DronePan yaw did not complete

gistfile1.txt

D: 2016/06/06 09:03:23:364 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:23:466 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:23:564 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:23:660 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:23:780 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:23:781 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:23:871 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:23:977 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:24:081 [com.apple.main-thread/1780979] CameraController camera(_:didGenerateNewMediaFile:) line: 281 Camera Controller didGenerateNewMediaFile
I: 2016/06/06 09:03:24:081 [com.apple.main-thread/1780979] PanoramaController cameraControllerNewMedia line: 593 Shot taken: DJI_0008.jpg ACY: 0.0 GP: -59.9 GY: 0.1 GR: 0.0
D: 2016/06/06 09:03:24:192 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:24:355 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:24:356 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:24:447 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:24:487 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:24:601 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:24:706 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:24:912 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:24:915 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:25:013 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:25:113 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:25:138 [com.dronepan.queue.camera/1781043] CameraController checkTakeASnap(_:counter:) line: 217 Camera Controller checkTakeASnap - OK
D: 2016/06/06 09:03:25:138 [com.dronepan.queue.camera/1781043] PanoramaController cameraControllerCompleted line: 527 Camera signalled complete with shot taken true
D: 2016/06/06 09:03:25:139 [com.dronepan.queue/1781303] ActiveAwareDispatchGroup leave() line: 22 Leaving dispatch group camera
D: 2016/06/06 09:03:25:139 [com.apple.root.default-qos/1781024] ActiveAwareDispatchGroup wait() line: 55 Waiting complete for dispatch group camera
D: 2016/06/06 09:03:25:139 [com.apple.root.default-qos/1781024] PanoramaController takeASnap() line: 505 Take a snap - done
D: 2016/06/06 09:03:25:140 [com.apple.root.default-qos/1781024] PanoramaController runYawLoop(_:pitches:gimbalYaw:) line: 428 PanoLoop: YawLoop: 60.0 - AC yaw
D: 2016/06/06 09:03:25:140 [com.apple.root.default-qos/1781024] PanoramaController setAcYaw line: 474 Set AC yaw 60.0
D: 2016/06/06 09:03:25:140 [com.apple.root.default-qos/1781024] ActiveAwareDispatchGroup enter() line: 16 Entering dispatch group aircraft
D: 2016/06/06 09:03:25:140 [com.apple.root.default-qos/1781024] PanoramaController setAcYaw line: 478 Set AC yaw 60.0 - send
D: 2016/06/06 09:03:25:140 [com.apple.root.default-qos/1781024] FlightController yawTo line: 98 Yaw to 60.0
D: 2016/06/06 09:03:25:241 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 30.0 target Optional(60.0)
D: 2016/06/06 09:03:25:265 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:25:265 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 0.0 target 60.0
D: 2016/06/06 09:03:25:267 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 0.0 target 60.0 diff 60.0 yawSpeed 30.0
D: 2016/06/06 09:03:25:300 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:25:300 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 0.0 target 60.0
D: 2016/06/06 09:03:25:300 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 0.0 target 60.0 diff 60.0 yawSpeed 30.0
D: 2016/06/06 09:03:25:345 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 30.0 target Optional(60.0)
D: 2016/06/06 09:03:25:407 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:25:407 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 0.0 target 60.0
D: 2016/06/06 09:03:25:407 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 0.0 target 60.0 diff 60.0 yawSpeed 30.0
D: 2016/06/06 09:03:25:445 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 30.0 target Optional(60.0)
D: 2016/06/06 09:03:25:531 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:25:532 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 0.0 target 60.0
D: 2016/06/06 09:03:25:532 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 0.0 target 60.0 diff 60.0 yawSpeed 30.0
D: 2016/06/06 09:03:25:541 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 30.0 target Optional(60.0)
D: 2016/06/06 09:03:25:624 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:25:624 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 0.0 target 60.0
D: 2016/06/06 09:03:25:624 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 0.0 target 60.0 diff 60.0 yawSpeed 30.0
D: 2016/06/06 09:03:25:644 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 30.0 target Optional(60.0)
D: 2016/06/06 09:03:25:726 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:25:726 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 0.0 target 60.0
D: 2016/06/06 09:03:25:726 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 0.0 target 60.0 diff 60.0 yawSpeed 30.0
D: 2016/06/06 09:03:25:741 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 30.0 target Optional(60.0)
D: 2016/06/06 09:03:25:813 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:25:813 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 0.0 target 60.0
D: 2016/06/06 09:03:25:813 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 0.0 target 60.0 diff 60.0 yawSpeed 30.0
D: 2016/06/06 09:03:25:843 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 30.0 target Optional(60.0)
D: 2016/06/06 09:03:25:944 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 30.0 target Optional(60.0)
D: 2016/06/06 09:03:25:971 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:25:971 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 0.0 target 60.0
D: 2016/06/06 09:03:25:971 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 0.0 target 60.0 diff 60.0 yawSpeed 30.0
D: 2016/06/06 09:03:26:021 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:26:022 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 0.0 target 60.0
D: 2016/06/06 09:03:26:022 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 0.0 target 60.0 diff 60.0 yawSpeed 30.0
D: 2016/06/06 09:03:26:045 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 30.0 target Optional(60.0)
D: 2016/06/06 09:03:26:146 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 30.0 target Optional(60.0)
D: 2016/06/06 09:03:26:162 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:26:163 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 0.0 target 60.0
D: 2016/06/06 09:03:26:163 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 0.0 target 60.0 diff 60.0 yawSpeed 30.0
D: 2016/06/06 09:03:26:222 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:26:222 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 0.0 target 60.0
D: 2016/06/06 09:03:26:223 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 0.0 target 60.0 diff 60.0 yawSpeed 30.0
D: 2016/06/06 09:03:26:244 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 30.0 target Optional(60.0)
D: 2016/06/06 09:03:26:334 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:26:334 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 0.0 target 60.0
D: 2016/06/06 09:03:26:334 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 0.0 target 60.0 diff 60.0 yawSpeed 30.0
D: 2016/06/06 09:03:26:341 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 30.0 target Optional(60.0)
D: 2016/06/06 09:03:26:441 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 30.0 target Optional(60.0)
D: 2016/06/06 09:03:26:463 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:26:463 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 0.0 target 60.0
D: 2016/06/06 09:03:26:463 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 0.0 target 60.0 diff 60.0 yawSpeed 30.0
D: 2016/06/06 09:03:26:543 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 30.0 target Optional(60.0)
D: 2016/06/06 09:03:26:557 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:26:557 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 0.0 target 60.0
D: 2016/06/06 09:03:26:557 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 0.0 target 60.0 diff 60.0 yawSpeed 30.0
D: 2016/06/06 09:03:26:643 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 30.0 target Optional(60.0)
D: 2016/06/06 09:03:26:697 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:26:697 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 0.0 target 60.0
D: 2016/06/06 09:03:26:697 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 0.0 target 60.0 diff 60.0 yawSpeed 30.0
D: 2016/06/06 09:03:26:745 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 30.0 target Optional(60.0)
D: 2016/06/06 09:03:26:773 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 0.0
D: 2016/06/06 09:03:26:774 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 0.0 target 60.0
D: 2016/06/06 09:03:26:774 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 0.0 target 60.0 diff 60.0 yawSpeed 30.0
D: 2016/06/06 09:03:26:842 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 30.0 target Optional(60.0)
D: 2016/06/06 09:03:26:850 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 1.2
D: 2016/06/06 09:03:26:850 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 1.2 target 60.0
D: 2016/06/06 09:03:26:850 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 1.2 target 60.0 diff 58.8 yawSpeed 29.4
D: 2016/06/06 09:03:26:946 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 29.4 target Optional(60.0)
D: 2016/06/06 09:03:26:961 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 3.0
D: 2016/06/06 09:03:26:961 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 3.0 target 60.0
D: 2016/06/06 09:03:26:961 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 3.0 target 60.0 diff 57.0 yawSpeed 28.5
D: 2016/06/06 09:03:27:046 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 28.5 target Optional(60.0)
D: 2016/06/06 09:03:27:058 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 5.1
D: 2016/06/06 09:03:27:059 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 5.1 target 60.0
D: 2016/06/06 09:03:27:059 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 5.1 target 60.0 diff 54.9 yawSpeed 27.45
D: 2016/06/06 09:03:27:146 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 27.45 target Optional(60.0)
D: 2016/06/06 09:03:27:188 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 7.5
D: 2016/06/06 09:03:27:188 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 7.5 target 60.0
D: 2016/06/06 09:03:27:188 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 7.5 target 60.0 diff 52.5 yawSpeed 26.25
D: 2016/06/06 09:03:27:245 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 26.25 target Optional(60.0)
D: 2016/06/06 09:03:27:318 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 10.2
D: 2016/06/06 09:03:27:318 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 10.2 target 60.0
D: 2016/06/06 09:03:27:318 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 10.2 target 60.0 diff 49.8 yawSpeed 24.9
D: 2016/06/06 09:03:27:346 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 24.9 target Optional(60.0)
D: 2016/06/06 09:03:27:373 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 13.0
D: 2016/06/06 09:03:27:373 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 13.0 target 60.0
D: 2016/06/06 09:03:27:373 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 13.0 target 60.0 diff 47.0 yawSpeed 23.5
D: 2016/06/06 09:03:27:442 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 23.5 target Optional(60.0)
D: 2016/06/06 09:03:27:489 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 16.0
D: 2016/06/06 09:03:27:489 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 16.0 target 60.0
D: 2016/06/06 09:03:27:490 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 16.0 target 60.0 diff 44.0 yawSpeed 22.0
D: 2016/06/06 09:03:27:542 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 22.0 target Optional(60.0)
D: 2016/06/06 09:03:27:569 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 19.0
D: 2016/06/06 09:03:27:569 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 19.0 target 60.0
D: 2016/06/06 09:03:27:570 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 19.0 target 60.0 diff 41.0 yawSpeed 20.5
D: 2016/06/06 09:03:27:644 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 20.5 target Optional(60.0)
D: 2016/06/06 09:03:27:674 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 22.0
D: 2016/06/06 09:03:27:675 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 22.0 target 60.0
D: 2016/06/06 09:03:27:675 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 22.0 target 60.0 diff 38.0 yawSpeed 19.0
D: 2016/06/06 09:03:27:744 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 19.0 target Optional(60.0)
D: 2016/06/06 09:03:27:771 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 24.9
D: 2016/06/06 09:03:27:771 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 24.9 target 60.0
D: 2016/06/06 09:03:27:771 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 24.9 target 60.0 diff 35.1 yawSpeed 17.55
D: 2016/06/06 09:03:27:842 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 17.55 target Optional(60.0)
D: 2016/06/06 09:03:27:912 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 27.8
D: 2016/06/06 09:03:27:912 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 27.8 target 60.0
D: 2016/06/06 09:03:27:912 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 27.8 target 60.0 diff 32.2 yawSpeed 16.1
D: 2016/06/06 09:03:27:945 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 16.1 target Optional(60.0)
D: 2016/06/06 09:03:28:017 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 30.6
D: 2016/06/06 09:03:28:018 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 30.6 target 60.0
D: 2016/06/06 09:03:28:019 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 30.6 target 60.0 diff 29.4 yawSpeed 14.7
D: 2016/06/06 09:03:28:022 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 33.3
D: 2016/06/06 09:03:28:023 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 33.3 target 60.0
D: 2016/06/06 09:03:28:023 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 33.3 target 60.0 diff 26.7 yawSpeed 13.35
D: 2016/06/06 09:03:28:046 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 13.35 target Optional(60.0)
D: 2016/06/06 09:03:28:143 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 13.35 target Optional(60.0)
D: 2016/06/06 09:03:28:218 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 35.6
D: 2016/06/06 09:03:28:218 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 35.6 target 60.0
D: 2016/06/06 09:03:28:219 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 35.6 target 60.0 diff 24.4 yawSpeed 12.2
D: 2016/06/06 09:03:28:219 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 37.9
D: 2016/06/06 09:03:28:219 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 37.9 target 60.0
D: 2016/06/06 09:03:28:219 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 37.9 target 60.0 diff 22.1 yawSpeed 11.05
D: 2016/06/06 09:03:28:246 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 11.05 target Optional(60.0)
D: 2016/06/06 09:03:28:346 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 11.05 target Optional(60.0)
D: 2016/06/06 09:03:28:401 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 40.1
D: 2016/06/06 09:03:28:401 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 40.1 target 60.0
D: 2016/06/06 09:03:28:401 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 40.1 target 60.0 diff 19.9 yawSpeed 9.95
D: 2016/06/06 09:03:28:408 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 41.9
D: 2016/06/06 09:03:28:408 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 41.9 target 60.0
D: 2016/06/06 09:03:28:408 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 41.9 target 60.0 diff 18.1 yawSpeed 9.05
D: 2016/06/06 09:03:28:443 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 9.05 target Optional(60.0)
D: 2016/06/06 09:03:28:489 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 43.6
D: 2016/06/06 09:03:28:489 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 43.6 target 60.0
D: 2016/06/06 09:03:28:489 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 43.6 target 60.0 diff 16.4 yawSpeed 8.2
D: 2016/06/06 09:03:28:544 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 8.2 target Optional(60.0)
D: 2016/06/06 09:03:28:594 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 45.2
D: 2016/06/06 09:03:28:594 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 45.2 target 60.0
D: 2016/06/06 09:03:28:594 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 45.2 target 60.0 diff 14.8 yawSpeed 7.4
D: 2016/06/06 09:03:28:643 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 7.4 target Optional(60.0)
D: 2016/06/06 09:03:28:745 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 7.4 target Optional(60.0)
D: 2016/06/06 09:03:28:759 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 46.6
D: 2016/06/06 09:03:28:759 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 46.6 target 60.0
D: 2016/06/06 09:03:28:759 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 46.6 target 60.0 diff 13.4 yawSpeed 6.7
D: 2016/06/06 09:03:28:805 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 47.9
D: 2016/06/06 09:03:28:806 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 47.9 target 60.0
D: 2016/06/06 09:03:28:806 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 47.9 target 60.0 diff 12.1 yawSpeed 6.05
D: 2016/06/06 09:03:28:844 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 6.05 target Optional(60.0)
D: 2016/06/06 09:03:28:910 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 49.0
D: 2016/06/06 09:03:28:911 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 49.0 target 60.0
D: 2016/06/06 09:03:28:911 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 49.0 target 60.0 diff 11.0 yawSpeed 5.5
D: 2016/06/06 09:03:28:945 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 5.5 target Optional(60.0)
D: 2016/06/06 09:03:28:997 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 50.0
D: 2016/06/06 09:03:28:997 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 50.0 target 60.0
D: 2016/06/06 09:03:28:997 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 50.0 target 60.0 diff 10.0 yawSpeed 5.0
D: 2016/06/06 09:03:29:046 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 5.0 target Optional(60.0)
D: 2016/06/06 09:03:29:113 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 50.9
D: 2016/06/06 09:03:29:113 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 50.9 target 60.0
D: 2016/06/06 09:03:29:113 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 50.9 target 60.0 diff 9.09999999999999 yawSpeed 4.55
D: 2016/06/06 09:03:29:141 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 4.55 target Optional(60.0)
D: 2016/06/06 09:03:29:215 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 51.6
D: 2016/06/06 09:03:29:215 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 51.6 target 60.0
D: 2016/06/06 09:03:29:215 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 51.6 target 60.0 diff 8.4 yawSpeed 4.2
D: 2016/06/06 09:03:29:245 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 4.2 target Optional(60.0)
D: 2016/06/06 09:03:29:316 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 52.2
D: 2016/06/06 09:03:29:316 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 52.2 target 60.0
D: 2016/06/06 09:03:29:316 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 52.2 target 60.0 diff 7.8 yawSpeed 3.9
D: 2016/06/06 09:03:29:343 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 3.9 target Optional(60.0)
D: 2016/06/06 09:03:29:408 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 52.7
D: 2016/06/06 09:03:29:408 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 52.7 target 60.0
D: 2016/06/06 09:03:29:408 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 52.7 target 60.0 diff 7.3 yawSpeed 3.65
D: 2016/06/06 09:03:29:445 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 3.65 target Optional(60.0)
D: 2016/06/06 09:03:29:545 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 3.65 target Optional(60.0)
D: 2016/06/06 09:03:29:553 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 53.2
D: 2016/06/06 09:03:29:553 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 53.2 target 60.0
D: 2016/06/06 09:03:29:553 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 53.2 target 60.0 diff 6.8 yawSpeed 3.4
D: 2016/06/06 09:03:29:613 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 53.6
D: 2016/06/06 09:03:29:613 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 53.6 target 60.0
D: 2016/06/06 09:03:29:613 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 53.6 target 60.0 diff 6.4 yawSpeed 3.2
D: 2016/06/06 09:03:29:646 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 3.2 target Optional(60.0)
D: 2016/06/06 09:03:29:745 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 3.2 target Optional(60.0)
D: 2016/06/06 09:03:29:763 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 53.9
D: 2016/06/06 09:03:29:763 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 53.9 target 60.0
D: 2016/06/06 09:03:29:764 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 53.9 target 60.0 diff 6.09999999999999 yawSpeed 3.05
D: 2016/06/06 09:03:29:814 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 54.2
D: 2016/06/06 09:03:29:814 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 54.2 target 60.0
D: 2016/06/06 09:03:29:814 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 54.2 target 60.0 diff 5.8 yawSpeed 2.9
D: 2016/06/06 09:03:29:846 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 2.9 target Optional(60.0)
D: 2016/06/06 09:03:29:938 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 54.5
D: 2016/06/06 09:03:29:938 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 54.5 target 60.0
D: 2016/06/06 09:03:29:938 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 54.5 target 60.0 diff 5.5 yawSpeed 2.75
D: 2016/06/06 09:03:29:946 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 2.75 target Optional(60.0)
D: 2016/06/06 09:03:30:023 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 54.7
D: 2016/06/06 09:03:30:024 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 54.7 target 60.0
D: 2016/06/06 09:03:30:024 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 54.7 target 60.0 diff 5.3 yawSpeed 2.65
D: 2016/06/06 09:03:30:046 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 2.65 target Optional(60.0)
D: 2016/06/06 09:03:30:122 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 54.9
D: 2016/06/06 09:03:30:122 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 54.9 target 60.0
D: 2016/06/06 09:03:30:122 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 54.9 target 60.0 diff 5.09999999999999 yawSpeed 2.55
D: 2016/06/06 09:03:30:142 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 2.55 target Optional(60.0)
D: 2016/06/06 09:03:30:144 [com.apple.root.default-qos/1781024] ActiveAwareDispatchGroup wait() line: 53 Waiting for dispatch group aircraft
D: 2016/06/06 09:03:30:144 [com.dronepan.queue/1781015] ActiveAwareDispatchGroup leave() line: 22 Leaving dispatch group aircraft
D: 2016/06/06 09:03:30:145 [com.apple.root.default-qos/1781024] ActiveAwareDispatchGroup wait() line: 55 Waiting complete for dispatch group aircraft
D: 2016/06/06 09:03:30:145 [com.apple.root.default-qos/1781024] PanoramaController setAcYaw line: 481 Set AC yaw 60.0 - done
D: 2016/06/06 09:03:30:145 [com.apple.root.default-qos/1781024] PanoramaController runYawLoop(_:pitches:gimbalYaw:) line: 423 PanoLoop: YawLoop: 120.0
D: 2016/06/06 09:03:30:145 [com.apple.root.default-qos/1781024] PanoramaController runYawLoop(_:pitches:gimbalYaw:) line: 428 PanoLoop: YawLoop: 120.0 - AC yaw
D: 2016/06/06 09:03:30:145 [com.apple.root.default-qos/1781024] PanoramaController setAcYaw line: 474 Set AC yaw 120.0
D: 2016/06/06 09:03:30:145 [com.apple.root.default-qos/1781024] ActiveAwareDispatchGroup enter() line: 16 Entering dispatch group aircraft
D: 2016/06/06 09:03:30:145 [com.apple.root.default-qos/1781024] PanoramaController setAcYaw line: 478 Set AC yaw 120.0 - send
D: 2016/06/06 09:03:30:145 [com.apple.root.default-qos/1781024] FlightController yawTo line: 98 Yaw to 120.0
D: 2016/06/06 09:03:30:224 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 55.1
D: 2016/06/06 09:03:30:224 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 55.1 target 120.0
D: 2016/06/06 09:03:30:224 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 55.1 target 120.0 diff 64.9 yawSpeed 32.45
D: 2016/06/06 09:03:30:228 [com.apple.main-thread/1780979] CameraController camera(_:didUpdateSDCardState:) line: 323 Camera Controller changing status from Stopping to Normal
D: 2016/06/06 09:03:30:228 [com.apple.main-thread/1780979] CameraController camera(_:didUpdateSDCardState:) line: 331 Camera Controller changed state to normal - signal
D: 2016/06/06 09:03:30:228 [com.apple.main-thread/1780979] PanoramaController cameraControllerOK line: 575 Camera signalled OK
D: 2016/06/06 09:03:30:249 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 32.45 target Optional(120.0)
D: 2016/06/06 09:03:30:339 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 55.3
D: 2016/06/06 09:03:30:339 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 55.3 target 120.0
D: 2016/06/06 09:03:30:339 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 55.3 target 120.0 diff 64.7 yawSpeed 32.35
D: 2016/06/06 09:03:30:349 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 32.35 target Optional(120.0)
D: 2016/06/06 09:03:30:438 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 55.5
D: 2016/06/06 09:03:30:438 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 55.5 target 120.0
D: 2016/06/06 09:03:30:438 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 55.5 target 120.0 diff 64.5 yawSpeed 32.25
D: 2016/06/06 09:03:30:448 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 32.25 target Optional(120.0)
D: 2016/06/06 09:03:30:546 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 55.7
D: 2016/06/06 09:03:30:546 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 55.7 target 120.0
D: 2016/06/06 09:03:30:546 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 55.7 target 120.0 diff 64.3 yawSpeed 32.15
D: 2016/06/06 09:03:30:549 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 32.15 target Optional(120.0)
D: 2016/06/06 09:03:30:636 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 56.0
D: 2016/06/06 09:03:30:636 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 56.0 target 120.0
D: 2016/06/06 09:03:30:636 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 56.0 target 120.0 diff 64.0 yawSpeed 32.0
D: 2016/06/06 09:03:30:649 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 32.0 target Optional(120.0)
D: 2016/06/06 09:03:30:749 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 32.0 target Optional(120.0)
D: 2016/06/06 09:03:30:771 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 57.6
D: 2016/06/06 09:03:30:771 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 57.6 target 120.0
D: 2016/06/06 09:03:30:771 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 57.6 target 120.0 diff 62.4 yawSpeed 31.2
D: 2016/06/06 09:03:30:850 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 31.2 target Optional(120.0)
D: 2016/06/06 09:03:30:908 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 59.6
D: 2016/06/06 09:03:30:908 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 59.6 target 120.0
D: 2016/06/06 09:03:30:908 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 59.6 target 120.0 diff 60.4 yawSpeed 30.2
D: 2016/06/06 09:03:30:940 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 62.1
D: 2016/06/06 09:03:30:940 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 62.1 target 120.0
D: 2016/06/06 09:03:30:940 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 62.1 target 120.0 diff 57.9 yawSpeed 28.95
D: 2016/06/06 09:03:30:949 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 28.95 target Optional(120.0)
D: 2016/06/06 09:03:31:049 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 28.95 target Optional(120.0)
D: 2016/06/06 09:03:31:101 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 64.6
D: 2016/06/06 09:03:31:102 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 64.6 target 120.0
D: 2016/06/06 09:03:31:102 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 64.6 target 120.0 diff 55.4 yawSpeed 27.7
D: 2016/06/06 09:03:31:149 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 27.7 target Optional(120.0)
D: 2016/06/06 09:03:31:173 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 67.4
D: 2016/06/06 09:03:31:174 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 67.4 target 120.0
D: 2016/06/06 09:03:31:174 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 67.4 target 120.0 diff 52.6 yawSpeed 26.3
D: 2016/06/06 09:03:31:249 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 26.3 target Optional(120.0)
D: 2016/06/06 09:03:31:269 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 70.5
D: 2016/06/06 09:03:31:269 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 70.5 target 120.0
D: 2016/06/06 09:03:31:269 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 70.5 target 120.0 diff 49.5 yawSpeed 24.75
D: 2016/06/06 09:03:31:349 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 24.75 target Optional(120.0)
D: 2016/06/06 09:03:31:357 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 73.6
D: 2016/06/06 09:03:31:357 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 73.6 target 120.0
D: 2016/06/06 09:03:31:357 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 73.6 target 120.0 diff 46.4 yawSpeed 23.2
D: 2016/06/06 09:03:31:449 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 23.2 target Optional(120.0)
D: 2016/06/06 09:03:31:484 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 76.7
D: 2016/06/06 09:03:31:484 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 76.7 target 120.0
D: 2016/06/06 09:03:31:484 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 76.7 target 120.0 diff 43.3 yawSpeed 21.65
D: 2016/06/06 09:03:31:549 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 21.65 target Optional(120.0)
D: 2016/06/06 09:03:31:649 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 21.65 target Optional(120.0)
D: 2016/06/06 09:03:31:666 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 79.9
D: 2016/06/06 09:03:31:666 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 79.9 target 120.0
D: 2016/06/06 09:03:31:666 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 79.9 target 120.0 diff 40.1 yawSpeed 20.05
D: 2016/06/06 09:03:31:749 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 20.05 target Optional(120.0)
D: 2016/06/06 09:03:31:770 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 85.9
D: 2016/06/06 09:03:31:770 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 85.9 target 120.0
D: 2016/06/06 09:03:31:770 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 85.9 target 120.0 diff 34.1 yawSpeed 17.05
D: 2016/06/06 09:03:31:849 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 17.05 target Optional(120.0)
D: 2016/06/06 09:03:31:872 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 88.8
D: 2016/06/06 09:03:31:872 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 88.8 target 120.0
D: 2016/06/06 09:03:31:872 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 88.8 target 120.0 diff 31.2 yawSpeed 15.6
D: 2016/06/06 09:03:31:951 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 15.6 target Optional(120.0)
D: 2016/06/06 09:03:31:983 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 91.6
D: 2016/06/06 09:03:31:983 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 91.6 target 120.0
D: 2016/06/06 09:03:31:984 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 91.6 target 120.0 diff 28.4 yawSpeed 14.2
D: 2016/06/06 09:03:32:049 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 14.2 target Optional(120.0)
D: 2016/06/06 09:03:32:149 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 94.2
D: 2016/06/06 09:03:32:149 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 94.2 target 120.0
D: 2016/06/06 09:03:32:149 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 94.2 target 120.0 diff 25.8 yawSpeed 12.9
D: 2016/06/06 09:03:32:150 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 12.9 target Optional(120.0)
D: 2016/06/06 09:03:32:193 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 96.8
D: 2016/06/06 09:03:32:193 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 96.8 target 120.0
D: 2016/06/06 09:03:32:193 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 96.8 target 120.0 diff 23.2 yawSpeed 11.6
D: 2016/06/06 09:03:32:249 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 11.6 target Optional(120.0)
D: 2016/06/06 09:03:32:280 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 99.1
D: 2016/06/06 09:03:32:280 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 99.1 target 120.0
D: 2016/06/06 09:03:32:280 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 99.1 target 120.0 diff 20.9 yawSpeed 10.45
D: 2016/06/06 09:03:32:348 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 10.45 target Optional(120.0)
D: 2016/06/06 09:03:32:436 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 101.2
D: 2016/06/06 09:03:32:436 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 101.2 target 120.0
D: 2016/06/06 09:03:32:436 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 101.2 target 120.0 diff 18.8 yawSpeed 9.4
D: 2016/06/06 09:03:32:438 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 103.0
D: 2016/06/06 09:03:32:438 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 103.0 target 120.0
D: 2016/06/06 09:03:32:438 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 103.0 target 120.0 diff 17.0 yawSpeed 8.5
D: 2016/06/06 09:03:32:449 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 8.5 target Optional(120.0)
D: 2016/06/06 09:03:32:550 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 8.5 target Optional(120.0)
D: 2016/06/06 09:03:32:582 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 104.7
D: 2016/06/06 09:03:32:582 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 104.7 target 120.0
D: 2016/06/06 09:03:32:582 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 104.7 target 120.0 diff 15.3 yawSpeed 7.65
D: 2016/06/06 09:03:32:588 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 106.3
D: 2016/06/06 09:03:32:589 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 106.3 target 120.0
D: 2016/06/06 09:03:32:589 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 106.3 target 120.0 diff 13.7 yawSpeed 6.84999999999999
D: 2016/06/06 09:03:32:650 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 6.84999999999999 target Optional(120.0)
D: 2016/06/06 09:03:32:697 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 107.7
D: 2016/06/06 09:03:32:697 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 107.7 target 120.0
D: 2016/06/06 09:03:32:697 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 107.7 target 120.0 diff 12.3 yawSpeed 6.15
D: 2016/06/06 09:03:32:749 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 6.15 target Optional(120.0)
D: 2016/06/06 09:03:32:793 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 108.9
D: 2016/06/06 09:03:32:793 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 108.9 target 120.0
D: 2016/06/06 09:03:32:793 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 108.9 target 120.0 diff 11.1 yawSpeed 5.55
D: 2016/06/06 09:03:32:849 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 5.55 target Optional(120.0)
D: 2016/06/06 09:03:32:949 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 5.55 target Optional(120.0)
D: 2016/06/06 09:03:32:954 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 109.9
D: 2016/06/06 09:03:32:954 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 109.9 target 120.0
D: 2016/06/06 09:03:32:954 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 109.9 target 120.0 diff 10.1 yawSpeed 5.05
D: 2016/06/06 09:03:33:032 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 110.9
D: 2016/06/06 09:03:33:032 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 110.9 target 120.0
D: 2016/06/06 09:03:33:032 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 110.9 target 120.0 diff 9.09999999999999 yawSpeed 4.55
D: 2016/06/06 09:03:33:049 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 4.55 target Optional(120.0)
D: 2016/06/06 09:03:33:098 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 111.6
D: 2016/06/06 09:03:33:098 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 111.6 target 120.0
D: 2016/06/06 09:03:33:098 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 111.6 target 120.0 diff 8.39999999999999 yawSpeed 4.2
D: 2016/06/06 09:03:33:149 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 4.2 target Optional(120.0)
D: 2016/06/06 09:03:33:209 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 112.2
D: 2016/06/06 09:03:33:209 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 112.2 target 120.0
D: 2016/06/06 09:03:33:209 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 112.2 target 120.0 diff 7.8 yawSpeed 3.9
D: 2016/06/06 09:03:33:249 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 3.9 target Optional(120.0)
D: 2016/06/06 09:03:33:310 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 112.8
D: 2016/06/06 09:03:33:310 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 112.8 target 120.0
D: 2016/06/06 09:03:33:310 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 112.8 target 120.0 diff 7.19999999999999 yawSpeed 3.59999999999999
D: 2016/06/06 09:03:33:349 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 3.59999999999999 target Optional(120.0)
D: 2016/06/06 09:03:33:427 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 113.3
D: 2016/06/06 09:03:33:427 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 113.3 target 120.0
D: 2016/06/06 09:03:33:427 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 113.3 target 120.0 diff 6.69999999999999 yawSpeed 3.34999999999999
D: 2016/06/06 09:03:33:449 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 3.34999999999999 target Optional(120.0)
D: 2016/06/06 09:03:33:513 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 113.7
D: 2016/06/06 09:03:33:513 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 113.7 target 120.0
D: 2016/06/06 09:03:33:513 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 113.7 target 120.0 diff 6.3 yawSpeed 3.15
D: 2016/06/06 09:03:33:549 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 3.15 target Optional(120.0)
D: 2016/06/06 09:03:33:603 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 114.0
D: 2016/06/06 09:03:33:603 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 114.0 target 120.0
D: 2016/06/06 09:03:33:603 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 114.0 target 120.0 diff 6.0 yawSpeed 3.0
D: 2016/06/06 09:03:33:648 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 3.0 target Optional(120.0)
D: 2016/06/06 09:03:33:716 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 114.3
D: 2016/06/06 09:03:33:717 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 114.3 target 120.0
D: 2016/06/06 09:03:33:717 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 114.3 target 120.0 diff 5.69999999999999 yawSpeed 2.84999999999999
D: 2016/06/06 09:03:33:749 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 2.84999999999999 target Optional(120.0)
D: 2016/06/06 09:03:33:849 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 2.84999999999999 target Optional(120.0)
D: 2016/06/06 09:03:33:849 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 114.5
D: 2016/06/06 09:03:33:849 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 114.5 target 120.0
D: 2016/06/06 09:03:33:849 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 114.5 target 120.0 diff 5.5 yawSpeed 2.75
D: 2016/06/06 09:03:33:918 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 114.7
D: 2016/06/06 09:03:33:918 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 114.7 target 120.0
D: 2016/06/06 09:03:33:918 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 114.7 target 120.0 diff 5.3 yawSpeed 2.65
D: 2016/06/06 09:03:33:949 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 2.65 target Optional(120.0)
D: 2016/06/06 09:03:34:017 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 114.9
D: 2016/06/06 09:03:34:017 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 114.9 target 120.0
D: 2016/06/06 09:03:34:017 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 114.9 target 120.0 diff 5.09999999999999 yawSpeed 2.55
D: 2016/06/06 09:03:34:050 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 2.55 target Optional(120.0)
D: 2016/06/06 09:03:34:123 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 115.1
D: 2016/06/06 09:03:34:124 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 115.1 target 120.0
D: 2016/06/06 09:03:34:124 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 115.1 target 120.0 diff 4.89999999999999 yawSpeed 2.45
D: 2016/06/06 09:03:34:150 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 2.45 target Optional(120.0)
D: 2016/06/06 09:03:34:243 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 115.3
D: 2016/06/06 09:03:34:243 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 115.3 target 120.0
D: 2016/06/06 09:03:34:243 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 115.3 target 120.0 diff 4.69999999999999 yawSpeed 2.34999999999999
D: 2016/06/06 09:03:34:249 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 2.34999999999999 target Optional(120.0)
D: 2016/06/06 09:03:34:335 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 115.4
D: 2016/06/06 09:03:34:335 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 115.4 target 120.0
D: 2016/06/06 09:03:34:335 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 115.4 target 120.0 diff 4.59999999999999 yawSpeed 2.3
D: 2016/06/06 09:03:34:349 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 2.3 target Optional(120.0)
D: 2016/06/06 09:03:34:437 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 115.6
D: 2016/06/06 09:03:34:437 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 115.6 target 120.0
D: 2016/06/06 09:03:34:437 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 115.6 target 120.0 diff 4.39999999999999 yawSpeed 2.2
D: 2016/06/06 09:03:34:449 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 2.2 target Optional(120.0)
D: 2016/06/06 09:03:34:542 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 115.8
D: 2016/06/06 09:03:34:542 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 115.8 target 120.0
D: 2016/06/06 09:03:34:542 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 115.8 target 120.0 diff 4.19999999999999 yawSpeed 2.09999999999999
D: 2016/06/06 09:03:34:550 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 2.09999999999999 target Optional(120.0)
D: 2016/06/06 09:03:34:640 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 115.9
D: 2016/06/06 09:03:34:640 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 115.9 target 120.0
D: 2016/06/06 09:03:34:640 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 115.9 target 120.0 diff 4.09999999999999 yawSpeed 2.05
D: 2016/06/06 09:03:34:650 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 2.05 target Optional(120.0)
D: 2016/06/06 09:03:34:749 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 2.05 target Optional(120.0)
D: 2016/06/06 09:03:34:814 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 116.1
D: 2016/06/06 09:03:34:814 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 116.1 target 120.0
D: 2016/06/06 09:03:34:814 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 116.1 target 120.0 diff 3.89999999999999 yawSpeed 1.95
D: 2016/06/06 09:03:34:849 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 1.95 target Optional(120.0)
D: 2016/06/06 09:03:34:949 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 1.95 target Optional(120.0)
D: 2016/06/06 09:03:34:975 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 116.2
D: 2016/06/06 09:03:34:975 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 116.2 target 120.0
D: 2016/06/06 09:03:34:975 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 116.2 target 120.0 diff 3.8 yawSpeed 1.9
D: 2016/06/06 09:03:35:049 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 1.9 target Optional(120.0)
D: 2016/06/06 09:03:35:057 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 116.6
D: 2016/06/06 09:03:35:057 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 116.6 target 120.0
D: 2016/06/06 09:03:35:057 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 116.6 target 120.0 diff 3.39999999999999 yawSpeed 1.7
D: 2016/06/06 09:03:35:141 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 116.8
D: 2016/06/06 09:03:35:141 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 116.8 target 120.0
D: 2016/06/06 09:03:35:141 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 116.8 target 120.0 diff 3.19999999999999 yawSpeed 1.59999999999999
D: 2016/06/06 09:03:35:156 [com.apple.root.default-qos/1781024] ActiveAwareDispatchGroup wait() line: 53 Waiting for dispatch group aircraft
D: 2016/06/06 09:03:35:159 [com.dronepan.queue/1781303] ActiveAwareDispatchGroup leave() line: 22 Leaving dispatch group aircraft
D: 2016/06/06 09:03:35:161 [com.apple.root.default-qos/1781024] ActiveAwareDispatchGroup wait() line: 55 Waiting complete for dispatch group aircraft
D: 2016/06/06 09:03:35:161 [com.apple.root.default-qos/1781024] PanoramaController setAcYaw line: 481 Set AC yaw 120.0 - done
D: 2016/06/06 09:03:35:161 [com.apple.root.default-qos/1781024] PanoramaController runYawLoop(_:pitches:gimbalYaw:) line: 423 PanoLoop: YawLoop: 180.0
D: 2016/06/06 09:03:35:161 [com.apple.root.default-qos/1781024] PanoramaController runYawLoop(_:pitches:gimbalYaw:) line: 428 PanoLoop: YawLoop: 180.0 - AC yaw
D: 2016/06/06 09:03:35:161 [com.apple.root.default-qos/1781024] PanoramaController setAcYaw line: 474 Set AC yaw 180.0
D: 2016/06/06 09:03:35:161 [com.apple.root.default-qos/1781024] ActiveAwareDispatchGroup enter() line: 16 Entering dispatch group aircraft
D: 2016/06/06 09:03:35:161 [com.apple.root.default-qos/1781024] PanoramaController setAcYaw line: 478 Set AC yaw 180.0 - send
D: 2016/06/06 09:03:35:161 [com.apple.root.default-qos/1781024] FlightController yawTo line: 98 Yaw to 180.0
D: 2016/06/06 09:03:35:262 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 30.0 target Optional(180.0)
D: 2016/06/06 09:03:35:270 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 116.9
D: 2016/06/06 09:03:35:270 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 116.9 target 180.0
D: 2016/06/06 09:03:35:270 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 116.9 target 180.0 diff 63.1 yawSpeed 31.55
D: 2016/06/06 09:03:35:272 [com.apple.main-thread/1780979] CameraController camera(_:didUpdateSDCardState:) line: 323 Camera Controller changing status from Stopping to Normal
D: 2016/06/06 09:03:35:272 [com.apple.main-thread/1780979] CameraController camera(_:didUpdateSDCardState:) line: 331 Camera Controller changed state to normal - signal
D: 2016/06/06 09:03:35:272 [com.apple.main-thread/1780979] PanoramaController cameraControllerOK line: 575 Camera signalled OK
D: 2016/06/06 09:03:35:367 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 31.55 target Optional(180.0)
D: 2016/06/06 09:03:35:418 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 117.1
D: 2016/06/06 09:03:35:418 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 117.1 target 180.0
D: 2016/06/06 09:03:35:418 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 117.1 target 180.0 diff 62.9 yawSpeed 31.45
D: 2016/06/06 09:03:35:457 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 117.3
D: 2016/06/06 09:03:35:457 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 117.3 target 180.0
D: 2016/06/06 09:03:35:457 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 117.3 target 180.0 diff 62.7 yawSpeed 31.35
D: 2016/06/06 09:03:35:467 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 31.35 target Optional(180.0)
D: 2016/06/06 09:03:35:567 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 31.35 target Optional(180.0)
D: 2016/06/06 09:03:35:586 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 117.4
D: 2016/06/06 09:03:35:586 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 117.4 target 180.0
D: 2016/06/06 09:03:35:586 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 117.4 target 180.0 diff 62.6 yawSpeed 31.3
D: 2016/06/06 09:03:35:652 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 117.6
D: 2016/06/06 09:03:35:652 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 117.6 target 180.0
D: 2016/06/06 09:03:35:652 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 117.6 target 180.0 diff 62.4 yawSpeed 31.2
D: 2016/06/06 09:03:35:667 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 31.2 target Optional(180.0)
D: 2016/06/06 09:03:35:767 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 31.2 target Optional(180.0)
D: 2016/06/06 09:03:35:778 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 117.8
D: 2016/06/06 09:03:35:778 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 117.8 target 180.0
D: 2016/06/06 09:03:35:778 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 117.8 target 180.0 diff 62.2 yawSpeed 31.1
D: 2016/06/06 09:03:35:867 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 31.1 target Optional(180.0)
D: 2016/06/06 09:03:35:877 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 119.3
D: 2016/06/06 09:03:35:877 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 119.3 target 180.0
D: 2016/06/06 09:03:35:877 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 119.3 target 180.0 diff 60.7 yawSpeed 30.35
D: 2016/06/06 09:03:35:967 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 30.35 target Optional(180.0)
D: 2016/06/06 09:03:35:987 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 121.2
D: 2016/06/06 09:03:35:987 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 121.2 target 180.0
D: 2016/06/06 09:03:35:987 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 121.2 target 180.0 diff 58.8 yawSpeed 29.4
D: 2016/06/06 09:03:36:066 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 29.4 target Optional(180.0)
D: 2016/06/06 09:03:36:078 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 123.5
D: 2016/06/06 09:03:36:078 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 123.5 target 180.0
D: 2016/06/06 09:03:36:078 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 123.5 target 180.0 diff 56.5 yawSpeed 28.25
D: 2016/06/06 09:03:36:165 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 28.25 target Optional(180.0)
D: 2016/06/06 09:03:36:208 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 126.1
D: 2016/06/06 09:03:36:208 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 126.1 target 180.0
D: 2016/06/06 09:03:36:208 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 126.1 target 180.0 diff 53.9 yawSpeed 26.95
D: 2016/06/06 09:03:36:266 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 26.95 target Optional(180.0)
D: 2016/06/06 09:03:36:289 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 128.9
D: 2016/06/06 09:03:36:289 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 128.9 target 180.0
D: 2016/06/06 09:03:36:289 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 128.9 target 180.0 diff 51.1 yawSpeed 25.55
D: 2016/06/06 09:03:36:367 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 25.55 target Optional(180.0)
D: 2016/06/06 09:03:36:372 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 131.9
D: 2016/06/06 09:03:36:372 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 131.9 target 180.0
D: 2016/06/06 09:03:36:372 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 131.9 target 180.0 diff 48.1 yawSpeed 24.05
D: 2016/06/06 09:03:36:373 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 134.8
D: 2016/06/06 09:03:36:373 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 134.8 target 180.0
D: 2016/06/06 09:03:36:373 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 134.8 target 180.0 diff 45.2 yawSpeed 22.6
D: 2016/06/06 09:03:36:467 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 22.6 target Optional(180.0)
D: 2016/06/06 09:03:36:488 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 137.9
D: 2016/06/06 09:03:36:488 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 137.9 target 180.0
D: 2016/06/06 09:03:36:488 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 137.9 target 180.0 diff 42.1 yawSpeed 21.05
D: 2016/06/06 09:03:36:567 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 21.05 target Optional(180.0)
D: 2016/06/06 09:03:36:666 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 21.05 target Optional(180.0)
D: 2016/06/06 09:03:36:723 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 141.0
D: 2016/06/06 09:03:36:723 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 141.0 target 180.0
D: 2016/06/06 09:03:36:723 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 141.0 target 180.0 diff 39.0 yawSpeed 19.5
D: 2016/06/06 09:03:36:725 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 144.0
D: 2016/06/06 09:03:36:725 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 144.0 target 180.0
D: 2016/06/06 09:03:36:726 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 144.0 target 180.0 diff 36.0 yawSpeed 18.0
D: 2016/06/06 09:03:36:763 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 18.0 target Optional(180.0)
D: 2016/06/06 09:03:36:784 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 147.0
D: 2016/06/06 09:03:36:785 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 147.0 target 180.0
D: 2016/06/06 09:03:36:785 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 147.0 target 180.0 diff 33.0 yawSpeed 16.5
D: 2016/06/06 09:03:36:863 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 16.5 target Optional(180.0)
D: 2016/06/06 09:03:36:937 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 149.8
D: 2016/06/06 09:03:36:937 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 149.8 target 180.0
D: 2016/06/06 09:03:36:937 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 149.8 target 180.0 diff 30.2 yawSpeed 15.1
D: 2016/06/06 09:03:36:966 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 15.1 target Optional(180.0)
D: 2016/06/06 09:03:37:012 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 152.4
D: 2016/06/06 09:03:37:012 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 152.4 target 180.0
D: 2016/06/06 09:03:37:012 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 152.4 target 180.0 diff 27.6 yawSpeed 13.8
D: 2016/06/06 09:03:37:067 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 13.8 target Optional(180.0)
D: 2016/06/06 09:03:37:112 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 155.0
D: 2016/06/06 09:03:37:112 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 155.0 target 180.0
D: 2016/06/06 09:03:37:112 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 155.0 target 180.0 diff 25.0 yawSpeed 12.5
D: 2016/06/06 09:03:37:167 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 12.5 target Optional(180.0)
D: 2016/06/06 09:03:37:202 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 157.3
D: 2016/06/06 09:03:37:202 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 157.3 target 180.0
D: 2016/06/06 09:03:37:202 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 157.3 target 180.0 diff 22.7 yawSpeed 11.35
D: 2016/06/06 09:03:37:267 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 11.35 target Optional(180.0)
D: 2016/06/06 09:03:37:299 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 159.4
D: 2016/06/06 09:03:37:299 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 159.4 target 180.0
D: 2016/06/06 09:03:37:299 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 159.4 target 180.0 diff 20.6 yawSpeed 10.3
D: 2016/06/06 09:03:37:363 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 10.3 target Optional(180.0)
D: 2016/06/06 09:03:37:416 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 161.4
D: 2016/06/06 09:03:37:416 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 161.4 target 180.0
D: 2016/06/06 09:03:37:416 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 161.4 target 180.0 diff 18.6 yawSpeed 9.3
D: 2016/06/06 09:03:37:464 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 9.3 target Optional(180.0)
D: 2016/06/06 09:03:37:539 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 163.1
D: 2016/06/06 09:03:37:539 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 163.1 target 180.0
D: 2016/06/06 09:03:37:539 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 163.1 target 180.0 diff 16.9 yawSpeed 8.44999999999999
D: 2016/06/06 09:03:37:567 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 8.44999999999999 target Optional(180.0)
D: 2016/06/06 09:03:37:617 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 164.7
D: 2016/06/06 09:03:37:617 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 164.7 target 180.0
D: 2016/06/06 09:03:37:617 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 164.7 target 180.0 diff 15.3 yawSpeed 7.64999999999999
D: 2016/06/06 09:03:37:667 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 7.64999999999999 target Optional(180.0)
D: 2016/06/06 09:03:37:713 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 166.1
D: 2016/06/06 09:03:37:713 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 166.1 target 180.0
D: 2016/06/06 09:03:37:713 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 166.1 target 180.0 diff 13.9 yawSpeed 6.94999999999999
D: 2016/06/06 09:03:37:767 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 6.94999999999999 target Optional(180.0)
D: 2016/06/06 09:03:37:809 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 167.3
D: 2016/06/06 09:03:37:809 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 167.3 target 180.0
D: 2016/06/06 09:03:37:811 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 167.3 target 180.0 diff 12.7 yawSpeed 6.34999999999999
D: 2016/06/06 09:03:37:866 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 6.34999999999999 target Optional(180.0)
D: 2016/06/06 09:03:37:915 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 168.4
D: 2016/06/06 09:03:37:916 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 168.4 target 180.0
D: 2016/06/06 09:03:37:916 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 168.4 target 180.0 diff 11.6 yawSpeed 5.8
D: 2016/06/06 09:03:37:967 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 5.8 target Optional(180.0)
D: 2016/06/06 09:03:38:032 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 169.3
D: 2016/06/06 09:03:38:032 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 169.3 target 180.0
D: 2016/06/06 09:03:38:032 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 169.3 target 180.0 diff 10.7 yawSpeed 5.34999999999999
D: 2016/06/06 09:03:38:063 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 5.34999999999999 target Optional(180.0)
D: 2016/06/06 09:03:38:132 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 170.1
D: 2016/06/06 09:03:38:132 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 170.1 target 180.0
D: 2016/06/06 09:03:38:133 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 170.1 target 180.0 diff 9.89999999999998 yawSpeed 4.94999999999999
D: 2016/06/06 09:03:38:167 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 4.94999999999999 target Optional(180.0)
D: 2016/06/06 09:03:38:233 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 170.8
D: 2016/06/06 09:03:38:233 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 170.8 target 180.0
D: 2016/06/06 09:03:38:233 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 170.8 target 180.0 diff 9.19999999999999 yawSpeed 4.59999999999999
D: 2016/06/06 09:03:38:267 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 4.59999999999999 target Optional(180.0)
D: 2016/06/06 09:03:38:344 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 171.4
D: 2016/06/06 09:03:38:344 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 171.4 target 180.0
D: 2016/06/06 09:03:38:344 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 171.4 target 180.0 diff 8.59999999999999 yawSpeed 4.3
D: 2016/06/06 09:03:38:362 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 4.3 target Optional(180.0)
D: 2016/06/06 09:03:38:454 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 171.9
D: 2016/06/06 09:03:38:454 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 171.9 target 180.0
D: 2016/06/06 09:03:38:454 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 171.9 target 180.0 diff 8.09999999999999 yawSpeed 4.05
D: 2016/06/06 09:03:38:463 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 4.05 target Optional(180.0)
D: 2016/06/06 09:03:38:540 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 172.4
D: 2016/06/06 09:03:38:540 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 172.4 target 180.0
D: 2016/06/06 09:03:38:540 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 172.4 target 180.0 diff 7.59999999999999 yawSpeed 3.8
D: 2016/06/06 09:03:38:567 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 3.8 target Optional(180.0)
D: 2016/06/06 09:03:38:656 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 172.8
D: 2016/06/06 09:03:38:656 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 172.8 target 180.0
D: 2016/06/06 09:03:38:656 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 172.8 target 180.0 diff 7.19999999999999 yawSpeed 3.59999999999999
D: 2016/06/06 09:03:38:663 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 3.59999999999999 target Optional(180.0)
D: 2016/06/06 09:03:38:750 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 173.2
D: 2016/06/06 09:03:38:750 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 173.2 target 180.0
D: 2016/06/06 09:03:38:750 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 173.2 target 180.0 diff 6.79999999999998 yawSpeed 3.39999999999999
D: 2016/06/06 09:03:38:764 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 3.39999999999999 target Optional(180.0)
D: 2016/06/06 09:03:38:848 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 173.5
D: 2016/06/06 09:03:38:849 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 173.5 target 180.0
D: 2016/06/06 09:03:38:849 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 173.5 target 180.0 diff 6.5 yawSpeed 3.25
D: 2016/06/06 09:03:38:865 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 3.25 target Optional(180.0)
D: 2016/06/06 09:03:38:966 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 3.25 target Optional(180.0)
D: 2016/06/06 09:03:39:052 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 173.8
D: 2016/06/06 09:03:39:052 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 173.8 target 180.0
D: 2016/06/06 09:03:39:052 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 173.8 target 180.0 diff 6.19999999999999 yawSpeed 3.09999999999999
D: 2016/06/06 09:03:39:067 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 3.09999999999999 target Optional(180.0)
D: 2016/06/06 09:03:39:166 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 3.09999999999999 target Optional(180.0)
D: 2016/06/06 09:03:39:184 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 174.4
D: 2016/06/06 09:03:39:185 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 174.4 target 180.0
D: 2016/06/06 09:03:39:185 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 174.4 target 180.0 diff 5.59999999999999 yawSpeed 2.8
D: 2016/06/06 09:03:39:264 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 2.8 target Optional(180.0)
D: 2016/06/06 09:03:39:296 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 174.6
D: 2016/06/06 09:03:39:296 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 174.6 target 180.0
D: 2016/06/06 09:03:39:297 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 174.6 target 180.0 diff 5.39999999999998 yawSpeed 2.69999999999999
D: 2016/06/06 09:03:39:367 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 2.69999999999999 target Optional(180.0)
D: 2016/06/06 09:03:39:437 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 174.8
D: 2016/06/06 09:03:39:437 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 174.8 target 180.0
D: 2016/06/06 09:03:39:437 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 174.8 target 180.0 diff 5.19999999999999 yawSpeed 2.59999999999999
D: 2016/06/06 09:03:39:463 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 2.59999999999999 target Optional(180.0)
D: 2016/06/06 09:03:39:472 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 175.1
D: 2016/06/06 09:03:39:472 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 175.1 target 180.0
D: 2016/06/06 09:03:39:473 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 175.1 target 180.0 diff 4.89999999999998 yawSpeed 2.44999999999999
D: 2016/06/06 09:03:39:562 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 2.44999999999999 target Optional(180.0)
D: 2016/06/06 09:03:39:655 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 175.3
D: 2016/06/06 09:03:39:655 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 175.3 target 180.0
D: 2016/06/06 09:03:39:655 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 175.3 target 180.0 diff 4.69999999999999 yawSpeed 2.34999999999999
D: 2016/06/06 09:03:39:662 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 2.34999999999999 target Optional(180.0)
D: 2016/06/06 09:03:39:767 [com.dronepan.queue/1781024] FlightController yawAircraftUsingVelocity line: 131 Yawing speed 2.34999999999999 target Optional(180.0)
D: 2016/06/06 09:03:39:789 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 159 Current heading 175.8
D: 2016/06/06 09:03:39:789 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 164 Current heading 175.8 target 180.0
D: 2016/06/06 09:03:39:789 [com.apple.main-thread/1780979] FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 175.8 target 180.0 diff 4.19999999999999 yawSpeed 2.09999999999999

So - we start at 2016/06/06 09:03:25:140

D: 2016/06/06 09:03:25:241 FlightController yawAircraftUsingVelocity line: 131 Yawing speed 30.0 target Optional(60.0)

This then repeats:

D: 2016/06/06 09:03:25:267 FlightController flightController(_:didUpdateSystemState:) line: 178 Current heading 0.0 target 60.0 diff 60.0 yawSpeed 30.0
D: 2016/06/06 09:03:25:345 FlightController yawAircraftUsingVelocity line: 131 Yawing speed 30.0 target Optional(60.0)

For a second and a half then we get:

D: 2016/06/06 09:03:26:850 didUpdateSystemState line: 178 Current heading 1.2 target 60.0 diff 58.8 yawSpeed 29.4
D: 2016/06/06 09:03:26:961 didUpdateSystemState line: 178 Current heading 3.0 target 60.0 diff 57.0 yawSpeed 28.5
D: 2016/06/06 09:03:27:059 didUpdateSystemState line: 178 Current heading 5.1 target 60.0 diff 54.9 yawSpeed 27.45
D: 2016/06/06 09:03:27:188 didUpdateSystemState line: 178 Current heading 7.5 target 60.0 diff 52.5 yawSpeed 26.25
D: 2016/06/06 09:03:27:318 didUpdateSystemState line: 178 Current heading 10.2 target 60.0 diff 49.8 yawSpeed 24.9
D: 2016/06/06 09:03:27:373 didUpdateSystemState line: 178 Current heading 13.0 target 60.0 diff 47.0 yawSpeed 23.5
D: 2016/06/06 09:03:27:490 didUpdateSystemState line: 178 Current heading 16.0 target 60.0 diff 44.0 yawSpeed 22.0
D: 2016/06/06 09:03:27:570 didUpdateSystemState line: 178 Current heading 19.0 target 60.0 diff 41.0 yawSpeed 20.5
D: 2016/06/06 09:03:27:675 didUpdateSystemState line: 178 Current heading 22.0 target 60.0 diff 38.0 yawSpeed 19.0
D: 2016/06/06 09:03:27:771 didUpdateSystemState line: 178 Current heading 24.9 target 60.0 diff 35.1 yawSpeed 17.55
D: 2016/06/06 09:03:27:912 didUpdateSystemState line: 178 Current heading 27.8 target 60.0 diff 32.2 yawSpeed 16.1
D: 2016/06/06 09:03:28:019 didUpdateSystemState line: 178 Current heading 30.6 target 60.0 diff 29.4 yawSpeed 14.7
D: 2016/06/06 09:03:28:023 didUpdateSystemState line: 178 Current heading 33.3 target 60.0 diff 26.7 yawSpeed 13.35
D: 2016/06/06 09:03:28:219 didUpdateSystemState line: 178 Current heading 35.6 target 60.0 diff 24.4 yawSpeed 12.2
D: 2016/06/06 09:03:28:219 didUpdateSystemState line: 178 Current heading 37.9 target 60.0 diff 22.1 yawSpeed 11.05
D: 2016/06/06 09:03:28:401 didUpdateSystemState line: 178 Current heading 40.1 target 60.0 diff 19.9 yawSpeed 9.95
D: 2016/06/06 09:03:28:408 didUpdateSystemState line: 178 Current heading 41.9 target 60.0 diff 18.1 yawSpeed 9.05
D: 2016/06/06 09:03:28:489 didUpdateSystemState line: 178 Current heading 43.6 target 60.0 diff 16.4 yawSpeed 8.2
D: 2016/06/06 09:03:28:594 didUpdateSystemState line: 178 Current heading 45.2 target 60.0 diff 14.8 yawSpeed 7.4
D: 2016/06/06 09:03:28:759 didUpdateSystemState line: 178 Current heading 46.6 target 60.0 diff 13.4 yawSpeed 6.7
D: 2016/06/06 09:03:28:806 didUpdateSystemState line: 178 Current heading 47.9 target 60.0 diff 12.1 yawSpeed 6.05
D: 2016/06/06 09:03:28:911 didUpdateSystemState line: 178 Current heading 49.0 target 60.0 diff 11.0 yawSpeed 5.5
D: 2016/06/06 09:03:28:997 didUpdateSystemState line: 178 Current heading 50.0 target 60.0 diff 10.0 yawSpeed 5.0
D: 2016/06/06 09:03:29:113 didUpdateSystemState line: 178 Current heading 50.9 target 60.0 diff 9.09999999999999 yawSpeed 4.55
D: 2016/06/06 09:03:29:215 didUpdateSystemState line: 178 Current heading 51.6 target 60.0 diff 8.4 yawSpeed 4.2
D: 2016/06/06 09:03:29:316 didUpdateSystemState line: 178 Current heading 52.2 target 60.0 diff 7.8 yawSpeed 3.9
D: 2016/06/06 09:03:29:408 didUpdateSystemState line: 178 Current heading 52.7 target 60.0 diff 7.3 yawSpeed 3.65
D: 2016/06/06 09:03:29:553 didUpdateSystemState line: 178 Current heading 53.2 target 60.0 diff 6.8 yawSpeed 3.4
D: 2016/06/06 09:03:29:613 didUpdateSystemState line: 178 Current heading 53.6 target 60.0 diff 6.4 yawSpeed 3.2
D: 2016/06/06 09:03:29:764 didUpdateSystemState line: 178 Current heading 53.9 target 60.0 diff 6.09999999999999 yawSpeed 3.05
D: 2016/06/06 09:03:29:814 didUpdateSystemState line: 178 Current heading 54.2 target 60.0 diff 5.8 yawSpeed 2.9
D: 2016/06/06 09:03:29:938 didUpdateSystemState line: 178 Current heading 54.5 target 60.0 diff 5.5 yawSpeed 2.75
D: 2016/06/06 09:03:30:024 didUpdateSystemState line: 178 Current heading 54.7 target 60.0 diff 5.3 yawSpeed 2.65
D: 2016/06/06 09:03:30:122 didUpdateSystemState line: 178 Current heading 54.9 target 60.0 diff 5.09999999999999 yawSpeed 2.55

And we're not done in time

We got to 54˚

Now - in the previous version (when it was in PanoramaController) it would have continued and taken the photos while still yawing the last 6˚

Good - this really helps - it means we're on the right track.

My next attempt will be "Let's yaw at speed 45 until we get to 10 degrees off then drop to speed 10 for 5 degrees then 5 for the last 5 degrees (that's in degrees per second) for the last 5 degrees - should make the first 50˚ a lot faster.