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The test was (last_print.tv_sec < 0), which is never true. I changed it to last_print.tv_sec == 0, which checks if the last_print structure has been given a value yet. This little bug appears not to have mattered much, because in the else branch of the if, other calculations with an uninitialized last_est struct seem to have resulted in a true value anyway.
Here is some documentation for Nmap, but these files are much less comprehensive than what you'll find at the actual Nmap documentation site ( http://nmap.org ).