& vf?)~6A@ ~6[;I~4YN2?yRsFRZ****** received transponder code query ******VF****** received ping request ******Vaiam$Hiiyu\;}u>IșŝhC 5?ŝݾ Ɲ~> ?9ƝAǝ: ȝ˵:)șW W X  XWX:WQ2WQ*WYVYbUYBUY*UYUaUe @BB BAa*BAAAA"C*CRCCCשIG>L ,6|hFAY}F@}F @y}FHX.}F }FH` ,?e?@@a ȿ?@k?)~F@ ~F=|[;I~FCYZ?yZF^xDUSBL response received:!U1,P 502,000,002B3,189,80,80,A8,FF bCommand AckbBRequesting micromodem ping code 2i``nNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  5 5 5 5@ 5@ =@111i11 1)1I1i1};M}-=YEQU>a$HyNi;}>I :C 5? :`ݾ > ?9A: N:)x:WAWAXA XIWQXQ:WQ2WQ*WQVYbUYBUY*UYUaUe@ݲ @B B! B)A-*B)A1A1A1A9"CI*CQRCQCQCY}?i}?ׁIGb> || Nq:YR1yi:s69,=cP|hFAY}2@}2&# @y}2ę6}2Y}2Hh?:? ~r2ǿ`M?hzZn?)~2@ ~2s[;I~2CY^G?y^FrNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B U8=MUu=YUƼQUU?YYa]$HYaye<}m ?IimC 5?mEݾ mF> }?9mAm: m:)iWWX XWX:W2W*WVbUBU*UUU@BB BA܄*BAAAA"C*CRCCCIG=Y]zCinGIi׿ٺ Aܱ9ܵCIܵXFiܵ?ܵ=ܱܱܵ%; ݵE)AIAiAE=E=E5,kGj|hFAY}Fn#@}F> @y}Fv@}Fel}FH@-y &?,?@ǿ?`@b?)~Fn#@ ~FN[;I~FCYn?ynFrxDUSBL response received:!U1,R,4E9,000,002B2,189,80,80,B7,FF vFpublishing direction and range inforhpɰrb=p p)r7CIpyry@rzp_4?3&*]yٱpdNmea in: $SNTTA,0.053077,0.265840,,,232329.24*58 =i=a i}@a } a m}@a } a q@a  a e@a  +<M8=YMQU>a$Hy%z;}>Iȩ :ŭC 5? :ŭݾ ƭ> ?9ƭAǭJ: ȭ>)ȭy:WWX XWX:W!2W!*W!V!bU!BUI*UIUIUM`m@R](Combining 5 samples.Pa*Qey@ZQe@ vy?P JQezp_4?3&*]y2Qeh:QabQe`ۃ?| @)?RQeXˎ?-}?BW?BQe&? Qe,X@Qe4?PaPaPaQaQe@"Qeu@BB BA*BAAAA"C*CRC C C IG%>  m:YWU1y:6 ,L|hFAY}2@}2| @y}2TB}28}2H @+??`:UʿN%?\fL?)~2@ ~2Я[;I~2CYN?yRF)%= %=    @ @ @i )IiMT=Y QU >a$Hy%}%>I)-%D 5?-ݾ -> =?9-A- ; -xU?))mmmAdded new target pos. range: 3.899999 m, bearing: 60.944542 deg, deltaT: 4.488010 s, approachRate: -0.013369 m/s, LOS rate: 0.320671 deg/s, posRepo size: 4XiWm&?WiXi XiWiXq:Wq2Wq*WyVybUyBUy*UyU23@U?BB BA„*BAAAA"C-?RCC&?CIG>ܭ >9ܭ CIܭ Fiܭ 1?ܩ ܩ ܩ ܭ ~%; ݭ E%', |hFAY}R@}RT @y}R=}R}RHhrB v?@0?k˿`z?Q s:?)~R@ ~R]Y[;I~RCYb?ybF*MQ=Y>a$Hy(p:}>IȱŵUD 5?ŵݾ Ƶ> ?9ƵAǵ\: ȵ?)ȱWWX XWX:W2W*WVbUBU*UUUr?BB BAG*BAAAA"Cuކ?*CRCCCIG > > m:YX1y/:a 6);9'N-,pη|hFAY}2J@}2 @y}2;9}2~}2H`WM??`֗ɿ`7?fD`W?)~2J@ ~2:[;I~2CYBm?yBFI|)|=bM=P=YE5AIaM$HIIyUH:}U>IY]D 5?]ݾ ]> e?9]A]: ]?)YWWX XWX:W2W*WVbUBU*UUUu?BB BAR*BAAAA"C&?RCCCIG=64,|hFAY}F@}Fr8 @y}F<}F=}FH@7mt?@?@ƿu?Jl?)~F@ ~F[;I~FCYn?yrF©­]A    @ @ @i )Ii d#=M >=YQU>a$HHy%w;}%>I)-D 5?-ݾ -> 5?9-A-c: -@))WYWYXY XaWaXa:Wa2Wa*WaVibUiBUi*UiUqUu\?BB BAń*BAAAA"C*CRCCC?i? IG5 >U>9QIUFiUv?QQQU$; U}E%H %%% %v:Y%WU1y%:%6)%v;b:,|hFAY}2j@}2j @y}2B}2T}2HZ?@? :ƿ3?`&f?)~2j@ ~2 [;I~0Y^C?y^VFa ia i a ma m a qa q a ea e {GzI + rh?ף9 )IyQ?~jth?Mb\=D; :A)UAI2AibAGIAI<M J=Y oQU >a$HyA<}>I! -:%C 5? 5:%ݾ %> 5?9%A%: %#:)%z:WQWYXY XYWYXY:WY2WY*WaVabUaBUa*UiUiUm ?BB BA*BAAAA"C*CRCCCIG>`KA,m}hFAY}V@}V= @y}VB}VO}VH,$ElL?s? @3 wǿ/?yb?)~V@ ~V)d[;I~VCYn4?ynMF9i==MR=Y9QU>a$Hy<}>I!C 5?Cݾ ү> ?9ZA&; ';)WWX XWX:W2W *W V bUBU*UUU.@BB BA*BAAAA"C *C RCCCIG- > [ o:YU1y:| 69@A 9E CIE xFiE ?E =E ;DA E $; E AE,rG,;}hFAY}6`@}6 @y}6@}6hq}6H8p>@??2`L?ȿQ?@ ^?)~6`@ ~6J`[;I~4Y^?ybF)l n> ] e e e@ e@ e@aaaiaa a)aIaiau9<MuM=Yu׏;QU}>yya}$Hy;}>Iȉ :ōZB 5? :ōݾ ƍ> ?9ƍAǍ: ȍ=:)ȍ{:WWX XWX:W2W*WVbUBU*UUU 6@RB*** querying acoustic contact ***PPBB BA {*B A A A A "C*CRCCCIG==i=IM,'9}hFA| i|"@Y}N I@}Nd @y}NB}N"}NH@2U 4??v$ Rʿ? K?)~N I@ ~N@[;I~LYb!?ybߑFfZ****** received transponder code query ******jF****** received ping request ******j!!a%$H!)y-i-<}->IY]A 5?]ݾ ]> e?9]A]: ]:)YWWX XWX:W2W*WVbUBU*UUU @B)B1 B1A5e*B1A1A1A9A9"C9*CARCACACA)I1GU>  #s:Yy6T,9AaE$HIYym <}u>Iȑ :ŕ@ 5? :ŕCݾ ƕ > ?9ƕ AǕ3< ȕ<)ȕ|:>9CIi=<D#; EWWX XWX:W!2W!*W!V!bU)BU)*U)U)U5fL @BB BA*BAAAA"C*CRC!C!C)AIiGa>%Z,9l}hFAY?yF!ɮ!UNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B a i@a  a m@a  a q@a  a e@a  ©©    @ @ @i )Ii-<M-!=Y-QU5>11a5$H19y=}=>IIM? 5?Mqݾ M> U?9M_ AM: M|>)IWqWqXq XqWyXy:Wy2Wy*WyVbUBU*UUUO@BB BA*BAAAA"C*CRC C C 9i=?I G-N> y *k:YW1yč:6la,}hFAY=?y=͑FExDUSBL response received:!U1,R,4FB,000,002B4,18A,80,80,6D,FF MFpublishing direction and range infoE;kAɰEb=E> A)EBIAyE@Eۀ)uN?!z.ٱAmp <Mu=YqQUu?yya}$Hyy}?Iȉō;? 5?ōݾ ƍ> ?9ƍ AǍ: ȍ5 JQۀ)uN?!z.2Q;k:QbQF?Weţ @603?RQ(i?s ﬑?ym?BQ_ ? Q]@Q$?PPPQQ$@"Q@BB BAm*BAAAA"C*CRCCCIG>i}}nGIiٿٺeA >9 I i = #; E)݁I݁i݁݅=݅=݅"5g,}hFAY}V()@}VD @y}Vq1}V6{޼}VHe?Y? "ÿ?id?)~V()@ ~V0\;I~VCYf?yfđFEDNmea in: $SNTTA,,,,,232333.68*50 EC=iER=mMB=Ya$H y<}>I!%^> 5?%=ݾ %> 5?9% A%"; %r?)!m}mAdded new target pos. range: 4.020000 m, bearing: 60.900145 deg, deltaT: 4.394677 s, approachRate: 0.027306 m/s, LOS rate: -0.010102 deg/s, posRepo size: 4XyW}_ ?WyXy XWX:W2W*WVbUBU*UUz@U?BB BA%p*B!A!A!A!A!"CM_ ?*CQRCQCU_ ?CYaIiG>V  +:YWU1y:6);9im,]}hFAY}2@}2t @y}24}2x\}2H 'ڮ??i?g-ƿP{?t?)~2@ ~2\;I~2CYNz?yRF*<MQ=YQU>a$HHy=/}>Iȱ :ŵ= 5? :ŵݾ Ƶ > ?9Ƶ Aǵ: ȵ&?)ȵ}:WWX XWX:W2W*WVbUBU*UUU+?B!B! B!A-O*B)A)A)A)A)"C1*C9RC9C9C9II)M]AqIyG=:t,8}hFAY}:@}:* @y}:3}:}:H @+@Pe?6@˿;Y?f@?)~:@ ~:0"\;I~:CYF?yF F-C M5Q=Y51;QU=>AAaE$HAIyUd4;}U>Iae< 5?eݾ e > u?9eG Aey; e?)aWWX XWX:W2W*WVbUBU*UUU T?BB BA*BAAAA"C*CRCCCܝ>9ܙIܝFiܝv?ܝ=ܙܙܝ"; ݝ@EױIG>  Wr:YDW1yY:N6);ez, }hFAY}6 @}68 @y}6'}6h}6Hn8g?)˿d?Y¿ 7?)~6 @ ~6^;I~6CYBP?yBFI ) a i%a i- a m-a m- a q-a q- a e5a e5 =5^I ?A`"L7A`尿=X>=ٽ =+)9I9y=Q?I +?{Gz?=<=9<=#= =AA)=JAI=1Ai=aA9=HA e e e e@ e@ e@aaaiaa a)aIaiauK&M}+=Y}a$Hy;}>Iȑŕ_; 5?ŕݾ ƕ> ?9ƕ AǕ: ȕ׾:)ȑWWX XWX:W2W*W)V)bU)BU)*U)U1U5@?ByBy ByAZ*BAAAA"C*CRCCCסIGD>,~hFAY}:@}:t @y}:w}:$ٽ}:H# d>n?? jǿ[?@ǺKt?)~:@ ~: <];I~:CYJ6?yJ؎F y}^A̼Mn=Y =QU?a$Hyi}?I :X: 5? :ݾ Q> ?9 A_3; E;)~:W W X XWX:W2W!*W!V!bU)BU)*U)U1U5c>@BqBq BqA}*ByAyAyAA"C*CRCCCIG > ~~ q:YT1y@:269@ܕ >9ܑ Iܕ Fiܕ 1?ܕ =ܑ ܑ ܕ !; ݕ E|,!~hFAY}2@}2- @y}2ԥ}21E}2H;R˓?@?ʵ)ÿ A?hU?)~2@ ~2If\;I~2CYN?yR`F=GK=M=Q=YE ;QUE>AIaM$HIIyUo}U>IY]@9 5?]ݾ ]> e?9] A]: ]ӻ:)YWWX XWX!:W!2W!*W!V!bU)BU)*U)U)U56x@BYBY BYA]*BaAaAaAaAa"Ci*CiRCiCqCqQIYGu=8,];~hFAY}:@}: @y}:UP }:}:Hk?ແ? :L¿`?dt`a?)~:@ ~:\;I~:CYF?yJFJAAJAANR=iN%= z z z z@ ~@ ~@xxxixx x)xIxixLMM=YcQU%>))a-$H19yE}E>II U:M%8 5? ]:Mݾ M> e?9M- AMH; MuI;)M:WWX XWX:W2W*WVbUBU*UUU`L@RB*** querying acoustic contact ***PPBB BA)*BAAAA"C*CRCCC IG5 > m \l:YV1y:j6l ,U~hFAY}6 @}6( @y}6þ&}6}6Hƹ:}&?`l?>`}pÿK?`?[?)~6 @ ~6U\;I~6CYB?yB"FFZ****** received transponder code query ******FF****** received ping request ******Jaiam$Hiiyu;}u>Ișŝ7 5?ŝwݾ Ɲ> ?9Ɲe Aǝ8: ȝf:)șWWX XWX:W2W*WVbUBU*UU!U%A @BiBi BiAu*BqAAAA"C*CRCCCI)999I=Fi=a?==99= ; == EשIG=J,[o~hFAY}6?X@}6s @y}6`)}6{}6H??@S?pſ?x?)~6?X@ ~6\;I~6CYR?yRZFVxDUSBL response received:!U1,P 4FB,000,002B4,18A,80,80,6D,FF VCommand AckVBRequesting micromodem ping code 2iTT^Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Mb@Mb@Mb@ )IylS㥛Zd;O?/ݼj<= ?A)IAI2Ai\AfFA    @ @ @i )IipM =YQU>))a5$H9AyM <}M>IQ e:U 9 5? m:Uݾ U> u?9U AUj; U&_;)U:WWX XWX:W2W*WVbUBU*UUU7(@BQBY BYAe;*BaAiAiAiAq"C*CRCCCI  fm:YU1y:V6G>h2,6~hFAY}6R@}6ܧ @y}6I(}6Ԥ}6Hzૈ?@E?@2ſ?#?)~6R@ ~6[;I~4Yf?yf$Fjp=ɮjp=zNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IY)YWM=Y;QU?a$Hy/6<}?IȹŽ$: 5?Žnݾ ƽ > ?9ƽ AǽR: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU",@B!B) B)A-*B)A)A)A1A1"C*CRCCC IG5 >5 >91 I5 Fi5 ?1 1 1 5 ~; 5 E\,~hFAY}6C@}6 @y}6 &}6 eT}6H @Z?p@?n|Ŀ`W?u0੉?)~6C@ ~6CR[;I~6CYB?yBFFxDUSBL response received:!U1,R,129,000,002C2,186,80,80,43,FF JFpublishing direction and range infoFlDɰFWg=F> D)FBIDyF@FI/Xc?U9| gпٱDV^AT^<<M^Z=Y^ξ;QUb>``ab$H`dyf:;}j>Ihj; 5?jݾ j> r?9jZ Aj: j(:)hWWX XWX:W2W*WVbUBU*UUU @R(Combining 5 samples.P*Q@ZQ>k@JQI/Xc?U9| gп2Ql:QbQ5sZpQ\@qTO?RQQq{׿ E?7?BQ~? QB@Q?PM9?PPQQ&@"Q$@BB BA*BAAAA"C*CRCCCIG>I@A)?A }} #:YkS1yԊ:6);9%׈,U~hFAY}Jdf@}J @y}JD(}J\}JH`  ? P?@ſ?6?)~Jdf@ ~J[;I~JCYn?ynF=DNmea in: $SNTTA,,,,,232338.13*57        @  @  @   i   ) I i ռM%5=Y%QU%>))a-$H-H1y5 }5>I9 E:=U= 5? E:=gݾ =S> M?9= A=: =:)=:m}qAdded new target pos. range: 4.860001 m, bearing: 111.855973 deg, deltaT: 4.445283 s, approachRate: 0.188964 m/s, LOS rate: 11.462898 deg/s, posRepo size: 4XymProNav REINIT: LOS rate is 11.462898 deg/s. Setting heading cmd to target bearing of 111.855973deg and heading rate command to 0 deg/s.W~?WX XWX:W2W*WVbUBU*UUp@U ,q,c~hFAY}:H@}:/ @y}:1FT>FuC}:F}:H@a$Hy.E}>Iȡť> 5?ťݾ ƥ> ?9ƥ Aǥj[; ȥ"\;)ȡ>9I8Fi?=H;  E)qIqiqu=u=u5WW!X! X!W!X):W)2W1*W1V1bU9BU9*U9UAUE`G?BB BA*BAAAA"CN?RCCCI1Gu6> g o:YDW1yY:6)T;6,ƥ~hFAYe?ymFm`"?Zd;O?~jt?m=m~j> m<)mIiymS㥛?:v?{Gzt?m/YYa]$HYaye}m>Iq }:u= 5? }:uݾ u> }?9uO AuW: u:)u:WWX XWX:W2W*WVbUBU*UUU8U?BB BA(*BAAAA"C_?RCCCI ) \AIG (>,˄ hFAY}2f@}2 @y}2.I}2\_}2H~"3?Y?@U=Vȿ?nsU?)~2f@ ~2 [;I~2CYb?yb&F} M}n=Y}*QU}?a$Hyek}?I< 5?ݾ Z> %?9 A; :)WWX XWX:W2W*WVbUBU*UUUJ?BB! B!A%*B!A!A!AIAI"CU?RCYCYCaׁIG>  1{:YU1y:69@9IpFiM?=\; s E,dY$hFAv^Dynamic Docking Module:C REMUS Capture Rev 1.1 ɫIQ)Q UIQY?yFI)]A]qʼM]=Y]QU]>aaae$Haiym}m>Iq }:u: 5? :uݾ u> ?9u AuV; u;)u:WWX XWX:W2W*WVbUBU*UUU@1@B B  B A *BAAAA"C?RC!C)C1!IaG>8,:>hFAY}6/l@}6 @y}6RP}65}6H@lV|@ᶷ?j?Hǿ`?`Yc@S?)~6/l@ ~6F[;I~6Cɫ99)9 9I9Yu?y}F    @ @ @ÑÑÑiÑÑ đ)đIđiđ=M=YyQU ?a$Hyt} ?I9 5?iݾ 9> ?9Ay:  ;)WW!X! X!W!X!:W!2W)*W)V)bU1BU1*U9U9UE @ByB BAM*BAAAA"C?RCCC׉IG>I)@Au }}n ez:YkS1yԊ:6,0XhFAY}2@}2+ @y}2T}2Íɻ}2H 4-?b?~?3ſlj? צxO?)~2@ ~2*\;I~2CɫII)I IIIY}?y}F@A@ALM]=Y^OQU>a$Hy>z}>IȹŽ8 5?ŽKݾ ƽ? ?9ƽ9Aǽf: Ƚ]:)ȹWWX XWX:W2W*WVbUBU*UUU`@R B*** querying acoustic contact ***P P B)B) B1A5*B1A1A9A9A9"CEl1?RCACACA܁9܁I܅8Fi܅?܅=܁܁܅t; ݅ EIG]=,\rhFAY}r@}rD$ @y}rrIc}rMΪ}rH$GW?l?p`~ȿ-?`PӔK5?)~r@ ~ri \;I~rCɫ髩) IYm?yIFZ****** received transponder code query ******F****** received ping request ****** Í>    @ @ @i )Ii8=M-=YQU>a%$H!!y-n}->I1 =:5g7 5? =:5%ݾ 5\? ]?95A5; 5>)5:WWX XWX:W2W*WVbUBU*UUU @B9BA BAAE*BAAAAIAIAI"CU?RCQCQCyQIYG}Y>* e jt:Yy6,CƋhFAY}:<=@}:X @y}:s}:F}:H=0 ?`JE?`T!̿ 2?@t(h?)~:<=@ ~:[;I~8ɫ99)9 9I9Y}?y}ӊFxDUSBL response received:!U1,P 129,000,002C2,186,80,80,43,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Mm=Y} 8QU>a$Hyu<}>II6 5? ݾ M? E?9A; [?)WWX  X WX:W2W*W!V!bUiBUi*UqUqU}`w @B B  B A B*B AAAA"C[?RCCCA!IAGuW>=i=}>9}CI}Fi}?yyy}; } E,jhFAY}:@}: @y}:~}:}:H`i4b?F?W˿?@Mܞ-?)~:@ ~:^[;I~:Cɫ99)9 9I9Y}u?y}F鮅a=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B eM<=Y]ϼQU>a$Hyv}>I5 5?ݾ e? ?9A; ?)WIWIXQ XQWQXQ:WY2WY*WYVYbUaBUa*UaUaUmZ@BqBq BqAu*BqAyAyAyAy"C]?RCCCיIGA>%w %%% %z:Y%V1y%:%6)%;9E",1|hFAY}69@}6è @y}6ń}6;}6H@@>-l?`S?gUwʿ >i?v?@?)~69@ ~65b;I~6CɫYY)Y YIYY?yFxDUSBL response received:!U1,R,464,000,002B4,18A,80,80,6C,FF Fpublishing direction and range info{ɰb=鰥> )BIy@HM,?虶lٱ        @  @  @   i   ) I i B=M%V=Y%QU%>))a-$H-H1y5H}5>I9 E:=3 5? E:=ݾ =? M?9=,A=: =)?)=:W W X  X W1X1:W12W9*W9V9bUABUA*UAUAUM ?@R(Combining 5 samples.P*Q@ZQ7@~ c5v JQHM,?虶l2Q{:QbQAb? @j?RQ?9 Db??uY?BQ? Q?l@Q?PV9?PM9?PQQ@"Q&@B9B9 B9AE*BAAAAiAiAi"Cu2?RCqCqCq׍?i׍?aIiG9> ,9ahFAɫ) I!9!I% Fi%?!!!%C; %U EYU?yUӊFDNmea in: $SNTTA,,,,,232342.60*5E M2=YQU >aE$HIYym}u>Iȩŭ2 5?ŭݾ ƭ? ?9ƭsAǭG < ȭ@)ȩmqAdded new target pos. range: 4.020000 m, bearing: 67.992853 deg, deltaT: 4.501643 s, approachRate: -0.186599 m/s, LOS rate: -9.743803 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UUz@U P6?B B  B A B*B AAAA"Cnl?RC\Fz>C?C!IG=r>I)\  gx:Yy;6);4,3hFAɫ髙) IY?yʊFa ia i a ma m a qa q a ea e Mb?:v?Zd;O@>T= j)IyZd;O?{Gz{Gzj<## 9HA)^LAIv.AirApMA=CM=U=Y9QU=>AAaE$HAIyI}U>IQU2 5?Uݾ U? e?9UAU: U':)QWWX XWX:W2W*WVbUBU*UUUC?BB BAF*BAAAA"C?RCf>CC׉IGG>P ,^ hFAY}2#@}2 @y}2/j}2}2H=`K?`? oӿ ?`Y|?)~2#@ ~2>Z^;I~2Cɫ99)9 9I9Yu?y}eF = = = =@ =@ =@999i99 9)9I9i9MYMMZ=YUQUU>YYa]$HYYyeP;}e>Ii u:m{3 5? u:mݾ md? }?9mAm: m:)m:WWX XWX:W2W*WVbUBU*UUU ?BB BAo*BAAAA"C?*C'gRC >CCI1)1I G-,>iNmGIi ׿ٺ  :A  ~:Y[1yH:D69@9CI@Fi?*; G E)ݩIݩiݩݭ=ݭ=ݭ#5?G ,&hFAY}2:@}2 @y}2}2I}2H`??a5ӿ@r? {Kv?)~2:@ ~2];I~2Cɫ99)9 9I9Y}?y}F=ݜ<M=L=Y=]FQUE>AAaE$HAIyMg}U>IY]4 5?]dݾ ]D> e?9]mA]+: ]:)YWWX XWX:W2W*WVbUBU*UUUL?BB BA0*BAAAA"Cna?RC C C %}>I G%M>i=. ,@hFAY}6@}6_ @y}6h/}6bν}6H ́?@?ԨŌҿD?ܮs?)~6@ ~6\;I~6Cɫyy)y yIyY?y6F]h=M]H=Y]QU]>aaae$Haiym;}m>I4 5?(ݾ => =?9A < * <)WyWyXy XWX:W2W*WVbUBU*UUU%@BB BA*BAAAA"C}?RCaCiCi}>QIyG~>% %%% %o:Y%W1y%č:%6X ,EZhFAY}2̔@}2V @y}2 }2l9}2H@U%hOV??`^(пB^? 2Q?)~2̔@ ~2 c;I~2CɫYY)Y YIYY\?yF9CI`Fi@y;  E m m m m@ m@ u@iiiiii i)iIiii<=MF=YQQU>a$HYye0}m>Iȡ :ťA5 5? :ťݾ ƥ>  ?9ƥ(Aǥc< ȥde<)ȥ:WWX XWX:W2W*WVbUBU*UUU`@BQBQ BQAU*BQAYAYAYAY"C?RCCC ՝a=ԝ=u>}?i}?QIYG}> ,zthFAɫ髙) IYg?yYFAA:v?Zd;O?y&1|?<j= `;)IyMb?I +S㥫<94/] l=A)\AI+AizAQPAb<ME=YQU>a$Hy%}%>I-5 5?Pݾ T> ?9UA : O<)W)W)X) X)W)X):W)2W1*W1V1bU1BU9*U9U9U= @RMB*** querying acoustic contact ***PIPIBiBq BqAuԅ*BqAqAqAyAy"C?RCCC֕>I) c w:YV1y:W6qIG>j# ,UhFAY}2@}2 @y}2}2ř}2H@ v ? ?`ѿ@?`?)~2@ ~2_;I~2Cɫ99)9 9I9Y]?y]FeZ****** received transponder code query ******eF****** received ping request ******m  a $H y<}>I :%5 5? :ݾ 5> ?9A(: :):WIWIXY XaWaXa:Wa2Wa*WiVibUiBU*UUU @BB BA*BAA AA"C-n?RC)C1C1=g>I!G=r>ܽ>9ܹIܽFiܽ@ܽ=ܹܹܽ; ݽ E ) ,0hFAY}6@}6Z @y}6G}6+ٽ}6H RԔ? ? @Kҿ`O"?@`&?)~6@ ~6sb];I~6CɫYY)Y YIYY}?y}XFxDUSBL response received:!U1,P 464,000,002B4,18A,80,80,6C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )Ii==ME+=YMrYYae$Hay--;}>IAE*5 5?Eݾ ER> ?9EAE< E$<)AWWX XWX:W2W*WVbUBU*U!U)U-B@BB BAl*BAAAA"Ca?RCCC]A]A  .:Y_1y̒:6 > I G >}0 ,s€hFAY}6=@}6 @y}6(}6}6Hžh ???]}ҿ?@͏?)~6=@ ~6m];I~6Cɫ99)9 9I9Y}.?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B  % % %@ %@ %@!!!i!! !)!I!i!5<M5]=Y=W99aE$HEHAyEs}M>IQ ]:U35 5? ]:Urݾ U> ]?9UAUp: U:)U:WWX XWX:W2W*WVbUBU*UUU %@BB BA"*BAAAA"C?RCCC>׹IGg>=i= 6 , ۀhFAY}6@}61 @y}6f}6Ѡý}6Hz@?`+?o +{ѿ#,?`?)~6@ ~6~c;I~6Cɫ99)9 9I9܅>9܁I܅Fi܅@܁܁܁܅; ݅% EY=?yF-xDUSBL response received:!U1,R,039,000,002B3,184,80,80,85,FF =Fpublishing direction and range info%%K!ɰ%mb=%> !)%CI!y%p}@%ϓ0?)nuٱ!UL:M]H=Ye>a$Hy-ʯ:}->Iim85 5?mݾ m> }?9mAmr; m:)iWWX XWX:W2W *W V bUBU*UUU@X@RU(Combining 5 samples.PY*Q]p}@ZQ]ӵ' @Ul3ɿJQ]ϓ0?)nu2Q]%K:QYbQ]r<3K% @NjD?RQ]X\Av!Z?q?BQ]@ Q]N@Q]^P]L9?P]V9?P]Q]Q]2:@"Q]@BB BA*BAAAA"CY?RCCC!     V:Y X1y /: 6) ,;9--FӅ> I G5 >< ,hFAY}~@}~p @y}~b}~U}~He@R?C?:Ͽ? ,˩`I?)~~@ ~~Yb;I~~Cɫ) IYMC?yMVFDNmea in: $SNTTA,,,,,232347.05*58 MA`"?Mbp{Gzt?M=M Mף;)IIIyM~jth~jt~jtMDMMļ M3;A)MS[AIM*AiM;yAIMNA 5 5 5 5@ 5@ 5@ 5111i5 ?1 5?)5?I5?i5?E=ME<=YMR{IIaU$HQQy]M}]>Ia m:e5 5? m:etݾ e:> m?9e0Ae: e^:)e:muAdded new target pos. range: 3.959999 m, bearing: 122.320014 deg, deltaT: 4.498400 s, approachRate: -0.013338 m/s, LOS rate: 12.076996 deg/s, posRepo size: 4XmProNav REINIT: LOS rate is 12.076996 deg/s. Setting heading cmd to target bearing of 122.320014deg and heading rate command to 0 deg/s.W@WX XWX:W2W*WVbUBU*UU @U?i?ױIG> C ,ZhFAɫyy)y yIyY?yFDMk=YQU?a$Hy}?Iȱŵ'6 5?ŵ-ݾ Ƶ"> ?9ƵMAǵ: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUU /]?B!B! B!A%&*B)A)A)A)A)"C59?RC9C9C9AI)GEQ>a9aIaiaaaaeh; eEI)  s:YV1y: 6);$I ,`x)hFAY}2Nd@}2 @y}2yx}2}2H' y}? z?@)ѿ p?r¿ ߷?)~2Nd@ ~2M_;I~2CɫYY)Y YIYY?yF=*M=P=Y=Ui=QUE>AAaE$HAIyM}U>IY]6 5?]ݾ ]> e?9]qA]g: ]:)YWWX XWX:W2W*WVbUBU*UUU?BB BAG*BAAIAIAQ"CU-X?RCYCYCYa9IIGeV>P ,YChFAY}6#@}6? @y}6|a}6g}6HR+??[@ͼϿ@g?ꖾ?)~6#@ ~6^;I~4ɫ99)9 9I9Ye?ye|F    @ @ @ @ÉÉÉiÍÉ č)čIčičM<MD=Yu\=QU>a$Hy1}>Iȹ :ŽP7 5? :Žݾ ƽK> ?9ƽAǽ-: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU ?BB BA*BAAAA"Ce?*CRCCC>I)IGi> 6    _u:Y X1y /: 69@  iu ]nGI i ٺ A.V ,.]hFAY}:΢@}:X @y}:5G}:TK}:H ڦ`w&L?`? +@ȿ~?@娿@[?)~:΢@ ~:]];I~:C 9 I Fi @ =   ; E)ݝCIݝCiݙݝ=ݝ=ݝc4ɫAI)Q QIQY?yF=ME=Y s|=QU >9AaM$HIqyuH}u>Iy}7 5?}:ݾ }6> ?9}A}: };)yWWX XWX:W2W*WVbUBU*UUU@?BiBi BiAm*BqAqAqAqAq"C}ޚ?RCyCyCyQIaG}z>i=X] , whFAY}6x@}6/ @y}666}6*};}6H`z4?@3?¿ ?@R%o?@~?)~6x@ ~6"vd;I~4ɫ) IY-r?y-KFJ +?X9v?I +?=< 9=)IyV-J +~jtx?H; µC9A)µ]AIµK/AiµqANA - - - -@ -@ -@)))i)) )))I)i)=l1=ME =YED=QUE>IIaM$HIIyU鏼}U>IY e:]I: 5? e:]'ݾ ]\> m?9]/A]: ]c:)]:WWX XWX:W2W*WVbUBU*UUU@BB BAу*BAAAA"C?RCCC    l n:Y W1y č: N6FӅ>ש I G >d ,搁hFAY}2@}2 @y}2*}2`'}2HFc9 ,h?U? ۡ@`1E?W$ ?)~2@ ~2a;I~2Cɫ) IY c?y BF@A5M5s=Y5=QU5?99a=$H9AyEe}?Iȡť; 5?ťݾ ƥ> ?9ƥAǥ: ȥk:)ȡWWX XWX:W2W*WVbUBU*UUU@@RB*** querying acoustic contact ***PPBB BAՃ*BAAAA"C%?RC)C)C) ====>9CIНFiE@y; QE5>=?i=?IG>W1j ,]hFAY}6@}6n @y}6M}6B}6HV8@#?,o?U@ÿ&?`[?)~6@ ~67^;I~6Cɫ99)9 9I9Y?yFZ****** received transponder code query ******F****** received ping request ****** m?9]A]; ][;)]:WWX XWX:W2W*WVbUBU*UUU>0 @BB BA*BAAAA"C?RCCC֙qIG~>I)% %%% %q:Y%V1y%:%)6*q ,JāhFAY}:@}:F @y}:c }:BIƽ}:H ] wo`=?@!ſ?  ?)~:@ ~:&^;I~:Cɫ99)9 9IAY}?y}FxDUSBL response received:!U1,P 039,000,002B3,184,80,80,85,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @ùùùiùù Ĺ)ĹIĹiĹe:M,=Y8a$HHynk}>I? 5? ݾ Χ> ?9>A; w;)WWX XWX:W2W*WVbUBU*UUU/ @B1B1 B1A=*BYAaAiAiAi"Cv?RCCC>ס I G >;Cw ,.vށhFAd9dIfFifv?f=ddf; f]EY}%h@}%0 @y}%|余}%(:}%Hh<@=|?`S@¿? L@¬?)~%h@ ~%d;I~%Cɫ)1)1 1I1Ym=?ymfFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i==Q?q= ףpտJ +?=u>= ==)9I9y={GztI +?=ף=9<= =;A)=OAI=I4Ai=|_A9=GAm<Mm;=Ym=QUu>ya$HyM}>Iș :ŝM? 5? :ŝnݾ ƝA> ?9ƝfAǝ'; ȝ%;)ȝ:WyWyXy XyWX:W2W*WVbUBU*UUU OR@B B  B A^*BA1A9A9A9"CEz?RCICICI% %}%}%] %h:Y%kS1y%Ԋ:% 6)%3;95m o>I IY Gu >n} ,WhFAɫ髱) IY?yFxDUSBL response received:!U1,R,502,000,002B2,189,80,80,A7,FF Fpublishing direction and range infof3ɰb=7> )'CIyy@w?amf-ٱ        @  @  @   i   ) I i V=Mb=Y%QU->))a-$H)1y5}=>I9=> 5?=ݾ =˦> M?9=A=U: =:)9WiWqXq XqWqXq:Wq2Wq*WyVybUyBUy*UUUB@R(Combining 5 samples.P*Qy@ZQ=A?a;% JQw?amf-2Qf3:QbQB*M@zL @޼|?RQS?&fW?1.3f?BQ/? QeR@Ql@PW9?PL9?PQQ@"Q2:@BIBI BIAMÂ*BIAQAQAQAQ"C]?RCYCyCu>i=IIYGu>X ,"8hFAY}M@}ר @y}bν}F>}H@s`<?;I `%?@I?)~M@ ~#P_;I~Cɫ) IYU]?yURFDNmea in: $SNTTA,,,,,232351.49*57 p<M ]=Ya$Hy%<}%>I)-U> 5?-ݾ -c> 5?9-A-=: -:))mmuAdded new target pos. range: 3.899999 m, bearing: 58.205335 deg, deltaT: 4.419485 s, approachRate: -0.013576 m/s, LOS rate: -14.507274 deg/s, posRepo size: 4XimuProNav REINIT: LOS rate is -14.507274 deg/s. Setting heading cmd to target bearing of 58.205335deg and heading rate command to 0 deg/s.Wu/?WqXq XqWqXq:Wy2Wy*WyVybUBU*UU%23@U%@?BB BA*BAAAA"Cp?RCC/?Cܽ>9ܹIܽFiܽ1?ܽ=ܹܹܽ$; ݽ4 E1 %@ %~%~% %+v:Y%T1y%@:%1!6)%;I1GM>^ ,,hFAY}F @}F < @y}Ff}F }FH@e}BC@|?}@?(?@F`?)~F @ ~Fv];I~FCɫyy)y yIyY"?y-FMQ=Ya$Hy<}>I 5:= 5? =:sݾ > E?9A; ;):WWX XWX:W2W*WVbUBU*UUU+?BB BA*BAAAA"C?RCCC ==>?i?ױIG>l ,EhFAY}J6Q@}Jl @y}Ja}Jb }JH`ȖS鐿v? 1hE?KH?)~J6Q@ ~J%\\;I~JCɫqq)q qIqY?yȖF e e e e@ e@ e@aaaiaa a)aIaiau˝<M}M=Y}za$Hyx;}>IȑŕL= 5?ŕݾ ƕ{> ?9ƕAǕ: ȕ:)ȑWWXA XAWAXI:WI2WI*WIVIbUQBUQ*UQUQU]?BB BAf*BAAAA"Cȴ?RCCC>IGm>I AA) AA  ~:YDW1yY:`69%@ ,H_hFA2>92CI2Fi2a?2=002; 2 EY}P@}k @y}}i}H`x,{? Y`ط ?@;?)~P@ ~y\;I~Cɫ) IYE?yEFElS㥛?V-EE$> E)AIAyEy&1??~jtx?E`eiiam$Hiqyu}u>Iy :}-< 5? :}ݾ }Ц> ?9}(A}: }:)}:WWX XWX:W2W*WVbUBU*UU9UEZ4?BB BA *BAAAA"Cl?*CRCCC>IGE > ,RyhFAɫ髙) IY?yQF    @ @ @ÑÑÑiÑÑ đ)đIđiđ<@Ml=YQU?a$Hy}?IW; 5?ݾ Χ> ?9QAض: :)WWX XWX:W2W*WVbUBU*UUU`|?B)B1 B1A5/*B1A1A9A9A9"CE_?RCACACAQQe>Ii)m]A9IIGuX>4 w Є:YU1y:|6l ,ithFAY}6@}6 @y}6k-}69Ͻ}6H `?n7```?@ȹ ?)~6@ ~6E`;I~6CɫYY)Y YIYY}*?y}FFɃ=MT=YQU>!!a%$H!)y-P}->I1 =:5g: 5? E:5ݾ 5> E?95A5e: 5:)5:inGIi)]ٺY]AWWX XWX:W2W*WVbUBU*UUU`}#@B B  BAc*BAAAA"C?RC!C!C!E>9AIEȖFiE?E=E;DAE; E E)CICiᅉᅩ5e>QIaG}z>=i=ͪ ,vOhFAY}6l@}6! @y}6D}6jʽ}6HͰ`\7?wu@Fz\?A,?)~6l@ ~6&^;I~6CɫYY)Y YIaYv?yFAAjM%J=Y-;QU=>AIaM$HQYym:}u>Iȉōe9 5?ōݾ ƍ> ?9ƍAǍ< ȍI<)ȉWQWQXQ XQWQXQ:WY2WY*WYVYbUaBUa*UaUaUe'O@RB*** querying acoustic contact ***PPBB BAP*BAAAA"C?RC C C=>I!G=r>%' !!% %-t:Y!y!%r6 ,V-ǂhFAY}J&@}J @y}J֧}J}}JH`ô `? }귿@?B?)~J&@ ~J\;I~JCɫ髡) IY?yȖFZ****** received transponder code query ******F****** received ping request ******a$HHy}>If8 5?ݾ > ?9A/: :)WWX XWX:W2W*WVbUBU *U U UW @BB BAf*BAAAA"CE(?RCICICI ]=]=]>e?ie?1IAG]w> ,hFA">9 I i "{; " EY}@} @y}}=}H >0aa v?gܢY?ϡR?)~@ ~[;I~Cɫ髉) IY7?yvFxDUSBL response received:!U1,P 502,000,002B2,189,80,80,A7,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 "~j? rh~jt?S=C <)IyI ++y&1|?94`; •C9A)•\QAI•:Ai•\QAEA<M=Y9QU>a$Hy%C9}->I9 E:=0: 5? E:=ݾ => M?9=<A=; =;)=:WWX XWX:WI)?A5 555 5c:Y5W1y5č:5M6)5;9M2W*WVbUBU*UUU1@BA BA  BA AM *BI AI AI AI AI "CU ?RCQ CY CY ֵ ?΅>׉ I G >w= ,0hFAɫ髑) IY?yGFp=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )Ii=M=YQU?a$Hy} ?I; 5?ݾ &> ?9iAB: |:)W!W!X) X)W)X):W)2W)*W1V1bU1BU1*U9U9U=`@BaBi BiAmˁ*BiAiAiAqAq"Cu?RCyCyCy֕>qIyG\>! ,4hFAY}6x@}6V @y}6}6#C}6Hw@iֹ?f 0?T )CIyp}@@pukw?xٱ=i=c;MZ=Y3QU>a$H y 4|} >I :N< 5? :Tݾ > %?9AN: 9:):WAWAXA XAWIXI:WI2WI*WIVQbUQBUQ*UQUYU]`@Rm(Combining 5 samples.Pi*Qmp}@ZQmۄ.<&?S" JQm@pukw?x2QmE:QibQmy @9?F @TBsv?RQmyT҄?>( K?A6 ?BQm? Qm`@Qm?PiPmW9?PmQiQm@"Qm@BB BAÁ*BAAAA"C᭭?RCCCܑ9ܑIܑiܑܑܑܑܕ$; ݕU E>׹IGh>  r:YWU1y:)6);J ,d\/hFAY}6Ѳ@}6[ @y}6@G}6N}6Hp>Ě[?0i@Se?`.y?)~6Ѳ@ ~6p^;I~6Cɫ9A)A AIAY?y+F]TNmea in: $SNTTA,0.045982,,,,232355.98*43 <M==YDQU>a$HyB<}>I!%= 5?% ݾ %±> 5?9%A%: %D:)!meiAdded new target pos. range: 3.959999 m, bearing: 62.450598 deg, deltaT: 4.384734 s, approachRate: 0.013684 m/s, LOS rate: 0.968192 deg/s, posRepo size: 4XaWe?WaXa XaWaXi:Wi2Wi*WqVqbUqBUq*UqU} @U}?BB BAn*BAAAA"CKѢ?RCC?C >׹IGj>i=n2 ,7IhFAY}:;@}: @y}:[݌}:ʤ}:Hq`g.{? c>?`0?)~:;@ ~:\;I~:Cɫ99)9 9I9Y}=?y}F } } } }@ }@ }@yyyiyy y)yIyiytMO=YK>QU>a$Hy9}>Iȩ :ŭ> 5? :ŭݾ ƭ> ?9ƭ/Aǭt: ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUUc?BB BA*BA!A!A!A!"C-w?RC)C1C1== EEבIG>  ۃ:YU1y:i69@ܡ 9ܡ Iܥ Fiܥ ?ܡ ܡ ܡ ܥ {; ݥ E<` ,!chFAY}r@}r4 @y}rK}rD}rH{X$/?[[ ظ*{?%-?)~r@ ~rb[;I~rCɫ髱) IY?y-F+? ףp= ?Q?>Q8= <)IyI +y&1|?Mbp?9`;; ;A)3MAIC9AiNADA%;M%@=Y-QU->))a5$H11y=û}=>IAE3? 5?EWݾ E> M?9EWAE: E:)AWqWqXq XqWqXq:Wq2Wy*WyVybUyBU*UUU?BB BA=*BAAAA"CEC?RCACACA]?i]?9IAGe4> ,J|hFAY}2@}2 @y}2͉}2?}2H `?`D?_d(`Y?lղ@?)~2@ ~2\;I~2Cɫ99)9 9I9Y}?y}ڗF)> ><M^=Y9QU>!!a%$H!)y-;}->I1 =:5d? 5? =:5ݾ 5^> E?95{A5g: 50:)5:WaWaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UqUyU}@B?BaBa BaAe*BaAiAiAiAi"C\?RCCCiIyG>I)AAX V x:YV1y: 6bo ,˖hFAɫyy)y yIyY?yF m m m m@ m@ m@iiiiii i)iIiii}$üMD=YQU>a$Hy}>Ișŝ? 5?ŝWݾ Ɲ> ?9ƝAǝ: ȝ:)șWWX XWX:W2W*WVbUBU*UUU G@BB BAH*BAAAA"Cf?RCCCIG$>)9)I-ȖFi-?)))-`; -u E/ ,whFAY}>&`@}>{ @y}>cɪ}>}>H8@pdq? `R??)~>&`@ ~>\`;I~<ɫYY)Y YIYY?y$F;MQ=YQU>!!a%$H!!y-<}->I15? 5?5ݾ 5> =?95A5I: 5:)1WaWaXa XaWiXi:Wi2Wi*WiVibUqBUq*UqUyU}g@BB BAA*BAAAA"C^h?*CRCCCI)\A׉IG=  .r:YU1y:E6 ,~ʃhFAY}2@}2 @y}2)}2}2H}azV? {4`޵?`?)~2@ ~2];I~2Cɫ99)9 9I9Y}?y}F?A™\AS<MR=Y賻QU>a$HHyIm<}>I :@ 5? :Sݾ tI e> ?9A: :):WWX XWX:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBB BA*BAAAA"CI?RCCC  IG5 > inmGiIi-zٺ)-AA 9A IE FiE a?A A A E 1; E \ E)}CI}Ciy}=}=}e4 ,[hFAY}2@}2 @y}2}}2.L}2H }r}? X?`P|^ ?jv?)~2@ ~25\;I~2CɫYY)Y YIYY?yFZ****** received transponder code query ******F****** received ping request ******= ==)9I9y=I +?y&1|?MbP?=94<9=: =a$Hy}>Iȡť? 5?ť1ݾ ƥǵ> ?9ƥAǥ: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUUs? @BB BA*BAAAA"C ?*CRCCC׹IGH>  q:YT1y:6);9% ,4hFAY}2@}2 @y}2$}2w}2H>@}8,K?W?@ ջ $+? ٮ@p?)~2@ ~2![;I~2CɫYY)Y YIYY?yFxDUSBL response received:!U1,P 4BB,000,002B3,18A,80,80,9F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )Ii]ߑMe==Ya%QU>a$Hy~}>I E:? 5? E:ݾ "> M?9Ai< i<):WiWiXq XqWqXq:Wq2Wq*WyVybUyBUy*UUU X @BB BAÂ*BAAAA"C%?*C!RC)C)C1U?iU?IGEs>M!,hFAY}2@}20 @y}2nnŽ}2Q:}2H' @n1,@?`."^?@?)~2@ ~2`;I~2Cɫ19)9 9I9Yu??y}@FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )a e=MV<Mm=YQU?a$HyN<}?Iȱŵ> 5?ŵݾ Ƶd> ?9Ƶ/Aǵ@: ȵ{:)ȱWWX XWX:W2W*WVbUBU*UUU;@BB! B!A%*B!A!A!A!A)"C*CRCCCI>9Ii; % EG (>I@A)@AM@ MMM M+v:YMU1yM:M{6)M;J !,1hFAY}-!@}-= @y}-Ͻ}-S}-H@I@*c0Z0$0?@r`? ױ@?)~-!@ ~-N_;I~-Cɫ11)1 9I9Ym?yu F}xDUSBL response received:!U1,R,495,000,002B4,189,80,80,98,FF }Fpublishing direction and range infou~qɰub=u7> q)uCIqyu@u"2?9Tٱq    @ @ @ i? ?)A?I?iK?ջMD=YAQU>a$Hy ;} >I :[> 5? :ݾ > %?9EA: :):WAWAXA XAWIXI:WI2WI*WQVQbUQBUQ*UQUYU]b@Rm(Combining 5 samples.Pi*Qm@ZQm_c6Q@Ʀ}v JQm"2?9T2Qm~:QibQm%&X\]?x @kR?RQm"&;?|+z?nD*!?BQm? Qmh@Qm?PmV9?PiPiQmQm@"Qm@BB BA*BAAAAAAIAI"CQ*CQRCQCQCY9IIGe4>!,KhFAY}f[@}f}w @y}fJڽ}f f}fHk/S? ?`v a$Hy<}>I  = 5? ݾ > ?9 [A ܹ: M:) mEiAdded new target pos. range: 4.020000 m, bearing: 65.637940 deg, deltaT: 4.477449 s, approachRate: 0.013401 m/s, LOS rate: 0.711866 deg/s, posRepo size: 4XIWM?WIXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UYU]z@Ue/?BB BA*BAAAA"C?RCC?CIױ)ױׁIG>M MMM Mp:YMV1yM:M69U@ 9 I i     &;  E"!,ehFAY}2cE@}2` @y}2轙}2 ռ}2H"T@r"?P?Q+`x?`Ww?)~2cE@ ~2h];I~2CɫYY)Y YIYY.?y]Fq= ףp?J +?V-=H= )IyI +~jtx?~jt94;ļ ‘)•\QAI•:Ai•TA\GA©­^AͼMN=YQU>a$Hyc}>I) 5:-> 5? 5:-ݾ - > =?9-A-: -(:)-:WyWyXy XyWX:W2W*WVbUBU*UUU ?BB BAb*BAAAA "C-?RC)C)C1AIIGe5>i=$!,bhFAY}6V@}6q @y}6J}6w}6H $BOO??@t3(t?B ʿ?)~6V@ ~6^;I~6Cɫ99)9 9I9YuA?y}˓F = = = =@ =@ =@ =@999i=9 =)=I=i=M]MUQ=YUɼQUU>YYa]$HYaye*;}e>Iim3? 5?m^ݾ mY> }?9mAm: m:)iWWX XWX:W2W*WVbUBU*UUU9?BB BA*BAAAA"C*CRCCCIG>  ҂:YDW1yY:63 &!,mYhFAY}2ڽ@}2d @y}2N}2CI}2HI ;< ??A=? 稿P?)~2ڽ@ ~2~_;I~2Cɫ99)9 9I9Y}r?y}KF=CM=L=Y=!QUE>AAaE$HAIyMk<}M>IY]? 5?].ݾ ]:> e?9]#A]: ]:)YWWX XWX:W2W*WVbUBU*UUU Dk?BB BAу*BAAAA"C*CRCCC?i?)I1GM>ܑ9ܕCIܕȖFiܕ?ܕ=ܕ<DܑܕA; ݕT E7,!,=hFAY}R@}RK @y}RX}RAG}RH`0`Paa??` ¿@?@ A?)~R@ ~Ra%$H%H!y-J}->I1 5:5@ 5? =:5-ݾ 5> E?95uA5; 52;)5:WaWaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UqUqU} #@B!B! B!A%*B!A)A)A)A)"C1*C1RCACACY1IAGmy>I)^ :YWU1y:63!, ̈́hFAY}2=g@}2ǂ @y}2}2{B}2H `VӤ?@s? w¿?`v?)~2=g@ ~2t~`;I~0ɫYY)Y YIYY}?y}̒F0M=Y=QU?!!a%$H!)y-3}-?I15*A 5?5ݾ 5ޘ> E?95A5: 5M:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUyU}G#@BB BA*BAAAA"C*CRCCC IG5 >ܩ 9ܩ Iܭ Fiܭ a?ܩ ܩ ܩ ܭ ; ݭ EF9!,hFAY}:@}:I @y}:P}:}:H)yD t>??@@&¿`v?v`O?)~:@ ~:fw^;I~:Cɫ99)9 9I9Y}?y}F=i4=I=)=utV?/$ſ{Gz?ur>u, u#<)qIqyu~jth?Mb`?uuD;u; q)u^LAIu2AiuS[AquEAU <MC=YQU>a$Hyo;}>Iȩ :ŭA 5? :ŭݾ ƭF> ?9ƭAǭ : ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUU`~@RB*** querying acoustic contact ***PPB!B! B!A%*B)A)A)A)A1"C1*C9RC9C9C9 IG1    }:Y DW1y Y: 6) ;9 /@!,~hFAY}2J@}2ԫ @y}2J(}2d}2H  Jp??`4ÿ`)? KO?)~2J@ ~2C\;I~2Cɫ99)9 9I9Y}?y}CFZ****** received transponder code query ******F****** received ping request ******Q)a5$H19y=}E>IIM@ 5?Mݾ M> }?9MAM; M;)IWWX XWX:W2W*WVbUBU*UUU @BiBi BiAm<*BiAqAqAqAq"Cy*CyRCyCyCׁIG=>=ip=i% mGI9 iQ BYF!,ӠhFAY}>z@}> @y}>E&0}>|vJyٺHJA}>H]`?`?`Uƿ`?`W {x?)~>z@ ~>$J\;I~<ɫ髁) IY~?y{FxDUSBL response received:!U1,P 495,000,002B4,189,80,80,98,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %˼M-M=Y=qQUE>QYae$Haqyj}>Iȩ :ŭ@ 5? U:ŭݾ ƭ> ]?9ƭAǭɵ< ȭ̰<)ȭ:A9AIAiAAAAE; EE)̓CI̓CiɃ̓=Ƀ̓5WWyXy XWX:W2W*WVbUBU*UUUv @BB BA*BAAAA"C*CRCCCיIGg>  q:YU1y:6);kL!,|4hFAY}2@}2 @y}2 8}2}2HqƧ?`?ǿ@? `Bj?)~2@ ~2%d;I~2Cɫ99)9 9I9Y}?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)     @ @ @éééiéé ĩ)ĩIĩiĩuM?=YeQU>a$Hy}>I@ 5?ݾ h> ?9An: #:)W)W)X) X)W1X1:W12W1*W1V9bU9BU9*U9U9UE"@BiBi BqAuɄ*BqAqAqAqAq"Cy*CyRCCCiIqG>jS!,zUNhFAY}2@}2` @y}2B}2 M}2HtI?`?ਜ਼.ʿ5?`۵M?)~2@ ~2&wb;I~2CɫYY)Y YIYY ?yFxDUSBL response received:!U1,R,4F6,000,002B3,189,80,80,83,FF Fpublishing direction and range infoA܍ɰmb=鰡 )CIyp}@?/11a=$H99yEN>}E>II U:M@ 5? U:Mݾ MĚ> U?9MAMq: M:)M:WyWyXy XyWyXy:W2W*WVbUBU*UUU`@R(Combining 5 samples.P*Qp}@ZQu IeE?{Y JQ?/IAA)AA    <  _h:Y y  * 695 @I 9I IM FiM ?I I I M S; M =EkY!,>hhFAY}f?9@}fT @y}fC}fgF}fH ?`|?˿@FQ?8?)~f?9@ ~fN2_;I~fCɫ髱) IY#?yjF]TNmea in: $SNTTA,0.045218,,,,232404.84*45 EA`"?~jt?iqau$Hqqy}l9<}}>IȁŅ? 5?Ņݾ ƅ> ?9ƅADž: ȅ:)ȁmqAdded new target pos. range: 3.959999 m, bearing: 59.873254 deg, deltaT: 4.454015 s, approachRate: -0.013471 m/s, LOS rate: -1.294267 deg/s, posRepo size: 4XW…?WX XWX:W2W*WVbUBU*UU @U}[?B!B! B!A-e*B)A)A)A)A)"C5;?RC1C=…?C9AIaG<>|`!, hFAY}:@}:Q7 @y}:f@}:ͱý}:H ?@?2ʿ?J?)~:@ ~: ];I~:Cɫ99)9 9I9Y]?y]ƎF>i%=IC=)R=    @ @ @éééiéé ĩ)ĩIĩiĩ_MV=Ya$Hy}>I=? 5?ݾ > ?9 A: +;)W)W)X) X)W1X1:W12W1*W1V9bU9BU9*U9U9UET?BiBi BiAu*BqAqAqAqAq"C}?RCyCCIG (>m i i m y m n:Yi yi m 6f!,2盅hFAY}2@}2h @y}2D}2Rר}2H@@Z?$?@`xʿti?༱`RN?)~2@ ~2\\;I~0ɫYY)Y YIYY}r?y}FZ;MV=Y'QU>!!a%$H!)y-ֻ}->I1 =:5> 5? =:5ݾ 5> E?950A5: 5:)5:WWX XWX:W2W*WVbUBU*UUU`j?B!B) B)A-*B)A1A1A1A1"C=…?RC9C9C99IFiv?; mEIQGm>=i=0l!,LµhFAY}2@}2H @y}2uN}2 }2H ۵@l?@?˿?`@9?)~2@ ~2|];I~2CɫII)I IIIY}v?y}bF - - - 5@ 5@ 5@111i11 1)1I1i1EșMEH=YE¼QUM>IIaM$HIQyUp}]>Iae= 5?eݾ e> m?9eVAeU: e:)aWWX XWX:W2W*WVbUBU*UUUE?BIBi BiAuЅ*BqAqAqAqAq"Cy*CyRCCC׉IG>     ]:Y V1y : 6s!,υhFAY}6j@}6 @y}6R}6%}6Hش ?P? @Gʿ!?`OToB?)~6j@ ~6$a;I~6Cɫ99)9 9I9Y?yЍFI9)9 AAuHMuG=Y}~QU}>ya$HHy}>Iȑ :ŕ< 5? :ŕݾ ƕ> ?9ƕ|AǕV: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUUl?BB BA *B A A A A"C*CRCCCׁIG> >9 I Fi 1? = R; Ey!,zhFAY}:y@}: @y}:R}: }:Hh@`w?@?t\ǿ!?ҟ!P?)~:y@ ~:ې`;I~:Cɫ99)9 9I9Y}M?y}F rh?I +Zd;OC=9 j<)Iy rhV-~jt?C< µl=A)µTAIµ 0AiµfA=JA) > >pMD=Y\:QU>a$Hy ;}>I5> 5?ݾ > ?9A: Գ:)W9W9X9 XAWAXA:WA2WA*WIVIbUIBUI*UQUQUU`H@BiBq BqAu*ByAAAA"C*CRCCCIGI>I)BA   u k:Y DW1y Y: E6) D;9 ʀ!,TShFAɫ髙) IYz?yǍFAA    @ @ @ÙÙÙiÙÙ ę)ęIęię^;MM=YQU>a$Hy}>I :d? 5? :ݾ f> ?9AS: :):WWX XWX:W2W*W V bU BU *UUUer@RB*** querying acoustic contact ***PPBABA BAAE*BAAIAIAIAI"CQ*CQRCQCYCYIIQGu>$!,.hFAɫ髙) IYk?yFZ****** received transponder code query ******F****** received ping request ******IIaU$HQYya}e>Iim@ 5?mݾ m> }?9m*Am: mq:)iWWX XWX:W2W*WV}>9yIyiy}=yy}; }EbUBU*UUU @BB BA%*B!A!A!A!A!"CI*CIRCQCQCQIׁ)ׁAIIGm5>      z:Y WU1y : 6) ;"!,Y7hFAY}~@@}~ @y}~a}~D}~H0+?n?4`?˿@?` <)?)~~@@ ~~Y\;I~~Cɫ ) IYM?yMQFUxDUSBL response received:!U1,P 4F6,000,002B3,189,80,80,83,FF ]Command Ack]BRequesting micromodem ping code 2iYYeNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 µ^A±    @ @ @i )Ii5>1M=#=YeQUe>iiam$Hqqyu}>Iȡ :ť B 5? :ťݾ ƥ> ?9ƥrAǥ: ȥ:)ȥ:WWX X1W1X1:W92W9*W9V9bUABUA*UAUAUE @BB BA?*BAA A A "C9*CARCACACq=iiIqG>!,PhFAY}:@}: @y}:ƨf}: o}:H `P߱?O?@ο ֖??)~:@ ~:"c;I~:Cɫ99)9 9I9Y}?y}F鮅a=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =M=YQU?a$Hy}?IȹŽB 5?Žݾ ƽ> ?9ƽAǽ: ȽR:)ȹWWX XWX:W2W*WVbUBU*UUUi@B)B) B)A-h*B)A1A1A1A1"C9*C9RC9C9CA19YIiG>imGI_Ai$ٺ_AAmc?9mA܁ 9܁ I܅ Fi܅ ?܁ ܁ ܁ ܅ #; ݅ {E)9I9i99===41!,jhFAY}6`@}6 @y}6_c}6_}6H'`?? +̿YA?Ӳ+?)~6`@ ~6a;I~4ɫYY)Y YIYY?yFxDUSBL response received:!U1,R,4C7,000,002B3,189,80,80,93,FF Fpublishing direction and range infoDɰ鰡 )CIyR?AٱM^I +? ףp= &1?MX9>MQ M=)IIIyML7A`堿 rhV-?M+MC M< MfBA)MNAIIiMIM(@AeMeN=Ym;QUm>iia $HyL:}>I!%D 5?%8ݾ %> -?9%A%; %;)!WWX XWX:W2W*WVbUBU*UUU@@R(Combining 5 samples.P*QZQS%g?Y. JQR?A2QD:QbQm/X?(G @?RQk?|ҧ??BQ? Q8Z@Q?PPW9?PQQ@"QG@BIBQ BQAŬ*BQAQAQAYAY"CY*CaRCaCaCi}?i}?aIiG9>  r:YV1y:`6);%!,5hFAɫ) IY?yF}TNmea in: $SNTTA,0.030228,,,,232409.30*46 )Õ= Õ= = = = =@ =@ E@999i99 9)9I9i9u2:Mu:=YuQUu>yya}$Hyy}>Iȉ :ōQF 5? :ōݾ ƍ> ?9ƍJAǍ: ȍ9:)ȍ:miAdded new target pos. range: 3.959999 m, bearing: 60.915411 deg, deltaT: 4.446835 s, approachRate: 0.000000 m/s, LOS rate: 0.234359 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UUU?B B BAȆ*BAAAA"C%?RC!C%?C)!I)GM1>I@A)@AE!, ~hFAY}2_@}2 @y}2J`}2D7)}2H` , zC?`g?{V}ʿ?`s5?)~2_@ ~2O];I~0ɫ19)9 9I9Yu?yuF=Me=Yd"  a $H y9}>IG 5?ݾ > -?9AԳ: :)WIWIXQ XQWQXQ:WQ2WQ*WYVYbUYBUY*UaUaUeX?BB BA*BAAAA"C*CRCCC9IFi1?=n; EiIyG=   n:Yy);bm!,nQhFAY}:w@}:? @y}: f}:@}:H w? N?@^`bɿ``? QE0?)~:w@ ~:[;I~:CFJFailed to close latch before timeout.q FFHardware FaultYR?yRFB<M%Z=Y%=uQU%>))a-$H)1y5S}5>I9 E:=VI 5? E:=+ݾ => M?9=A=$: =:)=:WiWiXi XiWqXq:Wq2Wq*WqVybUyBUy*UyUU+?1( PlAggregate::initialize lineCaptureDepth:MicromodemCommsq(P|Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn(BB BA*BAAAA"C*CRCCCI)I-$@Hardware Fault in component: DDMGE >T!,c'҆hFAY} ,@}  @y} 2p} e} H'df?;?Vm*˿?/V^?)~ ,@ ~ M2_;I~ CPowering down!ɪ!)! !Y]g?y]YF=i     n:Y DW1y Y: 69-@ 9 I Fi v? =   ;  E- UOutgoing frame #1, 60 bytes: C0811961240000005D00000400260000000000000000151D80030C5669C08C79983C0DE8E6E7B2AB35CD3A6C952DF1C8D692497FA7A523BECC1DD3005 DNmea out: $CCCYC,0,1,10,1,0,1*69 m S?:v?K7A?m >m < m >)i Ii ym I +?Mbm 94IQaU$HUHQy]p;}]V>Ia m:eK 5? m:e(ݾ el> u?9eAe: e:)e:WWX XWX:W2W*WVbUBU*UUU;?BB BAԅ*BAAAA"C*CRCCCIG ?>Y!,6hFAYU?yUFBNmea in: $CACYC,0,1,10,1,0,1*6B ]M]>YeQUe?aiam$Hiiyu}u?Iy}L 5?}ݾ }> ?9}A}: }:)yWWX XWX:W2W*WVbUBU*UUUe@BB BA*BAAAA"C*CRCCC !I1G>Qya$Hy76:}>I6M 5?ݾ <>  ?9Aq';  ;)WiWiXi XWX:W2W*WVbUBU*UUU@S@RB*** querying acoustic contact ***PPM> MMM Mv:YMV1yM:M6ByB BAׅ*BAAAA"C*CRCCC?i?I9$NClearing failed state for component DDMq G^>a 9a Ie xFie ?a a a e ; e Eg!,s'hFAY}2A@}2ˡ @y}2q}2}2H J%??ZͿE?@`ذ ?)~2A@ ~2];I~2CYn?ynFrZ****** received transponder code query ******rF****** received ping request ******r ý ?    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ<M?=YXo;QU>a$Hy5}>I :`N 5? :ݾ > ?9rA: ½;):WIWIXI XQWQXQ:WQ2WQ*WQVYbUYBUY*UYUaUew@BB BA*BAAAA"C*CRCCCI))-AAIG'>N!,=GAhFAY}6|@}6 @y}6,s}6Ž}6H`H??*Ͽ++?*$?)~6|@ ~6\;I~6CYNP?yRFVxDUSBL response received:!U1,P 4C7,000,002B3,189,80,80,93,FF VCommand AckVBRequesting micromodem ping code 2iTTZ.Nmea in: $CATXP,60*74 ^Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 hih= 99= =p:Y9y9=`6 } } } } @ } @ } @y y y iy y y )y Iy iy <M a $H y <;} >I YP 5? 5ݾ ٧>  ?9 A : k:) W9 W9 X9  X9 WA XA :WA 2WA *WA VI bUI BUI *UI UQ UU @B B  B A Z*B A A A A "C *C RC C C Iש )׭ ]Aב I G >ڬ!,q[hFAY}bJ@}be @y}bWp}bA}bH[*??@fп`x?@B?)~bJ@ ~b];I~bCY ?y Fp=ɮp=]'>M]0>Ym ?9ƥ$Aǥ< ȥ<)ȡWWX XWX:W2W*WVbU)BU1*U1U9UeL @BB BA*BA!A!A!A!"C)*C)RC)C)C1ܡ9ܡIܥНFiܥE@ܥ=ܡܡܥF; ݥ}E9IIGm5>$!,uhFAY}:c@}:  @y}:j}:h̽}:Hal=?? Z3Ͽ?[ظ*?)~:c@ ~:c^;I~:CYF?yFFa iU@a U a mU@a U a qU@a U a eU@a U a IU@a ] UMb@Mb@Mb@UU U)UIQiUMb@Mb@Mb@U©UU U)UIUiQUUm\AmZA    @ @ @ ùùùiý?ù Ľ?)ĽA?IĹiĽ?MD=Ypa$HyCw;}>I :Q 5? :ݾ > u?9A< >):WWX XWX:W2W*WVbUBU*UUU`@B1B9 B9A=&*B9A9A9AAAA"CI*CIRCICiCq@  +v:YWU1y:{6);9iIqG>@!,8hFAY}2x@}2 @y}2a$Hy<}>IS 5? ݾ > ?9A: P?)W W X  X W X:W2W*WVbUBU*UU!U%`@BIBI BQAU*BQAQAYAYAY"Ca*CaRCaCaCaqIyG=i]nGIqiA ٺAܩ 9ܩ Iܭ `Fiܭ @ܩ ܩ ܩ ܭ ; ݭ bE)AIAiAE=AET4!,5zhFAY}27n@}2 @y}29vc}2Cн}2H Uw涣?@?o8`ο 3?Yq ?)~27n@ ~2e;I~0YR~?yR{FTV@AbNmea in: $CAXST,7,20210815,232412.622907,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*59 bResponse from modem unexpected: $CAXST,7,20210815,232412.622907,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*59 r<MrZ=Yr;QUr>ttav$Htxyzp}z>I|~T 5?~ ݾ ~ >  ?9~2 A~: ~n?)|W)W)X) X)W1X1:W12W1*W1V1bUyBUy*UyUUh@BB BA*BAAAA"C*C!RC!C!C!IGM= Yy6)!,YÇhFAY}J @}Js% @y}JT}Jo3}JH\``??| Dɿa?n㥿~H?)~J @ ~Jo;I~JCYV]?yVF)f> f>    @ @ @ @i )Ii-4<M-E=Y5=QU5>19a=$H=H9yE+r}E>IIMHU 5?M ݾ MX> ]?9M AMK ; M?)IWWX XWX:W2W*WVbU!BU!*U!U)U-@Q@R]B*** querying acoustic contact ***PYPYBB BAV*BAAAA"C*CRCCCIG >&!,.݇hFAY}NA@}Nn] @y}NL}Nm%}NH`z? 5 ?@Iǿn?@oQV?)~NA@ ~Nl;I~LYZk?yZ FrZAipIz4=)z%=~:MM=Y  a $H  y <}>I %:eV 5? %: ݾ Ќ> -?9 Ah: ,@):WyWyX XWX:W2W*WVbUBU*UUUU@BB BAS*B!A)AQAQAQ"CY*CYRCYCYCa! | s:YU1y:69@U>9QIQiQQQQU; UKEiIqG>?!, hFAY}F@}F! @y}FB}Fb.z}FH`Ũ@h?a?@mdȿ9?5 \?)~F@ ~Fmf;I~FCY^?ybF`ɮ`a ia i a ma m a qa q a ea e a Ia I I +?T㥛 {Gz?94< #<)IyMbpMb:v?@< µl=A)µvRAIµ-AiµhAIA]A E E E E@ E@ E@AAAiAA A)AIAiAeQ=Mm=Yuya$Hy'<}>IAEuX 5?E ݾ E> ?9ER!AEۂ< E6d<)AWIWIXQ XqWyXy:Wy2W*WVbUBU*UUU@G@BABA BIAM*BIAiAiAqAq"Cy*CyRCyCyC׉ I G > ",UhFAY}:@}:O @y}::}:딽}:H ? $?`g`ȿ@ ~?9z~!Az: z:)z:W!W!X! X!W!X!:W)2W)*W)V)bUBU*UUU6 @B9B9 B9A=Ճ*B9AAAAAAAA"Ci*CiRCiCiCqAIQGm=y  z:YW1yč:26E >9A IE НFiE E@A A A E ; E 7Ei3 ", *hFAY}2@}2A @y}27}2rو}2H`[ k@C?? ܏ǿ? (Ұ`gk?)~2@ ~2Sf^;I~2C:Powering up>"Initializing DDM.Y~e?y~F%QNmea in: $CACST,6,0,20210815232415.396454,06,32767,45,0163,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,30.8,11.31,22,-8.31,-01,0.05,49,14500,4000*50 -Response from modem unexpected: $CACST,6,0,20210815232415.396454,06,32767,45,0163,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,30.8,11.31,22,-8.31,-01,0.05,49,14500,4000*50  ɵ = =) ! ! u u u u @ u @ u @q q q iq q q )q Iq iq x=M a $H y a ;} w>Iȡ ť [ 5?ť ݾ ƥ >  ?9ƥ "Aǥ : ȥ :)ȡ W W X  X W X :W 2W *W V bU BU *U U U @1(  P pAggregate::uninitialize lineCaptureDepth:MicromodemCommsq( P Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn( B B  B A *B A A A A "C *C RC C C I G >",RFhFAY}j*@}j_F @y}j*j7}j }jH@<`{xէ?@m?Bǿ? @%k?)~j*@ ~jy{\;I~jCY-t?y5%F15AA     ~:Y U1y : IUAA)Q܅>9܁I܅Fi܅@܅=܁܁܅; ݅6E-L7A`?l¿Dl?-+>- -O=))I)y-I +?y&1?:v-9<-`e<-T ))-\QAI- 0Ai-)-?AE?:ME=YMQUU>QQaU$HQYy]r;}]>Ia m:eZ 5? u:e ݾ en> u?9eK"Ae: e:)e:WWX XWX:W2W*WVbUBU*UUUg@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCaIiG?",-CmhFAY}q\@}w @y}4}ݽ}H`,s?``?J%ʿ`d?@%R?)~q\@ ~m\;I~CY?yFU\AiQe_=Me)>Ym8 ?9ƵZ"Aǵ0< ȵ3<)ȱWWX XWX:W2W*WV bUBU9*U9U9U=$ @BB BA*BAAAA"C*CRCCCIG&>% / % % % x % t:Y% W1y% č:% 6)% ;9- !",hFAYt?y%F } }  @ @ @ÁÁÁiÁÁ ā)āIāiāMI=YQU>a$Hy}>Iȩ :ŭY 5? :ŭݾ ƭ> ?9ƭ"Aǭk: ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUU " @B!B! B!A%*B)A)A)A)A)"C1*C1RC9C9C9II)I׉IG='",̠hFAY}F@}F @y}F}F,}FH@U`39J?l?`2ƿ r?Kz?)~F@ ~FkC\;I~FCYV?yZҕFr<MvV=Yv{R=QUz>||a~$H|y <} >IX 5?zݾ > }?9"AC_< z_<)WWX XWX:W2W*WVbUBU*UUU!@BABA BAAEʂ*BAAIAIAIAI"CQ*CQRCQCQCY9Ii=; GE׉IG=5 5 ~5 ~5 e 5 rj:Y5 T1y5 @:5 6)5 ȿ;-",hFAY}6@}6p @y}6*}6M}6H@@~ 7ɓ? 2?d`ſm?o ?)~6@ ~6"[;I~6CYN?yRەF~Setting waiting for range response to false due to timeout. Elapsed:6.301815 ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYm:MmB=Yuqqa$HHy <}>I  W 5? 0ݾ )> ?9 "A ; 7 ;) WYWYXY XYWYXY:Wa2Wa*WaVabUiBUi*UiUiUm_g"@BB BAƂ*BAAAA"C*CRC CC IG5 >,4",{ԈhFAY=?y=ڗF]=M]K=YeQUe>aiam$Hiiyu}u>Iy :} W 5? :}ݾ } > ?9} #A}: }:)}:WWX XWX:W2W*WVbUBU*UUU*#@BB BA*BAAAA"C*CRCi%nGI=`AiUAAC Cq}#ٺ}`ABו?iו?aIqG>>9Ii; E)݉I݉i݉ݍ=ݍ=ݍ/A5= & = = =  = t:Y= U1y= := ;6)= ; ;",UhFAY}2# @}2( @y}2*}2#k}2H`U? ??7?)~2# @ ~2=G[;I~2CYN3?yRFIT)T5K?(\µI +?5^=5 594<)1I1y5Q?{Gzt?~jth?5<5ף;5D; 5;A)1I5t3Ai5Q`A15(HA - - 5 5@ 5@ 5@111i11 1)1I1i1Eþ;ME/=YE=QUE>IIaM$HIQyUf<}]>IY]0V 5?]eݾ ]> m?9]E#A]#: ]:)YWWX XWX:W2W*WVbUBU*UUUK$@BB BA*BAAAA"C*CRCCCIG$>7A",2hFAY}FN@}F @y}F/ }F&}FH  %?9m#A; ;):WWX XWX:W2W*WVbUBU*UUU $@RB*** querying acoustic contact ***PPBYBY BaAey*BaAaAaAaAa"Ci*CqRCyCyCiIyG== 4 = = =  = Є:Y= WU1y= := 69= @H",1 "hFAY}:P@}: @y}:E}:k}:H@ST??`|¿1?@듵?)~:P@ ~:[;I~:CYFc?yFFJZ****** received transponder code query ******JF****** received ping request ******J  a $H y/}>I!%T 5?%ݾ %> -?9%#A%: %:)!WQWYXY XYWYXY:Wa2Wa*WaVabUaBUi*UiUiUm%@BB BA*BAAAA"C*CRCCCIa)e\Aܙ9ܙIܝFiܝE?ܙܙܙܝ; ݝ?E1I9GU=PIN",;hFAY}@} @y}Ŷ彙}b}H Ƴa? `ÿ@q?x_?)~@ ~+\;I~CY?yȖFxDUSBL response received:!U1,P 4C7,000,002B3,189,80,80,93,FF Command AckBRequesting micromodem ping code 2iR=i = = = =@ =@ E@999i99 9)9I9i9MҵM6=Ya$Hy9}>I) 5:-T 5? 5:-ݾ -a> =?9-#A-: -4:)-:WyWyXy XyWyX:W2W*WVbUBU*UUU &@B1B1 B1A=f*B9A9A9A9A9"Ca*CiRCiCiCiaIqG>>) i- == W = = = w = x:Y= T1y= := |60U",UhFAY}6@}6 @y}6Yڽ}6&ý}6H%p? #¿>?@7`?)~6@ ~6.[;I~6CYB?yBFVkMVj=YV j?9f$Afs: f':)dWxWxXx X|W|X|:W|2W*WVbUBU*U U U  7)'@BB BAj*BAAAA"C*CRCCCIG=ܝ>9ܙIܝxFiܝ?ܙܙܙܝG; ݝEZ[",ohFAY}FAJ@}Fe @y}FϽ}F}FH@Jvw?@?=@ ? C`?)~FAJ@ ~F\;I~DYZr?yZF ףp= ?m?MbpQ8=n> )Iy  a $H yC<}>I! -:%VS 5? -:%-ݾ %8> -?9% $A%I: %s:)%:WQWQXQ XQWQXQ:WY2WY*WYVYbUaBUa*UaUaUe(@BB BA*BAAAA"C*CRCCC?i?IGM>= = = =  = n:Y= WU1y= := 6Bb",zhFAY}:R@}:m @y}:|}:4}:H9`d?? @ ??)~:R@ ~:v[;I~:CYNY?yRFIT)T    @ @ @i )IiFM[=Y!!a%$H!)y-':}->I15MS 5?5ݾ 5> E?95;$A5: 5I:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUqU}'(@BB BAW*BAAAA"C*CRCCCױIG=I- @A)- @Ajnh", ]hFAY}Jp@}J @y}JǼ}J}JH`Zr??ոm?@㣿?)~Jp@ ~Jo[;I~JCYj?yj$FʼMK=Y ;QU >a$H!y% <}%>I15CS 5?5gݾ 5> E?95Y$A5+; 5@;)1WqWyXy XyWyXy:W2W*WVbUBU*UUUb)@BB BA*BAAAA"C*CRCCCٱٵ]A>9IFi1?$; EIG5=5 Y 5 5 5  5 )x:Y5 T1y5 :5 6)5 ;9= n",-hFAY}Ff@}F @y}F)Jƽ}Fz}FH}$ ?@t?`&R`\? )?)~Ff@ ~F6\;I~FCYr?yrF = = = =@ E@ E@999i99 9)9I9i9M#y<MU7=YU*QU]>YYa]$H]Haye٪;}e>Ii u:m:S 5? }:mݾ mr> }?9my$Am: m=:)m:W1W1X1 X1W1X1:W92W9*W9V9bU9BUA*UAUAUE*@RuB*** querying acoustic contact ***PqPqBB BAq*BAAAA"C*CRCCCI)שIG">A~u",B ׉hFAY}J@}JX@y}J@ս}JEUX}JH2?@˪?`X?@P;ě?䊿`?)~J@ ~Jg];I~JCY^?y^Ff=ifR=zUw<Mzc=YzQU~> a $H yS<}>I!%7S 5?%ݾ %> 5?9%$A%: %:)!WWX XWX:W2W*WV!bU!BU!*U!U)U-`+F+@BB BAE*BAAAA"C*CRCCC׉IG=ܹ9ܹIܽFiܽa?ܹܹܹܽ; ݽWE- =i- == n = = =  = y:Y= WU1y= := s6)= ;[{",KhFAY}:qQ@}:l@y}:޽}:Cp}:H`^^i ë?ra$HyI<}>Iș :ŝT 5? :ŝݾ Ɲ> ?9Ɲ$Aǝ: ȝ:)ȝ:WWX XWX:W2W*WVbUBU*UUU=,@BB BA|*BAAAA"C*CRCCCIG>", hFAY}Br@}Bj@y}BHR⽙}B)}BHjji@7?0? /ixq;?ۣ?)~Br@ ~B\;I~BCYV?yV F^Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 MH=YQU>a$H!y%;}->IY]U 5?]Zݾ ]G> m?9]/%A];; ]<)YWWX XW!X!:WQ2WQ*WYVabUBU*UUU  -@BB BA*BAAAA"C*CRCCC?i?IGMS>inGIi =x׿ٺ9=A= = = =  = q:Y= DW1y= Y:= D69= @",ǜ$hFAYn?yrFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IY)Y    @ @ @ñññiññ ı)ıIıiı[ MH=YQU>a$Hy}>I :W 5? :ݾ d> ?9v%A: :):Y9]CIYiY]=YY]; ]E)qIqiqu=u=u4WWX X W X:W2W*WVbUBU*UUU%@-@BiBq BqAu'*BqAqAyAyAy"C*CRCCCiIqG>I) )- ?At",v>hFAY}2C@}2@y}2}2ͽ}2Hȍ mTL|@H ?K.ÿ@1? q ?)~2C@ ~2[;I~2CY?yAFxDUSBL response received:!U1,R,0E0,000,002B7,186,80,80,2F,FF Fpublishing direction and range info +H ɰ c= > ) aaam$Hiqyu<}u>IȁŅ-X 5?Ņ=ݾ ƅ> ?9ƅ%ADž: ȅ :)ȁWWX XWX:W2W*WVbUBU*UUU }.@R(Combining 5 samples.P*Qf@ZQiz@^JQC c?mVѫȿ2Q+H:QbQG=RP @r '?RQ[gܿH\"Q?&I?BQc@ Qm@QPN9?PPQQ@"Q@BB BAm*BAAAA"C*CRC C C) IGE>= = = =  = :Y= 0Y1y= := 6`Е",bXhFAY}Mv<@}MW@y}M}M}MHN)8?@?ߌ@¿ ? 6?)~Mv<@ ~M[;I~MCYm?ymTFTNmea in: $SNTTA,0.006510,,,,232424.56*40 ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYm2;Mu9=YuQUu>yya}$Hyyyc<}>Iȉ :ōY 5? :ōݾ ƍ> ?9ƍ &AǍ : ȍ[:)ȍ:mqAdded new target pos. range: 4.199998 m, bearing: 116.730487 deg, deltaT: 15.248189 s, approachRate: 0.015740 m/s, LOS rate: 3.660440 deg/s, posRepo size: 4XWc@WX XWX:W2W*WV!bU)BU1*U9Ue`@Ue ?BB BAf*BAAAA"C}"?RCCc@CI!)!IGn>U>9QIUXFiU?QQQUJ; UE",-rhFAY}zz@}z@y}z?u}z:}zHB P?p?`j@? F@F?)~zz@ ~z\;I~xYM?yUF-=i-= rh?a$Hy <}>INY 5?Fݾ b> ?9$&A: :)8 qjAggregate::initialize lineCaptureDepth:SetNavAcoustic19 r~Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNavq9rdReseting nav to dock location at range 4.199998 m q99 s6Initialize SetNavComponent.W!W!X! X!W)X):W)2W)*W1V1bU1BU1*U1U9U=+-?BaBi BiAm=*BiAqAqAqAq"C}e[?RCyCyCaIiG9>- =i- == = ~= ~=  = q:Y= T1y= @:= 6ޢ",$ hFAY}6@}6w@y}6}6}6H@5?? /`l+g?o?)~6@ ~6^ ];I~6CYNe?yRF=}<M==YE QUE ?AAaM$HIIyU!<}U ?IY])Y 5?]ݾ ]> e?9]7&A]: ]ϸ:)YXXXslSetNav fix at 20210815T232426: (41.552319, -70.708603)9 s:Uninitialize SetNavComponent.rfCompleted lineCaptureDepth:SetNavAcoustic:UpdateNav19 rAggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNavqRCompleted lineCaptureDepth:SetNavAcoustic8qnAggregate::uninitialize lineCaptureDepth:SetNavAcousticWWX XWX:W2W*WVbUBU*UUU :?BB BA*BA A A A"C?RCCC IG5 >Y",⥊hFAY}6ý@}6L@y}6N}6A}6H@e @%??`B¿`}?Ol@~?)~6ý@ ~6v\;I~6CY^?ybFe4MmH=YmQUu>yya$Hy;}>Iș :ŝ- 5? :ŝxݾ tI Ɲ ?9Ɲǝ ; ȝ%;)ȝo: 9 I  Fi ?    M; EW1W1X1 X9W9X9:W92W9*WAVAbUABUA*UIUIUU?BB BA9*BAAAA"C~?RCCC!U?iU?)I1GU>= = = = z = j:Y= WU1y= := 6)= ;9E 2",whFAY}6k@}6@y}6!}6b2}6H_(I?? _8ÿ!?A T?)~6k@ ~6 \;I~6CYR?yRFI|)|    @ @ @ ùùùiý?ù Ľ?)ĽA?IĽA?iĽA? MC=YPFQU>a$HHyaE}>I 5?Qxݾ c ?9};r: :)W!W!X! X!W!X!:W)2W)*W)V)bU)BU1*U1U1U=6@BaBa BaAeA*BaAiAiAiAi"Cuk?RCqCqCyQIaG=I) )- AA ", يhFAY}6@}69@y}6'}68$ռ}6H y@Cb?? 8@zh¿ q?@CI`?)~6@ ~6[;I~4Y\y\YgVQU>a$H  y}>I!%ғ 5?%xݾ % 5?9%QE<%9; %0:;)!WiWqXq XyWyX:W2W*WVbUBU*UUU`>@BB BA*BAAAA"Ci?RCCC!IG*>9IFi1?=+; pE5 O 5 5 5  5 :Y5 DW1y5 Y:5 r6)5 ;H",ˆhFAY}>'@}>@y}>.}>PF5}>HMt$Oر??@3Ŀ6? R`b?)~>'@ ~>k[;I~>CYv?yv Fva=ɮva=I=)=:v?|?5^ҿkt=  0)IyMb`:v))a-$H)1y5:}5>I9 E:=2 5? E:=wݾ =`K ?9=~<=< =k<)=p:W)W)X) X)W)X1:W12W1*W1V1bU9BU9*U9U9U=@RmB*** querying acoustic contact ***PiPiBB BA*BAAAA"C?RCCCI)IG(>\,",HO hFAY~?y~/FZ****** received transponder code query ******F****** received ping request ****** IIaU$HQqy}}}>Iȉō 5?ōwݾ ƍ䂼 ?9ƍм<Ǎ; ȍ;)ȉW W1X1 X1W1X1:W92W9*W9VAbUABUA*UAUIUM0 @BB BAt*BAAAA"Cf?RCCCIG$>- =i- == = = =  = b~:Y= V1y= := 69E @KW",-'hFAY}6@}6,@y}64}6~}6H@x@bX`"??d@fǿHv?`ﲿ@j?)~6@ ~6):[;I~6CYB?yB FFxDUSBL response received:!U1,P 0E0,000,002B7,186,80,80,2F,FF FCommand AckFBRequesting micromodem ping code 2iDDNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 v[Mzc=YzQU >!a-$H1AyUb;}]>>9IxFi?=; EI1 E:5 5? M:5vwݾ 5` M?95<5I< 5u;)5q:WaWaXa XaWX:W2W*WVbUBU*UUU 0 @BB BA*BA!A!A!A!"Cb?RCCCIG-O>?",AhFAY}:@}:@y}:G8}:Ӵ}:HXa`nU?#?7Nɿ?`@p9[?)~:@ ~:Z;I~:CYF?yFCFHJ@AZNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B } } } @ @ @yyyiyy y)yIyiyXM?=YQU>a$Hy}>IO 5?Iwݾ  ?9f =#; 7%;)WWX XWX:W2W*W!V!bU!BU)*UIUQUU`1U@BB BA<*BAAAA"C$?RCCC?i?IG (>= = = =  = g:Y= m1y= := i6A A q",[hFAi2NmGI}UL}UH`wC`~@S?V? -4 -bȿ?P]?)~U@ ~UqZ;I~UCYm?ymqFuxDUSBL response received:!U1,R,087,000,002B7,188,80,80,20,FF }Fpublishing direction and range infou:F񽩰qɰqu> q)uBIqyqu7?g\ٱqI);;MI=YVQU>a$Hy}>I : 5? :wݾ Ҽ ?90!= ; :)r:WWX XWX:W2W*WVbUBU!*U!U!U-@@R5(Combining 5 samples.P9*Q9ZQ=_!@>߿JQ=7?g\2Q=:F:Q9bQ=2y*#J @?k$?RQ=ț::"_K?Z鏊?BQ=@ Q=Wb@Q=P=O9?P=N9?P=Q=Q=*@"Q=@B!B) B)A-**BQAYAYAYAY"Ce%~?RCaCaCiqIyG<>܉9܉I܍Fi܍E?܉܍;D܉܍; ݍKE)CICi==J5I ) ",thFAY?yޒFDNmea in: $SNTTA,,,,,232429.00*52 {Gz?T㥛 ?Mb`?#<> ;)IyMb~jt?MbP?D=: ;A)PAI1AiaAHA    @ @ @ùùùiùù Ĺ)ĹIĹiĹ;<M,=YQU>a$Hy}>I 5?xݾ  ?9=: 4:)m-mAdded new target pos. range: 4.199998 m, bearing: 120.911164 deg, deltaT: 4.453229 s, approachRate: 0.000000 m/s, LOS rate: 0.938797 deg/s, posRepo size: 4X)W-@W)X) X)W1X1:W12W1*W1V9bU9BU9*U9UAUE`?BiBi BqAu*BqAqAqAqAy"Ca?RC7b>C@CyIG=>= = ~= ~=  = Yp:Y= T1y= @:= 6z",xhFAY}:@}:X#@y}:3@}:lv}:H@mjc⩨? ?`J@{ɿ@?eKR?)~:@ ~:Z;I~: CYZR?yZ_FI54=)5R=]pM]}=YeQUe ?aaam$HiiyuY<}u ?Iy :}n 5? :}yݾ }n ?9}C=}s: }:)}s:WWX XWX:W2W*WVbUBU*UUUH?BB BA*BAAAA"C}A@RC}ڻ)>CyCI׹)׹qIyG=",KrhFAY}J>$@}J?@y}J_>}JV}JHw4JӲ? w?ƿ}? kFg?)~J>$@ ~JeZ;I~JCYZ?yZՒF%=i<A9AIEНFiEE@AE<DAE&; E}E];=M]J=YeӋ;QUe>aaam$HiiymΌ;}u>Iy}Γ 5?}zݾ } ?9}=}I: }:)yWWX XWX:W2W*WVbUBU*UUU`?B B BA*BAA!A!A!"C- @RC-;=C1C9I G-=- =i- p==  = = =  = us:Y= DW1y= Y:= 6)= ;9E ",UM‹hFAY}F@}F4@y}F,@}F}FHp[`zӫ?? ]@ȿ`B?@ UW?)~F@ ~FiZ;I~DYnN?ynF    @ @ @i )IiҼMB=YQU>a$HHy ݺ} >I$ 5?|ݾ  -?9>r;  ;)WaWaXa XaWiXi:Wi2Wi*WqVqbUyBUy*UyUU?BB BAZ*BAQAQAQAQ"C]Ӵ@RC]=CYCaEn>I)GEQ>S",/܋hFAY?yF:MN=YQU>a$Hy}>I =: 5? E:B}ݾ / M?9>; V;)t:WWX XWX:W2W *WVbU!BU!*U!U)U-p@BqBq BqA}*ByAyAyAyAy"C@RC"=CC}Gx>aIiGZ>999I=Fi=E?999=E; =E5 5 5 5  5 :Y5 WU1y5 :5 6)5 ;5",o/hFAY}>J@}>@y}>i+;}>c}>Hl`@"é?Z?U`mȿ!D?ѱ ^?)~>J@ ~>P[;I~>CYV|?yZFI))){Gzt?a$Hy]V}>I 5?~ݾ  ?9->: :)WWX XWX:W2W*W V bU BU *U UU Ɲ@B9BA BAAEN*BAAAAAAAAI"CI*CU8pRCU{=CQCYUM>I!G=0>I AA) #,hFAY}6@}6(@y}67}6[ʂ}6HE[`?,?.NÿI?{?)~6@ ~6d"\;I~4B`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ  )  IYM?yM|FIɮMp=m<Mm2=Yu;QUu>qya}$Hyyy$m}>Iȉ :ō 5? :ō~ݾ ƍ ?9ƍ<>Ǎ: ȍ^:)ȍu:WWX XWX:W2W*WVbUBU*UUU+I@RB*** querying acoustic contact ***PPBB BA*BA A A A "C*C"RCb=CC0B>׹IGf>=  = = =  = :Y= X1y= /:= _69= @ #,I)hFAY}6=@}6X@y}6R7}6}6H# ^ji?\?q@$G¿@i?ƈ\ t|?)~6=@ ~6\;I~6Cx9xIz@Fiz?z=xxz; zEɫ99)9 9IAY]?y]FeZ****** received transponder code query ******eF****** received ping request ******e=ϸ: =b:)9WiWiXi XiWiXi:Wq2W*WVbUBU*UUU( @BB BAmń*BiAqAqAqAq"Cy*C}۱RC}~H=CyC==IGE>#,ChFAY}:98@}:S@y}:b8}:A }:H@ !`҄b??`5G`'Ŀ?v?)~:98@ ~:r[;I~:Cɫ99)9 AIAY}4?y}MFxDUSBL response received:!U1,P 087,000,002B7,188,80,80,20,FF Command AckBRequesting micromodem ping code 2ia=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )Ii<M$=YкQU>a$Hy}>I : 5? :$ݾ = %?9W>; ;)v:WaWaXi XiWiXi:Wi2Wi*WqVqbUqBUq*UqUyU}`- @BB B A *B AAAA"CA*CMRCM K=CICI֍?== =i9 U X U U U  U x:YU 0Y1yU :U 6i Iq G >s#,>w]hFAY}6%B@}6]@y}6|@7}6P}6H &I@ݫ?i?Lǿ?`j?)~6%B@ ~6P[;I~6Cɫ9A)A IIIY?yFAEAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B QQ~jt?Q뱿ˡE?<\ '=)IyX9v? rh~jt}=C D DA)dGAIv.AivdAGA5[>M5R=Y5~V;QU=>99a=$H9AyM:}M>IQUH 5?U~ݾ U+= ]?9Ut>U: U4:)QWyWX XWX:W2W*WVbUBU*UUUIv@BYBa BaAeń*BaAaAaAiAi"Cq*Cu>RCu)O=CqCy}~=>9IFiv?; vEqIG>.#,KwhFAY}:Z0@}:K@y}:p;}:}:H@`ݮ? P?Qǿ`B?@ߕg?)~:Z0@ ~:[;I~8ɫ99)9 9I9Y}?y}rFxDUSBL response received:!U1,R,DA6,000,002C3,189,80,80,30,FF Fpublishing direction and range info|?ɰg=鰅7> )@BIyp@FR?(L` ?ٱ    @ @ @i )IiMe=Y'-QU>a$Hy JD} >I -: 5? -:(}ݾ = 5?9h>}; |;)w:WWX XWX:W2W*WVbUBU*U U U @@RE(Combining 5 samples.PI*QMp@ZQMK@D M@JQMFR?(L` ?2QM|?:QIbQM=H?v z?RQMG@^Y +?)?BQM$0@ QM ?QM}PMI9?PMO9?PMQMQM+@"QM*@BB BA*BAAAA"C*CRCBI=CCQ=yIG^>= = = = h = q:Y= V1y= := 6$#,2hFAY}K@}g@y}DB}Kv}H " ?? &`ǿI#? v1@^?)~K@ ~SY[;I~ɫ) IY-?y5FTNmea in: $SNTTA,0.048787,,,,232433.48*4F I) =MJ=YQU>a$Hy;}>I 5?{ݾ != ?9>j: :)mmAdded new target pos. range: 4.919998 m, bearing: 157.692675 deg, deltaT: 4.509624 s, approachRate: 0.159658 m/s, LOS rate: 8.156226 deg/s, posRepo size: 4XW$0@W!X! X!W!X!:W!2W)*W)V)bU1BU1*U1U5@U5#?BaBa BaAe*BiAiAiAiAi"Cu#@RCu<Cu$0@Cyi-mGIAiYeBJ=#ٺ:A9IAG]U>@*#,hFAY}2Ȕ@}2R@y}2B}2}2H;ڃ`mի?`P? (`ɿ1?wbiT?)~2Ȕ@ ~2S>c;I~2CD9DIFFiF1?DDDF#; FE)Ii 4ɫ99)9 9I9Y=?yFIM=)M=W:MN=Y̌QU>a$Hyb8<}>IȹŽ= 5?Žyݾ ƽ%= ?9ƽ>ǽo; Ƚm;)ȹWWX XWX:W2W*WVbUBU*UUU`Y?BQBY BYA]*BYAaAaAA"C @RCCCmG=AIiGa>=  = = =  = q:Y= WU1y= := 6)= ;9E (1#,ČhFAY}6o@}6@y}6(k;}6Ӽ}6HH@V?@&?ɿK? -T?)~6o@ ~6d;I~6Cɫ99)A AIAY}?y}F u u u u@ u@ u@qqqiqq q)qIqiq;<MK=Ya$HHy;}>Iȡ :ť 5? :ťaxݾ ƥ*= ?9ƥR>ǥW: ȥM:)ȥx:WWX XWX:W2W*WVbUBU*UUU ??BB BA*BAAAA"C%ʉ@RC%|C!C)E<I)GEQ>V7#,ތhFAY}>@}>3@y}>7}>R0}>H |ocn?@?G@ȿ`?`"6^?)~>@ ~>L`;I~>Cɫ髙) IYL?y F]=i]=Q?sh|???(\>)> L=)IyQX9v?~jt?u<< l=A)OAI0Ai‰HAEiM8=YOa$Hy8J<}>IR 5?; /<)WWX XWX:W2W*WVbUBU*UUU;?B!B) B)A-*B)A)A1A1A1"C]G@RC]QCYCaU<܅>9܁I܅Fi܅v?܅=܁܁܅?; ݅EQIYG}z>5 5 5 5  5 :Y5 V1y5 :5 6)5 ;}=#,hFAY}2(q@}2@y}29e9}2B}2H`7n? C?@#ǿ`K ?A@@Ni?)~2(q@ ~2̄^;I~2Cɫaa)a aIaYC?yVF !!]/=Med=Ym̻QUu>yya$Hy2<}>Iȑ :ŕ 5? :ŕyݾ ƕV= ?9ƕ>ǕR: ȕ:)ȕy:W)W)X) X)W1X1:W12W1*W1V9bU9BU9*U9U9UE%@BB BA*BAAAA"C@RC CC]יIGd>fD#,thFAY}6@}6H@y}6n>}6Ӽ}6H@o @4b?W? | >~Ŀp? p?)~6@ ~6dl];I~6Cɫ99)9 9I9Y}?y}EF = = E E@ E@ E@AAAiAA A)AIAiAU MUK=YUH:QU]>YYa]$HYayey<}e>Iims 5?mzݾ mo= }?9m>m=: m:)iWWX XWX:W2W*WVbUBU*UUU@BB BA *BAAAA"C@RCCCdשIG!>5 5 5 5  5 :Y5 DW1y5 Y:5 69= @ J#,ZI,hFA9Ii; cEY}R @}R]2@y}Rl>}RyK}RH@ ? g? hƿٹ? h?)~R @ ~R\;I~RCɫyy)y yIyYR?y_F鮥p=ɮa=^=MP=Y QU>a$H y <} >Ii u:m 5? }:mu{ݾ m= }?9m>m: mb:)mz:WWX XWX:W2W*WVbUBU*UUU4@RB*** querying acoustic contact ***PPBB BA*BAAAA"C9$@RCCC% I G%M>I- @A)- @A*wQ#,%FhFAY}J1 @}JKM@y}J7}J}JHtL?g? _ǿU? -Ye?)~J1 @ ~JՃd;I~JCɫ髙) IY?yFZ****** received transponder code query ******F****** received ping request ******aaae$Hiiyuo;}u>Iy}z 5?}M|ݾ }= ?9}>}U: }Ǻ:)yWWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"CF*@RCCC޽IGj>= ` = = =  = x:Y= U1y= := )6W#,`hFAY}maz @}m@y}m2}m|ә}mH@?`V?6ǿ8?"벿l?)~maz @ ~mX`;I~iɫii)i iIqYC?yVFxDUSBL response received:!U1,P DA6,000,002C3,189,80,80,30,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 !9!I!i!!!!%; % E=q= ףp?Q롿y&1?===\ =`e=)9I9y=I +A`"?S㥛=9=Y==/ݼ =@A)=^LAI9i=&aA9=GA - - - M@ U@ U@)))i)) )))I)i)Z;M=Y>a$Hy<}>I =:" 5? =:}ݾ iR= E?9>Q< 4U<){:WWX XWX:W2W*WVbUBU*UUU P@B9 Ba  Ba Ae *Ba Ai Ai Ai Ai "Cu )/@RCq Cq Cy e 01 IA G] >(]#,yhFAY}6w @}6@y}65}65}6HK R? D?.@lſ?`Xw?)~6w @ ~6^;I~4ɫYY)Y YIYY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B \=M=YXQU9?a$Hy7A<}??I 5?L~ݾ I3= ?9e>D: ]:)WWX XWX:W2W*WVbUBU*U U U `@B1B9 B9A=*B9A9AAAAAA"CMڒ0@RCICICQM H!I1GU2>= # = = =  = s:Y= W1y= č:= 6d#,hFAY}2" @}2@y}2G;}2ĸ}2H@J?5?U&ÿG? h Su?)~2" @ ~2)];I~2Cɫ99)9 9IAY]?yeCFmxDUSBL response received:!U1,R,098,000,002B7,187,80,80,34,FF mFpublishing direction and range infoeaɰec=e1> a)ePBIayef@e,Q ?) ٱa 鿩FMX=Y*`QU>a$Hy Ǜ;} >I 5?Iݾ = %?9>: :)WYWaXi XiWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qf@ZQ_@vJQ,Q ?) 2Q:QbQ>#o},MMpS @ ?RQo:8#ڽ?TeBbs?BQV>@ Q*`@Q PO9?PI9?PQQ!(@"Q+@B!B! BIAM<*BIAIAIAIAQ"CUK 2@RCYCYCYe{!I)GER> \A [A% >9! I% xFi% ?% =! ! % ; % E_j#,ꑭhFAY}6h!@}6@y}6u8}6B}6HY[?r?P^ ƿ ?@įj?)~6h!@ ~6\;I~6Cɫ) IY-N?y-FDNmea in: $SNTTA,,,,,232437.96*52 )>     @ @ @i )IiڻM=Y;QU>a$H!!y%<}->I1 5:5N 5? =:5ݾ 5P]< =?95u?5: 5:)5|:mmuAdded new target pos. range: 4.199998 m, bearing: 121.971524 deg, deltaT: 4.428336 s, approachRate: -0.162589 m/s, LOS rate: -8.066495 deg/s, posRepo size: 4XiWuV>@WqXq XqWqXq:Wq2Wy*WyVybUBU*UU`@Um?BB BAZ*BAAAA"CS1@*CyRCCV>@CFӅI)=  9 9 =  = k:Y9 y9 = _"6)= O;9E I G >sq#,rǍhFAY}F!@}F@y}F,}FU˽}FHʙsv@j??!dnzȿ`|?@@c?)~F!@ ~F0Cc;I~FCɫqy)y yIyY?yFUM]=Y].=QU]?aaae$HeHaym(<}m?Iqu 5?uaݾ ug; }?9uB?u^: u4:)qWWX XWX!:W!2W!*W!V!bU)BU)*U)U1U5@5?BYBY BYA]*BaAaAaAaAa"Cm0@RCqCqCqyYIaGY>q q i NmGI _Ai 5 6ٺ= _A= A]w#,ThFAɫII)Q QIQYua?yuhF&1?~jt?=Ľ <)IyQ?&1?̼\=P= …?A)I… 0Ai…vdA(HAM7=YQU>a$Hy}>Iȹ :ŽR 5? :Žݾ ƽ#< ?9ƽ%?ǽ`e; Ƚp;)Ƚ}:WWX XWX!:W!2W)*W)V)bU)BU1*U1U9U=?BB BA*BAA A A "C-@RC9C9CA9Ii#; }E)aIaiae=e=e4mN؅IIqG>5 8 5 5 5  5 u:Y5 WU1y5 :5 W6)5 \;~#,O$hFAɫ髙) IY?yÒF    @ @ @ ÉÉÉiÍ?É čK?)čK?Ič?ičK?==M\=YQU>a$Hy}>I 5?ݾ = ?9 ?˵: :)WWX XWX:W2W*WVbUBU*UUU p?B1B1 B1A5 *B1A9A9A9A9"CE*@RCACACIo셾?i?יIGb>#,\hFAY}6"@}6@y}6}6;5}6H]`{ @ͷ?@? O?b`?)~6"@ ~6^;I~6Cɫ99)9 9I9Y}?y}F=.<M=Q=Y=b=QU=>AAaE$HAIyM<}M>IQ ]:U߆ 5? e:UĄݾ U^f= e?9U?U: U^:)U~:WWX XWX:W2W*WVbUBU*UUU6?BB BA*BAAAA"C~$@RCCCv񅾹סIGC>- =i- a== 9 9 =  = o:Y9 y9 = 69E @ >9 I i = '; E+#,.hFAY}6/#@}6J@y}6?k}6}6HaU?@?3?&?)~6/#@ ~69\;I~6Cɫaa)i iIiY?yF aa    @ @ @ @i )IiI;M@=Y@9QU>a$Hy<}>I 5?ݾ =  ?91?: W:)W1W1X1 X1W1X1:W12W9*W9V9bU9BUA*UAUAUEz?@BqBq BqAu*BqAyAyAyAy"CD@RCCC֥V݅yIG^>`#,HhFAY}6 $@}6(@y}6}6T}6Hhr$?@K?|R`5ĿK? ˴ d?)~6 $@ ~6Ԋ\;I~6Cɫ99)9 9I9Y?yF鮥a=ɮp=rmMZ=Ya$H y  =} >Im 5?ݾ ,= %?9"?': U:)WAWAXA XAWAXI:WI2WI*WIVIbUQBUQ*UQUYU]==@ReB*** querying acoustic contact ***PaPaBB BA*BAAAA"C<@@RC6ACC֥FӅIש)שׁIG>>= , = = =  = ~:Y= U1y= := M6O@#,bhFAY}vEb$@}v}@y}vm}vV}vHD ?@9?m@'Ŀ^?˗?)~vEb$@ ~v\d;I~tɫ) IY%?y%F-Z****** received transponder code query ******-F****** received ping request ******-99a=$H9AyE<}E>II U:ML 5? ]:Mݾ M= ]?9M%?Ms: M{:)M:WWX XWX:W2W*WV bU1BU9*UAUIUu Q @BiB BA*BAAAA"C1@RC0CCI! )% ?Aօ \iA II Ge >sg#,Hj|hFAY}2]$@}2@y}2}2ṡ}2Hln`YH? ?@;`@o?հ $?)~2]$@ ~2&*a;I~0ɫ99)9 9I9Y}?y}/FxDUSBL response received:!U1,P 098,000,002B7,187,80,80,34,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)=    @ @ @ÑÑÑiÑÑ đ)đIđiđ7<=Mg=YҼa$Hy <}>I15 5?5ݾ 5= ]?95%(?5; 5;)1WIWIXQ XQWQXi:Wi2Wq*WqVbUBU*UUUw @BB BAt*BAAAA"C7b@RC/=CC֍DE < E E I IY Gu >E  E u:YE DW1yE Y:E 6eO#,EhFAY}67%@}6@y}6dJ}6Q}6H@' ??,⿿h?@M?)~67%@ ~6p^;I~6Cɫyy)y yIyY?yeFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B u&>=M}w=Y}RQU}?a$Hy=} ?Iȱ :ŵ݃ 5? :ŵZݾ Ƶ= ?9ƵN*?ǵw: ȵ:)ȵ:W!W!X! X!W!X!:W)2W)*WIVIbUQBUQ*UQUQU] @BB BA*BAAAA"C% @RC8=CCoA׹IGj>a 9a Ia ia a a a e *; e Ee{#,(hFAY}Ban&@}B@y}B}B'i}BH\`)V??V@_\? <䬿`?)~Ban&@ ~Bd];I~@ɫyy) IY?yFxDUSBL response received:!U1,R,1EE,000,002C1,187,80,80,3E,FF Fpublishing direction and range infoܾɰg= )xBIy@9 ?[AeUڿٱ } } } }@ @ @yyyiyy y)yIyiy`MC=YQU>a$Hye=}>I)- 5?-'ݾ -= 5?9--?-: -:))WyWyXy XyWyXy:W2W*WVbUBU*UUU־@R(Combining 5 samples.P*Q@ZQû@q@ЯU JQ9 ?[AeUڿ2Qܾ:QbQ?xP֪@Ac"^?RQCտb?d7o?BQcp? Q@QοPP9?PO9?PQQ!@"Q!(@B9B9 B9A=*B9AAAaAaAa"CmV>@RCmCaB>CiCqօ~M2YIaGZ>- =i- =5 ~ 5 5 5  5 {:Y5 V1y5 :5 D6)5 /;9= rd#,ʎhFAɫ ) IYM?yUFTNmea in: $SNTTA,0.036214,,,,232442.36*46 ]>MeC=YeQUe>iiam$HmHqyu}u>Iy :} 5? :}ݾ }w= ?9}/?}: }:)}:mqAdded new target pos. range: 4.800000 m, bearing: 109.864214 deg, deltaT: 4.438615 s, approachRate: 0.135178 m/s, LOS rate: -2.727722 deg/s, posRepo size: 4XWcp?WX XWX:W2W*WVbUBU*UU@33@U`C?BB BA*B A A A A "CT@RC >Ccp?C=9IAG]U>H#,hFAY}>'@}>k+@y}>'׽}>Y!}>H+@e ? ^? ߥ@ Vغ? A w?)~>'@ ~>d;I~<ɫQQ)Q QIQY?yFMb`J +A)KAII4Ai~ZAFA<MR=YWJ=QU>a$Hyg<}>I  z 5? aݾ ~= ?9 6? : :) W9W9X9 X9W9X9:W92WA*WAVAbUIBUI*UIUIUM?ByBy ByA}*ByAAAA"C N?RC C CINI)>9IXFi?",; NE׹IGH>5 5 }5 }5  5 %~:Y5 kS1y5 Ԋ:5 6)5 ;#, hFAY}2`['@}2v@y}2yӽ}2 }2H w`۠?NE?@`3c?] ?)~2`['@ ~2sb;I~2CɫYY)Y YIYY}?y}/F - 5 5 5@ 5@ 5@111i11 1)1I1i1E<MEV=YEw;QUM>IIaM$HIQy]E<}]>Ia m:eۀ 5? m:eLjݾ e= m?9eP=?e: e0:)e:W W)X) X1W1X1:W12W1*W9V9bU9BU9*U9UAUE /?BB BAt*BAAAA"C>?RCCC]A]A2שIGB>I) )- BAg#,hFAY}2'@}2C @y}2׽}2|G}2H E녥??@@g?ɨ?)~2'@ ~2=_;I~2CiEmGI]`Aiiٺ`AAɫ) IY ?y FI=)4=M(=YQU>a$Hy<}>I 5?ݾ ]= ?9E?VT; M;)W9W9XA XAWAXA:WI2WI*WIVIbUQBUQ*UYUYUe ?BB BA*BAAAA"Ccp?RCCC":<ױIG>M M M M  M n:YM WU1yM :M 69U @ 9 I ȖFi ? = ,; E)ݙIݙiݙݝ=ݝ=ݝp45#,1hFAY}]jY(@}]t@y}]6ֽ}]u}]H`_ #`T?}?@؇:ĺ?ɉ o?)~]jY(@ ~](2];I~]CɫII)I IIQY?yF e e e e@ e@ e@aaaiaa a)aIaiau<M}_=Y}:QU}>a$Hy<}>Iȑ :ŕ 5? :ŕݾ ƕ= ?9ƕ L?Ǖ: ȕ#:)ȕ:WWX XWX:W2W*WVbUBU*UUU`h@@BB  B A |*B A A A A"C*CuRCCCq=%?i%?IGH>#,KhFAY}:(@}:}@y}: ͽ}:}:H7ߚ?_?@@j?ܱ?)~:(@ ~:\;I~:Cɫ99)9 9I9Y}?y}F=5MEa=YE>IIaM$HIIyU<}U>IY]~ 5?]?ݾ ]= e?9]mR?]˵: ]:)YWWX XWX:W2W*WVbUBU*UUU`'@BB BA*BAAAA"C*CiRCCC  > >:=שIG > i a=% O % ~% ~% t % ]w:Y% T1y% @:% *6r#,aehFAY}2(@}2Y@y}2jɽ}2ͲF}2H=n?`?80@Z?C?)~2(@ ~2p\;I~2Cɫ99)9 9I9Yyyy鮅p=ɮa= 鿑sh|??7A`ڿDl?=־ O >)Iy~jt?&1?{Gz?D<P=ף< AAaE$HAIyMo ;}M>Iq} 5?ݾ = ?9'X?: {:)WWX! X!W!X!:W!2W!*W)V)bU)BU1*U1U1U5 @R=B*** querying acoustic contact ***PAPABaBa BaAa*BiAiAiAiAi"Cq*C}/RCyCyCyܑ9ܑIܕFiܕ?ܑܑܑܕ-; ݕEօ==AIiG^>#,DhFAY}6X{(@}6@y}6ν}6}6HD" `^?g?- 1й?U?)~6X{(@ ~66c;I~6CɫAA)A IIIYu?yugF}Z****** received transponder code query ******}F****** received ping request ******QQa]$HYYyed9}e>Ii u:m | 5? u:mݾ m*> u?9m]]?m: m:)m:WWX XWX:W2W*WVbUBU*UiUiUu` @BB BAƃ*BAAAA"C *C /RCCC=I)׹IGF>       1{:Y T1y : 6#,hFAY}2p(@}2@y}2ܽ}2z#}2H@4+?`3?:=>? 4C?)~2p(@ ~2_;I~2Cɫ99)9 9I9Yu$?y}FxDUSBL response received:!U1,P 1EE,000,002C1,187,80,80,3E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 M6%<MmK=YQU>a$Hy<}>Iz 5?cݾ v > =?9c?u; K;)WWX XWXi:Wq2Wy*WyVbUBU*UUUc @BB BA*BAA!A!A!"C)*C-𱬽RC)C)C1]_'>AIYG{>I AA) AA܉ 9܉ I܉ i܉ ܉ ܉ ܉ ܍ -; ݍ E,*#,hFAY}F-)@}FI@y}F!9彙}F}FH W?@ ?=֗?NC?)~F-)@ ~F];I~Dɫqq)q qIqY2?y“FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I4=)C=    @ @ @i )Ii :M >=Y &QU >a$HyA<}>I! -:% y 5? 5:%ݾ %> 5?9%h?%: %:)%:WQWQXQ XYWYXY:WY2WY*WaVabUaBUa*UiUiUm@n&@BB BA*BAAAA"C*CȦRCCC}׿Q>9IQG>> .      t:Y X1y /: 6) ;9 + #,ȕhFAY}6F)@}6ub@y}6ݽ}6S}6Hch?[? Cٕ?SH?)~6F)@ ~6}\;I~6CɫYY)Y YIYY}?y}FxDUSBL response received:!U1,R,3FE,000,002B6,188,80,80,AC,FF Fpublishing direction and range info&Qdɰhc=鰅> ),CIyz@/F?7%^ٱ;Ma=Y2a$HH!y%P;}%>I)-w 5?-Ɛݾ -3> ]?9-m?-׾; -U;))WWX XWX:W2W*WVbUBU*UUU`@R(Combining 5 samples.P*Qz@ZQ<R@7ǁ JQ/F?7%^2Q&Qd:QbQzc. ?d`@6۳&?RQ|^@h?a@?~N9?BQſ? Q@Qi>PU9?PP9?PQQ@"Q!@BYBY BYA]*BYAaAaAaAa"Ci*CI}RCCC֍Wg~>׍?i׍?AIQGm5>=#,hFAɫ  )  I YE?yMFDNmea in: $SNTTA,,,,,232446.81*52 Pn?QMbX9?>u ʡ=)Iya$Hy}>I :bv 5? :Eݾ  > ?9Qr?,: :):mqAdded new target pos. range: 4.140001 m, bearing: 85.841633 deg, deltaT: 4.423054 s, approachRate: -0.149218 m/s, LOS rate: -5.431220 deg/s, posRepo size: 4X!9!I%8Fi%?!!!%,; %EW=ſ?W9X9 X9W9XA:WA2WA*WAVAbUIBUI*UIUM`\@UU?ByBy BA*BAAAA"C &?RCCſ?C ե>ԡֵ>שIG >i=     .r:Y V1y : 6) w;x$,hFAY}2Z(@}2@y}2Ὑ}2}2H@ CK? ? *!? C;(?)~2Z(@ ~2b;I~2Cɫ99)9 9I9Y}?y}F8Not Powering down - fast GPS )Iiiɶ )Iiɷ     @ @ @i )IiUF<MUR=Y]QU]>aaae$HaiyuL}u>IȁŅ=u 5?Ņݾ ƅF> ?9ƅOv?Dž,; ȅ;)ȁWWX XWX:W2W *W V bU BU*UUU`?BaBa BaAe*BAAAA"Cbo?RCCC֝>בIG>WI$,^hFAY}6D(@}6@y}6}6QJf}6H"`2 ?? #?`c?)~6D(@ ~6`;I~6Cɫ髉) IY?y/Fmܟ<Mm:=YuE QUu>qya}$Hyyye;}>Iȉ :ōs 5? :ō,ݾ ƍH= ?9ƍz?Ǎ:: ȍ2:)ȍ:WWX XWX:W2W*WVbUBU*UUU`|f?BB BAt*BAAAA"C ?RCCCqIy)yQIYGu>-  - - -  - us:Y- T1y- :- W695 @) 9) I- Fi- ?- =) ) - *; - Et $,K?4hFAY}2 )@}2y'@y}2o }2}2H`<7_?2?SĿ@ ?`֔?)~2 )@ ~2m^;I~0ɫ99)9 9I9Y?yFUѼMUt=Y]QU]?YYa]$Haaye<}m?Iqur 5?uݾ um= }?9u~?u: uQ:)qWWX XWX:W2W*WVbUBU*UUU`?BB BA*BAAAA"C?RCCC  \Aօ?΅>yIG]>I @A) S[$,DNhFAY}> )@}>(@y}>St}>o}>H@> . ?`?2Ŀ 0?﷿I?)~> )@ ~>\;I~>Cɫ99)9 9I9Y}?y}FI-p=)-= u u u u@ }@ }@qqqiqq q)qIqiqjMG=Y;QU>a$Hyw59}>Iȡťq 5?ťݾ ƥq= ?9ƥ?ǥ: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU<*@BB BA{*BAAA!A!"C%G?RC)C)C)E>I9GmV>t>imGI=_AiYٺ_AAE ' E E E o E -t:YE U1yE :E 6h$,9ghFAY}6 |(@}6@y}6}6L.}6H@4?`Z?uÿ??)~6 |(@ ~6y\;I~6Cɫ99)9 9I9Y}?y}ޒF/$?{Gz?Mb,=ף< )Iy~jtZd;O?~jtxDj<=Ļ •:A)•OAI•n8Ai•XA GA=MH=Yga$Hye}>I :q 5? :ߓݾ = ?9? : :):WWX XWX:W2W*W V bU BU *UUUp@B9BA BAAE*BAAAAIAIAI"CUN`?RCQCQCY999I=ȖFi=?999=(; =hE)iIiiim=m=m4AM?iM?I1GMR>Cm $,GʁhFAY}6(@}6L@y}6}6F}6Hl@E ٭??உOR??)~6(@ ~6(];I~6CɫII)I IIIY}N?y}F鮁ɮM]=YQU>a$Hy}>IȹŽEp 5?Žݾ ƽh= ?9ƽ?ǽ: Ƚb:)ȹWWX XWX:W2W*WVbUBU*UUUVd@RB*** querying acoustic contact ***PPBABI BIAMZ*BIAQAQAYAY"CeD?RCaCaCi Յ=ԅ=m>!I1GM1> =i =      m:Y y  6&$, hFAY}2/(@}2J@y}2U }2U}2HA ??@Z¿Z?@ ࿟?)~2/(@ ~2b;I~2Cɫ99)9 9I9Y?yđFZ****** received transponder code query ******F****** received ping request ******a$Hyf;}>Iȩ :ŭfo 5? :ŭݾ ƭ= ?9ƭU?ǭs: ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUU@ @BB BAp*BAAAA"CÀ?RCCC?΅>IGn>% ]A% _A1 91 I5 Fi5 a?5 =1 1 5 &; 5 PE,$,hFAY}:T(@}:@y}:#4}:!g}:H`N @??!@K@u?r?)~:T(@ ~:>_;I~8ɫ99)9 9I9Y}4?y}MFxDUSBL response received:!U1,P 3FE,000,002B6,188,80,80,AC,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 mqMuM=YÇQU>a$Hy<}>I)-n 5?-ݾ -"= m?9-ي?-5< -<))WYWYXa XaWX:W2W*WVbUBU*UUU` @B9B9 B9A=*B9AAAA"Cſ?*CQRCCC>I)שIG>= = = =  = =m:Y= WU1y= := 6)= 2;9= w3$,\ϐhFAY}6(@}6b@y}6t}6W}6H`! k?O?/9?`᭪@?)~6(@ ~6];I~6Cɫ99)9 9I9Y?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B uZMuI=Y}sQU}>ya$HHyY;}>Iȑ :ŕm 5? :ŕݾ ƕ/= ?9ƕ'?Ǖ0: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUUW'@BB BÄ́*B A A A A "C*C RC C C]A>I G-p>I1 )5 @A9$, 7hFAɫ髙) IYx?y )+CIy@3$(?'_bٱI=)=%&1?~jt?Q?%=%= %u=)!I!y%Q롿 rh?I +?%\%C =%94< %A>A)%KAI%1Ai%!%>A } } } }@ }@ @yyyiyy y)yIyiy9IȖFi?$; HE5M51=Y=QU=>99a=$HAAym}m>Iqum 5?uטݾ u= }?9u?u: uʽ:)qWiWqXy XyWX:W2W*WVbUBU*UUU@+@R(Combining 5 samples.P*Q@ZQc!H@DcJQ3$(?'_b2QMQ:QbQ8^U3?ܩ4)@ %?RQ\:ׁ?rs+?Ӑ7҃?BQ? QI@Q=PT9?PU9?PQQ@"Q@BB BA*BAAAA"C*CRCCC>= = = = _ = Qm:Y= V1y= := 6)= C; I G% >@$,hFAɫ11)1 1I9Yu#?yujFTNmea in: $SNTTA,0.019418,,,,232451.26*42 U U U U@ U@ U@QQQiQQ Q)QIQiQd޼MU=YQU>a$Hy}>Iȡťn 5?ťݾ ƥ= ?9ƥ?ǥg: ȥ:)ȡmmAdded new target pos. range: 4.080000 m, bearing: 89.495900 deg, deltaT: 4.544972 s, approachRate: -0.013201 m/s, LOS rate: 0.804024 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UUQ@Uu?BB BAe*B A A A A "C?RCC?Ciu?iu?IIQGu>=F$,$hFAY}6'@}6@y}6C&}6!(}6H`rk??`<¿ ?j?)~6'@ ~6ea;I~6CɫII)I IIIY]?y]؏F{|<Mh=Y)QU>a$H y n} >I :n 5? :ݾ = %?9ɔ?: :):WAWAXA XAWIXI:WI2WI*WIVQbUQBUQ*UQUYU]?BB BA8*BAAAA"Cb?RCCC%>I G%M>- =i- == 9 9 =  = :Y9 y9 = 69E @ >9 I i = <D "; VEM$,6hFAY}2{'@}2@y}2/}2)}2H [@Qw?@u?`_2(ǿ?i?)~2{'@ ~2K`;I~2Cɫ99)9 9I9Y]T?y]F % % % %@ %@ -@ -!!!i%?! %?)%?I%?i%?=M=F=Y=QU=>AAaE$HAIyM;}M>IY]n 5?] ݾ ]K= e?9]m?]: ]÷:)YWWX XWX:W2W*WVbUBU*UUU@e?BB BA*BAAAA"C'?RCCC>סIGA>S$,ϣPhFAY}:((@}:>D@y}:.}:Tҽ}:H FBc@9??hȿ ζ?@fݹ^?)~:((@ ~:^;I~8ɫ99)9 9I9Y}?y}ƎFUIM]H=Y]j;QU]>aaae$Haaym<}m>Iq }:u-n 5? }:u2ݾ uy= ?9u ?u: ub:)u:WWX XWX:W2W*WVbUBU*UUU-'?BB BA*BAAAA"C?*CRCCCv>I ) [AIGF>M I I M  M Dp:YI yI M 6!Z$,~jhFAY}2i'@}2 @y}2y*}2'}2Hbj`?$?@`@l&ƿ 6?`Ãt?)~2i'@ ~2wP];I~2Cɫ99)9 9I9Y}R?y}F(\?RQ?RQ?z>= =)IyˡEQ?Q'u=u l=A)1RAI‰i‰z@ASMC=Ya$Hyf}>Im 5?ݾ S= ?9c?{: :)WWX XW!X!:W)2W1*W9V9bUABUI*UQUYUeA?ܕ>9ܑIܕFiܕa?ܕ=ܕ;Dܑܕ+!; ݕz EBB BAY*BAAAA"C*C nRCCC>ױIG>I- AA)- AA a$,YhFAY}6'@}6 @y}6h7/}6qk}6H@ O?@H? E@ƿ?@ol?)~6'@ ~6"\;I~6CɫAA)A IIIY}?y}FIC=)%= = = = =@ =@ =@ =@999i=9 =)=I=i=u;uMuP=Y}SAQU}>ya$Hy>j}>I) 5:-l 5? 5:-ݾ -w< =?9-?-: -b:)-:WYWYXY XYWYXa:Wa2Wa*WaVabUiBUi*UiUqUu@BB BA*BAAAA"C*CRCCC>יIGb>= o = = = x = e:Y= U1y= := 6i I i  ٺ  dA3g$,4hFAY}22'@}2@y}2#7}2ɡ}2Ht@ĩ??dXɿ/?`vL?)~22'@ ~2P _;I~2Cɫ99)9 9I9Y?yF MU=YӤQU>a$Hy-;}>I}l 5?2ݾ  ?9{?ϸ: b:)W)W)X) X)W)X):W)2W1*W1V1bU9BU9*U9U9U=D@RMB*** querying acoustic contact ***PIPIBiBi BiAu*BqAqAyAyAy"C*CRCCC֍N؅>ו?iו?aIiG9>ܙ 9ܙ Iܝ ȖFiܝ ?ܝ =ܙ ܙ ܝ _; ݝ E)Ii5]m$,4hFAY}:'@}:/@y}:}7}:}:H M%??|` ȿ ?@l@M\?)~:'@ ~:9c;I~8ɫ99)9 9I9Y}?y}eFZ****** received transponder code query ******F****** received ping request ******99a=$H=H9yE[}E>II U:Mk 5? U:Mݾ M ]?9M?M: M:)M:WWX XWX:W2W*WVbUBU*UUU:R @B9B9 B9AE*BiAiAiAiAq"Cq*C}eRCyCyCy֝>qIG>- =i- == 3 = = =  = "u:Y= V1y= := 6)= ;9E Et$,BёhFAY}60'@}6>L@y}6\3}6/.}6H~t ? ?!ÿ GN?o\{?)~60'@ ~61`;I~4ɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,P 3AB,000,002B5,189,80,80,AB,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 <Ma=Y D)1a$Hy%j}->Iae,k 5?eݾ e ?9e]?et< eY<)aWWX XWX:W2W*WVbUBU*UUU> @BB BA*BAAAA"C*CRCCCֽ?΅>IG>oz$,hFAY}2&@}2v@y}21}2+ }2H`@@?R?~=+?`ۑۃ?)~2&@ ~2]^;I~2CɫII)I IIIY}?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 191I5Fi5?1115|; 5 EK7ѿMbp?I ;)IyRQ{Gz{Gz½## )VVAI2AifA\KA    @ @ @i )IijM "=Y b;QU >a$HyN}>IAEn 5?Eݾ E M?9EY?E: E0:)AWWX XWX:W2W*WVbUBU*UUU _"@BB BA*BAAA9A9"CA*CEϥRCACICI}>Iׁ)ׅ\AI IY Gu >    :Y U1y : 6) H;W$,bhFAY}>&@}>-@y}>0t4}>5}>H`?}?E¿p?`a}@1}?)~>&@ ~>k];I~>CɫYY)Y YIYY}.?y}FxDUSBL response received:!U1,R,19A,000,002B7,186,80,80,74,FF Fpublishing direction and range info0ɰc=鰅> )BIyf@ƌ{7?Z8iֿٱ1/<M=YMQU?a$Hy޼}?I :*q 5? :ݾ X ?9'?: :):WWX XWX:W2W*WVbUBU*UUUf@R(Combining 5 samples.P*Qf@ZQpI[x@AЏoJQƌ{7?Z8iֿ2Q0:QbQzܩ!=/WO@?v?RQ}?ٿv7I?i #e?BQ? Qzr@QԿPO9?PT9?PQQ @"Q@B9B9 B9A=*B9AAAAAAAA"CI*CMRCQCQCQim\AYI!GEs>I- @A)- @A.$,hFAY}r%@}r|@y}r65}r~x}rH`'UD??9<ſؕ?L p?)~r%@ ~r\;I~rCɫ) IYA?y.FUDNmea in: $SNTTA,,,,,232455.70*5E Iea=)e=M==Y.QU>a$Hy?}>Iȱŵt 5?ŵݾ Ƶ ?9Ƶ?ǵ: ȵ:)ȱmUmAdded new target pos. range: 4.199998 m, bearing: 113.620818 deg, deltaT: 4.369100 s, approachRate: 0.027465 m/s, LOS rate: 5.521714 deg/s, posRepo size: 4XQW]?WYXY XYWYXY:Wa2W*WVbUBU*UU`@Uf?B B BA*BAAAA"C}?RCC?C  >i 9i Im pFim M?m =i i m H; m E    n:Y DW1y Y: 6) ;I G >$,yX9hFAY}6`%@}6_|@y}6M5}6麎}6H @MkI??`eƿ u?R[l?)~6`%@ ~6ic;I~4ɫ99)9 9I9Y]?y]F=i=    @ @ @i )Ii=@<M=P=Y=cW:QUE>AAaE$HIIyup}u>Iy :}w 5? :}tݾ }ҽ ?9}˾?}: }^:)}:WWX XWX:W2W*WVbUBU*U U U `S.?BYBY BYA]*BYAaAaAaAa"CȦ?RCCC>?i?סIGd>&$,Y4ShFAY}:$@}:@y}:F5}:=2}:H`ϥ@dvն??$3Ŀ ?@ Hx?)~:$@ ~:`;I~:Cɫ99)9 9I9Y}K?y}ҋFEL;MEJ=YEv8QUE>IIaM$HIQyUȒ}]>IY]z 5?]Uݾ ]E m?9]?]L: ]!:)YWWX XWX:W2W*WVbUBU*UUU@?BB BAۆ*BAAAA"C3?RCCC ==>IG%M> ?      @:Y Y1y : 69 @꽚$, mhFAɫ髡) IY?yF AA9CIi=o<; E%:v ףp= v/%T%Q %xi)!I!y% rh:vI +%C%Լ%94 %A>A)%\QAI!i%vdA!%IA }   @ @ @ÁÁÁiÁÁ ā)āIāiā)o=M*=YQU>a$Hy}>Iȱ :ŵ{ 5? :ŵ#ݾ Ƶ ?9Ƶ?ǵ: ȵ$:)ȵ:WWX XWX:W2W*WVbUBU*UUU?B!B! B!A-*B)A)A)A)A)"C5?RC1C9C9U>1I9GU>$,KꆒhFAY}JU$@}J(q@y}Ji3A}J*}JH d j޸?@>?@#20ſ?Aޤg?)~JU$@ ~JZ];I~JCɫ髹) IYyIQ)QY QU?a$Hyfۼ}?Iȩŭ| 5?ŭݾ ƭ  ?9ƭ?ǭ: ȭ:)ȩWQWQXY XYWYXY:WY2WY*WaVabUaBUa*UaUiUmG@BB BA*BAAAA"C?RCCCֽ>I)יIGb>      zm:Y W1y č: 6ϧ$,zĠhFAY}6 $@}6&@y}6bH}6FTz}6H A:?r?+Z@ǿD?@S?)~6 $@ ~6~\;I~6Cɫ99)9 9I9Y?ycFuu4Muya$HyB:}>Iȑŕ} 5?ŕקݾ ƕ| ?9ƕ?Ǖ9: ȕE:)ȑWWX XWX:W2W*WVbUBU*UUUL+@BB  BA8*BAAAA"C;?RCCC]Aֽ>יIG9IFi?=MD W; ,*EI- AA)- AA$,hFAY}:$@}: @y}:L}:I}:H`:I?t?$9ʿ@(m?`@:?)~:$@ ~:`;I~: Cɫ99)9 9I9Y}g?y}YF鮅a=ɮ=I=)=    @ @ @i )Ii1<MI=Y QU>a$HHyޔ}>Iȡ :ť~ 5? :ťݾ ƥb ?9ƥH?ǥI: ȥb:)ȥ:WWX XWX:W2W*WVbUBU*U U Uv@RB*** querying acoustic contact ***PPB9BA BAAEԅ*BAAAAAAIAI"CU?RCQCQCYe>9IQGuW>e ue e e  e :Ye DW1ye Y:e 6$,xzԒhFAY}6#@}6@y}60TH}6}6H4=@U ? ?`˿?@F廿2?)~6#@ ~6b;I~6CɫYY)Y YIaY?yFZ****** received transponder code query ******F****** received ping request ******a$H!y%L}->I15 5?5ݾ 5 E?95?5; 5:)1WW X  X W X :W)2W1*W1V1bU1BU9*U9U9U= @BB BA*BAi}nGI1A)A1A9iI}ٺy}A"Cm?RCyCC֝o>׵?i׵?בIG> $,UhFAY}6){#@}6@y}6XC}6񥈽}6H4 8޳?M?@`ǿL? ° #Y?)~6){#@ ~68_;I~6CɫAA)A IIIYT?yFxDUSBL response received:!U1,P 19A,000,002B7,186,80,80,74,FF %Command Ack%BRequesting micromodem ping code 2i))y9yI}Fi}a?}=y}LD}XS; }((E)5CI1i15=5=5e5Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ^I +ǿQ?I +?X9u= 94<)Iy:vy&1|?:vԼ`;Լ ;A)SAI0Ai fA    @ @ @i )Ii=G<M==Y=rAAaE$HAQyN_}>Iȱ :ŵM 5? :ŵ#ݾ ƵV ?9Ƶi?ǵ>< ȵ<)ȵ:WWX XWX:W2W*WVbUBU*UUU x@- =i- =B B  B A *B A A A A "C W]?*C }RC C C 1 5 =U  U U U  U 9q:YU U1yU :U 6)U ;9] 5 > I! GE >4j$, hFAY}6E#@}6@y}6G}6Tb}6H@3@3N?`p?@T"ǿκ?cY?)~6E#@ ~68];I~6CɫII)I IIIY9?yF?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ii=M=YEQU?a$HyOּ}!?I 5?mݾ ' ?9&?: :)WWX XWX:W2W*WVbUBU*UUU`DF@BB BA߄*BAAA A "C?*CRCCC! IGm>d$,#hFAY}:?#@}:9@y}:MK}: ͽ}:H)(ج?b?Կ U˿O? /5?)~:?#@ ~:\;I~:Cɫ99)9 9I9Y}?yFxDUSBL response received:!U1,R,21F,000,002C3,188,80,80,67,FF Fpublishing direction and range info_򾩰ɰg=鰥> )BIyp@&]y?pf}_4ݿٱzŻMZ=Yd>QU>a$Hy;}>Iȩ :ŭ܀ 5? :ŭըݾ ƭ4 ?9ƭ4?ǭ: ȭ:)ȭ:WWX XWX:W2W *W V bU)BU1*U1U1U5D@RE(Combining 5 samples.PA*QEp@ZQE]@hjJQE&]y?pf}_4ݿ2QE_:QAbQExCצ-x@:Ab?RQEU,Sο\F?B\D?BQEx? QE@QE6PEQ9?PEO9?PEQEQE;@"QE @BB BA*BAAAA"C*CRCCCI)]AIGj>y9}CI}Fi}v?}=yy}M; }@%E M    5w:Y W1y č: 6) ;$,s=hFAY}E 1#@}EL@y}EE}E}}EH@j'^ա?@b?@C̿@?$`)?)~E 1#@ ~Eŋ\;I~ECɫ11)1 1I1YC?yVFDNmea in: $SNTTA,,,,,232500.18*51 u u u u@ u@ u@qqqiqq q)qIqiq/<M0=Y[a$Hy*;}>IaeH 5?eJݾ e`C u?9em?e ; e* ;)amqAdded new target pos. range: 4.919998 m, bearing: 104.059913 deg, deltaT: 4.458543 s, approachRate: 0.161488 m/s, LOS rate: -2.144401 deg/s, posRepo size: 4X!W%x?W!X! X!W!X!:W)2W)*W)V)bU1BU1*U1U5@U5?BB BA*BAAAA"C?RCCx?CII)MBAIG>͝$,WhFAY}6"@}6@y}6 w7}6)ҽ}6H>ɤ?`? =ɿ ?ʹR?)~6"@ ~6c;I~4ɫAI)I QIQY]?yFI p=) 4=5<M=f=Y=!!=QU=>AAaE$HAAyMw}M>IQ ]:U 5? ]:Uݾ UM e?9UX?U: Uw:)U:WWX XWX:W2W*WVbU BU*UUU`?BB BAV*BAAAA"CH?RCCC֥>yIG^>   k Dp:Y V1y : 369 @$,lqhFAY}6h#"@}6>@y}66)}6y}6H[]h?0?s-ƿ8?XEz?)~6h#"@ ~6 a;I~6C999I=xFi=?==99=mJ; =j#EɫQQ)Q IYX?yFʡE?RQ?Mb?-2>= <)Iy))a-$H)1y5Y}5>I9= 5?=Fݾ =R_ M?9=?=^: =;)9WqWqXq XqWqXq:Wq2Wy*WyVybUyBUy*UUUw?BB BA*BAAAA"C\?RCCC>%?i%?I!Gew>$,ChFAY}:!@}:@y}:3}:E}:H'\(???m%Ę?)~:!@ ~:^;I~:Cɫ99)9 9I9Y}?y}F u u u u@ u@ u@qqqiqq q)qIqiq߆=MU=Y~a$Hy2D}>Iȡť# 5?ťܪݾ ƥn ?9ƥ?ǥ: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU?BB BAH*BAAAA!"C% ?RC)C)C) 9==%>I G%M>% % % % u % p:Y% U1y% :% E6$,hFAbJFailed to close latch before timeout.q bbHardware FaultY?y7F iik<M[=YQU>a$Hy}>Iȹ :ŽJ 5? :Žoݾ ƽ} ?9ƽL?ǽ: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUUӤ?B!B) B)A- *B)A)A1A1A1"C.?RCCC>סI-$@Hardware Fault in component: DDMGA>\A\A!9!I%@Fi%?%=!!%M; %7%E$,hFAY}6!@}6@y}6b}6\]P}6H@@}B??0x6ÿ %?:?)~6!@ ~6gv\;I~4>Powering down<ɪ<)@ @Yx?yFUMU2=YU3;QUU>YYa]$H]Haym}m>Iy} 5?}#ݾ } ?9}?}@; }(;)yWWX XWX:W2W*WVbUBU*UUU@BB B!A%O*B!AAAA"Cu?*CRCCCv>I)\AIG>% % % %  % n:Y% WU1y% :% r6$,ؓhFAY}6u!@}6h@y}6}6}}6Hr{IU?"?ZG ƿ ?@@ķ?)~6u!@ ~6?`;I~6CYB?yBFNp=ɮN=f%;Mf~=YjIGU2>$,hFAY}V{ @}V@y}V꽙}V½}VHc?d?u*¿3?n!ҥ?)~V{ @ ~V l;I~VCd9dIfxFif?f=ddfIO; f&EYr?yrӔFvZ****** received transponder code query ******vF****** received ping request ******vۙ?iC !C)BICi՛;M,=Yˌ=QU>a$H yMA{}U>IQUV 5?U^ݾ UD e?9U?U: U>)QWWX XWX:W2W*WVbUBU*UUUN @B!B! B!A%2*BIAIAIAIAI"CUx?RCQCQCYԍԍ Սԍ I $5 NClearing failed state for component DDMq 5 GM >e  a a e  e r:Ya ya e 6)e ;9m %, hFAY}FW!@}F@y}FTٽ}Fǽ}FHk@i.b|Xg?.c¿`1?!Ѹת?)~FW!@ ~Fj;I~FCYj?yjەFnxDUSBL response received:!U1,P 21F,000,002C3,188,80,80,67,FF nCommand AckrBRequesting micromodem ping code 2ippr=ir=vNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -]A-^AU=M]j=Yeya$Hy:}>I 5?ݾ ѝ ?9 ?`; OX?)WqWqXq XyWyXy:W2W*WVbUBU*UUUJ6 @BYBY BYA]Ƃ*BaAaAaAaA"C*CRCCC!I1GeV>inGI`Ai)]iٺ]`A]AB) %,l&hFAY}F @}F~@y}Fr4н}FB}FHMڜ?`?D@??)~F @ ~FUfe;I~FCYnl?yn[FprAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B %@ %@ %@ %@%©%%i%% %)%I%i!5n<M5<=Y=49AaE$HAAyMYD}M>IQ ]:U׋ 5? ]:Uݾ U ]?9U?U: UI?)U:WWX XWX:W2W*WVbUBU*UUU p@BB BA*BAAAA"C*CRCCCשIG=9CIFiv?=MDM; .%E)UCIQiQU=U=U15IiM=%,6X@hFAY}B! @}B,=@y}Bý}B}BH`Q @"??`#@/wZ?㖖?)~B! @ ~Ba;I~@Yj?yjFnxDUSBL response received:!U1,R,260,000,002C3,189,80,80,2C,FF nFpublishing direction and range infonlɰln7> l)n0BIlylnDA?qm1ٱl 6<M _=Y a$Hy6¼}>I!% 5?%<ݾ % 5?9%?%: %(?)!WQWQXQ XQWQXY:WY2WY*WYVYbUaBUa*UaUaUm0@R}(Combining 5 samples.Py*QyZQ};Ei@,,JQ}DA?qm12Q}:QybQ}$hU>jzRH_@}sY?RQ}.^ ÿE YԀ?ܷ?BQ}@? Q}@Q}Q;P}R9?P}Q9?PyQ}Q}@"Q};@BB BAq*BAAAA"C*CRCCCI)שIG=U UUUm U;o:YUDW1yUY:Uj69]@<%,)ZhFAY}V{@}VP@y}VЯ}V}VH] ;?!?{ ! 5? a?)~V{@ ~V_;I~VCYR?yF}DNmea in: $SNTTA,,,,,232504.59*50 )Õ= Õ=    @ @ @i )IiM<=Yܱa$Hy D} >IW 5?ݾ x ?9?]: @)mmmAdded new target pos. range: 4.919998 m, bearing: 98.590639 deg, deltaT: 4.386458 s, approachRate: 0.000000 m/s, LOS rate: -1.246854 deg/s, posRepo size: 4X W@?WX XWX!:WI2WI*WQVYbUYBU*UUUF?BB BAق*BAAAA"C6?RCC@?C׹IGE>c%,shFA494I6 Fi6?4446K; 69$EY}BU@}B@y}B3}BwP}BH{E? y&?`tൿ j{?@P?)~BU@ ~BQ];I~BCY^?yb$Fa ia i a ma m a qa q a ea e ~jt?v/?sh|??D<x= =)Iy{Gzt?333333)\(ף;Ga AAaE$HAIyMͼ}M>IQU@ 5?Uݾ U_ e?9U?U: U:)QWWX XWX:W2W*WVbUBU*UUUP?BB BAA*BAAAA"Cn?RCCC)I1GU>IU@A)U@Ae eee e:YeWU1ye:e6)ek;9mK#%,ҍhFAY}:69@}:T@y}:s)}:S}:H.%'󈉿F?ȟb@??-R?)~:69@ ~:];I~8Y^0?y^7F]M]Y=Ye7;QUe>aiam$Hiiyuو<}u>Iy :} 5? :}ݾ tI }Ⱦ ?9}n?}: }*:)}:WWX XWX:W2W*WVbUBU*UUUM?BB BA*BAqAqAqAq"C} y?RCyCC׵?i׵?בIG=u)%,ɭhFAY}6C @}6p_@y}6}60}6H`0D6?yP?+>?)~6C @ ~6];I~6CYBV?yBFtt u u u @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉMF=Y33a$Hy!=}>IȹŽ 5?Ž2ݾ ƽ:Ҿ ?9ƽ?ǽ: Ƚ :)ȹWWX XWX:W2W*WVbUBU*UUU?B)B) B)A-*B)A1A1A1A1"C=?*C9RC9CACAIG==a9aIeȖFie?e=aeLDeI; e"E]] ]]] ]{x:Y]W1y]č:]6)];p]0%,hFAY}2p"!@}2=@y}2}2ya}2HI@] 0r?`AL k?p ?)~2p"!@ ~2^];I~2CYB?yBAF;MU=Y}  a$HHyU=}]>Ia m:e 5? :eͪݾ e.ܾ ?9e&?e0%= e6%=)e:WWX XWX:W2W*WVbUBU*UUU@BB BA *B A A A A"C@?*CRCCCIG-->U=iUp=‡6%,c۔hFAY}:%!@}:A@y}:T}:n}:Hiڑ p?_`&? "?)~:%!@ ~:n2\;I~:CY^?ybܔF u u u u@ u@ u@qqqiqq q)qIqiqqAMB=Y୻QU>a$Hy+9}>Iۗ 5?ݾ  ?9?: g:)WqWqXy XyWyX:W2W*WVbUBU*UUU@B)B) B)A-.*B)A1A1A1A1"C9*C9RC9C9CAIQ)Q!I1GM1>] ]]] ]as:Y]X1y]/:]69e@<%,>>hFA$9$I&8Fi&?$$$&F; &!EY}B @}B@y}B T}Bpwo}BHNg@z??Q@h¤?ѭ_?)~B @ ~B[;I~BCYN?yR.FRa=ɮRp={Gzl?/$#= ,)IyA`"~jth?A`"?YD;Y= ­C9A)­UAI­l=Ai­SAGA)ý= ý=!<MF=YU¼QU>a$Hy<}>I : 5? :ݾ ۾ ?9@: :):WWX XWX:W!2W!*W!V!bU!BU)*U)U)U-@R=B*** querying acoustic contact ***P9P9BYBa BaAe *BaAaAaAaAi"Ci*CqRCqCqCyiIyG=™C%,"hFAY}2 @}2@y}2;k}2o/}2H@]P@@? ? G!;f?֥`?)~2 @ ~2[;I~2C>Powering up>"Initializing DDM.Y?yҕF%Z****** received transponder code query ******%F****** received ping request ******-aaae$Haiym6}m>Iȑŕ 5?ŕͫݾ ƕѾ ?9ƕ@Ǖ: ȕ4:)ȑWWX XWX:W2W*W!V!bU!BU!*U!U)U-QI @BB BAʂ*BA!AiAiAq"C*CRCCCסIGA>IQ)UAAe" eee  es:YeT1ye:eV 6I%,(hFAY}:<!@}:6@y}:d}:M}:HÝ?o? r`? xO?)~:<!@ ~:[;I~:CYFi?yJFNxDUSBL response received:!U1,P 260,000,002C3,189,80,80,2C,FF NCommand AckNBRequesting micromodem ping code 2iLLVNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 m m m m@ u@ u@iiiiii i)iIiiiM?=Y')a$Hy<}>I :W 5? :ݾ ž ?9@=: :):WYWaXa XaWaXa:W2W*WVbUBU*UUU`K @BYBY BAS*BAAAA"C*CRCCC!i%?Y9YIYiYYYY]A; ]vEIG%n>2P%,oBhFAY}6Z!@}6@y}6N|}6(T}6HZ@?`AF?@[?@r?)~6Z!@ ~6.u[;I~6CYz?yzʔFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B …]A$<Mc=YT=QU>a$Hy<}?IA 5?ݾ s ?9@); x;)W)W)X) X)W)X1:W12W9*W9V9bUABUA*UAUIUMVC@BQBQ BQAU5*BYAYAYAYAY"Ca*CaRCaCCׁIG>] YY] ]$:YYyY]6hV%,\hFAT>iJmGITi`zUտٺx~A?9AY}5!@}5`@y}5vK}5=}5H! Lf??@X-l? [#?)~5!@ ~5e8[;I~5CYE?y0FxDUSBL response received:!U1,R,1CF,000,002C1,186,80,80,5B,FF Fpublishing direction and range infoξɰg=鰝> )BIy@pm_^l?;N3)ٿٱ~jt?l> )IyS㥛?X9v?V-/<}= ¥A>A)¥KAI¥6Ai¡DA    @ @ @i )IiU"M=Yaa$H!!y-΂;}->I1 =:5x 5? =:5dݾ 5nž =?95)@5+: 5:)5:WaWaXa XaWaXa:Wi2Wi*WiVibUqBUq*UqUqUuJ@R(Combining 5 samples.P*Q@ZQg1l@p1JQpm_^l?;N3)ٿ2Qξ:QbQb=̾jEF@ ?RQ.ӿΤu?C,j+V?BQs? Q5@Q%PQ9?PR9?PQQ= @"Q@BB BA܃*BAAAA"C*CRCCC9IAG]v>U=iU=]%,PvhFA 9"CI"Fi"?"= ";; "E)݋CI݋Ci݃݋=݃݋5Y}Zes!@}Z@y}Zq(o}Z5=}ZH@`mB`'\? ˝ ?\%?)~Zes!@ ~ZH([;I~ZCYf?yjFETNmea in: $SNTTA,0.028659,,,,232509.03*4C    @ @ @i )Iiu8Q<Mu=Y} QU} ?yya$Hy} ?Iȱŵ 5?ŵݾ Ƶʾ ?9Ƶ@ǵb: ȵY:)ȱm-qAdded new target pos. range: 4.800000 m, bearing: 107.477582 deg, deltaT: 4.575475 s, approachRate: -0.026226 m/s, LOS rate: 1.942300 deg/s, posRepo size: 4X)W-s?W1X1 X1W1X1:W12W9*W9V9bU9BU9*UAUE@33@UE`?BB BA*BAAAA"C(?RCCs?CI)IG (>e eee em}:YeU1ye:e36)e.;9uc%,ahFAY}>$)!@}>D@y}>櫨}>M}>Hlɋi?O~@c?@뷿D?)~>$)!@ ~>Z;I~>CY^?yb F)5> 5>]<M]^=YeyQUe>aaam$HiiyuI}u>Iy} 5?}ݾ }о ?9} @}@: }:)yWWX XWX:W2W*WVbUBU*UUU R?BaBi BiAm*BiAiAiAiAq"C*v?RCCC׉IG=j%,G=hFAYf?yf:F}sgM}H=YQU>a$Hy}>Iș :ŝ 5? :ŝZݾ Ɲj׾ ?9Ɲ @ǝ: ȝV:)ȝ:WWX XWX:W2W*WVbUBU*UUU%x?B B  B A @*B AAAA"C#?RCCC!qIyG9Ii=U7; CEIUAA)UBAe eee eF{:YeX1ye/:e6)eR;p%,ĕhFAY}6 @}6,@y}6XV}6}6HJT?P¿?o⽿ ?)~6 @ ~6[;I~6CYR?yRF    @ @ @ i ? ?)&?I&?iv?rMC=YQQU>a$HHy Q} >IE 5?ݾ ޾ %?9 @: Ǻ:)WAWAXA XAWIXI:WI2WI*WIVQbUQBUQ*UQUYU]`/?BB BA*BAAAA"C5X?RC1C1C9)I1G]>$w%,ݕhFAY%?y% F=MEE=YMQU]>aaam$Hiyy}>Iȡ :ť 5? :ťݾ ƥ ?9ƥT@ǥ; ȥ;)ȥ:WWX XWX:W2W *W V bUBU*UUUT?BB BA*BAAAA"C;?RCCCIG (>] ]]]y ]q:Y]DW1y]Y:]69e@ 9 I i d3; +EN}%,ghFAY}21* @}2E@y}2qq}29}2H , Mn`??  @)?%a?)~21* @ ~2Z;I~2CY^&?y^DF rh?RQпˡE?C< '>)IybX9ȶ㥛 E̼ ­C9A)­YAI­n8Ai­XAIA        @  @  @  @   i   ) I i ;ME=Yɗ=QU>a$Hyw}>Iȩŭ 5?ŭݾ ƭ ?9ƭ@ǭ: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUUT@BB BA*B!A!A!A!A!"C-?*C)RC1C1C1)I1GU>QiUa=(6%,hFAY}2\Z @}2u@y}2}}2P}2H :` ?@~빿 U?ٲB?)~2\Z @ ~2@[;I~2CYN?yR͑FPɮR= \\b<Mbl=Yf QUf?dhaj$HhhynR <}M?IQU 5?Uݾ U ]?9U@U: U:)QWWX XWX:W2W*WVbUBU*UUU`Y@RB*** querying acoustic contact ***PPBB BAm*BAAAA"Cs?*CRCCCIG=] ]]] ]:Y]WU1y]:]r6:`%,+hFAY}2 @}2{@y}2p}2N½}2HX7 ͅ? `?=&?)~2 @ ~2ĺZ;I~2CYN?yRFRZ****** received transponder code query ******VF****** received ping request ******Va$H!y-Cu<}->I1 }:5| 5? :5ݾ 5 ?95@5i(< 5(<)5:WWX XWX:W2W*WVbUBU*UUU@ByB BA5*BAAAA"C*CRCCC)I1GM>܉9܉I܍PFi܍8?܍=܉܉܍G0; ݍEPH%, aEhFAY}F` @}FF|@y}FoNҽ}Fћ}FH.@r?c?'o=? nӳ?)~F` @ ~FVZ;I~FCYZr?yZFbxDUSBL response received:!U1,P 1CF,000,002C1,186,80,80,5B,FF bCommand AckbBRequesting micromodem ping code 2i``jNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉļM.=Y%QU%>IQaU$HQYyewG}m>Iȡť 5?ť,ݾ ƥ ?9ƥ@ǥ; ȥlK;)ȡWWX XWX:W2W*WVbUBU*UUU` @BB  B A *B A A AA"C*CRCCCyIGb>IU@A)U@Ae} eee e{:Ye[1yeH:e68r%,C;_hFAY}jM@}j@y}jǽ}j9P}jHiXL?`?@K?@l?)~jM@ ~j[;I~hY?y=F@AMNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B a$Hy}>Iȹ :ŽQ 5? :Žݾ ƽ ?9ƽ@ǽ: Ƚ,:)Ƚ:WWX XWX:W2W*WVbUBU*UUUx@B)B1 B1A5w*B1A1A1A9A9"C9*CARCACAC?i?סIGA>܉ 9܉ I܍ Fi܍ ?܉ ܉ ܉ ܍ .; ݍ E.%,yhFAY}:@}:A@y}:P}}:}:H`@c ? ?`e ?`Σq?)~:@ ~:e[;I~:CYbE?ybFfxDUSBL response received:!U1,R,502,000,002B3,189,80,80,94,FF jFpublishing direction and range infoff3dɰfmb=f7> d)fCIdyfp}@fw?amf-ٱd = = = =@ =@ =@ =999i=?9 =?)9I9i9MaMMy=YM=QUU?QQa]$HYYye }e?Iim 5?m[ݾ m>$ u?9m@m: m <)iWQWQXQ XQWYXY:WY2WY*WYVabUaBUa*UaUaUm ]@R(Combining 5 samples.P*Qp}@ZQ8]?{ JQw?amf-2Qf3:QbQU,Q?(V~ @lV*Y?RQ?RЗ?,M? r?BQ؏? Qc@Q?PY9?PQ9?PQQ{@"Q= @B B BA*BAAAA"C*C!RC!C!C!)I1GM>]N ]]] ]Iw:Y]0Y1y]:]s6)];9e%,PhFAY}fPW @}fr@y}f7{}fk}fH29?? ^,H? tAy?)~fPW @ ~fdZ;I~fCYrR?yrFeTNmea in: $SNTTA,0.039287,,,,232513.48*4F aMC=YFQU>a$Hy<}>I :o 5? :&ݾ {- ?9 @: I:):mqAdded new target pos. range: 3.959999 m, bearing: 64.387954 deg, deltaT: 4.348248 s, approachRate: -0.193181 m/s, LOS rate: -9.909653 deg/s, posRepo size: 4XW؏?WX XWX:W2W*WVbUBU*UU @U@t]?BYBa BaAeY*BaAAAA"C*?RCC؏?CaIqG>iM]nGIqi#ݿٺAM=iM=%,VҬhFAY}BI7!@}BR@y}B"ܽ}B}BH I~ls?V?R[r?J9?)~BI7!@ ~B].[;I~BCYN?yNxF AA}۪M}O=Y}QQU>a$Hy =}>Iȩŭ> 5?ŭźݾ ƭv6 ?9ƭ#@ǭ; ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU`3?BQBa BaAeg*BiAqAyAyAy"CD?RCCCIAIQGm>)9)I-Fi-i?-=))--; -E)ݽCIݽCiݹݽ=ݽ=ݽb5] ]]]e ]p:Y]U1y]:]6)];k%,ƖhFAY}F5!@}FDQ@y}F}FHY}FHo?3F?ZQ@x¿? ݲ@?)~F5!@ ~F5[;I~DYjK?yjҋF    @ @ @ @i )Ii(=MD=Y\YQU>a$HHyvo}>I : 5? :nݾ @ ?9&@: E:):W!W!X! X!W!X):W)2W1*W1V1bU1BU9*U9U9U={7?BiBi BiAmۆ*BiAqAqAqAq"C}n:?RCyCyCaIqG=ķ%,hFAY}eպ @}e_@y}e }e]e}eHL<``N?@lg?@4`@k?ir`?)~eպ @ ~eA];I~aYb?yF:v rп㥛 ?T >)IyX9vy&1?Q}`e=u l=A)In8AiXA M9=YQU>a$Hy o} >I 5?nݾ C ?9(@M: w:)WAWAXA XAWAXA:WI2WI*WIVIbUQBUQ*UQUQUU n@?BB BAU*BAAAA"Chp?RCCCI G%,>IQ)UAA} }}} }ql:Y}V1y}:}i69@! 9% CI% 0Fi% $?% =! ! % .; % E<%,]hFAY %?y FI=)=    @ @ @i )IiM^=YQU>a$Hy}>IŦ 5?ݾ E ?9*@g: :)W1W1X1 X9W9X9:W92W9*WAVAbUABUA*UAUIUM @ByBy ByA}$*ByAAAA"C֌?RCCCIG>%,ChFAY}Fk\!@}Fw@y}FR }F }FH Hx~`f2?+;ʿ`q?ÿN?)~Fk\!@ ~F\;I~FCYZQ?y^ˆFb;MP=Y^QU>a$Hy}<}>Iȩ :ŭ 5? :ŭݾ ƭH ?9ƭ,@ǭ; ȭ;)ȭ:WWX XWX:W2W*WVbUBU*UUU 9@BB! B!A%*B!A!A!A)A)"C5j?RC1C1C9iIqG=uV uuu u+:YuxZ1yuq:u6d%,.hFAY}:!@}:M@y}:)}:n}:H `h @? K^mѿ$?k#ͿN?)~:!@ ~:o-];I~:CY^?ybFbp=ɮba=~—MU=Y 2QU >  a$Hy/<}>I!% 5?%ݾ %lL -?9%.@%˵: %:)!WQWQXQ XQWQXQ:WQ2WY*WYVYbUaBUa*UaUiUm` P@RB*** querying acoustic contact ***PPBB BA*BAAAA"C?RCCCIG>9CIi=3; tEe=ia%,GhFAY}J!@}JJ@y}J?}J0Q}JH@Qv @q?yQѿ?` ɿ?)~J!@ ~J:\;I~JCY~?y~jFZ****** received transponder code query ******F****** received ping request ******=YMQU>a$Hy:}>I : 5? :Vݾ P ?90@p: :):WWX XWX:W2W*WVbU!BU!*U!U!U% @B B BAu*BAAAA"C?RC!C!C!I9)9 IG- >]D ]]] ]}v:Y]WU1y]:]M68%,YahFAY}%{!@}%@y}%>?}%h}%H wMu?`?"˿`u? v17?)~%{!@ ~%\;I~%CY=?yEFMxDUSBL response received:!U1,P 502,000,002B3,189,80,80,94,FF MCommand AckMBRequesting micromodem ping code 2iII]Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 MMb?kt?{Gz?M=M = Mף=)IIIyM7A`¿Mb?MbMM M$=Y:QU>a$Hy }>I 5?ݾ AX %?9)5@: ߼:)WiWiXi XyWyXy:Wy2Wy*WVbUBU*UUU @BB BA*BA9A9A9A9"CM?RCQCQCYqIG> 9 I Fi ? = F]; n-E79%,]{hFAY}R"@}R@y}R25}R}RH*'@/Ƕ?`d?@]Ŀ?y?)~R"@ ~RnJ^;I~PYb?yfFhjAA~Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @éééiéé ĩ)ĩIĩiĩnM=YIUAA)U@A] ]]] ]:Y]b1y]:]W6)];9eb %,hFAY}6#@}6W@y}6o=}6=μ}6H>5r-?:?u ÿy?qVq?)~6#@ ~6U _;I~6CYBF?yBFFxDUSBL response received:!U1,R,502,000,002B3,189,80,80,7E,FF JFpublishing direction and range infoDDɰDD D)FBIDyDFw?amf-ٱDZ:CM^]=Y^QUb>``ab$H`dyfNO=}f>Ihj 5?jݾ j_b E?9j1;@ju`< j`<)hWWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*QZQ8]?{ JQw?amf-2Q:QbQn,??4' @FI?RQv'?yr&(ds?>[D?BQ?? Q?i@QO?PPY9?PQQ@"Q{@BYBY BaAe܋*BaAaAaAaAi"Cm?RCqCCץ?iץ?׉IG=L%,dhFAY}nH$@}nHd@y}nY}n1B}nH\E Xѻ??`wǿ?ⷧZ>?)~nH$@ ~nSe^;I~nCYyTNmea in: $SNTTA,0.040771,,,,232517.94*48 ™\AYԂQU>a$Hy}<}>Iȹ :Ž 5? :Žݾ ƽ`i ?9ƽ?@ǽ: Ƚ:)Ƚ:miAdded new target pos. range: 3.959999 m, bearing: 67.701416 deg, deltaT: 4.421074 s, approachRate: 0.000000 m/s, LOS rate: 0.749470 deg/s, posRepo size: 4XW??WX XWX:W2W*W V bU BU *UUU%>?B9BA BAAA*BAAAAAAIAI"CU?RCQCU??CYYIG>܁9܁I܅Fi܅i?܅=܁܁܅Ы; ݅znE] ]]] ](:Y][1y]ݏ:]6)];;2%,v8ɗhFAY}2#@}2)@y}2l}2C}2HQ@x?G?Fɿ`AY?@ɧ?)~2#@ ~2b)^;I~0Yf?yfM}F    @ @ @ÙÙÙiÙÙ ę)ęIęięSMa$HHy쬼}>IV 5?ݾ -p ?9B@{: :)WWX XWX:W2W*WVbUBU *U U U y?BB BA5*BAAAA"C^?*CRCCCIG>QiUa= i nGIa iy ܿٺ A`%,#hFAY}f#@}f`@y}f1m}fO}fH  ? ? Lʿ`rb? =?)~f#@ ~fi];I~fCYv?yzxFE/$?~jt~jt?E,=ED E=)AIAyEM¿V-?{GzEnEiiam$HiqyuN~;}}>Iy}ݶ 5?}ݾ }v  ?9}NF@}< }s<)yW)W)X) X)W)X1:W12W1*W1V1bU9BU9*U9U9UE?BB BA)*BAAAA"C=ʍ?RCCC׹IG$>U_ UUU U:YUxZ1yUq:U69]@a 9e CIe Fie ?e =a e MDe 2; e FE)Ii==b5%,NhFAY}B$@}Bx@y}Bo}By}BH? F@ ?@?U)п?辿?)~B$@ ~B\;I~BCYR?yRUtFMT=YQU>a $H  y<}>I9 E:=A 5? E:=pݾ ={ E?9=I@=^: =:)=:WWX XWX:W2W*WVbUBU*UUU K?B B  B A *B)A1A1A1A1"C=x?RC9C9CAIIQGu>p&,hFAY}V$@}V@y}VN}VCj}VH=#?IQaU$HQQy]<}]>IaeȻ 5?eݾ e m?9eCM@e: ef:)aWWX XWX:W2W*WVbUBU*UUU@V[@BB BAQ*BAAAA"C??RCCCIG>IM@A)I]%]]] ]/?;Y]X~1y]:];6 &,ϣ0hFAY}2F3$@}2N@y}2ԉ}29V}2H-b͘?ؤ??տ~?2ɿ,?)~2F3$@ ~2 ];I~2CYB?yBmFIva=)v=zM~Y=Y~JQU>a$H y } >I : 5? %:Rݾ  %?9WP@: :):WAWIXI XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU]?@BB BA*BAAAA"C*CRCCCבIG=9IHFi?=\; EՂ&,99a=$H9AyM}U>IY]T 5?]ݾ ]* e?9]S@]>: ];)YWWX XWX:W2W*WVbUBU*UUUG@R%B*** querying acoustic contact ***P!P!BaBa BaAe*BiAiAiAiAq"C*CRCCCשIG >]]]] ];Y]1y]{:]6&,YdhFAY}6c"@}6@y}6䎾}6ռ}6Hm??g̿t? ۗ@]?)~6c"@ ~6v^;I~6CYN?yR8lFRZ****** received transponder code query ******VF****** received ping request ******V )a5$H11y=M}=>IA M:Eh 5? M:E4ݾ E m?9EV@E; E;)E:WWX XWX:W2W*WVbUBU*UUU@W @B1B1 B1A5*B9A9A9A9A9"CA*CaRCiCiCiaIiG9>QiUp= 9 I Fi ? = ; mE&,r5~hFAY}Z"@}Z0@y}Z}Zѽ}ZHIy X?5?6U`Cѿ@? ?)~Z"@ ~Z];I~ZCYj?yj*gFrxDUSBL response received:!U1,P 502,000,002B3,189,80,80,7E,FF rCommand AckrBRequesting micromodem ping code 2ipt~Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 UoMej=Ym?QUu>a$Hy,i}>IY] 5?]jݾ ]ɇ e?9]Y@]: ]÷:)YWWX XW1X1:W92W9*WAVAbUIBU*UUUu @BiBq BqAu*BqAyAyAyAy"C*CRCCCIG I>]]]] ];Y]1y]R:]M6)]\<9e%&,hFAY}5<"@}56@y}55}5f}5H ^? a"?)o@п ?K?)~5<"@ ~5\;I~1Yu?yueFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I))= = M M M M@ M@ U@IIIiII I)IIIiIeEMe:=YeQUe>iiam$Hi yQ}>I %:r 5? %:ݾ $ -?9\\@5: :):WiWX XWX:W2W*WVbUBU*UUUcb@B B  B A *B AAAA"C*CRCCC!I G-,>~+&,hFAY}z9 @}z@y}z}z<}zH }]k?]?˿'?`D?`i?)~z9 @ ~za];I~zCY6?yeFxDUSBL response received:!U1,R,502,000,002B4,189,80,80,AF,FF Fpublishing direction and range infoɰb= )/CIy@w?amf-ٱ    @ @ @i )Ii  M @=Y 0QU>a$Hy;}%>IAE 5?Eݾ E舿 U?9E_@E: E^:)AWWX XWX:W2W*WVܱ9ܱIܵFiܵ@?ܵ=ܱܱܵ; ݵLEbUBU*UUU@R(Combining 5 samples.P*Q@ZQTW?G( JQw?amf-2Q:QbQqj?^d @!7{?RQ]?EJw?wͻ?BQd? Qg@Q?P[9?PPQQ?"Q@BIBQ BQAU *BQAQAQAYAY"C*CRCCCyIG<>II)MAA]]]] ]4:Y]d1y]:]6)]90<|2&,˘hFAY}b@}b6@y}bh}b$3}bH@#`=?`?`ثп6? e`0?)~b@ ~bo^;I~bCYn?yn?cFUTNmea in: $SNTTA,0.005031,,,,232522.37*45 M]=Y6QU> a $H H y_}>I/ 5?ݾ  %?9a@: `:)mUmAdded new target pos. range: 4.020000 m, bearing: 65.081922 deg, deltaT: 4.508668 s, approachRate: 0.013308 m/s, LOS rate: -0.580991 deg/s, posRepo size: 4XYW]d?WYXY XYWYXY:Wa2Wa*WaVibUiBUi*UiUmz@Uu@?BB BA*BAAAA"C3?RCCd?C?i?סIG=8&,hFAY}F@}FI@y}FAG}F}FHk@q@j޾?z?`y\ֿi?޻?)~F@ ~F ^;I~DYrµ?yv_F} rh?KI +?}l>}^ }94<)yIyy}MbPˡE/$}}'} }PA)}^LAI}v.Ai},Ay}>A‘•]Ad_MA=YUQU>a$Hy}>Iȹ :ŽL 5? :Žcݾ ƽc ?9ƽb@ǽ: Ƚs:)Ƚ:WWX XWX:W2W*WVbUBU*UUU ?B)B) B1A5=*B1A1A1A1A9"C=d?RCACACAIIQGm>e;eee e:Ye@p1ye:e69e@ܱ 9ܱ Iܵ Fiܵ ?ܱ ܱ ܱ ܵ ; ݵ eEJ#?&,$~hFAY}2@}2d@y}2"V}2E{}2HH@ V??~տq?? K?)~2@ ~2>.];I~2CB`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ) IY5?y5^F    @ @ @i )Ii37M(=YǼQU>a%$H!!y-Uܼ}->I15 5?5ݾ 5k =?95d@5: 5:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUqUu`p8?BB! B!A%i*B!A!A)A)A)"C1*C1RC1C1C91IAG]v>QiQ F&,WhFAY}2G@}2 @y}2UWþ}2Z}2H݄^C?@Q? ӿ^?p]L?)~2G@ ~2o];I~2Cɫyy) IY?y ]FinGIi"ٿٺtAU)MUl=YUlQUU?YYa]$HYayeZ}e?Ii u:mh 5? u:mݾ mG }?9md@mc: m:)m:WWX XWX:W2W*WVbUBU*UUU@6?BB BA*BAAAA"C*CRCCCIG)>]]]]| ]:Y]<`1y]8:]6=L&,X3hFAY}F9@}FU @y}F7;}F~)<}FH'o ,F??`_@ ӿB?~?q?)~F9@ ~Ft];I~FCɫai)i iIiYO?y]F)5> 5 > } } } }@ @ @yyyiyy y)yIyiyA<MV=Y_QU>a$Hy}>IȩŭV 5?ŭXݾ ƭB ?9ƭe@ǭ: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU?A9AIEFiE@?E=AAE; E?E)݂CI݂Ciق݂=݂=݂4BB BA*BAAAA"C*CRCCCIG&>S&, MhFAY}:S@}:޷ @y}:4پ}:e8I}:H҆??/@|V׿@W?馿 ?)~:S@ ~:];I~:Cɫ9A)A AIAY}?y}U_FII)MC=I<MI=Y\QU>a$Hyt}>I :a 5? :ݾ . ?9g@: I:):W W X  XWX:W2W*WVbUBU*UU!U%`1@BIBQ BQAUL*BQAQAQAYAY"CY*CaRCaCaCaiIqG>IUAA)Q} }}} }B:Y}xZ1y}q:}6>GY&,}fhFAY}2e@}2 @y}2ݾ}2)a}2H`w? ?@!ؿ?y`3?)~2e@ ~29];I~0ɫ99)9 9I9Y})?y}`F鮁ɮa=y&1?NbX9ȿ~jth?`e=E D;)Iyy&1ktMb``e  +WA)XAIiIA5.R<M=S=Y=⼼QU=>AAaE$HAAyM}ȼ}M>I 5?ݾ D ?9i@: g:)WWX! X!W!X!:W!2W!*W)V)bUIBUI*UQUQUU`lz@R]B*** querying acoustic contact ***PYPYBB BA#*BAAAA"C*CRCCCI GU2>Q 9Q IU FiU ?U =Q Q U ; U E.`&,iĀhFAɫ髙) IY?yz_FZ****** received transponder code query ******F****** received ping request ******a$Hy}>I 5: 5? 5:`ݾ u 5?9l@V; ;):WqWyXy XyWyXy:Wy2W*WVbUBU*UUU- @BB BAD*BAA!A)A)"C9*CaRCaCaCiYIaGY>]K]]] ]ĸ:Y]f1y]:]6)]?<9eXf&,hFAY}6^@}6&z @y}6?㾙}6XԼ}6H1߿ @5?Y7? (`0׿ {??)~6^@ ~68f;I~6Cɫ99)9 9I9Y]I?y]cFexDUSBL response received:!U1,P 502,000,002B4,189,80,80,AF,FF eCommand AckeBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ))=M]=YQU>a$HyX}>IQU 5?UHݾ U m?9Un@U< U[<)QWAWAXA XWX:W2W*WVbUBU*UUU 5F @BB BA[*BAAAAAIAI"CI*CQRCQCQCQaIyG_>QiU=l&,zhFAY}2R@}2 @y}2뾙}2}2H߿@X??R}߿ۿel?@v?)~2R@ ~2i;I~2CɫYY)Y YIaY}?ycdF@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B   9CI0Fi$?=; ÆE M@ M@ M@IIIiII I)IIIiI];Me>=YeQUe>iiam$Hya}>IșŝA 5?ŝBݾ Ɲ ?9Ɲq@ǝ: ȝ9:)șW W X  X W X :W2W*WVbUBU*UUU0@BB BAE*BAAAA"C*CRCCCIGI>e eee e:YeX1ye/:e 6)e;js&,UΙhFAY}6b@}6~@y}6W}6.}6H jx޿l ?2?@P5޿ݿ@?ΚJ?)~6b@ ~6h;I~6CɫII)I IIIY}?y}dFxDUSBL response received:!U1,R,502,000,002AF,189,80,80,B4,FF Fpublishing direction and range infoɰa=鰁 )4CIyn@w?amf-ٱ)å > á;Mj=Y1zQU?a$HHy}?I :4 5? :Fݾ = ?9s@: A;):WWX XWX:W2W *W V bU BU *UUU`F@R%(Combining 5 samples.P)*Q-n@ZQ-o$?7U JQ-w?amf-2Q):Q)bQ-$7t'@t~Ew@4Kͬ?RQ-*Nr? *(?ڠa?BQ-+k? Q-3@Q-= @P-]9?P-[9?P-Q-Q-t'@"Q-?BYBY BaAe/*BaAaAaAaAa"Ci*CiRCqCqCqQIYGu=cy&,:hFAY}f3G@}fb@y}fE꾙}f=}fHݿ`P@;? ?@߿`Kٿ7O? D?)~f3G@ ~fr(f;I~fCɫ) IY?yjF]DNmea in: $SNTTA,,,,,232526.83*57 I}4=)}%=a i@a  a m@a  a q@a  a e@a  I +?Q롿9= \)IiMb@Mb@Mb@© ­OA)­I­"+Ai©p=A=M,=Y|a$Hy}>I2 5?@ݾ  ?9v@C: 9>)m%qAdded new target pos. range: 3.720000 m, bearing: 52.634196 deg, deltaT: 4.387264 s, approachRate: -0.068380 m/s, LOS rate: -2.837241 deg/s, posRepo size: 4X!W-+k?W)X) X)W)X):W)2W1*W1V1bU1BU9*U9U= @U=@C?BiBi BiAm*BiAqAqAqAq"C}ઍ?RCyC}+k?CI G5O>IM@A)I]m ]]] ]:Y]P^1y]:]69e@9IFi?e; Ek}&, hFAY}2)@}2D@y}2羙}2<}2Hܿ,x@?`T?e@X׿@?`E?F?)~2)@ ~2Pfe;I~2Cɫ99)9 9I9Y}?y}mnF    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ2}=M`=Yxa$HyB}>I :A 5? ::ݾ  ?96y@ ; X?):WWX XWX:W2W*W!V!bU!BU!*U!U)U-?BQBQ BYA];*BYAYAYAYAY"Ce^|?RCaCiCiqIG>Ϧ&,hFAY}6@}6@y}6s龙}6V<}6Hܿ 1f?u?, ׿ D.?`?l?)~6@ ~6$Ef;I~6Cɫyy)y yIyY1?ysF15^A!=MI=YQU>a$Hy}>I 5?6ݾ k ?9{@; ?)W!W)X) X)W)X1:W12W9*W9V9bU9BUA*UAUAUM?BB BA!*BAAAA"C?RCCC׉IG>] ]]] ]:Y]\e1y]:]61ь&,P5hFAY}6`@}6@y}6}6+}6HDkܿ6 ? ?޿`D2ڿg?,f?)~6`@ ~6c;I~6CɫYY)Y YIYY}y?y}yF =MU=Y}QU>!!a%$H!)y-}->I15 5?5>ݾ 5 E?958~@5: 5?)1WaWaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UqUyU}z?ܙ9ܙIܝFiܝa?ܙܙܙܝa; ݝuEBB BA*BAAAA"Cu ht?RCqCqCy1IaG>QiU=&,9OhFAY}:0@}:fL@y}:>ル}:͚}:H{ۿY׸??N^ݿ`qiۿh?!C@%~?)~:0@ ~:xa;I~:Cɫ99)9 9I9Y]l?y]|F-mPonly read 0 of 1 data item for BIT error^=MA=YQU>a$Hyӕ}>Is 5?Rݾ  ?9z@: @)W)W)X) X)W1X1:W12W1*W9V9bU9BU9*U9UAUEs@BYBY BYA]R*BYAaAaAaAa"Cm7Xn?RCiCiCqׁIG=>iMnGIaiy4ٺiAm  :Y k1yY:6!&,SxihFAY}2@}2 @y}2뾙}28!ݽ}2H ۿҊܾ?`h ?Dܿ ܿ|k?巸B?)~2@ ~2`;I~2Cɫ99)9 9IAY}?y}Fa ia i a ma m a qa q a ea e a i@a  a m@a  a q@a  a e@a  I +?y&1|?+`; )IiMb@Mb@Mb@ SA)‰I(Ai‰f>A)å= å=tE=MK=Ya$Hy$&}>I 5?nݾ  ?9Ɓ@ : T@)WWX XWX:W2W*WV bU BU *UUU@B9B9 BAAE*BAAAAAAAAA"CM+k?RCQCQCQIIQGu>ܙ9ܙIܝxFiܝ?ܝ=ܙܙܝ; ݝE)-CI-Ci)-=-=-4Wˠ&,ThFAY}2m@}2@y}2/㾙}2}2H}ܿ|@ԟ?!?%ܿۿ?O?)~2m@ ~2._;I~2Cɫ99)9 9I9Y}?y}F鮁ɮI=)=X<M\=Y1*=QU>a$Hy<}>I 5?ݾ m ?9@G; s5@)WAWAXA XAWAXI:WI2WI*WQVQbUYBUY*UaUaUe7@R}B*** querying acoustic contact ***PyPyB!B) BIAUt*BQAYAYAYAY"Ca*CaRCiCiCyסIG >IQ)U@A]]]] ]y:Y]1y]:]26)];9e*&,.hFAɫyy)y yIyYY?y>FZ****** received transponder code query ******F****** received ping request ******=YQU>a$Hy}>Iȡť 5?ťݾ ƥI ?9ƥa@ǥd: ȥP@)ȡWWX XWX:W2W*WVbUBU*UUU` @B)B) B)A-W*B1A1A1A1A1"C9*C9RC9CACA!I1GM1>B&, hFAY}:@}:+@y}:pؾ}:A}:H]Zܿ)>%? ?gݿ]ؿ$8?< (?)~:@ ~:c;I~:Cɫ99)9 9I9Y]?y]hFexDUSBL response received:!U1,P 502,000,002AF,189,80,80,B4,FF eCommand AckeBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ©­]A >MV=Yp=e>9aIeFier@e=aaeV; eEQU>a$H y5]}=>IIMO 5?Mݾ Mo ?9M@My< Ml@)IWQWYXY XYWYXa:W2W*WVbUBU*UUU @ByBy ByA*BAAAA"C*CRCCCIG%o>]]]] ]ؠ:Y]}1y]:]6)]< &,КhFAY}2b_@}2z@y}2"վ}2Kb}2Hܿ dT? ?Uݿ 9aؿ@? =⩿`8?)~2b_@ ~21a;I~2CɫYY)Y YIYY?y&FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B !!UW=M]B=Y]caaae$HeHaymԪ}m>I  %:  5? -: ݾ t 5?9 @ +; @) :WyWyXy XyWyXy:W2W*WVbUBU*UUU Z@BB BA*BAAAA"C*CRCCC I G%M>YiYD1&,hFAY}6u*@}6F@y}6^ɾ}6bƽ}6Hܿ`Ƹ?@?8ܿ@}yؿĖ?䶿g?)~6u*@ ~6^;I~6CɫYY)Y YIYY}?y}܊FxDUSBL response received:!U1,R,502,000,002B0,189,80,80,BA,FF Fpublishing direction and range infoɰqa=鰁 ):CIyq@w?amf-ٱa i]a i] a mea me a qea qm a ema eu u~jt?/$?EԸ?u=u,= u=)qIqyuMbT㥛 (\µuuu uLA)uZAIqiquuEA M M M M@ U@ U@IIIiII I)IIIiI 5=M%&=Y%O5=QU->))a-$H)1y5ջ}=>I9= 5?=ݾ => U?9=!@=: =:)9WyWyX XWX:W2W*WVbUBU*UUU@=@R(Combining 5 samples.P*Qq@ZQE5j?.\Ux3 JQw?amf-2Q:QbQÕ}@>f/H@RT?RQ6\U? ?V.?;8?BQ >c? Q5@Q@P^9?P]9?PQQ,@"Qt'@B1B9 BYA]?*BYAaAaAaAa"Ci*CiRCiCiCqqIG>999I=פFi=@==99=; =E]]]] ]:Y]@p1y]:]6)]5;R&,hFAY}v*@}v@y}vw}v}vHn#ܿF?h? ۿ<׿? ?)~v*@ ~vR^;I~vCɫ) IYM?yMڌFTNmea in: $SNTTA,0.050955,,,,232531.28*42 )> =-3=M-m=Y5=QU5?11a=$H99y=}E?IIM 5?Mݾ M U?9M@M: Mϸ:)ImmAdded new target pos. range: 3.779998 m, bearing: 50.859556 deg, deltaT: 4.566460 s, approachRate: 0.013139 m/s, LOS rate: -0.388625 deg/s, posRepo size: 4XW >c?WX XWX:W2W*WVbUBU*UUo=@UW ?BB BAo*BAAAA"Cf?RCC >c?CIGM>DC&,SvhFAY}6q@}6@y}6}6}6HVZܿ@?.?@HeۿLֿ??)~6q@ ~6q`;I~6Cɫ99)9 9I9Y}?y}FI=)R=5s=M=\=Y=}=QU=>AAaE$HAAyMeI}M>IQ ]:Uj 5? ]:Uݾ US e?9UΉ@U[: U:)U:WWX X!W!X!:W)2WI*WQVQbUYBUY*UYUaUe8?BB BA*BA AAA"C >c?RCC!C!AIIGm5>IQ)Qe eee e:Yed\1ye:e69e@am&,iQ8hFAY}6q@}6+@y}6⟾}6 }6H`ܿˬ?@?%ۿGTտ`?@)?)~6q@ ~6L+g;I~6Cɫ99)9 9I9YC?yVF9CIFi@=; PEU=M]H=Y]h=QU]>aaae$Haaym}m>Iqu 5?uݾ uV }?9uNJ@u: u:)qWWX XWX:W2W*WVbUBU*UUU:?BB BA*BAAAA"C*CRCCCשIG!>:U&,o,RhFAY}:8@}:NT@y}:} }:ϕ}:HlܿG>?7?`ۿGӿ`?TP9?)~:8@ ~:|d;I~:Cɫ99)9 9I9Y}?y}FU<M]J=Y].=QU]>aaae$Haaym }m>Iq }:u 5? }:uݾ uf ?9u@u: u0:)u:WWX XWX:W2W*WVbUBU*UUUL?B1B9 B9A=K*B9A9AAAAAA"CI*CIRCCCIG )>  :YxZ1yq:6_&,lhFAɫyy)y yIyY?yF IIA`"?oʡ?:v?>> <)IyI +?p= ףI +?94<9< C9A)|_AI"+AiAQA % % % %@ %@ %@ %!!!i%?! !)!I!i%?5D=M50=Y=QU=>9AaE$HAAyM}M>IQU 5?U.ݾ U ]?9U@U: UI:)QWWX XWX:W2W*WVbUBU*UUUL?BB BAA*BAAAA"C*CRCCCIGE>9IFi) @= ; EU=iU=Gg&,⅛hFAY}FF3@}FN@y}F|g}Fo}FH4ܿ&?s?5Iܿ?οk?@H@ ?)~FF3@ ~F];I~FCɫyy)y yIyY?yF]=Men=Y.>QU?a$H@yCx}>I :W 5? :ݾ 0 ?9[@q; \};):W)W)X) X)W1X1:W12W1*W9V9bUABUA*UAUIUM`@BB BAH*BAAAA"C*CRCCCIG%>] ]]] ]:Y]W1y]č:]6i %nGI _Ai1 ]&,ΟhFAٺ_AAY}6@}6#@y}6E}6}6HQܿ @`5?zۿ@ο{{?Y¿@?)~6@ ~6?^;I~4ɫQQ)Q QIQYy) > >Yڴ=QU>a$Hy)}>I 5?ݾ  ?9@m: :)WWX XW!X!:W!2W!*W!V)bUABUI*UYUYU]`@ReB*** querying acoustic contact ***PaPaBB BA*BAAAA"C*CRCCCסIG=&,^hFAY}6q@}6@y}6_#}6y }6H୼ܿ`A=#?Sۿ@ɿJ?`gUK?)~6q@ ~6rof;I~6Cɫ99)9 9I9܁9܁I܅hFi܅A@܁܁܁܅; ݅śE)uCIuCiqu=u=u=5Y?y3F=Z****** received transponder code query ******EF****** received ping request ******EQQaU$H]HYyec%}m>Iȉ :ō! 5? :ōݾ ƍ ?9ƍ@Ǎ_; ȍ;)ȍ:WWX XWX:W2W*WVbU9BUA*UAUAUE@< @BB BA*BAAAA"C*CRCCCIGk>II)I]v ]]] ]r:Y]DW1y]Y:] 6)]E;9ec&,CtӛhFAY}6z@}6@y}6b}6-½}6H`ܿ(}jM?$ܿ Ŀ``?`d +?)~6z@ ~6me;I~6CɫYY)Y YIYY}"?y}|FxDUSBL response received:!U1,P 502,000,002B0,189,80,80,BA,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 5<M{=Y=QU ?a$Hy}>I   5? :ݾ G ?9 Ə@ -< _<) WWX XWX:W2W*WVbUBU*UU!U%T @ByBy BA*BAAAA"C)*C1RC1C9CIG>x&,7OhFAY}6>I@}6d@y}6;ѽ}6LE}6H@Уܿ Ɵg? m?yܿ@P輿 .?r?)~6>I@ ~6=`;I~6CɫYa)a aIiY@yF%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =Mb@Mb@Mb@== =)=I9y=~jt?Mby&1?=D<=@=`< =5A)=YAI=4Ai=_A9=HAY]^A 5 5 5 5@ 5@ 5@111i11 1)1I1i1M=MM=YMO=QUM>QQaU$HQYy][λ}]>Iae/ 5?euݾ eY u?9e}@eI: es:)aWWX XWX:W2W*WVbUBU*UUU9܁I܅Fi܅Y@܅=܁܁܅; ݅EG>] ]]] ]:Y]WU1y]:]6)];',1hFAY}NWw@}N@y}N4}N9}NHPܿ p?`dܿr t ?㉷;?)~NWw@ ~N(^;I~NCɫqq)y yIyY?ygFxDUSBL response received:!U1,R,502,000,002AE,189,80,80,B8,FF Fpublishing direction and range infoɰ`= )8CIy=j@w?amf-ٱ 鿱M~=Y|=QU ?a$HyM <}?I  :' 5?  :ݾ   ?9@Q: :):WIWIXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UYUYUer@Ru(Combining 5 samples.Pq*Qu=j@ZQus:@?apuV JQuw?amf-2Qq:QqbQu~D@Zo @k$Z?RQu3<\?@I1?Rg?BQu7dj? Quk8@Qu @Pu_9?Pu^9?PqQqQu@"Qu,@B!B) B)A-k*B)A)A)A)A1"C1*C9RC9C9C9!I)GE0>U=iU=',s!hFAY}v@}vx@y}vk}v()}vHiܿUh@5k?Uۿ{@{? /Ŀ@@?)~v@ ~vA_;I~tɫ )  I YE?yMDFTNmea in: $SNTTA,0.038759,,,,232535.72*45 %M-)=Y-[T=QU->11a5$H19yE}E>IQU}! 5?U2ݾ U¤ e?9U@U: Ur:)Qm-mAdded new target pos. range: 3.660000 m, bearing: 52.459538 deg, deltaT: 4.364554 s, approachRate: -0.027494 m/s, LOS rate: 0.366585 deg/s, posRepo size: 4X)W-7dj?W1X1 X1W1X1:WY2WY*WYVYbUaBUa*UaUeG @Ue?BB BA,*BAAAA"C7dj?RCC7dj?CI} }}} }9q:Y}U1y}:}!69@G> ',:hFAY}6=@}6X@y}6Okּ}6&n}6Hۿ`; ?mۿ@>`̚?@`@չ?)~6=@ ~6Sb;I~6Cɫ99)A AIAM>9MCIM(FiM,@M=IIMq; MBEY6@yF)M= M=    @ @ @ÑÑÑiÑÑ đ)đIđiđ=M~=Y8=QU ?a$HyN}?I 5:m" 5? 5:ݾ S 5?9@; ";):WyWyXy XyWyXy:Wy2W*WVbUBU*UUU?BB BA%~*BAAAA!"C!*C9RC9C9CI!I)GM1>C',ThFAY}6%@}6A@y}6q?;}6_}6Hۿ@*`cѩ?ۿ21g`﫿?)~6%@ ~6'm;I~6Cɫ99)A AIIYu@y FUMUP=Y]d=QU]>YYae$Haaymt}m>Iqu# 5?uݾ uҡ }?9u@u: us:)qWWX XWX:W2W*WVbUBU*UUU`?BB BA~*BAAAA"C*CRCCCIIQG}>II)I]J ]]] ]v:Y]V1y]:]6',nhFAY}:@}:)@y}:Ɣ<}:-̼}:HfۿK ?` ۿ@v?@$?)~:@ ~:Se;I~:CɫAA)I IIIY/@yFEv/?/$?MbpEx=E,= E)EIAyES㥛?V-T㥛 ?E/a%$H!!yMyJ}M>IQ ]:U% 5? ]:Uݾ U ]?9UǓ@UI: U0:)U:WWX XWX:W2W*WVbUBU*UUUt?BABA BAAE-~*BIAIAIAIAI"CQ*CQRCQCYCYYIiGZ>E>9AIExFiE?E=AELDE; EtE"',6shFAY}6@}6@y}6<}6-r}6H ۿY?|ۿKT_ i@?)~6@ ~6*_;I~6 Cɫ髉) IY@yFAA0MC=Ya$Hy}>IȹŽ=' 5?ŽBݾ ƽq ?9ƽ@ǽP: Ƚ:)ȹWWX XWX :W 2W *WVbUBU*UUUÖ@BYBa BaAew~*BaAiAiAiAi"Cq*CyRCyCyCIGj>} }}} }q:Y}U1y}:}6T.(',@PhFAY}6R@}6ܰ@y}6y<=}6ν}6H+;ۿ½.Y ? cۿX M=ɹ?)~6R@ ~6];I~6C6Could not parse latch stateɫ) IY ?y :F 鿡)MD=YJ!=QU>a$Hy`.}>I  :( 5?  :ݾ Ж ?9@: :):W1W1X1 X1W1X9:W92W9*W9VAbUABUA*UAUIUM@BqBq BqAu*ByAyAyAyA"C*CRCCCיIGd>iim=X.',+hFAY}2@}2o @y}2p=}2l}2Hgڿ ?a?Iڿ拘?൒B u?)~2@ ~2\;I~0|9|I~Fi~?|||~; ~Eɫ99)9 9I9Y?yFp=ɮp= U ] ] ]@ ]@ ]@YYYiYY Y)YIYiYm1Mm}=Ymm=QUu ?qqau$H}Hyy}} ?Iȉō* 5?ōݾ ƍ ?9ƍq@Ǎ: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUU`r@RB*** querying acoustic contact ***PPBB BA;*BAAAA"C *CRCCC׉IG>}8 }}} }u:Y}DW1y}Y:}6)}\;9?5',֜hFAɫyy)y yIyYn?yFZ****** received transponder code query ******F****** received ping request ******a$Hy}>I+ 5?ݾ w  ?9k@: :)W1W1X1 X1W1X1:W92W9*W9V9bU9BUA*UAUAUE @BqBq BqAu*BqAyAyAyAy"C*CRCCC!qiNmGIi5ٺ1=AIQG>>n;',EhFAY}fh@}f5?y}f>=}f5Ƚ}fH3ڿ ^?ڿ?'C縿?)~fh@ ~f3^;I~fCɫ)))) )I)Ym?ymߜFuxDUSBL response received:!U1,P 502,000,002AE,189,80,80,B8,FF uCommand AckuBRequesting micromodem ping code 2iqqNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)=a i@a  a m@a  a q@a  a e@a %    @ @ @áááiáá ġ)ġIġiġ<M"=Ya$Hy]Y}>I! -:%- 5? -:%ݾ % ]?9%@%; %?)%:W9IPFi8?7; E)UCIUCiQU=U=U5WX XWX:W2W!*W)VIbUQBUQ*UYUYUe@BB B)A-*B)A1A1A9A9Ii)mAA} }}}e }\:Y}V1y}:})6)};"C*CRCCCׁ I G >QB',# hFAY}F@}F7g?y}F6=}F>}FHGڿ``ü? ڿ`@?!n ?)~F@ ~FY9\;I~Dɫyy)y yIyYH?yXFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 6M=Y<{H',O#hFAY}Fx@}F?y}FԎ=}F=;}FHkڿ`>@޹ ?ڿ ?v?)~Fx@ ~FZ;I~Dɫyy)y yIyY9?yOFxDUSBL response received:!U1,R,502,000,002AB,18A,80,80,BB,FF Fpublishing direction and range infoɰ_=> );CIy^@w?amf-ٱTMV=YÄQU>a$Hy;}>I  P0 5? ݾ ^ ?9 )@  : Q?) W9W9X9 X9W9XA:WA2WA*WAVAbUIBUI*UIUIUM`@R](Combining 5 samples.Pa*Qe^@ZQe|}4R?!.. JQew?amf-2Qa:QabQet]@bIW"@l&_"?RQei`?0I?S2?α?BQe0b? Qe ,@Qe0 @PaPe_9?PeQaQe.@"Qe@BQBQ BQAU_*BQAYAYAYAY"Ca*CaRCaCaCiQIiG>  as:Yy;69@N',=hFA@9@IBhFiB?@@@B; BלEY}R@}Ra?y}R!q=}RV}RHڿ@Q ?ڿ hh?g1eF?)~R@ ~R];I~RCɫ髙) IYP?y#FuTNmea in: $SNTTA,0.004313,,,,232540.20*45 鿉    @ @ @i )IiMMM6=YMQUM>QQaU$HQYy]t;}]>IȁŅ"2 5?Ņݾ ƅ ?9ƅ9@Dž: ȅ\?)ȁmqAdded new target pos. range: 3.479999 m, bearing: 50.624204 deg, deltaT: 4.408444 s, approachRate: -0.040831 m/s, LOS rate: -0.416322 deg/s, posRepo size: 4XW0b?W!X! X!W!X!:W)2W)*W)V1bU1BU1*U9U= @UE?BB BAف*BAAAA"Cfc?RCC0b?C!I!GER>e=iaU',_WhFAɫ髑) IY?yFbMW=YQU>a$Hy}>Iȩ :ŭ3 5? :ŭRݾ ƭ~ ?9ƭ@ǭ: ȭ@)ȭ:WWX XWX:W2W*WVbUBU*UUU@Ww?BB BA*BAAA!A!"C-eb?*C)RC)C)C1 I1G>u uuu u{:YuU1yu:u)6[',)qhFAY}6ݲ@}6g@y}6=}6r5}6H`Xۿ`@8?@zmۿ"?-?)~6ݲ@ ~6sa;I~6Cɫ99)9 9I9Y}?y}SFa ia i a ma m a qa q a ea e V-? rh~jt?m=C <)Iy~jth?MH=Y|oQU>a$Hy,=}>I4 5?ݾ =y ?9@÷: ˵:)WWX XWX:W2W *W V bU BU*UUU?BABA BAAE*BAAIAIAIAI"CU0b?*CQRCQCQCYIIQGu>ܡ9ܡIܥHFiܥ?ܡܡܡܥ; ݥE+b',GhFAY}2p@}2@y}2<}2co}2Hiۿ5 R?Jqۿ y;7 s歿B?)~2p@ ~2^;I~2CɫAA)A AIAY}(?y}FIC=)4= 5 5 5 5@ 5@ 5@111i11 1)1I1i1E=MER=YMQUM>IQaU$HQYy];}]>Iae5 5?eݾ es m?9e@e: e4:)aWWX XWX:W2W*WVbUBU*UUU?B9B9 B9A=*BAAAAAAAAA"Ci*CiRCiCqCqIIQGiIi)m?A}} }}}z }:Y}WU1y}:}6h',PߤhFAY}2f@}2@y}2G}2U}2H` ۿ@E?ۿǠ`%pq?\'?)~2f@ ~2i&];I~2Cɫ99)9 9I9Y?yFU摻MUI=Y]{QU]>Yaae$Haaym<}m>Iq }:u6 5? }:uݾ ujn }?9uc@u9: u:)u:WWX XWX:W2W*WVbUBU*UUU?@BB BA*BAAAA"C*CRCCCaIqG>n',(hFA9IFi?;  EY}^@}^A-@y}^V}^>}^H`qۿ0Wi? ۿ蹨?ͧ`!?)~^@ ~^A\;I~^Cɫ髙) IY?yF'MD=YQU>a$HHyF;}>I7 5?ݾ h ?9֝@g: :)WWX XWX:W2W *W V bU BU*UUUe@B9BA BAAE-*BAAAAIAIAI"CQ*CQRCQCQCYסIG!>  p:YV1y:26)o;9Nu',؝hFAY}6&@}6@y}6Qr}6J}6HSuۿl@)Ԁ??oۿP?D#?)~6&@ ~6vc;I~4ɫ99)9 9I9Y}P?y}F鮅a=ɮa= 鿑    @ @ @i )IijMW=Y֖QU>a$Hy } >I :8 5? :nݾ c ?9C@: |:):WWX XWX:W2W*WVbUBU*UUU@R B*** querying acoustic contact ***P)P)ByB BAZ*BAAAA"C)*C1RC1C9CAסIGA>m=im=|',TnhFAY}2@}2@y}2Ns}2fv}2H`;kۿ`p=?ۿ6 ǵ? ͚?)~2@ ~2qb;I~2CɫII)I IIIY}?y}FZ****** received transponder code query ******F****** received ping request ******a$Hyv:}>Iȩŭ: 5?ŭ(ݾ ƭe ?9ƭ+@ǭ< ȭ<)ȩWWX XWX:W2W*WVbUBU*UUU  J @BQBQ BQA]*BYAYAYAYAY"Ca*CRCCCׁIG>>5>91I5Fi5@?1115; 5E}U }}} }w:Y}WU1y}:}6)}\;',I hFAY}6@}6@y}6bٽ}6 >=SMEP=YUYQU]>iqa}$HyyT}>I :g; 5? :ݾ g ?9 @m; <):WWX XWX:W2W*WVbUBU*UUU @BqBq BqAu*ByAyAyAyAy"C*CRCCCסIG l>i5 mGIM `Aia ٺ `A A ',}$&hFAY}2@}21@y}2}2}2H ۿ`s}?ߧڿ¿@,?t[ȭ?)~2@ ~2p];I~2Cɫ99)9 9I9Y}T?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I>)=    @ @ @éééiéé ĩ)ĩIĩiĩdMB=YQU>a$Hy}>I< 5?ݾ Gi ?9@˵: :)W W X  X WX:W2W*WVbUBU*UU!U%B@BIBI BQAUY*BQAQAQAQAY"CY*CaRCaCaCaiIqG>Iq)uAA  :YV1y:69@! 9! I% HFi% ?! ! ! % ; % E)ݱIݱiݱݱݵ=ݵ84',z@hFAY}2t@}2z@y}2}2/}S}2H`ڿ 4?I?ڿxÿn?!&@ϟ?)~2t@ ~2X^;I~0ɫYY)Y YIaY}I?y}FxDUSBL response received:!U1,R,502,000,002AC,189,80,80,B5,FF Fpublishing direction and range infoɰ"`=鰅7> )5CIyb@w?amf-ٱ        @  @  @   i   ) I i ]rM]Q=Y]jQUe>aaae$Haiym}m>Iy :}> 5? :}ݾ } k ?9}š@}R: }I:)}:WWX XWX:W2W*WVbUBU*UUU)@R=(Combining 5 samples.PA*QEb@ZQE|f?.Yy JQEw?amf-2QA:QAbQE.@Z-m@TTL?RQE\A?u#h? .',YhFAY}f@}fM@y}fR5}f-}fHۿ@@$?`t?`ڿ8ƿИ?yWx?)~f@ ~f`;I~fCɫ) IYyeTNmea in: $SNTTA,0.031439,,,,232544.62*4E yyYQU>a$HyN<}>I? 5?9ݾ l ?9@; %;)mmAdded new target pos. range: 3.539999 m, bearing: 50.444270 deg, deltaT: 4.472603 s, approachRate: 0.013415 m/s, LOS rate: -0.040230 deg/s, posRepo size: 4XWca?WX XWX:W2W*W V bU BU *U UQ @Uù?BB BA*BAAAA"Cca?*CRCCca?CױIGf>u qqu u}:Yqyqu6W',shFAY}J#@}J*?@y}JU}Jďc}JH(ۿ R?5?Cۿuʿ?RЫA?)~J#@ ~JRf;I~JCɫqq)q qIqYk?yoF aa)\(Cl绿:vG;߽ Խ)IyQ?Q롿kt<\ 0 )1RAI:AiS[AGIA ] ] ] ]@ ]@ e@ eYYYi]?Y Y)]&?I]&?i]&?uMuyya}$HyyN<}>Iȉō @ 5?ōݾ ƍp ?9ƍe@Ǎ: ȍ:)ȉWYWYXY XYWyX:W2W*WVbUBU*UUUNA?BB BAӇ*BAAAA"C*CRCCC 9IhFi?; EIG J>m=ima= <',hFAY}2@}287@y}2yb}2c逽}2HKۿ`S`?Y"?@ڿ̿`!? Nk`'?)~2@ ~2gb;I~2CɫYY)Y YIYY}?y}FMd=YVQU>!!a%$H!)y-<}->I1 =:5@ 5? =:5ݾ 5s E?95@5E: 5:)5:WaWaXa XaWiXi:Wi2Wi*WiVqbUBU*UUU=?BABA BAAE/*BAAIAIAIAI"Cq*CqRCqCqCyiIqG>}_ yy} }:Yyyy}62f',QlhFAY}6@}6F@y}6kl}6s}6H@qڿ b?` ? ڿ ͿM?M?)~6@ ~63_;I~6CɫYY)Y YIYY?y(F)= =50M=H=Y=QU=>AAaE$HAAyMt}M>IQU=A 5?UѸݾ U w ]?9U@U: U:)QWWX XWX:W2W*WVbUBU*UUU`Ђ?BB BA*BAAAA"CQ*CQRCQCQCY)I9GU> 9 CI Fi ? MD ; EM',EhFAY}N>@}NY@y}Nڀ}Nyr}NH;ڿ??@1ڿп?`?)~N>@ ~N9^;I~Lɫyy)y yIyY?yFIm=)m=    @ @ @ @i )IiB<M?=YEQU> a $H Hy <}>I! 5:%A 5? 5:%ݾ %~z =?9%x@%{!; %#;)%:WWX XWX:W2W*W V bU BU*UUU@`@BYBa BaAe*BaAAAA"C*CRCCCסIGC>Iq)q^  x:YU1y:D6);9$x',["۞hFAY}6M@}6@y}6]ċ}6}6HOۿ u?@̟?{ڿ`ҿ 4A?@1)?)~6M@ ~6K\;I~6CɫYY)Y YIYYq?y`Fe7MeU=YmhbQUu>a$Hy?<}>IxB 5?eݾ o} ?9*@; ;)WaWiXi XqWqXq:Wy2W*WVbUBU*UU)U5@BB BA*BAAAA"C*CRCCC׹IGE>P',hFAɫyy)y yIyY?yĆF]kt?|?5^?I +] 0=]> ]94)YIYy]A`"?~jt~jt]Y=]ļ] ]AA)]SAI]-Ai]Y]@Aim]A % % % %@ %@ %@!!!i!! !)!I!i!5<<M===Y=QU=>AAaE$HAAyM}M>IQ ]:UlB 5? ]:Uݾ U} e?9U@U: U:)U:WWX XWX:W2W*WVbUBU*UUU j@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCIG (>m>9iImpFimM?iiim$; m+Ex Y z:YV1y:E 6);+',hFAY}6o@}6@y}6nd}60@h}6Hd;ۿ` b? `?@Qۿҿt?@+?)~6o@ ~6b;I~6CɫYY)Y YIYY}I?y}FZ****** received transponder code query ******F****** received ping request ****** a5$H19yE;}E>IIMYB 5?Mݾ M} ?9M@M$< ML%<)IWWX XWX:W!2W!*W!V!bU!BU)*U)U)UM @ByBy ByA}[*ByAAAA"C*CRCCCסIG >u=iu=',Թ(hFAY}6@}6+@y}6%}6}6H&ۿ@ڳ?%?)ۿAԿte?j@@?)~6@ ~6Fha;I~6Cɫ99)9 9I9Yu?y}DFxDUSBL response received:!U1,P 502,000,002AC,189,80,80,B5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %D=M@=YWkQU> a$Hy%_:}M>IY :]DB 5? :]'ݾ ]} ?9]@]q< ]0q<)]:WAWIXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UUU@ @B!B! B)A-*B)A1A1AYAY"Ci*CqRCqCqCIG%>}/ yy} }:Yyyy}`69@a 9e CIe XFie ?a a a e 9; e 5E;',GBhFAY}6+@}6#G@y}6}6+ }6Hۿ@?? ٿ`ֿ?೧@[?)~6+@ ~6^;I~6Cɫ99)9 9I9Y}?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ) = >    @ @ @i )Ii}$MD=Y QU >a$Hy;}>I!%:B 5?%ʰݾ %W} 5?9%[@%b: %:)!WQWQXQ XQWQXY:WY2WY*WYVYbUaBUa*UaUaUm`.@BB BA>*BAAAA"C*CRCCC׉IG>B',j\hFAY}2[@}2w@y}2}2}2HRۿ?I ?ٿ@WֿB?`?)~2[@ ~2\;I~2CMt>Iɫiq) IimGIiMٺQUAY/?yF5xDUSBL response received:!U1,R,502,000,002AE,189,80,80,B8,FF EFpublishing direction and range info  ɰ `=  ) 8CI y =j@ w?amf-ٱ Ip=)R=56only read 3 of 4 data itemsa i5@a 5 a m5@a 5 a q5@a 5 a e=@a = EME8=Ya$Hy;}>Iȡť/B 5?ť;ݾ ƥ } ?9ƥ>@ǥ$; ȥ>)ȡWWX XWX:W2W*WVbUBU*UAUAUEY @RU(Combining 5 samples.PY*Q]=j@ZQ]s:@?apuV JQ]w?amf-2QY:QYbQ]6@TZ@ fw@.,?RQ]U3I? u??BQ]]? Q]+@Q]@PYP]`9?PYQYQ])@"Q]@BB BA*BAAAA"C*CRCCCIGl>Iq)u@A}[ }}} }Rx:Y}_1y}̒:}i6 ',LPvhFAY}f@}f/@y}f|V}f{}fHBۿt@? ?yۿkԿ5?޶ /E?)~f@ ~f9_;I~fCɫ髱) IY}?yF]TNmea in: $SNTTA,0.360159,,,,232549.05*46    @ @ @ñññiññ ı)ıIıiıyMf=YO',} hFAY}6"@}6@y}6N}6ȼ}6H ۿҗe? )?`ܿxҿ pN?͗@aV?)~6"@ ~68e;I~6Cɫ99)9 9IAY]I?y]F^AM=MY=Yr|QU>a$H y } >IimA 5?mݾ m } }?9m@mW: mR?)iWWX XWX:W2W*WVbUBU*UUU ?BB BA[*BAAAA"C]?*CRCCC IG5 >  (:Y m1y:N6^',YhFAɫyy)y yIyYm?yF !!U$=M]D=Y]QU]>aaae$Haaym}m>IA 5?Eݾ } ?9@: ?)WWX XWX!:W!2W!*W!V!bU)BU)*U)U1U5C?BYBY BYA]҈*BaAaAaAaAa"C}]?*CyRCCCIG$>u=iu= ]A  9 I НFi E@ c; MEB',ßhFAY}6:@}6yya$HHy}>IȑŕA 5?ŕݾ ƕ1} ?9ƕF@Ǖ: ȕ*@)ȑWWX XWX:W2W*WVbUBU*U1U1U50?ByB BAn*BAAAA"C*CRCCCסIG >  mp:Y[1yH:i6);9 ',ݟhFAY}B@}BE@y}B}Bw}BH@Ywۿ@?@?`ۿԿG?WN_ Ý>_H<M8=YDa$Hy2<}>I :C 5? :ݾ , ?9խ@: :):WWX XWX:W2W*WVbUBU*U U U @4?B1B9 B9A=B*B9A9A9A9AA"CI*CIRCICICQAIIGe4>>',ŌhFAY}: @}:@y}:"}:۽}:HBۿy@.??`Q ۿrտ-I?,?)~: @ ~:^;I~:Cɫ99)9 9I9Y}m?y}FIC=)%= }   @ @ @ÁÁÁiÁÁ ā)āIāiā DM^=Yka$Hy;}>IȩŭMD 5?ŭUݾ ƭR ?9ƭN@ǭ^: ȭ^:)ȩWWX XWX:W2W*WVbUBU*UUU3@BB! B!A%҈*B!A!A)A)A)"C1*C1RC1C1C9IG= >ܱ9ܱIܵFiܵE?ܵ=ܱܱܵw; ݵXEIq)u?A  ;|:YU1y:6)&;n&(,'hhFAY}6p@}6@y}6L}64ٽ}6H ~ۿ1@>?"?ڿ@Կ? z¹??)~6p@ ~6e;I~6CɫYY)Y YIYYw?yF鮥p=ɮ<MY=Ya$Hy,}>IE 5?ݾ  ?9ʮ@: :)W W X  XWX:W2W*WVbUBU*U!U!U%@R-B*** querying acoustic contact ***P)P)BQB BA*BAAAA"C*CRCCCױIG>~P (,C+hFAY}6;@}6V@y}6[͟}6}6HAZۿO"Y?`5?@Hۿӿ` ?Cs\?)~6;@ ~6Fb;I~6CɫII)I IIIY}C?y}FZ****** received transponder code query ******F****** received ping request ******a$HyY}>I :F 5? %:̨ݾ  -?9O@; ;):WaWaXa XiWiXi:Wi2Wi*WqVqbUqBUq*UyUyU} 4 @BB) B1A5*B9AAAAAIAq"C*CRCCCaAIIGm5>M / M M M  M :YM Y1yM :M 69U @ܩ 9ܩ Iܭ Fiܭ @ܭ =ܩ ܩ ܭ E; ݭ >ED:(, &EhFAY}6e@}6@y}6|}6T}6H vۿ `8?`N%?lPۿ,Կ@V?D P?)~6e@ ~6_;I~4ɫ19)9 9I9Yu?y}ӊFxDUSBL response received:!U1,P 502,000,002AE,189,80,80,B8,FF Command AckBRequesting micromodem ping code 2ieNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 鿑 u u } }@ }@ }@yyyiyy y)yIyiy]=M&=Y4ڻQU>a$Hy ;}>I!%pH 5?%sݾ % =?9%@%qe; %\;)!WWX XWX:W2W*WVbUBU*UUU: @B!B) B)A-B*B)A)A1A1A1"CY*CYRCYCYCaI1G{>m=imp=b(,{^hFAY}f@}f+@y}f}fO}fHۿ`V!?`N?@ڿ` Կ /?`_;?)~f@ ~f$^;I~fCɫ髹) IYuO?yu7Fy}AANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B |?5^?-? t<)IyQ?Mb< •@A)•XAI‘i•~AQA Z<M[=Y;QU>a$HyrG<}>I :H 5? :ݾ n ?9o@: :):WWX XWX:W2W*W V bU BU *UUU@B9BA BAAE*BAAIAIAIAI"CQ*CQRCQCQCYׁIG=>M M M M  M 9:YM 0Y1yM :M 6(,xhFAY}6+@}6@y}6#}64}6Hܿ%J?`$?.ۿ?Կ@?<iV?)~6+@ ~6 k];I~4ɫYY)Y YIYYT?yFxDUSBL response received:!U1,R,502,000,002AE,189,80,80,B1,FF Fpublishing direction and range infoɰ鰙 )1CIyw?amf-ٱ)= =        @  @  @   i   ) I i YM%h=Y%x))a-$H))y5"<}5>I9=aI 5?=ݾ =ށ M?9=@=: =:)9W W X  X WX:W2W*WVbUBU*U!U!U%|@Ru(Combining 5 samples.Pq*QqZQus:@?apuV JQuw?amf-2Qq:QqbQuIM@"Ӥ @?RQu@_?l#?⫄@5b?BQuHb? QuH0@Qu@PqPqPuQqQuo&@"Qu)@BB BAY*BAAAA"C*CRCCCU>9QIU(FiU,@U=QQU8; U6EIG (>0u$(,}hFAY}2@}2@y}2K}2}2HܿG?n:?ۿӿ̑?@?)~2@ ~2`;I~2C>JFailed to close latch before timeout.q >>Hardware FaultYR.?yRFUTNmea in: $SNTTA,0.029809,,,,232553.52*4D I=)==MN=Ya%$H!!y-5}->I1 =:5I 5? =:5ݾ 5H =?95u@5: 5s:)5:miAdded new target pos. range: 3.660000 m, bearing: 50.644473 deg, deltaT: 4.382417 s, approachRate: 0.000000 m/s, LOS rate: 0.268401 deg/s, posRepo size: 4XWHb?WX XWX:W2W*WVbUBU*UUU`v?BQBY BYA]*BYAYAYAYAa"Cea?RCiCHb?CׁI-$@Hardware Fault in component: DDMG>imnGI_Aiٺ_AAIq)q S    w:Y W1y č: 6*(,ʌhFAY}6G@}6@y}6ƾ}6F}6H1ܿ ;?@D?:ۿӿ?@wǽ`w?)~6G@ ~6c;I~6C>Powering down<ɪ<)< a$Hy;}>IJ 5?ݾ  ?9@0: ':)W W X  X W X :W2W*WVbUBU*UUU@?BIBI BIAM*BIAQAQAQAQ"C]a?*CYRCYCYCaAIGD>M >9I IM FiM @I I I M R; M DE)Ii቉==D51(,jƠhFAY}BE@}BMa@y}B}B& }BH@ܿ¡&,P?Bۿ2ӿ `+?+׆?)~BE@ ~BP`;I~BCY?y F‰]A    @ @ @i )IiAMn=Y2=QU?a$HHy7g<}?I  :J 5?  :9ݾ   ?9@: ^:):W1W1X1 X1W1X9:W92W9*W9V9bUABUA*UAUAUE U?B B BA,*BAAAA"C%Hb?*C!RC!C!C)AIQGm>    N:Y [1y H: 6) ;9 7(, OhFAY}-J@}-Xf@y}-}-}-H'ܿ㬥?-m? _ܿп2? ݴ ?)~-J@ ~-v^;I~)Yq?yF q= ףp?x&?Mb?k>7 > <)IyV-~jthy&1?D`e< ¥l=A)¥n\AI¥,Ai¥ZzAQPA*M==YU=QUU>YYa]$HYaye2:}m>IimK 5?mݾ mN }?9m@mw: m:)iWWX XWX:W2W*WVbUBU*UUU =?BB BAQ*BAAAA"C*CRCCCI$NClearing failed state for component DDMq G$>m=im=q=(,>#hFAY}6@}60@y}6+|}61ȼ}6H@ܿ&?@8?ݿ`1Ϳ@B?=V`?)~6@ ~6D^;I~6CY^?y^ڌF]-=M]e=Y]z9I(Fi,@=; ^EG >      :Y 0Y1y : 6) ;D(,hFAY}:I@}:@y}:zv}:򟤼}:H`]]ܿyM?m? ܿY̿@֌?`g?)~:I@ ~:];I~:CYFI?yFGF) = > ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYmV6=MmI=Yueqya}$Hyyy }>Iȉ :ōL 5? :ō ݾ ƍ ~ ?9ƍ@Ǎo: ȍ#:)ȍ:WWX XWX:W2W*WVbUBU*UUU@ByBy ByA}ۅ*ByAAAA"C*CRCCC׉IG=J(,-hFAY}2Uw@}2ߒ@y}2di}2Ʊ{}2H2ܿR??Xܿ B]Ϳ@Q?񟮿?)~2Uw@ ~2P\;I~2CYN\?yRFPɮR=I^=)^%=MP=Y=QU>a$H!!y%<}->I15(M 5?5ݾ 5O} =?95%@5: 5:)1WYWaXa XaWaXa:Wa2Wi*WiVibUiBUi*UqUqUu`@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCױIG=Iq)uAA 9 I Fi @ ; mEu q u u u  u z:Yu DW1yu Y:u ;6)u I;Q(,AGhFAY}>^@}>z@y}>Ed\}>ۧ}>H 3ܿ@z??ۿ Ϳ 6V? y!(?)~>^@ ~>ӕ\;I~>CYN?yNcFRZ****** received transponder code query ******RF****** received ping request ******R  a $H yun}}>Iȁ :ŅM 5? :ŅFݾ ƅ| ?9ƅ@Dž: ȅR:)ȅ:WWX XWX:W2W*WVbUBU*UUU{ @BB BA8*BAAAA"C*CRCCC׉IG=WX(,ahFAY}%R@}%ܶ@y}%W}%m}%HUoܿ F;=?? ܿR̿G? b2?)~%R@ ~%[;I~%CY=E?y=FExDUSBL response received:!U1,P 502,000,002AE,189,80,80,B1,FF MCommand AckMBRequesting micromodem ping code 2iIIUNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I +?ˡEL7A`?9=' +=)Iy:v?/$y&1?<`< >A)APAI‰imAJA\A e e e m@ m@ m@iiiiii i)iIiii =M=Y a$Hyc;}>IȹŽN 5?Ž|ݾ ƽw ?9ƽ@ǽ; Ƚ;)ȹWiWqXq XqWqXy:Wy2Wy*WVbUBU*UUUL @BYBY BYA]*BYAaAaAA"C*CRCCCסIG >U u U U U  U ez:YU V1yU :U 69] @(^(,c{hFAY}2k@}2#@y}2NW}22}2H@ܿj?`? ܿ`!˿?`j6?)~2k@ ~2[;I~2CYN?yRkF Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 鿁    @ @ @i )IiM=YyQU?a$Hy<}?I  :CN 5?  :ݾ Bu ?9F@E: :):W1W1X1 X1W9X9:W92W9*W9VAbUABUA*UAUAUM^@BB BA̅*BAAAA"C*CRCCCܙ9ܙIܝ@Fiܝ?ܙܙܙܝ; ݝwE)I1GM>u=iu=e(,-?hFAY}2@}2@y}2!BS}2}2Hݿ pas?'?#ݿ@˿i8? 8?)~2@ ~2[;I~0YR?yRFVxDUSBL response received:!U1,R,502,000,002AC,189,80,80,B6,FF ZFpublishing direction and range infoTTɰV"`=T T)V6CITyVb@Vw?amf-ٱTj;Mn]=YnrJppar$Hptyv =}v>Ixz~N 5?zݾ zr ?9z@z: zb:)xWWX XWX:W2W*WVbUBU*UUU@R%(Combining 5 samples.P!*Q%b@ZQ%|f?.Yy JQ%w?amf-2Q!:Q!bQ%f@.XG@Ө?RQ%]t3?h44u,?ӈr?BQ%l? Q%:2@Q%@P!P!P!Q%Q%@"Q%o&@BB BA*BAAAA"C*CRCCCIG> C    hv:Y DW1y Y: 26;k(,KhFAY} 4!@} <@y} vK} %} HBݿM ??mݿO˿(K?cI/D?)~ 4!@ ~ [;I~ CY=?yEFDNmea in: $SNTTA,,,,,232557.94*57 )} > }>    @ @ @ i3? ?)A?IA?i?U=MU(=YUfyYYa]$HYaye<}e>Iq }:uN 5? }:uӤݾ um }?9u@u: u:)u:mmAdded new target pos. range: 3.539999 m, bearing: 52.836182 deg, deltaT: 4.400912 s, approachRate: -0.027267 m/s, LOS rate: 0.498012 deg/s, posRepo size: 4XWl?WX XWX:W2W*WVbUBU*UUQ @U?BiBq BqAu)*BqAqAyAyAy"Ci?RCCl?C׽?i׽?יIGA>ܕ >9ܑ Iܕ xFiܕ ?ܑ ܑ ܑ ܕ ; ݕ E"r(,ȡhFAY}:^x@}:@y}:K}:}:Hm޿s8A??;ݿʿ@I?G?)~:^x@ ~:@[;I~:CYF?yF4FIC=)R=]M]q=YeM9QUe?aaam$HmHiyu[<}u?Iy}N 5?}Rݾ }j ?9}O@}: }:)yWWX XWX:W2W*WVbUBU*UUU@m?BaBa BaAm{*BiAiAiAiAi"Cj?*CRCCCiIyG=Iq)q i] nGI `Ai U տPx(,hFAٺ}`A.AY}r @}r@y}rGN}rK{}rH޿@?a_?4޿Q˿@?@??)~r @ ~r4[;I~rCY~?y~FPonly read 0 of 1 data item for BIT errora i@a  a m@a  a q@a  a e@a  MC=YQU>a$Hy+<}>I9O 5?ݾ !g ?9@: >)WW!X! X!W!X!:W!2W!*W)V)bU)BU1*U1U1U59p?BB BA*BAAAA"C l?*CRCCCI G- >u uuu u:YuV1yu:u6w~(,hFAY}6VW@}6r@y}6HN}6b}6H{޿̩?@*K?޿ɿ`f?J@M?)~6VW@ ~6Aw[;I~6C>Powering up>"Initializing DDM.Y}?y}F]A 5 5 5 5@ 5@ 5@ 5@111i51 5)5I5i5ET;MED=YMQUM>IQaU$HQYy]`I<}]>Ia m:e{O 5? m:eݾ ec u?9e @e: eV?)e:WWX XWX:W2W*WVbUBU*UUU`?999I9i9==99=; =E)ɂIɂiɂ͂=͂=͂ڔ4BB BA*BAAAA"C*CRCCCI)IG&>`(,hFAY}2p@}2@y}2Q}2Q6v}2H@޿ b^?@A?޿BUʿl?kGG?)~2p@ ~2B5\;I~0Y^?y^F !!]"7=M]Z=Y]JǻQU]>aaae$Haiym;}m>IO 5?ݾ (` ?9a@а: ?)WWX XWX:W2W*WVbU!BU!*U!U!U% "*@BQBQ BQAU&*BQAYAYAYAY"Ca*CaRCaCaCiiIqG=m=im=}b }~}~} }x:Y}T1y}@:}6(,Xr0hFAY}Ra@}R@y}RT}R½}RH?߿@6Δ?`!"?޿̿n?Ʒ>+?)~Ra@ ~R<[;I~RCYz?y~=F % % % %@ -@ -@!!!i!! !)!I!i!= M===Y=QU=>AAaE$HAIyMz<}U>IQUO 5?Uݾ Ur\ e?9U@U: U?)QWWX XWX:W2W*WVbUBU*UUU` @BB BAw*BAAAA"C*CRCCCIG >5 >91 I5 Fi5 v?1 1 1 5 E; 5 ǝEp(,)a $H  y v<}>IP 5?^ݾ 5Y %?9 @: @)WAWAXI XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU]j@RmB*** querying acoustic contact ***PiPiBB BA*BAAAA"C*CRCCC׽?i׽?IG=} }}} }:Y}V1y}:}i6)};9N(,TdhFAY~?y~FZ****** received transponder code query ******F****** received ping request ******h= )Iy11a5$H19y=}E>IA m:E-P 5? u:Eݾ EX u?9E\@Ev; E;)E:WWX XWX:W2W*WVbUBU*UUU4R @B1B1 B9A=*B9A9A9A9AA"Ci*CiRCiCiCqiIqG:>Iq)u@A;Ş(,}hFAY}6 @}6@y}6wE}6G}6H#?\? 4Aȿ?r ^?)~6 @ ~61\;I~4YB?yBFFxDUSBL response received:!U1,P 502,000,002AC,189,80,80,B6,FF FCommand AckFBRequesting micromodem ping code 2iDDNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 = E E E@ E@ E@AAAiAA A)AIAiAB=MQ=Y=QU>a$H9IiD; ƝEyut<}>I)-CP 5?-eݾ -hX m?9-@-`J; -7<))W WX XWX:W2W*WV!bU!BU!*UIUQUU@_ @BIBY BYA&*BAAAA"C*CRCCCI!G=r>} }}} }:Y}W1y}č:}6)}t; (,ΗhFAY}6@}6}@y}6E}6c}6H ߿ݢ@U?O?@Y@Bǿ`6?Vcb?)~6@ ~6\;I~6CYN?yR)FbNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =M[=Y56QU>a$Hy4}>Iȩ :ŭWP 5? :ŭϢݾ ƭ X ?9ƭݸ@ǭ: ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUU !@BB B!A%*B!A!A!A!A!"C)*C)RC1C1C1IA)AI)GE=ګ(,,hFAY}5@}@y}H}\"}H ߿o@~?? `r ȿ?>ܣ`\?)~5@ ~J\;I~CY5L?y= FExDUSBL response received:!U1,R,502,000,002AD,189,80,80,BC,FF EFpublishing direction and range info99ɰ=u`=9 9)=a$Hy;}>IȑŕoP 5?ŕQݾ ƕW ?9ƕ'@Ǖ: ȕ=:)ȑWWX XWX:W2W*WVbUBU*UUU`@R-(Combining 5 samples.P)*Q-ff@ZQ-xP^B(?0B JQ-w?amf-2Q):Q)bQ-E~@Xw@GUv?RQ-Qa?'KWz>?.?BQ-x? Q-<@Q-@P)P)P)Q)Q-@"Q-@ByBy BA*BAAAA"C*CRCCCסIG >m=im=}U }}} }!:Y}V1y}:}69}@>9IxFi?=Q; ͝Eg²(,ޒˢhFAY}R@}Ru@y}RFH}R㎽}RH@\4??@P߿ yɿ? IO?)~R@ ~RQ[;I~RCY^c?y^FTNmea in: $SNTTA,0.006183,,,,232602.36*4E ='M=a=YE-#:QUE>AIaM$HMHIyUy;}U>IY]P 5?]ݾ ]a$Hy:b<}>I :O 5? :%ݾ %U ?9@{:  :):W!W!X! X!W!X!:W!2W)*W)V)bU)BU)*U1U1U5C?BaBa BaAe*BaAiAiAiAi"Cx?RCCC?i?IG>}B }}} }Tv:Y}X1y}/:}6(,}2-Ύ}2H ^M `v?`? 2hȿ `? L@_?)~2M@ ~2E[;I~0YR?yR4FI =) =    @ @ @ÙÙÙiÙÙ ę)ęIęię<MM=YZca$Hy[<}>IyO 5?ݾ #S ?9@: :)WWX XWX:W2W*WVbUBU*U U U  ?B9B9 B9A={*B9AAAAAAAA"CI*CIRCICICQ܉9܉I܍Fi܍1?܍=܉܉܍^; ݍԝEQIaG=Iq)uAA(,hFAY}6@}6K@y}6V?}6Y܂}6Hyeg?`?@ it~ȿ E?`?)~6@ ~6<[;I~4Yf?yfF]M]O=Ye QUe>aiam$Hiiyu<}u>Iy :}N 5? :}ݾ }%Q ?9}F@}: }:)}:WWX XWX:W2W*WVbUBU*UUU`?BB BA*BAAAA"C*CRCCCIG=inGIiֿٺwA} }}} }:Y}WU1y}:}6W)(,K3hFAY%?y%F    @ @ @i )Iix<M@=YQU>a$H  y}>IvN 5?Oݾ N %?9@˵: ':)WAWAXI XIWIXI:WI2WQ*WQVQbUQBUY*UYUYU]?BB BAG*BAAAA"C*CRCCCI1)1I GM>u>9qIqiqqqquM; u˝E)Ii==4(,LhFAY}2@}2@y}2$K}2: }2H `J%S?yo?@:_ʿwL? ͜@HH?)~2@ ~2Z;I~2CYN?yNF  =I<M=X=Y=QUE>AAaE$HAIyM/7=}M>IQ ]:UN 5? e:Uݾ UM e?9Uۺ@U: U:)U:WWX XWX:W2W*WVbUBU*UUU`@BaBa BaAe*BiAiAiAiAi"C*CRCCC׉IG=iim=  .:YV1y:6);9]7(,fhFAY}:w@}: @y}:g}T}:BaŽ}:H,5a?S/?K̿ ^?+?)~:w@ ~:[;I~:CY^#?ybjF`ɮba=]Pn?L7A`~jt?]>]+ ]=)YIYy]~jt? rh?/$]<]C<], ]A>A)]PAIYi]KeAY]GIA}M}F=Y}QU>a$Hyz<}>IșŝM 5?ŝPݾ Ɲ-Q ?9ƝA@ǝY: ȝ:)șWWX XWX:W2W*WVbUBU*UUURF@RB*** querying acoustic contact ***PPBB BAe*BAAAA"C*CRCCCIG5 >(,hFAY}6g`@}6{ @y}6??T}64Խ}6H>JO??9# Ϳ`W? c鹿 %?)~6g`@ ~6($[;I~6CYBc?yBFFZ****** received transponder code query ******FF****** received ping request ******J9AaE$HAAyM<}M>IQ :U,L 5? :Uݾ UiU ?9U@U)< UN;)U:WWX XWX:W2W*WV bU BU *U1U1U= x @BB BA*BAAAA"C*CRCCC i ?IG%>} }}} }:Y}W1y}č:}W6)};TI(,^hFAY}6@}6| @y}64"O}6 }6H6஘?@?I G`˿*?@);?)~6@ ~6=[;I~6CYBT?yBFFxDUSBL response received:!U1,P 502,000,002AD,189,80,80,BC,FF FCommand AckJBRequesting micromodem ping code 2iHHNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 If4=)f4=M ^=Y*_11a=$HAQyo<}>IJK 5?ݾ UY -?9@=; H;)WWX! X!W!X!:W)2Wq*WqVqbUyBUy*UUU- @BB BA*BAAA!A!"C9*CARCACACI)I9Gm4>Iq)qs(,y:hFAY}6$@}6 @y}6mQ}6}6H@"Z H?@?8vʿ ?Ҿ`_@?)~6$@ ~60g\;I~6CYnE?ynFpp5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ׇM;=Y G˻QU>a$Hy6<}>IPJ 5?Aݾ ] ?9z@H: :)WWX XWX:W2W*WVbUBU*UUU #@B1B1 B1A=*B9A9A9A9A9"CA*CARCACICI)I9GU>9Iif; ؝Et  Qz:YV1y:6)~;[(,HΣhFAY}2|@}2 @y}2F\}2$g}2HPW?T?hJcʿ'c?K45?)~2|@ ~2lM];I~2CYR?yR}FVxDUSBL response received:!U1,R,444,000,002AC,18A,80,80,A6,FF ZFpublishing direction and range infoVsTɰV"`=V> T)V&CITyVb@VzXx?6ٱT u u u u@ @ @qqqiqq q)qIqiqOMP=Y޼QU>a$HHy=}>I :lI 5? :ݾ 'a ?9ڼ@/; D;):WQWQXY XYWYXY:WY2WY*WaVabUaBUa*UaUiUm@R(Combining 5 samples.P*Qb@ZQ7wg@ JQzXx?62Qs:QbQ8??jC @Mx ?RQ+R%[?~?N˜?BQٜ? QR@Q6?P]9?PPQQ@"Q@BB BAŅ*BAAAA"C!*C!RC)C)C)I9)9)I1GQȇ(,/hFAY}N@}N @y}Ng}Nݼ}NH O @?`=?hCɿ Ǵ? h,?)~N@ ~N];I~NCYZ|?yZF%TNmea in: $SNTTA,0.033057,,,,232606.80*49 鿡-Zd;?+η?/$?-=-v= -<))I)y-{Gz㥛 ?Mb`-#-=- -?A))I- 0Ai- fA)-pIAMU =MM@=YUR˼QUU>QQa]$HYYyeNx;}e>IimG 5?m%ݾ ma u?9mؽ@m8: m:)immAdded new target pos. range: 3.539999 m, bearing: 70.209748 deg, deltaT: 4.425049 s, approachRate: -0.013559 m/s, LOS rate: 3.278947 deg/s, posRepo size: 4XWٜ?WX XWX:W2W*WVbUBU*UUQ @UN(?BqBq ByA}N*ByAyAyAyAy"Cȱ~?RCCٜ?CסIG >ލ=iލp=  }:Yy9@n), hFAY}6{@}6 @y}6jq}6c5}6H`b'?*? c q˿`? `?)~6{@ ~6:I];I~6CY^?y^ٍF u } } }@ }@ }@yyyiyy y)yIyiy/tMX=YμQU>ܹ9ܹIܽxFiܽ?ܹܹܹܽ@; ݽĝE1a5$H19yE9<}E>II ]:ME 5? ]:MEݾ Mb e?9MȾ@M ; M;)M:WWX XWX:W2W*WVbUBU*UUU$?BB BA*BAAAA"C?RCCCסIG!>),ehFAY}BH$@}B? @y}Bݯt}BW}BH`y)@ų? ?Wz[?οK?y?)~BH$@ ~Bl];I~@Y^?y^ЍF]ޔM]M=YeQUe>aaam$Hiiyu;1<}u>Iy}C 5?}Rݾ }c ?9}@}: }:)yWWX XWX:W2W*WVbUBU*UUUM?BB BA *BAAAA"CuA?RCyCyCy׍?i׍?iIyG=  {:YX1y/:6{ ),k5hFAYvg?yvYFIma=)m=ӆ<MF=YQU>a$Hy}>Iȹ :Ž!B 5? :Žwݾ ƽd ?9ƽ@ǽ: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU9?B!B) B)A-ԅ*B)A)A1A1A1"C=+Ȗ?RC9C9CAIG==ܹ9ܹIܹiܹܹܹܹܽA; ݽŝEIޑ)ޑd),_OhFAY}N@}N: @y}NLt}Nf}NH)? ?'iMο`PM?ST?)~N@ ~Nl\;I~N CYn?yrF } } } }@ }@ }@yyyiyy y)yIyiyP*M<=Y#QU>a$Hy <}>I*@ 5?ݾ e 5?9@f< _<)WyWyXy XyWyX:W2W*WVbUBU*UUUq@BB BA*BAAAA"C-?RC)C)C1AIIGe4>T> ~  {:Y[1yݏ:r6inGII i Dؿٺ AU ?9U A),=ihFAY}2v@}2a@y}2t}2''}2H@}@n? ? ͿF? a H?)~2v@ ~2b \;I~2CYNT?yNF=Ponly read 0 of 1 data item for BIT errora i=@a = a m=@a = a q=@a = a e=@a = }h=M}]=Y}:QU}>a$Hy<}>I15t> 5?5ͪݾ 5f =?95@5W: 5>)1WWX XWX:W2W*WVbUBU*UUUo@B)B1 B1A5*B1A1A1A1A9"C=4?RCACACAIY)]]A!I1GM>» ),hFAY}N "@}N=@y}Nu}N o}NH`<dE? _j?]lͿ@h?`n?)~N "@ ~Ni[;I~NCYZ?yZ}F\ɮ^p= hhrPgMrU=Yr4QUr>ttav$Htxyz<}z>I| :~< 5? :~۫ݾ ~yg  ?9~g@~: ~%@?)~:W)W)X) X1W1X1:W12W1*W1V9bU9BU9*UAUAUE@ E@RMB*** querying acoustic contact ***PIPIBB BAŅ*BAAAA"C?RCCCׁܕ>9ܑIܕНFiܕE@ܑܑܑܕN; ݕ̝E)Ii4IG=ލ=iލ=  :YX1y/: 6) ;9&),shFAY}2~@}2@y}2PHx}2KA}2H e511?`a$Hy<} >I  : 5? $ݾ Vh E?9 o@ 7; ?) WWX XWX:W2W*WVbUBU*UUU} @B1B1 B1A5l*B1A9A9A9A9"CE?*CARCACACIIIQGm>-),ҶhFAY}F@}F@y}Fp}}F&0}FH`._ o.@?:?c`˿@i?V ?)~F@ ~F)[;I~DYZ?yZF^xDUSBL response received:!U1,P 444,000,002AC,18A,80,80,A6,FF ^Command AckbBRequesting micromodem ping code 2i``fNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @éééiéé ĩ)ĩIĩiĩyl<M#=YM3QU>a$HHy`6}>I8 5?ݾ Hi ?9@: ?)WWX XWX:W2W*WVbUBU*UUUy8@BB BA1*BAAAA"C5vN?RCACAi9iImFim@iiimI; mɝEc  x:YWU1y:6)R;C׽?i׽?i Iy G >3),ФhFAYu.?yuFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I%=)!;Mt=YQU?a$Hy}?IS7 5?ݾ i ?9c@ ; l@)WWX XWX:W2W*WVbU BU *U UU8@B9B9 B9A="*BAAAAAAAAA"CMٜ?RCICQCQaIqG>IޕAA)ޕ@A":),hFAYAyAMxDUSBL response received:!U1,R,4E6,000,002B2,188,80,80,A5,FF UFpublishing direction and range infoMIɰMb=M> I)M%CIIyMy@Mg{Z?toٱIa ia i a ma m a qa q a ea e ?ˡE?Mb?== @=)IyT㥛 ?y&1?Mb=`e= fBA)I+Ai?AY9QU=>AAaE$HAIyI}M>IY e:]4 5? e:]7ݾ ](j e?9]u@]: ]\:)]:WWX XWX:W2W*WVbUBU*UUUa@R(Combining 5 samples.P*Qy@ZQ?OΏ JQg{Z?to2Q:QbQpO?MW @hd?RQs ?2N⁞?N%?BQ? Q:_@Qx?P^9?P]9?PQQm@"Q@B)B1 B9A9*B9AAAA"C*CRCCC׹IGE>  }:YU1y: 69@ A),(`hFAY}2u1 @}2L@y}2샾}2f}2H``O?@?`=tο O?;?)~2u1 @ ~2"/[;I~2CY^_?y^F15^A    @ @ @ i ? ?)?I?i?-M-191I5`Fi5@1115U; 5НEAIaM$HIIyUX<}U>IY]1 5?]׮ݾ ]tj e?9]@]: ]+:)YmmAdded new target pos. range: 3.899999 m, bearing: 64.759715 deg, deltaT: 4.447365 s, approachRate: 0.080947 m/s, LOS rate: -1.225452 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UU23@U?BB BAV*BAAAA"CqϚ?RCC?CI ) \AIG>5G),:hFAY}Nݐ @}Ng@y}N }N}NH཮@?{?@clп`Ff?Ed?)~Nݐ @ ~N([;I~NCYb?ybF AA}.<M}V=Y} |QU}>a$Hyz<}>Iȹ :Ž. 5? :Ž{ݾ ƽj ?9ƽ@ǽ: Ƚ:)Ƚ:WWX XWX:Wq2Wq*WqVqbUyBUy*UyUyU`?BB BA5*BAAAA"C?RCCCIG- >ޝ=iޝ=  Ɍ:YX1y/:6]M),(8hFAY}2; @}2 @y}2Ⴞ}2VQ}2H@qIJ??`9Eѿ`.?@F?)~2; @ ~2g[;I~2CYLyP U U U U@ U@ U@ ]@QQQiUQ U)UIUiUYua$HyPi<}>Iȩŭ#, 5?ŭݾ ƭuk ?9ƭ@ǭY: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUUl?BB BA*BA!A!A!A!"C-?RC)C)C1)I9GU=>9IFir@L; ˝EZGT),=QhFAY}Fg!@}F@y}Fv}F ޽}FH` H@`?০?`п?_պ?)~Fg!@ ~F79[;I~FCYV?yZ;FS<Ma$Hy<}>I:) 5?ݾ  l ?9@ܹ: ӻ:)WW X  X W X :W 2W *WVbUBU*UUUോ?BIBI BQAU*BQAQAQAQAY"CY*CaRCaCaCa}?i}?iIqG=  (:Yyr6oZ),khFAY}2!@}2H@y}2G~}2&޽}2H0`n@I?@X?Oaпu?Aݺ@ ?)~2!@ ~2p[;I~0YB4?yBMFIva=)v4=l񢿋l?~jth?= D;)IyI +?X9v?{Gzt94<}=ף ;A)YAI-AiuANA;MG=Y&;QU>a$Hy bl<} >I -:Q' 5? =:lݾ l E?9@; ;):WaWaXa XiWiXi:Wi2Wi*WqVqbUqBUq*UyUyU}I@BB BA*BAAAA"C*CRC CCIG$>Iލ@A)ލAAYa),hFAY}^F&"@}^A@y}^(z}^D}^H +X`NV;?t?)@ngп ?)Z?)~^F&"@ ~^v/[;I~\Yr?yvFq9qIqiqu=qquK; q    @ @ @i )Ii ݻMK=Y $a$Hiqyu_<}}>Iy}a% 5?}ݾ }m ?9}@}: }4;)yWWX XWX:W2W*WVbUBU*UUU@x@BiBi BqAu*BqAqAqAqAy"Cy*CRCCCׁIG>  8s:Y0Y1y:6)];9ǁg),|hFAY}R5~"@ifmGItiUUֿٺY]A}R@y}R͒q}R}RH{cA?e?`͍GtͿ@?@Y?)~R5~"@ ~R[;I~RCYu??yuF<MP=Yka$Hyh<}>Iȱ :ŵ# 5? :ŵƯݾ Ƶn ?9ƵB@ǵ<: ȵ:)ȵ:WWX XWX:W2W*WVbUBU*UUU n@RB*** querying acoustic contact ***P P B)B) B)A-^*B1A1A1A1A1"C9*C9RCACACAIױ)׵]AבIG=%m),XhFAY-4?y-MF5Z****** received transponder code query ******=F****** received ping request ******=a$Hy}%>I!%! 5?%~ݾ %io 5?9%@%: %:)!WYWYXY XYWYXY:Wa2Wa*WaVabUaBUi*UiUiUm @BB BA*BAAAA"C*CRCCCQIIQGm>Q9QIUFiU@U=QQUT; UϝE)AIAiAAAE~4ލ=iމ4  6u:YDW1yY:6);)t),e4ӥhFAY}2y"@}2@y}2 Fd}2:}2HS@5?x?``hȿgL?@{0?)~2y"@ ~2[;I~2CYb,?ybFfxDUSBL response received:!U1,P 4E6,000,002B2,188,80,80,A5,FF jCommand AckjBRequesting micromodem ping code 2ihhrNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 50'=M=Y=YMh =QUU>qqa}$H}Hy2}>I : 5? :?ݾ o ?9@0< A<):WWX XWX:W2W*W V bUBU*UUUr @BaBa BA"*BAAAA"C*CRCCCIGEQ>Zz),3hFAY}^ws#@}^@y}^YY}^۽}^H` 6@T?d5? `Ϳ?Ⱥ?)~^ws#@ ~^р[;I~^Cn`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ!!)! -I)Ye?yeՒFiiNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B u~jt?/$HzG?u)qIqyu?a$Hyu<}>I 5? ݾ zk ?9@:  :)W!W!X! X!W)X):W)2W)*W)VQbUQBUQ*UQUYU]@BB BA*BAAAA"C*CRCCCi?  :Y0Y1y:269@שIG>),hFA\9\I^`Fi^@\\\^f; ^ٝEY}^#@}^@y}^K}^N}^H@"c.g?/? ʿ.8?`ҵ A?)~^#@ ~^Z[;I~^Cɫ) IY50?y5F]26M]=Y]\=QUe)?aaae$HaiymF<}m)?Iy }:} 5? :}ݾ }Ui ?9}t@}: }:)}:WWX XWX:W2W*WVbUBU*UUU z@BB BAa*BAiAiAqAq"Cy*CyRCyCyCyׁIG>IލAA)މ҇), hFAY}n#@}ng@y}nLC}np}nH0[ت?1?>Hqǿ @V?%\?)~n#@ ~nl[;I~nCɫ髱) IYG?yF-DNmea in: $SNTTA,,,,,232615.69*50 uMuI=YuDyya}$Hyy%;}>Iȉō 5?ōݾ ƍe ?9ƍ6@Ǎb: ȍn:)ȉWWX XWX:W2W*WVbUBU*UUU@h@BB BA܄*BAAAA"C *CRCCCIG>  X}:YDW1yY:6f),:hFAY}Fe#@}F @y}F]rD}FZ}}FH=@&jH? $? yQKǿg?VZ?)~Fe#@ ~F([;I~FCɫYY)Y YIYYz?yFxDUSBL response received:!U1,R,4D6,000,002B2,188,80,80,A5,FF Fpublishing direction and range info3Iɰ鰡 )Iy%?81-b:ٱ 5   @ @ @i )Ii&=MB=YQU>  a$H1y5F;}5>I9 E:= 5? E:=ݾ =Sb M?9=@=: =:)=:WWX XWX:W2W*WVbUBU*UUU $@R(Combining 5 samples.P*QZQFE!d?Hи JQ%?81-b:2Q3I:QbQ˞?g?z @āt_?RQ>dWy?zxǴ? CX?BQ? Qg@Q??P\9?P^9?PQQ@"Qm@BiB BAO*BAAAA"C*CRCCCI)\AסIGC>ܽ>9ܹIܽНFiܽE@ܹܹܹܽ8; ݽE),*ThFAY}N$@}N| @y}NE}NP8}NHCȶ@K? ? wpnſ`@z?`4`?)~N$@ ~N0a;I~NCɫqq)q yIyYN?yFMhMMV=YUĺQUU>QYa]$HYYyeIim 5?mjݾ m_ u?9m@m: m+:)imiAdded new target pos. range: 3.899999 m, bearing: 69.718931 deg, deltaT: 5.292776 s, approachRate: 0.000000 m/s, LOS rate: 0.936978 deg/s, posRepo size: 4X!W%?W!X! X!W!X):W)2W)*W)V1bU1BU1*U1U1U= N`?BaBa BaAmZ*BiAiAiAiAi"Cu?RCqC}?CyyIG>ޅ=iޅa=  &:Yy6T ),VnhFAY}2 <$@}2W@y}2eA}2^}2HR[ X e??x`Uƿ?UWmb?)~2 <$@ ~2a;I~2Cɫ99)9 9I9Y}p?yrF5kt?p= ף?l?5 0=5= 5=)1I1y5V-?~jt?+?5h=5<5= 5?A)5PAI50Ai5vdA15pIA    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉyM7=Yva$HyI;}>IȹŽ 5?Žݾ ƽWY ?9ƽ@ǽ: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU2?B)B1 B1A5*B1A1A9A9A9"CE?RCACACIAIIGm5>),X9hFA,9,I.@Fi.?,,,.&; .EY}Z7$@}ZSS@y}Zw;}Zx}ZH_ 1@j:? m?ApIUƿM?yTh?)~Z7$@ ~Z^;I~ZCɫ髱) IY*?yF)Å= Å=ټM[=Y}a$Hy9}>I : 5? :ݾ T ?9~@: :):WWX XWX:W2W*WV bU BU *UUUG?B9B9 BAAE*BAAAAAAAAA"CMR?RCQCQCQe?ie?!I1GU>v o yz:YV1y:6);9), hFAY}2rF$@}2a@y}2Y1;}2u}}2H Ge@k? ?tgƿD? h?)~2rF$@ ~22\;I~0ɫYY)Y YIYY?yEF5QM=S=Y=5:QU=>AAaE$HAAyM";}M>IQU 5?U}ݾ UO e?9UW@UY: Uʽ:)QWWX XWX:W2W*W V bU BU *UUU@d?B9BA BAAE *BAAAAAAAAI"CUt?*CQRCQCQCYiIyG>Iލ@A)މ0H),)绦hFAY}6ݣ$@}6g@y}6?}6 }6H@ `@?J?@ sơȿ`K? +,U?)~6ݣ$@ ~6\;I~4ɫYY)Y YIYY?y)F    @ @ @ÑÑÑiÑÑ đ)đIđiđP<MC=YQU>a$HHy._<}>I :l 5? -:٭ݾ YJ 5?9B@b<  c<):WiWiX XWX:W2W*WVbUBU*UUU!@B B  B A *B AAAA"C?*CRCCC!IG=.>>9IFiv?#; EP  rw:YWU1y:6);1),զhFAY}6 %@}6O<@y}6_?}6}6HBi}?`? دֿǿY?{Z?)~6 %@ ~6[;I~4ɫ99)9 9I9Yum?y}FTMV=YZ+QU> a $H  y-<}>If 5?Dݾ {E %?9@:  :)WIWIXI XIWIXQ:WQ2WQ*WQVYbUYBUY*UYUYUe@BB BAR*BAAAA"C*CRCCCIױ)ױiIyG==t>AiNmGI_Ai)ٺ_AqAZ),hFAY}2U%@}20q@y}2<:}2yxF}2HD%?·?"ſ 8?`;c@n?)~2U%@ ~2b;I~0ɫ) IY?yXF6only read 2 of 4 data itemsa i@a  a m@a  a q@a  a e@a     @ @  @i )Ii>ͻM"=Y!!a%$H!)y-Q;}->I1 =:5 5? =:5{ݾ 5? ?952@5c< 5?)5:WWX XWX:W2W*WVbUBU*UUU@&@R%B*** querying acoustic contact ***P!P!BABI BIAMl*BIAIAQAQAQ"CY*CyRCyCyCqIG~>ލ=iލ4=/  :YDW1yY:69@ 9 CI Fi 1? '; E)Ii鋉鋩Jh4B),x hFAY}6%@}6@y}6i7}6g }6Hv)`m?6? ÿ@ ?$:gw?)~6%@ ~6Q_;I~6CɫYY)Y YIYY}?y}FZ****** received transponder code query ******F****** received ping request ******+l),S#hFAY}63%@}6@y}6:}66}6H (` @n ??J@pĿ /?@xvp?)~63%@ ~6f];I~6CɫYa)a aIaY|?yFxDUSBL response received:!U1,P 4D6,000,002B2,188,80,80,A5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 } MC=YQU>a$H1y=6;}=>IAE 5?ETݾ Es5 }?9E@E; E?)AWYWYXa XaWX:W2W*WVbUBU*UUUO @BaBi BiAmN*BiAiAqAqAq"Cy*CyRCyCyCו?iו?yIGb>  9~:YV1y:6),/=hFAY}J'%@}J@y}Jf?}JY}JH#"@ Y?'?u @ſ C?`e@e?)~J'%@ ~J)_\;I~JCɫ髡) IYP?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )Ii\SMB=Ya $H  y*;}>I 5?ݾ S0 %?9@: #?)WAWIXI XIWIXI:WQ2WQ*WQVQbUQBUY*UYUYU] @BB BAZ*BAAAA"C*CRCCCIG=/>܉9܉I܉i܉܉܉܉܉ ݉Iމ)ލ?A~), WhFAY}6g%@}6@y}6ÛE}6B}6H+@>#m?@Ĉ?ſK?@⧿^?)~6g%@ ~64[;I~6CɫYY)Y YIYYR?y_FxDUSBL response received:!U1,R,131,000,002C2,187,80,80,1D,FF Fpublishing direction and range info{FɰWg=鰥1> )AIy@î?1пٱ[=MZ=Y%5QU%>))a-$H)1y=UϺ}=>IIM 5?M(ݾ Mn+ U?9M@M: M@)IW9WAXA XAWAXA:WA2WI*WIVQbUQBUQ*UYUYU]@r@Rm(Combining 5 samples.P*Q@ZQwWf@r, tJQî?1п2Q{F:QbQ+M5y?+QP@5 ?RQ@wP ޿>?LA?BQ{@ Qڅ@QPR9?P\9?PQQ3@"Q@B1B9 B9AE*BiAiAqAqAy"C*CRCCCYIaGY>  :YW1yč:;6),phFAY}f%@}fo@y}fI}f}fH`n7?@?` ǿ ?O?)~f%@ ~fb;I~fCɫ) IY5?y5rFTNmea in: $SNTTA,0.025081,,,,232620.98*48 a ia i a ma m a qa q a ea e a$HyI}>I : 5? :mݾ + ?9@: G:):m qAdded new target pos. range: 4.860001 m, bearing: 118.604992 deg, deltaT: 4.436211 s, approachRate: 0.216401 m/s, LOS rate: 11.019779 deg/s, posRepo size: 4m RStopped intercept timer at range: 4.86 m.W {@W X XWX:W2W*WVbUBU*U!U%p@U%@?BIBQ BQAU*BQAQAYAYAY"Ce_]?RCaCe{@CiIy)yaIiG9>܁ 9܁ I܁ i܁ ܁ ܁ ܁ ܅ 2; ݅ E*),'hFAY}B`%@}B@y}B-L}BK`}BH ?W?@?@Z (#ɿq?;?D?)~B`%@ ~Bȇa;I~@ɫyy) IY?yF3;M^=YQU>a$Hy@:}>I 5?ݾ i, ?9@*; +;)W1W9X9 X9WAXA:WQ2WY*WYVabUiBUq*UyUUw?ByB BA*BAAAA"C ?RCCCסIGA>ލ=iލa=  :YWU1y:6);9Q),ghFAY}6P%@}6@y}6S}6R}6H @:9?&s?ɿ@I?`W᳿8?)~6P%@ ~6'_;I~6CɫYY)Y YIYYZ?y*F M M M M@ U@ U@IIIiII I)IIIiInMJ=Y[QU>a$Hy;}>Iȹ :Ž 5? :Žݾ ƽ, ?9ƽy@ǽ^: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU?B)B) B)A5*B1A1A1A1A1"C=?RC9CACAIIQGu>x),vhFAY}6x&@}6@y}6Z}6qȽ}6H `P?0?@#˿?e ?)~6x&@ ~6v];I~6CɫII)I IIIY}R?y}_F].=M]O=YeQUe>iiam$HmHqy}<}}>Iȉō 5?ōݾ ƍw- ?9ƍp@Ǎ; ȍO+;)ȉWIWiXq XqWqXy:Wy2Wy*WyVybUBU*UUU@3?BB) B)A-*B1A1A1A1A1"CE>?RCACACIe?ie?191I5xFi5?1115=; 5ŝEIIQGu6>6  _u:YU1y:{6)9;>),yاhFAY}%l&@}%@y}%@W}%}%Hm)  ??!˿y?h)?)~%l&@ ~%V\;I~%Cɫ) IY?yF    @ @ @i )Ii*ϼM>=YC;QU>a $H  y<<}>I %: 5? %:cݾ  . %?9y@I: :):WqWqXy XyWyX:W2W*WVbUBU*UUUw@BB BA*BAAAA"CJ?RCCC׹IGf>Iq)uAA),-hFAY}~Ҵ&@}~\@y}~P}~#3Z}~H`+@ ׺?'? [t ǿ`o?@1L?)~~Ҵ&@ ~~\;I~|ɫ) IYu?yuFQ?333333ӿ+?u> =)IyI +?ˡE?MbP?9<'=: ¥A>A)¥1RAI¥K/Ai¥tiA=JA    @ @ @i )Ii-[<M-:=Y-;11a5$H19y=2}=>IIM+ 5?Mݾ M- U?9M @M : MY:)IWqWqXy XyWyXy:Wy2Wy*WVbUBU*UUUϛ@BB BA„*BAAAA"CX?RCCCIGE>) t Vt:YV1y:*69@- >9) I- НFi- E@) ) ) - 8; - E*, hFAY}6Ƞ&@}6R@y}6#M}6@}6H& B~?1?`O^;Lƿ`o?`R?)~6Ƞ&@ ~6T}b;I~6Cɫ99)9 9I9YEr?yEKFMa=ɮMa= aams=Mm=Yu;QUu?yya}$Hyyy~}?Iȉō 5?ōݾ ƍh- ?9ƍ@Ǎ: ȍQ:)ȉWWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BAу*BAA A A "C8?RCCCIG=iU /mGI `Ai $ٺ `A A *,%hFAY}6&@}6@y}6gQ}6D}6H 8z@??[G5ɿF?(=?)~6&@ ~60_;I~6CɫQQ)Q YIYY?yFZ****** received transponder code query ******F****** received ping request ******a$H!y5<}5>I9 M:=d 5? M:=Jݾ =%- U?9=:@=J; =I;)=:WWX XWX:W2W*WVbUBU*UUU@b @BB BA*BAAAA"C  ?RC C C !I1GM1>ލ=iމ  .r:YX1y/:i64*,?hFAY}6R3'@}6N@y}6Q}6B}6H~Ta&A?@?`Zɿ? hW9?)~6R3'@ ~6];I~6Cɫ11)9 9I9Yuc?yuBF}xDUSBL response received:!U1,P 131,000,002C2,187,80,80,1D,FF }Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @ ñññiõ\?ñ ĵ?)ĵA?Iĵ?iĵ?G;M-=Y-%QU->11a=$H9AyU,<}U>Iae 5?eݾ e, }?9e@e:; ef;)a9IFi@%; E)]CI]CiYYY]Wm4WAWAXA XAWAXA:WI2WI*WIVIbUIBUQ*UQUQUU @BB BAՃ*BAAAA"C }g?RCCC1IQGuy>*,̙YhFAɫyy)y yIyY?yUFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )= =^;MT=YQU>a $H yM}M>Ii :m 5? :mݾ m, ?9m@mf< m@<)m:W)W)X) X)W)X1:W12W1*W1V1bU9BU9*U9U9Ue ~`@BB BA̓*BAAAA"C?RCCC?i?׹IGg>  |:YV1y:6G*,=shFAY}>e'@}>A@y}>QD}>S}>H t`?? eƿq?[x uY?)~>e'@ ~>ܺ[;I~>Cɫaa)a aIaY?yFxDUSBL response received:!U1,R,314,000,002C1,189,80,80,41,FF Fpublishing direction and range infox 0ɰg=鰝7> )BIy@s+;?ٌcOٱEl?Mbп&1?E=E EP=)AIAyEMbP?Mb?X9vE:E=E Ea$Hy! <}>IȉōF 5?ōQݾ ƍ/ ?9ƍ@Ǎ: ȍ:)ȉWWX XWX:W2W*WVbU BU *U U U@@R(Combining 5 samples.PA*QE@ZQEG @T1_JQEs+;?ٌcO2QEx 0:QAbQE`M|aܿz5@w?RQEeGRK?'?BQEO? QE6@QEPEV9?PER9?PEQEQE1@"QE3@BB BA*BAAAA"CG@RCCC׹IGE>Iމ)ލ@A 9 I `Fi @ ; E(>#*,홍hFAY}'@}@y}1=}7}H2`ߙ}&?a?@|1bȿ`c?赿@T?)~'@ ~Lb;I~ɫ) IY5?y5ӔFDNmea in: $SNTTA,,,,,232625.41*59 ٺ<MD=Ya$Hyc;}>I :` 5? :ݾ G3 ?9O@6; $;):m-qAdded new target pos. range: 4.800000 m, bearing: 95.482957 deg, deltaT: 4.462214 s, approachRate: -0.013446 m/s, LOS rate: -5.181741 deg/s, posRepo size: 4W5O?W1X1 X1W1X1:W92W9*W9V9bU9BUA*UIUM@33@UM.?BqBy ByA}2*ByAyAyAA"C @RCCO?CIGI>} }}} }M~:Y}W1y}č:}6)};9V)*,*hFAY}:'@}:@y}:oF6}:ٽ}:H ht@20??`veɿ ?򥺿VQ?)~:'@ ~:fZa;I~8ɫ99)9 9I9Y}?y}ܔF]Au:MuU=Y}ܞya$Hy<}>Iȑŕ 5?ŕݾ ƕX6 ?9ƕ@Ǖ@: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUUZ?BB BA.*B A A A A"Ckl@RCCCI))) IG5 >q>0*,hFAY}6F&(@}6A@y}6,}6Ƚ}6H `c?`A?@"bǿf?e?)~6F&(@ ~6^;I~4ɫYY)Y YIYY?yʔF M M U U@ U@ U@QQQiQQ Q)QIQiQBMD=Ya$HHya<} >I %: 5? %:dݾ 9 -?9 @j<; WH;):WaWiXi XiWqXq:Wq2Wq*WyVybUyBU*UUU n?BB BA5*BAAAA"C@*Cq9qIqiqu=qqq qRCCCסIGA>ލ=iލ=  {:YU1y:6);h6*,ڨhFAY}2(@}2AAaM$HIQyeA}m>Iȉō 5?ōݾ ƍ>= ?9ƍh@Ǎѯ< ȍ <)ȉW)W1X1 X9W9X9:Wa2Wi*WiVibUiBUq*UqUqUu?BB BAE*BAAAA"Cj@RCCCI G%M><*,VhFAY}6(@}6,@y}6l}6ܽ}6H@@_W?`.?@@tƿ?`5v?)~6(@ ~6^];I~4ɫ99)9 9I9Y?yF~jt?M¿+η?D=n v=)Iy~jt?kt?{Gz< 0=ף :A)SAII4AicApIA)=     @ @ @i )IiM1=Yßa$H y}>I 5?ݾ ? 5?9@8<; ;;)WaWiXi XiWiXi:Wq2Wq*WqVqbUyBUy*UUU9@BB BAL*BAAAA!"CMG@RCICICIYi]?9IIGeV> ~~ 0p:YT1y@:i69@i 9i Im Fim @m =i i m 8; m ÝEzC*,chFAY}:O'@}:@y}:}:}:H``b@G??` ÿD ?Ϧ@Е?)~:O'@ ~:>];I~:Cɫ99)9 9IAY]?y]F=<M=k=YEIޙ)ޙI*,&r(hFAY}6'@}6K@y}6t }6<}6H`5et7?@ ?` W``?b?)~6'@ ~6Uc;I~4ɫYY)Y YIYY}?y}~F鮅p=ɮ=O<MU=Y^a$Hy>~}>IȹŽ$ 5?Žyݾ ƽ8C ?9ƽG@ǽϸ: Ƚb:)ȹWWX XWX:W2W*WVbUBU*UUU @R B*** querying acoustic contact ***P P B1B1 B1A5*B9A9A9A9A9"CE?RCACACI׉IG>  #s:YDW1yY:r6P*,UMBhFAY}2u'@}2@y}2+}2hp}2H`V`H|@;?`+?, (M?WЭG?)~2u'@ ~2T`;I~2CɫYY)Y YIYY}?y}FZ****** received transponder code query ******F****** received ping request ******;M/=Ya$Hyjں}>I :9 5? :ůݾ E ?9@A:  :):9IНFiE@V; ҝEWYWYXY XYWYXY:Wa2Wa*WaVybUyBUy*UyUU@p @BB BA*BAAAA"CU?RCCCAIQ)QI)GEQ>V*,(\hFAY}:qn'@}:@y}:꽙}:~}:H`{Q?`f7?nοM?u?)~:qn'@ ~:a^;I~:CɫAA)A IIIY}?y}QFxDUSBL response received:!U1,P 314,000,002C1,189,80,80,41,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 yzCi%mGI]_AiGٺ_AA*"MG=Ya-$H)9yEH}m>Iy} 5?} ݾ }G ?9}@}; }ZP<)yWiWiXi XiWiXi:Wq2Wq*WqVqbUyBUy*UyUyU@p @BB BA/*BAAAA"C?RC!C!C)YIqG>ލ=iލ= g Z{:YU1y:0*6\*,vhFAY}2'@}2k@y}2ɾ׽}2.`}2H}`&c@1?`@*?sż? ګ@c?)~2'@ ~2\;I~2Cɫ) IY ?y ڗF@A5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B a i @a  a m @a  a q @a  a e@a  ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYmor<Mm2=Yurqya}$Hyy;}>Iȉ :ō 5? :ōUݾ ƍI ?9ƍe@Ǎ: ȍ9>)ȍ:WWX XWX:W2W*WVbUBU*UUU@\@BqB BA*BAAAA"C[?RCCCױIG> >9 I xFi ? = ^; םE)ݡIݡiݡݡݡݥ4c*,ߏhFAY}2'@}2k@y}2MԽ}2^}2H` X?Q?o@+˾}?@0n?)~2'@ ~2Ea\;I~2Cɫ99)9 9I9Y=?yFxDUSBL response received:!U1,R,129,000,002B7,186,80,80,45,FF Fpublishing direction and range infolɰc=> )BIyf@I/Xc?U9| gпٱ-=M=Y;QU?a$Hy m<} ?I 5?ݾ iK ?9@: :?)WAWAXA XAWAXA:WI2WI*WIVIbUIBUQ*UQUQU] @Re(Combining 5 samples.Pi*Qmf@ZQmԢ&=@|T8JQmI/Xc?U9| gп2Qml:QibQmĽ278!qI @/.?RQmZg]Mfҙ#p8?2?BQm;@ Qmd@Qm PmQ9?PmV9?PmQmQm@"Qm1@BB BA*BAAAA"Co?RCCC?i?qIG>G t v:YDW1yY:*6)e;9Di*,ȩhFAY}r(@}r+@y}rν}r=}rH`@Q??U͹?`nAع?)~r(@ ~r[d;I~pɫ) IY-?y5ȗFDNmea in: $SNTTA,,,,,232629.87*5F jܼM;=Y;QU>a$Hy6<}%>I)- 5?-аݾ 5tI -M 5?9-@-: -֕?))meqAdded new target pos. range: 4.199998 m, bearing: 121.067425 deg, deltaT: 4.382786 s, approachRate: -0.136900 m/s, LOS rate: 5.837489 deg/s, posRepo size: 4Wm;@WiXq XqWqXy:W2W*WVbUBU*UU`@U?B)B1 B1A5*B1A1A1A9AY"Ce?*CaRCaCe;@CiQIaG}Y>Iމ)ލAAp*,éhFAY}6'@}6@y}6K<}6e}6H L?? a`잷? 䐬@=?)~6'@ ~6na;I~6Cɫ99)9 AIAY}"?y}-F    @ @ @ÙÙÙiÙÙ ę)ęIęięWSMO=Ya$HHy}>I: 5?ݾ O ?9'@[: ?)WWX XWX:W2W*WVbUBU*UU U  M?B1B1 B9A=*B9A9A9A9A9"CE?RCICICQܽ>9ܹIܽFiܽ1?ܹܹܹܹ ݹyIG%>  :Yyr6);w*,pݩhFAY}2#n'@}2@y}2}2| }2H`dej@Ρ?I?`?`EA?)~2#n'@ ~2Q^;I~2CɫAA)I IIIY}?yF ))<MI=Y~a $H 1y5|}5>I9= 5?=^ݾ =Q E?9=@=а: =r?)9WWX XWX:W2W*WVbUBU*UUU?B)B) B)A-E*B)A1A1A1A1"C=Ċ?RC9C9CAIq)u[AAIIGm5>.}*,ZKhFAY}2 '@}2I)@y}2q }2^}2HAɠ?k?0?_ ?)~2 '@ ~2];I~2Cɫ99)9 9IAY?yFa ia i a ma m a qa q a ea e |?5^ʿ{Gz?V-Rף< m)Iy rh?V-?Mb?C<<< ‘)•NAI•n8Ai•SAEA ] e e e@ e@ e@aaaiaa a)aIaiauOMu?=Y}QU}>a$Hyf}>Iȱ :ŵh 5? :ŵݾ ƵP ?9ƵD@ǵQ; ȵi:)ȵ:WWX XWX:W2W*WVbU BU*UUUȽ?BYBY BaAeq*BaAiAiAiAi"CuX?RCyCyCIGI>ލ=iލa= v l:YT1y:`69@ܱ 9ܱ Iܵ Fiܵ a?ܱ ܱ ܱ ܵ [; ݵ ֝E*,'hFAY}:s '@}:'@y}:}:t}:Hۈ@+?@+g?aw`g?`?)~:s '@ ~:g\;I~:Cɫ99)9 9I9Y}?y}cF)> >E<ME`=YMQUM>IIaU$HQQy]Ud}]>Iaer 5?eαݾ eN m?9e@e: e+:)aWWX XWX:W2W*WVbUBU*UUU=@BB BA'*BAAAA"C-?RCCCIG>@*,u+hFAY}6E'@}6Ba@y}6ν}6Xi}6Ht_sЯ?@`N? \ ɹ?@?)~6E'@ ~69];I~6CɫYY)Y YIYY?yHFI)=5\M=K=Y=QU=>AAaE$HAIyMl<}M>Iȱ :ŵY 5? :ŵ ݾ ƵL ?9Ƶ@ǵ: ȵ:)ȵ:WWX XWX:W2W*WVbUBU*UUUh@B!B! B!A%2*B!A)A)A)A)"C5 ~~ r:YT1y@:6)*, DhFAY}2'@}2"@y}2ɽ}2@ڼ}2H n#+?0h?@ ϕ2?@;O?)~2'@ ~2ta;I~2CɫYY)Y YIaY?yF鮡ɮ=    @ @  @i )IiSML=Yk;QU>!!a%$H!)y-,}->I15P 5?5Bݾ 5K E?95@5b: 5Y:)1WaWaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UyUyU}s@RB*** querying acoustic contact ***PPBB BA*BA)A1A1A1"C=#@RC9C9C9]>9YI]ȖFi]?YYY]f; ]ܝEIIQGu>V*,^hFAY}R&@}R@y}RĽ}RT@}RH~`ד?>?x@ܹu?;?)~R&@ ~R#_;I~Pɫ髹) IYu?yunF}Z****** received transponder code query ******F****** received ping request ****** u<)qIqyua$HyMN}>I : 5? :ݾ QI ?9*@0; !;):WWX XW!X!:W!2W!*W)V)bU)BU1*U1U1U5x @BB BA*BAAAA"C%@RCѸ\>CC!IGn>\  gx:YU1y:6}*,xhFAY}2&@}2 @y}2ҽ}2}2Hs %e? ?`^Sd?I?ʠu?)~2&@ ~2^;I~2CɫYY)Y YIYYn?yFxDUSBL response received:!U1,P 129,000,002B7,186,80,80,45,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 hyM=Y-QU5 ?AIaU$HQiyI[}?IY] 5?]gݾ ]+H ?9]@]{< ]f<)YWWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"Ckx@RC^1>CCI))-\AIGMt>Q 9Q IQ iQ Q Q Q U q; U Edf*,mthFAY}2>&@}2@y}2\L潙}2}2H@:@;?@p? qgb?ĸ?)~2>&@ ~2z];I~2Cɫ99)9 9I9Yut?y}%FyyNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @áááiáá ġ)ġIġiġ?=M@=YQU>a$Hy]5<}>I : 5? :ݾ F ?9-@: :):WWX X W X :W 2W*WVbUBU*UUU@@BB B A *B AAAA"CE @RCMI%>CICIaIqG:>imGIi ٺ  A y n:YDW1yY:6);9\*,JhFAɫyy)y yIyYV?yFxDUSBL response received:!U1,R,0EB,000,002B6,186,80,80,38,FF Fpublishing direction and range info~Qɰhc=鰹 )`BIyz@+WT?-ʿٱMY=YQU>qqau$Hqyy}}>IȁŅ 5?Ņzݾ ƅE ?9ƅ@Džo; ȅ;)ȁWWX XWX:W2W*WVbUBU*UU U @R=(Combining 5 samples.P9*Q=z@ZQ=6@$x|JQ=+WT?-ʿ2Q=~Q:Q9bQ=zF TE&0x @qPh?RQ=6nrcb?"L ?BQ= @ Q=[@Q=WP9P=Q9?P=Q=Q=@"Q=@BB BA*BAAAA"Cj @*C[ <RC >CCx>IGj>z*,1ƪhFAY}&@};@y}}}Hz`=Ա?p?'@? V5`u?)~&@ ~Cb;I~Cɫ ) IY?y8F9Ii=; E)1I1i15=5=54DNmea in: $SNTTA,,,,,232634.31*5E I-=))müMm4=YmۣQUu>qqau$HuHyy} }>Iȉō? 5?ōݾ ƍC ?9ƍM@Ǎb: ȍ:)ȉmqAdded new target pos. range: 4.140001 m, bearing: 123.297810 deg, deltaT: 4.471102 s, approachRate: -0.013419 m/s, LOS rate: 0.498845 deg/s, posRepo size: 4W @WX XWX:W2W*WVbUBU*UU`\@U9?BB BAq*BAAAA"C @*C <RC!>C @C)m>u?iu?4  6u:YU1y:6);a Ii G >*,ZhFAɫ髩) IYT?y9FQ?v/?u<xi= L)Iyy&1?S㥫?a$Hy}>I :` 5? :ݾ E ?9@e; r;):WaWaXa XaWaXa:Wi2Wi*WiVibUiBUq*UqUqUu6?BB BA؃*BAAAA"C!*C%PG<RC% >C!C)S>IG>Iމ)ލ?A'ͽ*,hFAY}BY&@}B@y}B+T}BI}BHWBʪ?s?]M@¿:? ?)~BY&@ ~B?^;I~@ɫQQ)Y YIYY?y^FԳ;Mx=Y΄QU?a$H!y%x-}-?I15 5?5/ݾ 5mG =?95@5Ǻ: 5:)1WYWYXa XaWaXa:Wa2Wa*WiVibUiBUi*UqUqUuW?BB BAʃ*BAAAA"C*C濁<RCӃ>CC+>יIGE>  :YW1yč:69@9Ii; E*,hFAY}6&@}6(@y}6A}6}6Ht@X?P?`Kґſ?:?)~6&@ ~60\;I~6Cɫyy)y yIyY?yqF 鿉dM>=YQU>a $H y-LS<}5>II e:MC 5? m:MͶݾ MI u?9Mo@M; MK;)M:W!W)X) X)W)X):W)2W1*W1V1bU1BU1*U9U9U=Ga?BaBi BiAm**BiAiAqAqAq"Cy*C}n<RC} >CyC!܃>I)ױIG>H*,-hFAY}61n&@}6@y}6}6c}6HRK 3?y?` Q@A¿??)~61n&@ ~6[;I~6Cɫyy)y yIyYN?yF      @  @  @   i   ) I i EfMMD=Y]9QU]>iiau$Hqyۍ}>Iȱŵ 5?ŵeݾ ƵK ?9Ƶ-@ǵ{: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUU >[@BB BAZ*BAAAA"C *Cw.<RC>CC5]A5]A=>IG=>- k t:YDW1yY:36*,usGhFAY}F%@}F;@y}F}F}FHl @4?P?@,3sJ?d0?)~F%@ ~F^;I~FCɫaa)a iIiY?yF5#=M5]=Y=TQU=>99aE$HAAyE}M>IQ ]:U 5? ]:Uݾ URM ]?9U@U: U<:)U:WWX XWX:W2W*Wܙ9ܙIܝ Fiܝ?ܝ=ܙܝNDܝ|; ݝEVbUBU*UUU >B@BYBa BaAe*BaAaAAA"C*C=RC >CCօ->YIyG<>F*,\TahFAY}Mt%@}MV@y}M&}Mh9e}MH@c9l??@@Tÿb?IB?)~Mt%@ ~M `;I~MCɫ)1)1 1I1Ym?ymFqɮup=Ia=)R=)\(?w/ܿA)KAI2Ai(\AFA5c%M5;=Y5QU5>99a=$H9AyE(@}E>I 5?ݾ  J ?9Q@: :)WWX XWX:W2WA*WAVAbUIBUI*UIUIUM@R]B*** querying acoustic contact ***PYPYBB BA*BAAAA"C*C=RC p>C C 5>M?iM?AIi v ~:YU1y:`6G>J*,u"{hFAY}6%@}6@y}6)}68-}6H@=n?@.?`ƿi ?>w?)~6%@ ~6$_;I~6Cɫ99)9 9I9Y}?y}LFZ****** received transponder code query ******F****** received ping request ****** a$Hy2;}>I : 5? :oݾ NG ?9@: j:):WWX XWX:W2W*W!V!bU!BU!*U)U)U- E @BQBY BYA]9*BYAYAYAaAa"Ca*Cm{=RCmI>CiCq }=}=e>9IQGmV>ܙ9ܙIܙiܙܝ=ܙܝMDܝ; ݝE4*,hFAY}6~%@}6)@y}6$}6Hu}6H@7g?@K?]Ŀn?`> k?)~6~%@ ~6DŽ];I~6CɫYY)Y YIYY?yđFxDUSBL response received:!U1,P 0EB,000,002B6,186,80,80,38,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ^AሼMI=Y-!AAaM$HQay }>I 5?ݾ UD %?9-@9:  ;)WAWAX XWX:W2W*WVbUBU*UUU o @BYB BAp*BAAAA"C*C =RC.H>CC<->O y ]w:YV1y:6);9IG>W+*,خhFAY}6$@}6@y}6^!}6D}6H੨ ^ҷ?3?q`bl ?@pfq?)~6$@ ~6.\;I~6CɫAA)I IIIY&?yDF}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B  = = = =@ =@ =@999i99 9)9I9i9M_iMM8=YU;QUU>QYa]$HYYyeۼ}e>Iim: 5?mݾ meA u?9m@m: mܹ:)iWWX XWX:W2W*WVbUBU*UUU7@BB BA*BAAAA"C*CjP=RC4y>CC@>IGk>>*,1ȫhFAY}:^#@}: @y}:l&}:|w}:HvZ ?+D? 0Z`?`!tU?)~:^#@ ~:`n\;I~:Cɫ99)9 9I9Y}?y}UFxDUSBL response received:!U1,R,19F,000,002B6,186,80,80,46,FF Fpublishing direction and range info}lɰ鰁 )BIy:3嫠?*VֿٱM=Mi=Y JQU>a$H Hy}>I : 5? :A9AIAiAE=AENDE; EEJݾ > ?9@M< y<):WWX XWX:W2W*WVbUBU*UUU@R%(Combining 5 samples.P!*Q!ZQ%!$ L@]wJQ%:3嫠?*Vֿ2Q%}l:Q!bQ%N{iAr@h??RQ%A67׿q$4~j??BQ%'-? Q%s@Q%@P%R9?P!P%Q%Q%p@"Q%@BB BA5*BAAAA"C*C8=RC]i>CC\A)|>סIGB>  |:Yy 6)~; uC I*,DhFAi}nGI8ip%6ٺ)-A|qi|qY}IF#@}a@y}Y#.}>}H@?`]u?/L e@?@r?)~IF#@ ~`;I~Cɫ髹) IYz?yFeTNmea in: $SNTTA,0.005377,,,,232638.75*4A `only read 0 of 1 data item for water mass range.a i@a  a m@a e a qe@a e a ee@a e )m> m >u лM}$=Y}QU}>a$Hy}>IȹŽk 5?Ž]ݾ ƽM; ?9ƽ@ǽ: Ƚ+?)ȹmqAdded new target pos. range: 4.140001 m, bearing: 111.537146 deg, deltaT: 4.440664 s, approachRate: 0.000000 m/s, LOS rate: -2.648402 deg/s, posRepo size: 4mTStarting intercept timer at range: 4.14 m.W'-?WX XWX:W2W*WVbU BU*UUU@ ?B9BA BAAEO*BAAAAAAIAI"CU@RCUJ[>CU'-?CY֥7x>yIG>bg*,jhFAY}6};#@}6W@y}6A=/}6p!}6H`&ܯ?w? Fƿ`S?@^`-u?)~6};#@ ~6dk_;I~4ɫII)Q QIQY}?y}`FI4=) = = = =@ =@ =@999i99 9)9I9i9MMMx=YUUQUU?YYa]$HYYye}e ?Iim 5?mȲݾ m8 u?9m@m: m|T?)iWWX XWX:W2W*WVbUBU*UUU_?BqBq ByA}*ByAyAyAyA"C@RC >CC֕(>ׁIG@>99=CI9i9==99=; =E)ɇIɇiɇ͇=͇=͇F5 p v~:YU1y:6);\O+,EhFAY}6 #@}6Q)@y}6 '}6V$}6H"ܣ??@cǿa?j@o?)~6 #@ ~6A];I~6Cɫ99)9 9I9Y?yF=,M=K=Y=AAaE$HAIyM}M>IQ ]:U 5? ]:Uݾ U5 e?9U_@U: U?)U:WWX XWX:W2W*WVbUBU*UUU7?BB BAG*BAAAA"C@RCCC ==9l>סIGA>`} +,10hFAY}R"@}R@y}R }Rө}RHsu??@1?ſ*?`?)~R"@ ~Rܡ\;I~RCɫ髹) IY e?y ΐFyy    @ @ @i )Ii=M@=Ya$Hyf}>I@ 5?Mݾ 2 ?9@S:  ?)W!W!X! X!W)X):W)2W)*W)V1bU1BU1*U1U9U=?BaB BAԄ*BAAAA"CI1?RCCC>I!GUv>  0:YDW1yY:69@8a+,@IhFAY}2"@}2#@y}2ra$Hy}>Iȡť 5?ťݾ ƥ0 ?9ƥD@ǥh: ȥ'@)ȡWWX XWX:W2W*WVbUBU*UUU @BB BA߄*BAAAA"C%'-?RC!C!C)AI)GEQ>(+,`chFAY}6j!@}6@y}6%}6K}6He_@F??%1ÿo?`?)~6j!@ ~638];I~6Cɫ11)1 1I9Yqyqa iea ie a mea me a qea qm a ema em mi|?5?EԸ?{Gzm=m= m#)iIiymX9v?{Gzm  a $H y{'}>I E: 5? M:ݾ a/ M?9@; v;):WWX XWX:W2W*WVbUBU*UUU@BB BAA*BAAAAAAAAA"CI*CMRCQCQCQԁԅ]A֕>qIG>ލ=iލ= W ;o:YU1y: 6|+,}hFA|i|Y}6#"@}6>@y}61,}6%$}6HL`K?N?`@kÿIl?`;9?)~6#"@ ~6_;I~6Cɫ99)9 9I9Y?y͑F鮩ɮ)= =        @ @ @    i ?  ) I i ?%T<M%))a-$H)1y=i;}=>IAE 5?Eݾ E. M?9E2@E: Ew:)AWiWiXq XqWqXq:Wq2Wy*WyVybUyBU*UUU-v@RB*** querying acoustic contact ***PPBB BAm*BAAAA"C*CRCCC6Ʌ>סIGA>9Ii=; E%+,LhFAY}:2"@}:`N@y}:<.}:-}}:H೮Tk?@#?: ſ?5`=z?)~:2"@ ~:V];I~:Cɫ99)9 9I9Y}?y}|FZ****** received transponder code query ******F****** received ping request ******a$Hy/;}>I` 5?ݾ .  ?9@: I:)W)W1X1 X1W1X9:W92W9*W9V9bUABUA*UAUAUM` @BB BA*BAAAA"C*C˱RCCC)>%?i%?I G5q>U  w:YV1y:26++,thFAY}=]"@}="@y}=},}=+}=H`͟`j/??`Nƿ~?@W5q?)~=]"@ ~=\;I~=Cɫ) IYm ?yuF}xDUSBL response received:!U1,P 19F,000,002B6,186,80,80,46,FF }Command Ack}BRequesting micromodem ping code 2iyyNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76        @  @  @  @   i   ) I i Ua7;MU)=Y>;QU>a$Hyy}>Iȱ :ŵ. 5? :ŵݾ Ƶ>- ?9ƵD@ǵ; ȵ;;)ȵ:W)W)X) X)W)X):W12W1*WQVQbUYBUY*UYUYU] @BB BA*BAAAA"C*CRCCC = I G >2+,IˬhFAY}:.v!@}:@y}: ,}:I}:Hj9? ?* ʿg?vM?)~:.v!@ ~:4];I~:Cɫ99)9 9I9܁9܁I܁i܁܅=܁܁܅; ݅EY?y؏F%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ™\AM~=Y;QU ?a$H Hy}?I 5?yݾ , ?9@: ϸ:)WWX XWX!:W!2W!*W!V!bU)BU)*U)U1U5@F+@BB BA8*BAA!A!A!"CI*CIRCICICQ]?΅>1IAGew>W  x:YW1yč:6);98+,XhFAY}6#d!@}6@y}6)}6[ }6HseOLQ?>?``D˿\?:GC?)~6#d!@ ~6 ];I~6Cɫyy)y yIyY?yEFxDUSBL response received:!U1,R,0DB,000,002C3,187,80,80,2C,FF Fpublishing direction and range infoECɰg=1> )0BIyp@ݦj?QB[Pȿٱ ))Mbp? ףp= ? rh;Q8= C)Iy~jth?Mby&1?D;`e< a$H y d#} >I :t 5? %:>ݾ * %?9@0: 9:):WAWIXI XIWIXI:WI2WQ*WQVQbUQBUQ*UYUYU]`@Rm(Combining 5 samples.Pq*Qup@ZQuO^YR@?JQuݦj?QB[Pȿ2QuEC:QqbQu%,U@Yyy?RQuh޿pNo?4Z=?BQu)@ Qu@QuPuP9?PuR9?PuQuQuI0@"Qup@BB BA *BAAAA"C*CⱽRCCC>I)ױIG>?+,rhFAɫ髡) IYZ?y*FuTNmea in: $SNTTA,0.029578,,,,232643.23*42 M M M M@ U@ U@IIIiII I)IIIiIefMmT=YmQUu>qya}$Hyy}>Iȑŕ 5?ŕ ݾ ƕ)) ?9ƕ@Ǖ; ȕ;)ȑmmAdded new target pos. range: 4.919998 m, bearing: 119.213384 deg, deltaT: 4.486639 s, approachRate: 0.173849 m/s, LOS rate: 1.710911 deg/s, posRepo size: 4W)@WX XWX:W2W*WV bU BU*UU@U!?BB BA*BAAAA"C?RCC)@C 1ܑ9ܕCIܕFiܕ1?ܕ=ܑܑܕ; ݕ EI!GE>  :YX1y/:6).;E+,hFAɫ髁) IY?yF)-= ->U\=MU]=YYQU]>Yaae$Haayi}m>Iq }:u 5? }:u٫ݾ u' }?9u)@u9: u:)u:WWX XWX:W2W*WVbUBU*UUU?BB BAt*BAAAA"C R@RC,k>CCinmGIi=ٺ9=Aֽ>יIGb>+L+,w2hFAY}Z@}Z%@y}ZI)}ZL}ZH@H? ӈ?@^aĿ?eA`2?)~Z@ ~Z];I~ZCɫ髑) IYZ?y*FIE=)E%=    @ @ @ÑÑÑiÑÑ đ)đIđiđmDME=Y:QU>a$HyZ}>I 5?ݾ & ?9]@; ;)WWX XWX:W2W!*W!V!bU)BU)*U)U)U-?BYBY BYA]*BYAaAaAaAa"CmJ?@RCmG=CiCq"f|>yIG=>T w :YDW1yY:|69@uR+,LhFAY}6_2@}6M@y}6D&}6k}6H`PH`|C?H?`{ ƿf?^J)~?)~6_2@ ~6W9];I~6C!9%CI%Fi%a?%=!!%; !)ݽCIݽCiݹݽ=ݽ=ݽ5ɫYY)Y YIYY?yF5;M=R=Y=1;QU=>AAaE$HAIyM}M>I 5?eݾ m$ ?9@: U:)W)W)X) XIWIXQ:WQ2WQ*WQVQbUYBUY*UYUYUeIL?BB BA&*BAAAA"C@RCJ=CC k>IGE>'Y+,efhFAY}2@}2v @y}2#}26rm}2H zU?G?vUĿ`g?@H`?)~2@ ~2\;I~2CɫII)I IIIY}?y}*Fm:v?L7A`?{Gz?mT mף<)iIiymQy&1l?mum`m= mA>A)m3MAIm 0Aim]AimfFA…]AaּME=YI;QU>11a5$H19y=}=>IA M:E 5? m:Ehݾ E u?9E@E; E;)E:WWX XWX:W2W*WVbUBU*UUU?B1B1 B1A=*B9A9A9A9A9"CE+@RCmp*=CiCi}!k>YIiG>w | z:Yy6`+,cGhFAY}2@}20@y}2"}2lB }2H Sh`ұ?`? l`¿I?Fn?)~2@ ~2];I~2C>JFailed to close latch before timeout.q >>Hardware FaultY^?y^F )) u u u u@ u@ }@qqqiqq q)qIqiqM\=Y`$;QU>a$HQQy]}]>Iae' 5?eiݾ e= ?9eh@e+"< eP$<)aWWX XW X :W)2W1*W1V1bU9BU9*U9UAUE @BB BA*BAAAA"C\@*C2RC`$=CC]>I)׹I-$@Hardware Fault in component: DDMGE>!9!I!i!%=!!%; %E9f+,ehFAY}:@}:1@y}:'}:}:H@i!? /?KL¿\?Ǖ@$?)~:@ ~:_;I~:CBPowering down@ɪ@)D DY?yFa=ɮM:M4=Y/QU>!a%$H!!y-ډ}->I1 =:5f 5? =:5jݾ 5l E?95@5: 5$:)5:WaWaXa XaWaXi:Wi2W*WVbUBU*UU U @RB*** querying acoustic contact ***PPBQBY BYA]*BYAYAaAaAa"Cm0@RCm_=CiCqyyE/>I)GEQ> "    s:Y W1y č: 16cl+,UhFAY}2[=@}2X@y}2z2}2}2H#("??GoĿ@6?4@p~?)~2[=@ ~2|d^;I~2CYf6?yf؎FjZ****** received transponder code query ******jF****** received ping request ******n 5>E1MEn=YMQUM?IIaU$HQQy]?;}e?Iimd 5?mnݾ mY u?9mB@m: m1;)iWWX XWX:W2W*WVbUBU*UUUx# @BB BA*BAAAA"C)@RCF޴=CC l >בIG=Ks+,ͭhFAt9tIvȖFiv?v=v:Dtv; vEY)y)5xDUSBL response received:!U1,P 0DB,000,002C3,187,80,80,2C,FF =Command Ack=BRequesting micromodem ping code 2i9AMNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I}4=)y }   @ @ @ÁÁÁiÁÁ ā)āIāiāYQU>a$HM HQyU}]>Ia :e 5? :esݾ e ?9e@e"< e #<)e:WWX XWX:W2W*WVbUBU*UU!U%E @BiBq BqAq*BqAqAqAqAy"C*C*RC煯=CCֽ=?i?בI$NClearing failed state for component DDMq G>5 T 5 5 5  5 w:Y5 DW1y5 Y:5 h6)5 J;9U 7vy+,hFAY}6@}6X@y}6p+}6<߽}6He q? U?NMɿ`Z?u A]?)~6@ ~6];I~6CYBz?yBǍF@BAARNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -Q?ˡE?Q?-\>-= -\=))I)y-S㥛~jt/$?-/ݼ-D-< -fBA)-KAI-I4Ai-cA)-pIA]Meiiam$Hiiyu<}u?Iy} 5?}̫ݾ }\ ?9}'@}: }˵:)yWWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C*CݰRC=CCM8=IG-->]+,"hFAY}:v@}:@y}:I&}:н}:H}$_?;?;Dȿs?@⻹i?)~:v@ ~:$];I~8Y^?ybFfxDUSBL response received:!U1,R,502,000,002B3,189,80,80,AF,FF fFpublishing direction and range infobf3`ɰbmb=b7> `)b/CI`ybp}@bw?amf-ٱ`ttz=Mze=Y~d|a$Hy  <} >I :b 5? :(ݾ  ?9@: _:):WAWAXA XAWAXA:WI2WI*WIVIbUQBUQ*UQUQUU^@Re(Combining 5 samples.Pi*Qmp}@ZQm8]?{ JQmw?amf-2Qmf3:QibQmc;U?9U @.'Sk?RQmh8?ByNh'?5nO?BQm0ߌ? Qm^@Qm?Pm[9?PmP9?PmQmQm@"QmI0@BB BA*BAAAA"C*C7RC+=CC֥+,=ׁIG=>9IFia?=;D; "Em 9 m m m  m u:Ym W1ym č:m N6)m n;⊆+,phFAY}r=@}r{Y@y}r:+}rN~ӽ}rH!!a%$H))y <}>Ij 5?ݾ  ?9@g: ض:)mUuAdded new target pos. range: 3.959999 m, bearing: 63.057509 deg, deltaT: 4.344892 s, approachRate: -0.220949 m/s, LOS rate: -12.924573 deg/s, posRepo size: 4mURStopped intercept timer at range: 3.96 m.m]ProNav REINIT: LOS rate is -12.924573 deg/s. Setting heading cmd to target bearing of 63.057509deg and heading rate command to 0 deg/s.W]0ߌ?WYXY XYWYXa:Wa2Wa*WVbUBU*UU @Ul?BB BA*BA!A!A!A!"C-.@RC5>C50ߌ?C1zt=I!)!IGI>ޱ+,>5hFAY}6,@}6@y}62}6/}6H` 2@?˟?@Jǿ@&?Aг@sk?)~6,@ ~6p[;I~4YB?yB}FU<MUX=Y]QU]>aaae$Haayme<}m>Iqu; 5?uݾ u* ?9u-Auž; u;)qWWX XWX:W2W*WVbUBU*UUU U?B B  B A Ņ*B AAAA"C6@RCJ>CC!D=IG>m m m m  m {:Ym WU1ym :m 69u @+,iOhFAY}2^l@}2@y}223}2Z&,}2H9+X?C?`ĿR?.T{?)~2^l@ ~2)T\;I~2CB>9BCI@i@B=@@B; B EYN?yNF) = ==:M=L=YEw_QUE>AAaM$HIIy]c}e>I :8 5? :^ݾ ` %?9fA: :):WAWAXA XIWIXI:WI2WI*WIVQbUQBUQ*UYUYU]?BB BA*BAAAA"Cu?RC >CCֵ;=סIGA> % zCi mGI `Ai 5 6ٺ5 `A5 Aę+,hhFAY}:/@}:=K@y}:hm3}:b&}:H <;w? ?@ĿWP? Yy{?)~:/@ ~:\;I~:CYF?yFkFI =) =a i@a  a m@a  a q@a  a e@a  E E M M@ M@ M@IIIiII I)IIIiI]IM]9=Y]39QUe>aaae$Haiym }m>Iy}/ 5?}íݾ } ?9}A}ի: }>)yWWX XWX:W2W*WVbUBU*UUUʋ?BB BA̅*BAAAA"Cl?RCCC=?i?שIG)>    n :Y DW1y Y: 6*+,҂hFAY}2@}2%*@y}2C4}2\(}2HwGz? {?IĿ F{?콤y?)~2@ ~2c[;I~2CYB?yB"F    @ @ @ÙÙÙiÙÙ ę)ęIęię6MQ=Yb^QU>  a $H 1y=}=>IA u:E 5? }:E%ݾ E }?9EAE; E1R?)E:WWX XWX:W2W*WVbUBU*UUU@BABA BAAE*BIAIAQAQAQ"Cu?RCqCqCqei%>AIIGm5>܁9܁I܁i܁܅=܁܁܅; ݅ E)Ii=='6զ+,ɫhFAY}2@}2 @y}2R7}2}2H _i`I1??>]KĿ@? "y?)~2@ ~2`[;I~2CYNg?yRYFYY;MQ=YQU>a$Hy+}>IȹŽ 5?Žݾ ƽ[ ?9ƽAǽ: Ƚә?)ȹWWX XWX:W2W*WVbUBU*UUU͋@B)B) B)A-ԅ*B)A1A9A9A9"CE?RCACACA5Q>IG>    fm:Y U1y : E6s+,hFAY}6@}6@y}6?;}6}6H:Ke?? n@[ſ1??Iq?)~6@ ~6[Z;I~6CYN?yRFFRp=ɮP - - - -@ -@ -@ -)))i-?) -?)-?I-?i-?=<M=P=YE4 QUE>AAaM$HIIyU~2}U>IY] 5?]ݾ ] e?9]9A]: ]?)YWWX X W X :W 2W *W VbU1BU1*U1U9U=@REB*** querying acoustic contact ***PAPABB BAs*BAAAA"Cw?RCCC\Aֵ.%>I׹)׹ׁIG>+,bЮhFA^A9Ii=; EY}z@}zB@y}z(:}z*}zH@D@`3?? !zȿN$?b@[?)~z@ ~zZ;I~zCY E?y FZ****** received transponder code query ******F****** received ping request ******a$H HyE}>Ișŝ 5?ŝNݾ Ɲ ?9ƝoAǝ: ȝg@)șWWyXy XyWyXy:Wy2W*WVbUBU*UUU' @BB BA*BAAAA"C x?RC CC1%FӅ>I G%M>ޝ=iޝ=     :Y V1y : i6) |;9 +,C=hFA|i|fPowering upf"Initializing DDM.Y}?y}4FxDUSBL response received:!U1,P 502,000,002B3,189,80,80,AF,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 a ia i a ma m a qa q a ea e 19a$Hy}>I : 5? %:ݾ V %?9A/< <):WWX XWX:W2W*WVbUBU*UUUH@B!B! B!A%{*B)A)A)A)A)"CU?RCQCQCY m=m>օ >׉ i׍ ?Y Ii G >+,7hFAY}Zk@}Z@y}Zx;}Zq}ZHCF|&?|? @?ǿ M?,%i?)~Zk@ ~ZZ;I~ZCYfe?yfΐFzNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =t=ME=YEQUE!?IIaM$HIIyU}U+?IY] 5?]zݾ ] m?9]A]: ]:)YWWX XWX:W2W*WVbUBU*UUU Q@BB BAԄ*BAAAA"C[?RCCC׹IGE>)9)I- Fi-?-=))-; - Ee e e e  e :Ye W1ye č:e 36)e X;$+,hFAY}NM@}N@y}NI@}N:B}NH01? ?@4ȿ$?3]?)~NM@ ~N1[;I~NCYZA?yZ|F^xDUSBL response received:!U1,R,502,000,002B3,18A,80,80,C3,FF bFpublishing direction and range info\\ɰ\^> \)^CCI\y\^w?amf-ٱ\rB>Mvc=YvVQUv>xxaz$Hxxy~:}~>I 5?ݾ H  ?9A: =:)W1W1X1 X1W1X1:W92W9*W9V9bUABUA*UAUAUM:@RU(Combining 5 samples.Pa*QaZQe8]?{ JQew?amf-2Qa:QabQe*3C?Q @\gJ4?RQeD>Wߎ?y5_?!u?BQe? Qe]@Qe?PaPe[9?PaQeQeg@"Qe@BB BA]*BAAAA"C 4?RCCC։IIYGm>Iމ)ލAAP+,+7hFAY}@}D#@y}VZA}}H? @ʪ??`1ɿ`?@V?)~@ ~Z;I~CYU?yUFTNmea in: $SNTTA,0.007188,,,,232652.08*4C    @ @ @i )Ii-6<M-7=Y5QU5>19a=$H99yEFB:}E>II U:Ms 5? U:Mݾ MC ]?9MAM(: M:)M:m%mAdded new target pos. range: 3.959999 m, bearing: 62.191591 deg, deltaT: 4.442752 s, approachRate: 0.000000 m/s, LOS rate: -0.194906 deg/s, posRepo size: 4W%?WIXI XIWQXQ:WQ2WQ*WQVYbUYBUY*UYUYUe`?BB BA5*BAAAA"Ci?RCC?C15]AV݅>I)IG%o>e e e e y e F{:Ye T1ye :e 69e @! 9! I% Fi% 1?! ! ! % ; % E&;+,QhFAY}:@}: @y}: @}:|w}:H#t??@c"ǿ@? ^O`?)~:@ ~:Z;I~:CYF ?yJF <MR=Y[:QU>a$Hy:}>I 5?Gݾ ] ?9=AR: :)WWX XWX:W 2W *W VbUBU*UUU?BABA BAAE*BIAQAQAQAQ"C]#?RCYCYCa]>9IAG]4>q`+,khFAY}:A@}: @y}:D}:9J}:HT@@`5??;ǿ\?`SΨ@q`?)~:A@ ~: Z;I~:CYF?yFFʡE?y&1?A)OAIv.AiKeAzHA:ML=YQU>19a=$HAqyuJE:}}>Iy :} 5? :}{ݾ }v ?9}LA}: }:)}:WyWyX XWX:W2W*WVbUBU*UUU@?BiBi BqAu*BqAqAqAqAq"C}?RCCC֝>qIG~>ޑiޕa= u  g:Y y 6H+,xbhFAY}>"4@}>O@y}>F}>n}>Hcr?w?l ȿԬ?,KX?)~>"4@ ~>rZ;I~>CYZ?yZF    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉMK=YAʻQU>a$Hy<}>IȹŽ 5?Žݾ ƽ ?9ƽYAǽ: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU`0?BB BA1*BAAAA"C j?RCCC>?i?׹>9IFiv?=; EIGI>3r+,.;hFAY}6s@}6@y}6C}6}6H"=:?F? &&gɿ`S?9Q?)~6s@ ~6}Z;I~6CYB?yBFIC=)R=]8<MeO=Ye;QUe>iiam$HiiyuP<}u>Iȑ :ŕ 5? :ŕ׭ݾimG ƕ ?I_A9ƕfAǕy9IIGeV>I+,'hFAY}6{@}6@y}6>}6ܜ}6H@Nzl?~?,bɿ?T?)~6{@ ~6)Z;I~6CY^~?y^{F    @ @ @éééiéé ĩ)ĩIĩiĩ[<MD=Y=a$Hy͙;}>I 5?ݾ  ?9tAR: ^:)W W X  X WX:W2W*WVbUBU*UU!U%G@BIBI BQAU*BQAQAQAYAY"Ceܶ?RCaCaCae>!I1GM1>Iމ)ލ@A  |:YWU1y:6 9 I xFi ? = ; E)]CI]CiY]=]=]Q5+,Y2ӯhFAY}6w@}6@y}69?}6:}6H`3@z³?:?`N`\ƿ? ;릿7i?)~6w@ ~6%Z;I~6CYn9?ynFpɮp%ҼM%S=Y-yiQU->))a-$H5 H1y5,}=>Iae 5?e8ݾ e m?9eAe=: e:)aWWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA߄*BA!A!A!A!"C-?RC)C)C1III)M]A!I)GIK+,uhFAY}::@}:!V@y}:E}:M<}:H@,,X? ?T'¿?J? f?)~::@ ~: [;I~:CYF?yJqFJZ****** received transponder code query ******JF****** received ping request ******N- <)IyI +?Mb?Mb?9<@=< •a$Hy\}>I : 5? }:ݾ w ?9A|<  <):WWX XWX:W2W*WVbUBU*UUUr @B1B1 B1A5**B1A9A9A9A9"CA*CARCACACi] >1IAG]v> [ p:YDW1yY:| 6=,,hFAY}F`@}FL|@y}F%I}F@<}FH@+!`J@!? ^?6l¿ ?j?:`?)~F`@ ~Fa[;I~FCYZ?yZFxDUSBL response received:!U1,P 502,000,002B3,18A,80,80,C3,FF Command AckBRequesting micromodem ping code 2i Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )IiM)<=Mm4=YuQU}>a$Hy=;}>I)-( 5?-ݾ - =?9-:A-: -Y:))WWX XWX:W2W*WVbUBU*UUU @BB! B!A%*B!A)A)A)A)"C1*C1RC1C1C9EE MM}>9yI}@Fi}?}=yy}; }Eލ=iލ= I G >Q,,Ԃ hFAY}6@}6[@y}6(\I}6 }6HMX7ܷ? ? ׀`udƿ?!@s]?)~6@ ~6[;I~6CYB?yBTF@B@AVNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 6<Mh=Y:QU?a$Hy<}?I : 5? :0ݾ  ?9~A: ,:):WWX XWX :W 2W *W V bUBU*UUUJA@BABA BAAMf*BIAIAIAIAI"CQ*CYRCYCYCYm?im?QIYGu=T  w:Y0Y1y:6E ,,e:hFAY}2@}2{@y}2YC}2.}2HPyu'?@?7 }ɿ@bE?`| P?)~2@ ~2os[;I~2CYN?yNFRxDUSBL response received:!U1,R,502,000,002B3,188,80,80,8D,FF VFpublishing direction and range infoPPɰPR> P)R CIPyPRw?amf-ٱPIba=)b=    @ @ @i )Ii%M-S=Y-x11a5$H19y=R}=>IAE0 5?Eݾ E U?9EAEI: E@:)AWqWqXq XyWyXy:Wy2Wy*WVbUBU*UUU@RU(Combining 5 samples.PY*QYZQ]8]?{ JQ]w?amf-2QY:QYbQ]?w @tO?RQ]EGxs?|;n?ɝ?BQ];? Q]^@Q]?PYPYPYQYQ]@"Q]g@BB BA|*BAAAA"C*CRCCCIG>a 9a Ie Fie E?e =a e MDe ; e E,,BThFAY}rl|@}r@y}r=}r=f}rH7@'?5?`ȿ?ЋY?)~rl|@ ~rl[;I~rCY%?y%AFTNmea in: $SNTTA,0.125109,,,,232656.51*4C ;M>=Yga$Hy 8} >Iy :}R 5? :}ٯݾ } ?9}.A}A: }:)}:miAdded new target pos. range: 3.959999 m, bearing: 62.771624 deg, deltaT: 4.476173 s, approachRate: 0.000000 m/s, LOS rate: 0.129582 deg/s, posRepo size: 4W;?WX XWX:W2W*WVbUBU*UUUQ?BB BAm*BAAAA"C ;?RC C ;?CIG >Iމ)ލ?A B u:YT1y::&6)a;9a,,nhFAY}2lW@}2r@y}2Az9}2srb}2H`h,@d԰? ?5'ƿ`?!ԫ@m?)~2lW@ ~22[;I~0YN?yRJFCl?ˡE?I +?O>'= 9<)IyMb`??Mb?;<< ¥AA)¥^LAI¡i¥cAHA    @ @ @i )Ii;<M:=Ya$H!y%F}%>I)- 5?-5ݾ -u =?9-[A-/: -:))WYWYXY XYWYXa:Wa2Wa*WaVabUiBUi*UiUqUu ?BB BA*BAAAA"C*CRCCCI)\AIG%>!,,AhFAY}::@}:`V@y}:/h7}:pּ}:H` #|~~b?l?@R#Ŀ?b 0z?)~::@ ~:u/[;I~:CY^?ybF ))}<M}h=Y;QU>a$Hy>}>Iș :ŝ 5? :ŝݾ Ɲ ?9ƝAǝ: ȝ:)ȝ :WWX XWX:W2W*WVbUBU*UUUy#?B B  B A *B AAAA"C*CRCC!C!IIYGu= 9 I `Fi @ =  ND ; E3 c "u:YyW6);1(,,ѡhFAY}6B+@}6F@y}66}6g}6H `@c??[#mƿ?jp?)~6B+@ ~6 [;I~6CYNr?yNF=uD=M=N=Y=:QUE>AAaE$HAIyM`}M>IY]H 5?]԰ݾ ] e?9]A]: ]+:)YWWX XWX:W2W*WVbUBU*UUU/?BaBa BaAe*BiAiAiAiAi"C*CRCCC׉IG=މiލp=8.,,hFAYU?yF    @ @ @i )IiB M@=YQU>a$HHaye}e>Iim 5?m2ݾ m+ }?9mAm.: m:)iWWX XWX:W2W*WVbUBU*UUU@?@BB BA*BAAAA"C*CRCCC?i?IG>  m:YV1y:69@ 9 I (Fi ,@ ; Ea 5,,հhFAY}25@}2aQ@y}2R}21}2HY5 ߀@d? @kɿ (? <@\?)~25@ ~21\;I~2CYB?yBFI=)==Vh;M=V=YE=QUE>AIaM$HIIyU:}U>IY e:] 5? e:]ݾ ]9 e?9]A]4: ]:)] :WWX XWX:W2W*WVbUBU*UUUj3@BB BA *BAAAA"C*CRCCCIG=imuCiI`Ai UٺU`AUA|J;,,[hFAY}6+@}6NG@y}6 }67}6H?ЏN|?f3?@_Ŀ`F%?В?)~6+@ ~6/\;I~6CYNr?yRFRa=ɮR=buMbR=YfU=QUf>dhaj$HhhyncϺ}n>Ipr* 5?rұݾ r v?9r&Ar: rǺ:)pWWX XWX:W2W*WVbUBU*UUUo@RB*** querying acoustic contact ***PPBB BA*BAAAA"C!*C!RC!C)C)IG5=IޕAA)ޕ@A  ;|:YW1yč:6u2B,,7 hFAY}6Sm@}6ވ@y}6n>}6)e}6Hb~q+w?@C+?^SԴ?@rl!?)~6Sm@ ~6?[;I~6CY^ ?y^ϙFbZ****** received transponder code query ******bF****** received ping request ******f)1a5$H1qy}O<}}>Iȁ :Ņ\ 5? :Ņ2ݾ ƅx ?9ƅVADž#< ȅ<)ȅ :WWX XWX:W2W*WVbUBU*UUU @BqBq BqAu+*BqAyAyAyAy"C*CRCCCI׹)׽]A׉Iܹ9ܹIܹiܹܽ=ܹܹܽ{; ݽE)YIYiY]=]=]75G#>\H,,#hFAY}:*@}:*F@y}:ཙ}:+B }:HHN}@Q?`+G? VQl&?,`?)~:*@ ~:[;I~:CYF?yJFNxDUSBL response received:!U1,P 502,000,002B3,188,80,80,8D,FF NCommand AckNBRequesting micromodem ping code 2iLLVNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ll NɻM^=Y%9AaE$HIYym4}u>Iȑŕ 5?ŕݾ ƕ ?9ƕ|AǕ~; ȕ+;)ȑWWX XWX:W2W*WVbUBU*UUUL| @BiBi BiAm>*BqAqAqAqAq"Cy*CyRCyCyCׁIGB> x :YWU1y:6RN,,=YQU>a$Hy}>I : 5? :ղݾ  ?9A^: :) :W!W!X! X)W)X):W)2W)*W1V1bU1BU1*U9U9U=`$@BaBi BiAm(*BiAiAiAiA"C*CRCCCIG>ލ=iމ 9 I Fi E? g; ޝEGnU,,?VhFAY}Bp@}B @y}B=}Bzݼ}BHb J?\?\`m׶?8@W?)~Bp@ ~B[;I~BCYN?yNFRxDUSBL response received:!U1,R,4BD,000,002B4,189,80,80,A7,FF RFpublishing direction and range infoRO~PɰRb=R7> P)R'CIPyR@RD,^?U$p}ٱP        @  @  @   i   ) I i k<M%W=Y% ]=QU%>))a-$H))y5}ͼ}5>I9=N 5?="ݾ = E?9=A=: =:)9WiWiXi XiWiXi:Wq2Wq*WqVqbUBU*UUU c@R-(Combining 5 samples.P)*Q-@ZQ-.7?֫A1 JQ-D,^?U$p}2Q-O~:Q)bQ-__?y0NO @Ç"PJ?RQ-́?#Ͼ;)?,J4?BQ-f? Q-xj@Q-?P-Z9?P)P)Q)Q-@"Q-@BB BA*BAAAA"C*CRCCC?i?ױIG>  M~:YV1y:6);9[,,FphFAY}Vsu@}V @y}VM}VO }VHح 6?-?@@´ ^?3|?)~Vsu@ ~V|![;I~TYbU?yb֛F=TNmea in: $SNTTA,0.124369,,,,232700.94*42 IUa=)U%=a i@a  a m@a  a q@a  a e@a  JF=M3=Ya$HyTZ}>I :} 5? :~ݾ Y ?9A: >) :miAdded new target pos. range: 4.020000 m, bearing: 65.980065 deg, deltaT: 4.438161 s, approachRate: 0.013519 m/s, LOS rate: 0.722921 deg/s, posRepo size: 4Wf?WX XWX:W2W*W!V!bU!BU!*U)U-z@U-@X?BQBY BYA]X*BYAYAaAaAa"Cm[M?RCiCmf?CqIG$>Ԁb,,hFAY}6 @}6 @y}6}6NX}6H d@?X`?@~?)~6 @ ~6a(\;I~6CYv?yvŚFM_=Y$=QU>a$HyF5;}>IȹŽԼ 5?Žȳݾ ƽ' ?9ƽ%Aǽ: ȽFS?)ȹWWX XWX:W2W*WVbUBU*UUU?B!B! B)A-ǀ*B)A)A)A)A)"C5f?RC9C9C9IG==U>9QIUFiUv?QQQUI; UΝE u xo:YT1y:E6) ;$h,,_hFAY}6@}6 @y}6M}6Uҽ}6H-@@? g@p`۲?j6?)~6@ ~6Ē];I~6CY^?y^3Fae\A    @ @ @éééiéé ĩ)ĩIĩiĩᐼMH=Ya$Hyf;}>I 5?ݾ  ?9PA: ?)W W X  X W X :W2W*WVbUBU*UUU%^?BIBI BIAM*BQAQAQAQAQ"CY*CYRCaCaCaIq)u\AIIYGu=0n,,>hFAY?yؙF 鿙    @ @ @i )Ii3MF=YQU>a$HH y }>IV 5?nݾ  %?9{A: ?)WAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU]v?BB BA(*BAAAA"C*CRCCCiIqG= s W:YU1y:69@I 9I IM FiM ?I I I M :; M ƝEu,,رhFAY}:qb@}:} @y}: }:諒}:Hu?bYD >?$~?)~:qb@ ~::\;I~8Y^?y^ךF]R=M]U=Y]0=QUe>aaae$HaiymW}u>Iy} 5?}ݾ }߾ ?9}A}c: }@)yWWX XWX:W2W*WVbUBU*UUU@q @BB BA*BAAAA"C*CRCCCiIyG=މiލ={,,hFAY}%@}%G @y}%+Ҽ}%}%HE3@q,?`t`D?Z\?)~%@ ~%[;I~%CYE?yE`Fa iEa iE a mEa mE a qEa qE a eEa eE E`"?w/?MbPE=E&> E)AIAyE~jt?X9vQ?Ea$Hy+<}%>I) 5:- 5? 5:-ݾ -׾ 5?9-A-: -:)-:WYWYXY XYWYXY:Wa2Wa*WaVibUiBUi*UiUiUu`.@BB BA*BAAAA"C*CRCCC?i?׹IG$>o  y:YDW1yY:{6΂,,G hFAY}6@}69 @y}6Cl}6}6H`-2n@b?n!S-? ?)~6@ ~6)Z;I~6CYND?yRFRp=ɮRp=I^4=)^C=f`Mfx=Yj)QaU$HQQy]}]>Ia m:e 5? m:e|ݾ eʾ ?9eRAe; e;)e:WWX XWX:W2W*WVbUBU*UUU@ @BQBQ BQA]B*BYAYAYAYAY"Ca*CaRCCCׁIG>Im@A)m?A}1 }}} }t:Y}T1y}:}r62,,'?hFAY}:@}: @y}:+0}:܉}:H>x`?0`? 8@-?)~:@ ~:&Z;I~:CYF?yJFNxDUSBL response received:!U1,P 4BD,000,002B4,189,80,80,A7,FF NCommand AckNBRequesting micromodem ping code 2iLLVNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @ @i )IiwM6=Y۝a$Hy;}>I] 5?ݾ bþ %?9A: :)WaWX XWX:W2W*WVbUBU*UUUE @B B  BAy*BAAAAA"CQ*CQRCYCYCaI׉)׉yIG_> 9 I Fi ? D; ̝E)ݙIݙiݙݝ=ݝ=ݝl4,,YhFAY}F@}Fx @y}F#6}F3*}FH@;Jૄ>?`AC`[BĆ?D@l?)~F@ ~F&Z;I~FCY ?y F-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 鿡VMj=Y# QU>a$Hy;}?I : 5? :ݾ  ?9A: :):W!W!X! X!W!X):W)2W)*W)V)bU1BU1*U1U9U=.@BYBa BA*BAAAA"C*CRCCC!I)GM0>}L }}}x } w:Y}V1y}:}6)};9H,,shFAY}F2@}F @y}F}F֙}FHL`pm?@@J. eP? 9@?)~F2@ ~F/Z;I~DYRU?yVFZxDUSBL response received:!U1,R,502,000,002B2,189,80,80,A0,FF ZFpublishing direction and range infoVf3TɰVb=T T)V CITyVy@Vw?amf-ٱTfdNmea in: $SNTTA,0.027449,0.195238,,,232705.39*5D mn?Zd;O~jtx?mV>mj m;)iIiym/$?/$?{Gz?ma$Hyu:}>I 5?ݾ  ?9A: +:)WWX XW X :W 2W *WVbUBU*UUU@RM(Combining 5 samples.PI*QMy@ZQM=A?a;% JQMw?amf-2QMf3:QIbQMg&-)V?;U @B[?RQMEx?jC?} ?BQM? QMJ^@QM?PM[9?PMZ9?PIQIQMp@"QM@BB BA*BAAAA"C*CRCCCIG(>m=im=.,,>YhFAY}F@}F@y}F޼}Fӵ}FHN w ?@I񭣿ԛ?@s?)~F@ ~F[;I~FCYZ;?yZۖF=M=U=YE۱QUE>AAaE$HIIyMO:}U>IY] 5?]ݾ ]ۭ e?9]#A]: ]Q:)YmqAdded new target pos. range: 3.899999 m, bearing: 62.983155 deg, deltaT: 4.485798 s, approachRate: -0.026751 m/s, LOS rate: -0.668088 deg/s, posRepo size: 4mTStarting intercept timer at range: 3.90 m.W?WX XWX:W2W*WVbUBU*UU23@Uk?BB BA_*BAAAA"Cs?RCC?C?i?IG=u>9qIuFiu?u=qquR; uԝE} }~}~}} }3l:Y}T1y}@:} 6)}M;V,,*hFAY}6`@}66@y}6l}6yh}6H cq /o?=R| Ō?` ?)~6`@ ~6JZ;I~6CYN?yR7FI =) ={NMF=YyLQU>a$Hy<}>Iȡ :ť 5? :ťްݾ ƥ ?9ƥVAǥ: ȥk:)ȥ:WWX XWX:W2W*WVbUBU*UUU`>Y?B B BA *BAAAA"C%?RC!C!C)1I9GU=oA,,shFAY}JR@}Jen@y}J:h}JK}JHx\@e8]?IY`k?u)?)~JR@ ~JZ;I~JCYb?ybF    @ @ @i )Ii6MD=Y\QU>a$HHy<}>I 5?ٰݾ 5  ?9A': :)W)W1X1 X1W1X1:W12W1*W9V9bU9BU9*UAUAUE?ByBy BAA*BAAAA"C*CRCCCסIG=Ii)m@A}$ }|}|} }s:Y}R1y}i:}69@i 9i Im Fim ?i i i m Y; m ؝Eh,,;ڲhFAY}6 @}6@y}6RJ}6}6H SO 5F??t@ӴG?` \?)~6 @ ~6ֈZ;I~6CYv?yvAF8aMO=YQU>a$Hy'<}>I : 5? :ְݾ 2 ?9AM; H@;):W W X  X W X :W2W*WVbUBU*UUU K?B1B9 B9AEm*BaAiAiAiAi"Cq*CqRCqCqCyIױ)ױׁIG=>,,hFAY}J@}J@y}J)}Jr}JH୎R`%?c;?`z*@??)~J@ ~J~HYZ?y^F II  )IyMb?~jth=D QQaU$HQYy];:}]>Iae 5?e1ݾ e u?9eAe: e:)aWWX XWX:W2W*WV!bU!BU!*U!U!U-@@BB BA*BAAAA"C*CRCCCIG$> x bq:YDW1yY:6z,,hFAY}2H@}2c@y}2j/}2 }2H`cru?`J?`:]`j?E죿M?)~2H@ ~2![;I~2CYF?yF(F=M=]=YEHnQUE>AIaM$HIIyUl}U>I :j 5? :ݾ  ?9' Au; C&;):W9W9X9 XAWAXA:WA2WA*WAVIbUIBUI*UIUIUU @ByBy BAG*BAAAA"C*CRCCC%>9!I%PFi%8?!!!%E; %͝EQIaG}=qiu= ,,R|(hFAY}Nҫ@}N] @y}NTܽ}Nϩ}NHDhl_`n?Q|?^ ?)~Nҫ@ ~NiU[;I~NCYf?yfFhɮja= ᝼MM=Y/QU>!!a%$H!)y5,ü}5>IAE 5?Eݾ E` M?9EY AE: Ew:)AWqWqXq XqWqXy:Wy2Wy*WyVybUBU*UUU`'@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCC?i?שIG=}# }}} }":Y}WU1y}:}N6,,{MBhFAY}2!S@}2n @y}2Bj}2R}2HL0R? ~?ÿ?f(?)~2!S@ ~2 [;I~2CYvA?yz|FzZ****** received transponder code query ******~F****** received ping request ******~a$Hy2P}>I :H 5? :\ݾ z ?9 A4; 5;):W1W9X9 X9W9X9:WA2WA*WAVIbUIBUI*UQUQU5[ @BYBY BYA]]*BaAaAaAaAa"C*CRCCCׁIG> 9 I Fi }?    K;  НE,,-\hFAY}F;B@}F] @y}F9 }Fז}FH@ k?Iy?}@uOÿ?b`?)~F;B@ ~FZ;I~FCYn?ynFzxDUSBL response received:!U1,P 502,000,002B2,189,80,80,A0,FF zCommand AckzBRequesting micromodem ping code 2ix|Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %M-D=YeQUe>a$Hyr}>I)qq- 5?-ݾ -tinGIi1 U?9- AeٿٺaeVA-= -%=))WW!X! X!W!X!:W!2W)*W)V)bU)BU1*U1U1U5` @=a?9EABABI BIAM*BQAQAyAyAy"C*CRCCCIG>Ii)i}w yy} }|:Yyyy}6)}V;9$,,6vhFAY}28@}2S @y}2}2A4c}2H ?`;o?``ÿ?@Bݙ?)~28@ ~2܏\;I~2CYz?yzF||Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Nonly read 0 of 1 data item for altitudea i@a  a m@a  a q@a  a e@a  M M M M@ M@ M@IIIiII I)IIIiIM{<MM9=YUQUU>QQa]$HYYye}e>Iim 5?m ݾ ml u?9m Am: m>)iWWX XWX:W2W*WVbUBU*UUU`4@BB BA*BAAAA"C!*C)RC)C)C1!I)GM0>,,䏳hFAY}Jt@}J @y}J*}J0=}JH 0@?@D?vMxĿ*?P?)~Jt@ ~JK^;I~HY^X?ybPFjxDUSBL response received:!U1,R,481,000,002B2,18A,80,80,6B,FF nFpublishing direction and range infojʀhɰhj> h)jBIhyhjp_t? ٱh  ټMe=YNQU>a$HyEi<}>I : 5? %:ݾ k %?9/ AG: E?):WaWiXi XiWiXi:Wi2W*WVbUBU*UUU@R(Combining 5 samples.ܹ9ܹIܽFiܽ?ܹܹܹܽ_; ݽ۝E)IIIiIM=M=M14P*QZQP2,ޱ@3܋[ JQp_t? 2Qʀ:QbQ"$Ϫ?tK+ @S?RQZmΙ??g3?<&+@?BQ? Qaf@QV?PY9?P[9?PQQ\@"Qp@BABA BAAMׅ*BiAiAiAiAq"Cq*CyRCyCyCyׁIG>} }}}8 }p:Y}U1y}:} 6)}K;,,өhFAY}^@}^< @y}^;}^a}^H``@-?4?`ƿ@Q?狼j?)~^@ ~^];I~^CYn?ynZFUDNmea in: $SNTTA,,,,,232709.84*5F MMH=Y*QU> a $H  y}>I 5?ݾ - %?9d A: ?)mUiAdded new target pos. range: 3.899999 m, bearing: 68.517295 deg, deltaT: 4.431138 s, approachRate: 0.000000 m/s, LOS rate: 1.248921 deg/s, posRepo size: 4W]?WYXY XYWYXY:Wa2Wa*WaVabUiBUi*UiUiUu?BB BA;*BAAAA"C?RCC?CiIG>&,,_óhFAY}R@}RB @y}RTI}R}RH?`"?մwʿP?`H?)~R@ ~R'];I~PYf?yjFIa)a    @ @ @i )IiupMuC=Y}QU}>yya}$HHy9}>Iȑŕt 5?ŕ@ݾ ƕɌ ?9ƕ AǕ: ȕ\?)ȑWWX XWX:W2W*WVbUBU*UUU?BB BA*BAA A A "C?RCCC!I1GM>} }}} }}:Y}V1y}:}i69@ܱ9ܵCIܵFiܵ?ܵ=ܱܱܵI; ݵНE,,7pݳhFAY}2n@}2 @y}2R}2X}2H??`ʿj&? a $H y%>}->IAE 5?Eݾ El ?9E AEӪ< E@)AWIWQXQ XQWQXQ:WQ2WY*WYVYbUYBUY*UaUaUe y?BB BA*BAAAA"ClJ?RCCCIG (>2,,[hFAY}~D@}~C` @y}~[}~##}~Hj E? ?ȿ C?W룿=?)~~D@ ~~\;I~~CY%?y-Fa i]a i] a m]a m] a q]a q] a e]a e] ]{Gz?/$ÿl?]ף=] ]=)YIYy]Q?y&1|{Gzt]u<]`]ף ]?A)]PAI]1Ai]gAY]JA    @ @ @ùùùiùù Ĺ)ĹIĹiĹK<M;=YৼQU>a$Hy}>Ii u:mȱ 5? u:m<ݾ m u?9m AmA: m:)m:WWX XWX:W2W*WVbUBU*UUU R?BB BA=*BAAAAYAaAa"Cm?RCiCiCiIׁ)ׁYIaG8>ImAA)i}w yy} }z:Yyyy}26-,&hFAY%?y%[F4=i<EMZ=YQU>a$Hy} >I   5? ݾ  ?9  A V: o:) W9W9XA XAWAXA:WA2WA*WIVIbUIBUI*UIUQa9aIeFiea?aaaeP; eӝEUu@BB BA *BAAAA"C*CRCCCIG>@ -,+hFAY}Jc@}J~ @y}J~}J}JH@ ??`o:̿ ?  l?)~Jc@ ~J\;I~JCYv?yvF{;MN=YOQU>a$Hy;}>I : 5? :ݾ / ?9! A#; /;):WWX XWX:W2W*WVbUBU*UUU`uY@BB BA*BAAAA"C*C RC C C  IG5 >}X }}} }?:Y}0Y1y}:}|6(-,DhFAY}2e@}2 @y}2~}2}2H}`ɇ?@G?ʀ@0п@A? ?)~2e@ ~2[;I~2CYb6?ybFfa=ɮfp=    @ @ @ñññiññ ı)ıIıiıMJ=YQU>a$Hy.y9}>Ip 5?!ݾ F ?9= A: ':)W W X XWX:W2W*WVbUBU!*U!U!U%@Ej@R-B*** querying acoustic contact ***P1P1BQBQ BYA]`*BYAYAYAYAY"Ca*CaRCiCiCiiIyG=Y9YI] Fi]?YYY]h; ]Eu=iu=+U-,j^hFAY}J6@}JFR @y}J}Jo}JHxi@N?@?@Y-п@T??)~J6@ ~J[;I~JCYz?y~݉FZ****** received transponder code query ******F****** received ping request ******%yya}$Hyy^ۻ}>IȉōQ 5?ōݾ ƍZ ?9ƍ\ AǍ߼: ȍ/:)ȉWWX XWX:W2W*WVbU BU *UUU0 @BYBY BaAe*BaAaAaAA"C*CRCCCIG(>} }|}|}q }lr:Y}R1y}i:}6 }-,xhFAY}:@}:8 @y}:}:zЛ}:H4Yd A? ?(p<п ? ɲk?)~:@ ~:V[;I~:CYJA?yJ.FRxDUSBL response received:!U1,P 481,000,002B2,18A,80,80,6B,FF VCommand AckVBRequesting micromodem ping code 2iTTfNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I|)~='1Z?V-ϿX9v?">| }=)IyQ{Gz?I +uף<94 AA)NAI,AilsA(LA-=M-/=Y52QU5>11a5$H99y= _}E>Iȉ :ō 5? :ōBݾ ƍ. ?9ƍ AǍ: ȍ:)ȍ:WWX XWX:W2W*WVbUBU *U U U`i @BB BA*BAAAA"C*CRC!C!CAqIG>$h$-,{hFAY}v9@}vzU @y}v^Պ}vh}vHY-2?:?`ц ^пm$?P?)~v9@ ~v&[;I~vCYE?yEFYYNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 9IxFi?=  % % % %@ %@ %@!!!i!! !)!I!i!5}2<M5[=Y=岼QU=>9AaE$HAIyM;}M>IQU 5?Uݾ U( ]?9U AU: U':)QWWX XWX:W2W*WVbUBU*UUU?@BB BA*BAAAA"C*CRCCCIGE0>} }}} }F{:Y}X1y}/:}6)}R;9imGI_Ai D׿ٺ _A KA*-,oIhFAY}2H@}2~d @y}2R}2@8}2H\ ?? `0*ϿG?<;@?)~2H@ ~2+[;I~2CYb?ybFfxDUSBL response received:!U1,R,27E,000,002C1,18A,80,80,44,FF fFpublishing direction and range infofӇdɰfg=d d)fBIdyf@fb*?w]zٱdtv]Az;M~x=Y~޻QU~?a$H y 76;} ?I :t 5? %:ݾ ŕ %?9 A8; #;):WAWIXI XIWIXI:WI2WQ*WQVQbUQBUQ*UUUK@R (Combining 5 samples.P *Q @ZQ 2L@]JJQ b*?w]z2Q Ӈ:Q bQ  ׮@ҿk_@]?RQ 4kJ?6 N#?BQ ? Q [@Q P U9?P Y9?P Q Q ?@"Q \@ByB BA*BAAAA"C*CRCCC׉IG=y1-,0ƴhFAY}f_@}f! @y}fD}f-}fH@D`]?{?@qPο@1?@?)~f_@ ~faL[;I~fCY s?y FTNmea in: $SNTTA,0.064457,,,,232714.28*4F 鿡A<M==YR;QU>a$HHy8}>I 5?ݾ . ?9 Aw< <)miAdded new target pos. range: 4.800000 m, bearing: 93.520207 deg, deltaT: 4.414679 s, approachRate: 0.203866 m/s, LOS rate: 5.663586 deg/s, posRepo size: 4mRStopped intercept timer at range: 4.80 m.W?WX XW)XI:WI2WI*WIVQbUQBUQ*UQUU@33@U]`@?BB BA*BAAAA"C_h?RCC?CIG (>>9IFiE?=l; E)ݍCIݍCi݉ݍ=ݍ=ݍ44u uuu\ u{:Yu0Y1yu:u 6)u;դ7-,hFAY}e@}en @y}e}eYx}eH&A?#?ο_?>@'?)~e@ ~e@[;I~eCYC?yFX9v~jth?QD; )Iy rhMbX9vC DA)PAI+AiuAMA ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYm c<Mm3=YuͻQUu>qya}$Hyyy}>Iȉ :ō 5? :ōݾ ƍ ?9ƍ AǍ=: ȍ:)ȍ:WWX XWX:W2W*WVbUBU*UUU h?BB BA]*BAA A A "CS?RCCCיIG@>u=iua=1=-,hFAY5,?y54F - - - 5@ 5@ 5@111i11 1)1I1i1E&=ME_=YMQUU>YYa]$HYaym}m>Iqu 5?uݾ u ?9u Au:; uO;)qWWX XWX:W2W*WVbUBU*UUU`x?BB BA*BAAAA"C(x?RCCC׹IG#>uj uuuw uy:YuX1yu/:u|69}@D-,ĵhFAY}:@}: @y}:}:}:H\B??ҿ g?@ï ʼn?)~:@ ~:[;I~:CYJR?yNFI-=)-%=eMe[=YeQUe>iiam$Hiqyu}u>Iy}j 5?}ݾ }⭾ ?9}- A}p: }:)yܡ9ܡIܥFiܥ@ܡܡܡܥz; ݥEWWX XWX:W2W*WQVQbUYBUY*UYUYUe?BB BAY*BAAAA"C$?RCCCשIG>&J-,-hFAY}6w@}6 @y}6A}6g$}6H/`6Rۚ? ?ໃ*ӿ6x?ÿ`L?)~6w@ ~62^;I~6CBfailed to initialize; deviceResponse_ loaded: !C REMUS Rev 1.1 !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH COVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERRS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS !V1,H_RECOVERY_LATCH !V2,H_RECOVERY_WHISKERS , available: 432q BB(Communications FaultYF?yFF5j<M=0=Y==QU=>AAaE$HAIyM;}m>Iq }:u 5? }:uݾ u ?9uK Au5: u :)u:WWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C?RCCCI)סI-$LCommunications Fault in component: DDMGA>} yy} }8s:Yyyy};6Q-,mrGhFAY}Be@}B @y}B}}B}BHO@E=6?`?`b@ѿb?` $?)~Be@ ~Bݎ];I~BCJPowering downHɪH)L LY?yFMa=iM<    @ @ @ éééií3?é ĭ?)ĭA?Iĭ?iĭ?ү<MB=Ya$Hym9}>I 5?ݾ ̼ ?9d A: :)W)W)X1 X1W1X1:W12W1*W9V9bU9BU9*U9UAUE@BiBq BqAu*BqAqAqAyAy"C}?RCCCyIG=>ܙ9ܙIܝFiܝ@ܙܙܙܝF; ݝΝE{W-,;UahFAY}E@}EY @y}Ek]|}E*m}EH+U`$Ʒ? ?@wͿ,:?`[?)~E@ ~E~\;I~AYuL?yu Fyɮy 鿙{GzMby&1# `e)Iyy&1?+`e< µ:A)µcAIµK/AiµwAQAyI=MY=Y^;QU>a$Hy<}>I  : O 5? : ݾ  %?9  A 9; 7;) :WQWQXQ XYWYXY:WY2WY*WaVabUaBU*UUU"@R%B*** querying acoustic contact ***P!P!BiBi BiAm*BiAqAqAqAq"C}z?RCyCyCyIG<> d k:YW1yč:s6:^-,2"{hFAY}69@}6jU @y}6uz}6q}6H Tz@#? ?iD˿B?E.?)~69@ ~6r \;I~4Yf?yfFjZ****** received transponder code query ******jF****** received ping request ******na$Hy}<}>Iȱŵ 5?ŵ9ݾ ƵǺ ?9Ƶ Aǵ(: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUU @B!B! B!A%{*B!A)A)A)A)"C5?RCCC?i?I$ NClearing failed state for component DDMq G>u=iu=e-,ehFAY}6ߠ@}6j @y}6u!r}6թ|}6H@N?@?`N̿.?D ?)~6ߠ@ ~6ӵ[;I~6CYN&?yRDFVxDUSBL response received:!U1,P 27E,000,002C1,18A,80,80,44,FF VCommand AckVBRequesting micromodem ping code 2iTTZNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 !9!I%(Fi%,@!!!%; %E)å> å>6M7=Y؞a$Hye<} >I9 u:= 5? }:=[ݾ =y }?9=- A= < =. <)=:WWX XWX:W2W *W V bUBU*UUU@ @BaBa BaA*BAAAA"C?*CRCCC I!GMR>}8 }}} }u:Y}DW1y}Y:}{6)}\;9+k-,MڮhFAY}2@}20 @y}2]}2A}2H^@??@)@|̿`s?4^ #?)~2@ ~2B[;I~2CYBg?yBFbNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I}4=)}C=A=M[=YKX=QU>!!a-$H)9yE[;}M>Iqu 5?uݾ uA ?9ul Auk: u:)qWWX XWX:W2W*WVbUBU*UUU@BD@B!B) B)A-*B)AIAQAQAQ"C]?*CYRCYCYCaiIqG>r-,ȵhFAY}6@}6d @y}6J}6}6Hn1倪?`? @ xʿ2?I﴿C?)~6@ ~6s\;I~6CYB(?yBF r v v v@ v@ v@ vtttiv?t t)tItivn?~<M~Z=Y#L=QU>a$H H y R;}>I %:Y 5? %:ݾ * %?9 AR: :):WIWIXI XIWIXI:WI2WQ*WQVQbUQBUQ*UYUYU]ԯ@B B BA5*B1A9A9AAAA"CI*CIRCQCQC׉IG=>9Ii; EIu@A)q M 2n:YX1y/: 6);aAx-,'hFALNzCizmGI `Ai!M׿ٺU`AU:AYM.?yM]FeTNmea in: $SNTTA,0.053353,,,,232718.72*4B uV?X9vοMb`?rh>s ;)Iy~jt?kt?Zd;O?< 0=j< QIQaU$HQQy]}]>Iae 5?e]ݾ e m?9eAe: e:)aW WX XWX:W2W*WVbUBU*U!U!U%ث@BiBq BqAub*BqAqAqAyAy"C*CRCCCyIG<>ig~-,jhFAY}6@}6@y}6;}6é}6Hg@fΧ?r?Iuȿ xB?״[?)~6@ ~6[;I~6CYvx?yvF   ] ] ] ]@ ]@ ]@ ]@YYYi]Y Y)YIYi]m;Mml=Yu7=QUu?qya}$HyyyM=}?IȉōA 5?ōݾ ƍ ?9ƍHAǍ: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUU@BB BAO*B!A!A!A!A!"C1*C9RC9C9CAשIG>} }}} }r:Y}V1y}:}69@AO-, EhFAY}6p@}6q@y}6=-}6}6H4@ҫ??ſK?7Yz?)~6p@ ~6}[;I~4Yb?ybFre;MrS=Yv=QUv>txaz$Hxxy~<}~>I  :б 5?  :ݾ  ?9A: (:):WqWqXq XqWqXq:Wy2Wy*WyVybUBU*UUU m@RB*** querying acoustic contact ***PPܡ9ܡIܥFiܥ@ܥ=ܡܡܥ; ݡ)yIyiyyy}4BB BAD*BAAAA!"C!*C)RC)C)C)1I9GU=}-,/0hFAY=?y=F)> = - - - -@ 5@ 5@)))i)) )))I)i)E_=ME6=YMQUM>QQaU$HYaye}e>Iqu 5?ugݾ u ?9uAu ; u/;)qWWX XWX:W2W*WVbUBU*UUU]@BB BA*BAAAA"C*CRCCC I G%,>u> uuu uv:YuU1yu:u;6Ja-,IhFAY}:c@}:@y}:}:u}:H@@B ??@:ÿ?@ "?)~:c@ ~:[;I~8Y^?ybFIjp=)j=r@<Mrd=Yv=QUv>ttaz$Hxxy~ $<}~>I  :Ȯ 5?  :ݾ  ?9.A: :) :W1W1X1 X9W9X9:W92WA*WAVAbUABUA*UIUIUM@BqBy ByA}j*ByAAAA"C*CRCCCqIG=ܙ9ܙIܝНFiܝE@ܙܙܙܝ; ݝEf-,chFAY}2@}2@y}29|}21ܐ}2H6 9?`c?  l¿? 8?)~2@ ~2 \;I~2CYv?yvF!rh?S㥛Mbpl=$ )IyQˡE?Mb?u'=< A>A)^LAI2Ai ?AM>=Y a$Hy?;}>I 5?ݾ ힾ ?9|A: :)W W X  XWX:W!2W!*W!V!bU!BU)*U1U1U=D@BB B!A%n*B!A!A)AIAI"CQ*CYRCYCYCaׁIG>Ii)mAA} }}}~ }F{:Y}V1y}:}<6-,}hFAY}2@}2@y}2k&}2}2Hoۦ??ړ?.ѡ$?)~2@ ~2L\;I~2CYN?yRGFVxDUSBL response received:!U1,N,80,80,63,E4 1,18A,80,80,44,FF VZNo reply:!U1,N,80,80,63,E4 1,18A,80,80,44,FF -Va$Hy}>I :1 5? :ݾ  %?9Ao: :)!:WWX XWX:W2W*WVbUBU*UUU 0@BB BAˁ*BAAAA"C)*C1RC1C1C1)I9G]>-,hFAY}6W@}6vs@y}6oҽ}6ؼ}6H+`sW? ?@͸ P? Iݚ`?)~6W@ ~6[;I~6C>Powering up>"Initializing DDM.Yj?yИF%p=ɮ! 11A9AIE@FiE?E=AAE2; EĝEe*<MmE=Ym=QUm>qqau$Hqy}>I!%i 5?%aݾ %Ϝ 5?9%A% ;; %*b;)!WWX XWX:W2W*WVbUBU*UUU m@BB BA*BAAAA"C*CRCCCIG (>} }}} }s:Y}WU1y}:}6)};9A˫-,whFAY}-3;@}-V@y}-Hͽ}->}-H)I?7? ?V@?)~-3;@ ~-\;I~)YE?yEaF    @ @ @éééiéé ĩ)ĩIĩiĩC=MD=Ya$HIyU}U>IY e:] 5? e:]Bݾ ]ӛ e?9]ZA]: ]^:)]":WWX XWX:W2W*WVbUBU*UUU`7 @BIBI BIAM*BIAQAQAQAQ"CY*CYRCYCYCaaIiG>iii^-,C˶hFAY}65@}6#Q@y}6]F}6n}6H`)?@2K?Ts?)~65@ ~6\;I~6CYB?yBؙFnsMnZ=Yr@ptav$HvHtyz@z}z>I|~ 5?~ݾ ~: ?9~A~Ǻ: ~:)|W)W)X) X)W)X):W)2W1*W1V1bU1BU9*U9U9U=`` @RMB*** querying acoustic contact ***PIPIBiBi BqAu(*BqAqAqAqAy"Cy*CRCCC׹IG=A9AIEFiEv?E=AAEY; EٝE} }}}R }l:Y}W1y}č:} 6)};ڸ-,"hFAY}6N@}6i@y}6C}6 QϽ}6H@DnJ ??aι?)~6N@ ~6q^;I~4YN?yNNFRZ****** received transponder code query ******RF****** received ping request ******Va$HyP;}>I0 5?ݾ  ?9A ϸ:)WAWIXI XiWiXi:Wi2Wq*WqVqbUqBUy*UyUyU}!@BB BA*BAAAA"C*CRCCC!I1GM1>-,hFAY}2sS@}2n@y}2DU}2$}2H@|l`Pj` ?@?Q@9?)~2sS@ ~2^;I~2CYB?yBFFxDUSBL response received:!U1,P 80,80,63,E4 1,18A,80,80,44,FF FCommand AckFBRequesting micromodem ping code 2iDDNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 u   @ @ @ñññiññ ı)ıIıiıMU=MH=Y7=QU5>99aE$HAIyu7N:}}>Iȑ :ŕ 5? :ŕݾ ƕ ?9ƕAǕ< ȕ <)ȕ#:WqWX XWX:W2W*WVbUBU*UUU;"@BQBY BYA]I*BaAiAiAqAq"C*CRCCCI ) IGn>} }}} }o:Y}WU1y}:}|69@-,hFAY}22@}2N@y}26}2=)}2H[= ?ܵ `?@}?)~22@ ~2];I~2CYVn?yVFjNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B t9tItittttvr; vEIM]A}͚<M}d=Y )=QU>a$Hy}?IȹŽ 5?Žݾ ƽ ?9ƽAǽ{: Ƚr:)ȹWWX XWX:W2W*WVbUBU*UUU d#@BB BA*BAAAA"C*CRCCC  IG5 >i}nGI_Ai-3տٺ-_A-|A-,%2hFAYv?yzF~xDUSBL response received:!U1,R,DD3,000,002C0,189,80,80,20,FF ~Fpublishing direction and range infoz>xɰzf=z7> x)zBIxyz@z&K?ji?ٱx EdM<MEN=YMQUM>IQaU$HQQy]}]>Iy :}^ 5? :}جݾ }t ?9}A}y); }^;)}$:WWX XWX:W2W *W!V!bU)BU1*U9U9UE6$@Rm(Combining 5 samples.Pq*Qu@ZQuP^@(@JQu&K?ji?2Qu>:QqbQu*UTOܳ?@_mRQu@|?h%|8?ͰIBQuES.@ Qu'?QuPuJ9?PuU9?PuQuQu?"Qu?@BB B)A-*B)A)A)A1A1"C9*CARCACACiaIiG9>} yy} }n:Yyyy}6-,)LhFAY}F@}FX@y}F:zݼ}Fƽ}FHຼ@[,?@j?θo?)~F@ ~FT[;I~DYR?yRF%DNmea in: $SNTTA,,,,,232724.38*57    @ @ @i )IiM@=Y599a=$H9AyE6}E>IQU 5?Uɬݾ Ub ]?9U;AU: Uk:)QmuAdded new target pos. range: 4.740000 m, bearing: 156.064099 deg, deltaT: 10.145966 s, approachRate: -0.005914 m/s, LOS rate: 6.164410 deg/s, posRepo size: 4WES.@WX XWX:W2W*WVbUBU*UU@U?BIBI BQAU*BQAQAQAQAY"C]M?RCaCeES.@Cau?iu?AIQGm>9IXFi?; E)qIqiqu=u=uaW5iim=(-,gfhFAY}6:7@}6R@y}6?}6@½}6H *@b @P? ^J{ѕ?H=S?)~6:7@ ~62Z;I~6CYf?yf F-?Zd;OL7A`?5^>j +=)IyQ?:v{Gz?T#< :A)JAI@Ai9HACAYMI=Y  a $H y<}>I %: 5? -:\ݾ ^ -?9ZAw: =:)%:WWX XWX:W2W*WVbUBU*UUUmd?BB BAB*BAAAA"C2?RCCCIG*>} }}} }:Y}U1y}:}6T-,QhFAY}R\@}RCx@y}RQ}Rmx}RH D`? ;6?+`?)~R\@ ~RsZ;I~RCY^J?y^2FI]R=)]%=    @ @ @éééiéé ĩ)ĩIĩiĩkMN=Ya$Hyj;}>I 5?ݾ Y ?9yA: =:)WWX  X W X :W 2W*WVbUBU*UUU௴?BABI BIAM*BIAQAQAQAQ"C]Z?RCYCYCaiIyG=9-,ehFAY}2E4@}2O@y}2}2}2H``>  ?7Á?a1?)~2E4@ ~2vZ;I~2CD9DIFFiF?DDDF; FEYN(?yRF=<M=S=YE.AIaM$HIIyU4ѻ}U>I : 5? :|ݾ :U ?9A: :)&:W!W!X) X)W)X):W)2W)*W1V1bUQBUQ*UYUYU]@H?BB BAc*BAAAA"C?RCCCI)IG>}<}}} }:Y}<`1y}8:}6)};9c-,hFAY}:L@}:h@y}:nR}:O%}:Hn@9@?,^@?`á e?)~:L@ ~:-\Z;I~:CYF?yFFR=i%=^A=%M=J=YE(QUE>AIaM$HIIyUt;}U>IY] 5?]ݾ ]Q e?9]A]=: ]:)YWWX XWX:W2W*WVbUBU*UUU\?BB BA*BAAAA"C]/?RCYCYCa1I9GU=K-,kͷhFAY}2?@}2@y}2寞}2}2H'c@?@ X`Փ?M@~?)~2?@ ~2EZ;I~2CYn?ynF II}Ϗ:M}F=YHQU>a$HHy]<}>Iȩŭ 5?ŭݾ ƭ@L ?9ƭAǭ%; ȭ;)ȩWWX XWX:W2W*WVbUBU*UUU@G@BYBY BYA]*BaAaAaAaAa"Cz@RCB>CCשIG">܅>9܁I܅pFi܅M?܁܁܁܅; ݅ E  k:YWU1y:6);u-,֭hFAY}2) @}2%@y}2#}24z}2Hz' ?N@xϕ? j?)~2) @ ~2G(Z;I~2CYn*?ynFFzG?/$ rh? =, C =)Iy{GzA)½IAI½?Ai½FA3CA    @ @ @i )Ii-]M-@=Y-aQU->11a5$H19y=e<}E>IA M:E 5? U:E#ݾ EF U?9EAE@: E:)E':WyWyXy XyWyXy:Wy2W*WVbUBU*UUUc@RB*** querying acoustic contact ***PPBYBY BYA]c*BYAaAaAaAa"CmH@RCX=CC?i?׉IG>u=iq5_.,ThFA|i|@Y}J @}Je@y}J}JB4}JH?"XI??ՠ?F?)~J @ ~Jd[;I~JCYZa?yZF^Z****** received transponder code query ******^F****** received ping request ******^ >%<M%\=Y-QU->11a5$H19yE8Ⱥ}E>IIM 5?Mݾ MA ]?9M#AM; M;)IWWX XWX:W2W*WVbUBU1*U1U9U= @BB BA*BAAAA"C- @RC%0_C!C))I1G]>}y }~}~}w }z:Y}T1y}@:}|69@܇.,IdhFA(9(I*Fi*?(((*; *EY}f@}f@y}f@S2}f j'}fH3Ls`^?`RuH? 椿g?)~f@ ~f~[;I~fCY~W?y~bF@A xDUSBL response received:!U1,P DD3,000,002C0,189,80,80,20,FF  Command Ack BRequesting micromodem ping code 2i  Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I >)? U U U ]@ ]@ ]@YYYiYY Y)YIYiYM)=YQU>a$H)y-!}->I1 =:5Q 5? E:57ݾ 59; E?95QA5[: 5R:)5(:WWX XWX:W2W*WVbUBU*UUUl @BABI BIAMX*BIAIAIAQAQ"CU@RC]CYCYֵ>I׹)׹qIG>ٶ .,S5hFAY}B!`@}B{@y}B`}B!ʼ}BHC??`aϭF?!U:?)~B!`@ ~B [;I~BCYN3?yNFbNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )Ii AM g=Y QU>a$Hyzl}?I!%y 5?%ݾ %6 5?9%qA%E: %^:)!WQWQXQ XYWYXY:WY2WY*WaVabUaBUa*UaUiUm@BB BA*BAAAA"C@RC{^CC֥D>aIqG>}= yy} }u:Yyyy}6O.,j1OhFAY}2@}2 @y}2}20}2Hr< [|?6?곿o?`0 ?)~2@ ~2DZ;I~2CYB?yBFFxDUSBL response received:!U1,R,DD0,000,002B5,189,80,80,5A,FF FFpublishing direction and range infoB5>@ɰBc=@ @)BBI@yB@BxNA?jѝw ?ٱ@TTZ!HMZc=Y^QU^>\`ab$H``yf;}f>Ih n:j 5? n:jݾ jP2 r?9jAjR: j:)j):WWX XWX :W 2W *W VbUBU*UUU@y@R-(Combining 5 samples.P)*Q-@ZQ-9 @4˨?JQ-xNA?jѝw ?2Q-5>:Q)bQ-< m[? k?RQ-IBX g?%·?BQ-.@ Q-H?Q-xoP-K9?P-J9?P-Q-Q-8@"Q-?BYBa BaAeq*BaAaAiAiAi"Cu!@RCu CqCym߁_>AIQGm=9Ii=; #E iu nGI i ޿ٺ AG.,ihFAY}r@}r@@y}rĘ}r/N}rH\ h6z??β?]y?)~r@ ~rZ;I~rCY~"?y~-F]DNmea in: $SNTTA,,,,,232728.83*5B iiy&1|rh|~jt` )Iy~jt:v~jtļԼD ?A)I;Ai^LAQDAE]M.=YFQU>a$Hy9}>I 5? ݾ R8 ?9A: 0:)mMqAdded new target pos. range: 4.080000 m, bearing: 156.597291 deg, deltaT: 4.370638 s, approachRate: -0.151008 m/s, LOS rate: 0.121994 deg/s, posRepo size: 4WM.@WIXQ XQWQXQ:WQ2WQ*WYVYbUYBUY*UYUeQ@UeBy?BQB BA*BAAAA"CY!@RC C .@C9UF>1I9GUv>uc uuuB ux:YuDW1yuY:u 6 .,ςhFAY}6@}6m@y}6-կ}6IK}6H `' -??@>2?N?)~6@ ~6Z;I~6CYF?yFAF    @ @ @ áááiå?á ĥ?)ĥ?Iĥ?iĥ?jM\=YQU>a$Hyx:}>I :# 5? :(ݾ #= ?9 A88; 9;)*:W9W9XA XAWAXA:WA2WI*WIVIbUQBUQ*UYUYU]`>?BB BA*BAA!A!A!"C-vE&@RC)C)CQ-p=IG-->! 9! I! i! ! ! ! % ; % 9E)ݱIݱiݱݱݱݵM4&.,qhFAY}6@}6"@y}6ν}6"⁽}6H@@??`G>@Ϲ?P$@?)~6@ ~6Z;I~6CYBx?yBF)v= v=1M%U=Y%!QU%>))a-$H))y5;}5>I9=D 5?=.ݾ =B E?9=CA=E: =:)9WWX XWX:W2W*WVbUBU*UUU ?BaBi BiAmO*BiAiAiAiAq"CY1*@RCCC֍=iIyG>} }}} }|:Y}WU1y}:}6)}l;9-.,hFAY}:!@}:@y}:潙}:w6}:H@e Go9?v?팽 Ƽ??)~:!@ ~:֔[;I~:CYF?yF FI =) = ] ] ] ]@ ]@ ]@ ]@YYYi]Y ])]I]i]mizMmE=Yu9QUu>qya}$HyyyY}>Iȉō{ 5?ō4ݾ ƍG ?9ƍ~AǍ: ȍX:)ȉW9W9X9 X9W9X9:W92WA*WAVAbUABUA*UIUIUMm?BB BA*BAAAA"C,@RCCC =>ֵm3., bиhFAY}6޳@}6h@y}6?}6V}6HX? ?`!칿?Xn~?)~6޳@ ~6^;I~6CYV?yZӔF]<M]K=YeQUe>aaam$HmHiyu}u>Iy :} 5? :}:ݾ }M ?9}A}: }:)}+:WWX XWX:W2W*WVbUBU*UUU`L@BB BA2*BAAAA"CN.@RCCCM፨)I1GU>9IFi?=; ;:.,)=hFAY}6@}6r @y}6P}6}6H`,xE?त?7/h@n? t`?)~6@ ~6GI^;I~6CY^H?yb FMb?RQ?S㥫<> /])Iyy&1ˡE)\(`弹'Ga µl=A)µ3MAIµ5AiµTAGEA\A,;MC=YQU>a$Hy<}>I: 5?ݾ f ?9A: :)WW!X! X!W!X!:W!2W!*W)V)bU)BU)*U1U1U5+@BYBa BaAe*BaAaAiAiAi"CuU.@*CRCCC؎IG$>@.,~hFAY}6l @}6@y}6%}6V2}6H V?r? u¿Q? i@u?)~6l @ ~6P];I~4YR?yRFPɮRR= \\ % % % %@ %@ %@!!!i!! !)!I!i!=SM=T=YE9QUE>IIaU$HQQy]q<}e>Ii :m 5? :mݾ mJ} ?9mQAm\< m|<)m,:W9W9X9 X9WAXA:WA2WA*WAVIbUIBUI*UIUIUU@R}B*** querying acoustic contact ***PyPyBB BAD*BAAAA"C.@RCCCB>콉?i?ׁIG">}/ }}}O }t:Y}X1y}/:}3 69@ 9 I ȖFi ? ; -E$G.,hFAY}N @}Nd@y}N }N&ה}NH6 ?~L?,!Nſ?\?)~N @ ~N{\;I~NCYZi?yZF^Z****** received transponder code query ******bF****** received ping request ******b11a5$H19yE<}E>IIMO 5?Mhݾ M ]?9MAMV; M;)IWWX XWX:W2W*WVbUBU*UUU @BB BAS*BAAAA"Cy*CyRCyCyCmAIIGm5>NM.,O7hFAY}6 @}6{@y}6g$}6L9}6HC#?+;?t8(ſlv?q밿@?)~6 @ ~6[;I~6CYB?yBFFxDUSBL response received:!U1,P DD0,000,002B5,189,80,80,5A,FF FCommand AckFBRequesting micromodem ping code 2iDDNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )U= U> % % - -@ -@ -@)))i)) )))I)i)μM)=YQU>a$Hy;}>I :> 5? :ݾ " -?9A*; ;)-:WiWqXq XqWqXq:Wq2Wq*WyVybUyBUy*UUU  @BB! B!A-*B)A)A)A1A1"C9*CaRCaCiCqօD-YIiG|>} }}}m }Cr:Y}V1y}:}j66T.,zQhFAY}:q!@}:g@y}:.}:s}:H2f` ? ?@'d ſ O?. x?)~:q!@ ~:\~[;I~:CYb?ybF`bAArNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B IE=)EC=}}<M}t=YeQU?a$Hy<} ?Ișŝ 5?ŝëݾ Ɲ ?9ƝCAǝ9: ȝ:)șWWX XWX:W2W*WVbUBU*UUU>@BB BA|*BAAAA"C*CRCCC֭+EiIqG>i9iImFim1?m=iim; mEK`Z.,MkhFAY}2V"@}2@y}28}2ѓ}2H`l@a$Hy<}>Iȱŵ 5?ŵFݾ Ƶ ?9Ƶ}Aǵ: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUU@@B!B! B!A-**B)A9A9AAAA"C*CRCCCMNuI!GE0>} }}} }us:Y}WU1y}:}6Ja.,fjhFAY}RPe"@}Rۀ@y}R0u;}R }RH:^*? ΰ?Wq@ʿ 3M?SE?)~RPe"@ ~R[;I~RCYf?yfӔFrDNmea in: $SNTTA,,,,,232733.26*5E ]A    @ @ @i )Ii MC=YǻQU> a $H  yg<}>I %: 5? %:Ǭݾ 宾 -?9A: V:).:WIWIXI XIWQXQ:WQ2WQ*WQVYbUYBUY*UYUaUe>@BB BA2*BAAAA"C*CRCCC5]A5]A IG%>a 9a Ie @Fie ?e =a a e ; e $Eqg.,~9hFAY}>"@}>@y}>@2}>~&}>H`Bq;?@j?q ˿@U+? V "@ ~> \;I~ddaj$Hhhynf<}n>Ipr 5?r7ݾ r v?9rAr: r:)pWWX XWX:W2W*WVbU!BU!*U!U!U%@BQBQ BQAU*BQAYAYAYAY"Ca*Ce=RCaCiCi}} i}nGIi=Eٺ9=AyIG_>}% }}}x }t:Y}W1y}č:}6)} ;9?m.,hFAY}:"@}:@y}:J)}:H}:H@:@# [?`?@(Kpſ?`)~?)~:"@ ~:\;I~:CY^=?ybfF % % % %@ %@ %@!!!i!! !)!I!i!5b<M5C=Y=d9AaE$HAAyM>;}M>IQ ]:U 5? ]:U­ݾ U ]?9U$AU: U:)U/:WWX XWX:W2W*WVbUBU*UUU`ά@RB*** querying acoustic contact ***PPBB BA^*BAAAA"C*CRCCC1I9G]=t.,ҹhFAY}6"@}6C@y}63(}6}6H-Gø??`'5?`􉏿?)~6"@ ~6ܭ\;I~4YB?yBJF)N> N>R<MRT=YVd5;QUV>TXaZ$HZHXy^@:}^>I!% 5?%Oݾ % =?9%`A%u; %v;)!WaWaXa XaWaXa:Wi2Wi*WiVibUiBUq*UqUqUuE@BB BA*BAAAA"C*CRCCCבIG= 9 I Fi @    ; E)ݩIݩiݩݭ=ݭ=ݭ`r5}O }}} }]w:Y}WU1y}:}26)};z.,hFAY}6"@}6@y}6='}63#}6H@'??@x `¿? >$ ?)~6"@ ~6[;I~6CYR?yR-FPR@AI^C=)\A`"?L7A`尿Zd;O?=+ j<)IyMb rhI +C 9 ­7A)­+WAI­1Ai­aAHA5^=M9=Y':QU>a$Hy;}>I : 5? :ԭݾ Xƾ ?9A :  ;)0:WqWyXy XyWX:W2W*WVbUBU*UUU@BB BA=*BAAAA"C*CRCCCIG (>.,}hFAY}FU"@}F@y}F, }F0%}FH  ?? @MS¿?d h?)~FU"@ ~FmT[;I~FCYZ?yZF    @ @ @i )Ii-ڣM-U=Y599a=$H9AyEw}E>IIM 5?Mgݾ Mʾ ]?9MAM: M :)IWWX XW!X!:W!2W!*W!V)bU)BU)*UQUQU]@7@BB BA|*BAAAA"C*CRCCCIG >}q }}} }z:Y}V1y}:}69@ 9 I НFi E@ ; EN.,ǂ hFAY}F4"@}F@y}FF}F%F}FH  @??¿?`~@/?)~F4"@ ~FZ;I~FCYb?ybQFfxDUSBL response received:!U1,N,80,80,63,E4 5,189,80,80,5A,FF fZNo reply:!U1,N,80,80,63,E4 5,189,80,80,5A,FF -f||a$H!y%9}%>I) 5:- 5? 5:-ݾ -ξ }?9-A-@"< -"<)-1:WWX XWX:W2W*WVbUBU*U U U 2@BqBy ByA}/*ByAyAAA"C*CRCCC׉IG=\.,]:hFAY}6Y#@}6t@y}6FO }6ѡ}6H8 F8??`Uÿva$Hy<}>Iȡť 5?ťݾ ƥDӾ ?9ƥMAǥ: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU`>@BYBi BiAu*ByAyAyAyAy"C*CRCCCIG>}y yy}} }z:Yyyy} 6JҔ.,8ThFAY}2w#@}2@y}2}2Jq}2H`u@:?`k?@΀ÿQ?@ȟ?)~2w#@ ~2@];I~2CYN?yRFb%MbW=Yb=QUf>ddaf$Hdhyjŷ<}n>Ipr 5?rݾ r׾ v?9rArg: rض:)pW W X  XWX:W2W*WVbU!BU!*U!U!U-( @BQBQ BQAUj*BQAAAA"C*CRCCCIG=ܱ9ܱIܵFiܵE?ܵ=ܱܱܵ; ݵEl.,'nhFA|i|@Y}>jc$@}>~@y}>9ڽ}> }>HM$(?J? 6M??)~>jc$@ ~>ԝ];I~>CYN?yRF]HzG?M?X9v]= >]n> ])YIYy]y&1|?Mb`~jt?]`;]]< ]A>A)]3MAI]0Ai]~ZAY]EA)m= m=}E-<M}?=Y}J=QU>a$Hy}<}>Iȑ :ŕ 5? :ŕݾ ƕѾ ?9ƕAǕ: ȕ#:)ȕ2:WWX XWX:W2W*WVbUBU*UUU!@RB*** querying acoustic contact ***PPBB BAE*BAAAA"C*CRCCCIGu>} }|}|}[ }B:Y}R1y}i:}| 6.,hFAY}:o$@}:@y}:*}:#}:Hոv@1p?N? 9|ܷ??q?)~:o$@ ~:\;I~:CF`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ) IY%?y-F-Z****** received transponder code query ******5F****** received ping request ******5a$H y 2:} >I߶ 5?ݫݾ ˾ %?9A : f:)WAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UQUYU]F "@BABA BAAE*BAAIAIAIAI"CQ*CQRCQCqCyI׉)׉qIyG~>ܩ 9ܭ CIܭ @Fiܭ ?ܭ =ܩ ܩ ܭ ; ݭ E.,СhFAY}6$@}6B@y}6}6)7}6H@tY`;?Ii)m@A} }}}Z }:Y}U1y}:}a 6)}X;98.,nhFAY}6$@}6 @y}6 X}6z}6H`Q=L+?*?r`~ų?@4?)~6$@ ~6J\;I~6Cɫ) IY-5?y-FMNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 鿱±µ]A        @  @  @   i   ) I i %.M- =Y-Y11a5$H=H9yO;}>I   5? ݾ  ?9 A =: ϸ:) WyWyX XWX:W2W*WVbUBU*UUU`#@B B BA *B1A9A9A9A9"CA*CARCICICI1I9G]>] .,sպhFAY}6!$@}6@y}6Ar|}6尿}6H uH@xb`4?2`z +?`ʹL?)~6!$@ ~6b;I~6CɫYY)Y YIYY?yFxDUSBL response received:!U1,R,12B,000,002B5,186,80,80,4C,FF Fpublishing direction and range info0ɰ鰥> )BIyd,?Ӿ׭пٱ=M=Y_Z=QU?a$Hy }&?I : 5? :ݾ 5 ?9A: :)4:WWX XW!X!:W!2W!*W!V)bU)BU)*U)U)U5 C$@RE(Combining 5 samples.PA*QAZQE`@=%G6JQEd,?Ӿ׭п2QE0:QAbQEBK6& @;a?RQE@td޿2* ?NS癴?BQEO@ QEd@QEPEQ9?PEK9?PEQEQE@"QE8@BB BAˀ*BAAAA"C1*C1RC1C1C9i9mCImFim1?m=iim; iyIG>IMuCinGIi5ٺ15@A} yy} }s:Yyyy}36)}9;tM.,hhFAY}j)%@}j#@y}j9}j}jH@8Oݓ.?.@ =?@ձ?)~j)%@ ~j_;I~jCɫ) IYE?yEFTNmea in: $SNTTA,0.037700,,,,232738.95*40 EJ +?Mb?:vE=E< ET)AIAyEQS㥫?y&1?EuE/]=E`< A)EEAIEn8AiENAAEBA]N;Me=Yeiiam$HiqyuO};}u>Iy}L 5?}ݾ } ?9}+A}n: }ܹ:)ymuAdded new target pos. range: 4.080000 m, bearing: 118.452255 deg, deltaT: 10.134558 s, approachRate: 0.000000 m/s, LOS rate: -3.763858 deg/s, posRepo size: 4WO@WX XWX:W2W*WVbUBU*UUU˨?B)B) B)A5*B1A1A1A1A1"C=,@RC9CEO@CA)I1GU>m=im=3.,!= hFAY}61h%@}6@y}6=}6gr}6H`(`+@\}`? 9I IM FiM ?M =I I M ; M E)Ii቉ቩ5\.,E#hFAɫ髙) IY?y:F    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ<MA=YQU>a$Hy}>IȹŽ 5?Žݾ ƽ ?9ƽAǽ0: ȽI:)ȹWWX XWX:W2W*WVbUBU*UUU?B)B1 B1A5*B1A1A1A9A9"C=҅&@RCEeCACAIY)Y)I1GU>.,9!!a%$H!)y-u?=}->I15 5?5/ݾ 5 E?951A5k: 5:)1WWX XWX:W2W*WVbUBU*UUUYI?BaBa BaAe*BaAiAiAiAi"CG @RCNfCC׉IG>, > ~:Yy%6Wo.,VhFAY}F&@}F}@y}F;}F}FH˘P`? `xqP@?)~F&@ ~F}^b;I~FCɫy髁) IY:@yF    @ @ @éééiéé ĩ)ĩIĩiĩ@$=M?=Ya$Hy}>I : 5? :eݾ j ?9A: :)6:W!W!X! X!W!X!:W)2W)*W)V1bU1BU1*U1U1U=i@BaBa BaAm!*BiAiAqAqAq"C}@RC} H;CyCy9IȖFi?=; 3EIG5-> .,phFAY}6&@}6-@y}6c<}6hp}6Hg}w?@h6 }` @S?)~6&@ ~6(`;I~6Cɫaa)i iIqYu@y FMbp? rh~jth;C D)IyktI +?Mb? 09<< :A)3MAI?AiIAQDA    @ @ @ÑÑÑiÑÑ đ)đIđiđ <M>=YHa$Hy}>I 5?ݾ  ?9A: D:)WWX XWX:W2W*WVbUBU*UUU@@B1B1 B1A5~*B1A9A9A9A9"CEp@RCE =CACI=ᄾE?iE?I G5q>f | 3y:YDW1yY:6.,~hFAY}:+&@}:G@y}:ߓ<}:Q'R}:H ipv@;CF?vrs?*ғ`xC?)~:+&@ ~:y];I~:Cɫ99)9 9IAY]L@y]FIuC=)u4=)}> }> =Mt=YVCC~IG$> 9 I 8Fi ? = ; DE.,YhFAY}6;&@}6@y}6`n<}6$r}6H՜?L?ž`?B @<e?)~6;&@ ~69[;I~6CɫYY)Y YIYY}@y}yFZ****** received transponder code query ******F****** received ping request ******a$Hy/<}>I)- 5?-ݾ -( 5?9-A-I: -:))WQWQXY XYWYXY:WY2WY*WaVabUaBUi*UiUqUugm @BB BA~*BAAAA"C @RC >CCȷLIG}z>M  I I M  M bq:YI yI M ;6)M ;9U Q.,K;hFAY}6s'@}6#@y}6t.=}6*Ž}6Hg`N`)|?L๣`̥ە?)~6s'@ ~6E[;I~6Cɫ99)9 9I9Yu@y FxDUSBL response received:!U1,P 12B,000,002B5,186,80,80,4C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76     @  @  @  i? l?)l?Il?il?uQMu@=Y}=QU>a$HHyQ<}>I  :  5? : ŵݾ t ?9 A R: :) 8:WWX XWX:W2W*WVbUBU*UUU` @BB B!A%~*B!A!A!A)A)"C]vt@RCaCaCa};iIב)בiIqG>Q.,ػhFAY}61?'@}6Z@y}6`=}6}6H` 8^Fe? /` `l?)~61?'@ ~6[;I~6Cɫ99)9 9I9Y}@y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B W,;Mn=Y=QU?a$Hy4'<}?IȹŽ 5?Žݾ ƽ ?9ƽ%Aǽ: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU@tA@BIBI BQAU~*BQAQAQAQAQ"C]~H@RCYCaCaܽ>9ܹIܽFiܽ?ܹܹܹܽ; ݽ2EuόiIG>>m  m m m V m .r:Ym T1ym :m 6)m w;.,YhFAY}z s'@}z@y}zp=}zIŅ}zH 8`krQ?Nbw ~7c?)~z s'@ ~z_;I~zCɫ) IY-@y5F=xDUSBL response received:!U1,R,082,000,002C0,186,80,80,34,FF =Fpublishing direction and range info5V轩1ɰ5f=1 1)5PBI1y5@5g4W?5ٱ1UdNmea in: $SNTTA,0.025161,0.145336,,,232743.40*5E x&1?y&1?A>̽ `=)IyQ롿X9v?Q?\<u< )NAIFAi@ADA  % % %@ %@ %@ %@!!!i%! %)%I%i%5sM53=Y=99aE$HAAyM@;}M>IQ ]:U 5? ]:Uѷݾ U e?9U}AU#: U:)U9:WWX XWX:W2W *W V bU BU*UUU&@RE(Combining 5 samples.PI*QM@ZQM!@'Q+JQMg4W?52QMV:QIbQM.KbVHkZ @οRQMeC!Y18@H?HE&"BQMM@ QMj@QMm?PMN9?PMQ9?PIQMQM3?"QM@BB BAF*BAAAA"C@RCCCֵu \qIyG~>/,? hFAY}:'@}:v@y}:Gq=}:#`}:H@f.錴`?? [?j$y?)~:'@ ~: ~];I~:Cɫ99)9 9I9Y}@y}FU%=M]o=Y]h9QU]?aaae$Haaym<}m?Iqu 5?uݾ u }?9uAu: u:)qmmAdded new target pos. range: 4.740000 m, bearing: 129.186567 deg, deltaT: 4.543696 s, approachRate: 0.145256 m/s, LOS rate: 2.362463 deg/s, posRepo size: 4mTStarting intercept timer at range: 4.74 m.WM@WX XWX:W2W*WVbUBU*UU@U?BB BA~~*BAAAA"Cv@*C RC C M@C]?i?שIG >m B m ~m ~m E m a:Ym T1ym @:m ! 69u @ܑ 9ܕ CIܕ Fiܕ }?ܕ =ܕ :Dܑ ܕ ; ݕ 0E/,Y%hFAY}:\'@}:@y}:t=}:{H}:H@5@C?z?`|?)~:\'@ ~:[;I~:Ci>NmGI\id~ٺ|~BAɫ髙) IY?yF)I M=U^nMUJ=Y]&:QU]>YYae$Haaym Ѻ}m>Iqu2 5?uƹݾ u }?9u Au: u:)qWWX XWX:W2W*WVbUBU*UUU $?BB BA*BAAAA"Cz@RCCC 8<IG%,>"/,|?hFAY}6'@}6 @y}6Tx=}6q}6H `c.B?w\?)~6'@ ~6ѺZ;I~6Cɫyy)y yIyY?yF    @ @ @ÙÙÙiÙÙ ę)ęIęię:ME=Y%;QU>a$Hy<9}>I :F 5? :ݺݾ m ?9ZA: Z:)::WWX XWX:W2W*WVbUBU*U U U6?BQBQ BYA]*BYAYAaAaAa"Cm}@RCqCqCymТ=!I1GM1> p   i y:Y V1y : 6 /,\YhFAY}6A'@}6@y}6p=}6{2}6H |.+?iv0\?)~6A'@ ~6OZ;I~6CɫYY)Y YIYY ?yF=uM=R=Y=QU=>AAaE$HAIyM(<}M>IQU[ 5?Uݾ Un e?9UAU: U:)QWWX XWX:W2W*WVbUBU*UUU@?U>9QIUFiU?U=QQU ; U</,TTshFAY}F'@}F @y}F]=}F}FH0` @`&? OG@yhͰH?)~F'@ ~F_;I~FCɫii)i iIiY?y Fy&1|!rh:v?`l T<)Iykt?{Gz? 0=#< ½A>A)½KAI½IAi½?AzDA^A } } } }@ @ @ yyyi}(?y y)yI}I?iy/<M0=Y"QU>a $H  y;}>I9 E:=( 5? E:=ݾ = E?9=A=8: =:)=;:WWX XWX:W2W*WVbUBU*UUU@B)B) B)A-B*B)AQAQAQAQ"C]??@RCYCYCaUe=!I1GMt>  ~ ~ f r:Y T1y @: 6#/,EhFAY}:T(@}:CC>שIG >1 95 CI5 0Fi5 $?5 =5 ;D1 5 ; 5 .EFG)/,ꦼhFAY}6֬(@}6a@y}6k<}6w}6HN`_?1Qo]`.̟M`?)~6֬(@ ~6[;I~6Cɫ99)9 9I9Y}?y}aF鮁ɮ;MU=YQU>a$Hye<}>Iȹ :ŽQ 5? :Žݾ ƽ ?9ƽzAǽ: Ƚ^:)Ƚ<:WWX XWX:W2W*WVbUBU*UUU@7@R B*** querying acoustic contact ***P P B)B1 B1A5*B1A9A9A9A9"CE@*CARCE >CACIֵbM>׽?i׽?ׁIG> =      ,:Y W1y č: `6) W;9 .0/,hFAY}2\X(@}2s@y}2<}2μ}2H 3Qc?@65x`6]ܙ@?)~2\X(@ ~2C[;I~2CɫII)I IIIY} ?y}4FZ****** received transponder code query ******F****** received ping request ******Yaae$HeHaymE}m>Iqu= 5?uݾ u ?9uAu ; u ;)qWWX XWX:W2W*WVbUBU*UUUx @B!B! B!A%j*B!AIAIAIAI"CUM@*CQRCUt>CQCYEu>!IAG]U>X6/,ڼhFAY}6C(@}6_@y}6=:}63O}6H-R +?1*;z[ ?)~6C(@ ~6GZ;I~4ɫ99)9 9I9Yr?yFxDUSBL response received:!U1,P 082,000,002C0,186,80,80,34,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 EOMML=Y]#QUe>qya$HyE}> 9 I i  =   ; EIȱ :ŵ 5? :ŵݾ Ƶ2 ?9ƵAǵ,n< ȵs<)ȵ=:WWX XWX:W2W*WV!bUIBUI*UIUIUU` @BB BA*BAAAA"C *CRC't>C9CIֵ>I׹)׹׉ I G >U f U U U Z U 3y:YU T1yU :U a 6)U ;aaam$HiiyuM}u>Iy}ʯ 5?}ݾ }Q ?9}~A}ܹ: }:)yWWX) X)W)X):W)2W1*W1V1bU1BU1*U9U9U=@BB BA*BAAAA"C*CRC"t>CCz>יIGb>jC/,UhFAY}6O(@}6j@y}6Pwټ}6}6HA/@ p0 ?_7E.?'?)~6O(@ ~6^;I~6Cɫyy)y yIyY"?y-FxDUSBL response received:!U1,R,128,000,002B5,186,80,80,58,FF Fpublishing direction and range info Aɰc= )BIy@T7?l39Yпٱ ]AFϻMe=Yw&QU>a$Hyf;}>I  d 5? $ݾ  ?9 A : :) W9WAXA XAWAXA:WA2WI*WIVIbUIBUI*UQUQUUb@Re(Combining 5 samples.Pa*Qe@ZQe)P@JQeT7?l39Yп2Qe A:QabQeRT_& @k?RQel*ԽzqP6? O?BQe @ Qe ^@QePeP9?PeN9?PeQaQe@"Qe3?B9B9 B9A=*B9AAAAAAAA"CI*CQRCU@u>CQCQM*Mt> IG-->>9Ii; %E   { |:Y WU1y : 6) l;YI/,2(hFAɫ) IYU?yUFTNmea in: $SNTTA,0.203223,,,,232747.85*48 U1MU6=Y]QU]>YYae$Haaym}m>Iq }:u& 5? }:uݾ u ?9uSAu: u:)u>:muAdded new target pos. range: 4.080000 m, bearing: 121.666542 deg, deltaT: 4.348843 s, approachRate: -0.151764 m/s, LOS rate: -1.729201 deg/s, posRepo size: 4W @WX XWX:W2W*WVbUBU*UUQ@U'?BB BAD*BAA!A!A!"C-f@RC- >C- @C9ױIG>j~P/,8BhFAY}6J!(@}6<@y}6p}6}6H@W$@f??@n?q잿?)~6J!(@ ~6\;I~6Cɫ99)9 9I9Yu9?y}F } } } }@ }@ }@yyyiyy y)yIyiy'C<MW=YQU>a$Hy}>Iȱ 5?ݾ g ?9A; %;)WWX XWX :W 2W *WVbUBU*UUU@?BB BA*BA A A A "C @RCCC%>IG%M> z #:Y y 69 @ V/,[hFAY}:(@}:k1@y}:}: }:Hi `_-`?f?@ -?@qg?)~:(@ ~:Yj];I~:CɫAA)I IIIY?yTFܕ>9ܑIܕFiܕ?ܕ=ܑܑܕ; ݕ/EI p=) 4=)%= %>qM8=Y5QU>a$HyYκ}>I  :  5? : ݾ Y ?9 . A : k:) ?:WYWYXY XYWYXa:Wa2WauT>}zC*WVimGbUBUIi-ٺ)-A*U1U1U5?BB BAf*BAAAA"C @RCCC>IG>+\/,7uhFAY}6'@}6@y}6ý}6k}6HL\??@l?L$?)~6'@ ~6\;I~6Cɫ99)9 9I9Y}N?y}Fmp= ף?EԸ~jtm>mƽ m)iIiym~jtxI +?y&1mĻm94=m` i)iImA>AimIAimCA 5 5 5 5@ 5@ 5@111i11 1)1I1i1E=MET=YE4QUM>IIaU$HQQy]}]>Iae 5?eBݾ ee m?9ep AeU: e:)aWWX XWX:W2W*WVbUBU*UUU@?BB BAZ*BAAAA"C*CpRCCC>׹IGf>c/,whFAY}6'@}6C;@y}6L߽}6}}6H(`@$é?V?@@@@?)?)~6'@ ~6XUb;I~6Cɫ99)9 9I9Y?yF59=M=]=Y=QU=>AAaE$HAAyM}M>IQ ]:U° 5? ]:Uݾ U e?9U AU: U:)U@:WWX XWX:W2W*WVbUBU*UUUx6@BB BA*BAAAA"C*CżRCCCօ>YIiGY>y9yI}Fi}}?yyy}!; }FE) I @  +v:YU1y:6);9i = = 5i/,1zhFAY}:&@}:@y}:O3}:j}:H@o@n?~z?@8 r?`-ؽ?)~:&@ ~: `;I~8ɫ99)9 9I9Y}E?y}0F M$;MMI=YM QUU>QQa]$HYYye}e>Iimů 5?mݾ mT u?9m Amo: m#:)iWWX XWX:W2W*WVbUBU*UUU`v@BB BA܃*BAAAA"C*CåzRCCC?΅>IG J>p/,aSýhFAY}6a&@}6@y}6b}6<}6HY@?`Tx?e`ٳ?[ ?)~6a&@ ~6{^;I~6CɫYY)Y YIaY?yF鮉ɮ=    @ @ @i )Ii5 M5L=Y=SQU=>AAaE$HEHIyUS}>I 5?hݾ ޣ ?9B!A: :)WAWAXA XIWIXI:Wi2Wi*WqVqbUqBUq*UyUyU} @RB*** querying acoustic contact ***PPBB BAK*BAAAA"C*CuRCĊ>CCֽ>יIGb>!  s:YV1y:69@3v/,.ݽhFAY}6f&@}6@y}6}6}6HNl?Hm?`"Glÿ u]?`]@?)~6f&@ ~6];I~6Cɫai)i qIqY~?y{FZ****** received transponder code query ******F****** received ping request ******9YI]8Fi]?]=YY]1; ]NEUV-?ˡE/$?Um=U' U<)QIQyU{Gzt?~jth?QUף;UD;U U?A)UJAIU6AiUXAQUfFA牼M)=YkܼQU>a$HyR$6}>I  :u 5?  :?ݾ ܪ  ?9U!AT; ]:)A:WQWQXQ XQWQXQ:WY2WY*WYVYbUBU*UUUǬ @BB BA*BAAAA"C*CAiRC >CC <->IG- >A}/, hFAY}:&@}:y!@y}:&}:E}:H@a?ຏ?@/ÿ?)\@?)~:&@ ~:\;I~:Cɫ99)9 9IAY}?y}FxDUSBL response received:!U1,P 128,000,002B5,186,80,80,58,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 IEC=)EC=)]0> ]>/;Mq=YQU?a$H)yU}U>Iae8 5?e!ݾ tI e ?9ec!AeYt< e(<)aWWX XWX:W!2W!*W)V)bU)BU)*U)U1U5 @ByBy BA*BAAAA"C*CSdRCT>CC>  :Y0Y1y:6 I G1 /,hFAɫ髙) IYN?yF?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B        @  @ @   i   ) I i A<M%B=Y%QU%>))a-$H)1y5}5>I9 E:= 5? E:=ݾ = M?9=s!A=: =k:)=B:WiWiXq XqWqXq:Wq2Wq*WyVybUyBUy*UyUU N@BB BAZ*BAAAA"C*CRC >CCr>ׁIG=>%>9!I%XFi%?%=!!%;; %SE=1/,*hFAY}2$@}2@y}2<}2Yc}2Hj@ͩ?+?ſy?`zh?)~2$@ ~2_;I~2CɫII)I IIIY}?y}(FxDUSBL response received:!U1,R,DB9,000,002B7,189,80,80,53,FF Fpublishing direction and range infoS>?ɰc=鰅7> )BIyf@X5gv?,?ٱ;Me=YWQU>a$Hye}>I 5?ݾ D ?9!A: 3:)WWX XWX:W2W*WVbU BU *U U U!@R%(Combining 5 samples.P!*Q%f@ZQ%N.X @.p]@JQ%X5gv?,?2Q%S>?:Q!bQ%MrR?\o?RQ%M?9ds ?K?BQ%5@ Q% ?Q%~P%K9?P%P9?P%Q%Q%@"Q%@BQBY BYA]G*BYAYAaAaAa"Ci*Cm蛻RCmm>CiCqMu>!I1GM0>  \:YV1y:;6/, DhFAɫ  )  I YMt?yMאFDNmea in: $SNTTA,,,,,232752.28*57 \AYM6=Y QU > a$Hy}>Iȹ :Žc 5? :Žݾ ƽ&¾ ?9ƽ!AǽI: ȽV:)ȽC:mmAdded new target pos. range: 4.199998 m, bearing: 162.519147 deg, deltaT: 4.435218 s, approachRate: 0.027056 m/s, LOS rate: 9.210957 deg/s, posRepo size: 4W 5@WX X!W!X!:W!2W!*W)V)bU)BU)*U1U5`@U5^J?BaBa BaAeф*BaAiAiAiAi"Cu @RCuI>Cu5@CyU,p>IAGZ>lF/,^hFAY}:>($@}:C@y}:ɫB}: }:H`R8 ??@FͿ0?`r#?)~:>($@ ~:Q^;I~:C9IFiv?=/; LEɫ) !I!Y?yrFM? ףp= ?~jt?n>Q= =)IyMbp?{Gz?~jt;ף< ;A)\QAIK/AivdA(HA M M M M@ M@ M@IIIiII I)IIIiI]U6M]7=Y}OQU>a$Hy<{}>Ișŝ 5?ŝݾ Ɲƾ ?9Ɲ!Aǝ; ȝ;)șWW X  X W X :W 2W*WVbUBU*UU9U=t"?BaBi BiAm*BiAiAqAqAq"C} @RCi=CC֭n>  :YDW1yY:6)Y;9סIG >cm/,rQxhFAY}6f#@}6{@y}6B}6wý}6H @t d?T? XV ʿ@3?鷿G?)~6f#@ ~6|\];I~6CɫII)I IIIY}?y}FD=Mx=YQU?!!a%$H!)y-}- ?I1 =:57 5? =:5ݾ 5ɾ E?95!A5I: 5w:)5D:WaWaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UyUyU}?BB BAx*BAAAA)"C5 @RC5*=C9C9-ud>IG-,>OU/,,hFAY}6"@}6>@y}6LI}6]}6HZӶ? w?K Jǿ?-V?)~6"@ ~6.\;I~4ɫ99)9 9I9Y0?yFI-=)-=)) -=U;M]F=YeςQUm>yya}$Hyq}>Iȑŕ 5?ŕݾ ƕ; ?9ƕ!AǕ: ȕn:)ȑWWX XWX:W2W*WVbUBU*UUU,;?B!B) B1A5a*B1A1A1A1A9"CM h@RCMꣽCICQEU7>I G%N>ܹ9ܹIܽ@Fiܽ?ܽ=ܹܹܽ9; ݽREމiލp=  'o:YU1y:)6);i mGI i  ٺ 3Ai/,hFAɫ髙) IY?yF    @ @ @ÑÑÑiÑÑ đ)đIđiđN-MD=YQU>a$Hy}>Iܪ 5?Aݾ Ѿ ?9"Ao: /:)WWX XWX:W2W*W!V!bU!BU!*U!U)U5p@BB BA*BAAAA"CF@RC;CC֥M >YIiGZ>g/,žhFAɫ髹) IY?yF    @ @ @i )Iii}MH=YQU>a$HHy}>I :2 5?  :hݾ վ  ?9;"AI: :)E:W1W1X1 X1W1X1:W12W9*W9V9bU9BUA*UAUAUE@BB BA&*BAAAA"C @RC CC֝=YIiG  o:YV1y:69@/,߾hFAy9yIyiy}=yy}_; }gE)ݙIݙiݙݝ=ݝ=Y}d!@}@y}kC}S]}H@{q1??@ƿY?:^?)~d!@ ~a];I~Cݝ:5ɫ ) IYM?yUrF]p=ɮ]= qqy&1|?Mb`EԸ?`; =)IyMb:v rh?TC< :A)VVAIifAIA  ]AG<M8=YIG!!a%$H))y-}5>I15c 5?5ݾ 5VӾ ?95~"A5< 5 <)1WWX XWX :W 2W *W V bUBU*UUU`g@REB*** querying acoustic contact ***PAPABaBi BiAm*BiAiAiAqAq"Cz-'@RCCC֕=QIYG|>/,xhFAY}6~!@}6&@y}6/D}6(ټ}6H7V{{w?&?PJĿt?:f?)~6~!@ ~6&\;I~6Cɫ99)9 9I9Y?y FZ****** received transponder code query ******F****** received ping request ******a$Hyދ}>Iȱ :ŵX 5? :ŵ<ݾ Ƶ]Ѿ ?9Ƶ"Aǵ: ȵ:)ȵF:WWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"C+@RCCC(z=סIGA> b :YT1y:<6g/,TthFAY}:!!@}:h=@y}:;E}:RH}:H 2@? ?`^Sƿ?@2^?)~:!!@ ~:u[\;I~:Cɫ99)9 9I9Y}?y}rFxDUSBL response received:!U1,P DB9,000,002B7,189,80,80,53,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 跼MuV=Y8QU>a$Hy-^}5>IAEy 5?Eݾ Eξ ?9E"AE=< EB<)AWYWaXa XWX:W2W*WVbUBU*UUU` @B1B9 B9A=*B9A9AaAaAa"Cm(C0@RCiCiCqeX<9i9iImxFim?iiimW; mcEIG>/,O-hFAY}: @}: @y}:zA}:}:H?:$?=Mȿ J?6AY?)~: @ ~:\;I~:CɫAA)A IIIY}?y}؏FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Ia)eC=)}> }>SM>=Ya$H  y5}5>I9 E:= 5? E:=ݾ =̾ E?9=0#A=: =E:)=G:WiWiX XWX:W2W*WVbUBU*UUU _@B)B) B)A-8*B)A1A1A1A1"C=r2@RC9C9CA%yIG I>  q:YDW1yY:6/,kDGhFAɫ髩) IY?yFxDUSBL response received:!U1,R,4F3,000,002B5,189,80,80,A7,FF Fpublishing direction and range infowɰc= )'CIy@lݴ?o%ٱ    @ @ @ @ñññiõñ ĵ)ĵIĵiĵLR=M:=YQU>a$Hy}>I 5?ݾ  ʾ ?9p#A9: R:)WWX XWX:W2W*WVbUBU*UUU @R(Combining 5 samples.P*Q@ZQ-8[G?z$, JQlݴ?o%2Qw:QbQW,?ň_ @`t6?RQ C?w3}?2?BQL? Qj@QQ?PZ9?PK9?PQQ@"Q@BIBI BIAM*BQAQAqAqAq"C}5@RCyCCm ǫIIYGuy>'/,ahFA!9!I!i!!!!%c; %iEɫ) IY 7?y 'FmDNmea in: $SNTTA,,,,,232756.73*5D 333333?$Cӿ{Gzt> ף)Iy))a5$H11y9}=>IA M:E 5? M:Eeݾ E.ξ M?9E#AE3: E#:)EH:muAdded new target pos. range: 4.080000 m, bearing: 65.487048 deg, deltaT: 4.538431 s, approachRate: -0.026440 m/s, LOS rate: -21.380097 deg/s, posRepo size: 4mProNav REINIT: LOS rate is -21.380097 deg/s. Setting heading cmd to target bearing of 65.487048deg and heading rate command to 0 deg/s.WL?WX XWX :W 2W *W VbUBU*UUQ@U@n?BB BA*BAAAA"C6@RCCL?Cֵv qIyG>  o:YW1yč:6);9 /,zhFAɫqq)q yIyY?yF AAII    @ @ @ùùùiùù Ĺ)ĹIĹiĹ NMc=YQU>a$Hy}>Ic 5?^ݾ Ѿ ?9%$Ab: f:)WWX XWX:W!2W!*W!V!bU!BU)*U)U)U5@6?BB BAt*BAAAA"C(6@*C*RCCC~M2יIGB>/,hFAY}:@}:%@y}:~@}:}:H ֵ ;@:?X}? %ſ?d i?)~:@ ~:Z\;I~:CɫQY)Y YIYY?yyFuf=MuP=Y}ya$Hyv3}>IȑŕC 5?ŕCݾ ƕ־ ?9ƕ$AǕ: ȕY:)ȑWWX XWX:W2W*WVbUBU*UUUA?BB BA*B A A A A "C5@RCCC 5^IG$>>9Ii=d; hEB  Tv:YT1y:6) ;/,ԘhFAY}2I@}2@y}2aZ@}2[}2H`߰Oa$Hy#}>I! -:%9 5? 5:%ݾ %sھ 5?9%$A%: %:)%I:WQWQXQ XYWYXY:WY2WY*WaVabUaBUa*UaUiUmA?BB BA**BAAAA"CE2@RCCC֍7JAIQGm5>/,sȿhFAY}B@}B@y}BJ=}By[}BH@.`?? E Mƿ?@wh?)~B@ ~B\+`;I~BCɫai)i iIiY?yyFI%4=)%4=)- > ->U =MUV=Y];QU]>Yaae$HeHaymX#}m>Iqu 5?uݾ us޾ }?9u<%Au÷: u:)qWWX XWX:W2W*WVbUBU*UUU ?BaBa BaAe*BaAiAiAA"C<.@RCCC֝?΅yIG]> X :YWU1y:* 69@4/,rjhFAX9XIXiXZ=XXZf; ZjEY}~}@}~@y}~:}~rm}~H@0?f?uƿ:? ,vj?)~~}@ ~~,^;I~~Cɫ) I Y?y/FimNmGIiٺSAMb?Q?I +=\= 94)Iy~jtx?~jth?:v;D;T ­?A)­3MAI­v.Ai­>A\<M4=Y;QU>a$HyQ<}>I :Գ 5? :ݾ 3 ?9L%A: :)J:WWX XWX:W!2W!*W!V!bU!BU)*U)U)U-/@BYBY BYA]t*BaAaAaAaAa"Cm)@RCiCiCq֍FӅqIG%>MY/,.hFAY}N@}N@y}N6}NU}NH TPGr?? (ȿ@ʷ?`Q{Ac?)~N@ ~N\;I~Lɫqq)y yIyY?yFa=ɮa=    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉݬM`=Y5a$HyOW;}>IȹŽ 5?Žݾ ƽm ?9ƽX%Aǽr: ȽH:)ȹWWX XWX:W2W*WVbUBU*UUUt@R B*** querying acoustic contact ***P P B1B1 B1A5*B1A9A9A9A9"CEV2$@RCACACI]?΅9IAGeU>g  Gy:YT1y:D6?0,hFAY}6@}6;@y}60}6]ֽ}6H@%К??`E hɿ?QZ?)~6@ ~6\;I~6CɫYY)Y YIYY$?yFZ****** received transponder code query ******F****** received ping request ******99a=$H9AyE;}M>I) 5:-j 5? 5:-ݾ - =?9-f%A-: -o:)-K:WyWyXy XWX:W2W*WVbUBU*UUU@ @BB BA*BAAAA"C o@RCCCFӅܩ9ܩIܭ@Fiܭ?ܩܩܩܭ`; ݭgE)YIYiYYY]bf5IGi>}k 0,/hFAY}ft @}f@y}f++}f }fH  l?5?XƿK?@6(u?)~ft @ ~fai\;I~fCɫ) IYH?y F%xDUSBL response received:!U1,P 4F3,000,002B5,189,80,80,A7,FF -Command Ack-BRequesting micromodem ping code 2i))=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )Ii-=M-.=Y5?aaam$Hiqy}h;}>IȹŽ$ 5?Žݾ ƽ ?9ƽv%Aǽ; ȽO;)ȹWWX XWX:W2W*WVbUBU*UUU~V @BaBa BaAe*BaAiAiAiAi"Cu@RCCC \ ~:YDW1yY: 6օ ?΅׍ ?i׍ ?A II Gu >Q0,bIhFAY}6 @}6"+@y}6p"}6r'}6H`tT??P¿ V8?`԰@]?)~6 @ ~6[;I~6Cɫ99)9 9I9Ye?yeFqqNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B l=Mh=Ya$Hy;}?Iȱ :ŵ 5? :ŵkݾ Ƶ ?9Ƶ%Aǵb: ȵ:)ȵL:WWX XWX:W2W*WVbUBU*UUU`@BB BAu*BAAAA"C(@RC~CC֥AaIqG9>T0,/chFA">9 I"Fi"E? "d; "iEY}U @}!@y}-},}H @E@_?T?`bK¿@3?[R!?)~U @ ~_;I~Cɫ) IY-?y--F5xDUSBL response received:!U1,R,502,000,002B4,18A,80,80,B3,FF 5Fpublishing direction and range info5f31ɰ5b=5> 1)53CI1y5@5w?amf-ٱ1IUp=)U= ףp= ?p= ף~jtQ= )Iy{Gz?X9v~jth?#<D; l=A)NAI2Ai|_AGA)= =ф<MC=Y a $H  y}>I 5?ݾ  %?9%AB: W:)WIWIXI XIWIXI:WQ2WQ*WQVQbUYBUY*UYUYU]`@Rm(Combining 5 samples.Pq*Qu@ZQuTW?G( JQuw?amf-2Quf3:QqbQuF?} @r>~?RQu €?ڽU?{{\?BQu? Quf@Qu?PqPuZ9?PqQuQu_@"Qu@BaBa BaAe=*BiAiAiAiAi"Cu @RCui8=CqCy}R\1IAG]U>ޅ=iޅ= r Ls:YWU1y:6)n;930,zq}hFAY}6u @}62@y}6B }6(a}6H `e??`@ ¿@M?[ݫA?)~6u @ ~6-}];I~6CɫYa)a aIiYu?yFDNmea in: $SNTTA,,,,,232801.19*5C    @ @ @ùùùiùù Ĺ)ĹIĹiĹIMN=Y5=QU>a$Hy";}>I0 5?3ݾ i ?9%A4: o:)m%qAdded new target pos. range: 4.020000 m, bearing: 64.403486 deg, deltaT: 4.393725 s, approachRate: -0.013656 m/s, LOS rate: -0.246616 deg/s, posRepo size: 4W%?W)X) X)W)X):W12W1*W1V1bU9BU9*U9U=z@U=@\?BiBi BiAmL*BqAqAqAqAq"C}H @RC} >C}?Cma-AIQGm5>%0,]ShFAɫ) IY?yGF=MJ=YQU>a$Hy}>I :δ 5? :ݾ ) ?9#&A: :)M:WWX! X!W!X!:W!2W!*W)V)bU)BU1*U1U1U5@?BYBa BaAeˁ*BaAaAiAiAi"Cu@RCulv>CqCyE.yIG<>A9AIE@FiE?AAAEz; EuE]  {x:YU1y:N6);Ļ+0,6hFAɫII)I IIQY?yF ^A } } } }@ }@ }@yyyiyy y)yIyiy<M?=YQU>a$Hy}>Iȩŭu 5?ŭݾ ƭ ?9ƭ[&Aǭ: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUUB?BB BA*BA!A!A!A!"C-5?RC- >C)C1=  IG5q>20,hFAY}f!@}f%@y}f*}f]Fr}fH le{?`B?టWo?+?)~f!@ ~fb;I~fCɫ髙) IYH?yXF?o<M\=Y%>QU>a$HHy=}>Iȱ :ŵ 5? :ŵaݾ Ƶ ?9Ƶ&Aǵ$: ȵ:)ȵN:WWX XWX:W2W*WVbUBU*UUU ?B!B! B!A%[*B!A)A)A)A)"C5?RC1C1C9 }IG$>F U v:YWU1y: 69@9 = ^AE >9A IA iA A A A E h; E lE80,&hFAɫyy)y yIyY?yF rh?t= =)IyJ +?a$Hy}>I] 5?<ݾ # ?9&A: :)W1W1X1 X9W9X9:W92W9*WAVAbUABUA*UAUIUM_@BqBy ByA}6*ByAyAyAA"C7?RCCCeϰAIIGe4>>0,hFAY}b`!@}b|@y}b!W}bpB}bH Wrcd? @J? ^Lu?)~b`!@ ~b];I~bCɫ) IY?yךFI}=)}=)Å= Å=    @ @ @i )Ii=MG=Y=QU>a$H!y%%}%>I1 5:5 5? =:5ݾ 5 =?95<'A5: 5k:)5O:WYWaXa XaWaXa:Wi2Wi*WqVqbUqBUy*UyUyUf@BB BA*BAAAA"C/?RCCCAיIGA>  k:Yy`6.E0,hFAY}F]!@}F@y}FQ}F1}FHU@ꣿ` V?ڰ`?@?)~F]!@ ~F\;I~FCɫQQ)Y YIYY$?yVFp=ɮR=M^=Y3=QU> a $H  y<}>I0 5?ݾ  %?9'A: I:)WIWIXQ XQWQXQ:WQ2WQ*WYVYbUYBUY*UaUaUeQW@RmB*** querying acoustic contact ***PiPiBB BA$*BAAAA"C?RCCC֍3;IIQGu>9IFi1?; ?EimGI1iIu%ٺy}LAL0,v2hFAY}f!@}fr@y}fب}fR}fH8<䭿UL?8ष`?,?)~f!@ ~f![\;I~dɫ髙) IY?y̜FZ****** received transponder code query ******F****** received ping request ******a$Hy;}>I 5?ݾ q  ?9'A; f;)WqWqXq XqWqXq:Wy2Wy*WyVybUyBU*UUU @BB BA*BAAAA"Cm?RC!C!C)#*l=I)GmW>Y v )x:YU1y:`6R0,]LhFAY}6!@}6@y}6}6cܼ}6H`P-e`B?M 9?`?)~6!@ ~6` \;I~6Cɫqq)q qIqYB?yhFxDUSBL response received:!U1,P 502,000,002B4,18A,80,80,B3,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ]A    @ @ @i )Ii)4M5=YEQQa]$Hyyr;}>Iȩ :ŭҲ 5? :ŭݾ ƭk ?9ƭJ(Aǭv< ȭq<)ȭP:WWX XWX:W2W*WVbUBU*UUU` @BB BA*BAAAA"C-6?RC1C1CA5w= IG-> >9 I Fi a? ; ;E)yIyiy}=}=}A4*Y0,ofhFAY}n!@}nG@y}nσ;}n}nH. x4@+@L?@Ev0qݰx?)~n!@ ~n P`;I~nCɫae)a aIaYL?y FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B lMb{Gz? #=)Iy{Gzt?~jth?V-?ף;D;< n8A)NAI?AiIACA<M/=Ya$Hy}>I   5? ݾ ܾ ?9 X(A : :) WWX XWX:W2W*WVbUBU*UUU ~@BqBy ByA}*ByAAAA"Ch?RCCC u 8s:YW1yč:E6)];9֭x*>ׁ I G > `0,2hFAY}:;!@}:@y}:Tu<}:}:HC@6бO?@oA-?)~:;!@ ~:!];I~:CɫY])Y YIYY?ygFxDUSBL response received:!U1,R,4A7,000,002B5,189,80,80,84,FF Fpublishing direction and range info6 ɰc=鰥7> )CIy@](×7?4ٱ1<M=Y&=QU)?a$Hy7.})?I :_ 5? :ݾ ؾ ?9`(A{< <)Q:WWX XWX :W 2W1*W1V1bU9BU9*UAUAUE@C@R}(Combining 5 samples.Py*Q}@ZQ}@ubQU# JQ}](×7?42Q}6 :QybQ}tIG I>q,f0,hFAY}!@}@y}NU<}ƽ}H`K2 pʶ@Y?뵦` ``?)~!@ ~F\;I~ɫ) IY?yLFDNmea in: $SNTTA,,,,,232805.62*54 IC=)4=) = > U U U U@ U@ U@QQQiQQ Q)QIQiQmXBMm3=Ymrqqau$Hqyy}˕}}>IȁŅ 5?Ņݾ ƅBҾ ?9ƅo(ADžb: ȅǺ:)ȁmiAdded new target pos. range: 4.080000 m, bearing: 71.126858 deg, deltaT: 4.444435 s, approachRate: 0.013500 m/s, LOS rate: 1.512762 deg/s, posRepo size: 4W ?WX XWX:W2W*WVbUBU*UUQ@UҤ?BB BA*BAAAA"CѼ?RCC ?C܉9܉I܍Fi܍?܉܉܉܍; ݍ?EV}>IGj> || Wr:YR1yi:6);+Tl0,hFAY}6;!@}6W@y}6 =}6 }6HMYZ0@;u?@rΖ X 3r?)~6;!@ ~6~6CɫII)I IIIY}I@y}՝F<Mc=Y!!a%$H!)y- {}->I1 =:5ұ 5? =:5ݾ 5̾ E?95{(A5M: 5:)5R:WaWaXa XiWiXi:Wi2Wi*WqVqbUqBUq*UyUyU}@?BB BA*BAAAA)"C5?RC1C9C9E>I)GEQ>a$HHy`}>I 5?ݾ ƾ ?9(Aϸ: b:)WWX XWX:W2W *W V bU BU*UUU o?BB BA~*BAAAA"CB ?RCCC%>IGn>; k u:YX1y/:369@ܙ 9ܝ CIܝ pFiܝ M?ܝ =ܙ ܙ ܝ ; ݝ FEfy0,mhFAY}6& @}6@y}6G"=}6Ȫ~}6H`fЊԺ?`@p i[ɯ?)~6& @ ~6&_;I~6Cɫ99)9 9I9Y}@y}oF a$Hy}%>I! 5:%a 5? 5:%ݾ %D 5?9%(A%: %b:)%S:WQWYXY XYWYXY:WY2Wa*WaVabUaBUa*UiUqUu@?BB BA~*BAAAA"C-$?*C-RC1C1C1%>IGN0,(GhFAY}BP @}Bۮ@y}Be(=}B"n}BHRYG'Z?du`8 @ B?)~BP @ ~BR];I~BCɫ髙) IY@y0F    @ @ @i )IiMJ=Y Y;QU>!!a%$H!)y5}5>I9=1 5?=~ݾ = U?9=r)A=9; =;;)9WyWyXy XyWyXy:W2W*WVbUBU*UUU.@BB BA~*BAAAA"COЗ?RCCCֽFӅ>yIG^> f m:YV1y:6%x0,`"hFAY}6H @}6d@y}6g&=}6f}6H`< [ ?Fp?@ˤ`衿9?)~6H @ ~6u[;I~6C>JFailed to close latch before timeout.q >>Hardware FaultYBn@yBFٻMp=Y%QU%?!)a-$H))y5[}5?I 5?&ݾ  ?9)A]: :)W!W!X) X)W)X):W)2W)*W1V1bUQBUQ*UYUYU]@BB BA~*BAAAA"Ct?RCCC->9)I-Fi-?-=))-; -CE׹I-$@Hardware Fault in component: DDMGF>ᣌ0,C5hFArPowering downtɪt)t tY5@y5F1ɮ5p=IMR=)M=)U> U=    @ @ @ ÙÙÙiÝG?Ù ę)ĝ?Iĝv?iĝ?<M'=YQU>a$Hy}>I : 5? :lݾ  ?9a*A4: o:)T:WWX XWX:W 2W *W V bU BU*UUU@R%B*** querying acoustic contact ***P!P!BABA BIAMY~*BIAIAIAIAQ"CU$?RCYCYCY]>I!G=r>3  "u:YWU1y:640,NhFAY}6j@}6@y}6=}6y}6H` u ,?2)~ߢ X'@>?)~6j@ ~6TZ;I~6CYZ?yZ՜F^Z****** received transponder code query ******^F****** received ping request ******b- >9) I- PFi- 8?- =) ) - ; - +E i }nGI i! U |0,hhFAٺQAJ|?9JGAY}@}d@y} =}}HQ @p嵿?`X*@򠠿 bm?)~@ ~ėZ;I~CY=_@y=FExDUSBL response received:!U1,P 4A7,000,002B5,189,80,80,84,FF ECommand AckMBRequesting micromodem ping code 2iIIeNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 S㥛S㥛Ŀ/ݼ$ ̼)Iy:v:vTT A>A)dGAIFAi@A3CAIM]A U U U U@ U@ U@ ]@QQQiUQ Q)UIUiU<M =Y$QU>a$Hy }>I! U:%{ 5? U:%Pݾ %a ]?9%*A%; %;;)%U:WWX XWX:W2W*WVbUBU*UUU@8@BB BA~*BAAAA"C  ?*C1RC1C1C1  X}:YT1y:6);9M 6Ʌ>9 II $] NClearing failed state for component DDMq ] Ge >;0,GhFAY}6@}6^@y}6?<}6C}6H`f?o@rG&?)~6@ ~6/Z;I~6CY^3?y^_FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 鿁M=YļQU7?a$HyI;};?I׶ 5?Wݾ 2 ?9*A; *(;)W)W1X1 X1W1X9:W92W9*WAVAbUABUA*UIUIUM@B!B! B!A%!*B!A)A)A)A)"CQ*CU-RCQCYCYe>9IIGmW>Iމ)މHƦ0,jhFAY}6P@}6ۮ@y}6z<}6oh}6HC S@?`l@A`?)~6P@ ~6?Z;I~6CYB?yBFFxDUSBL response received:!U1,R,502,000,002B3,189,80,80,9B,FF FFpublishing direction and range infoFf3DɰFmb=D D)FCIDyFp}@Fw?amf-ٱDZ<MZ]=Y^+QU^>``ab$H``yf6}f>Ih n:jh 5? n:jbݾ j r?9j+Aj@; j ;)jV:W)W)X) X)W)X):W)2W1*W1V1bU1BU9*U9U9UE@@Ru(Combining 5 samples.Pq*Qup}@ZQu8]?{ JQuw?amf-2Quf3:QqbQuN4$"? @9IFi?; E)uCIuCiqu=u=uec5E>9IIGeV>  c:YV1y:6);n0,OZhFAY}fs@}f@y}f*<}fb/0}fHc " ?@2Y`?)~fs@ ~f3Z;I~fCY~?yiF}TNmea in: $SNTTA,0.020897,,,,232810.05*4B E M M M@ M@ M@IIIiII I)IIIiI] M]2=Y]SQUe>aaae$Hiiyu ;}u>Iy} 5?}oݾ }ע ?9}9+A}: }:)ymqAdded new target pos. range: 3.959999 m, bearing: 64.617886 deg, deltaT: 4.410090 s, approachRate: -0.027211 m/s, LOS rate: -1.475927 deg/s, posRepo size: 4W[?WX XWX:W2W*WVbUBU*UU @U?BB BA*BAAAA"C ~(?RC C [?C>IGL>;س0,) hFAY}:@}:C@y}:;}:L}:H @0`O?\y` ?)~:@ ~:J*Z;I~:CYR?yR*FI=)=]/M]]=Ye0QUe>iiau$Hu Hqy}=<}>Iȉ :ō 5? :ōzݾ ƍ ?9ƍU+AǍ ; ȍ? ;)ȍW:WWX XWX:W2W*WVbUBU*UUUu@M?BB BA*BAAAA"C 쳖?RC1C1C1eg>9IIGeV> i r:YU1y:69@ >9 I i = ; Ef0,zhFAY}2: @}2_V@y}2}V}2}2H r; ɾ`Yl`?-D*w?`?)~2: @ ~2Z;I~2CYN?yRF:v?I +ˡE<94 什)Iy{Gz?y&1|?y&1?ף<`;`e< •?A)•IAI•@Ai•fBABA<ME=YQU>a$HyMD<}>I 5?;ݾ Ο ?9y+A: :)WWX XWX:W2W *W V bU BU *UUU`1?B9BA BAAEˀ*BAAAAIAIAI"CU[?RCCC>IG J>A0,hFAY}6U @}6q@y}6Y4}6N"}6H`E:?@4=@ Fƒ?G1?)~6U @ ~6RZ;I~6CYB3?yBF    @ @ @i )Ii<MD=Y%HQU->))a5$H19y=.;}=>IIMb 5?Mݾ Mǜ ]?9M+AM; Mw;)IWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*CRCCC֝N؅>yIG^>p j y:Yy6&0,hFAY}6Si @}6ބ@y}6 }6Y}6HJB@??I`? ?)~6Si @ ~6[;I~6CY>$?yBF tt[M\=Y%DQU%>!)a-$H))y5U;}5>I9 E:=Ӷ 5? E:=Ĵݾ = M?9=+A=: =:)=X:WiWiXi XiWiXi:Wq2Wq*WqVbUBU*UUU @BABI BIAM*BIAIAqAqAq"Cy*C}kRCyCyCq9qIqiqu=qqu; u$E֍>aIiG9>>0,e7hFAY}: @}:A@y}:g}:Ǽ}:H\ح"?d?ZF@?蘿o?)~: @ ~:s1[;I~8YF_?yF,F U U U U@ ]@ ]@QQQiQQ Q)QIQiQmJ;MmF=YmJQUu>yya$Hy<}>Iȩŭ2 5?ŭݾ ƭӖ ?9ƭ+Aǭw; ȭ;)ȩWiWiXi XiWiXq:Wy2Wy*WyVbUBU*UUUi@B!B) BIAUց*BQAQAQAQAY"Ca*CeRCiCiCqօ>YIaGY>  :Yy6{&0,^hQhFAY}6˦ @}6V@y}6;}6}}6HbW@d4V ?>~mE?˖?)~6˦ @ ~6O[;I~6CYN?yRFPɮPbTMbU=Yf-QUf>ddaf$Hhhyj\7}n>II U:M 5? U:MQݾ Mѓ ]?9M,AMf; Ma;)MY:WWX XWX:W2W*WVbUBU*UUUd@RB*** querying acoustic contact ***PPBB BAy*BAAAA"C*CRCCCסIG >i 9i Im Fim }?m =i i m ; m EP0,CkhFAY}22 @}2@y}2{}2I}2H@Q r?I?8@u0?ǯ ?)~22 @ ~2yZ;I~2CYN?yRҕFRZ****** received transponder code query ******VF****** received ping request ******Va$Hy{ }>I 5?ݾ   ?9W,A<< Ǻ:)WQWQXQ XQWQXQ:WY2WY*WYVYbUBU*UUU @BB BAʂ*BA!A!A!A!"C)*C)RC)C)C11ޕ=iޕp= y v:YV1y:6);9 I G5 >t80,hFAY}BS @}B-o@y}BA}Bh}BH`t/`??`n?0"_?ɟ?)~BS @ ~B \;I~BCNPowering up"Initializing DDM.Y?y\FxDUSBL response received:!U1,P 502,000,002B3,189,80,80,9B,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =M%g=Y5żQU5>AIaU$HQay}X}>Iȡ :ť 5? :ťVݾ ƥ] ?9ƥ,Aǥ< ȥ=<)ȥZ:WIWQXQ XQWYXY:W2W*WVbUBU*UUU @B1B9 BYA]*BYAaAaAaAa"Ci*CiRCiCiCq֕v>i Iq G >b0,UhFAY}6X( @}6C@y}6ֽ}6I1^}6H`\`{??*Ѻ?О@+?)~6X( @ ~6];I~6CYB"?yB-FDFAARNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B <Md=YIQU>a$Hy}>I 5?!ݾ  ?9,As; r;)W1W9X9 X9W9X9:W92WA*WAVIbUIBUI*UQUQU]$@BB BA*BAAAA"C*CðRCCC-RFailed to parse device response: 1.90.13 iunGIixܿٺAAI G5O>z  z:YT1y:69@0,ԸhFAY?yɕF%xDUSBL response received:!U1,R,502,000,002B2,188,80,80,8E,FF -Fpublishing direction and range info!!ɰ%b=%> !)%CI!y%y@%w?amf-ٱ!==i=C= AA    @ @ @ÑÑÑiÑÑ đ)đIđiđjJMK=YQU>a$Hy}>Iĵ 5? ݾ  ?9-AE: :)WWX XWX:W2W*WVbUBU*UUU@,@R(Combining 5 samples.P*Qy@ZQ=A?a;% JQw?amf-2Q:QbQ-Tu?kw2 @ ۍ?RQ#?x?.EC?BQ? Qa@Q?PPZ9?PQQ2@"Q @B)BI BQAU΂*BQAQAQAQAY"CY*CeѭRCaCaCaօ>YIiG\>Iޑ)ޑt0,hFAY}6j @}6@y}6u% }6B}6H'@@? Ob? `f|Ŀd?x?)~6j @ ~6\;I~4YBa?yBF]TNmea in: $SNTTA,0.017203,,,,232814.53*4F MI=YQU>a$H!Hyc<} >I 5:ѵ 5? =:ݾ ƞ E?9T-AO; W;)[:mUmAdded new target pos. range: 3.899999 m, bearing: 64.864900 deg, deltaT: 4.456809 s, approachRate: -0.013463 m/s, LOS rate: 0.055424 deg/s, posRepo size: 4WU?WYXY XYWYXY:Wa2Wa*WaVabUiBU*UU23@U`b?B1B1 B1A=Ղ*B9A9A9A9A9"CE?*CmRCiCm?Ci֝>yIG> a m:Yy!6 \A 9 I Fi ? =   ;  E0,ҊhFAY}6 !@}6(@y}6-}68}6HS@ ?`D?! ſ ?0I?)~6 !@ ~6C[;I~4YBP?yBԓFL7A`?~jt+> )Iy~jth?L7A`?I +D;+=94 ?A)dGAII4AiUAQDA) > >qnMG=YQU>a$H!)yE'<}E>Iae۴ 5?e^ݾ e ?9e-Ae; e;)aWqWqXq XqWyXy:Wy2Wy*WyVbUBU*UUU?BB BA*BAAAA"C*CRCC)C) >IGn>1,QhhFAY}R!@}R{6@y}Rh}R j}RHTg?9?6\ſ`?˳"?)~R!@ ~RAe[;I~RCYf_?yfݓFI9)9IMC=)I    @ @ @ÙÙÙiÙÙ ę)ęIęięo:MO=YQU>a$Hy;}>I : 5? :ݾ & ?9-A< a<)\:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*CRCCC בޝ=iޝa=  p:YWU1y:6IG>1,}A hFAY}6a2!@}6M@y}6T#}6ઽ}6HZW |?`+?@25mƿ`fh?{?)~6a2!@ ~66[;I~6CYB?yBAFz|==M~V=Y~QU~>a$H y  v;} >I 5?ݾ  %?9-A: :)WAWAXA XAWIXI:WI2WI*WIVQbUQBUQ*UQUYU]_?BB BA*BAAAA"C*CRCCCבIG=ܱ9ܱIܵ Fiܵ?ܱܱܱܵ; ݵE)SISiSSS[5 1,:hFAY}6m!@}6H@y}6'}6Eܽ}6HjG4? ?%1ȿE?q2qc?)~6m!@ ~6J[;I~6CY^?ybFAE^A    @ @ @ÑÑÑiÑÑ đ)đIđiđGM@=Y QU>a$Hyv <}>I : 5? :zݾ  ?9(.A: V:)]:WWX XWX:W2W*WVbUBU*UU U  ?B1B9 B9A=*B9A9A9AAAA"CA*CIRCICICI1IAGe=  W:YW1yč:61,bShFAY}2^c!@}2~@y}2CN*}2B7}2Hdls?@?`,;Qǿ0? Mn?)~2^c!@ ~2N[;I~0YB*?yBFrC=irR= tt5=MS=Y%wڻQU%>!)a-$H))y5Uֺ}5>I9=+ 5?=׺ݾ =U M?9=\.A=: =:)9WWX XWX:W2W*WVbUBU*UUU%3@BiBi BiAm#*BiAqAAA"C*CRCCCשIG=Iޑ)ޕ?Aܵ >9ܱ Iܵ @Fiܵ ?ܱ ܱ ܱ ܵ ; ݵ E}1,RmhFAY}: @}:H@y}:/}:l4}:HL5 W? 3?N`Ŀ}?6?)~: @ ~:\;I~:CYR?yRFTɮVa=EI +?MbV-?E9iiam$Hiqyu}u>Iy :} 5? :}ݾ } ?9}z.A}: }:)}^:WWX XWX:W2W1*W9V9bU9BU9*U9UAUEw@RMB*** querying acoustic contact ***PIPIBB BA*BAAAA"C*CRCCCIG >F h v:YDW1yY:6)S;94!1,hFAY?yF%Z****** received transponder code query ******%F****** received ping request ******%a$Hy}>I   5? zݾ & ?9 .A < M<) WWX XWX:W2W*WV!bU!BU!*U!U!U-` @BB BA*BAAAA"C*CRCCCסIG >'1,hFAY}6 @}6(@y}6w5}6}6H,A?`0?]ȿ@? y`[?)~6 @ ~6[;I~6CYB?yBFFxDUSBL response received:!U1,P 502,000,002B2,188,80,80,8E,FF FCommand AckFBRequesting micromodem ping code 2iDDIH)HNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 If=)f= MO=Y&dQU>a$Hy%Ѳ}->IY]~ 5?]Eݾ ] ?9].A]/< ]+<)Yq9qIuНFiuE@u=quODu; uEWWX XWX:W)2W1*W1V1bU9BU9*U9UAUE`t @BB BAL*BA!A!A)A)"C1*C1RC1C9C9aIyG]>ލ=iލ=9 l u:YV1y:N6)n;(.1,chFAY}:7!@}:,@y}:%/}:ܽ}:HWAZ?*?Uqɿt? Y?)~:7!@ ~:$[;I~:CYF?yFAFHJ@AZNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B e(MeO=Yeiiam$Hiqyu;}u>Iy :} 5? :}ݾ }kž ?9}.A}I: }:)}_:WWX XWX:W2W*WVbUBU*UUU q@BB BAm*BAAAA"C*CRCCCשIG=51,-?hFAY}6t!@}6@y}6)*}6Ƚ}6Hj@?@?L5`3:ȿA? :`g?)~6t!@ ~6Cq[;I~6CYB?yBFLN]A - - - 5@ 5@ 5@)))i)) )))I)i)EMEL=YE+IIaM$HM"HQyUAx<}]>Iae 5?eݾ e˾ m?9e.AeU: en:)aWWX XWX:W2W*WVbUBU*UUU&@BB BA|*BAAAA"C*CRCCCIG =^ Yy 69@Ci9 IQ a 9a Ia ia a a a e ; e Eiy ۿٺ $A=;1,t%hFAY}B!@}Bz@y}B(}Bf}BHuщ ?s ?ocſ?`x}?)~B!@ ~Bk[;I~@Yn?ynFvDNmea in: $SNTTA,,,,,232818.91*54 v=iv= || v/?kt19a=$H99yEWi;}E>II U:Me 5? U:Mݾ Mƾ U?9M /AM: M:)M`:WyWyXy XyWyXy:W2W*WVbUBU*UUUl[@BYBY BYA]Â*BYAaAaAaAa"C*CRCCCaIiG>Iމ)ލ@A"B1,hFAY}6W!@}6r@y}6)}6}6H.``5?`?%¿%?`k?)~6W!@ ~6e[;I~6CY@y@Fa=ɮDYZ/QUZ>XXaZ$H\\yb}b>IdfP 5?f.ݾ f j?9f"/Af: f^:)dWxW|X| X|W|X|:W2W*WVbU BU *U U U `@B9B9 B9A9*BAAAAAAAAA"CI*CIRCICICQQIaG}=  0:YU1y:6LH1,S"hFAY}:X!@}:0t@y}:+}:g}:H_`S?`?f8Ŀc?Pw?)~:X!@ ~:O"[;I~:CY^?ybnF)n= n= % % % %@ %@ %@!!!i!! !)!I!i!57M5AAaE$HAAyMi9}M>IQ ]:U4 5? ]:Uϸݾ U e?9U>/AU: Ub:)Ua:WWX XWX:W2W*WVbUBU*UUUBv@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCC9Ii; E1I9GU=wN1,qqau$Hqyy};}}>IȁŅ 5?Ņtݾ ƅȶ ?9ƅX/ADž: ȅ:)ȁWWX XWX:W2W*WVbUBU*UUU @BB BA^*BAAAA"C *C RC C CIG5=ލ=iލa= ~~n #:YT1y@:68aU1,yVhFAY}6e!@}6}@y}6"}6s}6Hhl ʬ?`?jHĿw*?@[?)~6e!@ ~6dZ;I~4YN?yNFPP~8M~Q=Y~a$H y 3} >IQ ]:U 5? e:Uݾ U e?9Us/AU: U:)Ub:WWX XWX:W2W*WVbUBU*UUU@B B  B A *B A1A1A1A1"C9*C9RC9C9CA)I1GU=9I@Fi?; E)݁I݁i݁݁݁݅ 4<[1,sphFAY}>'!@}>2C@y}>W}>A}>HiY̓^?`G6?xmGw? GP?)~>'!@ ~>7[;I~>CYfT?yj9Fm/$?Cl˿Mbpm1>m;_ m)iIiym/$~jt?X9v?mma$Hy}>I 5?ݾ ] ?9/Ay< <)WWX  X W X :W2W*WVbUBU*UUAUE @BB BA؃*BAAAA"C*CRCCC IGM>\  gx:YU1y:6);9pb1,=hFAY}: !@}:8<@y}:x}:Ӽ}:HsW`@cҳ?N9?`y `[?+ ?)~: !@ ~:^Z;I~:CYF?yJFNxDUSBL response received:!U1,N,80,80,63,E4 2,188,80,80,8E,FF NZNo reply:!U1,N,80,80,63,E4 2,188,80,80,8E,FF -N  a $H yc2<}>I %: 5? -:Mݾ C -?90As: :)c:WIWIXI XQWQXQ:WQ2WQ*WYVYbUYBUY*UaUaUe#@BB BA*BAAAA"C*CRCCCܙ9ܙIܝxFiܝ?ܙܙܙܝ; ݝEױIG= V xo:YT1y: 6) ;}n1,hFAY}6M!@}6@y}6V}6!Ƚ}6Hjp?_?qmًƿ?S}?)~6M!@ ~6l[;I~6CYN,?yRF)^ > ^> E E E E@ E@ E@AAAiAA A)AIAiAUMUE=Y];QU]>aaae$He#Haymp<}m>Iqu 5?uݾ uכ ?9uK0Au: u*:)qWWX XWX:W2W*WVbUBU*UUU@( @BB BA"*BAAAA"C*CRCCCIG=u1,hFAY}6 "@}6%@y}6l}6k}6H^'??J@PUĿ?ݑ?)~6 "@ ~6AV[;I~6CYNp?yRrFIT)TI^C=)^R=bMfT=YfWhhaj$Hhhynϟ;}n>Ip v:r 5? v:r˻ݾ r z?9r0ArE: r=:)rd:WWX XWX:W2W*W!V!bU!BU!*U!U)U- @R5B*** querying acoustic contact ***P1P1BB BA*BAAAA"C*CRCCCױIG=މiލ= o l:YV1y:69@ܱ9ܱIܵFiܵ1?ܵ=ܱܱܵ; ݵE{1,,hFAY}F-"@}H@y}D'}W\}H @K-??`@>¿@?;@]?)~F-"@ ~0g[;I~CY,?y%F%Z****** received transponder code query ******%F****** received ping request ******-aaae$Haiym;}m>Iqui 5?uݾ u ?9u0Au_< uP_<)qW!W!X! X!W!X!:W)2W)*W)V)bU1BU1*U1U1U5!@BB BA"*BAAAA"C*CRCCC׹IGH>1, hFAY}6J"@}6,@y}6}6}6H`w` Y?a?@ÿ L?`q?)~6J"@ ~68I[;I~4YBC?yBVFFxDUSBL response received:!U1,P 80,80,63,E4 2,188,80,80,8E,FF FCommand AckFBRequesting micromodem ping code 2iDHNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 IM]A3,Mf=Y&:QU>a$H y }>I! 5:% 5? =:%ݾ %¢ E?9%1A%0; %/;)%e:WWX XWX:W2W *WiVqbUyBUy*UUUԠ"@BB BA*BAAAA"C*CRCCCIGMR> L p:YU1y: 61,#f%hFAY}6"@}6#@y}6}}6&}6H@Ib-???Hſe?s ?)~6"@ ~6O8[;I~4YB?yB1FRNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ~=i~< %|<M5W=YUC;QU]>qinmGya$HIiVٿٺA!y%}%>999I= Fi=?==99=; =EI)- 5?-ݾ - ]?9-S1A-8; -:))WWX XWX:W2W*WVbUBU*UUUFf#@BYBY BaAeD*BaAaAaAaAa"C*CRCCCIG(>Iމ)ލ?AT1,2;?hFAY}: "@}:1@y}:}:a|}:HU#??`W¿@,? ??)~: "@ ~:C[;I~:CY^?yb Fbp=ɮb=fxDUSBL response received:!U1,R,14B,000,002C2,188,80,80,16,FF fFpublishing direction and range infofh䓾dɰfWg=d d)fAIdyf@ft>0?4;ҿٱd 5 5 5 5@ 5@ 5@111i11 1)1I1i1E;MMH=YM+;QUM>QQaU$HQQy];}]>IaeI 5?eݾ e m?9e1Ae: e:)aWWX XWX:W2W*WVbUBU*UUU*$@R(Combining 5 samples.P*Q@ZQ4Jw@R͵Sl&JQt>0?4;ҿ2Qh䓾:QbQy?|HrL/@h~?RQ=V"ٿUo?蕥?BQ? Q7@QPP9?PPQQ%@"Q2@BB BA*BAAAA"C*CRCCCIG> u m:Y0Y1y:E61,!YhFAY}F]9"@}FT@y}Fa}FY}FHi *:ͱ?`?`M?+a?)~F]9"@ ~F[;I~FCYR?yR͑F%TNmea in: $SNTTA,0.024762,,,,232824.57*4A )5= 5=uF<M}G=Y}Zk;QU}>a$Hy ;}>Iȑ :ŕ 5? :ŕqݾ ƕ ?9ƕ1AǕ: ȕ(:)ȕf:mqAdded new target pos. range: 4.860001 m, bearing: 114.157924 deg, deltaT: 10.063364 s, approachRate: 0.095396 m/s, LOS rate: 4.898265 deg/s, posRepo size: 4W?WX XWX:W2W*WVbUBU*UUp@UB?BB BAm*BAAAA"C%Be?RC!C-?C)IQG=5>91I5XFi5?5=115; 5E%1,rhFAY}2>"@}2 Z@y}2#}2Ǽ}2H`4@Ј?,?@hϾص?_@̮?)~2>"@ ~2%Z;I~2CYB0?yBFIp)pI~=)~=+?/$ÿMbX9?= ʡ=)IyIIaU$HQQy]1:}]>Iaew 5?eܿݾ e u?9e2Ae; e;)aWWX XWX:W2W*WVbUBU*UUU?BB BAa*BAAAA"C?RCCCIGU2>ލ=iލp= {{ :Y#R1y:)6 1,͌hFAY}2 E"@}2`@y}2L }28r}2H`+C4?_?`&¿.?`Ȥ?)~2 E"@ ~2Z;I~2CYB&?yBDFǼMu=Y%?;QU%?!)a-$H))y5:}5?I9 E:= 5? E:=qݾ =ı E?9=P2A=4: =:)=g:WiWiXi XiWiXi:Wq2Wq*WqVqbUBU*UUU*?BABI BIAM*BIAIAQAQA"C^aaam$Hiiyu}u>Iy} 5?}ݾ }԰ ?9}2A}4: }:)yWWX XWX:W2W*WVbUBU*UUUu?Y9YI]ȖFi]?]=YY]; ]E)qIqiqqqu3BB BA*BAAAA"C}?RCCC IG5 > i l:YWU1y:6);9#1, hFAY}Fg!@}F@y}F }F#$}FH<{`x  ?-?Û˾?`M@?)~Fg!@ ~FZ;I~FCYb?yfF5a=i5p= AEA    @ @ @ÑÑÑiÑÑ đ)đIđiđ~z=ME=Y QU>a$H$Hy̼}>I : 5? :dݾ ʯ ?92A,: E:)h:WWX XWX:W2W*WVbUBU*UUUi>@BB BA*BAAAA"C?RCCCI G- >Iމ)ލ@A[I1, ^hFAY}6o:!@}6U@y}6z}6A ¼}6H d`̉`?`*5? Un?+ɤ?)~6o:!@ ~6:Z;I~6CY^?y^ՒF}M}M=Y钼QU>a$Hy}>Ișŝ 5?ŝݾ Ɲ ?9Ɲ3Aǝ: ȝ{:)șWWX XWX:W2W*WVbUBU*UUU@Cm@B!B) B)A-*B)A)A1A1A1"C=g?RC9C9CAIAG=Y9YI]Fi]a?YYY]; ]ER  w:Yyi6)';s1,C:hFAY}2q!@}2C@y}2}2[m}2Hx @>K?"?`t5ÿ ?SG?)~2q!@ ~2Z;I~2CYR?yRF=:v?A`"?(\µ?=<== ==)9I9y=S㥛L7A`尿  a $H  yd<}>I %: 5? %:Mݾ  -?93Ak: R:)i:WIWIXI XIWIXQ:WQ2WQ*WYVYbUYBUY*UYUaUes@RmB*** querying acoustic contact ***PiPiBB BA*BAAAA"C?RCCCױIG>\[1,jhFAY}:!@}:@y}:P}:/}:H ~@ɘ?k?@^"ſ&?`k $?)~:!@ ~:= [;I~:CY^?y^FbZ****** received transponder code query ******bF****** received ping request ******f9AaE$HAIyM;}M>IQU@ 5?UƼݾ U e?9U3AU: U:)QWWX XWX:W2Wq*WyVbUBU*UUU! @BB BAK*BA A A A "Cu"?RCqCqCyIIiG>ޑiޕ= i lr:YU1y:69@ۅ1,'hFAY}6!@}6Z @y}6H }6vĽ}6H$f? 6?`zſ@b?@ K`Ď?)~6!@ ~6a\;I~6CY^c?y^BF`bAAfxDUSBL response received:!U1,P 14B,000,002C2,188,80,80,16,FF fCommand AckfBRequesting micromodem ping code 2iddnNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )9)I)i))))-; -E E E E E@ E@ E@AAAiAA A)AIAiA<M)=Y"Ja$Hy3<}>I : 5? :ݾ } -?94AL; ;)j:WWX XWX:W2W*WVbUBU*UUU @ByB BAՃ*BAAAA"CG?RCCC1IAG]v>n1,AhFAY}6gc"@}6~@y}6{ }6x}6H@@<M ?? ¿B"?`QT?)~6gc"@ ~6N[;I~4Y^?y^FnNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B E^AE^A}{<M}v=Y};QU}?a$Hy\<} ?IQU 5?Uݾ Uz e?9U4AU; U;)QWWX XWX:W2W*WVbU BU *UUUV@BaBa BaAe*BaAAAA"C?RCCCaIqG>  r:YV1y:6t1,[hFAY}:ԁ"@}:_@y}:H| }: h)jCIhyj@jw?amf-ٱh xzA E E E E@ E@ E@AAAiAA A)AIAiAmt<MuL=Y}QU}>yya$Hy;}>Iȑŕ$ 5?ŕ ݾ ƕ ?9ƕW5AǕ: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q@ZQTW?G( JQw?amf-2Qf3:QbQYLdnW?>_ @*ɚZ?RQ'7?fz:?[ J8?BQz? Qj@Q?PZ9?PP9?PQQ@"Q%@BQBQ BQAU^*BYAYAYAYAY"CeXZ?RCiCiCaIiG9>zCiMmGIaiyڿٺ&A9I Fi?=R; ۝EIމ)މ61,ߋuhFAY}Z"@}Z@y}Z}Zi}ZH@(D?@c?@>¿`?C?)~Z"@ ~Z|[;I~ZCf`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫAI)I MIIYe*?yeFTNmea in: $SNTTA,,0.377571,,,232829.02*42 S㥛?㥛 ? t=)Iyy&1|?  a $H 1y=;}=>II u:M4 5? u:Mݾ Mž }?9My5AM;; M;)Mk:muAdded new target pos. range: 4.020000 m, bearing: 66.666977 deg, deltaT: 4.475999 s, approachRate: -0.187668 m/s, LOS rate: -10.610134 deg/s, posRepo size: 4Wz?WX XWX:W2W*WVbUBU*U U-z@U-`ծ? ~ r:Yy<6BB BA#*BAAAA"C ~?RC C z?C  I G- >[1,[hFAɫ髙) IYV?yFu6;Mu=Y}QU}/?ya$Hy}3?Iȑŕ; 5?ŕbݾ ƕǾ ?9ƕ5AǕ: ȕ4:)ȑWWX XWX:W2W*WVbUBU*UUU@?BB BA*BAAAA"C?RCCCIG (>|1,6hFAY}:x$"@}:@@y}:c}:ɓ}:H@aN0??Pp¿ r?@M?)~:x$"@ ~:@Z;I~:Cɫ99)9 9I9Y}H?y} Fܡ9ܡIܥFiܥ1?ܡܡܡܥ; ݥEI)I-R=)-R=5M5N=Y=qAAaE$HAAyM'}M>IQ ]:UI 5? ]:Uݾ U˾ e?9U5AU$: UR:)Ul:WWX XWX:W2W*WVbUBU*UUU Qv?B!B! B!A%*B!A)A)A)A)"CU9?*CQRCQCYCaיIG&>ޑiޑ ~~ o:YT1y@:;6)1;9W1,hFAY}6,!@}6@y}6}6F$}6H.g?@?y|ƿ? K7?)~6,!@ ~6q`;I~6 Cɫ99)9 9I9Y}&?y}F    @ @ @ÁÁÁiÁÁ ā)āIāiā]<MD=Y,a$H%HyT}>IȱŵY 5?ŵݾ ƵϾ ?9Ƶ5AǵR: ȵ÷:)ȱWWX XWX:W2W*WVbUBU*UUUs?B!B! B!A%*B)A)A)A)A1"C56?RC9C9C9iIqG>1,$hFAY}6!@}6:@y}6Y>}6ۺi}6H`w)s ?~$?a$HyE}>I1 u:5g 5? u:5mݾ 5yӾ u?955A5< 5I;)5m:WWX XWX:W2W*WVbUBU*UUUz@B1B9 B9A=*B9A9AAAAAA"Cm^?RCiCiCqaIiG9>ܥ>9ܡIܡiܡܥ=ܡܡܥ0; ݥɝE)1I1i1115'5 B {:YWU1y: 6);1,hFAY}6 !@}6@y}6: }6ai}6H`Mq 8`?`? n@''?`۬?)~6 !@ ~68 ];I~4ɫ99)9 9I9Y{?ydFI)y&1?Mb!rh?`e= l=)Iyy&1?~jty&1`<`e ±)µ3MAIµ2AiµXAEA    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ: M:=YQU>a$Hy:}>IA 5?ݾ pվ ?9 6A: :)W!WAXI XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU]@BB BA*BAAAA"C?RCCC?i?IGE>Iމ)ލAA2,QhFAY}:lU!@}:p@y}:\ }:^ښ}:Hu@? 4?Xݧÿ`5?z'?)~:lU!@ ~:\;I~:Cɫ99)9 9I9Y}??y}@F鮅a=ɮa=)Ý> Ý >Mq=Y/QU?a$Hy}?I& 5?ݾ ־ ?9<6A0: ÷:)WiWiXi XiWqXq:W2W*WVbUBU*UUUq@RB*** querying acoustic contact ***PPB!B! B!A%*B!A)A)A)A)"CU ?RCQCQCY)I1GU> T j:YV1y: 69@R" 2,^*hFAY}6 @}6[@y}6K }6m}6H`I[]?UǿH?sUv?)~6 @ ~6\;I~4A9AIEFiEv?E=AAEV; EݝEɫYY)Y YIYY?yʔFZ****** received transponder code query ******F****** received ping request ****** a$Hy}%>I) 5:- 5? =:-ݾ -ؾ =?9-y6A-; ->;)-n:WWX XWX:W 2W*WVbU!BUI*UQUQUUG @BB BA5*BAAAA"C?RC!C!C)I G%M> 2,YDhFAY}29 @}2@y}2}2}2H?A`o?bƿ j? {?)~29 @ ~2a;I~2CɫYY)Y YIaY}e?y}FxDUSBL response received:!U1,P 502,000,002B4,189,80,80,82,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 } } } }@ }@ @yyyiyy y)yIyiyX<M0=Y pa$H yऻ}>IIM 5?Mݾ Moھ e?9M6AM @< M?<)IWWX XWX:W2W*W!V!bU!BU)*U)U)U-4 @ByBy ByA}*ByAAAA"C5\?RCCC׹IG k>ލ=iލ=P g rw:Yy632,?6^hFAY}F} @}F@y}FAt}FZZ}FH`0B?0?@ ÿ?}?)~F} @ ~F_;I~FCɫy髁) IY ?yF@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B V-?V-?kt?|>=  =)Iy{Gz?MbV-?ף<< 5A)~ZAIi(\AGAۻMJ=YPa$HyT}>I  : 5?  :ĵݾ Ծ ?96A: :)o:W1W1X1 X1W1X9:W92W9*W9V9bUABUA*UAUIUM]@BqBq BqA}**ByAyAyAyAy"Cj?RCCCסIGE>A9AIExFiE?AAAEZ; EߝE&^2,xhFAY}6 @}6@y}6b4}6Y}6H ?`-?z?5@a"? t?)~6 @ ~6'];I~6CɫYY)Y YIYY?yܔF    @ @ @i )IiMm=YΖ;QU?a%$H!!y-;}-?I15 5?5qݾ 5qξ =?956A5: 5n:)1WaWaXa XaWaXi:W2W*WVbUBU1*U9U9U=@t@BB BA.*BAAAA"CX?RCCCIG (> u r:YDW1yY:E6H$2,4hFAY}f @}f@y}f}fUռ}fH2ʬ?)? C@?x ?)~f @ ~f\;I~fCɫ髱) IYL?yoFTNmea in: $SNTTA,0.007894,,,,232833.49*44 =iC= 59YM=H=Y= ۹QU=>IQa]$HYiyu@}u>Iy :}h 5? :} ݾ }Ǿ ?9}7A}w: }:)}p:WWX XWX:W2W*WVbUBU*UUU`ff@BiBi BiAmZ*BiAqAqAqAq"C}?ƫ?RCyCyCׁIG>Iމ)ލ@Ai NmGI i1 ] ٺa e Ao*2,&ƫhFAY}B( @}BC@y}B0}B1> :}BHa \?? 4 3Q?fA?`u?)~B( @ ~Boo\;I~@t9tIvFivv?tttv; vEɫYY)Y YIYYe?yF鮡ɮ<MR=YQU>a$HQy]j}]>IaeE 5?eݾ ed m?9e/7Ae˵: e:)aWWX XWX:W2W*WVbUBU*UUU%@B1B1 B1AM*BIAQAQAQAQ"C]?RCYCYCaIIQG> X fm:YV1y:* 6)U;9W12,hFAY}F @}F@y}F}F߬}FH%@< ?>?4$ w}`6?`]?)~F @ ~F\;I~FCɫYY)Y YIYYt?y%F    @ @ @i )Ii5:M=C=Y=*QU=>AAaE$HE&HAyM[}M>I : 5? ::ݾ  ?9N7A: :)q:W WX XWX:W2W*WVbUBU*U!U!U%)@R5B*** querying acoustic contact ***P1P1BQBQ BQAU*BYAYAYAYAY"Ce2?RCaCaCi)I9GU>72,hFAɫ髉) IYp?yFI)I=)=m~jtktktmDm 0 m 0)iIiymMb`?:v?I +?m;ma$Hy}>Iȡťa 5?ťݾ ƥ6 ?9ƥ|7Aǥ: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU@3f@BB BAт*BAAAA"C%s?RC!C!C)I)GE0>9IXFi?; Eލ=iލ=c { x:Yy6)R;[=2,YhFAY}6@}6@y}6 }6h}6H@( `? 4?9 ¿ M?ǧ?)~6@ ~6k^;I~6CɫYY)Y YIYY?yFAA]M]`=Y]QU]>aiau$Hqy }>Iȩŭ 5?ŭݾ ƭ^ ?9ƭ7Aǭ; ȭ;)ȩWWX XWX:W2W*WVbUBU*UUU@BIBI BIAM*BIAQAQAQAQ"C]3?RCYCYCaAIIGm5>DD2,0hFAY}>8 @}> @y}> }>;ܽ}>Hd??@QQ5ƿ?3?)~>8 @ ~>];I~>Cɫ髉) IY?yFxDUSBL response received:!U1,N,80,80,63,E4 4,189,80,80,82,FF ZNo reply:!U1,N,80,80,63,E4 4,189,80,80,82,FF -QQaU$HQYy];}]>Ia m:e 5? u:e`ݾ ef u?9e7Ae: e4:)er:WWX XWX:W2W*WVbUBU*UUU`@BB BA*BAAAA"Cz?*CRCCCIG I>    :Y T1y : N69 @J2, -hFAY}6, @}6`H@y}6[}6}6H&?|?%`ƿ;? z}?)~6, @ ~6vi\;I~6CD9DIDiDDDDFh; FE)Ii==Nw4ɫ99)9 9IAY]0?y]Faiep= 鿡"M=YQU ?a$Hy3;} ?IL 5?ݾ  ?97A; ;)WiWiXi XiWiXi:Wq2W*WVbUBU*UUUv@BB BAa*BAAAA"Cۓ?RCCC!)I1GM>IޕAA)ޑ!!a-$H))y5L}5>I9 E:= 5? E:=ݾ = E?9=)8A=: =w:)=s:WiWiXi XiWiXi:Wq2Wq*WqVqbUyBUy*UyUyU F@BB BA*BIAQAQAQAQ"Cu|Փ?*CqRCqCqCyiIG>    :Y U1y : r6W2,`hFAY}m @}m@y}m(4}m?}mHR `黮?z?ఌƿmg? >2p?)~m @ ~m#_;I~mCɫII)Q QIQYR?y_Fu'1Z?1Zd?"~j?u">u"= uS=)qIqyuy&1Mb`?I +u`eu;u9 uC9A)uSAIu2Aiu]Aqu3GA    @ @ @i )Ii# M1=Y8jQU>a$Hy9}>Iȱ 5?Dݾ ڶ  ?9<8AY: :)W)W)X) X1W1X1:W12W1*W9V9bU9BU9*U9UAUEnC @BiBq BqAu*BqAqAqAyAy"Cz?RCCCyIG<>}>9yI} Fi}?}=yy}a; }E]2,#zhFAɫyy)y yIyY?yFI)Ia=)4=`Mr=YQU?a$Hy}M?IQ ]:U 5? ]:Ulݾ U- e?9UJ8AU: UI:)Ut:WWX XWX:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBB BA1*BAAAA"C*CRCCCIG>ޕ=iޕR=m , m m m  m t:Ym WU1ym :m W6d2,WzhFAY}2I@}2Ծ@y}2 7}2gB}2H@ a ?? ſ`!?@秿 qt?)~2I@ ~2{^;I~2CɫAA)I IIIYex?ye!a%$H!1yEa}E>IȹŽ$ 5?Žݾ ƽY ?9ƽ[8Aǽ< Ƚ<)ȹW)W)X) XIWQXQ:WQ2WQ*WQVYbUYBUY*UYUYUe`!@B B  B A *BAAAA"C*CRCC!C!!I1GM1> k2,UhFA9Ii; Eɫ髹) IY?y؏FxDUSBL response received:!U1,P 80,80,63,E4 4,189,80,80,82,FF Command AckBRequesting micromodem ping code 2i-Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 U U U U@ U@ U@QQQiQQ Q)QIQiQM=YQU>a$Hy}>I :_ 5? :۶ݾ ƾ ?9o8A: :)u:W)W1X1 X1W1X1:W12W9*WYVYbUYBUa*UaUaUeK"@BB BA8*BAAA!A!"C)*C1RCYCYCaqIG>m i i m  m }:Yi yi m 6)m Q;9u -q2,1hFAY}:e[@}:v@y}:28=}:m}:H ͍E<??@ǿ? 1f?)~:e[@ ~:9\;I~8ɫ99)9 9I9Y]?y]F}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =i= !!JM=YQU?a$H'Hy$n}?Iȡť 5?ťݾ ƥTʾ ?9ƥ{8Aǥ0: ȥI:)ȡWWX XWX:W2W*WVbUBU*UUU{g#@BB BA*BAAAA"C!*C!RC!C!C) IG5 >Iމ)ލ?A!x2,mhFAɫ11)1 1I1Yiyiup=ɮua=}xDUSBL response received:!U1,R,502,000,002B3,189,80,80,B6,FF }Fpublishing direction and range infoqqɰumb=q q)u6CIqyup}@uw?amf-ٱqiumGIi}5ٺ[A~jt~jth? ףp= ?D; Q8=)Iy?y&1|?~jtx?<`;; µ?A)µNAIµ 0AiµvdAHAYQU>a$Hy}>I : 5? :ݾ Ǿ ?98A; P;)v:W9WAXA XAWAXA:WA2WI*WIVIbUIBUI*UQUQUU_$@R(Combining 5 samples.P*Qp}@ZQ8]?{ JQw?amf-2Q:QbQTzW1 ?2J> @TDVv?RQPݰQ?eJ:b?]?BQ!֍? Q`@QI?PPZ9?PQQM@"Q@BB BA*BAAAA"C *C RC C !9!I!i!%=!!%^; %ECIA)AIG5r> t    Qz:Y V1y : i6) ~;xH~2,WhFAɫ) IYE?yF}TNmea in: $SNTTA,0.047475,,,,232839.16*43 5 5 5 5@ 5@ 5@111i11 1)1I1i1EpU;MEQQaU$HQQyY}]>Iae 5?eVݾ eƾ m?9e8Ae{: e]:)amuAdded new target pos. range: 3.959999 m, bearing: 63.489293 deg, deltaT: 10.193166 s, approachRate: -0.005886 m/s, LOS rate: -0.311747 deg/s, posRepo size: 4W!֍?WX XWX:W2W*WVbUBU*UU @UG?BB BA*BAAAA"C?RCC!֍?CIG*>!02,hFAY}J@}J@y}JbmZ}J}JH@3x??GFAʿ?8E 6?)~J@ ~Js\;I~JCɫYY)Y YIYY??yFI9)9IM4=)M%=)MV=Y(QU>a$HyѼ}>Iȱŵo 5?ŵ ݾ Ƶþ ?9Ƶ8AǵU: ȵ :)ȱWWX XWX:W2W*WVbUBU*UUU#?BB BA*BAAAA"C&?RCCCסIG">ޑiޕ= r    (z:Y X1y /: 69 @! 9! I% Fi% 1?! ! ! % L; % ؝EGZ2,Н/hFAY}Ĺ@}O@y} `}~}HV,b?@?15@+{˿ m?;@'?)~Ĺ@ ~L];I~Cɫ) IY]?y]ƎF        @  @  @   i   ) I i  =MB=Y%nQU%>!)a-$H))y5ۆ}5>I9 E:= 5? E:=ݾ = E?9= 9A=^: =:)=w:WiWiXi XiWqXq:Wq2Wq*WqVybUyBUy*UyUyU@8Q?BIBI BIAM*BIAQAQAQAQ"C]??RCYCYCaAIIGm5>F2,LIhFAY}:@}:@y}:e}:>}:H@>s(? .?=`̿ u?|@3?)~:@ ~:|\;I~:CɫQQ)Q QIQY?yЍF-|M5Z=Y5oPQU5>99a=$H99yER&<}E>Ișŝ 5?ŝkݾ Ɲx ?9ƝF9AǝQ: ȝU:)șWWX XWX:W2W*WVbUBU*UUU`w?B B  B A  *BAAAA"C,D?*CRCC!C!aIiG> *      jt:Y U1y : i6n2,9_chFAY}B@}BV@y}Bk j}BO}BH`9q??`8F -}̿c?@w?)~B@ ~BsR`;I~BCɫQQ)Q YIYYX?yPF=iC= ~jt/$?/$?&1> 1>)IyMbl~jtļ ?A)\QAIK/Ai?Aw<MC=Y-)QU->))a5$H11y=}=>IA M:E9 5? M:Eݾ E]ľ M?9E9AE: E:)Ex:WqWqXq XqWqXq:Wy2Wy*WyVybUyBU*UUU%E?BB BAׅ*BAAAA"C!֍?RCCCIG$>9IFiv?F; ԝE)QIQiQQQUC42,s0}hFAY}2@}2@y}2n}2%}2Hz  ų?@?< BͿ? N?)~2@ ~2`$_;I~2Cɫ99)9 9I9Y?yF m m m m@ u@ u@iiiiii i)iIiii<MM=Y(BQU>a$Hy}>IșŝD 5?ŝqݾ ƝȾ ?9Ɲ9Aǝ: ȝ:)șWWX XWX:W2W*WVbUBU*UUUs@BB BA*BAAAA"C*CRCCCׁIG>e T e e e  e w:Ye WU1ye :e N6~2, hFAY}:q@}:@y}:pq}:}:Hm?o?p̿?2 ?)~:q@ ~:z];I~:Cɫ99)9 9I9Y}?y}!F#<MZ=Y{ڻQU>a$Hy=\}>IȹŽI 5?Žݾ ƽ; ?9ƽ:Aǽ: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCaIqG> 9 I @Fi ? = E; 2,hFAɫii)i iIqYyZ****** received transponder code query ******F****** received ping request ******a$Hy}>Iȑ :ŕ 5? :ŕnݾ ƕ|Ҿ ?9ƕK:AǕ: ȕ:)ȕy:WWX XWX:W2W*WVbUBU*UUUek @BB BA*BA A A A "C*CRCCCIGM>e 9 e e e  e u:Ye W1ye č:e 6)e n;9m %2,hFAY}6@}6/@y}6@p}6}6H`=w@Ok?`v?,uο?r ?)~6@ ~60j[;I~4ɫII)I IIIY}?y}+F@AxDUSBL response received:!U1,P 502,000,002B3,189,80,80,B6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 tMa%$H-(H9yM<}U>Iy} 5?}ݾ }־ ?9}:A}< }<)yWWX  X WX:W2W*W!V!bUiBUi*UqUqU} @B)B) B)A-*B)A1A1A1A1"C9*C9RC9C9CaIyG_>ͻ2,hFAY}6?@}6}[@y}6l}6(}}6HPSbX@ ն? [o?@l -̿`???)~6?@ ~61[;I~6Cɫ99)9 9I9Yu?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Mb?&1y&1?=P `=)Iy rhMb`?C̼; )I-AipAKAuM:=YZ  a $Hy;}>I! %:% 5? -:%ݾ %־ ?9%:A%< %<)%z:W W X  XWX:W2W*WVbUBU*UU!U%A@BB BA*BAAAA"C*CRCCCq9qIuFiuE?u=qquT; uܝE׹IGE> ]    {x:Y 0Y1y : ;6) ;y2,vhFAY}6C[@}6v@y}6l}6l 0}6H\`=Nѻ?f?@`ʿU?Zl ?)~6C[@ ~65`;I~6Cɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,R,502,000,002B3,189,80,80,AE,FF Fpublishing direction and range infoɰ鰁 ).CIyw?amf-ٱ=i= 鿡    @ @ @i )Ii=M\=Y AQU >  a$HyG;}>I 5?ݾ ־ ?9:AE: ض:)W W X  X)W1X1:W12W1*W1V9bU9BU9*U9U9UEry@Ru(Combining 5 samples.Pq*QqZQu8]?{ JQuw?amf-2Qq:QqbQuc 4? @ lt?RQu۔}?02"P?vƛ?BQuxd? Qu=`@Qu?PqPqPuQuQu@"QuM@BB BA)*BAAAA"C1*C1RC1C9C9aIiG9>Iލ@A)މ2,[hFAY}v @}v@y}vQj}v\}vH x8?T?@ Ϲ˿n?x ?)~v @ ~v]^;I~vCɫ) IYi?y3FDNmea in: $SNTTA,,,,,232843.59*5E ;M<=Y#;QU>a$Hy"<}>I  :  5? : ڲݾ ־ ?9 ;A [: g:) {:mEmAdded new target pos. range: 3.959999 m, bearing: 63.290555 deg, deltaT: 4.375018 s, approachRate: 0.000000 m/s, LOS rate: -0.045426 deg/s, posRepo size: 4XIWMxd?WIXI XIWQXQ:WQ2WQ*WQVQbUYBUY*UYUYUe?BB BA*BAAAA"Cxd?*CRCCxd?CׁIG>i5NmGIIiaٺA    &:Y V1y : 69 @a 9a Ie НFie E@e =a a e j; e E@2,402hFAY}6 @}6@y}6vc}6x}6Hi@/ ?Y?`vʿ`9?@zT '?)~6 @ ~6\;I~4ɫAI)I IIIY}_?y}FGMY=YA!!a%$H!!y-~?;}->I15 5?5ϲݾ 5־ =?95N;A5: 5*:)1WaWaXa XaWaXa:Wi2Wi*WiVibUqBUq*UqUqU}Q?BB BAV*BAAAA"CQ*CQRCQCQCYIIQGu>[2,LhFAY}6@}6@y}6 t\}6Uf}6H@@kL?m?@}ƿ%X?@4B?)~6@ ~6\;I~6Cɫ99)9 9I9Y?yFI9)9IE=)E%=    @ @ @ÑÑÑiÑÑ đ)đIđiđ;MB=Ya$Hy}>I : 5? :²ݾ E׾ ?9;A: :)|:WWX XWX:W2W*WVbUBU*U U U  -?BB BAC*BAAAA"C*CRCC C I G-->ލ=iލ=x2,2ehFAY}:F@}:ѝ@y}: HZ}:<}:Hm ?`s?nĿ<?„?=F?)~:F@ ~:[;I~:Cɫ99)9 9I9Y}?y}FL7A`?p= ף?I +?+>> 94=)Iy~jt~jth{GztDף µA>A)µSAIµv.AiµkAJA<MH=Y;QU>a$Hy\}>I 5?]ݾ پ ?9;A: ^:)WWX! X!W!X!:W!2W!*W)V)bU)BU1*U1U1U5@8?BaBa BaAe*BaAiAiAiA"C*CRCCCI9Ii=[; EG=.>2 x  u:YU1y:6);9I32,<hFAY}6^@}6@y}6-[}66}6Hs@Q?`>b?@M+ƿ'H?`MCC?)~6^@ ~6S_;I~6Cɫ99)9 9I9Y}R?y}_Fc<MW=YQU>!!a%$H!!y-<}->IȁŅg 5?Ņݾ ƅܾ ?9ƅ;ADž=: ȅ:)ȁWWX XWX:W2W*WVbUBU*UUU]?BB BA*BAAAA "C*CRCCC!)I1GU>2,hFAY}2@}2@y}2Y}2}2H`@9#`"?`[?c`!ʿ? @6?)~2@ ~2Ѱ^;I~2Cɫ99)9 9I9Y}?y}CF=i=  5 5 5 5@ 5@ 5@111i11 1)1I1i1E<MEG=YM;QUM>IQaU$HQYy] ;}]>Ia m:e@ 5? m:eݾ e.߾ u?9e4Iމ)ލAA<  u:YV1y:)69@ 9 I i = O; ڝE)IiŊ=Ŋ=Ŋj4UE2,whFAY}:)@}:@y}:Q}:dDʽ}:H޴(?[? ̿x? -?)~:)@ ~:\;I~:Cɫ99)9 9I9Yk?y F鮝a=ɮMO=Y^a$Hy };} >I 5?ݾ  ?9oa$H)Hy}>I  5:  5? 5: ݾ h 5?9 g Z Gy:YU1y:a 6V2,*hFAɫ髙) IY?yFxDUSBL response received:!U1,P 502,000,002B3,189,80,80,AE,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I%4=)%C=9Ii]; E}MbʡE?)\(?}}= }G=)yIyy}:vV-?I +?}T}<}94< }aaam$Hiiyq}u>Iy}V 5?}ݾ } ?9}o>3,hFAY}2h @}28@y}2<}2O}2HTܦ?Q? ɿgr?`#FS?)~2h @ ~2&1[;I~0ɫ99)9 9I9Y}_?y}ݓFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B $t=M =Y>=QUb?a$Hy0=}N?I : 5? :ݾ 1 ?9=A5; M7;):WWX XWX:W2W!*W!V!bU)BU)*U1U1U5 @BqBq BqA}*ByAyAyAyAy"C*CRCCCiIqG> ~~ k:YT1y@:6h3,hFAY}2G @}2@y}2>u5}2@}2H M3?B?  еȿ P?ٶ~^?)~2G @ ~2-`;I~2CɫYY)Y YIYY?yFxDUSBL response received:!U1,R,502,000,002B5,189,80,80,96,FF Fpublishing direction and range infoɰc=鰡 )CIy@w?amf-ٱ <MO=Y;a$Hy;<}>I 5?ݾ  ?9O=A8: :)WWX XWX:W!2W!*W!V!bU!BU)*U)U)U-@R=(Combining 5 samples.PA*QE@ZQE=?Ə\ JQEw?amf-2QA:QAbQE̊ ?.ǎ @eu>?RQEg6 2?b\? N~)"?BQE? QEh@QE?PAPAPAQEQEu!@"QE@B1B1 B1A5|*B1A9A9A9A9"CA*CARCACACIIIQGu>ܱ 9ܱ Iܵ Fiܵ @ܱ ܱ ܱ ܵ `; ݵ E 3,Z4hFAY}^ @}^@y}^/}^½}^H9@GT?1?`iȿ?Bd?)~^ @ ~^_;I~^Cɫ髹) IYy=TNmea in: $SNTTA,0.008121,,,,232848.04*49 QQ)Y ]=    @ @ @áááiáá ġ)ġIġiġY2na$Hy.<}>I U:" 5? U:vݾ ߾ ]?9=A: V:):miAdded new target pos. range: 4.080000 m, bearing: 64.511191 deg, deltaT: 4.404791 s, approachRate: 0.027243 m/s, LOS rate: 0.277116 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UUQ@UC?BIBQ BQAQ*BQAQAQAYAY"C]?RCaCe?CiAIIGm6> n do:YV1y:6);9z3,NhFAY}6*!@}6F@y}6͎'}6l}6HlQQ|ɦ?*?@7@P^ƿ? ͳ y?)~6*!@ ~6N];I~6Cɫ99)9 9I9Y}_?y}ݓF=#|M=AAaE$HIIyM~;}U>IY] 5?]ݾ ]x޾ e?9]=A]: ]:)YWWX XWX:W2W*WVbUBU*UUU =?BB BA*BAAAA"C*CRCCCשI1GM>3,`rhhFA$(iV/mGI`il%ٺ!%AY}E @}ER@y}E!}Er8}EHC??@?RPÿ? Φ@?)~E @ ~E%\;I~ECɫ) IYU?yUF]:v)\(?]̼]T ]Ga=)YIYy]:v?Zd;O?Mbp?]T<]j<]; ];A)]SAI]1Ai]&aAY]HAu<Mu8=Y}Yya$HyO}>Iȡť 5?ťAݾ ƥUݾ ?9ƥ=Aǥ@; ȥ2;)ȡWWX XWX:W2W*WVbUBU*UUUI?m>9iImНFimE@m=iim; mEBQBY BYAH*BAAAA"C*CRCCCיIGb> _ l:YU1y: 6); 3,IMhFAY}2]N!@}2i@y}2 }2ycw}2Hf 1S?'? a@YĿ??)~2]N!@ ~2YL[;I~0ɫYY)Y YIYY?yFI p=) =]A } } } }@ }@ }@yyyiyy y)yIyiy2=MZ=Y;QU>a$Hyb<}>I : 5? -:^ݾ tܾ 5?9>Ag< h<):WqWqXq XyWyXy:Wy2Wy*WVbUBU*UUU@?BB BA*BAAAA"C*C)RC)C)C)!I)GM1>&3,-hFA|i|Y}6!@}6@y}6 }6k½}6HԠs⎘?`?al /ƿ?@@?)~6!@ ~6l_;I~6Cɫ99)9 9I9Yu?y}FM T=Y ra$Hy <}>I!% 5?%~ݾ %۾ -?9%A>A%: %:)!WQWQXQ XQWYXY:WY2WY*WYVabUaBUa*UaUaUm*4@BB BAD*BAAAA"C*CRCCC׉IG>  l:Yy69@ܑ 9ܑ Iܕ @Fiܕ ?ܑ ܑ ܑ ܕ ; ݕ E,3,hFAY}:!@}:s @y}:}:}:H of@=?`z?8@1Ŀn?@+?)~:!@ ~:{_;I~:Cɫ99)9 9I9Y}?y}F u u u }@ }@ }@yyyiyy y)yIyiyMB=Ya$Hy3;}>Iȡ :ť' 5? :ťݾ ƥھ ?9ƥn>Aǥ: ȥs:)ȥ:WWX XWX:W2W*WVbUBU*UUU`}@BB BA*BAA!A!A!"C)*C)RC)C)C1 IG5 >33,hFAY}2p!@}2@y}2%t }2j_X}2H@0d`$ ? ?dc@p?@Ǫ?)~2p!@ ~2v];I~2CɫYY)Y YIYY?y_F鮡ɮp= 鿱)ý= ùH!MX=Y޿;QU>a$H*Hyw}>IU 5?ݾ ھ ?9>Ak: :)WWX XWX:W2W*WVbU!BU!*U!U!U%`@R5B*** querying acoustic contact ***P1P1BB BA1*BAAAA"C*CRCCCIG>  Ls:YDW1yY:693,ܹhFAY}2!@}2F@y}2% }2U$F}2H_ZV@??| M ?OD?)~2!@ ~2\;I~2Cɫai)i iIiY?yFZ****** received transponder code query ******F****** received ping request ******a$Hyϫ;}>9IFiv?=; E)ݩIݩiݩݩݩݭ4Iȁ :Ņ 5? :Ņݾ ƅԾ ?9ƅ>ADž~= ȅ<)ȅ:WWX XWX:W2W*WVbUBU*UUU` @BaBi BiAm*BiAiAiAqAq"Cy*CyRCyCyCYIiGZ>@3,hFAY}:"@}:3@y}:i}:}:H`@S^?@i?qu¿@?@s@?)~:"@ ~:[;I~:Cɫ99)9 AIAY}?y}FxDUSBL response received:!U1,P 502,000,002B5,189,80,80,96,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )Ii%]M%(=Y-9)1a5$H11y=Ga;}=>Iaeʶ 5?eݾ eϾ m?9e>Ae: e:)aWWX XWX:W2W*WVbUBU*UUU@ @BqB BA*BAAAA"C*CRCCCIG5>  f:YWU1y:6G3,ohFAY}2c"@}20@y}2}2CA}2HxP@=`?`?`~ -mݿ? @ ?)~2c"@ ~22[;I~0ɫ99)9 9I9Y]?y]FaaNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B \A<M=YAǥ: ȥ:)ȥ:WWX XWX:W2W*WVbUBU*UUU >@BB BAK*BAAAA"C!*C!RC!C!C)=?i=?IG> 9 I XFi ? ; Ea3M3,$^7hFAY}j!@}jb@y}j}j7}jHd??l}?@Ŧ?)~j!@ ~j`;I~jCɫ髱) IY2?ysFxDUSBL response received:!U1,R,502,000,002B3,189,80,80,79,FF Fpublishing direction and range infoɰmb= )BIyp}@w?amf-ٱ        @  @  @   i   ) I i M%2=Y%*QU%>))a-$H))y56}5>I9=U 5?=Jݾ =ƾ M?9=>A=: =ʽ:)9WiWiXi XiWiXq:Wq2Wq*WqVqbUyBUy*UyUU@R(Combining 5 samples.P*Qp}@ZQ8]?{ JQw?amf-2Q:QbQm i?pk @X7?RQ}r?EU|?;*?BQ? Qf@Q?PPPQQ @"Qu!@BB BAa*BAAAA"C*CRCCCI!G=Q> }} r:YkS1yԊ:6);9T3,3QhFAY}fܾ!@}fg@y}fa}fh(}fH0f@l))a-$H)1y5g}=>I9= 5?=/ݾ =¾ M?9=>A=Y: =:)9m}mAdded new target pos. range: 3.959999 m, bearing: 66.071664 deg, deltaT: 4.521253 s, approachRate: -0.026542 m/s, LOS rate: 0.345142 deg/s, posRepo size: 4XyW}?WX XWX:W2W*WVbUBU*UU @U?BB BA*BAAAA"Crg?RCC?CI Ge4>CZ3, khFAY}:!@}:L@y}:[}:n}:HNdʧ?@?@@S¿? ?)~:!@ ~:ܵ\;I~8ɫQQ)Q QIYY?yF:v?(\µ!rh?T< l=)IyI +?MbPQ?9<u< l=A)^LAI5Ai+WAEA5|MN=YQU>a$Hyכ;}>I  : 5? :ٸݾ 뾾 ?9>AA: :):ܑ9ܑIܕFiܕ?ܑܑܑܕ; ݕEWWX XWX:W2W*WVbUBU*UU U }G?BQBQ BQA]*BYAYAYAYAY"C?RCCCIי)יyIG<>Iމ)ލ?A V Zn:YDW1yY: 6));g(a3,4ۄhFAY}2"@}2D3@y}2*}2G}2H~W`?@?`ߥ`ÿ?E# ?)~2"@ ~2[;I~2Cɫyy)y IY?y>F u } } }@ }@ }@yyyiyy y)yIyiy8MQ=YcQU>a$Hy+<}>IȡťE 5?ťݾ ƥQ ?9ƥ?Aǥ: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU@?BB BAG*BAAA!A!"C)*C)RC)C)C1)I1GU>,Sg3, hFAY}FU!@}F @y}Fӗ}Fa}FH@_ 㑪?~?@4ҁ¿`b?`㫿Þ?)~FU!@ ~F|[;I~FCɫyy)y yIyYK?yҋFUE:MUN=Y]QU]>Yaae$HaaymVл}m>I :ִ 5? :.ݾ  ?9??Af: :):WWX XWX:W2W*WVbUBU*UUU ?B1B1 B1A=ۆ*B9A9A9A9A9"CA*CARCICICI׉IG>im]nGIiFٺ*A e 0p:YV1y:69@ܕ >9ܑ Iܕ Fiܕ ?ܑ ܑ ܑ ܕ ; ݕ Eo}m3,hFAY}2!@}2|@y}2}2}2H@f ?@?H_F)?`2w`p?)~2!@ ~2hV^;I~2CɫYY)Y YIYY?y$FI)I4=)4=5&<M=L=Y=QU=>AAaE$HAAyM}M>IQUo 5?Uٷݾ U볾 ]?9U^?AU: U:)QWWX XWX:W2W*WVbUBU*UUUD?B1B9 B9A=*B9A9A9A9AA"CQ*CQRCQCQCYaIqG>ft3,vhFAɫ) IYG?ymF    @ @ @i )Ii1 <M@=YQU>a$H+Hy}>I : 5? :|ݾ  ?9?A: g:):W)W)X) X)W)X1:W12W1*W1V1bU9BU9*U9U9UE@ @BB BA*BAAAA"C*CRCCCIG (>  :YDW1yY:r6z3,,IhFAY}6"@}6@y}6є1}6)}6HИ`Z@ϴ?` ?@,`+Ŀ`)? 夿1~?)~6"@ ~6A];I~4ɫyy)y yIyY^?y@Fp=ɮR= =)IyI +?y&1|̼` …AA)…KAI…2Ai…|_AGAZMN=YOQU>a$Hy[@<}>IȹŽ$ 5?Žݾ ƽ^ ?9ƽ?Aǽ: Ƚb:)ȹWWX XWX:W2W*WVbUBU*UUU4@RB*** querying acoustic contact ***PP=>99I9i9999=; = EBQBQ BQAU*BQAYAYAYAY"Ca*CaRCaCaCiiIqG>?x3,*hFAY}R!@}R@y}Rh=}RQ}RH@^Ҳ?`? iĿ`?@pp?)~R!@ ~R [;I~RCɫqy)y yIyY?ySFZ****** received transponder code query ******F****** received ping request ****** >%M%R=Y-QU->11a5$H19yE'}E>II U:MG 5? ]:Mݾ MȰ ]?9M?AM; M';)M:WYWYXa XaWaXa:Wa2Wa*WiVibUiBUq*UqUqUu@ @BB BAv*BAAAA"C*CRCCCI G-,>$ j s:YWU1y:6 3,hFAY}6!@}6k@y}6K}6i;}6HO [??ϲ¿ E?!{?^?)~6!@ ~6[;I~6Cɫ99)9 9IAYE?yFxDUSBL response received:!U1,P 502,000,002B3,189,80,80,79,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 U U U U@ U@ U@QQQiQQ Q)QIQiQ,;M)=YQU>a$HyC}>Is 5?ݾ t -?91@A4< <)WiWiXi XiWqXq:Wq2Wq*WqVybUyBUy*UyUU`/[ @BB BA\*BA A A A "C*C!RC!C)C1!I9Gex>U >9Q IU FiU ?Q Q Q U ; U E)Iiň4͍3,?9hFAY}F @}F@y}FiX}F6;}FH @ˡ?h? SKĿ`?5p?FI?)~F @ ~F[;I~FCɫ髑) IY?yˉFAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )IiMi=YQU>a$Hy ּ} ?I 5?jݾ ޱ %?9a@AR: ':)WAWAXA XAWIXI:WI2WI*WQVQbUQBUQ*UYUYU]`@BB BA*BAAAA"C*CRCCCׁIG> m p:Yyj6)o;93,̸ShFAY}6z @}6@y}6e}6}6H\A@ֽ??h:ȿw?ic.?)~6z @ ~6S^;I~6Cɫ99)9 9I9Y]>?y]TFexDUSBL response received:!U1,R,33C,000,002B4,189,80,80,50,FF mFpublishing direction and range infoe8aɰeb=a a)eBIaye@e`6a?,~w)ٱaIy)yIa=)=‰‰Ma=YQU>a$Hy2}>I : 5? :ݾ  ?9@A: I:):WWX X W X :W 2W *WVbUBU*UUUr@R-(Combining 5 samples.P)*Q-@ZQ-ANi@*͑؍DJQ-`6a?,~w)2Q-8:Q)bQ- S??Œ@.?RQ-A5?LE\e?7j/?BQ-&? Q-l|@Q-:>P-V9?P)P)Q)Q-@"Q- @BaBa BaAeއ*BaAiAiAiAi"Cq*CqRCqCyCy IG5 >xߚ3,mhFAY}n!@}nn.@y}nA_p}n}nHpD?`?@6 ̿v?Y ?)~n!@ ~nގ_;I~nCɫ) I!YU?y]F9IFi?Q; ܝEUDNmea in: $SNTTA,,,,,232856.93*5C EMbX9?J +ˡE?E!>EH E'=)AIAyE~jt?:vMbp?E  a$HyU4<}>I!% 5?%ݾ %[ -?9%@A%{: %:)!miAdded new target pos. range: 4.020000 m, bearing: 87.354486 deg, deltaT: 4.364471 s, approachRate: 0.013748 m/s, LOS rate: 4.876381 deg/s, posRepo size: 4XW&?WX XWX:W2W*WVbUBU*UUz@U`x?B!B! B!A%,*B!A)A)A)A)"C5~B?RC1CU&?CY1IAG]v>{ [ z:YDW1yY:| 6);š3,ohFAY}Fo+!@}FF@y}FTx}F`}FH Y??q 6ο@?`H?)~Fo+!@ ~Fr];I~F CɫYY)Y YIYYd?y0Fu~Mu=Y}VҼQU} ?yya$Hy;} ?Iȑ :ŕi 5? :ŕݾ ƕ ?9ƕ@AǕ: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU~?BB BAT*BA A A A "Cq?RCCCIG- >3,MhFAY}F @}F9@y}FUw}F䖆}FHd`>?*?`evͿ`?F_?)~F @ ~FL\;I~FCɫ髑) IY?ypF ii)u= u=;MF=Y<żQU>a$Hy7}>IB 5?ݾ [ ?9AA÷: U:)WWX XWX:W2W*WV bU BU *UUUn?B9B9 BAAE:*BAAAAAAAAI"CMF?RCQCQCQIIQGm> >9IFi?6; ͝E{ Ӏ:YW1yč:6);I3,p"hFAY}6U @}6zq@y}6ى}6ꍘ}6H9ɓ?c?6Ͽ ?Sc?)~6U @ ~6\;I~4ɫ99)9 9I9Y]4?y]F    @ @ @i )Ii%s<M%T=Y-QU->))a5$H11y=}=>IA M:E 5? M:Emݾ E, M?9E=AAEa: E:)E:WqWqXq XqWyXy:Wy2Wy*WyVbUBU*UUUC ?B1B1 B1A5!*B1A9A9A9A9"CEǯ?RCACACI)I1GU>y3,hFAY}J@}Jy@y}J}JǏս}JH =cL-?R?Tѿ1Y?`1 u?)~J@ ~J];I~Hɫ髙) IYV?y'Fu MuE=Y}PQU}>yya}$H,HyR}>Iȑŕ 5?ŕڰݾ ƕ ?9ƕhAAǕR: ȕ÷:)ȑWWX XWX:W2W*WVbUBU*UUUU@ByBy BAX*BAAAA"C?RCCCIG$>e U y:YX1y/: 69@ i- nGII ia ٺ AR+3,hFAY}Fz@}F@y}Fi}F Tڽ}FHO\S?`#? R<Rѿ`s?`4@ɜ?)~Fz@ ~F _;I~FCɫaa)i iIiYC?yFy9yI} Fi}?yyy}1; }ʝE%V-X9v?%̼% %=)!I!y%y&1|?~jthMbP%`;%D% %AA)%SAI%v.Ai%lsA!%MA9=^A    @ @ @ÁÁÁiÁÁ ā)āIāiā<M3=Y9rQU>a$H!!yM%Ż}M>IQ ]:U 5? ]:Uݾ Uh ]?9UvAAU: U:)U:WWX XWX:W2W*WVbUBU*UUUp@RB*** querying acoustic contact ***PPBB BA*BAAAA"CEД?RCACACI]?i]?9IIGeV>d3,дhFAJFailed to close latch before timeout.q Hardware FaultY=?y=FEZ****** received transponder code query ******EF****** received ping request ******E _ .r:YxZ1yq: 6H=3,"hFAY}6V@}6Yr@y}60}6}6H%B ?`k?/ vο?`b@6?)~6V@ ~6y\;I~6C>Powering down<ɪ<)< a$Hy\}>Iɳ 5?Uݾ  ?9AA]; ;)WWX XWX:W2W*WVbUBU*UUU0 @BB BA?*BAAAA"C*CRCCC܁9܁I܅xFi܅?܁܁܁܅5; ̝݅E׹IG>@l3,k~ u u u u@ u@ u@qqqiqq q)qIqiq MV=Y~QU>a$HyM}>I : 5? :.ݾ  ?9AA: :):WWX XWX:W2W*WVbUBU *U U U rS @BB BA*BAAAA"C!*C!RC)C)C)I)GM1> Z q:YDW1yY:a 6NO3,VEVhFAY}>3@}>yO@y}>}>d`}>H@]@bg?I?@i`wп>?@9ߪO?)~>3@ ~>0\;I~>CYJ?yJFNxDUSBL response received:!U1,R,4E6,000,002B4,189,80,80,A2,FF NFpublishing direction and range infoNLɰLL L)N"CILyLNg{Z?toٱLb-Mfp=YfGQUf?hhaj$Hhhyn8}n?Ipr 5?r ݾ r v?9rAAr: r:)pWWX XWX:W2W*WV!bU!BU!*U!U)U-@R=(Combining 5 samples.P9*Q9ZQ= ?dE JQ=g{Z?to2Q=:Q9bQ=?%?BB n @[hLϟ?RQ=`ԮB?=SI?T?BQ=Ҏ? Q=qc@Q=?P=Z9?P=V9?P9Q9Q=@"Q=@BiBq BqAu*BqAyAyAyAy"C*CRCCCQIa$NClearing failed state for component DDMq G=xz3,$phFAY}Fw@}F@y}F}F }FHÆ?@ '?*`ѿ`t?@D?)~Fw@ ~F+\;I~FCYT?yFDNmea in: $SNTTA,,,,,232901.01*54 ->9)I-@Fi-?)))-; -E)Ii44Mp= ף?~jth?S?M=MD; M>)IIIyM{GztMb?/$MףMa$HyȻ}>I : 5? :Eݾ  ?9AA: j:):mmAdded new target pos. range: 4.020000 m, bearing: 63.931397 deg, deltaT: 4.008993 s, approachRate: 0.000000 m/s, LOS rate: -5.842636 deg/s, posRepo size: 4XWҎ?WX! X!W!X!:W!2W)*W1V1bUABUI*UQUYU]`??BB BAY*BAAAA"CM?RCCҎ?C׭?i׭?יIGb>  l:YX1y/:6);9a3,hFAY}2 @}2@y}2}2O}2Hd ^?d??`R ѿA?x;`5?)~2 @ ~2D[;I~2CYN|?yNRFIR=)4=<M=Y;a$Hy䩻}>Iȡ :ťe 5? :ťݾ ƥֳ ?9ƥAAǥ; ȥU;)ȥ:WaWaXa XaWaXa:Wa2Wi*WiVibUiBUq*UUU?BB BA*BAAA A"C?RCCC IG5 > >9IНFiE@=; &E  &|:YDW1yY:6);޵3,1hFAY}j/@}j@y}j9}j%}jH 8^>?C?E`=п ?`Ƈ ?)~j/@ ~jc[;I~jCY?y%F    @ @ @i )Ii;MB=Y ʻQU >  a $H-Hy:}>I!% 5?%İݾ % -?9%BA%: %:)!WWX XWX:W2W*WVbUBU*UUU?BqBq ByA}*ByAyAyAyAy"Cإ?RCCCI׹)׽]AסIG%>z3,7hFAY}2d@}2@y}2E}2 Fý}2H>d)?9?@ѿ"?@l?)~2d@ ~2}F[;I~2CYF)?yF[F >MO=Y2;QU>a$Hyt;}>I 5?ݾ Y ?9BA$; ~$;)W)W)X) X1W1X1:W92W9*W9V9bUABUA*UAUIUM o@BB BA*BAAAA"Cxӛ?RCCC)IiG>  l:Y[1yݏ:69@3,@hhFAY}2@}2'@y}2v}2}2H?@?]?@V?sп?ǵm?)~2@ ~2[;I~2CY>?yB>Fu#~jE?Dlu㥽u>>9I`Fi@=; .E uO)qIqyuy&1|y&1?y&1u`廹u`e!!a%$H))y-vɻ}5>I9 E:=: 5? E:=ݾ =þ E?9=2BA=: = :)=:WiWiXi XiWiXi:Wq2Wq*WqVybUyBUy*UyUU o@BB BAG*BAAAA"Cb?RCCCשIG=j4,9C hFAY}:dp@}:@y}:}: .}:H X?E|?п?ٵ,?)~:dp@ ~:m[;I~:CYF?yFЍFZJ<M^d=Ybyhhaj$HhlyrR}r>Itv 5?v6ݾ v@ɾ ~?9vCBAvP#; v+;)tW1W1X1 X1W1X9:W92WA*WAVIbUIBUI*UQUQUU@ReB*** querying acoustic contact ***PaPaBB BA *BAAAA"C ?RCCCU?iU?9IaG=B  Tv:Y0Y1y:N64,%hFAY}2C@}26_@y}2(}2.޽}2H 7`~?@?ࡨ@п`?ﺿ?)~2C@ ~2[;I~0YB?yB+FFZ****** received transponder code query ******FF****** received ping request ******Fa$Hyϻ}>Iyi%nGI`Ai"ҿٺ`APA  :} 5? :}^ݾ }0о ?9}WBA}$< }<)}:WQWQXY XYWYXY:WY2WY*WaVabUaBUa*UiUiU*v @BB BA*BAAAA"Cҋ?RC C C I G-,>ܹ9ܹIܽ(Fiܽ,@ܹܹܹܽ; ݽ,EN4,`?hFAY}2@}2@y}2Gt}2s]}2H Q,??`@ο`O? p&,?)~2@ ~2A[;I~2CY^6?y^؎FbxDUSBL response received:!U1,P 4E6,000,002B4,189,80,80,A2,FF bCommand AckbBRequesting micromodem ping code 2i`dnNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =<MEQ=YU==QU]>iqa}$Hyy4}%>I9=H 5?=ݾ =Z־ U?9=jBA=5; =6;)9WWX  X WX:W2W*W!V!bU!BU)*UUU @BB BA*BAAAA"Ch?*CRCCCyIG@>  ql:YDW1yY:M64,XhFAY?yWFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )IiJ)=M2=YQU>a$Hy}>I  : 5? :ݾ ܾ ?9~BAk: A:):WyWyX XWX:W2W*WVbUBU*UUU;@B1B1 B1A5*B1A9A9AAAA"CeҎ?RCaCaCaIq)u\AYIiGZ>?4,˾rhFAY}E@}Ey @y}EdCa}E%7a9aIe`Fie@aaae; e+E}EH`e`c n?(?g Bɿl? U 2?)~E@ ~E6[;I~APowering up"Initializing DDM.Y-?y-F=xDUSBL response received:!U1,R,502,000,002B2,189,80,80,BD,FF =Fpublishing direction and range info=f39ɰ=b=9 9)==CI9y=y@=w?amf-ٱ9]4=i]%= aaE~jt99aE$HAAyM}M>IQU 5?UYݾ U۾ }?9UBAU4; UǸ;)QWWX XWX:W2W*WVbUBU*UUU@a@R(Combining 5 samples.P*Qy@ZQ=A?a;% JQw?amf-2Qf3:QbQ3"5?f?E @?RQ v&n^?`l\?P"9?BQ]J? Q.Z@Q?PPZ9?PQQ@"Q@BB BA*BAAAA"C*CRCCCשIG>IލAA)ލ@At ~ Qz:YU1y:<6)~;9H#4,hhFAY}^G@}^@y}^e4T}^u}^H0n??`@ʿ V? #@;:?)~^G@ ~^5W[;I~\Yj?yjqFETNmea in: $SNTTA,0.064779,,,,232905.38*4F  =M=Yg.=QU?a$Hy<}?I  : 5?  :$ݾ ۾ ?9BAk: b:):mEqAdded new target pos. range: 3.899999 m, bearing: 61.902039 deg, deltaT: 4.599202 s, approachRate: -0.026092 m/s, LOS rate: -0.441241 deg/s, posRepo size: 4XAWE]J?WAXA XAWAXI:WI2WI*WQVQbUQBUQ*UQU]23@U]N?BB BA**BAAAA"CP?RCC]J?C׉IG>')4,,fhFAY}:@}:C @y}:@}:6}:H : ?@?@ȿ?@z X?)~:@ ~:![;I~8YF?yFhFEMEV=YMFR=QUU>QYae$Haiymܻ}u>Iy}i 5?}ްݾ }ھ ?9}CA}; };)yWWX XWX:W2W*WVbUBU*UUU@?BB BA.*BAAAA"C]J?RCCC)E?iE?)I1GM>a9aIeFie@e=aae; e-E)Ii=m4W v x:YWU1y:`6);04,AhFAY}2oj@}2 @y}2$/}2鹽}2H j?G?`cȿ`r?ݶ`gf?)~2oj@ ~2\;I~0YNE?yR0FI)I =) = ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYm<MmG=Yu=QUu>qya}$H}.HyTJ}>IȉōE 5?ōݾ ƍؾ ?9ƍ3CAǍ*: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUU6?BB BA܃*BAAAA "C *CRCCCI!GE=964,ThFAY}2A~@}2̙ @y}2D#}2K(ν}2HK`aƌ? O?@ǿ}R?]f &o?)~2A~@ ~2 ^;I~2CYB_?yBݓFUy<MUL=Y]aaae$Hiqy}D;}>Iȑ :ŕ 5? :ŕMݾ ƕ׾ ?9ƕaCAǕ.; ȕ;)ȕ:WWX XWX:W2W*WVbUBU*UUU?BYBY BYA]*BYAaAaAiAi"Cq*CyRCyCyCyבIG> n .r:YV1y:69@?d<4,]hFA~\A~]A9IНFiE@; )EYH?y FUMb?Q?U\= Ut)QIQyUQ? rha$Hy}>I~ 5??ݾ Ӿ ?9CA: :)WWX XWX:W2W*WVbUBU*UUU H?B B  B A *BAAAA"C*CRCC!C!I9)9!I)GM1>KC4,t hFAY}:@}:> @y}:!i }:)}:H` 1Л? Z?7ÿ?`W`?)~:@ ~:'\;I~8YFN?yFIF  =6=MEg=YE=QUE>IIaM$HIIyU~;}U>IY e:]ȴ 5? e:]fݾ ]о m?9]CA]: ]^:)]:WWX XWX:W2W*WVbUBU*UUU@G@BB BA*BAAAA"C*CRCCC IGE>z  z:Yy6uI4,'hFAY}2w@}2& @y}2.}2"Ͻ}2H`༾a t? `LĿ? 쥹-?)~2w@ ~2[;I~2CYf?yfFhj@AzIMzO=YzD#=QU~>|a$Hy Rл} >I 5?uݾ ; ?95DA: w:)WAWAXA XAWAXA:WI2WI*WIVIbUQBUQ*UQUQUUh@ReB*** querying acoustic contact ***PaPaBB BA9*BAAAA"C*CRCCCבIG=9I@Fi?; 2E]P4,AhFAY ?y wFZ****** received transponder code query ******F****** received ping request ******a$Hy } >I! 5:%r 5? =:%iݾ =tI %'ʾ E?9%DA%n; %p;)%:WyWX XWX:W2W*WiVibUqBUq*UyUyU}4 @BB BA*BAAAA"C)*C)RC)C)C1E?iE?!I)GM1>  n:Yy6V4,c[hFAY}2&@}2 @y}2F'}2vJ}2H`g?`"?`"@9a$HyE}M>Iȉōε 5?ōfݾ ƍNǾ ?9ƍDAǍ'r< ȍG(<)ȉWiWiXi XiWqXq:Wq2Wq*WqVybUyBUy*UyUyU@ @BB BA*BAAAA"C*CRC C CAIYGZ> ieoGI}_Ai"׿ٺ_A-A?91AC\4,@uhFAZ >9XIZFiZ1?XXXX XYr?yrFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ~jt rh?~jth?C< D;)Iy~jt?:vl?<Լ= n8A)TAI6Ai+WAFA = = = =@ =@ =@999i99 9)9I9i9u-1=Mu*=Y}QU}>a$Hy}>Iȡ :ť 5? :ťݾ ƥ> ?9ƥEAǥ; ȥI;)ȥ:WW!X) X)W)X):W)2W)*W1V1bU1BU1*U9U9U=@<@BB BA*BAAAA"C*CRCCCIGF> }} *k:YkS1yԊ:6)g;9™c4,"hFAY}2ߊ@}2j @y}2٭}2ZA}2H*Pz??1?@h?)~2ߊ@ ~2{[;I~0YB?yBFFxDUSBL response received:!U1,R,4BD,000,002B3,189,80,80,A5,FF FFpublishing direction and range infoFO~DɰFmb=D D)F%CIDyFp}@FD,^?U$p}ٱDZx`MZ=Y^a$Hy<}>I 5?Xݾ  ?9hEA: :)mMiAdded new target pos. range: 3.959999 m, bearing: 65.030641 deg, deltaT: 4.298663 s, approachRate: 0.013958 m/s, LOS rate: 0.727808 deg/s, posRepo size: 4XQWUG?WYXY XYWYXY:Wa2Wa*WaVabUaBUi*UiUu @Uuw?BB BA*BAAAA"CP?RCCG?CAIQGm>9IFia?=; 6E+  ~t:YX1y/:6)w;p4,hFAY}6@}6K @y}6}6}6H@ q@T?@~rʻڰ?(?)~6@ ~6%\;I~6CYj?yjSF    @ @ @éééiéé ĩ)ĩIĩiĩMa$H/Hy}>I : 5? :ݾ ( %?9EA;  ;):WWX XWX:W2W*WVbUBU*UUUh?BiBq BqAu*BqAqAyAyAy"CG?RCCCׁIG>v4,uhFAY}61U@}6p @y}6r}6vA}6HP@%;o@? —:[R?&`}?)~61U@ ~6[;I~4YB??yB@Fe <MeR=Yua$Hyi}>I 5?ݾ  ?9EA; ;)WWX XWX:W2W*W1V9bUABUI*UiUqUue?BB BA*BAAAA"C1*C1RC1C1C9u?iu?AIIGe4>q ~~g z:YT1y@:69@}4,hFA$9$I&Fi&?&=$$&; &/E)Ii=c4Y}?y>FI)I4=)A`"{GzĿ{GztY# ף)IyMbp?I +Mb`;94 C9A)PAIa$Hy}>I :+ 5? :ݾ c ?9EA: :):WWX XWX:W2W*WVbU BU *U U U?BB B!A%΁*BIAQAYAYAY"Cq*CyRCyCCIGI>ޭ=iޭ=4,ahFAY}2]@}2 @y}2}2l }2HS`6@S?j#?Z@ ٲ?r?)~2]@ ~2[;I~2CY^7?y^vF } } } }@ }@ }@yyyiyy y)yIyiyݼM_=YݼQU>a$Hy}>I` 5?ݾ  ?9EA: 3:)WWX XWX:W2W *W V bU BU *UUUlo@BB BA *BA A A A "C*CRCCC! I!GE>d   y:YU1y:64,<*hFAY}6t$@}6? @y}6L}6>}6H`%Zڐ?`e>?ʹ`? ?)~6t$@ ~6Tc[;I~6CY^?ybȖF5M5P=Y=QU=>AAaE$HAAyM}M>IQ ]:U 5? ]:UIݾ U e?9U FAU: U:)U:WWX XWX:W2W*WVbUBU*UUU@ s@BB BAf*BAAAA"C*CRCCCI)IG=A9AIEpFiEM?E=AAE; E.E4,7DhFAY}6y@}6 @y}6١}6aԏ}6Huz鋿@\?ƺ`5?@i豿M?)~6y@ ~6[;I~6CY^0?yb7FfC=ifp= llzٕMzO=Y~QU~>a $H  y{}>I!%Է 5?%ݾ %% 5?9%FA%r; %;)!WWX XWX:W2W*WVbUBU*UUU@R-B*** querying acoustic contact ***P)P)BiBi BiAu*BAAAA"C*CRCCCױIG>#  s:YW1yč:6$4,s]hFAY}J Y@}Jt @y}JH}J}JHu Fv?`ཿ#?`?)~J Y@ ~J5[;I~JCYV?yVF^Z****** received transponder code query ******bF****** received ping request ******baaae$HaiyiB}>Iȑ :ŕ 5? :ŕΦݾ ƕN ?9ƕ5FAǕ: ȕ:)ȕ:WWX X W X :W 2W *WVbUBU*UUUk @BaBy BA*BAAAA"C*CRCCCIGE>A 9A IA iA A A A E ; E 0ECN4,whFAY}6x@}6W @y}6 }6ͽ}6H`ƣ l?E'y?ɟ|?)~6x@ ~6[[;I~4YB.?yB]FFxDUSBL response received:!U1,P 4BD,000,002B3,189,80,80,A5,FF JCommand AckJBRequesting micromodem ping code 2iHHRNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Mb?)\(T㥛 ?@>G =)Iya$Hy6;}>Iv 5?uݾ  M?9nFA; ;)WWX XW X :W 2W*WVbU9BUA*UAUIUMV@BB BAb*B A A A A "C9*C9RC9C9CAe?ie?QIYGu> || n:YR1yi:6);984,hFAY}6@}67 @y}6F}6}6H@঄ ,e?`<."?kܴ?)~6@ ~6$[;I~4Y^?y^AFnNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I1)1IE=)E=u=Mu=Y} QU}?ya$Hy#;}?IAE 5?Eݾ E咾 M?9EFAE: EG ;)AWqWqXq XqWqXy:Wy2Wy*WyVybUBU*UUUL@BB BA*BAAAA"C*CRCCCI G]>i %nGI1 iI `4,DhFA|i|FxٿٺDF7AY}^C@}^ @y}^p滽}^_}^H@@uz?LL?lS9`_t?ث@^?)~^C@ ~^Z;I~^CYv=?yvfFxDUSBL response received:!U1,R,4A2,000,002B1,189,80,80,C0,FF Fpublishing direction and range info~a$Hy,,<}>Iș :ŝ 5? :ŝqݾ Ɲ ?9ƝFAǝ: ȝ:)ȝ:WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qu@ZQS$^? ڣ&j JQ ^V??2Q9IFi?; 'E#  ":YW1yč:6);hK4,nhFAY}vw@}v @y}vݽ}v\}vHAw@R? >?`Ց`?f@?)~vw@ ~vFZ;I~vCY?yӔF}DNmea in: $SNTTA,,,,,232914.26*55    @ @ @i )IiET<MC=YU!QU>a$H0Hy:}>I 5? ݾ  ?9FAA: :)mEqAdded new target pos. range: 3.839998 m, bearing: 64.801174 deg, deltaT: 4.457313 s, approachRate: -0.026922 m/s, LOS rate: -0.051481 deg/s, posRepo size: 4XAWEhĐ?WAXI XIWIXI:WI2WQ*WQVQbUQBUY*UYU] Q@U])?B!BA BIAM2*BIAIAIAIAI"CUhĐ?*CYRCYC]hĐ?CYIq)qAIIGm>A)JAI5AiVVAEA5h&M58=Y5QU=>9AaE$HAQy]}]>Ii }:mR 5? }:mݾ mL }?9mGAmc; m:)m:WWX XWX:W2W*WVbUBU*UUU?BB BAƃ*BA!A!A!A)"C1*C1RC1C1C9AIIGm5>& v t:YDW1yY:`69@ 9 I i = ; ,E4,hFAY~P?y ԓF    @ @ @i )Iiu<Mb=YQU>a$Hy}>I 5?Ѩݾ J  ?9GA: ˵:)W)W1X1 XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*C!RC!C!C! IG- > 4,$hFAY}N:@}NV @y}N }N}NHeá??3*¿1?`k(D?)~N:@ ~N0[;I~NCYZ(?yZF}M}Q=YQU>a$Hy}n<}>Iș :ŝٶ 5? :ŝݾ Ɲ, ?9Ɲ%GAǝ: ȝ:)ȝ:WWX XWX:W2W*WVbUBU*UUU?B B  BA*BAAAA"C*C!RC!C!C!=?i=?IG==j  y:Yy6L4,y,hFAY}Fpo@}F @y}F}FV}FH`# VnD??ў¿ ?`g?)~Fpo@ ~F^[;I~FCYn?ynqFI9)9IM>)M=EMF=YQU>a$Hy;}>I$ 5?ݾ  ?96GA: s:)WIWIXQ XYWYXa:Wa2Wi*WyVybUBU*UUUU@BB BA**BAAAA"C*CRCCC׉IG>܉9܉I܉i܉܍=܉܉܍; ݍ2E)Ii==4z4,ܽFhFAY}^wf@}^ @y}^) }^g0}^H Wn?H?¿?@nޥ@ ?)~^wf@ ~^)\;I~^CYj?yjF    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉԼML=YQU>a$Hyo}>IȹŽm 5?Ž{ݾ ƽ ?9ƽFGAǽ: ȹ)ȹWWX XiWiXi:Wi2Wi*WqVqbUqBUq*UqUyU}@BB BA*BAAAA"C*CRCCCIG> l D:YU1y:N64,`hFAY}m@}m2 @y}mGT%}mJ熼}mH`&:a ?$?2!¿`?@]?)~m@ ~m/\;I~mCY?yLF5uV?Q?y&1?5rh>5u< 5`<)1I1y5{Gzt?I +Mb5ף;5945 1)5^LAI5I4Ai5S[A15FA<M9=Y'޼QU>a$Hy3}>I : 5? :+ݾ F ?9^GA+: :):WWX XWX:W!2W!*W!V!bU)BU)*U)U)U5@R=B*** querying acoustic contact ***P9P9BYBa BaAe9*BaAiAiAiAi"Cq*CqRCqCqCyI׉)׉aIiG>y 9y I} Fi} a?} =y y } ; } 4Ew4,^zhFAY~?y~FZ****** received transponder code query ******F****** received ping request ******AAaE$HAIyM}M>Iy}Ƿ 5?}ݾ }8 ?9}tGA}: }:)yWWX XWX:W2W*WVbUBU*UUU @BABI BQAU*BQAQAQAQAY"CY*CaRCaCaCaIIYG}>Iޭ@A)ޭAA'  -t:Yy6)0;9L4,9hFAY}:@}: @y}:$C}: }:Hf!f?C?V Ŀ>?hOk?)~:@ ~:,3\;I~:CY^?ybFfxDUSBL response received:!U1,P 4A2,000,002B1,189,80,80,C0,FF fCommand AckfBRequesting micromodem ping code 2iddjNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 <MF=YQU>a$HyԐ}>I : 5? :ݾ [ %?9GA; ;):WWX XWX:W2W*WVbUBU!*U!U!U%% @BB BA*BAAAA"C*CRCCCIG-N>w4,UhFAY}6 @}6T% @y}69N}64}6HG |ȹ???& Dȿౚ?#R?)~6 @ ~6uY\;I~6CYN(?yRFRa=ɮPrNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 9HMI=YZڼQU>a$Hy,;}>I 5?Kݾ F ?9GA: 5:)WAWAXA XAWAXI:WI2WI*WqVbUBU*UUU `@BB BA*BAAAA"C*CRCCCIiM?!I1GU2>i9iIm Fim?iiim; m#EG  v:Y0Y1y: 6)e; 4,khFAY}:_l@}: @y}:pV}:ý}:H{t?S?S̿p?@淿,)?)~:_l@ ~:[;I~8Y^a?y^hFbxDUSBL response received:!U1,R,4CF,000,002B2,189,80,80,B0,FF fFpublishing direction and range infob`ɰbb=` `)b0CI`yby@bw+3}?L8s"ٱ`IrC=)r4= 5 5 5 5@ 5@ 5@111i11 1)1I1i1EvMEb=YMXQUM>IQaU$HU1HQy]i<}]>Ia m:eI 5? m:eݾ e u?9eGAe0: e:)e:W)W1XQ XQWQXQ:WQ2WY*WYVYbUYBUa*UaUaUe@@R(Combining 5 samples.P*Qy@ZQ\,?kjn JQw+3}?L8s"2Q:QbQBȇ?ɂR @;Z-?RQx;έ?ͧUrA?XkT(?BQР? QX@Q?PPPQQX#@"Q@BB BA*BAAAA"C*CRCCC)I1GM>4,hFAYe?yΐFDNmea in: $SNTTA,,,,,232918.72*58 ~jt?)\(D=G )Iy~jth~jtxI +?DĻ94< µfBA)µJAIµK/AiµfAHA@M3=YQU>a$Hy}>I 5?ݾ C ?9GA: s:)m-mAdded new target pos. range: 3.899999 m, bearing: 62.053198 deg, deltaT: 4.465417 s, approachRate: 0.013437 m/s, LOS rate: -0.615391 deg/s, posRepo size: 4X)W-Р?W)X) X1W1X1:W12W1*W9V9bU9BU9*U9UE23@UE@M?BB BAԄ*BAAAA"C?RCCР?C=t>ECimGI`Ai%׿ٺ%`A%XAI9G8>a  x:YV1y:69@= ]A= ^AE >9A IE FiE v?E =A A E ; E E84,hFAY}6[@}6 @y}6Q}6Ͻ}6H Fe[~??d̿ ?`N+?)~6[@ ~6"[;I~6CYNx?yRa$HyZ<}>Iȡ :ťŸ 5? :ťݾ ƥI ?9ƥGAǥ: ȥN:)ȥ:WWX XWX:W2W*WVbUBU*UUU$#?BB BA*BAAAA"C%Р?RC!C)C)I9)91I9GU=!5,hFAY}2N"@}2= @y}2ӗU}2Ds}2H37g?x?@ɿ?ZM@?)~2N"@ ~2[;I~2CY^?y^F ))}=M}K=YQU>a$Hy<}>Ișŝ 5?ŝݾ Ɲ ?9ƝGAǝ: ȝ\:)șWWX XWX:W2W*WVbUBU*UUUC?BB  B A  *B A A AA"C*CRCCC!IIYG}=  :YX1y/:6L 5,e/hFAY}2 N@}2i @y}2^}2l}2HR<HѸ? _?v5 ɿ#?@9:?)~2 N@ ~2![;I~2CY^?y^F]D;M]L=Y]~QU]>aaae$Haiym;}m>IquH 5?u$ݾ u ?9uGAu: uض:)qW!W!X! X!W!X!:W!2W)*W)V)bU)BUQ*UQUQUUQ?BB BA*BAAAA"C*CRCCCIG> >9IНFiE@=; E25,7IhFAY}:'@}: C @y}:uf}:b8}:H$@O=` ?`_?5˿@J?xk!?)~:'@ ~:[;I~:CYJ?yJUF U U U U@ U@ U@QQQiQQ Q)QIQiQeH<MmJ=Ym✼QUm>qqau$Hqyy}}}>Iȁ :Ņ 5? :Ņ,ݾ ƅ܃ ?9ƅGADž: ȅ:)ȅ:WWX XWX:W2W*WVbUBU*UUU`c?BBq BqA̓*BAAAA"C*CRCCC׽?i׽?בIG=  у:YDW1yY:V6y_5,`chFAY}Jg@}J @y}J~b}J9}JH]@u@l{?ވ?Ͽ`?l廿6?)~Jg@ ~J[;I~HV`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ) I YE?yEzFIMAAI]a=)]=rh|?:vy&1?=Լ `e<)Iy~jt?MbZd;OD<j @A)IAIi(HAM=Y;QU >  a $H y4s}>I!%ʹ 5?%wݾ % -?9%+HA%: %k:)!WIWIXI XQWQXQ:WQ2WQ*WYVYbUYBUY*UaUaUe`L!@RmB*** querying acoustic contact ***PiPiB)B1 B1A5&*B9A9A9A9A9"CY*CYRCYCYCaQIYG}z> 9 I `Fi @ ; E)QIQiQQQU4D5,|hFAY}2x@}2# @y}23iV}2}2H`8`$?Y?uAϿ ? u?)~2x@ ~2vt[;I~0ɫYY)Y YIYY??yFZ****** received transponder code query ******F****** received ping request ******N  Iw:YU1y:6);9do%5,˖hFAɫ髙) IY?yđFxDUSBL response received:!U1,P 4CF,000,002B2,189,80,80,B0,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    -@ -@ -@)))i)) )))I)i)M'=YQU>a$Hy}>I  7 5? aݾ  ?9 |HA : U:) W1W9X9 X9W9X9:W92W*WVbUBU*UUUϩ @BB BAp*BAAA!A!"C)*C)RC)C)C)Ii)iYIqG>+5,{hFAY}2@}2 @y}2;C}2hJ}2H,a,%? ?$<'ʿܑ9ܑIܕ(Fiܕ,@ܑܑܑܕ; ݕE ] o:YW1yč: 6)U;25,x~hFAY}:@}: @y}:A}:ޖx}:H`2A`cb?༟?@/2ȿ?^?)~:@ ~:\;I~:Cɫ99)9 9I9Y}v?y}FxDUSBL response received:!U1,R,502,000,002B2,189,80,80,BF,FF Fpublishing direction and range infof3ɰ鰁 )?CIyw?amf-ٱ뚺MV=YA;QU>a$H2HyE<}>I 5?wݾ ֖ ?9HA : :)WWX XWX:W2W*WVbUBU*UUU/@R(Combining 5 samples.P*QZQ=A?a;% JQw?amf-2Qf3:QbQ`8=?8 @?RQNV?,p?{.[b?BQ? QV@Qm?P[9?PPQQ!@"QX#@BqBq BqAu*BqAyAyAyAy"C*CRCCC׉IG>Ū85,2ZhFAɫ髙) IY|?yFEdNmea in: $SNTTA,0.451517,0.451973,,,232922.79*54 -Gz?uVտZd;?-p=>-r -=))I)y-a$Hy}>Iȹ :Ž 5? :Žkݾ ƽ ?9ƽIAǽA: Ƚ,:)Ƚ:mmAdded new target pos. range: 3.899999 m, bearing: 60.381536 deg, deltaT: 4.052873 s, approachRate: 0.000000 m/s, LOS rate: -0.412463 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UUU@?BABI BIAM*BIAQAQAQAQ"C].?RCYC]?C?i?׹IG]v>  &:YV1y:69@ܙ 9ܙ Iܝ `Fiܝ @ܙ ܙ ܙ ܙ ݝ E>5,75hFAY}2'@}2 @y}2*6}2}2H`zGĩ?`3p?AbUǿ #?@հ-l?)~2'@ ~2^;I~2Cɫ99)9 9I9Y?y_FI-=)-= } } } }@ }@ }@yyyiyy y)yIyiy\M^=Ya$Hy=}>IȩŭA 5?ŭݾ ƭ` ?9ƭaIAǭ: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU@?BB BA1*BAAAA"CU?*CRCCCIG (>ީiޭ=ԼE5,hFAY}:X@}: @y}:A.}:o{}:HhR?[g?ƨ ƿ T?`rz?)~:X@ ~:C\;I~:Cɫ99)9 9I9Y}?y}:FUM]N=Y]aaae$Haiym<}m>Iqu 5?uݾ u: ?9uIAu: uϸ:)qWWX XWX:W2W*WVbUBU*UUU@?BB BA@*BAAAA"C?*CRCCCIG>  Oo:YWU1y:D6iU }nGIm _Ai Vٺ _A AK5,1hFAY}@} @y}bB*}C}H-lϧ? #F?Hſ:/? @}?)~@ ~#[;I~Cɫ) IYm!?ymߑF % % % %@ %@ %@!!!i!! !)!I!i!5*M5==Y=99aE$HAAyMd<}M>IQ ]:U 5? ]:Uݾ U ]?9UJAUg: U:)U:WWX XWX:W2W*WVbUBU*UUU/?)9)I-НFi-E@-=))-; - EBBa BaAee*BaAiAiAiAi"Cq*CqRCqCqCyIש)שyIG<>R5,*KhFAY}2g@}2@y}2$}2$g}2H n``͎?@\(?`oĿ2?|:?)~2g@ ~2Gl[;I~2Cɫ99)9 9IAY};?y}F ׿<M_=YPl!!a%$H!)y-<}->I9= 5?=ܟݾ = E?9=GJA=: =4:)9WaWaXa XiWiXi:Wi2Wi*WqVqbUqBUq*UyUyU} @B!B! B!A%*B)A)A)A)A1"CQ*CQRCQCQCYiIqG>  i:YX1y/:6X5,ehFAY}6p!@}6<@y}6ϒ}6/}6Hf,`O?@G"?8`Cÿ?@D?)~6p!@ ~6U_;I~4ɫ99)9 9I9Y?yՒFףp= ?:vMb?>T =)IyQ?:v?I +?u<<94< A>A)NAI‰i|_A GA; <MA=YGa$Hy;}>I : 5? :ݾ ] ?9zJA': s:):WqWqXy XyWyXy:Wy2Wy*WVbUBU*UUU܉@BB BA*BAAAA"C*CRCCCIG )>) 9) I- @Fi- ?) ) ) - ; - E"_5,|hFAY}:/@}:J@y}:}:D}:H4A?`!? 8Y ÿ"g?VE?)~:/@ ~:}_;I~:Cɫ99)9 9I9Y}?y}qF?A - - - -@ -@ -@)))i)) )))I)i)EPMEQ=YEIIaM$HIQyU0 ;}U>IY] 5?]ݾ ] m?9]JA]: ]:)YWWX XWX:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBB BA**BAAAA"C*CRCCC?i?IG% >4  6u:YW1yč:6);9 f5,WhFAY}2j@}2@y}2}2x}2H`L?@?`],3ſJ?Q`͊?)~2j@ ~2\;I~2 Cɫ99)9 9I9Y}?y} FZ****** received transponder code query ******F****** received ping request ******a$Hy*<}>I  :  5? : <ݾ  %?9 JA ; >;) :8qjAggregate::initialize lineCaptureDepth:SetNavAcoustic19 r ~Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNavq9 r dReseting nav to dock location at range 3.899999 m q99 s6Initialize SetNavComponent.WWX XWX:W!2W!*W!V!bU!BU)*U)U)UM~ @BB BA*BAAAA"C*CRCCCIG )>18l5,@hFAY}:@}:Y@y}:}:ͽ}:H`|=aٖ?)?`:ƿ@h? kc@8}?)~:@ ~:T5];I~:Cɫ髑) IY?yiFxDUSBL response received:!U1,P 502,000,002B2,189,80,80,BF,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 u u u u@ }@ }@qqqiqq9IFi1?=; E)aIaiaaaeb4 q)qIqiq}M}'=Y;QU>a$Hy0j<}>In 5?gݾ  %?9KAY: Y:)XaXaXasulSetNav fix at 20210815T232926: (41.552319, -70.708603)9u su:Uninitialize SetNavComponent.rufCompleted lineCaptureDepth:SetNavAcoustic:UpdateNav19u ruAggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNavqRCompleted lineCaptureDepth:SetNavAcoustic8qnAggregate::uninitialize lineCaptureDepth:SetNavAcousticWWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"C*CRCCC!I׉)׉iIqG> || j:YR1yi:r6);s5,(hFAY}6;@}6W@y}6}66Y}6H@>DŞ??`7Ŀ ?a?)~6;@ ~6\;I~6Cɫ99)9 9I9Y}?y}F鮅p=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B oYM }=Y Fy5, hFAɫyy)y yIyY?yFxDUSBL response received:!U1,R,4DF,000,002B1,189,80,80,AB,FF Fpublishing direction and range infoJɰa= )+CIyu@u'O?`^wXٱdNmea in: $SNTTA,0.232408,0.232501,,,232927.23*58 a$Hy}>I 5?txݾ T< ?9M;{: :)WIWIXI XIWQXQ:WQ2WQ*WQVYbUYBUY*UYUYUe`-@R(Combining 5 samples.P*Qu@ZQ1?,?4+46 JQu'O?`^wX2QJ:QbQ18I,Fm?ԭ @z]D?RQd|?o?\?Q5?BQ? Qn]@Qj?PY9?P[9?PQQ@"Q!@BB BA5*BAAAA "C*CRC9CYCaYIaG{>I޹)޹\ b gx:YWU1y:<69@ 9 I XFi ? ; E/5,hFAY}2A@}2@y}2fC}2߼}2H +B @~??w?ΨC?)~2A@ ~2Ca;I~2Cɫ99)9 9I9Y_?yF } } } }@ @ @yyyiyy y)yIyiym3M\=YQU>a$Hy}<}>Iڔ 5?Ixݾ < ?9&<%; );)mmAdded new target pos. range: 3.839998 m, bearing: 65.329912 deg, deltaT: 4.495936 s, approachRate: -0.013345 m/s, LOS rate: 1.100633 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UU Q@U JB?BB BAV*BA!A!A!A!"CU!?RCQCU?CaAIIGm5>X5,shFAY}:x@}:@y}:)}:ϼ}:H-!@P??``2?=@?)~:x@ ~:d^;I~: Cɫ99)9 9I9Y}?y}4F=<M=Q=Y=qQU=>AAaE$HAIyM!<}M>IQ ]:U3 5? e:Uxݾ U8= e?9U{~  {:YT1y:65,z4hFAY}By@}B@y}BL{}BD}BHl??g@? tƛ?)~By@ ~Bt\;I~BCɫaa)a iIiY?ykFIY)YImC=)m=    @ @ @ñññiññ ı)ıIıiıMA=Y~IQU>a$Hy}>I 5?wݾ ?= ?9<': :)WWX XWX:W2W*W!V!bU!BU!*U!U)U-?BQBY BYA]̅*BYAYAYAaAa"Ce?RCiCiy9yI}ȖFi}?yyy}x; }EC׉IG>޵=i޵=k5,!VNhFAY}2@}2@y}2'}2&h}2H N?@?Kÿ?t*?)~2@ ~2>[;I~2Cɫ99)9 9I9Y}?y}=F?<MV=YQU>!!a%$H!)y-:}->I1 =:5 5? =:5wݾ 5l= E?95<5: 5k:)5q:WaWaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UyUyU}@v?B!B! B!A%w*B)A)A)AIAI"CQ*CQRCYCYCYIIQGm>y  Mf:YWU1y: 6ڔ5,0hhFAY}6q@}6 @y}6*}6}6HZ ? ϊ?Z@6ſ*?@}?)~6q@ ~6w[;I~6Cɫ99)9 9I9imzCY0?inmGIyFi%ٺ!%qAMQ?Mb?i|?5?M\>M< M=)IIIyM{Gz?:v?MbPM#Mm7=YuvڻQUu>qya}$Hyyy;}>IȉōM 5?ōwݾ ƍ3l= ?9ƍ=Ǎ8: ȍܹ:)ȉWWX XWX:W2W*WVbUBU*UUU,?BB BA!*BAAAA"C *C RC CCIG-->q 9q Iu 8Fiu ?u =q q u \; u EB}5,_ hFAY}:@}:A@y}:5a,}:N6}:H @x:?? ſ"r?ư Xz?)~:@ ~:2_;I~:Cɫ99)9 9I9Y}?y}ЍFI)A     @ @ @i )IiO;MS=YQU>a$HyGj}>I  : Ĕ 5? : wݾ k= ?9 "= : :) r:W9W9X9 X9WAXA:WA2WA*WAVIbUIBUI*UQUQUU @ByBy BA *BAAAA"C *C RC CC%?i%?IG)Iީ)ީ  ~:YyW6)l;95,hFAY}2 @}25@y}27}2 :e}2H -?o? E7ƿ`2?-o?)~2 @ ~2_;I~2CɫYY)Y YIYY?yQFAATM`=YQU>a$Hy3<}>IB 5?wݾ l= ?9Y;=w:  :)W W X  X W X:W2W*WVbUBU*UU!U% @R-B*** querying acoustic contact ***P)P)BIBQ BQAU*BQAYAYAYAY"Ca*CaRCaCaCiIG>+Ѭ5,7µhFAY}6 @}6@y}6 H}6=b}6H)@?@-5?@zǿ?@Pǫ W?)~6 @ ~6U];I~6CɫYY)Y YIYY?yFZ****** received transponder code query ******F****** received ping request ******Yaae$Hiiyu<}u>Iy :} 5? :}wݾ }l= ?9}W=}: }:)}s:WWX XWX:W2W*WVbUBU*UUU` @9IpFiM?=H; םEBB BA*BAAAA"C*CRCCCIG-->  r:YU1y:)6);5,whFAY}Ba @}B@y}B8zS}B;N}BH@@`)y?`+"? @Oȿ`F??BG?)~Ba @ ~BQ\;I~BCɫYa)a aIaY?yFxDUSBL response received:!U1,P 4DF,000,002B1,189,80,80,AB,FF Command AckBRequesting micromodem ping code 2i Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I]=)]=    @ @ @i )Ii5M=YzQU>a$H4Hyi:}>I 5?wݾ pm= ?9z=0; ظ;)WYWYXY XYWaXa:Wa2Wa*WaVibUiBUi*UiUiUui @BB BA4*BAAAA"C*CRCCC1QIyޱi޵=G>)5,uxhFAɫyy)y yIyY?yAFɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i|?5y&1|?{Gzq`; ף)Iy~jtx~jthy&1?ĻD`e< ?A)OAI0AiKeApIAM=YQU?a$Hy}?Ișŝ) 5?ŝwݾ Ɲ]~= ?9Ɲp=ǝ8: ȝ:)șWWX XWX:W2W*WVbUBU*UUU`@BiBi BqAu~*BqAqAqAqAq"Cy*CyRCCCׁIG=> 9 I 8Fi ?    L;  ٝE)ݩIݩiݩݭ=ݭ=ݭ&X5= 6 = = = l = _u:Y= V1y= := N6)= 9;5,rShFAY}: @}:@y}:S$c}:gZ}:HgR?`?ʿ)?k@+?)~: @ ~:\;I~:Cɫ99)A AIAY}b?y}FxDUSBL response received:!U1,R,502,000,002B4,189,80,80,87,FF Fpublishing direction and range infof3ɰb=鰁 )CIy@w?amf-ٱ)ý= ý=]<M^=YF*QU>a$Hy/}?Iȱ :ŵe 5? :ŵxݾ Ƶ= ?9Ƶ=ǵ: ȵR:)ȵt:WWX XWX:W2W *W V bU)BU1*U1U1U5@RE(Combining 5 samples.PA*QE@ZQETW?G( JQEw?amf-2QEf3:QAbQEcH?ţ0+ @`{`?RQE&,[C\?@H?!AnI?BQE_? QEe@QE?PAPEY9?PEQEQEs@"QE@BB BAU*BAAAA"C*CRCCCIG (>"5,.hFAY}2!w @}2@y}2n}2}2H X*/? ?FՄɿ`΋?@@W?)~2!w @ ~2b:b;I~2CɫYa)a aIaY?y݉F-DNmea in: $SNTTA,,,,,232931.71*50 -=i-C=     @ @ @i )Ii-NM-6=Y-ʼQU5>11a5$H19y=Lƻ}E>IAE 5?E!xݾ Ei= U?9E=EI: E:)AmmAdded new target pos. range: 4.020000 m, bearing: 64.409442 deg, deltaT: 4.401513 s, approachRate: 0.040895 m/s, LOS rate: -0.209126 deg/s, posRepo size: 4XW_?WX XWX:W2W*WVbUBU*UUz@U`?BB BA*BAAAA"C_?RCC_?CaIiG9>Iޱ)޵@A- - - -  - 9~:Y- X1y- /:- 695 @B5, 7hFAY}2 @}2-@y}2r\{}28<}2H q?`?% ]˿@?`tЦ ?)~2 @ ~2)w_;I~0ܹ9ܹIܽFiܽ?ܽ=ܹܹܽ3; ݽ̝Eɫ髩) IY?yF    @ @ @i )Ii<M0=Y ܼQU > a$Hy;}>I! -:% 5? -:%Gxݾ %= 5?9%ț=%$: %:)%u:WQWQXQ XQWQXY:WY2WY*WYVYbUaBUa*UaUiUm@L?BB BAJ*BAAAA"C*CRCCCI IQ Gu >"5,PhFAɫyy)y yIyY?y݉F!%\AeMe=YeQUe ?iiam$Hiqyu}} ?Iy}- 5?}axݾ }= ?9}=}$: }^:)yWWX XWX:W2W*WVbUBU*UUU@ ?BB BA*BAAAA"C*CRCC C IIQGu>M U I I M  M w:YI yI M 6F15,jhFAY}2i @}2)@y}2Q‾}24 }2HҩS `x? b?j`ο?@b?)~2i @ ~2g4\;I~0ɫ99)9 9I9Y}M?y}]FI)AI=)4=m rh?Pn?QmC>m> mu)iIiymQ?:vI +mu=mԼm94 mDA)mIAIm,AimpAimJA*}MH=Y pQU>a$Hy%쌻}->IA :E 5? :Evݾ E}= ?9E=Er< E<<)Ev:WqWqXq XqWqXy:Wy2Wy*WyVybUBU*UUU?BB BAڇ*BAAAA"C!*C!RC)C)C)I G%M>ޭ=iޭp=-JFailed to parse device response: .42 H5,ǛhFAY}6g @}6*@y}6:}6D}6H@N??@f ͿpX? `@?)~6g @ ~6[;I~6Cɫ99)9 AIAY|?yRF    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉz=MI=YQU>a$Hy}>IȹŽ 5?Žuuݾ ƽ*= ?9ƽ,>ǽ: Ƚ4:)ȹWWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C*CRCCCIG )> E    v:Y DW1y Y: 6RC5,vhFAY}:f @}:7@y}:b}:}:H֏U+?`?~ `EͿ?o ?)~:f @ ~:i_;I~:Cɫ99)9 9I9Y}?y}F)-= ->U@;M]O=Y]QU]>aaae$Haaym}m>Iq }:u\ 5? }:u tݾ uD= ?9u">u: u:)uw:WWX XWX:W2W*WVbUBU*UUU0?@BB BA*BAAAA"C*CRCCCIG>imGIiٺAn5,PThFAɫyy)y yIyYK?yҋF@A=i=  % % % %@ %@ %@!!!i!! !)!I!i!y9yI}Fi}v?}=yy}; }E^<MD=YQU>a$Hy}>I 5?rݾ = ?9??>: @:)W9WAXA XAWAXA:WA2WA*WIVibUiBUi*UqUqUu@R}B*** querying acoustic contact ***PPBB BAۆ*BAAAA"C*CRCCCI G-,>IޭAA)ޭ?A  ~:Y y 26) ;9 ]U5,-hFAY}6@}6@y}6﬍}6,B}6H`V #!5? ?`ο{?~ju?)~6@ ~6m];I~6Cɫ99)9 9I9Y}?y}FZ****** received transponder code query ******F****** received ping request ******a$H5Hy塚}>I  , 5? 3qݾ = %?9 X> #; f=;) WIWIXI XIWIXQ:WQ2WQ*WYVYbUYBUY*UYUaUe @BB BA*BiAqAqAqAq"Cy*CyRCyCyCiIqG>u5,hFAY}25@}2@y}2ڌ}21}2H@fUE@)?? [w@vпb?5a?)~25@ ~2˫\;I~2Cɫ99)9 9I9Ys?yFxDUSBL response received:!U1,P 502,000,002B4,189,80,80,87,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 57A`?~jth?5>5 5D;)1I1y5MbQ?Mb55\=5 1)5NAI5+Ai5zA15NAIM^A    @ @ @ÑÑÑiÑÑ đ)đIđiđ<M=YTG;QU>a$Hy}>I : 5? :qݾ <= ?9j> : :)x:W)W)X) X1W1X1:W92WA*WAVAbUIBUI*UIUQUU @BIBQ ByA}*ByAAAA"C*CRCCCI)y9yI}@Fi}?}=yy}*; }ŝEסIG > k    y:Y X1y /: W6) ;h6,GhFAɫ髱) IYya=ɮa=ENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B YQU ?a$Hy} ?I  p 5? Krݾ *= ?9 u> ߼:  :) W9W9X9 X9W9X9:WA2WA*WAVAbUABUI*UQUQUU+@ByB BA*BAAAA"C*CRCCCI G-,>z6,^hFAY}6Q @}6$@y}6R}6}6Hoc- c?`?@>п? ?)~6Q @ ~6p[;I~6Cɫyy)y yIyYv?ybFxDUSBL response received:!U1,R,502,000,002B4,18A,80,80,85,FF Fpublishing direction and range infoɰ鰽> )CIyw?amf-ٱU=MUYYa]$HYaye;}e>Ii u:m 5? }:mrݾ m!= }?9m>m: m?:)my:WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*QZQTW?G( JQw?amf-2Q:QbQzXu? QB @V?RQ}Q?PnPS? 48?BQZ? Qb@Q?PPPQQ!@"Qs@BB BAЅ*BAAAA"C*CRCCCaIiG9>E E E E  E :YE W1yE č:E 69M @ 6,9hFAɫ) I!9%CI%Fi%@%=!%ND%0; !YU?yU*FTNmea in: $SNTTA,0.039887,,,,232936.12*41    @ @ @ÑÑÑiÑÑ đ)đIđiđ,<ME=YQU>a$Hy}>I 5?dsݾ Fx= ?9.>/: ':)mmAdded new target pos. range: 4.020000 m, bearing: 63.273527 deg, deltaT: 4.460147 s, approachRate: 0.000000 m/s, LOS rate: -0.254681 deg/s, posRepo size: 4XWZ?WX XWX:W!2W!*W!V)bU)BU)*U)U)U5 ?BYBY BYA]*BAAAA"CZ?RCCZ?Ci?IG K>=6,wShFAY}: @}:@y}:g:}:ٞ}:HW \?`h?$`Pп ? t# ?)~: @ ~:P^;I~8ɫ99)9 9I9Y}|?y}F=<M=e=YE;QUE>AAaE$HIIyM<}U>IY e:] 5? e:]sݾ ]Z= e?9]]>]s: ]I:)]z:WWX XWX:W2W*WVbUBU*UUU ?BB BAN*BAAAA"C*CRCCCIG> ~ :Y y <66,;QmhFAY}2 @}2m@y}2?r}2e}2H @?`)? j7п`+_?@@Z?)~2 @ ~2o\;I~2Cɫ99)9 9I9Y}?y}F/$?'1Z?K?="> ^=)Iy~jt?~jtxI +<Ļ94 •fBA)•TAI•Q*Ai•lsAGMAsMC=Yfa$Hy4<}>I 5?Jsݾ T= ?9>M: :)WWX XWX:W2W*W V bU BU *UUU?B9BA BAAE*BAAAAAAIAI"CQ*CQRCQCQCYQIyG>9CI`Fi@=OD>; ϝE)Ii==S36ŷ!6,4hFAY}F @}F@y}F{}F]Խ}FH?@aaam$Hiiyu<#;}u>Iy :}< 5? :}rݾ }[M= ?9}>}: }^:)}{:WWaXi XiWiXi:Wi2Wq*WqVqbUqBUq*UyUyU} ?BB BA@*BAAAA"C*CRCCCI1)1I GE0>    :Y DW1y Y: |6+'6,:hFAY}: @}:Q@y}:2m}:}:H C??`̿b?c@ ?)~: @ ~:X[;I~:Cɫ99)9 9I9Y?yFI%=)%=U<M]K=Y]#=QU]>aaae$Haaym}m>Iquۋ 5?u4rݾ uE= }?9u>u: u :)qWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*CRCCCIIQGu>=i .6, hFAY}:W @}:@y}:`a}: %}:H ? ?,ȿ?:`G4?)~:W @ ~:;^;I~:Cɫ9A)A AIAY}?y}UF!9!I%Fi%@%=!!%?; %ѝE u u u }@ }@ }@qqqiqq q)qIqiqH=M8=Ya$H6Hy}>Il 5?qݾ ;= ?9>; ;)W1W1X1 X1W9X9:W92W9*W9VAbUABUA*UAUiUmo@BB BA5*BAAAA"C*CRCCC9IIGeV> @    +v:Y WU1y : 6) ;9 46,0hFAY}6 @}6]@y}6jW}6mv}6Hq Vf? ? &9qɿ? @zǽ: Ƚ(:)Ƚ|:WWX XWX:W2W*WVbUBU*UUU`)@R B*** querying acoustic contact ***P P B1B BAm*BAAAA"C*CRCCC?i?IG> CiM NmGIa iy ٺ A;6,_hFAY}2!!@}2t=@y}2 wI}2}2H .gϼ?`?nʿ^?ລ5A?)~2!!@ ~2];I~0ɫYY)Y YIYY?yFZ****** received transponder code query ******F****** received ping request ****** /$~jt?ˡE?< '=)Iyl?a$Hy;}>Iqu7 5?uypݾ uR= }?9u˲>u: u8:)qWWX XWX:W2W*WVbUBU*UUUN @B9BA BAAE*BAAAAaAiAi"Cq*CqRCqCqCyׁIG=>ܹ9ܹIܽ(Fiܽ,@ܽ=ܹܹܽK; ݽ؝E 9  u:Y y 6) n;B6,xhFAY}2V9!@}2T@y}2;}2φ˽}2H D- ? U?Tɿ[?`N?)~2V9!@ ~2Tf\;I~0ɫ99)9 9I9Y?yFxDUSBL response received:!U1,P 502,000,002B4,18A,80,80,85,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 M T=Y =QU%>19a=$HAQyem;}m>Iș :ŝz 5? :ŝoݾ Ɲk= ?9Ɲ>ǝ]; ȝy;)ȝ}:W!WAXA XAWAXA:WI2WI*WIVIbUQBUQ*UQUQUU @BB BA *BAAAA"C*CRCCCIG%o>-H6,M"hFAɫyy)y yIyY?yTFɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )Ii@=M==YQU>a$H y }>I 5?Noݾ = %?9>˵: ÷:)WAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU]@BB BAf*BAAAA"C*CRCCCIױ)ױסIG >WN6,(9aIe`Fie@e=aaeN; eםEY}R?y}FxDUSBL response received:!U1,R,D40,000,002B6,189,80,80,64,FF Fpublishing direction and range infonF?ɰhc=鰅7> )BIyz@  &?N^F:"r?ٱI=)C=jB=Mb=Y=QU>a$Hy<}>I : 5? :nݾ = ?9y>t: :)~:WWX XWX :W 2W *W V bUBU*UUU@@R-(Combining 5 samples.P)*Q-z@ZQ-e,X @ h@JQ-  &?N^F:"r?2Q-nF?:Q)bQ-H cj??RQ-]DbJ!E ?;Ԗ&?BQ-G9@ Q-߀?Q-P-J9?P)P-Q)Q-@"Q-!@BaBa BaAeق*BaAiAiAiAi"Cq*CqRCqCqCy1IAG}=1  t:Yy);>CU6,VhFAY}v<"@}v5X@y}v }vy}vH%@GN`??qBĿ(? s7@T?)~v<"@ ~v!9_;I~vCɫ) I!Y=?y=FDNmea in: $SNTTA,,,,,232940.56*53 m m m m@ m@ m@iiiiii i)iIiii}ϼM}0=Y0a$Hy9i<}>Ișŝ 5?ŝnݾ ƝK= ?9Ɲ>ǝ^: ȝw:)șmqAdded new target pos. range: 4.140001 m, bearing: 165.870912 deg, deltaT: 4.391524 s, approachRate: 0.027326 m/s, LOS rate: 23.362592 deg/s, posRepo size: 4XmProNav REINIT: LOS rate is 23.362592 deg/s. Setting heading cmd to target bearing of 165.870912deg and heading rate command to 0 deg/s.WG9@WX XWX:W2W*WV bUBU*U!U%`\@U-'?BQBQ BQAU9*BQAYAYAYAY"Ce ?RCaCeG9@CiIG=P>i[6,ohFAɫ) IYM?yMFm rh?Mbl?mC =m m>)iIiym+?Q?m=im< m:A)mSAIm1Aim|_AimGA E E E E@ E@ E@AAAiAA A)AIAiAUIMU>=Y]QU]>YYa]$Haaym}m>Iq }:u( 5? }:umݾ uv= }?9uf>uM: u:)u:WWX XWX:W2W*WVbUBU*UUUv?BB BA*BAAAA"C7T?RCCC ?i ?I G%M>a9aIeНFieE@e=aaeZ; eޝE  }:YV1y:6);Qb6,IhFAY}2ne"@}2@y}2}}2 rp}2H@L@2UH?J?`& Zb]?ӭ(?)~2ne"@ ~2J];I~2Cɫ99)9 9I9Y}?y}F =Mw=Y=QU?!!a%$H!)y-;}-?I9=y 5?=mݾ == E?9=_>=: =U:)9WWX XWX:W2W*WVbUBU*UUU?B)B) B)A-*B)A1A1A1A1"C=4?RC9C9CAIIQGu>{h6,hFAY}2+"@}2F@y}2s彙}2n}2H {C?#? `(_ 뤼?`ң?)~2+"@ ~2;\;I~2CɫII)I IIIY}?y}FMJ=Y8!!a%$H!)y-t}->I15 5?5rlݾ 5= E?95>5÷: 5:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUyU}"?BB BA'*BAAAA"C5(V?RC1C1C9)I1G]> J 9q:YDW1yY: 69@n6,mphFAY}2>O"@}2j@y}2v'ٽ}2}2Hg8?q?c?r@?`?)~2>O"@ ~2[0];I~2C 9 I xFi ? =   V; )Ii== 5ɫ99)9 9I9Y?yJF    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ/<MB=Yla$H7Hy;}>Iȹ :Ž 5? :Žkݾ ƽ> ?9ƽd>ǽE: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUUja@BB BA*BAAAA"C mʴ?RC CCIQ)Q!I1GM1>gu6,MhFAY}:`S"@}:n@y}:Ľ}:(v}:H`1?@R?38싸?}?)~:`S"@ ~:/_;I~:Cɫ99)9 9I9Y}R?y}FI-4=)-R=UlN<MUO=Y]Yaae$Haaym':}m>Iqu 5?uDkݾ u'> }?9u>u=: u:)qWWX XWX:W2W*WVbUBU*UUU1@BB BAق*BAAAA"C{Ⱦ?RCCCIGU> [ q:YU1y:| 6{6,77hFAY}=["@}=%w@y}=Ū}=/R}=HL^*@?@?`@? kC?)~=["@ ~=S_;I~=Cɫ  ) IY-5?y5F11Mb?y&1~jt=` D)IyMbMb?Q?<\= a$HyL:}>I : 5? :kݾ "> ?9v>< <):WWX XWX:W2W*WVbUBU*UUUL@RB*** querying acoustic contact ***PPB!B) B)A-*B)A)A1A1A1"C]s?RCYCYCaQIYG}Y>9IXFi?(; ƝEŸ6, hFAY}6n"@}6@y}6,𝽙}6}.<}6H ??@? ' Z`?@q?)~6n"@ ~6G];I~4ɫYY)Y YIYY?yeFZ****** received transponder code query ******F****** received ping request ******I15 5?5(lݾ 5.> E?95$>5: 5:)1WiWiXi XiWiXi:Wq2Wq*WqVybUyBUy*UyUyUj @BB BA*BAAAA"CUA?RCCCU?iU?)I1GU>  5j:YT1y:6\ˈ6,$hFAY}2Z"@}2}v@y}2ۚ}2F̼}2H`# k? ? ò`V?@~u` ?)~2Z"@ ~2[;I~2Cɫ99)9 9I9Yu;?y}ۖFxDUSBL response received:!U1,P D40,000,002B6,189,80,80,64,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 u5=M}D=Yj;QU>a$Hy }->IAi]nGI i) M:]ٺYeAEI 5? m:Elݾ E=> u?9EO?E "= E!=)E:WWX XWX:W2W*WVbUBU*UU!U%0 @BB BA_*BAAAA"C5?RC9C9CAIIYGu>6,ݶ>hFAT9TIVFiV?TTTV; VEɫ髙) IY?yFp=ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5 5 5 5@ 5@ 5@111i11 1)1I1i1E?,ME>=YEQUM>IIaU$HQQy]}]>Iae 5?emݾ eK> u?9ec?e2; e(4;)aWWX XWX:W2W*WVbUBU*UUU@~_@B B  BA*BAAAA"C%}$?RCCCסIGA>D  }v:YU1y:;6)0;9$ܕ6, XhFAY}6"@}6s$@y}6}6W}6HY`=? f"?p粿/o?`0 !?)~6"@ ~6[;I~6Cɫ99)9 9I9Y?yFxDUSBL response received:!U1,R,DFA,000,002B6,187,80,80,40,FF Fpublishing direction and range infoq>ɰ鰽1> )BIy*c-?G?ٱ-Ӗ<M-^=Y->QU5>19a=$H99yE^}E>IIM 5?Mvmݾ MX> u?9MC?M; M;)IWWX XWX:W2W*WVbUBU*UUU @@R=(Combining 5 samples.P9*Q9ZQ=L @' ?JQ=*c-?G?2Q=q>:Q9bQ= ق`x?)4_?RQ==[Y 6,rhFAY} !@} @y} } Ov} H@ =R#{?/?/ @o?~?)~ !@ ~ _;I~ Cɫ) IYE?yEAFDNmea in: $SNTTA,,,,,232945.00*55 I)Ia=)=U+?S㥛Q뱿U>U/ݼ U\)QIQyU/$?+?aaam$Hiiym}u>Iy :}- 5? :}mݾ }T> ?9} ?}: }:)}:mqAdded new target pos. range: 4.140001 m, bearing: 156.782662 deg, deltaT: 4.478788 s, approachRate: 0.000000 m/s, LOS rate: -2.029176 deg/s, posRepo size: 4XW /@WX XWX:W2W*WVbUBU*UUU :=?BB BA*BAAAA"C @RC v'e>C /@CIGM>ܙ9ܙIܝ8Fiܝ?ܝ=ܙܙܝ$; ݝÝE p p:YV1y:6);96,JhFAY}6S!@}6@y}6}6ͽ}6HL10?@9? `}?)~6S!@ ~6y`;I~6CɫYY)Y YIYY}R?y}F<My=YY- E?95U ?5: 5:)1WWX XWX:W2W*WVbUBU *U U U-?ByBy ByA}ق*ByAAAA"Ca@RC >CCשIG!>6,$hFAY}6!@}6$@y}6&}6顽}6H@SXd@4?Q뻿 ?(?)~6!@ ~6v];I~6CɫYY)Y YIYY?y$F=k<MEH=Y]x:QUe>aaam$Hiiyu4}u>Iy :}{} 5? :}nݾ }K> ?9}?}: }w:)}:WWX XWX:W2W*WVbUBU*UUUR$?BiB BA*BAAAA"Ct @RCP=CC?i?סIG > e 9q:YDW1yY:69@z6,1hFA$9$I&pFi&M?&=$$&3; &˝EY}B*!@}B@y}BӀ}BO>}BH-c@?`@?D !?ħ?)~B*!@ ~B\;I~@ɫQY)Y YIYY?yFu=iu%= 鿁    @ @ @i )Ii<M?=YUQU>a$H8H yջ}>I{ 5?;nݾ G> ?9?< 9<)WWX X!W!X):W)2W)*W)V)bU1BU1*U1U1U=a?BaBa BiAmq*BiAiAiAiAq"Cw@RC̤CCu?΅>QIYG}z>*6,hFAY}>!@}>J@y}>d}>F}>H 1b??8?'»%?@^h?)~>!@ ~>>[;I~>CɫYY)Y YIYY?yەFؼMP=YpQU>a$Hy;}>I :wz 5? :knݾ C> %?9P?e; *;):W)W)X1 X9W9XA:Wa2Wi*WqVybUBU*UUUp@B!B! B!A-Ƃ*B)A)A)A)A)"C5O@RC5~>C9C9IGj> X n:YWU1y:* 6UV6,hFAY}6!@}6&@y}6`,}6}6H/@] 5?`@~?~5s?)~6!@ ~6VB\;I~4ɫQQ)Y YIYYC?yFCl?I +?~jt?;>94< >)Iy~jt?~jty&1|?=D`; ­a$Hy:}>Iy 5?mݾ H> ?9P?: :)WWX XWX:W2W!*W!V!bU!BU)*U)U)U-`Nb@BYBY BYA]݂*BYAaAaAaAa"Cm+@RCm CiCqepS>Ii)i)IIG:>Q9QIUFiU?U=QQU*; UƝE)хIхiхՅ=Յ=Յr75<6, hFAY}>!@}>#@y}>K}>T}>H qa0H?7޽av? `?)~>!@ ~>^;I~>Cɫai)i iIiY9?yFI=)= % % % %@ %@ -@!!!i!! !)!I!i!=M=T=Y=U9QU=>AAaE$HAIyM^}M>IQ ]:Upy 5? e:Ulݾ UM> e?9U%#?U: U:)U:WWX XWX:W2W*WVbUBU*UUUJv@RB*** querying acoustic contact ***PPBB BAm*BiAiAqAqAq"C} @RCyCyCyԵ]AԵ]AօW">AIQGm5>  j:Yy6g6,r'hFAY}6!@}6 9@y}6}6I}6H| ܕ?g?p1 ?*j?)~6!@ ~6G:];I~4ɫ19)9 9I9Yu?y}F}Z****** received transponder code query ******F****** received ping request ******a$Hy;z}>I15x 5?5kݾ 5Q> =?95s'?5: 5b:)1WyWyXy XWX:W2W*WVbUBU*UUU  @BB BA*BA!A!A!A)"C-U&@RC1C1C1%u =IG%M>A P6,RAhFA9qIqiqqqqu/; uɝEY}b @}b@y}bYƽ}b倽}bHf'?6u?N7IJ?`@w?)~b @ ~b[;I~bCɫ髑) IYa?yFxDUSBL response received:!U1,P DFA,000,002B6,187,80,80,40,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -;M5G=YEa;QUm>qqa}$Hyy}>I\x 5?kݾ V> ?9+?+< f<)WWX XWX:W2W *W V bU BU *UUU @BB BAՂ*BAAAA"C *@RCCC`=?i?ױIG%>  c|:YT1y:6)I;92x6,"[hFAY}2 @}24 @y}2Ž}2}2Hg$,&m?@|t?@C@S?Ga?)~2 @ ~2x[;I~2Cɫ99)9 9IAY}?y}ܔFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 鿙 U U U U@ U@ U@QQQiQQ Q)QIQiQeƼMe7=Ym9QUm>iiau$Hqqy}L9}}>Iȁ :Ņw 5? :Ņ?jݾ ƅ[> ?9ƅ/?Dž: ȅ:)ȅ:WWX XWX:W2W*WVbUBU*UUU\@BB BA.*BAAAA"Cj"-@RCCC  =>9<IGj>%zCi}nGIiٺA6,thFAY}J& @}J@y}J`½}J%V}JH`Y??<PB? GSC?)~J& @ ~J_[;I~JCɫ髉) IY?yF]333333?333333?Mb]=]> ])YIYy]V-? ?9ƕ2?Ǖ: ȕ@:)ȑWWX XWX:W2W*WVbUBU*UUUྐྵ@ByB BAq*BAAAA"Cb[.@RCCC֥WgׁIG=>9IȖFi?-; ȝE  m:Yy6);+6,؎hFAɫ11)1 9I9YUe?yUFmDNmea in: $SNTTA,,,,,232949.45*58 EMF=YQU>a$Hy}>I :u 5? :iݾ SO> ?96?: :):WWX XWX:W2W *W V bUBU*UUU_@BABA BAAE*BAAIAIAIAI"CU /@RCQCQCY-HI1)1 I1Gu6>6,ᴨhFAY}JV!@}Jq@y}J;N߽}JK}JH"tx?K?pl AYۻ? ƪ?)~JV!@ ~J(}];I~JCɫ髙) IY?y/FIC=)4= E E E E@ E@ E@AAAiAA A)AIAiAUMUP=Y]QU]>Yaae$Haaym<}m>Iqut 5?ujiݾ uH> }?9u*:?u: u:)qWWX XWX:W2W*WVbU)BU)*U1U1U5>@BB BAt*BAAAA"C*CRCCC\A&IGj> W h:YU1y: 69@ >9 I Fi a? = ; Eś6,XhFAɫ髹) IY?yF U U U U@ U@ ]@QQQiQQ Q)QIQiQm1=Mm-=YmQUm>qqau$Hu9Hyy}}}>Iȉ :ōas 5? :ōiݾ ƍ:A> ?9ƍi>?Ǎo: ȍ:)ȍ:WWX XWX:W2W*WVbUBU*UUUL@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCC֝̽YIaG{>6, khFAY}nU!@}nlq@y}n81}n߽ѽ}nH @VC?`K@Ŀl? ?)~nU!@ ~n[;I~lɫ) IY?y F |?5^?y&1| ` t=) I y  rh?{Gzt?Q? C = ף; < ) 3MAI 5Ai +WA  EA%?M-O=Y-1ݼQU->11a5$H19y=a}=>IAEr 5?Ehݾ EN> U?9EA?Er: Eӻ:)AWqWqXq XqWqXy:Wy2Wy*WyVybUBU*UUU`_i@BB BA*BAAAA"C*CRCCCQ?i?יIGa>  g:Yy)66,FhFAbJFailed to close latch before timeout.q bbHardware FaultY]?y]F    @ @ @i )Iiֲ:Mw=YQU?a$Hy}?I  q 5? Whݾ Y> ?9 % > ]<I-$@Hardware Fault in component: DDMG )>-`Failed to parse device response: 1.94,24.819521 7,(+hFAY}f(!@}f@y}f}f T}fH@\^v@$?2? s@1]^?DN B?)~f(!@ ~f1];I~drPowering downtɪt)t tY R?yFxDUSBL response received:!U1,N,DFA,000,002B6,187,80,80,40,FF %ZNo reply:!U1,N,DFA,000,002B6,187,80,80,40,FF -%qya}$Hyy;}>Iȑ :ŕp 5? :ŕgݾ ƕi> ?9ƕG?Ǖ; ȕ;)ȕ:WWX XWX:W2W*WVbUBU*UUU@B B  B A ق*BAAAA"C*CRCC!C!0p׹IGE>  |:YT1y:6n 7,)hFAY}JG~!@}Jљ@y}J}J}JH@s ? 6? @1Cq?E?)~JG~!@ ~J ];I~HYZe?yZFj'Mj=YjQUn ?llar$HppyvG}v ?Ixz9p 5?zgݾ zvt> ~?9zUJ?z#: z:)xW!W!X! X!W!X!:W!2W)*W)V)bU)BU)*U1U1U5`@BaBa BaAe*BaAiAiAiAi"Cq*CqRCqCqCy5IIA)AIG5=܉ 9܉ I܉ i܉ ܉ ܉ ܉ ܍ ; ݍ E&7,ChFAY}V_!@}V={@y}Vqa}Vc>}VH@`Ө???Sgཿؾ?`聣`Q?)~V_!@ ~V_\;I~VCY5?y=ەF    @ @ @i )Ii%<M%6=Y%9QU->))a5$H11y=}=>IA M:EOo 5? M:E gݾ E> ?9EM?E < E@!<)E:WWX XWX:W2W*WVbUBU*UUU @BIBQ BQAUƂ*BQAQAYAYAY"Ca*CaRCaCaCԕ\Aԑ} QIa$}NClearing failed state for component DDMq }GZ>(  At:YU1y:s6)B;9S7,i]hFAY}B!@}B(@y}Br}B1}BH@|`?2?@}E?ڰ?)~B!@ ~B[;I~BCYN?yRvFb <Mfc=YjļQUn>ptav$Hx|y ;}>Iȩŭn 5?ŭfݾ ƭ> ?9ƭP?ǭ< ȭ<)ȩWWX XWX:W2W*WVbUBU*UUUt% @BaBi BiAm*BiAiAqAqAq"Cy*C}=RCyCyCԭԭ խԭ!I1GM>hA7,whFAY}FYaae$HaaymI;}m>Iq }:um 5? }:ueݾ uI> ?9ueU?u: us:)u:WWX XWX:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBB BAO*BAAAA"C*CRCCC?i?IG- >)9)I-XFi-?-=))-; -E)Ii=;^5G & v:YV1y::#6)e;I&$7,ghFAY}23!@}2@y}2/}2*i}2Hܟvq=?`+?Ē8E@e?`쬿ݸ?)~23!@ ~2nS[;I~2CYZ?yZmF^Z****** received transponder code query ******^F****** received ping request ******^))a5$H11y=\}=>IAE"m 5?Eeݾ E}> U?9E1Y?EE: E:)AWyWyXy XWX:W2W*WVbUBU*UUU !@BB BA*BAAAA"C*CRCCCIG=Q*7,GhFAiNmGI!i1mٺim7AY5?y5ȖF=xDUSBL response received:80,80,63,E4 !U1,P 6,187,80,80,40,FF =Command Ack=BRequesting micromodem ping code 2iAAMNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =k<MM-=YQU>a $H y}%>I1 E:5Dl 5? e:5dݾ 5P}> m?95f^?5< 5<)5:WWX XaWaXa:Wa2Wa*WiVibUiBUi*UiUqUuѺ"@BB BAf*BAAA A "C *CRCCCII)II1Gew>  as:YU1y:69@! 9! I! i! % =! ! % ; % E817,hFAY}:ù!@}:M@y}:ؽ}:}:Hࣰ 8it?`)-?@ o-f ?@";ʵ?)~:ù!@ ~:[;I~:CYVB?yZF%Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @  @  @i )Ii:=M_=Y=QU?!!a%$H%:H)y-;}-?I15k 5?5hcݾ 5x> E?95a?5: 5:)1WaWaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UqUyU}W#@BB BA݁*BAAAA"C*CRCCC׉IG=d77,hFAY}M3!@}M@y}M ɽ}M=Y}MH`v?FD?UȽ@?s?)~M3!@ ~Mw[;I~MCYv?yFxDUSBL response received:!U1,R,0BD,000,002B7,186,80,80,34,FF Fpublishing direction and range info[(ɰc=鰽> )PBIyf@Ԑ?zſٱI=)=}Dl?p= ף?Mb}O >}> })yIyy}a$Hy}>I :i 5? :cݾ s> ?9g?: :):WWX XWX:W2W*W!V!bU!BU!*U)U)U-MC$@R=(Combining 5 samples.P9*Q=f@ZQ=ln@qkmJQ=Ԑ?zſ2Q=[(:Q9bQ=fk$2 1 @1Cq?RQ==sS࿂YN?cs?BQ=`@ Q=ae@Q=# P=N9?P9P=Q=Q=@"Q=i @BqBq BqA}P*ByAyAyAyAy"C*CRCCCyIG=> _ :YDW1yY: 6B=7,hFAY}2o!@}2 @y}2򦽽}2ߎ}2Hy@{z?IM?}@g2?ı@?)~2o!@ ~2rZ[;I~2CYB?yBFTNmea in: $SNTTA,0.029360,,,,232955.12*47 M M M M@ M@ M@IIIiII I)IIIiI<Mb=Y{a$Hy@}>I^h 5?!dݾ p> ?9l?/: :)m=uAdded new target pos. range: 4.199998 m, bearing: 120.873585 deg, deltaT: 10.133799 s, approachRate: 0.005921 m/s, LOS rate: -3.543496 deg/s, posRepo size: 4X9W=`@W9X9 XAWAXA:WA2WA*WIVIbUIBUI*UQUU`@UU ?BB BA*BAAAA"Cu-@RCC`@C9I Fi?= ; EIG)>tD7,hFAY}NT!@}NOp@y}NTO}N}NH@e?[?z ế?ư?)~NT!@ ~N%[;I~LY^P?yb#Fd<MU=Ya$Hy}>I  f 5? vdݾ ]l> ?9 dq? : :) WAWAXA XAWAXA:WA2WI*WIVIbUIBUQ*UQUQUU \?BB BAف*BAAAA"C+@RCCC׉IG=  0}:YV1y:66J7,3,hFAY}6!@}6L@y}6}6}6H`{૕Jf{?c@f?X寿?)~6!@ ~6(Z;I~6CY^?y^F ))]e<M]S=Yeaaam$HiiyuR}u>I :@e 5? :dݾ nh> ?9v?/: ):WWX XWX:W2W!*W!V!bU!BU!*U)U)U-@K?BQBY BYA]*BYAYAaAaAa"Cm'@RCiCiCiiIyG= 9 I Fi 1? = ; EԇQ7,rkFhFAY}^C!@}^@y}^t}^}^H~V? ;Y@иi?`i`IIaM$HIQyU?}U>IY]c 5?]+eݾ ]c> m?9]{?]: ]%:)YWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"CXZ"@RC5gCCשIG>  h:YT1y:6)!;9W7,M`hFAY}]e @}]@y}]K}]}]H`bd`J@?@nL&z?7@a?)~]e @ ~]Z;I~YPowering up"Initializing DDM.Y?y+FMb?Zd;O?y&1>j<> `e)Iy{Gz?~jt+?ף<ļ= )…^LAI…n8Ai…\QADAL<M6=Ya$Hy(}>Iȹ :Žc 5? M:Žydݾ ƽv> M?9ƽ?ǽ^< ȽG<)Ƚ:WqWqXq XqWqXq:Wq2Wy*WyVybUyBU*UUU<@BB BAn*BAAAA"C@RC4CCIG=Q>]7,GzhFAY}6- @}63I@y}60}6+ }6H1`d6??)_6??)~6- @ ~6<~Z;I~6CYN{?yRFIUp=)U4=h=Mo=Y ?9р?; :)W1W1X9 X9W9X9:WA2WA*WIVIbUIBUQ*UQUQU]`]@BB  BAπ*BAAAA"Ck@RC%NcC!C!)I9GU>q9qIuXFiu?qqqu; uE j Ij:YU1y:6);d7,hFAY}6@}6:@y}69}6P}6H@@@ ?K ?%?)~6@ ~611Z;I~6CYR?yRF    @ @ @i )Ii=MV=Y!!a%$H!)y-헼}->I1 E:5d 5? E:5Qcݾ 5> E?957?5; 5;)5:WWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB)B) B)A-*B)A1A1AQAQ"C]EV@RC]9L=CYCae@AIIGm5>j7,pҭhFAY}:m@}:n@y}:9}:$}:H` \tN?`C?`[e?)~:m@ ~:LJ[;I~:CYF?yFFJZ****** received transponder code query ******JF****** received ping request ******Na$H!!y-;}->I9=Ed 5?=bݾ =+> M?9=?=: =:)9WWX XWX:W2W*WVbUBU*UUU^, @BB BA>*BAAAA"Cj @RCv>CCGxשIG >  F{:YDW1yY:69@܉ 9܉ I܍ Fi܍ a?܍ =܉ ܉ ܍ ; ݍ E)Ii=5q7,ȷhFAY}:E=@}:X@y}:f}:c}:H `X?@R@Y?@?)~:E=@ ~:C[;I~:CYNj?yNFRxDUSBL response received:!U1,P 0BD,000,002B7,186,80,80,34,FF RCommand AckRBRequesting micromodem ping code 2iPTZNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ttEu=MMG=YUiqa}$H};Hy}>Imd 5?bݾ > ?91?&; ;;)WqWyXy XyWyX:W2W*WVbUBU*UUU` @B1B1 B1A5*B9A9A9A9A9"Ce]@RCeغf>CiCi }=}=e>C9IYGZ>Wx7,hFAY}%:N@}%i@y}%٭o}%jv}%H `4?w u? qͮH?)~%:N@ ~%F.[;I~%CY?yךFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B MI +?333333/$M9=M M)IIIyML7A`?/$L7A`?M+=M,M+= M:A)MNAIMl=AiMJAIMQDA    @ @ @áááiáá ġ)ġIġiġtM(=YrYa$Hyo;}>I :d 5? :`ݾ ä> ?9M?: :):WW X  X W X :W 2W*WVbUBU*UUU$@BIBI BIAM*BIAQAQAQAQ"C]<@RC] >CYCIIi]nGIRiEڿٺAEDAױIGf> S Ti:YWU1y: 6F)~7,ehFAY}6g@}6@y}6g1}6"}6Hu:ܥ? `qЧƃ?1?)~6g@ ~6'Z;I~4Yf]?yfFjxDUSBL response received:!U1,R,D57,000,002B5,18A,80,80,4F,FF nFpublishing direction and range infoj #?hɰjc=j> h)jBIhyj@j* y?JJmE?ٱh E E E E@ E@ E@AAAiAA A)AIAiAUMU|=YU{ }?9uq?uV: u:)qWWX XWX:W2W*WVbUBU*UUUp@R(Combining 5 samples.P*Q@ZQH9 @eF@JQ* y?JJmE?2Q #?:QbQDt(%7s?T"RQ*Lx҈խJ4?o zBQ$5@ Q?Q)yPI9?PN9?PQQL?"Q@BB BAր*BAAAA"C 1@RC C C3W۽שIG=9IFi?; EL7,MhFAY}N@}NC@y}N}N*Q}NH@j Hù u?@rg@p? ?)~N@ ~NvcZ;I~NCYj?yn`F}DNmea in: $SNTTA,,,,,232959.52*5F I4=)%=i<MB=Y^a$Hy#;}>I  : e 5? : ^ݾ > ?9 >? P; =R;) :meqAdded new target pos. range: 4.080000 m, bearing: 162.659097 deg, deltaT: 4.362676 s, approachRate: -0.027506 m/s, LOS rate: 9.577955 deg/s, posRepo size: 4XiWu$5@WqXq XqWqXy:Wy2Wy*WyVybUBU*UUQ@U@?BYBa BaAe*BaAiAiAiAi"Cu@*CqRCqCu$5@Cyԭ]Aԭ]Aօu \9IIGm5> }}y %q:YkS1yԊ:6;7,/hFAY}2@}2@@y}2uw}2b}2H\`Jޤ ?`G!n?>`w?)~2@ ~24kZ;I~2CYBQ?yBqFe =MmR=Yu9QU>a$H!yU}U>IY]e 5?]a]ݾ ]> m?9]?]: ]:)YWWX XWX:W2W*WVbUBU*UUU`?BIBQ BQAU*BQAQAYAYAY"CeN@RCeā>CaCaMΒ!I1G]2> 9 I 8Fi ? = 8; ̝E"7,HhFAY}:@}:@y}:}:s}:H `Uk4?8 rY?@ʱ ?)~:@ ~:)6Z;I~:CYFh?yFDF) > = u } } }@ }@ }@yyyiyy y)yIyiyMG=Y2(QU>a$Hy;}>I U:Af 5? ]:J\ݾ > ]?9?< C<):WWX XWX:W2W*WVbUBU*UUU`?BB BA*BAAAA"C= @RC=Q>CC֥=ׁIG=>  3l:YT1y:6)M;9O7,{bhFAY}Zҧ@}Z\@y}Zz}Zs}}ZH@#ߧ?x?򨯿?)~Zҧ@ ~Z0Z;I~ZCYf?yjΚF AA1Zd?@5^I ¿~jt?"=b =)Iy~jt?y&1|D<` ;A)JAIfBAiDA3CAgME=YxQU>a$Hyʻ}>I.f 5?[ݾ <> ?9B?]: :)WWX XWX:W2W*WVbUBU*UUU2?BqBq BqAuĀ*BqAyAyAyAy"C4q @RCS=CC֝п8=qIG]>w7,|hFAY}2@}2@y}2YC}2޽p}2H`'0༱4?3 t?E?)~2@ ~2.Y;I~2CYND?yRF    @ @ @ùùùiùù Ĺ)ĹIĹiĹݼML=Y»QU>a$Hy}>I :f 5? :[ݾ Z> ?9?J; }K;):WQWQXY XYWYXY:Wa2Wa*WiVibUiBUi*UqUqUuJV@BqBq BqA}*ByAyAyAyAy"C@RCF<Cܵ>9ܵCIܵFiܵ?ܵ=ܱܵNDܵ(; ݵÝEC6=סIGD> F o:YW1yč:< 6)1;`7,ThFAY}2Ж@}2Z@y}2Y}2 l}2H]@C?`@ _??)~2Ж@ ~2*Z;I~0YB?yBFY/MW=YlQU%>!!a%$H!)y-,:}->I9= f 5?=^[ݾ =x> E?9=?=ϸ: =b:)9WWX XWX:W2W*WVbUBU*UUUz@BaBa BaAe>*BiAiAiAiA"C@RCOCC֍*=aIiG>7,bhFAY}&@}@y}.}'2%}H`Z2K? ]J`? `?)~&@ ~Z;I~CYm?ymlFy}@AI=)=    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ M4=YuHQU>a$HyZ:}>Ie 5?[ݾ > ?9u?): W:)W!W!X! X)W)X):W12W1*W1V1bU9BU9*UAUAUE@RB*** querying acoustic contact ***PPBB BA*BAAAA"C%@RCEENBCICIYY]u=1IAG]v> ~~ l:YT1y@:69@ 9 CI Fi ? = OD ; Eq7,=hFAY}27@}2@y}2}2CӼ}2H~+`?R;죿Mޝ?`Et?)~27@ ~2[;I~0YV?yVFZZ****** received transponder code query ******ZF****** received ping request ******^))a-$H-<H1y5q}=>IA M:Ee 5? M:EZݾ E> U?9E?E; E;)E:WWX XWX:W2W*WVbUBU*UUU @BB BAy*BAAAA"CY"@RC CC6=בIG=Û7,?hFAY}6C@}6ͱ@y}6}6QH}6Hcٞx?`? 㣿?)~6C@ ~6>[;I~6CY^?y^FbxDUSBL response received:!U1,P D57,000,002B5,18A,80,80,4F,FF bCommand AckfBRequesting micromodem ping code 2iddjNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Mkt?S㥫?p= ף?M =M/]= M=)IIIyMa$Hy;}>Ig 5?Zݾ /> ?9?: :)WqWyX XWX:W2W*WVbUBU*UUUS-@BQBY BYA]:*BYAYAYAaAa"Ce8*@RCiCiCi ՝>ԝ=mzS= i j:YWU1y:6I IQ Gu >!ž7,4hFAY}6~m@}6@y}6L}6R@}6H`A7w8? @q}?@{?)~6~m@ ~6{[;I~6CYB?yBFRNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B      @ @ @i )Ii=M=Y- QU?a$Hyh}?I :g 5?  :Zݾ >  ?9?x: N:):W)W1X1 X1W1X1:W12W9*W9V9bU9BUA*UAUAUEY9@BiBq BqAu*BqAyAyAyAy"C{-@RCCCY9YI]Fi]}?YY]NDY Y)Ii邉==:5֍/7,hFAY~3?y~FxDUSBL response received:!U1,R,13E,000,002B7,186,80,80,47,FF  Fpublishing direction and range inforɰc=> )BIyf@C ?eOMѿٱ:_M==YQU>a$Hy}>Ih 5?Zݾ q> ?9q?y); F;)WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qf@ZQ3UbA(@c=Y@hJQC ?eOMѿ2Qr:QbQ(:dE(@R?RQoQTؿ}?-Dx?BQ? Qw@QοPO9?PI9?PQQ @"QL?BQBQ BQAU*BQAYAYAYAY"Ce1@RCCCօWgaIiGZ>iu nGI i yٺ A7,1hFAY}-O@}-mk@y}-}-< }-H@@χ?`e?쳿wz? ?)~-O@ ~-\Z;I~-CYMF?yMFTNmea in: $SNTTA,,0.018039,,,233003.96*4D MI=Y^8QU>a%$H!yΊ}>Iȑ :ŕi 5? :ŕZݾ ƕ> ?9ƕ?Ǖ: ȕ:)ȕ:muAdded new target pos. range: 4.199998 m, bearing: 112.587308 deg, deltaT: 4.516597 s, approachRate: 0.026568 m/s, LOS rate: -11.086176 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UU`@U@?BB BA*BAAAA"C%[4@RC!C%?C)99ஜIGM>I 9I IM FiM ?M =I I M ; M E 7,„KhFAY}2k;@}2V@y}2,白}2ŗ-}2H%r0?`? aʵ@C8??)~2k;@ ~2$Z;I~2CYR;?yRۖFResponse from modem failed NMEA checksum: $CAREV,233005,COPROC,0.30*7C expected 77I=)%= e e e e@ e@ e@aaaiaa a)aIaiauϸMuc=Y},QU}>ya$Hyq}?Iȑŕj 5?ŕZݾ ƕz> ?9ƕ?Ǖ: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU ̘?BB BA_*BA A A A "C}5@RCCC!ケIG% > o {:Yy6);97,_aehFAY}2@}21@y}2ү}2q}2H`b ?"K??#q??)~2@ ~2gNZ;I~2CYN?yRFB`"۹?> ףp=ʿ+=Q )Iy~jt?:v~jth?=TD; ?A)IAIn8AiNAt MC=YpѼQU>a$Hy'<}>Ij 5? Zݾ > ?93?@: :)W1W1X9 X9W9X9:W92W9*WAVAbUABUA*UAUIUM?BqBy ByA}|*ByAyAyAA"Czn5@*C4=RCCC֍pG(IIQGu>}7,sHhFAY}z)E @}z`@y}z̿}z `}zH(Q??@@?``=?)~z)E @ ~zdZ;I~zCY ?yȗF    @ @ @i )IiC=MG=YQU>!!a%$H!!y-̹<}->I1 =:5i 5? E:5.Yݾ MtI 5> M?95G?5hc; 5d;)5:WWX XWX:W2W*WVbUBU*UUU@)/?9IpFiM?; EBB BA*BAAAA"C@3@RCCC  E>E)>=N CI!G=r>q ~~ z:YT1y@:6)I;7,hFAY}: @}:@y}:+ƽ}:+}:H`Y@PY?@?`z=@` ?k-`!?)~: @ ~:fZ;I~8YF?yF$F  \M%\=Y% QU%>))a-$H))y5r<}5>I9=i 5?=hXݾ => E?9=)?==: =:)9WiWiXi XiWiXi:Wq2Wq*WqVqbUyBUy*UyUyU?BB BAA*BAAAA"C6r1@RCCC֕4KQIYGu=?%7, hFAY}23=!@}2X@y}2Tн}2G}2H?W?y㻿?8`?)~23=!@ ~2 m[;I~2CYN,?yRҖFn%MK=Y%MQU%>!)a-$H))y5<}5>I9 E:=h 5? E:=Wݾ => E?9=4?=: =:)=:WiWiXi XiWiXi:Wq2Wq*WqVqbUyBUy*UyUyU`ȼ@BB BAb*BAAAA"C`-@RCCCֵYsqIG=  o:YU1y:N69@9IFi?=OD; Er 7,hFAY}2B!@}2@y}2Hݽ}2x}2H `na@.?`%?`uTQ?@Я N?)~2B!@ ~2G[;I~2CYN?yR FPRAAr8ͼMrN=YrQUr>ttav$Hv=Hxyz<}z>I|~"h 5?~Vݾ ~!>  ?9~5?~: ~ϸ:)|WWX XWX:W2W*WVbUBU*UUU<@RB*** querying acoustic contact ***PPBB BA*B)A9A9AAAA"CUC'@RCQCQCYaaEFӅI1GMS>F77,hFAY}:p"@}:@y}:#Ὑ}:ݫ}:H@>0D?? `N %?"T?)~:p"@ ~:(k[;I~8YF?yFFJZ****** received transponder code query ******JF****** received ping request ******JA)•IAI•6Ai•TADA    @ @ @i )Ii5<M5*=Y=~QUE>AIaM$HIqyun<}}>Iȁ :Ņf 5? :ŅVݾ ƅ`> ?9ƅZ?Dž; ȅ;)ȅ:W)W)X1 X1W1X1:W92W9*WAVAbUaBUi*UiUiUua @BB BAn*BAAAA"C!!@RCͭ3CCIG->  ~:YT1y:68,hFAYf&?yfFjxDUSBL response received:!U1,P 13E,000,002B7,186,80,80,47,FF jCommand AckjBRequesting micromodem ping code 2ihhrNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 5.MEq=YMQUU?aiau$Hqy}?Id 5?Vݾ j> ?9?; ;)WWX XWX9IXFi?=; E:W2W*WVbUBU*UUUG @BB BA*BAAAA"C@RCCCC֥Wg~ׁIGc>L8,khFAY*?yFɮa==Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )IiIM>=YQU>a $H  y}>I %:b 5? %:oVݾ > %?9E?: :):WIWIXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UYUYU]@B1B9 B9A=#*BAAiAiAiAi"Cu@RCu8l<CyCy ս>Խ=֥TyIG>>#  s:YWU1y:6w 8,H4hFAY}V.#@}VrJ@y}Va余}V(Σ}VH8 +м? ,?7f|?S`?)~V.#@ ~VeZ;I~VCYb?yfܔFjxDUSBL response received:!U1,R,31D,000,002B6,188,80,80,A5,FF jFpublishing direction and range infof0 2dɰfhc=f> d)f%CIdyfz@fJ73?eDٱd xx    @ @ @i )Ii\MK=YQU>a$Hy<} >I15a 5?5YVݾ 5ν> =?95?5: 5w:)1WyWyXy XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Qz@ZQC Rm @Y8JQJ73?eD2Q0 2:QbQ'j-e@; ?RQZ.F?,Sr?BQ? Q/@QUPS9?PO9?PQQ@"Q @B1B9 B9A=.*B9A9AAAAAA"Cg@RCi<>CCօs&4YIaG8>ܙ 9ܙ Iܙ iܙ ܙ ܙ ܙ ܝ ; ݝ E)!I!i!%=%=%5a8,.NhFAY}V#@}V@y}V㽙}V_}VHedv??`Z@\``c?@ȫ S?)~V#@ ~V[;I~VCYb?ybKF5DNmea in: $SNTTA,,,,,233008.41*51 MI=YDz:QU >  a $H y<}>Ig_ 5?GVݾ > -?9?: v:)m]qAdded new target pos. range: 4.140001 m, bearing: 91.714681 deg, deltaT: 4.404649 s, approachRate: -0.013621 m/s, LOS rate: -4.738772 deg/s, posRepo size: 4XYW]?WYXa XaWaXa:Wa2Wi*WiVibUiBUq*UqUu`\@Uu@?BB BAi*BAAAA"Ceq @RCp>C?Cֽ3בIG@>i  py:YV1y:_6);9 8,ghFAY}6#@}6V@y}6?Ὑ}69&}6H@1? qk?`r? ?)~6#@ ~6^I\;I~6CYn?ynFq= ףp?M¿Q?=n u<)Iy{Gz?:v~jtx#<TĻ :A)PAI7Ai+WAFAxK<ML=YT:;QU>a$Hy dS<} >CIinGIi=ٺ9=A U:~_ 5? e:Uݾ ۺ> ?P?9aA9`?Z< !<):WWX XWX:W)2W)*W)V)bU1BU1*U1U1U=X?BB BAA*BAA)A)A1"Cm4@RCm >CqC\AIqבIG>a$HyvU<}>Iȩŭ_ 5?ŭUݾ ƭ> ?9ƭ9?ǭ^: ȭo:)ȩWWX XWX:W2W*WVbUBU*UUU?BIBI BIAU*BQAYAYAYAY"Ce@RCiCiCq>9IFia?=; E5:W)IAGe>c }}m x:YkS1yԊ:j6)R;&8,~hFAY}2y|$@}2@y}2eս}2Z}2H*uB=?D?@ F?'ʡ?)~2y|$@ ~2[;I~2CYN(?yNF=2M=O=YE;QUE>AAaM$HIIyM ;}U>Iȱ :ŵ_ 5? :ŵ&Uݾ Ƶ> ?9Ƶ?ǵ: ȵw:)ȵ:WWX X W X :W 2W *WVbU9BU9*U9U9U=@?BB BA*BAAAA"Cg?RCCC֭[ޏ׉IG>,8,,hFAY}:&$@}:@y}:߽}: }:HiN@? !?.@H?@&?)~:&$@ ~:A[;I~8YFx?yFF U U U U@ U@ U@QQQiQQ Q)QIQiQe4=MmH=Ym}IQUm>qqau$Hqyy}d]<}}>IȁŅ_ 5?ŅTݾ ƅ> ?9ƅ?Dž: ȅ:)ȁWWX XQWQXY:WY2WY*WYVYbUaBUa*UaUaUm`@BB BAO*BAAAA"C^o?RCCC =>IG*>a  :YWU1y:`69@ 9 I ȖFi ? = ND ; tEu38,[hFAY}2&F%@}2a@y}26}2}2H@,*;?S? @-Ů??)~2&F%@ ~2Z;I~0Yn??yn@F II}Z=M}I=YQU>a$H>Hy<}>Iș :ŝ_ 5? :ŝeTݾ Ɲ/> ?9Ɲָ?ǝs: ȝ^:)ȝ:WWX XWX:W2W*WVbUBU*UUUH&@B B  B A *B AAAA"C1?RCCC֍*98,H7hFAY}6%@}6J@y}6q,}6`\}6H #'?`?%`o^Ҿ? oU`?)~6%@ ~6Z;I~6CYB?yBKFDF@AeCl?SſQ?e;=e/ a)aIayea$Hy<}>Ișŝ_ 5?ŝSݾ Ɲ> ?9Ɲӹ?ǝ: ȝ:)șWWX XWX:W2W*WVbUBU*UUUb@RB*** querying acoustic contact ***PPBB BAi*BAAAA"C%n?RC!C!C)e=IGE>  (m:Yy6E@8,hFAY}2%@}2@y}2=꽙}2)ƽ}2HX<`YO??@nl ÿd7?`h?)~2%@ ~2b[;I~2CYN?yN_FRZ****** received transponder code query ******RF****** received ping request ******Ra$Hy<}>I  U: _ 5? ]: Sݾ C> ]?9 պ? .< 4<) :WWX XWܑ9ܑIܕFiܕ?ܕ=ܑܑܕ; ݕkEX:W2W*WVbUBU*UUU`> @B)B) B1A51*B1A1A1A1A1"C=?RCACACAԑԕ]Ae..=!I)GE0>F8,_hFAY}2 &@}2&@y}2^ܽ}2Zɽ}2HbD`Es?? 0 9¿`? ?)~2 &@ ~2\;I~2CYf?yf1FjxDUSBL response received:!U1,P 31D,000,002B6,188,80,80,A5,FF jCommand AcknBRequesting micromodem ping code 2illrNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)MMUN=Ye$yya$HyB:}>I__ 5?!Sݾ > ?9ɻ?; /;)WqWyXy XyWX:W2W*WVbUBU*U U U\l @BB BAD*BAAAA"C |?RCCC%4>IGn> f g:Yy6M8,6hFAY}2$&@}2B@@y}2n余}2%<}2HBK@ ?``?@,@@x?cG?)~2$&@ ~2[;I~2CYR?yR8FRa=ɮRR=jNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )Iiv=M?=YQU>  a $H y5w;}U>IY]7_ 5?]Rݾ ]J> e?9]Ѽ?]: ]:)YWWX XWX:W2W*WVbUBU*UUUY#@BB BA q*B AAAA"C5o?RCCC! [>IG%>I9IIMȖFiM?IIMODM=; MGE S8,PhFAY}:GJ&@}:e@y}:v}:嗢}:H@rR ??#m)ÿ۾?A'?)~:GJ&@ ~:f[;I~8F`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ  ) IYM?yMCFUxDUSBL response received:!U1,R,35C,000,002B5,189,80,80,BF,FF ]Fpublishing direction and range infoU7 @QɰUc=U7> Q)U?CIQyU@Uz?g?ʩ%2ٱQHPM'=Y"QU>a$Hye;}>I : _ 5? :1Rݾ > ?9?(; ;):WWX XWX:W2W*WVbUBU*U U U 3@R=(Combining 5 samples.P9*Q=@ZQ=|A@VKlBJQ=z?g?ʩ%22Q=7 @:Q9bQ=v{FqQ!@7?RQ=P61 2vر6?BQ=P? Q= @Q=P9P=S9?P9Q=Q=@"Q=@BB BA<*BAAAA"CO?RCCC  M >I      0:Y U1y : 6 (q>ׁ I G >!Z8,|~jhFAɫ髙) IYk?y FEdNmea in: $SNTTA,0.036433,0.418563,,,233012.85*5E 5L7A`?%C̿Mb`?5+=5Zd 5;)1I1y5y&1? rh~jth?5`e<5C5D; 5:A)5\QAI5C9Ai515AAUHMUb=Y]QU]>YYae$Haaym}m>Iqu_ 5?uQݾ u> }?9u?u+: u÷:)qmqAdded new target pos. range: 4.080000 m, bearing: 91.256245 deg, deltaT: 4.557196 s, approachRate: -0.013166 m/s, LOS rate: -0.100596 deg/s, posRepo size: 4XWP?WX XWX:W2W*WVbUBU*UUQ@U6?BB BAS*BAAAA"CP?RCCP?Cmw>AIqG`> a8,YhFAY}6 &@}6@y}6轙}6v}6H~@`?`x?0rN_?񘮿 ?)~6 &@ ~6[;I~6CɫYY)Y aIaY?y_F9IFi?; E)Ii遉適;5    @ @ @áááiáá ġ)ġIġiġ-<MU=Ya$Hy<}>I :0_ 5? :KQݾ > ?9 ?: :):WaWaXa XaWaXi:Wi2W*WVbUBU*UUU@?BB BA1*B A A A A "C*C=RCCC!M?΅>!I1GMR>g a d:YT1y:!6);93g8,4hFAY}:f&@}:@y}:Q彙}:pʼ}:Hb`*F?@?`tø嚼?$6?)~:f&@ ~:Q \;I~:Cɫ99)9 9I9Y}?y}F5M=S=Y=];QU=>AAaE$HAIyM#V}M>IQUE_ 5?UPݾ U> e?9U?U: UU:)QWWX XWX:W2W*WVbUBU*UUUNz?BB BAK*BAAAA"C*CRCCC\A>סIGA>imGIi5ٺA]m8,hFAY}2R&@}2m@y}2;}2ļ}2HT`db??@l S?Nf`?)~2R&@ ~2[;I~2Cɫ99)9 9I9Y}v?y}F=<M=J=Y=QUE>AAaE$HAIyMN}U>IY e:][_ 5? e:]WPݾ ]> e?9]6?]: ]R:)]:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*C%RC!C)C1e>9IQGmV>9I8Fi?ND; E  r:YV1y:6)T;Et8, hFAY}25<&@}2W@y}2UI}2ʼ}2HF[@?`r?@bG@ܼ? `,?)~25<&@ ~2#c[;I~2CɫYY)Y YIYY!?yߑF U U U U@ U@ U@QQQiQQ Q)QIQiQeмMeH=YmƼQUm>iiau$H?Hy'M}>Is_ 5?Oݾ >  ?9d?: :)W1W1X1 X1W1X1:W92W9*W9V9bUABUA*UAUAUE?BqBq BqAue*ByAyAyAyAy"C*CRCCCֽ}>יIGk>oz8,XhFAY}6(&@}6C@y}6`}6?P}6HJ=j?Ŝ?@Aa@?(٩Ȭ?)~6(&@ ~6M^;I~6CɫYY)Y YIYY?yF?+?~jt?>= D=)Iy~jt~jt?~jth<D AA)IAIn8AiVVAFA)å> å>,MF=YQU>a$HyJ}>I M:n_ 5? U:jPݾ > U?9?< <):WWX XWX:W2W*WVbUBU*UUU@<@BB BA*BA!A!A!A!"CI*CMRCICICQ e=e=}>QIaG}z>  gk:Yy69@Y8,vhFAY}F%@}FR @y}F}F\锽}FH ,Q `? ?? f¿ h?^p?)~F%@ ~FY^;I~FC9CIFi?=<D7; Eɫ) IY&?yDF==M=R=Y=;QUE>AAaE$HAIyM` }U>IY]i_ 5?]Pݾ ]?> e?9]?]w: ] :)YWWX XWX:W2W*WVbUBU*UUU6@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCI GEQ>8,g|hFAY}:%@}:E@y}:% }:}:HY?@?t`R:ÿT7?0@ ?)~:%@ ~:\;I~:Cɫ99)9 9I9Y]~?y]{FeZ****** received transponder code query ******eF****** received ping request ******ea$Hy}>I!%b_ 5?%Qݾ %> -?9%w?%; %b;)!WWX XWX:W2W*WVbUBU*UUUF, @BB BA*BAAAA"C!*C!RCICICY} >Iׁ)ׁQIaG}{>  :YX1y/:!6ޫ8,W9hFAY}6&@}63@y}6}6}6H.}5?`? `Ŀ>h? *@H?)~6&@ ~6.[;I~6CɫYY)Y YIYY?yFxDUSBL response received:!U1,P 35C,000,002B5,189,80,80,BF,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 쉼MY=Y%˼QU%>99aE$HAy]<}>I :]_ 5? %:6Rݾ 5> %?9?s: :):WWX XWX:W2W *WVbUBU!*U!UQU] @BB BA%„*BAAAAAAIAI"CI*CQRCQCQCQԅԅ Յԅ195CI5ȖFi5?5=115; 5E I G >8,@ShFAY}6&@}6@y}6WL}6:}6H@W!HY?f?@D|Ŀ 6?ad?)~6&@ ~6<[;I~6Cɫ11)1 1I9YUR?yU_F]p=ɮ]a=}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B UuD<M]E=YmxQU>a$Hy*<}>IȉōX_ 5?ōRݾ ƍ> ?9ƍ4?Ǎ; ȍ:)ȉWWX XWX:W2W*WVbUBU*UU)UE@BB BA*BAAAA"C*CRCCCyIG>>#  s:YWU1y:;6彚8, mhFAY}6&@}6m@y}6z!}6܀|}6H l @<\?`D?` rÿ ?&?)~6&@ ~6];I~6Cɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,R,39F,000,002B5,189,80,80,B5,FF Fpublishing direction and range infoOɰ鰁 )5CIyp@ω?3{'ٱUV-??J +Ua$Hy)<}>I  :^ 5?  :Sݾ >  ?9%?: :):W1W1X1 X1W1X1:W92W9*W9V9bU9BUA*UAUAUM@RU(Combining 5 samples.PY*QYZQ]__1@٢JQ]p@ω?3{'2Q]O:QYbQ]@<*w?}1/@w@{?RQ]:A'ٞ?L~?vӖ?BQ](? Q]@Q]=PYPYP]QYQ]@"Q]@BB BA*BAAAA"C*CRC!C!C!5?i5?I!GEr>{8,fhFAh9jCIjXFij?j=hhj6; jEY}mE'@}m a@y}m)}mD}mH??ĿG ?oE`~?)~mE'@ ~m!_;I~iɫIQ)Q QIQY!?yߑF5TNmea in: $SNTTA,0.032576,,,,233017.32*40 u<Mc=YaQU>a$Hy;~<}>Iȡťm^ 5?ť;Tݾ ƥ5> ?9ƥ?ǥ÷: ȥܹ:)ȡm mAdded new target pos. range: 4.080000 m, bearing: 88.253270 deg, deltaT: 4.414437 s, approachRate: 0.000000 m/s, LOS rate: -0.680262 deg/s, posRepo size: 4X W (?W X  XWX:W2W*WVbUBU*UU!U~?BB BAe*BAAAA"Cj?RC!C%(?C)I)GUT>v  f:Yy6);9ϧ8,3ĠhFAY}2 '@}2@y}2ܳ,}2u't}2HD @?u?` jĿQ|?l}?)~2 '@ ~2:;];I~2Cɫ99)9 9I9Y}?y};FVMh=YQU>a$H y g<} >I :^ 5? %:Tݾ ٿ> %?96?R: k:):WAWAXI XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU]?BB BA*BAAAA"Ce?RCCCqIyG=8,VhFAY}:'@}:8@y}:i+}:l}:HEs@i??֭ߨſ`^?̲v?)~:'@ ~:[;I~:Cɫ髙) IY?yF    @ @ @áááiáá ġ)ġIġiġ%<M&=Y:QU>a$H@HyI;}>I|] 5?Uݾ m> ?9R?: :)WWX XWX:W 2W *W V bUBU*UUUA?BB BA*BA!A!A!A!"C-8?RC1C1C9IQ)Q9CIFi1?=;D; E)͆CI͆Ci͆C͆=͆=͆?6QIaG}z> ~ r:YW1yč:<6)(;8,hzhFAY}2=%(@}2@@y}2q*}2Mͪ}2H@ _Y? ?`?Oƿ`5?``r?)~2=%(@ ~2oO[;I~2CɫYY)Y YIYYp?yrF  \A&M=Y%8;QU% ?!!a-$H))y5̇<}5 ?I9=#] 5?=@Vݾ =-> E?9=?=: =4:)9WWX XWX:W2W*WVbUBU*UUU|?BB  B A *B A)AIAQAQ"Ce{?RCqCqCׁIG> zCS8,=_hFAiNmGIi(Bٺ@BAY}r0y(@}r@y}r1}rĆ}rH;4!v?k?`Bſ? Ӕs?)~r0y(@ ~rZ;I~r!Cɫ髹) IY??yF%(\?/$&1?%G>%, %P=)!I!y%/$?/$?ˡE%<%<%' !)!I%1Ai%&aA!%HA    @ @ @éééiéé ĩ)ĩIĩiĩTb<M2=Y zQU>a$Hy!7<}>I :[ 5? :Vݾ @> ?9?: :):W W X XWX:W2W*WVbUBU*U!U!U%?BB BA^*BAAAA"C(?*CRCCC I G-O>i=  9q:YU1y:)69@&8,1hFA2\A2_A494I6xFi6?6=446; 6EY}FL(@}Fּ@y}F;:}FY!}FH}(??/tſ`))a-$H)1y5;}=>I9=Z 5?=Uݾ ={> M?9=(?=: =ӻ:)9WiWiXi XiWqXq:Wq2Wq*WyVybUyBUy*UUU#@BB BAO*BAAAA"C*CRCCC?i?IG>8, "hFAY}:(@}:@y}:<}:}:H @l:@??(?~\ȿo? U?)~:(@ ~:"^;I~:Cɫ99)9 9I9Y}?y}ՒF?A)Õ= Õ=<MS=YOQU>a$Hy}>I :Y 5? :Uݾ > ?9?: :):WWX XWX:W2W*WVbUBU*UUU t@RB*** querying acoustic contact ***PPBB BA%*B!A!A!A!A!"CI*CQRCQCQCQ IG= >  m}:YV1y:6G8,;hFAY}U(@}U@y}UA8}Uɽ}UH :K?N?`!@ȿr?8Ǹ T?)~U(@ ~U\;I~Qɫ) IY?yFZ****** received transponder code query ******F****** received ping request ******qqau$Hqyy}L:}}>IȁŅX 5?ŅUݾ ƅҙ> ?9ƅ?Dž: ȅ:)ȁWWX XWX:W2W*WVbUBU*UUUr @BB BAt*BAAAA"C*CRCCCIGI>m>9iIiiim=iim; m0EI@A)AA/8,UhFAɫ髙) IY??yFxDUSBL response received:!U1,P 39F,000,002B5,189,80,80,B5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ]=;Me]=YuQU}>a$H1yE}E>II U:M~W 5? U:M{Uݾ M> ]?9Mo?M+: M{:)M:WWX XW X:W2W!*W!VibUqBUq*UyUyUS @BB) B)A5^*B1AaAiAiAi"C*CRCCCI)IG>  m:YT1y:6{^8,qohFAY}6f)@}6:@y}6;9}6t}6H`J\?Ye?Y27ſ0?@ l?)~6f)@ ~6T'[;I~6CɫYY)a aIaYX?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)S㥛?~jtv/ݤ> xi)IyV-?~jt?̼m=D< )VVAI0AiQ`AIA)-]A u u u u@ u@ u@qqqiqq q)qIqiq<M=YQU>a$Hy>m<}>IȡťV 5?ť=Wݾ ƥ > ?9ƥ?ǥ: ȥ:)ȡWWX XWX:W2W*WVbUBUq*UqUqUu`p@BB BA*BAAAA"C*CRCCC)! I) GM >Y 9Y IY iY ] =Y Y ] ;; ] CEOQ8,hFAY}6)@}6@y}6׬:}6?r}6H&J ڼ? *?h0ſ4? ԭj?)~6)@ ~6:\;I~4ɫYY)Y YIaYe?ymFuxDUSBL response received:!U1,R,345,000,002B7,188,80,80,B6,FF uFpublishing direction and range infom:iɰmc=m> i)m6CIiymf@mc,?SYٱi@M=YQU5?a$Hy"=}6?Iȹ :Ž.V 5? :ŽXݾ ƽ> ?9ƽ?ǽ$: Ƚs:)Ƚ:WWX XWX:W2W*WVbUBU*UUUZZ@R(Combining 5 samples.P*Qf@ZQ 1;G @f)JjJQc,?SY2Q::QbQK\0׿y@O!_?RQ0*ö~4b?}B?BQ? Qσ@Q4PR9?PPQQ$@"Q@BaBi BqAu„*BAAAA"C*CRCC!C!IG>^ ` %d:YWU1y:6)W;92l8,ShFAY}Z*@}Z@!@y}Z28}ZU}ZH7d PS ??@{Vſ`?k?)~Z*@ ~Z^;I~ZCɫ髹) IYyEDNmea in: $SNTTA,,,,,233021.78*50 Y;QU>a$Hyb"<}>ItU 5?Yݾ X> ?9A?: w:)m iAdded new target pos. range: 4.199998 m, bearing: 95.180373 deg, deltaT: 4.340592 s, approachRate: 0.027646 m/s, LOS rate: 1.595889 deg/s, posRepo size: 4X W?WX XWX:W2W*WVbUBU*UU`@UI?BB BA*BAAA A "C0G?RCC?CIG )>G8,.hFAY}:i*@}:T@y}:?5}:P}:H`8`b;?q?wmǿ?Ŷ r^?)~:i*@ ~:c];I~:Cɫ99)9 9I9Y}?y}F    @ @ @áááiáá ġ)ġIġiġ Ma$HAHyw<}>IT 5?Zݾ ̔> ?9?: :)WWX XWX:W2W *W V bUBU*UUU@?BABA BAAEń*BAAIAIAIAI"CUp?RCQCQCY)I9Ge> 9 I Fi v? =   p; _E g rj:YU1y:6)ɿ;~8,9 hFAY}2*@}2$@y}2߹1}2v}2H `r?k?`b %ƿ@?۳@k?)~2*@ ~2 \;I~2Cɫ99)9 9I9Y]?y]F MW=Yq$!!a-$H))y5<}5>I9 E:=$T 5? E:=L\ݾ =b> M?9=?=: =:)=:WWX XWX:W 2W *W VbUBU*UUU?BABA BAAM1*BIAIAIAQAQ"CU?RCYCYCYiIG >8,hFAY}6Ό*@}6X@y}6 3}6Fs}6Hە9T@?`? h`-D?ߛ?)~6Ό*@ ~6[;I~6CɫII)I IIIY}?y}F+η?Mb`?!!a-$H))y5Y}5>I9=+T 5?=[ݾ => E?9=?=: =:)9WiWiXi XiWqXq:Wq2Wq*WqVybUyBUy*UyUyU?BB BAń*BAAAA"C*CRCCC׉IG$> v  l:Yy`69@ >9 CI Fi 1? =   ;  wE)ݕCIݕCiݕCݕ=ݕ=ݕ5ԏ9, hFAY}6*@}6 @y}6g7}6 ڼ}6HnMy? d?:R?J⚿z?)~6*@ ~6_[;I~6Cɫ99)9 9I9Y??yFI4=)4= U U U U@ U@ U@QQQiQQ Q)QIQiQeM=MeO=Ymm7QUm>iqau$Hqyy}:;}}>Iȁ :Ņ1T 5? :Ņ[ݾ ƅ4> ?9ƅj?Dž: ȅ:)ȅ:WWX XWX:W2W*WVbUBU*UUUwP@BB BA^*BAAAA"C*CRC C C ׉IG>B9,($hFAɫ髡) IY P?y FME=YQU>a$Hy}>I8T 5?1[ݾ /> ?9B?: ÷:)WWX XWX:W2W*W V bU BU*UUU@B9BA BAAEZ*BAAAAIAIAI"CQ*CQRCQCQCY)I1GU>imGIi-hٺ15hAip=  W:YWU1y:69,v>hFAY}6I+@}6e@y}66}6r}6Hs@K):Z?? Ŀ? (ӭo?)~6I+@ ~6̊^;I~6CɫYY)Y YIYY?y؏F2<M[=Y ;QU>a$Hy<}>I :9T 5? :Zݾ > ?9?[: :):W W X  XWX:W2W*WVbUBU*U!U!U%n@R-B*** querying acoustic contact ***P)P)BQBQ BQA]8*BYAYAYAYAY"Ca*CaRCiCiCi?i?IG>ܩ9ܭCIܭ Fiܭ?ܭ=ܩܩܭ; ݭzEN9,QXhFAY}6V~+@}6@y}6K4}6}6H`!?B?5 ƿk?@0k `i?)~6V~+@ ~6\;I~6Cɫaa)i iIqY?yFZ****** received transponder code query ******F****** received ping request ****** 1    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉM==Yש;QU>a$Hy;}>IȹŽ8T 5?ŽZݾ ƽ> ?9ƽ?ǽ: Ƚ:)ȹWWX XWX:W2W*WVbU BU*UUUE@ڟ @BB BA*BAAAA"C*CRCCCIGm>=  u:YU1y:6X9,g,rhFAY}:+@}:@y}:G3}:ϡ}:HJ?-~?@@Meſ`U?`豿m?)~:+@ ~:a[;I~8ɫAA)I IIQY}?y}=FxDUSBL response received:!U1,P 345,000,002B7,188,80,80,B6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 PnпʡE?X9v> )IyI +x&?{Gzt?947=ף; ?A)NAI 0AicAx;M+=Y\:QU>a$Hy1;}>I :R 5? %:\ݾ > %?9?; &;):WiWiXi XiWiXi:Wq2Wq*WqVqbUyBUy*UyUyU @B!B) B)A-w*B1A1A9A9AA"Ca*CiRCiCiCqIG>I)ܡ 9ܡ Iܡ iܡ ܥ =ܡ ܡ ܥ ; ݥ rE"9,HhFAY}>=+@}>ǩ@y}>8}>ܫW}>HK l?k?@ ~Ŀ ?` 0p?)~>=+@ ~>I[;I~>CɫYY)Y YIYYT?yF鮹ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B u3JMux=Y}pQU}?ya$Hyl}}?IȑŕQ 5?ŕ$]ݾ ƕ> ?9ƕ?Ǖ: ȕ4:)ȑWWX XWX:W2W*WVbUBU*UUUB@BB BA*BA A A A "C*CRCCC׉IG>s  e:YV1y:s6)ʻ;9a)9,hFAY}2+@}2R@y}21<}2w}}2H`K?R?y_?@u'ſ@cd?`#' f?)~2+@ ~25[;I~2C6Could not parse latch stateɫ) IY ?y FxDUSBL response received:!U1,R,335,000,002B6,189,80,80,AD,FF Fpublishing direction and range infoi7ɰhc=7> )-CIyz@1n!?$1ٱ15^A }   @ @ @ÁÁÁiÁÁ ā)āIāiāם;M.=YxQU>a$Hy-<}>Iȱ :ŵlP 5? :ŵ^ݾ ƵH> ?9Ƶ?ǵ: ȵ:)ȵ:WWX XWX:W2W*WVbUBU*UUU#@R (Combining 5 samples.P *Q z@ZQ ,@dD(JQ 1n!?$12Q i7:Q bQ R^0vu$@8N?RQ xLȢC^ &m1?j?BQ 6? Q #@Q P Q9?P R9?P Q Q i#@"Q $@B9BA BA*BAAAA"C*CRCCCqIG>85/9,XɿhFAɫ)1)1 1I1Y?yFDNmea in: $SNTTA,,,,,233026.21*5B } } } }@ }@ @yyyiyy y)yIyiy M[=YQU>a$HBHy}>IPO 5?_ݾ > ?96?; L;)mmAdded new target pos. range: 4.140001 m, bearing: 97.877745 deg, deltaT: 4.537349 s, approachRate: -0.013223 m/s, LOS rate: 0.594482 deg/s, posRepo size: 4XW6?WX XWX:W2W*WVbUBU*UU`\@U@!?BB BA*BAAAA"C%C ?RC!C%6?C)I9IIMXFiM?M=IIM; M}E1IAG]U>=iM M M M  M Fn:YM DW1yM Y:M r6)M ;n69,NhFAɫ髹) IY?y!F=M[=YQU>aM$HQYyi}>Iȩŭ"N 5?ŭ9aݾ ƭѬ> ?9ƭ@ǭξ; ȭf;)ȩWWX XWX:W2W*WVbUBU*UUU?BIBI BIAU*BQAQAQAQAQ"C]6?RCCCyIG^>L<9,hFAɫ) IY?y}F~jtx?㥛 y&1?; `=)IyX9vMb?= )NAI2AivdAGIA    @ @ @ùùùiùù Ĺ)ĹIĹiĹM9=YQU>a$Hy}>I :6N 5? :?bݾ 3> ?9@]: :):WWX X!W!X!:W!2W!*W)V)bU)BU)*U)U1U5@b?BYBa BaAeŅ*BaAaAaAaAi"Ci*CqRCqCqCyQIYG}7>= = = =  = :Y= X1y= /:= ;69E @= >99 I9 i9 = =9 9 = ; = E|,C9,O hFAY}Jm,@}J @y}J*=}J5}JHM@ ?`?@ Lÿ?Q@l?)~Jm,@ ~JvD[;I~JCɫYY)Y YIYYc?yFU<M]g=Y]/QU]>aaae$Haaym@=}m>IquMN 5?ucݾ u> }?9u@us: u÷:)qWWX XWX:W2W*WVbUBU*UUUj?BB BA*BAAAA"C*CRCCCIG>I)@AVI9,*'hFAY}F-@}FY:@y}FrB}F}FHU;??`>~ſ5? ,\?)~F-@ ~FJi_;I~FCɫYY)Y YIYYyY=cQU=>9AaE$HAAyM;}M>IQ :UhN 5? :Udݾ UO> ?9U @U: UR:)U:WWX XWX:W2W*WVbUBU*UUU.?B B  B A*BAAAA"C*CRCC!C!I1)1iIqG>  |:Y y D6>P9,AhFAY}FIl-@}FӇ@y}F+E}Fy}FH@Ck`m`͹??@)ƿv~? Q?)~FIl-@ ~F^;I~DɫYY)Y YIYY?yOFI=) ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYuo;Mua$HyL;<}>IȡťN 5?ťeݾ ƥ> -?9ƥI@ǥӓ< ȥ<)ȡWyWyXy XyWyXy:W2W*WVbUBU*UUU @BB BAp*BAAAA"C *C RC CC9I Fi?=; E)݁I݁i݁݁݁݅B5IG5.>mV9,ZhFAY}:P-@}:Pl@y}:EE}:ggɽ}:H@b@j??X`ɿ@|? A?)~:P-@ ~:\;I~:CɫQQ)Q QIQY?y!F@A5M5N=YEY9QUE>QYa]$Haqy}ۈ}>Iș :ŝN 5? :ŝfݾ Ɲ> ?9Ɲj@ǝ; ȝ;)ȝ:WWX XW9XA:WA2WA*WAVAbUIBUI*UIUIUUvq@R]B*** querying acoustic contact ***PyPyBB BA*BAAAA"C*CRCCCIGH>=i== T>9 i }nGI l    y:Y V1y : r6i 5 Xٺ9 = A\9,@thFAY}:D-@}:8`@y}:q@}:z}:HdG -? ?@:yʿ?9?)~:D-@ ~:)[;I~:Cɫ99)9 9I9Y}6?y}؎FZ****** received transponder code query ******F****** received ping request ******!a%$H!!yMaѺ}M>IQUN 5?Ugݾ U}> ]?9U@U: U:)QWWX XWX:W2W*WVbUBU*UUU R @B!B! B!A%*B!A)A)A)A)"C1*C1RC1C1C9m?im?9IIGeV> >9 I Fi 1? = ; Ezc9,ėhFAY}6{-@}6#@y}69}6n+}6H UY tն?A?cO\ƿ?˳`?)~6{-@ ~6P[;I~6CɫYY)Y YIYY?yFFxDUSBL response received:!U1,P 335,000,002B6,189,80,80,AD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= >%Ђ<M-q=YEXIAEgN 5?Ehݾ E > ?9E~ @E@:< EN6<)AWqWqXq XqWyXy:Wy2W*WVbUBU*UUU8 @B)B) B)A5s*B1A1A1A1A1"C9*C9RCaCaCaaIyGc> g    Gy:Y U1y : 6) ;9 i9,rhFAY}6:,@}6@y}66}6'}6HR }^h?x?mXy¿|?w?)~6:,@ ~6X[;I~6Cɫ99)9 9I9Y?y`Fɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ] =M]G=Y];QUe>aaae$Haiym}m>Iy }:}DN 5? :}jݾ }> ?9} @}^: }:)}:WWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C*CRCCCQIqG>I)AAp9,MhFAY}:,@}:_@y}:5}:w}:HL`R@L? ?"¿?@Ȣy?)~:,@ ~:Q1_;I~8ɫ99)9 9I9Y}V?y}ĐFxDUSBL response received:!U1,R,35F,000,002B6,189,80,80,B5,FF Fpublishing direction and range info@ɰ鰁 )5CIyX9X?&+ٱ    @ @ @i )IiV@<MA=Y8;QU>a$HCHyJ} >I15N 5?5kݾ 5v> =?95 @5: 5w:)1WyWyX XWX:W2W*WVbUBU*UUU`ՙ@R(Combining 5 samples.P*QZQH#)@ !AJQX9X?&+2Q@:QbQDŦ޿޿#@@C^?RQ`/k2Xf?{#n?BQ? Q@Q6PPQ9?PQQh@"Qi#@B9B9 B9A=؄*B9AAAAAAAA"Ci*CiRCiCiCqܑ9ܑIܑiܑܑܑܑܕ; ݕEIׁ)ׁׁIG=>    t  Sk:Y y  *6) ;6v9,z7hFAY}v,@}v@y}vFX1}v_j}vH9:1v?@7*?JZ'ÿ?F鬿`.x?)~v,@ ~v];I~tɫ) IY5e?y5ΐFDNmea in: $SNTTA,,,,,233030.66*5F eQ?~jt{Gzte\=eĽ eף)aIayel)\(?y&1|?eeGa=e`; a)e3MAIet3Aieae(@Aqu]A:M3=Ya$Hy }>Iș :ŝM 5? :ŝ>mݾ Ɲ_u> ?9Ɲ@ǝ: ȝ=:)ȝ:mmAdded new target pos. range: 4.140001 m, bearing: 96.723354 deg, deltaT: 4.402481 s, approachRate: 0.000000 m/s, LOS rate: -0.262214 deg/s, posRepo size: 4XW?WX XWX:W2W*WVbUBU*UUU ga?BB! B!A%Ԅ*B!A!A)A)A)"C5?RC1C5?C1I!G=Q>|9,AhFAɫIQ)Q QIQY?yF u u u u@ u@ u@qqqiqq q)qIqiq\<MY=YQU>a$Hy}>IM 5?nݾ ^t> ?9%@: :)WWX XWX:W2W*WVbUBU*UU U (?B1B1 B9A=*B9A9A9A9A9"CA*CIRCICICII)GE0>=ip== = = =  = ;|:Y= DW1y= Y:= 69E @م ]Aم \A܉ 9܉ I܉ i܉ ܍ =܉ ܉ ܍ ; ݍ EɃ9,hFAY}:T,@}:ޠ@y}:X }:}:HL`h?@);?@@ǿ|?@jj?)~:T,@ ~:q\;I~:Cɫ99)9 9I9Y}?y}F=ϼM=e=Y=eX=QUE>AAaE$HAIyMǹ}U>IY e:]iM 5? e:]oݾ ]r> e?9]@]: ]:)]:WWX XWX:W2W*WVbUBU*UUU5?BB BAɄ*BAAAA"C*CRCCCIG>9,|)hFAɫ髙) IY?yzF}E=M}F=Y}QU}>a$Hy}>Iȑŕ(M 5?ŕqݾ ƕtp> ?9ƕj@Ǖ: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU4_?B B  B A &*B AAAA"C*CRCCC!iIqG>]  ] ] ] { ] #s:Y] W1y] č:] 6ې9,ChFAY}6+@}6.@y}6Ӳ}6}6HD4@???3$ÿ@_ ?(Ԛ?)~6+@ ~6 _;I~6CɫYY)Y YIaY(?yF e e e e@ e@ e@aaaiaa a)aIaiau3<MuK=Y}S=QU}>yya$Hy}>Iȑ :ŕL 5? :ŕsݾ ƕeo> ?9ƕ"@Ǖ: ȕ:)ȕ:WYWYXY XYWaXa:Wa2Wa*WaVibUiBUi*UiUqUu @BB BA*BAAAA"C *C RC C C191I1i15=115 ; 5E!I)GM1>IAA)@A9,p]hFAɫ髩) IY?yUF<;MB=YQU>a$H y } >IimL 5?mtݾ mDn> u?9m@mR: m:)iWWX XWX:W2W*WVbUBU*UUU]@BB BA̓*BAAAA"C*CRCCC!I)GI   \ :Y WU1y : 6/9,KwhFAY}:*@}:s@y}:VA}:%Ѽ}:HB-?-?|r@2?a@k?)~:*@ ~:u];I~:Cɫ99)9 9I9Y}?y}FAAI)Ip=)=}Cl?|?5^ѿy&1?};=}ҍ }`e=)yIyy}y&1|?S㥛}`;}/ݼ} };A)}1RAI}5Ai}\Ay}(HA)<MP=YF8=QU>a$Hyj}>IȹŽM 5?Žtݾ ƽn> ?9ƽ@ǽn: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUURk@R B*** querying acoustic contact ***P P B)B1 B1A5*B1A1A1A9A9"C9*CARCACACAIIQGm>) 9- CI- XFi- ?- =) ) - ; - E)Iiʼn=ʼn=ʼn69,;hFAɫII)I QIQYm?ymeFuZ****** received transponder code query ******uF****** received ping request ******uQQaU$HQYy]}e>Ii u:mxM 5? u:m{sݾ mo> }?9mk@m: m:)m:WWX XWX:W2W*WVbUBU*UUU`: @BB BA*BAAAA"C*CRCCCױIGD>=i= Z    >x:Y U1y : 6) ;9 @9,hFAY}6N*@}6ط@y}6^Ͻ}6O}6H }Kh?8?@[غ n?ԩ?)~6N*@ ~6 \;I~6CɫII)I IIIY}?y}FxDUSBL response received:!U1,P 35F,000,002B6,189,80,80,B5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i]nGIi ]ٺYe3A-M;M5==Y=< =QU=>Aa$Hy}>IM 5?rݾ wp> ?99@: :)W9W9X9 X9W9Xi:Wq2Wq*WqVqbUyBUy*UyUyU @B1B1 BYA]*BYAaAaAaAi"Cq*CRCCC?i?IG>(9,hFAY}>g*@}>0@y}>Gh½}>R}}>H@t %`@+G?0.?@e@뻿@C?`?)~>g*@ ~>'[;I~>CɫYY)Y YIaY9?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )E= E=M:MUn=Yuq> ?9ƍ@Ǎ; ȍ:)ȍ:WWX XWX:W2W*W V bU BU *U1U1U5 @ByBy BA*BAAAA"C*CRCCC9IȖFi?= ; EIG*>'S9,hFAY}nY *@}n&@y}no}nM}nH}?R?? `}?)~nY *@ ~nx_;I~nCɫ) IY?yvFxDUSBL response received:!U1,R,35E,000,002B6,188,80,80,A6,FF Fpublishing direction and range info5@1ɰ15> 1)5&CI1y15>'I}]??`ٱ1mX9v?S㥻y&1?m=m/ݽ i)iIiymy&1?X9vmm`))a-$H11y5};}=>IaezM 5?erݾ e`> m?9e@e: eܹ:)aWWX XWX:W2W*WVbUBU*UUU @R(Combining 5 samples.P*QZQa.@sIJQ>'I}]??`2Q@:QbQ`ϜտBk@fRv?RQx1ᴿi3?F=?BQ)? Q_@Q款PR9?PPQQ@"Qh@BiBi BiAm*BiAqAqAqAq"C*CRCCCIױ)ױבIG>I@A)R  w:YW1yč:E69@X}9,`hFAY}6z)@}6N@y}6Tƹ}6u}6H~A?ڇ?v@0?c ?)~6z)@ ~6UT^;I~4ɫ99)9 9I9Y}?y}FdNmea in: $SNTTA,0.336771,0.336971,,,233035.10*55 E E E E@ E@ E@AAAiAA A)AIAiAu1jMu=Y}`QU} ?ya$Hy} ?I :L 5? :9sݾ %V> ?97@ : :):mmAdded new target pos. range: 4.140001 m, bearing: 94.702328 deg, deltaT: 4.515604 s, approachRate: 0.000000 m/s, LOS rate: -0.447565 deg/s, posRepo size: 4XW)?WX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C%H?RCaCm)?CiaIiG9> 9 I i = ; Ed9,nhFAY}6Ce)@}6̀@y}6Ľ}6򦔽}6Ht@Е?? Y9@j?`z?)~6Ce)@ ~6];I~6Cɫ99)9 9I9Y?yF))uMuJ=Y} UQU}>ya$HyT}>IȑŕFL 5?ŕsݾ ƕI> ?9ƕ@ǕǺ: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUUR?BB BA*BA A A A "C)?RCCCשIG!>  r:YU1y:6);9 9,fI,hFAY}:)@}:y@y}:Z}:m }:H@]`@?83¿`·?o?)~:)@ ~:[];I~:Cɫ99)9 9I9Y}]?y}RF]8<MeL=Ym;QUu>a$HyT;}>IK 5?sݾ :> ?9@]; ;)WYWaXa XaWiX:W2W*WVbUBU*UUUI?B1B1 B9A=*B9A9A9A9AA"Ca*CiRCiCiCiAIQGm5>=i=Rw9,5&FhFAY}Fg<)@}FW@y}F }Fsƽ}FH`l1SjE?_8yڵ?k`λ?)~Fg<)@ ~F\;I~FCɫ髙) IY?yF    @ @ @ÙÙÙiÙÙ ę)ęIęię;ME=Y{a$Hy6}>I :J 5? :Stݾ -> ?9%@: :):WWX XWX:W2W*WVbU!BU!*U!U!U-`1c?BQBQ BQA]|*BYAYAYAYAY"Ca*CaRCaCiy9yIyiy}=yy}; }ECׁIG>  s:YV1y: 6)9;9,0`hFAY}]m(@}]@y}]+}]}]HPBN? ? ,!``?%d`\?)~]m(@ ~]v_;I~]Cɫii)i iIqY?yHF 11HzG?K?~jt?= >^= <)Iy<M8=Y;QU>a$Hy+}>IJ 5?Jtݾ 4>  ?9h@: Y:)WWX XWX:W2W*WVbUBU*UUU`@?BIBI BIAM2*BIAQAQAQAQ"Cy*CyRCyCyCqIyG]>%9,yhFAY}2(@}2@y}2ĩ}2L}2H HSF?!?-r`^2? ?)~2(@ ~2eJ_;I~2Cɫ99)9 9I9Yr?yF U U U U@ U@ U@QQQiQQ Q)QIQiQe;<Meg=YmúQUm>iiam$Hqqy}F;}}>Iȁ :Ņ_J 5? :ŅBtݾ ƅ>;> ?9ƅ@Dž: ȅo;)ȅ:WWX XWX:W2W*WVbUBU*UUU;@BqBq BqAu*BqAyAyAyAy"C*CRCCC׉IG>IAA)AA  .r:YU1y:;69@y 9y I} Fi} a?y y y } /; } E9,hFAY}:Qs(@}:ێ@y}:}:[e}:H)i-U?$? !Ƹ u? ?)~:Qs(@ ~:-];I~8ɫ99)9 9I9Ye?ye6Fae@AUMV=Y/;QU>a$Hyj}>IQUJ 5?U9tݾ UWB> ]?9U@U4: U:)QWyWX XWX:W2W*WVbUBU*UUU3@RB*** querying acoustic contact ***PPBB BA:*BAAAA"C*CRCCCIG>!9,搭hFAY}6'@}6r @y}6c,}6޼}6H :`c?? *@Oҟ?ÛY?)~6'@ ~62];I~6Cɫ99)9 9IAY}?y}FZ****** received transponder code query ******F****** received ping request ******;QU>a$Hyݖ}>I  :I 5?  :,tݾ J>  ?9@; ;):WWX XWX:W2W*WVbUBU*UUU@ @BB BA*BAAAA"C*C)RC)C)C)!I)GM1>2 ~  u:Yy<699,lhFAɫ髙) IY$?yFxDUSBL response received:!U1,P 35E,000,002B6,188,80,80,A6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 A9AIAiAE=AAES; E՝E)ݵCIݵCiݱݵ=ݵ=ݵ5 m m u u@ u@ u@qqqiqq q)qIqiq;M%=YQU>a$H%EH!y-}->I15kI 5?5tݾ 5R> =?95[@5÷: 5;)1WyWX XWX:W2W*WVbUBU*UUU^ @BABA BIAM*BIAQAQAQAY"C*CRCCCיIG>=i=9,UhFAY}%&@}%@@y}%ע}%>}%H`/?}?zU?`WZ?)~%&@ ~%2\;I~%Cɫ ) IYM?yMcFQɮUp=uNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B L7A`堿!rhp= ף?+l =)Iy ףp= y&1|MbQ8` ½?A)½dGAI¹i½NA3CAM]=Y&J;QU>a$Hy(9}>I :J 5? :tݾ tK>  ?9d@: 1:):W)W)X) X)W1X1:W12W1*W1V9bU9BU9*U9UAUE @BiBi BqAu'*BqAqAqAqAy"Cy*CRCCCyIG<>aainGIi5ٺ15Ab  x:YW1yč:69,#hFAY}69&@}6è@y}6G }6}6H߹e?@ \?%?)~69&@ ~64`;I~6Cɫ99)9 9I9Y}?y}F)Õ > Õ>    @ @ @i )IiټMp=Y7 ?9 \ @ Տ< <) WWX XWX:W2W*WVbUBU*UUUe@BYBY BYA]q*BYAaAaAaAa"Ci*CRCCCׁIG> >9 CI ȖFi ? =   u;  E2:,hFAY}jw&@}jD@y}j{}jQ۽}jH~6@?@@M? L?)~jw&@ ~j!`;I~jCɫ11)1 9I9Yu?yuFDNmea in: $SNTTA,,,,,233039.55*56 0M:=Yw a $H  y+D}>IL 5?uݾ <> %?9!@$: ض:)WIWIXI XIWIXQ:WQ2WQ*WQVYbUYBUY*UYUYUe @BB BAu*BAAAA"C*CRCCC׉IG$>I)@AX  c:YWU1y:6);9E+ :,.hFAY}2Q&@}2%m@y}2 ꆽ}2}2H`r`/'^ua?`FT <`"ڰ?@s@?)~2Q&@ ~2;];I~2Cɫ99)9 9I9Y}?y}F2<M]=Ya$Hy:λ} >I :N 5? :Bvݾ 5> ?9"@1: :):WAWAXA XAWAXA:WA2WI*WIVIbUIBUQ*UQUQUU@BB BAE*BAAAA"C*CRCCCqIG>:,cHhFAY}6E&@}6a@y}6y}6C}6Hcm@Q??,ak?1m?)~6E&@ ~6c[;I~6Cɫ99)9 9I9Y}$?y}F‘•^A    @ @ @i )Iih<MJ=YQU>a$Hy}>I  ZO 5? vݾ %.> ?9 #@ < /<) ܹ9ܽCIܹiܹܽ=ܹܹܽ{; ݽEWWX XWX:W2W*WVbUBU*UUUM$>@RUB*** querying acoustic contact ***PYPYBB BA*BAAAA"C*CRCCCIG$>} ~~N f:YT1y@: 6)z;@:,=bhFAY}^I%@}^@y}^[}^S}^HQB@ Uh??GJ2?,H?)~^I%@ ~^[;I~^Cɫ髑) IY?yF+?Q{Gz?=u #<)Iy:v?:vMbp?<T; •:A)•NAI•C9Ai•OADAf,M>=YQU>a$Hy}>I : O 5? :.vݾ 0> ?9$@: 0:):WWX XWX:W2W *W V bU BU*UUU @B9BA BAAE *BAAIAIAIAI"CQ*CQRCQCQCYaIiG>=i=h:,o|hFAY}B9<%@}BW@y}B<}BY}BH `%@?K?@u p?@3x|?)~B9<%@ ~B'`;I~BCɫy髁) IY?yFa=ɮa=    @ @ @ñññiññ ı)ıIıiı:MI=YQU> a $H y}>IN 5?uݾ U3> -?9_%@ : :)WiWiXq XqWqXq:Wq2Wq*WyVybUyBUy*UyUU`I@BB BA*BAAAA"C*CRCCCIG*>ܱ9ܱIܵFiܵ?ܵ=ܱܱܵh; ݵߝE  :YU1y:6);P%:,ILhFAY}6 %@}6?'@y}6j}6+'}6H@^@s<? $? Im?된?)~6 %@ ~66_;I~6Cɫ19)9 9I9Yu?y}ȗF)Õ= Õ=B;MY=Y8QU>a$Hy}>I  : ~N 5? : tݾ 5> ?9  &@ : :) :W9W9X9 X9WAXA:WA2WA*WAVIbUIBUI*UIUQUUC@ByBy BA*BAAAA"C*CRCCC׉IG={+:,|*hFAY}B6$@}B@y}BZ}Bu}BHZj~?`:?Tr&?`T?)~B6$@ ~B];I~BCɫQQ)Q YIYY?y-FxDUSBL response received:!U1,N,80,80,63,E4 6,188,80,80,A6,FF ZNo reply:!U1,N,80,80,63,E4 6,188,80,80,A6,FF -a$Hy1}>I7N 5?[tݾ k8> ?9&@ϸ: :)WWX XWX:W2W*WVbUBU*UUU@BB BA=*BAAAA"C*CRCCCסIG >I@A)! y s:YV1y:69@`2:,HhFAY}6$@}6.@y}6}6ö}6H /`@?`A?R S? ;?)~6$@ ~6d\;I~6CɫYY)Y YIYY?yFqMK=YܺQU>a$HFHyL}>I :M 5? :sݾ ];> ?9'@: 0:):W W X  X WX:W2W*WVbUBU*UU!U%@3@BIBI BQAU*BQܙ9ܙIܙiܙܝ=ܙܙܝU; ݝ՝EAAAA"C*CRCCCIG= >L8:,bhFAY}JI$@}Jae@y}J4}Joް}JH`@c?{|@sϳ? ?)~JI$@ ~J[;I~JCVJFailed to close latch before timeout.q VVHardware FaultYV?yZFIf=)f=Uv/?I +?Q?Uxi=U94< U<)QIQyU{Gz:v?y&1|?U#UTa$Hy}}>IM 5?tݾ w=> ?9'@: k:)WW!X! X!W!X!:W!2W)*W)VIbUIBUQ*UQUQUU@BB BA*BAAAA"C*CRCCCI-$@Hardware Fault in component: DDMG%>  x|:Yy6>:,ȱhFAY}6#@}6\@y}6N}6ǽ}6H̦bh@?PTm迿 ?޸Ⱦ?)~6#@ ~6[;I~6C>Powering down<ɪ<)@ @Y?yFM8=Y̻QU>a$Hy af} >IM 5?tݾ ?> %?9q(@^: 4:)WAWAXA XAWAXA:WI2WI*WIVQbUQBUQ*UQUYU] @ReB*** querying acoustic contact ***PaPaBB BA*BAAAA"C*CRCCCסIG">ّٕ]Aܙ9ܙIܝȖFiܝ?ܝ=ܙܙܝ7; ݝƝE)Ii釉釩=e\5=ip=ՠE:,JhFAY}5p#@}5@y}5\}5t}5H`MoJ}᏿࢞? :>``ۥ?N =?)~5p#@ ~5`;I~5CY}?yFZ****** received transponder code query ******F****** received ping request ******QQaU$HQYy]OJ}]>Ia m:eM 5? m:etݾ eA> u?9e(@et: e:)e:W1W1X1 X1W1X1:W92W9*W9V9bUABUA*UAUAUm`R!@BB BA|*BAAAA"C*CRCCCIG(>  =m:YDW1yY:6i} nGI i Fٺ jASK:,(|1hFAY}Bs#@}B!@y}B硽}B}BH:`~f?@s?i i7?B?)~Bs#@ ~Bpc;I~B CYf?yjɕFvxDUSBL response received:!U1,P 80,80,63,E4 6,188,80,80,A6,FF zCommand Ack~BRequesting micromodem ping code 2i||-Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= =   % %@ %@ %@!!!i!! !)!I!i!M6=Ys;QU>a$H!)y5}5>I9=M 5?=Xuݾ =!D> e?9=^)@=; =;)9WWX XWX:W2W*WVbUBU*UUUх"@BaBa BiAm΂*BiAiAiAiAq"C*CRCCCױI$NClearing failed state for component DDMq Gn>R:,0LKhFAY}Fߟ"@}Fi@y}F}F}FHo@g|x?>?M$˴?x- ?)~Fߟ"@ ~FdSb;I~FCYV?yVFjNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ;Mo=YXۻQU?a$Hy͜}?I :kM 5? :uݾ E> ?9)@,: f:):WWX XWX:W2W*W!V!bU!BU!*U!U)U- $#@=>99I=Fi=?999=_; =۝EBqBq ByA}Â*ByAyAyAyA"C*CRCCC׉IG=I)BA  n:YT1y:6);9X:,$ehFAY}6wB"@}6^@y}6︦}6|}6H _2x??59Ѵ? ?)~6wB"@ ~6D$a;I~6CY^=?y^fF``bxDUSBL response received:!U1,R,15B,000,002B6,186,80,80,5E,FF fFpublishing direction and range infob `ɰ`b> `)bBI`y`b=E?̣Aӿٱ`m#~j?T㥛 L7A`?m=m m+=)iIiymI +?Q~jtm94QQaU$HQYy]^}e>IaeM 5?etݾ e<> u?9e*@eH: eQ:)aWWX XWX:W2W*WVbUBU*UUUI#@R(Combining 5 samples.P*QZQQ-@$=0JQ=E?̣Aӿ2Q :QbQ8)AoSY3@&ɀ?RQ&iٿOy-?!?BQ? Qq@QzӿPN9?PR9?PQQ@"Q@BqBq BqAu^*BqAyAyAyAy"C*CRCCCׁIG>_:,hFAY}rq!@}r*@y}r򥪽}rCoϼ}rHpI? Q?o mN?+֙ ?)~rq!@ ~rp^;I~rCYA?y˓FTNmea in: $SNTTA,0.036991,,,,233045.18*4E ‘•\A    @ @ @i )IiMD=YQU>a$Hy}>I  : uN 5? : Htݾ 3> ?9 x+@ M: :) :mqAdded new target pos. range: 4.140001 m, bearing: 113.636610 deg, deltaT: 10.003159 s, approachRate: 0.000000 m/s, LOS rate: 1.892830 deg/s, posRepo size: 4X W-?W)X) X)W)X1:W12W1*W1V9bU9BU9*UAUAUEt?BB BA*BAAAA"C?RCC?CIG (>191I58Fi5?5=115; 5E' p -t:Yy6)0;e:,՘hFAY}6z @}6@y}6}6XȠ}6H lj@k?v?`*v^(?@?)~6z @ ~6?_;I~4YB.?yB]F=<MEW=YEIQUE>IIaM$HIQyU}U>IY]N 5?]sݾ ]-+> m?9]G,@]: ]:)YWWX XWX:W2W*WVbUBU*UUUvk?BB BAb*BAAAA"C?RCCCIG==i=l:,ohFAY}b® @}bL@y}b[ǽ}bD J}bHO`P@??C0e?p M?)~b® @ ~bF];I~bCYrA?yv˓F    @ @ @ñññiññ ı)ıIıiıMB=YJQU>a$Hy }>I~O 5?rݾ !> ?91-@ :)WWX XWX:W2W*WVbUBU!*U!U!U%@?BQBQ BQAU*BQAYAYAYAY"Ce ?RCaCaCiiIqG=  q:YDW1yY:69@r:,*hFAY}6HV @}6q@y}6ʽ}6A}6H@,(?@? =@I?`[@?)~6HV @ ~6\;I~6CYN?yR1F  )> >=WM=T=YEQUE>AIaM$HMGHIyUNe}U>IY e:]P 5? e:]Hrݾ ]> e?9].@]: ]^:)]:9CIpFiM?=<DMDV; ҝEW!W!X) X)W)X):W)2W)*W1V1bUQBUQ*UYUYU]?BB BAD*BAAAA"CL5?RCCCIG>(y:,jhFAY}R@}RU@y}RJ@ν}R(vw}RH@@k?`?|/⼹?`?)~R@ ~RK\;I~RCYb?yb̒F RQпQ?J +  > Ƚ) I y A`"y&1?+? Y `e< = ?A) JAI 6Ai SA  EA-<M-<=Y-FQU->11a5$H99y=}E>IIMP 5?Msݾ M<(> U?9M/@M{: M :)IWqWyXy XyWyXy:Wy2W*WVbUBU*UUU @BB BA*BAAAA"C|=?RCCCIG>I)@Aa ~~ x:YT1y@:W6:, AhFAY}6@}6@y}6vIݽ}6Z}6H P??0i?[,?)~6@ ~6j[;I~6CYfX?yfF    @ @ @ÑÑÑiÑÑ đ)đIđiđxMS=Y~QU>a$HyU}>I :Q 5? :tݾ 5> ?9"1@9: E:):WWX XWX:W2W*WVbUBU*UUU <#@BB BA*BAAAA"C?RCw>CC IG5 >9Ii=; E9:,`hFAY}F:@}FU@y}Fؘ}FL}FHJ{0`O??`m$?aʾ?)~F:@ ~FZ[;I~DYV?yZFIj4=)j4=ln^ArMvW=YzQUz>x|a]$HYYyeU}e>Iqu[R 5?uvݾ uA> ?9u2@u;; uH:)qWWX XWX:W2W*WVbUBU*UUU`c@R%B*** querying acoustic contact ***P!P!BaBi BiAmK*BiAiAiAqA"C*?RCf[>CCבIG= f :YT1y:6c:,3hFAY}6v@}6M@y}6}6d'}6HUd\p?`%?bf?@ >?)~6v@ ~6i];I~6CYB?yB֑FFZ****** received transponder code query ******FF****** received ping request ******FQQa$Hy}>I :1S 5? :Iwݾ O> ?964@D; ;):WyWyXy XyWyXy:W2W*WVbUBU*UUU @BB BAi*BAAAA"C _?*C RC  >C1C1)I1GU>i=N:,@MhFAY}R%@}R @y}Rb}R@}RH`k$@`1&?/M? mJ ]Y?ǫs?)~R%@ ~R-];I~RC^Powering up^"Initializing DDM.܁9܁I܁i܁܁܁܁܅; ݅E)CICi==K6Y?yF鮱ɮp=xDUSBL response received:!U1,P 15B,000,002B6,186,80,80,5E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ̼M5=YQU>))a-$H)1y5}5>IȁŅT 5?Ņxݾ ƅv^> ?9ƅ5@Dž< ȅ;)ȁWyWyXy XWX:W2W*WVbUBU*UUU @B)B1 B1A5ń*B1A1A9A9A9"C?*C#9RCCC x>E b E E E  E x:YE U1yE :E 6)E A;Ia G >9 u:,XghFAY}6-A@}6\ @y}6*1 }6꠼}6H`?@%v?HAח?`&쓿?)~6-A@ ~6ɵ\;I~6CYN,?yRFbNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B YY~jtx?w/Կ/$?;馾 1>)IyMbPQ~jtuD fBA)9HAI5AiXAFA)= =V=MW=Y QU >  a $Hyؼ}>I! -:%U 5? -:%wݾ %|Z> -?9%T7@%0: %:)%:WQWQXQ XQWQXQ:WY2WY*WYVYbUaBUa*UaUaUe@BIBQ BQAU"*BQAQAYAYAY"Ca*CeaRCe>CaCiCi nGI)iIuֿٺquA֝.ą>yIG^>8a:,ėhFAY}J8@}J @y}JX}JA}JH@/@]?@?@-¿#?刺?)~J8@ ~J^\;I~JCY^?y^`FbxDUSBL response received:!U1,R,4F3,000,002B3,189,80,80,75,FF bFpublishing direction and range infobw`ɰbmb=b7> `)bBI`ybp}@blݴ?o%ٱ` ] ] ] e@ e@ e@YYYiYY Y)YIYiY=솽M=F=YEMQUE>IQaU$HQqy u}>IșŝEW 5?ŝwݾ ƝV> ?9Ɲ8@ǝ!I; ȝI;)șWAWIXI XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU] l@R(Combining 5 samples.P*Qp}@ZQ`k?A}P JQlݴ?o%2Qw:QbQ8zvF?v @\/0?RQI4n*?zQ ,?BPJb?BQ2? Q_@Q3?PX9?PN9?PQQv@"Q@BB BA*BA A A A "C*C4RCa)y>CC(>IGM>y9yI}8Fi}?yyy}; }~EI)BA C f:YDW1yY: 6); :,qhFAY?yFDNmea in: $SNTTA,,,,,233049.65*52 U6MUI=YUQUU>YYa]$HYaye}e>IimX 5?mMvݾ mR> }?9m:@m: m:)imuAdded new target pos. range: 3.959999 m, bearing: 62.308373 deg, deltaT: 4.462947 s, approachRate: -0.040332 m/s, LOS rate: -11.500974 deg/s, posRepo size: 4XmProNav REINIT: LOS rate is -11.500974 deg/s. Setting heading cmd to target bearing of 62.308373deg and heading rate command to 0 deg/s.W2?WX XWX:W2W*WVbUBU*UU @U@aP?BB BA&*BAAAA "C \?RC >C2?C=& >IG!:,lChFAY}Z@}ZR @y}Z!}Z{c}ZH@:4-@Z??`f})?a ?)~Z@ ~Z[;I~XYn ?ynF%<MU=YQU>a$HyE2}>I :|Z 5? :uݾ YN> ?9;@5; K;):W!W!X) X)W)X):W)2W)*W1VbUBU*UUU?B!B! B!A%*B)A)A)A)A)"CU*?RCQCQCQM4(>!IQG=>n  y:YX1y/:`69@;:,hFAY}2Eh@}2σ @y}270*}2}2HuvN@{?`?@4Iÿ`,?`Ζ?)~2Eh@ ~2A[;I~2CYB?yBF->9)I-ȖFi-?)))-; -nE    @ @ @ÑÑÑiÑÑ đ)đIđiđ<MI=Y롼QU>a$HHHy?i}>I(\ 5?tݾ I> ?9=@: =:)W!W!X! X!W!X!:W)2W)*W)V)bU)BU1*U1U1U=?BaBa BaAe*BaAiAiAiAi"Cub?RCqCyCymo>AIIGm5>=i=ù:,ohFAY}Jb\@}Jw @y}J3}J\}JH`*Wdp?`?0`^Bƿ`\? Uv?)~Jb\@ ~J[;I~JCY^t?ybאFEMb?J +ɿMb?E=EH E<)AIAyE{Gzt?iqau$Hqyy}}}>Iȁ :Ņ ^ 5? :Ņsݾ ƅ,B> ?9ƅ?@Dž: ȅ:)ȅ:WWX XWX:W2W*WVbUBU*UUU`.p?BqBy ByA}ф*ByAyAyAA"C?RCCC֝>yIG^>  o:YU1y:6ԫ:,hFAY}:`@}:X| @y}:8}:ν}:H@Msғ?? ʿ`*?d Q?)~:`@ ~:^\;I~:CYF?yFF  =6M=_=YEWQUE>AIaM$HIIyUgA:}U>IY]_ 5?]rݾ ]<> e?9]HA@]: ]:)YWWX XWX:W2W*WVbUBU*UUU@\?BB BA*BAAAA"C?RCCCסIGA>A9AIEXFiE?AAAE; ErE:,hFAY}6K@}66 @y}6J"7}6y˽}6H, o?`?ɿ? @U?)~6K@ ~6\;I~6CYvi?yv3F    @ @ @i )IiM?=Y6r;QU>  a$Hy%n!}%>I) :-a 5? :-fqݾ -N6> ?9-TC@-e< -!f<)-:WWX XWX:W2W*WVbUBU*UUU =@BqBq BqAu*BqAyAyAyAy"CW{?RCCC֥ >yIG^>I)AAd   y:YV1y::,Ɔ6hFAY}6x@}6 @y}6c6}6f\}6H5<?d?C@ǿ@?Il?)~6x@ ~6\;I~6CYBN?yBFDF?AR;=MVb=YVJ:QUV>XXaZ$HXXy^}^>I`bc 5?bnpݾ b0> j?9bE@b: b:)`WxWxXx XxWxX|:W|2WY*WYVYbUaBUa*UaUaUe@y @RuB*** querying acoustic contact ***PqPqBB BAZ*BAAAA"C?RCCC yIG:,aPhFAY}6w@}6\ @y}6>}6@n}6H@z.??@[5ǿ``?@@e?)~6w@ ~6W$\;I~6CYBz?yBFFZ****** received transponder code query ******FF****** received ping request ******F99a=$HAAyM}M>I :e 5? :  ?9G@I8; 9;):WWX XWX:W2W*WVbUBU*UUU¹ @ByBy ByA}O*ByAAAA"C>ʷ?RCCCAIIGm5> m    f  Xe:Y y  6) `;9 c:,>jhFAY|y|xDUSBL response received:!U1,P 4F3,000,002B3,189,80,80,75,FF Command Ack BRequesting micromodem ping code 2i  Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 &1?ʡE?x&1?P=-= A>)Iyy&1|+S㥛`廹/ݼ ­!!a-$H))y5}5>I9=bg 5?=nݾ => E?9=H@=M: ==:)9WaWiXi XiWiXi:Wi2Wq*WqVqbUqBUy*UyUyU} @BB BA*BAAAA"C:F?RCCC=i=IG5 >:,hFAY ?yFa=ɮMNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B M U?9E9Ii; E)QIQiQU=U=U.5  o:YWU1y:`6);$:,RhFAY}2<@}2 @y}2 s5}2[W}2H&h@݉?@?Rǿ ?#A@l?)~2<@ ~2}[;I~2CYNN?yRFVxDUSBL response received:!U1,R,502,000,002B4,189,80,80,79,FF VFpublishing direction and range infoRf3PɰRb=P P)RBIPyR@Rw?amf-ٱP)f= f>jOL<Mja=Yn#ppar$Hptyv^ʼ}v>Ix ~:z,i 5? ~:zmݾ zl > ?9z-J@z: z=:)z:W!W!X! X)W)X):W)2W)*W1V1bU1BU1*U1U9U=@w@RM(Combining 5 samples.PI*QM@ZQMTW?G( JQMw?amf-2QMf3:QIbQMM&w*@Ǧ. @DtHE?RQM% ?xզ6 ?$ظ?BQM݂? QMvY@QM@PMY9?PMX9?PMQMQM@"QMv@BaBa BaAeZ*BaAiAiAiAi"CAC?RCCC׉IG>imGIi% ٺ) - UAQ:,ڷhFAY}fC@}f @y}fi/}fno}fH@a@3? N?vF!ǿ ?`Ʊ t?)~fC@ ~f[;I~dYv?yvFeDNmea in: $SNTTA,,,,,233054.07*5A    @ @ @i )IiF<M8=Y Ya$Hyg}>Ij 5?Umݾ = ?9hK@: =:)mmmAdded new target pos. range: 4.020000 m, bearing: 58.579158 deg, deltaT: 4.369211 s, approachRate: 0.013733 m/s, LOS rate: -0.853521 deg/s, posRepo size: 4XiWu݂?WqXq XqWqXq:Wq2Wy*WyVbUBU*UUz@U@^d?B1B9 B9A= *B9AAAAA"CS?RCC݂?CYIiG8>I)?A z k:YV1y:69@ 6:,hFA494I4i46=446; 6EY}BL@}B @y}BG%}BSŽ}BHp\`B?`a?`Rǿ? ;N@uo?)~BL@ ~Bv[;I~BCYN??yRF]ռM]V=Ye<aaam$HmIHiyu}u>Iy :}k 5? :}lݾ }V= ?9}ZL@}$: }:)}:WWX XWX:W2W*WVbUBU*UUU2T?BB BA^*BAAAA"C⒇?RCCCIG5=!`:,hFAY}6.@}6;J @y}62Q}6K9}6H?0 :?@?@J/@$Eÿz7?@BҚ?)~6.@ ~6[;I~6CYN?yR8FI C=) U{Gz)\(?L7A`?U#UG= U+>)QIQyU~jt?Zd;O{Gz?UA)QIU0AiUaAQU(HAqu]A'=M9=Ya$Hy㌼}>I9=l 5?=kݾ =R> ?9=M@=-< =)<)9WWX XWX:W2W*W)VIbUIBUI*UIUQUU o?BB BAq*BAAAA"Ce?RCCCסIGA> T }:YU1y: 6G;,_hFAY=?yEF % % % %@ %@ %@!!!i!! !)!I!i!=:aM=O=Y=QU=>AAaE$HAIyM}M>IQ ]:Um 5? e:U+kݾ U > e?9UN@U: U:)U:WWX XWX:W2W*WVbUBU*UUUÊ?BB BA|*BAAAA"C_x?RCCCIG>a9aIaiae=aae; eE=i=!r;,:hFAY}21 @}2$@y}2l}2Ȼ}2H@/(? ?`r?zx@S?)~21 @ ~2\;I~2CYV&?yVFeI=MeY=Ym qya}$HyyvA}>Ișŝn 5?ŝ\jݾ Ɲ> ?9ƝP@ǝ; ȝ;)șWWX XWX:W2W*WVbUBU*UUU 'Z@BB BA*BA AAA"C-Cu?RC1C1CQIIQGm>5 r Ku:Y0Y1y:6: ;,9hFAY}2m@}2@y}2}2}2HP 3]q4?9? ¿.? j?)~2m@ ~2\;I~2CYN?yRwF !!)- > ) u u u u@ u@ }@qqqiqq q)qIqiqAYMH=Yh;QU>a$Hy㐼}>Iȡ :ťo 5? :ťiݾ ƥ> ?9ƥSQ@ǥg: ȥ:)ȥ:WWX XWX:W2W*WVbUBU*UUU@BB BA*BAA!A!A!"C-aw?RC)C)C)IG==;,RRhFA494I6Fi61?6=446; 6~EY}F (@}FC@y}FA }F w}FHq_|?%?E¿)j?`]?)~F (@ ~F{I\;I~DYR?yRFTV@AfMfW=YfHhhaj$Hhlyra}r>Itvp 5?vhݾ v|&> z?9vzR@v: v:)tWWX XWX:W!2W!*W!V!bU!BU)*U)U)U-_@R=B*** querying acoustic contact ***P9P9B B  B A L*BA9A9A9AA"CM?RCICICQqIG=I)AA || Vg:YR1yi:`6);9ȯ;,lhFAY}2p@}25@y}2|>}2ǽ}2H]`~2@0?@ PzĿ|? @?)~2p@ ~2r.\;I~2CY^&?y^FbZ****** received transponder code query ******bF****** received ping request ******bqqau$Hqyy}Iк}}>Iȡťs 5?ťiݾ ƥ>9> ?9ƥT@ǥ: ȥض:)ȡWWX XWX:W2W*WV!bU!BU!*U!U)U- @BqBq BqAu*ByAyAAA"C݂?RCCCיIGa>!;,ThFAY=?y=FExDUSBL response received:!U1,P 502,000,002B4,189,80,80,79,FF ECommand AckEBRequesting micromodem ping code 2iAIUNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Ia=)=™^A ;M=YQU ?qa}$Hy}>I1 E:5u 5? M:5Kiݾ 5E> ?95+V@5< 5]<)5:WWX XWX:W2W*WVbUBU*UUU @B!B) B)A-*B)A)A1A1A1"C9*C=RC9C9CA!I9q9qIqiqqqqu; utEG^>  \l:YT1y:6)p;C';,hFAY}2R@}21@y}2彙}2ͽ}2H dw '`N??¿ (?`]?)~2R@ ~2KK];I~0YB?yBFRNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B e =MeQ=YeV1=QUm>iiam$Hiqyu#8}>Iȡťiw 5?ťiݾ ƥR> ?9ƥW@ǥ0: ȥ=:)ȡWWX XWX:W2W*WVbUBU*U!U!U%E@BB BAn*BAAAA"C*CRCCCIG>=i=d-;,]hFAY}6j @}6;@y}6FUս}6}6Hl`uf B?;R?} *?)~6j @ ~66\;I~6CYB?yBmFFxDUSBL response received:!U1,R,4F3,000,002B2,189,80,80,C3,FF JFpublishing direction and range infoFwDɰFb=D D)FCCIDyFy@Flݴ?o%ٱD z z z z@ z@ ~@xxxixx x)xIxix M P=Y [a$Hy:}%>I! -:%y 5? 5:%iݾ %`> 5?9%AY@% : %:)%:WQWQXQ XWX:W2W*W!V!bU)BU1*UUU@R(Combining 5 samples.P*Qy@ZQy$?K# JQlݴ?o%2Qw:QbQ.@ @. e5?RQs!Q,?_٥? #A?BQ? QP@Q@PPY9?PQQ@"Q@BB BA*BAAAA"C*CRCCCIG$> h x|:YY1y:69@i 9m CIm Fim ?m =m ;Dm NDm ; m E)ݑIݑiݑݕ=ݕ=ݕ55;, hFAY}z@}z@y}z|Sǽ}zy$}zHa`|LƏ?P?V/^?t?)~z@ ~zGc[;I~zCY N?yIFTNmea in: $SNTTA,0.027370,,,,233058.52*49 )= =%M8=Y{a$HJHy}>I{ 5?iݾ o>  ?9#[@: +:)m=qAdded new target pos. range: 3.899999 m, bearing: 57.281883 deg, deltaT: 4.494110 s, approachRate: -0.026702 m/s, LOS rate: -0.288661 deg/s, posRepo size: 4X9WE?WAXA XAWAXA:WI2WI*WIVIbUQBUQ*UQUU23@U]?BB BA*BAAAA"Cgw?RCC?CiIG=:+;;,whFA46zCidIpi|Y}n?@}nJ[@y}n񹽉-gݿٺ)-A}nW }nHu|jl{?C?@t@6??)~n?@ ~nUZ;I~nCYe?ye6FMb?~jtxMbP<Ļ )Iyy&1|?~jt~jtx`;Ļ :A)PAI5AiUAEAM<M;=Yta$H yC<}>I -: } 5? -:Oiݾ n> 5?9;\@5; 3;):WaWiXi XiWqXq:Wq2Wq*WyVybUBU*UUU `?BQBQ BQAU:*BYAYAYAYAY"Ce?*CRCCCׁIG=>Iy)}@A  g:YV1y:6/B;,hFAY}6[@}6@y}6Lb}6b}6HdM{s`gZ?eL`-E?B@"?)~6[@ ~6)Z;I~6CYB?yBbF M M M M@ M@ U@IIIiII I)IIIiImw,=Mug=Ya$HyB}>Iȡť} 5?ťhݾ ƥl> ?9ƥ]@ǥ: ȥg:)ȡWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C%?RC!C!C))I9GU=ܩ9ܩIܭXFiܭ?ܭ=ܩܩܭ; ݭED=H;,"hFAY}6@}6@y}6}6|}6Hd9` .)`v?@ ,^?@uV?)~6@ ~6![;I~6CYB?yBFtt}<M}I=Ya$Hyހ}>Ișŝ~ 5?ŝ4hݾ Ɲ l> ?9Ɲ ^@ǝs: ȝ:)șWWX XWX:W!2W!*W!V!bU)BU)*U)U1U]@d?BB BAy*BAAAA"C*CRCCC IG5 >}% }|}|} }t:Y}R1y}i:}6vgN;,Uja$Hyu}>I : 5? :gݾ k> ?9&_@: I:):WWX XWX:W2W *W V bU BU*UUU@BABA BAAE*BAAIAIAIAI"CQ*CQRCQCQCYiIyG=u=iu=ܡ 9ܥ CIܥ Fiܥ ?ܥ =ܡ ܡ ܥ ; ݥ EFOU;,5EVhFAY]j?y]ИF 5 = = =@ =@ =@999i99 9)9I9i9U<MUA=Y]QU]>Yaae$Haiyu}u>IȁŅ 5?Ņgݾ ƅj> ?9ƅ7`@DžS; ȅ ;)ȁWWX XWX:W2W*WVbUBU*UUU5@B!B! B)A-*B1A1A9A9A9"CA*CARCACICI)I1G]>}$ }~}~} }s:Y}T1y}@:}6)};9y[;,!phFAY?y*F@5^I ?~jtI +?b>ļ 94<)Iyl/${Gz,ף µ:A)µOAIµn8AiµOAzDA)= >5=MS=YQU>a$Hy}>I :͂ 5? :1gݾ |b> ?9a@: :):WW!X! X!W!X!:W!2W)*W)V)bU)BU)*U1U1U5`@REB*** querying acoustic contact ***PAPABaBa BaAm*BiAiAiAiAi"C*CRCCCIG>Bab;,jhFAY}6o@}6@y}6H}6н}6H}߿൝?߿KC?繿 ?)~6o@ ~6[;I~6CYb ?yf4FnZ****** received transponder code query ******rF****** received ping request ******rIQaU$HQ1y=N}E>IQU„ 5?Ukgݾ UZ> ?9Uc@U: UG:)QWWX XWX:W2W*W V bU BU *U1U1U5@ @BB BAj*BAAAA"C*CRCCCIG-,>I9IIMFiMa?M=IIM; MwEIq)u?A} }}} }}i:Y}U1y}:}6)};a$HyM}U>Ia :eՆ 5? :egݾ eR> ?9ed@e5< eF<)e:W!W)X) X)W)X):W)2W1*W1V1bU1BU1*U9U9U= Ў @BB BA*BAAAA"C*CRCCC׹IGI>޵n;,1hFAY}v,@}v@y}vj}v 7c}vH߿DC?(޿ڵC[?`2W`?)~v,@ ~vZ;I~vCY?y F-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I=)%=©©    @ @ @i )Ii=MY=Y ;QU >  a$HKHy}>I!% 5?%gݾ %K> -?9%f@%: %:)!WWX XWX!:W!2W)*WQVQbUQBUQ*UYUYU]}G@BB BA*BAAAA"C*CRCCC)AIIGm5>} yy} }j:Yyyy}69@A 9A IA iA E =A A E ; E iEƝu;,uhFAY}JoI@}Jd@y}Jw}Jb}JH@a߿HY\?'߿Pܮ??)~JoI@ ~J°Z;I~JCYnf?ynkFrxDUSBL response received:!U1,R,480,000,002B1,189,80,80,B6,FF vFpublishing direction and range inforpɰra=p p)r6CIpyru@r$~%?$-LٱpuBM}C=Y}KQU}>a$Hy#N<}>Iȑ :ŕw 5? :ŕhݾ ƕJC> ?9ƕg@Ǖp: ȕ:)ȕ:WWX XWX:W 2W *W V bUBU*UUU`@R%(Combining 5 samples.P)*Q-u@ZQ-iOu@` JQ-$~%?$-L2Q-:Q)bQ-VlJ ?X3 @rQ?RQ-fH#B?3?Zz4?BQ-ĉ? Q-W@Q-b?P)P)P-Q-Q-@"Q-@B1B9 B9A=T*BAAiAqAqAq"C*CRCCCI G%M>m=ii{;,xhFAY$?yF5TNmea in: $SNTTA,0.047339,,,,233102.96*44 y&1 rhMbp?`eC ;)IyMbp?Zd;O rh?;j<C< )I:Ai^LADA    @ @ @i )Ii5M51=Y5QU=>AAaE$HAIyU}U>IY] 5?]zgݾ ]L> m?9]h@]; ] ;)Ym-mAdded new target pos. range: 3.839998 m, bearing: 61.668296 deg, deltaT: 4.467067 s, approachRate: -0.013432 m/s, LOS rate: 0.981945 deg/s, posRepo size: 4X)W-ĉ?W)X) X)W)X1:W12W1*W1V1bUYBUY*UYUe Q@Ue !?BB BA*BAAAA"Cj?RCCĉ?CIGm>uC qqu uhv:Yqyqu6;,X hFAY}FL"@}F=@y}FD}F}FHD߿y ?޿GE?x@?)~FL"@ ~FcZ;I~FCYVc?yVF !!)-> ->u(Mu=Yu=QUu?yya}$Hyy?}?Iȉō 5?ōgݾ ƍS> ?9ƍi@Ǎ: ȍ:)ȉWWX XWX:W2W*WVbUIBUI*UIUIUU ?BB BA*BAAAA"C1?RCCCIG>>9IFi?h; XE)uCIuCiqu=u=uS5z݈;,.%hFAY}63@}68@y}6?}6G}6H@߿?@޿?`ߧ?J*?)~63@ ~6OZ;I~4Yn?ynFuT;MuJ=Y}g;QU}>yya$HyI}>Iȑ :ŕ- 5? :ŕfݾ ƕ\> ?9ƕj@Ǖ: ȕ:)ȕ:WWX XWX:W2W*WVbUBU*UUU :?BB BA*BA A A A "Cv?RCCCIIYG=i}nGIiEgۿٺAMAImAA)mBAu qqu uq:Yqyqu6;,>hFAY}6/@}6J@y}6S}6(F8}6HsN߿`݉u?@/߿'`r??)~6/@ ~6NrZ;I~6CB`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ) IY B?y F<M!=Y;"QU>a$Hyj ;}>Ȉ 5?eݾ f> ?9Zl@: =:)WWX XWX:W2W*WVbUBU*UUU  ?B1B1 B1A5݁*B1A9A9A9A9"CE=^?*CARCACICI9IIGeV> 9 CI i f; WE;,EXhFAY}6o@}6@y}6y}6VLo}6H ߿Ñ??d߿Ӯ 3? ۍ?)~6o@ ~6~^[;I~6Cɫ99)9 9I9Y?yFUFxMUy=Y]IQU]?Yaae$Haaym2C<}m?Iq }:uܐ 5? }:uTeݾ ul> ?9uPm@u: u$:)u:WWX XWX:W2W*WVbUBU*UUU`@BB B!AM*BQAYAYAaAa"Cĉ?*CRCCCI G%M>}c }}} }x:Y}W1y}č:};6)}R;9;,wrhFAY}Rf@}R@y}R}R:}RHx߿ ?๷?տ߿`ᮿ ݱ?EB??)~Rf@ ~RH];I~Pɫqq)q qIyY{?ydFn?l¿V-?V> m=)IyS㥛?Q{Gz/<u# :A)PAI?AiNAFA % % % -@ -@ -@)))i)) )))I)i)=M=<=Y=HQU=>AAaE$HAIyM;}M>IQUC 5?Udݾ Uh> e?9U&o@U@: U:)QWWX XWX:W2W*WVbUBU*UUU@BaBa BiAm*BiAiAiAiAq"Cq*CyRCyCyC׵?i׵?yIG=>m=im=;,"hFAY}6@}6D@y}6!}6wv}6Hb߿e*? ?Y߿*@߳?ඎ[?)~6@ ~6@q];I~6CɫYY)Y YIYY?yHFAAI=Mf=Y\QU>a$Hyٺ}>I :j 5? :bݾ ff> ?9p@: :):W W X XWX:W2W*WVbUBU*U!U!U%Z@R-B*** querying acoustic contact ***P)P)BIBQ BQAU2*BQAYAYAYAY"Ca*CaRCaCaCi)I9Ge>ܕ>9ܕCIܕpFiܕM?ܕ=ܑܑܕ; ݕjE} }~}~} }k:Y}T1y}@:}6)};';,'fhFAY}6t@}6Q@y}6R6}6'}6Hw߿@-|?0? \߿'f`?@⤿?)~6t@ ~6[;I~6CɫYY)Y YIYY?yFZ****** received transponder code query ******F****** received ping request ******a%$H!!y-}->I15ǔ 5?5aݾ 53d> E?95jr@5S: 5.:)1WiWiXi XiWqXq:Wq2Wq*WyVybUyBUy*UUU. @BB BAA*BAAAA"C*CRCCCIIaG>;,cAhFAY}:N@}:i@y}:Ƚ}:.}:HM߿ 3?6?O9߿@Q@S?^?)~:N@ ~:(\;I~8ɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,P 480,000,002B1,189,80,80,B6,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 E E E m@ m@ m@AAAiAA A)AIAiAqM'=YWQU>a$HLHyǛ} >I :j 5? E:-`ݾ a> M?9t@+; ;):WWX XWX:W2W*WVbUBU*UUU @BIBa BaAm|*BiAqAqAqAy"C*CRCCCI)IG>Iu@A)u?A} }}}x }}:Y}WU1y}:}69@܍ >9܉ I܍ Fi܍ ?܍ =܉ ܉ ܍ h; ݍ ZE :;,hFAY}6@}6@y}6余}6}6H߿`%`Nܟ?? ߿ 0P`? t?)~6@ ~6hTd;I~6CɫYY)Y YIYY5?yF鮙ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B uj=Muw=Y}L*QU?a$Hy<}?Iz 5?-_ݾ _> ?9u@8<  <)WWX XWX:W2W*WVbUBU*UUU`@B9Ba BaAm*BiAqAqAqAq"C*CRCCCIGk>Gd;,hFAY}N@}NU@y}Nm }NJ&}NH߿`E?}y?`߿ ? B?)~N@ ~Nd;I~Lɫy髁) IY?yF]xDUSBL response received:!U1,R,502,000,002B2,189,80,80,B0,FF ]Fpublishing direction and range infof3ɰb= )0CIyy@w?amf-ٱdNmea in: $SNTTA,0.172505,0.172399,,,233107.43*5E Mb?X9v? = }= ̼) I y Zd;O?a$Hy<}>I :S 5? :^ݾ \> ?9v@; ;):WWX X!W!X):W)2W)*W1V1bU1BU1*U9U9U $@R(Combining 5 samples.P*Qy@ZQ=A?a;% JQw?amf-2Qf3:QbQErwk|@2R @Y?RQ` ?^HH?[U?BQFx? QM@Q @P[9?PPQQ@"Q@BABA BAAM*BIAIAIAIAI"CQ*CQRCyCyCqIG~> ~~~ `:YT1y@:<6K;,p hFAɫyy)y yIyYA?y˓FURM]y=Y]QU]?aaae$Haaym}m?I6 5?^ݾ \Z> ?9Cw@#: :)mmAdded new target pos. range: 3.899999 m, bearing: 55.567079 deg, deltaT: 4.530797 s, approachRate: 0.013243 m/s, LOS rate: -1.346610 deg/s, posRepo size: 4XWFx?WX XW X :W 2W *WVbUBU*UU23@U@#-?BABI BIAM*BIAIAQAQAQ"C]%3?RCYC]Fx?CYqiu?=>99I=Fi=?==99=E; =HE׉IG$>u=iu=u;,'hFAY}6@}64@y}6٥}6lf?}6H߿ 3?@W?7߿ vĿ r?=@ ?)~6@ ~6_;I~6CɫYY)Y YIYY?yF5%M=L=Y=QU=>AAaE$HAIyMh;}M>IQU 5?Ut]ݾ UX> ]?9Uw@U: U:)QWWX XWX:W2W*WVbUBU*UUU`x?BB BA*BAAAA"Cʶ?RCCC׉IG>}2}}} }:Y}T1y}:}E6?_;,~AhFAY}66@}6@y}6p,}6ռ}6H L߿`a?P?`߿BĿy?]?)~66@ ~6_;I~6Cɫ髉) IY?yqF }   @ @ @ÁÁÁiÁÁ ā)āIāiāM*=Y$QU>a$Hy}>Iȱ :ŵ 5? :ŵ\ݾ Ƶ)U> ?9Ƶx@ǵ: ȵs:)ȵ:WyWyXy XWX:W2W*WVbUBU*UUUE?BB BA**BAAAA"C Fx?RCCCI!G=r>- >9) I- XFi- ?) ) ) - ; - %E)ݹIݽCiݹݽ=ݽ=ݽ5Ƈ;,c[hFAY}6!N@}6i@y}6"8}6'}6H߿J?`+?D߿7xƿ,?`9t?)~6!N@ ~6 Cd;I~6 Cɫ99)9 9I9Y}7?y}'F<Mn=YiQU?a$Hy<}>I!%ʖ 5?%?\ݾ % ]?9%My@%g; %;)!W1W9X9 X9W9XA:WA2Wi*WiVibUiBUq*UqUyU}'?BB BA*BAAAA"C1*C1RC9C9C9Iq)u]AYIaGY>Iq)uAAA  @v:Yy6);9 t> i nmGI i ٺ AM 6?9M A;,AuhFAɫyy)y yIyY?ypFI%p=)%C=)\(?{GzS㥛?G=# /<)Iy:v/$~jthTD )^LAIt3Ai]A3GA<MF=YQU>a$Hy } >I :x 5? :[ݾ tR> ?9}{@: :):WAWAXA XAWAXA:WI2WI*WIVQbUQBUQ*UQUQU]6?BB BAƒ*BAAAA"C*CRCCCiIqG>;,hFAY}B@}Bo@y}B_A}B!Y}BH4@А? ?ొ߿Vʿ ?```K?)~B@ ~Bۻ];I~BCɫ髁) IYp?yrF    @ @ @ñññiññ ı)ıIıiıpMN=Y篼QU>a$H 1y5`<}5>I9=3 5?=Zݾ =`S> E?9=}@=$: ==:)9WWX XWX:W2W*WVbUBU*UUU`@9IFiv?; -EB)B1 B1A5*B9A9AAAAAA"Ci*CqRCqCqCyaIqG;>}6 }}} }_u:Y}W1y}č:} 6)}9;;,ThFAY}2|8@}2T@y}2]K}2c{}2Hf߿xϧ?@9?H߿ɿQ?ȮO?)~2|8@ ~2\;I~2Cɫ19)9 9I9Yu,?y}Fyy#=MY=YټQU>a$Hy }>I  :  5? : /Zݾ 4S> ?9 @ F: :) :W9WAXA XAWAXA:WA2WI*WIVIbUIBUQ*UQUQUU@ReB*** querying acoustic contact ***PaPaBB BA"*BAAAA"C*CRCCC׭?i׭?׉IG=m=im=;,ghFAɫ髙) IY.?y]FZ****** received transponder code query ******F****** received ping request ****** u>-X=M58=Y5QU5>99a=$H=MH9yE}E>IIM 5?MiYݾ MR> U?9M@M: M):)IWyWyXy XyWyXy:W2W*WVbUBU*UUUU @BB! B!A%b*B!A!AIAIAI"CY*CYRCaCaCיIGB>} }}y }:Y}U1y}:y9@ 9 I НFi E@ 0; ;E;,hFAY}6Q@}6&m@y}6c}6r}6H߿`NR??`I&߿\Ϳ7?`b?)~6Q@ ~6^;I~4ɫaa)i iIiY?y/FxDUSBL response received:!U1,P 502,000,002B2,189,80,80,B0,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )Iie릻M8=YOQU>a$HyZ;}>I %: 5? -:Xݾ S> -?9P@¿; ;):WiWiXq XqWqXq:Wq2Wq*WyVybUyBUy*UUU @BB BAt*BAAAA"C*CRCCC IGEs>$;,A)­OAI­v.Ai­ fAHA    @ @ @i )Iiu!Mu[=Y}ya$Hy*<}>Iȱŵ 5?ŵXݾ ƵK> ?9Ƶ̂@ǵ4: ȵ:)ȱWWX XWX:W)2W)*W)V)bU1BU1*U1U1U5@BB BAV*BAAAA"C*CRCCCI)IG5O>  }:YDW1yY:6<,bhFAY}:@}:@y}:NR}:}:Hw'_??1E߿Gο=*?Sڽ?)~:@ ~:N^;I~:Cɫ99)9 9I9Y]_?y]ݓFmxDUSBL response received:!U1,R,502,000,002B1,189,80,80,AD,FF mFpublishing direction and range infoaaɰea=a a)e-CIayeu@ew?amf-ٱaIy)y‰]A=Mk=Y ?9ƕI@Ǖ: ȕ:)ȑWWX XWX:W2W*WVbUBU1*U1U1U5)o@RE(Combining 5 samples.PA*QEu@ZQEAKK?Oh JQEw?amf-2QA:QAbQE/'@X@|?RQE?JK?R.(?BQEEw? QE5F@QE< @PAPE[9?PAQAQE'@"QE@y9yI}`Fi}@}=yy}M; }IEBB BA*BAAAA"C*CRCCCIG$> <,)=*hFAY}b[ @}b%@y}b+VQ}b}bH@;" @?[?#@ʿ5? |@?)~b[ @ ~b H];I~`ɫ) IYUX?yUFTNmea in: $SNTTA,0.029166,,,,233111.88*49 M7=Y3S;QU>a $H  yՕ;}>I %: 5? %:Vݾ 9> %?9Ճ@: w:):meqAdded new target pos. range: 3.839998 m, bearing: 55.301818 deg, deltaT: 4.360817 s, approachRate: -0.013759 m/s, LOS rate: -0.060828 deg/s, posRepo size: 4XqWuEw?WyXy XyWX:W2W*WVbUBU*UU Q@U?BaBa BiAm*BiAiAiAqAq"CuEw?*CyRCCEw?CיIGb>} }}} }:Y}W1y}č:}6<,/DhFAY}2@}2#3@y}2`W}2 A}2H" (??6ɿ?@ C?)~2@ ~24];I~2CɫYY)Y YIaY}?y}ʔF E E E E@ E@ E@AAAiAA A)AIAiAU=M]V=Y]pQU]>aaae$Haaymy ;}m>Iqu 5?uAVݾ u0> }?9uS@u: u0:)qWWX XWX:W2W*WVbUBU*UUUoE?B9BA BAAE5*BAAAAIAIAI"CQ*CQRCQCQCYm?im?IIQGu>q 9q Iu Fiu @u =q q u A; u CE$<,]hFAY}FI@}Fre@y}FlGZ}F$}FH05Ԏ#??@̿&? y@K.?)~FI@ ~F\;I~FCɫYa)a iIiY?yF YY)q u=MC=Y:QU>a$Hy;}>I : 5? :Uݾ &> ?9߄@p: :):WAWIXI XQWQXQ:WQ2WQ*WYVYbUYBUY*UYUaUer?BB BA|*BAAAA"C*CRCCCIG(>v  yz:Yy6);9uN<,whFAY}2>@}2Z@y}2T}2^}2H5TR?$?`E ˿}l?ڑ y4?)~2>@ ~2a$`;I~2Cɫ99)9 9I9Y}[?y}xFMb?M¿(\?=n z>)Iyy&1?I +I +`e<9494 •  a $Hyݺ}>I!% 5?%Tݾ %$> -?9%~@%: %#:)!WIWQXQ XQWQXQ:WQ2WY*WYVYbUYBUY*UaUaUe?BB BAW*BAAAA"C*CRCCCשIG!>6$<,hFAY}2%p@}2@y}2KK}2F}2H`TQ ?@?*@ʿ T?ܳ@D?)~2%p@ ~2Ș^;I~2CɫII)I IIIY}P?y}ԓF M]=Ya$H y <}>I : 5? %:Tݾ A#> %?9 @: :):WAWIXI XIWIXI:WI2WI*WQVYbUYBUY*UYUaUe?BB BA*BAAAA"C*CRCCC9Ii )ݩIݩiݩݩݭ=ݭ E5Iq)u\A)I9GU>Iq)q} yy} }Fn:Yyyy}i6)};a*<,;hFAY}2'@}2@y}20NA}2D}2HKb xV3? ? <ɿ?i@tV?)~2'@ ~2\;I~2Cɫ99)9 9I9Yu?y}F  \A<M%H=Y%))a-$H)1y5C;}5>I9= 5?=-Sݾ =>!> E?9=@=0: =:)9imGIi)ٺAWWX XWX:W2W*WVbUBU*UUU`@BqBq BqAuH*BqAyAyAyAy"C*CRCCCyIG<>G1<,_hFAY}J5k@}J@y}J+f9}JǍ)}JH`]Ho̭?(? k`lƿ@i ? פ1s?)~J5k@ ~JFa\;I~Hɫyy)y yIyY?yAF-M6only read 3 of 4 data itemsUa<MUG=Y]Yaae$HeNHayms}m>Iqu­ 5?uVRݾ u> }?9uI@u^: u:)qWWX XWX:W2W*WVbUBU*UUULz@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCC)I1GU>} yy} }:Yyyy}69@ >9 I (Fi ,@    ;  ,Er7<,ma$Hyk;}>I :K 5? :Qݾ X!> ?9@K< 2<):WWX XWX:W2W*WVbUBU*U!U!U-Y @BqBq BqAu*ByAyAyAyA"C*CRCCC?i?יIGb>}=iy;=<,hFAɫ髹) IYx?yFxDUSBL response received:!U1,P 502,000,002B1,189,80,80,AD,FF Command AckBRequesting micromodem ping code 2i Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )M= M= % % % %@ %@ M@!!!i!! !)!I!i!n=M>=YQU>a$Hy%}%>I)-լ 5?-VQݾ -&$> =?9-@-: -4:))WWX XWX:W2W*W!V!bU!BU)*U)U)U5@ @BB BAO*BAAAA"C)*C1RCYCYCa  k:YDW1yY:E6בIG>D<,hFAY}:}@}: @y}:!}:߽}:Hm/nv˶?@ `eȿa)?㏻i?)~:}@ ~:6a;I~8ܽ>9ܽCIܽFiܽ@ܹܹܹܽ; ݽ Eɫ髩) IYe?yFa=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B <MI=Y$&=QU>a$Hy=}>I :j 5? :Pݾ r&> ?9?@: k:):WWX XWX:W2W*WVbUBU*U U U ?d@BB BA*BAAAA"C*CRCC C IG%o>?J<,B,hFAY}2ʧ@}2T@y}2}2B먽}2H 4, &?@I? eyſ?m۴@?)~2ʧ@ ~2_;I~0ɫYY)Y YIYY?y\FxDUSBL response received:!U1,R,502,000,002B1,189,80,80,9F,FF Fpublishing direction and range infoɰ鰡 )CIyw?amf-ٱ'<M=Y6 ?9{@: :)WWX XWX!:W!2W!*W!V!bU)BU)*U)U)U-@R=(Combining 5 samples.PA*QAZQEAKK?Oh JQEw?amf-2QA:QAbQEfN@ܛ @T}?RQEN?#8a?Uծ?BQEѧ? QE|M@QEu@PAPAPAQAQEZ@"QE'@B1B1 B1A5*B9A9A9A9A9"CA*CARCACICIIy)yIIQG>} yy} }:Yyyy}6iQ<,ͬFhFAY}Z$@}Z@y}Z}Z9}ZH ;??Kc?`_Ġ@?)~Z$@ ~Z&^;I~Xɫ髹) IY?yF=TNmea in: $SNTTA,0.038877,,,,233116.33*47 QU^A    @ @ @ÙÙÙiÙÙ ę)ęIęię=M==Y8a$HyW;}>I u: 5? u:Pݾ *> u?9Έ@< :):miAdded new target pos. range: 3.839998 m, bearing: 57.589211 deg, deltaT: 4.410658 s, approachRate: 0.000000 m/s, LOS rate: 0.518606 deg/s, posRepo size: 4XWѧ?WX XWX:W2W*WVbUBU*UUUb?BB BAy*BAAAA"C}?RCCѧ?C׹IGE>ܱ9ܱIܵНFiܵE@ܱܱܱܵ; ݵߜEW<,Ҍ`hFAY}%@}&A @y}@}}H2 @B???9? ?)~%@ ~0];I~ɫ髉) IY?yF뙼M==Yz;QU>a$Hyl<}>Iȱŵ' 5?ŵOݾ Ƶ,> ?9Ƶ"@ǵ: ȵ@:)ȱWWX XWX:W2W*WVbUBU*UUU@?BB! B!A%*B!A)A)A)A)"C5ѧ?RC1C1C9yIG=>} }}} }%:Y}WU1y}:}{6)}b;9b]<,]zhFAɫyy)y yIyY]?yRF><MS=Y%QU%>))a-$H)1y5}5>I9 E:= 5? E:=+Oݾ = /> M?9=l@=: =w:)=:WqWqXq XqWqXq:Wq2Wy*WyVybUyBUy*UUU` ?BB BA*BAAAA"C*CRCCC]?i]?!I1GM1>?d<,8hFAY}2c@}2C @y}2ks}2]}2H Qxܓ??q7`L~¿`?aʯ}?)~2c@ ~2`;I~2Cɫ99)9 9I9Y}{?y}dF 5 5 5 5@ 5@ 5@111i11 1)1I1i1E<;MEY=YEIIaM$HIY9YI]xFi]?YYY]9; ]Eqyu#<}u>Iy}Q 5?}Nݾ }1> ?9}@}: }:)yWyWyXy XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*CRCCCIG$>} }}} }~:Y}DW1y}Y:}`6)}7;~j<,rhFAɫyy)y yIyY?yFU&6<M]I=Y]QU]>aaae$Haaym}m>Iqu 5?uMNݾ u>3> }?9u@uӻ: u:)qWWX XWX:W2W*WVbUBU*UUUG@BB BAj*BAAAA"C*CRCCC׉IG>Bq<,hFAY}>S!@}>< @y}>p}>rƼ}>H@9`iw??Fa`d? )`?)~>S!@ ~>C];I~<ɫQQ)Y YIYY?yFU;=MUJ=YUYYa]$H]OHayeX$}m>Iq }:uq 5? }:uMݾ uP5> }?9uQ@u: u^:)u:WWX XWX:W2W*WVbUBU*UUU`@BB BA*BAAAA"C*CRCCCI ) IG >Q9QIQiQQQQU<; UE)CIC} }}} }n:Y}WU1y}:}6)}(;i釉==p3x<,hFAɫ)))) )I1Ye?yeїFim@AI}4=)}%=a i=@a = a m=@a = a q=@a = a e=@a =    @ @ @ÑÑÑiÑÑ đ)đIđiđFM7=YQU>a$Hy}>IȹŽ 5?Ž[Mݾ ƽ7> ?9ƽ@ǽ: Ƚ>)ȹWWX XWX:W2W*WVbUBU*UUU@J@RB*** querying acoustic contact ***PPB1B1 B1A5*B1AYAYAYAY"Ca*CaRCaCiCiqIG^>%T>%CimGIizٺA8~<,hFAɫyy)y yIyY?yFZ****** received transponder code query ******F****** received ping request ******11a5$H99yA}E>IIM 5?MLݾ Ml9> ]?9M@M: MN?)IWWX XWX:W2W*WVbUBU*UUU C @BB BA*BAAAA"C*CRCCC׉IG>} }}}~ }Sk:Y}0Y1y}:}<69@!<,ƆhFAY}6 @}6& @y}6߽}6#V}6HhSyx?{@?ɲ?)~6 @ ~6\;I~6Cɫ99)A AIIY}?y}F9IFiv?=V; ĜEexDUSBL response received:!U1,P 502,000,002B1,189,80,80,9F,FF eCommand AckmBRequesting micromodem ping code 2iiiNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }   @ @ @ÁÁÁiÁÁ ā)āIāiā:d:M=Y=QU>a$Hy<}>I : 5? %:aLݾ ;> %?9R@; ?):WaWaXi XiWiXi:Wi2Wi*WqVqbUqBU*UUU;@BB BA*B!A!A)A)A)"CY*CaRCaCaCi?i?IG >J<,[/hFAY}2j@}2- @y}2{ٽ}2T}2H@''?yx? E;-?j̣?)~2j@ ~2`;I~0ɫYY)Y YIYY/?yF Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ) > > e e e e@ e@ e@aaaiaa a)aIaiaux<Muw=Y}` ?9ƕ@Ǖ: ȕ?)ȑWWX XWX:W2W*WVbUBU*UUU@A]@BB BA*BAAAA"C*CRCCCׁIG?> V |:YDW1yY: 6c2<,6IhFAY}6@}6 @y}6+Z߽}6h}6H Eǟ? W?"?ݻ??e?)~6@ ~6^;I~6CɫYY)Y YIYY?yƙFxDUSBL response received:!U1,R,502,000,002B2,18A,80,80,AF,FF Fpublishing direction and range infoɰb=鰥> )/CIyy@w?amf-ٱu!=Mf=YQU>a$H y <} >I; 5?Kݾ ?> %?9֋@: @)WAWAXA XAWAXI:WI2WI*WIVIbUQBUQ*UQUYU]@Rm(Combining 5 samples.Pi*Qmy@ZQm=A?a;% JQmw?amf-2Qi:QibQm1d?zP{3 @;M*?RQm_p?$bp?+UWq?BQmW? QmV@Qm&?PmZ9?PiPmQiQm@"QmZ@BB BA/*BAAAA"C*CRCCC׉IG=9IxFi?=o; ҜEc<,1chFAY}B~@}B @y}BJ潙}BV}BHE5!K?h¿׹?2ൿ?)~B~@ ~B];I~BCɫII)I IIIY?y+F5dNmea in: $SNTTA,0.028226,0.448391,,,233120.80*58 a ia i a ma m a qa q a ea e Mb@Mb@Mb@ )Iy~jt?MbD<L A>A)dGAI5AiUAQDAӏM;=YQU>a$Hyè;} >I  :  5? : Jݾ  >> ?9 @ R: P<) :miAdded new target pos. range: 3.899999 m, bearing: 59.687411 deg, deltaT: 4.449174 s, approachRate: 0.013486 m/s, LOS rate: 0.471593 deg/s, posRepo size: 4X W W?W X  X W X:W2W*WVbU9BU9*U9U=23@UE`E?BB BAn*BAAAA"Cih?RCCW?CI)IGG>Ia)e?A+ _ ~t:YV1y: 6<,1|hFAY}:J@}: @y}:޽}:Y:}:HǠFJ?RYÿ̻?˼B?)~:J@ ~:A];I~:Cɫ99)9 9I9Y}/?y}F\A    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉMQ=Ya$Hy;}>IȹŽ 5?ŽIݾ ƽ=> ?9ƽ7@ǽ: Ƚ0:)ȹWWX XWX:W2W*WVbUBU*UUU s?B!B) B)A-*B)A1A1A1A1"C= ?*C9RC9C9CA)I9G]>_o<,˖hFAY}6l@}65 @y}6ѽ}6}6HZ`Xb?.+%? ?)~6l@ ~6K\;I~6CɫYY)Y YIYܥ>9ܡIܡiܡܥ=ܡܡܥe; ݥ̜EY?y=F<MJ=Ya$Hy,}>IȹŽ۪ 5?ŽHݾ ƽ<> ?9ƽ@ǽZ: ȽR:)ȹWWX XWX:W2W*WVbUBU*UUU?B!B) B)A-g*B)A1A1A1A1"C=W?*C9RC9C9CAAIQGm>) v Vt:YT1y:`6)T;9<,hFAY} @}  @y} D̽} x} H @}xL?`p̿}?h?)~ @ ~ `;I~ Cɫ11)1 9I9Yu?yuaaae$HaiyuB<}u>Iy :} 5? :}Hݾ }S;> ?9}@}: } :)}:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*CRCCC?i?IG-,><,~hFAY}6"@}6= @y}6}6ag}6H ^]E 6? _>? ?)~6"@ ~6MU`;I~6Cɫ99)9 9I9Y?y=F)E= E=uW MuZ=Y}ya$HPHyĂ<}>Iȑŕ3 5?ŕ4Gݾ ƕo:> ?9ƕ9@Ǖ: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU@D@BB BAg*BAAAA"C*CRCCCIG$>ܩ9ܩIܩiܩܭ=ܩܩܭC; ݭEM M M M  M :YM WU1yM :M 6)M X;ʪ<,GZhFAY}:a@}:G} @y}:=}:k}:H@a<Ho)?l ׽!?@赿?)~:a@ ~:h_;I~: Cɫ99)9 9I9Y}?y}FQ? rhl?<C =)Iyy&1|{Gzt?a$Hy!<}>I :0 5? :nGݾ => ?9Y@^: g:):W!W!X! X!W!X!:W)2W)*W)V)bU1BU1*U1U1U= G@BaBa BaAe*BiAiAiAqAq"Cq*CyRCyCyCyIG (>Ծ<,4hFAY}6u@}6z @y}6\[}6fv}6HE`D^p`%?0,``gE?Y?)~6u@ ~6b];I~6CɫYY)Y YIYY?yF    @ @ @i )Ii,&=MX=YGa$H!y%U;}->I)-/ 5?-Gݾ =tI -@> =?9-w@-: -:))WWX XWX:W2W*WVbUBU*UUU`u@RB*** querying acoustic contact ***PPBYBa BaAeu*BaAaAiAiAi"C*CRCCCI)שIG!>M R M M M  M w:YM U1yM :M 69U @<,IhFAY}6@}6 @y}6k}6DHq}6Hp'\? =Xo·? `s?)~6@ ~6=\;I~4ɫYY)Y YIYi9iImFimv?m=iim7; mE)Ii==C4YyZ****** received transponder code query ******F****** received ping request ******iiau$Hy|<}>Iȡ :ť/ 5? :ťGݾ ƥpD> ?9ƥ@ǥ; ȥ;)ȥ:W1W1X9 X9W9X9:W92W9*WAVAbUABUA*UIUIUM @BB BA*BAAAA"C*CRCCCIG (>b<,2hFAi,ILiXrٺprAY}586@}5Q @y}5}5J}5Hq ? `plͺ1_? ?)~586@ ~5[;I~1ɫ  )  IY]?y]FexDUSBL response received:!U1,P 502,000,002B2,18A,80,80,AF,FF eCommand AckmBRequesting micromodem ping code 2iiiuNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 e e e m@ m@ m@iiiiii i)iIiii2Ma$H)y50<}>Ișŝ- 5?ŝHݾ ƝH> ?9Ɲ@ǝ: ȝ:)șW W X  X W X :W12W1*W1V1bU9BU9*U9U9UE@BB BA*BAAAA"C*CRCCC ?i ? I)G]> * ~ ~  jt:Y T1y @: M6p<,XKhFAY}6H@}6Dd @y}6*g}6L}6H ]@v`? tX)?@M?)~6H@ ~6Ȧ_;I~6CɫII)I IIIY}3?y}F鮅p=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =AM==Y= e?9]Տ@]ϸ: ]:)YWWX XWX:W2W*WVbUBU*UUU]/@BB BA*BAAAA"C*CRCCCסIG >e>9aIeXFie?e=aae%; eE<,ehFAY}6@}6! @y}6=}6d}6Hvc?Ӣ@Ӏ?@Aa?)~6@ ~6d$^;I~4ɫ99)9 9I9Y?y~FxDUSBL response received:!U1,R,499,000,002B2,189,80,80,8F,FF Fpublishing direction and range infoxɰ7> )CIydx?''Hbٱu?MbпZd;?u>u u=)qIqyuS㥛V-Q?u/ݼuuu< u;A)uNAIuC9Aiu\QAquGEA)Å= Å>U<ME=Yi0a$Hy'(<}>Iȩ :ŭ 5? :ŭmHݾ ƭoQ> ?9ƭ\@ǭ^: ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*QZQȞ#@xb JQdx?''Hb2Qx:QbQRuN`?h ڗ @\"?RQP?Pv|S?*2?BQn|? Qd@Q?PY9?PZ9?PQQ@"Q@BB BA*BAAAA"C *C RC C CIG-,>    B:Y U1y : 6#<,}hFAY}:@}:" @y}:{}:}:HX?`T? RqXS?ϡ`[?)~:@ ~:\;I~:Cɫ99)A AIAY}U?y}FmTNmea in: $SNTTA,0.002151,,,,233125.23*42    @ @ @i )IiME=Y=QU>a$Hy;}>I   5? Hݾ W> ?9 @ ; ;) m]iAdded new target pos. range: 3.899999 m, bearing: 66.913437 deg, deltaT: 4.464108 s, approachRate: 0.000000 m/s, LOS rate: 1.618694 deg/s, posRepo size: 4XaWen|?WaXa XiWiXi:Wq2Wq*WqVybUyBUy*UUU?B9B9 B9A=*BAAAAAAAAA"CmDN?RCiCmn|?CqaIiG9> <,XhFA9IFia?\; ȜEɫ髙) IY?yFu[=MuQ=Y}QU}>ya$Hy}>I  : C 5? : Hݾ e]> ?9 h@ : :) :W9W9X9 X9W9XA:WA2WA*WAVAbUIBUI*UIUQUUG(?ByBy ByA}:*BAAAA"CGP?RCCCׁIG>       q:Y y  6) ;9 <5<,/4hFAY}2@}2 @y}20᛽}2}m}2H Z` ? @eq`Uw?}?)~2@ ~2[;I~2Cɫ99)9 9I9Y;?yۖF-^A-^AUֶMUL=Y]QU]>Yaae$HaaymL;}m>Iqu 5?uHݾ u!c> }?9u@u: u:)qWWX XWX:W2W*WVbUBU*UUU@=?BB BA_*BAAAA"C;?RCCCaIqG><, hFAY}:@}:6 @y}:0D}: v}:H`f?f:9`J?Q@?)~:@ ~:Ur_;I~:Cɫ99)9 9I9Y}F?y}F u u u u@ }@ }@qqqiqq q)qIqiqx<MG=YQU>a$HQHy]}>Iȡ :ť 5? :ťHݾ ƥ?i> ?9ƥk@ǥ: ȥ:)ȥ:WWX XWX:W2W*WVbUBU*UUU?BB! B!A%*B!A!A)A)A)"C5<>?RC1C1C9M?iM? IG5 >9IFi?=; E   [ 9~:Y WU1y : | 6) ;JG<,hFAY}2@}2^ @y}2\}21T}2H , z??ƿ|Ӹ?ࡀ6?)~2@ ~2"[_;I~2Cɫ99)9 9I9Y}?y}Fa$HyH;}>IZ 5?UIݾ s> ?9 @8: b:)WWX XWX:W 2W *W V bUBU*UUUM-@BABA BAAEn*BAAIAIAIAI"CU巜?RCQCYCYQIqG>.=,hFAɫyy)y yIyY?yɕF !!)- > ->]mM]P=Y]QUe>aaam$Hiiyu}}>Iȁ :Ņܰ 5? :ŅIݾ ƅ}> ?9ƅ@DžR< ȅw<)ȅ:WiWX XWX:W2W*WVbUBU*UUUf@B B  B A ΂*BAAAA"C:?*CRCC!C1!I1GM1>m T i i m { m w:Yi yi m 69m @X=,shFAY}:@}:4 @y}:Ͻ}:}:H-y`'rh?@@>?jδ@?)~:@ ~:\;I~:CV>9TITiTV=TTV; VEɫ99)9 9I9Y]?y]Faa 5 5 5 5@ =@ =@111i11 1)1I1i1MMMK=YMAQUM>QQaU$HQYy]q=}e>IaeY 5?eJݾ e> u?9e@@e: e':)aWWX XWX:W2W*WVbUBU*UUU@;@RB*** querying acoustic contact ***PPBB BA9*BAAAA"CY?RCCCI]A)]AױIG> =,z4hFAY}2F@}2a@y}2M޽}2`<}2HY|@?? U+*u ˻? ! s?)~2F@ ~2[;I~2Cɫ99)9 9I9Y} ?y}FZ****** received transponder code query ******F****** received ping request ******a$Hy<}>I  ޭ 5? oJݾ > ?9 ڔ@ < <) WWX XWX:W2W!*W!V!bU!BU!*U)U)U-x @BB BA**BAAAA"Cn|?RCCCIG-->e e e e  e :Ye DW1ye Y:e 6j=,UNhFAY}6@}6`@y}6W}6븙}6H 2@G=??By8?@!ί?)~6@ ~6W[;I~4ɫYY)Y YIYY?yFxDUSBL response received:!U1,P 499,000,002B2,189,80,80,8F,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ]AZϼM%G=Y5JQU=>IIaU$HYiyO<}>I9 M:=8 5? :=Jݾ => ?9=@=< =<)=:WWX XW X :W2W*WAVIbUQBUQ*UYUU @BQBQ BQAU*BQAyܱ9ܱIܵȖFiܵ?ܱܱܱܵ; ݵ E)9I9i999=4AAA"C*CRCC CYIG>=,0hhFAY}:A@}:ʬ@y}:-}:u}:H`K`cΗ?a? W¿~:?@@8?)~:A@ ~:`;I~8ɫ99)9 9I9Y}?y}F鮁ɮ=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B &1?+η?{Gz P= v= ף) I y MbV-?~jt?  < < ;A) OAI 7Ai VVA  fFA m m m m@ m@ m@iiiiii i)iIiii}كM}6=YQU>a$H y A<}>I 5?Kݾ > %?9@n: w:)Q]zCiI`Ai)ٺ`A AW)W)X1 X1W1X1:W12W9*WYVYbUYBUa*UaUaUe̙@BB BA*BAAAA"C*CRCCCIG%>| =, hFAY}2@}2@y}2 }2G}2H ?୫?8?@豨ۨ?)~2@ ~2`;I~2Cɫ99)9 9I9Y=?yfFxDUSBL response received:!U1,R,087,000,002C5,187,80,80,2B,FF Fpublishing direction and range info:F񽩰ɰSh=1> ),BIyG@7?g\ٱ-=6only read 3 of 4 data itemsEu<MEa=YM\QUM>QQaU$HYYye[<}e>Ii }:m 5? }:mLݾ mx> ?9mS@m ; m;)m:WWX XWX:W2W*WVbUBU*UUU`@R(Combining 5 samples.P*QG@ZQ&~/@#JQ7?g\2Q:F:QbQ/=2@vH?RQ{Z%4ճ?#++?BQ]@ QD@Q)PN9?PY9?PQQi&@"Q@BB BA^*BAAAA"C*CRCCCIG-->}A yy} }@v:Yyyy}6b&=,hFA(9(I*Fi*a?(((*; *EY}eE3 @}eN@y}e}e{:}eH``8? ?`<@?4yya}$HyyA<}>Iȉō} 5?ōLݾ ƍD> ?9ƍĖ@Ǎ÷: ȍ4:)ȉmmqAdded new target pos. range: 5.039999 m, bearing: 122.081544 deg, deltaT: 4.441161 s, approachRate: 0.256690 m/s, LOS rate: 12.422001 deg/s, posRepo size: 4mmRStopped intercept timer at range: 5.04 m.muProNav REINIT: LOS rate is 12.422001 deg/s. Setting heading cmd to target bearing of 122.081544deg and heading rate command to 0 deg/s.Wu]@WqXq XqWqXy:Wy2Wy*WyVybUBU*UU(@U ?BB BA̓*BAAAA!"C%ǘ?RC)C-]@C)Iy)yYIaG}Y>&,=,"µhFAY}2 @}2C@y}21}2}2Hi`e?i? A- (?>X`0?)~2 @ ~2#^;I~2CɫYY)Y YIYY?yyF ] ] ] ]@ ]@ ]@ ]YYYi]\?Y ]A?)]?I]A?i]A?m;MmZ=YuQU>a$Hy6G<}>I : 5? :PMݾ > ?9'@: :):W!W!X! X)W)X):W)2W1*W9VAbUIBUY*UYUaUe~P?BB BA*BAAAA"C~?RCCCiIqG>  b~:YWU1y:63=,NhFAY}2W!@}2,@y}2%}24}2HmI ϱ?b4?k\jÿ c?K?)~2W!@ ~2?];I~2CɫYY)Y YIYY},?y}FGMP=Y*QU>!!a%$H%RH)y-<}->I15w 5?5Mݾ 5> E?95@5: 5b:)1WaWaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UyUyU}%?BB BA"*BAAAA"Cפ?RCCC IG5 >A9AIEXFiE?AAAE; EE9=,~hFAY}2!@}2W@y}2-+}2`G}2H>α?c3?`O YĿ`X?@+ ?)~2!@ ~2%a;I~2Cɫ99)9 9I9Y}?y}F}&1?bX9?:v?y}E6> }T=)yIyy}I +?Mbp?/$}9<};}, }@A)}dGAI}2Ai}]Ay}FAC;MB=Y_QU>a$Hy}>Iȱ :ŵ¨ 5? :ŵgMݾ Ƶ> ?9Ƶ@ǵ: ȵ:)ȵ:WWX XWX:W 2W*WVbU!BU!*U!U!U%?BB BA *BAAAA"C?RCCC?i?׹IGE>} }}} }~:Y}U1y}:};6@=,TShFAɫ髙) IY?y̒F    @ @ @ @ÙÙÙiÝÙ ĝ)ĝIĝiĝ;MI=YQU>a$Hy}>I 5?Lݾ > ?9M@O; 1;)WWX X!W!X!:W!2W!*W)V)bU)BU)*U1U1U5@J:@BYBa BaAe*BaAaAaAaAi"Cuu"?RCqCqCqiIqG>A 9A IE FiE 1?A A A E ; E EF=,0hFAY}2QL!@}2g@y}2N >}2HW}2H@I@ 1"??`^ƿ?@7~@(h?)~2QL!@ ~2];I~2CɫYY)Y YIYYe?yeFMT=Y?QU>!!a%$H!)y-A<}->I15k 5?5xLݾ 5V> =?95@5I: 5@:)1WWX XWX:W2W*WVbUBU*UUUdn@BaBa BaAeK*BaAiAiAA"C?RCCCׁIG>} }}} }o:Y}T1y}:}6)}U;9>M=, 7hFAY}6a$Hy<}>I  :  5? : Kݾ > ?9  @ : 7:) :W9W9X9 X9WAXA:WA2WA*WAVAbUIBUI*UIUIUUWu@R]B*** querying acoustic contact ***PYPYByB BAS*BAAAA"C?RCCCI׭\A)׭\AסIG >>T=,XPhFAY}6!@}6k@y}6nL}6}6Hr4>??`TʿU?  ;11a=$H99yE);}E>IIM 5?MrKݾ Mo> e?9Mo@My; M;)IWWX XWX:W2W*WVbUBU*UUUY @BB BA*BAAAA"C9I@Fi?=; E  :Y0Y1y:`6);=1Z=,jhFAY}:!@}:s@y}:OP}:Uo}:Hf#?? hɿ?`ò@}??)~:!@ ~:1[;I~:Cɫ99)9 9I9Y}?y}pFxDUSBL response received:!U1,P 087,000,002C5,187,80,80,2B,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 x&?x&?i|?5?7 >7= q=)IyS㥛y&1?aaae$Hiqy}>Iȱ :ŵХ 5? :ŵLݾ Ƶa> ?9Ƶ @ǵj< ȵ<)ȵ:WWX XWX:W2W*WVbUBU*UUUT@BB BAƒ*B!A!A!A!A!"C-5?RC)CICQe?ie?I IQ G} >a=,hFAY}2"@}2t#@y}2X}2}2Ht f{?:?v@ ʿ`?`@0?)~2"@ ~2#`;I~2CɫAA)A AIAY}~?y}{F鮁ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B uM}=Y}ڼQU}?a$Hyo]<}$?I 5? Mݾ hZ> ?9\@: 8:)WYWaXa XaWaXa:Wa2Wi*WiVibUBU*UUUv>@BB BA*BAAAA"CE?RCCCIG (>} }}} }:Y}DW1y}Y:}69@ 9 I НFi E@ = ; )ݑIݑiݑݑݑݕ;P4Bg=,thFAY}68e"@}6@y}6 Y}63}6Ho@?ݍ?]Ϳ?@Ի`?)~68e"@ ~68_;I~6Cɫ99)9 9I9Y?yFxDUSBL response received:!U1,R,01A,000,002B6,183,80,80,32,FF Fpublishing direction and range info޹ɰhc=鰥$> )HBIyz@Rl6?+;Y;ٱMU=YjQU>a$Hyqs<}>I : 5? :Mݾ P> %?9š@R; 4;):WAWAXI XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU]@Rm(Combining 5 samples.Pi*Qmz@ZQmk&E@ʁ JQmRl6?+;Y;2Qm޹:QibQm3̺@Ӏ40?RQmd5VIq?|, >-6only read 3 of 4 data itemsMMM4=YM( QQaU$HQYy].;}]>IT 5?Nݾ C> %?9G@:: :)mUqAdded new target pos. range: 4.140001 m, bearing: 129.834028 deg, deltaT: 4.427025 s, approachRate: -0.203296 m/s, LOS rate: 1.751172 deg/s, posRepo size: 4WU@WQXQ XQWYXY:WY2WY*WaVabUaBUa*UiUm`\@Umn?BB BA؄*BAAAA"Cj@RC 4>C@CI)yIG=>} }}} }lr:Y}V1y}:}6I1 5?EOݾ ;> ?9@: /:)W W X  X W X:W2W*WVbUBU!*U!U!U%@?BB BA܄*BAAAA"C@RCYv=CC I-$-@Hardware Fault in component: DDMG5 >܉9܉I܍Fi܍@܉܉܉܍; ݍE_z=,hFAY}6d!@}6@y}6U}6Hw}6H`k@xʶ??` Zɿ`~?@8??)~6d!@ ~6!G\;I~4>Powering down@ɪ@)@ @Y?yF%㥛 ?~jtx?RQ?%=%; %=)!I!y%I +? rh?a$Hy埼}>I :b 5? :fOݾ A@> ?9@: :):WWX XWX:W2W*WVbU BU *U U U Q?B9B9 B9A=*B9AAAAAAAA"CMu2 @RCM]CICQ9IIG^>} }}}k }1{:Y}Y1y}:}36+h=,hFAY}JJ!@}J@y}JY}J$}JH \d lF?`R?ǿ.? 8"B?)~JJ!@ ~J}_;I~JCYn?yr͑F]A;M=YG6QU ?a$Hy }  ?I 5?zOݾ C> %?9&@: b:)WAWAXA XAWAXI:WI2WI*WIVIbUQBUQ*UQUYU]@?BB BAm*BAAAA"C3S@RCp0CCօE2>AIIGm5>܉ 9܉ I܉ i܉ ܍ =܉ ܉ ܍ m; ݍ МE=,{hFAY}Rƛ!@}RO@y}R*\}R.}RH`!H)?`?JYȿ^?#ZE;?)~Rƛ!@ ~Re;I~RCYZ?y^CFe'z<MmT=YuQUu>yya}$Hyy\)}>Iȉ :ōA 5? :ōOݾ ƍG> ?9ƍd@Ǎw: ȍ:)ȍ:W9W9X9 XAWAXA:WA2WA*WAVIbUIBUI*UIUIUU!@ByB BA<*BAAAA"C@RC󅑽CC֭>8{>ׁI$NClearing failed state for component DDMq G>S   :YU1y:6);9=,19hFAY}6w(!@}6D@y}6J\}6*f}6H e? l? CCɿS?`,v6?)~6w(!@ ~6#e;I~6CYn?yn)F    @ @ @éééiéé ĩ)ĩIĩiĩA ME=YZ:QU>a$Hy}>I 5?Oݾ L> ?9@ܹ: M:)WWX  X W X :W 2W *WVbUBU*UUUo@BB BA*BAAAA"C&@*CRCOCC-J>IG-,>6=,wShFAY}6 @}6Z@y}6|+\}6}6HS Z?@?@oʿFO?`ְ@71?)~6 @ ~6lra;I~6CYB*?yBFDD)R> R=VIMV]=YZD9QUZ>XXa^$H\\yb }b>Id j:f 5? j:fOݾ fO> j?9f@f: f :)f:WWX XWX:W2W*WVbUBU*UUU n@RB*** querying acoustic contact ***PPB9BQ BQAU*BQAYAYAYAY"Ce@*CeRCe!ӳCaCiԝ^Aԝ^Am1>AIQGm>A9AIEНFiEE@E=AAEY; EŜE} }}} }N:Y}W1y}č:}i6)};К=,[mhFAY}2| @}2@y}2u`}2鰽}2H@#`v?Y?@g̿? ?)~2| @ ~2^;I~0YN?yN|FRZ****** received transponder code query ******RF****** received ping request ******Ra$HAyE8}M>IQU 5?UzOݾ UW> ]?9UA@Uӻ: U@:)QWWX XWX:W2W*WVbUBU*UUU@h} @B9BA BAAE*BAAAAAAAAI"CI*CUmRCUCQCQ=T=IG=q>=,+hFAY}J !@}JV(@y}J>d}JbA}JHL ??ϿK? ͼ`=?)~J !@ ~J];I~HYVL?yV FZxDUSBL response received:!U1,P 01A,000,002B6,183,80,80,32,FF ZCommand Ack^BRequesting micromodem ping code 2idhvNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 EmMM=Y]8QUe?qqa}$Hy9^<} ?I ]: 5? ]:NOݾ \> ]?9{@*< <):WWX XWX:W2W*WVbUBU*UUU '? @BBI BIAM*BIAIAQAQAQ"CY*C]9RC]]ACYCaօdO=aIyG^>( } At:YV1y: 69@) 9) I- Fi- @) ) ) - @; - Eߧ=,hFAY}2;!@}2%W@y}2yc}2rC½}2Hx )??`KͿ`v8?_?)~2;!@ ~2\;I~2CYBA?yB|FBa=ɮBa=fNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B uXM}G=Y}g:QU}>a$Hy@;}>Iȑŕ 5?ŕOݾ ƕb> ?9ƕÝ@Ǖo: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU`@BB BA ]*B A A A A "C*CRCS⥽CC -=-=i<?i?שIG=F =,zhFAY}R!@}R6-@y}RYg}RBe}RHi@͹?? c7MʿQ?@꫿P#?)~R!@ ~R.\;I~RCY^?y^rFIj=)j= % % % %@ %@ %@!!!i!! !)!I!i!5<M5O=YKQU>a$Hy˻}>I< 5?Nݾ Ui> ?9 @< <)W1W9X9 X9W9X9:W92WA*WAVAbUABUA*UIUIUMv@BB BA*BAAAA"C*CRCCC!סIG >} }}}_ }n:Y}T1y}:} 6=,hFAY}f $!@}f?@y}f̯e}f&}fHU?D?X"ɿ`x?W`&,?)~f $!@ ~fz\;I~fCYr?yrEF~TNmea in: $SNTTA,0.028190,,,,233138.52*4D FMK=YF;QU%>!!a%$H%TH)y-u>;}5>I9 =:= 5? E:=Nݾ =vo> E?9=Q@=: =^:)=:WaWiXi XiWiXi:Wi2Wq*WqVqbUqBUy*UyUyU}5F@B!B! B)AM *BIAIAIAIAQ"CQ*C]RC]G֩CYCY}.>9IНFiE@=; E)YIYiYYY]G4YIG@>=,khFAY}RI!@}Rhe@y}R`}RT}RH%j_???`q@q+ǿw?9wa:?)~RI!@ ~R[;I~PY^T?y^F`b?A]?X9vˡE?]<] ]=)YIYy]Mb`?~jtx?{Gz?];];]#< Y)]PAI]v.Ai]kAY]=JA(MC=YRi}nGIa$H iQ޿ٺOAy;}>IȹŽn 5?ŽNݾ ƽ t> ?9ƽi@ǽ: Ƚ:)ȹW W)X) X)W)X1:W12W1*W1V1bU9BU9*U9U9U=@BB BA*BAAAA"C*C᧲RC룽CC7yI]A)]A׹IGE>,  t:YU1y:i6=,rhFAY}Fw!@}F:@y}F(3_}F^K}FH7i??@ڊǿ?@:?)~Fw!@ ~F[;I~FCYR?yRF \\ E M M M@ M@ M@IIIiII I)IIIiI]-`;M]N=Y] ;QUe>aaae$Haiym*;}u>Iy :}I 5? :}Nݾ }w> ?9}{@}=: }(:)}:WWX XWX:W2W*WVbUBU*UUU`Ȉ@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*C3RCœCC짽ױIG= 9 I Fi E? C; EZ2=, a"hFAY}J"@}JI@y}Jb}Jn}JH@gq3m? 8?@"ʿ #? *?)~J"@ ~J[;I~JCYjT?yjF~mbM~P=Y~QU~>a$H y d<} >I 5?Nݾ {> %?9@^: :)WWX XWX:W2W*WVbUBU*UUU/@BABA BAAE*BIAiAiAiAi"Cq*CuߗRC}DCyCy֙yIG=>u uuu  u݁:Yu0Y1yu:uq 6)u;9}Y=,w0Powering up>"Initializing DDM.Y?yŏF!ɮ!Ex<MEF=YE>QUE>IIaM$HIQyUT<}U>IY e:] 5? e:] Oݾ ]> m?9]@]: ]:)]:WWX XW1X1:W12W1*W9V9bU9BU9*UAUAUE`&@BB BA@*BAAAA"C*CCRCsCC >>?i?סIG&>A=, VhFAYU?y]FIm=)m%=    @ @ @ùùùiùù Ĺ)ĹIĹiĹU MB=YQU>a$Hy}>Iɝ 5?%Oݾ > ?9@< <)WWX XWX:W2W*WVbUBU*UUUx@BB BA*BAAAA"C*CzRCuvCC܉9܉I܍@Fi܍?܉܉܉܍>; ݍE_ⅽI GUS>}a }}} }x:Y}U1y}:}W6)}/;i=,ohFAY}6d#@}6+@y}6 a}6M}6H1 >{? P)RLBIPyRERl?yqҿٱPl?~jt?Zd;O?== j<)Iy{Gz?Zd;?Qף<y=u ?A)NAIiIjAIA-<M-E=Y-A11a=$H99yE<}E>II U:M 5? u:MOݾ M~> u?9M@M; M;)M:WWX XWX:W2W*WVbUBU*UUU'@R(Combining 5 samples.P*QEZQɼ@?JQl?yqҿ2Q𭕾:QbQ+1k3#)`@}@RQ/S$ٿ[9'^?Ue|?BQ_? QDQWP|9?PP靿QQ@C"Q1.@B9B9 B9A=*BAAAAAAAAA"Ci*CmdRCu:CqCqօpuYIaGY>R=,hFAY}J #@}J@y}Jqca}J}JH`:??*f;ʿU?`F`)?)~J #@ ~J1=[;I~JCY^?ybWFu =MuW=Y}`QU}>yya$Hyu<}>Iȑŕ 5?ŕ)Pݾ ƕ y> ?9ƕb@Ǖ%: ȕ:)ȑmAdded new target pos. range: 2120.760010 m, bearing: 114.581717 deg, deltaT: 7.291018 s, approachRate: 290.305145 m/s, LOS rate: -2.091932 deg/s, posRepo size: 4W_?WX XWX:W2W*WVbUBU*UU @U?BB BA*BAAAA"C%@RC%w$C%_?C)99-JMI1)1IG>} }}} }C:Y}WU1y}:} 69@m >9i Im Fim E?i i i m F; m E~=,ÞhFAY}2$@}2-9@y}2W`a}2}2H-??`Tʿ?@I*?)~2$@ ~2>[;I~2CYN?yNŏF  U U U U@ U@ U@QQQiQQ Q)QIQiQe%MeK=Ym7QUm>iqau$Hqqy}Ɓ<}}>IȁŅ 5?ŅPݾ ƅEs> ?9ƅ7@Dž: ȅ:)ȁ;% w-Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;5wMdResuming normal ranging with 1.000000 count pings.;M1p=,HnhFAY}V U$@}Vp@y}V`}V9a}VHAǫ`挻??v2ɿE? '/?)~V U$@ ~V [;I~VCYjR?yn_F    @ @ @ÑÑÑiÑÑ đ)đIđiđIJ=MF=Y:QU>a$Hyp<}>I : 5? :=Qݾ m> ?9@E: <):Xm?1CiCqM;!I1GM1>}R }}} }w:Y}X1y}/:}6n=,NhFAY}6?$@}6@y}6'_}62}6H&jm?`?ɿ? v,?)~6?$@ ~6Z;I~4Yf?yfrF}M}M=Y};QU>a$HUHy<}>Ișŝ 5?ŝQݾ Ɲg> ?9Ɲ@ǝ/: ȝ:)șWWX XWX:W2W*WVbUBU*UUUB?BB  B A *B A AAA"C@RC~Gv>CC! -=-=mz5?; 5E=,b1hFAY}eM1%@}eL@y}e\7Y}eR}eH ژ v=?`?9ʿ?e+?)~eM1%@ ~e[;I~eCY}?y}FI4=)On?MbX?S㥻?>J> /=)Iy~jtx?Q?Mb;\= ?A)‰I,AikAIA % % % %@ %@ %@ %!!!i%z?! %?)%?I%?i%?=F=M=1=Y=MAAaM$HIIyUur<}U>IY e:]m 5? e:];Rݾ ]Dc> e?9]g@]v: ]:)]:WWX XWX:W2W*WVbUBU*UUUS@BB BA *BAAAA"CKV?RC >CCD%K=יIGA>} }}} }}:Y}WU1y}:}{6ן>, hFAY}69%@}6@y}6JP}6{ν}6H/B_?+s?@g˿@?@E.?)~69%@ ~6[;I~4YR?yR֑F=M=r=YE e?9]ȣ@]b: ]{:)YWWX  X W X :W 2W *WVbU1BU1*U9U9U=@0@BB BAi*BAAAA"C?RCCChp=סIG  9 I НFi E@    9;  E)ݡIݡiݡݡݥ=ݥ{84]>,$hFAY}VU&@}Vp@y}VD}V8~}VH`VE ?U?@<`Dɿ [n?= I?)~VU&@ ~V+2[;I~VCYf?yfFhj@AMN=Y a$H!y-<}->I9 E:= 5? M:=Rݾ =[> M?9=;@=H@; =eA;)=:WWX XWX:W2W*WVbUBU*UUUA@RB*** querying acoustic contact ***PPBB BA*BAAAA"CUPf?RCQCYCYm]AiM=IQ)QIG5 >inGIi)UyٺQUA}u }}} }ez:Y}Y1y}:}6)};9>,>hFAYn?yr1FrZ****** received transponder code query ******rF****** received ping request ******va$Hy}>IȹŽ 5?ŽkSݾ ƽW> ?9ƽ@ǽU: Ƚӻ:)ȹWWX XWX:W2W*WVbUBU*UUU` @B!B) B)A-D*B)A)A1A1A1"C=?*C=9dRC9C9CA=IG$>1>,tXhFAY}JY&@}J@y}JJ;}Jr}JHNar?`/?H ǿ 9[?O2\?)~JY&@ ~JD[;I~HY^r?y^KFfxDUSBL response received:!U1,P 14F,000,08C83,186,80,80,33,FF fCommand AckjBRequesting micromodem ping code 2ihhrNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  =MG=Ya$H!QyU-<}U>Ia :eo 5? :eSݾ ezS> ?9e.@eC < e<)e:9IFi@ EWaWX XWX:W2W*WVbUBU*UAUIUM@ @BB BAу*BAAAA"CY?RCCC =>8>?i?j  y:Y0Y1y:6);IG >I >,{rhFAY}b&@}bh@y}b43}bL}bH@*T@hP?o;?@sCĿS?-`Xx?)~b&@ ~buZ;I~bCY ?y 8Fɮ5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B %q= ףp?MbA`"?%k>%@ %Y=)!I!y%Mb?:v?Mbp?%=%<%; %)1a5$H11y=㮺}=>IAE 5?ESݾ E"W> M?9E@E#: Eo:)AWqWqXq XqWqXq:Wy2Wy*WyVybUyBU*UUUR<@BB BAq*BAAAA"C?RCCC\>סIGB>">,aRhFAY}J&@}Jn@y}Jw(}J^P}JH@ui "?@ ;?@Wbÿ 9? 𾩿`?)~J&@ ~J[;I~JCY^?ybAFfxDUSBL response received:!U1,R,3DC,000,002B4,189,80,80,B2,FF jFpublishing direction and range infob\`ɰbb=b7> `)b2CI`yb@b'{$?UPKٱ`Ip=)=u:Ms=Y%&=QU%?!)a-$H)1y5;}?I 5?Sݾ Y> ?95@; 9;)W9W9X9 X9W9X9:WA2WA*WAVAbUABUI*UIUIUm @Py*Q}@ZQ} ʭV@A kJQ}'{$?UPK2Q}\:QybQ}h|V$H?㡵@W?RQ}ۺk-?n;??o^?BQ}Y? Q}}@Q}D>P}U9?P}|9?P}Q}靿Q}@"Q}@CBB BAm*BAAAA"C9?*CЎRCCC)>IG%>}X }}} }x:Y}WU1y}:}69@ܩ 9ܩ Iܭ НFiܭ E@ܩ ܩ ܩ ܭ 7; ݩ =)>,>hFAY}V?'@}Vf[@y}V8!}V=}VH@zӛ? 2*? ÿq? \?)~V?'@ ~VBZ;I~VCYf?yf\F5DNmea in: $SNTTA,,,,,233145.79*52 =M;=Y  a$Hy?1<}>I! -:%Q 5? -:%Sݾ % ]> -?9%@%: %:)%:m]yAdded new target pos. range: 4.020000 m, bearing: 85.204137 deg, deltaT: 4.427635 s, approachRate: -478.074646 m/s, LOS rate: -6.635050 deg/s, posRepo size: 4W]Y?WaXa XaWaXa:Wi2Wi*WiVibUiBUq*UqUuz@Uu@?BB BA*BAAAA"CD ?RCCY?Cֽ>יIGH>0>,hFAY}^%6'@}^Q@y}^W}^6{}^H @+'?@4?¿4??x?)~^%6'@ ~^Z;I~^CYn[?yrxF    @ @ @i )IiMK=Y  a $H VHy}>Ișŝ 5?ŝSݾ Ɲ `> ?9ƝL@ǝ˵: ȝ:)ș:uAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;vZEntering USBL mode with 5.000000 count pings.1;q;%WIWIXQ XQWQXQ:WY2WY*WYVYbUaBUa*UUU?B B BAW*BAAAA"C%?RC!CACIU>1I9G]v> zzi lr:YQ1y:6 *6>,hFAY}6"'@}6>@y}6D}62-}6H`>@mβ?>?6 ?Rj?)~6"'@ ~6Z;I~4YB?yBnF  ==MEX=YEj(IIaM$HIIyUNX}U>IY e:] 5? e:]Sݾ ]b> m?9]ŧ@]: ]:)]:X@q;uCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:uAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLWWX XWX:W2W*WVbUBU*UUU@?BB BA*BAAAA"C?RCCC}>9yI}Fi}E?yyy}A; }EIG$>WU<>,غhFAY}J('@}JD@y}J }Jhۼ}JH D\U?>?ɮ@]?7?)~J('@ ~J$d[;I~JCYn?yn-F](\?Q? rh?]z>]< ]C<)YIYy]?y&1?Mb]<]`e<] ]l=A)]NAI]t3Ai]Q`AY]GA    @ @ @ùùùiùù Ĺ)ĹIĹiĹG=M4=YM;QUM>QQaU$HQYy]Y:}]>Iae 5?eGSݾ e`> u?9e6@e': er:)aWWX XWX:W2W*WVbUBU*UUU ?BB BA=*BAAAA"CE8&?RCICICI ]>]=] >1IAG]v>} }}} }o:Y}WU1y}:}6, hFAY}:R'@}:xn@y}:¼ }:u[}:H࢈í? 3?`;P*?+Z?)~:R'@ ~:#[;I~8Y}?y}mF5ɼM=T=Y=$/AAaE$HAIyM;}M>IQ ]:U 5? ]:USݾ U~^> e?9U@U(: UV:)U:WWX XWX:W2W*WVbUBU*UUUC/@BB BA*BAAAA"Czy?RCCC 1IAGYU >9Q IU xFiU ?U =Q Q U r; U ӜEfI>,k'hFAY}:5'@}:@y}:J)}:Lʽ}:H`i Z?`J*?Jq#Ŀ?` M?)~:5'@ ~:F[;I~:CY^h?y^FI5=)5=}.<M}W=YIa$Hy;}>Iȩŭ„ 5?ŭRݾ ƭ\> ?9ƭ@ǭN; ȭ;)ȩWWX XWX:W2W*WVbU BU *U U U F@BB BAT*BAAAA"C?RC CC I1GU>  0}:YU1y:6);9MP>, GAhFAY}6\m'@}6@y}6c}6ʽ}6H` xk?6? ф\ÿ ?)!?)~6\m'@ ~6];I~6CYB?yBFDFAA % - - -@ -@ -@)))i)) )))I)i)=;M=O=YE_AAaE$HIIyM;5}U>IQU׃ 5?URݾ UY> e?9UH@U: U:)QWWX XWX:W2W*WVbUBU*UUUc@RB*** querying acoustic contact ***PPBB BAL*BAAAA"C?RCCCI)IG =xV>,[%[hFAY}2X8'@}2S@y}2l*轙}2yf}2H@5?xK?]?!f?`d?)~2X8'@ ~2e\;I~0Y>,?yBҖFBZ****** received transponder code query ******FF****** received ping request ******F~qM~N=Y;QU >  a$HyW}>I) :- 5? :-Rݾ -V> ?9-@-6< -Q<)- :W>9I@Fi?d; ̜E)Ii==5WXq XqWyXy:W2W*WVbUBU*UAUIUM@>S @BB BAb*BAAAA"C?RCCC׹IGE>} }}} }#:Y}V1y}:} 6)}; t> i nGI i % ٺ! % Ad\>,thFAY}6CO'@}6j@y}6ؔ콙}6h{}6Hf=?A?`D(¿ǁ?⵿ 5?)~6CO'@ ~6[;I~6CYN?yR?FVxDUSBL response received:!U1,P 3DC,000,002B4,189,80,80,B2,FF VCommand AckVBRequesting micromodem ping code 2iTTIX)ZA^Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 tt RQ?/$)\(? = 1 Ga=) I y {GztX9v?~jth ף < D C9A) \QAI 5Ai XA  FA%/<MM!=YM)QUM>QQaU$HQYy]3;}]>Iae 5?e=Sݾ eS> ?9e(@e: e :)aWWX XWX:W2W*WVbUBU*UaUaUm @B!B) B)A56*B1A9AyAA"C?RCCCבIG>c>,s؎hFAY}:ph'@}:@y}:I潙}:7}:HX@i'?;?Ōv¿?/\?)~:ph'@ ~:[;I~:CYF?yJmFJp=ɮHZNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }VM=Y ?9ƭw@ǭ8; ȭa>;)ȭ :WWX XWX:W2W*WVbUBU*UUU5@BQBi BqAu*BqAqAqAqAy"C}?*CRCCCIIQGu>} }}} }q:Y}U1y}:}E69@ >9 I xFi ? = ; Ei>,hFAY ?y FxDUSBL response received:!U1,R,361,000,002B5,188,80,80,99,FF Fpublishing direction and range info ,>A ɰ c= > ) CI y @ ,N?P,ٱ =DM=O=YEQUE>AAaM$HIIyU}U>IY] 5?];Tݾ ]#O> e?9]۪@]: ]:)YWWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q@ZQ|&@`yG]JQ,N?P,2Q,>A:QbQPk/¿J#@jrm?RQ.&?%u?BQ? Q@QPT9?PU9?PQQ@"Q@BB BA'*BAAAA"CY?*CRCCCIG=ep>,hFAY}NF'@}N@y}Nɽ}N i}NH`W@Ÿ? q$?;),?`q?)~NF'@ ~N[;I~NCYjh?ynFMTNmea in: $SNTTA,0.037466,,,,233150.22*46 IC=)4=ed=M1=Ye a $H WH y;<}>I %:Q 5? %:Tݾ L> -?9Q@: :) :m]iAdded new target pos. range: 4.080000 m, bearing: 92.052993 deg, deltaT: 4.417268 s, approachRate: 0.013583 m/s, LOS rate: 1.550473 deg/s, posRepo size: 4W]?WYXY XYWYXY:Wa2Wa*WiVibUiBUi*UiUuQ@Uu?BB BAT*BAAAA"C)?RCC?CIG(>}- yy} }t:Yyyy}r6Xv>,]jhFAY?yF-M=Y=YEQUE>QQa]$HYiyu}}>ܵ>9ܱIܵ Fiܵ?ܵ=ܱܱܵ; ݵEI 5?uUݾ J> ?9@{; ;)WyWyXy XyWyXy:W2W*WVbUBU*U)U)U-@u?BqBy ByA}*ByAyAyAA"C?RCCCׁIG=>9|>, QhFAY?yF5~jt?i|?5Mb5>5q 5)1I1y5a$Hy}>Iȹ :Ž 5? :ŽjUݾ ƽ#\> ?9ƽ@ǽ : Ƚ :)Ƚ :WWX XWX:W2W*WVbUBU*UUU ?B B BA*BAAAA"C%?RC!C!C)IG%M>  8s:YW1yč: 6G؃>,\ hFAY}2}'@}2w@y}2﻽}2V}2H`*k̜? k??Nu?@Q?)~2}'@ ~2C[;I~2CYNe?yRF  ]HM]x=Ye1 ?9}'@}M: }8:)yWWX XWX:W2W*WVbUBU*UUU^?BB BA*BAAAA"C*CRCCCI!Gu=ܙ9ܙIܝFiܝa?ܙܙܙܝ; ݝEn>,)hFAY}2 q'@}2@y}2}2y}2HrX?PC?`X@ʷ?a?)~2 q'@ ~2kZ;I~2CYN?yRF=KM=L=YEVQUE>IIaM$HIQye!}e>Iqu} 5?uTUݾ uz> ?9uc@uc< uX ;)qWQWYXY XYWYXY:Wa2Wa*WaVabUiBUi*UqUyUR_@BB BA%=*B!A!A!A)A)"C1*C1RC9C9CA}?i}?IIQGm>}W }}} }x:Y}[1y}ݏ:}D6)};9F>,ChFAY}:M{'@}:ז@y}:*½}:yC}:H`@dl`g?>?`j8`a$Hy:}>I :Q} 5? :GUݾ > U?9@< ڗ<) :WWX XWX:W2W*WVbUBU*UUU @@BB BAS*BAAA!A!"C)*C)RC)C)CQ)I1GU>w>,]hFAY}B'@}BA@y}B<˽}BO@}BH c@h`? 7?6 H\? ]駿?)~B'@ ~B/[;I~BCYN?yRFPPI^R=)^=?;MJ=Y2QU>a$H!a9aIeȖFie?e=aae; eEy:}>I| 5?:Uݾ > -?9@; #;)WWX XWX:W2W*WVbUBU*UUU.@RB*** querying acoustic contact ***PPBB B!A%L*B!A!A!A)A)"CI*CIRCICQCQAIQGm5>} }}} }r:Y}DW1y}Y:}6)}f;@>,pwhFAY}6uv'@}6@y}6ҽ}6 _}6H-@r&?;? kX P?ȫ@x?)~6uv'@ ~6e[;I~6CYB?yBFFZ****** received transponder code query ******FF****** received ping request ******F}h= }=)yIyy}{Gzt?+?AAaE$HAIyM+)}>Iȑ :ŕ{ 5? :ŕUݾ ƕ3> ?9ƕ_@Ǖ#: ȕ:)ȕ:WWX XWX :W 2W *WVbUBU*UUUS; @BaB BA|*BAAAA"C*CRCCCI)\AסIG!>i*>,xhFAY}%'@}%@y}%Skݽ}%jze}%H=j`?>.? e?@d?)~%'@ ~%>Z;I~!Y=?y=gFExDUSBL response received:!U1,P 361,000,002B5,188,80,80,99,FF ECommand AckEBRequesting micromodem ping code 2iAAUNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )Õ= Õ= } } } }@ @ @yyyiyy y)yIyiy M 0=Y35QU>AAaE$HAQy]Zz;}]>IȁŅrz 5?ŅqVݾ ƅ> ?9ƅ@Dž8: ȅʽ:)ȁW1W1X1 X1W1XA:WI2WI*WIVIbUQBUQ*UQUQU(@BB BAƃ*BAAAA"C!*C!RC!C)C1yIG>191I58Fi5?1115; 5E)чIчiчՇ=чՇ5u] uuu u{x:YuWU1yu:uW6)u;P>,DhFAY}6'@}6@y}6齙}64}6H`@X@Ǒ? ?<9!`%?`C?)~6'@ ~6=Z;I~6CY^?y^_F`ɮ`rNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B "Mw=YAQU?a$Hy:A<} ?I :y 5? :Vݾ > ?9_@: :):W!W!X! X)W)X):W)2W)*W1V1bU1BU1*U9U9U=@;@BaBi BiAm1*BiAiAiAqAq"Cy*CyRCyCyCyiNmGIIi 5޿ٺ15mAG]>r8>,~hFAY}J (@}JA'@y}J}Jdg}JH@:D5?@?@D?ȧ?)~J (@ ~JPZ;I~JCYZ?yZFbxDUSBL response received:!U1,R,3DA,000,002B4,189,80,80,AC,FF fFpublishing direction and range infobGF\`ɰbb=b7> `)b,CI`yb@bUG9n?9Bٱ`BؼM Y=Y gQU >a$HXH!y%)<}%>I15x 5?5rWݾ 5> E?95ڮ@5; 5;)1WqWqXq XqWqXy:Wy2Wy*WVbUBU*UUUu@R(Combining 5 samples.P*Q@ZQjS+@y aJQUG9n?9B2QGF\:QbQXe?K@N-h?RQ8Bݮ?P'?N@?BQmH? Q~@Q&x>PPT9?PQQ@"Q@BB BA*BAAAA"C*CRCCCU?iU?)I1GU>  i:YDW1yY:i69@Je>,hFAY}}&(@}}GB@y}}u}}$`}}H`x`<0?` ? I?HëR?)~}&(@ ~}Z;I~}CY?yF9Ii; EDNmea in: $SNTTA,,,,,233154.69*53 sh|??y&1Mb)>`e )IyMbpQ?y&1|\=` l=A)NAI7AiXA3GA¡¡ m m m m@ m@ m@iiiiii i)iIiii}=M}=Y QU>a$HyQ;}>Iș :ŝw 5? :ŝ;Xݾ Ɲ > ?9Ɲm@ǝr; ȝf;)ȝ:mqAdded new target pos. range: 4.020000 m, bearing: 86.517931 deg, deltaT: 4.441395 s, approachRate: -0.013509 m/s, LOS rate: -1.246244 deg/s, posRepo size: 4WmH?WX XWX:W2W*WVbUBU*UUz@U`p?BB B!A%*B!A!A!A!A!"C-?RC)C5mH?C1I!G=Q>>,hFAY}6(@}68@y}6`}6Xk}6H@`pD`e??`@r?` ?)~6(@ ~6zZ;I~6CYB&?yBDF u u u }@ }@ }@qqqiqq q)qIqiq؍M=YQU?a$Hy}?Iȩŭ%w 5?ŭXݾ ƭ> ?9ƭį@ǭ: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU).?B)B1 B1A5*B9A9AAAAAA"CMp?RCICICQ1IAGe=} }z}z} }Dp:Y}Q1y}:}6t>,ɯhFAY}6['@}6@y}6(}65\}6H`Q@5??\@¿ }2?@G@?)~6['@ ~6[;I~6CYb?ybFDDMI=Y̼QU>a$Hy[}>Iȱŵdv 5?ŵNYݾ Ƶ> ?9Ƶ7@ǵ: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUU?B!B) B)A-C*B)A)A)A1A1"C=E?RC9C9CAII)M]AiIyG=9Ii=; E>,,hFAY}:'@}:@y}:x"}:<}:H@ b@F?`N?` FĿ I?` ?)~:'@ ~:I[;I~:CF`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ  )  IYM=?yMF)ý= ù    @ @ @ i=? ?)l?IA?il?<M=YEQU>!a$Hyy}>Iȱ :ŵeu 5? :ŵZݾ Ƶۋ> ?9Ƶΰ@ǵZ: ȵ/:)ȵ:WWX XWX:W2W*WVbUBU*UUU`$?B!B! B!A-*B)A)A)A)A)"C5mH?RC1C9C9IAG]v>  {:YWU1y:6@>,iFhFAY}F'@}F=@y}F&}F]}FH c=?3?`#cÿ?X?)~F'@ ~FZ;I~FCɫyy)y yIyY?y!FuM}=Y}FQU} ?a$Hy»}?Iȑŕt 5?ŕZݾ ƕf> ?9ƕ$@Ǖ: ȕ@:)ȑWWX XWX:W2W*WVbUBU*UUU`|@BB BA*B A A A A "C*CRCCCIG>d>,P`hFAܕ>9ܑIܕȖFiܕ?ܕ=ܑܑܕ; ݕEY}e'@}e( @y}e.}e 6}eH DiL?`?> ¿ U?H DŽ?)~e'@ ~e,[;I~aɫ髙) IY:?y>F?A}y&1x&?}̼}` }7=)yIyy}Q?~jtQ}u<}ļ} }a$HyL<;}>Iȹ :Žt 5? :ŽYݾ ƽ> ?9ƽ@ǽI: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PPB!B! B!A-߅*B)A)AQAQAY"C*CRCCCץ?iץ?׹I'  -t:YDW1yY: 6)0;9 GM >H>,.zhFAY}:s((@}:C@y}:T<}:}:Hܿ $0@? q?j -¿p? `s?)~:s((@ ~:p`;I~:Cɫ99)9 9IAY]_?yeFeZ****** received transponder code query ******mF****** received ping request ******m 5?9%@! %:)!WWX XWX:W2W*WVbUBU*UUU .9@BQBQ BQAUV*BYAYAYAYAY"Ca*CaRCCCׁIG>>>,MhFAY}6(@}66#@y}6J}6?jμ}6HDwAܿ?B?` sÿ +?K}]?)~6(@ ~6g;I~6Cɫ99)A AIAY}6?y}؎FxDUSBL response received:!U1,P 3DA,000,002B4,189,80,80,AC,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }ɼM^=YjQU >a$Hy}>I :u 5?  :\Xݾ  t> 5?9d@E; ;):WWX XWX:W!2W!*WVbUBU*UUU@T @BIBI BIAM*BIAQAQAQAQ"CY*CYRCYCCׁIGc>܁9܁I܅Fi܅a?܁܁܁܅r; ݅ԜE}q yy} }z:Yyyy} 6)}I;>,ҭhFAY}6V'@}6@y}6ԳU}6s}6Hq}Hx?`? ǿ`?,ͭ@@?)~6V'@ ~6A-h;I~6Cɫ99)9 9I9Y}E?y}F鮉ɮp=MNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ] e e e@ e@ e@aaaiaa a)aIaiaup:Mu4=Yu¼QU}>yya}$Hyy!}>Iȑŕ7u 5?ŕWݾ ƕMi> ?9ƕײ@Ǖ: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU`^ @BB BA*BAA A A "C*CRCCCI))-\AaIiG9>>,ѮhFAɫ髙) IY?y"FxDUSBL response received:!U1,R,1DD,000,002C2,187,80,80,2A,FF Fpublishing direction and range info* վɰWg=1> )(BIy@S>vD?^ٿٱ ؼMd=YQU>a$HYHy}>I :Qu 5? :Vݾ _> ?9=@R; ;):WWX XWX:W2W*WVbUBU*UUU@Ys@R(Combining 5 samples.P*Q@ZQӞѫ@]DqJQS>vD?^ٿ2Q* վ:QbQPՒ2chE@7E?RQֿW ?#YkD?BQ8? QR@QT߿PO9?PPQQ5@"Q@BB BA*BAAAA"C*CRCCCIGI> w Wr:Yy|69@)>,0hFA)9)I- Fi-?)))-X; -ƜE)1I1i15=5=54Y}u''@}u@y}uP,\}u}uHZ@=?a$Hy;}>Ivu 5?Uݾ =T> ?9@q: >)m%mAdded new target pos. range: 4.860001 m, bearing: 111.557814 deg, deltaT: 4.120719 s, approachRate: 0.203848 m/s, LOS rate: 6.076581 deg/s, posRepo size: 4W%8?W!X! X!W!X):W)2W)*W)V)bU1BU1*U1U5p@U]@N?BB BA4*BAAAA"C!?RCC8?CIGm>QYi/mGIi = ٺ9 E QA(>,chFAɫ髙) IY?ytF    @ @ @ÑÑÑiÑÑ đ)đIđiđ=Mp=YQU?)a5$H19y=}=>IAEu 5?ESUݾ EK> }?9E @E; ES?)AWWX XWX:W2W*WVbUBU*UU)U-r?BB BAɅ*BAAAA"Cz?RCCC?i?IG-N>}i }}}v }py:Y}WU1y}:}`6?,W?hFAY}6'@}6@y}6Bk}6X'Ӽ}6HhlkX?ء?Seƿ[/?@5`%?)~6'@ ~6/7b;I~6Cɫ99)9 9I9YE?yFI%4=)!=c<M=Q=Y=QUE>AAaE$HAIyMN}U>IY]u 5?]Tݾ ]A> e?9]@]h: ]?)YWWX XWX:W2W*WVbUBU*UUU!9!I%xFi%?!!!%V; %ŜE: ?,&/hFAY}J(@}J.@y}Jx_t}J }JHt`UN?@Q?vȿ A?R@1?)~J(@ ~J`;I~JCɫYa)a iIiY?yF    @ @ @áááiáá ġ)ġIġiġu;MC=Y"QU>a$Hy<}>I :u 5? :Sݾ W7> ?9@: ?):WWX XWX:W 2W *W VbUBU*UUUW?BaBa BaAm*BiAiAiAqAq"C}>?RCCCIG+>}_ }}} }:Y}DW1y}Y:}`6"?,HhFAY}6Q(@}6m@y}6u}6e~}6H H`W?ui?p˿@j? ?)~6Q(@ ~6vy^;I~6 Cɫ99)9 9I9Y},?y}4FMU=YYQU>!!a%$H!)y-.$<}->I15u 5?5#Sݾ 5-> =?95_@5: 5?)1WWX XWX:W2W*WVbUBU*UUU@&?B!B! B!A%*B!A)A)A)A)"C5?RC1C1C9II)M]A)I1G>2P?,LbhFAY}NS(@}N~o@y}NXuu}Nٕ}NH>]b3?i?;˿c?@-@{?)~NS(@ ~N\;I~NC`9`Ib@Fib?```b\; bȜEɫ髱) IY?yNF YYa ia i a ma m a qa q a ea e i|?5?&1/$q=P ,)IyMbPMbP?MbP?:: DA)OAIK/AilALA5ww=M59=Y=6:QU=>9AaE$HAIyUO9}U>Iimu 5?m-Sݾ mD.> }?9me@m;; m$5;)iWWX XWX:W2W*WVbUBU*UUU U@BB BA*BAA!A!A!"C5(Y?RC1C1C9׹IGE>} }}}L }p:Y}V1y}:} 6)}:;9qx?,|hFAY}6'@}6!@y}6v}6_d}6HUY3?ܖ?@ Wʿ/?Ŵ?)~6'@ ~6[;I~6Cɫ99)9 9I9Y].?y]Fae@A    @ @ @i )Ii- M-^=Y-QU->11a5$H19y=H}=>IA M:Eu 5? U:E6Sݾ E.> U?9Ej@E: Eo:)E:WqWyXy XyWyXy:Wy2W*WVbUBU*UUU9@RB*** querying acoustic contact ***PPBB BA"*BAAAA"Cb.?RCCCIG>/a%?,ThFAY}2'@}2E@y}2v}2y}2H HWa$Hy}>Iu 5??Sݾ .> ?9o@< <)WWX XWX:W2W*WVbU!BU!*U!U!U%P @BQBQ BQAUR*BYAYAYAYAY"Ce8?RCaCaCiׅ?iׅ?aIqG>9IFi@=_; ʜE}v }}} }yz:Y}U1y}:}6)};d+?,kchFAY}'@}@y}Yp}z}H`]@??@?`@zT̿S? 洿?)~'@ ~^;I~ɫ) IY5?y5F=xDUSBL response received:!U1,P 1DD,000,002C2,187,80,80,2A,FF =Command AckEBRequesting micromodem ping code 2iAAMNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)= m m m u@ u@ u@qqqiqq q)qIqiq5 <M5=Y=Ra$Hyxx;}>Iȑ :ŕu 5? :ŕKSݾ ƕ#/> ?9ƕv@Ǖr; ȕ;)ȕ:W W X  X W X :W 2W*WVbUBU*U9U9U=`U @BB BA)*BAAAA"C*CRCCCI)GM>p2?, }?9uz@uI: u4:)qWWX XWX:W2W*WVbUBU*UUU@BB BAф*BAAAA"C*CRCCCבIG >K m  w:YDW1yY:j69@8?,]hFA<9=<<>; >EY}5|.'@}5J@y}5h\}5דh}5HE@|Bȼ??`} ]ȿe?` bJ5?)~5|.'@ ~564\;I~5CɫQQ)Q QIYY?yFxDUSBL response received:!U1,R,D2B,000,002C2,18A,80,80,21,FF Fpublishing direction and range infop!?ɰ鰝> )BIyb.wd?3?ٱdNmea in: $SNTTA,0.050127,0.285078,,,233203.20*5E ]&1?~jt?I +?]=]< ]94<)YIYy]~jth?{Gz?Mb]D;]#=] ]A>A)]SAI],Ai]mAY]JAuI;Mu9=Y}ya$HyD}>Iȑŕt 5?ŕSݾ ƕ'> ?9ƕ @Ǖ: ȕ:)ȑWWX XWX:Wi2Wq*WyVybUBU*UUU"@R(Combining 5 samples.P*QZQAZ@x@JQb.wd?3?2Qp!?:QbQyg-HT,S?g{?RQ%ba<aP?KTw?BQ+@@ Q*?QPG9?PO9?PQQM!@"Q5@B B BAń*BAAAA"C!*C)RC)C)CAIQ)QAIqG_>">?,8hFAY}6&@}6@y}67+X}6|c}6H* `?a?@/Ŀ`#?͋^I?)~6&@ ~6כ[;I~6CɫII)I IIIY}v?y}F  = = = =@ =@ =@999i99 9)9I9i9Mw=MM_=YUIMYYa]$HYYye-}e>Ii u:ms 5? u:maTݾ m!> }?9m@m_: m:)m:mqAdded new target pos. range: 4.860001 m, bearing: 172.040239 deg, deltaT: 4.461371 s, approachRate: 0.000000 m/s, LOS rate: 13.556915 deg/s, posRepo size: 4mProNav REINIT: LOS rate is 13.556915 deg/s. Setting heading cmd to target bearing of 172.040239deg and heading rate command to 0 deg/s.W+@@WQXQ XQWQXQ:WQ2WY*WYVYbUYBUa*UaUaUe@"Q?BB BA*BAAAA"Ctu?RCC+@@CaIqG:>} }}}}}s }zm:Y}kS1y}Ԋ:}6E?, hFAY}:z&@}:@y}:V}:Y}:H  ٴ 5?84?@P@iÿ v?lPjL?)~:z&@ ~:r\;I~:Cɫ99)9 9I9Y}|?y}FU=MUJ=Y]_W;QU]>Yaae$HaaymP}m>Iquyr 5?uTݾ u> }?9u@u@: u+:)qWWX XWX:W2W*WVbUBU*UUU`,?BB BA*BAAAA"C@RCCCשIG% >a9aIaiae=aae; eE)Ii=g5wK?,1hFAY}6Ɋ&@}6S@y}6vS}6'}6H`5u?42?@]@Mƿ@G?`.J?)~6Ɋ&@ ~6 a;I~4i5mGɫ99)9 9IAYec?ymBFIiiyٺ,A髼MH=Y;QU>a$HyF;}>I :Sq 5?  :wUݾ `> ?9@=; ;):WYWaXa XaWaXa:Wa2Wa*WiVibUqBUq*UqUqUux?BB BAՃ*BAAAA"C4@RCd>CC-?i-?IG=/>}: }}}Q }u:Y}U1y}:}j 6R?,KhFAY}6ŏ&@}6O@y}6RG}6ʽ}6H`'`-ܰ?>? `ʿ?=͸>?)~6ŏ&@ ~6G _;I~6Cɫ99)9 9I9Y}?y}gFI=)%= 5 5 5 5@ 5@ 5@111i11 1)1I1i1Eh;MEN=YMpIQaU$HQYy]rL:}]>IaeIp 5?eUݾ e > u?9e @eV: e:)aWWX XWX:W2W*WVbUBU!*U!U!U%?BqBq BqAuƃ*ByAyAyAyAy"Cuj @RC>CCIG$>a 9a Ia ia e =a a e ; e EX?,4ehFAɫ髉) IY?y.F rhy&1?:v?C `= <)Iyy&1L7A`?a$Hy}>I m:So 5? m:Wݾ a> u?9 @< <):WWX XWX:W2W*WVbUBU*UUU)@BB BA *BAAAA"Cl@RC=CCIGG>e eee/ eh:YeWU1ye:e6)e3;9m_?,fIhFAY}z~&@}zZ@y}zX+}z<Ľ}zH`j>@z@?`?@ ǿQ?@i&h?)~z~&@ ~zU\;I~zCɫ) IY-?y5ɕF    @ @ @i )Ii<MI=Y{=QU>a$H y &}>Ien 5?)Yݾ 6> -?9@; y-;)WWX XWX:W2W*WVbUBU*UU!U-G@ByBy ByA}΂*BAAAA"C@RC΁CCֵ?΅>I׽\A)׽\A׉IG>+e?,/hFAY}65&@}6]Q@y}6;}6_Ž}6H@/kk>?@]?J[ƿ?^@w?)~65&@ ~6[;I~6Cɫ99)9 9I9Y}?y}$F 鿑C=Mc=Y=QU>a$HyK}>I :m 5? :Zݾ > ?9ں@R: :):WWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BAA*BAAAA"CU@RCCC\>שIG">9I`Fi@; E}G }}} }:Y}W1y}č:}6)};%l?,hFAY}2_G&@}2b@y}2#}28Ͻ}2HBMЕ?`?@6 ſ ? ^@?)~2_G&@ ~2`_;I~2Cɫ99)9 9I9Y}?y}FZ****** received transponder code query ******F****** received ping request ******a$Hy);}>I  l 5? !\ݾ > ?9 Ի@ w; :) WIWIXI XIWIXI:WQ2WQ*WQVQbUYBUY*UYUYUeE @BB BA*BAAAA"CU@RC?ąCCօ̘S>AIQGm5>, s?,yhFAY}6%@}6@y}6M}6I}6H &4?`?S.\¿U? g%?)~6%@ ~6^;I~6Cɫ99)9 9I9Y7?yvFxDUSBL response received:!U1,P D2B,000,002C2,18A,80,80,21,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 5P<=M=F=YMj0=QUU>aiau$H}[Hy}>Ik 5?]ݾ > ?9ռ@O = c=)WWX XWX:W2W*WVbU!BU!*U)U)U5= @BB BA *BAAAA"C *%@RC  CC׉> i ?IG>}( }}}z }At:Y}WU1y}:}69@ 9 I НFi E@    ;  E7y?,ThFAY}6Vc%@}6~@y}6dqս}6,}6H /Ar??}qС?A?)~6Vc%@ ~6B];I~6Cɫ99)9 9I9Y}?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)AI4=) RQ?I +?V-? = 94= <) I y {Gz{Gz?  # ף< n8A) 1RAI I4Ai ~ZA  fFA } } } }@ }@ }@yyyiyy y)yIyiy#;M6=Y)=QU>a$Hy}}>Iȩ -:ŭk 5? 5:ŭ]ݾ ƭ$> 5?9ƭ@ǭ: ȭ$:)ȭ:WqWqXq XyWyXy:Wy2Wy*WVbUBU*UUU3+@BB BA *BAA!A!A!"C-h*@RC)C)C1A!=IG-p>(?,hFAY}6$@}6>@y}6͵}6l =}6H^MIv?+!?? ?`8 ?)~6$@ ~6f7\;I~6CɫYY)Y YIYY?yȗFxDUSBL response received:!U1,R,11A,000,002B7,186,80,80,56,FF Fpublishing direction and range infod{ɰc=鰥> )BIyf@k@ 1 ? .Ͽٱ;Ml=Y6=QU?a$Hy瓼}?Il 5?]ݾ 0,> ?9@: :)WWX XWX!:W!2W!*W!V!bU)BU)*U)U)U-ku@RE(Combining 5 samples.PA*QEf@ZQEߐT9K@i^JQEk@ 1 ? .Ͽ2QEd{:QAbQEn痚`P' @_;v?RQEL1߿;T\?} }}} }r:Y}V1y}:}6N?,thFAY}r4$@}r@y}r }rh2}rHO?0?`?@N: ?)~r4$@ ~r[;I~rCɫ) IY ?y FuTNmea in: $SNTTA,0.005937,,,,233207.63*4A M M M U@ U@ U@IIIiII I)IIIiIe=Me3=Yeiiam$Hiqyu#}u>Iy :}kl 5? :}n]ݾ }5> ?9}1@}n: }E:)}:myAdded new target pos. range: 4.199998 m, bearing: 119.323459 deg, deltaT: 4.367145 s, approachRate: -0.151129 m/s, LOS rate: -12.071223 deg/s, posRepo size: 4m!ProNav REINIT: LOS rate is -12.071223 deg/s. Setting heading cmd to target bearing of 119.323459deg and heading rate command to 0 deg/s.WI@WX XWX:W2W*WVbUBU*UU`@UI?BB  B A *B A A AA"Cp|3@RCCI@C!|{?,[4hFAY}R$@}R@y}RU}RyJ}RH`<T?l>? `G?t?n?)~R$@ ~Ra\;I~RCɫ髱) IY?yF YY    @ @ @i )IiMS=Y=QU>a$Hyi}>Il 5?Q]ݾ => ?9N@s: :)WWX XWX:W2W*WVbUBU*UUU?BABA BIAM*BIAIAIAIAI"Cu6@RCyCyCyuQIiG]>u/ uuu u:YuWU1yu:u`6A[?,NhFAY}:z$@}:@y}:O}:mp}:H`]~O??Q ]?)~:z$@ ~:a;I~:Cɫ99)9 9I9Y}?y}F=M=V=YE =QUE>AAaM$HIIyUk»}U>IY e:]l 5? e:]4]ݾ ]E> m?9]j@] m; ]Έ;)]:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"CS7@RCCC   yzIG (>ܡ 9ܡ Iܥ Fiܥ a?ܥ =ܡ ܡ ܥ ; ݥ E)9I9i9==9=S5o?,VghFAY}6&$@}6@y}6l4}6{}6Hr _5HV?"? W`7?)~6&$@ ~6_;I~6CɫYY)Y YIYYe?ye~F H=)Iy?A)µIAIµ:AiµKACA<MA=Ya$Hy`}>ISk 5?h]ݾ Q> ?9@i: ׾:)WW!X! X!W!X!:W!2W)*W)V)bU)BU1*U1U1U5 Z?BaBa BaAe*BaAiAiAiAi"Cu^D7@*CqRCyCyCymt0}?i}?i=}nGAIQIaiGc>ٺAUJ?9U\A} }}}w }k:Y}U1y}:}|6)};9m?,yˁhFAY}6`$@}6{@y}6ߗ&}6i}6Hfq->i?`煱Ѥ?`d?)~6`$@ ~6`];I~6Cɫ99)9 9I9Y}?y}ڗFIa=)=    @ @ @ i? K?)K?IK?iK?\MI=YHa$Hyr}>I  : i 5? : ]ݾ l]> ?9 @ : :) :W9W9X9 X9W9XA:WA2WA*WAVAbUIBUI*UIUQUU7p@ByBy ByA*BAAAA"C5@RCCCօ2AIQGm5>?,ihFAY}6$@}6u@y}6%}6G}6H@`MY?LƷ? [`?)~6$@ ~6 \;I~6Cɫyy)y yIyY?yF:MO=Y:QU>a$Hym;}>Iȱŵ^h 5?ŵ]ݾ Ƶh> ?9Ƶ*@ǵ: ȵD:)ȱWWX XWX:W2W*WVbUBU*UUU`@B!B! B!A-*B)A)A)A1A1"C5!3@RC9C9C9 ?AIIGu7>ܑ9ܑIܕpFiܕM?ܕ=ܑܑܕ; ݕE} }}} }}:Y}WU1y}:}`6)}@;?,hFAY}6'$@}6@y}6+}6A}6H%s;o ;?9@h? ?)~6'$@ ~6[;I~6Cɫ99)9 9I9Yv?yF } } } }@ }@ }@ }@yyyi}y })}I}i}MK=Y'/a$Hye<}>Iȩŭf 5?ŭ]ݾ ƭs> ?9ƭ@ǭ: ȭ:)ȩWWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BAP*BAAAA"CB.@RCCC֥a-Iש)׭]AaIqG9>|?,\hFAY}:.%@}:J@y}:켙}:}:Hkn"$?3XԲD??)~:.%@ ~:q`;I~:Cɫ99)9 9I9Y}?y}$FZ****** received transponder code query ******F****** received ping request ******a$H\Hyi'<}>I :Te 5? :.^ݾ ~> ?9W@; a;) :WQWQXQ XQWQXY:WY2WY*WYVYbUaBUa*UaUaUe' @BB BAA*BAAAA"CI)@RCCC_ׁIGA>  r:YU1y:69@܁ 9܁ I܅ Fi܅ ?܅ =܁ ܁ ܅ ; ݅ E6չ?,=hFAY}2^%@}2y@y}2ڼ}24q}2H@% ?έbA?@R ?)~2^%@ ~2?_;I~0ɫQY)Y YIYY?yFxDUSBL response received:!U1,P 11A,000,002B7,186,80,80,56,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 v/?333333ÿlxi> )Iy{Gzt?{Gzt?MbPף;ף; :A)PAI?AiJAGEA  % % %@ %@ %@!!!i!! !)!I!i!5FM5=YE6;QUM>QQae$Haiyuq;}u>IȁŅe 5?Ņ,^ݾ ƅL~> ?9ƅu@Dž; ȅ;)ȁWWX XWX :W 2W*WVbU!BU!*U)U)U5b@B B BAu*BAAAA"C%"@RC!C!C! N؅ ?i ? I G >m?,hFAY}6m7%@}6R@y}6}6Լ}6H`.&1c? !?50[?@d?)~6m7%@ ~6C];I~4ɫ99)9 9IAY3?yFa=ɮ5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B |=M=Y_QU?a$Hy}}?I :d 5? :,^ݾ ~> ?9@: k:)!:WWX XWX:W2W*WVbUBU*UUU _Y@BB BA*BAAAA)"C-S@RC5{C1C1?΅IG=q>Z ~~_ >x:YT1y@: 6?,lhFAɫ髙) IY?yFxDUSBL response received:!U1,R,1A5,000,002B6,186,80,80,59,FF Fpublishing direction and range infoɰhc= )BIyz@wCxS?ֿ̜ٱI=)=%PM%V=Y-QU->)1a5$H19y=}=>IAEd 5?E+^ݾ E}> M?9E@E: EU:)AWqWqXq XqWyXy:Wy2Wy*WyVbUBU*UUU@R(Combining 5 samples.P*Qz@ZQQ@A$JQwCxS?ֿ̜2Q:QbQoOcvpJn@Ų?RQ+Fؿ7_6?o|h?BQn? Qet@Q˿PO9?PN9?PQQf@"Q}@BB BA*BAAAA"C{@RCCC.%IG$>)9)I-Fi-}?-=))-; -ER?,|6hFAɫ11)1 1I1Yu?yuҕFDNmea in: $SNTTA,,,,,233212.08*55 5 5 5 5@ 5@ 5@111i11 1)1I1i1EҧME9=YIQUM>QQaU$HQQyY}]>Ia m:e[d 5? m:e)^ݾ e0}> u?9e@e: e(:)e":muAdded new target pos. range: 4.140001 m, bearing: 112.623467 deg, deltaT: 4.455525 s, approachRate: -0.013466 m/s, LOS rate: -1.503749 deg/s, posRepo size: 4Wn?WX XWX:W2W*WVbUBU*UU`\@U>} }}}q }xo:Y}T1y}:}6?,UPhFAY}26%@}2Q@y}2Y}2=}2HQ`D+@?n? >JAAaE$HAAyMr}M>IQU#d 5?U(^ݾ U|> e?9U@U: U:)QWWX XWX:W2W*WVbUBU*UUU;?BYBY BYA]*BaAaAaAaAa"Cj@RCiW=CCmqAIIGm5>) 9) I- PFi- 8?) ) ) - ; - E!?,NjhFAY}6%@}6@y}6ki}6}hO}6H0`|i? ?`t!~7?jߩ+?)~6%@ ~6J>`;I~6Cɫ99)9 9I9Ya?yF v/?RQ?{Gz?x=B> ף<)IyMb?y&1y&1?<`e`e< AA)FAIa$HyT<}>Id 5?]ݾ ́> ?9@Z< K<)WiWiXi XiWiXi:Wi2Wq*WqVqbUqBUy*UyUyU}`T`?BB BAՂ*BAAAA"CQ@RC^2>CC>׹IGg>} }}}Y }Sk:Y}U1y}:}E 6)};9 ?,YhFAɫ髹) IYN?yIF    @ @ @éééiéé ĩ)ĩIĩiĩ0<MK=YQU>a$Hy}>I :d 5? :9]ݾ > ?9S@: :)#:W W X XWX:W2W*WVbUBU*UU!U%_!?BB BA*BAAAA"CO@RCx>CC%|סIGA>3?,5hFAY}6&@}6@y}6y}6|}6HH@ż*g??@An+?`?)~6&@ ~6\;I~4ɫ99)9 9I9Y}?y}F`MX=YüQU>a$H y 2!=}>Iaed 5?e\ݾ e+> u?9e@eb: e:)aWWX XWX:W2W*WVbUBU*UUU`,@BB BAD*BAAAA"C?RC >CC-}н9IFi}?=; E)qIqiqu=u=u`i5IG+> zzm g:YQ1y:j6);i nGI i  jٺ % FA^?,bhFAY}2&@}2@y}2ZƓ}2ּ}2H L ՟Ɲq?@?t?!鰿?)~2&@ ~2[;I~2CɫYY)Y YIYY?yFIC=)%= U U U U@ U@ U@QQQiQQ Q)QIQiQe MeD=YmkQUm>iiam$Hqy/M<}>I  :c 5?  :Q\ݾ > 5?9@; ";)$:WqWqXq XqWqXq:Wy2Wy*WyVybUBU*UUU@BB BAL*BAAAA"C݀?RCCC gW׹IGG>E?,OhFAY}Jl%'@}J@@y}J< }JJ+}JHks? _?翿VY?>ǵ?)~Jl%'@ ~J9`;I~JCɫYY)Y YIYY?yF?Ae2.=MeJ=YmvBQUm>iiau$Hu]Hqy}:<}}>IȁŅc 5?Ņ[ݾ ƅ> ?9ƅ@Dž˵: ȅ:)ȁWWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA*BAAAA"C?RC C C e[AIQG\>  v:YDW1yY:69@ 9 I pFi M? ; ݜEo?,hFAY}NK'@}Nf@y}NXŽ}NX:}NH˻_}@1?N?׷ख`?9-[?)~NK'@ ~Nr_;I~NCɫyy)y yIyY?yFZ****** received transponder code query ******F****** received ping request ******)1a5$H11y=l;}=>IA M:Ec 5? M:EZ[ݾ Ez> U?9E@E: E:)E%:WqWqXq XqWqXy:Wy2Wy*WyVbUBU*UUU @B1B1 B1A5*B9AYAYAYAY"CeX@,iFAY}VD'@}V(`@y}Vq:ѽ}VqǼ}VH`Sx?N? ? K̘ ?)~VD'@ ~V _;I~VCɫ髱) IYe?yFxDUSBL response received:!U1,P 1A5,000,002B6,186,80,80,59,FF Command AckBRequesting micromodem ping code 2i Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 99u$M}=Y+QU ?a$H9ym畺}m?Iqub 5?uZݾ u> ?9u@u ; u6;)qWYWaX XWX:W2W*WVbUBU*UUU @BqBy ByA}*BAAAA"C?*CRCCCֽ<יIG>  \:YWU1y:W6@,iFAY}BDj'@}B΅@y}B"޽}BW}BHOnZa?`a$HyG;}>Iȱ :ŵa 5? :ŵZݾ Ƶ;~> ?9Ƶ)@ǵ^: ȵV:)ȵ&:WWX XWX:W2W*WVbUBU*UUU5@BB! B!A%W*B!A)A)A)A)"C5EB?RC1C1C9=p,=q9qIu8Fiu?qqqu; uEI G%,>7 @,X9iFAY}6n~'@}6@y}6L潙}6ܼ}6Hf@?3?`Iʼ?lh?)~6n~'@ ~6\;I~6CɫYY)Y YIYY*?yF    @ @ @i )Ii4<MT=Y3QU>a$H!y%P;}->I)-=a 5?-%Zݾ -Tt> =?9-@-: -:))WaWaXa XaWaXa:Wa2Wi*WiVibUiBUi*UUU`#@B9B9 BAAE#*BAAAAAAAAA"CmC?RCqCqCqe&l=AIIGm5>  r:YT1y:`6˓@,2SiFAY}^'@}^@y}^`S}^:}^Hc`:.?$?@o?@) ?)~^'@ ~^ [;I~^Cɫ) IY?ymF DNmea in: $SNTTA,,,,,233216.53*5F I!)%=-R:=M-I=Y5QU5>99a=$H99yE;}E>IIM` 5?MYݾ Mi> U?9M@M: M :)IWyWyXy XyWyXy:W2W*WVbUBU*UUUvb@BB BA*BAAAA"C?RCCCQ-]&>IG )>i 9i Im Fim ?i i i m ; m E@,miFAY}2|'@}2@y}22}2X}2H`U|? ?{??)~2|'@ ~2O`;I~2Cɫ99)9 9I9Yut?y}%Fy}AA}i|?5?a$Hy<}>Iȱ :ŵ` 5? :ŵmYݾ Ƶe> ?9Ƶ@ǵ: ȵ:)ȵ':WWX XWX:W2W*WVbUBU*UUU@B!B! B!A-*BAAAA"C`?*CvRCCClX>׹IGD>E E E E  E n:YE V1yE :E 6)E o;9M !@,$iFAY}Nz(@}N1@y}N}NJ}NH)G`z?@?z u#G?L?)~Nz(@ ~N_;I~N Cɫqy)y yIyY?yF e e e e@ e@ e@aaaiaa a)aIaiauKMuL=Y}3AQU}>ya$Hy&;}>Iȑŕ` 5?ŕ,Yݾ ƕa> ?9ƕ+@Ǖ: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBB B A 9*B A AAA"Cn?*C,RCCC! 0ƀ>IG$>'@,LĠiFAY}2ʺ'@}2T@y}2 }2J_}2H@` cy??@wͰ??)~2ʺ'@ ~2g];I~2CɫYY)Y YIYY?ynF 鿱<MW=YdQU>a$Hypn}>I :` 5? :Xݾ 0^> ?9N@: :)(:W W X  X W X:W2W*WVbUBU*UU!U%`V-@BIBI BIAU*BQAAAA"C*C[RCCC9IFia?; E>׹IGE>M I I M E M Qm:YI yI M ! 6)M C;-@,<iFAY}6Vb'@}6}@y}6@ }6nU}6H@ ׯ?x*?`$@?^?)~6Vb'@ ~6p\;I~6CɫYY)Y YIYYt?y%FMG=Y}QU>a$H!)y=T}E>IY]x` 5?]Xݾ ]Z> ?9]u@].; ];)YWW)X1 X1W1X1:W12W1*W9V9bU9BU9*UAUAUE@BB BA*BAAAA"C*CRCCC֝>yIG^>4@,ziFAY}6"&@}6@y}6}6W}6H{ۧ`?TK?`sT?@4?)~6"&@ ~6[;I~4ɫ99)9 9I9Y*?yF    @ @ %@i )Ii-jM5F=Y5ԻQU5>99a=$H=^HAyEt}E>II U:Mr` 5? ]:MhXݾ M(V> ]?9M@M=: M4:)M):WyWyX XWX:W2W*WVbUBU*UUU@w@BB BA#*BAAAA"C*CRCCC׉IGF>    p:Y W1y č: 69 @ 9 I Fi 1?    ;  E)ݡIݡiݡݡݡݥC4 ;@,UiFAY}:&@}:@y}:V}:R}:Hz ?sP?]o@ÿ:?x`1?)~:&@ ~:p^;I~:Cɫ99)9 9I9Y}?y}FxDUSBL response received:!U1,N,80,80,63,E4 6,186,80,80,59,FF ZNo reply:!U1,N,80,80,63,E4 6,186,80,80,59,FF -a$H y w } >I^ 5?Xݾ R> %?9.@: Ǻ:)WAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UQUYU]P@BB BA*BAAAA"C*CRCCC}6Ʌ>9IAGew>A@,1iFAY}6uE'@}6`@y}6uo}6 z}6H@@!£?F0?r8ſ]?鶿?)~6uE'@ ~6_;I~4ɫYY)Y YIYY?yF2Mw=Y TQU?a$HyK<}?I :] 5? :Xݾ JP> ?9@(: :)*:W W X  X W X:W2W*WVbUBU*UU!U%1@BIBI BIAUÂ*BQAAAA"C*CtޱRCCC>IGI>   r :Y T1y : 6H@, "iFAY}6d'@}6~@y}6(}68}6H`k0S?#?yſ !?`t"G?)~6d'@ ~6p];I~6CɫII)I IIIY}?y}ܔF    @ @ @i )IiMG=YHƻQU>a$Hyt;}>I  \ 5? Xݾ *M> ?9 @ : :) W9W9X9 XAWAXA:WA2WA*WIVIbUIBUI*UIUQUU@/$ @ByB BA.*BAAAA"C*CRCCCܱ9ܱIܵFiܵv?ܵ=ܱܱܵ; ݵ E#>׹IGG>FHN@,;iFAY}6'@}6@y}6}6p}6H` Ɖ ??@`ſ>?@]?)~6'@ ~6Z\;I~6Cɫ99)9 9I9Y?yF x=MK=Y5QU>a$Hyc;}>I<[ 5?Xݾ J>  ?9@b: :)W)W)X1 X1W1X1:W12W9*W9V9bU9BU9*UAUAUE` @RMB*** querying acoustic contact ***PIPIBqBq BqA}Â*ByAyAyAyAy"C*CRCCCօ>AIQGu6> $  ~ ~   s:Y T1y @: 6 0U@,7UiFA|i|Y}FQ'@}F@y}FM}F(}FH Aq??5kȿR? Wk?)~FQ'@ ~F[;I~FCɫy髁) IY?yҕFUZ****** received transponder code query ******UF****** received ping request ******]a$Hy=;}>I :Y 5? :Yݾ &F> %?9/@r <  <)+:WWX XWX:W2W*WVbUBU*U UUX!@BQBy BAʂ*BAAAA"C*CRCCCg>ש ܹ 9ܹ Iܽ @Fiܽ ?ܹ ܹ ܹ ܽ ; ݽ EI G >Z[@,$oiFAY}6s'@}6@y}6}6եƽ}6H_š?`? ſ`P?t`?)~6s'@ ~6[;I~6Cɫ髁) IY"?y-FxDUSBL response received:!U1,P 80,80,63,E4 6,186,80,80,59,FF Command AckBRequesting micromodem ping code 2i  =Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Q~jtx rhuĻ C )IyX9v?y&1Mb`<`e µ:A)µ1RAI±iµ(\A GA e e m m@ m@ m@iiiiii i)iIiii} <M}$=Y}Ia$Hy}>IȹŽ8Y 5?Ž6Xݾ ƽH> ?9ƽ@ǽ{: Ƚw:)ȹWWX XWX!:W!2W)*W1V1bU9BU9*UAUAUM"@BYBy BA*BAAAA"C*CRCCC    k:Y WU1y : 6) ;9 > I G >Bb@,{iFAɫyy)y yIyY?y7FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I=p=)=%=um7Mu=Y}QU}$?yya$Hy}%?Iȑ :ŕX 5? :ŕWݾ ƕ!I> ?9ƕ@Ǖ: ȕ:)ȕ,:WWX XWX:W2W*WVbUBU*UUUBh#@BB BA *BA A A A "C*CRCCC׹IGf>a$Hy}>IX 5?Wݾ J> ?9m@< =<)WWX XWX:W2W*WVbUBU*UUUR6$@R(Combining 5 samples.P*Qp@ZQ?JW@8;JQ-?kA/2׿2QN佾:QbQ~o0@D.?RQzٿ腣M'?N8?BQ'? Qǎ@Q{PN9?PO9?PQQ#@"Qf@Y9YIYiYYYY]; ] EBqBq BqA}*ByAyAyAyAy"C*CRCCCօ>YIiGZ>E A A E  E {:YA yA E 6)E ;an@,/iFAY}>h&@}>@y}>E\ }>§i}>H]<?y??>?@?)~>h&@ ~>q\;I~>Cɫ髙) IY?yeF]TNmea in: $SNTTA,0.073471,,,,233222.19*4E    @ @ @ i? ?)A?I?i?U㡻MU3=YU;QUU>YYa]$H]_Haye^}e>Ii u:mX 5? u:m=Vݾ m;K> }?9m@mR: m:)m-:mqAdded new target pos. range: 4.919998 m, bearing: 113.765735 deg, deltaT: 10.112762 s, approachRate: 0.077130 m/s, LOS rate: 0.112953 deg/s, posRepo size: 4mTStarting intercept timer at range: 4.92 m.W'?WX XWX:W2W*WVbUBU*UU@U v?BB BA*BAAAA"C'?RCC '?C }>YIiG{>2~u@, iFAY}2:&@}2Ĥ@y}2}2L}2H`bb~ m?}?f7z?`pe=?)~2:&@ ~2D\;I~2Cɫ99)9 9I9Y9?yF  5b]M=^=Y=FzAAaE$HAAyM9}M>IQUW 5?UUݾ UBL> e?9US@U: U:)QWWX XWX:W2W*WVbUBU*UUU@o?BB BA*BAAAA"C*CRCCC%(>I G5O>a 9a Ie Fie v?a a a e ; e Ee a a e  e :Ya ya e 6)e Y;={@,ciFA|Ti|TY}EĐ&@}EN@y}E }EG}EH g`@E= ED)AIAyEy&1?Mbp:v?E`))a-$H)1y5:}=>I9 M:=W 5? M:= Uݾ =;T> M?9=@=M: =(:)=.:WqWqXq XqWqXq:Wq2Wy*WyVybUyBU*UUU`3?BB BA^*BAAAA"C*CRCCCֵ>׉IG>/@,< iFAY}6~&@}6{@y}6!}6f}6H``S:?a?JD*{¿1?vɳ y?)~6~&@ ~6~9^;I~6Cɫ99)9 9I9Y}P?y}ԓFMr=Y}QU?!!a%$H!)y-S}-?IȁŅV 5?ŅTݾ ƅ*Z> ?9ƅ@Dž: ȅ :)ȁWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C*C RC C CE6Ʌ>I)GEQ>    l:Y V1y : 69 @K@,N$iFAY}6&@}6@y}6 .}6}6HRc٥?~?aT LHZ?M찿 Ϊ?)~6&@ ~6Ok`;I~6Cɫ99)9 9I9Y}?y}FI4=)$<MJ=YKQU>!!a%$H!)y-h:}->I15V 5?5-Tݾ 5`> E?95V@5÷: 54:)1WaWaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UyUyU}@@>9IFi1?=; ߜE)݉I݉i݉ݍ=݉ݍ5BaBa BaAe=*BaAiAiAiA"C*CpıRCCCօ>aIGb>inGIi 5ٺ1=AIq)uAAx@,v>iFAY}6t&@}6g@y}6}6b}6H`[&?p?@WY q?\?)~6t&@ ~6I^;I~4ɫ99)9 9I9Y?yF U U U U@ U@ U@QQQiQQ Q)QIQiQeMeE=Ym@QUm>iiau$Hqqy}+B}}>Iȁ :ŅU 5? :ŅSݾ ƅg> ?9ƅ@Dž: ȅH:)ȅ/:WWX XWX:W2W*WVbUBU*UUUU@BqBq ByA}*ByAAAA"C*CRCCCI)\AIGj>̕@,;TXiFAY}:-[&@}:v@y}:k}:Ú}:H`R ,?? 9`j¿`d?`* Y?)~:-[&@ ~:\;I~8ɫ99)9 9I9Y}?y}&F;MX=Y:QU>a$Hy·}>I)-T 5?-;Sݾ -n> =?9-@-+: -:))WYWYXY XYWaXa:Wa2Wa*WaVibUiBUi*UiUiUu`z@R}B*** querying acoustic contact ***PyPyBB BAx*BAAAA"C*CRCCC6Ʌ>IGI>}[ }}} }Rx:Y}X1y}/:}69I Fi?=; E@,[@riFAY}n#k&@}n@y}n}n}nHY@@\?`C?`5`ÿ@3??)~n#k&@ ~n$[;I~nCɫ髱) IY$?yFZ****** received transponder code query ******F****** received ping request ******QQaU$HQYy];}]>Ia m:e*U 5? m:eSݾ eT~> u?9e@es: e:)e0:WWX XWX:W2W*WVbUBU*UUUN @BB BA*BAAAA"C*C(RCCC >IG>7ޢ@,iFAY}6q&@}6@y}6,}60}6Hj?|?`] ?-f?)~6q&@ ~6x[;I~6Cɫyy)y yIyY?yFxDUSBL response received:!U1,P 1A9,000,002C3,186,80,80,30,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -KM=u=YE;QUM?Yaam$Hiy g;}5>I15QU 5?5Sݾ 5> E?952@5; 5;)1WW X  X WX:W2W*W!VIbUIBUQ*UQUYU]q @BBA BAAE *BAAIAIAIAI"CQ*CURCQCQCYYm?im?1I9G]>} }}} }h:Y}T1y}:}6 @,diFAY}6&@}6@y}6(}6&K}6HLc >?^? e`A?`.I?)~6&@ ~6`;I~6Cɫ99)9 9I9YqyyNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ܙ9ܙIܝXFiܝ?ܙܙܙܝz; ݝ؜EYlQU>a$Hy*D}>I :}U 5? :Rݾ i> ?9J@: :)1:WWX XWX:W2W*WVbU BU *U UU +@BB BA*BAAAA"C*CRCCCIGj>2@,'iFAY}:L&@}:yh@y}:>}:挽}:HN`??@< % a$Hy}>I!%U 5?%Rݾ %> -?9%]@%g: %:)!WQWQXQ XQWQXQ:WY2WY*WYVabUaBUa*UaUaUm8@BB BA*BAAAA"C*CRCCC֍FӅ>IIY-$m@Hardware Fault in component: DDMGu>}7 yy}o }su:Yyyy}6@,ʣiFAY}~ &@}~A%@y}~q}~qZY}~H 6@'?ҫ?`5YB? 謹`/?)~~ &@ ~~Ǝ];I~~C-Powering down)ɪ))) )Y?yFTNmea in: $SNTTA,0.033891,,,,233226.62*40 mw/?Mb?I +?m&>m< m94<)iIiym~jt?y&1?mA)mKAIm5AiiiiSM=YQU>a$H`Hy}>I :T 5? :Rݾ > ?9@: :)2:WWX XWX:W2W*WV!bU!BU!*U!U!U-@BQBQ BYA]{*BYAYAYAYAa"Ca*Cm{RCiCiCi֍>Iי)י9IFia?=d; ͜Ea Iq G >KG@,iFAY}6%@}6@y}6}6F#}6H`,??@4!A?`do`̶?)~6%@ ~6U\;I~4YB?yBFFxDUSBL response received:!U1,R,123,000,02EA5,187,80,80,52,FF JFpublishing direction and range infoF"DɰFt?F1> D)FBIDyF)DF]E?TпٱD ~ ~ ~ ~@ @ @|||i|| |)|I|i| ::M=YgQU2?a$Hy}#?IT 5?Rݾ > ?9@I; ظ;)WYWYXY XYWYXY:WY2Wa*WaVabUaBUa*UiUiU @R(Combining 5 samples.P*Q)DZQZSz@׻gJReJQ]E?Tп2Q":QbQ]?֭tbO@6}ѐV@RQ60߿L%j?:JD?BQm@ Q~DQnP9?PN9?PQQ9B"Q#@BB BAx*BAAAA"C!*C%RC!CICI9I!G=Q>_  x:YW1yč:{6) ;9p,@,O iFAY}6%@}6@y}6/}6nм}6H`c??b*Qr?Pՙ?)~6%@ ~6#a\;I~6CYN?yRLF  =ۙ<M=H=YEѿQUE>AIaM$HIIyU?}U>IY]@S 5?]Rݾ ]Y> e?9]H@]: ]:)Ym-}Added new target pos. range: 678.960022 m, bearing: 119.450761 deg, deltaT: 5.240278 s, approachRate: 128.626770 m/s, LOS rate: 1.084871 deg/s, posRepo size: 4m5VStopped intercept timer at range: 678.96 m.W5m@W9X9 X9W9X9:W92W9*WAVAbUABUA*UIUM 7@UM[ ?BqBy ByA}9*ByAyAAA"C-O@RCCm@C?΅>סI$NClearing failed state for component DDMq GA>V@,x*'iFAY}:*%@}:@y}:}: }:H`x!?@_? ƨ`? pX?)~:*%@ ~:[;I~: CYF?yFF^A=$MEJ=YEFQUE>IIaM$HIIyUN}U>IY e:]vR 5? e:]tRݾ ]Ւ> m?9]@]: ]b:)]3:; wAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;wdResuming normal ranging with 1.000000 count pings.;1<WWX XWX:W2W*WVbUBU*UUU?A9AIEȖFiE?E=AAEQ; EœEBqBq ByA}*ByAyAyAyAy"C@RCӃ>CCօ>IIqG?>}# }}} }":Y}T1y}:}`6)};l>@,AiFAY}6%%@}6,@y}6V}6}6H )`+N@n?Z?n@W?@қ?)~6%%@ ~6J[;I~6CY>a?yBhF 5 = = =@ =@ =@999i99 9)9I9i9MH<MMI=YM QUU>QQaU$HQYyeݓ}e>IimQ 5?m\Rݾ mQ> u?9m@m: m:)iX?1<wCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR; wAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATRWWX XWX:W2W*WVbUBU*UUU ?BB BA*BAAAA"CD@RCg>CC >IG%>h@,ZiFAY}6$@}6q@y}6}6!w}6H! Qy@I(? ? SÿТ?@ ;?)~6$@ ~6[;I~6CY>?yBFIt)vC=E!oMEK=YEQUE>IIaM$HIQyU]}U>IY e:]P 5? m:]DRݾ ]> m?9]1@]^: ]V:)]4:WWX XWX:W2W*WVbUBU*UUUe?BB BAń*BAAAA"Cm@RCNK>CCx>IG= >999I9i9999=); =E)ɇIɇiɇ͇=ɇ͇i5} }}}o }n:Y}WU1y}:}6)};I I Ò@,wtiFAY}:bs$@}:@y}:!!}:"S}:H``]?? @qĿ@?PѰ߈?)~:bs$@ ~:Z;I~8Y^?yf|Fiv}nGIiEٺAEAMMb?x&T㥛 M@=M7 M)IIIyMQ~jt?~jt?MMa$Hy~}>IQ 5?NSݾ > ?9@: =:)WWX X W X :W 2W*WVbUBU*UUU`h@BB BA*B A A A A"C*C RCI>CC=%,g>I!G=r>z@,iFAY}: $@}:Z<@y}:&(}:n}:H i y?12?dq@sĿ?(fe?)~: $@ ~:Z;I~:CYF*?yFF=x;M=f=YE1QUE>AIaM$HIIyUdh}U>IY e:]!Q 5? e:] Tݾ ]> e?9]A@]R: ]I:)]5:WWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAAQ"CY*C]ƊRC]B>CYCa5]>IG>} }}} }p:Y}V1y}:}i69@@,riFAY}6#@}6q@y}63}6<}6H4z`?-M? JS`}Ŀ}a?`6?y?)~6#@ ~6+Z;I~6CY>i?yB3FBp=ɮ@ LLz9tMzO=YzQUz>||a~$H|y} >I  @Q 5? Uݾ a> ?9 @ M: :) W9WAXA XAWAXA:WA2WA*WIVIbUIBUI*UQUQUU(G@R]B*** querying acoustic contact ***PaPeBB BA*BAAAA"C*C)RC@F:>CC9Ii=0; E֕H>QIYGu=u=iup=Q@,LiFAY}65^#@}6y@y}6*=}6W}6H @q?@]?@m@0Dǿ?'a?)~65^#@ ~6Z;I~6CYR?yRFVZ****** received transponder code query ******VF****** received ping request ******Va$HaHy+}>I_Q 5?Vݾ > ?9b@˵: :)W W X XWX:W2W*WVbUBU*UU!U% @BB BA*BAAAA"C*C*aRC4>CCיIGb>}T }}} }w:Y}T1y}:}6@,(iFAY}2=#@}2-@y}2=}28q}2H``@4S?v?};ȿO?e嵿`ZU?)~2=#@ ~25[;I~2CYB#?yBjFFxDUSBL response received:!U1,P 123,000,02EA5,187,80,80,52,FF FCommand AckJBRequesting micromodem ping code 2iHHNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 z|'M~g=Y NQU>!)a5$H1AyU[V}>I! ]:%uQ 5? e:%Vݾ %A> u?9%@%p< %s<)%6:WWX XWX:W2W*WVbUBU*UUU`hj @BQBQ BQAUe*BQAYAYAYAY"Ca*CeѯRCep/>CC֥89>ׁIG^>9IXFi?; E!@,)iFAY}2k+#@}2F@y}24<}2Qý}2Hp ԩ?so?u`zɿd? lQ?)~2k+#@ ~2&[;I~2CYB?yBOFVNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I%4=)%%=|?5^?T㥛 QM> )Iy rh?~jt{GzC =# )3MAI 0AiaAGA0JM :=Y T;QU >a$HyIj;}>I!%Q 5?%Uݾ %@> 5?9%@%U: %:)!WQWQXQ XYWYXY:WY2WY*WYVabUaBUa*UaUiUm`;!@BB BAp*BAAAA"C!*C%URC%xl2>C)C)օFJ5>YIiG[>  O|:Yy6A,iFAY}6j#@}6@y}6g<}6Q }6H @G\?@&Z?@&@pȿXy?¿`Y?)~6j#@ ~6e[;I~6CYB?yB=FFxDUSBL response received:!U1,R,02F,000,002B9,185,80,80,25,FF FFpublishing direction and range infoB'@ɰBdd=B+> @)BBI@yB=@B7G?+qٱ@ z ~ ~ ~@ ~@ ~@|||i|| |)|I|i| oM \=Y TQU>a$Hy%(<}%>I) 5:-Q 5? 5:-Tݾ -)> 5?9--@-: -:)-7:WWX XWX:W2W*WVbUBU *U U U Ȳ@P9*Q==@ZQ=QywC@ngyeƿJQ=7G?+q2Q=':Q9bQ=ҎP:dr"! @|:??RQ="@俰'_1?*Y1?BQ=@ Q= Q@Q=s-P=K9?P=9?P=Q=Q=(@"Q=9BBB BAw*BAAAA"C*CSήRC&7>CC~M2>׹IGE> A,))iFAY}FA#@}F\@y}F,YC}F_T}FHF9?j`??gxƿLE?b`?)~FA#@ ~F![;I~DRPowering upR"Initializing DDM.YU?yU Fy9}CI}Fi}1?}=}<D}MD}; }ETNmea in: $SNTTA,0.072548,,,,233231.83*45 5]=M=8=Y=iQU=>AAaE$HAiymѶ}m>IquR 5?unSݾ u՟> ?9u@u: u÷:)qmyAdded new target pos. range: 4.319999 m, bearing: 129.684597 deg, deltaT: 4.430756 s, approachRate: -152.262955 m/s, LOS rate: 2.309727 deg/s, posRepo size: 4W@WX XWX:W2W*WVbUBU*U!U%G@U-i?BqBq BqAu*BqAyAyAyAy"C2@RC6>C@C֕}7>qIyG\>D  }v:YU1y:6)0;9A,CiFAY}:#@}::@y}:8J}:]h}:Hz ?@b?@@_ǿ2?CvR?)~:#@ ~:[;I~8YFk?yF F !!]a=MeZ=YeQUm>iiau$Hqyyර}>Iȉ :ō3R 5? :ōXRݾ ƍ> ?9ƍ@Ǎ$; ȍ%;)ȍ8::uAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;vZEntering USBL mode with 5.000000 count pings.1;q;WWX XWX:W2W*WqVqbUqBUy*UyUyU}?BB BAS*BAAAA"CP @RC1=CC\*>סIG!>A,>x]iFAY]?yeF    @ @ @i )Ii "!M 2=YQU>a$Hy%}%>I)-iR 5?-Qݾ -j> 5?9-M@-: -:))XU@q;UuUCompleted lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:UuUAggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLWYWYXY XaWaXa:Wa2Wa*WiVibUiBUi*UqUqUu?BB BAx*BAAAA"C @RCAIIGm5>y9yI}Fi}v?}=yy}); }1E  l:YT1y:6);c/A,fMwiFAY}60"@}6@y}6L}6d}6H`-˶?@?ǿ ~W?@QQ?)~60"@ ~6Z;I~4YN?yRFi|?5?v/Zd;Oq=xi j)IyMb?V-<m A>A)bLAIO/AizdAGA=M_=YRKQU>a$Hy↼}>I  : Q 5? : Pݾ \> ?9 @ : :) 9:W9W9X9 X9W9X9:WA2WA*WAVAbUABUI*UIUIUMe?ByBy ByA} *ByAAAA"C@RCWCCׁ֡IG=>$A,.iFAY}Bl"@}B#@y}BI}B^}BH ĩ{KLڴ?@D? ȿ@\ ?sQ?)~Bl"@ ~B&Z;I~BCYN]?yNFIp=)==M=V=Y=;QU=>AAaE$HAIyMP}M>IY]rQ 5?]Pݾ ]ފ> e?9]@]: ]U:)YWWX XW X :W 2W *W V1bU1BU1*U1U9U=)@BB BAV*BAAAA"C"[@RCCC!>שIG!>Iމ)ލ@AN { Iw:YWU1y:69@@*A,iFAY}:j-"@}:H@y}:h^G}:}:HƔ:d?X?ȿ@? ıQ?)~:j-"@ ~:jZ;I~:CYFn?yFF!9!I%@Fi%?%=!!%:; %:E)ݽCIݽCiݹݽ=ݽ=ݽ6 } }  @ @ @ÁÁÁiÁÁ ā)āIāiāl=ME=Y;QU>a$HyD}>IȩŭP 5?ŭOݾ ƭ~> ?9ƭQ@ǭ: ȭb:)ȩWYWYXY XYWYXa:Wa2Wa*WaVabUiBUi*UiUiUu@q@BB BA*BAAAA"C@*CѮRC澺CC!5#W=i53oGIIIia4ٺ*AIGC>2*1A,iFAY}VZ"@}Vyv@y}VD}VD}VH~]??y̙ɿ7j?~K?)~VZ"@ ~V[;I~V CYj|?yjFpɮp m m m m@ m@ m@iiiiii i)iIiii:MK=Y;QU>a$HbHy;}>Iȩ :ŭxP 5? :ŭNݾ ƭh> ?9ƭ@ǭ: ȭ:)ȭ::WWX XWX:W2W*WVbUBU*UUU@|@RB*** querying acoustic contact ***PPBB B!A%*B!A!A!A!A!"C-r@RC-bCCl=ׁIG> ~~ :YT1y@:6R7A,iFAY}n"@}n{@y}n7?}nٽ}nH`'Kp? Y?Nʿy?`|3D?)~n"@ ~nV[;I~nCY?yʔFZ****** received transponder code query ******F****** received ping request ******k> Q8=)Iyy&1|?Q?I +?`;u<94< l=A)OAIK/AivdA(HA<M*=Y0a$Hy<}>IO 5?-Oݾ m>  ?9@3: :)W)W)X1 X1W1X1:W12W1*W9V9bU9BU9*U9UAUEb @BB BA5*BAAAA"C@RC"dFCC!u׹IGf>!9%CI%НFi%E@%=%;D!%S; %IEޕ=iޑ{~=A,$iFAY}J"@}Jq@y}JL1}J }JH@<,?+? gr`˿ h?3/9?)~J"@ ~J\;I~HY^*?y^FbxDUSBL response received:!U1,P 02F,000,002B9,185,80,80,25,FF bCommand AckbBRequesting micromodem ping code 2i``jNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @ iQ? ?)?I?i?7;MY=Y=QU%>)IaU$HQYy;}>I :PO 5? :TOݾ q> ?9%@S; :);:W1W1X9 X9W9X9:W92W9*WAVAbUaBUa*UiUiUm٩ @BB BA#*BAAAA"C*C RC u?C C OI G-o>3  "u:YxZ1yq:63eDA,moiFAY}6"@}66@y}6}6˽}6H`[ .o? c? Cǿ?! Ht?)~6"@ ~66\;I~6CYB?yBەF@B@ARNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }o=M}h=Y K=QU>a$Hy}?IN 5?tOݾ u> ?9U@: #:)W!W!X) X)W)X):W)2W)*W1V1bUQBUQ*UYUYU]-@BB BAƂ*BAAAA"C*CBRC\CCC@W׹IGE>NJA,t_,iFAY}J"@}J0@y}Jx}J}6r}JH#(? ? ȃ¿?@ ٟ?)~J"@ ~J'[;I~H`9`IbFib@b=`bNDbn; bXEYr?yrڗFvxDUSBL response received:!U1,R,FF8,000,003BE,183,80,80,21,FF zFpublishing direction and range infov;tɰv=v$> t)vBItyvןAvZ?a|?ٱtI =) ==MP=Y%=QU%>!!a-$H))y5F:}5>I9 E:=^N 5? E:=Oݾ =y> E?9=@=k: =:)=<:WiWiXi XiWiXq:Wq2Wq*WqVqbUyBUy*UyUyU 0@R(Combining 5 samples.P*QןAZQT2w3@#6?JQZ?a|?2Q;:QbQc ;o* Zto-@t}@RQF.+忸ډ!f?c<?BQ\@ Q{kAQxSP09?PK9?PQQ@"Q(@BqBq BqAu*BqAyAyAyAy"C*CRC??CC֕m CQIaG}Y>Iށ)ޅAAt  ]:YU1y:6)!;9xQA,+FiFAY}j"@}jd@y}j˾}j}jH,¯?`s?2'ν`:l?wd?)~j"@ ~j[;I~hYz?yzFeTNmea in: $SNTTA,0.029870,,,,233236.28*4B    @ @ @ @i )IiT=M@=YWa$Hyc;}>IM 5?Oݾ ~> ?9@:  :)m-qAdded new target pos. range: 19.980001 m, bearing: 131.924776 deg, deltaT: 4.440051 s, approachRate: 3.526987 m/s, LOS rate: 0.504539 deg/s, posRepo size: 4W-\@W)X) XWX:W2W*WVbUBU*UU`3@U`1x?B)B) B)A-B*B1A1A1A1A1"C=!@RC=KŐC=\@CA]cZ?9IAGeU>WA,9`iFAY}"@}@y}J뽙}xP}H `X?? X?@A੿ u?)~"@ ~AU[;I~CYt?ytFMb@Mb@Mb@ )IyMb?Zd;OMbp?=j; )3MAI1AiYAEA…M8=Y  a $H yD}>I %:M 5? %:Nݾ s> -?9N@n: @:)=:WaWiXi XiWiXi:Wi2Wq*WqVqbUqBUq*UyUyU} 5Q?BB BAP*BAAAA"C\@RC|XŽCCֽ|yIG<>ܹ9ܹIܹiܹܽ=ܹܹܽ; ݽdEC  hv:YWU1y:i6);]A,fyiFAY}2a"@}2&}@y}2Wƽ}2F˰}2H /JY-?k@ ?`@@?)~2a"@ ~2Q\;I~2CYB?yB!F tt 5 5 = =@ =@ =@999i99 9)9I9i9M<MMk=YMT=QUU?QQaU$HQYyep}e?IimM 5?mNݾ m> u?9m@m: mh<)iWWX XWX!:W!2W!*W!V!bU)BU)*U)U)U-jm?BB BA *BAAAA"C*ChRCҽCC؎סIGB>މiލ=VdA,(iFAY}R!@}R/@y}Rq}R9cԽ}RH@5R=ޜZ6?$@?@kN?)~R!@ ~R7Y\;I~RCYf?yfFe*?=MeI=Ye:?=QUe>iiam$Hiqyu̴}u>Iy}wM 5?}$Mݾ }> ?9}<@}: }:)yWWX XWX:W2W*WVbUBU*UUU૫?BiBi BiAmn*BqAAAA"C*CRC|CCmC)I1GU>6 ~~ _u:YT1y@:E69@#jA,iFA494I6Fi6E?6=46MD6; 6eEYr?yvFE<MG=YQU>a$Hy}>I :XM 5? %:;Lݾ ̆> -?9@г< ڳ<)>:W W X) X1W1X1:W12W1*W9V9bU9BU9*U9UAUEVu@BB BAF*BAAAA"C*CaRC!ICCZҽ׹IGf>qqA,BviFAY}J !@}J@y}Jdh }J}JHekKF?z@' ?`-p ?)~J !@ ~Js[;I~JCY^?y^MFImR=)mR=    @ @ @ùùùiùù Ĺ)ĹIĹiĹ@<MG=Y=QU>a$HcHyՕ}>I:M 5?ZKݾ 2> ?9B@A: :)WWX XWX!:W!2W!*W!V!bU)BU)*U)U1U5@j@BYBY BYA](*BaAaAaAaAa"Ci*Cu~ɮRCuCqCqm役)I1GM>Iމ)ލ?A#  s:YW1yč:|6~wA,yYiFAY}"@}@y}4}M}H@af1@7? r??)~"@ ~\;I~CY5?y5F9ɮ==V-?(\ſy&1?=. `=)Iy{Gz{Gz{Gz?ףף#< n8A)OAI:Ai^LACA5i<M=C=Y=(=QU=>AAaE$HAAyM <}M>IQ ]:U5N 5? ]:UjKݾ U> e?9U@U: U$:)U?:WWX XWX:W2W*WVbUBU*UUUq@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CT֮RCFݽCC]役1IAY9YI]Fi]v?]=YY]; ]|E)CICi==w5G}Z>i i i %nGI i % 5ٺ! % A~A,9)iFAY}JD"@}J+@y}Jp&}J3}JH@+"`JI3?Ugɤr?]?)~JD"@ ~J!\;I~HYn>?ynFvZ****** received transponder code query ******vF****** received ping request ******za$Hy ;}>Iȡť+O 5?ťzKݾ ƥ> ?9ƥ@ǥ+: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU< @BB BA*BAAAA!"C!*C-h⮽RC-^ܽC)C1E޽I)GER>+  ~t:YV1y:6&A,iFAY}2z!@}2@y}2+ <}2}2H(@9?A:ya{?)~2z!@ ~2[;I~2CY>y?yB'FFxDUSBL response received:!U1,P FF8,000,003BE,183,80,80,21,FF FCommand AckFBRequesting micromodem ping code 2iDDNNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 YY}T;MK=Ya$Hys%}>I %:!P 5? %:Kݾ d> -?9]@l< x<)@:WWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"C*C|RCDl߽CC֝۽YIaG}{>a 9e CIe Fie a?e =a a e ; e EKBA,79/iFAYP@yޝF5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )Ii ߬<M ?=YQU>a$Hy%}%>I)-Q 5?-Kݾ -ؑ> 5?9-@-: -˵:))WYWYXY XYWYXa:Wa2Wa*WiVibUiBUi*UiUqUu|[@BB BA *BAAAA"C*CRC5߽CC-Y߽ I!G=r>m m}m}m& m{:YmkS1ymԊ:m:#6)m;9u"A,fHiFAY}6"@}6 @y}6Q<}6|}6H_2 ?`j5@} fq`b ?)~6"@ ~63Z;I~6CYB?yBUFFxDUSBL response received:!U1,R,F70,000,002C0,187,80,80,49,FF FFpublishing direction and range infoF>DɰFf=F1> D)FBIDyF@FJFTg? nk ?ٱDZܪMZ{=Y^=QU^ ?\`ab$H``yfY=}f ?IhjQ 5?jKݾ jԓ> n?9j@jk: j:)hWWX XWX:W 2W *W V bU BU*UUU @R(Combining 5 samples.P*Q@ZQfŅ|@v?JQJFTg? nk ?2Q>:QbQ~w "x@ @5ǿRQ3_过&7 ?QA,biFAY}^#@}^V7@y}^Ģ#=}^b0}^HQO % ?WrC?)~^#@ ~^Z;I~^CYn?yrCF]TNmea in: $SNTTA,0.027230,,,,233240.72*45 I a=) =Mb@Mb@Mb@ )IyMb? rh?<C = •:A)•3MAI•AAi•;CA3CAM.=Y͠a$Hy.<}>I :Q 5? :Kݾ ߛ> ?9-@8: :)A:mqAdded new target pos. range: 4.740000 m, bearing: 138.696348 deg, deltaT: 4.440579 s, approachRate: -3.431985 m/s, LOS rate: 1.524930 deg/s, posRepo size: 4W@WX XWX:W2W*WVbUBU*UU@U`s?BABI BIAM*BIAIAQAQAQ"C]3@RC]:C]@Ca=D翽9CIpFiM?=; EIqG[>Ia)e@Au uuu u:YuV1yu:uW6)u;wA,|iFAY>?yF    @ @ @ùùùiùù Ĺ)ĹIĹiĹ M[=YQU>a$Hy}>I?Q 5?Kݾ utI ?> u?9M@l< <)WWX XWX:W2W*WVbUBU*UUU?B9B9 B9A=*B9AAAAAAAA"CMI@RCM4CqCօ5ߺYIiGZ>rbA,iFAYU?y]F5k1M5D=Y1QU5>99a=$H9AyA}E>II U:MP 5? U:M Lݾ Ma> ]?9Mp@M: MV:)MB:WyWyXy XyWX:W2W*WVbU!BU!*U!U)U-7?ByBy ByA}*BAAAA"C@RCcqCCօ׽9IIGe4>u qqu ur:Yqyqu69}@ 9 I Fi }? = ; E"A,VbiFAY?y F  U U U U@ U@ U@QQQiQQ Q)QIQiQeMeG=YiQUm>iiau$Hqqyy}}>IȁŅP 5?Ņ-Lݾ ƅa> ?9ƅ@Dž=: ȅ:)ȁWWX XWX:W2W*WVbUBU*UUU@8Q?BiBq BqAuB*BqAqAqAyAy"Cy*C:LRC$kCCmu!I1GM1>u=iup=pA,<iFAY}Rן"@}R`@y}R<}R}RH8# 83?$Җq"h?)~Rן"@ ~R4Z;I~RCYb?yfa$HdH1y=n}=>IA M:E`P 5? U:EPLݾ E'> U?9E@Ej; E;)EC:WWX XWX:W2W*WVbUBU*UUUc@BQBQ BQAU*BYAYAYAYAY"Ca*CeڜRCevCiCm04AIIGm5>}A }}}}} }@v:Y}kS1y}Ԋ:}6A,+iFAY}6G"@}6@y}6%<}6v߅}6H5JY?j4Lіѷy?)~6G"@ ~6Z;I~6CYV&?yVF333333?~jt?D= t)Iy~jtI +?D94< µl=A)µIAIµdGAiµ@ACAi4MG=Yn[QU>a$Hy;}>IP 5?$Lݾ > ?9@U: ':)WWX XWX:W2W*WVbUBU*UUU՘@B!B) B)A-$*BIAQAQAQAQ"CY*C]쯽RC]VqCYCaօ:4ܕ>9ܑIܕFiܕ?ܕ=ܑܕNDܕ; ݕEyIG^>#žA,=iFAY}6"@}6j@y}6q<}6rE}6H@2Afs@??| 4`?)~6"@ ~61Z;I~6CYRD?yVFIf=)f=    @ @ @áááiáá ġ)ġIġiġX;MK=Y[QU>a$Hyȍ;}>I :P 5? :Kݾ > ?9@GH; r];)D:W9W9X9 XAWAXA:WA2WI*WIVIbUIBUI*UQUQU]P@RmB*** querying acoustic contact ***PiPiB!B! B!A%*B!A)A)A)A)"C1*C59RC5/oC1C9-RCIG-->Iq)q} }}} }q:Y}WU1y}:}6!A,iFAY}6"@}6 @y}6z;}630}6HkC? @Qyi8?)~6"@ ~6Z;I~6CYB?yBbFFZ****** received transponder code query ******FF****** received ping request ******Fa$H y sE:}>I5Q 5?Kݾ !> -?9"@: K:)WQWQXQ XQWX:W2W*WVbUBU*UUU ! @B1BQ BQA]*BYAYAYAYAY"Ca*CeRCm1zoCiCi֍ZhIIQGu>܁ 9܁ I܅ Fi܅ i?܅ =܁ ܁ ܅ Z; ݅ ؝E)!I!i!%=%=%z51A,1iFAY}>1#@}>8@y}>6}>Hg(}>H!T`Z?`Ns?T ?)~>1#@ ~>i%Z;I~imGIa$HixٺA)yU;}]>IȉōQ 5?ōKݾ ƍ> ?9ƍP@Ǎ" < ȍi <)ȉWWX XWX:W2W*WVbUBU*UUU @B1B1 B1A5*B9A9A9A9A9"CA*CEఽRCM'lCICIu12q1IAG]>} }}} }q:Y}U1y}:}6)};9A,KiFAY {?y dF-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 鿡    @ @ @i )Ii20<MB=YQU >  a $H y}>I! -:%Q 5? -:%qKݾ %> -?9%r@%: %:)%E:WIWQXY XaWaXi:Wq2Wy*WVbUBU*UUU>@BQBi BqAu*BqAqAqAqAy"Cy*Cq"RCzlCCe34l9IIGmV>qiqA,akeiFAY}rcl#@}r@y}r}rع}rHm ?@?@q H2?;?)~rcl#@ ~r*[;I~rCY%??y%@F=xDUSBL response received:!U1,R,1C3,000,002B5,186,80,80,4E,FF =Fpublishing direction and range info5<ɾ1ɰ5c=5> 1)5BI1y5@5du?ؿٱ1dNmea in: $SNTTA,0.025932,0.286476,,,233245.20*5B {Gz?+Qף= )IyMbP?+QU>a$HyT+<}>IR 5?Jݾ 8> ?9@: :)WWX XWX:W2W*WVbU!BU!*U!U)U-@R=(Combining 5 samples.P9*Q=@ZQ=}7$@‹~0JQ=du?ؿ2Q=<ɾ:Q9bQ=lV z<@#?RQ=x[\տ@$?D )eF?BQ=? Q=u@Q=PP=O9?P=I9?P=Q=Q=q@"Q=6?BiBq BqAu*BqAqAyAyAy"C*CrRC(fCC)9)I)i))))-; -EԘlבIG>} }}} }r:Y}DW1y}Y:}W6)};.A,:iFAY}>H#@}>@y}>"y}>j?}>Hb~; P? ? V?ᇿ K?)~>H#@ ~>[;I~>CYj?yjFe#oMe{=YmQUm ?qqau$Hq y+<}>Iȡ :ťS 5? :ť5Jݾ ƥ> ?9ƥy@ǥ: ȥE:)ȥF:muAdded new target pos. range: 4.080000 m, bearing: 109.511401 deg, deltaT: 4.521307 s, approachRate: -0.145975 m/s, LOS rate: -6.454980 deg/s, posRepo size: 4W?WX XWX:W2W*WVbUBU*UUQ@Ux$?B)B1 B1A59*B9A9A9A9AA"CM7@RCMIC?CeIGj>$A,iFAY}6#@}6@y}6ê}6j}6Hx{ D?!?ׄ` R? ?)~6#@ ~6\;I~4YV?yZFI==)=>    @ @ @éééiéé ĩ)ĩIĩiĩMD=Y]QU>a$Hy;}>IșŝT 5?ŝIݾ Ɲ > ?9Ɲ@ǝ; ȝ;)șWWX XWX:W!2W!*W!V!bU!BU)*U)U)UM ?ByBy ByA}L*ByAAAA"C#@RCMCC֥xXׁIG=>Iq)uAA }} 9~:YkS1yԊ:69@) 9) I- Fi- ?- =) ) - _; - ڝE%A,(iFAY}2#@}2@y}2̢ҽ}2u}2H$դ?@v?@pࣶyH?`} ?)~2#@ ~2H%\;I~2CY>?yBF]PM]Q=YeVLQUe>aaae$Hiiym ;}u>Iy :}U 5? :}Iݾ }D> ?9}l@}: }R:)}G:WWX XWX:W2W*WVbUBU*UUUL?B B BA*BAAAA"C%*@RC%nC!C)EМI!I)GM0>< A,iFAY}2]#@}2@y}2+齙}2gZ}2Hdmɼ`!? |?d@?"i?)~2]#@ ~2,[\;I~0YB?yBFM%N=Y%QU->11a=$HeHy·}>IV 5?xHݾ > 5?9@; ;)WiWiXq XqWyXy:Wy2W*WVbUBU*UUU?B1B1 B1A5 *B9A9A9A9A9"CE @RCE*=CACIM_7!I)GM1>}s }~}~} } `e=)Iy rhktI +C 094 a$Hy殻}>Iȡ :ť%X 5? :ťGݾ ƥ7> ?9ƥ@ǥ: ȥM:)ȥH:WWX XWX:W2W*WVbUBU*UUUܟ?BB BA*BAAAA!"C%nj@RC-%>CCօ l >9IFi?`; ۝EAIIGe4>iim=B,iFA|i|Y}6#@}6B@y}6L}6 }6HBk` K?g?$z`H徿v?w?)~6#@ ~6+\;I~4Yz?yz2F    @ @ @i )Iii-MI=YZQU>a$HyA<}>IY 5?tGݾ > ?9-@$; S*;)W!W!X! X)W)X1:W12W1*W9V9bU9BUA*UAUIUUi%@BB BA*BAAAA"Cb@RCŞy>CC IGF>} }}} }F{:Y}V1y}:}6AIB,]iFAY}6!$@}6<@y}6i}6 ˼}6Hud@I???@H9@v%?,U?)~6!$@ ~6[;I~6CB`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ) IYE ?yEFIɮMp=mMm0=Ym_+QUm>qqau$Hqyy}<}}>IȁŅ[ 5?ŅFݾ ƅX> ?9ƅ@Dž: ȅ:)ȁWWX XWX:W2W*WVbUBU*UUU @RB*** querying acoustic contact ***PPBB BA*BAAAA"C O-?RC  >C C5dIG=> 9 I 8Fi ? d; ݝEs B,94iFAY}2j)$@}2D@y}2WF/}2?~}2H`1f` O?(?3¿q? (Ϡ΃?)~2j)$@ ~2[;I~0ɫQQ)Q QIYYu?y}NFZ****** received transponder code query ******F****** received ping request ******99a=$H9AyE\:}E>Ii u:md\ 5? u:mZFݾ m%> }?9mm@m: m0:)mI:WWX XWX:W2W*WVbUBU*UUU@ @B9B9 B9AM*BIAIAIAQAQ"Ce.?RCaCiCi]| uI!GEr>Iq)u@A || r:YR1yi:{6);9X[B,YNiFAɫ) IY=?y=FExDUSBL response received:!U1,P 1C3,000,002B5,186,80,80,4E,FF ECommand AckMBRequesting micromodem ping code 2iIIUNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 l#M4=YQU>a$Hy}>IAE] 5?EEݾ E}> u?9E@EY; E;)AWWX X!W!X):W2W*WVbUBU*U U U% ,]@B B  B A -*B A! A! A) A) "C= ?RCY Ca Ca U B,GjiFAY}:$@}:7@y}:AAaE$HIIyMV<}U>IQii }:U] 5? :UFݾ U\> ?9U@U/!< U[3<)UJ:iIiUWٺQ] AWWX XWX:W2W*WVbUBU*UUU@B!B! B)A-*B)A)A)e eeeX e}:YeV1ye:e* 6)e;A)Ai"C?RCCC֍.=I IY G > B,iFAY}:$@}:@y}:39P}:\r}:H`9 y({?L?#ȿS? C?)~:$@ ~:<[;I~:Cɫ99)A AIAY}?y}FFxDUSBL response received:!U1,R,D88,000,002C5,18A,80,80,1E,FF Fpublishing direction and range info0 ?ɰSh=鰅> )AIyG@XA?F~?ٱ 鿹d<M=Y쿼QUu?yya}$Hyyy<}?Iȉō] 5?ōGݾ ƍ> ?9ƍ@Ǎs; ȍ;)ȉWWX XWX:W2W*WVbUBU *U U U- @R=(Combining 5 samples.PA*QEG@ZQEj+@Ke@ @JQEXA?F~?2QE0 ?:QAbQERc=Jh??*?RQEhaԶΪ?GCEk?BQE8@ QE?QEPEF9?PEO9?PEQEQEY @"QEq@BB BAs*BAAAA"C*CRCCCȿ=סIGA>$'B,wiFAY}6 $@}6@y}6X}6]m}6H Ɇ$s@0? ?IJ@%ȿ@?V;?)~6 $@ ~6B\;I~6Cɫ9A)A AIAY}|?yFu\.<Mu@=Y}QU}>a$Hy69}>Iȹ :Ž] 5? :ŽGݾ ƽ> ?9ƽN@ǽ&; ȽZ;)ȽK:mUqAdded new target pos. range: 5.039999 m, bearing: 165.318527 deg, deltaT: 4.447300 s, approachRate: 0.215861 m/s, LOS rate: 12.548541 deg/s, posRepo size: 4m]ProNav REINIT: LOS rate is 12.548541 deg/s. Setting heading cmd to target bearing of 165.318527deg and heading rate command to 0 deg/s.We8@WaXa XiWiXq:Wq2Wy*WVbUBU*UU(@UM?BB BAN*BAAAA"C&?RCC8@Cֽ>יIGb>es eee eya$Hyk:}>I15] 5?5Hݾ 5> =?95@5ϸ: 5:)1WYWaXa XaWaXa:Wa2Wa*WiVibUiBUq*UqUqUu?BB BA"*BAAAA"Ca?RCCC/>ׁIG=>54B,XiFAY}2$@}2 @y}2Bd}2j}2H}eF $?`8? n@˿ mV?`޴?)~2$@ ~2kY_;I~2Cɫ99)9 9I9Yc?yFI]=)]= MH=YQU>a$HfHy#}>I :] 5? :ZIݾ > ?9'@!; K ;)L:WaWaXa XaWaXa:Wi2Wi*WVbUBU*UUUJ?BB BA*BAAAA"C @RCa|>CCb>IG-O>  }:YU1y:|6)`:B,iFAY}:<$@}: X@y}:e}:U}:H2`?? gqccɿz?`'?)~:<$@ ~:];I~:CɫYY)Y YIYY?y؏F9IxFi?=Q; ҝE-`"?~jtp= ף-η>-ļ -)-I)y-Mb?&1?a$Hyc}>Iȱŵ[ 5?ŵJݾ Ƶ)> ?9Ƶ@ǵn: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUU?BB BA8*BAAAA"CN@RC=CCֽ%>yIG>HAB,` iFAY}F#@}FN@y}FWg}F,2}FH `끾?4?_ȿ`-?E(?)~F#@ ~Fߏ\;I~Dɫyy) IYG?yFO=Mo=Y_QU?a$Hy"s}?IZ 5?}Jݾ > ?9@; ;)W)W)X) X1W1X1:W12W1*W9V9bU9BU9*U9UAUE3)@BiBq BqAu܄*BqAqAyAyAy"C@ @RC <CCօ>YIiGZ>e eeeq eZn:YeWU1ye:e6?+7ʿ7? i6@?)~6#@ ~6R[;I~6CɫII)I IIIY}?y}F MU=Y׹QU>!!a%$H!)y-{}->I1 =:5:Y 5? E:5Kݾ 5N> E?95@5e: 5\:)5M:WaWaXa XiWiXi:Wi2Wi*WqVqbUqBUq*UyUyU} 0@BB BAC*BAAA)A)"C5x@RC=LC9C9 V}>IG (> 9 I Fi E?    M;  НEכMB,I9 iFAY}>#@}>@y}>:g}>ˣ}>Hq ?j?˿@?``?)~>#@ ~>]_;I~>CɫYa)a aIaY?yF鮥a=ɮa=    @ @ @ñññiññ ı)ıIıiı<M?=YR%:QU>a$Hy3y:}>IW 5?Kݾ {>  ?9@; 9;)WAWIXI XIWIXI:WQ2WQ*WYVYbUYBUY*UaUaUef@RB*** querying acoustic contact ***PPB)B1 B1A5*B1A1A9A9A9"CENi@RCE7CACiEK>I1GUS>e eee| eq:YeT1ye:e6)e;9mʄTB,R iFAY}6D$@}67@y}6"2e}6}6H (pv? ?)S̿.i?@H?)~6D$@ ~6$3`;I~6Cɫ99)9 9I9Y}*?y}FZ****** received transponder code query ******F****** received ping request ******  a $H y<}>I! -:%-V 5? 5:%Lݾ %?t> ?9%o@%< %7<)%N:W1W1X1 X1W9X9:W92W9*W9VAbUABUA*UAUIUM @BB BA*BAAAA"Cm@RC CC"x>יIGA>tZB,!l iFAY}6#@}6@y}6B`}6%_}6H1n-?_? N`ʿ?ϙx(?)~6#@ ~6j^;I~6Cɫ99)9 9I9Y}?yrFxDUSBL response received:!U1,P D88,000,002C5,18A,80,80,1E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)4=9IНFiE@[; םE?Zd;O?333333L=j<> )IyS㥛?I +?Mb?/<94<< ‰)1RAIv.AikAJA M U U U@ U@ U@QQQiQQ Q)QIQiQ2M=Y a$H y=eY}=>}; }}y }u:Y}DW1y}Y:y)};IQUT 5?UKݾ U{> ?9U@U#<< UIW;)QWWX XWX:W2W*WVbUBU!*U!U!U%_@BB BA*BAAAA"CV+%@RCCC֭ e=ׁ I G >aB,צּ iFAY}Va[#@}Vv@y}V^\}VS}VH )?@9?`XʿU?Ʊ.?)~Va[#@ ~V\;I~VCɫqq)y yIyY?yF@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B O=M=Y f ?9)@: Y:)O:WWX XWX:W2W*W V bU BU*UUU@#@BABA BAAE*BAAIAAA"C(@RCCCHu=ׁIG=>gB,υ iFAY}6L #@}6;@y}6>Z}6cx}6HS?`FO?`Yɿ? S`>7?)~6L #@ ~6j[;I~4ɫyy)y yIyY?yFMW=Y;QU> a$Hyyys}>IȑŕS 5?ŕ\Kݾ ƕ3> ?9ƕ@Ǖa; ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU@BABA BIAM*BQAQAQAQAQ"C]E-@RCaCaCiMG<IG-->mq mmm mz:YmV1ym:m69u@9IFi@=0; E)iIiiim=im4i I i ٺ AmB,rl iFAɫ髩) IY?y֑FDNmea in: $SNTTA,,,,,233254.13*5D ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYm[<Mu5=YuQUu>yya}$Hyyy}>Iȉ :ōR 5? :ōKݾ ƍ> ?9ƍ@Ǎ: ȍ:)ȍP:WWX XWX:W2W*WVbUBU*UUUx@BB BAi*BAAAA"C3@RCCC]A]A)<?i?שIG>XtB,79 iFAiQQ)Q QI] ]fC)]aAɖ]^]EaeCɗe`AieDIaaImfCim`A m;߽mE)iuC uaAqqɘqy}`AIy)yiy)3CI`A陁ə ɚ@C隍bAi}FɫQY)Y YIYYeX?ymFmp=ɮm=-<MX=YQU>a$HgHyi}m>Iy}Q 5?}Jݾ }> ?9}>@}; }d;)yWWX XWX:W2W*WV!bU)BU)*U)U1U5 !@ByBy ByA}*BAAAA"CJ7@RCCCq<IG5p>e@ eea e+v:YeDW1yeY:azB, iFAY}6H/#@}6J@y}6E}6y}6H@,?`Gc?2+ο?`'?)~6H/#@ ~6&a;I~6C >3C)<ɂ>`廩<)Iy~jth rh?V-?DC<< A>A)OAIiIjAIA = = E E@ E@ E@AAAiAA A)AIAiAUrMU=YU=QU>a$Hyy:}>I :[Q 5? :mKݾ h> ?9@׾; Y;)Q:WaWaXa XaWaXa:Wa2Wi*WiVibUiBU*UUU`1@RB*** querying acoustic contact ***PPBB BA*BAA A A "C8:@RCCC ) I G- >B, iFAY}:Z#@}:u@y}:5}:A}:HL-yF? g?`ʿG?@G?)~:Z#@ ~:L^;I~:Cɫ髑) IY?yFI)I4=)<M=YCq=QU?a$Hy7!<}(?I!Q 5?Kݾ > ?9@4: :)WYWYXa XaWaXa:Wa2Wq*WqVqbUyBUy*UUU@O@B!BA BAAE{*BIAIAIAIAI"CUP;@RCQCQCY=PI!GEQ>ec eeey ed:YeY1ye:e6B,%! iFAY}6#@}6+@y}6>+}6c}}6H?@?T?(C ſ]N?`A6C~?)~6#@ ~6 G];I~6Cɫ) IYm?ymFqq-=MI=Yea$Hy]<}>IȱŵP 5?ŵ!Lݾ Ƶ> ?9Ƶ@ǵ: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUU @B!B! B!A%*B!A)A)A)A)"C5{;@*C5RC9C9C9mn!I1GM1>y9yI}НFi}E@yyy}; y8B,; iFAɫ髙) IY?yF = = = E@ E@ E@999i99 9)9I9i9m <MmM=YuQUu>yya$Hy}>Iș :ŝP 5? :ŝLݾ Ɲ > ?9ƝQ@ǝi: ȝ ;)ȝR:WyWyX XWX:W2W*WVbUBU*UUUC@BABi BiAm*BiAiAiAqAq"Cu=/:@RCyCyCyԩԭ^Aօ-׍?i׍?YIiGZ>e# eee es:YeDW1yeY:e6)e;9m~ B,U iFAY}2#@}2u@y}2J#}2,}2H UF M?1M?3俿 b?O?)~2#@ ~2`;I~2Cɫ99)9 9I9Y?yFxDUSBL response received:!U1,N,80,80,63,E4 5,18A,80,80,1E,FF ZNo reply:!U1,N,80,80,63,E4 5,18A,80,80,1E,FF -a$Hy;}>I  JP 5? Lݾ > ?9 @ : <:) W9W9X9 X9W9X9:WA2WA*WAVAbUIBUI*UIUIUM@ByBy ByA}H*BAAAA"C8@RCCC֍6VIIYGu>JB,B]o iFAY}2#@}2@y}2 A}2 =}2HKM0 x? T_?`f];s¿_?q@?)~2#@ ~2"`;I~2Cɫ99)9 9I9Y}?y}ʔF鮅a=ɮa=I9IIMFiME?IIIM; MEma$Hyk}>I :O 5? :Lݾ  > ?9@*; _N;)S:W!W!X! X!W)X):W12W1*W9V9bU9BU9*U9UAUE`@BB BA5*BAAAA"C*CRCCC%]IGJ>  &:Yy6);n2B,7 iFAY}2b#@}2@y}2P}2r˽}2H@:Lo?r?`$ſ {#?O/`/?)~2b#@ ~2^;I~2Cɫyy)y yIyY_?yݓF % % % %@ %@ %@!!!i!! !)!I!i!5xM5R=Y=99aE$HAAyML}M>IQUO 5?ULݾ U> ]?9U@U4: U :)QWWX XWX:W2W*WV bU BU *U)U1U5( @ByBy ByA*BAAAA"C*CRCCC >>ֽ}I\A)יIGb>\B,M iFAY}6#@}6@y}6d}6}6HO@T??@?1 Xÿ7?c`?)~6#@ ~6G];I~6 Cɫ99)9 9IAY ?yFI=)=P=MN=Y*a$H y K} >I %?9 @D: :)WIWIXI XIWIXI:WQ2WQ*WQVQbUYBUY*UYUYUe @RmB*** querying acoustic contact ***PiPiBB BA**BAAAA"C*CRCCCe?΅9IIGeU>e aae eon:Yayae 69m@999I=xFi=?==9=MD=; =E?B, iFAY}6#@}67@y}69}6z}6H`\ ٫??@e? l?)~6#@ ~6\;I~6Cɫ99)9 9I9Yu?y}AF}Z****** received transponder code query ******F****** received ping request ******a$HhHy8;}>I M:N 5? M:DLݾ [> M?97@< _<)T:WqWqXq XqWqXq:Wy2Wy*WyVybUBU*UUU@m!@BB BA*BAAAA"C*CRCCCױIGe>ZoB, iFAY}:q$@}:@y}:}: }:H ˁ`7?`d?RV%?y`c?)~:q$@ ~:Vc\;I~8ɫYY)Y YIYY?yeFxDUSBL response received:!U1,P 80,80,63,E4 5,18A,80,80,1E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76     @ @ @i )Iis;M(=Y-?a$Hy5<}>I) e:-aN 5? e:-Lݾ -> m?9-j@- < -% <)-U:WAWAXA XIWIXIu3 uuu` u`:YuU1yu:u6:W2W*WVbUBU*UUUI"@BQBQ BQAU*BQAYAYAYAY"Ca*CaRCaCaCiyya m ?im ?Y Ia G >B,8 iFAY}B)W$@}Br@y}B58⽙}B!_}BH:@Չe?L?`ț'`P8? ǫ?)~B)W$@ ~B`;I~BCɫYY)Y YIYY5?yF>9IFi1?=ND; E)QIQiQU=U=U15mNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i AI-_Aiٺ_AA5QYa]$HYYyeu<}e>IimN 5?mKݾ mԄ> u?9m@m: m :)iWWX XWX:W2W*WVbUBU*UUUe|#@BB BA*BAaAaAaAa"Ci*CiRCiCiCqqQIYGu>B,x~ iFAY}2~$@}2;@y}2cӽ}2}2H~s?C?@V?@ ?)~2~$@ ~2ӌ_;I~0ɫyy)y yIyY9?yFxDUSBL response received:!U1,R,050,000,002B7,185,80,80,33,FF Fpublishing direction and range info5ɰc=+> )LBIyf@D/vq ?&k۱ٱM{=Y ?9 @ < <) W!W!X) X)WIXQ:WQ2WY*WYVYbUaBUa*UaUiUm5$@R(Combining 5 samples.P*Qf@ZQ~;bR@m8"ҿJQD/vq ?&k۱2Q5:QbQiKjW @u?RQ6g$M}?IC(^?BQg@ QO@QB(PL9?PF9?PQQ4@"QY @B9B9 B9A=*BAAiAiAiAi"Cy*CyRCyCyC6Ʌ  {:YW1yč:6ױIG>B,f$ iFAY}~d$@}~@y}~*Ž}~}~HsR??@?徿? 粿@?)~~d$@ ~~i^;I~~Cɫ) IYV?yFDNmea in: $SNTTA,,,,,233259.78*5D    @ @ @i )Ii !;M 9=Y|a$Hy%D;}%>I) 5:-mO 5? 5:-Jݾ -.> =?9-G@-: -:)-V:mmyAdded new target pos. range: 4.199998 m, bearing: 129.025320 deg, deltaT: 10.117730 s, approachRate: -0.083023 m/s, LOS rate: -3.587090 deg/s, posRepo size: 4Wmg@WiXi XiWiXq:Wq2Wq*WqVqbUyBUy*UyU}`@UZH?BB BA*BAAAA"Cr7@RCCg@C >>֝FӅIס)ץ\AQIaG}Y>9IFia?=MD; EB,8> iFAY}2$@}2l@y}2,}246}2Hkc?`TC? ؋?`?)~2$@ ~2];I~2CɫAI)I IIIY}0?y}7FI=) = = = =@ =@ =@999i99 9)9I9i9Mw=MMX=YU7QYa]$HYYyeu9}e>IimO 5?mGJݾ m> u?9m@m: mM:)iWWX XWX:W2W*WVbUBU*UQUQU]jf?BB  B A *BAAAA"C%(4@RCACICQ}?΅Qm mmm{ mc|:YmWU1ym:m6)mI;9uIG>B,X iFAY}6X$@}6@y}6}6KB}6H`O?*?` ?0?)~6X$@ ~6r\;I~6Cɫ99)9 9I9Y?yȗFUI=MUJ=Y]\Yaae$HaaymF<}m>Iq }:u)P 5? }:uIݾ u\> ?9u@u: u:)uW:WWX XWX:W2W*WVbUBU*UUU?BB  B A *B AAAA"C0@RCCC9I!G=r>B,q iFAY} k$@}  @y} 1} Ro} H@K?+?1Sta?@Э ?)~ k$@ ~ _;I~ Cy9yI}ȖFi}?yyy}; }Eɫ!!)! !I!YM?yMFEB`"۹?x&1пa$Hy+:}>IGQ 5?Hݾ > ?9@; ;)WQWQXQ XQWQXq:Wy2Wy*WyVybUBU*UUU`6?BB BAy*BAAAA"CX*@RCCC 9=]A] ]]] ]:Y]U1y]:]`6)]t;MFӅM?iM? I G= >B,&Ƌ iFAY}2$@}2{@y}2_剽}2hڅ}2H`x@3Q`W 7?@V9??)~2$@ ~2pa;I~2Cɫ99)9 9I9Y}N?y}IF 2OM~=Y ?9ƍ@Ǎ: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUUc?BB BA*BAAAA"C ?&@RCCCE?΅I)GEQ>B,I iFAɫyy)y yIyY,?yҖF5+<M=H=Y=QU=>AAaE$HAAyM}M>IQ ]:UR 5? ]:UGݾ U> e?9U@U: U:)UX:WWX XWX:W2W*WVbU9BUA*UAUAUE$A@BqBq BqA}b*ByAyAyAyAy"C6 @RCCCFӅ׹IGf>y9yI}Fi}?}=y}ND}; }yEI  :YyM6)+;"B,| iFAY}2#%@}2`?@y}2˿y}2}2H>(3뒿 ?@L3?MN?)~2#%@ ~2\;I~2Cɫ99)9 9I9Y?y=F    @ @ @ @i )Ii=MM=Yba%$H%iH!y-=<}->I15S 5?5Fݾ 5-> E?95!@5; 5c;)1WaWaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UyUyU}G@RB*** querying acoustic contact ***PPBB BAg*BAAAA"Ch@RC+GCC ==֥?΅Iש)שaIqG9> B,W iFAY}:f%@}:O@y}:Ym}:x}:Hg!@a$Hy<}>Iȩ :ŭT 5? :ŭEݾ ƭ> ?9ƭ@ǭC; ȭT<)ȭY:WWX XWX:W2W*WV bU BU *U UU>1 @BB BA+*BAAAA"CJ@RCCCֽ5trIeAA)eAA  g:YT1y:69@׉IG>7B,; iFAY}B%@}B@y}B{=^}B _}BH ?K S@? 9@@2ī?Jӫ?)~B%@ ~B0[;I~BC!9!I!i!%=!%MD%; %oEɫ髁) IY3?yFxDUSBL response received:!U1,P 050,000,002B7,185,80,80,33,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 {Gz?  a $H  yZ<}>I!%T 5?%Eݾ %w> ?9%@%CC< %B<)!WW1X9 XAWAXI:WI2Wa*WiVibUBU*UUU@BB BA*BAAAA"C%I@RC%{<C!CI= I! I) GE >C,, iFAY}2H&@}2Td@y}2#E}2}2H 9u4 ^?;] ?S?)~2H&@ ~2 `;I~2Cɫ99)9 9IAY}?y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ǥ<M=Yڬ ?9ƭ@ǭb: ȭ:)ȭZ:WWX XWX:W2W*WVbUBU*UUU[ @BB BA*B!A!A!A!A!"C-@RC5hƉ=C1C1AE^A%cF-?i-?I G%M>m iim m|:Yiyim 6F C,& iFAY}2M&@}2,i@y}2)}2 e}2Hx@6慿@j?@g:4?Y@-?)~2M&@ ~2_;I~2Cɫ99)9 9I9Y}?y}YFxDUSBL response received:!U1,R,3D5,000,002B5,188,80,80,9C,FF Fpublishing direction and range infoR([ɰc=鰅> )CIy@ ?9D+ٱ 鿡ĻMY=Ya$Hy"N:}>IT 5?{Eݾ ג> ?9@V: M:)WWX XWX:W2W*W V bU BU *U UUӌ@R%(Combining 5 samples.P!*Q%@ZQ%,hkd@0pyJQ% ?9D+2Q%R([:Q!bQ%I7?ǯL;@ ?RQ% &ѳ?lw`,?מr?BQ%E? Q%ځ@Q%>P%S9?P%L9?P%Q%Q% @"Q%4@BYBY BYA]Á*BaAaAaAaAa"Cm @RCmbݿ=CiCqUq$9 IG5 >!9!I%8Fi%?%=!!%; %gE)цIцiцццՆH5iNmGI `Ai!MٺU`AUA2C,0@ iFAY}n%@}n@y}nn}nfC}nH \W.?@O鮿@a?`e?)~n%@ ~ne?];I~nCɫ) IY?y*F]DNmea in: $SNTTA,,,,,233304.23*5A    @ @ @i )IiR=M6=Yt;QU>a$Hyh0}>Iȹ :ŽT 5? :ŽFEݾ ƽ> ?9ƽ @ǽ: Ƚ:)Ƚ[:mMqAdded new target pos. range: 4.080000 m, bearing: 85.548973 deg, deltaT: 4.389981 s, approachRate: -0.027335 m/s, LOS rate: -9.903539 deg/s, posRepo size: 4WUE?WQXQ XQWQXQ:WY2WY*WVbUBU*UUQ@U$?BB9 B9A=*BAAAAAAAAA"CM@RCU;,>CUE?Cy֕] YY]| ]q:YYyY]6iIyG~>XC,fZ iFAY}:%@}: @y}:&}:1\}:H`LɄ?@<`b aؤ? }b?)~:%@ ~:c\;I~8ɫYY)Y YIYY"?y|F*<MR=YQU>a$Hyֻ}>I  T 5? Eݾ ~> =?9 9@ ; ;) WAWAXA XaWiXi:Wi2Wi*WqVqbUqBUq*UqUyU}JL?BB BA*BAAAA"C1@RC>CCܪI!G=r>C,lzt iFAY}6%@}6@@y}6b6}6_G}6HK< $߅p?r.bװkʦ? 㨿/?)~6%@ ~6][[;I~6Cd9dIfFif?f=dfNDf~; fbEɫyy)y yIyY&?yFI%R=)%=Mb?i|?5οMb=q @)Iy:v?{Gz?~jtx<#<Ļ l=A)IAIa$Hy}>Iȹ :ŽS 5? :ŽDݾ ƽ=> ?9ƽ@ǽ`; Ƚr;)Ƚ\:WWX XWX:W2W*WV!bU)BU)*U1U1U5 ?BB BA$*BAAAA!"C-?RC- >C)C1e eee ep:YeV1ye:e6)e;9mIG>j#C,U iFAY}2%@}2@y}2F}2}2HYN 쉆N?!8Ψ? @c?)~2%@ ~2vX^;I~2Cɫ99)9 9I9Y}S?y}FC;M}=YGQU ?!!a%$H!)y-%<}- ?I15R 5?5Dݾ 5\> E?95@5w: 5Ǻ:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUyU}`?B!B! B!A%*B!A)A)A)A)"CU,?RCQCQCYM[R;!I)GM1> )C,0 iFAY}6I&@}6e@y}6GTA}61}6Hu@ؙ`[?JRL<(?@&a?)~6I&@ ~6 e`;I~6Cɫ99)9 9I9Y?yjF5Y<M=H=Y=L;QU=>AAaE$HAIyM7<}M>IQUR 5?UMDݾ U3> e?9UI@Uܹ: U:)QWWX XWX:W2W*WVbUBU*UUU@gG@BB BA*BAAAA"C?RCCC-rg= IAG}7>9Ii; fEeo eee ey:YeWU1ye:e`6)e&;|0C, iFAY}:j&@}:@y}:)5}:Y}:H@d@%Pi?`@xU?5ȴ?)~:j&@ ~:h];I~8ɫYY)Y YIYY?yEF YY    @ @ @i )Ii3M@=Y;QU>a$HjHyޜ;}>I :Q 5?  :Dݾ >  ?9@(: <:)]:W1W1X1 X1W1X1:W12W9*W9V9bU9BUA*UAUAUE @B B  BA-*B)A)A)A)A1"C5R?RC9C9C9%=I!G=r>6C,S iFAY}6&@}6t@y}66}6|}6H`? sxJ צ?`?)~6&@ ~6y\;I~6Cɫ99)9 9I9Y}?y}F鮅p=ɮM]=YQU>a$Hy<_<}%>IȹŽBP 5?ŽCݾ ƽї> ?9ƽ@ǽ< Ƚb<)ȹWWX XWX:W2W*WVbUBU*UUUb@RB*** querying acoustic contact ***PPB9BA BAAE6*BAAaAiAiAi"Cu?RCqCqCqօ.=YIiG[>e eeeg eYp:YeU1ye:e69m@*94I4i46=46MD6; 6bEY}F&@}F@y}F4l4}F@}FH` ? ? ?)~F&@ ~Fr[;I~FCɫyy)y yIyY ?y4FZ****** received transponder code query ******F****** received ping request ******a$Hy$;}>I  : HP 5? : Cݾ <> ?9 @ w: :) ^:WyWyXy XWX:W2W*WVbUBU*UUUh~ @BB BAj*BA A A A "CW?RCCC>׹IGf>CC,k iFAY}6&@}6 @y}6s8}6O}6Hqq?1~P?}驿,?)~6&@ ~6Q,[;I~6Cɫ99)9 9I9Y?yNFxDUSBL response received:!U1,P 3D5,000,002B5,188,80,80,9C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I=)='=M%n=Y5@QU=?IIa]$HYiy}MM}>IȡťNP 5?ťCݾ ƥ> ?9ƥ@ǥ; ȥ;)ȡWYWYXa XaWX:W2W*WVbUBU*UUUB @BQBY BYA]*BYAYAYAA"C<?RCCC28>V p c:YWU1y:6יIG>IC, {) iFAY}:k)&@}:D@y}:J>}:%U}:Hzj@$HFr`? Zӱ3٧?5?)~:k)&@ ~:]`;I~:CɫII)I QIQY?y`F?AeNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )Ii<M=YA>QU>a$Hy9}>I  :UP 5?  :Cݾ > ?9@E: :)_:W1W1X9 X9W9X9:W92WA*WAVAbUABUI*UIUIUM@Y]^Aa9aIeȖFie?aaaey; e^EBB BA*BAAAA"C5E?RC9C9C95Ul> I G= >PC,SC iFAY}6%@}6X@y}6ZpG}6[/7}6H lL^??@簿? ݦ?)~6%@ ~6=_;I~6Ci)D I )aAɖ ׽yEɗiIIi`A E) |aAɘI)i)Iə ɚ   i ɫ) IY?yjFxDUSBL response received:!U1,R,222,000,002C2,188,80,80,3E,FF Fpublishing direction and range info󾩰ɰWg=鰉 )xBIy@@io?g̤Zݿٱ5M5W=Y=MQU=>a$HyQ}>I[P 5?Cݾ q>  ?9&@X; L;)WWX XWX:W2W*WVbUBU*UUU$a@R(Combining 5 samples.P*Q@ZQʀ#!TF@|fJQ@io?g̤Zݿ2Q:QbQ/oя@U?RQ@vҿƜ?T$P?BQ ? Q~@QPO9?PS9?PQQU@"Q @BQe eee0 eh:YeU1ye:e6Bq BqA}*ByAyAyAyAy"C*CyRCCC֍_>I IY Gu >VC,.9] iFA y)yɂPE邁ɃiIIi 郹) ĻɄcAI)i) CI Ʌ Ɇ!%?aA)i)1iAErA)I IIIɫ) I YE5?yEFDNmea in: $SNTTA,,,,,233308.67*56 鿹mMbX9?I +? rh?mʡ=m9< mC<)iIiymZd;OQ~jt?mjmumD< ma$Hy}>Iȩ :ŭ@Q 5? :ŭDݾ ƭɛ> ?9ƭ@ǭk: ȭ:)ȭ`:mmAdded new target pos. range: 4.860001 m, bearing: 106.908607 deg, deltaT: 4.602722 s, approachRate: 0.169465 m/s, LOS rate: 4.640653 deg/s, posRepo size: 4W ?WX XWX:W2W*WVbUBU*UUp@U!?BB BA *BAAAA"C2?RCC ?CU=iU=- > I G- >) - C܁ 9܁ I܅ Fi܅ ?܅ =܁ ܅ ND܅ ; ݅ sE)Ii鋉==틤44i]Ci*unGI4iyya}$Hyy;}>I"R 5?HDݾ  > ?9@C; 3=;)WWX XWX!:W)2W)*W)V)bU1BU9*U9U9UEF? u ii:YyE6);9BaBa BaAe$*BiAiAiAiAq"Ct?RCCC ׉ I G >EdC,W iFAY}6]5&@}6P@y}6x}6˽}6Hnj@=? 5^м ?[\ ?)~6]5&@ ~6$c[;I~4ɫ髙) IY?y~FuVMus=Y}QU}?ya$Hy#<}?IȑŕR 5?ŕjDݾ ƕ(> ?9ƕ#@Ǖ: ȕm:)ȑW9W9X9 X9W9XA:WA2WA*WAVAbUIBUI*UIUQUU ?ByBy ByA*BAAAA"C׳?RCCC׹IGf>ojC,Xƫ iFAY}2%@}2@y}2u}2(1ν}2H CT ꞿh?E漿?@*@?)~2%@ ~2Z\;I~2Cɫ99)9 9I9YyIEa=)ER=Y}s:QU}>yya$Hy}>Iȑ :ŕS 5? :ŕDݾ ƕ> ?9ƕ~@Ǖ9: ȕ:)ȕa:WWX XWX:W2W*WVbUBU*UUU?BB BA*BA A A A "C=?RCCCܑ9ܑIܑiܑܕ=ܑܕMDܕ; ݕEֵ>ׁIG`> " 9q:YWU1y:a6);;YqC, iFAY}VH%@}VѼ@y}V}V}VH4h3?:`5? ⮶?)~VH%@ ~Vb_;I~VCɫ髑) IY3?yF    @ @ @ÑÑÑiÑÑ đ)đIđiđ>ڻMa$HkHyvO}>IT 5?Dݾ "> ?9@/: ':)WWX XWX:W2W*WVbUBU*UUU @?B1B1 B1A5*B9A9A9A9A9"CEv?RCACACI]>9IAGeU>wC, iFAY}md%@}mD@y}m|}m_5;}mH `!@? ?`@HK?FU@?)~md%@ ~m];I~iɫ髉) IYy?y٘Fp= ף?:v?I +>< 94)IyQ?Mbp~jtu<D ½7A)½PAI½:Ai½NAQDAz<M8=YqQU>a$Hy\}>Iș :ŝcT 5? :ŝ`Dݾ Ɲ> ?9Ɲ@ǝ : ȝ4:)ȝb:WWX XWX:W2W*WVbUBU*UUUV@BB B!A%*B!A)A)A)A)"CE8X?RCACACI1]& ]]] ]t:Y]U1y]:]69e@ IG5>܁ 9܅ CI܅ Fi܅ a?܅ =܁ ܁ ܅ ; ݅ zE}C,X iFAY}2|;%@}2W@y}2T}2d3}2H`|*@zĥ?j?@SR`Ĵ??)~2|;%@ ~2c^;I~2CɫII)I IIIY}[?y}ǘF鮅a=ɮ= 鿑03Mw=Y QU?a$Hy}?I.T 5? Dݾ > ?9C@: n:)WWX XWX:W2W*WVbUBU*UUUPs@RB*** querying acoustic contact ***PPB1B9 B9A=*B9A9A9A9AA"CEp?RCICICIIIG-->fC,NiFAY}BG%@}B9@y}B}Bq}BH;MN??r'?)?)~BG%@ ~B ^;I~BCɫII)I QIQY_?y,FZ****** received transponder code query ******F****** received ping request ******a$HyL}>Iȩ :ŭS 5? :ŭCݾ ƭ> ?9ƭ~@ǭ: ȭ^:)ȭc:WWX XWX:W2W*WVbUBU*UUU@BB BAց*BAA A A "Ckc?RCCC5> IG=r>M MMM Mp:YMT1yM:M6彊C, -iFAY}>,!%@}><@y}>}>ƃ}>H|`CZ)?u?`@ @q2? 7?)~>,!%@ ~>t\;I~>CɫYY)Y YIYY}?y}FxDUSBL response received:!U1,P 222,000,002C2,188,80,80,3E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 sGMH=Y.,QU>a$Hy?9}>I9=S 5?=iCݾ =_> u?9=@=U< =<)9WW!X! X!WiXi:Wq2Wq*WyVybUBU*UUU @BB BAy*BAAA)9-CI-ȖFi-?-=))-; -fEA"Ch?*CRCCCֵ?΅>qIyG>ͪC,"FiFAY}N$@}N@y}Nƽ}N }NH`SV?@?@7Ѿθ?x?)~N$@ ~Nb;I~NCɫiq)q qIqY?yYFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I4=)4=^=MI=YQU>a$Hy}>I`S 5?Cݾ Q> ?9@: :)WWX XWX:W2W*WV!bU!BU!*U)U)U-@t@BQBQ BYA]Á*BYAYAYAYAY"C ?RCCC >IG-p>  :YU1y:r6%ӗC,`iFAY}]3$@}]@y}]iн}]Nc}]H sb[@6?%?L?`UK?)~]3$@ ~]1_;I~]Cɫqq)q yIyY?yFxDUSBL response received:!U1,R,11C,000,002C5,187,80,80,22,FF Fpublishing direction and range info}ɰSh=1> )BIyG@#A?/;fϿٱudNmea in: $SNTTA,0.057232,0.322845,,,233313.13*54 /$?Mb?~jt?== <)IyZd;O?y&1?I +j<`e<94 :A)NAIiUAFA - - - -@ -@ -@)))i)) )))I)i)=7ME)=YE&QUE>IIaM$HIIyUY}U>Iș :ŝJR 5? :ŝBݾ Ɲ> ?9Ɲ]@ǝ: ȝA:)ȝd:WWX XWX:W2W*WVbUBU*UUU%@R-(Combining 5 samples.P1*Q5G@ZQ5 AD@JQ5#A?/;fϿ2Q5}:Q1bQ5_UyyUy@о6?RQ5s޿ P?3 =i?BQ5?@ Q5@Q5P5L9?P5O9?P1Q5Q5@"Q5U@BB BAu*BAAAA"C*CRCCC]A> I G >! 9! I% Fi% a?% =! ! % ; % tEC,ziFAY}6$%@}6@y}6Uݽ}6X{}6H @Qj??`;ݾ?C?)~6$%@ ~6)];I~6CɫII)I IIIY}?y}F 5 5 5 5@ =@ =@111i11 1)1I1i1EMM=YM塚QUM?QQaU$HQYy]C;}]?IaeQ 5?eBݾ e> u?9e@er: e3:)ammAdded new target pos. range: 5.039999 m, bearing: 119.082641 deg, deltaT: 4.434792 s, approachRate: 0.040588 m/s, LOS rate: 2.745119 deg/s, posRepo size: 4mTStarting intercept timer at range: 5.04 m.W?@WX XWX:W2W)*W1V1bU1BU1*U1U=(@UMS?BB BA*BAAAA"C-\?RCC?@CV݅>׹IGj>  n:YV1y:)6);9oC,倔iFAY}2`$@}2@y}29齙}2n7}2H *Z$v? ? H?k @?)~2`$@ ~2#\;I~2Cɫ99)9 9I9Yu?y}7F FMO=Y&fQU>  a $H yH}>I %:P 5? -:Bݾ > -?9@: V:)e:WIWIXQ XQWQXQ:WQ2WQ*WYVYbUYBUY*UaUaUe?BB BA *BAAAA"Ctw?RCCCօ>YIiG8> C,WiFA|i|@Y}B=$@}B@y}B -}BpGe}BHV=? ?EQ?@n@?)~B=$@ ~B\M\;I~@ɫYY)Y YIYYY?yF % % % %@ %@ %@ %!!!i%?! %?)%K?I%?i%K?UF=MU7=Y]uQU]>Yaae$Haaym ;}>IȑŕO 5?ŕMBݾ ƕ> ?9ƕ`@ǕU: ȕM:)ȑWWX XWX:W 2W *W!VIbUaiu%nGIBUi9IXFi?; E)qIqiqu=u=uu5zٺ1A*UUU?BIBQ BQAUW*BQAQAYAYAY"C?RCCCֱI)]A  l:YU1y:D6);׉IG>,C,1iFAY}6H$@}6@y}6~}6^^~}6HD*n??୴v? b?)~6H$@ ~6m];I~6Cɫ99)9 9I9Yex?yeFĪMa=YQU>!!a%$H%lH)y-}->I1 =:5N 5? =:5!Bݾ 5> E?95@5s: 5^:)5f:W W X XWX:W2W*WVbUBU*U!U!U%@}=?BIBQ BQAUO*BQAQAQAYAY"Ce`K@RCewm>CaCaօ>9IIGeV> !C,~iFAY}n$@}n@y}nQ.}ng}nH@@pV?q? M?`?)~n$@ ~n/a;I~nCɫ) IY-.?y5]FI=)=uMbX9?{Gzt?~jtxuʡ=uף; uĻ)qIqyuI +?I +?Mb`?u94a$HyM}>Iȱŵ\N 5?ŵBݾ Ƶ> ?9Ƶ@ǵ+: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUUE%?BB! B!A%b*B!A)A)A)A)"C5(@RC5E%>C1C9=IG=P> x q:YWU1y:695@ 9 I Fi ? = ; EHC,iFAY}:$@}:Y@y}:Ds }:"ߍ}:H(m|? ?o ¿?@ ?)~:$@ ~:^;I~:CɫYY)Y YIYYA?y˓F    @ @ @ @ùùùiýù Ľ)ĽIĽiĽMX=Y^QU>a$Hyܒ;}>IM 5?Bݾ 5> ?9@: :)WWX XWX:W2W!*W!V!bU!BU)*U)U)U-@BYBY BYA]*BYAaAaAaAa"CmX @RCm>CiCq}l>YIaGY> 0C,3iFAY}6,%@}6CH@y}6`}6}6H`X#?4?(ſ ?WZ@5?)~6,%@ ~6\;I~6CɫYY)Y YIYY?yF鮡ɮa=M]=YQU>a$Hyp<}>I :cM 5? :Bݾ > ?9J@: o:)g:W W X  X WX:W2W*WVbUBU*UU!U%@w@R-B*** querying acoustic contact ***P)P)BQB BA*BAAAA"CFU @RC$=CC_>׉IG>u# uuuC us:YuV1yu:u 6+ZC,Z/iFAɫ) IY?yFZ****** received transponder code query ******F****** received ping request ******%a$Hy}>IL 5?Bݾ J> ?9@: :)W9W9X9 X9W9X9:W92WA*WAVAq9qIqiqu=qqu; uEbUBU*UUUl @BB BA%*B!A!A!A)A)"C-{ @RC5>C1C1=e *>I!G=r>BC,xIiFAɫ髁) IY?yޒFxDUSBL response received:!U1,P 11C,000,002C5,187,80,80,22,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 4Mi=Y!QU->9AaM$HIYyi}u>Iȑ :ŕML 5? :ŕBݾ ƕ> ?9ƕ@Ǖ; ȕ;)ȕh:WyWX XWX:W2W*WVbUBU*UUU`d @BB BA*BAAAA"C@RCT1>CCֽ>׹IG>u4 uuu u6u:YuU1yu:u6+qC,hciFAY}:4%@}:P@y}:O}:}:H`(Q ? ?2ÿDK?)`?)~:4%@ ~:0a;I~:CɫQQ)Q QIQY!?yߑFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -Mb@Mb@Mb@-- -)-I)y-:v? rhMbP-T<-C- ))-OAI-I4Ai-S[A)-3GAMBMM7=YMJQUU>QQaU$HQYy]I:}e>IimnL 5?mAݾ m8> u?9m@mM: m:)iWWX XWX:W2W*WVbUBU*UUU`b@B1B9 B9A=e*B9AYAaAaAa"Cm?@RCm#e>CiCiU>QIyG>a 9a Ie Fie 1?a a a e ; e EC,/}iFAY}6$@}6|@y}6^ }6 }6Hųl`@ew? ?@i6 ލ?@E` ?)~6$@ ~6`;I~6CɫYY)Y YIYY?y_FxDUSBL response received:!U1,R,1B8,000,002C3,186,80,80,4E,FF Fpublishing direction and range info ľɰg=鰥> )BIyp@E"qy}?׿ٱI=)%= = = = =@ =@ =@999i99 9)9I9i9M<MM]=YUQU>a$Hy5w}>I  5: L 5? 5: #Aݾ > 5?9 C@ ʿ; H;) i:WyWyXy XyWyXy:Wy2W*WVbUBU*UUU~q@R(Combining 5 samples.P*Qp@ZQj9?@rl0}JQE"qy}?׿2Q ľ:QbQ)ȳA} %@72J?RQ)պֿl|?<̦r?BQ1 ? Q(@Q߿PN9?PL9?PQQ'@"Q@B9BA BAAE1*BiAiAiAqAq"Cy*C}KRCW>CCֽ,a>yIGb>#  s:YWU1y:|6);9C,iFAY}r[g$@}r@y}rc }r]*}rHK`w{ʰ?!?tY ?`t?)~r[g$@ ~rIT^;I~rCɫ)))1 1I1Ym??ymFDNmea in: $SNTTA,,,,,233317.58*54 pPM@=Y QU>a$Hy } >IL 5?@ݾ Ҕ> ?9@: :)mMuAdded new target pos. range: 4.919998 m, bearing: 111.066860 deg, deltaT: 4.363081 s, approachRate: -0.027504 m/s, LOS rate: -1.837183 deg/s, posRepo size: 4WU1 ?WQXQ XQWQXQ:WQ2WY*WYVYbUYBUa*UaUe@Um/?BB BA^*BAAAA"C@RCi>C1 ?Cօ :>AIIGm5>ԬC,iFAY}EU$@}Ep@y}E%}E}EHY~@ ?@#?@0;?@X`^?)~EU$@ ~E\;I~ECJFailed to close latch before timeout.q Hardware FaultY~?y{F    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉtMP=YKQU>a$Hy:}>Iȹ :ŽL 5? :Ž1@ݾ ƽ'> ?9ƽ@ǽ: Ƚ:)Ƚj:WiWiXi XiWqXq:Wq2Wq*WqVybUyBUy*UyUyU ?BB BA*BAAAA"C@ >9 I i     ; ERC% >C!C!`>I-$@Hardware Fault in component: DDMGI>      n:Y T1y : 6) ^;4C,QiFAY}:} $@}:<@y}:b'}:D+}:Hj`U`^?3?Y $¿??)~:} $@ ~:[;I~:CFPowering downDɪD)D DYt?yאF 99eMm?=YmOQUm>qqau$HumHyy}q}}>IȁŅL 5?Ņ?ݾ ƅ> ?9ƅ@Dž: ȅ:)ȁWWX XWX:W2W*WVbUBU*UUUh?BB BAф*BAAAA"C?RC C C 4e>IGn>qC,iFA|i|@Y}6#@}6}@y}6'}65?}6H'ZO0L?@B?oXÿE?= U?)~6#@ ~6)\;I~4Y^?yb|FMb@Mb@Mb@ )Iy:vMbp?y&1?Լ;`e< ?A)JAI0Ai|_AFAOMe=Yt;:QU>a$Hy } >IdM 5?)@ݾ E> ?9m@< M:)WWX XWX:W2W*WVbUBU*UUU`c?BB  B A *B A AAA"C6?RCCC0p>IG (>zC n o:iU NmGY y 69e @Ii i ٺ OAI 9I IM XFiM ?M =I I M ; M E)ݡIݡiݡݥ=ݥ=ݥA5C,xiFAY}6$@}676@y}6)}6i}6Hf@ޱ?Y3?plĿ? Է͂?)~6$@ ~6{e;I~4YN?yRF    @ @ @ÑÑÑiÑÑ đ)đIđiđ=;MO=Y<ʻQU>a$Hyd;}>I :M 5? :@ݾ $> ?9@p: g:)k:WWX XWX:W2W*WVbUBU*U U U @#m?B1B9 B9A=*B9A9AAAAAA"CM4 ?RCICICIM܄> I$-NClearing failed state for component DDMq 5G= >aD,QiFAY}2#@}2| @y}2M,}2%M}2H qTĺၳ?@>? iyĿo?DE,?)~2#@ ~2g;I~2 CY^?ybFI}4=)}4=4 =MI=YӻQU>a$Hyxͻ}>IoN 5?;Aݾ > ?9'@: w:)WWX  X W X :W 2W *WVbUBU*UUU [@BABI BIAM{*BIAIAIAQAQ"C]?*C]" RCYCYCaM>!I)GM1>[ D,N2iFAY}Z#@}ZH@y}Zn1}ZA}ZHR ?6?0n@SĿt?MէP|?)~Z#@ ~Zte;I~ZCYj]?ynFxɮzp= ] e e e@ e@ e@aaaiaa a)aIaiau:<MuN=YuNQU}>yya}$Hyy8:}>I  : N 5? : Aݾ > ?9 @ $: R:) l:WYWYXY XYWaX:W2W*WVbUBU*UUU`T@RB*** querying acoustic contact ***PPBB BAV*BA A A A "C֓?RCCC9CI Fi?=; tEIGK>  rj:YU1y:6)ȿ;9GD,LiFAY}6}#@}6@y}63}6M>}6H<@/?`G?*Z@msĿE?'w Kz?)~6}#@ ~6Fb;I~6CYF?yFđFJZ****** received transponder code query ******JF****** received ping request ******JYYa]$HYaye }m>IimxO 5?mKBݾ mž> ?9m@mQ; m߾;)iWWX XWX:W2W*WVbUBU*UUUU { @BB BAp*BAAAA"C1 ?RCCCסIGA>qD,eiFAY}6am#@}6@y}6Z4}6}6Hp㊱?@a?"Jƿtx?`Ho?)~6am#@ ~65_;I~6CYFC?yFVFJxDUSBL response received:!U1,P 1B8,000,002C3,186,80,80,4E,FF JCommand AckJBRequesting micromodem ping code 2iHHVNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ppB`"۹?ʡEMbp= )IyI +?{GzI +94<#9 )…^LAI… 0Ai…Q`A GAk3M%=YoPQU>a$H)y-)}->I1 =:5jO 5? E:5Aݾ 5> E?95*@5: 5(<)5m:WWX XWX:W2W*W V bUBU*UIUQU] 0 @BB BA*BAAAA"C*CRCCC=i= { h:YWU1y:69@ I  >9 CI Fi 1? = ; eEG >2D,iFAY}2W#@}2cs@y}2S4}2Ͻ}2H` |J?h?@t Lɿ y?`50W?)~2W#@ ~2As];I~2CYR?yVFXZAAjNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )IiMq=YXQU? a $H  y}?IeO 5?lAݾ > %?9^@: =:)WIWIXI XIWIXQ:WQ2WQ*WYVYbUYBUY*UYUaUe @BB BAɄ*BAAAA"C*CRCCC>IGK>&D,iFAY}NW#@}N6s@y}N/3}N3}NH>`  ?|j?l ƿH?ײWl?)~NW#@ ~N[;I~NCY?y͑FxDUSBL response received:!U1,R,D7C,000,002C4,189,80,80,2A,FF Fpublishing direction and range info?ɰg=鰍7> )(BIy\@cR?KR ?ٱI5=)5=E<ME =YM,C;QUM>IIaU$HQQy]}]>Ia m:eYO 5? m:e@ݾ eǑ> m?9e@e: e:)en:WWX XWX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q\@ZQI|-@a::@JQcR?KR ?2Q?:QbQCu= Q#j?D / :?RQIG >}F,D,|iFAY}r`#@}rj|@y}re1}rx=}rHD``Q?Ji?[wrǿ_?@﴿i?)~r`#@ ~ro[;I~rC x)xɂxxx|Ƀ|i|I||Ii )    Ʉ cAI)i)I!Ʌ! !Ɇ5LC=CaA9iAAiQ]tA)Y YIaiqy)y yI )`Aɖ閙ɗiIIi`A v)q uaAqqɘq}CyIy)yiy)I陁ə ɚ隉iY?y F5TNmea in: $SNTTA,0.034668,,,,233321.99*4D ܕ>9ܑIܑiܑܕ=ܑܑܕ; ݕnE    @ @ @i )Ii׼Mc=Y;QU>a$Hyb:}>I)-RO 5?-@ݾ -B> 5?9-@-ض: -k:))mqAdded new target pos. range: 4.979999 m, bearing: 164.315391 deg, deltaT: 4.508709 s, approachRate: 0.013308 m/s, LOS rate: 11.810150 deg/s, posRepo size: 4mProNav REINIT: LOS rate is 11.810150 deg/s. Setting heading cmd to target bearing of 164.315391deg and heading rate command to 0 deg/s.WĊ7@WX XWX:W2W*WVbUBU*UU@U`0?B)B) B)A5*B1A1A1A1A1"C?RCCĊ7@CI@A)@Aֵ>׉IG>c,3D,fOiFAY?y|FuMuf=Y}QU}>ya$HnHy}>IKO 5?!@ݾ Ɋ> ?9@: :)WWX XWX:W2W*W V bU BU *UUU`?B9BA BAAE*BAAAAAAIAI"CU?RCQCQCQ׹Ib  x:YX1y/: 6Gi>[9D,=iFAY}>)"@}>@y}>%}>P/}>H? 5 ??`ÿ?`I?)~>)"@ ~>@[;I~>CY?y͑F$C?-ƿZ>?5 )Iy rh{Gz?I +C#<94 ¥l=A)¥NAI¥1Ai¥\?A?%=ME=Ya$Hy+ܼ}>I e:cO 5? e:@ݾ ݇> m?9V@_< D<)o:WWX XWX:W2W*WVbUBU*UUU|q?B B BAm*BAAAA"CE$@RCEA>CACIU6Ʌ>IY)]\A)I9GUu>܉ 9܉ I܍ Fi܍ v?܍ =܉ ܉ ܍ q; ݍ ZE>@D,iFAY}:R"@}:@y}:&}:|g}:H%@H?V?`oVĿ`5?pp?)~:R"@ ~:Z;I~:CYF?yJqF U U U ]@ ]@ ]@QQQiQQ Q)QIQiQm<Mmd=YmC>QUm>qqau$Hqyy}n:}>IȁŅyO 5?Ņ@ݾ ƅC> ?9ƅ@Dž: ȅk:)ȁWWX XWX:W2W*WVbUBU*UUU?BB BA**BAAAA"C@RC=CC ==N9>׉IG>=ip=  m:YT1y:6);9hFD,iFAY}6&"@}6@y}6lV"}69}6H8 ??@@}Ŀ5?~@?)~6&"@ ~6n[;I~4>Powering upB"Initializing DDM.Y~?y{FMG=YK4a$Hy}>Iȹ :ŽO 5? :ŽHAݾ ƽI> ?9ƽ@ǽE: ȽR:)Ƚp:WWX XWX:W2W*WVbUBU*UUU@r]?B)B) B)A-*B)A1A1AA"Cj @RCCC֭V>ׁIGLD,4iFAY}6>"@}66Z@y}6[ }6Ķ}6H XP@ ??`Ŀ p?`7?)~6>"@ ~6Q[;I~6CYB?yBFIu=)u=i/mGIi;߿ٺlAM E=Y 1a$Hy#}%>I!%O 5?%Aݾ %~> 5?9%@%+: %':)!WQWQXY XYWYXY:WY2WY*WaVabUaBUa*UiUiUm\@BB BA*BAAAA"C%@RC-C)99=CI=Fi=1?==99=; =bE)тIтiтՂ=Ղ=Ղ25CiM@>IG-->M { b:YWU1y:6)+;zSD, NiFAY}6X!@}6@y}6& }6T}6HMc@?%?ཏÿ"?iS?)~6X!@ ~6$[;I~6CYBk?yB FJp=ɮJa=fFr<Mf_=Yjhlan$HlpyrI}r>It z:vO 5? z:v Bݾ vOy> ~?9v6@v: vb;)vq:W1W9XA XAWIXI:WQ2W*WVbUBU*UU!U%~@ReB*** querying acoustic contact ***PaPaBB BAS*BAAAA"CL@RCd\CCIA>׹IGE>I)AAYD,XrhiFAY?yF%Z****** received transponder code query ******%F****** received ping request ******%11a5$H19y=}=>IAEO 5?E}Bݾ E> ?9Ew@E_< E^<)AWWX XWX:W2W*WVbUBU*UUUh @BiB BA*BAAAA"C{@RC CCօc}.>YIiG\> k r:YW1yč:369@9 99 I= Fi= ?= =9 9 = ; = cE`D,fMiFAY}6 !@}6@y}6!}69[X}6H@tf@;.?@?@`#`? E̪?)~6 !@ ~6[;I~6CYn?yn:FrxDUSBL response received:!U1,P D7C,000,002C4,189,80,80,2A,FF vCommand AckvBRequesting micromodem ping code 2ittzNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ))AE]AmʼMul=Ya$Hy}>IO 5?Bݾ ͇> ?9@V< C<)WWX XWXI:WI2WI*WIVQbUQBUQ*UQUQU] @BB BA@*BAAAA"C3$@RCCC=׹IGj>fD,x(iFAY}6!@}6'@y}6l}6ϼ}6H `.^]? a?˹2ɽ`?{ęB?)~6!@ ~6 S[;I~6CYB?yBFDF@AVNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @i )Ii<MB=YRQU>a$Hy5޺} >I  : P 5? : *Cݾ G> ?9 @ : :) r:W9WAXA XAWAXA:WA2WI*WIVIbUIBUI*UQUQUUZn@ByB BA*BAAAA"Cwl(@RCCCm=)I9GU>=i=  |:YWU1y:6UlD,5 iFAY}6F!@}6@y}6v}6\4O}6H}R ??@I 5?o Ʒ?)~6F!@ ~6K[;I~4Y^?y^/FbxDUSBL response received:!U1,R,133,000,002B6,187,80,80,44,FF fFpublishing direction and range infob>+`ɰbhc=b1> `)bBI`ybz@b?^Tпٱ` - - 5 5@ 5@ 5@111i11 1)1I1i1E$=MEV=YElQUM>IIaM$HIQyU;}]>Iae"P 5?e}Cݾ en> m?9e @e: eU:)aWWX XWX:W12W1*W1V1bU9BU9*U9U9UE{R@Ru(Combining 5 samples.Pq*Quz@ZQu]$B@;X[JQu?^Tп2Qu>+:QqbQu|N @WfYrJ?RQuĴ/7ڿ?ѯ\´?BQu@ Qum@Qu%߿PuN9?PuF9?PuQuQu@"Qu@BB BAt*B9IXFi?l; UEAAAA"C.@RCCC V =IG$>psD,iFAY}n!@}nE@y}ne}nV}nHW X`Gˬ?@ ?`/Ͽ?@D~p?)~n!@ ~n~nCY~?y~gF]TNmea in: $SNTTA,0.022690,,,,233326.44*4A Ia)aIuC=)u4=)}= }>:¼MC=Y4;QU>a$HoHyWi;}>I ::P 5? :Cݾ  > ?9A@: :)s:myAdded new target pos. range: 4.140001 m, bearing: 115.133425 deg, deltaT: 4.337020 s, approachRate: -0.193681 m/s, LOS rate: -11.340037 deg/s, posRepo size: 4W@WX XWX:W2W*WVbUBU*UU`\@U-?B1B1 B9AMƃ*BIAIAIAIAQ"CU&2@RCYC]@CY%ONIG (>Q  c:YT1y:6yD,ܹiFAY}2:"@}2 @y}2J}2p}2H_Zޒ??@ϕ`_Bÿ,?o@U?)~2:"@ ~2NG\;I~0YR?yRFDl?K7?:vO >I > T)Iy:vMbp~jth?TD; µAA)µdGAIµI4AiµYAEA'-=MI=Y;a$Hy;}>IP 5?Dݾ e> ?9o@: :)WWX! X!W!X!:W!2W!*W)V)bU)BU)*U)U1U5 ?BYBa BaAe9*BaAaAaAiAi"Cm4@RCCC8kIG&>I)9IFia?=K; CE ܀D,EiFAY}2G#"@}2>@y}2'}2Ͻ}2HM Pg?J?/@=Ŀ`I=?i¹?)~2G#"@ ~2}];I~2CY^?y^zF    @ @ @ i ? ?)I?i? MF=YC-a%$H!!y-;}->I1 =:5Q 5? =:55Dݾ 5Ř> =?95@5: 5:)5t:WaWaXa XaWaXa:Wi2Wi*WiVibUqBUq*UqUqU}f?BB BA&*BAAAA"C(6@RCCC֍h׽IIQGm>+  `:YU1y:6)Զ;9D,*piFAY}2_;"@}2V@y}2}2ҽ}2H gIk?@? 2AĿ"? @?)~2_;"@ ~2~];I~2CYZ_?yZݓF))]==M]V=YeQUe>aaam$Hiiyu};}u>Iy}dQ 5?}_Dݾ }> ?9}@}w: }M:)yWWX XWX:W2W*WVbUBU*UUU`z?BB BA*BAAAA"C6@*CRCCCDI)]AIG>.D,+K7iFAY}6"@}6@y}6<}6Q}6H@'j?ԭſ? ߼)?)~6"@ ~6jZ\;I~6 CYB$?yFF u u u u@ u@ u@ u@qqqiuq u)qIuiuڐMH=YcQU>a$Hy*<}>Iȡ :ťQ 5? :ťDݾ ƥ|> ?9ƥ@ǥ: ȥR:)ȥu:WWX XWX:W2W*WVbUBU*UUU`@BB BA*BAAAA"C%4@RC!C)C)qu\A܁9܁I܁i܁܅=܁܁܅; ݅&EH IG5 >=ia=  h:YX1y/:6)3; D,'QiFAY}2#@}2A9@y}2}2 }2H+N0?h?```¿'?Gӵ?)~2#@ ~2a[;I~2CY^v?y^F]M]M=Yeaaam$Hiiyu+<}u>I1R 5?Dݾ ٙ> ?9%@: :)W W X  X WX:W2W*WVbUBU*UU!U%N@BIBI BQAU*BQAQAQAYAY"C],1@RCaCaCa֥p\ׁIG=>@D,kiFAY}:82#@}:M@y}::c}: WU}:H g6 |??k/q0? x?)~:82#@ ~:K[;I~:CY^?ybÒFba=ɮb=e{Gz?QMb`?eף=eu e;)aIayey&1~jtx+?e`eeĻe= e:A)eTAIaiaae3GA)u> u=;MH=Y_9a$HyH;}>IșŝR 5?ŝDݾ Ɲj> ?9Ɲc@ǝ: ȝ:)șWWX XWX:W2W*WYVYbUaBUi*UUU:@RB*** querying acoustic contact ***PPB)B9 B9AE *BAAAAA"CE-@RCCC)Eo ?i ?IGF>  CimmGIi  g:YWU1y:h69@ٺAAy9yI}XFi}?}=yy}; }E)CICi==q5)D, ބiFAY}:5#@}:tQ@y}:~ }:-}:H 8H0? ?@dL`-⹿,?ۈ?)~:5#@ ~:G\;I~:CY^?ybyFfZ****** received transponder code query ******fF****** received ping request ******fiiam$Hiqy}:}}>Iȁ :ŅKS 5? :Ņ7Eݾ ƅ> ?9ƅ@Dž9: ȅ:)ȅv:WWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"C/(@RCCC MᄾIG-->I)@ASD,RiFAY}6U#@}6p@y}6콙}6|}6H ]D\Ӱ??|]`@:?`:aO?)~6U#@ ~6[;I~6CY^?y^7FbxDUSBL response received:!U1,P 133,000,002B6,187,80,80,44,FF fCommand AckfBRequesting micromodem ping code 2iddjNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 n=MW=Y:QU>!a%$H)QyeB;}e>IS 5?tEݾ > ?9@+< <)W W X  XWX:W2W*WVbUBU*UU!U% @BB BA *BAAAA"CM"@RCCCֽFӅ  D}:YT1y:i6בIG>H~D,NiFAY}:##@}:@y}:j㽙}:Ŀ7}:H@"bk!?o?e`଴ va?ѦO?)~:##@ ~:|[;I~:CYNi?yNFbNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B !!)-^A u u u u@ u@ u@qqqiqq q)qIqiqEML=Y=a$Hy@<}>Iȡ :ťVT 5? :ťEݾ ƥ> ?9ƥ @ǥ|: ȥ:)ȥw:9CIi=; EWWX XWX:W2W*WVbUBU*UUU@/@BB BAS*BAAAA"C%L@RC%Z킾C!C)!IG%M>dD,aniFAY}6#@}6^@y}6dԽ}6 Q}6Hzp@냠?s|?yq4b@m?4?)~6#@ ~6 [;I~6CYF?yF&FJxDUSBL response received:!U1,R,FAC,000,00411,185,80,80,1E,FF NFpublishing direction and range infoJQ =HɰJ=J+> H)JAIHyJAJE ??ٱH]:M]M=Y]ɓaaae$HepHiym <}u>Iy}T 5?}Eݾ }<> ?9}\@}^: }I:)yWWX XWX:W2W*WVbUBU*UUUZ@R(Combining 5 samples.P*QAZQt8@b<,H??JQE ??2QQ =:QbQE"2=i%= }} g:YkS1yԊ:6D,IiFAY}69$@}6U@y}6ҽ}6E}6Hฏ?`W[?E,@L?` .?)~69$@ ~6Z;I~6CYDyD dNmea in: $SNTTA,0.005101,0.445711,,,233330.88*5B =I +?/$ѿX9v=9<=1 =)9I9y=AAaM$HQYymU<}>Iȑ :ŕU 5? :ŕ,Eݾ ƕF> ?9ƕ@Ǖ: ȕr:)ȕx:mqAdded new target pos. range: 24.959997 m, bearing: 136.660884 deg, deltaT: 4.422512 s, approachRate: 4.707731 m/s, LOS rate: 4.867699 deg/s, posRepo size: 4mTStopped intercept timer at range: 24.96 m.WԦ@WX XWX:W2W*WVbUBU *UU`8@U@?ByBy BA*BAAAA"C@RCnCԦ@C֥+OoYIiGZ>9CIȖFi?=; EqxD,*iFAY}N$@}N@y}N۽}NH"}NH@^Y`<ئ? #?@{Mế:i?)@?)~N$@ ~NZ;I~NCYf[?yfxFIM=)M=)U= U=    @ @ @i )Ii;Ma$H y <} >IUU 5?Dݾ > %?9A: ϸ:)WAWAXA XAWIXI:WI2WI*WQVQbUQBUQ*UYUYU]q?BB BAW*BAAAA"C7@RCRCCmnHAIQGm>  as:YU1y: 6);9D,iFAY}:H%@}:`d@y}:㽙}: }:H\t0W? ? Q?F?)~:H%@ ~:Z;I~:CYJe?yNF=<M=W=YE!QUE>AIaM$HIIyU|<}U>IY e:]U 5? e:]Dݾ ]> e?9];A]: ]0:)]y:WWX XWX:W2W*WVbUBU*UUUL?BB BA*BAAAA"CY@RCb0<CC5kd& IG5 >I)OD,b9iFAY~V?y~F    @ @ @>9Ii=; Eñññiññ ı)ıIıiıFM@=YQU>a$Hy}>IU 5?[Cݾ >  ?9mAg: :)W1W1X1 X1W1X9:W92W9*W9V9bUABUA*UAUAUM`?BB BA*BAAAA"C%@*C%RC%QUg;C!C)Ea"I)GMS>  l:Yy6);D,ȵSiFAY}6z%@}6@y}6h⽙}6 }6H"—?@\?`5 H? ;?)~6z%@ ~6 [;I~6CYF5?yFFU<MUT=YeA9QUe>aaam$Hiiyu#<}u>Iy}U 5?}Bݾ } > ?9}A}k: }ܹ:)yWWX XWX:W2W*WVbUBU*UUU$@BB BA*BAAAA"C@RC)kCC52I9)=\A IG5 >D,BmiFAY}6%@}6q@y}6ٽ}6Rv}6H@ )?@?@q@q52?Đ`?)~6%@ ~6k[;I~6CYB?yFFkt?{Gz?~jt 0>ף< D)IyMbp?)\(?;Ga= ?A)IAIi?A } } } }@ }@ }@yyyiyy y)yIyiybȼM*=Ya$Hyo}>I :GT 5? :Cݾ U> ?9A<: 8:)z:W1W9X9 X9W9X9:W92W9*WAVAbUaBUa*UiUiUm@@R}B*** querying acoustic contact ***PyPyBB BAA*BAAAA"C&@RCBCC %=%==i= b :YW1yč:<69@IGn>ܹ9ܽCIܽFiܽ?ܹܹܹܽ; ݽED,riFAY}B%@}BQ@y}B,+׽}BMo}BH1A ?`x?@2̣غ?SЭ?)~B%@ ~BZ;I~@YR9?yVFVZ****** received transponder code query ******VF****** received ping request ******Z ]?9MNAM; M;)IWWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C7@RC-CC֕uriIqG=ND,GiFAY}6I&@}6ze@y}6ҽ}6=}6H^J3?@?1K 7?`A?)~6I&@ ~6Z;I~6CY^?y^ɕFfxDUSBL response received:!U1,P FAC,000,00411,185,80,80,1E,FF fCommand AckfBRequesting micromodem ping code 2iddIh)hnNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Ia=)C=)= >E <MM:=Y];QUe>ia$Hy.'<} >I1 =:5yQ 5? E:5HEݾ 5%> M?95A5; 5S;)5{:WWX XW)X1:W12W9*W9VAbUABUI*UQUQU] @BB BA΂*BA A A A "C%@*C-jRC-7C)C)= t i:YU1y:*6IiG >i- mGI9 iQ ٺ AqD,#iFAY}2'@}2e@y}2"2ӽ}2b}2H`V?we?w|`bKZ?U?)~2'@ ~2[;I~2!CY^?y^FrNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B a9aIeȖFie?e=aae; eE)CICi==S5 u u u u@ u@ u@qqqiqq q)qIqiqRMF=YQU>a$Hy'<}>IȡťP 5?ťFݾ ƥa> ?9ƥAǥ: ȥ:)ȡWWX XWX:W2W*WVbUBU!*U!U!U%@p @BqBq BqAu|*BqAyAyAyAy"CԦ@RC^CCօqZ;YIiGZ>I)AAD,iFAY}6$'@}6@y}6<ѽ}6*墳}6H@F9n؎? u2?h`?U>?)~6$'@ ~6[;I~6CYF&?yFFHHNxDUSBL response received:!U1,R,364,000,002B6,188,80,80,B7,FF NFpublishing direction and range infoJAHɰJhc=J> H)J7CIHyJz@Jp@?ٱHbZ=Mbk=Yf3;QUf?dhaj$HjqHlyn<}n?Ip v:rN 5? v:rFݾ r> z?9r]Ar: r:)r|:WWX XWX:W2W*W!V!bU!BU!*U!U)U-@R=(Combining 5 samples.P9*Q=z@ZQ=4l@JQ=p@?2Q=A:Q9bQ=H -Rÿmh@pR?RQ=R]:Kxz-?.Y.{?BQ=P? Q=@@Q=P=R9?P=#9?P=Q=Q=8@"Q=܋@BqBq BqAu*ByAyAyAyAy"C*CRC_սCC%zIG > u :YyE6D.D,6iFAY}~H'@}~@y}~٦ν}~r}~H` aC? *?~μɹ?`Z+`?)~~H'@ ~~:}[;I~~CY]?y]FTNmea in: $SNTTA,0.075163,,,,233334.95*4C Y9YIYiYYYY]; ]EMb?ʡEy&1?= `<)IyS㥛~jtx?MbP?/ݼ;: ­;A)­NAI­C9Ai­TAFA    @ @ %@i )IiE6MEIIaM$HQQyU;}]>IY]O 5?]Gݾ ]>  ?9]A]< ]<)YmU uAdded new target pos. range: 4.140001 m, bearing: 92.107778 deg, deltaT: 4.022783 s, approachRate: -5.175520 m/s, LOS rate: -11.075194 deg/s, posRepo size: 4W] P?WY XY  XY WY XY :Wa 2W *W V bU BU *U U `\@U f?B B  B A *B A A A A "C z@RC dPԼC P?C E >E = KI) )) I G- >E,xiFAY}Vz'@}V@y}Vjҽ}Vvt}VH Eബ? ?/G?`5?)~Vz'@ ~V ][;I~VC \)\ɂ^`廩```Ƀ`i`I`dIdid dd)dh hhhɄhlncAIl)lil)pIppɅp pɆtttittizLCzrA)x xIxi99)9 9I9 A)EaAɖE½AAIɗIiIIIIIIiU`A UjQ)Qq yyyɘyyyI)i)I`A陉ə ɚ隍`AiY?yɕFn<M=Y QUM?a$Hy<}M?I :P 5? :Gݾ > ?9AE: R:)}:W9W9X9 X9WAXA:WA2WA*WAVIbUiBUi*UiUqUu?BB BA΂*BAAAA"C <@RC ]*<C CнIG%N> m f:Yyj6);9 -E,M"iFAY}6e(@}65@y}6ƍԽ}6f}6H`)` @??0$?`1q?)~6e(@ ~6Z;I~4Y?yF]T;M]P=YeQUe>aaae$HiiymT<}u>Iy}P 5?}fHݾ }F> ?9}A}f: }]:)yWWX XWX:W2W*WVbUBU*UUU ?BB BA*BAAAA"C\@RC=CCօͳケYIiGZ>EYE,.<iFAY}Z(@}Z)@y}ZGJѽ}Z#}ZH=@e=?@?@6@?=?)~Z(@ ~ZZ;I~ZCI9MCIMFiMa?M=IIM; MEYe?ym$F % % % -@ -@ -@!!!i!! !)!I!i!==M===Y=Mq;QU=>AAaE$HAIyM p<}U>IQUQ 5?UHݾ U> e?9UAU^: U:)QWWX XWX:W2W*WVbUBU*UUU5?BABa BaAA*BAAAA"C4; @RCh7_>CCԽ^AԹֽAɽ?i?סIGd>  ii:YY1y:6);?E,ViFAY}6)@}6*5@y}6Ƚ}6ז}6HY ?@??>`Ҿ@?f{?)~6)@ ~6Z;I~6CYF;?yFۖF1M%t=Y%F M?9=BA=: =:)=~:WiWiXi XiWqXq:Wq2Wq*WqVybUyBUy*UyUU0@BB BA_*BAAAA"C@RC >CCxבIG=AlE,6oiFAY}J3)@}J+O@y}J*}J6}JHdHu?`?eK >@'?i%?)~J3)@ ~JNZ;I~JCYb0?yb7FZd;O{Gzy&1j# `e)Iy:vMb?MbPԼ@= )NAI6AiSADA䚼M>=Y=a$Hysq;}>I   Q 5? Jݾ > ?9 A Y: b:) WQWQXQ XQWQXQ:WY2WY*WYVYbUYBUa*UaUaUe@B)B1 B1A5*B1A1A9A9A9"CE?RCACACiE8I)GE0>  2n:YWU1y:69 @9CIi=; EQ"E,iFAY}2)@}2#@y}2x}2p}2Hdg?@e?RV$` ?`췿@ĺ?)~2)@ ~2Z;I~2CY^?ybF hhn]An\ArL=Mv]=Yv9xxaz$Hx|y~9<}~>I  :P 5?  :Kݾ w> ?9A: g:):W1W1X1 X9W9X9:W92WA*WAVAbUABUA*UIUIUM`@RUB*** querying acoustic contact ***PQPQBQBY BYA] *BYAYAYAaAa"Cev?RCiCiCi ՝=ԝ>u<-=IIqG>|(E,OiFAY}V )@}V@y}Vu}VB}VH Pق? \?.Nֽϵ?`?)~V )@ ~VrZ;I~VCYj?ynȖFrZ****** received transponder code query ******rF****** received ping request ******va$Hyi<}>Iqu.P 5?uMݾ u> ?9uSAu': u:)qWWX XWX:W2W*WVbUBU*UUU< @B!B! B)A-f*B)AIAIAQAQ"CU8@?RCYCYCYMh=!I)GM1>ip=     j:Y X1y /: 6.E,;piFAY}6N1*@}6L@y}6X}6oQM}6H`mu&?`hG?T@x?ꏩk?)~6N1*@ ~6ݝZ;I~6CYB?yFFDɮFp=JxDUSBL response received:!U1,P 364,000,002B6,188,80,80,B7,FF JCommand AckJBRequesting micromodem ping code 2iHHd9dIfXFif?dddf; fENmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 uPaMO=Y/:QUu>a$Hy<}>I  :O 5? 5:CNݾ > =?9A< <):WWX XWX:W)2W)*W)V1bU1BU1*U9U9U= X @BB! B!A%q*B!A)A)A)A)"C5*?RC1C1C9u$ӿ=}?i}?IIYGu>v5E,a$HrHy;}>IȹŽWO 5?ŽlOݾ ƽ> ?9ƽAǽs: Ƚ:)ȹWWX XWX:W2W*WVbUBU*UUU}@BB BA/*BAAAA"Cm?RCCC]AS=M MMM M~:YMV1yM:M6IG>X;E,,iFAY}Bj*@}B @y}B}B6}BH6} s? V?@$8 ?t?)~Bj*@ ~BsZ;I~BCYfL?yfFzxDUSBL response received:!U1,R,37A,000,002B7,189,80,80,B1,FF Fpublishing direction and range inforFpɰrc=r7> p)r1CIpyrf@r%? mHmٱp]dNmea in: $SNTTA,0.027554,0.163304,,,233339.37*53 EA`"?Q?EY>Eu< EL)AIAyEMb`? rh?Mb`E;ECqqau$Hqyy}}>Iȉ :ōN 5? :ōOݾ ƍ> ?9ƍ&AǍ: ȍ<:)ȍ:WWX XWX:W2W9*WAVAbUABUA*UIUIUMI@R](Combining 5 samples.PY*Q]f@ZQ]B@>YJQ]%? mHm2Q]F:QYbQ]XGrοjCA@|ax?RQ]M}P(7X?x6?BQ]m? Q]@Q]=vPYP]R9?PYQ]Q]@"Q]8@BB BA*BAAAA"C0?RCCC9>IFI!)!ia?; E)QIQiQU=U=UM05IGšBE, iFAY}R)@}R@y}R駨}R}RH@ې}?@|?@\?_aX?)~R)@ ~RV[;I~Pf`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ!!)! -I)YE?yEcF'MC=YVa$HyKi}>I`N 5?Oݾ ]>  ?9CA: D:)m=iAdded new target pos. range: 4.199998 m, bearing: 93.296409 deg, deltaT: 4.574453 s, approachRate: 0.013116 m/s, LOS rate: 0.259841 deg/s, posRepo size: 4Wm?WX XWX:W2W*WVbUBU*UU`@U u?BYBY BYA]'*BYAaAaAaAa"Cm?RCiCmm?Cq-D ---^ -}v:Y-W1y-č:- 6U;O>IY)Y)I9GU>HE,$iFAY}6)@}6n@y}6{}6Y}6H૒`@Pۖ?@F~?υqt+?@*"?)~6)@ ~6vZ;I~4ɫ99)9 9I9Y}[?y}ǘFrg=M=Y6 E?95YA5@: 5ӻ:)1WaWaXa XaWaXi:Wi2Wi*WiVibU BU*UUU@ s?BaBa BaAe*BaAiAiAiAi"CuI?*CupRCqCqCy Ս>ԉm8s>AIIG8>hNE,>iFA6>94I4i44446; 6EY}f.)@}f@y}f񠞽}fs}fH- 긆? q?E ϳ? }}`=?)~f.)@ ~f[;I~fCɫ) IYUP?yU#F 5 5 5 5@ 5@ 5@ 5111i5?1 5K?)5K?I5?i5K?EME9=YMlQ;QUM>QQa]$HYYye;}e>Iq }:uM 5? :upPݾ u>> ?9uxAu,; u;)u:WWX XWX:W2W*WVbUBU*UUU@Y?B!B) B)A-ف*B1A1A1A1A9"CET?RCACICIֽ>=i- --- -:Y-V1y-:-6)-!;9=ױIG>+UE,XiFAɫqq)q yIyY?y6FI)UMU[=YUQU]>YYa]$HYaye}e>Iqu$M 5?uPݾ u> }?9uAu: ub:)qWWX XWX:W2W*WVbUBU*UUU}?BB BA:*BAAAA "Cm?RCCC!1I!G=r> \E,oriFAY}n)@}n@y}n}nFĽ}nH^v@f?uĿ^?Vk?)~n)@ ~n$Z;I~nCɫ) IYE?yE?F=Mb@Mb@Mb@== =)=I9y=Q??y&1=u<=<=` 9)=JAI=7Ai=NA9=3CA    @ @ @ @ÙÙÙiÝÙ ĝ)ĝIĝiĝ%c:M%0=Y%QU->))a-$H)1y5|;}=>IA M:EL 5? M:EPݾ E> M?9EAE: E:)E:WqWqXq XqWqXq:Wq2Wy*WyVybUBU*UUU@?BB BA6*BAAAA"C*CRCCCi9mCImȖFim?m=iim; mE U r:YT1y:C(6);שIG>bE,ZIiFAY}6)@}6C@y}6k}6}6H6ܑ8jon?w`使@?@%@?)~6)@ ~6|Z;I~6Cɫ99)9 9I9Y}?y}Fs<Ms=Yr E?95A5ϸ: 5@:)1WaWaXa XaWaXi:Wi2Wi*WiVibUBU*UUU`@BABA BAAE*BAAIAIAIAI"Cq*CqRCyCyCyօ6Ʌ>YIiGZ>iE,8-iFAY}Nq)@}N@y}NVV}N0$}NHٯn?a?`s5&? U?)~Nq)@ ~NS\;I~Lɫ髁) IY7?yvF?A_MM=Y{w;QU>a$Hy+;}>I  :TJ 5? :Qݾ > ?9A: H:):W1W9X9 X9W9X9:W92WA*WAVAbUABUA*UIUIUM@@R]B*** querying acoustic contact ***PYPYByBy ByA *BAAAA"C*CRCCCօ>AIiG>>% !!% %3l:Y!y!%69-@Y 9Y I] Fi] a?] =Y Y ] +; ] 2EpE,hBiFAY}F*@}F7@y}Fc }F0s}}FHʼt?S? ܨ@6?`?)~F*@ ~Fe;I~FCɫyy)y yIyY?yFZ****** received transponder code query ******F****** received ping request ******=Y9QU>a$HsHy;}>ILI 5?&Qݾ > ?9PA4; ;)W W X  XWX:W2W*WVbU!BU!*U!U)U-N @BYBY BYA]*BYAaAaAaAa"C*CRCCC ե=ԥ=֝>qIG~>5?`?M %?H@%?)~Zz)@ ~Z*h;I~ZCɫ髑) IY?yGFxDUSBL response received:!U1,P 37A,000,002B7,189,80,80,B1,FF ECommand AckEBRequesting micromodem ping code 2iAIUNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Ր<MH=YY!QU>a$H yN}%>IQ u:UFH 5? :ULQݾ U> ?9UAU+= U>,=)U:WQWYXy XWX:W2W*WVbUBU*UUU: @B1B1 B1AUˁ*BYAYAYAYAY"Ca*CaRCaCiCi p rj:Yy6M> I G5 >c|E,biFA|i|Y}6~)@}6@y}6p}6+}6H`=U?c?JL@g?`%?)~6~)@ ~6bg;I~4ɫ99)9 9I9Y}?y}F鮁ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B {Gzt{Gz?㥛 ף#< )Iyl?{Gzt?aaae$HaiymK}m>Iqu5G 5?uPݾ uw> ?9uAu: u:)qWWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C*CRCCC9Ii=h; SE֝6Ʌ>ץ?iץ?yIG>XLE,o iFAY}V)@}V@y}VMK}V}VH˫Ӆ~?Y? @c b?Ǭ)?)~V)@ ~Vc;I~VCɫ) IY ?yZFxDUSBL response received:!U1,R,3B9,000,002B6,189,80,80,BD,FF %Fpublishing direction and range infoTɰhc= )=CIyz@б?"q1>ٱ)E > E>M#MM]=YU)QUU>YYa]$HYayeqh;}e>Iim>F 5?mVPݾ mR> }?9mAm: m:)iWWX XWX:W2W*WVbUBU*UUUp@R(Combining 5 samples.P*Qz@ZQn+O@;ڻ$zJQб?"q1>2QT:QbQ$@l)uAhw@K]t\?RQ{rT?Z|f?BQ8? Q@QOPPPQQa@"Q@BB BA+*BAAAA"C*CаRCCC#>ID  }v:YU1y:6Gm>wE,'iFAY}6*@}6-@y}6o[}6b}6H~@Ր?@Q?`d?v1?)~6*@ ~6`;I~6Cɫ99)9 AIAY}?y}FDNmea in: $SNTTA,,,,,233343.86*56 uG<MuH=YuQU}>yya}$HyyR;}>I :(E 5? :Oݾ > ?9<A: :):mMqAdded new target pos. range: 4.140001 m, bearing: 90.071924 deg, deltaT: 4.362327 s, approachRate: -0.013754 m/s, LOS rate: -0.739166 deg/s, posRepo size: 4WM8?WQXQ XQWQXQ:WQ2WQ*WYVYbUYBUY*UaUe`\@Ue`j/?BB! B!A-*B)A)A)A)A)"C5O?RC1C=8?C9֕?΅>I)qIyG~>iqIiٺ>A 9 I ȖFi ? = ; xE)݅CI݅Ci݁݅=݅=݅^-5]E,AiFAɫQQ)Y YIYY?yF ] ] e e@ e@ e@aaaiaa a)aIaiau؇Mu;=YuQU}>yya}$Hyy}>I  C 5? EOݾ > ?9 A ܹ: ӻ:) WYWYXY XYWYXa:Wa2Wa*WVbUBU*UUU?BB BA*B AAAA"C8?RC)C)CA    j on:Y y  6) :;9U>IY)Y1I9Gu>ՇE,,d[iFAY}6gH*@}6c@y}6ẽ}6!}6H0`End?;?ʗ`aCS?}öT?)~6gH*@ ~6*%`;I~6CɫYa)a aIaYL?yF =MT=YQU> a $Hy% <}->IA e:EC 5? m:ENݾ E{> u?9EAE}; EQ;)E:WWX XWX:W2W*WiVibUiBUi*UiUqUuE?BB BA*BAAAA"C*CRCCC! 5=5=>IG>E,>?uiFAY}6G*@}6nc@y}6c{}6} }6H@`PlԖ@v;?Q`@[Ŀ醷?@C?)~6G*@ ~6Ȋ^;I~6Cɫai)i iIiY{?ydFMb@Mb@Mb@ )IyZd;O?/$?j<< ;A)NAIi\QADA u u u u@ u@ u@qqqiqq q)qIqiqM@=YQU>a$Hy>}>IȡťfB 5?ťNݾ ƥY> ?9ƥAǥ: ȥ{:)ȡWWX XWX:W2W*WVbUBU*UUUs?BB BA*BAAAA"C!*C)RC)C)C)܍>9܍CI܍Fi܍a?܍=܉܉܍; ݍrE] >=ia=  {:Yy 6);!I)GEs>䙣E,iFAY}6b*@}6b~@y}6cq}6}6H3c_▿3?`Bs`ÿF?+?)~6b*@ ~6];I~6Cɫ99)9 9I9Y?yFU6M]`=Y][aaae$Haaym;}m>Iq }:uA 5? }:uGNݾ u> ?9uAu: u:)u:WWX XWX:W2W*WVbUBU*UUU&@BB BA*BAAAA"C*CRCCC   Օԕ9i=?IG=>éE,{iFAY}:W *@}:(@y}:Ǩ}: \}:H8I}@G?U? [@?3z&?)~:W *@ ~:^\;I~:CɫYY)a aIaY?y$F}=M}H=Y=a$HyP}>IȡťHA 5?ťMݾ ƥc> ?9ƥ$Aǥ`: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU mn@BB BAA*BAA!A!A!"C)*C1RC9C9CIIIG>  r:YV1y:i69 @܁ 9܁ I܅ XFi܅ ?܁ ܁ ܁ ܅ ; ݅ eEѫE,iFAɫ髙) IY?yFAA    @ @ @áááiáá ġ)ġIġiġ MG=YQU>a$HtHy}>I@ 5?Mݾ (> ?9GA]: v:)WWX XWX:W2W*W V bU BU *UUU@RB*** querying acoustic contact ***P!P!BABA BAAEy*BIAIAIAIAQ"CQ*CYRCYCYCYQIiG>IAA)նE,iFAY}2w)@}2g@y}2}2sѼ}2H@Y??IJ賿O? $&?)~2w)@ ~2]`;I~0ɫAA)I IIQY}?yQFZ****** received transponder code query ******F****** received ping request ******a$Hy}>I :@ 5? :TMݾ D> ?9mA; &;):WiWiXi XiWiXi:Wq2Wq*WqVqbUyBUy*UyUyU}O @BB BA/*BAAAA"C*CRCCC!I1)5]AI)GER>"E,3iFAY}:R)@}:n@y}:Z}:G}:H,s=?`c?@y@d!D?˜?)~:R)@ ~:*_;I~8ɫYY)Y YIYY?y6FxDUSBL response received:!U1,P 3B9,000,002B6,189,80,80,BD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 im]A    @ @ @i )IiwAM2=Y9QU>a$HyY}>I? 5?Lݾ w> ?191I1i11115; 5wE9A <  !<)WWX XWX:W2W*WVbUBU*UUU @B1B1 B9A=:*BAAAAAAIAI"Ca*CiRCiCiCqיIG>E,aiFAY}2ԣ)@}2^@y}2ج}2QM}2H,0? {??u@?)~2ԣ)@ ~2ۨ];I~0ɫ9A)A AIAY]?y]ҕFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m[Mmx=Yuw ?9A-;  ;):W9W9X9 X9W9XA:WA2WA*WAVAbUIBUI*UiUiUu?@BB BAʂ*BAAAA"C*CRCCCIG-,> k    y:Y DW1y Y: 6E,%=*iFAY}6)@}6N@y}6e!}6.}6H`@!9?d?@溿>? ?)~6)@ ~62\;I~6Cɫ99)9 9I9Y9?yFxDUSBL response received:!U1,R,370,000,002B6,188,80,80,AA,FF Fpublishing direction and range info Dɰ鰥> )*CIy?t1:ٱ{ڼMR=Y\a$H y 1<} >I> 5?sLݾ > %?9A4: :)WAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UYUYU]@Rm(Combining 5 samples.Pi*QiZQmw@g~JQm?t1:2Qm D:QibQmlx ѿ/]n@|?RQm߅TxK!?H˂?BQm[Y? Qmv@Qm_PmQ9?PiPiQiQm@"Qma@BB BA*BAAAA"C*CRCCC׉IG>) 9) I- ȖFi- ?) ) ) - ; - tE_E,"DiFAY}5X*@}5!t@y}5废}5Mř}5H`h`䁀?@;?`.?% ?)~5X*@ ~5a\;I~5Cɫ髱) IY?yɕF [ n:YWU1y:| 6);9 }TNmea in: $SNTTA,,0.030126,,,233348.28*41 )Õ= Õ=    @ @ @i )Ii؇<M=Y;QU>a$Hyw:<}>I  : = 5? : Lݾ > ?9  A : :) :mEiAdded new target pos. range: 4.140001 m, bearing: 93.709506 deg, deltaT: 4.432775 s, approachRate: 0.000000 m/s, LOS rate: 0.820610 deg/s, posRepo size: 4WM[Y?WIXI XIWIXI:WQ2WQ*WQVQbUYBUY*UYUYU]/.?Bi Bi  Bi Am ΂*Bi Aq Aq Aq Aq "C} 6?RCy C} [Y?C y I G >$E,]iFAY}B+@}B0.@y}Bo+}B৽}BH`q 7!{??@FN?䴿?)~B+@ ~Ba;I~@ P)TɂTXX`Ƀ`idIdhIYiY aa)iq qɄcAI)i)IɅ Ɇ%@C%GaA)i)1iYa)a iIii) I )`AɖȽ\E閩ɗ`AiIIi`A E) ɘ`AI)i)Iə ɚbAiɫ) IY *?y Fa i%@a % a m%@a % a q%@a % a e%@a % 5M5=Y5 QU5?99a=$H9AyM=}M?IQU9= 5?UKݾ Uf> ]?9U! AU: U>)QWyWX XWX:W2W*WVbUBU*UUU`)?BB BA#*BAAA A "Cn?RCCCI!GEs>OE,wiFA44Y}N@+@}N[@ib}nGy}Nqk}N扽Il}NH }x K?H?[?@*`?)~N@+@ ~N7b_;ixI~L%ٺ!%Aɫ) IY55?y=F    @ @ @ÑÑÑiÑÑ đ)đIđiđ}<MS=YQU>a$HyE;}>9IFi?=; oE)ݍCIݍCi݉ݍ=ݍ=ݍ=5I< 5?Kݾ > ?9C Aа: 4?)WWX XWX:W2W*W!V!bU!BU)*U)U)U-?BQBY BYA]*BYAYAaAaAa"Cm[Y?*CiRCiCiCqyIGf>     Yp:Y U1y : 6) ;r6E,TiFAɫ11)1 1I9Y]?y]F^AR<Mk=YQU?a$Hy}?I  : ,< 5? : BKݾ > ?9 a A 2: ^?) :WaWaXa XaWaXa:Wa2Wi*WiVibUqBUq*UqUqUug?BB! B!A%*B!A!AAAIAI"CI*CQRCQCQCQAIIGm5>`E,iFAY}6*@}6,@y}66}6}6H(??@@Hm? @?)~6*@ ~69\;I~4ɫYY)Y YIYY?yF=MQ=YeQU>a$Hy)}>IȹŽ; 5?ŽJݾ ƽ> ?9ƽ AǽX: Ƚ?)ȹWWX X WX:W!2W)*W)V)bU1BU1*U1U9U=_@ByB BAD*BAAAA"C*CRCCCסIG >n  y:YDW1yY:i69 @ 9 I 8Fi ? = Z; OE_HE,JaiFAY}F*@}F@y}Fb}Fiw}FHGH}? ?!L`;?!ڮ?)~F*@ ~F [;I~FCɫ髙) IY?ywFI)U<MUM=Y]C:QU]>Yaae$HeuHaymj}m>Iqu; 5?uJݾ u0> }?9u Au: u7?)qWWX XWX:W2W*WVbUBUI*UQUQUU@BB BA*BAAAA"C*CRCCCIG%>uE,MJiFAY}M*@}M@y}M1}M}MH @G?"?~ E3Z?UF`?)~M*@ ~M`;I~Iɫ) IYp?yF@Aa ia i a ma m a qa q a ea e Mb@Mb@Mb@ )Iy~jt{Gzy&1D#` :A)IC9AiSAEA)= > ] ] e e@ e@ e@aaaiaa a)aIaiau;Mu,=YuQUu>yya}$Hyy#}>Iȉō; 5?ōJݾ ƍ=> ?9ƍ AǍ: ȍ:)ȉWyWyXy XyWyXy:W2W*WVbUBU*UUU@s@RB*** querying acoustic contact ***PPBB BAт*BAAAA"C *CRCCC15  Ku:YU1y:6IG=r>?`%?^G?)~:+@ ~:`;I~:Cɫ99)9 9I9Y}=?y}fFZ****** received transponder code query ******F****** received ping request ****** ?9 A: :):W)WIXQ XQWQXQ:WQ2WQ*WYVYbUYBUY*UYUaUer @BB BA^*BAAAA"C*CRCCCq9qIqiqqqquH; uEEIG )>F, iFAY}6l+@}66@y}6 pӽ}6cq}6H@` [Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )Ii 4[<M !=Y-QU>a$HyET<}E>IIM< 5?MJݾ M> U?9M AM: M:)IWWX XWX:W2W*WVbUBU*UUU@@ByB BA'*BAAAA"C*CRCCC% %~%~% %r:Y%T1y%@:%36IG=>: F,-,iFAY}:*@}: @y}:ݽ}:gJ}:H -I?G? ?z$(?)~:*@ ~:3s];I~:Cɫ99)9 9I9Y}_?y}ݓF鮅p=ɮa=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ‰‰+M}=Y{QU ?a$Hyؼ} ?I := 5? :wJݾ _> ?9 Ak< <):WWX XWX:W2W*W!V!bU!BU!*UIUIUMg@BB BA*BAAAA"C*CRCCCסIGA>i 9i Ii ii m =i i m i; m UEyF,ߨFiFAY}F)*@}FE@y}F3&}FE}FHUy{?9?ج켿ӓ?@@?)~F)*@ ~F'\;I~FCɫYY)Y YIYY?yAFxDUSBL response received:!U1,R,3AD,000,002B5,189,80,80,B2,FF Fpublishing direction and range info8Rɰc=7> )2CIy@mO5?plٱ ] ] ] e@ e@ e@YYYiYY Y)YIYiY}cK<M}L=Y`QU>a$Hy}>Iȡť= 5?ťhJݾ ƥ> ?9ƥ Aǥ5; ȥ6;)ȡWWX XWX:W2W*WVbUBU *U U U@R(Combining 5 samples.P*Q@ZQ>ڃU=@, JQmO5?pl2Q8R:QbQn1pn6@*3m?RQt鉿v?X=#?BQ2? Q@QtSPR9?PQ9?PQQ9@"Q@BABi BiAmm*BiAiAiAqAq"Cq*CyRCyCyCyׁIG=>  8s:Yy6)];9 F,`iFAY}uP)@}u@y}u~}uo}uH`Qy@?d?`uC?`䢭@ִ?)~uP)@ ~u[;I~qɫIQ)Q QIQYm.?yu]FDNmea in: $SNTTA,,,,,233352.72*5D I)m?l񢿲K?m=m m^=)mIiym~jtx?~jt?~jt?m;mA)m^LAIm5AimTAimEA"J;M:=YwQU>a$Hy6}>IA M:E< 5? M:EJݾ E9> U?9ED AEY: E:)E:mqAdded new target pos. range: 4.080000 m, bearing: 90.729733 deg, deltaT: 4.492265 s, approachRate: -0.013356 m/s, LOS rate: -0.663312 deg/s, posRepo size: 4mTStarting intercept timer at range: 4.08 m.W2?WX XWX:W2W*WVbUBU*UUQ@U@"4?BB BAb*BAAAA"C\?RCC2?CױIGe>`F,]ziFAɫyy)y yIyY?yAF)1 5=    @ @ @ i? )?I?iK?fMT=Y QU >a$Hy}>I15V< 5?5Jݾ 5e> =?95b A5: 5:)1WqWqXy XyWyXy:Wy2W*WVbUBU*UUU?BB BAm*BAAAA"C2?RCCC9IȖFi?C; AEסIGC>  :YV1y:6)};W$F,29iFAY}2#)@}2@y}2)}2`}2H"q?`Ah?JSDÿD?\?)~2#)@ ~2_;I~0ɫ99)9 9IAYc?yBFu6MuT=Y}/QU}>ya$Hy(}>Iȑŕ; 5?ŕ1Kݾ ƕ> ?9ƕ AǕD: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU?BB BAՃ*BA A A A "C*CRCCCשIG!>g*F,iFAY}:cG)@}:b@y}:f}:ۍ}:H^W ?@N?`G}J@߿?¬?)~:cG)@ ~:];I~8ɫ髩) IYT?y9Fiim=    @ @ @ @i )IiuM)=Y0;QU>a$Hy#%}>IinGIi%ٺA :; 5? :Kݾ W> %?9 A= =):WaWaXa XaWiXi:Wi2Wi*WiVqbUqBUq*UqUqUE?BB BA؃*BAAAA"C!  :YT1y:69 @*CRCCCIG=> >9 I Fi a? ; %E)ݡIݡiݡݥ=ݥ=ݥgc5 1F,iFAY}6)@}6;@y}6Y}6 }6HXG@}?f?/U¿_? ϒ?)~6)@ ~6m\;I~4ɫ19)9 9I9Yug?y}F]A5M5=Y=z1QU= ?99aE$HEvHAyE;}M ?Iȩŭ: 5?ŭKݾ ƭ8> ?9ƭ Aǭ : ȭY:)ȩWWX XWX:W2W*WVbUBU*UUU ?BB BA*BA!A!A!A!"C)*C)RC)C)C1AIQG>8F,iFAY}rp:)@}rU@y}r }rV`}rH`I@? ?Eif?"@?)~rp:)@ ~r[;I~rCɫ) IY%?y%F)-AA㥛 ? ףp= ǿ rh?=Q8 C<)IyAAaE$HAIyMU;}M>IQ ]:U; 5? e:UAKݾ Uo> e?9U AU: U:)U:WWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"CQ*CYRCYCYCY 4    6u:Y V1y : 6I1G>8>F,iFAY}2(@}2A@y}2o}2;\}2H N??`?%c ?`:@=?)~2(@ ~2^;I~2CɫYa)a aIiY?y1FI) M M M M@ M@ M@IIIiII I)IIIiI]M]=YeZQUe?aaam$Hiiyuſ}u?Iy}< 5?}Jݾ }> ?9}9 A}˵: }:)yWWX XWX:W2W*WVbUBU*UUU`3R@RB*** querying acoustic contact ***PPBB BAD*BAAAA"C*CRCCC9IXFi?=; EIIYGu>W EF,ZiFAɫ髙) IY&?yDFZ****** received transponder code query ******F****** received ping request ******a$H1y=}=>II }:M= 5? }:MJݾ M> }?9Mv AM; M :)M:WWX XWX:W2W*WVbUBU*UUU@ @BB BA*BAAAA"C*CRCCCIGI>  у:YDW1yY:6JKF,[/iFAY}Bϩ'@}BY@y}Bf}Bs}BH@Ը`Ws@?W ?(¿`? P?)~Bϩ'@ ~B];I~B Cɫ髁) IYa?yhFxDUSBL response received:!U1,P 3AD,000,002B5,189,80,80,B2,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @i )Ii%Rt;M-(=Y-vQU->11a5$H19y=}=>Iae? 5?e)Jݾ e> u?9e AeI: e:)aWWX XWX:W2W*WVbUBU*UUU@e @BB BA*BA9A9A9A9"CA*CIRCICICII@A)yIG>ܱ 9ܱ Iܱ iܱ ܱ ܱ ܱ ܵ ~; ݵ ٜEv2RF,"7IiFAY}:Q'@}:=m@y}:Q}:4}:Hi.?~,?H?U"?)~:Q'@ ~:M\;I~:CɫYY)Y YIYY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ;M}=Y74 ?9 A: g:):WW X  X WX:W2W*W!V!bU)BU)*U1U1U=F@ByBy ByA}*BAAAA"C*CRCCCIG--> O    ]w:Y y  6) ;9]`XF,"ciFAY}B_'@}Bz@y}Bp}B61}BH~zz?6'?`]?o꥿`?)~B_'@ ~B[;I~BCɫqq)q qIqY?y2FxDUSBL response received:!U1,R,CA6,000,002C4,18A,80,80,42,FF Fpublishing direction and range info֭??ɰg=鰽> )BIy\@[[p?8F,w?ٱdNmea in: $SNTTA,0.087681,0.256294,,,233357.18*5A MGzο~jt~jtMpM MD)IIIyMX9v?Mb rhMqqa}$Hyyy}:}>Iȉō? 5?ōHݾ ƍ,> ?9ƍ= AǍn: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUU@@R(Combining 5 samples.P*Q\@ZQ^e;/ @XI* @JQ[[p?8F,w?2Q֭??:QbQ8DKuͶ?6?RQ<¢?ǀ?v%r?BQG@ Q=QڞPE9?PR9?PQQ:@"Q9@BqBq BqAu*ByAyAyAyA"C*CRCCCיIG@>^F,t|iFAY}6'@}6-@y}6}6}6H @S???`Tߘ@1? `?)~6'@ ~6E[;I~6CɫYY)Y YIYY?yF U U U ]@ ]@ ]@QQQiQQ Q)QIQiQm-=Mm]=Ymf QUm>qqau$Hqyy}O}>IȁŅ? 5?ŅGݾ ƅ> ?9ƅ ADž* ; ȅ ;)ȁmqAdded new target pos. range: 4.979999 m, bearing: 178.615512 deg, deltaT: 4.444164 s, approachRate: 0.202512 m/s, LOS rate: 19.775547 deg/s, posRepo size: 4mRStopped intercept timer at range: 4.98 m.a9aIeFiea?e=aeNDe; eEm}ProNav REINIT: LOS rate is 19.775547 deg/s. Setting heading cmd to target bearing of 178.615512deg and heading rate command to 0 deg/s.W}G@WX XWX:W2W*WVbUBU*UU@U?BABA BAK*BAAAA"C|t?RCCG@C!I)GEQ>ip= S } }  w:Y kS1y Ԋ: 6) 8;doeF,˖iFAY}V%@}Vz@y}VQ }V_}VH`Я??ĿO?`t?)~V%@ ~Vg_;I~VCɫyy)y yIyY?y2FMG=YQU>a$Hy2}>Iȱ :ŵ? 5? :ŵFݾ ƵN> ?9Ƶ Aǵ*: ȵX:)ȵ:WWX XWX:W2W*WVbUBU*UUUW?B!B) B)A-*B)A1A1A1A1"C=?RC9C9CA)I1GU>kF,ۣiFAY}];%@}]W@y}]#}]&}]H@B?1? +DW¿@f?@՗?)~];%@ ~]];I~]Cɫ11)1 9I9Y&?yDFI)%=)%= %>    @ @ @ÁÁÁiÁÁ ā)āIāiā ;M:=YQU>a$Hyɼ}>I? 5?WEݾ &> ?92 A; ;)WWX XWX:W2W*WVbUBU*UUU?BQBY BA*BAAAA"C?RCCCyIG^>  :YT1y:69 @Q 9Q IQ iQ U =Q U MDU ; U ErF,=iFAY}F$@}F6@y}F)}F }FHe?_?`Q¿`9??)~F$@ ~F\;I~FCɫyy)y yIyY?yđFUi<M]b=Y]FQU]>aaae$HewHaym*}m>Iq }:u? 5? }:uZDݾ u> ?9uz Au: u(:)u:WWX XWX:W2W*WVbUBU*UUU=?BB BAp*BAAAiAq"Cu?RCyCyCyׁIG>I)@AxF,niFAY}F>$@}F@y}FM-}F@Pk}FH$|"Dz?%?UOĿ@N?`]}?)~F>$@ ~F[;I~FCɫiq)q qIqYp?yrFX9v?#~jZd;O}=㥽 j)IyQ/$~jt?D< ©)­OAI­1Ai­]A3GAMC=Y{QU>a$Hy/}>I A 5?Dݾ > ?9 A: :)WWX XWX:W2W*WVbU!BU!*U!U!U-?BQBY BYA]*BYAYAaAA"C-?RCCCI)G]3>%o %%% %y:Y%DW1y%Y:%)6 CiM mGIa iq ٺ AR~F,?iFAY}6$@}6`@y}6k,}6}6H@y@?l? ZǿYv?q`i?)~6$@ ~6^;I~6 Cɫ11)9 9I9Yu?yu;F \A e e e e@ e@ e@aaaiaa a)aIaiauM}P=Y};QU}>a$Hy<}>Iȑ :ŕ@B 5? :ŕDݾ tI ƕ> ?9ƕ AǕ: ȕC:)ȕ:WWX XWX:W2W*WVbUBU*UUU`e@9IXFi?=; E)ݙIݙiݙݝ=ݝ=ݝ,5B)B) B)A5*B1A1A1A1A1"C=O?RC9CACAAIQG}>鼅F,iFAY}6%@}6,@y}6(}65+ؽ}6Hbr8?`?[rȿ?`Úc?)~6%@ ~6a;I~6Cɫ99)9 9I9Y}e?y}ΐFlMZ=Yia$HyȘ;}>IȹŽeC 5?ŽDݾ ƽO> ?9ƽ1Aǽ$: Ƚ0:)ȹWWX XWX:W2W*WVbUBU*UUU@ @R B*** querying acoustic contact ***P P B)B1 B1A5Ԅ*B1A9A9A9A9"CE!@RCEބ>CACIYi]?IIYGu=  wq:YU1y:6F,1iFAY}b $@}b@y}b'}b^꼽}bH ໇1??}F8ǿ` ? Co?)~b $@ ~b^;I~bCɫ髑) IY?y͑FZ****** received transponder code query ******F****** received ping request ******a$Hy>3}>Iȹ :ŽD 5? :Ž9Eݾ ƽH> ?9ƽtAǽ: Ƚb:)Ƚ:W WX XWX!:W12W1*W9V9bU9BU9*U9UUg @BB BAm*BAAAA"CE@RCz>CCIGI>9I Fi?=; EΒF,TKiFAY}:G$$@}:?@y}:*}:@}:Hh+H?/?@Е&¿}=?ɩ?)~:G$$@ ~:\;I~8ɫYY)Y YIYY?y:FxDUSBL response received:!U1,P CA6,000,002C4,18A,80,80,42,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I4=)) > >5|R<M5B=Y=eݻQUE>Ia$Hy }>I  F 5? uEݾ > %?9 A ; y;) WWX XWX:W2W*WVbUBU*UUU a @BB BA@*BAAAA"C@RC<CC% !!% %p:Y!y!%;6)%:;95I9Guy>F,eiFAY}6@#@}6ʭ@y}6.}6Z}6H/෿? [?yq A;?܊$?)~6@#@ ~6U#\;I~6Cɫ99)9 9I9Y}?y}̒F鮅a=ɮp=Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Cl绿~jt?Zd;?;߽< y=)IyQ?~jtQ\=u :A)VVAIt3AiaAIA <M M=Y &QU>a$Hy}%>I!%E 5?%Dݾ %W> 5?9%A%: %:)!WQWYXY XYWYXY:WY2WY*WaVabUaBUa*UiUiUm @BB BA*BAAAA"C@RC HCC֥<->yIG_>"F,{iFAY}z]K#@}zf@y}z 3/}z~6}zHhX?r?1`<Ŀ@?Y?)~z]K#@ ~z[;I~zCɫ) IY5g?y5FExDUSBL response received:!U1,R,174,000,002B7,185,80,80,47,FF EFpublishing direction and range info=69ɰ=c==+> 9)=BI9y=f@=jT?ˬQiԿٱ9 u u u }@ }@ }@yyyiyy y)yIyiy&M@=YNQU>a$Hy%}>I :jE 5? :Cݾ > ?9CAR; ;):->9)I-Fi-v?-=))-F; -EWWX XWX:W2W*W V bU BU*UUU0@RU(Combining 5 samples.PQ*QUf@ZQUYdTR@1doJQUjT?ˬQiԿ2QU6:QQbQUUpq%_n@ "1IAG]>F,uiFAɫ!))) )I)Ye?ye(FDNmea in: $SNTTA,,,,,233401.61*5E ]A=ML=YQU>a$Hy}>IȩŭE 5?ŭBݾ ƭ> ?9ƭAǭ: ȭC:)ȩmyAdded new target pos. range: 4.199998 m, bearing: 113.076767 deg, deltaT: 4.490935 s, approachRate: -0.173683 m/s, LOS rate: -14.593563 deg/s, posRepo size: 4m!ProNav REINIT: LOS rate is -14.593563 deg/s. Setting heading cmd to target bearing of 113.076767deg and heading rate command to 0 deg/s.W?WX XWX:W2W*WVbUBU*UU`@U@8?B1B1 B1A=G*B9A9A9A9AA"CE'@RCM CM?CIJ>IGK>4F,'3iFAɫ髩) IY?y F j    y:Y U1y : `69 @    @ @ @i )Ii-=M-=Y1QU5>99a=$H9AyA}E>II U:MD 5? U:MAݾ M> ]?9MAM7: M.:)M:WyWyXy XWX:W2W*WVbUBU*UUU1?BB BA*BAAAA"C` @RCCC B > I  9 I xFi ?    T;  EG% >F, iFAY}6"@}6!@y}6N'}6$}6H`8`mS?9?m~ſ`2?!~ ~?)~6"@ ~6K];I~6C <)<ɂ><<@Ƀ@i@I@@IDiD DD)DH HHHɄHLNcAIL)LiL)PIPPɅP PɆVLCTTiTTiTZtA)X XIXiX^`A)^ \I\ )ɖ%н!!!ɗ!i!I))I)i-`A -9))11 5|aA11ɘ1Y]`AIY)YiY)aIaaəa aɚiiiiiiɫQQ)Y YIYYu?yu&F<M=Y ?9 A : :) W9W9X9 XAWAXA:WA2WA*WAVIbUIBUI*UQUQUUW?ByB BAx*BAAAA"Ckp!@RCCC֍=aIiG;>FF,iFAY}6B"@}6]@y}6{'}6z}6H@N)?@?`ſe??)~6B"@ ~6(A\;I~6Cɫ) IYU?yUFI=)=mɿS㥛 rh?mLm$ mC >)iIiymS㥛?{GztI +m/a$Hy1}>Iȩ :ŭC 5? :ŭQ@ݾ ƭv> ?9ƭ@AǭM: ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUU2 ?BB BA%H*B!A!A!A!A)"C-B!@*C1RC1C1C1օBa=YIqGZ>  o:YyN6/F,GiFAY}2!@}2@y}2,$}2*}2H`kh? c?O ſ`?] ??)~2!@ ~2M[;I~2Cɫ) IYU?yU8F=i=SMT=Y;QU>a $H Qy]:C}]>IimrC 5?m?ݾ m8> ?9moAm: m:)iܩ9ܩIܩiܩܩܩܩܭN; ݭEWWX XWX:W2W*WVbUBU *U U U @?BQBY BYA]q*BYAYAaAaAa"Cv^ @RCCC}<9IIGuX>YF,ϟiFAY}:!@}:@y}:pf}:3ӽ}:H@},? T?/Vm0ǿ Y? v?)~:!@ ~:];I~:CɫYY)Y YIYY?yF    @ @ @ÑÑÑiÑÑ đ)đIđiđd)MP=Ya$Hy}>I :C 5? :5?ݾ > ?9Ao: :):WWX XWX:W2W*WVbUBU*U U U `q@B1B9 B9A=*B9A9A9AAAA"CE*@RCICICIM IG5.> ݍ:YDW1yY:N6F,z4iFAY}2!@}2=@y}2^E}2ҽ}2H Φ@p??`e@:ƿ? ?)~2!@ ~2c;I~2CɫYY)Y YIYY?yzF 鿱¹¹_MZ=Ya$Hy;}>IB 5?>ݾ > ?9AI: :)W WX XWX:W2W*WVbUBU!*U!U!U%@@R5B*** querying acoustic contact ***P1P1BYBiiI_Ai) BiA5&*B9UٺU_AUAAiAiAiAq"CuE@RC} pCyCymஜ!I1GM1>I 9M CII iI I I I M |; M ՜E)ɇIɇiɇ͇=͇=͇)4jF,UNiFAY}2!@}2@y}2 }2}2H nm?` ?@zĿ`Zj?S˓?)~2!@ ~2_;I~2CɫYY)Y YIYY?yFZ****** received transponder code query ******F****** received ping request ******!!a%$H!)y-4}->I9=B 5?=>ݾ =Q> M?9=A=: =N:)9WqWqXq XqWqXy:Wy2Wy*WyVybUBU*UUU @BB BA*BAAAA"Cl@RCCC-x!I1GUT>     p:Y U1y : 6) o;9F,7hiFAY}2"@}2$$@y}2φ}2}2H`{`Zu[?? Mÿ3?㳿@`?)~2"@ ~26:];I~2Cɫ99)9 9I9Yu=?y}fFxDUSBL response received:!U1,P 174,000,002B7,185,80,80,47,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 K7A?lҿMb? > =)Iyy&1?:v ףp= ?`<TQ8= ½C9A)½SAI½I4Ai½]AGA)E0> E>    @ @ @ùùùiùù Ĺ)ĹIĹiĹ<M =Y;QU>a$Hy;}>I  : A 5? : S=ݾ L> ?9 3A : :) :WYWYXY XYWaXa:Wa2Wa*WaVibUBU*UUU S @B B  B A ^*B A A A A "C 8 @RC <C C! M  I! GE >}F,/iFAY}6""@}6}>@y}6e}6U}6HrBg?@F? @QL? ǂ?)~6""@ ~6i\;I~6CɫII)I IIIY|?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I=)4=żM=YМ ?9LA< -<)WWX XWX:W2W*W V bU BU *U UU@@ByBy BA*BAAAA"Cb @RCP=CCux IIYG\> e .r:YV1y:6)w;F,iFAY}6o"@}6:@y}6}6yZ}6H`9 F?b?@޺"?p ?)~6o"@ ~6*$\;I~6Cɫyy)y yIyY?yܔF=i%==M^=Y)a$Hy}>I :rA 5? :|<ݾ g>  ?9rA: :):WWX XWX:W2W*WVbUBU*UUUgq@BB BA.*BAAAA"C @RC .>C C0IGI>F,͵iFAY}!@}3@y}8}꼼}HG7? ?@ |?@p@?)~!@ ~D_;I~ɫ) IY5[?y5xFEDNmea in: $SNTTA,,,,,233406.05*5B YY - - - -@ -@ -@ -)))i-=?) -?)-K?I-K?i-K?=>5M=6=YE;QUE>AIaM$HIIyU}U>IY] e?9]A]: ]:)YWWX XWX:W2W*WVbUBU*UUUp+@BB BAW*BAAAA"C@RCuny>CC>יIGC>uT qqu uw:Yqyqu69u@ܩ9ܩIܭFiܭa?ܩܩܩܭ?; ݭENF,siFAY}6b!@}6@y}69}6}6Hi`Ƙ? )?`13S ?@ҷ`?)~6b!@ ~6R^;I~4ɫYY)Y YIYY?yF %<Me=YJ a$HyHyo`}>I :A 5? :[;ݾ ]> ?9A: :):W!W!X) X)W)X):W)2W)*W1V1bU1BU9*U9U9U=@?@BaBi BiAm9*BiAiAqAyAy"C}3?RC >CCm)I1GU>F,~iFAY}6[^!@}6y@y}6LFy}6fr }6H`~WR?B?`[@a׽?`B/?)~6[^!@ ~6 ];I~6Cɫ99)9 9I9Yu*?y}FI)uzG?nʿ&1?u =uV u=)qIqyu/$?:v?y&1?ua$Hy34}>Iȩŭ? 5?ŭj;ݾ ƭ> ?9ƭAǭM: ȭ:)ȩWWX XWX:W2W*WVbU BU *U UUT@RB*** querying acoustic contact ***PPBB! B!AM#*BIAQAYAYAa"C%?RCCC֥I_׭?i׭?yIG_>u qqu ur:Yqyqu 6 G,SiFAY}:Hx!@}:ғ@y}:T轙}:V}:Hq@?=?`}r(?5ݲ?)~:Hx!@ ~:];I~8ɫ99)9 9IAY}?y}ɕF)å > áQ9QIUȖFiU?U=QQQ Q    @ @ @ @ùùùiýù Ľ)ĽIĽiĽ<MG=Y$a$Hy |;}>I :> 5? :y;ݾ > ?97A: :):WWX XWX:W2W!*W!V!bU!BU)*U)U)U-@+@BYBY BYA]΂*BYAaAaAaAa"CmQ?*Cm4RCiCiCqMl;< IG-->.G,.iFAY}6!@}60@y}6ٽ}6Hƽ}6H!GfUs)?syO¿&?p?)~6!@ ~6H];I~6CɫYY)Y YIYY?yFI4=)C=M]=Ya$HyK<}>I= 5?;ݾ +? ?9jA: :)W W X  X W X:W2W*WVbUBU*UU!U%o@BIBI BIAU*BQAQAQAYAY"C]?RCaCaCa֭=_=ׁIG>_  :d:Y0Y1y:6[ G,( 7iFAY}20"@}2L@y}2-̽}2 }2H@<`?Z ?Gz???)~20"@ ~23];I~2Cɫ) IY)y)5xDUSBL response received:!U1,N,80,80,63,E4 7,185,80,80,47,FF 5ZNo reply:!U1,N,80,80,63,E4 7,185,80,80,47,FF -5YYa]$HYayeQ<}m>Iim;< 5?m;ݾ m? }?9mAmI: i)iWWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"C*CPRCCC==IG=>Q9QIQiQU=QQQ UE G,^PiFAY}2"@}2'@y}2q ǽ}2[XR}2H @@@;?\?{ \L׸?@U(?)~2"@ ~2n`;I~2Cɫ11)1 9I9Yu2?yu“F‰^A1Z;MAIQGm> }} M~:YkS1yԊ:6);9%1G,DjiFAY}6"@}6@y}6FSĽ}605}6H@@t??9 Rʀ?Ҡ@?)~6"@ ~6u_;I~6Cɫyy)y yIyY|?yF 鿱}Dl? +οMb}O=}v })yIyy}Q?lMbp?}<}}; }:A)}\QAI}n8Ai}+WAy}FA;M?=YL;QU>a$Hycp}>I; 5?:ݾ ? ?9,AY: D:)WWX XWX!:W!2W1*W9V9bUABUI*UQUYUer@BABA BaAe*BiAiAiAiAi"Cq*CuRCqCyCy֝a->)-zCׁiNmGII`Aiٺ`AAG>M?9MA&!G,9iFAY}2R#"@}2>@y}2s}2}2H@AM= ?Z ?B?)~2R#"@ ~2];I~0ɫyy) Iܙ9ܙIܝFiܝ?ܙܙܙܝX; ݝœE)CICi၉==5YL?yoFI)    %@ %@ %@!!!i!! !)!I!i!5:<M5R=Y5D;QU=>99a=$H9AyER}E>II U:M; 5? ]:M9ݾ M? ]?9MvAM: M:)M:WWX XWX:W2W*WVbU BU *U U1U5@ @ByBy ByA}Z*BAAAA"C*C̮RCCC֭9>ׁIG?>=i=5. 555 5t:Y5T1y5:56)5;@C'G,BviFAY}6~!@}6@y}6}6<}6H@hs`;?~[Bz?`涿~?)~6~!@ ~6D\;I~4BJFailed to close latch before timeout.q BBHardware FaultYFc?yFBF)V= V=Z,MZf=YZٗ;QUZ>\\a^$H``ybc}f>IhjA< 5?j8ݾ j? n?9jAj: j:)hW|WX XWX:W2W *W V bU BU *UUUT @R%B*** querying acoustic contact ***P!P!BB BAՃ*BAA A A "C*C"RCC1C95_>I-$ @Hardware Fault in component: DDMG>n-G,WiFAY}6{!@}60@y}6A}6}r}6H4xF?i? Xc,?)@?)~6{!@ ~6q[;I~6CBPowering down@ɪ@)@ @YE?y0FZ****** received transponder code query ******F****** received ping request ******IIaM$HIQyU}]>IY m:]< 5? m:]F7ݾ ]? m?9]A]i: ]s;)]:WWX XWX:W2W*WVbUBU*UUUi!@B)B1 B1A5܃*B1A1A9A9A9"CA*CE6RCACACI=4(>I)G]v>}>9yI}8Fi}?}=yy}H; }EuK uuu u w:YuWU1yu:u 6)u;JU4G,,iFAY}: @}:@y}: ν}: }:H@(e9i?r?f@^=? ?)~: @ ~:c;I~:CYJ?yJ8FNxDUSBL response received:!U1,P 80,80,63,E4 7,185,80,80,47,FF NCommand AckRBRequesting micromodem ping code 2iPPV=iVR=VNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ]3=M%=Y-QU5?IIaU$H]zHiy}-}?Iȩŭ< 5?ŭu6ݾ ƭ? ?9ƭ[Aǭ< ȭ<)ȩWAWIXI XWX:W2W*WVbUBU*UUU |"@BB BA%q*B!A!A!A!Ai"Ci*Cu^RCqCqCqօ>I)יIG>`:G,iFAY}6.!@}6JJ@y}6=Խ}6#}6H`%}``h?P[?@M{?ֺ{?`[?)~6.!@ ~6ݣi;I~6CYB?yBFVNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Dl?{GzQ O > ף u) I y Mb?{GzI + < ף 94 :A) NAI :Ai SA  EA]A-!M-:=Y-QU->11a5$H19y=^<}E>IAE> 5?E4ݾ E? e?9EAE; EN;)AWWX XWX:W2W*WVbUBU*UUU@I#@B)B1 B1A5*B1A1A9A9A9"CA*CERCACACiyqI$NClearing failed state for component DDMq G>u uuu uq:YuV1yu:u69u@gAG,iFAY}Fj!@}F@y}F4Ͻ}Fq/I}FH`t{tМ?@}A?O}ỿ?@8?)~Fj!@ ~Fh;I~FCYZr?yZKF`b@AfxDUSBL response received:!U1,R,12E,000,002B6,186,80,80,53,FF fFpublishing direction and range infobU`ɰbhc=b> `)bBI`ybz@bg &?v?eпٱ` xx)9)I-pFi-M?-=))-/; -E        @  @  @   i   ) I i r <MB=Y;QU>a$HyH<}>I :@ 5? :\3ݾ |? ?9yA: 4:):W9WAXA XAWAXA:WA2WI*WIVIbUQBUQ*UQUQU]`$@Re(Combining 5 samples.Pi*Qmz@ZQmfbG@}AJQmg &?v?eп2QmU:QibQm䌇6X` @p7oJ?RQmkۿ@x̂?:M?BQm"@ QmKn@Qm)PmM9?PmN9?PiQmQm@"QmY&@BB BAу*BAAAA)"C)*C1RC1C1C19E?iE?I!G=r>lGG,MiFAY}Fn!@}F@y}FGҽ}F2}FH+v?G?@ `=?`?)~Fn!@ ~Ff;I~FCYV?yVFDNmea in: $SNTTA,,,,,233411.68*56 mS~Mua=Yu(SQUu>yya}$Hyybj}>I)-(B 5?-1ݾ -? 5?9-A-: -+:))mmuAdded new target pos. range: 4.140001 m, bearing: 115.190020 deg, deltaT: 10.037092 s, approachRate: -0.005978 m/s, LOS rate: 0.210544 deg/s, posRepo size: 4Wm"@WiXi XiWiXi:Wq2Wq*WqVqbUyBUy*UyU}`\@U}t?BB BA*BAAAA"C?RCDU>C"@C>ױIGD>  r:YDW1yY:6MG,9iFAY}:*!@}:nF@y}:a_罙}:t}:HZv.?7V?.ܼ?@`~?)~:*!@ ~:b;I~:CYJ?yJCF)= = e e e e@ e@ e@aaaiaa a)aIaiau<MuK=Y}PѼQU}>ya$Hy&}>Iȑ :ŕC 5? :ŕ0ݾ ƕ? ?9ƕzAǕ_: ȕ4:)ȕ:WWX XWX:W2W*WVbUBU*UUU5?BB BA<*BAAAA"C"@RCseb>CC֭0ƀ>iIqG>!9!I!i!%=%<D!%; %EdTG,GtSiFAY}6.!@}6J@y}6j}6I}6Hl``U?@G?DCI?`ʶ`?)~6.!@ ~6 `;I~6 CYBg?yFFI =) =-M<M=N=YE2QUE>AIaM$HIIyU:}U>IaezE 5?e"/ݾ ef? m?9eAe: eϸ:)aWWX XWX:W2W*WVbUBU*UUU ]z?BB BA*BAAAA"C*CRCf>CCu>I)IG$>  F{:YV1y:6)R;9ZG,OmiFAYR?y_FHzG?p= ף?/$?= >= <)Iyiqau$Hqqy}}}>Iȁ :ŅyD 5? :Ņ.ݾ ƅ? ?9ƅBADž: ȅ:)ȅ:WWX XWX:W2W*WVbUBU*UUU`l ?BB BA*BAAAA"C*C \RC pf>C Cs\l>סIGA>ƵaG,(,iFAY}B=!@}BY@y}B}}B }BHd [?`1? <ſR?o| ?)~B=!@ ~B\;I~BCYNt?yRאFf>9dIf8Fif?f=f;Ddf; fE  稼My=YsQU%?!!a%$H!)y-;;}-?I15C 5?5.ݾ 58? E?95oA5: 5ܹ:)1WaWaXa XiWiXi:Wi2Wi*WqVqbUqBUq*UUU?BABA BAAEф*BAAIAIAIAI"Cq*CuͰRC}h>CyCyօe>aIiG9>   Z p:Y W1y č: a 6) ;gG,iFAY}:cS!@}:n@y}:}:+Ž}:H@Kk{?)?@3@sƿ @?j}?)~:cS!@ ~:\;I~:CY^?yb=F]IM]F=Ye,QUe>aaam$HiiyuO;}u>Iy :}B 5? :}-ݾ }5 ? ?9}A}: }:)}:WWX XWX:W2W*WVbUBU*UUU@BB BAw*BAAAA"C*C"RCi>CCdh>?i?סIGA>iE /mG nG,iFAI i2ٺ02AY}j`!@}j5|@y}j.!}jռ}jH@vjv??@(?Y_`?)~j`!@ ~j \;I~jCYzL?yz F U U ] ]@ ]@ ]@YYYiYY Y)YIYiYm<MmI=YmːQUm>qqau$Hyyy};}>IȉōB 5?ō-ݾ ƍ9 ? ?9ƍAǍ@: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUU 4@RB*** querying acoustic contact ***PPBB BA*BAA A A "C*CRC9k>CC%Gj>IG (>9IȖFi?=; xE)aIaiae=e=ey5 C    hv:Y WU1y : 36) ;tG,ViFAY}6!@}6@y}6w1}6B;}6Hj\]?W?(w`?r??)~6!@ ~6i\;I~6CY^V?ybĐFbZ****** received transponder code query ******bF****** received ping request ******fe<MC=YQU>a$H{HyH;}>I9=$A 5?=,ݾ =h? E?9=A=: =ӻ:)9WWX XWX:W2W*WVbUBU*UUU> @BB B A ؄*B A)A)A1A1"C1*C=ˮRC=`|n>C9C9ek>aIGc>{G,WiFAY}6Z!@}6@y}6D}6}6H[Msπ?`??@CĿY?ܔh?)~6Z!@ ~6_\;I~6CY^ ?ybF`ɮba=fxDUSBL response received:!U1,P 12E,000,002B6,186,80,80,53,FF fCommand AckfBRequesting micromodem ping code 2iddnNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ~jtx?+I +; 94)Iy{Gz?YYa]$HYaye :}e>Iȩ :ŭ9B 5? :ŭS*ݾ ƭ ? ?9ƭAǭ: ȭ<:)ȭ:WWX XWX:W 2W *W V bU BU*UUU@ @BiBq BqA}*BAAAA"C*CRCn>C C E]AE]AM n>IQ )U \A! I1 GM >G,~riFA494I6XFi6?4446; 6EY}FH !@}F%@y}F O}F^}FH ѹ??(Y`bƿ`?`R?)~FH !@ ~F[;I~FCPowering up"Initializing DDM.YE?yEFeNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B e e e e@ e@ e@aaaiaa a)aIaiauȄMu,=YuüQU}>ya$Hy}>IȑŕNC 5?ŕ4(ݾ ƕ ? ?9ƕfAǕ; ȕh;)ȑWWX XWX:W2W*WVbUBU*UUUQ@% %%%< %:Y%W1y%č:%%6)% ;BB BA)*BAAAA"C*CP?RCd>CC% +Oo> I G% >-G,@M"iFA `)`ɂ```dɃdidIddIhih hh)hl lllɄlppIp)pip)v&CIv`AtɊt tɋvCzcAxixxixzbA)~ |I|i`A)D I fC) `Aɛ ̽ @E  &Cɜ `AiII Ci`A ) aA!!ɝ!%&C!I!)-Ei))- CI-aA)ɞ) 1ɟ5C5ZA5ףi5F1Y_?yF^A^AmM=YQU-?a $H  y}-?I9 E:=C 5? E:='ݾ = ? E?9=A=g: =:)=:WWX XWX:W2W*WVbUBU*UUU@B B  B)A5V*B1A1A1A1A1"C9*C=ڬRCEe>CACA-~j>IG)>Q^G,C<iFAY}Vx @}V:@y}VY}V6}VH ۻz4? =D?9,X˿@> ?볿-?)~Vx @ ~VD[;I~VCY.?yFAATNmea in: $SNTTA,0.037613,,,,233416.13*43 Z<MJ=YͼQU>a$Hy}>I  D 5? 3%ݾ ? ?9 OA : :) W9W9X9 X9W9X9:WA2WA*WAVIbUIBUI*UIUIUU@A@ByBy ByA}"*BAAAA"C*CGRC%R>CCֽd>?i?בIG@>}>9yI}xFi}?}=yy}; }Ez  z:YDW1yY:6);?G,ViFAY}>@}>G@y}>+[}>}ȍ}>H#@[?U?Z@ʿ@=??@M 1?)~>@ ~>[;I~iiam$Hiqyu}u>Iy :}E 5? :}O#ݾ }*? ?9}A}9: }:)}:WWX XWX:W2W*WVbUBU*UUU$@BB BA@*BAAAA"C*CRCO>CC ^W>IG-->iG,oiFAY ?y FM¿~jth&1nD н)Iy{Gzt?~jtJ +ף;DH ­A>A)­SAI©i­IjA3KA)ý> ý=:<MM=YQU>a$Hy}>I F 5?"ݾ ? ?9A{: ϸ:)WWX XWX:W2W*W!V!bU!BU!*U!U)U- u@R5B*** querying acoustic contact ***P1P1BYBY BYA]*BYAaAaAaAa"Ci*Cm(RCmP>CiCq֍VR>aIiG9>%V %%%} %w:Y%U1y%:% 69-@RRG,üiFA>9IFiE?=; EY}F!v@}F@y}FZe}Ffڼ}FH@ok$i?ih?3 [ȿ n?q0?)~F!v@ ~F*\;I~FCYR~?yR{FTɮVR=I^a=)^=fm=Mf\=YjмQUj>hhan$HllyrT}r>ItvF 5?vj"ݾ vz> z?9v#Av: v:)tWWX XWX:W!2W!*W!V!bU!BU)*U)U)U- @BB BA*BAAAA"C*CIRCG>CC sP>I ]A) I G-,>{G,iFAY}:@}:/@y}:Mk}:%i}:H`p 9@R?Y?`|J˿'?\?)~:@ ~:\;I~: CYJ?yJhF z z z z@ z@ z@xxxixx x)xIxix<M G=Y qgQU >a$HyqG;}>I! -:%F 5? -:%!ݾ %> 5?9%GA%: %:)%:WQWQXQ XYWYXY:WY2WY*WaVabUaBUa*UiUiUm@@BB BA.*BAAAA"C*CRCJ>CCG>IG>M] MMM M{x:YMWU1yM:MW6G,piFAY}2e@}2@y}2l}2 %}2HAlN ?Y?jreͿS? o5 ?)~2e@ ~2[;I~2CYb0?ybF~]A~]A E E E E@ E@ E@AAAiAA A)AIAiAUzMUE=Y][QU]>aaae$Haaym}m>Iqu6F 5?ud!ݾ u1> }?9umAu0: uk:)qWWX XWX:W2W*WVbUBU*UUUM@@BB BAa*BAAAA"C *C aRC VJ>CCqmG>IIYGu6>!9!I%`Fi%@!!!%; % EG,MLiFAY}6@}682@y}6cj}6)X}6H@E@zs~?@}?@1Ϳ ? i ?)~6@ ~6}R[;I~6CYF?yF̒FHJ@AJxDUSBL response received:!U1,N,80,80,63,E4 6,186,80,80,53,FF JZNo reply:!U1,N,80,80,63,E4 6,186,80,80,53,FF -N``ab$Hb|H`yf}f>Ih ]:jPF 5? e:j ݾ jJ> e?9jAj< j(<)j:WWX XWX:W2W*WVbUBU*UUUb@B!B) B)A-*B)A)A)A1A1"CY*C]ͨRC]ҤA>CYCa m=m=mJ>ׅ?iׅ?aIGE>% !!% %us:Y!y!%6ۺG,2iFAYr?yKFu+?iiam$Hiqyu}u>Iy}F 5?}R!ݾ }9> ?9}A}; }f;)yWWX XWX:W2W*WVbUBU*U!U!U%@QUCiIi ٺ  rAB!B! B!A-у*B)A)A)A)A)"C1*C5RC=B>C9Ci֍[A>iIyG> 9 I Fi @ = <D  ;  E)ݑIݑiݑݕ=ݕ=ݕ95G, iFAY}Rn@}R@y}R7T}Ra}RH`!??Ǘ(ϿoV?_@ ?)~Rn@ ~RA];I~RCYr?yr1F)= =%%M%l=Y-=QU-?)1a5$H11y=4}=?IA M:EF 5? M:E!ݾ EA> U?9EAE: E:)E:WqWqXq XqWyXy:Wy2Wy*WVbUBU*UUUv @BB BAD*BAAAA"C*CRC24>CC B>IG*>% %%% %p:Y%W1y%č:%6)%o;9-G,$iFAY~P?y~ԓFɮa=%S=M%K=Y%QU->))a-$H)1y5}5>IAE M?9EAE^: E:)AWiWiXi XqWqXq:Wq2Wq*WyVybUyBUy*UUU @RB*** querying acoustic contact ***PPBB BA*BAAAA"C*C/RCP6>CC֕n6>Iם\A)יqIyG=G,ܷ>iFAY}2e@}2i@y}2??}2i笽}2H-n@e?`?e _Vɿ`ؿ?e6U?)~2e@ ~26\;I~2CY^?yb8FbZ****** received transponder code query ******bF****** received ping request ******fiiam$Hiqyu }u>Iy :}G 5? :}O"ݾ }> ?9}A}|: }:)}:WWX XWX:W2W*WVbUBU*UUUп!@BqBq ByA}q*ByAyAAA"C*CԑRCT6>CC9Ii=;D; לE4>׹IGf>%" %%%w %s:Y%WU1y%:%|6)%;OG,$XiFAY}2@}2@y}2z9}2}2H@xC~@b?`?@5̵ǿ?䱿Lf?)~2@ ~2;[;I~2CY^?y^ӔFbxDUSBL response received:!U1,P 80,80,63,E4 6,186,80,80,53,FF bCommand AckbBRequesting micromodem ping code 2i``jNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  5<M=_=YMka$H)yU;}U>IaeG 5?e"ݾ e> ?9e$AeCCY6>?i? I G > G,F~riFAY}fz@}f@y}fZ-}f}fH7DP^??,ƿ`̐?sȲ@~t?)~fz@ ~fR[;I~f CYr_?yrݓFtt Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B u:v?MbV-?ua$Hy ]}>I  :G 5?  :!ݾ 7> ?9qA: g:):W1W1X1 X1W9X9:W92W9*W9VAbUABUA*UAUIUMb#@BB BA*BAAAA"C!*C%vRC%F8>C!C)5;>%s !!% %ܽ >9ܹ Iܽ Fiܽ @ܽ =ܽ <Dܹ ܽ M; ݽ EG,IiFAY}6.L@}6g@y}6AG}6>h}6Hd=,?@?8@Ŀa?)?)~6.L@ ~6>[;I~6CYBe?yBF3=Mc=Y=QU>a$Hy*}>IH 5? ݾ Q> ?9A: :)WWX XWX:W2W *W V bU BU *UUU$@BB BA*BAAAA"C*CRC,4>CC}7>IG J>G,/iFAY}R~@}R@y}R}R}RHYv5%?@?DBÿC?`oి ۗ?)~R~@ ~R:[;I~PYb?ybFjDNmea in: $SNTTA,,,,,233421.79*55 ztAMzU=Ym qqa}$Hyyy_<}>Iȉō)H 5?ōݾ ƍ> ?9ƍAǍM: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUUB$@BB BA9*BAAAA"C *C zRC j9>CCEu4>!IIG9>% %%% %l:Y%U1y%:%r6BG,viFAY}2@}2&@y}2%%}2}2Hg@Yh??X@ÿ? <6?)~2@ ~2\;I~2CY^=?ybfFbp=ɮ` - - - -@ -@ -@ -@)))i-) )))I)i-=M3M=F=YEAIaM$HIIyUf<}U>I : ?9EA: :):W!W!X) X)W)X):W)2W)*W1V1bU9BU9*U9UAUEk%@BB BA^*BAAAA"C*C⣽RCb4A>CCE9>q9qIuxFiu?u=u;Dqu; uEIAG]U>*G,iFAYe?yF-C=i-a=E<MEJ=YEQUM>IIaM$HM}HQyU}U>IaeOH 5?eݾ e> m?9eAe: e:)aWWX XWX:W2W*WVbUBU*UUU@&@RB*** querying acoustic contact ***PPBBQ BQAU*BQAYAYAYAY"Ca*CeZRCeڿ@>CaCiֵ[A>בIG>I)AA% %%% %l:Y%WU1y%:%D6~TG,JiFAY~V?y~F?FxɿX9v?L=K }=)IyMbMb?< ;A)NAII4Ai~ZAFA    @ @ @i )Ii ҉M >=YQU>a$Hy!}%>I) 5:-H 5? :-ݾ -4> ?9-A-< -ݑ<)-:WWX XWX:W2W*WVbUBU*U U U gh'@BqBy ByA}*ByAyAyAA"C*CjRCe A>CCֽQA>יIGb>i 9i Im Fim 1?m =i i m ; m E <H, iFAY}6b@}6@y}6ս}6#h }6H?G@wXXaZ$HX\y^/}^>I`bH 5?bGݾ b.? j?9bAbs: b':)`WxWxXx XxWxX|:W|2W|*WVbUBU*UU U (@BB BA*BAAAA"C*CDRCA>CC @>IG (>% !!%~ %r:Y!y!%<6)%(;9-Kf H,l' iFAY}6@}6@y}6D}6z[}6Hyc_H?6?x@,i?@`:?)~6@ ~6[;I~4YBa?yFFIH)HVۻMVJ=YZXXa^$H\\ybP}b>Id j:fPI 5? j:fݾ f? j?9fAf: f:)f:W|W|X| X|WX:W2W*WV bU BU *U U U(@B9BA BAAEՂ*BAAAAAAIAI"CI*CURCUV:>CQCQm[A>IIQGu>=ip=i mGI i  Wٺ  (A NH,RGA iFAY}2t@}24@y}20Ư}2pc^}2H7w@e^???dֹ??)~2t@ ~2P[;I~2CYn?ynܔFrxDUSBL response received:!U1,N,80,80,63,E4 6,186,80,80,53,FF vZNo reply:!U1,N,80,80,63,E4 6,186,80,80,53,FF -vaaae$Haiym}u>IquI 5?uݾ u? ?9uAu: u:)qWWX XWX:W2W*WVbUBU*UUU)@BB BA.*BAAAA"C*CB/RC:>CC89>^A^A9IȖFi? ; E)ݩIݩiݩݭ=ݭ=ݭ}5IGI>%( %%%x %At:Y%U1y%:%6)%B;>xH,"[ iFAY}2r@}2@y}2ĥ}2}2HЃ *\x@{:?.c-O Ʋ?Ɀ?)~2r@ ~2-j[;I~2CY^C?y^Fba=ɮ`r<MrR=YvMttav$Hxxyzȉ;}~>IimI 5?m6ݾ m@? ?9mAm; m;)iWWX XWX:W2W*WVbUBU*UUU*@ByB BA݂*BAAAA!"CY*CeRCe͵<>CiCz:>יIGb>H,et iFAY~?y~.F R=i <Pn?(\¿ rh?>z C=)IyMbI ++?9= l=A)IAI6Ai1RACA    @ %@ %@i )Ii-WM57=Y5QU5>99a=$H9AyE}E>II U:MJ 5? ]:MKݾ M? ]?9MGAM: M:)M:WyWX XWX:W2W*WVbUBU*UUUj+@BB BA *BAAAA"C*CRC.<>CC<>סIGB>I)%o %%% %y:Y%0Y1y%:%69-@ 9 I 8Fi ? = 2; E2#H,؎ iFAY}>@}>q@y}> }>a)}>H`BG?+?`?'?)~>@ ~>FZ;I~>CY^?y^wFnI$<Mnc=Yr'ptav$Httyz)"<}z>I|~K 5?~Xݾ ~$ ? ?9~pA~÷: ~w:)|W)W)X) X)W)X1:W12W1*W1V1bU9BU9*U9UAUEp#,@RMB*** querying acoustic contact ***PIPIBiBq BqAu*BqAyAyAyAy"C*C^RC`A>CCm<>)I9GU>a)H,> iFAY}6N@}6ؼ@y}6}6}6H`AR S?k9?ೇ Ko?h ?)~6N@ ~6Z;I~4Yn?yr FrZ****** received transponder code query ******vF****** received ping request ******vYaae$Haaymu}m>Iq :uL 5? :ufݾ uF? ?9uAu; u;)u:WWX XWX:W2W*WVbUBU*UUU$,@BB BA*BAAAA"C*CRC S>>C C ֭B>ׁIG=>%K %%% % w:Y%U1y%:%/6>0H,T iFAYv?yvmFzxDUSBL response received:!U1,P 80,80,63,E4 6,186,80,80,53,FF zCommand AckzBRequesting micromodem ping code 2ix|I|)|Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 e e e e@ e@ m@aaaiaa a)aIaia&<M-'=Y-QU->11a5$H5~H9y=}=>IAEM 5?Evݾ E*? u?9EAE8: E':)Aܱ9ܱIܵpFiܵM?ܱܱܱܵ@; ݵE8qjAggregate::initialize lineCaptureDepth:SetNavAcoustic19 r~Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNavq9rdReseting nav to dock location at range 4.140001 m q99 s6Initialize SetNavComponent.W!W)X) X)W)X):W)2W)*W1V1bU1BU1*U9U9U=.@BB BA*B!AAAAAIAI"CY*CeQCRCe2>>CiCq=i=֭6>>i Iy G >6H,p iFAY}2@}20 @y}2}24#/}2Hv78wx??@H+5t?7֥H?)~2@ ~2Z;I~2 CYB ?yFFVNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B eMwMe~=YuzCC-E ---R -'b:Y-X1y-/:- 6?>שIG> )BIy@ 2?iCοٱdNmea in: $SNTTA,0.052861,0.160406,,,233427.45*51 I =) =U{GzktULUף U )QIQyUZd;O?Zd;O?L7A`?Uj<=UjA)UIAIUIIaM$HIQyU}U>IY e:]- 5? m:]xݾ mtI ] m?9]]H: ]:)]o:WWX XWX:W2W*WVbUBU*UUUj/@R(Combining 5 samples.P*Q@ZQ>.@",$JQ 2?iCο2QϢv:QbQg @<˭)CC֕G1>QIaG{>ܡ 9ܡ Iܥ Fiܥ ?ܥ =ܡ ܡ ܥ n; ݥ ΜE`CH, !iFAY}6@}6 @y}6񐽙}6}6H,@y9@(v?%@ Y?M?)~6@ ~6Z;I~6CYR?yRFp=i=2M=YRQU?a$Hy١;}?Ișŝ 5?ŝJxݾ Ɲ1< ?9Ɲ<ǝ': ȝ:)șmyAdded new target pos. range: 4.080000 m, bearing: 113.176467 deg, deltaT: 15.807752 s, approachRate: -0.003796 m/s, LOS rate: -0.127378 deg/s, posRepo size: 4W?WX XWX:W2W*WVbUBU*UUQ@U@s?BB B!A%L*B!A!A!A!A!"C-P?RC5C5?C1-[+>IG)>I)@A% %%% %:Y%T1y%:%`6)%;9-JH,**!iFAY}6n@}66@y}6k}6 h}6H`X}@;?`?TB@ H??)~6n@ ~6(fZ;I~6CYF*?yFF= N<M=O=Y=?QUE>AAaE$HAIyM #<}M>IY]k 5?]wݾ ]=< e?9]=]: ]n:)YWWX XWX:W2W*WVbUBU*UUU?BB BA#*BAAAA"C?RC1d>CC֭S<>ׁIG>NPH,C!iFAY}:@@}:\@y}:ש}:sj}:Hc@tEs? iQ?M4?0y?)~:@@ ~:aZ;I~8YN?yNF     @ @ @ÁÁÁiÁÁ ā)āIāiāMD=YQU>a$Hym;}>I :̏ 5? :fwݾ != ?9g=3=; r>;)p:WWX XWX:W2W*WVbUBU*UUUyF?B!B) B)A-=*B)AQAQAQAQ"CY*C]RC]d>CYCaQ9QIQiQU=QQU; UE֝U@>yIG^>% %%% %:Y%DW1y%Y:%6)%;aWH,]!iFAY}B:@}BWV@y}B\}B}BH^x,`rO?@U?@¼?i@#?)~B:@ ~B&DZ;I~BCY?yFI)-?)\(L7A`尿?5>Ga +)Iy{Gz?I +I +?ף<994< l=A)IC9AiOADA=bM==YEOQUE>IIaM$HIIyU/}U>IY] 5?]vݾ ]@= e?9]=]Y: ]b:)YWW X  X W X :W 2W *WVbUBU*UUU=E?BiBi BiAmA*BiAqAqAqAq"C*CכRC=c>CC=i=֕ X>iIyG>@]H, w!iFAY}6#@}6@y}6kB½}6?Ҍ}6HAώc?`?!@潿 >?`}`?)~6#@ ~6`Aɇ>DB`E@B&CɈBaAiB8IBEDIF@CiD DD)DJLC J?aAJףJyEɉHLNbAIL)LiL)R@CIR`APɊRCE PɋV CVcATiTTiZ CZ^A)X XIXYf|?yfFimGIi!MٺIMUA:M=Y܇QU ?a$HyR} ?I :/ 5? :vݾ S= ?9=(: :)q:W9W9X9 X9WAXA:WA2WA*WAVIbUIBUI*UQUQUU `t?BB BA*BAAAA"C*C3]RC[5^>CCֽc>בIGb>- -~-~- -k:Y-T1y-@:-r695@M >9M CIM pFiM M?M =I I M ; M E)ىIىiى݉=݉=݉5J+dH,|!iFAY} @}  @y} ˽} g} H2൙a {?`4g?@o?@ ]?)~ @ ~ :Z;I~ CY?y^FI)4> = = = =@ =@ =@999i99 9)9I9i9MvMM2=YU&QUU>QYa]$HYYye艻}e>Iimg 5?m_uݾ mm= u?9mѾ=m: mܹ:)iWAWIXI XIWIXI:WI2WI*WQVQbUQBUY*UYUYU]@BB BAʃ*BAAAA"C*CRC\>CC֭]>ׁIG>RjH,'M!iFAY}:@}:4 @y}:н}:}:H:@_z?`^?@^Y ?@{@+?)~:@ ~:\Z;I~:CiJsCJaA)H HIL NLC)N`AɛNRYEPR3CɜR`AiPIPTIV&CiV`A TT)XZYC XXXɝ\^@C\I\)\i`)bCI``ɞ` dɟfCfXAdiddYn?ynpFIt)tvR=iv<^A G;M =YQU?a$Hy%;}%?I) 5:- 5? 5:-tݾ -Z= =?9-=-: -{:)-r:WYWYXY XYWaXa:Wa2Wa*WaVibUiBUi*UiUiUuH@R}B*** querying acoustic contact ***PyPyBB BAƒ*BAAAA"CQ*CU ;RCU _>CYCYօ\>YIiG8>I)% %%% %l:Y%WU1y%:%6x8qH,!iFAY}B;@}BiW@y}BSXӽ}B}BHX|+?@F?@/<@# _?ð@?)~B;@ ~BUZ;I~@YT?y9FZ****** received transponder code query ******F****** received ping request ******))a5$H5Hy %<} >IÐ 5?/tݾ o= ?9=^: :)WAWAXA XAWAXA:WI2WI*WIVIbUQBUQ*UQUQU]+l @BB BA؃*BAAAA"C*C'RCzre>CC9CI8Fi?; E֝^>yIG^>JcwH,!iFAY?yFxDUSBL response received:!U1,P 114,000,002B5,187,80,80,45,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  rh?oʡ?KC =-> ^)IyMb?I +~jt<94 :A)3MAIiVVAEA    @ @ @éééiéé ĩ)ĩIĩiĩꞻM=YQU>a$H5v 115 5yz:Y1y15)6y}M>IY e:] 5? m:]rݾ ]P= ?9]>]; ];)]s:WYWaXa XaWiX:W2W*WVbUBU*UUU@B B  B A *B A A! A) A) "CA *CM RCU ge>CQ C u e>I IY Gu >b~H,7!iFAY}V @}V@y}VW}V!}VHW(Onu?@?@|]? r@?)~V @ ~V~\;I~Tb`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ!)! %I!Y]N?y]FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)    @ @ @=i=i )IiME=Y\QU>!a%$H!!y-<}->I15 5?5qݾ 5= =?95$&>5: 5:)1WaWaXa XaWaXi:Wi2Wi*WiVqbUqBUy*UyUyU}Y@BB BAZ*BAAAA"CI*CMDRCMKcr>CQCQ9IFi?; E} ?e>y I G >H,"iFAY}F@}F @y}F]}F.ݼ}FHBhZ??*/t[?s@W?)~F@ ~Fs];I~FCɫyy)y yIyY?yFxDUSBL response received:!U1,R,183,000,002C1,186,80,80,24,FF Fpublishing direction and range info鬾ɰg=鰽> )BIy@-n@1?Yɣ4տٱ=M=Yf9QU'?a$Hy=}'?I  3 5? -qݾ < ?9 3> : f:) W1W9X9 X9W9X9:W92WA*WAVAbUABUA*UIUIUM$@R](Combining 5 samples.Pa*Qe@ZQe&5@ra}5^rJQe-n@1?Yɣ4տ2Qe鬾:QabQe{o(?B @({ &?RQeZ#ӿY)?}=C6u?BQeN? Qe[@QeFPeQ9?PeP9?PeQeQe#@"Qe @B1B1 B1A5 *B1A9A9A9A9"CA*CE!RCEm>CACI-ϵj>IG (> Z   b >x:Y X1y /: <6) ;9C0H,."iFAY}~z@}~*@y}~}~kB}~H@S`Arsi?C ?KX¿? ?)~~z@ ~~B];I~~CɫQQ)Q QIQYg?yFTNmea in: $SNTTA,0.065694,,,,233431.95*40 U U U U@ U@ U@ UQQQiU?Q U?)U?IU?iU?iM2=YXQU>a$Hy}>Iȡ :ť 5? :ťpݾ ƥ,W< ?9ƥSK>ǥe: ȥ:)ȥt:mqAdded new target pos. range: 4.800000 m, bearing: 108.237939 deg, deltaT: 4.394242 s, approachRate: 0.163851 m/s, LOS rate: -1.123863 deg/s, posRepo size: 4mTStarting intercept timer at range: 4.80 m.WN?WX XWX:W2W*WVbUBU*UU@33@U`HN?B)B) B)A-*B)A1A1A1A1"C=?RC=>C=N?CA U=U=u5tr>)I9Guz>H,,H"iFAY}2L@}2g@y}2}2^}2H?`̃?? x<`ÿk?@@,?)~2L@ ~2R ];I~2Cɫ99)9 9I9Y],?y]Fi4=5M5c=Y=oջQU=>99aE$HAAyE}M>IQUє 5?Uoݾ UX: ]?9U]>U : UY:)Q}>9yI}ȖFi}?yyy}; }EWWX XWX:W2W*WVbUBU*UUU6?BB BA"*BAAAA"CZ?RC >CCb|>ׁIG> (   S U:Y DW1y Y:  6) ;5@H,=b"iFAY}Z7@}Z@y}Zt"}Z1k}ZHOv??K`xĿ8?`ʋ?)~Z7@ ~Z|\;I~ZCɫ髑) IYv?yFQw/ĿA`"?& =)IyQ롿?{Gz\<# ?A)JAI2Ai ?Aȫ;M>=Y pQU >a$Hy;}>I! -:%ה 5? -:%pݾ % 5?9%p>%: %:)%u:WQWQXQ XYWYXY:WY2WY*WYVabUaBUa*UiUiUm?BB BA*BAAAA"C%)?RC!C)C)=>IQG~>mgH,/j|"iFAY}6$@}6@y}6#,}6z}6H@tiX??@tp`~ſj?@䮿b}?)~6$@ ~6@[;I~6Cɫ99)9 9I9Y}?y}F - - - 5@ 5@ 5@ 5@)))i-) -)-I-i-E!MEX=YE̼QUM>IIaM$HIQy]<}]>Iaeߔ 5?epݾ e K m?9e>e: eض:)aW W X  X)W)X1:W12W1*W1V1bU9BU9*U9U9UE-P?BB BA*BAAAA"Cg?*CRCCCI]A) ~~ {:YT1y@:69@׹IGf>y9yI}XFi}?}=yy}; }EFOH,5E"iFAY}6&@}6bB@y}65}6K}6H ƀ-S)??gǿ?7g?)~6&@ ~6#c;I~6CɫYY)Y YIYY?yFI)5\;M=K=Y= QU=>AAaE$HAAyM;}M>IQ ]:U 5? ]:Uqݾ U e?9U5>U: U:)Uv:WWX XWX:W2W*WVbUBU*UUU 8@BB BA*BAAAAi"CuN?*CqRCqCqCye>9IIGeU>C|H,Z,"iFAY}NH@}N@y}ND8}No}NHa@o0m??`x0lgɿ@?=W?)~NH@ ~NHg;I~NCɫ) IY?y؏F    @ @ @i )IiYM@=YtQU>a$Hyy*}>I 5?rݾ  ?9>: k:)W!W!X! XWX:W2W*WVbUBU*UUU`@B!B! B!A-8*B)A)A)A)A)"C1*C1RC9C9C9iIi  {:YWU1y:6ٺA֕>iIyG~>IaH,"iFAY}:v@}:@y}:`9}: }:H8 |?`L? Bȿ@ ? a?)~:v@ ~:,g;I~8ɫ99)9 9I9Y}?y}F鮁ɮ=Ma=Y>QU>a$HHyՎ}>I 5?sݾ  ?9u>: :)WWX XW!9!I%Fi%1?!!!%; %E)ݱIݱiݱݵ=ݵ=ݵ4X:W2W*WVbUBU*UUUj@RB*** querying acoustic contact ***PPBB BAG*BAAAA"C!*C!RC!C!C) ====%>-?i-?IG-N>H,"iFAɫ髑) IYi?y3FZ****** received transponder code query ******F****** received ping request ******eMb> e9)aIayeI +a$Hy}>Iș :ŝƕ 5? :ŝtݾ Ɲ$ ?9ƝF>ǝw; ȝ;)ȝw:WWX XWX:W2W*WVbUBU*UUaUe xc @BB BA*BAAAA"C*CRCCC     g:Y U1y : E65>)I9G]>H,ɯ"iFAY}F[@}v@y}B}>}H@%?@?@`ƿG0?lc?)~F[@ ~I[a;I~Cɫ) IY?yiFxDUSBL response received:!U1,P 183,000,002C1,186,80,80,24,FF Command AckBRequesting micromodem ping code 2i-Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 M U U U@ U@ U@QQQiQQ Q)QIQiQ4;M-=YlQU>a%$H!)y5^}=>Ia m:e 5? m:e^tݾ e u?9es>e\: eh:)ex:WWX XWX:W2W*WVbUBU*UUU7@BYBY BYA]*BYAaAaAaAa"Ci*CiRCiCiCq999I=Fi=v?==99=; =E֭ ?΅>a Iq G >iH,!#iFAY}J3L@}Jg@y}J I}J)pǼ}JH`@z`Ғ?`6?@Yſ? q^?)~J3L@ ~J:c;I~JCɫqy)y yIyY*?yFAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B m,<M=Y%żQU?a$HyQ}?Iȩŭ# 5?ŭtݾ ƭ} ?9ƭ>ǭ@: ȭ:)ȩWW!X! X!W!X!:W!2W)*W)VIbUIBUQ*UQUQUU8I@BB BA*BAAAA"C*C!RCCC^Aֽ>I\A) 7    su:Y V1y : 6) J;9יIGe>@H,us1#iFAɫ)1)1 1I1Ym?ym2FuxDUSBL response received:!U1,R,0F3,000,002B4,187,80,80,4E,FF }Fpublishing direction and range infou%Yqɰub=u1> q)uBIqyu@u H?]3ʿٱqI)    @ @ @i )Ii<MB=YQU>a$Hy } >Iߗ 5?tݾ a ?97>9: :)WAWAXA XAWAXA:WI2WI*WIVIbUQBUQ*UQUQU] @Rm(Combining 5 samples.Pi*Qm@ZQm6-ڈp@S8JQm H?]3ʿ2Qm%Y:QibQmqlW-I @ƖI?RQm8rڿb-i?!wa)?BQm:@ Qmrd@QmտPmP9?PmQ9?PmQmQm(@"Qm#@BB BA*BAAAA"C*CRCCCֽ>yIG]>H,MK#iFAY}J@}J @y}J8V}JCߦ}JH/@ ?L?Qb˿? ` 1?)~J@ ~Ju^;I~J C9IxFi?=; Eɫ) IYUi?yU3FDNmea in: $SNTTA,,,,,233436.44*5D m[MmC=YuQUu>qqa}$HyyyY<}>Iȉ :ō 5? :ō,uݾ ƍ ?9ƍv>Ǎ: ȍ:)ȍy:mqAdded new target pos. range: 4.020000 m, bearing: 115.095928 deg, deltaT: 4.478887 s, approachRate: -0.174150 m/s, LOS rate: 1.531181 deg/s, posRepo size: 4W:@WX XWX:W2W*WVbUBU*UUz@U?B B  BA*BAAAA"C?RC!C%:@C!8  u:YX1y/:6)\;IGj>H,e#iFAY}6~@}67@y}6QDV}63Cҽ}6Hh =?@`?- ̿?#?)~6~@ ~6\;I~6Cɫ99)9 9I9Y?yXFPn?}?5^I?~jt> ļ)IyQ?I +?\=94< µ;CA)µIAIµ-AiµKeAGAMU=Y:QU>a$Hyջ}>I 5?tݾ 8߼ ?9>: {:)WWX XWX:W2W*WVbUBU*UUU;?BB BAl*BAA!A!A!"CMN?RCMo>CICQ ]=]=yו?iו?qIG~>H,q#iFAY}Vw@}Vk@y}VY}VL{}VH@ګ?? @~̿?`\>%?)~Vw@ ~V [;I~VCɫ髑) IY y u=iu=    @ @ @i )IiY ޻QU>a$Hy}>I : 5? :Btݾ ʼ  ?9>]: :)z:WaWaX XWX:W2W*WVbUBU*UUU%?ByBy ByAy*ByAAAA"C:@RC&->CC֝?{>    u rj:Y DW1y Y: E69@qIGd>ܹ9ܹIܽFiܽE?ܹܹܹܹ ݹBH,ט#iFAY}2@}2@y}2_}2㑽}2Hv`#)V?@M?`x!g˿m?.ʱ@*?)~2@ ~2' \;I~0ɫ99)9 9I9Y}?y}F;M!!a%$H!!y-:;}->Iȉō 5?ōsݾ ƍT ?9ƍC>Ǎ: ȍf:)ȉWWX XWX:W2W*WVbUBU*UUU?BB BAK*BA A A A "C*C?RCb5>CCMEo>IG-->EH,侲#iFAY}^@}^@y}^}d}^V}^H?za@V^?`? k cʿ+S? 4@)?)~^@ ~^aa;I~^Cɫ髑) IY4?yMF    @ @ @ÁÁÁiÁÁ ā)āIāiāUF=M>=YYIQU>a$Hy~<}>I 5?Usݾ  ?9>: :)W)W)X) X)W)X1:W12W1*W1V1bU9BU9*U9U9UE@BiBi BiAu*BqAqAqAqAq"Cy*C}RC>>CCԑԑ֝.o>Iי)י 9    u:Y T1y : r6QIaG}Y>H,H#iFAY}6H@}6ya$HHyrQ<}>Iȑ :ŕ 5? :ŕrݾ ƕ0 ?9ƕ*>ǕI: ȕ:)ȕ{:WWX XWX:W2W*WVbUBU*UUU <@BB  B A @*B AAAA"C*CRCD>CCm`>AIIGm5> )H,k#iFAY}Rvx@}R@y}Rb}R}RHsN#?@h  \y:YW1yč:9a=$H9AyEw;}E>IIMT 5?Mrݾ Mm ]?9M>M: M{:)IWWX XWX:W2W*WVbUBU*UUU@Ҁ@RB*** querying acoustic contact ***PPB1B9 B9A=V*B9A9A9AAAA"CA*CM TRCMgH>CICIm@>>u?iu?) I1 GU > zCii I i ٺ AI,}A$iFAY}6@}6@y}6V4`}6r⯽}6H~Hi?]h?n@~̿ [?/o@?)~6@ ~6!\;I~6CɫYY)Y YIYY?y؏FZ****** received transponder code query ******F****** received ping request ******ǭ$: ȭ:)ȭ|:WWX XWX:W2W*W)V)bU)BU)*U1U1U5 @ByBy BA8*BAAAA"C*CݯRCu#J>CC֝6>>a9aIaiae=aae; e E))I)i)-=-=-4yIG>8<I,'$iFAY}Jl7@}JR@y}J`_}JL~}JH ^S@͵?ࡃ?2v@Iʿ?" k.?)~Jl7@ ~J[;I~JCɫ髑) IY?yFxDUSBL response received:!U1,P 0F3,000,002B4,187,80,80,4E,FF Command AckBRequesting micromodem ping code 2i=i=Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ] ;Me^=Yu;QU}>a$H)y=[}E>I 5?Erݾ @J U?9>dK< K<)WWX XWX:W2W!*W!V!bU!BU)*U)U)U-  @BB BA1*BAAAA"C*C=RCC>CC *    jt:Y DW1y Y: 6) e;9aK>IG%>c I,3$iFAY}B@}Bk@y}B_}BT4}BHM7d`  a$Hy`y}>I! -:% 5? -:%rݾ %> -?9%4>%: %:)%}:WQWQXQ XQWQXQ:WY2WY*WYVYbUYBUa*UaUaUee'@BB BA*BAAAA"C*C@ȮRC;>CC֥)J>yIG^>KI,M$iFAY}J@}JT7@y}JW[}J }JH`pW`We nα? ? TPi˿@)>?,+?)~J@ ~Ja;I~JCY9YIYiY]=YY]; ]Eɫ髩) IYJ?yFxDUSBL response received:!U1,R,1A4,000,002C1,186,80,80,2D,FF Fpublishing direction and range infofɰg=> )4BIy@<] ?.*ֿٱ=M^=Y98a$HyC<}>I   5? qݾ i* ?9 > 4: o:) W9W9X9 X9W9XA:WA2WA*WAVIbUIBUI*UIUIUU`٠@Re(Combining 5 samples.Pa*Qe@ZQe)@8ͅJQe<] ?.*ֿ2Qef:QabQeZZJw~ndz@"%_?RQe*\cѿ.=9?xA<|?BQe<]? QeO@QePeQ9?PeP9?PeQeQe<@"Qe(@B1B1 B9AM*BIAQAQAQAQ"CY*C]-:RC]B>CYCaM=>IG-,> 2     u:Y U1y : 6) ;uI,g$iFAY}b@}bJ@y}buR}b۽}bH+` F@K&?`1t?Vj̿!? ֺX%?)~b@ ~bDO_;I~`ɫ) IY?yŏF]DNmea in: $SNTTA,,,,,233440.85*51 IY)Ye?tVοx&?e=er e7=)aIayeV-?X9vea$Hy-<}>Iș :ŝV 5? :ŝpݾ Ɲ ?9ƝJ?ǝ: ȝ:)ȝ~:mqAdded new target pos. range: 4.800000 m, bearing: 106.697363 deg, deltaT: 4.409597 s, approachRate: 0.176887 m/s, LOS rate: -1.904610 deg/s, posRepo size: 4W<]?WX XWX:W2W*WVbUBU*UU@33@U'?B!B! B!A%@*B)A)A)A)A)"C5?RC5n>C=<]?C9];>1IAG]v>_ I,!$iFAY}V@}V)@y}VL}VPt}VH3q? q?:E˿`lf?@i`K9?)~V@ ~V{_;I~VCɫ髙) IY%9?y%F    @ @ @i )Ii%<M-P=Y-r11a5$H19y=:;}=>IAE 5?Eoݾ E U?9E ?E: E:)AWWX XWX:W2W*WVbU!BU!*U)U)U-`S?BqBq ByA}߄*ByAyAyAyAy"C?RC >CC֝uK> '    -t:Y DW1y Y: V69@qIGd>999I9i9==99=; = E&I,|d$iFAY}2?@}2@y}2N}2i}2H"`j?g?gcɿ`H?gE?)~2?@ ~2H^;I~2Cɫ99)9 9I9Y}a?y}hF<M^=YQU>!!a%$H!)y-8;}->Iȉō 5?ōnݾ ƍ ?9ƍ?Ǎ: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUUบ?BB BA*BAAAA"C \?RC C C-dh>IG )>,I,G$iFAY}J@}J|@y}JM}J!}JH!@-@ȯ?o?HFʿ෉?^!hA?)~J@ ~J\;I~JCɫ) IY?y̒Fe=ie=}t=M)=Y5T:QU>a$HyI}>Iș :ŝޚ 5? :ŝxmݾ Ɲ  ?9Ɲ!?ǝ: ȝe:)ȝ:WWX XWX:W2W*WVbUBU*UUU-?BB BA*BAAAA"C%1?RC!C!C) ;    u:Y y  65( n>IG5>3I,$iFAY}Fo@}F @y}FmE}Fӽ}FH@^&k?k?Q˿ ?D빿 9Ii=; E)A IIIɫQQ)Q YIYYu!?yuߑF M M M m@ m@ m@IIIiII I)IIIiI}M}]=Yݧa$HHy5;}>IȹŽ 5?Ž~lݾ ƽ51 ?9ƽ?ǽ˵: Ƚ:)ȹWWX) X)W)X):W)2W)*W1V1bU1BU1*U9U9U=W@BB BAe*BAAAA"Cf?RCCC]A֥Lz>YIiGZ>9I,@$iFAY}Z@}Zg@y}Z :}Z5Tν}ZH@)? pu? ʿA)9I=v.Ai= fA9=zHAUTM]0=Y]ݼaaae$Haiym:}m>Iq }:u 5? :ujlݾ u8 ?9u?u#: uo:)u:WWX XWX:W2W*WVbUBU*UUUE@RB*** querying acoustic contact ***PPBB BAx*BAAAA _    x:Y U1y : 6"C?*CRCCC!u>I IQ Gu >@I,F%iFAY}6W @}6Gs@y}62}6K}6H @?za?ǿ5?` @g?)~6W @ ~6[];I~6Cipp)p pIp t)tɛttttɜz`AixIxxIxiz`A ||)|| ~aAɝI) i ) I  ɞ  ɟ Ciɫ) IY,?yF%Z****** received transponder code query ******%F****** received ping request ******->9IFiE?; EI1GUu>FI,%iFA|i|Y}J!@}J00@y}J1,}J_ }JHD b1?E,? /Pƿ||?5 Tt?)~J!@ ~J-\;I~JCɫ) IYU?yUF]xDUSBL response received:!U1,P 1A4,000,002C1,186,80,80,2D,FF ]Command AckeBRequesting micromodem ping code 2iaamNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @áááiáá ġ)ġIġiġe=Mm)=YuAa$HyS<}>Iȑ :ŕ 5? :ŕFlݾ ƕV ?9ƕ?Ǖ;#< ȕ#<)ȕ: X   z ?:Y V1y : 6) 3;9WAWAXA XIWIXI:WI2WI*WQVQbUQBUQ*UQUYU}> @BB BA*BAAAA"C<]?RCCC -=-=) I G >MI,6%iFAY}: !@}:@y}:w'}:"}:H2+?`?k@ƿ?ݲ`~{?)~: !@ ~:9[;I~:Cɫ髙) IY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i}nGIi ٺAI1)5=    @ @ @ÑÑÑiÑÑ đ)đIđiđ:Ml=YZ\SI,aP%iFAY}:v!@}: @L9NCIN@FiN?LLLN; NE)AIAiAE=E=EO5y}:&}:}:HomX??]ƿƨ?u` z?)~:v!@ ~:_;I~8ɫ) IY?y_FxDUSBL response received:!U1,R,39A,000,002B4,189,80,80,AC,FF Fpublishing direction and range infoMɰb=鰝7> ),CIy@WB Y0?Ϸ03ٱi=CEMZ=Y;QU>a$HyfF<}>I : 5? :'lݾ  ?9k?; ,;):WWX XWX!:W!2W!*W!V!bU)BU)*U)U1U5C@RE(Combining 5 samples.PA*QE@ZQE߿L@kD,JQEWB Y0?Ϸ032QEM:QAbQEL?ل@RC?RQE?=,\?)A?BQE? QE&|@QEH>PEV9?PEQ9?PAQEQE"@"QE<@BqBy ByA}1*ByAyAAA"C*CRCCC?΅>     8:Y U1y : 6) ;ׁIGa>ZI,a$Hy{"<}>IaeØ 5?ekݾ e ?9e ?ee< e<)amqAdded new target pos. range: 4.020000 m, bearing: 83.964485 deg, deltaT: 4.068470 s, approachRate: -0.191718 m/s, LOS rate: -5.587574 deg/s, posRepo size: 4W?WX XWX:W2W*WVbUBU*UUz@U 5?BABI BIAM*BIAIAQAQAQ"C],?RCYC]?Cԑԑ֕>iIyG>`I,3%iFAY}:4"@}:P@y}:! }:}:HO`Ob?'?@]Ŀ@?+>`#?)~:4"@ ~:H^;I~:Cɫ) IY ?y F yy    @ @ @ if? ?)K?IK?iK?9;M+=YBaaae$Haiymt:}m>Iq }:u 5? }:ukݾ u _; ?9u"?u: uH:)u:WWX XWX:W2W*WVbUBU*UUUp?BB BA*BAAAA"Ct?RCC    ~ {:Y W1y č: <69@C9CIFiv?=B; >E1IG >$gI,R%iFAY}6~"@}6@y}6}6}6He6|F??#ÿ`?`㎰ ?)~6~"@ ~6];I~6Cɫyy)y yIyYT?y9FI9)9u/6<Mu{=Y}—I G-N>>NmI,η%iFAɫ髙) IY?y֑F    @ @ @ @i )Ii+MB=YQU>a$H y }>I 5?-kݾ < %?9'?: :)WAWAXI XIWIXI:WI2WQ*WQVQbUQBUQ*UYUYU] g?BB BAi*BAAAA"C3?RCCC յ=Ե=օ6Ʌ>  W:YT1y:_6YIiGZ>l6tI,;%iFA494I6Fi61?4446a; 6OEY}B#@}B+@y}B}B}BH`T{Q?Lp?7ÿ@?౨@I?)~B#@ ~BW[;I~BCɫ髙) IY?yFIeR=)e%==MQ=Ya$HHygA=}>Iȱ :ŵ͕ 5? :ŵjݾ Ƶe= ?9Ƶ*?ǵV: ȵ:)ȵ:WWX XWX:W2W*WVbUiBUi*UqUqUu@6@BB BA*BAAAA"C4?RCCC>IGmx>.`zI,ӄ%iFAɫ髙) IY?yF]=i]=Q?V-Mb`=m )Iyqqa}$Hyyy}>Iȉō 5?ōjݾ ƍ6\= ?9ƍ)/?ǍH: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUU @BqBy ByA}*ByAyAAA"C> ?RCCC     :Y DW1y Y: )6ֵ>I׹)׹׉IG> HI,_&iFAY}Rr@$@}R[@y}Rh}R?b}RHFf ?>?{`¿E?Gް?)~Rr@$@ ~R;_;I~RCɫyy)y yIyY?yFɮļM=Y(?QU ?a$Hy<} ?I : 5? :jݾ =  ?92?: :):WWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB)B1 B1A5*B9A9A9A9A9"CUǗ?RCiCiCqԁԁe>9IIa9aIe Fie?e=aaex; e[EGZ>'rI,:&iFAY}6!$@}65@y}6k }6,:}6H@~@j?`N?i¿bT?@?)~6!$@ ~6];I~6Cɫyy) IY?yqFZ****** received transponder code query ******F****** received ping request ******IIaM$HIQy]}]>Iaeq 5?ejݾ e\= ?9eG7?ev< e <)aWWX XWX:W2W*WVbUBU*UUU @B!B! B!A%**BAAIAIAIAI"CUط?RCQCQCY     9q:Y U1y : E6) ;9}>iIqG}>`I,9&iFAY}6##$@}6>@y}6}6Af}6H`-iʨ?`M?`wP?z?)~6##$@ ~6Q\;I~6Cɫai)i iIiY?yFxDUSBL response received:!U1,P 39A,000,002B4,189,80,80,AC,FF Command AckBRequesting micromodem ping code 2iI)Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @ÙÙÙiÙÙ ę)ęIęię-<M-2=Y5;QU=>Aa$Hy:}>I : 5? :jݾ = ?9 I G5 >] ]A] _Aa 9a Ie XFie ?e =a a e e; e QEI,:S&iFAY}R֔$@}R`@y}R6E}R !}RH@C`tm? Q'? ??@K?)~R֔$@ ~R9D[;I~Pɫqq)y yIyY?yÒF?A5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B : M]=Y2QU>a$HyY<}>I)-r 5?-jݾ -> =?9-a@?-ӻ: -:))WyWyXy XWX:W2W*WVbUBU*UUU@.<@BB BA *BA!A!A!A)"C-_?RC1C1C1 }} n:YkS1yԊ:=?΅>36);IAG|>VI, m&iFAɫyy)y yIyY?y̒FxDUSBL response received:!U1,R,372,000,002B5,188,80,80,C1,FF Fpublishing direction and range infok Eɰc=> )ACIy@yˢ?#DٱdNmea in: $SNTTA,0.068212,0.226643,,,233449.32*5C E+?/$?:v?E=E< ET<)AIAyEl?Zd;Oa$Hy}>I, 5?iݾ > ?9(E?: I:)WWX X W X :W 2W *WVbUBU*UUUC@R-(Combining 5 samples.P)*Q-@ZQ-p@JQ-yˢ?#D2Q-k E:Q)bQ-04?[0fT1@x?RQ-#Y87?<:?x zU?BQ-? Q-@Q-=P-U9?P-V9?P)Q)Q-G@"Q-"@BB BA*BAAA A "C ĺ?*C@RCCC  imnGI_Aiٺ_AA5>IG >I,h&iFAY}F^R%@}Fm@y}FU}F<}FH/Gm?.?ÿ??)~F^R%@ ~Fg_;I~FCɫyy)y IY?yޒFIA)AM=iMp=W.;Mq=YüQU?a$Hy =}?I : 5? :iݾ l> ?9H?K; >;):mUiAdded new target pos. range: 4.080000 m, bearing: 88.634668 deg, deltaT: 4.510538 s, approachRate: 0.013302 m/s, LOS rate: 1.035394 deg/s, posRepo size: 4WU?WQXQ XYWYXY:Wa2Wa*WaVabUiBUi*UqUuQ@Uu B?BB BA*BAAAA"CY`?RCC?C֝>  ~:YV1y:)69@9IFia?g; RE)݉I݉i݉ݍ=ݍ=ݍ4yIG]>;ЧI,Š&iFAY}6aY%@}6t@y}6}6a̽}6H Kc^?@?@е>ſ/?@pP`S?)~6aY%@ ~6];I~6CɫYY)Y YIYY?yF5Q<M=T=Y=lQU=>AAaE$HAAyM:}M>IQU 5?U6hݾ U^#> ]?9UL?U#: U/:)QWWX XWX:W2W*WVbUBU*UUU(?BB BA*BAAAA"Cu?RCqCqCye>9IIGeU> I,&iFAY}6Q<%@}6W@y}6e}6㘽}6H6M?@c?@ÿ?`粿Ҙ?)~6Q<%@ ~6];I~4ɫ19)9 9I9Yu?yuF    @ @ @ @áááiåá ĥ)ġIġiġKۼMB=Yש;QU>a$Hy1}>I :g 5? :Egݾ .> ?9P?=; a>;):WWX XWX:W2W*WVbUBU*UUU "?BB BA *BAAAA!"C-?RC)C)C)$  -:YU1y:369IG=r> 9 I XFi ? = `; OEI,){&iFAY}N%@}N\@y}N}:}Nm\T}NH ,B?`?fi?>E`?)~N%@ ~N:[;I~NCɫyy)y yIyY?y_FI9)9u <MuP=Y}EQU}>ya$HHy,<}>Iȑŕ& 5?ŕefݾ ƕ7> ?9ƕU?Ǖ]: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUUݢ?BB BA1*B A A A A "C*CRCCC-?΅>!IIG^> I,aU&iFAY}6 %@}6@y}6}6_Y}6Hj@@F?`? `eq?{꪿@?)~6 %@ ~6w\[;I~4ɫaa)i iIqY?yF] rh~jtÿL7A`?]C] ]+=)YIYy]Mb`{Gzt?~jt]]ף;] ]:A)]\QAIYi](\AY]3GA    @ @ @i )Iiu<Mu.=YuQUu>yya}$HyyD<}>Iȉ :ō 5? :ōtfݾ ƍ~.> ?9ƍ~U?Ǎb: ȍ:)ȍ:WWX XWX:W2W*WVbUBU*UUU4@BB BA *BA A A A "C*CmRCCC  Zn:YV1y:6>I G%>I,3'iFAY}6%@}6n@y}6"+}6<0}6H` ^??@5 g@iR?pɞa?)~6%@ ~63`;I~4ɫII)I IIIY]?y]F=M}=YQU ?a$H y  }  ?I 5?fݾ "(> %?9U?4: :)WAWAXA XAWAXI:WI2WI*WIVIbUQBUQ*UQUYU]@f@BB BA*BAAAA"C*CRCCC%>ܙ9ܙIܝFiܝa?ܝ=ܙܙܝ]; ݝMEI)GEQ>p I,"'iFAY}6%@}6t@y}6L#}6?}6Hl ?T?@ 芽S?^ ?)~6%@ ~6w_;I~6Cɫ11)9 9I9Y?yF鮹ɮa==i=v];ML=YQU>a$Hy } >IÌ 5?fݾ 5 > -?9dV?; 3;)WiWiXi XqWqXq:Wq2Wy*WyVbUBU*UUU@0@RB*** querying acoustic contact ***PPBB BA{*BAAAA"C*CRCCC֝6Ʌ> #    s:Y X1y /: 6qIG]>GHI,;'iFAɫ髙) IYv?yFZ****** received transponder code query ******F****** received ping request ******yya}$Hyy}>I : 5? :fݾ @> ?9V?4: :):WWX XWX:W!2W!*W!V!bUIBUI*UIUIUU@ @BB BA*BAAAA"C*CjtRCCC>I G%>܁ 9܁ I܅ XFi܅ ?܅ =܁ ܁ ܅ g; ݅ RE'0I,U'iFAY}6%@}6@y}6(}64Q}6HMγ?@u?@UMÿ %? Xҩ?)~6%@ ~6\;I~4ɫYY)Y YIYY}N?y}FxDUSBL response received:!U1,P 372,000,002B5,188,80,80,C1,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ϼMe=YlQU>)9a=$HAQyeM|;}m>I{ 5?fݾ > =?9dW?; *;)WYWYXa XaWX:W2W*WVbUBU*U)U1U=[ @5 5~5~5 5D}:Y5T1y5@:5|6)5 ;9]BB B A Z*B AAAA"C*CRCCC֡ ׁ I G >8ZI,o'iFAɫyy)y yIyY?y;F@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I)"~j?K?v/S=^= xi)IyMbp?:v?;T< DA)FAIt3Ai|_A\GA }   @ @ @ÁÁÁiÁÁ ā)āIāiā#M'=YQU>a$Hy}>Iȱ :ŵh 5? :ŵfݾ Ƶ> ?9ƵW?ǵ: ȵ:)ȵ:WW X  X W X :W2W*WVbUBU*UUU3'@BIBI BIAM*BQAQAQAQAQ"CY*CYRCCC>IG>BI,x'iFAɫyy)y yIyY ?y FxDUSBL response received:!U1,R,304,000,002B6,189,80,80,AD,FF Fpublishing direction and range infojw,ɰhc=7> )-CIyz@)17? Øaٱ=M=YQU ?a$Hy}  ?I[ 5?fݾ > ?9iX?: :)W9W9XA XAWAXA:WA2WI*WIVQbUYBUY*UYUaUe@i@R(Combining 5 samples.P*Qz@ZQ{ w:YV1y:6)\;IGj>tI,v'iFAY}r&@}r @y}reL/}rk}rH?.>}?`X?3#Սǿ0?ζ1g?)~r&@ ~r[`;I~rCɫ) IY!?y ߑFmTNmea in: $SNTTA,0.027311,,,,233453.77*46 Ia=)R= M==YwQU>a$Hya<}>IY e:]F 5? m:]gݾ ]> m?9] Y?]: ]k:)]:miAdded new target pos. range: 4.140001 m, bearing: 95.024652 deg, deltaT: 4.357757 s, approachRate: 0.013769 m/s, LOS rate: 1.466347 deg/s, posRepo size: 4WI?WX XWX:W2W*WVbUBU*UU`\@Uٯ?BYBa BaAee*BaAaAaAaAi"Cm?RCqCuI?C>סIG>i }nGI5 `AEI,C'iFAi&ٺ&`A&MAY}͒&@}W@y}7}#}HC9 @i> 5 5 5 =@ =@ =@999i99 9)9I9i9U"<MU4=YeJQUe>qya$HHy%8:}>Iȡť4 5?ť"gݾ ƥ4%> ?9ƥY?ǥ ; ȥ;)ȡWWX XWX:W2W*WVbUBU*UUU Y Ii G > 9 CI Fi v? =   U;  JE)ݱIݱiݱݵ=ݵ=ݵ55~I, 'iFAY}6b&@}6E~@y}6 9}65}6H9'?7]?@A'@ ǿ? ?9Ƶ$Z?ǵ: ȵ=:)ȵ:WWX XWX:W2W*WVbUBU*UUU ?B!B! B!A%*B!A)A)A)A)"C5?RC1C1C9M?΅>9IAG]U>ZI,G'iFAɫyy)y yIyY(?yF !! ʡE?Zd;O{Gz? -2> j #=) I y /$IIaU$HQQy]}]>Iim݌ 5?m\gݾ m > }?9mb\?mD: m4:)iWWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"Cf?*C6ŰRCCC     ~:Y V1y : 6>IG> J, (iFAY}6 &@}6-@y}6̻)}6g}6HV?)?@5«ſ ? y?)~6 &@ ~6<[;I~6CɫQY)Y YIaYv?yFI9)9    @ @ @ùùù9CIxFi?=H; BEiùù Ĺ)ĹIĹiĹ AM1=Yf=QU>a$Hy/}>I  :  5? : gݾ > ?9 ^? : :) :W9W9XA XAWAXA:WA2WI*WIVIbUIBUQ*UQUQUUP@BB BA*BAAAA"CI?*CRCCCשIG>ԻJ,$(iFA `)`ɇbD``dɈfaAif6If9EdIfLCih hh)hh jCaAnףlɉllnbAIp)pip)pIr`ApɊt tɋvCvcAtitxixz`A)x xI|ɫ) IYU?yUqFCMu=YQU?a$Hy}?I  3 5? gݾ > ?9 `? : x:) WWX XWX:W2W*WVbUBU*UUUD@BYBa BqAu**ByAyAyAyA"C*CRCCC  o:Yy6>ױIG>J,w>(iFAY}:9'@}:@y}:(}:P}:Hj װ?`:?`~lſ]?`òoz?)~:9'@ ~:q_;I~:Cɫ髑) IY?yFɮp=I 4=) %=%ϔ<M%6=Y-:QU->11a5$H19yE9c=}E>IQU 5?Ugݾ U > e?9Ub?U; U;)QWWX XWX:W2W*WVbUBU*UUU 9.@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCV݅>ױIG 9 I @Fi ? = 1; 6EJ,kcX(iFAY}%s'@}%@y}%w*}%rTZ}%H^ ?`?ÿ5?檿@F?)~%s'@ ~%D];I~% Ci) I )ɛ雡ɜ`AiIIi`A 霩)靱 ɝI)i)Iɞ ɟZAiɫ髱) IY ?yFZ****** received transponder code query ******%F****** received ping request ******Ma$Hy<}>I : 5?  :gݾ x=  ?9ce?p: $:):WiWi Z :YU1y:a 6);9Xi XWX:W2W*WVbUBU*UUU` @BB BA*BA!A!A!A!"C)*C-RCICICQe >9 IA Ge >dJ,,r(iFAɫ髑) IYP?yԓFxDUSBL response received:!U1,P 304,000,002B6,189,80,80,AD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 uQ?MbPMb`u(>u u)qIqyu~jt?Mbp?y&1|u9AaE$HAQy]}e>Iqu 5?ugݾ u= ?9ug?u{; u#:)qWWX XWX:W2W*WVbUBU*UU U=ୈ@B B  B A *B A) A) A1 A1 "C9 *C= RC9 C9 CA y } \Ay Q Ia G} >"J,^(iFAY}6*'@}6E@y}6(}6B}6H9| _?]'?Dÿ??)~6*'@ ~6[;I~6Cɫ髑) IY|?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 鿉;M=Y;QU(?a$Hy1}*?I : 5? :ogݾ = ?9i?V: :):WIWIXQ XQWYXa:Wi2Wi*WiVibUqBUq*UqUyU}@$N@I9MCIMxFiM?IIIM*; M3EBBi BiAm*BqAqAqAqAy"C*CRCCCe e|e|e e:YeR1yei:e6)ej;֭>׉IG>B)J,l%(iFAY}>i'@}>2@y}>p"}>\}>H@`M?!?x@Fƿ-? x?)~>i'@ ~>5^;I~<ɫyy)y yIyY2?y“FxDUSBL response received:!U1,R,2FC,000,007D3,189,80,80,B8,FF Fpublishing direction and range info*ɰ$>鰹 )8CIy\B"n$R%? ybrٱI)ŻMZ=YXa$Hy)<}>I  0 5? 1gݾ s= ?9 k? : :) W9W9X9 X9WAXA:WA2WA*WAVIbUIBUI*UIUIUU H@Re(Combining 5 samples.Pa*Qe\BZQe;R`>P@pKyIJQe"n$R%? ybr2Qe*:QabQeņ#H0T@Hy5-@RQe[@:ԭA?<wFP?BQev? QeBQe6Pe;9?PeS9?Pe]QaQeDA"Qe!@BIBi BiAm*BqAqAqAqAq"Cy*CyRCyCC֥?΅>ׁIG^>a$HHy Gu<} >I : 5? %:fݾ #= -?9pm?>; H@;):muqAdded new target pos. range: 82.680000 m, bearing: 96.893146 deg, deltaT: 4.443213 s, approachRate: 17.676397 m/s, LOS rate: 0.420528 deg/s, posRepo size: 4m}TStopped intercept timer at range: 82.68 m.W}v?WyXy XyWX:W2W*WVbUBU*UU T@U?BQBY BYA]ƃ*BYAYAAA"CT?RCCv?Cu uuu up:YuW1yuč:u69}@֕>iIyG>I 9M CII iI I I I M 8; M 9E*6J,(iFAY}:N(@}:yj@y}:u}:뗽}:H@;@? ?`Rÿh?Ʋ`?)~:N(@ ~:#^;I~:Cɫ99)9 9I9Y}?y}F<Mb=Y\6a$Hy5<}>I 5?fݾ = =?9Zo?; !;); wAggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR;wdResuming normal ranging with 1.000000 count pings.;1<WWX XWX:W2W*WVbUBU*UUU`g?BYBY BYA|*BAAAA"Cnt?*CRCCCֵ>׉IG>+Tn> t<)Iy~jt?Mbp?~jtx<Ļ C9A)1RAIi]A GA e e e e@ e@ e@ e@aaaiea e)eIeie<M<=YQU>a$Hy}>ICinGIiG 5?Ofݾ󿉻 ٺ %A T= ?9r?4= 5=)Xe?1I IY G} >;CJ,͐ )iFAY}6^))@}6D@y}6q}6 }6H`6@[)? |?7Oÿ`)[?`r@2?)~6^))@ ~6[;I~6CɫII)I IIIY}?y}FYMe=Y9QU>!!a%$H!)y-=}->I1 =:5 5? =:5fݾ 5|= E?95St?5: 5b:)5:WaWaXa XiWiXi:Wi2Wi*WqVqbUqBUq*UyUyU}?BABA BAAE*BAAIAIAIAI"Cuv?*Cu[RCqCqCy>9IFiv?H; BE)݁I݁i݁݁݁݅ҷ4֝>yIG^>4fIJ,Yl')iFAY}6R)@}6n@y}6}6}6H BE;o?@n? >ÿ~G?& ?)~6R)@ ~6i"[;I~6Cɫ99)9 9I9Yc?yBFUM]F=Y]%:QU]>aaae$Haay};}>Ișŝ 5?ŝeݾ ƝG= ?9Ɲv?ǝǺ: ȝ:)șWWX XWX:W2W*WVbUBU*UUUI@B B  B A Ճ*BAAAA"C*CRCCC>mF mmm mv:YmT1ym:m6IGj>MPJ,FA)iFAY}:di)@}:@y}:}:}:H)R`t? j?5EBÿ ?޲&?)~:di)@ ~:];I~:Cɫ99)9 9I9Y}?y}hFI)))    @ @ @i )Ii}ҼMB=Yda$HyX;} >I :7 5? %:]eݾ = %?9y?+; ,;):WIWIXQ XQWQXQ:WQ2WQ*WYVYbUYBUY*UYUaUe@BIBI BIAM.*BQAQAQAQAQ"CY*CYRCYCaCa}>QIaG}z> 9 CI Fi ? ?; >E$xVJ,["[)iFAY}6l)@}6@y}6s( }6s}6H e i)"?~e?>2[Ŀ\W?^`?)~6l)@ ~6K_;I~6Cɫ99)9 9I9Y}?yF鮅p=ɮMa=Yfa$Hy!;}>I 5?eݾ = ?9{?4: :)WWX XWX:W2W*WVbU BU1*U9U9UE@RB*** querying acoustic contact ***PPBqBq BqAu*ByAyAyAyAy"C*CRCCC =u uuu ua:YuV1yu:u{6)u;9}V݅>IG>=\J,at)iFAɫyy)y yIyY?yޒFZ****** received transponder code query ******F****** received ping request ******)Iy?S㥛?~jt?</<= l=A)PAI5Ai^AzHA    @ @ @i )Ii~=M)=YQU>a$H!y%}->I1 =:5( 5? =:5Reݾ 5> =?95;?5: 5:)5:WaWaXa XaWaX:W2W*WVbUBU*UUUw @B9B9 BaAe*BaAaAaAiAi"Ci*Cu+԰RCqCqCq֕N؅>iIG>cJ,ގ)iFAY}6)@}6!@y}6Q}6V}6Hl X ???ǰܺ`H ? y2?)~6)@ ~6\;I~6CBJFailed to close latch before timeout.q BBHardware FaultY^0?y^FbxDUSBL response received:!U1,P 2FC,000,007D3,189,80,80,B8,FF bCommand AckbBRequesting micromodem ping code 2iddf=if=jNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -!M5=YEh;QUM?Yaae$Hiyyթ<} ?I)-5 5?-veݾ -> m?9-?-Q; -<))WAWAXI XiWqXq:Wy2Wy*WVܡ9ܥCIܥXFiܥ?ܡܡܡܥ-; ݥ4EbUBU*UUU@~ @ByBy BAa*BAAAA"C*C'RCCC  mp:YW1yč:i6);U>I-$5@Hardware Fault in component: DDMG=>iJ, )iFAY}2*@}2.2@y}2}2}2Hv@qf?`,?` oK?믏`?)~2*@ ~287\;I~2C>Powering down<ɪ<)@ @Y?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B í<M'=YQU>a$Hyـ;}>I  %:  5? 5: eݾ G%> =?9 ? ; ;) :WWX XWX:W2W*WVbUBU*UUU@B B  B A  *BAAAA"CA*CERCACACIy}^Am >I IQ Gu >.pJ,)iFAY}6.)@}6@y}69q}6I&}6Hvw`ԏ@ 1?@7?`o;?+g ?)~6.)@ ~6_];I~6 CYB??yBFFxDUSBL response received:!U1,R,2ED,000,002B7,188,80,80,55,FF JFpublishing direction and range infoFT'DɰFc=F> D)FBIDyFf@F(g?LuٱD TT ~ ~ ~ ~@ ~@ ~@|||i|| |)|I|i| M =YQU?a$HHy%}%?I)- 5?-eݾ -2> 5?9-?-: - :))WYWYXY XYWYXY:Wa2Wa*WaVabUiBUi*UiUqUu@P *Q f@ZQ o) @L\nJQ (g?Lu2Q T':Q bQ L|ڹ-blb@x?RQ nlw+ƿµC5?+q|?BQ v? Q @Q m9P R9?P ;9?P Q ]Q @"Q DABB BA^*BAAAA"C*CRCCC55 55m iim mHl:Yiyim69u@ױIG>ܙ 9ܙ Iܝ Fiܝ a?ܝ =ܙ ܙ ܝ ; ݝ EvJ,o)iFAY}RH)@}Rҟ@y}R }R(}RHU@U?[?Ms`N?ܤ c?)~RH)@ ~Rve;I~RCYn?yn͑FUDNmea in: $SNTTA,,,,,233502.63*5E IY)YM?=YUQU]>aiam$Hiy[}>Iƒ 5?fݾ E> u?9?;: :)muAdded new target pos. range: 4.199998 m, bearing: 100.027704 deg, deltaT: 4.432119 s, approachRate: -17.707106 m/s, LOS rate: 0.707237 deg/s, posRepo size: 4Wv?WX XWX:W2W*WVbUBU*UU`@U?BABI BIAMm*BIAIAQAQAQ"C]?RCYC]v?CYיI$NClearing failed state for component DDMq GA>_|J,E)iFAY}6l)@}6@y}6.}6h}6H\KZ@3?a?@X ¿`G?ȑ?)~6l)@ ~6Mf;I~6CY^k?yb F~jt?S㥫Cl?D</] ;=)IyQYa]$HYYyeWl}e>Ii u:mO 5? :mfݾ muE> ?9mJ?m< m<)m::5u5Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;5v5ZEntering USBL mode with 5.000000 count pings.1;=q;=W9WAXA XAWAXA:WA2WI*WIVIbUQBUY*UYUYU]eA?BB BAS*BAAAA"Cv?RCCC IG=/>m mmmt mn:YmU1ym:m*69؃J,! *iFAY}6)@}6@@y}6.%}6魽}6HrVF@p? |G?`=Dſ?@nw?)~6)@ ~6ue;I~6CY^?yb͑FI-4=))MR=YbQU>a$Hy <}>I܂ 5?gݾ RE> ?9?=: :)X@q;u%Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:%u%Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBLW)W)X) X)W)X):W12W1*W1V1bU9BU9*U9U9UE?BiBi BiAmm*BiAqAqAqAq"Cy*CyRCCC999I9i9999=; =EQIaG}=J,**iFAY}6)@}6J@y}6,}6ĸ}6He ?*?^ſ@Cf? 'r?)~6)@ ~6c;I~6CY^?y^F-R=i-<}Q%M}P=Y}˂QU}>a$Hy%<}>I  :e 5?  :hݾ 6E> ?9ˍ?: ;):W1W1X1 X9W9X9:W92W9*WAVAbUABUA*UAUIUM ?BqBq ByA}*ByAyAyAyA"C*CRCCCבIG5 >  0:YWU1y:|6i5 nGII iY ٺ AJ,C*iFAY}:~)@}:@y}:/}:V!}:H`J@T?A?$yg¿?@k;?)~:~)@ ~:`;I~:CY^Z?y^*F    @ @ @ÑÑÑiÑÑ đ)đIđiđ|FMG=YQU>a$Hyp/}>I 5?iݾ E> ?9 ?; Q;)WWX XWX:W2W*WVbUBU*UUU`Z@B B1 B1A5*B1A1A1A1A9"C9*CARCACACA)I1GM>1 91 I5 XFi5 ?1 1 1 5 ; 5 ۜE)Iiň=ň=ňi4\J,]*iFAY}B})@}B@y}B3}B}BH @i"=?C? L"V[?ߕ-?)~B})@ ~B^;I~BCYRG?yRF qq<MG=YW6QU>!!a-$H)Yye*}m>Iȡ :ťv 5? :ťjݾ ƥF> ?9ƥ|?ǥ; ȥ5;)ȥ:WWX XW!X!:W!2W!*W!V)bU)BU)*UQUQUUh@BB BA܄*BAAAA"C*CRCCCסIG">)  Vt:YT1y:6)S;9>J,Pw*iFAY}6)@}6@y}6]n7}6Le8}6H:ֹ?A?!i \ÿ t?H t?)~6)@ ~6];I~6CYB?yB FDɮFa=IH)H)\(?Q?lGa=\= )IyI +Q~jt94 ­A>A)­NAI­K/Ai­^AFA    @ @ @i )IiE<MG=YQU>!!a%$H!)y-P}->I15D 5?5Ujݾ 5i7> E?95?5ϸ: 5s:)1WaWaXa XaWaXi:Wi2Wi*WiVibUqBUq*UqUyU} @RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCIIQGu>"'J,k*iFAY}:X)@}:t@y}::}:FZ}:H`(uU?N?N Ŀ;?Ѫ@l?)~:X)@ ~:N \;I~:CYZi?yZ3F^Z****** received transponder code query ******bF****** received ping request ******b))a-$H)1y=W}=>IAE 5?Eiݾ E(> U?9E?E: E:)AWyWyXy XyWX:W2W*WVbUBU*UUU L @BB BA*BAAAA"C*CRCCC9I Fi?[; ĜEIG=5Q 555 5w:Y5V1y5:5i6)5;PJ,C*iFAY}JQ)@}J:m@y}JP~I}J}JH@q7? B?@w˿B?T.?)~JQ)@ ~J2[;I~JCYZx?yZa$Hy{|}>I  =:  5? =: Qiݾ EtI > E?9 ? 8< 3<) :WWX XWX:W2W*W)V)bU)BU1*U1U1U5@ @BB BA*BAAAA"C*CRCCCסIG-N>v8J,*iFAY}V}U)@}Vq@y}VE}V{}VH@`{ )c? E?˿@?O 0?)~V}U)@ ~V [;I~VCYj?yj؏FlnAA Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }%=i}a=    @ @ @i )Ii`TMU=Ya$HHyS:}>Iȡť 5?ťhݾ ƥ > ?9ƥ`?ǥ: ȥ˵:)ȡWWX XWX:W2W*WVbUBU*UUUE@B1B1 B1A58*B1A9A9A9A9"CA*CARCACACI)I1GU>=C 99=q =hv:Y9y9=69E@9IFiv?Q; EgJ,0*iFAYM?yM4FUxDUSBL response received:!U1,R,27E,000,002B5,189,80,80,A9,FF ]Fpublishing direction and range infoUӇQɰUc=U7> Q)U)CIQyU@Ub*?w]zٱQudNmea in: $SNTTA,0.036576,0.302151,,,233507.09*52 Mb@Mb@Mb@ )Iy:v:v?~jtx?T<; 19a=$H99yE}E>II U:M 5? U:M#jݾ M> ]?9M?M: M:)M:WyWyXy XyWyX:W2W*WVbUBU*UUU@R(Combining 5 samples.P*Q@ZQ7Sߵ @p?JQb*?w]z2QӇ:QbQͿ9-="̒@΀{/?RQh4ϿU+(?1?BQ? Qv@QPPR9?PQQ.@"Q@BYBa BiAm{*BAAAA"C*CRCCCבIGA>J,*iFAY}>(@}>@y}>zu@}>r}>Ht??^ ſ`}?ߵ@a?)~>(@ ~>Z;I~>CJPowering upJ"Initializing DDM.Ym#?yujF -k;M5\=Y5i99a=$H99yEڼ}E>IIMD 5?MHkݾ M> U?9MP?Mw: M+:)Im=qAdded new target pos. range: 4.080000 m, bearing: 104.789432 deg, deltaT: 4.498931 s, approachRate: -0.026673 m/s, LOS rate: 1.058413 deg/s, posRepo size: 4WE?WaXi XiWqXq:Wy2W*WVbUBU*UUQ@Uy!?BB BAe*BAAAA"C% ?RC!C%?C)=?i=?I)GM1>  g:YWU1y:E6ktJ,B+iFAY}6t#)@}6>@y}6kXB}6+b}6H``@ƹ?`Z?6ſ%?⿫@`?)~6t#)@ ~6Z;I~6CY^?ybFI) u u u u@ @ @qqqiqq q)qIqiqK<MP=YQU>a$Hy*<}>I : 5? :}lݾ u>  ?9=?: :):W)W)X1 X1W1X1:W12W9*W9V9bU9BU9*UAUAUE-X?Bi܁9܁I܅xFi܅?܅=܁܁܅]; ݅ĜEB BA&*BAAAA"Cj?RCCC׉IG=J,",+iFAY}:Ǖ)@}:Q@y}:?}:؇}:H6 '@v?4?>OMƿ?񫰿_?)~:Ǖ)@ ~:Z;I~8Y`y`Y]d;QUe>aaae$Haiym<}u>Iqu 5?umݾ uH> ?9u?u: u:)qWWX XWX:W2W*WVbUBU*UUU\?BB BA*BAAAA"C=?RCCCבIGh  d:YX1y/:6J,'lF+iFAY}J)@}J~@y}J/;}J{}JH [ Cγ?@?U`ǿD?Cr :Z?)~J)@ ~JZ;I~HYv?yvFIe=)e=Ma$HyLi<}>Iȱ :ŵT 5? :ŵnݾ Ƶ= ?9Ƶ1?ǵ: ȵ:)ȵ:WWX XWX:W2W*WVbUBU*UUU@?B!B! B)A-*B)A)A)A)A)"C=?RC9C9CAI)]A׉IG=q9qIuFiu1?u=qqu_; uƜEJ,;S`+iFAY m?yFIi)iu=iu=%A`"?/$޿ˡE?%=%& %'=)%I!y%~jth~jtZd;O?%D%%j< %?A)%OAI% 0Ai%!%?A    @ @ @ÁÁÁiÁÁ ā)āIāiā{<M.=YQU>a$Hy}>Iȱŵ 5?ŵnݾ Ƶ6 > ?9ƵN?ǵ: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUU=@B!B) B)A-R*B)A)A1A1A1"C9*C9RC9C9CיIGD>%  t:YW1yč:6) ;9bJ,"z+iFAY}2)@}2@y}2A7}2j.}2H,K@RU?J0?|?[ÿ ?`}`u?)~2)@ ~2Z;I~2CAEzCimGIi5f׿ٺ15A?9AYt?yאFE;=MM@=YMQQaU$HQYy]}]>Ia m:e 5? m:enݾ e.> u?9e\?eE: e:)e:WWX XWX:W2W*WVbUBU*UUUp@BQBQ BQAUф*BQAYAYAYAy"C*CRCCCבIGa>J,+iFAY}:<)@}:W@y}:g7}:Կ}:H!@L|?@z\?i{1?Oz?)~:<)@ ~:Z;I~8 D)F`AɇFDDHɈJaAiJ-IJEHIHiL LL)LP PPPɉPTTIT)TiT)TIV`AXɊX XɋXXXi\\i\^bA)` `I`Yj?yjFlɮn= tt~ =M~=YTúQU?a $H  y м}?I 5?bnݾ > %?9? : 0:)WIWQXQ XYWYXa:Wi2Wq*WyVybUBU*UUUg @RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCC999I9i9==99=M; =E)ݱIݱiݱݱݱݵ}u4i?שIG>5 555 5@i:Y5DW1y5Y:56)5;J,ӭ+iFAY}2(@}2S@y}2y9}2jU}2Hw@!? a|?`&@Ŀ??o?)~2(@ ~2Z;I~2CY*?yFZ****** received transponder code query ******F****** received ping request ******yya}$Hyy &}>I 5?!nݾ A'> ?9~?˵: :)WWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"C!*C)RC)C)Cq׉ I G >8J,>+iFAi=C9)9 9I9 A)AɛAAAIɜM`AiIIIIIQiU`A QQ)QY ]aAYYɝYaaIa)aia)aIiiɞi iɟiiqiqqY?y`FxDUSBL response received:!U1,P 27E,000,002B5,189,80,80,A9,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ZLM=Y QU?!)a-$H5HAyU}]?Iy :}Q 5? :}mݾ } .> -?9}5?}ͼ< }<)}:WWX XWX:W2W*WVbUBU*UUUe E @BB BA*BAAAA"C*CRCCC!I!GUT>9Ii=?; EM\ MMM Mgx:YMV1yM:M6)M;9J,+iFAY}v(@}vj@y}v67}vڟͽ}vHd- ? ?Gȿ?@T?)~v(@ ~vZ;I~tYL?y FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I5C=)5%=(\?EQ?G> \=)Iya$Hy;}>I 5?nݾ :> ?9î?Ӱ< °<)WWX XWX:W2W*WVbUBU*UUU 3@BaBi BiAm*BiAiAiAqAq"Cq*CRCCCבIG@>(J,c+iFAY}:4(@}:@y}:ȸ1}:ƽ}:H@)M?@?@ȿ?r ^?)~:4(@ ~:Z;I~8Y?yF%xDUSBL response received:!U1,R,2F0,000,002B6,188,80,80,AD,FF -Fpublishing direction and range info%'!ɰ%hc=%> !)%-CI!y%z@%oZ?X'Oٱ!I9)9=%=i=a=    @ @ @ ÙÙÙiÝ=?Ù ĝ?)ĝK?Iĝ?iĝ?x<Ma=Ytqa$Hys}>I :݊ 5? U:;oݾ YD> ]?9?< <):WWX XWX:W2W*WVbUBU*UUUW@R(Combining 5 samples.P*Qz@ZQ$!v= @JyD@5JQoZ?X'O2Q':QbQ$|㿸;@jJR?RQ`1Ϋ¿1?fh,?BQT? Qw@QPS9?PPQQ>)@"Q.@BB BA*BAAAA"C*CRCCCIG%>=- === =t:Y=WU1y=:=69E@iK,QN,iFAY}~2(@}~@y}~P+}~}~H  _?=?@i Ŀ@F?`V|?)~~2(@ ~~^Z;I~~CY5e?y5ΐFܽ>9ܹIܹiܹܹܹܹܽ*; ݽEDNmea in: $SNTTA,,,,,233511.55*59 6;M:=Y9ta$Hy}>I 5?oݾ 5Q> ?9?#: :)mmAdded new target pos. range: 4.140001 m, bearing: 98.625555 deg, deltaT: 4.416990 s, approachRate: 0.013584 m/s, LOS rate: -1.395493 deg/s, posRepo size: 4WT?WX XWX!:W!2W!*W)V)bU)BU)*U)U5`\@U5`Ւ?BYBY BYAeԄ*BaAaAaAiAi"Cmq?RCqCuT?CqAIIGm>: K,/,iFAY}B(@}Bz@y}Bm*}B3}BH  AH?`? q% ¿A?@ "x?)~B(@ ~B~ [;I~BCYr?yr:F  ] ] ] ]@ ]@ e@ e@YYYi]Y ])]I]i]mw<=MuP=Yu9QU}>yya}$Hyy~}>Iȉ :ōp 5? :ō~pݾ ƍ\> ?9ƍ ?Ǎj < ȍ <)ȍ:WWX X!W!X!:W!2W!*W!V)bU)BU)*UIUQUUVQ?BB BA@*BAAAA"C?RCCC?i?׉IG>"K,a$Hy6}>IȹŽB 5?Žqݾ ƽ3h> ?9ƽW?ǽ: Ƚ@:)ȹWWX XWX:W2W*WVbUBU*UUU@ ?B)B) B)A5؃*B1A1A1A1A9"C=T?RCACACAiIyG=m7 mmm msu:YmV1ym:mr69IFiv?; EPK,vb,iFAY}N(@}Nn6@y}N!+}N#B}NHSGY?"?@ÿJ? 맿˄?)~N(@ ~N[;I~NCYZ?yZpF/$?sh|??Mb,>= )IyMbp~jt?a$HyL}>I 5?|qݾ c> ?9?r: :)WWX XWX:W2W*WVbUBU*UUU`?B1B1 B1A5ƒ*B1A9A9A9A9"CA*CaRCaCaCiYIiG>wK,|,iFAY}6a(@}6.@y}6,%}6ڸ}6HV`&;?2? K~ƿ?ƶ t?)~6a(@ ~6Z;I~6CYB?yBF m m u u@ u@ u@qqqiqq q)qIqiq~MO=Yqa$Hy}>Iȡ :ťF 5? :ťqݾ ƥ_> ?9ƥ?ǥ: ȥ:)ȥ:WWX XWX:W2W*WVbUBU*UUU?BB BA*BAAAA"C!*C!RC!C!C)I9)=\AIG5=md mmmz m y:YmWU1ym:m6`%K,,iFAY}2bJ(@}2e@y}2m}2ݽ}2H mN%??s`ǿ@z?^@q?)~2bJ(@ ~2Z3[;I~2CY^?y^F4=i<)-= )a9aIeFie1?e=aae; eE""MG=Y2a$Hy<}>IȈ 5?Nrݾ Y> ?9?4: :)WWX XWX:W 2W *W V bU1BU1*U1U1U=8@BB BA{*BAAAA"C*CRCCCשIG=+K,jh,iFAY}r(@}r?@y}r|}ra}rH &@ ?Գ?[@ ſ@ӟ? O?)~r(@ ~r6[;I~r CY=?yEF    @ @ @i )Ii=MD=Y!a%$H!!y-AH<}->I1 =:5J 5? =:5rݾ 5 U> E?953?5R: 5:)5:WaWaXa XaWaXi:Wi2Wi*WqVqbUqBUq*UqUyU}A@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CRCCCשIGmc mmm mx:YmDW1ymY:m6i}}nGIiV޿ٺA6q2K,S>,iFAY}2T(@}2@y}273}2!}2H mݭ??@-¿ 6??)~2T(@ ~2'3[;I~2CYf?yfFjZ****** received transponder code query ******jF****** received ping request ******jAAaE$HEHIyU;;}U>IY]և 5?]"sݾ ]P> m?9]T?]6: ]:)YWWX XWX:W2W*WVbUBU*UUU S @BB BA|*BAAAA"C*CRCCC?i?IG=a9aIeFiev?aaae; eE)Ii=M4]8K,,iFAY}2?(@}2@y}2` }2&t}2H@+1?`f?@kÿ{?w?)~2?(@ ~2"Z;I~2CYR?yR7FVxDUSBL response received:!U1,P 2F0,000,002B6,188,80,80,AD,FF VCommand AckVBRequesting micromodem ping code 2iTTIX)X^Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i|?5?S㥻kt?q=/ݽ  =)IyQ?y&1?:v\=`e<T :A)TAIt3Ai\AGA-^A)5<M5#=Y=;QU=>99aE$HAAym}m>Iq }:uS 5? }:urݾ u$L> }?9u׼?uo: uw:)u:WWX XWX:W2W*WVbUBU*UUU @BB BA *BAAAA"C*CRCC!C1  p:YU1y:N6)o;9IG%> >K,0,iFAY}:V(@}:8r@y}:$: }:a}:Hb`99s? ?Q@'ÿAy?z洿೗?)~:V(@ ~:GZ;I~:CY^?ybF`b@ArNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @ÑÑÑiÑÑ đ)đIđiđ+M=Yd? ?9i?: :)WWX XWX:W2W*WVbUBU*UUU @BB BA*BAAAA"C*CRCCC IG >EK,(-iFAY}6'@}6@y}6G}6r[}6HQSk??@@? .@0?)~6'@ ~6ӓZ;I~6CYv?yvAFzxDUSBL response received:!U1,R,354,000,002B7,189,80,80,AE,FF ~Fpublishing direction and range info9IFi1?=; {EzV>xɰzc=z7> x)z.CIxyzf@z?a2ٱx=˳<MEQ=YERIIaM$HIIyU=}U>IY]6 5?]rݾ ]E> m?9][?]: ]\:)YWWX XWX:W2W*WVbUBU*UUUʜ@R(Combining 5 samples.P*Qf@ZQ{?@̑6JQ?a22QV>:QbQ@3̿1Z[@'_9?RQpY|B,?*?BQ? Q@QePT9?PS9?PQQ/@"Q>)@BB BAm*BAAAA"C*CRCCCI)]AIG=mv iim myz:YiyimD6)m;KK,1-iFAY}z'@}zX@y}zw"}z(}zH:UBS?`? ,zX?ԢT?)~z'@ ~z Z;I~zCY=?y=FTNmea in: $SNTTA,0.026970,,,,233515.96*46 p=i=)= =    @ @ @i )Ii-<M-<=Y5s11a5$H99y=C;}E>II U:M 5? U:Mqݾ MA> U?9M?M: M:)M:mmAdded new target pos. range: 4.199998 m, bearing: 93.089441 deg, deltaT: 4.405362 s, approachRate: 0.013619 m/s, LOS rate: -1.256676 deg/s, posRepo size: 4W?WX XWX:W2W*WVbUBU*UU`@U?BB BAL*BAAAA"C ?RCC?CיIG >RK,K-iFAY}6 N(@}6i@y}6}6}6HP@/$?@ ?> ?@Т?)~6 N(@ ~6Z;I~6CY^?ybF];M]Y=Ye;QUe>aaam$HiiyuZ<}u>I 5?Xqݾ => ?9t?: +:)W W X  X W X:W2W*WVbUBU*UU!U%`M?BIBI BIAM9*BQAQAQAQAY"C]?RCaCaCa׉IG=m m~m~m ms:YmT1ym@:mW69u@^A]A9I Fi?=; jEXK,be-iFAY}2(@}2@y}2}2Ytb}2Hz??`G@? ]?)~2(@ ~2=Z;I~2CYZl?yZ[F ףp= ?y&1?sh|??Q=`e= =)IyMb`?:va$Hy<}>I : 5? : qݾ 6> ?96?: :):WWX XWX:W2W*WVbUBU*UUU?BB! B!A%*B!A!A!A!A)"CMw?RCQCQCQe?iaAIQGm>W_K,?;-iFAY}6(@}6>@y}64V}6{}6H<xa$Hy-':}>Iȡť1 5?ťpݾ ƥQ0> ?9ƥ?ǥ: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU@?BB BA5*BAAAA"C%P?*C!RC)C)C)1IAGe=m mmm mC:YmV1ym:mV6EeK,-iFAY}2'/(@}2J@y}2}2J}2H9 a>x?f?tOb¿@?3e@?)~2'/(@ ~2[;I~2CT9TIVXFiV?V=TTV; VkEY^?y^F}\=M}K=Ya$HyO|}>I :q 5? :rpݾ h)> ?9?: k:):WWX  X W X :W 2W *WVbU1BU1*U9U9U=L@BB BA*BAAAA"C?*CRCCCשIG>+lK, -iFAY}6X(@}6@y}6뽙}6~Iͽ}6H@ O?`?`S6`ÿk?`r ?)~6X(@ ~69|\;I~6CYB?yBAF E M M M@ M@ M@IIIiII I)IIIiI]!M]L=Y]P;QUe>aaae$HaiyuKڻ}u>Iy} 5?}&pݾ }"> ?9}?}^: }:)yW!W!X! X)W)X):W)2W1*W1V1bU1BU1*U9U9U="@BB BA*BAAAA"C*CRCCCI)IG>e_ eee ex:YeWU1ye:e6E sK,-iFAY}:MP(@}:k@y}:[U齙}:YĽ}:HL h26v? ?D¿?X`?)~:MP(@ ~:x*\;I~:CY^?yb$Fba=ɮba=f4=if<)n= n>v<MvS=YvIR;QUv>xxaz$HzH|y~aF<}>I  : 5? :oݾ ]> ?9H?4:  :):W1W1X9 X9W9X9:W92WA*WAVAbUABUA*UIUIUM @RUB*** querying acoustic contact ***PQPQByBy ByA*BAAAA"C*CRCCCqIG=ܥ>9ܡIܡiܡܥ=ܡܡܥ; ݥEU7yK,-iFAY}2(@}2x@y}2T⽙}2r}2H,@l f??i E?m?)~2(@ ~2k[;I~2CYv?yvSFzZ****** received transponder code query ******zF****** received ping request ******z? C>)Iy{Gz/$a$HyO<}>I!%: 5?%*oݾ % > 5?9%?%: %:)!WWX XWX:W2W*WVbUBU*UUU3 @BqBq BqAu*ByAyAyAyAy"C*CRCCCסIG >m mmm m:YmV1ym:m6)m;9u > Ci- nmGIA iq #ݿٺ AK,I.iFAY~?y~ܔFxDUSBL response received:!U1,P 354,000,002B7,189,80,80,AE,FF Command Ack BRequesting micromodem ping code 2i  Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76  - - -@ -@ -@)))i)) )))I)i) FM(=YQU>a$Hy}>I : 5? :cnݾ Z= ?9?: R:):WWX XWX:W2W*WVAbUABUA*UAUIUMb@BB BA.*BAAAA "C*C9RCACACI׵?i׵?בIG>RIK,].iFA$9&CI$i$&=$$&; &E)Ii=i4Y}Ng(@}N@y}N1ڽ}N ?}NH ?? @f 9?[ӧ ?)~Ng(@ ~Nvl[;I~LYZ?yZҕFnNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I9)9II}r$=M}=YM^mb mmm mwd:YmWU1ym:mW6)m;rsK,94.iFAY}6(@}6+@y}6l߽}6d}6H '3z?L? Iظ,? |@u?)~6(@ ~64[;I~4YnR?ynFvxDUSBL response received:!U1,R,397,000,002B5,188,80,80,BA,FF vFpublishing direction and range infor{NMpɰrc=r> p)r:CIpyr@r$??u[ٱp×MQ=Y QU>a$H!!y%_}->I15 5?5Vmݾ 5v= =?95?5: 5:)1WaWaXa XaWaXa:Wa2Wi*WiVibUiBUi*UqUqUuU@R(Combining 5 samples.P*Q@ZQa@5uJQ$??u[2Q{NM:QbQpXqY^{c>@V6d?RQd`g9J R,?1?BQ? Q@QKϺPPT9?PQQ @"Q/@BB BAق*BAAAA"C*CRCCCIG=^K,N.iFAY}f(@}f[#@y}f2轙}f]}fHA╦??n`o? ~?)~f(@ ~fTi[;I~f CY ?yJF}TNmea in: $SNTTA,0.092851,,,,233520.42*44    @ @ @i )IiA<M==YQU>a$Hy|}>I  :  5? : lݾ Χ= ?9 ? : k:) :mMqAdded new target pos. range: 4.080000 m, bearing: 90.022317 deg, deltaT: 4.438350 s, approachRate: -0.027037 m/s, LOS rate: -0.691050 deg/s, posRepo size: 4mMTStarting intercept timer at range: 4.08 m.WU?WQXQ XQWQXQ:WQ2WY*WYVYbUYBUa*UaUeQ@Ue ?B)B1 B1AM*BIAIAIAIAI"CU8?RCYC]?CYIi)iAIQGm>A9ECIEFiEa?E=AAE ; EEe eee en{:YeY1ye:e)6)eu;ׅK, g.iFAY}6sZ(@}6u@y}6=潙}6}6H`k,?l?``9?ӵD?)~6sZ(@ ~6|.[;I~6CYNx?yRFa=i%=/$l?J +1> Ƚ)Iy/$:v?I +?<94< A>A)IAI5AiVVADA))> >MI=Yn;QU>  a $H  yK<}>Iۈ 5?umݾ = -?9?: :)WIWIXI XIWQXQ:WQ2WQ*WYVYbUYBUY*UaUaUe@t?BB BAO*BAAAA"C?RCCCשIG=nK,(с.iFAY}6(@}6@y}6Z⽙}6nEŽ}6H@/` ׌?U?<¿1?xl?)~6(@ ~6[;I~6CY^|?y^F]MM]U=Y];QUe>aaae$Haiymi<}m>Iq }:uƈ 5? :u3nݾ uԱ= ?9uu?ub: u:)u:WIWIXI XYWYXY:Wa2Wa*WiVibUBU*UUU ?B B) B)A-*B)A1A1A1A1"C9*C9RC9C9CAAIQGm>m mmm mF{:YmT1ym:m1!69u@9 99 I= ȖFi= ?9 9 9 = 9; = EҗK,;.iFAY}BbJ)@}Be@y}Bmཙ}BaĽ}BHcJɎ??@<1x¿@S?` h@R?)~BbJ)@ ~B[;I~BCYz?yzF    @ @ @ñññiññ ı)ıIıiı ;MD=Yw:QU>a$Hy<}>I 5?oݾ  = ?9O?: s:)WiWiXi XWX:W2W*WVbUBU*UUU7p?B B BA*BAAAA"C*C!RC!C!C!=?i=? IG5 >K,.iFAY}6%>)@}6Y@y}6ܽ}6?}6H/`q? ?F w@(?Dz@I?)~6%>)@ ~6[;I~6CYFA?yF˓FI)]A=M=S=YE ;QUE>AIaM$HIIyUo}U>IY e:] 5? e:]oݾ ]c= e?9]?]g: ]s:)]:WWX XWX:W2W*WVbUBU*UUUc/@BB BA*BAAAA"C*CRCCCIG=m# mmm ms:YmV1ym:mi6K, ].iFAY}2R(@}2 @y}2B߽}27雽}2HD`79'??(`Ζڻ?@Z@ɷ?)~2R(@ ~2Z;I~2CYR$?yRFuM}G=Y}WHQU}>a$HHy?}>Iȑŕ 5?ŕpݾ ƕ= ?9ƕ?Ǖ: ȕ:)ȑWWX XWX:W2W*WVbUBU*UUU`Wz@BB B A *B A A A A "C*CRCCC!IG==9Ii; EӹK,8.iFAY}6\(@}6bx@y}6B߽}6}6H`[&2??dLԻ?`?)~6\(@ ~6Z;I~6 C`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ) IY?yzF!ɮ%p=ma mzmzm mx:YmQ1ym:m6M"~?~jthT㥛 ?MS>MD M=)IIIyM~jty&1|?~jth?MM`;MD; M:A)M\QAIM7AiMUAIMfFA)e%> e= E E E M@ M@ M@IIIiII I)IIIiI]ͼM]=Y]u9QUe>aaae$Haiymh}u>Iy :} 5? :}7qݾ }= ?9}|?}: }:)}:WWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BA&*BAAAA"C*C RC C C I ) \A I G >jK,/iFAY}:(@}:K#@y}:ཙ}:Xc}:H`B3.>??a @烷? Ȗ ?)~:(@ ~:e[;I~:C D)F`AɇDDDDɈJaAiJV.IJEHIHiJ`A LL)LL LRĻPɉPRfCPIT)TiT)TITTɊX XɋXXXiX\i\^`A)\ `I`ɫ髙) IYU(?yUF]Z****** received transponder code query ******]F****** received ping request ******] 9 I Fi ? ; EK,c/iFAY}20(@}2)@y}2:㽙}2N-}2H`G*?`?@n?ޛ`?)~20(@ ~2\;I~2Cɫii)i qIqY?yKFxDUSBL response received:!U1,P 397,000,002B5,188,80,80,BA,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 5n=M=5=YMrQUU>Yaau$Hqyka:}>IȹŽ 5?Žqݾ ƽ= ?9ƽH?ǽV; Ƚ;)ȹW1}T }}}}} }w:Y}kS1y}Ԋ:})6)}J;9WX XWX:W2W*WVbUBU*UUUB@BQBq BqAui*ByAyAyAyAy"C*CRCCC׽?i׽?בIG>K,~6/iFAY}6z(@}6O@y}6I罙}6}6H|v@|?q?Q&h_wټ??)~6z(@ ~6+[;I~6Cilp)p pIp p)tɛttttɜv`AixIxxIxiz`A x|)|| |ɝI)i ) I  ɞ  ɟ\AiɫQQ)Q QIQY?yFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i]nG…]AIiݿٺnA = = = =@ =@ =@ =999i=?9 =?)=?I=?i=A?=M@=Y|QU>a$Hy_<}>I  :܉ 5?  :Zrݾ #=  ?9\?: :):W)W1X1 X1W1X1:W12W9*W9V9bU9BU9*UAUAUE@BqBq BqAu*BqAyAyAyAy"C*CRCCCׁIGa> K,P/iFAY}2)(@}2xE@y}2轙}2{}2H``+8y+?@"?``?@ӻ?)~2)(@ ~2D[;I~2 Cɫ髡) IYA?y˓FxDUSBL response received:!U1,R,37F,000,002B5,189,80,80,A8,FF Fpublishing direction and range infoGɰ7> )(CIy- :ֹ?5Iٱ  M =Y  QU ?a$Hy⁼}%?I!% 5?%rݾ %c= 5?9%-?%: %r:)!WQWYXY XYWYXY:WY2Wa*WaVabUaBUa*UiUiUm@R}(Combining 5 samples.Py*QyZQ}o-.2.@^JQ}- :ֹ?5I2Q}G:QybQ}m;l0ҽ0@V3*?RQ} 1h?(3?BQ}? Q}@Q}aPyPyPyQyQ}^@"Q} @BB BA*BAAAA"C*CRCCCשIG=܍>9܉I܉i܉܉܉܉܍; ݉)Ii==k4} }}}~ }N:Y}DW1y}Y:}<6)};!K,j/iFAY}6'@}6@y}6}6C}6Hn]!??`*dE? 5t?)~6'@ ~6[;I~6Cɫ髹) IY?ygFmdNmea in: $SNTTA,0.409949,0.369543,,,233524.95*54 MbX9? rh?C< t=)IyA`"Zd;?~jthYy=D …@A)…IAI…6Ai…z@A    @ @ @ @ùùùiýù Ľ)ĽIĽiĽ$M%=YwQU>a$Hy1}>I : 5? :tݾ i= ?98?: :):m-iAdded new target pos. range: 4.080000 m, bearing: 91.239600 deg, deltaT: 4.476033 s, approachRate: 0.000000 m/s, LOS rate: 0.271956 deg/s, posRepo size: 4W-?W)X) X1W1X1:W12W1*W9V9bU9BU9*U9UU 5?BB BAƃ*BAAAA"C?RC!C%?C11IAGew> K,Y/iFAɫ髙) IY(?yF2Mw=YQU?a$Hy}?Iȱŵ 5?ŵ_vݾ Ƶ= ?9Ƶ?ǵ$: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUUEW?B!B! B!A%*B)A)A)A)A)"C1*C1RC9C9C9 IG >m mmmj m~:YmT1ym:m69u@܁ 9܁ I܅ ȖFi܅ ?܅ =܅ <D܁ ܅ ; ݅ E 4K,~6/iFAY}2\(@}2Yx@y}2}2Z˽}2HU 2gē??J/ÿ?' ?)~2\(@ ~2mi;I~2CɫYY)Y YIYYr?yKF5;M=Q=Y=^QU=>AAaE$HAAyM<}M>IQ ]:U 5? ]:Uxݾ U= e?9U?U: U:)U:WWX XWX:W2W*WVbUBU*UUUp?BB BAу*BAAAAI"Cq*CqRCqCqCyiIqG>X_K,/iFAY}2(@}2=@y}2-}2%}2H-s?[?ĿҾ? nY?)~2(@ ~2\h;I~2Cɫ99)9 9I9Yu?y}1F = = = =@ =@ =@999i99 9)9I9i9M MMI=YU:QUU>QYa]$HYYye'z<}e>Iim} 5?myݾ mH= u?9m?mV: mo:)iWWX XWX:W2W*WVbUBU*UUU ?BB BAD*BAAAA"C*CRCCCIG>mq m~m~m mz:YmT1ym@:m`6EK,W/iFAY}2E)@}26a@y}2}2[ý}2H[@Ж?@?z+O7ÿ Ac?5`?)~2E)@ ~2d;I~0ɫ99)9 9I9Y}k?y} F E MMK=YM#;QUM>QQaU$HUHYy]<}]>Iaec 5?e{ݾ e= m?9e?e: e:)aWWX XWX:W2W*WVbUBU*UUU$3@BB BAS*BAAAA"C*CRCCC IGm>->9)I-Fi-a?-=))-; -jE,rK,J/iFAY}2>)@}2Z@y}2}2k}2HW`c ?ಌ?Rd?<u?)~2>)@ ~2)a;I~2 CɫQQ)Y YIYY?y_F}Mb?MbX9i|?5}=}ʡ }q)yIyy}y&1|??:v?}`;}<}T< }:A)}SAI}n8Ai}(\Ay}HA    @ @ @i )Ii: <M+=YH"QU>a$Hyen}>Iȩ :ŭ 5? :ŭ$|ݾ ƭ= ?9ƭk?ǭ: ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUU)@RB*** querying acoustic contact ***PPBB! B!A%1*B!A!A!A)A)"C)*C1RC1C1C19IAe eee e{:YeT1ye:e6GuX>5WL,0iFAY}FD)@}FΜ@y}F}F(}FH1i@ @?`o?w@4? +?)~FD)@ ~F^c;I~FCɫyy)y yIyY?yzFZ****** received transponder code query ******F****** received ping request ******1 91 I1 i1 5 =5 ;D1 5 ; 5 eENL,0iFAY}>D)@}>@y}> }>BBR}>H ɝ?I?[#??)~>D)@ ~>a;I~>!CɫYY)Y YIYYA?y˓FxDUSBL response received:!U1,P 37F,000,002B5,189,80,80,A8,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I4=)4=) > >=&=MEG=YU#QU]>iiau$Hyy"T<}>I :. 5? :|ݾ O= ?9?L< <):WWX XWX:WA2WA*WAVIbUIBUI*UIUQUU̟ @BB BA*BAAAA"C*CRCCCeh aae e\y:Yayae 6)e;9mIG-o>/ L,X90iFAY}:)@}:F@y}:D }:2н}:H`צ? :?@UWYſ`^?`ʹ@?)~:)@ ~:_;I~:Cɫ99)9 9I9Y]?y]:F}Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @éééiéé ĩ)ĩIĩiĩeCMD=YQU>a$Hy";}>Iq 5?%}ݾ = ?9N?w: +:)W W X  X W X:W2W*WVbUBU*UUU%` @ @BIBI BIAU@*BQAQAQAQAQ"CY*CYRCaCaCaaIqG>ӓL,2S0iFAY}6.*@}6J@y}6 }6r }6H'&5?)?R7@aȿ`L?`7@i?)~6.*@ ~6^;I~6Cɫ99)9 9I9Y}!?y}ߑF?AxDUSBL response received:!U1,R,323,000,002B5,189,80,80,B5,FF Fpublishing direction and range infoUd3ɰ鰁 )5CIyXUu?ސ ٱ+HM]=Y;QU>a$Hy<}>I :… 5? :z}ݾ r= ?9?4: :):WWX XWX :W 2W *W V bUBU*UUU`O@R-(Combining 5 samples.P)*Q)ZQ-k@\) JQ-XUu?ސ 2Q-Ud3:Q)bQ- uh)@?RQ-Нm{!9CIȖFi?=; iE  x|:YWU1y:26)Z;DL,sm0iFAY}ZqH*@}Zc@y}Z># }Z]}ZHڈ[e??{Ŀ?Ѩ?)~ZqH*@ ~Z];I~ZCɫ髹) IY&?yDF]TNmea in: $SNTTA,0.038735,,,,233528.93*4D 7A`?&1ʿ rh?>P C<)IyMbP?y&1|y&1?:``< :A)PAI6Ai~ZA3GAZA 5 5 5 5@ 5@ 5@111i11 1)1I1i1EME'=Y镻QU>a$HyM;}>Ișŝ 5?ŝq}ݾ ƝH= ?9Ɲ?ǝ: ȝ:)șmiAdded new target pos. range: 4.080000 m, bearing: 97.535723 deg, deltaT: 4.028899 s, approachRate: 0.000000 m/s, LOS rate: 1.562740 deg/s, posRepo size: 4W?WX XWX:W2WA*WAVAbUABUI*UIUIUM7?BB BA*BAAAA"C?RCC?CIGn>zCiunGIiٺA'!L,0iFAY}B?n*@}Bɉ@y}B}B"q}BH b@ ??HC@??)~B?n*@ ~B``;I~BCɫQY)Y YIYY?y1Fu =Mum=Yu QU}?yya}$Hyy;}?Iȑ :ŕ' 5? :ŕf}ݾ ƕ= ?9ƕ7?Ǖ: ȕ$:)ȕ:WWX XWX:W2W*WVbUBU*UUUא?BB BAD*BAA A A "Ci?RCCCׁIG">e eeez er:YeX1ye/:e69m@ >9 I XFi ? = ; xE)YIYiY]=]=]g5'L,/Ġ0iFAY}:d*@}:v@y}:@#}:}:H;L=? ?@`컿Q?`zr@?)~:d*@ ~:gb;I~:Cɫ99)9 9I9Y}?y}hFU.;M]L=Y]˼QU]>aaae$Haaymx}m>Ique 5?uU}ݾ uu= }?9u?u˵: u=:)qWWX XWX:W2W*WVbUBU*UUUq?BB BA.*BAAAA"CU?RCCCIG>P-L,먺0iFAY}6)@}62@y}6&}6B}6H8q厹?-)?`ɩ?I ?)~6)@ ~6|_;I~6CɫQQ)Y YIYY?y F)= =    @ @ @ÁÁÁiÁÁ ā)āIāiā!MF=YջQU>a$Hy؆}>Iȱŵ 5?ŵH}ݾ Ƶ > ?9Ƶ?ǵ: ȵ:)ȱWWX XWX:W2W*WVbUBU*UUUH?B!B! B!A%*B!A)A)A)A)"C5?RC1C1C9qIG>eT eee ew:YeU1ye:e!64L,}z0iFAY}6)@}6<@y}6= "}6Uٽ}6H[`\?WH?@()ǿ` ,?`G̺ l?)~6)@ ~6=];I~6CɫII)I IIIY}?y}4F MS=Y#!!a%$H%H)y-D}->I1 =:5͆ 5? =:5E}ݾ 5O> E?95@?5: 5:)5:WaWiXi XiWiXi:Wi2Wq*WqVqbUqBUy*UyUyU}>@BB BA{*BA)A)A1A1"C9*C9RC9C9CAQq9qIuFiua?qqqu; upEIG>i ;L,h[0iFAY}V._)@}Vz@y}V}V}VHCE@@d;? e?`U{0ȿ`?g?)~V._)@ ~V.\;I~VCɫyy) IYA?y|FMbp?~jtÿˡE; ')Iyy&1|?Zd;O rh?`;jC = ;CA)9HAI2AiQ`AGA e e e e@ e@ e@aaaiaa a)aIaiau<M}6=Y},;QU}>a$Hy  } >IE 5?|ݾ (> e?91@g< <)WWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPB B  BA]*BAAAA"C*CARCACACAU?iU?I G-N>m iim mۃ:Yiyimh6GAL,Q21iFAY}6p_)@}6z@y}6$}6}6H@`?@?a? D?Ŀz?@?)~6p_)@ ~6[;I~6Cɫ99)9 9I9Y}Z?y}*FZ****** received transponder code query ******F****** received ping request ******a$HyC8}?I  :  5? : |ݾ 4> ?9 @ ; ;) :WAWAXI XIWIXI:WI2WI*W)V1bU1BU1*U1U9U=@BB BA*BAAAA"C*CRCCCIG$>i 9m CIm XFim ?m =i i m ; m rEHL,"1iFAY}Fb\)@}Fw@y}F7,}FL }FHa8|?[?j!i?@꠿@?)~Fb\)@ ~Fٝa;I~FCɫYY)Y YIYY?yFxDUSBL response received:!U1,P 323,000,002B5,189,80,80,B5,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 =M H=YQU%>19aE$HAQye}m>Iȉō" 5?ō/|ݾ ƍC> ?9ƍ8@Ǎ= ȍ=)ȉWqWyXy XyWyX:W2W*WVbUBU*UUU @BBA BAAE5*BIAIAIAIAI"CQ*CQRCQCYCY} }}} }7h:Y}V1y}:}6)}۽;9יIGf>FHNL,;1iFAY}2 P)@}2k@y}2h2}2hټ}2H-@9@?@Y?`m=?$Ӛ?)~2 P)@ ~27`;I~0ɫ99)9 9I9Y?yiFɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉI<MA=Y QU>a$Hy}>Iȹ :Ž 5? :Ž{ݾ ƽR> ?9ƽ@ǽ: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU`N @BB BA*BAAAA"C *C RC C CI!)%\AIG*>P0UL,YU1iFAY}V9)@}VSU@y}V8}Vm"\}VHb?2\?RC@(Ŀ`*?@o?)~V9)@ ~V];I~VCɫyy)y yIyY?yFxDUSBL response received:!U1,R,3E1,000,002B6,188,80,80,B0,FF Fpublishing direction and range info]ɰhc=鰽> )0CIyz@F?qo 'cٱ)= ~MV=Y{QU>a$Hy4[}>I 5?n{ݾ ua> ?9Z@: :)WWX XWX:W!2W!*W!V!bU!BU)*U)UIUUHO@R](Combining 5 samples.Pa*Qez@ZQedq@9;= JQeF?qo 'c2Qe]:QabQeh1y?$ T@pzE?RQePeU9?PeS9?PaQeQeQ@"Qe0(@9IFia?; EBQBY BYA]*BYAYAYAaAa"C*CRCCCI)} }}}= }_h:Y}U1y}:}F 6)};G[>;Z[L,o1iFAY}2T{)@}2ޖ@y}2V=}2f}2H`0 bk?`@?`~'ȿh?`{ lU?)~2T{)@ ~21i\;I~2CɫYY)Y YIYY~?y,FdNmea in: $SNTTA,0.404710,0.403716,,,233532.96*56 ʡE?y&1{Gz?>`e ף=)IyMba%$H!!y- <}->I1 =:5 5? =:5r|ݾ 5q> =?95@5: 5:)5:mmAdded new target pos. range: 4.140001 m, bearing: 86.872343 deg, deltaT: 4.079756 s, approachRate: 0.014707 m/s, LOS rate: -2.613730 deg/s, posRepo size: 4W?WX XWX:W2W*WVbUBU*UU`\@U?BB BAN*BAAAA"C^?RCC?CaIiG9>MBbL,y1iFAɫ髹) IYc?yF    @ @ @ñññiññ ı)ıIıiıj=MO=YQU>AAaU$HQayu}u>Iy} 5?}r}ݾ }$> ?9}@}0: }:)yWWX XWX:W2W*WVbUBU*UUU`@?BB BA*BAAAA"C&?RCCC?i?IG (>m) iim" mVt:Yiyim"69u@ 9 I i = ; EnhL,[1iFAY}2~a*@}2}@y}2F}2>煽}2Hq ?`?(`Eƿ?`Oi`T?)~2~a*@ ~2^;I~2Cɫ19)9 9I9Yu!?yuF>MX=YʼQU>a $H  y4 =}>I 5?N~ݾ C> %?9@: :)WIWIXI XIWIXQ:WQ2WQ*WQVQbUYBUY*UYUYUe ?BB BA%*BAAAA"Cz?RCCCiIyG=nL,51iFAirNmGIiMٺIMeAY}++@},@y}qK}l}HD L?`8?Jt&ƿeC?@4 nQ?)~++@ ~w`;I~Cɫqq)q qIqY?yFm/$<Mm5=Yu QUu>qqa}$H}Hyy<}>I :A 5? :gݾ c> ?9'@$; ;):WWX XW!X!:W)2W)*W)V)bU1BU1*U1U9U=O?ByBy ByA*BAAAA"Cc?RCCCyIG=>ec e}e}e e:YekS1yeԊ:e6~uL, 1iFAY}6$+@}6*@y}6N}6Ce}6H`Ơ`D@>?]?`AR@ƿl? iL?)~6$+@ ~6K^;I~6CɫYY)Y YIYY?yGF M M M M@ U@ @IIIiII I)IIIiIMY=YTQU>a$Hy?}>Iȱŵȋ 5?ŵFݾ Ƶ> ?9Ƶ8@ǵ: ȵ:)ȱW W X  XWX:W2W*WVbUBU*UU!U%@BiBq BqAuC*BqAqAqAyAy"C}Ѭ?RCCCIי)י9CI Fi?=; E)aIaiae=e=eW?5׉IG5.>ͨ{L,)1iFAY}F^*@}F@y}F$R}F}FHr}??@ßTjǿv?`C?)~F^*@ ~F\)];I~FCɫ髙) IY?y-F)\(?kt?Mb?Ga= 0= <)Iyy&1|?X9v?ˡE`;<' ?A)NAI0AifAIA)-> ->5RM=A=Y=QU=>AAaE$HAAyM}M>IQ ]:U 5? ]:Uݾ UЏ> e?9U @U: U:)U:WWX XWX:W2W*WVbUBU*UUUs@BB BA*BAAAA"C?RCCCשIG%>mx mmm mz:YmWU1ym:m6,L,/ 2iFAY}2R*@}2\n@y}20X}2Ru}2HW@^ֽ? ?`Fʛǿ`?` :?)~2R*@ ~2D\;I~2Cɫ髉) IY?yZF@A=M?=Y%yQU>a$Hy} >I 5?ʀݾ > ?9 @: :)W9WAXA XAWAXA:WI2WI*WIVQbUQBUQ*UQUQU]@p@ReB*** querying acoustic contact ***PaPaBB BA;*BAAAA"C*CRCCCIGH>ܱ 9ܱ Iܱ iܱ ܵ =ܱ ܱ ܵ ; ݵ E"L,$2iFAY}N[*@}N@y}Nxa}Nl}NH )_ &C?@ѵ?ؔȿ?`Y簿'?)~N[*@ ~N[;I~NCɫqq)y yIyY?yQFZ****** received transponder code query ******F****** received ping request ******aaae$HayI<}>Iȹ :Ž 5? :Žݾ ƽ}> ?9ƽ @ǽ,; Ƚ.;)Ƚ:WWX! X!W!X):W)2W)*W)V)bU1BU1*U1U1U= > @BB BA*BAAAA"C*CRCCCi?סIGB>e aae e.r:YayaeV6)ew;9mL,!x>2iFAY}6*@}6G@y}6be}6}6Hm@vS?Ϛ?``ɿo?@$E?)~6*@ ~6c`;I~4ɫii)q qIqYo?y#FxDUSBL response received:!U1,P 3E1,000,002B6,188,80,80,B0,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76     @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ<M=YQU>a$Hy;}>I> 5?Oݾ h> ?9 @; ;:)WWX XWX:W2W*WVbUBU*UUU9@BB BAR*B A A A A "CA*CIRCqCqCy׉ I G >ΕL, YX2iFA )`Aɇ   ɈaAih1ISEIi`A )! %GaA!)ɉ)11I1)1i9)9I9AɊA AɋIIIiIIiQUdA)Q QIɫ髹) IY~?y,Fq9qIuFiu1?qqqu(; uENmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B :Ml=YQU%?11a=$H9AyE}E>II U:MU 5? U:Mݾ MZ> ]?9M @M : M~;)M:WWX XWX:W2W*WVbUBU*UUU_@e aae e}:Yayae6)e;BB BAN*BAAAA"C*CRCCCבIG> L,7r2iFAY}vG*@}vMc@y}vd}v}vH Dෞ@-?@?`$ɿ`\? %#?)~vG*@ ~v$];I~tɫ)! !I)Ym?yuF}xDUSBL response received:!U1,R,3A7,000,002B7,189,80,80,AB,FF }Fpublishing direction and range infouPqɰuc=u7> q)u+CIqyuf@u| ? Nٱq-5^I ?ʡEÿ{Gz-X>- -ף))I)y-Q{Gz?Zd;O-u-ף<-j -?A)- SAI-O/Ai-rnA)-LA E E E E@ E@ M@ MAAAiE?A E?)EA?IE?iE?]$<M]V=Y]:QU]>aaae$Haiymo}u>Iqu) 5?uݾ uO> ?9u @u ; u;)qWWX XWX:W2W*WVbUBU*UUU@R-(Combining 5 samples.P1*Q5f@ZQ5y`J@|iJ'yJQ5| ? N2Q5P:Q1bQ5z?fIw@t"?RQ5SxgY^?O!P?BQ5? Q5@Q5ѼP5T9?P5U9?P1Q1Q5(@"Q5Q@BB BA*BAAAA"C*CRCCCI)]AIGi>ޢL,2iFAY}F;%*@}F@@y}FWh}F^ƽ}FH4v?a$Hyʣ}>I   5? cݾ C> ?9  @ U:  :) m]iAdded new target pos. range: 4.199998 m, bearing: 90.356750 deg, deltaT: 4.503843 s, approachRate: 0.013321 m/s, LOS rate: 0.773652 deg/s, posRepo size: 4W?WX XWX:W2W*WVbUBU*UU`@Ul?m mmm m:YmX1ym/:m 69u@ByB BAC*BAAAA"Cx1?RCC?CבIG>Q 9Q IU FiU v?U =Q Q U A; U ETL,2iFAY}2#)@}2@y}2h}2Ͻ}2H X`S$?=?` P̿ ?@m>?)~2#)@ ~2[;I~2Ci<<)< ?9ƕ@ǕA: ȕ :)ȕ:WWX XWX:W2W*WVbUBU*UUU3?BaBa BaAm?*BiAqAqAqAq"C}_?RCyCyCiIqG>3L,/Ŀ2iFAY}J_)@}J4{@y}J^g}J+C}JH@,G@J?`?@4@Dɿ@? :@ ?)~J_)@ ~Ji];I~J Cɫ) IY5?y5F - 5 5 5@ 5@ 5@ 5@111i51 5)5I5i5M=MM<=YUq:;QUU>YYa]$H]Haymˑ}m>Iy} 5?}8ݾ }.> ?9}@}>+; }*;)yWWX XWX:W2W*WVbUBU*UUUA?B B  B A *BAAAA"C+?RCCC!5?i5?I G-->e eee e|:YeW1yeč:e6L,2iFAɫ髡) IYX?yPFMz MU\=YeQUe>iiam$Hiiyu}u>Iy :}s 5? :}ݾ }P$> ?9}@}: }:)}:9IxFi?; EWYWYXa XaWaXi:Wq2Wy*WVbUBU*UUU@;?BB BAׅ*BAAAA"C>?*CRCCCIGI>EL,x2iFAY}JT+*@}JF@y}Jd}JN}JH;m?{?vǿV?v8*?)~JT+*@ ~J'^;I~JCɫ) IY5?y5tF-HzGl?Q-= -> -))I)y-Zd;OX9vy&1-j-}-` ))-SAI-v.Ai-CoA)-(LA    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ;M7=YQ;QU>a$Hy<}>IȹŽ 5?Žݾ ƽ> ?9ƽ@ǽ: Ƚs:)ȹWWX XWX:W2W*WVbUBU*UUUO?BB BAɅ*BA A A A "C?*CRCCC)1imGIiٺAm6 mmm m_u:YmY1ym:m6IGj>\,L,HO 3iFAY}2Z*@}2@y}2`}2I}2H{2`hy? ?COǿ`?1?)~2Z*@ ~2];I~2 Cɫaa)a aIaYi?y3FUpz=M]b=Y]&aaae$Haaymm}m>Iq }:u0 5? }:uݾ u > ?9u|@u: u$:)u:WWX XWX:W2W*WVbUBU*UUU@BaBa BaAe*BaAiAiAiAi"C*CRCCCI)\A׉IG>9Ii; }E)ݍCIݍCi݉ݍ=ݍ=ݍ54XL,0'3iFAY}F)@}F@y}F_r_}Fa}FH@6v@Y??`Uǿ௵?ெ1?)~F)@ ~F\;I~FCɫYY)Y YIYY_?yF =i =I%=)%=5M=L=Y=[[;QUE>AIaM$HIQyU}U>IY] 5?]6ݾ ]0> m?9],@]w: ]M:)YWWX XWX:W2W*WVbUBU*UUU@RB*** querying acoustic contact ***PPBB BAV*BAAAA"C*CRCCCIG>m8 mmm m:YmWU1ym:m6)m;9u>L, A3iFAɫyy)y yIyY?yΏFZ****** received transponder code query ******F****** received ping request ******a$Hy}>I, 5?Qݾ = ?9@: :)WWX! X!W!X!:W!2WI*WIVIbUIBUI*UQUQUU # @BB BA<*BAAAA"C*CRCCCIGI>hL,Z3iFAY}6P)@}6l@y}6dFY}6p߃}6H Y%ii?@1?@1_Hȿ? q7?)~6P)@ ~6'a;I~6CɫII)I IIIY}?yFxDUSBL response received:!U1,P 3A7,000,002B7,189,80,80,AB,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Mg=Y%9AaM$HIa>9I@Fi?=; yP<}>I  : 5? :ݾ >= ?9@G<  <):WWX XWX:W2W*WVbUBU*UUU @B9B BAK*BAAAA"C*CRCCC׭?i׭?} }}} }i:Y}DW1y}Y:}E6)};;יIGf>L,t3iFAY}:!*@}:3=@y}:$S}: }:HM@ ?+?_6CɿH?@j6?)~:!*@ ~:`;I~: Cɫ99)9 9I9Y}?y}iFNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I +??yya$HyG<}>I: 5?ݾ = ?9@=: :)WWX X!W!X!:W!2W!*WIVIbUIBUI*UQUQUUB @BB BA*BAAAA"C*CRCCCIGE>zL,N3iFAY}6*@}6@y}6vKK}6ٲ}6Hz sԶ??}@> ɿ@>?@㵿|@?)~6*@ ~6^;I~6CɫYY)Y aIaY?y:FxDUSBL response received:!U1,R,361,000,002B7,188,80,80,B1,FF Fpublishing direction and range info,>Aɰ鰥> )1CIy,N?P,ٱ=Mg=Ya$Hy <} >I %:[ 5? %:ݾ = -?9@D"; P#;):WWX XWX:W!2W!*W!V!bU!BU)*U)U)U-@R=(Combining 5 samples.PA*QAZQECɇ9'y@ <JQE,N?P,2QE,>A:QAbQE0rӿU"Fh@Ac@k.?RQE$`"$&@?+1aw?BQE? QEB@QEPAPET9?PAQAQE7-@"QE(@BB BA@*BAAAA"C*CRCCCIG (>m iim m8s:Yiyim69u@ܝ>9ܙIܙiܙܝ=ܙܙܝ; ݝEL,z3iFAY} L*@} bh@y} :=} ,Ž} H v^?`?ha_ȿ@?@0;O?)~ L*@ ~ A[;I~ Cɫ11)1 1I1Yu?yuFTNmea in: $SNTTA,0.065752,,,,233541.85*4C -CM-7=Y5u19a=$H99yE }E>IIM 5?Mݾ M;= U?9M@M: M:)ImiAdded new target pos. range: 4.199998 m, bearing: 94.262293 deg, deltaT: 4.379925 s, approachRate: 0.000000 m/s, LOS rate: 0.891692 deg/s, posRepo size: 4W?WX XWX:W2W*WVbUBU*UUU ?BB BA*BAAAA "Cؼ?RC!C-?C1Ii)m]A9IAGeV>L,U3iFAY}J"*@}J5>@y}J:5}Jz}JHp?` ?`bſ ?װ`n?)~J"*@ ~J\\;I~JCɫYY)Y YIYY?yF)Ý= Ý>    @ @ @i )Ii K=M M=Y'a$HHy ӻ}%>I) :- 5? :-ݾ -= ?9-:@-s: -:)-:WWX XWX:W2W*WVbUBU *UUU`?ByBy BAK*BAAAA"C?RCCC׹IGE>} }}} }:Y}V1y}:}6L,(3iFAY}NPm*@}Nڈ@y}N-}Nj}NH͐v`???@+@ÿ?⬿ |?)~NPm*@ ~Nېa;I~Lɫy髁) IYg?yFY9YIYiY]=YY] ; ]E]?<M]E=Yeƌiqau$Hqqy}3<}}>IȁŅҏ 5?Ņݾ ƅ= ?9ƅX@Dž: ȅw:)ȁWWX XWX:W2W*WVbUBU*UUUd?BIBQ BQAU*BQAQAYAYAY"Ca*CaRCaCaCaIiG9>7L,L3iFAY}B?*@}B@y}B&}B[ }BH਴ x_O?d?}Ŀ+?<߲}?)~B?*@ ~B^;I~@ɫqq)q yIyY?yF%?ˡEĿS㥛?%<%' %/<)!I!y%~jth?{Gzt?~jt?%D;%ף;%< %;A)%SAI%1Ai%cA!%GIA } }  @ @ @ÁÁÁiÁÁ ā)āIāiā<MF=YИa$Hy Q<}>Iȱ :ŵ 5? :ŵݾ Ƶ= ?9Ƶ@ǵ: ȵR:)ȵ:WWX XWX:W2W*WVbUBU*UUU>?BB BA*BAAAA"C*CRCCC׹IGD>e eee em:YeDW1yeY:eD6M,N4iFAY}64*@}6@y}6#}6}6H{Q?@(?ߵ Ŀ`DI?`?)~64*@ ~6\;I~4ɫQQ)Q QIQYqyqYa$Hy%$;}%>I)- 5?-ݾ -`= 5?9-@-w: -:))WYWYXY XYWYXY:WY2Wa*WaVabUaBUi*UiUiUm_?BB BA*BAAAA"C*CRCCCסIG=191I1i11115; 5E M,3)4iFAY}21*@}2@y}23U }2h}2H@ol?`+ ?๤n¿\? ?)~21*@ ~2\;I~0ɫ99)9 AIAYu?y}&FD<M))a-$H)9y=2}}=>IIMb 5?Mݾ M> u?9M@M; M;)IWWX XWX:W2W*WVbUBU*UUU [@BIBQ BQA]x*BYAAAA"C*CRCCC׹IGE>e eee eo:YeT1ye:eW6)e;9miM pGIa iy ٺ AM,C4iFAY}6.*@}6:@y}6}6=}6Hv׊ݤ? 8?N`@H?@-=`N?)~6.*@ ~6@[;I~4ɫYY)Y YIaY?yJFAA M M M M@ U@ U@IIIiII I)IIIiIe=MeF=Yeiiam$HiqyuGs}}>Iy :}7 5? :}ݾ }> ?9}@}: }=:)}:WWX XWX:W2W*WVbUBU*UUU@C@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*C RC C C IG5 >M,p]4iFAY}B*@}Bv0@y}B뽙}B>“}BH $?CA?53@i?T?)~B*@ ~BW`;I~BCɫai)i qIqY?yەF>9IxFi?; E)فIفiف݁=݁=݁V5mZ****** received transponder code query ******uF****** received ping request ******a$Hy}>IȹŽ 5?Žݾ ƽ> ?9ƽj@ǽm: Ƚ:)ȹW!W)X) X)W)X):W)2W1*W1V1bU1BU1*U9U9U=@&` @BB BAƂ*BAAAA"C*CRCCCu u~u~u u~:YuT1yu@:u6)u7;IGj>1M,`Ww4iFAY}Z9*@}Z=U@y}ZWMཙ}ZY}ZH!@|К?@7?`!)S?k5?)~Z9*@ ~ZY`;I~Xɫ) IY5?y5HF=xDUSBL response received:!U1,P 361,000,002B7,188,80,80,B1,FF =Command Ack=BRequesting micromodem ping code 2i99MNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 5 5 5 5@ 5@ =@111i11 1)1I1i15=MH=Y ?Za$HYaye;}e>Ii u:m+ 5? u:mݾ mq2> ?9m@md< mld<)m:WWX XW!X!:W!2W!*W!V)bU)BU)*U)U)U5@ @BB BA2*BAAAA"C*CRCCCI)GU>$M,&4iFAɫ髙) IYl?y[Fɮ Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 5M=d=Y=QUE?AAaM$HIQyU}]?Iaeƍ 5?eݾ eA> u?9e@e; e ;)aWWX XWX:W2W*WVbUBU*UUU`9@BBA BIAM*BIAIAIAIAQ"CQ*CYRCYCYCYu?iu?AIIGm5>mw mmm mz:YmT1ym:m69u@9IFi1?; E@*M,4iFAY}6V*@}68@y}6>}6}6Hq zy?N?ӕ8;?K_ ?)~6V*@ ~6];I~6CɫII)I IIIY]N?y]IFexDUSBL response received:!U1,R,326,000,002B6,189,80,80,A6,FF mFpublishing direction and range infoe4aɰehc=e7> a)e&CIayez@e;bg?5ٱa…^A…]Au(Mh=YN=QU>a$Hy}>Iȹ :ŽW 5? :Žݾ ƽQ> ?9ƽm@ǽ: Ƚ:)Ƚ:WWX XWX:W2W*WVbUBU*UUU`@R(Combining 5 samples.P*Qz@ZQ#bsB @^kJQ;bg?52Q4:QbQ9+?c0 M@EJ$?RQL}./%Jo?bUE?BQv? Qn@Q PS9?PPQQ@"Q7-@BIBI BIAM*BIAQAQAQAQ"CY*CYRCYCaCa1I9G}=(1M,'4iFAY}:)@}:;@y}:Z됽}:g}:H๩@Bu?@Hl?}J?_ ?)~:)@ ~:\;I~:Cɫ髡) IYP?y#FTNmea in: $SNTTA,0.050039,,,,233546.31*48 e e e e@ m@ m@aaaiaa a)aIaiaN=M/=Ya$HHy}>IȱŵŒ 5?ŵݾ Ƶg> ?9Ƶ@ǵ; ȵ ;)ȱmmAdded new target pos. range: 4.140001 m, bearing: 97.593172 deg, deltaT: 4.405764 s, approachRate: -0.013618 m/s, LOS rate: 0.756027 deg/s, posRepo size: 4Wv?WX XWX:W2W*WVbUBU*U U `\@U @?B1B9 B9A=ف*B9A9AAAAAA"CMm iim mg:Yiyim`6WS7M,4iFAY}=G)@}= @y}= s}=N}=H<}N@ i?4@w?T?)~=G)@ ~=]\;I~=Cܙ9ܙIܝ Fiܝ?ܙܙܙܝ; ݝEɫ) IY-3?y5F-^I +?/$?L7A`?-X9>-< -+=))I)y-~jtMbpQ?---u< -:A)-OAI-C9Ai-\QA)-EAM MM>=YMQQaU$HQYy]7;}]>Ii m:mZ 5? u:m1ݾ mNm> u?9mk@m: m:)m:WWX XWX:W2W*WVbUBU*UUU`[?BB BA*BAAAA"Cv?RCCCaIiGZ>}=M,24iFAY}6CB*@}6]@y}6S}6D}6Hd@]y\M?@Uw? ?)~6CB*@ ~6>a;I~6Cɫ99)9 9I9Y}?y}ȗF3M x=Y ?9ƽ@ǽ': Ƚ:)ȹWWX XWX:W2W *W V bUBU*UUU%?BYBa BaAe*BiAiAiAqAq"Cy*CyRCyCyCiIqG>m m~m~m m}:YmT1ym@:m6fDM,v5iFAY}Vq|*@}V@y}VG}VS }VH@E?8?aߨ? Ad?)~Vq|*@ ~V(^;I~VCɫ髑) IYW?ybF    @ @ @ñññiññ ı)ıIıiı+B=M>=YR;QU>a$Hyh<}>Io 5?ݾ Xx> ?9d@{: :)WWX XWX:W2W*WV!bU!BU!*U!U!U-n?BQBQ BQA]X*BYAYAYAYAY"Ca*CiRCiCiCiסIG >y9yI}ȖFi}?yyy}; yJM,VI,5iFAY}6D*@}6V`@y}6H}6ּ}6H`Y`?`3M?O몪d?К@i?)~6D*@ ~6A\;I~6Cɫ99)9 9I9Y?yF}tM}P=Y.+QU>a$Hy }>Iȡ :ť 5? :ťݾ ƥ~> ?9ƥ@ǥ; ȥ;)ȥ:WWX XWX:W2W *W V bUBU*UUU@BB B!A%*B!AAAaAaAi"Ci*CqRCqCqCqAIIGm5>m~ mmmt m{:YmDW1ymY:m*6)m/;9uYwQM,R&F5iFAY}RQ*@}R8@y}Rp@}R%]>}RHigo?@`\?߰` ? §?)~RQ*@ ~R>[;I~Pɫyy)y yIyY ?y4FI) ))=<M=N=Y=_;QUE>AAaE$HAIyMUȻ}U>IY] 5?]ݾ ]> e?9]g@]0: ]:)YWWX XWX:W2W*WVbUBU*UUUو@BB BAj*BAAAA"C*CRCCCשIG>TWM,o `5iFA999I=8Fi=?999=; =yEY})@}@y}"}ƨ}H3t`q@em?W7 $S?@al@?)~)@ ~_-[;I~Cɫqq)q yIyY?y"F@AS?Cl˿Mb?>;_ =)Iy/$a$Hy[}>Iȩ :ŭ; 5? :ŭ/ݾ ƭAz> ?9ƭ@ǭ: ȭ:)ȭ:WWX XWX:W2W*WVbUBU*UUU`@RB*** querying acoustic contact ***PPB!B! B!A%r*B!A)A)A)A)"C1*C1RC1C1C91IAe6 eee e_u:YeWU1ye:e6)e9;G}Y>{]M,y5iFAY}2)@}2;@y}2X}2}2H`lp@{? |i ?@婼?)~2)@ ~2F`;I~2 Cɫ99)9 9I9Y}=?y}FZ****** received transponder code query ******F****** received ping request ****** }?9u@uM: u:)qWWX XWX:W2W*WVbUBU*UUUP @B!B! B!A%*BAAIAIAIAI"CQ*CQRCQCQCYIi)m\AAIIGm5>tdM,5iFAY}6*@}6W8@y}6'޼}6j}6HQ馬`?@>Dě?\?)~6*@ ~6ea;I~6Cɫ99)9 9I9Y]3?y]FexDUSBL response received:!U1,P 326,000,002B6,189,80,80,A6,FF mCommand AckmBRequesting micromodem ping code 2iiiNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )= ]ǣMeI=Y;QU>a$Hy1<}>I! m:% 5? u:%׃ݾ %Oj> u?9% @%9< %0:<)%:WqWqXq XyWyXy:W2W*WVbUBU*UUU f @BABA BAAE*BIAIAIAIAI"CQ*CQRCQCYCYAIQ}o }}}~ }e:Y}V1y}:}<69@G`>195CI5Fi5?5=115; 5rE)ݹIݹiݹݹݹݽ95jM,5iFAY}2Ԭ*@}2^@y}2{ }2*}2H| A,?)?@`.? @ ?)~2Ԭ*@ ~2e^;I~2CɫAI)I IIIYP?y#F鮉ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ] ] ] ]@ ]@ ]@ ]YYYi]p?Y ]?)]?I]G?i]v?m:Mm"=YuTQUu>qqa}$Hyyyܔ<}>Iȉōp 5?ōݾ ƍ`> ?9ƍ!@Ǎ+: ȍ:)ȉWQWQXY XyWyXy:Wy2W*WVbUBU*UUU@BB BAف*B A A A A "C1*C9RC9C9CA9IAGe>aqM,q5iFAY}:*@}:x@y}:%}:B}:H7P{?-?Ak?@|C ?)~:*@ ~:-];I~:C @)@ɇBDDDDɈF|aAiFd;IFEHIHiJ`A HH)HL LLLɉPPPIP)PiT)TITTɊT TɋXZcAXiXXi\^`A)\ \I\ɫ) IY?ylFxDUSBL response received:!U1,R,372,000,002B5,188,80,80,AB,FF Fpublishing direction and range infok Eɰc=> )+CIy@yˢ?#Dٱ-hG<M-=Y-SQU-?QQaU$HUHYy]E}]?Iae: 5?eݾ e[> ?9e"@eϸ; e^;)aWWX XWX :W2W*WVbUBU*U!U!U- @R](Combining 5 samples.Pa*Qe@ZQep@JQeyˢ?#D2Qek E:QabQe qӿ4"&?@\&?RQe O԰{frK?c68H?BQe? Qe@QePeT9?PeS9?PaQaQe @"Qe@B1B1 B1A5*B9A9A9A9AA"Ci*CiRCiCqCq׵?i׵?ׁIG=>m iim m:Yiyim16 wM,_5iFAl9lInpFinM?n=lln; nZEY}eF*@}eb@y}e:}ehn}eHY@2?`EM?@ &WMA??磿X?)~eF*@ ~e\;I~aɫ髹) IYj?yИF]DNmea in: $SNTTA,,,,,233550.74*5F a i@a  a m@a  a q@a  a e@a  Fx?|?5^~jtK>ҽ )IiMb@Mb@Mb@© A)I;AiЌAA]A^Ai<M=Y!QU%>!!a%$H!)y$}>I :Ս 5? :Նݾ P> ?9$@:  ?):m%qAdded new target pos. range: 4.080000 m, bearing: 94.371146 deg, deltaT: 4.486575 s, approachRate: -0.013373 m/s, LOS rate: -0.718148 deg/s, posRepo size: 4W%?WqXq XqWyXy:W2W*WVbU9BUY*UUQ@U}?BB BA*BAAAA"C% v?RC! C% ?C!  I! G= >3~M,"5iFAY}:2)@}:@y}:v8}:}:H@D=?ST ?S?)~:2)@ ~:[;I~:Cipp)p rEIp t)tɛttttɜxixIxxIxix ||)|| |ɝaAI) i ) I aA ɞ  ɟĻiɫ) IY??y@F    @ @ @ @ÑÑÑiÕÑ ĕ)ĕIĕiĕ-νM}=Y:QU ?a$Hy} ?I 5?ݾ J> ?9$@; [?)W!W!X! X)W)X):W12W1*W1V9bU9BU9*U9UAUE?BB BA*BAAAA"C;?RCCCסIGC>m mmm mp:YmU1ym:m6M,C6iFAY}2R)@}2ܶ@y}2&@}2CȽ}2H@V~?[l`?`5?)~2R)@ ~27a;I~2 Cɫ髙) IY?yF}6M}`=Y}gQU}>a$Hyέ}>Iȑŕ\ 5?ŕJݾ ƕC> ?9ƕ%@Ǖ: ȕ?)ȑWWX XWX:W2W*WVbUBU*UUUe?BB BA*BA A A A "C?*CRCCCIIGm>9IFi?=; VEM+M,.6iFAY}B6g)@}B@y}B[J}B}BH O%? bc2ES?>䵿?)~B6g)@ ~B^;I~BCɫ) IY?yF    @ @ @i )Ii=;ME>=YEQUM>IQaU$HQQy]L}]>Ii u:m 5? }:m=ݾ m4:> ?9m&@m"; m{?)m:WWX XWX:W2W*WVbUBU*UUUH?BB! B!A%*B!A)A)A)A1"C9*C9RCACACAIGE>mx mmm mz:YmWU1ym:m6)m;9uM,H6iFAY}2bR)@}2m@y}2h}2鄽}2H`=b? hH ^?c?)~2bR)@ ~2\;I~2 Cɫ99)9 9I9Yu?y}ەFMa=YQU> a $H  ye}>Inj 5?ݾ 3> %?9'@ͭ: @)WIWIXI XIWIXI:WQ2WQ*WQVQbUYBUY*UYUYU]H?BB BAƂ*BAAAA"C*CRCCCiIqG>AM,b6iFA.]A.^A090I0i00002|; 2MEY}~&)@}~@y}~}~㔽}~H@Ct W?o}Ը?Z_?)~~&)@ ~~[;I~~Cɫ) IY l?y[Fa i%a i- a m-a m- a q-a q- a e-a e- -Pn?MbMb?->-@ -=))I)y-Mb`? rhQ?-;-C-u< -9A)-LAI-9Ai-dGA--AAeAf<Mm5=Ym؋QUm>qqau$Hqyy}G@<}>Iȉō( 5?ōݾ ƍ:> ?9ƍ6(@Ǎ: ȍ:)ȉWWX XWX:W2W*WVbUBU*UUU@B B BA*BAAA)A)"C9*CARCACACA9m mmmg mn:YmU1ym:m6)mo;IyG\>gM,Yk|6iFAY}2)@}2@y}2}2r}2H^\x?o?``৑?`1FQ?)~2)@ ~2][;I~2C>JFailed to close latch before timeout.q >>Hardware FaultYR?yRFTT    @ @ @  i? )Ih?iMy=Y}JQU}?a$Hy2<}?Iȑ :ŕr 5? :ŕ{ݾ ƕ@> ?9ƕ(@Ǖ"< ȕ:)ȕ:W!W!X! X!W)X):W)2W)*W)V1bUQBUQ*UQUYU]pZ@ReB*** querying acoustic contact ***PaPaBB BAD*BAAAA"C*CRCCCשI-$@Hardware Fault in component: DDMG>YOM,E6iFAY}6f)@}6@y}6}6>}6H`Υ@u?@ ?`1=? z*?)~6f)@ ~69`;I~4BPowering down@ɪ@)@ @Y?yeFZ****** received transponder code query ******F****** received ping request ******a $H y'}>I!% 5?%!ݾ %G> U?9%)@%~; %;)!WWX XWX:W2W*WVbUBU*UUU@B @BiBi BiAm*BiAqAqAqAq"Cy*CyRCyCCm mmm m>k:YmT1ym:m269u@܁9܁I܁i܁܁܁܁܅; ݅PEיIGb>yM,K!6iFAY}vG')@}vB@y}vs}vl׼}vH@d .??l@쳿 ?⚿?)~vG')@ ~v*b;I~vCYE?yMnFexDUSBL response received:!U1,P 372,000,002B5,188,80,80,AB,FF eCommand AckmBRequesting micromodem ping code 2iiiNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @ -@i )IiMO:MMC=YUּQU]>Yaae$Hy*^}>Iȱ :ŵD 5? :ŵԈݾ ƵN> ?9Ƶ)@ǵ"< ȵ#<)ȵ:WAWIXI XIWIXI:WI2WQ*WQVQbUQBUQ*UYUYU]@ @BB BA*BAAAA"C*CRCCC IA)AAIiiNmGG>Ii%ٺ!%HAIaM,6iFAY}2~(@}2@y}2,½}2ټ}2H* ?j?4BI =) =eͪMe=YmQUm?iqau$HuHqy}}}?IȁŅ 5?Ņݾ ƅlS> ?9ƅ)@Dž: ȅض:)ȁWWX XWX:W2W*WVbUBU*UUU@BB BAƃ*BAAAA"C*CRCC C I$-NClearing failed state for component DDMq -G5=m mmm m|:YmWU1ym:m6a 9a Ia ia a a a e ; e fE)-CI-Ci)-=-=-i4DM,!6iFAY}2(@}2@y}2 ͽ}2]}2H'27E? ? U@@f?`N?)~2(@ ~2V^;I~2CY^(?y^FbxDUSBL response received:!U1,R,1C0,000,002C4,187,80,80,37,FF bFpublishing direction and range infob+Ⱦ`ɰbg=b1> `)b\BI`yb\@bMސ?tcؿٱ`Q?QſQ?\=( \=)Iy~jt~jtxI +Ļ94 ¥AA)¥IAI¥C9Ai¥1RAEAgM1=Yp))a-$H11y5e}=>IAE8 5?Eӈݾ EcM> m?9Ei*@E½; En;)AWWX XWX:W2W*WVbUBU*UUU`@R(Combining 5 samples.P*Q\@ZQ JZj@. ]JQMސ?tcؿ2Q+Ⱦ:QbQI%T5&%@N ?RQIQZٿų&?G }Б?BQ ? Q,@QuPO9?PT9?PQQ@"Q @BiBi BiAu*BqAqAqAqAq"Cy*CyRCCCסIGA>DǾM,+6iFAY}^'@}^@y}^۽}^0}^H@2C5"?=? V;l?v(?)~^'@ ~^_\;I~^CYz?yz_FeTNmea in: $SNTTA,0.025673,,,,233555.18*4B - - - -@ -@ 5@)))i)) )))I)i)=%ͼMEX=YEśQUE>IIaM$HIQyUi}U>IY e:]Ï 5? e:]ݾ ]H> m?9]*@]: ]:)]:mmAdded new target pos. range: 4.979999 m, bearing: 113.663166 deg, deltaT: 4.467529 s, approachRate: 0.201453 m/s, LOS rate: 4.318275 deg/s, posRepo size: 4mRStopped intercept timer at range: 4.98 m.W ?WX XWX:W2W*WVbUBU*UU@U`8?BB BA1*BAAAA"C?RCC ?C ?i ?aIqG>Mk M~M~M My:YMT1yM@:MW6M,t7iFAY}6'@}6S@y}6d}6z}6H``H@?@* ? `ҙ?X?)~6'@ ~68[;I~4Yfc?yfBFQU]A}<M}X=Y}>QU>a$Hys}>IșŝN 5?ŝ%ݾ ƝxC> ?9ƝP+@ǝ: ȝ:)șWWX XWX:W2W*WVbUBU*UUU?BB  B A Ճ*B A A A A"C?RCCC׉IG=>9IpFiM?=; :M,x17iFAY}v'@}vA@y}v5 }vB,}vH@ng ??W79?`i D?)~v'@ ~v̅[;I~vCY ?y F    @ @ @i )IiYMD=YQU>a$HyM}>I : 5? :Sݾ =>  ?9+@: $:):W)W)X1 X1W1X1:W12W1*W9V9bU9BU9*UAUAUE`?BB  B A *B AAAA"C ?RCCC!IG= >E EEE E~:YEDW1yEY:E6M,K7iFAY}6'@}6/@y}6o}6C}6H@¬`Ȧ?8C?Dpÿa"?H.?)~6'@ ~6Z9[;I~6CYB?yB͑F%0MX=Y%QU%>!)a-$H))y5}5>Ișŝx 5?ŝ|ݾ Ɲ8> ?9ƝF,@ǝ@: ȝӻ:)șWWX XWX:W2W*WVbUBU*UUU?BaBi BiAmm*BiAiAiAiAq"C|?RCCCIש)׭]A׉IG= 9 I Fi ? ; aEM,e7iFAY}>&@}>a@y}>{|}>!\ý}>H`#s v?V?E@ſ`B_?@h!R?)~>&@ ~>[;I~>CYJa?yNhFDl?ʡE?Zd;OO=-= j<)Iy~jt?I +?~jth<94<D @A)^LAIt3AiXAFA)= =<M==YQU>a$Hy"}>I  : 5?  :Wݾ 8>  ?9,@M: :):W1W1X1 X1W1X1:W92W9*W9V9bUABUA*UAUAUE@|?BqBq BqAu*ByAyAyAyAy"C?RCCC׉IG=eH eee ev:YeU1ye:e6)ev;9mM,G<7iFAY}2k&@}2@y}2}2}2HX+ܨ?i?CcĿ L?@^ų?)~2k&@ ~2[;I~2CYVz?yZF u u u u@ u@ u@qqqiqq q)qIqiq#<MR=Y*QU>a$Hyk(}>Iȡť 5?ť4ݾ ƥ7> ?9ƥl-@ǥϸ: ȥ@:)ȡWWX XWX:W2W*WVbUBU*UUUp@BB BAO*BAAAA"C5?RCCCIG>M,7iFAY}6{&@}6@y}6< }6P}6H`G@?k?/X¿ 9? ?)~6{&@ ~6oc[;I~6CYBk?yB FDDV۝MVZ=YVQUV>XXaZ%HX\y^}^>I`bX 5?bݾ br7> j?9b-@b: bܹ:)`WqWqXq XqWqXq:Wy2Wy*WyVybUBU*UUU @RB*** querying acoustic contact ***PPBB BAS*BAAAA"C ?RC C C E?iE?IG5=ܑ9ܑIܕFiܕa?ܕ=ܕ<Dܑܕ; ݕREM MMMc Mq:YMDW1yMY:MW6)M;N%M,^7iFAY}6X$&@}6?@y}6;X'}651ؼ}6Hd" @^??S69?. ?)~6X$&@ ~64I[;I~6CYB?yBFFZ****** received transponder code query ******FF****** received ping request ******Fa%Hy%Q}%>I) 5:- 5? 5:-ݾ -a7> =?9-.@--; -);)-:W!W!X) X)W)XQ:WY2Wa*WiVibUBU*UUU X @BB B1A5K*B1A1A1A1A9"C9*CARCACACAiIqG> M,G7iFAY}:%@}:v @y}:N,}:}:H ^i?+?4`#¿o? @,?)~:%@ ~:.h[;I~:CYJ ?yJ FNxDUSBL response received:!U1,P 1C0,000,002C4,187,80,80,37,FF NCommand AckNBRequesting micromodem ping code 2iLLVNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    @ @ @ùùùiùù Ĺ)ĹIĹiĹI<M.=Y  )QUU>YYa]%HeHiygݻ}>I 5?Èݾ L7> ?9>/@: +:)WWX XIWIXI:WI2WI*WQVQbUQBUQ*UQUYU]c/ @BB BA*B A AAA"CA*CIRCICICQaIqG]>  #s:YU1y:69@܁ 9܁ I܅ Fi܅ ?܁ ܁ ܁ ܅ ; ݅ [E7M,7iFAY}6:%@}6@y}63.}6.)}6HxG0 /H??Vƿ?@򰴿m?)~6:%@ ~6&[;I~4>Powering upB"Initializing DDM.Y}R?y}_F鮁ɮNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B A`"?bX9ȶ?{Gzt=E= ף)Iy~jth?~jth rh?D;DC< …?A)…IAI…1Ai…^AFA ^MQ=YλQU>aM%HIQyU}U>IY e:] 5? e:]ݾ ]>>> m?9]H/@]; ];)]:WWX XWX:W2W*WVbUBU*UUU!@B)B1 B1A5*B1A9A9A9A9"CA*CARCACACiaIiG9> !N,*8iFAi]nGI4iLbݿٺ`fAY}vg`%@}v{@y}v՚1}vs}vH@ONh?~??ƿ?>m?)~vg`%@ ~vIE[;I~vCY c?y BFxDUSBL response received:!U1,R,20F,000,002C3,188,80,80,1F,FF Fpublishing direction and range infoCw뾩ɰg=> )AIyp@N+ج?UHhܿٱ==MEd=YEQUE>IIaM%HIQyUĎ}U?IY]ɍ 5?]ݾ ]MD> m?9]R/@]: ]s:)YWAWIXI XIWIXI:WQ2WQ*WQVQbUYBUY*UYUaUe@R(Combining 5 samples.P*Qp@ZQTs@UxJQN+ج?UHhܿ2QCw:QbQ:5q7_z@E?RQY? plҿЧA3 ?% +?BQ#? Qד@QIPQ9?PO9?PQQ2@"Q@BIBI BQAUՃ*BQAQAYAYAY"Ca*CRCCCׁIG>  :YW1yč: "6KN,g8iFAY}RM$@}R@y}Rv5}RN\}RH% e? ?@ſ`}?`$t?)~RM$@ ~R[;I~RCYbP?ybԓFETNmea in: $SNTTA,0.006068,,,,233559.60*45 <ME=YQU>a%Hy`q}>Iȱ :ŵ׍ 5? :ŵݾ ƵK> ?9Ƶ`/@ǵ: ȵ:)ȵ:muAdded new target pos. range: 4.919998 m, bearing: 107.043353 deg, deltaT: 4.399827 s, approachRate: -0.013637 m/s, LOS rate: -1.504562 deg/s, posRepo size: 4W#?WX XWX:W2W*WVbUBU*UU@U@M?BB BA*BAAAA"Cx\?RCC#?CIG >)9-CI-Fi-v?-=))-k; -AE)ݹIݹiݹݽ=ݽ=ݽv5Is N,q848iFAY}6$@}62@y}6 6}6 `}6Ḧ@D?`=?0OJſ`j? Xr?)~6$@ ~6,[;I~6CY^?ybyF];M]N=YeֺQUe>aaam%HiiyuU}u>I 5?ݾ R> ?9n/@: k:)W W X  X WX:W2W*WVbUBU*U!U!U%@U?BIBI BQAU*BQAQAYAYAY"Ce>e?RCaCaCaiIyG=<  u:YU1y:r6b[N,N8iFAY}:s$@}:@y}:`2}:e}:Hl} ٠?@ ?,q@ƿ>? Y*k?)~:s$@ ~: [;I~8YJ?yJF  ="=M=L=YE QQa]%Haiy}}>Iș :ŝ 5? :ŝݾ ƝZ> ?9Ɲx/@ǝ; ȝ;)ȝ:WWX XWX:W2W*WVbUBU*UUU/?B!B) B)A-=*B)A9A9A9A9"CU#?RCQCQCYIIQGm>) 9- CI- @Fi- ?- =) ) - ; - EsN,gg8iFAY}6#@}6X@y}6T$+}6ϥ}6HBSڪ?A?=@ƿK?`Ujds?)~6#@ ~6"[;I~6CYv=?yzfFMb?QMb= )Iy rh?:v+C<Լ A>A)^LAI 0AiaA3GAM4=YMa%Hy}>I) 5?ݾ J> ?90@: :)WWX XWX:W2W*WVbUBU!*U!U!U%`) ?BQBQ BQA]^*BYAYAYAYAY"Ca*CaRCaCiCiIIQGq  :YV1y:`6) ;9%lm N,ʁ8iFAY}6~j#@}6@y}6%}68d}6H@ )`@?zq?& Ŀ?R˃?)~6~j#@ ~6[;I~6CY^?ybJF<M_=Yca%Hyk}>IȹŽW 5?Žݾ ƽ=> ?9ƽb1@ǽz ; ȽC ;)ȹWWX XWX:W2W *W V bUBU*UUU @BYBY BYAe*BaAaAaAiAi"Cq*CyRCyCyCIם]A)י׉IG=&N,D8iFAY}6R#@}6An@y}6$}6!}6Hm!C@?z?`]ƿ`6~?`6`y?)~6R#@ ~62[;I~6CYF?yFQF) =  ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYm=MmM=YuM;QUu>qa%Hye}>I  : 5? :ݾ /> 5?9\2@ƾ; ;):WqWyXy XyWyXy:Wy2W*WVbUBU*UUU^@BB BA/*BAAAA"C *C RC)C)C1!I1GM>9IНFiE@=;D; OEu uuu ub~:Yu0Y1yu:u{6)u;,N,8iFAY?yȖFAA    @ @ @ÁÁÁiÁÁ ā)āIāiāMH=YQU>a%Hy}>IȩŭɎ 5?ŭPݾ ƭO"> ?9ƭJ3@ǭ=: ȭ:)ȩWWX XWX:W2W*WVbUBU*UiUqUu1@R}B*** querying acoustic contact ***PyPyBB BAf*BAAAA"C*CRCCCIG >g3N,[8iFAY}6#@}66@y}6} }6 Խ}6H@ ? ? oſa?`5`?)~6#@ ~6D];I~6CYv?yvFzZ****** received transponder code query ******zF****** received ping request ******ziiam%HmHqyuL }}>Iȁ :Ņ 5? :Ņݾ ƅ> ?9ƅ;4@Dž; ȅ^;)ȅ:WWX XWX:W2W*WVbUBU*UUU @BB BA*BAAA A "C *CRCCC-?i-?IG==Uo UUU Uy:YUWU1yU:U69]@ 9 I i = ; E9N,;8iFAY}6Z"@}6@y}6 }6g}6H(@ Z?Z?@5¿,?`@ު?)~6Z"@ ~6Ο\;I~6CY^B?y^FbxDUSBL response received:!U1,P 20F,000,002C3,188,80,80,1F,FF bCommand AckfBRequesting micromodem ping code 2iddjNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 %C?)\(?A`"?Zd>G= Y=)IyQ롿Mb?\< n8A)TAIt3Ai|_AHA‰‰    @ @ @ i? K?)K?IK?i? =M =Y7a%Hy } >I[ 5?Ƀݾ > ?95@/: :)WAWAXA XAWAXA:WI2WI*WIVIbUQBUQ*UQUQU]@`S@BB BA݁*BAAAA"C*CRCCC׉IG>@N,9iFAY}:"@}:J@y}:Ὑ}:_}:H d8-??:@\.?ɫ`?)~:"@ ~:\;I~:CYJ?yJ}FLɮL^Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ]ţ=M]=Ye2F=QUeJ?iiam%Hqyy}}I?Iȉ :ōې 5? :ōݾ ƍQ> ?9ƍ6@ǍsQ; ȍ R;)ȍ:WWX XWX:W2W*WVbUBU*UUU`'@BB BAM*BAAAA"C *CRCCC IG5 > } q:YU1y: 6FN,9iFAY?yF-UM5=YQU>a%Hy}>Iݑ 5?ݾ !> ?97@: :)WW!X! X!W!X!:W!2W!*W)V)bU)BU1*U1U1U5@@BYBa BaAe}*BaAaAiAiAi"Cq*CqRCqCqCyI׉)׉q9qIuFiuE?u=qqu; uE׉IG >MN,69iFAY}RË"@}RM@y}R}R)㤽}RH R?-?@I`_?@@?)~RË"@ ~Re.\;I~RC \)^`Aɇ^\\`ɈbaAib'IbE`Idid dd)dh hjףhɉhllIl)lil)pIr`ApɊp pɋtttittixzbA)x xIxYL?yFDNmea in: $SNTTA,,,,,233604.05*5B )= =    @ @ @ @i )IiinGIi 5eEݿٺAE}AMU*=Y]G =QUe>aaae%Haiymĺ}m>Iq :u 5? :u[ݾ u5'> ?9u8@uV; uA;)u:WWX XWX:W2W*WVbU BU *UUU k@BB BA*BAAAA"C*CRCCC!-}} :YkS1yԊ:;6IIQGu> SN,ΩP9iFAiaA) I !)%`Aɛ!!!)ɜ-`Ai)I))I1i5`A 11)19 999ɝ9AEaAIA)AiA)IIIIɞI IɟIQUףiQQYe=?yeF-M5q=Y5QU5?99a=%H9AyE}E?IIM 5?Mݾ M*> U?9M8@MԳ: M˵:)IWyWyXy XyWyXy:W2W*WVbUBU*UUU`!@BB BA*BAAAA"C*CRCCCסIGM1>a e ]Am >9i Im xFim ?m =i i m 1; m E)Ii==5"ZN,Nj9iFAY}:o"@}:#@y}:f}:ē}:H@@ܞ?`CH ŷ?`y?)~:o"@ ~: \;I~:CY}H?y}XFM!rh?:vMbX?Ml=MԽ M=)IIIyM:v:v?/$?MTMTya%Hy"}>Iȩŭ 5?ŭdݾ ƭ62> ?9ƭO9@ǭa: ȭj:)ȩWWX XWX:W2W*WVbUBU*UUUש@RB*** querying acoustic contact ***PPBqBy ByA[*BA AAA"CI*CIRCICICQe?ie?AIIGm5>J  v:YU1y:6);9 aN,-[9iFAY}26"@}2:@y}2̈}2Eޟ}2H7q!?@P`S?`1볿@?)~26"@ ~2ʥ[;I~2CY~*?y~FF    @ @ @ùùùiùù Ĺ)ĹIĹiĹSMU=YCa%HyS}>I : 5? :ӂݾ 9> ?99@: Z:):WWX XWX!:W!2W!*W!V!bU)BU)*U)U)U-k.@BB BAc*BAAAA"C*CRCCCIG>3gN,49iFAY}2!@}2@y}2j}2U}2H=;F>ud9?@&txaz%Hxxy~(}~>I 5?Aݾ @>  ?9L:@ϸ: :)W1W1X1 X1W1X1:W12W*WVbUBU*UUU@ @B B BAI*BA1A9A9A9"CA*CARCACACIIIYGu=9CIFi1?=C; EY  )x:YT1y:{6);_mN,9iFAY}6k!@}6@y}61}6p}6H@U-՞`P?`@K(M=?`??)~6k!@ ~6[;I~6CYN ?yNF ~ ~ ~ ~@ ~@ @|||i|| |)|I|i| MG=Y=QU>a%H!y%}%>I) 5:-r 5? =:-ݾ -I> =?9-:@-8: -:)-:WYWYXa XaWaXa:Wa2Wa*WiVibUiBUi*UqUqUuQ@BB! B!A%*B!A)A)A)A)"C1*C9RC9C9CAI}\A)}\AIIQGu=EtN,59iFAY}:!@}:@y}: }:m}:H,IQ``dO?@(? Ny@~?)~:!@ ~:&[;I~:CYb?yb}FfxDUSBL response received:!U1,N,80,80,63,E4 3,188,80,80,1F,FF fZNo reply:!U1,N,80,80,63,E4 3,188,80,80,1F,FF -fxxaz%HzH|yi:}>I  a 5? (ݾ  Q> ?9 T;@ : =:) W1W1X9 X9W9X9:W92WA*WAVAbUABUA*UIUIUM @BqBy ByA}M*ByAAAA"C*CRCCCIG=E EEE E:YEDW1yEY:E69M@ 9 I ȖFi ? P; EozN,X9iFAY}2/!@}2@y}2G}2W}2H`P^nQ? ʰǝ?`% ?)~2/!@ ~2e[;I~2CYv?yvFMb@Mb@Mb@ )IyMb`y&1?`L= C9A)OAI;Ai^LAM\M?=Ya%Hyҹ}>I :# 5? :փݾ g> ?9<@d*; D;):WWX XWX:W!2W!*W!V!bU)BU)*U)U)U-@@B9B9 BAAE *BIAqAyAyAy"C*CRCCC׉IG>XN,:iFAY}Fɣ!@}FS@y}Fp;}F}FHXu ST?`_B?m?)~Fɣ!@ ~F>[;I~FCYn?ynF    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉMK=Y> QU>a%Hyκ}>IȹŽ 5?Žݾ ƽ|> ?9ƽ<@ǽ: Ƚs:)ȹWWX XWX:W2W*WVbUBU*UUUO @B!B) B)A-L*B)A)A1A1A1"C9*C9RC9C9CAU?iU?IIYGu=ׁN,|:iFAY}2!@}2t@y}2}2춺}2H qO[ r?I?`萤?SO?)~2!@ ~217[;I~2CY^;?y^ۖFln]Ar»MrW=YvQUv>ttav%Hxxyz;}~>I 5?3ݾ 0>  ?9Y=@E: :)W)W)X1 X1W1X1:W12W1*W9V9bU9BUA*UAUAUE @RMB*** querying acoustic contact ***PQPQBqBq BqA_*BAAAA"C*CRCCC IG=ܱ9ܵCIܵFiܵ?ܱܱܱܵ; ݵEMl MMM My:YMWU1yM:M6)M;9U7N,X9:iFAY}2!@}2@y}2}25:}2H1`\ye6V? ܹi{?`GDY?)~2!@ ~2Z;I~2CYn]?ynRFrZ****** received transponder code query ******rF****** received ping request ******vM>=Y9QU>a%Hy}>I :n 5? :ڂݾ \> ?9>@: :):WWX XWX:W2W*WVbU BU *U U U`!@BB BA*BAAAA"C *C RC C)C1)I1GM>N,r2S:iFAY}67!@}6US@y}6G}6Q}6H 0L|]v?༔7*h? ) E?)~67!@ ~6Z;I~4Y^9?ybFfxDUSBL response received:!U1,P 80,80,63,E4 3,188,80,80,1F,FF fCommand AckfBRequesting micromodem ping code 2iddjNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 +M;=Y+;QU>a%H y_}%>IY]L 5?]|ݾ ]-> ?9]>@]qF< ]`E<)YWWX XWX:W2W*WVbU!BU!*U!U!Um`F"@BB BA*BAAAA"C*CRCCCI)I}` }~}~} }x:Y}T1y}@:}69@G`>ܵ >9ܵ CIܵ PFiܵ 8?ܱ ܱ ܱ ܵ ; ݵ EN,m:iFAY}: @}: @y}:^}:c}:Hc~)@?Q? |@?h ?)~: @ ~:mZ;I~:CY\y`rNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B uV?ٿJ +?rh>̾ =)Iy >    @ @ @i )IiYP4QU>a%Hy!}>I) 5:- 5? =:-Pݾ -> =?9-g?@-: -w:)-:WYWaXa XaWaXa:W2W*WVbUBU*UUU#@BB BA*BA A A A "C*CRCCCI G-N>CiU nGIi i ٿٺ A -?9 A\N,:iFAY}B @}B@y}BP}BS[}BH|`| Z?@O?~ g?@,a?)~B @ ~BZ;I~BCY^[?y^xF``fxDUSBL response received:!U1,R,1B1,000,002B5,185,80,80,4E,FF fFpublishing direction and range infob]w`ɰbc=b+> `)bBI`yb@b]7(?*p׿ٱ`zMz ?9ƕ?@ǕǺ; ȕD;)ȑWWX XWX:W2W *W V bU BU *UU1U5`!,$@RE(Combining 5 samples.PI*QM@ZQML`V@h7JQM]7(?*p׿2QM]w:QIbQMKiY)dm@L?RQM9ӿ[?Eê?BQMŲ? QMw@QM͢PIPMQ9?PMQIQMS@"QM2@BB BAW*BAAAA"C*CRCCCIG>My MMMw M:YMU1yM:M|6ҧN,K͠:iFAY}VA!@}VA]@y}VG}V@}VH-@?g?Oű?=U?)~VA!@ ~VZ;I~TY~?y~TFTNmea in: $SNTTA,0.005856,,,,233609.70*44 M;=Y-QU>a%Hy 6<} >I : 5? :ݾ 0> ?9O@@: :):mMuAdded new target pos. range: 4.080000 m, bearing: 108.189793 deg, deltaT: 10.088562 s, approachRate: -0.083262 m/s, LOS rate: 0.113638 deg/s, posRepo size: 4WUŲ?WQXQ XQWQXQ:WY2WY*WYVYbUYBUa*UaUeQ@Ue ?BB BAf*BAAAA"CŲ?RCCŲ?C׽?i׽?Y9YI]Fi]?YYY]; ]E)CICiႉ==傴4׉IG=N,:iFAY}6E!@}6a@y}6}6WC}6HЏs@ ?_?Kg%Q?`RC?)~6E!@ ~6Z;I~6CYf?yf FQQ    @ @ @ÙÙÙiÙÙ ę)ęIęię'MO=YMQU>a%Hy:}>I 5?ݾ > ?9@@: :)WWX XWX:W2W*W V bU BU *U UU U?BB BA*BAAAA"C*CRCCC  IG5 >U UUU U:YUWU1yU:U;6N,z:iFAY}6B!@}6+@y}6B}6Sq}6H`v@? dk?4bLy߷?`-?)~6B!@ ~6Z;I~6CYBP?yBԓF=1M=R=YEҼQUE>AIaM%HMHIyU }U>IY e:]Q 5? e:]ǁݾ ]> e?9]DA@]: ]:)]:WWX XWX:W2W*WVbUBU*UUU ?BB BA*BAAAA"C*CRCCCIG==Q 9Q IU PFiU 8?Q Q Q U ; U E N,U:iFAY}2 !@}2$@y}2Qֽ}2W}2Hn"P@f? <u5ʺ?c`t?)~2 !@ ~2,Z;I~2CY^?ybFy&1?Zd;?Mb?`>y= @=)Iyy&1|?=Y VڼQU > a%Hy}>I!% 5?%Iݾ %c> -?9%A@%U: %:)!WQWQXQ XQWQXY:WY2WY*WYVYbUaBUa*UaUaUm@H?BB BA{*BAAAA"C*CRCCCI)IGE>M MMM Mv:YMV1yM:M6)M;9UN,0;iFAY}: @}:@y}: }:=}:Hb ]k?Pa? c88¿?[?)~: @ ~:7Z;I~8Y\y`)-= -= u u u u@ u@ }@qqqiqq q)qIqiqYQU>a%Hy׺}>Iȡť 5?ťݾ ƥ(> ?9ƥ~B@ǥ: ȥ:)ȡWWX XWX:W2W*WVbUBU*UUU@h@BB BA*BAAAA"C*CRCCCIG>N, ";iFAY}6(!@}6/@y}6} }6z}6H _?L? Q*/¿1?`z ?)~6(!@ ~6I\;I~6CYB?yBF=<M=AIaM%HIIyUZ;}U>IY e:]] 5? e:]4ݾ ]˧> m?9]C@]k: ]:)]:WWX XWX:W2W*WVbUBU*UUU38@BB BA*BAAAA"C*CRCCCI9IFi?; EG=M M}M}M M{:YMkS1yMԊ:Mi6)M;HN,;;iFAY}23!@}2pO@y}2"}2Ͽm}2H@bhwR?*8?`t]5 ÿ?@Db?)~23!@ ~2u];I~2CYR?yRCFb)0MfR=YfzQUf>hhaj%Hhlyn@;}n>Ipr 5?rݾ rs> z?9rC@rU: r:)pWWX XWX:W2W*WVbU!BU)*U)UYUe`O@RB*** querying acoustic contact ***PPBB BA<*BAAAA"C*CRCCC %?i%?IG>$0N,U;iFAY}6c!@}6@y}6d}6[}6H2o``B? 9"?r`]ÿʘ? ʓ?)~6c!@ ~6\;I~6CYF?yFFJZ****** received transponder code query ******JF****** received ping request ******Jaaae%HaiymD;}m>Iq M:u 5? M:u&ݾ u> M?9uBD@uA; u;)u:WWX XWX:W2W*WVbUBU*UUU @B1B1 B1A5 *B9A9A9A9A9"CA*CARCACICiIIQG>u uuu u|:YuDW1yuY:u69}@>9IȖFi?;  E|ZN,o;iFAY}6O!@}6qk@y}6e$}6}6H"b@*k?@!?@P`ſ'v?A`?)~6O!@ ~6N\\;I~6CYn?ynFrxDUSBL response received:!U1,P 1B1,000,002B5,185,80,80,4E,FF rCommand AckvBRequesting micromodem ping code 2ittzNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 UV-?+ǿ/$?U=Uv> U&1>)QIQyU:v~jth? rhUԼUD;UC Uyya}%HyyG}>Iȉō 5?ōݾ ƍ<> ?9ƍE@Ǎܹ: ȍ':)ȉWWX XWX:W2W*WVbUBU*UUU* @BB BA *B A A A A "C*CRCCC!IAGuX>BN,hx;iFAY}2k @}2@y}2.}2vy}2H,@X?=?@N-ſ`?DŮ`y?)~2k @ ~2[;I~2CYB(?yBFVNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B =M=YQU?a%Hy}?Iȩ :ŭ 5? :ŭݾ ƭە> ?9ƭsE@ǭ: ȭ:)ȭ:WWX XWX :W 2W *W V bUBU*UUU"@BABA BIAM*BIAIAIAIAI"CQ*CYRCYCYCYIi)m]AIIYGu=UN UUU UIw:YUV1yU:U6lN,~U;iFAY}6) @}60@y}69}6e.}6H]@8?@n?Q>ÿ`?jFw?)~6) @ ~6[;I~6CYR?yRhFVxDUSBL response received:!U1,R,138,000,002B5,187,80,80,4C,FF VFpublishing direction and range infoR'gPɰPR1> P)RBIPyPRjWhM:?]^|5ѿٱP)f= f>    @ @ @i )Ii%M%Q=Y-ټQU->))a5%H11y=}=>IAEU 5?Emݾ E> M?9EF@E=: E:)AWqWqXq XqWqX:W2W*WVbUBU*UUU@R(Combining 5 samples.P!*Q!ZQ%~xp@}:JQ%jWhM:?]^|5ѿ2Q%'g:Q!bQ%@XHeSf @E?1l?RQ%'Eؿg_'?ߊ)?BQ%? Q%l@Q%ʿP!P!P%Q%Q%%@"Q%S@ܝ>9ܙIܝ Fiܝ?ܙܙܙܝ; ݝEBB BA.*BAAAA"C*CRCCCIG>HN,K;;iFAY}b@}b~@y}bɄ@}bz}bH.2B?Xs?  Ŀ^?@O;l?)~b@ ~b [;I~bCY?y%FDNmea in: $SNTTA,,,,,233614.15*5B iNmGIiڿٺA<M3=YtQU>a%Hy}>I :̗ 5? :ݾ > ?9F@: 8:):mmAdded new target pos. range: 4.080000 m, bearing: 113.225760 deg, deltaT: 4.438953 s, approachRate: 0.000000 m/s, LOS rate: 1.134494 deg/s, posRepo size: 4W?WX XWX:W2W*WVbU!BU!*U!U!U-?BQBQ BYA]*BYAYAYAYAY"Cea?RCiCm?CiAIQG}>E AAE E|:YAyAE6N, ;iFA5`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ髱) IY?y zF~jt?㥛 ¿?> <)Iy/$V-S㥛/ݼ …fBA)…IAI… 0Ai…bAGA    @ @ @i )Ii!ƼM=YQU>a%HHy}>I  O 5? ݾ L> ?9 G@ j: f:) WWX XWX:W2W*WVbUBU*UUU?BYBa BaAe&*Biܙ9ܙIܝFiܝv?ܙܙܙܝ; ݝ E))I)i)))-XV4AAAA"C?RCGr>CC U ?iU ?A II Gm >8N,;iFAɫ) IY5?y5̒F    @ %@ %@i )Ii5l<M5=Y1QU=?99a=%H9AyA}M?IQU 5?Uݾ U> ]?9UsH@U^: U:)QWyWX XWX:W2W*WVbUBU*UUU'?BB BA*BAAAA"C*C4RC >CCIG )>M MMM MDp:YMU1yM:Mr6)M;9U'O, ya%Hy}>Iȑ :ŕ3 5? :ŕvݾ ƕRu> ?9ƕOI@Ǖ: ȕa:)ȕ:WWX XWX:W2W*WVbUBU*UUU@;?BB B A *B A AAA"C*C|RCCC! IG5 >DO,0$? v?ȿ`?@Epga?)~6@ ~6Z;I~6CA9AIEFiEE?AAAE; EEɫ) IYM_?yMݓFM)=YQU>a%Hyd;}>I 5?Fݾ ig>  ?9dJ@˵: :)W1W1X1 X1W1X1:W92W9*W9V9bUABUA*UAUAUM{@B1}I }}} }v:Y}V1y}:} 6)};B BA*BAAAA"C1*C=yARC9C9C9M <->IQ )U \A! I1 GM >sO,v> ?9ƅK@Džb: ȅ:)ȅ:WWX XWX:W2W*WVbUBU*UUU@BB BA*BAAAA"C*CRCCC6Ʌ>IGn>O,mXX!a%%H!!y-}->I15 5?5ݾ 5R> =?95K@5g: 5^:)1WaWaXa XaWaXa:Wi2Wi*WiVibUqBUq*UqUqU}E@RB*** querying acoustic contact ***PPBB BA*BAAAA"C*CGRCCC>יIG@>M MMM Mp:YMWU1yM:M`69U@99=CI=Fi=@==99=; 9O,LrA)ENAIAiAAEHAY]^A e e e e@ e@ e@ e@aaaiea e)eIeieM&=Y#ga%Hy<}>I : 5? : ݾ L> ?9 L@: :):W!W!X! X)W)X):W)2W)*W1VQbUQBUQ*UYUYU]@ @BB BA2*BAAAA"C*CRCCC>?iIG >Z"O,a%HyE}E>Iy} 5?}ݾ }vF> ?9}L@}; };)yWWX XWX:W2W*WVbUBU*U U U @@Bi Bq  Bq Au *Bq Aq Ay Ay Ay "C *C RC C C ԝ ]Aԝ \A} >9 IA Gu >W)O,% ]?9M'L@M^: Mk:)M:WWX XWX:W2W*WVbUBU*UUUe@BB BA%*B!A!A!A!AA"CI*CQRCQCQCQYI!GEs> 0O,a%H%H!y-c<}->I9=Ğ 5?=.ݾ =>> M?9=6L@=; =/;)9WWX XWX:W2W *W V bU BU*UUU @BYB BAn*BAAAA"C*CRCCCM MMM M:YMWU1yM:MN6I)בIG>.6O,Fď!@}>O@y}>}>М}>Hԅ`a? ?@hi@Ŀ?_`?)~>ď!@ ~>R)\;I~>Cɫ  )  IYm??yu@FqMM=Y  a%H!y5}=>IQUʞ 5?U=ݾ U9> }?9UHL@U; U;)QWWX XWX:W2W*WVbUBU*UUU|@BaBa BiAm*BiAiAiAiAi"C*CRCCC խ=ԭ=֭?΅>ܹ9ܽCIܽ`Fiܽ@ܹܹܹܽ; ݽEסIG>_T ףp=??%<%Q> %<)!I!i%Mb@Mb@Mb@%©%% %I4A)%I%K/Ai%%%1A    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ%<MO=Y =QU>a%Hy-}->I1 =:5Ξ 5? 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E:=@޾ = E?9=%A=: =:)=:+Done Waiting.+8Uninitialize Wait Component.1 ,bAggregate::initialize DefaultWithUndock:LeaveDock-DInitializing TrackAcousticContact.1 .Initialize. .dInitializing internal variables to default values.*BAA AARCCYjl9IG >4Q,zDiFAY}2?}2?y}2½}2(}2H?̰nP?K? U?@?)~2? ~2i5b;I~0>^Failed to open latch before timeout in pausing.q >>Hardware FaultY^*@y^qFn=Mra=Yr[dQUr>ttav%Htyzc9}z>I|~ 5?~B޾ ~  ?9~A~: ~ܹ:)|2FZF:F@A-½B- B5+@A5*B5 9A5A5A5OA9RC9CAY l9I!-$5@Hardware Fault in component: DDMGE= ;Q,zUDiFAY}2A?}2x?y}2ǽ}2}2H@s?̩3˨`,?6?@q ?@ ?)~2A? ~2;v_;I~2C>Powering down<ɪ<)d dY5@y5߻FE.Powering up loadControlie"~j)\(?sh|?eSeGa> e)aIayeHzGV-ee= em e7A)eAAIe1AieJAaep=Aqu^AbM=Y8QU>a%Hy }>Iș :ŝ 5? :ŝF޾ Ɲ ?9ƝAǝ: ȝ:)ȝ :2FZF:FAǽ"B:B B-@A*BAAQA$ARCCiI^AI G-N>AQ,Q/EiFAY}6?}6׶?y}6Ľ}6=}6H ?Gs@ه???৒`؇?`?)~6? ~6d];I~6CYB@yBF E E E E@ E@ E@AAAiAA A)AIAiAUQ=MU=Y];QU]?aaae%Haym߅}m?Iqu 5?u;I޾ ud }?9usAub: u:)q2FZF:FAĽB B.@A<*BAAB%Ah1ARCCIG=HQ, "EiFAY}2b?}2?y}2{}2 ?{}2HQ? 粿`?O?? @`?)~2b? ~2\;I~2CYN@yRBFSetting waiting for range response to false due to timeout. Elapsed:34.702358i!%=MF=Ya%Hyݕ}>Iȹ :Ž? 5? :ŽvL޾ ƽ$ ?9ƽ Aǽ: ȽV:)Ƚ :2FZF:FA{B B1@A<*BAAxA\mARCC-6Ʌ>I9$MNClearing failed state for component DDMq MGU>INQ,[;EiFAY}6?}6?y}6}6꛽}6H?@ڏ@ Dx? ?@NQ? 5g@?)~6? ~65*\;I~6CYB @yBFiHHIN=)N=)R= R=V<MV[=YZX\a^%H\yb <}b>Ipr 5?riO޾ rk* ~?9r Arl; r:)p2F ZF :F A%B! B%4@A%<*B)A)A-A-pA)RC1C1ѥBv>IGI>30UQ,UEiFAY}>??}>U?y}>Vs}>n/}>H\?ƿ?@>?@Ӱ`*?t ?)~>?? ~>D[;I~>CYJ8@yJFi\`n;MrG=Yrttav%Htyz=<}z>I|~> 5?~R޾ ~G0 ?9~ A~: ~=:)|2FZF:FA-B) B-8@A-=*B1A1A5'ͶA5 A1RC9C9uǵQ>9iIG">QZ[Q,oEiFAY}6Y?}6?y}6d}6 g}6H@l? @:4d?_?@ n?@﬿ ?)~6Y? ~6-[;I~6!CYF@yFFTT ^\A^\Ai||L7A`?Zd;OͿ:v?+>~j =)IyJ +A`"Mb?Ƚٽ< 5A)DAII4AiIA=A    `;ף<?ipC B)BICiT(ChZ=M9=Y =QU>  a %H y=<}>I %: 5? %:\U޾ k. -?9 Aw: :) :2F9ZF9:F9-EB*** querying acoustic contact ***:EABEEAUQB B=@A_=*BAAAaARCC)= =9g>9ԅ(;IG>AbQ,`vEiFAY}N?}NO?y}N:}N TX}NHs?@x`ʪ ?2e?@F}?`=WG?)~N? ~N\;I~NCYZ(@yZZF^Z****** received transponder code query ******bF****** received ping request ******bQU>a %H y Y=}>I 5?W޾ -, %?9 AU:  :)2F1ZF1:F9AMUBI BMB@AMy=*BIAQAQAUйAQRCYCYUL=9 ;IG= >[lhQ,iTEiFAY}J L?}J!?y}J0<}J{}JH?`d??`?`Rr?)~J L? ~J\;I~JCYV@yVFZxDUSBL response received:!U1,P 138,000,002B5,187,80,80,4C,FF ZCommand AckZBRequesting micromodem ping code 2iXXbNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ipt-<M5Y=YE=QUM>Yaam%Hiy'/=} >I! -:% 5? -:%AZ޾ %) -?9%A%: %:)% :2FiZFq:FAYB BH@A=*BAAAܹAQRCYCaѭ?BI=9ԅh:IGb>\nQ, /EiFAY}F!?}F Y?y}Fe4S=}F%f}FHBb?S .@?@ᣲ?@s?c`3?)~F!? ~FT];I~FCY B@y Fp=ɮp=5Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i=Ga?iC C)CICiC<M==YQ=QU>  a %H y=}>Ig 5?\޾ & -?9AE: :)2F9ZF9:F9AM9BI BMO@AU`=*BQAYAaAm7i5mGIM/aAiaAQٺ/aA ARCCϥ\AϥZAх4uQ,!EiFAY}>9d?}>O?y}>Ŗ=}>/}>H9ڰ?@O@-q ?? ? WԲ饿H?)~>9d? ~>B];I~>CYJ@yJcFNxDUSBL response received:!U1,R,F1C,000,002C9,186,80,80,8C,FF NFpublishing direction and range infoN%K>LɰNi=N> L)N CILyN@Nw?a^?g4L?ٱLi\\Iba=)b%=)b= b>j5Mj_=YjXv=QUn>llan%Hlyr<}r>It z:vr 5? ~:v^޾ v)$ ~?9vAv; v:)v :2F ZF :FJEE@Ed @eBh˵?Ew?a^?g4L?E%K>EET{e濳F@)9ۿE5{Q,sEiFAY}NP?}Nf?y}N=}N }NHIg?\?ժ?g^? 3DZ?)~NP? ~NX^;I~NCYZ[@yZFTNmea in: $SNTTA,0.030168,,,,233654.95*45 i))5q= ףp?gfffffƿ:v?5=533 5T=)1I1y5 rhI +ˡE?5C595'= 1)5DAI5l=Ai5YYa]%HYye&<}e>Iim 5?m2_޾ m }?9m<Am: m:)i2FZF:FA="Bh;B B^@A=*BAAA¹ARCCYϥn9ϭϭ)Э ЭIYG}z>Q, FiFAY}:w!?}:X?y}:S=}:}:HZ?@P`? |פ?p?c8 ۠`??)~:w!? ~: ];I~8YJ @yJFi  e@ e@ e@ e@e©eeiee e)eIeieuYMuZ=Y}c=QU}>yya}%Hy<}>Iȉ :ōo 5? :ō_޾ ƍ ?9ƍAǍ: ȍ:)ȍ:2FZF:FAS=B Bf@An=*BAAA!ARCC4>J>YIG==iQ,̛$FiFAY}6pl?}6?y}6a>}6T0"}6H ?'@ ???`H?)~6pl? ~6u];I~4YB@yB}Fi   \A ^A%!M%P=Y% =QU->))a-%H)y5X<}5>I9=H 5?=_޾ = M?9=NA==: =ϸ:)92FYZFY:FYAma>Bq Buo@Au=*BqAqAqA};oAyRCyCYϵFl9IG=Q,v>FiFAY}6[?}6Œ?y}6 >}6A}6H`?@>J?sG?@?r x?)~6[? ~6\;I~6CBPowering upB"Initializing DDM.YyyyiYZ!a%%H!y-h<}->I15l 5?5'`޾ 5 =?95A5: 5ܹ:)12FIZFI:FIAe >Ba Bez@AeS=*BaAiAiAmAiRCqCqYMg9IG$>̕Q,"SXFiFAY}6g?}62?y}6}6Z_}6H[?R? w?c?``֡?)~6g? ~6\;I~4YB@yFYFI,@)+@i   ] ] ] ]@ ]@ e@YYYiYY Y)YIYiYmސMua%Hy<}>I  : K 5? : l`޾  5?9 uA ; ;) :2FAZFI:FIA}By B}@A}^=*BAAAmcARCCi̝\AI̝]AYua99ԙIGA>zQ,,rFiFA|i|@Y}BG?}B?y}Bs>}Bj}BHʈ?@f?ccp?m?@4^¿"?)~BG? ~BBU\;I~BCYR\@yRFi  IC=)=Mb`?~jtx+?;Ļ =)IyT㥛 ~jtL7A`?D+= ¥:A)¥;CAI¥NAi¥I4A(@A)õ,> õ>ME=YYa%Hy'<}U>IY] 5?]a޾ ]  e?9]A]): ]S:)Y2FyZFy:FyAs>B B@Ar=*BAAAe8ARCCYϭ\99ԅ ;IG>KޢQ,FiFAY}6?}6 ?y}6>}6V}6H}?@`D@?;?U¿`򆪿?)~6? ~6\;I~6CY}~@y}F@Ai       ʡ  X@i C  t C) 80CI Bi C M*=Y!!a%%H!y-b'<}->I1 =:5 5? =:5Fc޾ 5 E?95~A5: 5:)5:2FQZFQ:FQ-]B*** querying acoustic contact ***:EYBEYAm>"Bm;Bi Bu@Au7=*BqAqAqAu9AqRCyCYEU99=%;IIGmV>uQ,&FiFAY}65?}6K?y}6t>}6)q.}6H p`?@á?qY?[ÿ Fo?)~65? ~6l[;I~6C >&C)>aAɌ<<BA BE@AE<*BAAIAIAM `9AIRCQCQ]>]>Y5`Q99 [6;IG5 >2Q,wFiFAY}6^?}6̕?y}6}>}6n }6Hp`?t?ÿ8a?)~6^? ~6s[;I~4YG@y FxDUSBL response received:!U1,P F1C,000,002C9,186,80,80,8C,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i ]A]AE;MM=YM*;QUU>YYa%HyJ=<}>I %: 5? %: f޾ ' %?9A; 0;):2F1ZF1:F9AM}>BI BM@AM#<*BQAQAQAU9AQRCyCY]yJ995-R;IqG>uQ,kFiFAY}68?}6o?y}66>}6P}6H@ B?3 @?` ÿf%?)~68? ~6F\;I~4itz`A)x xIx x)xɠ~Ļ|||ɡ~`AipIEIi Ļ )   "aA ɢ3C|aAIC)i)IaAtɣ! !ɤ!%ZA!i!)Y5#@y5hF9ɮ==]Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i55t5?i5QC1 5B)59 CI5Ci5BE߽ME=YMJQUM?IIaU%HQyB<}?I!%U 5?% g޾ %' ?9%A%1f< %<)!2FZF :F Ae6>Bi Bu@Auw#*BqAyAA9ARCCYυhE99=c;IQGmW>DQ,mtFiFAY}6Ӄ?}6?y}6_a >}6}6H$M-ˡ`?@N̙ e? ~/?)~6Ӄ? ~6l[;I~6CY@yF%xDUSBL response received:!U1,R,003,000,002CA,183,80,80,AD,FF -Fpublishing direction and range info%+!ɰ%i=%$> !)%-CI!y%@%h,?8$Sreٱ!iCl; @Mb?+A< v)IyMbPQ뱿S㥫?\/]= ;A)dGAISAi1A=BAxMD=YIQU>a%Hyk<}>I : 5? :f޾ ݾ ?9OA <  <):2F!ZF!:F!JE)E-@E-#\@򔡌E-h,?8$SreE-+E)E-&񘦸өY(@VE-X w }?g)b{E-[d?rE-@@zE-4ŽRE-a9?ZE-^9?bE)jE-E-?E-@A_a >B B@A*BAAAm:ARCCi̭]AI̩Yύ}?99Խh;IGf>%T>%Ci}nGIi Gٺ /B-Q,U GiFAY}6??}6v?y}6)[=}6}6H&`;(@?`q`K?@iV@?)~6?? ~6m[;I~6CY@yźFi  I=))%= %=uM}M=Y| QU>a%Hyfj<}>Iȩŭ" 5?ŭf޾ ƭeҾ ?9ƭAǭ: ȭ:)ȩ2FZF:FA)[=B B@A+*BAAA0:ARCCY:99ԥx;IG#>VQ,*'GiFAY}>?}>3?y}>=}>"0}>HHǧQ?=̼? E( ?)~>? ~>[;I~>CYJ~@yJFDNmea in: $SNTTA,,,,,233659.47*55 ieq=e'=eX?ieBa e^B)eBIeCia!ŽMZ=YмQU>a%Hy;}>Iȱŵ$ 5?ŵf޾ ƵǾ ?9Ƶ'Aǵ$: ȵs:)ȱ2FZF:FA=B B@A}*BAAA#:ARCCYϭ499ԅx;IG>o>Q,AGiFAY}6?}6?y}65=}6.}6H`0S?` _?@ø@-@y?)~6? ~6[;I~6CYv@yvF iiiiiY;MH=YbQU>a%Hy}>I :N' 5? :]f޾  ?9A[: $:):2FZF:FA 5=B  B @Aэ*BAAAW5:ARCC!- ?->Y/99ԭ';IG>hQ,ZGiFAY}6@?}6V?y}6=}6r }6HyӞ@?5y? irW ?)~6@? ~6[;I~4YB@yFFi MN=Y\QU>a%Hy G;}>IY]) 5?]5f޾ ] ?9]A]*< ]s<)Y2FZF:F A=B B@Aꬽ*BAAAF:ARCCY(9i]AI^A9;IGF>[Q,tGiFAY}>E#?}>[Z?y}>=}>ݼ}>H@@gy@?M`n ?L@?)~>E#? ~>,[;I~a%Hy;}>Iș :ŝ, 5? :ŝf޾ Ɲ ?9ƝAǝ: ȝ:)ȝ:2FZF:FA=B B'@A*BAAAwS:ARCCYP$9iIIG>zQ,GiFAY}6R?}6?y}6=}6y׼}6H`ݡ 6?;¢ 0?@q 4`B?)~6R? ~6n[;I~6CYB#@yB˳FIv@)v@itt~M~g=Y[QU> a %H y ȅ;}>Io/ 5?e޾  %?9$A ϸ:)2F1ZF1:F1AM=BI BM7@AMK*BIAQAQAU]:AQRCYCYiaIaYύ9IG=Q,rGiFAY}6k?}6?y}6YH=}6+}6HbB8@%`?`@~?`7v/ ?)~6k? ~6 [;I~6CYB.@yBFDDiLLIRp=)R%= v v z z@ z@ z@xxxixx x)xIxixlM@=Y\QU>a%Hy:}>I :2 5? :e޾ ۦ ?9AN: |:):2FZF:F-B*** querying acoustic contact ***:EBEA#9=B BL@A*BAAAh:ARC C IAG]=:Q,'LGiFAY}6U?}6j?y}6=}6}6Hɢ Jz?^yآ?ग :@?)~6U? ~6ݵ[;I~6CYR@yRİFVZ****** received transponder code query ******VF****** received ping request ******V a%Hy-;}>I!%w5 5?%e޾ %ڣ 5?9%JA%: %:)!2FIZFI:FIA=qp=B9 B=_@A=+*B9AAAAAEq:AARCICIIaG=Q,(GiFAY}:?}:?y}:ط<}:z(}:Hࣿ`@?mg?+ 0?)~:? ~:[;I~:CYF/@yF)FJxDUSBL response received:!U1,P 003,000,002CA,183,80,80,AD,FF JCommand AckNBRequesting micromodem ping code 2iLLRNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ``ihl%M%I=Y5QU=>IQa]%HYy}˦;}>Iȡ :ť8 5? U:ťe޾ ƥ~ e?9ƥAǥ6< ȥ<)ȥ:2FZF:FAmVV=B Bv@Au4*BAAA{:ARCCIG >Q,GiFAY}2?}29?y}25t<}2}2Hh ?GϤ^? sArN?)~2? ~2[;I~2CYN @yROFbNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iAA IIL7A`尿ktֿ+ L)IyZd;O?+{Gztj<ף Az@A-^A-^A u u } }@ }@ }@yyyiyy y)yIyiyUM5=YeQU>a%HyZU;}>I!%; 5?%d޾ % U?9%zA%; %?;)!2FaZFa:FaAu8=B B@AM*BAAA9:ARCCIGIR,HHiFAY}6?}60L?y}6}6 }6H 錄W1?`ɤ@??)~6? ~6[;I~6CYB @yBFFxDUSBL response received:!U1,R,FC9,000,002C9,184,80,80,7E,FF FFpublishing direction and range infoF D=DɰFi=F> D)FBIDyF@F3?Cwږ?ٱDiTT^;M^m=Yb[ZQUb?``af%Hdyf:}j?Ihj= 5?jcd޾ jt r?9jAj: jw:)h2FxZFx:FxJE|E~@E~b}@ w6?E~3?Cwږ?E~ D=E|E~RqUYݿQ`; @zzߣ?E~ﲐ^)q?RÙ~?E~;p?rE~I@zE~RE|ZE~a9?bE|jE|E~'@E~?A%V=B! B%@A%6_*B!A)A)A-:A)RC1C1i=I===IQGm5> R,L)HiFAY}N?}N?y}N}N}NH`mɣ `m?pݘ)?Z?)~N? ~Na[;I~LYZ~ @yZڬF%TNmea in: $SNTTA,0.067959,,,,233703.84*4E I1)1i11}IϻM}?=Y}' QU}>a%Hy}>Iȑ :ŕu@ 5? :ŕc޾ ƕ ?9ƕvAǕE: ȕs:)ȕ:2FZF:FA<B B@A{c*BAAA":ARCCIG=i= nmGR,(CHiFAI i,Fu:ٺDF$BY}b?}b?y}bk\}bX}bHDc ?@| ? ?)~b? ~bP[;I~bCYr< @yrFiiiIuC=)u4=)},> }>    m=tf?i C ZC) CI}.CiBMC=YQU>a%Hy } >I0C 5?%c޾ J ?9AT: ?:)2F)ZF1:FA!!a-%H)yEP}E>Iy :}E 5? :}b޾ }s ?9}A}< }<)}:2FZF:FA <B  B-@A-*B1A1A1A5\:A1RC9C9IqG=.R,KwHiFAY}2{?}2?y}2`}2P}2H D?3o?@#?)~2{? ~2G[;I~2CYB @yB F ppittuMb?Mby&1|?u>u u`;)qIqyu/$?Mbu,=uu u:A)uDAIul=AiuEAqqv<MJ=YȼQU>a%Hy}>IG 5?a޾ Y ?9A: :)2FZF:FA-<B) B-@A-*B1A1A1A5:A1RC9CAIYGu=$R,t&HiFAY}:?}: U?y}:f}:k!T}:H4 [i?Þ`m*?s?)~:? ~:#[;I~:CYF @yFeFi   ]A ]@ ]@ ]@ ]@]©]]i]] ])]I]i]mMmR=Yu߯QUu>yya}%Hyy}>Iȉ :ōI 5? :ō`޾ ƍ) ?9ƍAǍ: ȍ:)ȍ:2FZF:FA^;B B@A*BAAAQ:ARCCIG}=@*R,"HiFAY}6m?}6?y}6kԒ}6m/}6H`Y4Ǥ ?`Ħ@V? ݥv?)~6m? ~6UA[;I~6CYR @yRFi  1ϼMP=Y%.QU%>!!a-%H)y-Dʻ}5>I15L 5?5_޾ 5 E?95A5g: 5s:)12FQZFQ:FQAmsBi Bm1@Am*BiAiAqAu":AqRCqCyIG_=*1R,HiFAY}FH?}F^7?y}F}Fw}FH;(`S螿&?`㯖,볿|?al?)~FH? ~F2[;I~FCYR @yRFTVAAIb@)`i``  m m mmI >m=m?imCm m@/C)mA CImt Cim C}T;MD=YyVQU>a%Hy w}>IșŝHN 5?ŝ^޾ Ɲ ?9Ɲ~Aǝ: ȝ:)ș2FZF:F-B*** querying acoustic contact ***:EBEA :B BL@A͊*BAAA:ARCCIG=R7R,5HiFAY}vS?}v?y}v擝}v%Y}vH`CǓRnb;?ϳ?`eӝG?)~vS? ~v[;I~vCY= @yEөFUZ****** received transponder code query ******eF****** received ping request ******eeC e<)aIayey&1?ʡEMb`?e`ea%Hy 6}>I :XQ 5? ::^޾  ?9 A: :):2FZF:FA6JB Bl@A*BAAAY:ARCC I!G= > }=R,HiFAY}2,?}2c?y}2z}2@}2Hw@%6@?@?٢ ?)~2,? ~2[;I~2CYf @yfBFjxDUSBL response received:!U1,P FC9,000,002C9,184,80,80,7E,FF jCommand AcknBRequesting micromodem ping code 2illrNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i MEMUz=YeRdDR,3nIiFAY}2v?}2?y}2}2PB}2H`Aߔ`(?!U kβ?A?)~2v? ~2Z;I~2 CY^@ybgF`ɮba=rNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B AAiAA @ @ @ @©i )Ii-ͼM-==Y-:QU->11a5%H1y=ɭ;}=>IA M:E>V 5? M:E]޾ E" U?9E!AE: E:)E:2FaZFa:FaA}XIBy B}@A} *ByAyAA:ARCCIG= JR,fI,IiFAY}:#?}:8?y}:Y)}:F}:Hґ@p᧿@?ݒkk`?٫?)~:#? ~:/[;I~:CYJ @yJFNxDUSBL response received:!U1,R,F0F,000,002C9,186,80,80,92,FF NFpublishing direction and range infoJ\W>HɰHJ> H)JCIHyHJ%l~K?ZvѸ?ٱHiXX \\`b^Af>=Mfc=Yj˻QUj>hhan%Hlyr;}r>ItvX 5?vF]޾ v㘾 z?9v{!Av: v:)t2FZF :F JEEE9㕧@>!F?E%l~K?ZvѸ?E\W>EEo󿟬+V@gȌ??EsMrͿ(ee?:*'_?E?rE@zExRE`9?ZEbEjEE@E'@A5ܹB1 B5@A=L*B9A9A9A=:AARCACIIaG}E=sxQR,*FIiFAY}VZ?}Vޑ?y}V%}V#}VH@b? 7?:b?)~VZ? ~VZ;I~VCY @y yFTNmea in: $SNTTA,0.005670,,,,233708.29*42 iM:=YQU>a%Hy}>I :c[ 5? :\޾  ?9"Ap: :):2F ZF :FA%мB! B%@A%h*B)A)A)A-:A)RC1C1IIG=̣WR,5 `IiFAY}x?}9?y}9}& }H B_`n堿`?9e *C?`xX?)~x? ~Z;I~CY}S @y.FI)@iMb@Mb@Mb@ )IyQ?B`"۹a%Hy}>Iȡť<_ 5?ťY[޾ ƥy ?9ƥ"Aǥ: ȥ:)ȡ2FZF:FAB B@Ae*BAAA~:ARCCIG >E]R,8yIiFAY}6?}60Q?y}6.}6M"}6H(`캣?@šc:?I`T?)~6? ~6Z;I~6 CYR @yR8Fi I =) 4=)= ==M=y=YEiUCi/mGIi|$ٺBu|?9uA߲dR,5IiFAY}:O?}:?y}:}:LJ}:H Z6?@cְ࿝?S9?)~:O? ~:_Z;I~:CY^ @ybөFi))e<MeH=Ye;QUe>iiam%Hiyu;}u>Iy}be 5?}X޾ } ?9}@$A}$: }:)y2FZF:FA1 B B9@A*BAAAu:ARCCIG=5jR,:IiFAY}6@?}6w?y}6w}6gM}6HF6@`?@ڏ~n? t?)~6@? ~6Z;I~4YF@yFF i   ] ] ] ]@ ]@ ]@YYYiYY Y)YIYiYmmMmJ=Yu:QUu>qqa}%Hyy}}>Iȉōh 5?ōyW޾ ƍ큾 ?9ƍ%AǍ: ȍ:)ȉ2FZF:FA}"Bg;B BZ@A*BAAAp:ARCCIG=WqR,uIiFAY}6?}6*F?y}6#{}6(}6H@=tb?U7g@s_?C?)~6? ~6,Z;I~6CYB& @yBFi    ]A|=MG=Y<;QU>a%Hyr}>Iȱ :ŵ/l 5? :ŵV޾ Ƶ y ?9Ƶ%Aǵs: ȵ:)ȵ:2FZF:FA B B|@A*BAAA7k:ARCCIG-=wR,PRIiFAY}>?}u?y}$n}}H@%w@?T 4ͭ?`ԑ6?)~>? ~UZ;I~CY% @y%fF!!i999v?y&1|Q>` )Iy/$?ʡEI +,=9 :A)EAIn8AiIAz@A m u u uuuQu?iuBu u?C)uBIuBiuB~M<=Y;QU>a%HyZ;}>Ișŝn 5?ŝT޾ ƝT ?9Ɲa&Aǝ=: ȝb:)ș2FZF:F-B*** querying acoustic contact ***:EBEAsB B@A*BAAABe:ARCCIG=O~R,"IiFAY}:n?}:?y}:pb}:}:H -@? ݧ[?H`?)~:n? ~:Z;I~:CY @yFZ****** received transponder code query ******F****** received ping request ******  a %Hy>f;}>I! -:%q 5? -:%S޾ % 5?9%&A%@; % ;)%:2FAZFI:FIA]|BY B]@Ae*BaAaAaAe[_:AaRCiCqIG%>2R,JiFAY}6_>?}6tu?y}6!R}6(}6H@ &? =A?}U?)~6_>? ~66Z;I~6C <)<Ɍ<<@@ɍB?cAiBpIBE@IDiF`A DD)DH HHHɎHLLIL)LiL)PIRXaAPɏP PɐV&CVaATiTTiXZ^A)X XIXu`Dynamic Docking Module:!C REMUS Capture Rev 1.1 ɫ髹) IY @yfFxDUSBL response received:!U1,P F0F,000,002C9,186,80,80,92,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iI4=)%=),> > > /] b?i C ,C) VCI )Bi B ˼M =Y ;QU >! a ae %Ha ym }m >Iq } :u u 5? } :u UR޾ u  ?9u 'Au ; u D;)u :2F ZF :F A WeB  B @A s*B A A A $V:A RC C 9 I! G= >R,0JiFAY}6 ?}6 F?y}6NB}6Q}6Hج eũ?U`WG? )?)~6 ? ~65Z;I~6Cihh)h hIh l)n/aAɠnDlllɡraAirhIrIEpIpir+aA vt)ti iiiɢqquaAIu)qiq)}3CI}aA}ɣy yɤ&C餁iɫAA)A IIIYUS @yU.FuNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iJ=M=YYR,܂JJiFAY}:?}:V?y}: 6}:mR}:H 1`;᩿`?Lnݦ?@D?)~:? ~:Z;I~8ɫ) IY5 @y5F=xDUSBL response received:!U1,R,F05,000,002C8,187,80,80,79,FF =Fpublishing direction and range info=K`>9ɰ=Ni==1> 9)=BI9y= @=(*5=Dqqa}%Hyy}Ĭ:}>IȁŅy 5?ŅP޾ ƅH ?9ƅ(ADžR: ȅ:)ȁ2FZF:FJEE @Ela@z냶%?E(*5=DEE=>{I@޵?ENͿ/}?;?EaZ?rEL@zEREa9?ZE`9?bEjEE@E@A+B B3@A*BAAAM:ARCCҍa=ҍ=9m5;IyG> R,W[dJiFAY}2L?}2a?y}2k8}2Ђ(}2HBV?r u@~ ?^ ?)~2L? ~2Z;I~2Cɫ髡) IYu @yFiyy%HzG?V-Q?%=>%m %u=)!I!y%Q?sh|?~jt?%\=%%< %C9A)%dGAI%:Ai%IA!%@A9=^A @ @ @ @Å©ÅÅiÅÅ ą)ąIąiąjM9=YPQU>a%Hy;}>I) 5:-| 5? 5:-O޾ - =?9-])A-(: -:)-!:2FIZFI:FIAGB B]@AA*BAAA'G:ARCC9y;I)GER>ԞR,4~JiFAY}6?}6?y}6J<}6}6HyI 9?B앿ڧ2??)~6? ~6EZ;I~6Cɫ99)9 9I9Y}Z @y}8FDNmea in: $SNTTA,,,,,233712.93*52 i==M=c=Y=<,QU=>AAaE%HAyM;}M>IQU& 5?UIO޾ U ]?9U)AU: U:)Q2FqZFq:FqA qB B}@A*BAAAB:ARC1C19 g;IGE>R,VJiFAY}6?}6:?y}6 8}6#ؼ}6HDQiݙ .?@6a b??)~6? ~6Z;I~6Cɫ99)9 9I9Y @yFI"@)"@i  U9~<M]H=Y] ;QU]>aaae%Haymp;}m>Iqu 5?uuN޾ u }?9uo*Au: u0:)q2FZF:FAiB B@A*BAAA<:ARCCiIIIGeV>R,JiFAY}JCz?}JX?y}J.}J}JH*@@D?@Fѥ?ݠ?)~JCz? ~J\;I~JCɫYa)a aIiYi @yJFiAA)M= M=    @ @ @éééiéé ĩ)ĩIĩiĩTMD=Yc;QU>a%Hy <}>I :ф 5? :M޾ u ?9+A: $:)":2FZF:FA|B B@A!*BAAA5:ARC!C!I9G=i]nGIi,ٺBMβR,JiFAY}6w?}6-?y}6-}6!}6H ?r /|b?.[?,`??)~6w? ~6^;I~6Cɫ99)9 9I9Y}" @y}.FiE<MES=YE+9QUM>IIaM%HIyU7 <}]>IY]w 5?]L޾ ]hl m?9]+A]Z: ]:)Y2FyZFy:FyAϔB B@A*BAAA 0:ARCCIG=R,JiFAY}2j%?}2\?y}2X<}2$0}2H`- w?@L&?`? ?)~2j%? ~2)2^;I~0ɫ) IYUe @yUF 鼹iMMb@Mb@Mb@MM M)MIIyMMb?p= ףMqqau%Hqy}T;}}>Iȁ :Ņ܉ 5? :Ņ[L޾ ƅj ?9ƅ,ADž: ȅ:)ȅ#:.(Detaching from dock.ZF:FAxB B @Aܕ*BAAAi):ARCCIG>#R,JiFAY}2?}2H?y}2IF}2/}2H ݠ(ʝ`?,P`Ѩ?@g?)~2? ~2:^;I~2Cɫ99)9 =I9Y @yFi]A    @ @ @i )Ii-M-a=Y5PQU5>19a=%H9yEں}E>IIM֋ 5?MK޾ Mi U?9Mq,AM: M:)I.mlEngaging thruster for 10.0 seconds (max) to disengage.ZFi:Fi-mB*** querying acoustic contact ***:EiBEiA}B BF@AZ*BAAA#:ARCCIG= R,XKiFAY}>sK?}>?y}>zW>}>d}>H`ġ1 w@7?`y`AU ȧ?Z?)~>sK? ~>.c;I~<ɫYY)Y ]IYY} @y}FZ****** received transponder code query ******F****** received ping request ******a%Hy7;}>I : 5? :K޾ h ?9,A: :)$:RFJFBFZF:FA-B) BMt@AM*BAAAk:ARCCSIG>4R,23KiFAY}6b?}6w?y}6Q+}6\o9}6H墿@]@?졿H:h?&s?)~6b? ~6Kqb;I~6CɫYY)Y ]IYY}G @y}[FxDUSBL response received:!U1,P F05,000,002C8,187,80,80,79,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I)!@iMH=Y|9)1a=%H9y;}>"Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 2.95 mm.IW 5?"K޾ 3g ?9U-AE: R:)RF)JFQBFQZFY:FYAB B@AM뚾*BQAYAYA]:AaRCiCqIGU1>R, MKiFAY}: ?}:X?y}: }:di}:H N? }DL?"d?)~: ? ~:cL`;I~:Cɫ99)9 =I9Y}{ @y}FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iaiIm=)m=)u= u=    @ @ @ùùùiùù Ĺ)ĹIĹiĹ;M<=Y*;QU>a%Hy%<}>I  :  5? : J޾ fe ?9 -A : s:) %:RF)JF1BF1ZF1:F1AE<BA BM@AMӚ*BIAIAIAU :AQRCQCYIqG =FR,fKiFAY}6m?}6?y}62%}6M^}6Hۦ@z媿)?ܸY֥줤?ҫ`9?)~6m? ~6+;^;I~6Cɫ99)9 =IAY} @y}$Fi|?5^~jtпMb?ҽ =)Iy rh?㥛 AAaE%HIyM<}M>I 5?LJ޾ T ?9:.A: :)RFJFBFZF:FA%-B) B- @A-*B)AIAiAm :AiRCqCyI)GM0>V1R,΀KiFAY}Vm?}V?y}Ve2}V5"}VHലb,Oy?iѦ@%>?zW`?)~Vm? ~V\;I~VCɫ髱) IY @y$FDNmea in: $SNTTA,,,,,233717.23*5C i e e e e@ e@ e@aaaiaa a)aIaia}YM}F=Y}QU}>a%Hy;}>Iȑŕ? 5?ŕI޾ ƕD ?9ƕ.AǕ: ȕ:)ȑRFIJFIBFIZFQ:FQAe;Ba BeB@Am5*BiAiAiAm:AiRCqCyׅIAIG>YR,˟KiFAY}26?}2K?y}2)5}27|ۼ}2H$`g`d?"`7 V?g@ ?)~26? ~2[;I~0ɫ99)9 =IAY @yFi^A MS=YQU>??a %H yq}>I %: 5? %:zI޾ }5 -?9&/A': :)&:RF9JFABFAZFA:FAA] BY Bev@Ae*BaAaAaAe9AaRCiCqI׍]A)׍]AqIyG=R,xKiFAY}:?T?}:T?y}:Ye#}:<ؼ}:H 祿`@?c` Hk?1?)~:?T? ~:1[;I~:Cɫ99)9 EIAY} @y}FxDUSBL response received:!U1,R,EF6,000,0364B,186,80,80,84,FF Fpublishing direction and range info+m>ɰS?鰅> )CIyGDH$?c2YEr?ٱi=MO=Y4a%HyM}>I 5?I޾ % ?9/A: :)RFJFBFZF:FJEEGDEO8@yf@EH$?c2YEr?E+m>EE* k[p(@<:@E"5^ѿ\7q?ZMà?E.C?rE?DzE(XRE,9?ZEa9?bEjEEAE@A* B B@A!*BAAA9A RC C1 IG5 >kmR,(`KiFAY}zhg?}z}?y}z[}zDz}zH 5`η?``@p?r V?)~zhg? ~zZ;I~zCɫ) IY @ylFI) @i    @ @ @i )IiwF=M6=Y'  a%Hy$:}>I %: 5? %:H޾  -?9#0A: o:)':RFU.]Thruster off.ZFY:FaA}3+By B}@A}*ByAAA9ARCCIIYGu>R,0KiFAY}2?}2 ?y}2㼙}2e-}2H (? Qg`Oo?`稥 ?)~2? ~2 Z;I~2CɫII)I MIIY}1 @y}@Fim{Gz?333333X9vm#=m m)iIiymʡE?Dl~jth?m-=mOmD; m;A)mDAIiimdGAim@A)Å= Å>UMR=YIa%Hy <}>Iȩŭ 5?ŭF޾ ƭ M?9ƭ0Aǭ$< ȭ <)ȩ.}ZDetected possible detachment. Starting timer.ZFy:FyA53B B3 @A*BAAA9ARCCI)i}IG>}S,N LiFAY}6 2?}6 i?y}6o弙}6}6H_`?ڨ]q`?Z?)~6 2? ~6xZ;I~6CTVCi nGI!i9ɫaa)a eIi0ٺBYR @yFiYa_2=MJ=YQU>a%Hy[;}>Iȩ :ŭ 5? :ŭD޾ ƭf ?9ƭ1Aǭ: ȭ(:)ȭ(:ZF:FAS,LiFAY}:R?}:g?y}:v}:ּ}:H_몿:@l W?`}fN??)~:R? ~:nZ;I~:Cɫ99)9 =I9Y} @y}YF !!i)) } } } }@ }@ }@yyyiyy y)yIyiy<MK=YQ6QU>a%Hy_;}>Iȡť 5?ťB޾ ƥA ?9ƥB2Aǥ+: ȥ#:)ȡZF:FA BB B @A4*BAAA69ARC CI!G==& S,"5LiFAY}2.?}2C?y}2}2*m}2H:?@~! # <6?` ?)~2.? ~2[Z;I~2Cɫ99)9 =IAY} @y}-Fi%1M-Q=Y-\QU->11a%Hy贺}>Iȑ :ŕI 5? :ŕ|@޾ ƕ ?9ƕ2AǕ: ȕQ:)ȕ):ZF:FAGB B @Aէ*BAAA9ARCCIG-=S,OLiFAY}6" ?}67W?y}6<}6(}6H@ )@'?PYXᢿY? @?)~6" ? ~6M{Z;I~6Cɫ99)9 =IAY}U @y}Fi^=MM=Y:QU> a %H y}>If 5?>޾ m %?93A^: :)ZF1:F1AM[2LBI BM*!@AM*BIAIAQAU9AQRCYCYIqG=<S,xiLiFAY}6N?}6c?y}6e}6Y`}6HޜH>`?Ok?@?)~6N? ~6_Z;I~6Cɫ99)9 =I9Y @yYF鮡ɮp=I @)@iM{Gz+? rhMףM= MC )IIIyM:vMbMb`?MԼMM; I)MIM:AiMDAIM=>A    @ @ @i )IioM==Y;QU>a%HyAۻ}m>Iqu 5?u#?޾ u }?9u3Au: u:)qZF:F-B*** querying acoustic contact ***:EBEAiNB Br!@A^*BAAAƇ9ARCCIGE> S,SLiFAY}:ݧ?}:?y}:y}:7f}:H7D `?tT?@¿c?)~:ݧ? ~:فZ;I~:Cɫ99)9 =I9Y} @y}FZ****** received transponder code query ******F****** received ping request ****** >~M\=Y?;QU>a%Hy}}>Iy :} 5? :}?޾ } ?9}34A}: }:)}*:ZF:FAOB B!@A!*BAAAq9ARCCI9G=b&S,/LiFAY}V?}V?y}V4}V7}VH`ɞjC?`樂N ?@U:?)~V? ~VܒZ;I~Tɫ) IYJ @yFxDUSBL response received:!U1,P EF6,000,0364B,186,80,80,84,FF %Command Ack%BRequesting micromodem ping code 2i!!Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i11    /ݼ3?iBB AB) CIBiC<M% =Y-:QU->11a5%H1yEz:}E>IQU 5?UW@޾ U* e?9U4AU 2; U5;)QZF:FA~NB  B "@A *B AAAI9ARC9CAIQG\>[-S,( LiFAY}6?}6?y}6]Z漙}6}6H8dND`4?馿KSʜ?`0@G?)~6? ~6vZ;I~4ɫII)I MIIY}R @y}F@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iU[:M]=Y]n|;QU]?aaae%HaymG}m?Iq }:u 5? }:u@޾ u }?9u4Au: u:)u+:ZF:FALB B3"@A *BAAA/29ARCCIG=54S,2LiFAY}6k?}6?y}6Ӽ}6tl}6HSڧmI`\?b`J@}?@롿 =?)~6k? ~6Z;I~6Cɫ99)9 =I9Y @yFxDUSBL response received:!U1,R,EA9,000,002C9,186,80,80,9C,FF Fpublishing direction and range info@>ɰi= )CIy@G@_V?ۻ5~8?ٱi   <MN=Y%;QU%>!)a-%H)y5;}5>I9= 5?=RA޾ = E?9=4A= : =:)9ZFQ:FYJEaEe@EeȫoP.@eސ5?EeG@_V?ۻ5~8?Ee@>EaEe\}c%7ǂ)@3S.v?EeOտv,n O?dC|?EeR?rEe@zEe REea9?ZEe,9?bEejEeEe@EeAA!JB Bv"@A㪾*BAAA)9ARCCIG=1:S,LiFAY}:?}:N?y}:xü}:I}:H@?`X` ՚n?$3?)~:? ~:QZ;I~: CɫYY)Y ]IaY7 @yF}DNmea in: $SNTTA,,,,,233722.93*51 i-K?Zd;?Mbp?-^=-y= -;))I)y-~jt?p= ף:v?-D<--T< -:A)-DAI)i-EA)-?A @ @ @ @©i )Ii~;M0=Yw;QU>)a-%H)y5;}5>I9 =:= 5? E:=@޾ = E?9={5A=z%; =$;)=,:ZFq:FqAbFB B"@Ar*BAAA8ARCCIG-,>NAS,MiFAY}2?}23?y}2ں}2n}2HqԪp%`?@2hZ?`ʭ@?)~2? ~2Z;I~2CɫYY)Y ]IYY @yFI%@)%@i))<Me=YA;QU>a%Hy^)<}>Iȡťo 5?ť@޾ ƥ߽ ?9ƥ5Aǥm: ȥ.:)ȡZF:FAAB B#@A*BAAA8ARCCIG%=ZCGS,vMiFAY}2@?}2V(?y}2>Jļ}2F}2H`\@aZ`?`&`5ୈ?  ?)~2@? ~2Z;I~2CɫII)I MIIY @ylFiI =) =) = t>=M=P=Y=?QU=>AAaE%HAyMn;}M>IQ ]:U 5? ]:UL@޾ U[ҽ e?9UC6AUE: U:)U-:ZFq:FqA<B BE#@A*BAAAc8ARCCIIGe=mMS,@P8MiFAY}6A8?}6Wo?y}6sټ}6[}6Hw` Y@?` ;?@[?)~6A8? ~6zZ;I~6Cɫ99)9 =IAYm@yuFiAA    @ @ @ÑÑÑiÑÑ đ)đIđiđ=MD=YλQU>a%Hyȩ;}>Iʷ 5??޾ HŽ ?96A: a:)ZF:FA7"B%;B B#@AѤ*BAAA7ARCC IG=inGIi%)ٺ!%hB_UTS, -RMiFAY}:?}:R?y}:ټ}:2ڼ}:H@@\?@0 7?C3?)~:? ~:xZ;I~:CɫAI)I UIQYE@yEF ))i))uL<MuM=Y}28QU}>ya%Hy}>Iȑŕ 5?ŕ?޾ ƕ ?9ƕ7AǕ^: ȕ:)ȑZF:FAiZ3B B#@At*BAAAűARCCIG=hZS,lMiFAY}6,?}6B8?y}6r}6S5}6H˛` ?h?I?)~6,? ~6YZ;I~6Cɫ!!)! %I!Y-r@y-{F5a=ɮ1iAA II~jthoʡ?MbXD-> ʽ)Iy/$Q~jt?,< …;A)…;CAI…:Ai…DA?A]A9;M=Y#;QU>a%Hy!}>Iȩ :ŭr 5? :ŭ@޾ ƭh ?9ƭ7Aǭ&; ȭ;)ȭ.:ZF:F-B*** querying acoustic contact ***:EBEAE.B B:$@AB*BAAAARC!C!IAG}>faS,LMiFAY}2B?}2z?y}2S}2"}2H̢Y@m?`笿`l? k ?)~2B? ~2]yZ;I~2C <)<Ɍ<<<@ɍB&cAiBIB`E@IDiF`A DD)DD HHHɎHHLIL)LiL)LIRSaAPɏP PɐPTTiTTiTT)X XIXiZfCX)\ \I\ \)`ɠb```ɡfaAifKIfEdIdif/aA hh)hh hhlɢllnaAIp)pip)pIppɣt tɤ|}XAyiyyɫ19)9 =I9YU @y]F]Z****** received transponder code query ******eF****** received ping request ******egS,ğMiFAY}6?}6?y}6ʬ}6P}6H5j?q .@٘?ư?)~6? ~6Z;I~6Cɫ) IY5$@y5F=xDUSBL response received:!U1,P EA9,000,002C9,186,80,80,9C,FF =Command Ack=BRequesting micromodem ping code 2iAAMNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Im@)m@iqyq<MX=Y&$QU>a%Hy <}>Iȩ :ŭ9 5? :ŭuB޾ ƭ ?9ƭ%8Aǭ4: ȭA:)ȭ/:ZF:FAm$Bq Bu$@Au*BqAyAyA}ARCC9I)G]v>mS,$MiFAY}2*?}2@ ?y}29}2 :}2H꯿`? Y6~૦?YI?)~2*? ~2_jZ;I~2Cɫ) IY-@y5FUNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iIp=)R=)= ><MG=YQU>a%Hy`;}>I  @ 5? UC޾ n ?9 v8A w: U:) ZF):F)A=)lB9 BE$@AE,*BAAAAAAEҸAARCICQ9-wY;IQG >tS,N{MiFAY}2B?}2X?y}2׫}2~Ѽ}2HΘ`?W Q z?-?)~2B? ~2xZ;I~2CɫQY)Y ]IYY}@y}FxDUSBL response received:!U1,R,EB3,000,002CB,187,80,80,AD,FF Fpublishing direction and range info,ɔ>ɰJj=鰅1> )-CIy̬@m?kV?ٱi    @ @ @i )IihM[=Y ;QU > a%Hy ʺ}>I! -:%B 5? -:%/D޾ %Q -?9%8A%[: %V:)%0:ZFA:FAJEIEM̬@EMnR±@7v?EMm?kV?EM,ɔ>EIEM+,+&Cu|E@uF?EMMֿ\ ?8[MJ'?EM;)?rEM+@zEMREIZEMa9?bEIjEMEM@@EM@AmBi B-?%@A-E*B)A1A1A5A1RC9C99%D;I1GU>zS,{OMiFAY}N?}N=?y}No-Q}N)#}NH X?$4 M`%?@x`?)~N? ~NFiZ;I~Lɫ髙) IY @yYF}TNmea in: $SNTTA,0.025991,,,,233726.95*4B 鼉iurh|?ʡE?/$u=u= u)qIqyuZd;Oy&1~jt?uju`u< uC9A)uDAIua%Hy;}>IȩŭY 5?ŭD޾ ƭ# ?9ƭ9Aǭ: ȭض:)ȩZF:FA_B B%@A꾾*BAAA|ARCCa==9.;IGM0>S,+NiFAY}N?}N ?y}Nݨl}N{\}NH}\H?@#@y@ؔ?A?)~N? ~N5BZ;I~NCɫyy)y }IyY @yFiIQ YYYY    @ @ @áááiáá ġ)ġIġiġsb=MY=Y"QU>a%HyG-<}>I> 5?1E޾  ?9>9Ag: :)ZF:FABZB B%@Ax*BA A A y.A RCC9%;IG>߇S,!NiFAY}Fg?}F})?y}F}F'V}FH.i? w‘?@̪?)~Fg? ~F_Z;I~FCɫYY)Y ]IYY @yFi5Se;M=S=Y=)QU=>AAaE%HAyM <}M>IQ :U* 5? :UE޾ U ?9Uv9AUZ: U:)U1:ZF:FA * B B$&@A *BAAADARCCiIIG^> S,:NiFAY}>*?}>a?y}>/}>T }>H siP ?`6n?e?@]`g?)~>*? ~>nZ;I~>CɫQQ)Q UIQYu(@yu FI!@)"@i :ML=Y"̺QU>a%Hy%;}%>I)-" 5?-$F޾ -x3 5?9-9A-: -:))ZFA:FIA]S BY B]o&@A]6*BaAaAaAeXAaRCiCiIG=S,^TNiFA|i|@Y}68?}6o?y}6Az}6}6Ha - ?G?\A?)~68? ~6WZ;I~6Cɫ99)9 =I9Y]@y]߰Fi)>  = = = =@ E@ E@999i99 9)9I9i9M<MUG=YUw;QU]>YYa]%HYye:}e>Ii u:m# 5? u:mF޾ mn }?9m9Am: m_:)m2:ZF:FA#B B&@Aӷ*BAAAmARCCIG=fS,nNiFAY}:6?}:m?y}:q}:x}:H @?S䇿r?bў`?)~:6? ~:uhZ;I~:Cɫ99)9 AIAY}j@y}rFiA`"?~jtMb= )Iyl񢿜 rh:vCT ¹)½FAI½?Ai½DA@ARMB=Y`a%HyJ5}>I 5?dG޾ 깻 ?9s:A: ÷:)ZF:FA%B! B-'@A-'*B)A)A)A-QA1RC1C9IQGm=1 1 i %nGI i .ٺ BS,rNiFAY}rM?}rc?y}rm}r1}rH9j@k쥿M?SWyt?@.4?)~rM? ~rKZ;I~rCɫ) IY@yͰFp=ɮ4=  i     @ @ @ùùùiùù Ĺ)ĹIĹiĹ7<MK=Y4a%Hy;}>I : 5? :H޾ n ?9:A: :)3:ZF :F - B*** querying acoustic contact ***:E BE A%B! B%^'@A%N*B!A!A)A- A)RC1C1IIGe=-S,MNiFAY}2"?}2Y?y}2}2\}2H@ fCp? u81t? @?)~2"? ~2_Z;I~2CɫII)I IIIY}@y}FZ****** received transponder code query ******F****** received ping request ******a%HyD<}>IP 5?H޾ Z ?9k;A: :)ZF:FA5[mB1 B5'@A5*B1A9A9A=ÓA9RCACAIYGu=WS,(NiFAY}6R?}6h?y}6Q }6{W}6H b`t?6aʶ?@쪿\?)~6R? ~6LZ;I~6Cɫ99)9 =I9Y@y|FxDUSBL response received:!U1,P EB3,000,002CB,187,80,80,AD,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i5M=E=YMl QUU>aiam%Hqy<}>Iȩ :ŭ 5? :ŭI޾ ƭO ?9ƭ;Aǭ-; ȭ;)ȭ4:ZF:FA=B9 BE(@AE ˾*BAAiAiAu>AqRCyCIG (>?S,NiFAY}6~?}6?y}6)#}6:0}6HEY `B?@$Ns?}?)~6~? ~6[WZ;I~6Cɫ99)9 =I9Y}@y}FAAAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I"@)i    @ @ @i )Ii=M@=YLQU>a%Hy}>I\ 5?ɰk=鰅> )BIyz@$?j?ٱiI=)=-L7A`?ˡE?(\µ-+=-'> -))I)y-X9vˡE-}-'-̼ ))-DAI-A>Ai-@A)-\?A)E= E=M<MMS=YU .YYa]%HYyer}e>Iim 5?mK޾ m] u?9mEE6$ͧQ_ c@ZL_E7Bgۿ?(%ڕ{Eu@rE@zERE`9?ZEbEjEE @E@@AMj.޼BQ BU(@AUW¾*BQAQAQA]LAYRCYCaIG>QS,= OiFAY}R?}R?y}R;}R}RH`ew@BC?@ye?s`dl?)~R? ~RkWZ;I~RCɫ髡) IY@yF=DNmea in: $SNTTA,,,,,233731.38*52 iIIMF=Yea%Hy }>Iȩ :ŭ 5? :ŭL޾ ƭ& ?9ƭk=Aǭ: ȭI:)ȭ5:ZF:FAռB B(@A˾*BAAALARCCIG=|S,B#OiFAY}>?}> ?y}>"@ <}>$}>H(ųb⤿=?׳Fu?g?)~>? ~>]TZ;I~>CɫYY)Y ]IYY@yF ))i)) } } } }@ }@ }@yyyiyy y)yIyiy<MK=Ya%HyA;}>Iȩŭ 5?ŭ4N޾ ƭL ?9ƭ=Aǭ#: ȭ:)ȩZF:FA˼B BE)@Alʾ*BAAA1ARCCIG=zS,r=OiFAY}69?}6p?y}67<}6I}6H@L?yٴs}?`4 @?)~69? ~6Z;I~6Cɫ99)9 =I9Y}@y}Fi ]A=MR=Y;QU>!!a%%H!y-&<}->I1 :5 5? :5}O޾ 5p ?95_>A5k: 5k:)56:ZF:FAB B)@Aƾ*BAAAƹARCCIG =S,4LWOiFAY}6?}6?y}6A<}6Q}6Hbµ`;?⵿b~?}8`3 ?)~6? ~6K[;I~6Cɫ99)9 =I9Y}@y}1Fi\;MJ=Y>:QU>!!a%%H!y-#<}5>IAE? 5?EP޾ Eq ]?9E>AE; E ;)AZFi:FiAB B)@AȾ*BAAA͹ARCCIG=>S,/qOiFAY}2?}2?y}2S<}25}2H ,@?3.p?`b}E?)~2? ~2[;I~2 Cɫ19)9 =I9YuP@yuFI)!@i}Mb@Mb@Mb@}} })}Iyy}l#~ja%HyE0;}>I  :? 5? :Q޾ ,n ?9w?AD; ';)7:ZF!:F!A0CB BH*@AϾ*BAAAԹARCCIG= >S,XOiFAY}:?}:?y}:fs<}:5}:H #@?` ?l 9~?)~:? ~:[;I~:Cɫ99)9 =I9YyyyiI=)R=)> >Yä;QU>a%HyM}>Iȩŭ 5?ŭ3R޾ ƭK ?9ƭ@AǭA: ȭ:)ȩZF:FAvB B*@A<Ҿ*BAAAڹARCCI G%=S,ۤOiFAY}6?}65?y}6<}6}6HO"b?s ?_?)~6? ~6Z;I~6Cɫ99)9 =IAY}|@y}ñF鮁ɮp=if;M;QU>a%HyM}>I : 5? :R޾ * ?9@A: :)8:ZF:F-B*** querying acoustic contact ***:EBEAܾB B*@A^Ӿ*BAAA߹A!RC)C9IAG}=S,0OiFAY}2?}2?y}2ܫ<}2x*}2H⵿\@`w?k??@*ՓuN]?)~2? ~2gZ;I~2CɫII)I MIIY}$@y}VFZ****** received transponder code query ******F****** received ping request ******99aE%HAyEt;}M>IIM 5?MS޾ M ]?9M%AAM4: M:)IZFi:FiA}1_B BB+@Aؾ*BAAApARCCi]NmGIqi)ٺ3BIG>+S,)OiFAY}6D?}6{?y}6{<}6kD}6Hζ?Lu`?@ 14?@?)~6D? ~6bZ;I~6Cɫ99)9 =I9Y@y̱FxDUSBL response received:!U1,P E60,000,002CF,186,80,80,66,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i  )-^AMGl<M]I=Yeő;QUm>a%Hy<}>I 5?:T޾   ?9AA = A =)ZF:FA%zB) B-+@A->پ*B)A)A)A5CA1RC1C9IqG=>S,nnOiFAY}:Ms?}:c?y}:|<}:5,K}:H@+ a@?hi 7?(r`oa@!?)~:Ms? ~:"7Z;I~:Cɫ99)9 9IAY]@y]Fe@Ae@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iy&1|?T㥛 ?+`;> )Iy&1/$P, ;A)DAI@Ai?A(@A U@ ]@ ]@ ]@U©UUiUU U)UIUiUm;Mm:=Ym7QUu>qqau%Hqy}X;}}>Iȁ  :Ņ- 5?  :ŅZU޾ ƅ  ?9ƅ0BADžh< ȅF<)ȅ9:ZF:F!AUFaBQ BU+@AUھ*BYAYAYA][AYRCaCIG-,>T,I PiFAY}22?}25i?y}2֙<}2pG}2H~ug?f߶@f ?{꨿?)~22? ~2VZ;I~2CɫYY)Y ]IYY}2@y}hFxDUSBL response received:!U1,R,ECC,000,002D3,186,80,80,85,FF Fpublishing direction and range info>ɰl=鰁 )CIy(@%m?<?ٱI @)@iMk=Y4ڻQU?a%HyU}?I 5?EV޾  ?9BA: k:)ZF:FJEE(@E0)@$?E%m?<?E>EEvi&qD@Ho>ǿEE^ֿ=#?M9PE8?rE2@zEREb9?ZE`9?bEjEE@E @AJB BH,@A*BAA!A%A!RC!C)IAG= T,*&PiFAY}N?}N/7?y}N<}NB}NH F? Ix`?`C CNu?)~N? ~N_Z;I~Lɫ髱) IY:@yqF]TNmea in: $SNTTA,0.025205,,,,233735.82*49 iiiIu4=)u4=)}> }>5:M=4=YEQUE>AAaM%HIym)Z}u>Iq }:uR 5? }:u}W޾ u ?9u CAu: uE:)u::ZF:FAE67Bi Bm,@Au*BqAyAyAARCCI GE0>T,l@PiFAY}6 ?}6B?y}6L<}65}6H\@ ኧ`?`~? iU 7?)~6 ? ~6@OZ;I~6Cɫ99)9 =I9Y]@y]Fi U U U U@ U@ U@QQQiQQ Q)QIQiQeT<MeY=Ym;QUm>qqau%Hqy}$u:}}>IȁŅ 5?ŅzX޾ ƅœ ?9ƅoCADž4: ȅD:)ȁZF:FA]b%B B-@A*BAAAARCCIG=&*T,QYa]%HYym};}m>Iȁ :ŅZ 5? :ŅY޾ ƅ` ?9ƅCADž; ȅ;)ȅ;:ZF:FANvB B^-@A*B!A)A)A5A1RCACIIGU>%TT,ԵsPiFAY}BT?}Bj?y}B<}B; }BH,η+ n ?`]? `>?)~BT? ~Bc8Z;I~BCɫ髁) IYS@y̲Fi!! ))Mb@Mb@Mb@ )IyA`"X9v~jth?Y}D; :A)FAIiQ@A E M M M@ M@ M@IIIiII I)IIIiI](<M]:=Y];QUe>aaae%Haym;}u>Iqu 5?uZ޾ uf ?9umDAu: u:)qZF:FAB B-@A\*BAAAARCCIG>;#T,ҏPiFAY}2G?}2]4?y}2<}2V}2H=@E j? u`?[H7?)~2G? ~2EZ;I~0ɫYY)Y YIYY@yFi=m!M=_=Y=wQUE>AAaE%HAyM;}M>IQ ]:U 5? e:U[޾ U6? e?9UDAUM: U:)U<:ZFq:FqAdǻB B.@A*BAAAbARCCIG=g)T,rPiFAY}62 ?}6HB?y}6 <}6-}6HZ $?:롐?@ ᔿ ?)~62 ? ~6.Z;I~6Cɫ99)9 =I9YuS@y}̲FI@)@i)<MN=Y;=QU >  a %H y:}>I 5?\޾  -?9lEAZ: :)ZFY:FYAmÝBi Bmo.@Au*BqAqAqAu%AqRCyCyIG=N0T,=GPiFAY}?} 7?y}[<}nRI}H =D`1Щ@?p܆?JK&@?)~? ~CZ;I~ɫ  )  I YM_@yMFUa=ɮUa=iYaImp=)m=)m= m=    @ @ @ñññiññ ı)ıIıiıM%=YRQU>a%Hy5}>I 5?^޾ ~ ?9FA+: :)ZF:F- B*** querying acoustic contact ***:E BE AUbrB B.@A*BA!AAARCCIGH>w6T,!PiFAY}6?}6,?y}6/`<}6H}6H0@ <?U@z?l`e?)~6? ~6/Z;I~4 <)>aAɌ<<<@ɍBcAiBẾIBCE@IDiD DD)DH HHHɎHLN`AIL)LiL)PIRXaAPɏP PɐTVaATiTTiXX)X XIXɫ髁) IYE@yEFZ****** received transponder code query ******F****** received ping request ******E6 )Iy~jtl񲿸QĽ n8A)EAI?AiA>A ?AM/=Y QU>a%Hy(/}>I :* 5? :X`޾  ?9FA4: :)=:ZF:FA/B  B N/@A $*B A A AZARC!C)IG=>:H`᤿f?)~2? ~2HZ;I~2Cipp)p pIp t)v3aAɠttttɡzaAiz?IzExIxix ||)|| ~&aAɢI) i ) I  ɣ  ɤ\Aiɫ) IY5@y51F=xDUSBL response received:!U1,P ECC,000,002D3,186,80,80,85,FF ECommand AckEBRequesting micromodem ping code 2iAAMNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iiiy /=M=Y% 9QU-?9AaE%HIy%}?IȱŵK 5?ŵa޾ Ƶ̼ ?9ƵGAǵ: ȵ:)ȱZF:FAu6ܺBq B}/@A}*ByAAAARCCI Gm5>iiimGIi!*ٺB$CT,QiFAY}6ȃ?}6޺?y}6id<}6^K}6H,M`T`= 1?`BhPh? p@ ?)~6ȃ? ~6HIIaM%HIyUȓ}U>IY e:] 5? e:]c޾ ] m?9]VHA]: ]:)]>:ZFy:FyAϊ7B B/@Ae*BAAAARCCIGu>IT,d(QiFAY}6$?}6[?y}6^<}6# }6H&`Ρ^? ?~Ë ;C?)~6$? ~6`Z;I~4ɫ髙) IY@yFxDUSBL response received:!U1,R,E6D,000,002D9,186,80,80,9D,FF Fpublishing direction and range info>ɰn= )CIy@9 ?n] ?ٱiUMUYYa]%HYye}e>Iim 5?me޾ m4< u?9m!IAm: m:)iZF:FJEE@E $n@rG2@E9 ?n] ?E>EE%?'@vyqÿE,'>ۿt?-옿E*@rE@zE)REa9?ZEb9?bEjEE@E@AKc9B BT0@A*BAAAARCCIG]>,PT,BQiFAY}2?}20?y}2`W<}2qA6}2H@8 E]?`Y?늿Ŧ /?)~2? ~2LZ;I~2Cɫ9A)A EIAY@yFDNmea in: $SNTTA,,,,,233740.28*55 I-@)-@i11ual;MuY=Y}`QU}>ya%Hyg}>Iȉ :ō 5? :ōg޾ ƍVc ?9ƍIAǍ: ȍ:)ȍ?:ZF:FAO7:B B0@A *BAAAwARCCIG=VT,k\QiFAY}:?}:8?y}:>U<}:QZ}:HI`ԫ1?`o@0?Y?)~:? ~:,rZ;I~8ɫAA)A MIIY}@yְFi)í= í=    @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉ"I;M9=YgQU>a%Hy%:}>IȹŽ 5?Ži޾ ƽ ?9ƽJAǽ: Ƚ0:)ȹZF:FAj:B B1@As*BAAA#ARCCIG5 >g\T,9EvQiFAY}6:?}6q?y}6̑><}6V}6HD?۶ eP|?@҇@yت@-?)~6:? ~6D9Z;I~6Cɫ99)9 =I9Y}@y}FiMb@Mb@Mb@ )IyX9vT㥛 X9v?}< :A)DAI™i@A(@AMZ=YqQU>a%Hy1;}>I 5?+k޾ vZ ?9@KA: :)ZF:FApt3;B  B t1@A *B A AAARCCI1GM=McT,u QiFAY}2!!a%%H!y-.:}->I1 =:5 5? =:5`l޾ 5$ E?95KA5: 5:)5@:ZFQ:FQAeYh;Ba Be1@AmN*BiAiAiAm2AiRCqCyIG-=jT,QiFAY}f8?}fo?y}fȠ;}fn%}fH`c)?@CZ?t  @?)~f8? ~fZ;I~f Cɫ髑) IYn@yFi99 AAE]AA    @ @ @ÑÑÑiÑÑ đ)đIđiđ<MA=YKQU>a%Hy}>IȹŽM 5?Žm޾ ƽ/ռ ?9ƽ`LAǽ: Ƚ:)ȹZF:FAm+;Bi Bm:2@Am2*BqAqAqAu}AqRCyCyIG>pT,EQiFAY}:?}:T?y}:;}:H)'}:H`Yu 2?` xI?;q㤿?)~:? ~: +Z;I~:Cɫ99)9 =IAY}@y}ֱFiEl;MEQ=YMQUM>IQaU%HQy]^ }]>Ia m:e 5? m:en޾ eQ m?9eLAe: eN:)eA:ZFy:FAmR;B B2@AA*BAAAvARCCIG=wT,QiFAY}>D?}>Y1?y}>;}>jH}>H;) ?}DhC?s ?)~>D? ~>15Z;I~>Cɫyy)y IYM@yNFp=ɮ=I @)!@i-BFM5K=Y=֗:QU=>a%Hy'}>I 5?Hp޾ [: ?9MA: :)ZF:F-B*** querying acoustic contact ***:EBEA];B B3@A*BAAAARC!C!I9GU=x>}T,QiFAY}6?}6 ?y}6I;}63GE}6HV `? ﵿ ^b`qz?)~6? ~6jZ;I~6 CɫII)I MIIY}@y}FZ****** received transponder code query ******F****** received ping request ******]"= ];)]IYy]Zd;㥛 Q?]y]]u< ]:A)]DAI]A>AiYY]\?A)u> u>    @ @ @ÙÙÙiÙÙ ę)ęIęię M4=YQU>a%Hy:2}>I : 5? :q޾ tI z< ?9*NAN: %:)B:ZF):F)A=1;B9 BEt3@AEm*BAAAAAAmAiRCiCqIG>x&T,QhRiFAY}6S?}6j?y}6i5}6ԍ}6H,? ?Fpx 7f?`p?)~6S? ~6Z;I~6Cɫ99)9 =I9Y@y(FxDUSBL response received:!U1,P E6D,000,002D9,186,80,80,9D,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i5=M=f=YM1hQUU>aiam%Hy.9}>I)-f 5?-r޾ -΋< =?9-NA-Y!; -;))ZFY:FYAЯ;B B3@A> *BAAAhA RC CIIG8>~PT,C+RiFAY}2?}2=?y}2dѻ}2%}2H`T?D`D@0z?4`?)~2? ~2~Z;I~2Cɫ99)9 =I9Y}@y}FAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i9MC=YQU>a%Hye;}>I : 5? :s޾ g< ?9WOAw: ,:)C:ZF:FA;B B74@A*BAAAARCC I!G==r9T,"ERiFAi6}nGI@iHb)ٺ`b;BY}rK?}r?y}r}r]&}rH ݶ@q?`ɶ'(Mw?1ʤ?)~rK? ~r[Z;I~rCɫ) IY5@y5F=xDUSBL response received:!U1,R,E75,000,002DF,186,80,80,94,FF EFpublishing direction and range info=|>9ɰ=p=9 9)=CI9y=3@='?m?ٱ9iYY YYe^Aa M M M M@ M@ M@IIIiII I)IIIiI]<Me?=Ye:QUe>ia%Hy";}>Ișŝ 5?ŝPu޾ Ɲ< ?9ƝOAǝ: ȝ;)șZF:FJEE3@E4@g;)@E'?m?E|>EE,1k@^E,ڿ8?;)EAL@rE@zE1REb9?ZEa9?bEjEEW @E@A%$;B! BM4@AM=*BIAIAIAUAQRCQCYIqG>eT, _RiFAY}Mr?}M?y}MV}M`}MH+>@W̫`U?`Հ{j??)~Mr? ~M,Z;I~MCɫii)q qIqY/@y)F=TNmea in: $SNTTA,0.006553,,,,233744.71*46 iII~jt~jt?I += 94)IyMb/$~jtx,Ļ C9A);CAIAȼMA=Y;QU>a%Hy _:;} >I :A 5? :v޾ >< ?9PAA: :)D:ZF1:F1AE;BA BE5@AM*BIAIAIAMAIRCQCQIqG-,>T,xRiFAY}:6?}:m?y}:Q,}: g}:H?`9A`:e?E?)~:6? ~:#7Z;I~:Cɫaa)a iIiY@yXFI]!@)Yiaa    @ @ @i )IiM\=Yh:QU>a%Hy  } >I! 5?w޾ < %?9PAk: ܹ:)ZF1:F1AE*;BA BMs5@AM*BIAIAQAUAQRCQCYIG=tT,RiFAY}69?}6P%?y}67}6~0}6H#4?c`=聿 ۦt? J?)~69? ~61Z;I~6Cɫ99)9 9I9Y}@y}Fi)> =m\;=MmT=YmͻQUm>qqau%Hqy}m}}>IȁŅK# 5?ŅIy޾ ƅ< ?9ƅpQADž : ȅ8:)ȁZF:FA<B B5@A*BAAAARCCIG=LT,]RiFAY}6?}6 ?y}6}6"}6H  @ $?& y0b? ܝ@?)~6? ~6`5Z;I~4ɫ99)9 =IAY}@y}Fi<MP=Y8QU>!!a%%H!y-p}->I1 =:5$ 5? =:5z޾ 5{< E?95QA5: 5I:)5E:ZFQ:FQAei<Ba Be@6@Amz*BiAiAiAmAiRCqCyIG%=T,eRiFAY}6=?}6TJ?y}6}6*}6HRm @ Y"?WɈ cb? P?)~6=? ~6 Z;I~6Cɫ99)9 =I9Yy i U U U UUUU=?iUCU U"C)UCIUCiUMCYe5hQUm>iiam%HiyuH;}}>Iy}& 5?}|޾ }s< ?9}mRA}0: }÷:)yZF:FAy<B B6@A1*BAAAARCCIGU=:T,PRiFAY}=Z?}=qJ?y}=s@}=4}=Hhm@T?@lF@-Џ` ?`s?)~=Z? ~=P5Z;I~=CɫII)I UIQY+@y_Fi Mb?V-?Ai¹?A]A]A;Ma%Hy7}>I :) 5? :V~޾ 9; ?9?SA: :)F:ZF:FA%n<B) B-&7@A-*B)A)A1A5"A1RC1C9IQGm>wڽT,RiFAY}6b?}6y?y}6,o|}6`}6HǵL R? y? ?)~6b? ~6"Z;I~6Cɫ99)9 =IAY}\@y}`F鮅a=ɮp=iMw=Y6QU?a%Hy}?I* 5?޾ V1 ?9SA: :)ZF:F-B*** querying acoustic contact ***:EBEAU;B B7@A *BAAA!ARCC I!G=T,USiFAY}6P?}6?y}6ݖ}6 0T}6H贿N`99aE%HAyEd}M>II U:MW- 5? ]:M2޾ M' ]?9MTAM: M:)MG:ZFi:FiAA;B B7@A*BAAAARCiCqIG=T,-SiFAY}6N?}6e'?y}6$}6p(}6H`( -M`a? : V? ?)~6N? ~6Z;I~6Cɫ99)9 =I9Y@y FxDUSBL response received:!U1,P E75,000,002DF,186,80,80,94,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iI=)=) = -7M5K=YEo;QUM>Yaae%Hiy}>Iȡť/ 5?ťU޾ ƥv< ?9ƥ[UAǥ; ȥ;)ȡZF:F A%ě;B) B-m8@A5"*B1A1A9A=߹A9RCACiIG-,>VT,XGSiFAY}6?}6?y}6W}6N` }6H}`I?@ܳ.?Ċz?)~6? ~6`=Z;I~6Cɫyy)y }IyYr@y{F@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iyyZMC=Ya%Hyܺ}>IȹŽ1 5?Žn޾ ƽ} ?9ƽVAǽ÷: Ƚw:)ȹZF:FA ;B B8@A|%*BAAAܹARCCIG5=8T,>aSiFAY}v?}v,?y}v̼}v%"}vHv ϣ{?` `T?>7?)~v? ~v*Z;I~vCɫ) IY @yLFxDUSBL response received:!U1,R,E26,000,002E6,187,80,80,6B,FF Fpublishing direction and range info>ɰ#s=1> )BIy@M?2t*?ٱ5dNmea in: $SNTTA,0.007235,0.270654,,,233749.15*53 AAiAI!rh- @I +?9vlA94< )Iy~jt{GzMb?D#@= :A)DAIifBA?A } } } }@ @ @yyyiyy y)yIyiyH=M-=Y8;QU>a%Hyp=}>I :3 5? :޾ ?& ?9VAk: :)H:ZF:FJEE@E%9@00ɒ@EM?2t*?E>EE p`Mo =S@KE*\ ޿y};?n,Z8}E@rE0@zEzSREa9?ZEb9?bEjEE @EW @A 0;B  B S9@A !*BAAAhڹARCC!IYGu7>_*T,j{SiFAY}6?}6?y}6}6R}6H;쳿@᩿?ų@H?X?)~6? ~672Z;I~4ɫYY)Y YIYY3@yFi!! ))5^A5^Au?Muw=YuQU}?yya}%Hyy0\;}?Iȉō4 5?ō{޾ ƍȼ ?9ƍVAǍ^: ȍ^:)ȉZF:FAO;B B9@A-*BAAAعARCiCiIG=inGIi9eb"ٺaeBWT,ESiFAY}62?}6i?y}6LV}6l}6H K@a ?fr@U" W֊?`?)~62? ~6Z;I~4ɫ99)9 =I9Yu\@y}`Fi5>=MR=YQU>  a %H y{;}>I %:6 5? %:z޾  5?9CWAO; ^;)I:ZFY:FYAmq;Bq Bu:@Au+*BqAqAqA}ֹAyRCyCIG=:T,TSiFAY}:nc?}:?y}:}:u R}:Hu`:r`?ϴ{#??h= ?)~:nc? ~:8Z;I~8ɫYY)Y ]IYY@y߰FIE@)E@iII    @ @ @ÙÙÙiÙÙ ę)ęIęięs<M@=YQU>a%HyFh;}>I7 5?޾ bt< ?9WA: :)ZF:FAd;B B:@A9+*BAAA1չARCC I!G=="T,SiFAY}6?}6?y}6}6 }6H8@?᳿@X蟐?գ?)~6? ~6FZ;I~6 CɫYY)Y ]IYYM@yNFiI p=) %=) = >5/M=R=Y=:QU=>AAaE%HAyME%}M>IQ :U8 5? :U޾ U# = ?9UXAU: UR:)UJ:ZF:FA;B B;@A.*BAAAӹARCCIG-=YQT,"SiFAY}>i?}>Р?y}>N}>}>H@ ni{?lɎ`Љ?|@?)~>i? ~>6Z;I~>CɫQQ)Q UIQYA@yzFi^I +?ˡE?K7AX9>=  )Iy{GzMbI +?ף94< …n8A)…dGAI…l=Ai…;CA(@A U U U U@ U@ U@QQQiQQ Q)QIQiQe =Mm8=Ymqqau%Hqy}k}}>IȁŅ< 5?Ņe޾ ƅ = ?9ƅXADžӻ: ȅ:)ȁZF:FA;B B};@A,*BAAAoҹARCCIG>vT,SiFAY}6/a?}6E?y}6д%}6}6H  !@F'? ,?`˖ .?)~6/a? ~6GZ;I~6 Cɫ99)9 =IAY@y߰F !%_Ai!!UM]^=Y];QU]>aaae%Haym9}m>Iq }:u? 5? }:u޾ uq5= }?9uYAu: u:)uK:ZF:FAP[V;B B;@A0*BAAA}ѹARCCIG=`U,iTiFAY}:?}:&?y}:B}::-}:H ᳿`F`?2 YᎿ@/@?L?)~:? ~:f1Z;I~:CɫQY)Y ]IYY@y߱F鮝p=ɮa=i 鿱¹¹r=MT=YΒQU>a%HyU<}U>IY]C 5?]޾ ]L= e?9]uZA]: ]:)YZFy:Fy-}B*** querying acoustic contact ***:EyBEyA&;B BY<@A/*BAAAйARCCIG= U,R`0TiFAY}6u?}60?y}6*v}67u<}6H`b;--ަr?W Ŏ?؋ h?)~6u? ~6BZ;I~6Cɫ!!)! %I)Y}@y}FZ****** received transponder code query ******F****** received ping request ******AAaE%HAyM>*;}M>IQ ]:UG 5? ]:U޾ UTk= e?9U[AU_: U:)UL:ZFq:FqA/:B B<@A5*BAAAϹARCCIG>pU,U,&dTiFAY}B5?}Bl?y}B?}BKO}BHݳd?`[`r`R?`1橿@?)~B5? ~BAZ;I~BCɫ ) IYM@yMFuNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iI4=):v?)\(ԿMb`<G )Iy㥛 I +Mbp94 C9A)EAI;Ai?A)J> > M M M M@ M@ U@IIIiII I)IIIiIei<Me5=Yeiiam%Hiyu}u>Iy}K 5?}޾ }x= ?9}\A}h: }::)yZF:FA--"9B) B-=@A-7*B)A1A1A5ϹA1RCYCyIG>>U,}TiFAY}:?}:?y}:$}:XF}:H o@9?@$?mȨ$?)~:? ~:T0Z;I~:Cɫ) I!Y=@y=:FExDUSBL response received:!U1,R,E13,000,002EB,187,80,80,BC,FF EFpublishing direction and range infoEGF>AɰEt=A A)EEEu ;W@xdhE^}µ޿zW}?/kE@rE}@zE`REZEa9?bEjEE @E @A3B B3>@AW5*BAAAϹARC C I!G==%U,$їTiFAY}FA?}FWa%Hy ;}>IO 5?޾ p= ?9]AI: :)ZF:FA$B B>@A"8*BA A A (йA RCCI)GE=(+U,TiFAY}65m?}6K?y}6}6*}6H@$TT?$@4?@7 O?)~65m? ~6&3Z;I~4ɫ99)9 9IAY}@y}߱Fi ]A = = = =@ =@ =@999i99 9)9I9i9MMMQ=YUѽQUU>YYa]%HYye <}e>Ii u:mP 5? u:m2޾ mk= }?9mG^Am: m:)mN:ZF:FA<B B?@A-:*BAAAйARCCIAG]=i I i ٺ B2U,TiFAY}6!?}67?y}6"B}6,Y}6Hg@g5?DLEV?@`%?)~6!? ~6KIZ;I~4ɫ99)9 =I9Y]u@y]FI@)@i8MN=YEQU>!!a%%H!y-*;}->I15`R 5?5޾ 59f= =?95^A5: 5:)1ZFI:FQAe83Ba Be?@Ae}<*BiAiAiAmѹAiRCqCqIG=;8U,-`TiFAY}:AM?}:W?y}:fM}:,}:H0䲿z ? ?C@?)~:AM? ~:q,Z;I~:Cɫ99)9 9I9Y}@y}ֱFiM¿x&?y&1?n7= `<)Iy/$/$~jt, ½:A)½fBAI½A>Ai½AA\?A O;M>=Y;ǺQU>a%Hy}>I+T 5?޾ $= ?9x_A : :)ZF:FAUPflBQ B]@@A]*>*BYAYAYA]ҹAYRCaCiIGU>;?U,:TiFAɫ髙) IYf@yFi9AIE=)E=)M= M=     ?ikB B)CI9 Ci`BʶMJ=YQU>a%Hy}>I -:U 5? 5:޾ < 5?9`A; ;)O:ZFA:FAA]JBY B]@@A]@*BYAaAaAe4ԹAaRCiCiIG=EU,UiFAY}6Y?}6o?y}6ƻ}6p}6H`&Эf?~ӥkx??)~6Y? ~6*(Z;I~6CɫII)I MIIY}@y}߱F iI;MX=Y!!a%%H!y-wV}->I15rW 5?59޾ 5$=< =?95`A5: 5I:)1ZFI:FQAe Ba BeA@AeA*BiAiAiAmչAiRCqCyIG=c%LU,2UiFAY}2?}2?y}2}2[K}2H`Q%3`2? Ю q?`h?)~2? ~2BZ;I~2Cɫ99)9 9I9Y@yFa=ɮi%<%%?i%C! %B)%?CI%Bi%rC5R;M5H=Y=;QU=>9AaE%HAyE$:}M>II ]:M&Y 5? ]:M޾ MIS ]?9MDaAMI: Mw:)MP:ZFi:Fi-uB*** querying acoustic contact ***:EqBEqACB B~A@AB*BAAAV׹ARCCIG=# SU,SLUiFAY}:?}: ?y}:ў}:`}}:H`O ? !鱿k~s?@M?)~:? ~:X%Z;I~:Cɫ99)9 =I9Y}q@y}FZ****** received transponder code query ******F****** received ping request ******a%Hy;}>IȩŭZ 5?ŭ޾ ƭ염 ?9ƭaAǭ: ȭʽ:)ȩZF:FA%任B! B%B@A%Í1Í?iÍCÉ č-C)čIčBičVC%jM!=YQU>a%Hy0l:}>I :] 5? :޾ 5\  ?9bA; ;)Q:ZFA:FAA ʻB BB@A(E*BAAA۹ARCCIGmx>F`U,,UiFAY}6?}6ɰw=鰁 )$CIy@Վ>D}?x<㴁?ٱiI=)4=)é í=M\=Y`;QU>a%HyQ;}>I :%b 5? :Ө޾ 8 ?9cA< <)R:ZF:FJEE@E_@ @EՎ>D}?x<㴁?E\>EEQ}d.O`@~~ĿEqG࿝?EgE@rE+@zE|REZEbEjEE@E @AҏB BvC@AI*BA!A!A%߹A!RC)C)IaG=ulU,?UiFAY}Z@B?}ZVy?y}ZD}Z0a}ZHβ@?|h?j"?)~Z@B? ~Z)Z;I~ZCɫ髑) IY@yFTNmea in: $SNTTA,0.080057,,,,233758.04*46 鼑i @ @ @ @©i )IiU<M7=Y!;QU>a%H y 9:}>Id 5?G޾ 5 %?9SdA: :)ZF1:F9AM BI BMC@AMI*BQAQAQAUAQRCYCYIqG==[sU,UiFAY}2IO?}2_?y}2~}2p3}2H貿=?ز}=o? r`?)~2IO? ~2Z;I~2 Cɫ99)9 =I9Y}V@y} FiU<M]V=Y]QU]>aaae%Hayml:}m>Iqu>g 5?u޾ uf`; }?9udAu: u:)qZF:FA-B) B5vD@A5|H*B1A1A1A5[A1RC9C9IYGu=cyU,$UiFAY}6?}6O?y}6B}6 z}6H{+y? m Ѐ6x?`un ?)~6? ~6&Z;I~6Cɫ99)9 =I9Y@yJFi  MbX9? rh?Q?!>C = u=)IyQ뱿a%Hy2}>I :i 5? :޾ z\ ?9eA: w:)S:ZF:FAfB BD@AI*BAAAARCCIG >lU,ViFAY}:?}:?y}:k}:7}:H E@a?S҃@e-~?@~K?)~:? ~:BZ;I~:Cɫ99)9 =IAY}*@y}ԳFCIu@)u@inmGiIiٺ&B - - - 5- ׽-=-?i-C- -B)-BI-Bi-~C=cMEA=YEbQUE>IIaM%HIyU}U>IY]l 5?]޾ ]( e?9]fA]k: ]:)YZFy:FyA-P B) B-zE@A-?M*B)A1A1A5A1RC9C9IQG>PU,ViFAɫ髡) IY@yFiAAûMW=YQU>a%Hy}>Iș :ŝ1o 5? :ŝ޾ Ɲd ?9ƝGgAǝ-: ȝ:)ȝT:ZF:FA B BE@AO*BAAAAARCCIG=U,5ViFAY}6uu?}6?y}6eẙ}6>r}6H 63@W+t?'@4Mw#\?@K?)~6uu? ~6Z;I~6CɫII)I MIIYyyiI4=)C=)  > >Ym!!a%%H!y- }->I15q 5?5޾ 5$ =?95 hA5O: 5:)1ZFI:FIAeKBa BeqF@AeQ*BaAiAiAmAiRCqCqIG=JU,F[OViFAY}6h?}6?y}6O:}6/j}6H@!5GO?@hI`&Y@?)~6h? ~6.Z;I~4ɫAI)I UIQY#@y˳Fɮ= i %@ -@ -@ -@%©%%i%% %)%I%i%=U;M=AAaE%HAyMt}M>IQ ]:Uht 5? ]:UH޾ U e?9UhAU=: Uk:)UU:ZFy:Fy-}B*** querying acoustic contact ***:EyBEyAB BF@AIS*BAAAARCCIG=әU, 7iViFAY}:gr?}:}?y}:<9}:1\;}:H/<]@?+g`#oi`n?)~:gr? ~:Z;I~:CɫAA)A EIIY}@y}FZ****** received transponder code query ******F****** received ping request ******YYae%Hayeq+:}e>IquSv 5?u޾ u }?9uiAu: u:)qZF:FATB BG@AV*BAAAARCCI)GM>cU,ViFAY}6?}6?y}6꺙}6}6Hh``?}3rY]?ݣ?)~6? ~6u!Z;I~6 Cɫ99)9 =I9Y}q@yFxDUSBL response received:!U1,P DEF,000,002F2,187,80,80,A4,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i _A%ʼM-`=YE QUM>a%Hy%_`;}->IY m:]x 5? :]޺޾ ]`3 ?9]RjA]; ]s;)]V:ZF:FAjB B H@AfZ*BA!A!A%AiRCqCyIG">U,9ViFAY}6?}62?y}6H5}6NJ$}6H Աa?ʱ`v f?ۇ a?)~6? ~6)Z;I~6CɫII)I IIIY}@y} FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I) @i U U U UUDiiau%Hqy}H;}}>IȁŅy 5?Ņ޾ ƅk ?9ƅjADž: ȅr:)ȁZF:FAM BI BUH@AU[*BQAQAQAUAYRCYCaIyG=U,ȶViFAY}6f?}6|?y}6b}6$}6Hױ af?ʱJyZl?U?)~6f? ~6]$Z;I~6Cɫ99)9 =I9Y@yӴFxDUSBL response received:!U1,R,DBA,000,002FC,189,80,80,96,FF Fpublishing direction and range info"?ɰXz=7> )CIypA+ (?v ?ٱim=MR=YQU>a%Hy8}>I  r{ 5? ޾ ; ?9 kA w: :) ZF):F)JE1E5pAE5a'&@X$a9@E5+ (?v ?E5"?E1E5d 4AJM@܏;E5nvῠ?S)1鐿E5y @rE5@zE5RE5`9?ZE1bE1jE5E5( @E5@AU BY B]I@A]&X*BYAYAYA]AaRCaCiIG=#U,.ViFAY}~?}~U?y}~<}~}~H I X Ѣ?n@͍ug?Y?)~~? ~~MGZ;I~|ɫ) IYh@y\FTNmea in: $SNTTA,0.009409,,,,233802.48*40 i  I=)=)= = e@ e@ e@ e@]©]]i]] ])]I]i]ut<Mu4=YuS:QU}>yya}%Hyy8}>Iȉ :ōk} 5? :ō޾ ƍQ< ?9ƍwlAǍ: ȍw:)ȍW:ZF :F AG B! B%I@A%X*BAAIAIAMAIRCQCQIG>!U,~ViFAɫyy)y }IyY@yoF !!i)) rhտgfffff?V-ҿ3s? h)Iykt~jtMb` D C9A);CAIi;CA M Q=YQU>a%Hy}>I!%. 5?%S޾ %N< 5?9%mA%]: %8:)!ZFA:FAAUK6 BY B]J@A]]*BYAYAYAe9AaRCaCiIG= U,YWiFAY}N B?}N y?y}NW;}N6x}NH@eϰ ":?3ڰ0BG? JsO ?)~N B? ~N?Z;I~Lɫyy)y }IyY@yFi!!UU =M]V=Y]6aaae%Haym8;}m>Iq }:u 5? }:u޾ uV< }?9umAu: u:)uX:ZF:FA^B BJ@A[*BAAAvARCCIGe=+5U,2;WiFAY}FH]?}F^?y}F?;}F\d}FH``?@@'-YGa·@?)~FH]? ~F;Z;I~DɫQY)Y ]IYY0@yRFi99 AAII    @ @ @ÑÑÑiÑÑ đ)đIđiđDz<ME=Y`ȻQU>a%Hyl;}>IƂ 5?޾ \< ?9UnA: :)ZF:FAB B%K@A[*BAAAARCCIG=5bU,"8WiFAY}F)P?}F??y}F}Fۃ}FH 밿8?߰DT{@,q?ϡ?)~F)P? ~F$a%Hy}>Iȡ :ť 5? :ť޾ ƥX< ?9ƥnAǥ: ȥ{:)ȥY:ZF:FA5#B BK@Aac*BAAAARCCI G%=i/mGIi =ٺ9=BIU,/QWiFAY}6?}61?y}6kh}6 }6H @@M:?J6K? ,?)~6? ~6^JZ;I~4ɫQQ)Q UIYY8@y[Fi5fb=M5P=Y=v QU=>9AaE%HAyEٻ}M>Iȡťg 5?ť޾ ƥL< ?9ƥoAǥ: ȥ:)ȡZF:FAdgB B6L@A_*BAAA5ARCCIG=oU,&kWiFAY}69?}6O?y}61g}6}6HQ` ? ]箿`u "l?@@5?)~69? ~65Z;I~4ɫII)I MIIY}@y}F鮁ɮiI,>)a i%@a % a m%@a % a q%@a % a e%@a % %{Gz?MbX9ĿS㥫?%ף=%! %/]=)!I!i%Mb@Mb@Mb@%©%% %Q*A)%"+AI%Q*Ai%|)A%%=*A)== 9    ÅtÅ<Å?iÅ.CÅ ą C)ą(BIą[Bią CC<ME=Y$a%Hy}>I15J 5?5޾ 5F< =?95DpA5l: 5_>)1ZFi:Fi-uB*** querying acoustic contact ***:EqBEqAB BL@A`*BAAAnARCCIG> XU,WiFAY}6%?}6;?y}6i@;}6sd}6H`d,?ɮ];- h4?)~6%? ~6;Z;I~4ɫ) IY%h@y%\F-Z****** received transponder code query ******-F****** received ping request ******-a%Hya}>Iȡ :ťu 5? :ť޾ ƥ7N< ?9ƥqAǥ: ȥZh?)ȥZ:ZF:FA߻B BlM@Ah*BAAAARCCI G%N>U,WiFAY}:ʭ?}:?y}:{;}:/}:HO4 )? ^k.2`co"`?)~:ʭ? ~:#Z;I~:C @)@ɌDDDDɍDiJrIJEHIHiJ`A HL)LL NaAPPɎPPR`AIT)TiT)TITTɏX XɐXZaAXiX\i\^\A)\ `I`i``)` dId d)dɠddhhɡjaAijIncElIlil nDl)pp r+aAppɢpttIt)tit)xIxxɣx xɤ|~ZA|i||ɫ髱) IY-@yFxDUSBL response received:!U1,P DBA,000,002FC,189,80,80,96,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iy+Mm=Y&;QU>IIaM%HIy]9D;}]>Iȉō 5?ō޾ ƍW< ?9ƍqAǍ; ȍX?)ȉZF:FAһBA BEM@AEk*BAAIAIAM AIRCQCyIGI>TU,qYWiFAY}6d,?}6{c?y}6 }6S_}6H<@ë@? n a:xac?@櫿?)~6d,? ~6G(Z;I~6Cɫ) IY5R@y5@F]Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i  -@ -@ -@ -@-©--i-- -)-I-i-=;M=S=YEQUE>AIaM%HIyU+<}U>IY] 5?]k޾ ]Z< e?9]/rA]: ]?)YZFq:FqA}ͻB BiN@AZl*BAAA ARCCIG=xU,1WiFAY}6&?}6=I?y}6ػ}6g\}6Ho @ ?L__ׁ@J{?꠿@Y?)~6&? ~6Z;I~6Cɫ) IYU@yUF]xDUSBL response received:!U1,R,DB2,000,00304,189,80,80,A1,FF eFpublishing direction and range info]?Yɰ]|=Y Y)]!CIYy] A]k/?Cރ?ٱYI@)@iE#K<MM;=YM1QUM>QQaU%HQy]}]>Iae 5?eu޾ eR< ?9erAe< e^@)aZF:FJEE AE6gƴ@Fri_@Ek/?Cރ?E?EE܉LrҢ@dh^XE4@b,?8Uq E @rE?@zEdREZE`9?bEjEE @E( @A ˻B BO@Aem*BAAA ARCCI!GE/>U,7WiFAY}2?}2?y}2<Ց}2ּ}2Hî@r׆?5|x:r?Cٚ@?)~2? ~2"Z;I~2Cɫ99)9 9I9Yu)@y}IFTNmea in: $SNTTA,0.044827,,,,233806.96*4E iAAa i-a i5 a m5a m5 a q5a q5 a e5a e5 5X9v?Mb?K5<5= 5^)1I1y5EԸMbQ5ƽ55u 55A)5EAI5A>Ai5@A55>A    Õfv@Õ @Õ>iÕWBÕ ĕdB)ĕBIđiĕB <MU=Y`;QU>a%Hy}0}>Iȹ :Ž 5? :Žv޾ ƽ'; ?9ƽsAǽ: Ƚb:)Ƚ[:ZF:FAĻB BO@Aym*BAAA ARCCIG5 >ǥV,XiFAY}:O?}:?y}:u}:B}:H֭ ?sЭhc .?¢?)~:O? ~:Z;I~:Cɫ99)9 =I9Y}@y}FiIR=)%=)%> >u1<Mu`=Y}=ya%HyC}>Iȑŕ$ 5?ŕ`޾ ƕPC; ?9ƕDtAǕ: ȕ:)ȑZF:FA߷B BP@Al*BAAAT ARCCIG=V,n XiFAY}6q?}6 ?y}6֨9}6JI}6H3`?@X>e5&?)~6q? ~6h0Z;I~4ɫ99)9 =I9Y}@yF i!!1MD=Y:QU>a%Hy3#;}>I1 =:5 5? =:5޾ 5- E?95uA5 : 5%:)5\:ZFq:FqAAB BP@AKo*BAAA6ARCCIG- > V,:XiFAY}6o?}6?y}6YO}6cJY}6H@]1?\<@=z@i?&@o?)~6o? ~6ZZ;I~6CɫII)I IIIY}@y}Fi 5@ 5@ 5@ 5@5©55i55 5)5I1i5EJMET=YMQUM>IIaU%HQy];}]>Iae 5?e޾ eջ m?9euAeض: e:)aZFy:FA\B B#Q@A8v*BAAAARCCIYG=V,zTXiFAY}6?}6 ?y}61}6AO}6H/s@-@?ɀu?S婿@h?)~6? ~6@Z;I~6Cɫ99)9 9I9Y@yɵFi!! !!)-^A=;M=K=Y=QU=>AAaE%HAyMRd}M>IQUJ 5?U޾ U; ]?9UvAUb: Uӻ:)QZFq:FqADB BQ@Aw*BAAAARCCIG=V,4enXiFAY}Z q?}Z!?y}Z.}Z<}ZH\p ?NDv@e?.J?)~Z q? ~ZZ;I~ZCɫ髑) IY@yFIE?)E?iAA&1?&1 rh?P=P C =)IyZd;p= ף:vyT n8A)DAIl=Ai - - 5 55m=5t5?i5C5 50C)5BI5MCi5B=;ME:=YE ;QUE>IIaM%HIyU&q}U>IY e:]ם 5? e:]޾ ]F m?9]$wA],: ]:)]]:ZFy:FyA DB  B OR@A y*BAAAARCCIQG>A A i mGI aAi  ٺ aA A] Y*@9] Br!V,0LXiFAY}2I?}2?y}2X}2S}2H`.J@\`(?`{fA?/i ?)~2I? ~2[)Z;I~2Cɫii)i uIqY @y$F鮱ɮR=i;Md=Yj;QU>a%HyZ}>I 5?;޾ A ?9wA4: ܹ:)ZF :F -B*** querying acoustic contact ***:EBEA%;B! B%R@A-{*B)A)A)A-#A)RC1C1IG=(V, XiFAY}6@?}6w?y}6}6#}6HH?QD?`q qzc? 4V?)~6@? ~6 Z;I~6CɫII)I IIIYyyyZ****** received transponder code query ******F****** received ping request ******a%Hy6}>I  :C 5?  :޾ ]Ƽ  ?9;xAY; G:)^:ZF!:F!A={tB9 B=bS@A=Z}*B9A9AAAEAARCACIIaG}=CH.V,yXiFAY}6F?}6\S?y}6q}6}6H _/?{%|Nu?\?)~6F? ~6)Z;I~6 Cɫ99)9 =I9Y@y,FxDUSBL response received:!U1,P DB2,000,00304,189,80,80,A1,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i 5@ 5@ 5@ 5@-©--i-- -)-I-i-Z_<Ma%Hy}>I 5?[޾  ?9 yA: :)ZF1:F9AM~BI BM1T@AM<}*BIAQAQAuAqRCyCyIG>05V,XiFAY}6?}67?y}6l}6EB}6HH`C"`&?@|ym?`[F?)~6? ~6bZ;I~6CɫYY)Y ]IYY@y"FNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B iU=<=M]=Y]_;QU](?aaae%HaymU}m,?Iq :u 5? :u-޾ u ?9uiyAuw: u^:)u_:ZF :F A% }xB! B%T@A%{*B!A!A)A- A)RCQCQIiG=%Z;V,AXiFAY}2?}2=?y}29}2\}2Hð@% ?ji;`@?)~2? ~2aZ;I~2CɫYY)Y YIYYg@yзFxDUSBL response received:!U1,R,D9A,000,00310,189,80,80,88,FF Fpublishing direction and range info>+ ?ɰs=鰡 )CIyA$?^V?ٱi UMb`?)\(~jtU;UGa UD)QIQyUV-Mby&1UUU`e U:A)UAAIQiUAAQQiiuj#MuH=Y}>"ya%Hy9}>Iȉōa 5?ō޾ ƍ ?9ƍ2zAǍ: ȍ߼:)ȉZF:FJEEAE³dg @'y{@E$?^V?E>+ ?EEz!r@L3s@a؜mӿEak77֑ǚԎ? (E'[ @rE\@zERE_9?ZEbEjEE@E @AUmBY B]#U@A]~*BYAYAYA]AaRCaCiIG=CBV,~ YiFAY}6B?}6X.?y}6T:}6^v}6H@2v`JîS?-ra@ SǮ@.?)~6B? ~61Z;I~6Cɫ99)9 =I9Yu`@y}ǷFI?)?i      @ @ @ÉÉÉiÉÉ ĉ)ĉIĉiĉMG=Y:QU>a%Hy}>I : 5? :t޾ / ?9zAL; M;)`:ZF:FAj^B BU@A*BAAA+ARCCIG5 >lHV,mS#YiFAY}:^?}:t)?y}:3Y}: )+}:HbR C [?4JUw^&k?c?)~:^? ~:IZ;I~8ɫ99)9 =I9Y}c@y}FTNmea in: $SNTTA,0.168640,,,,233811.44*47 i =MJ=Yy5QU>a%Hy7¹}>I 5?޾ pE ?9{Aw: :)ZF:FAZQB BOV@A*BAAA A RC CI)GE==NV,.=YiFAY}6?}6?y}6仙}6˼}6H۫m`@? ë@ ǜ|?(aH?)~6? ~6OZ;I~4ɫYY)Y ]IYY}@y}FiI=)=)= 5c M=S=Y=QU=>AAaE%HAyM-}M>IQUT 5?U޾ U[ ?9U|AU: U:)QZF:FAHB BV@A*BAAA'ARCCIG5=_~UV, WYiFAY}6?}6?y}6ӟ}6NѼ}6HlT@ >?~C`wq?<`;?)~6? ~6I9Z;I~6CɫII)I MIIY}!@y}F _Ai 5 5 5 5@ =@ =@111i11 1)1I1i1EY<MMI=YM;QUM>QQaU%HQy]&}]>Ia m:e 5? m:e"޾ e|r u?9eL}Ae: e:)ea:ZF:FAw<B BvW@A*BAAAARCCIqG=a[V,dpYiFAY}2?}2?y}26:}2i +}2HC9__?AY Fub?)~2? ~2RZ;I~2Cɫ99)9 9I9Y>@yٸFi9AZd;O?A`"?MbXj=Y> ʽ)IynA`"Zd;OVYj< C9A)DAI;Ai?A=>A;M@=YCa%Hy囹}>I߯ 5?b޾ 2 ?9P~A:< !<)ZF:FA,2B BX@A*BAAAARCCIG >!bV,YiFAY}F?}F?y}F;}Fk^l}FH ` 0@?ۇG` c`W?)~F? ~FM8Z;I~FCɫ髁) IY@yFiyy 鿁‰]A    @ @ @i )IihMJ=Y*;QU>a%Hy[}>I  : 5?  :x޾ Z½  ?9HA: 3:)b:ZF!:F!A5,B(B1 B5X@A=O*B9A9A9A=vA9RCACAIYG5 >hV,ЙYiFAY}6?}6?y}6̉}6x}6H3x+? 6rq@9Q? `?)~6? ~6RJZ;I~6Cɫ99)9 =IAY]@y]Fep=ɮea=Iu?)u?iqq:M_=YQU>a%Hyd9}>I 5?E޾ s ?9A: :)ZF:F-B*** querying acoustic contact ***:EBEA Uy"B  B 7Y@A U*BAAAARCC!IG=nV,vYiFAY}6ϑ?}6?y}6cӗ}6KS}6Hિ@J=?~gr?`f?)~6ϑ? ~6/Z;I~4ɫ99)9 EIAY}4@y}FZ****** received transponder code query ******F****** received ping request ******a%Hy}>I : 5? :c޾  ?9A: s:)c:ZF:FA- B1 B5Y@A5<*B1A9A9A=6A9RCACAIYGu=inGI1iIuٺy}AuV,RYiFAY}2~?}2Ե?y}2}2)!}2H` ?s@K~u?@99@}?)~2~? ~2KZ;I~2Cɫ99)9 9I9Yu@yWFxDUSBL response received:!U1,P D9A,000,00310,189,80,80,88,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iIa=)R=)-= ->    @ @ @ùùùiùù Ĺ)ĹIĹiĹ%=M-=Y-QU->11a5%H1y=씺}=>Iaeʸ 5?eU߾ e" m?9e.Ae@: e+:)aZF:FA B BZ@AE*BAAAARCCI!GER>e{V,,YiFAY}6z[?}6?y}6“}6@}6H@@P`R?@`qx>xr?`?)~6z[? ~6/Z;I~6Cɫ99)9 =I9Y}@y}4F@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ^Ai-Mb@Mb@Mb@-- -)-I)y-:vʡEQ롿-Խ--\ -6A)-EAI-:Ai-?A)-=AM,MMn=YU!;QUU?QQaU%HYy]M}]?Ia m:e+ 5? u:e<߾ e& u?9eAe: e:)ed:ZF:FA<9!B B[@A*BAAA ARCCIiG>ނV,> ZiFAY}2 !?}2 X?y}2p}2ds}2H@u @b՜?Ot@ n? ` ?)~2 !? ~23Z;I~2Cɫ99)9 =I9Y}@y}OFxDUSBL response received:!U1,R,DC4,000,00316,189,80,80,5B,FF Fpublishing direction and range infor>ɰo=鰁 )BIyfAL@o?1*?ٱi|;Mi=Y;QU>a%HyB}>I 5?6߾ 2 ?9A: :)ZF:FJEEfAEYF@Qb!@c@EL@o?1*?Er>EEbB9E0 @%EE˄Ύ{O?mv:EA@rE1AzE RE`9?ZE_9?bEjEE @E@A :"B B[@A*BAAAaARC!C)IAG]= V,%ZiFAY}N?}N?y}NR}N90}NHO.@졿?@s\j? ?)~N? ~NFZ;I~NCɫ髙) IY@yFTNmea in: $SNTTA,0.008872,,,,233815.82*41 i)) 15A9=^A    @ @ @ÁÁÁiÁÁ ā)āIāiāM9=Y:QU>a%HyF}>I 5?߾ GA ?9\Ar: ߼:)ZF:FA6!B BS\@A*BAAAARC C IAG]>2V,?ZiFAY}:?}:8?y}:N(}:F}:H¨ ?t@e?ڨQ?)~:? ~:5Z;I~:Cɫ99)9 =I9Y}@y}FI ) ?iU)=M]S=Y]:QU]>aaae%Haym;}m>Iq }:uq 5? }:u ߾ uM ?9uÂAuX: u:)ue:ZF:FAbB B\@AO*BAAA+ARCCIG=tV,gYZiFAY}2N?}2х?y}2}2Vm}2H`թ)`?ls`^?A/?)~2N? ~2p'Z;I~2Cɫ髁) IY@yFi    ý=ý@ý6iý Cý ĽB)ĽBIĽ+CiĽ"C<M3=YV:QU> a%Hy%;}->IAE 5?E| ߾ EV\ e?9E?AE; E;)AZF:FAB B]@AF*BAAAARCCIG$>DV,XtsZiFAY}2`?}2ח?y}2{C2}2<b}2H@"N?8@PvmHf?T>?)~2`? ~2j-Z;I~2CɫYY)Y ]IYY@yŹFiI4=)%=Mb@Mb@Mb@ )Iysh|? ףp= {Gz?Q8ף< C9A);CAI;Ai=A)0>  >$M]=YQU>a%Hy:}>I  :1 5?  :#߾ T ?9A: :)f:ZF!:F!A5 B1 B5"^@A=F*B9A9A9A=A9RCACAIYG}=,V,MZiFAY}6^?}6uI?y}6}6SN3}6H㨿@?`2?ܝ~u? g?)~6^? ~6Y;I~6CɫYY)Y ]IYY@yĻF i=ه=M=V=Y=QU=>AAaE%HAyMͻ}M>IQU 5?U߾ UK ]?9U΃AUU: U4:)QZFi:FqA\:B B^@A4*BAAA8ARCCIG=/XV,1ZiFAY}6~?}6?y}6͔}6}6H@)o꡿? o4~?@=?)~6~? ~6Z;I~6Cɫ99)9 =I9Yu6@y}DFi=== 0== ?i= C9 ="C)= BI=Ci=CUt~MUI=YUaQUU>YYa]%HYye?5}e>Ii u:mb 5? u:m߾ mB }?9mAm: m:)mg:ZF:FAJB BY_@AE*BAAAARCCIG=d>V,ZiFAY}6'?}6?S?y}6ػ}6}6H `'x?@褿`r{?@f?)~6'? ~6SY;I~6Cɫ99)9 =I9Y}@y}F鮁ɮR=i 鿝A™_A<MV=Y:QU>a%Hy}>I 5?|߾ : ?9gA: {:)ZF:F-B*** querying acoustic contact ***:EBEA(B B_@A*BAAAARC C IG=4hV,ZiFAY}6?}6G?y}6ކg}6/}6H&ޤۥ@$?oŤ@a%Hy}>I 5 : 5? = : ߾  2 E ?9 A c;  ;) h:ZF :F A% +B)  B- `@A- =*B) A) A) A5 A1 RC1 C9 Iq G >V,ԻZiFAY}6n?}63?y}6J̺}6v@}6HS<2?`CqmY?@L?)~6n? ~6Z;I~6C <)<Ɍ@@@@ɍBcAiBIFEDIDiF`A DH)HH HHHɎLLLIL)PiP)PIR\aAPɏP TɐTVaATiTTiXZ^A)X XIXi\\)\ \I` `)b;aAɠbD`ddɡfaAif~If)EdIhih jh)hl lllɢlppIp)pip)tIttɣt tɤxxxixxɫ) IY5b@y5{F=xDUSBL response received:!U1,P DC4,000,00316,189,80,80,5B,FF ECommand AckEBRequesting micromodem ping code 2iAAMNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 iai @ @ @ @©i )Ii=:M==YE;QUE,?iiau%Hqy}0<}}(?Iȩŭ 5?ŭ߾ ƭu/ ?9ƭcAǭ; ȭ;)ȩZF:F!A=#)BI BM\a@AM*BIAQAQAUAYRCaCiIGE>}T>yinGI/aAi 5 q ٺ5 /aA5 AzV,[[iFAY}6?}6?y}6}6[n6}6H*`8?`+qb?`˦?)~6? ~6Y;I~6Cɫ) IY-@y5F15AAUNmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i)= =Mb=YQU>a%Hy ;}>I   5? ߾ + ?9 ŅA : k:) ZF):F)A='B9 BEa@AEv*BAAAAAAEGAARCICQIiG=OV,p([iFAY}6?}60?y}6%[}6&}6HG`9?c?z``r?.?)~6? ~6Y;I~6 Cɫ) IYU@yU:F]xDUSBL response received:!U1,R,D62,000,0031F,18A,80,80,9E,FF eFpublishing direction and range info]?Yɰ]=]> Y)]CIYy] 'A]=J1?gw?ٱY 鼕_Ai,E=M==YWQU>a%Hyx;}>I : 5? :߾ % ?9=A: :)i:ZF:FyJEE 'AEG@Zi!@$zу @E=J1?gw?E?EE9V,rMB[iFAY}6?}6*#?y}6}6 %}6HJ4C|?Q*`y)}^u?;?)~6? ~6Y;I~6CɫYY)a eIaY@yFETNmea in: $SNTTA,0.044896,,,,233820.28*45 iIQ    @ @ @ÙÙÙiÙÙ ę)ęIęięUMUR=Y]޺QU]>YYae%HayeG}m>Iqu 5?u߾ uT! }?9uAu4: u :)q.ZDetected possible detachment. Starting timer.ZF:FAl.B B0c@AP*BAAA ARCCIG>8V,/\[iFAY}6^?}6v?y}6.r}6a0}6Hk̦W@d?7M|?t? F?)~6^? ~6Y;I~4ɫ99)A AIAY}@y}޼FiQQqq;$=MU=Y9QU>a%Hy~}>I) U:-| 5? U:- ߾ - U?9-A-4: -:)-j:ZF:FA=B Bc@A*BAAAARCCIG% >V,v[iFAY}6O?}6?y}6`wԻ}6Y7}6Hڥo``\?H@c*ߎz?'馿 ?)~6O? ~6Y;I~6Cɫyy)y }IyY@yFIU?)U?iYY}Mb@Mb@Mb@yy y)yIyy}333333T㥛 }}} }7A)}fBAIyi}?Ay}qqau%Hqy}I}}>IȁŅ 5?Ņ"߾ ƅy ?9ƅrADž: ȅ:)ȁZF:FA$FJB Bd@Aڕ*BAAAARCCIG&>V,ޏ[iFAY}6_/?}6wf?y}6V }6:}6HX B#? &J?VV1?)~6_/? ~6&Z;I~6CɫYY)Y ]IYY@@yFi5M=v=Y=GQU=?AAaE%HAyMC}M?IQ ]:U 5? ]:U#߾ U ]?9UAU: Up:)Uk:ZFi:FqAuPB Be@A*BAA A A RCCI)Gm=V,๩[iFAY}6?}67#?y}6 ^}6MD}6HKLDU`@?@ˁ?@I?)~6? ~6&Z;I~6Cɫ99)9 =IAY@yFI%=)%4=)-> -=UY<M]H=Y]QU]>aaae%HaymӤ}m>Iqu 5?u%߾ u }?9uAuk: u:)qZF:FAQB Be@A8*BAAA ARCCIGe=V,R[iFAY}F9?}FQ?y}F޻}FJ}FH `q2/?@Ƣ`0{?EW@?)~F9? ~Fa%HyȻ}>I  :n 5?  :\'߾   ?9[A_: :)l:ZF:F!AzVB Bdf@A*BAAAARCCIG>V,p[iFAY}J3U?}JK?y}J j}J 8}JH`릿?ա@yyv> p?9?)~J3U? ~JGZ;I~JCɫy髁) IYi@yFa=ɮa=UI +:vMb`U9UT U)UIQyU&1K~jt?UнU^U< U5A)U;CAIUyya}%Hy}>I 5?)߾ M ?9ԈAӻ: U:)ZF):F)--B*** querying acoustic contact ***:E)BE)AE^aBA BEg@AEa*BAAIAIAM/ AIRCiCiIG>.V,{K[iFAY}6VN?}6n?y}661纙}6V}6H@_ա"P@?@)ʡ@6h%\?[?)~6VN? ~6Z;I~6CɫYY)Y YIYY9@yFZ****** received transponder code query ******F****** received ping request ******99a=%H9yE }E>IIM 5?M+߾ M U?9M?AM: M:)IZFi:FiA!iB Bg@A*BAAA ARCCIG >eW,$\iFAY}6f?}6?y}6.}6U}6H 3 `p؟?,scT?h響?)~6f? ~6EZ;I~6CɫIQ)Q UIQY}@y}FxDUSBL response received:!U1,P D62,000,0031F,18A,80,80,9E,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Є=MQ=Yt:QU>a%%H!yE]:}E>Ia :e 5? :e-߾ e  ?9eAef^= e]=)em:ZFI:FQA2hB Blh@A)*BAAAR!ARCCIG-,>@ W,+\iFAY}:Dj?}:\?y}:}:x!}:H`Er N ?(6Rma?-?)~:Dj? ~:Z;I~8ɫ99)9 =I9Y}|@y}ռFAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B LM@=Yb QU>a%Hyl9}>Iȩŭ 5?ŭK0߾ ƭ׽ ?9ƭAǭ: ȭs:)ȩZF:FAqaB Bi@A *BAAA!ARCCI G%=(W,D\iFAY}6Y?}6ߐ?y}6֠}6|a}6H?WڡV{ 4s?+?)~6Y? ~65Z;I~6CɫII)I IIQi]nGYe@ymFIucA}xDUSBL response received:!U1,R,D93,000,00329,189,80,80,67,FF Fpublishing direction and range info} ?yɰ}=}7> y)}BIyy}0A}Ӕ:j?4weQ?ٱyiI4=))%>ٺcAA >m=MV=Y׻QU>a%Hy}>I  : 5?  :l2߾ m ?9A: :)n:ZF!:F!JE)E-0AE-|ѓ"@shZ@E-Ӕ:j?4weQ?E- ?E)E-EԷށ"@\6ѿE->oH\y?AE-Pk @rE-AzE-zRE-`9?ZE-_9?bE-jE-E- @E- @AaB Bi@A*BAAAV"ARCCIG>RW,^\iFAY} S?}  ?y} K⻙} } H`롿5 f^?&ӺS|?p?)~ S? ~ OZ;I~ Cɫ髑) IY@yF rȿbX9ȶL7A`?CE +=)IyʡEÿ#~jI +㥽9 6A)I:AiYaae%Hay}>I 5?6߾ ӽ -?99A: /:)ZF9:FAAukBq Buxj@AuA*ByAyAyA} #AyRCCIG?>~W,_x\iFAY}BH?}B5?y}B}B՝b}BH [!' ?@){e?`O 3?)~BH? ~BV+Z;I~BCɫYY)a eIaY@y\F    @ @ @i )Ii<Mc=YPQU>a%Hy }?I :M5? :9߾  %?9A0: :)o:ZF:FAxB B k@A*BAAA#ARCCIG- >d$W,?n\iFAY}:?}:>?y}:廙}:C}:HǺ l?be|? i'?)~:? ~:PJZ;I~:Cɫ99)9 9I9Y}@y}F `AaAUA<MUV=YU8;QUU>YYa]%HYyeɨ}e>Iim5?m<߾ m u?9m:Am: m:)iZF:FA~B Bk@A*BAAA$ARCCIG=*W,G\iFAY}6ޕ?}6?y}6唻}6}6H睿@k? ̝2ur?=?)~6ޕ? ~6@Z;I~6CɫYY)Y ]IYYZ@yF=kM=L=Y=;QU=>AAaE%HAyM}M>IQU5?U@@߾ U ?9UɌAU: UY:)QZF:FAٱ}B BXl@A*BAAA$ARCCIG=w1W, '\iFAY}699?}6Qp?y}6}6ۼ}6H<O ?si@c? b ?)~699? ~6|3Z;I~6CɫII)I MIIY@y F=MA=Y;QU>a%Hy(ڻ}>IQ ]:U% 5? ]:UC߾ U ]?9UeAU: U:)Up:ZFq:FqAPV}B) B-m@A-*B)A)A)A5e%A1RC1C9IG=.>7W,\iFAY}&?}]?y}0@}Qp:}Hp@;?Fph?@Kz?)~&? ~BZ;I~ Cɫ) IY-@y5FI=)=MMbQ?a%Hy}>I 5?6F߾  ?9A: :)ZF:FA U}B  B m@A *B A AA &ARCCI1GM>=W,\iFAY}:/&?}:G]?y}:}:J(~}:Hj`&?@N}@Jv? `?)~:/&? ~:7Z;I~:Cɫ99)9 =IAY}@y}F鮁ɮp=v1Mu=YQU?a%Hy}?Iȹ :Ž 5? :ŽG߾ ƽ ?9ƽ Aǽ: Ƚ:)Ƚq:ZF:F-B*** querying acoustic contact ***:EBEA^҂B BuVn@Au0*BqAyAyA}&AyRCCIG=DW,г]iFAY}67?}6O'?y}6仙}6c}6Hݺ i?@k7uࡖ|?@ۏ`?)~67? ~64dZ;I~6CɫYa)a eIaYN@yFZ****** received transponder code query ******F****** received ping request ******a%Hyo}%>I!%5?%ZJ߾ %= U?9%oA%A; %;)!ZFa:FaAC-B Bo@A*BAAAI'ARCCIG >AJW,m-]iFAY}6?}6?y}6:}6`}6HXG? xA#t?)?)~6? ~6zSZ;I~6CɫII)I MIIY}@y}FxDUSBL response received:!U1,P D93,000,00329,189,80,80,67,FF Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 x=M O=Y|;QU%>)1a=%HAy]}e>Iȉ U:ō@5? U:ōbL߾ ƍ& ]?9ƍĎAǍ< ȍ<)ȍr:ZF:FA+B Bo@A*BA A A 'ARCCIG )>aQW,c~G]iFAY}B0?}B)g?y}BY}B}BH-@9W?Ϫ_S?@Z#?)~B0? ~B3eZ;I~@ɫQQ)Q QIQY7@ymF@A?ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B    @ @ @ñññiññ ı)ıIıiı+<M>=Y a%Hyƻ}>I5?N߾ 2 ?9 A: :)ZF:FAjB Bvp@A~*BAAA(ARC!C)I9G]=WW,2Va]iFAY}~= )BIy3;AbDj?;f$пٱQ˿Zd;OͿ:v(\~j T)Iy~jtMbXX9v?Ľʽ< …5A)…;CAI…=Yh;QU>a%Hya:}>Iȹ :Ž5? :ŽP߾ ƽ  ?9ƽAǽ&< Ƚ%<)Ƚs:ZF:FJEAEE3;AEE GՔ&@xEEbDj?;f$пEEԇEAEEb@P#&@==?EEBO,=?Qm?7 0}y?EE쀩?rEE5AzEE6@REEx9?ZEE`9?bEEjEEEE @EE @A B B:q@A9*BAAAJ)ARCCIG (> ^W,){]iFAY}R?}R?y}RT}RzƼ}RHඨ`4ј? Zd _? ޘ?)~R? ~RQZ;I~Pɫ髑) IY?@yvF=TNmea in: $SNTTA,0.033872,,,,233829.14*49 IU=)U=)U= U=<=MV=Y|»QU>a%Hy <}>I5?R߾ ƽ %?9AZ: :)ZF1:F1AEOBI BMq@AM:*BIAQAQAU)AQRCQCYIqG=i%nGI9iI})ٺy}AeW,/]iFAY}60?}6H?y}62؞}6}6Hβ` L?~~kw s?\@ ?)~60? ~6 WZ;I~6Cɫ99)9 =IAY@y$F u } } }@ }@ }@yyyiyy y)yIyiya+MR=YKQU>a%Hy+;}>Iȡť>5?ťT߾ ƥJ ?9ƥrAǥ: ȥQ:)ȡZF:FA:bB Br@A*BAAA*ARCCIG>N+kW,خ]iFAY}:?}: ?y}:=û}:^c}:H```lh@ ? !`z%}`gx?Gz@,?)~:? ~:͍Z;I~8ɫYY)Y ]IYY @y6FU;M]N=Y]7QU]>aaae%Haym}m>Iq }:u 5? }:uW߾ u }?9uAu: u:)ut:ZF:FAB B8s@A[*BAAA#+ARCCIG=:rW, ]iFAY}6r?}67?y}6A}6{}6H 5=` 1`?ؐcrz-v??)~6r? ~6Z;I~6Cɫ99)9 =I9Y}@y}~F `A m m m m@ m@ m@iiiiii i)iIiii}"=MH=Y:QU>a%Hy&}>Ișŝ#5?ŝ=Y߾ Ɲn^ ?9ƝTAǝR: ȝ:)șZF:FAe6B Bs@A*BAAA+ARCCIG =,AxW,I]iFAY}F?}F˼?y}F{Ǯ}Fo}FHΊcҭ.? ^xu?@ۭ?)~F? ~F7Z;I~FCɫQQ)Q UIQYd@yF rh㥛 lC )IyV-QMbPu …I4A)…DAI…n8Ai…A>A;AռME=Yr8QU>a%Hy}>I :&5? :[߾ 9[ ?9ÑA: 8:)u:ZF :F A%dB! B%t@A%*B)A9A9AE,AQRCYCYIqG=g~W,j]iFAY}6-?}6,d?y}64}6Zb.}6H`D'¥@m?)x`^2w?ʥr?)~6-? ~6mZ;I~6Cɫ99)9 9IAYz@yF5g;M=U=Y=maQU=>AAaE%HAyMP}M>IQU(5?Ul^߾ UY ]?9U)AU: Uw:)QZFi:FiAB BTu@A*BAAA6-ARCCIG=OW,H^iFAY}>?}>8?y}>;}> }>H7`? t?t"_s?@?)~>? ~>Z;I~>CɫII)I QIQY,@yF鮩ɮ=I4=)%=)>  >        @  @ @   i   ) I i s<M%/=Y%';QU%>))a-%H)y59}5>I9 E:=|*5? E:=ua߾ =1Y E?9=A=2: =:)=v:ZFY:FY-]B*** querying acoustic contact ***:EYBEYAmۤBq Bu'v@Au*BqAqAqA} .AyRCyCIG>yW,0^iFAY}6k?}6?y}6F}6՝}6HT~|?W}`jh?@?)~6k? ~6sZ;I~4iyy)y yI )?aAɠ頁ɡbAiTI EIi7aA 顑)颙 /aAɢaAI)i)I飩ɣ ɤ餵\Aiɫiq)q uIqY}@yFZ****** received transponder code query ******F****** received ping request ******a%Hyf}>Iȱŵ,5?ŵ0d߾ Ƶ,X ?9ƵAǵ: ȵZ;)ȱZF:FA%XݑB) B-v@A-Ұ*B)A)A)A5.A1RC1C9IqGB>dW,5J^iFAY}n"?}n:?y}nj}nI2}nH@x@@rD ?_"x|oZm?ZG 0?)~n"? ~n"Z;I~nC t)xɌxxx~&Cɍ~hcAi~I~E|Ii )   Ɏ   I)i)I鏙ɏ ɐ鐙ii) Iɫ) IY n@y FxDUSBL response received:!U1,P 130,000,00334,186,80,80,42,FF Command AckBRequesting micromodem ping code 2i%Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76    %@ %@ %@!!!i!! !)!I!i!= ME>=YE!QUM>IQaU%HQyM}>Iȑ :ŕ.5? :ŕg߾ ƕ V ?9ƕAǕs; ȕ;)ȕw:ZF):F)A}(By B}w@A}*BAAA/ARCCIGj>W,c^iFAY} ?}%?y}BԻ}^}H`'u`׫?t/t{Mz?%ܫ?)~ ? ~kZ;I~Cɫ) IY L@y F-Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B e/$?V-¿Zd;O?ea%Hy}>I15?!i߾ ] ?9A: +:)ZF :F AMB BXx@A *B A A A 40A RCCI)GMR>'W,2}^iFAY}6`s?}6w?y}6}6Nd}6HbSs !8?Ɛq~?Ú?)~6`s? ~6lZ;I~6Cɫ髹) IY@yFFxDUSBL response received:!U1,R,D2D,000,0033C,189,80,80,44,FF Fpublishing direction and range info!?ɰ=7> )BIyBAb?Px?ٱ=R:<M==Y=_QU= ?AAaE%HAyM }M ?IQU35?Uj߾ Udd ?9UFAUǺ: U:)QZF):F)JEQEUBAEU {#@ko@EUb?Px?EU!?EQEUdn)#@HI.ԿEUaaCҮ?ע~EU( @rEUAzEU REU_9?ZEUx9?bEUjEUEU @EU @AcB Bx@A޲*BAAA0ARCCIG >mW,^iFAY}2q?}2?y}2p۝}2<}2Hxs3@?@Z-r tis?`0?)~2q? ~2*VZ;I~0ɫIQ)Q UIQY@yF%TNmea in: $SNTTA,0.152780,,,,233833.64*41 QC<MD=Yl;QU>11a5%H1y=}=>IA M:E75? M:ENm߾ EEn U?9EAEw: E:)Ex:ZFa:FaAuGSBq B}y@A}*ByAyAyA}1AyRCCIG=ǫW,Eh^iFAY}2b9?}2yp?y}2鼺}2}2H'h@}ۡ?bg HY 2W?ܡ?)~2b9? ~2CZ;I~2Cɫ99)9 9I9YW @yEFIUa=)U=)]= ]=    @ @ @ áááiåG@á ĥ?)ĥ@Iĥ@iĥ@s<MH=Ya%HyL}>I95?yo߾ "x ?9#AI: w:)ZF:FAdB B dz@A *B A AAH2ARCCIG>i mGI i 5 02ٺ1 5 AW,A^iFAY}B?}B(;?y}B%}Bfe}BH`Usq ?QT@5d`Cc? @o?)~B? ~BOZ;I~BCɫYY)Y ]IYYH @y2FdMN=Yp"QU>a%Hy[}>Iș :ŝ<5? :ŝq߾ ƝD ?9ƝAǝ: ȝ:)ȝy:ZF:FA×B B{@A*BAAA3ARCCIG=ٸW,~^iFAY}2?}2?y}2|}21}2H`]4?L1?D?`Y~no~? 1@?)~2? ~21Z;I~2CɫYY)Y ]IYY!@y(FbX9ȶvϿ~jt?Ex <)IybX9ȶ(\µ{GztEף ±)µAAIµn8Aiµ11a5%H1y={}=>IAE?5?Es߾ E M?9EAEY: E:)AZFY:FaAuWBq Bu{@Au*BqAyAyA}3AyRCCIG=W,<^iFAY}2l?}25?y}2u9}20a}2H(k?x @n?ep?` ?;@?)~2l? ~2PZ;I~2CɫII)I MIIY}| @y}rF `AbȼM]=Y6+QU>!!a%%H!y-O}->I1 =:5kB5? =:5u߾ 5 =?95UA5: 5:)5z:ZFI:FQAeZBa Be|@Ae*BaAiAiAm{4AiRCqCqIG=jW,_iFAY}6?}6'?y}6S)}6ldi}6H^}? w1`[?^?MI*?(D?)~6? ~6MZ;I~4ɫ99)9 =I9Y @yF]O;M]F=Ye0;QUe>aaae%Hiym}m>Iqu\E5?uw߾ uᄽ ?9uAu: u:)qZF:FA0B BM}@A9*BAAAE5ARCCIG=W,2_iFAY}:?}:?y}:7Ļ}: >}:H ?.৿`y?@?v`x?ا`?)~:? ~:PgZ;I~8ɫ99)9 =I9Y}!@y(F鮝p=ɮp= E E E E@ E@ E@AAAiAA A)AIAiAUn<M]K=Y]0aaae%Haym>λ}m>Iqu9H5?uy߾ u- }?9u#Au: u=:)qZF:F-B*** querying acoustic contact ***:EBEAB B ~@A*BAAA 6ARCCIGW,ʊL_iFAY}2?}2?y}24}2\}2H?! "? ?c@Uf? ꠿?)~2? ~2LZ;I~2Cɫ99)9 =I9Y}!@y}1FZ****** received transponder code query ******F****** received ping request ******a%Hyˤ}>I :J5? :{߾   ?9A;  ;){:ZF!:F!A59B B~@A*BAAA6ARCC!IYG=J'W,wdf_iFAY}6?}6?y}6Fb}6}6Hp?]?`?O4jHl?NV[?)~6? ~6[Z;I~4ɫAI)I UIQYu!@yuF}xDUSBL response received:!U1,P D2D,000,0033C,189,80,80,44,FF }Command AckBRequesting micromodem ping code 2iNmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 }#~j&1ʿ~jt?}㥽}P }=)yIyy}bX9ȶL7A`尿{Gzt?y}+}ף; }5A)}?AI}7Ai}A>Ay}:A    @ @ @i )Ii-WM-=Y-QU->11a5%H1y=;}=>IAEM5?EV~߾ E& M?9EAE8: E:)AZFY:FaAuբBq Bu@Au*ByAyAyA}7AyRCCIG?>W,pB_iFAY}2?}2 ?y}2}2$}2H 0? k@?ŀ?_d|g}?%?)~2? ~2AZ;I~2Cɫ99)9 =I9Y}G"@y}FAANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B }<M}=YDQU ?a%HyY:} ?Iȑ :ŕO5? :ŕ߾ ƕ8y ?9ƕAAǕ: ȕ:)ȕ|:ZF:FA䤻B B$@A*BAAAn8ARCCIG =9W,L_iFAY}2?}2,?y}2y*}26xa}2H?&h8`)????#-P? *&?)~2? ~2wZ;I~2CɫYY)Y ]IYYx!@yFxDUSBL response received:!U1,R,18C,000,00345,186,80,80,93,FF Fpublishing direction and range info;ﰾɰ"=鰥> )CIyKA?<տٱ MV=Y.QU>a%Hy룻}>IQ5?݁߾ ,m ?9A; ;)ZF :FJEEKAE$'@NC'<E?<տE;ﰾEE.4le@;o'@ $?EAzEl@RE~9?ZE_9?bEjEE8@E @A=بB9 B=@A=*BAAAAAAE69AARCICIIaG=reW,e_iFAY}RA?}RYa%Hy(}>I M:S5? M:߾ ]_ U?9A < <<)}:ZF:FA+B B@A轿*BAAA':ARCCIG5 >,MW,_iFAY}6́?}6?y}6!}6<}6H @?dN??<~`  a %H y+}>IV5?߾ T -?9PA: :)ZF9:F9AM\BI BUA@AU뽿*BQAQAQA]:AYRCYCaIyG=uW,_iFAY}R ^?}R!?y}R}RA}RH`nՓ?a??`?)~R ^? ~RQZ;I~Pɫyy)y }IyYo#@yFIMa=)M4={Gzt rh?QףC = )IyMb/$Mbp?; t3A)@AI:Ai?A\;A)= > - - - -@ -@ -@)))i)) )))I)i)=M=8=YE AAaM%HIyM2!}U>IQ ]:UY5? e:Uc߾ UH e?9U™AU: Us:)U~:ZFq:FqAYdB B@Aп*BIAIAIAM;AIRCQCQIG#>C]X,+`iFAY}F{?}F3?y}Fp}Fh!}FH`?(`*L\?58? <| :B?@m:`]?)~F{? ~F++Z;I~F CɫYY)Y ]IYYyY=xQU=>9AaE%HAyM;}M>IIM[5?Ma߾ M> ?9M"AM*< M)+<)IZF:FAB B@A>*BAAA<ARCC iE/mGIQiic)ٺAAIG=LJX,c`iFAY}F.?}Fe?y}F>E}FL}FHN?º??@|? 隩'?)~F.? ~FUZ;I~FCɫYY)Y ]IYY"@yF5؅M=AAaE%HAyM}M>IQUl^5?U߾ UE3 ]?9UAU@: U:)QZF:FAB Bh@A^Ŀ*BAAAs=ARC1C9IGM> X,y?5`iFAY}FW?}Fo?y}FV}F%[}FH,?@@8?@ ? Њ? `?)~FW? ~FFZ;I~FCɫYY)Y ]IYY#@yJF !!))    @ @ @éééiéé ĩ)ĩIĩiĩ=M?=Y!QU>a%Hy }>I  : [a5? : ߾ & ?9 A : +:) :ZF:FAB Bӂ@AĿ*BAAAj>ARCCIG>[X,:O`iFAY}>MC?}>ez?y}>$}>pL}>HX?_?@$?u?~k?)~>MC? ~>VZ;I~<ɫII)I IIIY)$@yF鮑ɮ=<M`=Y a%Hy}>IAEc5?E߾ EL M?9E[AE: E:)A.erDetached at range: 12.72 m. Transitioning DDM to standby.ZFa:Fa-mB*** querying acoustic contact ***:EiBEiA}'缻By B}+@A}\Ŀ*ByAAA=?ARCCIG=X,Hh`iFAY}6?}6)?y}6ݻ}60}6H`0?`w0 ?u?`[6v`{? .?)~6? ~6[Z;I~6Cɫ99)9 =I9Y}z$@y}\FZ****** received transponder code query ******F****** received ping request ******a%HyA}>Iȑ :ŕg5? :ŕ4߾ ƕ ?9ƕAǕ{: ȕ:)ȕ:2FZF:FAEBI BM@AMlſ*BIAIAIAUE@AQRCQCYIqG> X,т`iFAY}6?}6?y}6Qộ}6}6Hv?``?崠?@u >=˻MEa=YUQU]>iqa}%Hyy飻}>I)-j5?-߾ - =?9-nA-: -:))2FQZFQ:FYAĻB B@A6ǿ*BAAA2AARCCI9G&X,T`iFAY}::?}:q?y}:,"}:# }:Hw? dI?@?A`1ă?9`?)~::? ~:^;I~:CɫYY)Y YIYY$@yF@ANmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Uw<MC=YٻQU>a%Hy}>I :m5? :߾ E ?9AA: :):2FZF:FA$qȻB BX@Aǿ*B A A A #BA RCCI)GM=+-X,Y`iFAY}2?}2 ?y}20,}2nq}2H@sͤ?`Tᢿ?`?K?ڬ?)~2? ~2`;I~2Cɫ99)9 9I9Y},%@y}6FxDUSBL response received:!U1,R,17A,000,00350,186,80,80,61,FF Fpublishing direction and range info[䨾ɰ=鰁 )BIyVA#2TF?Կٱ    @ @ @i )Iiݑ<MW=YQU>  a %H yfD}>Ip5?߾ ޼ %?9mA: :)2F9ZF9:F9JEAEEVAEE7Q)@ VEE#2TF?ԿEE[䨾EAEE|w[^@"(@F?EE@ (?\*u?b+<6R?EEç?rEEGAzEE@REE9?ZEE~9?bEAjEEEE7@EE8@A6˻B B@A%ȿ*B!A!A!A%!CA!RC)CQIaG=33X,Ug`iFAY}N(?}N_?y}N%}N{_@}NH|?`w7`?@?@{C?m @?)~N(? ~N\`;I~Lɫ) IY&@yF}DNmea in: $SNTTA,,,,,233842.48*5E 鿉‘•_A^=M9=Ys;QU%>!!a%%H!y- }5>I1 =:51t5? E:5߾ 5ü E?95A5: 5I:)5:2FQZFQ:FQAm˻Bi Bm#@Am$ǿ*BiAqAqAu$DAqRCyCyIG=:X,<`iFAY}6g?}6~4?y}6Sͻ}6'i}6HAI6Aia%Hy?}>Iȡť}w5?ť߾ ƥ -?9ƥAǥl< ȥ#:)ȡ.=DDM at standby.ZF9:F9AuN˻Bq Bu@Auɿ*BqAyAyA}JEAyRCCIGG>@X,zaiFAY}:?}:N?y}:r}:ڀ`}:H@?U`!#? ?We Nt?j ?)~:? ~:ߗ^;I~:CɫYY)Y ]IYY&@yFU<M]v=Y][h;QU]?aaae%Haym;}m?Iquy5?u ߾ uz }?9uAu: u4:)q=.8Undocking sequence complete.1,JCompleted DefaultWithUndock:LeaveDock1 ,fAggregate::uninitialize DefaultWithUndock:LeaveDockq.lAggregate::initialize DefaultWithUndock:SurfaceDefault /Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen1q0@Initialize GoToSurfaceComponent.0No depth rate setting specified. Using default value of nan m/s.0~No pitch setting specified. Using default value of nan degrees.0No speed setting specified. Using default value of 1.000000 m/s.0No surface timeout specified. Using default value of 1000.000000 seconds.0nReceived pitch timeout configuration 60.000000 seconds.*B y:AAAARCCIG=$GX,aiFAY}2b?}2̙?y}2 㻙}2ֵ%}2He֥?`@פX?@?wTu`q|?'`?)~2b? ~2G];I~0Yf%@yfFIv=)v=)v= v=~M~d=Y~QU>a%Hy ;} >I :|5? :U߾ , %?9MAV: :):F5F5 ?F5ԼF1F=?F=rF=*BMXz:BMD>"BMԼBUJO BU%@AU@9AUAUAQAURCaCeSAIG[=MMX,7aiFAY}63?}6j?y}6!}6Iݼ}6H@۔? ?? m*? ࡛?)~63? ~6%\;I~6 CY}M&@y}F<M@=YQU>a%HyF`}>"New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -26.00 mm (2 active estimators).I5?߾ M ?9ʟA: +:)FFFFFFrF*BB=`4>B B%@AJ;AA,5A A TRC CI9GU=Powering upipGIrbAi9e;ٺerbAe;&AV6TX,ުQaiFAY}6"?}6:?y}6W-}6.q}6H?@̜@?C? ۂ䪅?Li?)~6"? ~6B[;I~6CYN'@yRtF ~   @ @ @i )Iiy=MT=YYfQU>a%H!y%R}%>I) 5:-u5? 5:-߾ -_j =?9-;A-: -X:)-:FIFIFQFQFQFQrFQ*BBٰ;>B B%@A<AA5AARCCI1Gm=8`ZX,kaiFAY}:|?}:?y}:.$}:b(}:H ബ? @ R?1?@)Ϛ?`@?)~:|? ~:Z;I~:CYJ'@yJF TT5 rh:vMb`5C5T 5)1I1y5S㥻Zd;O~jtx?5/ݽ5j5; 55A)5?AI5I4Ai5YYa]%HYyeb}e>Iiml5?m)߾ m[ u?9mAm: m:)iFFFFFFrF*BB7=>B B%@A =AA 5AARCCх?B:IYG}z>GaX,^aiFAY}6$?}6[?y}6}6(]}6H@ˮ?@ ԫ ?@`?zsp?m@?)~6$? ~6BZ;I~4Y&@ybF        @  @  @   i   ) I i -{ټM- =Y5_;QU5>99a=%H9yE}E>II U:M5? 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G4~Zɾ ~ ?9~;A~M: ~:)~^G4FFFF*B)B)A)A)A1A1RC1C9Y:I)G=i}}nGIifٺKAu`,WׁiFAY}6=o)@}6@y}6}6}6H@l@? olv?R?)~6=o)@ ~6YM\;I~6CYN@>yRy1EIX)Z4=)\ ^>b<MfL=YfZ=QUf>hhaj%HhynW}n>Ip vH4r,5? vH4rɾ r" v?9ry^/Edid#~jʡEI +?㥽- 9<)Iy9vҿ|?5^?i|?5M> ¥UA)¥ffAI¥XAi¥1dA^A    @ @ @i )IiƻM7=Ym=QU>!a%%H!y%N}->I1 =H45,5? =H45ɾ 5g& =?95~A5: 1)5H4FQFQFQFQ*BaBaAaAaAaAiRCiCqYMj:IaG}=`, iFAY}:^(@}:@y}:92=}:kKv}:HpV~پ`?&Huz$?@'Į@?)~:^(@ ~:>\;I~:CYFQ>yF,EZcMZd=YZCQUZ>\\a^%H`ybq=}b>Id jH4f ,5? jH4fɾ fu) n?9f~Afp: f:)f#H4FtFtFtFx*B|BAAAARC C Ya:IG=*`,_%iFAY}B '@}Bo@y}BJٔ;}Bk}BH@s!PS,?E %r:q\?)~B '@ ~B\;I~BCYNԂ>yN EMdSBD MO Status=1, MOMSN=24137, MT Status=0, MTMSN=0|Sent 184 bytes from file Logs/20210815T210608/Express0031.lzma.Packets left to send: 1  E E E E@ E@ E@AAAiAA A)AIAiAUM]&=Y]E=QU]>aaae%Haym!ʼ}m>Iq }H4u1,5? }H4uɾ u{- ?9uތAu: u:)u4H4FFFF*BBAAAARCC̽V>̽J>Yϥ:IG!>K`, ;?iFAY}6 (@}6$@y}6q7 }6y}6H T#n0 %?@¡@?@ͣ`z?)~6 (@ ~6\;I~6CYB->yBEMa%Hy%?:}%Q>I) 5H4-w,5? 5H4-cɾ -4 5?9-AA-a: -:)-RH4FIFIFIFI*BYBYAaAaAaAaRCiCiY5:IIGe?`,&eiFAY})'@}@y}Rx;}lX}H@<+fy=^&E -5e>-5R>IAC=)AC=Cy&1|{Gz?:vC`C#< CT)CICyCnʿ rh?{Gzt?CVCC<Cף; CVA)CgAIC]AiC`ACC3_A)C> C> C C C C@ C@ C@áCáCáCiáCáC ġC)ġCIġCiġCCH;MCyU6Euօ>MuO>Y}@=QU}?yya%Hyn4}?Iȑ H4ŕت,5? 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I4ʾ 4  ?9A: -:)uI4FFFF*BBAAAARCCY:IG >PExceeded connect timeout, disconnecting.j#a,UiFAY}2'(@}2@y}2؜3}2z}2H I`@ l?/@`h}s?H$?)~2'(@ ~2x\;I~2CYR>yR%Ebq;Mf_=YfռQUf>hhaj%Hhyn;}n>Ii uI4m,5? uI4mGʾ mw8 u?9mSAmg: m:)m>I4FFFF*BBAAAARCCYϕd:IG= % l>% V>)a,0iFAY}2n)@}2@y}2~,}2}2HptԔml?@ε "?`?)~2n)@ ~2I\;I~2CYNȌ>yR4-EIZC=)Z=bd<MfJ=YfٝQUf>hhaj%HhynY=}n>Ip vI4r,5? vI4rʾ r#< z?9rAr: r:)rŐI4F!F)F)F)*B1BAAAARCCiI_AYϵ:IG =l~0a,@„iFAY}2O<)@}2W@y}2|ս}2~O}2H ΀@;֑`(?"tK`$?+@?)~2O<)@ ~296\;I~2CY>s>y>"EDiDNdSBD MO Status=1, MOMSN=24138, MT Status=0, MTMSN=05zSent 25 bytes from file Logs/20210815T210608/Express0031.lzma5.Packets left to send: 0    @ @ @ÙÙÙiÙÙ ę)ęIęięM/=YG&=QU>a%HydƼ}>I I40-5? I4 ʾ w@ ?9A: :)I4FFFF*BBAAAARCC Y:IG5 >6a,dۄiFAY}2(@}2d@y}2/y}2W-}2H(@>uk'?@S%?g䗿?)~2(@ ~2g\;I~2CYrS>yrV0Eɾ! ! mʡE~jt?S㥫?m-m= m/]=)iIiymS㥛Ŀ:v?X9vm$mTa%Hy+}->I I4-5? 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K4ŭ ʾ ƭV ?9ƭAǭ: ȭ:)ȭK4FFFF*BYBYAYAYAYAaRCaCiYU):IyG=W.b,_(iFAY}61@}6!@y}6S7}6<)}6H 1@_@Ǎ@N`?z*d?% ~?)~61@ ~6[;I~6CYfw>yfjEvdSBD MO Status=1, MOMSN=24140, MT Status=0, MTMSN=0u|Sent 184 bytes from file Logs/20210815T210608/Express0034.lzma}.Packets left to send: 2 鿉•_A‘ήM8=Y;QU>a%Hyu <}>I K4-5? K4ʾ ?V ?9A: :)*K4F FFF*BABAAAAIAIAIRCQCQ]C>])>YU*:IiG >?5b,ֈiFAY}6%2@}6t@"@y}6z#}6J}6HKk:(cybEɵj=jR= >龁 ףp= L7A`?~jtQ+= )IyCl˿#~j?y&1|?;_=`; ‰)1dAIYAiaA]A    @ @ @i )IiH<Ma%Hy ;;} ">I K4Q-5? K4ʾ 0V %?9Ao: :)K4F1F1F1F9*BABIAIAIAIAIRCQCQYυ*:IGW?KBb, iFAY}j:3@}j}e?Ii K4mv-5? 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