《Learning High Speed Flight in the Wild》生成专家轨迹部分--数据记录
暂时主要是记录下数据。simulation.launch运行中数据如下（第1次训练数据)：
[ INFO] [1642060400.137616415, 3.221000000]: Unity is ready!
[ INFO] [1642060408.461146842, 6.959000000]: Received off command, stopping maneuver execution!
[ INFO] [1642060408.461173510, 6.959000000]: Switching to kOff
[ INFO] [1642060410.311853503, 7.884000000]: Received off command, stopping maneuver execution!
[ INFO] [1642060410.311899099, 7.884000000]: Switching to kOff
[ INFO] [1642060411.313253211, 7.994000000]: [/hummingbird/autopilot] START command received
[ INFO] [1642060411.313272237, 7.994000000]: [/hummingbird/rpg_rotors_interface] Interface armed
[ INFO] [1642060411.313346993, 7.994000000]: [/hummingbird/autopilot] Absolute state estimate available, taking off based on it
[ INFO] [1642060411.313391267, 7.994000000]: [/hummingbird/autopilot] Switched to START state
[ INFO] [1642060415.381725088, 9.995000000]: Solving MPC with hover as initial guess.
[ INFO] [1642060423.167644850, 13.885000000]: [/hummingbird/autopilot] Switched to BREAKING state
[ INFO] [1642060423.327718420, 13.965000000]: [/hummingbird/autopilot] Switched to HOVER state
[ INFO] [1642060436.336003882, 20.464000000]: Initiated Logging, computing reference trajectory and generating point cloud!
[ INFO] [1642060436.336070427, 20.464000000]: Starting maneuver computation
Initiated acrobatic sequence
Creating directories in [/home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data]
[ INFO] [1642060438.384379494, 21.488000000]: Find elevation
[ INFO] [1642060438.384423606, 21.488000000]: Place trees
[ INFO] [1642060440.385410823, 22.488000000]: Spawning [2147] trees, poisson mode is [2209].
[ INFO] [1642060440.385460142, 22.488000000]: Incrementing seed to 69.
[ INFO] [1642060441.566560142, 23.078000000]: Start creating pointcloud
[ INFO] [1642060441.566614911, 23.078000000]: Scale pointcloud: [60.00, 20.00, 10.00]
[ INFO] [1642060441.566638023, 23.078000000]: Origin pointcloud: [0.00, 20.00, 1.89]
[ INFO] [1642060458.567934753, 31.573000000]: Pointcloud saved
Opened new odometry file: /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data/rollout_22-01-13_15-53-56/odometry.csv
Saving trajectory to CSV.
Trajectory filename: /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data/rollout_22-01-13_15-53-56/reference_trajectory.csv
Saved trajectory to file.
[ INFO] [1642060458.571441742, 31.575000000]: Not yet switching state machine, waiting for global reference to arrive...
[ INFO] [1642060458.571473658, 31.575000000]: Maneuver computation successful!
[ INFO] [1642060458.571493574, 31.575000000]: Maneuver computation took 11.1110 seconds.
Performing planning for directory /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data
[ INFO] [1642060462.572713701, 33.575000000]: Added Folder: /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data/rollout_22-01-13_15-53-56
Loading reference trajectory from /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data/rollout_22-01-13_15-53-56/reference_trajectory.csv
Now Reading: /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data/rollout_22-01-13_15-53-56/pointcloud-unity.ply
parsing 4.12656mb in 0.0166449 seconds [247.918 MBps]
Completed pointcloud parsing!
[ INFO] [1642060462.602983965, 33.590000000]: Loaded pointcloud contains 343870 points.
[ INFO] [1642060462.607247352, 33.592000000]: Pointcloud2 contains 343870 points.
[ INFO] [1642060462.607269003, 33.592000000]: Pointcloud contains 343870 points.
[ INFO] [1642060462.607280195, 33.592000000]: Takes 0.017000 sec to set up map!
[ INFO] [1642060462.607285803, 33.592000000]: Initiating planner...
[EllipsoidPlanner] PLANNER VERBOSE ON
[ INFO] [1642060462.607290811, 33.592000000]: robot_radius: 0.30
Origin: -25 15 -3.11187
Dimension: 50 10 10
setMap
env_cloud
setObstacles
obs.size() : 343870
Done setObstacles
setBoundingBox
Done setBoundingBox
Done env_cloud
Done setMap
[ INFO] [1642060462.662947371, 33.620000000]: epsilon: 2.00
[PlannerBase] set epsilon: 2.000000
[PlannerBase] set v_max: 7.000000
[PlannerBase] set a_max: 10.000000
[PlannerBase] set dt: 0.200000
[PlannerBase] set w: 10000.000000
[PlannerBase] set max num: 500000
[PlannerBase] set tol_pos: 7.000000
[PlannerBase] set tol_vel: 100.000000
[PlannerBase] set tol_acc: 100.000000
[ INFO] [1642060462.662988367, 33.620000000]: Setting start and goal...
[ INFO] [1642060462.663003676, 33.620000000]: Reading prior trajectory...
[ INFO] [1642060462.663018758, 33.620000000]: Initiate planning...
Start:
pos: -20 20 1.88813
vel: 0.2 -1e-08 -4e-08
acc: 0 0 0
use jrk!
Goal:
pos: 20 20 1.88813
vel: 10 0 0
acc: 0 0 0
use jrk!
++++++++++++++++++++ env_base ++++++++++++++++++
+ w: 10000.00 +
+ wyaw: 1.00 +
+ dt: 0.20 +
+ t_max: inf +
+ v_max: 7.00 +
+ a_max: 10.00 +
+ j_max: -1.00 +
+ yaw_max: -1.00 +
+ U num: 25 +
+ tol_pos: 7.00 +
+ tol_vel: 100.00 +
+ tol_acc: 100.00 +
+ tol_yaw: -1.00 +
+heur_ignore_dynamics: 1 +
++++++++++++++++++++ env_base ++++++++++++++++++
Start from new node!
goalNode fval: 80985.714286, g: 62700.000000!
Expand [124] nodes!
Reached Goal !!!!!!
t: 6 pos: 13.6 22.12 1.88813 vel: 6.2 5.4 -4e-08
g: 62700.000000, rhs: inf, h: 9142.857143
t: 5.8 pos: 12.36 20.92 1.88813 vel: 6.2 6.6 -4e-08
g: 60700.000000, rhs: inf, h: 10914.285714
t: 5.6 pos: 11.12 19.56 1.88813 vel: 6.2 6.6 -4e-08
g: 57980.000000, rhs: inf, h: 12685.714286
t: 5.4 pos: 9.88 18.36 1.88813 vel: 6.2 5.4 -4e-08
g: 55980.000000, rhs: inf, h: 14457.142857
t: 5.2 pos: 8.64 17.4 1.88813 vel: 6.2 4.2 -4e-08
g: 53980.000000, rhs: inf, h: 16228.571429
t: 5 pos: 7.4 16.68 1.88813 vel: 6.2 3 -4e-08
g: 51980.000000, rhs: inf, h: 18000.000000
t: 4.8 pos: 6.16 16.2 1.88813 vel: 6.2 1.8 -4e-08
g: 49980.000000, rhs: inf, h: 19771.428571
t: 4.6 pos: 4.92 15.96 1.88813 vel: 6.2 0.6 -4e-08
g: 47980.000000, rhs: inf, h: 21542.857143
t: 4.4 pos: 3.68 15.96 1.88813 vel: 6.2 -0.6 -4e-08
g: 45980.000000, rhs: inf, h: 23314.285714
t: 4.2 pos: 2.44 16.2 1.88813 vel: 6.2 -1.8 -4e-08
g: 43980.000000, rhs: inf, h: 25085.714286
t: 4 pos: 1.2 16.68 1.88813 vel: 6.2 -3 -4e-08
g: 41980.000000, rhs: inf, h: 26857.142857
t: 3.8 pos: -0.04 17.4 1.88813 vel: 6.2 -4.2 -4e-08
g: 39980.000000, rhs: inf, h: 28628.571429
t: 3.6 pos: -1.28 18.36 1.88813 vel: 6.2 -5.4 -4e-08
g: 37980.000000, rhs: inf, h: 30400.000000
t: 3.4 pos: -2.52 19.56 1.88813 vel: 6.2 -6.6 -4e-08
g: 35980.000000, rhs: inf, h: 32171.428571
t: 3.2 pos: -3.76 20.92 1.88813 vel: 6.2 -6.6 -4e-08
g: 33260.000000, rhs: inf, h: 33942.857143
t: 3 pos: -5 22.12 1.88813 vel: 6.2 -5.4 -4e-08
g: 31260.000000, rhs: inf, h: 35714.285714
t: 2.8 pos: -6.24 23.08 1.88813 vel: 6.2 -4.2 -4e-08
g: 29260.000000, rhs: inf, h: 37485.714286
t: 2.6 pos: -7.48 23.8 1.88813 vel: 6.2 -3 -4e-08
g: 27260.000000, rhs: inf, h: 39257.142857
t: 2.4 pos: -8.72 24.28 1.88813 vel: 6.2 -1.8 -4e-08
g: 25260.000000, rhs: inf, h: 41028.571429
t: 2.2 pos: -9.96 24.56 1.88813 vel: 6.2 -1.2 -4e-08
g: 23080.000000, rhs: inf, h: 42800.000000
t: 2 pos: -11.2 24.76 1.88813 vel: 6.2 -0.6 -4e-08
g: 20900.000000, rhs: inf, h: 44571.428571
t: 1.8 pos: -12.44 24.76 1.88813 vel: 6.2 0.6 -4e-08
g: 18900.000000, rhs: inf, h: 46342.857143
t: 1.6 pos: -13.68 24.52 1.88813 vel: 6.2 1.8 -4e-08
g: 16900.000000, rhs: inf, h: 48114.285714
t: 1.4 pos: -14.92 24.04 1.88813 vel: 6.2 3 -4e-08
g: 14900.000000, rhs: inf, h: 49885.714286
t: 1.2 pos: -16.16 23.32 1.88813 vel: 6.2 4.2 -4e-08
g: 12900.000000, rhs: inf, h: 51657.142857
t: 1 pos: -17.36 22.4 1.88813 vel: 5.6 4.8 -4e-08
g: 10540.000000, rhs: inf, h: 53371.428571
t: 0.8 pos: -18.36 21.48 1.88813 vel: 4.4 4.2 -4e-08
g: 8360.000000, rhs: inf, h: 54800.000000
t: 0.6 pos: -19.12 20.76 1.88813 vel: 3.2 3 -4e-08
g: 6360.000000, rhs: inf, h: 55885.714286
t: 0.4 pos: -19.64 20.28 1.88813 vel: 2 1.8 -4e-08
g: 4360.000000, rhs: inf, h: 56628.571429
t: 0.2 pos: -19.92 20.04 1.88813 vel: 0.8 0.6 -4e-08
g: 2360.000000, rhs: inf, h: 57028.571429
t: 0 pos: -20 20 1.88813
g: 0.000000, rhs: inf, h: 57142.857143
[ INFO] [1642060462.666013868, 33.621000000]: Succeed! Takes 0.001000 sec for planning, expand [124] nodes
Saving trajectory to CSV.
Trajectory filename: /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data/rollout_22-01-13_15-53-56/ellipsoid_trajectory.csv
Saved trajectory to file.
================== Traj -- total J(VEL): 292.128000, J(ACC): 216.000000, J(JRK): 0.000000, total time: 6.000000
max roll: 31.450823 at [0.204000]
max pitch: 31.450823 at [0.912000]
[ INFO] [1642060462.667852031, 33.622000000]: Global Planner completed! Loading adapted reference trajectory now!
Loading reference trajectory from /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data/rollout_22-01-13_15-53-56/ellipsoid_trajectory.csv
Smoothing trajectory of length [302]
Smoothed trajectory has [27775] points.
resampled_trajectory has [634] points.
Saving trajectory to CSV.
Trajectory filename: /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data/rollout_22-01-13_15-53-56/ellipsoid_trajectory.csv
Saved trajectory to file.
t: 0.00 | Position: -20.00, 20.00, 1.89 | Velocity: 0.00, 0.00, 0.00
t: 0.01 | Position: -20.00, 20.00, 1.89 | Velocity: 0.05, 0.00, 0.00
t: 0.02 | Position: -20.00, 20.00, 1.89 | Velocity: 0.10, 0.00, 0.00
t: 0.03 | Position: -20.00, 20.00, 1.89 | Velocity: 0.15, 0.01, 0.00
t: 0.04 | Position: -19.99, 20.00, 1.89 | Velocity: 0.20, 0.01, 0.00
t: 0.05 | Position: -19.99, 20.00, 1.89 | Velocity: 0.25, 0.04, 0.00
t: 0.06 | Position: -19.99, 20.00, 1.89 | Velocity: 0.30, 0.05, 0.00
t: 0.07 | Position: -19.98, 20.00, 1.89 | Velocity: 0.34, 0.09, 0.00
t: 0.08 | Position: -19.98, 20.00, 1.89 | Velocity: 0.37, 0.14, 0.00
t: 0.09 | Position: -19.98, 20.00, 1.89 | Velocity: 0.41, 0.19, 0.00
t: 0.10 | Position: -19.97, 20.01, 1.89 | Velocity: 0.45, 0.21, 0.00
t: 0.11 | Position: -19.97, 20.01, 1.89 | Velocity: 0.48, 0.27, -0.00
t: 0.12 | Position: -19.96, 20.01, 1.89 | Velocity: 0.52, 0.29, -0.00
t: 0.13 | Position: -19.95, 20.02, 1.89 | Velocity: 0.55, 0.35, 0.00
t: 0.14 | Position: -19.95, 20.02, 1.89 | Velocity: 0.58, 0.39, 0.00
t: 0.15 | Position: -19.94, 20.03, 1.89 | Velocity: 0.62, 0.42, 0.00
t: 0.16 | Position: -19.93, 20.03, 1.89 | Velocity: 0.65, 0.47, 0.00
t: 0.17 | Position: -19.93, 20.04, 1.89 | Velocity: 0.69, 0.50, 0.00
t: 0.18 | Position: -19.92, 20.04, 1.89 | Velocity: 0.71, 0.55, 0.00
t: 0.19 | Position: -19.91, 20.05, 1.89 | Velocity: 0.75, 0.58, 0.00
t: 0.20 | Position: -19.90, 20.05, 1.89 | Velocity: 0.78, 0.62, 0.00
t: 0.21 | Position: -19.89, 20.06, 1.89 | Velocity: 0.82, 0.65, 0.00
t: 0.22 | Position: -19.89, 20.07, 1.89 | Velocity: 0.86, 0.68, 0.00
t: 0.23 | Position: -19.88, 20.08, 1.89 | Velocity: 0.89, 0.73, 0.00
t: 0.24 | Position: -19.87, 20.08, 1.89 | Velocity: 0.93, 0.76, 0.00
t: 0.25 | Position: -19.86, 20.09, 1.89 | Velocity: 0.96, 0.80, 0.00
t: 0.26 | Position: -19.85, 20.10, 1.89 | Velocity: 1.00, 0.83, 0.00
t: 0.27 | Position: -19.83, 20.11, 1.89 | Velocity: 1.03, 0.87, 0.00
t: 0.28 | Position: -19.82, 20.12, 1.89 | Velocity: 1.07, 0.91, 0.00
t: 0.29 | Position: -19.81, 20.13, 1.89 | Velocity: 1.10, 0.94, 0.00
t: 0.30 | Position: -19.80, 20.14, 1.89 | Velocity: 1.14, 0.98, 0.00
t: 0.31 | Position: -19.79, 20.15, 1.89 | Velocity: 1.17, 1.01, 0.00
t: 0.32 | Position: -19.78, 20.16, 1.89 | Velocity: 1.21, 1.05, 0.00
t: 0.33 | Position: -19.76, 20.17, 1.89 | Velocity: 1.24, 1.09, 0.00
t: 0.34 | Position: -19.75, 20.18, 1.89 | Velocity: 1.28, 1.12, 0.00
t: 0.35 | Position: -19.74, 20.19, 1.89 | Velocity: 1.31, 1.16, 0.00
t: 0.36 | Position: -19.72, 20.21, 1.89 | Velocity: 1.35, 1.19, 0.00
t: 0.37 | Position: -19.71, 20.22, 1.89 | Velocity: 1.38, 1.23, -0.00
t: 0.38 | Position: -19.69, 20.23, 1.89 | Velocity: 1.42, 1.26, -0.00
t: 0.39 | Position: -19.68, 20.25, 1.89 | Velocity: 1.45, 1.30, 0.00
t: 0.40 | Position: -19.66, 20.26, 1.89 | Velocity: 1.49, 1.34, 0.00
t: 0.41 | Position: -19.65, 20.27, 1.89 | Velocity: 1.53, 1.37, 0.00
t: 0.42 | Position: -19.63, 20.29, 1.89 | Velocity: 1.56, 1.41, 0.00
t: 0.43 | Position: -19.62, 20.30, 1.89 | Velocity: 1.60, 1.44, 0.00
t: 0.44 | Position: -19.60, 20.32, 1.89 | Velocity: 1.63, 1.48, 0.00
t: 0.45 | Position: -19.58, 20.33, 1.89 | Velocity: 1.67, 1.51, 0.00
t: 0.46 | Position: -19.56, 20.35, 1.89 | Velocity: 1.70, 1.55, 0.00
t: 0.47 | Position: -19.55, 20.37, 1.89 | Velocity: 1.74, 1.58, 0.00
t: 0.48 | Position: -19.53, 20.38, 1.89 | Velocity: 1.77, 1.62, 0.00
t: 0.49 | Position: -19.51, 20.40, 1.89 | Velocity: 1.81, 1.66, 0.00
t: 0.50 | Position: -19.49, 20.42, 1.89 | Velocity: 1.84, 1.69, 0.00
t: 0.51 | Position: -19.47, 20.43, 1.89 | Velocity: 1.88, 1.72, 0.00
t: 0.52 | Position: -19.45, 20.45, 1.89 | Velocity: 1.91, 1.76, 0.00
t: 0.53 | Position: -19.43, 20.47, 1.89 | Velocity: 1.95, 1.80, 0.00
t: 0.54 | Position: -19.41, 20.49, 1.89 | Velocity: 1.98, 1.83, 0.00
t: 0.55 | Position: -19.39, 20.51, 1.89 | Velocity: 2.02, 1.87, 0.00
t: 0.56 | Position: -19.37, 20.53, 1.89 | Velocity: 2.06, 1.90, 0.00
t: 0.57 | Position: -19.35, 20.55, 1.89 | Velocity: 2.09, 1.94, 0.00
t: 0.58 | Position: -19.33, 20.57, 1.89 | Velocity: 2.13, 1.97, 0.00
t: 0.59 | Position: -19.31, 20.59, 1.89 | Velocity: 2.16, 2.01, 0.00
t: 0.60 | Position: -19.28, 20.61, 1.89 | Velocity: 2.20, 2.04, 0.00
t: 0.61 | Position: -19.26, 20.63, 1.89 | Velocity: 2.23, 2.08, 0.00
t: 0.62 | Position: -19.24, 20.65, 1.89 | Velocity: 2.27, 2.12, 0.00
t: 0.63 | Position: -19.21, 20.67, 1.89 | Velocity: 2.30, 2.15, 0.00
t: 0.64 | Position: -19.19, 20.69, 1.89 | Velocity: 2.34, 2.18, 0.00
t: 0.65 | Position: -19.17, 20.72, 1.89 | Velocity: 2.37, 2.22, 0.00
t: 0.66 | Position: -19.14, 20.74, 1.89 | Velocity: 2.41, 2.26, 0.00
t: 0.67 | Position: -19.12, 20.76, 1.89 | Velocity: 2.44, 2.29, 0.00
t: 0.68 | Position: -19.09, 20.79, 1.89 | Velocity: 2.48, 2.33, 0.00
t: 0.69 | Position: -19.07, 20.81, 1.89 | Velocity: 2.52, 2.36, 0.00
t: 0.70 | Position: -19.04, 20.83, 1.89 | Velocity: 2.55, 2.40, -0.00
t: 0.71 | Position: -19.01, 20.86, 1.89 | Velocity: 2.59, 2.43, -0.00
t: 0.72 | Position: -18.99, 20.88, 1.89 | Velocity: 2.62, 2.47, 0.00
t: 0.73 | Position: -18.96, 20.91, 1.89 | Velocity: 2.66, 2.50, 0.00
t: 0.74 | Position: -18.93, 20.94, 1.89 | Velocity: 2.69, 2.54, 0.00
t: 0.75 | Position: -18.91, 20.96, 1.89 | Velocity: 2.73, 2.57, 0.00
t: 0.76 | Position: -18.88, 20.99, 1.89 | Velocity: 2.76, 2.61, 0.00
t: 0.77 | Position: -18.85, 21.02, 1.89 | Velocity: 2.80, 2.65, 0.00
t: 0.78 | Position: -18.82, 21.04, 1.89 | Velocity: 2.83, 2.68, 0.00
t: 0.79 | Position: -18.79, 21.07, 1.89 | Velocity: 2.87, 2.72, 0.00
t: 0.80 | Position: -18.76, 21.10, 1.89 | Velocity: 2.90, 2.75, 0.00
t: 0.81 | Position: -18.73, 21.13, 1.89 | Velocity: 2.94, 2.79, 0.00
t: 0.82 | Position: -18.70, 21.16, 1.89 | Velocity: 2.97, 2.82, 0.00
t: 0.83 | Position: -18.67, 21.18, 1.89 | Velocity: 3.01, 2.86, 0.00
t: 0.84 | Position: -18.64, 21.21, 1.89 | Velocity: 3.05, 2.89, 0.00
t: 0.85 | Position: -18.61, 21.24, 1.89 | Velocity: 3.08, 2.93, 0.00
t: 0.86 | Position: -18.58, 21.27, 1.89 | Velocity: 3.12, 2.96, 0.00
t: 0.87 | Position: -18.54, 21.30, 1.89 | Velocity: 3.15, 3.00, 0.00
t: 0.88 | Position: -18.51, 21.33, 1.89 | Velocity: 3.19, 3.03, 0.00
t: 0.89 | Position: -18.48, 21.37, 1.89 | Velocity: 3.22, 3.07, 0.00
t: 0.90 | Position: -18.45, 21.40, 1.89 | Velocity: 3.26, 3.11, 0.00
t: 0.91 | Position: -18.41, 21.43, 1.89 | Velocity: 3.29, 3.14, 0.00
t: 0.92 | Position: -18.38, 21.46, 1.89 | Velocity: 3.33, 3.17, 0.00
t: 0.93 | Position: -18.34, 21.49, 1.89 | Velocity: 3.36, 3.21, 0.00
t: 0.94 | Position: -18.31, 21.53, 1.89 | Velocity: 3.40, 3.25, 0.00
t: 0.95 | Position: -18.27, 21.56, 1.89 | Velocity: 3.44, 3.28, 0.00
t: 0.96 | Position: -18.24, 21.60, 1.89 | Velocity: 3.47, 3.31, 0.00
t: 0.97 | Position: -18.20, 21.63, 1.89 | Velocity: 3.51, 3.35, 0.00
t: 0.98 | Position: -18.17, 21.66, 1.89 | Velocity: 3.55, 3.37, 0.00
t: 0.99 | Position: -18.13, 21.70, 1.89 | Velocity: 3.59, 3.41, 0.00
t: 1.00 | Position: -18.09, 21.73, 1.89 | Velocity: 3.64, 3.43, -0.00
t: 1.01 | Position: -18.06, 21.77, 1.89 | Velocity: 3.67, 3.47, -0.00
t: 1.02 | Position: -18.02, 21.80, 1.89 | Velocity: 3.71, 3.50, -0.00
t: 1.03 | Position: -17.98, 21.84, 1.89 | Velocity: 3.76, 3.52, 0.00
t: 1.04 | Position: -17.94, 21.88, 1.89 | Velocity: 3.80, 3.55, 0.00
t: 1.05 | Position: -17.90, 21.91, 1.89 | Velocity: 3.85, 3.57, 0.00
t: 1.06 | Position: -17.87, 21.95, 1.89 | Velocity: 3.89, 3.60, 0.00
t: 1.07 | Position: -17.83, 21.98, 1.89 | Velocity: 3.93, 3.64, 0.00
t: 1.08 | Position: -17.79, 22.02, 1.89 | Velocity: 3.99, 3.64, 0.00
t: 1.09 | Position: -17.75, 22.06, 1.89 | Velocity: 4.02, 3.68, 0.00
t: 1.10 | Position: -17.70, 22.10, 1.89 | Velocity: 4.06, 3.71, 0.00
t: 1.11 | Position: -17.66, 22.13, 1.89 | Velocity: 4.12, 3.71, 0.00
t: 1.12 | Position: -17.62, 22.17, 1.89 | Velocity: 4.16, 3.75, 0.00
t: 1.13 | Position: -17.58, 22.21, 1.89 | Velocity: 4.23, 3.75, 0.00
t: 1.14 | Position: -17.53, 22.25, 1.89 | Velocity: 4.27, 3.78, 0.00
t: 1.15 | Position: -17.49, 22.29, 1.89 | Velocity: 4.30, 3.81, 0.00
t: 1.16 | Position: -17.45, 22.32, 1.89 | Velocity: 4.38, 3.80, 0.00
t: 1.17 | Position: -17.40, 22.36, 1.89 | Velocity: 4.42, 3.84, 0.00
t: 1.18 | Position: -17.36, 22.40, 1.89 | Velocity: 4.49, 3.82, 0.00
t: 1.19 | Position: -17.31, 22.44, 1.89 | Velocity: 4.53, 3.86, 0.00
t: 1.20 | Position: -17.26, 22.48, 1.89 | Velocity: 4.61, 3.84, 0.00
t: 1.21 | Position: -17.22, 22.52, 1.89 | Velocity: 4.65, 3.87, 0.00
t: 1.22 | Position: -17.17, 22.56, 1.89 | Velocity: 4.69, 3.90, 0.00
t: 1.23 | Position: -17.12, 22.60, 1.89 | Velocity: 4.77, 3.89, 0.00
t: 1.24 | Position: -17.07, 22.64, 1.89 | Velocity: 4.81, 3.92, 0.00
t: 1.25 | Position: -17.02, 22.68, 1.89 | Velocity: 4.89, 3.90, 0.00
t: 1.26 | Position: -16.97, 22.72, 1.89 | Velocity: 4.92, 3.93, 0.00
t: 1.27 | Position: -16.92, 22.76, 1.89 | Velocity: 4.96, 3.96, 0.00
t: 1.28 | Position: -16.87, 22.80, 1.89 | Velocity: 5.05, 3.94, 0.00
t: 1.29 | Position: -16.82, 22.84, 1.89 | Velocity: 5.08, 3.97, 0.00
t: 1.30 | Position: -16.77, 22.88, 1.89 | Velocity: 5.17, 3.94, 0.00
t: 1.31 | Position: -16.72, 22.92, 1.89 | Velocity: 5.21, 3.97, 0.00
t: 1.32 | Position: -16.66, 22.96, 1.89 | Velocity: 5.29, 3.94, -0.00
t: 1.33 | Position: -16.61, 23.00, 1.89 | Velocity: 5.33, 3.97, -0.00
t: 1.34 | Position: -16.56, 23.04, 1.89 | Velocity: 5.37, 4.00, -0.00
t: 1.35 | Position: -16.50, 23.08, 1.89 | Velocity: 5.46, 3.97, 0.00
t: 1.36 | Position: -16.45, 23.12, 1.89 | Velocity: 5.50, 4.00, 0.00
t: 1.37 | Position: -16.39, 23.16, 1.89 | Velocity: 5.59, 3.96, 0.00
t: 1.38 | Position: -16.33, 23.20, 1.89 | Velocity: 5.63, 3.99, 0.00
t: 1.39 | Position: -16.27, 23.24, 1.89 | Velocity: 5.72, 3.95, 0.00
t: 1.40 | Position: -16.22, 23.28, 1.89 | Velocity: 5.76, 3.98, 0.00
t: 1.41 | Position: -16.16, 23.32, 1.89 | Velocity: 5.81, 3.90, 0.00
t: 1.42 | Position: -16.10, 23.36, 1.89 | Velocity: 5.81, 3.90, 0.00
t: 1.43 | Position: -16.04, 23.40, 1.89 | Velocity: 5.86, 3.82, 0.00
t: 1.44 | Position: -15.98, 23.44, 1.89 | Velocity: 5.86, 3.82, 0.00
t: 1.45 | Position: -15.92, 23.48, 1.89 | Velocity: 5.91, 3.74, 0.00
t: 1.46 | Position: -15.86, 23.52, 1.89 | Velocity: 5.91, 3.74, 0.00
t: 1.47 | Position: -15.80, 23.55, 1.89 | Velocity: 5.97, 3.66, 0.00
t: 1.48 | Position: -15.74, 23.59, 1.89 | Velocity: 5.97, 3.66, 0.00
t: 1.49 | Position: -15.68, 23.63, 1.89 | Velocity: 6.02, 3.58, 0.00
t: 1.50 | Position: -15.62, 23.66, 1.89 | Velocity: 6.02, 3.58, 0.00
t: 1.51 | Position: -15.56, 23.70, 1.89 | Velocity: 6.07, 3.49, 0.00
t: 1.52 | Position: -15.50, 23.73, 1.89 | Velocity: 6.07, 3.49, 0.00
t: 1.53 | Position: -15.44, 23.77, 1.89 | Velocity: 6.12, 3.40, 0.00
t: 1.54 | Position: -15.37, 23.80, 1.89 | Velocity: 6.12, 3.40, 0.00
t: 1.55 | Position: -15.31, 23.84, 1.89 | Velocity: 6.17, 3.31, 0.00
t: 1.56 | Position: -15.25, 23.87, 1.89 | Velocity: 6.17, 3.31, 0.00
t: 1.57 | Position: -15.19, 23.90, 1.89 | Velocity: 6.22, 3.22, -0.00
t: 1.58 | Position: -15.13, 23.94, 1.89 | Velocity: 6.22, 3.22, -0.00
t: 1.59 | Position: -15.06, 23.97, 1.89 | Velocity: 6.27, 3.12, 0.00
t: 1.60 | Position: -15.00, 24.00, 1.89 | Velocity: 6.27, 3.12, 0.00
t: 1.61 | Position: -14.94, 24.03, 1.89 | Velocity: 6.31, 3.02, 0.00
t: 1.62 | Position: -14.87, 24.06, 1.89 | Velocity: 6.31, 3.02, 0.00
t: 1.63 | Position: -14.81, 24.09, 1.89 | Velocity: 6.36, 2.92, 0.00
t: 1.64 | Position: -14.74, 24.12, 1.89 | Velocity: 6.36, 2.92, 0.00
t: 1.65 | Position: -14.68, 24.15, 1.89 | Velocity: 6.41, 2.82, 0.00
t: 1.66 | Position: -14.61, 24.18, 1.89 | Velocity: 6.41, 2.82, 0.00
t: 1.67 | Position: -14.55, 24.21, 1.89 | Velocity: 6.45, 2.72, 0.00
t: 1.68 | Position: -14.48, 24.24, 1.89 | Velocity: 6.45, 2.72, 0.00
t: 1.69 | Position: -14.42, 24.26, 1.89 | Velocity: 6.50, 2.61, 0.00
t: 1.70 | Position: -14.35, 24.29, 1.89 | Velocity: 6.50, 2.61, 0.00
t: 1.71 | Position: -14.29, 24.31, 1.89 | Velocity: 6.54, 2.50, 0.00
t: 1.72 | Position: -14.22, 24.34, 1.89 | Velocity: 6.54, 2.50, 0.00
t: 1.73 | Position: -14.16, 24.36, 1.89 | Velocity: 6.58, 2.39, 0.00
t: 1.74 | Position: -14.09, 24.39, 1.89 | Velocity: 6.58, 2.39, 0.00
t: 1.75 | Position: -14.02, 24.41, 1.89 | Velocity: 6.62, 2.28, 0.00
t: 1.76 | Position: -13.95, 24.43, 1.89 | Velocity: 6.66, 2.16, 0.00
t: 1.77 | Position: -13.89, 24.46, 1.89 | Velocity: 6.66, 2.16, 0.00
t: 1.78 | Position: -13.82, 24.48, 1.89 | Velocity: 6.70, 2.04, 0.00
t: 1.79 | Position: -13.75, 24.50, 1.89 | Velocity: 6.70, 2.04, 0.00
t: 1.80 | Position: -13.69, 24.52, 1.89 | Velocity: 6.73, 1.92, 0.00
t: 1.81 | Position: -13.62, 24.54, 1.89 | Velocity: 6.73, 1.92, 0.00
t: 1.82 | Position: -13.55, 24.56, 1.89 | Velocity: 6.76, 1.80, -0.00
t: 1.83 | Position: -13.48, 24.57, 1.89 | Velocity: 6.76, 1.80, -0.00
t: 1.84 | Position: -13.41, 24.59, 1.89 | Velocity: 6.80, 1.68, 0.00
t: 1.85 | Position: -13.34, 24.61, 1.89 | Velocity: 6.80, 1.68, 0.00
t: 1.86 | Position: -13.28, 24.62, 1.89 | Velocity: 6.82, 1.56, 0.00
t: 1.87 | Position: -13.21, 24.64, 1.89 | Velocity: 6.85, 1.43, 0.00
t: 1.88 | Position: -13.14, 24.65, 1.89 | Velocity: 6.85, 1.43, 0.00
t: 1.89 | Position: -13.07, 24.67, 1.89 | Velocity: 6.88, 1.30, 0.00
t: 1.90 | Position: -13.00, 24.68, 1.89 | Velocity: 6.88, 1.30, 0.00
t: 1.91 | Position: -12.93, 24.69, 1.89 | Velocity: 6.90, 1.17, 0.00
t: 1.92 | Position: -12.86, 24.71, 1.89 | Velocity: 6.90, 1.17, 0.00
t: 1.93 | Position: -12.79, 24.72, 1.89 | Velocity: 6.92, 1.04, 0.00
t: 1.94 | Position: -12.72, 24.73, 1.89 | Velocity: 6.94, 0.91, 0.00
t: 1.95 | Position: -12.65, 24.74, 1.89 | Velocity: 6.94, 0.91, 0.00
t: 1.96 | Position: -12.58, 24.74, 1.89 | Velocity: 6.96, 0.78, 0.00
t: 1.97 | Position: -12.51, 24.75, 1.89 | Velocity: 6.96, 0.78, 0.00
t: 1.98 | Position: -12.44, 24.76, 1.89 | Velocity: 6.97, 0.65, 0.00
t: 1.99 | Position: -12.37, 24.77, 1.89 | Velocity: 6.97, 0.65, 0.00
t: 2.00 | Position: -12.30, 24.77, 1.89 | Velocity: 6.98, 0.51, 0.00
t: 2.01 | Position: -12.23, 24.78, 1.89 | Velocity: 6.99, 0.38, 0.00
t: 2.02 | Position: -12.16, 24.78, 1.89 | Velocity: 6.99, 0.38, 0.00
t: 2.03 | Position: -12.08, 24.78, 1.89 | Velocity: 7.00, 0.25, 0.00
t: 2.04 | Position: -12.01, 24.79, 1.89 | Velocity: 7.00, 0.25, 0.00
t: 2.05 | Position: -11.94, 24.79, 1.89 | Velocity: 7.00, 0.11, -0.00
t: 2.06 | Position: -11.87, 24.79, 1.89 | Velocity: 7.00, 0.11, -0.00
t: 2.07 | Position: -11.80, 24.79, 1.89 | Velocity: 7.00, -0.02, 0.00
t: 2.08 | Position: -11.73, 24.79, 1.89 | Velocity: 7.00, -0.16, 0.00
t: 2.09 | Position: -11.66, 24.79, 1.89 | Velocity: 7.00, -0.16, 0.00
t: 2.10 | Position: -11.59, 24.79, 1.89 | Velocity: 6.99, -0.29, 0.00
t: 2.11 | Position: -11.52, 24.78, 1.89 | Velocity: 6.99, -0.29, 0.00
t: 2.12 | Position: -11.45, 24.78, 1.89 | Velocity: 6.99, -0.43, 0.00
t: 2.13 | Position: -11.38, 24.77, 1.89 | Velocity: 6.99, -0.43, 0.00
t: 2.14 | Position: -11.31, 24.77, 1.89 | Velocity: 6.98, -0.56, 0.00
t: 2.15 | Position: -11.24, 24.76, 1.89 | Velocity: 6.97, -0.70, 0.00
t: 2.16 | Position: -11.17, 24.76, 1.89 | Velocity: 6.97, -0.70, 0.00
t: 2.17 | Position: -11.10, 24.75, 1.89 | Velocity: 6.95, -0.82, 0.00
t: 2.18 | Position: -11.02, 24.74, 1.89 | Velocity: 6.95, -0.82, 0.00
t: 2.19 | Position: -10.95, 24.73, 1.89 | Velocity: 6.94, -0.93, 0.00
t: 2.20 | Position: -10.88, 24.72, 1.89 | Velocity: 6.94, -0.93, 0.00
t: 2.21 | Position: -10.81, 24.71, 1.89 | Velocity: 6.92, -1.03, 0.00
t: 2.22 | Position: -10.75, 24.70, 1.89 | Velocity: 6.91, -1.11, 0.00
t: 2.23 | Position: -10.68, 24.69, 1.89 | Velocity: 6.91, -1.11, 0.00
t: 2.24 | Position: -10.61, 24.68, 1.89 | Velocity: 6.90, -1.18, 0.00
t: 2.25 | Position: -10.54, 24.67, 1.89 | Velocity: 6.90, -1.18, 0.00
t: 2.26 | Position: -10.47, 24.66, 1.89 | Velocity: 6.89, -1.23, -0.00
t: 2.27 | Position: -10.40, 24.64, 1.89 | Velocity: 6.89, -1.23, -0.00
t: 2.28 | Position: -10.33, 24.63, 1.89 | Velocity: 6.88, -1.28, 0.00
t: 2.29 | Position: -10.26, 24.62, 1.89 | Velocity: 6.88, -1.28, 0.00
t: 2.30 | Position: -10.19, 24.60, 1.89 | Velocity: 6.88, -1.31, 0.00
t: 2.31 | Position: -10.12, 24.59, 1.89 | Velocity: 6.87, -1.32, 0.00
t: 2.32 | Position: -10.05, 24.58, 1.89 | Velocity: 6.87, -1.32, 0.00
t: 2.33 | Position: -9.98, 24.56, 1.89 | Velocity: 6.87, -1.33, 0.00
t: 2.34 | Position: -9.91, 24.55, 1.89 | Velocity: 6.87, -1.33, 0.00
t: 2.35 | Position: -9.84, 24.54, 1.89 | Velocity: 6.87, -1.34, 0.00
t: 2.36 | Position: -9.77, 24.52, 1.89 | Velocity: 6.87, -1.34, 0.00
t: 2.37 | Position: -9.70, 24.51, 1.89 | Velocity: 6.87, -1.36, 0.00
t: 2.38 | Position: -9.63, 24.50, 1.89 | Velocity: 6.86, -1.39, 0.00
t: 2.39 | Position: -9.57, 24.48, 1.89 | Velocity: 6.86, -1.39, 0.00
t: 2.40 | Position: -9.50, 24.47, 1.89 | Velocity: 6.85, -1.44, 0.00
t: 2.41 | Position: -9.43, 24.45, 1.89 | Velocity: 6.85, -1.44, 0.00
t: 2.42 | Position: -9.36, 24.44, 1.89 | Velocity: 6.84, -1.50, 0.00
t: 2.43 | Position: -9.29, 24.42, 1.89 | Velocity: 6.84, -1.50, 0.00
t: 2.44 | Position: -9.22, 24.41, 1.89 | Velocity: 6.82, -1.57, 0.00
t: 2.45 | Position: -9.15, 24.39, 1.89 | Velocity: 6.82, -1.57, 0.00
t: 2.46 | Position: -9.08, 24.38, 1.89 | Velocity: 6.80, -1.65, 0.00
t: 2.47 | Position: -9.01, 24.36, 1.89 | Velocity: 6.78, -1.74, 0.00
t: 2.48 | Position: -8.94, 24.34, 1.89 | Velocity: 6.78, -1.74, 0.00
t: 2.49 | Position: -8.88, 24.32, 1.89 | Velocity: 6.75, -1.85, -0.00
t: 2.50 | Position: -8.81, 24.30, 1.89 | Velocity: 6.75, -1.85, -0.00
t: 2.51 | Position: -8.74, 24.29, 1.89 | Velocity: 6.72, -1.96, 0.00
t: 2.52 | Position: -8.67, 24.27, 1.89 | Velocity: 6.72, -1.96, 0.00
t: 2.53 | Position: -8.60, 24.24, 1.89 | Velocity: 6.68, -2.08, 0.00
t: 2.54 | Position: -8.54, 24.22, 1.89 | Velocity: 6.68, -2.08, 0.00
t: 2.55 | Position: -8.47, 24.20, 1.89 | Velocity: 6.65, -2.20, 0.00
t: 2.56 | Position: -8.40, 24.18, 1.89 | Velocity: 6.65, -2.20, 0.00
t: 2.57 | Position: -8.33, 24.16, 1.89 | Velocity: 6.61, -2.31, 0.00
t: 2.58 | Position: -8.27, 24.13, 1.89 | Velocity: 6.57, -2.43, 0.00
t: 2.59 | Position: -8.20, 24.11, 1.89 | Velocity: 6.57, -2.43, 0.00
t: 2.60 | Position: -8.14, 24.08, 1.89 | Velocity: 6.52, -2.54, 0.00
t: 2.61 | Position: -8.07, 24.06, 1.89 | Velocity: 6.52, -2.54, 0.00
t: 2.62 | Position: -8.01, 24.03, 1.89 | Velocity: 6.48, -2.64, 0.00
t: 2.63 | Position: -7.94, 24.01, 1.89 | Velocity: 6.48, -2.64, 0.00
t: 2.64 | Position: -7.87, 23.98, 1.89 | Velocity: 6.44, -2.75, 0.00
t: 2.65 | Position: -7.81, 23.95, 1.89 | Velocity: 6.44, -2.75, 0.00
t: 2.66 | Position: -7.74, 23.92, 1.89 | Velocity: 6.39, -2.85, 0.00
t: 2.67 | Position: -7.68, 23.89, 1.89 | Velocity: 6.39, -2.85, 0.00
t: 2.68 | Position: -7.62, 23.86, 1.89 | Velocity: 6.35, -2.96, 0.00
t: 2.69 | Position: -7.55, 23.83, 1.89 | Velocity: 6.35, -2.96, 0.00
t: 2.70 | Position: -7.49, 23.80, 1.89 | Velocity: 6.30, -3.06, 0.00
t: 2.71 | Position: -7.42, 23.77, 1.89 | Velocity: 6.30, -3.06, 0.00
t: 2.72 | Position: -7.36, 23.74, 1.89 | Velocity: 6.25, -3.15, -0.00
t: 2.73 | Position: -7.30, 23.71, 1.89 | Velocity: 6.25, -3.15, -0.00
t: 2.74 | Position: -7.24, 23.68, 1.89 | Velocity: 6.20, -3.25, 0.00
t: 2.75 | Position: -7.17, 23.64, 1.89 | Velocity: 6.20, -3.25, 0.00
t: 2.76 | Position: -7.11, 23.61, 1.89 | Velocity: 6.15, -3.34, 0.00
t: 2.77 | Position: -7.05, 23.58, 1.89 | Velocity: 6.15, -3.34, 0.00
t: 2.78 | Position: -6.99, 23.54, 1.89 | Velocity: 6.10, -3.43, 0.00
t: 2.79 | Position: -6.92, 23.51, 1.89 | Velocity: 6.10, -3.43, 0.00
t: 2.80 | Position: -6.86, 23.47, 1.89 | Velocity: 6.05, -3.52, 0.00
t: 2.81 | Position: -6.80, 23.44, 1.89 | Velocity: 6.05, -3.52, 0.00
t: 2.82 | Position: -6.74, 23.40, 1.89 | Velocity: 6.00, -3.61, 0.00
t: 2.83 | Position: -6.68, 23.36, 1.89 | Velocity: 6.00, -3.61, 0.00
t: 2.84 | Position: -6.62, 23.33, 1.89 | Velocity: 5.95, -3.69, 0.00
t: 2.85 | Position: -6.56, 23.29, 1.89 | Velocity: 5.95, -3.69, 0.00
t: 2.86 | Position: -6.50, 23.25, 1.89 | Velocity: 5.90, -3.77, 0.00
t: 2.87 | Position: -6.44, 23.21, 1.89 | Velocity: 5.90, -3.77, 0.00
t: 2.88 | Position: -6.38, 23.17, 1.89 | Velocity: 5.85, -3.85, 0.00
t: 2.89 | Position: -6.32, 23.14, 1.89 | Velocity: 5.85, -3.85, 0.00
t: 2.90 | Position: -6.26, 23.10, 1.89 | Velocity: 5.79, -3.93, 0.00
t: 2.91 | Position: -6.21, 23.06, 1.89 | Velocity: 5.79, -3.93, 0.00
t: 2.92 | Position: -6.15, 23.02, 1.89 | Velocity: 5.74, -4.00, 0.00
t: 2.93 | Position: -6.09, 22.98, 1.89 | Velocity: 5.74, -4.00, 0.00
t: 2.94 | Position: -6.03, 22.93, 1.89 | Velocity: 5.69, -4.08, 0.00
t: 2.95 | Position: -5.97, 22.89, 1.89 | Velocity: 5.69, -4.08, 0.00
t: 2.96 | Position: -5.92, 22.85, 1.89 | Velocity: 5.64, -4.15, 0.00
t: 2.97 | Position: -5.86, 22.81, 1.89 | Velocity: 5.64, -4.15, 0.00
t: 2.98 | Position: -5.80, 22.77, 1.89 | Velocity: 5.59, -4.22, -0.00
t: 2.99 | Position: -5.75, 22.73, 1.89 | Velocity: 5.59, -4.22, -0.00
t: 3.00 | Position: -5.69, 22.68, 1.89 | Velocity: 5.59, -4.22, -0.00
t: 3.01 | Position: -5.63, 22.64, 1.89 | Velocity: 5.53, -4.29, 0.00
t: 3.02 | Position: -5.58, 22.60, 1.89 | Velocity: 5.53, -4.29, 0.00
t: 3.03 | Position: -5.52, 22.55, 1.89 | Velocity: 5.48, -4.35, 0.00
t: 3.04 | Position: -5.47, 22.51, 1.89 | Velocity: 5.48, -4.35, 0.00
t: 3.05 | Position: -5.41, 22.46, 1.89 | Velocity: 5.43, -4.42, 0.00
t: 3.06 | Position: -5.36, 22.42, 1.89 | Velocity: 5.43, -4.42, 0.00
t: 3.07 | Position: -5.30, 22.37, 1.89 | Velocity: 5.38, -4.48, 0.00
t: 3.08 | Position: -5.25, 22.33, 1.89 | Velocity: 5.38, -4.48, 0.00
t: 3.09 | Position: -5.19, 22.28, 1.89 | Velocity: 5.38, -4.48, 0.00
t: 3.10 | Position: -5.14, 22.24, 1.89 | Velocity: 5.33, -4.54, 0.00
t: 3.11 | Position: -5.08, 22.19, 1.89 | Velocity: 5.33, -4.54, 0.00
t: 3.12 | Position: -5.03, 22.15, 1.89 | Velocity: 5.28, -4.60, 0.00
t: 3.13 | Position: -4.98, 22.10, 1.89 | Velocity: 5.28, -4.60, 0.00
t: 3.14 | Position: -4.92, 22.05, 1.89 | Velocity: 5.23, -4.65, 0.00
t: 3.15 | Position: -4.87, 22.01, 1.89 | Velocity: 5.23, -4.65, 0.00
t: 3.16 | Position: -4.82, 21.96, 1.89 | Velocity: 5.23, -4.65, 0.00
t: 3.17 | Position: -4.77, 21.91, 1.89 | Velocity: 5.18, -4.71, 0.00
t: 3.18 | Position: -4.71, 21.86, 1.89 | Velocity: 5.18, -4.71, 0.00
t: 3.19 | Position: -4.66, 21.82, 1.89 | Velocity: 5.13, -4.76, 0.00
t: 3.20 | Position: -4.61, 21.77, 1.89 | Velocity: 5.13, -4.76, 0.00
t: 3.21 | Position: -4.56, 21.72, 1.89 | Velocity: 5.08, -4.82, 0.00
t: 3.22 | Position: -4.51, 21.67, 1.89 | Velocity: 5.08, -4.82, 0.00
t: 3.23 | Position: -4.46, 21.62, 1.89 | Velocity: 5.08, -4.82, 0.00
t: 3.24 | Position: -4.40, 21.57, 1.89 | Velocity: 5.03, -4.87, 0.00
t: 3.25 | Position: -4.35, 21.52, 1.89 | Velocity: 5.03, -4.87, 0.00
t: 3.26 | Position: -4.30, 21.47, 1.89 | Velocity: 4.98, -4.92, -0.00
t: 3.27 | Position: -4.25, 21.42, 1.89 | Velocity: 4.98, -4.92, -0.00
t: 3.28 | Position: -4.20, 21.37, 1.89 | Velocity: 4.98, -4.92, -0.00
t: 3.29 | Position: -4.15, 21.32, 1.89 | Velocity: 4.93, -4.96, 0.00
t: 3.30 | Position: -4.10, 21.27, 1.89 | Velocity: 4.93, -4.96, 0.00
t: 3.31 | Position: -4.05, 21.22, 1.89 | Velocity: 4.89, -5.01, 0.00
t: 3.32 | Position: -4.00, 21.17, 1.89 | Velocity: 4.89, -5.01, 0.00
t: 3.33 | Position: -3.95, 21.12, 1.89 | Velocity: 4.89, -5.01, 0.00
t: 3.34 | Position: -3.90, 21.07, 1.89 | Velocity: 4.84, -5.06, 0.00
t: 3.35 | Position: -3.85, 21.02, 1.89 | Velocity: 4.84, -5.06, 0.00
t: 3.36 | Position: -3.81, 20.97, 1.89 | Velocity: 4.79, -5.10, 0.00
t: 3.37 | Position: -3.76, 20.92, 1.89 | Velocity: 4.79, -5.10, 0.00
t: 3.38 | Position: -3.71, 20.86, 1.89 | Velocity: 4.79, -5.10, 0.00
t: 3.39 | Position: -3.66, 20.81, 1.89 | Velocity: 4.75, -5.14, 0.00
t: 3.40 | Position: -3.61, 20.76, 1.89 | Velocity: 4.75, -5.14, 0.00
t: 3.41 | Position: -3.56, 20.71, 1.89 | Velocity: 4.72, -5.17, 0.00
t: 3.42 | Position: -3.52, 20.66, 1.89 | Velocity: 4.72, -5.17, 0.00
t: 3.43 | Position: -3.47, 20.60, 1.89 | Velocity: 4.72, -5.17, 0.00
t: 3.44 | Position: -3.42, 20.55, 1.89 | Velocity: 4.70, -5.19, 0.00
t: 3.45 | Position: -3.37, 20.50, 1.89 | Velocity: 4.70, -5.19, 0.00
t: 3.46 | Position: -3.33, 20.45, 1.89 | Velocity: 4.68, -5.20, 0.00
t: 3.47 | Position: -3.28, 20.39, 1.89 | Velocity: 4.68, -5.20, 0.00
t: 3.48 | Position: -3.23, 20.34, 1.89 | Velocity: 4.68, -5.20, 0.00
t: 3.49 | Position: -3.18, 20.29, 1.89 | Velocity: 4.68, -5.21, 0.00
t: 3.50 | Position: -3.14, 20.24, 1.89 | Velocity: 4.68, -5.21, 0.00
t: 3.51 | Position: -3.09, 20.18, 1.89 | Velocity: 4.68, -5.21, 0.00
t: 3.52 | Position: -3.04, 20.13, 1.89 | Velocity: 4.68, -5.20, 0.00
t: 3.53 | Position: -3.00, 20.08, 1.89 | Velocity: 4.68, -5.20, 0.00
t: 3.54 | Position: -2.95, 20.03, 1.89 | Velocity: 4.70, -5.19, 0.00
t: 3.55 | Position: -2.90, 19.98, 1.89 | Velocity: 4.70, -5.19, 0.00
t: 3.56 | Position: -2.85, 19.92, 1.89 | Velocity: 4.70, -5.19, 0.00
t: 3.57 | Position: -2.81, 19.87, 1.89 | Velocity: 4.72, -5.17, 0.00
t: 3.58 | Position: -2.76, 19.82, 1.89 | Velocity: 4.72, -5.17, 0.00
t: 3.59 | Position: -2.71, 19.77, 1.89 | Velocity: 4.75, -5.14, -0.00
t: 3.60 | Position: -2.66, 19.71, 1.89 | Velocity: 4.75, -5.14, -0.00
t: 3.61 | Position: -2.61, 19.66, 1.89 | Velocity: 4.75, -5.14, -0.00
t: 3.62 | Position: -2.57, 19.61, 1.89 | Velocity: 4.79, -5.10, 0.00
t: 3.63 | Position: -2.52, 19.56, 1.89 | Velocity: 4.79, -5.10, 0.00
t: 3.64 | Position: -2.47, 19.51, 1.89 | Velocity: 4.79, -5.10, 0.00
t: 3.65 | Position: -2.42, 19.45, 1.89 | Velocity: 4.84, -5.06, 0.00
t: 3.66 | Position: -2.37, 19.40, 1.89 | Velocity: 4.84, -5.06, 0.00
t: 3.67 | Position: -2.32, 19.35, 1.89 | Velocity: 4.88, -5.02, 0.00
t: 3.68 | Position: -2.27, 19.30, 1.89 | Velocity: 4.88, -5.02, 0.00
t: 3.69 | Position: -2.22, 19.25, 1.89 | Velocity: 4.88, -5.02, 0.00
t: 3.70 | Position: -2.17, 19.20, 1.89 | Velocity: 4.93, -4.97, 0.00
t: 3.71 | Position: -2.12, 19.15, 1.89 | Velocity: 4.93, -4.97, 0.00
t: 3.72 | Position: -2.07, 19.10, 1.89 | Velocity: 4.98, -4.92, 0.00
t: 3.73 | Position: -2.02, 19.05, 1.89 | Velocity: 4.98, -4.92, 0.00
t: 3.74 | Position: -1.97, 19.00, 1.89 | Velocity: 5.03, -4.87, 0.00
t: 3.75 | Position: -1.92, 18.95, 1.89 | Velocity: 5.03, -4.87, 0.00
t: 3.76 | Position: -1.87, 18.90, 1.89 | Velocity: 5.03, -4.87, 0.00
t: 3.77 | Position: -1.82, 18.85, 1.89 | Velocity: 5.07, -4.82, 0.00
t: 3.78 | Position: -1.77, 18.80, 1.89 | Velocity: 5.07, -4.82, 0.00
t: 3.79 | Position: -1.72, 18.76, 1.89 | Velocity: 5.12, -4.77, 0.00
t: 3.80 | Position: -1.67, 18.71, 1.89 | Velocity: 5.12, -4.77, 0.00
t: 3.81 | Position: -1.61, 18.66, 1.89 | Velocity: 5.12, -4.77, 0.00
t: 3.82 | Position: -1.56, 18.61, 1.89 | Velocity: 5.17, -4.72, 0.00
t: 3.83 | Position: -1.51, 18.56, 1.89 | Velocity: 5.17, -4.72, 0.00
t: 3.84 | Position: -1.46, 18.52, 1.89 | Velocity: 5.22, -4.66, 0.00
t: 3.85 | Position: -1.40, 18.47, 1.89 | Velocity: 5.22, -4.66, 0.00
t: 3.86 | Position: -1.35, 18.42, 1.89 | Velocity: 5.27, -4.60, 0.00
t: 3.87 | Position: -1.30, 18.37, 1.89 | Velocity: 5.27, -4.60, 0.00
t: 3.88 | Position: -1.24, 18.33, 1.89 | Velocity: 5.27, -4.60, 0.00
t: 3.89 | Position: -1.19, 18.28, 1.89 | Velocity: 5.32, -4.54, -0.00
t: 3.90 | Position: -1.14, 18.24, 1.89 | Velocity: 5.32, -4.54, -0.00
t: 3.91 | Position: -1.08, 18.19, 1.89 | Velocity: 5.37, -4.48, 0.00
t: 3.92 | Position: -1.03, 18.15, 1.89 | Velocity: 5.37, -4.48, 0.00
t: 3.93 | Position: -0.97, 18.10, 1.89 | Velocity: 5.43, -4.42, 0.00
t: 3.94 | Position: -0.92, 18.06, 1.89 | Velocity: 5.43, -4.42, 0.00
t: 3.95 | Position: -0.86, 18.01, 1.89 | Velocity: 5.43, -4.42, 0.00
t: 3.96 | Position: -0.81, 17.97, 1.89 | Velocity: 5.48, -4.36, 0.00
t: 3.97 | Position: -0.75, 17.92, 1.89 | Velocity: 5.48, -4.36, 0.00
t: 3.98 | Position: -0.70, 17.88, 1.89 | Velocity: 5.53, -4.29, 0.00
t: 3.99 | Position: -0.64, 17.84, 1.89 | Velocity: 5.53, -4.29, 0.00
t: 4.00 | Position: -0.58, 17.79, 1.89 | Velocity: 5.58, -4.23, 0.00
t: 4.01 | Position: -0.53, 17.75, 1.89 | Velocity: 5.58, -4.23, 0.00
t: 4.02 | Position: -0.47, 17.71, 1.89 | Velocity: 5.63, -4.16, 0.00
t: 4.03 | Position: -0.41, 17.66, 1.89 | Velocity: 5.63, -4.16, 0.00
t: 4.04 | Position: -0.36, 17.62, 1.89 | Velocity: 5.68, -4.08, 0.00
t: 4.05 | Position: -0.30, 17.58, 1.89 | Velocity: 5.68, -4.08, 0.00
t: 4.06 | Position: -0.24, 17.54, 1.89 | Velocity: 5.70, -4.06, 0.00
t: 4.07 | Position: -0.18, 17.50, 1.89 | Velocity: 5.74, -4.01, 0.00
t: 4.08 | Position: -0.13, 17.46, 1.89 | Velocity: 5.74, -4.01, 0.00
t: 4.09 | Position: -0.07, 17.42, 1.89 | Velocity: 5.79, -3.94, 0.00
t: 4.10 | Position: -0.01, 17.38, 1.89 | Velocity: 5.79, -3.94, 0.00
t: 4.11 | Position: 0.05, 17.34, 1.89 | Velocity: 5.84, -3.86, 0.00
t: 4.12 | Position: 0.11, 17.30, 1.89 | Velocity: 5.84, -3.86, 0.00
t: 4.13 | Position: 0.17, 17.26, 1.89 | Velocity: 5.89, -3.78, 0.00
t: 4.14 | Position: 0.23, 17.22, 1.89 | Velocity: 5.89, -3.78, 0.00
t: 4.15 | Position: 0.29, 17.19, 1.89 | Velocity: 5.94, -3.70, 0.00
t: 4.16 | Position: 0.35, 17.15, 1.89 | Velocity: 5.94, -3.70, 0.00
t: 4.17 | Position: 0.41, 17.11, 1.89 | Velocity: 5.99, -3.61, -0.00
t: 4.18 | Position: 0.47, 17.08, 1.89 | Velocity: 5.99, -3.61, -0.00
t: 4.19 | Position: 0.53, 17.04, 1.89 | Velocity: 6.05, -3.53, 0.00
t: 4.20 | Position: 0.59, 17.00, 1.89 | Velocity: 6.05, -3.53, 0.00
t: 4.21 | Position: 0.65, 16.97, 1.89 | Velocity: 6.10, -3.44, 0.00
t: 4.22 | Position: 0.71, 16.93, 1.89 | Velocity: 6.10, -3.44, 0.00
t: 4.23 | Position: 0.77, 16.90, 1.89 | Velocity: 6.15, -3.35, 0.00
t: 4.24 | Position: 0.84, 16.87, 1.89 | Velocity: 6.15, -3.35, 0.00
t: 4.25 | Position: 0.90, 16.83, 1.89 | Velocity: 6.20, -3.26, 0.00
t: 4.26 | Position: 0.96, 16.80, 1.89 | Velocity: 6.20, -3.26, 0.00
t: 4.27 | Position: 1.02, 16.77, 1.89 | Velocity: 6.24, -3.16, 0.00
t: 4.28 | Position: 1.09, 16.74, 1.89 | Velocity: 6.24, -3.16, 0.00
t: 4.29 | Position: 1.15, 16.70, 1.89 | Velocity: 6.29, -3.07, 0.00
t: 4.30 | Position: 1.21, 16.67, 1.89 | Velocity: 6.29, -3.07, 0.00
t: 4.31 | Position: 1.28, 16.64, 1.89 | Velocity: 6.34, -2.97, 0.00
t: 4.32 | Position: 1.34, 16.61, 1.89 | Velocity: 6.34, -2.97, 0.00
t: 4.33 | Position: 1.41, 16.58, 1.89 | Velocity: 6.39, -2.86, 0.00
t: 4.34 | Position: 1.47, 16.56, 1.89 | Velocity: 6.39, -2.86, 0.00
t: 4.35 | Position: 1.53, 16.53, 1.89 | Velocity: 6.43, -2.76, 0.00
t: 4.36 | Position: 1.60, 16.50, 1.89 | Velocity: 6.43, -2.76, 0.00
t: 4.37 | Position: 1.66, 16.47, 1.89 | Velocity: 6.48, -2.66, 0.00
t: 4.38 | Position: 1.73, 16.45, 1.89 | Velocity: 6.48, -2.66, 0.00
t: 4.39 | Position: 1.80, 16.42, 1.89 | Velocity: 6.52, -2.55, 0.00
t: 4.40 | Position: 1.86, 16.39, 1.89 | Velocity: 6.56, -2.44, -0.00
t: 4.41 | Position: 1.93, 16.37, 1.89 | Velocity: 6.56, -2.44, -0.00
t: 4.42 | Position: 1.99, 16.35, 1.89 | Velocity: 6.60, -2.32, 0.00
t: 4.43 | Position: 2.06, 16.32, 1.89 | Velocity: 6.60, -2.32, 0.00
t: 4.44 | Position: 2.13, 16.30, 1.89 | Velocity: 6.64, -2.21, 0.00
t: 4.45 | Position: 2.19, 16.28, 1.89 | Velocity: 6.64, -2.21, 0.00
t: 4.46 | Position: 2.26, 16.25, 1.89 | Velocity: 6.68, -2.09, 0.00
t: 4.47 | Position: 2.33, 16.23, 1.89 | Velocity: 6.68, -2.09, 0.00
t: 4.48 | Position: 2.40, 16.21, 1.89 | Velocity: 6.72, -1.98, 0.00
t: 4.49 | Position: 2.46, 16.19, 1.89 | Velocity: 6.72, -1.98, 0.00
t: 4.50 | Position: 2.53, 16.17, 1.89 | Velocity: 6.75, -1.86, 0.00
t: 4.51 | Position: 2.60, 16.16, 1.89 | Velocity: 6.78, -1.74, 0.00
t: 4.52 | Position: 2.67, 16.14, 1.89 | Velocity: 6.78, -1.73, 0.00
t: 4.53 | Position: 2.74, 16.12, 1.89 | Velocity: 6.81, -1.61, 0.00
t: 4.54 | Position: 2.81, 16.10, 1.89 | Velocity: 6.81, -1.61, 0.00
t: 4.55 | Position: 2.87, 16.09, 1.89 | Velocity: 6.84, -1.48, 0.00
t: 4.56 | Position: 2.94, 16.07, 1.89 | Velocity: 6.84, -1.48, 0.00
t: 4.57 | Position: 3.01, 16.06, 1.89 | Velocity: 6.87, -1.36, 0.00
t: 4.58 | Position: 3.08, 16.05, 1.89 | Velocity: 6.87, -1.36, 0.00
t: 4.59 | Position: 3.15, 16.03, 1.89 | Velocity: 6.89, -1.23, 0.00
t: 4.60 | Position: 3.22, 16.02, 1.89 | Velocity: 6.91, -1.10, 0.00
t: 4.61 | Position: 3.29, 16.01, 1.89 | Velocity: 6.91, -1.10, 0.00
t: 4.62 | Position: 3.36, 16.00, 1.89 | Velocity: 6.93, -0.97, 0.00
t: 4.63 | Position: 3.43, 15.99, 1.89 | Velocity: 6.93, -0.97, 0.00
t: 4.64 | Position: 3.50, 15.98, 1.89 | Velocity: 6.95, -0.84, -0.00
t: 4.65 | Position: 3.57, 15.97, 1.89 | Velocity: 6.95, -0.84, -0.00
t: 4.66 | Position: 3.64, 15.96, 1.89 | Velocity: 6.96, -0.71, 0.00
t: 4.67 | Position: 3.71, 15.96, 1.89 | Velocity: 6.96, -0.71, 0.00
t: 4.68 | Position: 3.78, 15.95, 1.89 | Velocity: 6.98, -0.57, 0.00
t: 4.69 | Position: 3.85, 15.95, 1.89 | Velocity: 6.99, -0.44, 0.00
t: 4.70 | Position: 3.92, 15.94, 1.89 | Velocity: 6.99, -0.44, 0.00
t: 4.71 | Position: 3.99, 15.94, 1.89 | Velocity: 6.99, -0.30, 0.00
t: 4.72 | Position: 4.07, 15.93, 1.89 | Velocity: 6.99, -0.30, 0.00
t: 4.73 | Position: 4.14, 15.93, 1.89 | Velocity: 7.00, -0.17, 0.00
t: 4.74 | Position: 4.21, 15.93, 1.89 | Velocity: 7.00, -0.13, 0.00
t: 4.75 | Position: 4.28, 15.93, 1.89 | Velocity: 7.00, -0.03, 0.00
t: 4.76 | Position: 4.35, 15.93, 1.89 | Velocity: 7.00, 0.10, 0.00
t: 4.77 | Position: 4.42, 15.93, 1.89 | Velocity: 7.00, 0.10, 0.00
t: 4.78 | Position: 4.49, 15.93, 1.89 | Velocity: 7.00, 0.24, 0.00
t: 4.79 | Position: 4.56, 15.94, 1.89 | Velocity: 7.00, 0.24, 0.00
t: 4.80 | Position: 4.63, 15.94, 1.89 | Velocity: 6.99, 0.37, 0.00
t: 4.81 | Position: 4.70, 15.94, 1.89 | Velocity: 6.99, 0.45, 0.00
t: 4.82 | Position: 4.77, 15.95, 1.89 | Velocity: 6.98, 0.51, 0.00
t: 4.83 | Position: 4.84, 15.95, 1.89 | Velocity: 6.97, 0.64, 0.00
t: 4.84 | Position: 4.91, 15.96, 1.89 | Velocity: 6.97, 0.64, 0.00
t: 4.85 | Position: 4.98, 15.97, 1.89 | Velocity: 6.96, 0.77, 0.00
t: 4.86 | Position: 5.05, 15.97, 1.89 | Velocity: 6.96, 0.77, 0.00
t: 4.87 | Position: 5.13, 15.98, 1.89 | Velocity: 6.94, 0.90, -0.00
t: 4.88 | Position: 5.19, 15.99, 1.89 | Velocity: 6.94, 0.90, -0.00
t: 4.89 | Position: 5.26, 16.00, 1.89 | Velocity: 6.92, 1.04, 0.00
t: 4.90 | Position: 5.33, 16.01, 1.89 | Velocity: 6.90, 1.17, 0.00
t: 4.91 | Position: 5.40, 16.03, 1.89 | Velocity: 6.90, 1.17, 0.00
t: 4.92 | Position: 5.47, 16.04, 1.89 | Velocity: 6.88, 1.29, 0.00
t: 4.93 | Position: 5.54, 16.05, 1.89 | Velocity: 6.88, 1.29, 0.00
t: 4.94 | Position: 5.61, 16.06, 1.89 | Velocity: 6.85, 1.42, 0.00
t: 4.95 | Position: 5.68, 16.08, 1.89 | Velocity: 6.85, 1.42, 0.00
t: 4.96 | Position: 5.75, 16.09, 1.89 | Velocity: 6.83, 1.55, 0.00
t: 4.97 | Position: 5.82, 16.11, 1.89 | Velocity: 6.80, 1.67, 0.00
t: 4.98 | Position: 5.89, 16.13, 1.89 | Velocity: 6.80, 1.67, 0.00
t: 4.99 | Position: 5.96, 16.14, 1.89 | Velocity: 6.77, 1.79, 0.00
t: 5.00 | Position: 6.02, 16.16, 1.89 | Velocity: 6.77, 1.79, 0.00
t: 5.01 | Position: 6.09, 16.18, 1.89 | Velocity: 6.73, 1.92, 0.00
t: 5.02 | Position: 6.16, 16.20, 1.89 | Velocity: 6.73, 1.92, 0.00
t: 5.03 | Position: 6.23, 16.22, 1.89 | Velocity: 6.70, 2.03, 0.00
t: 5.04 | Position: 6.30, 16.24, 1.89 | Velocity: 6.70, 2.03, 0.00
t: 5.05 | Position: 6.36, 16.26, 1.89 | Velocity: 6.66, 2.15, 0.00
t: 5.06 | Position: 6.43, 16.28, 1.89 | Velocity: 6.65, 2.18, 0.00
t: 5.07 | Position: 6.50, 16.31, 1.89 | Velocity: 6.62, 2.27, 0.00
t: 5.08 | Position: 6.56, 16.33, 1.89 | Velocity: 6.58, 2.38, -0.00
t: 5.09 | Position: 6.63, 16.35, 1.89 | Velocity: 6.58, 2.38, -0.00
t: 5.10 | Position: 6.70, 16.38, 1.89 | Velocity: 6.54, 2.49, 0.00
t: 5.11 | Position: 6.76, 16.40, 1.89 | Velocity: 6.54, 2.49, 0.00
t: 5.12 | Position: 6.83, 16.43, 1.89 | Velocity: 6.50, 2.60, 0.00
t: 5.13 | Position: 6.89, 16.46, 1.89 | Velocity: 6.50, 2.60, 0.00
t: 5.14 | Position: 6.96, 16.48, 1.89 | Velocity: 6.45, 2.71, 0.00
t: 5.15 | Position: 7.03, 16.51, 1.89 | Velocity: 6.45, 2.71, 0.00
t: 5.16 | Position: 7.09, 16.54, 1.89 | Velocity: 6.41, 2.81, 0.00
t: 5.17 | Position: 7.16, 16.57, 1.89 | Velocity: 6.41, 2.81, 0.00
t: 5.18 | Position: 7.22, 16.60, 1.89 | Velocity: 6.36, 2.92, 0.00
t: 5.19 | Position: 7.28, 16.63, 1.89 | Velocity: 6.36, 2.92, 0.00
t: 5.20 | Position: 7.35, 16.66, 1.89 | Velocity: 6.32, 3.02, 0.00
t: 5.21 | Position: 7.41, 16.69, 1.89 | Velocity: 6.32, 3.02, 0.00
t: 5.22 | Position: 7.48, 16.72, 1.89 | Velocity: 6.27, 3.11, 0.00
t: 5.23 | Position: 7.54, 16.75, 1.89 | Velocity: 6.27, 3.11, 0.00
t: 5.24 | Position: 7.60, 16.78, 1.89 | Velocity: 6.22, 3.21, 0.00
t: 5.25 | Position: 7.66, 16.81, 1.89 | Velocity: 6.22, 3.21, 0.00
t: 5.26 | Position: 7.73, 16.85, 1.89 | Velocity: 6.17, 3.30, 0.00
t: 5.27 | Position: 7.79, 16.88, 1.89 | Velocity: 6.17, 3.30, 0.00
t: 5.28 | Position: 7.85, 16.91, 1.89 | Velocity: 6.12, 3.40, 0.00
t: 5.29 | Position: 7.91, 16.95, 1.89 | Velocity: 6.12, 3.40, 0.00
t: 5.30 | Position: 7.97, 16.98, 1.89 | Velocity: 6.07, 3.48, 0.00
t: 5.31 | Position: 8.03, 17.02, 1.89 | Velocity: 6.07, 3.48, 0.00
t: 5.32 | Position: 8.10, 17.05, 1.89 | Velocity: 6.02, 3.57, 0.00
t: 5.33 | Position: 8.16, 17.09, 1.89 | Velocity: 6.02, 3.57, 0.00
t: 5.34 | Position: 8.22, 17.13, 1.89 | Velocity: 5.97, 3.66, -0.00
t: 5.35 | Position: 8.28, 17.16, 1.89 | Velocity: 5.97, 3.66, -0.00
t: 5.36 | Position: 8.34, 17.20, 1.89 | Velocity: 5.92, 3.74, 0.00
t: 5.37 | Position: 8.40, 17.24, 1.89 | Velocity: 5.92, 3.74, 0.00
t: 5.38 | Position: 8.46, 17.28, 1.89 | Velocity: 5.87, 3.82, 0.00
t: 5.39 | Position: 8.52, 17.32, 1.89 | Velocity: 5.87, 3.82, 0.00
t: 5.40 | Position: 8.57, 17.36, 1.89 | Velocity: 5.81, 3.90, 0.00
t: 5.41 | Position: 8.63, 17.40, 1.89 | Velocity: 5.81, 3.90, 0.00
t: 5.42 | Position: 8.69, 17.44, 1.89 | Velocity: 5.76, 3.97, 0.00
t: 5.43 | Position: 8.75, 17.48, 1.89 | Velocity: 5.76, 3.97, 0.00
t: 5.44 | Position: 8.81, 17.52, 1.89 | Velocity: 5.71, 4.05, 0.00
t: 5.45 | Position: 8.87, 17.56, 1.89 | Velocity: 5.71, 4.05, 0.00
t: 5.46 | Position: 8.92, 17.60, 1.89 | Velocity: 5.66, 4.12, 0.00
t: 5.47 | Position: 8.98, 17.64, 1.89 | Velocity: 5.66, 4.12, 0.00
t: 5.48 | Position: 9.04, 17.68, 1.89 | Velocity: 5.61, 4.19, 0.00
t: 5.49 | Position: 9.09, 17.72, 1.89 | Velocity: 5.61, 4.19, 0.00
t: 5.50 | Position: 9.15, 17.77, 1.89 | Velocity: 5.55, 4.26, 0.00
t: 5.51 | Position: 9.21, 17.81, 1.89 | Velocity: 5.55, 4.26, 0.00
t: 5.52 | Position: 9.26, 17.85, 1.89 | Velocity: 5.55, 4.26, 0.00
t: 5.53 | Position: 9.32, 17.90, 1.89 | Velocity: 5.50, 4.33, 0.00
t: 5.54 | Position: 9.37, 17.94, 1.89 | Velocity: 5.50, 4.33, 0.00
t: 5.55 | Position: 9.43, 17.98, 1.89 | Velocity: 5.45, 4.39, 0.00
t: 5.56 | Position: 9.49, 18.03, 1.89 | Velocity: 5.45, 4.39, 0.00
t: 5.57 | Position: 9.54, 18.07, 1.89 | Velocity: 5.40, 4.45, 0.00
t: 5.58 | Position: 9.59, 18.12, 1.89 | Velocity: 5.40, 4.45, 0.00
t: 5.59 | Position: 9.65, 18.16, 1.89 | Velocity: 5.35, 4.51, -0.00
t: 5.60 | Position: 9.70, 18.21, 1.89 | Velocity: 5.35, 4.51, -0.00
t: 5.61 | Position: 9.76, 18.25, 1.89 | Velocity: 5.35, 4.51, -0.00
t: 5.62 | Position: 9.81, 18.30, 1.89 | Velocity: 5.30, 4.57, 0.00
t: 5.63 | Position: 9.86, 18.35, 1.89 | Velocity: 5.30, 4.57, 0.00
t: 5.64 | Position: 9.92, 18.39, 1.89 | Velocity: 5.25, 4.63, 0.00
t: 5.65 | Position: 9.97, 18.44, 1.89 | Velocity: 5.25, 4.63, 0.00
t: 5.66 | Position: 10.02, 18.49, 1.89 | Velocity: 5.20, 4.69, 0.00
t: 5.67 | Position: 10.08, 18.53, 1.89 | Velocity: 5.20, 4.69, 0.00
t: 5.68 | Position: 10.13, 18.58, 1.89 | Velocity: 5.20, 4.69, 0.00
t: 5.69 | Position: 10.18, 18.63, 1.89 | Velocity: 5.15, 4.74, 0.00
t: 5.70 | Position: 10.23, 18.68, 1.89 | Velocity: 5.15, 4.74, 0.00
t: 5.71 | Position: 10.28, 18.73, 1.89 | Velocity: 5.10, 4.80, 0.00
t: 5.72 | Position: 10.34, 18.77, 1.89 | Velocity: 5.10, 4.80, 0.00
t: 5.73 | Position: 10.39, 18.82, 1.89 | Velocity: 5.05, 4.85, 0.00
t: 5.74 | Position: 10.44, 18.87, 1.89 | Velocity: 5.05, 4.85, 0.00
t: 5.75 | Position: 10.49, 18.92, 1.89 | Velocity: 5.05, 4.85, 0.00
t: 5.76 | Position: 10.54, 18.97, 1.89 | Velocity: 5.00, 4.90, 0.00
t: 5.77 | Position: 10.59, 19.02, 1.89 | Velocity: 5.00, 4.90, 0.00
t: 5.78 | Position: 10.64, 19.07, 1.89 | Velocity: 4.95, 4.95, 0.00
t: 5.79 | Position: 10.69, 19.12, 1.89 | Velocity: 4.95, 4.95, 0.00
t: 5.80 | Position: 10.74, 19.17, 1.89 | Velocity: 4.95, 4.95, 0.00
t: 5.81 | Position: 10.79, 19.22, 1.89 | Velocity: 4.91, 4.99, 0.00
t: 5.82 | Position: 10.84, 19.27, 1.89 | Velocity: 4.91, 4.99, 0.00
t: 5.83 | Position: 10.89, 19.32, 1.89 | Velocity: 4.86, 5.04, 0.00
t: 5.84 | Position: 10.94, 19.37, 1.89 | Velocity: 4.86, 5.04, 0.00
t: 5.85 | Position: 10.99, 19.42, 1.89 | Velocity: 4.86, 5.04, 0.00
t: 5.86 | Position: 11.04, 19.47, 1.89 | Velocity: 4.81, 5.08, 0.00
t: 5.87 | Position: 11.09, 19.53, 1.89 | Velocity: 4.81, 5.08, 0.00
t: 5.88 | Position: 11.14, 19.58, 1.89 | Velocity: 4.77, 5.12, 0.00
t: 5.89 | Position: 11.18, 19.63, 1.89 | Velocity: 4.77, 5.12, 0.00
t: 5.90 | Position: 11.23, 19.68, 1.89 | Velocity: 4.77, 5.12, 0.00
t: 5.91 | Position: 11.28, 19.73, 1.89 | Velocity: 4.73, 5.16, -0.00
t: 5.92 | Position: 11.33, 19.79, 1.89 | Velocity: 4.73, 5.16, -0.00
t: 5.93 | Position: 11.38, 19.84, 1.89 | Velocity: 4.71, 5.18, 0.00
t: 5.94 | Position: 11.42, 19.89, 1.89 | Velocity: 4.71, 5.18, 0.00
t: 5.95 | Position: 11.47, 19.94, 1.89 | Velocity: 4.71, 5.18, 0.00
t: 5.96 | Position: 11.52, 19.99, 1.89 | Velocity: 4.69, 5.20, 0.00
t: 5.97 | Position: 11.57, 20.05, 1.89 | Velocity: 4.69, 5.20, 0.00
t: 5.98 | Position: 11.61, 20.10, 1.89 | Velocity: 4.69, 5.20, 0.00
t: 5.99 | Position: 11.66, 20.15, 1.89 | Velocity: 4.68, 5.21, 0.00
t: 6.00 | Position: 11.71, 20.20, 1.89 | Velocity: 4.68, 5.21, 0.00
t: 6.01 | Position: 11.75, 20.26, 1.89 | Velocity: 4.68, 5.21, 0.00
t: 6.02 | Position: 11.80, 20.31, 1.89 | Velocity: 4.68, 5.21, 0.00
t: 6.03 | Position: 11.85, 20.36, 1.89 | Velocity: 4.68, 5.21, 0.00
t: 6.04 | Position: 11.90, 20.41, 1.89 | Velocity: 4.69, 5.20, 0.00
t: 6.05 | Position: 11.94, 20.47, 1.89 | Velocity: 4.69, 5.20, 0.00
t: 6.06 | Position: 11.99, 20.52, 1.89 | Velocity: 4.69, 5.20, 0.00
t: 6.07 | Position: 12.04, 20.57, 1.89 | Velocity: 4.71, 5.18, 0.00
t: 6.08 | Position: 12.08, 20.62, 1.89 | Velocity: 4.71, 5.18, 0.00
t: 6.09 | Position: 12.13, 20.67, 1.89 | Velocity: 4.74, 5.15, 0.00
t: 6.10 | Position: 12.18, 20.73, 1.89 | Velocity: 4.74, 5.15, 0.00
t: 6.11 | Position: 12.23, 20.78, 1.89 | Velocity: 4.74, 5.15, 0.00
t: 6.12 | Position: 12.28, 20.83, 1.89 | Velocity: 4.77, 5.12, 0.00
t: 6.13 | Position: 12.33, 20.88, 1.89 | Velocity: 4.77, 5.12, 0.00
t: 6.14 | Position: 12.37, 20.94, 1.89 | Velocity: 4.82, 5.08, 0.00
t: 6.15 | Position: 12.42, 20.99, 1.89 | Velocity: 4.82, 5.08, 0.00
t: 6.16 | Position: 12.47, 21.04, 1.89 | Velocity: 4.82, 5.08, 0.00
t: 6.17 | Position: 12.52, 21.09, 1.89 | Velocity: 4.86, 5.03, 0.00
t: 6.18 | Position: 12.57, 21.14, 1.89 | Velocity: 4.86, 5.03, 0.00
t: 6.19 | Position: 12.62, 21.19, 1.89 | Velocity: 4.91, 4.99, 0.00
t: 6.20 | Position: 12.67, 21.24, 1.89 | Velocity: 4.91, 4.99, 0.00
t: 6.21 | Position: 12.72, 21.29, 1.89 | Velocity: 4.91, 4.99, 0.00
t: 6.22 | Position: 12.77, 21.34, 1.89 | Velocity: 4.96, 4.94, -0.00
t: 6.23 | Position: 12.82, 21.39, 1.89 | Velocity: 4.96, 4.94, -0.00
t: 6.24 | Position: 12.87, 21.44, 1.89 | Velocity: 5.01, 4.89, 0.00
t: 6.25 | Position: 12.92, 21.49, 1.89 | Velocity: 5.01, 4.89, 0.00
t: 6.26 | Position: 12.97, 21.54, 1.89 | Velocity: 5.01, 4.89, 0.00
t: 6.27 | Position: 13.02, 21.59, 1.89 | Velocity: 5.06, 4.84, 0.00
t: 6.28 | Position: 13.07, 21.64, 1.89 | Velocity: 5.06, 4.84, 0.00
t: 6.29 | Position: 13.12, 21.69, 1.89 | Velocity: 5.10, 4.79, 0.00
t: 6.30 | Position: 13.18, 21.74, 1.89 | Velocity: 5.10, 4.79, 0.00
t: 6.31 | Position: 13.23, 21.78, 1.89 | Velocity: 5.10, 4.79, 0.00
t: 6.32 | Position: 13.28, 21.83, 1.89 | Velocity: 5.15, 4.74, 0.00
t: 6.33 | Position: 13.33, 21.88, 1.89 | Velocity: 5.15, 4.74, 0.00
[ INFO] [1642060462.753501937, 33.665000000]: Gogogo!
[ INFO] [1642060462.753535148, 33.665000000]: Switching to kAutopilot
[ INFO] [1642060462.790756665, 33.684000000]: Creating a new publisher for topic [nominal_reference].
[ INFO] [1642060463.339937476, 33.958000000]: Creating a new publisher for topic [raw_nw_prediction].
[ INFO] [1642060463.340642994, 33.958000000]: Selected trajectory #0
[ INFO] [1642060463.340662694, 33.958000000]: Creating a new publisher for topic [selected_nw_prediction].
[ INFO] [1642060463.341114484, 33.958000000]: Creating a new publisher for topic [fitted_nw_prediction].
[ INFO] [1642060463.341512256, 33.959000000]: Creating a new publisher for topic [arclen_nw_prediction].
[ INFO] [1642060463.343457449, 33.960000000]: Selected trajectory #0
[ INFO] [1642060463.351378861, 33.964000000]: Creating a new publisher for topic [fitted_reference].
[ INFO] [1642060463.351878550, 33.964000000]: Creating a new publisher for topic [control_ref].
[ INFO] [1642060463.352180842, 33.964000000]: Creating a new publisher for topic [executed_reference].
[ INFO] [1642060463.352464273, 33.964000000]: Creating a new publisher for topic [executed_trajectory].
[ INFO] [1642060463.352752104, 33.964000000]: Solving MPC with hover as initial guess.
[ INFO] [1642060463.353212301, 33.964000000]: [/hummingbird/autopilot] Switched to COMMAND_FEEDTHROUGH state
[ INFO] [1642060463.477927653, 34.027000000]: Selected trajectory #0
[ INFO] [1642060463.611091264, 34.093000000]: Selected trajectory #0
[ INFO] [1642060463.744002062, 34.160000000]: Selected trajectory #0
[ INFO] [1642060463.879993197, 34.228000000]: Selected trajectory #0
[ INFO] [1642060464.011687719, 34.294000000]: Selected trajectory #0
[ INFO] [1642060464.146218190, 34.361000000]: Selected trajectory #1
[ INFO] [1642060464.281023860, 34.428000000]: Selected trajectory #0
[ INFO] [1642060464.414832907, 34.495000000]: Selected trajectory #0
[ INFO] [1642060464.549197109, 34.562000000]: Selected trajectory #0
[ INFO] [1642060464.681414832, 34.628000000]: Selected trajectory #0
[ INFO] [1642060464.813159139, 34.694000000]: Selected trajectory #0
[ INFO] [1642060464.943726486, 34.759000000]: Selected trajectory #0
[ INFO] [1642060465.077553217, 34.826000000]: Selected trajectory #0
[ INFO] [1642060465.212057312, 34.894000000]: Selected trajectory #0
[ INFO] [1642060465.344552751, 34.960000000]: Selected trajectory #0
[ INFO] [1642060465.482145991, 35.029000000]: Selected trajectory #0
[ INFO] [1642060465.614913619, 35.095000000]: Selected trajectory #0
[ INFO] [1642060465.745128080, 35.160000000]: Selected trajectory #0
[ INFO] [1642060465.878577497, 35.227000000]: Selected trajectory #0
[ INFO] [1642060466.012198340, 35.293000000]: Selected trajectory #0
[ INFO] [1642060466.145340015, 35.360000000]: Selected trajectory #0
[ INFO] [1642060466.284213128, 35.429000000]: Selected trajectory #0
[ INFO] [1642060466.414468861, 35.494000000]: Selected trajectory #0
[ INFO] [1642060466.546194101, 35.560000000]: Selected trajectory #0
[ INFO] [1642060466.679535088, 35.627000000]: Selected trajectory #0
[ INFO] [1642060466.812755265, 35.693000000]: Selected trajectory #0
[ INFO] [1642060466.944994803, 35.759000000]: Selected trajectory #0
[ INFO] [1642060467.080405978, 35.827000000]: Selected trajectory #0
[ INFO] [1642060467.213960877, 35.894000000]: Selected trajectory #0
[ INFO] [1642060467.345749203, 35.960000000]: Selected trajectory #0
[ INFO] [1642060467.481166368, 36.027000000]: Selected trajectory #1
[ INFO] [1642060467.613643867, 36.093000000]: Selected trajectory #0
[ INFO] [1642060467.745803233, 36.159000000]: Selected trajectory #0
[ INFO] [1642060467.882455174, 36.228000000]: Selected trajectory #0
[ INFO] [1642060468.022220365, 36.298000000]: Selected trajectory #0
[ INFO] [1642060468.146982358, 36.360000000]: Selected trajectory #0
[ INFO] [1642060468.281994792, 36.428000000]: Selected trajectory #0
[ INFO] [1642060468.415266664, 36.494000000]: Selected trajectory #0
[ INFO] [1642060468.549674812, 36.561000000]: Selected trajectory #0
[ INFO] [1642060468.686328275, 36.630000000]: Selected trajectory #0
[ INFO] [1642060468.819878887, 36.696000000]: Selected trajectory #0
[ INFO] [1642060468.950058693, 36.761000000]: Selected trajectory #1
[ INFO] [1642060469.081558652, 36.827000000]: Selected trajectory #0
[ INFO] [1642060469.223148961, 36.898000000]: Selected trajectory #0
[ INFO] [1642060469.351955998, 36.962000000]: Selected trajectory #0
[ INFO] [1642060469.480804579, 37.027000000]: Selected trajectory #0
[ INFO] [1642060469.617489797, 37.095000000]: Selected trajectory #0
[ INFO] [1642060469.752063681, 37.162000000]: Selected trajectory #1
[ INFO] [1642060469.884090773, 37.228000000]: Selected trajectory #0
[ INFO] [1642060470.019787394, 37.296000000]: Selected trajectory #0
[ INFO] [1642060470.154389472, 37.363000000]: Selected trajectory #0
[ INFO] [1642060470.288423868, 37.430000000]: Selected trajectory #0
[ INFO] [1642060470.421646648, 37.497000000]: Selected trajectory #0
[ INFO] [1642060470.548680493, 37.560000000]: Selected trajectory #0
[ INFO] [1642060470.683356692, 37.627000000]: Selected trajectory #0
[ INFO] [1642060470.816473587, 37.694000000]: Selected trajectory #0
[ INFO] [1642060470.950147581, 37.761000000]: Selected trajectory #0
[ INFO] [1642060471.082873450, 37.827000000]: Selected trajectory #0
[ INFO] [1642060471.216825292, 37.894000000]: Selected trajectory #0
[ INFO] [1642060471.351158992, 37.961000000]: Selected trajectory #0
[ INFO] [1642060471.485082936, 38.028000000]: Selected trajectory #0
[ INFO] [1642060471.615708032, 38.093000000]: Selected trajectory #0
[ INFO] [1642060471.747558942, 38.159000000]: Selected trajectory #0
[ INFO] [1642060471.883188001, 38.227000000]: Selected trajectory #0
[ INFO] [1642060472.015964913, 38.294000000]: Selected trajectory #0
[ INFO] [1642060472.151304670, 38.361000000]: Selected trajectory #0
[ INFO] [1642060472.282604468, 38.427000000]: Selected trajectory #0
[ INFO] [1642060472.420797466, 38.496000000]: Selected trajectory #0
[ INFO] [1642060472.553393100, 38.562000000]: Selected trajectory #0
[ INFO] [1642060472.689530816, 38.630000000]: Selected trajectory #0
[ INFO] [1642060472.821502479, 38.696000000]: Selected trajectory #0
[ INFO] [1642060472.948348930, 38.759000000]: Selected trajectory #0
[ INFO] [1642060473.082883344, 38.826000000]: Selected trajectory #0
[ INFO] [1642060473.216504083, 38.893000000]: Selected trajectory #0
[ INFO] [1642060473.352361007, 38.961000000]: Selected trajectory #0
[ INFO] [1642060473.488588586, 39.029000000]: Selected trajectory #0
[ INFO] [1642060473.622950587, 39.096000000]: Selected trajectory #0
[ INFO] [1642060473.760339185, 39.165000000]: Selected trajectory #1
[ INFO] [1642060473.886168397, 39.228000000]: Selected trajectory #0
[ INFO] [1642060474.021066602, 39.295000000]: Selected trajectory #0
[ INFO] [1642060474.153967559, 39.362000000]: Selected trajectory #0
[ INFO] [1642060474.284386491, 39.427000000]: Selected trajectory #0
[ INFO] [1642060474.418195822, 39.494000000]: Selected trajectory #0
[ INFO] [1642060474.549741619, 39.559000000]: Selected trajectory #0
[ INFO] [1642060474.683441032, 39.626000000]: Selected trajectory #0
[ INFO] [1642060474.818763136, 39.694000000]: Selected trajectory #1
[ INFO] [1642060474.955543591, 39.762000000]: Selected trajectory #0
[ INFO] [1642060475.084893047, 39.827000000]: Selected trajectory #0
[ INFO] [1642060475.219571393, 39.894000000]: Selected trajectory #0
[ INFO] [1642060475.354728420, 39.962000000]: Selected trajectory #0
[ INFO] [1642060475.489145832, 40.029000000]: Selected trajectory #1
[ INFO] [1642060475.578382624, 40.074000000]: Reached end of trajectory.
[ INFO] [1642060475.578420120, 40.074000000]: Switching to kOff
Close Odometry File.
[ INFO] [1642060475.578483971, 40.074000000]: Switching to kComputeLabels
[ WARN] [1642060475.757086949, 40.163000000]: [/hummingbird/autopilot] Did not receive control command inputs anymore but last thrust command was high, will switch to hover
[ INFO] [1642060475.757112023, 40.163000000]: [/hummingbird/autopilot] Switched to BREAKING state
==============================
Generating initial guesses for sampling...
==============================
[ INFO] [1642060476.485788697, 40.218000000]: Solving MPC with hover as initial guess.
[ WARN] [1642060476.647027484, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00001)
[ WARN] [1642060476.647047996, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00003)
[ WARN] [1642060476.647052150, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00003)
[ WARN] [1642060476.647055399, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00002)
[ WARN] [1642060476.647058602, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00001)
[ WARN] [1642060476.661553749, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00476)
[ WARN] [1642060476.661564616, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00494)
[ WARN] [1642060476.661568133, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.01101)
[ WARN] [1642060476.661571886, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00862)
[ WARN] [1642060476.661575387, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00636)
[ WARN] [1642060476.661578834, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00297)
[ WARN] [1642060476.661582137, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00082)
[ WARN] [1642060476.661585343, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00029)
[ WARN] [1642060476.661588618, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00023)
[ WARN] [1642060476.667142853, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00002)
[ WARN] [1642060476.667150815, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00010)
[ WARN] [1642060476.667156446, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00012)
[ WARN] [1642060476.667160578, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00009)
[ WARN] [1642060476.667165132, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00006)
[ WARN] [1642060476.667171610, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00002)
[ WARN] [1642060476.667176063, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00002)
[ WARN] [1642060476.667182047, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00002)
[ WARN] [1642060476.667187332, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00002)
[ WARN] [1642060476.705419199, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00005)
[ WARN] [1642060476.705447413, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00047)
[ WARN] [1642060476.705459865, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00047)
[ WARN] [1642060476.705470831, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00081)
[ WARN] [1642060476.705481015, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00098)
[ WARN] [1642060476.705490672, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00058)
[ WARN] [1642060476.705500126, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00047)
[ WARN] [1642060476.705512681, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00057)
[ WARN] [1642060476.705523993, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00054)
[ WARN] [1642060476.705533285, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00048)
[ WARN] [1642060476.723446687, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.01637)
[ WARN] [1642060476.723468306, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.14304)
[ WARN] [1642060476.723481840, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.03479)
[ WARN] [1642060476.723495449, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.21088)
[ WARN] [1642060476.723509266, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.12034)
[ WARN] [1642060476.723520976, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.07477)
[ WARN] [1642060476.723532307, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.08445)
[ WARN] [1642060476.723544244, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.08560)
[ WARN] [1642060476.731446053, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.02300)
[ WARN] [1642060476.731465740, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.25124)
[ WARN] [1642060476.731479298, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.09820)
[ WARN] [1642060476.731492167, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.25570)
[ WARN] [1642060476.731504929, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.39703)
[ WARN] [1642060476.731516637, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.16626)
[ WARN] [1642060476.731527931, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.19841)
[ WARN] [1642060476.731539349, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.20114)
[ WARN] [1642060476.739242573, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.01900)
[ WARN] [1642060476.739262518, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.15796)
[ WARN] [1642060476.739276093, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.18130)
[ WARN] [1642060476.739289215, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.20099)
[ WARN] [1642060476.739301244, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.55745)
[ WARN] [1642060476.739313008, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.32289)
[ WARN] [1642060476.739324520, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.35438)
[ WARN] [1642060476.739335960, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.38005)
[ WARN] [1642060476.739347050, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.37517)
[ WARN] [1642060476.747823255, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.01099)
[ WARN] [1642060476.747844792, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.05159)
[ WARN] [1642060476.747855775, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.27216)
[ WARN] [1642060476.747866013, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.40326)
[ WARN] [1642060476.747875616, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.57858)
[ WARN] [1642060476.747886635, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.74421)
[ WARN] [1642060476.747899246, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.73612)
[ WARN] [1642060476.747910481, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.74082)
[ WARN] [1642060476.747921028, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.72104)
[ WARN] [1642060476.747930307, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.71711)
[ WARN] [1642060476.756133284, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00384)
[ WARN] [1642060476.756151917, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.04655)
[ WARN] [1642060476.756163577, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.42060)
[ WARN] [1642060476.756174606, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.19869)
[ WARN] [1642060476.756184957, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.49206)
[ WARN] [1642060476.756197889, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.48795)
[ WARN] [1642060476.756210612, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.40907)
[ WARN] [1642060476.756219866, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.42432)
[ WARN] [1642060476.756228940, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.38623)
[ WARN] [1642060476.756237964, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.36547)
[ WARN] [1642060476.764734867, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.01900)
[ WARN] [1642060476.764754621, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.23020)
[ WARN] [1642060476.764765414, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.22290)
[ WARN] [1642060476.764775157, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.11544)
[ WARN] [1642060476.764784852, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.38780)
[ WARN] [1642060476.764794266, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.32537)
[ WARN] [1642060476.764803521, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.26691)
[ WARN] [1642060476.764816045, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.22990)
[ WARN] [1642060476.764826592, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.18578)
[ WARN] [1642060476.764836115, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.16489)
[ WARN] [1642060476.773117565, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.01900)
[ WARN] [1642060476.773139029, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.27827)
[ WARN] [1642060476.773149487, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.11906)
[ WARN] [1642060476.773159349, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.55828)
[ WARN] [1642060476.773168865, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.35626)
[ WARN] [1642060476.773178998, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.44032)
[ WARN] [1642060476.773189419, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.39214)
[ WARN] [1642060476.773204236, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.35686)
[ WARN] [1642060476.773214497, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.35090)
[ WARN] [1642060476.773224421, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.34724)
[ WARN] [1642060476.781789538, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.02326)
[ WARN] [1642060476.781809687, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.33700)
[ WARN] [1642060476.781820941, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.15305)
[ WARN] [1642060476.781831346, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.42431)
[ WARN] [1642060476.781840978, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.43361)
[ WARN] [1642060476.781851659, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.37417)
[ WARN] [1642060476.781862892, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.36496)
[ WARN] [1642060476.781873532, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.31182)
[ WARN] [1642060476.781882859, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.28938)
[ WARN] [1642060476.781892157, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.28506)
[ WARN] [1642060476.790440037, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.02379)
[ WARN] [1642060476.790458683, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.30349)
[ WARN] [1642060476.790469303, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.13222)
[ WARN] [1642060476.790478894, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.33796)
[ WARN] [1642060476.790488140, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.40922)
[ WARN] [1642060476.790497581, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.29949)
[ WARN] [1642060476.790506868, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.31350)
[ WARN] [1642060476.790518806, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.27264)
[ WARN] [1642060476.790527781, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.24505)
[ WARN] [1642060476.790536732, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.23873)
[ WARN] [1642060476.798922658, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00280)
[ WARN] [1642060476.798941759, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.25635)
[ WARN] [1642060476.798951907, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.13120)
[ WARN] [1642060476.798961832, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.31662)
[ WARN] [1642060476.798971006, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.45294)
[ WARN] [1642060476.798980375, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.36297)
[ WARN] [1642060476.798990714, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.35230)
[ WARN] [1642060476.799003359, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.31256)
[ WARN] [1642060476.799012961, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.27916)
[ WARN] [1642060476.799025324, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.26986)
[ WARN] [1642060476.806810129, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00073)
[ WARN] [1642060476.806829761, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.16788)
[ WARN] [1642060476.806840438, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.07440)
[ WARN] [1642060476.806849951, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.22635)
[ WARN] [1642060476.806859884, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.26568)
[ WARN] [1642060476.806869371, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.22676)
[ WARN] [1642060476.806883715, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.20802)
[ WARN] [1642060476.806895286, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.17119)
[ WARN] [1642060476.806907715, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.14338)
[ WARN] [1642060476.806919431, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.13624)
[ WARN] [1642060476.814724916, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00016)
[ WARN] [1642060476.814743909, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.16030)
[ WARN] [1642060476.814754487, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.06972)
[ WARN] [1642060476.814763775, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.16072)
[ WARN] [1642060476.814773280, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.17145)
[ WARN] [1642060476.814782804, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.13000)
[ WARN] [1642060476.814796264, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.14308)
[ WARN] [1642060476.814805946, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.11853)
[ WARN] [1642060476.814815074, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.09943)
[ WARN] [1642060476.814825288, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.09387)
[ WARN] [1642060476.821804192, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00030)
[ WARN] [1642060476.821822444, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.13653)
[ WARN] [1642060476.821832359, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.09367)
[ WARN] [1642060476.821842305, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.15822)
[ WARN] [1642060476.821852595, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.20439)
[ WARN] [1642060476.821862153, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.16812)
[ WARN] [1642060476.821873656, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.16835)
[ WARN] [1642060476.821886470, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.13906)
[ WARN] [1642060476.821895941, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.11564)
[ WARN] [1642060476.821905135, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.10793)
[ WARN] [1642060476.829127199, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.01900)
[ WARN] [1642060476.829145966, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.17686)
[ WARN] [1642060476.829156284, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.09933)
[ WARN] [1642060476.829165961, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.23153)
[ WARN] [1642060476.829176852, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.20846)
[ WARN] [1642060476.829187686, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.20105)
[ WARN] [1642060476.829201454, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.18309)
[ WARN] [1642060476.829211617, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.14157)
[ WARN] [1642060476.829222369, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.12129)
[ WARN] [1642060476.829231877, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.11593)
[ WARN] [1642060476.836738559, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.01900)
[ WARN] [1642060476.836758197, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.14833)
[ WARN] [1642060476.836770004, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.08310)
[ WARN] [1642060476.836781744, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.20959)
[ WARN] [1642060476.836792362, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.18430)
[ WARN] [1642060476.836804890, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.16873)
[ WARN] [1642060476.836817757, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.13968)
[ WARN] [1642060476.836828752, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.10739)
[ WARN] [1642060476.836838073, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.09320)
[ WARN] [1642060476.836847170, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.08899)
[ WARN] [1642060476.843937659, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.02368)
[ WARN] [1642060476.843960347, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.18672)
[ WARN] [1642060476.843978963, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.23566)
[ WARN] [1642060476.843989896, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.19131)
[ WARN] [1642060476.843999289, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.14447)
[ WARN] [1642060476.844009510, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.09564)
[ WARN] [1642060476.844019294, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.11015)
[ WARN] [1642060476.844031765, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.11928)
[ WARN] [1642060476.844043292, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.11690)
[ WARN] [1642060476.850479752, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00570)
[ WARN] [1642060476.850499518, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.09570)
[ WARN] [1642060476.850509027, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.16650)
[ WARN] [1642060476.850518791, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.17125)
[ WARN] [1642060476.850533473, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.12581)
[ WARN] [1642060476.850545792, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.04569)
[ WARN] [1642060476.850558246, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.05376)
[ WARN] [1642060476.850573645, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.08218)
[ WARN] [1642060476.850586081, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.08589)
[ WARN] [1642060476.856988102, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.03352)
[ WARN] [1642060476.857007757, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.07745)
[ WARN] [1642060476.857020762, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.11708)
[ WARN] [1642060476.857033440, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.07773)
[ WARN] [1642060476.857045749, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.03394)
[ WARN] [1642060476.857058598, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.03119)
[ WARN] [1642060476.857071243, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.05453)
[ WARN] [1642060476.857084012, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.05958)
[ WARN] [1642060476.863435507, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.02255)
[ WARN] [1642060476.863454567, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.15720)
[ WARN] [1642060476.863467587, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.18014)
[ WARN] [1642060476.863480816, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.15048)
[ WARN] [1642060476.863494034, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.08411)
[ WARN] [1642060476.863507479, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.05772)
[ WARN] [1642060476.863519974, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.08468)
[ WARN] [1642060476.863532016, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.09262)
[ WARN] [1642060476.869852748, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00057)
[ WARN] [1642060476.869873757, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.01686)
[ WARN] [1642060476.869887390, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.02484)
[ WARN] [1642060476.869900227, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.04815)
[ WARN] [1642060476.869913067, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.07371)
[ WARN] [1642060476.869926225, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.07752)
[ WARN] [1642060476.869938869, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.05723)
[ WARN] [1642060476.869951981, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.04757)
[ WARN] [1642060476.876435508, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00937)
[ WARN] [1642060476.876454795, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.05396)
[ WARN] [1642060476.876467213, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.08088)
[ WARN] [1642060476.876479578, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.11150)
[ WARN] [1642060476.876491983, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.11067)
[ WARN] [1642060476.876505267, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.07950)
[ WARN] [1642060476.876517979, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.06619)
[ WARN] [1642060476.882806054, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.01133)
[ WARN] [1642060476.882824571, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.15304)
[ WARN] [1642060476.882835742, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.19137)
[ WARN] [1642060476.882847366, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.19529)
[ WARN] [1642060476.882860021, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.13186)
[ WARN] [1642060476.882872300, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.07957)
[ WARN] [1642060476.882886867, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.06703)
[ WARN] [1642060476.889681949, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00992)
[ WARN] [1642060476.889701622, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.14714)
[ WARN] [1642060476.889712473, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.18015)
[ WARN] [1642060476.889723110, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.19916)
[ WARN] [1642060476.889733054, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.14255)
[ WARN] [1642060476.889744869, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.08747)
[ WARN] [1642060476.889757470, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.07339)
[ WARN] [1642060476.896651520, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.02101)
[ WARN] [1642060476.896671520, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.04280)
[ WARN] [1642060476.896685736, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.12406)
[ WARN] [1642060476.896701647, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.12209)
[ WARN] [1642060476.896717971, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.14546)
[ WARN] [1642060476.896732218, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.10373)
[ WARN] [1642060476.896746541, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.05978)
[ WARN] [1642060476.896760657, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.04823)
[ WARN] [1642060476.904586876, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.13315)
[ WARN] [1642060476.904605866, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.19303)
[ WARN] [1642060476.904619079, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.31384)
[ WARN] [1642060476.904629653, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.26819)
[ WARN] [1642060476.904642400, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.36530)
[ WARN] [1642060476.904652838, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.30165)
[ WARN] [1642060476.904666200, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.21082)
[ WARN] [1642060476.904678734, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.20894)
[ WARN] [1642060476.904691935, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.21270)
[ WARN] [1642060476.904704455, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.20978)
[ WARN] [1642060476.911191461, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00046)
[ WARN] [1642060476.911210894, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00293)
[ WARN] [1642060476.911223001, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00305)
[ WARN] [1642060476.911238991, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00461)
[ WARN] [1642060476.911251191, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00504)
[ WARN] [1642060476.911265443, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00139)
[ WARN] [1642060476.911277175, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00019)
[ WARN] [1642060476.911289471, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00092)
[ WARN] [1642060476.911301871, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00113)
[ WARN] [1642060476.923000811, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00226)
[ WARN] [1642060476.923020149, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.02123)
[ WARN] [1642060476.923033605, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.03319)
[ WARN] [1642060476.923047617, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.03041)
[ WARN] [1642060476.923061511, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.02265)
[ WARN] [1642060476.923074568, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00452)
[ WARN] [1642060476.923086903, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00412)
[ WARN] [1642060476.923099106, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00826)
[ WARN] [1642060476.923111722, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00825)
[ WARN] [1642060476.923124290, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00743)
[ WARN] [1642060476.956579416, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00008)
[ WARN] [1642060476.956602596, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00002)
[ WARN] [1642060476.956614060, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00007)
[ WARN] [1642060476.956625640, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00005)
[ WARN] [1642060476.956636078, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00001)
[ WARN] [1642060476.956647364, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00002)
[ WARN] [1642060476.956657991, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00002)
[ WARN] [1642060476.956668682, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00002)
[ WARN] [1642060476.962672973, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00275)
[ WARN] [1642060476.962691960, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.13226)
[ WARN] [1642060476.962702218, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.03868)
[ WARN] [1642060476.962712228, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.14338)
[ WARN] [1642060476.962722645, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.07960)
[ WARN] [1642060476.962732492, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.05905)
[ WARN] [1642060476.962745387, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.06247)
[ WARN] [1642060476.962756057, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.06031)
[ WARN] [1642060476.962765626, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.05809)
[ WARN] [1642060476.969868917, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.01900)
[ WARN] [1642060476.969888634, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.22131)
[ WARN] [1642060476.969899900, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.09124)
[ WARN] [1642060476.969911538, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.24588)
[ WARN] [1642060476.969922458, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.15160)
[ WARN] [1642060476.969933870, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.12254)
[ WARN] [1642060476.969944633, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.13235)
[ WARN] [1642060476.969954471, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.12789)
[ WARN] [1642060476.969964264, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.12406)
[ WARN] [1642060476.977676761, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.00806)
[ WARN] [1642060476.977695610, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.05086)
[ WARN] [1642060476.977706129, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.27790)
[ WARN] [1642060476.977716552, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.16508)
[ WARN] [1642060476.977726944, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.30155)
[ WARN] [1642060476.977738568, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.29914)
[ WARN] [1642060476.977751469, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.20779)
[ WARN] [1642060476.977761841, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.21896)
[ WARN] [1642060476.977771895, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.21347)
[ WARN] [1642060476.977781565, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.20632)
[ WARN] [1642060476.985445620, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.01588)
[ WARN] [1642060476.985465164, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.06398)
[ WARN] [1642060476.985477098, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.37089)
[ WARN] [1642060476.985487583, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.23080)
[ WARN] [1642060476.985497546, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.38721)
[ WARN] [1642060476.985507880, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.35331)
[ WARN] [1642060476.985531647, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.29582)
[ WARN] [1642060476.985542486, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.31886)
[ WARN] [1642060476.985553094, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.29979)
[ WARN] [1642060476.985567443, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.28575)
[ WARN] [1642060476.994058038, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.01900)
[ WARN] [1642060476.994082694, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.06633)
[ WARN] [1642060476.994092949, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.43138)
[ WARN] [1642060476.994102093, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.23243)
[ WARN] [1642060476.994112821, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.57033)
[ WARN] [1642060476.994123784, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.47526)
[ WARN] [1642060476.994134548, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.44402)
[ WARN] [1642060476.994148679, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.42968)
[ WARN] [1642060476.994162203, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.38609)
[ WARN] [1642060476.994174959, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.37038)
[ WARN] [1642060477.002713747, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.01900)
[ WARN] [1642060477.002734178, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.08599)
[ WARN] [1642060477.002744915, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.54427)
[ WARN] [1642060477.002757552, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.31827)
[ WARN] [1642060477.002770484, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.71002)
[ WARN] [1642060477.002782878, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.62545)
[ WARN] [1642060477.002794495, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.57752)
[ WARN] [1642060477.002806498, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.51681)
[ WARN] [1642060477.002816546, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.47238)
[ WARN] [1642060477.002828195, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.46042)
[ WARN] [1642060477.011383705, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.01900)
[ WARN] [1642060477.011403566, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.10576)
[ WARN] [1642060477.011415708, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.49486)
[ WARN] [1642060477.011427664, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.26010)
[ WARN] [1642060477.011437915, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.57120)
[ WARN] [1642060477.011451041, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.60688)
[ WARN] [1642060477.011463839, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.54561)
[ WARN] [1642060477.011475827, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.51536)
[ WARN] [1642060477.011489040, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.44480)
[ WARN] [1642060477.011502073, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.42170)
[ WARN] [1642060477.020881433, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.01900)
[ WARN] [1642060477.020901441, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.20201)
[ WARN] [1642060477.020913766, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.22135)
[ WARN] [1642060477.020925395, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.28722)
[ WARN] [1642060477.020937869, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.37948)
[ WARN] [1642060477.020949498, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.60939)
[ WARN] [1642060477.020961444, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.49545)
[ WARN] [1642060477.020973408, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.50117)
[ WARN] [1642060477.020985170, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.47290)
[ WARN] [1642060477.020996549, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.43983)
[ WARN] [1642060477.030413920, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.02438)
[ WARN] [1642060477.030435107, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.23412)
[ WARN] [1642060477.030447302, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.20064)
[ WARN] [1642060477.030459015, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.40298)
[ WARN] [1642060477.030468611, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.35779)
[ WARN] [1642060477.030480468, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.38355)
[ WARN] [1642060477.030493224, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.47413)
[ WARN] [1642060477.030505535, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.47162)
[ WARN] [1642060477.030517539, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.46122)
[ WARN] [1642060477.030530390, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.43072)
[ WARN] [1642060477.040537330, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.11083)
[ WARN] [1642060477.040558271, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.10640)
[ WARN] [1642060477.040569368, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.49392)
[ WARN] [1642060477.040579841, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.35216)
[ WARN] [1642060477.040591499, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.46404)
[ WARN] [1642060477.040605129, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.74244)
[ WARN] [1642060477.040618131, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.64608)
[ WARN] [1642060477.040630983, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.70365)
[ WARN] [1642060477.040643058, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.61224)
[ WARN] [1642060477.040655173, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.57397)
[ WARN] [1642060477.050242852, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.02861)
[ WARN] [1642060477.050263653, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.19250)
[ WARN] [1642060477.050275302, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.40772)
[ WARN] [1642060477.050288315, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.15101)
[ WARN] [1642060477.050303864, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.55720)
[ WARN] [1642060477.050316167, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.84864)
[ WARN] [1642060477.050328405, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.83493)
[ WARN] [1642060477.050340298, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.84237)
[ WARN] [1642060477.050352925, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.71147)
[ WARN] [1642060477.050365512, 40.218000000]: Fixing reference, seems MPC did not fully converge! (norm attitude: 1.65665)
==============================
Labelling data in directory /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data
==============================
==============================
Labelling data in directory /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data
==============================
==============================
==============================
==============================
Labelling data in directory /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data
==============================
Labelling data in directory /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data
==============================
Labelling data in directory /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data
==============================
==============================
==============================
Labelling data in directory /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data
==============================
Labelling data in directory /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data
==============================
==============================
Labelling data in directory /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data
==============================
Now Reading: /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data/rollout_22-01-13_15-53-56/pointcloud-unity.ply
Now Reading: /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data/rollout_22-01-13_15-53-56/pointcloud-unity.ply
Now Reading: /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data/rollout_22-01-13_15-53-56/pointcloud-unity.ply
Now Reading: /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data/rollout_22-01-13_15-53-56/pointcloud-unity.ply
Now Reading: /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data/rollout_22-01-13_15-53-56/pointcloud-unity.ply
Now Reading: /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data/rollout_22-01-13_15-53-56/pointcloud-unity.ply
Now Reading: /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data/rollout_22-01-13_15-53-56/pointcloud-unity.ply
Now Reading: /home/pc205/agile_autonomy_ws/catkin_aa/src/agile_autonomy/data_generation/agile_autonomy/../data/rollout_22-01-13_15-53-56/pointcloud-unity.ply
parsing 4.12656mb in 0.017402 seconds [237.131 MBps]
Read 343870 total vertices
parsing 4.12656mb in 0.028882 seconds [142.877 MBps]
Read 343870 total vertices
parsing 4.12656mb in 0.0288829 seconds [142.872 MBps]
Read 343870 total vertices
parsing 4.12656mb in 0.0289221 seconds [142.678 MBps]
Read 343870 total vertices
parsing 4.12656mb in 0.0290754 seconds [141.926 MBps]
Read 343870 total vertices
parsing 4.12656mb in 0.0291926 seconds [141.356 MBps]
Read 343870 total vertices
parsing 4.12656mb in 0.0293963 seconds [140.377 MBps]
parsing 4.12656mb in 0.029393 seconds [140.393 MBps]
Read 343870 total vertices
Read 343870 total vertices
Completed pointcloud parsing!
Completed pointcloud parsing!
Completed pointcloud parsing!
Completed pointcloud parsing!
Completed pointcloud parsing!
Completed pointcloud parsing!
Completed pointcloud parsing!
Completed pointcloud parsing!
Directory [0/1] -- Idx: 0, computing label for t = 2.45 / 6.36.
Directory [0/1] -- Idx: 8, computing label for t = 2.97 / 6.36.
Directory [0/1] -- Idx: 16, computing label for t = 3.51 / 6.36.
Directory [0/1] -- Idx: 24, computing label for t = 4.03 / 6.36.
Directory [0/1] -- Idx: 32, computing label for t = 4.57 / 6.36.
[ INFO] [1642060489.691319226, 40.218000000]: Received completion of thread #7!
[ INFO] [1642060491.503765581, 40.218000000]: Received completion of thread #6!
Directory [0/1] -- Idx: 40, computing label for t = 5.13 / 6.36.
Directory [0/1] -- Idx: 48, computing label for t = 5.69 / 6.36.
[ INFO] [1642060493.395381606, 40.218000000]: Received completion of thread #4!
[ INFO] [1642060494.370450177, 40.218000000]: Received completion of thread #5!
Directory [0/1] -- Idx: 56, computing label for t = 6.25 / 6.36.
[ INFO] [1642060494.710022560, 40.218000000]: Received completion of thread #3!
Directory [0/1] -- Idx: 64, computing label for t = 6.79 / 6.36.
Directory [0/1] -- Idx: 72, computing label for t = 7.38 / 6.36.
Directory [0/1] -- Idx: 80, computing label for t = 8.00 / 6.36.
[ INFO] [1642060500.990957145, 40.218000000]: Waiting for other nodes to finish labelling...
[ INFO] [1642060501.650828293, 40.218000000]: Received completion of thread #1!
[ INFO] [1642060501.991149088, 40.218000000]: Waiting for other nodes to finish labelling...
[ INFO] [1642060502.991277284, 40.218000000]: Waiting for other nodes to finish labelling...
[ INFO] [1642060503.702152226, 40.218000000]: Received completion of thread #2!
Completed label generation in 0.00s (0.000s per label).
[ INFO] [1642060503.991494221, 40.218000000]: Sending labelling completed message!