Log file of boat spinning bug taken from Hollow Lake deployment.

hollow lake boat spin log

1 19:58:42,545 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,0.0]} @ 17North 
17 19:58:42,561 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
197 19:58:42,741 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,0.0]} @ 17North 
220 19:58:42,764 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
272 19:58:42,816 THRUST: [t, 0.000000] 
399 19:58:42,943 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,0.0]} @ 17North 
410 19:58:42,954 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
479 19:58:43,23 COMPASS: 1.626297871551391 
500 19:58:43,44 COMPASS: 1.6170635142148462 
559 19:58:43,103 COMPASS: 1.6073652456363123 
560 19:58:43,104 COMPASS: 1.6029271337451705 
582 19:58:43,126 COMPASS: 1.6004030431574596 
597 19:58:43,141 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.6004030431574598]} @ 17North 
608 19:58:43,152 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
750 19:58:43,294 COMPASS: 1.5956244178955556 
797 19:58:43,341 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.5956244178955556]} @ 17North 
806 19:58:43,350 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
999 19:58:43,543 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.5956244178955556]} @ 17North 
1009 19:58:43,553 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
1093 19:58:43,637 COMPASS: 1.5869482989140242 
1094 19:58:43,638 COMPASS: 1.5814650686894836 
1095 19:58:43,639 COMPASS: 1.5779788165645972 
1097 19:58:43,641 COMPASS: 1.575120523127436 
1098 19:58:43,642 COMPASS: 1.5716923091248296 
1099 19:58:43,643 COMPASS: 1.5667109802867867 
1099 19:58:43,643 COMPASS: 1.5634062343088777 
1102 19:58:43,646 COMPASS: 1.559343016143287 
1104 19:58:43,648 COMPASS: 1.5522439660967473 
1105 19:58:43,649 COMPASS: 1.5455286432562523 
1106 19:58:43,651 COMPASS: 1.5401076495789758 
1108 19:58:43,652 COMPASS: 1.5372021151341748 
1109 19:58:43,653 RUDDER: [r, 0.000000] 
1110 19:58:43,654 COMPASS: 1.5356848252707203 
1110 19:58:43,654 COMPASS: 1.5327151377075807 
1111 19:58:43,655 COMPASS: 1.5287093228259767 
1111 19:58:43,655 COMPASS: 1.5276921935935115 
1112 19:58:43,656 COMPASS: 1.5284596926404905 
1113 19:58:43,657 COMPASS: 1.5286780625116294 
1114 19:58:43,658 COMPASS: 1.5274249246483744 
1116 19:58:43,660 COMPASS: 1.5281755237304049 
1117 19:58:43,661 COMPASS: 1.5318438828664092 
1126 19:58:43,670 COMPASS: 1.533949833401932 
1127 19:58:43,671 COMPASS: 1.5353871141482953 
1127 19:58:43,671 COMPASS: 1.5358026506069955 
1128 19:58:43,672 COMPASS: 1.535777197710152 
1197 19:58:43,741 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.535777197710152]} @ 17North 
1208 19:58:43,752 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
1244 19:58:43,788 COMPASS: 1.5360769418877738 
1245 19:58:43,789 COMPASS: 1.5365486177767211 
1245 19:58:43,789 COMPASS: 1.5374573817707016 
1246 19:58:43,790 COMPASS: 1.5355542146946362 
1254 19:58:43,798 COMPASS: 1.53222210466107 
1255 19:58:43,799 COMPASS: 1.528808129355124 
1256 19:58:43,800 COMPASS: 1.5286477351421384 
1260 19:58:43,804 COMPASS: 1.5296749647832333 
1288 19:58:43,832 COMPASS: 1.5295292468900628 
1303 19:58:43,847 COMPASS: 1.5298473503549597 
1322 19:58:43,866 COMPASS: 1.5302312352295302 
1341 19:58:43,885 THRUST: [t, 0.000000] 
1342 19:58:43,886 COMPASS: 1.5317978957167557 
1364 19:58:43,908 COMPASS: 1.5346238321881112 
1389 19:58:43,933 COMPASS: 1.539936297272589 
1397 19:58:43,941 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.5399362972725887]} @ 17North 
1436 19:58:43,980 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
1452 19:58:43,996 COMPASS: 1.5519336121816614 
1454 19:58:43,998 COMPASS: 1.5651403157927928 
1459 19:58:44,03 COMPASS: 1.5762635199272539 
1471 19:58:44,15 COMPASS: 1.5833635839773157 
1491 19:58:44,35 COMPASS: 1.5875482444324907 
1512 19:58:44,56 COMPASS: 1.5919448945677188 
1532 19:58:44,77 COMPASS: 1.59844140981982 
1556 19:58:44,100 COMPASS: 1.6027415465743073 
1579 19:58:44,123 COMPASS: 1.6063590178486462 
1597 19:58:44,141 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.6063590178486462]} @ 17North 
1599 19:58:44,144 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
1619 19:58:44,163 COMPASS: 1.6098272783418535 
1627 19:58:44,171 COMPASS: 1.6165278858151355 
1636 19:58:44,180 COMPASS: 1.6281703968659544 
1662 19:58:44,206 COMPASS: 1.6353650810742568 
1677 19:58:44,221 COMPASS: 1.6390628359628456 
1697 19:58:44,241 COMPASS: 1.6416878250185254 
1717 19:58:44,261 COMPASS: 1.6465550424215811 
1738 19:58:44,283 COMPASS: 1.6556332703408227 
1759 19:58:44,303 COMPASS: 1.667877035354993 
1779 19:58:44,323 COMPASS: 1.6750028922064462 
1796 19:58:44,340 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.6750028922064462]} @ 17North 
1803 19:58:44,347 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
1806 19:58:44,350 COMPASS: 1.6803267381539748 
1822 19:58:44,366 COMPASS: 1.687129241067365 
1841 19:58:44,385 COMPASS: 1.6941969887349677 
1862 19:58:44,406 COMPASS: 1.7034284939068505 
1882 19:58:44,426 COMPASS: 1.7067765857387502 
1903 19:58:44,447 COMPASS: 1.709338329222487 
1925 19:58:44,469 COMPASS: 1.711473059269199 
1926 19:58:44,470 RUDDER: [r, 0.000000] 
1944 19:58:44,489 COMPASS: 1.712438173781062 
1966 19:58:44,510 COMPASS: 1.712501021040162 
1985 19:58:44,529 COMPASS: 1.710874008667875 
1996 19:58:44,541 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.710874008667875]} @ 17North 
2003 19:58:44,547 VEL: Twist[0.06, 0.0, 0.0, 0.0, 0.0, 0.0] 
2010 19:58:44,554 COMPASS: 1.708893650234683 
2027 19:58:44,571 COMPASS: 1.7077576188809114 
2047 19:58:44,591 COMPASS: 1.7069443797054367 
2067 19:58:44,611 COMPASS: 1.706121503082139 
2088 19:58:44,632 COMPASS: 1.705564295936851 
2115 19:58:44,659 COMPASS: 1.7051132515990144 
2130 19:58:44,674 COMPASS: 1.7047862716955562 
2150 19:58:44,694 COMPASS: 1.7044881270376555 
2171 19:58:44,715 COMPASS: 1.7040571216026223 
2191 19:58:44,735 COMPASS: 1.704365412354064 
2197 19:58:44,741 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.704365412354064]} @ 17North 
2207 19:58:44,751 VEL: Twist[0.15, 0.0, 0.0, 0.0, 0.0, 0.0] 
2211 19:58:44,755 COMPASS: 1.7046727185059545 
2232 19:58:44,776 COMPASS: 1.7036540648335394 
2255 19:58:44,799 COMPASS: 1.702049135564759 
2273 19:58:44,817 COMPASS: 1.7011384481019831 
2294 19:58:44,838 COMPASS: 1.7016539972238227 
2314 19:58:44,858 COMPASS: 1.7015762943102484 
2334 19:58:44,878 COMPASS: 1.701042743936794 
2355 19:58:44,899 COMPASS: 1.700040165356185 
2385 19:58:44,929 COMPASS: 1.6991111611827787 
2397 19:58:44,941 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.6991111611827787]} @ 17North 
2412 19:58:44,956 VEL: Twist[0.2, 0.0, 0.0, 0.0, 0.0, 0.0] 
2416 19:58:44,960 COMPASS: 1.6989805887104128 
2420 19:58:44,964 THRUST: [t, 4559.999500] 
2422 19:58:44,966 COMPASS: 1.6989494924041701 
2443 19:58:44,987 COMPASS: 1.6976345520720308 
2463 19:58:45,07 COMPASS: 1.6971772879562972 
2484 19:58:45,28 COMPASS: 1.6971225521660003 
2504 19:58:45,48 COMPASS: 1.6971691399526316 
2525 19:58:45,69 COMPASS: 1.6971194860888719 
2545 19:58:45,90 COMPASS: 1.6972912360259043 
2566 19:58:45,110 COMPASS: 1.6973102514736285 
2586 19:58:45,130 COMPASS: 1.697528783131684 
2596 19:58:45,140 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.697528783131684]} @ 17North 
2604 19:58:45,148 VEL: Twist[0.23, 0.0, 0.0, 0.0, 0.0, 0.0] 
2608 19:58:45,152 COMPASS: 1.6980614931347333 
2629 19:58:45,173 COMPASS: 1.699220002929753 
2648 19:58:45,192 COMPASS: 1.7002074705886818 
2669 19:58:45,213 COMPASS: 1.701758517374594 
2689 19:58:45,233 COMPASS: 1.7027833285204286 
2710 19:58:45,254 COMPASS: 1.70217967826701 
2731 19:58:45,275 COMPASS: 1.7014752876457797 
2751 19:58:45,295 COMPASS: 1.7030770322126583 
2773 19:58:45,317 COMPASS: 1.70555709351593 
2794 19:58:45,338 COMPASS: 1.7057972689102459 
2797 19:58:45,341 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.705797268910246]} @ 17North 
2804 19:58:45,348 VEL: Twist[0.24, 0.0, 0.0, 0.0, 0.0, 0.0] 
2816 19:58:45,360 COMPASS: 1.7051409924032892 
2836 19:58:45,380 COMPASS: 1.7039343605360686 
2857 19:58:45,401 COMPASS: 1.7006340522065249 
2877 19:58:45,421 COMPASS: 1.6927368801738567 
2902 19:58:45,446 COMPASS: 1.6844504185655402 
2920 19:58:45,464 COMPASS: 1.6772353406173477 
2939 19:58:45,483 COMPASS: 1.6714524264747503 
2962 19:58:45,506 COMPASS: 1.6621964808720695 
2982 19:58:45,526 COMPASS: 1.6384017630255907 
2993 19:58:45,537 RUDDER: [r, 0.000000] 
2996 19:58:45,540 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.6384017630255907]} @ 17North 
3004 19:58:45,548 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
3007 19:58:45,551 COMPASS: 1.6081794949623789 
3022 19:58:45,566 COMPASS: 1.5985285362134272 
3042 19:58:45,586 COMPASS: 1.5994235038149696 
3062 19:58:45,606 COMPASS: 1.6002763401289164 
3083 19:58:45,627 COMPASS: 1.597138350199216 
3104 19:58:45,648 COMPASS: 1.594593945844888 
3124 19:58:45,668 COMPASS: 1.5943672576403622 
3145 19:58:45,689 COMPASS: 1.5973590374924012 
3165 19:58:45,711 COMPASS: 1.5986433123284045 
3186 19:58:45,730 COMPASS: 1.5984741291685385 
3197 19:58:45,741 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.5984741291685385]} @ 17North 
3205 19:58:45,749 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
3207 19:58:45,751 COMPASS: 1.5980041749714071 
3227 19:58:45,771 COMPASS: 1.597684847888716 
3247 19:58:45,791 COMPASS: 1.5988309231416113 
3268 19:58:45,812 COMPASS: 1.6010974721762061 
3289 19:58:45,833 COMPASS: 1.603447670588925 
3310 19:58:45,854 COMPASS: 1.6043192911542243 
3330 19:58:45,875 COMPASS: 1.604037873513839 
3351 19:58:45,895 COMPASS: 1.6053766062080668 
3371 19:58:45,915 COMPASS: 1.6083803640625882 
3392 19:58:45,936 COMPASS: 1.6099395730980626 
3396 19:58:45,940 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.6099395730980628]} @ 17North 
3408 19:58:45,952 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
3412 19:58:45,956 COMPASS: 1.6108339839914463 
3433 19:58:45,977 COMPASS: 1.6126293709842319 
3454 19:58:45,998 COMPASS: 1.6159544609807905 
3467 19:58:46,11 THRUST: [t, 0.000000] 
3474 19:58:46,18 COMPASS: 1.6222812042086203 
3495 19:58:46,39 COMPASS: 1.6278578821216194 
3516 19:58:46,60 COMPASS: 1.6330597936353388 
3536 19:58:46,80 COMPASS: 1.6315907157032792 
3557 19:58:46,101 COMPASS: 1.63033275405644 
3577 19:58:46,121 COMPASS: 1.631987108520121 
3598 19:58:46,142 COMPASS: 1.631156068782833 
3597 19:58:46,142 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.631987108520121]} @ 17North 
3607 19:58:46,151 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
3618 19:58:46,162 COMPASS: 1.6215953881076486 
3676 19:58:46,220 COMPASS: 1.6002231937893932 
3680 19:58:46,224 COMPASS: 1.5782385776218826 
3706 19:58:46,250 COMPASS: 1.5503686299667732 
3709 19:58:46,253 COMPASS: 1.5106616616078596 
3731 19:58:46,276 COMPASS: 1.4775647975968238 
3746 19:58:46,290 COMPASS: 1.4396272606470522 
3762 19:58:46,306 COMPASS: 1.4170152464383738 
3782 19:58:46,326 COMPASS: 1.417906022841155 
3796 19:58:46,340 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.417906022841155]} @ 17North 
3803 19:58:46,347 COMPASS: 1.4235112183798126 
3805 19:58:46,349 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
3824 19:58:46,368 COMPASS: 1.429462157011128 
3844 19:58:46,388 COMPASS: 1.4356498889800364 
3882 19:58:46,426 COMPASS: 1.4415057261974142 
3939 19:58:46,484 COMPASS: 1.4420396959799815 
3940 19:58:46,484 COMPASS: 1.43787400099746 
3943 19:58:46,487 COMPASS: 1.43122602785333 
3947 19:58:46,491 COMPASS: 1.430671055547347 
3968 19:58:46,512 COMPASS: 1.4317717216851735 
3988 19:58:46,532 COMPASS: 1.4286626426302824 
3997 19:58:46,541 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.4286626426302824]} @ 17North 
4006 19:58:46,550 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
4012 19:58:46,556 COMPASS: 1.425689380093678 
4030 19:58:46,574 COMPASS: 1.4252503943079722 
4050 19:58:46,594 COMPASS: 1.4292639597994492 
4076 19:58:46,620 COMPASS: 1.4353123109667907 
4077 19:58:46,621 RUDDER: [r, 0.000000] 
4091 19:58:46,635 COMPASS: 1.4398700504584252 
4111 19:58:46,655 COMPASS: 1.444102730809765 
4132 19:58:46,676 COMPASS: 1.4495992801335116 
4155 19:58:46,699 COMPASS: 1.4556776847458277 
4181 19:58:46,725 COMPASS: 1.455822099439144 
4194 19:58:46,738 COMPASS: 1.4581997576189594 
4196 19:58:46,741 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.4581997576189594]} @ 17North 
4204 19:58:46,748 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
4215 19:58:46,759 COMPASS: 1.4671015852101286 
4235 19:58:46,779 COMPASS: 1.473279253149433 
4256 19:58:46,800 COMPASS: 1.473464992674186 
4276 19:58:46,820 COMPASS: 1.471446999771547 
4297 19:58:46,841 COMPASS: 1.4711988929775632 
4318 19:58:46,862 COMPASS: 1.4731938494608603 
4340 19:58:46,884 COMPASS: 1.478078779817655 
4362 19:58:46,907 COMPASS: 1.4825436293514223 
4417 19:58:46,961 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.4825436293514223]} @ 17North 
4431 19:58:46,975 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
4439 19:58:46,984 COMPASS: 1.485823074042286 
4443 19:58:46,987 COMPASS: 1.4869457764108127 
4466 19:58:47,10 COMPASS: 1.4898401451912737 
4467 19:58:47,11 COMPASS: 1.4960473432811054 
4482 19:58:47,26 COMPASS: 1.498109075301405 
4526 19:58:47,70 COMPASS: 1.4962597875831694 
4533 19:58:47,77 COMPASS: 1.4953566571537007 
4544 19:58:47,88 COMPASS: 1.496142711050539 
4577 19:58:47,121 THRUST: [t, 0.000000] 
4578 19:58:47,122 COMPASS: 1.4976477919324722 
4587 19:58:47,131 COMPASS: 1.4979803826885616 
4597 19:58:47,141 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.4979803826885616]} @ 17North 
4608 19:58:47,152 COMPASS: 1.498423191565099 
4611 19:58:47,155 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
4626 19:58:47,170 COMPASS: 1.5008841984792314 
4646 19:58:47,190 COMPASS: 1.5016342754377947 
4667 19:58:47,211 COMPASS: 1.501587568666196 
4687 19:58:47,231 COMPASS: 1.5021594422424407 
4710 19:58:47,254 COMPASS: 1.5032464116564968 
4729 19:58:47,273 COMPASS: 1.505528908912736 
4750 19:58:47,294 COMPASS: 1.5066033183617291 
4770 19:58:47,314 COMPASS: 1.506403803341037 
4790 19:58:47,335 COMPASS: 1.5053299098820894 
4796 19:58:47,340 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.5053299098820896]} @ 17North 
4806 19:58:47,350 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
4811 19:58:47,355 COMPASS: 1.505325306410086 
4832 19:58:47,376 COMPASS: 1.5069115012635759 
4858 19:58:47,402 COMPASS: 1.5082053939631102 
4876 19:58:47,420 COMPASS: 1.5102569773860834 
4895 19:58:47,439 COMPASS: 1.5142409411023112 
4916 19:58:47,460 COMPASS: 1.5171251728768442 
4937 19:58:47,481 COMPASS: 1.519593873813087 
4957 19:58:47,501 COMPASS: 1.521794344929153 
4984 19:58:47,528 COMPASS: 1.5219248119346136 
4999 19:58:47,543 COMPASS: 1.5157820084746703 
4998 19:58:47,542 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.5219248119346136]} @ 17North 
5007 19:58:47,551 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
5020 19:58:47,564 COMPASS: 1.5034392686266647 
5021 19:58:47,565 PIDGAINS: 0 5.0,5.0,5.0 
5022 19:58:47,566 PIDGAINS: 5 2.0,0.0,3.0 
5041 19:58:47,585 COMPASS: 1.4875659523863864 
5060 19:58:47,604 COMPASS: 1.4830828884509415 
5081 19:58:47,625 COMPASS: 1.4805899517541066 
5101 19:58:47,645 COMPASS: 1.4820765527718813 
5127 19:58:47,671 COMPASS: 1.4969556212997484 
5145 19:58:47,689 COMPASS: 1.5223420012993851 
5150 19:58:47,694 RUDDER: [r, 0.000000] 
5164 19:58:47,708 COMPASS: 1.539145467736891 
5184 19:58:47,728 COMPASS: 1.5393848590826886 
5197 19:58:47,741 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.5393848590826886]} @ 17North 
5205 19:58:47,749 COMPASS: 1.5439638064223788 
5207 19:58:47,751 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
5225 19:58:47,769 COMPASS: 1.5636809394172762 
5245 19:58:47,789 COMPASS: 1.5811737766212246 
5267 19:58:47,811 COMPASS: 1.5907773724931318 
5287 19:58:47,831 COMPASS: 1.59512955027868 
5307 19:58:47,851 COMPASS: 1.5992030698890263 
5328 19:58:47,872 COMPASS: 1.6077715290069095 
5348 19:58:47,892 COMPASS: 1.6185988214626617 
5373 19:58:47,917 COMPASS: 1.622944092457735 
5391 19:58:47,935 COMPASS: 1.618099723867295 
5396 19:58:47,941 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.618099723867295]} @ 17North 
5410 19:58:47,954 COMPASS: 1.6107544785692998 
5411 19:58:47,955 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
5431 19:58:47,975 COMPASS: 1.610846541495573 
5451 19:58:47,995 COMPASS: 1.6108617911106247 
5472 19:58:48,16 COMPASS: 1.5961879195295479 
5492 19:58:48,36 COMPASS: 1.5725835574430505 
5513 19:58:48,57 COMPASS: 1.5426891152182474 
5534 19:58:48,78 COMPASS: 1.530756998807842 
5554 19:58:48,98 COMPASS: 1.5306966621107758 
5574 19:58:48,119 COMPASS: 1.5342498265682365 
5595 19:58:48,139 COMPASS: 1.5305610094658706 
5597 19:58:48,141 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.5305610094658706]} @ 17North 
5609 19:58:48,153 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
5616 19:58:48,160 COMPASS: 1.5269629123042603 
5632 19:58:48,176 THRUST: [t, 0.000000] 
5636 19:58:48,180 COMPASS: 1.5314019996780301 
5657 19:58:48,201 COMPASS: 1.5366114902173897 
5678 19:58:48,222 COMPASS: 1.5389646027579769 
5698 19:58:48,242 COMPASS: 1.5415415812873026 
5718 19:58:48,262 COMPASS: 1.5431204411778265 
5739 19:58:48,283 COMPASS: 1.543020365602483 
5760 19:58:48,304 COMPASS: 1.5443126903037814 
5780 19:58:48,324 COMPASS: 1.5459475600269994 
5796 19:58:48,340 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.5459475600269994]} @ 17North 
5806 19:58:48,350 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
5808 19:58:48,352 COMPASS: 1.5491451398240248 
5821 19:58:48,365 COMPASS: 1.5515989756874993 
5844 19:58:48,388 COMPASS: 1.5543041335990113 
5863 19:58:48,407 COMPASS: 1.5592353336052946 
5883 19:58:48,427 COMPASS: 1.566887798244134 
5904 19:58:48,448 COMPASS: 1.5754968871133637 
5924 19:58:48,468 COMPASS: 1.5862408512000363 
5945 19:58:48,489 COMPASS: 1.5935475011940903 
5971 19:58:48,515 COMPASS: 1.5940393075263481 
5994 19:58:48,538 COMPASS: 1.5931028677956882 
5996 19:58:48,540 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.5931028677956884]} @ 17North 
6004 19:58:48,548 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
6007 19:58:48,551 COMPASS: 1.5941842300049278 
6027 19:58:48,571 COMPASS: 1.59302861895455 
6048 19:58:48,592 COMPASS: 1.5782895912519812 
6072 19:58:48,616 COMPASS: 1.5536758355652724 
6094 19:58:48,638 COMPASS: 1.5195167469725246 
6109 19:58:48,653 COMPASS: 1.4806529643349489 
6133 19:58:48,677 COMPASS: 1.4565631082407116 
6151 19:58:48,695 COMPASS: 1.426013685701366 
6171 19:58:48,715 COMPASS: 1.3985045447425082 
6192 19:58:48,736 COMPASS: 1.3752607316305234 
6196 19:58:48,740 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.3752607316305234]} @ 17North 
6203 19:58:48,747 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
6217 19:58:48,761 COMPASS: 1.3632001149234392 
6218 19:58:48,762 RUDDER: [r, 0.000000] 
6233 19:58:48,777 COMPASS: 1.3636126207868948 
6254 19:58:48,798 COMPASS: 1.3657999350394965 
6274 19:58:48,818 COMPASS: 1.3695088147259618 
6294 19:58:48,838 COMPASS: 1.3772065487194871 
6315 19:58:48,859 COMPASS: 1.3884938053853242 
6336 19:58:48,880 COMPASS: 1.3942285444203817 
6356 19:58:48,900 COMPASS: 1.3937619120832025 
6382 19:58:48,926 COMPASS: 1.385475799254297 
6397 19:58:48,941 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.385475799254297]} @ 17North 
6404 19:58:48,948 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
6407 19:58:48,951 COMPASS: 1.3796524213521635 
6423 19:58:48,967 COMPASS: 1.3784724944429474 
6444 19:58:48,988 COMPASS: 1.378766179057599 
6464 19:58:49,08 COMPASS: 1.3751734491732988 
6485 19:58:49,29 COMPASS: 1.3725536204391264 
6506 19:58:49,50 COMPASS: 1.3701494768571005 
6526 19:58:49,70 COMPASS: 1.36901509603633 
6547 19:58:49,91 COMPASS: 1.3687629139429898 
6567 19:58:49,111 COMPASS: 1.366701133302148 
6588 19:58:49,132 COMPASS: 1.3658395252435263 
6599 19:58:49,143 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.3658395252435263]} @ 17North 
6620 19:58:49,164 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
6641 19:58:49,185 COMPASS: 1.365976673600689 
6643 19:58:49,187 COMPASS: 1.3672438355369283 
6649 19:58:49,194 COMPASS: 1.3682327107380192 
6670 19:58:49,214 COMPASS: 1.3743975423134802 
6691 19:58:49,235 COMPASS: 1.3741152893517128 
6708 19:58:49,253 THRUST: [t, 0.000000] 
6712 19:58:49,256 COMPASS: 1.3684619855324809 
6732 19:58:49,276 COMPASS: 1.3641098380984464 
6752 19:58:49,296 COMPASS: 1.3602520476291955 
6776 19:58:49,320 COMPASS: 1.3511420062916017 
6793 19:58:49,337 COMPASS: 1.3391746245128935 
6797 19:58:49,341 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.3391746245128935]} @ 17North 
6805 19:58:49,349 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
6814 19:58:49,358 COMPASS: 1.334920896574559 
6836 19:58:49,380 COMPASS: 1.3379050599962 
6855 19:58:49,399 COMPASS: 1.3458026873455533 
6876 19:58:49,420 COMPASS: 1.3460792894813187 
6897 19:58:49,441 COMPASS: 1.3417141301827842 
6917 19:58:49,461 COMPASS: 1.337866333604894 
6937 19:58:49,481 COMPASS: 1.3378369321764372 
6958 19:58:49,502 COMPASS: 1.341663253421418 
6978 19:58:49,522 COMPASS: 1.3410338236278407 
6996 19:58:49,540 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.3410338236278407]} @ 17North 
7005 19:58:49,549 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
7007 19:58:49,551 COMPASS: 1.3371509456413997 
7020 19:58:49,564 COMPASS: 1.3314424073989422 
7041 19:58:49,585 COMPASS: 1.329638216676644 
7061 19:58:49,605 COMPASS: 1.3288156109005629 
7081 19:58:49,625 COMPASS: 1.3267489189209067 
7102 19:58:49,646 COMPASS: 1.3242909623969343 
7123 19:58:49,667 COMPASS: 1.322547902661405 
7143 19:58:49,687 COMPASS: 1.3206909310340382 
7164 19:58:49,708 COMPASS: 1.3180413388358312 
7184 19:58:49,728 COMPASS: 1.316114291297459 
7196 19:58:49,740 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.3161142912974593]} @ 17North 
7203 19:58:49,747 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
7206 19:58:49,750 COMPASS: 1.3193132381238775 
7225 19:58:49,769 COMPASS: 1.3235102059438888 
7246 19:58:49,790 COMPASS: 1.3159073126044494 
7267 19:58:49,811 COMPASS: 1.3054235859467989 
7283 19:58:49,827 RUDDER: [r, 0.000000] 
7287 19:58:49,831 COMPASS: 1.3054988102608898 
7309 19:58:49,853 COMPASS: 1.301385529149208 
7317 19:58:49,861 SETGAINS: 0 [3.0, 0.0, 0.0] 
7334 19:58:49,878 COMPASS: 1.2961191121408857 
7350 19:58:49,894 COMPASS: 1.2950130295595235 
7370 19:58:49,914 COMPASS: 1.296108779721259 
7398 19:58:49,942 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.296108779721259]} @ 17North 
7408 19:58:49,952 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
7445 19:58:49,989 COMPASS: 1.2932503270590345 
7445 19:58:49,989 COMPASS: 1.2904560963515186 
7446 19:58:49,990 COMPASS: 1.290261885123407 
7455 19:58:49,999 COMPASS: 1.2921294910422463 
7473 19:58:50,17 COMPASS: 1.2955236105473176 
7493 19:58:50,37 COMPASS: 1.2972631790638063 
7513 19:58:50,57 COMPASS: 1.2979425805177454 
7534 19:58:50,78 COMPASS: 1.3004126958936202 
7554 19:58:50,99 COMPASS: 1.304888597216604 
7575 19:58:50,119 COMPASS: 1.310014035527026 
7597 19:58:50,141 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.3100140355270258]} @ 17North 
7607 19:58:50,151 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
7608 19:58:50,152 COMPASS: 1.3176903410905887 
7620 19:58:50,164 COMPASS: 1.32111264534934 
7638 19:58:50,182 COMPASS: 1.3234358003671396 
7657 19:58:50,201 COMPASS: 1.3247862027362163 
7678 19:58:50,222 COMPASS: 1.3260050266668633 
7699 19:58:50,243 COMPASS: 1.3279778859148994 
7720 19:58:50,264 COMPASS: 1.3321296497051631 
7740 19:58:50,284 COMPASS: 1.335588684398437 
7760 19:58:50,304 COMPASS: 1.338290848175986 
7785 19:58:50,329 COMPASS: 1.3392491393682329 
7786 19:58:50,330 THRUST: [t, 0.000000] 
7796 19:58:50,340 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.3392491393682326]} @ 17North 
7804 19:58:50,348 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
7807 19:58:50,351 COMPASS: 1.3423958377281258 
7822 19:58:50,366 COMPASS: 1.347937113237734 
7843 19:58:50,387 COMPASS: 1.3531719666505464 
7863 19:58:50,407 COMPASS: 1.3566562789218422 
7884 19:58:50,428 COMPASS: 1.3593018754956825 
7905 19:58:50,449 COMPASS: 1.3569612805695028 
7926 19:58:50,470 COMPASS: 1.3542962869395194 
7951 19:58:50,495 COMPASS: 1.3526503497825173 
7970 19:58:50,515 COMPASS: 1.3494413985661595 
8013 19:58:50,557 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.3583320415987643]} @ 17North 
8031 19:58:50,575 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
8031 19:58:50,575 COMPASS: 1.3583320415987643 
8032 19:58:50,576 COMPASS: 1.3772574575846523 
8033 19:58:50,577 COMPASS: 1.385908474657766 
8048 19:58:50,592 COMPASS: 1.3886854934234634 
8069 19:58:50,613 COMPASS: 1.380033970447475 
8089 19:58:50,633 COMPASS: 1.3732538210819305 
8110 19:58:50,654 COMPASS: 1.3635776124418544 
8131 19:58:50,675 COMPASS: 1.3437864979252185 
8159 19:58:50,703 COMPASS: 1.3263533540705448 
8173 19:58:50,717 COMPASS: 1.3114488554079415 
8193 19:58:50,737 COMPASS: 1.293955745415297 
8198 19:58:50,742 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.293955745415297]} @ 17North 
8219 19:58:50,763 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
8223 19:58:50,767 COMPASS: 1.2849130329477207 
8234 19:58:50,778 COMPASS: 1.2804818352811012 
8255 19:58:50,799 COMPASS: 1.281131367233995 
8278 19:58:50,822 COMPASS: 1.2827055205162323 
8307 19:58:50,851 COMPASS: 1.2876762605429977 
8317 19:58:50,861 COMPASS: 1.3017236253153626 
8337 19:58:50,882 COMPASS: 1.319016733957394 
8459 19:58:51,03 POSE: {476608.34, 4671214.4, 172.35, Q[0.0,0.0,1.3217049875859161]} @ 17North 
8364 19:58:51,06 COMPASS: 1.321704987585916 
8477 19:58:51,21 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
8491 19:58:51,35 COMPASS: 1.324287886857877 
8495 19:58:51,39 COMPASS: 1.3139800816530487 
8500 19:58:51,44 COMPASS: 1.2791080969726507 
8502 19:58:51,46 COMPASS: 1.2654742679815567 
8505 19:58:51,49 COMPASS: 1.2556989155538605 
8506 19:58:51,50 RUDDER: [r, 0.000000] 
8510 19:58:51,54 COMPASS: 1.252097246007302 
8540 19:58:51,84 COMPASS: 1.2465401488320307 
8596 19:58:51,140 POSE: {589174.0681052576, 4476746.252559564, 217.0, Q[0.0,0.0,0.0]} @ 17North 
8603 19:58:51,147 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
8680 19:58:51,224 GPS: [589174.06810525758 m, 4476746.252559564 m], 17T, 217.0, 0.0 
8709 19:58:51,253 COMPASS: 1.2416069872511257 
8710 19:58:51,254 COMPASS: 1.2392638150337967 
8712 19:58:51,256 COMPASS: 1.2372426379955468 
8712 19:58:51,256 COMPASS: 1.2339442563970495 
8713 19:58:51,257 COMPASS: 1.2302776553668149 
8716 19:58:51,260 COMPASS: 1.226908399750742 
8717 19:58:51,261 COMPASS: 1.2265225973656926 
8722 19:58:51,266 COMPASS: 1.2257405926579 
8762 19:58:51,306 COMPASS: 1.2237931360386214 
8795 19:58:51,339 COMPASS: 1.2221705895603154 
8796 19:58:51,340 POSE: {589174.0681052576, 4476746.252559564, 217.0, Q[0.0,0.0,1.2221705895603154]} @ 17North 
8805 19:58:51,349 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
8807 19:58:51,351 COMPASS: 1.2197192030868096 
8823 19:58:51,367 COMPASS: 1.2175935604804993 
8871 19:58:51,415 COMPASS: 1.2155195361854685 
8874 19:58:51,418 COMPASS: 1.2133144632557764 
8877 19:58:51,421 COMPASS: 1.2113765117664688 
8877 19:58:51,421 COMPASS: 1.2073088687096454 
8879 19:58:51,423 THRUST: [t, 0.000000] 
8882 19:58:51,426 COMPASS: 1.202970478455256 
8997 19:58:51,541 POSE: {589174.0681052576, 4476746.252559564, 217.0, Q[0.0,0.0,1.202970478455256]} @ 17North 
9009 19:58:51,553 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
9034 19:58:51,578 COMPASS: 1.2016554655490364 
9034 19:58:51,578 COMPASS: 1.200362811587659 
9036 19:58:51,580 COMPASS: 1.196958735115914 
9040 19:58:51,585 COMPASS: 1.1940302031205299 
9042 19:58:51,586 COMPASS: 1.1924859498036378 
9042 19:58:51,586 COMPASS: 1.1897616467694723 
9043 19:58:51,587 COMPASS: 1.187507004055659 
9043 19:58:51,587 COMPASS: 1.1849390766998462 
9061 19:58:51,605 COMPASS: 1.1816232388481804 
9082 19:58:51,626 COMPASS: 1.1794166117678844 
9109 19:58:51,653 COMPASS: 1.1774357412492251 
9129 19:58:51,673 COMPASS: 1.1759207786766175 
9145 19:58:51,689 COMPASS: 1.174659078054006 
9164 19:58:51,708 COMPASS: 1.1735233101383733 
9185 19:58:51,729 COMPASS: 1.1726046784107822 
9197 19:58:51,741 POSE: {589174.0681052576, 4476746.252559564, 217.0, Q[0.0,0.0,1.1726046784107824]} @ 17North 
9207 19:58:51,752 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
9218 19:58:51,762 COMPASS: 1.170433610218069 
9226 19:58:51,770 COMPASS: 1.1662834678244944 
9251 19:58:51,795 COMPASS: 1.1626625435662143 
9270 19:58:51,814 COMPASS: 1.1593087677581841 
9288 19:58:51,832 COMPASS: 1.155617611793332 
9309 19:58:51,853 COMPASS: 1.1531696070787465 
9330 19:58:51,875 COMPASS: 1.1520247253736167 
9349 19:58:51,893 COMPASS: 1.151507721073662 
9393 19:58:51,937 COMPASS: 1.150836367690595 
9396 19:58:51,940 POSE: {589174.0681052576, 4476746.252559564, 217.0, Q[0.0,0.0,1.150836367690595]} @ 17North 
9405 19:58:51,949 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
9425 19:58:51,969 COMPASS: 1.1479474796245572 
9427 19:58:51,971 COMPASS: 1.145231505718223 
9433 19:58:51,977 GPS: [589174.06810525758 m, 4476746.252559564 m], 17T, 217.0, 0.0 
9439 19:58:51,983 COMPASS: 1.143214224884733 
9457 19:58:52,01 COMPASS: 1.1406618280411012 
9466 19:58:52,10 RUDDER: [r, 0.000000] 
9478 19:58:52,22 COMPASS: 1.1386157773126615 
9502 19:58:52,46 COMPASS: 1.1371793083906616 
9519 19:58:52,63 COMPASS: 1.1341654756889434 
9539 19:58:52,84 COMPASS: 1.1312069091677517 
9560 19:58:52,104 COMPASS: 1.1286867359259496 
9581 19:58:52,125 COMPASS: 1.1265912100117728 
9597 19:58:52,141 POSE: {589174.0681052576, 4476746.252559564, 217.0, Q[0.0,0.0,1.1265912100117725]} @ 17North 
9603 19:58:52,147 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
9605 19:58:52,149 COMPASS: 1.125216347509088 
9622 19:58:52,166 COMPASS: 1.122858095119973 
9642 19:58:52,186 COMPASS: 1.1210980397787056 
9663 19:58:52,207 COMPASS: 1.1198024564765834 
9683 19:58:52,227 COMPASS: 1.1191814731161303 
9704 19:58:52,248 COMPASS: 1.1177810696877 
9725 19:58:52,269 COMPASS: 1.1163514480509136 
9745 19:58:52,289 COMPASS: 1.1154546987623013 
9766 19:58:52,310 COMPASS: 1.1143757826560081 
9789 19:58:52,333 COMPASS: 1.1132136852190857 
9796 19:58:52,340 POSE: {589174.0681052576, 4476746.252559564, 217.0, Q[0.0,0.0,1.113213685219086]} @ 17North 
9804 19:58:52,348 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
9807 19:58:52,351 COMPASS: 1.1122377070753409 
9828 19:58:52,372 COMPASS: 1.1114496437207941 
9848 19:58:52,392 COMPASS: 1.1100789496374035 
9869 19:58:52,413 COMPASS: 1.1082693252469393 
9889 19:58:52,433 COMPASS: 1.107894403105083 
9910 19:58:52,454 COMPASS: 1.1072236486300127 
9930 19:58:52,474 COMPASS: 1.1054660823482443 
9940 19:58:52,484 THRUST: [t, 0.000000] 
9951 19:58:52,495 COMPASS: 1.102593160910738 
9972 19:58:52,516 COMPASS: 1.0983883771569058 
9992 19:58:52,536 COMPASS: 1.0960141071594443 
9997 19:58:52,541 POSE: {589174.0681052576, 4476746.252559564, 217.0, Q[0.0,0.0,1.0960141071594443]} @ 17North 
10007 19:58:52,551 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
10016 19:58:52,560 COMPASS: 1.0944842356799516 
10052 19:58:52,596 COMPASS: 1.0933693688883015 
10070 19:58:52,614 COMPASS: 1.0912505325806507 
10088 19:58:52,632 COMPASS: 1.0890406219887863 
10108 19:58:52,652 COMPASS: 1.0874015026127035 
10125 19:58:52,669 COMPASS: 1.0869751191034316 
10143 19:58:52,687 COMPASS: 1.0867913940251197 
10161 19:58:52,705 COMPASS: 1.0862787232730067 
10196 19:58:52,740 COMPASS: 1.085242533519941 
10198 19:58:52,742 POSE: {589174.0681052576, 4476746.252559564, 217.0, Q[0.0,0.0,1.0852425335199407]} @ 17North 
10206 19:58:52,750 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
10214 19:58:52,758 COMPASS: 1.0827985260070967 
10232 19:58:52,776 COMPASS: 1.0793032715660114 
10250 19:58:52,794 COMPASS: 1.0784462752676467 
10260 19:58:52,804 COMPASS: 1.0907306817213223 
10280 19:58:52,824 COMPASS: 1.105442885267938 
10301 19:58:52,845 COMPASS: 1.116734119364218 
10321 19:58:52,865 COMPASS: 1.1189049392777268 
10343 19:58:52,887 COMPASS: 1.1178774191303515 
10363 19:58:52,907 COMPASS: 1.1205030707919008 
10385 19:58:52,929 GPS: [589181.60946564877 m, 4476755.7477931539 m], 17T, 224.0, 0.0 
10388 19:58:52,932 COMPASS: 1.1242293028692796 
10397 19:58:52,941 POSE: {589180.8553296097, 4476754.798269795, 224.0, Q[0.0,0.0,1.1242293028692796]} @ 17North 
10403 19:58:52,947 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
10409 19:58:52,953 COMPASS: 1.119778068051372 
10430 19:58:52,974 COMPASS: 1.1162371978599306 
10450 19:58:52,994 COMPASS: 1.1217748215245593 
10470 19:58:53,14 COMPASS: 1.126429300295038 
10491 19:58:53,35 COMPASS: 1.144941265022128 
10512 19:58:53,56 COMPASS: 1.157566428132875 
10523 19:58:53,67 RUDDER: [r, 0.000000] 
10532 19:58:53,76 COMPASS: 1.1687185209333268 
10553 19:58:53,97 COMPASS: 1.1833067248765776 
10573 19:58:53,117 COMPASS: 1.1937077787316424 
10594 19:58:53,138 COMPASS: 1.1978615598575268 
10596 19:58:53,140 POSE: {589180.8553296097, 4476754.798269795, 224.0, Q[0.0,0.0,1.1978615598575266]} @ 17North 
10604 19:58:53,149 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
10614 19:58:53,158 COMPASS: 1.1964299565021954 
10635 19:58:53,179 COMPASS: 1.19902032010798 
10656 19:58:53,200 COMPASS: 1.2052478763468053 
10676 19:58:53,220 COMPASS: 1.214688926273221 
10697 19:58:53,241 COMPASS: 1.217633171718879 
10719 19:58:53,263 COMPASS: 1.2154818398426057 
10738 19:58:53,282 COMPASS: 1.2102911314625633 
10759 19:58:53,303 COMPASS: 1.2077254600549194 
10779 19:58:53,323 COMPASS: 1.210546296431887 
10797 19:58:53,341 POSE: {589180.8553296097, 4476754.798269795, 224.0, Q[0.0,0.0,1.210546296431887]} @ 17North 
10804 19:58:53,348 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
10806 19:58:53,350 COMPASS: 1.2129725734889791 
10824 19:58:53,368 COMPASS: 1.2080968003831676 
10844 19:58:53,388 COMPASS: 1.1995298346767722 
10864 19:58:53,408 COMPASS: 1.1912242000606512 
10884 19:58:53,428 COMPASS: 1.1796717237408392 
10905 19:58:53,449 COMPASS: 1.1720221279616105 
10926 19:58:53,470 COMPASS: 1.1641731386532501 
10946 19:58:53,490 COMPASS: 1.1567734853533223 
10968 19:58:53,512 COMPASS: 1.1476077812123653 
10988 19:58:53,532 COMPASS: 1.139419176724761 
10997 19:58:53,541 POSE: {589180.8553296097, 4476754.798269795, 224.0, Q[0.0,0.0,1.1394191767247608]} @ 17North 
11053 19:58:53,597 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
11061 19:58:53,605 COMPASS: 1.1379826508081137 
11062 19:58:53,606 COMPASS: 1.1372629536684156 
11063 19:58:53,607 COMPASS: 1.1263709261869392 
11069 19:58:53,613 THRUST: [t, 0.000000] 
11070 19:58:53,614 COMPASS: 1.1106608813427068 
11090 19:58:53,634 COMPASS: 1.0999291730787404 
11111 19:58:53,655 COMPASS: 1.0915738386841922 
11132 19:58:53,676 COMPASS: 1.0855822970197115 
11152 19:58:53,697 COMPASS: 1.0754637147460555 
11177 19:58:53,721 COMPASS: 1.060868104640402 
11200 19:58:53,744 POSE: {589180.8553296097, 4476754.798269795, 224.0, Q[0.0,0.0,1.060868104640402]} @ 17North 
11206 19:58:53,750 COMPASS: 1.051603039955957 
11220 19:58:53,764 COMPASS: 1.043136919743703 
11251 19:58:53,795 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
11252 19:58:53,796 COMPASS: 1.0397095077976752 
11255 19:58:53,799 COMPASS: 1.0388460954583096 
11276 19:58:53,820 COMPASS: 1.0383298687628304 
11297 19:58:53,841 COMPASS: 1.0358207283066134 
11318 19:58:53,862 COMPASS: 1.0318886906854248 
11337 19:58:53,881 COMPASS: 1.030322665877646 
11358 19:58:53,902 COMPASS: 1.0301370614949008 
11403 19:58:53,947 POSE: {589180.8553296097, 4476754.798269795, 224.0, Q[0.0,0.0,1.0301370614949008]} @ 17North 
11423 19:58:53,967 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
11441 19:58:53,985 COMPASS: 1.034517292315528 
11441 19:58:53,985 COMPASS: 1.04046795948362 
11442 19:58:53,988 COMPASS: 1.0461459064145784 
11447 19:58:53,991 GPS: [589181.60946564877 m, 4476755.7477931539 m], 17T, 224.0, 0.0 
11453 19:58:53,997 COMPASS: 1.0518744507753115 
11473 19:58:54,17 COMPASS: 1.058895170043153 
11494 19:58:54,38 COMPASS: 1.0697305088562026 
11515 19:58:54,59 COMPASS: 1.0810058523444181 
11537 19:58:54,81 COMPASS: 1.097884244992636 
11556 19:58:54,100 COMPASS: 1.1094261031017878 
11580 19:58:54,124 COMPASS: 1.114486196383738 
11607 19:58:54,151 POSE: {589181.5340520449, 4476755.652840818, 224.0, Q[0.0,0.0,1.1144861963837382]} @ 17North 
11631 19:58:54,175 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
11634 19:58:54,178 COMPASS: 1.114612436165362 
11635 19:58:54,179 COMPASS: 1.1177536801659202 
11636 19:58:54,180 RUDDER: [r, 0.000000] 
11640 19:58:54,184 COMPASS: 1.1164562099338182 
11661 19:58:54,205 COMPASS: 1.112663396136078 
11681 19:58:54,225 COMPASS: 1.1180024181466526 
11707 19:58:54,251 COMPASS: 1.125622691037448 
11723 19:58:54,267 COMPASS: 1.12637078161047 
11743 19:58:54,287 COMPASS: 1.1177846847238397 
11764 19:58:54,308 COMPASS: 1.1092579854518407 
11788 19:58:54,332 COMPASS: 1.103116984116849 
11802 19:58:54,346 POSE: {589181.5340520449, 4476755.652840818, 224.0, Q[0.0,0.0,1.103116984116849]} @ 17North 
11844 19:58:54,388 COMPASS: 1.097524269725407 
11877 19:58:54,421 COMPASS: 1.091419442350796 
11878 19:58:54,422 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
11879 19:58:54,423 COMPASS: 1.0812381843156698 
11884 19:58:54,428 COMPASS: 1.068929917264749 
11890 19:58:54,434 COMPASS: 1.0617168187775332 
11910 19:58:54,454 COMPASS: 1.0559165239823216 
11931 19:58:54,475 COMPASS: 1.0488936002472513 
11952 19:58:54,496 COMPASS: 1.0377059553525023 
12013 19:58:54,557 POSE: {589181.5340520449, 4476755.652840818, 224.0, Q[0.0,0.0,1.0377059553525025]} @ 17North 
12023 19:58:54,567 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
12024 19:58:54,568 COMPASS: 1.0261058098003233 
12027 19:58:54,571 COMPASS: 1.0177242006371359 
12028 19:58:54,572 COMPASS: 1.0106027268690359 
12034 19:58:54,578 COMPASS: 1.002068166952327 
12054 19:58:54,599 COMPASS: 0.9898637377997399 
12075 19:58:54,619 COMPASS: 0.976106802382921 
12096 19:58:54,640 COMPASS: 0.9628032498958612 
12110 19:58:54,654 THRUST: [t, 0.000000] 
12117 19:58:54,661 COMPASS: 0.9499645176295755 
12138 19:58:54,682 COMPASS: 0.9398717394817506 
12161 19:58:54,705 COMPASS: 0.9309246644264185 
12183 19:58:54,728 COMPASS: 0.9202857304982446 
12198 19:58:54,742 POSE: {589181.5340520449, 4476755.652840818, 224.0, Q[0.0,0.0,0.9202857304982446]} @ 17North 
12213 19:58:54,757 COMPASS: 0.9154063042222825 
12252 19:58:54,796 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
12253 19:58:54,797 COMPASS: 0.9388848480255816 
12254 19:58:54,798 COMPASS: 1.0030760516741084 
12260 19:58:54,804 COMPASS: 1.022405854036655 
12281 19:58:54,825 COMPASS: 1.029995422245972 
12301 19:58:54,845 COMPASS: 1.0222414742357424 
12322 19:58:54,866 COMPASS: 0.994822411959465 
12343 19:58:54,887 COMPASS: 0.9653303714415955 
12363 19:58:54,907 COMPASS: 0.9491062534320927 
12389 19:58:54,933 COMPASS: 0.9107608259019047 
12396 19:58:54,940 POSE: {589181.5340520449, 4476755.652840818, 224.0, Q[0.0,0.0,0.9107608259019047]} @ 17North 
12405 19:58:54,950 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
12411 19:58:54,955 GPS: [589181.60946564877 m, 4476755.7477931539 m], 17T, 224.0, 0.0 
12413 19:58:54,957 COMPASS: 0.8934618817658482 
12430 19:58:54,974 COMPASS: 0.8772711773237771 
12450 19:58:54,995 COMPASS: 0.8619959840458797 
12471 19:58:55,15 COMPASS: 0.8472356207989574 
12491 19:58:55,35 COMPASS: 0.8288074679309156 
12512 19:58:55,56 COMPASS: 0.8087924893210415 
12533 19:58:55,77 COMPASS: 0.7871506159959245 
12553 19:58:55,97 COMPASS: 0.7635163044256674 
12574 19:58:55,118 COMPASS: 0.7368571429546323 
12594 19:58:55,138 COMPASS: 0.7052614799096755 
12596 19:58:55,140 POSE: {589181.6019242883, 4476755.738297921, 224.0, Q[0.0,0.0,0.7052614799096755]} @ 17North 
12606 19:58:55,150 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
12615 19:58:55,159 COMPASS: 0.6745271363522567 
12638 19:58:55,182 COMPASS: 0.6398934852541476 
12657 19:58:55,201 COMPASS: 0.6125114242019714 
12671 19:58:55,215 RUDDER: [r, 0.000000] 
12677 19:58:55,221 COMPASS: 0.5881746554893457 
12697 19:58:55,241 COMPASS: 0.5629896851207852 
12718 19:58:55,262 COMPASS: 0.5408883934806293 
12739 19:58:55,283 COMPASS: 0.5195588671220635 
12759 19:58:55,303 COMPASS: 0.4960473542583997 
12779 19:58:55,323 COMPASS: 0.4756872766540313 
12797 19:58:55,341 POSE: {589181.6019242883, 4476755.738297921, 224.0, Q[0.0,0.0,0.4756872766540313]} @ 17North 
12804 19:58:55,348 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
12807 19:58:55,351 COMPASS: 0.4559475766948321 
12821 19:58:55,365 COMPASS: 0.43317719762575696 
12841 19:58:55,385 COMPASS: 0.40892389592598966 
12862 19:58:55,406 COMPASS: 0.38246663302498635 
12882 19:58:55,426 COMPASS: 0.35447121859927205 
12907 19:58:55,451 COMPASS: 0.33014149123987163 
12924 19:58:55,468 COMPASS: 0.30313572085394647 
12944 19:58:55,488 COMPASS: 0.2812371108544523 
12965 19:58:55,509 COMPASS: 0.25974972612587727 
12985 19:58:55,529 COMPASS: 0.23399946671215208 
12996 19:58:55,540 POSE: {589181.6019242883, 4476755.738297921, 224.0, Q[0.0,0.0,0.2339994667121521]} @ 17North 
13006 19:58:55,550 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
13007 19:58:55,551 COMPASS: 0.21077782651795604 
13027 19:58:55,571 COMPASS: 0.1908507807253845 
13047 19:58:55,591 COMPASS: 0.172206738682465 
13067 19:58:55,611 COMPASS: 0.15668902505386198 
13088 19:58:55,632 COMPASS: 0.14140598416992067 
13109 19:58:55,653 COMPASS: 0.12304513520069424 
13129 19:58:55,673 COMPASS: 0.10558516012018306 
13157 19:58:55,701 COMPASS: 0.08717397404078289 
13172 19:58:55,716 COMPASS: 0.06555559816730237 
13198 19:58:55,742 POSE: {589181.6019242883, 4476755.738297921, 224.0, Q[0.0,0.0,0.06555559816730237]} @ 17North 
13219 19:58:55,763 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
13224 19:58:55,769 THRUST: [t, 0.000000] 
13227 19:58:55,771 COMPASS: 0.04598358273690329 
13228 19:58:55,772 COMPASS: 0.016748002981873455 
13236 19:58:55,780 COMPASS: 0.0028226308161095567 
13270 19:58:55,814 COMPASS: -0.009741409742718863 
13285 19:58:55,829 COMPASS: -0.020028302697528387 
13305 19:58:55,849 COMPASS: -0.03092238062287012 
13328 19:58:55,872 COMPASS: -0.04674269096349428 
13349 19:58:55,893 COMPASS: -0.061238421944900125 
13378 19:58:55,922 COMPASS: -0.08129296129233067 
13396 19:58:55,940 POSE: {589181.6019242883, 4476755.738297921, 224.0, Q[0.0,0.0,-0.08129296129233067]} @ 17North 
13426 19:58:55,970 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
13431 19:58:55,975 COMPASS: -0.08566120369122342 
13441 19:58:55,986 COMPASS: -0.1023701295002931 
13446 19:58:55,990 GPS: [589181.60946564877 m, 4476755.7477931539 m], 17T, 224.0, 0.0 
13448 19:58:55,992 COMPASS: -0.11525883239085832 
13466 19:58:56,10 COMPASS: -0.13004598045079094 
13487 19:58:56,31 COMPASS: -0.14545775735433716 
13507 19:58:56,51 COMPASS: -0.15352134951541305 
13529 19:58:56,73 COMPASS: -0.1586216039189397 
13557 19:58:56,101 COMPASS: -0.16312607952987043 
13572 19:58:56,116 COMPASS: -0.16875497924963928 
13591 19:58:56,135 COMPASS: -0.18063698812154375 
13599 19:58:56,143 POSE: {589181.6087115128, 4476755.74684363, 224.0, Q[0.0,0.0,-0.18063698812154375]} @ 17North 
13615 19:58:56,159 VEL: Twist[0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
13621 19:58:56,165 COMPASS: -0.19193580390527848 
13634 19:58:56,178 COMPASS: -0.20070596394654214 
13655 19:58:56,199 COMPASS: -0.20231102