Initial: ContinuousTransponder wrapper for Kogger USBL
High-level Python wrapper around the upstream cosma-tech/kogger_acousticAntenna
driver. Configures a Kogger acoustic antenna as a permanent slave transponder
in a single start() call: address filter, echo filter, optional TDMA sync slot,
permanent response window, and Python callbacks for each ping received.
No modification to the upstream driver — only composes existing public methods
in the right order. Snapshot of upstream driver included read-only under driver/
for reference.
Includes:
- transponder_continu.py (302 lines): the wrapper class + CLI
- examples/auv_slave.py (79 lines): usage example with logging
- README.md: design rationale, usage, multi-AUV TDMA, watchdog, hardware wiring
- driver/: snapshot of cosma-tech/kogger_acousticAntenna at commit 1b539f9
('Add index slot for multi pinger', 2025-03-11)
Built for Cosma context (USV master + N AUVs slaves) following the design
conversation in Discord #ping-pong-ping (2026-04-27). See poulpe/ping-pong-ping
on Gitea for the interactive demo of the protocol.
This commit is contained in:
171
driver/test/log/2026-03-20_13-29-40_AUV_usbl.csv
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171
driver/test/log/2026-03-20_13-29-40_AUV_usbl.csv
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2026-03-20 13:29:40.685622,SENT,"b'\xbbU\x00\x03 \x00#I'"
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2026-03-20 13:29:40.686113,RECEIVED,"b'\xbb'"
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2026-03-20 13:29:40.697732,SENT,"b'\xbbU\x00\xa2h\x04\x00\x00\x00\x00\x0e\xf2'"
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2026-03-20 13:29:40.698036,RECEIVED,"b'\xbb'"
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2026-03-20 13:29:40.698530,RECEIVED,"b'U\x00\xe1h\x03\x01\x0e\xf2Mk'"
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2026-03-20 13:29:40.699549,SENT,"b'\xbbU\x00\x9ah\x04\xff\xff\xff\xff\x02\xb0'"
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2026-03-20 13:29:40.700153,RECEIVED,"b'\xbb'"
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2026-03-20 13:29:40.700901,RECEIVED,"b'U\x00\xd9h\x03\x01\x02\xb0\xf7\xe1'"
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2026-03-20 13:29:40.702460,SENT,"b'\xbbU\x00\xaah\x01\xff\x12\xe1'"
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2026-03-20 13:29:40.702795,RECEIVED,"b'\xbb'"
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2026-03-20 13:29:40.705177,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\xff\xf6E'"
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2026-03-20 13:29:40.705467,RECEIVED,"b'\xbb'"
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2026-03-20 13:29:40.705933,RECEIVED,"b'U\x00\xc9h\x03\x01\xf6Ep\xfe'"
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2026-03-20 13:29:41.707772,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\xff\xf6E'"
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2026-03-20 13:29:41.708136,RECEIVED,"b'\xbb'"
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2026-03-20 13:29:41.708629,RECEIVED,"b'U\x00\xc9h\x03\x01\xf6Ep\xfe'"
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2026-03-20 13:29:42.710038,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\xff\xf6E'"
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2026-03-20 13:29:42.710418,RECEIVED,"b'\xbb'"
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2026-03-20 13:29:42.710945,RECEIVED,"b'U\x00\xc9h\x03\x01\xf6Ep\xfe'"
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2026-03-20 13:29:43.712949,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\xff\xf6E'"
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2026-03-20 13:29:43.713285,RECEIVED,"b'\xbb'"
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2026-03-20 13:29:43.713788,RECEIVED,"b'U\x00\xc9h\x03\x01\xf6Ep\xfe'"
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2026-03-20 13:29:44.716604,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:29:44.717163,RECEIVED,"b'\xbb'"
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2026-03-20 13:29:44.717754,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:29:45.719019,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:29:45.719331,RECEIVED,"b'\xbb'"
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2026-03-20 13:29:45.719787,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:29:46.721761,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:29:46.722218,RECEIVED,"b'\xbb'"
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2026-03-20 13:29:46.722973,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:29:47.724551,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:29:47.725083,RECEIVED,"b'\xbb'"
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2026-03-20 13:29:47.725589,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:29:48.726724,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:29:48.727124,RECEIVED,"b'\xbb'"
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2026-03-20 13:29:48.727642,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:29:49.729311,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:29:49.729972,RECEIVED,"b'\xbb'"
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2026-03-20 13:29:49.730481,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:29:50.732974,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:29:50.733321,RECEIVED,"b'\xbb'"
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2026-03-20 13:29:50.745741,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:29:51.735340,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:29:51.735698,RECEIVED,"b'\xbb'"
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2026-03-20 13:29:51.736201,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:29:52.737902,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:29:52.738444,RECEIVED,"b'\xbb'"
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2026-03-20 13:29:52.738981,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:29:53.740506,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:29:53.741278,RECEIVED,"b'\xbb'"
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2026-03-20 13:29:53.741774,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:29:54.743950,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:29:54.744286,RECEIVED,"b'\xbb'"
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2026-03-20 13:29:54.744782,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:29:55.746302,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:29:55.746747,RECEIVED,"b'\xbb'"
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2026-03-20 13:29:56.748667,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:29:56.749048,RECEIVED,"b'\xbb'"
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2026-03-20 13:29:57.752642,RECEIVED,"b'\xbb'"
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2026-03-20 13:29:58.754402,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:29:58.754769,RECEIVED,"b'\xbb'"
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2026-03-20 13:29:58.755267,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:29:59.756942,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:29:59.757496,RECEIVED,"b'\xbb'"
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2026-03-20 13:29:59.758021,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:00.759423,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:00.759968,RECEIVED,"b'\xbb'"
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2026-03-20 13:30:00.764284,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:01.762172,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:01.762762,RECEIVED,"b'\xbb'"
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2026-03-20 13:30:01.763307,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:02.764335,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:02.764668,RECEIVED,"b'\xbb'"
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2026-03-20 13:30:02.765179,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:03.767188,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:03.767518,RECEIVED,"b'\xbb'"
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2026-03-20 13:30:03.768034,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:04.770094,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:04.770493,RECEIVED,"b'\xbb'"
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2026-03-20 13:30:04.771154,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:05.773078,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:05.773608,RECEIVED,"b'\xbb'"
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2026-03-20 13:30:05.774126,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:06.775738,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:06.776200,RECEIVED,"b'\xbb'"
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2026-03-20 13:30:06.776696,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:07.778103,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:07.778635,RECEIVED,"b'\xbb'"
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2026-03-20 13:30:07.779151,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:08.780532,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:08.781126,RECEIVED,"b'\xbb'"
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2026-03-20 13:30:08.781632,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:09.783211,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:09.783757,RECEIVED,"b'\xbb'"
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2026-03-20 13:30:09.784256,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:10.785543,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:10.786107,RECEIVED,"b'\xbb'"
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2026-03-20 13:30:10.786639,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:11.788390,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:11.789317,RECEIVED,"b'\xbb'"
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2026-03-20 13:30:11.789855,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:12.790970,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:12.791292,RECEIVED,"b'\xbb'"
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2026-03-20 13:30:12.791782,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:13.793085,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:13.793639,RECEIVED,"b'\xbb'"
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2026-03-20 13:30:13.794168,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:14.795325,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:14.795862,RECEIVED,"b'\xbb'"
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2026-03-20 13:30:14.796378,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:15.798342,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:15.798981,RECEIVED,"b'\xbb'"
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2026-03-20 13:30:15.799565,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:16.802200,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:16.802991,RECEIVED,"b'\xbb'"
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2026-03-20 13:30:16.803606,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:17.804806,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:17.805175,RECEIVED,"b'\xbb'"
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2026-03-20 13:30:17.805710,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:18.807125,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:18.807735,RECEIVED,"b'\xbb'"
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2026-03-20 13:30:18.808259,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:19.809658,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:19.810065,RECEIVED,"b'\xbb'"
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2026-03-20 13:30:19.810613,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:20.812778,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:20.813465,RECEIVED,"b'\xbb'"
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2026-03-20 13:30:20.814135,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:21.815928,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:21.816587,RECEIVED,"b'\xbb'"
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2026-03-20 13:30:21.817199,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:22.819069,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:22.819606,RECEIVED,"b'\xbb'"
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2026-03-20 13:30:22.820110,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:23.821592,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:23.823013,RECEIVED,"b'\xbb'"
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2026-03-20 13:30:23.823554,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:24.824027,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:24.824404,RECEIVED,"b'\xbb'"
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2026-03-20 13:30:24.824900,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:25.826202,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:25.826795,RECEIVED,"b'\xbb'"
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2026-03-20 13:30:25.827323,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
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2026-03-20 13:30:26.828607,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
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2026-03-20 13:30:26.829128,RECEIVED,"b'\xbb'"
|
||||
2026-03-20 13:30:26.829628,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
|
||||
2026-03-20 13:30:27.830915,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
|
||||
2026-03-20 13:30:27.831230,RECEIVED,"b'\xbb'"
|
||||
2026-03-20 13:30:27.831752,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
|
||||
2026-03-20 13:30:28.833564,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
|
||||
2026-03-20 13:30:28.834096,RECEIVED,"b'\xbb'"
|
||||
2026-03-20 13:30:28.834595,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
|
||||
2026-03-20 13:30:29.836626,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
|
||||
2026-03-20 13:30:29.837565,RECEIVED,"b'\xbb'"
|
||||
2026-03-20 13:30:29.838242,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
|
||||
2026-03-20 13:30:30.839058,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
|
||||
2026-03-20 13:30:30.839598,RECEIVED,"b'\xbb'"
|
||||
2026-03-20 13:30:30.840193,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
|
||||
2026-03-20 13:30:31.842311,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
|
||||
2026-03-20 13:30:31.842829,RECEIVED,"b'\xbb'"
|
||||
2026-03-20 13:30:31.843374,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
|
||||
2026-03-20 13:30:32.844556,SENT,"b'\xbbU\x00\x8ah\x05\x00\x00\x00\x00\x02\xf9H'"
|
||||
2026-03-20 13:30:32.845112,RECEIVED,"b'\xbb'"
|
||||
2026-03-20 13:30:32.845615,RECEIVED,"b'U\x00\xc9h\x03\x01\xf9Hv\x07'"
|
||||
|
Reference in New Issue
Block a user