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%% LOG FILE:       ../data_from_runs/HW_2_6_2008_____01_38_39/HW_2_6_2008_____01_38_39.alog
%% FILE OPENED ON  Mon Jun  2 01:38:39 2008
%% LOGSTART                1212385118.5
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0.625           NAV_Y                pEchoVar   0            
0.625           NAV_X                pEchoVar   0            
0.829           NAV_X                pEchoVar   0            
0.829           NAV_Y                pEchoVar   0            
1.067           MOOS_DEBUG           pMarinePID ** NEW CONTROLLER GAINS ARE ** 
1.067           MOOS_DEBUG           pMarinePID YAW_PID_KP             = 0.500 
1.067           MOOS_DEBUG           pMarinePID YAW_PID_KD             = 0.000 
1.067           MOOS_DEBUG           pMarinePID YAW_PID_KI             = 0.000 
1.067           MOOS_DEBUG           pMarinePID YAW_PID_INTEGRAL_LIMIT = 0.070 
1.067           MOOS_DEBUG           pMarinePID MAXRUDDER              = 100.000 
1.071           MOOS_DEBUG           pMarinePID SPEED_PID_KP           = 1.000 
1.071           MOOS_DEBUG           pMarinePID SPEED_PID_KD           = 0.000 
1.071           MOOS_DEBUG           pMarinePID SPEED_PID_KI           = 0.000 
1.071           MOOS_DEBUG           pMarinePID SPEED_PID_KI_LIMIT     = 0.070 
1.071           MOOS_DEBUG           pMarinePID MAXTHRUST              = 100.000 
1.033           NAV_X                pEchoVar   0            
1.033           NAV_Y                pEchoVar   0            
1.237           NAV_X                pEchoVar   0            
1.237           NAV_Y                pEchoVar   0            
1.645           NAV_X                pEchoVar   0            
1.645           NAV_Y                pEchoVar   0            
1.226           DESIRED_RUDDER       iRemote    0            
1.226           DESIRED_THRUST       iRemote    0            
2.277           NAV_X                pEchoVar   0            
2.277           NAV_Y                pEchoVar   0            
2.381           MOOS_DEBUG           pMarinePID pMarinePID Control Is Off 
2.481           NAV_X                pEchoVar   0            
2.481           NAV_Y                pEchoVar   0            
2.686           NAV_X                pEchoVar   0            
2.686           NAV_Y                pEchoVar   0            
3.107           NAV_X                pEchoVar   0            
3.107           NAV_Y                pEchoVar   0            
3.314           NAV_X                pEchoVar   0            
3.314           NAV_Y                pEchoVar   0            
3.518           NAV_X                pEchoVar   0            
3.518           NAV_Y                pEchoVar   0            
3.722           NAV_X                pEchoVar   0            
3.722           NAV_Y                pEchoVar   0            
4.116           NAV_X                pEchoVar   0            
4.116           NAV_Y                pEchoVar   0            
4.322           NAV_X                pEchoVar   0            
4.322           NAV_Y                pEchoVar   0            
4.526           NAV_X                pEchoVar   0            
4.526           NAV_Y                pEchoVar   0            
4.526           THIS_IS_A_REALLY_LONG_VARIABLE_OK   pEchoVar   0
4.762           NAV_X                pEchoVar   0            
4.762           NAV_Y                pEchoVar   0            
4.965           NAV_X                pEchoVar   0            
4.965           NAV_Y                pEchoVar   0            
5.169           NAV_X                pEchoVar   0            
5.169           NAV_Y                pEchoVar   0            
5.373           NAV_X                pEchoVar   0            
5.373           NAV_Y                pEchoVar   0            
5.578           NAV_X                pEchoVar   0            
5.578           NAV_Y                pEchoVar   0            
5.781           NAV_X                pEchoVar   0            
5.781           NAV_Y                pEchoVar   0            
5.985           NAV_X                pEchoVar   0            
5.985           NAV_Y                pEchoVar   0            
6.037           DESIRED_RUDDER       iRemote    0            
6.037           DESIRED_THRUST       iRemote    0            
6.189           NAV_X                pEchoVar   0            
6.189           NAV_Y                pEchoVar   0            
6.393           NAV_X                pEchoVar   0            
6.393           NAV_Y                pEchoVar   0            
6.597           NAV_X                pEchoVar   0            
6.597           NAV_Y                pEchoVar   0            
6.801           NAV_X                pEchoVar   0            
6.801           NAV_Y                pEchoVar   0            
7.005           NAV_X                pEchoVar   0            
7.005           NAV_Y                pEchoVar   0            
7.209           NAV_X                pEchoVar   0            
7.209           NAV_Y                pEchoVar   0            
7.414           NAV_X                pEchoVar   0            
7.414           NAV_Y                pEchoVar   0            
7.617           NAV_X                pEchoVar   0            
7.617           NAV_Y                pEchoVar   0            
7.821           NAV_X                pEchoVar   0            
7.821           NAV_Y                pEchoVar   0            
8.025           NAV_X                pEchoVar   0            
8.025           NAV_Y                pEchoVar   0            
8.229           NAV_X                pEchoVar   0            
8.229           NAV_Y                pEchoVar   0            
8.433           NAV_X                pEchoVar   0            
8.433           NAV_Y                pEchoVar   0            
8.637           NAV_X                pEchoVar   0            
8.637           NAV_Y                pEchoVar   0            
8.841           NAV_X                pEchoVar   0            
8.841           NAV_Y                pEchoVar   0            
9.045           NAV_X                pEchoVar   0            
9.045           NAV_Y                pEchoVar   0            
9.249           NAV_X                pEchoVar   0            
9.249           NAV_Y                pEchoVar   0            
9.453           NAV_X                pEchoVar   0            
9.453           NAV_Y                pEchoVar   0            
9.657           NAV_X                pEchoVar   0            
9.657           NAV_Y                pEchoVar   0            
10.442          NAV_X                pEchoVar   0            
10.442          NAV_Y                pEchoVar   0            
10.842          DESIRED_RUDDER       iRemote    0            
10.842          DESIRED_THRUST       iRemote    0            
10.851          NAV_X                pEchoVar   0            
10.851          NAV_Y                pEchoVar   0            
11.055          NAV_X                pEchoVar   0            
11.055          NAV_Y                pEchoVar   0            
11.444          NAV_X                pEchoVar   0            
11.444          NAV_Y                pEchoVar   0            
11.651          NAV_X                pEchoVar   0            
11.651          NAV_Y                pEchoVar   0            
11.855          NAV_X                pEchoVar   0            
11.855          NAV_Y                pEchoVar   0            
12.059          NAV_X                pEchoVar   0            
12.059          NAV_Y                pEchoVar   0            
12.439          NAV_X                pEchoVar   0            
12.439          NAV_Y                pEchoVar   0            
12.643          NAV_X                pEchoVar   0            
12.643          NAV_Y                pEchoVar   0            
12.847          NAV_X                pEchoVar   0            
12.847          NAV_Y                pEchoVar   0            
13.051          NAV_X                pEchoVar   0            
13.051          NAV_Y                pEchoVar   0            
13.451          NAV_X                pEchoVar   0            
13.451          NAV_Y                pEchoVar   0