GOTO_AIM 0 
observed x: 0 observed y: 0 observed theta: 0 predicted x: 0 predicted y: 0 predicted theta: 0
GOTO_STOP_TO_RUN 0 
X: 0 Y: 0 T: 0 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0 observed y: 0 observed theta: 0 predicted x: 0 predicted y: 0 predicted theta: 0
GOTO_RUN_UNTIL_CLOSE_OR_MISSED 0 
X: 0 Y: 0 T: 0 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0 observed y: 0 observed theta: 0 predicted x: 0 predicted y: 0 predicted theta: 0
Stopping - HIT 0 
X: 0 Y: 0 T: 0 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0 observed y: 0 observed theta: 0 predicted x: 0 predicted y: 0 predicted theta: 0
X: 0 Y: 0 T: 0 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0 observed y: 0 observed theta: 0 predicted x: 0 predicted y: 0 predicted theta: 0
X: 0 Y: 0 T: 0 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0 observed y: 0 observed theta: 0 predicted x: 0 predicted y: 0 predicted theta: 0
X: 0 Y: 0 T: 0 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0 observed y: 0 observed theta: 0 predicted x: 0 predicted y: 0 predicted theta: 0
X: 0 Y: 0 T: 0 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0 observed y: 0 observed theta: 0 predicted x: 0 predicted y: 0 predicted theta: 0
X: 0 Y: 0 T: 0 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0 observed y: 0 observed theta: 0 predicted x: 0 predicted y: 0 predicted theta: 0
X: 0 Y: 0 T: 0 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0 observed y: 0 observed theta: 0 predicted x: 0 predicted y: 0 predicted theta: 0
X: 0 Y: 0 T: 0 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0 observed y: 0 observed theta: 0 predicted x: 0 predicted y: 0 predicted theta: 0
X: 0 Y: 0 T: 0 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0 observed y: 0 observed theta: 0 predicted x: 0 predicted y: 0 predicted theta: 0
X: 0 Y: 0 T: 0 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0 observed y: 0 observed theta: 0 predicted x: 0 predicted y: 0 predicted theta: 0
X: 0 Y: 0 T: 0 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0 observed y: 0 observed theta: 0 predicted x: 0 predicted y: 0 predicted theta: 0
X: 0 Y: 0 T: 0 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0 observed y: 0 observed theta: 0 predicted x: 0 predicted y: 0 predicted theta: 0
X: 0 Y: 0 T: 0 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0 observed y: 0 observed theta: 0 predicted x: 0 predicted y: 0 predicted theta: 0
GOTO_STOP_TO_RUN 1 
X: 0 Y: 0 T: 0 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0 observed y: 0 observed theta: 0 predicted x: 0 predicted y: 0 predicted theta: 0
GOTO_RUN_UNTIL_CLOSE_OR_MISSED 1 
X: 0 Y: 0 T: 0 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0 observed y: 0 observed theta: 0 predicted x: 0 predicted y: 0 predicted theta: 0
X: 0 Y: 0 T: 0 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.0531771 observed y: 0 observed theta: 0 predicted x: 1.15 predicted y: 0 predicted theta: 0
X: 0.310311 Y: 0 T: 0 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 1.06354 RVr: 1.06354 DIFFA: 0 TA: 0 
observed x: 0.549608 observed y: 0 observed theta: 0.00966859 predicted x: 1.46031 predicted y: 0 predicted theta: 0
X: 0.763109 Y: 0.000118324 T: 0.00691274 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 3.19062 RVr: 6.38125 DIFFA: 0 TA: 0 
observed x: 1.13534 observed y: 0.0026915 observed theta: 0.0133584 predicted x: 1.91308 predicted y: 0.00806791 predicted theta: 0.00691271
X: 1.31767 Y: 0.00402895 T: 0.0115247 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 6.38125 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 1.82282 observed y: 0.00985087 observed theta: 0.0211933 predicted x: 2.46759 predicted y: 0.017282 predicted theta: 0.0115247
X: 1.97397 Y: 0.0117103 T: 0.0184394 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 8.50833 RVr: 11.699 DIFFA: 0 TA: 0 
observed x: 2.63858 observed y: 0.0239665 observed theta: 0.0216622 predicted x: 3.12378 predicted y: 0.0329144 predicted theta: 0.0184393
X: 2.75232 Y: 0.0261024 T: 0.0207458 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 12.7625 RVr: 13.826 DIFFA: 0 TA: 0 
observed x: 3.47006 observed y: 0.0409946 observed theta: 0.0239687 predicted x: 3.90208 predicted y: 0.0499584 predicted theta: 0.0207458
X: 3.57134 Y: 0.0431351 T: 0.0230507 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 13.826 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 4.28904 observed y: 0.0596815 observed theta: 0.0262735 predicted x: 4.72103 predicted y: 0.0696411 predicted theta: 0.0230508
X: 4.39031 Y: 0.0620555 T: 0.0253556 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 13.826 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 5.18771 observed y: 0.0822784 observed theta: 0.0253556 predicted x: 5.53994 predicted y: 0.0912113 predicted theta: 0.0253556
X: 5.27029 Y: 0.0843723 T: 0.0253561 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 15.9531 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 6.06769 observed y: 0.104596 observed theta: 0.0318017 predicted x: 6.41992 predicted y: 0.113529 predicted theta: 0.0253561
X: 6.15026 Y: 0.106769 T: 0.0299645 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 6.92098 observed y: 0.12987 observed theta: 0.0331874 predicted x: 7.29975 predicted y: 0.141223 predicted theta: 0.0299644
X: 7.00978 Y: 0.13257 T: 0.0322699 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 7.83359 observed y: 0.159164 observed theta: 0.0354927 predicted x: 8.15918 predicted y: 0.169674 predicted theta: 0.03227
X: 7.90992 Y: 0.161667 T: 0.0345746 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 15.9531 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 8.73367 observed y: 0.190159 observed theta: 0.0377975 predicted x: 9.05923 predicted y: 0.20142 predicted theta: 0.0345745
X: 8.80999 Y: 0.192839 T: 0.0368793 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 15.9531 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 9.71339 observed y: 0.22617 observed theta: 0.0433249 predicted x: 9.95921 predicted y: 0.23524 predicted theta: 0.0368793
X: 9.77102 Y: 0.228375 T: 0.0414881 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 17.0167 RVr: 19.1437 DIFFA: 0 TA: 0 
observed x: 10.5946 observed y: 0.262562 observed theta: 0.0447109 predicted x: 10.92 predicted y: 0.276073 predicted theta: 0.0414882
X: 10.6709 Y: 0.265768 T: 0.0437933 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 15.9531 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 11.5209 observed y: 0.303017 observed theta: 0.0437932 predicted x: 11.8198 predicted y: 0.316114 predicted theta: 0.0437932
X: 11.5909 Y: 0.306088 T: 0.0437937 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 17.0167 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 12.441 observed y: 0.343337 observed theta: 0.0437937 predicted x: 12.7398 predicted y: 0.356434 predicted theta: 0.0437937
X: 12.511 Y: 0.346407 T: 0.0437937 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 17.0167 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 13.3876 observed y: 0.384821 observed theta: 0.0470166 predicted x: 13.6599 predicted y: 0.396754 predicted theta: 0.0437937
X: 13.4514 Y: 0.387657 T: 0.046098 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 17.0167 RVr: 18.0802 DIFFA: 0 TA: 0 
observed x: 14.3279 observed y: 0.428091 observed theta: 0.0428751 predicted x: 14.6002 predicted y: 0.440651 predicted theta: 0.046098
X: 14.3918 Y: 0.430996 T: 0.0437941 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 18.0802 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 15.2949 observed y: 0.470573 observed theta: 0.0502398 predicted x: 15.5407 predicted y: 0.481343 predicted theta: 0.0437942
Stopping - HIT 1 
X: 15.3525 Y: 0.473177 T: 0.0484022 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 17.0167 RVr: 19.1437 DIFFA: 0 TA: 0 
observed x: 16.1492 observed y: 0.51177 observed theta: 0.0484023 predicted x: 15.3525 predicted y: 0.473177 predicted theta: 0.0484023
X: 15.9625 Y: 0.502767 T: 0.0484047 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 15.9531 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 16.4139 observed y: 0.524637 observed theta: 0.0516276 predicted x: 15.9625 predicted y: 0.502767 predicted theta: 0.0484047
X: 16.3081 Y: 0.519512 T: 0.0508716 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 8.50833 RVr: 9.57187 DIFFA: 0 TA: 0 
observed x: 16.6533 observed y: 0.537088 observed theta: 0.0476489 predicted x: 16.3081 predicted y: 0.519512 predicted theta: 0.0508716
X: 16.5724 Y: 0.532968 T: 0.0484045 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 7.44479 RVr: 6.38125 DIFFA: 0 TA: 0 
observed x: 16.7052 observed y: 0.5394 observed theta: 0.0516274 predicted x: 16.5724 predicted y: 0.532968 predicted theta: 0.0484045
X: 16.674 Y: 0.537892 T: 0.0508718 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 2.12708 RVr: 3.19062 DIFFA: 0 TA: 0 
observed x: 16.674 observed y: 0.537892 observed theta: 0.0508718 predicted x: 16.674 predicted y: 0.537892 predicted theta: 0.0508718
X: 16.674 Y: 0.537892 T: 0.0508718 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 16.674 observed y: 0.537892 observed theta: 0.0508718 predicted x: 16.674 predicted y: 0.537892 predicted theta: 0.0508718
X: 16.674 Y: 0.537892 T: 0.0508718 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 16.674 observed y: 0.537892 observed theta: 0.0508718 predicted x: 16.674 predicted y: 0.537892 predicted theta: 0.0508718
X: 16.674 Y: 0.537892 T: 0.0508718 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 16.674 observed y: 0.537892 observed theta: 0.0508718 predicted x: 16.674 predicted y: 0.537892 predicted theta: 0.0508718
X: 16.674 Y: 0.537892 T: 0.0508718 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 16.674 observed y: 0.537892 observed theta: 0.0508718 predicted x: 16.674 predicted y: 0.537892 predicted theta: 0.0508718
X: 16.674 Y: 0.537892 T: 0.0508718 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 16.674 observed y: 0.537892 observed theta: 0.0508718 predicted x: 16.674 predicted y: 0.537892 predicted theta: 0.0508718
X: 16.674 Y: 0.537892 T: 0.0508718 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 16.674 observed y: 0.537892 observed theta: 0.0508718 predicted x: 16.674 predicted y: 0.537892 predicted theta: 0.0508718
X: 16.674 Y: 0.537892 T: 0.0508718 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 16.674 observed y: 0.537892 observed theta: 0.0508718 predicted x: 16.674 predicted y: 0.537892 predicted theta: 0.0508718
X: 16.674 Y: 0.537892 T: 0.0508718 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 16.674 observed y: 0.537892 observed theta: 0.0508718 predicted x: 16.674 predicted y: 0.537892 predicted theta: 0.0508718
X: 16.674 Y: 0.537892 T: 0.0508718 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 16.674 observed y: 0.537892 observed theta: 0.0508718 predicted x: 16.674 predicted y: 0.537892 predicted theta: 0.0508718
X: 16.674 Y: 0.537892 T: 0.0508718 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 16.674 observed y: 0.537892 observed theta: 0.0508718 predicted x: 16.674 predicted y: 0.537892 predicted theta: 0.0508718
X: 16.674 Y: 0.537892 T: 0.0508718 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 16.674 observed y: 0.537892 observed theta: 0.0508718 predicted x: 16.674 predicted y: 0.537892 predicted theta: 0.0508718
X: 16.674 Y: 0.537892 T: 0.0508718 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 16.674 observed y: 0.537892 observed theta: 0.0508718 predicted x: 16.674 predicted y: 0.537892 predicted theta: 0.0508718
X: 16.674 Y: 0.537892 T: 0.0508718 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 16.5944 observed y: 0.533836 observed theta: 0.0347576 predicted x: 16.674 predicted y: 0.537892 predicted theta: -0.058219
X: 16.613 Y: 0.534787 T: 0.0129606 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 1.06354 RVr: -4.25417 DIFFA: 0 TA: 0 
observed x: 16.5067 observed y: 0.533408 observed theta: -0.0128222 predicted x: 16.613 predicted y: 0.534787 predicted theta: -0.0961304
GOTO_STOP_TO_RUN 2 
X: 16.5316 Y: 0.533732 T: -0.0323526 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 2.12708 RVr: -6.38125 DIFFA: 0 TA: 0 
observed x: 16.4519 observed y: 0.536312 observed theta: -0.0549126 predicted x: 16.5316 predicted y: 0.533732 predicted theta: -0.0323524
X: 16.4706 Y: 0.535707 T: -0.0496237 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 2.12708 RVr: -5.31771 DIFFA: 0 TA: 0 
observed x: 16.444 observed y: 0.537026 observed theta: -0.0528464 predicted x: 16.4706 predicted y: 0.535707 predicted theta: -0.0496237
GOTO_RUN_UNTIL_CLOSE_OR_MISSED 2 
X: 16.4503 Y: 0.536717 T: -0.0520909 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: -1.06354 DIFFA: 0 TA: 0 
observed x: 16.4503 observed y: 0.536717 observed theta: -0.0520909 predicted x: 16.4503 predicted y: 0.536717 predicted theta: -0.0520909
X: 16.4503 Y: 0.536717 T: -0.0520909 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 0 RVr: -0 DIFFA: 0 TA: 0 
observed x: 16.4503 observed y: 0.536717 observed theta: -0.0520909 predicted x: 17.5987 predicted y: 0.476839 predicted theta: -0.0520909
X: 16.7195 Y: 0.522679 T: -0.0520909 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 16.9585 observed y: 0.510219 observed theta: -0.0424223 predicted x: 17.8679 predicted y: 0.462801 predicted theta: -0.0520909
X: 17.1717 Y: 0.49922 T: -0.0451782 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 3.19062 RVr: 6.38125 DIFFA: 0 TA: 0 
observed x: 17.6498 observed y: 0.477606 observed theta: -0.0451782 predicted x: 18.3205 predicted y: 0.447283 predicted theta: -0.0451782
X: 17.807 Y: 0.470496 T: -0.0451751 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 9.57187 RVr: 9.57187 DIFFA: 0 TA: 0 
observed x: 18.3383 observed y: 0.446481 observed theta: -0.0387294 predicted x: 18.9559 predicted y: 0.418562 predicted theta: -0.0451751
X: 18.4831 Y: 0.440015 T: -0.0405666 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 9.57187 RVr: 11.699 DIFFA: 0 TA: 0 
observed x: 19.0941 observed y: 0.415214 observed theta: -0.0373437 predicted x: 19.6321 predicted y: 0.393376 predicted theta: -0.0405667
X: 19.2202 Y: 0.410133 T: -0.0382608 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 11.699 RVr: 12.7625 DIFFA: 0 TA: 0 
observed x: 19.8844 observed y: 0.384707 observed theta: -0.035038 predicted x: 20.3694 predicted y: 0.366144 predicted theta: -0.0382607
X: 19.9981 Y: 0.380394 T: -0.0359558 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 12.7625 RVr: 13.826 DIFFA: 0 TA: 0 
observed x: 20.6624 observed y: 0.356499 observed theta: -0.032733 predicted x: 21.1474 predicted y: 0.339053 predicted theta: -0.0359559
X: 20.7761 Y: 0.352448 T: -0.0336509 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 12.7625 RVr: 13.826 DIFFA: 0 TA: 0 
observed x: 21.5202 observed y: 0.3274 observed theta: -0.0272052 predicted x: 21.9255 predicted y: 0.313757 predicted theta: -0.0336509
X: 21.6152 Y: 0.32428 T: -0.0290418 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 13.826 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 22.4391 observed y: 0.300346 observed theta: -0.0258191 predicted x: 22.7647 predicted y: 0.290887 predicted theta: -0.0290418
X: 22.5154 Y: 0.298167 T: -0.0267367 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 15.9531 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 23.366 observed y: 0.275422 observed theta: -0.0267367 predicted x: 23.665 predicted y: 0.267424 predicted theta: -0.0267367
X: 23.4361 Y: 0.273546 T: -0.0267363 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 17.0167 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 24.26 observed y: 0.251512 observed theta: -0.0235133 predicted x: 24.5857 predicted y: 0.242803 predicted theta: -0.0267363
X: 24.3364 Y: 0.24951 T: -0.024432 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 15.9531 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 25.2135 observed y: 0.228075 observed theta: -0.021209 predicted x: 25.486 predicted y: 0.221416 predicted theta: -0.0244319
Stopping - HIT 2 
X: 25.2774 Y: 0.226553 T: -0.0221272 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 17.0167 RVr: 18.0802 DIFFA: 0 TA: 0 
observed x: 26.1546 observed y: 0.207139 observed theta: -0.0189044 predicted x: 25.2774 predicted y: 0.226553 predicted theta: -0.0221272
X: 25.949 Y: 0.211717 T: -0.0196678 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 17.0167 RVr: 18.0802 DIFFA: 0 TA: 0 
observed x: 26.5338 observed y: 0.200213 observed theta: -0.0196679 predicted x: 25.949 predicted y: 0.211717 predicted theta: -0.0196679
X: 26.3967 Y: 0.202912 T: -0.0196678 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 11.699 RVr: 11.699 DIFFA: 0 TA: 0 
observed x: 26.5828 observed y: 0.199252 observed theta: -0.0164449 predicted x: 26.3967 predicted y: 0.202912 predicted theta: -0.0196679
X: 26.5391 Y: 0.20011 T: -0.0172005 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 3.19062 RVr: 4.25417 DIFFA: 0 TA: 0 
observed x: 26.5391 observed y: 0.20011 observed theta: -0.0172005 predicted x: 26.5391 predicted y: 0.20011 predicted theta: -0.0172005
X: 26.5391 Y: 0.20011 T: -0.0172005 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 26.5391 observed y: 0.20011 observed theta: -0.0172005 predicted x: 26.5391 predicted y: 0.20011 predicted theta: -0.0172005
X: 26.5391 Y: 0.20011 T: -0.0172005 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 26.5391 observed y: 0.20011 observed theta: -0.0172005 predicted x: 26.5391 predicted y: 0.20011 predicted theta: -0.0172005
X: 26.5391 Y: 0.20011 T: -0.0172005 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 26.5391 observed y: 0.20011 observed theta: -0.0172005 predicted x: 26.5391 predicted y: 0.20011 predicted theta: -0.0172005
X: 26.5391 Y: 0.20011 T: -0.0172005 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 26.5391 observed y: 0.20011 observed theta: -0.0172005 predicted x: 26.5391 predicted y: 0.20011 predicted theta: -0.0172005
X: 26.5391 Y: 0.20011 T: -0.0172005 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 26.5391 observed y: 0.20011 observed theta: -0.0172005 predicted x: 26.5391 predicted y: 0.20011 predicted theta: -0.0172005
X: 26.5391 Y: 0.20011 T: -0.0172005 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 26.5391 observed y: 0.20011 observed theta: -0.0172005 predicted x: 26.5391 predicted y: 0.20011 predicted theta: -0.0172005
X: 26.5391 Y: 0.20011 T: -0.0172005 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 26.5391 observed y: 0.20011 observed theta: -0.0172005 predicted x: 26.5391 predicted y: 0.20011 predicted theta: -0.0172005
X: 26.5391 Y: 0.20011 T: -0.0172005 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 26.5391 observed y: 0.20011 observed theta: -0.0172005 predicted x: 26.5391 predicted y: 0.20011 predicted theta: -0.0172005
X: 26.5391 Y: 0.20011 T: -0.0172005 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 26.5391 observed y: 0.20011 observed theta: -0.0172005 predicted x: 26.5391 predicted y: 0.20011 predicted theta: -0.0172005
X: 26.5391 Y: 0.20011 T: -0.0172005 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 26.5391 observed y: 0.20011 observed theta: -0.0172005 predicted x: 26.5391 predicted y: 0.20011 predicted theta: -0.0172005
X: 26.5391 Y: 0.20011 T: -0.0172005 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 26.5391 observed y: 0.20011 observed theta: -0.0172005 predicted x: 26.5391 predicted y: 0.20011 predicted theta: -0.0172005
X: 26.5391 Y: 0.20011 T: -0.0172005 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 26.5391 observed y: 0.20011 observed theta: -0.0172005 predicted x: 26.5391 predicted y: 0.20011 predicted theta: -0.0172005
GOTO_STOP_TO_RUN 3 
X: 26.5391 Y: 0.20011 T: -0.0172005 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 26.5391 observed y: 0.20011 observed theta: -0.0172005 predicted x: 26.5391 predicted y: 0.20011 predicted theta: -0.0172005
GOTO_RUN_UNTIL_CLOSE_OR_MISSED 3 
X: 26.5391 Y: 0.20011 T: -0.0172005 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 26.5391 observed y: 0.20011 observed theta: -0.0172005 predicted x: 26.5391 predicted y: 0.20011 predicted theta: -0.0172005
X: 26.5391 Y: 0.20011 T: -0.0172005 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 26.6189 observed y: 0.198738 observed theta: -0.0139775 predicted x: 27.689 predicted y: 0.18033 predicted theta: -0.0172005
X: 26.8698 Y: 0.194462 T: -0.0148963 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 1.06354 RVr: 2.12708 DIFFA: 0 TA: 0 
observed x: 27.0824 observed y: 0.191293 observed theta: -0.0148964 predicted x: 28.0196 predicted y: 0.177332 predicted theta: -0.0148964
X: 27.3022 Y: 0.18802 T: -0.014895 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 4.25417 RVr: 4.25417 DIFFA: 0 TA: 0 
observed x: 27.6478 observed y: 0.182871 observed theta: -0.011672 predicted x: 28.452 predicted y: 0.170891 predicted theta: -0.014895
X: 27.8363 Y: 0.180102 T: -0.0125907 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 6.38125 RVr: 7.44479 DIFFA: 0 TA: 0 
observed x: 28.2883 observed y: 0.174411 observed theta: -0.0158136 predicted x: 28.9862 predicted y: 0.165623 predicted theta: -0.0125906
X: 28.4519 Y: 0.172311 T: -0.0148939 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 9.57187 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 29.09 observed y: 0.162807 observed theta: -0.00844812 predicted x: 29.6018 predicted y: 0.155184 predicted theta: -0.014894
X: 29.21 Y: 0.161099 T: -0.0102862 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 11.699 RVr: 13.826 DIFFA: 0 TA: 0 
observed x: 29.8746 observed y: 0.154262 observed theta: -0.013509 predicted x: 30.3599 predicted y: 0.14927 predicted theta: -0.0102861
X: 29.9884 Y: 0.153052 T: -0.0125889 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 13.826 RVr: 12.7625 DIFFA: 0 TA: 0 
observed x: 30.7062 observed y: 0.144014 observed theta: -0.00936604 predicted x: 31.1383 predicted y: 0.138575 predicted theta: -0.012589
X: 30.8075 Y: 0.142779 T: -0.0102853 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 13.826 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 31.5254 observed y: 0.135395 observed theta: -0.00706244 predicted x: 31.9575 predicted y: 0.130951 predicted theta: -0.0102854
X: 31.6267 Y: 0.134393 T: -0.00798042 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 13.826 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 32.3977 observed y: 0.128239 observed theta: -0.0112033 predicted x: 32.7766 predicted y: 0.125215 predicted theta: -0.00798035
X: 32.4865 Y: 0.127491 T: -0.0102841 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 15.9531 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 33.2842 observed y: 0.119288 observed theta: -0.0102842 predicted x: 33.6365 predicted y: 0.115664 predicted theta: -0.0102842
X: 33.3668 Y: 0.118438 T: -0.0102847 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 15.9531 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 34.1644 observed y: 0.110235 observed theta: -0.0102847 predicted x: 34.5167 predicted y: 0.106611 predicted theta: -0.0102847
X: 34.247 Y: 0.109385 T: -0.0102847 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 15.9531 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 35.0712 observed y: 0.100908 observed theta: -0.00706172 predicted x: 35.3969 predicted y: 0.0975581 predicted theta: -0.0102847
Stopping - HIT 3 
X: 35.1475 Y: 0.100162 T: -0.00798036 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 15.9531 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 35.8388 observed y: 0.0946456 observed theta: -0.00798035 predicted x: 35.1475 predicted y: 0.100162 predicted theta: -0.00798035
X: 35.6768 Y: 0.0959581 T: -0.00797932 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 13.826 RVr: 13.826 DIFFA: 0 TA: 0 
observed x: 36.0756 observed y: 0.0927757 observed theta: -0.00475645 predicted x: 35.6768 predicted y: 0.0959581 predicted theta: -0.00797939
X: 35.9821 Y: 0.0935225 T: -0.00551249 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 7.44479 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 36.248 observed y: 0.0920568 observed theta: -0.00551248 predicted x: 35.9821 predicted y: 0.0935225 predicted theta: -0.00551248
X: 36.1856 Y: 0.0924005 T: -0.00551247 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 5.31771 RVr: 5.31771 DIFFA: 0 TA: 0 
observed x: 36.292 observed y: 0.0918142 observed theta: -0.00551248 predicted x: 36.1856 predicted y: 0.0924005 predicted theta: -0.00551248
X: 36.267 Y: 0.0919517 T: -0.00551248 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 2.12708 RVr: 2.12708 DIFFA: 0 TA: 0 
observed x: 36.267 observed y: 0.0919517 observed theta: -0.00551248 predicted x: 36.267 predicted y: 0.0919517 predicted theta: -0.00551248
X: 36.267 Y: 0.0919517 T: -0.00551248 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 36.267 observed y: 0.0919517 observed theta: -0.00551248 predicted x: 36.267 predicted y: 0.0919517 predicted theta: -0.00551248
X: 36.267 Y: 0.0919517 T: -0.00551248 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 36.267 observed y: 0.0919517 observed theta: -0.00551248 predicted x: 36.267 predicted y: 0.0919517 predicted theta: -0.00551248
X: 36.267 Y: 0.0919517 T: -0.00551248 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 36.267 observed y: 0.0919517 observed theta: -0.00551248 predicted x: 36.267 predicted y: 0.0919517 predicted theta: -0.00551248
X: 36.267 Y: 0.0919517 T: -0.00551248 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 36.267 observed y: 0.0919517 observed theta: -0.00551248 predicted x: 36.267 predicted y: 0.0919517 predicted theta: -0.00551248
X: 36.267 Y: 0.0919517 T: -0.00551248 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 36.267 observed y: 0.0919517 observed theta: -0.00551248 predicted x: 36.267 predicted y: 0.0919517 predicted theta: -0.00551248
X: 36.267 Y: 0.0919517 T: -0.00551248 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 36.267 observed y: 0.0919517 observed theta: -0.00551248 predicted x: 36.267 predicted y: 0.0919517 predicted theta: -0.00551248
X: 36.267 Y: 0.0919517 T: -0.00551248 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 36.267 observed y: 0.0919517 observed theta: -0.00551248 predicted x: 36.267 predicted y: 0.0919517 predicted theta: -0.00551248
X: 36.267 Y: 0.0919517 T: -0.00551248 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 36.267 observed y: 0.0919517 observed theta: -0.00551248 predicted x: 36.267 predicted y: 0.0919517 predicted theta: -0.00551248
X: 36.267 Y: 0.0919517 T: -0.00551248 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 36.267 observed y: 0.0919517 observed theta: -0.00551248 predicted x: 36.267 predicted y: 0.0919517 predicted theta: -0.00551248
X: 36.267 Y: 0.0919517 T: -0.00551248 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 36.267 observed y: 0.0919517 observed theta: -0.00551248 predicted x: 36.267 predicted y: 0.0919517 predicted theta: -0.00551248
X: 36.267 Y: 0.0919517 T: -0.00551248 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 36.267 observed y: 0.0919517 observed theta: -0.00551248 predicted x: 36.267 predicted y: 0.0919517 predicted theta: -0.00551248
X: 36.267 Y: 0.0919517 T: -0.00551248 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 36.267 observed y: 0.0919517 observed theta: -0.00551248 predicted x: 36.267 predicted y: 0.0919517 predicted theta: -0.00551248
GOTO_STOP_TO_RUN 4 
X: 36.267 Y: 0.0919517 T: -0.00551248 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 36.267 observed y: 0.0919517 observed theta: -0.00551248 predicted x: 36.267 predicted y: 0.0919517 predicted theta: -0.00551248
GOTO_RUN_UNTIL_CLOSE_OR_MISSED 4 
X: 36.267 Y: 0.0919517 T: -0.00551248 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 36.267 observed y: 0.0919517 observed theta: -0.00551248 predicted x: 36.267 predicted y: 0.0919517 predicted theta: -0.00551248
X: 36.267 Y: 0.0919517 T: -0.00551248 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 36.3734 observed y: 0.0913654 observed theta: -0.00551248 predicted x: 37.417 predicted y: 0.0856123 predicted theta: -0.00551248
X: 36.6181 Y: 0.0900167 T: -0.00551248 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 2.12708 RVr: 2.12708 DIFFA: 0 TA: 0 
observed x: 36.8839 observed y: 0.088551 observed theta: -0.00551248 predicted x: 37.768 predicted y: 0.0836774 predicted theta: -0.00551248
X: 37.0912 Y: 0.0874085 T: -0.00551247 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 5.31771 RVr: 5.31771 DIFFA: 0 TA: 0 
observed x: 37.4103 observed y: 0.0856497 observed theta: -0.00551248 predicted x: 38.2412 predicted y: 0.0810692 predicted theta: -0.00551248
X: 37.6051 Y: 0.0845759 T: -0.00551248 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 6.38125 RVr: 6.38125 DIFFA: 0 TA: 0 
observed x: 38.0836 observed y: 0.0819377 observed theta: -0.00551248 predicted x: 38.755 predicted y: 0.0782366 predicted theta: -0.00551248
X: 38.241 Y: 0.08107 T: -0.00551247 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 9.57187 RVr: 9.57187 DIFFA: 0 TA: 0 
observed x: 38.7994 observed y: 0.0779921 observed theta: -0.00228953 predicted x: 39.391 predicted y: 0.0747307 predicted theta: -0.00551248
X: 38.9381 Y: 0.077267 T: -0.00320817 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 10.6354 RVr: 11.699 DIFFA: 0 TA: 0 
observed x: 39.5762 observed y: 0.0752198 observed theta: -0.00320816 predicted x: 40.0881 predicted y: 0.0735776 predicted theta: -0.00320816
X: 39.6962 Y: 0.0748344 T: -0.00320739 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 12.7625 RVr: 12.7625 DIFFA: 0 TA: 0 
observed x: 40.3875 observed y: 0.0726171 observed theta: 0.0032382 predicted x: 40.8462 predicted y: 0.0711459 predicted theta: -0.00320745
X: 40.4951 Y: 0.0723511 T: 0.00140099 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 12.7625 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 41.3459 observed y: 0.0735431 observed theta: 0.00140095 predicted x: 41.6451 predicted y: 0.0739622 predicted theta: 0.00140095
X: 41.416 Y: 0.0736409 T: 0.00140185 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 17.0167 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 42.2137 observed y: 0.0747591 observed theta: 0.00784755 predicted x: 42.566 predicted y: 0.075253 predicted theta: 0.0014019
X: 42.2963 Y: 0.0749538 T: 0.00601034 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 43.0939 observed y: 0.0797479 observed theta: 0.00601029 predicted x: 43.4463 predicted y: 0.0818656 predicted theta: 0.00601029
X: 43.1765 Y: 0.0802439 T: 0.00601135 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 15.9531 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 44.0273 observed y: 0.0853585 observed theta: 0.0124571 predicted x: 44.3265 predicted y: 0.0871569 predicted theta: 0.00601125
X: 44.0975 Y: 0.085859 T: 0.0106199 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 15.9531 RVr: 18.0802 DIFFA: 0 TA: 0 
observed x: 44.9483 observed y: 0.0948946 observed theta: 0.0106199 predicted x: 45.2474 predicted y: 0.0980716 predicted theta: 0.0106199
Stopping - HIT 4 
X: 45.0184 Y: 0.0956389 T: 0.0106208 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 17.0167 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 45.8958 observed y: 0.104958 observed theta: 0.0138435 predicted x: 45.0184 predicted y: 0.0956389 predicted theta: 0.0106208
X: 45.6901 Y: 0.102775 T: 0.0130788 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 17.0167 RVr: 18.0802 DIFFA: 0 TA: 0 
observed x: 46.3281 observed y: 0.111121 observed theta: 0.0130787 predicted x: 45.6901 predicted y: 0.102775 predicted theta: 0.0130787
X: 46.1786 Y: 0.109165 T: 0.0130787 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 12.7625 RVr: 12.7625 DIFFA: 0 TA: 0 
observed x: 46.4178 observed y: 0.112295 observed theta: 0.0163016 predicted x: 46.1786 predicted y: 0.109165 predicted theta: 0.0130787
X: 46.3617 Y: 0.111561 T: 0.015546 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 4.25417 RVr: 5.31771 DIFFA: 0 TA: 0 
observed x: 46.4149 observed y: 0.112388 observed theta: 0.0155461 predicted x: 46.3617 predicted y: 0.111561 predicted theta: 0.0155461
X: 46.4024 Y: 0.112194 T: 0.0155461 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 1.06354 RVr: 1.06354 DIFFA: 0 TA: 0 
observed x: 46.429 observed y: 0.112607 observed theta: 0.018769 predicted x: 46.4024 predicted y: 0.112194 predicted theta: 0.0155461
X: 46.4228 Y: 0.112511 T: 0.0180135 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 1.06354 DIFFA: 0 TA: 0 
observed x: 46.4228 observed y: 0.112511 observed theta: 0.0180135 predicted x: 46.4228 predicted y: 0.112511 predicted theta: 0.0180135
X: 46.4228 Y: 0.112511 T: 0.0180135 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 46.4228 observed y: 0.112511 observed theta: 0.0180135 predicted x: 46.4228 predicted y: 0.112511 predicted theta: 0.0180135
X: 46.4228 Y: 0.112511 T: 0.0180135 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 46.4228 observed y: 0.112511 observed theta: 0.0180135 predicted x: 46.4228 predicted y: 0.112511 predicted theta: 0.0180135
X: 46.4228 Y: 0.112511 T: 0.0180135 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 46.4228 observed y: 0.112511 observed theta: 0.0180135 predicted x: 46.4228 predicted y: 0.112511 predicted theta: 0.0180135
X: 46.4228 Y: 0.112511 T: 0.0180135 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 46.4228 observed y: 0.112511 observed theta: 0.0180135 predicted x: 46.4228 predicted y: 0.112511 predicted theta: 0.0180135
X: 46.4228 Y: 0.112511 T: 0.0180135 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 46.4228 observed y: 0.112511 observed theta: 0.0180135 predicted x: 46.4228 predicted y: 0.112511 predicted theta: 0.0180135
X: 46.4228 Y: 0.112511 T: 0.0180135 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 46.4228 observed y: 0.112511 observed theta: 0.0180135 predicted x: 46.4228 predicted y: 0.112511 predicted theta: 0.0180135
X: 46.4228 Y: 0.112511 T: 0.0180135 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 46.4228 observed y: 0.112511 observed theta: 0.0180135 predicted x: 46.4228 predicted y: 0.112511 predicted theta: 0.0180135
X: 46.4228 Y: 0.112511 T: 0.0180135 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 46.4228 observed y: 0.112511 observed theta: 0.0180135 predicted x: 46.4228 predicted y: 0.112511 predicted theta: 0.0180135
X: 46.4228 Y: 0.112511 T: 0.0180135 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 46.4228 observed y: 0.112511 observed theta: 0.0180135 predicted x: 46.4228 predicted y: 0.112511 predicted theta: 0.0180135
X: 46.4228 Y: 0.112511 T: 0.0180135 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 46.4228 observed y: 0.112511 observed theta: 0.0180135 predicted x: 46.4228 predicted y: 0.112511 predicted theta: 0.0180135
X: 46.4228 Y: 0.112511 T: 0.0180135 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 46.4228 observed y: 0.112511 observed theta: 0.0180135 predicted x: 46.4228 predicted y: 0.112511 predicted theta: 0.0180135
X: 46.4228 Y: 0.112511 T: 0.0180135 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 46.3696 observed y: 0.111553 observed theta: 0.0373507 predicted x: 46.4228 predicted y: 0.112511 predicted theta: 0.127104
X: 46.3821 Y: 0.111777 T: 0.0583921 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -4.25417 RVr: 2.12708 DIFFA: 0 TA: 0 
observed x: 46.329 observed y: 0.108674 observed theta: 0.0841749 predicted x: 46.3821 predicted y: 0.111777 predicted theta: 0.167483
X: 46.3414 Y: 0.109401 T: 0.103705 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -5.31771 RVr: 3.19062 DIFFA: 0 TA: 0 
observed x: 46.2886 observed y: 0.103897 observed theta: 0.135934 predicted x: 46.3414 predicted y: 0.109401 predicted theta: 0.212796
X: 46.301 Y: 0.105187 T: 0.153953 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -6.38125 RVr: 4.25417 DIFFA: 0 TA: 0 
observed x: 46.2747 observed y: 0.10111 observed theta: 0.19585 predicted x: 46.301 predicted y: 0.105187 predicted theta: 0.263044
X: 46.2808 Y: 0.102066 T: 0.211603 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -7.44479 RVr: 6.38125 DIFFA: 0 TA: 0 
observed x: 46.3068 observed y: 0.10765 observed theta: 0.2535 predicted x: 46.2808 predicted y: 0.102066 predicted theta: 0.320694
X: 46.3007 Y: 0.106341 T: 0.269253 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -6.38125 RVr: 7.44479 DIFFA: 0 TA: 0 
observed x: 46.3007 observed y: 0.106341 observed theta: 0.320818 predicted x: 46.3007 predicted y: 0.106341 predicted theta: 0.378344
X: 46.3007 Y: 0.106341 T: 0.334304 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -8.50833 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 46.2756 observed y: 0.0976169 observed theta: 0.389093 predicted x: 46.3007 predicted y: 0.106341 predicted theta: 0.443395
X: 46.2815 Y: 0.0996621 T: 0.401823 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -9.57187 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 46.2815 observed y: 0.0996621 observed theta: 0.453389 predicted x: 46.2815 predicted y: 0.0996621 predicted theta: 0.510914
X: 46.2815 Y: 0.0996621 T: 0.466875 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -8.50833 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 46.2578 observed y: 0.0876946 observed theta: 0.521663 predicted x: 46.2815 predicted y: 0.0996621 predicted theta: 0.575966
X: 46.2633 Y: 0.0905002 T: 0.534394 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -9.57187 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 46.2405 observed y: 0.0769582 observed theta: 0.589182 predicted x: 46.2633 predicted y: 0.0905002 predicted theta: 0.643485
X: 46.2458 Y: 0.0801329 T: 0.601913 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -9.57187 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 46.202 observed y: 0.050023 observed theta: 0.653478 predicted x: 46.2458 predicted y: 0.0801329 predicted theta: 0.711004
X: 46.2123 Y: 0.0570818 T: 0.666964 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -9.57187 RVr: 7.44479 DIFFA: 0 TA: 0 
observed x: 46.2123 observed y: 0.0570818 observed theta: 0.71853 predicted x: 46.2123 predicted y: 0.0570818 predicted theta: 0.776055
X: 46.2123 Y: 0.0570818 T: 0.732016 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -8.50833 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 46.2123 observed y: 0.0570818 observed theta: 0.790027 predicted x: 46.2123 predicted y: 0.0570818 predicted theta: 0.841107
X: 46.2123 Y: 0.0570818 T: 0.802002 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -9.57187 RVr: 9.57187 DIFFA: 0 TA: 0 
observed x: 46.1938 observed y: 0.0379713 observed theta: 0.856791 predicted x: 46.2123 predicted y: 0.0570818 predicted theta: 0.911093
X: 46.1981 Y: 0.0424515 T: 0.869521 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -9.57187 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 46.181 observed y: 0.0221373 observed theta: 0.924309 predicted x: 46.1981 predicted y: 0.0424515 predicted theta: 0.978612
X: 46.185 Y: 0.0268997 T: 0.93704 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -9.57187 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 46.1692 observed y: 0.00547444 observed theta: 0.991828 predicted x: 46.185 predicted y: 0.0268997 predicted theta: 1.04613
X: 46.1729 Y: 0.0104973 T: 1.00456 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -9.57187 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 46.1444 observed y: -0.0343802 observed theta: 1.06257 predicted x: 46.1729 predicted y: 0.0104973 predicted theta: 1.11365
X: 46.1511 Y: -0.0238593 T: 1.07455 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -10.6354 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 46.1637 observed y: -0.000478064 observed theta: 1.12933 predicted x: 46.1511 predicted y: -0.0238593 predicted theta: 1.18364
X: 46.1608 Y: -0.00595946 T: 1.14206 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -8.50833 RVr: 9.57187 DIFFA: 0 TA: 0 
observed x: 46.1497 observed y: -0.0301416 observed theta: 1.19685 predicted x: 46.1608 predicted y: -0.00595946 predicted theta: 1.25115
GOTO_STOP_TO_RUN 5 
X: 46.1523 Y: -0.0244724 T: 1.20958 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -9.57187 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 46.1335 observed y: -0.0742179 observed theta: 1.26115 predicted x: 46.1523 predicted y: -0.0244724 predicted theta: 1.20958
X: 46.1379 Y: -0.0625558 T: 1.24906 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -9.57187 RVr: 7.44479 DIFFA: 0 TA: 0 
observed x: 46.1295 observed y: -0.08778 observed theta: 1.27162 predicted x: 46.1379 predicted y: -0.0625558 predicted theta: 1.24906
X: 46.1315 Y: -0.0818665 T: 1.26633 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -4.25417 RVr: 3.19062 DIFFA: 0 TA: 0 
observed x: 46.1395 observed y: -0.0565009 observed theta: 1.26955 predicted x: 46.1315 predicted y: -0.0818665 predicted theta: 1.26633
GOTO_RUN_UNTIL_CLOSE_OR_MISSED 5 
X: 46.1376 Y: -0.0624475 T: 1.2688 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -0 RVr: 1.06354 DIFFA: 0 TA: 0 
observed x: 46.1455 observed y: -0.0370622 observed theta: 1.27202 predicted x: 46.1376 predicted y: -0.0624475 predicted theta: 1.2688
X: 46.1436 Y: -0.0430134 T: 1.27127 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 0 RVr: 1.06354 DIFFA: 0 TA: 0 
observed x: 46.1436 observed y: -0.0430134 observed theta: 1.27127 predicted x: 46.483 predicted y: 1.05578 predicted theta: 1.27127
X: 46.2232 Y: 0.214583 T: 1.27127 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 46.3252 observed y: 0.544844 observed theta: 1.26804 predicted x: 46.5625 predicted y: 1.31338 predicted theta: 1.27127
X: 46.3809 Y: 0.725004 T: 1.26896 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 7.44479 RVr: 6.38125 DIFFA: 0 TA: 0 
observed x: 46.5073 observed y: 1.13119 observed theta: 1.26896 predicted x: 46.7227 predicted y: 1.82302 predicted theta: 1.26896
X: 46.5578 Y: 1.29338 T: 1.26896 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 8.50833 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 46.708 observed y: 1.77572 observed theta: 1.27218 predicted x: 46.8997 predicted y: 2.39139 predicted theta: 1.26896
X: 46.7529 Y: 1.92007 T: 1.27126 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 9.57187 RVr: 10.6354 DIFFA: 0 TA: 0 
observed x: 46.9177 observed y: 2.45356 observed theta: 1.27449 predicted x: 47.0922 predicted y: 3.01886 predicted theta: 1.27126
X: 46.9586 Y: 2.5861 T: 1.27357 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 10.6354 RVr: 11.699 DIFFA: 0 TA: 0 
observed x: 47.1454 observed y: 3.19625 observed theta: 1.27357 predicted x: 47.2954 predicted y: 3.68568 predicted theta: 1.27357
X: 47.1806 Y: 3.31099 T: 1.27357 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 12.7625 RVr: 12.7625 DIFFA: 0 TA: 0 
observed x: 47.3753 observed y: 3.94655 observed theta: 1.27679 predicted x: 47.5174 predicted y: 4.41056 predicted theta: 1.27357
X: 47.4085 Y: 4.05535 T: 1.27587 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 12.7625 RVr: 13.826 DIFFA: 0 TA: 0 
observed x: 47.6249 observed y: 4.76768 observed theta: 1.27587 predicted x: 47.7428 predicted y: 5.15569 predicted theta: 1.27587
X: 47.6526 Y: 4.85864 T: 1.27587 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 47.8612 observed y: 5.54554 observed theta: 1.2791 predicted x: 47.9868 predicted y: 5.95899 predicted theta: 1.27587
Stopping - HIT 5 
X: 47.8906 Y: 5.64248 T: 1.27818 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 13.826 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 48.0977 observed y: 6.32985 observed theta: 1.2814 predicted x: 47.8906 predicted y: 5.64248 predicted theta: 1.27818
X: 48.0492 Y: 6.16872 T: 1.28064 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 13.826 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 48.1633 observed y: 6.55087 observed theta: 1.28386 predicted x: 48.0492 predicted y: 6.16872 predicted theta: 1.28064
X: 48.1365 Y: 6.46128 T: 1.28311 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 7.44479 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 48.2195 observed y: 6.74174 observed theta: 1.28633 predicted x: 48.1365 predicted y: 6.46128 predicted theta: 1.2831
X: 48.2 Y: 6.67599 T: 1.28557 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 5.31771 RVr: 6.38125 DIFFA: 0 TA: 0 
observed x: 48.23 observed y: 6.77805 observed theta: 1.28557 predicted x: 48.2 predicted y: 6.67599 predicted theta: 1.28557
X: 48.223 Y: 6.75412 T: 1.28557 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 2.12708 RVr: 2.12708 DIFFA: 0 TA: 0 
observed x: 48.2304 observed y: 6.77963 observed theta: 1.28879 predicted x: 48.223 predicted y: 6.75412 predicted theta: 1.28557
X: 48.2287 Y: 6.77365 T: 1.28804 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 1.06354 DIFFA: 0 TA: 0 
observed x: 48.2287 observed y: 6.77365 observed theta: 1.28804 predicted x: 48.2287 predicted y: 6.77365 predicted theta: 1.28804
X: 48.2287 Y: 6.77365 T: 1.28804 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 48.2287 observed y: 6.77365 observed theta: 1.28804 predicted x: 48.2287 predicted y: 6.77365 predicted theta: 1.28804
X: 48.2287 Y: 6.77365 T: 1.28804 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 48.2287 observed y: 6.77365 observed theta: 1.28804 predicted x: 48.2287 predicted y: 6.77365 predicted theta: 1.28804
X: 48.2287 Y: 6.77365 T: 1.28804 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 48.2287 observed y: 6.77365 observed theta: 1.28804 predicted x: 48.2287 predicted y: 6.77365 predicted theta: 1.28804
X: 48.2287 Y: 6.77365 T: 1.28804 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 48.2287 observed y: 6.77365 observed theta: 1.28804 predicted x: 48.2287 predicted y: 6.77365 predicted theta: 1.28804
X: 48.2287 Y: 6.77365 T: 1.28804 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 48.2287 observed y: 6.77365 observed theta: 1.28804 predicted x: 48.2287 predicted y: 6.77365 predicted theta: 1.28804
X: 48.2287 Y: 6.77365 T: 1.28804 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 48.2287 observed y: 6.77365 observed theta: 1.28804 predicted x: 48.2287 predicted y: 6.77365 predicted theta: 1.28804
X: 48.2287 Y: 6.77365 T: 1.28804 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 48.2287 observed y: 6.77365 observed theta: 1.28804 predicted x: 48.2287 predicted y: 6.77365 predicted theta: 1.28804
X: 48.2287 Y: 6.77365 T: 1.28804 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 48.2287 observed y: 6.77365 observed theta: 1.28804 predicted x: 48.2287 predicted y: 6.77365 predicted theta: 1.28804
X: 48.2287 Y: 6.77365 T: 1.28804 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 48.2287 observed y: 6.77365 observed theta: 1.28804 predicted x: 48.2287 predicted y: 6.77365 predicted theta: 1.28804
X: 48.2287 Y: 6.77365 T: 1.28804 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 48.2287 observed y: 6.77365 observed theta: 1.28804 predicted x: 48.2287 predicted y: 6.77365 predicted theta: 1.28804
X: 48.2287 Y: 6.77365 T: 1.28804 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 48.2287 observed y: 6.77365 observed theta: 1.28804 predicted x: 48.2287 predicted y: 6.77365 predicted theta: 1.28804
X: 48.2287 Y: 6.77365 T: 1.28804 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 48.2287 observed y: 6.77365 observed theta: 1.28804 predicted x: 48.2287 predicted y: 6.77365 predicted theta: 1.39713
X: 48.2287 Y: 6.77365 T: 1.31361 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 48.2287 observed y: 6.77365 observed theta: 1.34584 predicted x: 48.2287 predicted y: 6.77365 predicted theta: 1.4227
X: 48.2287 Y: 6.77365 T: 1.36386 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -5.31771 RVr: 5.31771 DIFFA: 0 TA: 0 
observed x: 48.2287 observed y: 6.77365 observed theta: 1.40254 predicted x: 48.2287 predicted y: 6.77365 predicted theta: 1.47295
GOTO_STOP_TO_RUN 6 
X: 48.2287 Y: 6.77365 T: 1.41904 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -6.38125 RVr: 6.38125 DIFFA: 0 TA: 0 
observed x: 48.2206 observed y: 6.72109 observed theta: 1.45772 predicted x: 48.2287 predicted y: 6.77365 predicted theta: 1.41904
X: 48.2225 Y: 6.73341 T: 1.44865 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -7.44479 RVr: 5.31771 DIFFA: 0 TA: 0 
observed x: 48.2225 observed y: 6.73341 observed theta: 1.46799 predicted x: 48.2225 predicted y: 6.73341 predicted theta: 1.44865
X: 48.2225 Y: 6.73341 T: 1.46346 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -3.19062 RVr: 3.19062 DIFFA: 0 TA: 0 
observed x: 48.2254 observed y: 6.75984 observed theta: 1.46668 predicted x: 48.2225 predicted y: 6.73341 predicted theta: 1.46346
GOTO_RUN_UNTIL_CLOSE_OR_MISSED 6 
X: 48.2247 Y: 6.75365 T: 1.46592 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -0 RVr: 1.06354 DIFFA: 0 TA: 0 
observed x: 48.2247 observed y: 6.75365 observed theta: 1.46592 predicted x: 48.2247 predicted y: 6.75365 predicted theta: 1.46592
X: 48.2247 Y: 6.75365 T: 1.46592 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 48.2442 observed y: 6.93874 observed theta: 1.46915 predicted x: 48.3451 predicted y: 7.89733 predicted theta: 1.46592
X: 48.2678 Y: 7.16348 T: 1.46823 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 3.19062 RVr: 4.25417 DIFFA: 0 TA: 0 
observed x: 48.3032 observed y: 7.50731 observed theta: 1.47145 predicted x: 48.3856 predicted y: 8.30743 predicted theta: 1.46823
X: 48.3225 Y: 7.69489 T: 1.47053 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 6.38125 RVr: 7.44479 DIFFA: 0 TA: 0 
observed x: 48.3704 observed y: 8.17108 observed theta: 1.47698 predicted x: 48.4376 predicted y: 8.83912 predicted theta: 1.47053
X: 48.3861 Y: 8.3277 T: 1.47514 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 8.50833 RVr: 10.6354 DIFFA: 0 TA: 0 
observed x: 48.4394 observed y: 8.88351 observed theta: 1.47836 predicted x: 48.4959 predicted y: 9.47244 predicted theta: 1.47514
X: 48.4526 Y: 9.02158 T: 1.47745 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 10.6354 RVr: 11.699 DIFFA: 0 TA: 0 
observed x: 48.5096 observed y: 9.63045 observed theta: 1.48067 predicted x: 48.5598 predicted y: 10.1666 predicted theta: 1.47745
X: 48.5213 Y: 9.75614 T: 1.47975 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 11.699 RVr: 12.7625 DIFFA: 0 TA: 0 
observed x: 48.5842 observed y: 10.4446 observed theta: 1.4862 predicted x: 48.6259 predicted y: 10.9014 predicted theta: 1.47975
X: 48.5939 Y: 10.5517 T: 1.48436 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 12.7625 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 48.6535 observed y: 11.2404 observed theta: 1.48436 predicted x: 48.6931 predicted y: 11.6974 predicted theta: 1.48436
X: 48.6628 Y: 11.3475 T: 1.48436 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 13.826 RVr: 13.826 DIFFA: 0 TA: 0 
observed x: 48.7248 observed y: 12.0627 observed theta: 1.48759 predicted x: 48.7621 predicted y: 12.4932 predicted theta: 1.48436
X: 48.7335 Y: 12.1637 T: 1.48667 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 13.826 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 48.7961 observed y: 12.9055 observed theta: 1.48667 predicted x: 48.8301 predicted y: 13.3096 predicted theta: 1.48667
X: 48.8041 Y: 13.0002 T: 1.48667 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 48.8711 observed y: 13.7951 observed theta: 1.48667 predicted x: 48.9007 predicted y: 14.1462 predicted theta: 1.48667
X: 48.878 Y: 13.8774 T: 1.48667 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 15.9531 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 48.945 observed y: 14.6722 observed theta: 1.48667 predicted x: 48.9747 predicted y: 15.0233 predicted theta: 1.48667
X: 48.952 Y: 14.7545 T: 1.48667 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 15.9531 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 49.0212 observed y: 15.5759 observed theta: 1.48989 predicted x: 49.0486 predicted y: 15.9005 predicted theta: 1.48667
Stopping - HIT 6 
X: 49.0276 Y: 15.652 T: 1.48897 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 15.9531 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 49.0928 observed y: 16.447 observed theta: 1.48897 predicted x: 49.0276 predicted y: 15.652 predicted theta: 1.48897
X: 49.0775 Y: 16.2606 T: 1.48897 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 15.9531 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 49.1231 observed y: 16.8171 observed theta: 1.4922 predicted x: 49.0775 predicted y: 16.2606 predicted theta: 1.48897
X: 49.1124 Y: 16.6866 T: 1.49144 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 10.6354 RVr: 11.699 DIFFA: 0 TA: 0 
observed x: 49.1251 observed y: 16.8456 observed theta: 1.49144 predicted x: 49.1124 predicted y: 16.6866 predicted theta: 1.49144
X: 49.1221 Y: 16.8084 T: 1.49144 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 3.19062 RVr: 3.19062 DIFFA: 0 TA: 0 
observed x: 49.1263 observed y: 16.8614 observed theta: 1.49789 predicted x: 49.1221 predicted y: 16.8084 predicted theta: 1.49144
X: 49.1254 Y: 16.8489 T: 1.49638 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 2.12708 DIFFA: 0 TA: 0 
observed x: 49.1254 observed y: 16.8489 observed theta: 1.49638 predicted x: 49.1254 predicted y: 16.8489 predicted theta: 1.49638
X: 49.1254 Y: 16.8489 T: 1.49638 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.1254 observed y: 16.8489 observed theta: 1.49638 predicted x: 49.1254 predicted y: 16.8489 predicted theta: 1.49638
X: 49.1254 Y: 16.8489 T: 1.49638 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.1254 observed y: 16.8489 observed theta: 1.49638 predicted x: 49.1254 predicted y: 16.8489 predicted theta: 1.49638
X: 49.1254 Y: 16.8489 T: 1.49638 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.1254 observed y: 16.8489 observed theta: 1.49638 predicted x: 49.1254 predicted y: 16.8489 predicted theta: 1.49638
X: 49.1254 Y: 16.8489 T: 1.49638 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.1254 observed y: 16.8489 observed theta: 1.49638 predicted x: 49.1254 predicted y: 16.8489 predicted theta: 1.49638
X: 49.1254 Y: 16.8489 T: 1.49638 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.1254 observed y: 16.8489 observed theta: 1.49638 predicted x: 49.1254 predicted y: 16.8489 predicted theta: 1.49638
X: 49.1254 Y: 16.8489 T: 1.49638 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.1254 observed y: 16.8489 observed theta: 1.49638 predicted x: 49.1254 predicted y: 16.8489 predicted theta: 1.49638
X: 49.1254 Y: 16.8489 T: 1.49638 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.1254 observed y: 16.8489 observed theta: 1.49638 predicted x: 49.1254 predicted y: 16.8489 predicted theta: 1.49638
X: 49.1254 Y: 16.8489 T: 1.49638 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.1254 observed y: 16.8489 observed theta: 1.49638 predicted x: 49.1254 predicted y: 16.8489 predicted theta: 1.49638
X: 49.1254 Y: 16.8489 T: 1.49638 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.1254 observed y: 16.8489 observed theta: 1.49638 predicted x: 49.1254 predicted y: 16.8489 predicted theta: 1.49638
X: 49.1254 Y: 16.8489 T: 1.49638 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.1254 observed y: 16.8489 observed theta: 1.49638 predicted x: 49.1254 predicted y: 16.8489 predicted theta: 1.49638
X: 49.1254 Y: 16.8489 T: 1.49638 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.1254 observed y: 16.8489 observed theta: 1.49638 predicted x: 49.1254 predicted y: 16.8489 predicted theta: 1.49638
GOTO_STOP_TO_RUN 7 
X: 49.1254 Y: 16.8489 T: 1.49638 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.1254 observed y: 16.8489 observed theta: 1.49638 predicted x: 49.1254 predicted y: 16.8489 predicted theta: 1.49638
GOTO_RUN_UNTIL_CLOSE_OR_MISSED 7 
X: 49.1254 Y: 16.8489 T: 1.49638 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.1254 observed y: 16.8489 observed theta: 1.49638 predicted x: 49.1254 predicted y: 16.8489 predicted theta: 1.49638
X: 49.1254 Y: 16.8489 T: 1.49638 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.1254 observed y: 16.8489 observed theta: 1.49638 predicted x: 49.2109 predicted y: 17.9958 predicted theta: 1.49638
X: 49.1454 Y: 17.1178 T: 1.49638 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.1592 observed y: 17.3034 observed theta: 1.49315 predicted x: 49.2309 predicted y: 18.2646 predicted theta: 1.49638
X: 49.1761 Y: 17.5287 T: 1.49407 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 4.25417 RVr: 3.19062 DIFFA: 0 TA: 0 
observed x: 49.2067 observed y: 17.9264 observed theta: 1.49729 predicted x: 49.2642 predicted y: 18.6754 predicted theta: 1.49407
X: 49.2201 Y: 18.102 T: 1.49638 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 7.44479 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 49.2577 observed y: 18.6058 observed theta: 1.4996 predicted x: 49.3056 predicted y: 19.2488 predicted theta: 1.49638
X: 49.2689 Y: 18.7565 T: 1.49868 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 9.57187 RVr: 10.6354 DIFFA: 0 TA: 0 
observed x: 49.3149 observed y: 19.393 observed theta: 1.49868 predicted x: 49.3517 predicted y: 19.9035 predicted theta: 1.49868
X: 49.3235 Y: 19.5127 T: 1.49868 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 12.7625 RVr: 12.7625 DIFFA: 0 TA: 0 
observed x: 49.3714 observed y: 20.1757 observed theta: 1.5019 predicted x: 49.4064 predicted y: 20.6597 predicted theta: 1.49868
X: 49.3796 Y: 20.2891 T: 1.50099 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 12.7625 RVr: 13.826 DIFFA: 0 TA: 0 
observed x: 49.4296 observed y: 21.0053 observed theta: 1.50421 predicted x: 49.4598 predicted y: 21.4363 predicted theta: 1.50099
X: 49.4367 Y: 21.1063 T: 1.50329 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 13.826 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 49.4851 observed y: 21.8226 observed theta: 1.50651 predicted x: 49.5142 predicted y: 22.2537 predicted theta: 1.50329
X: 49.4919 Y: 21.9237 T: 1.50559 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 13.826 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 49.5421 observed y: 22.6931 observed theta: 1.50882 predicted x: 49.5668 predicted y: 23.0712 predicted theta: 1.50559
X: 49.5479 Y: 22.7817 T: 1.5079 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 49.5963 observed y: 23.5513 observed theta: 1.51112 predicted x: 49.6202 predicted y: 23.9295 predicted theta: 1.5079
X: 49.6019 Y: 23.64 T: 1.5102 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 49.6502 observed y: 24.4361 observed theta: 1.51665 predicted x: 49.6715 predicted y: 24.7878 predicted theta: 1.5102
X: 49.6551 Y: 24.5186 T: 1.51481 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 49.6997 observed y: 25.315 observed theta: 1.51481 predicted x: 49.7194 predicted y: 25.6668 predicted theta: 1.51481
Stopping - HIT 7 
X: 49.7044 Y: 25.3975 T: 1.51481 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 15.9531 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 49.749 observed y: 26.1939 observed theta: 1.52126 predicted x: 49.7044 predicted y: 25.3975 predicted theta: 1.51481
X: 49.7385 Y: 26.0072 T: 1.51973 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 14.8896 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 49.7616 observed y: 26.4586 observed theta: 1.52295 predicted x: 49.7385 predicted y: 26.0072 predicted theta: 1.51973
X: 49.7562 Y: 26.3528 T: 1.5222 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 8.50833 RVr: 9.57187 DIFFA: 0 TA: 0 
observed x: 49.7639 observed y: 26.5121 observed theta: 1.52864 predicted x: 49.7562 predicted y: 26.3528 predicted theta: 1.5222
X: 49.7621 Y: 26.4748 T: 1.52713 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 2.12708 RVr: 4.25417 DIFFA: 0 TA: 0 
observed x: 49.7621 observed y: 26.4748 observed theta: 1.52713 predicted x: 49.7621 predicted y: 26.4748 predicted theta: 1.52713
X: 49.7621 Y: 26.4748 T: 1.52713 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.7621 observed y: 26.4748 observed theta: 1.52713 predicted x: 49.7621 predicted y: 26.4748 predicted theta: 1.52713
X: 49.7621 Y: 26.4748 T: 1.52713 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.7621 observed y: 26.4748 observed theta: 1.52713 predicted x: 49.7621 predicted y: 26.4748 predicted theta: 1.52713
X: 49.7621 Y: 26.4748 T: 1.52713 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.7621 observed y: 26.4748 observed theta: 1.52713 predicted x: 49.7621 predicted y: 26.4748 predicted theta: 1.52713
X: 49.7621 Y: 26.4748 T: 1.52713 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.7621 observed y: 26.4748 observed theta: 1.52713 predicted x: 49.7621 predicted y: 26.4748 predicted theta: 1.52713
X: 49.7621 Y: 26.4748 T: 1.52713 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.7621 observed y: 26.4748 observed theta: 1.52713 predicted x: 49.7621 predicted y: 26.4748 predicted theta: 1.52713
X: 49.7621 Y: 26.4748 T: 1.52713 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.7621 observed y: 26.4748 observed theta: 1.52713 predicted x: 49.7621 predicted y: 26.4748 predicted theta: 1.52713
X: 49.7621 Y: 26.4748 T: 1.52713 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.7621 observed y: 26.4748 observed theta: 1.52713 predicted x: 49.7621 predicted y: 26.4748 predicted theta: 1.52713
X: 49.7621 Y: 26.4748 T: 1.52713 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.7621 observed y: 26.4748 observed theta: 1.52713 predicted x: 49.7621 predicted y: 26.4748 predicted theta: 1.52713
X: 49.7621 Y: 26.4748 T: 1.52713 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.7621 observed y: 26.4748 observed theta: 1.52713 predicted x: 49.7621 predicted y: 26.4748 predicted theta: 1.52713
X: 49.7621 Y: 26.4748 T: 1.52713 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.7621 observed y: 26.4748 observed theta: 1.52713 predicted x: 49.7621 predicted y: 26.4748 predicted theta: 1.52713
X: 49.7621 Y: 26.4748 T: 1.52713 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.7621 observed y: 26.4748 observed theta: 1.52713 predicted x: 49.7621 predicted y: 26.4748 predicted theta: 1.52713
X: 49.7621 Y: 26.4748 T: 1.52713 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.7621 observed y: 26.4748 observed theta: 1.52713 predicted x: 49.7621 predicted y: 26.4748 predicted theta: 1.52713
GOTO_STOP_TO_RUN 8 
X: 49.7621 Y: 26.4748 T: 1.52713 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.7621 observed y: 26.4748 observed theta: 1.52713 predicted x: 49.7621 predicted y: 26.4748 predicted theta: 1.52713
GOTO_RUN_UNTIL_CLOSE_OR_MISSED 8 
X: 49.7621 Y: 26.4748 T: 1.52713 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.7621 observed y: 26.4748 observed theta: 1.52713 predicted x: 49.7621 predicted y: 26.4748 predicted theta: 1.52713
X: 49.7621 Y: 26.4748 T: 1.52713 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 49.7702 observed y: 26.6607 observed theta: 1.53035 predicted x: 49.8123 predicted y: 27.6237 predicted theta: 1.52713
X: 49.7801 Y: 26.8865 T: 1.52944 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 3.19062 RVr: 4.25417 DIFFA: 0 TA: 0 
observed x: 49.7933 observed y: 27.2052 observed theta: 1.52944 predicted x: 49.8276 predicted y: 28.0355 predicted theta: 1.52944
X: 49.8013 Y: 27.3999 T: 1.52944 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 6.38125 RVr: 6.38125 DIFFA: 0 TA: 0 
observed x: 49.82 observed y: 27.8515 observed theta: 1.53266 predicted x: 49.8489 predicted y: 28.5489 predicted theta: 1.52944
X: 49.8267 Y: 28.015 T: 1.53174 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 8.50833 RVr: 9.57187 DIFFA: 0 TA: 0 
observed x: 49.8465 observed y: 28.5198 observed theta: 1.53496 predicted x: 49.8716 predicted y: 29.1641 predicted theta: 1.53174
X: 49.8523 Y: 28.6708 T: 1.53405 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 9.57187 RVr: 10.6354 DIFFA: 0 TA: 0 
observed x: 49.8738 observed y: 29.2554 observed theta: 1.53405 predicted x: 49.8946 predicted y: 29.8201 predicted theta: 1.53405
X: 49.8787 Y: 29.3878 T: 1.53405 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 11.699 RVr: 11.699 DIFFA: 0 TA: 0 
observed x: 49.9021 observed y: 30.0255 observed theta: 1.53405 predicted x: 49.9209 predicted y: 30.537 predicted theta: 1.53405
X: 49.9065 Y: 30.1454 T: 1.53405 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 12.7625 RVr: 12.7625 DIFFA: 0 TA: 0 
observed x: 49.9329 observed y: 30.8628 observed theta: 1.53727 predicted x: 49.9488 predicted y: 31.2946 predicted theta: 1.53405
X: 49.9366 Y: 30.964 T: 1.53635 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 13.826 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 49.9622 observed y: 31.7081 observed theta: 1.53635 predicted x: 49.9762 predicted y: 32.1133 predicted theta: 1.53635
X: 49.9655 Y: 31.8031 T: 1.53635 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 49.9921 observed y: 32.5737 observed theta: 1.53957 predicted x: 50.0051 predicted y: 32.9524 predicted theta: 1.53635
X: 49.9951 Y: 32.6625 T: 1.53866 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 50.0216 observed y: 33.4863 observed theta: 1.54188 predicted x: 50.032 predicted y: 33.8119 predicted theta: 1.53866
X: 50.024 Y: 33.5626 T: 1.54096 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 15.9531 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 50.0478 observed y: 34.3599 observed theta: 1.54096 predicted x: 50.0583 predicted y: 34.7121 predicted theta: 1.54096
X: 50.0502 Y: 34.4425 T: 1.54096 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 15.9531 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 50.0756 observed y: 35.2929 observed theta: 1.54096 predicted x: 50.0845 predicted y: 35.592 predicted theta: 1.54096
Stopping - HIT 8 
X: 50.0777 Y: 35.363 T: 1.54096 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 17.0167 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 50.1023 observed y: 36.1869 observed theta: 1.53774 predicted x: 50.0777 predicted y: 35.363 predicted theta: 1.54096
X: 50.0965 Y: 35.9938 T: 1.5385 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 17.0167 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 50.1163 observed y: 36.605 observed theta: 1.53528 predicted x: 50.0965 predicted y: 35.9938 predicted theta: 1.5385
X: 50.1116 Y: 36.4617 T: 1.53604 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 12.7625 RVr: 11.699 DIFFA: 0 TA: 0 
observed x: 50.12 observed y: 36.7009 observed theta: 1.53926 predicted x: 50.1116 predicted y: 36.4617 predicted theta: 1.53604
X: 50.118 Y: 36.6448 T: 1.5385 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 4.25417 RVr: 5.31771 DIFFA: 0 TA: 0 
observed x: 50.1189 observed y: 36.6714 observed theta: 1.54173 predicted x: 50.118 predicted y: 36.6448 predicted theta: 1.5385
X: 50.1187 Y: 36.6651 T: 1.54097 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 1.06354 DIFFA: 0 TA: 0 
observed x: 50.1187 observed y: 36.6651 observed theta: 1.54097 predicted x: 50.1187 predicted y: 36.6651 predicted theta: 1.54097
X: 50.1187 Y: 36.6651 T: 1.54097 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.1187 observed y: 36.6651 observed theta: 1.54097 predicted x: 50.1187 predicted y: 36.6651 predicted theta: 1.54097
X: 50.1187 Y: 36.6651 T: 1.54097 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.1187 observed y: 36.6651 observed theta: 1.54097 predicted x: 50.1187 predicted y: 36.6651 predicted theta: 1.54097
X: 50.1187 Y: 36.6651 T: 1.54097 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.1187 observed y: 36.6651 observed theta: 1.54097 predicted x: 50.1187 predicted y: 36.6651 predicted theta: 1.54097
X: 50.1187 Y: 36.6651 T: 1.54097 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.1187 observed y: 36.6651 observed theta: 1.54097 predicted x: 50.1187 predicted y: 36.6651 predicted theta: 1.54097
X: 50.1187 Y: 36.6651 T: 1.54097 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.1187 observed y: 36.6651 observed theta: 1.54097 predicted x: 50.1187 predicted y: 36.6651 predicted theta: 1.54097
X: 50.1187 Y: 36.6651 T: 1.54097 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.1187 observed y: 36.6651 observed theta: 1.54097 predicted x: 50.1187 predicted y: 36.6651 predicted theta: 1.54097
X: 50.1187 Y: 36.6651 T: 1.54097 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.1187 observed y: 36.6651 observed theta: 1.54097 predicted x: 50.1187 predicted y: 36.6651 predicted theta: 1.54097
X: 50.1187 Y: 36.6651 T: 1.54097 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.1187 observed y: 36.6651 observed theta: 1.54097 predicted x: 50.1187 predicted y: 36.6651 predicted theta: 1.54097
X: 50.1187 Y: 36.6651 T: 1.54097 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.1187 observed y: 36.6651 observed theta: 1.54097 predicted x: 50.1187 predicted y: 36.6651 predicted theta: 1.54097
X: 50.1187 Y: 36.6651 T: 1.54097 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.1187 observed y: 36.6651 observed theta: 1.54097 predicted x: 50.1187 predicted y: 36.6651 predicted theta: 1.54097
X: 50.1187 Y: 36.6651 T: 1.54097 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.1187 observed y: 36.6651 observed theta: 1.54097 predicted x: 50.1187 predicted y: 36.6651 predicted theta: 1.54097
GOTO_STOP_TO_RUN 9 
X: 50.1187 Y: 36.6651 T: 1.54097 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.1187 observed y: 36.6651 observed theta: 1.54097 predicted x: 50.1187 predicted y: 36.6651 predicted theta: 1.54097
GOTO_RUN_UNTIL_CLOSE_OR_MISSED 9 
X: 50.1187 Y: 36.6651 T: 1.54097 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.1187 observed y: 36.6651 observed theta: 1.54097 predicted x: 50.1187 predicted y: 36.6651 predicted theta: 1.54097
X: 50.1187 Y: 36.6651 T: 1.54097 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.1211 observed y: 36.7449 observed theta: 1.53775 predicted x: 50.153 predicted y: 37.8146 predicted theta: 1.54097
X: 50.1286 Y: 36.9957 T: 1.53867 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 2.12708 RVr: 1.06354 DIFFA: 0 TA: 0 
observed x: 50.1346 observed y: 37.1817 observed theta: 1.54189 predicted x: 50.1655 predicted y: 38.1451 predicted theta: 1.53867
X: 50.1418 Y: 37.4075 T: 1.54097 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 3.19062 RVr: 4.25417 DIFFA: 0 TA: 0 
observed x: 50.1513 observed y: 37.7265 observed theta: 1.54741 predicted x: 50.1761 predicted y: 38.557 predicted theta: 1.54097
X: 50.157 Y: 37.9212 T: 1.54558 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 5.31771 RVr: 7.44479 DIFFA: 0 TA: 0 
observed x: 50.1684 observed y: 38.373 observed theta: 1.5488 predicted x: 50.186 predicted y: 39.0708 predicted theta: 1.54558
X: 50.1725 Y: 38.5366 T: 1.54789 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 8.50833 RVr: 9.57187 DIFFA: 0 TA: 0 
observed x: 50.1853 observed y: 39.0948 observed theta: 1.55111 predicted x: 50.1988 predicted y: 39.6863 predicted theta: 1.54789
X: 50.1884 Y: 39.2335 T: 1.55019 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 10.6354 RVr: 11.699 DIFFA: 0 TA: 0 
observed x: 50.2027 observed y: 39.9246 observed theta: 1.55019 predicted x: 50.2121 predicted y: 40.3833 predicted theta: 1.55019
X: 50.2049 Y: 40.0322 T: 1.55019 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 13.826 RVr: 13.826 DIFFA: 0 TA: 0 
observed x: 50.2197 observed y: 40.7499 observed theta: 1.55341 predicted x: 50.2286 predicted y: 41.1819 predicted theta: 1.55019
X: 50.2217 Y: 40.8512 T: 1.5525 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 13.826 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 50.2354 observed y: 41.5955 observed theta: 1.5525 predicted x: 50.2428 predicted y: 42.001 predicted theta: 1.5525
X: 50.2371 Y: 41.6906 T: 1.5525 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 50.2517 observed y: 42.4881 observed theta: 1.5525 predicted x: 50.2581 predicted y: 42.8404 predicted theta: 1.5525
X: 50.2532 Y: 42.5707 T: 1.5525 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 15.9531 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 50.2673 observed y: 43.3416 observed theta: 1.55572 predicted x: 50.2742 predicted y: 43.7205 predicted theta: 1.5525
X: 50.2689 Y: 43.4305 T: 1.5548 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 50.2821 observed y: 44.2546 observed theta: 1.55802 predicted x: 50.2873 predicted y: 44.5803 predicted theta: 1.5548
X: 50.2833 Y: 44.331 T: 1.5571 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 15.9531 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 50.2949 observed y: 45.1817 observed theta: 1.5571 predicted x: 50.299 predicted y: 45.4808 predicted theta: 1.5571
Stopping - HIT 9 
X: 50.2959 Y: 45.2518 T: 1.55711 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 17.0167 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 50.3053 observed y: 45.9431 observed theta: 1.56355 predicted x: 50.2959 predicted y: 45.2518 predicted theta: 1.55711
X: 50.3031 Y: 45.781 T: 1.56202 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 12.7625 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 50.3071 observed y: 46.233 observed theta: 1.5588 predicted x: 50.3031 predicted y: 45.781 predicted theta: 1.56202
X: 50.3061 Y: 46.1271 T: 1.55955 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 9.57187 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 50.3091 observed y: 46.3929 observed theta: 1.55956 predicted x: 50.3061 predicted y: 46.1271 predicted theta: 1.55956
X: 50.3084 Y: 46.3306 T: 1.55956 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 5.31771 RVr: 5.31771 DIFFA: 0 TA: 0 
observed x: 50.3099 observed y: 46.4635 observed theta: 1.56278 predicted x: 50.3084 predicted y: 46.3306 predicted theta: 1.55956
X: 50.3096 Y: 46.4324 T: 1.56202 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 2.12708 RVr: 3.19062 DIFFA: 0 TA: 0 
observed x: 50.3098 observed y: 46.459 observed theta: 1.56525 predicted x: 50.3096 predicted y: 46.4324 predicted theta: 1.56202
X: 50.3098 Y: 46.4527 T: 1.56449 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 1.06354 DIFFA: 0 TA: 0 
observed x: 50.3098 observed y: 46.4527 observed theta: 1.56449 predicted x: 50.3098 predicted y: 46.4527 predicted theta: 1.56449
X: 50.3098 Y: 46.4527 T: 1.56449 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3098 observed y: 46.4527 observed theta: 1.56449 predicted x: 50.3098 predicted y: 46.4527 predicted theta: 1.56449
X: 50.3098 Y: 46.4527 T: 1.56449 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3098 observed y: 46.4527 observed theta: 1.56449 predicted x: 50.3098 predicted y: 46.4527 predicted theta: 1.56449
X: 50.3098 Y: 46.4527 T: 1.56449 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3098 observed y: 46.4527 observed theta: 1.56449 predicted x: 50.3098 predicted y: 46.4527 predicted theta: 1.56449
X: 50.3098 Y: 46.4527 T: 1.56449 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3098 observed y: 46.4527 observed theta: 1.56449 predicted x: 50.3098 predicted y: 46.4527 predicted theta: 1.56449
X: 50.3098 Y: 46.4527 T: 1.56449 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3098 observed y: 46.4527 observed theta: 1.56449 predicted x: 50.3098 predicted y: 46.4527 predicted theta: 1.56449
X: 50.3098 Y: 46.4527 T: 1.56449 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3098 observed y: 46.4527 observed theta: 1.56449 predicted x: 50.3098 predicted y: 46.4527 predicted theta: 1.56449
X: 50.3098 Y: 46.4527 T: 1.56449 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3098 observed y: 46.4527 observed theta: 1.56449 predicted x: 50.3098 predicted y: 46.4527 predicted theta: 1.56449
X: 50.3098 Y: 46.4527 T: 1.56449 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3098 observed y: 46.4527 observed theta: 1.56449 predicted x: 50.3098 predicted y: 46.4527 predicted theta: 1.56449
X: 50.3098 Y: 46.4527 T: 1.56449 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3098 observed y: 46.4527 observed theta: 1.56449 predicted x: 50.3098 predicted y: 46.4527 predicted theta: 1.56449
X: 50.3098 Y: 46.4527 T: 1.56449 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3098 observed y: 46.4527 observed theta: 1.56449 predicted x: 50.3098 predicted y: 46.4527 predicted theta: 1.56449
X: 50.3098 Y: 46.4527 T: 1.56449 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3098 observed y: 46.4527 observed theta: 1.56449 predicted x: 50.3098 predicted y: 46.4527 predicted theta: 1.56449
X: 50.3098 Y: 46.4527 T: 1.56449 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3098 observed y: 46.4527 observed theta: 1.57094 predicted x: 50.3098 predicted y: 46.4527 predicted theta: 1.67358
X: 50.3098 Y: 46.4527 T: 1.595 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -1.06354 RVr: 1.06354 DIFFA: 0 TA: 0 
observed x: 50.3104 observed y: 46.4261 observed theta: 1.61756 predicted x: 50.3098 predicted y: 46.4527 predicted theta: 1.70409
GOTO_STOP_TO_RUN 10 
X: 50.3103 Y: 46.4324 T: 1.63784 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -4.25417 RVr: 3.19062 DIFFA: 0 TA: 0 
observed x: 50.3138 observed y: 46.3793 observed theta: 1.65718 predicted x: 50.3103 predicted y: 46.4324 predicted theta: 1.63785
X: 50.313 Y: 46.3918 T: 1.65265 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -4.25417 RVr: 2.12708 DIFFA: 0 TA: 0 
observed x: 50.3108 observed y: 46.4183 observed theta: 1.65587 predicted x: 50.313 predicted y: 46.3918 predicted theta: 1.65265
GOTO_RUN_UNTIL_CLOSE_OR_MISSED 10 
X: 50.3113 Y: 46.412 T: 1.65512 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -0 RVr: 1.06354 DIFFA: 0 TA: 0 
observed x: 50.3113 observed y: 46.412 observed theta: 1.65512 predicted x: 50.3113 predicted y: 46.412 predicted theta: 1.65512
Stopping - HIT 10 
X: 50.3113 Y: 46.412 T: 1.65512 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3113 observed y: 46.412 observed theta: 1.65512 predicted x: 50.3113 predicted y: 46.412 predicted theta: 1.65512
X: 50.3113 Y: 46.412 T: 1.65512 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3113 observed y: 46.412 observed theta: 1.65512 predicted x: 50.3113 predicted y: 46.412 predicted theta: 1.65512
X: 50.3113 Y: 46.412 T: 1.65512 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3113 observed y: 46.412 observed theta: 1.65512 predicted x: 50.3113 predicted y: 46.412 predicted theta: 1.65512
X: 50.3113 Y: 46.412 T: 1.65512 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3113 observed y: 46.412 observed theta: 1.65512 predicted x: 50.3113 predicted y: 46.412 predicted theta: 1.65512
X: 50.3113 Y: 46.412 T: 1.65512 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3113 observed y: 46.412 observed theta: 1.65512 predicted x: 50.3113 predicted y: 46.412 predicted theta: 1.65512
X: 50.3113 Y: 46.412 T: 1.65512 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3113 observed y: 46.412 observed theta: 1.65512 predicted x: 50.3113 predicted y: 46.412 predicted theta: 1.65512
X: 50.3113 Y: 46.412 T: 1.65512 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3113 observed y: 46.412 observed theta: 1.65512 predicted x: 50.3113 predicted y: 46.412 predicted theta: 1.65512
X: 50.3113 Y: 46.412 T: 1.65512 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3113 observed y: 46.412 observed theta: 1.65512 predicted x: 50.3113 predicted y: 46.412 predicted theta: 1.65512
X: 50.3113 Y: 46.412 T: 1.65512 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3113 observed y: 46.412 observed theta: 1.65512 predicted x: 50.3113 predicted y: 46.412 predicted theta: 1.65512
X: 50.3113 Y: 46.412 T: 1.65512 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3113 observed y: 46.412 observed theta: 1.65512 predicted x: 50.3113 predicted y: 46.412 predicted theta: 1.65512
X: 50.3113 Y: 46.412 T: 1.65512 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3113 observed y: 46.412 observed theta: 1.65512 predicted x: 50.3113 predicted y: 46.412 predicted theta: 1.65512
X: 50.3113 Y: 46.412 T: 1.65512 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3113 observed y: 46.412 observed theta: 1.65512 predicted x: 50.3113 predicted y: 46.412 predicted theta: 1.65512
X: 50.3113 Y: 46.412 T: 1.65512 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3113 observed y: 46.412 observed theta: 1.65512 predicted x: 50.3113 predicted y: 46.412 predicted theta: 1.65512
X: 50.3113 Y: 46.412 T: 1.65512 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3158 observed y: 46.359 observed theta: 1.66801 predicted x: 50.3113 predicted y: 46.412 predicted theta: 1.76421
X: 50.3147 Y: 46.3715 T: 1.69056 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -3.19062 RVr: 1.06354 DIFFA: 0 TA: 0 
observed x: 50.3179 observed y: 46.3451 observed theta: 1.71957 predicted x: 50.3147 predicted y: 46.3715 predicted theta: 1.79965
X: 50.3172 Y: 46.3513 T: 1.73834 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -5.31771 RVr: 4.25417 DIFFA: 0 TA: 0 
observed x: 50.3172 observed y: 46.3513 observed theta: 1.77701 predicted x: 50.3172 predicted y: 46.3513 predicted theta: 1.84743
X: 50.3172 Y: 46.3513 T: 1.79352 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -6.38125 RVr: 6.38125 DIFFA: 0 TA: 0 
observed x: 50.3172 observed y: 46.3513 observed theta: 1.8322 predicted x: 50.3172 predicted y: 46.3513 predicted theta: 1.90261
X: 50.3172 Y: 46.3513 T: 1.84871 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -6.38125 RVr: 6.38125 DIFFA: 0 TA: 0 
observed x: 50.3245 observed y: 46.3257 observed theta: 1.89705 predicted x: 50.3172 predicted y: 46.3513 predicted theta: 1.9578
X: 50.3228 Y: 46.3317 T: 1.91129 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -8.50833 RVr: 7.44479 DIFFA: 0 TA: 0 
observed x: 50.3139 observed y: 46.3567 observed theta: 1.95963 predicted x: 50.3228 predicted y: 46.3317 predicted theta: 2.02038
X: 50.316 Y: 46.3509 T: 1.97387 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -7.44479 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 50.316 observed y: 46.3509 observed theta: 2.02544 predicted x: 50.316 predicted y: 46.3509 predicted theta: 2.08296
X: 50.316 Y: 46.3509 T: 2.03893 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -8.50833 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 50.34 observed y: 46.3034 observed theta: 2.09049 predicted x: 50.316 predicted y: 46.3509 predicted theta: 2.14802
X: 50.3343 Y: 46.3145 T: 2.10398 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -9.57187 RVr: 7.44479 DIFFA: 0 TA: 0 
observed x: 50.3343 observed y: 46.3145 observed theta: 2.16199 predicted x: 50.3343 predicted y: 46.3145 predicted theta: 2.21307
X: 50.3343 Y: 46.3145 T: 2.17396 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -9.57187 RVr: 9.57187 DIFFA: 0 TA: 0 
observed x: 50.3343 observed y: 46.3145 observed theta: 2.22553 predicted x: 50.3343 predicted y: 46.3145 predicted theta: 2.28305
X: 50.3343 Y: 46.3145 T: 2.23901 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -8.50833 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 50.3508 observed y: 46.2937 observed theta: 2.2938 predicted x: 50.3343 predicted y: 46.3145 predicted theta: 2.34811
X: 50.3469 Y: 46.2986 T: 2.30653 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -9.57187 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 50.3469 observed y: 46.2986 observed theta: 2.36454 predicted x: 50.3469 predicted y: 46.2986 predicted theta: 2.41562
X: 50.3469 Y: 46.2986 T: 2.37652 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -9.57187 RVr: 9.57187 DIFFA: 0 TA: 0 
observed x: 50.3853 observed y: 46.2617 observed theta: 2.43453 predicted x: 50.3469 predicted y: 46.2986 predicted theta: 2.48561
X: 50.3763 Y: 46.2704 T: 2.44651 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -10.6354 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 50.3967 observed y: 46.2533 observed theta: 2.50129 predicted x: 50.3763 predicted y: 46.2704 predicted theta: 2.5556
X: 50.3919 Y: 46.2573 T: 2.51402 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -9.57187 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 50.4135 observed y: 46.2417 observed theta: 2.56881 predicted x: 50.3919 predicted y: 46.2573 predicted theta: 2.62312
X: 50.4084 Y: 46.2454 T: 2.58154 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -9.57187 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 50.4084 observed y: 46.2454 observed theta: 2.63955 predicted x: 50.4084 predicted y: 46.2454 predicted theta: 2.69063
X: 50.4084 Y: 46.2454 T: 2.65153 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -9.57187 RVr: 9.57187 DIFFA: 0 TA: 0 
observed x: 50.4319 observed y: 46.2329 observed theta: 2.70632 predicted x: 50.4084 predicted y: 46.2454 predicted theta: 2.76062
X: 50.4264 Y: 46.2358 T: 2.71905 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -9.57187 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 50.4264 observed y: 46.2358 observed theta: 2.77061 predicted x: 50.4264 predicted y: 46.2358 predicted theta: 2.82814
GOTO_STOP_TO_RUN 11 
X: 50.4264 Y: 46.2358 T: 2.7841 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -8.50833 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 50.4264 observed y: 46.2358 observed theta: 2.82277 predicted x: 50.4264 predicted y: 46.2358 predicted theta: 2.7841
X: 50.4264 Y: 46.2358 T: 2.81371 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -6.38125 RVr: 6.38125 DIFFA: 0 TA: 0 
observed x: 50.4264 observed y: 46.2358 observed theta: 2.8266 predicted x: 50.4264 predicted y: 46.2358 predicted theta: 2.81371
X: 50.4264 Y: 46.2358 T: 2.82358 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -2.12708 RVr: 2.12708 DIFFA: 0 TA: 0 
observed x: 50.4011 observed y: 46.2441 observed theta: 2.83325 predicted x: 50.4264 predicted y: 46.2358 predicted theta: 2.82358
X: 50.407 Y: 46.2422 T: 2.83098 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -1.06354 RVr: 2.12708 DIFFA: 0 TA: 0 
observed x: 50.407 observed y: 46.2422 observed theta: 2.83098 predicted x: 50.407 predicted y: 46.2422 predicted theta: 2.83098
GOTO_RUN_UNTIL_CLOSE_OR_MISSED 11 
X: 50.407 Y: 46.2422 T: 2.83098 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.407 observed y: 46.2422 observed theta: 2.83098 predicted x: 50.407 predicted y: 46.2422 predicted theta: 2.83098
X: 50.407 Y: 46.2422 T: 2.83098 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 50.3817 observed y: 46.2503 observed theta: 2.8342 predicted x: 49.3121 predicted y: 46.5937 predicted theta: 2.83098
X: 50.131 Y: 46.3307 T: 2.83328 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 0 RVr: 1.06354 DIFFA: 0 TA: 0 
observed x: 49.7763 observed y: 46.4437 observed theta: 2.83328 predicted x: 49.0352 predicted y: 46.6797 predicted theta: 2.83328
X: 49.6025 Y: 46.499 T: 2.83328 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 7.44479 RVr: 7.44479 DIFFA: 0 TA: 0 
observed x: 49.1718 observed y: 46.6362 observed theta: 2.83006 predicted x: 48.5068 predicted y: 46.848 predicted theta: 2.83328
X: 49.0159 Y: 46.6859 T: 2.83098 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 9.57187 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 48.5349 observed y: 46.8403 observed theta: 2.8342 predicted x: 47.921 predicted y: 47.0374 predicted theta: 2.83098
X: 48.391 Y: 46.8865 T: 2.83328 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 9.57187 RVr: 10.6354 DIFFA: 0 TA: 0 
observed x: 47.8083 observed y: 47.072 observed theta: 2.83651 predicted x: 47.2952 predicted y: 47.2354 predicted theta: 2.83328
X: 47.688 Y: 47.1103 T: 2.83559 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 11.699 RVr: 12.7625 DIFFA: 0 TA: 0 
observed x: 47.0288 observed y: 47.3186 observed theta: 2.83559 predicted x: 46.5914 predicted y: 47.4567 predicted theta: 2.83559
X: 46.9263 Y: 47.3509 T: 2.83559 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 13.826 RVr: 13.826 DIFFA: 0 TA: 0 
observed x: 46.2417 observed y: 47.5672 observed theta: 2.83881 predicted x: 45.8297 predicted y: 47.6974 predicted theta: 2.83559
X: 46.1451 Y: 47.5977 T: 2.83789 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 13.826 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 45.4093 observed y: 47.8283 observed theta: 2.84112 predicted x: 45.0477 predicted y: 47.9416 predicted theta: 2.83789
X: 45.3245 Y: 47.8548 T: 2.8402 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 44.5628 observed y: 48.0916 observed theta: 2.8402 predicted x: 44.2264 predicted y: 48.1962 predicted theta: 2.8402
Stopping - HIT 11 
X: 44.484 Y: 48.1161 T: 2.8402 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 15.9531 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 43.8492 observed y: 48.3134 observed theta: 2.84342 predicted x: 44.484 predicted y: 48.1161 predicted theta: 2.8402
X: 43.998 Y: 48.2672 T: 2.84266 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 12.7625 RVr: 13.826 DIFFA: 0 TA: 0 
observed x: 43.6169 observed y: 48.3846 observed theta: 2.84588 predicted x: 43.998 predicted y: 48.2672 predicted theta: 2.84266
X: 43.7062 Y: 48.3571 T: 2.84512 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 7.44479 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 43.4519 observed y: 48.4348 observed theta: 2.85157 predicted x: 43.7062 predicted y: 48.3571 predicted theta: 2.84512
X: 43.5116 Y: 48.4166 T: 2.85006 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 4.25417 RVr: 6.38125 DIFFA: 0 TA: 0 
observed x: 43.4606 observed y: 48.4319 observed theta: 2.85006 predicted x: 43.5116 predicted y: 48.4166 predicted theta: 2.85006
X: 43.4726 Y: 48.4283 T: 2.85006 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 1.06354 RVr: 1.06354 DIFFA: 0 TA: 0 
observed x: 43.4726 observed y: 48.4283 observed theta: 2.85006 predicted x: 43.4726 predicted y: 48.4283 predicted theta: 2.85006
X: 43.4726 Y: 48.4283 T: 2.85006 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 43.4726 observed y: 48.4283 observed theta: 2.85006 predicted x: 43.4726 predicted y: 48.4283 predicted theta: 2.85006
X: 43.4726 Y: 48.4283 T: 2.85006 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 43.4726 observed y: 48.4283 observed theta: 2.85006 predicted x: 43.4726 predicted y: 48.4283 predicted theta: 2.85006
X: 43.4726 Y: 48.4283 T: 2.85006 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 43.4726 observed y: 48.4283 observed theta: 2.85006 predicted x: 43.4726 predicted y: 48.4283 predicted theta: 2.85006
X: 43.4726 Y: 48.4283 T: 2.85006 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 43.4726 observed y: 48.4283 observed theta: 2.85006 predicted x: 43.4726 predicted y: 48.4283 predicted theta: 2.85006
X: 43.4726 Y: 48.4283 T: 2.85006 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 43.4726 observed y: 48.4283 observed theta: 2.85006 predicted x: 43.4726 predicted y: 48.4283 predicted theta: 2.85006
X: 43.4726 Y: 48.4283 T: 2.85006 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 43.4726 observed y: 48.4283 observed theta: 2.85006 predicted x: 43.4726 predicted y: 48.4283 predicted theta: 2.85006
X: 43.4726 Y: 48.4283 T: 2.85006 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 43.4726 observed y: 48.4283 observed theta: 2.85006 predicted x: 43.4726 predicted y: 48.4283 predicted theta: 2.85006
X: 43.4726 Y: 48.4283 T: 2.85006 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 43.4726 observed y: 48.4283 observed theta: 2.85006 predicted x: 43.4726 predicted y: 48.4283 predicted theta: 2.85006
X: 43.4726 Y: 48.4283 T: 2.85006 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 43.4726 observed y: 48.4283 observed theta: 2.85006 predicted x: 43.4726 predicted y: 48.4283 predicted theta: 2.85006
X: 43.4726 Y: 48.4283 T: 2.85006 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 43.4726 observed y: 48.4283 observed theta: 2.85006 predicted x: 43.4726 predicted y: 48.4283 predicted theta: 2.85006
X: 43.4726 Y: 48.4283 T: 2.85006 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 43.4726 observed y: 48.4283 observed theta: 2.85006 predicted x: 43.4726 predicted y: 48.4283 predicted theta: 2.85006
X: 43.4726 Y: 48.4283 T: 2.85006 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 43.4726 observed y: 48.4283 observed theta: 2.85006 predicted x: 43.4726 predicted y: 48.4283 predicted theta: 2.85006
X: 43.4726 Y: 48.4283 T: 2.85006 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 43.498 observed y: 48.4206 observed theta: 2.85973 predicted x: 43.4726 predicted y: 48.4283 predicted theta: 2.95915
X: 43.4921 Y: 48.4224 T: 2.88304 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -2.12708 RVr: 1.06354 DIFFA: 0 TA: 0 
observed x: 43.5435 observed y: 48.4088 observed theta: 2.90882 predicted x: 43.4921 predicted y: 48.4224 predicted theta: 2.99213
X: 43.5314 Y: 48.412 T: 2.92835 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -5.31771 RVr: 3.19062 DIFFA: 0 TA: 0 
observed x: 43.5574 observed y: 48.4064 observed theta: 2.9638 predicted x: 43.5314 predicted y: 48.412 predicted theta: 3.03744
GOTO_STOP_TO_RUN 12 
X: 43.5513 Y: 48.4077 T: 2.98106 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -6.38125 RVr: 5.31771 DIFFA: 0 TA: 0 
observed x: 43.4988 observed y: 48.4162 observed theta: 3.01974 predicted x: 43.5513 predicted y: 48.4077 predicted theta: 2.98106
X: 43.5111 Y: 48.4142 T: 3.01067 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -5.31771 RVr: 7.44479 DIFFA: 0 TA: 0 
observed x: 43.5111 observed y: 48.4142 observed theta: 3.01067 predicted x: 43.5111 predicted y: 48.4142 predicted theta: 3.01067
GOTO_RUN_UNTIL_CLOSE_OR_MISSED 12 
X: 43.5111 Y: 48.4142 T: 3.01067 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 43.5111 observed y: 48.4142 observed theta: 3.01067 predicted x: 43.5111 predicted y: 48.4142 predicted theta: 3.01067
X: 43.5111 Y: 48.4142 T: 3.01067 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 43.4057 observed y: 48.4281 observed theta: 3.00423 predicted x: 42.371 predicted y: 48.5644 predicted theta: 3.01067
X: 43.1631 Y: 48.4601 T: 3.00606 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 3.19062 RVr: 1.06354 DIFFA: 0 TA: 0 
observed x: 42.8997 observed y: 48.4961 observed theta: 3.00606 predicted x: 42.0237 predicted y: 48.6155 predicted theta: 3.00606
X: 42.6943 Y: 48.5241 T: 3.00606 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 5.31771 RVr: 5.31771 DIFFA: 0 TA: 0 
observed x: 42.2991 observed y: 48.5779 observed theta: 3.00928 predicted x: 41.5548 predicted y: 48.6794 predicted theta: 3.00606
X: 42.1246 Y: 48.6017 T: 3.00837 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 7.44479 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 41.6503 observed y: 48.6653 observed theta: 3.00837 predicted x: 40.9848 predicted y: 48.7545 predicted theta: 3.00837
X: 41.4943 Y: 48.6862 T: 3.00837 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 9.57187 RVr: 9.57187 DIFFA: 0 TA: 0 
observed x: 40.9145 observed y: 48.7639 observed theta: 3.01481 predicted x: 40.3545 predicted y: 48.8389 predicted theta: 3.00837
X: 40.7832 Y: 48.7814 T: 3.01297 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 10.6354 RVr: 12.7625 DIFFA: 0 TA: 0 
observed x: 40.124 observed y: 48.8667 observed theta: 3.0162 predicted x: 39.6427 predicted y: 48.9289 predicted theta: 3.01297
X: 40.0111 Y: 48.8812 T: 3.01528 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 12.7625 RVr: 13.826 DIFFA: 0 TA: 0 
observed x: 39.299 observed y: 48.9716 observed theta: 3.0185 predicted x: 38.8703 predicted y: 49.0261 predicted theta: 3.01528
X: 39.1985 Y: 48.9844 T: 3.01759 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 13.826 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 38.4597 observed y: 49.0765 observed theta: 3.01758 predicted x: 38.0573 predicted y: 49.1266 predicted theta: 3.01758
X: 38.3654 Y: 49.0882 T: 3.01759 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 37.6002 observed y: 49.1836 observed theta: 3.02081 predicted x: 37.2242 predicted y: 49.2305 predicted theta: 3.01759
X: 37.5121 Y: 49.1945 T: 3.01989 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 36.7203 observed y: 49.2914 observed theta: 3.01989 predicted x: 36.3706 predicted y: 49.3341 predicted theta: 3.01989
X: 36.6383 Y: 49.3014 T: 3.01989 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 15.9531 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 35.8202 observed y: 49.4015 observed theta: 3.02311 predicted x: 35.4968 predicted y: 49.441 predicted theta: 3.01989
X: 35.7444 Y: 49.4107 T: 3.02219 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 15.9531 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 34.9524 observed y: 49.5057 observed theta: 3.02219 predicted x: 34.6026 predicted y: 49.5477 predicted theta: 3.02219
Stopping - HIT 12 
X: 34.8704 Y: 49.5155 T: 3.0222 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 15.9531 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 34.2104 observed y: 49.5947 observed theta: 3.01897 predicted x: 34.8704 predicted y: 49.5155 predicted theta: 3.0222
X: 34.3651 Y: 49.5762 T: 3.01974 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 13.826 RVr: 12.7625 DIFFA: 0 TA: 0 
observed x: 33.9429 observed y: 49.6279 observed theta: 3.01974 predicted x: 34.3651 predicted y: 49.5762 predicted theta: 3.01974
X: 34.0418 Y: 49.6158 T: 3.01974 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 8.50833 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 33.7779 observed y: 49.6481 observed theta: 3.01974 predicted x: 34.0418 predicted y: 49.6158 predicted theta: 3.01974
X: 33.8398 Y: 49.6405 T: 3.01974 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 5.31771 RVr: 5.31771 DIFFA: 0 TA: 0 
observed x: 33.7606 observed y: 49.6502 observed theta: 3.02296 predicted x: 33.8398 predicted y: 49.6405 predicted theta: 3.01974
X: 33.7792 Y: 49.6479 T: 3.0222 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 1.06354 RVr: 2.12708 DIFFA: 0 TA: 0 
observed x: 33.7792 observed y: 49.6479 observed theta: 3.0222 predicted x: 33.7792 predicted y: 49.6479 predicted theta: 3.0222
X: 33.7792 Y: 49.6479 T: 3.0222 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 33.7792 observed y: 49.6479 observed theta: 3.0222 predicted x: 33.7792 predicted y: 49.6479 predicted theta: 3.0222
X: 33.7792 Y: 49.6479 T: 3.0222 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 33.7792 observed y: 49.6479 observed theta: 3.0222 predicted x: 33.7792 predicted y: 49.6479 predicted theta: 3.0222
X: 33.7792 Y: 49.6479 T: 3.0222 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 33.7792 observed y: 49.6479 observed theta: 3.0222 predicted x: 33.7792 predicted y: 49.6479 predicted theta: 3.0222
X: 33.7792 Y: 49.6479 T: 3.0222 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 33.7792 observed y: 49.6479 observed theta: 3.0222 predicted x: 33.7792 predicted y: 49.6479 predicted theta: 3.0222
X: 33.7792 Y: 49.6479 T: 3.0222 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 33.7792 observed y: 49.6479 observed theta: 3.0222 predicted x: 33.7792 predicted y: 49.6479 predicted theta: 3.0222
X: 33.7792 Y: 49.6479 T: 3.0222 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 33.7792 observed y: 49.6479 observed theta: 3.0222 predicted x: 33.7792 predicted y: 49.6479 predicted theta: 3.0222
X: 33.7792 Y: 49.6479 T: 3.0222 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 33.7792 observed y: 49.6479 observed theta: 3.0222 predicted x: 33.7792 predicted y: 49.6479 predicted theta: 3.0222
X: 33.7792 Y: 49.6479 T: 3.0222 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 33.7792 observed y: 49.6479 observed theta: 3.0222 predicted x: 33.7792 predicted y: 49.6479 predicted theta: 3.0222
X: 33.7792 Y: 49.6479 T: 3.0222 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 33.7792 observed y: 49.6479 observed theta: 3.0222 predicted x: 33.7792 predicted y: 49.6479 predicted theta: 3.0222
X: 33.7792 Y: 49.6479 T: 3.0222 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 33.7792 observed y: 49.6479 observed theta: 3.0222 predicted x: 33.7792 predicted y: 49.6479 predicted theta: 3.0222
X: 33.7792 Y: 49.6479 T: 3.0222 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 33.7792 observed y: 49.6479 observed theta: 3.0222 predicted x: 33.7792 predicted y: 49.6479 predicted theta: 3.0222
X: 33.7792 Y: 49.6479 T: 3.0222 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 33.7792 observed y: 49.6479 observed theta: 3.0222 predicted x: 33.7792 predicted y: 49.6479 predicted theta: 3.0222
X: 33.7792 Y: 49.6479 T: 3.0222 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 33.8056 observed y: 49.6448 observed theta: 3.02543 predicted x: 33.7792 predicted y: 49.6479 predicted theta: 3.1313
X: 33.7994 Y: 49.6455 T: 3.05025 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -1.06354 RVr: 0 DIFFA: 0 TA: 0 
observed x: 33.8788 observed y: 49.6382 observed theta: 3.07925 predicted x: 33.7994 predicted y: 49.6455 predicted theta: -3.12384
X: 33.8602 Y: 49.6399 T: 1.62503 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -6.38125 RVr: 3.19062 DIFFA: 0 TA: 0 
observed x: 33.8602 observed y: 49.6399 observed theta: 1.65081 predicted x: 33.8602 predicted y: 49.6399 predicted theta: 1.73412
X: 33.8602 Y: 49.6399 T: 1.67034 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -4.25417 RVr: 4.25417 DIFFA: 0 TA: 0 
observed x: 33.8629 observed y: 49.6135 observed theta: 1.71224 predicted x: 33.8602 predicted y: 49.6399 predicted theta: 1.77943
X: 33.8622 Y: 49.6197 T: 1.72799 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -7.44479 RVr: 6.38125 DIFFA: 0 TA: 0 
observed x: 33.8581 observed y: 49.6459 observed theta: 1.77633 predicted x: 33.8622 predicted y: 49.6197 predicted theta: 1.83708
X: 33.8591 Y: 49.6398 T: 1.79057 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -7.44479 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 33.8649 observed y: 49.6138 observed theta: 1.83892 predicted x: 33.8591 predicted y: 49.6398 predicted theta: 1.89966
X: 33.8635 Y: 49.6199 T: 1.85316 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -8.50833 RVr: 7.44479 DIFFA: 0 TA: 0 
observed x: 33.8635 observed y: 49.6199 observed theta: 1.91117 predicted x: 33.8635 predicted y: 49.6199 predicted theta: 1.96225
X: 33.8635 Y: 49.6199 T: 1.92314 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -9.57187 RVr: 9.57187 DIFFA: 0 TA: 0 
observed x: 33.8635 observed y: 49.6199 observed theta: 1.97471 predicted x: 33.8635 predicted y: 49.6199 predicted theta: 2.03224
X: 33.8635 Y: 49.6199 T: 1.9882 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -8.50833 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 33.8743 observed y: 49.5956 observed theta: 2.03654 predicted x: 33.8635 predicted y: 49.6199 predicted theta: 2.09729
X: 33.8717 Y: 49.6013 T: 2.05078 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -8.50833 RVr: 7.44479 DIFFA: 0 TA: 0 
observed x: 33.8717 observed y: 49.6013 observed theta: 2.10235 predicted x: 33.8717 predicted y: 49.6013 predicted theta: 2.15987
X: 33.8717 Y: 49.6013 T: 2.11583 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -8.50833 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 33.8855 observed y: 49.5786 observed theta: 2.16417 predicted x: 33.8717 predicted y: 49.6013 predicted theta: 2.22492
X: 33.8823 Y: 49.5839 T: 2.17842 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -8.50833 RVr: 7.44479 DIFFA: 0 TA: 0 
observed x: 33.8823 observed y: 49.5839 observed theta: 2.23643 predicted x: 33.8823 predicted y: 49.5839 predicted theta: 2.28751
X: 33.8823 Y: 49.5839 T: 2.2484 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -9.57187 RVr: 9.57187 DIFFA: 0 TA: 0 
observed x: 33.899 observed y: 49.5632 observed theta: 2.30319 predicted x: 33.8823 predicted y: 49.5839 predicted theta: 2.35749
X: 33.8951 Y: 49.568 T: 2.31592 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -9.57187 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 33.9131 observed y: 49.5485 observed theta: 2.37715 predicted x: 33.8951 predicted y: 49.568 predicted theta: 2.42501
X: 33.9089 Y: 49.5531 T: 2.38837 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -10.6354 RVr: 9.57187 DIFFA: 0 TA: 0 
observed x: 33.9283 observed y: 49.5349 observed theta: 2.45605 predicted x: 33.9089 predicted y: 49.5531 predicted theta: 2.49747
X: 33.9237 Y: 49.5392 T: 2.46576 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -11.699 RVr: 10.6354 DIFFA: 0 TA: 0 
observed x: 33.9652 observed y: 49.5059 observed theta: 2.53022 predicted x: 33.9237 predicted y: 49.5392 predicted theta: 2.57485
X: 33.9555 Y: 49.5137 T: 2.54068 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -11.699 RVr: 9.57187 DIFFA: 0 TA: 0 
observed x: 33.9774 observed y: 49.4987 observed theta: 2.60836 predicted x: 33.9555 predicted y: 49.5137 predicted theta: 2.64977
X: 33.9723 Y: 49.5022 T: 2.61807 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -11.699 RVr: 10.6354 DIFFA: 0 TA: 0 
observed x: 33.9953 observed y: 49.4889 observed theta: 2.68575 predicted x: 33.9723 predicted y: 49.5022 predicted theta: 2.72716
X: 33.9899 Y: 49.492 T: 2.69546 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -11.699 RVr: 10.6354 DIFFA: 0 TA: 0 
observed x: 33.9899 observed y: 49.492 observed theta: 2.75992 predicted x: 33.9899 predicted y: 49.492 predicted theta: 2.80455
X: 33.9899 Y: 49.492 T: 2.77038 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -10.6354 RVr: 10.6354 DIFFA: 0 TA: 0 
observed x: 34.0147 observed y: 49.4824 observed theta: 2.83161 predicted x: 33.9899 predicted y: 49.492 predicted theta: 2.87947
X: 34.0089 Y: 49.4846 T: 2.84283 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -10.6354 RVr: 9.57187 DIFFA: 0 TA: 0 
observed x: 34.0597 observed y: 49.469 observed theta: 2.90729 predicted x: 34.0089 predicted y: 49.4846 predicted theta: 2.95192
X: 34.0478 Y: 49.4726 T: 2.91775 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -11.699 RVr: 9.57187 DIFFA: 0 TA: 0 
observed x: 34.0478 observed y: 49.4726 observed theta: 2.97577 predicted x: 34.0478 predicted y: 49.4726 predicted theta: 3.02685
X: 34.0478 Y: 49.4726 T: 2.98774 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -9.57187 RVr: 9.57187 DIFFA: 0 TA: 0 
observed x: 34.1003 observed y: 49.4645 observed theta: 3.04575 predicted x: 34.0478 predicted y: 49.4726 predicted theta: 3.09683
GOTO_STOP_TO_RUN 13 
X: 34.088 Y: 49.4664 T: 3.05773 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -10.6354 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 34.088 observed y: 49.4664 observed theta: 3.10929 predicted x: 34.088 predicted y: 49.4664 predicted theta: 3.05773
X: 34.088 Y: 49.4664 T: 3.0972 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -8.50833 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 34.1146 observed y: 49.4652 observed theta: 3.11976 predicted x: 34.088 predicted y: 49.4664 predicted theta: 3.0972
X: 34.1083 Y: 49.4655 T: 3.11448 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -4.25417 RVr: 3.19062 DIFFA: 0 TA: 0 
observed x: 34.1083 observed y: 49.4655 observed theta: 3.12092 predicted x: 34.1083 predicted y: 49.4655 predicted theta: 3.11448
X: 34.1083 Y: 49.4655 T: 3.11941 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -1.06354 RVr: 1.06354 DIFFA: 0 TA: 0 
observed x: 34.1083 observed y: 49.4655 observed theta: 3.11941 predicted x: 34.1083 predicted y: 49.4655 predicted theta: 3.11941
GOTO_RUN_UNTIL_CLOSE_OR_MISSED 13 
X: 34.1083 Y: 49.4655 T: 3.11941 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 34.1083 observed y: 49.4655 observed theta: 3.11941 predicted x: 34.1083 predicted y: 49.4655 predicted theta: 3.11941
X: 34.1083 Y: 49.4655 T: 3.11941 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 34.0552 observed y: 49.4667 observed theta: 3.11941 predicted x: 32.9586 predicted y: 49.491 predicted theta: 3.11941
X: 33.7981 Y: 49.4724 T: 3.11941 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 1.06354 RVr: 1.06354 DIFFA: 0 TA: 0 
observed x: 33.4791 observed y: 49.4795 observed theta: 3.11296 predicted x: 32.6484 predicted y: 49.4979 predicted theta: 3.11941
X: 33.2844 Y: 49.4839 T: 3.1148 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 7.44479 RVr: 5.31771 DIFFA: 0 TA: 0 
observed x: 32.9123 observed y: 49.4938 observed theta: 3.1148 predicted x: 32.1348 predicted y: 49.5147 predicted theta: 3.1148
X: 32.73 Y: 49.4987 T: 3.1148 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 7.44479 RVr: 7.44479 DIFFA: 0 TA: 0 
observed x: 32.225 observed y: 49.5122 observed theta: 3.11802 predicted x: 31.5804 predicted y: 49.5295 predicted theta: 3.1148
X: 32.0739 Y: 49.5163 T: 3.1171 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 9.57187 RVr: 10.6354 DIFFA: 0 TA: 0 
observed x: 31.5157 observed y: 49.5299 observed theta: 3.12033 predicted x: 30.9242 predicted y: 49.5444 predicted theta: 3.1171
X: 31.377 Y: 49.5333 T: 3.11941 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 10.6354 RVr: 11.699 DIFFA: 0 TA: 0 
observed x: 30.7125 observed y: 49.548 observed theta: 3.12263 predicted x: 30.2273 predicted y: 49.5588 predicted theta: 3.11941
X: 30.5987 Y: 49.5505 T: 3.12171 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 12.7625 RVr: 13.826 DIFFA: 0 TA: 0 
observed x: 29.9076 observed y: 49.5643 observed theta: 3.12816 predicted x: 29.449 predicted y: 49.5734 predicted theta: 3.12171
X: 29.8001 Y: 49.5663 T: 3.12632 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 12.7625 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 29.1088 observed y: 49.5769 observed theta: 3.12632 predicted x: 28.6502 predicted y: 49.5839 predicted theta: 3.12632
X: 29.0013 Y: 49.5785 T: 3.12632 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 13.826 RVr: 13.826 DIFFA: 0 TA: 0 
observed x: 28.2569 observed y: 49.5899 observed theta: 3.12632 predicted x: 27.8514 predicted y: 49.5961 predicted theta: 3.12632
X: 28.1619 Y: 49.5913 T: 3.12632 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 27.3909 observed y: 49.6031 observed theta: 3.12955 predicted x: 27.012 predicted y: 49.6089 predicted theta: 3.12632
X: 27.3021 Y: 49.6044 T: 3.12863 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 26.5576 observed y: 49.6141 observed theta: 3.12863 predicted x: 26.1522 predicted y: 49.6193 predicted theta: 3.12863
X: 26.4626 Y: 49.6153 T: 3.12863 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 25.6916 observed y: 49.6253 observed theta: 3.13185 predicted x: 25.3127 predicted y: 49.6302 predicted theta: 3.12863
X: 25.6027 Y: 49.6264 T: 3.13093 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 24.8051 observed y: 49.6349 observed theta: 3.13738 predicted x: 24.4528 predicted y: 49.6387 predicted theta: 3.13093
Stopping - HIT 13 
X: 24.7225 Y: 49.6357 T: 3.13554 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 14.8896 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 24.0312 observed y: 49.6399 observed theta: 3.13554 predicted x: 24.7225 predicted y: 49.6357 predicted theta: 3.13554
X: 24.1933 Y: 49.6389 T: 3.13554 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 13.826 RVr: 13.826 DIFFA: 0 TA: 0 
observed x: 23.7679 observed y: 49.6414 observed theta: 3.13554 predicted x: 24.1933 predicted y: 49.6389 predicted theta: 3.13554
X: 23.8676 Y: 49.6408 T: 3.13554 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 8.50833 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 23.6017 observed y: 49.6425 observed theta: 3.13554 predicted x: 23.8676 predicted y: 49.6408 predicted theta: 3.13554
X: 23.6641 Y: 49.6421 T: 3.13554 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 5.31771 RVr: 5.31771 DIFFA: 0 TA: 0 
observed x: 23.5311 observed y: 49.6429 observed theta: 3.13877 predicted x: 23.6641 predicted y: 49.6421 predicted theta: 3.13554
X: 23.5623 Y: 49.6427 T: 3.13801 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 2.12708 RVr: 3.19062 DIFFA: 0 TA: 0 
observed x: 23.5357 observed y: 49.6428 observed theta: 3.13479 predicted x: 23.5623 predicted y: 49.6427 predicted theta: 3.13801
X: 23.542 Y: 49.6428 T: 3.13555 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 1.06354 RVr: 0 DIFFA: 0 TA: 0 
observed x: 23.542 observed y: 49.6428 observed theta: 3.13554 predicted x: 23.542 predicted y: 49.6428 predicted theta: 3.13554
X: 23.542 Y: 49.6428 T: 3.13554 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 23.542 observed y: 49.6428 observed theta: 3.13554 predicted x: 23.542 predicted y: 49.6428 predicted theta: 3.13554
X: 23.542 Y: 49.6428 T: 3.13554 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 23.542 observed y: 49.6428 observed theta: 3.13554 predicted x: 23.542 predicted y: 49.6428 predicted theta: 3.13554
X: 23.542 Y: 49.6428 T: 3.13554 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 23.542 observed y: 49.6428 observed theta: 3.13554 predicted x: 23.542 predicted y: 49.6428 predicted theta: 3.13554
X: 23.542 Y: 49.6428 T: 3.13554 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 23.542 observed y: 49.6428 observed theta: 3.13554 predicted x: 23.542 predicted y: 49.6428 predicted theta: 3.13554
X: 23.542 Y: 49.6428 T: 3.13554 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 23.542 observed y: 49.6428 observed theta: 3.13554 predicted x: 23.542 predicted y: 49.6428 predicted theta: 3.13554
X: 23.542 Y: 49.6428 T: 3.13554 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 23.542 observed y: 49.6428 observed theta: 3.13554 predicted x: 23.542 predicted y: 49.6428 predicted theta: 3.13554
X: 23.542 Y: 49.6428 T: 3.13554 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 23.542 observed y: 49.6428 observed theta: 3.13554 predicted x: 23.542 predicted y: 49.6428 predicted theta: 3.13554
X: 23.542 Y: 49.6428 T: 3.13554 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 23.542 observed y: 49.6428 observed theta: 3.13554 predicted x: 23.542 predicted y: 49.6428 predicted theta: 3.13554
X: 23.542 Y: 49.6428 T: 3.13554 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 23.542 observed y: 49.6428 observed theta: 3.13554 predicted x: 23.542 predicted y: 49.6428 predicted theta: 3.13554
X: 23.542 Y: 49.6428 T: 3.13554 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 23.542 observed y: 49.6428 observed theta: 3.13554 predicted x: 23.542 predicted y: 49.6428 predicted theta: 3.13554
X: 23.542 Y: 49.6428 T: 3.13554 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 23.542 observed y: 49.6428 observed theta: 3.13554 predicted x: 23.542 predicted y: 49.6428 predicted theta: 3.13554
X: 23.542 Y: 49.6428 T: 3.13554 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 23.542 observed y: 49.6428 observed theta: 3.13554 predicted x: 23.542 predicted y: 49.6428 predicted theta: 3.13554
GOTO_STOP_TO_RUN 14 
X: 23.542 Y: 49.6428 T: 3.13554 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 23.542 observed y: 49.6428 observed theta: 3.13554 predicted x: 23.542 predicted y: 49.6428 predicted theta: 3.13554
GOTO_RUN_UNTIL_CLOSE_OR_MISSED 14 
X: 23.542 Y: 49.6428 T: 3.13554 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 23.542 observed y: 49.6428 observed theta: 3.13554 predicted x: 23.542 predicted y: 49.6428 predicted theta: 3.13554
X: 23.542 Y: 49.6428 T: 3.13554 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 23.4622 observed y: 49.6432 observed theta: 3.13232 predicted x: 22.392 predicted y: 49.6497 predicted theta: 3.13554
X: 23.2113 Y: 49.6448 T: 3.13324 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 2.12708 RVr: 1.06354 DIFFA: 0 TA: 0 
observed x: 22.9986 observed y: 49.6466 observed theta: 3.13324 predicted x: 22.0613 predicted y: 49.6544 predicted theta: 3.13324
X: 22.7789 Y: 49.6484 T: 3.13324 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 4.25417 RVr: 4.25417 DIFFA: 0 TA: 0 
observed x: 22.4332 observed y: 49.6513 observed theta: 3.13646 predicted x: 21.6289 predicted y: 49.658 predicted theta: 3.13324
X: 22.2447 Y: 49.6528 T: 3.13554 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 6.38125 RVr: 7.44479 DIFFA: 0 TA: 0 
observed x: 21.7927 observed y: 49.6556 observed theta: 3.13877 predicted x: 21.0947 predicted y: 49.6598 predicted theta: 3.13554
X: 21.629 Y: 49.6565 T: 3.13785 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 8.50833 RVr: 9.57187 DIFFA: 0 TA: 0 
observed x: 21.1239 observed y: 49.6584 observed theta: 3.13463 predicted x: 20.479 predicted y: 49.6608 predicted theta: 3.13785
X: 20.9727 Y: 49.659 T: 3.13555 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 10.6354 RVr: 9.57187 DIFFA: 0 TA: 0 
observed x: 20.308 observed y: 49.663 observed theta: 3.13877 predicted x: 19.8227 predicted y: 49.666 predicted theta: 3.13555
X: 20.1942 Y: 49.6637 T: 3.13785 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 12.7625 RVr: 13.826 DIFFA: 0 TA: 0 
observed x: 19.5295 observed y: 49.6662 observed theta: 3.14107 predicted x: 19.0442 predicted y: 49.668 predicted theta: 3.13785
X: 19.4157 Y: 49.6666 T: 3.14015 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 12.7625 RVr: 13.826 DIFFA: 0 TA: 0 
observed x: 18.6713 observed y: 49.6676 observed theta: 3.14015 predicted x: 18.2657 predicted y: 49.6682 predicted theta: 3.14015
X: 18.5762 Y: 49.6678 T: 3.14015 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 17.8051 observed y: 49.6689 observed theta: -3.1398 predicted x: 17.4262 predicted y: 49.6694 predicted theta: 3.14015
X: 17.7164 Y: 49.7459 T: -1.34982 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 17.8854 observed y: 48.9935 observed theta: -1.3466 predicted x: 17.9685 predicted y: 48.6238 predicted theta: -1.34982
Stopping - MISSED 14 
X: 17.9039 Y: 48.9111 T: -1.34757 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 14.8896 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 18.0864 observed y: 48.1073 observed theta: -1.34435 predicted x: 17.9039 predicted y: 48.9111 predicted theta: -1.34757
X: 18.0438 Y: 48.2953 T: -1.3451 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 15.9531 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 18.1628 observed y: 47.777 observed theta: -1.3451 predicted x: 18.0438 predicted y: 48.2953 predicted theta: -1.3451
X: 18.1349 Y: 47.8985 T: -1.3451 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 10.6354 RVr: 10.6354 DIFFA: 0 TA: 0 
observed x: 18.1765 observed y: 47.7171 observed theta: -1.34188 predicted x: 18.1349 predicted y: 47.8985 predicted theta: -1.3451
X: 18.1667 Y: 47.7596 T: -1.34264 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 3.19062 RVr: 4.25417 DIFFA: 0 TA: 0 
observed x: 18.1788 observed y: 47.7078 observed theta: -1.34264 predicted x: 18.1667 predicted y: 47.7596 predicted theta: -1.34264
X: 18.176 Y: 47.7199 T: -1.34264 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 1.06354 RVr: 1.06354 DIFFA: 0 TA: 0 
observed x: 18.182 observed y: 47.694 observed theta: -1.33941 predicted x: 18.176 predicted y: 47.7199 predicted theta: -1.34264
GOTO_AIM 14 
X: 18.1806 Y: 47.7001 T: -1.34017 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 1.06354 DIFFA: 0 TA: 0 
observed x: 18.1806 observed y: 47.7001 observed theta: -1.34017 predicted x: 18.1806 predicted y: 47.7001 predicted theta: -1.34017
X: 18.1806 Y: 47.7001 T: -1.34017 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 18.1866 observed y: 47.6742 observed theta: -1.34339 predicted x: 18.1806 predicted y: 47.7001 predicted theta: -1.44926
X: 18.1852 Y: 47.6803 T: -1.36821 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 1.06354 RVr: -0 DIFFA: 0 TA: 0 
observed x: 18.1692 observed y: 47.7584 observed theta: -1.39722 predicted x: 18.1852 predicted y: 47.6803 predicted theta: -1.4773
X: 18.1729 Y: 47.7401 T: -1.41599 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 3.19062 RVr: -6.38125 DIFFA: 0 TA: 0 
observed x: 18.1647 observed y: 47.7927 observed theta: -1.44822 predicted x: 18.1729 predicted y: 47.7401 predicted theta: -1.52508
X: 18.1667 Y: 47.7803 T: -1.46624 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 4.25417 RVr: -6.38125 DIFFA: 0 TA: 0 
observed x: 18.1611 observed y: 47.8332 observed theta: -1.50491 predicted x: 18.1667 predicted y: 47.7803 predicted theta: -1.57533
X: 18.1624 Y: 47.8208 T: -1.52142 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 5.31771 RVr: -7.44479 DIFFA: 0 TA: 0 
observed x: 18.1611 observed y: 47.8474 observed theta: -1.56332 predicted x: 18.1624 predicted y: 47.8208 predicted theta: -1.63051
X: 18.1614 Y: 47.8412 T: -1.57907 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 6.38125 RVr: -7.44479 DIFFA: 0 TA: 0 
observed x: 18.1618 observed y: 47.8943 observed theta: -1.62419 predicted x: 18.1614 predicted y: 47.8412 predicted theta: -1.68816
X: 18.1617 Y: 47.8819 T: -1.63919 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 6.38125 RVr: -8.50833 DIFFA: 0 TA: 0 
observed x: 18.1636 observed y: 47.9084 observed theta: -1.68753 predicted x: 18.1617 predicted y: 47.8819 predicted theta: -1.74828
X: 18.1631 Y: 47.9022 T: -1.70177 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 7.44479 RVr: -8.50833 DIFFA: 0 TA: 0 
observed x: 18.1701 observed y: 47.9549 observed theta: -1.74689 predicted x: 18.1631 predicted y: 47.9022 predicted theta: -1.81086
X: 18.1684 Y: 47.9425 T: -1.76189 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 6.38125 RVr: -8.50833 DIFFA: 0 TA: 0 
observed x: 18.1684 observed y: 47.9425 observed theta: -1.81346 predicted x: 18.1684 predicted y: 47.9425 predicted theta: -1.87098
X: 18.1684 Y: 47.9425 T: -1.82694 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 8.50833 RVr: -8.50833 DIFFA: 0 TA: 0 
observed x: 18.1819 observed y: 47.994 observed theta: -1.87851 predicted x: 18.1684 predicted y: 47.9425 predicted theta: -1.93603
X: 18.1788 Y: 47.9819 T: -1.89199 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 7.44479 RVr: -9.57187 DIFFA: 0 TA: 0 
observed x: 18.1872 observed y: 48.0072 observed theta: -1.94034 predicted x: 18.1788 predicted y: 47.9819 predicted theta: -2.00108
X: 18.1852 Y: 48.0012 T: -1.95458 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 7.44479 RVr: -8.50833 DIFFA: 0 TA: 0 
observed x: 18.1951 observed y: 48.0259 observed theta: -2.00292 predicted x: 18.1852 predicted y: 48.0012 predicted theta: -2.06367
X: 18.1928 Y: 48.0201 T: -2.01716 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 7.44479 RVr: -8.50833 DIFFA: 0 TA: 0 
observed x: 18.2158 observed y: 48.0681 observed theta: -2.06228 predicted x: 18.1928 predicted y: 48.0201 predicted theta: -2.12625
X: 18.2104 Y: 48.0568 T: -2.07728 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 6.38125 RVr: -8.50833 DIFFA: 0 TA: 0 
observed x: 18.2233 observed y: 48.0801 observed theta: -2.12562 predicted x: 18.2104 predicted y: 48.0568 predicted theta: -2.18637
X: 18.2203 Y: 48.0746 T: -2.13986 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 7.44479 RVr: -8.50833 DIFFA: 0 TA: 0 
observed x: 18.2489 observed y: 48.1194 observed theta: -2.18498 predicted x: 18.2203 predicted y: 48.0746 predicted theta: -2.24895
X: 18.2422 Y: 48.1089 T: -2.19998 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 6.38125 RVr: -8.50833 DIFFA: 0 TA: 0 
observed x: 18.2422 observed y: 48.1089 observed theta: -2.25155 predicted x: 18.2422 predicted y: 48.1089 predicted theta: -2.30907
X: 18.2422 Y: 48.1089 T: -2.26503 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 8.50833 RVr: -8.50833 DIFFA: 0 TA: 0 
observed x: 18.2762 observed y: 48.1498 observed theta: -2.31015 predicted x: 18.2422 predicted y: 48.1089 predicted theta: -2.37412
X: 18.2682 Y: 48.1402 T: -2.32515 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 6.38125 RVr: -8.50833 DIFFA: 0 TA: 0 
observed x: 18.2682 observed y: 48.1402 observed theta: -2.37027 predicted x: 18.2682 predicted y: 48.1402 predicted theta: -2.43424
X: 18.2682 Y: 48.1402 T: -2.38527 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 7.44479 RVr: -7.44479 DIFFA: 0 TA: 0 
observed x: 18.3069 observed y: 48.1767 observed theta: -2.43039 predicted x: 18.2682 predicted y: 48.1402 predicted theta: -2.49436
X: 18.2979 Y: 48.1681 T: -2.44538 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 6.38125 RVr: -8.50833 DIFFA: 0 TA: 0 
observed x: 18.3183 observed y: 48.1852 observed theta: -2.49373 predicted x: 18.2979 predicted y: 48.1681 predicted theta: -2.55447
X: 18.3135 Y: 48.1812 T: -2.50797 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 7.44479 RVr: -8.50833 DIFFA: 0 TA: 0 
observed x: 18.3349 observed y: 48.1969 observed theta: -2.55631 predicted x: 18.3135 predicted y: 48.1812 predicted theta: -2.61706
X: 18.3299 Y: 48.1933 T: -2.57055 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 7.44479 RVr: -8.50833 DIFFA: 0 TA: 0 
observed x: 18.3522 observed y: 48.2076 observed theta: -2.61889 predicted x: 18.3299 predicted y: 48.1933 predicted theta: -2.67964
X: 18.347 Y: 48.2043 T: -2.63314 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 7.44479 RVr: -8.50833 DIFFA: 0 TA: 0 
observed x: 18.3934 observed y: 48.2301 observed theta: -2.6847 predicted x: 18.347 predicted y: 48.2043 predicted theta: -2.74223
X: 18.3826 Y: 48.2241 T: -2.69819 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 7.44479 RVr: -9.57187 DIFFA: 0 TA: 0 
observed x: 18.4546 observed y: 48.2583 observed theta: -2.74653 predicted x: 18.3826 predicted y: 48.2241 predicted theta: -2.80728
X: 18.4377 Y: 48.2503 T: -2.76077 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 6.38125 RVr: -9.57187 DIFFA: 0 TA: 0 
observed x: 18.4624 observed y: 48.2602 observed theta: -2.80911 predicted x: 18.4377 predicted y: 48.2503 predicted theta: -2.86986
X: 18.4566 Y: 48.2578 T: -2.82335 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 7.44479 RVr: -8.50833 DIFFA: 0 TA: 0 
observed x: 18.4819 observed y: 48.2662 observed theta: -2.8717 predicted x: 18.4566 predicted y: 48.2578 predicted theta: -2.93245
X: 18.4759 Y: 48.2642 T: -2.88594 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 7.44479 RVr: -8.50833 DIFFA: 0 TA: 0 
observed x: 18.5017 observed y: 48.2709 observed theta: -2.93428 predicted x: 18.4759 predicted y: 48.2642 predicted theta: -2.99503
X: 18.4956 Y: 48.2694 T: -2.94852 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 7.44479 RVr: -8.50833 DIFFA: 0 TA: 0 
observed x: 18.5739 observed y: 48.2847 observed theta: -2.99687 predicted x: 18.4956 predicted y: 48.2694 predicted theta: -3.05761
X: 18.5556 Y: 48.2811 T: -3.01111 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 6.38125 RVr: -9.57187 DIFFA: 0 TA: 0 
observed x: 18.5819 observed y: 48.2845 observed theta: -3.05945 predicted x: 18.5556 predicted y: 48.2811 predicted theta: -3.1202
X: 18.5758 Y: 48.2837 T: -3.07369 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 7.44479 RVr: -8.50833 DIFFA: 0 TA: 0 
observed x: 18.6288 observed y: 48.2873 observed theta: -3.12526 predicted x: 18.5758 predicted y: 48.2837 predicted theta: -3.18278
X: 18.6164 Y: 48.2865 T: -3.13874 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 7.44479 RVr: -9.57187 DIFFA: 0 TA: 0 
observed x: 18.6695 observed y: 48.2866 observed theta: -3.18386 predicted x: 18.6164 predicted y: 48.2865 predicted theta: -3.24783
X: 18.6571 Y: 48.2866 T: -3.19886 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 6.38125 RVr: -8.50833 DIFFA: 0 TA: 0 
observed x: 18.7102 observed y: 48.2836 observed theta: -3.24398 predicted x: 18.6571 predicted y: 48.2866 predicted theta: -3.30795
X: 18.6977 Y: 48.2843 T: -3.25898 AV: 0 CVr: -18 CVl: 18 PMr: -0.398321 PMl: 0.369588 RVl: 6.38125 RVr: -8.50833 DIFFA: 0 TA: 0 
observed x: 18.7505 observed y: 48.278 observed theta: -3.31054 predicted x: 18.6977 predicted y: 48.2843 predicted theta: -3.36807
GOTO_STOP_TO_RUN 14 
X: 18.7382 Y: 48.2795 T: -3.32403 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 7.44479 RVr: -9.57187 DIFFA: 0 TA: 0 
observed x: 18.7905 observed y: 48.2699 observed theta: -3.3627 predicted x: 18.7382 predicted y: 48.2795 predicted theta: -3.32403
X: 18.7782 Y: 48.2721 T: -3.35364 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 5.31771 RVr: -7.44479 DIFFA: 0 TA: 0 
observed x: 18.8302 observed y: 48.2609 observed theta: -3.36653 predicted x: 18.7782 predicted y: 48.2721 predicted theta: -3.35364
X: 18.818 Y: 48.2635 T: -3.36351 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 1.06354 RVr: -3.19062 DIFFA: 0 TA: 0 
observed x: 18.818 observed y: 48.2635 observed theta: -3.36351 predicted x: 18.818 predicted y: 48.2635 predicted theta: -3.36351
GOTO_RUN_UNTIL_CLOSE_OR_MISSED 14 
X: 18.818 Y: 48.2635 T: -3.36351 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: -0 DIFFA: 0 TA: 0 
observed x: 18.818 observed y: 48.2635 observed theta: -3.36351 predicted x: 18.818 predicted y: 48.2635 predicted theta: -3.36351
X: 18.818 Y: 48.2635 T: -3.36351 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 18.6105 observed y: 48.3104 observed theta: -3.36995 predicted x: 17.6962 predicted y: 48.5167 predicted theta: -3.36351
X: 18.3962 Y: 48.3588 T: -3.36811 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 5.31771 RVr: 3.19062 DIFFA: 0 TA: 0 
observed x: 18.0853 observed y: 48.4305 observed theta: -3.36811 predicted x: 17.2755 predicted y: 48.6171 predicted theta: -3.36811
X: 17.8954 Y: 48.4742 T: -3.36812 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 6.38125 RVr: 6.38125 DIFFA: 0 TA: 0 
observed x: 17.455 observed y: 48.5757 observed theta: -3.36489 predicted x: 16.7748 predicted y: 48.7325 predicted theta: -3.36812
X: 17.2955 Y: 48.6124 T: -3.36581 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 8.50833 RVr: 9.57187 DIFFA: 0 TA: 0 
observed x: 16.7771 observed y: 48.7307 observed theta: -3.36581 predicted x: 16.1743 predicted y: 48.8681 predicted theta: -3.36581
X: 16.6357 Y: 48.7629 T: -3.36581 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 10.6354 RVr: 10.6354 DIFFA: 0 TA: 0 
observed x: 16.0395 observed y: 48.8989 observed theta: -3.36259 predicted x: 15.5145 predicted y: 49.0186 predicted theta: -3.36581
X: 15.9164 Y: 48.9269 T: -3.36351 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 11.699 RVr: 12.7625 DIFFA: 0 TA: 0 
observed x: 15.2161 observed y: 49.0849 observed theta: -3.36028 predicted x: 14.7946 predicted y: 49.18 predicted theta: -3.36351
X: 15.1173 Y: 49.1072 T: -3.3612 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 13.826 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 14.4167 observed y: 49.2636 observed theta: -3.35798 predicted x: 13.9949 predicted y: 49.3577 predicted theta: -3.3612
Stopping - HIT 14 
X: 14.3178 Y: 49.2856 T: -3.3589 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 13.826 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 13.6687 observed y: 49.4289 observed theta: -3.36212 predicted x: 14.3178 predicted y: 49.2856 predicted theta: -3.3589
X: 13.8209 Y: 49.3953 T: -3.36135 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 13.826 RVr: 12.7625 DIFFA: 0 TA: 0 
observed x: 13.4576 observed y: 49.4764 observed theta: -3.36135 predicted x: 13.8209 predicted y: 49.3953 predicted theta: -3.36135
X: 13.5428 Y: 49.4574 T: -3.36135 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 7.44479 RVr: 7.44479 DIFFA: 0 TA: 0 
observed x: 13.3352 observed y: 49.5038 observed theta: -3.36135 predicted x: 13.5428 predicted y: 49.4574 predicted theta: -3.36135
X: 13.3838 Y: 49.4929 T: -3.36135 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 4.25417 RVr: 4.25417 DIFFA: 0 TA: 0 
observed x: 13.3319 observed y: 49.5045 observed theta: -3.35491 predicted x: 13.3838 predicted y: 49.4929 predicted theta: -3.36135
X: 13.3441 Y: 49.5018 T: -3.35642 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 2.12708 DIFFA: 0 TA: 0 
observed x: 13.3441 observed y: 49.5018 observed theta: -3.35642 predicted x: 13.3441 predicted y: 49.5018 predicted theta: -3.35642
X: 13.3441 Y: 49.5018 T: -3.35642 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 13.3441 observed y: 49.5018 observed theta: -3.35642 predicted x: 13.3441 predicted y: 49.5018 predicted theta: -3.35642
X: 13.3441 Y: 49.5018 T: -3.35642 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 13.3441 observed y: 49.5018 observed theta: -3.35642 predicted x: 13.3441 predicted y: 49.5018 predicted theta: -3.35642
X: 13.3441 Y: 49.5018 T: -3.35642 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 13.3441 observed y: 49.5018 observed theta: -3.35642 predicted x: 13.3441 predicted y: 49.5018 predicted theta: -3.35642
X: 13.3441 Y: 49.5018 T: -3.35642 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 13.3441 observed y: 49.5018 observed theta: -3.35642 predicted x: 13.3441 predicted y: 49.5018 predicted theta: -3.35642
X: 13.3441 Y: 49.5018 T: -3.35642 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 13.3441 observed y: 49.5018 observed theta: -3.35642 predicted x: 13.3441 predicted y: 49.5018 predicted theta: -3.35642
X: 13.3441 Y: 49.5018 T: -3.35642 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 13.3441 observed y: 49.5018 observed theta: -3.35642 predicted x: 13.3441 predicted y: 49.5018 predicted theta: -3.35642
X: 13.3441 Y: 49.5018 T: -3.35642 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 13.3441 observed y: 49.5018 observed theta: -3.35642 predicted x: 13.3441 predicted y: 49.5018 predicted theta: -3.35642
X: 13.3441 Y: 49.5018 T: -3.35642 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 13.3441 observed y: 49.5018 observed theta: -3.35642 predicted x: 13.3441 predicted y: 49.5018 predicted theta: -3.35642
X: 13.3441 Y: 49.5018 T: -3.35642 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 13.3441 observed y: 49.5018 observed theta: -3.35642 predicted x: 13.3441 predicted y: 49.5018 predicted theta: -3.35642
X: 13.3441 Y: 49.5018 T: -3.35642 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 13.3441 observed y: 49.5018 observed theta: -3.35642 predicted x: 13.3441 predicted y: 49.5018 predicted theta: -3.35642
X: 13.3441 Y: 49.5018 T: -3.35642 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 13.3441 observed y: 49.5018 observed theta: -3.35642 predicted x: 13.3441 predicted y: 49.5018 predicted theta: -3.35642
X: 13.3441 Y: 49.5018 T: -3.35642 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 13.3441 observed y: 49.5018 observed theta: -3.35642 predicted x: 13.3441 predicted y: 49.5018 predicted theta: -3.24733
X: 13.3441 Y: 49.5018 T: -3.33085 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 13.3963 observed y: 49.4918 observed theta: -3.30506 predicted x: 13.3441 predicted y: 49.5018 predicted theta: -3.22175
X: 13.3841 Y: 49.4941 T: -3.28553 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -5.31771 RVr: 3.19062 DIFFA: 0 TA: 0 
observed x: 13.4104 observed y: 49.4903 observed theta: -3.25008 predicted x: 13.3841 predicted y: 49.4941 predicted theta: -3.17644
X: 13.4042 Y: 49.4912 T: -3.23282 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -6.38125 RVr: 5.31771 DIFFA: 0 TA: 0 
observed x: 13.4572 observed y: 49.4864 observed theta: -3.1877 predicted x: 13.4042 predicted y: 49.4912 predicted theta: -3.12373
GOTO_STOP_TO_RUN 15 
X: 13.4448 Y: 49.4875 T: -3.1727 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -8.50833 RVr: 6.38125 DIFFA: 0 TA: 0 
observed x: 13.4448 observed y: 49.4875 observed theta: -3.13403 predicted x: 13.4448 predicted y: 49.4875 predicted theta: -3.1727
X: 13.4448 Y: 49.4875 T: -3.14309 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -6.38125 RVr: 6.38125 DIFFA: 0 TA: 0 
observed x: 13.4448 observed y: 49.4875 observed theta: -3.1302 predicted x: 13.4448 predicted y: 49.4875 predicted theta: -3.14309
X: 13.4448 Y: 49.4875 T: -3.13322 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -2.12708 RVr: 2.12708 DIFFA: 0 TA: 0 
observed x: 13.4182 observed y: 49.4873 observed theta: -3.13 predicted x: 13.4448 predicted y: 49.4875 predicted theta: -3.13322
GOTO_RUN_UNTIL_CLOSE_OR_MISSED 15 
X: 13.4244 Y: 49.4873 T: -3.13076 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -0 RVr: 1.06354 DIFFA: 0 TA: 0 
observed x: 13.4244 observed y: 49.4873 observed theta: -3.13076 predicted x: 13.4244 predicted y: 49.4873 predicted theta: -3.13076
X: 13.4244 Y: 49.4873 T: -3.13076 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 13.4244 observed y: 49.4873 observed theta: -3.13076 predicted x: 12.2745 predicted y: 49.4749 predicted theta: -3.13076
X: 13.1548 Y: 49.4844 T: -3.13076 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 13.0219 observed y: 49.483 observed theta: -3.13398 predicted x: 12.0049 predicted y: 49.472 predicted theta: -3.13076
X: 12.7835 Y: 49.4804 T: -3.13306 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 3.19062 RVr: 2.12708 DIFFA: 0 TA: 0 
observed x: 12.3847 observed y: 49.477 observed theta: -3.13628 predicted x: 11.6335 predicted y: 49.4706 predicted theta: -3.13306
X: 12.2086 Y: 49.4756 T: -3.13537 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 8.50833 RVr: 7.44479 DIFFA: 0 TA: 0 
observed x: 11.6768 observed y: 49.4722 observed theta: -3.13537 predicted x: 11.0586 predicted y: 49.4684 predicted theta: -3.13537
X: 11.5319 Y: 49.4713 T: -3.13537 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 10.6354 RVr: 10.6354 DIFFA: 0 TA: 0 
observed x: 10.9469 observed y: 49.4677 observed theta: -3.13537 predicted x: 10.3819 predicted y: 49.4642 predicted theta: -3.13537
X: 10.8145 Y: 49.4669 T: -3.13537 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 11.699 RVr: 11.699 DIFFA: 0 TA: 0 
observed x: 10.1498 observed y: 49.4627 observed theta: -3.13214 predicted x: 9.66449 predicted y: 49.4597 predicted theta: -3.13537
X: 10.036 Y: 49.462 T: -3.13306 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 12.7625 RVr: 13.826 DIFFA: 0 TA: 0 
observed x: 9.34473 observed y: 49.4561 observed theta: -3.13306 predicted x: 8.88604 predicted y: 49.4522 predicted theta: -3.13306
X: 9.23719 Y: 49.4552 T: -3.13306 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 13.826 RVr: 13.826 DIFFA: 0 TA: 0 
observed x: 8.54592 observed y: 49.4493 observed theta: -3.13306 predicted x: 8.08724 predicted y: 49.4454 predicted theta: -3.13306
X: 8.43839 Y: 49.4484 T: -3.13306 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 13.826 RVr: 13.826 DIFFA: 0 TA: 0 
observed x: 7.66735 observed y: 49.4418 observed theta: -3.12984 predicted x: 7.28843 predicted y: 49.4385 predicted theta: -3.13306
X: 7.57852 Y: 49.441 T: -3.13076 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 6.78091 observed y: 49.4323 observed theta: -3.13076 predicted x: 6.42858 predicted y: 49.4285 predicted theta: -3.13076
X: 6.69831 Y: 49.4314 T: -3.13076 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 15.9531 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 5.92729 observed y: 49.4231 observed theta: -3.12753 predicted x: 5.54838 predicted y: 49.419 predicted theta: -3.13076
X: 5.83846 Y: 49.4221 T: -3.12845 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 5.01428 observed y: 49.4113 observed theta: -3.12523 predicted x: 4.68856 predicted y: 49.407 predicted theta: -3.12845
Stopping - HIT 15 
X: 4.93792 Y: 49.4102 T: -3.12615 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 15.9531 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 4.11378 observed y: 49.3975 observed theta: -3.12292 predicted x: 4.93792 predicted y: 49.4102 predicted theta: -3.12615
X: 4.30698 Y: 49.4004 T: -3.12369 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 15.9531 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 3.72213 observed y: 49.39 observed theta: -3.12369 predicted x: 4.30698 predicted y: 49.4004 predicted theta: -3.12369
X: 3.85924 Y: 49.3924 T: -3.12369 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 11.699 RVr: 11.699 DIFFA: 0 TA: 0 
observed x: 3.67315 observed y: 49.3891 observed theta: -3.12046 predicted x: 3.85924 predicted y: 49.3924 predicted theta: -3.12369
X: 3.71678 Y: 49.3899 T: -3.12122 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 3.19062 RVr: 4.25417 DIFFA: 0 TA: 0 
observed x: 3.63703 observed y: 49.3883 observed theta: -3.118 predicted x: 3.71678 predicted y: 49.3899 predicted theta: -3.12122
X: 3.65572 Y: 49.3886 T: -3.11875 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 1.06354 RVr: 2.12708 DIFFA: 0 TA: 0 
observed x: 3.65572 observed y: 49.3886 observed theta: -3.11875 predicted x: 3.65572 predicted y: 49.3886 predicted theta: -3.11875
X: 3.65572 Y: 49.3886 T: -3.11875 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 3.65572 observed y: 49.3886 observed theta: -3.11875 predicted x: 3.65572 predicted y: 49.3886 predicted theta: -3.11875
X: 3.65572 Y: 49.3886 T: -3.11875 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 3.65572 observed y: 49.3886 observed theta: -3.11875 predicted x: 3.65572 predicted y: 49.3886 predicted theta: -3.11875
X: 3.65572 Y: 49.3886 T: -3.11875 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 3.65572 observed y: 49.3886 observed theta: -3.11875 predicted x: 3.65572 predicted y: 49.3886 predicted theta: -3.11875
X: 3.65572 Y: 49.3886 T: -3.11875 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 3.65572 observed y: 49.3886 observed theta: -3.11875 predicted x: 3.65572 predicted y: 49.3886 predicted theta: -3.11875
X: 3.65572 Y: 49.3886 T: -3.11875 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 3.65572 observed y: 49.3886 observed theta: -3.11875 predicted x: 3.65572 predicted y: 49.3886 predicted theta: -3.11875
X: 3.65572 Y: 49.3886 T: -3.11875 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 3.65572 observed y: 49.3886 observed theta: -3.11875 predicted x: 3.65572 predicted y: 49.3886 predicted theta: -3.11875
X: 3.65572 Y: 49.3886 T: -3.11875 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 3.65572 observed y: 49.3886 observed theta: -3.11875 predicted x: 3.65572 predicted y: 49.3886 predicted theta: -3.11875
X: 3.65572 Y: 49.3886 T: -3.11875 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 3.65572 observed y: 49.3886 observed theta: -3.11875 predicted x: 3.65572 predicted y: 49.3886 predicted theta: -3.11875
X: 3.65572 Y: 49.3886 T: -3.11875 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 3.65572 observed y: 49.3886 observed theta: -3.11875 predicted x: 3.65572 predicted y: 49.3886 predicted theta: -3.11875
X: 3.65572 Y: 49.3886 T: -3.11875 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 3.65572 observed y: 49.3886 observed theta: -3.11875 predicted x: 3.65572 predicted y: 49.3886 predicted theta: -3.11875
X: 3.65572 Y: 49.3886 T: -3.11875 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 3.65572 observed y: 49.3886 observed theta: -3.11875 predicted x: 3.65572 predicted y: 49.3886 predicted theta: -3.11875
X: 3.65572 Y: 49.3886 T: -3.11875 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 3.65572 observed y: 49.3886 observed theta: -3.11875 predicted x: 3.65572 predicted y: 49.3886 predicted theta: -3.11875
X: 3.65572 Y: 49.3886 T: -3.11875 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 3.68231 observed y: 49.3892 observed theta: -3.10264 predicted x: 3.65572 predicted y: 49.3886 predicted theta: -3.00966
X: 3.67607 Y: 49.3891 T: -3.08084 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -3.19062 RVr: 2.12708 DIFFA: 0 TA: 0 
observed x: 3.64953 observed y: 49.3875 observed theta: -3.05828 predicted x: 3.67607 predicted y: 49.3891 predicted theta: -2.97175
X: 3.65576 Y: 49.3879 T: -3.038 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -3.19062 RVr: 4.25417 DIFFA: 0 TA: 0 
observed x: 3.62931 observed y: 49.3851 observed theta: -3.00899 predicted x: 3.65576 predicted y: 49.3879 predicted theta: -2.92891
X: 3.63551 Y: 49.3858 T: -2.99022 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -4.25417 RVr: 5.31771 DIFFA: 0 TA: 0 
observed x: 3.60923 observed y: 49.3817 observed theta: -2.94832 predicted x: 3.63551 predicted y: 49.3858 predicted theta: -2.88112
X: 3.61539 Y: 49.3827 T: -2.93257 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -6.38125 RVr: 7.44479 DIFFA: 0 TA: 0 
observed x: 3.56337 observed y: 49.3717 observed theta: -2.89389 predicted x: 3.61539 predicted y: 49.3827 predicted theta: -2.82348
X: 3.57556 Y: 49.3742 T: -2.87738 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -5.31771 RVr: 7.44479 DIFFA: 0 TA: 0 
observed x: 3.57556 observed y: 49.3742 observed theta: -2.83226 predicted x: 3.57556 predicted y: 49.3742 predicted theta: -2.76829
X: 3.57556 Y: 49.3742 T: -2.81727 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -7.44479 RVr: 7.44479 DIFFA: 0 TA: 0 
observed x: 3.55036 observed y: 49.3658 observed theta: -2.76892 predicted x: 3.57556 predicted y: 49.3742 predicted theta: -2.70818
X: 3.55627 Y: 49.3678 T: -2.75468 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -7.44479 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 3.53165 observed y: 49.3577 observed theta: -2.70634 predicted x: 3.55627 predicted y: 49.3678 predicted theta: -2.64559
X: 3.53742 Y: 49.3601 T: -2.6921 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -7.44479 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 3.53742 observed y: 49.3601 observed theta: -2.64698 predicted x: 3.53742 predicted y: 49.3601 predicted theta: -2.58301
X: 3.53742 Y: 49.3601 T: -2.63198 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -7.44479 RVr: 7.44479 DIFFA: 0 TA: 0 
observed x: 3.53742 observed y: 49.3601 observed theta: -2.58042 predicted x: 3.53742 predicted y: 49.3601 predicted theta: -2.52289
X: 3.53742 Y: 49.3601 T: -2.56693 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -8.50833 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 3.53742 observed y: 49.3601 observed theta: -2.51536 predicted x: 3.53742 predicted y: 49.3601 predicted theta: -2.45784
X: 3.53742 Y: 49.3601 T: -2.50188 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -8.50833 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 3.53742 observed y: 49.3601 observed theta: -2.45031 predicted x: 3.53742 predicted y: 49.3601 predicted theta: -2.39279
X: 3.53742 Y: 49.3601 T: -2.43683 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -8.50833 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 3.53742 observed y: 49.3601 observed theta: -2.38526 predicted x: 3.53742 predicted y: 49.3601 predicted theta: -2.32774
X: 3.53742 Y: 49.3601 T: -2.37177 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -8.50833 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 3.5756 observed y: 49.3971 observed theta: -2.32021 predicted x: 3.53742 predicted y: 49.3601 predicted theta: -2.26268
X: 3.56665 Y: 49.3884 T: -2.30672 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -9.57187 RVr: 7.44479 DIFFA: 0 TA: 0 
observed x: 3.56665 observed y: 49.3884 observed theta: -2.25516 predicted x: 3.56665 predicted y: 49.3884 predicted theta: -2.19763
X: 3.56665 Y: 49.3884 T: -2.24167 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -8.50833 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 3.58318 observed y: 49.4092 observed theta: -2.18688 predicted x: 3.56665 predicted y: 49.3884 predicted theta: -2.13258
X: 3.57931 Y: 49.4044 T: -2.17415 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -9.57187 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 3.59439 observed y: 49.4262 observed theta: -2.11936 predicted x: 3.57931 predicted y: 49.4044 predicted theta: -2.06506
X: 3.59085 Y: 49.4211 T: -2.10663 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -9.57187 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 3.60443 observed y: 49.444 observed theta: -2.05185 predicted x: 3.59085 predicted y: 49.4211 predicted theta: -1.99754
X: 3.60125 Y: 49.4386 T: -2.03911 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -9.57187 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 3.62525 observed y: 49.4861 observed theta: -1.9811 predicted x: 3.60125 predicted y: 49.4386 predicted theta: -1.93002
GOTO_STOP_TO_RUN 16 
X: 3.61962 Y: 49.4749 T: -1.96913 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -10.6354 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 3.64025 observed y: 49.524 observed theta: -1.93045 predicted x: 3.61962 predicted y: 49.4749 predicted theta: -1.96913
X: 3.63541 Y: 49.5125 T: -1.93952 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -7.44479 RVr: 5.31771 DIFFA: 0 TA: 0 
observed x: 3.63541 observed y: 49.5125 observed theta: -1.92018 predicted x: 3.63541 predicted y: 49.5125 predicted theta: -1.93952
X: 3.63541 Y: 49.5125 T: -1.92472 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -3.19062 RVr: 3.19062 DIFFA: 0 TA: 0 
observed x: 3.64463 observed y: 49.5374 observed theta: -1.92149 predicted x: 3.63541 predicted y: 49.5125 predicted theta: -1.92472
X: 3.64247 Y: 49.5316 T: -1.92225 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -1.06354 RVr: 0 DIFFA: 0 TA: 0 
observed x: 3.64247 observed y: 49.5316 observed theta: -1.92225 predicted x: 3.64247 predicted y: 49.5316 predicted theta: -1.92225
GOTO_RUN_UNTIL_CLOSE_OR_MISSED 16 
X: 3.64247 Y: 49.5316 T: -1.92225 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 3.64247 observed y: 49.5316 observed theta: -1.92225 predicted x: 3.64247 predicted y: 49.5316 predicted theta: -1.92225
X: 3.64247 Y: 49.5316 T: -1.92225 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 3.5967 observed y: 49.4067 observed theta: -1.92547 predicted x: 3.24657 predicted y: 48.4519 predicted theta: -1.92225
X: 3.51458 Y: 49.1829 T: -1.92455 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 3.19062 RVr: 2.12708 DIFFA: 0 TA: 0 
observed x: 3.42247 observed y: 48.9335 observed theta: -1.92455 predicted x: 3.11619 predicted y: 48.1041 predicted theta: -1.92455
X: 3.35067 Y: 48.739 T: -1.92456 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 5.31771 RVr: 5.31771 DIFFA: 0 TA: 0 
observed x: 3.21251 observed y: 48.3649 observed theta: -1.92133 predicted x: 2.95228 predicted y: 47.6603 predicted theta: -1.92456
X: 3.15154 Y: 48.1997 T: -1.92225 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 7.44479 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 2.98677 observed y: 47.7504 observed theta: -1.92225 predicted x: 2.75563 predicted y: 47.12 predicted theta: -1.92225
X: 2.93259 Y: 47.6026 T: -1.92225 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 9.57187 RVr: 9.57187 DIFFA: 0 TA: 0 
observed x: 2.73121 observed y: 47.0534 observed theta: -1.92225 predicted x: 2.53669 predicted y: 46.5229 predicted theta: -1.92225
X: 2.68561 Y: 46.929 T: -1.92225 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 11.699 RVr: 11.699 DIFFA: 0 TA: 0 
observed x: 2.46593 observed y: 46.3299 observed theta: -1.92225 predicted x: 2.28971 predicted y: 45.8493 predicted theta: -1.92225
X: 2.42462 Y: 46.2172 T: -1.92225 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 12.7625 RVr: 12.7625 DIFFA: 0 TA: 0 
observed x: 2.19578 observed y: 45.5932 observed theta: -1.91903 predicted x: 2.02871 predicted y: 45.1375 predicted theta: -1.92225
X: 2.15665 Y: 45.4863 T: -1.91995 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 12.7625 RVr: 13.826 DIFFA: 0 TA: 0 
observed x: 1.91106 observed y: 44.8118 observed theta: -1.92317 predicted x: 1.76324 predicted y: 44.4057 predicted theta: -1.91995
X: 1.87637 Y: 44.7166 T: -1.92225 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 13.826 DIFFA: 0 TA: 0 
observed x: 1.62922 observed y: 44.0426 observed theta: -1.91903 predicted x: 1.48047 predicted y: 43.6369 predicted theta: -1.92225
Stopping - HIT 16 
X: 1.59439 Y: 43.9474 T: -1.91995 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 13.826 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 1.36699 observed y: 43.3228 observed theta: -1.92317 predicted x: 1.59439 predicted y: 43.9474 predicted theta: -1.91995
X: 1.42031 Y: 43.4693 T: -1.9224 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 13.826 RVr: 12.7625 DIFFA: 0 TA: 0 
observed x: 1.29211 observed y: 43.1198 observed theta: -1.91596 predicted x: 1.42031 predicted y: 43.4693 predicted theta: -1.9224
X: 1.32217 Y: 43.2017 T: -1.91747 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 6.38125 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 1.24086 observed y: 42.9767 observed theta: -1.91425 predicted x: 1.32217 predicted y: 43.2017 predicted theta: -1.91747
X: 1.25992 Y: 43.0294 T: -1.915 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 4.25417 RVr: 5.31771 DIFFA: 0 TA: 0 
observed x: 1.22403 observed y: 42.9293 observed theta: -1.915 predicted x: 1.25992 predicted y: 43.0294 predicted theta: -1.915
X: 1.23245 Y: 42.9528 T: -1.915 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 2.12708 RVr: 2.12708 DIFFA: 0 TA: 0 
observed x: 1.2145 observed y: 42.9027 observed theta: -1.915 predicted x: 1.23245 predicted y: 42.9528 predicted theta: -1.915
X: 1.21871 Y: 42.9145 T: -1.915 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 1.06354 RVr: 1.06354 DIFFA: 0 TA: 0 
observed x: 1.21871 observed y: 42.9145 observed theta: -1.915 predicted x: 1.21871 predicted y: 42.9145 predicted theta: -1.915
X: 1.21871 Y: 42.9145 T: -1.915 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 1.21871 observed y: 42.9145 observed theta: -1.915 predicted x: 1.21871 predicted y: 42.9145 predicted theta: -1.915
X: 1.21871 Y: 42.9145 T: -1.915 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 1.21871 observed y: 42.9145 observed theta: -1.915 predicted x: 1.21871 predicted y: 42.9145 predicted theta: -1.915
X: 1.21871 Y: 42.9145 T: -1.915 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 1.21871 observed y: 42.9145 observed theta: -1.915 predicted x: 1.21871 predicted y: 42.9145 predicted theta: -1.915
X: 1.21871 Y: 42.9145 T: -1.915 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 1.21871 observed y: 42.9145 observed theta: -1.915 predicted x: 1.21871 predicted y: 42.9145 predicted theta: -1.915
X: 1.21871 Y: 42.9145 T: -1.915 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 1.21871 observed y: 42.9145 observed theta: -1.915 predicted x: 1.21871 predicted y: 42.9145 predicted theta: -1.915
X: 1.21871 Y: 42.9145 T: -1.915 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 1.21871 observed y: 42.9145 observed theta: -1.915 predicted x: 1.21871 predicted y: 42.9145 predicted theta: -1.915
X: 1.21871 Y: 42.9145 T: -1.915 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 1.21871 observed y: 42.9145 observed theta: -1.915 predicted x: 1.21871 predicted y: 42.9145 predicted theta: -1.915
X: 1.21871 Y: 42.9145 T: -1.915 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 1.21871 observed y: 42.9145 observed theta: -1.915 predicted x: 1.21871 predicted y: 42.9145 predicted theta: -1.915
X: 1.21871 Y: 42.9145 T: -1.915 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 1.21871 observed y: 42.9145 observed theta: -1.915 predicted x: 1.21871 predicted y: 42.9145 predicted theta: -1.915
X: 1.21871 Y: 42.9145 T: -1.915 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 1.21871 observed y: 42.9145 observed theta: -1.915 predicted x: 1.21871 predicted y: 42.9145 predicted theta: -1.915
X: 1.21871 Y: 42.9145 T: -1.915 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 1.21871 observed y: 42.9145 observed theta: -1.915 predicted x: 1.21871 predicted y: 42.9145 predicted theta: -1.915
X: 1.21871 Y: 42.9145 T: -1.915 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 1.21871 observed y: 42.9145 observed theta: -1.915 predicted x: 1.21871 predicted y: 42.9145 predicted theta: -1.915
X: 1.21871 Y: 42.9145 T: -1.915 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 1.20974 observed y: 42.8894 observed theta: -1.91178 predicted x: 1.21871 predicted y: 42.9145 predicted theta: -1.80591
X: 1.21184 Y: 42.8953 T: -1.88696 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -0 RVr: 1.06354 DIFFA: 0 TA: 0 
observed x: 1.24491 observed y: 42.9964 observed theta: -1.86118 predicted x: 1.21184 predicted y: 42.8953 predicted theta: -1.77787
X: 1.23716 Y: 42.9727 T: -1.84165 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -6.38125 RVr: 2.12708 DIFFA: 0 TA: 0 
observed x: 1.23716 observed y: 42.9727 observed theta: -1.80942 predicted x: 1.23716 predicted y: 42.9727 predicted theta: -1.73256
X: 1.23716 Y: 42.9727 T: -1.7914 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -5.31771 RVr: 5.31771 DIFFA: 0 TA: 0 
observed x: 1.24297 observed y: 42.9986 observed theta: -1.75595 predicted x: 1.23716 predicted y: 42.9727 predicted theta: -1.68231
X: 1.24161 Y: 42.9925 T: -1.73868 AV: 0 CVr: 18 CVl: -18 PMr: 0.401259 PMl: -0.371124 RVl: -6.38125 RVr: 5.31771 DIFFA: 0 TA: 0 
observed x: 1.24605 observed y: 43.0188 observed theta: -1.6839 predicted x: 1.24161 predicted y: 42.9925 predicted theta: -1.62959
GOTO_STOP_TO_RUN 17 
X: 1.24501 Y: 43.0126 T: -1.67116 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -9.57187 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 1.24235 observed y: 42.9862 observed theta: -1.62927 predicted x: 1.24501 predicted y: 43.0126 predicted theta: -1.67116
X: 1.24297 Y: 42.9924 T: -1.63909 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -6.38125 RVr: 7.44479 DIFFA: 0 TA: 0 
observed x: 1.24297 observed y: 42.9924 observed theta: -1.6262 predicted x: 1.24297 predicted y: 42.9924 predicted theta: -1.63909
X: 1.24297 Y: 42.9924 T: -1.62922 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -2.12708 RVr: 2.12708 DIFFA: 0 TA: 0 
observed x: 1.24297 observed y: 42.9924 observed theta: -1.62922 predicted x: 1.24297 predicted y: 42.9924 predicted theta: -1.62922
GOTO_RUN_UNTIL_CLOSE_OR_MISSED 17 
X: 1.24297 Y: 42.9924 T: -1.62922 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: -0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 1.24297 observed y: 42.9924 observed theta: -1.62922 predicted x: 1.24297 predicted y: 42.9924 predicted theta: -1.62922
X: 1.24297 Y: 42.9924 T: -1.62922 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 1.23521 observed y: 42.8596 observed theta: -1.626 predicted x: 1.17582 predicted y: 41.8443 predicted theta: -1.62922
X: 1.22133 Y: 42.6216 T: -1.62692 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 2.12708 RVr: 3.19062 DIFFA: 0 TA: 0 
observed x: 1.20641 observed y: 42.3561 observed theta: -1.62692 predicted x: 1.15682 predicted y: 41.4734 predicted theta: -1.62692
X: 1.19479 Y: 42.1492 T: -1.62692 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 5.31771 RVr: 5.31771 DIFFA: 0 TA: 0 
observed x: 1.17242 observed y: 41.751 observed theta: -1.62369 predicted x: 1.13028 predicted y: 41.001 predicted theta: -1.62692
X: 1.16258 Y: 41.5752 T: -1.62461 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 7.44479 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 1.1354 observed y: 41.0707 observed theta: -1.62139 predicted x: 1.10072 predicted y: 40.4268 predicted theta: -1.62461
X: 1.12731 Y: 40.9198 T: -1.62231 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 9.57187 RVr: 10.6354 DIFFA: 0 TA: 0 
observed x: 1.09856 observed y: 40.3622 observed theta: -1.61908 predicted x: 1.0681 predicted y: 39.7713 predicted theta: -1.62231
X: 1.09146 Y: 40.2236 T: -1.62 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 10.6354 RVr: 11.699 DIFFA: 0 TA: 0 
observed x: 1.06138 observed y: 39.6128 observed theta: -1.61678 predicted x: 1.0349 predicted y: 39.075 predicted theta: -1.62
X: 1.05521 Y: 39.4868 T: -1.6177 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 11.699 RVr: 12.7625 DIFFA: 0 TA: 0 
observed x: 1.02156 observed y: 38.7697 observed theta: -1.61447 predicted x: 1.0013 predicted y: 38.338 predicted theta: -1.6177
X: 1.01685 Y: 38.6685 T: -1.61539 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 13.826 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 0.984845 observed y: 37.9513 observed theta: -1.61217 predicted x: 0.965582 predicted y: 37.5196 predicted theta: -1.61539
X: 0.980368 Y: 37.8501 T: -1.61309 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 13.826 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 0.94777 observed y: 37.0797 observed theta: -1.60986 predicted x: 0.93175 predicted y: 36.7011 predicted theta: -1.61309
X: 0.944053 Y: 36.9909 T: -1.61078 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 0.913231 observed y: 36.2205 observed theta: -1.60756 predicted x: 0.898083 predicted y: 35.8419 predicted theta: -1.61078
X: 0.909719 Y: 36.1317 T: -1.60848 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 0.877667 observed y: 35.2815 observed theta: -1.60848 predicted x: 0.866397 predicted y: 34.9825 predicted theta: -1.60848
X: 0.875024 Y: 35.2114 T: -1.60848 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 17.0167 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 0.843975 observed y: 34.3878 observed theta: -1.60525 predicted x: 0.831703 predicted y: 34.0622 predicted theta: -1.60848
Stopping - HIT 17 
X: 0.841137 Y: 34.3114 T: -1.60617 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 15.9531 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 0.814807 observed y: 33.5674 observed theta: -1.60617 predicted x: 0.841137 predicted y: 34.3114 predicted theta: -1.60617
X: 0.821 Y: 33.7418 T: -1.60617 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 14.8896 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 0.805014 observed y: 33.2901 observed theta: -1.60295 predicted x: 0.821 predicted y: 33.7418 predicted theta: -1.60617
X: 0.808763 Y: 33.396 T: -1.6037 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 8.50833 RVr: 9.57187 DIFFA: 0 TA: 0 
observed x: 0.79914 observed y: 33.1037 observed theta: -1.60693 predicted x: 0.808763 predicted y: 33.396 predicted theta: -1.6037
X: 0.801396 Y: 33.1722 T: -1.60617 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 6.38125 RVr: 5.31771 DIFFA: 0 TA: 0 
observed x: 0.797634 observed y: 33.066 observed theta: -1.59973 predicted x: 0.801396 predicted y: 33.1722 predicted theta: -1.60617
X: 0.798516 Y: 33.0909 T: -1.60124 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 1.06354 RVr: 3.19062 DIFFA: 0 TA: 0 
observed x: 0.798516 observed y: 33.0909 observed theta: -1.60124 predicted x: 0.798516 predicted y: 33.0909 predicted theta: -1.60124
X: 0.798516 Y: 33.0909 T: -1.60124 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.798516 observed y: 33.0909 observed theta: -1.60124 predicted x: 0.798516 predicted y: 33.0909 predicted theta: -1.60124
X: 0.798516 Y: 33.0909 T: -1.60124 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.798516 observed y: 33.0909 observed theta: -1.60124 predicted x: 0.798516 predicted y: 33.0909 predicted theta: -1.60124
X: 0.798516 Y: 33.0909 T: -1.60124 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.798516 observed y: 33.0909 observed theta: -1.60124 predicted x: 0.798516 predicted y: 33.0909 predicted theta: -1.60124
X: 0.798516 Y: 33.0909 T: -1.60124 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.798516 observed y: 33.0909 observed theta: -1.60124 predicted x: 0.798516 predicted y: 33.0909 predicted theta: -1.60124
X: 0.798516 Y: 33.0909 T: -1.60124 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.798516 observed y: 33.0909 observed theta: -1.60124 predicted x: 0.798516 predicted y: 33.0909 predicted theta: -1.60124
X: 0.798516 Y: 33.0909 T: -1.60124 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.798516 observed y: 33.0909 observed theta: -1.60124 predicted x: 0.798516 predicted y: 33.0909 predicted theta: -1.60124
X: 0.798516 Y: 33.0909 T: -1.60124 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.798516 observed y: 33.0909 observed theta: -1.60124 predicted x: 0.798516 predicted y: 33.0909 predicted theta: -1.60124
X: 0.798516 Y: 33.0909 T: -1.60124 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.798516 observed y: 33.0909 observed theta: -1.60124 predicted x: 0.798516 predicted y: 33.0909 predicted theta: -1.60124
X: 0.798516 Y: 33.0909 T: -1.60124 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.798516 observed y: 33.0909 observed theta: -1.60124 predicted x: 0.798516 predicted y: 33.0909 predicted theta: -1.60124
X: 0.798516 Y: 33.0909 T: -1.60124 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.798516 observed y: 33.0909 observed theta: -1.60124 predicted x: 0.798516 predicted y: 33.0909 predicted theta: -1.60124
X: 0.798516 Y: 33.0909 T: -1.60124 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.798516 observed y: 33.0909 observed theta: -1.60124 predicted x: 0.798516 predicted y: 33.0909 predicted theta: -1.60124
X: 0.798516 Y: 33.0909 T: -1.60124 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.798516 observed y: 33.0909 observed theta: -1.60124 predicted x: 0.798516 predicted y: 33.0909 predicted theta: -1.60124
GOTO_STOP_TO_RUN 18 
X: 0.798516 Y: 33.0909 T: -1.60124 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.798516 observed y: 33.0909 observed theta: -1.60124 predicted x: 0.798516 predicted y: 33.0909 predicted theta: -1.60124
GOTO_RUN_UNTIL_CLOSE_OR_MISSED 18 
X: 0.798516 Y: 33.0909 T: -1.60124 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.798516 observed y: 33.0909 observed theta: -1.60124 predicted x: 0.798516 predicted y: 33.0909 predicted theta: -1.60124
X: 0.798516 Y: 33.0909 T: -1.60124 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.795279 observed y: 32.9846 observed theta: -1.60124 predicted x: 0.763516 predicted y: 31.9414 predicted theta: -1.60124
X: 0.787832 Y: 32.74 T: -1.60124 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 2.12708 RVr: 2.12708 DIFFA: 0 TA: 0 
observed x: 0.780549 observed y: 32.5008 observed theta: -1.59801 predicted x: 0.752832 predicted y: 31.5905 predicted theta: -1.60124
X: 0.774091 Y: 32.2874 T: -1.59893 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 4.25417 RVr: 5.31771 DIFFA: 0 TA: 0 
observed x: 0.762871 observed y: 31.8888 observed theta: -1.59571 predicted x: 0.741739 predicted y: 31.1379 predicted theta: -1.59893
X: 0.757955 Y: 31.7127 T: -1.59663 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 7.44479 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 0.745595 observed y: 31.2343 observed theta: -1.59663 predicted x: 0.728254 predicted y: 30.5631 predicted theta: -1.59663
X: 0.741529 Y: 31.0769 T: -1.59663 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 9.57187 RVr: 9.57187 DIFFA: 0 TA: 0 
observed x: 0.727108 observed y: 30.5188 observed theta: -1.5934 predicted x: 0.711829 predicted y: 29.9273 predicted theta: -1.59663
X: 0.723566 Y: 30.3801 T: -1.59432 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 10.6354 RVr: 11.699 DIFFA: 0 TA: 0 
observed x: 0.709806 observed y: 29.7953 observed theta: -1.59432 predicted x: 0.696515 predicted y: 29.2304 predicted theta: -1.59432
X: 0.70669 Y: 29.6629 T: -1.59432 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 11.699 RVr: 11.699 DIFFA: 0 TA: 0 
observed x: 0.691054 observed y: 28.9984 observed theta: -1.5911 predicted x: 0.67964 predicted y: 28.5132 predicted theta: -1.59432
X: 0.688418 Y: 28.8846 T: -1.59202 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 12.7625 RVr: 13.826 DIFFA: 0 TA: 0 
observed x: 0.673186 observed y: 28.1669 observed theta: -1.59524 predicted x: 0.664017 predicted y: 27.7349 predicted theta: -1.59202
X: 0.670996 Y: 28.0656 T: -1.59432 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 13.826 DIFFA: 0 TA: 0 
observed x: 0.653485 observed y: 27.3213 observed theta: -1.58787 predicted x: 0.643947 predicted y: 26.9159 predicted theta: -1.59432
X: 0.651328 Y: 27.2263 T: -1.58971 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 13.826 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 0.636744 observed y: 26.4554 observed theta: -1.59293 predicted x: 0.629576 predicted y: 26.0765 predicted theta: -1.58971
X: 0.635023 Y: 26.3666 T: -1.59202 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 15.9531 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 0.619228 observed y: 25.6222 observed theta: -1.59202 predicted x: 0.610624 predicted y: 25.2168 predicted theta: -1.59202
X: 0.617211 Y: 25.5272 T: -1.59202 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 14.8896 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 0.599722 observed y: 24.7031 observed theta: -1.58879 predicted x: 0.592811 predicted y: 24.3775 predicted theta: -1.59202
Stopping - HIT 18 
X: 0.598141 Y: 24.6268 T: -1.58971 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 15.9531 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 0.583054 observed y: 23.8293 observed theta: -1.58971 predicted x: 0.598141 predicted y: 24.6268 predicted theta: -1.58971
X: 0.586614 Y: 24.0162 T: -1.58971 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 15.9531 RVr: 15.9531 DIFFA: 0 TA: 0 
observed x: 0.580076 observed y: 23.6706 observed theta: -1.58649 predicted x: 0.586614 predicted y: 24.0162 predicted theta: -1.58971
X: 0.581609 Y: 23.7517 T: -1.58724 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 6.38125 RVr: 7.44479 DIFFA: 0 TA: 0 
observed x: 0.578111 observed y: 23.539 observed theta: -1.58724 predicted x: 0.581609 predicted y: 23.7517 predicted theta: -1.58724
X: 0.578931 Y: 23.5888 T: -1.58724 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 4.25417 RVr: 4.25417 DIFFA: 0 TA: 0 
observed x: 0.578057 observed y: 23.5357 observed theta: -1.5808 predicted x: 0.578931 predicted y: 23.5888 predicted theta: -1.58724
X: 0.578262 Y: 23.5481 T: -1.58231 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 2.12708 DIFFA: 0 TA: 0 
observed x: 0.578262 observed y: 23.5481 observed theta: -1.58231 predicted x: 0.578262 predicted y: 23.5481 predicted theta: -1.58231
X: 0.578262 Y: 23.5481 T: -1.58231 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.578262 observed y: 23.5481 observed theta: -1.58231 predicted x: 0.578262 predicted y: 23.5481 predicted theta: -1.58231
X: 0.578262 Y: 23.5481 T: -1.58231 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.578262 observed y: 23.5481 observed theta: -1.58231 predicted x: 0.578262 predicted y: 23.5481 predicted theta: -1.58231
X: 0.578262 Y: 23.5481 T: -1.58231 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.578262 observed y: 23.5481 observed theta: -1.58231 predicted x: 0.578262 predicted y: 23.5481 predicted theta: -1.58231
X: 0.578262 Y: 23.5481 T: -1.58231 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.578262 observed y: 23.5481 observed theta: -1.58231 predicted x: 0.578262 predicted y: 23.5481 predicted theta: -1.58231
X: 0.578262 Y: 23.5481 T: -1.58231 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.578262 observed y: 23.5481 observed theta: -1.58231 predicted x: 0.578262 predicted y: 23.5481 predicted theta: -1.58231
X: 0.578262 Y: 23.5481 T: -1.58231 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.578262 observed y: 23.5481 observed theta: -1.58231 predicted x: 0.578262 predicted y: 23.5481 predicted theta: -1.58231
X: 0.578262 Y: 23.5481 T: -1.58231 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.578262 observed y: 23.5481 observed theta: -1.58231 predicted x: 0.578262 predicted y: 23.5481 predicted theta: -1.58231
X: 0.578262 Y: 23.5481 T: -1.58231 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.578262 observed y: 23.5481 observed theta: -1.58231 predicted x: 0.578262 predicted y: 23.5481 predicted theta: -1.58231
X: 0.578262 Y: 23.5481 T: -1.58231 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.578262 observed y: 23.5481 observed theta: -1.58231 predicted x: 0.578262 predicted y: 23.5481 predicted theta: -1.58231
X: 0.578262 Y: 23.5481 T: -1.58231 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.578262 observed y: 23.5481 observed theta: -1.58231 predicted x: 0.578262 predicted y: 23.5481 predicted theta: -1.58231
X: 0.578262 Y: 23.5481 T: -1.58231 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.578262 observed y: 23.5481 observed theta: -1.58231 predicted x: 0.578262 predicted y: 23.5481 predicted theta: -1.58231
GOTO_STOP_TO_RUN 19 
X: 0.578262 Y: 23.5481 T: -1.58231 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.578262 observed y: 23.5481 observed theta: -1.58231 predicted x: 0.578262 predicted y: 23.5481 predicted theta: -1.58231
GOTO_RUN_UNTIL_CLOSE_OR_MISSED 19 
X: 0.578262 Y: 23.5481 T: -1.58231 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.578262 observed y: 23.5481 observed theta: -1.58231 predicted x: 0.578262 predicted y: 23.5481 predicted theta: -1.58231
X: 0.578262 Y: 23.5481 T: -1.58231 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.57765 observed y: 23.495 observed theta: -1.58231 predicted x: 0.565023 predicted y: 22.3982 predicted theta: -1.58231
X: 0.574689 Y: 23.2379 T: -1.58231 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 1.06354 RVr: 1.06354 DIFFA: 0 TA: 0 
observed x: 0.572547 observed y: 23.0517 observed theta: -1.57909 predicted x: 0.56145 predicted y: 22.0879 predicted theta: -1.58231
X: 0.569985 Y: 22.8258 T: -1.58 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 3.19062 RVr: 4.25417 DIFFA: 0 TA: 0 
observed x: 0.567536 observed y: 22.5599 observed theta: -1.58 predicted x: 0.559395 predicted y: 21.6758 predicted theta: -1.58
X: 0.565627 Y: 22.3527 T: -1.58 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 5.31771 RVr: 5.31771 DIFFA: 0 TA: 0 
observed x: 0.560976 observed y: 21.8475 observed theta: -1.57678 predicted x: 0.555039 predicted y: 21.2027 predicted theta: -1.58
X: 0.559624 Y: 21.6963 T: -1.5777 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 9.57187 RVr: 10.6354 DIFFA: 0 TA: 0 
observed x: 0.555769 observed y: 21.138 observed theta: -1.57448 predicted x: 0.551685 predicted y: 20.5464 predicted theta: -1.5777
X: 0.554851 Y: 20.9993 T: -1.57539 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 10.6354 RVr: 11.699 DIFFA: 0 TA: 0 
observed x: 0.551917 observed y: 20.3612 observed theta: -1.57539 predicted x: 0.549564 predicted y: 19.8493 predicted theta: -1.57539
X: 0.551365 Y: 20.2412 T: -1.57539 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 12.7625 RVr: 12.7625 DIFFA: 0 TA: 0 
observed x: 0.548187 observed y: 19.5499 observed theta: -1.57539 predicted x: 0.546078 predicted y: 19.0912 predicted theta: -1.57539
X: 0.547693 Y: 19.4423 T: -1.57539 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 13.826 RVr: 13.826 DIFFA: 0 TA: 0 
observed x: 0.544393 observed y: 18.7245 observed theta: -1.57217 predicted x: 0.542406 predicted y: 18.2923 predicted theta: -1.57539
X: 0.543966 Y: 18.6232 T: -1.57309 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 13.826 RVr: 14.8896 DIFFA: 0 TA: 0 
observed x: 0.542077 observed y: 17.7989 observed theta: -1.56987 predicted x: 0.54133 predicted y: 17.4732 predicted theta: -1.57309
X: 0.541941 Y: 17.7225 T: -1.57078 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 15.9531 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 0.541951 observed y: 16.8717 observed theta: -1.57078 predicted x: 0.541954 predicted y: 16.5725 predicted theta: -1.57078
X: 0.541951 Y: 16.8016 T: -1.57078 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 17.0167 RVr: 17.0167 DIFFA: 0 TA: 0 
observed x: 0.541962 observed y: 15.9242 observed theta: -1.56756 predicted x: 0.541966 predicted y: 15.6516 predicted theta: -1.57078
X: 0.542002 Y: 15.8602 T: -1.56848 AV: 0 CVr: 23 CVl: 23 PMr: 0.487775 PMl: 0.445117 RVl: 17.0167 RVr: 18.0802 DIFFA: 0 TA: 0 
observed x: 0.544158 observed y: 14.9297 observed theta: -1.5717 predicted x: 0.544666 predicted y: 14.7103 predicted theta: -1.56848
Stopping - HIT 19 
X: 0.544238 Y: 14.8782 T: -1.57078 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 19.1437 RVr: 18.0802 DIFFA: 0 TA: 0 
observed x: 0.544249 observed y: 14.0008 observed theta: -1.56756 predicted x: 0.544238 predicted y: 14.8782 predicted theta: -1.57078
X: 0.544224 Y: 14.2065 T: -1.56833 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 17.0167 RVr: 18.0802 DIFFA: 0 TA: 0 
observed x: 0.545669 observed y: 13.6215 observed theta: -1.57477 predicted x: 0.544224 predicted y: 14.2065 predicted theta: -1.56833
X: 0.54533 Y: 13.7587 T: -1.57326 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 12.7625 RVr: 10.6354 DIFFA: 0 TA: 0 
observed x: 0.544347 observed y: 13.3599 observed theta: -1.57004 predicted x: 0.54533 predicted y: 13.7587 predicted theta: -1.57326
X: 0.544577 Y: 13.4534 T: -1.57079 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 7.44479 RVr: 8.50833 DIFFA: 0 TA: 0 
observed x: 0.544578 observed y: 13.2672 observed theta: -1.56757 predicted x: 0.544577 predicted y: 13.4534 predicted theta: -1.57079
X: 0.544578 Y: 13.3109 T: -1.56833 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 3.19062 RVr: 4.25417 DIFFA: 0 TA: 0 
observed x: 0.544578 observed y: 13.3109 observed theta: -1.56833 predicted x: 0.544578 predicted y: 13.3109 predicted theta: -1.56833
GOTO_STOP_TO_RETURN 20 
X: 0.544578 Y: 13.3109 T: -1.56833 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
observed x: 0.544578 observed y: 13.3109 observed theta: -1.56833 predicted x: 0.544578 predicted y: 13.3109 predicted theta: -1.56833
FINISHED 
X: 0.544578 Y: 13.3109 T: -1.56833 AV: 0 CVr: 0 CVl: 0 PMr: 0.0898024 PMl: 0.0976813 RVl: 0 RVr: 0 DIFFA: 0 TA: 0 
